{"type":"session_start","format":"rte-runtime-session-jsonl","version":3,"t":0,"started_at_utc":"2026-09-24T03:29:26.837Z","exported_at_utc":"2026-09-24T04:13:59.044Z","port":"/dev/ttyACM0","mode":"device","protocol":"legacy"}
{"type":"state","t":0.129505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":0.129508,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":0.12951,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":0.397825,"values":{"Elec_RPM":-2336.57153,"EncoderCos":52837,"EncoderSin":34307,"GapTicks":51231,"Mech_RPM":-467.314301,"cg_du":50.9086037,"cg_dv":53.4256935,"cg_dw":46.5743065,"cg_id_a":1.05714297,"cg_id_raw_a":0.608504832,"cg_iq_a":1.77909327,"cg_iq_raw_a":1.78671205,"cg_iu_a":-1.77341437,"cg_iv_a":-0.836941957,"cg_iw_a":2.61035633,"cg_sample_age_us":23.4963627,"cg_sample_seq":1367416,"cg_sample_valid":1,"cg_theta_rad":0.0869137943,"cg_vd_req_v":0.251697421,"cg_vd_v":0.251697421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.78606462,"cg_vq_v":-5.78606462,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":30.1077881,"temp_inv2_c":32.8175049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":0.751341,"values":{"Elec_RPM":-2335.53345,"EncoderCos":52880,"EncoderSin":32597,"GapTicks":51633,"Mech_RPM":-467.106689,"cg_du":53.0606232,"cg_dv":52.7605591,"cg_dw":46.9393768,"cg_id_a":-0.22442998,"cg_id_raw_a":0.0517042354,"cg_iq_a":0.110903963,"cg_iq_raw_a":-0.28707841,"cg_iu_a":0.14750886,"cg_iv_a":0.431592226,"cg_iw_a":-0.579101086,"cg_sample_age_us":24.0018177,"cg_sample_seq":1369216,"cg_sample_valid":1,"cg_theta_rad":0.0062488988,"cg_vd_req_v":0.280524611,"cg_vd_v":0.280524611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.7598381,"cg_vq_v":-5.7598381,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.4734535,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":30.0847778,"temp_inv2_c":32.8085938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1.085325,"values":{"Elec_RPM":-2341.04297,"EncoderCos":24119,"EncoderSin":51222,"GapTicks":51181,"Mech_RPM":-468.208618,"cg_du":50.1907578,"cg_dv":46.5285721,"cg_dw":53.4714279,"cg_id_a":1.39003241,"cg_id_raw_a":1.18002689,"cg_iq_a":1.62462676,"cg_iq_raw_a":1.78358829,"cg_iu_a":0.944873214,"cg_iv_a":0.721542835,"cg_iw_a":-1.66641605,"cg_sample_age_us":23.9509087,"cg_sample_seq":1370817,"cg_sample_valid":1,"cg_theta_rad":2.0069747,"cg_vd_req_v":0.279010057,"cg_vd_v":0.279010057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.79743719,"cg_vq_v":-5.79743719,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":30.0617676,"temp_inv2_c":32.8070679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1.134942,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1.134951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1.134956,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1.436888,"values":{"Elec_RPM":-2347.52051,"EncoderCos":26347,"EncoderSin":52084,"GapTicks":51659,"Mech_RPM":-469.50412,"cg_du":46.9635887,"cg_dv":47.1400566,"cg_dw":53.0364113,"cg_id_a":0.0409713015,"cg_id_raw_a":-0.16403009,"cg_iq_a":-0.0600972623,"cg_iq_raw_a":-0.622831285,"cg_iu_a":-0.106198072,"cg_iv_a":1.91758943,"cg_iw_a":-1.81139135,"cg_sample_age_us":23.7690907,"cg_sample_seq":1372620,"cg_sample_valid":1,"cg_theta_rad":1.93437684,"cg_vd_req_v":0.315468282,"cg_vd_v":0.315468282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.76737881,"cg_vq_v":-5.76737881,"cg_vu_v":24.1940918,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.8761845,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.1077881,"temp_inv2_c":32.8026428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1.768919,"values":{"Elec_RPM":-2349.04224,"EncoderCos":18561,"EncoderSin":17962,"GapTicks":51442,"Mech_RPM":-469.808441,"cg_du":47.9564896,"cg_dv":53.2343636,"cg_dw":46.7656364,"cg_id_a":-0.529974699,"cg_id_raw_a":-0.576634943,"cg_iq_a":-1.4917841,"cg_iq_raw_a":-1.39135242,"cg_iu_a":0.111264944,"cg_iv_a":1.12022519,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9690914,"cg_sample_seq":1374216,"cg_sample_valid":1,"cg_theta_rad":3.95398927,"cg_vd_req_v":0.305892706,"cg_vd_v":0.305892706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.74530411,"cg_vq_v":-5.74530411,"cg_vu_v":37.830761,"cg_vv_v":53.666893,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.3552933,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.0847778,"temp_inv2_c":32.7996521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2.10095,"values":{"Elec_RPM":-2343.69092,"EncoderCos":17401,"EncoderSin":19196,"GapTicks":51195,"Mech_RPM":-468.73819,"cg_du":50.4045639,"cg_dv":53.4584122,"cg_dw":46.5415878,"cg_id_a":-0.261349112,"cg_id_raw_a":-0.964005172,"cg_iq_a":0.62683481,"cg_iq_raw_a":0.225180522,"cg_iu_a":-0.50488019,"cg_iv_a":-0.583235025,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8745461,"cg_sample_seq":1376016,"cg_sample_valid":1,"cg_theta_rad":3.87189269,"cg_vd_req_v":0.303486019,"cg_vd_v":0.303486019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.78469276,"cg_vq_v":-5.78469276,"cg_vu_v":35.6312981,"cg_vv_v":35.6312981,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.0617676,"temp_inv2_c":32.7847595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2.127644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2.127654,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2.127662,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2.434935,"values":{"Elec_RPM":-2343.64795,"EncoderCos":51267,"EncoderSin":24687,"GapTicks":51592,"Mech_RPM":-468.729584,"cg_du":53.0974197,"cg_dv":46.9025803,"cg_dw":52.6731567,"cg_id_a":-2.00424576,"cg_id_raw_a":-1.5947957,"cg_iq_a":0.350852132,"cg_iq_raw_a":-0.0677372962,"cg_iu_a":-2.67951035,"cg_iv_a":0.431592226,"cg_iw_a":2.24791813,"cg_sample_age_us":23.5872726,"cg_sample_seq":1377617,"cg_sample_valid":1,"cg_theta_rad":5.88918018,"cg_vd_req_v":0.330083728,"cg_vd_v":0.330083728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.77375126,"cg_vq_v":-5.77375126,"cg_vu_v":28.5930176,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2.786497,"values":{"Elec_RPM":-2337.64868,"EncoderCos":50658,"EncoderSin":23403,"GapTicks":51320,"Mech_RPM":-467.529755,"cg_du":51.3433914,"cg_dv":46.6549301,"cg_dw":53.3450699,"cg_id_a":0.333203673,"cg_id_raw_a":0.108679131,"cg_iq_a":-1.80715084,"cg_iq_raw_a":-1.48696911,"cg_iu_a":1.37979913,"cg_iv_a":-1.67055011,"cg_iw_a":0.29075098,"cg_sample_age_us":23.7763634,"cg_sample_seq":1379416,"cg_sample_valid":1,"cg_theta_rad":5.80961323,"cg_vd_req_v":0.282524675,"cg_vd_v":0.282524675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73140574,"cg_vq_v":-5.73140574,"cg_vu_v":28.5930176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.574379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":30.1077881,"temp_inv2_c":32.7788086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":3.118528,"values":{"Elec_RPM":-2333.67041,"EncoderCos":33203,"EncoderSin":53096,"GapTicks":51248,"Mech_RPM":-466.7341,"cg_du":46.5892448,"cg_dv":53.4107552,"cg_dw":49.016758,"cg_id_a":-0.556613743,"cg_id_raw_a":-0.414563954,"cg_iq_a":0.512248456,"cg_iq_raw_a":0.270728081,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065256,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.8963642,"cg_sample_seq":1381016,"cg_sample_valid":1,"cg_theta_rad":1.54870045,"cg_vd_req_v":0.315603554,"cg_vd_v":0.315603554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.76961565,"cg_vq_v":-5.76961565,"cg_vu_v":38.7105446,"cg_vv_v":64.6642075,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.224457,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":30.0617676,"temp_inv2_c":32.7832947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":3.151624,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":3.151631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":3.151634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":3.470091,"values":{"Elec_RPM":-2334.49634,"EncoderCos":16838,"EncoderSin":45532,"GapTicks":51322,"Mech_RPM":-466.899261,"cg_du":53.3427773,"cg_dv":51.3500214,"cg_dw":46.6572227,"cg_id_a":0.254756153,"cg_id_raw_a":0.80279088,"cg_iq_a":-1.72008896,"cg_iq_raw_a":-1.19268978,"cg_iu_a":2.43087029,"cg_iv_a":0.177885532,"cg_iw_a":-2.24631739,"cg_sample_age_us":26.8090916,"cg_sample_seq":1382721,"cg_sample_valid":1,"cg_theta_rad":2.50677323,"cg_vd_req_v":0.319032609,"cg_vd_v":0.319032609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.72720432,"cg_vq_v":-5.72720432,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.429550171,"dclink_p_w":-62.1665001,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":30.0617676,"temp_inv2_c":32.7713928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":3.804075,"values":{"Elec_RPM":-2337.89038,"EncoderCos":13403,"EncoderSin":26066,"GapTicks":51223,"Mech_RPM":-467.578064,"cg_du":53.4335213,"cg_dv":46.5664787,"cg_dw":49.6588173,"cg_id_a":1.22686982,"cg_id_raw_a":0.841653347,"cg_iq_a":-0.154525518,"cg_iq_raw_a":0.139254466,"cg_iu_a":0.437459469,"cg_iv_a":0.21412921,"cg_iw_a":-0.651588678,"cg_sample_age_us":24.0381813,"cg_sample_seq":1384417,"cg_sample_valid":1,"cg_theta_rad":3.47780323,"cg_vd_req_v":0.2815364,"cg_vd_v":0.2815364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.74041748,"cg_vq_v":-5.74041748,"cg_vu_v":110.413033,"cg_vv_v":109.533249,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7684021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"console","t":4.097522,"sequence":1370,"text":"> var set IqVar -200"}
{"type":"command","t":4.105277,"received_t":4.207142,"source":"ui","text":"var set IqVar -200","sent":true}
{"type":"console","t":4.105282,"sequence":1371,"text":"(sent)"}
{"type":"telemetry","t":4.136106,"values":{"Elec_RPM":-2332.69067,"EncoderCos":27249,"EncoderSin":13017,"GapTicks":51392,"Mech_RPM":-466.538116,"cg_du":48.1948509,"cg_dv":46.7200966,"cg_dw":53.2799034,"cg_id_a":-0.893541336,"cg_id_raw_a":-1.84754908,"cg_iq_a":-0.447544098,"cg_iq_raw_a":-0.0523385517,"cg_iu_a":-0.976050138,"cg_iv_a":-0.365772009,"cg_iw_a":0.943139791,"cg_sample_age_us":23.8272724,"cg_sample_seq":1386116,"cg_sample_valid":1,"cg_theta_rad":4.45150423,"cg_vd_req_v":0.302244395,"cg_vd_v":0.302244395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.76078081,"cg_vq_v":-5.76078081,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7654419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":4.143393,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":4.143404,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":4.14341,"signal":"fault_active_names","value":"none"}
{"type":"console","t":4.207138,"sequence":1372,"text":"[SHELL] IqVar = -200.0000"}
{"type":"telemetry","t":4.499388,"values":{"Elec_RPM":-2335.80103,"EncoderCos":16929,"EncoderSin":19722,"GapTicks":50795,"Mech_RPM":-467.160187,"cg_du":51.7975655,"cg_dv":53.8220024,"cg_dw":46.1779976,"cg_id_a":-1.3753655,"cg_id_raw_a":-0.635974169,"cg_iq_a":-10.5640335,"cg_iq_raw_a":-11.1211109,"cg_iu_a":1.37979913,"cg_iv_a":8.62269878,"cg_iw_a":-10.0024977,"cg_sample_age_us":23.9509087,"cg_sample_seq":1387966,"cg_sample_valid":1,"cg_theta_rad":3.83500385,"cg_vd_req_v":0.186493978,"cg_vd_v":0.186493978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-6.61574364,"cg_vq_v":-6.61574364,"cg_vu_v":8.35795879,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.784739733,"dclink_p_w":-113.57119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.7550354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":4.829466,"values":{"Elec_RPM":-2334.43384,"EncoderCos":50591,"EncoderSin":23253,"GapTicks":50219,"Mech_RPM":-466.88678,"cg_du":51.0057907,"cg_dv":45.6544495,"cg_dw":54.3455505,"cg_id_a":-2.41930461,"cg_id_raw_a":-1.50546932,"cg_iq_a":-28.3292675,"cg_iq_raw_a":-27.6285515,"cg_iu_a":6.12774134,"cg_iv_a":-27.3311825,"cg_iw_a":21.2034416,"cg_sample_age_us":23.7618179,"cg_sample_seq":1389567,"cg_sample_valid":1,"cg_theta_rad":5.80885506,"cg_vd_req_v":-0.0406302884,"cg_vd_v":-0.0406302884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.32644367,"cg_vq_v":-7.32644367,"cg_vu_v":137.686371,"cg_vv_v":133.727341,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.75244999,"dclink_p_w":-253.622726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.7371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":5.135174,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":5.13518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":5.135183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":5.182981,"values":{"Elec_RPM":-2338.14063,"EncoderCos":48638,"EncoderSin":20276,"GapTicks":50234,"Mech_RPM":-467.628143,"cg_du":45.6681366,"cg_dv":48.0233917,"cg_dw":54.3318634,"cg_id_a":1.19517493,"cg_id_raw_a":-1.3016932,"cg_iq_a":-48.4623146,"cg_iq_raw_a":-48.4660797,"cg_iu_a":-23.66469,"cg_iv_a":-24.9028454,"cg_iw_a":48.5675354,"cg_sample_age_us":23.9145451,"cg_sample_seq":1391367,"cg_sample_valid":1,"cg_theta_rad":5.63772249,"cg_vd_req_v":-0.376644671,"cg_vd_v":-0.376644671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.47664833,"cg_vq_v":-7.47664833,"cg_vu_v":112.612495,"cg_vv_v":120.970459,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-2.94849658,"dclink_p_w":-425.423126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":5.515013,"values":{"Elec_RPM":-2333.4873,"EncoderCos":38914,"EncoderSin":52025,"GapTicks":50276,"Mech_RPM":-466.697449,"cg_du":54.2937126,"cg_dv":52.8708763,"cg_dw":45.7062874,"cg_id_a":3.97650051,"cg_id_raw_a":1.40297151,"cg_iq_a":-60.5915031,"cg_iq_raw_a":-60.6238861,"cg_iu_a":21.7850761,"cg_iv_a":38.0164452,"cg_iw_a":-59.8015213,"cg_sample_age_us":23.8672733,"cg_sample_seq":1392967,"cg_sample_valid":1,"cg_theta_rad":1.26295233,"cg_vd_req_v":-0.561472476,"cg_vd_v":-0.561472476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.67093277,"cg_vq_v":-7.67093277,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-4.12098503,"dclink_p_w":-596.408142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7431335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":5.847044,"values":{"Elec_RPM":-2332.61328,"EncoderCos":43136,"EncoderSin":50107,"GapTicks":49996,"Mech_RPM":-466.522675,"cg_du":54.5489998,"cg_dv":45.4510002,"cg_dw":47.9832153,"cg_id_a":1.74429727,"cg_id_raw_a":-1.40154195,"cg_iq_a":-78.1520233,"cg_iq_raw_a":-78.6536636,"cg_iu_a":78.4704285,"cg_iv_a":-36.2109184,"cg_iw_a":-42.25951,"cg_sample_age_us":23.9254551,"cg_sample_seq":1394766,"cg_sample_valid":1,"cg_theta_rad":1.03424084,"cg_vd_req_v":-0.741158724,"cg_vd_v":-0.741158724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.812006,"cg_vq_v":-7.812006,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-4.91472435,"dclink_p_w":-711.281799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7252808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":6.159263,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":6.159269,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":6.159272,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":6.198606,"values":{"Elec_RPM":-2337.79272,"EncoderCos":13241,"EncoderSin":38841,"GapTicks":49849,"Mech_RPM":-467.558533,"cg_du":45.3175774,"cg_dv":54.6824226,"cg_dw":48.9851913,"cg_id_a":-7.63141918,"cg_id_raw_a":-4.92867184,"cg_iq_a":-95.4935532,"cg_iq_raw_a":-95.4074554,"cg_iu_a":-90.6795349,"cg_iv_a":70.4546738,"cg_iw_a":20.2248611,"cg_sample_age_us":23.9363632,"cg_sample_seq":1396370,"cg_sample_valid":1,"cg_theta_rad":2.88300991,"cg_vd_req_v":-0.667049348,"cg_vd_v":-0.667049348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.85772371,"cg_vq_v":-7.85772371,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-8.5010519,"dclink_p_w":-1226.57227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7431335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":6.532591,"values":{"Elec_RPM":-2337.21533,"EncoderCos":15706,"EncoderSin":44007,"GapTicks":50312,"Mech_RPM":-467.443054,"cg_du":54.2610741,"cg_dv":53.9280243,"cg_dw":45.7389259,"cg_id_a":11.0782061,"cg_id_raw_a":11.7346344,"cg_iq_a":-114.04158,"cg_iq_raw_a":-112.564468,"cg_iu_a":16.6384525,"cg_iv_a":89.228981,"cg_iw_a":-105.867432,"cg_sample_age_us":23.7945461,"cg_sample_seq":1398167,"cg_sample_valid":1,"cg_theta_rad":2.56393003,"cg_vd_req_v":-1.2508955,"cg_vd_v":-1.2508955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.94416809,"cg_vq_v":-7.94416809,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-9.08457756,"dclink_p_w":-1314.76233,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":29.9697571,"temp_inv2_c":32.7119141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":6.866575,"values":{"Elec_RPM":-2338.73999,"EncoderCos":25060,"EncoderSin":13843,"GapTicks":49623,"Mech_RPM":-467.748016,"cg_du":45.1125946,"cg_dv":50.1294212,"cg_dw":54.8874054,"cg_id_a":-10.8049078,"cg_id_raw_a":-9.6448946,"cg_iq_a":-129.705383,"cg_iq_raw_a":-128.399673,"cg_iu_a":-99.0518646,"cg_iv_a":-22.9094391,"cg_iw_a":121.961304,"cg_sample_age_us":23.8345451,"cg_sample_seq":1399767,"cg_sample_valid":1,"cg_theta_rad":4.34061337,"cg_vd_req_v":-1.0189929,"cg_vd_v":-1.0189929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.07964706,"cg_vq_v":-8.07964706,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-10.4056654,"dclink_p_w":-1505.9563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":29.9697571,"temp_inv2_c":32.717865,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":7.151099,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":7.151105,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":7.151128,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":7.218138,"values":{"Elec_RPM":-2339.99731,"EncoderCos":18658,"EncoderSin":17745,"GapTicks":49644,"Mech_RPM":-467.999451,"cg_du":48.3580742,"cg_dv":54.8684998,"cg_dw":45.1315002,"cg_id_a":-5.43196869,"cg_id_raw_a":-9.26099682,"cg_iq_a":-147.39978,"cg_iq_raw_a":-147.320724,"cg_iu_a":-69.0419693,"cg_iv_a":147.545319,"cg_iw_a":-78.5033493,"cg_sample_age_us":23.8709087,"cg_sample_seq":1401566,"cg_sample_valid":1,"cg_theta_rad":3.96949887,"cg_vd_req_v":-1.30731905,"cg_vd_v":-1.30731905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.18498039,"cg_vq_v":-8.18498039,"cg_vu_v":37.830761,"cg_vv_v":43.1094704,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-12.5802956,"dclink_p_w":-1820.67896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.72229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":7.550169,"values":{"Elec_RPM":-2346.17334,"EncoderCos":49309,"EncoderSin":21145,"GapTicks":49791,"Mech_RPM":-469.23468,"cg_du":45.2648087,"cg_dv":47.0464592,"cg_dw":54.7351913,"cg_id_a":14.6379251,"cg_id_raw_a":12.6800766,"cg_iq_a":-164.866089,"cg_iq_raw_a":-160.332123,"cg_iu_a":-37.5460777,"cg_iv_a":-123.051147,"cg_iw_a":160.597229,"cg_sample_age_us":23.954546,"cg_sample_seq":1403167,"cg_sample_valid":1,"cg_theta_rad":5.68894339,"cg_vd_req_v":-1.93674541,"cg_vd_v":-1.93674541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.18459511,"cg_vq_v":-8.18459511,"cg_vu_v":106.014107,"cg_vv_v":99.4157181,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-13.0695868,"dclink_p_w":-1885.74219,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":29.9927368,"temp_inv2_c":32.7104187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":7.884153,"values":{"Elec_RPM":-2340.82861,"EncoderCos":52896,"EncoderSin":32921,"GapTicks":49666,"Mech_RPM":-468.16571,"cg_du":54.8490143,"cg_dv":52.4598846,"cg_dw":45.1509857,"cg_id_a":5.41199017,"cg_id_raw_a":2.86235547,"cg_iq_a":-186.093231,"cg_iq_raw_a":-184.462082,"cg_iu_a":60.9646606,"cg_iv_a":119.492584,"cg_iw_a":-180.457245,"cg_sample_age_us":23.5145454,"cg_sample_seq":1404867,"cg_sample_valid":1,"cg_theta_rad":0.0200772695,"cg_vd_req_v":-1.89089084,"cg_vd_v":-1.89089084,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22933578,"cg_vq_v":-8.22933578,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-14.3888626,"dclink_p_w":-2082.4231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7193298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":8.142586,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":8.142599,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":8.142606,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":8.253294,"values":{"Elec_RPM":-2347.33789,"EncoderCos":49159,"EncoderSin":44586,"GapTicks":49366,"Mech_RPM":-469.46759,"cg_du":44.8785629,"cg_dv":48.326149,"cg_dw":55.1214371,"cg_id_a":4.68134594,"cg_id_raw_a":-1.52953517,"cg_iq_a":-193.744827,"cg_iq_raw_a":-193.217316,"cg_iu_a":-68.2808533,"cg_iv_a":-126.711761,"cg_iw_a":194.992615,"cg_sample_age_us":23.5036373,"cg_sample_seq":1406566,"cg_sample_valid":1,"cg_theta_rad":0.640135586,"cg_vd_req_v":-2.01767039,"cg_vd_v":-2.01767039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47272873,"cg_vq_v":-8.47272873,"cg_vu_v":102.055069,"cg_vv_v":93.2572174,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.2173634,"dclink_p_w":-2347.05225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":29.9467773,"temp_inv2_c":32.7490845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":8.772825,"values":{"Elec_RPM":-2345.4397,"EncoderCos":30710,"EncoderSin":12461,"GapTicks":49452,"Mech_RPM":-469.087921,"cg_du":52.2867241,"cg_dv":44.9571457,"cg_dw":55.0428543,"cg_id_a":10.3138456,"cg_id_raw_a":8.34876442,"cg_iq_a":-199.168152,"cg_iq_raw_a":-198.848785,"cg_iu_a":134.503387,"cg_iv_a":-195.828751,"cg_iw_a":76.6565094,"cg_sample_age_us":23.6890907,"cg_sample_seq":1409116,"cg_sample_valid":1,"cg_theta_rad":4.62485456,"cg_vd_req_v":-2.13537765,"cg_vd_v":-2.13537765,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41823578,"cg_vq_v":-8.41823578,"cg_vu_v":25.0738773,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2470.65405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":29.9697571,"temp_inv2_c":32.7297363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":9.007454,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":9.007463,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":9.007469,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":9.103314,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":9.10332,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":9.103325,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":9.229856,"values":{"Elec_RPM":-2337.91235,"EncoderCos":12928,"EncoderSin":37842,"GapTicks":49324,"Mech_RPM":-467.582489,"cg_du":44.8408051,"cg_dv":55.1591949,"cg_dw":50.2390633,"cg_id_a":-10.5751991,"cg_id_raw_a":-9.57307911,"cg_iq_a":-195.759338,"cg_iq_raw_a":-196.167389,"cg_iu_a":-193.068359,"cg_iv_a":128.444809,"cg_iw_a":64.6235504,"cg_sample_age_us":23.9363632,"cg_sample_seq":1411616,"cg_sample_valid":1,"cg_theta_rad":2.89345956,"cg_vd_req_v":-1.63535297,"cg_vd_v":-1.63535297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49504375,"cg_vq_v":-8.49504375,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.4750252,"dclink_p_w":-2536.75415,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":29.9927368,"temp_inv2_c":32.7356873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":9.561888,"values":{"Elec_RPM":-2341.05566,"EncoderCos":19025,"EncoderSin":17436,"GapTicks":49467,"Mech_RPM":-468.211151,"cg_du":47.9271774,"cg_dv":55.0296783,"cg_dw":44.9703217,"cg_id_a":4.23806953,"cg_id_raw_a":-0.937586784,"cg_iq_a":-201.655014,"cg_iq_raw_a":-201.058304,"cg_iu_a":-124.060112,"cg_iv_a":200.606293,"cg_iw_a":-76.5461807,"cg_sample_age_us":23.9763641,"cg_sample_seq":1413267,"cg_sample_valid":1,"cg_theta_rad":3.99107194,"cg_vd_req_v":-2.00148773,"cg_vd_v":-2.00148773,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3779068,"cg_vq_v":-8.3779068,"cg_vu_v":113.932175,"cg_vv_v":142.525192,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2480.06714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.7342224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":9.893919,"values":{"Elec_RPM":-2345.07788,"EncoderCos":29570,"EncoderSin":12584,"GapTicks":49284,"Mech_RPM":-469.015594,"cg_du":50.2664795,"cg_dv":44.8042603,"cg_dw":55.1957397,"cg_id_a":-12.9358988,"cg_id_raw_a":-16.8034706,"cg_iq_a":-195.378021,"cg_iq_raw_a":-194.782928,"cg_iu_a":63.1392899,"cg_iv_a":-190.899597,"cg_iw_a":127.760307,"cg_sample_age_us":23.772728,"cg_sample_seq":1414967,"cg_sample_valid":1,"cg_theta_rad":4.57148552,"cg_vd_req_v":-1.65601218,"cg_vd_v":-1.65601218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52728653,"cg_vq_v":-8.52728653,"cg_vu_v":127.12896,"cg_vv_v":124.929489,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2517.26489,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":29.9927368,"temp_inv2_c":32.7445984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":10.127271,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":10.127277,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":10.127282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":10.247435,"values":{"Elec_RPM":-2344.42529,"EncoderCos":30441,"EncoderSin":12478,"GapTicks":49386,"Mech_RPM":-468.885071,"cg_du":51.8611832,"cg_dv":44.8970108,"cg_dw":55.1029892,"cg_id_a":3.37232876,"cg_id_raw_a":-2.247329,"cg_iq_a":-196.201813,"cg_iq_raw_a":-196.285095,"cg_iu_a":113.663193,"cg_iv_a":-195.9375,"cg_iw_a":92.2775955,"cg_sample_age_us":23.7472725,"cg_sample_seq":1416717,"cg_sample_valid":1,"cg_theta_rad":4.60988617,"cg_vd_req_v":-1.99079847,"cg_vd_v":-1.99079847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48436928,"cg_vq_v":-8.48436928,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2445.03003,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":29.9927368,"temp_inv2_c":32.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":10.579466,"values":{"Elec_RPM":-2347.93311,"EncoderCos":52884,"EncoderSin":32225,"GapTicks":49371,"Mech_RPM":-469.586609,"cg_du":55.1172028,"cg_dv":51.0659103,"cg_dw":44.8827972,"cg_id_a":-4.20363665,"cg_id_raw_a":-5.36785555,"cg_iq_a":-201.710464,"cg_iq_raw_a":-199.78418,"cg_iu_a":107.537987,"cg_iv_a":98.3624344,"cg_iw_a":-205.900421,"cg_sample_age_us":23.9981823,"cg_sample_seq":1418316,"cg_sample_valid":1,"cg_theta_rad":6.27153349,"cg_vd_req_v":-1.87470686,"cg_vd_v":-1.87470686,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37984371,"cg_vq_v":-8.37984371,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.3771667,"dclink_p_w":-2514.90454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":30.0157471,"temp_inv2_c":32.7847595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":10.932981,"values":{"Elec_RPM":-2348.62549,"EncoderCos":49731,"EncoderSin":21732,"GapTicks":49998,"Mech_RPM":-469.725098,"cg_du":45.4530869,"cg_dv":45.8498459,"cg_dw":54.5469131,"cg_id_a":16.6526871,"cg_id_raw_a":17.9830532,"cg_iq_a":-208.151108,"cg_iq_raw_a":-207.193466,"cg_iu_a":5.40286446,"cg_iv_a":-176.402054,"cg_iw_a":178.066742,"cg_sample_age_us":23.8309097,"cg_sample_seq":1420121,"cg_sample_valid":1,"cg_theta_rad":5.76583338,"cg_vd_req_v":-2.2891016,"cg_vd_v":-2.2891016,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25125313,"cg_vq_v":-8.25125313,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2469.6084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.7996521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":11.119168,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":11.119174,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":11.119179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":11.26306,"values":{"Elec_RPM":-2344.63013,"EncoderCos":41334,"EncoderSin":51056,"GapTicks":49841,"Mech_RPM":-468.926025,"cg_du":54.689415,"cg_dv":46.2191811,"cg_dw":45.310585,"cg_id_a":6.17180443,"cg_id_raw_a":10.1203861,"cg_iq_a":-200.483032,"cg_iq_raw_a":-200.33783,"cg_iu_a":175.313965,"cg_iv_a":-7.97698975,"cg_iw_a":-167.336975,"cg_sample_age_us":24.0636368,"cg_sample_seq":1421717,"cg_sample_valid":1,"cg_theta_rad":1.13492775,"cg_vd_req_v":-2.00253582,"cg_vd_v":-2.00253582,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38190079,"cg_vq_v":-8.38190079,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4043484,"dclink_p_w":-2511.18213,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":30.0387573,"temp_inv2_c":32.8190002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":11.597044,"values":{"Elec_RPM":-2345.09619,"EncoderCos":48893,"EncoderSin":44900,"GapTicks":49504,"Mech_RPM":-469.019226,"cg_du":45.0040627,"cg_dv":47.6351433,"cg_dw":54.9959373,"cg_id_a":11.7905655,"cg_id_raw_a":8.80125141,"cg_iq_a":-200.122086,"cg_iq_raw_a":-199.918335,"cg_iu_a":-59.7635498,"cg_iv_a":-138.237305,"cg_iw_a":198.000854,"cg_sample_age_us":23.5327282,"cg_sample_seq":1423516,"cg_sample_valid":1,"cg_theta_rad":0.650327682,"cg_vd_req_v":-2.17633963,"cg_vd_v":-2.17633963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3769722,"cg_vq_v":-8.3769722,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.6417465,"dclink_p_w":-2553.1958,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":30.0847778,"temp_inv2_c":32.8383484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":11.929075,"values":{"Elec_RPM":-2344.23926,"EncoderCos":19312,"EncoderSin":48038,"GapTicks":49323,"Mech_RPM":-468.84787,"cg_du":55.1605873,"cg_dv":44.8394127,"cg_dw":48.7320213,"cg_id_a":-2.03102112,"cg_id_raw_a":-6.26525927,"cg_iq_a":-196.563568,"cg_iq_raw_a":-196.710938,"cg_iu_a":197.386444,"cg_iv_a":-95.1433868,"cg_iw_a":-102.243057,"cg_sample_age_us":23.994545,"cg_sample_seq":1425116,"cg_sample_valid":1,"cg_theta_rad":2.2941494,"cg_vd_req_v":-1.88357413,"cg_vd_v":-1.88357413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50429153,"cg_vq_v":-8.50429153,"cg_vu_v":5.71860361,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2464.14771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":30.0847778,"temp_inv2_c":32.84729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":12.142698,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":12.142703,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":12.142709,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":12.280638,"values":{"Elec_RPM":-2346.75024,"EncoderCos":28420,"EncoderSin":52665,"GapTicks":49554,"Mech_RPM":-469.350067,"cg_du":45.0491257,"cg_dv":52.6118584,"cg_dw":54.9508743,"cg_id_a":-2.68170452,"cg_id_raw_a":3.00963593,"cg_iq_a":-200.798004,"cg_iq_raw_a":-200.918793,"cg_iu_a":-170.017288,"cg_iv_a":-2.90284729,"cg_iw_a":172.920135,"cg_sample_age_us":23.8563633,"cg_sample_seq":1426917,"cg_sample_valid":1,"cg_theta_rad":1.78471947,"cg_vd_req_v":-1.79825759,"cg_vd_v":-1.79825759,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43296337,"cg_vq_v":-8.43296337,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2411.30811,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.1308289,"temp_inv2_c":32.8800354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":12.614622,"values":{"Elec_RPM":-2350.06079,"EncoderCos":13135,"EncoderSin":26977,"GapTicks":49932,"Mech_RPM":-470.012146,"cg_du":54.6069031,"cg_dv":45.3930969,"cg_dw":54.092411,"cg_id_a":12.5792465,"cg_id_raw_a":15.7893848,"cg_iq_a":-202.412506,"cg_iq_raw_a":-202.225067,"cg_iu_a":170.348557,"cg_iv_a":-181.113754,"cg_iw_a":10.9464264,"cg_sample_age_us":24.0309086,"cg_sample_seq":1428517,"cg_sample_valid":1,"cg_theta_rad":3.43210816,"cg_vd_req_v":-2.12175369,"cg_vd_v":-2.12175369,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36093426,"cg_vq_v":-8.36093426,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2478.76001,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.1308289,"temp_inv2_c":32.8740845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":12.966185,"values":{"Elec_RPM":-2350.68726,"EncoderCos":18683,"EncoderSin":17733,"GapTicks":49388,"Mech_RPM":-470.137451,"cg_du":48.6595612,"cg_dv":55.1014061,"cg_dw":44.8985939,"cg_id_a":-7.15211058,"cg_id_raw_a":-10.8217096,"cg_iq_a":-200.903244,"cg_iq_raw_a":-200.232483,"cg_iu_a":-144.646606,"cg_iv_a":198.794098,"cg_iw_a":-54.1474915,"cg_sample_age_us":23.8854542,"cg_sample_seq":1430221,"cg_sample_valid":1,"cg_theta_rad":4.00995064,"cg_vd_req_v":-1.76093733,"cg_vd_v":-1.76093733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41418743,"cg_vq_v":-8.41418743,"cg_vu_v":138.126266,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.1769104,"temp_inv2_c":32.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":13.135346,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":13.135353,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":13.135359,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":13.300169,"values":{"Elec_RPM":-2349.36963,"EncoderCos":20196,"EncoderSin":16485,"GapTicks":49863,"Mech_RPM":-469.873901,"cg_du":45.3308029,"cg_dv":54.6691971,"cg_dw":46.1008797,"cg_id_a":9.55135822,"cg_id_raw_a":16.0441017,"cg_iq_a":-201.002014,"cg_iq_raw_a":-201.152664,"cg_iu_a":-169.691101,"cg_iv_a":176.322937,"cg_iw_a":-6.63182831,"cg_sample_age_us":23.9654541,"cg_sample_seq":1431966,"cg_sample_valid":1,"cg_theta_rad":4.06612396,"cg_vd_req_v":-2.05691624,"cg_vd_v":-2.05691624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41465187,"cg_vq_v":-8.41465187,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2506.23853,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":30.1769104,"temp_inv2_c":32.9829102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":13.6322,"values":{"Elec_RPM":-2355.12305,"EncoderCos":31093,"EncoderSin":12426,"GapTicks":49594,"Mech_RPM":-471.024628,"cg_du":52.9982758,"cg_dv":45.0860748,"cg_dw":54.9139252,"cg_id_a":16.943058,"cg_id_raw_a":13.975338,"cg_iq_a":-198.42395,"cg_iq_raw_a":-197.006134,"cg_iu_a":150.88562,"cg_iv_a":-189.232391,"cg_iw_a":38.3467712,"cg_sample_age_us":23.6527271,"cg_sample_seq":1433666,"cg_sample_valid":1,"cg_theta_rad":4.64466667,"cg_vd_req_v":-2.24209547,"cg_vd_v":-2.24209547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41283417,"cg_vq_v":-8.41283417,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":30.2230225,"temp_inv2_c":32.9993286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":13.983763,"values":{"Elec_RPM":-2351.94531,"EncoderCos":42040,"EncoderSin":14616,"GapTicks":49362,"Mech_RPM":-470.389069,"cg_du":49.4626198,"cg_dv":55.1252251,"cg_dw":44.8747749,"cg_id_a":-19.6985016,"cg_id_raw_a":-21.5402889,"cg_iq_a":-199.814575,"cg_iq_raw_a":-198.882843,"cg_iu_a":-62.7717857,"cg_iv_a":196.402008,"cg_iw_a":-133.630219,"cg_sample_age_us":23.9509087,"cg_sample_seq":1435367,"cg_sample_valid":1,"cg_theta_rad":5.20068598,"cg_vd_req_v":-1.57123971,"cg_vd_v":-1.57123971,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40901375,"cg_vq_v":-8.40901375,"cg_vu_v":105.134323,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":30.2460632,"temp_inv2_c":33.0202026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":14.158683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":14.158689,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":14.158695,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":14.317747,"values":{"Elec_RPM":-2344.20386,"EncoderCos":50390,"EncoderSin":22840,"GapTicks":49391,"Mech_RPM":-468.840759,"cg_du":48.4410324,"cg_dv":44.9009552,"cg_dw":55.0990448,"cg_id_a":-11.7160788,"cg_id_raw_a":-10.4459,"cg_iq_a":-199.794327,"cg_iq_raw_a":-200.632324,"cg_iu_a":22.4737091,"cg_iv_a":-180.171432,"cg_iw_a":167.01239,"cg_sample_age_us":23.7509098,"cg_sample_seq":1437067,"cg_sample_valid":1,"cg_theta_rad":5.78533649,"cg_vd_req_v":-1.71415401,"cg_vd_v":-1.71415401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45461273,"cg_vq_v":-8.45461273,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.2922058,"temp_inv2_c":33.048584,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":14.66931,"values":{"Elec_RPM":-2346.55688,"EncoderCos":52904,"EncoderSin":33316,"GapTicks":49713,"Mech_RPM":-469.311371,"cg_du":54.8060989,"cg_dv":53.0690155,"cg_dw":45.1939011,"cg_id_a":9.45123672,"cg_id_raw_a":6.04857349,"cg_iq_a":-203.749924,"cg_iq_raw_a":-200.971298,"cg_iu_a":9.49841785,"cg_iv_a":170.052734,"cg_iw_a":-179.551147,"cg_sample_age_us":26.3799992,"cg_sample_seq":1438771,"cg_sample_valid":1,"cg_theta_rad":0.0819386765,"cg_vd_req_v":-2.12624764,"cg_vd_v":-2.12624764,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31868362,"cg_vq_v":-8.31868362,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2548.99927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.3614807,"temp_inv2_c":33.0799255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":15.001341,"values":{"Elec_RPM":-2349.02051,"EncoderCos":29561,"EncoderSin":52827,"GapTicks":49781,"Mech_RPM":-469.804077,"cg_du":45.256012,"cg_dv":54.743988,"cg_dw":53.7500534,"cg_id_a":13.7402821,"cg_id_raw_a":10.9142485,"cg_iq_a":-200.722931,"cg_iq_raw_a":-198.982864,"cg_iu_a":-186.50824,"cg_iv_a":28.7017822,"cg_iw_a":157.806458,"cg_sample_age_us":23.8890915,"cg_sample_seq":1440367,"cg_sample_valid":1,"cg_theta_rad":1.7302953,"cg_vd_req_v":-2.15249252,"cg_vd_v":-2.15249252,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41711426,"cg_vq_v":-8.41711426,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":30.4076843,"temp_inv2_c":33.0679932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":15.151037,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":15.151043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":15.151047,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":15.335325,"values":{"Elec_RPM":-2348.47168,"EncoderCos":39339,"EncoderSin":51861,"GapTicks":49332,"Mech_RPM":-469.694336,"cg_du":55.1520653,"cg_dv":50.9708977,"cg_dw":44.8479347,"cg_id_a":-1.63328326,"cg_id_raw_a":-4.29243898,"cg_iq_a":-200.366638,"cg_iq_raw_a":-200.324051,"cg_iu_a":107.103058,"cg_iv_a":97.7825317,"cg_iw_a":-204.88559,"cg_sample_age_us":23.8854542,"cg_sample_seq":1442166,"cg_sample_valid":1,"cg_theta_rad":1.2416048,"cg_vd_req_v":-1.88836706,"cg_vd_v":-1.88836706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42525864,"cg_vq_v":-8.42525864,"cg_vu_v":129.768311,"cg_vv_v":142.965088,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2396.65771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":30.4307861,"temp_inv2_c":33.1995544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":15.686888,"values":{"Elec_RPM":-2348.78076,"EncoderCos":19146,"EncoderSin":47930,"GapTicks":49376,"Mech_RPM":-469.756165,"cg_du":55.1124687,"cg_dv":44.8875313,"cg_dw":48.4105835,"cg_id_a":2.61349487,"cg_id_raw_a":-6.62170744,"cg_iq_a":-197.018372,"cg_iq_raw_a":-196.267456,"cg_iu_a":189.231598,"cg_iv_a":-36.2471771,"cg_iw_a":-152.984421,"cg_sample_age_us":23.8999996,"cg_sample_seq":1443821,"cg_sample_valid":1,"cg_theta_rad":2.34731174,"cg_vd_req_v":-1.97359586,"cg_vd_v":-1.97359586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45282745,"cg_vq_v":-8.45282745,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2494.18652,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":30.4770203,"temp_inv2_c":33.1606445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":16.018919,"values":{"Elec_RPM":-2350.48022,"EncoderCos":17779,"EncoderSin":46592,"GapTicks":49782,"Mech_RPM":-470.096039,"cg_du":54.7432098,"cg_dv":46.525116,"cg_dw":45.2567902,"cg_id_a":4.78787231,"cg_id_raw_a":11.7751522,"cg_iq_a":-200.714722,"cg_iq_raw_a":-203.050827,"cg_iu_a":175.060242,"cg_iv_a":-3.48272705,"cg_iw_a":-171.577515,"cg_sample_age_us":23.994545,"cg_sample_seq":1445566,"cg_sample_valid":1,"cg_theta_rad":2.3967278,"cg_vd_req_v":-1.96424484,"cg_vd_v":-1.96424484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37928104,"cg_vq_v":-8.37928104,"cg_vu_v":17.1558094,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":30.5232849,"temp_inv2_c":33.2084961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":16.142934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":16.142958,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":16.142971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":16.35095,"values":{"Elec_RPM":-2355.35449,"EncoderCos":13641,"EncoderSin":25577,"GapTicks":49300,"Mech_RPM":-471.070892,"cg_du":55.1812325,"cg_dv":44.8187675,"cg_dw":50.3422356,"cg_id_a":-17.1999855,"cg_id_raw_a":-16.8096848,"cg_iq_a":-195.891495,"cg_iq_raw_a":-195.314636,"cg_iu_a":182.562729,"cg_iv_a":-154.184601,"cg_iw_a":-28.3781281,"cg_sample_age_us":23.9872723,"cg_sample_seq":1447216,"cg_sample_valid":1,"cg_theta_rad":3.49818492,"cg_vd_req_v":-1.54159057,"cg_vd_v":-1.54159057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5266037,"cg_vq_v":-8.5266037,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.5695496,"temp_inv2_c":33.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":16.704466,"values":{"Elec_RPM":-2355.97339,"EncoderCos":29644,"EncoderSin":12575,"GapTicks":49320,"Mech_RPM":-471.194672,"cg_du":50.3342171,"cg_dv":44.8368645,"cg_dw":55.1631355,"cg_id_a":-10.792098,"cg_id_raw_a":-12.8706999,"cg_iq_a":-195.967743,"cg_iq_raw_a":-195.205368,"cg_iu_a":133.307358,"cg_iv_a":-197.024811,"cg_iw_a":63.717453,"cg_sample_age_us":26.0309086,"cg_sample_seq":1448871,"cg_sample_valid":1,"cg_theta_rad":4.62650824,"cg_vd_req_v":-1.69665456,"cg_vd_v":-1.69665456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46598911,"cg_vq_v":-8.46598911,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-17.4369678,"dclink_p_w":-2515.88867,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.6390381,"temp_inv2_c":33.2773743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":17.034544,"values":{"Elec_RPM":-2349.43994,"EncoderCos":31500,"EncoderSin":12405,"GapTicks":49845,"Mech_RPM":-469.888,"cg_du":53.8031616,"cg_dv":45.3140259,"cg_dw":54.6859741,"cg_id_a":16.1644936,"cg_id_raw_a":11.6457243,"cg_iq_a":-202.163727,"cg_iq_raw_a":-200.989487,"cg_iu_a":161.867493,"cg_iv_a":-188.21756,"cg_iw_a":26.3500595,"cg_sample_age_us":23.6890907,"cg_sample_seq":1450616,"cg_sample_valid":1,"cg_theta_rad":4.66127157,"cg_vd_req_v":-2.23934507,"cg_vd_v":-2.23934507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35301971,"cg_vq_v":-8.35301971,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.2445469,"dclink_p_w":-2350.98633,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":30.6622009,"temp_inv2_c":33.2743835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":17.166787,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":17.166793,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":17.166798,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":17.368528,"values":{"Elec_RPM":-2352.83447,"EncoderCos":50358,"EncoderSin":22820,"GapTicks":49420,"Mech_RPM":-470.566895,"cg_du":48.368618,"cg_dv":44.9281311,"cg_dw":55.0718689,"cg_id_a":-11.2740908,"cg_id_raw_a":-11.0074863,"cg_iq_a":-199.841003,"cg_iq_raw_a":-201.158005,"cg_iu_a":17.9432316,"cg_iv_a":-180.207672,"cg_iw_a":168.317169,"cg_sample_age_us":23.8454552,"cg_sample_seq":1452266,"cg_sample_valid":1,"cg_theta_rad":5.780334,"cg_vd_req_v":-1.71738505,"cg_vd_v":-1.71738505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44790459,"cg_vq_v":-8.44790459,"cg_vu_v":14.9563465,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.5185165,"dclink_p_w":-2535.36133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":30.7085571,"temp_inv2_c":33.340332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":17.722044,"values":{"Elec_RPM":-2352.77612,"EncoderCos":43178,"EncoderSin":15280,"GapTicks":49591,"Mech_RPM":-470.555237,"cg_du":47.1870804,"cg_dv":54.9165039,"cg_dw":45.0834961,"cg_id_a":7.59187365,"cg_id_raw_a":3.79100299,"cg_iq_a":-202.483154,"cg_iq_raw_a":-201.338608,"cg_iu_a":-141.855835,"cg_iv_a":197.96051,"cg_iw_a":-56.1046677,"cg_sample_age_us":23.9654541,"cg_sample_seq":1454067,"cg_sample_valid":1,"cg_theta_rad":5.26744747,"cg_vd_req_v":-2.14217567,"cg_vd_v":-2.14217567,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38343239,"cg_vq_v":-8.38343239,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2448.16772,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":30.7781677,"temp_inv2_c":33.3763123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":18.054075,"values":{"Elec_RPM":-2349.65137,"EncoderCos":51004,"EncoderSin":24046,"GapTicks":49335,"Mech_RPM":-469.930267,"cg_du":51.1230049,"cg_dv":44.8506584,"cg_dw":55.1493416,"cg_id_a":1.80633473,"cg_id_raw_a":-2.5296514,"cg_iq_a":-196.627335,"cg_iq_raw_a":-195.75235,"cg_iu_a":102.536339,"cg_iv_a":-196.227448,"cg_iw_a":93.6911087,"cg_sample_age_us":23.6527271,"cg_sample_seq":1455767,"cg_sample_valid":1,"cg_theta_rad":5.85501909,"cg_vd_req_v":-2.00265479,"cg_vd_v":-2.00265479,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46591663,"cg_vq_v":-8.46591663,"cg_vu_v":106.014107,"cg_vv_v":86.2189407,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2430.71606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":30.8013916,"temp_inv2_c":33.3973083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":18.127617,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":18.127623,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":18.127629,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":18.497435,"values":{"Elec_RPM":-2349.08521,"EncoderCos":15605,"EncoderSin":21474,"GapTicks":49329,"Mech_RPM":-469.817047,"cg_du":55.155323,"cg_dv":50.1540756,"cg_dw":44.844677,"cg_id_a":-10.5015774,"cg_id_raw_a":-13.8484459,"cg_iq_a":-198.923477,"cg_iq_raw_a":-194.333084,"cg_iu_a":129.900436,"cg_iv_a":65.4167938,"cg_iw_a":-195.31723,"cg_sample_age_us":24.045454,"cg_sample_seq":1457717,"cg_sample_valid":1,"cg_theta_rad":3.7338798,"cg_vd_req_v":-1.67957342,"cg_vd_v":-1.67957342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4245491,"cg_vq_v":-8.4245491,"cg_vu_v":105.134323,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":30.8710632,"temp_inv2_c":33.4408569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":19.016966,"values":{"Elec_RPM":-2353.95239,"EncoderCos":52618,"EncoderSin":29395,"GapTicks":49820,"Mech_RPM":-470.790497,"cg_du":54.7087212,"cg_dv":45.2912788,"cg_dw":46.3167686,"cg_id_a":15.4452724,"cg_id_raw_a":17.0875168,"cg_iq_a":-204.949707,"cg_iq_raw_a":-203.528519,"cg_iu_a":189.521545,"cg_iv_a":-30.2669373,"cg_iw_a":-159.254608,"cg_sample_age_us":24.1327267,"cg_sample_seq":1460417,"cg_sample_valid":1,"cg_theta_rad":6.13313627,"cg_vd_req_v":-2.24062443,"cg_vd_v":-2.24062443,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31117821,"cg_vq_v":-8.31117821,"cg_vu_v":30.7924805,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.0868855,"dclink_p_w":-2321.09229,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":30.9640198,"temp_inv2_c":33.5144348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":19.023171,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":19.023186,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":19.02319,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":19.150667,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":19.150673,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":19.150678,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":19.380247,"values":{"Elec_RPM":-2351.3186,"EncoderCos":40001,"EncoderSin":13672,"GapTicks":50023,"Mech_RPM":-470.263733,"cg_du":54.5242958,"cg_dv":54.2014961,"cg_dw":45.4757042,"cg_id_a":8.68390751,"cg_id_raw_a":7.12522221,"cg_iq_a":-205.002914,"cg_iq_raw_a":-205.491287,"cg_iu_a":23.3435631,"cg_iv_a":163.383881,"cg_iw_a":-186.727448,"cg_sample_age_us":23.8563633,"cg_sample_seq":1462267,"cg_sample_valid":1,"cg_theta_rad":5.09231615,"cg_vd_req_v":-2.09700489,"cg_vd_v":-2.09700489,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29174519,"cg_vq_v":-8.29174519,"cg_vu_v":139.885834,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2506.73755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.0105591,"temp_inv2_c":33.5505371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":19.73181,"values":{"Elec_RPM":-2350.3562,"EncoderCos":30329,"EncoderSin":12520,"GapTicks":49392,"Mech_RPM":-470.071259,"cg_du":51.5903931,"cg_dv":44.9024811,"cg_dw":55.0975189,"cg_id_a":2.87164402,"cg_id_raw_a":-2.35903955,"cg_iq_a":-197.985474,"cg_iq_raw_a":-198.43959,"cg_iu_a":98.2958069,"cg_iv_a":-197.930893,"cg_iw_a":99.6350861,"cg_sample_age_us":23.6599998,"cg_sample_seq":1464066,"cg_sample_valid":1,"cg_theta_rad":4.59931326,"cg_vd_req_v":-1.98148322,"cg_vd_v":-1.98148322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42589569,"cg_vq_v":-8.42589569,"cg_vu_v":11.4372072,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.1847439,"dclink_p_w":-2335.21191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.0804138,"temp_inv2_c":33.5565186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":20.065794,"values":{"Elec_RPM":-2345.92334,"EncoderCos":49686,"EncoderSin":21677,"GapTicks":49943,"Mech_RPM":-469.184692,"cg_du":45.4034805,"cg_dv":45.9826698,"cg_dw":54.5965195,"cg_id_a":17.0319061,"cg_id_raw_a":20.40905,"cg_iq_a":-207.25563,"cg_iq_raw_a":-206.728943,"cg_iu_a":-9.16715622,"cg_iv_a":-174.263687,"cg_iw_a":183.430847,"cg_sample_age_us":23.9218178,"cg_sample_seq":1465716,"cg_sample_valid":1,"cg_theta_rad":5.73151731,"cg_vd_req_v":-2.3035388,"cg_vd_v":-2.3035388,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28984165,"cg_vq_v":-8.28984165,"cg_vu_v":103.374756,"cg_vv_v":81.820015,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-15.9545956,"dclink_p_w":-2309.02344,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.1503296,"temp_inv2_c":33.6121826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":20.143335,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":20.143341,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":20.143347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":20.397825,"values":{"Elec_RPM":-2340.31641,"EncoderCos":42290,"EncoderSin":14776,"GapTicks":49364,"Mech_RPM":-468.063293,"cg_du":48.9806824,"cg_dv":55.1236267,"cg_dw":44.8763733,"cg_id_a":-11.6991062,"cg_id_raw_a":-15.1064405,"cg_iq_a":-200.676788,"cg_iq_raw_a":-200.157547,"cg_iu_a":-84.5180817,"cg_iv_a":200.570038,"cg_iw_a":-116.051956,"cg_sample_age_us":23.9836369,"cg_sample_seq":1467516,"cg_sample_valid":1,"cg_theta_rad":5.21779633,"cg_vd_req_v":-1.74041843,"cg_vd_v":-1.74041843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41426849,"cg_vq_v":-8.41426849,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":31.1736145,"temp_inv2_c":33.6377869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":20.749388,"values":{"Elec_RPM":-2347.91528,"EncoderCos":52846,"EncoderSin":33619,"GapTicks":49885,"Mech_RPM":-469.583038,"cg_du":54.6499748,"cg_dv":53.7143555,"cg_dw":45.3500252,"cg_id_a":9.54378319,"cg_id_raw_a":9.67347527,"cg_iq_a":-204.642517,"cg_iq_raw_a":-205.187805,"cg_iu_a":31.3534508,"cg_iv_a":151.749603,"cg_iw_a":-194.846054,"cg_sample_age_us":23.4927273,"cg_sample_seq":1469166,"cg_sample_valid":1,"cg_theta_rad":0.0543954298,"cg_vd_req_v":-2.12009501,"cg_vd_v":-2.12009501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29051971,"cg_vq_v":-8.29051971,"cg_vu_v":40.4701157,"cg_vv_v":53.666893,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":31.2436218,"temp_inv2_c":33.6423035,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":21.083372,"values":{"Elec_RPM":-2357.40649,"EncoderCos":49284,"EncoderSin":44423,"GapTicks":49355,"Mech_RPM":-471.481293,"cg_du":44.868576,"cg_dv":48.6787834,"cg_dw":55.131424,"cg_id_a":-2.57327724,"cg_id_raw_a":-6.64504957,"cg_iq_a":-197.701279,"cg_iq_raw_a":-197.966141,"cg_iu_a":-95.1012878,"cg_iv_a":-101.196121,"cg_iw_a":196.297409,"cg_sample_age_us":23.5363636,"cg_sample_seq":1470867,"cg_sample_valid":1,"cg_theta_rad":0.620506287,"cg_vd_req_v":-1.90963769,"cg_vd_v":-1.90963769,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45660686,"cg_vq_v":-8.45660686,"cg_vu_v":101.615181,"cg_vv_v":95.8965836,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":31.3136597,"temp_inv2_c":33.7131042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":21.134854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":21.13486,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":21.134866,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":21.415403,"values":{"Elec_RPM":-2350.57104,"EncoderCos":40198,"EncoderSin":51540,"GapTicks":49307,"Mech_RPM":-470.114197,"cg_du":55.1753883,"cg_dv":49.2159882,"cg_dw":44.8246117,"cg_id_a":-12.8662004,"cg_id_raw_a":-13.4671602,"cg_iq_a":-195.228363,"cg_iq_raw_a":-194.030136,"cg_iu_a":147.406204,"cg_iv_a":35.6968536,"cg_iw_a":-182.450668,"cg_sample_age_us":23.9509087,"cg_sample_seq":1472567,"cg_sample_valid":1,"cg_theta_rad":1.19263399,"cg_vd_req_v":-1.63999569,"cg_vd_v":-1.63999569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52549458,"cg_vq_v":-8.52549458,"cg_vu_v":106.014107,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2385.34351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.3603821,"temp_inv2_c":33.6965332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":21.768919,"values":{"Elec_RPM":-2348.4436,"EncoderCos":28620,"EncoderSin":52690,"GapTicks":49699,"Mech_RPM":-469.688721,"cg_du":45.1810303,"cg_dv":53.103363,"cg_dw":54.8189697,"cg_id_a":1.97299457,"cg_id_raw_a":6.47335672,"cg_iq_a":-200.891754,"cg_iq_raw_a":-201.28656,"cg_iu_a":-174.149094,"cg_iv_a":2.67871094,"cg_iw_a":171.470383,"cg_sample_age_us":23.8563633,"cg_sample_seq":1474267,"cg_sample_valid":1,"cg_theta_rad":1.77339947,"cg_vd_req_v":-1.88347661,"cg_vd_v":-1.88347661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38278961,"cg_vq_v":-8.38278961,"cg_vu_v":113.932175,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.407135,"temp_inv2_c":33.7432556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":22.10095,"values":{"Elec_RPM":-2352.14771,"EncoderCos":18306,"EncoderSin":47196,"GapTicks":49806,"Mech_RPM":-470.429535,"cg_du":54.7210121,"cg_dv":45.2789879,"cg_dw":46.3884697,"cg_id_a":17.5733566,"cg_id_raw_a":19.5781937,"cg_iq_a":-205.579041,"cg_iq_raw_a":-206.040161,"cg_iu_a":193.544617,"cg_iv_a":-36.9720459,"cg_iw_a":-156.572571,"cg_sample_age_us":23.8963642,"cg_sample_seq":1475966,"cg_sample_valid":1,"cg_theta_rad":2.34936261,"cg_vd_req_v":-2.25062966,"cg_vd_v":-2.25062966,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29870796,"cg_vq_v":-8.29870796,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3227997,"dclink_p_w":-2507.03613,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.430542,"temp_inv2_c":33.7839661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":22.127626,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":22.127632,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":22.127637,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":22.452513,"values":{"Elec_RPM":-2358.38428,"EncoderCos":13011,"EncoderSin":38128,"GapTicks":49282,"Mech_RPM":-471.676849,"cg_du":44.8025932,"cg_dv":55.1974068,"cg_dw":49.5586128,"cg_id_a":-9.61005402,"cg_id_raw_a":-11.3201752,"cg_iq_a":-196.96344,"cg_iq_raw_a":-196.523041,"cg_iu_a":-197.417633,"cg_iv_a":100.790771,"cg_iw_a":96.6268616,"cg_sample_age_us":23.8418179,"cg_sample_seq":1477671,"cg_sample_valid":1,"cg_theta_rad":2.92397189,"cg_vd_req_v":-1.65671635,"cg_vd_v":-1.65671635,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50981331,"cg_vq_v":-8.50981331,"cg_vu_v":100.295509,"cg_vv_v":110.413033,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":31.477356,"temp_inv2_c":33.8821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":22.786497,"values":{"Elec_RPM":-2351.75391,"EncoderCos":13657,"EncoderSin":25499,"GapTicks":49337,"Mech_RPM":-470.350769,"cg_du":55.1480255,"cg_dv":44.8519745,"cg_dw":50.2026672,"cg_id_a":-15.5144043,"cg_id_raw_a":-13.8206749,"cg_iq_a":-195.534515,"cg_iq_raw_a":-195.625595,"cg_iu_a":193.834549,"cg_iv_a":-131.604691,"cg_iw_a":-62.2298584,"cg_sample_age_us":23.9799995,"cg_sample_seq":1479366,"cg_sample_valid":1,"cg_theta_rad":3.52395654,"cg_vd_req_v":-1.57059729,"cg_vd_v":-1.57059729,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48733139,"cg_vq_v":-8.48733139,"cg_vu_v":124.049698,"cg_vv_v":116.131638,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2460.72803,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":31.5475769,"temp_inv2_c":33.8881531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":23.116575,"values":{"Elec_RPM":-2355.11572,"EncoderCos":20619,"EncoderSin":16186,"GapTicks":49575,"Mech_RPM":-471.023163,"cg_du":45.068737,"cg_dv":54.931263,"cg_dw":47.4490967,"cg_id_a":-4.93717241,"cg_id_raw_a":1.22185385,"cg_iq_a":-200.97789,"cg_iq_raw_a":-201.992661,"cg_iu_a":-174.62027,"cg_iv_a":171.430008,"cg_iw_a":3.19026184,"cg_sample_age_us":23.9327278,"cg_sample_seq":1481066,"cg_sample_valid":1,"cg_theta_rad":4.08883715,"cg_vd_req_v":-1.76743782,"cg_vd_v":-1.76743782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39021111,"cg_vq_v":-8.39021111,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2423.5896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":31.5710144,"temp_inv2_c":33.9002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":23.151085,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":23.151091,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":23.151096,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":23.470091,"values":{"Elec_RPM":-2358.89209,"EncoderCos":31499,"EncoderSin":12395,"GapTicks":49822,"Mech_RPM":-471.778442,"cg_du":53.8058701,"cg_dv":45.2932129,"cg_dw":54.7067871,"cg_id_a":17.4619503,"cg_id_raw_a":15.5320263,"cg_iq_a":-202.263428,"cg_iq_raw_a":-201.524536,"cg_iu_a":168.862549,"cg_iv_a":-183.578339,"cg_iw_a":14.7157898,"cg_sample_age_us":23.6599998,"cg_sample_seq":1482766,"cg_sample_valid":1,"cg_theta_rad":4.67556667,"cg_vd_req_v":-2.25657701,"cg_vd_v":-2.25657701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38216019,"cg_vq_v":-8.38216019,"cg_vu_v":106.014107,"cg_vv_v":81.380127,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2391.11353,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":31.6413574,"temp_inv2_c":33.959198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":23.802122,"values":{"Elec_RPM":-2360.31006,"EncoderCos":52830,"EncoderSin":33200,"GapTicks":49694,"Mech_RPM":-472.062012,"cg_du":54.8235207,"cg_dv":52.9013443,"cg_dw":45.1764793,"cg_id_a":6.4229641,"cg_id_raw_a":7.57588577,"cg_iq_a":-205.323242,"cg_iq_raw_a":-205.644379,"cg_iu_a":55.5280838,"cg_iv_a":145.841858,"cg_iw_a":-201.369934,"cg_sample_age_us":23.3909092,"cg_sample_seq":1484366,"cg_sample_valid":1,"cg_theta_rad":0.0380180068,"cg_vd_req_v":-2.06858635,"cg_vd_v":-2.06858635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27846432,"cg_vq_v":-8.27846432,"cg_vu_v":17.5957031,"cg_vv_v":35.6312981,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-16.1485004,"dclink_p_w":-2337.08618,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":31.6882629,"temp_inv2_c":33.9667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":24.134153,"values":{"Elec_RPM":-2359.73145,"EncoderCos":50748,"EncoderSin":23524,"GapTicks":49307,"Mech_RPM":-471.946289,"cg_du":50.0470161,"cg_dv":44.8250923,"cg_dw":55.1749077,"cg_id_a":-7.88932657,"cg_id_raw_a":-9.03827381,"cg_iq_a":-196.510117,"cg_iq_raw_a":-196.421646,"cg_iu_a":67.3435745,"cg_iv_a":-194.632721,"cg_iw_a":127.289139,"cg_sample_age_us":23.7581825,"cg_sample_seq":1486166,"cg_sample_valid":1,"cg_theta_rad":5.82475901,"cg_vd_req_v":-1.79579031,"cg_vd_v":-1.79579031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.459589,"cg_vq_v":-8.459589,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":31.7352295,"temp_inv2_c":34.0015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":24.143102,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":24.143131,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":24.143136,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":24.489622,"values":{"Elec_RPM":-2359.27271,"EncoderCos":52744,"EncoderSin":34737,"GapTicks":49567,"Mech_RPM":-471.854523,"cg_du":52.6504402,"cg_dv":54.9389458,"cg_dw":45.0610542,"cg_id_a":-5.32228756,"cg_id_raw_a":1.64649487,"cg_iq_a":-200.141022,"cg_iq_raw_a":-202.141724,"cg_iu_a":-1.19351315,"cg_iv_a":172.843506,"cg_iw_a":-171.649994,"cg_sample_age_us":23.4818172,"cg_sample_seq":1487866,"cg_sample_valid":1,"cg_theta_rad":0.111239813,"cg_vd_req_v":-1.81028283,"cg_vd_v":-1.81028283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42210388,"cg_vq_v":-8.42210388,"cg_vu_v":20.2350578,"cg_vv_v":14.9563465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.8056946,"temp_inv2_c":34.0484924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":24.8197,"values":{"Elec_RPM":-2360.00806,"EncoderCos":48373,"EncoderSin":45590,"GapTicks":49944,"Mech_RPM":-472.001617,"cg_du":45.403965,"cg_dv":45.9622307,"cg_dw":54.596035,"cg_id_a":16.3896198,"cg_id_raw_a":19.0191746,"cg_iq_a":-205.477325,"cg_iq_raw_a":-204.103073,"cg_iu_a":-19.8953323,"cg_iv_a":-169.733215,"cg_iw_a":189.62854,"cg_sample_age_us":23.5145454,"cg_sample_seq":1489566,"cg_sample_valid":1,"cg_theta_rad":0.691619813,"cg_vd_req_v":-2.23867297,"cg_vd_v":-2.23867297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31606865,"cg_vq_v":-8.31606865,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2392.68701,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.8527222,"temp_inv2_c":34.0803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":25.1347,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":25.134706,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":25.134711,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":25.151731,"values":{"Elec_RPM":-2357.94702,"EncoderCos":38772,"EncoderSin":52048,"GapTicks":49440,"Mech_RPM":-471.589417,"cg_du":55.0540085,"cg_dv":51.5981445,"cg_dw":44.9459915,"cg_id_a":3.7624383,"cg_id_raw_a":3.66516209,"cg_iq_a":-201.74115,"cg_iq_raw_a":-204.337814,"cg_iu_a":84.4144211,"cg_iv_a":114.38221,"cg_iw_a":-198.796631,"cg_sample_age_us":23.8090916,"cg_sample_seq":1491267,"cg_sample_valid":1,"cg_theta_rad":1.26115954,"cg_vd_req_v":-1.98088968,"cg_vd_v":-1.98088968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35389233,"cg_vq_v":-8.35389233,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2440.15771,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":31.8762512,"temp_inv2_c":34.1454773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":25.505247,"values":{"Elec_RPM":-2354.72607,"EncoderCos":38028,"EncoderSin":52258,"GapTicks":49839,"Mech_RPM":-470.945221,"cg_du":54.6912994,"cg_dv":53.5586166,"cg_dw":45.3087006,"cg_id_a":12.9999123,"cg_id_raw_a":12.2442551,"cg_iq_a":-205.426102,"cg_iq_raw_a":-206.685638,"cg_iu_a":33.4555893,"cg_iv_a":159.505768,"cg_iw_a":-195.643417,"cg_sample_age_us":23.9327278,"cg_sample_seq":1493016,"cg_sample_valid":1,"cg_theta_rad":1.30564117,"cg_vd_req_v":-2.14791489,"cg_vd_v":-2.14791489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28478241,"cg_vq_v":-8.28478241,"cg_vu_v":43.1094704,"cg_vv_v":62.0248489,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2377.47559,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.1212463,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":25.837278,"values":{"Elec_RPM":-2351.94067,"EncoderCos":17656,"EncoderSin":46449,"GapTicks":49624,"Mech_RPM":-470.388153,"cg_du":54.8869972,"cg_dv":46.9824142,"cg_dw":45.1130028,"cg_id_a":0.506526113,"cg_id_raw_a":5.59331131,"cg_iq_a":-199.13063,"cg_iq_raw_a":-200.064362,"cg_iu_a":170.56601,"cg_iv_a":-1.12689209,"cg_iw_a":-169.439117,"cg_sample_age_us":23.9400005,"cg_sample_seq":1494667,"cg_sample_valid":1,"cg_theta_rad":2.40511346,"cg_vd_req_v":-1.88245964,"cg_vd_v":-1.88245964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46346188,"cg_vq_v":-8.46346188,"cg_vu_v":105.574219,"cg_vv_v":92.8173294,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4964409,"dclink_p_w":-2387.44165,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.160675,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":26.159289,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":26.159295,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":26.159301,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":26.171263,"values":{"Elec_RPM":-2351.31714,"EncoderCos":13801,"EncoderSin":25074,"GapTicks":49353,"Mech_RPM":-470.263428,"cg_du":55.1330795,"cg_dv":44.8669205,"cg_dw":49.3571129,"cg_id_a":-9.93772221,"cg_id_raw_a":-11.4738188,"cg_iq_a":-197.339157,"cg_iq_raw_a":-197.817337,"cg_iu_a":195.791718,"cg_iv_a":-117.43335,"cg_iw_a":-78.3583679,"cg_sample_age_us":24.1036358,"cg_sample_seq":1496316,"cg_sample_valid":1,"cg_theta_rad":3.53571582,"cg_vd_req_v":-1.69496167,"cg_vd_v":-1.69496167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43179607,"cg_vq_v":-8.43179607,"cg_vu_v":18.4754887,"cg_vv_v":8.79785156,"cg_vw_v":37.3908691,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.1242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":26.522825,"values":{"Elec_RPM":-2352.85864,"EncoderCos":14086,"EncoderSin":24340,"GapTicks":49455,"Mech_RPM":-470.571747,"cg_du":55.0408478,"cg_dv":44.9591522,"cg_dw":48.0228195,"cg_id_a":7.9892664,"cg_id_raw_a":4.63173056,"cg_iq_a":-200.075607,"cg_iq_raw_a":-199.662842,"cg_iu_a":199.6698,"cg_iv_a":-71.4036865,"cg_iw_a":-128.266113,"cg_sample_age_us":24.0745449,"cg_sample_seq":1498066,"cg_sample_valid":1,"cg_theta_rad":3.56962371,"cg_vd_req_v":-2.06492043,"cg_vd_v":-2.06492043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38677406,"cg_vq_v":-8.38677406,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2435.09399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.2183228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":26.854856,"values":{"Elec_RPM":-2350.44238,"EncoderCos":31685,"EncoderSin":12362,"GapTicks":49916,"Mech_RPM":-470.08847,"cg_du":54.2555847,"cg_dv":45.3789291,"cg_dw":54.6210709,"cg_id_a":16.5041656,"cg_id_raw_a":16.6215401,"cg_iq_a":-199.940353,"cg_iq_raw_a":-200.17485,"cg_iu_a":165.999298,"cg_iv_a":-179.953979,"cg_iw_a":13.9546738,"cg_sample_age_us":24.1218185,"cg_sample_seq":1499717,"cg_sample_valid":1,"cg_theta_rad":4.67677832,"cg_vd_req_v":-2.22163796,"cg_vd_v":-2.22163796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43176842,"cg_vq_v":-8.43176842,"cg_vu_v":18.4754887,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.2016296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":27.151138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":27.151145,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":27.15115,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":27.208372,"values":{"Elec_RPM":-2348.95215,"EncoderCos":32804,"EncoderSin":12373,"GapTicks":49444,"Mech_RPM":-469.790436,"cg_du":55.0506554,"cg_dv":44.9493446,"cg_dw":51.9214096,"cg_id_a":-11.4672766,"cg_id_raw_a":-2.74358773,"cg_iq_a":-195.963486,"cg_iq_raw_a":-197.630768,"cg_iu_a":173.864197,"cg_iv_a":-163.825439,"cg_iw_a":-10.0387497,"cg_sample_age_us":24.0527267,"cg_sample_seq":1501466,"cg_sample_valid":1,"cg_theta_rad":4.73297501,"cg_vd_req_v":-1.64471626,"cg_vd_v":-1.64471626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48356438,"cg_vq_v":-8.48356438,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":34.288208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":27.540403,"values":{"Elec_RPM":-2346.87744,"EncoderCos":52828,"EncoderSin":34155,"GapTicks":49948,"Mech_RPM":-469.375488,"cg_du":54.101799,"cg_dv":54.5922127,"cg_dw":45.4077873,"cg_id_a":7.06946993,"cg_id_raw_a":12.2508898,"cg_iq_a":-204.068634,"cg_iq_raw_a":-204.816193,"cg_iu_a":10.8756838,"cg_iv_a":169.545319,"cg_iw_a":-180.421005,"cg_sample_age_us":23.5181828,"cg_sample_seq":1503067,"cg_sample_valid":1,"cg_theta_rad":0.0826365873,"cg_vd_req_v":-2.07379603,"cg_vd_v":-2.07379603,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35478973,"cg_vq_v":-8.35478973,"cg_vu_v":106.014107,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2412.09521,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":34.2578125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":27.870481,"values":{"Elec_RPM":-2350.62842,"EncoderCos":51157,"EncoderSin":24331,"GapTicks":49383,"Mech_RPM":-470.125671,"cg_du":51.6553421,"cg_dv":44.8943176,"cg_dw":55.1056824,"cg_id_a":9.01275539,"cg_id_raw_a":6.04430914,"cg_iq_a":-201.039719,"cg_iq_raw_a":-200.024506,"cg_iu_a":122.216736,"cg_iv_a":-200.902893,"cg_iw_a":78.6861572,"cg_sample_age_us":23.7436371,"cg_sample_seq":1504867,"cg_sample_valid":1,"cg_theta_rad":5.87214136,"cg_vd_req_v":-2.16190195,"cg_vd_v":-2.16190195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40695667,"cg_vq_v":-8.40695667,"cg_vu_v":104.254532,"cg_vv_v":73.0221634,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-17.8012199,"dclink_p_w":-2576.27539,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":34.2760315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":28.143363,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":28.143368,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":28.143374,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":28.233763,"values":{"Elec_RPM":-2356.14893,"EncoderCos":40161,"EncoderSin":51569,"GapTicks":49337,"Mech_RPM":-471.229767,"cg_du":55.1481743,"cg_dv":49.3150291,"cg_dw":44.8518257,"cg_id_a":-12.9357376,"cg_id_raw_a":-13.8716211,"cg_iq_a":-195.513504,"cg_iq_raw_a":-193.09108,"cg_iu_a":107.248032,"cg_iv_a":93.1795502,"cg_iw_a":-200.427582,"cg_sample_age_us":23.863636,"cg_sample_seq":1506471,"cg_sample_valid":1,"cg_theta_rad":1.24300218,"cg_vd_req_v":-1.63317299,"cg_vd_v":-1.63317299,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47267818,"cg_vq_v":-8.47267818,"cg_vu_v":29.912693,"cg_vv_v":10.1175289,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4130802,"dclink_p_w":-2375.37744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":34.3140564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":28.751341,"values":{"Elec_RPM":-2354.52002,"EncoderCos":32510,"EncoderSin":12358,"GapTicks":49584,"Mech_RPM":-470.903992,"cg_du":54.9231491,"cg_dv":45.0768509,"cg_dw":52.7321358,"cg_id_a":-3.0180676,"cg_id_raw_a":5.75554419,"cg_iq_a":-199.994141,"cg_iq_raw_a":-201.964966,"cg_iu_a":171.580841,"cg_iv_a":-174.444901,"cg_iw_a":2.86405945,"cg_sample_age_us":24.0163631,"cg_sample_seq":1509066,"cg_sample_valid":1,"cg_theta_rad":4.70711946,"cg_vd_req_v":-1.81707096,"cg_vd_v":-1.81707096,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4191246,"cg_vq_v":-8.4191246,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5942993,"dclink_p_w":-2394.30444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":34.4053345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":29.039526,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":29.039541,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":29.039546,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":29.103213,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":29.103219,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":29.103224,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":29.220091,"values":{"Elec_RPM":-2353.19971,"EncoderCos":12581,"EncoderSin":36112,"GapTicks":49772,"Mech_RPM":-470.639954,"cg_du":45.2473717,"cg_dv":54.7526283,"cg_dw":53.5813866,"cg_id_a":10.5095911,"cg_id_raw_a":9.84532928,"cg_iq_a":-197.827118,"cg_iq_raw_a":-197.864563,"cg_iu_a":-188.066711,"cg_iv_a":34.6095276,"cg_iw_a":153.457184,"cg_sample_age_us":23.9290905,"cg_sample_seq":1511566,"cg_sample_valid":1,"cg_theta_rad":2.98003197,"cg_vd_req_v":-2.05589819,"cg_vd_v":-2.05589819,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44097233,"cg_vq_v":-8.44097233,"cg_vu_v":1.31967759,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.1412525,"dclink_p_w":-2328.93677,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":34.4144592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":29.552122,"values":{"Elec_RPM":-2356.17578,"EncoderCos":30508,"EncoderSin":12482,"GapTicks":49384,"Mech_RPM":-471.235168,"cg_du":51.953289,"cg_dv":44.8947144,"cg_dw":55.1052856,"cg_id_a":5.71298504,"cg_id_raw_a":2.02681971,"cg_iq_a":-197.051819,"cg_iq_raw_a":-197.102859,"cg_iu_a":119.824646,"cg_iv_a":-195.611298,"cg_iw_a":75.7866516,"cg_sample_age_us":23.6599998,"cg_sample_seq":1513167,"cg_sample_valid":1,"cg_theta_rad":4.6164155,"cg_vd_req_v":-2.04770589,"cg_vd_v":-2.04770589,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49395275,"cg_vq_v":-8.49395275,"cg_vu_v":143.404984,"cg_vv_v":136.366699,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.1962776,"dclink_p_w":-2633.44995,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":34.4007568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":29.884153,"values":{"Elec_RPM":-2351.83545,"EncoderCos":31133,"EncoderSin":12416,"GapTicks":49617,"Mech_RPM":-470.367096,"cg_du":53.1287994,"cg_dv":45.1069717,"cg_dw":54.8930283,"cg_id_a":14.5617437,"cg_id_raw_a":11.9400091,"cg_iq_a":-199.153168,"cg_iq_raw_a":-197.425064,"cg_iu_a":159.1492,"cg_iv_a":-186.550323,"cg_iw_a":27.4011307,"cg_sample_age_us":23.5945454,"cg_sample_seq":1514918,"cg_sample_valid":1,"cg_theta_rad":4.65789747,"cg_vd_req_v":-2.20451999,"cg_vd_v":-2.20451999,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43297195,"cg_vq_v":-8.43297195,"cg_vu_v":143.404984,"cg_vv_v":139.445938,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2454.58252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":34.473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":30.127197,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":30.127203,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":30.127208,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":30.237669,"values":{"Elec_RPM":-2357.5603,"EncoderCos":49948,"EncoderSin":22128,"GapTicks":49926,"Mech_RPM":-471.512054,"cg_du":46.3538818,"cg_dv":45.3880653,"cg_dw":54.6119347,"cg_id_a":6.69285297,"cg_id_raw_a":11.4577971,"cg_iq_a":-209.319885,"cg_iq_raw_a":-209.970016,"cg_iu_a":14.3188477,"cg_iv_a":-181.294983,"cg_iw_a":166.976135,"cg_sample_age_us":23.8272724,"cg_sample_seq":1516570,"cg_sample_valid":1,"cg_theta_rad":5.78082371,"cg_vd_req_v":-2.07278419,"cg_vd_v":-2.07278419,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21459675,"cg_vq_v":-8.21459675,"cg_vu_v":101.615181,"cg_vv_v":73.462059,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":34.4815063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":30.567747,"values":{"Elec_RPM":-2350.98071,"EncoderCos":50632,"EncoderSin":23346,"GapTicks":49266,"Mech_RPM":-470.196136,"cg_du":49.6482887,"cg_dv":44.7873535,"cg_dw":55.2126465,"cg_id_a":-11.4702168,"cg_id_raw_a":-13.5102186,"cg_iq_a":-196.638947,"cg_iq_raw_a":-197.043701,"cg_iu_a":52.3386307,"cg_iv_a":-190.60965,"cg_iw_a":138.271011,"cg_sample_age_us":23.8054543,"cg_sample_seq":1518317,"cg_sample_valid":1,"cg_theta_rad":5.81677437,"cg_vd_req_v":-1.7361877,"cg_vd_v":-1.7361877,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48892593,"cg_vq_v":-8.48892593,"cg_vu_v":129.328415,"cg_vv_v":128.008743,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2437.18579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":34.5195923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":30.901731,"values":{"Elec_RPM":-2356.80225,"EncoderCos":52788,"EncoderSin":34567,"GapTicks":49647,"Mech_RPM":-471.360443,"cg_du":53.1097298,"cg_dv":54.8663406,"cg_dw":45.1336594,"cg_id_a":-0.374750972,"cg_id_raw_a":7.14117193,"cg_iq_a":-199.510956,"cg_iq_raw_a":-200.137177,"cg_iu_a":1.0898484,"cg_iv_a":170.197723,"cg_iw_a":-171.287567,"cg_sample_age_us":23.3909092,"cg_sample_seq":1520017,"cg_sample_valid":1,"cg_theta_rad":0.105110914,"cg_vd_req_v":-1.90922022,"cg_vd_v":-1.90922022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45527267,"cg_vq_v":-8.45527267,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2386.91724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":34.5379333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":31.150817,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":31.150823,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":31.150828,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":31.253294,"values":{"Elec_RPM":-2348.9939,"EncoderCos":29938,"EncoderSin":52904,"GapTicks":49590,"Mech_RPM":-469.798767,"cg_du":45.0823555,"cg_dv":54.9176445,"cg_dw":53.0105095,"cg_id_a":10.9467516,"cg_id_raw_a":9.46530628,"cg_iq_a":-199.05574,"cg_iq_raw_a":-198.184311,"cg_iu_a":-181.289124,"cg_iv_a":12.9719543,"cg_iw_a":168.317169,"cg_sample_age_us":23.8600006,"cg_sample_seq":1521621,"cg_sample_valid":1,"cg_theta_rad":1.75325489,"cg_vd_req_v":-2.10252857,"cg_vd_v":-2.10252857,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4315815,"cg_vq_v":-8.4315815,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2548.47485,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":34.504364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":31.585325,"values":{"Elec_RPM":-2347.12622,"EncoderCos":38769,"EncoderSin":52044,"GapTicks":49494,"Mech_RPM":-469.425262,"cg_du":55.0049934,"cg_dv":52.0695229,"cg_dw":44.9950066,"cg_id_a":6.78902769,"cg_id_raw_a":1.97521782,"cg_iq_a":-204.364075,"cg_iq_raw_a":-206.950211,"cg_iu_a":86.3715897,"cg_iv_a":115.614494,"cg_iw_a":-201.986084,"cg_sample_age_us":23.8090916,"cg_sample_seq":1523416,"cg_sample_valid":1,"cg_theta_rad":1.26122999,"cg_vd_req_v":-2.0557642,"cg_vd_v":-2.0557642,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32279205,"cg_vq_v":-8.32279205,"cg_vu_v":30.7924805,"cg_vv_v":17.1558094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4185162,"dclink_p_w":-2368.94165,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":34.5836792,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":31.91931,"values":{"Elec_RPM":-2352.30884,"EncoderCos":18240,"EncoderSin":47048,"GapTicks":49885,"Mech_RPM":-470.461761,"cg_du":54.6498566,"cg_dv":45.3501434,"cg_dw":46.0482712,"cg_id_a":17.6401691,"cg_id_raw_a":20.8525791,"cg_iq_a":-203.056778,"cg_iq_raw_a":-205.161514,"cg_iu_a":179.409515,"cg_iv_a":-14.6458435,"cg_iw_a":-164.763672,"cg_sample_age_us":23.8963642,"cg_sample_seq":1525068,"cg_sample_valid":1,"cg_theta_rad":2.37726092,"cg_vd_req_v":-2.23940396,"cg_vd_v":-2.23940396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36083317,"cg_vq_v":-8.36083317,"cg_vu_v":141.205521,"cg_vv_v":118.3311,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2406.06274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":34.6600647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":32.143243,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":32.143268,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":32.143286,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":32.270874,"values":{"Elec_RPM":-2348.77148,"EncoderCos":17408,"EncoderSin":46132,"GapTicks":49454,"Mech_RPM":-469.754303,"cg_du":55.041275,"cg_dv":48.0617256,"cg_dw":44.958725,"cg_id_a":-10.1160698,"cg_id_raw_a":-7.20619345,"cg_iq_a":-195.740356,"cg_iq_raw_a":-197.63588,"cg_iu_a":166.94162,"cg_iv_a":3.40359497,"cg_iw_a":-170.345215,"cg_sample_age_us":23.8418179,"cg_sample_seq":1526816,"cg_sample_valid":1,"cg_theta_rad":2.41799212,"cg_vd_req_v":-1.66650474,"cg_vd_v":-1.66650474,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49401855,"cg_vq_v":-8.49401855,"cg_vu_v":106.014107,"cg_vv_v":93.2572174,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2409.20996,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":34.6386719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":32.604858,"values":{"Elec_RPM":-2348.2356,"EncoderCos":13735,"EncoderSin":25289,"GapTicks":49307,"Mech_RPM":-469.647125,"cg_du":55.1751289,"cg_dv":44.8248711,"cg_dw":49.7639313,"cg_id_a":-13.8233843,"cg_id_raw_a":-20.041502,"cg_iq_a":-196.998337,"cg_iq_raw_a":-194.961533,"cg_iu_a":193.073441,"cg_iv_a":-132.909454,"cg_iw_a":-60.1639786,"cg_sample_age_us":24.045454,"cg_sample_seq":1528467,"cg_sample_valid":1,"cg_theta_rad":3.52171063,"cg_vd_req_v":-1.62190902,"cg_vd_v":-1.62190902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47118092,"cg_vq_v":-8.47118092,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2474.05347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":34.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":32.93689,"values":{"Elec_RPM":-2353.17896,"EncoderCos":20779,"EncoderSin":16078,"GapTicks":49433,"Mech_RPM":-470.635803,"cg_du":44.9397888,"cg_dv":55.0602112,"cg_dw":47.9438553,"cg_id_a":-9.63755989,"cg_id_raw_a":-3.28436923,"cg_iq_a":-197.670135,"cg_iq_raw_a":-199.223648,"cg_iu_a":-175.562592,"cg_iv_a":164.797363,"cg_iw_a":10.7652206,"cg_sample_age_us":23.8418179,"cg_sample_seq":1530167,"cg_sample_valid":1,"cg_theta_rad":4.10180712,"cg_vd_req_v":-1.68020952,"cg_vd_v":-1.68020952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4949131,"cg_vq_v":-8.4949131,"cg_vu_v":106.453995,"cg_vv_v":106.453995,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2494.44751,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":34.6982727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":33.135459,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":33.135464,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":33.135469,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":33.288452,"values":{"Elec_RPM":-2354.67554,"EncoderCos":42444,"EncoderSin":14841,"GapTicks":49403,"Mech_RPM":-470.93512,"cg_du":48.6316757,"cg_dv":55.0667458,"cg_dw":44.9118729,"cg_id_a":-11.5155163,"cg_id_raw_a":-14.3595114,"cg_iq_a":-200.655975,"cg_iq_raw_a":-200.071686,"cg_iu_a":-80.1325836,"cg_iv_a":199.736435,"cg_iw_a":-119.603851,"cg_sample_age_us":23.8600006,"cg_sample_seq":1531816,"cg_sample_valid":1,"cg_theta_rad":5.21712303,"cg_vd_req_v":-1.73189962,"cg_vd_v":-1.73189962,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36609936,"cg_vq_v":-8.36609936,"cg_vu_v":108.21357,"cg_vv_v":106.453995,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":34.701355,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":33.622437,"values":{"Elec_RPM":-2355.5874,"EncoderCos":32632,"EncoderSin":12375,"GapTicks":49544,"Mech_RPM":-471.117493,"cg_du":54.9595413,"cg_dv":45.0404587,"cg_dw":52.424839,"cg_id_a":-5.18733883,"cg_id_raw_a":1.14559591,"cg_iq_a":-199.247192,"cg_iq_raw_a":-201.450928,"cg_iu_a":172.160736,"cg_iv_a":-169.080811,"cg_iw_a":-2.7537384,"cg_sample_age_us":24.0527267,"cg_sample_seq":1533617,"cg_sample_valid":1,"cg_theta_rad":4.72037935,"cg_vd_req_v":-1.77060699,"cg_vd_v":-1.77060699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40121555,"cg_vq_v":-8.40121555,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2434.30957,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":34.7365112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":33.973999,"values":{"Elec_RPM":-2348.84326,"EncoderCos":50521,"EncoderSin":23148,"GapTicks":49319,"Mech_RPM":-469.768646,"cg_du":49.1717644,"cg_dv":44.8361702,"cg_dw":55.1638298,"cg_id_a":-12.072052,"cg_id_raw_a":-12.2710676,"cg_iq_a":-197.797531,"cg_iq_raw_a":-199.726395,"cg_iu_a":93.5841064,"cg_iv_a":-198.981964,"cg_iw_a":105.397858,"cg_sample_age_us":23.6963634,"cg_sample_seq":1535270,"cg_sample_valid":1,"cg_theta_rad":5.84564447,"cg_vd_req_v":-1.7164911,"cg_vd_v":-1.7164911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49469566,"cg_vq_v":-8.49469566,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":34.7701721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":34.127227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":34.127232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":34.127238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":34.30603,"values":{"Elec_RPM":-2345.83032,"EncoderCos":52717,"EncoderSin":35121,"GapTicks":49422,"Mech_RPM":-469.166077,"cg_du":51.6557388,"cg_dv":55.0708923,"cg_dw":44.9291077,"cg_id_a":-12.9303036,"cg_id_raw_a":-9.03903103,"cg_iq_a":-195.878525,"cg_iq_raw_a":-195.780548,"cg_iu_a":-17.0320683,"cg_iv_a":176.359177,"cg_iw_a":-159.327103,"cg_sample_age_us":23.5145454,"cg_sample_seq":1536967,"cg_sample_valid":1,"cg_theta_rad":0.128626719,"cg_vd_req_v":-1.65646017,"cg_vd_v":-1.65646017,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48953056,"cg_vq_v":-8.48953056,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2541.13135,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":34.7518005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":34.638062,"values":{"Elec_RPM":-2351.35474,"EncoderCos":48091,"EncoderSin":45998,"GapTicks":49920,"Mech_RPM":-470.270966,"cg_du":46.2425423,"cg_dv":45.3824158,"cg_dw":54.6175842,"cg_id_a":8.00827599,"cg_id_raw_a":11.4920712,"cg_iq_a":-207.779144,"cg_iq_raw_a":-209.584259,"cg_iu_a":-6.55760002,"cg_iv_a":-176.293335,"cg_iw_a":182.850937,"cg_sample_age_us":23.4854546,"cg_sample_seq":1538666,"cg_sample_valid":1,"cg_theta_rad":0.718633413,"cg_vd_req_v":-2.06646991,"cg_vd_v":-2.06646991,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24484921,"cg_vq_v":-8.24484921,"cg_vu_v":38.2706528,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.0905113,"dclink_p_w":-2321.61548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":34.7931519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":34.991577,"values":{"Elec_RPM":-2348.42627,"EncoderCos":38392,"EncoderSin":52189,"GapTicks":49584,"Mech_RPM":-469.685242,"cg_du":54.9230995,"cg_dv":52.8154373,"cg_dw":45.0769005,"cg_id_a":13.8681107,"cg_id_raw_a":9.98085976,"cg_iq_a":-203.983643,"cg_iq_raw_a":-204.724335,"cg_iu_a":51.9037018,"cg_iv_a":148.125214,"cg_iw_a":-200.028915,"cg_sample_age_us":23.8709087,"cg_sample_seq":1540366,"cg_sample_valid":1,"cg_theta_rad":1.28867197,"cg_vd_req_v":-2.19418955,"cg_vd_v":-2.19418955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35435295,"cg_vq_v":-8.35435295,"cg_vu_v":40.4701157,"cg_vv_v":50.1477547,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":34.875885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":35.118899,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":35.118905,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":35.11891,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":35.325562,"values":{"Elec_RPM":-2356.11768,"EncoderCos":26831,"EncoderSin":52196,"GapTicks":49370,"Mech_RPM":-471.223541,"cg_du":44.882225,"cg_dv":48.8810501,"cg_dw":55.117775,"cg_id_a":-10.4771585,"cg_id_raw_a":-15.6425905,"cg_iq_a":-197.814758,"cg_iq_raw_a":-198.112366,"cg_iu_a":-114.41925,"cg_iv_a":-84.306488,"cg_iw_a":198.725739,"cg_sample_age_us":23.8963642,"cg_sample_seq":1542066,"cg_sample_valid":1,"cg_theta_rad":1.86419237,"cg_vd_req_v":-1.67616129,"cg_vd_v":-1.67616129,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45584202,"cg_vq_v":-8.45584202,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2414.97998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":34.8345032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":35.65564,"values":{"Elec_RPM":-2350.25415,"EncoderCos":17121,"EncoderSin":45836,"GapTicks":49344,"Mech_RPM":-470.050812,"cg_du":55.1412392,"cg_dv":48.9606171,"cg_dw":44.8587608,"cg_id_a":-10.9516754,"cg_id_raw_a":-9.37776279,"cg_iq_a":-196.177551,"cg_iq_raw_a":-197.776199,"cg_iu_a":142.54953,"cg_iv_a":46.4250183,"cg_iw_a":-188.974548,"cg_sample_age_us":23.9690914,"cg_sample_seq":1543766,"cg_sample_valid":1,"cg_theta_rad":2.45558715,"cg_vd_req_v":-1.65178919,"cg_vd_v":-1.65178919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46407986,"cg_vq_v":-8.46407986,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2486.86548,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":34.8406372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":36.009155,"values":{"Elec_RPM":-2350.46216,"EncoderCos":12492,"EncoderSin":35370,"GapTicks":49889,"Mech_RPM":-470.092438,"cg_du":45.3539162,"cg_dv":53.9116898,"cg_dw":54.6460838,"cg_id_a":9.89954281,"cg_id_raw_a":13.4447851,"cg_iq_a":-202.461594,"cg_iq_raw_a":-201.788269,"cg_iu_a":-180.201813,"cg_iv_a":4.99832153,"cg_iw_a":175.203491,"cg_sample_age_us":23.9436359,"cg_sample_seq":1545466,"cg_sample_valid":1,"cg_theta_rad":3.01641822,"cg_vd_req_v":-2.02919841,"cg_vd_v":-2.02919841,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36405468,"cg_vq_v":-8.36405468,"cg_vu_v":8.79785156,"cg_vv_v":16.7159176,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":36.143586,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":36.143592,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":36.143597,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":36.341187,"values":{"Elec_RPM":-2349.88135,"EncoderCos":14188,"EncoderSin":24078,"GapTicks":49499,"Mech_RPM":-469.976288,"cg_du":55.000885,"cg_dv":44.999115,"cg_dw":47.542141,"cg_id_a":15.4078541,"cg_id_raw_a":8.51099968,"cg_iq_a":-199.312836,"cg_iq_raw_a":-196.975388,"cg_iu_a":195.066849,"cg_iv_a":-54.4778137,"cg_iw_a":-140.589035,"cg_sample_age_us":24.0672722,"cg_sample_seq":1547167,"cg_sample_valid":1,"cg_theta_rad":3.58169222,"cg_vd_req_v":-2.21150041,"cg_vd_v":-2.21150041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.428195,"cg_vq_v":-8.428195,"cg_vu_v":106.453995,"cg_vv_v":92.8173294,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2496.80786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":34.8835754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":36.694702,"values":{"Elec_RPM":-2352.55469,"EncoderCos":14603,"EncoderSin":23333,"GapTicks":49987,"Mech_RPM":-470.510925,"cg_du":54.5564194,"cg_dv":45.4435806,"cg_dw":45.7677155,"cg_id_a":13.8974915,"cg_id_raw_a":16.3102074,"cg_iq_a":-201.575912,"cg_iq_raw_a":-202.405701,"cg_iu_a":182.562714,"cg_iv_a":-19.8649445,"cg_iw_a":-160.450653,"cg_sample_age_us":24.0927277,"cg_sample_seq":1548917,"cg_sample_valid":1,"cg_theta_rad":3.62525892,"cg_vd_req_v":-2.13900328,"cg_vd_v":-2.13900328,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37127495,"cg_vq_v":-8.37127495,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.6363106,"dclink_p_w":-2552.40894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":37.02478,"values":{"Elec_RPM":-2351.31958,"EncoderCos":43414,"EncoderSin":15386,"GapTicks":49732,"Mech_RPM":-470.263916,"cg_du":46.697998,"cg_dv":54.7884674,"cg_dw":45.2115326,"cg_id_a":8.69494724,"cg_id_raw_a":10.6048193,"cg_iq_a":-205.63588,"cg_iq_raw_a":-204.009933,"cg_iu_a":-162.152374,"cg_iv_a":193.719955,"cg_iw_a":-31.5675812,"cg_sample_age_us":23.9581814,"cg_sample_seq":1550516,"cg_sample_valid":1,"cg_theta_rad":5.29291439,"cg_vd_req_v":-2.15279818,"cg_vd_v":-2.15279818,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31263638,"cg_vq_v":-8.31263638,"cg_vu_v":121.410347,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":34.9771729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":37.167248,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":37.167254,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":37.16726,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":37.358765,"values":{"Elec_RPM":-2352.65527,"EncoderCos":43952,"EncoderSin":15798,"GapTicks":50006,"Mech_RPM":-470.531067,"cg_du":45.4605217,"cg_dv":54.5394783,"cg_dw":45.6665268,"cg_id_a":11.2842999,"cg_id_raw_a":12.4673452,"cg_iq_a":-203.251724,"cg_iq_raw_a":-203.424774,"cg_iu_a":-170.452209,"cg_iv_a":181.070862,"cg_iw_a":-10.6186523,"cg_sample_age_us":24.0090904,"cg_sample_seq":1552267,"cg_sample_valid":1,"cg_theta_rad":5.3128438,"cg_vd_req_v":-2.18357801,"cg_vd_v":-2.18357801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38224506,"cg_vq_v":-8.38224506,"cg_vu_v":129.328415,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":37.710327,"values":{"Elec_RPM":-2352.44385,"EncoderCos":52760,"EncoderSin":34932,"GapTicks":49492,"Mech_RPM":-470.48877,"cg_du":52.1726112,"cg_dv":55.0072174,"cg_dw":44.9927826,"cg_id_a":-7.87599945,"cg_id_raw_a":-3.34773779,"cg_iq_a":-197.260895,"cg_iq_raw_a":-200.217697,"cg_iu_a":-46.0996246,"cg_iv_a":191.944016,"cg_iw_a":-145.844391,"cg_sample_age_us":23.5145454,"cg_sample_seq":1553920,"cg_sample_valid":1,"cg_theta_rad":0.159663066,"cg_vd_req_v":-1.74949062,"cg_vd_v":-1.74949062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4470377,"cg_vq_v":-8.4470377,"cg_vu_v":39.1504402,"cg_vv_v":53.2269974,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2405.54785,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":38.042358,"values":{"Elec_RPM":-2356.41211,"EncoderCos":52494,"EncoderSin":36452,"GapTicks":49355,"Mech_RPM":-471.28244,"cg_du":49.2285042,"cg_dv":55.1313591,"cg_dw":44.8686409,"cg_id_a":-7.79596281,"cg_id_raw_a":-13.4123898,"cg_iq_a":-199.658936,"cg_iq_raw_a":-199.662247,"cg_iu_a":-77.812973,"cg_iv_a":197.851761,"cg_iw_a":-120.038788,"cg_sample_age_us":23.4636364,"cg_sample_seq":1555666,"cg_sample_valid":1,"cg_theta_rad":0.18607077,"cg_vd_req_v":-1.81289983,"cg_vd_v":-1.81289983,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40624523,"cg_vq_v":-8.40624523,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":27.2733402,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.0002136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":38.127538,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":38.127543,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":38.127548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":38.483765,"values":{"Elec_RPM":-2363.71387,"EncoderCos":12477,"EncoderSin":30069,"GapTicks":49408,"Mech_RPM":-472.742798,"cg_du":48.7936745,"cg_dv":44.9167709,"cg_dw":55.0832291,"cg_id_a":-16.13311,"cg_id_raw_a":-14.1750307,"cg_iq_a":-200.849228,"cg_iq_raw_a":-202.021927,"cg_iu_a":21.2414207,"cg_iv_a":-182.636002,"cg_iw_a":161.394577,"cg_sample_age_us":23.8709087,"cg_sample_seq":1557717,"cg_sample_valid":1,"cg_theta_rad":3.27781916,"cg_vd_req_v":-1.52925217,"cg_vd_v":-1.52925217,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41016674,"cg_vq_v":-8.41016674,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2414.69946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":39.001343,"values":{"Elec_RPM":-2359.39014,"EncoderCos":50760,"EncoderSin":41796,"GapTicks":49733,"Mech_RPM":-471.878052,"cg_du":45.2119064,"cg_dv":54.7880936,"cg_dw":53.6721878,"cg_id_a":15.4307957,"cg_id_raw_a":12.2382431,"cg_iq_a":-198.881577,"cg_iq_raw_a":-196.097473,"cg_iu_a":-185.602142,"cg_iv_a":28.4118347,"cg_iw_a":157.190308,"cg_sample_age_us":23.5581818,"cg_sample_seq":1560317,"cg_sample_valid":1,"cg_theta_rad":0.472910494,"cg_vd_req_v":-2.25422239,"cg_vd_v":-2.25422239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45556068,"cg_vq_v":-8.45556068,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.4982529,"dclink_p_w":-2387.70386,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":35.0724182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":39.023331,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":39.023346,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":39.023349,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":39.119659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":39.119664,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":39.11967,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":39.370483,"values":{"Elec_RPM":-2354.54492,"EncoderCos":14162,"EncoderSin":24203,"GapTicks":49462,"Mech_RPM":-470.908997,"cg_du":55.0337944,"cg_dv":44.9662056,"cg_dw":47.6991425,"cg_id_a":10.1123734,"cg_id_raw_a":4.06236458,"cg_iq_a":-198.438644,"cg_iq_raw_a":-196.86438,"cg_iu_a":197.495178,"cg_iv_a":-62.2339783,"cg_iw_a":-135.2612,"cg_sample_age_us":24.0490913,"cg_sample_seq":1562366,"cg_sample_valid":1,"cg_theta_rad":3.57785678,"cg_vd_req_v":-2.10517693,"cg_vd_v":-2.10517693,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44160843,"cg_vq_v":-8.44160843,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2482.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":39.722046,"values":{"Elec_RPM":-2358.50464,"EncoderCos":21548,"EncoderSin":15599,"GapTicks":49332,"Mech_RPM":-471.700928,"cg_du":44.8476219,"cg_dv":55.1523781,"cg_dw":49.9993515,"cg_id_a":-14.2022524,"cg_id_raw_a":-16.4611683,"cg_iq_a":-196.632278,"cg_iq_raw_a":-196.536835,"cg_iu_a":-190.168854,"cg_iv_a":137.650742,"cg_iw_a":52.5181122,"cg_sample_age_us":23.8418179,"cg_sample_seq":1564067,"cg_sample_valid":1,"cg_theta_rad":4.14567041,"cg_vd_req_v":-1.60341954,"cg_vd_v":-1.60341954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45971298,"cg_vq_v":-8.45971298,"cg_vu_v":1.31967759,"cg_vv_v":18.4754887,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.0832615,"dclink_p_w":-2320.56958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":40.054077,"values":{"Elec_RPM":-2360.28638,"EncoderCos":32832,"EncoderSin":12374,"GapTicks":49441,"Mech_RPM":-472.057281,"cg_du":55.0533295,"cg_dv":44.9466705,"cg_dw":51.8913383,"cg_id_a":-10.6122608,"cg_id_raw_a":-4.32666063,"cg_iq_a":-198.18631,"cg_iq_raw_a":-199.798721,"cg_iu_a":176.727478,"cg_iv_a":-164.622833,"cg_iw_a":-12.1046524,"cg_sample_age_us":24.0854549,"cg_sample_seq":1565766,"cg_sample_valid":1,"cg_theta_rad":4.73161554,"cg_vd_req_v":-1.66610658,"cg_vd_v":-1.66610658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45078087,"cg_vq_v":-8.45078087,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":40.110995,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":40.111002,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":40.111007,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":40.388062,"values":{"Elec_RPM":-2356.75732,"EncoderCos":43650,"EncoderSin":15591,"GapTicks":49898,"Mech_RPM":-471.35144,"cg_du":46.0656395,"cg_dv":54.6376381,"cg_dw":45.3623619,"cg_id_a":9.62520218,"cg_id_raw_a":7.88029432,"cg_iq_a":-203.732025,"cg_iq_raw_a":-203.065445,"cg_iu_a":-160.122711,"cg_iv_a":192.378937,"cg_iw_a":-37.185379,"cg_sample_age_us":23.9690914,"cg_sample_seq":1567467,"cg_sample_valid":1,"cg_theta_rad":5.29424334,"cg_vd_req_v":-2.15752673,"cg_vd_v":-2.15752673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35578156,"cg_vq_v":-8.35578156,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.4348278,"dclink_p_w":-2378.5249,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":35.1539917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":40.739624,"values":{"Elec_RPM":-2358.7085,"EncoderCos":49254,"EncoderSin":44498,"GapTicks":49343,"Mech_RPM":-471.741699,"cg_du":44.8577995,"cg_dv":48.6145325,"cg_dw":55.1422005,"cg_id_a":2.77389479,"cg_id_raw_a":-3.91626978,"cg_iq_a":-198.652969,"cg_iq_raw_a":-198.097656,"cg_iu_a":-38.2709579,"cg_iv_a":-155.779327,"cg_iw_a":194.050293,"cg_sample_age_us":23.4127274,"cg_sample_seq":1569071,"cg_sample_valid":1,"cg_theta_rad":0.667956889,"cg_vd_req_v":-2.01519108,"cg_vd_v":-2.01519108,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43278694,"cg_vq_v":-8.43278694,"cg_vu_v":102.93486,"cg_vv_v":91.4976578,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2400.05713,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":35.1647949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":41.073608,"values":{"Elec_RPM":-2354.34717,"EncoderCos":52594,"EncoderSin":35839,"GapTicks":49306,"Mech_RPM":-470.869415,"cg_du":49.9897766,"cg_dv":55.1760864,"cg_dw":44.8239136,"cg_id_a":-18.2821827,"cg_id_raw_a":-16.1931305,"cg_iq_a":-196.71167,"cg_iq_raw_a":-195.617981,"cg_iu_a":-50.5938568,"cg_iv_a":192.560165,"cg_iw_a":-141.966309,"cg_sample_age_us":23.5254555,"cg_sample_seq":1570867,"cg_sample_valid":1,"cg_theta_rad":0.167439744,"cg_vd_req_v":-1.57989311,"cg_vd_v":-1.57989311,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47770119,"cg_vq_v":-8.47770119,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-17.5330143,"dclink_p_w":-2529.74683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":35.1724548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":41.135515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":41.135521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":41.135526,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":41.403687,"values":{"Elec_RPM":-2359.06738,"EncoderCos":27706,"EncoderSin":52466,"GapTicks":49396,"Mech_RPM":-471.813477,"cg_du":44.9055176,"cg_dv":50.7640305,"cg_dw":55.0944824,"cg_id_a":-14.6734629,"cg_id_raw_a":-12.9553738,"cg_iq_a":-198.574615,"cg_iq_raw_a":-198.102173,"cg_iu_a":-152.656494,"cg_iv_a":-32.4778137,"cg_iw_a":185.134308,"cg_sample_age_us":23.8709087,"cg_sample_seq":1572467,"cg_sample_valid":1,"cg_theta_rad":1.82128882,"cg_vd_req_v":-1.55410171,"cg_vd_v":-1.55410171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42934036,"cg_vq_v":-8.42934036,"cg_vu_v":94.5769043,"cg_vv_v":90.6178665,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2397.69263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":41.757202,"values":{"Elec_RPM":-2359.13306,"EncoderCos":26927,"EncoderSin":52282,"GapTicks":49375,"Mech_RPM":-471.826599,"cg_du":44.8867874,"cg_dv":49.1125755,"cg_dw":55.1132126,"cg_id_a":-12.0900745,"cg_id_raw_a":-15.6076584,"cg_iq_a":-199.393097,"cg_iq_raw_a":-198.905365,"cg_iu_a":-120.508209,"cg_iv_a":-76.0429077,"cg_iw_a":196.551117,"cg_sample_age_us":23.8890915,"cg_sample_seq":1574217,"cg_sample_valid":1,"cg_theta_rad":1.8574264,"cg_vd_req_v":-1.63954628,"cg_vd_v":-1.63954628,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40310955,"cg_vq_v":-8.40310955,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.1611862,"dclink_p_w":-2331.81299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":35.2510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":42.089233,"values":{"Elec_RPM":-2360.34473,"EncoderCos":12608,"EncoderSin":36115,"GapTicks":49730,"Mech_RPM":-472.06897,"cg_du":45.2095299,"cg_dv":54.7904701,"cg_dw":53.5387192,"cg_id_a":12.4638481,"cg_id_raw_a":11.1455755,"cg_iq_a":-199.741486,"cg_iq_raw_a":-200.318604,"cg_iu_a":-191.183685,"cg_iv_a":47.9110107,"cg_iw_a":143.272675,"cg_sample_age_us":23.954546,"cg_sample_seq":1575866,"cg_sample_valid":1,"cg_theta_rad":2.97735071,"cg_vd_req_v":-2.1029458,"cg_vd_v":-2.1029458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4453125,"cg_vq_v":-8.4453125,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2473.99048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":42.127678,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":42.127684,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":42.127689,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":42.421265,"values":{"Elec_RPM":-2356.56348,"EncoderCos":12468,"EncoderSin":35298,"GapTicks":49945,"Mech_RPM":-471.312683,"cg_du":45.404892,"cg_dv":54.1972046,"cg_dw":54.595108,"cg_id_a":7.84361649,"cg_id_raw_a":11.8000622,"cg_iq_a":-200.889435,"cg_iq_raw_a":-200.6978,"cg_iu_a":-179.25946,"cg_iv_a":11.3772278,"cg_iw_a":167.882233,"cg_sample_age_us":23.8927269,"cg_sample_seq":1577616,"cg_sample_valid":1,"cg_theta_rad":3.01130462,"cg_vd_req_v":-1.98262691,"cg_vd_v":-1.98262691,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41500854,"cg_vq_v":-8.41500854,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":35.252594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":42.772827,"values":{"Elec_RPM":-2359.33789,"EncoderCos":21405,"EncoderSin":15667,"GapTicks":49336,"Mech_RPM":-471.867554,"cg_du":44.8509369,"cg_dv":55.1490631,"cg_dw":49.6943893,"cg_id_a":-15.7805595,"cg_id_raw_a":-15.1366272,"cg_iq_a":-196.763031,"cg_iq_raw_a":-197.171326,"cg_iu_a":-189.588959,"cg_iv_a":143.486008,"cg_iw_a":46.102951,"cg_sample_age_us":23.8999996,"cg_sample_seq":1579266,"cg_sample_valid":1,"cg_theta_rad":4.13774014,"cg_vd_req_v":-1.56576061,"cg_vd_v":-1.56576061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46626472,"cg_vq_v":-8.46626472,"cg_vu_v":38.7105446,"cg_vv_v":67.743454,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2547.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":43.106812,"values":{"Elec_RPM":-2357.10376,"EncoderCos":21879,"EncoderSin":15388,"GapTicks":49314,"Mech_RPM":-471.420746,"cg_du":44.8313713,"cg_dv":55.1686287,"cg_dw":50.7692261,"cg_id_a":-10.2705755,"cg_id_raw_a":-14.9804878,"cg_iq_a":-197.134598,"cg_iq_raw_a":-196.10762,"cg_iu_a":-195.061768,"cg_iv_a":118.731461,"cg_iw_a":76.330307,"cg_sample_age_us":23.9327278,"cg_sample_seq":1581017,"cg_sample_valid":1,"cg_theta_rad":4.16414309,"cg_vd_req_v":-1.70157564,"cg_vd_v":-1.70157564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47380829,"cg_vq_v":-8.47380829,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2488.43433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":43.151434,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":43.15144,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":43.151445,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":43.460327,"values":{"Elec_RPM":-2359.86963,"EncoderCos":32383,"EncoderSin":12353,"GapTicks":49673,"Mech_RPM":-471.973938,"cg_du":54.8418541,"cg_dv":45.1581459,"cg_dw":53.1000328,"cg_id_a":2.55680227,"cg_id_raw_a":9.8569994,"cg_iq_a":-201.301468,"cg_iq_raw_a":-202.435898,"cg_iu_a":181.801605,"cg_iv_a":-153.64093,"cg_iw_a":-28.1606674,"cg_sample_age_us":24.0200005,"cg_sample_seq":1582720,"cg_sample_valid":1,"cg_theta_rad":4.75129128,"cg_vd_req_v":-1.92548513,"cg_vd_v":-1.92548513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40888596,"cg_vq_v":-8.40888596,"cg_vu_v":2.63935518,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2512.54395,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":43.792358,"values":{"Elec_RPM":-2359.71362,"EncoderCos":44205,"EncoderSin":15966,"GapTicks":49846,"Mech_RPM":-471.942719,"cg_du":45.3147125,"cg_dv":54.6852875,"cg_dw":46.4114113,"cg_id_a":5.74222088,"cg_id_raw_a":12.4460745,"cg_iq_a":-203.504593,"cg_iq_raw_a":-204.833954,"cg_iu_a":-174.366547,"cg_iv_a":180.201019,"cg_iw_a":-8.29904175,"cg_sample_age_us":23.823637,"cg_sample_seq":1584416,"cg_sample_valid":1,"cg_theta_rad":5.32891464,"cg_vd_req_v":-2.05790091,"cg_vd_v":-2.05790091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33693409,"cg_vq_v":-8.33693409,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-15.8966064,"dclink_p_w":-2300.63086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":44.12439,"values":{"Elec_RPM":-2353.14478,"EncoderCos":51444,"EncoderSin":25127,"GapTicks":49704,"Mech_RPM":-470.628967,"cg_du":53.264595,"cg_dv":45.1860008,"cg_dw":54.8139992,"cg_id_a":18.2579269,"cg_id_raw_a":17.6740913,"cg_iq_a":-203.310455,"cg_iq_raw_a":-202.352402,"cg_iu_a":161.03389,"cg_iv_a":-193.726624,"cg_iw_a":42.4060745,"cg_sample_age_us":23.7618179,"cg_sample_seq":1586116,"cg_sample_valid":1,"cg_theta_rad":5.91064596,"cg_vd_req_v":-2.31312299,"cg_vd_v":-2.31312299,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32406998,"cg_vq_v":-8.32406998,"cg_vu_v":26.3935547,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":44.142572,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":44.142577,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":44.142583,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":44.475952,"values":{"Elec_RPM":-2357.97241,"EncoderCos":48484,"EncoderSin":45521,"GapTicks":49858,"Mech_RPM":-471.594482,"cg_du":45.3256302,"cg_dv":46.2076263,"cg_dw":54.6743698,"cg_id_a":16.3632336,"cg_id_raw_a":20.9543438,"cg_iq_a":-205.604553,"cg_iq_raw_a":-202.87442,"cg_iu_a":-1.01229382,"cg_iv_a":-173.285095,"cg_iw_a":179.51651,"cg_sample_age_us":23.4127274,"cg_sample_seq":1587771,"cg_sample_valid":1,"cg_theta_rad":0.728842795,"cg_vd_req_v":-2.25174761,"cg_vd_v":-2.25174761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32692051,"cg_vq_v":-8.32692051,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2453.3623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":44.809937,"values":{"Elec_RPM":-2352.42944,"EncoderCos":47191,"EncoderSin":47015,"GapTicks":49320,"Mech_RPM":-470.485901,"cg_du":49.5690842,"cg_dv":44.8368225,"cg_dw":55.1631775,"cg_id_a":-15.2281637,"cg_id_raw_a":-16.6645508,"cg_iq_a":-195.782532,"cg_iq_raw_a":-197.18956,"cg_iu_a":44.3649864,"cg_iv_a":-188.435028,"cg_iw_a":144.070038,"cg_sample_age_us":23.6599998,"cg_sample_seq":1589516,"cg_sample_valid":1,"cg_theta_rad":0.783888876,"cg_vd_req_v":-1.607862,"cg_vd_v":-1.607862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51415443,"cg_vq_v":-8.51415443,"cg_vu_v":3.95903301,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2425.74023,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":45.135095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":45.1351,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":45.135105,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":45.141968,"values":{"Elec_RPM":-2349.17285,"EncoderCos":26416,"EncoderSin":52117,"GapTicks":49410,"Mech_RPM":-469.834564,"cg_du":44.9188805,"cg_dv":48.1557312,"cg_dw":55.0811195,"cg_id_a":-1.36603415,"cg_id_raw_a":-7.6473527,"cg_iq_a":-197.822632,"cg_iq_raw_a":-198.964203,"cg_iu_a":-87.2363739,"cg_iv_a":-112.866623,"cg_iw_a":200.102997,"cg_sample_age_us":23.8418179,"cg_sample_seq":1591166,"cg_sample_valid":1,"cg_theta_rad":1.88889158,"cg_vd_req_v":-1.87204981,"cg_vd_v":-1.87204981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44429016,"cg_vq_v":-8.44429016,"cg_vu_v":3.51914048,"cg_vv_v":10.9973145,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2459.93384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":45.49353,"values":{"Elec_RPM":-2350.71753,"EncoderCos":25889,"EncoderSin":51921,"GapTicks":49598,"Mech_RPM":-470.143524,"cg_du":45.0892181,"cg_dv":47.2240448,"cg_dw":54.9107819,"cg_id_a":10.6380196,"cg_id_raw_a":7.53129816,"cg_iq_a":-202.474762,"cg_iq_raw_a":-199.667801,"cg_iu_a":-53.6020966,"cg_iv_a":-143.311447,"cg_iw_a":196.913544,"cg_sample_age_us":23.8272724,"cg_sample_seq":1592917,"cg_sample_valid":1,"cg_theta_rad":1.91466939,"cg_vd_req_v":-2.11322474,"cg_vd_v":-2.11322474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36993027,"cg_vq_v":-8.36993027,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2394.26074,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":45.827515,"values":{"Elec_RPM":-2354.42334,"EncoderCos":14042,"EncoderSin":24513,"GapTicks":49416,"Mech_RPM":-470.884644,"cg_du":55.0756302,"cg_dv":44.9243698,"cg_dw":48.2481461,"cg_id_a":1.21155739,"cg_id_raw_a":-4.36242819,"cg_iq_a":-197.31749,"cg_iq_raw_a":-197.690414,"cg_iu_a":196.444122,"cg_iv_a":-70.0264282,"cg_iw_a":-126.417694,"cg_sample_age_us":24.1072731,"cg_sample_seq":1594518,"cg_sample_valid":1,"cg_theta_rad":3.57417846,"cg_vd_req_v":-1.92193079,"cg_vd_v":-1.92193079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43259144,"cg_vq_v":-8.43259144,"cg_vu_v":143.404984,"cg_vv_v":135.486908,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.0107746,"dclink_p_w":-2317.15381,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":35.3838196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":46.127057,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":46.127062,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":46.127067,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":46.157593,"values":{"Elec_RPM":-2352.4563,"EncoderCos":12323,"EncoderSin":33981,"GapTicks":49372,"Mech_RPM":-470.491272,"cg_du":44.8841972,"cg_dv":50.4309502,"cg_dw":55.1158028,"cg_id_a":-16.3046227,"cg_id_raw_a":-15.2089529,"cg_iq_a":-198.03804,"cg_iq_raw_a":-199.343063,"cg_iu_a":-150.119431,"cg_iv_a":-37.7331696,"cg_iw_a":187.8526,"cg_sample_age_us":23.9290905,"cg_sample_seq":1596316,"cg_sample_valid":1,"cg_theta_rad":3.0859704,"cg_vd_req_v":-1.51167607,"cg_vd_v":-1.51167607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42476273,"cg_vq_v":-8.42476273,"cg_vu_v":18.0355949,"cg_vv_v":14.5164547,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2437.0105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":35.4333191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":46.513062,"values":{"Elec_RPM":-2349.33057,"EncoderCos":32880,"EncoderSin":12359,"GapTicks":49388,"Mech_RPM":-469.866089,"cg_du":55.1009331,"cg_dv":44.8990669,"cg_dw":51.7568054,"cg_id_a":-12.0146961,"cg_id_raw_a":-5.21307564,"cg_iq_a":-195.042831,"cg_iq_raw_a":-196.777786,"cg_iu_a":175.27771,"cg_iv_a":-160.853455,"cg_iw_a":-14.4242477,"cg_sample_age_us":24.0272732,"cg_sample_seq":1597916,"cg_sample_valid":1,"cg_theta_rad":4.73427439,"cg_vd_req_v":-1.64383674,"cg_vd_v":-1.64383674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53437424,"cg_vq_v":-8.53437424,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":46.845093,"values":{"Elec_RPM":-2348.46167,"EncoderCos":33712,"EncoderSin":12418,"GapTicks":49331,"Mech_RPM":-469.692322,"cg_du":55.1531982,"cg_dv":44.8468018,"cg_dw":49.8527641,"cg_id_a":-16.3020668,"cg_id_raw_a":-17.2903156,"cg_iq_a":-195.434357,"cg_iq_raw_a":-194.725891,"cg_iu_a":192.058609,"cg_iv_a":-135.192825,"cg_iw_a":-56.8657837,"cg_sample_age_us":24.0563641,"cg_sample_seq":1599666,"cg_sample_valid":1,"cg_theta_rad":4.7773819,"cg_vd_req_v":-1.57614505,"cg_vd_v":-1.57614505,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49404812,"cg_vq_v":-8.49404812,"cg_vu_v":32.9919434,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2460.87695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":47.150943,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":47.150948,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":47.150954,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":47.175171,"values":{"Elec_RPM":-2348.55811,"EncoderCos":44592,"EncoderSin":16291,"GapTicks":49556,"Mech_RPM":-469.711639,"cg_du":45.0516281,"cg_dv":54.9483719,"cg_dw":47.6804085,"cg_id_a":-6.16394138,"cg_id_raw_a":0.952849269,"cg_iq_a":-200.922272,"cg_iq_raw_a":-201.903595,"cg_iu_a":-179.042007,"cg_iv_a":167.986847,"cg_iw_a":11.0551682,"cg_sample_age_us":23.8309097,"cg_sample_seq":1601366,"cg_sample_valid":1,"cg_theta_rad":5.35361814,"cg_vd_req_v":-1.82254052,"cg_vd_v":-1.82254052,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37078667,"cg_vq_v":-8.37078667,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":47.53064,"values":{"Elec_RPM":-2347.19873,"EncoderCos":45012,"EncoderSin":16551,"GapTicks":49381,"Mech_RPM":-469.439728,"cg_du":44.8922806,"cg_dv":55.1077194,"cg_dw":48.9231567,"cg_id_a":-16.3826008,"cg_id_raw_a":-15.4009724,"cg_iq_a":-199.70874,"cg_iq_raw_a":-200.311234,"cg_iu_a":-184.841019,"cg_iv_a":157.657349,"cg_iw_a":27.18367,"cg_sample_age_us":23.8199997,"cg_sample_seq":1603117,"cg_sample_valid":1,"cg_theta_rad":5.37981987,"cg_vd_req_v":-1.63908803,"cg_vd_v":-1.63908803,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41439915,"cg_vq_v":-8.41439915,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2428.2959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":35.4812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":47.860718,"values":{"Elec_RPM":-2350.20605,"EncoderCos":52394,"EncoderSin":36983,"GapTicks":49448,"Mech_RPM":-470.041229,"cg_du":47.9085655,"cg_dv":55.0469475,"cg_dw":44.9530525,"cg_id_a":3.13963342,"cg_id_raw_a":-3.80494261,"cg_iq_a":-199.877106,"cg_iq_raw_a":-198.781754,"cg_iu_a":-111.918427,"cg_iv_a":199.591461,"cg_iw_a":-87.6730347,"cg_sample_age_us":23.3945446,"cg_sample_seq":1604766,"cg_sample_valid":1,"cg_theta_rad":0.212887257,"cg_vd_req_v":-2.03415322,"cg_vd_v":-2.03415322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43022633,"cg_vq_v":-8.43022633,"cg_vu_v":0.87978512,"cg_vv_v":3.95903301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":35.5029297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":48.142556,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":48.142561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":48.142565,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":48.222046,"values":{"Elec_RPM":-2353.69141,"EncoderCos":47519,"EncoderSin":46695,"GapTicks":49450,"Mech_RPM":-470.738281,"cg_du":48.5275764,"cg_dv":44.9554329,"cg_dw":55.0445671,"cg_id_a":-14.0653162,"cg_id_raw_a":-12.649724,"cg_iq_a":-199.287567,"cg_iq_raw_a":-200.896423,"cg_iu_a":54.1508179,"cg_iv_a":-189.812286,"cg_iw_a":135.661469,"cg_sample_age_us":25.692728,"cg_sample_seq":1606470,"cg_sample_valid":1,"cg_theta_rad":0.794255435,"cg_vd_req_v":-1.6138804,"cg_vd_v":-1.6138804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42176819,"cg_vq_v":-8.42176819,"cg_vu_v":138.566162,"cg_vv_v":109.533249,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2463.59448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":35.5245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":48.741577,"values":{"Elec_RPM":-2349.62915,"EncoderCos":23721,"EncoderSin":14415,"GapTicks":49981,"Mech_RPM":-469.925812,"cg_du":45.4380264,"cg_dv":54.2589264,"cg_dw":54.5619736,"cg_id_a":9.67788887,"cg_id_raw_a":11.1344004,"cg_iq_a":-201.531387,"cg_iq_raw_a":-202.230301,"cg_iu_a":-181.434097,"cg_iv_a":11.6671753,"cg_iw_a":169.766922,"cg_sample_age_us":23.9654541,"cg_sample_seq":1609066,"cg_sample_valid":1,"cg_theta_rad":4.26690769,"cg_vd_req_v":-2.09183121,"cg_vd_v":-2.09183121,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37702179,"cg_vq_v":-8.37702179,"cg_vu_v":38.2706528,"cg_vv_v":48.8280716,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2522.02246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":35.5648804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":49.006776,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":49.006793,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":49.006799,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":49.135575,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":49.13558,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":49.135586,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":49.188843,"values":{"Elec_RPM":-2343.83765,"EncoderCos":31749,"EncoderSin":12404,"GapTicks":49995,"Mech_RPM":-468.767517,"cg_du":54.3356781,"cg_dv":45.4505997,"cg_dw":54.5494003,"cg_id_a":16.0920525,"cg_id_raw_a":18.7817154,"cg_iq_a":-202.529388,"cg_iq_raw_a":-201.563232,"cg_iu_a":169.26123,"cg_iv_a":-180.606354,"cg_iw_a":11.3451157,"cg_sample_age_us":24.0890903,"cg_sample_seq":1611366,"cg_sample_valid":1,"cg_theta_rad":4.67872763,"cg_vd_req_v":-2.22095537,"cg_vd_v":-2.22095537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38850498,"cg_vq_v":-8.38850498,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2502.55542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":49.540405,"values":{"Elec_RPM":-2344.08862,"EncoderCos":42768,"EncoderSin":14989,"GapTicks":49471,"Mech_RPM":-468.817719,"cg_du":48.0561714,"cg_dv":55.0256271,"cg_dw":44.9743729,"cg_id_a":-2.27649355,"cg_id_raw_a":-7.06387138,"cg_iq_a":-200.373871,"cg_iq_raw_a":-199.651108,"cg_iu_a":-117.028809,"cg_iv_a":200.425079,"cg_iw_a":-83.3962708,"cg_sample_age_us":23.9763641,"cg_sample_seq":1613067,"cg_sample_valid":1,"cg_theta_rad":5.2428112,"cg_vd_req_v":-1.93357897,"cg_vd_v":-1.93357897,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38532257,"cg_vq_v":-8.38532257,"cg_vu_v":104.694435,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":35.612915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":49.872437,"values":{"Elec_RPM":-2342.99023,"EncoderCos":43644,"EncoderSin":15589,"GapTicks":49912,"Mech_RPM":-468.598022,"cg_du":46.1477356,"cg_dv":54.6253624,"cg_dw":45.3746376,"cg_id_a":11.6157713,"cg_id_raw_a":12.2481737,"cg_iq_a":-204.591278,"cg_iq_raw_a":-203.67572,"cg_iu_a":-163.493408,"cg_iv_a":189.515686,"cg_iw_a":-26.0222778,"cg_sample_age_us":23.9509087,"cg_sample_seq":1614816,"cg_sample_valid":1,"cg_theta_rad":5.29388285,"cg_vd_req_v":-2.19517517,"cg_vd_v":-2.19517517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29111576,"cg_vq_v":-8.29111576,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-17.0092907,"dclink_p_w":-2461.66382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":50.127719,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":50.127724,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":50.12773,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":50.206421,"values":{"Elec_RPM":-2347.29053,"EncoderCos":51156,"EncoderSin":24463,"GapTicks":49383,"Mech_RPM":-469.458099,"cg_du":51.9062233,"cg_dv":44.8944168,"cg_dw":55.1055832,"cg_id_a":10.8024063,"cg_id_raw_a":9.07395744,"cg_iq_a":-199.547516,"cg_iq_raw_a":-198.85939,"cg_iu_a":115.112946,"cg_iv_a":-198.873245,"cg_iw_a":83.7602997,"cg_sample_age_us":23.6163635,"cg_sample_seq":1616516,"cg_sample_valid":1,"cg_theta_rad":5.86730814,"cg_vd_req_v":-2.186975,"cg_vd_v":-2.186975,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42226315,"cg_vq_v":-8.42226315,"cg_vu_v":43.1094704,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2375.21704,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":35.6408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":50.557983,"values":{"Elec_RPM":-2345.18286,"EncoderCos":51296,"EncoderSin":24760,"GapTicks":49486,"Mech_RPM":-469.036591,"cg_du":52.572094,"cg_dv":44.98769,"cg_dw":55.01231,"cg_id_a":12.9620123,"cg_id_raw_a":10.3683891,"cg_iq_a":-200.936539,"cg_iq_raw_a":-200.376587,"cg_iu_a":152.371613,"cg_iv_a":-195.90126,"cg_iw_a":52.2281647,"cg_sample_age_us":23.7618179,"cg_sample_seq":1618268,"cg_sample_valid":1,"cg_theta_rad":5.89803219,"cg_vd_req_v":-2.231179,"cg_vd_v":-2.231179,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41894913,"cg_vq_v":-8.41894913,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-15.9582214,"dclink_p_w":-2302.52808,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":35.6005554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":50.890015,"values":{"Elec_RPM":-2342.55444,"EncoderCos":47706,"EncoderSin":46433,"GapTicks":49559,"Mech_RPM":-468.510895,"cg_du":47.8074074,"cg_dv":45.0536995,"cg_dw":54.9463005,"cg_id_a":-9.86358833,"cg_id_raw_a":-3.86992764,"cg_iq_a":-201.184097,"cg_iq_raw_a":-203.480148,"cg_iu_a":5.72905922,"cg_iv_a":-173.430084,"cg_iw_a":174.224915,"cg_sample_age_us":23.4163628,"cg_sample_seq":1619916,"cg_sample_valid":1,"cg_theta_rad":0.7437886,"cg_vd_req_v":-1.69643927,"cg_vd_v":-1.69643927,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38846874,"cg_vq_v":-8.38846874,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-17.6381226,"dclink_p_w":-2552.67114,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":51.11934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":51.119346,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":51.119352,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":51.24353,"values":{"Elec_RPM":-2342.88428,"EncoderCos":47152,"EncoderSin":47028,"GapTicks":49328,"Mech_RPM":-468.576843,"cg_du":49.6079369,"cg_dv":44.8438568,"cg_dw":55.1561432,"cg_id_a":-13.8087416,"cg_id_raw_a":-14.2341614,"cg_iq_a":-196.755051,"cg_iq_raw_a":-197.156403,"cg_iu_a":48.134346,"cg_iv_a":-189.703552,"cg_iw_a":141.569214,"cg_sample_age_us":23.641819,"cg_sample_seq":1621666,"cg_sample_valid":1,"cg_theta_rad":0.784316182,"cg_vd_req_v":-1.64292622,"cg_vd_v":-1.64292622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46699715,"cg_vq_v":-8.46699715,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2453.27124,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":35.6703491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":51.575562,"values":{"Elec_RPM":-2347.45825,"EncoderCos":26577,"EncoderSin":52196,"GapTicks":49376,"Mech_RPM":-469.491669,"cg_du":44.8874512,"cg_dv":48.4682045,"cg_dw":55.1125488,"cg_id_a":-4.56431675,"cg_id_raw_a":-8.12554646,"cg_iq_a":-198.081833,"cg_iq_raw_a":-198.967819,"cg_iu_a":-93.6877747,"cg_iv_a":-102.827087,"cg_iw_a":196.514862,"cg_sample_age_us":23.8963642,"cg_sample_seq":1623317,"cg_sample_valid":1,"cg_theta_rad":1.88146818,"cg_vd_req_v":-1.80733144,"cg_vd_v":-1.80733144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48019505,"cg_vq_v":-8.48019505,"cg_vu_v":103.814644,"cg_vv_v":98.9758301,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.2720585,"dclink_p_w":-2499.69263,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":51.909546,"values":{"Elec_RPM":-2345.24194,"EncoderCos":16739,"EncoderSin":45352,"GapTicks":49335,"Mech_RPM":-469.04837,"cg_du":55.1492119,"cg_dv":50.2186508,"cg_dw":44.8507881,"cg_id_a":-7.25094414,"cg_id_raw_a":-9.78799438,"cg_iq_a":-197.789001,"cg_iq_raw_a":-198.929306,"cg_iu_a":127.580826,"cg_iv_a":70.0922394,"cg_iw_a":-197.673065,"cg_sample_age_us":23.8854542,"cg_sample_seq":1625016,"cg_sample_valid":1,"cg_theta_rad":2.47536635,"cg_vd_req_v":-1.74733901,"cg_vd_v":-1.74733901,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45512009,"cg_vq_v":-8.45512009,"cg_vu_v":28.5930176,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2562.27173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":52.14305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":52.143055,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":52.14306,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":52.261108,"values":{"Elec_RPM":-2351.58911,"EncoderCos":12420,"EncoderSin":34774,"GapTicks":49573,"Mech_RPM":-470.317841,"cg_du":45.066761,"cg_dv":52.3251839,"cg_dw":54.933239,"cg_id_a":-6.63946152,"cg_id_raw_a":-0.446153134,"cg_iq_a":-201.052368,"cg_iq_raw_a":-202.587555,"cg_iu_a":-172.699341,"cg_iv_a":-4.5700531,"cg_iw_a":177.269394,"cg_sample_age_us":23.9290905,"cg_sample_seq":1626716,"cg_sample_valid":1,"cg_theta_rad":3.04407239,"cg_vd_req_v":-1.68619907,"cg_vd_v":-1.68619907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37586021,"cg_vq_v":-8.37586021,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":35.7153931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":52.59314,"values":{"Elec_RPM":-2352.81763,"EncoderCos":14317,"EncoderSin":23822,"GapTicks":49621,"Mech_RPM":-470.563538,"cg_du":54.8894348,"cg_dv":45.1105652,"cg_dw":46.969429,"cg_id_a":16.0374985,"cg_id_raw_a":13.4768219,"cg_iq_a":-202.962143,"cg_iq_raw_a":-201.415359,"cg_iu_a":191.478699,"cg_iv_a":-32.5140533,"cg_iw_a":-156.173889,"cg_sample_age_us":24.0636368,"cg_sample_seq":1628418,"cg_sample_valid":1,"cg_theta_rad":3.60711884,"cg_vd_req_v":-2.22220945,"cg_vd_v":-2.22220945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36170959,"cg_vq_v":-8.36170959,"cg_vu_v":105.574219,"cg_vv_v":85.7790527,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.1031952,"dclink_p_w":-2323.44556,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":52.925171,"values":{"Elec_RPM":-2350.64185,"EncoderCos":22527,"EncoderSin":15040,"GapTicks":49429,"Mech_RPM":-470.128357,"cg_du":44.936161,"cg_dv":55.063839,"cg_dw":52.1348076,"cg_id_a":2.32842255,"cg_id_raw_a":1.70773625,"cg_iq_a":-196.76004,"cg_iq_raw_a":-197.882553,"cg_iu_a":-196.076599,"cg_iv_a":75.5288086,"cg_iw_a":120.547791,"cg_sample_age_us":23.954546,"cg_sample_seq":1630116,"cg_sample_valid":1,"cg_theta_rad":4.20172691,"cg_vd_req_v":-1.95437491,"cg_vd_v":-1.95437491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48731613,"cg_vq_v":-8.48731613,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2459.4126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":53.135278,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":53.135284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":53.135289,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":53.278687,"values":{"Elec_RPM":-2350.69922,"EncoderCos":33838,"EncoderSin":12374,"GapTicks":49320,"Mech_RPM":-470.139832,"cg_du":55.1632538,"cg_dv":44.8367462,"cg_dw":49.974556,"cg_id_a":-13.7758808,"cg_id_raw_a":-16.9644966,"cg_iq_a":-195.820282,"cg_iq_raw_a":-193.77243,"cg_iu_a":189.412811,"cg_iv_a":-139.97702,"cg_iw_a":-49.4357986,"cg_sample_age_us":23.9690914,"cg_sample_seq":1631816,"cg_sample_valid":1,"cg_theta_rad":4.77209139,"cg_vd_req_v":-1.62910795,"cg_vd_v":-1.62910795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4581089,"cg_vq_v":-8.4581089,"cg_vu_v":106.014107,"cg_vv_v":80.0604477,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2486.08105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":53.608765,"values":{"Elec_RPM":-2351.64282,"EncoderCos":44533,"EncoderSin":16206,"GapTicks":49572,"Mech_RPM":-470.328583,"cg_du":45.0662613,"cg_dv":54.9337387,"cg_dw":47.412281,"cg_id_a":-4.14773655,"cg_id_raw_a":3.31945324,"cg_iq_a":-202.210098,"cg_iq_raw_a":-203.105042,"cg_iu_a":-179.186981,"cg_iv_a":170.197723,"cg_iw_a":8.98926544,"cg_sample_age_us":23.954546,"cg_sample_seq":1633516,"cg_sample_valid":1,"cg_theta_rad":5.35011339,"cg_vd_req_v":-1.87374425,"cg_vd_v":-1.87374425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38161182,"cg_vq_v":-8.38161182,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2446.86035,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":35.7759705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":53.96228,"values":{"Elec_RPM":-2346.61792,"EncoderCos":51321,"EncoderSin":24848,"GapTicks":49523,"Mech_RPM":-469.323578,"cg_du":52.760498,"cg_dv":45.0214729,"cg_dw":54.9785271,"cg_id_a":13.9295549,"cg_id_raw_a":8.15745163,"cg_iq_a":-199.711533,"cg_iq_raw_a":-199.056396,"cg_iu_a":168.318893,"cg_iv_a":-184.194504,"cg_iw_a":19.1013031,"cg_sample_age_us":23.6745453,"cg_sample_seq":1635220,"cg_sample_valid":1,"cg_theta_rad":5.93273497,"cg_vd_req_v":-2.24204993,"cg_vd_v":-2.24204993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44310665,"cg_vq_v":-8.44310665,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-16.3786488,"dclink_p_w":-2377.59912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":54.127585,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":54.127591,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":54.127596,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":54.296265,"values":{"Elec_RPM":-2352.64575,"EncoderCos":52364,"EncoderSin":37063,"GapTicks":49499,"Mech_RPM":-470.529144,"cg_du":47.8202324,"cg_dv":55.0005074,"cg_dw":44.9994926,"cg_id_a":6.81677055,"cg_id_raw_a":1.68715286,"cg_iq_a":-200.542496,"cg_iq_raw_a":-198.734436,"cg_iu_a":-119.384659,"cg_iv_a":199.917664,"cg_iw_a":-80.5330048,"cg_sample_age_us":23.3836365,"cg_sample_seq":1636916,"cg_sample_valid":1,"cg_theta_rad":0.217237979,"cg_vd_req_v":-2.1032331,"cg_vd_v":-2.1032331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38350391,"cg_vq_v":-8.38350391,"cg_vu_v":0.87978512,"cg_vv_v":3.95903301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":54.628296,"values":{"Elec_RPM":-2355.1897,"EncoderCos":37438,"EncoderSin":52372,"GapTicks":49934,"Mech_RPM":-471.037933,"cg_du":54.098465,"cg_dv":54.6049194,"cg_dw":45.3950806,"cg_id_a":9.36157322,"cg_id_raw_a":11.6122065,"cg_iq_a":-203.399139,"cg_iq_raw_a":-205.927811,"cg_iu_a":10.2232943,"cg_iv_a":171.429993,"cg_iw_a":-181.65329,"cg_sample_age_us":23.9290905,"cg_sample_seq":1638566,"cg_sample_valid":1,"cg_theta_rad":1.33745027,"cg_vd_req_v":-2.06737638,"cg_vd_v":-2.06737638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3742609,"cg_vq_v":-8.3742609,"cg_vu_v":39.1504402,"cg_vv_v":54.1067848,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2405.01392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":54.981812,"values":{"Elec_RPM":-2361.47778,"EncoderCos":36878,"EncoderSin":52512,"GapTicks":49528,"Mech_RPM":-472.295563,"cg_du":52.6686096,"cg_dv":54.9738541,"cg_dw":45.0261459,"cg_id_a":-3.00962734,"cg_id_raw_a":2.46928954,"cg_iq_a":-198.451233,"cg_iq_raw_a":-200.084442,"cg_iu_a":-4.20175123,"cg_iv_a":172.082397,"cg_iw_a":-172.628571,"cg_sample_age_us":23.9036369,"cg_sample_seq":1640317,"cg_sample_valid":1,"cg_theta_rad":1.36455405,"cg_vd_req_v":-1.80976665,"cg_vd_v":-1.80976665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48432255,"cg_vq_v":-8.48432255,"cg_vu_v":119.650772,"cg_vv_v":142.965088,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":55.119256,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":55.119262,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":55.119267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":55.31189,"values":{"Elec_RPM":-2361.03394,"EncoderCos":25173,"EncoderSin":51679,"GapTicks":50080,"Mech_RPM":-472.206787,"cg_du":45.5273438,"cg_dv":45.7492371,"cg_dw":54.4726563,"cg_id_a":11.0176611,"cg_id_raw_a":14.3152742,"cg_iq_a":-205.32077,"cg_iq_raw_a":-204.264084,"cg_iu_a":-19.5691376,"cg_iv_a":-167.848526,"cg_iw_a":187.417664,"cg_sample_age_us":23.7690907,"cg_sample_seq":1642016,"cg_sample_valid":1,"cg_theta_rad":1.9551084,"cg_vd_req_v":-2.084553,"cg_vd_v":-2.084553,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29364014,"cg_vq_v":-8.29364014,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2382.7998,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":35.9004822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":55.645874,"values":{"Elec_RPM":-2360.32861,"EncoderCos":16057,"EncoderSin":44431,"GapTicks":49545,"Mech_RPM":-472.065735,"cg_du":54.9590225,"cg_dv":52.3032188,"cg_dw":45.0409775,"cg_id_a":10.9659128,"cg_id_raw_a":8.92364979,"cg_iq_a":-204.03656,"cg_iq_raw_a":-204.528854,"cg_iu_a":64.9877243,"cg_iv_a":137.397034,"cg_iw_a":-202.384766,"cg_sample_age_us":23.8490906,"cg_sample_seq":1643716,"cg_sample_valid":1,"cg_theta_rad":2.53456068,"cg_vd_req_v":-2.10463095,"cg_vd_v":-2.10463095,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31784344,"cg_vq_v":-8.31784344,"cg_vu_v":130.208206,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":55.997437,"values":{"Elec_RPM":-2361.48413,"EncoderCos":12352,"EncoderSin":33845,"GapTicks":49340,"Mech_RPM":-472.296814,"cg_du":44.8547363,"cg_dv":50.1435814,"cg_dw":55.1452637,"cg_id_a":-17.1315193,"cg_id_raw_a":-17.4644375,"cg_iq_a":-199.745544,"cg_iq_raw_a":-198.869827,"cg_iu_a":-145.081543,"cg_iv_a":-45.9605103,"cg_iw_a":191.042053,"cg_sample_age_us":23.9400005,"cg_sample_seq":1645417,"cg_sample_valid":1,"cg_theta_rad":3.09150195,"cg_vd_req_v":-1.5151546,"cg_vd_v":-1.5151546,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43847084,"cg_vq_v":-8.43847084,"cg_vu_v":117.011421,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.9914989,"dclink_p_w":-2595.89917,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":35.8693237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":56.142704,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":56.142711,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":56.142716,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":56.329468,"values":{"Elec_RPM":-2352.46143,"EncoderCos":15027,"EncoderSin":22468,"GapTicks":49510,"Mech_RPM":-470.492279,"cg_du":54.9905853,"cg_dv":47.6060905,"cg_dw":45.0094147,"cg_id_a":-5.90491104,"cg_id_raw_a":0.608400285,"cg_iq_a":-196.575302,"cg_iq_raw_a":-197.423233,"cg_iu_a":165.419403,"cg_iv_a":5.94064331,"cg_iw_a":-171.360046,"cg_sample_age_us":23.9327278,"cg_sample_seq":1647117,"cg_sample_valid":1,"cg_theta_rad":3.6735785,"cg_vd_req_v":-1.73614848,"cg_vd_v":-1.73614848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47793007,"cg_vq_v":-8.47793007,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":56.663452,"values":{"Elec_RPM":-2350.26294,"EncoderCos":23375,"EncoderSin":14569,"GapTicks":49882,"Mech_RPM":-470.052582,"cg_du":45.3477325,"cg_dv":54.6522675,"cg_dw":53.9340706,"cg_id_a":12.2074003,"cg_id_raw_a":10.2896471,"cg_iq_a":-200.151306,"cg_iq_raw_a":-198.67601,"cg_iu_a":-184.478577,"cg_iv_a":25.5123291,"cg_iw_a":158.966248,"cg_sample_age_us":23.9436359,"cg_sample_seq":1648817,"cg_sample_valid":1,"cg_theta_rad":4.24816227,"cg_vd_req_v":-2.14088917,"cg_vd_v":-2.14088917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38260365,"cg_vq_v":-8.38260365,"cg_vu_v":96.7763672,"cg_vv_v":99.8556061,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":57.015015,"values":{"Elec_RPM":-2350.51807,"EncoderCos":34727,"EncoderSin":12529,"GapTicks":49415,"Mech_RPM":-470.103607,"cg_du":55.0767632,"cg_dv":44.9232368,"cg_dw":48.0776062,"cg_id_a":4.79396152,"cg_id_raw_a":-2.02133846,"cg_iq_a":-199.579727,"cg_iq_raw_a":-196.880402,"cg_iu_a":199.017426,"cg_iv_a":-78.2900238,"cg_iw_a":-120.727402,"cg_sample_age_us":24.0309086,"cg_sample_seq":1650517,"cg_sample_valid":1,"cg_theta_rad":4.8234458,"cg_vd_req_v":-2.0340302,"cg_vd_v":-2.0340302,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41562653,"cg_vq_v":-8.41562653,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2534.31226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":57.134889,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":57.134894,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":57.1349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":57.348999,"values":{"Elec_RPM":-2353.41943,"EncoderCos":45614,"EncoderSin":17069,"GapTicks":49271,"Mech_RPM":-470.683868,"cg_du":44.7923431,"cg_dv":55.2076569,"cg_dw":50.4959831,"cg_id_a":-7.50485516,"cg_id_raw_a":-10.6875277,"cg_iq_a":-195.255722,"cg_iq_raw_a":-196.04541,"cg_iu_a":-190.205109,"cg_iv_a":131.380569,"cg_iw_a":58.8245392,"cg_sample_age_us":23.8199997,"cg_sample_seq":1652216,"cg_sample_valid":1,"cg_theta_rad":5.40803528,"cg_vd_req_v":-1.82982635,"cg_vd_v":-1.82982635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52160645,"cg_vq_v":-8.52160645,"cg_vu_v":99.8556061,"cg_vv_v":104.254532,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2457.04492,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":57.700562,"values":{"Elec_RPM":-2353.82959,"EncoderCos":51769,"EncoderSin":25984,"GapTicks":49817,"Mech_RPM":-470.76593,"cg_du":54.711525,"cg_dv":45.288475,"cg_dw":53.6036606,"cg_id_a":6.31755304,"cg_id_raw_a":12.7378883,"cg_iq_a":-201.756622,"cg_iq_raw_a":-202.950058,"cg_iu_a":177.851013,"cg_iv_a":-156.757904,"cg_iw_a":-21.0931168,"cg_sample_age_us":24.2054539,"cg_sample_seq":1653920,"cg_sample_valid":1,"cg_theta_rad":5.99605036,"cg_vd_req_v":-2.03145385,"cg_vd_v":-2.03145385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36395931,"cg_vq_v":-8.36395931,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":35.9597168,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":58.032593,"values":{"Elec_RPM":-2360.15283,"EncoderCos":52096,"EncoderSin":38179,"GapTicks":50076,"Mech_RPM":-472.030548,"cg_du":45.5700378,"cg_dv":54.4755745,"cg_dw":45.5244255,"cg_id_a":11.0026426,"cg_id_raw_a":11.0945206,"cg_iq_a":-205.518585,"cg_iq_raw_a":-205.146713,"cg_iu_a":-175.055176,"cg_iv_a":180.05603,"cg_iw_a":-5.00085449,"cg_sample_age_us":23.5327282,"cg_sample_seq":1655616,"cg_sample_valid":1,"cg_theta_rad":0.290659815,"cg_vd_req_v":-2.17205119,"cg_vd_v":-2.17205119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30904007,"cg_vq_v":-8.30904007,"cg_vu_v":124.489601,"cg_vv_v":134.607132,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2462.02563,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":58.127196,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":58.127202,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":58.127208,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":58.46228,"values":{"Elec_RPM":-2355.16333,"EncoderCos":12867,"EncoderSin":28107,"GapTicks":49507,"Mech_RPM":-471.032684,"cg_du":52.6049538,"cg_dv":45.0067978,"cg_dw":54.9932022,"cg_id_a":10.0173168,"cg_id_raw_a":7.43176842,"cg_iq_a":-198.995392,"cg_iq_raw_a":-197.586792,"cg_iu_a":125.841125,"cg_iv_a":-196.916077,"cg_iw_a":71.0749512,"cg_sample_age_us":23.7472725,"cg_sample_seq":1657666,"cg_sample_valid":1,"cg_theta_rad":3.37424207,"cg_vd_req_v":-2.0995307,"cg_vd_v":-2.0995307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45792866,"cg_vq_v":-8.45792866,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":58.981812,"values":{"Elec_RPM":-2347.53589,"EncoderCos":52844,"EncoderSin":32845,"GapTicks":49471,"Mech_RPM":-469.507172,"cg_du":55.0256157,"cg_dv":52.2162132,"cg_dw":44.9743843,"cg_id_a":5.67626667,"cg_id_raw_a":3.03140998,"cg_iq_a":-202.572144,"cg_iq_raw_a":-201.509644,"cg_iu_a":71.2579117,"cg_iv_a":128.082367,"cg_iw_a":-199.340286,"cg_sample_age_us":23.3872719,"cg_sample_seq":1660317,"cg_sample_valid":1,"cg_theta_rad":0.0160373487,"cg_vd_req_v":-2.07644725,"cg_vd_v":-2.07644725,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38685131,"cg_vq_v":-8.38685131,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2401.86646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":59.023504,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":59.023516,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":59.023519,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":59.118858,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":59.118864,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":59.118869,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":59.360718,"values":{"Elec_RPM":-2347.30737,"EncoderCos":14942,"EncoderSin":22611,"GapTicks":49627,"Mech_RPM":-469.461487,"cg_du":54.8841896,"cg_dv":47.1951981,"cg_dw":45.1158104,"cg_id_a":-2.11472225,"cg_id_raw_a":6.56573105,"cg_iq_a":-198.397049,"cg_iq_raw_a":-200.803741,"cg_iu_a":171.435867,"cg_iv_a":0.395339966,"cg_iw_a":-171.831207,"cg_sample_age_us":24.0381813,"cg_sample_seq":1662316,"cg_sample_valid":1,"cg_theta_rad":3.66650772,"cg_vd_req_v":-1.80836964,"cg_vd_v":-1.80836964,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43349743,"cg_vq_v":-8.43349743,"cg_vu_v":46.6286087,"cg_vv_v":45.7488289,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2468.22046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":36.0236816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":59.690796,"values":{"Elec_RPM":-2348.4353,"EncoderCos":43932,"EncoderSin":15795,"GapTicks":50019,"Mech_RPM":-469.687042,"cg_du":45.4722595,"cg_dv":54.5277405,"cg_dw":45.6738167,"cg_id_a":8.82121372,"cg_id_raw_a":10.2160244,"cg_iq_a":-204.677826,"cg_iq_raw_a":-206.530151,"cg_iu_a":-171.285828,"cg_iv_a":182.955551,"cg_iw_a":-11.6697235,"cg_sample_age_us":23.9836369,"cg_sample_seq":1663916,"cg_sample_valid":1,"cg_theta_rad":5.31642723,"cg_vd_req_v":-2.13875103,"cg_vd_v":-2.13875103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34545135,"cg_vq_v":-8.34545135,"cg_vu_v":114.811958,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2435.09399,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":60.044312,"values":{"Elec_RPM":-2348.43311,"EncoderCos":34332,"EncoderSin":12423,"GapTicks":49342,"Mech_RPM":-469.686615,"cg_du":55.1434135,"cg_dv":44.8565865,"cg_dw":48.7546921,"cg_id_a":-4.74047709,"cg_id_raw_a":-9.88045406,"cg_iq_a":-198.031311,"cg_iq_raw_a":-197.491074,"cg_iu_a":197.89386,"cg_iv_a":-99.9638214,"cg_iw_a":-97.9300385,"cg_sample_age_us":23.9799995,"cg_sample_seq":1665717,"cg_sample_valid":1,"cg_theta_rad":4.80444002,"cg_vd_req_v":-1.83665276,"cg_vd_v":-1.83665276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45536041,"cg_vq_v":-8.45536041,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.2068195,"dclink_p_w":-2490.25098,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":36.0627441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":60.110737,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":60.110742,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":60.110747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":60.376343,"values":{"Elec_RPM":-2349.54297,"EncoderCos":52577,"EncoderSin":36108,"GapTicks":49376,"Mech_RPM":-469.9086,"cg_du":49.4958076,"cg_dv":55.1126404,"cg_dw":44.8873596,"cg_id_a":-14.8618393,"cg_id_raw_a":-17.3969707,"cg_iq_a":-199.609085,"cg_iq_raw_a":-199.658554,"cg_iu_a":-68.7520142,"cg_iv_a":196.583221,"cg_iw_a":-140.154114,"cg_sample_age_us":23.4927273,"cg_sample_seq":1667317,"cg_sample_valid":1,"cg_theta_rad":0.1762207,"cg_vd_req_v":-1.65572882,"cg_vd_v":-1.65572882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39605713,"cg_vq_v":-8.39605713,"cg_vu_v":105.574219,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2378.87769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":36.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":60.708374,"values":{"Elec_RPM":-2351.57251,"EncoderCos":47448,"EncoderSin":46676,"GapTicks":49403,"Mech_RPM":-470.314484,"cg_du":48.6239395,"cg_dv":44.9123116,"cg_dw":55.0876884,"cg_id_a":-14.2102604,"cg_id_raw_a":-12.3348293,"cg_iq_a":-199.541611,"cg_iq_raw_a":-200.380493,"cg_iu_a":22.5099545,"cg_iv_a":-182.056091,"cg_iw_a":159.546143,"cg_sample_age_us":23.7436371,"cg_sample_seq":1669016,"cg_sample_valid":1,"cg_theta_rad":0.764648497,"cg_vd_req_v":-1.62590516,"cg_vd_v":-1.62590516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45026207,"cg_vq_v":-8.45026207,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2477.56421,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":61.059937,"values":{"Elec_RPM":-2351.9021,"EncoderCos":37575,"EncoderSin":52384,"GapTicks":50029,"Mech_RPM":-470.380402,"cg_du":54.3935013,"cg_dv":54.518589,"cg_dw":45.481411,"cg_id_a":11.8136721,"cg_id_raw_a":15.7701874,"cg_iq_a":-201.662018,"cg_iq_raw_a":-201.982147,"cg_iu_a":13.3040199,"cg_iv_a":166.537094,"cg_iw_a":-184.951477,"cg_sample_age_us":23.8963642,"cg_sample_seq":1670717,"cg_sample_valid":1,"cg_theta_rad":1.33024526,"cg_vd_req_v":-2.11631131,"cg_vd_v":-2.11631131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39705467,"cg_vq_v":-8.39705467,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.5457001,"dclink_p_w":-2539.29541,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":61.135226,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":61.135231,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":61.135238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":61.393921,"values":{"Elec_RPM":-2350.25098,"EncoderCos":25819,"EncoderSin":51896,"GapTicks":49638,"Mech_RPM":-470.050201,"cg_du":45.1263428,"cg_dv":47.0376549,"cg_dw":54.8736572,"cg_id_a":9.7087059,"cg_id_raw_a":6.45543003,"cg_iq_a":-200.361679,"cg_iq_raw_a":-200.478348,"cg_iu_a":-51.4637108,"cg_iv_a":-143.420166,"cg_iw_a":194.883881,"cg_sample_age_us":23.8600006,"cg_sample_seq":1672416,"cg_sample_valid":1,"cg_theta_rad":1.91936004,"cg_vd_req_v":-2.08160353,"cg_vd_v":-2.08160353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37673092,"cg_vq_v":-8.37673092,"cg_vu_v":39.1504402,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":61.747437,"values":{"Elec_RPM":-2346.34229,"EncoderCos":25323,"EncoderSin":51762,"GapTicks":49914,"Mech_RPM":-469.268463,"cg_du":45.3766212,"cg_dv":46.0787125,"cg_dw":54.6233788,"cg_id_a":12.5139713,"cg_id_raw_a":12.249732,"cg_iq_a":-204.50235,"cg_iq_raw_a":-201.478149,"cg_iu_a":-28.4488773,"cg_iv_a":-162.774384,"cg_iw_a":191.223267,"cg_sample_age_us":23.8672733,"cg_sample_seq":1674167,"cg_sample_valid":1,"cg_theta_rad":1.94322085,"cg_vd_req_v":-2.13446856,"cg_vd_v":-2.13446856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30688858,"cg_vq_v":-8.30688858,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2415.76685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":36.1643372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":62.077515,"values":{"Elec_RPM":-2349.54126,"EncoderCos":16038,"EncoderSin":44430,"GapTicks":49504,"Mech_RPM":-469.908234,"cg_du":54.9955215,"cg_dv":52.3104706,"cg_dw":45.0044785,"cg_id_a":12.6905003,"cg_id_raw_a":8.90458393,"cg_iq_a":-204.455246,"cg_iq_raw_a":-205.704712,"cg_iu_a":62.6318779,"cg_iv_a":139.209229,"cg_iw_a":-201.84111,"cg_sample_age_us":23.9218178,"cg_sample_seq":1675866,"cg_sample_valid":1,"cg_theta_rad":2.53390598,"cg_vd_req_v":-2.15086794,"cg_vd_v":-2.15086794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34160233,"cg_vq_v":-8.34160233,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2403.19458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":36.1486816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":62.127046,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":62.127052,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":62.127057,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":62.411499,"values":{"Elec_RPM":-2344.18311,"EncoderCos":12334,"EncoderSin":33536,"GapTicks":49384,"Mech_RPM":-468.836609,"cg_du":44.8953934,"cg_dv":49.5119972,"cg_dw":55.1046066,"cg_id_a":-14.9404535,"cg_id_raw_a":-16.8832245,"cg_iq_a":-199.499313,"cg_iq_raw_a":-200.413834,"cg_iu_a":-131.018921,"cg_iv_a":-64.7348328,"cg_iw_a":192.926727,"cg_sample_age_us":23.9472733,"cg_sample_seq":1677566,"cg_sample_valid":1,"cg_theta_rad":3.10552597,"cg_vd_req_v":-1.55955946,"cg_vd_v":-1.55955946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4263401,"cg_vq_v":-8.4263401,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2515.70874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":36.1596375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":62.763062,"values":{"Elec_RPM":-2342.03467,"EncoderCos":32337,"EncoderSin":12360,"GapTicks":49712,"Mech_RPM":-468.406921,"cg_du":54.8067284,"cg_dv":45.1932716,"cg_dw":53.2296638,"cg_id_a":1.89957714,"cg_id_raw_a":9.14023495,"cg_iq_a":-200.8358,"cg_iq_raw_a":-202.36647,"cg_iu_a":181.294189,"cg_iv_a":-155.308151,"cg_iw_a":-25.9860382,"cg_sample_age_us":26.9836369,"cg_sample_seq":1679171,"cg_sample_valid":1,"cg_theta_rad":4.75042486,"cg_vd_req_v":-1.92395937,"cg_vd_v":-1.92395937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39836884,"cg_vq_v":-8.39836884,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2473.79199,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":63.097046,"values":{"Elec_RPM":-2346.84155,"EncoderCos":23595,"EncoderSin":14447,"GapTicks":50035,"Mech_RPM":-469.368317,"cg_du":45.4866257,"cg_dv":54.5133743,"cg_dw":54.4488106,"cg_id_a":11.430006,"cg_id_raw_a":15.533062,"cg_iq_a":-201.395264,"cg_iq_raw_a":-201.813156,"cg_iu_a":-182.956329,"cg_iv_a":15.7264862,"cg_iw_a":160.633469,"cg_sample_age_us":23.9363632,"cg_sample_seq":1680966,"cg_sample_valid":1,"cg_theta_rad":4.25953341,"cg_vd_req_v":-2.13126159,"cg_vd_v":-2.13126159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38532162,"cg_vq_v":-8.38532162,"cg_vu_v":0.87978512,"cg_vv_v":11.4372072,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2391.80469,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":36.1768799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":63.119691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":63.119697,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":63.119702,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":63.429077,"values":{"Elec_RPM":-2345.76172,"EncoderCos":51468,"EncoderSin":25153,"GapTicks":49695,"Mech_RPM":-469.152344,"cg_du":53.3563919,"cg_dv":45.1781044,"cg_dw":54.8218956,"cg_id_a":18.9950752,"cg_id_raw_a":15.3833895,"cg_iq_a":-201.241547,"cg_iq_raw_a":-201.01149,"cg_iu_a":157.337006,"cg_iv_a":-189.051163,"cg_iw_a":31.7141571,"cg_sample_age_us":23.7654552,"cg_sample_seq":1682567,"cg_sample_valid":1,"cg_theta_rad":5.910007,"cg_vd_req_v":-2.31926656,"cg_vd_v":-2.31926656,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36898994,"cg_vq_v":-8.36898994,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":36.1721802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":63.78064,"values":{"Elec_RPM":-2343.46753,"EncoderCos":45431,"EncoderSin":16940,"GapTicks":49295,"Mech_RPM":-468.693512,"cg_du":44.814373,"cg_dv":55.185627,"cg_dw":50.0964661,"cg_id_a":-12.6110201,"cg_id_raw_a":-14.2156477,"cg_iq_a":-195.51236,"cg_iq_raw_a":-195.568695,"cg_iu_a":-191.183685,"cg_iv_a":139.028015,"cg_iw_a":50.198494,"cg_sample_age_us":23.8272724,"cg_sample_seq":1684367,"cg_sample_valid":1,"cg_theta_rad":5.40551901,"cg_vd_req_v":-1.73018777,"cg_vd_v":-1.73018777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49192619,"cg_vq_v":-8.49192619,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.7649746,"dclink_p_w":-2571.02979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":64.114624,"values":{"Elec_RPM":-2343.40918,"EncoderCos":47262,"EncoderSin":46884,"GapTicks":49312,"Mech_RPM":-468.681824,"cg_du":49.245636,"cg_dv":44.8292732,"cg_dw":55.1707268,"cg_id_a":-15.0339546,"cg_id_raw_a":-14.4981785,"cg_iq_a":-196.865387,"cg_iq_raw_a":-198.691681,"cg_iu_a":35.5939789,"cg_iv_a":-185.173065,"cg_iw_a":149.579086,"cg_sample_age_us":23.6781826,"cg_sample_seq":1685967,"cg_sample_valid":1,"cg_theta_rad":0.778164327,"cg_vd_req_v":-1.61842906,"cg_vd_v":-1.61842906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51922226,"cg_vq_v":-8.51922226,"cg_vu_v":105.134323,"cg_vv_v":87.53862,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-18.236145,"dclink_p_w":-2647.2417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":36.2441711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":64.143619,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":64.143659,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":64.143688,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":64.466187,"values":{"Elec_RPM":-2344.55127,"EncoderCos":52368,"EncoderSin":37179,"GapTicks":49501,"Mech_RPM":-468.910248,"cg_du":47.58535,"cg_dv":54.9988594,"cg_dw":45.0011406,"cg_id_a":5.90461159,"cg_id_raw_a":0.158596158,"cg_iq_a":-202.341782,"cg_iq_raw_a":-201.781769,"cg_iu_a":-165.414322,"cg_iv_a":186.03627,"cg_iw_a":-20.6219482,"cg_sample_age_us":26.3945446,"cg_sample_seq":1687771,"cg_sample_valid":1,"cg_theta_rad":0.275348961,"cg_vd_req_v":-2.09111333,"cg_vd_v":-2.09111333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38951397,"cg_vq_v":-8.38951397,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":36.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":64.800171,"values":{"Elec_RPM":-2348.74902,"EncoderCos":36281,"EncoderSin":52639,"GapTicks":49351,"Mech_RPM":-469.749786,"cg_du":51.1765556,"cg_dv":55.1347046,"cg_dw":44.8652954,"cg_id_a":-10.5371265,"cg_id_raw_a":-11.0015392,"cg_iq_a":-194.605331,"cg_iq_raw_a":-194.987396,"cg_iu_a":-29.2099972,"cg_iv_a":181.360809,"cg_iw_a":-152.150818,"cg_sample_age_us":23.8999996,"cg_sample_seq":1689417,"cg_sample_valid":1,"cg_theta_rad":1.39401817,"cg_vd_req_v":-1.65564752,"cg_vd_v":-1.65564752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49573135,"cg_vq_v":-8.49573135,"cg_vu_v":104.254532,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4623394,"dclink_p_w":-2527.23096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":65.132202,"values":{"Elec_RPM":-2351.30664,"EncoderCos":24807,"EncoderSin":51586,"GapTicks":49906,"Mech_RPM":-470.261322,"cg_du":46.157444,"cg_dv":45.3698387,"cg_dw":54.6301613,"cg_id_a":7.80478954,"cg_id_raw_a":12.2132244,"cg_iq_a":-207.133636,"cg_iq_raw_a":-207.650406,"cg_iu_a":-2.78824186,"cg_iv_a":-175.278503,"cg_iw_a":182.633469,"cg_sample_age_us":23.7654552,"cg_sample_seq":1691116,"cg_sample_valid":1,"cg_theta_rad":1.97968173,"cg_vd_req_v":-2.0255363,"cg_vd_v":-2.0255363,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28376579,"cg_vq_v":-8.28376579,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2519.42725,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":36.270813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":65.135255,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":65.135261,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":65.135266,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":65.483765,"values":{"Elec_RPM":-2351.86279,"EncoderCos":16453,"EncoderSin":44965,"GapTicks":49350,"Mech_RPM":-470.372559,"cg_du":55.1359444,"cg_dv":51.0671082,"cg_dw":44.8640556,"cg_id_a":1.83362103,"cg_id_raw_a":-2.76921511,"cg_iq_a":-200.285645,"cg_iq_raw_a":-196.517578,"cg_iu_a":47.3369789,"cg_iv_a":149.140045,"cg_iw_a":-196.47702,"cg_sample_age_us":23.7836361,"cg_sample_seq":1692821,"cg_sample_valid":1,"cg_theta_rad":2.54458714,"cg_vd_req_v":-1.94621992,"cg_vd_v":-1.94621992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42245674,"cg_vq_v":-8.42245674,"cg_vu_v":131.967773,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":36.2802429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":65.817749,"values":{"Elec_RPM":-2353.36328,"EncoderCos":12344,"EncoderSin":33057,"GapTicks":49388,"Mech_RPM":-470.672638,"cg_du":44.8982925,"cg_dv":48.5996017,"cg_dw":55.1017075,"cg_id_a":-8.47990799,"cg_id_raw_a":-13.5361423,"cg_iq_a":-196.701721,"cg_iq_raw_a":-198.388321,"cg_iu_a":-105.430779,"cg_iv_a":-90.5766678,"cg_iw_a":196.007446,"cg_sample_age_us":23.954546,"cg_sample_seq":1694516,"cg_sample_valid":1,"cg_theta_rad":3.12816143,"cg_vd_req_v":-1.70050383,"cg_vd_v":-1.70050383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4628973,"cg_vq_v":-8.4628973,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2401.36426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":66.147827,"values":{"Elec_RPM":-2354.65845,"EncoderCos":15359,"EncoderSin":21961,"GapTicks":49331,"Mech_RPM":-470.931671,"cg_du":55.1529579,"cg_dv":49.0474854,"cg_dw":44.8470421,"cg_id_a":-13.149477,"cg_id_raw_a":-10.9658194,"cg_iq_a":-196.325912,"cg_iq_raw_a":-198.059021,"cg_iu_a":152.262878,"cg_iv_a":32.7973328,"cg_iw_a":-185.060211,"cg_sample_age_us":24.0127277,"cg_sample_seq":1696216,"cg_sample_valid":1,"cg_theta_rad":3.70295072,"cg_vd_req_v":-1.60424936,"cg_vd_v":-1.60424936,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48352528,"cg_vq_v":-8.48352528,"cg_vu_v":2.19946289,"cg_vv_v":2.63935518,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.7504787,"dclink_p_w":-2568.93188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":36.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":66.158747,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":66.158752,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":66.158758,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":66.501343,"values":{"Elec_RPM":-2355.05225,"EncoderCos":23730,"EncoderSin":14371,"GapTicks":49935,"Mech_RPM":-471.010468,"cg_du":45.3960457,"cg_dv":54.1753502,"cg_dw":54.6039543,"cg_id_a":8.16131878,"cg_id_raw_a":11.0678053,"cg_iq_a":-201.43306,"cg_iq_raw_a":-199.826004,"cg_iu_a":-181.035416,"cg_iv_a":13.4431305,"cg_iw_a":167.592285,"cg_sample_age_us":23.9618187,"cg_sample_seq":1697917,"cg_sample_valid":1,"cg_theta_rad":4.26859093,"cg_vd_req_v":-2.05188513,"cg_vd_v":-2.05188513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41165543,"cg_vq_v":-8.41165543,"cg_vu_v":120.090675,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.9135761,"dclink_p_w":-2592.53613,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":36.3225708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":66.835327,"values":{"Elec_RPM":-2357.3313,"EncoderCos":35278,"EncoderSin":12543,"GapTicks":49631,"Mech_RPM":-471.466248,"cg_du":54.8802834,"cg_dv":45.1197166,"cg_dw":47.0933075,"cg_id_a":14.3552761,"cg_id_raw_a":11.8547239,"cg_iq_a":-201.928513,"cg_iq_raw_a":-199.963989,"cg_iu_a":192.928467,"cg_iv_a":-46.1779785,"cg_iw_a":-146.750488,"cg_sample_age_us":24.1000004,"cg_sample_seq":1699617,"cg_sample_valid":1,"cg_theta_rad":4.85292959,"cg_vd_req_v":-2.18951321,"cg_vd_v":-2.18951321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34177494,"cg_vq_v":-8.34177494,"cg_vu_v":105.574219,"cg_vv_v":83.5795898,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2539368,"dclink_p_w":-2497.07007,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":36.2833862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":67.151384,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":67.151389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":67.151394,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":67.165405,"values":{"Elec_RPM":-2354.3772,"EncoderCos":46111,"EncoderSin":17525,"GapTicks":49351,"Mech_RPM":-470.875458,"cg_du":44.8648376,"cg_dv":55.1351624,"cg_dw":51.4079208,"cg_id_a":-0.330218077,"cg_id_raw_a":-8.11863232,"cg_iq_a":-197.604279,"cg_iq_raw_a":-196.781067,"cg_iu_a":-198.432465,"cg_iv_a":98.5436554,"cg_iw_a":99.8888092,"cg_sample_age_us":23.8309097,"cg_sample_seq":1701316,"cg_sample_valid":1,"cg_theta_rad":5.44090271,"cg_vd_req_v":-1.8800118,"cg_vd_v":-1.8800118,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45551872,"cg_vq_v":-8.45551872,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.5384521,"dclink_p_w":-2530.53125,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":36.352356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":67.520874,"values":{"Elec_RPM":-2358.60693,"EncoderCos":46315,"EncoderSin":17721,"GapTicks":49438,"Mech_RPM":-471.721405,"cg_du":44.9439774,"cg_dv":55.0560226,"cg_dw":52.3590355,"cg_id_a":3.16149569,"cg_id_raw_a":-1.05494022,"cg_iq_a":-196.897293,"cg_iq_raw_a":-196.14827,"cg_iu_a":-193.575775,"cg_iv_a":70.2372055,"cg_iw_a":123.33857,"cg_sample_age_us":23.9581814,"cg_sample_seq":1703067,"cg_sample_valid":1,"cg_theta_rad":5.46336269,"cg_vd_req_v":-2.06458926,"cg_vd_v":-2.06458926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47607803,"cg_vq_v":-8.47607803,"cg_vu_v":98.9758301,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":36.3617859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":67.850952,"values":{"Elec_RPM":-2355.6748,"EncoderCos":51949,"EncoderSin":38674,"GapTicks":49718,"Mech_RPM":-471.134949,"cg_du":45.1988411,"cg_dv":54.8011589,"cg_dw":46.7458344,"cg_id_a":1.3528893,"cg_id_raw_a":8.93556118,"cg_iq_a":-200.439011,"cg_iq_raw_a":-201.81633,"cg_iu_a":-171.53952,"cg_iv_a":172.29985,"cg_iw_a":-0.7603302,"cg_sample_age_us":23.5254555,"cg_sample_seq":1704716,"cg_sample_valid":1,"cg_theta_rad":0.311897427,"cg_vd_req_v":-1.9528805,"cg_vd_v":-1.9528805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41848278,"cg_vq_v":-8.41848278,"cg_vu_v":35.6312981,"cg_vv_v":39.590332,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-16.175684,"dclink_p_w":-2341.02026,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":36.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":68.142845,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":68.142851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":68.142856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":68.208374,"values":{"Elec_RPM":-2353.16089,"EncoderCos":46590,"EncoderSin":47565,"GapTicks":49349,"Mech_RPM":-470.632172,"cg_du":51.0454865,"cg_dv":44.8634949,"cg_dw":55.1365051,"cg_id_a":-2.28598619,"cg_id_raw_a":-6.02389288,"cg_iq_a":-197.875854,"cg_iq_raw_a":-196.870636,"cg_iu_a":160.453979,"cg_iv_a":-188.362534,"cg_iw_a":27.9085541,"cg_sample_age_us":23.6454544,"cg_sample_seq":1706422,"cg_sample_valid":1,"cg_theta_rad":0.888448179,"cg_vd_req_v":-1.89208412,"cg_vd_v":-1.89208412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.433218,"cg_vq_v":-8.433218,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-16.3061619,"dclink_p_w":-2359.90356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":36.3853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":68.706421,"values":{"Elec_RPM":-2352.53271,"EncoderCos":45608,"EncoderSin":17089,"GapTicks":49298,"Mech_RPM":-470.506531,"cg_du":44.8172646,"cg_dv":55.1827354,"cg_dw":50.5312271,"cg_id_a":-9.04106712,"cg_id_raw_a":-13.6939745,"cg_iq_a":-195.690033,"cg_iq_raw_a":-194.908722,"cg_iu_a":-193.503296,"cg_iv_a":118.441513,"cg_iw_a":75.0617828,"cg_sample_age_us":23.9509087,"cg_sample_seq":1708917,"cg_sample_valid":1,"cg_theta_rad":5.41796112,"cg_vd_req_v":-1.80877924,"cg_vd_v":-1.80877924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51253414,"cg_vq_v":-8.51253414,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":69.007064,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":69.007073,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":69.007075,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":69.134563,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":69.134569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":69.134575,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":69.177124,"values":{"Elec_RPM":-2346.87207,"EncoderCos":22901,"EncoderSin":14824,"GapTicks":49587,"Mech_RPM":-469.37439,"cg_du":45.0796814,"cg_dv":54.9203186,"cg_dw":52.9622002,"cg_id_a":6.19645166,"cg_id_raw_a":5.5727334,"cg_iq_a":-198.585007,"cg_iq_raw_a":-199.122086,"cg_iu_a":-193.865723,"cg_iv_a":54.7610931,"cg_iw_a":139.10463,"cg_sample_age_us":23.9436359,"cg_sample_seq":1711366,"cg_sample_valid":1,"cg_theta_rad":4.22048235,"cg_vd_req_v":-2.04515576,"cg_vd_v":-2.04515576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46141243,"cg_vq_v":-8.46141243,"cg_vu_v":38.2706528,"cg_vv_v":47.9482918,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2518.3396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":69.53064,"values":{"Elec_RPM":-2352.93945,"EncoderCos":23431,"EncoderSin":14551,"GapTicks":49859,"Mech_RPM":-470.587891,"cg_du":45.3265495,"cg_dv":54.6734505,"cg_dw":54.0863876,"cg_id_a":13.2199059,"cg_id_raw_a":9.53731632,"cg_iq_a":-199.045166,"cg_iq_raw_a":-196.367676,"cg_iu_a":-183.463745,"cg_iv_a":21.7792053,"cg_iw_a":161.68454,"cg_sample_age_us":23.9036369,"cg_sample_seq":1713117,"cg_sample_valid":1,"cg_theta_rad":4.24997234,"cg_vd_req_v":-2.1660676,"cg_vd_v":-2.1660676,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44890022,"cg_vq_v":-8.44890022,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":69.862671,"values":{"Elec_RPM":-2352.9165,"EncoderCos":51422,"EncoderSin":25111,"GapTicks":49659,"Mech_RPM":-470.583313,"cg_du":53.2493668,"cg_dv":45.144577,"cg_dw":54.855423,"cg_id_a":18.4339066,"cg_id_raw_a":15.4437656,"cg_iq_a":-202.940353,"cg_iq_raw_a":-201.877899,"cg_iu_a":158.206879,"cg_iv_a":-194.415253,"cg_iw_a":43.9645615,"cg_sample_age_us":23.7618179,"cg_sample_seq":1714717,"cg_sample_valid":1,"cg_theta_rad":5.90729618,"cg_vd_req_v":-2.31120849,"cg_vd_v":-2.31120849,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35858727,"cg_vq_v":-8.35858727,"cg_vu_v":142.965088,"cg_vv_v":127.12896,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":70.126784,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":70.126787,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":70.126791,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":70.196655,"values":{"Elec_RPM":-2357.2334,"EncoderCos":51716,"EncoderSin":26029,"GapTicks":49895,"Mech_RPM":-471.446686,"cg_du":54.6401176,"cg_dv":45.3598824,"cg_dw":54.0124359,"cg_id_a":11.8104153,"cg_id_raw_a":13.541502,"cg_iq_a":-203.219833,"cg_iq_raw_a":-203.463089,"cg_iu_a":171.10968,"cg_iv_a":-178.975372,"cg_iw_a":7.86569977,"cg_sample_age_us":24.176363,"cg_sample_seq":1716467,"cg_sample_valid":1,"cg_theta_rad":5.94911385,"cg_vd_req_v":-2.15491748,"cg_vd_v":-2.15491748,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36757088,"cg_vq_v":-8.36757088,"cg_vu_v":42.2296829,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2500.74194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":36.4796143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":70.548218,"values":{"Elec_RPM":-2358.99658,"EncoderCos":52327,"EncoderSin":37334,"GapTicks":49570,"Mech_RPM":-471.799316,"cg_du":47.2859344,"cg_dv":54.9360542,"cg_dw":45.0639458,"cg_id_a":9.29781246,"cg_id_raw_a":7.22926378,"cg_iq_a":-201.930984,"cg_iq_raw_a":-200.720398,"cg_iu_a":-151.641663,"cg_iv_a":194.517334,"cg_iw_a":-42.8756638,"cg_sample_age_us":23.5181828,"cg_sample_seq":1718167,"cg_sample_valid":1,"cg_theta_rad":0.251078844,"cg_vd_req_v":-2.15664148,"cg_vd_v":-2.15664148,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38146973,"cg_vq_v":-8.38146973,"cg_vu_v":40.0302238,"cg_vv_v":71.7024918,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":36.4749146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":70.880249,"values":{"Elec_RPM":-2358.73096,"EncoderCos":46483,"EncoderSin":47640,"GapTicks":49358,"Mech_RPM":-471.746216,"cg_du":51.2710228,"cg_dv":44.8716278,"cg_dw":55.1283722,"cg_id_a":0.730272293,"cg_id_raw_a":-3.9942131,"cg_iq_a":-197.939301,"cg_iq_raw_a":-197.731186,"cg_iu_a":106.19696,"cg_iv_a":-199.163193,"cg_iw_a":92.9662323,"cg_sample_age_us":23.5763645,"cg_sample_seq":1719866,"cg_sample_valid":1,"cg_theta_rad":0.828593671,"cg_vd_req_v":-1.94890201,"cg_vd_v":-1.94890201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43528938,"cg_vq_v":-8.43528938,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":36.4764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":71.119651,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":71.119657,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":71.119662,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":71.233765,"values":{"Elec_RPM":-2367.47998,"EncoderCos":45912,"EncoderSin":48148,"GapTicks":49562,"Mech_RPM":-473.496002,"cg_du":52.6718102,"cg_dv":45.0566139,"cg_dw":54.9433861,"cg_id_a":12.0778217,"cg_id_raw_a":8.29716492,"cg_iq_a":-201.378143,"cg_iq_raw_a":-199.544952,"cg_iu_a":151.755463,"cg_iv_a":-193.509155,"cg_iw_a":51.4307938,"cg_sample_age_us":23.5218182,"cg_sample_seq":1721616,"cg_sample_valid":1,"cg_theta_rad":0.876201749,"cg_vd_req_v":-2.17235875,"cg_vd_v":-2.17235875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3768425,"cg_vq_v":-8.3768425,"cg_vu_v":106.014107,"cg_vv_v":83.5795898,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":36.4796143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":71.565796,"values":{"Elec_RPM":-2366.88599,"EncoderCos":16331,"EncoderSin":44820,"GapTicks":49418,"Mech_RPM":-473.377197,"cg_du":55.0740051,"cg_dv":51.3910408,"cg_dw":44.9259949,"cg_id_a":5.53320313,"cg_id_raw_a":-0.439962506,"cg_iq_a":-202.938354,"cg_iq_raw_a":-200.55925,"cg_iu_a":89.3798218,"cg_iv_a":113.294891,"cg_iw_a":-202.674713,"cg_sample_age_us":23.7872734,"cg_sample_seq":1723217,"cg_sample_valid":1,"cg_theta_rad":2.50970078,"cg_vd_req_v":-2.00373983,"cg_vd_v":-2.00373983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34780216,"cg_vq_v":-8.34780216,"cg_vu_v":27.2733402,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8410873,"dclink_p_w":-2582.04517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":36.509491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104536511,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":71.897827,"values":{"Elec_RPM":-2365.71387,"EncoderCos":15737,"EncoderSin":43940,"GapTicks":49782,"Mech_RPM":-473.142792,"cg_du":54.7434731,"cg_dv":53.4535599,"cg_dw":45.2565269,"cg_id_a":15.4213562,"cg_id_raw_a":13.8107338,"cg_iq_a":-204.33194,"cg_iq_raw_a":-204.165497,"cg_iu_a":32.5494957,"cg_iv_a":159.976959,"cg_iw_a":-192.526459,"cg_sample_age_us":23.8709087,"cg_sample_seq":1724966,"cg_sample_valid":1,"cg_theta_rad":2.56371093,"cg_vd_req_v":-2.1764431,"cg_vd_v":-2.1764431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31884384,"cg_vq_v":-8.31884384,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":36.5173645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":72.142704,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":72.14271,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":72.142715,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":72.251343,"values":{"Elec_RPM":-2364.0791,"EncoderCos":14537,"EncoderSin":23429,"GapTicks":49908,"Mech_RPM":-472.815796,"cg_du":54.6283379,"cg_dv":45.3716621,"cg_dw":46.100029,"cg_id_a":16.5622768,"cg_id_raw_a":20.8976727,"cg_iq_a":-206.329315,"cg_iq_raw_a":-206.527969,"cg_iu_a":171.870789,"cg_iv_a":0.467834473,"cg_iw_a":-172.338623,"cg_sample_age_us":23.9799995,"cg_sample_seq":1726620,"cg_sample_valid":1,"cg_theta_rad":3.66507006,"cg_vd_req_v":-2.2112565,"cg_vd_v":-2.2112565,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28515625,"cg_vq_v":-8.28515625,"cg_vu_v":31.6722641,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4478416,"dclink_p_w":-2525.13281,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":36.5173645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":72.583374,"values":{"Elec_RPM":-2362.44922,"EncoderCos":15384,"EncoderSin":21898,"GapTicks":49315,"Mech_RPM":-472.489868,"cg_du":55.1675453,"cg_dv":49.1986732,"cg_dw":44.8324547,"cg_id_a":-13.3747606,"cg_id_raw_a":-13.1410074,"cg_iq_a":-195.659302,"cg_iq_raw_a":-197.202042,"cg_iu_a":148.964691,"cg_iv_a":38.4876099,"cg_iw_a":-187.452301,"cg_sample_age_us":24.0599995,"cg_sample_seq":1728366,"cg_sample_valid":1,"cg_theta_rad":3.70708609,"cg_vd_req_v":-1.60331607,"cg_vd_v":-1.60331607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52068138,"cg_vq_v":-8.52068138,"cg_vu_v":39.1504402,"cg_vv_v":40.0302238,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":72.915405,"values":{"Elec_RPM":-2363.52979,"EncoderCos":34720,"EncoderSin":12462,"GapTicks":49429,"Mech_RPM":-472.705963,"cg_du":55.0645142,"cg_dv":44.9354858,"cg_dw":48.1605415,"cg_id_a":7.42407417,"cg_id_raw_a":1.7915591,"cg_iq_a":-198.883423,"cg_iq_raw_a":-198.067413,"cg_iu_a":199.307373,"cg_iv_a":-75.2092819,"cg_iw_a":-124.098091,"cg_sample_age_us":24.0672722,"cg_sample_seq":1730016,"cg_sample_valid":1,"cg_theta_rad":4.82381487,"cg_vd_req_v":-2.07112789,"cg_vd_v":-2.07112789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39588737,"cg_vq_v":-8.39588737,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-18.2433949,"dclink_p_w":-2632.2439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":73.135012,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":73.135018,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":73.135023,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":73.268921,"values":{"Elec_RPM":-2357.15308,"EncoderCos":35235,"EncoderSin":12538,"GapTicks":49610,"Mech_RPM":-471.430603,"cg_du":54.8991394,"cg_dv":45.1008606,"cg_dw":47.1744003,"cg_id_a":12.883707,"cg_id_raw_a":7.65785646,"cg_iq_a":-202.851563,"cg_iq_raw_a":-200.500015,"cg_iu_a":196.73407,"cg_iv_a":-50.2735291,"cg_iw_a":-146.460541,"cg_sample_age_us":23.9690914,"cg_sample_seq":1731767,"cg_sample_valid":1,"cg_theta_rad":4.84953165,"cg_vd_req_v":-2.17628765,"cg_vd_v":-2.17628765,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32305145,"cg_vq_v":-8.32305145,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2471.17725,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":36.5393982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":73.598999,"values":{"Elec_RPM":-2356.98779,"EncoderCos":51865,"EncoderSin":26242,"GapTicks":49592,"Mech_RPM":-471.397583,"cg_du":54.9162331,"cg_dv":45.0837669,"cg_dw":52.9501686,"cg_id_a":0.624341846,"cg_id_raw_a":3.69976592,"cg_iq_a":-198.671997,"cg_iq_raw_a":-200.616653,"cg_iu_a":169.406219,"cg_iv_a":-170.820526,"cg_iw_a":1.41429901,"cg_sample_age_us":24.1836357,"cg_sample_seq":1733417,"cg_sample_valid":1,"cg_theta_rad":5.96826172,"cg_vd_req_v":-1.92673659,"cg_vd_v":-1.92673659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47864628,"cg_vq_v":-8.47864628,"cg_vu_v":124.049698,"cg_vv_v":115.69175,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":36.5866394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":73.932983,"values":{"Elec_RPM":-2356.49634,"EncoderCos":52111,"EncoderSin":27057,"GapTicks":49302,"Mech_RPM":-471.299255,"cg_du":55.1794205,"cg_dv":44.8205795,"cg_dw":50.8115044,"cg_id_a":-13.8848028,"cg_id_raw_a":-14.2534609,"cg_iq_a":-193.872437,"cg_iq_raw_a":-194.242416,"cg_iu_a":181.366669,"cg_iv_a":-149.617859,"cg_iw_a":-31.7488022,"cg_sample_age_us":24.0418186,"cg_sample_seq":1735167,"cg_sample_valid":1,"cg_theta_rad":6.01234722,"cg_vd_req_v":-1.63535452,"cg_vd_v":-1.63535452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53561306,"cg_vq_v":-8.53561306,"cg_vu_v":109.533249,"cg_vv_v":105.574219,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2482.5625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":36.5929565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":74.126853,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":74.126859,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":74.126864,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":74.286499,"values":{"Elec_RPM":-2354.97095,"EncoderCos":51941,"EncoderSin":38746,"GapTicks":49718,"Mech_RPM":-470.994202,"cg_du":45.1985321,"cg_dv":54.8014679,"cg_dw":46.8941193,"cg_id_a":1.12910271,"cg_id_raw_a":7.99637079,"cg_iq_a":-202.914078,"cg_iq_raw_a":-204.37648,"cg_iu_a":-174.728989,"cg_iv_a":173.60463,"cg_iw_a":1.12435913,"cg_sample_age_us":23.4963627,"cg_sample_seq":1736866,"cg_sample_valid":1,"cg_theta_rad":0.311579406,"cg_vd_req_v":-1.95182502,"cg_vd_v":-1.95182502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33987045,"cg_vq_v":-8.33987045,"cg_vu_v":18.0355949,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2414.45557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":36.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":74.616577,"values":{"Elec_RPM":-2353.76416,"EncoderCos":45813,"EncoderSin":48246,"GapTicks":49570,"Mech_RPM":-470.752838,"cg_du":52.9362869,"cg_dv":45.0636559,"cg_dw":54.9363441,"cg_id_a":14.9688206,"cg_id_raw_a":12.4644356,"cg_iq_a":-201.238892,"cg_iq_raw_a":-199.908539,"cg_iu_a":149.000946,"cg_iv_a":-193.58165,"cg_iw_a":44.5807037,"cg_sample_age_us":23.5545464,"cg_sample_seq":1738567,"cg_sample_valid":1,"cg_theta_rad":0.875032365,"cg_vd_req_v":-2.23428392,"cg_vd_v":-2.23428392,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40376186,"cg_vq_v":-8.40376186,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":36.6118469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":74.950562,"values":{"Elec_RPM":-2357.79468,"EncoderCos":24318,"EncoderSin":51308,"GapTicks":49609,"Mech_RPM":-471.558929,"cg_du":47.6323013,"cg_dv":45.0994873,"cg_dw":54.9005127,"cg_id_a":-7.26443863,"cg_id_raw_a":-0.515708089,"cg_iq_a":-203.153381,"cg_iq_raw_a":-205.578949,"cg_iu_a":1.08984852,"cg_iv_a":-176.148346,"cg_iw_a":175.420959,"cg_sample_age_us":23.8672733,"cg_sample_seq":1740216,"cg_sample_valid":1,"cg_theta_rad":1.99729133,"cg_vd_req_v":-1.71084952,"cg_vd_v":-1.71084952,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35453987,"cg_vq_v":-8.35453987,"cg_vu_v":39.1504402,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2497.58594,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":36.6386414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":75.151192,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":75.151197,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":75.151202,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":75.302124,"values":{"Elec_RPM":-2360.21997,"EncoderCos":15642,"EncoderSin":43854,"GapTicks":49825,"Mech_RPM":-472.044006,"cg_du":54.7043381,"cg_dv":53.6453362,"cg_dw":45.2956619,"cg_id_a":18.446907,"cg_id_raw_a":17.3248596,"cg_iq_a":-205.627258,"cg_iq_raw_a":-205.479324,"cg_iu_a":23.7060013,"cg_iv_a":163.855042,"cg_iw_a":-187.561035,"cg_sample_age_us":23.8818188,"cg_sample_seq":1741917,"cg_sample_valid":1,"cg_theta_rad":2.56806469,"cg_vd_req_v":-2.23971581,"cg_vd_v":-2.23971581,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28904343,"cg_vq_v":-8.28904343,"cg_vu_v":135.926804,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":36.6907043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":75.636108,"values":{"Elec_RPM":-2360.9126,"EncoderCos":15137,"EncoderSin":43007,"GapTicks":49616,"Mech_RPM":-472.182526,"cg_du":52.9375191,"cg_dv":54.8942719,"cg_dw":45.1057281,"cg_id_a":-1.08571637,"cg_id_raw_a":5.71131372,"cg_iq_a":-199.74411,"cg_iq_raw_a":-201.927994,"cg_iu_a":-2.71575403,"cg_iv_a":173.060974,"cg_iw_a":-170.345215,"cg_sample_age_us":23.8490906,"cg_sample_seq":1743666,"cg_sample_valid":1,"cg_theta_rad":2.61693716,"cg_vd_req_v":-1.8272723,"cg_vd_v":-1.8272723,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43415451,"cg_vq_v":-8.43415451,"cg_vu_v":38.7105446,"cg_vv_v":47.9482918,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.6924877,"dclink_p_w":-2552.75635,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":75.987671,"values":{"Elec_RPM":-2364.11841,"EncoderCos":12345,"EncoderSin":32146,"GapTicks":49606,"Mech_RPM":-472.823669,"cg_du":45.0967979,"cg_dv":47.0083961,"cg_dw":54.9032021,"cg_id_a":9.23688316,"cg_id_raw_a":6.64603186,"cg_iq_a":-201.340439,"cg_iq_raw_a":-199.581467,"cg_iu_a":-51.1012726,"cg_iv_a":-143.673874,"cg_iw_a":194.775146,"cg_sample_age_us":23.9254551,"cg_sample_seq":1745367,"cg_sample_valid":1,"cg_theta_rad":3.1777823,"cg_vd_req_v":-2.06350589,"cg_vd_v":-2.06350589,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41162491,"cg_vq_v":-8.41162491,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.6254368,"dclink_p_w":-2550.83521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":76.143472,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":76.143477,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":76.143482,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":76.319702,"values":{"Elec_RPM":-2360.07324,"EncoderCos":16083,"EncoderSin":20828,"GapTicks":49480,"Mech_RPM":-472.014648,"cg_du":55.0173378,"cg_dv":51.6030655,"cg_dw":44.9826622,"cg_id_a":2.58673072,"cg_id_raw_a":-0.429006934,"cg_iq_a":-203.156723,"cg_iq_raw_a":-203.25441,"cg_iu_a":88.872406,"cg_iv_a":115.976929,"cg_iw_a":-204.849335,"cg_sample_age_us":23.9509087,"cg_sample_seq":1747066,"cg_sample_valid":1,"cg_theta_rad":3.76975393,"cg_vd_req_v":-1.93704307,"cg_vd_v":-1.93704307,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32977581,"cg_vq_v":-8.32977581,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.3424053,"dclink_p_w":-2365.14893,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":36.6733398,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":76.653687,"values":{"Elec_RPM":-2359.85303,"EncoderCos":25160,"EncoderSin":13819,"GapTicks":49396,"Mech_RPM":-471.970612,"cg_du":44.9056931,"cg_dv":50.4900513,"cg_dw":55.0943069,"cg_id_a":-14.0331211,"cg_id_raw_a":-12.5370169,"cg_iq_a":-201.259277,"cg_iq_raw_a":-202.997498,"cg_iu_a":-151.605408,"cg_iv_a":-32.1516113,"cg_iw_a":187.671371,"cg_sample_age_us":23.9218178,"cg_sample_seq":1748766,"cg_sample_valid":1,"cg_theta_rad":4.33922148,"cg_vd_req_v":-1.61176932,"cg_vd_v":-1.61176932,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37267971,"cg_vq_v":-8.37267971,"cg_vu_v":38.7105446,"cg_vv_v":47.0685043,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2478.71143,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":36.7001648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":77.005249,"values":{"Elec_RPM":-2355.42041,"EncoderCos":36579,"EncoderSin":12759,"GapTicks":49663,"Mech_RPM":-471.084106,"cg_du":54.8517914,"cg_dv":46.8954582,"cg_dw":45.1482086,"cg_id_a":0.0701152086,"cg_id_raw_a":6.87335634,"cg_iq_a":-199.885712,"cg_iq_raw_a":-201.950821,"cg_iu_a":173.610504,"cg_iv_a":-1.74304199,"cg_iw_a":-171.867462,"cg_sample_age_us":24.0127277,"cg_sample_seq":1750466,"cg_sample_valid":1,"cg_theta_rad":4.91878176,"cg_vd_req_v":-1.88885939,"cg_vd_v":-1.88885939,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43469906,"cg_vq_v":-8.43469906,"cg_vu_v":25.953661,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2480.28491,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":36.7033081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":77.135336,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":77.135342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":77.135347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":77.33728,"values":{"Elec_RPM":-2349.50659,"EncoderCos":52278,"EncoderSin":27615,"GapTicks":49303,"Mech_RPM":-469.901337,"cg_du":55.1785851,"cg_dv":44.8214149,"cg_dw":49.6208305,"cg_id_a":-10.6690493,"cg_id_raw_a":-12.0034904,"cg_iq_a":-195.233597,"cg_iq_raw_a":-194.124725,"cg_iu_a":193.218414,"cg_iv_a":-124.247192,"cg_iw_a":-68.9712219,"cg_sample_age_us":24.1399994,"cg_sample_seq":1752116,"cg_sample_valid":1,"cg_theta_rad":6.0403266,"cg_vd_req_v":-1.72148418,"cg_vd_v":-1.72148418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48906136,"cg_vq_v":-8.48906136,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":77.671265,"values":{"Elec_RPM":-2348.78857,"EncoderCos":51896,"EncoderSin":38870,"GapTicks":49593,"Mech_RPM":-469.75769,"cg_du":45.0852242,"cg_dv":54.9147758,"cg_dw":47.181633,"cg_id_a":-0.939064682,"cg_id_raw_a":3.97680259,"cg_iq_a":-202.032959,"cg_iq_raw_a":-204.003128,"cg_iu_a":-175.345123,"cg_iv_a":172.118622,"cg_iw_a":3.22649384,"cg_sample_age_us":23.5290909,"cg_sample_seq":1753817,"cg_sample_valid":1,"cg_theta_rad":0.316459507,"cg_vd_req_v":-1.91689563,"cg_vd_v":-1.91689563,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38272953,"cg_vq_v":-8.38272953,"cg_vu_v":122.290138,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":36.7238464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":78.022827,"values":{"Elec_RPM":-2355.93286,"EncoderCos":45492,"EncoderSin":48520,"GapTicks":49775,"Mech_RPM":-471.186584,"cg_du":53.7648659,"cg_dv":45.2502136,"cg_dw":54.7497864,"cg_id_a":18.0159531,"cg_id_raw_a":17.3671532,"cg_iq_a":-202.681183,"cg_iq_raw_a":-202.621536,"cg_iu_a":163.136017,"cg_iv_a":-188.072571,"cg_iw_a":24.936554,"cg_sample_age_us":23.5799999,"cg_sample_seq":1755517,"cg_sample_valid":1,"cg_theta_rad":0.894499719,"cg_vd_req_v":-2.27840996,"cg_vd_v":-2.27840996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39914989,"cg_vq_v":-8.39914989,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":78.127001,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":78.127006,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":78.127012,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":78.452515,"values":{"Elec_RPM":-2353.88965,"EncoderCos":13338,"EncoderSin":26421,"GapTicks":49556,"Mech_RPM":-470.777924,"cg_du":54.9488335,"cg_dv":45.0511665,"cg_dw":52.5363121,"cg_id_a":-4.12582207,"cg_id_raw_a":3.4466877,"cg_iq_a":-200.048157,"cg_iq_raw_a":-201.449615,"cg_iu_a":173.972931,"cg_iv_a":-170.494324,"cg_iw_a":-3.47860718,"cg_sample_age_us":24.0709095,"cg_sample_seq":1757616,"cg_sample_valid":1,"cg_theta_rad":3.46102166,"cg_vd_req_v":-1.77793932,"cg_vd_v":-1.77793932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43937588,"cg_vq_v":-8.43937588,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2433.33887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":36.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":78.972046,"values":{"Elec_RPM":-2346.15894,"EncoderCos":52755,"EncoderSin":34588,"GapTicks":49621,"Mech_RPM":-469.231781,"cg_du":53.0792656,"cg_dv":54.8891258,"cg_dw":45.1108742,"cg_id_a":0.143221974,"cg_id_raw_a":5.497612,"cg_iq_a":-199.496094,"cg_iq_raw_a":-200.651733,"cg_iu_a":0.908629179,"cg_iv_a":169.762787,"cg_iw_a":-170.671417,"cg_sample_age_us":23.4854546,"cg_sample_seq":1760267,"cg_sample_valid":1,"cg_theta_rad":0.100425549,"cg_vd_req_v":-1.9222362,"cg_vd_v":-1.9222362,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45152283,"cg_vq_v":-8.45152283,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.0397682,"dclink_p_w":-2321.34985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":79.022765,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":79.022777,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":79.02278,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":79.119417,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":79.119423,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":79.119428,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":79.350952,"values":{"Elec_RPM":-2347.03101,"EncoderCos":34663,"EncoderSin":12509,"GapTicks":49417,"Mech_RPM":-469.406219,"cg_du":55.0751114,"cg_dv":44.9248886,"cg_dw":48.1765862,"cg_id_a":2.54193974,"cg_id_raw_a":-4.11923885,"cg_iq_a":-199.733856,"cg_iq_raw_a":-199.171524,"cg_iu_a":200.720886,"cg_iv_a":-80.645874,"cg_iw_a":-120.075012,"cg_sample_age_us":24.0636368,"cg_sample_seq":1762166,"cg_sample_valid":1,"cg_theta_rad":4.82271671,"cg_vd_req_v":-1.98312306,"cg_vd_v":-1.98312306,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4046278,"cg_vq_v":-8.4046278,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2493.92505,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":36.7649231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":79.68103,"values":{"Elec_RPM":-2357.20947,"EncoderCos":45332,"EncoderSin":16873,"GapTicks":49278,"Mech_RPM":-471.441895,"cg_du":44.798584,"cg_dv":55.201416,"cg_dw":49.8960876,"cg_id_a":-15.0051641,"cg_id_raw_a":-14.2548275,"cg_iq_a":-195.826431,"cg_iq_raw_a":-196.762329,"cg_iu_a":-191.21994,"cg_iv_a":135.621094,"cg_iw_a":55.5988388,"cg_sample_age_us":23.8854542,"cg_sample_seq":1763866,"cg_sample_valid":1,"cg_theta_rad":5.39927053,"cg_vd_req_v":-1.67134368,"cg_vd_v":-1.67134368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53067112,"cg_vq_v":-8.53067112,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-17.5438881,"dclink_p_w":-2539.0332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":36.7775574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":80.034546,"values":{"Elec_RPM":-2358.57886,"EncoderCos":51918,"EncoderSin":26540,"GapTicks":49479,"Mech_RPM":-471.71579,"cg_du":55.0189285,"cg_dv":44.9810715,"cg_dw":52.1004486,"cg_id_a":-8.51717281,"cg_id_raw_a":-2.06583071,"cg_iq_a":-196.482498,"cg_iq_raw_a":-198.46994,"cg_iu_a":174.407867,"cg_iv_a":-162.810638,"cg_iw_a":-11.597229,"cg_sample_age_us":24.1436367,"cg_sample_seq":1765566,"cg_sample_valid":1,"cg_theta_rad":5.98354721,"cg_vd_req_v":-1.72489667,"cg_vd_v":-1.72489667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48127747,"cg_vq_v":-8.48127747,"cg_vu_v":47.5083961,"cg_vv_v":41.7897949,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2504.13379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":36.8075867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":80.111274,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":80.11128,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":80.111285,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":80.366577,"values":{"Elec_RPM":-2356.60669,"EncoderCos":52142,"EncoderSin":37926,"GapTicks":49901,"Mech_RPM":-471.32132,"cg_du":46.1559715,"cg_dv":54.6349106,"cg_dw":45.3650894,"cg_id_a":14.6187744,"cg_id_raw_a":14.5760479,"cg_iq_a":-207.217758,"cg_iq_raw_a":-206.403564,"cg_iu_a":-167.806427,"cg_iv_a":189.443192,"cg_iw_a":-21.6367645,"cg_sample_age_us":23.48909,"cg_sample_seq":1767266,"cg_sample_valid":1,"cg_theta_rad":0.26889056,"cg_vd_req_v":-2.24467826,"cg_vd_v":-2.24467826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2621479,"cg_vq_v":-8.2621479,"cg_vu_v":0.87978512,"cg_vv_v":14.0765619,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":80.698608,"values":{"Elec_RPM":-2354.98877,"EncoderCos":46228,"EncoderSin":47882,"GapTicks":49390,"Mech_RPM":-470.997742,"cg_du":51.8979149,"cg_dv":44.9002876,"cg_dw":55.0997124,"cg_id_a":7.93770409,"cg_id_raw_a":3.81003141,"cg_iq_a":-199.461929,"cg_iq_raw_a":-199.381134,"cg_iu_a":123.630249,"cg_iv_a":-198.293335,"cg_iw_a":74.6630936,"cg_sample_age_us":23.4527264,"cg_sample_seq":1768966,"cg_sample_valid":1,"cg_theta_rad":0.848251402,"cg_vd_req_v":-2.10363626,"cg_vd_v":-2.10363626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45917892,"cg_vq_v":-8.45917892,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-17.6689301,"dclink_p_w":-2557.12988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":36.7838745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":81.050171,"values":{"Elec_RPM":-2350.20215,"EncoderCos":36043,"EncoderSin":52690,"GapTicks":49296,"Mech_RPM":-470.040405,"cg_du":50.6549034,"cg_dv":55.1846581,"cg_dw":44.8153419,"cg_id_a":-10.4495506,"cg_id_raw_a":-10.3579483,"cg_iq_a":-194.472382,"cg_iq_raw_a":-194.531723,"cg_iu_a":-55.5230179,"cg_iv_a":192.125244,"cg_iw_a":-136.602219,"cg_sample_age_us":23.8854542,"cg_sample_seq":1770668,"cg_sample_valid":1,"cg_theta_rad":1.41834235,"cg_vd_req_v":-1.67286229,"cg_vd_v":-1.67286229,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52469444,"cg_vq_v":-8.52469444,"cg_vu_v":116.131638,"cg_vv_v":143.404984,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.0778255,"dclink_p_w":-2326.85767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":36.8328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":81.134621,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":81.134627,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":81.134632,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":81.384155,"values":{"Elec_RPM":-2350.92212,"EncoderCos":34799,"EncoderSin":52821,"GapTicks":49426,"Mech_RPM":-470.184418,"cg_du":48.1887169,"cg_dv":55.0667305,"cg_dw":44.9332695,"cg_id_a":1.92227554,"cg_id_raw_a":-4.48799229,"cg_iq_a":-198.249786,"cg_iq_raw_a":-197.630051,"cg_iu_a":-117.137535,"cg_iv_a":198.214203,"cg_iw_a":-96.6977539,"cg_sample_age_us":23.8999996,"cg_sample_seq":1772416,"cg_sample_valid":1,"cg_theta_rad":1.4686929,"cg_vd_req_v":-1.94099724,"cg_vd_v":-1.94099724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42496395,"cg_vq_v":-8.42496395,"cg_vu_v":38.2706528,"cg_vv_v":48.8280716,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":36.8281555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":81.716187,"values":{"Elec_RPM":-2350.37085,"EncoderCos":12354,"EncoderSin":33432,"GapTicks":49337,"Mech_RPM":-470.074158,"cg_du":44.8521347,"cg_dv":49.2888451,"cg_dw":55.1478653,"cg_id_a":-14.3216238,"cg_id_raw_a":-18.2171669,"cg_iq_a":-197.763626,"cg_iq_raw_a":-199.33638,"cg_iu_a":-127.322052,"cg_iv_a":-69.2290649,"cg_iw_a":196.551117,"cg_sample_age_us":23.9181824,"cg_sample_seq":1774016,"cg_sample_valid":1,"cg_theta_rad":3.1111052,"cg_vd_req_v":-1.57661283,"cg_vd_v":-1.57661283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48486614,"cg_vq_v":-8.48486614,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2418.3894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":82.067749,"values":{"Elec_RPM":-2348.98486,"EncoderCos":15328,"EncoderSin":43376,"GapTicks":49910,"Mech_RPM":-469.796997,"cg_du":53.9532242,"cg_dv":54.6266212,"cg_dw":45.3733788,"cg_id_a":7.8560791,"cg_id_raw_a":11.309823,"cg_iq_a":-204.873718,"cg_iq_raw_a":-205.658676,"cg_iu_a":4.82296324,"cg_iv_a":170.125214,"cg_iw_a":-174.948181,"cg_sample_age_us":23.8563633,"cg_sample_seq":1775818,"cg_sample_valid":1,"cg_theta_rad":2.60586619,"cg_vd_req_v":-2.01440573,"cg_vd_v":-2.01440573,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35574722,"cg_vq_v":-8.35574722,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.5710716,"dclink_p_w":-2535.23779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":82.127386,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":82.127392,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":82.127398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":82.401733,"values":{"Elec_RPM":-2354.66528,"EncoderCos":15552,"EncoderSin":21588,"GapTicks":49335,"Mech_RPM":-470.933075,"cg_du":55.1496964,"cg_dv":49.9317932,"cg_dw":44.8503036,"cg_id_a":-11.8709183,"cg_id_raw_a":-16.7482796,"cg_iq_a":-196.272034,"cg_iq_raw_a":-192.572296,"cg_iu_a":136.388077,"cg_iv_a":54.5436249,"cg_iw_a":-190.931702,"cg_sample_age_us":24.0418186,"cg_sample_seq":1777467,"cg_sample_valid":1,"cg_theta_rad":3.72464085,"cg_vd_req_v":-1.63357234,"cg_vd_v":-1.63357234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44963264,"cg_vq_v":-8.44963264,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2426.25757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":82.753296,"values":{"Elec_RPM":-2353.83691,"EncoderCos":23459,"EncoderSin":14564,"GapTicks":49872,"Mech_RPM":-470.767395,"cg_du":45.338295,"cg_dv":54.661705,"cg_dw":54.0850906,"cg_id_a":13.898839,"cg_id_raw_a":9.46343994,"cg_iq_a":-200.832184,"cg_iq_raw_a":-198.866165,"cg_iu_a":-173.170502,"cg_iv_a":0.830276489,"cg_iw_a":172.340225,"cg_sample_age_us":23.8345451,"cg_sample_seq":1779171,"cg_sample_valid":1,"cg_theta_rad":4.29229879,"cg_vd_req_v":-2.18690729,"cg_vd_v":-2.18690729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39748669,"cg_vq_v":-8.39748669,"cg_vu_v":105.134323,"cg_vv_v":104.694435,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2432.21777,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":36.8898621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":83.085327,"values":{"Elec_RPM":-2359.79395,"EncoderCos":35876,"EncoderSin":12624,"GapTicks":49956,"Mech_RPM":-471.958771,"cg_du":54.5848312,"cg_dv":45.4151688,"cg_dw":45.8197594,"cg_id_a":13.0681572,"cg_id_raw_a":18.5638294,"cg_iq_a":-202.33049,"cg_iq_raw_a":-204.605209,"cg_iu_a":183.541306,"cg_iv_a":-19.1763153,"cg_iw_a":-164.36499,"cg_sample_age_us":24.0599995,"cg_sample_seq":1780866,"cg_sample_valid":1,"cg_theta_rad":4.88312864,"cg_vd_req_v":-2.16099215,"cg_vd_v":-2.16099215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3845911,"cg_vq_v":-8.3845911,"cg_vu_v":14.5164547,"cg_vv_v":9.67763615,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2508.34302,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":36.8930359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":83.150897,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":83.150903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":83.150908,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":83.419312,"values":{"Elec_RPM":-2354.64136,"EncoderCos":36660,"EncoderSin":12749,"GapTicks":49620,"Mech_RPM":-470.928253,"cg_du":54.8900452,"cg_dv":47.1710358,"cg_dw":45.1099548,"cg_id_a":-4.46012831,"cg_id_raw_a":4.56373072,"cg_iq_a":-197.455597,"cg_iq_raw_a":-200.262039,"cg_iu_a":172.160736,"cg_iv_a":-0.764465332,"cg_iw_a":-171.396271,"cg_sample_age_us":24.0672722,"cg_sample_seq":1782616,"cg_sample_valid":1,"cg_theta_rad":4.92274904,"cg_vd_req_v":-1.78375912,"cg_vd_v":-1.78375912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45580673,"cg_vq_v":-8.45580673,"cg_vu_v":14.0765619,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2480.19482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":36.9009399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":83.770874,"values":{"Elec_RPM":-2350.94287,"EncoderCos":52237,"EncoderSin":27649,"GapTicks":49330,"Mech_RPM":-470.188568,"cg_du":55.153717,"cg_dv":44.846283,"cg_dw":49.5441322,"cg_id_a":-12.8652344,"cg_id_raw_a":-14.4980726,"cg_iq_a":-197.467194,"cg_iq_raw_a":-197.323013,"cg_iu_a":195.393036,"cg_iv_a":-127.76284,"cg_iw_a":-67.6301956,"cg_sample_age_us":24.1654549,"cg_sample_seq":1784266,"cg_sample_valid":1,"cg_theta_rad":6.04015493,"cg_vd_req_v":-1.68680131,"cg_vd_v":-1.68680131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45720863,"cg_vq_v":-8.45720863,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":84.104858,"values":{"Elec_RPM":-2345.59473,"EncoderCos":52366,"EncoderSin":28182,"GapTicks":49367,"Mech_RPM":-469.118958,"cg_du":55.1207581,"cg_dv":44.8792419,"cg_dw":48.5586472,"cg_id_a":-2.93497276,"cg_id_raw_a":-8.20274067,"cg_iq_a":-198.832581,"cg_iq_raw_a":-197.765945,"cg_iu_a":199.923523,"cg_iv_a":-95.0709076,"cg_iw_a":-104.852615,"cg_sample_age_us":24.136364,"cg_sample_seq":1786017,"cg_sample_valid":1,"cg_theta_rad":6.07198,"cg_vd_req_v":-1.9022485,"cg_vd_v":-1.9022485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43146801,"cg_vq_v":-8.43146801,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2524.6084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":84.143017,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":84.143023,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":84.143028,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":84.434937,"values":{"Elec_RPM":-2345.77246,"EncoderCos":51606,"EncoderSin":39718,"GapTicks":49285,"Mech_RPM":-469.15451,"cg_du":44.8045959,"cg_dv":55.1954041,"cg_dw":49.3454704,"cg_id_a":-11.4119492,"cg_id_raw_a":-9.32418537,"cg_iq_a":-195.164856,"cg_iq_raw_a":-197.157257,"cg_iu_a":-184.551056,"cg_iv_a":143.667221,"cg_iw_a":40.8838348,"cg_sample_age_us":23.5254555,"cg_sample_seq":1787717,"cg_sample_valid":1,"cg_theta_rad":0.362568974,"cg_vd_req_v":-1.71641767,"cg_vd_v":-1.71641767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53426933,"cg_vq_v":-8.53426933,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-18.0657997,"dclink_p_w":-2622.51367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":36.9421387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":84.788452,"values":{"Elec_RPM":-2346.81494,"EncoderCos":23960,"EncoderSin":51200,"GapTicks":49431,"Mech_RPM":-469.362976,"cg_du":48.6137886,"cg_dv":44.9375229,"cg_dw":55.0624771,"cg_id_a":-18.2788219,"cg_id_raw_a":-14.746316,"cg_iq_a":-201.380646,"cg_iq_raw_a":-203.640503,"cg_iu_a":5.8740344,"cg_iv_a":-177.561874,"cg_iw_a":171.687836,"cg_sample_age_us":23.8272724,"cg_sample_seq":1789316,"cg_sample_valid":1,"cg_theta_rad":2.00823498,"cg_vd_req_v":-1.51092315,"cg_vd_v":-1.51092315,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40438652,"cg_vq_v":-8.40438652,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-15.7335091,"dclink_p_w":-2270.10547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":36.954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":85.122437,"values":{"Elec_RPM":-2353.21973,"EncoderCos":33946,"EncoderSin":52940,"GapTicks":49736,"Mech_RPM":-470.643921,"cg_du":46.6429176,"cg_dv":54.7853546,"cg_dw":45.2146454,"cg_id_a":14.5812645,"cg_id_raw_a":12.7170372,"cg_iq_a":-204.922943,"cg_iq_raw_a":-203.561325,"cg_iu_a":-157.368195,"cg_iv_a":194.336121,"cg_iw_a":-36.967926,"cg_sample_age_us":23.8963642,"cg_sample_seq":1791117,"cg_sample_valid":1,"cg_theta_rad":1.5122143,"cg_vd_req_v":-2.19218469,"cg_vd_v":-2.19218469,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31777954,"cg_vq_v":-8.31777954,"cg_vu_v":111.732712,"cg_vv_v":142.525192,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.1249428,"dclink_p_w":-2326.5835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":36.9468994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":85.134827,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":85.134833,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":85.134838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":85.452515,"values":{"Elec_RPM":-2351.69702,"EncoderCos":14850,"EncoderSin":42576,"GapTicks":49385,"Mech_RPM":-470.339417,"cg_du":51.70644,"cg_dv":55.1042061,"cg_dw":44.8957939,"cg_id_a":-7.03837156,"cg_id_raw_a":-5.29377937,"cg_iq_a":-194.092896,"cg_iq_raw_a":-196.108276,"cg_iu_a":-25.5493698,"cg_iv_a":178.968719,"cg_iw_a":-153.419342,"cg_sample_age_us":23.8563633,"cg_sample_seq":1792766,"cg_sample_valid":1,"cg_theta_rad":2.64631104,"cg_vd_req_v":-1.71175373,"cg_vd_v":-1.71175373,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54388618,"cg_vq_v":-8.54388618,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":85.80603,"values":{"Elec_RPM":-2346.92603,"EncoderCos":14488,"EncoderSin":41849,"GapTicks":49338,"Mech_RPM":-469.385193,"cg_du":49.8382835,"cg_dv":55.1467667,"cg_dw":44.8532333,"cg_id_a":-12.2493792,"cg_id_raw_a":-12.8583174,"cg_iq_a":-197.71875,"cg_iq_raw_a":-196.018448,"cg_iu_a":-58.6762314,"cg_iv_a":194.517334,"cg_iw_a":-142.002533,"cg_sample_age_us":23.8890915,"cg_sample_seq":1794516,"cg_sample_valid":1,"cg_theta_rad":2.68029642,"cg_vd_req_v":-1.61239934,"cg_vd_v":-1.61239934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44990063,"cg_vq_v":-8.44990063,"cg_vu_v":25.953661,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2487.89087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":37.0372925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":86.127708,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":86.127714,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":86.127719,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":86.138062,"values":{"Elec_RPM":-2345.09888,"EncoderCos":16155,"EncoderSin":20695,"GapTicks":49474,"Mech_RPM":-469.019775,"cg_du":55.0230103,"cg_dv":51.8599854,"cg_dw":44.9769897,"cg_id_a":5.79529762,"cg_id_raw_a":1.1581322,"cg_iq_a":-204.539413,"cg_iq_raw_a":-203.089005,"cg_iu_a":80.2101364,"cg_iv_a":121.413506,"cg_iw_a":-201.623642,"cg_sample_age_us":23.9400005,"cg_sample_seq":1796167,"cg_sample_valid":1,"cg_theta_rad":3.77936602,"cg_vd_req_v":-2.0140686,"cg_vd_v":-2.0140686,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31734848,"cg_vq_v":-8.31734848,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.6852398,"dclink_p_w":-2559.49023,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":86.491577,"values":{"Elec_RPM":-2344.27173,"EncoderCos":16750,"EncoderSin":19898,"GapTicks":49869,"Mech_RPM":-468.85434,"cg_du":54.6641045,"cg_dv":53.7997704,"cg_dw":45.3358955,"cg_id_a":13.2444363,"cg_id_raw_a":12.7473755,"cg_iq_a":-206.17804,"cg_iq_raw_a":-208.461807,"cg_iu_a":28.9613571,"cg_iv_a":155.990128,"cg_iw_a":-193.831223,"cg_sample_age_us":23.954546,"cg_sample_seq":1797916,"cg_sample_valid":1,"cg_theta_rad":3.82393527,"cg_vd_req_v":-2.14698792,"cg_vd_v":-2.14698792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3146019,"cg_vq_v":-8.3146019,"cg_vu_v":31.2323723,"cg_vv_v":25.0738773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":37.0388794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":86.823608,"values":{"Elec_RPM":-2356.35864,"EncoderCos":46424,"EncoderSin":17835,"GapTicks":49510,"Mech_RPM":-471.271729,"cg_du":45.0094147,"cg_dv":54.9905853,"cg_dw":52.5976448,"cg_id_a":7.37833548,"cg_id_raw_a":3.7733705,"cg_iq_a":-198.833908,"cg_iq_raw_a":-197.737228,"cg_iu_a":-193.64827,"cg_iv_a":59.6177826,"cg_iw_a":134.030487,"cg_sample_age_us":23.9181824,"cg_sample_seq":1799517,"cg_sample_valid":1,"cg_theta_rad":5.47190952,"cg_vd_req_v":-2.13974571,"cg_vd_v":-2.13974571,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41411781,"cg_vq_v":-8.41411781,"cg_vu_v":102.055069,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2455.75024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":37.0341187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":87.119076,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":87.119081,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":87.119086,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":87.15564,"values":{"Elec_RPM":-2359.67993,"EncoderCos":37906,"EncoderSin":13037,"GapTicks":49380,"Mech_RPM":-471.936005,"cg_du":55.1081963,"cg_dv":50.0862808,"cg_dw":44.8918037,"cg_id_a":-14.5641956,"cg_id_raw_a":-18.9525623,"cg_iq_a":-199.270035,"cg_iq_raw_a":-198.024704,"cg_iu_a":138.055298,"cg_iv_a":58.2767487,"cg_iw_a":-196.332047,"cg_sample_age_us":24.0127277,"cg_sample_seq":1801316,"cg_sample_valid":1,"cg_theta_rad":4.98287868,"cg_vd_req_v":-1.62025499,"cg_vd_v":-1.62025499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38173294,"cg_vq_v":-8.38173294,"cg_vu_v":32.1121559,"cg_vv_v":13.6366701,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-18.0422401,"dclink_p_w":-2603.22021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":87.507202,"values":{"Elec_RPM":-2355.83228,"EncoderCos":52476,"EncoderSin":28720,"GapTicks":49473,"Mech_RPM":-471.166443,"cg_du":55.023922,"cg_dv":44.976078,"cg_dw":47.6682014,"cg_id_a":12.3395271,"cg_id_raw_a":12.2177486,"cg_iq_a":-201.113174,"cg_iq_raw_a":-200.626007,"cg_iu_a":198.292542,"cg_iv_a":-57.7397461,"cg_iw_a":-140.552795,"cg_sample_age_us":24.1945457,"cg_sample_seq":1802966,"cg_sample_valid":1,"cg_theta_rad":6.09795809,"cg_vd_req_v":-2.20100069,"cg_vd_v":-2.20100069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40858269,"cg_vq_v":-8.40858269,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":37.0881042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":87.841187,"values":{"Elec_RPM":-2358.23584,"EncoderCos":52635,"EncoderSin":29565,"GapTicks":49948,"Mech_RPM":-471.647186,"cg_du":54.5921707,"cg_dv":45.4078293,"cg_dw":45.9568329,"cg_id_a":14.7656155,"cg_id_raw_a":20.0065632,"cg_iq_a":-204.602753,"cg_iq_raw_a":-205.897049,"cg_iu_a":187.78183,"cg_iv_a":-20.0823975,"cg_iw_a":-167.699432,"cg_sample_age_us":24.1399994,"cg_sample_seq":1804716,"cg_sample_valid":1,"cg_theta_rad":6.13855362,"cg_vd_req_v":-2.20514321,"cg_vd_v":-2.20514321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32150173,"cg_vq_v":-8.32150173,"cg_vu_v":30.7924805,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2426.52954,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":88.142783,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":88.142788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":88.142794,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":88.173218,"values":{"Elec_RPM":-2354.64429,"EncoderCos":44470,"EncoderSin":49294,"GapTicks":49480,"Mech_RPM":-470.928864,"cg_du":55.0173683,"cg_dv":44.9826317,"cg_dw":52.0709724,"cg_id_a":-10.4719982,"cg_id_raw_a":-4.51901579,"cg_iq_a":-197.666031,"cg_iq_raw_a":-199.686264,"cg_iu_a":179.119553,"cg_iv_a":-160.309814,"cg_iw_a":-18.8097458,"cg_sample_age_us":23.954546,"cg_sample_seq":1806367,"cg_sample_valid":1,"cg_theta_rad":0.968403041,"cg_vd_req_v":-1.67108321,"cg_vd_v":-1.67108321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45596409,"cg_vq_v":-8.45596409,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":37.1230774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":88.692749,"values":{"Elec_RPM":-2351.01123,"EncoderCos":52024,"EncoderSin":38411,"GapTicks":49929,"Mech_RPM":-470.202271,"cg_du":45.3905716,"cg_dv":54.6094284,"cg_dw":46.0105057,"cg_id_a":9.67331696,"cg_id_raw_a":11.7665215,"cg_iq_a":-204.204102,"cg_iq_raw_a":-204.525543,"cg_iu_a":-171.430786,"cg_iv_a":179.947296,"cg_iw_a":-8.51651001,"cg_sample_age_us":23.5472736,"cg_sample_seq":1808767,"cg_sample_valid":1,"cg_theta_rad":0.292193919,"cg_vd_req_v":-2.13335323,"cg_vd_v":-2.13335323,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31569958,"cg_vq_v":-8.31569958,"cg_vu_v":135.486908,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2459.14966,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":37.1469116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":89.00759,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":89.007607,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":89.007614,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":89.135241,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":89.135247,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":89.135253,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":89.167358,"values":{"Elec_RPM":-2348.45508,"EncoderCos":24460,"EncoderSin":14114,"GapTicks":49514,"Mech_RPM":-469.69101,"cg_du":45.0127678,"cg_dv":52.245018,"cg_dw":54.9872322,"cg_id_a":-8.24582672,"cg_id_raw_a":-0.388398379,"cg_iq_a":-200.290375,"cg_iq_raw_a":-202.228409,"cg_iu_a":-169.944794,"cg_iv_a":-9.10054016,"cg_iw_a":179.045334,"cg_sample_age_us":23.9290905,"cg_sample_seq":1811316,"cg_sample_valid":1,"cg_theta_rad":4.30620193,"cg_vd_req_v":-1.72344661,"cg_vd_v":-1.72344661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43699169,"cg_vq_v":-8.43699169,"cg_vu_v":38.2706528,"cg_vv_v":45.3089333,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":37.131012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":89.518921,"values":{"Elec_RPM":-2349.58032,"EncoderCos":25096,"EncoderSin":13835,"GapTicks":49363,"Mech_RPM":-469.916046,"cg_du":44.8758354,"cg_dv":50.5963821,"cg_dw":55.1241646,"cg_id_a":-15.1533413,"cg_id_raw_a":-13.8749323,"cg_iq_a":-199.01796,"cg_iq_raw_a":-198.1203,"cg_iu_a":-149.394562,"cg_iv_a":-35.8484802,"cg_iw_a":185.243042,"cg_sample_age_us":23.9290905,"cg_sample_seq":1813067,"cg_sample_valid":1,"cg_theta_rad":4.33915663,"cg_vd_req_v":-1.58674729,"cg_vd_v":-1.58674729,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43453407,"cg_vq_v":-8.43453407,"cg_vu_v":114.811958,"cg_vv_v":144.724655,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3985825,"dclink_p_w":-2380.49292,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":37.1580505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":89.852905,"values":{"Elec_RPM":-2351.70313,"EncoderCos":52013,"EncoderSin":26688,"GapTicks":49378,"Mech_RPM":-470.340607,"cg_du":55.1108055,"cg_dv":44.8891945,"cg_dw":51.6723099,"cg_id_a":-13.0357475,"cg_id_raw_a":-11.5686493,"cg_iq_a":-196.099167,"cg_iq_raw_a":-196.994705,"cg_iu_a":182.925171,"cg_iv_a":-162.339447,"cg_iw_a":-13.9893265,"cg_sample_age_us":24.0563641,"cg_sample_seq":1814667,"cg_sample_valid":1,"cg_theta_rad":6.00328016,"cg_vd_req_v":-1.65558553,"cg_vd_v":-1.65558553,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50588131,"cg_vq_v":-8.50588131,"cg_vu_v":6.1584959,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2483.20508,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":90.127233,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":90.127239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":90.127244,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":90.18689,"values":{"Elec_RPM":-2354.27197,"EncoderCos":52252,"EncoderSin":27621,"GapTicks":49307,"Mech_RPM":-470.85437,"cg_du":55.1748695,"cg_dv":44.8251305,"cg_dw":49.5798607,"cg_id_a":-13.5731373,"cg_id_raw_a":-15.2921705,"cg_iq_a":-197.151108,"cg_iq_raw_a":-196.936874,"cg_iu_a":194.37822,"cg_iv_a":-129.28508,"cg_iw_a":-65.0931396,"cg_sample_age_us":24.0418186,"cg_sample_seq":1816416,"cg_sample_valid":1,"cg_theta_rad":6.03960276,"cg_vd_req_v":-1.67899585,"cg_vd_v":-1.67899585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49303818,"cg_vq_v":-8.49303818,"cg_vu_v":47.9482918,"cg_vv_v":41.7897949,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":37.1596375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":90.538452,"values":{"Elec_RPM":-2358.81445,"EncoderCos":51748,"EncoderSin":39196,"GapTicks":49457,"Mech_RPM":-471.762878,"cg_du":44.96175,"cg_dv":55.03825,"cg_dw":48.1493645,"cg_id_a":-9.70403671,"cg_id_raw_a":-6.49252462,"cg_iq_a":-198.259949,"cg_iq_raw_a":-199.879608,"cg_iu_a":-175.490112,"cg_iv_a":167.805634,"cg_iw_a":7.68448639,"cg_sample_age_us":23.4454536,"cg_sample_seq":1818116,"cg_sample_valid":1,"cg_theta_rad":0.327247292,"cg_vd_req_v":-1.72763038,"cg_vd_v":-1.72763038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45837879,"cg_vq_v":-8.45837879,"cg_vu_v":0.87978512,"cg_vv_v":18.4754887,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2546.90112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":90.870483,"values":{"Elec_RPM":-2356.12549,"EncoderCos":51604,"EncoderSin":39768,"GapTicks":49307,"Mech_RPM":-471.225098,"cg_du":44.8245926,"cg_dv":55.1754074,"cg_dw":49.4080658,"cg_id_a":-9.42376614,"cg_id_raw_a":-9.10660267,"cg_iq_a":-195.719147,"cg_iq_raw_a":-197.033691,"cg_iu_a":-192.089783,"cg_iv_a":129.640854,"cg_iw_a":62.4489288,"cg_sample_age_us":23.5363636,"cg_sample_seq":1819867,"cg_sample_valid":1,"cg_theta_rad":0.377034336,"cg_vd_req_v":-1.7492559,"cg_vd_v":-1.7492559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48930073,"cg_vq_v":-8.48930073,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.6812859,"dclink_p_w":-2414.19336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":91.118993,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":91.118998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":91.119003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":91.202515,"values":{"Elec_RPM":-2353.52588,"EncoderCos":23942,"EncoderSin":51177,"GapTicks":49418,"Mech_RPM":-470.70517,"cg_du":48.7060127,"cg_dv":44.9260025,"cg_dw":55.0739975,"cg_id_a":-19.7271996,"cg_id_raw_a":-15.4734917,"cg_iq_a":-200.724808,"cg_iq_raw_a":-201.906036,"cg_iu_a":16.42099,"cg_iv_a":-181.11377,"cg_iw_a":164.69278,"cg_sample_age_us":23.8309097,"cg_sample_seq":1821466,"cg_sample_valid":1,"cg_theta_rad":2.02179384,"cg_vd_req_v":-1.47904217,"cg_vd_v":-1.47904217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44217968,"cg_vq_v":-8.44217968,"cg_vu_v":40.0302238,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":91.55603,"values":{"Elec_RPM":-2351.94043,"EncoderCos":33700,"EncoderSin":52924,"GapTicks":49870,"Mech_RPM":-470.388092,"cg_du":46.1551895,"cg_dv":54.6630821,"cg_dw":45.3369179,"cg_id_a":15.9287395,"cg_id_raw_a":17.1367874,"cg_iq_a":-206.35733,"cg_iq_raw_a":-205.278214,"cg_iu_a":-160.231445,"cg_iv_a":194.263611,"cg_iw_a":-34.0321655,"cg_sample_age_us":23.812727,"cg_sample_seq":1823266,"cg_sample_valid":1,"cg_theta_rad":1.51589322,"cg_vd_req_v":-2.20137167,"cg_vd_v":-2.20137167,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31794739,"cg_vq_v":-8.31794739,"cg_vu_v":15.836132,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2489.74146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":91.886108,"values":{"Elec_RPM":-2357.06226,"EncoderCos":12337,"EncoderSin":32476,"GapTicks":49509,"Mech_RPM":-471.412445,"cg_du":45.0087929,"cg_dv":47.6748772,"cg_dw":54.9912071,"cg_id_a":6.84605312,"cg_id_raw_a":1.96044517,"cg_iq_a":-199.675446,"cg_iq_raw_a":-194.861221,"cg_iu_a":-65.8525085,"cg_iv_a":-131.206024,"cg_iw_a":197.058533,"cg_sample_age_us":23.9327278,"cg_sample_seq":1824867,"cg_sample_valid":1,"cg_theta_rad":3.16162062,"cg_vd_req_v":-2.01569486,"cg_vd_v":-2.01569486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39891052,"cg_vq_v":-8.39891052,"cg_vu_v":97.2162552,"cg_vv_v":79.1806641,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.2372971,"dclink_p_w":-2342.79443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":92.111284,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":92.11129,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":92.111295,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":92.241577,"values":{"Elec_RPM":-2347.69189,"EncoderCos":12338,"EncoderSin":32570,"GapTicks":49447,"Mech_RPM":-469.538361,"cg_du":44.9519691,"cg_dv":47.818119,"cg_dw":55.0480309,"cg_id_a":4.66300106,"cg_id_raw_a":0.965590835,"cg_iq_a":-198.578583,"cg_iq_raw_a":-194.918747,"cg_iu_a":-29.7536526,"cg_iv_a":-161.46962,"cg_iw_a":191.223267,"cg_sample_age_us":23.8418179,"cg_sample_seq":1826621,"cg_sample_valid":1,"cg_theta_rad":3.19894171,"cg_vd_req_v":-1.98360896,"cg_vd_v":-1.98360896,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43820381,"cg_vq_v":-8.43820381,"cg_vu_v":112.612495,"cg_vv_v":117.011421,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":37.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":92.573608,"values":{"Elec_RPM":-2345.84595,"EncoderCos":16324,"EncoderSin":20455,"GapTicks":49527,"Mech_RPM":-469.169189,"cg_du":54.9748306,"cg_dv":52.4077339,"cg_dw":45.0251694,"cg_id_a":11.185813,"cg_id_raw_a":9.44178581,"cg_iq_a":-202.627625,"cg_iq_raw_a":-202.978363,"cg_iu_a":61.5083199,"cg_iv_a":138.738068,"cg_iw_a":-200.246384,"cg_sample_age_us":23.9400005,"cg_sample_seq":1828316,"cg_sample_valid":1,"cg_theta_rad":3.79148912,"cg_vd_req_v":-2.11659694,"cg_vd_v":-2.11659694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36856365,"cg_vq_v":-8.36856365,"cg_vu_v":29.0329094,"cg_vv_v":13.6366701,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":92.903687,"values":{"Elec_RPM":-2349.53955,"EncoderCos":25647,"EncoderSin":13632,"GapTicks":49336,"Mech_RPM":-469.907928,"cg_du":44.8511047,"cg_dv":49.8057823,"cg_dw":55.1488953,"cg_id_a":-12.6926231,"cg_id_raw_a":-15.1292763,"cg_iq_a":-196.750122,"cg_iq_raw_a":-198.059601,"cg_iu_a":-133.447266,"cg_iv_a":-57.8847351,"cg_iw_a":191.332001,"cg_sample_age_us":23.8527279,"cg_sample_seq":1830016,"cg_sample_valid":1,"cg_theta_rad":4.35994911,"cg_vd_req_v":-1.61154687,"cg_vd_v":-1.61154687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45432186,"cg_vq_v":-8.45432186,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":93.135283,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":93.135289,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":93.135295,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":93.259155,"values":{"Elec_RPM":-2350.77417,"EncoderCos":37035,"EncoderSin":12832,"GapTicks":49469,"Mech_RPM":-470.154846,"cg_du":55.027771,"cg_dv":48.1280212,"cg_dw":44.972229,"cg_id_a":-12.5437489,"cg_id_raw_a":-7.17716455,"cg_iq_a":-198.21666,"cg_iq_raw_a":-200.743393,"cg_iu_a":166.289246,"cg_iv_a":12.3920593,"cg_iw_a":-178.681305,"cg_sample_age_us":24.0018177,"cg_sample_seq":1831716,"cg_sample_valid":1,"cg_theta_rad":4.94021654,"cg_vd_req_v":-1.64089787,"cg_vd_v":-1.64089787,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43591976,"cg_vq_v":-8.43591976,"cg_vu_v":26.3935547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2502.2229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":37.263092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103781186,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":93.589233,"values":{"Elec_RPM":-2351.91699,"EncoderCos":46824,"EncoderSin":18220,"GapTicks":49735,"Mech_RPM":-470.383392,"cg_du":45.2138901,"cg_dv":54.7861099,"cg_dw":53.7046661,"cg_id_a":11.9357567,"cg_id_raw_a":12.1723423,"cg_iq_a":-199.262741,"cg_iq_raw_a":-199.070282,"cg_iu_a":-182.738876,"cg_iv_a":20.981842,"cg_iw_a":161.757034,"cg_sample_age_us":23.8272724,"cg_sample_seq":1833418,"cg_sample_valid":1,"cg_theta_rad":5.5114665,"cg_vd_req_v":-2.22656798,"cg_vd_v":-2.22656798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44539165,"cg_vq_v":-8.44539165,"cg_vu_v":132.407669,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2395.35059,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":93.921265,"values":{"Elec_RPM":-2357.68506,"EncoderCos":52503,"EncoderSin":28869,"GapTicks":49546,"Mech_RPM":-471.536987,"cg_du":54.9576912,"cg_dv":45.0423088,"cg_dw":47.4084892,"cg_id_a":15.3285904,"cg_id_raw_a":13.8989782,"cg_iq_a":-201.79213,"cg_iq_raw_a":-200.603775,"cg_iu_a":198.038849,"cg_iv_a":-49.7298889,"cg_iw_a":-148.30896,"cg_sample_age_us":24.1436367,"cg_sample_seq":1835116,"cg_sample_valid":1,"cg_theta_rad":6.1008935,"cg_vd_req_v":-2.24089432,"cg_vd_v":-2.24089432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35889626,"cg_vq_v":-8.35889626,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2429.16016,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":37.2854004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":94.159529,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":94.159535,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":94.15954,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":94.27478,"values":{"Elec_RPM":-2358.7644,"EncoderCos":51376,"EncoderSin":40294,"GapTicks":49321,"Mech_RPM":-471.752869,"cg_du":44.8379745,"cg_dv":55.1620255,"cg_dw":50.5488663,"cg_id_a":-4.80376625,"cg_id_raw_a":-4.92885256,"cg_iq_a":-198.144287,"cg_iq_raw_a":-197.346054,"cg_iu_a":-195.532944,"cg_iv_a":126.668861,"cg_iw_a":68.8640823,"cg_sample_age_us":23.4454536,"cg_sample_seq":1836816,"cg_sample_valid":1,"cg_theta_rad":0.383649886,"cg_vd_req_v":-1.85972512,"cg_vd_v":-1.85972512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44022751,"cg_vq_v":-8.44022751,"cg_vu_v":95.0167923,"cg_vv_v":101.615181,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-17.8555851,"dclink_p_w":-2576.28882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":37.2933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":94.606812,"values":{"Elec_RPM":-2354.55493,"EncoderCos":44325,"EncoderSin":49370,"GapTicks":49389,"Mech_RPM":-470.91098,"cg_du":55.100296,"cg_dv":44.899704,"cg_dw":51.6972618,"cg_id_a":-12.5530787,"cg_id_raw_a":-8.20243359,"cg_iq_a":-196.54361,"cg_iq_raw_a":-198.252106,"cg_iu_a":178.177216,"cg_iv_a":-160.780975,"cg_iw_a":-17.3962479,"cg_sample_age_us":23.9327278,"cg_sample_seq":1838516,"cg_sample_valid":1,"cg_theta_rad":0.96591872,"cg_vd_req_v":-1.64588332,"cg_vd_v":-1.64588332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52168655,"cg_vq_v":-8.52168655,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":37.2854004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":94.940796,"values":{"Elec_RPM":-2360.34204,"EncoderCos":33197,"EncoderSin":52986,"GapTicks":49941,"Mech_RPM":-472.06842,"cg_du":45.4015465,"cg_dv":54.5984535,"cg_dw":45.9908295,"cg_id_a":12.3755703,"cg_id_raw_a":15.9652119,"cg_iq_a":-202.956146,"cg_iq_raw_a":-204.002213,"cg_iu_a":-172.699341,"cg_iv_a":177.808929,"cg_iw_a":-5.10958862,"cg_sample_age_us":23.8672733,"cg_sample_seq":1840216,"cg_sample_valid":1,"cg_theta_rad":1.5485673,"cg_vd_req_v":-2.10677385,"cg_vd_v":-2.10677385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36831188,"cg_vq_v":-8.36831188,"cg_vu_v":1.31967759,"cg_vv_v":5.27871037,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8882046,"dclink_p_w":-2580.99536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":37.2838135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":95.150617,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":95.150623,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":95.150628,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":95.292358,"values":{"Elec_RPM":-2355.21045,"EncoderCos":32681,"EncoderSin":52992,"GapTicks":49598,"Mech_RPM":-471.042114,"cg_du":45.0891838,"cg_dv":54.9108162,"cg_dw":47.3280678,"cg_id_a":-1.48219633,"cg_id_raw_a":4.31670332,"cg_iq_a":-199.215973,"cg_iq_raw_a":-201.060043,"cg_iu_a":-173.569183,"cg_iv_a":168.313034,"cg_iw_a":5.25614929,"cg_sample_age_us":23.863636,"cg_sample_seq":1841967,"cg_sample_valid":1,"cg_theta_rad":1.57570887,"cg_vd_req_v":-1.8168596,"cg_vd_v":-1.8168596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43471432,"cg_vq_v":-8.43471432,"cg_vu_v":105.134323,"cg_vv_v":106.014107,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-18.0893574,"dclink_p_w":-2617.97607,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":37.4258118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":95.62439,"values":{"Elec_RPM":-2357.42188,"EncoderCos":12440,"EncoderSin":31068,"GapTicks":49909,"Mech_RPM":-471.484375,"cg_du":46.2340546,"cg_dv":45.372448,"cg_dw":54.627552,"cg_id_a":7.86448288,"cg_id_raw_a":11.4903717,"cg_iq_a":-207.038986,"cg_iq_raw_a":-208.089401,"cg_iu_a":-7.1012578,"cg_iv_a":-172.7052,"cg_iw_a":185.424255,"cg_sample_age_us":23.9472733,"cg_sample_seq":1843566,"cg_sample_valid":1,"cg_theta_rad":3.22594213,"cg_vd_req_v":-2.01280856,"cg_vd_v":-2.01280856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30387878,"cg_vq_v":-8.30387878,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":37.3348389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":95.958374,"values":{"Elec_RPM":-2361.17651,"EncoderCos":16480,"EncoderSin":20281,"GapTicks":49650,"Mech_RPM":-472.235291,"cg_du":54.8629417,"cg_dv":52.8719368,"cg_dw":45.1370583,"cg_id_a":11.4122295,"cg_id_raw_a":7.91721535,"cg_iq_a":-203.992523,"cg_iq_raw_a":-202.412445,"cg_iu_a":51.577507,"cg_iv_a":145.116974,"cg_iw_a":-196.694489,"cg_sample_age_us":23.9690914,"cg_sample_seq":1845267,"cg_sample_valid":1,"cg_theta_rad":3.80340171,"cg_vd_req_v":-2.11049294,"cg_vd_v":-2.11049294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32263279,"cg_vq_v":-8.32263279,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.0905113,"dclink_p_w":-2328.6936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":37.3236694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":96.143027,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":96.143033,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":96.143039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":96.309937,"values":{"Elec_RPM":-2358.83789,"EncoderCos":25801,"EncoderSin":13594,"GapTicks":49377,"Mech_RPM":-471.767578,"cg_du":44.8884125,"cg_dv":49.085247,"cg_dw":55.1115875,"cg_id_a":-11.0423651,"cg_id_raw_a":-13.4612465,"cg_iq_a":-198.343201,"cg_iq_raw_a":-197.379425,"cg_iu_a":-114.165543,"cg_iv_a":-81.5882111,"cg_iw_a":195.753754,"cg_sample_age_us":23.9363632,"cg_sample_seq":1846967,"cg_sample_valid":1,"cg_theta_rad":4.37736368,"cg_vd_req_v":-1.70380807,"cg_vd_v":-1.70380807,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41691685,"cg_vq_v":-8.41691685,"cg_vu_v":94.1370087,"cg_vv_v":84.0194778,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.8519611,"dclink_p_w":-2575.76587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":37.3587952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10347905,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":96.641968,"values":{"Elec_RPM":-2355.1958,"EncoderCos":37232,"EncoderSin":12864,"GapTicks":49375,"Mech_RPM":-471.039185,"cg_du":55.1130142,"cg_dv":48.590641,"cg_dw":44.8869858,"cg_id_a":-14.3837776,"cg_id_raw_a":-12.4346476,"cg_iq_a":-197.049606,"cg_iq_raw_a":-196.783798,"cg_iu_a":159.257935,"cg_iv_a":19.4233704,"cg_iw_a":-178.681305,"cg_sample_age_us":24.0090904,"cg_sample_seq":1848667,"cg_sample_valid":1,"cg_theta_rad":4.95089149,"cg_vd_req_v":-1.60512257,"cg_vd_v":-1.60512257,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4751091,"cg_vq_v":-8.4751091,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":37.3587952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":96.99353,"values":{"Elec_RPM":-2358.68799,"EncoderCos":46878,"EncoderSin":18261,"GapTicks":49788,"Mech_RPM":-471.73761,"cg_du":45.2618942,"cg_dv":54.7381058,"cg_dw":53.7432632,"cg_id_a":13.8594608,"cg_id_raw_a":12.4370346,"cg_iq_a":-200.053192,"cg_iq_raw_a":-199.436722,"cg_iu_a":-176.070007,"cg_iv_a":5.57821655,"cg_iw_a":170.491791,"cg_sample_age_us":26.7872734,"cg_sample_seq":1850370,"cg_sample_valid":1,"cg_theta_rad":5.53909731,"cg_vd_req_v":-2.25426602,"cg_vd_v":-2.25426602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40577793,"cg_vq_v":-8.40577793,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":106.453995,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2468.09399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":37.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":97.135095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":97.135101,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":97.135117,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":97.327515,"values":{"Elec_RPM":-2350.27637,"EncoderCos":52539,"EncoderSin":29026,"GapTicks":49643,"Mech_RPM":-470.055298,"cg_du":54.869751,"cg_dv":45.130249,"cg_dw":47.0993614,"cg_id_a":15.2170849,"cg_id_raw_a":12.3286734,"cg_iq_a":-203.318359,"cg_iq_raw_a":-201.024963,"cg_iu_a":194.994354,"cg_iv_a":-45.8880157,"cg_iw_a":-149.106339,"cg_sample_age_us":24.1618176,"cg_sample_seq":1852067,"cg_sample_valid":1,"cg_theta_rad":6.11012506,"cg_vd_req_v":-2.2426703,"cg_vd_v":-2.2426703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30843067,"cg_vq_v":-8.30843067,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2378.09326,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":37.3667603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":97.659546,"values":{"Elec_RPM":-2349.3999,"EncoderCos":51352,"EncoderSin":40402,"GapTicks":49284,"Mech_RPM":-469.879974,"cg_du":44.8037834,"cg_dv":55.1962166,"cg_dw":50.759716,"cg_id_a":-3.27612305,"cg_id_raw_a":-6.68796635,"cg_iq_a":-197.530762,"cg_iq_raw_a":-196.708466,"cg_iu_a":-196.149094,"cg_iv_a":109.92421,"cg_iw_a":86.224884,"cg_sample_age_us":23.5363636,"cg_sample_seq":1853767,"cg_sample_valid":1,"cg_theta_rad":0.400776327,"cg_vd_req_v":-1.90536225,"cg_vd_v":-1.90536225,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47647476,"cg_vq_v":-8.47647476,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2509.875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":37.3252563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":98.013062,"values":{"Elec_RPM":-2346.71924,"EncoderCos":44090,"EncoderSin":49529,"GapTicks":49302,"Mech_RPM":-469.343842,"cg_du":55.1792183,"cg_dv":44.8207817,"cg_dw":51.022625,"cg_id_a":-15.237009,"cg_id_raw_a":-13.5957127,"cg_iq_a":-193.896484,"cg_iq_raw_a":-194.458588,"cg_iu_a":179.626984,"cg_iv_a":-153.785919,"cg_iw_a":-25.8410645,"cg_sample_age_us":23.8199997,"cg_sample_seq":1855467,"cg_sample_valid":1,"cg_theta_rad":0.98065567,"cg_vd_req_v":-1.5964483,"cg_vd_v":-1.5964483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.56370354,"cg_vq_v":-8.56370354,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2477.30127,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":98.127359,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":98.127365,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":98.12737,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":98.43689,"values":{"Elec_RPM":-2345.70947,"EncoderCos":40262,"EncoderSin":13784,"GapTicks":49985,"Mech_RPM":-469.141876,"cg_du":54.1261826,"cg_dv":54.5586624,"cg_dw":45.4413376,"cg_id_a":8.03669739,"cg_id_raw_a":11.3779421,"cg_iq_a":-203.598206,"cg_iq_raw_a":-204.362137,"cg_iu_a":-17.1408005,"cg_iv_a":174.945663,"cg_iw_a":-167.047043,"cg_sample_age_us":23.8563633,"cg_sample_seq":1857421,"cg_sample_valid":1,"cg_theta_rad":5.15726423,"cg_vd_req_v":-2.07164097,"cg_vd_v":-2.07164097,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31534386,"cg_vq_v":-8.31534386,"cg_vu_v":39.590332,"cg_vv_v":59.825386,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":37.4290466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":98.956421,"values":{"Elec_RPM":-2344.44287,"EncoderCos":38681,"EncoderSin":52016,"GapTicks":49530,"Mech_RPM":-468.88855,"cg_du":54.9725189,"cg_dv":52.1781693,"cg_dw":45.0274811,"cg_id_a":9.21198654,"cg_id_raw_a":6.31997633,"cg_iq_a":-204.101837,"cg_iq_raw_a":-206.663879,"cg_iu_a":69.9168854,"cg_iv_a":133.70018,"cg_iw_a":-203.617065,"cg_sample_age_us":23.9290905,"cg_sample_seq":1860116,"cg_sample_valid":1,"cg_theta_rad":1.27079737,"cg_vd_req_v":-2.09989166,"cg_vd_v":-2.09989166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31018257,"cg_vq_v":-8.31018257,"cg_vu_v":32.5520515,"cg_vv_v":24.1940918,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2482.42041,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":37.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":98.991532,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":98.991544,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":98.991547,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":99.118883,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":99.118888,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":99.118893,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":99.33728,"values":{"Elec_RPM":-2348.87354,"EncoderCos":36356,"EncoderSin":12727,"GapTicks":49828,"Mech_RPM":-469.774689,"cg_du":54.7013206,"cg_dv":46.3222122,"cg_dw":45.2986794,"cg_id_a":5.88211441,"cg_id_raw_a":9.95049095,"cg_iq_a":-202.569839,"cg_iq_raw_a":-206.206589,"cg_iu_a":178.28595,"cg_iv_a":-7.36083984,"cg_iw_a":-170.92511,"cg_sample_age_us":24.0527267,"cg_sample_seq":1862116,"cg_sample_valid":1,"cg_theta_rad":4.90418673,"cg_vd_req_v":-2.00353646,"cg_vd_v":-2.00353646,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35772324,"cg_vq_v":-8.35772324,"cg_vu_v":17.1558094,"cg_vv_v":13.6366701,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2414.43799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":37.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":99.671265,"values":{"Elec_RPM":-2350.1123,"EncoderCos":46461,"EncoderSin":17875,"GapTicks":49501,"Mech_RPM":-470.022461,"cg_du":45.0011139,"cg_dv":54.9988861,"cg_dw":52.7395401,"cg_id_a":8.23216629,"cg_id_raw_a":4.8530097,"cg_iq_a":-196.140594,"cg_iq_raw_a":-194.679962,"cg_iu_a":-191.364914,"cg_iv_a":55.9209137,"cg_iw_a":135.444,"cg_sample_age_us":23.9290905,"cg_sample_seq":1863817,"cg_sample_valid":1,"cg_theta_rad":5.47604036,"cg_vd_req_v":-2.15166116,"cg_vd_v":-2.15166116,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49371338,"cg_vq_v":-8.49371338,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2464.54883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":100.02478,"values":{"Elec_RPM":-2357.71655,"EncoderCos":52157,"EncoderSin":27289,"GapTicks":49296,"Mech_RPM":-471.543304,"cg_du":55.1854401,"cg_dv":44.8145599,"cg_dw":50.2559891,"cg_id_a":-17.7184887,"cg_id_raw_a":-14.1017952,"cg_iq_a":-193.341248,"cg_iq_raw_a":-193.911728,"cg_iu_a":194.486938,"cg_iv_a":-113.120331,"cg_iw_a":-81.3666077,"cg_sample_age_us":27.0018177,"cg_sample_seq":1865520,"cg_sample_valid":1,"cg_theta_rad":6.0555892,"cg_vd_req_v":-1.56328845,"cg_vd_v":-1.56328845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52697563,"cg_vq_v":-8.52697563,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6888638,"dclink_p_w":-2560.01465,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":100.143469,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":100.143475,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":100.14348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":100.354858,"values":{"Elec_RPM":-2354.07397,"EncoderCos":51716,"EncoderSin":39323,"GapTicks":49399,"Mech_RPM":-470.814789,"cg_du":44.9090347,"cg_dv":55.0909653,"cg_dw":48.3973007,"cg_id_a":-9.30858707,"cg_id_raw_a":-8.8221693,"cg_iq_a":-199.389923,"cg_iq_raw_a":-200.07019,"cg_iu_a":-182.412689,"cg_iv_a":159.795746,"cg_iw_a":22.6169434,"cg_sample_age_us":23.5327282,"cg_sample_seq":1867217,"cg_sample_valid":1,"cg_theta_rad":0.340001076,"cg_vd_req_v":-1.75172329,"cg_vd_v":-1.75172329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44094944,"cg_vq_v":-8.44094944,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":37.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":100.688843,"values":{"Elec_RPM":-2351.0437,"EncoderCos":44914,"EncoderSin":48976,"GapTicks":49764,"Mech_RPM":-470.20874,"cg_du":54.7598991,"cg_dv":45.2401009,"cg_dw":53.5746994,"cg_id_a":7.03813457,"cg_id_raw_a":12.3810139,"cg_iq_a":-201.293396,"cg_iq_raw_a":-201.831299,"cg_iu_a":171.290894,"cg_iv_a":-174.48114,"cg_iw_a":3.19024658,"cg_sample_age_us":24.0127277,"cg_sample_seq":1868916,"cg_sample_valid":1,"cg_theta_rad":0.928442955,"cg_vd_req_v":-2.03214574,"cg_vd_v":-2.03214574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42846298,"cg_vq_v":-8.42846298,"cg_vu_v":17.1558094,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":37.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":101.040405,"values":{"Elec_RPM":-2342.18433,"EncoderCos":44390,"EncoderSin":49339,"GapTicks":49417,"Mech_RPM":-468.436859,"cg_du":55.074604,"cg_dv":44.925396,"cg_dw":51.8546791,"cg_id_a":-11.699295,"cg_id_raw_a":-7.02362919,"cg_iq_a":-195.98912,"cg_iq_raw_a":-197.354126,"cg_iu_a":174.226639,"cg_iv_a":-163.499268,"cg_iw_a":-10.7273712,"cg_sample_age_us":23.954546,"cg_sample_seq":1870667,"cg_sample_valid":1,"cg_theta_rad":0.961570501,"cg_vd_req_v":-1.65277231,"cg_vd_v":-1.65277231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50805092,"cg_vq_v":-8.50805092,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2479.93188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":37.4593811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":101.135183,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":101.135189,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":101.135194,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":101.37439,"values":{"Elec_RPM":-2341.1875,"EncoderCos":23011,"EncoderSin":50712,"GapTicks":49356,"Mech_RPM":-468.237518,"cg_du":50.7429466,"cg_dv":44.8696327,"cg_dw":55.1303673,"cg_id_a":-10.678525,"cg_id_raw_a":-15.0733747,"cg_iq_a":-199.012268,"cg_iq_raw_a":-197.90834,"cg_iu_a":78.3254547,"cg_iv_a":-197.894653,"cg_iw_a":119.569199,"cg_sample_age_us":23.7290916,"cg_sample_seq":1872317,"cg_sample_valid":1,"cg_theta_rad":2.0703907,"cg_vd_req_v":-1.70368659,"cg_vd_v":-1.70368659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4330883,"cg_vq_v":-8.4330883,"cg_vu_v":104.254532,"cg_vv_v":73.9019547,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.7559147,"dclink_p_w":-2577.5293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":101.706421,"values":{"Elec_RPM":-2345.05664,"EncoderCos":22383,"EncoderSin":50344,"GapTicks":49410,"Mech_RPM":-469.011353,"cg_du":52.0141182,"cg_dv":44.9185562,"cg_dw":55.0814438,"cg_id_a":5.25581264,"cg_id_raw_a":0.406290025,"cg_iq_a":-199.35585,"cg_iq_raw_a":-198.856323,"cg_iu_a":121.056938,"cg_iv_a":-198.293335,"cg_iw_a":77.2364044,"cg_sample_age_us":23.550909,"cg_sample_seq":1874067,"cg_sample_valid":1,"cg_theta_rad":2.10388422,"cg_vd_req_v":-2.03145981,"cg_vd_v":-2.03145981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44389343,"cg_vq_v":-8.44389343,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.6580563,"dclink_p_w":-2555.55615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":37.4913635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":102.057983,"values":{"Elec_RPM":-2352.07227,"EncoderCos":12435,"EncoderSin":30973,"GapTicks":49863,"Mech_RPM":-470.414429,"cg_du":46.4721222,"cg_dv":45.3307495,"cg_dw":54.6692505,"cg_id_a":6.60985994,"cg_id_raw_a":11.1821632,"cg_iq_a":-204.883438,"cg_iq_raw_a":-205.231247,"cg_iu_a":-8.33354855,"cg_iv_a":-173.103882,"cg_iw_a":181.437424,"cg_sample_age_us":24.0200005,"cg_sample_seq":1875716,"cg_sample_valid":1,"cg_theta_rad":3.22505021,"cg_vd_req_v":-1.97372746,"cg_vd_v":-1.97372746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30768394,"cg_vq_v":-8.30768394,"cg_vu_v":11.877099,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":37.5217896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":102.127498,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":102.127504,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":102.127509,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":102.391968,"values":{"Elec_RPM":-2356.13721,"EncoderCos":12521,"EncoderSin":30155,"GapTicks":49472,"Mech_RPM":-471.227417,"cg_du":48.6997528,"cg_dv":44.9749985,"cg_dw":55.0250015,"cg_id_a":-19.2964325,"cg_id_raw_a":-13.599184,"cg_iq_a":-200.822159,"cg_iq_raw_a":-202.691925,"cg_iu_a":6.41769218,"cg_iv_a":-177.416901,"cg_iw_a":170.999207,"cg_sample_age_us":23.7763634,"cg_sample_seq":1877466,"cg_sample_valid":1,"cg_theta_rad":3.2656014,"cg_vd_req_v":-1.46275485,"cg_vd_v":-1.46275485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38990498,"cg_vq_v":-8.38990498,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":37.5073853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":102.74353,"values":{"Elec_RPM":-2355.12842,"EncoderCos":16530,"EncoderSin":20187,"GapTicks":49712,"Mech_RPM":-471.025696,"cg_du":54.8068695,"cg_dv":53.0592117,"cg_dw":45.1931305,"cg_id_a":9.93423748,"cg_id_raw_a":8.734622,"cg_iq_a":-206.587677,"cg_iq_raw_a":-207.153137,"cg_iu_a":18.1244507,"cg_iv_a":166.319626,"cg_iw_a":-184.444077,"cg_sample_age_us":26.8381824,"cg_sample_seq":1879170,"cg_sample_valid":1,"cg_theta_rad":3.84132147,"cg_vd_req_v":-2.08064914,"cg_vd_v":-2.08064914,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27444649,"cg_vq_v":-8.27444649,"cg_vu_v":104.254532,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2524.77881,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":37.5073853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":103.075562,"values":{"Elec_RPM":-2353.25366,"EncoderCos":47019,"EncoderSin":18333,"GapTicks":49958,"Mech_RPM":-470.650726,"cg_du":45.4169121,"cg_dv":54.5830879,"cg_dw":54.1313858,"cg_id_a":9.60783482,"cg_id_raw_a":7.91944361,"cg_iq_a":-200.309082,"cg_iq_raw_a":-200.288284,"cg_iu_a":-186.798187,"cg_iv_a":26.0559845,"cg_iw_a":160.742203,"cg_sample_age_us":23.8854542,"cg_sample_seq":1880766,"cg_sample_valid":1,"cg_theta_rad":5.50837708,"cg_vd_req_v":-2.15763879,"cg_vd_v":-2.15763879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38731861,"cg_vq_v":-8.38731861,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":103.119312,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":103.119319,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":103.119324,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":103.409546,"values":{"Elec_RPM":-2350.90845,"EncoderCos":38137,"EncoderSin":13101,"GapTicks":49383,"Mech_RPM":-470.181702,"cg_du":55.1061325,"cg_dv":50.5215492,"cg_dw":44.8938675,"cg_id_a":-10.2733727,"cg_id_raw_a":-15.8984203,"cg_iq_a":-199.134628,"cg_iq_raw_a":-196.611588,"cg_iu_a":125.261223,"cg_iv_a":70.3097,"cg_iw_a":-195.570923,"cg_sample_age_us":23.9836369,"cg_sample_seq":1882567,"cg_sample_valid":1,"cg_theta_rad":4.99455738,"cg_vd_req_v":-1.71310008,"cg_vd_v":-1.71310008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40096188,"cg_vq_v":-8.40096188,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2528.9624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":37.5345764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":103.761108,"values":{"Elec_RPM":-2355.24414,"EncoderCos":52319,"EncoderSin":27968,"GapTicks":49329,"Mech_RPM":-471.048828,"cg_du":55.1547699,"cg_dv":44.8452301,"cg_dw":48.8684387,"cg_id_a":-10.6052971,"cg_id_raw_a":-13.1517487,"cg_iq_a":-197.981201,"cg_iq_raw_a":-197.763077,"cg_iu_a":195.50177,"cg_iv_a":-56.3987427,"cg_iw_a":-142.546188,"cg_sample_age_us":24.1727276,"cg_sample_seq":1884222,"cg_sample_valid":1,"cg_theta_rad":6.10707235,"cg_vd_req_v":-1.73774099,"cg_vd_v":-1.73774099,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45368862,"cg_vq_v":-8.45368862,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.3424053,"dclink_p_w":-2350.771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":37.5601807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":104.09314,"values":{"Elec_RPM":-2350.35718,"EncoderCos":51303,"EncoderSin":40515,"GapTicks":49274,"Mech_RPM":-470.071442,"cg_du":44.7954102,"cg_dv":55.2045898,"cg_dw":51.0861664,"cg_id_a":-4.08302689,"cg_id_raw_a":-8.50013733,"cg_iq_a":-194.007187,"cg_iq_raw_a":-193.410263,"cg_iu_a":-193.575775,"cg_iv_a":104.378891,"cg_iw_a":89.1968842,"cg_sample_age_us":23.5436363,"cg_sample_seq":1885917,"cg_sample_valid":1,"cg_theta_rad":0.403349489,"cg_vd_req_v":-1.87468565,"cg_vd_v":-1.87468565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55754948,"cg_vq_v":-8.55754948,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2478.61646,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":37.5681763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":104.14314,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":104.143143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":104.143147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":104.425171,"values":{"Elec_RPM":-2355.34717,"EncoderCos":43822,"EncoderSin":49668,"GapTicks":49307,"Mech_RPM":-471.069427,"cg_du":55.1746864,"cg_dv":44.8253136,"cg_dw":50.3418999,"cg_id_a":-16.5006275,"cg_id_raw_a":-15.9794674,"cg_iq_a":-194.665237,"cg_iq_raw_a":-194.694229,"cg_iu_a":181.040482,"cg_iv_a":-152.698608,"cg_iw_a":-28.3418808,"cg_sample_age_us":23.8272724,"cg_sample_seq":1887616,"cg_sample_valid":1,"cg_theta_rad":0.985553861,"cg_vd_req_v":-1.56933022,"cg_vd_v":-1.56933022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51041126,"cg_vq_v":-8.51041126,"cg_vu_v":106.014107,"cg_vv_v":76.9812012,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":37.572998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":104.778687,"values":{"Elec_RPM":-2359.51343,"EncoderCos":32879,"EncoderSin":53002,"GapTicks":49722,"Mech_RPM":-471.902679,"cg_du":45.2022324,"cg_dv":54.7977676,"cg_dw":46.7927208,"cg_id_a":3.40862036,"cg_id_raw_a":9.22244072,"cg_iq_a":-203.962875,"cg_iq_raw_a":-205.257339,"cg_iu_a":-174.873962,"cg_iv_a":174.945648,"cg_iw_a":-0.0716934204,"cg_sample_age_us":23.7763634,"cg_sample_seq":1889316,"cg_sample_valid":1,"cg_theta_rad":1.56508791,"cg_vd_req_v":-1.92979085,"cg_vd_v":-1.92979085,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34789276,"cg_vq_v":-8.34789276,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2360.83618,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":37.5954285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":105.108765,"values":{"Elec_RPM":-2357.57129,"EncoderCos":22005,"EncoderSin":50092,"GapTicks":49592,"Mech_RPM":-471.514252,"cg_du":52.9224167,"cg_dv":45.0841904,"cg_dw":54.9158096,"cg_id_a":7.88370657,"cg_id_raw_a":4.31829548,"cg_iq_a":-200.660461,"cg_iq_raw_a":-199.931412,"cg_iu_a":141.752167,"cg_iv_a":-195.067642,"cg_iw_a":53.3154755,"cg_sample_age_us":23.6709099,"cg_sample_seq":1891017,"cg_sample_valid":1,"cg_theta_rad":2.12973475,"cg_vd_req_v":-2.07596183,"cg_vd_v":-2.07596183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43366623,"cg_vq_v":-8.43366623,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-15.9908409,"dclink_p_w":-2314.26904,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":37.5938416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":105.135148,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":105.135154,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":105.135159,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":105.442749,"values":{"Elec_RPM":-2357.11035,"EncoderCos":14088,"EncoderSin":41068,"GapTicks":49437,"Mech_RPM":-471.422058,"cg_du":48.2955399,"cg_dv":55.056778,"cg_dw":44.943222,"cg_id_a":4.06543446,"cg_id_raw_a":-3.37974191,"cg_iq_a":-201.030365,"cg_iq_raw_a":-200.04538,"cg_iu_a":-117.826172,"cg_iv_a":200.860001,"cg_iw_a":-98.2562408,"cg_sample_age_us":23.9327278,"cg_sample_seq":1892716,"cg_sample_valid":1,"cg_theta_rad":2.72100496,"cg_vd_req_v":-1.95960665,"cg_vd_v":-1.95960665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38310242,"cg_vq_v":-8.38310242,"cg_vu_v":37.830761,"cg_vv_v":44.4291458,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":37.5441895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":105.794312,"values":{"Elec_RPM":-2354.81396,"EncoderCos":12574,"EncoderSin":29786,"GapTicks":49390,"Mech_RPM":-470.962799,"cg_du":49.5333252,"cg_dv":44.9000015,"cg_dw":55.0999985,"cg_id_a":-21.4091759,"cg_id_raw_a":-21.1974258,"cg_iq_a":-199.795914,"cg_iq_raw_a":-201.580032,"cg_iu_a":31.969595,"cg_iv_a":-186.840286,"cg_iw_a":154.870697,"cg_sample_age_us":23.8381824,"cg_sample_seq":1894416,"cg_sample_valid":1,"cg_theta_rad":3.29043841,"cg_vd_req_v":-1.43498468,"cg_vd_v":-1.43498468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41317558,"cg_vq_v":-8.41317558,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.734169,"dclink_p_w":-2566.57153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":37.6002197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":106.12721,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":106.127215,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":106.12722,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":106.128296,"values":{"Elec_RPM":-2352.99414,"EncoderCos":17254,"EncoderSin":19248,"GapTicks":49716,"Mech_RPM":-470.598816,"cg_du":53.2856789,"cg_dv":54.8029823,"cg_dw":45.1970177,"cg_id_a":2.09821129,"cg_id_raw_a":8.70799446,"cg_iq_a":-201.223053,"cg_iq_raw_a":-203.206512,"cg_iu_a":2.61208963,"cg_iv_a":171.973663,"cg_iw_a":-177.992676,"cg_sample_age_us":23.9581814,"cg_sample_seq":1896116,"cg_sample_valid":1,"cg_theta_rad":3.8651371,"cg_vd_req_v":-1.904881,"cg_vd_v":-1.904881,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41693878,"cg_vq_v":-8.41693878,"cg_vu_v":37.3908691,"cg_vv_v":45.7488289,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2462.81006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":37.6210632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":106.481812,"values":{"Elec_RPM":-2353.72852,"EncoderCos":26369,"EncoderSin":13394,"GapTicks":49410,"Mech_RPM":-470.745728,"cg_du":44.9188271,"cg_dv":48.0299416,"cg_dw":55.0811729,"cg_id_a":3.91226196,"cg_id_raw_a":-1.4135884,"cg_iq_a":-195.794586,"cg_iq_raw_a":-197.555832,"cg_iu_a":-31.4933567,"cg_iv_a":-160.164825,"cg_iw_a":191.36824,"cg_sample_age_us":23.8345451,"cg_sample_seq":1897820,"cg_sample_valid":1,"cg_theta_rad":4.44843292,"cg_vd_req_v":-2.0032084,"cg_vd_v":-2.0032084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49492645,"cg_vq_v":-8.49492645,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4913349,"dclink_p_w":-2539.12183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":106.81189,"values":{"Elec_RPM":-2353.64844,"EncoderCos":38707,"EncoderSin":13262,"GapTicks":49501,"Mech_RPM":-470.729675,"cg_du":54.9990616,"cg_dv":51.6183891,"cg_dw":45.0009384,"cg_id_a":-3.2562921,"cg_id_raw_a":-5.3070507,"cg_iq_a":-203.767548,"cg_iq_raw_a":-202.585861,"cg_iu_a":96.9547882,"cg_iv_a":110.069199,"cg_iw_a":-207.023987,"cg_sample_age_us":23.9872723,"cg_sample_seq":1899516,"cg_sample_valid":1,"cg_theta_rad":5.02612257,"cg_vd_req_v":-1.86381769,"cg_vd_v":-1.86381769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29189587,"cg_vq_v":-8.29189587,"cg_vu_v":1.75957024,"cg_vv_v":3.95903301,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-15.9999008,"dclink_p_w":-2308.54175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":37.6098328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":107.145874,"values":{"Elec_RPM":-2350.37817,"EncoderCos":48272,"EncoderSin":19851,"GapTicks":49320,"Mech_RPM":-470.075653,"cg_du":44.8370857,"cg_dv":50.270031,"cg_dw":55.1629143,"cg_id_a":-14.0502386,"cg_id_raw_a":-16.2573986,"cg_iq_a":-198.996918,"cg_iq_raw_a":-200.502029,"cg_iu_a":-151.061768,"cg_iv_a":-35.413559,"cg_iw_a":186.475327,"cg_sample_age_us":23.8272724,"cg_sample_seq":1901216,"cg_sample_valid":1,"cg_theta_rad":5.59848022,"cg_vd_req_v":-1.70485878,"cg_vd_v":-1.70485878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43506432,"cg_vq_v":-8.43506432,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2451.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":37.6499329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":107.150741,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":107.150747,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":107.150752,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":107.497437,"values":{"Elec_RPM":-2345.37305,"EncoderCos":51383,"EncoderSin":40336,"GapTicks":49314,"Mech_RPM":-469.074615,"cg_du":44.8309364,"cg_dv":55.1690636,"cg_dw":50.6845818,"cg_id_a":-6.76862049,"cg_id_raw_a":-8.66422081,"cg_iq_a":-195.608215,"cg_iq_raw_a":-196.374878,"cg_iu_a":-194.626846,"cg_iv_a":65.2355804,"cg_iw_a":129.391266,"cg_sample_age_us":23.4381809,"cg_sample_seq":1902870,"cg_sample_valid":1,"cg_theta_rad":0.436745435,"cg_vd_req_v":-1.8218168,"cg_vd_v":-1.8218168,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49664116,"cg_vq_v":-8.49664116,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":107.829468,"values":{"Elec_RPM":-2344.06226,"EncoderCos":50798,"EncoderSin":41698,"GapTicks":49728,"Mech_RPM":-468.812439,"cg_du":45.2074242,"cg_dv":54.7925758,"cg_dw":53.503521,"cg_id_a":11.5850763,"cg_id_raw_a":10.0932922,"cg_iq_a":-198.404846,"cg_iq_raw_a":-196.850113,"cg_iu_a":-187.015656,"cg_iv_a":34.8994904,"cg_iw_a":152.116165,"cg_sample_age_us":23.5581818,"cg_sample_seq":1904617,"cg_sample_valid":1,"cg_theta_rad":0.469149798,"cg_vd_req_v":-2.17397881,"cg_vd_v":-2.17397881,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41695118,"cg_vq_v":-8.41695118,"cg_vu_v":102.93486,"cg_vv_v":103.814644,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":37.6499329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":108.143057,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":108.143063,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":108.143068,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":108.163452,"values":{"Elec_RPM":-2348.2793,"EncoderCos":32739,"EncoderSin":53030,"GapTicks":49612,"Mech_RPM":-469.655884,"cg_du":45.1021423,"cg_dv":54.8978577,"cg_dw":47.1370621,"cg_id_a":0.429122448,"cg_id_raw_a":7.58428478,"cg_iq_a":-202.135986,"cg_iq_raw_a":-203.741653,"cg_iu_a":-176.613678,"cg_iv_a":171.103821,"cg_iw_a":5.50986481,"cg_sample_age_us":23.8890915,"cg_sample_seq":1906267,"cg_sample_valid":1,"cg_theta_rad":1.57402325,"cg_vd_req_v":-1.87301445,"cg_vd_v":-1.87301445,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40612221,"cg_vq_v":-8.40612221,"cg_vu_v":118.770996,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2495.49414,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":37.657959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":108.673218,"values":{"Elec_RPM":-2356.2915,"EncoderCos":45051,"EncoderSin":48818,"GapTicks":49914,"Mech_RPM":-471.258301,"cg_du":54.6235504,"cg_dv":45.3764496,"cg_dw":54.0958557,"cg_id_a":11.7094889,"cg_id_raw_a":14.0158567,"cg_iq_a":-203.161896,"cg_iq_raw_a":-203.508286,"cg_iu_a":172.704407,"cg_iv_a":-179.156601,"cg_iw_a":6.45219421,"cg_sample_age_us":23.9763641,"cg_sample_seq":1908666,"cg_sample_valid":1,"cg_theta_rad":0.919097364,"cg_vd_req_v":-2.13949013,"cg_vd_v":-2.13949013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38345718,"cg_vq_v":-8.38345718,"cg_vu_v":42.6695786,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":37.6948547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":109.00758,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":109.007591,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":109.007594,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":109.135328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":109.135333,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":109.135338,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":109.157593,"values":{"Elec_RPM":-2350.1731,"EncoderCos":36822,"EncoderSin":12827,"GapTicks":49560,"Mech_RPM":-470.034637,"cg_du":54.9449387,"cg_dv":47.5760765,"cg_dw":45.0550613,"cg_id_a":-6.330163,"cg_id_raw_a":1.28745866,"cg_iq_a":-197.679825,"cg_iq_raw_a":-200.014359,"cg_iu_a":170.892212,"cg_iv_a":3.69354248,"cg_iw_a":-174.585754,"cg_sample_age_us":24.0345459,"cg_sample_seq":1911216,"cg_sample_valid":1,"cg_theta_rad":4.93042707,"cg_vd_req_v":-1.74977767,"cg_vd_v":-1.74977767,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43474579,"cg_vq_v":-8.43474579,"cg_vu_v":2.19946289,"cg_vv_v":2.63935518,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":109.509155,"values":{"Elec_RPM":-2353.15161,"EncoderCos":36560,"EncoderSin":12746,"GapTicks":49700,"Mech_RPM":-470.63031,"cg_du":54.8173676,"cg_dv":46.8372879,"cg_dw":45.1826324,"cg_id_a":1.84713364,"cg_id_raw_a":6.62431574,"cg_iq_a":-199.129883,"cg_iq_raw_a":-199.237717,"cg_iu_a":156.249695,"cg_iv_a":23.9900818,"cg_iw_a":-180.239777,"cg_sample_age_us":23.9254551,"cg_sample_seq":1912971,"cg_sample_valid":1,"cg_theta_rad":4.95976114,"cg_vd_req_v":-1.90874708,"cg_vd_v":-1.90874708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39514256,"cg_vq_v":-8.39514256,"cg_vu_v":141.205521,"cg_vv_v":128.448624,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":37.678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":109.84314,"values":{"Elec_RPM":-2363.80664,"EncoderCos":38104,"EncoderSin":13121,"GapTicks":49364,"Mech_RPM":-472.761353,"cg_du":55.1234703,"cg_dv":50.4867363,"cg_dw":44.8765297,"cg_id_a":-11.8231716,"cg_id_raw_a":-16.1673107,"cg_iq_a":-199.352097,"cg_iq_raw_a":-198.110489,"cg_iu_a":126.312294,"cg_iv_a":69.4398422,"cg_iw_a":-195.752136,"cg_sample_age_us":23.9290905,"cg_sample_seq":1914717,"cg_sample_valid":1,"cg_theta_rad":4.99435091,"cg_vd_req_v":-1.68492091,"cg_vd_v":-1.68492091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38113689,"cg_vq_v":-8.38113689,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2504.90698,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":37.4226379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":110.127397,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":110.127403,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":110.127408,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":110.173218,"values":{"Elec_RPM":-2362.90552,"EncoderCos":52556,"EncoderSin":29199,"GapTicks":49674,"Mech_RPM":-472.581085,"cg_du":54.841507,"cg_dv":45.158493,"cg_dw":46.7555885,"cg_id_a":17.9530716,"cg_id_raw_a":19.9041214,"cg_iq_a":-203.523666,"cg_iq_raw_a":-203.093246,"cg_iu_a":192.747238,"cg_iv_a":-32.187851,"cg_iw_a":-160.559387,"cg_sample_age_us":24.1727276,"cg_sample_seq":1916366,"cg_sample_valid":1,"cg_theta_rad":6.11987543,"cg_vd_req_v":-2.29688931,"cg_vd_v":-2.29688931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36567211,"cg_vq_v":-8.36567211,"cg_vu_v":46.1887207,"cg_vv_v":42.6695786,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":37.7093201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":110.526733,"values":{"Elec_RPM":-2360.47754,"EncoderCos":45236,"EncoderSin":48740,"GapTicks":50064,"Mech_RPM":-472.09549,"cg_du":54.3922768,"cg_dv":45.5127487,"cg_dw":54.4872513,"cg_id_a":16.8216228,"cg_id_raw_a":18.6691074,"cg_iq_a":-203.607819,"cg_iq_raw_a":-203.301361,"cg_iu_a":172.813141,"cg_iv_a":-167.232391,"cg_iw_a":-5.58075714,"cg_sample_age_us":23.9909096,"cg_sample_seq":1918020,"cg_sample_valid":1,"cg_theta_rad":0.954533339,"cg_vd_req_v":-2.23301601,"cg_vd_v":-2.23301601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31894112,"cg_vq_v":-8.31894112,"cg_vu_v":24.6339836,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2494.70972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":37.6563416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":110.860718,"values":{"Elec_RPM":-2360.75098,"EncoderCos":44087,"EncoderSin":49549,"GapTicks":49349,"Mech_RPM":-472.150177,"cg_du":55.1371269,"cg_dv":44.8628731,"cg_dw":50.9466286,"cg_id_a":-17.4224815,"cg_id_raw_a":-14.8907442,"cg_iq_a":-196.056442,"cg_iq_raw_a":-196.588379,"cg_iu_a":181.475403,"cg_iv_a":-156.250488,"cg_iw_a":-25.2249069,"cg_sample_age_us":23.9618187,"cg_sample_seq":1919767,"cg_sample_valid":1,"cg_theta_rad":0.982468605,"cg_vd_req_v":-1.54353273,"cg_vd_v":-1.54353273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49418068,"cg_vq_v":-8.49418068,"cg_vu_v":106.453995,"cg_vv_v":90.6178665,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2489.74194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":37.7269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":111.119267,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":111.119273,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":111.119278,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":111.192749,"values":{"Elec_RPM":-2357.56543,"EncoderCos":22653,"EncoderSin":50434,"GapTicks":49358,"Mech_RPM":-471.513062,"cg_du":51.5077553,"cg_dv":44.8718147,"cg_dw":55.1281853,"cg_id_a":0.42602089,"cg_id_raw_a":-4.78244209,"cg_iq_a":-197.864792,"cg_iq_raw_a":-197.124161,"cg_iu_a":106.523163,"cg_iv_a":-198.257095,"cg_iw_a":91.7339325,"cg_sample_age_us":23.7290916,"cg_sample_seq":1921417,"cg_sample_valid":1,"cg_theta_rad":2.08933663,"cg_vd_req_v":-1.93064928,"cg_vd_v":-1.93064928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47537422,"cg_vq_v":-8.47537422,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4931469,"dclink_p_w":-2531.6897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":37.7478638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":111.544312,"values":{"Elec_RPM":-2358.12598,"EncoderCos":32048,"EncoderSin":52983,"GapTicks":49316,"Mech_RPM":-471.625214,"cg_du":44.833519,"cg_dv":55.166481,"cg_dw":48.7792816,"cg_id_a":-6.6104784,"cg_id_raw_a":-5.53463888,"cg_iq_a":-195.548615,"cg_iq_raw_a":-195.838272,"cg_iu_a":-183.391266,"cg_iv_a":148.705124,"cg_iw_a":34.686142,"cg_sample_age_us":23.8709087,"cg_sample_seq":1923216,"cg_sample_valid":1,"cg_theta_rad":1.6038748,"cg_vd_req_v":-1.72774649,"cg_vd_v":-1.72774649,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54085732,"cg_vq_v":-8.54085732,"cg_vu_v":39.590332,"cg_vv_v":71.7024918,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2523.82178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":111.876343,"values":{"Elec_RPM":-2355.03442,"EncoderCos":12451,"EncoderSin":30626,"GapTicks":49596,"Mech_RPM":-471.006866,"cg_du":47.3772888,"cg_dv":45.0875778,"cg_dw":54.9124222,"cg_id_a":-4.82520008,"cg_id_raw_a":1.48884273,"cg_iq_a":-202.321518,"cg_iq_raw_a":-205.095154,"cg_iu_a":-1.51970744,"cg_iv_a":-174.698608,"cg_iw_a":176.218323,"cg_sample_age_us":23.954546,"cg_sample_seq":1924816,"cg_sample_valid":1,"cg_theta_rad":3.24999332,"cg_vd_req_v":-1.75414348,"cg_vd_v":-1.75414348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38280487,"cg_vq_v":-8.38280487,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":112.111578,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":112.111584,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":112.111589,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":112.229858,"values":{"Elec_RPM":-2351.88501,"EncoderCos":14265,"EncoderSin":41387,"GapTicks":49361,"Mech_RPM":-470.377014,"cg_du":48.9920044,"cg_dv":55.1257668,"cg_dw":44.8742332,"cg_id_a":-2.72451091,"cg_id_raw_a":-5.86829185,"cg_iq_a":-200.863998,"cg_iq_raw_a":-200.227676,"cg_iu_a":-146.277588,"cg_iv_a":199.410248,"cg_iw_a":-53.1326675,"cg_sample_age_us":26.8163643,"cg_sample_seq":1926621,"cg_sample_valid":1,"cg_theta_rad":2.75425935,"cg_vd_req_v":-1.83680415,"cg_vd_v":-1.83680415,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39611816,"cg_vq_v":-8.39611816,"cg_vu_v":114.811958,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2428.55737,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":37.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":112.56189,"values":{"Elec_RPM":-2354.43018,"EncoderCos":26278,"EncoderSin":13418,"GapTicks":49412,"Mech_RPM":-470.886047,"cg_du":44.9205551,"cg_dv":48.1839752,"cg_dw":55.0794449,"cg_id_a":0.752225995,"cg_id_raw_a":-6.74045897,"cg_iq_a":-196.54599,"cg_iq_raw_a":-196.927979,"cg_iu_a":-81.3286285,"cg_iv_a":-114.425125,"cg_iw_a":195.753754,"cg_sample_age_us":23.9618187,"cg_sample_seq":1928217,"cg_sample_valid":1,"cg_theta_rad":4.40090799,"cg_vd_req_v":-1.93945789,"cg_vd_v":-1.93945789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47464561,"cg_vq_v":-8.47464561,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2452.83618,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":37.710907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":112.893921,"values":{"Elec_RPM":-2352.13184,"EncoderCos":17904,"EncoderSin":18550,"GapTicks":49347,"Mech_RPM":-470.426361,"cg_du":50.9186859,"cg_dv":55.1389694,"cg_dw":44.8610306,"cg_id_a":-14.1290188,"cg_id_raw_a":-13.6899261,"cg_iq_a":-194.584869,"cg_iq_raw_a":-195.484467,"cg_iu_a":-29.5724354,"cg_iv_a":182.448135,"cg_iw_a":-152.875702,"cg_sample_age_us":23.9436359,"cg_sample_seq":1930016,"cg_sample_valid":1,"cg_theta_rad":3.91523981,"cg_vd_req_v":-1.57705534,"cg_vd_v":-1.57705534,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51496696,"cg_vq_v":-8.51496696,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":39.1504402,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":37.7414246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":113.135478,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":113.135484,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":113.13549,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":113.227905,"values":{"Elec_RPM":-2354.93774,"EncoderCos":47708,"EncoderSin":19185,"GapTicks":49523,"Mech_RPM":-470.987549,"cg_du":45.0214882,"cg_dv":52.3281021,"cg_dw":54.9785118,"cg_id_a":-5.48728514,"cg_id_raw_a":-0.77274394,"cg_iq_a":-201.142548,"cg_iq_raw_a":-204.188751,"cg_iu_a":-167.226517,"cg_iv_a":-15.8056488,"cg_iw_a":183.032166,"cg_sample_age_us":23.9290905,"cg_sample_seq":1931616,"cg_sample_valid":1,"cg_theta_rad":5.56242418,"cg_vd_req_v":-1.85839725,"cg_vd_v":-1.85839725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41489506,"cg_vq_v":-8.41489506,"cg_vu_v":11.4372072,"cg_vv_v":14.5164547,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.3822727,"dclink_p_w":-2370.9187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":37.7607117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":113.579468,"values":{"Elec_RPM":-2356.19067,"EncoderCos":39220,"EncoderSin":13454,"GapTicks":49590,"Mech_RPM":-471.238129,"cg_du":54.9177513,"cg_dv":52.6116295,"cg_dw":45.0822487,"cg_id_a":5.95501804,"cg_id_raw_a":3.62101126,"cg_iq_a":-204.818253,"cg_iq_raw_a":-203.136307,"cg_iu_a":65.0602112,"cg_iv_a":136.05603,"cg_iw_a":-201.116241,"cg_sample_age_us":23.9872723,"cg_sample_seq":1933417,"cg_sample_valid":1,"cg_theta_rad":5.05232906,"cg_vd_req_v":-2.06361961,"cg_vd_v":-2.06361961,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31755066,"cg_vq_v":-8.31755066,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-17.9371338,"dclink_p_w":-2595.94556,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":113.911499,"values":{"Elec_RPM":-2351.00146,"EncoderCos":50997,"EncoderSin":41144,"GapTicks":49485,"Mech_RPM":-470.200317,"cg_du":44.9867592,"cg_dv":55.0132408,"cg_dw":52.3356895,"cg_id_a":7.17893791,"cg_id_raw_a":4.08832312,"cg_iq_a":-198.278,"cg_iq_raw_a":-198.252716,"cg_iu_a":-196.040375,"cg_iv_a":63.2784119,"cg_iw_a":132.761963,"cg_sample_age_us":23.5254555,"cg_sample_seq":1935016,"cg_sample_valid":1,"cg_theta_rad":0.438480109,"cg_vd_req_v":-2.10447311,"cg_vd_v":-2.10447311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41649532,"cg_vq_v":-8.41649532,"cg_vu_v":3.07924795,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2396.91919,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":37.7896118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":114.127355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":114.127359,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":114.127362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":114.265015,"values":{"Elec_RPM":-2355.9165,"EncoderCos":44462,"EncoderSin":49234,"GapTicks":49462,"Mech_RPM":-471.183319,"cg_du":55.0343933,"cg_dv":44.9656067,"cg_dw":52.1662712,"cg_id_a":-9.47246552,"cg_id_raw_a":-4.7632618,"cg_iq_a":-198.414871,"cg_iq_raw_a":-201.197266,"cg_iu_a":189.956467,"cg_iv_a":-141.789215,"cg_iw_a":-48.1672592,"cg_sample_age_us":23.8381824,"cg_sample_seq":1936721,"cg_sample_valid":1,"cg_theta_rad":0.999816239,"cg_vd_req_v":-1.6973722,"cg_vd_v":-1.6973722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47422695,"cg_vq_v":-8.47422695,"cg_vu_v":106.893898,"cg_vv_v":101.175293,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":114.597046,"values":{"Elec_RPM":-2352.47144,"EncoderCos":43042,"EncoderSin":50140,"GapTicks":49340,"Mech_RPM":-470.494293,"cg_du":55.1451187,"cg_dv":44.8548813,"cg_dw":48.6865959,"cg_id_a":-1.43268788,"cg_id_raw_a":-8.82728291,"cg_iq_a":-197.896103,"cg_iq_raw_a":-196.453461,"cg_iu_a":198.147568,"cg_iv_a":-95.6870575,"cg_iw_a":-102.46051,"cg_sample_age_us":23.9181824,"cg_sample_seq":1938467,"cg_sample_valid":1,"cg_theta_rad":1.03913414,"cg_vd_req_v":-1.91547477,"cg_vd_v":-1.91547477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47736359,"cg_vq_v":-8.47736359,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":37.8346558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":114.929077,"values":{"Elec_RPM":-2350.30371,"EncoderCos":21527,"EncoderSin":49806,"GapTicks":49881,"Mech_RPM":-470.06073,"cg_du":53.9224625,"cg_dv":45.3466988,"cg_dw":54.6533012,"cg_id_a":14.6738453,"cg_id_raw_a":15.2501593,"cg_iq_a":-201.429749,"cg_iq_raw_a":-200.989182,"cg_iu_a":162.411148,"cg_iv_a":-185.463028,"cg_iw_a":23.0518799,"cg_sample_age_us":24.0381813,"cg_sample_seq":1940117,"cg_sample_valid":1,"cg_theta_rad":2.15618253,"cg_vd_req_v":-2.19156599,"cg_vd_v":-2.19156599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36603165,"cg_vq_v":-8.36603165,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2505.9873,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":37.8362732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":115.119024,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":115.119029,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":115.119035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":115.282593,"values":{"Elec_RPM":-2347.95679,"EncoderCos":20770,"EncoderSin":49210,"GapTicks":49633,"Mech_RPM":-469.59137,"cg_du":54.8782349,"cg_dv":45.1217651,"cg_dw":52.788044,"cg_id_a":-1.37464881,"cg_id_raw_a":5.7673564,"cg_iq_a":-201.17691,"cg_iq_raw_a":-202.992416,"cg_iu_a":174.371613,"cg_iv_a":-171.944061,"cg_iw_a":-2.42754364,"cg_sample_age_us":23.9618187,"cg_sample_seq":1941866,"cg_sample_valid":1,"cg_theta_rad":2.20317817,"cg_vd_req_v":-1.84748185,"cg_vd_v":-1.84748185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38338947,"cg_vq_v":-8.38338947,"cg_vu_v":143.404984,"cg_vv_v":123.169922,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.5366402,"dclink_p_w":-2537.98413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":37.850769,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":115.614624,"values":{"Elec_RPM":-2350.42578,"EncoderCos":12634,"EncoderSin":29379,"GapTicks":49281,"Mech_RPM":-470.085144,"cg_du":50.2929268,"cg_dv":44.8011055,"cg_dw":55.1988945,"cg_id_a":-14.5294285,"cg_id_raw_a":-19.6572323,"cg_iq_a":-195.151672,"cg_iq_raw_a":-195.677521,"cg_iu_a":61.0009079,"cg_iv_a":-191.298279,"cg_iw_a":140.409409,"cg_sample_age_us":23.7545452,"cg_sample_seq":1943516,"cg_sample_valid":1,"cg_theta_rad":3.31134701,"cg_vd_req_v":-1.60009599,"cg_vd_v":-1.60009599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54412079,"cg_vq_v":-8.54412079,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2522.81152,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":37.8395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":115.944702,"values":{"Elec_RPM":-2346.27588,"EncoderCos":17665,"EncoderSin":18851,"GapTicks":49425,"Mech_RPM":-469.255188,"cg_du":51.8185196,"cg_dv":55.0679932,"cg_dw":44.9320068,"cg_id_a":-10.7927637,"cg_id_raw_a":-7.31015062,"cg_iq_a":-195.18866,"cg_iq_raw_a":-196.66684,"cg_iu_a":-14.7849512,"cg_iv_a":176.141708,"cg_iw_a":-165.959717,"cg_sample_age_us":23.8709087,"cg_sample_seq":1945216,"cg_sample_valid":1,"cg_theta_rad":3.89266539,"cg_vd_req_v":-1.63994598,"cg_vd_v":-1.63994598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49224281,"cg_vq_v":-8.49224281,"cg_vu_v":38.2706528,"cg_vv_v":47.0685043,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":37.8555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":116.142796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":116.142802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":116.142808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":116.300171,"values":{"Elec_RPM":-2341.56177,"EncoderCos":27592,"EncoderSin":13082,"GapTicks":50070,"Mech_RPM":-468.312347,"cg_du":45.518692,"cg_dv":45.6686859,"cg_dw":54.481308,"cg_id_a":12.7377205,"cg_id_raw_a":14.394639,"cg_iq_a":-206.732635,"cg_iq_raw_a":-206.109055,"cg_iu_a":-16.9595795,"cg_iv_a":-171.182953,"cg_iw_a":188.142532,"cg_sample_age_us":23.8999996,"cg_sample_seq":1946916,"cg_sample_valid":1,"cg_theta_rad":4.46934462,"cg_vd_req_v":-2.16192055,"cg_vd_v":-2.16192055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27205467,"cg_vq_v":-8.27205467,"cg_vu_v":113.492287,"cg_vv_v":117.451309,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":37.8555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":116.632202,"values":{"Elec_RPM":-2344.61499,"EncoderCos":18597,"EncoderSin":17864,"GapTicks":49403,"Mech_RPM":-468.923004,"cg_du":48.9214554,"cg_dv":55.0881348,"cg_dw":44.9118652,"cg_id_a":-11.0394287,"cg_id_raw_a":-14.5628862,"cg_iq_a":-201.414124,"cg_iq_raw_a":-200.478958,"cg_iu_a":-85.4966736,"cg_iv_a":201.186203,"cg_iw_a":-115.689529,"cg_sample_age_us":23.9690914,"cg_sample_seq":1948717,"cg_sample_valid":1,"cg_theta_rad":3.96068788,"cg_vd_req_v":-1.67942548,"cg_vd_v":-1.67942548,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37361336,"cg_vq_v":-8.37361336,"cg_vu_v":135.486908,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.6308727,"dclink_p_w":-2543.86621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":37.8619995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":116.964233,"values":{"Elec_RPM":-2342.58813,"EncoderCos":48570,"EncoderSin":20197,"GapTicks":49325,"Mech_RPM":-468.517639,"cg_du":44.8415642,"cg_dv":49.3899574,"cg_dw":55.1584358,"cg_id_a":-7.85378551,"cg_id_raw_a":-11.1370258,"cg_iq_a":-197.602493,"cg_iq_raw_a":-198.528336,"cg_iu_a":-116.883835,"cg_iv_a":-80.7908478,"cg_iw_a":197.674683,"cg_sample_age_us":23.9181824,"cg_sample_seq":1950316,"cg_sample_valid":1,"cg_theta_rad":5.62864876,"cg_vd_req_v":-1.83440804,"cg_vd_v":-1.83440804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4435482,"cg_vq_v":-8.4435482,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2421.53687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":37.8572083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":117.134842,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":117.134849,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":117.134854,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":117.317749,"values":{"Elec_RPM":-2345.97803,"EncoderCos":40583,"EncoderSin":13928,"GapTicks":49718,"Mech_RPM":-469.195587,"cg_du":53.2631721,"cg_dv":54.8015327,"cg_dw":45.1984673,"cg_id_a":-0.325461626,"cg_id_raw_a":4.71789885,"cg_iq_a":-200.129303,"cg_iq_raw_a":-202.750824,"cg_iu_a":4.93169498,"cg_iv_a":169.617798,"cg_iw_a":-174.5495,"cg_sample_age_us":23.9509087,"cg_sample_seq":1952116,"cg_sample_valid":1,"cg_theta_rad":5.12346363,"cg_vd_req_v":-1.90628171,"cg_vd_v":-1.90628171,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40615559,"cg_vq_v":-8.40615559,"cg_vu_v":5.71860361,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104385443,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":117.647827,"values":{"Elec_RPM":-2342.99146,"EncoderCos":50655,"EncoderSin":41980,"GapTicks":49876,"Mech_RPM":-468.598297,"cg_du":45.342701,"cg_dv":54.657299,"cg_dw":54.0611115,"cg_id_a":15.5690422,"cg_id_raw_a":16.4083519,"cg_iq_a":-202.052612,"cg_iq_raw_a":-200.303818,"cg_iu_a":-183.644974,"cg_iv_a":19.2783966,"cg_iw_a":164.366577,"cg_sample_age_us":23.5545464,"cg_sample_seq":1953717,"cg_sample_valid":1,"cg_theta_rad":0.484152853,"cg_vd_req_v":-2.26276326,"cg_vd_v":-2.26276326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38729858,"cg_vq_v":-8.38729858,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2388.22876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":118.001343,"values":{"Elec_RPM":-2346.05273,"EncoderCos":52846,"EncoderSin":32167,"GapTicks":49349,"Mech_RPM":-469.210541,"cg_du":55.136528,"cg_dv":50.9516907,"cg_dw":44.863472,"cg_id_a":-5.01232386,"cg_id_raw_a":-9.93848038,"cg_iq_a":-201.009003,"cg_iq_raw_a":-197.680389,"cg_iu_a":111.995979,"cg_iv_a":91.367363,"cg_iw_a":-203.363342,"cg_sample_age_us":24.0272732,"cg_sample_seq":1955517,"cg_sample_valid":1,"cg_theta_rad":6.26609182,"cg_vd_req_v":-1.86817038,"cg_vd_v":-1.86817038,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40136623,"cg_vq_v":-8.40136623,"cg_vu_v":141.645401,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2470.39282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":37.8877869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":118.127039,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":118.127045,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":118.12705,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":118.421265,"values":{"Elec_RPM":-2347.86914,"EncoderCos":14646,"EncoderSin":23261,"GapTicks":50060,"Mech_RPM":-469.573853,"cg_du":54.4904327,"cg_dv":45.5095673,"cg_dw":45.6128387,"cg_id_a":13.4747877,"cg_id_raw_a":17.8652554,"cg_iq_a":-201.976013,"cg_iq_raw_a":-204.538879,"cg_iu_a":183.215118,"cg_iv_a":-14.6458435,"cg_iw_a":-168.569275,"cg_sample_age_us":24.1145458,"cg_sample_seq":1957516,"cg_sample_valid":1,"cg_theta_rad":3.63054228,"cg_vd_req_v":-2.13451004,"cg_vd_v":-2.13451004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37405968,"cg_vq_v":-8.37405968,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2483.95679,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":37.8700562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":118.942749,"values":{"Elec_RPM":-2343.93506,"EncoderCos":18197,"EncoderSin":46955,"GapTicks":49950,"Mech_RPM":-468.786987,"cg_du":54.5901527,"cg_dv":45.4098473,"cg_dw":45.8329887,"cg_id_a":16.0957642,"cg_id_raw_a":17.8534813,"cg_iq_a":-203.688385,"cg_iq_raw_a":-203.368317,"cg_iu_a":167.159088,"cg_iv_a":4.74461365,"cg_iw_a":-171.903702,"cg_sample_age_us":23.8963642,"cg_sample_seq":1959971,"cg_sample_valid":1,"cg_theta_rad":2.41714191,"cg_vd_req_v":-2.21834254,"cg_vd_v":-2.21834254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37160873,"cg_vq_v":-8.37160873,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.6634922,"dclink_p_w":-2556.34277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":37.9087219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":118.991644,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":118.99166,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":118.991664,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":119.118574,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":119.11858,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":119.118585,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":119.327515,"values":{"Elec_RPM":-2345.02588,"EncoderCos":37933,"EncoderSin":13056,"GapTicks":49321,"Mech_RPM":-469.005157,"cg_du":55.1618576,"cg_dv":50.1479263,"cg_dw":44.8381424,"cg_id_a":-14.1573029,"cg_id_raw_a":-15.8632975,"cg_iq_a":-198.664795,"cg_iq_raw_a":-198.323669,"cg_iu_a":135.228271,"cg_iv_a":62.5897675,"cg_iw_a":-197.818039,"cg_sample_age_us":24.0163631,"cg_sample_seq":1962066,"cg_sample_valid":1,"cg_theta_rad":4.98684454,"cg_vd_req_v":-1.64362037,"cg_vd_v":-1.64362037,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44262409,"cg_vq_v":-8.44262409,"cg_vu_v":15.3962402,"cg_vv_v":22.4345207,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2520.93652,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":37.9087219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":119.659546,"values":{"Elec_RPM":-2341.45776,"EncoderCos":38506,"EncoderSin":13227,"GapTicks":49380,"Mech_RPM":-468.291534,"cg_du":55.1082535,"cg_dv":51.2628632,"cg_dw":44.8917465,"cg_id_a":-5.19445992,"cg_id_raw_a":-10.6819859,"cg_iq_a":-199.888977,"cg_iq_raw_a":-197.174835,"cg_iu_a":105.798279,"cg_iv_a":95.5354156,"cg_iw_a":-201.333694,"cg_sample_age_us":23.9836369,"cg_sample_seq":1963817,"cg_sample_valid":1,"cg_theta_rad":5.01623964,"cg_vd_req_v":-1.83640611,"cg_vd_v":-1.83640611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42529106,"cg_vq_v":-8.42529106,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2548.73706,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":37.9167786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":120.011108,"values":{"Elec_RPM":-2344.61401,"EncoderCos":47623,"EncoderSin":19072,"GapTicks":49596,"Mech_RPM":-468.922821,"cg_du":45.0879974,"cg_dv":52.6349106,"cg_dw":54.9120026,"cg_id_a":-4.30367804,"cg_id_raw_a":0.0777758881,"cg_iq_a":-200.716705,"cg_iq_raw_a":-201.354874,"cg_iu_a":-143.160614,"cg_iv_a":-44.4745178,"cg_iw_a":186.00415,"cg_sample_age_us":23.823637,"cg_sample_seq":1965521,"cg_sample_valid":1,"cg_theta_rad":5.59925747,"cg_vd_req_v":-1.87150788,"cg_vd_v":-1.87150788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38701248,"cg_vq_v":-8.38701248,"cg_vu_v":114.811958,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4547615,"dclink_p_w":-2388.64795,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":37.9619141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":120.111737,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":120.111743,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":120.111748,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":120.345093,"values":{"Elec_RPM":-2346.70972,"EncoderCos":52714,"EncoderSin":30216,"GapTicks":49741,"Mech_RPM":-469.341949,"cg_du":54.7804031,"cg_dv":46.6130028,"cg_dw":45.2195969,"cg_id_a":3.90216875,"cg_id_raw_a":9.06073189,"cg_iq_a":-201.636795,"cg_iq_raw_a":-200.997345,"cg_iu_a":174.190399,"cg_iv_a":-3.12030029,"cg_iw_a":-171.070099,"cg_sample_age_us":24.1327267,"cg_sample_seq":1967217,"cg_sample_valid":1,"cg_theta_rad":6.16936398,"cg_vd_req_v":-1.97925866,"cg_vd_v":-1.97925866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37429142,"cg_vq_v":-8.37429142,"cg_vu_v":106.453995,"cg_vv_v":100.295509,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2412.08472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":37.9538269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":120.679077,"values":{"Elec_RPM":-2349.93799,"EncoderCos":50712,"EncoderSin":41880,"GapTicks":49830,"Mech_RPM":-469.98761,"cg_du":45.3000565,"cg_dv":54.6999435,"cg_dw":53.8533363,"cg_id_a":13.5975037,"cg_id_raw_a":11.5699892,"cg_iq_a":-201.723999,"cg_iq_raw_a":-201.971054,"cg_iu_a":-187.813019,"cg_iv_a":25.3311157,"cg_iw_a":162.481903,"cg_sample_age_us":23.5254555,"cg_sample_seq":1968916,"cg_sample_valid":1,"cg_theta_rad":0.475802153,"cg_vd_req_v":-2.22826004,"cg_vd_v":-2.22826004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39917946,"cg_vq_v":-8.39917946,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2503.86108,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":37.9490051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":121.03064,"values":{"Elec_RPM":-2350.43945,"EncoderCos":42934,"EncoderSin":50228,"GapTicks":49400,"Mech_RPM":-470.087891,"cg_du":55.0902748,"cg_dv":44.9097252,"cg_dw":48.4633255,"cg_id_a":2.01329494,"cg_id_raw_a":-6.27285576,"cg_iq_a":-198.270859,"cg_iq_raw_a":-196.879181,"cg_iu_a":198.256302,"cg_iv_a":-88.2570648,"cg_iw_a":-109.999237,"cg_sample_age_us":23.9472733,"cg_sample_seq":1970617,"cg_sample_valid":1,"cg_theta_rad":1.04537511,"cg_vd_req_v":-1.97401869,"cg_vd_v":-1.97401869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43306828,"cg_vq_v":-8.43306828,"cg_vu_v":106.453995,"cg_vv_v":87.53862,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2483.16992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":37.95224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":121.135366,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":121.135372,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":121.135377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":121.362671,"values":{"Elec_RPM":-2347.60791,"EncoderCos":14407,"EncoderSin":41627,"GapTicks":49325,"Mech_RPM":-469.521576,"cg_du":49.4317322,"cg_dv":55.158947,"cg_dw":44.841053,"cg_id_a":-7.89039898,"cg_id_raw_a":-10.864295,"cg_iq_a":-199.707153,"cg_iq_raw_a":-199.569931,"cg_iu_a":-76.4357147,"cg_iv_a":199.15654,"cg_iw_a":-122.720825,"cg_sample_age_us":23.9690914,"cg_sample_seq":1972217,"cg_sample_valid":1,"cg_theta_rad":2.69302273,"cg_vd_req_v":-1.71875358,"cg_vd_v":-1.71875358,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43922043,"cg_vq_v":-8.43922043,"cg_vu_v":122.290138,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":37.9893494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":121.696655,"values":{"Elec_RPM":-2347.93188,"EncoderCos":14043,"EncoderSin":40912,"GapTicks":49428,"Mech_RPM":-469.586365,"cg_du":48.0395508,"cg_dv":55.0646133,"cg_dw":44.9353867,"cg_id_a":9.72792339,"cg_id_raw_a":2.29431796,"cg_iq_a":-200.951935,"cg_iq_raw_a":-200.014893,"cg_iu_a":-127.177078,"cg_iv_a":200.28009,"cg_iw_a":-73.1030197,"cg_sample_age_us":24.0018177,"cg_sample_seq":1973967,"cg_sample_valid":1,"cg_theta_rad":2.7329812,"cg_vd_req_v":-2.07593513,"cg_vd_v":-2.07593513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42032337,"cg_vq_v":-8.42032337,"cg_vu_v":105.574219,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":37.9554749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":122.048218,"values":{"Elec_RPM":-2348.44458,"EncoderCos":12652,"EncoderSin":29289,"GapTicks":49331,"Mech_RPM":-469.688934,"cg_du":50.4566765,"cg_dv":44.8470879,"cg_dw":55.1529121,"cg_id_a":-13.2904863,"cg_id_raw_a":-18.1875496,"cg_iq_a":-196.925232,"cg_iq_raw_a":-196.37323,"cg_iu_a":68.612114,"cg_iv_a":-195.031403,"cg_iw_a":126.419289,"cg_sample_age_us":23.7872734,"cg_sample_seq":1975666,"cg_sample_valid":1,"cg_theta_rad":3.31613898,"cg_vd_req_v":-1.6212275,"cg_vd_v":-1.6212275,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46869946,"cg_vq_v":-8.46869946,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2391.16699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":37.9973755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":122.126941,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":122.126946,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":122.126951,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":122.382202,"values":{"Elec_RPM":-2344.21045,"EncoderCos":17505,"EncoderSin":19013,"GapTicks":49521,"Mech_RPM":-468.842072,"cg_du":52.3903923,"cg_dv":54.9804153,"cg_dw":45.0195847,"cg_id_a":-6.79933262,"cg_id_raw_a":-0.852351844,"cg_iq_a":-199.018753,"cg_iq_raw_a":-200.032776,"cg_iu_a":-3.62185001,"cg_iv_a":172.698547,"cg_iw_a":-169.076691,"cg_sample_age_us":23.8781815,"cg_sample_seq":1977367,"cg_sample_valid":1,"cg_theta_rad":3.88373566,"cg_vd_req_v":-1.71912563,"cg_vd_v":-1.71912563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43697739,"cg_vq_v":-8.43697739,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2479.49805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":37.9973755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":122.71228,"values":{"Elec_RPM":-2347.61255,"EncoderCos":27585,"EncoderSin":13121,"GapTicks":50056,"Mech_RPM":-469.522522,"cg_du":45.5055809,"cg_dv":45.6811066,"cg_dw":54.4944191,"cg_id_a":12.6502438,"cg_id_raw_a":15.7784376,"cg_iq_a":-205.983704,"cg_iq_raw_a":-205.486145,"cg_iu_a":-25.3319054,"cg_iv_a":-164.477844,"cg_iw_a":189.809753,"cg_sample_age_us":23.8963642,"cg_sample_seq":1979066,"cg_sample_valid":1,"cg_theta_rad":4.45961618,"cg_vd_req_v":-2.15698457,"cg_vd_v":-2.15698457,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31404305,"cg_vq_v":-8.31404305,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2493.40234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":123.065796,"values":{"Elec_RPM":-2348.84912,"EncoderCos":48075,"EncoderSin":19588,"GapTicks":49363,"Mech_RPM":-469.769806,"cg_du":44.8761482,"cg_dv":51.0412331,"cg_dw":55.1238518,"cg_id_a":-10.4524307,"cg_id_raw_a":-7.88481665,"cg_iq_a":-198.54361,"cg_iq_raw_a":-200.596069,"cg_iu_a":-151.786652,"cg_iv_a":-35.2323303,"cg_iw_a":187.018982,"cg_sample_age_us":23.9472733,"cg_sample_seq":1980716,"cg_sample_valid":1,"cg_theta_rad":5.59061766,"cg_vd_req_v":-1.75052428,"cg_vd_v":-1.75052428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41503525,"cg_vq_v":-8.41503525,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2425.68091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":38.0183716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":123.119676,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":123.119682,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":123.119688,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":123.397827,"values":{"Elec_RPM":-2344.9187,"EncoderCos":39900,"EncoderSin":13663,"GapTicks":49953,"Mech_RPM":-468.983734,"cg_du":54.5876846,"cg_dv":53.9873581,"cg_dw":45.4123154,"cg_id_a":10.4106026,"cg_id_raw_a":7.9726367,"cg_iq_a":-203.845032,"cg_iq_raw_a":-206.624374,"cg_iu_a":26.4605331,"cg_iv_a":161.571686,"cg_iw_a":-188.032211,"cg_sample_age_us":23.9472733,"cg_sample_seq":1982516,"cg_sample_valid":1,"cg_theta_rad":5.08633089,"cg_vd_req_v":-2.13069963,"cg_vd_v":-2.13069963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30890656,"cg_vq_v":-8.30890656,"cg_vu_v":32.5520515,"cg_vv_v":28.5930176,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.8809547,"dclink_p_w":-2579.94922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":123.751343,"values":{"Elec_RPM":-2345.21948,"EncoderCos":48998,"EncoderSin":20817,"GapTicks":49408,"Mech_RPM":-469.043915,"cg_du":44.9165115,"cg_dv":48.078949,"cg_dw":55.0834885,"cg_id_a":8.88232136,"cg_id_raw_a":3.31576777,"cg_iq_a":-199.16687,"cg_iq_raw_a":-198.050888,"cg_iu_a":-70.7454224,"cg_iv_a":-127.617874,"cg_iw_a":198.363297,"cg_sample_age_us":23.9254551,"cg_sample_seq":1984216,"cg_sample_valid":1,"cg_theta_rad":5.66543055,"cg_vd_req_v":-2.17603564,"cg_vd_v":-2.17603564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41835594,"cg_vq_v":-8.41835594,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.3804607,"dclink_p_w":-2363.45093,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":38.0474243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":124.083374,"values":{"Elec_RPM":-2342.42847,"EncoderCos":52829,"EncoderSin":31601,"GapTicks":49299,"Mech_RPM":-468.485687,"cg_du":55.1823807,"cg_dv":49.9061089,"cg_dw":44.8176193,"cg_id_a":-12.257987,"cg_id_raw_a":-13.2646723,"cg_iq_a":-197.156616,"cg_iq_raw_a":-196.564224,"cg_iu_a":135.699448,"cg_iv_a":58.457962,"cg_iw_a":-194.15741,"cg_sample_age_us":24.1218185,"cg_sample_seq":1985916,"cg_sample_valid":1,"cg_theta_rad":6.23843336,"cg_vd_req_v":-1.69109452,"cg_vd_v":-1.69109452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4942379,"cg_vq_v":-8.4942379,"cg_vu_v":10.1175289,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2883682,"dclink_p_w":-2502.05322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":38.0393677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":124.14296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":124.142965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":124.142971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":124.415405,"values":{"Elec_RPM":-2341.4873,"EncoderCos":50237,"EncoderSin":42796,"GapTicks":49626,"Mech_RPM":-468.297485,"cg_du":45.1146927,"cg_dv":52.7678642,"cg_dw":54.8853073,"cg_id_a":-0.556762099,"cg_id_raw_a":3.55199933,"cg_iq_a":-201.307755,"cg_iq_raw_a":-201.181839,"cg_iu_a":-169.219925,"cg_iv_a":-5.5124054,"cg_iw_a":174.73233,"cg_sample_age_us":23.550909,"cg_sample_seq":1987617,"cg_sample_valid":1,"cg_theta_rad":0.527471066,"cg_vd_req_v":-1.90868676,"cg_vd_v":-1.90868676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37494755,"cg_vq_v":-8.37494755,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2426.00317,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":38.0458069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":124.768921,"values":{"Elec_RPM":-2349.9873,"EncoderCos":41729,"EncoderSin":50834,"GapTicks":49970,"Mech_RPM":-469.997467,"cg_du":54.5725212,"cg_dv":45.4274788,"cg_dw":45.9482651,"cg_id_a":15.3295078,"cg_id_raw_a":19.6335411,"cg_iq_a":-206.747162,"cg_iq_raw_a":-208.527237,"cg_iu_a":189.231583,"cg_iv_a":-19.5387573,"cg_iw_a":-169.692825,"cg_sample_age_us":23.9799995,"cg_sample_seq":1989316,"cg_sample_valid":1,"cg_theta_rad":1.11209774,"cg_vd_req_v":-2.21306348,"cg_vd_v":-2.21306348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26600647,"cg_vq_v":-8.26600647,"cg_vu_v":47.5083961,"cg_vv_v":43.9892578,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2410.51587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":125.098999,"values":{"Elec_RPM":-2353.42993,"EncoderCos":30626,"EncoderSin":52912,"GapTicks":49374,"Mech_RPM":-470.685974,"cg_du":44.8862,"cg_dv":55.1138,"cg_dw":51.7417488,"cg_id_a":0.791328669,"cg_id_raw_a":-5.15069437,"cg_iq_a":-198.09053,"cg_iq_raw_a":-196.621201,"cg_iu_a":-197.490112,"cg_iv_a":88.4678497,"cg_iw_a":109.022263,"cg_sample_age_us":23.8418179,"cg_sample_seq":1991017,"cg_sample_valid":1,"cg_theta_rad":1.67464519,"cg_vd_req_v":-1.90589178,"cg_vd_v":-1.90589178,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47129917,"cg_vq_v":-8.47129917,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2395.08911,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":38.0377502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":125.135539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":125.135545,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":125.13555,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":125.432983,"values":{"Elec_RPM":-2353.24341,"EncoderCos":19961,"EncoderSin":48588,"GapTicks":49304,"Mech_RPM":-470.648682,"cg_du":55.177597,"cg_dv":44.822403,"cg_dw":50.3032341,"cg_id_a":-15.6823177,"cg_id_raw_a":-16.8151932,"cg_iq_a":-193.94426,"cg_iq_raw_a":-194.381241,"cg_iu_a":185.3535,"cg_iv_a":-142.042908,"cg_iw_a":-43.3105927,"cg_sample_age_us":24.0200005,"cg_sample_seq":1992717,"cg_sample_valid":1,"cg_theta_rad":2.25201535,"cg_vd_req_v":-1.58006918,"cg_vd_v":-1.58006918,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53876591,"cg_vq_v":-8.53876591,"cg_vu_v":106.893898,"cg_vv_v":90.6178665,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-17.6218128,"dclink_p_w":-2550.31079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":125.784546,"values":{"Elec_RPM":-2352.51685,"EncoderCos":17857,"EncoderSin":18577,"GapTicks":49314,"Mech_RPM":-470.503357,"cg_du":51.0232353,"cg_dv":55.1690445,"cg_dw":44.8309555,"cg_id_a":-15.5654106,"cg_id_raw_a":-13.5101337,"cg_iq_a":-195.362762,"cg_iq_raw_a":-197.530212,"cg_iu_a":-27.1803417,"cg_iv_a":181.143356,"cg_iw_a":-153.963013,"cg_sample_age_us":24.0018177,"cg_sample_seq":1994316,"cg_sample_valid":1,"cg_theta_rad":3.91443133,"cg_vd_req_v":-1.56295061,"cg_vd_v":-1.56295061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52591228,"cg_vq_v":-8.52591228,"cg_vu_v":118.770996,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2442.677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":126.116577,"values":{"Elec_RPM":-2351.06152,"EncoderCos":13068,"EncoderSin":27446,"GapTicks":49868,"Mech_RPM":-470.21228,"cg_du":53.9355087,"cg_dv":45.3351021,"cg_dw":54.6648979,"cg_id_a":14.0468855,"cg_id_raw_a":15.7972927,"cg_iq_a":-201.676025,"cg_iq_raw_a":-201.306107,"cg_iu_a":156.358429,"cg_iv_a":-189.884766,"cg_iw_a":33.5263443,"cg_sample_age_us":24.0563641,"cg_sample_seq":1996116,"cg_sample_valid":1,"cg_theta_rad":3.40168786,"cg_vd_req_v":-2.16996956,"cg_vd_v":-2.16996956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39534473,"cg_vq_v":-8.39534473,"cg_vu_v":106.453995,"cg_vv_v":92.8173294,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2480.28491,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":126.127674,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":126.127681,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":126.127686,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":126.450562,"values":{"Elec_RPM":-2350.86816,"EncoderCos":39352,"EncoderSin":13479,"GapTicks":49685,"Mech_RPM":-470.173645,"cg_du":54.8309708,"cg_dv":52.8658333,"cg_dw":45.1690292,"cg_id_a":6.22213364,"cg_id_raw_a":2.70642018,"cg_iq_a":-204.869537,"cg_iq_raw_a":-202.57399,"cg_iu_a":58.065155,"cg_iv_a":141.601318,"cg_iw_a":-199.666473,"cg_sample_age_us":23.863636,"cg_sample_seq":1997717,"cg_sample_valid":1,"cg_theta_rad":5.05938816,"cg_vd_req_v":-2.05868793,"cg_vd_v":-2.05868793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28154755,"cg_vq_v":-8.28154755,"cg_vu_v":140.765625,"cg_vv_v":135.486908,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.1651402,"dclink_p_w":-2484.21899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":38.0975037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":126.802124,"values":{"Elec_RPM":-2351.85815,"EncoderCos":40226,"EncoderSin":13785,"GapTicks":50019,"Mech_RPM":-470.371643,"cg_du":54.188633,"cg_dv":54.5281563,"cg_dw":45.4718437,"cg_id_a":7.7421236,"cg_id_raw_a":9.09769917,"cg_iq_a":-204.722061,"cg_iq_raw_a":-206.873566,"cg_iu_a":14.2101154,"cg_iv_a":169.472839,"cg_iw_a":-183.682953,"cg_sample_age_us":23.9836369,"cg_sample_seq":1999466,"cg_sample_valid":1,"cg_theta_rad":5.10722923,"cg_vd_req_v":-2.07326984,"cg_vd_v":-2.07326984,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29753971,"cg_vq_v":-8.29753971,"cg_vu_v":40.0302238,"cg_vv_v":56.7461433,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.5783195,"dclink_p_w":-2536.28369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":38.0619812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103881896,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":127.134155,"values":{"Elec_RPM":-2357.03027,"EncoderCos":52811,"EncoderSin":31048,"GapTicks":49317,"Mech_RPM":-471.406036,"cg_du":55.1663284,"cg_dv":48.7591133,"cg_dw":44.8336716,"cg_id_a":-14.6663628,"cg_id_raw_a":-14.3175011,"cg_iq_a":-193.331177,"cg_iq_raw_a":-192.910065,"cg_iu_a":154.546234,"cg_iv_a":23.4101868,"cg_iw_a":-177.956421,"cg_sample_age_us":23.9981823,"cg_sample_seq":2001117,"cg_sample_valid":1,"cg_theta_rad":6.21309423,"cg_vd_req_v":-1.62332571,"cg_vd_v":-1.62332571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.56375694,"cg_vq_v":-8.56375694,"cg_vu_v":16.2760258,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.8718948,"dclink_p_w":-2586.50391,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":38.1427917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":127.150736,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":127.150743,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":127.150748,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":127.487671,"values":{"Elec_RPM":-2352.12451,"EncoderCos":52798,"EncoderSin":31261,"GapTicks":49323,"Mech_RPM":-470.424896,"cg_du":55.1608849,"cg_dv":49.2643089,"cg_dw":44.8391151,"cg_id_a":-16.4269791,"cg_id_raw_a":-15.0863237,"cg_iq_a":-194.920212,"cg_iq_raw_a":-196.162994,"cg_iu_a":113.844414,"cg_iv_a":89.228981,"cg_iw_a":-203.073395,"cg_sample_age_us":23.9981823,"cg_sample_seq":2002870,"cg_sample_valid":1,"cg_theta_rad":6.26325607,"cg_vd_req_v":-1.58211243,"cg_vd_v":-1.58211243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50784874,"cg_vq_v":-8.50784874,"cg_vu_v":32.5520515,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":38.0894165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":127.819702,"values":{"Elec_RPM":-2350.78638,"EncoderCos":49916,"EncoderSin":43333,"GapTicks":49421,"Mech_RPM":-470.157288,"cg_du":44.9286575,"cg_dv":51.2798882,"cg_dw":55.0713425,"cg_id_a":-8.71424007,"cg_id_raw_a":-6.20240021,"cg_iq_a":-200.252029,"cg_iq_raw_a":-201.82666,"cg_iu_a":-154.468689,"cg_iv_a":-32.7677612,"cg_iw_a":187.23645,"cg_sample_age_us":23.5036373,"cg_sample_seq":2004566,"cg_sample_valid":1,"cg_theta_rad":0.5601964,"cg_vd_req_v":-1.75175703,"cg_vd_v":-1.75175703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38333321,"cg_vq_v":-8.38333321,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.8320274,"dclink_p_w":-2580.73413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":128.142881,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":128.142945,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":128.143001,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":128.153687,"values":{"Elec_RPM":-2350.57471,"EncoderCos":30797,"EncoderSin":52960,"GapTicks":49350,"Mech_RPM":-470.11496,"cg_du":44.8644676,"cg_dv":55.1355324,"cg_dw":51.4097328,"cg_id_a":-2.02065301,"cg_id_raw_a":-3.45437264,"cg_iq_a":-198.009567,"cg_iq_raw_a":-198.390976,"cg_iu_a":-196.873962,"cg_iv_a":110.540344,"cg_iw_a":86.3336182,"cg_sample_age_us":23.7836361,"cg_sample_seq":2006216,"cg_sample_valid":1,"cg_theta_rad":1.65934062,"cg_vd_req_v":-1.8566066,"cg_vd_v":-1.8566066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48862743,"cg_vq_v":-8.48862743,"cg_vu_v":10.5574207,"cg_vv_v":25.0738773,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":38.1201477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":128.657593,"values":{"Elec_RPM":-2344.72363,"EncoderCos":33331,"EncoderSin":52970,"GapTicks":50028,"Mech_RPM":-468.944733,"cg_du":45.4802017,"cg_dv":54.5197983,"cg_dw":45.7008362,"cg_id_a":13.0828037,"cg_id_raw_a":15.9775238,"cg_iq_a":-203.001556,"cg_iq_raw_a":-204.018723,"cg_iu_a":-170.089783,"cg_iv_a":180.599701,"cg_iw_a":-10.5099182,"cg_sample_age_us":23.9218178,"cg_sample_seq":2008566,"cg_sample_valid":1,"cg_theta_rad":1.54127228,"cg_vd_req_v":-2.13672113,"cg_vd_v":-2.13672113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37514114,"cg_vq_v":-8.37514114,"cg_vu_v":3.51914048,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":38.1233826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":129.007096,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":129.007119,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":129.007122,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":129.147827,"values":{"Elec_RPM":-2345.78345,"EncoderCos":47518,"EncoderSin":18987,"GapTicks":49677,"Mech_RPM":-469.156677,"cg_du":45.1614609,"cg_dv":52.957119,"cg_dw":54.8385391,"cg_id_a":-2.21952963,"cg_id_raw_a":5.99273252,"cg_iq_a":-201.701538,"cg_iq_raw_a":-203.472763,"cg_iu_a":-176.214981,"cg_iv_a":4.52714539,"cg_iw_a":171.687836,"cg_sample_age_us":23.8272724,"cg_sample_seq":2011116,"cg_sample_valid":1,"cg_theta_rad":5.54177952,"cg_vd_req_v":-1.91672421,"cg_vd_v":-1.91672421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35748672,"cg_vq_v":-8.35748672,"cg_vu_v":101.175293,"cg_vv_v":101.615181,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-17.6489944,"dclink_p_w":-2546.48096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":38.1217651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":129.167527,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":129.167534,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":129.16754,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":129.477905,"values":{"Elec_RPM":-2345.01489,"EncoderCos":47890,"EncoderSin":19403,"GapTicks":49418,"Mech_RPM":-469.00296,"cg_du":44.9263611,"cg_dv":51.6873741,"cg_dw":55.0736389,"cg_id_a":-7.30698872,"cg_id_raw_a":-8.90917397,"cg_iq_a":-199.91246,"cg_iq_raw_a":-198.445938,"cg_iu_a":-157.295715,"cg_iv_a":-25.7364502,"cg_iw_a":183.032166,"cg_sample_age_us":23.9145451,"cg_sample_seq":2012867,"cg_sample_valid":1,"cg_theta_rad":5.57676315,"cg_vd_req_v":-1.82571459,"cg_vd_v":-1.82571459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41153336,"cg_vq_v":-8.41153336,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":125.809273,"control_outputs_enabled":1,"dclink_i_a":-16.2318611,"dclink_p_w":-2342.01025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":38.147644,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":129.831421,"values":{"Elec_RPM":-2352.15308,"EncoderCos":48377,"EncoderSin":20011,"GapTicks":49312,"Mech_RPM":-470.430634,"cg_du":44.8292732,"cg_dv":49.9148674,"cg_dw":55.1707268,"cg_id_a":-11.1674118,"cg_id_raw_a":-12.8900404,"cg_iq_a":-199.649048,"cg_iq_raw_a":-197.945908,"cg_iu_a":-131.381363,"cg_iv_a":-62.9588776,"cg_iw_a":194.34024,"cg_sample_age_us":23.9254551,"cg_sample_seq":2014617,"cg_sample_valid":1,"cg_theta_rad":5.61728668,"cg_vd_req_v":-1.76797199,"cg_vd_v":-1.76797199,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43175316,"cg_vq_v":-8.43175316,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2538.50879,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":38.1492615,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":130.131601,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":130.131607,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":130.131612,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":130.163452,"values":{"Elec_RPM":-2344.40698,"EncoderCos":50913,"EncoderSin":41317,"GapTicks":49535,"Mech_RPM":-468.881378,"cg_du":45.0319328,"cg_dv":54.9680672,"cg_dw":52.6954536,"cg_id_a":10.9480247,"cg_id_raw_a":9.07113075,"cg_iq_a":-197.196243,"cg_iq_raw_a":-195.570251,"cg_iu_a":-190.966232,"cg_iv_a":52.0790558,"cg_iw_a":138.887177,"cg_sample_age_us":23.5327282,"cg_sample_seq":2016267,"cg_sample_valid":1,"cg_theta_rad":0.449743658,"cg_vd_req_v":-2.17447805,"cg_vd_v":-2.17447805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45129395,"cg_vq_v":-8.45129395,"cg_vu_v":95.8965836,"cg_vv_v":100.735397,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":38.136322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":130.516968,"values":{"Elec_RPM":-2351.08105,"EncoderCos":52831,"EncoderSin":31729,"GapTicks":49322,"Mech_RPM":-470.216217,"cg_du":55.1617584,"cg_dv":50.1576538,"cg_dw":44.8382416,"cg_id_a":-10.8348551,"cg_id_raw_a":-13.524456,"cg_iq_a":-197.185242,"cg_iq_raw_a":-195.456467,"cg_iu_a":120.295822,"cg_iv_a":64.981842,"cg_iw_a":-196.150818,"cg_sample_age_us":23.9981823,"cg_sample_seq":2018066,"cg_sample_valid":1,"cg_theta_rad":6.25298071,"cg_vd_req_v":-1.71105647,"cg_vd_v":-1.71105647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45596504,"cg_vq_v":-8.45596504,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2466.38452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":38.1735229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":130.847046,"values":{"Elec_RPM":-2355.69116,"EncoderCos":31998,"EncoderSin":52962,"GapTicks":49314,"Mech_RPM":-471.138214,"cg_du":44.8313408,"cg_dv":55.1686592,"cg_dw":48.9211998,"cg_id_a":-8.90244102,"cg_id_raw_a":-4.710145,"cg_iq_a":-197.220917,"cg_iq_raw_a":-198.541351,"cg_iu_a":-182.2677,"cg_iv_a":156.425049,"cg_iw_a":25.8426437,"cg_sample_age_us":23.8272724,"cg_sample_seq":2019666,"cg_sample_valid":1,"cg_theta_rad":1.6003834,"cg_vd_req_v":-1.69321561,"cg_vd_v":-1.69321561,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50670433,"cg_vq_v":-8.50670433,"cg_vu_v":100.735397,"cg_vv_v":104.254532,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":38.1881104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":131.127053,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":131.127059,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":131.127065,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":131.18103,"values":{"Elec_RPM":-2358.35107,"EncoderCos":31169,"EncoderSin":52976,"GapTicks":49279,"Mech_RPM":-471.670197,"cg_du":44.7999725,"cg_dv":55.2000275,"cg_dw":50.6522293,"cg_id_a":-4.25966167,"cg_id_raw_a":-5.4947319,"cg_iq_a":-195.999268,"cg_iq_raw_a":-195.57843,"cg_iu_a":-196.330322,"cg_iv_a":113.621094,"cg_iw_a":82.7092285,"cg_sample_age_us":23.8600006,"cg_sample_seq":2021416,"cg_sample_valid":1,"cg_theta_rad":1.6486944,"cg_vd_req_v":-1.80181229,"cg_vd_v":-1.80181229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52436638,"cg_vq_v":-8.52436638,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":131.534546,"values":{"Elec_RPM":-2360.64307,"EncoderCos":14203,"EncoderSin":41293,"GapTicks":49409,"Mech_RPM":-472.128601,"cg_du":48.7101784,"cg_dv":55.0819702,"cg_dw":44.9180298,"cg_id_a":-2.83872581,"cg_id_raw_a":-5.5050416,"cg_iq_a":-201.18988,"cg_iq_raw_a":-200.631836,"cg_iu_a":-157.839355,"cg_iv_a":197.054382,"cg_iw_a":-39.2150345,"cg_sample_age_us":23.9654541,"cg_sample_seq":2023071,"cg_sample_valid":1,"cg_theta_rad":2.7637794,"cg_vd_req_v":-1.81926548,"cg_vd_v":-1.81926548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36164379,"cg_vq_v":-8.36164379,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2495.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":38.1379395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":131.876343,"values":{"Elec_RPM":-2354.56104,"EncoderCos":29730,"EncoderSin":52792,"GapTicks":49725,"Mech_RPM":-470.912201,"cg_du":45.2049675,"cg_dv":54.7950325,"cg_dw":53.4461899,"cg_id_a":11.9579382,"cg_id_raw_a":8.6814127,"cg_iq_a":-198.914978,"cg_iq_raw_a":-197.208344,"cg_iu_a":-188.972809,"cg_iv_a":38.741333,"cg_iw_a":150.231476,"cg_sample_age_us":23.8418179,"cg_sample_seq":2024917,"cg_sample_valid":1,"cg_theta_rad":1.72026658,"cg_vd_req_v":-2.10526347,"cg_vd_v":-2.10526347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41629601,"cg_vq_v":-8.41629601,"cg_vu_v":117.891212,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":38.1735229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":132.118906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":132.118912,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":132.118917,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":132.206421,"values":{"Elec_RPM":-2349.08008,"EncoderCos":12841,"EncoderSin":28381,"GapTicks":49408,"Mech_RPM":-469.81601,"cg_du":52.1408501,"cg_dv":44.9165802,"cg_dw":55.0834198,"cg_id_a":3.99150515,"cg_id_raw_a":-0.807904065,"cg_iq_a":-198.111069,"cg_iq_raw_a":-198.705704,"cg_iu_a":120.078354,"cg_iv_a":-196.626129,"cg_iw_a":76.5477676,"cg_sample_age_us":23.7363644,"cg_sample_seq":2026517,"cg_sample_valid":1,"cg_theta_rad":3.36191082,"cg_vd_req_v":-1.98922551,"cg_vd_v":-1.98922551,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48599243,"cg_vq_v":-8.48599243,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.5018768,"dclink_p_w":-2388.22852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":132.559937,"values":{"Elec_RPM":-2343.90039,"EncoderCos":13124,"EncoderSin":38289,"GapTicks":49298,"Mech_RPM":-468.78006,"cg_du":44.8166847,"cg_dv":55.1833153,"cg_dw":49.2184258,"cg_id_a":-12.7508297,"cg_id_raw_a":-11.6716642,"cg_iq_a":-196.677292,"cg_iq_raw_a":-197.258667,"cg_iu_a":-184.623566,"cg_iv_a":150.843506,"cg_iw_a":33.7800522,"cg_sample_age_us":23.9109097,"cg_sample_seq":2028317,"cg_sample_valid":1,"cg_theta_rad":2.87060475,"cg_vd_req_v":-1.59421837,"cg_vd_v":-1.59421837,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52050209,"cg_vq_v":-8.52050209,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":38.2188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":132.891968,"values":{"Elec_RPM":-2349.94214,"EncoderCos":19131,"EncoderSin":17424,"GapTicks":49504,"Mech_RPM":-469.988434,"cg_du":47.7930717,"cg_dv":54.9961395,"cg_dw":45.0038605,"cg_id_a":6.93647861,"cg_id_raw_a":0.656499624,"cg_iq_a":-200.849854,"cg_iq_raw_a":-199.541611,"cg_iu_a":-131.055176,"cg_iv_a":198.757858,"cg_iw_a":-67.7026825,"cg_sample_age_us":23.9654541,"cg_sample_seq":2029966,"cg_sample_valid":1,"cg_theta_rad":3.99752331,"cg_vd_req_v":-2.04413891,"cg_vd_v":-2.04413891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37049103,"cg_vq_v":-8.37049103,"cg_vu_v":39.1504402,"cg_vv_v":63.3445282,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":133.142693,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":133.142699,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":133.142705,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":133.245483,"values":{"Elec_RPM":-2348.34814,"EncoderCos":28954,"EncoderSin":12746,"GapTicks":49407,"Mech_RPM":-469.669617,"cg_du":48.8995323,"cg_dv":44.9156303,"cg_dw":55.0843697,"cg_id_a":-17.0086765,"cg_id_raw_a":-15.9351234,"cg_iq_a":-201.287018,"cg_iq_raw_a":-201.344284,"cg_iu_a":67.3435822,"cg_iv_a":-194.089066,"cg_iw_a":126.745483,"cg_sample_age_us":26.7254543,"cg_sample_seq":2031669,"cg_sample_valid":1,"cg_theta_rad":4.57247972,"cg_vd_req_v":-1.56622529,"cg_vd_v":-1.56622529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39182568,"cg_vq_v":-8.39182568,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2388.29077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":38.2383118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":133.577515,"values":{"Elec_RPM":-2352.16797,"EncoderCos":40951,"EncoderSin":14131,"GapTicks":49467,"Mech_RPM":-470.433594,"cg_du":52.1674652,"cg_dv":55.0297508,"cg_dw":44.9702492,"cg_id_a":-11.8637161,"cg_id_raw_a":-5.16276026,"cg_iq_a":-197.520752,"cg_iq_raw_a":-200.031708,"cg_iu_a":-4.78165293,"cg_iv_a":172.118622,"cg_iw_a":-167.336975,"cg_sample_age_us":23.863636,"cg_sample_seq":2033366,"cg_sample_valid":1,"cg_theta_rad":5.14609289,"cg_vd_req_v":-1.68470442,"cg_vd_v":-1.68470442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49622154,"cg_vq_v":-8.49622154,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2562.53467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":38.2318115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":133.909546,"values":{"Elec_RPM":-2348.64453,"EncoderCos":49748,"EncoderSin":21941,"GapTicks":50077,"Mech_RPM":-469.728912,"cg_du":45.7138138,"cg_dv":45.5245819,"cg_dw":54.4754181,"cg_id_a":12.4295645,"cg_id_raw_a":14.610611,"cg_iq_a":-207.172714,"cg_iq_raw_a":-208.975143,"cg_iu_a":-11.9216881,"cg_iv_a":-173.32135,"cg_iw_a":185.243042,"cg_sample_age_us":23.8309097,"cg_sample_seq":2035066,"cg_sample_valid":1,"cg_theta_rad":5.73303699,"cg_vd_req_v":-2.19075441,"cg_vd_v":-2.19075441,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26065636,"cg_vq_v":-8.26065636,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2699165,"dclink_p_w":-2354.65796,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":134.13557,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":134.135576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":134.13558,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":134.261108,"values":{"Elec_RPM":-2348.70581,"EncoderCos":52838,"EncoderSin":32662,"GapTicks":49501,"Mech_RPM":-469.74115,"cg_du":54.9989662,"cg_dv":51.8740234,"cg_dw":45.0010338,"cg_id_a":1.1345892,"cg_id_raw_a":-4.73634148,"cg_iq_a":-205.212036,"cg_iq_raw_a":-204.214767,"cg_iu_a":85.9366608,"cg_iv_a":116.375626,"cg_iw_a":-206.770264,"cg_sample_age_us":24.0200005,"cg_sample_seq":2036767,"cg_sample_valid":1,"cg_theta_rad":0.00353829097,"cg_vd_req_v":-1.97469783,"cg_vd_v":-1.97469783,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2894516,"cg_vq_v":-8.2894516,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2440.15771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.9450073,"temp_inv2_c":38.2593689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":134.595093,"values":{"Elec_RPM":-2350.14697,"EncoderCos":30901,"EncoderSin":52947,"GapTicks":49362,"Mech_RPM":-470.029388,"cg_du":44.8746033,"cg_dv":55.1253967,"cg_dw":51.2195053,"cg_id_a":-3.23035216,"cg_id_raw_a":-7.25994873,"cg_iq_a":-196.609497,"cg_iq_raw_a":-195.363037,"cg_iu_a":-195.931641,"cg_iv_a":104.125206,"cg_iw_a":91.8064346,"cg_sample_age_us":23.8963642,"cg_sample_seq":2038367,"cg_sample_valid":1,"cg_theta_rad":1.66265309,"cg_vd_req_v":-1.81401956,"cg_vd_v":-1.81401956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4801054,"cg_vq_v":-8.4801054,"cg_vu_v":102.93486,"cg_vv_v":105.134323,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2517.81348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":134.927124,"values":{"Elec_RPM":-2352.18066,"EncoderCos":29917,"EncoderSin":52844,"GapTicks":49620,"Mech_RPM":-470.436157,"cg_du":45.1094246,"cg_dv":54.8905754,"cg_dw":53.077198,"cg_id_a":10.6336975,"cg_id_raw_a":12.6884146,"cg_iq_a":-197.429718,"cg_iq_raw_a":-199.575638,"cg_iu_a":-190.531296,"cg_iv_a":45.5914154,"cg_iw_a":144.93988,"cg_sample_age_us":23.863636,"cg_sample_seq":2040116,"cg_sample_valid":1,"cg_theta_rad":1.71322858,"cg_vd_req_v":-2.08875751,"cg_vd_v":-2.08875751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44078445,"cg_vq_v":-8.44078445,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2468.74487,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.9450073,"temp_inv2_c":38.2350464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":135.127491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":135.127496,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":135.127501,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":135.278687,"values":{"Elec_RPM":-2350.71191,"EncoderCos":13696,"EncoderSin":40018,"GapTicks":49859,"Mech_RPM":-470.142365,"cg_du":46.2452316,"cg_dv":54.6734848,"cg_dw":45.3265152,"cg_id_a":16.5183601,"cg_id_raw_a":19.6354542,"cg_iq_a":-207.004578,"cg_iq_raw_a":-206.240219,"cg_iu_a":-172.844299,"cg_iv_a":177.953888,"cg_iw_a":-5.10958862,"cg_sample_age_us":26.8345451,"cg_sample_seq":2041770,"cg_sample_valid":1,"cg_theta_rad":2.81331038,"cg_vd_req_v":-2.1926403,"cg_vd_v":-2.1926403,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29837799,"cg_vq_v":-8.29837799,"cg_vu_v":105.574219,"cg_vv_v":105.574219,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.2372971,"dclink_p_w":-2349.93726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":135.612671,"values":{"Elec_RPM":-2349.01929,"EncoderCos":18909,"EncoderSin":47664,"GapTicks":49432,"Mech_RPM":-469.803864,"cg_du":55.0614471,"cg_dv":44.9385529,"cg_dw":47.8337708,"cg_id_a":11.0253506,"cg_id_raw_a":7.09488344,"cg_iq_a":-200.825012,"cg_iq_raw_a":-200.218277,"cg_iu_a":199.017426,"cg_iv_a":-78.2537842,"cg_iw_a":-120.691162,"cg_sample_age_us":23.8927269,"cg_sample_seq":2043566,"cg_sample_valid":1,"cg_theta_rad":2.31927347,"cg_vd_req_v":-2.1650157,"cg_vd_v":-2.1650157,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41214848,"cg_vq_v":-8.41214848,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2452.61279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":37.9707947,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":135.944702,"values":{"Elec_RPM":-2348.23438,"EncoderCos":13156,"EncoderSin":27133,"GapTicks":50049,"Mech_RPM":-469.646881,"cg_du":54.5001526,"cg_dv":45.4998474,"cg_dw":54.3754501,"cg_id_a":14.3223257,"cg_id_raw_a":16.7979202,"cg_iq_a":-201.262787,"cg_iq_raw_a":-201.248886,"cg_iu_a":169.406219,"cg_iv_a":-180.098938,"cg_iw_a":10.6927261,"cg_sample_age_us":24.1509094,"cg_sample_seq":2045217,"cg_sample_valid":1,"cg_theta_rad":3.42595935,"cg_vd_req_v":-2.14641809,"cg_vd_v":-2.14641809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37993622,"cg_vq_v":-8.37993622,"cg_vu_v":137.686371,"cg_vv_v":122.290138,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.1629982,"dclink_p_w":-2346.29443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":37.9707947,"temp_inv2_c":38.3047791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":136.118823,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":136.118828,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":136.118834,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":136.298218,"values":{"Elec_RPM":-2348.25488,"EncoderCos":12778,"EncoderSin":37016,"GapTicks":49422,"Mech_RPM":-469.65097,"cg_du":44.9295654,"cg_dv":55.0704346,"cg_dw":51.8306084,"cg_id_a":0.625889599,"cg_id_raw_a":-6.85050869,"cg_iq_a":-196.357422,"cg_iq_raw_a":-195.732071,"cg_iu_a":-195.025543,"cg_iv_a":88.4316254,"cg_iw_a":106.593918,"cg_sample_age_us":23.9290905,"cg_sample_seq":2047017,"cg_sample_valid":1,"cg_theta_rad":2.93062687,"cg_vd_req_v":-1.86722612,"cg_vd_v":-1.86722612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47864914,"cg_vq_v":-8.47864914,"cg_vu_v":128.448624,"cg_vv_v":135.926804,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2495.23438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":37.9707947,"temp_inv2_c":38.2982788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":136.630249,"values":{"Elec_RPM":-2348.65649,"EncoderCos":29772,"EncoderSin":12630,"GapTicks":49268,"Mech_RPM":-469.731293,"cg_du":50.5930748,"cg_dv":44.7894783,"cg_dw":55.2105217,"cg_id_a":-8.85829544,"cg_id_raw_a":-12.9490376,"cg_iq_a":-196.049393,"cg_iq_raw_a":-195.248779,"cg_iu_a":75.2447357,"cg_iv_a":-194.451492,"cg_iw_a":119.206757,"cg_sample_age_us":23.7036362,"cg_sample_seq":2048617,"cg_sample_valid":1,"cg_theta_rad":4.57966518,"cg_vd_req_v":-1.75766695,"cg_vd_v":-1.75766695,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52034187,"cg_vq_v":-8.52034187,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":37.9966125,"temp_inv2_c":38.2706909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":136.960327,"values":{"Elec_RPM":-2348.67017,"EncoderCos":41365,"EncoderSin":14327,"GapTicks":49350,"Mech_RPM":-469.734039,"cg_du":51.0414581,"cg_dv":55.1354942,"cg_dw":44.8645058,"cg_id_a":-18.4014969,"cg_id_raw_a":-17.0510902,"cg_iq_a":-195.503784,"cg_iq_raw_a":-196.815643,"cg_iu_a":-34.1029129,"cg_iv_a":184.369049,"cg_iw_a":-150.266144,"cg_sample_age_us":23.954546,"cg_sample_seq":2050316,"cg_sample_valid":1,"cg_theta_rad":5.17834949,"cg_vd_req_v":-1.55924475,"cg_vd_v":-1.55924475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49888897,"cg_vq_v":-8.49888897,"cg_vu_v":136.366699,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2487.89087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":38.3258667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":137.142796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":137.142802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":137.142807,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":137.315796,"values":{"Elec_RPM":-2354.04565,"EncoderCos":49847,"EncoderSin":22041,"GapTicks":49971,"Mech_RPM":-470.809143,"cg_du":46.0413246,"cg_dv":45.4287109,"cg_dw":54.5712891,"cg_id_a":8.82440567,"cg_id_raw_a":14.2487049,"cg_iq_a":-206.987152,"cg_iq_raw_a":-207.061401,"cg_iu_a":-7.71740294,"cg_iv_a":-174.444885,"cg_iw_a":182.162292,"cg_sample_age_us":23.9218178,"cg_sample_seq":2052017,"cg_sample_valid":1,"cg_theta_rad":5.74052858,"cg_vd_req_v":-2.11871791,"cg_vd_v":-2.11871791,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24709415,"cg_vq_v":-8.24709415,"cg_vu_v":113.052383,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2473.2688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":37.9707947,"temp_inv2_c":38.3096313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":137.645874,"values":{"Elec_RPM":-2353.74243,"EncoderCos":52812,"EncoderSin":33262,"GapTicks":49680,"Mech_RPM":-470.748474,"cg_du":54.8356171,"cg_dv":53.0188408,"cg_dw":45.1643829,"cg_id_a":7.68680573,"cg_id_raw_a":6.14295721,"cg_iq_a":-205.959885,"cg_iq_raw_a":-205.213593,"cg_iu_a":53.0272598,"cg_iv_a":148.378937,"cg_iw_a":-201.406189,"cg_sample_age_us":23.3872719,"cg_sample_seq":2053716,"cg_sample_valid":1,"cg_theta_rad":0.0385132618,"cg_vd_req_v":-2.1084516,"cg_vd_v":-2.1084516,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30014706,"cg_vq_v":-8.30014706,"cg_vu_v":42.2296829,"cg_vv_v":54.5466805,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":38.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":137.99939,"values":{"Elec_RPM":-2351.36597,"EncoderCos":49832,"EncoderSin":43484,"GapTicks":49352,"Mech_RPM":-470.273193,"cg_du":44.8657455,"cg_dv":50.8317451,"cg_dw":55.1342545,"cg_id_a":-12.4204636,"cg_id_raw_a":-11.4303207,"cg_iq_a":-198.522644,"cg_iq_raw_a":-197.630768,"cg_iu_a":-104.705902,"cg_iv_a":-89.1269226,"cg_iw_a":196.478638,"cg_sample_age_us":23.4345455,"cg_sample_seq":2055421,"cg_sample_valid":1,"cg_theta_rad":0.607581913,"cg_vd_req_v":-1.68612432,"cg_vd_v":-1.68612432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45091724,"cg_vq_v":-8.45091724,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.0224609,"temp_inv2_c":38.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":138.167252,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":138.167257,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":138.167263,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":138.391968,"values":{"Elec_RPM":-2345.40771,"EncoderCos":33751,"EncoderSin":12460,"GapTicks":49333,"Mech_RPM":-469.081543,"cg_du":55.1509323,"cg_dv":44.8490677,"cg_dw":49.7678719,"cg_id_a":-16.7976036,"cg_id_raw_a":-18.4713764,"cg_iq_a":-197.345367,"cg_iq_raw_a":-195.855728,"cg_iu_a":194.631927,"cg_iv_a":-124.573395,"cg_iw_a":-70.0585327,"cg_sample_age_us":24.0672722,"cg_sample_seq":2057367,"cg_sample_valid":1,"cg_theta_rad":4.78792,"cg_vd_req_v":-1.5729599,"cg_vd_v":-1.5729599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43931293,"cg_vq_v":-8.43931293,"cg_vu_v":46.1887207,"cg_vv_v":34.3116188,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2379.92358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.0224609,"temp_inv2_c":38.3096313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":138.93103,"values":{"Elec_RPM":-2345.48242,"EncoderCos":25074,"EncoderSin":51576,"GapTicks":50079,"Mech_RPM":-469.096497,"cg_du":45.5997696,"cg_dv":45.5271645,"cg_dw":54.4728355,"cg_id_a":11.5921135,"cg_id_raw_a":12.3513851,"cg_iq_a":-206.716888,"cg_iq_raw_a":-205.946198,"cg_iu_a":-15.5460711,"cg_iv_a":-170.639297,"cg_iw_a":186.185364,"cg_sample_age_us":23.8709087,"cg_sample_seq":2059967,"cg_sample_valid":1,"cg_theta_rad":1.95709884,"cg_vd_req_v":-2.11924458,"cg_vd_v":-2.11924458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30395889,"cg_vq_v":-8.30395889,"cg_vu_v":113.492287,"cg_vv_v":117.011421,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5819435,"dclink_p_w":-2544.54077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.0224609,"temp_inv2_c":38.3242493,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":139.030626,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":139.030639,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":139.030642,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":139.127494,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":139.1275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":139.127505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":139.327515,"values":{"Elec_RPM":-2355.50757,"EncoderCos":18977,"EncoderSin":17519,"GapTicks":49481,"Mech_RPM":-471.101532,"cg_du":48.0456543,"cg_dv":55.0169868,"cg_dw":44.9830132,"cg_id_a":-0.486458898,"cg_id_raw_a":-5.50982046,"cg_iq_a":-202.738617,"cg_iq_raw_a":-202.441406,"cg_iu_a":-118.514801,"cg_iv_a":202.817169,"cg_iw_a":-84.3023682,"cg_sample_age_us":23.9400005,"cg_sample_seq":2062117,"cg_sample_valid":1,"cg_theta_rad":3.98464751,"cg_vd_req_v":-1.9035455,"cg_vd_v":-1.9035455,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35322762,"cg_vq_v":-8.35322762,"cg_vu_v":138.126266,"cg_vv_v":142.525192,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2414.17651,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":38.0224609,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":139.657593,"values":{"Elec_RPM":-2362.13086,"EncoderCos":29583,"EncoderSin":12657,"GapTicks":49275,"Mech_RPM":-472.426147,"cg_du":50.1962814,"cg_dv":44.7956047,"cg_dw":55.2043953,"cg_id_a":-10.4652185,"cg_id_raw_a":-12.1542482,"cg_iq_a":-197.140808,"cg_iq_raw_a":-197.632797,"cg_iu_a":51.8312149,"cg_iv_a":-190.464661,"cg_iw_a":138.633453,"cg_sample_age_us":23.6527271,"cg_sample_seq":2063816,"cg_sample_valid":1,"cg_theta_rad":4.56175947,"cg_vd_req_v":-1.71955073,"cg_vd_v":-1.71955073,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50070095,"cg_vq_v":-8.50070095,"cg_vu_v":7.91806602,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.2119274,"dclink_p_w":-2346.26563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":38.3453674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":139.991577,"values":{"Elec_RPM":-2359.06836,"EncoderCos":49213,"EncoderSin":21060,"GapTicks":49545,"Mech_RPM":-471.81366,"cg_du":45.0409584,"cg_dv":47.5127068,"cg_dw":54.9590416,"cg_id_a":14.3711329,"cg_id_raw_a":12.2740412,"cg_iq_a":-201.080246,"cg_iq_raw_a":-197.785065,"cg_iu_a":-51.4999542,"cg_iv_a":-143.63765,"cg_iw_a":195.137604,"cg_sample_age_us":23.9109097,"cg_sample_seq":2065467,"cg_sample_valid":1,"cg_theta_rad":5.68244886,"cg_vd_req_v":-2.26694441,"cg_vd_v":-2.26694441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35173893,"cg_vq_v":-8.35173893,"cg_vu_v":96.7763672,"cg_vv_v":76.1014175,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":37.9966125,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":140.119269,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":140.119274,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":140.11928,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":140.34314,"values":{"Elec_RPM":-2360.43823,"EncoderCos":52824,"EncoderSin":31879,"GapTicks":49323,"Mech_RPM":-472.087646,"cg_du":55.160614,"cg_dv":50.4593239,"cg_dw":44.839386,"cg_id_a":-10.3851013,"cg_id_raw_a":-14.1352568,"cg_iq_a":-198.67247,"cg_iq_raw_a":-196.795517,"cg_iu_a":123.883957,"cg_iv_a":71.070816,"cg_iw_a":-194.954773,"cg_sample_age_us":24.005455,"cg_sample_seq":2067167,"cg_sample_valid":1,"cg_theta_rad":6.25336218,"cg_vd_req_v":-1.73153496,"cg_vd_v":-1.73153496,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4332943,"cg_vq_v":-8.4332943,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2428.35571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":38.3956909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103176929,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":140.675171,"values":{"Elec_RPM":-2359.11768,"EncoderCos":52833,"EncoderSin":32882,"GapTicks":49517,"Mech_RPM":-471.823547,"cg_du":54.9843903,"cg_dv":52.2629128,"cg_dw":45.0156097,"cg_id_a":6.41469002,"cg_id_raw_a":5.07275009,"cg_iq_a":-204.789368,"cg_iq_raw_a":-206.551392,"cg_iu_a":71.3303986,"cg_iv_a":132.032959,"cg_iw_a":-203.363358,"cg_sample_age_us":23.4927273,"cg_sample_seq":2068916,"cg_sample_valid":1,"cg_theta_rad":0.0170016512,"cg_vd_req_v":-2.07757115,"cg_vd_v":-2.07757115,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32963085,"cg_vq_v":-8.32963085,"cg_vu_v":29.912693,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2394.26074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.0482788,"temp_inv2_c":38.3551025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":141.026733,"values":{"Elec_RPM":-2352.60083,"EncoderCos":49456,"EncoderSin":44153,"GapTicks":49346,"Mech_RPM":-470.520172,"cg_du":44.860733,"cg_dv":49.2018089,"cg_dw":55.139267,"cg_id_a":-10.2646179,"cg_id_raw_a":-14.1884155,"cg_iq_a":-197.105774,"cg_iq_raw_a":-198.62886,"cg_iu_a":-119.565872,"cg_iv_a":-77.8550873,"cg_iw_a":197.420959,"cg_sample_age_us":23.40909,"cg_sample_seq":2070616,"cg_sample_valid":1,"cg_theta_rad":0.604140639,"cg_vd_req_v":-1.73566818,"cg_vd_v":-1.73566818,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47314453,"cg_vq_v":-8.47314453,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2497.29419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":38.3940735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":141.111646,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":141.111652,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":141.111657,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":141.360718,"values":{"Elec_RPM":-2351.48389,"EncoderCos":40537,"EncoderSin":51365,"GapTicks":49436,"Mech_RPM":-470.296783,"cg_du":55.0581017,"cg_dv":48.3816261,"cg_dw":44.9418983,"cg_id_a":-12.4135494,"cg_id_raw_a":-10.059123,"cg_iq_a":-197.783386,"cg_iq_raw_a":-199.692627,"cg_iu_a":162.882324,"cg_iv_a":17.2487183,"cg_iw_a":-180.131042,"cg_sample_age_us":23.9581814,"cg_sample_seq":2072316,"cg_sample_valid":1,"cg_theta_rad":1.17543828,"cg_vd_req_v":-1.63786769,"cg_vd_v":-1.63786769,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43830776,"cg_vq_v":-8.43830776,"cg_vu_v":32.1121559,"cg_vv_v":7.91806602,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2420.19019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.1000061,"temp_inv2_c":38.405426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":141.694702,"values":{"Elec_RPM":-2352.19751,"EncoderCos":19436,"EncoderSin":48136,"GapTicks":49326,"Mech_RPM":-470.439514,"cg_du":55.1579742,"cg_dv":44.8420258,"cg_dw":48.9547272,"cg_id_a":-8.7280426,"cg_id_raw_a":-12.6379681,"cg_iq_a":-197.0495,"cg_iq_raw_a":-197.381271,"cg_iu_a":197.241486,"cg_iv_a":-109.858398,"cg_iw_a":-71.25457,"cg_sample_age_us":23.9872723,"cg_sample_seq":2073966,"cg_sample_valid":1,"cg_theta_rad":2.28411913,"cg_vd_req_v":-1.75213885,"cg_vd_v":-1.75213885,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49975967,"cg_vq_v":-8.49975967,"cg_vu_v":35.1914063,"cg_vv_v":29.4728031,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":142.046265,"values":{"Elec_RPM":-2353.24365,"EncoderCos":12820,"EncoderSin":28509,"GapTicks":49405,"Mech_RPM":-470.648712,"cg_du":51.8174896,"cg_dv":44.9138908,"cg_dw":55.0861092,"cg_id_a":3.45366335,"cg_id_raw_a":-0.785991251,"cg_iq_a":-197.134903,"cg_iq_raw_a":-197.939575,"cg_iu_a":149.363373,"cg_iv_a":-190.935837,"cg_iw_a":41.572464,"cg_sample_age_us":26.6236362,"cg_sample_seq":2075620,"cg_sample_valid":1,"cg_theta_rad":3.39176416,"cg_vd_req_v":-1.9711411,"cg_vd_v":-1.9711411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4517765,"cg_vq_v":-8.4517765,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.1000061,"temp_inv2_c":38.4021912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":142.135259,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":142.135265,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":142.13527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":142.378296,"values":{"Elec_RPM":-2348.96509,"EncoderCos":13238,"EncoderSin":26937,"GapTicks":49885,"Mech_RPM":-469.79303,"cg_du":54.6492386,"cg_dv":45.3507614,"cg_dw":53.8959274,"cg_id_a":10.2299824,"cg_id_raw_a":17.1876163,"cg_iq_a":-202.134201,"cg_iq_raw_a":-201.976456,"cg_iu_a":169.841141,"cg_iv_a":-180.896301,"cg_iw_a":11.0551605,"cg_sample_age_us":24.0345459,"cg_sample_seq":2077366,"cg_sample_valid":1,"cg_theta_rad":3.42815137,"cg_vd_req_v":-2.0613997,"cg_vd_v":-2.0613997,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35423374,"cg_vq_v":-8.35423374,"cg_vu_v":16.7159176,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2496.53979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.125885,"temp_inv2_c":38.4656067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":142.71228,"values":{"Elec_RPM":-2347.71704,"EncoderCos":29064,"EncoderSin":12736,"GapTicks":49331,"Mech_RPM":-469.543427,"cg_du":49.1677628,"cg_dv":44.8467636,"cg_dw":55.1532364,"cg_id_a":-15.7574158,"cg_id_raw_a":-15.256278,"cg_iq_a":-197.125977,"cg_iq_raw_a":-198.543732,"cg_iu_a":31.6796455,"cg_iv_a":-183.179672,"cg_iw_a":151.500031,"cg_sample_age_us":23.7872734,"cg_sample_seq":2079017,"cg_sample_valid":1,"cg_theta_rad":4.54390717,"cg_vd_req_v":-1.58917499,"cg_vd_v":-1.58917499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5018692,"cg_vq_v":-8.5018692,"cg_vu_v":105.134323,"cg_vv_v":85.3391571,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2485.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.125885,"temp_inv2_c":38.4216919,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":143.063843,"values":{"Elec_RPM":-2347.03833,"EncoderCos":29881,"EncoderSin":12588,"GapTicks":49320,"Mech_RPM":-469.407684,"cg_du":50.758625,"cg_dv":44.8371239,"cg_dw":55.1628761,"cg_id_a":-4.93154383,"cg_id_raw_a":-9.55128574,"cg_iq_a":-196.430542,"cg_iq_raw_a":-195.435089,"cg_iu_a":100.108002,"cg_iv_a":-196.734863,"cg_iw_a":96.6268539,"cg_sample_age_us":23.772728,"cg_sample_seq":2080767,"cg_sample_valid":1,"cg_theta_rad":4.59560061,"cg_vd_req_v":-1.83311915,"cg_vd_v":-1.83311915,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48952389,"cg_vq_v":-8.48952389,"cg_vu_v":9.67763615,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2534.64966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.4281921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":143.127626,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":143.127632,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":143.127637,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":143.395874,"values":{"Elec_RPM":-2349.9917,"EncoderCos":41248,"EncoderSin":14246,"GapTicks":49400,"Mech_RPM":-469.998352,"cg_du":51.3626366,"cg_dv":55.0900497,"cg_dw":44.9099503,"cg_id_a":-17.2845573,"cg_id_raw_a":-14.5291634,"cg_iq_a":-196.021912,"cg_iq_raw_a":-196.41156,"cg_iu_a":-17.2857742,"cg_iv_a":177.73642,"cg_iw_a":-160.450653,"cg_sample_age_us":23.9799995,"cg_sample_seq":2082467,"cg_sample_valid":1,"cg_theta_rad":5.16027451,"cg_vd_req_v":-1.57160974,"cg_vd_v":-1.57160974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46246719,"cg_vq_v":-8.46246719,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2434.12573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.4281921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":143.747437,"values":{"Elec_RPM":-2351.76855,"EncoderCos":31476,"EncoderSin":12457,"GapTicks":49814,"Mech_RPM":-470.353729,"cg_du":53.7192421,"cg_dv":45.2857552,"cg_dw":54.7142448,"cg_id_a":18.6514091,"cg_id_raw_a":17.8820133,"cg_iq_a":-201.382935,"cg_iq_raw_a":-200.386475,"cg_iu_a":162.664856,"cg_iv_a":-186.006683,"cg_iw_a":23.3418274,"cg_sample_age_us":23.7218189,"cg_sample_seq":2084267,"cg_sample_valid":1,"cg_theta_rad":4.66640043,"cg_vd_req_v":-2.27534628,"cg_vd_v":-2.27534628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35253716,"cg_vq_v":-8.35253716,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.407074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":144.081421,"values":{"Elec_RPM":-2347.04541,"EncoderCos":52819,"EncoderSin":33112,"GapTicks":49593,"Mech_RPM":-469.409058,"cg_du":54.9152451,"cg_dv":52.7401962,"cg_dw":45.0847549,"cg_id_a":7.73460579,"cg_id_raw_a":5.43472004,"cg_iq_a":-202.587708,"cg_iq_raw_a":-201.085907,"cg_iu_a":57.6302299,"cg_iv_a":139.172989,"cg_iw_a":-196.803223,"cg_sample_age_us":23.5690918,"cg_sample_seq":2085867,"cg_sample_valid":1,"cg_theta_rad":0.0281923804,"cg_vd_req_v":-2.1055727,"cg_vd_v":-2.1055727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36820507,"cg_vq_v":-8.36820507,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.1517639,"temp_inv2_c":38.4411926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":144.151274,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":144.151279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":144.151284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":144.413452,"values":{"Elec_RPM":-2350.24512,"EncoderCos":49157,"EncoderSin":44462,"GapTicks":49347,"Mech_RPM":-470.049011,"cg_du":44.8848343,"cg_dv":48.4708366,"cg_dw":55.1151657,"cg_id_a":-1.09613168,"cg_id_raw_a":-8.42557716,"cg_iq_a":-196.574295,"cg_iq_raw_a":-198.618073,"cg_iu_a":-104.234726,"cg_iv_a":-91.1203461,"cg_iw_a":195.355072,"cg_sample_age_us":23.4127274,"cg_sample_seq":2087566,"cg_sample_valid":1,"cg_theta_rad":0.616386116,"cg_vd_req_v":-1.93376267,"cg_vd_v":-1.93376267,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45623779,"cg_vq_v":-8.45623779,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2485.0354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.4476929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":144.766968,"values":{"Elec_RPM":-2355.73389,"EncoderCos":40183,"EncoderSin":51479,"GapTicks":49320,"Mech_RPM":-471.14679,"cg_du":55.1629181,"cg_dv":49.2088814,"cg_dw":44.8370819,"cg_id_a":-14.0308571,"cg_id_raw_a":-12.5624094,"cg_iq_a":-196.447189,"cg_iq_raw_a":-198.275955,"cg_iu_a":150.052002,"cg_iv_a":37.6902466,"cg_iw_a":-187.742249,"cg_sample_age_us":23.9618187,"cg_sample_seq":2089266,"cg_sample_valid":1,"cg_theta_rad":1.19294477,"cg_vd_req_v":-1.62000048,"cg_vd_v":-1.62000048,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48199463,"cg_vq_v":-8.48199463,"cg_vu_v":32.9919434,"cg_vv_v":17.5957031,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2483.20508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.4721069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":145.097046,"values":{"Elec_RPM":-2346.30884,"EncoderCos":28740,"EncoderSin":52631,"GapTicks":49747,"Mech_RPM":-469.26178,"cg_du":45.2245827,"cg_dv":53.407402,"cg_dw":54.7754173,"cg_id_a":5.36735725,"cg_id_raw_a":9.80401421,"cg_iq_a":-201.608917,"cg_iq_raw_a":-201.355286,"cg_iu_a":-175.816299,"cg_iv_a":1.15647888,"cg_iw_a":174.659821,"cg_sample_age_us":23.8381824,"cg_sample_seq":2090966,"cg_sample_valid":1,"cg_theta_rad":1.77063167,"cg_vd_req_v":-1.96504962,"cg_vd_v":-1.96504962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40434647,"cg_vq_v":-8.40434647,"cg_vu_v":37.830761,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2437.052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.1776428,"temp_inv2_c":38.4721069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":145.11114,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":145.111145,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":145.111149,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":145.43103,"values":{"Elec_RPM":-2347.03711,"EncoderCos":18511,"EncoderSin":47256,"GapTicks":49712,"Mech_RPM":-469.40744,"cg_du":54.8069572,"cg_dv":45.1930428,"cg_dw":46.7508202,"cg_id_a":16.7107372,"cg_id_raw_a":16.4276905,"cg_iq_a":-203.40863,"cg_iq_raw_a":-202.581955,"cg_iu_a":193.037201,"cg_iv_a":-34.2537689,"cg_iw_a":-158.783432,"cg_sample_age_us":23.9690914,"cg_sample_seq":2092666,"cg_sample_valid":1,"cg_theta_rad":2.35036492,"cg_vd_req_v":-2.23692942,"cg_vd_v":-2.23692942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3279171,"cg_vq_v":-8.3279171,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2454.05811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.1517639,"temp_inv2_c":38.470459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104083307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":145.784546,"values":{"Elec_RPM":-2349.4624,"EncoderCos":13338,"EncoderSin":26593,"GapTicks":49644,"Mech_RPM":-469.892487,"cg_du":54.8688011,"cg_dv":45.1311989,"cg_dw":52.9934235,"cg_id_a":1.24394095,"cg_id_raw_a":8.64227295,"cg_iq_a":-201.354553,"cg_iq_raw_a":-202.43306,"cg_iu_a":174.407867,"cg_iv_a":-172.125305,"cg_iw_a":-2.28256226,"cg_sample_age_us":24.136364,"cg_sample_seq":2094316,"cg_sample_valid":1,"cg_theta_rad":3.45654821,"cg_vd_req_v":-1.88519311,"cg_vd_v":-1.88519311,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39859867,"cg_vq_v":-8.39859867,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.2035522,"temp_inv2_c":38.4607239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":146.114624,"values":{"Elec_RPM":-2347.47095,"EncoderCos":13575,"EncoderSin":25735,"GapTicks":49316,"Mech_RPM":-469.494171,"cg_du":55.1669655,"cg_dv":44.8330345,"cg_dw":50.7430725,"cg_id_a":-15.6745863,"cg_id_raw_a":-14.755291,"cg_iq_a":-195.891708,"cg_iq_raw_a":-195.918976,"cg_iu_a":185.3535,"cg_iv_a":-158.497604,"cg_iw_a":-20.6581879,"cg_sample_age_us":24.0709095,"cg_sample_seq":2096066,"cg_sample_valid":1,"cg_theta_rad":3.49469638,"cg_vd_req_v":-1.56583118,"cg_vd_v":-1.56583118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52175236,"cg_vq_v":-8.52175236,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.2035522,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":146.135224,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":146.13523,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":146.135235,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":146.448608,"values":{"Elec_RPM":-2349.88306,"EncoderCos":30524,"EncoderSin":12537,"GapTicks":49393,"Mech_RPM":-469.976624,"cg_du":51.9237938,"cg_dv":44.9030991,"cg_dw":55.0969009,"cg_id_a":8.0382843,"cg_id_raw_a":4.86358261,"cg_iq_a":-196.228394,"cg_iq_raw_a":-195.444046,"cg_iu_a":131.857605,"cg_iv_a":-195.575058,"cg_iw_a":73.9744644,"cg_sample_age_us":23.6854553,"cg_sample_seq":2097716,"cg_sample_valid":1,"cg_theta_rad":4.62604189,"cg_vd_req_v":-2.09045553,"cg_vd_v":-2.09045553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46315956,"cg_vq_v":-8.46315956,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.2813721,"temp_inv2_c":38.5274658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":146.800171,"values":{"Elec_RPM":-2351.95068,"EncoderCos":31271,"EncoderSin":12466,"GapTicks":49707,"Mech_RPM":-470.390137,"cg_du":53.3281288,"cg_dv":45.1888695,"cg_dw":54.8111305,"cg_id_a":16.7002296,"cg_id_raw_a":15.8502913,"cg_iq_a":-201.340881,"cg_iq_raw_a":-200.634354,"cg_iu_a":149.109665,"cg_iv_a":-192.566818,"cg_iw_a":43.4571533,"cg_sample_age_us":23.5945454,"cg_sample_seq":2099466,"cg_sample_valid":1,"cg_theta_rad":4.64589071,"cg_vd_req_v":-2.24676681,"cg_vd_v":-2.24676681,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36095715,"cg_vq_v":-8.36095715,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.4547615,"dclink_p_w":-2374.17139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.2035522,"temp_inv2_c":38.4981384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":147.132202,"values":{"Elec_RPM":-2351.99756,"EncoderCos":50176,"EncoderSin":22615,"GapTicks":49542,"Mech_RPM":-470.399506,"cg_du":47.713089,"cg_dv":45.0385437,"cg_dw":54.9614563,"cg_id_a":-7.22038746,"cg_id_raw_a":-4.9252739,"cg_iq_a":-203.098297,"cg_iq_raw_a":-205.87915,"cg_iu_a":9.31719875,"cg_iv_a":-178.685425,"cg_iw_a":169.368225,"cg_sample_age_us":23.9218178,"cg_sample_seq":2101116,"cg_sample_valid":1,"cg_theta_rad":5.76875401,"cg_vd_req_v":-1.79768562,"cg_vd_v":-1.79768562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38939953,"cg_vq_v":-8.38939953,"cg_vu_v":39.1504402,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.2294922,"temp_inv2_c":38.5160522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":147.159423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":147.159428,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":147.159432,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":147.485718,"values":{"Elec_RPM":-2354.36133,"EncoderCos":50199,"EncoderSin":22593,"GapTicks":49564,"Mech_RPM":-470.872284,"cg_du":47.7301483,"cg_dv":45.0587578,"cg_dw":54.9412422,"cg_id_a":-8.21716118,"cg_id_raw_a":-4.41516066,"cg_iq_a":-202.007996,"cg_iq_raw_a":-204.129379,"cg_iu_a":65.748848,"cg_iv_a":-192.92926,"cg_iw_a":127.180405,"cg_sample_age_us":23.8272724,"cg_sample_seq":2102870,"cg_sample_valid":1,"cg_theta_rad":5.82597399,"cg_vd_req_v":-1.77276385,"cg_vd_v":-1.77276385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38355255,"cg_vq_v":-8.38355255,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2493.61133,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.2554321,"temp_inv2_c":38.5176697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":147.817749,"values":{"Elec_RPM":-2358.5293,"EncoderCos":49125,"EncoderSin":44550,"GapTicks":49367,"Mech_RPM":-471.705841,"cg_du":44.8792229,"cg_dv":48.3718452,"cg_dw":55.1207771,"cg_id_a":3.60263348,"cg_id_raw_a":-1.69751239,"cg_iq_a":-198.155655,"cg_iq_raw_a":-196.199448,"cg_iu_a":-83.2495575,"cg_iv_a":-116.16481,"cg_iw_a":199.414368,"cg_sample_age_us":23.5327282,"cg_sample_seq":2104517,"cg_sample_valid":1,"cg_theta_rad":0.628065169,"cg_vd_req_v":-2.02866244,"cg_vd_v":-2.02866244,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43349361,"cg_vq_v":-8.43349361,"cg_vu_v":114.37207,"cg_vv_v":131.527878,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.2554321,"temp_inv2_c":38.4981384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":148.14978,"values":{"Elec_RPM":-2359.55347,"EncoderCos":48703,"EncoderSin":45167,"GapTicks":49613,"Mech_RPM":-471.910675,"cg_du":45.1027832,"cg_dv":47.0517044,"cg_dw":54.8972168,"cg_id_a":16.6149101,"cg_id_raw_a":16.1910248,"cg_iq_a":-203.912155,"cg_iq_raw_a":-201.32901,"cg_iu_a":-40.2281189,"cg_iv_a":-153.74968,"cg_iw_a":198.798218,"cg_sample_age_us":23.5036373,"cg_sample_seq":2106267,"cg_sample_valid":1,"cg_theta_rad":0.666515708,"cg_vd_req_v":-2.27340484,"cg_vd_v":-2.27340484,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33332348,"cg_vq_v":-8.33332348,"cg_vu_v":95.0167923,"cg_vv_v":73.0221634,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.3332825,"temp_inv2_c":38.5323486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":148.150859,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":148.150864,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":148.150869,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":148.661499,"values":{"Elec_RPM":-2353.979,"EncoderCos":31900,"EncoderSin":12432,"GapTicks":49993,"Mech_RPM":-470.795807,"cg_du":54.5510101,"cg_dv":45.4489899,"cg_dw":54.2966232,"cg_id_a":13.1194124,"cg_id_raw_a":16.7891178,"cg_iq_a":-200.796906,"cg_iq_raw_a":-200.273422,"cg_iu_a":168.971283,"cg_iv_a":-179.011627,"cg_iw_a":10.0403366,"cg_sample_age_us":24.1036358,"cg_sample_seq":2108816,"cg_sample_valid":1,"cg_theta_rad":4.68828058,"cg_vd_req_v":-2.14669943,"cg_vd_v":-2.14669943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.391572,"cg_vq_v":-8.391572,"cg_vu_v":36.9509773,"cg_vv_v":37.830761,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-17.5891933,"dclink_p_w":-2545.58984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.2813721,"temp_inv2_c":38.5290833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":149.014608,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":149.01462,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":149.014623,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":149.111173,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":149.111178,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":149.111184,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":149.143921,"values":{"Elec_RPM":-2359.29346,"EncoderCos":39814,"EncoderSin":13658,"GapTicks":49926,"Mech_RPM":-471.858673,"cg_du":54.6124992,"cg_dv":53.8048325,"cg_dw":45.3875008,"cg_id_a":9.97122097,"cg_id_raw_a":9.47540855,"cg_iq_a":-205.28421,"cg_iq_raw_a":-207.045135,"cg_iu_a":28.5626755,"cg_iv_a":160.085693,"cg_iw_a":-188.648361,"cg_sample_age_us":23.8600006,"cg_sample_seq":2111117,"cg_sample_valid":1,"cg_theta_rad":5.08373833,"cg_vd_req_v":-2.11996293,"cg_vd_v":-2.11996293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27026272,"cg_vq_v":-8.27026272,"cg_vu_v":106.014107,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2449.99805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.2813721,"temp_inv2_c":38.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":149.475952,"values":{"Elec_RPM":-2355.47168,"EncoderCos":40484,"EncoderSin":13898,"GapTicks":49811,"Mech_RPM":-471.09433,"cg_du":53.5418549,"cg_dv":54.7166138,"cg_dw":45.2833862,"cg_id_a":2.49156094,"cg_id_raw_a":6.04401731,"cg_iq_a":-203.383606,"cg_iq_raw_a":-203.487457,"cg_iu_a":5.25788927,"cg_iv_a":170.342697,"cg_iw_a":-175.600586,"cg_sample_age_us":23.9836369,"cg_sample_seq":2112867,"cg_sample_valid":1,"cg_theta_rad":5.11887693,"cg_vd_req_v":-1.97397006,"cg_vd_v":-1.97397006,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33432293,"cg_vq_v":-8.33432293,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.307312,"temp_inv2_c":38.5616455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":149.829468,"values":{"Elec_RPM":-2356.7063,"EncoderCos":41350,"EncoderSin":14319,"GapTicks":49340,"Mech_RPM":-471.341278,"cg_du":51.1125298,"cg_dv":55.1453934,"cg_dw":44.8546066,"cg_id_a":-17.2418365,"cg_id_raw_a":-17.4075184,"cg_iq_a":-196.270737,"cg_iq_raw_a":-197.432297,"cg_iu_a":-23.66469,"cg_iv_a":176.57663,"cg_iw_a":-162.154114,"cg_sample_age_us":23.8672733,"cg_sample_seq":2114616,"cg_sample_valid":1,"cg_theta_rad":5.1636796,"cg_vd_req_v":-1.58809471,"cg_vd_v":-1.58809471,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49183369,"cg_vq_v":-8.49183369,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.2813721,"temp_inv2_c":38.5616455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":150.115067,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":150.115073,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":150.115078,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":150.163452,"values":{"Elec_RPM":-2353.36475,"EncoderCos":52843,"EncoderSin":32631,"GapTicks":49477,"Mech_RPM":-470.672943,"cg_du":55.0204582,"cg_dv":51.8295593,"cg_dw":44.9795418,"cg_id_a":1.31111455,"cg_id_raw_a":-2.51380372,"cg_iq_a":-202.705505,"cg_iq_raw_a":-203.785217,"cg_iu_a":85.9004211,"cg_iv_a":116.266876,"cg_iw_a":-202.167297,"cg_sample_age_us":23.9981823,"cg_sample_seq":2116266,"cg_sample_valid":1,"cg_theta_rad":0.00606901804,"cg_vd_req_v":-1.97008634,"cg_vd_v":-1.97008634,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34413815,"cg_vq_v":-8.34413815,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.307312,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":150.515015,"values":{"Elec_RPM":-2351.40308,"EncoderCos":52850,"EncoderSin":32536,"GapTicks":49469,"Mech_RPM":-470.280609,"cg_du":55.0273438,"cg_dv":51.6433945,"cg_dw":44.9726563,"cg_id_a":0.151665926,"cg_id_raw_a":-0.0489431843,"cg_iq_a":-202.901917,"cg_iq_raw_a":-201.823166,"cg_iu_a":45.7784958,"cg_iv_a":151.314667,"cg_iw_a":-197.09317,"cg_sample_age_us":23.9436359,"cg_sample_seq":2118020,"cg_sample_valid":1,"cg_theta_rad":0.0422645248,"cg_vd_req_v":-1.94372284,"cg_vd_v":-1.94372284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32581806,"cg_vq_v":-8.32581806,"cg_vu_v":29.4728031,"cg_vv_v":19.3552723,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.3332825,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":150.847046,"values":{"Elec_RPM":-2355.83057,"EncoderCos":40912,"EncoderSin":51200,"GapTicks":49581,"Mech_RPM":-471.166107,"cg_du":54.9256859,"cg_dv":47.2970123,"cg_dw":45.0743141,"cg_id_a":-2.76125574,"cg_id_raw_a":3.62599277,"cg_iq_a":-200.123947,"cg_iq_raw_a":-203.609482,"cg_iu_a":171.399628,"cg_iv_a":2.38876343,"cg_iw_a":-173.788391,"cg_sample_age_us":23.9909096,"cg_sample_seq":2119666,"cg_sample_valid":1,"cg_theta_rad":1.15555775,"cg_vd_req_v":-1.8389709,"cg_vd_v":-1.8389709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43664169,"cg_vq_v":-8.43664169,"cg_vu_v":44.4291458,"cg_vv_v":43.549366,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-17.3880405,"dclink_p_w":-2524.1272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.307312,"temp_inv2_c":38.5926208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":151.107412,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":151.107418,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":151.107423,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":151.179077,"values":{"Elec_RPM":-2349.74463,"EncoderCos":40201,"EncoderSin":51504,"GapTicks":49301,"Mech_RPM":-469.948914,"cg_du":55.1803703,"cg_dv":49.1472244,"cg_dw":44.8196297,"cg_id_a":-11.6517076,"cg_id_raw_a":-12.9354773,"cg_iq_a":-195.596375,"cg_iq_raw_a":-196.986481,"cg_iu_a":149.254639,"cg_iv_a":37.2190857,"cg_iw_a":-179.2612,"cg_sample_age_us":23.9363632,"cg_sample_seq":2121416,"cg_sample_valid":1,"cg_theta_rad":1.18958783,"cg_vd_req_v":-1.6729033,"cg_vd_v":-1.6729033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53369141,"cg_vq_v":-8.53369141,"cg_vu_v":3.51914048,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2396.62109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.3592834,"temp_inv2_c":38.5910034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":151.532593,"values":{"Elec_RPM":-2354.27051,"EncoderCos":28664,"EncoderSin":52648,"GapTicks":49752,"Mech_RPM":-470.854095,"cg_du":45.2297668,"cg_dv":53.2323608,"cg_dw":54.7702332,"cg_id_a":5.12881041,"cg_id_raw_a":9.69371891,"cg_iq_a":-202.038818,"cg_iq_raw_a":-202.887268,"cg_iu_a":-175.16391,"cg_iv_a":-0.764465332,"cg_iw_a":175.928375,"cg_sample_age_us":23.8963642,"cg_sample_seq":2123116,"cg_sample_valid":1,"cg_theta_rad":1.77142906,"cg_vd_req_v":-1.95036542,"cg_vd_v":-1.95036542,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36160946,"cg_vq_v":-8.36160946,"cg_vu_v":6.59838867,"cg_vv_v":13.1967773,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2531.16528,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.3332825,"temp_inv2_c":38.5632935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":151.862671,"values":{"Elec_RPM":-2355.45337,"EncoderCos":18834,"EncoderSin":47575,"GapTicks":49500,"Mech_RPM":-471.090668,"cg_du":54.9994583,"cg_dv":45.0005417,"cg_dw":47.5974197,"cg_id_a":11.483469,"cg_id_raw_a":9.23119068,"cg_iq_a":-201.189117,"cg_iq_raw_a":-200.43924,"cg_iu_a":195.356812,"cg_iv_a":-47.1565704,"cg_iw_a":-148.200241,"cg_sample_age_us":24.0200005,"cg_sample_seq":2124818,"cg_sample_valid":1,"cg_theta_rad":2.3368988,"cg_vd_req_v":-2.1528008,"cg_vd_v":-2.1528008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37167835,"cg_vq_v":-8.37167835,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.5344963,"dclink_p_w":-2385.67578,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.3332825,"temp_inv2_c":38.589386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":152.130751,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":152.130757,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":152.130762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":152.196655,"values":{"Elec_RPM":-2354.89038,"EncoderCos":12914,"EncoderSin":37452,"GapTicks":49294,"Mech_RPM":-470.978058,"cg_du":44.8133583,"cg_dv":55.1866417,"cg_dw":50.939518,"cg_id_a":-4.07883978,"cg_id_raw_a":-7.69345427,"cg_iq_a":-196.841293,"cg_iq_raw_a":-195.944489,"cg_iu_a":-195.931625,"cg_iv_a":111.373962,"cg_iw_a":84.557663,"cg_sample_age_us":23.9254551,"cg_sample_seq":2126517,"cg_sample_valid":1,"cg_theta_rad":2.91095948,"cg_vd_req_v":-1.77660513,"cg_vd_v":-1.77660513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50479126,"cg_vq_v":-8.50479126,"cg_vu_v":101.615181,"cg_vv_v":104.254532,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.3592834,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":152.548218,"values":{"Elec_RPM":-2350.15601,"EncoderCos":13541,"EncoderSin":25901,"GapTicks":49354,"Mech_RPM":-470.031219,"cg_du":55.1319046,"cg_dv":44.8680954,"cg_dw":51.0612144,"cg_id_a":-16.9912949,"cg_id_raw_a":-14.5619907,"cg_iq_a":-195.66066,"cg_iq_raw_a":-196.523834,"cg_iu_a":179.300781,"cg_iv_a":-157.627777,"cg_iw_a":-21.6730118,"cg_sample_age_us":24.0490913,"cg_sample_seq":2128217,"cg_sample_valid":1,"cg_theta_rad":3.48901296,"cg_vd_req_v":-1.51460183,"cg_vd_v":-1.51460183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5031805,"cg_vq_v":-8.5031805,"cg_vu_v":143.844864,"cg_vv_v":124.489601,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.5384521,"dclink_p_w":-2545.96143,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.3592834,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":152.882202,"values":{"Elec_RPM":-2347.4314,"EncoderCos":41000,"EncoderSin":14145,"GapTicks":49460,"Mech_RPM":-469.486267,"cg_du":52.0455017,"cg_dv":55.035862,"cg_dw":44.964138,"cg_id_a":-12.6782446,"cg_id_raw_a":-6.51822615,"cg_iq_a":-198.626282,"cg_iq_raw_a":-201.135895,"cg_iu_a":0.256240368,"cg_iv_a":171.502487,"cg_iw_a":-171.758728,"cg_sample_age_us":23.8563633,"cg_sample_seq":2129816,"cg_sample_valid":1,"cg_theta_rad":5.13861036,"cg_vd_req_v":-1.66862154,"cg_vd_v":-1.66862154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45456696,"cg_vq_v":-8.45456696,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":16.7159176,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.3592834,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":153.122683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":153.122688,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":153.122694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":153.214233,"values":{"Elec_RPM":-2356.07568,"EncoderCos":31272,"EncoderSin":12454,"GapTicks":49683,"Mech_RPM":-471.215149,"cg_du":53.3429909,"cg_dv":45.1671104,"cg_dw":54.8328896,"cg_id_a":16.4044571,"cg_id_raw_a":14.6052189,"cg_iq_a":-202.22168,"cg_iq_raw_a":-201.032715,"cg_iu_a":158.315613,"cg_iv_a":-190.428436,"cg_iw_a":32.1128235,"cg_sample_age_us":23.7109089,"cg_sample_seq":2131616,"cg_sample_valid":1,"cg_theta_rad":4.65406609,"cg_vd_req_v":-2.2527051,"cg_vd_v":-2.2527051,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37246037,"cg_vq_v":-8.37246037,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.2789783,"dclink_p_w":-2355.96948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.3852539,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":153.565796,"values":{"Elec_RPM":-2358.81543,"EncoderCos":52796,"EncoderSin":32779,"GapTicks":49517,"Mech_RPM":-471.763092,"cg_du":54.9844704,"cg_dv":52.078804,"cg_dw":45.0155296,"cg_id_a":4.00192261,"cg_id_raw_a":1.99491668,"cg_iq_a":-202.728973,"cg_iq_raw_a":-201.185928,"cg_iu_a":75.679657,"cg_iv_a":124.240524,"cg_iw_a":-199.920181,"cg_sample_age_us":24.2418175,"cg_sample_seq":2133217,"cg_sample_valid":1,"cg_theta_rad":0.0122997602,"cg_vd_req_v":-2.0296247,"cg_vd_v":-2.0296247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3239336,"cg_vq_v":-8.3239336,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2383.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.3592834,"temp_inv2_c":38.5910034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":153.89978,"values":{"Elec_RPM":-2354.93628,"EncoderCos":50629,"EncoderSin":23387,"GapTicks":49307,"Mech_RPM":-470.987274,"cg_du":49.7104683,"cg_dv":44.8253098,"cg_dw":55.1746902,"cg_id_a":-9.87837315,"cg_id_raw_a":-14.3760929,"cg_iq_a":-194.569229,"cg_iq_raw_a":-195.559479,"cg_iu_a":41.9004059,"cg_iv_a":-185.716721,"cg_iw_a":143.816315,"cg_sample_age_us":23.7000008,"cg_sample_seq":2135016,"cg_sample_valid":1,"cg_theta_rad":5.8079648,"cg_vd_req_v":-1.7546283,"cg_vd_v":-1.7546283,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4991951,"cg_vq_v":-8.4991951,"cg_vu_v":9.67763615,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2464.90186,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.3852539,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":154.115235,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":154.115241,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":154.115247,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":154.231812,"values":{"Elec_RPM":-2354.74487,"EncoderCos":49169,"EncoderSin":44542,"GapTicks":49352,"Mech_RPM":-470.948975,"cg_du":44.8659286,"cg_dv":48.4832611,"cg_dw":55.1340714,"cg_id_a":5.65456676,"cg_id_raw_a":-0.431130558,"cg_iq_a":-198.768005,"cg_iq_raw_a":-196.515701,"cg_iu_a":-82.5609207,"cg_iv_a":-117.179649,"cg_iw_a":199.74057,"cg_sample_age_us":23.5363636,"cg_sample_seq":2136667,"cg_sample_valid":1,"cg_theta_rad":0.629397988,"cg_vd_req_v":-2.076545,"cg_vd_v":-2.076545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45229912,"cg_vq_v":-8.45229912,"cg_vu_v":103.374756,"cg_vv_v":98.0960464,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2440.58521,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.4112549,"temp_inv2_c":38.615448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":154.583374,"values":{"Elec_RPM":-2360.31494,"EncoderCos":52669,"EncoderSin":35105,"GapTicks":49391,"Mech_RPM":-472.062988,"cg_du":51.7353172,"cg_dv":55.0984612,"cg_dw":44.9015388,"cg_id_a":-11.5727539,"cg_id_raw_a":-8.20298862,"cg_iq_a":-197.441742,"cg_iq_raw_a":-198.250107,"cg_iu_a":-16.6333866,"cg_iv_a":177.772675,"cg_iw_a":-161.139282,"cg_sample_age_us":23.5072727,"cg_sample_seq":2138467,"cg_sample_valid":1,"cg_theta_rad":0.126425967,"cg_vd_req_v":-1.69816613,"cg_vd_v":-1.69816613,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48858356,"cg_vq_v":-8.48858356,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.3852539,"temp_inv2_c":38.6089478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":154.917358,"values":{"Elec_RPM":-2350.8457,"EncoderCos":39172,"EncoderSin":51888,"GapTicks":49425,"Mech_RPM":-470.169159,"cg_du":55.0676689,"cg_dv":51.2575073,"cg_dw":44.9323311,"cg_id_a":0.992524505,"cg_id_raw_a":-3.12916803,"cg_iq_a":-201.937637,"cg_iq_raw_a":-197.219238,"cg_iu_a":97.0272751,"cg_iv_a":106.191093,"cg_iw_a":-203.218369,"cg_sample_age_us":23.9327278,"cg_sample_seq":2140117,"cg_sample_valid":1,"cg_theta_rad":1.2480979,"cg_vd_req_v":-1.9361887,"cg_vd_v":-1.9361887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35995674,"cg_vq_v":-8.35995674,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2496.24194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.3852539,"temp_inv2_c":38.615448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":155.13956,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":155.139566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":155.139571,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":155.268921,"values":{"Elec_RPM":-2349.90259,"EncoderCos":18873,"EncoderSin":47628,"GapTicks":49452,"Mech_RPM":-469.980499,"cg_du":55.0427361,"cg_dv":44.9572639,"cg_dw":47.7927666,"cg_id_a":11.586936,"cg_id_raw_a":7.94244432,"cg_iq_a":-201.396515,"cg_iq_raw_a":-200.369949,"cg_iu_a":190.391388,"cg_iv_a":-31.9703979,"cg_iw_a":-158.42099,"cg_sample_age_us":26.8672733,"cg_sample_seq":2141770,"cg_sample_valid":1,"cg_theta_rad":2.35900092,"cg_vd_req_v":-2.17015004,"cg_vd_v":-2.17015004,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38946533,"cg_vq_v":-8.38946533,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2483.87793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.4372864,"temp_inv2_c":38.6219788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":155.602905,"values":{"Elec_RPM":-2350.45483,"EncoderCos":17861,"EncoderSin":46594,"GapTicks":49787,"Mech_RPM":-470.090973,"cg_du":54.7388382,"cg_dv":46.3911362,"cg_dw":45.2611618,"cg_id_a":4.63933754,"cg_id_raw_a":10.7812529,"cg_iq_a":-201.110199,"cg_iq_raw_a":-200.505676,"cg_iu_a":174.697815,"cg_iv_a":-5.87484741,"cg_iw_a":-168.822968,"cg_sample_age_us":23.9872723,"cg_sample_seq":2143517,"cg_sample_valid":1,"cg_theta_rad":2.39619303,"cg_vd_req_v":-1.97349095,"cg_vd_v":-1.97349095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42280865,"cg_vq_v":-8.42280865,"cg_vu_v":105.574219,"cg_vv_v":91.0577545,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.4112549,"temp_inv2_c":38.6350403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":155.934937,"values":{"Elec_RPM":-2358.45728,"EncoderCos":13667,"EncoderSin":25466,"GapTicks":49313,"Mech_RPM":-471.691437,"cg_du":55.1691742,"cg_dv":44.8308258,"cg_dw":50.1069527,"cg_id_a":-16.3152065,"cg_id_raw_a":-17.5668869,"cg_iq_a":-194.491302,"cg_iq_raw_a":-194.121063,"cg_iu_a":187.600616,"cg_iv_a":-140.085754,"cg_iw_a":-36.5692368,"cg_sample_age_us":24.0781822,"cg_sample_seq":2145167,"cg_sample_valid":1,"cg_theta_rad":3.51126552,"cg_vd_req_v":-1.55037427,"cg_vd_v":-1.55037427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49875832,"cg_vq_v":-8.49875832,"cg_vu_v":143.404984,"cg_vv_v":134.607132,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2465.5979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":38.6366577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":156.130907,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":156.130913,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":156.130919,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":156.286499,"values":{"Elec_RPM":-2359.22705,"EncoderCos":13986,"EncoderSin":24729,"GapTicks":49396,"Mech_RPM":-471.845428,"cg_du":55.0940132,"cg_dv":44.9059868,"cg_dw":48.6434135,"cg_id_a":-3.70675349,"cg_id_raw_a":-10.8964052,"cg_iq_a":-198.13089,"cg_iq_raw_a":-196.821121,"cg_iu_a":199.633575,"cg_iv_a":-84.3789902,"cg_iw_a":-115.254585,"cg_sample_age_us":24.1145458,"cg_sample_seq":2146917,"cg_sample_valid":1,"cg_theta_rad":3.56084085,"cg_vd_req_v":-1.82674694,"cg_vd_v":-1.82674694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41687393,"cg_vq_v":-8.41687393,"cg_vu_v":45.3089333,"cg_vv_v":41.3499031,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":38.6774902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":156.620483,"values":{"Elec_RPM":-2361.50928,"EncoderCos":41997,"EncoderSin":14621,"GapTicks":49338,"Mech_RPM":-472.301849,"cg_du":49.5294762,"cg_dv":55.1465263,"cg_dw":44.8534737,"cg_id_a":-19.0701256,"cg_id_raw_a":-19.2759113,"cg_iq_a":-197.006042,"cg_iq_raw_a":-194.916412,"cg_iu_a":-60.9595947,"cg_iv_a":194.916016,"cg_iw_a":-133.956421,"cg_sample_age_us":23.9581814,"cg_sample_seq":2148517,"cg_sample_valid":1,"cg_theta_rad":5.19973421,"cg_vd_req_v":-1.57015598,"cg_vd_v":-1.57015598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46818352,"cg_vq_v":-8.46818352,"cg_vu_v":118.770996,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.2644806,"dclink_p_w":-2353.87134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":38.4372864,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":156.950562,"values":{"Elec_RPM":-2361.93237,"EncoderCos":42492,"EncoderSin":14912,"GapTicks":49422,"Mech_RPM":-472.386475,"cg_du":48.5197906,"cg_dv":55.070385,"cg_dw":44.929615,"cg_id_a":-8.51794052,"cg_id_raw_a":-12.8778496,"cg_iq_a":-199.562637,"cg_iq_raw_a":-199.027573,"cg_iu_a":-112.135887,"cg_iv_a":200.135117,"cg_iw_a":-103.221642,"cg_sample_age_us":23.8600006,"cg_sample_seq":2150268,"cg_sample_valid":1,"cg_theta_rad":5.23814964,"cg_vd_req_v":-1.79474854,"cg_vd_v":-1.79474854,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40329838,"cg_vq_v":-8.40329838,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":38.6578979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":157.122862,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":157.122868,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":157.122873,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":157.304077,"values":{"Elec_RPM":-2360.44922,"EncoderCos":50699,"EncoderSin":23535,"GapTicks":49285,"Mech_RPM":-472.089844,"cg_du":50.0146484,"cg_dv":44.8048363,"cg_dw":55.1951637,"cg_id_a":-7.79041147,"cg_id_raw_a":-10.7760172,"cg_iq_a":-197.156281,"cg_iq_raw_a":-196.17955,"cg_iu_a":62.3056831,"cg_iv_a":-191.080811,"cg_iw_a":138.524719,"cg_sample_age_us":23.7472725,"cg_sample_seq":2151967,"cg_sample_valid":1,"cg_theta_rad":5.82110167,"cg_vd_req_v":-1.80231714,"cg_vd_v":-1.80231714,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46572304,"cg_vq_v":-8.46572304,"cg_vu_v":104.254532,"cg_vv_v":77.4210892,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2546.21948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":38.6546326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":157.636108,"values":{"Elec_RPM":-2357.40674,"EncoderCos":51095,"EncoderSin":24406,"GapTicks":49370,"Mech_RPM":-471.481323,"cg_du":51.7587395,"cg_dv":44.8825798,"cg_dw":55.1174202,"cg_id_a":9.07418919,"cg_id_raw_a":6.73329782,"cg_iq_a":-199.819336,"cg_iq_raw_a":-199.014664,"cg_iu_a":124.572586,"cg_iv_a":-198.692017,"cg_iw_a":74.1194305,"cg_sample_age_us":23.7399998,"cg_sample_seq":2153716,"cg_sample_valid":1,"cg_theta_rad":5.87303066,"cg_vd_req_v":-2.16104817,"cg_vd_v":-2.16104817,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4192028,"cg_vq_v":-8.4192028,"cg_vu_v":18.4754887,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.4893494,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":157.96814,"values":{"Elec_RPM":-2355.19116,"EncoderCos":39753,"EncoderSin":51631,"GapTicks":49314,"Mech_RPM":-471.038239,"cg_du":55.1681862,"cg_dv":50.0864143,"cg_dw":44.8318138,"cg_id_a":-7.87982798,"cg_id_raw_a":-7.38732433,"cg_iq_a":-196.552261,"cg_iq_raw_a":-197.928848,"cg_iu_a":115.729095,"cg_iv_a":77.7034454,"cg_iw_a":-195.534683,"cg_sample_age_us":23.954546,"cg_sample_seq":2155318,"cg_sample_valid":1,"cg_theta_rad":1.22778773,"cg_vd_req_v":-1.74603319,"cg_vd_v":-1.74603319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4588232,"cg_vq_v":-8.4588232,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2415.76685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":38.6170959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":158.146819,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":158.146824,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":158.14683,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":158.382202,"values":{"Elec_RPM":-2356.22607,"EncoderCos":51580,"EncoderSin":25651,"GapTicks":50026,"Mech_RPM":-471.245209,"cg_du":54.4426003,"cg_dv":45.4790001,"cg_dw":54.5209999,"cg_id_a":16.0325413,"cg_id_raw_a":20.941164,"cg_iq_a":-202.427551,"cg_iq_raw_a":-202.442413,"cg_iu_a":169.33371,"cg_iv_a":-181.367462,"cg_iw_a":12.0337524,"cg_sample_age_us":24.187273,"cg_sample_seq":2157217,"cg_sample_valid":1,"cg_theta_rad":5.93801737,"cg_vd_req_v":-2.23805714,"cg_vd_v":-2.23805714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39316177,"cg_vq_v":-8.39316177,"cg_vu_v":143.404984,"cg_vv_v":129.768311,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2450.46851,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.4893494,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":158.89978,"values":{"Elec_RPM":-2344.69434,"EncoderCos":15309,"EncoderSin":43305,"GapTicks":49870,"Mech_RPM":-468.938873,"cg_du":53.7622337,"cg_dv":54.6635284,"cg_dw":45.3364716,"cg_id_a":6.60980606,"cg_id_raw_a":13.5701542,"cg_iq_a":-201.580566,"cg_iq_raw_a":-202.968246,"cg_iu_a":6.92510605,"cg_iv_a":170.415176,"cg_iw_a":-177.340286,"cg_sample_age_us":23.9181824,"cg_sample_seq":2159866,"cg_sample_valid":1,"cg_theta_rad":2.60313296,"cg_vd_req_v":-1.97905302,"cg_vd_v":-1.97905302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39325237,"cg_vq_v":-8.39325237,"cg_vu_v":0.87978512,"cg_vv_v":6.1584959,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":38.6807556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104536511,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":159.010824,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":159.010834,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":159.010837,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":159.107284,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":159.10729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":159.107295,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":159.315796,"values":{"Elec_RPM":-2340.30176,"EncoderCos":20427,"EncoderSin":16386,"GapTicks":49733,"Mech_RPM":-468.060333,"cg_du":45.2124863,"cg_dv":54.7875137,"cg_dw":46.7243271,"cg_id_a":2.8636241,"cg_id_raw_a":8.89959812,"cg_iq_a":-203.568512,"cg_iq_raw_a":-204.964127,"cg_iu_a":-174.366547,"cg_iv_a":175.416824,"cg_iw_a":-1.05027771,"cg_sample_age_us":23.9290905,"cg_sample_seq":2162066,"cg_sample_valid":1,"cg_theta_rad":4.07628202,"cg_vd_req_v":-1.9296385,"cg_vd_v":-1.9296385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3561554,"cg_vq_v":-8.3561554,"cg_vu_v":0.87978512,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":38.7297668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":159.647827,"values":{"Elec_RPM":-2346.98022,"EncoderCos":41869,"EncoderSin":14513,"GapTicks":49336,"Mech_RPM":-469.396027,"cg_du":49.9092102,"cg_dv":55.1487732,"cg_dw":44.8512268,"cg_id_a":-17.5382309,"cg_id_raw_a":-19.8367329,"cg_iq_a":-195.860474,"cg_iq_raw_a":-194.472336,"cg_iu_a":-39.3582687,"cg_iv_a":186.507446,"cg_iw_a":-147.14917,"cg_sample_age_us":23.8600006,"cg_sample_seq":2163716,"cg_sample_valid":1,"cg_theta_rad":5.18484116,"cg_vd_req_v":-1.59796309,"cg_vd_v":-1.59796309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48168945,"cg_vq_v":-8.48168945,"cg_vu_v":108.653458,"cg_vv_v":106.893898,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":38.6742249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":159.979858,"values":{"Elec_RPM":-2351.87891,"EncoderCos":50244,"EncoderSin":22684,"GapTicks":49520,"Mech_RPM":-470.375763,"cg_du":47.9502983,"cg_dv":45.0186768,"cg_dw":54.9813232,"cg_id_a":-9.03673172,"cg_id_raw_a":-6.34360266,"cg_iq_a":-202.849411,"cg_iq_raw_a":-205.779282,"cg_iu_a":5.6928153,"cg_iv_a":-178.105515,"cg_iw_a":172.412704,"cg_sample_age_us":23.8672733,"cg_sample_seq":2165416,"cg_sample_valid":1,"cg_theta_rad":5.76827955,"cg_vd_req_v":-1.75591564,"cg_vd_v":-1.75591564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34746552,"cg_vq_v":-8.34746552,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.8338394,"dclink_p_w":-2580.99634,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":38.7166748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":160.13103,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":160.131035,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":160.131039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":160.333374,"values":{"Elec_RPM":-2348.86523,"EncoderCos":49406,"EncoderSin":44119,"GapTicks":49289,"Mech_RPM":-469.773041,"cg_du":44.8088303,"cg_dv":49.2603416,"cg_dw":55.1911697,"cg_id_a":-7.55138302,"cg_id_raw_a":-10.9277058,"cg_iq_a":-197.337021,"cg_iq_raw_a":-199.157242,"cg_iu_a":-98.653183,"cg_iv_a":-96.1582184,"cg_iw_a":194.811401,"cg_sample_age_us":23.5363636,"cg_sample_seq":2167066,"cg_sample_valid":1,"cg_theta_rad":0.615982175,"cg_vd_req_v":-1.80506516,"cg_vd_v":-1.80506516,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4881897,"cg_vq_v":-8.4881897,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-17.2720585,"dclink_p_w":-2492.09473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.5414429,"temp_inv2_c":38.7052307,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":160.665405,"values":{"Elec_RPM":-2348.1084,"EncoderCos":48945,"EncoderSin":44852,"GapTicks":49466,"Mech_RPM":-469.621704,"cg_du":44.9694481,"cg_dv":47.7904854,"cg_dw":55.0305519,"cg_id_a":12.2365255,"cg_id_raw_a":5.87087154,"cg_iq_a":-199.819458,"cg_iq_raw_a":-200.512283,"cg_iu_a":-74.5872803,"cg_iv_a":-122.543732,"cg_iw_a":197.131012,"cg_sample_age_us":23.4272728,"cg_sample_seq":2168816,"cg_sample_valid":1,"cg_theta_rad":0.638041973,"cg_vd_req_v":-2.19832683,"cg_vd_v":-2.19832683,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4168396,"cg_vq_v":-8.4168396,"cg_vu_v":128.448624,"cg_vv_v":109.533249,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2508.60596,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.5414429,"temp_inv2_c":38.7166748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":160.99939,"values":{"Elec_RPM":-2352.72803,"EncoderCos":29062,"EncoderSin":52668,"GapTicks":49988,"Mech_RPM":-470.545624,"cg_du":45.4440804,"cg_dv":54.1691017,"cg_dw":54.5559196,"cg_id_a":10.8173494,"cg_id_raw_a":11.8939734,"cg_iq_a":-203.652405,"cg_iq_raw_a":-203.211853,"cg_iu_a":-181.832779,"cg_iv_a":9.34757996,"cg_iw_a":172.485199,"cg_sample_age_us":23.8999996,"cg_sample_seq":2170466,"cg_sample_valid":1,"cg_theta_rad":1.75393164,"cg_vd_req_v":-2.08203053,"cg_vd_v":-2.08203053,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32837105,"cg_vq_v":-8.32837105,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-17.5511379,"dclink_p_w":-2540.08228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7166748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":161.123636,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":161.123641,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":161.123646,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":161.350952,"values":{"Elec_RPM":-2352.86426,"EncoderCos":28530,"EncoderSin":52608,"GapTicks":49631,"Mech_RPM":-470.572845,"cg_du":45.1198044,"cg_dv":52.8695984,"cg_dw":54.8801956,"cg_id_a":0.224911213,"cg_id_raw_a":4.56116629,"cg_iq_a":-201.801193,"cg_iq_raw_a":-201.705887,"cg_iu_a":-172.554352,"cg_iv_a":-0.184570313,"cg_iw_a":172.738922,"cg_sample_age_us":23.863636,"cg_sample_seq":2172217,"cg_sample_valid":1,"cg_theta_rad":1.78007901,"cg_vd_req_v":-1.85608268,"cg_vd_v":-1.85608268,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38343906,"cg_vq_v":-8.38343906,"cg_vu_v":114.811958,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":161.682983,"values":{"Elec_RPM":-2351.76855,"EncoderCos":12950,"EncoderSin":37677,"GapTicks":49291,"Mech_RPM":-470.353729,"cg_du":44.8106728,"cg_dv":55.1893272,"cg_dw":50.522644,"cg_id_a":-7.98880911,"cg_id_raw_a":-12.9875641,"cg_iq_a":-194.778809,"cg_iq_raw_a":-193.98645,"cg_iu_a":-195.786652,"cg_iv_a":110.830299,"cg_iw_a":84.9563522,"cg_sample_age_us":23.9218178,"cg_sample_seq":2173867,"cg_sample_valid":1,"cg_theta_rad":2.91153526,"cg_vd_req_v":-1.69410014,"cg_vd_v":-1.69410014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51992798,"cg_vq_v":-8.51992798,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":162.034546,"values":{"Elec_RPM":-2357.14624,"EncoderCos":17760,"EncoderSin":46484,"GapTicks":49674,"Mech_RPM":-471.42926,"cg_du":54.8413391,"cg_dv":46.7211304,"cg_dw":45.1586609,"cg_id_a":3.50390959,"cg_id_raw_a":7.90329647,"cg_iq_a":-197.643372,"cg_iq_raw_a":-197.30397,"cg_iu_a":170.058594,"cg_iv_a":-2.64912415,"cg_iw_a":-167.40947,"cg_sample_age_us":24.0090904,"cg_sample_seq":2175667,"cg_sample_valid":1,"cg_theta_rad":2.40027404,"cg_vd_req_v":-1.94034505,"cg_vd_v":-1.94034505,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4675827,"cg_vq_v":-8.4675827,"cg_vu_v":143.404984,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2439.9458,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7788391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":162.115206,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":162.115211,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":162.115217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":162.36853,"values":{"Elec_RPM":-2354.05371,"EncoderCos":19945,"EncoderSin":16762,"GapTicks":50006,"Mech_RPM":-470.81076,"cg_du":45.7587433,"cg_dv":54.5399551,"cg_dw":45.4600449,"cg_id_a":12.8102283,"cg_id_raw_a":14.5255356,"cg_iq_a":-206.952927,"cg_iq_raw_a":-207.620422,"cg_iu_a":-167.733917,"cg_iv_a":186.906128,"cg_iw_a":-19.1722031,"cg_sample_age_us":23.8999996,"cg_sample_seq":2177267,"cg_sample_valid":1,"cg_theta_rad":4.04675436,"cg_vd_req_v":-2.1399262,"cg_vd_v":-2.1399262,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2961483,"cg_vq_v":-8.2961483,"cg_vu_v":109.533249,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2514.58154,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":162.698608,"values":{"Elec_RPM":-2357.01929,"EncoderCos":20575,"EncoderSin":16279,"GapTicks":49592,"Mech_RPM":-471.40387,"cg_du":45.0843811,"cg_dv":54.9156189,"cg_dw":47.1582947,"cg_id_a":-0.372628689,"cg_id_raw_a":5.17449665,"cg_iq_a":-201.022903,"cg_iq_raw_a":-202.701447,"cg_iu_a":-172.626846,"cg_iv_a":172.734787,"cg_iw_a":-0.107940674,"cg_sample_age_us":23.9254551,"cg_sample_seq":2179017,"cg_sample_valid":1,"cg_theta_rad":4.08299541,"cg_vd_req_v":-1.86114204,"cg_vd_v":-1.86114204,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43083763,"cg_vq_v":-8.43083763,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2523.82178,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7085266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":163.052124,"values":{"Elec_RPM":-2355.33008,"EncoderCos":31579,"EncoderSin":12437,"GapTicks":49894,"Mech_RPM":-471.06604,"cg_du":53.9703102,"cg_dv":45.3582497,"cg_dw":54.6417503,"cg_id_a":16.807415,"cg_id_raw_a":16.6848831,"cg_iq_a":-200.655746,"cg_iq_raw_a":-200.196548,"cg_iu_a":164.042114,"cg_iv_a":-182.998444,"cg_iw_a":18.9563217,"cg_sample_age_us":24.1181812,"cg_sample_seq":2180717,"cg_sample_valid":1,"cg_theta_rad":4.66964483,"cg_vd_req_v":-2.23444748,"cg_vd_v":-2.23444748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38499069,"cg_vq_v":-8.38499069,"cg_vu_v":106.453995,"cg_vv_v":89.7380829,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2466.38452,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":38.5936279,"temp_inv2_c":38.7575684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":163.139509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":163.139516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":163.139522,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":163.386108,"values":{"Elec_RPM":-2359.16113,"EncoderCos":42864,"EncoderSin":15117,"GapTicks":49537,"Mech_RPM":-471.832214,"cg_du":47.8354187,"cg_dv":54.9656601,"cg_dw":45.0343399,"cg_id_a":0.757235527,"cg_id_raw_a":-4.72432995,"cg_iq_a":-203.40593,"cg_iq_raw_a":-201.273163,"cg_iu_a":-115.035393,"cg_iv_a":203.759506,"cg_iw_a":-88.7241135,"cg_sample_age_us":23.8600006,"cg_sample_seq":2182416,"cg_sample_valid":1,"cg_theta_rad":5.2421875,"cg_vd_req_v":-1.99693656,"cg_vd_v":-1.99693656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32079124,"cg_vq_v":-8.32079124,"cg_vu_v":11.4372072,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2424.94629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.5936279,"temp_inv2_c":38.7510071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":163.71814,"values":{"Elec_RPM":-2359.19141,"EncoderCos":50742,"EncoderSin":23693,"GapTicks":49276,"Mech_RPM":-471.838287,"cg_du":50.3273354,"cg_dv":44.7969322,"cg_dw":55.2030678,"cg_id_a":-6.12700891,"cg_id_raw_a":-8.2860775,"cg_iq_a":-197.028931,"cg_iq_raw_a":-196.926117,"cg_iu_a":76.9481964,"cg_iv_a":-192.421844,"cg_iw_a":131.130981,"cg_sample_age_us":23.6563644,"cg_sample_seq":2184116,"cg_sample_valid":1,"cg_theta_rad":5.83066607,"cg_vd_req_v":-1.85374784,"cg_vd_v":-1.85374784,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50100136,"cg_vq_v":-8.50100136,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.6197205,"temp_inv2_c":38.7608337,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104335092,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":164.071655,"values":{"Elec_RPM":-2357.92578,"EncoderCos":52706,"EncoderSin":35018,"GapTicks":49444,"Mech_RPM":-471.585144,"cg_du":51.9221115,"cg_dv":55.0508575,"cg_dw":44.9491425,"cg_id_a":-10.7133503,"cg_id_raw_a":-5.47893,"cg_iq_a":-195.999084,"cg_iq_raw_a":-198.483017,"cg_iu_a":-14.7124634,"cg_iv_a":176.540375,"cg_iw_a":-161.827911,"cg_sample_age_us":23.3872719,"cg_sample_seq":2185816,"cg_sample_valid":1,"cg_theta_rad":0.125846267,"cg_vd_req_v":-1.69995606,"cg_vd_v":-1.69995606,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49994087,"cg_vq_v":-8.49994087,"cg_vu_v":17.1558094,"cg_vv_v":13.6366701,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4405937,"dclink_p_w":-2524.08398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.6197205,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":164.131426,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":164.131432,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":164.131436,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":164.401733,"values":{"Elec_RPM":-2360.83691,"EncoderCos":48223,"EncoderSin":45808,"GapTicks":50090,"Mech_RPM":-472.167358,"cg_du":45.747921,"cg_dv":45.5372581,"cg_dw":54.4627419,"cg_id_a":11.000103,"cg_id_raw_a":15.8437004,"cg_iq_a":-207.568848,"cg_iq_raw_a":-207.619766,"cg_iu_a":-13.1177349,"cg_iv_a":-174.082458,"cg_iw_a":188.432495,"cg_sample_age_us":23.5036373,"cg_sample_seq":2187516,"cg_sample_valid":1,"cg_theta_rad":0.704653084,"cg_vd_req_v":-2.12767935,"cg_vd_v":-2.12767935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24156284,"cg_vq_v":-8.24156284,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2385.15283,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.5675354,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":164.755249,"values":{"Elec_RPM":-2359.35693,"EncoderCos":39421,"EncoderSin":51750,"GapTicks":49341,"Mech_RPM":-471.871368,"cg_du":55.1441956,"cg_dv":50.7732315,"cg_dw":44.8558044,"cg_id_a":-4.71209812,"cg_id_raw_a":-8.54599094,"cg_iq_a":-200.337158,"cg_iq_raw_a":-201.29097,"cg_iu_a":65.7850876,"cg_iv_a":135.729828,"cg_iw_a":-201.514923,"cg_sample_age_us":23.8927269,"cg_sample_seq":2189220,"cg_sample_valid":1,"cg_theta_rad":1.27610195,"cg_vd_req_v":-1.82479584,"cg_vd_v":-1.82479584,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40697002,"cg_vq_v":-8.40697002,"cg_vu_v":44.4291458,"cg_vv_v":35.1914063,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.6197205,"temp_inv2_c":38.7837219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":165.08728,"values":{"Elec_RPM":-2357.57568,"EncoderCos":27316,"EncoderSin":52318,"GapTicks":49337,"Mech_RPM":-471.515137,"cg_du":44.8522034,"cg_dv":49.8833008,"cg_dw":55.1477966,"cg_id_a":-14.2428083,"cg_id_raw_a":-15.2024765,"cg_iq_a":-197.209991,"cg_iq_raw_a":-196.288177,"cg_iu_a":-136.636719,"cg_iv_a":-54.695282,"cg_iw_a":191.332001,"cg_sample_age_us":23.8709087,"cg_sample_seq":2190917,"cg_sample_valid":1,"cg_theta_rad":1.84002113,"cg_vd_req_v":-1.58710468,"cg_vd_v":-1.58710468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48235607,"cg_vq_v":-8.48235607,"cg_vu_v":95.8965836,"cg_vv_v":89.7380829,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2477.03833,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.6197205,"temp_inv2_c":38.8164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":165.123315,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":165.12332,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":165.123325,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":165.421265,"values":{"Elec_RPM":-2361.61719,"EncoderCos":12730,"EncoderSin":36581,"GapTicks":49532,"Mech_RPM":-472.323456,"cg_du":45.0294571,"cg_dv":54.9705429,"cg_dw":52.6011047,"cg_id_a":7.7326498,"cg_id_raw_a":2.73495817,"cg_iq_a":-199.455444,"cg_iq_raw_a":-198.627319,"cg_iu_a":-195.279236,"cg_iv_a":64.2207336,"cg_iw_a":131.058502,"cg_sample_age_us":23.9327278,"cg_sample_seq":2192567,"cg_sample_valid":1,"cg_theta_rad":2.95270276,"cg_vd_req_v":-2.01931667,"cg_vd_v":-2.01931667,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41193962,"cg_vq_v":-8.41193962,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2478.23706,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":38.5936279,"temp_inv2_c":38.7902832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":165.770874,"values":{"Elec_RPM":-2359.27539,"EncoderCos":12574,"EncoderSin":35634,"GapTicks":50050,"Mech_RPM":-471.855103,"cg_du":45.5005951,"cg_dv":54.4994049,"cg_dw":54.4985237,"cg_id_a":11.4771976,"cg_id_raw_a":15.3090992,"cg_iq_a":-200.567902,"cg_iq_raw_a":-201.695419,"cg_iu_a":-182.630142,"cg_iv_a":16.6325836,"cg_iw_a":165.997559,"cg_sample_age_us":23.9290905,"cg_sample_seq":2194316,"cg_sample_valid":1,"cg_theta_rad":3.00275683,"cg_vd_req_v":-2.07287526,"cg_vd_v":-2.07287526,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40364075,"cg_vq_v":-8.40364075,"cg_vu_v":38.7105446,"cg_vv_v":54.1067848,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2407.90112,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":38.6458435,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":166.104858,"values":{"Elec_RPM":-2357.94629,"EncoderCos":20994,"EncoderSin":15978,"GapTicks":49400,"Mech_RPM":-471.589264,"cg_du":44.9093513,"cg_dv":55.0906487,"cg_dw":48.4963303,"cg_id_a":-11.4087372,"cg_id_raw_a":-11.0900259,"cg_iq_a":-197.597153,"cg_iq_raw_a":-198.117218,"cg_iu_a":-180.781708,"cg_iv_a":159.107101,"cg_iw_a":21.6746063,"cg_sample_age_us":23.9654541,"cg_sample_seq":2195967,"cg_sample_valid":1,"cg_theta_rad":4.11167049,"cg_vd_req_v":-1.63806272,"cg_vd_v":-1.63806272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47310257,"cg_vq_v":-8.47310257,"cg_vu_v":129.768311,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2453.27124,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":38.6458435,"temp_inv2_c":38.7919006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":166.146908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":166.146912,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":166.146916,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":166.438843,"values":{"Elec_RPM":-2355.88843,"EncoderCos":14464,"EncoderSin":23603,"GapTicks":49775,"Mech_RPM":-471.177704,"cg_du":54.7491722,"cg_dv":45.2508278,"cg_dw":46.4394417,"cg_id_a":16.6134472,"cg_id_raw_a":15.8889055,"cg_iq_a":-202.603455,"cg_iq_raw_a":-200.954865,"cg_iu_a":187.093201,"cg_iv_a":-31.3904877,"cg_iw_a":-155.702713,"cg_sample_age_us":24.0781822,"cg_sample_seq":2197767,"cg_sample_valid":1,"cg_theta_rad":3.61329865,"cg_vd_req_v":-2.21560359,"cg_vd_v":-2.21560359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35948086,"cg_vq_v":-8.35948086,"cg_vu_v":143.404984,"cg_vv_v":132.407669,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2501.26636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.6458435,"temp_inv2_c":38.8410339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":166.790405,"values":{"Elec_RPM":-2359.8396,"EncoderCos":43180,"EncoderSin":15311,"GapTicks":49613,"Mech_RPM":-471.967926,"cg_du":47.1707535,"cg_dv":54.8967209,"cg_dw":45.1032791,"cg_id_a":7.87036991,"cg_id_raw_a":5.52031994,"cg_iq_a":-204.260498,"cg_iq_raw_a":-203.278366,"cg_iu_a":-143.450562,"cg_iv_a":198.939087,"cg_iw_a":-55.4885178,"cg_sample_age_us":23.9509087,"cg_sample_seq":2199366,"cg_sample_valid":1,"cg_theta_rad":5.26619005,"cg_vd_req_v":-2.13916302,"cg_vd_v":-2.13916302,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32986927,"cg_vq_v":-8.32986927,"cg_vu_v":39.1504402,"cg_vv_v":68.1833496,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2457.31934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.6980896,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":167.122437,"values":{"Elec_RPM":-2355.28467,"EncoderCos":33456,"EncoderSin":12415,"GapTicks":49306,"Mech_RPM":-471.056915,"cg_du":55.1757355,"cg_dv":44.8242645,"cg_dw":50.3886414,"cg_id_a":-17.9183254,"cg_id_raw_a":-18.5843716,"cg_iq_a":-195.955719,"cg_iq_raw_a":-195.348389,"cg_iu_a":188.144272,"cg_iv_a":-147.407013,"cg_iw_a":-40.7372665,"cg_sample_age_us":24.0563641,"cg_sample_seq":2201167,"cg_sample_valid":1,"cg_theta_rad":4.76245022,"cg_vd_req_v":-1.54342425,"cg_vd_v":-1.54342425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49204826,"cg_vq_v":-8.49204826,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2407.90112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":38.6458435,"temp_inv2_c":38.8410339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":167.138661,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":167.138667,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":167.138672,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":167.456421,"values":{"Elec_RPM":-2350.50415,"EncoderCos":52626,"EncoderSin":35465,"GapTicks":49331,"Mech_RPM":-470.10083,"cg_du":50.8366051,"cg_dv":55.1534195,"cg_dw":44.8465805,"cg_id_a":-16.2152367,"cg_id_raw_a":-13.2937412,"cg_iq_a":-194.575607,"cg_iq_raw_a":-194.754349,"cg_iu_a":-32.037014,"cg_iv_a":179.113708,"cg_iw_a":-156.282623,"cg_sample_age_us":23.4854546,"cg_sample_seq":2202766,"cg_sample_valid":1,"cg_theta_rad":0.14624311,"cg_vd_req_v":-1.60503936,"cg_vd_v":-1.60503936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49959183,"cg_vq_v":-8.49959183,"cg_vu_v":21.5547352,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2472.24536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":38.6980896,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":167.807983,"values":{"Elec_RPM":-2354.95313,"EncoderCos":51554,"EncoderSin":25611,"GapTicks":49990,"Mech_RPM":-470.990601,"cg_du":54.3016472,"cg_dv":45.4458885,"cg_dw":54.5541115,"cg_id_a":18.232523,"cg_id_raw_a":21.9099026,"cg_iq_a":-201.52652,"cg_iq_raw_a":-201.372574,"cg_iu_a":169.87738,"cg_iv_a":-180.243912,"cg_iw_a":10.3665314,"cg_sample_age_us":24.2163639,"cg_sample_seq":2204566,"cg_sample_valid":1,"cg_theta_rad":5.9364934,"cg_vd_req_v":-2.27824235,"cg_vd_v":-2.27824235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36394119,"cg_vq_v":-8.36394119,"cg_vu_v":44.8690414,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2453.79565,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":38.6980896,"temp_inv2_c":38.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":168.131415,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":168.131421,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":168.131426,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":168.140015,"values":{"Elec_RPM":-2354.92236,"EncoderCos":38463,"EncoderSin":52088,"GapTicks":49523,"Mech_RPM":-470.984497,"cg_du":54.9783058,"cg_dv":52.6395111,"cg_dw":45.0216942,"cg_id_a":13.5562744,"cg_id_raw_a":9.30666637,"cg_iq_a":-202.451385,"cg_iq_raw_a":-200.264801,"cg_iu_a":53.5709229,"cg_iv_a":143.2323,"cg_iw_a":-196.803223,"cg_sample_age_us":23.9181824,"cg_sample_seq":2206167,"cg_sample_valid":1,"cg_theta_rad":1.28477371,"cg_vd_req_v":-2.18424797,"cg_vd_v":-2.18424797,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39452362,"cg_vq_v":-8.39452362,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2451.82813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":38.6719666,"temp_inv2_c":38.8361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":168.643921,"values":{"Elec_RPM":-2351.11841,"EncoderCos":52726,"EncoderSin":34380,"GapTicks":49799,"Mech_RPM":-470.223694,"cg_du":53.5692825,"cg_dv":54.7279358,"cg_dw":45.2720642,"cg_id_a":3.91527081,"cg_id_raw_a":7.99137068,"cg_iq_a":-203.81488,"cg_iq_raw_a":-205.582581,"cg_iu_a":10.9844151,"cg_iv_a":170.378937,"cg_iw_a":-181.363358,"cg_sample_age_us":23.40909,"cg_sample_seq":2208616,"cg_sample_valid":1,"cg_theta_rad":0.0832474306,"cg_vd_req_v":-2.00348711,"cg_vd_v":-2.00348711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35588169,"cg_vq_v":-8.35588169,"cg_vu_v":103.814644,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.7503967,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":168.995309,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":168.995331,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":168.995342,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":169.123303,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":169.123308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":169.123313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":169.134155,"values":{"Elec_RPM":-2350.01685,"EncoderCos":41294,"EncoderSin":14283,"GapTicks":49375,"Mech_RPM":-470.003357,"cg_du":51.2350464,"cg_dv":55.1130791,"cg_dw":44.8869209,"cg_id_a":-18.1182098,"cg_id_raw_a":-15.6448507,"cg_iq_a":-197.000397,"cg_iq_raw_a":-196.820999,"cg_iu_a":-19.8590889,"cg_iv_a":179.911057,"cg_iw_a":-160.051971,"cg_sample_age_us":23.9436359,"cg_sample_seq":2211067,"cg_sample_valid":1,"cg_theta_rad":5.16320848,"cg_vd_req_v":-1.56473339,"cg_vd_v":-1.56473339,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45759392,"cg_vq_v":-8.45759392,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2517.19629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.7242432,"temp_inv2_c":38.867218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":169.466187,"values":{"Elec_RPM":-2354.33911,"EncoderCos":31752,"EncoderSin":12431,"GapTicks":50009,"Mech_RPM":-470.867828,"cg_du":54.2781868,"cg_dv":45.4635773,"cg_dw":54.5364227,"cg_id_a":17.8607788,"cg_id_raw_a":21.5616379,"cg_iq_a":-202.79335,"cg_iq_raw_a":-201.952728,"cg_iu_a":170.783478,"cg_iv_a":-182.382294,"cg_iw_a":11.5988159,"cg_sample_age_us":24.1145458,"cg_sample_seq":2212866,"cg_sample_valid":1,"cg_theta_rad":4.6799798,"cg_vd_req_v":-2.24737358,"cg_vd_v":-2.24737358,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33418655,"cg_vq_v":-8.33418655,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2422.28198,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":38.7242432,"temp_inv2_c":38.8590393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":169.819702,"values":{"Elec_RPM":-2353.31177,"EncoderCos":50420,"EncoderSin":23043,"GapTicks":49344,"Mech_RPM":-470.662354,"cg_du":48.8680344,"cg_dv":44.8586006,"cg_dw":55.1413994,"cg_id_a":-12.0588188,"cg_id_raw_a":-12.2185297,"cg_iq_a":-198.11438,"cg_iq_raw_a":-200.918549,"cg_iu_a":21.7850761,"cg_iv_a":-181.548691,"cg_iw_a":159.763611,"cg_sample_age_us":23.7436371,"cg_sample_seq":2214516,"cg_sample_valid":1,"cg_theta_rad":5.78845501,"cg_vd_req_v":-1.71066022,"cg_vd_v":-1.71066022,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4904995,"cg_vq_v":-8.4904995,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":38.7242432,"temp_inv2_c":38.8606873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":170.115494,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":170.115498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":170.115503,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":170.14978,"values":{"Elec_RPM":-2354.38037,"EncoderCos":50803,"EncoderSin":23816,"GapTicks":49304,"Mech_RPM":-470.876099,"cg_du":50.6026115,"cg_dv":44.8223572,"cg_dw":55.1776428,"cg_id_a":-4.37106609,"cg_id_raw_a":-8.13498116,"cg_iq_a":-196.628983,"cg_iq_raw_a":-196.424286,"cg_iu_a":68.1409454,"cg_iv_a":-193.871597,"cg_iw_a":125.730652,"cg_sample_age_us":23.641819,"cg_sample_seq":2216266,"cg_sample_valid":1,"cg_theta_rad":5.83104229,"cg_vd_req_v":-1.88049555,"cg_vd_v":-1.88049555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49271774,"cg_vq_v":-8.49271774,"cg_vu_v":10.1175289,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.174202,"dclink_p_w":-2485.53052,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":38.7242432,"temp_inv2_c":38.8803406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":170.483765,"values":{"Elec_RPM":-2351.49243,"EncoderCos":48934,"EncoderSin":44754,"GapTicks":49460,"Mech_RPM":-470.298492,"cg_du":44.9645386,"cg_dv":47.9342003,"cg_dw":55.0354614,"cg_id_a":10.694479,"cg_id_raw_a":5.29098415,"cg_iq_a":-201.298462,"cg_iq_raw_a":-199.614655,"cg_iu_a":-53.2396584,"cg_iv_a":-144.072571,"cg_iw_a":197.312225,"cg_sample_age_us":23.5363636,"cg_sample_seq":2217918,"cg_sample_valid":1,"cg_theta_rad":0.653438449,"cg_vd_req_v":-2.1683743,"cg_vd_v":-2.1683743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37150288,"cg_vq_v":-8.37150288,"cg_vu_v":99.8556061,"cg_vv_v":85.3391571,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2457.46753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.7242432,"temp_inv2_c":38.8967285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":170.83728,"values":{"Elec_RPM":-2348.78906,"EncoderCos":48358,"EncoderSin":45568,"GapTicks":49982,"Mech_RPM":-469.757813,"cg_du":45.4384041,"cg_dv":45.9696655,"cg_dw":54.5615959,"cg_id_a":13.3161612,"cg_id_raw_a":15.9356546,"cg_iq_a":-207.386169,"cg_iq_raw_a":-204.303223,"cg_iu_a":-24.4982986,"cg_iv_a":-166.000092,"cg_iw_a":190.498383,"cg_sample_age_us":23.5363636,"cg_sample_seq":2219667,"cg_sample_valid":1,"cg_theta_rad":0.692113578,"cg_vd_req_v":-2.19320917,"cg_vd_v":-2.19320917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2717514,"cg_vq_v":-8.2717514,"cg_vu_v":99.4157181,"cg_vv_v":73.462059,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-17.4677753,"dclink_p_w":-2528.01782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.7503967,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":171.139333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":171.139339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":171.139344,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":171.167358,"values":{"Elec_RPM":-2351.22607,"EncoderCos":28024,"EncoderSin":52484,"GapTicks":49444,"Mech_RPM":-470.245239,"cg_du":44.9496155,"cg_dv":51.533493,"cg_dw":55.0503845,"cg_id_a":-10.3527651,"cg_id_raw_a":-10.0391855,"cg_iq_a":-198.512146,"cg_iq_raw_a":-197.300751,"cg_iu_a":-160.30394,"cg_iv_a":-20.879776,"cg_iw_a":181.183716,"cg_sample_age_us":23.8963642,"cg_sample_seq":2221317,"cg_sample_valid":1,"cg_theta_rad":1.80635476,"cg_vd_req_v":-1.64475191,"cg_vd_v":-1.64475191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43578911,"cg_vq_v":-8.43578911,"cg_vu_v":101.615181,"cg_vv_v":100.735397,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2515.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":171.501343,"values":{"Elec_RPM":-2354.31665,"EncoderCos":17877,"EncoderSin":46629,"GapTicks":49997,"Mech_RPM":-470.863312,"cg_du":54.5475388,"cg_dv":45.7787056,"cg_dw":45.4524612,"cg_id_a":7.31980658,"cg_id_raw_a":11.8146639,"cg_iq_a":-201.494568,"cg_iq_raw_a":-203.0952,"cg_iu_a":176.691223,"cg_iv_a":-3.95391846,"cg_iw_a":-172.737305,"cg_sample_age_us":23.9581814,"cg_sample_seq":2223016,"cg_sample_valid":1,"cg_theta_rad":2.39550662,"cg_vd_req_v":-2.0301578,"cg_vd_v":-2.0301578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36057663,"cg_vq_v":-8.37296581,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2444.0918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":38.7503967,"temp_inv2_c":38.9114685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":171.852905,"values":{"Elec_RPM":-2358.33594,"EncoderCos":12681,"EncoderSin":36376,"GapTicks":49600,"Mech_RPM":-471.667206,"cg_du":45.0913811,"cg_dv":54.9086189,"cg_dw":53.0453949,"cg_id_a":8.56284714,"cg_id_raw_a":8.7162838,"cg_iq_a":-199.306778,"cg_iq_raw_a":-200.200363,"cg_iu_a":-194.010712,"cg_iv_a":51.3904266,"cg_iw_a":142.620285,"cg_sample_age_us":23.9618187,"cg_sample_seq":2224716,"cg_sample_valid":1,"cg_theta_rad":2.96720386,"cg_vd_req_v":-2.0390625,"cg_vd_v":-2.0390625,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44414902,"cg_vq_v":-8.44414902,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2428.55737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":172.18689,"values":{"Elec_RPM":-2357.83691,"EncoderCos":13868,"EncoderSin":25079,"GapTicks":49325,"Mech_RPM":-471.567383,"cg_du":55.1585922,"cg_dv":44.8414078,"cg_dw":49.2855949,"cg_id_a":-10.8527756,"cg_id_raw_a":-15.698226,"cg_iq_a":-196.64946,"cg_iq_raw_a":-195.199966,"cg_iu_a":196.407867,"cg_iv_a":-103.769432,"cg_iw_a":-92.6384354,"cg_sample_age_us":24.0745449,"cg_sample_seq":2226417,"cg_sample_valid":1,"cg_theta_rad":3.54533386,"cg_vd_req_v":-1.68125892,"cg_vd_v":-1.68125892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48322678,"cg_vq_v":-8.48322678,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2862263,"dclink_p_w":-2357.01855,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.9082031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":172.207561,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":172.207564,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":172.207566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":172.538452,"values":{"Elec_RPM":-2351.93457,"EncoderCos":20666,"EncoderSin":16252,"GapTicks":49597,"Mech_RPM":-470.386902,"cg_du":45.0890198,"cg_dv":54.9109802,"cg_dw":47.436203,"cg_id_a":-3.83078527,"cg_id_raw_a":1.35070837,"cg_iq_a":-200.422729,"cg_iq_raw_a":-201.71669,"cg_iu_a":-183.789948,"cg_iv_a":154.431641,"cg_iw_a":29.3583069,"cg_sample_age_us":23.8345451,"cg_sample_seq":2228119,"cg_sample_valid":1,"cg_theta_rad":4.12337255,"cg_vd_req_v":-1.7872864,"cg_vd_v":-1.7872864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38319397,"cg_vq_v":-8.38319397,"cg_vu_v":15.3962402,"cg_vv_v":27.2733402,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-17.2720604,"dclink_p_w":-2499.69287,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":172.870483,"values":{"Elec_RPM":-2359.49854,"EncoderCos":31891,"EncoderSin":12438,"GapTicks":49993,"Mech_RPM":-471.899689,"cg_du":54.5513306,"cg_dv":45.4486694,"cg_dw":54.37146,"cg_id_a":14.6097803,"cg_id_raw_a":20.3836727,"cg_iq_a":-202.374542,"cg_iq_raw_a":-202.641464,"cg_iu_a":170.384796,"cg_iv_a":-179.555298,"cg_iw_a":9.17049408,"cg_sample_age_us":24.1509094,"cg_sample_seq":2229817,"cg_sample_valid":1,"cg_theta_rad":4.6865325,"cg_vd_req_v":-2.18267798,"cg_vd_v":-2.18267798,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36408043,"cg_vq_v":-8.36408043,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.6196709,"dclink_p_w":-2397.96533,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.7503967,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":173.107407,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":173.107412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":173.107417,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":173.204468,"values":{"Elec_RPM":-2363.50098,"EncoderCos":32714,"EncoderSin":12399,"GapTicks":49464,"Mech_RPM":-472.700195,"cg_du":55.0325165,"cg_dv":44.9674835,"cg_dw":52.1821327,"cg_id_a":-9.21007824,"cg_id_raw_a":-2.60202384,"cg_iq_a":-198.230743,"cg_iq_raw_a":-200.491074,"cg_iu_a":173.103088,"cg_iv_a":-168.428436,"cg_iw_a":-4.67465973,"cg_sample_age_us":24.0636368,"cg_sample_seq":2231567,"cg_sample_valid":1,"cg_theta_rad":4.72591209,"cg_vd_req_v":-1.69981217,"cg_vd_v":-1.69981217,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4744072,"cg_vq_v":-8.4744072,"cg_vu_v":130.648087,"cg_vv_v":117.891212,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.9360962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":173.55603,"values":{"Elec_RPM":-2364.95166,"EncoderCos":52828,"EncoderSin":33777,"GapTicks":49957,"Mech_RPM":-472.990356,"cg_du":54.5843468,"cg_dv":54.0054131,"cg_dw":45.4156532,"cg_id_a":9.20070744,"cg_id_raw_a":8.14954948,"cg_iq_a":-205.192078,"cg_iq_raw_a":-207.000336,"cg_iu_a":2.97452784,"cg_iv_a":172.29985,"cg_iw_a":-175.274384,"cg_sample_age_us":26.3836365,"cg_sample_seq":2233170,"cg_sample_valid":1,"cg_theta_rad":0.0970534608,"cg_vd_req_v":-2.11432648,"cg_vd_v":-2.11432648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28911209,"cg_vq_v":-8.28911209,"cg_vu_v":107.333786,"cg_vv_v":106.893898,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2428.09326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":38.7765808,"temp_inv2_c":38.8721619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":173.888062,"values":{"Elec_RPM":-2361.06543,"EncoderCos":51288,"EncoderSin":24861,"GapTicks":49559,"Mech_RPM":-472.213104,"cg_du":52.6747818,"cg_dv":45.0538597,"cg_dw":54.9461403,"cg_id_a":15.8317595,"cg_id_raw_a":14.6115141,"cg_iq_a":-201.888428,"cg_iq_raw_a":-201.134109,"cg_iu_a":148.819702,"cg_iv_a":-194.560211,"cg_iw_a":45.7405167,"cg_sample_age_us":23.7690907,"cg_sample_seq":2234966,"cg_sample_valid":1,"cg_theta_rad":5.89832163,"cg_vd_req_v":-2.2772851,"cg_vd_v":-2.2772851,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3543644,"cg_vq_v":-8.3543644,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2511.9668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":38.8027649,"temp_inv2_c":38.8983765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":174.1309,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":174.130905,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":174.130909,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":174.222046,"values":{"Elec_RPM":-2362.9707,"EncoderCos":39114,"EncoderSin":51858,"GapTicks":49388,"Mech_RPM":-472.594116,"cg_du":55.1009407,"cg_dv":51.3364029,"cg_dw":44.8990593,"cg_id_a":2.64383888,"cg_id_raw_a":-2.21862817,"cg_iq_a":-201.093567,"cg_iq_raw_a":-196.947433,"cg_iu_a":92.6417694,"cg_iv_a":108.619431,"cg_iw_a":-201.2612,"cg_sample_age_us":23.8999996,"cg_sample_seq":2236567,"cg_sample_valid":1,"cg_theta_rad":1.25068557,"cg_vd_req_v":-1.97023499,"cg_vd_v":-1.97023499,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39318466,"cg_vq_v":-8.39318466,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2508.56763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.8027649,"temp_inv2_c":38.9443054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":174.573608,"values":{"Elec_RPM":-2357.32275,"EncoderCos":47554,"EncoderSin":46540,"GapTicks":49438,"Mech_RPM":-471.464539,"cg_du":48.2735558,"cg_dv":44.9439621,"cg_dw":55.0560379,"cg_id_a":-14.6173906,"cg_id_raw_a":-8.25980663,"cg_iq_a":-198.753967,"cg_iq_raw_a":-199.501831,"cg_iu_a":15.6236258,"cg_iv_a":-179.627762,"cg_iw_a":164.004135,"cg_sample_age_us":23.7618179,"cg_sample_seq":2238367,"cg_sample_valid":1,"cg_theta_rad":0.759191394,"cg_vd_req_v":-1.60595143,"cg_vd_v":-1.60595143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46089554,"cg_vq_v":-8.46089554,"cg_vu_v":140.765625,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.8289795,"temp_inv2_c":38.9525146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":174.907593,"values":{"Elec_RPM":-2353.03516,"EncoderCos":17635,"EncoderSin":46322,"GapTicks":49570,"Mech_RPM":-470.607056,"cg_du":54.9358101,"cg_dv":47.2267952,"cg_dw":45.0641899,"cg_id_a":-1.49478865,"cg_id_raw_a":4.75412798,"cg_iq_a":-198.904694,"cg_iq_raw_a":-201.739059,"cg_iu_a":172.305725,"cg_iv_a":-2.21420288,"cg_iw_a":-170.091522,"cg_sample_age_us":23.9327278,"cg_sample_seq":2239966,"cg_sample_valid":1,"cg_theta_rad":2.40325856,"cg_vd_req_v":-1.8578763,"cg_vd_v":-1.8578763,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44318581,"cg_vq_v":-8.44318581,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-17.4478416,"dclink_p_w":-2517.45752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.8289795,"temp_inv2_c":38.9705505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":175.123557,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":175.123562,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":175.123566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":175.259155,"values":{"Elec_RPM":-2349.61157,"EncoderCos":26211,"EncoderSin":52000,"GapTicks":49455,"Mech_RPM":-469.922302,"cg_du":44.9599838,"cg_dv":47.779705,"cg_dw":55.0400162,"cg_id_a":4.5766573,"cg_id_raw_a":-1.22204721,"cg_iq_a":-198.892822,"cg_iq_raw_a":-195.895233,"cg_iu_a":-71.868988,"cg_iv_a":-125.878174,"cg_iw_a":197.747162,"cg_sample_age_us":23.8927269,"cg_sample_seq":2241767,"cg_sample_valid":1,"cg_theta_rad":1.89772391,"cg_vd_req_v":-1.99621391,"cg_vd_v":-1.99621391,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43120575,"cg_vq_v":-8.43120575,"cg_vu_v":112.172607,"cg_vv_v":120.970459,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.8289795,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":175.591187,"values":{"Elec_RPM":-2350.02881,"EncoderCos":14023,"EncoderSin":24661,"GapTicks":49367,"Mech_RPM":-470.005768,"cg_du":55.1208839,"cg_dv":44.8791161,"cg_dw":48.5384789,"cg_id_a":0.3311131,"cg_id_raw_a":-7.13177156,"cg_iq_a":-196.54422,"cg_iq_raw_a":-195.85054,"cg_iu_a":196.661575,"cg_iv_a":-91.4102859,"cg_iw_a":-105.251289,"cg_sample_age_us":24.0745449,"cg_sample_seq":2243367,"cg_sample_valid":1,"cg_theta_rad":3.55397582,"cg_vd_req_v":-1.91166532,"cg_vd_v":-1.91166532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45979691,"cg_vq_v":-8.45979691,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":38.9689331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":175.923218,"values":{"Elec_RPM":-2346.88428,"EncoderCos":12432,"EncoderSin":34527,"GapTicks":49460,"Mech_RPM":-469.376831,"cg_du":44.9644279,"cg_dv":51.7664566,"cg_dw":55.0355721,"cg_id_a":-8.75597954,"cg_id_raw_a":-8.57207966,"cg_iq_a":-199.069672,"cg_iq_raw_a":-198.334152,"cg_iu_a":-159.180389,"cg_iv_a":-25.9901581,"cg_iw_a":185.170547,"cg_sample_age_us":23.9618187,"cg_sample_seq":2245167,"cg_sample_valid":1,"cg_theta_rad":3.06777811,"cg_vd_req_v":-1.64798856,"cg_vd_v":-1.64798856,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42634296,"cg_vq_v":-8.42634296,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2413.93091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":38.8289795,"temp_inv2_c":38.9689331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":176.115138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":176.115143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":176.115148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":176.276733,"values":{"Elec_RPM":-2349.77393,"EncoderCos":21983,"EncoderSin":15401,"GapTicks":49324,"Mech_RPM":-469.954803,"cg_du":44.8400192,"cg_dv":55.1599808,"cg_dw":50.8621407,"cg_id_a":-6.62051153,"cg_id_raw_a":-13.4496984,"cg_iq_a":-197.811325,"cg_iq_raw_a":-196.57135,"cg_iu_a":-196.294067,"cg_iv_a":115.2883,"cg_iw_a":81.0057678,"cg_sample_age_us":23.8345451,"cg_sample_seq":2246817,"cg_sample_valid":1,"cg_theta_rad":4.16709137,"cg_vd_req_v":-1.78967929,"cg_vd_v":-1.78967929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47618389,"cg_vq_v":-8.47618389,"cg_vu_v":102.93486,"cg_vv_v":104.694435,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2474.05347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.8289795,"temp_inv2_c":38.9705505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":176.606812,"values":{"Elec_RPM":-2346.04346,"EncoderCos":33176,"EncoderSin":12423,"GapTicks":49353,"Mech_RPM":-469.208679,"cg_du":55.1333733,"cg_dv":44.8666267,"cg_dw":51.0427856,"cg_id_a":-14.9755192,"cg_id_raw_a":-15.1945438,"cg_iq_a":-195.039108,"cg_iq_raw_a":-195.46814,"cg_iu_a":179.808197,"cg_iv_a":-155.235672,"cg_iw_a":-24.572525,"cg_sample_age_us":24.0490913,"cg_sample_seq":2248517,"cg_sample_valid":1,"cg_theta_rad":4.74621058,"cg_vd_req_v":-1.58794904,"cg_vd_v":-1.58794904,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51684761,"cg_vq_v":-8.51684761,"cg_vu_v":106.453995,"cg_vv_v":84.4593658,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.8551636,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":176.940796,"values":{"Elec_RPM":-2350.83594,"EncoderCos":44292,"EncoderSin":16132,"GapTicks":49734,"Mech_RPM":-470.167206,"cg_du":45.2135239,"cg_dv":54.7864761,"cg_dw":46.8329697,"cg_id_a":1.31589317,"cg_id_raw_a":6.10030937,"cg_iq_a":-202.889282,"cg_iq_raw_a":-203.709869,"cg_iu_a":-174.366547,"cg_iv_a":174.039551,"cg_iw_a":0.32699585,"cg_sample_age_us":23.9218178,"cg_sample_seq":2250216,"cg_sample_valid":1,"cg_theta_rad":5.33775997,"cg_vd_req_v":-1.96772408,"cg_vd_v":-1.96772408,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3334713,"cg_vq_v":-8.3334713,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-15.9980888,"dclink_p_w":-2315.31787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.8814087,"temp_inv2_c":38.986969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":177.139132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":177.139138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":177.139142,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":177.294312,"values":{"Elec_RPM":-2352.16284,"EncoderCos":51437,"EncoderSin":25219,"GapTicks":49704,"Mech_RPM":-470.432587,"cg_du":53.4471054,"cg_dv":45.1859322,"cg_dw":54.8140678,"cg_id_a":19.1959724,"cg_id_raw_a":18.7756367,"cg_iq_a":-202.972214,"cg_iq_raw_a":-201.819,"cg_iu_a":162.628616,"cg_iv_a":-188.181305,"cg_iw_a":25.5526886,"cg_sample_age_us":23.7690907,"cg_sample_seq":2251916,"cg_sample_valid":1,"cg_theta_rad":5.91680002,"cg_vd_req_v":-2.33688211,"cg_vd_v":-2.33688211,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35834122,"cg_vq_v":-8.35834122,"cg_vu_v":10.5574207,"cg_vv_v":1.75957024,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2512.22827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.8814087,"temp_inv2_c":39.0148926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":177.626343,"values":{"Elec_RPM":-2350.73096,"EncoderCos":52377,"EncoderSin":36627,"GapTicks":49379,"Mech_RPM":-470.14621,"cg_du":48.48386,"cg_dv":55.10923,"cg_dw":44.89077,"cg_id_a":-5.56708145,"cg_id_raw_a":-11.2219429,"cg_iq_a":-198.723343,"cg_iq_raw_a":-198.268921,"cg_iu_a":-101.08152,"cg_iv_a":199.229034,"cg_iw_a":-98.1475067,"cg_sample_age_us":23.4854546,"cg_sample_seq":2253616,"cg_sample_valid":1,"cg_theta_rad":0.205185741,"cg_vd_req_v":-1.86282885,"cg_vd_v":-1.86282885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45995903,"cg_vq_v":-8.45995903,"cg_vu_v":40.9100075,"cg_vv_v":71.2625961,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-17.4134102,"dclink_p_w":-2520.1499,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.8814087,"temp_inv2_c":39.0066833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":177.958374,"values":{"Elec_RPM":-2351.50024,"EncoderCos":47231,"EncoderSin":46823,"GapTicks":49361,"Mech_RPM":-470.300049,"cg_du":49.2375298,"cg_dv":44.8742676,"cg_dw":55.1257324,"cg_id_a":-16.7033501,"cg_id_raw_a":-14.471242,"cg_iq_a":-196.938416,"cg_iq_raw_a":-199.310883,"cg_iu_a":32.5857391,"cg_iv_a":-180.642593,"cg_iw_a":158.168884,"cg_sample_age_us":23.6636372,"cg_sample_seq":2255317,"cg_sample_valid":1,"cg_theta_rad":0.774505913,"cg_vd_req_v":-1.57528734,"cg_vd_v":-1.57528734,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47836113,"cg_vq_v":-8.47836113,"cg_vu_v":106.014107,"cg_vv_v":94.1370087,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":178.130937,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":178.130943,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":178.130948,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":178.36853,"values":{"Elec_RPM":-2355.24854,"EncoderCos":52154,"EncoderSin":27317,"GapTicks":49269,"Mech_RPM":-471.049683,"cg_du":55.2093201,"cg_dv":44.7906799,"cg_dw":50.1658096,"cg_id_a":-17.329052,"cg_id_raw_a":-19.0468388,"cg_iq_a":-193.133911,"cg_iq_raw_a":-193.020264,"cg_iu_a":184.628616,"cg_iv_a":-142.659058,"cg_iw_a":-41.9695587,"cg_sample_age_us":24.1727276,"cg_sample_seq":2257167,"cg_sample_valid":1,"cg_theta_rad":6.02346039,"cg_vd_req_v":-1.57528257,"cg_vd_v":-1.57528257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.56326485,"cg_vq_v":-8.56326485,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2496.54565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2583,"hz_tim_isr":5001,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.8814087,"temp_inv2_c":39.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":178.890015,"values":{"Elec_RPM":-2350.9519,"EncoderCos":14497,"EncoderSin":41809,"GapTicks":49314,"Mech_RPM":-470.190369,"cg_du":49.818573,"cg_dv":55.1690292,"cg_dw":44.8309708,"cg_id_a":-9.92895317,"cg_id_raw_a":-11.3472471,"cg_iq_a":-196.2099,"cg_iq_raw_a":-194.836685,"cg_iu_a":-51.644928,"cg_iv_a":189.660645,"cg_iw_a":-138.015717,"cg_sample_age_us":23.7909088,"cg_sample_seq":2259816,"cg_sample_valid":1,"cg_theta_rad":2.67536211,"cg_vd_req_v":-1.66632318,"cg_vd_v":-1.66632318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47771835,"cg_vq_v":-8.47771835,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2583,"hz_tim_isr":5001,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.0362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":178.994811,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":178.994824,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":178.994827,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":179.15524,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":179.155246,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":179.155252,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":179.304077,"values":{"Elec_RPM":-2352.177,"EncoderCos":41642,"EncoderSin":14464,"GapTicks":49337,"Mech_RPM":-470.435394,"cg_du":50.3367958,"cg_dv":55.1477432,"cg_dw":44.8522568,"cg_id_a":-19.9245071,"cg_id_raw_a":-17.9891129,"cg_iq_a":-195.526917,"cg_iq_raw_a":-193.788666,"cg_iu_a":-105.684486,"cg_iv_a":201.222443,"cg_iw_a":-95.5379486,"cg_sample_age_us":23.9654541,"cg_sample_seq":2261921,"cg_sample_valid":1,"cg_theta_rad":5.23438311,"cg_vd_req_v":-1.53487492,"cg_vd_v":-1.53487492,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49737072,"cg_vq_v":-8.49737072,"cg_vu_v":0.87978512,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.298912,"dclink_p_w":-2366.02417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.8814087,"temp_inv2_c":39.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":179.638062,"values":{"Elec_RPM":-2346.56616,"EncoderCos":33002,"EncoderSin":12407,"GapTicks":49391,"Mech_RPM":-469.313232,"cg_du":55.0982361,"cg_dv":44.9017639,"cg_dw":51.4613342,"cg_id_a":-12.8442726,"cg_id_raw_a":-8.77145386,"cg_iq_a":-194.941406,"cg_iq_raw_a":-196.238693,"cg_iu_a":178.21347,"cg_iv_a":-157.917725,"cg_iw_a":-20.2957535,"cg_sample_age_us":24.0636368,"cg_sample_seq":2263716,"cg_sample_valid":1,"cg_theta_rad":4.73860025,"cg_vd_req_v":-1.62264466,"cg_vd_v":-1.62264466,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50863171,"cg_vq_v":-8.50863171,"cg_vu_v":43.1094704,"cg_vv_v":40.4701157,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":39.0346375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":179.970093,"values":{"Elec_RPM":-2352.0769,"EncoderCos":52740,"EncoderSin":34428,"GapTicks":49754,"Mech_RPM":-470.415375,"cg_du":53.4972076,"cg_dv":54.7687378,"cg_dw":45.2312622,"cg_id_a":4.79229546,"cg_id_raw_a":7.94130039,"cg_iq_a":-202.452087,"cg_iq_raw_a":-203.259613,"cg_iu_a":3.22823477,"cg_iv_a":171.864929,"cg_iw_a":-175.09317,"cg_sample_age_us":23.48909,"cg_sample_seq":2265317,"cg_sample_valid":1,"cg_theta_rad":0.0933048874,"cg_vd_req_v":-2.01954222,"cg_vd_v":-2.01954222,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38811874,"cg_vq_v":-8.38811874,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2514.05859,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":39.0214539,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":180.115564,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":180.115569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":180.115573,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":180.323608,"values":{"Elec_RPM":-2359.15869,"EncoderCos":52597,"EncoderSin":35638,"GapTicks":49332,"Mech_RPM":-471.831726,"cg_du":50.9357185,"cg_dv":55.1526375,"cg_dw":44.8473625,"cg_id_a":-16.0511608,"cg_id_raw_a":-14.879077,"cg_iq_a":-197.031036,"cg_iq_raw_a":-196.470627,"cg_iu_a":-31.2034073,"cg_iv_a":184.332794,"cg_iw_a":-153.129395,"cg_sample_age_us":23.4018173,"cg_sample_seq":2267066,"cg_sample_valid":1,"cg_theta_rad":0.145490065,"cg_vd_req_v":-1.64236355,"cg_vd_v":-1.64236355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50075817,"cg_vq_v":-8.50075817,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2477.30127,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.0592651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":180.65564,"values":{"Elec_RPM":-2359.03369,"EncoderCos":47890,"EncoderSin":46116,"GapTicks":49769,"Mech_RPM":-471.806732,"cg_du":46.8387871,"cg_dv":45.2450447,"cg_dw":54.7549553,"cg_id_a":1.37384868,"cg_id_raw_a":8.40245056,"cg_iq_a":-204.957733,"cg_iq_raw_a":-207.069336,"cg_iu_a":-4.85414028,"cg_iv_a":-174.771088,"cg_iw_a":179.625229,"cg_sample_age_us":23.5181828,"cg_sample_seq":2268766,"cg_sample_valid":1,"cg_theta_rad":0.719500124,"cg_vd_req_v":-1.91956556,"cg_vd_v":-1.91956556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31870079,"cg_vq_v":-8.31870079,"cg_vu_v":105.134323,"cg_vv_v":86.2189407,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2343.90527,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":39.049408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":180.985718,"values":{"Elec_RPM":-2358.33569,"EncoderCos":38178,"EncoderSin":52124,"GapTicks":49717,"Mech_RPM":-471.667145,"cg_du":54.8025627,"cg_dv":53.140007,"cg_dw":45.1974373,"cg_id_a":15.3471737,"cg_id_raw_a":14.2109385,"cg_iq_a":-205.318207,"cg_iq_raw_a":-204.765274,"cg_iu_a":41.5742111,"cg_iv_a":156.497528,"cg_iw_a":-198.071747,"cg_sample_age_us":23.8054543,"cg_sample_seq":2270466,"cg_sample_valid":1,"cg_theta_rad":1.30185997,"cg_vd_req_v":-2.21182132,"cg_vd_v":-2.21182132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28846169,"cg_vq_v":-8.28846169,"cg_vu_v":36.9509773,"cg_vv_v":40.0302238,"cg_vw_v":39.590332,"control_outputs_enabled":1,"dclink_i_a":-17.6018791,"dclink_p_w":-2539.68286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":38.9338989,"temp_inv2_c":39.0921631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":181.107462,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":181.107468,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":181.107474,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":181.341187,"values":{"Elec_RPM":-2358.16064,"EncoderCos":26737,"EncoderSin":52139,"GapTicks":49401,"Mech_RPM":-471.632141,"cg_du":44.9106369,"cg_dv":48.7107849,"cg_dw":55.0893631,"cg_id_a":-8.64352036,"cg_id_raw_a":-12.4223404,"cg_iq_a":-200.546341,"cg_iq_raw_a":-201.036697,"cg_iu_a":-108.221558,"cg_iv_a":-93.0050049,"cg_iw_a":201.226563,"cg_sample_age_us":23.8927269,"cg_sample_seq":2272166,"cg_sample_valid":1,"cg_theta_rad":1.87311387,"cg_vd_req_v":-1.72590637,"cg_vd_v":-1.72590637,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42044163,"cg_vq_v":-8.42044163,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.5330143,"dclink_p_w":-2537.45947,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.0872192,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":181.673218,"values":{"Elec_RPM":-2360.28931,"EncoderCos":17163,"EncoderSin":45812,"GapTicks":49319,"Mech_RPM":-472.057861,"cg_du":55.1642647,"cg_dv":48.9072533,"cg_dw":44.8357353,"cg_id_a":-9.71084976,"cg_id_raw_a":-9.20740795,"cg_iq_a":-194.536972,"cg_iq_raw_a":-193.588531,"cg_iu_a":147.551178,"cg_iv_a":33.9571381,"cg_iw_a":-181.508316,"cg_sample_age_us":23.9763641,"cg_sample_seq":2273867,"cg_sample_valid":1,"cg_theta_rad":2.44693661,"cg_vd_req_v":-1.68947172,"cg_vd_v":-1.68947172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5286274,"cg_vq_v":-8.5286274,"cg_vu_v":106.014107,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2541.39355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":38.9338989,"temp_inv2_c":39.0855713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":182.02478,"values":{"Elec_RPM":-2359.76904,"EncoderCos":12656,"EncoderSin":36191,"GapTicks":49705,"Mech_RPM":-471.953796,"cg_du":45.1871262,"cg_dv":54.8128738,"cg_dw":53.3467522,"cg_id_a":12.4937973,"cg_id_raw_a":9.78278923,"cg_iq_a":-200.286392,"cg_iq_raw_a":-198.749069,"cg_iu_a":-177.918442,"cg_iv_a":7.86158752,"cg_iw_a":170.056854,"cg_sample_age_us":23.9363632,"cg_sample_seq":2275571,"cg_sample_valid":1,"cg_theta_rad":3.01705503,"cg_vd_req_v":-2.09564924,"cg_vd_v":-2.09564924,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38262939,"cg_vq_v":-8.38262939,"cg_vu_v":125.369385,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.364151,"dclink_p_w":-2368.29614,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.0674744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":182.130887,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":182.130893,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":182.130898,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":182.358765,"values":{"Elec_RPM":-2359.89917,"EncoderCos":14412,"EncoderSin":23770,"GapTicks":49684,"Mech_RPM":-471.979828,"cg_du":54.8319778,"cg_dv":45.1680222,"cg_dw":46.8004189,"cg_id_a":15.9595881,"cg_id_raw_a":14.648119,"cg_iq_a":-204.07254,"cg_iq_raw_a":-203.144379,"cg_iu_a":195.320557,"cg_iv_a":-36.5733643,"cg_iw_a":-158.747192,"cg_sample_age_us":24.1109085,"cg_sample_seq":2277266,"cg_sample_valid":1,"cg_theta_rad":3.60361052,"cg_vd_req_v":-2.21360517,"cg_vd_v":-2.21360517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32947063,"cg_vq_v":-8.32947063,"cg_vu_v":3.07924795,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.1004028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":182.688843,"values":{"Elec_RPM":-2351.06348,"EncoderCos":22052,"EncoderSin":15323,"GapTicks":49313,"Mech_RPM":-470.212708,"cg_du":44.8303986,"cg_dv":55.1696014,"cg_dw":51.0823402,"cg_id_a":-5.108181,"cg_id_raw_a":-10.8889122,"cg_iq_a":-195.677017,"cg_iq_raw_a":-194.456482,"cg_iu_a":-195.242996,"cg_iv_a":109.23558,"cg_iw_a":86.0074158,"cg_sample_age_us":23.9218178,"cg_sample_seq":2278967,"cg_sample_valid":1,"cg_theta_rad":4.17040205,"cg_vd_req_v":-1.80104661,"cg_vd_v":-1.80104661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51357651,"cg_vq_v":-8.51357651,"cg_vu_v":106.014107,"cg_vv_v":106.453995,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2444.41797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.1086121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":183.042358,"values":{"Elec_RPM":-2345.97437,"EncoderCos":33239,"EncoderSin":12421,"GapTicks":49326,"Mech_RPM":-469.194855,"cg_du":55.1576385,"cg_dv":44.8423615,"cg_dw":50.9136009,"cg_id_a":-14.7337494,"cg_id_raw_a":-14.6568279,"cg_iq_a":-193.694153,"cg_iq_raw_a":-194.619461,"cg_iu_a":179.98941,"cg_iv_a":-153.242249,"cg_iw_a":-26.7471619,"cg_sample_age_us":24.0927277,"cg_sample_seq":2280667,"cg_sample_valid":1,"cg_theta_rad":4.74962139,"cg_vd_req_v":-1.59453011,"cg_vd_v":-1.59453011,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51608562,"cg_vq_v":-8.51608562,"cg_vu_v":125.369385,"cg_vv_v":116.131638,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2525.82495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":39.1004028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":183.123079,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":183.123085,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":183.123091,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":183.37439,"values":{"Elec_RPM":-2350.8186,"EncoderCos":44079,"EncoderSin":15913,"GapTicks":49912,"Mech_RPM":-470.163727,"cg_du":45.3748207,"cg_dv":54.6251793,"cg_dw":46.0657272,"cg_id_a":8.13711166,"cg_id_raw_a":9.89038372,"cg_iq_a":-205.096375,"cg_iq_raw_a":-206.410629,"cg_iu_a":-172.880554,"cg_iv_a":180.019806,"cg_iw_a":-7.13924408,"cg_sample_age_us":23.9218178,"cg_sample_seq":2282367,"cg_sample_valid":1,"cg_theta_rad":5.32136393,"cg_vd_req_v":-2.11945152,"cg_vd_v":-2.11945152,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31919098,"cg_vq_v":-8.31919098,"cg_vu_v":102.494972,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2396.64966,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.9864197,"temp_inv2_c":39.0362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":183.706421,"values":{"Elec_RPM":-2352.11133,"EncoderCos":52587,"EncoderSin":35677,"GapTicks":49327,"Mech_RPM":-470.422241,"cg_du":50.3566704,"cg_dv":55.1566925,"cg_dw":44.8433075,"cg_id_a":-16.4135742,"cg_id_raw_a":-14.8283625,"cg_iq_a":-195.494385,"cg_iq_raw_a":-194.3591,"cg_iu_a":-42.4027519,"cg_iv_a":188.355881,"cg_iw_a":-145.953125,"cg_sample_age_us":23.4636364,"cg_sample_seq":2284017,"cg_sample_valid":1,"cg_theta_rad":0.157120198,"cg_vd_req_v":-1.60121965,"cg_vd_v":-1.60121965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50113487,"cg_vq_v":-8.50113487,"cg_vu_v":137.246475,"cg_vv_v":136.366699,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":39.0126953,"temp_inv2_c":39.1481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":184.057983,"values":{"Elec_RPM":-2349.95459,"EncoderCos":51642,"EncoderSin":25850,"GapTicks":49915,"Mech_RPM":-469.990936,"cg_du":54.6225777,"cg_dv":45.3774223,"cg_dw":54.0620918,"cg_id_a":11.5908775,"cg_id_raw_a":16.322588,"cg_iq_a":-201.567169,"cg_iq_raw_a":-201.558548,"cg_iu_a":170.56601,"cg_iv_a":-177.271912,"cg_iw_a":6.7059021,"cg_sample_age_us":24.1981812,"cg_sample_seq":2285817,"cg_sample_valid":1,"cg_theta_rad":5.94979572,"cg_vd_req_v":-2.14725327,"cg_vd_v":-2.14725327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39194012,"cg_vq_v":-8.39194012,"cg_vu_v":106.893898,"cg_vv_v":93.6971207,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.304348,"dclink_p_w":-2359.64111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":38.9864197,"temp_inv2_c":39.1234436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":184.115179,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":184.115185,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":184.115191,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":184.391968,"values":{"Elec_RPM":-2353.3208,"EncoderCos":37765,"EncoderSin":52272,"GapTicks":49955,"Mech_RPM":-470.664154,"cg_du":54.5863571,"cg_dv":54.0859299,"cg_dw":45.4136429,"cg_id_a":13.2610912,"cg_id_raw_a":13.3623056,"cg_iq_a":-205.721985,"cg_iq_raw_a":-207.296997,"cg_iu_a":22.6549301,"cg_iv_a":166.138397,"cg_iw_a":-188.793335,"cg_sample_age_us":23.9145451,"cg_sample_seq":2287416,"cg_sample_valid":1,"cg_theta_rad":1.31983328,"cg_vd_req_v":-2.16804671,"cg_vd_v":-2.16804671,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31464481,"cg_vq_v":-8.31464481,"cg_vu_v":20.2350578,"cg_vv_v":3.51914048,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2402.93311,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":38.9864197,"temp_inv2_c":39.1217957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":184.723999,"values":{"Elec_RPM":-2356.49121,"EncoderCos":36992,"EncoderSin":52440,"GapTicks":49612,"Mech_RPM":-471.298248,"cg_du":52.9961662,"cg_dv":54.8979111,"cg_dw":45.1020889,"cg_id_a":-0.104370356,"cg_id_raw_a":4.77582979,"cg_iq_a":-199.883224,"cg_iq_raw_a":-202.996124,"cg_iu_a":-0.359905005,"cg_iv_a":172.118637,"cg_iw_a":-171.758728,"cg_sample_age_us":23.9181824,"cg_sample_seq":2289166,"cg_sample_valid":1,"cg_theta_rad":1.35823667,"cg_vd_req_v":-1.87249732,"cg_vd_v":-1.87249732,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4491787,"cg_vq_v":-8.4491787,"cg_vu_v":29.0329094,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":38.9864197,"temp_inv2_c":39.1234436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":185.075562,"values":{"Elec_RPM":-2353.9314,"EncoderCos":25521,"EncoderSin":51772,"GapTicks":49799,"Mech_RPM":-470.786285,"cg_du":45.2719193,"cg_dv":46.4378738,"cg_dw":54.7280807,"cg_id_a":12.3153057,"cg_id_raw_a":10.2403765,"cg_iq_a":-202.959579,"cg_iq_raw_a":-202.715698,"cg_iu_a":-34.9002762,"cg_iv_a":-157.084106,"cg_iw_a":191.984375,"cg_sample_age_us":23.8854542,"cg_sample_seq":2290866,"cg_sample_valid":1,"cg_theta_rad":1.93485725,"cg_vd_req_v":-2.13130832,"cg_vd_v":-2.13130832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34861946,"cg_vq_v":-8.34861946,"cg_vu_v":39.590332,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.426096,"dclink_p_w":-2521.98584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1382446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":185.139014,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":185.139019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":185.139025,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":185.409546,"values":{"Elec_RPM":-2349.97778,"EncoderCos":16296,"EncoderSin":44672,"GapTicks":49458,"Mech_RPM":-469.995575,"cg_du":55.0373764,"cg_dv":51.6817169,"cg_dw":44.9626236,"cg_id_a":5.29129696,"cg_id_raw_a":0.803959608,"cg_iq_a":-202.610809,"cg_iq_raw_a":-204.081863,"cg_iu_a":81.9498444,"cg_iv_a":120.217453,"cg_iw_a":-202.167297,"cg_sample_age_us":23.9072723,"cg_sample_seq":2292566,"cg_sample_valid":1,"cg_theta_rad":2.51675725,"cg_vd_req_v":-2.01363826,"cg_vd_v":-2.01363826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33325195,"cg_vq_v":-8.33325195,"cg_vu_v":41.3499031,"cg_vv_v":47.5083961,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1843567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":185.74353,"values":{"Elec_RPM":-2363.04688,"EncoderCos":14591,"EncoderSin":23373,"GapTicks":49945,"Mech_RPM":-472.609375,"cg_du":54.594574,"cg_dv":45.405426,"cg_dw":45.8858147,"cg_id_a":15.0532455,"cg_id_raw_a":19.3278141,"cg_iq_a":-203.55957,"cg_iq_raw_a":-205.245499,"cg_iu_a":184.882324,"cg_iv_a":-19.4300232,"cg_iw_a":-165.452301,"cg_sample_age_us":24.1000004,"cg_sample_seq":2294216,"cg_sample_valid":1,"cg_theta_rad":3.62355685,"cg_vd_req_v":-2.17874384,"cg_vd_v":-2.17874384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36445236,"cg_vq_v":-8.36445236,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2536.22803,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":39.0126953,"temp_inv2_c":39.1415405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":186.095093,"values":{"Elec_RPM":-2358.9939,"EncoderCos":14987,"EncoderSin":22623,"GapTicks":49577,"Mech_RPM":-471.798767,"cg_du":54.9291191,"cg_dv":47.1703796,"cg_dw":45.0708809,"cg_id_a":-0.592283487,"cg_id_raw_a":5.38118744,"cg_iq_a":-196.735291,"cg_iq_raw_a":-199.496002,"cg_iu_a":169.732407,"cg_iv_a":2.09880066,"cg_iw_a":-171.831207,"cg_sample_age_us":23.9363632,"cg_sample_seq":2295966,"cg_sample_valid":1,"cg_theta_rad":3.66766167,"cg_vd_req_v":-1.84027958,"cg_vd_v":-1.84027958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48049736,"cg_vq_v":-8.48049736,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1547241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":186.131329,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":186.131335,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":186.13134,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":186.427124,"values":{"Elec_RPM":-2358.51538,"EncoderCos":15254,"EncoderSin":22105,"GapTicks":49374,"Mech_RPM":-471.703094,"cg_du":55.1141548,"cg_dv":48.6525192,"cg_dw":44.8858452,"cg_id_a":-12.3463278,"cg_id_raw_a":-11.0405827,"cg_iq_a":-195.186111,"cg_iq_raw_a":-194.615082,"cg_iu_a":155.452332,"cg_iv_a":22.902771,"cg_iw_a":-178.355103,"cg_sample_age_us":24.0236359,"cg_sample_seq":2297717,"cg_sample_valid":1,"cg_theta_rad":3.69453359,"cg_vd_req_v":-1.61338556,"cg_vd_v":-1.61338556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49288082,"cg_vq_v":-8.49288082,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.0653076,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":186.778687,"values":{"Elec_RPM":-2354.55664,"EncoderCos":43664,"EncoderSin":15627,"GapTicks":49911,"Mech_RPM":-470.911346,"cg_du":46.0957947,"cg_dv":54.6262436,"cg_dw":45.3737564,"cg_id_a":10.0452518,"cg_id_raw_a":9.07315063,"cg_iq_a":-206.930542,"cg_iq_raw_a":-206.877991,"cg_iu_a":-175.526352,"cg_iv_a":173.387177,"cg_iw_a":2.13918304,"cg_sample_age_us":26.8309097,"cg_sample_seq":2299321,"cg_sample_valid":1,"cg_theta_rad":5.33997726,"cg_vd_req_v":-2.17576218,"cg_vd_v":-2.17576218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29314995,"cg_vq_v":-8.29314995,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2498.63159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":187.112671,"values":{"Elec_RPM":-2349.77979,"EncoderCos":35348,"EncoderSin":12596,"GapTicks":49627,"Mech_RPM":-469.955963,"cg_du":54.8836555,"cg_dv":45.1163445,"cg_dw":46.970726,"cg_id_a":16.0234547,"cg_id_raw_a":14.5638218,"cg_iq_a":-203.605499,"cg_iq_raw_a":-202.866638,"cg_iu_a":196.697815,"cg_iv_a":-53.6804504,"cg_iw_a":-143.017365,"cg_sample_age_us":23.9872723,"cg_sample_seq":2301116,"cg_sample_valid":1,"cg_theta_rad":4.84794426,"cg_vd_req_v":-2.24774837,"cg_vd_v":-2.24774837,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34505939,"cg_vq_v":-8.34505939,"cg_vu_v":105.574219,"cg_vv_v":84.8992691,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":187.123415,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":187.123421,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":187.123427,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":187.442749,"values":{"Elec_RPM":-2356.47876,"EncoderCos":52313,"EncoderSin":37091,"GapTicks":49525,"Mech_RPM":-471.295746,"cg_du":47.7147446,"cg_dv":54.9771614,"cg_dw":45.0228386,"cg_id_a":4.95077229,"cg_id_raw_a":-1.23997617,"cg_iq_a":-201.686722,"cg_iq_raw_a":-200.745743,"cg_iu_a":-131.308868,"cg_iv_a":199.627701,"cg_iw_a":-80.9316864,"cg_sample_age_us":23.4963627,"cg_sample_seq":2302716,"cg_sample_valid":1,"cg_theta_rad":0.226811737,"cg_vd_req_v":-2.06690574,"cg_vd_v":-2.06690574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35287476,"cg_vq_v":-8.35287476,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.5620098,"dclink_p_w":-2533.93042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":39.1464844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":187.796265,"values":{"Elec_RPM":-2360.65942,"EncoderCos":52139,"EncoderSin":37785,"GapTicks":49817,"Mech_RPM":-472.131866,"cg_du":46.3833809,"cg_dv":54.7116203,"cg_dw":45.2883797,"cg_id_a":13.0904427,"cg_id_raw_a":13.8625364,"cg_iq_a":-205.731018,"cg_iq_raw_a":-204.835785,"cg_iu_a":-154.359955,"cg_iv_a":196.1483,"cg_iw_a":-41.7883453,"cg_sample_age_us":23.3981819,"cg_sample_seq":2304466,"cg_sample_valid":1,"cg_theta_rad":0.254633754,"cg_vd_req_v":-2.21646833,"cg_vd_v":-2.21646833,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2951355,"cg_vq_v":-8.2951355,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.0653076,"temp_inv2_c":39.1514282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":188.130249,"values":{"Elec_RPM":-2358.41895,"EncoderCos":46274,"EncoderSin":47812,"GapTicks":49385,"Mech_RPM":-471.683777,"cg_du":51.792572,"cg_dv":44.8957329,"cg_dw":55.1042671,"cg_id_a":4.22226429,"cg_id_raw_a":-0.649461567,"cg_iq_a":-199.124786,"cg_iq_raw_a":-199.18045,"cg_iu_a":115.946556,"cg_iv_a":-197.967148,"cg_iw_a":82.0205917,"cg_sample_age_us":23.641819,"cg_sample_seq":2306166,"cg_sample_valid":1,"cg_theta_rad":0.840413332,"cg_vd_req_v":-2.02983499,"cg_vd_v":-2.02983499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46349144,"cg_vq_v":-8.46349144,"cg_vu_v":5.27871037,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.0916443,"temp_inv2_c":39.1761475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":188.147394,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":188.1474,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":188.147405,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":188.630249,"values":{"Elec_RPM":-2348.19531,"EncoderCos":38948,"EncoderSin":51892,"GapTicks":49454,"Mech_RPM":-469.639069,"cg_du":55.0410461,"cg_dv":51.6539917,"cg_dw":44.9589539,"cg_id_a":4.84045124,"cg_id_raw_a":-0.0507645272,"cg_iq_a":-202.087662,"cg_iq_raw_a":-203.739243,"cg_iu_a":84.7043762,"cg_iv_a":103.40033,"cg_iw_a":-200.898773,"cg_sample_age_us":23.8963642,"cg_sample_seq":2308466,"cg_sample_valid":1,"cg_theta_rad":1.2554673,"cg_vd_req_v":-2.00747633,"cg_vd_v":-2.00747633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36257553,"cg_vq_v":-8.36257553,"cg_vu_v":32.1121559,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2472.74585,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":39.1443176,"temp_inv2_c":39.1843567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":189.010692,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":189.010703,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":189.010706,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":189.107322,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":189.107327,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":189.107333,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":189.12439,"values":{"Elec_RPM":-2338.89136,"EncoderCos":12375,"EncoderSin":33541,"GapTicks":49330,"Mech_RPM":-467.77829,"cg_du":44.8457794,"cg_dv":49.5259018,"cg_dw":55.1542206,"cg_id_a":-14.5774689,"cg_id_raw_a":-16.5323467,"cg_iq_a":-197.744904,"cg_iq_raw_a":-197.856918,"cg_iu_a":-131.562576,"cg_iv_a":-50.7809448,"cg_iw_a":190.607117,"cg_sample_age_us":23.9290905,"cg_sample_seq":2311216,"cg_sample_valid":1,"cg_theta_rad":3.10476327,"cg_vd_req_v":-1.57491183,"cg_vd_v":-1.57491183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48054218,"cg_vq_v":-8.48054218,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2430.73853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.1893311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":189.456421,"values":{"Elec_RPM":-2343.16919,"EncoderCos":33183,"EncoderSin":12429,"GapTicks":49353,"Mech_RPM":-468.63382,"cg_du":55.1330719,"cg_dv":44.8669281,"cg_dw":51.0071831,"cg_id_a":-16.6014538,"cg_id_raw_a":-14.9346151,"cg_iq_a":-196.930038,"cg_iq_raw_a":-197.976624,"cg_iu_a":181.511658,"cg_iv_a":-156.794159,"cg_iw_a":-24.7174988,"cg_sample_age_us":24.0672722,"cg_sample_seq":2312817,"cg_sample_valid":1,"cg_theta_rad":4.7509861,"cg_vd_req_v":-1.5601269,"cg_vd_v":-1.5601269,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46411133,"cg_vq_v":-8.46411133,"cg_vu_v":135.486908,"cg_vv_v":119.650772,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.0916443,"temp_inv2_c":39.2453918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":189.809937,"values":{"Elec_RPM":-2344.52002,"EncoderCos":44112,"EncoderSin":15962,"GapTicks":49860,"Mech_RPM":-468.904022,"cg_du":45.3275681,"cg_dv":54.6724319,"cg_dw":46.1530418,"cg_id_a":9.16678715,"cg_id_raw_a":8.02307892,"cg_iq_a":-203.697922,"cg_iq_raw_a":-204.016891,"cg_iu_a":-172.663086,"cg_iv_a":178.678772,"cg_iw_a":-6.01567841,"cg_sample_age_us":23.9581814,"cg_sample_seq":2314517,"cg_sample_valid":1,"cg_theta_rad":5.32310629,"cg_vd_req_v":-2.1426506,"cg_vd_v":-2.1426506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37583351,"cg_vq_v":-8.37583351,"cg_vu_v":104.254532,"cg_vv_v":105.134323,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2475.19678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":190.1312,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":190.131205,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":190.131211,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":190.140015,"values":{"Elec_RPM":-2350.63379,"EncoderCos":52543,"EncoderSin":35958,"GapTicks":49353,"Mech_RPM":-470.12674,"cg_du":49.7934303,"cg_dv":55.1331329,"cg_dw":44.8668671,"cg_id_a":-14.900176,"cg_id_raw_a":-17.7684193,"cg_iq_a":-198.296997,"cg_iq_raw_a":-196.186646,"cg_iu_a":-59.074913,"cg_iv_a":194.481079,"cg_iw_a":-135.406158,"cg_sample_age_us":23.48909,"cg_sample_seq":2316166,"cg_sample_valid":1,"cg_theta_rad":0.1698872,"cg_vd_req_v":-1.64809847,"cg_vd_v":-1.64809847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42071056,"cg_vq_v":-8.42071056,"cg_vu_v":17.5957031,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.0916443,"temp_inv2_c":39.1992188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":190.473999,"values":{"Elec_RPM":-2346.99731,"EncoderCos":52399,"EncoderSin":36669,"GapTicks":49426,"Mech_RPM":-469.399475,"cg_du":48.4193954,"cg_dv":55.0668144,"cg_dw":44.9331856,"cg_id_a":-6.3015337,"cg_id_raw_a":-9.5413599,"cg_iq_a":-200.846008,"cg_iq_raw_a":-200.599579,"cg_iu_a":-104.742142,"cg_iv_a":201.041214,"cg_iw_a":-96.2990723,"cg_sample_age_us":23.5181828,"cg_sample_seq":2317916,"cg_sample_valid":1,"cg_theta_rad":0.207704931,"cg_vd_req_v":-1.85051692,"cg_vd_v":-1.85051692,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37542629,"cg_vq_v":-8.37542629,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2438.61841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":190.825562,"values":{"Elec_RPM":-2349.17236,"EncoderCos":47144,"EncoderSin":46976,"GapTicks":49292,"Mech_RPM":-469.834473,"cg_du":49.5747223,"cg_dv":44.8115578,"cg_dw":55.1884422,"cg_id_a":-16.1751881,"cg_id_raw_a":-17.0873661,"cg_iq_a":-197.496887,"cg_iq_raw_a":-199.223221,"cg_iu_a":44.8361549,"cg_iv_a":-189.014923,"cg_iw_a":144.178772,"cg_sample_age_us":23.6854553,"cg_sample_seq":2319616,"cg_sample_valid":1,"cg_theta_rad":0.784410238,"cg_vd_req_v":-1.6101619,"cg_vd_v":-1.6101619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50279903,"cg_vq_v":-8.50279903,"cg_vu_v":8.35795879,"cg_vv_v":8.35795879,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":191.123201,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":191.123207,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":191.123213,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":191.157593,"values":{"Elec_RPM":-2349.59497,"EncoderCos":36878,"EncoderSin":52461,"GapTicks":49575,"Mech_RPM":-469.919006,"cg_du":52.6406593,"cg_dv":54.9311943,"cg_dw":45.0688057,"cg_id_a":-4.06894398,"cg_id_raw_a":0.704813123,"cg_iq_a":-197.562897,"cg_iq_raw_a":-200.496185,"cg_iu_a":-4.31048298,"cg_iv_a":172.916,"cg_iw_a":-171.867462,"cg_sample_age_us":23.8890915,"cg_sample_seq":2321316,"cg_sample_valid":1,"cg_theta_rad":1.36351228,"cg_vd_req_v":-1.78103757,"cg_vd_v":-1.78103757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46647835,"cg_vq_v":-8.46647835,"cg_vu_v":21.9946289,"cg_vv_v":15.836132,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.2371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":191.491577,"values":{"Elec_RPM":-2349.02441,"EncoderCos":25655,"EncoderSin":51824,"GapTicks":49732,"Mech_RPM":-469.804901,"cg_du":45.2114258,"cg_dv":46.7098427,"cg_dw":54.7885742,"cg_id_a":10.6140347,"cg_id_raw_a":9.24984264,"cg_iq_a":-202.99118,"cg_iq_raw_a":-201.748444,"cg_iu_a":-44.4324074,"cg_iv_a":-149.146698,"cg_iw_a":193.579102,"cg_sample_age_us":23.7690907,"cg_sample_seq":2323017,"cg_sample_valid":1,"cg_theta_rad":1.92847252,"cg_vd_req_v":-2.10176182,"cg_vd_v":-2.10176182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32151699,"cg_vq_v":-8.32151699,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.117981,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":191.84314,"values":{"Elec_RPM":-2349.32715,"EncoderCos":14299,"EncoderSin":24011,"GapTicks":49570,"Mech_RPM":-469.865417,"cg_du":54.9360199,"cg_dv":45.0639801,"cg_dw":47.3034897,"cg_id_a":14.3015833,"cg_id_raw_a":10.6301966,"cg_iq_a":-200.469955,"cg_iq_raw_a":-199.631317,"cg_iu_a":196.262894,"cg_iv_a":-48.6425629,"cg_iw_a":-147.620331,"cg_sample_age_us":24.0709095,"cg_sample_seq":2324616,"cg_sample_valid":1,"cg_theta_rad":3.58963251,"cg_vd_req_v":-2.18113518,"cg_vd_v":-2.18113518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39696121,"cg_vq_v":-8.39696121,"cg_vu_v":46.1887207,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2514.13037,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2602234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":192.114827,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":192.114833,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":192.114838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":192.177124,"values":{"Elec_RPM":-2349.02051,"EncoderCos":12395,"EncoderSin":33920,"GapTicks":49344,"Mech_RPM":-469.804108,"cg_du":44.8582611,"cg_dv":50.3324547,"cg_dw":55.1417389,"cg_id_a":-15.2997484,"cg_id_raw_a":-13.0639181,"cg_iq_a":-197.140594,"cg_iq_raw_a":-199.904007,"cg_iu_a":-146.313828,"cg_iv_a":-41.6475067,"cg_iw_a":187.961334,"cg_sample_age_us":23.8381824,"cg_sample_seq":2326416,"cg_sample_valid":1,"cg_theta_rad":3.08959913,"cg_vd_req_v":-1.54560769,"cg_vd_v":-1.54560769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48504639,"cg_vq_v":-8.48504639,"cg_vu_v":33.871727,"cg_vv_v":38.2706528,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2476.24878,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2750854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":192.509155,"values":{"Elec_RPM":-2347.87305,"EncoderCos":32763,"EncoderSin":12443,"GapTicks":49451,"Mech_RPM":-469.574585,"cg_du":55.044323,"cg_dv":44.955677,"cg_dw":52.0390091,"cg_id_a":-10.6303101,"cg_id_raw_a":-3.5408566,"cg_iq_a":-197.219406,"cg_iq_raw_a":-198.620132,"cg_iu_a":174.552826,"cg_iv_a":-165.710129,"cg_iw_a":-3.44237518,"cg_sample_age_us":24.0527267,"cg_sample_seq":2328017,"cg_sample_valid":1,"cg_theta_rad":4.7286005,"cg_vd_req_v":-1.66902328,"cg_vd_v":-1.66902328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46702385,"cg_vq_v":-8.46702385,"cg_vu_v":124.489601,"cg_vv_v":115.69175,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2491.83325,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2255859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":192.860718,"values":{"Elec_RPM":-2350.61328,"EncoderCos":23278,"EncoderSin":14671,"GapTicks":49770,"Mech_RPM":-470.122681,"cg_du":45.2456741,"cg_dv":54.7543259,"cg_dw":53.6993561,"cg_id_a":11.2586288,"cg_id_raw_a":9.5511713,"cg_iq_a":-199.828888,"cg_iq_raw_a":-200.352844,"cg_iu_a":-188.82785,"cg_iv_a":31.2751007,"cg_iw_a":157.55275,"cg_sample_age_us":23.9254551,"cg_sample_seq":2329816,"cg_sample_valid":1,"cg_theta_rad":4.23778009,"cg_vd_req_v":-2.14191437,"cg_vd_v":-2.14191437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41524315,"cg_vq_v":-8.41524315,"cg_vu_v":22.4345207,"cg_vv_v":27.7132301,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-17.5819435,"dclink_p_w":-2536.8064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":193.139439,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":193.139445,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":193.13945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":193.194702,"values":{"Elec_RPM":-2353.54785,"EncoderCos":51325,"EncoderSin":24991,"GapTicks":49604,"Mech_RPM":-470.709595,"cg_du":52.936512,"cg_dv":45.0951843,"cg_dw":54.9048157,"cg_id_a":18.5869102,"cg_id_raw_a":17.060648,"cg_iq_a":-200.637405,"cg_iq_raw_a":-199.843094,"cg_iu_a":144.035522,"cg_iv_a":-194.234024,"cg_iw_a":50.1985016,"cg_sample_age_us":23.6672726,"cg_sample_seq":2331416,"cg_sample_valid":1,"cg_theta_rad":5.89405966,"cg_vd_req_v":-2.31420755,"cg_vd_v":-2.31420755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38535309,"cg_vq_v":-8.38535309,"cg_vu_v":106.893898,"cg_vv_v":96.7763672,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.3717289,"dclink_p_w":-2506.47583,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.1443176,"temp_inv2_c":39.2602234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":193.546265,"values":{"Elec_RPM":-2354.70508,"EncoderCos":45271,"EncoderSin":16858,"GapTicks":49308,"Mech_RPM":-470.94101,"cg_du":44.826313,"cg_dv":55.173687,"cg_dw":49.7448349,"cg_id_a":-14.0015841,"cg_id_raw_a":-11.9877815,"cg_iq_a":-196.265732,"cg_iq_raw_a":-196.985565,"cg_iu_a":-191.437393,"cg_iv_a":137.107086,"cg_iw_a":54.3302994,"cg_sample_age_us":23.9290905,"cg_sample_seq":2333216,"cg_sample_valid":1,"cg_theta_rad":5.39809322,"cg_vd_req_v":-1.68816483,"cg_vd_v":-1.68816483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48309612,"cg_vq_v":-8.48309612,"cg_vu_v":38.2706528,"cg_vv_v":49.2679672,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2354736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":193.878296,"values":{"Elec_RPM":-2355.11206,"EncoderCos":47519,"EncoderSin":46547,"GapTicks":49425,"Mech_RPM":-471.0224,"cg_du":48.271328,"cg_dv":44.9321136,"cg_dw":55.0678864,"cg_id_a":-12.4498186,"cg_id_raw_a":-8.44156265,"cg_iq_a":-200.558701,"cg_iq_raw_a":-201.611603,"cg_iu_a":16.6384525,"cg_iv_a":-179.953964,"cg_iw_a":163.315506,"cg_sample_age_us":23.7618179,"cg_sample_seq":2334817,"cg_sample_valid":1,"cg_theta_rad":0.756124675,"cg_vd_req_v":-1.66377664,"cg_vd_v":-1.66377664,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44319916,"cg_vq_v":-8.44319916,"cg_vu_v":124.049698,"cg_vv_v":127.12896,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2452.48462,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2470398,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":194.130956,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":194.130962,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":194.130967,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":194.210327,"values":{"Elec_RPM":-2356.21265,"EncoderCos":52182,"EncoderSin":37621,"GapTicks":49692,"Mech_RPM":-471.242523,"cg_du":46.7195625,"cg_dv":54.825016,"cg_dw":45.174984,"cg_id_a":13.6552382,"cg_id_raw_a":10.7019634,"cg_iq_a":-204.87558,"cg_iq_raw_a":-203.881531,"cg_iu_a":-156.933258,"cg_iv_a":195.060974,"cg_iw_a":-38.1277161,"cg_sample_age_us":23.5,"cg_sample_seq":2336617,"cg_sample_valid":1,"cg_theta_rad":0.254393876,"cg_vd_req_v":-2.24088383,"cg_vd_v":-2.24088383,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34007168,"cg_vq_v":-8.34007168,"cg_vu_v":113.052383,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":194.563843,"values":{"Elec_RPM":-2362.11694,"EncoderCos":36701,"EncoderSin":52512,"GapTicks":49481,"Mech_RPM":-472.42337,"cg_du":52.1972961,"cg_dv":55.0167274,"cg_dw":44.9832726,"cg_id_a":-7.21421385,"cg_id_raw_a":-3.27903891,"cg_iq_a":-196.045792,"cg_iq_raw_a":-196.154419,"cg_iu_a":-12.6828079,"cg_iv_a":172.154877,"cg_iw_a":-169.040436,"cg_sample_age_us":23.8963642,"cg_sample_seq":2338267,"cg_sample_valid":1,"cg_theta_rad":1.37388015,"cg_vd_req_v":-1.72042263,"cg_vd_v":-1.72042263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4746685,"cg_vq_v":-8.4746685,"cg_vu_v":105.574219,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.2321777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":194.893921,"values":{"Elec_RPM":-2364.10986,"EncoderCos":35973,"EncoderSin":52644,"GapTicks":49335,"Mech_RPM":-472.82196,"cg_du":50.5280914,"cg_dv":55.1491699,"cg_dw":44.8508301,"cg_id_a":-10.9479046,"cg_id_raw_a":-9.68140507,"cg_iq_a":-196.971207,"cg_iq_raw_a":-195.314026,"cg_iu_a":-46.0271378,"cg_iv_a":191.291626,"cg_iw_a":-145.264496,"cg_sample_age_us":23.9290905,"cg_sample_seq":2340017,"cg_sample_valid":1,"cg_theta_rad":1.41069603,"cg_vd_req_v":-1.66864157,"cg_vd_v":-1.66864157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45699024,"cg_vq_v":-8.45699024,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2475.3606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.2817078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":195.123438,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":195.123443,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":195.123449,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":195.24939,"values":{"Elec_RPM":-2361.39551,"EncoderCos":25238,"EncoderSin":51668,"GapTicks":49991,"Mech_RPM":-472.279083,"cg_du":45.4468155,"cg_dv":45.8879547,"cg_dw":54.5531845,"cg_id_a":13.2370911,"cg_id_raw_a":14.0897217,"cg_iq_a":-207.0737,"cg_iq_raw_a":-206.161392,"cg_iu_a":-4.85414028,"cg_iv_a":-175.13353,"cg_iw_a":179.987671,"cg_sample_age_us":23.7872734,"cg_sample_seq":2341720,"cg_sample_valid":1,"cg_theta_rad":1.98403907,"cg_vd_req_v":-2.1458919,"cg_vd_v":-2.1458919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28163242,"cg_vq_v":-8.28163242,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.2783813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":195.581421,"values":{"Elec_RPM":-2357.82251,"EncoderCos":14861,"EncoderSin":22921,"GapTicks":49832,"Mech_RPM":-471.564514,"cg_du":54.6974411,"cg_dv":46.3640099,"cg_dw":45.3025589,"cg_id_a":7.47661734,"cg_id_raw_a":12.2454014,"cg_iq_a":-200.911026,"cg_iq_raw_a":-202.118256,"cg_iu_a":178.430923,"cg_iv_a":-10.0066376,"cg_iw_a":-168.424286,"cg_sample_age_us":23.9909096,"cg_sample_seq":2343316,"cg_sample_valid":1,"cg_theta_rad":3.64187336,"cg_vd_req_v":-2.00022459,"cg_vd_v":-2.00022459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36238861,"cg_vq_v":-8.36238861,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.2915955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":195.913452,"values":{"Elec_RPM":-2356.41602,"EncoderCos":12361,"EncoderSin":32891,"GapTicks":49420,"Mech_RPM":-471.283203,"cg_du":44.9277191,"cg_dv":48.3294487,"cg_dw":55.0722809,"cg_id_a":-4.63596153,"cg_id_raw_a":-8.59937954,"cg_iq_a":-196.85025,"cg_iq_raw_a":-196.363113,"cg_iu_a":-93.7240143,"cg_iv_a":-101.232376,"cg_iw_a":194.95639,"cg_sample_age_us":23.9290905,"cg_sample_seq":2345117,"cg_sample_valid":1,"cg_theta_rad":3.14013863,"cg_vd_req_v":-1.78422785,"cg_vd_v":-1.78422785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44185829,"cg_vq_v":-8.44185829,"cg_vu_v":120.530563,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.3015137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":196.147195,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":196.147201,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":196.147207,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":196.245483,"values":{"Elec_RPM":-2348.1521,"EncoderCos":34264,"EncoderSin":12488,"GapTicks":49336,"Mech_RPM":-469.630402,"cg_du":55.1488152,"cg_dv":44.8511848,"cg_dw":48.870285,"cg_id_a":-5.58283186,"cg_id_raw_a":-9.55234432,"cg_iq_a":-196.683014,"cg_iq_raw_a":-196.318832,"cg_iu_a":198.038834,"cg_iv_a":-103.878159,"cg_iw_a":-94.160675,"cg_sample_age_us":24.0927277,"cg_sample_seq":2346716,"cg_sample_valid":1,"cg_theta_rad":4.80132627,"cg_vd_req_v":-1.81956244,"cg_vd_v":-1.81956244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48012543,"cg_vq_v":-8.48012543,"cg_vu_v":43.1094704,"cg_vv_v":33.871727,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2554.37939,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":196.597046,"values":{"Elec_RPM":-2346.13989,"EncoderCos":24340,"EncoderSin":14153,"GapTicks":49564,"Mech_RPM":-469.227997,"cg_du":45.058815,"cg_dv":52.597683,"cg_dw":54.941185,"cg_id_a":-3.77394009,"cg_id_raw_a":4.3065896,"cg_iq_a":-199.626495,"cg_iq_raw_a":-201.971558,"cg_iu_a":-169.21994,"cg_iv_a":1.26519775,"cg_iw_a":170.999207,"cg_sample_age_us":23.8490906,"cg_sample_seq":2348516,"cg_sample_valid":1,"cg_theta_rad":4.2992487,"cg_vd_req_v":-1.80731249,"cg_vd_v":-1.80731249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43800163,"cg_vq_v":-8.43800163,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2452.48462,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.197052,"temp_inv2_c":39.2866211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":196.93103,"values":{"Elec_RPM":-2342.94336,"EncoderCos":51670,"EncoderSin":25843,"GapTicks":49945,"Mech_RPM":-468.588684,"cg_du":54.5950851,"cg_dv":45.4049149,"cg_dw":54.0505486,"cg_id_a":11.765625,"cg_id_raw_a":16.9510994,"cg_iq_a":-203.679413,"cg_iq_raw_a":-203.558655,"cg_iu_a":171.870789,"cg_iv_a":-180.352631,"cg_iw_a":8.48184967,"cg_sample_age_us":24.1909084,"cg_sample_seq":2350117,"cg_sample_valid":1,"cg_theta_rad":5.94766998,"cg_vd_req_v":-2.15403533,"cg_vd_v":-2.15403533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34269905,"cg_vq_v":-8.34269905,"cg_vu_v":106.014107,"cg_vv_v":79.1806641,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-17.6218128,"dclink_p_w":-2550.31079,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.2234497,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":197.139306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":197.139311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":197.139315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":197.282593,"values":{"Elec_RPM":-2349.44971,"EncoderCos":46180,"EncoderSin":17645,"GapTicks":49441,"Mech_RPM":-469.889954,"cg_du":44.9472237,"cg_dv":55.0527763,"cg_dw":52.0385361,"cg_id_a":1.34436631,"cg_id_raw_a":-2.10496545,"cg_iq_a":-198.899307,"cg_iq_raw_a":-199.776749,"cg_iu_a":-198.686157,"cg_iv_a":77.4134827,"cg_iw_a":121.272675,"cg_sample_age_us":23.9218178,"cg_sample_seq":2351916,"cg_sample_valid":1,"cg_theta_rad":5.45420647,"cg_vd_req_v":-2.02960396,"cg_vd_v":-2.02960396,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42901421,"cg_vq_v":-8.42901421,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2523.55933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2602,"hz_tim_isr":4997,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":39.3114014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":197.614624,"values":{"Elec_RPM":-2347.72412,"EncoderCos":46462,"EncoderSin":47617,"GapTicks":49371,"Mech_RPM":-469.54483,"cg_du":51.2830963,"cg_dv":44.883419,"cg_dw":55.116581,"cg_id_a":-0.0374062061,"cg_id_raw_a":-3.71540713,"cg_iq_a":-198.125977,"cg_iq_raw_a":-198.064316,"cg_iu_a":103.007507,"cg_iv_a":-197.930908,"cg_iw_a":94.9234009,"cg_sample_age_us":23.5145454,"cg_sample_seq":2353516,"cg_sample_valid":1,"cg_theta_rad":0.829126179,"cg_vd_req_v":-1.93906057,"cg_vd_v":-1.93906057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4461956,"cg_vq_v":-8.4461956,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2513.33081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2602,"hz_tim_isr":4997,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":39.3114014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":197.948608,"values":{"Elec_RPM":-2347.96753,"EncoderCos":51859,"EncoderSin":38852,"GapTicks":49616,"Mech_RPM":-469.593506,"cg_du":45.1057205,"cg_dv":54.8942795,"cg_dw":47.2289238,"cg_id_a":-2.65223742,"cg_id_raw_a":2.74781966,"cg_iq_a":-200.784195,"cg_iq_raw_a":-202.732025,"cg_iu_a":-173.931625,"cg_iv_a":170.161469,"cg_iw_a":3.77014923,"cg_sample_age_us":23.5545464,"cg_sample_seq":2355317,"cg_sample_valid":1,"cg_theta_rad":0.319463909,"cg_vd_req_v":-1.87481523,"cg_vd_v":-1.87481523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39818478,"cg_vq_v":-8.39818478,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2602,"hz_tim_isr":4997,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.2762451,"temp_inv2_c":39.3213196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":198.130863,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":198.130869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":198.130875,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":198.350952,"values":{"Elec_RPM":-2351.50757,"EncoderCos":28167,"EncoderSin":12955,"GapTicks":49735,"Mech_RPM":-470.301514,"cg_du":46.8535004,"cg_dv":45.2137718,"cg_dw":54.7862282,"cg_id_a":1.19776273,"cg_id_raw_a":6.78766108,"cg_iq_a":-205.078629,"cg_iq_raw_a":-206.241653,"cg_iu_a":-3.11443615,"cg_iv_a":-175.061035,"cg_iw_a":180.422607,"cg_sample_age_us":23.9654541,"cg_sample_seq":2357266,"cg_sample_valid":1,"cg_theta_rad":4.49603319,"cg_vd_req_v":-1.91017449,"cg_vd_v":-1.91017449,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31254101,"cg_vq_v":-8.31254101,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-15.5196705,"dclink_p_w":-2239.25195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":39.3312378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":198.86853,"values":{"Elec_RPM":-2348.84009,"EncoderCos":16841,"EncoderSin":19813,"GapTicks":49968,"Mech_RPM":-469.768005,"cg_du":54.573719,"cg_dv":54.0646057,"cg_dw":45.426281,"cg_id_a":11.4822798,"cg_id_raw_a":12.0712738,"cg_iq_a":-205.723572,"cg_iq_raw_a":-208.144409,"cg_iu_a":25.4457054,"cg_iv_a":164.978607,"cg_iw_a":-190.424316,"cg_sample_age_us":23.9654541,"cg_sample_seq":2359666,"cg_sample_valid":1,"cg_theta_rad":3.83136916,"cg_vd_req_v":-2.10589981,"cg_vd_v":-2.10589981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3016119,"cg_vq_v":-8.3016119,"cg_vu_v":31.6722641,"cg_vv_v":27.2733402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2381.49243,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":39.3477478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":198.995333,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":198.995345,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":198.995347,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":199.123,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":199.123006,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":199.123011,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":199.294312,"values":{"Elec_RPM":-2345.72583,"EncoderCos":33023,"EncoderSin":12448,"GapTicks":49386,"Mech_RPM":-469.145172,"cg_du":55.1035347,"cg_dv":44.8964653,"cg_dw":51.3936996,"cg_id_a":-13.9270973,"cg_id_raw_a":-9.45189381,"cg_iq_a":-195.085342,"cg_iq_raw_a":-196.490173,"cg_iu_a":188.832916,"cg_iv_a":-136.751312,"cg_iw_a":-52.0815964,"cg_sample_age_us":23.9654541,"cg_sample_seq":2361920,"cg_sample_valid":1,"cg_theta_rad":4.77497625,"cg_vd_req_v":-1.60348523,"cg_vd_v":-1.60348523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51056194,"cg_vq_v":-8.51056194,"cg_vu_v":106.014107,"cg_vv_v":76.9812012,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":39.2762451,"temp_inv2_c":39.3461304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":199.628296,"values":{"Elec_RPM":-2340.89526,"EncoderCos":34689,"EncoderSin":12535,"GapTicks":49398,"Mech_RPM":-468.179047,"cg_du":55.0926895,"cg_dv":44.9073105,"cg_dw":48.4691238,"cg_id_a":4.13267994,"cg_id_raw_a":1.60503376,"cg_iq_a":-198.943054,"cg_iq_raw_a":-198.278839,"cg_iu_a":197.89386,"cg_iv_a":-92.4613495,"cg_iw_a":-105.43251,"cg_sample_age_us":23.9690914,"cg_sample_seq":2363667,"cg_sample_valid":1,"cg_theta_rad":4.81466484,"cg_vd_req_v":-1.91034114,"cg_vd_v":-1.91034114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42390251,"cg_vq_v":-8.42390251,"cg_vu_v":45.7488289,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":39.3026733,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":199.960327,"values":{"Elec_RPM":-2340.48438,"EncoderCos":51512,"EncoderSin":25495,"GapTicks":49887,"Mech_RPM":-468.096863,"cg_du":54.0168533,"cg_dv":45.3526154,"cg_dw":54.6473846,"cg_id_a":19.2674599,"cg_id_raw_a":18.970644,"cg_iq_a":-204.115204,"cg_iq_raw_a":-203.635788,"cg_iu_a":168.10144,"cg_iv_a":-184.991867,"cg_iw_a":16.8904266,"cg_sample_age_us":24.187273,"cg_sample_seq":2365317,"cg_sample_valid":1,"cg_theta_rad":5.92851591,"cg_vd_req_v":-2.32792091,"cg_vd_v":-2.32792091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33432007,"cg_vq_v":-8.33432007,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.2013836,"dclink_p_w":-2481.89746,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":39.2762451,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":200.115566,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":200.115572,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":200.115577,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":200.31189,"values":{"Elec_RPM":-2345.38574,"EncoderCos":51852,"EncoderSin":26357,"GapTicks":49557,"Mech_RPM":-469.077148,"cg_du":54.9479828,"cg_dv":45.0520172,"cg_dw":52.6330566,"cg_id_a":-4.13896513,"cg_id_raw_a":4.15533447,"cg_iq_a":-199.460114,"cg_iq_raw_a":-201.793808,"cg_iu_a":174.951523,"cg_iv_a":-173.538803,"cg_iw_a":2.10293579,"cg_sample_age_us":24.136364,"cg_sample_seq":2367066,"cg_sample_valid":1,"cg_theta_rad":5.97492552,"cg_vd_req_v":-1.83876133,"cg_vd_v":-1.83876133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45252705,"cg_vq_v":-8.45252705,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2461.7644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":39.3026733,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103781186,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":200.645874,"values":{"Elec_RPM":-2346.17432,"EncoderCos":37508,"EncoderSin":52334,"GapTicks":50034,"Mech_RPM":-469.234863,"cg_du":54.2620506,"cg_dv":54.5137787,"cg_dw":45.4862213,"cg_id_a":10.6105413,"cg_id_raw_a":15.3160181,"cg_iq_a":-204.851395,"cg_iq_raw_a":-204.002106,"cg_iu_a":11.3830976,"cg_iv_a":170.125229,"cg_iw_a":-181.508331,"cg_sample_age_us":23.9036369,"cg_sample_seq":2368667,"cg_sample_valid":1,"cg_theta_rad":1.33630204,"cg_vd_req_v":-2.09989214,"cg_vd_v":-2.09989214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30368805,"cg_vq_v":-8.30368805,"cg_vu_v":139.445938,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2486.604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":39.2762451,"temp_inv2_c":39.3527527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":200.975952,"values":{"Elec_RPM":-2343.69385,"EncoderCos":36541,"EncoderSin":52552,"GapTicks":49411,"Mech_RPM":-468.73877,"cg_du":51.8362846,"cg_dv":55.0802841,"cg_dw":44.9197159,"cg_id_a":-8.38102436,"cg_id_raw_a":-7.27238083,"cg_iq_a":-196.976654,"cg_iq_raw_a":-199.138748,"cg_iu_a":-19.1342106,"cg_iv_a":179.584869,"cg_iw_a":-160.450653,"cg_sample_age_us":23.9218178,"cg_sample_seq":2370416,"cg_sample_valid":1,"cg_theta_rad":1.3832047,"cg_vd_req_v":-1.71498919,"cg_vd_v":-1.71498919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47459126,"cg_vq_v":-8.47459126,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":16.7159176,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":201.107782,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":201.107788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":201.107793,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":201.329468,"values":{"Elec_RPM":-2344.01099,"EncoderCos":16480,"EncoderSin":44950,"GapTicks":49374,"Mech_RPM":-468.802216,"cg_du":55.1142578,"cg_dv":51.0440865,"cg_dw":44.8857422,"cg_id_a":2.37996864,"cg_id_raw_a":0.266602278,"cg_iq_a":-201.668152,"cg_iq_raw_a":-200.750946,"cg_iu_a":100.035515,"cg_iv_a":104.451393,"cg_iw_a":-204.486908,"cg_sample_age_us":23.8745461,"cg_sample_seq":2372066,"cg_sample_valid":1,"cg_theta_rad":2.49934459,"cg_vd_req_v":-1.94773793,"cg_vd_v":-1.94773793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3824749,"cg_vq_v":-8.3824749,"cg_vu_v":32.5520515,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2411.57031,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":201.661499,"values":{"Elec_RPM":-2343.98389,"EncoderCos":24555,"EncoderSin":51382,"GapTicks":49696,"Mech_RPM":-468.796753,"cg_du":46.9463921,"cg_dv":45.1788483,"cg_dw":54.8211517,"cg_id_a":0.73117137,"cg_id_raw_a":7.2007184,"cg_iq_a":-203.11528,"cg_iq_raw_a":-202.166412,"cg_iu_a":-2.35331583,"cg_iv_a":-173.430069,"cg_iw_a":179.951416,"cg_sample_age_us":23.863636,"cg_sample_seq":2373867,"cg_sample_valid":1,"cg_theta_rad":1.98364937,"cg_vd_req_v":-1.87391531,"cg_vd_v":-1.87391531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37142277,"cg_vq_v":-8.37142277,"cg_vu_v":140.325729,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2541.39355,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.3026733,"temp_inv2_c":39.3725586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":201.99353,"values":{"Elec_RPM":-2346.17407,"EncoderCos":14703,"EncoderSin":23249,"GapTicks":50063,"Mech_RPM":-469.234833,"cg_du":54.4873734,"cg_dv":45.5208931,"cg_dw":45.5126266,"cg_id_a":12.1500645,"cg_id_raw_a":14.8180466,"cg_iq_a":-202.151886,"cg_iq_raw_a":-201.873596,"cg_iu_a":180.388092,"cg_iv_a":-15.0445251,"cg_iw_a":-165.343567,"cg_sample_age_us":24.0709095,"cg_sample_seq":2375467,"cg_sample_valid":1,"cg_theta_rad":3.63425398,"cg_vd_req_v":-2.1176672,"cg_vd_v":-2.1176672,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36493015,"cg_vq_v":-8.36493015,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2513.0127,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":202.131394,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":202.1314,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":202.131405,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":202.348999,"values":{"Elec_RPM":-2346.60034,"EncoderCos":12375,"EncoderSin":32744,"GapTicks":49403,"Mech_RPM":-469.320068,"cg_du":44.9125595,"cg_dv":48.1127853,"cg_dw":55.0874405,"cg_id_a":0.497806847,"cg_id_raw_a":-6.18169785,"cg_iq_a":-198.05275,"cg_iq_raw_a":-200.757828,"cg_iu_a":-96.3335724,"cg_iv_a":-99.3839264,"cg_iw_a":195.717499,"cg_sample_age_us":23.8418179,"cg_sample_seq":2377266,"cg_sample_valid":1,"cg_theta_rad":3.13742042,"cg_vd_req_v":-1.90599835,"cg_vd_v":-1.90599835,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45603561,"cg_vq_v":-8.45603561,"cg_vu_v":95.4566803,"cg_vv_v":82.2599106,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.5475121,"dclink_p_w":-2539.55762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":202.679077,"values":{"Elec_RPM":-2347.62427,"EncoderCos":34144,"EncoderSin":12480,"GapTicks":49354,"Mech_RPM":-469.524841,"cg_du":55.1322823,"cg_dv":44.8677177,"cg_dw":49.0164108,"cg_id_a":-10.9646482,"cg_id_raw_a":-16.3644753,"cg_iq_a":-195.952896,"cg_iq_raw_a":-195.297714,"cg_iu_a":195.211823,"cg_iv_a":-115.802391,"cg_iw_a":-79.4094315,"cg_sample_age_us":24.0927277,"cg_sample_seq":2378867,"cg_sample_valid":1,"cg_theta_rad":4.79474783,"cg_vd_req_v":-1.69285822,"cg_vd_v":-1.69285822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46140194,"cg_vq_v":-8.46140194,"cg_vu_v":137.686371,"cg_vv_v":120.970459,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.3725586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":203.032593,"values":{"Elec_RPM":-2347.4834,"EncoderCos":34242,"EncoderSin":12487,"GapTicks":49380,"Mech_RPM":-469.496704,"cg_du":55.1088753,"cg_dv":44.8911247,"cg_dw":48.8199768,"cg_id_a":-9.73050117,"cg_id_raw_a":-13.1433439,"cg_iq_a":-198.069565,"cg_iq_raw_a":-197.80983,"cg_iu_a":197.712646,"cg_iv_a":-68.5041809,"cg_iw_a":-129.208466,"cg_sample_age_us":24.0963631,"cg_sample_seq":2380620,"cg_sample_valid":1,"cg_theta_rad":4.834692,"cg_vd_req_v":-1.72452629,"cg_vd_v":-1.72452629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4120779,"cg_vq_v":-8.4120779,"cg_vu_v":107.333786,"cg_vv_v":102.055069,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.3907776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":203.12298,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":203.122986,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":203.122991,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":203.364624,"values":{"Elec_RPM":-2345.56348,"EncoderCos":45548,"EncoderSin":17088,"GapTicks":49297,"Mech_RPM":-469.112671,"cg_du":44.8155785,"cg_dv":55.1844215,"cg_dw":50.0461159,"cg_id_a":-8.74356556,"cg_id_raw_a":-9.34184456,"cg_iq_a":-196.875549,"cg_iq_raw_a":-197.734818,"cg_iu_a":-191.763596,"cg_iv_a":132.576614,"cg_iw_a":59.1869812,"cg_sample_age_us":23.8272724,"cg_sample_seq":2382316,"cg_sample_valid":1,"cg_theta_rad":5.40571928,"cg_vd_req_v":-1.81450176,"cg_vd_v":-1.81450176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48193359,"cg_vq_v":-8.48436928,"cg_vu_v":96.7763672,"cg_vv_v":102.494972,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.3555603,"temp_inv2_c":39.3990479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":203.696655,"values":{"Elec_RPM":-2349.30786,"EncoderCos":51979,"EncoderSin":26853,"GapTicks":49334,"Mech_RPM":-469.861572,"cg_du":55.1507378,"cg_dv":44.8492622,"cg_dw":51.367981,"cg_id_a":-11.5574484,"cg_id_raw_a":-7.94594431,"cg_iq_a":-194.059448,"cg_iq_raw_a":-195.424942,"cg_iu_a":175.096497,"cg_iv_a":-160.309814,"cg_iw_a":-14.7866898,"cg_sample_age_us":24.0418186,"cg_sample_seq":2384016,"cg_sample_valid":1,"cg_theta_rad":5.99115133,"cg_vd_req_v":-1.67993879,"cg_vd_v":-1.67993879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54461002,"cg_vq_v":-8.54461002,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2490.00317,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.3555603,"temp_inv2_c":39.4056702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":204.048218,"values":{"Elec_RPM":-2354.53369,"EncoderCos":51982,"EncoderSin":38358,"GapTicks":49949,"Mech_RPM":-470.906738,"cg_du":45.4083939,"cg_dv":54.5916061,"cg_dw":45.9238205,"cg_id_a":10.3193941,"cg_id_raw_a":14.7702751,"cg_iq_a":-202.224854,"cg_iq_raw_a":-202.965652,"cg_iu_a":-167.262756,"cg_iv_a":182.44812,"cg_iw_a":-15.1853714,"cg_sample_age_us":23.4527264,"cg_sample_seq":2385716,"cg_sample_valid":1,"cg_theta_rad":0.283546716,"cg_vd_req_v":-2.14683676,"cg_vd_v":-2.14683676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3508234,"cg_vq_v":-8.3508234,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2464.64038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":39.3626709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":204.115599,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":204.115605,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":204.11561,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":204.382202,"values":{"Elec_RPM":-2350.77441,"EncoderCos":45916,"EncoderSin":48098,"GapTicks":49501,"Mech_RPM":-470.154877,"cg_du":52.5887032,"cg_dv":45.0014381,"cg_dw":54.9985619,"cg_id_a":13.4049377,"cg_id_raw_a":10.400321,"cg_iq_a":-200.701248,"cg_iq_raw_a":-200.439056,"cg_iu_a":142.259583,"cg_iv_a":-195.176376,"cg_iw_a":52.9167938,"cg_sample_age_us":23.5436363,"cg_sample_seq":2387416,"cg_sample_valid":1,"cg_theta_rad":0.867398977,"cg_vd_req_v":-2.21289301,"cg_vd_v":-2.21289301,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40578938,"cg_vq_v":-8.40578938,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2502.29248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.382019,"temp_inv2_c":39.4122925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":204.714233,"values":{"Elec_RPM":-2345.35449,"EncoderCos":35345,"EncoderSin":52764,"GapTicks":49308,"Mech_RPM":-469.070892,"cg_du":49.133812,"cg_dv":55.1737289,"cg_dw":44.8262711,"cg_id_a":-10.1766787,"cg_id_raw_a":-14.9910536,"cg_iq_a":-197.636536,"cg_iq_raw_a":-196.677505,"cg_iu_a":-93.5790405,"cg_iv_a":198.395416,"cg_iw_a":-117.574203,"cg_sample_age_us":23.9036369,"cg_sample_seq":2389116,"cg_sample_valid":1,"cg_theta_rad":1.45089376,"cg_vd_req_v":-1.70378685,"cg_vd_v":-1.70378685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49064445,"cg_vq_v":-8.49064445,"cg_vu_v":119.210884,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.6942997,"dclink_p_w":-2553.01782,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.382019,"temp_inv2_c":39.4139099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":205.065796,"values":{"Elec_RPM":-2347.02539,"EncoderCos":24181,"EncoderSin":51216,"GapTicks":49527,"Mech_RPM":-469.40509,"cg_du":48.0668068,"cg_dv":45.0253105,"cg_dw":54.9746895,"cg_id_a":-12.2833519,"cg_id_raw_a":-5.59016418,"cg_iq_a":-201.488129,"cg_iq_raw_a":-202.515961,"cg_iu_a":14.4275799,"cg_iv_a":-180.243912,"cg_iw_a":165.81633,"cg_sample_age_us":23.9145451,"cg_sample_seq":2390817,"cg_sample_valid":1,"cg_theta_rad":2.01619649,"cg_vd_req_v":-1.62210751,"cg_vd_v":-1.62210751,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39059639,"cg_vq_v":-8.39059639,"cg_vu_v":17.1558094,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2535.43872,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":39.4437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":205.139395,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":205.139401,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":205.139406,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":205.39978,"values":{"Elec_RPM":-2350.70557,"EncoderCos":15464,"EncoderSin":43488,"GapTicks":50075,"Mech_RPM":-470.141113,"cg_du":54.354393,"cg_dv":54.4767647,"cg_dw":45.5232353,"cg_id_a":12.353343,"cg_id_raw_a":17.8716049,"cg_iq_a":-205.611237,"cg_iq_raw_a":-205.027725,"cg_iu_a":13.0503139,"cg_iv_a":170.05275,"cg_iw_a":-188.793335,"cg_sample_age_us":23.8854542,"cg_sample_seq":2392517,"cg_sample_valid":1,"cg_theta_rad":2.58741188,"cg_vd_req_v":-2.10610104,"cg_vd_v":-2.10610104,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29081535,"cg_vq_v":-8.29081535,"cg_vu_v":122.290138,"cg_vv_v":142.965088,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2460.51489,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.382019,"temp_inv2_c":39.428833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":205.731812,"values":{"Elec_RPM":-2352.59937,"EncoderCos":15427,"EncoderSin":21837,"GapTicks":49301,"Mech_RPM":-470.519867,"cg_du":55.18013,"cg_dv":49.3863831,"cg_dw":44.81987,"cg_id_a":-14.1607046,"cg_id_raw_a":-13.705246,"cg_iq_a":-194.468674,"cg_iq_raw_a":-195.879944,"cg_iu_a":146.463867,"cg_iv_a":41.9307709,"cg_iw_a":-178.391357,"cg_sample_age_us":24.005455,"cg_sample_seq":2394166,"cg_sample_valid":1,"cg_theta_rad":3.70903206,"cg_vd_req_v":-1.58435583,"cg_vd_v":-1.58435583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53104973,"cg_vq_v":-8.53104973,"cg_vu_v":32.5520515,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6942997,"dclink_p_w":-2560.80151,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.3791809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":206.083374,"values":{"Elec_RPM":-2350.71606,"EncoderCos":15746,"EncoderSin":21363,"GapTicks":49344,"Mech_RPM":-470.143219,"cg_du":55.1414185,"cg_dv":50.4674873,"cg_dw":44.8585815,"cg_id_a":-7.33084679,"cg_id_raw_a":-12.553688,"cg_iq_a":-198.403046,"cg_iq_raw_a":-196.257645,"cg_iu_a":122.035522,"cg_iv_a":73.354187,"cg_iw_a":-195.389709,"cg_sample_age_us":23.994545,"cg_sample_seq":2395917,"cg_sample_valid":1,"cg_theta_rad":3.73695087,"cg_vd_req_v":-1.73816717,"cg_vd_v":-1.73816717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42644119,"cg_vq_v":-8.42644119,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":39.4536743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":206.131051,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":206.131057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":206.131062,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":206.417358,"values":{"Elec_RPM":-2353.55591,"EncoderCos":35357,"EncoderSin":12612,"GapTicks":49648,"Mech_RPM":-470.711182,"cg_du":54.8652725,"cg_dv":45.1347275,"cg_dw":46.947998,"cg_id_a":15.8050623,"cg_id_raw_a":16.5712147,"cg_iq_a":-203.720932,"cg_iq_raw_a":-203.027481,"cg_iu_a":196.009186,"cg_iv_a":-38.9654541,"cg_iw_a":-144.358398,"cg_sample_age_us":24.0381813,"cg_sample_seq":2397566,"cg_sample_valid":1,"cg_theta_rad":4.8578167,"cg_vd_req_v":-2.2344079,"cg_vd_v":-2.2344079,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.326478,"cg_vq_v":-8.326478,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2492.61792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.382019,"temp_inv2_c":39.4917603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":206.768921,"values":{"Elec_RPM":-2356.01514,"EncoderCos":35350,"EncoderSin":12645,"GapTicks":49663,"Mech_RPM":-471.203033,"cg_du":54.8514214,"cg_dv":45.1485786,"cg_dw":46.9124985,"cg_id_a":13.2454529,"cg_id_raw_a":12.7226944,"cg_iq_a":-203.988419,"cg_iq_raw_a":-203.145432,"cg_iu_a":180.533081,"cg_iv_a":-9.24551392,"cg_iw_a":-171.287567,"cg_sample_age_us":24.0963631,"cg_sample_seq":2399320,"cg_sample_valid":1,"cg_theta_rad":4.89924145,"cg_vd_req_v":-2.18697023,"cg_vd_v":-2.18697023,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3287468,"cg_vq_v":-8.3287468,"cg_vu_v":32.5520515,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":39.410614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":207.102905,"values":{"Elec_RPM":-2357.44458,"EncoderCos":52136,"EncoderSin":27299,"GapTicks":49307,"Mech_RPM":-471.488922,"cg_du":55.174572,"cg_dv":44.825428,"cg_dw":50.277771,"cg_id_a":-14.8763494,"cg_id_raw_a":-15.4125576,"cg_iq_a":-194.706436,"cg_iq_raw_a":-194.447113,"cg_iu_a":189.195343,"cg_iv_a":-142.006653,"cg_iw_a":-47.1886826,"cg_sample_age_us":24.1327267,"cg_sample_seq":2400966,"cg_sample_valid":1,"cg_theta_rad":6.02226162,"cg_vd_req_v":-1.62546551,"cg_vd_v":-1.62546551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49749565,"cg_vq_v":-8.49749565,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2447.23901,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":39.4437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":207.154816,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":207.154822,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":207.154827,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":207.432983,"values":{"Elec_RPM":-2352.17578,"EncoderCos":52254,"EncoderSin":27838,"GapTicks":49336,"Mech_RPM":-470.43515,"cg_du":55.148819,"cg_dv":44.851181,"cg_dw":49.1755753,"cg_id_a":-10.4844208,"cg_id_raw_a":-12.1831436,"cg_iq_a":-195.605988,"cg_iq_raw_a":-195.844666,"cg_iu_a":195.320557,"cg_iv_a":-116.563507,"cg_iw_a":-78.7570496,"cg_sample_age_us":24.1399994,"cg_sample_seq":2402717,"cg_sample_valid":1,"cg_theta_rad":6.0480752,"cg_vd_req_v":-1.73220587,"cg_vd_v":-1.73220587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46566963,"cg_vq_v":-8.46566963,"cg_vu_v":106.893898,"cg_vv_v":96.3364716,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.6689301,"dclink_p_w":-2549.35742,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":39.4349976,"temp_inv2_c":39.447052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":207.786499,"values":{"Elec_RPM":-2352.10083,"EncoderCos":51746,"EncoderSin":39186,"GapTicks":49440,"Mech_RPM":-470.420166,"cg_du":44.945919,"cg_dv":55.054081,"cg_dw":48.0730591,"cg_id_a":-8.51896667,"cg_id_raw_a":-5.03863096,"cg_iq_a":-199.611191,"cg_iq_raw_a":-200.412781,"cg_iu_a":-180.419266,"cg_iv_a":161.897888,"cg_iw_a":18.5213852,"cg_sample_age_us":23.5290909,"cg_sample_seq":2404417,"cg_sample_valid":1,"cg_theta_rad":0.336202085,"cg_vd_req_v":-1.77375424,"cg_vd_v":-1.77375424,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4375515,"cg_vq_v":-8.4375515,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5616798,"dclink_p_w":-2389.5979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":39.4349976,"temp_inv2_c":39.4635925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":208.11853,"values":{"Elec_RPM":-2353.05151,"EncoderCos":44943,"EncoderSin":48889,"GapTicks":49823,"Mech_RPM":-470.610321,"cg_du":54.7059364,"cg_dv":45.2940636,"cg_dw":53.7478447,"cg_id_a":8.33674049,"cg_id_raw_a":14.6809225,"cg_iq_a":-200.398148,"cg_iq_raw_a":-201.692596,"cg_iu_a":170.131088,"cg_iv_a":-174.444901,"cg_iw_a":4.31381226,"cg_sample_age_us":23.9836369,"cg_sample_seq":2406116,"cg_sample_valid":1,"cg_theta_rad":0.925743639,"cg_vd_req_v":-2.06230783,"cg_vd_v":-2.06230783,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43358517,"cg_vq_v":-8.43358517,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.302536,"dclink_p_w":-2359.37891,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.4602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":208.147355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":208.14736,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":208.147366,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":208.614624,"values":{"Elec_RPM":-2354.70435,"EncoderCos":27752,"EncoderSin":52414,"GapTicks":49400,"Mech_RPM":-470.940887,"cg_du":44.9092102,"cg_dv":50.890007,"cg_dw":55.0907898,"cg_id_a":-13.2092838,"cg_id_raw_a":-11.4169397,"cg_iq_a":-200.776855,"cg_iq_raw_a":-199.187378,"cg_iu_a":-104.705902,"cg_iv_a":-94.7084656,"cg_iw_a":199.414368,"cg_sample_age_us":23.863636,"cg_sample_seq":2408371,"cg_sample_valid":1,"cg_theta_rad":1.87714422,"cg_vd_req_v":-1.59950566,"cg_vd_v":-1.59950566,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37324047,"cg_vq_v":-8.37324047,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2408.42407,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":39.4685669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":209.010921,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":209.010932,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":209.010935,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":209.112671,"values":{"Elec_RPM":-2351.00244,"EncoderCos":43939,"EncoderSin":15879,"GapTicks":50020,"Mech_RPM":-470.20047,"cg_du":45.4734154,"cg_dv":54.5265846,"cg_dw":45.7766113,"cg_id_a":9.14862823,"cg_id_raw_a":12.9744606,"cg_iq_a":-206.589966,"cg_iq_raw_a":-206.324081,"cg_iu_a":-173.822891,"cg_iv_a":178.787506,"cg_iw_a":-4.96460724,"cg_sample_age_us":23.8854542,"cg_sample_seq":2410968,"cg_sample_valid":1,"cg_theta_rad":5.32555723,"cg_vd_req_v":-2.15093136,"cg_vd_v":-2.15093136,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29169083,"cg_vq_v":-8.29169083,"cg_vu_v":101.175293,"cg_vv_v":104.254532,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-16.5942993,"dclink_p_w":-2394.30444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.4785156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":209.138555,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":209.138561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":209.138567,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":209.444702,"values":{"Elec_RPM":-2355.7373,"EncoderCos":35060,"EncoderSin":12564,"GapTicks":49532,"Mech_RPM":-471.147461,"cg_du":54.97052,"cg_dv":45.02948,"cg_dw":47.4900131,"cg_id_a":10.7524204,"cg_id_raw_a":8.92947769,"cg_iq_a":-201.886536,"cg_iq_raw_a":-201.652771,"cg_iu_a":198.872437,"cg_iv_a":-70.932518,"cg_iw_a":-127.468758,"cg_sample_age_us":23.9690914,"cg_sample_seq":2412766,"cg_sample_valid":1,"cg_theta_rad":4.84061098,"cg_vd_req_v":-2.14609194,"cg_vd_v":-2.14609194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35470963,"cg_vq_v":-8.35470963,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2410.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.4349976,"temp_inv2_c":39.4834595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":209.778687,"values":{"Elec_RPM":-2359.7937,"EncoderCos":51743,"EncoderSin":26194,"GapTicks":49695,"Mech_RPM":-471.95874,"cg_du":54.8218918,"cg_dv":45.1781082,"cg_dw":53.1324844,"cg_id_a":3.02273989,"cg_id_raw_a":10.9874096,"cg_iq_a":-200.167694,"cg_iq_raw_a":-202.438339,"cg_iu_a":171.798309,"cg_iv_a":-175.09729,"cg_iw_a":3.29898834,"cg_sample_age_us":24.1145458,"cg_sample_seq":2414416,"cg_sample_valid":1,"cg_theta_rad":5.95708084,"cg_vd_req_v":-1.95011032,"cg_vd_v":-1.95011032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40918541,"cg_vq_v":-8.40918541,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7139034,"dclink_p_w":-2418.91382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.4751892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":210.099874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":210.09988,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":210.099886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":210.130249,"values":{"Elec_RPM":-2364.46509,"EncoderCos":47018,"EncoderSin":47062,"GapTicks":49286,"Mech_RPM":-472.893036,"cg_du":49.8351173,"cg_dv":44.8056717,"cg_dw":55.1943283,"cg_id_a":-12.7488775,"cg_id_raw_a":-16.4136486,"cg_iq_a":-196.348923,"cg_iq_raw_a":-197.026398,"cg_iu_a":54.0783348,"cg_iv_a":-190.57341,"cg_iw_a":136.495071,"cg_sample_age_us":23.6563644,"cg_sample_seq":2416066,"cg_sample_valid":1,"cg_theta_rad":0.791034877,"cg_vd_req_v":-1.67249382,"cg_vd_v":-1.67249382,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49237251,"cg_vq_v":-8.49237251,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2408.42407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.5166321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":210.464233,"values":{"Elec_RPM":-2361.06128,"EncoderCos":52038,"EncoderSin":38065,"GapTicks":49996,"Mech_RPM":-472.21225,"cg_du":45.7844238,"cg_dv":54.5489044,"cg_dw":45.4510956,"cg_id_a":13.1188869,"cg_id_raw_a":14.844552,"cg_iq_a":-205.725128,"cg_iq_raw_a":-205.524277,"cg_iu_a":-167.697693,"cg_iv_a":185.710083,"cg_iw_a":-18.0123901,"cg_sample_age_us":23.5363636,"cg_sample_seq":2417867,"cg_sample_valid":1,"cg_theta_rad":0.279841363,"cg_vd_req_v":-2.21209455,"cg_vd_v":-2.21209455,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30581093,"cg_vq_v":-8.30581093,"cg_vu_v":115.251846,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5489941,"dclink_p_w":-2395.04736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":39.4349976,"temp_inv2_c":39.4917603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":210.815796,"values":{"Elec_RPM":-2354.75806,"EncoderCos":36853,"EncoderSin":52530,"GapTicks":49542,"Mech_RPM":-470.951599,"cg_du":52.6171837,"cg_dv":54.961441,"cg_dw":45.038559,"cg_id_a":-3.93350983,"cg_id_raw_a":-1.05708528,"cg_iq_a":-197.578186,"cg_iq_raw_a":-200.089798,"cg_iu_a":-33.4867706,"cg_iv_a":182.665604,"cg_iw_a":-149.178833,"cg_sample_age_us":26.7581825,"cg_sample_seq":2419520,"cg_sample_valid":1,"cg_theta_rad":1.40003598,"cg_vd_req_v":-1.79117322,"cg_vd_v":-1.79117322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48013687,"cg_vq_v":-8.48013687,"cg_vu_v":109.093361,"cg_vv_v":106.893898,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.4851379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":211.12287,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":211.122875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":211.12288,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":211.147827,"values":{"Elec_RPM":-2352.62695,"EncoderCos":24817,"EncoderSin":51542,"GapTicks":49931,"Mech_RPM":-470.525391,"cg_du":46.196125,"cg_dv":45.3920364,"cg_dw":54.6079636,"cg_id_a":8.37321281,"cg_id_raw_a":11.4951982,"cg_iq_a":-204.961166,"cg_iq_raw_a":-204.632721,"cg_iu_a":-6.48511267,"cg_iv_a":-173.973724,"cg_iw_a":180.458832,"cg_sample_age_us":23.8709087,"cg_sample_seq":2421217,"cg_sample_valid":1,"cg_theta_rad":1.96937406,"cg_vd_req_v":-2.02388167,"cg_vd_v":-2.02388167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2868433,"cg_vq_v":-8.2868433,"cg_vu_v":135.926804,"cg_vv_v":109.533249,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":39.5410767,"temp_inv2_c":39.4718628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":211.481812,"values":{"Elec_RPM":-2354.2959,"EncoderCos":15904,"EncoderSin":44136,"GapTicks":49629,"Mech_RPM":-470.859161,"cg_du":54.8824158,"cg_dv":52.9310799,"cg_dw":45.1175842,"cg_id_a":14.7182913,"cg_id_raw_a":11.6511755,"cg_iq_a":-204.606125,"cg_iq_raw_a":-201.725128,"cg_iu_a":46.7570801,"cg_iv_a":150.046143,"cg_iw_a":-196.803223,"cg_sample_age_us":23.863636,"cg_sample_seq":2422917,"cg_sample_valid":1,"cg_theta_rad":2.54777455,"cg_vd_req_v":-2.19232345,"cg_vd_v":-2.19232345,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32531738,"cg_vq_v":-8.32531738,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2495.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.4614868,"temp_inv2_c":39.5100098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":211.833374,"values":{"Elec_RPM":-2355.62549,"EncoderCos":12371,"EncoderSin":33270,"GapTicks":49356,"Mech_RPM":-471.125092,"cg_du":44.8698006,"cg_dv":48.9824257,"cg_dw":55.1301994,"cg_id_a":-12.6029739,"cg_id_raw_a":-15.278307,"cg_iq_a":-197.792725,"cg_iq_raw_a":-195.743546,"cg_iu_a":-116.956314,"cg_iv_a":-78.5074768,"cg_iw_a":195.463791,"cg_sample_age_us":23.9290905,"cg_sample_seq":2424617,"cg_sample_valid":1,"cg_theta_rad":3.11984134,"cg_vd_req_v":-1.61983693,"cg_vd_v":-1.61983693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4759016,"cg_vq_v":-8.4759016,"cg_vu_v":116.131638,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.4880066,"temp_inv2_c":39.5083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":212.115236,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":212.115242,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":212.115248,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":212.165405,"values":{"Elec_RPM":-2353.76099,"EncoderCos":15477,"EncoderSin":21821,"GapTicks":49345,"Mech_RPM":-470.752197,"cg_du":55.1402435,"cg_dv":49.4751167,"cg_dw":44.8597565,"cg_id_a":-14.2770567,"cg_id_raw_a":-13.8489876,"cg_iq_a":-194.831207,"cg_iq_raw_a":-194.962372,"cg_iu_a":145.122833,"cg_iv_a":44.7940521,"cg_iw_a":-189.916885,"cg_sample_age_us":24.0527267,"cg_sample_seq":2426316,"cg_sample_valid":1,"cg_theta_rad":3.71407938,"cg_vd_req_v":-1.57984304,"cg_vd_v":-1.57984304,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48529911,"cg_vq_v":-8.48529911,"cg_vu_v":16.2760258,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2446.86035,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.5249023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":212.497437,"values":{"Elec_RPM":-2355.03442,"EncoderCos":24069,"EncoderSin":14307,"GapTicks":49804,"Mech_RPM":-471.006866,"cg_du":45.2764626,"cg_dv":53.3963089,"cg_dw":54.7235374,"cg_id_a":4.39950562,"cg_id_raw_a":10.9347992,"cg_iq_a":-202.988708,"cg_iq_raw_a":-202.966492,"cg_iu_a":-177.01236,"cg_iv_a":1.08398438,"cg_iw_a":175.928375,"cg_sample_age_us":23.9363632,"cg_sample_seq":2428016,"cg_sample_valid":1,"cg_theta_rad":4.2857542,"cg_vd_req_v":-1.97748375,"cg_vd_v":-1.97748375,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3415966,"cg_vq_v":-8.3415966,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.5315552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":212.850952,"values":{"Elec_RPM":-2356.20508,"EncoderCos":35274,"EncoderSin":12608,"GapTicks":49589,"Mech_RPM":-471.241028,"cg_du":54.9183388,"cg_dv":45.0816612,"cg_dw":47.0593147,"cg_id_a":13.8929558,"cg_id_raw_a":9.93469906,"cg_iq_a":-201.880814,"cg_iq_raw_a":-200.807907,"cg_iu_a":194.523193,"cg_iv_a":-48.7513123,"cg_iw_a":-145.771881,"cg_sample_age_us":24.1000004,"cg_sample_seq":2429717,"cg_sample_valid":1,"cg_theta_rad":4.8503027,"cg_vd_req_v":-2.20045924,"cg_vd_v":-2.20045924,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3847847,"cg_vq_v":-8.3847847,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.2300491,"dclink_p_w":-2348.88818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.4834595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":213.138512,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":213.138516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":213.138521,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":213.184937,"values":{"Elec_RPM":-2355.38232,"EncoderCos":45948,"EncoderSin":17471,"GapTicks":49380,"Mech_RPM":-471.076447,"cg_du":44.8916168,"cg_dv":55.1083832,"cg_dw":51.4945259,"cg_id_a":-1.98874533,"cg_id_raw_a":-3.55153418,"cg_iq_a":-196.812012,"cg_iq_raw_a":-196.841583,"cg_iu_a":-195.750412,"cg_iv_a":105.683685,"cg_iw_a":90.0667267,"cg_sample_age_us":23.954546,"cg_sample_seq":2431416,"cg_sample_valid":1,"cg_theta_rad":5.4337368,"cg_vd_req_v":-1.94724143,"cg_vd_v":-1.94724143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46291542,"cg_vq_v":-8.46291542,"cg_vu_v":100.735397,"cg_vv_v":104.254532,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":39.5332031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":213.536499,"values":{"Elec_RPM":-2357.05591,"EncoderCos":51693,"EncoderSin":26013,"GapTicks":49821,"Mech_RPM":-471.411194,"cg_du":54.707962,"cg_dv":45.292038,"cg_dw":53.6067047,"cg_id_a":6.58367872,"cg_id_raw_a":17.4382763,"cg_iq_a":-203.428711,"cg_iq_raw_a":-203.655533,"cg_iu_a":182.453979,"cg_iv_a":-157.772736,"cg_iw_a":-22.5066223,"cg_sample_age_us":24.0927277,"cg_sample_seq":2433122,"cg_sample_valid":1,"cg_theta_rad":6.00815725,"cg_vd_req_v":-2.03305721,"cg_vd_v":-2.03305721,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33226871,"cg_vq_v":-8.33226871,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.5410767,"temp_inv2_c":39.5332031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":213.86853,"values":{"Elec_RPM":-2352.90454,"EncoderCos":51944,"EncoderSin":38461,"GapTicks":49864,"Mech_RPM":-470.580902,"cg_du":45.3317375,"cg_dv":54.6682625,"cg_dw":46.2372704,"cg_id_a":5.15085793,"cg_id_raw_a":9.20638657,"cg_iq_a":-204.016144,"cg_iq_raw_a":-205.056976,"cg_iu_a":-172.300659,"cg_iv_a":178.642532,"cg_iw_a":-6.34187317,"cg_sample_age_us":23.5,"cg_sample_seq":2434817,"cg_sample_valid":1,"cg_theta_rad":0.298597127,"cg_vd_req_v":-2.05086565,"cg_vd_v":-2.05086565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35667896,"cg_vq_v":-8.35667896,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.5381775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":214.131171,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":214.131177,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":214.131181,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":214.200562,"values":{"Elec_RPM":-2351.63647,"EncoderCos":45674,"EncoderSin":48274,"GapTicks":49648,"Mech_RPM":-470.327301,"cg_du":53.1821098,"cg_dv":45.1351891,"cg_dw":54.8648109,"cg_id_a":15.3015137,"cg_id_raw_a":13.7958536,"cg_iq_a":-201.009491,"cg_iq_raw_a":-200.067459,"cg_iu_a":153.640137,"cg_iv_a":-191.189545,"cg_iw_a":47.117775,"cg_sample_age_us":23.550909,"cg_sample_seq":2436517,"cg_sample_valid":1,"cg_theta_rad":0.880807638,"cg_vd_req_v":-2.23530841,"cg_vd_v":-2.23530841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39776993,"cg_vq_v":-8.39776993,"cg_vu_v":134.607132,"cg_vv_v":123.169922,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":39.5365295,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":214.554077,"values":{"Elec_RPM":-2350.23462,"EncoderCos":25174,"EncoderSin":51632,"GapTicks":50055,"Mech_RPM":-470.046906,"cg_du":45.5046082,"cg_dv":45.7811966,"cg_dw":54.4953918,"cg_id_a":13.678793,"cg_id_raw_a":15.5851097,"cg_iq_a":-207.170807,"cg_iq_raw_a":-207.477966,"cg_iu_a":-0.758587122,"cg_iv_a":-176.003372,"cg_iw_a":176.761963,"cg_sample_age_us":23.7690907,"cg_sample_seq":2438170,"cg_sample_valid":1,"cg_theta_rad":1.99729383,"cg_vd_req_v":-2.16247892,"cg_vd_v":-2.16247892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26610374,"cg_vq_v":-8.26610374,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.4203281,"dclink_p_w":-2369.20313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5448303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":214.884155,"values":{"Elec_RPM":-2357.02661,"EncoderCos":34138,"EncoderSin":52872,"GapTicks":49642,"Mech_RPM":-471.405334,"cg_du":47.0430374,"cg_dv":54.8705063,"cg_dw":45.1294937,"cg_id_a":13.8931742,"cg_id_raw_a":12.4228048,"cg_iq_a":-204.556305,"cg_iq_raw_a":-202.640335,"cg_iu_a":-151.93161,"cg_iv_a":196.873169,"cg_iw_a":-44.9415588,"cg_sample_age_us":23.8890915,"cg_sample_seq":2439966,"cg_sample_valid":1,"cg_theta_rad":1.50278461,"cg_vd_req_v":-2.18320704,"cg_vd_v":-2.18320704,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31681633,"cg_vq_v":-8.31681633,"cg_vu_v":38.2706528,"cg_vv_v":56.7461433,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2392.47412,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5315552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":215.123401,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":215.123406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":215.123412,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":215.21814,"values":{"Elec_RPM":-2357.81299,"EncoderCos":12372,"EncoderSin":32566,"GapTicks":49501,"Mech_RPM":-471.562622,"cg_du":45.001133,"cg_dv":47.7532463,"cg_dw":54.998867,"cg_id_a":1.50161934,"cg_id_raw_a":-3.25714278,"cg_iq_a":-197.643219,"cg_iq_raw_a":-197.206039,"cg_iu_a":-75.7470856,"cg_iv_a":-122.833679,"cg_iw_a":196.188675,"cg_sample_age_us":23.9327278,"cg_sample_seq":2441566,"cg_sample_valid":1,"cg_theta_rad":3.15253687,"cg_vd_req_v":-1.90853047,"cg_vd_v":-1.90853047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44369125,"cg_vq_v":-8.44369125,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2485.4563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5299072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":215.569702,"values":{"Elec_RPM":-2356.57153,"EncoderCos":14817,"EncoderSin":42353,"GapTicks":49346,"Mech_RPM":-471.314301,"cg_du":51.2071381,"cg_dv":55.1399231,"cg_dw":44.8600769,"cg_id_a":-8.56810379,"cg_id_raw_a":-5.58928919,"cg_iq_a":-194.110687,"cg_iq_raw_a":-194.236969,"cg_iu_a":-31.8195515,"cg_iv_a":182.121933,"cg_iw_a":-150.302383,"cg_sample_age_us":23.8745461,"cg_sample_seq":2443367,"cg_sample_valid":1,"cg_theta_rad":2.65322661,"cg_vd_req_v":-1.6730901,"cg_vd_v":-1.6730901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53196716,"cg_vq_v":-8.53196716,"cg_vu_v":105.134323,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.5410767,"temp_inv2_c":39.5597534,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":215.901733,"values":{"Elec_RPM":-2357.11279,"EncoderCos":24230,"EncoderSin":14217,"GapTicks":49657,"Mech_RPM":-471.422577,"cg_du":45.1428528,"cg_dv":52.9388237,"cg_dw":54.8571472,"cg_id_a":-0.415429592,"cg_id_raw_a":5.62143707,"cg_iq_a":-203.156921,"cg_iq_raw_a":-202.544052,"cg_iu_a":-173.750397,"cg_iv_a":0.286621094,"cg_iw_a":173.463776,"cg_sample_age_us":23.8345451,"cg_sample_seq":2444967,"cg_sample_valid":1,"cg_theta_rad":4.29478216,"cg_vd_req_v":-1.87678051,"cg_vd_v":-1.87678051,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36384201,"cg_vq_v":-8.36384201,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2394.78516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.5647278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":216.115606,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":216.115612,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":216.115616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":216.257202,"values":{"Elec_RPM":-2352.40454,"EncoderCos":15916,"EncoderSin":21100,"GapTicks":49378,"Mech_RPM":-470.480896,"cg_du":55.1102219,"cg_dv":51.009716,"cg_dw":44.8897781,"cg_id_a":-4.03556013,"cg_id_raw_a":-8.44933224,"cg_iq_a":-201.883209,"cg_iq_raw_a":-197.751877,"cg_iu_a":59.1524696,"cg_iv_a":140.332794,"cg_iw_a":-199.48526,"cg_sample_age_us":26.8345451,"cg_sample_seq":2446771,"cg_sample_valid":1,"cg_theta_rad":3.79537463,"cg_vd_req_v":-1.81775653,"cg_vd_v":-1.81775653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37412071,"cg_vq_v":-8.37412071,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.5410767,"temp_inv2_c":39.5697327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":216.58728,"values":{"Elec_RPM":-2350.42188,"EncoderCos":36762,"EncoderSin":12809,"GapTicks":49578,"Mech_RPM":-470.084381,"cg_du":54.928894,"cg_dv":47.414669,"cg_dw":45.071106,"cg_id_a":-4.7025795,"cg_id_raw_a":1.38938653,"cg_iq_a":-197.018372,"cg_iq_raw_a":-199.881012,"cg_iu_a":170.384796,"cg_iv_a":-0.329528809,"cg_iw_a":-170.055267,"cg_sample_age_us":24.0018177,"cg_sample_seq":2448416,"cg_sample_valid":1,"cg_theta_rad":4.9268899,"cg_vd_req_v":-1.77754772,"cg_vd_v":-1.77754772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4474287,"cg_vq_v":-8.4474287,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2493.92505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5597534,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":216.919312,"values":{"Elec_RPM":-2349.3877,"EncoderCos":37304,"EncoderSin":12940,"GapTicks":49393,"Mech_RPM":-469.877533,"cg_du":55.0965538,"cg_dv":48.8135986,"cg_dw":44.9034462,"cg_id_a":-15.6041403,"cg_id_raw_a":-16.896822,"cg_iq_a":-196.052948,"cg_iq_raw_a":-194.850464,"cg_iu_a":157.300781,"cg_iv_a":22.0329132,"cg_iw_a":-179.333694,"cg_sample_age_us":23.9836369,"cg_sample_seq":2450167,"cg_sample_valid":1,"cg_theta_rad":4.95410776,"cg_vd_req_v":-1.57836962,"cg_vd_v":-1.57836962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44742298,"cg_vq_v":-8.44742298,"cg_vu_v":106.453995,"cg_vv_v":100.735397,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2439.01611,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":217.139052,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":217.139057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":217.139062,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":217.272827,"values":{"Elec_RPM":-2350.75171,"EncoderCos":52230,"EncoderSin":27765,"GapTicks":49301,"Mech_RPM":-470.15033,"cg_du":55.1806526,"cg_dv":44.8193474,"cg_dw":49.3516273,"cg_id_a":-10.6083994,"cg_id_raw_a":-15.3965712,"cg_iq_a":-197.724365,"cg_iq_raw_a":-195.67807,"cg_iu_a":198.836212,"cg_iv_a":-79.6310425,"cg_iw_a":-119.20517,"cg_sample_age_us":24.1581821,"cg_sample_seq":2451819,"cg_sample_valid":1,"cg_theta_rad":6.07751179,"cg_vd_req_v":-1.74511123,"cg_vd_v":-1.74511123,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47598267,"cg_vq_v":-8.47598267,"cg_vu_v":12.3169918,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2433.78687,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5597534,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":217.604858,"values":{"Elec_RPM":-2352.30981,"EncoderCos":51524,"EncoderSin":39699,"GapTicks":49306,"Mech_RPM":-470.461975,"cg_du":44.8243713,"cg_dv":55.1756287,"cg_dw":49.3430214,"cg_id_a":-10.3495159,"cg_id_raw_a":-8.85883141,"cg_iq_a":-196.170715,"cg_iq_raw_a":-197.049286,"cg_iu_a":-186.870667,"cg_iv_a":142.833618,"cg_iw_a":44.037056,"cg_sample_age_us":23.5545464,"cg_sample_seq":2453517,"cg_sample_valid":1,"cg_theta_rad":0.366161317,"cg_vd_req_v":-1.73525107,"cg_vd_v":-1.73525107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49699783,"cg_vq_v":-8.49699783,"cg_vu_v":114.37207,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2368.82056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":39.6739807,"temp_inv2_c":39.596283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":217.938843,"values":{"Elec_RPM":-2344.875,"EncoderCos":44708,"EncoderSin":49037,"GapTicks":49685,"Mech_RPM":-468.974976,"cg_du":54.8317413,"cg_dv":45.1682587,"cg_dw":53.0144539,"cg_id_a":0.0768194199,"cg_id_raw_a":4.94913816,"cg_iq_a":-201.583649,"cg_iq_raw_a":-203.153305,"cg_iu_a":171.508362,"cg_iv_a":-173.865005,"cg_iw_a":2.35664368,"cg_sample_age_us":24.0127277,"cg_sample_seq":2455217,"cg_sample_valid":1,"cg_theta_rad":0.938054681,"cg_vd_req_v":-1.89696217,"cg_vd_v":-1.89696217,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3700676,"cg_vq_v":-8.3700676,"cg_vu_v":136.806595,"cg_vv_v":120.970459,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7957821,"dclink_p_w":-2567.66016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":39.5846558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":218.131343,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":218.131349,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":218.131354,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":218.331421,"values":{"Elec_RPM":-2344.84521,"EncoderCos":48967,"EncoderSin":20787,"GapTicks":49398,"Mech_RPM":-468.969055,"cg_du":44.9074936,"cg_dv":48.164711,"cg_dw":55.0925064,"cg_id_a":8.73619938,"cg_id_raw_a":1.25063026,"cg_iq_a":-198.319,"cg_iq_raw_a":-197.181412,"cg_iu_a":-72.7388458,"cg_iv_a":-126.89299,"cg_iw_a":196.913544,"cg_sample_age_us":23.9290905,"cg_sample_seq":2457116,"cg_sample_valid":1,"cg_theta_rad":5.66149712,"cg_vd_req_v":-2.17530441,"cg_vd_v":-2.17530441,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44324207,"cg_vq_v":-8.44324207,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-15.7461929,"dclink_p_w":-2278.8623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":39.6029358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":218.850952,"values":{"Elec_RPM":-2338.87939,"EncoderCos":13274,"EncoderSin":38738,"GapTicks":49454,"Mech_RPM":-467.775879,"cg_du":44.9582977,"cg_dv":55.0417023,"cg_dw":48.1001663,"cg_id_a":-7.94895172,"cg_id_raw_a":-4.92637825,"cg_iq_a":-198.295273,"cg_iq_raw_a":-199.502411,"cg_iu_a":-181.832779,"cg_iv_a":157.294922,"cg_iw_a":24.5378647,"cg_sample_age_us":23.9400005,"cg_sample_seq":2459716,"cg_sample_valid":1,"cg_theta_rad":2.8554256,"cg_vd_req_v":-1.67488873,"cg_vd_v":-1.67488873,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43150997,"cg_vq_v":-8.43150997,"cg_vu_v":116.571533,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.596283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":218.995276,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":218.995289,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":218.995293,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":219.123333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":219.123339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":219.123345,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":219.263062,"values":{"Elec_RPM":-2345.98608,"EncoderCos":35386,"EncoderSin":12612,"GapTicks":49674,"Mech_RPM":-469.197235,"cg_du":54.8412704,"cg_dv":45.1587296,"cg_dw":46.8962555,"cg_id_a":16.3878784,"cg_id_raw_a":13.1692038,"cg_iq_a":-202.861481,"cg_iq_raw_a":-200.855591,"cg_iu_a":193.290894,"cg_iv_a":-40.8138733,"cg_iw_a":-152.47702,"cg_sample_age_us":24.0381813,"cg_sample_seq":2461867,"cg_sample_valid":1,"cg_theta_rad":4.85728073,"cg_vd_req_v":-2.23862505,"cg_vd_v":-2.23862505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33133316,"cg_vq_v":-8.33133316,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.5996094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":219.616577,"values":{"Elec_RPM":-2342.06128,"EncoderCos":45804,"EncoderSin":17318,"GapTicks":49336,"Mech_RPM":-468.412262,"cg_du":44.8512001,"cg_dv":55.1487999,"cg_dw":51.1114655,"cg_id_a":-6.25886774,"cg_id_raw_a":-10.0364809,"cg_iq_a":-197.622742,"cg_iq_raw_a":-197.082245,"cg_iu_a":-196.439056,"cg_iv_a":106.299835,"cg_iw_a":90.1392212,"cg_sample_age_us":23.9181824,"cg_sample_seq":2463567,"cg_sample_valid":1,"cg_theta_rad":5.43254185,"cg_vd_req_v":-1.8718605,"cg_vd_v":-1.8718605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43946362,"cg_vq_v":-8.43946362,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8951225,"dclink_p_w":-2437.70874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.5996094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":219.948608,"values":{"Elec_RPM":-2350.12305,"EncoderCos":52086,"EncoderSin":27257,"GapTicks":49279,"Mech_RPM":-470.024628,"cg_du":55.2007637,"cg_dv":44.7992363,"cg_dw":50.383976,"cg_id_a":-15.9323416,"cg_id_raw_a":-15.6772203,"cg_iq_a":-195.4776,"cg_iq_raw_a":-195.684036,"cg_iu_a":181.946579,"cg_iv_a":-152.553619,"cg_iw_a":-29.3929596,"cg_sample_age_us":24.0490913,"cg_sample_seq":2465266,"cg_sample_valid":1,"cg_theta_rad":6.01175594,"cg_vd_req_v":-1.61742187,"cg_vd_v":-1.61742187,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52048302,"cg_vq_v":-8.52048302,"cg_vu_v":17.5957031,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2532.47632,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.6228638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":220.147217,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":220.147222,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":220.147228,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":220.302124,"values":{"Elec_RPM":-2353.03491,"EncoderCos":52212,"EncoderSin":37730,"GapTicks":49774,"Mech_RPM":-470.606964,"cg_du":46.5184441,"cg_dv":54.7505264,"cg_dw":45.2494736,"cg_id_a":13.2159748,"cg_id_raw_a":11.1199017,"cg_iq_a":-204.388138,"cg_iq_raw_a":-203.382858,"cg_iu_a":-171.684509,"cg_iv_a":175.235611,"cg_iw_a":-3.55110168,"cg_sample_age_us":23.5254555,"cg_sample_seq":2466971,"cg_sample_valid":1,"cg_theta_rad":0.301908404,"cg_vd_req_v":-2.22080779,"cg_vd_v":-2.22080779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32921505,"cg_vq_v":-8.32921505,"cg_vu_v":132.407669,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.6018791,"dclink_p_w":-2547.42578,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":39.6178589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":220.634155,"values":{"Elec_RPM":-2352.69019,"EncoderCos":45659,"EncoderSin":48309,"GapTicks":49684,"Mech_RPM":-470.538055,"cg_du":53.2003822,"cg_dv":45.1677742,"cg_dw":54.8322258,"cg_id_a":17.1483059,"cg_id_raw_a":15.1105576,"cg_iq_a":-202.176437,"cg_iq_raw_a":-200.743881,"cg_iu_a":157.083313,"cg_iv_a":-192.458099,"cg_iw_a":35.3747787,"cg_sample_age_us":23.550909,"cg_sample_seq":2468667,"cg_sample_valid":1,"cg_theta_rad":0.882458866,"cg_vd_req_v":-2.25873113,"cg_vd_v":-2.25873113,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34526062,"cg_vq_v":-8.34526062,"cg_vu_v":143.404984,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.6473694,"temp_inv2_c":39.6195374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":220.966187,"values":{"Elec_RPM":-2353.07056,"EncoderCos":24328,"EncoderSin":51309,"GapTicks":49579,"Mech_RPM":-470.614105,"cg_du":47.5853539,"cg_dv":45.0724602,"cg_dw":54.9275398,"cg_id_a":-6.97978878,"cg_id_raw_a":0.43549788,"cg_iq_a":-203.326736,"cg_iq_raw_a":-205.462875,"cg_iu_a":2.1771636,"cg_iv_a":-176.764511,"cg_iw_a":174.587341,"cg_sample_age_us":23.8709087,"cg_sample_seq":2470316,"cg_sample_valid":1,"cg_theta_rad":1.999699,"cg_vd_req_v":-1.72878981,"cg_vd_v":-1.72878981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38137054,"cg_vq_v":-8.38137054,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.5942078,"temp_inv2_c":39.6228638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":221.138909,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":221.138915,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":221.138921,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":221.319702,"values":{"Elec_RPM":-2355.07056,"EncoderCos":23771,"EncoderSin":51024,"GapTicks":49357,"Mech_RPM":-471.01413,"cg_du":49.1903419,"cg_dv":44.8705673,"cg_dw":55.1294327,"cg_id_a":-20.1217117,"cg_id_raw_a":-19.0558987,"cg_iq_a":-198.313538,"cg_iq_raw_a":-198.591476,"cg_iu_a":26.1705818,"cg_iv_a":-182.382309,"cg_iw_a":156.211731,"cg_sample_age_us":23.7290916,"cg_sample_seq":2472067,"cg_sample_valid":1,"cg_theta_rad":2.02961588,"cg_vd_req_v":-1.47425044,"cg_vd_v":-1.47425044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48031616,"cg_vq_v":-8.48031616,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2530.90283,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.6473694,"temp_inv2_c":39.6295166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":221.651733,"values":{"Elec_RPM":-2361.51904,"EncoderCos":15200,"EncoderSin":43093,"GapTicks":49692,"Mech_RPM":-472.303802,"cg_du":53.2528763,"cg_dv":54.8249512,"cg_dw":45.1750488,"cg_id_a":4.08473206,"cg_id_raw_a":4.89773893,"cg_iq_a":-198.720505,"cg_iq_raw_a":-199.14473,"cg_iu_a":0.364971876,"cg_iv_a":170.161484,"cg_iw_a":-170.526459,"cg_sample_age_us":23.8781815,"cg_sample_seq":2473767,"cg_sample_valid":1,"cg_theta_rad":2.61509585,"cg_vd_req_v":-1.92918479,"cg_vd_v":-1.92918479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43461227,"cg_vq_v":-8.43461227,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.6473694,"temp_inv2_c":39.6261902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":221.983765,"values":{"Elec_RPM":-2360.70654,"EncoderCos":12404,"EncoderSin":31929,"GapTicks":49747,"Mech_RPM":-472.141327,"cg_du":45.2245712,"cg_dv":46.6630821,"cg_dw":54.7754288,"cg_id_a":12.3633652,"cg_id_raw_a":12.2857981,"cg_iq_a":-203.54335,"cg_iq_raw_a":-203.407867,"cg_iu_a":-37.8722725,"cg_iv_a":-155.888062,"cg_iw_a":193.76033,"cg_sample_age_us":23.9290905,"cg_sample_seq":2475466,"cg_sample_valid":1,"cg_theta_rad":3.18704152,"cg_vd_req_v":-2.1268034,"cg_vd_v":-2.1268034,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3384037,"cg_vq_v":-8.3384037,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2420.71313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":39.6361389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":222.099097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":222.099103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":222.099138,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":222.335327,"values":{"Elec_RPM":-2365.18896,"EncoderCos":15979,"EncoderSin":21039,"GapTicks":49393,"Mech_RPM":-473.037781,"cg_du":55.0971336,"cg_dv":51.1342201,"cg_dw":44.9028664,"cg_id_a":1.51529217,"cg_id_raw_a":-2.11763763,"cg_iq_a":-202.948334,"cg_iq_raw_a":-198.20256,"cg_iu_a":87.2052002,"cg_iv_a":116.883026,"cg_iw_a":-203.290863,"cg_sample_age_us":23.9654541,"cg_sample_seq":2477167,"cg_sample_valid":1,"cg_theta_rad":3.76942515,"cg_vd_req_v":-1.92322731,"cg_vd_v":-1.92322731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36989975,"cg_vq_v":-8.36989975,"cg_vu_v":17.5957031,"cg_vv_v":35.6312981,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2426.52002,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.6473694,"temp_inv2_c":39.6494446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":222.669312,"values":{"Elec_RPM":-2359.29321,"EncoderCos":35754,"EncoderSin":12654,"GapTicks":49911,"Mech_RPM":-471.858643,"cg_du":54.6254616,"cg_dv":45.3745384,"cg_dw":46.1490631,"cg_id_a":15.5384731,"cg_id_raw_a":15.2976656,"cg_iq_a":-204.16571,"cg_iq_raw_a":-202.515076,"cg_iu_a":187.999298,"cg_iv_a":-26.4975739,"cg_iw_a":-161.501724,"cg_sample_age_us":23.9581814,"cg_sample_seq":2478817,"cg_sample_valid":1,"cg_theta_rad":4.87778902,"cg_vd_req_v":-2.20584416,"cg_vd_v":-2.20584416,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28786278,"cg_vq_v":-8.28786278,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.6473694,"temp_inv2_c":39.652771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":223.001343,"values":{"Elec_RPM":-2357.04883,"EncoderCos":36666,"EncoderSin":12813,"GapTicks":49634,"Mech_RPM":-471.40976,"cg_du":54.8774529,"cg_dv":47.1843185,"cg_dw":45.1225471,"cg_id_a":-3.71343637,"cg_id_raw_a":3.23840976,"cg_iq_a":-200.517151,"cg_iq_raw_a":-202.466248,"cg_iu_a":174.299133,"cg_iv_a":-5.83859253,"cg_iw_a":-170.019012,"cg_sample_age_us":24.0090904,"cg_sample_seq":2480566,"cg_sample_valid":1,"cg_theta_rad":4.92145538,"cg_vd_req_v":-1.80068684,"cg_vd_v":-1.80068684,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37416553,"cg_vq_v":-8.37416553,"cg_vu_v":43.549366,"cg_vv_v":43.1094704,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.4949589,"dclink_p_w":-2531.9519,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":39.6739807,"temp_inv2_c":39.6494446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":223.123043,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":223.123049,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":223.123053,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":223.352905,"values":{"Elec_RPM":-2358.14453,"EncoderCos":52159,"EncoderSin":27440,"GapTicks":49273,"Mech_RPM":-471.628906,"cg_du":55.2063599,"cg_dv":44.7936401,"cg_dw":49.9669189,"cg_id_a":-14.7759085,"cg_id_raw_a":-17.7147427,"cg_iq_a":-194.299988,"cg_iq_raw_a":-192.516525,"cg_iu_a":188.434235,"cg_iv_a":-136.388885,"cg_iw_a":-52.0453568,"cg_sample_age_us":24.136364,"cg_sample_seq":2482217,"cg_sample_valid":1,"cg_theta_rad":6.0309124,"cg_vd_req_v":-1.63730168,"cg_vd_v":-1.63730168,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54515362,"cg_vq_v":-8.54515362,"cg_vu_v":106.893898,"cg_vv_v":97.2162552,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":39.6394653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":223.68689,"values":{"Elec_RPM":-2357.85303,"EncoderCos":47360,"EncoderSin":18890,"GapTicks":49750,"Mech_RPM":-471.570587,"cg_du":45.2277679,"cg_dv":53.4883804,"cg_dw":54.7722321,"cg_id_a":4.73388767,"cg_id_raw_a":10.922677,"cg_iq_a":-201.347839,"cg_iq_raw_a":-202.412064,"cg_iu_a":-174.040344,"cg_iv_a":-0.0758361816,"cg_iw_a":174.11618,"cg_sample_age_us":23.9254551,"cg_sample_seq":2484016,"cg_sample_valid":1,"cg_theta_rad":5.54062891,"cg_vd_req_v":-2.06620955,"cg_vd_v":-2.06620955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40596008,"cg_vq_v":-8.40596008,"cg_vu_v":38.2706528,"cg_vv_v":44.4291458,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.6328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":224.018921,"values":{"Elec_RPM":-2350.91846,"EncoderCos":45180,"EncoderSin":48658,"GapTicks":50026,"Mech_RPM":-470.183716,"cg_du":54.426548,"cg_dv":45.4788704,"cg_dw":54.5211296,"cg_id_a":16.1022663,"cg_id_raw_a":17.659668,"cg_iq_a":-203.012283,"cg_iq_raw_a":-203.017456,"cg_iu_a":169.406219,"cg_iv_a":-181.294983,"cg_iw_a":11.8887711,"cg_sample_age_us":24.0090904,"cg_sample_seq":2485616,"cg_sample_valid":1,"cg_theta_rad":0.910193443,"cg_vd_req_v":-2.23102474,"cg_vd_v":-2.23102474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36002827,"cg_vq_v":-8.36002827,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":10.1175289,"control_outputs_enabled":1,"dclink_i_a":-15.6084671,"dclink_p_w":-2252.06396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":39.700592,"temp_inv2_c":39.6361389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":224.115206,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":224.115211,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":224.115217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":224.372437,"values":{"Elec_RPM":-2357.49951,"EncoderCos":51190,"EncoderSin":40622,"GapTicks":49336,"Mech_RPM":-471.499878,"cg_du":44.8509293,"cg_dv":55.1490707,"cg_dw":51.295475,"cg_id_a":-1.0710032,"cg_id_raw_a":-1.32424736,"cg_iq_a":-198.002258,"cg_iq_raw_a":-198.901749,"cg_iu_a":-199.01236,"cg_iv_a":96.5502319,"cg_iw_a":102.462128,"cg_sample_age_us":23.5581818,"cg_sample_seq":2487416,"cg_sample_valid":1,"cg_theta_rad":0.409912825,"cg_vd_req_v":-1.94463742,"cg_vd_v":-1.94463742,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4477396,"cg_vq_v":-8.4477396,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.700592,"temp_inv2_c":39.6361389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":224.704468,"values":{"Elec_RPM":-2358.14282,"EncoderCos":23185,"EncoderSin":50749,"GapTicks":49347,"Mech_RPM":-471.628571,"cg_du":50.4135857,"cg_dv":44.8615036,"cg_dw":55.1384964,"cg_id_a":-12.3795967,"cg_id_raw_a":-15.9150934,"cg_iq_a":-197.74881,"cg_iq_raw_a":-197.791351,"cg_iu_a":68.7208405,"cg_iv_a":-195.575043,"cg_iw_a":137.183701,"cg_sample_age_us":23.7181816,"cg_sample_seq":2489016,"cg_sample_valid":1,"cg_theta_rad":2.06006765,"cg_vd_req_v":-1.6605258,"cg_vd_v":-1.6605258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46112537,"cg_vq_v":-8.46112537,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":16.7159176,"control_outputs_enabled":1,"dclink_i_a":-17.8247776,"dclink_p_w":-2579.68481,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.7538757,"temp_inv2_c":39.6594238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":225.05603,"values":{"Elec_RPM":-2357.99219,"EncoderCos":32772,"EncoderSin":52925,"GapTicks":49657,"Mech_RPM":-471.59845,"cg_du":45.1435738,"cg_dv":54.8564262,"cg_dw":47.0811234,"cg_id_a":1.0409646,"cg_id_raw_a":6.52664757,"cg_iq_a":-200.326599,"cg_iq_raw_a":-201.909363,"cg_iu_a":-173.134247,"cg_iv_a":175.489319,"cg_iw_a":-3.94978333,"cg_sample_age_us":23.7690907,"cg_sample_seq":2490816,"cg_sample_valid":1,"cg_theta_rad":1.56642926,"cg_vd_req_v":-1.87328136,"cg_vd_v":-1.87328136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41050816,"cg_vq_v":-8.41050816,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-18.3956184,"dclink_p_w":-2662.29956,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.700592,"temp_inv2_c":39.6943359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":225.107819,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":225.107825,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":225.10783,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":225.390015,"values":{"Elec_RPM":-2355.37646,"EncoderCos":12447,"EncoderSin":31462,"GapTicks":50052,"Mech_RPM":-471.075317,"cg_du":45.5022202,"cg_dv":45.7420578,"cg_dw":54.4977798,"cg_id_a":11.9420471,"cg_id_raw_a":13.7899399,"cg_iq_a":-206.588654,"cg_iq_raw_a":-205.752563,"cg_iu_a":-29.2824841,"cg_iv_a":-162.883118,"cg_iw_a":192.165604,"cg_sample_age_us":23.8418179,"cg_sample_seq":2492416,"cg_sample_valid":1,"cg_theta_rad":3.20096564,"cg_vd_req_v":-2.10901976,"cg_vd_v":-2.10901976,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30214882,"cg_vq_v":-8.30214882,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7809544,"dclink_p_w":-2428.61792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.700592,"temp_inv2_c":39.6943359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":225.720093,"values":{"Elec_RPM":-2360.42822,"EncoderCos":16401,"EncoderSin":20469,"GapTicks":49575,"Mech_RPM":-472.085632,"cg_du":54.9314003,"cg_dv":52.4834557,"cg_dw":45.0685997,"cg_id_a":10.2830076,"cg_id_raw_a":8.70107174,"cg_iq_a":-202.701431,"cg_iq_raw_a":-202.810944,"cg_iu_a":60.5297356,"cg_iv_a":140.18782,"cg_iw_a":-200.71756,"cg_sample_age_us":23.9690914,"cg_sample_seq":2494116,"cg_sample_valid":1,"cg_theta_rad":3.793396,"cg_vd_req_v":-2.09145045,"cg_vd_v":-2.09145045,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35047531,"cg_vq_v":-8.35047531,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2557.39209,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.6876831,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":226.073608,"values":{"Elec_RPM":-2358.90796,"EncoderCos":25670,"EncoderSin":13704,"GapTicks":49383,"Mech_RPM":-471.781586,"cg_du":44.8940125,"cg_dv":49.357872,"cg_dw":55.1059875,"cg_id_a":-14.3881798,"cg_id_raw_a":-18.6166725,"cg_iq_a":-197.98291,"cg_iq_raw_a":-200.514893,"cg_iu_a":-126.270988,"cg_iv_a":-69.2652969,"cg_iw_a":195.536285,"cg_sample_age_us":23.9254551,"cg_sample_seq":2495816,"cg_sample_valid":1,"cg_theta_rad":4.3690033,"cg_vd_req_v":-1.62412071,"cg_vd_v":-1.62412071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4261713,"cg_vq_v":-8.4261713,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.7903461,"dclink_p_w":-2574.70166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.6643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":226.130949,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":226.130954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":226.130959,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":226.407593,"values":{"Elec_RPM":-2353.65381,"EncoderCos":26360,"EncoderSin":13436,"GapTicks":49431,"Mech_RPM":-470.730743,"cg_du":44.9379425,"cg_dv":48.0802307,"cg_dw":55.0620575,"cg_id_a":2.34390926,"cg_id_raw_a":-2.10216379,"cg_iq_a":-198.212051,"cg_iq_raw_a":-197.794678,"cg_iu_a":-92.2017822,"cg_iv_a":-104.458069,"cg_iw_a":196.659851,"cg_sample_age_us":23.8418179,"cg_sample_seq":2497566,"cg_sample_valid":1,"cg_theta_rad":4.39666748,"cg_vd_req_v":-1.98231447,"cg_vd_v":-1.98231447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4298563,"cg_vq_v":-8.4298563,"cg_vu_v":96.7763672,"cg_vv_v":85.3391571,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.2826023,"dclink_p_w":-2349.3313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.7992554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":226.759155,"values":{"Elec_RPM":-2354.07471,"EncoderCos":36790,"EncoderSin":12878,"GapTicks":49535,"Mech_RPM":-470.814941,"cg_du":54.9678917,"cg_dv":47.5105667,"cg_dw":45.0321083,"cg_id_a":-8.31075287,"cg_id_raw_a":-0.354643643,"cg_iq_a":-197.958145,"cg_iq_raw_a":-199.10112,"cg_iu_a":147.369965,"cg_iv_a":37.3278198,"cg_iw_a":-184.697784,"cg_sample_age_us":26.8818188,"cg_sample_seq":2499271,"cg_sample_valid":1,"cg_theta_rad":4.97218037,"cg_vd_req_v":-1.72228086,"cg_vd_v":-1.72228086,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46914387,"cg_vq_v":-8.46914387,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2463.0957,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7538757,"temp_inv2_c":39.692688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":227.091187,"values":{"Elec_RPM":-2354.9978,"EncoderCos":51583,"EncoderSin":39530,"GapTicks":49363,"Mech_RPM":-470.999573,"cg_du":44.876091,"cg_dv":55.123909,"cg_dw":48.9380722,"cg_id_a":-10.1534758,"cg_id_raw_a":-6.47455931,"cg_iq_a":-197.984146,"cg_iq_raw_a":-198.546387,"cg_iu_a":-186.145798,"cg_iv_a":149.538727,"cg_iw_a":26.6037598,"cg_sample_age_us":23.5363636,"cg_sample_seq":2500866,"cg_sample_valid":1,"cg_theta_rad":0.353893697,"cg_vd_req_v":-1.73904586,"cg_vd_v":-1.73904586,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44666862,"cg_vq_v":-8.44666862,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.7076416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":227.123521,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":227.123527,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":227.123532,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":227.423218,"values":{"Elec_RPM":-2353.59961,"EncoderCos":52575,"EncoderSin":29600,"GapTicks":49973,"Mech_RPM":-470.71994,"cg_du":54.5698013,"cg_dv":45.4301987,"cg_dw":45.9172745,"cg_id_a":14.0830975,"cg_id_raw_a":17.9831257,"cg_iq_a":-205.204956,"cg_iq_raw_a":-206.540497,"cg_iu_a":188.108032,"cg_iv_a":-19.3212891,"cg_iw_a":-168.786743,"cg_sample_age_us":24.0490913,"cg_sample_seq":2502666,"cg_sample_valid":1,"cg_theta_rad":6.14013004,"cg_vd_req_v":-2.1982789,"cg_vd_v":-2.1982789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27987671,"cg_vq_v":-8.27987671,"cg_vu_v":9.67763615,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.8193417,"dclink_p_w":-2571.05933,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.7259521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":227.776733,"values":{"Elec_RPM":-2351.40625,"EncoderCos":45167,"EncoderSin":48734,"GapTicks":50020,"Mech_RPM":-470.28125,"cg_du":54.5265503,"cg_dv":45.4734497,"cg_dw":54.4273605,"cg_id_a":14.5161076,"cg_id_raw_a":17.9748402,"cg_iq_a":-203.421326,"cg_iq_raw_a":-203.507126,"cg_iu_a":173.284302,"cg_iv_a":-166.253784,"cg_iw_a":-7.03050995,"cg_sample_age_us":23.8890915,"cg_sample_seq":2504321,"cg_sample_valid":1,"cg_theta_rad":0.959138334,"cg_vd_req_v":-2.19456744,"cg_vd_v":-2.19456744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37819862,"cg_vq_v":-8.37819862,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2436.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7538757,"temp_inv2_c":39.7026672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":228.106812,"values":{"Elec_RPM":-2347.0791,"EncoderCos":43718,"EncoderSin":49725,"GapTicks":49292,"Mech_RPM":-469.415802,"cg_du":55.1882515,"cg_dv":44.8117485,"cg_dw":50.1049042,"cg_id_a":-15.7765541,"cg_id_raw_a":-18.5500984,"cg_iq_a":-195.071259,"cg_iq_raw_a":-193.89537,"cg_iu_a":189.557785,"cg_iv_a":-140.955597,"cg_iw_a":-48.6021881,"cg_sample_age_us":23.8272724,"cg_sample_seq":2506067,"cg_sample_valid":1,"cg_theta_rad":1.00033545,"cg_vd_req_v":-1.5969739,"cg_vd_v":-1.5969739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52253532,"cg_vq_v":-8.52253532,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.7805176,"temp_inv2_c":39.7192993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":228.14723,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":228.147236,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":228.147242,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":228.579468,"values":{"Elec_RPM":-2346.35596,"EncoderCos":16731,"EncoderSin":45246,"GapTicks":49320,"Mech_RPM":-469.271179,"cg_du":55.1629448,"cg_dv":50.3629189,"cg_dw":44.8370552,"cg_id_a":-6.4367733,"cg_id_raw_a":-9.0656023,"cg_iq_a":-199.593018,"cg_iq_raw_a":-198.104462,"cg_iu_a":120.948212,"cg_iv_a":75.9999695,"cg_iw_a":-196.948181,"cg_sample_age_us":23.9290905,"cg_sample_seq":2508267,"cg_sample_valid":1,"cg_theta_rad":2.4853363,"cg_vd_req_v":-1.78917575,"cg_vd_v":-1.78917575,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42086411,"cg_vq_v":-8.42086411,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.67799,"dclink_p_w":-2566.21753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.732605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":229.011532,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":229.011544,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":229.011548,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":229.100952,"values":{"Elec_RPM":-2344.49463,"EncoderCos":25261,"EncoderSin":13860,"GapTicks":49369,"Mech_RPM":-468.898926,"cg_du":44.8815269,"cg_dv":50.2939262,"cg_dw":55.1184731,"cg_id_a":-15.502511,"cg_id_raw_a":-13.8207684,"cg_iq_a":-200.443451,"cg_iq_raw_a":-202.987152,"cg_iu_a":-146.422546,"cg_iv_a":-46.03302,"cg_iw_a":192.455566,"cg_sample_age_us":23.8199997,"cg_sample_seq":2511016,"cg_sample_valid":1,"cg_theta_rad":4.34904385,"cg_vd_req_v":-1.59348142,"cg_vd_v":-1.59348142,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38223267,"cg_vq_v":-8.38223267,"cg_vu_v":125.809273,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2475.62231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.7805176,"temp_inv2_c":39.7159729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":229.139368,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":229.139374,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":229.13938,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":229.434937,"values":{"Elec_RPM":-2349.89404,"EncoderCos":36487,"EncoderSin":12779,"GapTicks":49706,"Mech_RPM":-469.978821,"cg_du":54.8124466,"cg_dv":46.6633377,"cg_dw":45.1875534,"cg_id_a":2.34317303,"cg_id_raw_a":7.36342239,"cg_iq_a":-200.192749,"cg_iq_raw_a":-199.920456,"cg_iu_a":174.045425,"cg_iv_a":-5.11372375,"cg_iw_a":-168.931702,"cg_sample_age_us":24.0563641,"cg_sample_seq":2512717,"cg_sample_valid":1,"cg_theta_rad":4.9146347,"cg_vd_req_v":-1.93526089,"cg_vd_v":-1.93526089,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41671753,"cg_vq_v":-8.41671753,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2428.61816,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.7425842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":229.786499,"values":{"Elec_RPM":-2352.49219,"EncoderCos":46135,"EncoderSin":17589,"GapTicks":49393,"Mech_RPM":-470.498444,"cg_du":44.9032364,"cg_dv":55.0967636,"cg_dw":51.946331,"cg_id_a":0.291003764,"cg_id_raw_a":-5.51889324,"cg_iq_a":-196.279541,"cg_iq_raw_a":-195.527878,"cg_iu_a":-184.333603,"cg_iv_a":24.8961792,"cg_iw_a":159.437424,"cg_sample_age_us":23.9145451,"cg_sample_seq":2514421,"cg_sample_valid":1,"cg_theta_rad":5.5058651,"cg_vd_req_v":-1.99252975,"cg_vd_v":-1.99252975,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49129963,"cg_vq_v":-8.49129963,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2418.63745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.7805176,"temp_inv2_c":39.7126465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":230.099581,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":230.099586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":230.099591,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":230.120483,"values":{"Elec_RPM":-2351.83154,"EncoderCos":52324,"EncoderSin":28271,"GapTicks":49382,"Mech_RPM":-470.366333,"cg_du":55.1071358,"cg_dv":44.8928642,"cg_dw":48.4460754,"cg_id_a":-0.227207899,"cg_id_raw_a":-7.91476059,"cg_iq_a":-198.009903,"cg_iq_raw_a":-197.086731,"cg_iu_a":198.183807,"cg_iv_a":-87.568428,"cg_iw_a":-110.615379,"cg_sample_age_us":24.1399994,"cg_sample_seq":2516117,"cg_sample_valid":1,"cg_theta_rad":6.07541037,"cg_vd_req_v":-1.95309234,"cg_vd_v":-1.95309234,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41539669,"cg_vq_v":-8.41539669,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2422.80493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.7538757,"temp_inv2_c":39.7692261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":230.452515,"values":{"Elec_RPM":-2352.32544,"EncoderCos":51473,"EncoderSin":39870,"GapTicks":49283,"Mech_RPM":-470.465088,"cg_du":44.802948,"cg_dv":55.197052,"cg_dw":49.7049141,"cg_id_a":-9.83307362,"cg_id_raw_a":-10.1407032,"cg_iq_a":-197.173981,"cg_iq_raw_a":-198.21582,"cg_iu_a":-193.03212,"cg_iv_a":134.859985,"cg_iw_a":58.172142,"cg_sample_age_us":23.5618191,"cg_sample_seq":2517816,"cg_sample_valid":1,"cg_theta_rad":0.371875465,"cg_vd_req_v":-1.76388764,"cg_vd_v":-1.76388764,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48176384,"cg_vq_v":-8.48176384,"cg_vu_v":38.7105446,"cg_vv_v":65.9838867,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2441.89233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.7805176,"temp_inv2_c":39.7509155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":230.804077,"values":{"Elec_RPM":-2359.39453,"EncoderCos":44702,"EncoderSin":49060,"GapTicks":49614,"Mech_RPM":-471.878906,"cg_du":54.8961563,"cg_dv":45.1038437,"cg_dw":52.9915276,"cg_id_a":0.379268169,"cg_id_raw_a":4.71266603,"cg_iq_a":-198.74826,"cg_iq_raw_a":-200.104904,"cg_iu_a":170.094849,"cg_iv_a":-171.037979,"cg_iw_a":0.943130493,"cg_sample_age_us":23.9509087,"cg_sample_seq":2519517,"cg_sample_valid":1,"cg_theta_rad":0.941699207,"cg_vd_req_v":-1.89642775,"cg_vd_v":-1.89642775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46651363,"cg_vq_v":-8.46651363,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":39.6760559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":231.122624,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":231.122631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":231.122636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":231.138062,"values":{"Elec_RPM":-2359.31128,"EncoderCos":33787,"EncoderSin":52863,"GapTicks":49822,"Mech_RPM":-471.862274,"cg_du":46.338356,"cg_dv":54.7067223,"cg_dw":45.2932777,"cg_id_a":15.7337074,"cg_id_raw_a":15.0698786,"cg_iq_a":-202.60524,"cg_iq_raw_a":-202.909302,"cg_iu_a":-160.521408,"cg_iv_a":189.00827,"cg_iw_a":-28.4868546,"cg_sample_age_us":23.8963642,"cg_sample_seq":2521217,"cg_sample_valid":1,"cg_theta_rad":1.51954865,"cg_vd_req_v":-2.20219994,"cg_vd_v":-2.20219994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33658791,"cg_vq_v":-8.33658791,"cg_vu_v":95.4566803,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.8071899,"temp_inv2_c":39.7658997,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":231.470093,"values":{"Elec_RPM":-2358.08618,"EncoderCos":22533,"EncoderSin":50372,"GapTicks":49397,"Mech_RPM":-471.617249,"cg_du":51.750351,"cg_dv":44.9065857,"cg_dw":55.0934143,"cg_id_a":2.26571774,"cg_id_raw_a":-1.72806609,"cg_iq_a":-198.888046,"cg_iq_raw_a":-198.792664,"cg_iu_a":112.974564,"cg_iv_a":-198.184616,"cg_iw_a":97.8953857,"cg_sample_age_us":23.7218189,"cg_sample_seq":2522916,"cg_sample_valid":1,"cg_theta_rad":2.09530306,"cg_vd_req_v":-1.97345948,"cg_vd_v":-1.97345948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45032501,"cg_vq_v":-8.45032501,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":39.8071899,"temp_inv2_c":39.7459106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":231.821655,"values":{"Elec_RPM":-2355.03857,"EncoderCos":14537,"EncoderSin":41895,"GapTicks":49303,"Mech_RPM":-471.00769,"cg_du":50.0480843,"cg_dv":55.178894,"cg_dw":44.821106,"cg_id_a":-9.43875408,"cg_id_raw_a":-10.4009752,"cg_iq_a":-197.737167,"cg_iq_raw_a":-196.111847,"cg_iu_a":-61.2857895,"cg_iv_a":194.481079,"cg_iw_a":-133.195282,"cg_sample_age_us":23.7945461,"cg_sample_seq":2524616,"cg_sample_valid":1,"cg_theta_rad":2.68340826,"cg_vd_req_v":-1.6874454,"cg_vd_v":-1.6874454,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48866749,"cg_vq_v":-8.48866749,"cg_vu_v":139.445938,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2446.97681,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":39.8071899,"temp_inv2_c":39.7692261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":232.115246,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":232.115251,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":232.115257,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":232.15564,"values":{"Elec_RPM":-2355.33594,"EncoderCos":12490,"EncoderSin":30565,"GapTicks":49620,"Mech_RPM":-471.0672,"cg_du":47.6042404,"cg_dv":45.1092834,"cg_dw":54.8907166,"cg_id_a":-7.87479496,"cg_id_raw_a":1.66518259,"cg_iq_a":-203.191055,"cg_iq_raw_a":-206.203079,"cg_iu_a":1.01736081,"cg_iv_a":-175.350998,"cg_iw_a":175.855881,"cg_sample_age_us":23.9436359,"cg_sample_seq":2526316,"cg_sample_valid":1,"cg_theta_rad":3.25505447,"cg_vd_req_v":-1.68262184,"cg_vd_v":-1.68262184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35164165,"cg_vq_v":-8.35164165,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.5765076,"dclink_p_w":-2551.48584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":39.8071899,"temp_inv2_c":39.8025818,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":232.487671,"values":{"Elec_RPM":-2355.62842,"EncoderCos":25426,"EncoderSin":13736,"GapTicks":49294,"Mech_RPM":-471.125702,"cg_du":44.8131943,"cg_dv":49.8112183,"cg_dw":55.1868057,"cg_id_a":-17.2042351,"cg_id_raw_a":-16.7440071,"cg_iq_a":-197.148102,"cg_iq_raw_a":-197.162079,"cg_iu_a":-136.346771,"cg_iv_a":-53.1005402,"cg_iw_a":189.447311,"cg_sample_age_us":23.9218178,"cg_sample_seq":2527967,"cg_sample_valid":1,"cg_theta_rad":4.35810184,"cg_vd_req_v":-1.56425571,"cg_vd_v":-1.56425571,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47389984,"cg_vq_v":-8.47389984,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2477.56421,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.8071899,"temp_inv2_c":39.7842407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":232.841187,"values":{"Elec_RPM":-2354.58765,"EncoderCos":46624,"EncoderSin":18140,"GapTicks":49680,"Mech_RPM":-470.917511,"cg_du":45.1637115,"cg_dv":54.8362885,"cg_dw":53.262722,"cg_id_a":11.6637096,"cg_id_raw_a":10.6174717,"cg_iq_a":-199.220825,"cg_iq_raw_a":-198.697083,"cg_iu_a":-192.053543,"cg_iv_a":52.9126587,"cg_iw_a":139.140884,"cg_sample_age_us":23.8854542,"cg_sample_seq":2529616,"cg_sample_valid":1,"cg_theta_rad":5.48053694,"cg_vd_req_v":-2.2142508,"cg_vd_v":-2.2142508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41339016,"cg_vq_v":-8.41339016,"cg_vu_v":1.31967759,"cg_vv_v":7.47817326,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.8338928,"temp_inv2_c":39.7809143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":233.107728,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":233.107733,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":233.107738,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":233.171265,"values":{"Elec_RPM":-2353.41162,"EncoderCos":46996,"EncoderSin":18501,"GapTicks":50012,"Mech_RPM":-470.682343,"cg_du":45.4657898,"cg_dv":54.5342102,"cg_dw":54.3055191,"cg_id_a":11.0468121,"cg_id_raw_a":11.7865324,"cg_iq_a":-199.900574,"cg_iq_raw_a":-197.613541,"cg_iu_a":-182.485168,"cg_iv_a":17.2849731,"cg_iw_a":165.200195,"cg_sample_age_us":23.9618187,"cg_sample_seq":2531367,"cg_sample_valid":1,"cg_theta_rad":5.51465464,"cg_vd_req_v":-2.1918211,"cg_vd_v":-2.1918211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38583755,"cg_vq_v":-8.38583755,"cg_vu_v":99.4157181,"cg_vv_v":101.615181,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2367.63452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.7992554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":233.505249,"values":{"Elec_RPM":-2352.66016,"EncoderCos":52463,"EncoderSin":28845,"GapTicks":49531,"Mech_RPM":-470.532043,"cg_du":54.9712105,"cg_dv":45.0287895,"cg_dw":47.4667702,"cg_id_a":13.9793949,"cg_id_raw_a":11.0849648,"cg_iq_a":-203.139618,"cg_iq_raw_a":-202.256821,"cg_iu_a":198.872437,"cg_iv_a":-53.8979187,"cg_iw_a":-144.974518,"cg_sample_age_us":24.045454,"cg_sample_seq":2533066,"cg_sample_valid":1,"cg_theta_rad":6.10142326,"cg_vd_req_v":-2.23098207,"cg_vd_v":-2.23098207,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3400898,"cg_vq_v":-8.3400898,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2499.93921,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":39.8338928,"temp_inv2_c":39.7875671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":233.858765,"values":{"Elec_RPM":-2354.27466,"EncoderCos":51316,"EncoderSin":40310,"GapTicks":49280,"Mech_RPM":-470.854919,"cg_du":44.8084183,"cg_dv":55.199295,"cg_dw":50.2785873,"cg_id_a":-8.12498093,"cg_id_raw_a":-7.8556304,"cg_iq_a":-196.89035,"cg_iq_raw_a":-197.797287,"cg_iu_a":-193.068359,"cg_iv_a":126.668854,"cg_iw_a":66.3995056,"cg_sample_age_us":23.4599991,"cg_sample_seq":2534766,"cg_sample_valid":1,"cg_theta_rad":0.385260701,"cg_vd_req_v":-1.80402207,"cg_vd_v":-1.80402207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51377869,"cg_vq_v":-8.51377869,"cg_vu_v":94.1370087,"cg_vv_v":101.175293,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2423.63477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.792572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":234.13095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":234.130955,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":234.13096,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":234.188843,"values":{"Elec_RPM":-2352.49658,"EncoderCos":44336,"EncoderSin":49340,"GapTicks":49409,"Mech_RPM":-470.499298,"cg_du":55.0826912,"cg_dv":44.9173088,"cg_dw":51.7702332,"cg_id_a":-11.0072966,"cg_id_raw_a":-8.35666943,"cg_iq_a":-195.495224,"cg_iq_raw_a":-197.006302,"cg_iu_a":175.930099,"cg_iv_a":-160.092346,"cg_iw_a":-15.8377609,"cg_sample_age_us":23.954546,"cg_sample_seq":2536467,"cg_sample_valid":1,"cg_theta_rad":0.965388179,"cg_vd_req_v":-1.66174591,"cg_vd_v":-1.66174591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50303459,"cg_vq_v":-8.50303459,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2548.99927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8338928,"temp_inv2_c":39.8192444,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":234.542358,"values":{"Elec_RPM":-2357.64575,"EncoderCos":34082,"EncoderSin":52886,"GapTicks":49662,"Mech_RPM":-471.529144,"cg_du":46.9732475,"cg_dv":54.8522186,"cg_dw":45.1477814,"cg_id_a":16.4062271,"cg_id_raw_a":14.1111069,"cg_iq_a":-204.730896,"cg_iq_raw_a":-202.953873,"cg_iu_a":-172.989288,"cg_iv_a":180.853409,"cg_iw_a":-7.86412048,"cg_sample_age_us":23.8090916,"cg_sample_seq":2538170,"cg_sample_valid":1,"cg_theta_rad":1.54856813,"cg_vd_req_v":-2.22730017,"cg_vd_v":-2.22730017,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29866219,"cg_vq_v":-8.29866219,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8338928,"temp_inv2_c":39.8092346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":234.87439,"values":{"Elec_RPM":-2356.92798,"EncoderCos":22164,"EncoderSin":50130,"GapTicks":49500,"Mech_RPM":-471.38559,"cg_du":52.6028633,"cg_dv":45.0005646,"cg_dw":54.9994354,"cg_id_a":7.68482494,"cg_id_raw_a":5.82142925,"cg_iq_a":-200.037628,"cg_iq_raw_a":-199.996918,"cg_iu_a":123.666489,"cg_iv_a":-197.858414,"cg_iw_a":74.191925,"cg_sample_age_us":23.550909,"cg_sample_seq":2539866,"cg_sample_valid":1,"cg_theta_rad":2.11019826,"cg_vd_req_v":-2.08214998,"cg_vd_v":-2.08214998,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44459248,"cg_vq_v":-8.44459248,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8338928,"temp_inv2_c":39.8175659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":235.123281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":235.123287,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":235.123292,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":235.208374,"values":{"Elec_RPM":-2353.57031,"EncoderCos":14367,"EncoderSin":41580,"GapTicks":49355,"Mech_RPM":-470.71405,"cg_du":49.2845879,"cg_dv":55.1315842,"cg_dw":44.8684158,"cg_id_a":-8.57699776,"cg_id_raw_a":-10.912591,"cg_iq_a":-197.676483,"cg_iq_raw_a":-197.00177,"cg_iu_a":-78.6828308,"cg_iv_a":196.836945,"cg_iw_a":-118.154106,"cg_sample_age_us":23.9654541,"cg_sample_seq":2541567,"cg_sample_valid":1,"cg_theta_rad":2.69429207,"cg_vd_req_v":-1.70277822,"cg_vd_v":-1.70277822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.459795,"cg_vq_v":-8.459795,"cg_vu_v":102.055069,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.8605652,"temp_inv2_c":39.8425903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103932247,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":235.559937,"values":{"Elec_RPM":-2352.69189,"EncoderCos":12527,"EncoderSin":30362,"GapTicks":49527,"Mech_RPM":-470.538361,"cg_du":48.1180992,"cg_dv":45.0247192,"cg_dw":54.9752808,"cg_id_a":-12.9615984,"cg_id_raw_a":-5.35586786,"cg_iq_a":-203.461151,"cg_iq_raw_a":-204.334656,"cg_iu_a":7.68622589,"cg_iv_a":-178.939117,"cg_iw_a":171.252899,"cg_sample_age_us":23.8745461,"cg_sample_seq":2543267,"cg_sample_valid":1,"cg_theta_rad":3.26404762,"cg_vd_req_v":-1.5940814,"cg_vd_v":-1.5940814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33336353,"cg_vq_v":-8.33336353,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2405.80054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.8605652,"temp_inv2_c":39.8209229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":235.891968,"values":{"Elec_RPM":-2355.37256,"EncoderCos":17109,"EncoderSin":19525,"GapTicks":49933,"Mech_RPM":-471.074524,"cg_du":53.9882355,"cg_dv":54.6057549,"cg_dw":45.3942451,"cg_id_a":7.19734764,"cg_id_raw_a":9.39365578,"cg_iq_a":-204.29129,"cg_iq_raw_a":-205.976974,"cg_iu_a":12.2167053,"cg_iv_a":170.378937,"cg_iw_a":-182.595642,"cg_sample_age_us":23.9690914,"cg_sample_seq":2544966,"cg_sample_valid":1,"cg_theta_rad":3.85019207,"cg_vd_req_v":-2.00888634,"cg_vd_v":-2.00888634,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34045696,"cg_vq_v":-8.34045696,"cg_vu_v":28.1531239,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2494.40039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":39.8605652,"temp_inv2_c":39.8075562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":236.115127,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":236.115133,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":236.115138,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":236.225952,"values":{"Elec_RPM":-2357.7522,"EncoderCos":26632,"EncoderSin":13377,"GapTicks":49483,"Mech_RPM":-471.550446,"cg_du":44.9846878,"cg_dv":47.6379585,"cg_dw":55.0153122,"cg_id_a":11.2902279,"cg_id_raw_a":7.97108841,"cg_iq_a":-198.173294,"cg_iq_raw_a":-196.308853,"cg_iu_a":-59.2923813,"cg_iv_a":-134.612915,"cg_iw_a":193.905304,"cg_sample_age_us":23.8345451,"cg_sample_seq":2546667,"cg_sample_valid":1,"cg_theta_rad":4.42064476,"cg_vd_req_v":-2.15180969,"cg_vd_v":-2.15180969,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44206619,"cg_vq_v":-8.44206619,"cg_vu_v":106.014107,"cg_vv_v":100.735397,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2476.08887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.8592834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":236.577515,"values":{"Elec_RPM":-2357.17212,"EncoderCos":47444,"EncoderSin":18959,"GapTicks":49718,"Mech_RPM":-471.434418,"cg_du":45.1982613,"cg_dv":53.1721191,"cg_dw":54.8017387,"cg_id_a":0.649867773,"cg_id_raw_a":8.52537632,"cg_iq_a":-202.919952,"cg_iq_raw_a":-205.042419,"cg_iu_a":-175.453857,"cg_iv_a":-0.800704956,"cg_iw_a":176.254562,"cg_sample_age_us":23.8927269,"cg_sample_seq":2548316,"cg_sample_valid":1,"cg_theta_rad":5.54854631,"cg_vd_req_v":-1.97475874,"cg_vd_v":-1.97475874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33126831,"cg_vq_v":-8.33126831,"cg_vu_v":115.69175,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2508.04468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.815918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":236.909546,"values":{"Elec_RPM":-2351.95215,"EncoderCos":38841,"EncoderSin":13358,"GapTicks":49525,"Mech_RPM":-470.390411,"cg_du":54.9765282,"cg_dv":51.8439407,"cg_dw":45.0234718,"cg_id_a":1.38341808,"cg_id_raw_a":-2.37218237,"cg_iq_a":-205.23938,"cg_iq_raw_a":-203.07605,"cg_iu_a":84.1244736,"cg_iv_a":118.006584,"cg_iw_a":-202.131058,"cg_sample_age_us":23.9509087,"cg_sample_seq":2550117,"cg_sample_valid":1,"cg_theta_rad":5.03257179,"cg_vd_req_v":-1.97089529,"cg_vd_v":-1.97089529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2730999,"cg_vq_v":-8.2730999,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.815918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":237.138691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":237.138698,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":237.138703,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":237.24353,"values":{"Elec_RPM":-2356.78491,"EncoderCos":51310,"EncoderSin":40354,"GapTicks":49295,"Mech_RPM":-471.356964,"cg_du":44.8143997,"cg_dv":55.1856003,"cg_dw":50.7610321,"cg_id_a":-5.71066189,"cg_id_raw_a":-5.75719404,"cg_iq_a":-196.001251,"cg_iq_raw_a":-196.54007,"cg_iu_a":-195.279236,"cg_iv_a":99.9209061,"cg_iw_a":95.3583298,"cg_sample_age_us":23.5290909,"cg_sample_seq":2551718,"cg_sample_valid":1,"cg_theta_rad":0.406206965,"cg_vd_req_v":-1.84325492,"cg_vd_v":-1.84325492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49932003,"cg_vq_v":-8.49932003,"cg_vu_v":127.568848,"cg_vv_v":135.926804,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2514.64233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.8605652,"temp_inv2_c":39.8642578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":237.595093,"values":{"Elec_RPM":-2354.16553,"EncoderCos":50802,"EncoderSin":41492,"GapTicks":49641,"Mech_RPM":-470.83313,"cg_du":45.1284256,"cg_dv":54.8715744,"cg_dw":53.1003685,"cg_id_a":11.6965208,"cg_id_raw_a":11.7134399,"cg_iq_a":-198.21788,"cg_iq_raw_a":-197.844925,"cg_iu_a":-191.799835,"cg_iv_a":54.7611084,"cg_iw_a":137.038727,"cg_sample_age_us":23.4345455,"cg_sample_seq":2553466,"cg_sample_valid":1,"cg_theta_rad":0.449493915,"cg_vd_req_v":-2.18398666,"cg_vd_v":-2.18398666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42099762,"cg_vq_v":-8.42099762,"cg_vu_v":36.9509773,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.8526001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":237.927124,"values":{"Elec_RPM":-2351.25195,"EncoderCos":33034,"EncoderSin":52975,"GapTicks":49806,"Mech_RPM":-470.250366,"cg_du":45.278698,"cg_dv":54.721302,"cg_dw":46.3651848,"cg_id_a":8.296628,"cg_id_raw_a":12.1620016,"cg_iq_a":-203.580261,"cg_iq_raw_a":-205.240646,"cg_iu_a":-173.532944,"cg_iv_a":176.57663,"cg_iw_a":-3.04368591,"cg_sample_age_us":23.8890915,"cg_sample_seq":2555117,"cg_sample_valid":1,"cg_theta_rad":1.55787694,"cg_vd_req_v":-2.03762007,"cg_vd_v":-2.03762007,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36335278,"cg_vq_v":-8.36335278,"cg_vu_v":99.4157181,"cg_vv_v":103.814644,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2412.09521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.7725525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":238.131038,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":238.131043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":238.131048,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":238.319702,"values":{"Elec_RPM":-2353.67383,"EncoderCos":52807,"EncoderSin":31859,"GapTicks":49334,"Mech_RPM":-470.734741,"cg_du":55.1508217,"cg_dv":50.464077,"cg_dw":44.8491783,"cg_id_a":-11.0471249,"cg_id_raw_a":-18.30937,"cg_iq_a":-196.568451,"cg_iq_raw_a":-193.378616,"cg_iu_a":106.088234,"cg_iv_a":95.2454605,"cg_iw_a":-201.333694,"cg_sample_age_us":24.0563641,"cg_sample_seq":2557019,"cg_sample_valid":1,"cg_theta_rad":6.27049351,"cg_vd_req_v":-1.71631265,"cg_vd_v":-1.71631265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44675827,"cg_vq_v":-8.44675827,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2527.13208,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.8993225,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":238.841187,"values":{"Elec_RPM":-2348.40381,"EncoderCos":17900,"EncoderSin":46574,"GapTicks":49809,"Mech_RPM":-469.680786,"cg_du":54.7188454,"cg_dv":46.3255081,"cg_dw":45.2811546,"cg_id_a":6.93760157,"cg_id_raw_a":10.6837568,"cg_iq_a":-199.597076,"cg_iq_raw_a":-202.070969,"cg_iu_a":177.851013,"cg_iv_a":-11.9637909,"cg_iw_a":-165.887222,"cg_sample_age_us":23.9036369,"cg_sample_seq":2559716,"cg_sample_valid":1,"cg_theta_rad":2.38503194,"cg_vd_req_v":-2.01732159,"cg_vd_v":-2.01732159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40747833,"cg_vq_v":-8.40747833,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.8626099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":238.994808,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":238.994819,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":238.994822,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":239.15539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":239.155396,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":239.155401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":239.253296,"values":{"Elec_RPM":-2349.64429,"EncoderCos":37261,"EncoderSin":12944,"GapTicks":49383,"Mech_RPM":-469.928864,"cg_du":55.1063652,"cg_dv":48.7467995,"cg_dw":44.8936348,"cg_id_a":-16.5832195,"cg_id_raw_a":-13.678772,"cg_iq_a":-195.577728,"cg_iq_raw_a":-197.389359,"cg_iu_a":161.178864,"cg_iv_a":19.0609131,"cg_iw_a":-180.239777,"cg_sample_age_us":23.9072723,"cg_sample_seq":2561816,"cg_sample_valid":1,"cg_theta_rad":4.95017338,"cg_vd_req_v":-1.55789828,"cg_vd_v":-1.55789828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47669601,"cg_vq_v":-8.47669601,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2477.45239,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.8876648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":239.606812,"values":{"Elec_RPM":-2348.23535,"EncoderCos":47023,"EncoderSin":18503,"GapTicks":50021,"Mech_RPM":-469.647064,"cg_du":45.4740829,"cg_dv":54.5259171,"cg_dw":54.3299065,"cg_id_a":11.3418064,"cg_id_raw_a":12.8722525,"cg_iq_a":-202.250916,"cg_iq_raw_a":-200.587158,"cg_iu_a":-183.427505,"cg_iv_a":17.9373627,"cg_iw_a":165.490143,"cg_sample_age_us":23.9400005,"cg_sample_seq":2563517,"cg_sample_valid":1,"cg_theta_rad":5.51773787,"cg_vd_req_v":-2.20190716,"cg_vd_v":-2.20190716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35521317,"cg_vq_v":-8.35521317,"cg_vu_v":97.6561432,"cg_vv_v":100.295509,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-18.1038551,"dclink_p_w":-2612.11035,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.9026794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":239.93689,"values":{"Elec_RPM":-2349.71655,"EncoderCos":47590,"EncoderSin":19100,"GapTicks":49598,"Mech_RPM":-469.943298,"cg_du":45.089283,"cg_dv":52.6777153,"cg_dw":54.910717,"cg_id_a":-3.42335868,"cg_id_raw_a":1.11975431,"cg_iq_a":-202.39093,"cg_iq_raw_a":-201.740265,"cg_iu_a":-170.597198,"cg_iv_a":-5.25868225,"cg_iw_a":175.855881,"cg_sample_age_us":23.8854542,"cg_sample_seq":2565267,"cg_sample_valid":1,"cg_theta_rad":5.55748606,"cg_vd_req_v":-1.90267825,"cg_vd_v":-1.90267825,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36370087,"cg_vq_v":-8.36370087,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2526.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.8809814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":240.115306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":240.115312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":240.115317,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":240.270874,"values":{"Elec_RPM":-2356.04004,"EncoderCos":44723,"EncoderSin":48997,"GapTicks":49693,"Mech_RPM":-471.208008,"cg_du":54.8242455,"cg_dv":45.1757545,"cg_dw":53.1540222,"cg_id_a":3.11515903,"cg_id_raw_a":6.0702548,"cg_iq_a":-200.566071,"cg_iq_raw_a":-202.173523,"cg_iu_a":172.776886,"cg_iv_a":-176.510803,"cg_iw_a":5.47360992,"cg_sample_age_us":23.9763641,"cg_sample_seq":2566866,"cg_sample_valid":1,"cg_theta_rad":0.934654415,"cg_vd_req_v":-1.95537794,"cg_vd_v":-1.95537794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39239693,"cg_vq_v":-8.39239693,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.9127197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":240.622437,"values":{"Elec_RPM":-2349.45972,"EncoderCos":44118,"EncoderSin":49447,"GapTicks":49372,"Mech_RPM":-469.891937,"cg_du":55.1161118,"cg_dv":44.8838882,"cg_dw":51.2067757,"cg_id_a":-14.0844088,"cg_id_raw_a":-12.0822325,"cg_iq_a":-195.975433,"cg_iq_raw_a":-196.667999,"cg_iu_a":181.910339,"cg_iv_a":-155.416901,"cg_iw_a":-26.4934464,"cg_sample_age_us":23.9218178,"cg_sample_seq":2568616,"cg_sample_valid":1,"cg_theta_rad":0.974850655,"cg_vd_req_v":-1.6214838,"cg_vd_v":-1.6214838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47491837,"cg_vq_v":-8.47491837,"cg_vu_v":48.8280716,"cg_vv_v":42.2296829,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2400.82056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":39.835907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":240.956421,"values":{"Elec_RPM":-2347.69482,"EncoderCos":22766,"EncoderSin":50514,"GapTicks":49316,"Mech_RPM":-469.53894,"cg_du":51.2646523,"cg_dv":44.8333549,"cg_dw":55.1666451,"cg_id_a":-1.68354177,"cg_id_raw_a":-4.37163496,"cg_iq_a":-196.977539,"cg_iq_raw_a":-197.186127,"cg_iu_a":100.108002,"cg_iv_a":-196.299942,"cg_iw_a":110.290787,"cg_sample_age_us":23.6127281,"cg_sample_seq":2570266,"cg_sample_valid":1,"cg_theta_rad":2.08356881,"cg_vd_req_v":-1.88768518,"cg_vd_v":-1.88768518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51318359,"cg_vq_v":-8.51318359,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.8976746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":241.107076,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":241.107082,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":241.107087,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":241.309937,"values":{"Elec_RPM":-2353.83691,"EncoderCos":32376,"EncoderSin":52970,"GapTicks":49437,"Mech_RPM":-470.767365,"cg_du":44.9434814,"cg_dv":55.0565186,"cg_dw":48.0768127,"cg_id_a":-7.57756615,"cg_id_raw_a":-3.61381006,"cg_iq_a":-198.45871,"cg_iq_raw_a":-200.50589,"cg_iu_a":-179.621902,"cg_iv_a":160.701843,"cg_iw_a":18.9200668,"cg_sample_age_us":23.8709087,"cg_sample_seq":2572066,"cg_sample_valid":1,"cg_theta_rad":1.58954442,"cg_vd_req_v":-1.71337938,"cg_vd_v":-1.71337938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48010254,"cg_vq_v":-8.48010254,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4369678,"dclink_p_w":-2531.22949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.9407654,"temp_inv2_c":39.8676147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":241.640015,"values":{"Elec_RPM":-2348.82959,"EncoderCos":12466,"EncoderSin":31128,"GapTicks":49959,"Mech_RPM":-469.7659,"cg_du":46.0962334,"cg_dv":45.4177399,"cg_dw":54.5822601,"cg_id_a":8.94530582,"cg_id_raw_a":10.0094643,"cg_iq_a":-207.333923,"cg_iq_raw_a":-206.921005,"cg_iu_a":-7.57242775,"cg_iv_a":-174.299911,"cg_iw_a":181.872345,"cg_sample_age_us":23.9290905,"cg_sample_seq":2573667,"cg_sample_valid":1,"cg_theta_rad":3.22377801,"cg_vd_req_v":-2.03605962,"cg_vd_v":-2.03605962,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26058769,"cg_vq_v":-8.26058769,"cg_vu_v":135.486908,"cg_vv_v":109.093361,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2426.72705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.9026794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":241.973999,"values":{"Elec_RPM":-2355.14307,"EncoderCos":14043,"EncoderSin":40868,"GapTicks":49474,"Mech_RPM":-471.028595,"cg_du":47.9724159,"cg_dv":55.0228767,"cg_dw":44.9771233,"cg_id_a":8.65387058,"cg_id_raw_a":3.62891364,"cg_iq_a":-202.763412,"cg_iq_raw_a":-202.074783,"cg_iu_a":-130.511505,"cg_iv_a":201.874817,"cg_iw_a":-71.3633118,"cg_sample_age_us":23.9799995,"cg_sample_seq":2575467,"cg_sample_valid":1,"cg_theta_rad":2.73702049,"cg_vd_req_v":-2.06159449,"cg_vd_v":-2.06159449,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34168243,"cg_vq_v":-8.34168243,"cg_vu_v":119.650772,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2384.8916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.9140015,"temp_inv2_c":39.9093628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":242.130912,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":242.130917,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":242.130923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":242.325562,"values":{"Elec_RPM":-2353.33887,"EncoderCos":25129,"EncoderSin":13855,"GapTicks":49366,"Mech_RPM":-470.667786,"cg_du":44.8787346,"cg_dv":50.5658875,"cg_dw":55.1212654,"cg_id_a":-14.8628197,"cg_id_raw_a":-12.1402645,"cg_iq_a":-198.881805,"cg_iq_raw_a":-198.490234,"cg_iu_a":-98.653183,"cg_iv_a":-80.5733795,"cg_iw_a":195.971207,"cg_sample_age_us":23.8418179,"cg_sample_seq":2577071,"cg_sample_valid":1,"cg_theta_rad":4.38369703,"cg_vd_req_v":-1.60438383,"cg_vd_v":-1.60438383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42431927,"cg_vq_v":-8.42431927,"cg_vu_v":115.69175,"cg_vv_v":137.246475,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.9407654,"temp_inv2_c":39.9477844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":242.657593,"values":{"Elec_RPM":-2361.22217,"EncoderCos":17580,"EncoderSin":18977,"GapTicks":49466,"Mech_RPM":-472.244446,"cg_du":52.1743088,"cg_dv":55.0308189,"cg_dw":44.9691811,"cg_id_a":-9.03700161,"cg_id_raw_a":-4.46106815,"cg_iq_a":-195.748093,"cg_iq_raw_a":-197.679367,"cg_iu_a":-8.94969368,"cg_iv_a":172.771027,"cg_iw_a":-163.821335,"cg_sample_age_us":23.9690914,"cg_sample_seq":2578867,"cg_sample_valid":1,"cg_theta_rad":3.88686585,"cg_vd_req_v":-1.6671344,"cg_vd_v":-1.6671344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50307846,"cg_vq_v":-8.50307846,"cg_vu_v":144.724655,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":242.991577,"values":{"Elec_RPM":-2361.22754,"EncoderCos":47294,"EncoderSin":18773,"GapTicks":49843,"Mech_RPM":-472.245483,"cg_du":45.3124771,"cg_dv":53.7703705,"cg_dw":54.6875229,"cg_id_a":5.45278883,"cg_id_raw_a":9.22817326,"cg_iq_a":-203.508743,"cg_iq_raw_a":-201.052887,"cg_iu_a":-178.208405,"cg_iv_a":5.8319397,"cg_iw_a":172.376465,"cg_sample_age_us":23.9181824,"cg_sample_seq":2580467,"cg_sample_valid":1,"cg_theta_rad":5.53529072,"cg_vd_req_v":-2.08077121,"cg_vd_v":-2.08077121,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35551167,"cg_vq_v":-8.35551167,"cg_vu_v":116.571533,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.9534435,"dclink_p_w":-2590.4082,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.9227295,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":243.123373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":243.123379,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":243.123384,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":243.34314,"values":{"Elec_RPM":-2360.78882,"EncoderCos":39108,"EncoderSin":13442,"GapTicks":49559,"Mech_RPM":-472.157776,"cg_du":54.9455376,"cg_dv":52.3967781,"cg_dw":45.0544624,"cg_id_a":4.84443521,"cg_id_raw_a":1.07812309,"cg_iq_a":-204.989227,"cg_iq_raw_a":-206.875412,"cg_iu_a":72.5626831,"cg_iv_a":130.619446,"cg_iw_a":-203.182129,"cg_sample_age_us":23.9581814,"cg_sample_seq":2582266,"cg_sample_valid":1,"cg_theta_rad":5.04269934,"cg_vd_req_v":-2.03898335,"cg_vd_v":-2.03898335,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3095026,"cg_vq_v":-8.3095026,"cg_vu_v":13.6366701,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.9407654,"temp_inv2_c":39.9761963,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10096132,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":243.677124,"values":{"Elec_RPM":-2356.20898,"EncoderCos":52632,"EncoderSin":30196,"GapTicks":49764,"Mech_RPM":-471.241821,"cg_du":54.7593384,"cg_dv":46.5470123,"cg_dw":45.2406616,"cg_id_a":4.5557127,"cg_id_raw_a":11.8527775,"cg_iq_a":-200.306885,"cg_iq_raw_a":-203.216064,"cg_iu_a":174.11792,"cg_iv_a":-3.19281006,"cg_iw_a":-170.92511,"cg_sample_age_us":24.1327267,"cg_sample_seq":2583916,"cg_sample_valid":1,"cg_theta_rad":6.16786385,"cg_vd_req_v":-1.98948622,"cg_vd_v":-1.98948622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39043236,"cg_vq_v":-8.39043236,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2046795,"dclink_p_w":-2345.21655,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.9310913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":244.007202,"values":{"Elec_RPM":-2353.18457,"EncoderCos":50822,"EncoderSin":41551,"GapTicks":49648,"Mech_RPM":-470.636932,"cg_du":45.134819,"cg_dv":54.865181,"cg_dw":53.1918106,"cg_id_a":11.3799419,"cg_id_raw_a":9.40534592,"cg_iq_a":-200.18399,"cg_iq_raw_a":-200.391708,"cg_iu_a":-192.270996,"cg_iv_a":40.1185913,"cg_iw_a":152.152405,"cg_sample_age_us":23.5436363,"cg_sample_seq":2585616,"cg_sample_valid":1,"cg_theta_rad":0.459521025,"cg_vd_req_v":-2.18406987,"cg_vd_v":-2.18406987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38795567,"cg_vq_v":-8.38795567,"cg_vu_v":39.1504402,"cg_vv_v":64.2243118,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2435.61719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.9394226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104234375,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":244.11481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":244.114816,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":244.114821,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":244.360718,"values":{"Elec_RPM":-2355.7439,"EncoderCos":43160,"EncoderSin":50056,"GapTicks":49345,"Mech_RPM":-471.148773,"cg_du":55.1401443,"cg_dv":44.8598557,"cg_dw":48.8935623,"cg_id_a":-6.994452,"cg_id_raw_a":-10.3340616,"cg_iq_a":-198.386322,"cg_iq_raw_a":-198.389252,"cg_iu_a":199.524841,"cg_iv_a":-104.85675,"cg_iw_a":-94.6680908,"cg_sample_age_us":23.9509087,"cg_sample_seq":2587316,"cg_sample_valid":1,"cg_theta_rad":1.03488135,"cg_vd_req_v":-1.7981286,"cg_vd_v":-1.7981286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46713638,"cg_vq_v":-8.46713638,"cg_vu_v":45.3089333,"cg_vv_v":40.9100075,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.9193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":244.694702,"values":{"Elec_RPM":-2355.3291,"EncoderCos":32112,"EncoderSin":52941,"GapTicks":49366,"Mech_RPM":-471.065796,"cg_du":44.8785286,"cg_dv":55.1214714,"cg_dw":48.6987762,"cg_id_a":-9.57789993,"cg_id_raw_a":-9.19028664,"cg_iq_a":-196.622406,"cg_iq_raw_a":-197.321869,"cg_iu_a":-182.412689,"cg_iv_a":153.199371,"cg_iw_a":29.2133179,"cg_sample_age_us":23.8600006,"cg_sample_seq":2589017,"cg_sample_valid":1,"cg_theta_rad":1.60429394,"cg_vd_req_v":-1.66962719,"cg_vd_v":-1.66962719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48760796,"cg_vq_v":-8.48760796,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2527.49341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.9394226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":245.02478,"values":{"Elec_RPM":-2354.09814,"EncoderCos":14175,"EncoderSin":40949,"GapTicks":49451,"Mech_RPM":-470.819641,"cg_du":48.1797714,"cg_dv":55.0437546,"cg_dw":44.9562454,"cg_id_a":5.51262379,"cg_id_raw_a":-1.72534072,"cg_iq_a":-202.901443,"cg_iq_raw_a":-201.82486,"cg_iu_a":-121.812988,"cg_iv_a":202.998383,"cg_iw_a":-94.2331696,"cg_sample_age_us":23.9654541,"cg_sample_seq":2590666,"cg_sample_valid":1,"cg_theta_rad":2.72490931,"cg_vd_req_v":-1.99371183,"cg_vd_v":-1.99371183,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34889984,"cg_vq_v":-8.34889984,"cg_vu_v":0.87978512,"cg_vv_v":8.35795879,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8951225,"dclink_p_w":-2445.14087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":39.9674988,"temp_inv2_c":39.9644775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":245.13931,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":245.139315,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":245.139321,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":245.378296,"values":{"Elec_RPM":-2354.93188,"EncoderCos":16838,"EncoderSin":19893,"GapTicks":49910,"Mech_RPM":-470.986359,"cg_du":54.6268272,"cg_dv":53.9073563,"cg_dw":45.3731728,"cg_id_a":14.3418579,"cg_id_raw_a":14.6789074,"cg_iq_a":-204.522552,"cg_iq_raw_a":-204.67926,"cg_iu_a":22.9811249,"cg_iv_a":162.985184,"cg_iw_a":-185.966309,"cg_sample_age_us":23.9654541,"cg_sample_seq":2592317,"cg_sample_valid":1,"cg_theta_rad":3.82972527,"cg_vd_req_v":-2.15242672,"cg_vd_v":-2.15242672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32851982,"cg_vq_v":-8.32851982,"cg_vu_v":135.486908,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.9294128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":245.710327,"values":{"Elec_RPM":-2349.51831,"EncoderCos":17482,"EncoderSin":19104,"GapTicks":49586,"Mech_RPM":-469.903656,"cg_du":52.5547295,"cg_dv":54.9209557,"cg_dw":45.0790443,"cg_id_a":-6.30572701,"cg_id_raw_a":0.586999118,"cg_iq_a":-198.240021,"cg_iq_raw_a":-200.668228,"cg_iu_a":0.0750210285,"cg_iv_a":170.777603,"cg_iw_a":-170.852631,"cg_sample_age_us":23.9654541,"cg_sample_seq":2594066,"cg_sample_valid":1,"cg_theta_rad":3.87965369,"cg_vd_req_v":-1.721838,"cg_vd_v":-1.721838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43723965,"cg_vq_v":-8.43723965,"cg_vu_v":15.3962402,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8428993,"dclink_p_w":-2582.30737,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.0210571,"temp_inv2_c":39.9360657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":246.063843,"values":{"Elec_RPM":-2350.22192,"EncoderCos":26493,"EncoderSin":13448,"GapTicks":49449,"Mech_RPM":-470.044373,"cg_du":44.9542198,"cg_dv":47.8503036,"cg_dw":55.0457802,"cg_id_a":4.69868326,"cg_id_raw_a":0.580362737,"cg_iq_a":-198.249741,"cg_iq_raw_a":-198.109619,"cg_iu_a":-27.1078529,"cg_iv_a":-165.746399,"cg_iw_a":192.854248,"cg_sample_age_us":23.9072723,"cg_sample_seq":2595770,"cg_sample_valid":1,"cg_theta_rad":4.45314169,"cg_vd_req_v":-2.02379537,"cg_vd_v":-2.02379537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41725445,"cg_vq_v":-8.41725445,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2379.66211,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.9595032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":246.131098,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":246.131103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":246.13113,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":246.395874,"values":{"Elec_RPM":-2353.59888,"EncoderCos":18412,"EncoderSin":18085,"GapTicks":49388,"Mech_RPM":-470.719788,"cg_du":49.4388046,"cg_dv":55.1016655,"cg_dw":44.8983345,"cg_id_a":-15.5429707,"cg_id_raw_a":-17.284483,"cg_iq_a":-199.29097,"cg_iq_raw_a":-197.925079,"cg_iu_a":-79.6614075,"cg_iv_a":199.736435,"cg_iw_a":-120.075027,"cg_sample_age_us":23.9327278,"cg_sample_seq":2597567,"cg_sample_valid":1,"cg_theta_rad":3.95647883,"cg_vd_req_v":-1.57706666,"cg_vd_v":-1.57706666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39592171,"cg_vq_v":-8.39592171,"cg_vu_v":21.1148415,"cg_vv_v":23.7541981,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":246.727905,"values":{"Elec_RPM":-2352.51221,"EncoderCos":48329,"EncoderSin":19971,"GapTicks":49301,"Mech_RPM":-470.502441,"cg_du":44.8193092,"cg_dv":50.0238113,"cg_dw":55.1806908,"cg_id_a":-11.1743288,"cg_id_raw_a":-11.5259123,"cg_iq_a":-196.497864,"cg_iq_raw_a":-198.243896,"cg_iu_a":-133.374771,"cg_iv_a":-59.9143982,"cg_iw_a":193.289169,"cg_sample_age_us":23.9436359,"cg_sample_seq":2599166,"cg_sample_valid":1,"cg_theta_rad":5.6137538,"cg_vd_req_v":-1.75132084,"cg_vd_v":-1.75132084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47868729,"cg_vq_v":-8.47868729,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2421.26807,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.9528198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":247.079468,"values":{"Elec_RPM":-2353.77832,"EncoderCos":40287,"EncoderSin":13889,"GapTicks":49944,"Mech_RPM":-470.755676,"cg_du":53.9866943,"cg_dv":54.5959816,"cg_dw":45.4040184,"cg_id_a":7.72018862,"cg_id_raw_a":8.04343414,"cg_iq_a":-202.455933,"cg_iq_raw_a":-204.24971,"cg_iu_a":10.6944637,"cg_iv_a":169.327866,"cg_iw_a":-180.022324,"cg_sample_age_us":23.9836369,"cg_sample_seq":2600966,"cg_sample_valid":1,"cg_theta_rad":5.10748053,"cg_vd_req_v":-2.06572914,"cg_vd_v":-2.06572914,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36467171,"cg_vq_v":-8.36467171,"cg_vu_v":43.9892578,"cg_vv_v":71.2625961,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-17.8084679,"dclink_p_w":-2577.32446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":39.9561462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":247.12265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":247.122656,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":247.12266,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":247.413452,"values":{"Elec_RPM":-2353.02515,"EncoderCos":50815,"EncoderSin":41450,"GapTicks":49588,"Mech_RPM":-470.605042,"cg_du":45.0802498,"cg_dv":54.9197502,"cg_dw":53.009243,"cg_id_a":12.2998009,"cg_id_raw_a":9.71192837,"cg_iq_a":-199.074646,"cg_iq_raw_a":-198.933121,"cg_iu_a":-187.957993,"cg_iv_a":35.0444489,"cg_iw_a":152.913544,"cg_sample_age_us":23.4309082,"cg_sample_seq":2602568,"cg_sample_valid":1,"cg_theta_rad":0.465039581,"cg_vd_req_v":-2.20515561,"cg_vd_v":-2.20515561,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43571663,"cg_vq_v":-8.43571663,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0113525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":247.745483,"values":{"Elec_RPM":-2360.14844,"EncoderCos":42852,"EncoderSin":50192,"GapTicks":49370,"Mech_RPM":-472.029694,"cg_du":55.118042,"cg_dv":44.881958,"cg_dw":48.3366356,"cg_id_a":2.14760494,"cg_id_raw_a":-6.33024979,"cg_iq_a":-197.311356,"cg_iq_raw_a":-196.04863,"cg_iu_a":197.277725,"cg_iv_a":-85.1038513,"cg_iw_a":-112.173874,"cg_sample_age_us":23.954546,"cg_sample_seq":2604267,"cg_sample_valid":1,"cg_theta_rad":1.04686117,"cg_vd_req_v":-1.98110533,"cg_vd_v":-1.98110533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47370529,"cg_vq_v":-8.47370529,"cg_vu_v":106.453995,"cg_vv_v":87.53862,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2511.49487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":39.9895935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":248.097046,"values":{"Elec_RPM":-2358.08618,"EncoderCos":31662,"EncoderSin":52916,"GapTicks":49299,"Mech_RPM":-471.617249,"cg_du":44.8181458,"cg_dv":55.1818542,"cg_dw":49.7043381,"cg_id_a":-10.6848211,"cg_id_raw_a":-12.288722,"cg_iq_a":-195.647476,"cg_iq_raw_a":-196.276703,"cg_iu_a":-189.299011,"cg_iv_a":137.650757,"cg_iw_a":51.6482544,"cg_sample_age_us":23.8963642,"cg_sample_seq":2605967,"cg_sample_valid":1,"cg_theta_rad":1.62636411,"cg_vd_req_v":-1.65574265,"cg_vd_v":-1.65574265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47777367,"cg_vq_v":-8.47777367,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2393.21167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":40.0210571,"temp_inv2_c":40.0029907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":248.147543,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":248.147549,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":248.147555,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":248.56189,"values":{"Elec_RPM":-2354.08911,"EncoderCos":12375,"EncoderSin":33666,"GapTicks":49317,"Mech_RPM":-470.81781,"cg_du":44.834034,"cg_dv":49.7646942,"cg_dw":55.165966,"cg_id_a":-16.421648,"cg_id_raw_a":-16.6690693,"cg_iq_a":-196.636749,"cg_iq_raw_a":-195.840271,"cg_iu_a":-134.353363,"cg_iv_a":-56.7974091,"cg_iw_a":191.150772,"cg_sample_age_us":23.8999996,"cg_sample_seq":2608167,"cg_sample_valid":1,"cg_theta_rad":3.10206461,"cg_vd_req_v":-1.53906357,"cg_vd_v":-1.53906357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49777031,"cg_vq_v":-8.49777031,"cg_vu_v":112.172607,"cg_vv_v":125.369385,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2509.65918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":39.9695129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":249.01155,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":249.01156,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":249.011563,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":249.073608,"values":{"Elec_RPM":-2354.61646,"EncoderCos":51902,"EncoderSin":38597,"GapTicks":49783,"Mech_RPM":-470.923279,"cg_du":45.2578926,"cg_dv":54.7421074,"cg_dw":46.5355873,"cg_id_a":5.72785902,"cg_id_raw_a":11.3324041,"cg_iq_a":-202.317841,"cg_iq_raw_a":-203.66571,"cg_iu_a":-173.496704,"cg_iv_a":174.003326,"cg_iw_a":-0.506622314,"cg_sample_age_us":23.5581818,"cg_sample_seq":2610766,"cg_sample_valid":1,"cg_theta_rad":0.306322753,"cg_vd_req_v":-2.03927302,"cg_vd_v":-2.03927302,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35554886,"cg_vq_v":-8.35554886,"cg_vu_v":38.2706528,"cg_vv_v":54.5466805,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":40.0210571,"temp_inv2_c":39.9895935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":249.106905,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":249.106911,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":249.106917,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":249.425171,"values":{"Elec_RPM":-2356.46216,"EncoderCos":47413,"EncoderSin":18917,"GapTicks":49734,"Mech_RPM":-471.29245,"cg_du":45.2129021,"cg_dv":53.2808876,"cg_dw":54.7870979,"cg_id_a":1.39707208,"cg_id_raw_a":4.71569252,"cg_iq_a":-200.974014,"cg_iq_raw_a":-200.96402,"cg_iu_a":-173.061768,"cg_iv_a":3.36734009,"cg_iw_a":172.195251,"cg_sample_age_us":23.9218178,"cg_sample_seq":2612617,"cg_sample_valid":1,"cg_theta_rad":5.54165792,"cg_vd_req_v":-1.98723876,"cg_vd_v":-1.98723876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39763069,"cg_vq_v":-8.39763069,"cg_vu_v":104.694435,"cg_vv_v":104.254532,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.7812843,"dclink_p_w":-2573.39014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":249.757202,"values":{"Elec_RPM":-2356.71045,"EncoderCos":52512,"EncoderSin":29236,"GapTicks":49735,"Mech_RPM":-471.342102,"cg_du":54.7863655,"cg_dv":45.2136345,"cg_dw":46.7395554,"cg_id_a":17.9207039,"cg_id_raw_a":15.9846087,"cg_iq_a":-204.480499,"cg_iq_raw_a":-203.073395,"cg_iu_a":192.747238,"cg_iv_a":-35.5585327,"cg_iw_a":-157.188705,"cg_sample_age_us":24.1254539,"cg_sample_seq":2614317,"cg_sample_valid":1,"cg_theta_rad":6.1193409,"cg_vd_req_v":-2.29043865,"cg_vd_v":-2.29043865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28423405,"cg_vq_v":-8.28423405,"cg_vu_v":142.965088,"cg_vv_v":139.885834,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":40.0113525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":250.108765,"values":{"Elec_RPM":-2354.47363,"EncoderCos":51178,"EncoderSin":40597,"GapTicks":49333,"Mech_RPM":-470.894714,"cg_du":44.8489189,"cg_dv":55.1510811,"cg_dw":51.3025894,"cg_id_a":-2.93959737,"cg_id_raw_a":-8.75288677,"cg_iq_a":-197.936127,"cg_iq_raw_a":-196.854523,"cg_iu_a":-197.453873,"cg_iv_a":101.116959,"cg_iw_a":96.3369141,"cg_sample_age_us":23.4163628,"cg_sample_seq":2616017,"cg_sample_valid":1,"cg_theta_rad":0.408969969,"cg_vd_req_v":-1.90884387,"cg_vd_v":-1.90884387,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46030998,"cg_vq_v":-8.46030998,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":39.9942932,"temp_inv2_c":39.9929504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":250.131423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":250.131428,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":250.131434,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":250.442749,"values":{"Elec_RPM":-2361.35205,"EncoderCos":33414,"EncoderSin":52916,"GapTicks":50080,"Mech_RPM":-472.270416,"cg_du":45.5611076,"cg_dv":54.4726067,"cg_dw":45.5273933,"cg_id_a":14.3405828,"cg_id_raw_a":16.8454838,"cg_iq_a":-203.599609,"cg_iq_raw_a":-205.119568,"cg_iu_a":-169.582367,"cg_iv_a":186.108765,"cg_iw_a":-21.2018509,"cg_sample_age_us":23.9400005,"cg_sample_seq":2617666,"cg_sample_valid":1,"cg_theta_rad":1.53704906,"cg_vd_req_v":-2.15581584,"cg_vd_v":-2.15581584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34028721,"cg_vq_v":-8.34028721,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2548.85522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":39.9962769,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":250.772827,"values":{"Elec_RPM":-2363.89819,"EncoderCos":32613,"EncoderSin":52940,"GapTicks":49673,"Mech_RPM":-472.779633,"cg_du":45.1581459,"cg_dv":54.8418541,"cg_dw":46.9315147,"cg_id_a":-2.92880154,"cg_id_raw_a":3.29495645,"cg_iq_a":-198.879608,"cg_iq_raw_a":-200.429398,"cg_iu_a":-172.735565,"cg_iv_a":172.408585,"cg_iw_a":0.326980591,"cg_sample_age_us":23.7763634,"cg_sample_seq":2619416,"cg_sample_valid":1,"cg_theta_rad":1.56939495,"cg_vd_req_v":-1.79991341,"cg_vd_v":-1.79991341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.401021,"cg_vq_v":-8.43336487,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2527.54688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":40.0096741,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":251.123426,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":251.123432,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":251.123437,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":251.126343,"values":{"Elec_RPM":-2363.26196,"EncoderCos":21525,"EncoderSin":49698,"GapTicks":49730,"Mech_RPM":-472.652405,"cg_du":53.4729996,"cg_dv":45.209198,"cg_dw":54.790802,"cg_id_a":16.2057114,"cg_id_raw_a":15.2752037,"cg_iq_a":-202.783173,"cg_iq_raw_a":-202.692398,"cg_iu_a":161.613785,"cg_iv_a":-189.9935,"cg_iw_a":28.379715,"cg_sample_age_us":23.5472736,"cg_sample_seq":2621116,"cg_sample_valid":1,"cg_theta_rad":2.1484592,"cg_vd_req_v":-2.23744154,"cg_vd_v":-2.23744154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35836411,"cg_vq_v":-8.35836411,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2536.67285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0314026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":251.458374,"values":{"Elec_RPM":-2359.96851,"EncoderCos":14198,"EncoderSin":41210,"GapTicks":49371,"Mech_RPM":-471.993683,"cg_du":48.6066017,"cg_dv":55.1171722,"cg_dw":44.8828278,"cg_id_a":0.899891257,"cg_id_raw_a":-3.92039394,"cg_iq_a":-201.049042,"cg_iq_raw_a":-199.813446,"cg_iu_a":-108.873947,"cg_iv_a":201.911072,"cg_iw_a":-93.0371246,"cg_sample_age_us":23.9400005,"cg_sample_seq":2622817,"cg_sample_valid":1,"cg_theta_rad":2.7167604,"cg_vd_req_v":-1.9072634,"cg_vd_v":-1.9072634,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41682625,"cg_vq_v":-8.41682625,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":40.0213928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":251.81189,"values":{"Elec_RPM":-2361.4043,"EncoderCos":12545,"EncoderSin":30476,"GapTicks":49583,"Mech_RPM":-472.280884,"cg_du":47.8108711,"cg_dv":45.0755234,"cg_dw":54.9244766,"cg_id_a":-8.47752953,"cg_id_raw_a":-1.60908139,"cg_iq_a":-202.63942,"cg_iq_raw_a":-204.083069,"cg_iu_a":48.0256119,"cg_iv_a":-189.957245,"cg_iw_a":141.931641,"cg_sample_age_us":23.8418179,"cg_sample_seq":2624520,"cg_sample_valid":1,"cg_theta_rad":3.302001,"cg_vd_req_v":-1.67212033,"cg_vd_v":-1.67212033,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35636616,"cg_vq_v":-8.35636616,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2415.50464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0163574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":252.114904,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":252.11491,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":252.114915,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":252.145874,"values":{"Elec_RPM":-2360.99951,"EncoderCos":17202,"EncoderSin":19381,"GapTicks":49810,"Mech_RPM":-472.199921,"cg_du":53.5477257,"cg_dv":54.7174988,"cg_dw":45.2825012,"cg_id_a":2.08396006,"cg_id_raw_a":8.83394241,"cg_iq_a":-202.252228,"cg_iq_raw_a":-204.370499,"cg_iu_a":3.26447845,"cg_iv_a":169.762787,"cg_iw_a":-173.027267,"cg_sample_age_us":23.8781815,"cg_sample_seq":2626218,"cg_sample_valid":1,"cg_theta_rad":3.8711381,"cg_vd_req_v":-1.89342761,"cg_vd_v":-1.89342761,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35667992,"cg_vq_v":-8.35667992,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0197144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":252.475952,"values":{"Elec_RPM":-2359.90405,"EncoderCos":27050,"EncoderSin":13219,"GapTicks":49670,"Mech_RPM":-471.980804,"cg_du":45.1552734,"cg_dv":46.7849197,"cg_dw":54.8447266,"cg_id_a":14.7967768,"cg_id_raw_a":14.6660128,"cg_iq_a":-203.246414,"cg_iq_raw_a":-200.24176,"cg_iu_a":-37.5460815,"cg_iv_a":-154.981964,"cg_iw_a":192.528046,"cg_sample_age_us":23.9218178,"cg_sample_seq":2627917,"cg_sample_valid":1,"cg_theta_rad":4.44225836,"cg_vd_req_v":-2.21917605,"cg_vd_v":-2.21917605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35403252,"cg_vq_v":-8.35403252,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2411.57031,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":252.829468,"values":{"Elec_RPM":-2359.63965,"EncoderCos":38802,"EncoderSin":13335,"GapTicks":49487,"Mech_RPM":-471.927917,"cg_du":55.0113258,"cg_dv":51.8094254,"cg_dw":44.9886742,"cg_id_a":0.281259418,"cg_id_raw_a":-1.62978637,"cg_iq_a":-202.975052,"cg_iq_raw_a":-203.988998,"cg_iu_a":85.3205109,"cg_iv_a":116.99176,"cg_iw_a":-202.312271,"cg_sample_age_us":23.9509087,"cg_sample_seq":2629616,"cg_sample_valid":1,"cg_theta_rad":5.03213644,"cg_vd_req_v":-1.93320417,"cg_vd_v":-1.93320417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33334064,"cg_vq_v":-8.33334064,"cg_vu_v":40.4701157,"cg_vv_v":45.7488289,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":39.991272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":253.107759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":253.107765,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":253.10777,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":253.161499,"values":{"Elec_RPM":-2355.08252,"EncoderCos":48198,"EncoderSin":19824,"GapTicks":49347,"Mech_RPM":-471.016479,"cg_du":44.8613358,"cg_dv":50.4819946,"cg_dw":55.1386642,"cg_id_a":-10.5117207,"cg_id_raw_a":-9.32302284,"cg_iq_a":-199.200714,"cg_iq_raw_a":-198.860474,"cg_iu_a":-140.985977,"cg_iv_a":-49.7298737,"cg_iw_a":189.954727,"cg_sample_age_us":23.9254551,"cg_sample_seq":2631317,"cg_sample_valid":1,"cg_theta_rad":5.60158682,"cg_vd_req_v":-1.75732958,"cg_vd_v":-1.75732958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39182186,"cg_vq_v":-8.39182186,"cg_vu_v":127.568848,"cg_vv_v":121.410347,"cg_vw_v":124.049698,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0716248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":253.49353,"values":{"Elec_RPM":-2353.38428,"EncoderCos":52661,"EncoderSin":30351,"GapTicks":49642,"Mech_RPM":-470.676849,"cg_du":54.8706398,"cg_dv":46.9112434,"cg_dw":45.1293602,"cg_id_a":1.35165203,"cg_id_raw_a":6.1259675,"cg_iq_a":-200.001343,"cg_iq_raw_a":-200.791,"cg_iu_a":172.486938,"cg_iv_a":-1.12689209,"cg_iw_a":-171.360046,"cg_sample_age_us":24.0854549,"cg_sample_seq":2633017,"cg_sample_valid":1,"cg_theta_rad":6.17456913,"cg_vd_req_v":-1.93698561,"cg_vd_v":-1.93698561,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4216795,"cg_vq_v":-8.4216795,"cg_vu_v":129.328415,"cg_vv_v":125.369385,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0431519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":253.845093,"values":{"Elec_RPM":-2351.1731,"EncoderCos":50574,"EncoderSin":41964,"GapTicks":49922,"Mech_RPM":-470.234619,"cg_du":45.3843002,"cg_dv":54.6156998,"cg_dw":54.1382408,"cg_id_a":14.0586872,"cg_id_raw_a":16.2060814,"cg_iq_a":-199.987122,"cg_iq_raw_a":-200.144608,"cg_iu_a":-185.602142,"cg_iv_a":29.0279846,"cg_iw_a":156.574158,"cg_sample_age_us":23.4309082,"cg_sample_seq":2634716,"cg_sample_valid":1,"cg_theta_rad":0.475559354,"cg_vd_req_v":-2.21979046,"cg_vd_v":-2.21979046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42442799,"cg_vq_v":-8.42442799,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2534.57446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0498352,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":254.131296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":254.131302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":254.131307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":254.179077,"values":{"Elec_RPM":-2353.53174,"EncoderCos":42664,"EncoderSin":50269,"GapTicks":49417,"Mech_RPM":-470.70636,"cg_du":55.0746231,"cg_dv":44.9253769,"cg_dw":48.057373,"cg_id_a":9.47487259,"cg_id_raw_a":4.60210514,"cg_iq_a":-198.401474,"cg_iq_raw_a":-197.454208,"cg_iu_a":198.256317,"cg_iv_a":-70.2801361,"cg_iw_a":-127.976181,"cg_sample_age_us":23.9181824,"cg_sample_seq":2636416,"cg_sample_valid":1,"cg_theta_rad":1.05737638,"cg_vd_req_v":-2.12798119,"cg_vd_v":-2.12798119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42031193,"cg_vq_v":-8.42031193,"cg_vu_v":42.2296829,"cg_vv_v":40.0302238,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2456.41846,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.047821,"temp_inv2_c":40.0448303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":254.513062,"values":{"Elec_RPM":-2347.02686,"EncoderCos":31536,"EncoderSin":52920,"GapTicks":49294,"Mech_RPM":-469.405396,"cg_du":44.8129005,"cg_dv":55.1870995,"cg_dw":49.944664,"cg_id_a":-9.52217293,"cg_id_raw_a":-9.03896904,"cg_iq_a":-196.095734,"cg_iq_raw_a":-196.066406,"cg_iu_a":-187.740524,"cg_iv_a":142.761139,"cg_iw_a":44.979393,"cg_sample_age_us":23.7654552,"cg_sample_seq":2638116,"cg_sample_valid":1,"cg_theta_rad":1.6232878,"cg_vd_req_v":-1.70124054,"cg_vd_v":-1.70124054,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49993801,"cg_vq_v":-8.49993801,"cg_vu_v":96.3364716,"cg_vv_v":102.055069,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2464.37891,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.1014709,"temp_inv2_c":40.0649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":254.864624,"values":{"Elec_RPM":-2346.29736,"EncoderCos":13999,"EncoderSin":40728,"GapTicks":49482,"Mech_RPM":-469.25946,"cg_du":47.7150726,"cg_dv":55.0154953,"cg_dw":44.9845047,"cg_id_a":13.5038023,"cg_id_raw_a":9.7532053,"cg_iq_a":-201.021729,"cg_iq_raw_a":-200.412064,"cg_iu_a":-136.093063,"cg_iv_a":198.57663,"cg_iw_a":-62.4835739,"cg_sample_age_us":23.9690914,"cg_sample_seq":2639767,"cg_sample_valid":1,"cg_theta_rad":2.74018955,"cg_vd_req_v":-2.14556217,"cg_vd_v":-2.14556217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39687443,"cg_vq_v":-8.39687443,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2426.00317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.074646,"temp_inv2_c":40.0280762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103176929,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":255.122933,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":255.122938,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":255.122943,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":255.196655,"values":{"Elec_RPM":-2350.80762,"EncoderCos":13641,"EncoderSin":39811,"GapTicks":50055,"Mech_RPM":-470.161499,"cg_du":45.7460098,"cg_dv":54.4954453,"cg_dw":45.5045547,"cg_id_a":13.908906,"cg_id_raw_a":17.4199924,"cg_iq_a":-204.108612,"cg_iq_raw_a":-205.360916,"cg_iu_a":-167.951385,"cg_iv_a":182.810562,"cg_iw_a":-14.8591766,"cg_sample_age_us":24.0200005,"cg_sample_seq":2641516,"cg_sample_valid":1,"cg_theta_rad":2.79386306,"cg_vd_req_v":-2.11972737,"cg_vd_v":-2.11972737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32085419,"cg_vq_v":-8.32085419,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2474.05347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.1014709,"temp_inv2_c":40.0783386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":255.53064,"values":{"Elec_RPM":-2354.77905,"EncoderCos":17601,"EncoderSin":18978,"GapTicks":49473,"Mech_RPM":-470.955811,"cg_du":52.1396751,"cg_dv":55.0242081,"cg_dw":44.9757919,"cg_id_a":-9.97938538,"cg_id_raw_a":-4.98421526,"cg_iq_a":-198.097275,"cg_iq_raw_a":-198.081543,"cg_iu_a":-7.64491558,"cg_iv_a":174.873169,"cg_iw_a":-167.228256,"cg_sample_age_us":23.9981823,"cg_sample_seq":2643167,"cg_sample_valid":1,"cg_theta_rad":3.88688087,"cg_vd_req_v":-1.65905237,"cg_vd_v":-1.65905237,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45876694,"cg_vq_v":-8.45876694,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2470.13135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.1551514,"temp_inv2_c":40.0632324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":255.882202,"values":{"Elec_RPM":-2355.12451,"EncoderCos":13032,"EncoderSin":27960,"GapTicks":49595,"Mech_RPM":-471.024902,"cg_du":52.963356,"cg_dv":45.0867081,"cg_dw":54.9132919,"cg_id_a":10.6814423,"cg_id_raw_a":7.10931683,"cg_iq_a":-199.167984,"cg_iq_raw_a":-198.022858,"cg_iu_a":145.412796,"cg_iv_a":-192.639297,"cg_iw_a":47.2265015,"cg_sample_age_us":23.7000008,"cg_sample_seq":2644967,"cg_sample_valid":1,"cg_theta_rad":3.38683629,"cg_vd_req_v":-2.11270881,"cg_vd_v":-2.11270881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43374443,"cg_vq_v":-8.43374443,"cg_vu_v":106.014107,"cg_vv_v":88.4184036,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.0314026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":256.115614,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":256.115714,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":256.115807,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":256.214233,"values":{"Elec_RPM":-2354.69263,"EncoderCos":39240,"EncoderSin":13479,"GapTicks":49628,"Mech_RPM":-470.938507,"cg_du":54.882782,"cg_dv":52.6788635,"cg_dw":45.117218,"cg_id_a":5.89927244,"cg_id_raw_a":4.24806929,"cg_iq_a":-203.092072,"cg_iq_raw_a":-203.259674,"cg_iu_a":62.0157318,"cg_iv_a":138.41188,"cg_iw_a":-200.427612,"cg_sample_age_us":23.9618187,"cg_sample_seq":2646566,"cg_sample_valid":1,"cg_theta_rad":5.05514622,"cg_vd_req_v":-2.04005671,"cg_vd_v":-2.04005671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31269169,"cg_vq_v":-8.31269169,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2501.26636,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.0716248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":256.565796,"values":{"Elec_RPM":-2353.87134,"EncoderCos":47909,"EncoderSin":19398,"GapTicks":49450,"Mech_RPM":-470.774261,"cg_du":44.9552345,"cg_dv":51.7169304,"cg_dw":55.0447655,"cg_id_a":-6.81492043,"cg_id_raw_a":-7.693748,"cg_iq_a":-201.615845,"cg_iq_raw_a":-200.454651,"cg_iu_a":-123.770157,"cg_iv_a":-70.2438812,"cg_iw_a":194.014038,"cg_sample_age_us":26.7945461,"cg_sample_seq":2648271,"cg_sample_valid":1,"cg_theta_rad":5.62368679,"cg_vd_req_v":-1.83165205,"cg_vd_v":-1.83165205,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36745834,"cg_vq_v":-8.36745834,"cg_vu_v":130.208206,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4040203,"dclink_p_w":-2366.8501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.0883789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":256.89978,"values":{"Elec_RPM":-2353.28979,"EncoderCos":52702,"EncoderSin":30935,"GapTicks":49374,"Mech_RPM":-470.657959,"cg_du":55.1142616,"cg_dv":48.4939766,"cg_dw":44.8857384,"cg_id_a":-14.9073715,"cg_id_raw_a":-10.4769468,"cg_iq_a":-195.824997,"cg_iq_raw_a":-197.883957,"cg_iu_a":160.888916,"cg_iv_a":18.5172729,"cg_iw_a":-179.406189,"cg_sample_age_us":24.0927277,"cg_sample_seq":2649966,"cg_sample_valid":1,"cg_theta_rad":6.20574808,"cg_vd_req_v":-1.6208992,"cg_vd_v":-1.6208992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5163908,"cg_vq_v":-8.5163908,"cg_vu_v":29.0329094,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.422142,"dclink_p_w":-2376.68872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.1034546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":257.138854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":257.138859,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":257.138864,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":257.231812,"values":{"Elec_RPM":-2352.6394,"EncoderCos":50486,"EncoderSin":42136,"GapTicks":50065,"Mech_RPM":-470.527893,"cg_du":45.5145416,"cg_dv":54.4011497,"cg_dw":54.4854584,"cg_id_a":11.169178,"cg_id_raw_a":13.4762697,"cg_iq_a":-201.204422,"cg_iq_raw_a":-199.158081,"cg_iu_a":-182.086487,"cg_iv_a":14.5304565,"cg_iw_a":167.55603,"cg_sample_age_us":23.5327282,"cg_sample_seq":2651667,"cg_sample_valid":1,"cg_theta_rad":0.493902326,"cg_vd_req_v":-2.1474731,"cg_vd_v":-2.1474731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37012672,"cg_vq_v":-8.37012672,"cg_vu_v":98.5359344,"cg_vv_v":100.735397,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.4134102,"dclink_p_w":-2512.48975,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":40.1551514,"temp_inv2_c":40.0917053,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":257.585327,"values":{"Elec_RPM":-2354.90015,"EncoderCos":50104,"EncoderSin":42910,"GapTicks":49561,"Mech_RPM":-470.980011,"cg_du":45.0555878,"cg_dv":52.3478012,"cg_dw":54.9444122,"cg_id_a":-4.15120125,"cg_id_raw_a":-3.26146388,"cg_iq_a":-200.664413,"cg_iq_raw_a":-200.379379,"cg_iu_a":-164.363251,"cg_iv_a":-14.0296936,"cg_iw_a":178.392944,"cg_sample_age_us":23.4418182,"cg_sample_seq":2653417,"cg_sample_valid":1,"cg_theta_rad":0.537917852,"cg_vd_req_v":-1.83419001,"cg_vd_v":-1.83419001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36903191,"cg_vq_v":-8.36903191,"cg_vu_v":101.175293,"cg_vv_v":101.175293,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.0900574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":257.915405,"values":{"Elec_RPM":-2348.2627,"EncoderCos":41845,"EncoderSin":50738,"GapTicks":49822,"Mech_RPM":-469.652527,"cg_du":54.706768,"cg_dv":45.293232,"cg_dw":46.2194099,"cg_id_a":16.5126019,"cg_id_raw_a":16.2543221,"cg_iq_a":-204.461853,"cg_iq_raw_a":-203.107224,"cg_iu_a":186.911987,"cg_iv_a":-27.4399261,"cg_iw_a":-159.472061,"cg_sample_age_us":24.0490913,"cg_sample_seq":2655117,"cg_sample_valid":1,"cg_theta_rad":1.10637546,"cg_vd_req_v":-2.24926281,"cg_vd_v":-2.24926281,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31885052,"cg_vq_v":-8.31885052,"cg_vu_v":106.893898,"cg_vv_v":101.615181,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":40.1551514,"temp_inv2_c":40.1000977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":258.130812,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":258.130817,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":258.130822,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":258.290405,"values":{"Elec_RPM":-2347.03442,"EncoderCos":30330,"EncoderSin":52833,"GapTicks":49422,"Mech_RPM":-469.406891,"cg_du":44.9295235,"cg_dv":55.0704765,"cg_dw":52.2639275,"cg_id_a":8.36807632,"cg_id_raw_a":7.48125839,"cg_iq_a":-197.773239,"cg_iq_raw_a":-198.404007,"cg_iu_a":-191.654861,"cg_iv_a":56.4645538,"cg_iw_a":135.190308,"cg_sample_age_us":23.9290905,"cg_sample_seq":2656816,"cg_sample_valid":1,"cg_theta_rad":1.70310152,"cg_vd_req_v":-2.05780053,"cg_vd_v":-2.05780053,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47769833,"cg_vq_v":-8.47769833,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2490.26465,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.1551514,"temp_inv2_c":40.1068115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":258.829468,"values":{"Elec_RPM":-2349.04834,"EncoderCos":13874,"EncoderSin":25085,"GapTicks":49333,"Mech_RPM":-469.809692,"cg_du":55.1516342,"cg_dv":44.8483658,"cg_dw":49.278141,"cg_id_a":-12.5108719,"cg_id_raw_a":-14.807888,"cg_iq_a":-198.503418,"cg_iq_raw_a":-198.943909,"cg_iu_a":196.045441,"cg_iv_a":-122.145065,"cg_iw_a":-73.9003754,"cg_sample_age_us":24.0636368,"cg_sample_seq":2659567,"cg_sample_valid":1,"cg_theta_rad":3.53546691,"cg_vd_req_v":-1.66124618,"cg_vd_v":-1.66124618,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44919491,"cg_vq_v":-8.44919491,"cg_vu_v":105.134323,"cg_vv_v":73.462059,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.1218872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104385443,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":258.995334,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":258.995342,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":258.995343,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":259.155287,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":259.155292,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":259.155297,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":259.24353,"values":{"Elec_RPM":-2346.04883,"EncoderCos":38697,"EncoderSin":13317,"GapTicks":49477,"Mech_RPM":-469.209778,"cg_du":55.0208397,"cg_dv":51.622406,"cg_dw":44.9791603,"cg_id_a":-2.24270797,"cg_id_raw_a":-5.95794678,"cg_iq_a":-202.001358,"cg_iq_raw_a":-199.362366,"cg_iu_a":93.8378143,"cg_iv_a":108.14827,"cg_iw_a":-201.986084,"cg_sample_age_us":23.8600006,"cg_sample_seq":2661767,"cg_sample_valid":1,"cg_theta_rad":5.02715015,"cg_vd_req_v":-1.89098191,"cg_vd_v":-1.89098191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32316971,"cg_vq_v":-8.32316971,"cg_vu_v":43.1094704,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.1283264,"temp_inv2_c":40.1453857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":259.597046,"values":{"Elec_RPM":-2349.65698,"EncoderCos":39383,"EncoderSin":13560,"GapTicks":49716,"Mech_RPM":-469.931396,"cg_du":54.8031921,"cg_dv":52.9982643,"cg_dw":45.1968079,"cg_id_a":5.03179121,"cg_id_raw_a":1.5364517,"cg_iq_a":-206.08136,"cg_iq_raw_a":-203.175064,"cg_iu_a":57.6302261,"cg_iv_a":142.144989,"cg_iw_a":-199.775208,"cg_sample_age_us":23.9799995,"cg_sample_seq":2663517,"cg_sample_valid":1,"cg_theta_rad":5.06002951,"cg_vd_req_v":-2.03533697,"cg_vd_v":-2.03533697,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25913143,"cg_vq_v":-8.25913143,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.1437225,"dclink_p_w":-2609.88135,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.1820068,"temp_inv2_c":40.1286011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103982605,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":259.927124,"values":{"Elec_RPM":-2354.74414,"EncoderCos":50907,"EncoderSin":41259,"GapTicks":49504,"Mech_RPM":-470.948853,"cg_du":45.0042877,"cg_dv":54.9957123,"cg_dw":52.6323586,"cg_id_a":9.06118965,"cg_id_raw_a":8.04752731,"cg_iq_a":-197.111115,"cg_iq_raw_a":-196.958313,"cg_iu_a":-193.503296,"cg_iv_a":56.1021271,"cg_iw_a":137.401169,"cg_sample_age_us":23.5363636,"cg_sample_seq":2665116,"cg_sample_valid":1,"cg_theta_rad":0.44652465,"cg_vd_req_v":-2.13714504,"cg_vd_v":-2.13714504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46054363,"cg_vq_v":-8.46054363,"cg_vu_v":38.7105446,"cg_vv_v":55.4264603,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1302795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":260.114597,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":260.1146,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":260.114603,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":260.261108,"values":{"Elec_RPM":-2351.93042,"EncoderCos":43308,"EncoderSin":49880,"GapTicks":49352,"Mech_RPM":-470.386078,"cg_du":55.1344795,"cg_dv":44.8655205,"cg_dw":49.2979317,"cg_id_a":-10.681488,"cg_id_raw_a":-12.6063929,"cg_iq_a":-197.470261,"cg_iq_raw_a":-197.595749,"cg_iu_a":197.132751,"cg_iv_a":-119.390533,"cg_iw_a":-77.742218,"cg_sample_age_us":23.9254551,"cg_sample_seq":2666816,"cg_sample_valid":1,"cg_theta_rad":1.02119279,"cg_vd_req_v":-1.71333945,"cg_vd_v":-1.71333945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43486118,"cg_vq_v":-8.43486118,"cg_vu_v":2.19946289,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2482.38306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.131958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":260.612671,"values":{"Elec_RPM":-2349.31763,"EncoderCos":32265,"EncoderSin":52945,"GapTicks":49397,"Mech_RPM":-469.863525,"cg_du":44.9066887,"cg_dv":55.0933113,"cg_dw":48.3076897,"cg_id_a":-7.5553751,"cg_id_raw_a":-4.30063105,"cg_iq_a":-198.935181,"cg_iq_raw_a":-200.733704,"cg_iu_a":-181.071655,"cg_iv_a":157.911057,"cg_iw_a":23.1605988,"cg_sample_age_us":23.8927269,"cg_sample_seq":2668516,"cg_sample_valid":1,"cg_theta_rad":1.5956713,"cg_vd_req_v":-1.72001708,"cg_vd_v":-1.72001708,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4675436,"cg_vq_v":-8.4675436,"cg_vu_v":1.31967759,"cg_vv_v":8.35795879,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.1820068,"temp_inv2_c":40.0766296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":260.944702,"values":{"Elec_RPM":-2346.6853,"EncoderCos":31468,"EncoderSin":52936,"GapTicks":49255,"Mech_RPM":-469.337067,"cg_du":44.7779922,"cg_dv":55.2220078,"cg_dw":50.0910568,"cg_id_a":-9.02703285,"cg_id_raw_a":-8.93590355,"cg_iq_a":-195.887756,"cg_iq_raw_a":-196.544571,"cg_iu_a":-193.829498,"cg_iv_a":128.915985,"cg_iw_a":64.9135056,"cg_sample_age_us":23.7654552,"cg_sample_seq":2670266,"cg_sample_valid":1,"cg_theta_rad":1.63595676,"cg_vd_req_v":-1.71051419,"cg_vd_v":-1.71051419,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53080368,"cg_vq_v":-8.53080368,"cg_vu_v":39.1504402,"cg_vv_v":68.6232376,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2392.99731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.1820068,"temp_inv2_c":40.1487122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":261.107442,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":261.107448,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":261.107452,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":261.278687,"values":{"Elec_RPM":-2355.21899,"EncoderCos":13999,"EncoderSin":40676,"GapTicks":49542,"Mech_RPM":-471.043793,"cg_du":47.595829,"cg_dv":54.9617424,"cg_dw":45.0382576,"cg_id_a":10.6122284,"cg_id_raw_a":6.25146818,"cg_iq_a":-202.942383,"cg_iq_raw_a":-202.022614,"cg_iu_a":-135.984344,"cg_iv_a":200.533813,"cg_iw_a":-64.549469,"cg_sample_age_us":23.9618187,"cg_sample_seq":2671917,"cg_sample_valid":1,"cg_theta_rad":2.74228191,"cg_vd_req_v":-2.09064269,"cg_vd_v":-2.09064269,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32543945,"cg_vq_v":-8.32543945,"cg_vu_v":135.486908,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.795454,"dclink_p_w":-2423.32813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.131958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":261.630249,"values":{"Elec_RPM":-2356.23071,"EncoderCos":13647,"EncoderSin":39788,"GapTicks":50062,"Mech_RPM":-471.246155,"cg_du":45.7047043,"cg_dv":54.4890327,"cg_dw":45.5109673,"cg_id_a":13.6046448,"cg_id_raw_a":14.010149,"cg_iq_a":-206.325302,"cg_iq_raw_a":-206.568146,"cg_iu_a":-169.038696,"cg_iv_a":191.835297,"cg_iw_a":-27.9431992,"cg_sample_age_us":23.9036369,"cg_sample_seq":2673666,"cg_sample_valid":1,"cg_theta_rad":2.78887701,"cg_vd_req_v":-2.11439204,"cg_vd_v":-2.11439204,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27858257,"cg_vq_v":-8.27858257,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2384.55688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.1437073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":261.96228,"values":{"Elec_RPM":-2360.31763,"EncoderCos":12813,"EncoderSin":28672,"GapTicks":49353,"Mech_RPM":-472.063538,"cg_du":51.6077042,"cg_dv":44.8664665,"cg_dw":55.1335335,"cg_id_a":-1.3099103,"cg_id_raw_a":-5.93677044,"cg_iq_a":-197.622421,"cg_iq_raw_a":-197.154022,"cg_iu_a":106.921844,"cg_iv_a":-197.858414,"cg_iw_a":90.9365692,"cg_sample_age_us":23.6636372,"cg_sample_seq":2675367,"cg_sample_valid":1,"cg_theta_rad":3.35099602,"cg_vd_req_v":-1.87884378,"cg_vd_v":-1.87884378,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48593712,"cg_vq_v":-8.48593712,"cg_vu_v":35.1914063,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2534.83667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.1504211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":262.130879,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":262.130885,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":262.13089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":262.294312,"values":{"Elec_RPM":-2354.58716,"EncoderCos":27623,"EncoderSin":13099,"GapTicks":50086,"Mech_RPM":-470.917419,"cg_du":45.5328903,"cg_dv":45.6027832,"cg_dw":54.4671097,"cg_id_a":12.9117517,"cg_id_raw_a":14.6681967,"cg_iq_a":-204.03299,"cg_iq_raw_a":-204.131088,"cg_iu_a":-14.9299259,"cg_iv_a":-168.138474,"cg_iw_a":183.068405,"cg_sample_age_us":23.8381824,"cg_sample_seq":2677017,"cg_sample_valid":1,"cg_theta_rad":4.47253561,"cg_vd_req_v":-2.15609765,"cg_vd_v":-2.15609765,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31138611,"cg_vq_v":-8.31138611,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2540.98999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.1353149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":262.647827,"values":{"Elec_RPM":-2355.43506,"EncoderCos":28549,"EncoderSin":12857,"GapTicks":49556,"Mech_RPM":-471.087036,"cg_du":47.9297409,"cg_dv":45.0512085,"cg_dw":54.9487915,"cg_id_a":-10.6712017,"cg_id_raw_a":-5.26308727,"cg_iq_a":-202.620743,"cg_iq_raw_a":-204.912643,"cg_iu_a":6.78013039,"cg_iv_a":-179.591522,"cg_iw_a":172.811386,"cg_sample_age_us":24.0599995,"cg_sample_seq":2678766,"cg_sample_valid":1,"cg_theta_rad":4.51588869,"cg_vd_req_v":-1.67098475,"cg_vd_v":-1.67098475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34219742,"cg_vq_v":-8.34219742,"cg_vu_v":39.1504402,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2439.53906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.155426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":262.981812,"values":{"Elec_RPM":-2357.15381,"EncoderCos":39501,"EncoderSin":13579,"GapTicks":49755,"Mech_RPM":-471.430786,"cg_du":54.7673645,"cg_dv":53.2302551,"cg_dw":45.2326355,"cg_id_a":6.23557806,"cg_id_raw_a":5.06855488,"cg_iq_a":-206.601669,"cg_iq_raw_a":-207.09079,"cg_iu_a":35.15905,"cg_iv_a":156.714996,"cg_iw_a":-200.608826,"cg_sample_age_us":23.954546,"cg_sample_seq":2680468,"cg_sample_valid":1,"cg_theta_rad":5.07639742,"cg_vd_req_v":-2.05589437,"cg_vd_v":-2.05589437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27733994,"cg_vq_v":-8.27733994,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2488.95728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.1923828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":263.122841,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":263.122846,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":263.122851,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":263.350952,"values":{"Elec_RPM":-2361.12012,"EncoderCos":30101,"EncoderSin":12624,"GapTicks":49318,"Mech_RPM":-472.22403,"cg_du":51.1575394,"cg_dv":44.8350945,"cg_dw":55.1649055,"cg_id_a":-1.50548255,"cg_id_raw_a":-5.35614061,"cg_iq_a":-197.47847,"cg_iq_raw_a":-197.412125,"cg_iu_a":83.3633499,"cg_iv_a":-196.589874,"cg_iw_a":113.226532,"cg_sample_age_us":23.6563644,"cg_sample_seq":2682266,"cg_sample_valid":1,"cg_theta_rad":4.58664608,"cg_vd_req_v":-1.90263498,"cg_vd_v":-1.90263498,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46559048,"cg_vq_v":-8.46559048,"cg_vu_v":104.254532,"cg_vv_v":74.3418427,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2424.63525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1202393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":263.68103,"values":{"Elec_RPM":-2358.76123,"EncoderCos":41425,"EncoderSin":14376,"GapTicks":49323,"Mech_RPM":-471.752228,"cg_du":50.8777161,"cg_dv":55.1604462,"cg_dw":44.8395538,"cg_id_a":-18.5383224,"cg_id_raw_a":-18.0666447,"cg_iq_a":-195.180923,"cg_iq_raw_a":-195.225845,"cg_iu_a":-26.1292706,"cg_iv_a":177.482727,"cg_iw_a":-160.26944,"cg_sample_age_us":23.9145451,"cg_sample_seq":2683966,"cg_sample_valid":1,"cg_theta_rad":5.16842175,"cg_vd_req_v":-1.56005502,"cg_vd_v":-1.56005502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52369976,"cg_vq_v":-8.52369976,"cg_vu_v":26.3935547,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.8302135,"dclink_p_w":-2580.47144,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":40.1269226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":264.034546,"values":{"Elec_RPM":-2355.07471,"EncoderCos":42165,"EncoderSin":14709,"GapTicks":49380,"Mech_RPM":-471.014954,"cg_du":49.192791,"cg_dv":55.1088409,"cg_dw":44.8911591,"cg_id_a":-16.0874557,"cg_id_raw_a":-18.6841946,"cg_iq_a":-199.194458,"cg_iq_raw_a":-199.324707,"cg_iu_a":-73.9348907,"cg_iv_a":197.561813,"cg_iw_a":-134.210129,"cg_sample_age_us":23.9436359,"cg_sample_seq":2685716,"cg_sample_valid":1,"cg_theta_rad":5.21082401,"cg_vd_req_v":-1.63573885,"cg_vd_v":-1.63573885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41551971,"cg_vq_v":-8.41551971,"cg_vu_v":0.87978512,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2560.69312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.1820068,"temp_inv2_c":40.1772766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":264.115009,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":264.115014,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":264.115019,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":264.366577,"values":{"Elec_RPM":-2357.07861,"EncoderCos":49735,"EncoderSin":43488,"GapTicks":49346,"Mech_RPM":-471.415741,"cg_du":44.8604889,"cg_dv":50.7510986,"cg_dw":55.1395111,"cg_id_a":-11.1095238,"cg_id_raw_a":-10.7485361,"cg_iq_a":-199.33551,"cg_iq_raw_a":-198.329422,"cg_iu_a":-146.712509,"cg_iv_a":-41.1400909,"cg_iw_a":187.8526,"cg_sample_age_us":23.5618191,"cg_sample_seq":2687317,"cg_sample_valid":1,"cg_theta_rad":0.568444669,"cg_vd_req_v":-1.72275352,"cg_vd_v":-1.72275352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44542027,"cg_vq_v":-8.44542027,"cg_vu_v":99.4157181,"cg_vv_v":97.6561432,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1671753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":264.700562,"values":{"Elec_RPM":-2354.60132,"EncoderCos":40774,"EncoderSin":51190,"GapTicks":49531,"Mech_RPM":-470.920258,"cg_du":54.9714355,"cg_dv":47.6357918,"cg_dw":45.0285645,"cg_id_a":-5.60096407,"cg_id_raw_a":0.0354649499,"cg_iq_a":-197.92128,"cg_iq_raw_a":-199.987228,"cg_iu_a":166.869141,"cg_iv_a":7.60787964,"cg_iw_a":-174.47702,"cg_sample_age_us":23.954546,"cg_sample_seq":2689016,"cg_sample_valid":1,"cg_theta_rad":1.16352725,"cg_vd_req_v":-1.76720488,"cg_vd_v":-1.76720488,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45896816,"cg_vq_v":-8.45896816,"cg_vu_v":41.3499031,"cg_vv_v":40.9100075,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2503.3645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1739197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":265.052124,"values":{"Elec_RPM":-2354.61157,"EncoderCos":29626,"EncoderSin":52732,"GapTicks":49766,"Mech_RPM":-470.922333,"cg_du":45.242115,"cg_dv":54.757885,"cg_dw":53.6451225,"cg_id_a":13.7448454,"cg_id_raw_a":11.6720285,"cg_iq_a":-198.730988,"cg_iq_raw_a":-196.991028,"cg_iu_a":-185.638382,"cg_iv_a":30.9488983,"cg_iw_a":154.689484,"cg_sample_age_us":23.8454552,"cg_sample_seq":2690717,"cg_sample_valid":1,"cg_theta_rad":1.73017991,"cg_vd_req_v":-2.14039755,"cg_vd_v":-2.14039755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39930153,"cg_vq_v":-8.39930153,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2451.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1906738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":265.138946,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":265.13895,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":265.138955,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":265.384155,"values":{"Elec_RPM":-2356.73047,"EncoderCos":28697,"EncoderSin":52586,"GapTicks":49747,"Mech_RPM":-471.346069,"cg_du":45.2254372,"cg_dv":53.2755547,"cg_dw":54.7745628,"cg_id_a":4.17398357,"cg_id_raw_a":9.66501713,"cg_iq_a":-202.919754,"cg_iq_raw_a":-204.668533,"cg_iu_a":-171.720749,"cg_iv_a":-1.63430786,"cg_iw_a":173.355057,"cg_sample_age_us":23.7763634,"cg_sample_seq":2692466,"cg_sample_valid":1,"cg_theta_rad":1.78434467,"cg_vd_req_v":-1.9363178,"cg_vd_v":-1.9363178,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33397198,"cg_vq_v":-8.33397198,"cg_vu_v":95.0167923,"cg_vv_v":95.0167923,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2424.89673,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2594,"hz_tim_isr":5002,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2007751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":265.71814,"values":{"Elec_RPM":-2361.98145,"EncoderCos":13173,"EncoderSin":27211,"GapTicks":50046,"Mech_RPM":-472.396301,"cg_du":54.422802,"cg_dv":45.4970665,"cg_dw":54.5029335,"cg_id_a":15.0512104,"cg_id_raw_a":17.8779297,"cg_iq_a":-200.184494,"cg_iq_raw_a":-199.695374,"cg_iu_a":167.55777,"cg_iv_a":-179.700256,"cg_iw_a":12.1424789,"cg_sample_age_us":24.1690903,"cg_sample_seq":2694066,"cg_sample_valid":1,"cg_theta_rad":3.42360306,"cg_vd_req_v":-2.16978741,"cg_vd_v":-2.16978741,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40136814,"cg_vq_v":-8.40136814,"cg_vu_v":47.9482918,"cg_vv_v":42.2296829,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2499.39868,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2594,"hz_tim_isr":5002,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1068115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":266.069702,"values":{"Elec_RPM":-2355.72607,"EncoderCos":13362,"EncoderSin":26615,"GapTicks":49654,"Mech_RPM":-471.145233,"cg_du":54.859642,"cg_dv":45.140358,"cg_dw":52.99189,"cg_id_a":0.450461864,"cg_id_raw_a":7.05711937,"cg_iq_a":-199.255981,"cg_iq_raw_a":-201.50856,"cg_iu_a":170.348541,"cg_iv_a":-172.052795,"cg_iw_a":1.70426178,"cg_sample_age_us":24.0272732,"cg_sample_seq":2695817,"cg_sample_valid":1,"cg_theta_rad":3.45451808,"cg_vd_req_v":-1.86114419,"cg_vd_v":-1.86114419,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41555691,"cg_vq_v":-8.41555691,"cg_vu_v":142.965088,"cg_vv_v":123.169922,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2471.10547,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2594,"hz_tim_isr":5002,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1990662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":266.130534,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":266.130539,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":266.130545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":266.401733,"values":{"Elec_RPM":-2356.50732,"EncoderCos":19645,"EncoderSin":17005,"GapTicks":49787,"Mech_RPM":-471.301453,"cg_du":46.5605431,"cg_dv":54.7386932,"cg_dw":45.2613068,"cg_id_a":13.1041298,"cg_id_raw_a":11.3309984,"cg_iq_a":-206.530121,"cg_iq_raw_a":-205.318268,"cg_iu_a":-157.803131,"cg_iv_a":196.184555,"cg_iw_a":-38.381424,"cg_sample_age_us":24.0018177,"cg_sample_seq":2697517,"cg_sample_valid":1,"cg_theta_rad":4.02718973,"cg_vd_req_v":-2.16087294,"cg_vd_v":-2.16087294,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28288078,"cg_vq_v":-8.28288078,"cg_vu_v":119.210884,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.3434448,"temp_inv2_c":40.2041321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":266.735718,"values":{"Elec_RPM":-2348.90747,"EncoderCos":30518,"EncoderSin":12568,"GapTicks":49378,"Mech_RPM":-469.781494,"cg_du":51.9432755,"cg_dv":44.889267,"cg_dw":55.110733,"cg_id_a":6.10943604,"cg_id_raw_a":2.11983824,"cg_iq_a":-197.069214,"cg_iq_raw_a":-196.954834,"cg_iu_a":121.056938,"cg_iv_a":-196.118713,"cg_iw_a":75.0617752,"cg_sample_age_us":23.5836372,"cg_sample_seq":2699216,"cg_sample_valid":1,"cg_theta_rad":4.61622334,"cg_vd_req_v":-2.06466174,"cg_vd_v":-2.06466174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49686432,"cg_vq_v":-8.49686432,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":40.1923828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":267.08728,"values":{"Elec_RPM":-2349.07422,"EncoderCos":31348,"EncoderSin":12529,"GapTicks":49719,"Mech_RPM":-469.814819,"cg_du":53.4715233,"cg_dv":45.1993446,"cg_dw":54.8006554,"cg_id_a":18.6895599,"cg_id_raw_a":18.0033665,"cg_iq_a":-199.902374,"cg_iq_raw_a":-198.502792,"cg_iu_a":160.091553,"cg_iv_a":-190.355942,"cg_iw_a":38.7816925,"cg_sample_age_us":23.7181816,"cg_sample_seq":2700966,"cg_sample_valid":1,"cg_theta_rad":4.6562767,"cg_vd_req_v":-2.28594923,"cg_vd_v":-2.28594923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41514111,"cg_vq_v":-8.41514111,"cg_vu_v":14.5164547,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2091675,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":267.122734,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":267.12274,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":267.122744,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":267.421265,"values":{"Elec_RPM":-2347.62915,"EncoderCos":42361,"EncoderSin":14880,"GapTicks":49433,"Mech_RPM":-469.525848,"cg_du":48.7479706,"cg_dv":55.0605621,"cg_dw":44.9394379,"cg_id_a":-11.910615,"cg_id_raw_a":-15.8647051,"cg_iq_a":-200.025269,"cg_iq_raw_a":-199.184036,"cg_iu_a":-88.9035873,"cg_iv_a":200.89624,"cg_iw_a":-111.992653,"cg_sample_age_us":23.9690914,"cg_sample_seq":2702667,"cg_sample_valid":1,"cg_theta_rad":5.22357559,"cg_vd_req_v":-1.72932673,"cg_vd_v":-1.72932673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36586094,"cg_vq_v":-8.36586094,"cg_vu_v":11.4372072,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2437.0105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2293396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":267.772827,"values":{"Elec_RPM":-2353.90479,"EncoderCos":50535,"EncoderSin":23393,"GapTicks":49267,"Mech_RPM":-470.780945,"cg_du":49.6598091,"cg_dv":44.7887726,"cg_dw":55.2112274,"cg_id_a":-12.1253853,"cg_id_raw_a":-15.1346064,"cg_iq_a":-195.506409,"cg_iq_raw_a":-196.14415,"cg_iu_a":51.758728,"cg_iv_a":-189.631073,"cg_iw_a":137.872345,"cg_sample_age_us":23.8309097,"cg_sample_seq":2704366,"cg_sample_valid":1,"cg_theta_rad":5.81421375,"cg_vd_req_v":-1.72330928,"cg_vd_v":-1.72330928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51574135,"cg_vq_v":-8.51574135,"cg_vu_v":10.9973145,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2382.45874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2626648,"temp_inv2_c":40.2225952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":268.104858,"values":{"Elec_RPM":-2354.11621,"EncoderCos":40636,"EncoderSin":51308,"GapTicks":49436,"Mech_RPM":-470.823242,"cg_du":55.0573196,"cg_dv":48.0985832,"cg_dw":44.9426804,"cg_id_a":-10.3804379,"cg_id_raw_a":-6.02161932,"cg_iq_a":-195.874893,"cg_iq_raw_a":-196.252533,"cg_iu_a":161.106384,"cg_iv_a":13.4793701,"cg_iw_a":-174.585754,"cg_sample_age_us":23.9509087,"cg_sample_seq":2705967,"cg_sample_valid":1,"cg_theta_rad":1.1708585,"cg_vd_req_v":-1.67316151,"cg_vd_v":-1.67316151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48489761,"cg_vq_v":-8.48489761,"cg_vu_v":126.689056,"cg_vv_v":125.369385,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.2626648,"temp_inv2_c":40.2394104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":268.115605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":268.11561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":268.115615,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":268.595093,"values":{"Elec_RPM":-2344.72949,"EncoderCos":52735,"EncoderSin":32036,"GapTicks":49356,"Mech_RPM":-468.945923,"cg_du":55.1307449,"cg_dv":50.7141953,"cg_dw":44.8692551,"cg_id_a":-6.9262948,"cg_id_raw_a":-7.38254309,"cg_iq_a":-199.501617,"cg_iq_raw_a":-200.047073,"cg_iu_a":115.366653,"cg_iv_a":69.9834976,"cg_iw_a":-195.643402,"cg_sample_age_us":23.9400005,"cg_sample_seq":2708416,"cg_sample_valid":1,"cg_theta_rad":6.26023626,"cg_vd_req_v":-1.81107819,"cg_vd_v":-1.81107819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40899849,"cg_vq_v":-8.40899849,"cg_vu_v":44.8690414,"cg_vv_v":50.5876465,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2626648,"temp_inv2_c":40.180603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":268.979631,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":268.97964,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":268.979643,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":269.098999,"values":{"Elec_RPM":-2346.67041,"EncoderCos":13241,"EncoderSin":26979,"GapTicks":49937,"Mech_RPM":-469.334106,"cg_du":54.6024094,"cg_dv":45.3975906,"cg_dw":53.9371758,"cg_id_a":9.20886612,"cg_id_raw_a":13.4432955,"cg_iq_a":-201.664856,"cg_iq_raw_a":-200.942734,"cg_iu_a":172.994354,"cg_iv_a":-178.866638,"cg_iw_a":8.91677856,"cg_sample_age_us":24.1290913,"cg_sample_seq":2711017,"cg_sample_valid":1,"cg_theta_rad":3.44341373,"cg_vd_req_v":-2.04866338,"cg_vd_v":-2.04866338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35682678,"cg_vq_v":-8.35682678,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-16.0234585,"dclink_p_w":-2326.03809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2444458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":269.139388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":269.139393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":269.139398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":269.43103,"values":{"Elec_RPM":-2348.68628,"EncoderCos":39807,"EncoderSin":13702,"GapTicks":49904,"Mech_RPM":-469.737274,"cg_du":54.6321831,"cg_dv":53.8865891,"cg_dw":45.3678169,"cg_id_a":8.86835098,"cg_id_raw_a":8.59718704,"cg_iq_a":-203.776398,"cg_iq_raw_a":-202.703491,"cg_iu_a":29.2875519,"cg_iv_a":158.527206,"cg_iw_a":-187.814758,"cg_sample_age_us":23.9436359,"cg_sample_seq":2712617,"cg_sample_valid":1,"cg_theta_rad":5.08392239,"cg_vd_req_v":-2.10187531,"cg_vd_v":-2.10187531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34068871,"cg_vq_v":-8.34068871,"cg_vu_v":109.533249,"cg_vv_v":113.052383,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2449.15308,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2511597,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":269.763062,"values":{"Elec_RPM":-2350.08789,"EncoderCos":40564,"EncoderSin":13986,"GapTicks":49738,"Mech_RPM":-470.017578,"cg_du":53.2731743,"cg_dv":54.7831993,"cg_dw":45.2168007,"cg_id_a":1.51962447,"cg_id_raw_a":6.59891891,"cg_iq_a":-200.570343,"cg_iq_raw_a":-200.852356,"cg_iu_a":4.06184292,"cg_iv_a":169.581558,"cg_iw_a":-173.643402,"cg_sample_age_us":23.9472733,"cg_sample_seq":2714367,"cg_sample_valid":1,"cg_theta_rad":5.12191057,"cg_vd_req_v":-1.93605506,"cg_vd_v":-1.93605506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.400527,"cg_vq_v":-8.400527,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":125.809273,"control_outputs_enabled":1,"dclink_i_a":-16.4148922,"dclink_p_w":-2382.86035,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2360535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":270.114624,"values":{"Elec_RPM":-2354.67725,"EncoderCos":49578,"EncoderSin":21723,"GapTicks":49972,"Mech_RPM":-470.935425,"cg_du":45.4297791,"cg_dv":46.0225182,"cg_dw":54.5702209,"cg_id_a":15.2566414,"cg_id_raw_a":17.6905937,"cg_iq_a":-206.801086,"cg_iq_raw_a":-204.592926,"cg_iu_a":-20.6202087,"cg_iv_a":-163.390518,"cg_iw_a":192.781738,"cg_sample_age_us":23.9290905,"cg_sample_seq":2716066,"cg_sample_valid":1,"cg_theta_rad":5.71788549,"cg_vd_req_v":-2.25972271,"cg_vd_v":-2.25972271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24328136,"cg_vq_v":-8.24328136,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2378.26221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2626648,"temp_inv2_c":40.2024231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":270.131335,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":270.13134,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":270.131345,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":270.448608,"values":{"Elec_RPM":-2352.42407,"EncoderCos":52774,"EncoderSin":32385,"GapTicks":49415,"Mech_RPM":-470.484833,"cg_du":55.0764542,"cg_dv":51.3310013,"cg_dw":44.9235458,"cg_id_a":-1.08743548,"cg_id_raw_a":-4.07822466,"cg_iq_a":-203.88266,"cg_iq_raw_a":-199.256882,"cg_iu_a":98.7307434,"cg_iv_a":105.611191,"cg_iw_a":-204.341934,"cg_sample_age_us":24.0272732,"cg_sample_seq":2717767,"cg_sample_valid":1,"cg_theta_rad":6.27744436,"cg_vd_req_v":-1.93628705,"cg_vd_v":-1.93628705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33198452,"cg_vq_v":-8.33198452,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2474.31494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2444458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":270.802124,"values":{"Elec_RPM":-2349.49316,"EncoderCos":49941,"EncoderSin":43277,"GapTicks":49405,"Mech_RPM":-469.898621,"cg_du":44.9143982,"cg_dv":51.4558487,"cg_dw":55.0856018,"cg_id_a":-8.41885185,"cg_id_raw_a":-7.73714781,"cg_iq_a":-199.245667,"cg_iq_raw_a":-197.925507,"cg_iu_a":-132.504913,"cg_iv_a":-62.0527954,"cg_iw_a":194.557709,"cg_sample_age_us":26.4127274,"cg_sample_seq":2719469,"cg_sample_valid":1,"cg_theta_rad":0.589890361,"cg_vd_req_v":-1.76370609,"cg_vd_v":-1.76370609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43154144,"cg_vq_v":-8.43154144,"cg_vu_v":38.2706528,"cg_vv_v":44.4291458,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.1430645,"dclink_p_w":-2329.19824,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":271.123265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":271.123271,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":271.123275,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":271.132202,"values":{"Elec_RPM":-2349.07373,"EncoderCos":40785,"EncoderSin":51220,"GapTicks":49516,"Mech_RPM":-469.814728,"cg_du":54.9848251,"cg_dv":47.6558266,"cg_dw":45.0151749,"cg_id_a":-6.67709827,"cg_id_raw_a":1.01017511,"cg_iq_a":-196.832413,"cg_iq_raw_a":-200.012909,"cg_iu_a":165.963043,"cg_iv_a":9.89123535,"cg_iw_a":-175.854279,"cg_sample_age_us":23.9836369,"cg_sample_seq":2721166,"cg_sample_valid":1,"cg_theta_rad":1.16361201,"cg_vd_req_v":-1.74690092,"cg_vd_v":-1.74690092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45328522,"cg_vq_v":-8.45328522,"cg_vu_v":47.0685043,"cg_vv_v":46.6286087,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2713623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10347905,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":271.466187,"values":{"Elec_RPM":-2351.04175,"EncoderCos":29438,"EncoderSin":52709,"GapTicks":49895,"Mech_RPM":-470.208344,"cg_du":45.3595543,"cg_dv":54.6404457,"cg_dw":54.049118,"cg_id_a":11.6654739,"cg_id_raw_a":9.86872959,"cg_iq_a":-200.582214,"cg_iq_raw_a":-201.121445,"cg_iu_a":-186.50824,"cg_iv_a":35.9505615,"cg_iw_a":152.261139,"cg_sample_age_us":23.863636,"cg_sample_seq":2722866,"cg_sample_valid":1,"cg_theta_rad":1.73314524,"cg_vd_req_v":-2.11011171,"cg_vd_v":-2.11011171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39579678,"cg_vq_v":-8.39579678,"cg_vu_v":1.31967759,"cg_vv_v":14.5164547,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2470.65405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2608,"hz_tim_isr":5002,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":40.2895813,"temp_inv2_c":40.2763977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":271.817749,"values":{"Elec_RPM":-2354.97485,"EncoderCos":19085,"EncoderSin":47750,"GapTicks":49349,"Mech_RPM":-470.994965,"cg_du":55.1372643,"cg_dv":44.8627357,"cg_dw":48.1569443,"cg_id_a":8.33158112,"cg_id_raw_a":4.3233695,"cg_iq_a":-197.59668,"cg_iq_raw_a":-197.018433,"cg_iu_a":197.712646,"cg_iv_a":-71.8023682,"cg_iw_a":-125.910278,"cg_sample_age_us":24.0090904,"cg_sample_seq":2724566,"cg_sample_valid":1,"cg_theta_rad":2.31323671,"cg_vd_req_v":-2.10541224,"cg_vd_v":-2.10541224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48329163,"cg_vq_v":-8.48329163,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2608,"hz_tim_isr":5002,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2142029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":272.115355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":272.11536,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":272.115365,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":272.14978,"values":{"Elec_RPM":-2363.87769,"EncoderCos":13056,"EncoderSin":37824,"GapTicks":49298,"Mech_RPM":-472.775543,"cg_du":44.8168983,"cg_dv":55.1831017,"cg_dw":50.2158775,"cg_id_a":-11.0638895,"cg_id_raw_a":-11.0026636,"cg_iq_a":-194.973358,"cg_iq_raw_a":-195.076035,"cg_iu_a":-194.191925,"cg_iv_a":120.616135,"cg_iw_a":73.5757904,"cg_sample_age_us":23.8927269,"cg_sample_seq":2726266,"cg_sample_valid":1,"cg_theta_rad":2.90433693,"cg_vd_req_v":-1.62244904,"cg_vd_v":-1.62244904,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51090813,"cg_vq_v":-8.51090813,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9440536,"dclink_p_w":-2452.22241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2608,"hz_tim_isr":5002,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.261261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":272.483765,"values":{"Elec_RPM":-2356.98608,"EncoderCos":19076,"EncoderSin":17519,"GapTicks":49480,"Mech_RPM":-471.397217,"cg_du":47.952282,"cg_dv":55.0175323,"cg_dw":44.9824677,"cg_id_a":2.80017519,"cg_id_raw_a":-3.99012971,"cg_iq_a":-202.764557,"cg_iq_raw_a":-201.875381,"cg_iu_a":-123.154007,"cg_iv_a":202.418472,"cg_iw_a":-79.2644653,"cg_sample_age_us":23.8745461,"cg_sample_seq":2727917,"cg_sample_valid":1,"cg_theta_rad":3.99118638,"cg_vd_req_v":-1.97423673,"cg_vd_v":-1.97423673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35842323,"cg_vq_v":-8.35842323,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2399.79565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2545166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":272.835327,"values":{"Elec_RPM":-2362.6123,"EncoderCos":13566,"EncoderSin":25923,"GapTicks":49343,"Mech_RPM":-472.522461,"cg_du":55.1427155,"cg_dv":44.8572845,"cg_dw":51.1248512,"cg_id_a":-16.3166084,"cg_id_raw_a":-13.4596395,"cg_iq_a":-196.509491,"cg_iq_raw_a":-197.626907,"cg_iu_a":179.699463,"cg_iv_a":-157.845215,"cg_iw_a":-21.8542404,"cg_sample_age_us":24.1072731,"cg_sample_seq":2729717,"cg_sample_valid":1,"cg_theta_rad":3.49002814,"cg_vd_req_v":-1.54291463,"cg_vd_v":-1.54291463,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49715614,"cg_vq_v":-8.49715614,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.1013832,"dclink_p_w":-2323.18433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3434448,"temp_inv2_c":40.2680054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":273.139281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":273.139287,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":273.139292,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":273.169312,"values":{"Elec_RPM":-2356.94409,"EncoderCos":41204,"EncoderSin":14273,"GapTicks":49410,"Mech_RPM":-471.388824,"cg_du":51.4353409,"cg_dv":55.081749,"cg_dw":44.918251,"cg_id_a":-16.8257713,"cg_id_raw_a":-13.7263622,"cg_iq_a":-196.276154,"cg_iq_raw_a":-197.643127,"cg_iu_a":-14.7487068,"cg_iv_a":177.591446,"cg_iw_a":-162.842743,"cg_sample_age_us":23.9618187,"cg_sample_seq":2731316,"cg_sample_valid":1,"cg_theta_rad":5.15866709,"cg_vd_req_v":-1.58028531,"cg_vd_v":-1.58028531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45811367,"cg_vq_v":-8.45811367,"cg_vu_v":15.836132,"cg_vv_v":13.6366701,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2489.72656,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2713623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":273.49939,"values":{"Elec_RPM":-2356.23682,"EncoderCos":41860,"EncoderSin":14591,"GapTicks":49379,"Mech_RPM":-471.247375,"cg_du":49.827549,"cg_dv":55.1092682,"cg_dw":44.8907318,"cg_id_a":-19.6115417,"cg_id_raw_a":-20.562212,"cg_iq_a":-199.187271,"cg_iq_raw_a":-196.963608,"cg_iu_a":-53.7833138,"cg_iv_a":195.133469,"cg_iw_a":-141.350159,"cg_sample_age_us":23.9290905,"cg_sample_seq":2733066,"cg_sample_valid":1,"cg_theta_rad":5.19588137,"cg_vd_req_v":-1.55719054,"cg_vd_v":-1.55719054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39673233,"cg_vq_v":-8.39673233,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2428.03418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.3434448,"temp_inv2_c":40.2780762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":273.852905,"values":{"Elec_RPM":-2362.03003,"EncoderCos":52796,"EncoderSin":32594,"GapTicks":49457,"Mech_RPM":-472.406006,"cg_du":55.0382042,"cg_dv":51.7464638,"cg_dw":44.9617958,"cg_id_a":1.39867759,"cg_id_raw_a":-2.60664725,"cg_iq_a":-203.804337,"cg_iq_raw_a":-204.945145,"cg_iu_a":75.0272675,"cg_iv_a":124.421738,"cg_iw_a":-199.449005,"cg_sample_age_us":24.0018177,"cg_sample_seq":2734718,"cg_sample_valid":1,"cg_theta_rad":0.0110722249,"cg_vd_req_v":-1.97665071,"cg_vd_v":-1.97665071,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35587406,"cg_vq_v":-8.35587406,"cg_vu_v":139.445938,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2982483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":274.131167,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":274.131173,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":274.131177,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":274.18689,"values":{"Elec_RPM":-2359.30811,"EncoderCos":52722,"EncoderSin":33646,"GapTicks":49896,"Mech_RPM":-471.861603,"cg_du":54.6398849,"cg_dv":53.8032913,"cg_dw":45.3601151,"cg_id_a":8.75909996,"cg_id_raw_a":8.18517113,"cg_iq_a":-205.031662,"cg_iq_raw_a":-204.771378,"cg_iu_a":30.7010612,"cg_iv_a":158.454712,"cg_iw_a":-189.155777,"cg_sample_age_us":23.5327282,"cg_sample_seq":2736467,"cg_sample_valid":1,"cg_theta_rad":0.0546914153,"cg_vd_req_v":-2.10739398,"cg_vd_v":-2.10739398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3154707,"cg_vq_v":-8.3154707,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.2780762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":274.538452,"values":{"Elec_RPM":-2356.97168,"EncoderCos":49239,"EncoderSin":44302,"GapTicks":49377,"Mech_RPM":-471.394348,"cg_du":44.8888779,"cg_dv":48.8582726,"cg_dw":55.1111221,"cg_id_a":-2.13375497,"cg_id_raw_a":-7.29299641,"cg_iq_a":-198.886566,"cg_iq_raw_a":-197.669525,"cg_iu_a":-60.8508606,"cg_iv_a":-139.868286,"cg_iw_a":200.719147,"cg_sample_age_us":23.4127274,"cg_sample_seq":2738169,"cg_sample_valid":1,"cg_theta_rad":0.650961816,"cg_vd_req_v":-1.90848386,"cg_vd_v":-1.90848386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39799976,"cg_vq_v":-8.39799976,"cg_vu_v":13.1967773,"cg_vv_v":0.87978512,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.6653042,"dclink_p_w":-2548.83423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2948914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":274.870483,"values":{"Elec_RPM":-2354.66553,"EncoderCos":39716,"EncoderSin":51655,"GapTicks":49310,"Mech_RPM":-470.933105,"cg_du":55.1725998,"cg_dv":50.1545792,"cg_dw":44.8274002,"cg_id_a":-7.83735418,"cg_id_raw_a":-9.81060982,"cg_iq_a":-199.203491,"cg_iq_raw_a":-200.204788,"cg_iu_a":128.921844,"cg_iv_a":68.8599548,"cg_iw_a":-197.781799,"cg_sample_age_us":23.8963642,"cg_sample_seq":2739866,"cg_sample_valid":1,"cg_theta_rad":1.21650934,"cg_vd_req_v":-1.76814473,"cg_vd_v":-1.76814473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43581772,"cg_vq_v":-8.43581772,"cg_vu_v":40.9100075,"cg_vv_v":43.549366,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2376.26318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.3434448,"temp_inv2_c":40.2696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103881896,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":275.123564,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":275.123571,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":275.123576,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":275.202515,"values":{"Elec_RPM":-2357.20068,"EncoderCos":28246,"EncoderSin":52528,"GapTicks":49476,"Mech_RPM":-471.440125,"cg_du":44.9782944,"cg_dv":52.0727921,"cg_dw":55.0217056,"cg_id_a":-8.29947758,"cg_id_raw_a":-0.409783512,"cg_iq_a":-198.499344,"cg_iq_raw_a":-200.009232,"cg_iu_a":-169.219925,"cg_iv_a":-3.55522156,"cg_iw_a":172.775146,"cg_sample_age_us":23.7763634,"cg_sample_seq":2741566,"cg_sample_valid":1,"cg_theta_rad":1.78716767,"cg_vd_req_v":-1.68844831,"cg_vd_v":-1.68844831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46011925,"cg_vq_v":-8.46011925,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2466.51538,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":275.55603,"values":{"Elec_RPM":-2352.81274,"EncoderCos":13234,"EncoderSin":38529,"GapTicks":49398,"Mech_RPM":-470.562531,"cg_du":44.9081345,"cg_dv":55.0918655,"cg_dw":48.6022263,"cg_id_a":-10.5443525,"cg_id_raw_a":-9.10558891,"cg_iq_a":-198.529694,"cg_iq_raw_a":-199.095032,"cg_iu_a":-194.481873,"cg_iv_a":125.219109,"cg_iw_a":69.262764,"cg_sample_age_us":23.9290905,"cg_sample_seq":2743221,"cg_sample_valid":1,"cg_theta_rad":2.89885378,"cg_vd_req_v":-1.62819612,"cg_vd_v":-1.62819612,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43348885,"cg_vq_v":-8.43348885,"cg_vu_v":126.689056,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":40.2982483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":275.888062,"values":{"Elec_RPM":-2351.30103,"EncoderCos":12772,"EncoderSin":36730,"GapTicks":49481,"Mech_RPM":-470.260193,"cg_du":44.9829597,"cg_dv":55.0170403,"cg_dw":52.3500671,"cg_id_a":3.69796801,"cg_id_raw_a":0.678821981,"cg_iq_a":-198.965546,"cg_iq_raw_a":-199.658356,"cg_iu_a":-197.925049,"cg_iv_a":71.831955,"cg_iw_a":126.093094,"cg_sample_age_us":23.9400005,"cg_sample_seq":2744966,"cg_sample_valid":1,"cg_theta_rad":2.94627047,"cg_vd_req_v":-1.95024621,"cg_vd_v":-1.95024621,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43646431,"cg_vq_v":-8.43646431,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2468.30078,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.2881775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":276.147156,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":276.147161,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":276.147166,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":276.220093,"values":{"Elec_RPM":-2344.88354,"EncoderCos":13739,"EncoderSin":25453,"GapTicks":49275,"Mech_RPM":-468.976715,"cg_du":55.2042732,"cg_dv":44.7957268,"cg_dw":50.0299301,"cg_id_a":-16.4870834,"cg_id_raw_a":-16.3413086,"cg_iq_a":-195.477875,"cg_iq_raw_a":-195.254486,"cg_iu_a":189.63028,"cg_iv_a":-139.904541,"cg_iw_a":-49.7257462,"cg_sample_age_us":24.0672722,"cg_sample_seq":2746667,"cg_sample_valid":1,"cg_theta_rad":3.51459622,"cg_vd_req_v":-1.56555629,"cg_vd_v":-1.56555629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52815247,"cg_vq_v":-8.52815247,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.5022068,"dclink_p_w":-2533.00073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.2780762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":276.573608,"values":{"Elec_RPM":-2349.69482,"EncoderCos":20920,"EncoderSin":16098,"GapTicks":49436,"Mech_RPM":-469.938965,"cg_du":44.9425049,"cg_dv":55.0574951,"cg_dw":48.1934242,"cg_id_a":-9.95058441,"cg_id_raw_a":-5.48605776,"cg_iq_a":-197.367767,"cg_iq_raw_a":-198.741623,"cg_iu_a":-178.389618,"cg_iv_a":161.789154,"cg_iw_a":16.6004715,"cg_sample_age_us":23.8927269,"cg_sample_seq":2748366,"cg_sample_valid":1,"cg_theta_rad":4.10486269,"cg_vd_req_v":-1.66192746,"cg_vd_v":-1.66192746,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46808815,"cg_vq_v":-8.46808815,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2492.2959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.4127808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":276.90564,"values":{"Elec_RPM":-2344.83936,"EncoderCos":42134,"EncoderSin":14797,"GapTicks":49391,"Mech_RPM":-468.967865,"cg_du":49.2205658,"cg_dv":55.0985985,"cg_dw":44.9014015,"cg_id_a":-14.278266,"cg_id_raw_a":-19.2869549,"cg_iq_a":-201.146561,"cg_iq_raw_a":-201.376144,"cg_iu_a":-75.3483963,"cg_iv_a":199.953903,"cg_iw_a":-124.605507,"cg_sample_age_us":23.8600006,"cg_sample_seq":2750016,"cg_sample_valid":1,"cg_theta_rad":5.21168756,"cg_vd_req_v":-1.68840408,"cg_vd_v":-1.68840408,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38528538,"cg_vq_v":-8.38528538,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.372345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":277.107137,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":277.107142,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":277.107147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":277.259155,"values":{"Elec_RPM":-2348.61621,"EncoderCos":42126,"EncoderSin":14757,"GapTicks":49369,"Mech_RPM":-469.723236,"cg_du":49.1682358,"cg_dv":55.1182785,"cg_dw":44.8817215,"cg_id_a":-17.3223457,"cg_id_raw_a":-21.3450089,"cg_iq_a":-200.742157,"cg_iq_raw_a":-200.116302,"cg_iu_a":-125.799812,"cg_iv_a":200.533813,"cg_iw_a":-74.7339935,"cg_sample_age_us":23.9509087,"cg_sample_seq":2751770,"cg_sample_valid":1,"cg_theta_rad":5.25105619,"cg_vd_req_v":-1.61730647,"cg_vd_v":-1.61730647,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41070938,"cg_vq_v":-8.41070938,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.368988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":277.589233,"values":{"Elec_RPM":-2349.9375,"EncoderCos":52682,"EncoderSin":34336,"GapTicks":49838,"Mech_RPM":-469.987518,"cg_du":53.691124,"cg_dv":54.6920433,"cg_dw":45.3079567,"cg_id_a":7.05741453,"cg_id_raw_a":11.0532732,"cg_iq_a":-201.571487,"cg_iq_raw_a":-203.871368,"cg_iu_a":3.8443799,"cg_iv_a":171.430008,"cg_iw_a":-175.274384,"cg_sample_age_us":23.4927273,"cg_sample_seq":2753416,"cg_sample_valid":1,"cg_theta_rad":0.09095902,"cg_vd_req_v":-2.05298352,"cg_vd_v":-2.05298352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36362267,"cg_vq_v":-8.36362267,"cg_vu_v":4.83881807,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2446.78564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":277.923218,"values":{"Elec_RPM":-2350.32788,"EncoderCos":52588,"EncoderSin":35099,"GapTicks":49451,"Mech_RPM":-470.065582,"cg_du":51.6936226,"cg_dv":55.0440674,"cg_dw":44.9559326,"cg_id_a":-12.3666286,"cg_id_raw_a":-9.16626549,"cg_iq_a":-198.408112,"cg_iq_raw_a":-200.214188,"cg_iu_a":-17.0320683,"cg_iv_a":179.258682,"cg_iw_a":-162.226608,"cg_sample_age_us":23.4927273,"cg_sample_seq":2755166,"cg_sample_valid":1,"cg_theta_rad":0.126594096,"cg_vd_req_v":-1.67335451,"cg_vd_v":-1.67335451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42161369,"cg_vq_v":-8.42161369,"cg_vu_v":22.8744144,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-18.4191761,"dclink_p_w":-2665.70898,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":40.3622437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10106203,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":278.13099,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":278.130996,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":278.131,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":278.315796,"values":{"Elec_RPM":-2349.40942,"EncoderCos":48218,"EncoderSin":45750,"GapTicks":50106,"Mech_RPM":-469.881897,"cg_du":45.623745,"cg_dv":45.551136,"cg_dw":54.448864,"cg_id_a":12.219821,"cg_id_raw_a":16.2276554,"cg_iq_a":-207.859772,"cg_iq_raw_a":-207.902161,"cg_iu_a":-21.2363548,"cg_iv_a":-168.609634,"cg_iw_a":189.845993,"cg_sample_age_us":23.4200001,"cg_sample_seq":2756866,"cg_sample_valid":1,"cg_theta_rad":0.694946408,"cg_vd_req_v":-2.16917586,"cg_vd_v":-2.16917586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27024841,"cg_vq_v":-8.27024841,"cg_vu_v":103.814644,"cg_vv_v":87.53862,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.3790894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":278.835327,"values":{"Elec_RPM":-2352.24829,"EncoderCos":24071,"EncoderSin":51138,"GapTicks":49481,"Mech_RPM":-470.449646,"cg_du":48.4400215,"cg_dv":44.9836044,"cg_dw":55.0163956,"cg_id_a":-16.9015865,"cg_id_raw_a":-9.86607361,"cg_iq_a":-201.104996,"cg_iq_raw_a":-201.293137,"cg_iu_a":10.7307081,"cg_iv_a":-179.156601,"cg_iw_a":168.425888,"cg_sample_age_us":23.8854542,"cg_sample_seq":2759667,"cg_sample_valid":1,"cg_theta_rad":2.01304078,"cg_vd_req_v":-1.52713418,"cg_vd_v":-1.52713418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37909698,"cg_vq_v":-8.37909698,"cg_vu_v":137.686371,"cg_vv_v":109.533249,"cg_vw_v":124.049698,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.3925476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":278.995643,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":278.995654,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":278.995657,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":279.12263,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":279.122636,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":279.122641,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":279.268921,"values":{"Elec_RPM":-2352.84937,"EncoderCos":13415,"EncoderSin":26479,"GapTicks":49550,"Mech_RPM":-470.569885,"cg_du":54.9536743,"cg_dv":45.0463257,"cg_dw":52.6457977,"cg_id_a":-4.15180397,"cg_id_raw_a":3.15021491,"cg_iq_a":-198.078415,"cg_iq_raw_a":-198.938049,"cg_iu_a":185.643448,"cg_iv_a":-145.486084,"cg_iw_a":-40.1573715,"cg_sample_age_us":26.9327278,"cg_sample_seq":2761870,"cg_sample_valid":1,"cg_theta_rad":3.50803208,"cg_vd_req_v":-1.77943838,"cg_vd_v":-1.77943838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47819233,"cg_vq_v":-8.47819233,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2530.90283,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.3942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":279.602905,"values":{"Elec_RPM":-2348.81226,"EncoderCos":40952,"EncoderSin":14157,"GapTicks":49494,"Mech_RPM":-469.762451,"cg_du":52.1555176,"cg_dv":55.0053139,"cg_dw":44.9946861,"cg_id_a":-10.9426346,"cg_id_raw_a":-5.23392916,"cg_iq_a":-199.364639,"cg_iq_raw_a":-199.598053,"cg_iu_a":-4.16550732,"cg_iv_a":173.495895,"cg_iw_a":-169.330383,"cg_sample_age_us":23.9509087,"cg_sample_seq":2763467,"cg_sample_valid":1,"cg_theta_rad":5.14203882,"cg_vd_req_v":-1.69499063,"cg_vd_v":-1.69499063,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42420387,"cg_vq_v":-8.42420387,"cg_vu_v":105.574219,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2475.56396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":279.934937,"values":{"Elec_RPM":-2345.27002,"EncoderCos":49666,"EncoderSin":21879,"GapTicks":50076,"Mech_RPM":-469.053986,"cg_du":45.5242119,"cg_dv":45.6218185,"cg_dw":54.4757881,"cg_id_a":13.7848701,"cg_id_raw_a":15.9678278,"cg_iq_a":-207.074081,"cg_iq_raw_a":-205.823792,"cg_iu_a":-12.3203697,"cg_iv_a":-172.016571,"cg_iw_a":184.336945,"cg_sample_age_us":23.9181824,"cg_sample_seq":2765167,"cg_sample_valid":1,"cg_theta_rad":5.72720718,"cg_vd_req_v":-2.23800755,"cg_vd_v":-2.23800755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2933979,"cg_vq_v":-8.2933979,"cg_vu_v":102.494972,"cg_vv_v":78.3008804,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.1394405,"dclink_p_w":-2342.87476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.4009705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":280.115507,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":280.115512,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":280.115516,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":280.286499,"values":{"Elec_RPM":-2345.95386,"EncoderCos":49684,"EncoderSin":21929,"GapTicks":50108,"Mech_RPM":-469.190765,"cg_du":45.6179352,"cg_dv":45.5535316,"cg_dw":54.4464684,"cg_id_a":12.4416761,"cg_id_raw_a":12.960741,"cg_iq_a":-207.786652,"cg_iq_raw_a":-206.389084,"cg_iu_a":9.31719875,"cg_iv_a":-177.054443,"cg_iw_a":167.737244,"cg_sample_age_us":23.8309097,"cg_sample_seq":2766921,"cg_sample_valid":1,"cg_theta_rad":5.77277517,"cg_vd_req_v":-2.2028935,"cg_vd_v":-2.2028935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26059914,"cg_vq_v":-8.26059914,"cg_vu_v":117.451309,"cg_vv_v":120.970459,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2444.15503,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.3973694,"temp_inv2_c":40.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":280.620483,"values":{"Elec_RPM":-2350.76514,"EncoderCos":49317,"EncoderSin":44213,"GapTicks":49375,"Mech_RPM":-470.153046,"cg_du":44.8870392,"cg_dv":49.0393982,"cg_dw":55.1129608,"cg_id_a":-6.26447868,"cg_id_raw_a":-10.9216394,"cg_iq_a":-199.866547,"cg_iq_raw_a":-200.531998,"cg_iu_a":-111.483498,"cg_iv_a":-89.5256119,"cg_iw_a":201.009109,"cg_sample_age_us":23.5363636,"cg_sample_seq":2768566,"cg_sample_valid":1,"cg_theta_rad":0.609463155,"cg_vd_req_v":-1.83301222,"cg_vd_v":-1.83301222,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3968277,"cg_vq_v":-8.3968277,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2436.66284,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.451355,"temp_inv2_c":40.3774109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":280.950562,"values":{"Elec_RPM":-2357.78369,"EncoderCos":52639,"EncoderSin":34656,"GapTicks":49634,"Mech_RPM":-471.556732,"cg_du":52.8223114,"cg_dv":54.8781052,"cg_dw":45.1218948,"cg_id_a":-3.30380177,"cg_id_raw_a":3.62467432,"cg_iq_a":-200.241028,"cg_iq_raw_a":-202.215057,"cg_iu_a":-0.0337102413,"cg_iv_a":172.336105,"cg_iw_a":-172.302399,"cg_sample_age_us":23.4927273,"cg_sample_seq":2770366,"cg_sample_valid":1,"cg_theta_rad":0.106725,"cg_vd_req_v":-1.84535348,"cg_vd_v":-1.84535348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39431095,"cg_vq_v":-8.39431095,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2393.47412,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.3740234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":281.10759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":281.107595,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":281.1076,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":281.304077,"values":{"Elec_RPM":-2352.24121,"EncoderCos":30008,"EncoderSin":52784,"GapTicks":49572,"Mech_RPM":-470.448242,"cg_du":45.0661163,"cg_dv":54.9338837,"cg_dw":52.8858223,"cg_id_a":11.5925961,"cg_id_raw_a":8.0824194,"cg_iq_a":-198.424026,"cg_iq_raw_a":-196.316086,"cg_iu_a":-174.00412,"cg_iv_a":3.47607422,"cg_iw_a":170.528046,"cg_sample_age_us":23.8672733,"cg_sample_seq":2771971,"cg_sample_valid":1,"cg_theta_rad":1.76999688,"cg_vd_req_v":-2.11149716,"cg_vd_v":-2.11149716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44258595,"cg_vq_v":-8.44258595,"cg_vu_v":121.850235,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.4229126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":281.638062,"values":{"Elec_RPM":-2354.02979,"EncoderCos":28312,"EncoderSin":52508,"GapTicks":49561,"Mech_RPM":-470.805969,"cg_du":45.0554619,"cg_dv":52.2500992,"cg_dw":54.9445381,"cg_id_a":-5.05676651,"cg_id_raw_a":-3.53256941,"cg_iq_a":-200.483734,"cg_iq_raw_a":-200.526855,"cg_iu_a":-164.943146,"cg_iv_a":-17.3641357,"cg_iw_a":175.420959,"cg_sample_age_us":23.8781815,"cg_sample_seq":2773717,"cg_sample_valid":1,"cg_theta_rad":1.79936469,"cg_vd_req_v":-1.74622679,"cg_vd_v":-1.74622679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38959599,"cg_vq_v":-8.38959599,"cg_vu_v":18.9153805,"cg_vv_v":19.3552723,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2484.14111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.4026794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":281.96814,"values":{"Elec_RPM":-2359.77271,"EncoderCos":12994,"EncoderSin":37656,"GapTicks":49282,"Mech_RPM":-471.954559,"cg_du":44.8021736,"cg_dv":55.1978264,"cg_dw":50.5642662,"cg_id_a":-10.1386042,"cg_id_raw_a":-13.2241621,"cg_iq_a":-196.903778,"cg_iq_raw_a":-196.736496,"cg_iu_a":-194.22818,"cg_iv_a":122.645798,"cg_iw_a":71.5823822,"cg_sample_age_us":23.9618187,"cg_sample_seq":2775367,"cg_sample_valid":1,"cg_theta_rad":2.90304327,"cg_vd_req_v":-1.66624713,"cg_vd_v":-1.66624713,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48842049,"cg_vq_v":-8.48842049,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2529.48535,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":40.4161682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":282.099629,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":282.099634,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":282.099639,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":282.323608,"values":{"Elec_RPM":-2357.11133,"EncoderCos":17786,"EncoderSin":46452,"GapTicks":49688,"Mech_RPM":-471.422241,"cg_du":54.8285484,"cg_dv":46.7294769,"cg_dw":45.1714516,"cg_id_a":2.57125545,"cg_id_raw_a":6.5368681,"cg_iq_a":-200.313812,"cg_iq_raw_a":-200.998535,"cg_iu_a":172.305725,"cg_iv_a":-2.43167114,"cg_iw_a":-169.874054,"cg_sample_age_us":24.0272732,"cg_sample_seq":2777167,"cg_sample_valid":1,"cg_theta_rad":2.40156603,"cg_vd_req_v":-1.94145668,"cg_vd_v":-1.94145668,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41686916,"cg_vq_v":-8.41686916,"cg_vu_v":106.453995,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2411.79761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.451355,"temp_inv2_c":40.429657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":282.653687,"values":{"Elec_RPM":-2353.14136,"EncoderCos":20304,"EncoderSin":16519,"GapTicks":49853,"Mech_RPM":-470.628265,"cg_du":45.3216591,"cg_dv":54.6783409,"cg_dw":46.2800446,"cg_id_a":7.03493309,"cg_id_raw_a":10.403863,"cg_iq_a":-202.911865,"cg_iq_raw_a":-203.81546,"cg_iu_a":-172.481873,"cg_iv_a":177.120285,"cg_iw_a":-4.63841248,"cg_sample_age_us":23.9290905,"cg_sample_seq":2778766,"cg_sample_valid":1,"cg_theta_rad":4.06870461,"cg_vd_req_v":-2.01179552,"cg_vd_v":-2.01179552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33718872,"cg_vq_v":-8.33718872,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.451355,"temp_inv2_c":40.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":282.985718,"values":{"Elec_RPM":-2348.82959,"EncoderCos":20748,"EncoderSin":16219,"GapTicks":49552,"Mech_RPM":-469.7659,"cg_du":45.0476036,"cg_dv":54.9523964,"cg_dw":47.7238083,"cg_id_a":-9.19687271,"cg_id_raw_a":-2.01249528,"cg_iq_a":-200.326218,"cg_iq_raw_a":-201.832947,"cg_iu_a":-174.910202,"cg_iv_a":170.415176,"cg_iw_a":4.49502563,"cg_sample_age_us":23.8999996,"cg_sample_seq":2780517,"cg_sample_valid":1,"cg_theta_rad":4.09693623,"cg_vd_req_v":-1.68368077,"cg_vd_v":-1.68368077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39538956,"cg_vq_v":-8.39538956,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2466.73218,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.451355,"temp_inv2_c":40.4212036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104083307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":283.122517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":283.122522,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":283.122527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":283.339233,"values":{"Elec_RPM":-2358.44653,"EncoderCos":42234,"EncoderSin":14825,"GapTicks":49359,"Mech_RPM":-471.689301,"cg_du":48.9910316,"cg_dv":55.1277122,"cg_dw":44.8722878,"cg_id_a":-13.3909664,"cg_id_raw_a":-18.1573029,"cg_iq_a":-198.754181,"cg_iq_raw_a":-198.70578,"cg_iu_a":-81.4373627,"cg_iv_a":198.50415,"cg_iw_a":-117.066788,"cg_sample_age_us":23.9618187,"cg_sample_seq":2782166,"cg_sample_valid":1,"cg_theta_rad":5.21610546,"cg_vd_req_v":-1.69845796,"cg_vd_v":-1.69845796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45532322,"cg_vq_v":-8.45532322,"cg_vu_v":39.1504402,"cg_vv_v":58.0658188,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.478363,"temp_inv2_c":40.4768982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":283.671265,"values":{"Elec_RPM":-2353.25635,"EncoderCos":42781,"EncoderSin":15107,"GapTicks":49464,"Mech_RPM":-470.651245,"cg_du":47.9803581,"cg_dv":55.0325813,"cg_dw":44.9674187,"cg_id_a":1.92836785,"cg_id_raw_a":-1.78729701,"cg_iq_a":-200.561905,"cg_iq_raw_a":-200.794678,"cg_iu_a":-122.501625,"cg_iv_a":200.497559,"cg_iw_a":-77.9959335,"cg_sample_age_us":23.9581814,"cg_sample_seq":2783917,"cg_sample_valid":1,"cg_theta_rad":5.24649,"cg_vd_req_v":-2.01550555,"cg_vd_v":-2.01550555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39435101,"cg_vq_v":-8.39435101,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-17.4043503,"dclink_p_w":-2518.83862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4229126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":284.005249,"values":{"Elec_RPM":-2350.86475,"EncoderCos":52756,"EncoderSin":34288,"GapTicks":49897,"Mech_RPM":-470.172974,"cg_du":53.7721214,"cg_dv":54.6385765,"cg_dw":45.3614235,"cg_id_a":5.48465586,"cg_id_raw_a":7.66072178,"cg_iq_a":-204.424896,"cg_iq_raw_a":-206.930588,"cg_iu_a":7.75871372,"cg_iv_a":172.444839,"cg_iw_a":-180.203552,"cg_sample_age_us":23.4018173,"cg_sample_seq":2785566,"cg_sample_valid":1,"cg_theta_rad":0.0889436901,"cg_vd_req_v":-2.03553653,"cg_vd_v":-2.03553653,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31811142,"cg_vq_v":-8.31811142,"cg_vu_v":36.9509773,"cg_vv_v":42.2296829,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2546.74268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.478363,"temp_inv2_c":40.4262695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":284.11559,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":284.115595,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":284.1156,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":284.356812,"values":{"Elec_RPM":-2356.01807,"EncoderCos":52661,"EncoderSin":34858,"GapTicks":49520,"Mech_RPM":-471.203613,"cg_du":52.3398323,"cg_dv":54.9809799,"cg_dw":45.0190201,"cg_id_a":-7.13136959,"cg_id_raw_a":-0.875908911,"cg_iq_a":-199.081619,"cg_iq_raw_a":-199.142838,"cg_iu_a":-14.3500242,"cg_iv_a":174.148285,"cg_iw_a":-167.953125,"cg_sample_age_us":23.4599991,"cg_sample_seq":2787317,"cg_sample_valid":1,"cg_theta_rad":0.124564491,"cg_vd_req_v":-1.781528,"cg_vd_v":-1.781528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43859482,"cg_vq_v":-8.43859482,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":284.688843,"values":{"Elec_RPM":-2361.01172,"EncoderCos":39366,"EncoderSin":51735,"GapTicks":49370,"Mech_RPM":-472.202362,"cg_du":55.1179924,"cg_dv":50.8669586,"cg_dw":44.8820076,"cg_id_a":-4.35825729,"cg_id_raw_a":-9.02024078,"cg_iq_a":-199.992676,"cg_iq_raw_a":-196.644363,"cg_iu_a":111.524811,"cg_iv_a":77.8846741,"cg_iw_a":-199.050339,"cg_sample_age_us":23.8672733,"cg_sample_seq":2788967,"cg_sample_valid":1,"cg_theta_rad":1.23634148,"cg_vd_req_v":-1.82802355,"cg_vd_v":-1.82802355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39699459,"cg_vq_v":-8.39699459,"cg_vu_v":129.328415,"cg_vv_v":140.765625,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2386.19897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4482117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":285.040405,"values":{"Elec_RPM":-2358.95898,"EncoderCos":28654,"EncoderSin":52599,"GapTicks":49718,"Mech_RPM":-471.791779,"cg_du":45.1988068,"cg_dv":53.164608,"cg_dw":54.8011932,"cg_id_a":2.63256836,"cg_id_raw_a":1.4235034,"cg_iq_a":-202.478729,"cg_iq_raw_a":-200.670639,"cg_iu_a":-156.425858,"cg_iv_a":-31.6442108,"cg_iw_a":188.070068,"cg_sample_age_us":23.7690907,"cg_sample_seq":2790670,"cg_sample_valid":1,"cg_theta_rad":1.8202796,"cg_vd_req_v":-1.90527081,"cg_vd_v":-1.90527081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34392357,"cg_vq_v":-8.34392357,"cg_vu_v":37.830761,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.2717304,"dclink_p_w":-2354.92065,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":40.460022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":285.107673,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":285.107679,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":285.107683,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":285.37439,"values":{"Elec_RPM":-2356.12329,"EncoderCos":27057,"EncoderSin":52230,"GapTicks":49339,"Mech_RPM":-471.22467,"cg_du":44.8539352,"cg_dv":49.3310318,"cg_dw":55.1460648,"cg_id_a":-13.4619961,"cg_id_raw_a":-15.6639013,"cg_iq_a":-198.473083,"cg_iq_raw_a":-199.911102,"cg_iu_a":-126.488441,"cg_iv_a":-71.4761734,"cg_iw_a":197.964615,"cg_sample_age_us":23.7618179,"cg_sample_seq":2792416,"cg_sample_valid":1,"cg_theta_rad":1.85737133,"cg_vd_req_v":-1.62819016,"cg_vd_v":-1.62819016,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4421711,"cg_vq_v":-8.4421711,"cg_vu_v":102.055069,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2405.53833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4347229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":285.706421,"values":{"Elec_RPM":-2357.14673,"EncoderCos":12729,"EncoderSin":36425,"GapTicks":49568,"Mech_RPM":-471.429352,"cg_du":45.0621338,"cg_dv":54.9378662,"cg_dw":52.9352264,"cg_id_a":9.15733528,"cg_id_raw_a":5.58749056,"cg_iq_a":-196.722748,"cg_iq_raw_a":-194.319611,"cg_iu_a":-191.21994,"cg_iv_a":55.7396851,"cg_iw_a":130.913544,"cg_sample_age_us":23.9327278,"cg_sample_seq":2794067,"cg_sample_valid":1,"cg_theta_rad":2.9608891,"cg_vd_req_v":-2.0425179,"cg_vd_v":-2.0425179,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48182583,"cg_vq_v":-8.48182583,"cg_vu_v":113.052383,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.8410873,"dclink_p_w":-2589.89331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4448547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":286.057983,"values":{"Elec_RPM":-2361.53906,"EncoderCos":12560,"EncoderSin":35413,"GapTicks":49937,"Mech_RPM":-472.307831,"cg_du":45.3974838,"cg_dv":54.0151978,"cg_dw":54.6025162,"cg_id_a":10.2302866,"cg_id_raw_a":13.0859756,"cg_iq_a":-201.792709,"cg_iq_raw_a":-200.585114,"cg_iu_a":-175.417633,"cg_iv_a":7.60786438,"cg_iw_a":171.724091,"cg_sample_age_us":23.8890915,"cg_sample_seq":2795816,"cg_sample_valid":1,"cg_theta_rad":3.02180982,"cg_vd_req_v":-2.03937936,"cg_vd_v":-2.03937936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36700821,"cg_vq_v":-8.36700821,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.478363,"temp_inv2_c":40.4549561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":286.130591,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":286.130596,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":286.130601,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":286.391968,"values":{"Elec_RPM":-2360.54785,"EncoderCos":31242,"EncoderSin":12533,"GapTicks":49668,"Mech_RPM":-472.109558,"cg_du":53.291832,"cg_dv":45.1535339,"cg_dw":54.8464661,"cg_id_a":15.8246584,"cg_id_raw_a":13.9682522,"cg_iq_a":-201.205719,"cg_iq_raw_a":-199.710251,"cg_iu_a":155.198624,"cg_iv_a":-191.334534,"cg_iw_a":36.1359024,"cg_sample_age_us":23.7145462,"cg_sample_seq":2797417,"cg_sample_valid":1,"cg_theta_rad":4.65244246,"cg_vd_req_v":-2.23837376,"cg_vd_v":-2.23837376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40670013,"cg_vq_v":-8.40670013,"cg_vu_v":122.290138,"cg_vv_v":116.571533,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2500.74194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.478363,"temp_inv2_c":40.460022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":286.723999,"values":{"Elec_RPM":-2363.72559,"EncoderCos":21679,"EncoderSin":15610,"GapTicks":49292,"Mech_RPM":-472.745117,"cg_du":44.8116226,"cg_dv":55.1883774,"cg_dw":50.1656342,"cg_id_a":-11.375124,"cg_id_raw_a":-14.261652,"cg_iq_a":-196.728287,"cg_iq_raw_a":-196.086227,"cg_iu_a":-192.488464,"cg_iv_a":130.510712,"cg_iw_a":61.9777527,"cg_sample_age_us":23.9581814,"cg_sample_seq":2799217,"cg_sample_valid":1,"cg_theta_rad":4.15080595,"cg_vd_req_v":-1.67460513,"cg_vd_v":-1.67460513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50873661,"cg_vq_v":-8.50873661,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2406.84961,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.478363,"temp_inv2_c":40.460022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":287.077515,"values":{"Elec_RPM":-2359.9353,"EncoderCos":50623,"EncoderSin":23544,"GapTicks":49310,"Mech_RPM":-471.987061,"cg_du":49.9615669,"cg_dv":44.8276405,"cg_dw":55.1723595,"cg_id_a":-8.05746937,"cg_id_raw_a":-8.47318363,"cg_iq_a":-196.855469,"cg_iq_raw_a":-197.049881,"cg_iu_a":64.371582,"cg_iv_a":-194.378998,"cg_iw_a":130.007416,"cg_sample_age_us":23.7363644,"cg_sample_seq":2800816,"cg_sample_valid":1,"cg_theta_rad":5.82356071,"cg_vd_req_v":-1.79504812,"cg_vd_v":-1.79504812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45535851,"cg_vq_v":-8.45535851,"cg_vu_v":12.3169918,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2391.6897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":287.122997,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":287.123003,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":287.123007,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":287.409546,"values":{"Elec_RPM":-2357.51245,"EncoderCos":50970,"EncoderSin":24237,"GapTicks":49339,"Mech_RPM":-471.502472,"cg_du":51.4215584,"cg_dv":44.8539581,"cg_dw":55.1460419,"cg_id_a":3.81734133,"cg_id_raw_a":-0.53150636,"cg_iq_a":-198.498642,"cg_iq_raw_a":-198.180588,"cg_iu_a":111.742279,"cg_iv_a":-199.054459,"cg_iw_a":87.3121796,"cg_sample_age_us":23.7327271,"cg_sample_seq":2802566,"cg_sample_valid":1,"cg_theta_rad":5.86265945,"cg_vd_req_v":-2.0493927,"cg_vd_v":-2.0493927,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43660736,"cg_vq_v":-8.43660736,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":14.0765619,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4988403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":287.741577,"values":{"Elec_RPM":-2353.85864,"EncoderCos":52618,"EncoderSin":35280,"GapTicks":49347,"Mech_RPM":-470.771729,"cg_du":51.3024902,"cg_dv":55.1387634,"cg_dw":44.8612366,"cg_id_a":-13.2612867,"cg_id_raw_a":-11.4718685,"cg_iq_a":-196.549133,"cg_iq_raw_a":-196.428253,"cg_iu_a":-25.1144428,"cg_iv_a":180.599686,"cg_iw_a":-155.485245,"cg_sample_age_us":23.5145454,"cg_sample_seq":2804267,"cg_sample_valid":1,"cg_theta_rad":0.137094066,"cg_vd_req_v":-1.66771173,"cg_vd_v":-1.66771173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51730442,"cg_vq_v":-8.51730442,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.460022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":288.095093,"values":{"Elec_RPM":-2359.85547,"EncoderCos":52410,"EncoderSin":36326,"GapTicks":49341,"Mech_RPM":-471.9711,"cg_du":49.0444946,"cg_dv":55.144352,"cg_dw":44.855648,"cg_id_a":-10.5434847,"cg_id_raw_a":-16.3349323,"cg_iq_a":-197.400879,"cg_iq_raw_a":-197.475037,"cg_iu_a":-97.3846436,"cg_iv_a":198.54039,"cg_iw_a":-101.155746,"cg_sample_age_us":23.4854546,"cg_sample_seq":2806016,"cg_sample_valid":1,"cg_theta_rad":0.199904665,"cg_vd_req_v":-1.75714636,"cg_vd_v":-1.75714636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46577263,"cg_vq_v":-8.46577263,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2488.15308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.4279785,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":288.11506,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":288.115065,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":288.11507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":288.581421,"values":{"Elec_RPM":-2351.02148,"EncoderCos":52800,"EncoderSin":32766,"GapTicks":49538,"Mech_RPM":-470.204315,"cg_du":54.965416,"cg_dv":52.0972176,"cg_dw":45.034584,"cg_id_a":1.65690732,"cg_id_raw_a":-2.79752707,"cg_iq_a":-204.266144,"cg_iq_raw_a":-202.218185,"cg_iu_a":32.5132523,"cg_iv_a":156.751251,"cg_iw_a":-189.264496,"cg_sample_age_us":24.2709084,"cg_sample_seq":2808371,"cg_sample_valid":1,"cg_theta_rad":0.0534424111,"cg_vd_req_v":-1.97571003,"cg_vd_v":-1.97571003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30938816,"cg_vq_v":-8.30938816,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2520.18091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.4954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":288.979601,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":288.979609,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":288.979612,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":289.089233,"values":{"Elec_RPM":-2348.8877,"EncoderCos":13718,"EncoderSin":25562,"GapTicks":49352,"Mech_RPM":-469.777527,"cg_du":55.1343613,"cg_dv":44.8656387,"cg_dw":50.2849236,"cg_id_a":-15.9204836,"cg_id_raw_a":-14.5772924,"cg_iq_a":-197.044342,"cg_iq_raw_a":-196.725784,"cg_iu_a":196.625336,"cg_iv_a":-123.9935,"cg_iw_a":-72.6318359,"cg_sample_age_us":23.9727268,"cg_sample_seq":2810968,"cg_sample_valid":1,"cg_theta_rad":3.53079915,"cg_vd_req_v":-1.56323087,"cg_vd_v":-1.56323087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44109154,"cg_vq_v":-8.44109154,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5565739,"dclink_p_w":-2533.146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.4397888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":289.139351,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":289.139356,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":289.139361,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":289.419312,"values":{"Elec_RPM":-2349.73364,"EncoderCos":41450,"EncoderSin":14404,"GapTicks":49327,"Mech_RPM":-469.946747,"cg_du":50.8193092,"cg_dv":55.1565704,"cg_dw":44.8434296,"cg_id_a":-17.2806206,"cg_id_raw_a":-18.6060066,"cg_iq_a":-194.941833,"cg_iq_raw_a":-194.440567,"cg_iu_a":-29.0650215,"cg_iv_a":182.520615,"cg_iw_a":-153.455597,"cg_sample_age_us":23.9654541,"cg_sample_seq":2812567,"cg_sample_valid":1,"cg_theta_rad":5.16896772,"cg_vd_req_v":-1.57844222,"cg_vd_v":-1.57844222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50833607,"cg_vq_v":-8.50833607,"cg_vu_v":145.164551,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2426.79272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.551239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":289.753296,"values":{"Elec_RPM":-2351.65332,"EncoderCos":42312,"EncoderSin":14856,"GapTicks":49420,"Mech_RPM":-470.330688,"cg_du":48.8675232,"cg_dv":55.0727043,"cg_dw":44.9272957,"cg_id_a":-11.3618994,"cg_id_raw_a":-14.683712,"cg_iq_a":-199.837616,"cg_iq_raw_a":-199.747284,"cg_iu_a":-86.4390106,"cg_iv_a":199.482727,"cg_iw_a":-113.043716,"cg_sample_age_us":23.9472733,"cg_sample_seq":2814316,"cg_sample_valid":1,"cg_theta_rad":5.22194576,"cg_vd_req_v":-1.73648691,"cg_vd_v":-1.73648691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39558983,"cg_vq_v":-8.39558983,"cg_vu_v":0.87978512,"cg_vv_v":4.39892578,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2512.75122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.4431458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":290.104858,"values":{"Elec_RPM":-2348.1377,"EncoderCos":52759,"EncoderSin":33376,"GapTicks":49720,"Mech_RPM":-469.627533,"cg_du":54.7997437,"cg_dv":53.2343063,"cg_dw":45.2002563,"cg_id_a":9.60936069,"cg_id_raw_a":3.95984554,"cg_iq_a":-205.210648,"cg_iq_raw_a":-202.918777,"cg_iu_a":46.8658104,"cg_iv_a":149.683685,"cg_iw_a":-196.5495,"cg_sample_age_us":23.4636364,"cg_sample_seq":2815967,"cg_sample_valid":1,"cg_theta_rad":0.0389169715,"cg_vd_req_v":-2.14289904,"cg_vd_v":-2.14289904,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30861378,"cg_vq_v":-8.30861378,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2485.29688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.5022278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":290.131253,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":290.131259,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":290.131264,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":290.438843,"values":{"Elec_RPM":-2355.17065,"EncoderCos":50702,"EncoderSin":23692,"GapTicks":49266,"Mech_RPM":-471.034119,"cg_du":50.289566,"cg_dv":44.7879829,"cg_dw":55.2120171,"cg_id_a":-6.2927227,"cg_id_raw_a":-8.88373566,"cg_iq_a":-196.224716,"cg_iq_raw_a":-195.787842,"cg_iu_a":74.7735596,"cg_iv_a":-194.451492,"cg_iw_a":119.677933,"cg_sample_age_us":23.7472725,"cg_sample_seq":2817767,"cg_sample_valid":1,"cg_theta_rad":5.8329711,"cg_vd_req_v":-1.84878266,"cg_vd_v":-1.84878266,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48899841,"cg_vq_v":-8.48899841,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0274124,"dclink_p_w":-2456.79614,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5054016,"temp_inv2_c":40.5444641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":290.770874,"values":{"Elec_RPM":-2357.67261,"EncoderCos":40103,"EncoderSin":51435,"GapTicks":49329,"Mech_RPM":-471.534515,"cg_du":55.1545563,"cg_dv":49.3001289,"cg_dw":44.8454437,"cg_id_a":-11.8676596,"cg_id_raw_a":-11.4685268,"cg_iq_a":-195.516373,"cg_iq_raw_a":-193.796951,"cg_iu_a":144.796646,"cg_iv_a":41.9670258,"cg_iw_a":-186.763672,"cg_sample_age_us":23.9509087,"cg_sample_seq":2819367,"cg_sample_valid":1,"cg_theta_rad":1.19780612,"cg_vd_req_v":-1.65706706,"cg_vd_v":-1.65706706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48000908,"cg_vq_v":-8.48000908,"cg_vu_v":106.014107,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.4650879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":291.122437,"values":{"Elec_RPM":-2350.84888,"EncoderCos":39238,"EncoderSin":51820,"GapTicks":49402,"Mech_RPM":-470.169769,"cg_du":55.0884552,"cg_dv":51.0838547,"cg_dw":44.9115448,"cg_id_a":0.159911513,"cg_id_raw_a":-0.8871032,"cg_iq_a":-201.782867,"cg_iq_raw_a":-200.041199,"cg_iu_a":100.651657,"cg_iv_a":104.995056,"cg_iw_a":-205.646713,"cg_sample_age_us":23.8818188,"cg_sample_seq":2821116,"cg_sample_valid":1,"cg_theta_rad":1.24744749,"cg_vd_req_v":-1.92519581,"cg_vd_v":-1.92519581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34845924,"cg_vq_v":-8.34845924,"cg_vu_v":38.7105446,"cg_vv_v":41.7897949,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2492.87402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.4650879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":291.123182,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":291.123188,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":291.123194,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":291.456421,"values":{"Elec_RPM":-2352.22559,"EncoderCos":28036,"EncoderSin":52442,"GapTicks":49421,"Mech_RPM":-470.445099,"cg_du":44.9283981,"cg_dv":51.5555382,"cg_dw":55.0716019,"cg_id_a":-10.8947563,"cg_id_raw_a":-9.13311195,"cg_iq_a":-200.411255,"cg_iq_raw_a":-199.539001,"cg_iu_a":-160.557648,"cg_iv_a":-15.08078,"cg_iw_a":181.836121,"cg_sample_age_us":23.8600006,"cg_sample_seq":2822817,"cg_sample_valid":1,"cg_theta_rad":1.80615902,"cg_vd_req_v":-1.65192521,"cg_vd_v":-1.65192521,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42053223,"cg_vq_v":-8.42053223,"cg_vu_v":101.175293,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2417.31396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":40.5072937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10322728,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":291.807983,"values":{"Elec_RPM":-2354.42676,"EncoderCos":27009,"EncoderSin":52207,"GapTicks":49338,"Mech_RPM":-470.885376,"cg_du":44.8530045,"cg_dv":49.2066193,"cg_dw":55.1469955,"cg_id_a":-13.3832541,"cg_id_raw_a":-16.294445,"cg_iq_a":-197.976364,"cg_iq_raw_a":-199.445541,"cg_iu_a":-123.516457,"cg_iv_a":-74.2307053,"cg_iw_a":192.528046,"cg_sample_age_us":23.8381824,"cg_sample_seq":2824566,"cg_sample_valid":1,"cg_theta_rad":1.85817075,"cg_vd_req_v":-1.62794614,"cg_vd_v":-1.62794614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48048401,"cg_vq_v":-8.48048401,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.5292664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":292.115273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":292.115278,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":292.115284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":292.140015,"values":{"Elec_RPM":-2354.40039,"EncoderCos":12670,"EncoderSin":36179,"GapTicks":49717,"Mech_RPM":-470.880066,"cg_du":45.1973495,"cg_dv":54.8026505,"cg_dw":53.3869247,"cg_id_a":11.6196871,"cg_id_raw_a":11.163394,"cg_iq_a":-198.465973,"cg_iq_raw_a":-198.139557,"cg_iu_a":-189.117798,"cg_iv_a":38.0527039,"cg_iw_a":151.065094,"cg_sample_age_us":23.8381824,"cg_sample_seq":2826216,"cg_sample_valid":1,"cg_theta_rad":2.97739196,"cg_vd_req_v":-2.08152008,"cg_vd_v":-2.08152008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41193581,"cg_vq_v":-8.41193581,"cg_vu_v":130.648087,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2476.92944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":40.5157471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":292.473999,"values":{"Elec_RPM":-2351.41431,"EncoderCos":13927,"EncoderSin":25065,"GapTicks":49326,"Mech_RPM":-470.282867,"cg_du":55.1576881,"cg_dv":44.8423119,"cg_dw":49.2704124,"cg_id_a":-8.41754532,"cg_id_raw_a":-13.548913,"cg_iq_a":-198.040863,"cg_iq_raw_a":-196.887939,"cg_iu_a":197.024017,"cg_iv_a":-117.034676,"cg_iw_a":-79.9893417,"cg_sample_age_us":24.0745449,"cg_sample_seq":2827917,"cg_sample_valid":1,"cg_theta_rad":3.532897,"cg_vd_req_v":-1.73660445,"cg_vd_v":-1.73660445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44490433,"cg_vq_v":-8.44490433,"cg_vu_v":142.965088,"cg_vv_v":135.047012,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2414.71777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":40.5427856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":292.825562,"values":{"Elec_RPM":-2353.57886,"EncoderCos":21103,"EncoderSin":15959,"GapTicks":49343,"Mech_RPM":-470.71579,"cg_du":44.8580971,"cg_dv":55.1419029,"cg_dw":48.7028809,"cg_id_a":-11.2870932,"cg_id_raw_a":-13.1776943,"cg_iq_a":-196.069031,"cg_iq_raw_a":-196.406601,"cg_iu_a":-181.10791,"cg_iv_a":156.098877,"cg_iw_a":25.0090408,"cg_sample_age_us":23.9290905,"cg_sample_seq":2829617,"cg_sample_valid":1,"cg_theta_rad":4.11290836,"cg_vd_req_v":-1.65340745,"cg_vd_v":-1.65340745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52461624,"cg_vq_v":-8.52461624,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.5326233,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":293.107317,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":293.107323,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":293.107328,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":293.157593,"values":{"Elec_RPM":-2356.13306,"EncoderCos":32139,"EncoderSin":12483,"GapTicks":49850,"Mech_RPM":-471.226593,"cg_du":54.6814041,"cg_dv":45.3185959,"cg_dw":53.7412415,"cg_id_a":9.89023113,"cg_id_raw_a":15.1958008,"cg_iq_a":-201.415787,"cg_iq_raw_a":-201.407654,"cg_iu_a":172.015762,"cg_iv_a":-175.278503,"cg_iw_a":3.26274872,"cg_sample_age_us":24.1109085,"cg_sample_seq":2831317,"cg_sample_valid":1,"cg_theta_rad":4.69632483,"cg_vd_req_v":-2.0688374,"cg_vd_v":-2.0688374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36379242,"cg_vq_v":-8.36379242,"cg_vu_v":143.404984,"cg_vv_v":133.727341,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2626686,"dclink_p_w":-2353.60913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.5799866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":293.489624,"values":{"Elec_RPM":-2355.06567,"EncoderCos":43151,"EncoderSin":15300,"GapTicks":49618,"Mech_RPM":-471.013153,"cg_du":47.2375832,"cg_dv":54.8918457,"cg_dw":45.1081543,"cg_id_a":7.07422876,"cg_id_raw_a":2.81797314,"cg_iq_a":-204.862213,"cg_iq_raw_a":-203.874207,"cg_iu_a":-141.203445,"cg_iv_a":201.403656,"cg_iw_a":-60.2002106,"cg_sample_age_us":23.8672733,"cg_sample_seq":2833017,"cg_sample_valid":1,"cg_theta_rad":5.26585197,"cg_vd_req_v":-2.12761879,"cg_vd_v":-2.12761879,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30408192,"cg_vq_v":-8.30408192,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.551239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":293.84314,"values":{"Elec_RPM":-2346.30005,"EncoderCos":50860,"EncoderSin":24020,"GapTicks":49287,"Mech_RPM":-469.26001,"cg_du":50.9949417,"cg_dv":44.8064842,"cg_dw":55.1935158,"cg_id_a":-1.48788226,"cg_id_raw_a":-6.09148312,"cg_iq_a":-198.152466,"cg_iq_raw_a":-197.282791,"cg_iu_a":98.4770355,"cg_iv_a":-198.583298,"cg_iw_a":100.106262,"cg_sample_age_us":23.7327271,"cg_sample_seq":2834717,"cg_sample_valid":1,"cg_theta_rad":5.85184097,"cg_vd_req_v":-1.95564735,"cg_vd_v":-1.95564735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4829483,"cg_vq_v":-8.4829483,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5461731,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":294.131203,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":294.131208,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":294.131213,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":294.175171,"values":{"Elec_RPM":-2355.3584,"EncoderCos":52551,"EncoderSin":35594,"GapTicks":49310,"Mech_RPM":-471.071686,"cg_du":50.5701485,"cg_dv":55.1718674,"cg_dw":44.8281326,"cg_id_a":-14.1236897,"cg_id_raw_a":-12.1075048,"cg_iq_a":-194.101852,"cg_iq_raw_a":-195.156433,"cg_iu_a":-38.524662,"cg_iv_a":185.057678,"cg_iw_a":-146.53302,"cg_sample_age_us":23.4527264,"cg_sample_seq":2836416,"cg_sample_valid":1,"cg_theta_rad":0.155253083,"cg_vd_req_v":-1.64679408,"cg_vd_v":-1.64679408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52917862,"cg_vq_v":-8.52917862,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-16.681284,"dclink_p_w":-2421.53101,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5360107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":294.507202,"values":{"Elec_RPM":-2359.2478,"EncoderCos":38779,"EncoderSin":51903,"GapTicks":49467,"Mech_RPM":-471.849548,"cg_du":55.0291862,"cg_dv":51.9726067,"cg_dw":44.9708138,"cg_id_a":6.26203775,"cg_id_raw_a":3.16723347,"cg_iq_a":-201.988251,"cg_iq_raw_a":-204.06395,"cg_iu_a":88.7274399,"cg_iv_a":111.446449,"cg_iw_a":-200.173889,"cg_sample_age_us":23.8090916,"cg_sample_seq":2838066,"cg_sample_valid":1,"cg_theta_rad":1.2588439,"cg_vd_req_v":-2.05193639,"cg_vd_v":-2.05193639,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36939335,"cg_vq_v":-8.36939335,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2504.1228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5799866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":294.860718,"values":{"Elec_RPM":-2361.93359,"EncoderCos":38105,"EncoderSin":52134,"GapTicks":49707,"Mech_RPM":-472.386719,"cg_du":54.8110352,"cg_dv":53.2994652,"cg_dw":45.1889648,"cg_id_a":16.7238579,"cg_id_raw_a":17.1963234,"cg_iq_a":-205.247696,"cg_iq_raw_a":-205.936737,"cg_iu_a":33.4555893,"cg_iv_a":158.744659,"cg_iw_a":-192.200256,"cg_sample_age_us":23.8672733,"cg_sample_seq":2839816,"cg_sample_valid":1,"cg_theta_rad":1.30522501,"cg_vd_req_v":-2.23820734,"cg_vd_v":-2.23820734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32530117,"cg_vq_v":-8.32530117,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2408.42407,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.5410767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":295.12278,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":295.122785,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":295.12279,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":295.192749,"values":{"Elec_RPM":-2371.83301,"EncoderCos":17536,"EncoderSin":46112,"GapTicks":49479,"Mech_RPM":-474.366608,"cg_du":55.0183182,"cg_dv":47.8545647,"cg_dw":44.9816818,"cg_id_a":-8.01395321,"cg_id_raw_a":-4.78857803,"cg_iq_a":-196.760422,"cg_iq_raw_a":-198.878464,"cg_iu_a":164.839493,"cg_iv_a":0.141647339,"cg_iw_a":-169.620346,"cg_sample_age_us":23.9290905,"cg_sample_seq":2841466,"cg_sample_valid":1,"cg_theta_rad":2.41879082,"cg_vd_req_v":-1.70987999,"cg_vd_v":-1.70987999,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46706104,"cg_vq_v":-8.46706104,"cg_vu_v":33.4318352,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":40.5594788,"temp_inv2_c":40.5935059,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":295.52478,"values":{"Elec_RPM":-2363.87988,"EncoderCos":12678,"EncoderSin":36021,"GapTicks":49832,"Mech_RPM":-472.776001,"cg_du":45.3018532,"cg_dv":54.6981468,"cg_dw":53.704464,"cg_id_a":9.63010979,"cg_id_raw_a":8.4093647,"cg_iq_a":-201.45784,"cg_iq_raw_a":-200.777359,"cg_iu_a":-189.480225,"cg_iv_a":35.0444489,"cg_iw_a":154.435776,"cg_sample_age_us":23.8999996,"cg_sample_seq":2843167,"cg_sample_valid":1,"cg_theta_rad":2.98529172,"cg_vd_req_v":-2.04870176,"cg_vd_v":-2.04870176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37971497,"cg_vq_v":-8.37971497,"cg_vu_v":99.4157181,"cg_vv_v":101.615181,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.0092926,"dclink_p_w":-2461.66406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.54953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":295.876343,"values":{"Elec_RPM":-2361.79712,"EncoderCos":14101,"EncoderSin":24624,"GapTicks":49369,"Mech_RPM":-472.359436,"cg_du":55.1182785,"cg_dv":44.8817215,"cg_dw":48.4152756,"cg_id_a":0.55267632,"cg_id_raw_a":-7.3325634,"cg_iq_a":-197.838043,"cg_iq_raw_a":-196.691696,"cg_iu_a":197.096497,"cg_iv_a":-87.749649,"cg_iw_a":-109.346848,"cg_sample_age_us":24.0854549,"cg_sample_seq":2844867,"cg_sample_valid":1,"cg_theta_rad":3.55930686,"cg_vd_req_v":-1.93255842,"cg_vd_v":-1.93255842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47128296,"cg_vq_v":-8.47128296,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.6363106,"dclink_p_w":-2552.40894,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5140686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":296.1155,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":296.115505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":296.11551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":296.210327,"values":{"Elec_RPM":-2356.05127,"EncoderCos":14441,"EncoderSin":23800,"GapTicks":49660,"Mech_RPM":-471.210266,"cg_du":54.853714,"cg_dv":45.146286,"cg_dw":46.8267288,"cg_id_a":16.992733,"cg_id_raw_a":13.9864349,"cg_iq_a":-201.729431,"cg_iq_raw_a":-199.560211,"cg_iu_a":191.33374,"cg_iv_a":-38.276825,"cg_iw_a":-153.056915,"cg_sample_age_us":24.0745449,"cg_sample_seq":2846617,"cg_sample_valid":1,"cg_theta_rad":3.6038959,"cg_vd_req_v":-2.2336843,"cg_vd_v":-2.2336843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3771286,"cg_vq_v":-8.3771286,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.5330143,"dclink_p_w":-2537.45947,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5783081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":296.56189,"values":{"Elec_RPM":-2355.61572,"EncoderCos":22370,"EncoderSin":15207,"GapTicks":49417,"Mech_RPM":-471.123138,"cg_du":44.9249573,"cg_dv":55.0750427,"cg_dw":51.7351379,"cg_id_a":-2.65177345,"cg_id_raw_a":-4.33626413,"cg_iq_a":-195.942123,"cg_iq_raw_a":-196.686172,"cg_iu_a":-196.475281,"cg_iv_a":88.2503967,"cg_iw_a":108.224884,"cg_sample_age_us":23.9327278,"cg_sample_seq":2848316,"cg_sample_valid":1,"cg_theta_rad":4.1899519,"cg_vd_req_v":-1.85728753,"cg_vd_v":-1.85728753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46977043,"cg_vq_v":-8.46977043,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.520813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":296.893921,"values":{"Elec_RPM":-2357.02368,"EncoderCos":33476,"EncoderSin":12519,"GapTicks":49305,"Mech_RPM":-471.404724,"cg_du":55.1764603,"cg_dv":44.8235397,"cg_dw":50.373951,"cg_id_a":-16.2710609,"cg_id_raw_a":-15.758728,"cg_iq_a":-195.842468,"cg_iq_raw_a":-195.91362,"cg_iu_a":188.470459,"cg_iv_a":-145.739777,"cg_iw_a":-42.7306824,"cg_sample_age_us":24.0563641,"cg_sample_seq":2850016,"cg_sample_valid":1,"cg_theta_rad":4.76226425,"cg_vd_req_v":-1.58053648,"cg_vd_v":-1.58053648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48583698,"cg_vq_v":-8.48583698,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2453.65845,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5664368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":297.139456,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":297.139461,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":297.139466,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":297.227905,"values":{"Elec_RPM":-2356.94116,"EncoderCos":51152,"EncoderSin":24718,"GapTicks":49472,"Mech_RPM":-471.388245,"cg_du":52.3029099,"cg_dv":44.9752159,"cg_dw":55.0247841,"cg_id_a":15.8613977,"cg_id_raw_a":13.3669882,"cg_iq_a":-200.247925,"cg_iq_raw_a":-199.015961,"cg_iu_a":142.730743,"cg_iv_a":-195.466309,"cg_iw_a":52.7355728,"cg_sample_age_us":23.7218189,"cg_sample_seq":2851666,"cg_sample_valid":1,"cg_theta_rad":5.88703442,"cg_vd_req_v":-2.27818918,"cg_vd_v":-2.27818918,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40936279,"cg_vq_v":-8.40936279,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2494.13745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5850525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":297.579468,"values":{"Elec_RPM":-2349.44971,"EncoderCos":51464,"EncoderSin":25462,"GapTicks":49907,"Mech_RPM":-469.889954,"cg_du":53.9519043,"cg_dv":45.3706741,"cg_dw":54.6293259,"cg_id_a":16.9530678,"cg_id_raw_a":20.1985092,"cg_iq_a":-202.801544,"cg_iq_raw_a":-202.606308,"cg_iu_a":160.41774,"cg_iv_a":-188.688721,"cg_iw_a":28.2709808,"cg_sample_age_us":24.1545448,"cg_sample_seq":2853416,"cg_sample_valid":1,"cg_theta_rad":5.91853952,"cg_vd_req_v":-2.26728797,"cg_vd_v":-2.26728797,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34865284,"cg_vq_v":-8.34865284,"cg_vu_v":106.893898,"cg_vv_v":93.6971207,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2391.11353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5614014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":297.913452,"values":{"Elec_RPM":-2350.7085,"EncoderCos":47706,"EncoderSin":46293,"GapTicks":49584,"Mech_RPM":-470.141693,"cg_du":47.4930115,"cg_dv":45.0768661,"cg_dw":54.9231339,"cg_id_a":-6.91116667,"cg_id_raw_a":0.368590206,"cg_iq_a":-204.274078,"cg_iq_raw_a":-205.740479,"cg_iu_a":3.59067297,"cg_iv_a":-176.438293,"cg_iw_a":172.847626,"cg_sample_age_us":23.51091,"cg_sample_seq":2855067,"cg_sample_valid":1,"cg_theta_rad":0.740869105,"cg_vd_req_v":-1.76939154,"cg_vd_v":-1.76939154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33761406,"cg_vq_v":-8.33761406,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4022064,"dclink_p_w":-2373.80371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5715332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":298.130849,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":298.130854,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":298.130859,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":298.296265,"values":{"Elec_RPM":-2347.24097,"EncoderCos":47811,"EncoderSin":46278,"GapTicks":49628,"Mech_RPM":-469.448181,"cg_du":47.249424,"cg_dv":45.1170998,"cg_dw":54.8829002,"cg_id_a":-3.3920722,"cg_id_raw_a":1.6645205,"cg_iq_a":-204.771362,"cg_iq_raw_a":-206.609253,"cg_iu_a":38.8196793,"cg_iv_a":-186.115417,"cg_iw_a":147.295746,"cg_sample_age_us":23.40909,"cg_sample_seq":2856821,"cg_sample_valid":1,"cg_theta_rad":0.777157247,"cg_vd_req_v":-1.84737337,"cg_vd_v":-1.84737337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35276413,"cg_vq_v":-8.35276413,"cg_vu_v":116.131638,"cg_vv_v":117.451309,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7414169,"dclink_p_w":-2567.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.5865479,"temp_inv2_c":40.5901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":298.815796,"values":{"Elec_RPM":-2354.07666,"EncoderCos":23616,"EncoderSin":14509,"GapTicks":50035,"Mech_RPM":-470.815308,"cg_du":45.4866257,"cg_dv":54.5133743,"cg_dw":54.4088593,"cg_id_a":12.7453957,"cg_id_raw_a":15.3779755,"cg_iq_a":-200.493668,"cg_iq_raw_a":-199.59845,"cg_iu_a":-178.534576,"cg_iv_a":8.29649353,"cg_iw_a":170.238083,"cg_sample_age_us":23.8418179,"cg_sample_seq":2859416,"cg_sample_valid":1,"cg_theta_rad":4.27042627,"cg_vd_req_v":-2.14582753,"cg_vd_v":-2.14582753,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3892231,"cg_vq_v":-8.3892231,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5918274,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":298.994766,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":298.994777,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":298.99478,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":299.123294,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":299.123299,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":299.123304,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":299.239624,"values":{"Elec_RPM":-2347.7959,"EncoderCos":21403,"EncoderSin":15779,"GapTicks":49330,"Mech_RPM":-469.559174,"cg_du":44.8457108,"cg_dv":55.1542892,"cg_dw":49.5476189,"cg_id_a":-15.401104,"cg_id_raw_a":-15.8486757,"cg_iq_a":-196.529678,"cg_iq_raw_a":-196.804062,"cg_iu_a":-187.160629,"cg_iv_a":145.225708,"cg_iw_a":41.9349136,"cg_sample_age_us":23.8999996,"cg_sample_seq":2861766,"cg_sample_valid":1,"cg_theta_rad":4.13163185,"cg_vd_req_v":-1.57810879,"cg_vd_v":-1.57810879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47896099,"cg_vq_v":-8.47896099,"cg_vu_v":17.5957031,"cg_vv_v":28.1531239,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2434.04834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5986023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":299.591187,"values":{"Elec_RPM":-2346.23193,"EncoderCos":41688,"EncoderSin":14503,"GapTicks":49313,"Mech_RPM":-469.246399,"cg_du":50.2371216,"cg_dv":55.1697464,"cg_dw":44.8302536,"cg_id_a":-19.6154728,"cg_id_raw_a":-16.6834221,"cg_iq_a":-198.032974,"cg_iq_raw_a":-196.570587,"cg_iu_a":-98.1820145,"cg_iv_a":202.599701,"cg_iw_a":-104.417686,"cg_sample_age_us":23.8600006,"cg_sample_seq":2863421,"cg_sample_valid":1,"cg_theta_rad":5.23165798,"cg_vd_req_v":-1.55481529,"cg_vd_v":-1.55481529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44795609,"cg_vq_v":-8.44795609,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5986023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":299.925171,"values":{"Elec_RPM":-2348.18042,"EncoderCos":43357,"EncoderSin":15491,"GapTicks":49746,"Mech_RPM":-469.636078,"cg_du":46.6988258,"cg_dv":54.7755241,"cg_dw":45.2244759,"cg_id_a":9.26884651,"cg_id_raw_a":9.19910812,"cg_iq_a":-205.481461,"cg_iq_raw_a":-204.672455,"cg_iu_a":-155.157318,"cg_iv_a":195.858353,"cg_iw_a":-54.0025253,"cg_sample_age_us":23.9509087,"cg_sample_seq":2865166,"cg_sample_valid":1,"cg_theta_rad":5.27965832,"cg_vd_req_v":-2.16291118,"cg_vd_v":-2.16291118,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31599426,"cg_vq_v":-8.31599426,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2505.18628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.5799866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":300.115056,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":300.115061,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":300.115066,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":300.255249,"values":{"Elec_RPM":-2349.38916,"EncoderCos":52671,"EncoderSin":34710,"GapTicks":49598,"Mech_RPM":-469.877808,"cg_du":52.7365189,"cg_dv":54.9105034,"cg_dw":45.0894966,"cg_id_a":-2.56924486,"cg_id_raw_a":2.06700397,"cg_iq_a":-199.003204,"cg_iq_raw_a":-200.187271,"cg_iu_a":-7.71740341,"cg_iv_a":170.632645,"cg_iw_a":-169.874054,"cg_sample_age_us":23.4818172,"cg_sample_seq":2866817,"cg_sample_valid":1,"cg_theta_rad":0.11507614,"cg_vd_req_v":-1.86497331,"cg_vd_v":-1.86497331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.416255,"cg_vq_v":-8.416255,"cg_vu_v":8.35795879,"cg_vv_v":35.6312981,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.617218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":300.608765,"values":{"Elec_RPM":-2353.05225,"EncoderCos":52553,"EncoderSin":35448,"GapTicks":49342,"Mech_RPM":-470.610474,"cg_du":50.8911209,"cg_dv":55.1433907,"cg_dw":44.8566093,"cg_id_a":-14.5029764,"cg_id_raw_a":-12.4750986,"cg_iq_a":-195.545807,"cg_iq_raw_a":-195.520004,"cg_iu_a":-32.6894073,"cg_iv_a":183.317978,"cg_iw_a":-150.628571,"cg_sample_age_us":23.4818172,"cg_sample_seq":2868567,"cg_sample_valid":1,"cg_theta_rad":0.144546539,"cg_vd_req_v":-1.6407274,"cg_vd_v":-1.6407274,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48095322,"cg_vq_v":-8.48095322,"cg_vu_v":102.494972,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.7033615,"dclink_p_w":-2554.3252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":40.5918274,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":300.940796,"values":{"Elec_RPM":-2354.49658,"EncoderCos":39001,"EncoderSin":51882,"GapTicks":49396,"Mech_RPM":-470.899323,"cg_du":55.094265,"cg_dv":51.5496445,"cg_dw":44.905735,"cg_id_a":4.25862169,"cg_id_raw_a":-0.559385419,"cg_iq_a":-202.99295,"cg_iq_raw_a":-201.070236,"cg_iu_a":87.1689529,"cg_iv_a":113.621086,"cg_iw_a":-200.790039,"cg_sample_age_us":23.8709087,"cg_sample_seq":2870217,"cg_sample_valid":1,"cg_theta_rad":1.25437248,"cg_vd_req_v":-2.01082873,"cg_vd_v":-2.01082873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37934208,"cg_vq_v":-8.37934208,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.551239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":301.107693,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":301.107698,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":301.107703,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":301.294312,"values":{"Elec_RPM":-2358.00928,"EncoderCos":39007,"EncoderSin":51901,"GapTicks":49427,"Mech_RPM":-471.601837,"cg_du":55.0656204,"cg_dv":51.5666542,"cg_dw":44.9343796,"cg_id_a":3.13869047,"cg_id_raw_a":0.428730011,"cg_iq_a":-202.442993,"cg_iq_raw_a":-200.857697,"cg_iu_a":40.4144058,"cg_iv_a":153.199371,"cg_iw_a":-197.926788,"cg_sample_age_us":23.7981815,"cg_sample_seq":2871971,"cg_sample_valid":1,"cg_theta_rad":1.30032039,"cg_vd_req_v":-1.98241758,"cg_vd_v":-1.98241758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36760521,"cg_vq_v":-8.36760521,"cg_vu_v":105.574219,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.5884399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":301.626343,"values":{"Elec_RPM":-2352.5376,"EncoderCos":26651,"EncoderSin":52071,"GapTicks":49400,"Mech_RPM":-470.507538,"cg_du":44.9094391,"cg_dv":48.5209694,"cg_dw":55.0905609,"cg_id_a":-6.59990788,"cg_id_raw_a":-10.3235617,"cg_iq_a":-198.639709,"cg_iq_raw_a":-198.01329,"cg_iu_a":-99.1243515,"cg_iv_a":-96.4481735,"cg_iw_a":199.77681,"cg_sample_age_us":23.7618179,"cg_sample_seq":2873667,"cg_sample_valid":1,"cg_theta_rad":1.87412786,"cg_vd_req_v":-1.76372802,"cg_vd_v":-1.76372802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41685677,"cg_vq_v":-8.41685677,"cg_vu_v":139.885834,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2549.52368,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.6036682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":301.958374,"values":{"Elec_RPM":-2349.66968,"EncoderCos":17176,"EncoderSin":45711,"GapTicks":49291,"Mech_RPM":-469.933929,"cg_du":55.189415,"cg_dv":49.0140686,"cg_dw":44.810585,"cg_id_a":-8.90341377,"cg_id_raw_a":-9.61623669,"cg_iq_a":-195.986862,"cg_iq_raw_a":-194.417252,"cg_iu_a":146.391388,"cg_iv_a":39.9373627,"cg_iw_a":-183.175537,"cg_sample_age_us":23.9363632,"cg_sample_seq":2875367,"cg_sample_valid":1,"cg_theta_rad":2.44745111,"cg_vd_req_v":-1.72730446,"cg_vd_v":-1.72730446,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4974184,"cg_vq_v":-8.4974184,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2502.57788,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.6239624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":302.099227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":302.099233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":302.099238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":302.31189,"values":{"Elec_RPM":-2356.42139,"EncoderCos":12513,"EncoderSin":35000,"GapTicks":49640,"Mech_RPM":-471.284271,"cg_du":45.1278267,"cg_dv":52.9615211,"cg_dw":54.8721733,"cg_id_a":-0.463173628,"cg_id_raw_a":7.9994297,"cg_iq_a":-199.806564,"cg_iq_raw_a":-201.439453,"cg_iu_a":-172.481873,"cg_iv_a":-1.12689209,"cg_iw_a":173.608765,"cg_sample_age_us":23.9618187,"cg_sample_seq":2877066,"cg_sample_valid":1,"cg_theta_rad":3.03673697,"cg_vd_req_v":-1.82029986,"cg_vd_v":-1.82029986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4347105,"cg_vq_v":-8.4347105,"cg_vu_v":38.2706528,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.6290588,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":302.643921,"values":{"Elec_RPM":-2351.46875,"EncoderCos":14568,"EncoderSin":23556,"GapTicks":49825,"Mech_RPM":-470.293762,"cg_du":54.704113,"cg_dv":45.295887,"cg_dw":46.3027687,"cg_id_a":18.6000767,"cg_id_raw_a":21.1389313,"cg_iq_a":-202.506012,"cg_iq_raw_a":-203.820618,"cg_iu_a":190.391388,"cg_iv_a":-34.0362854,"cg_iw_a":-156.355103,"cg_sample_age_us":23.9836369,"cg_sample_seq":2878766,"cg_sample_valid":1,"cg_theta_rad":3.60770535,"cg_vd_req_v":-2.2493279,"cg_vd_v":-2.2493279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33451653,"cg_vq_v":-8.33451653,"cg_vu_v":25.953661,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2448.81274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":40.6087341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":302.975952,"values":{"Elec_RPM":-2349.802,"EncoderCos":22383,"EncoderSin":15193,"GapTicks":49393,"Mech_RPM":-469.960388,"cg_du":44.9034882,"cg_dv":55.0965118,"cg_dw":51.7406387,"cg_id_a":-1.05132723,"cg_id_raw_a":-2.59192038,"cg_iq_a":-198.107971,"cg_iq_raw_a":-199.732986,"cg_iu_a":-198.178741,"cg_iv_a":87.6704865,"cg_iw_a":110.508255,"cg_sample_age_us":23.8381824,"cg_sample_seq":2880466,"cg_sample_valid":1,"cg_theta_rad":4.19066429,"cg_vd_req_v":-1.89510226,"cg_vd_v":-1.89510226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44454193,"cg_vq_v":-8.44454193,"cg_vu_v":38.7105446,"cg_vv_v":63.3445282,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.5698547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":303.122866,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":303.122871,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":303.122877,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":303.327515,"values":{"Elec_RPM":-2350.64429,"EncoderCos":50424,"EncoderSin":23091,"GapTicks":49362,"Mech_RPM":-470.128876,"cg_du":48.9324303,"cg_dv":44.874855,"cg_dw":55.125145,"cg_id_a":-12.7380514,"cg_id_raw_a":-10.4365301,"cg_iq_a":-197.575775,"cg_iq_raw_a":-199.734695,"cg_iu_a":85.4654922,"cg_iv_a":-196.227448,"cg_iw_a":110.761955,"cg_sample_age_us":26.6672726,"cg_sample_seq":2882071,"cg_sample_valid":1,"cg_theta_rad":5.84084988,"cg_vd_req_v":-1.69263732,"cg_vd_v":-1.69263732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45884418,"cg_vq_v":-8.45884418,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2466.51538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6222839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":303.661499,"values":{"Elec_RPM":-2352.09741,"EncoderCos":44420,"EncoderSin":16239,"GapTicks":49636,"Mech_RPM":-470.419495,"cg_du":45.1236801,"cg_dv":54.8763199,"cg_dw":47.2358055,"cg_id_a":-1.52794027,"cg_id_raw_a":6.5021596,"cg_iq_a":-201.309845,"cg_iq_raw_a":-202.991577,"cg_iu_a":-175.635086,"cg_iv_a":174.401993,"cg_iw_a":0.145767212,"cg_sample_age_us":23.9618187,"cg_sample_seq":2883866,"cg_sample_valid":1,"cg_theta_rad":5.34471464,"cg_vd_req_v":-1.91336119,"cg_vd_v":-1.91336119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38483906,"cg_vq_v":-8.38483906,"cg_vu_v":0.87978512,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2449.15308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6612244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":303.99353,"values":{"Elec_RPM":-2351.98853,"EncoderCos":48154,"EncoderSin":45705,"GapTicks":50070,"Mech_RPM":-470.397705,"cg_du":45.6136055,"cg_dv":45.5190125,"cg_dw":54.4809875,"cg_id_a":12.3600025,"cg_id_raw_a":14.7517014,"cg_iq_a":-207.126831,"cg_iq_raw_a":-205.541199,"cg_iu_a":-7.71740341,"cg_iv_a":-175.423477,"cg_iw_a":183.140884,"cg_sample_age_us":23.4854546,"cg_sample_seq":2885467,"cg_sample_valid":1,"cg_theta_rad":0.713450551,"cg_vd_req_v":-2.17105031,"cg_vd_v":-2.17105031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29600048,"cg_vq_v":-8.29600048,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2421.4978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.6426086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":304.114693,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":304.114697,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":304.114701,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":304.347046,"values":{"Elec_RPM":-2347.89502,"EncoderCos":52352,"EncoderSin":36849,"GapTicks":49442,"Mech_RPM":-469.57901,"cg_du":48.1164589,"cg_dv":55.0518456,"cg_dw":44.9481544,"cg_id_a":-0.893232703,"cg_id_raw_a":-8.6347456,"cg_iq_a":-200.652893,"cg_iq_raw_a":-200.715027,"cg_iu_a":-116.086472,"cg_iv_a":200.461319,"cg_iw_a":-84.3748474,"cg_sample_age_us":23.4781818,"cg_sample_seq":2887266,"cg_sample_valid":1,"cg_theta_rad":0.215315744,"cg_vd_req_v":-1.96450925,"cg_vd_v":-1.96450925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40928745,"cg_vq_v":-8.40928745,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":22.8744144,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2411.0459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.617218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":304.679077,"values":{"Elec_RPM":-2346.07471,"EncoderCos":37692,"EncoderSin":52196,"GapTicks":49978,"Mech_RPM":-469.214935,"cg_du":54.5648117,"cg_dv":54.224308,"cg_dw":45.4351883,"cg_id_a":13.4462614,"cg_id_raw_a":16.3393345,"cg_iq_a":-202.399338,"cg_iq_raw_a":-201.399399,"cg_iu_a":18.4868889,"cg_iv_a":164.688644,"cg_iw_a":-183.175537,"cg_sample_age_us":23.8890915,"cg_sample_seq":2888917,"cg_sample_valid":1,"cg_theta_rad":1.32320166,"cg_vd_req_v":-2.1534996,"cg_vd_v":-2.1534996,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34942818,"cg_vq_v":-8.34942818,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1905098,"dclink_p_w":-2480.32861,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6273804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":305.03064,"values":{"Elec_RPM":-2352.70947,"EncoderCos":37585,"EncoderSin":52280,"GapTicks":50073,"Mech_RPM":-470.541901,"cg_du":54.4789047,"cg_dv":54.3794785,"cg_dw":45.5210953,"cg_id_a":13.7534361,"cg_id_raw_a":14.8991871,"cg_iq_a":-203.684113,"cg_iq_raw_a":-205.199051,"cg_iu_a":-10.0007648,"cg_iv_a":175.996719,"cg_iw_a":-165.995956,"cg_sample_age_us":26.7618179,"cg_sample_seq":2890670,"cg_sample_valid":1,"cg_theta_rad":1.37390864,"cg_vd_req_v":-2.15908265,"cg_vd_v":-2.15908265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31961346,"cg_vq_v":-8.31961346,"cg_vu_v":40.9100075,"cg_vv_v":66.4237747,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2409.99292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6392212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103881896,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":305.107615,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":305.107621,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":305.107625,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":305.364624,"values":{"Elec_RPM":-2354.93286,"EncoderCos":16727,"EncoderSin":45184,"GapTicks":49310,"Mech_RPM":-470.986572,"cg_du":55.1721306,"cg_dv":50.429554,"cg_dw":44.8278694,"cg_id_a":-3.55128288,"cg_id_raw_a":-6.13144398,"cg_iq_a":-199.033859,"cg_iq_raw_a":-200.911636,"cg_iu_a":118.809814,"cg_iv_a":81.1103668,"cg_iw_a":-199.920181,"cg_sample_age_us":23.863636,"cg_sample_seq":2892316,"cg_sample_valid":1,"cg_theta_rad":2.48329735,"cg_vd_req_v":-1.84079778,"cg_vd_v":-1.84079778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45520401,"cg_vq_v":-8.45520401,"cg_vu_v":44.8690414,"cg_vv_v":49.2679672,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2382.33447,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.6358337,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":305.696655,"values":{"Elec_RPM":-2354.99731,"EncoderCos":16336,"EncoderSin":44674,"GapTicks":49407,"Mech_RPM":-470.999451,"cg_du":55.084095,"cg_dv":51.5971794,"cg_dw":44.915905,"cg_id_a":8.41959572,"cg_id_raw_a":4.91066313,"cg_iq_a":-201.64743,"cg_iq_raw_a":-199.123123,"cg_iu_a":80.1014099,"cg_iv_a":119.238876,"cg_iw_a":-203.544571,"cg_sample_age_us":23.8854542,"cg_sample_seq":2894067,"cg_sample_valid":1,"cg_theta_rad":2.51480222,"cg_vd_req_v":-2.06678557,"cg_vd_v":-2.06678557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38384247,"cg_vq_v":-8.38384247,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2503.88916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6459961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":306.048218,"values":{"Elec_RPM":-2355.45654,"EncoderCos":14291,"EncoderSin":24175,"GapTicks":49515,"Mech_RPM":-471.091309,"cg_du":54.9863319,"cg_dv":45.0136681,"cg_dw":47.5711899,"cg_id_a":10.4772148,"cg_id_raw_a":5.95166159,"cg_iq_a":-200.598114,"cg_iq_raw_a":-198.144379,"cg_iu_a":184.266174,"cg_iv_a":-21.6408997,"cg_iw_a":-162.516541,"cg_sample_age_us":23.9872723,"cg_sample_seq":2895721,"cg_sample_valid":1,"cg_theta_rad":3.62397718,"cg_vd_req_v":-2.1169107,"cg_vd_v":-2.1169107,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3660984,"cg_vq_v":-8.3660984,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2450.521,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6341248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":306.131025,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":306.13103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":306.131035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":306.382202,"values":{"Elec_RPM":-2351.80884,"EncoderCos":15090,"EncoderSin":22539,"GapTicks":49523,"Mech_RPM":-470.361786,"cg_du":54.9788742,"cg_dv":47.5164871,"cg_dw":45.0211258,"cg_id_a":-5.21065807,"cg_id_raw_a":1.29357708,"cg_iq_a":-197.763596,"cg_iq_raw_a":-200.952606,"cg_iu_a":171.073425,"cg_iv_a":-1.4168396,"cg_iw_a":-169.656586,"cg_sample_age_us":23.9218178,"cg_sample_seq":2897466,"cg_sample_valid":1,"cg_theta_rad":3.66410971,"cg_vd_req_v":-1.75612783,"cg_vd_v":-1.75612783,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45170498,"cg_vq_v":-8.45170498,"cg_vu_v":29.912693,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2476.92944,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6290588,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":306.71228,"values":{"Elec_RPM":-2350.61646,"EncoderCos":23050,"EncoderSin":14835,"GapTicks":49606,"Mech_RPM":-470.123291,"cg_du":45.0970154,"cg_dv":54.9029846,"cg_dw":53.233181,"cg_id_a":7.85874605,"cg_id_raw_a":8.46517754,"cg_iq_a":-197.004471,"cg_iq_raw_a":-197.787903,"cg_iu_a":-187.523071,"cg_iv_a":34.7182617,"cg_iw_a":152.80481,"cg_sample_age_us":23.9654541,"cg_sample_seq":2899168,"cg_sample_valid":1,"cg_theta_rad":4.2374382,"cg_vd_req_v":-2.06825757,"cg_vd_v":-2.06825757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49242115,"cg_vq_v":-8.49242115,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2420.71313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6222839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":307.065796,"values":{"Elec_RPM":-2344.68628,"EncoderCos":51030,"EncoderSin":24354,"GapTicks":49402,"Mech_RPM":-468.937256,"cg_du":51.6930428,"cg_dv":44.9115143,"cg_dw":55.0884857,"cg_id_a":3.59632587,"cg_id_raw_a":0.681570351,"cg_iq_a":-200.739716,"cg_iq_raw_a":-200.194153,"cg_iu_a":157.37326,"cg_iv_a":-195.502563,"cg_iw_a":46.3566589,"cg_sample_age_us":23.7436371,"cg_sample_seq":2900770,"cg_sample_valid":1,"cg_theta_rad":5.90445709,"cg_vd_req_v":-2.04770803,"cg_vd_v":-2.04770803,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38632965,"cg_vq_v":-8.38632965,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2417.57544,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.6900635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":307.122891,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":307.122896,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":307.122901,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":307.397827,"values":{"Elec_RPM":-2353.29932,"EncoderCos":45367,"EncoderSin":16984,"GapTicks":49315,"Mech_RPM":-470.659882,"cg_du":44.8318329,"cg_dv":55.1681671,"cg_dw":50.0679207,"cg_id_a":-14.0266008,"cg_id_raw_a":-13.713026,"cg_iq_a":-197.964661,"cg_iq_raw_a":-197.419861,"cg_iu_a":-193.575775,"cg_iv_a":132.685333,"cg_iw_a":60.8904343,"cg_sample_age_us":23.9509087,"cg_sample_seq":2902566,"cg_sample_valid":1,"cg_theta_rad":5.40594435,"cg_vd_req_v":-1.69767368,"cg_vd_v":-1.69767368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44169331,"cg_vq_v":-8.44169331,"cg_vu_v":39.1504402,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2463.07153,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6680298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":307.729858,"values":{"Elec_RPM":-2357.86694,"EncoderCos":47306,"EncoderSin":46720,"GapTicks":49365,"Mech_RPM":-471.573395,"cg_du":48.9388847,"cg_dv":44.8780479,"cg_dw":55.1219521,"cg_id_a":-15.7909184,"cg_id_raw_a":-15.4711504,"cg_iq_a":-197.409882,"cg_iq_raw_a":-198.88562,"cg_iu_a":26.6055069,"cg_iv_a":-181.548676,"cg_iw_a":154.943176,"cg_sample_age_us":23.7109089,"cg_sample_seq":2904167,"cg_sample_valid":1,"cg_theta_rad":0.767488837,"cg_vd_req_v":-1.59282231,"cg_vd_v":-1.59282231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4720583,"cg_vq_v":-8.4720583,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6678467,"temp_inv2_c":40.6781616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":308.081421,"values":{"Elec_RPM":-2349.77856,"EncoderCos":52084,"EncoderSin":37886,"GapTicks":49925,"Mech_RPM":-469.955719,"cg_du":46.1069679,"cg_dv":54.6130371,"cg_dw":45.3869629,"cg_id_a":9.59279156,"cg_id_raw_a":10.0956059,"cg_iq_a":-205.079895,"cg_iq_raw_a":-204.361755,"cg_iu_a":-160.702621,"cg_iv_a":191.835297,"cg_iw_a":-31.1326675,"cg_sample_age_us":23.4599991,"cg_sample_seq":2905967,"cg_sample_valid":1,"cg_theta_rad":0.270132363,"cg_vd_req_v":-2.14520788,"cg_vd_v":-2.14520788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30273533,"cg_vq_v":-8.30273533,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.6949768,"temp_inv2_c":40.7188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":308.115735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":308.115741,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":308.115746,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":308.546265,"values":{"Elec_RPM":-2341.04077,"EncoderCos":48326,"EncoderSin":45510,"GapTicks":49984,"Mech_RPM":-468.20816,"cg_du":45.4406624,"cg_dv":46.0653191,"cg_dw":54.5593376,"cg_id_a":14.3946972,"cg_id_raw_a":16.2806625,"cg_iq_a":-208.220734,"cg_iq_raw_a":-206.823212,"cg_iu_a":-22.2874241,"cg_iv_a":-170.856766,"cg_iw_a":193.144196,"cg_sample_age_us":23.5363636,"cg_sample_seq":2908266,"cg_sample_valid":1,"cg_theta_rad":0.691514671,"cg_vd_req_v":-2.21146679,"cg_vd_v":-2.21146679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22038269,"cg_vq_v":-8.22038269,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2499.93921,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6934204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":308.979343,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":308.979353,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":308.979356,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":309.075562,"values":{"Elec_RPM":-2339.41406,"EncoderCos":21010,"EncoderSin":16079,"GapTicks":49406,"Mech_RPM":-467.882813,"cg_du":44.9152222,"cg_dv":55.0847778,"cg_dw":48.4241524,"cg_id_a":-13.194293,"cg_id_raw_a":-9.16638184,"cg_iq_a":-198.77356,"cg_iq_raw_a":-199.428604,"cg_iu_a":-195.025543,"cg_iv_a":128.662292,"cg_iw_a":66.3632584,"cg_sample_age_us":23.8272724,"cg_sample_seq":2910870,"cg_sample_valid":1,"cg_theta_rad":4.149755,"cg_vd_req_v":-1.6142379,"cg_vd_v":-1.6142379,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45332623,"cg_vq_v":-8.45332623,"cg_vu_v":18.4754887,"cg_vv_v":28.1531239,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2521.11841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6917419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":309.139091,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":309.139096,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":309.139102,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":309.409546,"values":{"Elec_RPM":-2348.7749,"EncoderCos":32635,"EncoderSin":12480,"GapTicks":49534,"Mech_RPM":-469.755005,"cg_du":54.9687653,"cg_dv":45.0312347,"cg_dw":52.4061089,"cg_id_a":-5.15358925,"cg_id_raw_a":0.936654985,"cg_iq_a":-197.759247,"cg_iq_raw_a":-199.568909,"cg_iu_a":172.414459,"cg_iv_a":-167.703552,"cg_iw_a":-4.71090698,"cg_sample_age_us":24.0890903,"cg_sample_seq":2912567,"cg_sample_valid":1,"cg_theta_rad":4.72127295,"cg_vd_req_v":-1.77059436,"cg_vd_v":-1.77059436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46491718,"cg_vq_v":-8.46491718,"cg_vu_v":106.893898,"cg_vv_v":90.1779785,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.485899,"dclink_p_w":-2530.64063,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6917419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":309.74353,"values":{"Elec_RPM":-2351.75049,"EncoderCos":43812,"EncoderSin":15816,"GapTicks":50077,"Mech_RPM":-470.350098,"cg_du":45.6170158,"cg_dv":54.4748383,"cg_dw":45.5251617,"cg_id_a":11.4853544,"cg_id_raw_a":13.4635496,"cg_iq_a":-203.751816,"cg_iq_raw_a":-205.196106,"cg_iu_a":-168.495056,"cg_iv_a":183.426727,"cg_iw_a":-14.9316635,"cg_sample_age_us":23.9727268,"cg_sample_seq":2914266,"cg_sample_valid":1,"cg_theta_rad":5.30846119,"cg_vd_req_v":-2.18729591,"cg_vd_v":-2.18729591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30784035,"cg_vq_v":-8.30784035,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.5330143,"dclink_p_w":-2529.74683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.7138062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":310.095093,"values":{"Elec_RPM":-2354.88257,"EncoderCos":51182,"EncoderSin":24763,"GapTicks":49477,"Mech_RPM":-470.976532,"cg_du":52.4696922,"cg_dv":44.9794846,"cg_dw":55.0205154,"cg_id_a":12.5910511,"cg_id_raw_a":9.90888691,"cg_iq_a":-200.486176,"cg_iq_raw_a":-199.451965,"cg_iu_a":141.679688,"cg_iv_a":-195.647552,"cg_iw_a":53.967865,"cg_sample_age_us":23.6636372,"cg_sample_seq":2915966,"cg_sample_valid":1,"cg_theta_rad":5.89208317,"cg_vd_req_v":-2.23318481,"cg_vd_v":-2.23318481,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40360832,"cg_vq_v":-8.40360832,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-15.8911686,"dclink_p_w":-2299.84399,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":310.130955,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":310.13096,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":310.130965,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":310.427124,"values":{"Elec_RPM":-2350.43848,"EncoderCos":52485,"EncoderSin":35830,"GapTicks":49298,"Mech_RPM":-470.087708,"cg_du":50.0781784,"cg_dv":55.1828613,"cg_dw":44.8171387,"cg_id_a":-13.4040375,"cg_id_raw_a":-11.3435078,"cg_iq_a":-196.944733,"cg_iq_raw_a":-194.772675,"cg_iu_a":-55.3055573,"cg_iv_a":193.031326,"cg_iw_a":-137.725769,"cg_sample_age_us":23.5145454,"cg_sample_seq":2917667,"cg_sample_valid":1,"cg_theta_rad":0.164382175,"cg_vd_req_v":-1.68907356,"cg_vd_v":-1.68907356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49531174,"cg_vq_v":-8.49531174,"cg_vu_v":100.735397,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2477.71973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.7070007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":310.761108,"values":{"Elec_RPM":-2349.46094,"EncoderCos":47438,"EncoderSin":46588,"GapTicks":49456,"Mech_RPM":-469.892212,"cg_du":48.5371094,"cg_dv":44.9603043,"cg_dw":55.0396957,"cg_id_a":-15.6371012,"cg_id_raw_a":-12.4960022,"cg_iq_a":-199.7444,"cg_iq_raw_a":-202.11496,"cg_iu_a":16.7109413,"cg_iv_a":-180.42514,"cg_iw_a":163.714203,"cg_sample_age_us":23.7436371,"cg_sample_seq":2919366,"cg_sample_valid":1,"cg_theta_rad":0.760879576,"cg_vd_req_v":-1.59440088,"cg_vd_v":-1.59440088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41572571,"cg_vq_v":-8.41572571,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":13.6366701,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2403.45605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6426086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104083307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":311.112671,"values":{"Elec_RPM":-2347.28589,"EncoderCos":37928,"EncoderSin":52124,"GapTicks":49857,"Mech_RPM":-469.457184,"cg_du":54.6749306,"cg_dv":53.6913452,"cg_dw":45.3250694,"cg_id_a":12.1590548,"cg_id_raw_a":11.2915907,"cg_iq_a":-206.281647,"cg_iq_raw_a":-208.042358,"cg_iu_a":20.226593,"cg_iv_a":165.051086,"cg_iw_a":-185.277679,"cg_sample_age_us":23.8672733,"cg_sample_seq":2921068,"cg_sample_valid":1,"cg_theta_rad":1.32026005,"cg_vd_req_v":-2.15156555,"cg_vd_v":-2.15156555,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28505135,"cg_vq_v":-8.28505135,"cg_vu_v":140.765625,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2437.44727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":40.6798706,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":311.122794,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":311.1228,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":311.122805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":311.446655,"values":{"Elec_RPM":-2347.63599,"EncoderCos":26355,"EncoderSin":52000,"GapTicks":49427,"Mech_RPM":-469.527191,"cg_du":44.9336815,"cg_dv":48.0646019,"cg_dw":55.0663185,"cg_id_a":3.31192422,"cg_id_raw_a":2.76573205,"cg_iq_a":-199.739166,"cg_iq_raw_a":-201.040848,"cg_iu_a":-76.9793701,"cg_iv_a":-122.10881,"cg_iw_a":199.088181,"cg_sample_age_us":23.863636,"cg_sample_seq":2922767,"cg_sample_valid":1,"cg_theta_rad":1.89673185,"cg_vd_req_v":-1.98332703,"cg_vd_v":-1.98332703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44008827,"cg_vq_v":-8.44008827,"cg_vu_v":104.254532,"cg_vv_v":98.5359344,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.6730957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":311.776733,"values":{"Elec_RPM":-2347.62183,"EncoderCos":16789,"EncoderSin":45246,"GapTicks":49331,"Mech_RPM":-469.524353,"cg_du":55.1532898,"cg_dv":50.2536163,"cg_dw":44.8467102,"cg_id_a":-4.06110287,"cg_id_raw_a":-7.38099289,"cg_iq_a":-197.757751,"cg_iq_raw_a":-195.774384,"cg_iu_a":121.129425,"cg_iv_a":73.7166138,"cg_iw_a":-194.846039,"cg_sample_age_us":23.9181824,"cg_sample_seq":2924467,"cg_sample_valid":1,"cg_theta_rad":2.47825861,"cg_vd_req_v":-1.82310247,"cg_vd_v":-1.82310247,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44701004,"cg_vq_v":-8.44701004,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2490.45435,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.7103882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":312.115393,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":312.115398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":312.115403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":312.130249,"values":{"Elec_RPM":-2347.77881,"EncoderCos":12511,"EncoderSin":34530,"GapTicks":49487,"Mech_RPM":-469.555786,"cg_du":44.9886627,"cg_dv":51.7220993,"cg_dw":55.0113373,"cg_id_a":-12.4797382,"cg_id_raw_a":-4.93691826,"cg_iq_a":-200.219849,"cg_iq_raw_a":-202.073441,"cg_iu_a":-165.921738,"cg_iv_a":-17.5091095,"cg_iw_a":183.430847,"cg_sample_age_us":23.8418179,"cg_sample_seq":2926166,"cg_sample_valid":1,"cg_theta_rad":3.06195974,"cg_vd_req_v":-1.58378661,"cg_vd_v":-1.58378661,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38968277,"cg_vq_v":-8.38968277,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.7477112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":312.464233,"values":{"Elec_RPM":-2352.50732,"EncoderCos":14649,"EncoderSin":23385,"GapTicks":49959,"Mech_RPM":-470.501465,"cg_du":54.5827065,"cg_dv":45.4172935,"cg_dw":45.8845062,"cg_id_a":15.2938318,"cg_id_raw_a":16.3460579,"cg_iq_a":-205.012848,"cg_iq_raw_a":-203.627747,"cg_iu_a":184.483643,"cg_iv_a":-21.2059784,"cg_iw_a":-163.277664,"cg_sample_age_us":24.1109085,"cg_sample_seq":2927867,"cg_sample_valid":1,"cg_theta_rad":3.62511992,"cg_vd_req_v":-2.19344091,"cg_vd_v":-2.19344091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3158865,"cg_vq_v":-8.3158865,"cg_vu_v":106.014107,"cg_vv_v":93.2572174,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.6646118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":312.794312,"values":{"Elec_RPM":-2357.51758,"EncoderCos":33097,"EncoderSin":12469,"GapTicks":49354,"Mech_RPM":-471.50354,"cg_du":55.1322098,"cg_dv":44.8677902,"cg_dw":51.1911583,"cg_id_a":-15.680109,"cg_id_raw_a":-11.9318829,"cg_iq_a":-194.283569,"cg_iq_raw_a":-195.213135,"cg_iu_a":176.691223,"cg_iv_a":-156.64917,"cg_iw_a":-20.0420456,"cg_sample_age_us":24.0672722,"cg_sample_seq":2929517,"cg_sample_valid":1,"cg_theta_rad":4.74570131,"cg_vd_req_v":-1.55905855,"cg_vd_v":-1.55905855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51167297,"cg_vq_v":-8.51167297,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.684967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":313.107514,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":313.107521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":313.107527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":313.147827,"values":{"Elec_RPM":-2349.85596,"EncoderCos":23561,"EncoderSin":14585,"GapTicks":49823,"Mech_RPM":-469.971191,"cg_du":45.2945251,"cg_dv":54.7054749,"cg_dw":53.8420067,"cg_id_a":10.6669722,"cg_id_raw_a":12.679225,"cg_iq_a":-199.329529,"cg_iq_raw_a":-199.491257,"cg_iu_a":-184.188629,"cg_iv_a":20.401947,"cg_iw_a":163.786682,"cg_sample_age_us":23.9036369,"cg_sample_seq":2931316,"cg_sample_valid":1,"cg_theta_rad":4.25653219,"cg_vd_req_v":-2.10857248,"cg_vd_v":-2.10857248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43081665,"cg_vq_v":-8.41554642,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.7222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":313.479858,"values":{"Elec_RPM":-2353.18408,"EncoderCos":51340,"EncoderSin":25107,"GapTicks":49625,"Mech_RPM":-470.63681,"cg_du":53.1680527,"cg_dv":45.1143723,"cg_dw":54.8856277,"cg_id_a":18.8191109,"cg_id_raw_a":18.4573345,"cg_iq_a":-201.92244,"cg_iq_raw_a":-200.694153,"cg_iu_a":163.172272,"cg_iv_a":-187.238968,"cg_iw_a":24.0666962,"cg_sample_age_us":23.7363644,"cg_sample_seq":2932916,"cg_sample_valid":1,"cg_theta_rad":5.91797352,"cg_vd_req_v":-2.34030247,"cg_vd_v":-2.34030247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3979702,"cg_vq_v":-8.3979702,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.4043503,"dclink_p_w":-2518.83862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7492676,"temp_inv2_c":40.6985168,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":313.833374,"values":{"Elec_RPM":-2350.28101,"EncoderCos":45525,"EncoderSin":17131,"GapTicks":49303,"Mech_RPM":-470.056213,"cg_du":44.8217201,"cg_dv":55.1782799,"cg_dw":50.0472031,"cg_id_a":-12.8978558,"cg_id_raw_a":-17.4923325,"cg_iq_a":-197.180328,"cg_iq_raw_a":-196.40451,"cg_iu_a":-193.322083,"cg_iv_a":134.570038,"cg_iw_a":58.7520523,"cg_sample_age_us":23.8272724,"cg_sample_seq":2934716,"cg_sample_valid":1,"cg_theta_rad":5.40616417,"cg_vd_req_v":-1.67719519,"cg_vd_v":-1.67719519,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.489645,"cg_vq_v":-8.489645,"cg_vu_v":38.2706528,"cg_vv_v":57.6259232,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2404.48926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7545166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":314.131428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":314.131433,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":314.131438,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":314.163452,"values":{"Elec_RPM":-2353.16113,"EncoderCos":47141,"EncoderSin":46895,"GapTicks":49344,"Mech_RPM":-470.632233,"cg_du":49.4322128,"cg_dv":44.8587494,"cg_dw":55.1412506,"cg_id_a":-15.0498514,"cg_id_raw_a":-18.0755138,"cg_iq_a":-197.508347,"cg_iq_raw_a":-199.915344,"cg_iu_a":42.8065033,"cg_iv_a":-188.253799,"cg_iw_a":145.447296,"cg_sample_age_us":23.6890907,"cg_sample_seq":2936316,"cg_sample_valid":1,"cg_theta_rad":0.779140472,"cg_vd_req_v":-1.62369716,"cg_vd_v":-1.62369716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45467949,"cg_vq_v":-8.45467949,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":314.497437,"values":{"Elec_RPM":-2357.95166,"EncoderCos":37143,"EncoderSin":52340,"GapTicks":49735,"Mech_RPM":-471.590332,"cg_du":53.4497108,"cg_dv":54.7856522,"cg_dw":45.2143478,"cg_id_a":4.73221827,"cg_id_raw_a":11.5658369,"cg_iq_a":-201.41217,"cg_iq_raw_a":-203.999664,"cg_iu_a":1.77848125,"cg_iv_a":173.060959,"cg_iw_a":-174.839447,"cg_sample_age_us":23.8854542,"cg_sample_seq":2938016,"cg_sample_valid":1,"cg_theta_rad":1.3543998,"cg_vd_req_v":-1.97644532,"cg_vd_v":-1.97644532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40690517,"cg_vq_v":-8.40690517,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7375183,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":314.848999,"values":{"Elec_RPM":-2362.5127,"EncoderCos":25635,"EncoderSin":51773,"GapTicks":49709,"Mech_RPM":-472.502563,"cg_du":45.1905785,"cg_dv":46.6363144,"cg_dw":54.8094215,"cg_id_a":13.0150738,"cg_id_raw_a":9.40027237,"cg_iq_a":-200.648514,"cg_iq_raw_a":-199.739609,"cg_iu_a":-39.1408081,"cg_iv_a":-153.495956,"cg_iw_a":192.636765,"cg_sample_age_us":23.8927269,"cg_sample_seq":2939716,"cg_sample_valid":1,"cg_theta_rad":1.92858338,"cg_vd_req_v":-2.14248276,"cg_vd_v":-2.14248276,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39874268,"cg_vq_v":-8.39874268,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-18.0784855,"dclink_p_w":-2616.40259,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":315.12361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":315.123616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":315.123621,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":315.182983,"values":{"Elec_RPM":-2362.26904,"EncoderCos":16378,"EncoderSin":44730,"GapTicks":49434,"Mech_RPM":-472.453796,"cg_du":55.0594063,"cg_dv":51.488327,"cg_dw":44.9405937,"cg_id_a":5.26159382,"cg_id_raw_a":-0.49115026,"cg_iq_a":-201.927795,"cg_iq_raw_a":-202.275009,"cg_iu_a":88.654953,"cg_iv_a":115.397018,"cg_iw_a":-204.051971,"cg_sample_age_us":23.8490906,"cg_sample_seq":2941416,"cg_sample_valid":1,"cg_theta_rad":2.51028824,"cg_vd_req_v":-1.9997586,"cg_vd_v":-1.9997586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33962536,"cg_vq_v":-8.33962536,"cg_vu_v":42.2296829,"cg_vv_v":34.7515144,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2462.18848,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7392273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":315.536499,"values":{"Elec_RPM":-2356.73413,"EncoderCos":16441,"EncoderSin":44838,"GapTicks":49411,"Mech_RPM":-471.346832,"cg_du":55.0801773,"cg_dv":51.2043533,"cg_dw":44.9198227,"cg_id_a":3.4513588,"cg_id_raw_a":0.50249511,"cg_iq_a":-202.557434,"cg_iq_raw_a":-201.507599,"cg_iu_a":46.4671288,"cg_iv_a":152.039551,"cg_iw_a":-198.506683,"cg_sample_age_us":26.7399998,"cg_sample_seq":2943170,"cg_sample_valid":1,"cg_theta_rad":2.54998398,"cg_vd_req_v":-1.97113454,"cg_vd_v":-1.97113454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33902931,"cg_vq_v":-8.33902931,"cg_vu_v":10.5574207,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2375.21704,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7731628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":315.866577,"values":{"Elec_RPM":-2360.64038,"EncoderCos":12410,"EncoderSin":33537,"GapTicks":49327,"Mech_RPM":-472.128082,"cg_du":44.8434105,"cg_dv":49.5368118,"cg_dw":55.1565895,"cg_id_a":-14.6485863,"cg_id_raw_a":-16.7528839,"cg_iq_a":-198.841232,"cg_iq_raw_a":-198.112152,"cg_iu_a":-130.54776,"cg_iv_a":-63.1400757,"cg_iw_a":193.724091,"cg_sample_age_us":23.9290905,"cg_sample_seq":2944867,"cg_sample_valid":1,"cg_theta_rad":3.10463667,"cg_vd_req_v":-1.58057475,"cg_vd_v":-1.58057475,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45627022,"cg_vq_v":-8.45627022,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.6181889,"dclink_p_w":-2542.03613,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":40.8035889,"temp_inv2_c":40.7612915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":316.115202,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":316.115206,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":316.11521,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":316.200562,"values":{"Elec_RPM":-2361.8479,"EncoderCos":15274,"EncoderSin":22240,"GapTicks":49390,"Mech_RPM":-472.369568,"cg_du":55.0998459,"cg_dv":48.4264565,"cg_dw":44.9001541,"cg_id_a":-12.1449699,"cg_id_raw_a":-10.8915749,"cg_iq_a":-194.812149,"cg_iq_raw_a":-192.394943,"cg_iu_a":158.351837,"cg_iv_a":16.958786,"cg_iw_a":-175.310623,"cg_sample_age_us":23.9400005,"cg_sample_seq":2946567,"cg_sample_valid":1,"cg_theta_rad":3.69121003,"cg_vd_req_v":-1.60977137,"cg_vd_v":-1.60977137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50571823,"cg_vq_v":-8.50571823,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2540.43701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.8035889,"temp_inv2_c":40.7375183,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":316.552124,"values":{"Elec_RPM":-2359.15063,"EncoderCos":23527,"EncoderSin":14607,"GapTicks":49962,"Mech_RPM":-471.830139,"cg_du":45.4207497,"cg_dv":54.5792503,"cg_dw":54.1941223,"cg_id_a":10.9157124,"cg_id_raw_a":10.4599104,"cg_iq_a":-200.456558,"cg_iq_raw_a":-200.532135,"cg_iu_a":-182.195221,"cg_iv_a":14.5304413,"cg_iw_a":167.66478,"cg_sample_age_us":23.9327278,"cg_sample_seq":2948268,"cg_sample_valid":1,"cg_theta_rad":4.26514149,"cg_vd_req_v":-2.10866928,"cg_vd_v":-2.10866928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36871338,"cg_vq_v":-8.36871338,"cg_vu_v":121.410347,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-18.1527843,"dclink_p_w":-2619.17017,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.759613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00407873653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":316.884155,"values":{"Elec_RPM":-2354.91089,"EncoderCos":35018,"EncoderSin":12617,"GapTicks":49519,"Mech_RPM":-470.982178,"cg_du":54.9819565,"cg_dv":45.0180435,"cg_dw":47.5691299,"cg_id_a":10.8522816,"cg_id_raw_a":7.11980867,"cg_iq_a":-202.412689,"cg_iq_raw_a":-200.882599,"cg_iu_a":198.908691,"cg_iv_a":-61.5453491,"cg_iw_a":-137.363342,"cg_sample_age_us":24.045454,"cg_sample_seq":2949967,"cg_sample_valid":1,"cg_theta_rad":4.83940268,"cg_vd_req_v":-2.14860535,"cg_vd_v":-2.14860535,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35132599,"cg_vq_v":-8.35132599,"cg_vu_v":121.410347,"cg_vv_v":115.69175,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2491.57202,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.7443237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":317.138574,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":317.13858,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":317.138585,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":317.21814,"values":{"Elec_RPM":-2353.57129,"EncoderCos":45746,"EncoderSin":17333,"GapTicks":49297,"Mech_RPM":-470.714233,"cg_du":44.8154831,"cg_dv":55.1845169,"cg_dw":51.0413589,"cg_id_a":-5.40646744,"cg_id_raw_a":-8.12780285,"cg_iq_a":-195.411545,"cg_iq_raw_a":-195.555969,"cg_iu_a":-196.837738,"cg_iv_a":105.538712,"cg_iw_a":91.2990265,"cg_sample_age_us":23.9072723,"cg_sample_seq":2951666,"cg_sample_valid":1,"cg_theta_rad":5.42926598,"cg_vd_req_v":-1.88615513,"cg_vd_v":-1.88615513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51571655,"cg_vq_v":-8.51571655,"cg_vu_v":38.2706528,"cg_vv_v":49.2679672,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2459.93896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.8071594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":317.569702,"values":{"Elec_RPM":-2356.6499,"EncoderCos":46024,"EncoderSin":17768,"GapTicks":49378,"Mech_RPM":-471.329956,"cg_du":44.889782,"cg_dv":55.110218,"cg_dw":51.7447243,"cg_id_a":0.383501291,"cg_id_raw_a":-1.82818317,"cg_iq_a":-195.461914,"cg_iq_raw_a":-194.509781,"cg_iu_a":-193.322083,"cg_iv_a":71.2882996,"cg_iw_a":122.033783,"cg_sample_age_us":23.8854542,"cg_sample_seq":2953418,"cg_sample_valid":1,"cg_theta_rad":5.45929718,"cg_vd_req_v":-2.00143099,"cg_vd_v":-2.00143099,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4981575,"cg_vq_v":-8.4981575,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2525.1792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.759613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":317.901733,"values":{"Elec_RPM":-2351.47095,"EncoderCos":46328,"EncoderSin":47651,"GapTicks":49346,"Mech_RPM":-470.294189,"cg_du":51.4702034,"cg_dv":44.8604126,"cg_dw":55.1395874,"cg_id_a":3.52568579,"cg_id_raw_a":-0.397786081,"cg_iq_a":-198.488144,"cg_iq_raw_a":-197.72731,"cg_iu_a":112.467148,"cg_iv_a":-198.474564,"cg_iw_a":86.0074158,"cg_sample_age_us":23.5727272,"cg_sample_seq":2955016,"cg_sample_valid":1,"cg_theta_rad":0.837486088,"cg_vd_req_v":-2.03151631,"cg_vd_v":-2.03151631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46494007,"cg_vq_v":-8.46494007,"cg_vu_v":38.2706528,"cg_vv_v":38.7105446,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":40.76297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":318.131043,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":318.131049,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":318.131054,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":318.261108,"values":{"Elec_RPM":-2348.31567,"EncoderCos":45848,"EncoderSin":48076,"GapTicks":49531,"Mech_RPM":-469.663116,"cg_du":52.7080269,"cg_dv":45.0285072,"cg_dw":54.9714928,"cg_id_a":11.646162,"cg_id_raw_a":9.04755116,"cg_iq_a":-200.538895,"cg_iq_raw_a":-199.43782,"cg_iu_a":142.078369,"cg_iv_a":-194.958923,"cg_iw_a":52.8805542,"cg_sample_age_us":23.5400009,"cg_sample_seq":2956767,"cg_sample_valid":1,"cg_theta_rad":0.868030012,"cg_vd_req_v":-2.17564821,"cg_vd_v":-2.17564821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4330759,"cg_vq_v":-8.4330759,"cg_vu_v":106.453995,"cg_vv_v":93.2572174,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.8284016,"dclink_p_w":-2580.20923,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.8035889,"temp_inv2_c":40.7782593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":318.800171,"values":{"Elec_RPM":-2345.15186,"EncoderCos":24647,"EncoderSin":14105,"GapTicks":49488,"Mech_RPM":-469.030396,"cg_du":44.9898071,"cg_dv":51.8380318,"cg_dw":55.0101929,"cg_id_a":-10.8035374,"cg_id_raw_a":-8.21292877,"cg_iq_a":-199.948807,"cg_iq_raw_a":-199.124664,"cg_iu_a":-144.936554,"cg_iv_a":-46.4317017,"cg_iw_a":191.368256,"cg_sample_age_us":26.8018188,"cg_sample_seq":2959369,"cg_sample_valid":1,"cg_theta_rad":4.34992075,"cg_vd_req_v":-1.6591295,"cg_vd_v":-1.6591295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39610481,"cg_vq_v":-8.39610481,"cg_vu_v":38.7105446,"cg_vv_v":45.7488289,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.8292236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":318.995571,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":318.995584,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":318.995587,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":319.1232,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":319.123208,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":319.123214,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":319.227905,"values":{"Elec_RPM":-2346.37183,"EncoderCos":43311,"EncoderSin":15479,"GapTicks":49711,"Mech_RPM":-469.274384,"cg_du":46.7459297,"cg_dv":54.807766,"cg_dw":45.192234,"cg_id_a":7.35085678,"cg_id_raw_a":4.78423452,"cg_iq_a":-205.204071,"cg_iq_raw_a":-204.085663,"cg_iu_a":-150.083191,"cg_iv_a":199.736435,"cg_iw_a":-58.3880157,"cg_sample_age_us":23.9581814,"cg_sample_seq":2961617,"cg_sample_valid":1,"cg_theta_rad":5.27610016,"cg_vd_req_v":-2.12559128,"cg_vd_v":-2.12559128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30598068,"cg_vq_v":-8.30598068,"cg_vu_v":104.694435,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2424.15942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.7867432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":319.581421,"values":{"Elec_RPM":-2346.46118,"EncoderCos":34053,"EncoderSin":12507,"GapTicks":49353,"Mech_RPM":-469.292236,"cg_du":55.1333122,"cg_dv":44.8666878,"cg_dw":49.2255135,"cg_id_a":-11.2730637,"cg_id_raw_a":-12.716218,"cg_iq_a":-198.070618,"cg_iq_raw_a":-198.174011,"cg_iu_a":197.096497,"cg_iv_a":-118.484421,"cg_iw_a":-78.6120758,"cg_sample_age_us":23.9872723,"cg_sample_seq":2963416,"cg_sample_valid":1,"cg_theta_rad":4.79428911,"cg_vd_req_v":-1.70050728,"cg_vd_v":-1.70050728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44136715,"cg_vq_v":-8.44136715,"cg_vu_v":42.6695786,"cg_vv_v":39.590332,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2360.16577,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.7884521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":319.911499,"values":{"Elec_RPM":-2346.62427,"EncoderCos":51372,"EncoderSin":25240,"GapTicks":49725,"Mech_RPM":-469.32486,"cg_du":53.4401093,"cg_dv":45.2051239,"cg_dw":54.7948761,"cg_id_a":19.1303749,"cg_id_raw_a":20.0440865,"cg_iq_a":-201.185699,"cg_iq_raw_a":-200.008453,"cg_iu_a":162.193695,"cg_iv_a":-185.789215,"cg_iw_a":23.5955276,"cg_sample_age_us":23.6745453,"cg_sample_seq":2965066,"cg_sample_valid":1,"cg_theta_rad":5.91919041,"cg_vd_req_v":-2.32897806,"cg_vd_v":-2.32897806,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38193893,"cg_vq_v":-8.38193893,"cg_vu_v":44.4291458,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.7884521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":320.115176,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":320.115181,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":320.115186,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":320.245483,"values":{"Elec_RPM":-2345.0686,"EncoderCos":52356,"EncoderSin":36580,"GapTicks":49437,"Mech_RPM":-469.013733,"cg_du":48.592411,"cg_dv":55.0571404,"cg_dw":44.9428596,"cg_id_a":-6.60500622,"cg_id_raw_a":-9.62286568,"cg_iq_a":-201.020386,"cg_iq_raw_a":-200.422684,"cg_iu_a":-101.045273,"cg_iv_a":200.787506,"cg_iw_a":-112.862503,"cg_sample_age_us":23.48909,"cg_sample_seq":2966766,"cg_sample_valid":1,"cg_theta_rad":0.203806788,"cg_vd_req_v":-1.84196222,"cg_vd_v":-1.84196222,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35906124,"cg_vq_v":-8.35906124,"cg_vu_v":25.5137672,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2488.6958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.7918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":320.598999,"values":{"Elec_RPM":-2348.24219,"EncoderCos":52224,"EncoderSin":37336,"GapTicks":49602,"Mech_RPM":-469.648438,"cg_du":47.2859573,"cg_dv":54.9070168,"cg_dw":45.0929832,"cg_id_a":10.7392082,"cg_id_raw_a":7.15078402,"cg_iq_a":-203.767105,"cg_iq_raw_a":-202.435791,"cg_iu_a":-144.21167,"cg_iv_a":199.120285,"cg_iw_a":-54.9086151,"cg_sample_age_us":23.48909,"cg_sample_seq":2968516,"cg_sample_valid":1,"cg_theta_rad":0.240275875,"cg_vd_req_v":-2.1864593,"cg_vd_v":-2.1864593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32593536,"cg_vq_v":-8.32593536,"cg_vu_v":0.87978512,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2519.81079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.7731628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":320.93103,"values":{"Elec_RPM":-2345.98682,"EncoderCos":46732,"EncoderSin":47288,"GapTicks":49278,"Mech_RPM":-469.197357,"cg_du":50.5334206,"cg_dv":44.7984695,"cg_dw":55.2015305,"cg_id_a":-8.41030884,"cg_id_raw_a":-11.6974249,"cg_iq_a":-197.568024,"cg_iq_raw_a":-196.496292,"cg_iu_a":75.498436,"cg_iv_a":-195.103882,"cg_iw_a":119.605453,"cg_sample_age_us":23.6090908,"cg_sample_seq":2970217,"cg_sample_valid":1,"cg_theta_rad":0.808843791,"cg_vd_req_v":-1.78117704,"cg_vd_v":-1.78117704,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49652958,"cg_vq_v":-8.49652958,"cg_vu_v":126.689056,"cg_vv_v":124.049698,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.796936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":321.106687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":321.106693,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":321.106699,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":321.263062,"values":{"Elec_RPM":-2348.29517,"EncoderCos":36364,"EncoderSin":52520,"GapTicks":49360,"Mech_RPM":-469.659027,"cg_du":51.3950844,"cg_dv":55.1272163,"cg_dw":44.8727837,"cg_id_a":-11.2430668,"cg_id_raw_a":-9.094244,"cg_iq_a":-194.969452,"cg_iq_raw_a":-195.623779,"cg_iu_a":-24.3533211,"cg_iv_a":179.222427,"cg_iw_a":-154.86911,"cg_sample_age_us":23.9327278,"cg_sample_seq":2971917,"cg_sample_valid":1,"cg_theta_rad":1.3930589,"cg_vd_req_v":-1.64784098,"cg_vd_v":-1.64784098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51538563,"cg_vq_v":-8.51538563,"cg_vu_v":23.3143044,"cg_vv_v":22.8744144,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.7850342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":321.614624,"values":{"Elec_RPM":-2343.97607,"EncoderCos":12523,"EncoderSin":34858,"GapTicks":49568,"Mech_RPM":-468.795197,"cg_du":45.0626068,"cg_dv":52.5883942,"cg_dw":54.9373932,"cg_id_a":-4.93638897,"cg_id_raw_a":3.11946011,"cg_iq_a":-200.94133,"cg_iq_raw_a":-203.346771,"cg_iu_a":-172.264404,"cg_iv_a":-4.02639771,"cg_iw_a":176.290802,"cg_sample_age_us":23.9618187,"cg_sample_seq":2973516,"cg_sample_valid":1,"cg_theta_rad":3.04204249,"cg_vd_req_v":-1.74003148,"cg_vd_v":-1.74003148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41653252,"cg_vq_v":-8.41653252,"cg_vu_v":3.51914048,"cg_vv_v":19.795166,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.2880383,"dclink_p_w":-2357.28076,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.83078,"temp_inv2_c":40.802063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":321.948608,"values":{"Elec_RPM":-2343.23145,"EncoderCos":15941,"EncoderSin":44128,"GapTicks":49641,"Mech_RPM":-468.646271,"cg_du":54.8711586,"cg_dv":52.9231758,"cg_dw":45.1288414,"cg_id_a":13.0193291,"cg_id_raw_a":11.7242393,"cg_iq_a":-205.730072,"cg_iq_raw_a":-205.517746,"cg_iu_a":49.3666382,"cg_iv_a":150.843506,"cg_iw_a":-199.775208,"cg_sample_age_us":23.8818188,"cg_sample_seq":2975316,"cg_sample_valid":1,"cg_theta_rad":2.54693341,"cg_vd_req_v":-2.16162109,"cg_vd_v":-2.16162109,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31246281,"cg_vq_v":-8.31246281,"cg_vu_v":44.4291458,"cg_vv_v":61.1450691,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.8037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":322.130555,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":322.130561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":322.130566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":322.282593,"values":{"Elec_RPM":-2345.72241,"EncoderCos":22382,"EncoderSin":15195,"GapTicks":49438,"Mech_RPM":-469.14447,"cg_du":44.9437027,"cg_dv":55.0562973,"cg_dw":51.778141,"cg_id_a":-3.54670453,"cg_id_raw_a":-1.96444023,"cg_iq_a":-197.703949,"cg_iq_raw_a":-198.730438,"cg_iu_a":-196.692749,"cg_iv_a":91.4760895,"cg_iw_a":105.21666,"cg_sample_age_us":23.8999996,"cg_sample_seq":2976917,"cg_sample_valid":1,"cg_theta_rad":4.19228268,"cg_vd_req_v":-1.83775926,"cg_vd_v":-1.83775926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42403793,"cg_vq_v":-8.42403793,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2418.09839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.8139343,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":322.634155,"values":{"Elec_RPM":-2349.2207,"EncoderCos":15414,"EncoderSin":21964,"GapTicks":49362,"Mech_RPM":-469.844147,"cg_du":55.124733,"cg_dv":49.0978813,"cg_dw":44.875267,"cg_id_a":-12.623148,"cg_id_raw_a":-12.6378365,"cg_iq_a":-195.650055,"cg_iq_raw_a":-196.919464,"cg_iu_a":149.834534,"cg_iv_a":22.3953552,"cg_iw_a":-179.079987,"cg_sample_age_us":23.9363632,"cg_sample_seq":2978716,"cg_sample_valid":1,"cg_theta_rad":3.70328808,"cg_vd_req_v":-1.61342311,"cg_vd_v":-1.61342311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45569229,"cg_vq_v":-8.45569229,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2399.79565,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.8122559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":322.966187,"values":{"Elec_RPM":-2346.16772,"EncoderCos":44543,"EncoderSin":16366,"GapTicks":49510,"Mech_RPM":-469.233551,"cg_du":45.0092239,"cg_dv":54.9907761,"cg_dw":47.6792831,"cg_id_a":-6.15890503,"cg_id_raw_a":0.129518554,"cg_iq_a":-199.510742,"cg_iq_raw_a":-200.357422,"cg_iu_a":-174.330307,"cg_iv_a":171.502502,"cg_iw_a":2.82781219,"cg_sample_age_us":23.823637,"cg_sample_seq":2980316,"cg_sample_valid":1,"cg_theta_rad":5.34540081,"cg_vd_req_v":-1.83050346,"cg_vd_v":-1.83050346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43936825,"cg_vq_v":-8.43936825,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2464.02441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.8156433,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":323.123037,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":323.123042,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":323.123047,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":323.317749,"values":{"Elec_RPM":-2345.19214,"EncoderCos":35316,"EncoderSin":12618,"GapTicks":49614,"Mech_RPM":-469.038422,"cg_du":54.895565,"cg_dv":45.104435,"cg_dw":47.0458107,"cg_id_a":17.2831306,"cg_id_raw_a":15.9928484,"cg_iq_a":-202.322144,"cg_iq_raw_a":-202.283295,"cg_iu_a":194.305725,"cg_iv_a":-40.5964203,"cg_iw_a":-153.709305,"cg_sample_age_us":24.0563641,"cg_sample_seq":2982116,"cg_sample_valid":1,"cg_theta_rad":4.85261345,"cg_vd_req_v":-2.26717281,"cg_vd_v":-2.26717281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36154461,"cg_vq_v":-8.36154461,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2411.30811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2601,"hz_tim_isr":5001,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.8580017,"temp_inv2_c":40.880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":323.651733,"values":{"Elec_RPM":-2348.64478,"EncoderCos":51706,"EncoderSin":26203,"GapTicks":49705,"Mech_RPM":-469.728973,"cg_du":54.8130417,"cg_dv":45.1869583,"cg_dw":53.113739,"cg_id_a":0.718594313,"cg_id_raw_a":7.09079838,"cg_iq_a":-201.168365,"cg_iq_raw_a":-203.299484,"cg_iu_a":169.587433,"cg_iv_a":-173.901245,"cg_iw_a":4.31381226,"cg_sample_age_us":24.2454548,"cg_sample_seq":2983767,"cg_sample_valid":1,"cg_theta_rad":5.96411562,"cg_vd_req_v":-1.92427659,"cg_vd_v":-1.92427659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36758041,"cg_vq_v":-8.36758041,"cg_vu_v":123.60981,"cg_vv_v":115.69175,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2502.03101,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2601,"hz_tim_isr":5001,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8139343,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":323.983765,"values":{"Elec_RPM":-2353.87158,"EncoderCos":52091,"EncoderSin":37759,"GapTicks":49808,"Mech_RPM":-470.774323,"cg_du":46.401371,"cg_dv":54.7197914,"cg_dw":45.2802086,"cg_id_a":12.1896954,"cg_id_raw_a":12.8140984,"cg_iq_a":-206.360992,"cg_iq_raw_a":-205.892609,"cg_iu_a":-161.246277,"cg_iv_a":193.248779,"cg_iw_a":-32.0025101,"cg_sample_age_us":23.3763638,"cg_sample_seq":2985466,"cg_sample_valid":1,"cg_theta_rad":0.263486803,"cg_vd_req_v":-2.21348858,"cg_vd_v":-2.21348858,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30158043,"cg_vq_v":-8.30158043,"cg_vu_v":38.2706528,"cg_vv_v":51.9073219,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2480.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2601,"hz_tim_isr":5001,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.798645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":324.114784,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":324.114791,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":324.114797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":324.335327,"values":{"Elec_RPM":-2356.60205,"EncoderCos":46315,"EncoderSin":47608,"GapTicks":49340,"Mech_RPM":-471.320404,"cg_du":51.4364624,"cg_dv":44.8551064,"cg_dw":55.1448936,"cg_id_a":3.90723419,"cg_id_raw_a":-1.85429537,"cg_iq_a":-197.601837,"cg_iq_raw_a":-196.726837,"cg_iu_a":109.531403,"cg_iv_a":-197.459732,"cg_iw_a":87.9283295,"cg_sample_age_us":23.6345463,"cg_sample_seq":2987167,"cg_sample_valid":1,"cg_theta_rad":0.833236337,"cg_vd_req_v":-2.02311659,"cg_vd_v":-2.02311659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47055912,"cg_vq_v":-8.47055912,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2513.0127,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8326111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":324.669312,"values":{"Elec_RPM":-2355.23779,"EncoderCos":35761,"EncoderSin":52654,"GapTicks":49348,"Mech_RPM":-471.047546,"cg_du":50.0144691,"cg_dv":55.1376495,"cg_dw":44.8623505,"cg_id_a":-13.7893114,"cg_id_raw_a":-13.121419,"cg_iq_a":-197.508987,"cg_iq_raw_a":-195.363113,"cg_iu_a":-53.3121452,"cg_iv_a":192.415176,"cg_iw_a":-139.103027,"cg_sample_age_us":23.9290905,"cg_sample_seq":2988866,"cg_sample_valid":1,"cg_theta_rad":1.42171872,"cg_vd_req_v":-1.62008548,"cg_vd_v":-1.62008548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43148899,"cg_vq_v":-8.43148899,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8275146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":324.99939,"values":{"Elec_RPM":-2355.85474,"EncoderCos":24529,"EncoderSin":51302,"GapTicks":49682,"Mech_RPM":-471.170959,"cg_du":47.0899353,"cg_dv":45.1655884,"cg_dw":54.8344116,"cg_id_a":-1.3991425,"cg_id_raw_a":4.32792425,"cg_iq_a":-205.06662,"cg_iq_raw_a":-206.743256,"cg_iu_a":-1.15726924,"cg_iv_a":-175.640945,"cg_iw_a":176.798218,"cg_sample_age_us":23.8600006,"cg_sample_seq":2990566,"cg_sample_valid":1,"cg_theta_rad":1.98722517,"cg_vd_req_v":-1.84003532,"cg_vd_v":-1.84003532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3260498,"cg_vq_v":-8.3260498,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2472.48462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8564148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":325.139431,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":325.139436,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":325.139442,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":325.354858,"values":{"Elec_RPM":-2358.94434,"EncoderCos":15668,"EncoderSin":43670,"GapTicks":49921,"Mech_RPM":-471.788879,"cg_du":54.6164551,"cg_dv":54.0333672,"cg_dw":45.3835449,"cg_id_a":14.1148252,"cg_id_raw_a":13.3962011,"cg_iq_a":-203.041962,"cg_iq_raw_a":-205.389694,"cg_iu_a":25.6269226,"cg_iv_a":162.405289,"cg_iw_a":-188.648361,"cg_sample_age_us":23.8745461,"cg_sample_seq":2992266,"cg_sample_valid":1,"cg_theta_rad":2.57218552,"cg_vd_req_v":-2.15332532,"cg_vd_v":-2.15332532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36803722,"cg_vq_v":-8.36803722,"cg_vu_v":0.43989256,"cg_vv_v":3.51914048,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2496.021,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8666382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":325.684937,"values":{"Elec_RPM":-2359.60547,"EncoderCos":12370,"EncoderSin":32983,"GapTicks":49405,"Mech_RPM":-471.921082,"cg_du":44.9143028,"cg_dv":48.4556198,"cg_dw":55.0856972,"cg_id_a":-7.93137503,"cg_id_raw_a":-10.5848265,"cg_iq_a":-196.999954,"cg_iq_raw_a":-196.74144,"cg_iu_a":-97.2396698,"cg_iv_a":-96.8468628,"cg_iw_a":194.086533,"cg_sample_age_us":23.9254551,"cg_sample_seq":2993967,"cg_sample_valid":1,"cg_theta_rad":3.13503218,"cg_vd_req_v":-1.71268547,"cg_vd_v":-1.71268547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45684624,"cg_vq_v":-8.45684624,"cg_vu_v":120.090675,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8309326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":326.016968,"values":{"Elec_RPM":-2359.00513,"EncoderCos":23596,"EncoderSin":14546,"GapTicks":50014,"Mech_RPM":-471.801025,"cg_du":45.4675636,"cg_dv":54.5324364,"cg_dw":54.3643227,"cg_id_a":10.8394346,"cg_id_raw_a":12.5449095,"cg_iq_a":-202.179474,"cg_iq_raw_a":-203.702545,"cg_iu_a":-185.130966,"cg_iv_a":18.7709808,"cg_iw_a":166.359985,"cg_sample_age_us":23.8381824,"cg_sample_seq":2995616,"cg_sample_valid":1,"cg_theta_rad":4.25834179,"cg_vd_req_v":-2.11977506,"cg_vd_v":-2.11977506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37568474,"cg_vq_v":-8.37568474,"cg_vu_v":3.95903301,"cg_vv_v":31.6722641,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8615112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":326.131388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":326.131393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":326.131399,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":326.372437,"values":{"Elec_RPM":-2359.06299,"EncoderCos":24296,"EncoderSin":14248,"GapTicks":49630,"Mech_RPM":-471.812622,"cg_du":45.118679,"cg_dv":52.7979698,"cg_dw":54.881321,"cg_id_a":-2.49288607,"cg_id_raw_a":4.77281857,"cg_iq_a":-202.12941,"cg_iq_raw_a":-203.892303,"cg_iu_a":-175.961273,"cg_iv_a":3.72976685,"cg_iw_a":172.231506,"cg_sample_age_us":23.8381824,"cg_sample_seq":2997366,"cg_sample_valid":1,"cg_theta_rad":4.28728819,"cg_vd_req_v":-1.84104419,"cg_vd_v":-1.84104419,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39288902,"cg_vq_v":-8.39288902,"cg_vu_v":17.5957031,"cg_vv_v":20.6749516,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2367.24707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8462219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":326.702515,"values":{"Elec_RPM":-2357.11475,"EncoderCos":45533,"EncoderSin":17167,"GapTicks":49330,"Mech_RPM":-471.422974,"cg_du":44.8463554,"cg_dv":55.1536446,"cg_dw":50.5322609,"cg_id_a":-10.1461973,"cg_id_raw_a":-11.1207056,"cg_iq_a":-196.913086,"cg_iq_raw_a":-197.580093,"cg_iu_a":-195.750412,"cg_iv_a":120.543655,"cg_iw_a":75.2067566,"cg_sample_age_us":23.9181824,"cg_sample_seq":2999016,"cg_sample_valid":1,"cg_theta_rad":5.4155221,"cg_vd_req_v":-1.77219677,"cg_vd_v":-1.77219677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44377041,"cg_vq_v":-8.44377041,"cg_vu_v":18.4754887,"cg_vv_v":28.1531239,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.616045,"dclink_p_w":-2404.75146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8258362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":327.05603,"values":{"Elec_RPM":-2356.09888,"EncoderCos":36570,"EncoderSin":12845,"GapTicks":49683,"Mech_RPM":-471.219788,"cg_du":54.8329468,"cg_dv":46.93536,"cg_dw":45.1670532,"cg_id_a":0.0289658308,"cg_id_raw_a":6.84528065,"cg_iq_a":-198.996155,"cg_iq_raw_a":-200.777283,"cg_iu_a":173.827957,"cg_iv_a":-1.59806824,"cg_iw_a":-172.229889,"cg_sample_age_us":24.0163631,"cg_sample_seq":3000816,"cg_sample_valid":1,"cg_theta_rad":4.91932774,"cg_vd_req_v":-1.87142479,"cg_vd_v":-1.87142479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39469337,"cg_vq_v":-8.39469337,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8360291,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":327.122367,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":327.12237,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":327.122372,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":327.388062,"values":{"Elec_RPM":-2353.52686,"EncoderCos":51975,"EncoderSin":38216,"GapTicks":50028,"Mech_RPM":-470.705383,"cg_du":45.4801788,"cg_dv":54.5198212,"cg_dw":45.5865593,"cg_id_a":13.0775023,"cg_id_raw_a":15.0393057,"cg_iq_a":-202.587418,"cg_iq_raw_a":-202.962051,"cg_iu_a":-169.727341,"cg_iv_a":180.70842,"cg_iw_a":-10.9810791,"cg_sample_age_us":23.5654545,"cg_sample_seq":3002416,"cg_sample_valid":1,"cg_theta_rad":0.283665925,"cg_vd_req_v":-2.21347022,"cg_vd_v":-2.21347022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38358212,"cg_vq_v":-8.38358212,"cg_vu_v":13.1967773,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2517.81348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8258362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":327.720093,"values":{"Elec_RPM":-2351.02271,"EncoderCos":52252,"EncoderSin":28235,"GapTicks":49346,"Mech_RPM":-470.204529,"cg_du":55.139431,"cg_dv":44.860569,"cg_dw":48.5410194,"cg_id_a":-0.0441696644,"cg_id_raw_a":-5.18007755,"cg_iq_a":-197.179504,"cg_iq_raw_a":-196.457275,"cg_iu_a":198.836212,"cg_iv_a":-88.7282486,"cg_iw_a":-110.107964,"cg_sample_age_us":24.1399994,"cg_sample_seq":3004216,"cg_sample_valid":1,"cg_theta_rad":6.07076597,"cg_vd_req_v":-1.95796621,"cg_vd_v":-1.95796621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48018551,"cg_vq_v":-8.48018551,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2429.9292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":40.8258362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":328.071655,"values":{"Elec_RPM":-2354.05981,"EncoderCos":36289,"EncoderSin":52561,"GapTicks":49350,"Mech_RPM":-470.811951,"cg_du":51.3006783,"cg_dv":55.135952,"cg_dw":44.864048,"cg_id_a":-10.3711872,"cg_id_raw_a":-8.95477772,"cg_iq_a":-196.487,"cg_iq_raw_a":-197.36351,"cg_iu_a":-75.3483963,"cg_iv_a":199.011566,"cg_iw_a":-123.663162,"cg_sample_age_us":26.7654552,"cg_sample_seq":3005820,"cg_sample_valid":1,"cg_theta_rad":1.43798983,"cg_vd_req_v":-1.67627192,"cg_vd_v":-1.67627192,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48375225,"cg_vq_v":-8.48375225,"cg_vu_v":5.71860361,"cg_vv_v":35.6312981,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-16.795454,"dclink_p_w":-2423.32813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8530273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":328.146594,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":328.146599,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":328.146604,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":328.520874,"values":{"Elec_RPM":-2354.97656,"EncoderCos":27255,"EncoderSin":52279,"GapTicks":49337,"Mech_RPM":-470.995331,"cg_du":44.8525848,"cg_dv":49.7133369,"cg_dw":55.1474152,"cg_id_a":-16.0160828,"cg_id_raw_a":-16.8620548,"cg_iq_a":-198.807648,"cg_iq_raw_a":-199.074066,"cg_iu_a":-136.636719,"cg_iv_a":-59.5881958,"cg_iw_a":196.224915,"cg_sample_age_us":23.8890915,"cg_sample_seq":3008116,"cg_sample_valid":1,"cg_theta_rad":1.84638357,"cg_vd_req_v":-1.56658602,"cg_vd_v":-1.56658602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46269703,"cg_vq_v":-8.46269703,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8734436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":329.010524,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":329.010539,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":329.010546,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":329.040405,"values":{"Elec_RPM":-2351.66138,"EncoderCos":50952,"EncoderSin":24239,"GapTicks":49327,"Mech_RPM":-470.332275,"cg_du":51.3503075,"cg_dv":44.8429337,"cg_dw":55.1570663,"cg_id_a":7.28312111,"cg_id_raw_a":1.977494,"cg_iq_a":-196.814056,"cg_iq_raw_a":-196.651321,"cg_iu_a":112.757095,"cg_iv_a":-197.09729,"cg_iw_a":84.3401947,"cg_sample_age_us":23.7472725,"cg_sample_seq":3010666,"cg_sample_valid":1,"cg_theta_rad":5.86149836,"cg_vd_req_v":-2.11589813,"cg_vd_v":-2.11589813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45535755,"cg_vq_v":-8.45535755,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2541.13135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8598328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":329.139055,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":329.13906,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":329.139064,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":329.39978,"values":{"Elec_RPM":-2358.60376,"EncoderCos":23798,"EncoderSin":14499,"GapTicks":49935,"Mech_RPM":-471.720734,"cg_du":45.3956833,"cg_dv":54.1894836,"cg_dw":54.6043167,"cg_id_a":9.44910812,"cg_id_raw_a":12.0021286,"cg_iq_a":-199.492371,"cg_iq_raw_a":-197.834,"cg_iu_a":-178.715805,"cg_iv_a":11.6309357,"cg_iw_a":167.084869,"cg_sample_age_us":23.9254551,"cg_sample_seq":3012567,"cg_sample_valid":1,"cg_theta_rad":4.26771021,"cg_vd_req_v":-2.08150363,"cg_vd_v":-2.08150363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43864441,"cg_vq_v":-8.43864441,"cg_vu_v":113.052383,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2530.70361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.87854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":329.731812,"values":{"Elec_RPM":-2360.18262,"EncoderCos":51466,"EncoderSin":25477,"GapTicks":49883,"Mech_RPM":-472.03653,"cg_du":53.984024,"cg_dv":45.3482437,"cg_dw":54.6517563,"cg_id_a":17.3025055,"cg_id_raw_a":17.631279,"cg_iq_a":-203.408203,"cg_iq_raw_a":-203.065872,"cg_iu_a":166.724167,"cg_iv_a":-185.752975,"cg_iw_a":19.0288086,"cg_sample_age_us":24.1327267,"cg_sample_seq":3014167,"cg_sample_valid":1,"cg_theta_rad":5.92839146,"cg_vd_req_v":-2.28298879,"cg_vd_v":-2.28298879,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33893204,"cg_vq_v":-8.33893204,"cg_vu_v":123.60981,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8734436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":330.083374,"values":{"Elec_RPM":-2348.99609,"EncoderCos":45644,"EncoderSin":17250,"GapTicks":49317,"Mech_RPM":-469.799194,"cg_du":44.8339005,"cg_dv":55.1660995,"cg_dw":50.7875557,"cg_id_a":-8.51368713,"cg_id_raw_a":-13.1428223,"cg_iq_a":-198.219849,"cg_iq_raw_a":-196.89415,"cg_iu_a":-196.62027,"cg_iv_a":116.556839,"cg_iw_a":80.0634308,"cg_sample_age_us":23.9254551,"cg_sample_seq":3015967,"cg_sample_valid":1,"cg_theta_rad":5.42503166,"cg_vd_req_v":-1.8284204,"cg_vd_v":-1.8284204,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44460869,"cg_vq_v":-8.44460869,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.04949,"dclink_p_w":-2604.26636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8700562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":330.131361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":330.131367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":330.131372,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":330.417358,"values":{"Elec_RPM":-2348.58179,"EncoderCos":47022,"EncoderSin":46988,"GapTicks":49338,"Mech_RPM":-469.71637,"cg_du":49.7436371,"cg_dv":44.8532867,"cg_dw":55.1467133,"cg_id_a":-13.9688501,"cg_id_raw_a":-16.7436428,"cg_iq_a":-196.758728,"cg_iq_raw_a":-197.239243,"cg_iu_a":63.3929977,"cg_iv_a":-193.327942,"cg_iw_a":129.934937,"cg_sample_age_us":23.692728,"cg_sample_seq":3017568,"cg_sample_valid":1,"cg_theta_rad":0.797084868,"cg_vd_req_v":-1.64539361,"cg_vd_v":-1.64539361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47227478,"cg_vq_v":-8.47227478,"cg_vu_v":106.893898,"cg_vv_v":97.2162552,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.7069855,"dclink_p_w":-2570.42651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8955383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":330.751343,"values":{"Elec_RPM":-2346.72949,"EncoderCos":51831,"EncoderSin":38658,"GapTicks":49754,"Mech_RPM":-469.345917,"cg_du":45.2310219,"cg_dv":54.7689781,"cg_dw":46.7700005,"cg_id_a":2.28212261,"cg_id_raw_a":9.03780937,"cg_iq_a":-202.512024,"cg_iq_raw_a":-203.961334,"cg_iu_a":-173.895386,"cg_iv_a":173.967072,"cg_iw_a":-0.071685791,"cg_sample_age_us":23.5327282,"cg_sample_seq":3019366,"cg_sample_valid":1,"cg_theta_rad":0.307971388,"cg_vd_req_v":-1.98063445,"cg_vd_v":-1.98063445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35162163,"cg_vq_v":-8.35162163,"cg_vu_v":1.31967759,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-18.1817799,"dclink_p_w":-2623.35376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.9124451,"temp_inv2_c":40.8887634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":331.100952,"values":{"Elec_RPM":-2351.96069,"EncoderCos":26213,"EncoderSin":51949,"GapTicks":49485,"Mech_RPM":-470.392151,"cg_du":44.986515,"cg_dv":47.7786446,"cg_dw":55.013485,"cg_id_a":5.00692797,"cg_id_raw_a":0.787976325,"cg_iq_a":-200.575714,"cg_iq_raw_a":-196.889725,"cg_iu_a":-29.8261414,"cg_iv_a":-161.904541,"cg_iw_a":191.730682,"cg_sample_age_us":23.8709087,"cg_sample_seq":3020971,"cg_sample_valid":1,"cg_theta_rad":1.94328165,"cg_vd_req_v":-2.00978518,"cg_vd_v":-2.00978518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41122723,"cg_vq_v":-8.41122723,"cg_vu_v":103.814644,"cg_vv_v":88.4184036,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-17.5420761,"dclink_p_w":-2538.771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8870544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":331.123309,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":331.123315,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":331.123319,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":331.434937,"values":{"Elec_RPM":-2347.27295,"EncoderCos":34984,"EncoderSin":52723,"GapTicks":49382,"Mech_RPM":-469.45459,"cg_du":48.537941,"cg_dv":55.1064034,"cg_dw":44.8935966,"cg_id_a":-2.85046053,"cg_id_raw_a":-8.91152668,"cg_iq_a":-199.384308,"cg_iq_raw_a":-198.879456,"cg_iu_a":-102.748734,"cg_iv_a":199.73645,"cg_iw_a":-96.987709,"cg_sample_age_us":23.823637,"cg_sample_seq":3022766,"cg_sample_valid":1,"cg_theta_rad":1.45873058,"cg_vd_req_v":-1.87028491,"cg_vd_v":-1.87028491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4446764,"cg_vq_v":-8.4446764,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2442.51807,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.87854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":331.766968,"values":{"Elec_RPM":-2354.20361,"EncoderCos":12391,"EncoderSin":33518,"GapTicks":49374,"Mech_RPM":-470.840729,"cg_du":44.8857346,"cg_dv":49.4680023,"cg_dw":55.1142654,"cg_id_a":-16.0011864,"cg_id_raw_a":-18.3899479,"cg_iq_a":-198.148529,"cg_iq_raw_a":-199.86174,"cg_iu_a":-130.801453,"cg_iv_a":-65.2059937,"cg_iw_a":196.007446,"cg_sample_age_us":23.9036369,"cg_sample_seq":3024366,"cg_sample_valid":1,"cg_theta_rad":3.11027122,"cg_vd_req_v":-1.54700208,"cg_vd_v":-1.54700208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42111778,"cg_vq_v":-8.42111778,"cg_vu_v":119.210884,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8768311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":332.114753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":332.114759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":332.114765,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":332.120483,"values":{"Elec_RPM":-2357.96143,"EncoderCos":12407,"EncoderSin":32769,"GapTicks":49423,"Mech_RPM":-471.592285,"cg_du":44.930603,"cg_dv":48.1377983,"cg_dw":55.069397,"cg_id_a":-1.5476073,"cg_id_raw_a":-6.91044474,"cg_iq_a":-198.69873,"cg_iq_raw_a":-200.640488,"cg_iu_a":-73.5724487,"cg_iv_a":-111.706833,"cg_iw_a":199.341888,"cg_sample_age_us":23.9400005,"cg_sample_seq":3026116,"cg_sample_valid":1,"cg_theta_rad":3.15435195,"cg_vd_req_v":-1.86008799,"cg_vd_v":-1.86008799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4310112,"cg_vq_v":-8.4310112,"cg_vu_v":128.448624,"cg_vv_v":109.093361,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.8615112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":332.450562,"values":{"Elec_RPM":-2356.21851,"EncoderCos":23540,"EncoderSin":14603,"GapTicks":49958,"Mech_RPM":-471.243713,"cg_du":45.4170074,"cg_dv":54.5829926,"cg_dw":54.238224,"cg_id_a":10.7659636,"cg_id_raw_a":7.55088139,"cg_iq_a":-199.51622,"cg_iq_raw_a":-197.270081,"cg_iu_a":-183.572479,"cg_iv_a":21.7792053,"cg_iw_a":161.793274,"cg_sample_age_us":23.9618187,"cg_sample_seq":3027767,"cg_sample_valid":1,"cg_theta_rad":4.25453424,"cg_vd_req_v":-2.11613464,"cg_vd_v":-2.11613464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42024612,"cg_vq_v":-8.42024612,"cg_vu_v":133.727341,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.9108582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":332.804077,"values":{"Elec_RPM":-2353.00635,"EncoderCos":23462,"EncoderSin":14638,"GapTicks":49901,"Mech_RPM":-470.601288,"cg_du":45.3652916,"cg_dv":54.6347084,"cg_dw":54.0172005,"cg_id_a":13.2470169,"cg_id_raw_a":10.297492,"cg_iq_a":-199.243408,"cg_iq_raw_a":-196.238205,"cg_iu_a":-169.691101,"cg_iv_a":0.286621094,"cg_iw_a":173.210083,"cg_sample_age_us":23.8309097,"cg_sample_seq":3029521,"cg_sample_valid":1,"cg_theta_rad":4.30350161,"cg_vd_req_v":-2.162781,"cg_vd_v":-2.162781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41370583,"cg_vq_v":-8.41370583,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2424.42163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.8972473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":333.10736,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":333.107365,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":333.10737,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":333.136108,"values":{"Elec_RPM":-2350.64355,"EncoderCos":45314,"EncoderSin":16979,"GapTicks":49285,"Mech_RPM":-470.128723,"cg_du":44.8046761,"cg_dv":55.1953239,"cg_dw":49.9578018,"cg_id_a":-13.2928181,"cg_id_raw_a":-16.5997677,"cg_iq_a":-196.688507,"cg_iq_raw_a":-196.227722,"cg_iu_a":-191.509888,"cg_iv_a":134.497559,"cg_iw_a":57.0123367,"cg_sample_age_us":23.9145451,"cg_sample_seq":3031167,"cg_sample_valid":1,"cg_theta_rad":5.40275097,"cg_vd_req_v":-1.71837258,"cg_vd_v":-1.71837258,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48352051,"cg_vq_v":-8.48352051,"cg_vu_v":114.811958,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2498.89307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.9244995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":333.470093,"values":{"Elec_RPM":-2354.11768,"EncoderCos":36333,"EncoderSin":12781,"GapTicks":49821,"Mech_RPM":-470.823547,"cg_du":54.7076607,"cg_dv":46.2786369,"cg_dw":45.2923393,"cg_id_a":6.32009172,"cg_id_raw_a":8.81952286,"cg_iq_a":-201.067032,"cg_iq_raw_a":-200.513779,"cg_iu_a":175.712631,"cg_iv_a":-7.28834534,"cg_iw_a":-168.424286,"cg_sample_age_us":24.0563641,"cg_sample_seq":3032967,"cg_sample_valid":1,"cg_theta_rad":4.90518999,"cg_vd_req_v":-2.01537466,"cg_vd_v":-2.01537466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3825922,"cg_vq_v":-8.3825922,"cg_vu_v":134.167236,"cg_vv_v":126.689056,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-18.0186825,"dclink_p_w":-2607.74756,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":333.823608,"values":{"Elec_RPM":-2359.54028,"EncoderCos":52145,"EncoderSin":27652,"GapTicks":49317,"Mech_RPM":-471.908051,"cg_du":55.1655159,"cg_dv":44.8344841,"cg_dw":49.6099625,"cg_id_a":-11.4604988,"cg_id_raw_a":-14.2884912,"cg_iq_a":-195.562744,"cg_iq_raw_a":-194.672394,"cg_iu_a":194.015778,"cg_iv_a":-125.624466,"cg_iw_a":-68.3913116,"cg_sample_age_us":24.1327267,"cg_sample_seq":3034616,"cg_sample_valid":1,"cg_theta_rad":6.04206085,"cg_vd_req_v":-1.7146194,"cg_vd_v":-1.7146194,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49544144,"cg_vq_v":-8.49544144,"cg_vu_v":33.4318352,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5384521,"dclink_p_w":-2538.24634,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9108582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":334.131199,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":334.131204,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":334.131209,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":334.153687,"values":{"Elec_RPM":-2356.83154,"EncoderCos":45855,"EncoderSin":48083,"GapTicks":49537,"Mech_RPM":-471.366302,"cg_du":52.6599274,"cg_dv":45.0341492,"cg_dw":54.9658508,"cg_id_a":12.7684174,"cg_id_raw_a":9.10356236,"cg_iq_a":-201.734253,"cg_iq_raw_a":-201.034851,"cg_iu_a":144.651672,"cg_iv_a":-196.263687,"cg_iw_a":51.6120148,"cg_sample_age_us":23.5363636,"cg_sample_seq":3036266,"cg_sample_valid":1,"cg_theta_rad":0.867540896,"cg_vd_req_v":-2.19950151,"cg_vd_v":-2.19950151,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37600899,"cg_vq_v":-8.37600899,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-17.4623394,"dclink_p_w":-2519.54956,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.9108582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":334.487671,"values":{"Elec_RPM":-2357.73145,"EncoderCos":45247,"EncoderSin":48615,"GapTicks":49959,"Mech_RPM":-471.546295,"cg_du":54.2532082,"cg_dv":45.4178314,"cg_dw":54.5821686,"cg_id_a":17.1232643,"cg_id_raw_a":17.8385544,"cg_iq_a":-202.970947,"cg_iq_raw_a":-203.019531,"cg_iu_a":168.10144,"cg_iv_a":-182.418549,"cg_iw_a":14.3171082,"cg_sample_age_us":24.0127277,"cg_sample_seq":3038016,"cg_sample_valid":1,"cg_theta_rad":0.904553115,"cg_vd_req_v":-2.25704694,"cg_vd_v":-2.25704694,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3620348,"cg_vq_v":-8.3620348,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2445.55298,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8581238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":334.839233,"values":{"Elec_RPM":-2353.34473,"EncoderCos":23989,"EncoderSin":51114,"GapTicks":49455,"Mech_RPM":-470.668945,"cg_du":48.6558266,"cg_dv":44.9597092,"cg_dw":55.0402908,"cg_id_a":-18.2594738,"cg_id_raw_a":-18.6215878,"cg_iq_a":-199.971405,"cg_iq_raw_a":-201.072861,"cg_iu_a":14.5725546,"cg_iv_a":-180.751328,"cg_iw_a":166.178772,"cg_sample_age_us":23.7800007,"cg_sample_seq":3039666,"cg_sample_valid":1,"cg_theta_rad":2.01967931,"cg_vd_req_v":-1.49783278,"cg_vd_v":-1.49783278,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41592598,"cg_vq_v":-8.41592598,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2467.04175,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.9176941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":335.091595,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":335.091601,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":335.091605,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":335.171265,"values":{"Elec_RPM":-2357.50952,"EncoderCos":33941,"EncoderSin":52842,"GapTicks":49726,"Mech_RPM":-471.501923,"cg_du":46.6563568,"cg_dv":54.7940674,"cg_dw":45.2059326,"cg_id_a":16.1087532,"cg_id_raw_a":16.0811672,"cg_iq_a":-203.016144,"cg_iq_raw_a":-202.484695,"cg_iu_a":-158.238037,"cg_iv_a":189.55191,"cg_iw_a":-31.3138809,"cg_sample_age_us":23.9400005,"cg_sample_seq":3041467,"cg_sample_valid":1,"cg_theta_rad":1.51498008,"cg_vd_req_v":-2.21369076,"cg_vd_v":-2.21369076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34815884,"cg_vq_v":-8.34815884,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-16.5109386,"dclink_p_w":-2389.53979,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.9262085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":335.505249,"values":{"Elec_RPM":-2356.51416,"EncoderCos":12416,"EncoderSin":32522,"GapTicks":49492,"Mech_RPM":-471.302826,"cg_du":44.993042,"cg_dv":47.7254181,"cg_dw":55.006958,"cg_id_a":4.30745983,"cg_id_raw_a":-1.46911335,"cg_iq_a":-200.070648,"cg_iq_raw_a":-196.763794,"cg_iu_a":-72.4851379,"cg_iv_a":-125.76944,"cg_iw_a":198.254578,"cg_sample_age_us":23.9618187,"cg_sample_seq":3043067,"cg_sample_valid":1,"cg_theta_rad":3.15569496,"cg_vd_req_v":-1.97734499,"cg_vd_v":-1.97734499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42129326,"cg_vq_v":-8.42129326,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.9262085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":335.856812,"values":{"Elec_RPM":-2354.46997,"EncoderCos":14723,"EncoderSin":42138,"GapTicks":49299,"Mech_RPM":-470.894012,"cg_du":50.6588898,"cg_dv":55.1823883,"cg_dw":44.8176117,"cg_id_a":-12.0373497,"cg_id_raw_a":-11.0784473,"cg_iq_a":-196.444687,"cg_iq_raw_a":-194.848953,"cg_iu_a":-51.1012726,"cg_iv_a":192.741379,"cg_iw_a":-141.640106,"cg_sample_age_us":23.7909088,"cg_sample_seq":3044867,"cg_sample_valid":1,"cg_theta_rad":2.67499542,"cg_vd_req_v":-1.63417447,"cg_vd_v":-1.63417447,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50175095,"cg_vq_v":-8.50175095,"cg_vu_v":29.912693,"cg_vv_v":29.4728031,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2513.27393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":40.9396973,"temp_inv2_c":40.8853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":336.115519,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":336.115525,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":336.115529,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":336.190796,"values":{"Elec_RPM":-2350.25269,"EncoderCos":24656,"EncoderSin":14058,"GapTicks":49502,"Mech_RPM":-470.050537,"cg_du":45.0023613,"cg_dv":51.7473984,"cg_dw":54.9976387,"cg_id_a":-11.0920849,"cg_id_raw_a":-9.11740208,"cg_iq_a":-200.958359,"cg_iq_raw_a":-200.424667,"cg_iu_a":-164.471985,"cg_iv_a":-16.4580383,"cg_iw_a":180.930023,"cg_sample_age_us":23.9436359,"cg_sample_seq":3046467,"cg_sample_valid":1,"cg_theta_rad":4.31517887,"cg_vd_req_v":-1.66230249,"cg_vd_v":-1.66230249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35647583,"cg_vq_v":-8.35647583,"cg_vu_v":101.615181,"cg_vv_v":100.735397,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-18.1854038,"dclink_p_w":-2623.87671,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.8717346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":336.542358,"values":{"Elec_RPM":-2354.34424,"EncoderCos":24751,"EncoderSin":14077,"GapTicks":49469,"Mech_RPM":-470.868835,"cg_du":44.9724426,"cg_dv":51.5508957,"cg_dw":55.0275574,"cg_id_a":-12.6341667,"cg_id_raw_a":-9.9431572,"cg_iq_a":-200.794281,"cg_iq_raw_a":-201.767258,"cg_iu_a":-140.079895,"cg_iv_a":-50.9259033,"cg_iw_a":191.005798,"cg_sample_age_us":23.8418179,"cg_sample_seq":3048220,"cg_sample_valid":1,"cg_theta_rad":4.354599,"cg_vd_req_v":-1.63784504,"cg_vd_v":-1.63784504,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37530327,"cg_vq_v":-8.37530327,"cg_vu_v":93.6971207,"cg_vv_v":87.53862,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2488.43433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9091797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":336.87439,"values":{"Elec_RPM":-2352.1272,"EncoderCos":46280,"EncoderSin":17857,"GapTicks":49434,"Mech_RPM":-470.425446,"cg_du":44.9405556,"cg_dv":55.0594444,"cg_dw":52.4413567,"cg_id_a":7.36463737,"cg_id_raw_a":3.56284046,"cg_iq_a":-196.895966,"cg_iq_raw_a":-195.560791,"cg_iu_a":-192.633453,"cg_iv_a":62.9884644,"cg_iw_a":129.644989,"cg_sample_age_us":23.9618187,"cg_sample_seq":3049867,"cg_sample_valid":1,"cg_theta_rad":5.4687438,"cg_vd_req_v":-2.13934636,"cg_vd_v":-2.13934636,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48477364,"cg_vq_v":-8.48477364,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-18.3050079,"dclink_p_w":-2641.13379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.8870544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":337.138447,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":337.138452,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":337.138457,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":337.208374,"values":{"Elec_RPM":-2350.62598,"EncoderCos":52150,"EncoderSin":27877,"GapTicks":49349,"Mech_RPM":-470.125183,"cg_du":55.1369209,"cg_dv":44.8630791,"cg_dw":49.1694565,"cg_id_a":-9.63312817,"cg_id_raw_a":-13.2782993,"cg_iq_a":-195.71933,"cg_iq_raw_a":-195.261551,"cg_iu_a":194.88562,"cg_iv_a":-116.092331,"cg_iw_a":-78.7932892,"cg_sample_age_us":24.1690903,"cg_sample_seq":3051567,"cg_sample_valid":1,"cg_theta_rad":6.05009842,"cg_vd_req_v":-1.75371635,"cg_vd_v":-1.75371635,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46833515,"cg_vq_v":-8.46833515,"cg_vu_v":129.328415,"cg_vv_v":117.891212,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2405.80933,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":40.9551392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":337.559937,"values":{"Elec_RPM":-2347.94043,"EncoderCos":51839,"EncoderSin":38584,"GapTicks":49795,"Mech_RPM":-469.588104,"cg_du":45.2685165,"cg_dv":54.7314835,"cg_dw":46.5346298,"cg_id_a":5.76532793,"cg_id_raw_a":9.69174862,"cg_iq_a":-203.881287,"cg_iq_raw_a":-204.294312,"cg_iu_a":-182.702637,"cg_iv_a":160.629349,"cg_iw_a":22.073288,"cg_sample_age_us":23.4418182,"cg_sample_seq":3053270,"cg_sample_valid":1,"cg_theta_rad":0.340439349,"cg_vd_req_v":-2.05734706,"cg_vd_v":-2.05734706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33463669,"cg_vq_v":-8.33463669,"cg_vu_v":1.31967759,"cg_vv_v":8.79785156,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2510.39795,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":337.891968,"values":{"Elec_RPM":-2352.68823,"EncoderCos":51412,"EncoderSin":39930,"GapTicks":49294,"Mech_RPM":-470.537628,"cg_du":44.8134956,"cg_dv":55.1865044,"cg_dw":49.8916702,"cg_id_a":-10.4252253,"cg_id_raw_a":-13.9495802,"cg_iq_a":-198.242462,"cg_iq_raw_a":-197.641174,"cg_iu_a":-192.524719,"cg_iv_a":135.258667,"cg_iw_a":49.1474304,"cg_sample_age_us":23.59091,"cg_sample_seq":3055017,"cg_sample_valid":1,"cg_theta_rad":0.373771757,"cg_vd_req_v":-1.74724364,"cg_vd_v":-1.74724364,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46315765,"cg_vq_v":-8.46315765,"cg_vu_v":126.689056,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.4478416,"dclink_p_w":-2525.13281,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.968811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":338.130922,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":338.130927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":338.130932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":338.270874,"values":{"Elec_RPM":-2356.85083,"EncoderCos":52489,"EncoderSin":29235,"GapTicks":49708,"Mech_RPM":-471.370148,"cg_du":54.8105354,"cg_dv":45.1894646,"cg_dw":46.7376785,"cg_id_a":17.5110588,"cg_id_raw_a":15.5116529,"cg_iq_a":-205.534332,"cg_iq_raw_a":-203.411285,"cg_iu_a":176.582489,"cg_iv_a":-7.32458496,"cg_iw_a":-170.490189,"cg_sample_age_us":24.0381813,"cg_sample_seq":3056821,"cg_sample_valid":1,"cg_theta_rad":6.1613245,"cg_vd_req_v":-2.29619265,"cg_vd_v":-2.29619265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2951107,"cg_vq_v":-8.2951107,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2517.5271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9415283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":338.770874,"values":{"Elec_RPM":-2354.29346,"EncoderCos":46744,"EncoderSin":18307,"GapTicks":49758,"Mech_RPM":-470.858704,"cg_du":45.2353973,"cg_dv":54.7646027,"cg_dw":53.7134857,"cg_id_a":10.6079235,"cg_id_raw_a":7.47880507,"cg_iq_a":-200.52095,"cg_iq_raw_a":-198.973145,"cg_iu_a":-188.320435,"cg_iv_a":33.1235352,"cg_iw_a":155.196899,"cg_sample_age_us":23.8890915,"cg_sample_seq":3059217,"cg_sample_valid":1,"cg_theta_rad":5.49878407,"cg_vd_req_v":-2.198277,"cg_vd_v":-2.198277,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39516449,"cg_vq_v":-8.39516449,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2402.41016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":338.994629,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":338.994638,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":338.994641,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":339.123139,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":339.123144,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":339.123149,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":339.21814,"values":{"Elec_RPM":-2355.38965,"EncoderCos":34872,"EncoderSin":12589,"GapTicks":49465,"Mech_RPM":-471.077942,"cg_du":55.0317345,"cg_dv":44.9682655,"cg_dw":47.8048973,"cg_id_a":7.59588528,"cg_id_raw_a":1.31036484,"cg_iq_a":-200.106964,"cg_iq_raw_a":-198.433456,"cg_iu_a":198.075073,"cg_iv_a":-70.96875,"cg_iw_a":-127.106323,"cg_sample_age_us":24.0890903,"cg_sample_seq":3061617,"cg_sample_valid":1,"cg_theta_rad":4.83137321,"cg_vd_req_v":-2.07875729,"cg_vd_v":-2.07875729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39132404,"cg_vq_v":-8.39132404,"cg_vu_v":105.574219,"cg_vv_v":81.820015,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2469.6084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9551392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":339.571655,"values":{"Elec_RPM":-2357.82617,"EncoderCos":35039,"EncoderSin":12639,"GapTicks":49545,"Mech_RPM":-471.565216,"cg_du":54.9584618,"cg_dv":45.0415382,"cg_dw":47.4729233,"cg_id_a":8.86494923,"cg_id_raw_a":6.17929029,"cg_iq_a":-202.380173,"cg_iq_raw_a":-202.239349,"cg_iu_a":188.253006,"cg_iv_a":-20.4086151,"cg_iw_a":-167.844391,"cg_sample_age_us":23.9654541,"cg_sample_seq":3063370,"cg_sample_valid":1,"cg_theta_rad":4.8824482,"cg_vd_req_v":-2.09675193,"cg_vd_v":-2.09675193,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35211563,"cg_vq_v":-8.35211563,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2432.47925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":339.901733,"values":{"Elec_RPM":-2348.85107,"EncoderCos":51962,"EncoderSin":26953,"GapTicks":49362,"Mech_RPM":-469.770203,"cg_du":55.1249924,"cg_dv":44.8750076,"cg_dw":51.0706978,"cg_id_a":-16.1388168,"cg_id_raw_a":-12.3542881,"cg_iq_a":-194.714905,"cg_iq_raw_a":-195.047516,"cg_iu_a":180.859253,"cg_iv_a":-154.583267,"cg_iw_a":-26.2759857,"cg_sample_age_us":24.1399994,"cg_sample_seq":3065016,"cg_sample_valid":1,"cg_theta_rad":6.00592995,"cg_vd_req_v":-1.58738875,"cg_vd_v":-1.58738875,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50600433,"cg_vq_v":-8.50600433,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2473.00732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9500427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":340.146619,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":340.146624,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":340.14663,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":340.235718,"values":{"Elec_RPM":-2347.97388,"EncoderCos":52094,"EncoderSin":27496,"GapTicks":49323,"Mech_RPM":-469.594788,"cg_du":55.1607437,"cg_dv":44.8392563,"cg_dw":49.9150162,"cg_id_a":-13.8869123,"cg_id_raw_a":-16.2196598,"cg_iq_a":-195.631821,"cg_iq_raw_a":-193.785309,"cg_iu_a":191.297485,"cg_iv_a":-134.939117,"cg_iw_a":-56.3583679,"cg_sample_age_us":24.136364,"cg_sample_seq":3066767,"cg_sample_valid":1,"cg_theta_rad":6.03322458,"cg_vd_req_v":-1.65462613,"cg_vd_v":-1.65462613,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46449089,"cg_vq_v":-8.46449089,"cg_vu_v":106.893898,"cg_vv_v":94.1370087,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9244995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":340.58728,"values":{"Elec_RPM":-2349.92114,"EncoderCos":46524,"EncoderSin":47561,"GapTicks":49317,"Mech_RPM":-469.984222,"cg_du":51.1445236,"cg_dv":44.8344002,"cg_dw":55.1655998,"cg_id_a":-2.75761843,"cg_id_raw_a":-5.80443096,"cg_iq_a":-198.925049,"cg_iq_raw_a":-197.978867,"cg_iu_a":135.192032,"cg_iv_a":-197.278519,"cg_iw_a":62.0864868,"cg_sample_age_us":23.5072727,"cg_sample_seq":3068420,"cg_sample_valid":1,"cg_theta_rad":0.858631134,"cg_vd_req_v":-1.9073993,"cg_vd_v":-1.9073993,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46405792,"cg_vq_v":-8.46405792,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9704895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":340.919312,"values":{"Elec_RPM":-2352.66504,"EncoderCos":45380,"EncoderSin":48507,"GapTicks":49823,"Mech_RPM":-470.53299,"cg_du":53.9198227,"cg_dv":45.2943459,"cg_dw":54.7056541,"cg_id_a":18.476841,"cg_id_raw_a":18.647562,"cg_iq_a":-200.905136,"cg_iq_raw_a":-200.678711,"cg_iu_a":164.622025,"cg_iv_a":-182.744736,"cg_iw_a":18.1227112,"cg_sample_age_us":23.9036369,"cg_sample_seq":3070167,"cg_sample_valid":1,"cg_theta_rad":0.900366843,"cg_vd_req_v":-2.2883656,"cg_vd_v":-2.2883656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42056179,"cg_vq_v":-8.42056179,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.5420761,"dclink_p_w":-2538.771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":40.9040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":341.107052,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":341.107059,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":341.107064,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":341.253296,"values":{"Elec_RPM":-2351.83911,"EncoderCos":24110,"EncoderSin":51112,"GapTicks":49509,"Mech_RPM":-470.367828,"cg_du":48.3386612,"cg_dv":45.0085487,"cg_dw":54.9914513,"cg_id_a":-14.9742937,"cg_id_raw_a":-9.32226849,"cg_iq_a":-202.60434,"cg_iq_raw_a":-203.414536,"cg_iu_a":10.6219769,"cg_iv_a":-179.80899,"cg_iw_a":169.187012,"cg_sample_age_us":23.8890915,"cg_sample_seq":3071817,"cg_sample_valid":1,"cg_theta_rad":2.01111746,"cg_vd_req_v":-1.57460833,"cg_vd_v":-1.57460833,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34678841,"cg_vq_v":-8.34678841,"cg_vu_v":138.126266,"cg_vv_v":109.533249,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2546.74268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9415283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":341.604858,"values":{"Elec_RPM":-2351.08081,"EncoderCos":15355,"EncoderSin":43240,"GapTicks":50043,"Mech_RPM":-470.216156,"cg_du":54.3556404,"cg_dv":54.5058479,"cg_dw":45.4941521,"cg_id_a":7.28656578,"cg_id_raw_a":9.96260452,"cg_iq_a":-203.835114,"cg_iq_raw_a":-206.000916,"cg_iu_a":13.485239,"cg_iv_a":169.110397,"cg_iw_a":-182.595642,"cg_sample_age_us":23.7981815,"cg_sample_seq":3073516,"cg_sample_valid":1,"cg_theta_rad":2.59223533,"cg_vd_req_v":-2.09951615,"cg_vd_v":-2.01482034,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33669758,"cg_vq_v":-8.36395836,"cg_vu_v":104.694435,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.9099503,"dclink_p_w":-2576.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9381409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":341.938843,"values":{"Elec_RPM":-2355.51904,"EncoderCos":12429,"EncoderSin":32223,"GapTicks":49600,"Mech_RPM":-471.103821,"cg_du":45.0911865,"cg_dv":47.180645,"cg_dw":54.9088135,"cg_id_a":9.18634415,"cg_id_raw_a":6.41202831,"cg_iq_a":-199.558716,"cg_iq_raw_a":-199.387741,"cg_iu_a":-65.2363663,"cg_iv_a":-130.118683,"cg_iw_a":195.355057,"cg_sample_age_us":23.8309097,"cg_sample_seq":3075216,"cg_sample_valid":1,"cg_theta_rad":3.16317677,"cg_vd_req_v":-2.06774521,"cg_vd_v":-2.06774521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41859627,"cg_vq_v":-8.41859627,"cg_vu_v":11.4372072,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2556.48413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.8700562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":342.098836,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":342.098842,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":342.098847,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":342.270874,"values":{"Elec_RPM":-2347.03662,"EncoderCos":15868,"EncoderSin":21313,"GapTicks":49371,"Mech_RPM":-469.407349,"cg_du":55.1166611,"cg_dv":50.6392593,"cg_dw":44.8833389,"cg_id_a":-4.87136841,"cg_id_raw_a":-9.61316395,"cg_iq_a":-198.994934,"cg_iq_raw_a":-195.812897,"cg_iu_a":116.417725,"cg_iv_a":82.6688538,"cg_iw_a":-199.086578,"cg_sample_age_us":23.9690914,"cg_sample_seq":3076917,"cg_sample_valid":1,"cg_theta_rad":3.74257231,"cg_vd_req_v":-1.7955265,"cg_vd_v":-1.7955265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38271523,"cg_vq_v":-8.38271523,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.9588795,"dclink_p_w":-2599.09253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":40.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":342.622437,"values":{"Elec_RPM":-2350.57544,"EncoderCos":24677,"EncoderSin":14102,"GapTicks":49450,"Mech_RPM":-470.115082,"cg_du":44.9552803,"cg_dv":51.7504272,"cg_dw":55.0447197,"cg_id_a":-11.646471,"cg_id_raw_a":-9.44062424,"cg_iq_a":-200.201599,"cg_iq_raw_a":-199.635223,"cg_iu_a":-164.182037,"cg_iv_a":-14.8632965,"cg_iw_a":179.045334,"cg_sample_age_us":23.9400005,"cg_sample_seq":3078617,"cg_sample_valid":1,"cg_theta_rad":4.31787968,"cg_vd_req_v":-1.66425395,"cg_vd_v":-1.66425395,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40867138,"cg_vq_v":-8.40867138,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9347229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":342.956421,"values":{"Elec_RPM":-2348.23706,"EncoderCos":36293,"EncoderSin":12795,"GapTicks":49833,"Mech_RPM":-469.6474,"cg_du":54.6966667,"cg_dv":46.1676636,"cg_dw":45.3033333,"cg_id_a":8.28271866,"cg_id_raw_a":11.9045763,"cg_iq_a":-199.482605,"cg_iq_raw_a":-200.799606,"cg_iu_a":175.712646,"cg_iv_a":-4.31636047,"cg_iw_a":-171.396286,"cg_sample_age_us":24.0927277,"cg_sample_seq":3080316,"cg_sample_valid":1,"cg_theta_rad":4.90474367,"cg_vd_req_v":-2.05479193,"cg_vd_v":-2.05479193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42929268,"cg_vq_v":-8.42929268,"cg_vu_v":17.5957031,"cg_vv_v":13.6366701,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9398193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":343.091716,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":343.091721,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":343.091726,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":343.286499,"values":{"Elec_RPM":-2345.64966,"EncoderCos":46505,"EncoderSin":18079,"GapTicks":49599,"Mech_RPM":-469.129913,"cg_du":45.0905685,"cg_dv":54.9094315,"cg_dw":53.0239639,"cg_id_a":10.6999674,"cg_id_raw_a":11.7960272,"cg_iq_a":-198.039093,"cg_iq_raw_a":-197.826721,"cg_iu_a":-187.414337,"cg_iv_a":33.8121643,"cg_iw_a":153.602173,"cg_sample_age_us":23.9254551,"cg_sample_seq":3082016,"cg_sample_valid":1,"cg_theta_rad":5.49611235,"cg_vd_req_v":-2.20149636,"cg_vd_v":-2.20149636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4247818,"cg_vq_v":-8.4247818,"cg_vu_v":110.413033,"cg_vv_v":111.732712,"cg_vw_v":119.210884,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":343.640015,"values":{"Elec_RPM":-2345.13403,"EncoderCos":52186,"EncoderSin":27849,"GapTicks":49337,"Mech_RPM":-469.026825,"cg_du":55.1479721,"cg_dv":44.8520279,"cg_dw":49.1888695,"cg_id_a":-11.1182766,"cg_id_raw_a":-14.3876228,"cg_iq_a":-197.871399,"cg_iq_raw_a":-197.610107,"cg_iu_a":197.060257,"cg_iv_a":-117.868286,"cg_iw_a":-79.1919708,"cg_sample_age_us":24.1254539,"cg_sample_seq":3083717,"cg_sample_valid":1,"cg_theta_rad":6.05258179,"cg_vd_req_v":-1.72889078,"cg_vd_v":-1.72889078,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43690872,"cg_vq_v":-8.43690872,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6308727,"dclink_p_w":-2543.86621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9381409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":343.972046,"values":{"Elec_RPM":-2343.33936,"EncoderCos":51567,"EncoderSin":39514,"GapTicks":49341,"Mech_RPM":-468.667877,"cg_du":44.855938,"cg_dv":55.144062,"cg_dw":48.8940773,"cg_id_a":-9.03177357,"cg_id_raw_a":-6.48421144,"cg_iq_a":-198.391785,"cg_iq_raw_a":-199.2612,"cg_iu_a":-186.689453,"cg_iv_a":149.031311,"cg_iw_a":37.6581345,"cg_sample_age_us":23.5654545,"cg_sample_seq":3085416,"cg_sample_valid":1,"cg_theta_rad":0.354227692,"cg_vd_req_v":-1.76706803,"cg_vd_v":-1.76706803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48025036,"cg_vq_v":-8.48025036,"cg_vu_v":39.590332,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9704895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":344.115168,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":344.115173,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":344.115178,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":344.325562,"values":{"Elec_RPM":-2339.80078,"EncoderCos":45510,"EncoderSin":48416,"GapTicks":49794,"Mech_RPM":-467.960175,"cg_du":53.6120682,"cg_dv":45.2680473,"cg_dw":54.7319527,"cg_id_a":15.4458122,"cg_id_raw_a":16.8440857,"cg_iq_a":-201.59903,"cg_iq_raw_a":-199.840317,"cg_iu_a":172.088257,"cg_iv_a":-172.378998,"cg_iw_a":0.290748596,"cg_sample_age_us":25.3545456,"cg_sample_seq":3087120,"cg_sample_valid":1,"cg_theta_rad":0.93433094,"cg_vd_req_v":-2.22391033,"cg_vd_v":-2.22391033,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37774849,"cg_vq_v":-8.37774849,"cg_vu_v":40.0302238,"cg_vv_v":39.1504402,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2469.67236,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9960632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":344.659546,"values":{"Elec_RPM":-2346.37231,"EncoderCos":34205,"EncoderSin":52822,"GapTicks":49624,"Mech_RPM":-469.274475,"cg_du":47.1554718,"cg_dv":54.8866081,"cg_dw":45.1133919,"cg_id_a":11.9791698,"cg_id_raw_a":7.88612986,"cg_iq_a":-203.598328,"cg_iq_raw_a":-202.863968,"cg_iu_a":-146.06012,"cg_iv_a":198.467926,"cg_iw_a":-52.4077988,"cg_sample_age_us":23.8890915,"cg_sample_seq":3088817,"cg_sample_valid":1,"cg_theta_rad":1.49698782,"cg_vd_req_v":-2.14528537,"cg_vd_v":-2.14528537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31661606,"cg_vq_v":-8.31661606,"cg_vu_v":135.926804,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2439.80054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.0215454,"temp_inv2_c":40.9824219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":344.989624,"values":{"Elec_RPM":-2341.06055,"EncoderCos":22898,"EncoderSin":50511,"GapTicks":49353,"Mech_RPM":-468.212097,"cg_du":51.0816803,"cg_dv":44.8669701,"cg_dw":55.1330299,"cg_id_a":-6.74516296,"cg_id_raw_a":-12.3084621,"cg_iq_a":-199.110367,"cg_iq_raw_a":-198.085464,"cg_iu_a":91.5544586,"cg_iv_a":-199.018219,"cg_iw_a":107.46376,"cg_sample_age_us":23.7254543,"cg_sample_seq":3090516,"cg_sample_valid":1,"cg_theta_rad":2.07844758,"cg_vd_req_v":-1.79784441,"cg_vd_v":-1.79784441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45215702,"cg_vq_v":-8.45215702,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9875183,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":345.107077,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":345.107082,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":345.107086,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":345.34314,"values":{"Elec_RPM":-2344.13599,"EncoderCos":14803,"EncoderSin":42288,"GapTicks":49306,"Mech_RPM":-468.827179,"cg_du":51.0580635,"cg_dv":55.1757431,"cg_dw":44.8242569,"cg_id_a":-9.54703522,"cg_id_raw_a":-8.69999409,"cg_iq_a":-193.802811,"cg_iq_raw_a":-194.289612,"cg_iu_a":-33.4867706,"cg_iv_a":178.243835,"cg_iw_a":-154.724121,"cg_sample_age_us":23.8018188,"cg_sample_seq":3092217,"cg_sample_valid":1,"cg_theta_rad":2.6526525,"cg_vd_req_v":-1.6662426,"cg_vd_v":-1.6662426,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54853249,"cg_vq_v":-8.54853249,"cg_vu_v":115.251846,"cg_vv_v":143.404984,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.2880402,"dclink_p_w":-2357.28101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9858398,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":345.675171,"values":{"Elec_RPM":-2356.35522,"EncoderCos":12479,"EncoderSin":31392,"GapTicks":50119,"Mech_RPM":-471.271027,"cg_du":45.5629959,"cg_dv":45.6351929,"cg_dw":54.4370041,"cg_id_a":12.5060997,"cg_id_raw_a":13.6679163,"cg_iq_a":-205.955627,"cg_iq_raw_a":-204.219711,"cg_iu_a":-7.4999404,"cg_iv_a":-173.792511,"cg_iw_a":181.29245,"cg_sample_age_us":23.9400005,"cg_sample_seq":3093918,"cg_sample_valid":1,"cg_theta_rad":3.22068548,"cg_vd_req_v":-2.11123729,"cg_vd_v":-2.11123729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26181221,"cg_vq_v":-8.26181221,"cg_vu_v":115.69175,"cg_vv_v":121.410347,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":346.007202,"values":{"Elec_RPM":-2354.73267,"EncoderCos":16611,"EncoderSin":20231,"GapTicks":49697,"Mech_RPM":-470.946533,"cg_du":54.8208389,"cg_dv":53.0716438,"cg_dw":45.1791611,"cg_id_a":12.9804792,"cg_id_raw_a":13.3208046,"cg_iq_a":-206.43631,"cg_iq_raw_a":-205.647629,"cg_iu_a":45.7060089,"cg_iv_a":153.30809,"cg_iw_a":-199.014099,"cg_sample_age_us":23.9909096,"cg_sample_seq":3095616,"cg_sample_valid":1,"cg_theta_rad":3.81085849,"cg_vd_req_v":-2.15098476,"cg_vd_v":-2.15098476,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2832737,"cg_vq_v":-8.2832737,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":40.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":346.13145,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":346.131455,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":346.13146,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":346.358765,"values":{"Elec_RPM":-2349.94678,"EncoderCos":25840,"EncoderSin":13632,"GapTicks":49323,"Mech_RPM":-469.989349,"cg_du":44.8394203,"cg_dv":49.0440712,"cg_dw":55.1605797,"cg_id_a":-9.1669693,"cg_id_raw_a":-13.2424059,"cg_iq_a":-195.987854,"cg_iq_raw_a":-195.474304,"cg_iu_a":-111.700958,"cg_iv_a":-82.9654846,"cg_iw_a":194.666443,"cg_sample_age_us":23.9436359,"cg_sample_seq":3097317,"cg_sample_valid":1,"cg_theta_rad":4.37828302,"cg_vd_req_v":-1.7431227,"cg_vd_v":-1.7431227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49624062,"cg_vq_v":-8.49624062,"cg_vu_v":99.4157181,"cg_vv_v":93.2572174,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":41.0079956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":346.692749,"values":{"Elec_RPM":-2348.41138,"EncoderCos":37531,"EncoderSin":13047,"GapTicks":49338,"Mech_RPM":-469.682281,"cg_du":55.1464691,"cg_dv":49.3830986,"cg_dw":44.8535309,"cg_id_a":-16.9752865,"cg_id_raw_a":-14.711854,"cg_iq_a":-194.593689,"cg_iq_raw_a":-195.827606,"cg_iu_a":147.87738,"cg_iv_a":39.6111755,"cg_iw_a":-187.488556,"cg_sample_age_us":24.005455,"cg_sample_seq":3099016,"cg_sample_valid":1,"cg_theta_rad":4.97175312,"cg_vd_req_v":-1.55290008,"cg_vd_v":-1.55290008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48001099,"cg_vq_v":-8.48001099,"cg_vu_v":32.9919434,"cg_vv_v":16.2760258,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6344986,"dclink_p_w":-2552.14673,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":41.0301819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":347.02478,"values":{"Elec_RPM":-2344.22632,"EncoderCos":47350,"EncoderSin":18930,"GapTicks":49764,"Mech_RPM":-468.845276,"cg_du":45.240181,"cg_dv":53.4102402,"cg_dw":54.759819,"cg_id_a":3.75533605,"cg_id_raw_a":10.5541801,"cg_iq_a":-202.281494,"cg_iq_raw_a":-204.407455,"cg_iu_a":-174.51152,"cg_iv_a":-1.27186584,"cg_iw_a":175.783386,"cg_sample_age_us":23.9181824,"cg_sample_seq":3100716,"cg_sample_valid":1,"cg_theta_rad":5.54371977,"cg_vd_req_v":-2.04506755,"cg_vd_v":-2.04506755,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36150837,"cg_vq_v":-8.36150837,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2419.92871,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":40.9960632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":347.12338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":347.123386,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":347.123391,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":347.378296,"values":{"Elec_RPM":-2347.17944,"EncoderCos":52446,"EncoderSin":29277,"GapTicks":49599,"Mech_RPM":-469.435883,"cg_du":54.8011131,"cg_dv":45.0901299,"cg_dw":47.099472,"cg_id_a":17.5534172,"cg_id_raw_a":15.6862202,"cg_iq_a":-204.343979,"cg_iq_raw_a":-203.72905,"cg_iu_a":194.958115,"cg_iv_a":-44.3295441,"cg_iw_a":-150.628571,"cg_sample_age_us":24.045454,"cg_sample_seq":3102416,"cg_sample_valid":1,"cg_theta_rad":6.11305285,"cg_vd_req_v":-2.292624,"cg_vd_v":-2.292624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34377861,"cg_vq_v":-8.34377861,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2424.15942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9773254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":347.710327,"values":{"Elec_RPM":-2346.37305,"EncoderCos":51172,"EncoderSin":40514,"GapTicks":49325,"Mech_RPM":-469.274628,"cg_du":44.8409843,"cg_dv":55.1590157,"cg_dw":51.1599464,"cg_id_a":-3.55603647,"cg_id_raw_a":-8.20048618,"cg_iq_a":-195.469269,"cg_iq_raw_a":-194.183609,"cg_iu_a":-194.844315,"cg_iv_a":101.261932,"cg_iw_a":83.0354309,"cg_sample_age_us":23.5472736,"cg_sample_seq":3104117,"cg_sample_valid":1,"cg_theta_rad":0.405673534,"cg_vd_req_v":-1.88807046,"cg_vd_v":-1.88807046,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48625755,"cg_vq_v":-8.48625755,"cg_vu_v":126.249161,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0488586,"temp_inv2_c":40.9926453,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":348.06189,"values":{"Elec_RPM":-2354.85059,"EncoderCos":44374,"EncoderSin":49270,"GapTicks":49455,"Mech_RPM":-470.970093,"cg_du":55.0408592,"cg_dv":44.9591408,"cg_dw":51.9804382,"cg_id_a":-10.6131639,"cg_id_raw_a":-9.27618599,"cg_iq_a":-196.668991,"cg_iq_raw_a":-198.71431,"cg_iu_a":189.086609,"cg_iv_a":-146.754608,"cg_iw_a":-42.3320007,"cg_sample_age_us":26.7909088,"cg_sample_seq":3105819,"cg_sample_valid":1,"cg_theta_rad":0.992043674,"cg_vd_req_v":-1.67934334,"cg_vd_v":-1.67934334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47313881,"cg_vq_v":-8.47313881,"cg_vu_v":47.9482918,"cg_vv_v":41.7897949,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2385.9375,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.0574646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":348.115464,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":348.11547,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":348.115475,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":348.511108,"values":{"Elec_RPM":-2353.52515,"EncoderCos":12593,"EncoderSin":35397,"GapTicks":49935,"Mech_RPM":-470.705048,"cg_du":45.396347,"cg_dv":53.9198418,"cg_dw":54.603653,"cg_id_a":7.3760972,"cg_id_raw_a":9.95750713,"cg_iq_a":-200.721634,"cg_iq_raw_a":-199.974533,"cg_iu_a":-179.368195,"cg_iv_a":18.5172729,"cg_iw_a":163.605469,"cg_sample_age_us":23.9254551,"cg_sample_seq":3107966,"cg_sample_valid":1,"cg_theta_rad":3.01289511,"cg_vd_req_v":-1.98082173,"cg_vd_v":-1.98082173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36746788,"cg_vq_v":-8.36746788,"cg_vu_v":38.2706528,"cg_vv_v":44.8690414,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":41.0233459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":348.979068,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":348.979078,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":348.97908,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":349.028687,"values":{"Elec_RPM":-2356.57593,"EncoderCos":52533,"EncoderSin":36018,"GapTicks":49336,"Mech_RPM":-471.315186,"cg_du":49.6341324,"cg_dv":55.1489334,"cg_dw":44.8510666,"cg_id_a":-16.7436619,"cg_id_raw_a":-17.6563129,"cg_iq_a":-199.02626,"cg_iq_raw_a":-197.528534,"cg_iu_a":-77.9579468,"cg_iv_a":199.120285,"cg_iw_a":-121.162338,"cg_sample_age_us":23.4927273,"cg_sample_seq":3110568,"cg_sample_valid":1,"cg_theta_rad":0.184883729,"cg_vd_req_v":-1.62418938,"cg_vd_v":-1.62418938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43060493,"cg_vq_v":-8.43060493,"cg_vu_v":123.169922,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2526.87061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0335693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":349.139388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":349.139394,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":349.1394,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":349.390015,"values":{"Elec_RPM":-2355.64453,"EncoderCos":36210,"EncoderSin":12783,"GapTicks":49917,"Mech_RPM":-471.128906,"cg_du":54.6200256,"cg_dv":46.011528,"cg_dw":45.3799744,"cg_id_a":8.32920551,"cg_id_raw_a":9.70682144,"cg_iq_a":-200.336884,"cg_iq_raw_a":-199.57872,"cg_iu_a":176.473755,"cg_iv_a":-9.35424805,"cg_iw_a":-167.119507,"cg_sample_age_us":24.0927277,"cg_sample_seq":3112467,"cg_sample_valid":1,"cg_theta_rad":4.89903593,"cg_vd_req_v":-2.05243349,"cg_vd_v":-2.05243349,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37886047,"cg_vq_v":-8.37886047,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":41.0557861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":349.722046,"values":{"Elec_RPM":-2351.14771,"EncoderCos":37173,"EncoderSin":12963,"GapTicks":49423,"Mech_RPM":-470.229553,"cg_du":55.0699883,"cg_dv":48.5912895,"cg_dw":44.9300117,"cg_id_a":-17.3067474,"cg_id_raw_a":-11.4954376,"cg_iq_a":-196.296204,"cg_iq_raw_a":-198.384598,"cg_iu_a":166.615448,"cg_iv_a":6.52053833,"cg_iw_a":-173.135986,"cg_sample_age_us":23.9181824,"cg_sample_seq":3114216,"cg_sample_valid":1,"cg_theta_rad":4.9483695,"cg_vd_req_v":-1.53542173,"cg_vd_v":-1.53542173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44248199,"cg_vq_v":-8.44248199,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.0028687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":350.054077,"values":{"Elec_RPM":-2355.13428,"EncoderCos":52198,"EncoderSin":27880,"GapTicks":49311,"Mech_RPM":-471.026855,"cg_du":55.1709824,"cg_dv":44.8290176,"cg_dw":49.1284866,"cg_id_a":-10.3407183,"cg_id_raw_a":-14.0291634,"cg_iq_a":-197.721085,"cg_iq_raw_a":-196.881699,"cg_iu_a":196.625336,"cg_iv_a":-116.563507,"cg_iw_a":-80.0618286,"cg_sample_age_us":24.1327267,"cg_sample_seq":3115867,"cg_sample_valid":1,"cg_theta_rad":6.05179071,"cg_vd_req_v":-1.75114286,"cg_vd_v":-1.75114286,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47685432,"cg_vq_v":-8.47685432,"cg_vu_v":142.965088,"cg_vv_v":134.607132,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":41.018219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":350.131386,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":350.131392,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":350.131398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":350.407593,"values":{"Elec_RPM":-2354.9519,"EncoderCos":52414,"EncoderSin":28895,"GapTicks":49521,"Mech_RPM":-470.990387,"cg_du":54.9802895,"cg_dv":45.0197105,"cg_dw":47.4041824,"cg_id_a":16.0669231,"cg_id_raw_a":13.6169119,"cg_iq_a":-201.493225,"cg_iq_raw_a":-200.719666,"cg_iu_a":197.060257,"cg_iv_a":-49.911087,"cg_iw_a":-147.14917,"cg_sample_age_us":24.1145458,"cg_sample_seq":3117616,"cg_sample_valid":1,"cg_theta_rad":6.10186625,"cg_vd_req_v":-2.27624059,"cg_vd_v":-2.27624059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38805199,"cg_vq_v":-8.38805199,"cg_vu_v":47.0685043,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2480.28491,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.0489502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":350.737671,"values":{"Elec_RPM":-2361.15259,"EncoderCos":44958,"EncoderSin":48820,"GapTicks":49898,"Mech_RPM":-472.230499,"cg_du":54.6375122,"cg_dv":45.3624878,"cg_dw":53.9023285,"cg_id_a":10.9218626,"cg_id_raw_a":14.2598991,"cg_iq_a":-202.189789,"cg_iq_raw_a":-202.503235,"cg_iu_a":171.834534,"cg_iv_a":-177.743073,"cg_iw_a":5.90854645,"cg_sample_age_us":24.0090904,"cg_sample_seq":3119267,"cg_sample_valid":1,"cg_theta_rad":0.924172223,"cg_vd_req_v":-2.11184454,"cg_vd_v":-2.11184454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3532753,"cg_vq_v":-8.3532753,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0455322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":351.071655,"values":{"Elec_RPM":-2360.41479,"EncoderCos":23317,"EncoderSin":50738,"GapTicks":49307,"Mech_RPM":-472.082977,"cg_du":49.8401146,"cg_dv":44.8252563,"cg_dw":55.1747437,"cg_id_a":-18.9480133,"cg_id_raw_a":-20.1274776,"cg_iq_a":-196.88623,"cg_iq_raw_a":-195.933487,"cg_iu_a":47.3732224,"cg_iv_a":-189.631073,"cg_iw_a":142.257843,"cg_sample_age_us":23.6563644,"cg_sample_seq":3120916,"cg_sample_valid":1,"cg_theta_rad":2.04597712,"cg_vd_req_v":-1.51955295,"cg_vd_v":-1.51955295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51455021,"cg_vq_v":-8.51455021,"cg_vu_v":117.451309,"cg_vv_v":117.451309,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.6218128,"dclink_p_w":-2534.80737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.01651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":351.091046,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":351.091052,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":351.091057,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":351.423218,"values":{"Elec_RPM":-2358.85449,"EncoderCos":22800,"EncoderSin":50440,"GapTicks":49379,"Mech_RPM":-471.770874,"cg_du":51.2924004,"cg_dv":44.8901215,"cg_dw":55.1098785,"cg_id_a":-3.5619266,"cg_id_raw_a":-7.18965149,"cg_iq_a":-198.548096,"cg_iq_raw_a":-198.357346,"cg_iu_a":98.9844437,"cg_iv_a":-199.598114,"cg_iw_a":100.613678,"cg_sample_age_us":23.7509098,"cg_sample_seq":3122666,"cg_sample_valid":1,"cg_theta_rad":2.08422518,"cg_vd_req_v":-1.84419775,"cg_vd_v":-1.84419775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45735931,"cg_vq_v":-8.45735931,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.9440517,"dclink_p_w":-2452.22192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0335693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":351.755249,"values":{"Elec_RPM":-2360.51855,"EncoderCos":14681,"EncoderSin":42046,"GapTicks":49308,"Mech_RPM":-472.103729,"cg_du":50.4200935,"cg_dv":55.1738701,"cg_dw":44.8261299,"cg_id_a":-11.92309,"cg_id_raw_a":-12.4520206,"cg_iq_a":-194.322739,"cg_iq_raw_a":-193.766739,"cg_iu_a":-34.4653511,"cg_iv_a":183.317978,"cg_iw_a":-148.852631,"cg_sample_age_us":23.7909088,"cg_sample_seq":3124366,"cg_sample_valid":1,"cg_theta_rad":2.66748261,"cg_vd_req_v":-1.6194737,"cg_vd_v":-1.6194737,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50289154,"cg_vq_v":-8.50289154,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.4837551,"dclink_p_w":-2385.60571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.0472412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":352.108765,"values":{"Elec_RPM":-2356.08447,"EncoderCos":12527,"EncoderSin":30958,"GapTicks":49843,"Mech_RPM":-471.216888,"cg_du":46.5006943,"cg_dv":45.311821,"cg_dw":54.688179,"cg_id_a":6.2576499,"cg_id_raw_a":10.046195,"cg_iq_a":-205.866196,"cg_iq_raw_a":-207.103149,"cg_iu_a":-3.2231679,"cg_iv_a":-174.118713,"cg_iw_a":182.198547,"cg_sample_age_us":23.9509087,"cg_sample_seq":3126066,"cg_sample_valid":1,"cg_theta_rad":3.23293209,"cg_vd_req_v":-1.98065352,"cg_vd_v":-1.98065352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29800034,"cg_vq_v":-8.29800034,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2510.97046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":352.114778,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":352.114784,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":352.114788,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":352.440796,"values":{"Elec_RPM":-2359.55835,"EncoderCos":35889,"EncoderSin":12727,"GapTicks":50002,"Mech_RPM":-471.911682,"cg_du":54.5430489,"cg_dv":45.4569511,"cg_dw":45.8002625,"cg_id_a":13.4332733,"cg_id_raw_a":13.0202627,"cg_iq_a":-202.183319,"cg_iq_raw_a":-202.162231,"cg_iu_a":182.417755,"cg_iv_a":-21.5684204,"cg_iw_a":-160.849335,"cg_sample_age_us":24.0599995,"cg_sample_seq":3127667,"cg_sample_valid":1,"cg_theta_rad":4.88335323,"cg_vd_req_v":-2.16113544,"cg_vd_v":-2.16113544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32993507,"cg_vq_v":-8.32993507,"cg_vu_v":142.085297,"cg_vv_v":129.328415,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0557861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":352.77478,"values":{"Elec_RPM":-2358.56836,"EncoderCos":25960,"EncoderSin":13621,"GapTicks":49350,"Mech_RPM":-471.713654,"cg_du":44.8645058,"cg_dv":48.8481789,"cg_dw":55.1354942,"cg_id_a":-6.46273422,"cg_id_raw_a":-11.1416779,"cg_iq_a":-196.277878,"cg_iq_raw_a":-195.27713,"cg_iu_a":-102.458786,"cg_iv_a":-91.3377838,"cg_iw_a":193.79657,"cg_sample_age_us":23.9218178,"cg_sample_seq":3129467,"cg_sample_valid":1,"cg_theta_rad":4.38371563,"cg_vd_req_v":-1.79454029,"cg_vd_v":-1.79454029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46565342,"cg_vq_v":-8.46565342,"cg_vu_v":115.251846,"cg_vv_v":138.566162,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2518.05151,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.021637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":353.107499,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":353.107505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":353.10751,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":353.126343,"values":{"Elec_RPM":-2353.14746,"EncoderCos":46676,"EncoderSin":18220,"GapTicks":49695,"Mech_RPM":-470.629517,"cg_du":45.1774368,"cg_dv":54.8225632,"cg_dw":53.4974823,"cg_id_a":10.7346773,"cg_id_raw_a":7.495152,"cg_iq_a":-199.466431,"cg_iq_raw_a":-197.711823,"cg_iu_a":-189.009064,"cg_iv_a":35.9143066,"cg_iw_a":153.094757,"cg_sample_age_us":23.954546,"cg_sample_seq":3131117,"cg_sample_valid":1,"cg_theta_rad":5.49135256,"cg_vd_req_v":-2.19991851,"cg_vd_v":-2.19991851,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42817688,"cg_vq_v":-8.42817688,"cg_vu_v":114.37207,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":41.018219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":353.458374,"values":{"Elec_RPM":-2355.45264,"EncoderCos":38070,"EncoderSin":13173,"GapTicks":49342,"Mech_RPM":-471.090546,"cg_du":55.1429443,"cg_dv":50.4051933,"cg_dw":44.8570557,"cg_id_a":-10.1893978,"cg_id_raw_a":-15.1157141,"cg_iq_a":-199.815735,"cg_iq_raw_a":-198.556015,"cg_iu_a":126.565994,"cg_iv_a":58.4579773,"cg_iw_a":-195.969604,"cg_sample_age_us":23.9618187,"cg_sample_seq":3132917,"cg_sample_valid":1,"cg_theta_rad":4.99044085,"cg_vd_req_v":-1.73219347,"cg_vd_v":-1.73219347,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4005661,"cg_vq_v":-8.4005661,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2497.84741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":353.792358,"values":{"Elec_RPM":-2354.43823,"EncoderCos":51362,"EncoderSin":40062,"GapTicks":49327,"Mech_RPM":-470.887634,"cg_du":44.842907,"cg_dv":55.157093,"cg_dw":50.1581268,"cg_id_a":-8.05111027,"cg_id_raw_a":-8.06135273,"cg_iq_a":-196.110687,"cg_iq_raw_a":-196.56926,"cg_iu_a":-194.300659,"cg_iv_a":124.602966,"cg_iw_a":69.6976929,"cg_sample_age_us":23.5327282,"cg_sample_seq":3134516,"cg_sample_valid":1,"cg_theta_rad":0.380735248,"cg_vd_req_v":-1.79135406,"cg_vd_v":-1.79135406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45814323,"cg_vq_v":-8.45814323,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0711365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":354.107135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":354.107139,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":354.107142,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":354.143921,"values":{"Elec_RPM":-2357.46826,"EncoderCos":52607,"EncoderSin":29939,"GapTicks":49937,"Mech_RPM":-471.493652,"cg_du":54.6025124,"cg_dv":45.9575844,"cg_dw":45.3974876,"cg_id_a":7.77050447,"cg_id_raw_a":9.18412209,"cg_iq_a":-200.738892,"cg_iq_raw_a":-201.029205,"cg_iu_a":177.379852,"cg_iv_a":-11.0214539,"cg_iw_a":-166.358398,"cg_sample_age_us":24.0127277,"cg_sample_seq":3136317,"cg_sample_valid":1,"cg_theta_rad":6.15573072,"cg_vd_req_v":-2.06407332,"cg_vd_v":-2.06407332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37314701,"cg_vq_v":-8.37314701,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2444.0918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":354.475952,"values":{"Elec_RPM":-2344.59692,"EncoderCos":33536,"EncoderSin":52854,"GapTicks":49978,"Mech_RPM":-468.919403,"cg_du":45.8033371,"cg_dv":54.5646248,"cg_dw":45.4353752,"cg_id_a":14.4080677,"cg_id_raw_a":15.905695,"cg_iq_a":-204.093521,"cg_iq_raw_a":-203.966705,"cg_iu_a":-167.045288,"cg_iv_a":183.68042,"cg_iw_a":-16.6351242,"cg_sample_age_us":23.9145451,"cg_sample_seq":3137916,"cg_sample_valid":1,"cg_theta_rad":1.53097177,"cg_vd_req_v":-2.17777944,"cg_vd_v":-2.17777944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35705376,"cg_vq_v":-8.35705376,"cg_vu_v":38.2706528,"cg_vv_v":51.0275345,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2550.573,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0284729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":354.827515,"values":{"Elec_RPM":-2344.55542,"EncoderCos":23188,"EncoderSin":50712,"GapTicks":49331,"Mech_RPM":-468.911072,"cg_du":50.3995132,"cg_dv":44.8467102,"cg_dw":55.1532898,"cg_id_a":-12.3008842,"cg_id_raw_a":-13.8765841,"cg_iq_a":-196.305557,"cg_iq_raw_a":-196.642227,"cg_iu_a":110.038818,"cg_iv_a":-197.459747,"cg_iw_a":87.420929,"cg_sample_age_us":26.5472736,"cg_sample_seq":3139620,"cg_sample_valid":1,"cg_theta_rad":2.0969255,"cg_vd_req_v":-1.66859353,"cg_vd_v":-1.66859353,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48414707,"cg_vq_v":-8.48414707,"cg_vu_v":106.453995,"cg_vv_v":91.0577545,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2401.34204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":40.9977722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":355.131015,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":355.13102,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":355.131025,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":355.161499,"values":{"Elec_RPM":-2344.38721,"EncoderCos":14601,"EncoderSin":41949,"GapTicks":49299,"Mech_RPM":-468.877441,"cg_du":50.1749802,"cg_dv":55.1826553,"cg_dw":44.8173447,"cg_id_a":-11.6791391,"cg_id_raw_a":-9.51004028,"cg_iq_a":-196.66153,"cg_iq_raw_a":-195.261414,"cg_iu_a":-56.4291153,"cg_iv_a":193.248779,"cg_iw_a":-136.819672,"cg_sample_age_us":23.9109097,"cg_sample_seq":3141317,"cg_sample_valid":1,"cg_theta_rad":2.67883253,"cg_vd_req_v":-1.6451416,"cg_vd_v":-1.6451416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47810078,"cg_vq_v":-8.47810078,"cg_vu_v":144.28476,"cg_vv_v":142.085297,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":41.1035156,"temp_inv2_c":41.0813904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":355.495483,"values":{"Elec_RPM":-2350.92065,"EncoderCos":12495,"EncoderSin":30748,"GapTicks":49687,"Mech_RPM":-470.184143,"cg_du":47.0420303,"cg_dv":45.1707191,"cg_dw":54.8292809,"cg_id_a":-0.195745945,"cg_id_raw_a":7.05340052,"cg_iq_a":-205.691544,"cg_iq_raw_a":-204.76207,"cg_iu_a":-0.577367783,"cg_iv_a":-177.598114,"cg_iw_a":178.175476,"cg_sample_age_us":23.9218178,"cg_sample_seq":3143017,"cg_sample_valid":1,"cg_theta_rad":3.24606919,"cg_vd_req_v":-1.84951794,"cg_vd_v":-1.84951794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33130455,"cg_vq_v":-8.33130455,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2382.45874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.1308594,"temp_inv2_c":41.0796814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":355.847046,"values":{"Elec_RPM":-2351.44922,"EncoderCos":12637,"EncoderSin":29930,"GapTicks":49359,"Mech_RPM":-470.289825,"cg_du":49.2221184,"cg_dv":44.8726807,"cg_dw":55.1273193,"cg_id_a":-20.2637386,"cg_id_raw_a":-18.0144444,"cg_iq_a":-198.197662,"cg_iq_raw_a":-199.964188,"cg_iu_a":26.53302,"cg_iv_a":-181.729904,"cg_iw_a":155.196884,"cg_sample_age_us":23.7945461,"cg_sample_seq":3144767,"cg_sample_valid":1,"cg_theta_rad":3.28741765,"cg_vd_req_v":-1.46034157,"cg_vd_v":-1.46034157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47637749,"cg_vq_v":-8.47637749,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.422142,"dclink_p_w":-2376.68872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0848083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":356.111029,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":356.111034,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":356.111039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":356.179077,"values":{"Elec_RPM":-2349.65771,"EncoderCos":17541,"EncoderSin":19161,"GapTicks":49585,"Mech_RPM":-469.931519,"cg_du":52.5670547,"cg_dv":54.9221649,"cg_dw":45.0778351,"cg_id_a":-6.41157627,"cg_id_raw_a":-0.427312851,"cg_iq_a":-198.574249,"cg_iq_raw_a":-200.677078,"cg_iu_a":0.183752537,"cg_iv_a":171.502502,"cg_iw_a":-171.686249,"cg_sample_age_us":23.9654541,"cg_sample_seq":3146466,"cg_sample_valid":1,"cg_theta_rad":3.87744331,"cg_vd_req_v":-1.72220206,"cg_vd_v":-1.72220206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41600418,"cg_vq_v":-8.41600418,"cg_vu_v":18.0355949,"cg_vv_v":11.4372072,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0908413,"dclink_p_w":-2473.46606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0745544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":356.511108,"values":{"Elec_RPM":-2348.56689,"EncoderCos":37912,"EncoderSin":13123,"GapTicks":49343,"Mech_RPM":-469.713379,"cg_du":55.1425552,"cg_dv":50.14394,"cg_dw":44.8574448,"cg_id_a":-14.4476051,"cg_id_raw_a":-15.2428932,"cg_iq_a":-198.525299,"cg_iq_raw_a":-198.956116,"cg_iu_a":134.539642,"cg_iv_a":62.662262,"cg_iw_a":-197.201904,"cg_sample_age_us":24.005455,"cg_sample_seq":3148116,"cg_sample_valid":1,"cg_theta_rad":4.98690605,"cg_vd_req_v":-1.63892972,"cg_vd_v":-1.63892972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43733025,"cg_vq_v":-8.43733025,"cg_vu_v":2.63935518,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2467.95825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0813904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":356.864624,"values":{"Elec_RPM":-2352.53638,"EncoderCos":52429,"EncoderSin":29032,"GapTicks":49611,"Mech_RPM":-470.507294,"cg_du":54.8987579,"cg_dv":45.1012421,"cg_dw":47.1451416,"cg_id_a":17.0659103,"cg_id_raw_a":16.6846104,"cg_iq_a":-202.42099,"cg_iq_raw_a":-201.583481,"cg_iu_a":194.776886,"cg_iv_a":-41.1763306,"cg_iw_a":-153.600555,"cg_sample_age_us":24.1399994,"cg_sample_seq":3149766,"cg_sample_valid":1,"cg_theta_rad":6.11050177,"cg_vd_req_v":-2.2771585,"cg_vd_v":-2.2771585,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33187962,"cg_vq_v":-8.33187962,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2441.10791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.1206665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":357.103449,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":357.103454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":357.103459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":357.194702,"values":{"Elec_RPM":-2350.62573,"EncoderCos":48255,"EncoderSin":19992,"GapTicks":49330,"Mech_RPM":-470.125153,"cg_du":44.8460388,"cg_dv":50.0823555,"cg_dw":55.1539612,"cg_id_a":-11.5942268,"cg_id_raw_a":-11.7756147,"cg_iq_a":-196.725922,"cg_iq_raw_a":-198.073273,"cg_iu_a":-135.295685,"cg_iv_a":-58.6096191,"cg_iw_a":193.905304,"cg_sample_age_us":23.9109097,"cg_sample_seq":3151566,"cg_sample_valid":1,"cg_theta_rad":5.61276484,"cg_vd_req_v":-1.74034476,"cg_vd_v":-1.74034476,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4624176,"cg_vq_v":-8.4624176,"cg_vu_v":34.7515144,"cg_vv_v":33.871727,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2550.04858,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0967712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":357.528687,"values":{"Elec_RPM":-2347.72632,"EncoderCos":44112,"EncoderSin":49368,"GapTicks":49348,"Mech_RPM":-469.545258,"cg_du":55.1378632,"cg_dv":44.8621368,"cg_dw":51.3040504,"cg_id_a":-13.9845352,"cg_id_raw_a":-11.5764437,"cg_iq_a":-196.101883,"cg_iq_raw_a":-196.837097,"cg_iu_a":181.076721,"cg_iv_a":-157.011597,"cg_iw_a":-12.8295212,"cg_sample_age_us":23.954546,"cg_sample_seq":3153166,"cg_sample_valid":1,"cg_theta_rad":0.971773982,"cg_vd_req_v":-1.63388419,"cg_vd_v":-1.63388419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52256107,"cg_vq_v":-8.52256107,"cg_vu_v":7.47817326,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2403.70239,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.0796814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":357.882202,"values":{"Elec_RPM":-2348.45923,"EncoderCos":50610,"EncoderSin":41840,"GapTicks":49828,"Mech_RPM":-469.691864,"cg_du":45.298996,"cg_dv":54.701004,"cg_dw":53.8799515,"cg_id_a":13.5667276,"cg_id_raw_a":13.3989916,"cg_iq_a":-200.866486,"cg_iq_raw_a":-200.536163,"cg_iu_a":-188.102966,"cg_iv_a":24.6062317,"cg_iw_a":163.496735,"cg_sample_age_us":23.5545464,"cg_sample_seq":3154966,"cg_sample_valid":1,"cg_theta_rad":0.477351606,"cg_vd_req_v":-2.23212695,"cg_vd_v":-2.23212695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41120434,"cg_vq_v":-8.41120434,"cg_vu_v":1.31967759,"cg_vv_v":5.27871037,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.0557861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":358.127096,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":358.127101,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":358.127139,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":358.231812,"values":{"Elec_RPM":-2353.04102,"EncoderCos":42841,"EncoderSin":50172,"GapTicks":49406,"Mech_RPM":-470.608215,"cg_du":55.0845566,"cg_dv":44.9154434,"cg_dw":48.3546371,"cg_id_a":2.36284328,"cg_id_raw_a":-4.94550848,"cg_iq_a":-197.96106,"cg_iq_raw_a":-196.54509,"cg_iu_a":198.292542,"cg_iv_a":-84.9951172,"cg_iw_a":-113.297424,"cg_sample_age_us":23.9290905,"cg_sample_seq":3156667,"cg_sample_valid":1,"cg_theta_rad":1.04667342,"cg_vd_req_v":-1.98110688,"cg_vd_v":-1.98110688,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44091606,"cg_vq_v":-8.44091606,"cg_vu_v":106.893898,"cg_vv_v":95.4566803,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2571,"hz_tim_isr":4999,"hz_vsense":2571,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.0848083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":358.751343,"values":{"Elec_RPM":-2350.58057,"EncoderCos":52502,"EncoderSin":29512,"GapTicks":49851,"Mech_RPM":-470.116119,"cg_du":54.6808205,"cg_dv":45.3191795,"cg_dw":46.1313934,"cg_id_a":17.6977959,"cg_id_raw_a":22.2059631,"cg_iq_a":-203.78949,"cg_iq_raw_a":-205.336563,"cg_iu_a":190.500122,"cg_iv_a":-31.6804504,"cg_iw_a":-158.819672,"cg_sample_age_us":24.0418186,"cg_sample_seq":3159116,"cg_sample_valid":1,"cg_theta_rad":6.13221169,"cg_vd_req_v":-2.28123522,"cg_vd_v":-2.28123522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36158562,"cg_vq_v":-8.36158562,"cg_vu_v":40.4701157,"cg_vv_v":40.0302238,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2485.19312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2571,"hz_tim_isr":4999,"hz_vsense":2571,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.0933533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":358.991414,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":358.991424,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":358.991427,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":359.118739,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":359.118744,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":359.118749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":359.208374,"values":{"Elec_RPM":-2348.54761,"EncoderCos":36829,"EncoderSin":12860,"GapTicks":49520,"Mech_RPM":-469.709503,"cg_du":54.981514,"cg_dv":47.5990601,"cg_dw":45.018486,"cg_id_a":-7.39818192,"cg_id_raw_a":0.529685616,"cg_iq_a":-198.51384,"cg_iq_raw_a":-200.102814,"cg_iu_a":171.834549,"cg_iv_a":-1.88801575,"cg_iw_a":-169.620346,"cg_sample_age_us":23.9254551,"cg_sample_seq":3161566,"cg_sample_valid":1,"cg_theta_rad":4.92940283,"cg_vd_req_v":-1.74200237,"cg_vd_v":-1.74200237,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43685436,"cg_vq_v":-8.43685436,"cg_vu_v":17.1558094,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2493.66064,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.1001587,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":359.540405,"values":{"Elec_RPM":-2349.55713,"EncoderCos":46868,"EncoderSin":18357,"GapTicks":49841,"Mech_RPM":-469.911407,"cg_du":45.3107719,"cg_dv":54.6892281,"cg_dw":53.9161263,"cg_id_a":13.0114975,"cg_id_raw_a":6.96609449,"cg_iq_a":-199.108475,"cg_iq_raw_a":-197.303848,"cg_iu_a":-184.261108,"cg_iv_a":26.8895874,"cg_iw_a":157.371521,"cg_sample_age_us":23.9654541,"cg_sample_seq":3163267,"cg_sample_valid":1,"cg_theta_rad":5.50403118,"cg_vd_req_v":-2.246696,"cg_vd_v":-2.246696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4319458,"cg_vq_v":-8.4319458,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2463.0957,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.0848083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":359.891968,"values":{"Elec_RPM":-2346.84717,"EncoderCos":52352,"EncoderSin":28691,"GapTicks":49431,"Mech_RPM":-469.369415,"cg_du":55.0619507,"cg_dv":44.9380493,"cg_dw":48.1086159,"cg_id_a":6.928092,"cg_id_raw_a":8.72801399,"cg_iq_a":-198.647247,"cg_iq_raw_a":-199.561905,"cg_iu_a":197.712646,"cg_iv_a":-75.0643158,"cg_iw_a":-122.648331,"cg_sample_age_us":24.1399994,"cg_sample_seq":3164967,"cg_sample_valid":1,"cg_theta_rad":6.08365679,"cg_vd_req_v":-2.09207368,"cg_vd_v":-2.09207368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39711571,"cg_vq_v":-8.39711571,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.0523376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":360.11058,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":360.110586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":360.110592,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":360.225952,"values":{"Elec_RPM":-2352.90771,"EncoderCos":51510,"EncoderSin":39589,"GapTicks":49323,"Mech_RPM":-470.581543,"cg_du":44.83992,"cg_dv":55.16008,"cg_dw":49.1215858,"cg_id_a":-11.2246571,"cg_id_raw_a":-10.3637762,"cg_iq_a":-197.681534,"cg_iq_raw_a":-198.896103,"cg_iu_a":-190.168854,"cg_iv_a":139.245483,"cg_iw_a":50.923378,"cg_sample_age_us":23.5581818,"cg_sample_seq":3166668,"cg_sample_valid":1,"cg_theta_rad":0.367373079,"cg_vd_req_v":-1.73233318,"cg_vd_v":-1.73233318,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46292496,"cg_vq_v":-8.46292496,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2490.26465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1087341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":360.557983,"values":{"Elec_RPM":-2350.10034,"EncoderCos":44412,"EncoderSin":49180,"GapTicks":49443,"Mech_RPM":-470.02005,"cg_du":55.0517082,"cg_dv":44.9482918,"cg_dw":52.1511459,"cg_id_a":-9.42530632,"cg_id_raw_a":-1.01013184,"cg_iq_a":-196.119354,"cg_iq_raw_a":-198.101837,"cg_iu_a":172.740646,"cg_iv_a":-164.187897,"cg_iw_a":-8.55275726,"cg_sample_age_us":23.9145451,"cg_sample_seq":3168366,"cg_sample_valid":1,"cg_theta_rad":0.958283901,"cg_vd_req_v":-1.70715714,"cg_vd_v":-1.70715714,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52421284,"cg_vq_v":-8.52421284,"cg_vu_v":50.5876465,"cg_vv_v":42.6695786,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2381.54517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.0916443,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":360.909546,"values":{"Elec_RPM":-2344.09473,"EncoderCos":43669,"EncoderSin":49686,"GapTicks":49304,"Mech_RPM":-468.818939,"cg_du":55.1772919,"cg_dv":44.8227081,"cg_dw":50.0775833,"cg_id_a":-15.435648,"cg_id_raw_a":-16.8779202,"cg_iq_a":-194.440048,"cg_iq_raw_a":-193.865784,"cg_iu_a":184.048721,"cg_iv_a":-146.5009,"cg_iw_a":-37.547821,"cg_sample_age_us":23.8309097,"cg_sample_seq":3170116,"cg_sample_valid":1,"cg_theta_rad":0.992144942,"cg_vd_req_v":-1.61505365,"cg_vd_v":-1.61505365,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52698326,"cg_vq_v":-8.52698326,"cg_vu_v":106.893898,"cg_vv_v":91.0577545,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-17.7323551,"dclink_p_w":-2574.10938,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.122406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":361.103556,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":361.103561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":361.103567,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":361.24353,"values":{"Elec_RPM":-2343.23877,"EncoderCos":32805,"EncoderSin":52852,"GapTicks":49674,"Mech_RPM":-468.647736,"cg_du":45.1584587,"cg_dv":54.8415413,"cg_dw":46.9676743,"cg_id_a":2.26746011,"cg_id_raw_a":6.91408682,"cg_iq_a":-201.616409,"cg_iq_raw_a":-203.772049,"cg_iu_a":-173.714172,"cg_iv_a":173.205963,"cg_iw_a":0.508216858,"cg_sample_age_us":23.8345451,"cg_sample_seq":3171817,"cg_sample_valid":1,"cg_theta_rad":1.56753433,"cg_vd_req_v":-1.90703321,"cg_vd_v":-1.90703321,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36276054,"cg_vq_v":-8.36276054,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-16.9929829,"dclink_p_w":-2459.30347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1497498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":361.595093,"values":{"Elec_RPM":-2347.58228,"EncoderCos":21943,"EncoderSin":49927,"GapTicks":49621,"Mech_RPM":-469.516449,"cg_du":53.1470871,"cg_dv":45.110527,"cg_dw":54.889473,"cg_id_a":11.5882416,"cg_id_raw_a":7.63439894,"cg_iq_a":-200.20285,"cg_iq_raw_a":-199.167892,"cg_iu_a":148.49353,"cg_iv_a":-192.458099,"cg_iw_a":43.9645615,"cg_sample_age_us":23.6745453,"cg_sample_seq":3173517,"cg_sample_valid":1,"cg_theta_rad":2.1335783,"cg_vd_req_v":-2.15647554,"cg_vd_v":-2.15647554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41861343,"cg_vq_v":-8.41861343,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2473.00732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1394958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":361.927124,"values":{"Elec_RPM":-2350.97363,"EncoderCos":16539,"EncoderSin":20343,"GapTicks":49649,"Mech_RPM":-470.194733,"cg_du":54.8639603,"cg_dv":52.8123016,"cg_dw":45.1360397,"cg_id_a":12.5054741,"cg_id_raw_a":11.3443031,"cg_iq_a":-203.960648,"cg_iq_raw_a":-203.857803,"cg_iu_a":51.2875595,"cg_iv_a":147.799011,"cg_iw_a":-199.086578,"cg_sample_age_us":23.9290905,"cg_sample_seq":3175116,"cg_sample_valid":1,"cg_theta_rad":3.80472827,"cg_vd_req_v":-2.13475585,"cg_vd_v":-2.13475585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29911041,"cg_vq_v":-8.29911041,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2463.07153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1326599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":362.127414,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":362.12742,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":362.127426,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":362.261108,"values":{"Elec_RPM":-2353.71289,"EncoderCos":12651,"EncoderSin":29842,"GapTicks":49381,"Mech_RPM":-470.742554,"cg_du":49.4681969,"cg_dv":44.8925323,"cg_dw":55.1074677,"cg_id_a":-22.2258263,"cg_id_raw_a":-19.2336941,"cg_iq_a":-196.98941,"cg_iq_raw_a":-198.629425,"cg_iu_a":30.3748665,"cg_iv_a":-182.962189,"cg_iw_a":152.587326,"cg_sample_age_us":23.8018188,"cg_sample_seq":3176917,"cg_sample_valid":1,"cg_theta_rad":3.29286599,"cg_vd_req_v":-1.4108851,"cg_vd_v":-1.4108851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45982742,"cg_vq_v":-8.45982742,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2471.10547,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1565857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":362.612671,"values":{"Elec_RPM":-2355.94678,"EncoderCos":36371,"EncoderSin":12815,"GapTicks":49769,"Mech_RPM":-471.189331,"cg_du":54.7547035,"cg_dv":46.3978081,"cg_dw":45.2452965,"cg_id_a":4.76071548,"cg_id_raw_a":10.1351452,"cg_iq_a":-199.374649,"cg_iq_raw_a":-201.709015,"cg_iu_a":159.874084,"cg_iv_a":20.0757446,"cg_iw_a":-179.949829,"cg_sample_age_us":24.0563641,"cg_sample_seq":3178520,"cg_sample_valid":1,"cg_theta_rad":4.94925117,"cg_vd_req_v":-1.98452234,"cg_vd_v":-1.98452234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44250393,"cg_vq_v":-8.44250393,"cg_vu_v":25.0738773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1309509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":362.944702,"values":{"Elec_RPM":-2359.38745,"EncoderCos":27261,"EncoderSin":13246,"GapTicks":49788,"Mech_RPM":-471.877472,"cg_du":45.262413,"cg_dv":46.4223633,"cg_dw":54.737587,"cg_id_a":16.4950275,"cg_id_raw_a":18.3531914,"cg_iq_a":-204.434723,"cg_iq_raw_a":-202.664581,"cg_iu_a":-28.0864372,"cg_iv_a":-164.731552,"cg_iw_a":192.817993,"cg_sample_age_us":23.9254551,"cg_sample_seq":3180316,"cg_sample_valid":1,"cg_theta_rad":4.45476103,"cg_vd_req_v":-2.24569345,"cg_vd_v":-2.24569345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33985901,"cg_vq_v":-8.33985901,"cg_vu_v":4.83881807,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2419.92871,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1412048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":363.118927,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":363.118933,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":363.118938,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":363.276733,"values":{"Elec_RPM":-2359.9978,"EncoderCos":47762,"EncoderSin":19438,"GapTicks":49485,"Mech_RPM":-471.999542,"cg_du":44.9872398,"cg_dv":51.7769585,"cg_dw":55.0127602,"cg_id_a":-7.92550278,"cg_id_raw_a":-4.29732704,"cg_iq_a":-200.622711,"cg_iq_raw_a":-201.774414,"cg_iu_a":-161.753693,"cg_iv_a":-25.4102631,"cg_iw_a":187.163956,"cg_sample_age_us":23.9254551,"cg_sample_seq":3181966,"cg_sample_valid":1,"cg_theta_rad":5.57477474,"cg_vd_req_v":-1.79217553,"cg_vd_v":-1.79217553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3607254,"cg_vq_v":-8.3607254,"cg_vu_v":37.830761,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1548767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":363.630249,"values":{"Elec_RPM":-2353.76685,"EncoderCos":52532,"EncoderSin":29781,"GapTicks":50068,"Mech_RPM":-470.753357,"cg_du":54.4827576,"cg_dv":45.5403786,"cg_dw":45.5172424,"cg_id_a":11.2313633,"cg_id_raw_a":14.8923903,"cg_iq_a":-203.298737,"cg_iq_raw_a":-206.70256,"cg_iu_a":185.317261,"cg_iv_a":-23.5618286,"cg_iw_a":-161.755432,"cg_sample_age_us":24.045454,"cg_sample_seq":3183666,"cg_sample_valid":1,"cg_theta_rad":6.13859892,"cg_vd_req_v":-2.15237808,"cg_vd_v":-2.15237808,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33952999,"cg_vq_v":-8.33952999,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2434.57104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1617432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":363.96228,"values":{"Elec_RPM":-2357.73022,"EncoderCos":50960,"EncoderSin":40992,"GapTicks":49380,"Mech_RPM":-471.546051,"cg_du":44.8915291,"cg_dv":55.1084709,"cg_dw":52.1554642,"cg_id_a":4.70876884,"cg_id_raw_a":-2.16535234,"cg_iq_a":-195.91922,"cg_iq_raw_a":-194.227585,"cg_iu_a":-193.684509,"cg_iv_a":71.6869659,"cg_iw_a":121.997543,"cg_sample_age_us":23.51091,"cg_sample_seq":3185367,"cg_sample_valid":1,"cg_theta_rad":0.432435751,"cg_vd_req_v":-2.06761456,"cg_vd_v":-2.06761456,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.512393,"cg_vq_v":-8.512393,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1326599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":364.11161,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":364.111615,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":364.11162,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":364.294312,"values":{"Elec_RPM":-2357.64063,"EncoderCos":43534,"EncoderSin":49745,"GapTicks":49327,"Mech_RPM":-471.528107,"cg_du":55.1570091,"cg_dv":44.8429909,"cg_dw":49.8156395,"cg_id_a":-13.1058846,"cg_id_raw_a":-15.8956461,"cg_iq_a":-195.744278,"cg_iq_raw_a":-194.617035,"cg_iu_a":191.841141,"cg_iv_a":-131.785919,"cg_iw_a":-60.0552292,"cg_sample_age_us":23.9581814,"cg_sample_seq":3187067,"cg_sample_valid":1,"cg_theta_rad":1.00930393,"cg_vd_req_v":-1.66137242,"cg_vd_v":-1.66137242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48498154,"cg_vq_v":-8.48498154,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1463318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":364.645874,"values":{"Elec_RPM":-2350.57666,"EncoderCos":32526,"EncoderSin":52905,"GapTicks":49527,"Mech_RPM":-470.115326,"cg_du":45.0250816,"cg_dv":54.9749184,"cg_dw":47.678833,"cg_id_a":-4.04545259,"cg_id_raw_a":1.82725012,"cg_iq_a":-201.215317,"cg_iq_raw_a":-203.341644,"cg_iu_a":-178.897034,"cg_iv_a":167.008255,"cg_iw_a":11.8887787,"cg_sample_age_us":23.8963642,"cg_sample_seq":3188767,"cg_sample_valid":1,"cg_theta_rad":1.58313072,"cg_vd_req_v":-1.78464115,"cg_vd_v":-1.78464115,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39638901,"cg_vq_v":-8.39638901,"cg_vu_v":142.525192,"cg_vv_v":142.085297,"cg_vw_v":135.926804,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2384.8916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.125824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":364.979858,"values":{"Elec_RPM":-2352.24854,"EncoderCos":21474,"EncoderSin":49588,"GapTicks":49942,"Mech_RPM":-470.449707,"cg_du":54.2457542,"cg_dv":45.4020462,"cg_dw":54.5979538,"cg_id_a":16.3660221,"cg_id_raw_a":20.7112865,"cg_iq_a":-201.665878,"cg_iq_raw_a":-200.444214,"cg_iu_a":168.318909,"cg_iv_a":-180.968796,"cg_iw_a":12.6498871,"cg_sample_age_us":24.0745449,"cg_sample_seq":3190466,"cg_sample_valid":1,"cg_theta_rad":2.16408753,"cg_vd_req_v":-2.23441386,"cg_vd_v":-2.23441386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41600037,"cg_vq_v":-8.41600037,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5236244,"dclink_p_w":-2398.64453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1446228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":365.103635,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":365.10364,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":365.103645,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":365.333374,"values":{"Elec_RPM":-2357.04541,"EncoderCos":14321,"EncoderSin":41276,"GapTicks":49395,"Mech_RPM":-471.409088,"cg_du":48.816925,"cg_dv":55.0953903,"cg_dw":44.9046097,"cg_id_a":-2.79888463,"cg_id_raw_a":-7.16031742,"cg_iq_a":-198.852722,"cg_iq_raw_a":-198.127563,"cg_iu_a":-146.67627,"cg_iv_a":197.670547,"cg_iw_a":-50.994278,"cg_sample_age_us":26.8309097,"cg_sample_seq":3192170,"cg_sample_valid":1,"cg_theta_rad":2.75377798,"cg_vd_req_v":-1.81913769,"cg_vd_v":-1.81913769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42317581,"cg_vq_v":-8.42317581,"cg_vu_v":23.3143044,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2423.10962,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1668701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":365.663452,"values":{"Elec_RPM":-2355.51953,"EncoderCos":17246,"EncoderSin":19450,"GapTicks":49811,"Mech_RPM":-471.103912,"cg_du":53.6498337,"cg_dv":54.7172661,"cg_dw":45.2827339,"cg_id_a":3.9926393,"cg_id_raw_a":7.46724033,"cg_iq_a":-201.438751,"cg_iq_raw_a":-203.970581,"cg_iu_a":8.12115288,"cg_iv_a":168.892929,"cg_iw_a":-177.014084,"cg_sample_age_us":23.9690914,"cg_sample_seq":3193816,"cg_sample_valid":1,"cg_theta_rad":3.85792375,"cg_vd_req_v":-1.94271159,"cg_vd_v":-1.94271159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38563824,"cg_vq_v":-8.38563824,"cg_vu_v":37.3908691,"cg_vv_v":46.1887207,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.2699165,"dclink_p_w":-2347.50098,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.1634216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103781186,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":365.997437,"values":{"Elec_RPM":-2355.98706,"EncoderCos":17576,"EncoderSin":19017,"GapTicks":49483,"Mech_RPM":-471.197418,"cg_du":52.2805862,"cg_dv":55.0151138,"cg_dw":44.9848862,"cg_id_a":-8.29036331,"cg_id_raw_a":-3.03657866,"cg_iq_a":-198.317627,"cg_iq_raw_a":-198.588974,"cg_iu_a":-7.02877045,"cg_iv_a":174.655701,"cg_iw_a":-167.626923,"cg_sample_age_us":23.994545,"cg_sample_seq":3195567,"cg_sample_valid":1,"cg_theta_rad":3.88627982,"cg_vd_req_v":-1.69968414,"cg_vd_v":-1.69968414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46978283,"cg_vq_v":-8.46978283,"cg_vu_v":144.28476,"cg_vv_v":142.085297,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1634216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":366.127041,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":366.127048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":366.127054,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":366.348999,"values":{"Elec_RPM":-2365.14795,"EncoderCos":37660,"EncoderSin":13102,"GapTicks":49331,"Mech_RPM":-473.029602,"cg_du":55.153183,"cg_dv":49.688858,"cg_dw":44.846817,"cg_id_a":-17.6800175,"cg_id_raw_a":-17.7115688,"cg_iq_a":-195.151794,"cg_iq_raw_a":-196.248016,"cg_iu_a":104.565994,"cg_iv_a":83.0675354,"cg_iw_a":-196.730728,"cg_sample_age_us":23.9145451,"cg_sample_seq":3197220,"cg_sample_valid":1,"cg_theta_rad":5.01512814,"cg_vd_req_v":-1.54838789,"cg_vd_v":-1.54838789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47664452,"cg_vq_v":-8.47664452,"cg_vu_v":1.75957024,"cg_vv_v":3.51914048,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2436.40137,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1497498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":366.682983,"values":{"Elec_RPM":-2368.17529,"EncoderCos":28174,"EncoderSin":13000,"GapTicks":49754,"Mech_RPM":-473.635071,"cg_du":46.8521042,"cg_dv":45.2315521,"cg_dw":54.7684479,"cg_id_a":1.82265687,"cg_id_raw_a":8.22488117,"cg_iq_a":-204.380676,"cg_iq_raw_a":-205.490997,"cg_iu_a":0.79989779,"cg_iv_a":-174.916061,"cg_iw_a":178.28421,"cg_sample_age_us":23.9400005,"cg_sample_seq":3199018,"cg_sample_valid":1,"cg_theta_rad":4.50853872,"cg_vd_req_v":-1.91086006,"cg_vd_v":-1.91086006,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31106186,"cg_vq_v":-8.31106186,"cg_vu_v":143.844864,"cg_vv_v":138.566162,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.2678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":367.015015,"values":{"Elec_RPM":-2364.94409,"EncoderCos":52587,"EncoderSin":29981,"GapTicks":49883,"Mech_RPM":-472.988831,"cg_du":54.6514015,"cg_dv":46.000824,"cg_dw":45.3485985,"cg_id_a":7.82926416,"cg_id_raw_a":9.84165859,"cg_iq_a":-201.751556,"cg_iq_raw_a":-201.936478,"cg_iu_a":177.198639,"cg_iv_a":-9.35424805,"cg_iw_a":-167.844391,"cg_sample_age_us":24.1327267,"cg_sample_seq":3200617,"cg_sample_valid":1,"cg_theta_rad":6.15872049,"cg_vd_req_v":-2.07761002,"cg_vd_v":-2.07761002,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3985815,"cg_vq_v":-8.3985815,"cg_vu_v":142.965088,"cg_vv_v":144.28476,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2497.82056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1668701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":367.11963,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":367.119636,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":367.119642,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":367.366577,"values":{"Elec_RPM":-2360.25293,"EncoderCos":48991,"EncoderSin":20911,"GapTicks":49375,"Mech_RPM":-472.050598,"cg_du":44.8866882,"cg_dv":47.9694061,"cg_dw":55.1133118,"cg_id_a":11.9226341,"cg_id_raw_a":6.3672657,"cg_iq_a":-198.977478,"cg_iq_raw_a":-197.80632,"cg_iu_a":-77.4142914,"cg_iv_a":-120.187897,"cg_iw_a":197.602188,"cg_sample_age_us":23.8345451,"cg_sample_seq":3202416,"cg_sample_valid":1,"cg_theta_rad":5.66123724,"cg_vd_req_v":-2.24487972,"cg_vd_v":-2.24487972,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44690228,"cg_vq_v":-8.44690228,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.5475121,"dclink_p_w":-2539.55762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1976624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":367.700562,"values":{"Elec_RPM":-2353.23706,"EncoderCos":43182,"EncoderSin":49992,"GapTicks":49367,"Mech_RPM":-470.6474,"cg_du":55.1204605,"cg_dv":44.8795395,"cg_dw":49.012413,"cg_id_a":-7.36929607,"cg_id_raw_a":-12.9065161,"cg_iq_a":-198.304291,"cg_iq_raw_a":-197.148148,"cg_iu_a":197.676392,"cg_iv_a":-112.06926,"cg_iw_a":-85.607132,"cg_sample_age_us":23.9218178,"cg_sample_seq":3204017,"cg_sample_valid":1,"cg_theta_rad":1.02943707,"cg_vd_req_v":-1.78869021,"cg_vd_v":-1.78869021,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42202568,"cg_vq_v":-8.42202568,"cg_vu_v":142.965088,"cg_vv_v":124.929489,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.182251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":368.03064,"values":{"Elec_RPM":-2353.98535,"EncoderCos":31899,"EncoderSin":52887,"GapTicks":49321,"Mech_RPM":-470.797089,"cg_du":44.8373795,"cg_dv":55.1626205,"cg_dw":49.1616898,"cg_id_a":-10.1338415,"cg_id_raw_a":-8.84065342,"cg_iq_a":-196.941284,"cg_iq_raw_a":-197.789886,"cg_iu_a":-187.813019,"cg_iv_a":146.385529,"cg_iw_a":41.4274979,"cg_sample_age_us":23.7872734,"cg_sample_seq":3205716,"cg_sample_valid":1,"cg_theta_rad":1.61500764,"cg_vd_req_v":-1.6806643,"cg_vd_v":-1.6806643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50072575,"cg_vq_v":-8.50072575,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2397.14575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.2130127,"temp_inv2_c":41.182251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":368.110872,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":368.110878,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":368.110883,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":368.49939,"values":{"Elec_RPM":-2346.85815,"EncoderCos":12453,"EncoderSin":33727,"GapTicks":49396,"Mech_RPM":-469.371643,"cg_du":44.9056969,"cg_dv":49.9137993,"cg_dw":55.0943031,"cg_id_a":-16.8104172,"cg_id_raw_a":-15.5549688,"cg_iq_a":-200.182587,"cg_iq_raw_a":-202.269394,"cg_iu_a":-148.162262,"cg_iv_a":-41.3212891,"cg_iw_a":189.483551,"cg_sample_age_us":23.8381824,"cg_sample_seq":3207916,"cg_sample_valid":1,"cg_theta_rad":3.08884525,"cg_vd_req_v":-1.52326262,"cg_vd_v":-1.52326262,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37630272,"cg_vq_v":-8.37630272,"cg_vu_v":95.4566803,"cg_vv_v":90.1779785,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.8229656,"dclink_p_w":-2571.58228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.178833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":368.974813,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":368.974823,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":368.974826,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":369.018921,"values":{"Elec_RPM":-2340.99756,"EncoderCos":51983,"EncoderSin":38167,"GapTicks":50095,"Mech_RPM":-468.199524,"cg_du":45.5422211,"cg_dv":54.4584846,"cg_dw":45.5415154,"cg_id_a":10.9693394,"cg_id_raw_a":14.1593933,"cg_iq_a":-206.343323,"cg_iq_raw_a":-206.814804,"cg_iu_a":-166.501633,"cg_iv_a":189.805634,"cg_iw_a":-23.3039932,"cg_sample_age_us":23.4454536,"cg_sample_seq":3210516,"cg_sample_valid":1,"cg_theta_rad":0.274510175,"cg_vd_req_v":-2.17717028,"cg_vd_v":-2.17717028,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29594994,"cg_vq_v":-8.29594994,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2231293,"dclink_p_w":-2492.61133,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.1873779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":369.134646,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":369.134652,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":369.134657,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":369.378296,"values":{"Elec_RPM":-2343.46582,"EncoderCos":37934,"EncoderSin":13153,"GapTicks":49347,"Mech_RPM":-468.693146,"cg_du":55.1386375,"cg_dv":50.2051582,"cg_dw":44.8613625,"cg_id_a":-13.536088,"cg_id_raw_a":-19.355999,"cg_iq_a":-196.468323,"cg_iq_raw_a":-192.536926,"cg_iu_a":122.180496,"cg_iv_a":76.6161346,"cg_iw_a":-198.796631,"cg_sample_age_us":24.0309086,"cg_sample_seq":3212417,"cg_sample_valid":1,"cg_theta_rad":4.99785233,"cg_vd_req_v":-1.64206445,"cg_vd_v":-1.64206445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43122864,"cg_vq_v":-8.43122864,"cg_vu_v":28.5930176,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.18396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":369.71228,"values":{"Elec_RPM":-2343.69678,"EncoderCos":47773,"EncoderSin":19368,"GapTicks":49460,"Mech_RPM":-468.73938,"cg_du":44.9643707,"cg_dv":51.9195023,"cg_dw":55.0356293,"cg_id_a":-6.81546831,"cg_id_raw_a":-4.36913681,"cg_iq_a":-201.059158,"cg_iq_raw_a":-202.187851,"cg_iu_a":-162.768524,"cg_iv_a":-12.3624725,"cg_iw_a":178.972839,"cg_sample_age_us":23.9072723,"cg_sample_seq":3214116,"cg_sample_valid":1,"cg_theta_rad":5.57051706,"cg_vd_req_v":-1.83420885,"cg_vd_v":-1.83420885,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3923111,"cg_vq_v":-8.3923111,"cg_vu_v":38.7105446,"cg_vv_v":48.3881836,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2402.41016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1497498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":370.042358,"values":{"Elec_RPM":-2350.15332,"EncoderCos":52533,"EncoderSin":29626,"GapTicks":49941,"Mech_RPM":-470.03067,"cg_du":54.5982475,"cg_dv":45.4017525,"cg_dw":45.8301086,"cg_id_a":13.7850971,"cg_id_raw_a":14.9653397,"cg_iq_a":-203.451935,"cg_iq_raw_a":-203.525589,"cg_iu_a":183.251343,"cg_iv_a":-21.2059631,"cg_iw_a":-162.04538,"cg_sample_age_us":24.1145458,"cg_sample_seq":3215817,"cg_sample_valid":1,"cg_theta_rad":6.14007378,"cg_vd_req_v":-2.20881057,"cg_vd_v":-2.20881057,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36058426,"cg_vq_v":-8.36058426,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2539.15967,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.1856689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":370.126936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":370.126941,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":370.126945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":370.397827,"values":{"Elec_RPM":-2354.15894,"EncoderCos":50932,"EncoderSin":41085,"GapTicks":49462,"Mech_RPM":-470.831787,"cg_du":44.9658356,"cg_dv":55.0341644,"cg_dw":52.2902412,"cg_id_a":7.19190407,"cg_id_raw_a":1.50734532,"cg_iq_a":-196.474121,"cg_iq_raw_a":-195.191238,"cg_iu_a":-192.415985,"cg_iv_a":65.2718201,"cg_iw_a":127.144165,"cg_sample_age_us":23.550909,"cg_sample_seq":3217517,"cg_sample_valid":1,"cg_theta_rad":0.437599778,"cg_vd_req_v":-2.1102674,"cg_vd_v":-2.1102674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46551228,"cg_vq_v":-8.46551228,"cg_vu_v":128.448624,"cg_vv_v":135.486908,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.6218128,"dclink_p_w":-2550.31079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.1891174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":370.727905,"values":{"Elec_RPM":-2349.3877,"EncoderCos":22887,"EncoderSin":50476,"GapTicks":49321,"Mech_RPM":-469.877533,"cg_du":51.1357269,"cg_dv":44.8377914,"cg_dw":55.1622086,"cg_id_a":-6.11166096,"cg_id_raw_a":-12.3860264,"cg_iq_a":-198.422531,"cg_iq_raw_a":-197.761078,"cg_iu_a":92.3155823,"cg_iv_a":-199.308167,"cg_iw_a":106.992584,"cg_sample_age_us":23.6963634,"cg_sample_seq":3219117,"cg_sample_valid":1,"cg_theta_rad":2.07829356,"cg_vd_req_v":-1.8119427,"cg_vd_v":-1.8119427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47818089,"cg_vq_v":-8.47818089,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.1684341,"dclink_p_w":-2339.97095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.1873779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":371.081421,"values":{"Elec_RPM":-2350.82739,"EncoderCos":33134,"EncoderSin":52901,"GapTicks":49895,"Mech_RPM":-470.165497,"cg_du":45.3591118,"cg_dv":54.6408882,"cg_dw":46.1230774,"cg_id_a":10.6263456,"cg_id_raw_a":14.0038452,"cg_iq_a":-204.475143,"cg_iq_raw_a":-204.804382,"cg_iu_a":-181.071655,"cg_iv_a":157.766083,"cg_iw_a":23.3055801,"cg_sample_age_us":23.8600006,"cg_sample_seq":3220920,"cg_sample_valid":1,"cg_theta_rad":1.59353745,"cg_vd_req_v":-2.08845067,"cg_vd_v":-2.08845067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35337639,"cg_vq_v":-8.35337639,"cg_vu_v":0.87978512,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.2113647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":371.118969,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":371.118975,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":371.11898,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":371.413452,"values":{"Elec_RPM":-2349.89917,"EncoderCos":14376,"EncoderSin":41367,"GapTicks":49361,"Mech_RPM":-469.979828,"cg_du":48.9740639,"cg_dv":55.1257019,"cg_dw":44.8742981,"cg_id_a":-4.4685688,"cg_id_raw_a":-8.46184921,"cg_iq_a":-198.919891,"cg_iq_raw_a":-197.852692,"cg_iu_a":-91.0782166,"cg_iv_a":199.084045,"cg_iw_a":-108.005829,"cg_sample_age_us":23.8672733,"cg_sample_seq":3222567,"cg_sample_valid":1,"cg_theta_rad":2.70661616,"cg_vd_req_v":-1.79461074,"cg_vd_v":-1.79461074,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40713596,"cg_vq_v":-8.40713596,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2392.21265,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.1873779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":371.745483,"values":{"Elec_RPM":-2348.22534,"EncoderCos":13937,"EncoderSin":40457,"GapTicks":49645,"Mech_RPM":-469.64505,"cg_du":47.2071762,"cg_dv":54.8677444,"cg_dw":45.1322556,"cg_id_a":14.4421406,"cg_id_raw_a":8.34368706,"cg_iq_a":-204.664993,"cg_iq_raw_a":-203.000961,"cg_iu_a":-137.542816,"cg_iv_a":200.968719,"cg_iw_a":-63.4259109,"cg_sample_age_us":23.9327278,"cg_sample_seq":3224316,"cg_sample_valid":1,"cg_theta_rad":2.74690557,"cg_vd_req_v":-2.1602118,"cg_vd_v":-2.1602118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29259396,"cg_vq_v":-8.29259396,"cg_vu_v":101.615181,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.6671162,"dclink_p_w":-2556.86719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.1873779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":372.097046,"values":{"Elec_RPM":-2351.53369,"EncoderCos":16619,"EncoderSin":20245,"GapTicks":49684,"Mech_RPM":-470.306732,"cg_du":54.8319397,"cg_dv":53.0731392,"cg_dw":45.1680603,"cg_id_a":13.2809553,"cg_id_raw_a":12.0850916,"cg_iq_a":-206.261703,"cg_iq_raw_a":-204.407898,"cg_iu_a":7.3600316,"cg_iv_a":169.255371,"cg_iw_a":-176.615402,"cg_sample_age_us":23.9909096,"cg_sample_seq":3225971,"cg_sample_valid":1,"cg_theta_rad":3.85323191,"cg_vd_req_v":-2.14888167,"cg_vd_v":-2.14888167,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30226612,"cg_vq_v":-8.30226612,"cg_vu_v":136.806595,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2540.34473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.1617432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":372.110991,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":372.110998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":372.111003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":372.43103,"values":{"Elec_RPM":-2346.81787,"EncoderCos":17724,"EncoderSin":18894,"GapTicks":49406,"Mech_RPM":-469.363556,"cg_du":51.8048248,"cg_dv":55.0849457,"cg_dw":44.9150543,"cg_id_a":-10.6388569,"cg_id_raw_a":-8.60880375,"cg_iq_a":-194.994812,"cg_iq_raw_a":-196.180405,"cg_iu_a":-16.3071918,"cg_iv_a":175.090637,"cg_iw_a":-158.783447,"cg_sample_age_us":23.9654541,"cg_sample_seq":3227717,"cg_sample_valid":1,"cg_theta_rad":3.89462185,"cg_vd_req_v":-1.64394987,"cg_vd_v":-1.64394987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51701736,"cg_vq_v":-8.51701736,"cg_vu_v":117.011421,"cg_vv_v":143.404984,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-17.5475121,"dclink_p_w":-2547.27661,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.2953491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103126571,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":372.763062,"values":{"Elec_RPM":-2354.50708,"EncoderCos":38432,"EncoderSin":13273,"GapTicks":49418,"Mech_RPM":-470.901428,"cg_du":55.0743027,"cg_dv":51.156105,"cg_dw":44.9256973,"cg_id_a":-7.7303834,"cg_id_raw_a":-9.77210236,"cg_iq_a":-202.155289,"cg_iq_raw_a":-202.176727,"cg_iu_a":119.389725,"cg_iv_a":79.5881195,"cg_iw_a":-198.977844,"cg_sample_age_us":23.8672733,"cg_sample_seq":3229366,"cg_sample_valid":1,"cg_theta_rad":5.00389433,"cg_vd_req_v":-1.78586483,"cg_vd_v":-1.78586483,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33779335,"cg_vq_v":-8.33779335,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2470.91577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.1993713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":373.102995,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":373.103001,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":373.103006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":373.114624,"values":{"Elec_RPM":-2353.37793,"EncoderCos":47878,"EncoderSin":19555,"GapTicks":49412,"Mech_RPM":-470.675598,"cg_du":44.9206123,"cg_dv":51.4136314,"cg_dw":55.0793877,"cg_id_a":-9.17588043,"cg_id_raw_a":-9.00607967,"cg_iq_a":-200.905487,"cg_iq_raw_a":-199.503174,"cg_iu_a":-156.135895,"cg_iv_a":-28.5634766,"cg_iw_a":184.699371,"cg_sample_age_us":23.8927269,"cg_sample_seq":3231067,"cg_sample_valid":1,"cg_theta_rad":5.58258343,"cg_vd_req_v":-1.78908396,"cg_vd_v":-1.78908396,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40901279,"cg_vq_v":-8.40901279,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.4167042,"dclink_p_w":-2375.90186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2199097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":373.448608,"values":{"Elec_RPM":-2353.15332,"EncoderCos":48574,"EncoderSin":20456,"GapTicks":49301,"Mech_RPM":-470.630676,"cg_du":44.81987,"cg_dv":48.9943657,"cg_dw":55.18013,"cg_id_a":-3.89282298,"cg_id_raw_a":-9.03210354,"cg_iq_a":-196.034271,"cg_iq_raw_a":-198.010971,"cg_iu_a":-104.30722,"cg_iv_a":-91.2290649,"cg_iw_a":195.536285,"cg_sample_age_us":23.9181824,"cg_sample_seq":3232816,"cg_sample_valid":1,"cg_theta_rad":5.63608789,"cg_vd_req_v":-1.91330981,"cg_vd_v":-1.91330981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4981842,"cg_vq_v":-8.4981842,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.6580563,"dclink_p_w":-2555.55615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.2404175,"temp_inv2_c":41.2062378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":373.78064,"values":{"Elec_RPM":-2352.42822,"EncoderCos":52688,"EncoderSin":31138,"GapTicks":49351,"Mech_RPM":-470.485626,"cg_du":55.1352844,"cg_dv":48.9354668,"cg_dw":44.8647156,"cg_id_a":-14.5119476,"cg_id_raw_a":-13.2307596,"cg_iq_a":-194.860733,"cg_iq_raw_a":-196.825821,"cg_iu_a":154.40126,"cg_iv_a":27.5419769,"cg_iw_a":-181.943237,"cg_sample_age_us":24.0890903,"cg_sample_seq":3234516,"cg_sample_valid":1,"cg_theta_rad":6.21261978,"cg_vd_req_v":-1.6201148,"cg_vd_v":-1.6201148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48980522,"cg_vq_v":-8.48980522,"cg_vu_v":46.6286087,"cg_vv_v":47.9482918,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2301941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":374.094971,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":374.094977,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":374.094982,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":374.132202,"values":{"Elec_RPM":-2348.87402,"EncoderCos":50342,"EncoderSin":42279,"GapTicks":49928,"Mech_RPM":-469.774811,"cg_du":45.3894157,"cg_dv":53.9743195,"cg_dw":54.6105843,"cg_id_a":7.50804758,"cg_id_raw_a":12.6018858,"cg_iq_a":-204.132858,"cg_iq_raw_a":-203.520355,"cg_iu_a":-180.999176,"cg_iv_a":6.99172974,"cg_iw_a":174.007446,"cg_sample_age_us":23.5581818,"cg_sample_seq":3236216,"cg_sample_valid":1,"cg_theta_rad":0.505301654,"cg_vd_req_v":-2.08591294,"cg_vd_v":-2.08591294,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32279015,"cg_vq_v":-8.32279015,"cg_vu_v":38.2706528,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.2155514,"dclink_p_w":-2339.65698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2250366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":374.466187,"values":{"Elec_RPM":-2350.05225,"EncoderCos":42494,"EncoderSin":50322,"GapTicks":49453,"Mech_RPM":-470.010437,"cg_du":55.0418854,"cg_dv":44.9581146,"cg_dw":47.7165794,"cg_id_a":11.5348701,"cg_id_raw_a":6.40609837,"cg_iq_a":-200.240143,"cg_iq_raw_a":-198.370377,"cg_iu_a":196.444122,"cg_iv_a":-62.1977539,"cg_iw_a":-134.246368,"cg_sample_age_us":23.9581814,"cg_sample_seq":3237917,"cg_sample_valid":1,"cg_theta_rad":1.0668304,"cg_vd_req_v":-2.1754415,"cg_vd_v":-2.1754415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43286896,"cg_vq_v":-8.43286896,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2409.20996,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.235321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":374.798218,"values":{"Elec_RPM":-2349.08667,"EncoderCos":21132,"EncoderSin":49360,"GapTicks":49876,"Mech_RPM":-469.817322,"cg_du":54.6576157,"cg_dv":45.3423843,"cg_dw":53.786911,"cg_id_a":9.3694191,"cg_id_raw_a":13.3741417,"cg_iq_a":-202.069443,"cg_iq_raw_a":-201.438309,"cg_iu_a":172.595673,"cg_iv_a":-177.271912,"cg_iw_a":4.67624664,"cg_sample_age_us":24.0490913,"cg_sample_seq":3239567,"cg_sample_valid":1,"cg_theta_rad":2.18161464,"cg_vd_req_v":-2.06650472,"cg_vd_v":-2.06650472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3463974,"cg_vq_v":-8.3463974,"cg_vu_v":107.333786,"cg_vv_v":100.735397,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2079163,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":375.119301,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":375.119308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":375.119315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":375.151733,"values":{"Elec_RPM":-2347.56616,"EncoderCos":13912,"EncoderSin":40377,"GapTicks":49629,"Mech_RPM":-469.513214,"cg_du":47.0039291,"cg_dv":54.8825302,"cg_dw":45.1174698,"cg_id_a":14.1692066,"cg_id_raw_a":12.3627815,"cg_iq_a":-204.634644,"cg_iq_raw_a":-203.299866,"cg_iu_a":-152.584015,"cg_iv_a":197.453094,"cg_iw_a":-44.869072,"cg_sample_age_us":24.0018177,"cg_sample_seq":3241267,"cg_sample_valid":1,"cg_theta_rad":2.76172566,"cg_vd_req_v":-2.16882014,"cg_vd_v":-2.16882014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32583046,"cg_vq_v":-8.32583046,"cg_vu_v":109.533249,"cg_vv_v":112.612495,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2504.90698,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2079163,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":375.481812,"values":{"Elec_RPM":-2347.57813,"EncoderCos":12824,"EncoderSin":29009,"GapTicks":49309,"Mech_RPM":-469.515625,"cg_du":50.9819984,"cg_dv":44.8270073,"cg_dw":55.1729927,"cg_id_a":-6.14591789,"cg_id_raw_a":-12.1695328,"cg_iq_a":-195.951385,"cg_iq_raw_a":-195.427246,"cg_iu_a":88.292511,"cg_iv_a":-195.901245,"cg_iw_a":107.608734,"cg_sample_age_us":23.6745453,"cg_sample_seq":3242967,"cg_sample_valid":1,"cg_theta_rad":3.33269835,"cg_vd_req_v":-1.78465974,"cg_vd_v":-1.78465974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51145172,"cg_vq_v":-8.51145172,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":117.891212,"control_outputs_enabled":1,"dclink_i_a":-17.4913349,"dclink_p_w":-2531.42749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.235321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104637213,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":375.835327,"values":{"Elec_RPM":-2349.92822,"EncoderCos":17603,"EncoderSin":19074,"GapTicks":49514,"Mech_RPM":-469.985626,"cg_du":52.3191032,"cg_dv":54.9867172,"cg_dw":45.0132828,"cg_id_a":-7.6033392,"cg_id_raw_a":-2.83529258,"cg_iq_a":-196.983337,"cg_iq_raw_a":-199.897049,"cg_iu_a":-40.6630478,"cg_iv_a":186.14502,"cg_iw_a":-145.481964,"cg_sample_age_us":23.8745461,"cg_sample_seq":3244670,"cg_sample_valid":1,"cg_theta_rad":3.9269557,"cg_vd_req_v":-1.69646299,"cg_vd_v":-1.69646299,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46023178,"cg_vq_v":-8.46023178,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-17.6580563,"dclink_p_w":-2555.55615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.1873779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":376.111039,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":376.111045,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":376.11105,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":376.169312,"values":{"Elec_RPM":-2346.82715,"EncoderCos":27996,"EncoderSin":13073,"GapTicks":49871,"Mech_RPM":-469.365417,"cg_du":46.3606415,"cg_dv":45.3381004,"cg_dw":54.6618996,"cg_id_a":5.62718391,"cg_id_raw_a":9.57126617,"cg_iq_a":-206.687988,"cg_iq_raw_a":-206.751373,"cg_iu_a":-5.21657848,"cg_iv_a":-174.299927,"cg_iw_a":179.51651,"cg_sample_age_us":23.9254551,"cg_sample_seq":3246367,"cg_sample_valid":1,"cg_theta_rad":4.48907137,"cg_vd_req_v":-2.01438236,"cg_vd_v":-2.01438236,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27787876,"cg_vq_v":-8.27787876,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2216492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":376.49939,"values":{"Elec_RPM":-2349.59863,"EncoderCos":39605,"EncoderSin":13677,"GapTicks":49790,"Mech_RPM":-469.919739,"cg_du":54.7354813,"cg_dv":53.4563675,"cg_dw":45.2645187,"cg_id_a":9.44159698,"cg_id_raw_a":8.431283,"cg_iq_a":-205.508392,"cg_iq_raw_a":-207.207275,"cg_iu_a":40.3781662,"cg_iv_a":154.794067,"cg_iw_a":-195.172241,"cg_sample_age_us":23.863636,"cg_sample_seq":3248066,"cg_sample_valid":1,"cg_theta_rad":5.07529879,"cg_vd_req_v":-2.12625694,"cg_vd_v":-2.12625694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32019234,"cg_vq_v":-8.32019234,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.245636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103579767,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":376.852905,"values":{"Elec_RPM":-2348.11084,"EncoderCos":40377,"EncoderSin":14011,"GapTicks":49824,"Mech_RPM":-469.622162,"cg_du":53.6689987,"cg_dv":54.7053413,"cg_dw":45.2946587,"cg_id_a":4.06446695,"cg_id_raw_a":6.60541534,"cg_iq_a":-201.469406,"cg_iq_raw_a":-203.449524,"cg_iu_a":14.608799,"cg_iv_a":166.4646,"cg_iw_a":-181.073395,"cg_sample_age_us":23.9290905,"cg_sample_seq":3249816,"cg_sample_valid":1,"cg_theta_rad":5.10775137,"cg_vd_req_v":-1.99199998,"cg_vd_v":-1.99199998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39013004,"cg_vq_v":-8.39013004,"cg_vu_v":30.7924805,"cg_vv_v":27.2733402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5765076,"dclink_p_w":-2551.48584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2336121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":377.102937,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":377.102942,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":377.102947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":377.184937,"values":{"Elec_RPM":-2342.68408,"EncoderCos":52725,"EncoderSin":31478,"GapTicks":49348,"Mech_RPM":-468.536804,"cg_du":55.1376762,"cg_dv":49.7180672,"cg_dw":44.8623238,"cg_id_a":-17.3720684,"cg_id_raw_a":-19.1003704,"cg_iq_a":-197.870438,"cg_iq_raw_a":-199.512039,"cg_iu_a":146.282654,"cg_iv_a":46.3887634,"cg_iw_a":-192.671417,"cg_sample_age_us":24.1218185,"cg_sample_seq":3251466,"cg_sample_valid":1,"cg_theta_rad":6.23134851,"cg_vd_req_v":-1.58378577,"cg_vd_v":-1.58378577,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41623116,"cg_vq_v":-8.41623116,"cg_vu_v":32.9919434,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.235321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":377.518921,"values":{"Elec_RPM":-2345.91895,"EncoderCos":50250,"EncoderSin":42460,"GapTicks":49782,"Mech_RPM":-469.183807,"cg_du":45.2571487,"cg_dv":53.5181046,"cg_dw":54.7428513,"cg_id_a":4.73139048,"cg_id_raw_a":8.05766201,"cg_iq_a":-203.590729,"cg_iq_raw_a":-203.022659,"cg_iu_a":-176.287476,"cg_iv_a":6.62928772,"cg_iw_a":174.297394,"cg_sample_age_us":23.5290909,"cg_sample_seq":3253167,"cg_sample_valid":1,"cg_theta_rad":0.511406422,"cg_vd_req_v":-2.03279543,"cg_vd_v":-2.03279543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35218143,"cg_vq_v":-8.35218143,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2575989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":377.870483,"values":{"Elec_RPM":-2341.4895,"EncoderCos":41791,"EncoderSin":50684,"GapTicks":49849,"Mech_RPM":-468.297913,"cg_du":54.682312,"cg_dv":45.317688,"cg_dw":46.1961098,"cg_id_a":17.9656448,"cg_id_raw_a":20.8096657,"cg_iq_a":-203.345108,"cg_iq_raw_a":-203.934998,"cg_iu_a":187.238174,"cg_iv_a":-22.8369446,"cg_iw_a":-164.40123,"cg_sample_age_us":24.0272732,"cg_sample_seq":3254866,"cg_sample_valid":1,"cg_theta_rad":1.10551178,"cg_vd_req_v":-2.26996613,"cg_vd_v":-2.26996613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33931446,"cg_vq_v":-8.33931446,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.9045143,"dclink_p_w":-2591.22461,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2233582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":378.127336,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":378.127342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":378.127347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":378.222046,"values":{"Elec_RPM":-2344.61694,"EncoderCos":30539,"EncoderSin":52833,"GapTicks":49444,"Mech_RPM":-468.923401,"cg_du":44.9498711,"cg_dv":55.0501289,"cg_dw":51.8750954,"cg_id_a":2.89579248,"cg_id_raw_a":0.446773857,"cg_iq_a":-198.818054,"cg_iq_raw_a":-199.538834,"cg_iu_a":-200.027191,"cg_iv_a":82.0164642,"cg_iw_a":118.010727,"cg_sample_age_us":23.8890915,"cg_sample_seq":3256566,"cg_sample_valid":1,"cg_theta_rad":1.67927063,"cg_vd_req_v":-1.95033646,"cg_vd_v":-1.95033646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40794849,"cg_vq_v":-8.40794849,"cg_vu_v":18.4754887,"cg_vv_v":27.7132301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2387695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":378.739624,"values":{"Elec_RPM":-2345.03394,"EncoderCos":30131,"EncoderSin":12695,"GapTicks":49339,"Mech_RPM":-469.006805,"cg_du":51.1782646,"cg_dv":44.8538399,"cg_dw":55.1461601,"cg_id_a":-0.779318929,"cg_id_raw_a":-5.73621035,"cg_iq_a":-198.080978,"cg_iq_raw_a":-197.078262,"cg_iu_a":98.2233276,"cg_iv_a":-198.583298,"cg_iw_a":100.35997,"cg_sample_age_us":23.7290916,"cg_sample_seq":3259217,"cg_sample_valid":1,"cg_theta_rad":4.59512854,"cg_vd_req_v":-1.9212749,"cg_vd_v":-1.9212749,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43227005,"cg_vq_v":-8.43227005,"cg_vu_v":121.410347,"cg_vv_v":118.770996,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.6073151,"dclink_p_w":-2540.46729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2644653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":378.991364,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":378.991374,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":378.991377,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":379.119337,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":379.119344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":379.119349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":379.196655,"values":{"Elec_RPM":-2345.65088,"EncoderCos":27858,"EncoderSin":13133,"GapTicks":49969,"Mech_RPM":-469.130157,"cg_du":45.9753265,"cg_dv":45.427269,"cg_dw":54.572731,"cg_id_a":9.9025631,"cg_id_raw_a":14.5753241,"cg_iq_a":-206.281693,"cg_iq_raw_a":-206.848526,"cg_iu_a":-9.31213188,"cg_iv_a":-173.720032,"cg_iw_a":183.032166,"cg_sample_age_us":23.8381824,"cg_sample_seq":3261566,"cg_sample_valid":1,"cg_theta_rad":4.48265886,"cg_vd_req_v":-2.10201526,"cg_vd_v":-2.10201526,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28306389,"cg_vq_v":-8.28306389,"cg_vu_v":4.83881807,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.7649746,"dclink_p_w":-2563.21509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2661743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":379.53064,"values":{"Elec_RPM":-2347.76831,"EncoderCos":48028,"EncoderSin":19672,"GapTicks":49361,"Mech_RPM":-469.55365,"cg_du":44.8737221,"cg_dv":50.9316292,"cg_dw":55.1262779,"cg_id_a":-12.3739834,"cg_id_raw_a":-11.7394142,"cg_iq_a":-198.156509,"cg_iq_raw_a":-198.307098,"cg_iu_a":-148.633423,"cg_iv_a":-34.9423981,"cg_iw_a":183.575821,"cg_sample_age_us":23.9581814,"cg_sample_seq":3263217,"cg_sample_valid":1,"cg_theta_rad":5.59300613,"cg_vd_req_v":-1.72193265,"cg_vd_v":-1.72193265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43987083,"cg_vq_v":-8.43987083,"cg_vu_v":113.492287,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2541809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":379.882202,"values":{"Elec_RPM":-2353.36621,"EncoderCos":48636,"EncoderSin":20490,"GapTicks":49348,"Mech_RPM":-470.673248,"cg_du":44.8625603,"cg_dv":48.886013,"cg_dw":55.1374397,"cg_id_a":-2.7559762,"cg_id_raw_a":-9.51659012,"cg_iq_a":-196.442902,"cg_iq_raw_a":-198.397339,"cg_iu_a":-113.259445,"cg_iv_a":-81.5157318,"cg_iw_a":194.775177,"cg_sample_age_us":23.8309097,"cg_sample_seq":3264966,"cg_sample_valid":1,"cg_theta_rad":5.63438845,"cg_vd_req_v":-1.93517542,"cg_vd_v":-1.93517542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46017361,"cg_vq_v":-8.46017361,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2439.9458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2575989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":380.143158,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":380.143164,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":380.143169,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":380.214233,"values":{"Elec_RPM":-2350.79639,"EncoderCos":43606,"EncoderSin":49694,"GapTicks":49290,"Mech_RPM":-470.159302,"cg_du":55.190731,"cg_dv":44.809269,"cg_dw":49.9730797,"cg_id_a":-15.0236387,"cg_id_raw_a":-16.9454136,"cg_iq_a":-196.101273,"cg_iq_raw_a":-194.493515,"cg_iu_a":191.659912,"cg_iv_a":-137.258728,"cg_iw_a":-54.4011917,"cg_sample_age_us":23.9218178,"cg_sample_seq":3266566,"cg_sample_valid":1,"cg_theta_rad":1.00233829,"cg_vd_req_v":-1.63374054,"cg_vd_v":-1.63374054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51922417,"cg_vq_v":-8.51922417,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2936096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":380.548218,"values":{"Elec_RPM":-2352.24585,"EncoderCos":43060,"EncoderSin":50042,"GapTicks":49361,"Mech_RPM":-470.449188,"cg_du":55.126091,"cg_dv":44.873909,"cg_dw":48.810421,"cg_id_a":-3.07755852,"cg_id_raw_a":-10.1484756,"cg_iq_a":-197.529694,"cg_iq_raw_a":-195.601822,"cg_iu_a":197.748886,"cg_iv_a":-98.9127579,"cg_iw_a":-98.8361282,"cg_sample_age_us":23.9145451,"cg_sample_seq":3268317,"cg_sample_valid":1,"cg_theta_rad":1.037462,"cg_vd_req_v":-1.88454568,"cg_vd_v":-1.88454568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4618988,"cg_vq_v":-8.4618988,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.2952881,"temp_inv2_c":41.2919006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":380.89978,"values":{"Elec_RPM":-2352.64136,"EncoderCos":31656,"EncoderSin":52868,"GapTicks":49324,"Mech_RPM":-470.52829,"cg_du":44.8401184,"cg_dv":55.1598816,"cg_dw":49.7024498,"cg_id_a":-9.97046375,"cg_id_raw_a":-8.6393404,"cg_iq_a":-196.132797,"cg_iq_raw_a":-196.640915,"cg_iu_a":-191.147446,"cg_iv_a":137.107086,"cg_iw_a":54.0403519,"cg_sample_age_us":23.7909088,"cg_sample_seq":3270016,"cg_sample_valid":1,"cg_theta_rad":1.6250416,"cg_vd_req_v":-1.67568016,"cg_vd_v":-1.67568016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46335411,"cg_vq_v":-8.46335411,"cg_vu_v":17.1558094,"cg_vv_v":28.1531239,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2385.9375,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2764587,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":381.134793,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":381.134801,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":381.134807,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":381.233765,"values":{"Elec_RPM":-2354.69507,"EncoderCos":21151,"EncoderSin":49400,"GapTicks":49870,"Mech_RPM":-470.938995,"cg_du":54.6627464,"cg_dv":45.3372536,"cg_dw":53.9128342,"cg_id_a":9.98837566,"cg_id_raw_a":12.884203,"cg_iq_a":-202.584686,"cg_iq_raw_a":-203.214508,"cg_iu_a":170.094849,"cg_iv_a":-179.011627,"cg_iw_a":8.91677094,"cg_sample_age_us":24.0236359,"cg_sample_seq":3271717,"cg_sample_valid":1,"cg_theta_rad":2.18099904,"cg_vd_req_v":-2.0967195,"cg_vd_v":-2.0967195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3736248,"cg_vq_v":-8.3736248,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":108.21357,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2386.13062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.2678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":381.563843,"values":{"Elec_RPM":-2350.82544,"EncoderCos":13811,"EncoderSin":40114,"GapTicks":49796,"Mech_RPM":-470.16507,"cg_du":46.4418297,"cg_dv":54.730854,"cg_dw":45.269146,"cg_id_a":15.4550161,"cg_id_raw_a":17.6824837,"cg_iq_a":-204.777222,"cg_iq_raw_a":-203.896255,"cg_iu_a":-160.847595,"cg_iv_a":191.581573,"cg_iw_a":-30.7339706,"cg_sample_age_us":23.9909096,"cg_sample_seq":3273416,"cg_sample_valid":1,"cg_theta_rad":2.77637267,"cg_vd_req_v":-2.17472816,"cg_vd_v":-2.17472816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34023762,"cg_vq_v":-8.34023762,"cg_vu_v":37.830761,"cg_vv_v":46.6286087,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2850342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":381.917358,"values":{"Elec_RPM":-2347.55078,"EncoderCos":12889,"EncoderSin":28708,"GapTicks":49342,"Mech_RPM":-469.510162,"cg_du":51.5129166,"cg_dv":44.85709,"cg_dw":55.14291,"cg_id_a":1.44379067,"cg_id_raw_a":-2.85715008,"cg_iq_a":-196.268295,"cg_iq_raw_a":-196.418045,"cg_iu_a":108.299103,"cg_iv_a":-196.154953,"cg_iw_a":87.8558502,"cg_sample_age_us":23.7436371,"cg_sample_seq":3275116,"cg_sample_valid":1,"cg_theta_rad":3.34926081,"cg_vd_req_v":-1.92988026,"cg_vd_v":-1.92988026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47411156,"cg_vq_v":-8.47411156,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.4025364,"dclink_p_w":-2510.9209,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2970276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":382.094838,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":382.094844,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":382.094849,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":382.24939,"values":{"Elec_RPM":-2346.18921,"EncoderCos":17843,"EncoderSin":18762,"GapTicks":49369,"Mech_RPM":-469.237854,"cg_du":51.4023438,"cg_dv":55.1182709,"cg_dw":44.8817291,"cg_id_a":-12.255415,"cg_id_raw_a":-9.89918613,"cg_iq_a":-196.140015,"cg_iq_raw_a":-197.198471,"cg_iu_a":-33.4142838,"cg_iv_a":184.22406,"cg_iw_a":-150.809784,"cg_sample_age_us":23.994545,"cg_sample_seq":3276818,"cg_sample_valid":1,"cg_theta_rad":3.9155221,"cg_vd_req_v":-1.62418997,"cg_vd_v":-1.62418997,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4792099,"cg_vq_v":-8.4792099,"cg_vu_v":109.533249,"cg_vv_v":111.732712,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.174202,"dclink_p_w":-2477.97559,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2764587,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":382.602905,"values":{"Elec_RPM":-2347.99414,"EncoderCos":27414,"EncoderSin":13207,"GapTicks":49904,"Mech_RPM":-469.598816,"cg_du":45.3678055,"cg_dv":46.0863152,"cg_dw":54.6321945,"cg_id_a":14.8628731,"cg_id_raw_a":16.4043274,"cg_iq_a":-205.016968,"cg_iq_raw_a":-202.711685,"cg_iu_a":-2.75199795,"cg_iv_a":-175.604691,"cg_iw_a":178.356689,"cg_sample_age_us":23.9036369,"cg_sample_seq":3278520,"cg_sample_valid":1,"cg_theta_rad":4.50103283,"cg_vd_req_v":-2.21382713,"cg_vd_v":-2.21382713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32352066,"cg_vq_v":-8.32352066,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2390.85132,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.3502197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":382.932983,"values":{"Elec_RPM":-2349.84521,"EncoderCos":39496,"EncoderSin":13652,"GapTicks":49756,"Mech_RPM":-469.969025,"cg_du":54.7667885,"cg_dv":53.2367287,"cg_dw":45.2332115,"cg_id_a":8.27409649,"cg_id_raw_a":6.74611139,"cg_iq_a":-204.64682,"cg_iq_raw_a":-201.906281,"cg_iu_a":47.7356644,"cg_iv_a":148.233948,"cg_iw_a":-195.969604,"cg_sample_age_us":23.9581814,"cg_sample_seq":3280217,"cg_sample_valid":1,"cg_theta_rad":5.06743479,"cg_vd_req_v":-2.09967947,"cg_vd_v":-2.09967947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29459095,"cg_vq_v":-8.29459095,"cg_vu_v":126.689056,"cg_vv_v":143.404984,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2417.86499,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.2987366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":383.11936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":383.119366,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":383.119372,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":383.266968,"values":{"Elec_RPM":-2349.39673,"EncoderCos":48758,"EncoderSin":20617,"GapTicks":49344,"Mech_RPM":-469.879364,"cg_du":44.8584251,"cg_dv":48.5822487,"cg_dw":55.1415749,"cg_id_a":0.990260661,"cg_id_raw_a":-4.62587547,"cg_iq_a":-197.012756,"cg_iq_raw_a":-196.737503,"cg_iu_a":-87.8525238,"cg_iv_a":-108.263657,"cg_iw_a":196.11618,"cg_sample_age_us":23.9581814,"cg_sample_seq":3281917,"cg_sample_valid":1,"cg_theta_rad":5.65035582,"cg_vd_req_v":-2.01741314,"cg_vd_v":-2.01741314,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43616199,"cg_vq_v":-8.43616199,"cg_vu_v":94.5769043,"cg_vv_v":81.380127,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2437.70898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2661743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":383.620483,"values":{"Elec_RPM":-2349.11157,"EncoderCos":52710,"EncoderSin":31489,"GapTicks":49306,"Mech_RPM":-469.822327,"cg_du":55.1758003,"cg_dv":49.6974869,"cg_dw":44.8241997,"cg_id_a":-15.6214085,"cg_id_raw_a":-16.9353409,"cg_iq_a":-197.526657,"cg_iq_raw_a":-198.513885,"cg_iu_a":151.827942,"cg_iv_a":31.9999847,"cg_iw_a":-183.827927,"cg_sample_age_us":23.994545,"cg_sample_seq":3283616,"cg_sample_valid":1,"cg_theta_rad":6.22404861,"cg_vd_req_v":-1.63221645,"cg_vd_v":-1.63221645,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47229481,"cg_vq_v":-8.47229481,"cg_vu_v":106.014107,"cg_vv_v":100.295509,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2517.00269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2867432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":383.950562,"values":{"Elec_RPM":-2349.15747,"EncoderCos":32247,"EncoderSin":52866,"GapTicks":49436,"Mech_RPM":-469.831512,"cg_du":44.9422226,"cg_dv":55.0577774,"cg_dw":48.3416977,"cg_id_a":-6.62914991,"cg_id_raw_a":-7.62756252,"cg_iq_a":-199.73201,"cg_iq_raw_a":-200.186234,"cg_iu_a":-181.977753,"cg_iv_a":159.614502,"cg_iw_a":22.3632431,"cg_sample_age_us":23.8854542,"cg_sample_seq":3285217,"cg_sample_valid":1,"cg_theta_rad":1.59586251,"cg_vd_req_v":-1.72701955,"cg_vd_v":-1.72701955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40050697,"cg_vq_v":-8.40050697,"cg_vu_v":99.8556061,"cg_vv_v":110.413033,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2481.37451,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2936096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":384.110898,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":384.110903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":384.110909,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":384.284546,"values":{"Elec_RPM":-2345.92383,"EncoderCos":42008,"EncoderSin":50553,"GapTicks":49741,"Mech_RPM":-469.184753,"cg_du":54.780838,"cg_dv":45.219162,"cg_dw":46.7194824,"cg_id_a":16.544754,"cg_id_raw_a":15.6227827,"cg_iq_a":-204.112427,"cg_iq_raw_a":-201.275497,"cg_iu_a":192.312317,"cg_iv_a":-35.5222931,"cg_iw_a":-156.790024,"cg_sample_age_us":24.0345459,"cg_sample_seq":3287017,"cg_sample_valid":1,"cg_theta_rad":1.09556031,"cg_vd_req_v":-2.24494791,"cg_vd_v":-2.24494791,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29513931,"cg_vq_v":-8.29513931,"cg_vu_v":142.965088,"cg_vv_v":139.885834,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.3004761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":384.636108,"values":{"Elec_RPM":-2344.03662,"EncoderCos":20793,"EncoderSin":49129,"GapTicks":49583,"Mech_RPM":-468.807343,"cg_du":54.92379,"cg_dv":45.07621,"cg_dw":52.7349548,"cg_id_a":-2.15247583,"cg_id_raw_a":3.24837399,"cg_iq_a":-200.256866,"cg_iq_raw_a":-201.53038,"cg_iu_a":171.762054,"cg_iv_a":-172.125275,"cg_iw_a":0.363227844,"cg_sample_age_us":24.0490913,"cg_sample_seq":3288667,"cg_sample_valid":1,"cg_theta_rad":2.20062971,"cg_vd_req_v":-1.84897709,"cg_vd_v":-1.84897709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44095325,"cg_vq_v":-8.44095325,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2387.33252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.2404785,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":384.96814,"values":{"Elec_RPM":-2347.17505,"EncoderCos":19973,"EncoderSin":48485,"GapTicks":49282,"Mech_RPM":-469.434998,"cg_du":55.1977043,"cg_dv":44.8022957,"cg_dw":50.1762962,"cg_id_a":-16.7231865,"cg_id_raw_a":-15.9713049,"cg_iq_a":-194.59346,"cg_iq_raw_a":-195.516891,"cg_iu_a":189.050369,"cg_iv_a":-139.542084,"cg_iw_a":-49.5082779,"cg_sample_age_us":23.9654541,"cg_sample_seq":3290416,"cg_sample_valid":1,"cg_theta_rad":2.25738668,"cg_vd_req_v":-1.57653856,"cg_vd_v":-1.57653856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54349709,"cg_vq_v":-8.54349709,"cg_vu_v":47.0685043,"cg_vv_v":41.7897949,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2465.5979,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2747498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":385.103414,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":385.103419,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":385.103424,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":385.302124,"values":{"Elec_RPM":-2352.0083,"EncoderCos":12958,"EncoderSin":28319,"GapTicks":49476,"Mech_RPM":-470.401672,"cg_du":52.2520638,"cg_dv":44.9786186,"cg_dw":55.0213814,"cg_id_a":6.44471836,"cg_id_raw_a":3.31257844,"cg_iq_a":-198.32132,"cg_iq_raw_a":-198.895737,"cg_iu_a":137.475403,"cg_iv_a":-194.632721,"cg_iw_a":57.1573257,"cg_sample_age_us":23.6963634,"cg_sample_seq":3292066,"cg_sample_valid":1,"cg_theta_rad":3.37609982,"cg_vd_req_v":-2.03102708,"cg_vd_v":-2.03102708,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42686653,"cg_vq_v":-8.42686653,"cg_vu_v":105.574219,"cg_vv_v":83.1396942,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2475.03955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.303894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":385.653687,"values":{"Elec_RPM":-2356.60107,"EncoderCos":13044,"EncoderSin":27830,"GapTicks":49648,"Mech_RPM":-471.320221,"cg_du":53.1608391,"cg_dv":45.1351891,"cg_dw":54.8648109,"cg_id_a":13.6771336,"cg_id_raw_a":10.1990032,"cg_iq_a":-200.261566,"cg_iq_raw_a":-199.24968,"cg_iu_a":151.356781,"cg_iv_a":-191.153305,"cg_iw_a":39.796524,"cg_sample_age_us":23.7254543,"cg_sample_seq":3293817,"cg_sample_valid":1,"cg_theta_rad":3.39388895,"cg_vd_req_v":-2.17827249,"cg_vd_v":-2.17827249,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40527725,"cg_vq_v":-8.40527725,"cg_vu_v":105.134323,"cg_vv_v":75.2216263,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2453.91992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.303894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":385.987671,"values":{"Elec_RPM":-2357.61572,"EncoderCos":19010,"EncoderSin":17617,"GapTicks":49444,"Mech_RPM":-471.523163,"cg_du":48.1386986,"cg_dv":55.0501328,"cg_dw":44.9498672,"cg_id_a":0.446463346,"cg_id_raw_a":-6.54605865,"cg_iq_a":-201.190674,"cg_iq_raw_a":-200.402954,"cg_iu_a":-102.313812,"cg_iv_a":201.186203,"cg_iw_a":-98.8723907,"cg_sample_age_us":23.8745461,"cg_sample_seq":3295516,"cg_sample_valid":1,"cg_theta_rad":3.97558951,"cg_vd_req_v":-1.92890823,"cg_vd_v":-1.92890823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41004372,"cg_vq_v":-8.41004372,"cg_vu_v":102.494972,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.303894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":386.126581,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":386.126586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":386.126591,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":386.339233,"values":{"Elec_RPM":-2354.98145,"EncoderCos":29531,"EncoderSin":12768,"GapTicks":49331,"Mech_RPM":-470.996277,"cg_du":50.0660095,"cg_dv":44.8470917,"cg_dw":55.1529083,"cg_id_a":-10.8437214,"cg_id_raw_a":-15.1160221,"cg_iq_a":-196.609711,"cg_iq_raw_a":-197.685135,"cg_iu_a":62.5231476,"cg_iv_a":-192.820526,"cg_iw_a":130.297379,"cg_sample_age_us":23.7763634,"cg_sample_seq":3297216,"cg_sample_valid":1,"cg_theta_rad":4.56678867,"cg_vd_req_v":-1.69285274,"cg_vd_v":-1.69285274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47011375,"cg_vq_v":-8.47011375,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2430.64917,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.3279114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":386.671265,"values":{"Elec_RPM":-2355.57422,"EncoderCos":40592,"EncoderSin":14062,"GapTicks":49701,"Mech_RPM":-471.114868,"cg_du":53.1203728,"cg_dv":54.8172188,"cg_dw":45.1827812,"cg_id_a":-1.22537708,"cg_id_raw_a":4.54289055,"cg_iq_a":-201.535217,"cg_iq_raw_a":-201.681412,"cg_iu_a":3.73564816,"cg_iv_a":171.14006,"cg_iw_a":-174.875702,"cg_sample_age_us":23.8563633,"cg_sample_seq":3298917,"cg_sample_valid":1,"cg_theta_rad":5.12858629,"cg_vd_req_v":-1.88393247,"cg_vd_v":-1.88393247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35897827,"cg_vq_v":-8.35897827,"cg_vu_v":28.1531239,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-18.303196,"dclink_p_w":-2640.87231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.3433838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":387.005249,"values":{"Elec_RPM":-2357.3645,"EncoderCos":49493,"EncoderSin":21745,"GapTicks":49922,"Mech_RPM":-471.4729,"cg_du":45.3841171,"cg_dv":46.115963,"cg_dw":54.6158829,"cg_id_a":17.3851261,"cg_id_raw_a":20.186964,"cg_iq_a":-208.077347,"cg_iq_raw_a":-207.921265,"cg_iu_a":-28.0501938,"cg_iv_a":-164.441589,"cg_iw_a":192.491791,"cg_sample_age_us":23.8309097,"cg_sample_seq":3300616,"cg_sample_valid":1,"cg_theta_rad":5.70974398,"cg_vd_req_v":-2.3203907,"cg_vd_v":-2.3203907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25598717,"cg_vq_v":-8.25598717,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2420.48755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.2884521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":387.118461,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":387.118467,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":387.118473,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":387.356812,"values":{"Elec_RPM":-2356.66309,"EncoderCos":52727,"EncoderSin":32573,"GapTicks":49465,"Mech_RPM":-471.332611,"cg_du":55.0313759,"cg_dv":51.7143974,"cg_dw":44.9686241,"cg_id_a":0.262952089,"cg_id_raw_a":-5.00154257,"cg_iq_a":-202.633148,"cg_iq_raw_a":-200.016617,"cg_iu_a":88.9086609,"cg_iv_a":112.714981,"cg_iw_a":-201.623642,"cg_sample_age_us":23.9436359,"cg_sample_seq":3302317,"cg_sample_valid":1,"cg_theta_rad":0.000647155393,"cg_vd_req_v":-1.95908654,"cg_vd_v":-1.95908654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34232903,"cg_vq_v":-8.34232903,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":387.688843,"values":{"Elec_RPM":-2362.94287,"EncoderCos":49406,"EncoderSin":43905,"GapTicks":49367,"Mech_RPM":-472.588562,"cg_du":44.8791847,"cg_dv":49.5705795,"cg_dw":55.1208153,"cg_id_a":-12.4838552,"cg_id_raw_a":-16.2484455,"cg_iq_a":-199.104553,"cg_iq_raw_a":-200.385834,"cg_iu_a":-130.004089,"cg_iv_a":-66.9819489,"cg_iw_a":196.986038,"cg_sample_age_us":23.5036373,"cg_sample_seq":3304016,"cg_sample_valid":1,"cg_theta_rad":0.594488084,"cg_vd_req_v":-1.69418752,"cg_vd_v":-1.69418752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39842701,"cg_vq_v":-8.39842701,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2610474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":388.020874,"values":{"Elec_RPM":-2355.00952,"EncoderCos":40933,"EncoderSin":51108,"GapTicks":49588,"Mech_RPM":-471.001923,"cg_du":54.9199142,"cg_dv":47.1781349,"cg_dw":45.0800858,"cg_id_a":-3.17331409,"cg_id_raw_a":1.00134444,"cg_iq_a":-199.351227,"cg_iq_raw_a":-199.820251,"cg_iu_a":170.131088,"cg_iv_a":-0.728210449,"cg_iw_a":-169.402878,"cg_sample_age_us":23.9872723,"cg_sample_seq":3305717,"cg_sample_valid":1,"cg_theta_rad":1.15370452,"cg_vd_req_v":-1.82982075,"cg_vd_v":-1.82982075,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43847752,"cg_vq_v":-8.43847752,"cg_vu_v":108.21357,"cg_vv_v":109.533249,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2486.77173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.2833252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":388.111577,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":388.111583,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":388.111588,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":388.460327,"values":{"Elec_RPM":-2356.85059,"EncoderCos":34199,"EncoderSin":12555,"GapTicks":49331,"Mech_RPM":-471.370117,"cg_du":55.1528168,"cg_dv":44.8471832,"cg_dw":48.9556198,"cg_id_a":-7.81672478,"cg_id_raw_a":-12.8425055,"cg_iq_a":-196.31398,"cg_iq_raw_a":-195.791061,"cg_iu_a":196.842804,"cg_iv_a":-106.850166,"cg_iw_a":-71.0371094,"cg_sample_age_us":24.0527267,"cg_sample_seq":3307716,"cg_sample_valid":1,"cg_theta_rad":4.79648876,"cg_vd_req_v":-1.7724551,"cg_vd_v":-1.7724551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48670197,"cg_vq_v":-8.48670197,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2467.30469,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.317627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":388.975246,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":388.975257,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":388.97526,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":389.001343,"values":{"Elec_RPM":-2357.49805,"EncoderCos":35141,"EncoderSin":52692,"GapTicks":49370,"Mech_RPM":-471.499634,"cg_du":48.8762474,"cg_dv":55.1180458,"cg_dw":44.8819542,"cg_id_a":-2.59478617,"cg_id_raw_a":-7.38708019,"cg_iq_a":-197.628418,"cg_iq_raw_a":-197.093018,"cg_iu_a":-82.7783813,"cg_iv_a":196.655716,"cg_iw_a":-113.877335,"cg_sample_age_us":23.9254551,"cg_sample_seq":3310366,"cg_sample_valid":1,"cg_theta_rad":1.44411695,"cg_vd_req_v":-1.8508774,"cg_vd_v":-1.8508774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4472084,"cg_vq_v":-8.4472084,"cg_vu_v":0.87978512,"cg_vv_v":10.9973145,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8882046,"dclink_p_w":-2588.86426,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.2970276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":389.135211,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":389.135217,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":389.135223,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":389.36853,"values":{"Elec_RPM":-2356.92139,"EncoderCos":47683,"EncoderSin":19328,"GapTicks":49500,"Mech_RPM":-471.384277,"cg_du":45.000267,"cg_dv":52.1549873,"cg_dw":54.999733,"cg_id_a":-7.23104095,"cg_id_raw_a":-6.55295658,"cg_iq_a":-200.842651,"cg_iq_raw_a":-199.596298,"cg_iu_a":-125.763565,"cg_iv_a":-69.6639862,"cg_iw_a":195.427551,"cg_sample_age_us":26.7945461,"cg_sample_seq":3312321,"cg_sample_valid":1,"cg_theta_rad":5.62316179,"cg_vd_req_v":-1.8213855,"cg_vd_v":-1.8213855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38841915,"cg_vq_v":-8.38841915,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.6000652,"dclink_p_w":-2539.42114,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.317627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":389.700562,"values":{"Elec_RPM":-2358.17383,"EncoderCos":52592,"EncoderSin":30305,"GapTicks":49651,"Mech_RPM":-471.634766,"cg_du":54.8620911,"cg_dv":46.8216171,"cg_dw":45.1379089,"cg_id_a":0.476059318,"cg_id_raw_a":6.44665956,"cg_iq_a":-198.400208,"cg_iq_raw_a":-199.605255,"cg_iu_a":166.977875,"cg_iv_a":3.29486084,"cg_iw_a":-170.272736,"cg_sample_age_us":24.0018177,"cg_sample_seq":3314018,"cg_sample_valid":1,"cg_theta_rad":6.18332291,"cg_vd_req_v":-1.91697264,"cg_vd_v":-1.91697264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47044563,"cg_vq_v":-8.47044563,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.3124695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":390.032593,"values":{"Elec_RPM":-2357.87109,"EncoderCos":50488,"EncoderSin":42136,"GapTicks":50085,"Mech_RPM":-471.574219,"cg_du":45.5323181,"cg_dv":54.4311104,"cg_dw":54.4676819,"cg_id_a":12.5411625,"cg_id_raw_a":15.3269501,"cg_iq_a":-202.057495,"cg_iq_raw_a":-201.200729,"cg_iu_a":-182.195221,"cg_iv_a":10.9785461,"cg_iw_a":171.216675,"cg_sample_age_us":23.5072727,"cg_sample_seq":3315716,"cg_sample_valid":1,"cg_theta_rad":0.495737314,"cg_vd_req_v":-2.17988944,"cg_vd_v":-2.17988944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34981632,"cg_vq_v":-8.34981632,"cg_vu_v":37.830761,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5366402,"dclink_p_w":-2537.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":41.3502197,"temp_inv2_c":41.3519592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":390.127351,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":390.127357,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":390.127363,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":390.384155,"values":{"Elec_RPM":-2357.05713,"EncoderCos":50044,"EncoderSin":42880,"GapTicks":49566,"Mech_RPM":-471.411407,"cg_du":45.0601501,"cg_dv":52.3125954,"cg_dw":54.9398499,"cg_id_a":-5.3843689,"cg_id_raw_a":0.014293367,"cg_iq_a":-201.171478,"cg_iq_raw_a":-203.248978,"cg_iu_a":-167.806427,"cg_iv_a":-12.5799408,"cg_iw_a":180.386368,"cg_sample_age_us":23.5327282,"cg_sample_seq":3317466,"cg_sample_valid":1,"cg_theta_rad":0.537947059,"cg_vd_req_v":-1.80926073,"cg_vd_v":-1.80926073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35780239,"cg_vq_v":-8.35780239,"cg_vu_v":37.830761,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2449.47485,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3279114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":390.71814,"values":{"Elec_RPM":-2362.43335,"EncoderCos":31325,"EncoderSin":52838,"GapTicks":49281,"Mech_RPM":-472.486664,"cg_du":44.8017693,"cg_dv":55.1982307,"cg_dw":50.3569641,"cg_id_a":-6.61673307,"cg_id_raw_a":-6.30074453,"cg_iq_a":-197.61615,"cg_iq_raw_a":-197.259201,"cg_iu_a":-198.106262,"cg_iv_a":121.304779,"cg_iw_a":76.8014832,"cg_sample_age_us":23.8709087,"cg_sample_seq":3319116,"cg_sample_valid":1,"cg_theta_rad":1.64444649,"cg_vd_req_v":-1.76134336,"cg_vd_v":-1.76134336,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48650074,"cg_vq_v":-8.48650074,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2389.33667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.3193359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":391.050171,"values":{"Elec_RPM":-2357.07715,"EncoderCos":20537,"EncoderSin":48908,"GapTicks":49451,"Mech_RPM":-471.415436,"cg_du":55.0441551,"cg_dv":44.9558449,"cg_dw":51.7915993,"cg_id_a":-12.2268705,"cg_id_raw_a":-4.32247639,"cg_iq_a":-197.05191,"cg_iq_raw_a":-198.722839,"cg_iu_a":172.994354,"cg_iv_a":-168.972092,"cg_iw_a":-4.02226257,"cg_sample_age_us":24.0236359,"cg_sample_seq":3320816,"cg_sample_valid":1,"cg_theta_rad":2.21110868,"cg_vd_req_v":-1.63437772,"cg_vd_v":-1.63437772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47488022,"cg_vq_v":-8.47488022,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.314209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103529416,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":391.118744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":391.118749,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":391.118754,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":391.401733,"values":{"Elec_RPM":-2355.29443,"EncoderCos":13694,"EncoderSin":39799,"GapTicks":50057,"Mech_RPM":-471.058899,"cg_du":45.7853889,"cg_dv":54.4933777,"cg_dw":45.5066223,"cg_id_a":13.8376131,"cg_id_raw_a":13.039422,"cg_iq_a":-206.315948,"cg_iq_raw_a":-206.602936,"cg_iu_a":-167.009048,"cg_iv_a":186.942368,"cg_iw_a":-19.9333191,"cg_sample_age_us":23.9981823,"cg_sample_seq":3322517,"cg_sample_valid":1,"cg_theta_rad":2.7876699,"cg_vd_req_v":-2.12262797,"cg_vd_v":-2.12262797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27138424,"cg_vq_v":-8.27138424,"cg_vu_v":99.4157181,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2457.31934,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3330688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":391.735718,"values":{"Elec_RPM":-2358.39868,"EncoderCos":13434,"EncoderSin":39090,"GapTicks":49658,"Mech_RPM":-471.679749,"cg_du":45.1443443,"cg_dv":54.8556557,"cg_dw":47.1110573,"cg_id_a":0.647546768,"cg_id_raw_a":7.02818441,"cg_iq_a":-203.255997,"cg_iq_raw_a":-204.487183,"cg_iu_a":-173.93161,"cg_iv_a":174.474487,"cg_iw_a":-0.542869568,"cg_sample_age_us":23.9400005,"cg_sample_seq":3324267,"cg_sample_valid":1,"cg_theta_rad":2.82395744,"cg_vd_req_v":-1.84532022,"cg_vd_v":-1.84532022,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35235214,"cg_vq_v":-8.35235214,"cg_vu_v":98.5359344,"cg_vv_v":103.374756,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2459.93384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":392.067749,"values":{"Elec_RPM":-2360.4502,"EncoderCos":18373,"EncoderSin":18219,"GapTicks":49327,"Mech_RPM":-472.090027,"cg_du":49.6601982,"cg_dv":55.1568718,"cg_dw":44.8431282,"cg_id_a":-16.6471252,"cg_id_raw_a":-15.659976,"cg_iq_a":-196.55603,"cg_iq_raw_a":-195.032669,"cg_iu_a":-59.1111603,"cg_iv_a":189.588165,"cg_iw_a":-143.778488,"cg_sample_age_us":23.9618187,"cg_sample_seq":3325917,"cg_sample_valid":1,"cg_theta_rad":3.94083333,"cg_vd_req_v":-1.55198157,"cg_vd_v":-1.55198157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48327255,"cg_vq_v":-8.48327255,"cg_vu_v":103.814644,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2489.40234,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3656921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":392.111541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":392.111548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":392.111553,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":392.421265,"values":{"Elec_RPM":-2363.25244,"EncoderCos":19138,"EncoderSin":17530,"GapTicks":49526,"Mech_RPM":-472.650513,"cg_du":47.8551483,"cg_dv":54.9756889,"cg_dw":45.0243111,"cg_id_a":2.38515878,"cg_id_raw_a":-4.47995281,"cg_iq_a":-201.454132,"cg_iq_raw_a":-200.55365,"cg_iu_a":-123.588943,"cg_iv_a":201.113708,"cg_iw_a":-89.9201508,"cg_sample_age_us":23.8745461,"cg_sample_seq":3327666,"cg_sample_valid":1,"cg_theta_rad":3.98877621,"cg_vd_req_v":-1.94983828,"cg_vd_v":-1.94983828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37065125,"cg_vq_v":-8.37065125,"cg_vu_v":25.0738773,"cg_vv_v":28.5930176,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":392.753296,"values":{"Elec_RPM":-2361.07471,"EncoderCos":39997,"EncoderSin":13819,"GapTicks":50032,"Mech_RPM":-472.214966,"cg_du":54.5158653,"cg_dv":54.3200912,"cg_dw":45.4841347,"cg_id_a":9.19797039,"cg_id_raw_a":13.23769,"cg_iq_a":-203.859634,"cg_iq_raw_a":-205.072906,"cg_iu_a":20.2628365,"cg_iv_a":165.81221,"cg_iw_a":-186.075043,"cg_sample_age_us":23.9618187,"cg_sample_seq":3329316,"cg_sample_valid":1,"cg_theta_rad":5.0969882,"cg_vd_req_v":-2.10975194,"cg_vd_v":-2.10975194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33204269,"cg_vq_v":-8.33204269,"cg_vu_v":43.1094704,"cg_vv_v":70.3828125,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2458.88647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3656921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103579767,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":393.102918,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":393.102924,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":393.10293,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":393.104858,"values":{"Elec_RPM":-2358.09985,"EncoderCos":40582,"EncoderSin":14072,"GapTicks":49677,"Mech_RPM":-471.619965,"cg_du":53.1486855,"cg_dv":54.8390541,"cg_dw":45.1609459,"cg_id_a":-1.12828243,"cg_id_raw_a":3.80411839,"cg_iq_a":-201.122131,"cg_iq_raw_a":-201.850754,"cg_iu_a":4.17057419,"cg_iv_a":170.451401,"cg_iw_a":-174.621979,"cg_sample_age_us":23.9690914,"cg_sample_seq":3331067,"cg_sample_valid":1,"cg_theta_rad":5.12531805,"cg_vd_req_v":-1.89447248,"cg_vd_v":-1.89447248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40132046,"cg_vq_v":-8.40132046,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2409.73145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3588257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":393.438843,"values":{"Elec_RPM":-2363.35352,"EncoderCos":50206,"EncoderSin":42486,"GapTicks":49789,"Mech_RPM":-472.670715,"cg_du":45.262764,"cg_dv":53.4103851,"cg_dw":54.737236,"cg_id_a":4.83815289,"cg_id_raw_a":9.6748867,"cg_iq_a":-202.692444,"cg_iq_raw_a":-203.503708,"cg_iu_a":-178.389618,"cg_iv_a":6.84675598,"cg_iw_a":171.542862,"cg_sample_age_us":23.4309082,"cg_sample_seq":3332666,"cg_sample_valid":1,"cg_theta_rad":0.50620985,"cg_vd_req_v":-2.02475166,"cg_vd_v":-2.02475166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33063126,"cg_vq_v":-8.33063126,"cg_vu_v":104.694435,"cg_vv_v":104.694435,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2546.21948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.4051819,"temp_inv2_c":41.3708496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":393.768921,"values":{"Elec_RPM":-2358.68042,"EncoderCos":49997,"EncoderSin":42939,"GapTicks":49512,"Mech_RPM":-471.736084,"cg_du":45.0117302,"cg_dv":52.1716309,"cg_dw":54.9882698,"cg_id_a":-5.86755371,"cg_id_raw_a":-3.81254101,"cg_iq_a":-201.673798,"cg_iq_raw_a":-201.225449,"cg_iu_a":-164.182037,"cg_iv_a":-16.1318359,"cg_iw_a":180.313873,"cg_sample_age_us":23.550909,"cg_sample_seq":3334417,"cg_sample_valid":1,"cg_theta_rad":0.540554821,"cg_vd_req_v":-1.81869018,"cg_vd_v":-1.81869018,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37401962,"cg_vq_v":-8.37401962,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3742676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":394.122437,"values":{"Elec_RPM":-2358.74658,"EncoderCos":41633,"EncoderSin":50719,"GapTicks":49946,"Mech_RPM":-471.749298,"cg_du":54.5940514,"cg_dv":45.4059486,"cg_dw":45.8280563,"cg_id_a":15.4765396,"cg_id_raw_a":17.7800255,"cg_iq_a":-204.281952,"cg_iq_raw_a":-203.583847,"cg_iu_a":183.686279,"cg_iv_a":-19.6112366,"cg_iw_a":-164.075043,"cg_sample_age_us":23.9799995,"cg_sample_seq":3336117,"cg_sample_valid":1,"cg_theta_rad":1.11180544,"cg_vd_req_v":-2.21985388,"cg_vd_v":-2.21985388,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35219955,"cg_vq_v":-8.35219955,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.2898521,"dclink_p_w":-2357.54321,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.3760071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":394.127027,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":394.127033,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":394.127038,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":394.456421,"values":{"Elec_RPM":-2351.07129,"EncoderCos":30485,"EncoderSin":52764,"GapTicks":49433,"Mech_RPM":-470.214233,"cg_du":44.9397125,"cg_dv":55.0602875,"cg_dw":52.0231285,"cg_id_a":3.23252535,"cg_id_raw_a":1.88429785,"cg_iq_a":-197.448608,"cg_iq_raw_a":-198.079407,"cg_iu_a":-192.887146,"cg_iv_a":66.1779022,"cg_iw_a":126.709244,"cg_sample_age_us":23.8963642,"cg_sample_seq":3337818,"cg_sample_valid":1,"cg_theta_rad":1.69509673,"cg_vd_req_v":-1.9541049,"cg_vd_v":-1.9541049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45593834,"cg_vq_v":-8.45593834,"cg_vu_v":110.413033,"cg_vv_v":112.172607,"cg_vw_v":118.3311,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.388031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":394.786499,"values":{"Elec_RPM":-2358.43677,"EncoderCos":19776,"EncoderSin":48279,"GapTicks":49338,"Mech_RPM":-471.687347,"cg_du":55.1464462,"cg_dv":44.8535538,"cg_dw":49.6420708,"cg_id_a":-13.8435078,"cg_id_raw_a":-17.0534859,"cg_iq_a":-197.240814,"cg_iq_raw_a":-196.817978,"cg_iu_a":194.052017,"cg_iv_a":-130.299911,"cg_iw_a":-63.7521057,"cg_sample_age_us":24.0127277,"cg_sample_seq":3339517,"cg_sample_valid":1,"cg_theta_rad":2.26931477,"cg_vd_req_v":-1.64550912,"cg_vd_v":-1.64550912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44859314,"cg_vq_v":-8.44859314,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.2764587,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":395.119336,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":395.119342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":395.119348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":395.140015,"values":{"Elec_RPM":-2356.72656,"EncoderCos":13283,"EncoderSin":38562,"GapTicks":49373,"Mech_RPM":-471.345306,"cg_du":44.8846588,"cg_dv":55.1153412,"cg_dw":48.4796143,"cg_id_a":-9.79075909,"cg_id_raw_a":-6.56152916,"cg_iq_a":-198.096832,"cg_iq_raw_a":-198.764603,"cg_iu_a":-184.62355,"cg_iv_a":152.836914,"cg_iw_a":31.7866287,"cg_sample_age_us":23.8272724,"cg_sample_seq":3341216,"cg_sample_valid":1,"cg_theta_rad":2.86528516,"cg_vd_req_v":-1.65046597,"cg_vd_v":-1.65046597,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48804379,"cg_vq_v":-8.48804379,"cg_vu_v":118.770996,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2448.16772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.3691101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":395.472046,"values":{"Elec_RPM":-2358.91406,"EncoderCos":13271,"EncoderSin":27061,"GapTicks":49967,"Mech_RPM":-471.782806,"cg_du":54.5753632,"cg_dv":45.4246368,"cg_dw":54.152626,"cg_id_a":12.6256065,"cg_id_raw_a":15.7958851,"cg_iq_a":-200.56723,"cg_iq_raw_a":-199.962875,"cg_iu_a":170.421036,"cg_iv_a":-178.033051,"cg_iw_a":7.61200714,"cg_sample_age_us":24.1618176,"cg_sample_seq":3342916,"cg_sample_valid":1,"cg_theta_rad":3.42862105,"cg_vd_req_v":-2.11300611,"cg_vd_v":-2.11300611,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39665318,"cg_vq_v":-8.39665318,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":9.67763615,"control_outputs_enabled":1,"dclink_i_a":-17.1578903,"dclink_p_w":-2490.71753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.3811646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":395.804077,"values":{"Elec_RPM":-2356.5022,"EncoderCos":19411,"EncoderSin":17287,"GapTicks":49640,"Mech_RPM":-471.300446,"cg_du":47.2477455,"cg_dv":54.8718987,"cg_dw":45.1281013,"cg_id_a":10.0301647,"cg_id_raw_a":8.13652992,"cg_iq_a":-203.821548,"cg_iq_raw_a":-201.875076,"cg_iu_a":-143.486816,"cg_iv_a":198.757874,"cg_iw_a":-55.2710495,"cg_sample_age_us":23.9690914,"cg_sample_seq":3344616,"cg_sample_valid":1,"cg_theta_rad":4.00904322,"cg_vd_req_v":-2.10118651,"cg_vd_v":-2.10118651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30194187,"cg_vq_v":-8.30194187,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.3845825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":396.111305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":396.111312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":396.111318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":396.15564,"values":{"Elec_RPM":-2354.18652,"EncoderCos":29650,"EncoderSin":12728,"GapTicks":49290,"Mech_RPM":-470.837311,"cg_du":50.3157921,"cg_dv":44.8095016,"cg_dw":55.1904984,"cg_id_a":-10.7085094,"cg_id_raw_a":-13.3937941,"cg_iq_a":-196.946991,"cg_iq_raw_a":-195.987976,"cg_iu_a":85.5017395,"cg_iv_a":-197.097305,"cg_iw_a":111.595566,"cg_sample_age_us":23.7327271,"cg_sample_seq":3346317,"cg_sample_valid":1,"cg_theta_rad":4.58451557,"cg_vd_req_v":-1.72204196,"cg_vd_v":-1.72204196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47991562,"cg_vq_v":-8.47991562,"cg_vu_v":6.59838867,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.3279114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":396.489624,"values":{"Elec_RPM":-2353.86255,"EncoderCos":41048,"EncoderSin":14209,"GapTicks":49411,"Mech_RPM":-470.772491,"cg_du":51.8620911,"cg_dv":55.0806961,"cg_dw":44.9193039,"cg_id_a":-13.8836613,"cg_id_raw_a":-8.78814602,"cg_iq_a":-195.252777,"cg_iq_raw_a":-196.191864,"cg_iu_a":-9.31213188,"cg_iv_a":171.75621,"cg_iw_a":-162.444077,"cg_sample_age_us":23.9836369,"cg_sample_seq":3348017,"cg_sample_valid":1,"cg_theta_rad":5.14975691,"cg_vd_req_v":-1.63983297,"cg_vd_v":-1.63983297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52220154,"cg_vq_v":-8.52220154,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-17.734169,"dclink_p_w":-2574.37256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":396.84314,"values":{"Elec_RPM":-2350.20313,"EncoderCos":41768,"EncoderSin":14613,"GapTicks":49329,"Mech_RPM":-470.040619,"cg_du":49.9560509,"cg_dv":55.1546288,"cg_dw":44.8453712,"cg_id_a":-19.6520195,"cg_id_raw_a":-18.458622,"cg_iq_a":-196.241302,"cg_iq_raw_a":-193.852356,"cg_iu_a":-48.020546,"cg_iv_a":191.762787,"cg_iw_a":-143.742249,"cg_sample_age_us":23.8563633,"cg_sample_seq":3349767,"cg_sample_valid":1,"cg_theta_rad":5.19180298,"cg_vd_req_v":-1.54520214,"cg_vd_v":-1.54520214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47446823,"cg_vq_v":-8.47446823,"cg_vu_v":22.8744144,"cg_vv_v":24.6339836,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.3862915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":397.135177,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":397.135183,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":397.135189,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":397.175171,"values":{"Elec_RPM":-2342.95874,"EncoderCos":49783,"EncoderSin":43316,"GapTicks":49354,"Mech_RPM":-468.591766,"cg_du":44.8681068,"cg_dv":51.1671753,"cg_dw":55.1318932,"cg_id_a":-9.12670612,"cg_id_raw_a":-9.82473183,"cg_iq_a":-199.389771,"cg_iq_raw_a":-198.77301,"cg_iu_a":-151.895386,"cg_iv_a":-25.7364502,"cg_iw_a":185.714203,"cg_sample_age_us":23.5436363,"cg_sample_seq":3351367,"cg_sample_valid":1,"cg_theta_rad":0.557813108,"cg_vd_req_v":-1.76213694,"cg_vd_v":-1.76213694,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4414587,"cg_vq_v":-8.4414587,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2416.53296,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":41.4327087,"temp_inv2_c":41.391449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103781186,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":397.507202,"values":{"Elec_RPM":-2343.95581,"EncoderCos":49356,"EncoderSin":44013,"GapTicks":49298,"Mech_RPM":-468.791168,"cg_du":44.8168106,"cg_dv":49.3514023,"cg_dw":55.1831894,"cg_id_a":-10.0178175,"cg_id_raw_a":-11.7532892,"cg_iq_a":-197.66304,"cg_iq_raw_a":-196.651901,"cg_iu_a":-118.043633,"cg_iv_a":-77.3839188,"cg_iw_a":195.427551,"cg_sample_age_us":23.4818172,"cg_sample_seq":3353117,"cg_sample_valid":1,"cg_theta_rad":0.602174759,"cg_vd_req_v":-1.7621398,"cg_vd_v":-1.7621398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47677612,"cg_vq_v":-8.47677612,"cg_vu_v":112.172607,"cg_vv_v":124.049698,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.4292908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":397.858765,"values":{"Elec_RPM":-2352.58813,"EncoderCos":30465,"EncoderSin":52787,"GapTicks":49439,"Mech_RPM":-470.517609,"cg_du":44.9448204,"cg_dv":55.0551796,"cg_dw":51.9959106,"cg_id_a":3.83253574,"cg_id_raw_a":0.959087253,"cg_iq_a":-197.192627,"cg_iq_raw_a":-197.978775,"cg_iu_a":-188.28418,"cg_iv_a":29.6078796,"cg_iw_a":158.6763,"cg_sample_age_us":26.7399998,"cg_sample_seq":3354770,"cg_sample_valid":1,"cg_theta_rad":1.72764122,"cg_vd_req_v":-1.97083271,"cg_vd_v":-1.97083271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43748474,"cg_vq_v":-8.43748474,"cg_vu_v":1.31967759,"cg_vv_v":8.35795879,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2487.65015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.393158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":398.127266,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":398.127272,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":398.127278,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":398.204468,"values":{"Elec_RPM":-2355.36206,"EncoderCos":28879,"EncoderSin":52562,"GapTicks":49853,"Mech_RPM":-471.072418,"cg_du":45.3217621,"cg_dv":53.6959381,"cg_dw":54.6782379,"cg_id_a":7.22731924,"cg_id_raw_a":9.49265099,"cg_iq_a":-203.081451,"cg_iq_raw_a":-203.261597,"cg_iu_a":-179.984344,"cg_iv_a":14.0230408,"cg_iw_a":167.990967,"cg_sample_age_us":23.8709087,"cg_sample_seq":3356516,"cg_sample_valid":1,"cg_theta_rad":1.75988424,"cg_vd_req_v":-2.00322509,"cg_vd_v":-2.00322509,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32920551,"cg_vq_v":-8.32920551,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4327087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":398.725952,"values":{"Elec_RPM":-2355.47339,"EncoderCos":42251,"EncoderSin":14863,"GapTicks":49379,"Mech_RPM":-471.094696,"cg_du":48.919735,"cg_dv":55.1092567,"cg_dw":44.8907433,"cg_id_a":-14.3078203,"cg_id_raw_a":-18.4035301,"cg_iq_a":-200.621704,"cg_iq_raw_a":-199.909195,"cg_iu_a":-82.0172653,"cg_iv_a":200.207611,"cg_iw_a":-118.190346,"cg_sample_age_us":23.9872723,"cg_sample_seq":3359117,"cg_sample_valid":1,"cg_theta_rad":5.2151041,"cg_vd_req_v":-1.68792462,"cg_vd_v":-1.68792462,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40773964,"cg_vq_v":-8.40773964,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-17.2394409,"dclink_p_w":-2494.97217,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":398.991076,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":398.991088,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":398.991091,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":399.119157,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":399.119163,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":399.119169,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":399.18689,"values":{"Elec_RPM":-2356.96436,"EncoderCos":39946,"EncoderSin":13824,"GapTicks":49975,"Mech_RPM":-471.392883,"cg_du":54.5673141,"cg_dv":54.2483292,"cg_dw":45.4326859,"cg_id_a":9.28656673,"cg_id_raw_a":7.36801529,"cg_iq_a":-202.981003,"cg_iq_raw_a":-204.410477,"cg_iu_a":23.9597073,"cg_iv_a":161.02803,"cg_iw_a":-184.987732,"cg_sample_age_us":23.954546,"cg_sample_seq":3361467,"cg_sample_valid":1,"cg_theta_rad":5.09001446,"cg_vd_req_v":-2.11851883,"cg_vd_v":-2.11851883,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37341499,"cg_vq_v":-8.37341499,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2426.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4052124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":399.518921,"values":{"Elec_RPM":-2355.49902,"EncoderCos":49040,"EncoderSin":21069,"GapTicks":49479,"Mech_RPM":-471.099792,"cg_du":44.9815254,"cg_dv":47.6194763,"cg_dw":55.0184746,"cg_id_a":11.4758596,"cg_id_raw_a":8.20755959,"cg_iq_a":-199.00061,"cg_iq_raw_a":-196.360855,"cg_iu_a":-57.8063812,"cg_iv_a":-136.606339,"cg_iw_a":194.41272,"cg_sample_age_us":23.9254551,"cg_sample_seq":3363167,"cg_sample_valid":1,"cg_theta_rad":5.67823267,"cg_vd_req_v":-2.20976949,"cg_vd_v":-2.20976949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40990543,"cg_vq_v":-8.40990543,"cg_vu_v":115.251846,"cg_vv_v":129.328415,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.739275,"dclink_p_w":-2422.58569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4052124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":399.850952,"values":{"Elec_RPM":-2356.89185,"EncoderCos":50368,"EncoderSin":42249,"GapTicks":49931,"Mech_RPM":-471.378357,"cg_du":45.3920212,"cg_dv":54.1261787,"cg_dw":54.6079788,"cg_id_a":10.4351263,"cg_id_raw_a":13.1809998,"cg_iq_a":-201.854279,"cg_iq_raw_a":-200.195709,"cg_iu_a":-179.839355,"cg_iv_a":8.33273315,"cg_iw_a":171.506622,"cg_sample_age_us":23.5581818,"cg_sample_seq":3364817,"cg_sample_valid":1,"cg_theta_rad":0.500150442,"cg_vd_req_v":-2.14723945,"cg_vd_v":-2.14723945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37142372,"cg_vq_v":-8.37142372,"cg_vu_v":112.612495,"cg_vv_v":142.085297,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5181885,"dclink_p_w":-2390.58911,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4206848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":400.110731,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":400.110737,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":400.110743,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":400.204468,"values":{"Elec_RPM":-2358.59277,"EncoderCos":49854,"EncoderSin":43162,"GapTicks":49403,"Mech_RPM":-471.718536,"cg_du":44.911911,"cg_dv":51.5617943,"cg_dw":55.088089,"cg_id_a":-7.93150568,"cg_id_raw_a":-5.74219608,"cg_iq_a":-200.451416,"cg_iq_raw_a":-200.62355,"cg_iu_a":-157.91185,"cg_iv_a":-28.7809296,"cg_iw_a":186.69278,"cg_sample_age_us":23.4381809,"cg_sample_seq":3366566,"cg_sample_valid":1,"cg_theta_rad":0.555017889,"cg_vd_req_v":-1.78195536,"cg_vd_v":-1.78195536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42269802,"cg_vq_v":-8.42269802,"cg_vu_v":39.1504402,"cg_vv_v":52.7871094,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.393158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":400.536499,"values":{"Elec_RPM":-2355.04956,"EncoderCos":41307,"EncoderSin":50908,"GapTicks":49882,"Mech_RPM":-471.009918,"cg_du":54.6521225,"cg_dv":46.0615273,"cg_dw":45.3478775,"cg_id_a":9.85548496,"cg_id_raw_a":14.8215523,"cg_iq_a":-200.508026,"cg_iq_raw_a":-202.340897,"cg_iu_a":177.01741,"cg_iv_a":-12.5436859,"cg_iw_a":-165.995972,"cg_sample_age_us":24.005455,"cg_sample_seq":3368266,"cg_sample_valid":1,"cg_theta_rad":1.13136923,"cg_vd_req_v":-2.08623385,"cg_vd_v":-2.08623385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39806652,"cg_vq_v":-8.39806652,"cg_vu_v":43.1094704,"cg_vv_v":42.2296829,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4069519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":400.890015,"values":{"Elec_RPM":-2353.77295,"EncoderCos":30004,"EncoderSin":52736,"GapTicks":49606,"Mech_RPM":-470.754578,"cg_du":45.0972404,"cg_dv":54.9027596,"cg_dw":52.9073029,"cg_id_a":9.78407192,"cg_id_raw_a":8.38499355,"cg_iq_a":-200.274368,"cg_iq_raw_a":-200.416199,"cg_iu_a":-194.445648,"cg_iv_a":52.5139771,"cg_iw_a":141.931671,"cg_sample_age_us":23.8527279,"cg_sample_seq":3369966,"cg_sample_valid":1,"cg_theta_rad":1.70659161,"cg_vd_req_v":-2.0799036,"cg_vd_v":-2.0799036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37945938,"cg_vq_v":-8.37945938,"cg_vu_v":39.590332,"cg_vv_v":71.7024918,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.9153881,"dclink_p_w":-2592.79834,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.3760071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":401.134995,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":401.135001,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":401.135006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":401.220093,"values":{"Elec_RPM":-2357.3374,"EncoderCos":19467,"EncoderSin":48056,"GapTicks":49336,"Mech_RPM":-471.467468,"cg_du":55.1489906,"cg_dv":44.8510094,"cg_dw":49.2479057,"cg_id_a":-11.7108603,"cg_id_raw_a":-11.7892408,"cg_iq_a":-198.008011,"cg_iq_raw_a":-197.574829,"cg_iu_a":197.024017,"cg_iv_a":-119.426765,"cg_iw_a":-77.5972519,"cg_sample_age_us":23.8890915,"cg_sample_seq":3371666,"cg_sample_valid":1,"cg_theta_rad":2.2782197,"cg_vd_req_v":-1.70439768,"cg_vd_v":-1.70439768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46533108,"cg_vq_v":-8.46533108,"cg_vu_v":130.208206,"cg_vv_v":117.891212,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.4206848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":401.554077,"values":{"Elec_RPM":-2354.71289,"EncoderCos":13079,"EncoderSin":27760,"GapTicks":49723,"Mech_RPM":-470.942566,"cg_du":53.3323555,"cg_dv":45.2034836,"cg_dw":54.7965164,"cg_id_a":12.8371592,"cg_id_raw_a":11.2591658,"cg_iq_a":-200.059357,"cg_iq_raw_a":-199.060379,"cg_iu_a":152.987762,"cg_iv_a":-190.029755,"cg_iw_a":37.0419922,"cg_sample_age_us":23.6963634,"cg_sample_seq":3373316,"cg_sample_valid":1,"cg_theta_rad":3.39544725,"cg_vd_req_v":-2.14312673,"cg_vd_v":-2.14312673,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39337921,"cg_vq_v":-8.39337921,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2451.95972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4327087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":401.907593,"values":{"Elec_RPM":-2353.81201,"EncoderCos":13239,"EncoderSin":27223,"GapTicks":50063,"Mech_RPM":-470.762421,"cg_du":54.4333267,"cg_dv":45.5125771,"cg_dw":54.4874229,"cg_id_a":14.0285778,"cg_id_raw_a":16.5452785,"cg_iq_a":-201.339569,"cg_iq_raw_a":-200.560333,"cg_iu_a":168.246399,"cg_iv_a":-181.693665,"cg_iw_a":13.447258,"cg_sample_age_us":24.136364,"cg_sample_seq":3375067,"cg_sample_valid":1,"cg_theta_rad":3.42531991,"cg_vd_req_v":-2.15331769,"cg_vd_v":-2.15331769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36037636,"cg_vq_v":-8.36037636,"cg_vu_v":143.404984,"cg_vv_v":134.167236,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7450409,"dclink_p_w":-2568.14502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4602356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":402.095414,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":402.09542,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":402.095425,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":402.239624,"values":{"Elec_RPM":-2350.86572,"EncoderCos":28925,"EncoderSin":12867,"GapTicks":49377,"Mech_RPM":-470.173126,"cg_du":48.7944603,"cg_dv":44.8887482,"cg_dw":55.1112518,"cg_id_a":-15.2086983,"cg_id_raw_a":-13.541543,"cg_iq_a":-199.637405,"cg_iq_raw_a":-201.556747,"cg_iu_a":24.1046829,"cg_iv_a":-181.983612,"cg_iw_a":157.878937,"cg_sample_age_us":23.7690907,"cg_sample_seq":3376717,"cg_sample_valid":1,"cg_theta_rad":4.5376091,"cg_vd_req_v":-1.60055733,"cg_vd_v":-1.60055733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44387531,"cg_vq_v":-8.44387531,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.1575623,"dclink_p_w":-2338.39771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4206848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":402.571655,"values":{"Elec_RPM":-2345.23413,"EncoderCos":40356,"EncoderSin":13967,"GapTicks":49848,"Mech_RPM":-469.046844,"cg_du":53.7529144,"cg_dv":54.6828804,"cg_dw":45.3171196,"cg_id_a":4.71155787,"cg_id_raw_a":8.87649441,"cg_iq_a":-200.930328,"cg_iq_raw_a":-201.068863,"cg_iu_a":8.88227272,"cg_iv_a":167.841873,"cg_iw_a":-181.834518,"cg_sample_age_us":23.954546,"cg_sample_seq":3378417,"cg_sample_valid":1,"cg_theta_rad":5.11236143,"cg_vd_req_v":-2.00418043,"cg_vd_v":-2.00418043,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38668156,"cg_vq_v":-8.38668156,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.3828735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":402.923218,"values":{"Elec_RPM":-2352.11475,"EncoderCos":49436,"EncoderSin":21565,"GapTicks":49827,"Mech_RPM":-470.422974,"cg_du":45.2977257,"cg_dv":46.4533081,"cg_dw":54.7022743,"cg_id_a":16.3073673,"cg_id_raw_a":16.0858421,"cg_iq_a":-205.467361,"cg_iq_raw_a":-205.053604,"cg_iu_a":-30.8409691,"cg_iv_a":-163.173065,"cg_iw_a":194.014038,"cg_sample_age_us":23.9400005,"cg_sample_seq":3380116,"cg_sample_valid":1,"cg_theta_rad":5.70950031,"cg_vd_req_v":-2.29098392,"cg_vd_v":-2.29098392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25902939,"cg_vq_v":-8.25902939,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4309998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103428699,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":403.118532,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":403.118537,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":403.118542,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":403.257202,"values":{"Elec_RPM":-2356.11621,"EncoderCos":52727,"EncoderSin":32189,"GapTicks":49377,"Mech_RPM":-471.223267,"cg_du":55.1114197,"cg_dv":50.9935036,"cg_dw":44.8885803,"cg_id_a":-5.13259077,"cg_id_raw_a":-8.6129303,"cg_iq_a":-202.114624,"cg_iq_raw_a":-199.976776,"cg_iu_a":110.546227,"cg_iv_a":92.1284866,"cg_iw_a":-202.674713,"cg_sample_age_us":24.0127277,"cg_sample_seq":3381817,"cg_sample_valid":1,"cg_theta_rad":6.26682186,"cg_vd_req_v":-1.85334826,"cg_vd_v":-1.85334826,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3665514,"cg_vq_v":-8.3665514,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2459.93384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4636841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":403.589233,"values":{"Elec_RPM":-2352.67358,"EncoderCos":49610,"EncoderSin":43615,"GapTicks":49347,"Mech_RPM":-470.534698,"cg_du":44.8609238,"cg_dv":50.318779,"cg_dw":55.1390762,"cg_id_a":-12.9610376,"cg_id_raw_a":-11.6812105,"cg_iq_a":-196.772217,"cg_iq_raw_a":-199.617676,"cg_iu_a":-142.580704,"cg_iv_a":-48.5700836,"cg_iw_a":191.150787,"cg_sample_age_us":23.5254555,"cg_sample_seq":3383516,"cg_sample_valid":1,"cg_theta_rad":0.579835355,"cg_vd_req_v":-1.68357611,"cg_vd_v":-1.68357611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48034477,"cg_vq_v":-8.48034477,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2457.30835,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.4877625,"temp_inv2_c":41.4258423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":403.940796,"values":{"Elec_RPM":-2356.17627,"EncoderCos":49142,"EncoderSin":44244,"GapTicks":49378,"Mech_RPM":-471.23526,"cg_du":44.8894882,"cg_dv":48.7945328,"cg_dw":55.1105118,"cg_id_a":-3.94952607,"cg_id_raw_a":-7.69854116,"cg_iq_a":-198.102356,"cg_iq_raw_a":-200.46785,"cg_iu_a":-112.498322,"cg_iv_a":-83.2191772,"cg_iw_a":195.717499,"cg_sample_age_us":23.4127274,"cg_sample_seq":3385266,"cg_sample_valid":1,"cg_theta_rad":0.608899474,"cg_vd_req_v":-1.87304688,"cg_vd_v":-1.87304688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44005489,"cg_vq_v":-8.44005489,"cg_vu_v":7.91806602,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4120789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104032956,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":404.111178,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":404.111184,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":404.111189,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":404.27478,"values":{"Elec_RPM":-2355.34692,"EncoderCos":29668,"EncoderSin":52688,"GapTicks":49735,"Mech_RPM":-471.069366,"cg_du":45.2137871,"cg_dv":54.7862129,"cg_dw":53.6069412,"cg_id_a":11.7900581,"cg_id_raw_a":12.9649343,"cg_iq_a":-200.015579,"cg_iq_raw_a":-199.788773,"cg_iu_a":-189.045303,"cg_iv_a":31.9999695,"cg_iw_a":157.045334,"cg_sample_age_us":23.863636,"cg_sample_seq":3386916,"cg_sample_valid":1,"cg_theta_rad":1.72558522,"cg_vd_req_v":-2.11841583,"cg_vd_v":-2.11841583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40688515,"cg_vq_v":-8.40688515,"cg_vu_v":37.830761,"cg_vv_v":43.549366,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-17.614563,"dclink_p_w":-2541.51294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4550781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":404.626343,"values":{"Elec_RPM":-2356.66406,"EncoderCos":29108,"EncoderSin":52634,"GapTicks":49971,"Mech_RPM":-471.332825,"cg_du":45.4283066,"cg_dv":54.2760696,"cg_dw":54.5716934,"cg_id_a":11.1976814,"cg_id_raw_a":13.7230511,"cg_iq_a":-201.442047,"cg_iq_raw_a":-200.36174,"cg_iu_a":-181.035416,"cg_iv_a":13.2256622,"cg_iw_a":167.809753,"cg_sample_age_us":23.8527279,"cg_sample_seq":3388667,"cg_sample_valid":1,"cg_theta_rad":1.75411749,"cg_vd_req_v":-2.09296584,"cg_vd_v":-2.09296584,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39950275,"cg_vq_v":-8.39950275,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2512.22827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4241333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":404.958374,"values":{"Elec_RPM":-2355.74731,"EncoderCos":18651,"EncoderSin":47286,"GapTicks":49630,"Mech_RPM":-471.149475,"cg_du":54.8809662,"cg_dv":45.1190338,"cg_dw":46.9855576,"cg_id_a":16.4605961,"cg_id_raw_a":15.4940701,"cg_iq_a":-201.322067,"cg_iq_raw_a":-200.060379,"cg_iu_a":193.544601,"cg_iv_a":-39.0379486,"cg_iw_a":-154.506653,"cg_sample_age_us":23.994545,"cg_sample_seq":3390366,"cg_sample_valid":1,"cg_theta_rad":2.344414,"cg_vd_req_v":-2.24678159,"cg_vd_v":-2.24678159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39048672,"cg_vq_v":-8.39048672,"cg_vu_v":27.7132301,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3424053,"dclink_p_w":-2372.33789,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":405.103656,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":405.103662,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":405.103668,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":405.292358,"values":{"Elec_RPM":-2352.45435,"EncoderCos":12956,"EncoderSin":37333,"GapTicks":49376,"Mech_RPM":-470.490875,"cg_du":44.8875122,"cg_dv":55.1124878,"cg_dw":51.1318359,"cg_id_a":-3.69302821,"cg_id_raw_a":-1.41402054,"cg_iq_a":-198.03392,"cg_iq_raw_a":-198.931839,"cg_iu_a":-199.483521,"cg_iv_a":102.639191,"cg_iw_a":96.8443298,"cg_sample_age_us":23.9690914,"cg_sample_seq":3392066,"cg_sample_valid":1,"cg_theta_rad":2.92145777,"cg_vd_req_v":-1.78830028,"cg_vd_v":-1.78830028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42547894,"cg_vq_v":-8.42547894,"cg_vu_v":39.1504402,"cg_vv_v":70.8227005,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.482605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":405.643921,"values":{"Elec_RPM":-2352.41187,"EncoderCos":13579,"EncoderSin":26108,"GapTicks":49406,"Mech_RPM":-470.482391,"cg_du":55.085022,"cg_dv":44.914978,"cg_dw":51.5614281,"cg_id_a":-13.1905308,"cg_id_raw_a":-11.3062429,"cg_iq_a":-198.146652,"cg_iq_raw_a":-198.347366,"cg_iu_a":177.488586,"cg_iv_a":-163.934189,"cg_iw_a":-8.19031525,"cg_sample_age_us":24.1000004,"cg_sample_seq":3393767,"cg_sample_valid":1,"cg_theta_rad":3.47656536,"cg_vd_req_v":-1.60532904,"cg_vd_v":-1.60532904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4529562,"cg_vq_v":-8.4529562,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2488.6958,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4413147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":405.975952,"values":{"Elec_RPM":-2350.33496,"EncoderCos":20235,"EncoderSin":16644,"GapTicks":49924,"Mech_RPM":-470.067017,"cg_du":45.3860016,"cg_dv":54.6139984,"cg_dw":45.9796524,"cg_id_a":9.2932539,"cg_id_raw_a":11.8795204,"cg_iq_a":-202.438354,"cg_iq_raw_a":-203.126099,"cg_iu_a":-170.343475,"cg_iv_a":178.715012,"cg_iw_a":-8.37153625,"cg_sample_age_us":23.954546,"cg_sample_seq":3395467,"cg_sample_valid":1,"cg_theta_rad":4.06265306,"cg_vd_req_v":-2.06171441,"cg_vd_v":-2.06171441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38148308,"cg_vq_v":-8.38148308,"cg_vu_v":104.254532,"cg_vv_v":105.134323,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2509.92163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4533691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":406.0954,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":406.095406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":406.09541,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":406.329468,"values":{"Elec_RPM":-2351.13135,"EncoderCos":30378,"EncoderSin":12661,"GapTicks":49337,"Mech_RPM":-470.226257,"cg_du":51.2929115,"cg_dv":44.8523865,"cg_dw":55.1476135,"cg_id_a":-1.85657835,"cg_id_raw_a":-0.781346023,"cg_iq_a":-195.165588,"cg_iq_raw_a":-194.845383,"cg_iu_a":145.304062,"cg_iv_a":-191.008331,"cg_iw_a":45.7042694,"cg_sample_age_us":23.6527271,"cg_sample_seq":3397171,"cg_sample_valid":1,"cg_theta_rad":4.6425705,"cg_vd_req_v":-1.89562058,"cg_vd_v":-1.89562058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48312664,"cg_vq_v":-8.48312664,"cg_vu_v":143.404984,"cg_vv_v":140.325729,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2398.45703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4774475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":406.661499,"values":{"Elec_RPM":-2350.33594,"EncoderCos":50044,"EncoderSin":22535,"GapTicks":49759,"Mech_RPM":-470.067169,"cg_du":46.7337189,"cg_dv":45.235714,"cg_dw":54.764286,"cg_id_a":-4.62613821,"cg_id_raw_a":0.957664669,"cg_iq_a":-204.533966,"cg_iq_raw_a":-206.801682,"cg_iu_a":-1.26600075,"cg_iv_a":-176.112106,"cg_iw_a":177.378113,"cg_sample_age_us":23.8309097,"cg_sample_seq":3398816,"cg_sample_valid":1,"cg_theta_rad":5.75673723,"cg_vd_req_v":-1.8578248,"cg_vd_v":-1.8578248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30313969,"cg_vq_v":-8.34479809,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2416.81592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.4602356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":406.991577,"values":{"Elec_RPM":-2347.97388,"EncoderCos":50268,"EncoderSin":23011,"GapTicks":49352,"Mech_RPM":-469.594757,"cg_du":48.6386681,"cg_dv":44.8656883,"cg_dw":55.1343117,"cg_id_a":-12.4413118,"cg_id_raw_a":-9.7567215,"cg_iq_a":-198.223328,"cg_iq_raw_a":-200.290161,"cg_iu_a":27.4028721,"cg_iv_a":-181.621185,"cg_iw_a":154.218307,"cg_sample_age_us":23.8818188,"cg_sample_seq":3400567,"cg_sample_valid":1,"cg_theta_rad":5.79259348,"cg_vd_req_v":-1.71519697,"cg_vd_v":-1.71519697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48202229,"cg_vq_v":-8.48202229,"cg_vu_v":143.844864,"cg_vv_v":140.325729,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2406.3252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4688416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":407.119458,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":407.119463,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":407.119469,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":407.347046,"values":{"Elec_RPM":-2350.11572,"EncoderCos":49351,"EncoderSin":44112,"GapTicks":49352,"Mech_RPM":-470.023163,"cg_du":44.8658485,"cg_dv":49.211525,"cg_dw":55.1341515,"cg_id_a":-6.84529018,"cg_id_raw_a":-10.8748035,"cg_iq_a":-197.86792,"cg_iq_raw_a":-196.78627,"cg_iu_a":-69.984314,"cg_iv_a":-129.248825,"cg_iw_a":199.233139,"cg_sample_age_us":23.4163628,"cg_sample_seq":3402219,"cg_sample_valid":1,"cg_theta_rad":0.640889883,"cg_vd_req_v":-1.81752312,"cg_vd_v":-1.81752312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41959095,"cg_vq_v":-8.41959095,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4981079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":407.679077,"values":{"Elec_RPM":-2351.29907,"EncoderCos":48733,"EncoderSin":44877,"GapTicks":49532,"Mech_RPM":-470.259796,"cg_du":45.0293541,"cg_dv":47.5083733,"cg_dw":54.9706459,"cg_id_a":12.34902,"cg_id_raw_a":9.01019001,"cg_iq_a":-202.64003,"cg_iq_raw_a":-202.882736,"cg_iu_a":-45.4109879,"cg_iv_a":-150.270264,"cg_iw_a":195.681244,"cg_sample_age_us":23.5400009,"cg_sample_seq":3403968,"cg_sample_valid":1,"cg_theta_rad":0.665160954,"cg_vd_req_v":-2.20191479,"cg_vd_v":-2.20191479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33528328,"cg_vq_v":-8.33528328,"cg_vu_v":112.172607,"cg_vv_v":118.3311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5067139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":408.011108,"values":{"Elec_RPM":-2352.8457,"EncoderCos":28679,"EncoderSin":52540,"GapTicks":49696,"Mech_RPM":-470.569122,"cg_du":45.1787262,"cg_dv":53.1845131,"cg_dw":54.8212738,"cg_id_a":2.33551884,"cg_id_raw_a":5.70539379,"cg_iq_a":-200.495895,"cg_iq_raw_a":-200.269485,"cg_iu_a":-173.025528,"cg_iv_a":3.33110046,"cg_iw_a":169.694427,"cg_sample_age_us":23.8309097,"cg_sample_seq":3405617,"cg_sample_valid":1,"cg_theta_rad":1.77438569,"cg_vd_req_v":-1.8998313,"cg_vd_v":-1.8998313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41108513,"cg_vq_v":-8.41108513,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2529.38843,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4688416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":408.14283,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":408.142836,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":408.142841,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":408.440796,"values":{"Elec_RPM":-2351.54736,"EncoderCos":35897,"EncoderSin":12759,"GapTicks":50013,"Mech_RPM":-470.309479,"cg_du":54.5332031,"cg_dv":45.4667969,"cg_dw":45.728672,"cg_id_a":11.5563583,"cg_id_raw_a":15.317585,"cg_iq_a":-201.525787,"cg_iq_raw_a":-204.117218,"cg_iu_a":186.875732,"cg_iv_a":-30.629364,"cg_iw_a":-156.246368,"cg_sample_age_us":24.0963631,"cg_sample_seq":3407666,"cg_sample_valid":1,"cg_theta_rad":4.87624168,"cg_vd_req_v":-2.12819695,"cg_vd_v":-2.12819695,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35727501,"cg_vq_v":-8.35727501,"cg_vu_v":105.574219,"cg_vv_v":81.820015,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2231293,"dclink_p_w":-2492.61133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.473999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":408.979858,"values":{"Elec_RPM":-2344.19922,"EncoderCos":50719,"EncoderSin":41478,"GapTicks":49610,"Mech_RPM":-468.839844,"cg_du":45.1002197,"cg_dv":54.8997803,"cg_dw":53.1642303,"cg_id_a":11.9772568,"cg_id_raw_a":11.8093386,"cg_iq_a":-198.827133,"cg_iq_raw_a":-198.925827,"cg_iu_a":-191.074951,"cg_iv_a":40.5897522,"cg_iw_a":150.485199,"cg_sample_age_us":23.5218182,"cg_sample_seq":3410416,"cg_sample_valid":1,"cg_theta_rad":0.462200791,"cg_vd_req_v":-2.20574999,"cg_vd_v":-2.20574999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45587063,"cg_vq_v":-8.45587063,"cg_vu_v":103.814644,"cg_vv_v":47.0685043,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.482605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":409.007074,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":409.007086,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":409.007089,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":409.103233,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":409.103239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":409.103244,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":409.33728,"values":{"Elec_RPM":-2351.09741,"EncoderCos":49287,"EncoderSin":21372,"GapTicks":49609,"Mech_RPM":-470.219482,"cg_du":45.0999908,"cg_dv":46.9708862,"cg_dw":54.9000092,"cg_id_a":19.4959698,"cg_id_raw_a":17.2384377,"cg_iq_a":-203.679382,"cg_iq_raw_a":-200.776672,"cg_iu_a":-35.2264709,"cg_iv_a":-158.533859,"cg_iw_a":193.76033,"cg_sample_age_us":23.9145451,"cg_sample_seq":3412267,"cg_sample_valid":1,"cg_theta_rad":5.69555807,"cg_vd_req_v":-2.38102484,"cg_vd_v":-2.38102484,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33464432,"cg_vq_v":-8.33464432,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.4499207,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":409.688843,"values":{"Elec_RPM":-2356.19678,"EncoderCos":52724,"EncoderSin":32459,"GapTicks":49441,"Mech_RPM":-471.239349,"cg_du":55.0528641,"cg_dv":51.4826698,"cg_dw":44.9471359,"cg_id_a":-0.246968508,"cg_id_raw_a":-2.34216452,"cg_iq_a":-201.858582,"cg_iq_raw_a":-200.464355,"cg_iu_a":94.8526459,"cg_iv_a":110.286636,"cg_iw_a":-205.139282,"cg_sample_age_us":24.0599995,"cg_sample_seq":3413966,"cg_sample_valid":1,"cg_theta_rad":6.28225899,"cg_vd_req_v":-1.94880617,"cg_vd_v":-1.94880617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36639977,"cg_vq_v":-8.36639977,"cg_vu_v":2.19946289,"cg_vv_v":5.27871037,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2534.64966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":410.022827,"values":{"Elec_RPM":-2354.67383,"EncoderCos":49678,"EncoderSin":43509,"GapTicks":49371,"Mech_RPM":-470.934753,"cg_du":44.8831177,"cg_dv":50.6314125,"cg_dw":55.1168823,"cg_id_a":-11.5490208,"cg_id_raw_a":-13.0003405,"cg_iq_a":-197.594147,"cg_iq_raw_a":-197.335953,"cg_iu_a":-144.82782,"cg_iv_a":-40.9951172,"cg_iw_a":185.822937,"cg_sample_age_us":23.5545464,"cg_sample_seq":3415667,"cg_sample_valid":1,"cg_theta_rad":0.569985092,"cg_vd_req_v":-1.70960605,"cg_vd_v":-1.70960605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42707062,"cg_vq_v":-8.42707062,"cg_vu_v":95.8965836,"cg_vv_v":92.3774414,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.5203304,"dclink_p_w":-2527.91675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4567871,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":410.127237,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":410.127243,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":410.127249,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":410.37439,"values":{"Elec_RPM":-2364.70117,"EncoderCos":41928,"EncoderSin":50612,"GapTicks":49750,"Mech_RPM":-472.940247,"cg_du":54.7723236,"cg_dv":45.2276764,"cg_dw":46.5689735,"cg_id_a":17.5586052,"cg_id_raw_a":16.5378704,"cg_iq_a":-205.054199,"cg_iq_raw_a":-203.103256,"cg_iu_a":172.704407,"cg_iv_a":0.794021606,"cg_iw_a":-173.498428,"cg_sample_age_us":26.3363628,"cg_sample_seq":3417371,"cg_sample_valid":1,"cg_theta_rad":1.14994931,"cg_vd_req_v":-2.27510595,"cg_vd_v":-2.27510595,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30262852,"cg_vq_v":-8.30262852,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2379.92358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":410.708374,"values":{"Elec_RPM":-2360.0708,"EncoderCos":40259,"EncoderSin":51372,"GapTicks":49316,"Mech_RPM":-472.01416,"cg_du":55.167057,"cg_dv":48.9211121,"cg_dw":44.832943,"cg_id_a":-12.3752537,"cg_id_raw_a":-10.3220615,"cg_iq_a":-196.094971,"cg_iq_raw_a":-198.855682,"cg_iu_a":152.987762,"cg_iv_a":31.1301117,"cg_iw_a":-184.117874,"cg_sample_age_us":23.8745461,"cg_sample_seq":3419116,"cg_sample_valid":1,"cg_theta_rad":1.18995857,"cg_vd_req_v":-1.6620754,"cg_vd_v":-1.6620754,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51015186,"cg_vq_v":-8.51015186,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2500.98486,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.5084229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":411.040405,"values":{"Elec_RPM":-2358.73267,"EncoderCos":19211,"EncoderSin":47821,"GapTicks":49404,"Mech_RPM":-471.746552,"cg_du":55.0868034,"cg_dv":44.9131966,"cg_dw":48.3731117,"cg_id_a":2.78212714,"cg_id_raw_a":-2.66103029,"cg_iq_a":-197.58429,"cg_iq_raw_a":-196.843552,"cg_iu_a":198.654999,"cg_iv_a":-83.0017242,"cg_iw_a":-115.653275,"cg_sample_age_us":24.0090904,"cg_sample_seq":3420766,"cg_sample_valid":1,"cg_theta_rad":2.30575323,"cg_vd_req_v":-1.97544396,"cg_vd_v":-1.97544396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44269276,"cg_vq_v":-8.44269276,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2517.71899,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4791565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":411.118793,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":411.118799,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":411.118804,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":411.391968,"values":{"Elec_RPM":-2362.19629,"EncoderCos":13138,"EncoderSin":38031,"GapTicks":49313,"Mech_RPM":-472.43924,"cg_du":44.8308678,"cg_dv":55.1691322,"cg_dw":49.7147751,"cg_id_a":-11.0508766,"cg_id_raw_a":-10.2712831,"cg_iq_a":-197.386017,"cg_iq_raw_a":-197.064468,"cg_iu_a":-191.763596,"cg_iv_a":139.825378,"cg_iw_a":51.9382172,"cg_sample_age_us":23.9218178,"cg_sample_seq":3422466,"cg_sample_valid":1,"cg_theta_rad":2.87973857,"cg_vd_req_v":-1.62453401,"cg_vd_v":-1.62453401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46190643,"cg_vq_v":-8.46190643,"cg_vu_v":38.2706528,"cg_vv_v":58.0658188,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4791565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":411.725952,"values":{"Elec_RPM":-2361.21802,"EncoderCos":13424,"EncoderSin":26629,"GapTicks":49655,"Mech_RPM":-472.243622,"cg_du":54.8586884,"cg_dv":45.1413116,"cg_dw":53.0438156,"cg_id_a":2.85574889,"cg_id_raw_a":9.37283516,"cg_iq_a":-200.92926,"cg_iq_raw_a":-202.748764,"cg_iu_a":174.009186,"cg_iv_a":-171.762863,"cg_iw_a":-2.24632263,"cg_sample_age_us":24.1327267,"cg_sample_seq":3424166,"cg_sample_valid":1,"cg_theta_rad":3.45273209,"cg_vd_req_v":-1.92059565,"cg_vd_v":-1.92059565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41800022,"cg_vq_v":-8.41800022,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2468.22046,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.4619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":412.057983,"values":{"Elec_RPM":-2355.68311,"EncoderCos":19822,"EncoderSin":16965,"GapTicks":49905,"Mech_RPM":-471.136627,"cg_du":46.213974,"cg_dv":54.631115,"cg_dw":45.368885,"cg_id_a":12.3950844,"cg_id_raw_a":13.9099569,"cg_iq_a":-204.561188,"cg_iq_raw_a":-204.183899,"cg_iu_a":-154.287476,"cg_iv_a":194.553589,"cg_iw_a":-40.2661057,"cg_sample_age_us":23.8781815,"cg_sample_seq":3425866,"cg_sample_valid":1,"cg_theta_rad":4.0271225,"cg_vd_req_v":-2.1326263,"cg_vd_v":-2.1326263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3148613,"cg_vq_v":-8.3148613,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2420.74194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4567871,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":412.111155,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":412.11116,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":412.111166,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":412.409546,"values":{"Elec_RPM":-2352.71143,"EncoderCos":30227,"EncoderSin":12691,"GapTicks":49374,"Mech_RPM":-470.542267,"cg_du":51.3805313,"cg_dv":44.8861465,"cg_dw":55.1138535,"cg_id_a":-0.597643137,"cg_id_raw_a":-4.99103975,"cg_iq_a":-198.951202,"cg_iq_raw_a":-197.99147,"cg_iu_a":103.623657,"cg_iv_a":-198.800766,"cg_iw_a":95.1771088,"cg_sample_age_us":23.6381817,"cg_sample_seq":3427567,"cg_sample_valid":1,"cg_theta_rad":4.60275269,"cg_vd_req_v":-1.91921461,"cg_vd_v":-1.91921461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40653992,"cg_vq_v":-8.40653992,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2517.71899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.4550781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":412.74353,"values":{"Elec_RPM":-2352.29932,"EncoderCos":30963,"EncoderSin":12587,"GapTicks":49569,"Mech_RPM":-470.459839,"cg_du":52.7665062,"cg_dv":45.0627937,"cg_dw":54.9372063,"cg_id_a":11.187727,"cg_id_raw_a":8.17597389,"cg_iq_a":-199.795471,"cg_iq_raw_a":-198.775375,"cg_iu_a":141.824661,"cg_iv_a":-194.342773,"cg_iw_a":52.5181046,"cg_sample_age_us":23.7109089,"cg_sample_seq":3429317,"cg_sample_valid":1,"cg_theta_rad":4.63922453,"cg_vd_req_v":-2.15477324,"cg_vd_v":-2.15477324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3997879,"cg_vq_v":-8.3997879,"cg_vu_v":106.453995,"cg_vv_v":98.0960464,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2490.25122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":413.073608,"values":{"Elec_RPM":-2355.20972,"EncoderCos":49970,"EncoderSin":22460,"GapTicks":49685,"Mech_RPM":-471.041962,"cg_du":47.1426735,"cg_dv":45.1686783,"cg_dw":54.8313217,"cg_id_a":-2.87766933,"cg_id_raw_a":4.36403751,"cg_iq_a":-203.577545,"cg_iq_raw_a":-205.062714,"cg_iu_a":2.50335789,"cg_iv_a":-175.930893,"cg_iw_a":173.427536,"cg_sample_age_us":23.954546,"cg_sample_seq":3430967,"cg_sample_valid":1,"cg_theta_rad":5.76140118,"cg_vd_req_v":-1.87778366,"cg_vd_v":-1.87778366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34886074,"cg_vq_v":-8.34886074,"cg_vu_v":137.246475,"cg_vv_v":109.533249,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2405.48438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":413.10329,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":413.103297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":413.103303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":413.429077,"values":{"Elec_RPM":-2359.30078,"EncoderCos":50482,"EncoderSin":23361,"GapTicks":49294,"Mech_RPM":-471.860168,"cg_du":49.5530472,"cg_dv":44.8133011,"cg_dw":55.1866989,"cg_id_a":-12.155777,"cg_id_raw_a":-14.4863892,"cg_iq_a":-194.838623,"cg_iq_raw_a":-195.836716,"cg_iu_a":51.1425819,"cg_iv_a":-188.869949,"cg_iw_a":137.727371,"cg_sample_age_us":23.8345451,"cg_sample_seq":3432716,"cg_sample_valid":1,"cg_theta_rad":5.81446266,"cg_vd_req_v":-1.71096563,"cg_vd_v":-1.71096563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50807381,"cg_vq_v":-8.50807381,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2422.54346,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.4912109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":413.759155,"values":{"Elec_RPM":-2351.86572,"EncoderCos":52647,"EncoderSin":34234,"GapTicks":49921,"Mech_RPM":-470.373169,"cg_du":53.9340248,"cg_dv":54.6171532,"cg_dw":45.3828468,"cg_id_a":8.17627335,"cg_id_raw_a":11.8870983,"cg_iq_a":-204.181976,"cg_iq_raw_a":-204.84079,"cg_iu_a":8.08490753,"cg_iv_a":171.285034,"cg_iw_a":-179.369934,"cg_sample_age_us":23.48909,"cg_sample_seq":3434417,"cg_sample_valid":1,"cg_theta_rad":0.0838037282,"cg_vd_req_v":-2.09611177,"cg_vd_v":-2.09611177,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31261826,"cg_vq_v":-8.31261826,"cg_vu_v":133.727341,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2510.39795,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5084229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":414.091187,"values":{"Elec_RPM":-2355.11719,"EncoderCos":29172,"EncoderSin":52643,"GapTicks":50038,"Mech_RPM":-471.023438,"cg_du":45.4891396,"cg_dv":54.3972015,"cg_dw":54.5108604,"cg_id_a":12.3921623,"cg_id_raw_a":16.3910923,"cg_iq_a":-200.49054,"cg_iq_raw_a":-201.736603,"cg_iu_a":-180.383026,"cg_iv_a":11.1235352,"cg_iw_a":169.259491,"cg_sample_age_us":23.8963642,"cg_sample_seq":3436016,"cg_sample_valid":1,"cg_theta_rad":1.75077379,"cg_vd_req_v":-2.10442114,"cg_vd_v":-2.10442114,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39023972,"cg_vq_v":-8.39023972,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2417.07813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.5032654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":414.095252,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":414.095258,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":414.095264,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":414.446655,"values":{"Elec_RPM":-2354.1582,"EncoderCos":39025,"EncoderSin":51784,"GapTicks":49373,"Mech_RPM":-470.831635,"cg_du":55.1147995,"cg_dv":51.071846,"cg_dw":44.8852005,"cg_id_a":-0.635776639,"cg_id_raw_a":0.472637624,"cg_iq_a":-200.377029,"cg_iq_raw_a":-201.15741,"cg_iu_a":103.478683,"cg_iv_a":98.1449738,"cg_iw_a":-201.623657,"cg_sample_age_us":23.8672733,"cg_sample_seq":3437817,"cg_sample_valid":1,"cg_theta_rad":1.2446996,"cg_vd_req_v":-1.90223527,"cg_vd_v":-1.90223527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39709663,"cg_vq_v":-8.39709663,"cg_vu_v":32.1121559,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5429077,"temp_inv2_c":41.5394287,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":414.776733,"values":{"Elec_RPM":-2356.51172,"EncoderCos":13043,"EncoderSin":37673,"GapTicks":49287,"Mech_RPM":-471.302368,"cg_du":44.817009,"cg_dv":55.182991,"cg_dw":50.468689,"cg_id_a":-8.51908112,"cg_id_raw_a":-9.03564358,"cg_iq_a":-197.424438,"cg_iq_raw_a":-196.916824,"cg_iu_a":-192.234756,"cg_iv_a":134.098846,"cg_iw_a":58.1359024,"cg_sample_age_us":23.8418179,"cg_sample_seq":3439416,"cg_sample_valid":1,"cg_theta_rad":2.89104199,"cg_vd_req_v":-1.69535184,"cg_vd_v":-1.69535184,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47909069,"cg_vq_v":-8.47909069,"cg_vu_v":1.31967759,"cg_vv_v":11.4372072,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6308727,"dclink_p_w":-2543.86621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4929504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":415.118921,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":415.118927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":415.118932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":415.130249,"values":{"Elec_RPM":-2358.66064,"EncoderCos":17976,"EncoderSin":46536,"GapTicks":49860,"Mech_RPM":-471.732147,"cg_du":54.6723404,"cg_dv":46.2770348,"cg_dw":45.3276596,"cg_id_a":6.93822622,"cg_id_raw_a":9.04789543,"cg_iq_a":-203.610504,"cg_iq_raw_a":-202.999359,"cg_iu_a":177.234879,"cg_iv_a":-11.49263,"cg_iw_a":-172.048676,"cg_sample_age_us":24.0345459,"cg_sample_seq":3441217,"cg_sample_valid":1,"cg_theta_rad":2.39013028,"cg_vd_req_v":-2.02415705,"cg_vd_v":-2.02415705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35297585,"cg_vq_v":-8.35297585,"cg_vu_v":106.453995,"cg_vv_v":101.175293,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.056078,"dclink_p_w":-2316.64746,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.5153503,"temp_inv2_c":41.4963684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":415.46228,"values":{"Elec_RPM":-2367.5249,"EncoderCos":20147,"EncoderSin":16739,"GapTicks":50075,"Mech_RPM":-473.504974,"cg_du":45.5228043,"cg_dv":54.4771957,"cg_dw":45.7338371,"cg_id_a":10.0372372,"cg_id_raw_a":12.6476831,"cg_iq_a":-204.791748,"cg_iq_raw_a":-206.068268,"cg_iu_a":-170.126022,"cg_iv_a":181.90448,"cg_iw_a":-11.77845,"cg_sample_age_us":23.9872723,"cg_sample_seq":3442816,"cg_sample_valid":1,"cg_theta_rad":4.05608988,"cg_vd_req_v":-2.0715816,"cg_vd_v":-2.0715816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28441048,"cg_vq_v":-8.28441048,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2485.81958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":415.794312,"values":{"Elec_RPM":-2364.58057,"EncoderCos":14170,"EncoderSin":24653,"GapTicks":49390,"Mech_RPM":-472.916138,"cg_du":55.0998383,"cg_dv":44.9001617,"cg_dw":48.3946381,"cg_id_a":-0.0537893772,"cg_id_raw_a":-6.54193926,"cg_iq_a":-196.124207,"cg_iq_raw_a":-195.718903,"cg_iu_a":197.313965,"cg_iv_a":-88.1483459,"cg_iw_a":-109.165619,"cg_sample_age_us":24.1109085,"cg_sample_seq":3444616,"cg_sample_valid":1,"cg_theta_rad":3.55805969,"cg_vd_req_v":-1.90345204,"cg_vd_v":-1.90345204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4504118,"cg_vq_v":-8.4504118,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5032654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":416.110864,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":416.11087,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":416.110875,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":416.145874,"values":{"Elec_RPM":-2365.78882,"EncoderCos":41819,"EncoderSin":14658,"GapTicks":49305,"Mech_RPM":-473.157745,"cg_du":49.8308182,"cg_dv":55.1765862,"cg_dw":44.8234138,"cg_id_a":-19.2788277,"cg_id_raw_a":-17.2745228,"cg_iq_a":-195.73465,"cg_iq_raw_a":-193.929489,"cg_iu_a":-54.0007782,"cg_iv_a":186.616165,"cg_iw_a":-146.931702,"cg_sample_age_us":23.9509087,"cg_sample_seq":3446217,"cg_sample_valid":1,"cg_theta_rad":5.19556952,"cg_vd_req_v":-1.5681138,"cg_vd_v":-1.5681138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50903511,"cg_vq_v":-8.50903511,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.8845806,"dclink_p_w":-2588.33984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5050049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":416.479858,"values":{"Elec_RPM":-2362.06641,"EncoderCos":42725,"EncoderSin":15128,"GapTicks":49489,"Mech_RPM":-472.413269,"cg_du":48.0274315,"cg_dv":55.0098915,"cg_dw":44.9901085,"cg_id_a":-0.527630329,"cg_id_raw_a":-5.70509481,"cg_iq_a":-200.730927,"cg_iq_raw_a":-199.958633,"cg_iu_a":-120.254509,"cg_iv_a":200.352585,"cg_iw_a":-80.0980759,"cg_sample_age_us":23.8672733,"cg_sample_seq":3447966,"cg_sample_valid":1,"cg_theta_rad":5.24543238,"cg_vd_req_v":-1.96468282,"cg_vd_v":-1.96468282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38480091,"cg_vq_v":-8.38480091,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4369678,"dclink_p_w":-2523.55908,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5446167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":416.81189,"values":{"Elec_RPM":-2365.38281,"EncoderCos":50648,"EncoderSin":23707,"GapTicks":49316,"Mech_RPM":-473.076569,"cg_du":50.3100624,"cg_dv":44.8336105,"cg_dw":55.1663895,"cg_id_a":-8.67528915,"cg_id_raw_a":-10.494359,"cg_iq_a":-196.803787,"cg_iq_raw_a":-196.917267,"cg_iu_a":73.0700989,"cg_iv_a":-195.720016,"cg_iw_a":122.649918,"cg_sample_age_us":23.7836361,"cg_sample_seq":3449666,"cg_sample_valid":1,"cg_theta_rad":5.83280993,"cg_vd_req_v":-1.79177034,"cg_vd_v":-1.79177034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45106697,"cg_vq_v":-8.45106697,"cg_vu_v":8.79785156,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5067139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":417.103675,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":417.103681,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":417.103687,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":417.163452,"values":{"Elec_RPM":-2360.87891,"EncoderCos":52597,"EncoderSin":34860,"GapTicks":49493,"Mech_RPM":-472.175781,"cg_du":52.3220634,"cg_dv":55.0060272,"cg_dw":44.9939728,"cg_id_a":-7.71092796,"cg_id_raw_a":-3.88849759,"cg_iq_a":-198.825775,"cg_iq_raw_a":-202.090912,"cg_iu_a":-5.10784721,"cg_iv_a":174.873169,"cg_iw_a":-169.76532,"cg_sample_age_us":23.4818172,"cg_sample_seq":3451366,"cg_sample_valid":1,"cg_theta_rad":0.115439266,"cg_vd_req_v":-1.77392304,"cg_vd_v":-1.77392304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45004082,"cg_vq_v":-8.45004082,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5187683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":417.497437,"values":{"Elec_RPM":-2356.51343,"EncoderCos":48213,"EncoderSin":45631,"GapTicks":50051,"Mech_RPM":-471.302704,"cg_du":45.5013008,"cg_dv":45.684021,"cg_dw":54.4986992,"cg_id_a":14.2087755,"cg_id_raw_a":16.0629768,"cg_iq_a":-205.849884,"cg_iq_raw_a":-206.75148,"cg_iu_a":-15.5823145,"cg_iv_a":-171.146713,"cg_iw_a":186.729034,"cg_sample_age_us":23.5327282,"cg_sample_seq":3453066,"cg_sample_valid":1,"cg_theta_rad":0.698714077,"cg_vd_req_v":-2.20474672,"cg_vd_v":-2.20474672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30656528,"cg_vq_v":-8.30656528,"cg_vu_v":40.4701157,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2411.53467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.5067139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":417.827515,"values":{"Elec_RPM":-2356.45752,"EncoderCos":28000,"EncoderSin":52384,"GapTicks":49475,"Mech_RPM":-471.291504,"cg_du":44.9779129,"cg_dv":51.435009,"cg_dw":55.0220871,"cg_id_a":-11.1573162,"cg_id_raw_a":-9.61592865,"cg_iq_a":-201.967957,"cg_iq_raw_a":-202.373901,"cg_iu_a":-162.732285,"cg_iv_a":-25.3377686,"cg_iw_a":188.070053,"cg_sample_age_us":23.8927269,"cg_sample_seq":3454716,"cg_sample_valid":1,"cg_theta_rad":1.80877924,"cg_vd_req_v":-1.63747442,"cg_vd_v":-1.63747442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3469305,"cg_vq_v":-8.3469305,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.2572327,"dclink_p_w":-2345.6709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5136108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":418.127353,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":418.127358,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":418.127363,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":418.190796,"values":{"Elec_RPM":-2352.89697,"EncoderCos":27532,"EncoderSin":52264,"GapTicks":49346,"Mech_RPM":-470.579407,"cg_du":44.8604317,"cg_dv":50.2920952,"cg_dw":55.1395683,"cg_id_a":-16.0199795,"cg_id_raw_a":-15.0721416,"cg_iq_a":-199.248581,"cg_iq_raw_a":-199.307739,"cg_iu_a":-145.552704,"cg_iv_a":-43.9308472,"cg_iw_a":189.483551,"cg_sample_age_us":23.863636,"cg_sample_seq":3456467,"cg_sample_valid":1,"cg_theta_rad":1.8335309,"cg_vd_req_v":-1.55751777,"cg_vd_v":-1.55751777,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42465496,"cg_vq_v":-8.42465496,"cg_vu_v":102.494972,"cg_vv_v":100.295509,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.1213169,"dclink_p_w":-2333.1521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5084229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":418.708374,"values":{"Elec_RPM":-2348.2356,"EncoderCos":43865,"EncoderSin":15922,"GapTicks":50022,"Mech_RPM":-469.647125,"cg_du":45.4752426,"cg_dv":54.5247574,"cg_dw":45.7181358,"cg_id_a":7.98468447,"cg_id_raw_a":10.7600679,"cg_iq_a":-205.92421,"cg_iq_raw_a":-206.508987,"cg_iu_a":-165.776764,"cg_iv_a":189.660645,"cg_iw_a":-23.8838882,"cg_sample_age_us":23.8854542,"cg_sample_seq":3459066,"cg_sample_valid":1,"cg_theta_rad":5.30468082,"cg_vd_req_v":-2.13002634,"cg_vd_v":-2.13002634,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32201195,"cg_vq_v":-8.32201195,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5308533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":418.991001,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":418.991012,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":418.991015,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":419.119036,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":419.119041,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":419.119045,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":419.175171,"values":{"Elec_RPM":-2347.24805,"EncoderCos":49710,"EncoderSin":21997,"GapTicks":50075,"Mech_RPM":-469.449615,"cg_du":45.8098831,"cg_dv":45.5227852,"cg_dw":54.4772148,"cg_id_a":10.9670143,"cg_id_raw_a":15.7714281,"cg_iq_a":-207.440948,"cg_iq_raw_a":-208.651978,"cg_iu_a":-11.5954933,"cg_iv_a":-173.683777,"cg_iw_a":185.279266,"cg_sample_age_us":23.8272724,"cg_sample_seq":3461366,"cg_sample_valid":1,"cg_theta_rad":5.73517084,"cg_vd_req_v":-2.16269493,"cg_vd_v":-2.16269493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25153351,"cg_vq_v":-8.25153351,"cg_vu_v":118.3311,"cg_vv_v":124.489601,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2414.42847,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5498047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":419.509155,"values":{"Elec_RPM":-2346.69214,"EncoderCos":42407,"EncoderSin":14985,"GapTicks":49438,"Mech_RPM":-469.338409,"cg_du":48.6074715,"cg_dv":55.0562592,"cg_dw":44.9437408,"cg_id_a":-8.85442162,"cg_id_raw_a":-12.9965391,"cg_iq_a":-200.065002,"cg_iq_raw_a":-199.906052,"cg_iu_a":-95.4999695,"cg_iv_a":200.497559,"cg_iw_a":-104.997589,"cg_sample_age_us":23.9509087,"cg_sample_seq":3463166,"cg_sample_valid":1,"cg_theta_rad":5.22624254,"cg_vd_req_v":-1.79355288,"cg_vd_v":-1.79355288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39233971,"cg_vq_v":-8.39233971,"cg_vu_v":13.6366701,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4858971,"dclink_p_w":-2530.64038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5239563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":419.841187,"values":{"Elec_RPM":-2351.16113,"EncoderCos":49395,"EncoderSin":43948,"GapTicks":49314,"Mech_RPM":-470.232208,"cg_du":44.8317261,"cg_dv":49.5578918,"cg_dw":55.1682739,"cg_id_a":-8.80806828,"cg_id_raw_a":-11.6973419,"cg_iq_a":-199.750183,"cg_iq_raw_a":-201.176285,"cg_iu_a":-124.205078,"cg_iv_a":-75.1005554,"cg_iw_a":199.305634,"cg_sample_age_us":23.5400009,"cg_sample_seq":3464766,"cg_sample_valid":1,"cg_theta_rad":0.598428667,"cg_vd_req_v":-1.78691781,"cg_vd_v":-1.78691781,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43391228,"cg_vq_v":-8.43391228,"cg_vu_v":39.1504402,"cg_vv_v":47.0685043,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.4929504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103126571,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":420.111327,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":420.111333,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":420.111338,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":420.194702,"values":{"Elec_RPM":-2343.04395,"EncoderCos":52655,"EncoderSin":34229,"GapTicks":49911,"Mech_RPM":-468.608795,"cg_du":53.950676,"cg_dv":54.6260681,"cg_dw":45.3739319,"cg_id_a":8.14360905,"cg_id_raw_a":12.6687098,"cg_iq_a":-204.754166,"cg_iq_raw_a":-204.39978,"cg_iu_a":7.54125071,"cg_iv_a":172.37236,"cg_iw_a":-179.913605,"cg_sample_age_us":23.3945446,"cg_sample_seq":3466567,"cg_sample_valid":1,"cg_theta_rad":0.0878372118,"cg_vd_req_v":-2.09936523,"cg_vd_v":-2.09936523,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33283424,"cg_vq_v":-8.33283424,"cg_vu_v":29.4728031,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2522.68701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5446167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":420.52478,"values":{"Elec_RPM":-2344.41553,"EncoderCos":29321,"EncoderSin":52649,"GapTicks":50020,"Mech_RPM":-468.883118,"cg_du":45.4730263,"cg_dv":54.5269737,"cg_dw":54.2582474,"cg_id_a":11.8214626,"cg_id_raw_a":13.6513968,"cg_iq_a":-201.617218,"cg_iq_raw_a":-199.824219,"cg_iu_a":-183.210052,"cg_iv_a":19.1696625,"cg_iw_a":164.04039,"cg_sample_age_us":23.8963642,"cg_sample_seq":3468167,"cg_sample_valid":1,"cg_theta_rad":1.74426055,"cg_vd_req_v":-2.10080695,"cg_vd_v":-2.10080695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34855652,"cg_vq_v":-8.34855652,"cg_vu_v":104.694435,"cg_vv_v":104.694435,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2514.37988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.4963684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":420.858765,"values":{"Elec_RPM":-2350.41675,"EncoderCos":19114,"EncoderSin":47694,"GapTicks":49416,"Mech_RPM":-470.083344,"cg_du":55.0756569,"cg_dv":44.9243431,"cg_dw":48.1482086,"cg_id_a":7.44554996,"cg_id_raw_a":3.12944913,"cg_iq_a":-200.312378,"cg_iq_raw_a":-198.857346,"cg_iu_a":199.742294,"cg_iv_a":-74.2307129,"cg_iw_a":-112.645035,"cg_sample_age_us":23.9981823,"cg_sample_seq":3469867,"cg_sample_valid":1,"cg_theta_rad":2.31051588,"cg_vd_req_v":-2.09379888,"cg_vd_v":-2.09379888,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41156578,"cg_vq_v":-8.41156578,"cg_vu_v":106.453995,"cg_vv_v":94.5769043,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5291138,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":421.13546,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":421.135466,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":421.135471,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":421.210327,"values":{"Elec_RPM":-2356.48291,"EncoderCos":13087,"EncoderSin":37596,"GapTicks":49302,"Mech_RPM":-471.29657,"cg_du":44.8203239,"cg_dv":55.1796761,"cg_dw":50.6161194,"cg_id_a":-7.78342676,"cg_id_raw_a":-6.61977625,"cg_iq_a":-194.516937,"cg_iq_raw_a":-195.562546,"cg_iu_a":-194.264404,"cg_iv_a":109.815475,"cg_iw_a":84.4489288,"cg_sample_age_us":23.9072723,"cg_sample_seq":3471566,"cg_sample_valid":1,"cg_theta_rad":2.91558862,"cg_vd_req_v":-1.70102274,"cg_vd_v":-1.70102274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53484631,"cg_vq_v":-8.53484631,"cg_vu_v":104.254532,"cg_vv_v":105.574219,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2431.00146,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5342712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":421.544312,"values":{"Elec_RPM":-2350.34204,"EncoderCos":12831,"EncoderSin":36762,"GapTicks":49488,"Mech_RPM":-470.06842,"cg_du":44.989418,"cg_dv":55.010582,"cg_dw":52.3333588,"cg_id_a":0.464662552,"cg_id_raw_a":-2.6960516,"cg_iq_a":-197.076019,"cg_iq_raw_a":-197.046753,"cg_iu_a":-196.257828,"cg_iv_a":89.4826889,"cg_iw_a":106.775139,"cg_sample_age_us":23.8418179,"cg_sample_seq":3473316,"cg_sample_valid":1,"cg_theta_rad":2.9374783,"cg_vd_req_v":-1.87572825,"cg_vd_v":-1.87572825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46541691,"cg_vq_v":-8.46541691,"cg_vu_v":130.648087,"cg_vv_v":136.806595,"cg_vw_v":118.3311,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2503.10229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5308533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":421.897827,"values":{"Elec_RPM":-2345.14795,"EncoderCos":13855,"EncoderSin":25396,"GapTicks":49346,"Mech_RPM":-469.029602,"cg_du":55.1398849,"cg_dv":44.8601151,"cg_dw":49.8321533,"cg_id_a":-16.6333256,"cg_id_raw_a":-18.9862709,"cg_iq_a":-196.80838,"cg_iq_raw_a":-196.551849,"cg_iu_a":192.892212,"cg_iv_a":-135.482773,"cg_iw_a":-57.4094391,"cg_sample_age_us":24.0672722,"cg_sample_seq":3475016,"cg_sample_valid":1,"cg_theta_rad":3.51988053,"cg_vd_req_v":-1.56224763,"cg_vd_v":-1.56224763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44773769,"cg_vq_v":-8.44773769,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":422.095638,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":422.095643,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":422.095649,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":422.227905,"values":{"Elec_RPM":-2349.95874,"EncoderCos":20553,"EncoderSin":16424,"GapTicks":49676,"Mech_RPM":-469.99173,"cg_du":45.1608124,"cg_dv":54.8391876,"cg_dw":46.8641472,"cg_id_a":2.57565618,"cg_id_raw_a":7.15441084,"cg_iq_a":-202.769028,"cg_iq_raw_a":-204.283478,"cg_iu_a":-174.112839,"cg_iv_a":174.257019,"cg_iw_a":-2.7537384,"cg_sample_age_us":23.9509087,"cg_sample_seq":3476717,"cg_sample_valid":1,"cg_theta_rad":4.07830143,"cg_vd_req_v":-1.94345558,"cg_vd_v":-1.94345558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38589001,"cg_vq_v":-8.38589001,"cg_vu_v":115.251846,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2434.38794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5928955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":422.56189,"values":{"Elec_RPM":-2346.19116,"EncoderCos":31452,"EncoderSin":12551,"GapTicks":49776,"Mech_RPM":-469.238251,"cg_du":53.6959648,"cg_dv":45.251812,"cg_dw":54.748188,"cg_id_a":17.9127598,"cg_id_raw_a":18.4123268,"cg_iq_a":-200.183289,"cg_iq_raw_a":-199.579407,"cg_iu_a":161.722519,"cg_iv_a":-187.673889,"cg_iw_a":31.5329285,"cg_sample_age_us":23.7181816,"cg_sample_seq":3478417,"cg_sample_valid":1,"cg_theta_rad":4.66267824,"cg_vd_req_v":-2.26977468,"cg_vd_v":-2.26977468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39800549,"cg_vq_v":-8.39800549,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2399.01099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":422.913452,"values":{"Elec_RPM":-2343.13257,"EncoderCos":42797,"EncoderSin":15208,"GapTicks":49509,"Mech_RPM":-468.626526,"cg_du":47.8770523,"cg_dv":54.9911575,"cg_dw":45.0088425,"cg_id_a":2.49696589,"cg_id_raw_a":-3.67632318,"cg_iq_a":-201.25885,"cg_iq_raw_a":-200.598175,"cg_iu_a":-125.183662,"cg_iv_a":199.663956,"cg_iw_a":-74.4802933,"cg_sample_age_us":24.045454,"cg_sample_seq":3480116,"cg_sample_valid":1,"cg_theta_rad":5.25038433,"cg_vd_req_v":-2.03150368,"cg_vd_v":-2.03150368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3450098,"cg_vq_v":-8.3450098,"cg_vu_v":37.830761,"cg_vv_v":48.3881836,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.6326847,"dclink_p_w":-2551.88428,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5498047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":423.119409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":423.119414,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":423.119419,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":423.245483,"values":{"Elec_RPM":-2343.62231,"EncoderCos":50644,"EncoderSin":23691,"GapTicks":49268,"Mech_RPM":-468.724457,"cg_du":50.2396965,"cg_dv":44.7897186,"cg_dw":55.2102814,"cg_id_a":-7.18645048,"cg_id_raw_a":-8.18335533,"cg_iq_a":-196.547424,"cg_iq_raw_a":-196.873535,"cg_iu_a":73.8674698,"cg_iv_a":-195.35759,"cg_iw_a":121.49012,"cg_sample_age_us":23.7763634,"cg_sample_seq":3481816,"cg_sample_valid":1,"cg_theta_rad":5.83062792,"cg_vd_req_v":-1.841573,"cg_vd_v":-1.841573,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.486166,"cg_vq_v":-8.486166,"cg_vu_v":38.7105446,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2521.11841,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.598114,"temp_inv2_c":41.5256653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":423.597046,"values":{"Elec_RPM":-2343.56714,"EncoderCos":52670,"EncoderSin":34044,"GapTicks":50032,"Mech_RPM":-468.713409,"cg_du":54.3831635,"cg_dv":54.5160217,"cg_dw":45.4839783,"cg_id_a":11.2702398,"cg_id_raw_a":12.5476179,"cg_iq_a":-202.884949,"cg_iq_raw_a":-204.182175,"cg_iu_a":-9.09466934,"cg_iv_a":173.677124,"cg_iw_a":-164.582458,"cg_sample_age_us":23.3945446,"cg_sample_seq":3483520,"cg_sample_valid":1,"cg_theta_rad":0.117986374,"cg_vd_req_v":-2.16921687,"cg_vd_v":-2.16921687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37463665,"cg_vq_v":-8.37463665,"cg_vu_v":43.1094704,"cg_vv_v":71.2625961,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2424.42505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":423.93103,"values":{"Elec_RPM":-2350.13867,"EncoderCos":48157,"EncoderSin":45631,"GapTicks":50121,"Mech_RPM":-470.02774,"cg_du":45.5646133,"cg_dv":45.6249046,"cg_dw":54.4353867,"cg_id_a":12.5104694,"cg_id_raw_a":15.7780285,"cg_iq_a":-207.225479,"cg_iq_raw_a":-206.871017,"cg_iu_a":-15.4735832,"cg_iv_a":-172.052811,"cg_iw_a":189.990967,"cg_sample_age_us":23.51091,"cg_sample_seq":3485216,"cg_sample_valid":1,"cg_theta_rad":0.69956243,"cg_vd_req_v":-2.16499901,"cg_vd_v":-2.16499901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25053406,"cg_vq_v":-8.25053406,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5635681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103932247,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":424.110826,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":424.110831,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":424.110836,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":424.265015,"values":{"Elec_RPM":-2351.20654,"EncoderCos":38861,"EncoderSin":51864,"GapTicks":49453,"Mech_RPM":-470.241333,"cg_du":55.0418701,"cg_dv":51.806736,"cg_dw":44.9581299,"cg_id_a":4.57217741,"cg_id_raw_a":-1.17356241,"cg_iq_a":-203.249435,"cg_iq_raw_a":-200.34639,"cg_iu_a":81.3336945,"cg_iv_a":119.130157,"cg_iw_a":-200.463852,"cg_sample_age_us":23.823637,"cg_sample_seq":3486917,"cg_sample_valid":1,"cg_theta_rad":1.26330733,"cg_vd_req_v":-2.01418567,"cg_vd_v":-2.01418567,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3381052,"cg_vq_v":-8.3381052,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5618591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104385443,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":424.616577,"values":{"Elec_RPM":-2350.77734,"EncoderCos":27228,"EncoderSin":52189,"GapTicks":49320,"Mech_RPM":-470.155487,"cg_du":44.8372498,"cg_dv":49.6125603,"cg_dw":55.1627502,"cg_id_a":-15.4650688,"cg_id_raw_a":-17.3881035,"cg_iq_a":-198.675491,"cg_iq_raw_a":-200.676682,"cg_iu_a":-120.870651,"cg_iv_a":-73.9407501,"cg_iw_a":194.811401,"cg_sample_age_us":23.8563633,"cg_sample_seq":3488616,"cg_sample_valid":1,"cg_theta_rad":1.85820508,"cg_vd_req_v":-1.57800031,"cg_vd_v":-1.57800031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46365547,"cg_vq_v":-8.46365547,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2460.19531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5377197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":424.948608,"values":{"Elec_RPM":-2350.51367,"EncoderCos":17472,"EncoderSin":46008,"GapTicks":49440,"Mech_RPM":-470.102753,"cg_du":55.0542984,"cg_dv":48.1601219,"cg_dw":44.9457016,"cg_id_a":-10.0821095,"cg_id_raw_a":-4.7881012,"cg_iq_a":-195.445053,"cg_iq_raw_a":-198.053757,"cg_iu_a":159.729111,"cg_iv_a":18.1910706,"cg_iw_a":-177.920181,"cg_sample_age_us":23.8381824,"cg_sample_seq":3490316,"cg_sample_valid":1,"cg_theta_rad":2.43136835,"cg_vd_req_v":-1.67632735,"cg_vd_v":-1.67632735,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49333572,"cg_vq_v":-8.49333572,"cg_vu_v":46.1887207,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2485.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5067139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":425.102981,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":425.102987,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":425.102992,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":425.282593,"values":{"Elec_RPM":-2350.51245,"EncoderCos":13967,"EncoderSin":25065,"GapTicks":49352,"Mech_RPM":-470.102509,"cg_du":55.1342049,"cg_dv":44.8657951,"cg_dw":49.2186012,"cg_id_a":-9.88608932,"cg_id_raw_a":-10.9474068,"cg_iq_a":-197.899109,"cg_iq_raw_a":-198.373718,"cg_iu_a":197.386444,"cg_iv_a":-116.346039,"cg_iw_a":-81.0404053,"cg_sample_age_us":24.0927277,"cg_sample_seq":3491966,"cg_sample_valid":1,"cg_theta_rad":3.53715849,"cg_vd_req_v":-1.71473336,"cg_vd_v":-1.71473336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44059944,"cg_vq_v":-8.44059944,"cg_vu_v":35.1914063,"cg_vv_v":29.4728031,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-16.4982529,"dclink_p_w":-2380.44653,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5687561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":425.634155,"values":{"Elec_RPM":-2352.91431,"EncoderCos":20962,"EncoderSin":16115,"GapTicks":49409,"Mech_RPM":-470.582855,"cg_du":44.9174805,"cg_dv":55.0825195,"cg_dw":48.2283783,"cg_id_a":-9.85030556,"cg_id_raw_a":-8.07507324,"cg_iq_a":-197.039047,"cg_iq_raw_a":-198.121567,"cg_iu_a":-178.09967,"cg_iv_a":161.571686,"cg_iw_a":16.5279846,"cg_sample_age_us":23.9072723,"cg_sample_seq":3493667,"cg_sample_valid":1,"cg_theta_rad":4.10652924,"cg_vd_req_v":-1.67849767,"cg_vd_v":-1.67849767,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4997263,"cg_vq_v":-8.4997263,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2487.89087,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.100357056,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":425.966187,"values":{"Elec_RPM":-2354.54541,"EncoderCos":31933,"EncoderSin":12551,"GapTicks":49982,"Mech_RPM":-470.909058,"cg_du":54.5611801,"cg_dv":45.4388199,"cg_dw":54.2568169,"cg_id_a":14.2037468,"cg_id_raw_a":15.6771107,"cg_iq_a":-200.400635,"cg_iq_raw_a":-200.154144,"cg_iu_a":169.080017,"cg_iv_a":-179.26532,"cg_iw_a":10.1853104,"cg_sample_age_us":24.1181812,"cg_sample_seq":3495367,"cg_sample_valid":1,"cg_theta_rad":4.68588924,"cg_vd_req_v":-2.16542006,"cg_vd_v":-2.16542006,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38329315,"cg_vq_v":-8.38329315,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2541.22632,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5670471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":426.095223,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":426.095228,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":426.095233,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":426.298218,"values":{"Elec_RPM":-2357.3623,"EncoderCos":43093,"EncoderSin":15359,"GapTicks":49621,"Mech_RPM":-471.472473,"cg_du":47.2295685,"cg_dv":54.8898773,"cg_dw":45.1101227,"cg_id_a":5.15918636,"cg_id_raw_a":5.33644962,"cg_iq_a":-204.145935,"cg_iq_raw_a":-203.58992,"cg_iu_a":-142.580719,"cg_iv_a":199.627716,"cg_iw_a":-57.0469971,"cg_sample_age_us":23.9472733,"cg_sample_seq":3497066,"cg_sample_valid":1,"cg_theta_rad":5.26966906,"cg_vd_req_v":-2.07979226,"cg_vd_v":-2.07979226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31544399,"cg_vq_v":-8.31544399,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5791016,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":426.651733,"values":{"Elec_RPM":-2361.19238,"EncoderCos":50797,"EncoderSin":24041,"GapTicks":49295,"Mech_RPM":-472.238464,"cg_du":50.9272881,"cg_dv":44.8143044,"cg_dw":55.1856956,"cg_id_a":0.526011467,"cg_id_raw_a":-3.68081093,"cg_iq_a":-197.796204,"cg_iq_raw_a":-197.120621,"cg_iu_a":98.0783539,"cg_iv_a":-199.126953,"cg_iw_a":101.048599,"cg_sample_age_us":23.7690907,"cg_sample_seq":3498766,"cg_sample_valid":1,"cg_theta_rad":5.84860229,"cg_vd_req_v":-1.99804163,"cg_vd_v":-1.99804163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47985268,"cg_vq_v":-8.47985268,"cg_vu_v":38.7105446,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5791016,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":426.981812,"values":{"Elec_RPM":-2365.39819,"EncoderCos":52541,"EncoderSin":35184,"GapTicks":49396,"Mech_RPM":-473.07962,"cg_du":51.466938,"cg_dv":55.0943527,"cg_dw":44.9056473,"cg_id_a":-14.0883636,"cg_id_raw_a":-11.2914772,"cg_iq_a":-195.261307,"cg_iq_raw_a":-196.187012,"cg_iu_a":-19.4966507,"cg_iv_a":177.373993,"cg_iw_a":-157.87735,"cg_sample_age_us":23.5145454,"cg_sample_seq":3500467,"cg_sample_valid":1,"cg_theta_rad":0.134178236,"cg_vd_req_v":-1.64577639,"cg_vd_v":-1.64577639,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49855232,"cg_vq_v":-8.49855232,"cg_vu_v":105.134323,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5704651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":427.119331,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":427.119337,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":427.119343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":427.33728,"values":{"Elec_RPM":-2364.77734,"EncoderCos":52523,"EncoderSin":35353,"GapTicks":49343,"Mech_RPM":-472.955475,"cg_du":51.1067886,"cg_dv":55.1420288,"cg_dw":44.8579712,"cg_id_a":-13.8299446,"cg_id_raw_a":-12.5767403,"cg_iq_a":-194.712875,"cg_iq_raw_a":-195.482208,"cg_iu_a":-61.1045685,"cg_iv_a":193.21254,"cg_iw_a":-132.107971,"cg_sample_age_us":23.3836365,"cg_sample_seq":3502220,"cg_sample_valid":1,"cg_theta_rad":0.178619623,"cg_vd_req_v":-1.65542126,"cg_vd_v":-1.65542126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49941921,"cg_vq_v":-8.49941921,"cg_vu_v":19.795166,"cg_vv_v":22.8744144,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2420.71313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5704651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":427.667358,"values":{"Elec_RPM":-2360.01367,"EncoderCos":47551,"EncoderSin":46360,"GapTicks":49495,"Mech_RPM":-472.002747,"cg_du":47.8665771,"cg_dv":44.9962845,"cg_dw":55.0037155,"cg_id_a":-9.92185593,"cg_id_raw_a":-3.44913244,"cg_iq_a":-202.103836,"cg_iq_raw_a":-203.397888,"cg_iu_a":8.70105362,"cg_iv_a":-177.851822,"cg_iw_a":169.150772,"cg_sample_age_us":23.9400005,"cg_sample_seq":3503917,"cg_sample_valid":1,"cg_theta_rad":0.749022484,"cg_vd_req_v":-1.71882033,"cg_vd_v":-1.71882033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38480568,"cg_vq_v":-8.38480568,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2525.04028,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.4791565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":427.99939,"values":{"Elec_RPM":-2358.00732,"EncoderCos":37458,"EncoderSin":52248,"GapTicks":49975,"Mech_RPM":-471.60144,"cg_du":54.2072639,"cg_dv":54.5677834,"cg_dw":45.4322166,"cg_id_a":9.4811182,"cg_id_raw_a":10.6583643,"cg_iq_a":-202.574051,"cg_iq_raw_a":-204.141129,"cg_iu_a":20.9514694,"cg_iv_a":163.492615,"cg_iw_a":-184.444077,"cg_sample_age_us":23.8199997,"cg_sample_seq":3505616,"cg_sample_valid":1,"cg_theta_rad":1.32669413,"cg_vd_req_v":-2.08726025,"cg_vd_v":-2.08726025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38986969,"cg_vq_v":-8.38986969,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2417.84839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":428.111272,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":428.11128,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":428.111286,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":428.434937,"values":{"Elec_RPM":-2355.53442,"EncoderCos":46868,"EncoderSin":18487,"GapTicks":49957,"Mech_RPM":-471.106873,"cg_du":45.4162178,"cg_dv":54.5837822,"cg_dw":54.1291122,"cg_id_a":9.33455467,"cg_id_raw_a":12.1781645,"cg_iq_a":-200.364365,"cg_iq_raw_a":-200.389191,"cg_iu_a":-185.674622,"cg_iv_a":22.2866211,"cg_iw_a":163.388,"cg_sample_age_us":23.9181824,"cg_sample_seq":3507566,"cg_sample_valid":1,"cg_theta_rad":5.51296329,"cg_vd_req_v":-2.15844798,"cg_vd_v":-2.15844798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36002541,"cg_vq_v":-8.36002541,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4532776,"dclink_p_w":-2518.24194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.5773621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":428.954468,"values":{"Elec_RPM":-2350.09595,"EncoderCos":14592,"EncoderSin":41761,"GapTicks":49306,"Mech_RPM":-470.019196,"cg_du":49.8540154,"cg_dv":55.1755981,"cg_dw":44.8244019,"cg_id_a":-9.29267502,"cg_id_raw_a":-10.6006317,"cg_iq_a":-197.794479,"cg_iq_raw_a":-194.408997,"cg_iu_a":-64.620224,"cg_iv_a":195.495911,"cg_iw_a":-130.875687,"cg_sample_age_us":23.8818188,"cg_sample_seq":3510167,"cg_sample_valid":1,"cg_theta_rad":2.68041468,"cg_vd_req_v":-1.69726479,"cg_vd_v":-1.69726479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45531654,"cg_vq_v":-8.45531654,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-17.7305431,"dclink_p_w":-2566.04663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.6049805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":428.975308,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":428.975321,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":428.975324,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":429.102821,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":429.102828,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":429.102834,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":429.327515,"values":{"Elec_RPM":-2350.3877,"EncoderCos":50180,"EncoderSin":22842,"GapTicks":49436,"Mech_RPM":-470.077515,"cg_du":48.2079926,"cg_dv":44.9424744,"cg_dw":55.0575256,"cg_id_a":-11.6678925,"cg_id_raw_a":-9.653162,"cg_iq_a":-200.852615,"cg_iq_raw_a":-202.790909,"cg_iu_a":16.9646473,"cg_iv_a":-179.917709,"cg_iw_a":162.953064,"cg_sample_age_us":23.9436359,"cg_sample_seq":3512217,"cg_sample_valid":1,"cg_theta_rad":5.78300428,"cg_vd_req_v":-1.72680354,"cg_vd_v":-1.72680354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42549324,"cg_vq_v":-8.42549324,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.4022083,"dclink_p_w":-2373.80396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.596344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":429.679077,"values":{"Elec_RPM":-2346.60254,"EncoderCos":50651,"EncoderSin":23756,"GapTicks":49249,"Mech_RPM":-469.320526,"cg_du":50.3404045,"cg_dv":44.7725029,"cg_dw":55.2274971,"cg_id_a":-4.44182682,"cg_id_raw_a":-6.84890842,"cg_iq_a":-195.027863,"cg_iq_raw_a":-195.157379,"cg_iu_a":77.2743835,"cg_iv_a":-194.777695,"cg_iw_a":117.503311,"cg_sample_age_us":23.7399998,"cg_sample_seq":3513966,"cg_sample_valid":1,"cg_theta_rad":5.83372736,"cg_vd_req_v":-1.88897252,"cg_vd_v":-1.88897252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53550625,"cg_vq_v":-8.53550625,"cg_vu_v":41.3499031,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":430.013062,"values":{"Elec_RPM":-2347.93506,"EncoderCos":48732,"EncoderSin":44856,"GapTicks":49539,"Mech_RPM":-469.587036,"cg_du":45.0358543,"cg_dv":47.5788765,"cg_dw":54.9641457,"cg_id_a":13.7062473,"cg_id_raw_a":11.1201944,"cg_iq_a":-202.603241,"cg_iq_raw_a":-199.80072,"cg_iu_a":-42.5839691,"cg_iv_a":-153.495972,"cg_iw_a":196.079941,"cg_sample_age_us":23.4127274,"cg_sample_seq":3515617,"cg_sample_valid":1,"cg_theta_rad":0.666104078,"cg_vd_req_v":-2.22918391,"cg_vd_v":-2.22918391,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32509804,"cg_vq_v":-8.32509804,"cg_vu_v":39.1504402,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5739441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":430.127627,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":430.127633,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":430.127639,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":430.345093,"values":{"Elec_RPM":-2351.43286,"EncoderCos":39557,"EncoderSin":51616,"GapTicks":49328,"Mech_RPM":-470.28656,"cg_du":55.156086,"cg_dv":50.435379,"cg_dw":44.843914,"cg_id_a":-7.01830578,"cg_id_raw_a":-10.0335903,"cg_iq_a":-198.873352,"cg_iq_raw_a":-197.679382,"cg_iu_a":120.694496,"cg_iv_a":75.7825241,"cg_iw_a":-196.47702,"cg_sample_age_us":23.9472733,"cg_sample_seq":3517317,"cg_sample_valid":1,"cg_theta_rad":1.22779238,"cg_vd_req_v":-1.78857064,"cg_vd_v":-1.78857064,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43930817,"cg_vq_v":-8.43930817,"cg_vu_v":140.765625,"cg_vv_v":130.208206,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2499.93921,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5773621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":430.696655,"values":{"Elec_RPM":-2351.54443,"EncoderCos":38852,"EncoderSin":51838,"GapTicks":49429,"Mech_RPM":-470.308868,"cg_du":55.064003,"cg_dv":51.7781906,"cg_dw":44.935997,"cg_id_a":6.4814682,"cg_id_raw_a":2.17376113,"cg_iq_a":-203.410919,"cg_iq_raw_a":-202.255875,"cg_iu_a":79.1228256,"cg_iv_a":120.32618,"cg_iw_a":-199.449005,"cg_sample_age_us":23.8963642,"cg_sample_seq":3519067,"cg_sample_valid":1,"cg_theta_rad":1.26351082,"cg_vd_req_v":-2.0558753,"cg_vd_v":-2.0558753,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35945797,"cg_vq_v":-8.35945797,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.6489944,"dclink_p_w":-2562.0083,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5635681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":431.03064,"values":{"Elec_RPM":-2345.08618,"EncoderCos":27161,"EncoderSin":52200,"GapTicks":49356,"Mech_RPM":-469.017242,"cg_du":44.8694572,"cg_dv":49.5141106,"cg_dw":55.1305428,"cg_id_a":-13.2628708,"cg_id_raw_a":-13.0520782,"cg_iq_a":-197.032654,"cg_iq_raw_a":-198.358047,"cg_iu_a":-127.57576,"cg_iv_a":-68.2142181,"cg_iw_a":195.789978,"cg_sample_age_us":23.8854542,"cg_sample_seq":3520766,"cg_sample_valid":1,"cg_theta_rad":1.85412931,"cg_vd_req_v":-1.61353993,"cg_vd_v":-1.61353993,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46024704,"cg_vq_v":-8.46024704,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2460.87695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5791016,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":431.118969,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":431.118974,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":431.11898,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":431.382202,"values":{"Elec_RPM":-2344.74316,"EncoderCos":13017,"EncoderSin":37444,"GapTicks":49290,"Mech_RPM":-468.948608,"cg_du":44.8097878,"cg_dv":55.1902122,"cg_dw":50.8816795,"cg_id_a":-3.8132329,"cg_id_raw_a":-8.93749428,"cg_iq_a":-197.060043,"cg_iq_raw_a":-196.432846,"cg_iu_a":-196.040375,"cg_iv_a":64.9093781,"cg_iw_a":131.130997,"cg_sample_age_us":23.8381824,"cg_sample_seq":3522421,"cg_sample_valid":1,"cg_theta_rad":2.95606732,"cg_vd_req_v":-1.79386103,"cg_vd_v":-1.79386103,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4744072,"cg_vq_v":-8.4744072,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":124.049698,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2427.51147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.5411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":431.714233,"values":{"Elec_RPM":-2344.50171,"EncoderCos":12659,"EncoderSin":35657,"GapTicks":50044,"Mech_RPM":-468.90033,"cg_du":45.4952621,"cg_dv":54.5047379,"cg_dw":54.4196663,"cg_id_a":10.8961382,"cg_id_raw_a":14.4014664,"cg_iq_a":-201.099884,"cg_iq_raw_a":-202.274673,"cg_iu_a":-185.130966,"cg_iv_a":25.9472504,"cg_iw_a":159.183716,"cg_sample_age_us":23.8963642,"cg_sample_seq":3524166,"cg_sample_valid":1,"cg_theta_rad":2.99292779,"cg_vd_req_v":-2.07131505,"cg_vd_v":-2.07131505,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40026951,"cg_vq_v":-8.40026951,"cg_vu_v":95.0167923,"cg_vv_v":98.0960464,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-18.2252731,"dclink_p_w":-2637.64648,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.58255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":432.046265,"values":{"Elec_RPM":-2353.47974,"EncoderCos":21173,"EncoderSin":15989,"GapTicks":49396,"Mech_RPM":-470.695953,"cg_du":44.9055786,"cg_dv":55.0944214,"cg_dw":48.8387375,"cg_id_a":-13.210001,"cg_id_raw_a":-10.2632408,"cg_iq_a":-197.356598,"cg_iq_raw_a":-198.602936,"cg_iu_a":-183.246292,"cg_iv_a":154.685364,"cg_iw_a":28.560936,"cg_sample_age_us":23.9327278,"cg_sample_seq":3525816,"cg_sample_valid":1,"cg_theta_rad":4.12044334,"cg_vd_req_v":-1.60877156,"cg_vd_v":-1.60877156,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46140003,"cg_vq_v":-8.46140003,"cg_vu_v":0.87978512,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.861021,"dclink_p_w":-2592.78711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.6533508,"temp_inv2_c":41.6360474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":432.110643,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":432.110649,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":432.110654,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":432.39978,"values":{"Elec_RPM":-2350.49438,"EncoderCos":41663,"EncoderSin":14602,"GapTicks":49332,"Mech_RPM":-470.098877,"cg_du":50.1788826,"cg_dv":55.152668,"cg_dw":44.847332,"cg_id_a":-20.5965462,"cg_id_raw_a":-19.3200569,"cg_iq_a":-198.201736,"cg_iq_raw_a":-200.122864,"cg_iu_a":-84.8080368,"cg_iv_a":201.041214,"cg_iw_a":-116.233177,"cg_sample_age_us":24.2963638,"cg_sample_seq":3527470,"cg_sample_valid":1,"cg_theta_rad":5.21925306,"cg_vd_req_v":-1.54394817,"cg_vd_v":-1.54394817,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44641209,"cg_vq_v":-8.44641209,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.6274414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":432.733765,"values":{"Elec_RPM":-2347.77002,"EncoderCos":32925,"EncoderSin":12521,"GapTicks":49399,"Mech_RPM":-469.554016,"cg_du":55.0912857,"cg_dv":44.9087143,"cg_dw":51.6601906,"cg_id_a":-12.0430841,"cg_id_raw_a":-7.5785346,"cg_iq_a":-196.702148,"cg_iq_raw_a":-198.35556,"cg_iu_a":177.01741,"cg_iv_a":-161.43335,"cg_iw_a":-15.584053,"cg_sample_age_us":24.045454,"cg_sample_seq":3529266,"cg_sample_valid":1,"cg_theta_rad":4.73546028,"cg_vd_req_v":-1.64609063,"cg_vd_v":-1.64609063,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47296715,"cg_vq_v":-8.47296715,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2414.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5480652,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":433.063843,"values":{"Elec_RPM":-2350.78711,"EncoderCos":52634,"EncoderSin":34420,"GapTicks":49775,"Mech_RPM":-470.15741,"cg_du":53.4477539,"cg_dv":54.7493973,"cg_dw":45.2506027,"cg_id_a":3.13642049,"cg_id_raw_a":8.43280506,"cg_iq_a":-200.738663,"cg_iq_raw_a":-201.531494,"cg_iu_a":4.31554985,"cg_iv_a":170.088989,"cg_iw_a":-178.282623,"cg_sample_age_us":23.5145454,"cg_sample_seq":3530867,"cg_sample_valid":1,"cg_theta_rad":0.094046697,"cg_vd_req_v":-1.98698878,"cg_vd_v":-1.98698878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37327194,"cg_vq_v":-8.37327194,"cg_vu_v":137.686371,"cg_vv_v":134.607132,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.7139053,"dclink_p_w":-2418.91431,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.6136169,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":433.102812,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":433.102816,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":433.102819,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":433.417358,"values":{"Elec_RPM":-2352.09009,"EncoderCos":51206,"EncoderSin":24923,"GapTicks":49545,"Mech_RPM":-470.41803,"cg_du":52.7330551,"cg_dv":45.0415421,"cg_dw":54.9584579,"cg_id_a":17.0016632,"cg_id_raw_a":14.8540955,"cg_iq_a":-199.964142,"cg_iq_raw_a":-199.335144,"cg_iu_a":147.007523,"cg_iv_a":-192.675537,"cg_iw_a":58.2446289,"cg_sample_age_us":23.7509098,"cg_sample_seq":3532666,"cg_sample_valid":1,"cg_theta_rad":5.89400816,"cg_vd_req_v":-2.296206,"cg_vd_v":-2.296206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38707352,"cg_vq_v":-8.38707352,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0419121,"dclink_p_w":-2458.88818,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6049805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":433.74939,"values":{"Elec_RPM":-2352.46289,"EncoderCos":47999,"EncoderSin":45784,"GapTicks":49973,"Mech_RPM":-470.492584,"cg_du":45.9880791,"cg_dv":45.4307938,"cg_dw":54.5692062,"cg_id_a":9.54887581,"cg_id_raw_a":12.2259102,"cg_iq_a":-208.091583,"cg_iq_raw_a":-207.556717,"cg_iu_a":-8.07984161,"cg_iv_a":-174.517395,"cg_iw_a":188.903656,"cg_sample_age_us":23.5218182,"cg_sample_seq":3534317,"cg_sample_valid":1,"cg_theta_rad":0.709677517,"cg_vd_req_v":-2.11370921,"cg_vd_v":-2.11370921,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26895714,"cg_vq_v":-8.26895714,"cg_vu_v":119.650772,"cg_vv_v":128.448624,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6118774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":434.081421,"values":{"Elec_RPM":-2354.69263,"EncoderCos":38121,"EncoderSin":52006,"GapTicks":49734,"Mech_RPM":-470.938538,"cg_du":54.7869148,"cg_dv":53.2133522,"cg_dw":45.2130852,"cg_id_a":14.2990112,"cg_id_raw_a":14.6128454,"cg_iq_a":-204.586121,"cg_iq_raw_a":-206.101761,"cg_iu_a":37.3699265,"cg_iv_a":156.062622,"cg_iw_a":-193.432556,"cg_sample_age_us":23.8999996,"cg_sample_seq":3536016,"cg_sample_valid":1,"cg_theta_rad":1.30059111,"cg_vd_req_v":-2.19260979,"cg_vd_v":-2.19260979,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32142639,"cg_vq_v":-8.32142639,"cg_vu_v":1.75957024,"cg_vv_v":6.1584959,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2526.70654,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.603241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":434.095496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":434.095502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":434.095507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":434.432983,"values":{"Elec_RPM":-2353.19019,"EncoderCos":26692,"EncoderSin":52050,"GapTicks":49413,"Mech_RPM":-470.638031,"cg_du":44.9212151,"cg_dv":48.595993,"cg_dw":55.0787849,"cg_id_a":-6.8154068,"cg_id_raw_a":-12.7226295,"cg_iq_a":-198.220795,"cg_iq_raw_a":-199.055618,"cg_iu_a":-102.241318,"cg_iv_a":-95.7232971,"cg_iw_a":197.964615,"cg_sample_age_us":23.8927269,"cg_sample_seq":3537716,"cg_sample_valid":1,"cg_theta_rad":1.87520134,"cg_vd_req_v":-1.76037455,"cg_vd_v":-1.76037455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41255379,"cg_vq_v":-8.41255379,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.603241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":434.766968,"values":{"Elec_RPM":-2350.39136,"EncoderCos":17182,"EncoderSin":45685,"GapTicks":49313,"Mech_RPM":-470.078278,"cg_du":55.1693687,"cg_dv":49.0763206,"cg_dw":44.8306313,"cg_id_a":-9.78067684,"cg_id_raw_a":-10.2151728,"cg_iq_a":-196.072235,"cg_iq_raw_a":-196.029282,"cg_iu_a":147.33371,"cg_iv_a":43.6342468,"cg_iw_a":-190.967957,"cg_sample_age_us":23.9727268,"cg_sample_seq":3539416,"cg_sample_valid":1,"cg_theta_rad":2.44800615,"cg_vd_req_v":-1.7032522,"cg_vd_v":-1.7032522,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48898315,"cg_vq_v":-8.48898315,"cg_vu_v":30.7924805,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2411.30811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5670471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":435.11853,"values":{"Elec_RPM":-2352.30615,"EncoderCos":12713,"EncoderSin":36047,"GapTicks":49755,"Mech_RPM":-470.461212,"cg_du":45.2320862,"cg_dv":54.7679138,"cg_dw":53.6328087,"cg_id_a":13.1384373,"cg_id_raw_a":13.7419033,"cg_iq_a":-197.769745,"cg_iq_raw_a":-197.981415,"cg_iu_a":-178.17215,"cg_iv_a":11.6309357,"cg_iw_a":166.541214,"cg_sample_age_us":23.8890915,"cg_sample_seq":3541120,"cg_sample_valid":1,"cg_theta_rad":3.01568031,"cg_vd_req_v":-2.11913347,"cg_vd_v":-2.11913347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47008705,"cg_vq_v":-8.47008705,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.60672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":435.119173,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":435.119179,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":435.119185,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":435.452515,"values":{"Elec_RPM":-2348.87402,"EncoderCos":14431,"EncoderSin":24019,"GapTicks":49598,"Mech_RPM":-469.774811,"cg_du":54.9108734,"cg_dv":45.0891266,"cg_dw":47.2183075,"cg_id_a":14.5191536,"cg_id_raw_a":11.3465862,"cg_iq_a":-201.174164,"cg_iq_raw_a":-198.443542,"cg_iu_a":194.595673,"cg_iv_a":-47.6639709,"cg_iw_a":-146.931702,"cg_sample_age_us":23.9727268,"cg_sample_seq":3542817,"cg_sample_valid":1,"cg_theta_rad":3.59600616,"cg_vd_req_v":-2.18465114,"cg_vd_v":-2.18465114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35350418,"cg_vq_v":-8.35350418,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.6170349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":435.784546,"values":{"Elec_RPM":-2357.07031,"EncoderCos":14861,"EncoderSin":23081,"GapTicks":49944,"Mech_RPM":-471.414063,"cg_du":54.5958862,"cg_dv":46.026165,"cg_dw":45.4041138,"cg_id_a":9.99500561,"cg_id_raw_a":15.4404526,"cg_iq_a":-202.141617,"cg_iq_raw_a":-204.152161,"cg_iu_a":177.379852,"cg_iv_a":-6.20101929,"cg_iw_a":-171.178833,"cg_sample_age_us":24.0709095,"cg_sample_seq":3544566,"cg_sample_valid":1,"cg_theta_rad":3.64493799,"cg_vd_req_v":-2.06398106,"cg_vd_v":-2.06398106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33234215,"cg_vq_v":-8.33234215,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2487.91138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.5997925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":436.111481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":436.111487,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":436.111492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":436.136108,"values":{"Elec_RPM":-2356.92896,"EncoderCos":42841,"EncoderSin":15221,"GapTicks":49515,"Mech_RPM":-471.385773,"cg_du":47.8286667,"cg_dv":54.9860458,"cg_dw":45.0139542,"cg_id_a":2.56858706,"cg_id_raw_a":-1.88071918,"cg_iq_a":-201.292999,"cg_iq_raw_a":-199.728409,"cg_iu_a":-163.747101,"cg_iv_a":187.77597,"cg_iw_a":-24.028862,"cg_sample_age_us":26.812727,"cg_sample_seq":3546170,"cg_sample_valid":1,"cg_theta_rad":5.29402494,"cg_vd_req_v":-2.03499699,"cg_vd_v":-2.03499699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37408829,"cg_vq_v":-8.37408829,"cg_vu_v":0.87978512,"cg_vv_v":8.35795879,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4003944,"dclink_p_w":-2373.5415,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.6325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":436.470093,"values":{"Elec_RPM":-2354.81104,"EncoderCos":34136,"EncoderSin":12575,"GapTicks":49337,"Mech_RPM":-470.962189,"cg_du":55.1477852,"cg_dv":44.8522148,"cg_dw":49.0483742,"cg_id_a":-9.80934143,"cg_id_raw_a":-12.5704861,"cg_iq_a":-196.137558,"cg_iq_raw_a":-196.280457,"cg_iu_a":196.842804,"cg_iv_a":-112.033035,"cg_iw_a":-84.8097687,"cg_sample_age_us":23.9763641,"cg_sample_seq":3547966,"cg_sample_valid":1,"cg_theta_rad":4.7980032,"cg_vd_req_v":-1.72632921,"cg_vd_v":-1.72632921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47752476,"cg_vq_v":-8.47752476,"cg_vu_v":37.3908691,"cg_vv_v":32.5520515,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.175684,"dclink_p_w":-2341.02026,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6636658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":436.802124,"values":{"Elec_RPM":-2357.80029,"EncoderCos":52468,"EncoderSin":35593,"GapTicks":49313,"Mech_RPM":-471.560059,"cg_du":50.4793777,"cg_dv":55.1696434,"cg_dw":44.8303566,"cg_id_a":-18.5064621,"cg_id_raw_a":-17.0367985,"cg_iq_a":-196.417648,"cg_iq_raw_a":-194.593506,"cg_iu_a":-35.8788605,"cg_iv_a":187.159821,"cg_iw_a":-151.28096,"cg_sample_age_us":23.4818172,"cg_sample_seq":3549567,"cg_sample_valid":1,"cg_theta_rad":0.150698543,"cg_vd_req_v":-1.57246733,"cg_vd_v":-1.57246733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48070526,"cg_vq_v":-8.48070526,"cg_vu_v":109.973145,"cg_vv_v":112.612495,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.589447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":437.102683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":437.102689,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":437.102694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":437.153687,"values":{"Elec_RPM":-2356.52466,"EncoderCos":51604,"EncoderSin":25999,"GapTicks":49825,"Mech_RPM":-471.304932,"cg_du":54.7041702,"cg_dv":45.2958298,"cg_dw":53.7522163,"cg_id_a":8.04112625,"cg_id_raw_a":15.0020304,"cg_iq_a":-201.893631,"cg_iq_raw_a":-202.124191,"cg_iu_a":171.14592,"cg_iv_a":-176.510803,"cg_iw_a":5.36488342,"cg_sample_age_us":24.1618176,"cg_sample_seq":3551366,"cg_sample_valid":1,"cg_theta_rad":5.95414162,"cg_vd_req_v":-2.08390832,"cg_vd_v":-2.08390832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37311459,"cg_vq_v":-8.37311459,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2394.26074,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6343384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103680477,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":437.487671,"values":{"Elec_RPM":-2357.86011,"EncoderCos":37688,"EncoderSin":52181,"GapTicks":49834,"Mech_RPM":-471.572021,"cg_du":54.5527992,"cg_dv":53.707653,"cg_dw":45.3040771,"cg_id_a":13.4971809,"cg_id_raw_a":15.2194176,"cg_iq_a":-202.367645,"cg_iq_raw_a":-203.191315,"cg_iu_a":27.040432,"cg_iv_a":160.158173,"cg_iw_a":-187.198608,"cg_sample_age_us":23.863636,"cg_sample_seq":3552966,"cg_sample_valid":1,"cg_theta_rad":1.31414032,"cg_vd_req_v":-2.15739369,"cg_vd_v":-2.15739369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34821892,"cg_vq_v":-8.34821892,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.3895226,"dclink_p_w":-2364.7583,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":41.6325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":437.839233,"values":{"Elec_RPM":-2362.28882,"EncoderCos":46454,"EncoderSin":47451,"GapTicks":49352,"Mech_RPM":-472.457764,"cg_du":51.0821304,"cg_dv":44.8656845,"cg_dw":55.1343155,"cg_id_a":-2.22616148,"cg_id_raw_a":-6.70462132,"cg_iq_a":-197.265869,"cg_iq_raw_a":-197.013763,"cg_iu_a":97.7521515,"cg_iv_a":-198.075867,"cg_iw_a":100.323723,"cg_sample_age_us":23.6090908,"cg_sample_seq":3554766,"cg_sample_valid":1,"cg_theta_rad":0.825081825,"cg_vd_req_v":-1.90468132,"cg_vd_v":-1.90468132,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45789146,"cg_vq_v":-8.45789146,"cg_vu_v":41.7897949,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6257019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":438.12756,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":438.127566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":438.127571,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":438.171265,"values":{"Elec_RPM":-2358.24854,"EncoderCos":16889,"EncoderSin":45339,"GapTicks":49311,"Mech_RPM":-471.649689,"cg_du":55.1716156,"cg_dv":49.9802666,"cg_dw":44.8283844,"cg_id_a":-5.86924458,"cg_id_raw_a":-8.0606842,"cg_iq_a":-198.60112,"cg_iq_raw_a":-198.743469,"cg_iu_a":128.776871,"cg_iv_a":68.6424866,"cg_iw_a":-197.419357,"cg_sample_age_us":23.9472733,"cg_sample_seq":3556366,"cg_sample_valid":1,"cg_theta_rad":2.47083879,"cg_vd_req_v":-1.79666841,"cg_vd_v":-1.79666841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45367813,"cg_vq_v":-8.45367813,"cg_vu_v":40.9100075,"cg_vv_v":43.1094704,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2375.21704,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6446838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":438.690796,"values":{"Elec_RPM":-2350.80273,"EncoderCos":47681,"EncoderSin":46160,"GapTicks":49669,"Mech_RPM":-470.160553,"cg_du":47.2571297,"cg_dv":45.1536407,"cg_dw":54.8463593,"cg_id_a":-3.01474929,"cg_id_raw_a":3.11830783,"cg_iq_a":-204.851105,"cg_iq_raw_a":-207.333527,"cg_iu_a":1.81472516,"cg_iv_a":-176.075882,"cg_iw_a":178.211731,"cg_sample_age_us":23.51091,"cg_sample_seq":3558866,"cg_sample_valid":1,"cg_theta_rad":0.734165788,"cg_vd_req_v":-1.84938657,"cg_vd_v":-1.84938657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31719971,"cg_vq_v":-8.31719971,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6136169,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":438.991512,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":438.991525,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":438.991529,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":439.118884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":439.11889,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":439.118895,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":439.165405,"values":{"Elec_RPM":-2351.23584,"EncoderCos":50188,"EncoderSin":22795,"GapTicks":49501,"Mech_RPM":-470.247192,"cg_du":48.1190453,"cg_dv":45.0014076,"cg_dw":54.9985924,"cg_id_a":-9.89925957,"cg_id_raw_a":-8.35807133,"cg_iq_a":-200.226257,"cg_iq_raw_a":-201.656006,"cg_iu_a":60.1672974,"cg_iv_a":-191.370758,"cg_iw_a":131.203461,"cg_sample_age_us":23.812727,"cg_sample_seq":3561320,"cg_sample_valid":1,"cg_theta_rad":5.82273388,"cg_vd_req_v":-1.74608576,"cg_vd_v":-1.74608576,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3945055,"cg_vq_v":-8.3945055,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6308594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":439.497437,"values":{"Elec_RPM":-2354.99072,"EncoderCos":52607,"EncoderSin":34605,"GapTicks":49643,"Mech_RPM":-470.998169,"cg_du":52.9974976,"cg_dv":54.8691254,"cg_dw":45.1308746,"cg_id_a":-0.843155622,"cg_id_raw_a":5.36389971,"cg_iq_a":-201.137512,"cg_iq_raw_a":-203.777725,"cg_iu_a":0.763653994,"cg_iv_a":173.060989,"cg_iw_a":-173.824646,"cg_sample_age_us":23.4818172,"cg_sample_seq":3563016,"cg_sample_valid":1,"cg_theta_rad":0.102273956,"cg_vd_req_v":-1.91038895,"cg_vd_v":-1.91038895,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39477634,"cg_vq_v":-8.39477634,"cg_vu_v":25.953661,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2465.68628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6205139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":439.829468,"values":{"Elec_RPM":-2351.25366,"EncoderCos":48353,"EncoderSin":45414,"GapTicks":49852,"Mech_RPM":-470.250732,"cg_du":45.3205795,"cg_dv":46.2410736,"cg_dw":54.6794205,"cg_id_a":17.5427895,"cg_id_raw_a":20.7219772,"cg_iq_a":-206.116104,"cg_iq_raw_a":-203.891983,"cg_iu_a":-23.410984,"cg_iv_a":-168.138458,"cg_iw_a":191.549438,"cg_sample_age_us":23.5400009,"cg_sample_seq":3564716,"cg_sample_valid":1,"cg_theta_rad":0.687742054,"cg_vd_req_v":-2.28203058,"cg_vd_v":-2.28203058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31246471,"cg_vq_v":-8.31246471,"cg_vu_v":38.2706528,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6343384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":440.111095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":440.1111,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":440.111104,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":440.184937,"values":{"Elec_RPM":-2349.96924,"EncoderCos":38786,"EncoderSin":51770,"GapTicks":49473,"Mech_RPM":-469.993835,"cg_du":55.0240936,"cg_dv":51.8583908,"cg_dw":44.9759064,"cg_id_a":6.44285107,"cg_id_raw_a":4.39865875,"cg_iq_a":-203.18399,"cg_iq_raw_a":-204.550003,"cg_iu_a":78.6878967,"cg_iv_a":123.551895,"cg_iw_a":-202.239792,"cg_sample_age_us":23.9254551,"cg_sample_seq":3566416,"cg_sample_valid":1,"cg_theta_rad":1.26513863,"cg_vd_req_v":-2.05075932,"cg_vd_v":-2.05075932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33674335,"cg_vq_v":-8.33674335,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2427.84473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.603241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":440.515015,"values":{"Elec_RPM":-2347.43774,"EncoderCos":27657,"EncoderSin":52286,"GapTicks":49384,"Mech_RPM":-469.487549,"cg_du":44.8950043,"cg_dv":50.5682144,"cg_dw":55.1049957,"cg_id_a":-15.9649572,"cg_id_raw_a":-15.6443796,"cg_iq_a":-200.966461,"cg_iq_raw_a":-199.56337,"cg_iu_a":-152.221558,"cg_iv_a":-35.5947876,"cg_iw_a":188.39624,"cg_sample_age_us":23.863636,"cg_sample_seq":3568117,"cg_sample_valid":1,"cg_theta_rad":1.82436609,"cg_vd_req_v":-1.5509603,"cg_vd_v":-1.5509603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38044643,"cg_vq_v":-8.38044643,"cg_vu_v":115.251846,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9114323,"dclink_p_w":-2447.50122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6343384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":440.86853,"values":{"Elec_RPM":-2347.96729,"EncoderCos":37362,"EncoderSin":52250,"GapTicks":49955,"Mech_RPM":-469.593475,"cg_du":53.9662552,"cg_dv":54.5859871,"cg_dw":45.4140129,"cg_id_a":8.63038445,"cg_id_raw_a":14.1131754,"cg_iq_a":-203.630371,"cg_iq_raw_a":-205.556808,"cg_iu_a":8.80978584,"cg_iv_a":171.321289,"cg_iw_a":-180.131073,"cg_sample_age_us":23.9254551,"cg_sample_seq":3569916,"cg_sample_valid":1,"cg_theta_rad":1.34114385,"cg_vd_req_v":-2.05133557,"cg_vd_v":-2.05133557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3168602,"cg_vq_v":-8.3168602,"cg_vu_v":8.79785156,"cg_vv_v":35.6312981,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2482.15894,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6498413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":441.135136,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":441.135142,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":441.135147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":441.200562,"values":{"Elec_RPM":-2352.80322,"EncoderCos":12713,"EncoderSin":35805,"GapTicks":49911,"Mech_RPM":-470.560669,"cg_du":45.3745041,"cg_dv":54.6254959,"cg_dw":54.1003838,"cg_id_a":13.0038538,"cg_id_raw_a":9.87525845,"cg_iq_a":-199.300339,"cg_iq_raw_a":-199.223907,"cg_iu_a":-182.448914,"cg_iv_a":15.6539917,"cg_iw_a":166.794922,"cg_sample_age_us":23.9654541,"cg_sample_seq":3571516,"cg_sample_valid":1,"cg_theta_rad":3.00058842,"cg_vd_req_v":-2.11134553,"cg_vd_v":-2.11134553,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42282009,"cg_vq_v":-8.42282009,"cg_vu_v":110.413033,"cg_vv_v":113.052383,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":441.532593,"values":{"Elec_RPM":-2354.80957,"EncoderCos":16729,"EncoderSin":45112,"GapTicks":49340,"Mech_RPM":-470.961914,"cg_du":55.1449356,"cg_dv":50.5611,"cg_dw":44.8550644,"cg_id_a":-3.88504958,"cg_id_raw_a":-6.61175823,"cg_iq_a":-197.918671,"cg_iq_raw_a":-195.721848,"cg_iu_a":114.895485,"cg_iv_a":82.1251907,"cg_iw_a":-197.020676,"cg_sample_age_us":23.8781815,"cg_sample_seq":3573317,"cg_sample_valid":1,"cg_theta_rad":2.48803782,"cg_vd_req_v":-1.82753158,"cg_vd_v":-1.82753158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4456377,"cg_vq_v":-8.4456377,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.8356514,"dclink_p_w":-2581.25854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6671448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":441.884155,"values":{"Elec_RPM":-2350.12183,"EncoderCos":20859,"EncoderSin":16223,"GapTicks":49492,"Mech_RPM":-470.024353,"cg_du":44.9927979,"cg_dv":55.0072021,"cg_dw":47.8977852,"cg_id_a":-9.59212494,"cg_id_raw_a":-2.40908337,"cg_iq_a":-200.684906,"cg_iq_raw_a":-202.47998,"cg_iu_a":-193.104614,"cg_iv_a":138.375641,"cg_iw_a":54.728981,"cg_sample_age_us":23.8345451,"cg_sample_seq":3574920,"cg_sample_valid":1,"cg_theta_rad":4.14135981,"cg_vd_req_v":-1.68869328,"cg_vd_v":-1.68869328,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4161129,"cg_vq_v":-8.4161129,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6446838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":442.095306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":442.095312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":442.095316,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":442.21814,"values":{"Elec_RPM":-2346.64819,"EncoderCos":14670,"EncoderSin":23519,"GapTicks":49853,"Mech_RPM":-469.32962,"cg_du":54.6787567,"cg_dv":45.3212433,"cg_dw":46.1013451,"cg_id_a":17.1903172,"cg_id_raw_a":20.2460194,"cg_iq_a":-202.657013,"cg_iq_raw_a":-205.119125,"cg_iu_a":181.982819,"cg_iv_a":-16.6029968,"cg_iw_a":-165.379822,"cg_sample_age_us":24.0781822,"cg_sample_seq":3576718,"cg_sample_valid":1,"cg_theta_rad":3.63188052,"cg_vd_req_v":-2.23152924,"cg_vd_v":-2.23152924,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35743809,"cg_vq_v":-8.35743809,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2404.76343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6412354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":442.550171,"values":{"Elec_RPM":-2347.99121,"EncoderCos":43432,"EncoderSin":15634,"GapTicks":49832,"Mech_RPM":-469.598236,"cg_du":46.4499664,"cg_dv":54.697361,"cg_dw":45.302639,"cg_id_a":10.700655,"cg_id_raw_a":9.33428001,"cg_iq_a":-204.48175,"cg_iq_raw_a":-203.906326,"cg_iu_a":-166.429153,"cg_iv_a":186.507446,"cg_iw_a":-35.3731918,"cg_sample_age_us":23.9509087,"cg_sample_seq":3578317,"cg_sample_valid":1,"cg_theta_rad":5.29658461,"cg_vd_req_v":-2.17992926,"cg_vd_v":-2.17992926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28258133,"cg_vq_v":-8.28258133,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3771667,"dclink_p_w":-2514.90454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6170349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":442.901733,"values":{"Elec_RPM":-2349.84009,"EncoderCos":34254,"EncoderSin":12595,"GapTicks":49370,"Mech_RPM":-469.968018,"cg_du":55.1173744,"cg_dv":44.8826256,"cg_dw":48.8827438,"cg_id_a":-5.61656094,"cg_id_raw_a":-9.96955109,"cg_iq_a":-197.228928,"cg_iq_raw_a":-197.192688,"cg_iu_a":198.401276,"cg_iv_a":-118.846878,"cg_iw_a":-76.3649445,"cg_sample_age_us":24.0599995,"cg_sample_seq":3580116,"cg_sample_valid":1,"cg_theta_rad":4.79982519,"cg_vd_req_v":-1.81100333,"cg_vd_v":-1.81100333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.427104,"cg_vq_v":-8.427104,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":443.119129,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":443.119134,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":443.119139,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":443.235718,"values":{"Elec_RPM":-2349.31934,"EncoderCos":52494,"EncoderSin":35641,"GapTicks":49296,"Mech_RPM":-469.863892,"cg_du":50.4506645,"cg_dv":55.1853065,"cg_dw":44.8146935,"cg_id_a":-14.6277542,"cg_id_raw_a":-14.19664,"cg_iq_a":-194.53598,"cg_iq_raw_a":-194.272614,"cg_iu_a":-42.0765572,"cg_iv_a":186.398697,"cg_iw_a":-144.322144,"cg_sample_age_us":23.5181828,"cg_sample_seq":3581717,"cg_sample_valid":1,"cg_theta_rad":0.155391976,"cg_vd_req_v":-1.65281832,"cg_vd_v":-1.65281832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54423332,"cg_vq_v":-8.54423332,"cg_vu_v":104.254532,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9440517,"dclink_p_w":-2459.67578,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.60672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":443.569702,"values":{"Elec_RPM":-2348.07227,"EncoderCos":47502,"EncoderSin":46348,"GapTicks":49524,"Mech_RPM":-469.614441,"cg_du":47.9489822,"cg_dv":45.0221672,"cg_dw":54.9778328,"cg_id_a":-10.2245846,"cg_id_raw_a":-6.17965555,"cg_iq_a":-201.278412,"cg_iq_raw_a":-203.708511,"cg_iu_a":11.9629993,"cg_iv_a":-179.22908,"cg_iw_a":167.266083,"cg_sample_age_us":23.9109097,"cg_sample_seq":3583416,"cg_sample_valid":1,"cg_theta_rad":0.74873358,"cg_vd_req_v":-1.70478451,"cg_vd_v":-1.70478451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37910843,"cg_vq_v":-8.37910843,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6446838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103176929,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":443.921265,"values":{"Elec_RPM":-2348.65356,"EncoderCos":37710,"EncoderSin":52154,"GapTicks":49998,"Mech_RPM":-469.730713,"cg_du":54.5467644,"cg_dv":54.150692,"cg_dw":45.4532356,"cg_id_a":11.4367809,"cg_id_raw_a":11.535202,"cg_iq_a":-205.576721,"cg_iq_raw_a":-207.733383,"cg_iu_a":13.4489956,"cg_iv_a":169.110397,"cg_iw_a":-182.559387,"cg_sample_age_us":23.8890915,"cg_sample_seq":3585116,"cg_sample_valid":1,"cg_theta_rad":1.33107364,"cg_vd_req_v":-2.12693381,"cg_vd_v":-2.12693381,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29456234,"cg_vq_v":-8.29456234,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2385.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6602173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":444.110689,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":444.110695,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":444.1107,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":444.253296,"values":{"Elec_RPM":-2344.22168,"EncoderCos":26532,"EncoderSin":51976,"GapTicks":49400,"Mech_RPM":-468.84433,"cg_du":44.9098434,"cg_dv":48.2452164,"cg_dw":55.0901566,"cg_id_a":-4.62471676,"cg_id_raw_a":-9.11670208,"cg_iq_a":-198.846893,"cg_iq_raw_a":-200.050369,"cg_iu_a":-91.7306061,"cg_iv_a":-105.654129,"cg_iw_a":197.384735,"cg_sample_age_us":23.8381824,"cg_sample_seq":3586817,"cg_sample_valid":1,"cg_theta_rad":1.88589072,"cg_vd_req_v":-1.81637537,"cg_vd_v":-1.81637537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45391273,"cg_vq_v":-8.45391273,"cg_vu_v":12.3169918,"cg_vv_v":0.87978512,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.7468529,"dclink_p_w":-2560.60034,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6136169,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":444.585327,"values":{"Elec_RPM":-2348.8064,"EncoderCos":16961,"EncoderSin":45373,"GapTicks":49309,"Mech_RPM":-469.761292,"cg_du":55.1728935,"cg_dv":49.8360214,"cg_dw":44.8271065,"cg_id_a":-5.50668669,"cg_id_raw_a":-11.4265509,"cg_iq_a":-195.661011,"cg_iq_raw_a":-193.024857,"cg_iu_a":129.864197,"cg_iv_a":62.4447937,"cg_iw_a":-192.30899,"cg_sample_age_us":23.9509087,"cg_sample_seq":3588517,"cg_sample_valid":1,"cg_theta_rad":2.46922064,"cg_vd_req_v":-1.79137421,"cg_vd_v":-1.79137421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48530865,"cg_vq_v":-8.48530865,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6498413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":444.938843,"values":{"Elec_RPM":-2352.41504,"EncoderCos":12590,"EncoderSin":34909,"GapTicks":49649,"Mech_RPM":-470.483032,"cg_du":45.1356812,"cg_dv":52.739666,"cg_dw":54.8643188,"cg_id_a":-2.50163794,"cg_id_raw_a":2.19334197,"cg_iq_a":-201.404419,"cg_iq_raw_a":-200.737854,"cg_iu_a":-170.742157,"cg_iv_a":-8.52062988,"cg_iw_a":179.262787,"cg_sample_age_us":23.9072723,"cg_sample_seq":3590217,"cg_sample_valid":1,"cg_theta_rad":3.04773378,"cg_vd_req_v":-1.78025019,"cg_vd_v":-1.78025019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36047363,"cg_vq_v":-8.36047363,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2395.57227,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6343384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":445.102941,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":445.102947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":445.102952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":445.268921,"values":{"Elec_RPM":-2356.07227,"EncoderCos":14599,"EncoderSin":23663,"GapTicks":49777,"Mech_RPM":-471.214447,"cg_du":54.7475357,"cg_dv":45.2524643,"cg_dw":46.4325485,"cg_id_a":15.8782511,"cg_id_raw_a":15.5809765,"cg_iq_a":-204.232239,"cg_iq_raw_a":-202.388733,"cg_iu_a":184.954819,"cg_iv_a":-19.1763153,"cg_iw_a":-165.778503,"cg_sample_age_us":24.0381813,"cg_sample_seq":3591917,"cg_sample_valid":1,"cg_theta_rad":3.62329507,"cg_vd_req_v":-2.21574068,"cg_vd_v":-2.21574068,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33238697,"cg_vq_v":-8.33238697,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2493.14087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7086792,"temp_inv2_c":41.6723328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":445.622437,"values":{"Elec_RPM":-2359.06592,"EncoderCos":21963,"EncoderSin":15534,"GapTicks":49322,"Mech_RPM":-471.813202,"cg_du":44.8382225,"cg_dv":55.1617775,"cg_dw":50.7176476,"cg_id_a":-9.78478909,"cg_id_raw_a":-10.1038141,"cg_iq_a":-195.100189,"cg_iq_raw_a":-195.424225,"cg_iu_a":-196.765244,"cg_iv_a":69.5848236,"cg_iw_a":127.18042,"cg_sample_age_us":26.8018188,"cg_sample_seq":3593620,"cg_sample_valid":1,"cg_theta_rad":4.20691299,"cg_vd_req_v":-1.70306623,"cg_vd_v":-1.70306623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51137066,"cg_vq_v":-8.51137066,"cg_vu_v":19.3552723,"cg_vv_v":27.7132301,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6343384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":445.954468,"values":{"Elec_RPM":-2353.8772,"EncoderCos":15364,"EncoderSin":22139,"GapTicks":49359,"Mech_RPM":-470.775421,"cg_du":55.1277237,"cg_dv":48.7073288,"cg_dw":44.8722763,"cg_id_a":-12.3301649,"cg_id_raw_a":-11.1927834,"cg_iq_a":-195.06456,"cg_iq_raw_a":-194.852798,"cg_iu_a":154.836182,"cg_iv_a":23.7726288,"cg_iw_a":-178.60881,"cg_sample_age_us":24.0200005,"cg_sample_seq":3595417,"cg_sample_valid":1,"cg_theta_rad":3.69565487,"cg_vd_req_v":-1.62167096,"cg_vd_v":-1.62167096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50620842,"cg_vq_v":-8.50620842,"cg_vu_v":106.014107,"cg_vv_v":98.0960464,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.2427349,"dclink_p_w":-2350.72412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.6550293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":446.095007,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":446.095013,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":446.095018,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":446.288452,"values":{"Elec_RPM":-2351.63599,"EncoderCos":44359,"EncoderSin":16284,"GapTicks":49626,"Mech_RPM":-470.327179,"cg_du":45.1145744,"cg_dv":54.8854256,"cg_dw":47.1563454,"cg_id_a":-1.43252146,"cg_id_raw_a":4.0537138,"cg_iq_a":-202.682114,"cg_iq_raw_a":-203.785675,"cg_iu_a":-174.873962,"cg_iv_a":173.205963,"cg_iw_a":1.6680069,"cg_sample_age_us":23.9618187,"cg_sample_seq":3597017,"cg_sample_valid":1,"cg_theta_rad":5.34175873,"cg_vd_req_v":-1.92820382,"cg_vd_v":-1.92820382,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3674221,"cg_vq_v":-8.3674221,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.1089611,"dclink_p_w":-2476.08838,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.7051697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":446.641968,"values":{"Elec_RPM":-2345.01782,"EncoderCos":35348,"EncoderSin":12725,"GapTicks":49657,"Mech_RPM":-469.003571,"cg_du":54.8571091,"cg_dv":45.1428909,"cg_dw":46.8973579,"cg_id_a":13.8652287,"cg_id_raw_a":13.0072527,"cg_iq_a":-202.58432,"cg_iq_raw_a":-201.888565,"cg_iu_a":194.34198,"cg_iv_a":-40.9226379,"cg_iw_a":-142.038788,"cg_sample_age_us":24.0636368,"cg_sample_seq":3598816,"cg_sample_valid":1,"cg_theta_rad":4.85649109,"cg_vd_req_v":-2.20220757,"cg_vd_v":-2.20220757,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33912849,"cg_vq_v":-8.33912849,"cg_vu_v":41.7897949,"cg_vv_v":40.0302238,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2403.94849,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6602173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":446.972046,"values":{"Elec_RPM":-2352.3457,"EncoderCos":52184,"EncoderSin":37124,"GapTicks":49536,"Mech_RPM":-470.469147,"cg_du":47.5951424,"cg_dv":54.9670334,"cg_dw":45.0329666,"cg_id_a":5.28067398,"cg_id_raw_a":1.01927364,"cg_iq_a":-201.162109,"cg_iq_raw_a":-199.463791,"cg_iu_a":-122.066696,"cg_iv_a":199.881409,"cg_iw_a":-77.8147202,"cg_sample_age_us":23.3836365,"cg_sample_seq":3600416,"cg_sample_valid":1,"cg_theta_rad":0.222313568,"cg_vd_req_v":-2.08455586,"cg_vd_v":-2.08455586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36289883,"cg_vq_v":-8.36289883,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2361.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.7103271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":447.118777,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":447.118783,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":447.118787,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":447.30603,"values":{"Elec_RPM":-2358.70605,"EncoderCos":46733,"EncoderSin":47192,"GapTicks":49306,"Mech_RPM":-471.741211,"cg_du":50.365097,"cg_dv":44.8241158,"cg_dw":55.1758842,"cg_id_a":-7.76409245,"cg_id_raw_a":-9.96263409,"cg_iq_a":-197.531998,"cg_iq_raw_a":-198.221085,"cg_iu_a":74.6285858,"cg_iv_a":-196.481155,"cg_iw_a":121.85257,"cg_sample_age_us":23.5218182,"cg_sample_seq":3602116,"cg_sample_valid":1,"cg_theta_rad":0.806025147,"cg_vd_req_v":-1.78772831,"cg_vd_v":-1.78772831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47017384,"cg_vq_v":-8.47017384,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2401.88721,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6809692,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":447.657593,"values":{"Elec_RPM":-2355.92627,"EncoderCos":36497,"EncoderSin":52458,"GapTicks":49388,"Mech_RPM":-471.185242,"cg_du":51.8064499,"cg_dv":55.101696,"cg_dw":44.898304,"cg_id_a":-7.2173686,"cg_id_raw_a":-9.03588581,"cg_iq_a":-195.980957,"cg_iq_raw_a":-197.829285,"cg_iu_a":-19.8228436,"cg_iv_a":178.243835,"cg_iw_a":-158.42099,"cg_sample_age_us":23.8999996,"cg_sample_seq":3603816,"cg_sample_valid":1,"cg_theta_rad":1.3804909,"cg_vd_req_v":-1.74075675,"cg_vd_v":-1.74075675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52607155,"cg_vq_v":-8.52607155,"cg_vu_v":10.1175289,"cg_vv_v":5.71860361,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":447.989624,"values":{"Elec_RPM":-2353.91479,"EncoderCos":25123,"EncoderSin":51496,"GapTicks":50116,"Mech_RPM":-470.782959,"cg_du":45.6177864,"cg_dv":45.5604897,"cg_dw":54.4395103,"cg_id_a":10.8020525,"cg_id_raw_a":13.272994,"cg_iq_a":-205.79538,"cg_iq_raw_a":-206.604218,"cg_iu_a":-15.9085093,"cg_iv_a":-170.675537,"cg_iw_a":186.584045,"cg_sample_age_us":23.8272724,"cg_sample_seq":3605516,"cg_sample_valid":1,"cg_theta_rad":1.9605695,"cg_vd_req_v":-2.08873057,"cg_vd_v":-2.08873057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27985573,"cg_vq_v":-8.27985573,"cg_vu_v":4.83881807,"cg_vv_v":8.79785156,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.5855694,"dclink_p_w":-2545.06543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":448.11137,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":448.111376,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":448.111381,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":448.419312,"values":{"Elec_RPM":-2358.54688,"EncoderCos":47911,"EncoderSin":19615,"GapTicks":49418,"Mech_RPM":-471.709381,"cg_du":44.925518,"cg_dv":51.2794113,"cg_dw":55.074482,"cg_id_a":-8.78037739,"cg_id_raw_a":-7.29501629,"cg_iq_a":-201.605667,"cg_iq_raw_a":-201.330841,"cg_iu_a":-154.722397,"cg_iv_a":-32.2241058,"cg_iw_a":186.946503,"cg_sample_age_us":23.9254551,"cg_sample_seq":3607517,"cg_sample_valid":1,"cg_theta_rad":5.58571815,"cg_vd_req_v":-1.79247558,"cg_vd_v":-1.79247558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35332203,"cg_vq_v":-8.35332203,"cg_vu_v":113.932175,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2463.59448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6809692,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":448.938843,"values":{"Elec_RPM":-2353.94629,"EncoderCos":13958,"EncoderSin":40390,"GapTicks":49622,"Mech_RPM":-470.789276,"cg_du":47.0961876,"cg_dv":54.8885727,"cg_dw":45.1114273,"cg_id_a":15.54986,"cg_id_raw_a":13.0134745,"cg_iq_a":-205.2267,"cg_iq_raw_a":-204.532028,"cg_iu_a":-158.310532,"cg_iv_a":195.749619,"cg_iw_a":-37.4390869,"cg_sample_age_us":23.9618187,"cg_sample_seq":3610118,"cg_sample_valid":1,"cg_theta_rad":2.76738644,"cg_vd_req_v":-2.19231796,"cg_vd_v":-2.19231796,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32650566,"cg_vq_v":-8.32650566,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2478.49854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6446838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":448.975077,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":448.975088,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":448.975091,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":449.134797,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":449.134802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":449.134808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":449.317749,"values":{"Elec_RPM":-2346.52026,"EncoderCos":51053,"EncoderSin":24640,"GapTicks":49434,"Mech_RPM":-469.304047,"cg_du":52.1834412,"cg_dv":44.9400177,"cg_dw":55.0599823,"cg_id_a":9.81466293,"cg_id_raw_a":9.67019939,"cg_iq_a":-199.603134,"cg_iq_raw_a":-198.910797,"cg_iu_a":132.111313,"cg_iv_a":-196.916077,"cg_iw_a":64.8047562,"cg_sample_age_us":23.7109089,"cg_sample_seq":3612166,"cg_sample_valid":1,"cg_theta_rad":5.88209295,"cg_vd_req_v":-2.17240882,"cg_vd_v":-2.17240882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43926907,"cg_vq_v":-8.43926907,"cg_vu_v":43.1094704,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2516.23486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6619568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":449.669312,"values":{"Elec_RPM":-2348.31201,"EncoderCos":51220,"EncoderSin":24997,"GapTicks":49554,"Mech_RPM":-469.662384,"cg_du":52.8652611,"cg_dv":45.0495796,"cg_dw":54.9504204,"cg_id_a":19.379364,"cg_id_raw_a":18.3469105,"cg_iq_a":-200.421936,"cg_iq_raw_a":-199.864197,"cg_iu_a":157.808197,"cg_iv_a":-191.515747,"cg_iw_a":40.3039398,"cg_sample_age_us":23.7800007,"cg_sample_seq":3613918,"cg_sample_valid":1,"cg_theta_rad":5.91090298,"cg_vd_req_v":-2.33698678,"cg_vd_v":-2.33698678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40360641,"cg_vq_v":-8.40360641,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6464233,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":450.001343,"values":{"Elec_RPM":-2347.18433,"EncoderCos":52267,"EncoderSin":36768,"GapTicks":49438,"Mech_RPM":-469.436859,"cg_du":48.2939529,"cg_dv":55.0557671,"cg_dw":44.9442329,"cg_id_a":0.878769457,"cg_id_raw_a":-5.20436716,"cg_iq_a":-200.032913,"cg_iq_raw_a":-199.244781,"cg_iu_a":-116.195198,"cg_iv_a":200.062622,"cg_iw_a":-99.1260834,"cg_sample_age_us":23.3945446,"cg_sample_seq":3615616,"cg_sample_valid":1,"cg_theta_rad":0.210602149,"cg_vd_req_v":-1.99439955,"cg_vd_v":-1.99439955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37349319,"cg_vq_v":-8.37349319,"cg_vu_v":24.1940918,"cg_vv_v":27.2733402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2540.72876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6895752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":450.126645,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":450.12665,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":450.126656,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":450.333374,"values":{"Elec_RPM":-2353.53662,"EncoderCos":46990,"EncoderSin":46944,"GapTicks":49291,"Mech_RPM":-470.707306,"cg_du":49.7457237,"cg_dv":44.8103065,"cg_dw":55.1896935,"cg_id_a":-15.8648062,"cg_id_raw_a":-17.75844,"cg_iq_a":-196.538818,"cg_iq_raw_a":-197.675797,"cg_iu_a":49.2579041,"cg_iv_a":-189.703552,"cg_iw_a":140.445648,"cg_sample_age_us":23.6527271,"cg_sample_seq":3617316,"cg_sample_valid":1,"cg_theta_rad":0.787575305,"cg_vd_req_v":-1.62528574,"cg_vd_v":-1.62528574,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49571609,"cg_vq_v":-8.49571609,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7138062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":450.68689,"values":{"Elec_RPM":-2354.55859,"EncoderCos":17303,"EncoderSin":45802,"GapTicks":49357,"Mech_RPM":-470.911713,"cg_du":55.1294594,"cg_dv":48.7179375,"cg_dw":44.8705406,"cg_id_a":-9.11302471,"cg_id_raw_a":-8.88428879,"cg_iq_a":-194.519363,"cg_iq_raw_a":-195.977631,"cg_iu_a":151.936676,"cg_iv_a":31.1663666,"cg_iw_a":-183.103043,"cg_sample_age_us":23.9690914,"cg_sample_seq":3618916,"cg_sample_valid":1,"cg_theta_rad":2.44191289,"cg_vd_req_v":-1.69443488,"cg_vd_v":-1.69443488,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49344444,"cg_vq_v":-8.49344444,"cg_vu_v":48.3881836,"cg_vv_v":34.7515144,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2377.57031,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6947937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":451.016968,"values":{"Elec_RPM":-2354.61768,"EncoderCos":25443,"EncoderSin":51608,"GapTicks":49737,"Mech_RPM":-470.923553,"cg_du":45.216259,"cg_dv":46.6592026,"cg_dw":54.783741,"cg_id_a":14.3052177,"cg_id_raw_a":13.9287004,"cg_iq_a":-202.874268,"cg_iq_raw_a":-203.17601,"cg_iu_a":-36.6037369,"cg_iv_a":-153.71344,"cg_iw_a":190.317169,"cg_sample_age_us":23.772728,"cg_sample_seq":3620716,"cg_sample_valid":1,"cg_theta_rad":1.93242252,"cg_vd_req_v":-2.16432977,"cg_vd_v":-2.16539907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34349632,"cg_vq_v":-8.32566071,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2445.14111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7051697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":451.118919,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":451.118924,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":451.11893,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":451.350952,"values":{"Elec_RPM":-2352.97339,"EncoderCos":14389,"EncoderSin":24056,"GapTicks":49562,"Mech_RPM":-470.594696,"cg_du":54.9432793,"cg_dv":45.0567207,"cg_dw":47.2711868,"cg_id_a":12.2212944,"cg_id_raw_a":9.8156395,"cg_iq_a":-201.346817,"cg_iq_raw_a":-200.27536,"cg_iu_a":196.879028,"cg_iv_a":-51.2883606,"cg_iw_a":-145.590668,"cg_sample_age_us":24.0781822,"cg_sample_seq":3622316,"cg_sample_valid":1,"cg_theta_rad":3.5893054,"cg_vd_req_v":-2.14890051,"cg_vd_v":-2.14890051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39979172,"cg_vq_v":-8.39979172,"cg_vu_v":15.836132,"cg_vv_v":8.79785156,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-16.3134098,"dclink_p_w":-2360.95264,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7034302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":451.704468,"values":{"Elec_RPM":-2356.19067,"EncoderCos":12498,"EncoderSin":33906,"GapTicks":49333,"Mech_RPM":-471.238129,"cg_du":44.8489189,"cg_dv":50.3224602,"cg_dw":55.1510811,"cg_id_a":-15.8301754,"cg_id_raw_a":-14.3119812,"cg_iq_a":-199.4431,"cg_iq_raw_a":-201.797089,"cg_iu_a":-148.270996,"cg_iv_a":-43.1697235,"cg_iw_a":191.44072,"cg_sample_age_us":23.9690914,"cg_sample_seq":3624116,"cg_sample_valid":1,"cg_theta_rad":3.08900928,"cg_vd_req_v":-1.54295897,"cg_vd_v":-1.54295897,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44784546,"cg_vq_v":-8.44784546,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2720585,"dclink_p_w":-2499.69263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.6826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":452.036499,"values":{"Elec_RPM":-2359.05664,"EncoderCos":22740,"EncoderSin":15086,"GapTicks":49510,"Mech_RPM":-471.81134,"cg_du":45.0092964,"cg_dv":54.9907036,"cg_dw":52.46315,"cg_id_a":2.28886175,"cg_id_raw_a":0.0679232627,"cg_iq_a":-196.112152,"cg_iq_raw_a":-196.12001,"cg_iu_a":-194.626862,"cg_iv_a":68.7149811,"cg_iw_a":125.91188,"cg_sample_age_us":23.9400005,"cg_sample_seq":3625766,"cg_sample_valid":1,"cg_theta_rad":4.20637035,"cg_vd_req_v":-1.95585799,"cg_vd_v":-1.95585799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44870186,"cg_vq_v":-8.44870186,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2429.9292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.6723328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":452.111273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":452.111278,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":452.111284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":452.390015,"values":{"Elec_RPM":-2355.26001,"EncoderCos":33000,"EncoderSin":12553,"GapTicks":49378,"Mech_RPM":-471.052002,"cg_du":55.110611,"cg_dv":44.889389,"cg_dw":51.4518585,"cg_id_a":-14.397603,"cg_id_raw_a":-9.84964275,"cg_iq_a":-196.475464,"cg_iq_raw_a":-197.79892,"cg_iu_a":195.030609,"cg_iv_a":-129.067627,"cg_iw_a":-65.9629898,"cg_sample_age_us":24.0636368,"cg_sample_seq":3627470,"cg_sample_valid":1,"cg_theta_rad":4.78602266,"cg_vd_req_v":-1.6037333,"cg_vd_v":-1.6037333,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47798252,"cg_vq_v":-8.47798252,"cg_vu_v":142.965088,"cg_vv_v":135.926804,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.9117622,"dclink_p_w":-2584.39429,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.6965027,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":452.720093,"values":{"Elec_RPM":-2359.66577,"EncoderCos":44392,"EncoderSin":16341,"GapTicks":49554,"Mech_RPM":-471.933167,"cg_du":45.0495834,"cg_dv":54.9504166,"cg_dw":47.3449936,"cg_id_a":-4.90574217,"cg_id_raw_a":1.66596746,"cg_iq_a":-199.542419,"cg_iq_raw_a":-201.245819,"cg_iu_a":-173.822906,"cg_iv_a":169.037918,"cg_iw_a":4.7849884,"cg_sample_age_us":23.954546,"cg_sample_seq":3629167,"cg_sample_valid":1,"cg_theta_rad":5.34843111,"cg_vd_req_v":-1.8664825,"cg_vd_v":-1.8664825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45681953,"cg_vq_v":-8.45681953,"cg_vu_v":94.5769043,"cg_vv_v":102.055069,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2430.73853,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.6982422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103831537,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":453.054077,"values":{"Elec_RPM":-2359.14819,"EncoderCos":51426,"EncoderSin":25605,"GapTicks":49992,"Mech_RPM":-471.829651,"cg_du":54.1861954,"cg_dv":45.4473343,"cg_dw":54.5526657,"cg_id_a":16.8566093,"cg_id_raw_a":20.3408833,"cg_iq_a":-202.444305,"cg_iq_raw_a":-202.636139,"cg_iu_a":168.681335,"cg_iv_a":-181.693665,"cg_iw_a":13.0123291,"cg_sample_age_us":24.2309093,"cg_sample_seq":3630867,"cg_sample_valid":1,"cg_theta_rad":5.93355799,"cg_vd_req_v":-2.25901866,"cg_vd_v":-2.25901866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33938789,"cg_vq_v":-8.33938789,"cg_vu_v":106.893898,"cg_vv_v":96.7763672,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2476.14526,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.7103271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":453.103189,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":453.103195,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":453.1032,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":453.40564,"values":{"Elec_RPM":-2357.30029,"EncoderCos":52232,"EncoderSin":36845,"GapTicks":49438,"Mech_RPM":-471.460083,"cg_du":48.1161003,"cg_dv":55.0554962,"cg_dw":44.9445038,"cg_id_a":0.497639179,"cg_id_raw_a":-2.46799302,"cg_iq_a":-200.950958,"cg_iq_raw_a":-200.15892,"cg_iu_a":-119.892067,"cg_iv_a":200.787506,"cg_iw_a":-80.8954468,"cg_sample_age_us":23.5181828,"cg_sample_seq":3632567,"cg_sample_valid":1,"cg_theta_rad":0.218801618,"cg_vd_req_v":-2.0018878,"cg_vd_v":-2.0018878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37966824,"cg_vq_v":-8.37966824,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2411.00854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7103271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":453.737671,"values":{"Elec_RPM":-2357.50928,"EncoderCos":46840,"EncoderSin":47066,"GapTicks":49264,"Mech_RPM":-471.501862,"cg_du":50.0748405,"cg_dv":44.7862625,"cg_dw":55.2137375,"cg_id_a":-11.0689507,"cg_id_raw_a":-13.8117504,"cg_iq_a":-196.583664,"cg_iq_raw_a":-195.577499,"cg_iu_a":62.4506607,"cg_iv_a":-190.210968,"cg_iw_a":139.901993,"cg_sample_age_us":23.6090908,"cg_sample_seq":3634267,"cg_sample_valid":1,"cg_theta_rad":0.796958685,"cg_vd_req_v":-1.72424781,"cg_vd_v":-1.72424781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51383495,"cg_vq_v":-8.51383495,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.3061619,"dclink_p_w":-2367.07666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7155457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":454.071655,"values":{"Elec_RPM":-2363.71606,"EncoderCos":46045,"EncoderSin":47778,"GapTicks":49404,"Mech_RPM":-472.743225,"cg_du":52.0552483,"cg_dv":44.9134216,"cg_dw":55.0865784,"cg_id_a":7.8487525,"cg_id_raw_a":6.95784092,"cg_iq_a":-197.873077,"cg_iq_raw_a":-196.701614,"cg_iu_a":126.783463,"cg_iv_a":-197.133545,"cg_iw_a":83.5065842,"cg_sample_age_us":23.5545464,"cg_sample_seq":3636016,"cg_sample_valid":1,"cg_theta_rad":0.849842131,"cg_vd_req_v":-2.09598184,"cg_vd_v":-2.09598184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47321033,"cg_vq_v":-8.47321033,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.6636658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":454.095467,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":454.095473,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":454.095478,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":454.423218,"values":{"Elec_RPM":-2364.75146,"EncoderCos":16581,"EncoderSin":44858,"GapTicks":49371,"Mech_RPM":-472.950287,"cg_du":55.116642,"cg_dv":51.1178894,"cg_dw":44.883358,"cg_id_a":-1.02104974,"cg_id_raw_a":-4.79928017,"cg_iq_a":-201.02887,"cg_iq_raw_a":-200.568893,"cg_iu_a":114.859238,"cg_iv_a":84.6260223,"cg_iw_a":-199.48526,"cg_sample_age_us":23.7981815,"cg_sample_seq":3637616,"cg_sample_valid":1,"cg_theta_rad":2.49235797,"cg_vd_req_v":-1.89581311,"cg_vd_v":-1.89581311,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38041019,"cg_vq_v":-8.38041019,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7086182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":454.757202,"values":{"Elec_RPM":-2362.2002,"EncoderCos":24422,"EncoderSin":51212,"GapTicks":49616,"Mech_RPM":-472.440033,"cg_du":47.4659271,"cg_dv":45.106102,"cg_dw":54.893898,"cg_id_a":-6.53604603,"cg_id_raw_a":-1.27410257,"cg_iq_a":-204.668777,"cg_iq_raw_a":-206.601944,"cg_iu_a":-4.1292634,"cg_iv_a":-174.698624,"cg_iw_a":178.827881,"cg_sample_age_us":23.7690907,"cg_sample_seq":3639416,"cg_sample_valid":1,"cg_theta_rad":1.98723388,"cg_vd_req_v":-1.74420714,"cg_vd_v":-1.74420714,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32940578,"cg_vq_v":-8.32940578,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2385.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.7363586,"temp_inv2_c":41.7103271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":455.087365,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":455.087371,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":455.087377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":455.089233,"values":{"Elec_RPM":-2355.12793,"EncoderCos":14868,"EncoderSin":23133,"GapTicks":49948,"Mech_RPM":-471.025604,"cg_du":54.59198,"cg_dv":45.9504471,"cg_dw":45.40802,"cg_id_a":9.19970512,"cg_id_raw_a":10.398201,"cg_iq_a":-200.960663,"cg_iq_raw_a":-200.250275,"cg_iu_a":177.343613,"cg_iv_a":-10.4415588,"cg_iw_a":-166.902054,"cg_sample_age_us":24.0709095,"cg_sample_seq":3641017,"cg_sample_valid":1,"cg_theta_rad":3.64084649,"cg_vd_req_v":-2.04942155,"cg_vd_v":-2.04942155,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.363801,"cg_vq_v":-8.363801,"cg_vu_v":141.205521,"cg_vv_v":117.451309,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2486.34253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7380066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":455.440796,"values":{"Elec_RPM":-2354.26563,"EncoderCos":15325,"EncoderSin":22221,"GapTicks":49418,"Mech_RPM":-470.853119,"cg_du":55.0737686,"cg_dv":48.5347939,"cg_dw":44.9262314,"cg_id_a":-13.4829569,"cg_id_raw_a":-10.195116,"cg_iq_a":-196.362488,"cg_iq_raw_a":-197.782745,"cg_iu_a":159.511642,"cg_iv_a":10.0362091,"cg_iw_a":-174.51326,"cg_sample_age_us":23.9363632,"cg_sample_seq":3642766,"cg_sample_valid":1,"cg_theta_rad":3.69077682,"cg_vd_req_v":-1.5961374,"cg_vd_v":-1.5961374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44651318,"cg_vq_v":-8.44651318,"cg_vu_v":44.4291458,"cg_vv_v":44.8690414,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7553406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103176929,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":455.77478,"values":{"Elec_RPM":-2349.64624,"EncoderCos":44286,"EncoderSin":16239,"GapTicks":49658,"Mech_RPM":-469.92926,"cg_du":45.1439209,"cg_dv":54.8560791,"cg_dw":46.9649277,"cg_id_a":-0.420817137,"cg_id_raw_a":6.88265085,"cg_iq_a":-200.988617,"cg_iq_raw_a":-202.083755,"cg_iu_a":-174.040344,"cg_iv_a":171.466248,"cg_iw_a":2.57410431,"cg_sample_age_us":23.9109097,"cg_sample_seq":3644366,"cg_sample_valid":1,"cg_theta_rad":5.34058666,"cg_vd_req_v":-1.94507194,"cg_vd_v":-1.94507194,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40522575,"cg_vq_v":-8.40522575,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7068787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":456.104858,"values":{"Elec_RPM":-2347.41479,"EncoderCos":44960,"EncoderSin":16774,"GapTicks":49355,"Mech_RPM":-469.482941,"cg_du":44.8686943,"cg_dv":55.1313057,"cg_dw":49.0671043,"cg_id_a":-12.9625788,"cg_id_raw_a":-11.0348263,"cg_iq_a":-197.623642,"cg_iq_raw_a":-198.351776,"cg_iu_a":-185.747101,"cg_iv_a":150.009888,"cg_iw_a":35.7372131,"cg_sample_age_us":23.9072723,"cg_sample_seq":3646116,"cg_sample_valid":1,"cg_theta_rad":5.38177919,"cg_vd_req_v":-1.7078793,"cg_vd_v":-1.7078793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45138073,"cg_vq_v":-8.45138073,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2515.42896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":41.791748,"temp_inv2_c":41.7241821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":456.111131,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":456.111137,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":456.111142,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":456.460327,"values":{"Elec_RPM":-2346.49658,"EncoderCos":51634,"EncoderSin":26203,"GapTicks":49733,"Mech_RPM":-469.299316,"cg_du":54.7874794,"cg_dv":45.2125206,"cg_dw":53.2391663,"cg_id_a":4.3793602,"cg_id_raw_a":9.09421444,"cg_iq_a":-201.85762,"cg_iq_raw_a":-203.367966,"cg_iu_a":173.574249,"cg_iv_a":-172.922638,"cg_iw_a":-0.651603699,"cg_sample_age_us":24.1909084,"cg_sample_seq":3647816,"cg_sample_valid":1,"cg_theta_rad":5.96170616,"cg_vd_req_v":-2.00278401,"cg_vd_v":-2.00278401,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35251808,"cg_vq_v":-8.35251808,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.7276611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":456.792358,"values":{"Elec_RPM":-2350.67139,"EncoderCos":51726,"EncoderSin":26442,"GapTicks":49531,"Mech_RPM":-470.134277,"cg_du":54.9716606,"cg_dv":45.0283394,"cg_dw":52.5305634,"cg_id_a":-5.29817677,"cg_id_raw_a":4.45292568,"cg_iq_a":-198.624725,"cg_iq_raw_a":-200.672867,"cg_iu_a":176.836197,"cg_iv_a":-161.542099,"cg_iw_a":-15.2940979,"cg_sample_age_us":24.1327267,"cg_sample_seq":3649568,"cg_sample_valid":1,"cg_theta_rad":5.989151,"cg_vd_req_v":-1.81713021,"cg_vd_v":-1.81713021,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43992519,"cg_vq_v":-8.43992519,"cg_vu_v":142.965088,"cg_vv_v":123.169922,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.1557484,"dclink_p_w":-2331.02832,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7189941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":457.102816,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":457.102822,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":457.102827,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":457.143921,"values":{"Elec_RPM":-2346.84546,"EncoderCos":51902,"EncoderSin":38298,"GapTicks":49956,"Mech_RPM":-469.36911,"cg_du":45.4150352,"cg_dv":54.5849648,"cg_dw":45.7922211,"cg_id_a":11.7146883,"cg_id_raw_a":10.8346386,"cg_iq_a":-204.059921,"cg_iq_raw_a":-204.298828,"cg_iu_a":-172.191925,"cg_iv_a":180.12854,"cg_iw_a":-7.93660736,"cg_sample_age_us":23.5072727,"cg_sample_seq":3651266,"cg_sample_valid":1,"cg_theta_rad":0.292333305,"cg_vd_req_v":-2.1956234,"cg_vd_v":-2.1956234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3613739,"cg_vq_v":-8.3613739,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2532.28198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.7414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":457.477905,"values":{"Elec_RPM":-2343.50708,"EncoderCos":45724,"EncoderSin":48098,"GapTicks":49606,"Mech_RPM":-468.701416,"cg_du":52.8596115,"cg_dv":45.0969543,"cg_dw":54.9030457,"cg_id_a":14.1855736,"cg_id_raw_a":11.6096182,"cg_iq_a":-200.879196,"cg_iq_raw_a":-200.384781,"cg_iu_a":148.529755,"cg_iv_a":-193.4729,"cg_iw_a":44.9431534,"cg_sample_age_us":23.449091,"cg_sample_seq":3652966,"cg_sample_valid":1,"cg_theta_rad":0.873856008,"cg_vd_req_v":-2.22348094,"cg_vd_v":-2.22348094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38210011,"cg_vq_v":-8.38210011,"cg_vu_v":43.9892578,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.485899,"dclink_p_w":-2530.64063,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2610,"hz_tim_isr":4998,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7501526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":457.807983,"values":{"Elec_RPM":-2345.57886,"EncoderCos":35252,"EncoderSin":52642,"GapTicks":49382,"Mech_RPM":-469.115784,"cg_du":49.0672073,"cg_dv":55.1067619,"cg_dw":44.8932381,"cg_id_a":-7.55751848,"cg_id_raw_a":-12.4687033,"cg_iq_a":-199.839859,"cg_iq_raw_a":-199.996475,"cg_iu_a":-72.2676697,"cg_iv_a":197.126892,"cg_iw_a":-124.859215,"cg_sample_age_us":23.8054543,"cg_sample_seq":3654666,"cg_sample_valid":1,"cg_theta_rad":1.43770087,"cg_vd_req_v":-1.77340436,"cg_vd_v":-1.77340436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39617634,"cg_vq_v":-8.39617634,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2610,"hz_tim_isr":4998,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":41.7640381,"temp_inv2_c":41.7189941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":458.126499,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":458.126504,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":458.12651,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":458.161499,"values":{"Elec_RPM":-2350.92285,"EncoderCos":24235,"EncoderSin":51122,"GapTicks":49494,"Mech_RPM":-470.18457,"cg_du":48.0237427,"cg_dv":44.9953384,"cg_dw":55.0046616,"cg_id_a":-12.4080963,"cg_id_raw_a":-5.65940189,"cg_iq_a":-202.368729,"cg_iq_raw_a":-203.484009,"cg_iu_a":15.0437241,"cg_iv_a":-181.476196,"cg_iw_a":166.43248,"cg_sample_age_us":23.9654541,"cg_sample_seq":3656367,"cg_sample_valid":1,"cg_theta_rad":2.01584721,"cg_vd_req_v":-1.62985718,"cg_vd_v":-1.62985718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39525414,"cg_vq_v":-8.39525414,"cg_vu_v":38.2706528,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5185184,"dclink_p_w":-2527.65527,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2610,"hz_tim_isr":4998,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.7432251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":458.68103,"values":{"Elec_RPM":-2345.52393,"EncoderCos":46486,"EncoderSin":47422,"GapTicks":49318,"Mech_RPM":-469.104767,"cg_du":51.0328865,"cg_dv":44.835228,"cg_dw":55.164772,"cg_id_a":-4.11885262,"cg_id_raw_a":-9.17204571,"cg_iq_a":-198.026245,"cg_iq_raw_a":-197.880844,"cg_iu_a":92.460556,"cg_iv_a":-198.438324,"cg_iw_a":105.977768,"cg_sample_age_us":23.641819,"cg_sample_seq":3658816,"cg_sample_valid":1,"cg_theta_rad":0.821023405,"cg_vd_req_v":-1.86897838,"cg_vd_v":-1.86897838,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45793724,"cg_vq_v":-8.45793724,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2399.79565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":41.7501526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103932247,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":458.991322,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":458.991334,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":458.991336,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":459.118771,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":459.118778,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":459.118783,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":459.134155,"values":{"Elec_RPM":-2344.33301,"EncoderCos":51238,"EncoderSin":25113,"GapTicks":49645,"Mech_RPM":-468.866608,"cg_du":53.0983162,"cg_dv":45.131855,"cg_dw":54.868145,"cg_id_a":17.5412731,"cg_id_raw_a":17.0819263,"cg_iq_a":-202.396744,"cg_iq_raw_a":-201.973206,"cg_iu_a":147.007523,"cg_iv_a":-194.813934,"cg_iw_a":47.8064117,"cg_sample_age_us":23.6709099,"cg_sample_seq":3661266,"cg_sample_valid":1,"cg_theta_rad":5.89802599,"cg_vd_req_v":-2.30511355,"cg_vd_v":-2.30511355,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32768822,"cg_vq_v":-8.32768822,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2392.99731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7449341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":459.487671,"values":{"Elec_RPM":-2348.35303,"EncoderCos":52300,"EncoderSin":36322,"GapTicks":49358,"Mech_RPM":-469.670593,"cg_du":49.0189514,"cg_dv":55.1287498,"cg_dw":44.8712502,"cg_id_a":-11.2311535,"cg_id_raw_a":-14.5508976,"cg_iq_a":-199.869308,"cg_iq_raw_a":-199.150528,"cg_iu_a":-84.7355499,"cg_iv_a":199.881424,"cg_iw_a":-125.402863,"cg_sample_age_us":23.4927273,"cg_sample_seq":3662966,"cg_sample_valid":1,"cg_theta_rad":0.191214353,"cg_vd_req_v":-1.75692332,"cg_vd_v":-1.75692332,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4152956,"cg_vq_v":-8.4152956,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2488.95728,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7241821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":459.819702,"values":{"Elec_RPM":-2351.51001,"EncoderCos":51707,"EncoderSin":26351,"GapTicks":49596,"Mech_RPM":-470.302002,"cg_du":54.9120522,"cg_dv":45.0879478,"cg_dw":52.8042412,"cg_id_a":-1.10283637,"cg_id_raw_a":4.70456219,"cg_iq_a":-200.312134,"cg_iq_raw_a":-202.768768,"cg_iu_a":172.450699,"cg_iv_a":-170.85675,"cg_iw_a":-1.59394073,"cg_sample_age_us":24.1109085,"cg_sample_seq":3664767,"cg_sample_valid":1,"cg_theta_rad":5.97299957,"cg_vd_req_v":-1.89459038,"cg_vd_v":-1.89459038,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40597153,"cg_vq_v":-8.40597153,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.0234585,"dclink_p_w":-2311.94092,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7380066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":460.111103,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":460.111121,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":460.111127,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":460.171265,"values":{"Elec_RPM":-2345.98145,"EncoderCos":37959,"EncoderSin":52072,"GapTicks":49815,"Mech_RPM":-469.196289,"cg_du":54.7131462,"cg_dv":53.5480309,"cg_dw":45.2868538,"cg_id_a":13.7964277,"cg_id_raw_a":12.9232283,"cg_iq_a":-204.096771,"cg_iq_raw_a":-204.717438,"cg_iu_a":1.59726214,"cg_iv_a":172.082397,"cg_iw_a":-173.679657,"cg_sample_age_us":26.5872726,"cg_sample_seq":3666370,"cg_sample_valid":1,"cg_theta_rad":1.35281754,"cg_vd_req_v":-2.17898989,"cg_vd_v":-2.17898989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30704117,"cg_vq_v":-8.30704117,"cg_vu_v":29.912693,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7345581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":460.505249,"values":{"Elec_RPM":-2347.02661,"EncoderCos":46015,"EncoderSin":47854,"GapTicks":49439,"Mech_RPM":-469.405304,"cg_du":52.149437,"cg_dv":44.9451904,"cg_dw":55.0548096,"cg_id_a":10.1455336,"cg_id_raw_a":7.81655025,"cg_iq_a":-198.411682,"cg_iq_raw_a":-198.122223,"cg_iu_a":130.262878,"cg_iv_a":-195.538803,"cg_iw_a":65.2759247,"cg_sample_age_us":23.5218182,"cg_sample_seq":3668166,"cg_sample_valid":1,"cg_theta_rad":0.853554726,"cg_vd_req_v":-2.14748907,"cg_vd_v":-2.14748907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42885208,"cg_vq_v":-8.42885208,"cg_vu_v":11.4372072,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7484131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":460.83728,"values":{"Elec_RPM":-2350.7251,"EncoderCos":16528,"EncoderSin":44881,"GapTicks":49358,"Mech_RPM":-470.14502,"cg_du":55.1285667,"cg_dv":51.058754,"cg_dw":44.8714333,"cg_id_a":4.10451889,"cg_id_raw_a":-0.859207928,"cg_iq_a":-201.589523,"cg_iq_raw_a":-199.854218,"cg_iu_a":99.0931702,"cg_iv_a":105.75618,"cg_iw_a":-204.84935,"cg_sample_age_us":23.8854542,"cg_sample_seq":3669766,"cg_sample_valid":1,"cg_theta_rad":2.49684763,"cg_vd_req_v":-1.99439418,"cg_vd_v":-1.99439418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39761829,"cg_vq_v":-8.39761829,"cg_vu_v":24.1940918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6160469,"dclink_p_w":-2404.75171,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":461.13513,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":461.135135,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":461.13514,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":461.190796,"values":{"Elec_RPM":-2356.12988,"EncoderCos":24531,"EncoderSin":51290,"GapTicks":49664,"Mech_RPM":-471.225952,"cg_du":47.1189232,"cg_dv":45.1498222,"cg_dw":54.8501778,"cg_id_a":-2.39488006,"cg_id_raw_a":2.9380815,"cg_iq_a":-204.79805,"cg_iq_raw_a":-206.49794,"cg_iu_a":-0.396148682,"cg_iv_a":-175.495972,"cg_iw_a":175.89212,"cg_sample_age_us":23.8854542,"cg_sample_seq":3671567,"cg_sample_valid":1,"cg_theta_rad":1.99108279,"cg_vd_req_v":-1.81479275,"cg_vd_v":-1.81479275,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34768867,"cg_vq_v":-8.34768867,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.5638218,"dclink_p_w":-2534.19189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7466736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":461.522827,"values":{"Elec_RPM":-2357.28662,"EncoderCos":14873,"EncoderSin":23131,"GapTicks":49949,"Mech_RPM":-471.457306,"cg_du":54.5911064,"cg_dv":45.9342041,"cg_dw":45.4088936,"cg_id_a":9.99313354,"cg_id_raw_a":10.5191975,"cg_iq_a":-202.531631,"cg_iq_raw_a":-201.605469,"cg_iu_a":178.9021,"cg_iv_a":-10.0428772,"cg_iw_a":-168.859222,"cg_sample_age_us":24.0745449,"cg_sample_seq":3673167,"cg_sample_valid":1,"cg_theta_rad":3.64270997,"cg_vd_req_v":-2.06677055,"cg_vd_v":-2.06677055,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33854294,"cg_vq_v":-8.33854294,"cg_vu_v":134.167236,"cg_vv_v":126.249161,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2407.1167,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7484131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":461.856812,"values":{"Elec_RPM":-2354.81592,"EncoderCos":22856,"EncoderSin":14991,"GapTicks":49528,"Mech_RPM":-470.963196,"cg_du":45.0258522,"cg_dv":54.9741478,"cg_dw":52.6963615,"cg_id_a":6.85406923,"cg_id_raw_a":3.79209423,"cg_iq_a":-198.530075,"cg_iq_raw_a":-197.134995,"cg_iu_a":-193.938232,"cg_iv_a":61.5749512,"cg_iw_a":132.363281,"cg_sample_age_us":23.8527279,"cg_sample_seq":3674867,"cg_sample_valid":1,"cg_theta_rad":4.2162509,"cg_vd_req_v":-2.05786681,"cg_vd_v":-2.05786681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46347809,"cg_vq_v":-8.46347809,"cg_vu_v":102.494972,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.5819435,"dclink_p_w":-2536.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.760498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":462.095224,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":462.095231,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":462.095236,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":462.208374,"values":{"Elec_RPM":-2355.31055,"EncoderCos":34159,"EncoderSin":12574,"GapTicks":49348,"Mech_RPM":-471.062134,"cg_du":55.137291,"cg_dv":44.862709,"cg_dw":49.0237198,"cg_id_a":-8.60210609,"cg_id_raw_a":-11.7575092,"cg_iq_a":-196.481354,"cg_iq_raw_a":-196.438049,"cg_iu_a":196.009186,"cg_iv_a":-110.873222,"cg_iw_a":-85.1359634,"cg_sample_age_us":24.0890903,"cg_sample_seq":3676567,"cg_sample_valid":1,"cg_theta_rad":4.79873514,"cg_vd_req_v":-1.74627745,"cg_vd_v":-1.74627745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45824909,"cg_vq_v":-8.45824909,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2513.27393,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7622681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":462.540405,"values":{"Elec_RPM":-2356.11768,"EncoderCos":44815,"EncoderSin":16657,"GapTicks":49421,"Mech_RPM":-471.223511,"cg_du":44.9285164,"cg_dv":55.0714836,"cg_dw":48.6474838,"cg_id_a":-12.6991272,"cg_id_raw_a":-11.5195999,"cg_iq_a":-199.582581,"cg_iq_raw_a":-200.292114,"cg_iu_a":-183.53624,"cg_iv_a":158.273499,"cg_iw_a":25.2627487,"cg_sample_age_us":23.9472733,"cg_sample_seq":3678267,"cg_sample_valid":1,"cg_theta_rad":5.37490034,"cg_vd_req_v":-1.71217585,"cg_vd_v":-1.71217585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40234375,"cg_vq_v":-8.40234375,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2458.36499,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":462.891968,"values":{"Elec_RPM":-2356.71484,"EncoderCos":45552,"EncoderSin":17262,"GapTicks":49299,"Mech_RPM":-471.342987,"cg_du":44.817379,"cg_dv":55.182621,"cg_dw":50.6789818,"cg_id_a":-9.38502312,"cg_id_raw_a":-9.80307102,"cg_iq_a":-196.793961,"cg_iq_raw_a":-197.320297,"cg_iu_a":-196.62027,"cg_iv_a":116.266891,"cg_iw_a":80.3533783,"cg_sample_age_us":23.9145451,"cg_sample_seq":3680016,"cg_sample_valid":1,"cg_theta_rad":5.42249203,"cg_vd_req_v":-1.80286419,"cg_vd_v":-1.80286419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46945,"cg_vq_v":-8.46945,"cg_vu_v":21.1148415,"cg_vv_v":29.4728031,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.737793,"dclink_p_w":-2559.29321,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.7657166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":463.11892,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":463.118927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":463.118932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":463.225952,"values":{"Elec_RPM":-2351.55371,"EncoderCos":47000,"EncoderSin":46908,"GapTicks":49321,"Mech_RPM":-470.31076,"cg_du":49.6452293,"cg_dv":44.837429,"cg_dw":55.162571,"cg_id_a":-13.6414833,"cg_id_raw_a":-15.0385656,"cg_iq_a":-196.435867,"cg_iq_raw_a":-195.671402,"cg_iu_a":49.0041962,"cg_iv_a":-189.123642,"cg_iw_a":140.119446,"cg_sample_age_us":23.6636372,"cg_sample_seq":3681617,"cg_sample_valid":1,"cg_theta_rad":0.785273373,"cg_vd_req_v":-1.65111744,"cg_vd_v":-1.65111744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47480583,"cg_vq_v":-8.47480583,"cg_vu_v":128.008743,"cg_vv_v":127.568848,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.791687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":463.55603,"values":{"Elec_RPM":-2341.76709,"EncoderCos":51831,"EncoderSin":38398,"GapTicks":50059,"Mech_RPM":-468.353394,"cg_du":45.5082741,"cg_dv":54.4917259,"cg_dw":45.6526108,"cg_id_a":12.1807404,"cg_id_raw_a":13.6990299,"cg_iq_a":-203.335724,"cg_iq_raw_a":-203.234085,"cg_iu_a":-169.83606,"cg_iv_a":181.397064,"cg_iw_a":-11.560997,"cg_sample_age_us":23.5072727,"cg_sample_seq":3683417,"cg_sample_valid":1,"cg_theta_rad":0.287280977,"cg_vd_req_v":-2.19899297,"cg_vd_v":-2.19899297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3398304,"cg_vq_v":-8.3398304,"cg_vu_v":105.134323,"cg_vv_v":106.014107,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-17.5167046,"dclink_p_w":-2542.80444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7553406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":463.909546,"values":{"Elec_RPM":-2340.90967,"EncoderCos":36233,"EncoderSin":52496,"GapTicks":49321,"Mech_RPM":-468.181946,"cg_du":51.1761818,"cg_dv":55.1620865,"cg_dw":44.8379135,"cg_id_a":-10.0084267,"cg_id_raw_a":-7.48313808,"cg_iq_a":-195.571716,"cg_iq_raw_a":-194.832184,"cg_iu_a":-33.3417931,"cg_iv_a":183.354233,"cg_iw_a":-150.012436,"cg_sample_age_us":23.8090916,"cg_sample_seq":3685067,"cg_sample_valid":1,"cg_theta_rad":1.40095782,"cg_vd_req_v":-1.70024049,"cg_vd_v":-1.70024049,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5061655,"cg_vq_v":-8.5061655,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2467.95825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7657166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":464.111484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":464.11149,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":464.111496,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":464.24353,"values":{"Elec_RPM":-2344.2793,"EncoderCos":24868,"EncoderSin":51386,"GapTicks":49885,"Mech_RPM":-468.855865,"cg_du":46.2368202,"cg_dv":45.3500214,"cg_dw":54.6499786,"cg_id_a":6.36703968,"cg_id_raw_a":9.82820225,"cg_iq_a":-203.730316,"cg_iq_raw_a":-204.002045,"cg_iu_a":-7.53618383,"cg_iv_a":-171.364182,"cg_iw_a":178.90036,"cg_sample_age_us":23.863636,"cg_sample_seq":3686767,"cg_sample_valid":1,"cg_theta_rad":1.9699136,"cg_vd_req_v":-2.00492477,"cg_vd_v":-2.00492477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36634064,"cg_vq_v":-8.36634064,"cg_vu_v":137.246475,"cg_vv_v":109.533249,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2477.82739,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7657166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":464.575562,"values":{"Elec_RPM":-2347.02832,"EncoderCos":15785,"EncoderSin":43826,"GapTicks":49824,"Mech_RPM":-469.40564,"cg_du":54.70467,"cg_dv":53.5726738,"cg_dw":45.29533,"cg_id_a":15.60956,"cg_id_raw_a":14.4477139,"cg_iq_a":-204.730545,"cg_iq_raw_a":-206.808304,"cg_iu_a":30.0849152,"cg_iv_a":161.535446,"cg_iw_a":-191.620361,"cg_sample_age_us":23.9036369,"cg_sample_seq":3688466,"cg_sample_valid":1,"cg_theta_rad":2.56480646,"cg_vd_req_v":-2.1909306,"cg_vd_v":-2.1909306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30031109,"cg_vq_v":-8.30031109,"cg_vu_v":26.3935547,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7613506,"dclink_p_w":-2570.50537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7709045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":464.929077,"values":{"Elec_RPM":-2352.65088,"EncoderCos":23236,"EncoderSin":50639,"GapTicks":49343,"Mech_RPM":-470.530182,"cg_du":50.4197922,"cg_dv":44.8580132,"cg_dw":55.1419868,"cg_id_a":-12.1622458,"cg_id_raw_a":-15.2442989,"cg_iq_a":-196.932709,"cg_iq_raw_a":-197.353043,"cg_iu_a":67.8872375,"cg_iv_a":-195.538818,"cg_iw_a":127.651573,"cg_sample_age_us":23.6672726,"cg_sample_seq":3690266,"cg_sample_valid":1,"cg_theta_rad":2.06122947,"cg_vd_req_v":-1.66923594,"cg_vd_v":-1.66923594,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46565342,"cg_vq_v":-8.46565342,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2485.0354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.6895752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":465.102791,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":465.102796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":465.1028,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":465.259155,"values":{"Elec_RPM":-2356.31641,"EncoderCos":15467,"EncoderSin":22040,"GapTicks":49339,"Mech_RPM":-471.263306,"cg_du":55.1460838,"cg_dv":49.0258217,"cg_dw":44.8539162,"cg_id_a":-13.1432934,"cg_id_raw_a":-13.7581072,"cg_iq_a":-196.050797,"cg_iq_raw_a":-194.636703,"cg_iu_a":151.42926,"cg_iv_a":30.296524,"cg_iw_a":-181.725784,"cg_sample_age_us":23.994545,"cg_sample_seq":3691867,"cg_sample_valid":1,"cg_theta_rad":3.70429111,"cg_vd_req_v":-1.60727882,"cg_vd_v":-1.60727882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50039959,"cg_vq_v":-8.50039959,"cg_vu_v":124.489601,"cg_vv_v":126.249161,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.2394409,"dclink_p_w":-2502.55566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7587891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":465.59314,"values":{"Elec_RPM":-2352.15698,"EncoderCos":24258,"EncoderSin":14343,"GapTicks":49691,"Mech_RPM":-470.431396,"cg_du":45.1741257,"cg_dv":52.9830399,"cg_dw":54.8258743,"cg_id_a":0.370889068,"cg_id_raw_a":6.54184151,"cg_iq_a":-200.635071,"cg_iq_raw_a":-202.953033,"cg_iu_a":-173.025528,"cg_iv_a":-1.23562622,"cg_iw_a":174.261154,"cg_sample_age_us":23.9290905,"cg_sample_seq":3693566,"cg_sample_valid":1,"cg_theta_rad":4.28999996,"cg_vd_req_v":-1.88287413,"cg_vd_v":-1.88287413,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37998199,"cg_vq_v":-8.37998199,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2529.38843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104083307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":465.944702,"values":{"Elec_RPM":-2351.86182,"EncoderCos":35546,"EncoderSin":12723,"GapTicks":49814,"Mech_RPM":-470.372345,"cg_du":54.7141418,"cg_dv":45.2858582,"cg_dw":46.5370865,"cg_id_a":13.9360332,"cg_id_raw_a":15.4681501,"cg_iq_a":-204.666733,"cg_iq_raw_a":-204.408356,"cg_iu_a":193.327148,"cg_iv_a":-32.4415741,"cg_iw_a":-160.885574,"cg_sample_age_us":24.0309086,"cg_sample_seq":3695266,"cg_sample_valid":1,"cg_theta_rad":4.86912489,"cg_vd_req_v":-2.19064951,"cg_vd_v":-2.19064951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27203941,"cg_vq_v":-8.27203941,"cg_vu_v":48.3881836,"cg_vv_v":44.4291458,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.054266,"dclink_p_w":-2323.448,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7017212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":466.094948,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":466.094954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":466.094959,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":466.276733,"values":{"Elec_RPM":-2354.87207,"EncoderCos":45673,"EncoderSin":17382,"GapTicks":49297,"Mech_RPM":-470.974396,"cg_du":44.8156281,"cg_dv":55.1843719,"cg_dw":50.9959526,"cg_id_a":-6.20135975,"cg_id_raw_a":-9.4896431,"cg_iq_a":-197.190582,"cg_iq_raw_a":-196.748947,"cg_iu_a":-196.801483,"cg_iv_a":109.960457,"cg_iw_a":86.8410263,"cg_sample_age_us":23.9472733,"cg_sample_seq":3696967,"cg_sample_valid":1,"cg_theta_rad":5.42847919,"cg_vd_req_v":-1.87147117,"cg_vd_v":-1.87147117,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48652363,"cg_vq_v":-8.48652363,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.8302135,"dclink_p_w":-2580.47144,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.7657166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":466.628296,"values":{"Elec_RPM":-2351.71924,"EncoderCos":51822,"EncoderSin":26612,"GapTicks":49443,"Mech_RPM":-470.343842,"cg_du":55.0510826,"cg_dv":44.9489174,"cg_dw":52.0032692,"cg_id_a":-10.0641794,"cg_id_raw_a":-3.6674006,"cg_iq_a":-196.037659,"cg_iq_raw_a":-198.530777,"cg_iu_a":183.903748,"cg_iv_a":-145.993484,"cg_iw_a":-37.9102631,"cg_sample_age_us":24.045454,"cg_sample_seq":3698670,"cg_sample_valid":1,"cg_theta_rad":6.01910877,"cg_vd_req_v":-1.70916784,"cg_vd_v":-1.70916784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48915768,"cg_vq_v":-8.48915768,"cg_vu_v":44.8690414,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.2318611,"dclink_p_w":-2349.15039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7847595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":466.96228,"values":{"Elec_RPM":-2348.12598,"EncoderCos":46196,"EncoderSin":47755,"GapTicks":49401,"Mech_RPM":-469.625183,"cg_du":51.784584,"cg_dv":44.9104424,"cg_dw":55.0895576,"cg_id_a":5.30403519,"cg_id_raw_a":0.99934715,"cg_iq_a":-200.267685,"cg_iq_raw_a":-199.150894,"cg_iu_a":118.773575,"cg_iv_a":-200.322998,"cg_iw_a":81.5494156,"cg_sample_age_us":23.6381817,"cg_sample_seq":3700317,"cg_sample_valid":1,"cg_theta_rad":0.843496144,"cg_vd_req_v":-2.0637126,"cg_vd_v":-2.0637126,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40175819,"cg_vq_v":-8.40175819,"cg_vu_v":128.008743,"cg_vv_v":122.730026,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2407.1167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.847229,"temp_inv2_c":41.7760925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":467.118988,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":467.118994,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":467.118999,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":467.296265,"values":{"Elec_RPM":-2341.54492,"EncoderCos":45418,"EncoderSin":48348,"GapTicks":49768,"Mech_RPM":-468.30896,"cg_du":53.6379013,"cg_dv":45.243721,"cg_dw":54.756279,"cg_id_a":17.2568893,"cg_id_raw_a":19.1382084,"cg_iq_a":-203.185684,"cg_iq_raw_a":-202.528427,"cg_iu_a":162.846069,"cg_iv_a":-189.014923,"cg_iw_a":26.1688461,"cg_sample_age_us":23.5799999,"cg_sample_seq":3702066,"cg_sample_valid":1,"cg_theta_rad":0.893050075,"cg_vd_req_v":-2.27746749,"cg_vd_v":-2.27746749,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35772896,"cg_vq_v":-8.35772896,"cg_vu_v":43.549366,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.108633,"dclink_p_w":-2331.31641,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.800354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":467.647827,"values":{"Elec_RPM":-2344.55957,"EncoderCos":25075,"EncoderSin":51489,"GapTicks":50077,"Mech_RPM":-468.911926,"cg_du":45.7161636,"cg_dv":45.5248299,"cg_dw":54.4751701,"cg_id_a":10.7399712,"cg_id_raw_a":12.9925127,"cg_iq_a":-204.559631,"cg_iq_raw_a":-204.697388,"cg_iu_a":-0.794831038,"cg_iv_a":-174.082458,"cg_iw_a":174.877289,"cg_sample_age_us":23.7763634,"cg_sample_seq":3703720,"cg_sample_valid":1,"cg_theta_rad":2.00236034,"cg_vd_req_v":-2.0869205,"cg_vd_v":-2.0869205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3127718,"cg_vq_v":-8.3127718,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2434.68457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7864685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":467.979858,"values":{"Elec_RPM":-2348.57349,"EncoderCos":33934,"EncoderSin":52793,"GapTicks":49746,"Mech_RPM":-469.714691,"cg_du":46.6658058,"cg_dv":54.7757263,"cg_dw":45.2242737,"cg_id_a":16.2921352,"cg_id_raw_a":15.0403852,"cg_iq_a":-203.286987,"cg_iq_raw_a":-202.25238,"cg_iu_a":-157.766876,"cg_iv_a":192.306458,"cg_iw_a":-34.5395889,"cg_sample_age_us":23.8709087,"cg_sample_seq":3705516,"cg_sample_valid":1,"cg_theta_rad":1.51431465,"cg_vd_req_v":-2.21952629,"cg_vd_v":-2.21952629,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34073067,"cg_vq_v":-8.34073067,"cg_vu_v":127.12896,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2517.26489,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7760925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":468.111505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":468.111511,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":468.111516,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":468.401733,"values":{"Elec_RPM":-2347.26514,"EncoderCos":49088,"EncoderSin":21159,"GapTicks":49496,"Mech_RPM":-469.453033,"cg_du":44.9972534,"cg_dv":47.525444,"cg_dw":55.0027466,"cg_id_a":16.5869007,"cg_id_raw_a":13.70014,"cg_iq_a":-201.030014,"cg_iq_raw_a":-199.11734,"cg_iu_a":-50.1589317,"cg_iv_a":-146.754608,"cg_iw_a":196.913544,"cg_sample_age_us":23.9254551,"cg_sample_seq":3707466,"cg_sample_valid":1,"cg_theta_rad":5.68242407,"cg_vd_req_v":-2.33148956,"cg_vd_v":-2.33148956,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37607002,"cg_vq_v":-8.37607002,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2523.47168,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.800354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":468.919312,"values":{"Elec_RPM":-2344.21289,"EncoderCos":13150,"EncoderSin":27652,"GapTicks":49751,"Mech_RPM":-468.84256,"cg_du":53.5365143,"cg_dv":45.2284966,"cg_dw":54.7715034,"cg_id_a":15.9915838,"cg_id_raw_a":13.4296322,"cg_iq_a":-199.955841,"cg_iq_raw_a":-198.382355,"cg_iu_a":158.67804,"cg_iv_a":-187.021515,"cg_iw_a":28.3434677,"cg_sample_age_us":23.7000008,"cg_sample_seq":3710016,"cg_sample_valid":1,"cg_theta_rad":3.40098691,"cg_vd_req_v":-2.21809196,"cg_vd_v":-2.21809196,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41205978,"cg_vq_v":-8.41205978,"cg_vu_v":44.8690414,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6377926,"dclink_p_w":-2407.89868,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.81073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10121309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":469.00683,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":469.006842,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":469.006846,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":469.103541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":469.103547,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":469.103552,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":469.307983,"values":{"Elec_RPM":-2344.31372,"EncoderCos":45583,"EncoderSin":17278,"GapTicks":49306,"Mech_RPM":-468.862762,"cg_du":44.8240128,"cg_dv":55.1759872,"cg_dw":50.7505951,"cg_id_a":-9.07705879,"cg_id_raw_a":-9.74395943,"cg_iq_a":-197.35408,"cg_iq_raw_a":-197.937256,"cg_iu_a":-193.974457,"cg_iv_a":126.813828,"cg_iw_a":67.1606293,"cg_sample_age_us":23.8309097,"cg_sample_seq":3712166,"cg_sample_valid":1,"cg_theta_rad":5.41374111,"cg_vd_req_v":-1.81383693,"cg_vd_v":-1.81383693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48841572,"cg_vq_v":-8.48841572,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-17.8120918,"dclink_p_w":-2585.68433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8072815,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":469.638062,"values":{"Elec_RPM":-2343.41943,"EncoderCos":47109,"EncoderSin":46768,"GapTicks":49350,"Mech_RPM":-468.683868,"cg_du":49.3074036,"cg_dv":44.8637466,"cg_dw":55.1362534,"cg_id_a":-16.4211044,"cg_id_raw_a":-15.3396769,"cg_iq_a":-198.41095,"cg_iq_raw_a":-200.389679,"cg_iu_a":49.076683,"cg_iv_a":-189.812286,"cg_iw_a":140.735596,"cg_sample_age_us":23.6636372,"cg_sample_seq":3713768,"cg_sample_valid":1,"cg_theta_rad":0.787692249,"cg_vd_req_v":-1.59722269,"cg_vd_v":-1.59722269,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43326378,"cg_vq_v":-8.43326378,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2541.25146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.6740417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":469.991577,"values":{"Elec_RPM":-2347.59741,"EncoderCos":51842,"EncoderSin":38424,"GapTicks":49903,"Mech_RPM":-469.51947,"cg_du":45.3668327,"cg_dv":54.6331673,"cg_dw":46.2083817,"cg_id_a":6.30966234,"cg_id_raw_a":11.9600649,"cg_iq_a":-204.484726,"cg_iq_raw_a":-205.498505,"cg_iu_a":-173.750412,"cg_iv_a":178.062622,"cg_iw_a":-13.0832291,"cg_sample_age_us":23.5400009,"cg_sample_seq":3715566,"cg_sample_valid":1,"cg_theta_rad":0.298273772,"cg_vd_req_v":-2.07817054,"cg_vd_v":-2.07817054,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30739594,"cg_vq_v":-8.30739594,"cg_vu_v":0.87978512,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.8072815,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":470.095462,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":470.095467,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":470.095471,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":470.323608,"values":{"Elec_RPM":-2349.36621,"EncoderCos":36150,"EncoderSin":52474,"GapTicks":49275,"Mech_RPM":-469.87326,"cg_du":50.9845161,"cg_dv":55.2043571,"cg_dw":44.7956429,"cg_id_a":-10.5121183,"cg_id_raw_a":-9.23195076,"cg_iq_a":-194.063858,"cg_iq_raw_a":-193.272156,"cg_iu_a":-35.4439354,"cg_iv_a":183.462967,"cg_iw_a":-148.019028,"cg_sample_age_us":23.823637,"cg_sample_seq":3717217,"cg_sample_valid":1,"cg_theta_rad":1.40074539,"cg_vd_req_v":-1.68515611,"cg_vd_v":-1.68515611,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55798149,"cg_vq_v":-8.55798149,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2520.97021,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.779541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":470.677124,"values":{"Elec_RPM":-2342.9585,"EncoderCos":16739,"EncoderSin":45148,"GapTicks":49358,"Mech_RPM":-468.591675,"cg_du":55.1286049,"cg_dv":50.435379,"cg_dw":44.8713951,"cg_id_a":-1.9258064,"cg_id_raw_a":-2.88203835,"cg_iq_a":-199.768936,"cg_iq_raw_a":-200.848343,"cg_iu_a":69.4457169,"cg_iv_a":133.446472,"cg_iw_a":-202.892181,"cg_sample_age_us":23.7945461,"cg_sample_seq":3718870,"cg_sample_valid":1,"cg_theta_rad":2.52673984,"cg_vd_req_v":-1.86296821,"cg_vd_v":-1.86296821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37621689,"cg_vq_v":-8.37621689,"cg_vu_v":46.6286087,"cg_vv_v":61.5849609,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.8749695,"temp_inv2_c":41.81073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":471.007202,"values":{"Elec_RPM":-2349.07788,"EncoderCos":24046,"EncoderSin":51064,"GapTicks":49487,"Mech_RPM":-469.815582,"cg_du":48.5541992,"cg_dv":44.9885521,"cg_dw":55.0114479,"cg_id_a":-17.145668,"cg_id_raw_a":-12.4142504,"cg_iq_a":-202.06189,"cg_iq_raw_a":-202.095612,"cg_iu_a":16.3485031,"cg_iv_a":-181.983612,"cg_iw_a":165.635101,"cg_sample_age_us":23.8890915,"cg_sample_seq":3720667,"cg_sample_valid":1,"cg_theta_rad":2.01896524,"cg_vd_req_v":-1.52823186,"cg_vd_v":-1.52823186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35152054,"cg_vq_v":-8.35152054,"cg_vu_v":104.694435,"cg_vv_v":80.0604477,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2466.73218,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7501526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":471.119557,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":471.119563,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":471.119568,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":471.341187,"values":{"Elec_RPM":-2351.77148,"EncoderCos":12499,"EncoderSin":32968,"GapTicks":49351,"Mech_RPM":-470.354309,"cg_du":44.8648148,"cg_dv":48.5302658,"cg_dw":55.1351852,"cg_id_a":-2.8551228,"cg_id_raw_a":-7.87373972,"cg_iq_a":-196.429794,"cg_iq_raw_a":-198.406326,"cg_iu_a":-96.0073853,"cg_iv_a":-101.449829,"cg_iw_a":197.457214,"cg_sample_age_us":23.9290905,"cg_sample_seq":3722316,"cg_sample_valid":1,"cg_theta_rad":3.13373613,"cg_vd_req_v":-1.83954489,"cg_vd_v":-1.83954489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50121975,"cg_vq_v":-8.50121975,"cg_vu_v":34.3116188,"cg_vv_v":32.5520515,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2421.4978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.791687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":471.694702,"values":{"Elec_RPM":-2356.84131,"EncoderCos":15506,"EncoderSin":21921,"GapTicks":49321,"Mech_RPM":-471.368286,"cg_du":55.162014,"cg_dv":49.3317757,"cg_dw":44.837986,"cg_id_a":-14.8124866,"cg_id_raw_a":-15.8721142,"cg_iq_a":-194.538376,"cg_iq_raw_a":-193.234802,"cg_iu_a":147.841125,"cg_iv_a":35.0444641,"cg_iw_a":-182.88559,"cg_sample_age_us":24.0272732,"cg_sample_seq":3724017,"cg_sample_valid":1,"cg_theta_rad":3.7091043,"cg_vd_req_v":-1.57157946,"cg_vd_v":-1.57157946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50653172,"cg_vq_v":-8.50653172,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.9770012,"dclink_p_w":-2601.71533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8089905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":472.02478,"values":{"Elec_RPM":-2356.68359,"EncoderCos":34556,"EncoderSin":12615,"GapTicks":49399,"Mech_RPM":-471.336731,"cg_du":55.0914612,"cg_dv":44.9085388,"cg_dw":48.3355103,"cg_id_a":-0.267919838,"cg_id_raw_a":-7.60292578,"cg_iq_a":-198.798035,"cg_iq_raw_a":-196.189316,"cg_iu_a":199.633575,"cg_iv_a":-73.1796417,"cg_iw_a":-111.95639,"cg_sample_age_us":23.9836369,"cg_sample_seq":3725667,"cg_sample_valid":1,"cg_theta_rad":4.82859993,"cg_vd_req_v":-1.93083751,"cg_vd_v":-1.93083751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41373444,"cg_vq_v":-8.41373444,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2411.30005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.8211365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":472.111167,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":472.111173,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":472.111179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":472.380249,"values":{"Elec_RPM":-2350.76709,"EncoderCos":24178,"EncoderSin":14350,"GapTicks":49736,"Mech_RPM":-470.153412,"cg_du":45.2149048,"cg_dv":53.20961,"cg_dw":54.7850952,"cg_id_a":2.60893178,"cg_id_raw_a":9.85480976,"cg_iq_a":-203.749893,"cg_iq_raw_a":-204.480652,"cg_iu_a":-158.383026,"cg_iv_a":-30.8105774,"cg_iw_a":189.193604,"cg_sample_age_us":23.8345451,"cg_sample_seq":3727470,"cg_sample_valid":1,"cg_theta_rad":4.33124447,"cg_vd_req_v":-1.94031286,"cg_vd_v":-1.94031286,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32606316,"cg_vq_v":-8.32606316,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.9480076,"dclink_p_w":-2589.62402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.831543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":472.710327,"values":{"Elec_RPM":-2349.36597,"EncoderCos":51871,"EncoderSin":26940,"GapTicks":49409,"Mech_RPM":-469.873199,"cg_du":55.0820274,"cg_dv":44.9179726,"cg_dw":51.6944275,"cg_id_a":-13.4925804,"cg_id_raw_a":-11.2456512,"cg_iq_a":-195.205307,"cg_iq_raw_a":-195.29071,"cg_iu_a":178.140976,"cg_iv_a":-160.20108,"cg_iw_a":-17.9399033,"cg_sample_age_us":24.045454,"cg_sample_seq":3729066,"cg_sample_valid":1,"cg_theta_rad":5.9936347,"cg_vd_req_v":-1.69316339,"cg_vd_v":-1.69316339,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48132706,"cg_vq_v":-8.48132706,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.824585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":473.044312,"values":{"Elec_RPM":-2353.37842,"EncoderCos":52036,"EncoderSin":27441,"GapTicks":49320,"Mech_RPM":-470.67569,"cg_du":55.1631508,"cg_dv":44.8368492,"cg_dw":50.0421448,"cg_id_a":-15.0021353,"cg_id_raw_a":-15.5053854,"cg_iq_a":-195.225433,"cg_iq_raw_a":-194.500168,"cg_iu_a":186.00589,"cg_iv_a":-145.087402,"cg_iw_a":-40.9184875,"cg_sample_age_us":24.0345459,"cg_sample_seq":3730816,"cg_sample_valid":1,"cg_theta_rad":6.02058887,"cg_vd_req_v":-1.6315465,"cg_vd_v":-1.6315465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47276402,"cg_vq_v":-8.47276402,"cg_vu_v":30.7924805,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2447.76367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.814209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":473.103333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":473.103339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":473.103345,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":473.376343,"values":{"Elec_RPM":-2351.88477,"EncoderCos":46171,"EncoderSin":47716,"GapTicks":49373,"Mech_RPM":-470.376953,"cg_du":51.7634697,"cg_dv":44.8853722,"cg_dw":55.1146278,"cg_id_a":6.4062295,"cg_id_raw_a":1.55300403,"cg_iq_a":-198.818481,"cg_iq_raw_a":-197.183258,"cg_iu_a":118.012451,"cg_iv_a":-198.547043,"cg_iw_a":80.5345917,"cg_sample_age_us":23.6381817,"cg_sample_seq":3732467,"cg_sample_valid":1,"cg_theta_rad":0.843862355,"cg_vd_req_v":-2.08961606,"cg_vd_v":-2.08961606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46072006,"cg_vq_v":-8.46072006,"cg_vu_v":106.453995,"cg_vv_v":92.3774414,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.791687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103982605,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":473.727905,"values":{"Elec_RPM":-2357.18115,"EncoderCos":51550,"EncoderSin":39355,"GapTicks":49357,"Mech_RPM":-471.436249,"cg_du":44.8706741,"cg_dv":55.1293259,"cg_dw":48.5984383,"cg_id_a":-10.8088808,"cg_id_raw_a":-9.45754623,"cg_iq_a":-198.372421,"cg_iq_raw_a":-199.39389,"cg_iu_a":-183.173798,"cg_iv_a":155.518967,"cg_iw_a":19.4999771,"cg_sample_age_us":23.5290909,"cg_sample_seq":3734267,"cg_sample_valid":1,"cg_theta_rad":0.345677853,"cg_vd_req_v":-1.73806345,"cg_vd_v":-1.73806345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47504807,"cg_vq_v":-8.47504807,"cg_vu_v":118.3311,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2442.78052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.815918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":474.06189,"values":{"Elec_RPM":-2358.43115,"EncoderCos":24411,"EncoderSin":51225,"GapTicks":49623,"Mech_RPM":-471.686218,"cg_du":47.5006752,"cg_dv":45.1125374,"cg_dw":54.8874626,"cg_id_a":-7.05543518,"cg_id_raw_a":1.63969803,"cg_iq_a":-204.065231,"cg_iq_raw_a":-204.873581,"cg_iu_a":0.0750210285,"cg_iv_a":-175.532211,"cg_iw_a":175.457184,"cg_sample_age_us":23.863636,"cg_sample_seq":3735867,"cg_sample_valid":1,"cg_theta_rad":1.99593878,"cg_vd_req_v":-1.72255087,"cg_vd_v":-1.72255087,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31369781,"cg_vq_v":-8.31369781,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2361.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8228455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":474.094822,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":474.094828,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":474.094833,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":474.413452,"values":{"Elec_RPM":-2359.35498,"EncoderCos":23577,"EncoderSin":50773,"GapTicks":49353,"Mech_RPM":-471.871002,"cg_du":49.776619,"cg_dv":44.8672562,"cg_dw":55.1327438,"cg_id_a":-19.8391666,"cg_id_raw_a":-20.8747063,"cg_iq_a":-198.764511,"cg_iq_raw_a":-199.614059,"cg_iu_a":28.4539413,"cg_iv_a":-184.991852,"cg_iw_a":156.537918,"cg_sample_age_us":23.6636372,"cg_sample_seq":3737616,"cg_sample_valid":1,"cg_theta_rad":2.03375125,"cg_vd_req_v":-1.5066148,"cg_vd_v":-1.5066148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44691467,"cg_vq_v":-8.44691467,"cg_vu_v":106.014107,"cg_vv_v":96.3364716,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-15.9400978,"dclink_p_w":-2306.92505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8072815,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":474.745483,"values":{"Elec_RPM":-2351.23511,"EncoderCos":12481,"EncoderSin":32685,"GapTicks":49431,"Mech_RPM":-470.247009,"cg_du":44.9380836,"cg_dv":47.9280586,"cg_dw":55.0619164,"cg_id_a":-1.58569431,"cg_id_raw_a":-5.25259733,"cg_iq_a":-195.988785,"cg_iq_raw_a":-193.207443,"cg_iu_a":-81.4736023,"cg_iv_a":-114.932526,"cg_iw_a":196.406128,"cg_sample_age_us":23.9036369,"cg_sample_seq":3739267,"cg_sample_valid":1,"cg_theta_rad":3.1484282,"cg_vd_req_v":-1.85467625,"cg_vd_v":-1.85467625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49198151,"cg_vq_v":-8.49198151,"cg_vu_v":117.451309,"cg_vv_v":140.325729,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2447.04858,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.7760925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":475.079468,"values":{"Elec_RPM":-2352.0603,"EncoderCos":12528,"EncoderSin":31609,"GapTicks":49942,"Mech_RPM":-470.412048,"cg_du":45.4020157,"cg_dv":46.0283203,"cg_dw":54.5979843,"cg_id_a":13.4929028,"cg_id_raw_a":12.2759018,"cg_iq_a":-203.85434,"cg_iq_raw_a":-202.959717,"cg_iu_a":-34.5740852,"cg_iv_a":-156.359238,"cg_iw_a":190.933319,"cg_sample_age_us":23.8418179,"cg_sample_seq":3741016,"cg_sample_valid":1,"cg_theta_rad":3.19354153,"cg_vd_req_v":-2.13518,"cg_vd_v":-2.13518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31666565,"cg_vq_v":-8.31666565,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.8506165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":475.118848,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":475.118854,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":475.11886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":475.43103,"values":{"Elec_RPM":-2352.85913,"EncoderCos":16270,"EncoderSin":20761,"GapTicks":49496,"Mech_RPM":-470.571808,"cg_du":55.0031548,"cg_dv":51.8413239,"cg_dw":44.9968452,"cg_id_a":7.16565704,"cg_id_raw_a":4.35215092,"cg_iq_a":-205.098206,"cg_iq_raw_a":-206.327759,"cg_iu_a":79.122818,"cg_iv_a":124.965408,"cg_iw_a":-204.088226,"cg_sample_age_us":23.9509087,"cg_sample_seq":3742716,"cg_sample_valid":1,"cg_theta_rad":3.77699375,"cg_vd_req_v":-2.04307938,"cg_vd_v":-2.04307938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27309704,"cg_vq_v":-8.27309704,"cg_vu_v":27.2733402,"cg_vv_v":3.07924795,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2405.5127,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8384705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":475.765015,"values":{"Elec_RPM":-2351.54858,"EncoderCos":25152,"EncoderSin":13996,"GapTicks":49358,"Mech_RPM":-470.309723,"cg_du":44.8709755,"cg_dv":50.6154823,"cg_dw":55.1290245,"cg_id_a":-16.161911,"cg_id_raw_a":-15.4422731,"cg_iq_a":-199.345871,"cg_iq_raw_a":-198.185471,"cg_iu_a":-150.046936,"cg_iv_a":-36.9720459,"cg_iw_a":187.018982,"cg_sample_age_us":23.954546,"cg_sample_seq":3744417,"cg_sample_valid":1,"cg_theta_rad":4.34021854,"cg_vd_req_v":-1.58921456,"cg_vd_v":-1.58921456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44359207,"cg_vq_v":-8.44359207,"cg_vu_v":103.814644,"cg_vv_v":102.055069,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2435.17456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.831543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":476.111029,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":476.111035,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":476.11104,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":476.116577,"values":{"Elec_RPM":-2353.45996,"EncoderCos":35788,"EncoderSin":12773,"GapTicks":49944,"Mech_RPM":-470.692017,"cg_du":54.5959244,"cg_dv":45.4040756,"cg_dw":46.0351486,"cg_id_a":13.4132109,"cg_id_raw_a":13.8995657,"cg_iq_a":-203.152161,"cg_iq_raw_a":-203.081299,"cg_iu_a":170.384796,"cg_iv_a":-0.945678711,"cg_iw_a":-169.439117,"cg_sample_age_us":26.9327278,"cg_sample_seq":3746121,"cg_sample_valid":1,"cg_theta_rad":4.92181301,"cg_vd_req_v":-2.16848946,"cg_vd_v":-2.16848946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32877064,"cg_vq_v":-8.32877064,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-16.7139053,"dclink_p_w":-2426.2666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.833252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":476.448608,"values":{"Elec_RPM":-2353.12109,"EncoderCos":52075,"EncoderSin":27601,"GapTicks":49303,"Mech_RPM":-470.624237,"cg_du":55.1790581,"cg_dv":44.8209419,"cg_dw":49.7133522,"cg_id_a":-13.8906326,"cg_id_raw_a":-15.4546242,"cg_iq_a":-196.270309,"cg_iq_raw_a":-195.219269,"cg_iu_a":193.218414,"cg_iv_a":-131.64093,"cg_iw_a":-61.5774765,"cg_sample_age_us":24.1727276,"cg_sample_seq":3747767,"cg_sample_valid":1,"cg_theta_rad":6.03668308,"cg_vd_req_v":-1.66750622,"cg_vd_v":-1.66750622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4704361,"cg_vq_v":-8.4704361,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.831543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":476.78064,"values":{"Elec_RPM":-2356.07813,"EncoderCos":47238,"EncoderSin":18899,"GapTicks":49821,"Mech_RPM":-471.215637,"cg_du":45.29216,"cg_dv":53.617794,"cg_dw":54.70784,"cg_id_a":3.56998396,"cg_id_raw_a":6.50534582,"cg_iq_a":-203.078583,"cg_iq_raw_a":-201.798691,"cg_iu_a":-177.556,"cg_iv_a":6.41181946,"cg_iw_a":171.14418,"cg_sample_age_us":23.8309097,"cg_sample_seq":3749567,"cg_sample_valid":1,"cg_theta_rad":5.53926039,"cg_vd_req_v":-2.04158187,"cg_vd_v":-2.04158187,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33444118,"cg_vq_v":-8.33444118,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2511.49487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.828064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":477.102809,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":477.102814,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":477.10282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":477.134155,"values":{"Elec_RPM":-2352.48877,"EncoderCos":45811,"EncoderSin":48042,"GapTicks":49561,"Mech_RPM":-470.497742,"cg_du":52.7059212,"cg_dv":45.0559616,"cg_dw":54.9440384,"cg_id_a":11.6573391,"cg_id_raw_a":8.09483337,"cg_iq_a":-199.343109,"cg_iq_raw_a":-198.449783,"cg_iu_a":167.738983,"cg_iv_a":-182.128586,"cg_iw_a":14.3896027,"cg_sample_age_us":23.550909,"cg_sample_seq":3751171,"cg_sample_valid":1,"cg_theta_rad":0.909485698,"cg_vd_req_v":-2.17070818,"cg_vd_v":-2.17070818,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41573238,"cg_vq_v":-8.41573238,"cg_vu_v":107.333786,"cg_vv_v":99.8556061,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.9008904,"dclink_p_w":-2574.95117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.8592529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":477.464233,"values":{"Elec_RPM":-2349.39185,"EncoderCos":44327,"EncoderSin":49132,"GapTicks":49486,"Mech_RPM":-469.878387,"cg_du":55.0124397,"cg_dv":44.9875603,"cg_dw":52.0259438,"cg_id_a":-10.5112324,"cg_id_raw_a":-3.3339355,"cg_iq_a":-196.67041,"cg_iq_raw_a":-198.453857,"cg_iu_a":174.045425,"cg_iv_a":-170.276855,"cg_iw_a":-0.47038269,"cg_sample_age_us":23.8345451,"cg_sample_seq":3752916,"cg_sample_valid":1,"cg_theta_rad":0.956700265,"cg_vd_req_v":-1.68103039,"cg_vd_v":-1.68103039,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46230888,"cg_vq_v":-8.46230888,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2410.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":477.798218,"values":{"Elec_RPM":-2350.94873,"EncoderCos":23383,"EncoderSin":50696,"GapTicks":49300,"Mech_RPM":-470.189728,"cg_du":50.1609344,"cg_dv":44.8185043,"cg_dw":55.1814957,"cg_id_a":-16.6434288,"cg_id_raw_a":-23.2434483,"cg_iq_a":-197.646942,"cg_iq_raw_a":-197.302887,"cg_iu_a":55.8905258,"cg_iv_a":-192.240631,"cg_iw_a":136.350098,"cg_sample_age_us":23.7509098,"cg_sample_seq":3754567,"cg_sample_valid":1,"cg_theta_rad":2.0511899,"cg_vd_req_v":-1.58923531,"cg_vd_v":-1.58923531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48653221,"cg_vq_v":-8.48653221,"cg_vu_v":141.645401,"cg_vv_v":137.246475,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2463.76196,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.831543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":478.095355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":478.095361,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":478.095366,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":478.151733,"values":{"Elec_RPM":-2354.38257,"EncoderCos":32968,"EncoderSin":52832,"GapTicks":49787,"Mech_RPM":-470.876526,"cg_du":45.2609215,"cg_dv":54.7390785,"cg_dw":46.4982262,"cg_id_a":7.90465164,"cg_id_raw_a":11.709837,"cg_iq_a":-204.844513,"cg_iq_raw_a":-206.239761,"cg_iu_a":-175.381378,"cg_iv_a":175.92424,"cg_iw_a":-0.542861938,"cg_sample_age_us":23.8927269,"cg_sample_seq":3756367,"cg_sample_valid":1,"cg_theta_rad":1.56183779,"cg_vd_req_v":-2.0366385,"cg_vd_v":-2.0366385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3389473,"cg_vq_v":-8.3389473,"cg_vu_v":113.052383,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2528.80469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.831543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":478.64978,"values":{"Elec_RPM":-2353.55127,"EncoderCos":24713,"EncoderSin":51320,"GapTicks":49789,"Mech_RPM":-470.710236,"cg_du":46.6868782,"cg_dv":45.2631149,"cg_dw":54.7368851,"cg_id_a":1.4132334,"cg_id_raw_a":6.95644283,"cg_iq_a":-203.431824,"cg_iq_raw_a":-205.171265,"cg_iu_a":-4.41921425,"cg_iv_a":-173.756256,"cg_iw_a":178.175476,"cg_sample_age_us":23.7763634,"cg_sample_seq":3758666,"cg_sample_valid":1,"cg_theta_rad":1.98197091,"cg_vd_req_v":-1.8961395,"cg_vd_v":-1.8961395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35041714,"cg_vq_v":-8.35041714,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.0415821,"dclink_p_w":-2321.61255,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8696899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":478.958987,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":478.958998,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":478.959001,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":479.087666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":479.087672,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":479.087677,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":479.145874,"values":{"Elec_RPM":-2351.39478,"EncoderCos":36491,"EncoderSin":12921,"GapTicks":49733,"Mech_RPM":-470.278961,"cg_du":54.7876015,"cg_dv":46.7602921,"cg_dw":45.2123985,"cg_id_a":2.31230474,"cg_id_raw_a":7.63125896,"cg_iq_a":-199.186783,"cg_iq_raw_a":-202.059906,"cg_iu_a":173.610504,"cg_iv_a":-2.6491394,"cg_iw_a":-170.961365,"cg_sample_age_us":24.0781822,"cg_sample_seq":3761316,"cg_sample_valid":1,"cg_theta_rad":4.91504717,"cg_vd_req_v":-1.92547596,"cg_vd_v":-1.92547596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39785194,"cg_vq_v":-8.39785194,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2419.43872,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":41.8558044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":479.477905,"values":{"Elec_RPM":-2348.51538,"EncoderCos":46604,"EncoderSin":18223,"GapTicks":49675,"Mech_RPM":-469.703094,"cg_du":45.1597519,"cg_dv":54.8402481,"cg_dw":53.3173065,"cg_id_a":13.2048769,"cg_id_raw_a":12.0512228,"cg_iq_a":-199.919601,"cg_iq_raw_a":-199.350174,"cg_iu_a":-191.002472,"cg_iv_a":34.1021118,"cg_iw_a":156.90036,"cg_sample_age_us":23.9109097,"cg_sample_seq":3763016,"cg_sample_valid":1,"cg_theta_rad":5.48886156,"cg_vd_req_v":-2.25382733,"cg_vd_v":-2.25382733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3745079,"cg_vq_v":-8.3745079,"cg_vu_v":38.7105446,"cg_vv_v":53.2269974,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9114323,"dclink_p_w":-2440.06201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8540649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":479.809937,"values":{"Elec_RPM":-2349.96313,"EncoderCos":51688,"EncoderSin":38882,"GapTicks":49548,"Mech_RPM":-469.992645,"cg_du":45.0442085,"cg_dv":54.9557915,"cg_dw":47.3665466,"cg_id_a":-2.00310946,"cg_id_raw_a":4.93441486,"cg_iq_a":-199.69101,"cg_iq_raw_a":-200.843384,"cg_iu_a":-176.359955,"cg_iv_a":167.769363,"cg_iw_a":8.59059143,"cg_sample_age_us":23.4563637,"cg_sample_seq":3764666,"cg_sample_valid":1,"cg_theta_rad":0.322862148,"cg_vd_req_v":-1.90222406,"cg_vd_v":-1.90222406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45136929,"cg_vq_v":-8.45136929,"cg_vu_v":38.7105446,"cg_vv_v":60.7051735,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-18.0929813,"dclink_p_w":-2618.50049,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8540649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":480.111551,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":480.111557,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":480.111563,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":480.161499,"values":{"Elec_RPM":-2352.28491,"EncoderCos":36068,"EncoderSin":52531,"GapTicks":49349,"Mech_RPM":-470.457001,"cg_du":50.801281,"cg_dv":55.1369972,"cg_dw":44.8630028,"cg_id_a":-11.5933542,"cg_id_raw_a":-9.45611954,"cg_iq_a":-195.977188,"cg_iq_raw_a":-194.169052,"cg_iu_a":-75.2396622,"cg_iv_a":197.199371,"cg_iw_a":-121.959709,"cg_sample_age_us":26.7509098,"cg_sample_seq":3766319,"cg_sample_valid":1,"cg_theta_rad":1.43982589,"cg_vd_req_v":-1.65784216,"cg_vd_v":-1.65784216,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45842648,"cg_vq_v":-8.45842648,"cg_vu_v":39.1504402,"cg_vv_v":55.8663559,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2516.93481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8506165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":480.495483,"values":{"Elec_RPM":-2348.90894,"EncoderCos":34913,"EncoderSin":52676,"GapTicks":49433,"Mech_RPM":-469.781769,"cg_du":48.4311333,"cg_dv":55.0608101,"cg_dw":44.9391899,"cg_id_a":-1.99766254,"cg_id_raw_a":-5.4185195,"cg_iq_a":-200.903107,"cg_iq_raw_a":-200.395172,"cg_iu_a":-108.257797,"cg_iv_a":201.439896,"cg_iw_a":-93.1820984,"cg_sample_age_us":23.8999996,"cg_sample_seq":3768067,"cg_sample_valid":1,"cg_theta_rad":1.46628797,"cg_vd_req_v":-1.88164067,"cg_vd_v":-1.88164067,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38312054,"cg_vq_v":-8.38312054,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2455.63159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.930542,"temp_inv2_c":41.8436584,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":480.827515,"values":{"Elec_RPM":-2345.25439,"EncoderCos":15513,"EncoderSin":43377,"GapTicks":49999,"Mech_RPM":-469.050873,"cg_du":54.1747017,"cg_dv":54.5462341,"cg_dw":45.4537659,"cg_id_a":10.189353,"cg_id_raw_a":15.6066036,"cg_iq_a":-202.318848,"cg_iq_raw_a":-203.863525,"cg_iu_a":10.6219769,"cg_iv_a":169.581573,"cg_iw_a":-180.203552,"cg_sample_age_us":23.8054543,"cg_sample_seq":3769716,"cg_sample_valid":1,"cg_theta_rad":2.5943079,"cg_vd_req_v":-2.06286979,"cg_vd_v":-2.06286979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37488937,"cg_vq_v":-8.37488937,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2453.65845,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8506165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":481.102887,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":481.102894,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":481.1029,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":481.179077,"values":{"Elec_RPM":-2349.58862,"EncoderCos":22762,"EncoderSin":50360,"GapTicks":49351,"Mech_RPM":-469.917725,"cg_du":51.430851,"cg_dv":44.8648186,"cg_dw":55.1351814,"cg_id_a":-2.51778197,"cg_id_raw_a":-7.01270533,"cg_iq_a":-197.219421,"cg_iq_raw_a":-196.987579,"cg_iu_a":88.5824585,"cg_iv_a":-196.698608,"cg_iw_a":108.11615,"cg_sample_age_us":23.6018181,"cg_sample_seq":3771516,"cg_sample_valid":1,"cg_theta_rad":2.07962894,"cg_vd_req_v":-1.88228345,"cg_vd_v":-1.88228345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48566628,"cg_vq_v":-8.48566628,"cg_vu_v":107.333786,"cg_vv_v":103.814644,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8852844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":481.513062,"values":{"Elec_RPM":-2351.54639,"EncoderCos":15727,"EncoderSin":21615,"GapTicks":49322,"Mech_RPM":-470.309296,"cg_du":55.161377,"cg_dv":50.0447922,"cg_dw":44.838623,"cg_id_a":-10.5148067,"cg_id_raw_a":-15.8473206,"cg_iq_a":-198.092972,"cg_iq_raw_a":-193.56218,"cg_iu_a":132.111298,"cg_iv_a":61.6111908,"cg_iw_a":-193.722488,"cg_sample_age_us":24.0163631,"cg_sample_seq":3773117,"cg_sample_valid":1,"cg_theta_rad":3.72985387,"cg_vd_req_v":-1.67837012,"cg_vd_v":-1.67837012,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43387604,"cg_vq_v":-8.43387604,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2491.83325,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8540649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104184017,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":481.84314,"values":{"Elec_RPM":-2353.198,"EncoderCos":16174,"EncoderSin":20978,"GapTicks":49422,"Mech_RPM":-470.639587,"cg_du":55.0701065,"cg_dv":51.4274216,"cg_dw":44.9298935,"cg_id_a":3.60553908,"cg_id_raw_a":-0.355911553,"cg_iq_a":-204.352524,"cg_iq_raw_a":-201.549072,"cg_iu_a":91.4094849,"cg_iv_a":112.171326,"cg_iw_a":-203.580811,"cg_sample_age_us":23.9836369,"cg_sample_seq":3774867,"cg_sample_valid":1,"cg_theta_rad":3.76703191,"cg_vd_req_v":-1.97543299,"cg_vd_v":-1.97543299,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32683372,"cg_vq_v":-8.32683372,"cg_vu_v":135.486908,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2486.84155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8263245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":482.127452,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":482.127458,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":482.127463,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":482.198608,"values":{"Elec_RPM":-2351.31079,"EncoderCos":35930,"EncoderSin":12796,"GapTicks":50056,"Mech_RPM":-470.262177,"cg_du":54.4939842,"cg_dv":45.5060158,"cg_dw":45.6919708,"cg_id_a":12.4753628,"cg_id_raw_a":14.858139,"cg_iq_a":-202.216965,"cg_iq_raw_a":-203.255676,"cg_iu_a":182.019058,"cg_iv_a":-19.6837311,"cg_iw_a":-161.936646,"cg_sample_age_us":24.1000004,"cg_sample_seq":3776517,"cg_sample_valid":1,"cg_theta_rad":4.88370275,"cg_vd_req_v":-2.14424324,"cg_vd_v":-2.14424324,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33837223,"cg_vq_v":-8.33837223,"cg_vu_v":106.014107,"cg_vv_v":91.9375458,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.9321594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":482.53064,"values":{"Elec_RPM":-2353.77148,"EncoderCos":36905,"EncoderSin":13013,"GapTicks":49502,"Mech_RPM":-470.754303,"cg_du":54.9977951,"cg_dv":47.9185181,"cg_dw":45.0022049,"cg_id_a":-10.8209991,"cg_id_raw_a":-3.29509878,"cg_iq_a":-197.122559,"cg_iq_raw_a":-199.217499,"cg_iu_a":168.500122,"cg_iv_a":6.48431396,"cg_iw_a":-174.984436,"cg_sample_age_us":23.9181824,"cg_sample_seq":3778266,"cg_sample_valid":1,"cg_theta_rad":4.93749428,"cg_vd_req_v":-1.66000378,"cg_vd_v":-1.66000378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42813492,"cg_vq_v":-8.42813492,"cg_vu_v":41.3499031,"cg_vv_v":41.3499031,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.848877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104586862,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":482.860718,"values":{"Elec_RPM":-2354.47656,"EncoderCos":52000,"EncoderSin":27461,"GapTicks":49281,"Mech_RPM":-470.895325,"cg_du":55.1985626,"cg_dv":44.8014374,"cg_dw":50.0159874,"cg_id_a":-15.4332304,"cg_id_raw_a":-17.3317242,"cg_iq_a":-196.379486,"cg_iq_raw_a":-195.429977,"cg_iu_a":193.218414,"cg_iv_a":-130.263672,"cg_iw_a":-62.9547424,"cg_sample_age_us":24.1399994,"cg_sample_seq":3779918,"cg_sample_valid":1,"cg_theta_rad":6.03895807,"cg_vd_req_v":-1.63341296,"cg_vd_v":-1.63341296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5056963,"cg_vq_v":-8.5056963,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2483.98926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8766174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":483.087883,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":483.087889,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":483.087894,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":483.216187,"values":{"Elec_RPM":-2350.25537,"EncoderCos":52260,"EncoderSin":28436,"GapTicks":49388,"Mech_RPM":-470.051056,"cg_du":55.1013145,"cg_dv":44.8986855,"cg_dw":48.1824493,"cg_id_a":3.66694427,"cg_id_raw_a":-5.67041016,"cg_iq_a":-197.685593,"cg_iq_raw_a":-196.338379,"cg_iu_a":198.256302,"cg_iv_a":-66.8369598,"cg_iw_a":-115.290833,"cg_sample_age_us":24.1399994,"cg_sample_seq":3781667,"cg_sample_valid":1,"cg_theta_rad":6.08759451,"cg_vd_req_v":-2.03162813,"cg_vd_v":-2.03162813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46304703,"cg_vq_v":-8.46304703,"cg_vu_v":21.5547352,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2584,"hz_tim_isr":5001,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8991699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":483.546265,"values":{"Elec_RPM":-2349.3501,"EncoderCos":44932,"EncoderSin":48732,"GapTicks":49931,"Mech_RPM":-469.869995,"cg_du":54.6079102,"cg_dv":45.3920898,"cg_dw":53.9457932,"cg_id_a":9.75677872,"cg_id_raw_a":15.3466282,"cg_iq_a":-203.010315,"cg_iq_raw_a":-203.425827,"cg_iu_a":172.523193,"cg_iv_a":-175.604706,"cg_iw_a":3.08151245,"cg_sample_age_us":23.9472733,"cg_sample_seq":3783316,"cg_sample_valid":1,"cg_theta_rad":0.935129583,"cg_vd_req_v":-2.09871197,"cg_vd_v":-2.09871197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32980728,"cg_vq_v":-8.32980728,"cg_vu_v":130.648087,"cg_vv_v":118.3311,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2513.33081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2584,"hz_tim_isr":5001,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8991699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":483.89978,"values":{"Elec_RPM":-2348.68311,"EncoderCos":35150,"EncoderSin":52663,"GapTicks":49362,"Mech_RPM":-469.736603,"cg_du":48.9287453,"cg_dv":55.1247063,"cg_dw":44.8752937,"cg_id_a":-2.67378235,"cg_id_raw_a":-6.36022377,"cg_iq_a":-199.939636,"cg_iq_raw_a":-198.847534,"cg_iu_a":-146.857483,"cg_iv_a":200.026398,"cg_iw_a":-63.5708923,"cg_sample_age_us":23.8090916,"cg_sample_seq":3785020,"cg_sample_valid":1,"cg_theta_rad":1.4936291,"cg_vd_req_v":-1.8726933,"cg_vd_v":-1.8726933,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42049885,"cg_vq_v":-8.42049885,"cg_vu_v":38.7105446,"cg_vv_v":61.5849609,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2584,"hz_tim_isr":5001,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.8835449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":484.111392,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":484.111398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":484.111403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":484.231812,"values":{"Elec_RPM":-2351.88159,"EncoderCos":33702,"EncoderSin":52785,"GapTicks":49875,"Mech_RPM":-470.376312,"cg_du":46.1332397,"cg_dv":54.65905,"cg_dw":45.34095,"cg_id_a":13.3236456,"cg_id_raw_a":13.6850977,"cg_iq_a":-205.34021,"cg_iq_raw_a":-205.120468,"cg_iu_a":-162.007401,"cg_iv_a":190.892944,"cg_iw_a":-28.8855438,"cg_sample_age_us":23.9254551,"cg_sample_seq":3786767,"cg_sample_valid":1,"cg_theta_rad":1.52572787,"cg_vd_req_v":-2.16103935,"cg_vd_v":-2.16103935,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3316555,"cg_vq_v":-8.3316555,"cg_vu_v":104.254532,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2440.68237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8696899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":484.563843,"values":{"Elec_RPM":-2352.52319,"EncoderCos":14872,"EncoderSin":42288,"GapTicks":49356,"Mech_RPM":-470.504639,"cg_du":51.1642342,"cg_dv":55.130455,"cg_dw":44.869545,"cg_id_a":-8.23430538,"cg_id_raw_a":-7.79104614,"cg_iq_a":-195.351959,"cg_iq_raw_a":-197.182785,"cg_iu_a":-24.4982986,"cg_iv_a":179.367401,"cg_iw_a":-154.86911,"cg_sample_age_us":23.8600006,"cg_sample_seq":3788416,"cg_sample_valid":1,"cg_theta_rad":2.64538932,"cg_vd_req_v":-1.69176602,"cg_vd_v":-1.69176602,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47984982,"cg_vq_v":-8.47984982,"cg_vu_v":24.1940918,"cg_vv_v":22.8744144,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2524.77881,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8558044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":484.915405,"values":{"Elec_RPM":-2350.00391,"EncoderCos":14611,"EncoderSin":41828,"GapTicks":49336,"Mech_RPM":-470.000763,"cg_du":49.9966469,"cg_dv":55.1482086,"cg_dw":44.8517914,"cg_id_a":-9.82518291,"cg_id_raw_a":-9.84637165,"cg_iq_a":-198.835953,"cg_iq_raw_a":-197.098999,"cg_iu_a":-62.0106659,"cg_iv_a":195.640884,"cg_iw_a":-133.630219,"cg_sample_age_us":23.8018188,"cg_sample_seq":3790167,"cg_sample_valid":1,"cg_theta_rad":2.68100071,"cg_vd_req_v":-1.679546,"cg_vd_v":-1.679546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41116524,"cg_vq_v":-8.41116524,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.5728836,"dclink_p_w":-2535.49927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8956909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105342187,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":485.103039,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":485.103045,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":485.10305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":485.24939,"values":{"Elec_RPM":-2351.677,"EncoderCos":25158,"EncoderSin":13901,"GapTicks":49378,"Mech_RPM":-470.335419,"cg_du":44.8894424,"cg_dv":50.5622559,"cg_dw":55.1105576,"cg_id_a":-13.6837254,"cg_id_raw_a":-10.9362755,"cg_iq_a":-198.823517,"cg_iq_raw_a":-201.157669,"cg_iu_a":-148.850891,"cg_iv_a":-30.8468323,"cg_iw_a":185.206787,"cg_sample_age_us":23.9327278,"cg_sample_seq":3791766,"cg_sample_valid":1,"cg_theta_rad":4.33889198,"cg_vd_req_v":-1.62483239,"cg_vd_v":-1.62483239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42847347,"cg_vq_v":-8.42847347,"cg_vu_v":3.07924795,"cg_vv_v":14.5164547,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2440.68237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9252319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":485.581421,"values":{"Elec_RPM":-2353.67773,"EncoderCos":25927,"EncoderSin":13691,"GapTicks":49380,"Mech_RPM":-470.735535,"cg_du":44.8915024,"cg_dv":48.9176254,"cg_dw":55.1084976,"cg_id_a":-9.48757362,"cg_id_raw_a":-14.0650902,"cg_iq_a":-196.739532,"cg_iq_raw_a":-197.987625,"cg_iu_a":-121.269333,"cg_iv_a":-71.7661285,"cg_iw_a":193.035461,"cg_sample_age_us":23.8418179,"cg_sample_seq":3793516,"cg_sample_valid":1,"cg_theta_rad":4.37269592,"cg_vd_req_v":-1.73563981,"cg_vd_v":-1.73563981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4503746,"cg_vq_v":-8.4503746,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8991699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":485.932983,"values":{"Elec_RPM":-2357.52148,"EncoderCos":46554,"EncoderSin":18219,"GapTicks":49645,"Mech_RPM":-471.504303,"cg_du":45.1322365,"cg_dv":54.8677635,"cg_dw":53.2638817,"cg_id_a":11.8818455,"cg_id_raw_a":11.1872149,"cg_iq_a":-200.297485,"cg_iq_raw_a":-200.111603,"cg_iu_a":-191.691101,"cg_iv_a":37.436554,"cg_iw_a":154.254547,"cg_sample_age_us":23.9181824,"cg_sample_seq":3795166,"cg_sample_valid":1,"cg_theta_rad":5.49058914,"cg_vd_req_v":-2.23926854,"cg_vd_v":-2.23926854,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40320587,"cg_vq_v":-8.40320587,"cg_vu_v":1.75957024,"cg_vv_v":3.07924795,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2378.26221,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8627319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":486.095626,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":486.095632,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":486.095638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":486.266968,"values":{"Elec_RPM":-2353.98438,"EncoderCos":47008,"EncoderSin":18651,"GapTicks":50005,"Mech_RPM":-470.796875,"cg_du":45.4599457,"cg_dv":54.3962975,"cg_dw":54.5400543,"cg_id_a":7.85350132,"cg_id_raw_a":10.1590271,"cg_iq_a":-201.452744,"cg_iq_raw_a":-199.880524,"cg_iu_a":-183.427505,"cg_iv_a":16.7775726,"cg_iw_a":166.649933,"cg_sample_age_us":23.9145451,"cg_sample_seq":3796917,"cg_sample_valid":1,"cg_theta_rad":5.51971388,"cg_vd_req_v":-2.13019347,"cg_vd_v":-2.13019347,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39993382,"cg_vq_v":-8.39993382,"cg_vu_v":120.970459,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":486.600952,"values":{"Elec_RPM":-2357.65674,"EncoderCos":52328,"EncoderSin":28971,"GapTicks":49606,"Mech_RPM":-471.531372,"cg_du":54.9027748,"cg_dv":45.0972252,"cg_dw":47.2481422,"cg_id_a":12.9525814,"cg_id_raw_a":7.85935402,"cg_iq_a":-201.715698,"cg_iq_raw_a":-199.133789,"cg_iu_a":196.190399,"cg_iv_a":-51.832016,"cg_iw_a":-144.358383,"cg_sample_age_us":24.1399994,"cg_sample_seq":3798617,"cg_sample_valid":1,"cg_theta_rad":6.10384178,"cg_vd_req_v":-2.20748425,"cg_vd_v":-2.20748425,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35204792,"cg_vq_v":-8.35204792,"cg_vu_v":134.167236,"cg_vv_v":121.850235,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2524.39014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8523254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":486.952515,"values":{"Elec_RPM":-2361.1936,"EncoderCos":52471,"EncoderSin":29674,"GapTicks":50024,"Mech_RPM":-472.238739,"cg_du":54.523056,"cg_dv":45.476944,"cg_dw":45.7784119,"cg_id_a":12.6450291,"cg_id_raw_a":15.7386627,"cg_iq_a":-203.363922,"cg_iq_raw_a":-202.972504,"cg_iu_a":182.164032,"cg_iv_a":-19.4300232,"cg_iw_a":-162.734009,"cg_sample_age_us":24.1654549,"cg_sample_seq":3800367,"cg_sample_valid":1,"cg_theta_rad":6.1440053,"cg_vd_req_v":-2.16952419,"cg_vd_v":-2.16952419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.307621,"cg_vq_v":-8.307621,"cg_vu_v":106.453995,"cg_vv_v":94.5769043,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2401.10278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":487.119488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":487.119494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":487.119499,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":487.284546,"values":{"Elec_RPM":-2360.65234,"EncoderCos":34067,"EncoderSin":52780,"GapTicks":49635,"Mech_RPM":-472.130493,"cg_du":46.8792267,"cg_dv":54.8771324,"cg_dw":45.1228676,"cg_id_a":14.5303326,"cg_id_raw_a":13.6886539,"cg_iq_a":-202.504745,"cg_iq_raw_a":-201.690887,"cg_iu_a":-151.532928,"cg_iv_a":193.937408,"cg_iw_a":-42.4044876,"cg_sample_age_us":23.9327278,"cg_sample_seq":3801967,"cg_sample_valid":1,"cg_theta_rad":1.50624466,"cg_vd_req_v":-2.1912632,"cg_vd_v":-2.1912632,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38061142,"cg_vq_v":-8.38061142,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-16.3061619,"dclink_p_w":-2367.07666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":41.8852844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":487.616577,"values":{"Elec_RPM":-2351.94043,"EncoderCos":22669,"EncoderSin":50207,"GapTicks":49403,"Mech_RPM":-470.388092,"cg_du":51.5956078,"cg_dv":44.9122772,"cg_dw":55.0877228,"cg_id_a":0.785972655,"cg_id_raw_a":0.122650251,"cg_iq_a":-197.724274,"cg_iq_raw_a":-197.732697,"cg_iu_a":108.516571,"cg_iv_a":-197.604706,"cg_iw_a":89.0881348,"cg_sample_age_us":23.6018181,"cg_sample_seq":3803666,"cg_sample_valid":1,"cg_theta_rad":2.09400868,"cg_vd_req_v":-1.93318987,"cg_vd_v":-1.93318987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44843864,"cg_vq_v":-8.44843864,"cg_vu_v":36.0711899,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2384.29468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.8870544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":487.970093,"values":{"Elec_RPM":-2353.28418,"EncoderCos":22224,"EncoderSin":50020,"GapTicks":49557,"Mech_RPM":-470.65683,"cg_du":52.6129074,"cg_dv":45.0523338,"cg_dw":54.9476662,"cg_id_a":6.14323473,"cg_id_raw_a":5.84281445,"cg_iq_a":-200.588501,"cg_iq_raw_a":-200.382858,"cg_iu_a":136.388077,"cg_iv_a":-196.263687,"cg_iw_a":72.307251,"cg_sample_age_us":23.5618191,"cg_sample_seq":3805417,"cg_sample_valid":1,"cg_theta_rad":2.12018323,"cg_vd_req_v":-2.04108286,"cg_vd_v":-2.04108286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37254333,"cg_vq_v":-8.37254333,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2379.70581,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.9026489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.101414509,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":488.110732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":488.110739,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":488.110744,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":488.384155,"values":{"Elec_RPM":-2346.63794,"EncoderCos":49999,"EncoderSin":22648,"GapTicks":49580,"Mech_RPM":-469.327576,"cg_du":47.5858421,"cg_dv":45.0727921,"cg_dw":54.9272079,"cg_id_a":-7.7927084,"cg_id_raw_a":-1.89067388,"cg_iq_a":-203.724197,"cg_iq_raw_a":-206.473267,"cg_iu_a":8.04866409,"cg_iv_a":-179.337814,"cg_iw_a":171.289154,"cg_sample_age_us":23.9072723,"cg_sample_seq":3807416,"cg_sample_valid":1,"cg_theta_rad":5.77015352,"cg_vd_req_v":-1.79580259,"cg_vd_v":-1.79580259,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3399868,"cg_vq_v":-8.3399868,"cg_vu_v":0,"cg_vv_v":1.75957024,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.8783569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":488.90564,"values":{"Elec_RPM":-2351.09521,"EncoderCos":17842,"EncoderSin":46404,"GapTicks":49672,"Mech_RPM":-470.219025,"cg_du":54.8429832,"cg_dv":46.7103004,"cg_dw":45.1570168,"cg_id_a":3.00901103,"cg_id_raw_a":7.09830761,"cg_iq_a":-199.475876,"cg_iq_raw_a":-199.836395,"cg_iu_a":171.218399,"cg_iv_a":-2.0329895,"cg_iw_a":-171.178833,"cg_sample_age_us":23.994545,"cg_sample_seq":3810067,"cg_sample_valid":1,"cg_theta_rad":2.40051317,"cg_vd_req_v":-1.95170176,"cg_vd_v":-1.95170176,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44438744,"cg_vq_v":-8.44438744,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.365963,"dclink_p_w":-2368.55835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9165344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":488.974849,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":488.974859,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":488.974862,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":489.103597,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":489.103603,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":489.103608,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":489.294312,"values":{"Elec_RPM":-2350.91724,"EncoderCos":52154,"EncoderSin":28003,"GapTicks":49347,"Mech_RPM":-470.183441,"cg_du":55.1383591,"cg_dv":44.8616409,"cg_dw":48.9866028,"cg_id_a":-5.44893646,"cg_id_raw_a":-8.55456352,"cg_iq_a":-196.19577,"cg_iq_raw_a":-196.491898,"cg_iu_a":197.495178,"cg_iv_a":-118.774376,"cg_iw_a":-74.9876938,"cg_sample_age_us":24.0381813,"cg_sample_seq":3812066,"cg_sample_valid":1,"cg_theta_rad":6.05503368,"cg_vd_req_v":-1.84524405,"cg_vd_v":-1.84524405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46998405,"cg_vq_v":-8.46998405,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2503.08179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.8991699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":489.628296,"values":{"Elec_RPM":-2351.83862,"EncoderCos":51636,"EncoderSin":39195,"GapTicks":49455,"Mech_RPM":-470.367737,"cg_du":44.9594383,"cg_dv":55.0405617,"cg_dw":48.1458054,"cg_id_a":-7.35901499,"cg_id_raw_a":-7.15514469,"cg_iq_a":-199.689941,"cg_iq_raw_a":-201.166245,"cg_iu_a":-182.014008,"cg_iv_a":161.02803,"cg_iw_a":20.9859772,"cg_sample_age_us":23.5036373,"cg_sample_seq":3813767,"cg_sample_valid":1,"cg_theta_rad":0.338840097,"cg_vd_req_v":-1.79572964,"cg_vd_v":-1.79572964,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39526558,"cg_vq_v":-8.39526558,"cg_vu_v":106.893898,"cg_vv_v":106.453995,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2523.82178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9009094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":489.981812,"values":{"Elec_RPM":-2347.79688,"EncoderCos":45148,"EncoderSin":48560,"GapTicks":49990,"Mech_RPM":-469.559387,"cg_du":54.3569336,"cg_dv":45.4460754,"cg_dw":54.5539246,"cg_id_a":15.8301592,"cg_id_raw_a":17.7113781,"cg_iq_a":-202.957703,"cg_iq_raw_a":-203.480057,"cg_iu_a":168.971283,"cg_iv_a":-182.20108,"cg_iw_a":13.2297897,"cg_sample_age_us":24.0018177,"cg_sample_seq":3815467,"cg_sample_valid":1,"cg_theta_rad":0.909526944,"cg_vd_req_v":-2.2448082,"cg_vd_v":-2.2448082,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37190151,"cg_vq_v":-8.37190151,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.8523254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":490.126979,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":490.126985,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":490.12699,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":490.313843,"values":{"Elec_RPM":-2352.49219,"EncoderCos":34173,"EncoderSin":52731,"GapTicks":49617,"Mech_RPM":-470.498413,"cg_du":47.1334114,"cg_dv":54.8933945,"cg_dw":45.1066055,"cg_id_a":14.4818344,"cg_id_raw_a":12.7335091,"cg_iq_a":-201.769562,"cg_iq_raw_a":-200.455887,"cg_iu_a":-149.068359,"cg_iv_a":195.314697,"cg_iw_a":-46.2463379,"cg_sample_age_us":23.8963642,"cg_sample_seq":3817166,"cg_sample_valid":1,"cg_theta_rad":1.50145698,"cg_vd_req_v":-2.19695973,"cg_vd_v":-2.19695973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37547684,"cg_vq_v":-8.37547684,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9009094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":490.667358,"values":{"Elec_RPM":-2353.59326,"EncoderCos":23953,"EncoderSin":51018,"GapTicks":49434,"Mech_RPM":-470.718628,"cg_du":48.7755051,"cg_dv":44.9408379,"cg_dw":55.0591621,"cg_id_a":-17.4844532,"cg_id_raw_a":-16.1218185,"cg_iq_a":-199.87468,"cg_iq_raw_a":-200.475143,"cg_iu_a":70.0256195,"cg_iv_a":-195.140137,"cg_iw_a":125.11451,"cg_sample_age_us":24.7072735,"cg_sample_seq":3818871,"cg_sample_valid":1,"cg_theta_rad":2.06314087,"cg_vd_req_v":-1.52877641,"cg_vd_v":-1.52877641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39869595,"cg_vq_v":-8.39869595,"cg_vu_v":120.970459,"cg_vv_v":119.650772,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9061279,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":490.997437,"values":{"Elec_RPM":-2351.38452,"EncoderCos":12508,"EncoderSin":32004,"GapTicks":49586,"Mech_RPM":-470.276886,"cg_du":45.1657906,"cg_dv":46.8139877,"cg_dw":54.9210091,"cg_id_a":13.103632,"cg_id_raw_a":11.5718689,"cg_iq_a":-202.702271,"cg_iq_raw_a":-202.56546,"cg_iu_a":-53.7833176,"cg_iv_a":-142.296631,"cg_iw_a":196.079941,"cg_sample_age_us":23.8418179,"cg_sample_seq":3820516,"cg_sample_valid":1,"cg_theta_rad":3.1736927,"cg_vd_req_v":-2.1577673,"cg_vd_v":-2.1577673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37003231,"cg_vq_v":-8.37003231,"cg_vu_v":98.9758301,"cg_vv_v":80.9402313,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9096069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":491.119486,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":491.119492,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":491.119498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":491.331421,"values":{"Elec_RPM":-2355.05469,"EncoderCos":12542,"EncoderSin":31432,"GapTicks":50039,"Mech_RPM":-471.010956,"cg_du":45.490509,"cg_dv":45.6678848,"cg_dw":54.509491,"cg_id_a":13.6887617,"cg_id_raw_a":16.3234844,"cg_iq_a":-204.103821,"cg_iq_raw_a":-202.481842,"cg_iu_a":-16.8508492,"cg_iv_a":-168.899612,"cg_iw_a":185.750458,"cg_sample_age_us":23.9618187,"cg_sample_seq":3822267,"cg_sample_valid":1,"cg_theta_rad":3.21310759,"cg_vd_req_v":-2.14380407,"cg_vd_v":-2.14380407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34658337,"cg_vq_v":-8.34658337,"cg_vu_v":106.014107,"cg_vv_v":95.4566803,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2443.10278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9234924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":491.682983,"values":{"Elec_RPM":-2354.30371,"EncoderCos":16649,"EncoderSin":20333,"GapTicks":49721,"Mech_RPM":-470.860718,"cg_du":54.7990379,"cg_dv":52.9827461,"cg_dw":45.2009621,"cg_id_a":10.6658888,"cg_id_raw_a":9.32151794,"cg_iq_a":-205.06076,"cg_iq_raw_a":-204.892975,"cg_iu_a":61.1458817,"cg_iv_a":138.810547,"cg_iw_a":-199.956436,"cg_sample_age_us":23.9690914,"cg_sample_seq":3823966,"cg_sample_valid":1,"cg_theta_rad":3.79805946,"cg_vd_req_v":-2.0968926,"cg_vd_v":-2.0968926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28522682,"cg_vq_v":-8.28522682,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2550.04858,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9199829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":492.015015,"values":{"Elec_RPM":-2354.44971,"EncoderCos":25710,"EncoderSin":13792,"GapTicks":49356,"Mech_RPM":-470.889923,"cg_du":44.8698502,"cg_dv":49.3693657,"cg_dw":55.1301498,"cg_id_a":-13.5489063,"cg_id_raw_a":-15.661006,"cg_iq_a":-199.16629,"cg_iq_raw_a":-197.684311,"cg_iu_a":-123.298988,"cg_iv_a":-72.5272446,"cg_iw_a":195.826233,"cg_sample_age_us":23.9654541,"cg_sample_seq":3825667,"cg_sample_valid":1,"cg_theta_rad":4.3713851,"cg_vd_req_v":-1.65203083,"cg_vd_v":-1.65203083,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4078598,"cg_vq_v":-8.4078598,"cg_vu_v":102.055069,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.8818054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":492.11143,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":492.111436,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":492.111442,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":492.348999,"values":{"Elec_RPM":-2355.7395,"EncoderCos":37063,"EncoderSin":13022,"GapTicks":49404,"Mech_RPM":-471.147919,"cg_du":55.0869255,"cg_dv":48.2869873,"cg_dw":44.9130745,"cg_id_a":-13.4934711,"cg_id_raw_a":-9.07930565,"cg_iq_a":-197.06813,"cg_iq_raw_a":-196.574265,"cg_iu_a":163.281006,"cg_iv_a":12.9719543,"cg_iw_a":-174.948181,"cg_sample_age_us":24.005455,"cg_sample_seq":3827367,"cg_sample_valid":1,"cg_theta_rad":4.94261551,"cg_vd_req_v":-1.62505329,"cg_vd_v":-1.62505329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47948551,"cg_vq_v":-8.47948551,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2452.57324,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":41.986145,"temp_inv2_c":41.9130554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103428699,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":492.700562,"values":{"Elec_RPM":-2353.68018,"EncoderCos":47278,"EncoderSin":18944,"GapTicks":49811,"Mech_RPM":-470.736053,"cg_du":45.2832489,"cg_dv":53.5183678,"cg_dw":54.7167511,"cg_id_a":6.11258507,"cg_id_raw_a":9.23570538,"cg_iq_a":-202.11969,"cg_iq_raw_a":-204.321976,"cg_iu_a":-175.925034,"cg_iv_a":0.685287476,"cg_iw_a":175.239746,"cg_sample_age_us":23.9218178,"cg_sample_seq":3829066,"cg_sample_valid":1,"cg_theta_rad":5.53681374,"cg_vd_req_v":-2.08254814,"cg_vd_v":-2.08254814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3526144,"cg_vq_v":-8.3526144,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2527.49341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9252319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":493.032593,"values":{"Elec_RPM":-2354.49048,"EncoderCos":52342,"EncoderSin":28900,"GapTicks":49570,"Mech_RPM":-470.898102,"cg_du":54.9358749,"cg_dv":45.0641251,"cg_dw":47.4097214,"cg_id_a":13.5035467,"cg_id_raw_a":8.18443203,"cg_iq_a":-202.337982,"cg_iq_raw_a":-200.123001,"cg_iu_a":197.132751,"cg_iv_a":-52.8830872,"cg_iw_a":-144.249664,"cg_sample_age_us":24.1727276,"cg_sample_seq":3830767,"cg_sample_valid":1,"cg_theta_rad":6.10131073,"cg_vd_req_v":-2.22408724,"cg_vd_v":-2.22408724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32691002,"cg_vq_v":-8.32691002,"cg_vu_v":130.648087,"cg_vv_v":119.650772,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2421.53687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9165344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":493.102684,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":493.102691,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":493.102696,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":493.386108,"values":{"Elec_RPM":-2355.2605,"EncoderCos":51540,"EncoderSin":39426,"GapTicks":49360,"Mech_RPM":-471.052094,"cg_du":44.8728065,"cg_dv":55.1271935,"cg_dw":48.7210274,"cg_id_a":-9.73766136,"cg_id_raw_a":-9.35322475,"cg_iq_a":-199.509109,"cg_iq_raw_a":-200.435883,"cg_iu_a":-194.409393,"cg_iv_a":115.868195,"cg_iw_a":78.5411987,"cg_sample_age_us":23.4418182,"cg_sample_seq":3832471,"cg_sample_valid":1,"cg_theta_rad":0.392965615,"cg_vd_req_v":-1.76813221,"cg_vd_v":-1.76813221,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44726658,"cg_vq_v":-8.44726658,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2526.60913,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9078674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":493.71814,"values":{"Elec_RPM":-2350.16846,"EncoderCos":44080,"EncoderSin":49341,"GapTicks":49331,"Mech_RPM":-470.033691,"cg_du":55.1528816,"cg_dv":44.8471184,"cg_dw":51.2587776,"cg_id_a":-14.1267023,"cg_id_raw_a":-12.7296028,"cg_iq_a":-193.640991,"cg_iq_raw_a":-194.498352,"cg_iu_a":177.63356,"cg_iv_a":-155.598114,"cg_iw_a":-22.0354538,"cg_sample_age_us":23.8381824,"cg_sample_seq":3834167,"cg_sample_valid":1,"cg_theta_rad":0.9756428,"cg_vd_req_v":-1.61401713,"cg_vd_v":-1.61401713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54530048,"cg_vq_v":-8.54530048,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2406.59351,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9321594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":494.050171,"values":{"Elec_RPM":-2358.63428,"EncoderCos":32951,"EncoderSin":52826,"GapTicks":49798,"Mech_RPM":-471.726868,"cg_du":45.271431,"cg_dv":54.728569,"cg_dw":46.6086655,"cg_id_a":5.53952074,"cg_id_raw_a":11.6965828,"cg_iq_a":-203.385498,"cg_iq_raw_a":-204.674927,"cg_iu_a":-174.656494,"cg_iv_a":175.271851,"cg_iw_a":-0.615356445,"cg_sample_age_us":23.8709087,"cg_sample_seq":3835866,"cg_sample_valid":1,"cg_theta_rad":1.55974603,"cg_vd_req_v":-1.97431612,"cg_vd_v":-1.97431612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32174015,"cg_vq_v":-8.32174015,"cg_vu_v":13.6366701,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2499.95532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103831537,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":494.095339,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":494.095346,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":494.095351,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":494.403687,"values":{"Elec_RPM":-2357.2583,"EncoderCos":22055,"EncoderSin":49940,"GapTicks":49613,"Mech_RPM":-471.45166,"cg_du":52.949337,"cg_dv":45.1029015,"cg_dw":54.8970985,"cg_id_a":9.35028458,"cg_id_raw_a":6.86966467,"cg_iq_a":-200.612564,"cg_iq_raw_a":-200.015411,"cg_iu_a":144.144257,"cg_iv_a":-193.980316,"cg_iw_a":49.8360672,"cg_sample_age_us":23.6381817,"cg_sample_seq":3837566,"cg_sample_valid":1,"cg_theta_rad":2.12964249,"cg_vd_req_v":-2.11292768,"cg_vd_v":-2.11292768,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40275383,"cg_vq_v":-8.40275383,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2526.96875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9078674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":494.735718,"values":{"Elec_RPM":-2361.28223,"EncoderCos":16299,"EncoderSin":20801,"GapTicks":49483,"Mech_RPM":-472.25647,"cg_du":55.0148392,"cg_dv":51.8116951,"cg_dw":44.9851608,"cg_id_a":8.03013515,"cg_id_raw_a":3.73061562,"cg_iq_a":-203.219193,"cg_iq_raw_a":-202.217575,"cg_iu_a":77.4918518,"cg_iv_a":122.573303,"cg_iw_a":-200.065155,"cg_sample_age_us":24.045454,"cg_sample_seq":3839167,"cg_sample_valid":1,"cg_theta_rad":3.77753258,"cg_vd_req_v":-2.05008268,"cg_vd_v":-2.05008268,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31174278,"cg_vq_v":-8.31174278,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9269409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":495.067749,"values":{"Elec_RPM":-2359.4209,"EncoderCos":12677,"EncoderSin":30115,"GapTicks":49437,"Mech_RPM":-471.884155,"cg_du":48.7990837,"cg_dv":44.9435196,"cg_dw":55.0564804,"cg_id_a":-18.4393597,"cg_id_raw_a":-15.1891804,"cg_iq_a":-199.846863,"cg_iq_raw_a":-200.383942,"cg_iu_a":20.1903496,"cg_iv_a":-181.258743,"cg_iw_a":161.06839,"cg_sample_age_us":23.8527279,"cg_sample_seq":3840967,"cg_sample_valid":1,"cg_theta_rad":3.27893734,"cg_vd_req_v":-1.48647726,"cg_vd_v":-1.48647726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39860916,"cg_vq_v":-8.39860916,"cg_vu_v":116.571533,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2493.39844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":495.119493,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":495.119499,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":495.119505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":495.421265,"values":{"Elec_RPM":-2357.0061,"EncoderCos":26084,"EncoderSin":13643,"GapTicks":49371,"Mech_RPM":-471.401215,"cg_du":44.8834419,"cg_dv":48.6516609,"cg_dw":55.1165581,"cg_id_a":-5.08722162,"cg_id_raw_a":-9.98571968,"cg_iq_a":-198.346954,"cg_iq_raw_a":-197.597763,"cg_iu_a":-97.6383514,"cg_iv_a":-97.1730652,"cg_iw_a":194.811417,"cg_sample_age_us":23.9254551,"cg_sample_seq":3842617,"cg_sample_valid":1,"cg_theta_rad":4.38926983,"cg_vd_req_v":-1.8372184,"cg_vd_v":-1.8372184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45147705,"cg_vq_v":-8.45147705,"cg_vu_v":103.814644,"cg_vv_v":98.9758301,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2429.14258,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2572,"hz_tim_isr":4997,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9304199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":495.751343,"values":{"Elec_RPM":-2356.64697,"EncoderCos":26874,"EncoderSin":13431,"GapTicks":49535,"Mech_RPM":-471.329407,"cg_du":45.032547,"cg_dv":47.1711617,"cg_dw":54.967453,"cg_id_a":11.5800581,"cg_id_raw_a":7.10312033,"cg_iq_a":-199.254105,"cg_iq_raw_a":-197.127701,"cg_iu_a":-51.3187332,"cg_iv_a":-142.224121,"cg_iw_a":193.542862,"cg_sample_age_us":23.9654541,"cg_sample_seq":3844367,"cg_sample_valid":1,"cg_theta_rad":4.4288764,"cg_vd_req_v":-2.1653192,"cg_vd_v":-2.1653192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43852615,"cg_vq_v":-8.43852615,"cg_vu_v":143.844864,"cg_vv_v":140.325729,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.8791428,"dclink_p_w":-2587.55273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2572,"hz_tim_isr":4997,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9061279,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":496.085327,"values":{"Elec_RPM":-2350.69482,"EncoderCos":47412,"EncoderSin":19077,"GapTicks":49705,"Mech_RPM":-470.138977,"cg_du":45.1864777,"cg_dv":53.0476074,"cg_dw":54.8135223,"cg_id_a":1.76676846,"cg_id_raw_a":4.0111537,"cg_iq_a":-202.217514,"cg_iq_raw_a":-201.627808,"cg_iu_a":-173.786652,"cg_iv_a":-0.909423828,"cg_iw_a":175.058517,"cg_sample_age_us":23.9218178,"cg_sample_seq":3846017,"cg_sample_valid":1,"cg_theta_rad":5.54530811,"cg_vd_req_v":-1.99560368,"cg_vd_v":-1.99560368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32889175,"cg_vq_v":-8.32889175,"cg_vu_v":117.891212,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2464.90186,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2572,"hz_tim_isr":4997,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":496.111308,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":496.111314,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":496.11132,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":496.438843,"values":{"Elec_RPM":-2345.97388,"EncoderCos":47905,"EncoderSin":19661,"GapTicks":49392,"Mech_RPM":-469.194763,"cg_du":44.9019318,"cg_dv":51.1961823,"cg_dw":55.0980682,"cg_id_a":-9.83049583,"cg_id_raw_a":-10.902545,"cg_iq_a":-200.295013,"cg_iq_raw_a":-199.882202,"cg_iu_a":-152.728973,"cg_iv_a":-32.7315369,"cg_iw_a":185.46051,"cg_sample_age_us":23.9218178,"cg_sample_seq":3847767,"cg_sample_valid":1,"cg_theta_rad":5.58848143,"cg_vd_req_v":-1.78339863,"cg_vd_v":-1.78339863,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38366318,"cg_vq_v":-8.38366318,"cg_vu_v":113.052383,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4728832,"dclink_p_w":-2384.03223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9460754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":496.768921,"values":{"Elec_RPM":-2348.64282,"EncoderCos":51036,"EncoderSin":40711,"GapTicks":49334,"Mech_RPM":-469.728546,"cg_du":44.8497658,"cg_dv":55.1502342,"cg_dw":51.6254082,"cg_id_a":-0.962789357,"cg_id_raw_a":-7.61003017,"cg_iq_a":-195.026978,"cg_iq_raw_a":-194.352158,"cg_iu_a":-194.554352,"cg_iv_a":89.5914154,"cg_iw_a":104.962936,"cg_sample_age_us":23.5618191,"cg_sample_seq":3849417,"cg_sample_valid":1,"cg_theta_rad":0.417271763,"cg_vd_req_v":-1.95931399,"cg_vd_v":-1.95931399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.526227,"cg_vq_v":-8.526227,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9217529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":497.103679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":497.103686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":497.103691,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":497.122437,"values":{"Elec_RPM":-2348.67236,"EncoderCos":51072,"EncoderSin":40669,"GapTicks":49336,"Mech_RPM":-469.734467,"cg_du":44.851757,"cg_dv":55.148243,"cg_dw":51.4662552,"cg_id_a":0.533892274,"cg_id_raw_a":-5.4240818,"cg_iq_a":-196.191803,"cg_iq_raw_a":-194.937958,"cg_iu_a":-187.957977,"cg_iv_a":44.2141418,"cg_iw_a":143.743835,"cg_sample_age_us":23.5218182,"cg_sample_seq":3851171,"cg_sample_valid":1,"cg_theta_rad":0.458664715,"cg_vd_req_v":-1.98815262,"cg_vd_v":-1.98815262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48924732,"cg_vq_v":-8.48924732,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2499.9248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":41.9443359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":497.454468,"values":{"Elec_RPM":-2353.76025,"EncoderCos":42901,"EncoderSin":50089,"GapTicks":49400,"Mech_RPM":-470.752045,"cg_du":55.0903206,"cg_dv":44.9096794,"cg_dw":48.5496063,"cg_id_a":0.337782621,"cg_id_raw_a":-7.97178555,"cg_iq_a":-199.034897,"cg_iq_raw_a":-198.199951,"cg_iu_a":200.068497,"cg_iv_a":-90.8303833,"cg_iw_a":-109.238113,"cg_sample_age_us":23.9581814,"cg_sample_seq":3852866,"cg_sample_valid":1,"cg_theta_rad":1.04310381,"cg_vd_req_v":-1.95657957,"cg_vd_v":-1.95657957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39599133,"cg_vq_v":-8.39599133,"cg_vu_v":141.205521,"cg_vv_v":123.169922,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2570.24316,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9356384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":497.788452,"values":{"Elec_RPM":-2352.99951,"EncoderCos":31796,"EncoderSin":52811,"GapTicks":49299,"Mech_RPM":-470.599884,"cg_du":44.8176422,"cg_dv":55.1823578,"cg_dw":49.3964653,"cg_id_a":-10.3966684,"cg_id_raw_a":-10.3825626,"cg_iq_a":-196.925064,"cg_iq_raw_a":-197.857178,"cg_iu_a":-188.972809,"cg_iv_a":141.420105,"cg_iw_a":47.5527039,"cg_sample_age_us":23.8963642,"cg_sample_seq":3854566,"cg_sample_valid":1,"cg_theta_rad":1.6181885,"cg_vd_req_v":-1.67804432,"cg_vd_v":-1.67804432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48933983,"cg_vq_v":-8.48933983,"cg_vu_v":37.830761,"cg_vv_v":51.4674301,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-18.0241184,"dclink_p_w":-2608.53442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9321594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":498.095215,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":498.09522,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":498.095225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":498.140015,"values":{"Elec_RPM":-2352.27417,"EncoderCos":21149,"EncoderSin":49302,"GapTicks":49829,"Mech_RPM":-470.454834,"cg_du":54.7004852,"cg_dv":45.2995148,"cg_dw":53.7571335,"cg_id_a":8.51858616,"cg_id_raw_a":12.798419,"cg_iq_a":-201.150253,"cg_iq_raw_a":-201.171143,"cg_iu_a":170.384796,"cg_iv_a":-175.71344,"cg_iw_a":5.32863617,"cg_sample_age_us":24.0781822,"cg_sample_seq":3856267,"cg_sample_valid":1,"cg_theta_rad":2.18261552,"cg_vd_req_v":-2.06266427,"cg_vd_v":-2.06266427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40175629,"cg_vq_v":-8.40175629,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.8954525,"dclink_p_w":-2589.91309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9512634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0038773173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":498.630249,"values":{"Elec_RPM":-2347.51953,"EncoderCos":23360,"EncoderSin":50656,"GapTicks":49311,"Mech_RPM":-469.503906,"cg_du":50.2350693,"cg_dv":44.8281822,"cg_dw":55.1718178,"cg_id_a":-15.2391853,"cg_id_raw_a":-19.6784916,"cg_iq_a":-195.710617,"cg_iq_raw_a":-194.98996,"cg_iu_a":59.3336906,"cg_iv_a":-191.588242,"cg_iw_a":132.254547,"cg_sample_age_us":23.6018181,"cg_sample_seq":3858617,"cg_sample_valid":1,"cg_theta_rad":2.05630636,"cg_vd_req_v":-1.60325015,"cg_vd_v":-1.60325015,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49583721,"cg_vq_v":-8.49583721,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2483.08862,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":498.959236,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":498.959249,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":498.959252,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":499.114624,"values":{"Elec_RPM":-2347.23877,"EncoderCos":47205,"EncoderSin":18978,"GapTicks":49811,"Mech_RPM":-469.447754,"cg_du":45.2833824,"cg_dv":53.5775185,"cg_dw":54.7166176,"cg_id_a":5.44712353,"cg_id_raw_a":12.4734497,"cg_iq_a":-202.62619,"cg_iq_raw_a":-202.501083,"cg_iu_a":-176.432449,"cg_iv_a":0.032913208,"cg_iw_a":176.399536,"cg_sample_age_us":23.9618187,"cg_sample_seq":3861216,"cg_sample_valid":1,"cg_theta_rad":5.54043484,"cg_vd_req_v":-2.07574177,"cg_vd_v":-2.07574177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32368946,"cg_vq_v":-8.32368946,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2413.65332,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":499.119157,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":499.119163,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":499.119168,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":499.466187,"values":{"Elec_RPM":-2341.12061,"EncoderCos":52360,"EncoderSin":29129,"GapTicks":49625,"Mech_RPM":-468.224121,"cg_du":54.8861465,"cg_dv":45.1138535,"cg_dw":47.0095558,"cg_id_a":18.4384823,"cg_id_raw_a":15.893239,"cg_iq_a":-204.501099,"cg_iq_raw_a":-202.237747,"cg_iu_a":192.421051,"cg_iv_a":-32.8040161,"cg_iw_a":-159.617035,"cg_sample_age_us":24.136364,"cg_sample_seq":3862916,"cg_sample_valid":1,"cg_theta_rad":6.12397194,"cg_vd_req_v":-2.32520247,"cg_vd_v":-2.32520247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31486797,"cg_vq_v":-8.31486797,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2430.91064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9286804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":499.800171,"values":{"Elec_RPM":-2341.55493,"EncoderCos":34490,"EncoderSin":52736,"GapTicks":49521,"Mech_RPM":-468.310974,"cg_du":47.752182,"cg_dv":54.9801331,"cg_dw":45.0198669,"cg_id_a":10.4203014,"cg_id_raw_a":7.12433338,"cg_iq_a":-201.844696,"cg_iq_raw_a":-200.65657,"cg_iu_a":-135.041992,"cg_iv_a":198.902832,"cg_iw_a":-76.6549149,"cg_sample_age_us":23.8890915,"cg_sample_seq":3864516,"cg_sample_valid":1,"cg_theta_rad":1.48323882,"cg_vd_req_v":-2.12388253,"cg_vd_v":-2.12388253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33404732,"cg_vq_v":-8.33404732,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2368.03394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":500.111487,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":500.111493,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":500.111497,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":500.151733,"values":{"Elec_RPM":-2349.37427,"EncoderCos":44767,"EncoderSin":48854,"GapTicks":49785,"Mech_RPM":-469.874847,"cg_du":54.7402649,"cg_dv":45.2597351,"cg_dw":53.4719887,"cg_id_a":4.48517036,"cg_id_raw_a":8.57571316,"cg_iq_a":-201.061554,"cg_iq_raw_a":-201.885345,"cg_iu_a":178.865845,"cg_iv_a":-155.598099,"cg_iw_a":-23.267746,"cg_sample_age_us":26.8527279,"cg_sample_seq":3866321,"cg_sample_valid":1,"cg_theta_rad":0.975449145,"cg_vd_req_v":-1.98319471,"cg_vd_v":-1.98319471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36904049,"cg_vq_v":-8.36904049,"cg_vu_v":143.404984,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.6055031,"dclink_p_w":-2540.20581,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9460754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":500.483765,"values":{"Elec_RPM":-2355.51611,"EncoderCos":22688,"EncoderSin":50290,"GapTicks":49361,"Mech_RPM":-471.10321,"cg_du":51.5200577,"cg_dv":44.8743439,"cg_dw":55.1256561,"cg_id_a":3.23924637,"cg_id_raw_a":-2.2094934,"cg_iq_a":-199.127563,"cg_iq_raw_a":-198.617569,"cg_iu_a":111.416077,"cg_iv_a":-200.141769,"cg_iw_a":88.7256927,"cg_sample_age_us":23.7218189,"cg_sample_seq":3867966,"cg_sample_valid":1,"cg_theta_rad":2.09074283,"cg_vd_req_v":-2.00213575,"cg_vd_v":-2.00213575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45654202,"cg_vq_v":-8.45654202,"cg_vu_v":38.7105446,"cg_vv_v":39.1504402,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9356384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":500.817749,"values":{"Elec_RPM":-2350.87695,"EncoderCos":14741,"EncoderSin":41990,"GapTicks":49302,"Mech_RPM":-470.175385,"cg_du":50.4041862,"cg_dv":55.1791229,"cg_dw":44.8208771,"cg_id_a":-10.485261,"cg_id_raw_a":-7.3711524,"cg_iq_a":-195.263382,"cg_iq_raw_a":-193.770935,"cg_iu_a":-50.5576172,"cg_iv_a":190.929184,"cg_iw_a":-140.371567,"cg_sample_age_us":23.8745461,"cg_sample_seq":3869667,"cg_sample_valid":1,"cg_theta_rad":2.67124462,"cg_vd_req_v":-1.65409672,"cg_vd_v":-1.65409672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50443268,"cg_vq_v":-8.50443268,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.9617004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":501.103072,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":501.103078,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":501.103084,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":501.169312,"values":{"Elec_RPM":-2354.64868,"EncoderCos":12527,"EncoderSin":31548,"GapTicks":49987,"Mech_RPM":-470.929718,"cg_du":45.4433022,"cg_dv":45.9585953,"cg_dw":54.5566978,"cg_id_a":14.7366915,"cg_id_raw_a":14.4292107,"cg_iq_a":-205.376984,"cg_iq_raw_a":-204.64743,"cg_iu_a":0.292484283,"cg_iv_a":-176.981964,"cg_iw_a":178.501678,"cg_sample_age_us":23.8418179,"cg_sample_seq":3871370,"cg_sample_valid":1,"cg_theta_rad":3.24651957,"cg_vd_req_v":-2.16330791,"cg_vd_v":-2.16330791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27711201,"cg_vq_v":-8.27711201,"cg_vu_v":38.7105446,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":501.503296,"values":{"Elec_RPM":-2351.51563,"EncoderCos":16739,"EncoderSin":20207,"GapTicks":49750,"Mech_RPM":-470.303101,"cg_du":54.7726212,"cg_dv":53.2822075,"cg_dw":45.2273788,"cg_id_a":12.3314371,"cg_id_raw_a":9.28985882,"cg_iq_a":-206.399551,"cg_iq_raw_a":-204.442688,"cg_iu_a":40.3056793,"cg_iv_a":155.229019,"cg_iw_a":-195.534698,"cg_sample_age_us":23.8709087,"cg_sample_seq":3873067,"cg_sample_valid":1,"cg_theta_rad":3.81562757,"cg_vd_req_v":-2.14022756,"cg_vd_v":-2.14022756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28327656,"cg_vq_v":-8.28327656,"cg_vu_v":28.1531239,"cg_vv_v":18.0355949,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6870518,"dclink_p_w":-2551.97192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2573,"hz_tim_isr":4999,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":501.833374,"values":{"Elec_RPM":-2348.42822,"EncoderCos":26179,"EncoderSin":13635,"GapTicks":49359,"Mech_RPM":-469.685638,"cg_du":44.8723602,"cg_dv":48.5106163,"cg_dw":55.1276398,"cg_id_a":-0.973803043,"cg_id_raw_a":-6.40905952,"cg_iq_a":-196.452255,"cg_iq_raw_a":-195.860764,"cg_iu_a":-89.664711,"cg_iv_a":-104.566795,"cg_iw_a":194.231506,"cg_sample_age_us":23.9618187,"cg_sample_seq":3874767,"cg_sample_valid":1,"cg_theta_rad":4.39348269,"cg_vd_req_v":-1.91499257,"cg_vd_v":-1.91499257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4749794,"cg_vq_v":-8.4749794,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2457.30835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2573,"hz_tim_isr":4999,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9564819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":502.12748,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":502.127485,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":502.12749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":502.18689,"values":{"Elec_RPM":-2351.3291,"EncoderCos":37819,"EncoderSin":13194,"GapTicks":49363,"Mech_RPM":-470.265808,"cg_du":55.1239624,"cg_dv":50.0166016,"cg_dw":44.8760376,"cg_id_a":-15.6389828,"cg_id_raw_a":-16.4660645,"cg_iq_a":-197.333237,"cg_iq_raw_a":-198.027023,"cg_iu_a":138.707687,"cg_iv_a":57.2256775,"cg_iw_a":-195.933365,"cg_sample_age_us":24.0309086,"cg_sample_seq":3876466,"cg_sample_valid":1,"cg_theta_rad":4.98465395,"cg_vd_req_v":-1.60346019,"cg_vd_v":-1.60346019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41138268,"cg_vq_v":-8.41138268,"cg_vu_v":16.7159176,"cg_vv_v":23.7541981,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2485.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0418091,"temp_inv2_c":41.9512634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":502.518921,"values":{"Elec_RPM":-2352.20239,"EncoderCos":38335,"EncoderSin":13335,"GapTicks":49406,"Mech_RPM":-470.440491,"cg_du":55.0850601,"cg_dv":51.0073662,"cg_dw":44.9149399,"cg_id_a":-7.83041143,"cg_id_raw_a":-12.3888025,"cg_iq_a":-200.266815,"cg_iq_raw_a":-197.960953,"cg_iu_a":104.203552,"cg_iv_a":101.406921,"cg_iw_a":-205.610474,"cg_sample_age_us":23.9799995,"cg_sample_seq":3878217,"cg_sample_valid":1,"cg_theta_rad":5.01966858,"cg_vd_req_v":-1.77704334,"cg_vd_v":-1.77704334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36659241,"cg_vq_v":-8.36659241,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.5163746,"dclink_p_w":-2390.32666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":502.850952,"values":{"Elec_RPM":-2353.80786,"EncoderCos":51212,"EncoderSin":40201,"GapTicks":49309,"Mech_RPM":-470.761566,"cg_du":44.8271942,"cg_dv":55.1728058,"cg_dw":50.512825,"cg_id_a":-5.31800318,"cg_id_raw_a":-5.68634224,"cg_iq_a":-196.0233,"cg_iq_raw_a":-195.890182,"cg_iu_a":-196.366562,"cg_iv_a":114.563416,"cg_iw_a":81.8031464,"cg_sample_age_us":23.5290909,"cg_sample_seq":3879816,"cg_sample_valid":1,"cg_theta_rad":0.390880764,"cg_vd_req_v":-1.85337937,"cg_vd_v":-1.85337937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48486996,"cg_vq_v":-8.48486996,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2445.47046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":503.08681,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":503.086816,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":503.086822,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":503.202515,"values":{"Elec_RPM":-2356.53418,"EncoderCos":52533,"EncoderSin":30392,"GapTicks":49646,"Mech_RPM":-471.306854,"cg_du":54.8670082,"cg_dv":47.0709,"cg_dw":45.1329918,"cg_id_a":-2.51113224,"cg_id_raw_a":6.27591562,"cg_iq_a":-198.330765,"cg_iq_raw_a":-201.60376,"cg_iu_a":171.798309,"cg_iv_a":-1.16314697,"cg_iw_a":-170.635162,"cg_sample_age_us":24.1145458,"cg_sample_seq":3881616,"cg_sample_valid":1,"cg_theta_rad":6.18013668,"cg_vd_req_v":-1.8498702,"cg_vd_v":-1.8498702,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4361639,"cg_vq_v":-8.4361639,"cg_vu_v":2.19946289,"cg_vv_v":2.63935518,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":503.536499,"values":{"Elec_RPM":-2357.41602,"EncoderCos":33318,"EncoderSin":52789,"GapTicks":50048,"Mech_RPM":-471.483215,"cg_du":45.4981956,"cg_dv":54.5018044,"cg_dw":45.7119331,"cg_id_a":12.2745171,"cg_id_raw_a":15.68752,"cg_iq_a":-206.74852,"cg_iq_raw_a":-207.330276,"cg_iu_a":-172.590607,"cg_iv_a":183.462967,"cg_iw_a":-10.8723602,"cg_sample_age_us":23.954546,"cg_sample_seq":3883216,"cg_sample_valid":1,"cg_theta_rad":1.54367852,"cg_vd_req_v":-2.13124681,"cg_vd_v":-2.13124681,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29004097,"cg_vq_v":-8.29004097,"cg_vu_v":39.1504402,"cg_vv_v":71.2625961,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2449.99805,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.039978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103982605,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":503.890015,"values":{"Elec_RPM":-2358.10962,"EncoderCos":43454,"EncoderSin":49764,"GapTicks":49301,"Mech_RPM":-471.621918,"cg_du":55.1804123,"cg_dv":44.8195877,"cg_dw":49.6752548,"cg_id_a":-12.9091253,"cg_id_raw_a":-17.5743351,"cg_iq_a":-197.128708,"cg_iq_raw_a":-194.845947,"cg_iu_a":200.032257,"cg_iv_a":-89.8518066,"cg_iw_a":-110.18045,"cg_sample_age_us":23.9472733,"cg_sample_seq":3885019,"cg_sample_valid":1,"cg_theta_rad":1.04672515,"cg_vd_req_v":-1.69071794,"cg_vd_v":-1.69071794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46940804,"cg_vq_v":-8.46940804,"cg_vu_v":17.5957031,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":504.111324,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":504.111332,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":504.111337,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":504.222046,"values":{"Elec_RPM":-2352.30029,"EncoderCos":14465,"EncoderSin":41421,"GapTicks":49373,"Mech_RPM":-470.460052,"cg_du":49.1057014,"cg_dv":55.1152039,"cg_dw":44.8847961,"cg_id_a":-6.97888422,"cg_id_raw_a":-10.322957,"cg_iq_a":-198.19043,"cg_iq_raw_a":-196.929138,"cg_iu_a":-83.9744263,"cg_iv_a":198.431656,"cg_iw_a":-114.45723,"cg_sample_age_us":23.9509087,"cg_sample_seq":3886616,"cg_sample_valid":1,"cg_theta_rad":2.70316339,"cg_vd_req_v":-1.73322821,"cg_vd_v":-1.73322821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41499901,"cg_vq_v":-8.41499901,"cg_vu_v":38.7105446,"cg_vv_v":53.666893,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9877625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":504.554077,"values":{"Elec_RPM":-2350.83765,"EncoderCos":21082,"EncoderSin":49266,"GapTicks":49801,"Mech_RPM":-470.167511,"cg_du":54.7260094,"cg_dv":45.2739906,"cg_dw":53.5899582,"cg_id_a":8.30263042,"cg_id_raw_a":11.6893692,"cg_iq_a":-200.89006,"cg_iq_raw_a":-201.669861,"cg_iu_a":171.617096,"cg_iv_a":-174.662369,"cg_iw_a":3.04527283,"cg_sample_age_us":24.0236359,"cg_sample_seq":3888417,"cg_sample_valid":1,"cg_theta_rad":2.18497682,"cg_vd_req_v":-2.05397367,"cg_vd_v":-2.05397367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37578773,"cg_vq_v":-8.37578773,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.994751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":504.886108,"values":{"Elec_RPM":-2353.92383,"EncoderCos":17002,"EncoderSin":19819,"GapTicks":50019,"Mech_RPM":-470.78479,"cg_du":54.5274162,"cg_dv":54.2911224,"cg_dw":45.4725838,"cg_id_a":11.5601044,"cg_id_raw_a":14.4034662,"cg_iq_a":-203.400833,"cg_iq_raw_a":-203.25,"cg_iu_a":19.2480087,"cg_iv_a":164.398682,"cg_iw_a":-183.646698,"cg_sample_age_us":23.9836369,"cg_sample_seq":3890017,"cg_sample_valid":1,"cg_theta_rad":3.83847189,"cg_vd_req_v":-2.09724045,"cg_vd_v":-2.09724045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36577225,"cg_vq_v":-8.36577225,"cg_vu_v":119.210884,"cg_vv_v":143.404984,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2423.63574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9356384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":505.103068,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":505.103074,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":505.103079,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":505.239624,"values":{"Elec_RPM":-2354.14355,"EncoderCos":12927,"EncoderSin":28756,"GapTicks":49372,"Mech_RPM":-470.828705,"cg_du":51.4406319,"cg_dv":44.8838043,"cg_dw":55.1161957,"cg_id_a":-0.397421598,"cg_id_raw_a":-4.59555435,"cg_iq_a":-198.253342,"cg_iq_raw_a":-197.952118,"cg_iu_a":106.233215,"cg_iv_a":-198.257095,"cg_iw_a":106.702644,"cg_sample_age_us":23.7509098,"cg_sample_seq":3891816,"cg_sample_valid":1,"cg_theta_rad":3.34386325,"cg_vd_req_v":-1.90427577,"cg_vd_v":-1.90427577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47718716,"cg_vq_v":-8.47718716,"cg_vu_v":46.1887207,"cg_vv_v":43.549366,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":41.977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":505.571655,"values":{"Elec_RPM":-2357.59082,"EncoderCos":27374,"EncoderSin":13312,"GapTicks":49887,"Mech_RPM":-471.518188,"cg_du":45.3523407,"cg_dv":46.1940079,"cg_dw":54.6476593,"cg_id_a":12.8887119,"cg_id_raw_a":12.1119661,"cg_iq_a":-204.068161,"cg_iq_raw_a":-201.780014,"cg_iu_a":-29.0650215,"cg_iv_a":-161.759567,"cg_iw_a":190.824585,"cg_sample_age_us":23.9654541,"cg_sample_seq":3893467,"cg_sample_valid":1,"cg_theta_rad":4.45562887,"cg_vd_req_v":-2.16395521,"cg_vd_v":-2.16395521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28723431,"cg_vq_v":-8.28723431,"cg_vu_v":143.844864,"cg_vv_v":139.885834,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1651402,"dclink_p_w":-2484.21899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9877625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":505.923218,"values":{"Elec_RPM":-2351.46582,"EncoderCos":38839,"EncoderSin":13494,"GapTicks":49524,"Mech_RPM":-470.293152,"cg_du":54.9776077,"cg_dv":51.9535141,"cg_dw":45.0223923,"cg_id_a":0.211351573,"cg_id_raw_a":0.151472077,"cg_iq_a":-205.867569,"cg_iq_raw_a":-206.601822,"cg_iu_a":83.5083313,"cg_iv_a":122.138367,"cg_iw_a":-205.646698,"cg_sample_age_us":23.9872723,"cg_sample_seq":3895166,"cg_sample_valid":1,"cg_theta_rad":5.03847599,"cg_vd_req_v":-1.95283079,"cg_vd_v":-1.95283079,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27591896,"cg_vq_v":-8.27591896,"cg_vu_v":25.953661,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2521.11841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9825439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":506.094871,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":506.094877,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":506.094882,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":506.257202,"values":{"Elec_RPM":-2356.86743,"EncoderCos":48360,"EncoderSin":20215,"GapTicks":49294,"Mech_RPM":-471.373505,"cg_du":44.8130569,"cg_dv":49.5687675,"cg_dw":55.1869431,"cg_id_a":-10.9785671,"cg_id_raw_a":-13.2763233,"cg_iq_a":-195.907455,"cg_iq_raw_a":-196.95137,"cg_iu_a":-109.091408,"cg_iv_a":-70.2076492,"cg_iw_a":194.95639,"cg_sample_age_us":23.9181824,"cg_sample_seq":3896866,"cg_sample_valid":1,"cg_theta_rad":5.63242817,"cg_vd_req_v":-1.76708698,"cg_vd_v":-1.76708698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49625015,"cg_vq_v":-8.49625015,"cg_vu_v":104.254532,"cg_vv_v":101.175293,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.6000652,"dclink_p_w":-2547.16333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9790955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":506.589233,"values":{"Elec_RPM":-2356.75317,"EncoderCos":52589,"EncoderSin":30807,"GapTicks":49428,"Mech_RPM":-471.350647,"cg_du":55.0654221,"cg_dv":48.1484184,"cg_dw":44.9345779,"cg_id_a":-12.0940685,"cg_id_raw_a":-7.436553,"cg_iq_a":-194.694397,"cg_iq_raw_a":-197.860321,"cg_iu_a":161.795013,"cg_iv_a":14.1317596,"cg_iw_a":-175.926773,"cg_sample_age_us":24.0636368,"cg_sample_seq":3898566,"cg_sample_valid":1,"cg_theta_rad":6.19795609,"cg_vd_req_v":-1.66305459,"cg_vd_v":-1.66305459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49012184,"cg_vq_v":-8.49012184,"cg_vu_v":28.5930176,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.994751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":506.940796,"values":{"Elec_RPM":-2350.52417,"EncoderCos":50427,"EncoderSin":42028,"GapTicks":50013,"Mech_RPM":-470.104828,"cg_du":45.4665298,"cg_dv":54.5334702,"cg_dw":54.369812,"cg_id_a":13.0555782,"cg_id_raw_a":15.8985825,"cg_iq_a":-202.182953,"cg_iq_raw_a":-202.523361,"cg_iu_a":-184.841019,"cg_iv_a":14.9291229,"cg_iw_a":169.911896,"cg_sample_age_us":23.51091,"cg_sample_seq":3900266,"cg_sample_valid":1,"cg_theta_rad":0.491607159,"cg_vd_req_v":-2.20822906,"cg_vd_v":-2.20822906,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35701561,"cg_vq_v":-8.35701561,"cg_vu_v":38.7105446,"cg_vv_v":54.1067848,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.9788151,"dclink_p_w":-2594.06909,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":42.039978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":507.118752,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":507.118758,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":507.118763,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":507.27478,"values":{"Elec_RPM":-2353.37451,"EncoderCos":42713,"EncoderSin":50120,"GapTicks":49373,"Mech_RPM":-470.674927,"cg_du":55.1149597,"cg_dv":44.8850403,"cg_dw":48.2447586,"cg_id_a":6.24178314,"cg_id_raw_a":0.661120296,"cg_iq_a":-198.740051,"cg_iq_raw_a":-197.45195,"cg_iu_a":198.799957,"cg_iv_a":-65.4959412,"cg_iw_a":-133.304016,"cg_sample_age_us":23.8345451,"cg_sample_seq":3901967,"cg_sample_valid":1,"cg_theta_rad":1.06159782,"cg_vd_req_v":-2.0761025,"cg_vd_v":-2.0761025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46300983,"cg_vq_v":-8.46300983,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2454.05811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":507.626343,"values":{"Elec_RPM":-2352.49463,"EncoderCos":42700,"EncoderSin":50156,"GapTicks":49389,"Mech_RPM":-470.498932,"cg_du":55.1008797,"cg_dv":44.8991203,"cg_dw":48.1835632,"cg_id_a":6.44255638,"cg_id_raw_a":-0.387846053,"cg_iq_a":-198.334473,"cg_iq_raw_a":-197.112152,"cg_iu_a":189.01413,"cg_iv_a":-31.9703979,"cg_iw_a":-157.043732,"cg_sample_age_us":23.8381824,"cg_sample_seq":3903721,"cg_sample_valid":1,"cg_theta_rad":1.09554636,"cg_vd_req_v":-2.07430601,"cg_vd_v":-2.07430601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45173264,"cg_vq_v":-8.45173264,"cg_vu_v":143.404984,"cg_vv_v":134.607132,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7087975,"dclink_p_w":-2562.89966,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9391174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":507.958374,"values":{"Elec_RPM":-2351.64014,"EncoderCos":13962,"EncoderSin":40317,"GapTicks":49657,"Mech_RPM":-470.328003,"cg_du":46.9669495,"cg_dv":54.8571777,"cg_dw":45.1428223,"cg_id_a":15.5620461,"cg_id_raw_a":9.78494549,"cg_iq_a":-204.769714,"cg_iq_raw_a":-203.4897,"cg_iu_a":-153.345123,"cg_iv_a":197.851761,"cg_iw_a":-44.5066376,"cg_sample_age_us":23.9472733,"cg_sample_seq":3905316,"cg_sample_valid":1,"cg_theta_rad":2.75967026,"cg_vd_req_v":-2.19648457,"cg_vd_v":-2.19648457,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31703186,"cg_vq_v":-8.31703186,"cg_vu_v":38.2706528,"cg_vv_v":56.7461433,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-15.9980888,"dclink_p_w":-2308.28052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":508.111296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":508.111302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":508.111307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":508.37439,"values":{"Elec_RPM":-2348.44092,"EncoderCos":52602,"EncoderSin":34210,"GapTicks":49890,"Mech_RPM":-469.688202,"cg_du":53.9788818,"cg_dv":54.6451378,"cg_dw":45.3548622,"cg_id_a":7.94717503,"cg_id_raw_a":10.7454414,"cg_iq_a":-201.626862,"cg_iq_raw_a":-203.471252,"cg_iu_a":3.77189207,"cg_iv_a":169.581573,"cg_iw_a":-173.35347,"cg_sample_age_us":23.4818172,"cg_sample_seq":3907318,"cg_sample_valid":1,"cg_theta_rad":0.0951737612,"cg_vd_req_v":-2.09347725,"cg_vd_v":-2.09347725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40319729,"cg_vq_v":-8.40319729,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2507.56104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9877625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":508.895874,"values":{"Elec_RPM":-2345.38647,"EncoderCos":16523,"EncoderSin":44838,"GapTicks":49369,"Mech_RPM":-469.077301,"cg_du":55.1182327,"cg_dv":51.1374321,"cg_dw":44.8817673,"cg_id_a":4.26961374,"cg_id_raw_a":1.88034093,"cg_iq_a":-201.857925,"cg_iq_raw_a":-200.98024,"cg_iu_a":96.2299118,"cg_iv_a":108.112007,"cg_iw_a":-204.341919,"cg_sample_age_us":23.8745461,"cg_sample_seq":3910016,"cg_sample_valid":1,"cg_theta_rad":2.50303721,"cg_vd_req_v":-1.99625123,"cg_vd_v":-1.99625123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38914108,"cg_vq_v":-8.38914108,"cg_vu_v":30.7924805,"cg_vv_v":13.6366701,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2457.05786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":42.0121155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00563973421,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":508.975332,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":508.975344,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":508.975347,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":509.135346,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":509.135351,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":509.135357,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":509.284546,"values":{"Elec_RPM":-2345.84326,"EncoderCos":44756,"EncoderSin":48788,"GapTicks":49794,"Mech_RPM":-469.168671,"cg_du":54.73209,"cg_dv":45.26791,"cg_dw":53.5487518,"cg_id_a":6.92219496,"cg_id_raw_a":12.7577906,"cg_iq_a":-202.049713,"cg_iq_raw_a":-202.54422,"cg_iu_a":173.175568,"cg_iv_a":-175.423477,"cg_iw_a":2.24790955,"cg_sample_age_us":23.954546,"cg_sample_seq":3911916,"cg_sample_valid":1,"cg_theta_rad":0.929398656,"cg_vd_req_v":-2.04361439,"cg_vd_v":-2.04361439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37155914,"cg_vq_v":-8.37155914,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1234608,"dclink_p_w":-2478.18701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.013855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":509.61853,"values":{"Elec_RPM":-2344.2373,"EncoderCos":50982,"EncoderSin":40801,"GapTicks":49395,"Mech_RPM":-468.847473,"cg_du":44.9050217,"cg_dv":55.0949783,"cg_dw":51.7692871,"cg_id_a":1.68979597,"cg_id_raw_a":-3.24630666,"cg_iq_a":-198.513657,"cg_iq_raw_a":-197.437927,"cg_iu_a":-197.236404,"cg_iv_a":84.8434753,"cg_iw_a":112.392929,"cg_sample_age_us":23.5654545,"cg_sample_seq":3913717,"cg_sample_valid":1,"cg_theta_rad":0.425000578,"cg_vd_req_v":-2.0100112,"cg_vd_v":-2.0100112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42088318,"cg_vq_v":-8.42088318,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.8773308,"dclink_p_w":-2579.42627,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9356384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":509.970093,"values":{"Elec_RPM":-2351.31299,"EncoderCos":33460,"EncoderSin":52791,"GapTicks":50017,"Mech_RPM":-470.262604,"cg_du":45.6906509,"cg_dv":54.5297585,"cg_dw":45.4702415,"cg_id_a":16.0032768,"cg_id_raw_a":14.7906303,"cg_iq_a":-204.020569,"cg_iq_raw_a":-205.011978,"cg_iu_a":-168.785004,"cg_iv_a":183.571686,"cg_iw_a":-14.7866898,"cg_sample_age_us":23.8381824,"cg_sample_seq":3915367,"cg_sample_valid":1,"cg_theta_rad":1.53733039,"cg_vd_req_v":-2.20874906,"cg_vd_v":-2.20874906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34932518,"cg_vq_v":-8.34932518,"cg_vu_v":122.290138,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2465.46338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.006897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":510.127069,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":510.127076,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":510.127081,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":510.302124,"values":{"Elec_RPM":-2346.32422,"EncoderCos":32365,"EncoderSin":52836,"GapTicks":49471,"Mech_RPM":-469.264862,"cg_du":44.9743652,"cg_dv":55.0256348,"cg_dw":48.1154556,"cg_id_a":-7.73801565,"cg_id_raw_a":-4.80932188,"cg_iq_a":-198.126968,"cg_iq_raw_a":-199.553848,"cg_iu_a":-179.694397,"cg_iv_a":161.028046,"cg_iw_a":18.6663589,"cg_sample_age_us":23.863636,"cg_sample_seq":3917116,"cg_sample_valid":1,"cg_theta_rad":1.59186363,"cg_vd_req_v":-1.71054685,"cg_vd_v":-1.71054685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44777298,"cg_vq_v":-8.44777298,"cg_vu_v":1.31967759,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.7396049,"dclink_p_w":-2575.16187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.984314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":510.653687,"values":{"Elec_RPM":-2342.15918,"EncoderCos":32678,"EncoderSin":52849,"GapTicks":49609,"Mech_RPM":-468.431824,"cg_du":45.0995407,"cg_dv":54.9004593,"cg_dw":47.3055,"cg_id_a":-0.653566599,"cg_id_raw_a":3.69463325,"cg_iq_a":-199.25853,"cg_iq_raw_a":-201.188965,"cg_iu_a":-186.906921,"cg_iv_a":143.159821,"cg_iw_a":43.7471085,"cg_sample_age_us":23.8600006,"cg_sample_seq":3918871,"cg_sample_valid":1,"cg_theta_rad":1.61919165,"cg_vd_req_v":-1.84887815,"cg_vd_v":-1.84887815,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41753864,"cg_vq_v":-8.41753864,"cg_vu_v":104.254532,"cg_vv_v":105.574219,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.6653042,"dclink_p_w":-2556.60498,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":41.9651794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":510.987671,"values":{"Elec_RPM":-2346.40015,"EncoderCos":12688,"EncoderSin":30256,"GapTicks":49454,"Mech_RPM":-469.280029,"cg_du":48.4476967,"cg_dv":44.9584274,"cg_dw":55.0415726,"cg_id_a":-16.2400742,"cg_id_raw_a":-11.4352674,"cg_iq_a":-201.327637,"cg_iq_raw_a":-203.559814,"cg_iu_a":13.9564095,"cg_iv_a":-180.606339,"cg_iw_a":166.649933,"cg_sample_age_us":23.812727,"cg_sample_seq":3920466,"cg_sample_valid":1,"cg_theta_rad":3.2724843,"cg_vd_req_v":-1.53903627,"cg_vd_v":-1.53903627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41770172,"cg_vq_v":-8.41770172,"cg_vu_v":140.765625,"cg_vv_v":142.085297,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2517.00269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.013855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":511.119509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":511.119515,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":511.11952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":511.319702,"values":{"Elec_RPM":-2342.88721,"EncoderCos":17120,"EncoderSin":19734,"GapTicks":50069,"Mech_RPM":-468.577454,"cg_du":54.3503532,"cg_dv":54.4827271,"cg_dw":45.5172729,"cg_id_a":11.1752777,"cg_id_raw_a":14.180438,"cg_iq_a":-203.269226,"cg_iq_raw_a":-202.865906,"cg_iu_a":15.9498205,"cg_iv_a":166.174667,"cg_iw_a":-188.140945,"cg_sample_age_us":23.9690914,"cg_sample_seq":3922167,"cg_sample_valid":1,"cg_theta_rad":3.84064651,"cg_vd_req_v":-2.08292508,"cg_vd_v":-2.08292508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33054638,"cg_vq_v":-8.33054638,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2525.82495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9634399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":511.671265,"values":{"Elec_RPM":-2341.94263,"EncoderCos":17195,"EncoderSin":19629,"GapTicks":49965,"Mech_RPM":-468.388519,"cg_du":54.0586014,"cg_dv":54.5768394,"cg_dw":45.4231606,"cg_id_a":8.98150158,"cg_id_raw_a":11.4424295,"cg_iq_a":-201.638962,"cg_iq_raw_a":-203.82724,"cg_iu_a":-13.55266,"cg_iv_a":176.214188,"cg_iw_a":-162.66153,"cg_sample_age_us":23.8745461,"cg_sample_seq":3923920,"cg_sample_valid":1,"cg_theta_rad":3.89419055,"cg_vd_req_v":-2.03713965,"cg_vd_v":-2.03713965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34769058,"cg_vq_v":-8.34769058,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.5710716,"dclink_p_w":-2542.96729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.043457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":512.005249,"values":{"Elec_RPM":-2343.56958,"EncoderCos":27572,"EncoderSin":13243,"GapTicks":50033,"Mech_RPM":-468.713898,"cg_du":45.4850197,"cg_dv":45.776886,"cg_dw":54.5149803,"cg_id_a":12.0756636,"cg_id_raw_a":16.4205685,"cg_iq_a":-206.509583,"cg_iq_raw_a":-204.645706,"cg_iu_a":-18.2281151,"cg_iv_a":-171.980316,"cg_iw_a":190.208435,"cg_sample_age_us":23.9400005,"cg_sample_seq":3925616,"cg_sample_valid":1,"cg_theta_rad":4.46838045,"cg_vd_req_v":-2.15317869,"cg_vd_v":-2.15317869,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27339554,"cg_vq_v":-8.27339554,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.027771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":512.111004,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":512.111208,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":512.111384,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":512.339233,"values":{"Elec_RPM":-2347.05615,"EncoderCos":38786,"EncoderSin":13452,"GapTicks":49457,"Mech_RPM":-469.411255,"cg_du":55.0383987,"cg_dv":51.8578033,"cg_dw":44.9616013,"cg_id_a":0.21119976,"cg_id_raw_a":-3.58706188,"cg_iq_a":-202.959656,"cg_iq_raw_a":-200.384766,"cg_iu_a":86.4803162,"cg_iv_a":115.070831,"cg_iw_a":-201.551147,"cg_sample_age_us":23.954546,"cg_sample_seq":3927317,"cg_sample_valid":1,"cg_theta_rad":5.03102827,"cg_vd_req_v":-1.94982445,"cg_vd_v":-1.94982445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35794067,"cg_vq_v":-8.35794067,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.795454,"dclink_p_w":-2438.10449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":512.690796,"values":{"Elec_RPM":-2343.92456,"EncoderCos":48399,"EncoderSin":20288,"GapTicks":49316,"Mech_RPM":-468.784912,"cg_du":44.8334732,"cg_dv":49.4445419,"cg_dw":55.1665268,"cg_id_a":-8.51880264,"cg_id_raw_a":-10.3874674,"cg_iq_a":-196.383881,"cg_iq_raw_a":-197.583099,"cg_iu_a":-118.913483,"cg_iv_a":-76.695282,"cg_iw_a":195.608765,"cg_sample_age_us":23.9218178,"cg_sample_seq":3929016,"cg_sample_valid":1,"cg_theta_rad":5.6265707,"cg_vd_req_v":-1.8175379,"cg_vd_v":-1.8175379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45749569,"cg_vq_v":-8.45749569,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.003418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":513.022827,"values":{"Elec_RPM":-2343.18433,"EncoderCos":44039,"EncoderSin":49394,"GapTicks":49315,"Mech_RPM":-468.636871,"cg_du":55.1680756,"cg_dv":44.8319244,"cg_dw":51.1520844,"cg_id_a":-13.3618412,"cg_id_raw_a":-13.9929876,"cg_iq_a":-194.523834,"cg_iq_raw_a":-195.333908,"cg_iu_a":180.533081,"cg_iv_a":-153.532227,"cg_iw_a":-27.0008621,"cg_sample_age_us":23.8199997,"cg_sample_seq":3930617,"cg_sample_valid":1,"cg_theta_rad":0.97944653,"cg_vd_req_v":-1.64920998,"cg_vd_v":-1.64920998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55019951,"cg_vq_v":-8.55019951,"cg_vu_v":32.9919434,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5221424,"dclink_p_w":-2535.88599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":513.103486,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":513.103492,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":513.103498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":513.354858,"values":{"Elec_RPM":-2343.33545,"EncoderCos":50381,"EncoderSin":42097,"GapTicks":50043,"Mech_RPM":-468.667114,"cg_du":45.4942513,"cg_dv":54.4377213,"cg_dw":54.5057487,"cg_id_a":12.2627373,"cg_id_raw_a":14.4788647,"cg_iq_a":-202.388351,"cg_iq_raw_a":-202.125137,"cg_iu_a":-182.920105,"cg_iv_a":20.9093628,"cg_iw_a":163.388,"cg_sample_age_us":23.4309082,"cg_sample_seq":3932416,"cg_sample_valid":1,"cg_theta_rad":0.491620511,"cg_vd_req_v":-2.19906735,"cg_vd_v":-2.19906735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37814331,"cg_vq_v":-8.37814331,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2520.93652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.03125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":513.708374,"values":{"Elec_RPM":-2347.1228,"EncoderCos":32177,"EncoderSin":52847,"GapTicks":49397,"Mech_RPM":-469.424561,"cg_du":44.9069633,"cg_dv":55.0930367,"cg_dw":48.5200958,"cg_id_a":-8.10612202,"cg_id_raw_a":-9.30505562,"cg_iq_a":-196.657837,"cg_iq_raw_a":-197.186951,"cg_iu_a":-181.760284,"cg_iv_a":155.518951,"cg_iw_a":26.2413254,"cg_sample_age_us":23.8527279,"cg_sample_seq":3934067,"cg_sample_valid":1,"cg_theta_rad":1.59797645,"cg_vd_req_v":-1.70978153,"cg_vd_v":-1.70978153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45903397,"cg_vq_v":-8.45903397,"cg_vu_v":98.5359344,"cg_vv_v":103.374756,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-16.1485004,"dclink_p_w":-2329.98242,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9912415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":514.040405,"values":{"Elec_RPM":-2349.04932,"EncoderCos":31465,"EncoderSin":52813,"GapTicks":49301,"Mech_RPM":-469.809875,"cg_du":44.8196411,"cg_dv":55.1803589,"cg_dw":50.1034012,"cg_id_a":-9.09286785,"cg_id_raw_a":-10.767025,"cg_iq_a":-196.955475,"cg_iq_raw_a":-196.624283,"cg_iu_a":-193.684509,"cg_iv_a":129.749603,"cg_iw_a":53.206749,"cg_sample_age_us":23.7618179,"cg_sample_seq":3935817,"cg_sample_valid":1,"cg_theta_rad":1.63503659,"cg_vd_req_v":-1.70536983,"cg_vd_v":-1.70536983,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46119404,"cg_vq_v":-8.46119404,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.027771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":514.095623,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":514.095629,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":514.095635,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":514.372437,"values":{"Elec_RPM":-2353.23267,"EncoderCos":14041,"EncoderSin":40509,"GapTicks":49554,"Mech_RPM":-470.646515,"cg_du":47.3526878,"cg_dv":54.9504852,"cg_dw":45.0495148,"cg_id_a":14.2441559,"cg_id_raw_a":11.1884308,"cg_iq_a":-202.254028,"cg_iq_raw_a":-201.631393,"cg_iu_a":-143.523041,"cg_iv_a":198.250427,"cg_iw_a":-54.7273941,"cg_sample_age_us":23.9690914,"cg_sample_seq":3937467,"cg_sample_valid":1,"cg_theta_rad":2.74879122,"cg_vd_req_v":-2.16968918,"cg_vd_v":-2.16968918,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38199711,"cg_vq_v":-8.38199711,"cg_vu_v":95.8965836,"cg_vv_v":100.295509,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2467.25513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.039978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":514.725952,"values":{"Elec_RPM":-2354.93018,"EncoderCos":13668,"EncoderSin":39490,"GapTicks":49938,"Mech_RPM":-470.986023,"cg_du":45.398941,"cg_dv":54.601059,"cg_dw":45.9739876,"cg_id_a":11.2830887,"cg_id_raw_a":15.4917984,"cg_iq_a":-202.858734,"cg_iq_raw_a":-203.086319,"cg_iu_a":-170.633423,"cg_iv_a":178.388809,"cg_iw_a":-7.75538635,"cg_sample_age_us":23.9618187,"cg_sample_seq":3939216,"cg_sample_valid":1,"cg_theta_rad":2.80506229,"cg_vd_req_v":-2.06471419,"cg_vd_v":-2.06471419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36339283,"cg_vq_v":-8.36339283,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9547729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":515.05603,"values":{"Elec_RPM":-2352.11816,"EncoderCos":18005,"EncoderSin":18701,"GapTicks":49409,"Mech_RPM":-470.423645,"cg_du":51.5375938,"cg_dv":55.0824776,"cg_dw":44.9175224,"cg_id_a":-13.142499,"cg_id_raw_a":-14.1325169,"cg_iq_a":-196.974762,"cg_iq_raw_a":-197.17067,"cg_iu_a":-19.0979671,"cg_iv_a":179.041199,"cg_iw_a":-159.943237,"cg_sample_age_us":23.9654541,"cg_sample_seq":3940867,"cg_sample_valid":1,"cg_theta_rad":3.90233183,"cg_vd_req_v":-1.60621262,"cg_vd_v":-1.60621262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47116947,"cg_vq_v":-8.47116947,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":41.9790955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":515.119342,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":515.119348,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":515.119353,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":515.411499,"values":{"Elec_RPM":-2350.7583,"EncoderCos":27217,"EncoderSin":13349,"GapTicks":49740,"Mech_RPM":-470.151672,"cg_du":45.2184448,"cg_dv":46.4933624,"cg_dw":54.7815552,"cg_id_a":13.3526468,"cg_id_raw_a":9.38080597,"cg_iq_a":-202.806595,"cg_iq_raw_a":-204.025467,"cg_iu_a":-11.4142742,"cg_iv_a":-172.777679,"cg_iw_a":184.191956,"cg_sample_age_us":23.9654541,"cg_sample_seq":3942570,"cg_sample_valid":1,"cg_theta_rad":4.47700071,"cg_vd_req_v":-2.19488788,"cg_vd_v":-2.19488788,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36793709,"cg_vq_v":-8.36793709,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0295105,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":515.741577,"values":{"Elec_RPM":-2348.41406,"EncoderCos":28583,"EncoderSin":13010,"GapTicks":49616,"Mech_RPM":-469.682831,"cg_du":47.9155579,"cg_dv":45.0038986,"cg_dw":54.9961014,"cg_id_a":-10.2165375,"cg_id_raw_a":-3.58028889,"cg_iq_a":-200.452728,"cg_iq_raw_a":-202.244934,"cg_iu_a":8.12115288,"cg_iv_a":-176.402069,"cg_iw_a":168.280914,"cg_sample_age_us":24.0090904,"cg_sample_seq":3944317,"cg_sample_valid":1,"cg_theta_rad":4.51958513,"cg_vd_req_v":-1.68889284,"cg_vd_v":-1.68889284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4202652,"cg_vq_v":-8.4202652,"cg_vu_v":114.811958,"cg_vv_v":117.011421,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.017334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":516.073608,"values":{"Elec_RPM":-2349.49438,"EncoderCos":40196,"EncoderSin":13947,"GapTicks":49984,"Mech_RPM":-469.898895,"cg_du":54.1117897,"cg_dv":54.5591316,"cg_dw":45.4408684,"cg_id_a":7.25449657,"cg_id_raw_a":8.10216045,"cg_iq_a":-202.209656,"cg_iq_raw_a":-204.1866,"cg_iu_a":12.361681,"cg_iv_a":168.385513,"cg_iw_a":-180.747192,"cg_sample_age_us":23.9509087,"cg_sample_seq":3946016,"cg_sample_valid":1,"cg_theta_rad":5.10631323,"cg_vd_req_v":-2.06333804,"cg_vd_v":-2.06333804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33842182,"cg_vq_v":-8.33842182,"cg_vu_v":41.7897949,"cg_vv_v":67.303566,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.0190735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":516.111098,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":516.111104,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":516.111117,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":516.429077,"values":{"Elec_RPM":-2352.01245,"EncoderCos":52605,"EncoderSin":31238,"GapTicks":49315,"Mech_RPM":-470.402496,"cg_du":55.1675491,"cg_dv":49.1224861,"cg_dw":44.8324509,"cg_id_a":-14.4057245,"cg_id_raw_a":-14.6143551,"cg_iq_a":-196.220856,"cg_iq_raw_a":-196.235168,"cg_iu_a":153.495163,"cg_iv_a":33.1597748,"cg_iw_a":-186.654938,"cg_sample_age_us":24.1218185,"cg_sample_seq":3947666,"cg_sample_valid":1,"cg_theta_rad":6.21887255,"cg_vd_req_v":-1.63715649,"cg_vd_v":-1.63715649,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49437714,"cg_vq_v":-8.49437714,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2575,"hz_tim_isr":4999,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.043457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":516.759155,"values":{"Elec_RPM":-2347.56152,"EncoderCos":52658,"EncoderSin":31995,"GapTicks":49325,"Mech_RPM":-469.512329,"cg_du":55.1583824,"cg_dv":50.6524391,"cg_dw":44.8416176,"cg_id_a":-8.25756931,"cg_id_raw_a":-11.0688534,"cg_iq_a":-198.321838,"cg_iq_raw_a":-199.317535,"cg_iu_a":119.063522,"cg_iv_a":80.1317902,"cg_iw_a":-199.195313,"cg_sample_age_us":24.0309086,"cg_sample_seq":3949416,"cg_sample_valid":1,"cg_theta_rad":6.25765038,"cg_vd_req_v":-1.78949058,"cg_vd_v":-1.78949058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45603752,"cg_vq_v":-8.45603752,"cg_vu_v":30.3525867,"cg_vv_v":8.35795879,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2433.33887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2575,"hz_tim_isr":4999,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0190735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":517.09314,"values":{"Elec_RPM":-2344.66748,"EncoderCos":49892,"EncoderSin":42990,"GapTicks":49501,"Mech_RPM":-468.933502,"cg_du":45.001358,"cg_dv":51.9259834,"cg_dw":54.998642,"cg_id_a":-6.85478354,"cg_id_raw_a":-4.39201117,"cg_iq_a":-200.000137,"cg_iq_raw_a":-198.43364,"cg_iu_a":-160.195221,"cg_iv_a":-21.5684052,"cg_iw_a":181.763626,"cg_sample_age_us":23.5290909,"cg_sample_seq":3951117,"cg_sample_valid":1,"cg_theta_rad":0.545264125,"cg_vd_req_v":-1.798437,"cg_vd_v":-1.798437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39309883,"cg_vq_v":-8.39309883,"cg_vu_v":103.814644,"cg_vv_v":103.374756,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2575,"hz_tim_isr":4999,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":41.9808044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":517.102961,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":517.102967,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":517.102972,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":517.444702,"values":{"Elec_RPM":-2340.89819,"EncoderCos":21069,"EncoderSin":49289,"GapTicks":49797,"Mech_RPM":-468.179626,"cg_du":54.7293777,"cg_dv":45.2706223,"cg_dw":53.5800896,"cg_id_a":7.38358641,"cg_id_raw_a":14.532567,"cg_iq_a":-202.894821,"cg_iq_raw_a":-203.444626,"cg_iu_a":174.552826,"cg_iv_a":-171.291687,"cg_iw_a":-3.26114655,"cg_sample_age_us":23.9654541,"cg_sample_seq":3952717,"cg_sample_valid":1,"cg_theta_rad":2.20130181,"cg_vd_req_v":-2.04131794,"cg_vd_v":-2.04131794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38025284,"cg_vq_v":-8.38025284,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0347595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":517.776733,"values":{"Elec_RPM":-2343.36646,"EncoderCos":30045,"EncoderSin":52682,"GapTicks":49577,"Mech_RPM":-468.673279,"cg_du":45.0707932,"cg_dv":54.9292068,"cg_dw":52.8659401,"cg_id_a":8.73470783,"cg_id_raw_a":7.91077042,"cg_iq_a":-199.599564,"cg_iq_raw_a":-199.898422,"cg_iu_a":-195.279236,"cg_iv_a":54.8335876,"cg_iw_a":140.445648,"cg_sample_age_us":23.8672733,"cg_sample_seq":3954516,"cg_sample_valid":1,"cg_theta_rad":1.70709884,"cg_vd_req_v":-2.07608867,"cg_vd_v":-2.07608867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43743134,"cg_vq_v":-8.43743134,"cg_vu_v":10.9973145,"cg_vv_v":23.3143044,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.038208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":518.110718,"values":{"Elec_RPM":-2345.78662,"EncoderCos":12958,"EncoderSin":28570,"GapTicks":49411,"Mech_RPM":-469.157349,"cg_du":51.7987061,"cg_dv":44.9193993,"cg_dw":55.0806007,"cg_id_a":2.19866824,"cg_id_raw_a":-1.5252496,"cg_iq_a":-197.629593,"cg_iq_raw_a":-197.288696,"cg_iu_a":100.760391,"cg_iv_a":-197.568466,"cg_iw_a":96.808075,"cg_sample_age_us":23.6563644,"cg_sample_seq":3956116,"cg_sample_valid":1,"cg_theta_rad":3.34631109,"cg_vd_req_v":-1.95527744,"cg_vd_v":-1.95527744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44246197,"cg_vq_v":-8.44246197,"cg_vu_v":107.333786,"cg_vv_v":103.374756,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2367.896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":518.127341,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":518.127347,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":518.127352,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":518.604858,"values":{"Elec_RPM":-2342.24048,"EncoderCos":14586,"EncoderSin":41656,"GapTicks":49359,"Mech_RPM":-468.44809,"cg_du":49.6017838,"cg_dv":55.1275635,"cg_dw":44.8724365,"cg_id_a":-11.1802149,"cg_id_raw_a":-12.2441387,"cg_iq_a":-198.048767,"cg_iq_raw_a":-196.683563,"cg_iu_a":-67.6284637,"cg_iv_a":195.677124,"cg_iw_a":-139.211761,"cg_sample_age_us":23.8818188,"cg_sample_seq":3958517,"cg_sample_valid":1,"cg_theta_rad":2.68593979,"cg_vd_req_v":-1.65136266,"cg_vd_v":-1.65136266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41700172,"cg_vq_v":-8.41700172,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-18.0440521,"dclink_p_w":-2611.41919,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0086365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":518.990772,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":518.990784,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":518.990787,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":519.104858,"values":{"Elec_RPM":-2343.26929,"EncoderCos":52520,"EncoderSin":30074,"GapTicks":49860,"Mech_RPM":-468.65387,"cg_du":54.6724434,"cg_dv":46.1660881,"cg_dw":45.3275566,"cg_id_a":8.42139626,"cg_id_raw_a":13.4560671,"cg_iq_a":-202.976135,"cg_iq_raw_a":-206.178818,"cg_iu_a":179.409515,"cg_iv_a":-10.4053192,"cg_iw_a":-169.004196,"cg_sample_age_us":24.0345459,"cg_sample_seq":3961116,"cg_sample_valid":1,"cg_theta_rad":6.15345192,"cg_vd_req_v":-2.09362268,"cg_vd_v":-2.09362268,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35560989,"cg_vq_v":-8.35560989,"cg_vu_v":1.75957024,"cg_vv_v":106.453995,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2447.12207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0417175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104083307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":519.118722,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":519.118728,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":519.118733,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":519.456421,"values":{"Elec_RPM":-2346.29834,"EncoderCos":50764,"EncoderSin":41261,"GapTicks":49517,"Mech_RPM":-469.259644,"cg_du":45.0159569,"cg_dv":54.9840431,"cg_dw":52.7493973,"cg_id_a":9.77670288,"cg_id_raw_a":5.48460674,"cg_iq_a":-197.338577,"cg_iq_raw_a":-195.86586,"cg_iu_a":-191.437408,"cg_iv_a":54.2174377,"cg_iw_a":137.219971,"cg_sample_age_us":23.5654545,"cg_sample_seq":3962817,"cg_sample_valid":1,"cg_theta_rad":0.448493421,"cg_vd_req_v":-2.16452241,"cg_vd_v":-2.16452241,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46901321,"cg_vq_v":-8.46901321,"cg_vu_v":135.047012,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2495.1897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.03125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":519.788452,"values":{"Elec_RPM":-2355.5979,"EncoderCos":43036,"EncoderSin":49972,"GapTicks":49354,"Mech_RPM":-471.119598,"cg_du":55.1323891,"cg_dv":44.8676109,"cg_dw":48.8256187,"cg_id_a":-3.80728745,"cg_id_raw_a":-6.92998075,"cg_iq_a":-196.736725,"cg_iq_raw_a":-196.528076,"cg_iu_a":198.002594,"cg_iv_a":-98.1516266,"cg_iw_a":-99.8509674,"cg_sample_age_us":23.9254551,"cg_sample_seq":3964516,"cg_sample_valid":1,"cg_theta_rad":1.03684819,"cg_vd_req_v":-1.86285472,"cg_vd_v":-1.86285472,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44850445,"cg_vq_v":-8.44850445,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4623394,"dclink_p_w":-2519.54956,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0260315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":520.110928,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":520.110933,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":520.110939,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":520.120483,"values":{"Elec_RPM":-2351.67432,"EncoderCos":31994,"EncoderSin":52820,"GapTicks":49327,"Mech_RPM":-470.334869,"cg_du":44.843132,"cg_dv":55.156868,"cg_dw":48.9439697,"cg_id_a":-9.35383224,"cg_id_raw_a":-7.39529467,"cg_iq_a":-196.891663,"cg_iq_raw_a":-197.950409,"cg_iu_a":-183.898682,"cg_iv_a":150.299866,"cg_iw_a":33.5988235,"cg_sample_age_us":23.8563633,"cg_sample_seq":3966216,"cg_sample_valid":1,"cg_theta_rad":1.60997725,"cg_vd_req_v":-1.6885972,"cg_vd_v":-1.6885972,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48508644,"cg_vq_v":-8.48508644,"cg_vu_v":37.3908691,"cg_vv_v":43.549366,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2504.90698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0364685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":520.473999,"values":{"Elec_RPM":-2349.97998,"EncoderCos":21347,"EncoderSin":49459,"GapTicks":49998,"Mech_RPM":-469.995972,"cg_du":54.546875,"cg_dv":45.453125,"cg_dw":54.3312492,"cg_id_a":11.8685369,"cg_id_raw_a":15.5941534,"cg_iq_a":-202.056229,"cg_iq_raw_a":-202.712494,"cg_iu_a":168.536362,"cg_iv_a":-180.860062,"cg_iw_a":16.3830032,"cg_sample_age_us":23.9581814,"cg_sample_seq":3967917,"cg_sample_valid":1,"cg_theta_rad":2.17071724,"cg_vd_req_v":-2.13594055,"cg_vd_v":-2.13594055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40461349,"cg_vq_v":-8.40461349,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2393.64624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0486755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":520.80603,"values":{"Elec_RPM":-2346.99536,"EncoderCos":13921,"EncoderSin":40194,"GapTicks":49747,"Mech_RPM":-469.399078,"cg_du":46.6827621,"cg_dv":54.7754173,"cg_dw":45.2245827,"cg_id_a":15.29669,"cg_id_raw_a":15.3158398,"cg_iq_a":-204.03894,"cg_iq_raw_a":-202.368469,"cg_iu_a":-156.7883,"cg_iv_a":193.75621,"cg_iw_a":-36.9679108,"cg_sample_age_us":23.8672733,"cg_sample_seq":3969616,"cg_sample_valid":1,"cg_theta_rad":2.76930046,"cg_vd_req_v":-2.16863132,"cg_vd_v":-2.16863132,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32028294,"cg_vq_v":-8.32028294,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":26.3935547,"control_outputs_enabled":1,"dclink_i_a":-17.8863926,"dclink_p_w":-2596.47021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":521.103608,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":521.103614,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":521.103619,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":521.138062,"values":{"Elec_RPM":-2359.08862,"EncoderCos":12866,"EncoderSin":29048,"GapTicks":49325,"Mech_RPM":-471.817719,"cg_du":50.875412,"cg_dv":44.841362,"cg_dw":55.158638,"cg_id_a":-5.39718342,"cg_id_raw_a":-9.31035137,"cg_iq_a":-198.205078,"cg_iq_raw_a":-198.890396,"cg_iu_a":74.6648254,"cg_iv_a":-195.901245,"cg_iw_a":121.23642,"cg_sample_age_us":23.7218189,"cg_sample_seq":3971316,"cg_sample_valid":1,"cg_theta_rad":3.3223238,"cg_vd_req_v":-1.80179012,"cg_vd_v":-1.80179012,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44568157,"cg_vq_v":-8.44568157,"cg_vu_v":6.59838867,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.9657993,"dclink_p_w":-2447.90625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.024292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":521.491577,"values":{"Elec_RPM":-2358.91943,"EncoderCos":13014,"EncoderSin":28288,"GapTicks":49470,"Mech_RPM":-471.783875,"cg_du":52.3161583,"cg_dv":44.9734573,"cg_dw":55.0265427,"cg_id_a":7.82354069,"cg_id_raw_a":6.8279891,"cg_iq_a":-198.471527,"cg_iq_raw_a":-197.961792,"cg_iu_a":132.220032,"cg_iv_a":-195.792511,"cg_iw_a":63.5724792,"cg_sample_age_us":23.7290916,"cg_sample_seq":3973066,"cg_sample_valid":1,"cg_theta_rad":3.37170315,"cg_vd_req_v":-2.06748533,"cg_vd_v":-2.06748533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44274807,"cg_vq_v":-8.44274807,"cg_vu_v":8.79785156,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.7776604,"dclink_p_w":-2572.86572,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":521.823608,"values":{"Elec_RPM":-2360.42432,"EncoderCos":38518,"EncoderSin":13387,"GapTicks":49454,"Mech_RPM":-472.084869,"cg_du":55.0415115,"cg_dv":51.3555489,"cg_dw":44.9584885,"cg_id_a":-5.10793209,"cg_id_raw_a":-6.61331415,"cg_iq_a":-201.649872,"cg_iq_raw_a":-197.434555,"cg_iu_a":101.485268,"cg_iv_a":99.9209213,"cg_iw_a":-201.406189,"cg_sample_age_us":23.9618187,"cg_sample_seq":3974667,"cg_sample_valid":1,"cg_theta_rad":5.01905775,"cg_vd_req_v":-1.82880294,"cg_vd_v":-1.82880294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32751465,"cg_vq_v":-8.32751465,"cg_vu_v":105.574219,"cg_vv_v":98.9758301,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2389.85938,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":41.994751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":522.095439,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":522.095445,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":522.09545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":522.177124,"values":{"Elec_RPM":-2362.12109,"EncoderCos":28900,"EncoderSin":12935,"GapTicks":49412,"Mech_RPM":-472.424225,"cg_du":48.7222176,"cg_dv":44.920269,"cg_dw":55.079731,"cg_id_a":-15.0846262,"cg_id_raw_a":-13.6627798,"cg_iq_a":-198.351974,"cg_iq_raw_a":-200.213455,"cg_iu_a":22.2924919,"cg_iv_a":-181.005051,"cg_iw_a":158.712555,"cg_sample_age_us":23.8709087,"cg_sample_seq":3976466,"cg_sample_valid":1,"cg_theta_rad":4.53396034,"cg_vd_req_v":-1.59128821,"cg_vd_v":-1.59128821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4290905,"cg_vq_v":-8.4290905,"cg_vu_v":38.7105446,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.8356514,"dclink_p_w":-2581.25854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.0975647,"temp_inv2_c":42.027771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":522.507202,"values":{"Elec_RPM":-2357.62305,"EncoderCos":52561,"EncoderSin":30518,"GapTicks":49547,"Mech_RPM":-471.524628,"cg_du":54.9569092,"cg_dv":47.3522148,"cg_dw":45.0430908,"cg_id_a":-4.25123358,"cg_id_raw_a":3.00937247,"cg_iq_a":-197.86058,"cg_iq_raw_a":-199.06163,"cg_iu_a":170.203583,"cg_iv_a":1.73635864,"cg_iw_a":-171.939941,"cg_sample_age_us":23.9981823,"cg_sample_seq":3978066,"cg_sample_valid":1,"cg_theta_rad":6.18458986,"cg_vd_req_v":-1.82770586,"cg_vd_v":-1.82770586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47378731,"cg_vq_v":-8.47378731,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.7830982,"dclink_p_w":-2581.47559,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":522.841187,"values":{"Elec_RPM":-2355.53564,"EncoderCos":52631,"EncoderSin":31306,"GapTicks":49319,"Mech_RPM":-471.107147,"cg_du":55.1644135,"cg_dv":49.3106461,"cg_dw":44.8355865,"cg_id_a":-16.0835934,"cg_id_raw_a":-16.0441742,"cg_iq_a":-194.087921,"cg_iq_raw_a":-195.160873,"cg_iu_a":153.966339,"cg_iv_a":24.7512054,"cg_iw_a":-178.717545,"cg_sample_age_us":24.005455,"cg_sample_seq":3979816,"cg_sample_valid":1,"cg_theta_rad":6.2146616,"cg_vd_req_v":-1.61231387,"cg_vd_v":-1.61231387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53132534,"cg_vq_v":-8.53132534,"cg_vu_v":16.2760258,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5674477,"dclink_p_w":-2542.44287,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":523.118762,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":523.118767,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":523.118773,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":523.192749,"values":{"Elec_RPM":-2352.53003,"EncoderCos":43628,"EncoderSin":49655,"GapTicks":49343,"Mech_RPM":-470.506012,"cg_du":55.1425629,"cg_dv":44.8574371,"cg_dw":50.02491,"cg_id_a":-16.9423828,"cg_id_raw_a":-20.7573719,"cg_iq_a":-197.295837,"cg_iq_raw_a":-196.044693,"cg_iu_a":201.264542,"cg_iv_a":-77.9275742,"cg_iw_a":-123.336967,"cg_sample_age_us":23.9327278,"cg_sample_seq":3981471,"cg_sample_valid":1,"cg_theta_rad":1.05404615,"cg_vd_req_v":-1.58430874,"cg_vd_v":-1.58430874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44665718,"cg_vq_v":-8.44665718,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2409.20996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.045166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":523.526733,"values":{"Elec_RPM":-2354.42334,"EncoderCos":42178,"EncoderSin":50410,"GapTicks":49595,"Mech_RPM":-470.884674,"cg_du":54.9128685,"cg_dv":45.0871315,"cg_dw":47.1283607,"cg_id_a":14.9959192,"cg_id_raw_a":11.1545248,"cg_iq_a":-203.153793,"cg_iq_raw_a":-200.776367,"cg_iu_a":196.11792,"cg_iv_a":-47.9901733,"cg_iw_a":-148.127747,"cg_sample_age_us":23.9290905,"cg_sample_seq":3983217,"cg_sample_valid":1,"cg_theta_rad":1.08021426,"cg_vd_req_v":-2.23616219,"cg_vd_v":-2.23616219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34419537,"cg_vq_v":-8.34419537,"cg_vu_v":124.929489,"cg_vv_v":117.451309,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-16.8661289,"dclink_p_w":-2433.52539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0469055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":523.858765,"values":{"Elec_RPM":-2351.13989,"EncoderCos":30794,"EncoderSin":52748,"GapTicks":49346,"Mech_RPM":-470.227966,"cg_du":44.8603439,"cg_dv":55.1396561,"cg_dw":51.3964577,"cg_id_a":1.31220937,"cg_id_raw_a":-1.75587583,"cg_iq_a":-196.296814,"cg_iq_raw_a":-196.017365,"cg_iu_a":-196.837723,"cg_iv_a":91.6210785,"cg_iw_a":105.216644,"cg_sample_age_us":23.863636,"cg_sample_seq":3984916,"cg_sample_valid":1,"cg_theta_rad":1.66765797,"cg_vd_req_v":-1.92281199,"cg_vd_v":-1.92281199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50590611,"cg_vq_v":-8.50590611,"cg_vu_v":4.39892578,"cg_vv_v":22.4345207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.8012199,"dclink_p_w":-2584.1062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.006897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":524.111192,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":524.111198,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":524.111203,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":524.210327,"values":{"Elec_RPM":-2352.82202,"EncoderCos":13795,"EncoderSin":39856,"GapTicks":50002,"Mech_RPM":-470.564392,"cg_du":46.0038986,"cg_dv":54.5429039,"cg_dw":45.4570961,"cg_id_a":14.7734833,"cg_id_raw_a":17.9471283,"cg_iq_a":-207.456207,"cg_iq_raw_a":-207.032379,"cg_iu_a":-162.04364,"cg_iv_a":194.336105,"cg_iw_a":-32.2924652,"cg_sample_age_us":23.8672733,"cg_sample_seq":3986566,"cg_sample_valid":1,"cg_theta_rad":2.77752328,"cg_vd_req_v":-2.15324688,"cg_vd_v":-2.15324688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23799038,"cg_vq_v":-8.23799038,"cg_vu_v":99.8556061,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.8066559,"dclink_p_w":-2577.06201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":524.544312,"values":{"Elec_RPM":-2352.24414,"EncoderCos":13518,"EncoderSin":39095,"GapTicks":49662,"Mech_RPM":-470.448853,"cg_du":45.1476898,"cg_dv":54.8523102,"cg_dw":47.0049858,"cg_id_a":2.22600412,"cg_id_raw_a":8.53325558,"cg_iq_a":-202.201813,"cg_iq_raw_a":-203.991516,"cg_iu_a":-173.098022,"cg_iv_a":173.423431,"cg_iw_a":-0.325401306,"cg_sample_age_us":23.9400005,"cg_sample_seq":3988316,"cg_sample_valid":1,"cg_theta_rad":2.8221848,"cg_vd_req_v":-1.88394928,"cg_vd_v":-1.88394928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37287331,"cg_vq_v":-8.37287331,"cg_vu_v":38.2706528,"cg_vv_v":54.5466805,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2426.98853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":524.876343,"values":{"Elec_RPM":-2355.27051,"EncoderCos":13084,"EncoderSin":28028,"GapTicks":49558,"Mech_RPM":-471.054108,"cg_du":52.8376427,"cg_dv":45.0529976,"cg_dw":54.9470024,"cg_id_a":11.3371696,"cg_id_raw_a":6.5687933,"cg_iq_a":-199.575348,"cg_iq_raw_a":-199.112747,"cg_iu_a":143.709335,"cg_iv_a":-193.255447,"cg_iw_a":49.5461121,"cg_sample_age_us":23.7472725,"cg_sample_seq":3990017,"cg_sample_valid":1,"cg_theta_rad":3.38314033,"cg_vd_req_v":-2.13200212,"cg_vd_v":-2.13200212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44367123,"cg_vq_v":-8.44367123,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2541.39355,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0260315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":525.102688,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":525.102694,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":525.1027,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":525.227905,"values":{"Elec_RPM":-2354.69556,"EncoderCos":13304,"EncoderSin":27212,"GapTicks":50023,"Mech_RPM":-470.939117,"cg_du":54.5243912,"cg_dv":45.4756088,"cg_dw":54.4330559,"cg_id_a":11.7836256,"cg_id_raw_a":13.3175898,"cg_iq_a":-199.919464,"cg_iq_raw_a":-199.497803,"cg_iu_a":166.724167,"cg_iv_a":-179.736511,"cg_iw_a":13.0123367,"cg_sample_age_us":24.0381813,"cg_sample_seq":3991767,"cg_sample_valid":1,"cg_theta_rad":3.42740583,"cg_vd_req_v":-2.10735607,"cg_vd_v":-2.10735607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42732811,"cg_vq_v":-8.42732811,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":525.56189,"values":{"Elec_RPM":-2356.56152,"EncoderCos":29310,"EncoderSin":12893,"GapTicks":49355,"Mech_RPM":-471.312317,"cg_du":49.6813545,"cg_dv":44.8689308,"cg_dw":55.1310692,"cg_id_a":-18.5546265,"cg_id_raw_a":-20.9846363,"cg_iq_a":-197.574875,"cg_iq_raw_a":-198.326508,"cg_iu_a":41.4292374,"cg_iv_a":-188.398773,"cg_iw_a":146.969543,"cg_sample_age_us":23.7036362,"cg_sample_seq":3993416,"cg_sample_valid":1,"cg_theta_rad":4.553298,"cg_vd_req_v":-1.54521143,"cg_vd_v":-1.54521143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43994141,"cg_vq_v":-8.43994141,"cg_vu_v":35.1914063,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.8900166,"dclink_p_w":-2581.25684,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0608521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":525.913452,"values":{"Elec_RPM":-2357.98218,"EncoderCos":29775,"EncoderSin":12794,"GapTicks":49297,"Mech_RPM":-471.596436,"cg_du":50.5556145,"cg_dv":44.8158836,"cg_dw":55.1841164,"cg_id_a":-9.91855621,"cg_id_raw_a":-13.8979254,"cg_iq_a":-196.950348,"cg_iq_raw_a":-197.21608,"cg_iu_a":75.3897095,"cg_iv_a":-193.110489,"cg_iw_a":130.877289,"cg_sample_age_us":23.7072735,"cg_sample_seq":3995167,"cg_sample_valid":1,"cg_theta_rad":4.57774687,"cg_vd_req_v":-1.73607564,"cg_vd_v":-1.73607564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47761536,"cg_vq_v":-8.47761536,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2476.92944,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.1254578,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":526.094956,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":526.094962,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":526.094968,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":526.28064,"values":{"Elec_RPM":-2355.99414,"EncoderCos":14059,"EncoderSin":24915,"GapTicks":49374,"Mech_RPM":-471.198853,"cg_du":55.1136627,"cg_dv":44.8863373,"cg_dw":48.9074478,"cg_id_a":-6.6590085,"cg_id_raw_a":-9.99093437,"cg_iq_a":-197.404404,"cg_iq_raw_a":-197.314499,"cg_iu_a":197.966354,"cg_iv_a":-106.125282,"cg_iw_a":-91.8410721,"cg_sample_age_us":24.1072731,"cg_sample_seq":3997017,"cg_sample_valid":1,"cg_theta_rad":3.5456605,"cg_vd_req_v":-1.78021669,"cg_vd_v":-1.78021669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42435265,"cg_vq_v":-8.42435265,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":526.632202,"values":{"Elec_RPM":-2353.48706,"EncoderCos":14388,"EncoderSin":24228,"GapTicks":49508,"Mech_RPM":-470.697418,"cg_du":54.9920616,"cg_dv":45.0079384,"cg_dw":47.6105728,"cg_id_a":11.5179682,"cg_id_raw_a":5.16000175,"cg_iq_a":-201.593567,"cg_iq_raw_a":-199.717041,"cg_iu_a":198.075073,"cg_iv_a":-61.4728699,"cg_iw_a":-136.602203,"cg_sample_age_us":24.0709095,"cg_sample_seq":3998767,"cg_sample_valid":1,"cg_theta_rad":3.58268881,"cg_vd_req_v":-2.14022899,"cg_vd_v":-2.14022899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35915756,"cg_vq_v":-8.35915756,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":526.964233,"values":{"Elec_RPM":-2353.68433,"EncoderCos":42682,"EncoderSin":15211,"GapTicks":49487,"Mech_RPM":-470.736877,"cg_du":48.0141678,"cg_dv":55.0112076,"cg_dw":44.9887924,"cg_id_a":-0.930685699,"cg_id_raw_a":-5.4676671,"cg_iq_a":-201.000397,"cg_iq_raw_a":-200.231674,"cg_iu_a":-105.177071,"cg_iv_a":201.186188,"cg_iw_a":-96.0091171,"cg_sample_age_us":23.9218178,"cg_sample_seq":4000366,"cg_sample_valid":1,"cg_theta_rad":5.23611069,"cg_vd_req_v":-1.95912194,"cg_vd_v":-1.95912194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36442566,"cg_vq_v":-8.36442566,"cg_vu_v":100.295509,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5837555,"dclink_p_w":-2544.80298,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":527.118603,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":527.118608,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":527.118613,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":527.317749,"values":{"Elec_RPM":-2351.09961,"EncoderCos":32387,"EncoderSin":12595,"GapTicks":49700,"Mech_RPM":-470.21994,"cg_du":54.8178253,"cg_dv":45.1821747,"cg_dw":53.0828133,"cg_id_a":2.70653057,"cg_id_raw_a":9.84522057,"cg_iq_a":-200.182816,"cg_iq_raw_a":-202.035004,"cg_iu_a":176.618744,"cg_iv_a":-159.911133,"cg_iw_a":-16.7076111,"cg_sample_age_us":24.0236359,"cg_sample_seq":4002170,"cg_sample_valid":1,"cg_theta_rad":4.74281216,"cg_vd_req_v":-1.92509449,"cg_vd_v":-1.92509449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39118958,"cg_vq_v":-8.39118958,"cg_vu_v":106.014107,"cg_vv_v":78.7407684,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-18.4046783,"dclink_p_w":-2663.61084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":527.64978,"values":{"Elec_RPM":-2353.15186,"EncoderCos":52561,"EncoderSin":34627,"GapTicks":49625,"Mech_RPM":-470.630371,"cg_du":52.9481926,"cg_dv":54.8859482,"cg_dw":45.1140518,"cg_id_a":-0.855721772,"cg_id_raw_a":2.83314037,"cg_iq_a":-200.32753,"cg_iq_raw_a":-201.767426,"cg_iu_a":-5.90521145,"cg_iv_a":174.474487,"cg_iw_a":-168.569275,"cg_sample_age_us":23.5145454,"cg_sample_seq":4003767,"cg_sample_valid":1,"cg_theta_rad":0.112252824,"cg_vd_req_v":-1.92167735,"cg_vd_v":-1.92167735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43012238,"cg_vq_v":-8.43012238,"cg_vu_v":40.0302238,"cg_vv_v":58.5057106,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":527.981812,"values":{"Elec_RPM":-2347.86572,"EncoderCos":52447,"EncoderSin":35612,"GapTicks":49271,"Mech_RPM":-469.57312,"cg_du":50.5088768,"cg_dv":55.2076454,"cg_dw":44.7923546,"cg_id_a":-14.6724195,"cg_id_raw_a":-14.9510527,"cg_iq_a":-193.886414,"cg_iq_raw_a":-195.142014,"cg_iu_a":-38.6696396,"cg_iv_a":184.84024,"cg_iw_a":-146.170593,"cg_sample_age_us":23.48909,"cg_sample_seq":4005516,"cg_sample_valid":1,"cg_theta_rad":0.155365691,"cg_vd_req_v":-1.66273212,"cg_vd_v":-1.66273212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55646706,"cg_vq_v":-8.55646706,"cg_vu_v":40.4701157,"cg_vv_v":66.4237747,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":528.110983,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":528.110989,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":528.110995,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":528.407593,"values":{"Elec_RPM":-2339.96143,"EncoderCos":21480,"EncoderSin":49526,"GapTicks":49996,"Mech_RPM":-467.992279,"cg_du":54.308075,"cg_dv":45.4517365,"cg_dw":54.5482635,"cg_id_a":14.2793379,"cg_id_raw_a":12.9334564,"cg_iq_a":-203.655243,"cg_iq_raw_a":-203.345566,"cg_iu_a":168.826309,"cg_iv_a":-187.673889,"cg_iw_a":24.3204041,"cg_sample_age_us":24.0418186,"cg_sample_seq":4007667,"cg_sample_valid":1,"cg_theta_rad":2.16181135,"cg_vd_req_v":-2.19104624,"cg_vd_v":-2.19104624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35418797,"cg_vq_v":-8.35418797,"cg_vu_v":142.965088,"cg_vv_v":129.768311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2460.71826,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":528.927124,"values":{"Elec_RPM":-2346.229,"EncoderCos":23642,"EncoderSin":50824,"GapTicks":49348,"Mech_RPM":-469.245789,"cg_du":49.6085472,"cg_dv":44.8620491,"cg_dw":55.1379509,"cg_id_a":-19.7983437,"cg_id_raw_a":-20.2582817,"cg_iq_a":-199.075439,"cg_iq_raw_a":-199.427353,"cg_iu_a":38.964653,"cg_iv_a":-188.471252,"cg_iw_a":149.506592,"cg_sample_age_us":23.772728,"cg_sample_seq":4010017,"cg_sample_valid":1,"cg_theta_rad":2.03807354,"cg_vd_req_v":-1.50236869,"cg_vd_v":-1.50236869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46218777,"cg_vq_v":-8.46218777,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.7124214,"dclink_p_w":-2563.42407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":528.975408,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":528.975419,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":528.975422,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":529.102659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":529.102665,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":529.10267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":529.307983,"values":{"Elec_RPM":-2351.71411,"EncoderCos":20439,"EncoderSin":16565,"GapTicks":49793,"Mech_RPM":-470.342834,"cg_du":45.2664413,"cg_dv":54.7335587,"cg_dw":46.4549866,"cg_id_a":5.55135727,"cg_id_raw_a":10.6307106,"cg_iq_a":-203.085922,"cg_iq_raw_a":-203.795563,"cg_iu_a":-173.061768,"cg_iv_a":175.851746,"cg_iw_a":-2.78997803,"cg_sample_age_us":23.9327278,"cg_sample_seq":4012166,"cg_sample_valid":1,"cg_theta_rad":4.07490635,"cg_vd_req_v":-1.99449968,"cg_vd_v":-1.99449968,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35731316,"cg_vq_v":-8.35731316,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2533.40747,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":529.661499,"values":{"Elec_RPM":-2353.91943,"EncoderCos":20911,"EncoderSin":16246,"GapTicks":49464,"Mech_RPM":-470.783905,"cg_du":44.9677353,"cg_dv":55.0322647,"cg_dw":47.9621773,"cg_id_a":-9.84807014,"cg_id_raw_a":-2.97235346,"cg_iq_a":-199.674133,"cg_iq_raw_a":-200.963058,"cg_iu_a":-177.121094,"cg_iv_a":167.298218,"cg_iw_a":9.82287598,"cg_sample_age_us":23.9218178,"cg_sample_seq":4013917,"cg_sample_valid":1,"cg_theta_rad":4.10210371,"cg_vd_req_v":-1.68518877,"cg_vd_v":-1.68518877,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44361115,"cg_vq_v":-8.44361115,"cg_vu_v":119.210884,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0556335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":529.995483,"values":{"Elec_RPM":-2355.25781,"EncoderCos":42208,"EncoderSin":14921,"GapTicks":49414,"Mech_RPM":-471.051575,"cg_du":48.98386,"cg_dv":55.0778961,"cg_dw":44.9221039,"cg_id_a":-12.2921028,"cg_id_raw_a":-15.5074787,"cg_iq_a":-199.360855,"cg_iq_raw_a":-198.872086,"cg_iu_a":-82.6334076,"cg_iv_a":198.57663,"cg_iw_a":-115.94323,"cg_sample_age_us":23.9290905,"cg_sample_seq":4015567,"cg_sample_valid":1,"cg_theta_rad":5.21702194,"cg_vd_req_v":-1.71950448,"cg_vd_v":-1.71950448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39395618,"cg_vq_v":-8.39395618,"cg_vu_v":101.175293,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.426096,"dclink_p_w":-2521.98584,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.0556335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":530.09478,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":530.094786,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":530.126738,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":530.325562,"values":{"Elec_RPM":-2357.26489,"EncoderCos":50336,"EncoderSin":23162,"GapTicks":49353,"Mech_RPM":-471.452972,"cg_du":49.0275764,"cg_dv":44.8671188,"cg_dw":55.1328812,"cg_id_a":-13.8314476,"cg_id_raw_a":-12.6964703,"cg_iq_a":-198.755219,"cg_iq_raw_a":-201.300919,"cg_iu_a":33.0569115,"cg_iv_a":-184.665649,"cg_iw_a":151.608734,"cg_sample_age_us":23.7036362,"cg_sample_seq":4017267,"cg_sample_valid":1,"cg_theta_rad":5.80040741,"cg_vd_req_v":-1.6858691,"cg_vd_v":-1.6858691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43586922,"cg_vq_v":-8.43586922,"cg_vu_v":106.453995,"cg_vv_v":99.8556061,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2521.11841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":530.679077,"values":{"Elec_RPM":-2359.97583,"EncoderCos":49047,"EncoderSin":44258,"GapTicks":49325,"Mech_RPM":-471.995178,"cg_du":44.8416901,"cg_dv":48.7462883,"cg_dw":55.1583099,"cg_id_a":1.17532754,"cg_id_raw_a":-3.62007117,"cg_iq_a":-196.79187,"cg_iq_raw_a":-199.817627,"cg_iu_a":-78.0666809,"cg_iv_a":-118.158234,"cg_iw_a":196.224915,"cg_sample_age_us":23.4054546,"cg_sample_seq":4018918,"cg_sample_valid":1,"cg_theta_rad":0.632595539,"cg_vd_req_v":-1.98954213,"cg_vd_v":-1.98954213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47428036,"cg_vq_v":-8.47428036,"cg_vu_v":122.730026,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2447.50146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":531.011108,"values":{"Elec_RPM":-2362.99268,"EncoderCos":48495,"EncoderSin":45102,"GapTicks":49652,"Mech_RPM":-472.598541,"cg_du":45.1390228,"cg_dv":46.9375839,"cg_dw":54.8609772,"cg_id_a":18.6364441,"cg_id_raw_a":18.5566692,"cg_iq_a":-203.344391,"cg_iq_raw_a":-200.981461,"cg_iu_a":-36.4225159,"cg_iv_a":-155.815582,"cg_iw_a":196.913544,"cg_sample_age_us":23.51091,"cg_sample_seq":4020667,"cg_sample_valid":1,"cg_theta_rad":0.667889774,"cg_vd_req_v":-2.31180143,"cg_vd_v":-2.31180143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32915688,"cg_vq_v":-8.32915688,"cg_vu_v":131.087982,"cg_vv_v":109.533249,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.057373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":531.119224,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":531.119229,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":531.119234,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":531.34314,"values":{"Elec_RPM":-2361.81543,"EncoderCos":28477,"EncoderSin":52414,"GapTicks":49566,"Mech_RPM":-472.363068,"cg_du":45.0605049,"cg_dv":52.5929298,"cg_dw":54.9394951,"cg_id_a":-4.61402893,"cg_id_raw_a":-7.22104454,"cg_iq_a":-201.063034,"cg_iq_raw_a":-202.192657,"cg_iu_a":-171.177094,"cg_iv_a":-6.67219543,"cg_iw_a":177.849289,"cg_sample_age_us":23.8309097,"cg_sample_seq":4022316,"cg_sample_valid":1,"cg_theta_rad":1.78960574,"cg_vd_req_v":-1.76345527,"cg_vd_v":-1.76345527,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38958073,"cg_vq_v":-8.38958073,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-17.4079742,"dclink_p_w":-2511.70532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0608521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":531.694702,"values":{"Elec_RPM":-2361.177,"EncoderCos":27656,"EncoderSin":52236,"GapTicks":49365,"Mech_RPM":-472.235382,"cg_du":44.8779564,"cg_dv":50.5904579,"cg_dw":55.1220436,"cg_id_a":-13.8664913,"cg_id_raw_a":-10.9682226,"cg_iq_a":-200.059494,"cg_iq_raw_a":-202.070175,"cg_iu_a":-150.80806,"cg_iv_a":-39.4003754,"cg_iw_a":190.208435,"cg_sample_age_us":23.8600006,"cg_sample_seq":4024066,"cg_sample_valid":1,"cg_theta_rad":1.82735229,"cg_vd_req_v":-1.6044842,"cg_vd_v":-1.6044842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42718697,"cg_vq_v":-8.42718697,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0678101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":532.028687,"values":{"Elec_RPM":-2358.61279,"EncoderCos":17600,"EncoderSin":46086,"GapTicks":49630,"Mech_RPM":-471.722534,"cg_du":54.8818016,"cg_dv":47.0975914,"cg_dw":45.1181984,"cg_id_a":-7.96809578,"cg_id_raw_a":-3.31338763,"cg_iq_a":-198.006638,"cg_iq_raw_a":-197.102097,"cg_iu_a":170.167328,"cg_iv_a":1.08398438,"cg_iw_a":-171.251312,"cg_sample_age_us":23.8490906,"cg_sample_seq":4025766,"cg_sample_valid":1,"cg_theta_rad":2.41255379,"cg_vd_req_v":-1.83987105,"cg_vd_v":-1.83987105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45370865,"cg_vq_v":-8.45370865,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.6453705,"dclink_p_w":-2561.48218,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0591125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":532.111353,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":532.111361,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":532.111367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":532.380249,"values":{"Elec_RPM":-2360.61377,"EncoderCos":17389,"EncoderSin":45833,"GapTicks":49385,"Mech_RPM":-472.122742,"cg_du":55.1044693,"cg_dv":48.5744362,"cg_dw":44.8955307,"cg_id_a":-11.0461903,"cg_id_raw_a":-10.2978497,"cg_iq_a":-195.645782,"cg_iq_raw_a":-195.142502,"cg_iu_a":155.01741,"cg_iv_a":24.0263214,"cg_iw_a":-179.043732,"cg_sample_age_us":23.9799995,"cg_sample_seq":4027517,"cg_sample_valid":1,"cg_theta_rad":2.43884015,"cg_vd_req_v":-1.66155088,"cg_vd_v":-1.66155088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47917557,"cg_vq_v":-8.47917557,"cg_vu_v":141.205521,"cg_vv_v":125.369385,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.67799,"dclink_p_w":-2558.44092,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":532.714233,"values":{"Elec_RPM":-2362.68604,"EncoderCos":20627,"EncoderSin":16451,"GapTicks":49641,"Mech_RPM":-472.537231,"cg_du":45.1288872,"cg_dv":54.8711128,"cg_dw":46.9963531,"cg_id_a":0.628549337,"cg_id_raw_a":5.99415684,"cg_iq_a":-202.105331,"cg_iq_raw_a":-203.749405,"cg_iu_a":-174.330292,"cg_iv_a":173.278442,"cg_iw_a":1.05185699,"cg_sample_age_us":23.9327278,"cg_sample_seq":4029117,"cg_sample_valid":1,"cg_theta_rad":4.08576775,"cg_vd_req_v":-1.89769387,"cg_vd_v":-1.89769387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40288162,"cg_vq_v":-8.40288162,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.1430645,"dclink_p_w":-2329.19824,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":533.046265,"values":{"Elec_RPM":-2367.73486,"EncoderCos":31542,"EncoderSin":12621,"GapTicks":49846,"Mech_RPM":-473.546997,"cg_du":53.8656158,"cg_dv":45.3150597,"cg_dw":54.6849403,"cg_id_a":17.4475994,"cg_id_raw_a":19.3258991,"cg_iq_a":-200.821869,"cg_iq_raw_a":-200.727844,"cg_iu_a":163.643433,"cg_iv_a":-185.245544,"cg_iw_a":21.6021194,"cg_sample_age_us":24.0672722,"cg_sample_seq":4030817,"cg_sample_valid":1,"cg_theta_rad":4.66749334,"cg_vd_req_v":-2.25138831,"cg_vd_v":-2.25138831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37482262,"cg_vq_v":-8.37482262,"cg_vu_v":133.287445,"cg_vv_v":121.410347,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0712891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":533.102793,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":533.102799,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":533.102805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":533.397827,"values":{"Elec_RPM":-2368.51221,"EncoderCos":42730,"EncoderSin":15210,"GapTicks":49516,"Mech_RPM":-473.702423,"cg_du":47.9405708,"cg_dv":54.9848137,"cg_dw":45.0151863,"cg_id_a":-1.18311572,"cg_id_raw_a":-3.68956614,"cg_iq_a":-201.982803,"cg_iq_raw_a":-201.49881,"cg_iu_a":-122.936554,"cg_iv_a":201.729858,"cg_iw_a":-93.1458588,"cg_sample_age_us":23.9509087,"cg_sample_seq":4032516,"cg_sample_valid":1,"cg_theta_rad":5.24781799,"cg_vd_req_v":-1.95716453,"cg_vd_v":-1.95716453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33736515,"cg_vq_v":-8.33736515,"cg_vu_v":37.830761,"cg_vv_v":44.4291458,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2509.65918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":533.731812,"values":{"Elec_RPM":-2365.13892,"EncoderCos":50574,"EncoderSin":23679,"GapTicks":49263,"Mech_RPM":-473.027802,"cg_du":50.1483078,"cg_dv":44.7846489,"cg_dw":55.2153511,"cg_id_a":-7.40804482,"cg_id_raw_a":-7.96267748,"cg_iq_a":-196.728455,"cg_iq_raw_a":-196.265472,"cg_iu_a":71.040451,"cg_iv_a":-195.575058,"cg_iw_a":124.534607,"cg_sample_age_us":23.7000008,"cg_sample_seq":4034216,"cg_sample_valid":1,"cg_theta_rad":5.83019114,"cg_vd_req_v":-1.83493483,"cg_vd_v":-1.83493483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49431229,"cg_vq_v":-8.49431229,"cg_vu_v":43.549366,"cg_vv_v":43.549366,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":534.063843,"values":{"Elec_RPM":-2363.77637,"EncoderCos":52542,"EncoderSin":34716,"GapTicks":49583,"Mech_RPM":-472.755249,"cg_du":52.7123871,"cg_dv":54.9240761,"cg_dw":45.0759239,"cg_id_a":-2.67940092,"cg_id_raw_a":3.0808444,"cg_iq_a":-199.652679,"cg_iq_raw_a":-201.034943,"cg_iu_a":-3.7668252,"cg_iv_a":171.864944,"cg_iw_a":-168.098114,"cg_sample_age_us":23.4599991,"cg_sample_seq":4035917,"cg_sample_valid":1,"cg_theta_rad":0.109344646,"cg_vd_req_v":-1.87554419,"cg_vd_v":-1.87554419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42877102,"cg_vq_v":-8.42877102,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.6906757,"dclink_p_w":-2560.27686,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0556335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":534.095545,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":534.095551,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":534.095556,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":534.415405,"values":{"Elec_RPM":-2365.43506,"EncoderCos":48215,"EncoderSin":45477,"GapTicks":49987,"Mech_RPM":-473.087006,"cg_du":45.4429169,"cg_dv":46.0039139,"cg_dw":54.5570831,"cg_id_a":16.3215389,"cg_id_raw_a":17.1110458,"cg_iq_a":-206.903549,"cg_iq_raw_a":-208.329819,"cg_iu_a":-20.5839634,"cg_iv_a":-167.667313,"cg_iw_a":188.251282,"cg_sample_age_us":23.4927273,"cg_sample_seq":4037617,"cg_sample_valid":1,"cg_theta_rad":0.694233775,"cg_vd_req_v":-2.24966145,"cg_vd_v":-2.24966145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23408604,"cg_vq_v":-8.23408604,"cg_vu_v":105.574219,"cg_vv_v":95.4566803,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":534.74939,"values":{"Elec_RPM":-2359.0249,"EncoderCos":47614,"EncoderSin":46196,"GapTicks":49634,"Mech_RPM":-471.804993,"cg_du":47.4524384,"cg_dv":45.122345,"cg_dw":54.877655,"cg_id_a":-5.59436607,"cg_id_raw_a":0.771010816,"cg_iq_a":-204.277008,"cg_iq_raw_a":-205.701706,"cg_iu_a":3.08325934,"cg_iv_a":-177.308151,"cg_iw_a":178.501678,"cg_sample_age_us":23.5290909,"cg_sample_seq":4039366,"cg_sample_valid":1,"cg_theta_rad":0.737499475,"cg_vd_req_v":-1.8014859,"cg_vd_v":-1.8014859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32098198,"cg_vq_v":-8.32098198,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":535.087495,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":535.0875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":535.087505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":535.100952,"values":{"Elec_RPM":-2353.86987,"EncoderCos":38916,"EncoderSin":51806,"GapTicks":49418,"Mech_RPM":-470.773987,"cg_du":55.0745354,"cg_dv":51.6207085,"cg_dw":44.9254646,"cg_id_a":6.07136917,"cg_id_raw_a":0.31102553,"cg_iq_a":-203.799835,"cg_iq_raw_a":-201.678787,"cg_iu_a":36.8625107,"cg_iv_a":156.062622,"cg_iw_a":-192.92514,"cg_sample_age_us":23.812727,"cg_sample_seq":4041071,"cg_sample_valid":1,"cg_theta_rad":1.3007257,"cg_vd_req_v":-2.05287552,"cg_vd_v":-2.05287552,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34829521,"cg_vq_v":-8.34829521,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2523.33765,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0591125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":535.434937,"values":{"Elec_RPM":-2357.08594,"EncoderCos":26448,"EncoderSin":51922,"GapTicks":49410,"Mech_RPM":-471.417206,"cg_du":44.9187279,"cg_dv":48.1284828,"cg_dw":55.0812721,"cg_id_a":0.595757186,"cg_id_raw_a":-3.9646523,"cg_iq_a":-196.793213,"cg_iq_raw_a":-197.368668,"cg_iu_a":-84.3368683,"cg_iv_a":-99.6013947,"cg_iw_a":194.448975,"cg_sample_age_us":23.863636,"cg_sample_seq":4042766,"cg_sample_valid":1,"cg_theta_rad":1.88767648,"cg_vd_req_v":-1.91223633,"cg_vd_v":-1.91223633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46814346,"cg_vq_v":-8.46814346,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.0660706,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":535.765015,"values":{"Elec_RPM":-2359.19604,"EncoderCos":12739,"EncoderSin":35850,"GapTicks":49875,"Mech_RPM":-471.839203,"cg_du":45.3417664,"cg_dv":54.6582336,"cg_dw":53.982151,"cg_id_a":13.422183,"cg_id_raw_a":8.91114426,"cg_iq_a":-200.925842,"cg_iq_raw_a":-198.711761,"cg_iu_a":-185.130981,"cg_iv_a":26.0197449,"cg_iw_a":159.111237,"cg_sample_age_us":23.9254551,"cg_sample_seq":4044417,"cg_sample_valid":1,"cg_theta_rad":2.99125266,"cg_vd_req_v":-2.12408614,"cg_vd_v":-2.12408614,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38997746,"cg_vq_v":-8.38997746,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2446.3374,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.0765381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":536.110698,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":536.110704,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":536.11071,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":536.11853,"values":{"Elec_RPM":-2357.14282,"EncoderCos":12627,"EncoderSin":35059,"GapTicks":49703,"Mech_RPM":-471.428558,"cg_du":45.1847,"cg_dv":53.1885414,"cg_dw":54.8153,"cg_id_a":2.8564167,"cg_id_raw_a":5.36487532,"cg_iq_a":-201.827026,"cg_iq_raw_a":-201.506393,"cg_iu_a":-174.656494,"cg_iv_a":3.91099548,"cg_iw_a":170.745499,"cg_sample_age_us":23.9654541,"cg_sample_seq":4046167,"cg_sample_valid":1,"cg_theta_rad":3.02700639,"cg_vd_req_v":-1.89490449,"cg_vd_v":-1.89490449,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37721062,"cg_vq_v":-8.37721062,"cg_vu_v":128.888519,"cg_vv_v":130.208206,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2504.90698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":536.452515,"values":{"Elec_RPM":-2358.63623,"EncoderCos":21729,"EncoderSin":15701,"GapTicks":49324,"Mech_RPM":-471.727234,"cg_du":44.8401947,"cg_dv":55.1598053,"cg_dw":50.1629333,"cg_id_a":-11.7894087,"cg_id_raw_a":-16.1304264,"cg_iq_a":-196.589767,"cg_iq_raw_a":-196.029404,"cg_iu_a":-191.763596,"cg_iv_a":132.939056,"cg_iw_a":58.8245468,"cg_sample_age_us":23.9654541,"cg_sample_seq":4047817,"cg_sample_valid":1,"cg_theta_rad":4.14909554,"cg_vd_req_v":-1.65396237,"cg_vd_v":-1.65396237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46408749,"cg_vq_v":-8.46408749,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.1183472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":536.782593,"values":{"Elec_RPM":-2356.46631,"EncoderCos":32859,"EncoderSin":12551,"GapTicks":49466,"Mech_RPM":-471.293274,"cg_du":55.0306015,"cg_dv":44.9693985,"cg_dw":51.8407097,"cg_id_a":-9.7189846,"cg_id_raw_a":-4.2938447,"cg_iq_a":-198.133011,"cg_iq_raw_a":-199.752411,"cg_iu_a":180.134384,"cg_iv_a":-158.171417,"cg_iw_a":-21.9629669,"cg_sample_age_us":24.0309086,"cg_sample_seq":4049516,"cg_sample_valid":1,"cg_theta_rad":4.74413538,"cg_vd_req_v":-1.68506563,"cg_vd_v":-1.68506563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42551327,"cg_vq_v":-8.42551327,"cg_vu_v":106.893898,"cg_vv_v":96.3364716,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-18.8015499,"dclink_p_w":-2721.04785,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":537.102826,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":537.102831,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":537.102836,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":537.136108,"values":{"Elec_RPM":-2356.36255,"EncoderCos":43710,"EncoderSin":15867,"GapTicks":50060,"Mech_RPM":-471.272522,"cg_du":45.6745911,"cg_dv":54.490406,"cg_dw":45.509594,"cg_id_a":7.62911367,"cg_id_raw_a":11.3452244,"cg_iq_a":-206.731918,"cg_iq_raw_a":-206.744583,"cg_iu_a":-171.575775,"cg_iv_a":180.889648,"cg_iw_a":-17.0338058,"cg_sample_age_us":23.9799995,"cg_sample_seq":4051216,"cg_sample_valid":1,"cg_theta_rad":5.31648636,"cg_vd_req_v":-2.12071419,"cg_vd_v":-2.12071419,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29352951,"cg_vq_v":-8.29352951,"cg_vu_v":114.811958,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2430.12598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0939331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":537.46814,"values":{"Elec_RPM":-2353.49414,"EncoderCos":51118,"EncoderSin":24941,"GapTicks":49552,"Mech_RPM":-470.698822,"cg_du":52.7189293,"cg_dv":45.047657,"cg_dw":54.952343,"cg_id_a":15.7759895,"cg_id_raw_a":15.9153109,"cg_iq_a":-199.755157,"cg_iq_raw_a":-198.41539,"cg_iu_a":147.442444,"cg_iv_a":-192.458084,"cg_iw_a":59.2957077,"cg_sample_age_us":23.6890907,"cg_sample_seq":4052916,"cg_sample_valid":1,"cg_theta_rad":5.89516068,"cg_vd_req_v":-2.27292323,"cg_vd_v":-2.27292323,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40638351,"cg_vq_v":-8.40638351,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-17.734169,"dclink_p_w":-2574.37256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0608521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":537.800171,"values":{"Elec_RPM":-2350.31299,"EncoderCos":52384,"EncoderSin":35997,"GapTicks":49363,"Mech_RPM":-470.062592,"cg_du":49.6217537,"cg_dv":55.124527,"cg_dw":44.875473,"cg_id_a":-16.8381653,"cg_id_raw_a":-18.11269,"cg_iq_a":-197.845871,"cg_iq_raw_a":-195.741028,"cg_iu_a":-72.1226959,"cg_iv_a":198.286682,"cg_iw_a":-126.163994,"cg_sample_age_us":23.3945446,"cg_sample_seq":4054617,"cg_sample_valid":1,"cg_theta_rad":0.183086231,"cg_vd_req_v":-1.6181289,"cg_vd_v":-1.6181289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41743946,"cg_vq_v":-8.41743946,"cg_vu_v":22.8744144,"cg_vv_v":24.6339836,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2406.3252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0747986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":538.126694,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":538.1267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":538.126706,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":538.151733,"values":{"Elec_RPM":-2353.73096,"EncoderCos":47398,"EncoderSin":46488,"GapTicks":49446,"Mech_RPM":-470.746185,"cg_du":48.3724823,"cg_dv":44.9514465,"cg_dw":55.0485535,"cg_id_a":-13.6801357,"cg_id_raw_a":-10.3359585,"cg_iq_a":-201.956238,"cg_iq_raw_a":-205.065659,"cg_iu_a":16.7109413,"cg_iv_a":-182.092346,"cg_iw_a":165.381409,"cg_sample_age_us":23.7836361,"cg_sample_seq":4056316,"cg_sample_valid":1,"cg_theta_rad":0.757145226,"cg_vd_req_v":-1.6479764,"cg_vd_v":-1.6479764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39541245,"cg_vq_v":-8.39541245,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2481.11328,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0765381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":538.669312,"values":{"Elec_RPM":-2349.17285,"EncoderCos":52654,"EncoderSin":33489,"GapTicks":49781,"Mech_RPM":-469.834595,"cg_du":54.74366,"cg_dv":53.4510155,"cg_dw":45.25634,"cg_id_a":10.4971428,"cg_id_raw_a":10.4290991,"cg_iq_a":-205.717102,"cg_iq_raw_a":-205.904541,"cg_iu_a":12.9415817,"cg_iv_a":169.037903,"cg_iw_a":-181.979492,"cg_sample_age_us":23.5290909,"cg_sample_seq":4058720,"cg_sample_valid":1,"cg_theta_rad":0.0813570172,"cg_vd_req_v":-2.15930748,"cg_vd_v":-2.15930748,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29562187,"cg_vq_v":-8.29562187,"cg_vu_v":23.3143044,"cg_vv_v":15.836132,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1200867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":538.991476,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":538.991487,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":538.99149,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":539.119556,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":539.119561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":539.119566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":539.145874,"values":{"Elec_RPM":-2353.59912,"EncoderCos":20247,"EncoderSin":16747,"GapTicks":50003,"Mech_RPM":-470.719818,"cg_du":45.4574585,"cg_dv":54.5425415,"cg_dw":45.8693581,"cg_id_a":10.0579681,"cg_id_raw_a":13.7963409,"cg_iq_a":-202.796783,"cg_iq_raw_a":-203.720871,"cg_iu_a":-178.498352,"cg_iv_a":163.130188,"cg_iw_a":15.3681717,"cg_sample_age_us":23.8963642,"cg_sample_seq":4061270,"cg_sample_valid":1,"cg_theta_rad":4.1001749,"cg_vd_req_v":-2.08038259,"cg_vd_v":-2.08038259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34440994,"cg_vq_v":-8.34440994,"cg_vu_v":1.31967759,"cg_vv_v":19.795166,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2539.15967,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":539.479858,"values":{"Elec_RPM":-2353.19165,"EncoderCos":31537,"EncoderSin":12663,"GapTicks":49842,"Mech_RPM":-470.638336,"cg_du":53.8133659,"cg_dv":45.3113098,"cg_dw":54.6886902,"cg_id_a":18.4143391,"cg_id_raw_a":17.7651272,"cg_iq_a":-202.420761,"cg_iq_raw_a":-201.445465,"cg_iu_a":165.346893,"cg_iv_a":-186.042908,"cg_iw_a":20.696022,"cg_sample_age_us":24.0854549,"cg_sample_seq":4062967,"cg_sample_valid":1,"cg_theta_rad":4.66829014,"cg_vd_req_v":-2.27533174,"cg_vd_v":-2.27533174,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32460785,"cg_vq_v":-8.32460785,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.057373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":539.81189,"values":{"Elec_RPM":-2355.63916,"EncoderCos":32466,"EncoderSin":12602,"GapTicks":49619,"Mech_RPM":-471.127808,"cg_du":54.8915405,"cg_dv":45.1084595,"cg_dw":52.8917236,"cg_id_a":-0.202380657,"cg_id_raw_a":0.189424172,"cg_iq_a":-200.044556,"cg_iq_raw_a":-199.784042,"cg_iu_a":172.015778,"cg_iv_a":-170.856766,"cg_iw_a":-1.15901184,"cg_sample_age_us":24.0963631,"cg_sample_seq":4064716,"cg_sample_valid":1,"cg_theta_rad":4.71489048,"cg_vd_req_v":-1.88012969,"cg_vd_v":-1.88012969,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40344429,"cg_vq_v":-8.40344429,"cg_vu_v":137.246475,"cg_vv_v":120.090675,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.1303787,"dclink_p_w":-2334.46338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0556335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":540.111352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":540.111358,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":540.111364,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":540.163452,"values":{"Elec_RPM":-2352.11304,"EncoderCos":50646,"EncoderSin":23885,"GapTicks":49308,"Mech_RPM":-470.422607,"cg_du":50.5979385,"cg_dv":44.8254585,"cg_dw":55.1745415,"cg_id_a":-4.93140793,"cg_id_raw_a":-8.14025402,"cg_iq_a":-196.046249,"cg_iq_raw_a":-196.058975,"cg_iu_a":67.7422638,"cg_iv_a":-192.9655,"cg_iw_a":125.223236,"cg_sample_age_us":23.6454544,"cg_sample_seq":4066366,"cg_sample_valid":1,"cg_theta_rad":5.8304739,"cg_vd_req_v":-1.86972749,"cg_vd_v":-1.86972749,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48947334,"cg_vq_v":-8.48947334,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2495.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":540.497437,"values":{"Elec_RPM":-2357.94141,"EncoderCos":50892,"EncoderSin":24393,"GapTicks":49371,"Mech_RPM":-471.588257,"cg_du":51.5772095,"cg_dv":44.8828354,"cg_dw":55.1171646,"cg_id_a":7.78389263,"cg_id_raw_a":2.28592682,"cg_iq_a":-198.635254,"cg_iq_raw_a":-197.982407,"cg_iu_a":118.121185,"cg_iv_a":-199.163193,"cg_iw_a":81.0420074,"cg_sample_age_us":23.7654552,"cg_sample_seq":4068117,"cg_sample_valid":1,"cg_theta_rad":5.86739826,"cg_vd_req_v":-2.12731576,"cg_vd_v":-2.12731576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42128563,"cg_vq_v":-8.42128563,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2482.82544,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":540.831421,"values":{"Elec_RPM":-2358.74658,"EncoderCos":48284,"EncoderSin":45455,"GapTicks":49924,"Mech_RPM":-471.749329,"cg_du":45.3855743,"cg_dv":46.0748215,"cg_dw":54.6144257,"cg_id_a":15.1534405,"cg_id_raw_a":18.0686302,"cg_iq_a":-206.927704,"cg_iq_raw_a":-204.331848,"cg_iu_a":-23.229763,"cg_iv_a":-166.398773,"cg_iw_a":189.62854,"cg_sample_age_us":23.4745445,"cg_sample_seq":4069767,"cg_sample_valid":1,"cg_theta_rad":0.691595137,"cg_vd_req_v":-2.23509979,"cg_vd_v":-2.23509979,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26821327,"cg_vq_v":-8.26821327,"cg_vu_v":101.615181,"cg_vv_v":79.6205521,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0678101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":541.103271,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":541.103276,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":541.103282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":541.182983,"values":{"Elec_RPM":-2354.59351,"EncoderCos":47776,"EncoderSin":46073,"GapTicks":49706,"Mech_RPM":-470.918701,"cg_du":46.8982353,"cg_dv":45.1873741,"cg_dw":54.8126259,"cg_id_a":0.701123714,"cg_id_raw_a":7.44117832,"cg_iq_a":-204.99176,"cg_iq_raw_a":-206.897003,"cg_iu_a":-0.432392597,"cg_iv_a":-175.242264,"cg_iw_a":175.674652,"cg_sample_age_us":23.4745445,"cg_sample_seq":4071517,"cg_sample_valid":1,"cg_theta_rad":0.730538726,"cg_vd_req_v":-1.92791319,"cg_vd_v":-1.92791319,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33516788,"cg_vq_v":-8.33516788,"cg_vu_v":131.527878,"cg_vv_v":141.645401,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-18.1491604,"dclink_p_w":-2626.63086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.0939331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":541.515015,"values":{"Elec_RPM":-2352.83691,"EncoderCos":27150,"EncoderSin":52126,"GapTicks":49366,"Mech_RPM":-470.567383,"cg_du":44.878624,"cg_dv":49.4456329,"cg_dw":55.121376,"cg_id_a":-13.9031219,"cg_id_raw_a":-14.0594788,"cg_iq_a":-197.057526,"cg_iq_raw_a":-198.264313,"cg_iu_a":-113.150711,"cg_iv_a":-82.3493347,"cg_iw_a":195.500046,"cg_sample_age_us":23.8527279,"cg_sample_seq":4073166,"cg_sample_valid":1,"cg_theta_rad":1.86664701,"cg_vd_req_v":-1.607216,"cg_vd_v":-1.607216,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44978619,"cg_vq_v":-8.44978619,"cg_vu_v":104.694435,"cg_vv_v":101.615181,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.42066,"dclink_p_w":-2528.8623,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":541.866577,"values":{"Elec_RPM":-2353.50024,"EncoderCos":26372,"EncoderSin":51884,"GapTicks":49461,"Mech_RPM":-470.700043,"cg_du":44.9648514,"cg_dv":47.9860916,"cg_dw":55.0351486,"cg_id_a":1.33046031,"cg_id_raw_a":-3.07091045,"cg_iq_a":-197.764008,"cg_iq_raw_a":-198.497894,"cg_iu_a":-80.7124863,"cg_iv_a":-119.571754,"cg_iw_a":200.284241,"cg_sample_age_us":23.8600006,"cg_sample_seq":4074916,"cg_sample_valid":1,"cg_theta_rad":1.89366281,"cg_vd_req_v":-1.93191624,"cg_vd_v":-1.93191624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41699123,"cg_vq_v":-8.41699123,"cg_vu_v":16.2760258,"cg_vv_v":0.87978512,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2454.32031,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":542.126851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":542.126857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":542.126862,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":542.200562,"values":{"Elec_RPM":-2352.38354,"EncoderCos":12752,"EncoderSin":35828,"GapTicks":49885,"Mech_RPM":-470.476715,"cg_du":45.3505402,"cg_dv":54.6494598,"cg_dw":54.0709801,"cg_id_a":11.9360018,"cg_id_raw_a":9.74767113,"cg_iq_a":-200.46405,"cg_iq_raw_a":-199.040482,"cg_iu_a":-184.804779,"cg_iv_a":25.9472656,"cg_iw_a":158.857513,"cg_sample_age_us":23.9254551,"cg_sample_seq":4076567,"cg_sample_valid":1,"cg_theta_rad":2.99309802,"cg_vd_req_v":-2.09257865,"cg_vd_v":-2.09257865,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42376232,"cg_vq_v":-8.42376232,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5293903,"dclink_p_w":-2536.93506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":542.53064,"values":{"Elec_RPM":-2353.0061,"EncoderCos":14279,"EncoderSin":24434,"GapTicks":49448,"Mech_RPM":-470.601227,"cg_du":55.0472069,"cg_dv":44.9527931,"cg_dw":48.0457611,"cg_id_a":8.78947067,"cg_id_raw_a":4.87736988,"cg_iq_a":-198.416977,"cg_iq_raw_a":-196.756332,"cg_iu_a":196.697815,"cg_iv_a":-69.9176788,"cg_iw_a":-126.780136,"cg_sample_age_us":24.0745449,"cg_sample_seq":4078267,"cg_sample_valid":1,"cg_theta_rad":3.57368445,"cg_vd_req_v":-2.08195591,"cg_vd_v":-2.08195591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41530704,"cg_vq_v":-8.41530704,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2471.43872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0904541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":542.884155,"values":{"Elec_RPM":-2355.33398,"EncoderCos":21765,"EncoderSin":15736,"GapTicks":49331,"Mech_RPM":-471.066803,"cg_du":44.8467522,"cg_dv":55.1532478,"cg_dw":50.1753845,"cg_id_a":-11.9070358,"cg_id_raw_a":-18.016964,"cg_iq_a":-197.055008,"cg_iq_raw_a":-196.561417,"cg_iu_a":-196.765228,"cg_iv_a":119.347595,"cg_iw_a":77.4176331,"cg_sample_age_us":23.9290905,"cg_sample_seq":4079967,"cg_sample_valid":1,"cg_theta_rad":4.15875149,"cg_vd_req_v":-1.66507256,"cg_vd_v":-1.66507256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4509716,"cg_vq_v":-8.4509716,"cg_vu_v":3.95903301,"cg_vv_v":22.8744144,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2343.90527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.1375122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":543.119376,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":543.119382,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":543.119388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":543.216187,"values":{"Elec_RPM":-2353.93823,"EncoderCos":22583,"EncoderSin":15194,"GapTicks":49416,"Mech_RPM":-470.787628,"cg_du":44.9239273,"cg_dv":55.0760727,"cg_dw":52.0572205,"cg_id_a":1.87588954,"cg_id_raw_a":-2.66573501,"cg_iq_a":-197.179062,"cg_iq_raw_a":-197.177322,"cg_iu_a":-196.982697,"cg_iv_a":77.8484116,"cg_iw_a":119.134285,"cg_sample_age_us":23.8999996,"cg_sample_seq":4081716,"cg_sample_valid":1,"cg_theta_rad":4.1993103,"cg_vd_req_v":-1.96510601,"cg_vd_v":-1.96510601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46022797,"cg_vq_v":-8.46022797,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1148682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":543.550171,"values":{"Elec_RPM":-2350.27197,"EncoderCos":33726,"EncoderSin":12619,"GapTicks":49287,"Mech_RPM":-470.054413,"cg_du":55.1933899,"cg_dv":44.8066101,"cg_dw":49.771553,"cg_id_a":-17.390564,"cg_id_raw_a":-19.96562,"cg_iq_a":-194.075195,"cg_iq_raw_a":-193.068298,"cg_iu_a":191.188751,"cg_iv_a":-136.42511,"cg_iw_a":-54.7636337,"cg_sample_age_us":23.9654541,"cg_sample_seq":4083416,"cg_sample_valid":1,"cg_theta_rad":4.77632046,"cg_vd_req_v":-1.56049514,"cg_vd_v":-1.56049514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54026604,"cg_vq_v":-8.54026604,"cg_vu_v":141.205521,"cg_vv_v":121.850235,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0763435,"dclink_p_w":-2471.36792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0956726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":543.903687,"values":{"Elec_RPM":-2348.63477,"EncoderCos":52480,"EncoderSin":35161,"GapTicks":49405,"Mech_RPM":-469.726929,"cg_du":51.5540543,"cg_dv":55.0862122,"cg_dw":44.9137878,"cg_id_a":-12.1266632,"cg_id_raw_a":-9.18130493,"cg_iq_a":-198.322174,"cg_iq_raw_a":-198.96756,"cg_iu_a":-19.4241619,"cg_iv_a":179.186188,"cg_iw_a":-159.762024,"cg_sample_age_us":23.5181828,"cg_sample_seq":4085017,"cg_sample_valid":1,"cg_theta_rad":0.131062225,"cg_vd_req_v":-1.69178188,"cg_vd_v":-1.69178188,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43681049,"cg_vq_v":-8.43681049,"cg_vu_v":134.607132,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2547.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0974426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":544.079265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":544.07927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":544.079276,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":544.233765,"values":{"Elec_RPM":-2349.41919,"EncoderCos":51398,"EncoderSin":25609,"GapTicks":49967,"Mech_RPM":-469.88382,"cg_du":54.1635246,"cg_dv":45.4254189,"cg_dw":54.5745811,"cg_id_a":17.3150063,"cg_id_raw_a":20.5880604,"cg_iq_a":-203.676254,"cg_iq_raw_a":-203.501709,"cg_iu_a":169.478699,"cg_iv_a":-183.288391,"cg_iw_a":13.8096924,"cg_sample_age_us":24.187273,"cg_sample_seq":4086816,"cg_sample_valid":1,"cg_theta_rad":5.93379831,"cg_vd_req_v":-2.2831986,"cg_vd_v":-2.2831986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32864189,"cg_vq_v":-8.32864189,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2450.521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1305542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":544.567749,"values":{"Elec_RPM":-2348.18457,"EncoderCos":38277,"EncoderSin":51892,"GapTicks":49629,"Mech_RPM":-469.636902,"cg_du":54.8822594,"cg_dv":52.8598175,"cg_dw":45.1177406,"cg_id_a":13.3700809,"cg_id_raw_a":11.5343351,"cg_iq_a":-203.551468,"cg_iq_raw_a":-201.626083,"cg_iu_a":48.2068329,"cg_iv_a":147.36409,"cg_iw_a":-195.570923,"cg_sample_age_us":23.9290905,"cg_sample_seq":4088417,"cg_sample_valid":1,"cg_theta_rad":1.28989935,"cg_vd_req_v":-2.18176484,"cg_vd_v":-2.18176484,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33194733,"cg_vq_v":-8.33194733,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0817566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":544.919312,"values":{"Elec_RPM":-2351.22437,"EncoderCos":46850,"EncoderSin":47010,"GapTicks":49286,"Mech_RPM":-470.244873,"cg_du":49.9879646,"cg_dv":44.806118,"cg_dw":55.193882,"cg_id_a":-11.3290977,"cg_id_raw_a":-16.2388458,"cg_iq_a":-195.23175,"cg_iq_raw_a":-194.198471,"cg_iu_a":57.5939865,"cg_iv_a":-190.319702,"cg_iw_a":141.859161,"cg_sample_age_us":23.6599998,"cg_sample_seq":4090217,"cg_sample_valid":1,"cg_theta_rad":0.79243201,"cg_vd_req_v":-1.70857275,"cg_vd_v":-1.70857275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50986671,"cg_vq_v":-8.50986671,"cg_vu_v":131.527878,"cg_vv_v":129.328415,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6975937,"dclink_p_w":-2423.89868,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":545.10327,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":545.103276,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":545.103282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":545.251343,"values":{"Elec_RPM":-2350.74976,"EncoderCos":17395,"EncoderSin":45837,"GapTicks":49358,"Mech_RPM":-470.149963,"cg_du":55.1284218,"cg_dv":48.5381584,"cg_dw":44.8715782,"cg_id_a":-11.0729675,"cg_id_raw_a":-11.0632648,"cg_iq_a":-196.741455,"cg_iq_raw_a":-195.913315,"cg_iu_a":155.561066,"cg_iv_a":24.9686584,"cg_iw_a":-180.529724,"cg_sample_age_us":23.8490906,"cg_sample_seq":4091817,"cg_sample_valid":1,"cg_theta_rad":2.43871951,"cg_vd_req_v":-1.68078601,"cg_vd_v":-1.68078601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49448395,"cg_vq_v":-8.49448395,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2395.35059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":545.602905,"values":{"Elec_RPM":-2349.76685,"EncoderCos":17272,"EncoderSin":45719,"GapTicks":49328,"Mech_RPM":-469.953369,"cg_du":55.1561852,"cg_dv":48.8596687,"cg_dw":44.8438148,"cg_id_a":-8.05604172,"cg_id_raw_a":-8.15150261,"cg_iq_a":-196.117752,"cg_iq_raw_a":-196.628311,"cg_iu_a":121.383133,"cg_iv_a":75.1663818,"cg_iw_a":-196.549515,"cg_sample_age_us":23.8418179,"cg_sample_seq":4093570,"cg_sample_valid":1,"cg_theta_rad":2.4819262,"cg_vd_req_v":-1.73754597,"cg_vd_v":-1.73754597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51109409,"cg_vq_v":-8.51109409,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.0869751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":545.93689,"values":{"Elec_RPM":-2354.14771,"EncoderCos":12577,"EncoderSin":34324,"GapTicks":49446,"Mech_RPM":-470.829529,"cg_du":44.9516563,"cg_dv":51.2590103,"cg_dw":55.0483437,"cg_id_a":-14.028348,"cg_id_raw_a":-12.4266729,"cg_iq_a":-199.552536,"cg_iq_raw_a":-200.873932,"cg_iu_a":-161.355011,"cg_iv_a":-24.1779785,"cg_iw_a":185.53299,"cg_sample_age_us":23.9363632,"cg_sample_seq":4095266,"cg_sample_valid":1,"cg_theta_rad":3.06581855,"cg_vd_req_v":-1.55500174,"cg_vd_v":-1.55500174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40677738,"cg_vq_v":-8.40677738,"cg_vu_v":19.3552723,"cg_vv_v":18.9153805,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2478.49854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.0608521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":546.09539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":546.095397,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":546.095402,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":546.270874,"values":{"Elec_RPM":-2351.60864,"EncoderCos":14891,"EncoderSin":23155,"GapTicks":49977,"Mech_RPM":-470.321747,"cg_du":54.566246,"cg_dv":45.8961334,"cg_dw":45.433754,"cg_id_a":10.5988321,"cg_id_raw_a":16.1835842,"cg_iq_a":-203.904022,"cg_iq_raw_a":-207.648071,"cg_iu_a":180.859268,"cg_iv_a":-16.2043152,"cg_iw_a":-166.394653,"cg_sample_age_us":23.994545,"cg_sample_seq":4096966,"cg_sample_valid":1,"cg_theta_rad":3.64070129,"cg_vd_req_v":-2.08754349,"cg_vd_v":-2.08754349,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31269741,"cg_vq_v":-8.31269741,"cg_vu_v":25.953661,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.0760136,"dclink_p_w":-2319.52368,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.0939331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":546.622437,"values":{"Elec_RPM":-2348.94287,"EncoderCos":22491,"EncoderSin":15255,"GapTicks":49398,"Mech_RPM":-469.788574,"cg_du":44.9073715,"cg_dv":55.0926285,"cg_dw":51.8777771,"cg_id_a":-1.44713163,"cg_id_raw_a":-2.92758751,"cg_iq_a":-198.322418,"cg_iq_raw_a":-199.17955,"cg_iu_a":-195.170502,"cg_iv_a":73.390419,"cg_iw_a":121.780083,"cg_sample_age_us":23.8418179,"cg_sample_seq":4098668,"cg_sample_valid":1,"cg_theta_rad":4.20454073,"cg_vd_req_v":-1.90255284,"cg_vd_v":-1.90255284,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46352959,"cg_vq_v":-8.46352959,"cg_vu_v":122.290138,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.1521244,"dclink_p_w":-2330.50537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1026611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":546.954468,"values":{"Elec_RPM":-2349.70923,"EncoderCos":34154,"EncoderSin":12631,"GapTicks":49346,"Mech_RPM":-469.941864,"cg_du":55.1399269,"cg_dv":44.8600731,"cg_dw":49.0484734,"cg_id_a":-7.57926273,"cg_id_raw_a":-10.1940527,"cg_iq_a":-196.281738,"cg_iq_raw_a":-196.439575,"cg_iu_a":196.697815,"cg_iv_a":-110.619507,"cg_iw_a":-86.0783081,"cg_sample_age_us":24.0963631,"cg_sample_seq":4100366,"cg_sample_valid":1,"cg_theta_rad":4.79770613,"cg_vd_req_v":-1.77069688,"cg_vd_v":-1.77069688,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45501518,"cg_vq_v":-8.45501518,"cg_vu_v":6.1584959,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2455.75024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.2092285,"temp_inv2_c":42.1218262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":547.118614,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":547.11862,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":547.118626,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":547.288452,"values":{"Elec_RPM":-2348.55078,"EncoderCos":44798,"EncoderSin":16704,"GapTicks":49410,"Mech_RPM":-469.710175,"cg_du":44.9187965,"cg_dv":55.0812035,"cg_dw":48.7096252,"cg_id_a":-14.1033535,"cg_id_raw_a":-11.655632,"cg_iq_a":-198.980804,"cg_iq_raw_a":-199.720383,"cg_iu_a":-183.391266,"cg_iv_a":156.388824,"cg_iw_a":17.2891083,"cg_sample_age_us":23.8054543,"cg_sample_seq":4102066,"cg_sample_valid":1,"cg_theta_rad":5.37490034,"cg_vd_req_v":-1.68685639,"cg_vd_v":-1.68685639,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41475773,"cg_vq_v":-8.41475773,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":547.640015,"values":{"Elec_RPM":-2344.80249,"EncoderCos":51566,"EncoderSin":25977,"GapTicks":49866,"Mech_RPM":-468.96048,"cg_du":54.6670837,"cg_dv":45.3329163,"cg_dw":53.8551064,"cg_id_a":9.79678535,"cg_id_raw_a":15.1350298,"cg_iq_a":-202.759125,"cg_iq_raw_a":-203.153625,"cg_iu_a":172.26947,"cg_iv_a":-177.126938,"cg_iw_a":4.85746765,"cg_sample_age_us":24.1036358,"cg_sample_seq":4103766,"cg_sample_valid":1,"cg_theta_rad":5.95268393,"cg_vd_req_v":-2.13320374,"cg_vd_v":-2.13320374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37340355,"cg_vq_v":-8.37340355,"cg_vu_v":40.0302238,"cg_vv_v":39.1504402,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1009216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":547.972046,"values":{"Elec_RPM":-2345.98291,"EncoderCos":52049,"EncoderSin":37368,"GapTicks":49599,"Mech_RPM":-469.196564,"cg_du":47.1373291,"cg_dv":54.9094276,"cg_dw":45.0905724,"cg_id_a":12.1980553,"cg_id_raw_a":11.5288773,"cg_iq_a":-202.127075,"cg_iq_raw_a":-200.616089,"cg_iu_a":-147.328644,"cg_iv_a":195.604645,"cg_iw_a":-48.276001,"cg_sample_age_us":23.4854546,"cg_sample_seq":4105466,"cg_sample_valid":1,"cg_theta_rad":0.243053094,"cg_vd_req_v":-2.21767616,"cg_vd_v":-2.21767616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36788273,"cg_vq_v":-8.36788273,"cg_vu_v":39.590332,"cg_vv_v":70.3828125,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2492.03296,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1130981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":548.111462,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":548.111467,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":548.111473,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":548.388062,"values":{"Elec_RPM":-2345.18994,"EncoderCos":17483,"EncoderSin":19339,"GapTicks":49684,"Mech_RPM":-469.037964,"cg_du":53.0207367,"cg_dv":54.8320656,"cg_dw":45.1679344,"cg_id_a":-1.87590218,"cg_id_raw_a":4.33588171,"cg_iq_a":-199.542664,"cg_iq_raw_a":-200.923935,"cg_iu_a":3.66316056,"cg_iv_a":168.856689,"cg_iw_a":-172.519852,"cg_sample_age_us":23.9654541,"cg_sample_seq":4107467,"cg_sample_valid":1,"cg_theta_rad":3.87008834,"cg_vd_req_v":-1.81830716,"cg_vd_v":-1.81830716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39013481,"cg_vq_v":-8.39013481,"cg_vu_v":122.290138,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2409.73462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":548.907593,"values":{"Elec_RPM":-2344.46753,"EncoderCos":42550,"EncoderSin":50230,"GapTicks":49441,"Mech_RPM":-468.893494,"cg_du":55.0534096,"cg_dv":44.9465904,"cg_dw":47.9458008,"cg_id_a":11.6269493,"cg_id_raw_a":7.8580761,"cg_iq_a":-200.301575,"cg_iq_raw_a":-199.665619,"cg_iu_a":198.473755,"cg_iv_a":-63.1400757,"cg_iw_a":-135.333679,"cg_sample_age_us":23.9290905,"cg_sample_seq":4110066,"cg_sample_valid":1,"cg_theta_rad":1.06400526,"cg_vd_req_v":-2.18466353,"cg_vd_v":-2.18466353,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39478111,"cg_vq_v":-8.39478111,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":549.007493,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":549.007504,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":549.007507,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":549.103616,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":549.103622,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":549.103627,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":549.298218,"values":{"Elec_RPM":-2341.4895,"EncoderCos":14605,"EncoderSin":23687,"GapTicks":49767,"Mech_RPM":-468.297913,"cg_du":54.7566795,"cg_dv":45.2433205,"cg_dw":46.5398026,"cg_id_a":18.7643185,"cg_id_raw_a":15.9863911,"cg_iq_a":-204.130554,"cg_iq_raw_a":-203.069153,"cg_iu_a":189.376556,"cg_iv_a":-31.7166748,"cg_iw_a":-157.659882,"cg_sample_age_us":24.0599995,"cg_sample_seq":4112167,"cg_sample_valid":1,"cg_theta_rad":3.61101103,"cg_vd_req_v":-2.27814031,"cg_vd_v":-2.27814031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31524372,"cg_vq_v":-8.31524372,"cg_vu_v":106.453995,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2436.40137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1166077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":549.651733,"values":{"Elec_RPM":-2343.03271,"EncoderCos":42660,"EncoderSin":15213,"GapTicks":49497,"Mech_RPM":-468.606567,"cg_du":48.0464706,"cg_dv":55.0026932,"cg_dw":44.9973068,"cg_id_a":-3.38166761,"cg_id_raw_a":-8.53281784,"cg_iq_a":-200.508636,"cg_iq_raw_a":-200.391968,"cg_iu_a":-149.068359,"cg_iv_a":196.474503,"cg_iw_a":-47.4061432,"cg_sample_age_us":26.8272724,"cg_sample_seq":4113769,"cg_sample_valid":1,"cg_theta_rad":5.27709723,"cg_vd_req_v":-1.91587818,"cg_vd_v":-1.91587818,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37984276,"cg_vq_v":-8.37984276,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2360.16577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1148682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":549.981812,"values":{"Elec_RPM":-2345.44995,"EncoderCos":33607,"EncoderSin":12567,"GapTicks":49328,"Mech_RPM":-469.089996,"cg_du":55.1558876,"cg_dv":44.8441124,"cg_dw":50.0456734,"cg_id_a":-17.2580376,"cg_id_raw_a":-17.9489384,"cg_iq_a":-193.944397,"cg_iq_raw_a":-193.446671,"cg_iu_a":188.035553,"cg_iv_a":-139.614578,"cg_iw_a":-48.4209747,"cg_sample_age_us":24.0599995,"cg_sample_seq":4115567,"cg_sample_valid":1,"cg_theta_rad":4.76988029,"cg_vd_req_v":-1.55631816,"cg_vd_v":-1.55631816,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50120735,"cg_vq_v":-8.50120735,"cg_vu_v":106.893898,"cg_vv_v":94.1370087,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-18.0404282,"dclink_p_w":-2602.95874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1166077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":550.09558,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":550.095585,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":550.095591,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":550.315796,"values":{"Elec_RPM":-2342.60864,"EncoderCos":52446,"EncoderSin":35410,"GapTicks":49332,"Mech_RPM":-468.521729,"cg_du":50.9444466,"cg_dv":55.1520004,"cg_dw":44.8479996,"cg_id_a":-15.1483583,"cg_id_raw_a":-13.1740923,"cg_iq_a":-196.636673,"cg_iq_raw_a":-198.008392,"cg_iu_a":-30.4422855,"cg_iv_a":184.115356,"cg_iw_a":-153.673065,"cg_sample_age_us":23.5145454,"cg_sample_seq":4117166,"cg_sample_valid":1,"cg_theta_rad":0.14432627,"cg_vd_req_v":-1.64783859,"cg_vd_v":-1.64783859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49952221,"cg_vq_v":-8.49952221,"cg_vu_v":24.1940918,"cg_vv_v":23.3143044,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7396049,"dclink_p_w":-2575.16187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1113586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":550.667358,"values":{"Elec_RPM":-2344.18262,"EncoderCos":51232,"EncoderSin":25223,"GapTicks":49647,"Mech_RPM":-468.836517,"cg_du":53.290863,"cg_dv":45.1337204,"cg_dw":54.8662796,"cg_id_a":20.094471,"cg_id_raw_a":20.3640747,"cg_iq_a":-202.344421,"cg_iq_raw_a":-201.366867,"cg_iu_a":165.346893,"cg_iv_a":-187.63765,"cg_iw_a":22.2907562,"cg_sample_age_us":23.6709099,"cg_sample_seq":4118968,"cg_sample_valid":1,"cg_theta_rad":5.92198849,"cg_vd_req_v":-2.36137772,"cg_vd_v":-2.36137772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37708855,"cg_vq_v":-8.37708855,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.6254368,"dclink_p_w":-2543.08179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1166077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":550.99939,"values":{"Elec_RPM":-2346.15381,"EncoderCos":47292,"EncoderSin":46637,"GapTicks":49391,"Mech_RPM":-469.230774,"cg_du":48.7473869,"cg_dv":44.9012871,"cg_dw":55.0987129,"cg_id_a":-12.2328091,"cg_id_raw_a":-11.6645508,"cg_iq_a":-198.168915,"cg_iq_raw_a":-199.998154,"cg_iu_a":26.8229713,"cg_iv_a":-181.766144,"cg_iw_a":154.943176,"cg_sample_age_us":23.6090908,"cg_sample_seq":4120616,"cg_sample_valid":1,"cg_theta_rad":0.767641187,"cg_vd_req_v":-1.67294872,"cg_vd_v":-1.67294872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44175625,"cg_vq_v":-8.44175625,"cg_vu_v":128.008743,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1130981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":551.119232,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":551.119239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":551.119244,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":551.333374,"values":{"Elec_RPM":-2344.49561,"EncoderCos":26755,"EncoderSin":51981,"GapTicks":49372,"Mech_RPM":-468.899109,"cg_du":44.8842888,"cg_dv":48.6482315,"cg_dw":55.1157112,"cg_id_a":-8.73503304,"cg_id_raw_a":-13.4470186,"cg_iq_a":-198.760849,"cg_iq_raw_a":-198.735245,"cg_iu_a":-105.648239,"cg_iv_a":-93.5124359,"cg_iw_a":199.160675,"cg_sample_age_us":23.8927269,"cg_sample_seq":4122266,"cg_sample_valid":1,"cg_theta_rad":1.87389624,"cg_vd_req_v":-1.74227822,"cg_vd_v":-1.74227822,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44380474,"cg_vq_v":-8.44380474,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.8302155,"dclink_p_w":-2572.62842,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1357727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":551.684937,"values":{"Elec_RPM":-2348.30127,"EncoderCos":26017,"EncoderSin":51740,"GapTicks":49561,"Mech_RPM":-469.660278,"cg_du":45.0556908,"cg_dv":47.3202324,"cg_dw":54.9443092,"cg_id_a":9.14471817,"cg_id_raw_a":6.32568693,"cg_iq_a":-201.38504,"cg_iq_raw_a":-200.939407,"cg_iu_a":-57.443943,"cg_iv_a":-140.774384,"cg_iw_a":198.218323,"cg_sample_age_us":23.863636,"cg_sample_seq":4124016,"cg_sample_valid":1,"cg_theta_rad":1.91491306,"cg_vd_req_v":-2.09487748,"cg_vd_v":-2.09487748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40043068,"cg_vq_v":-8.40043068,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1375122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":552.018921,"values":{"Elec_RPM":-2348.23145,"EncoderCos":16613,"EncoderSin":44930,"GapTicks":49398,"Mech_RPM":-469.646301,"cg_du":55.0919914,"cg_dv":50.9376297,"cg_dw":44.9080086,"cg_id_a":-0.0766574144,"cg_id_raw_a":-2.30800915,"cg_iq_a":-201.083038,"cg_iq_raw_a":-200.81456,"cg_iu_a":116.92514,"cg_iv_a":81.6540222,"cg_iw_a":-198.579163,"cg_sample_age_us":23.7909088,"cg_sample_seq":4125716,"cg_sample_valid":1,"cg_theta_rad":2.48860765,"cg_vd_req_v":-1.90285826,"cg_vd_v":-1.90285826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36979675,"cg_vq_v":-8.36979675,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1427612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":552.111221,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":552.111227,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":552.111233,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":552.370483,"values":{"Elec_RPM":-2350.19385,"EncoderCos":12687,"EncoderSin":35260,"GapTicks":49863,"Mech_RPM":-470.038788,"cg_du":45.3306923,"cg_dv":53.6888008,"cg_dw":54.6693077,"cg_id_a":7.31409836,"cg_id_raw_a":11.6825905,"cg_iq_a":-203.331131,"cg_iq_raw_a":-202.89325,"cg_iu_a":-163.89209,"cg_iv_a":-20.879776,"cg_iw_a":184.771866,"cg_sample_age_us":23.8381824,"cg_sample_seq":4127420,"cg_sample_valid":1,"cg_theta_rad":3.06311178,"cg_vd_req_v":-1.98342037,"cg_vd_v":-1.98342037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31710243,"cg_vq_v":-8.31710243,"cg_vu_v":3.51914048,"cg_vv_v":18.9153805,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1514893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":552.702515,"values":{"Elec_RPM":-2349.49854,"EncoderCos":14800,"EncoderSin":23389,"GapTicks":50013,"Mech_RPM":-469.899689,"cg_du":54.5328255,"cg_dv":45.4671745,"cg_dw":45.7225189,"cg_id_a":14.1645937,"cg_id_raw_a":16.6278458,"cg_iq_a":-203.764587,"cg_iq_raw_a":-204.179962,"cg_iu_a":183.541306,"cg_iv_a":-18.6688995,"cg_iw_a":-164.872406,"cg_sample_age_us":24.0672722,"cg_sample_seq":4129117,"cg_sample_valid":1,"cg_theta_rad":3.62923169,"cg_vd_req_v":-2.16636014,"cg_vd_v":-2.16636014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34982681,"cg_vq_v":-8.34982681,"cg_vu_v":137.246475,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2478.44922,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1183472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":553.036499,"values":{"Elec_RPM":-2351.28882,"EncoderCos":22812,"EncoderSin":15097,"GapTicks":49504,"Mech_RPM":-470.257751,"cg_du":45.0036621,"cg_dv":54.9963379,"cg_dw":52.5272064,"cg_id_a":5.63101006,"cg_id_raw_a":1.19561064,"cg_iq_a":-197.397186,"cg_iq_raw_a":-195.905884,"cg_iu_a":-193.575775,"cg_iv_a":65.8154602,"cg_iw_a":127.760315,"cg_sample_age_us":23.8963642,"cg_sample_seq":4130817,"cg_sample_valid":1,"cg_theta_rad":4.21133661,"cg_vd_req_v":-2.02932453,"cg_vd_v":-2.02932453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45827675,"cg_vq_v":-8.45827675,"cg_vu_v":110.413033,"cg_vv_v":111.732712,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1200867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":553.103458,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":553.103464,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":553.103468,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":553.388062,"values":{"Elec_RPM":-2353.85474,"EncoderCos":33968,"EncoderSin":12623,"GapTicks":49367,"Mech_RPM":-470.770966,"cg_du":55.1206169,"cg_dv":44.8793831,"cg_dw":49.3550072,"cg_id_a":-13.151288,"cg_id_raw_a":-16.2080231,"cg_iq_a":-197.187927,"cg_iq_raw_a":-196.418579,"cg_iu_a":195.429291,"cg_iv_a":-124.174713,"cg_iw_a":-71.2545776,"cg_sample_age_us":24.1036358,"cg_sample_seq":4132517,"cg_sample_valid":1,"cg_theta_rad":4.7887454,"cg_vd_req_v":-1.65227306,"cg_vd_v":-1.65227306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4192524,"cg_vq_v":-8.4192524,"cg_vu_v":128.448624,"cg_vv_v":117.891212,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1096497,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":553.720093,"values":{"Elec_RPM":-2351.08789,"EncoderCos":44583,"EncoderSin":16528,"GapTicks":49468,"Mech_RPM":-470.21759,"cg_du":44.9717941,"cg_dv":55.0282059,"cg_dw":48.0334435,"cg_id_a":-10.6366501,"cg_id_raw_a":-5.69833469,"cg_iq_a":-200.904755,"cg_iq_raw_a":-202.767487,"cg_iu_a":-179.078247,"cg_iv_a":166.899536,"cg_iw_a":12.1787186,"cg_sample_age_us":23.954546,"cg_sample_seq":4134217,"cg_sample_valid":1,"cg_theta_rad":5.36090183,"cg_vd_req_v":-1.749066,"cg_vd_v":-1.749066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4081974,"cg_vq_v":-8.4081974,"cg_vu_v":129.768311,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1166077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":554.054077,"values":{"Elec_RPM":-2348.7981,"EncoderCos":52304,"EncoderSin":36219,"GapTicks":49388,"Mech_RPM":-469.759613,"cg_du":49.2036858,"cg_dv":55.1017456,"cg_dw":44.8982544,"cg_id_a":-13.0168476,"cg_id_raw_a":-16.0472221,"cg_iq_a":-198.781479,"cg_iq_raw_a":-198.444885,"cg_iu_a":-92.0930481,"cg_iv_a":198.105453,"cg_iw_a":-120.98111,"cg_sample_age_us":23.5145454,"cg_sample_seq":4135868,"cg_sample_valid":1,"cg_theta_rad":0.19547759,"cg_vd_req_v":-1.71026182,"cg_vd_v":-1.71026182,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41422653,"cg_vq_v":-8.41422653,"cg_vu_v":105.134323,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.3532772,"dclink_p_w":-2373.91626,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1340332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":554.095328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":554.095334,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":554.095339,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":554.40564,"values":{"Elec_RPM":-2352.25806,"EncoderCos":51738,"EncoderSin":26645,"GapTicks":49445,"Mech_RPM":-470.45163,"cg_du":55.0496788,"cg_dv":44.9503212,"cg_dw":51.9836617,"cg_id_a":-9.96984863,"cg_id_raw_a":-5.32299232,"cg_iq_a":-195.942322,"cg_iq_raw_a":-197.407318,"cg_iu_a":174.951508,"cg_iv_a":-162.556915,"cg_iw_a":-12.3945923,"cg_sample_age_us":24.1399994,"cg_sample_seq":4137667,"cg_sample_valid":1,"cg_theta_rad":5.98693323,"cg_vd_req_v":-1.70317066,"cg_vd_v":-1.70317066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48374557,"cg_vq_v":-8.48374557,"cg_vu_v":143.404984,"cg_vv_v":122.730026,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.2372131,"temp_inv2_c":42.1270752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":554.739624,"values":{"Elec_RPM":-2348.57324,"EncoderCos":37210,"EncoderSin":52228,"GapTicks":49810,"Mech_RPM":-469.71463,"cg_du":53.6579132,"cg_dv":54.7177925,"cg_dw":45.2822075,"cg_id_a":6.18645477,"cg_id_raw_a":10.7746277,"cg_iq_a":-202.128143,"cg_iq_raw_a":-203.511337,"cg_iu_a":0.763653874,"cg_iv_a":171.103806,"cg_iw_a":-171.867462,"cg_sample_age_us":23.8054543,"cg_sample_seq":4139267,"cg_sample_valid":1,"cg_theta_rad":1.35894573,"cg_vd_req_v":-2.01263213,"cg_vd_v":-2.01263213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40021896,"cg_vq_v":-8.40021896,"cg_vu_v":0.43989256,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.0939331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":555.069702,"values":{"Elec_RPM":-2354.57861,"EncoderCos":25801,"EncoderSin":51683,"GapTicks":49665,"Mech_RPM":-470.915741,"cg_du":45.1507149,"cg_dv":46.9223595,"cg_dw":54.8492851,"cg_id_a":13.0356522,"cg_id_raw_a":12.1555977,"cg_iq_a":-200.971771,"cg_iq_raw_a":-199.724289,"cg_iu_a":-43.0913849,"cg_iv_a":-148.820511,"cg_iw_a":191.911896,"cg_sample_age_us":23.863636,"cg_sample_seq":4140967,"cg_sample_valid":1,"cg_theta_rad":1.92342961,"cg_vd_req_v":-2.15445232,"cg_vd_v":-2.15445232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38457108,"cg_vq_v":-8.38457108,"cg_vu_v":101.615181,"cg_vv_v":85.3391571,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1392517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":555.087305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":555.087313,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":555.087319,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":555.423218,"values":{"Elec_RPM":-2355.39331,"EncoderCos":16555,"EncoderSin":44796,"GapTicks":49403,"Mech_RPM":-471.078674,"cg_du":55.0879173,"cg_dv":51.1990395,"cg_dw":44.9120827,"cg_id_a":1.69110894,"cg_id_raw_a":-2.04501939,"cg_iq_a":-202.145935,"cg_iq_raw_a":-198.361435,"cg_iu_a":96.0849304,"cg_iv_a":106.046127,"cg_iw_a":-202.131058,"cg_sample_age_us":23.9218178,"cg_sample_seq":4142667,"cg_sample_valid":1,"cg_theta_rad":2.50783467,"cg_vd_req_v":-1.9435066,"cg_vd_v":-1.9435066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33117676,"cg_vq_v":-8.33117676,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.425766,"dclink_p_w":-2369.98779,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1200867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":555.755249,"values":{"Elec_RPM":-2358.80103,"EncoderCos":12551,"EncoderSin":33996,"GapTicks":49382,"Mech_RPM":-471.760223,"cg_du":44.8935013,"cg_dv":50.5724373,"cg_dw":55.1064987,"cg_id_a":-13.688714,"cg_id_raw_a":-11.6938457,"cg_iq_a":-200.422516,"cg_iq_raw_a":-201.323898,"cg_iu_a":-151.134247,"cg_iv_a":-39.1829224,"cg_iw_a":190.317169,"cg_sample_age_us":23.9072723,"cg_sample_seq":4144366,"cg_sample_valid":1,"cg_theta_rad":3.08259487,"cg_vd_req_v":-1.58170497,"cg_vd_v":-1.58170497,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40396214,"cg_vq_v":-8.40396214,"cg_vu_v":34.3116188,"cg_vv_v":33.4318352,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1235962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":556.08728,"values":{"Elec_RPM":-2355.10278,"EncoderCos":15157,"EncoderSin":22751,"GapTicks":49608,"Mech_RPM":-471.020569,"cg_du":54.9016113,"cg_dv":47.1410942,"cg_dw":45.0983887,"cg_id_a":-2.40530872,"cg_id_raw_a":5.80960751,"cg_iq_a":-198.434601,"cg_iq_raw_a":-200.144623,"cg_iu_a":171.617081,"cg_iv_a":0.141647339,"cg_iw_a":-171.758728,"cg_sample_age_us":24.0563641,"cg_sample_seq":4146066,"cg_sample_valid":1,"cg_theta_rad":3.66646218,"cg_vd_req_v":-1.81772256,"cg_vd_v":-1.81772256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44992542,"cg_vq_v":-8.44992542,"cg_vu_v":32.5520515,"cg_vv_v":9.23774433,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2485.0354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1462402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":556.111023,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":556.11103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":556.111036,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":556.438843,"values":{"Elec_RPM":-2352.64551,"EncoderCos":23366,"EncoderSin":14795,"GapTicks":49798,"Mech_RPM":-470.529083,"cg_du":45.2713966,"cg_dv":54.7286034,"cg_dw":53.7322502,"cg_id_a":11.8919487,"cg_id_raw_a":10.2225933,"cg_iq_a":-198.00499,"cg_iq_raw_a":-197.528946,"cg_iu_a":-185.89209,"cg_iv_a":28.2668457,"cg_iw_a":157.625244,"cg_sample_age_us":23.8418179,"cg_sample_seq":4147766,"cg_sample_valid":1,"cg_theta_rad":4.24076223,"cg_vd_req_v":-2.14025736,"cg_vd_v":-2.14025736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41607285,"cg_vq_v":-8.41607285,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.0678101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":556.772827,"values":{"Elec_RPM":-2350.96094,"EncoderCos":24049,"EncoderSin":14509,"GapTicks":49861,"Mech_RPM":-470.192169,"cg_du":45.3290863,"cg_dv":53.6143341,"cg_dw":54.6709137,"cg_id_a":4.580266,"cg_id_raw_a":8.93211651,"cg_iq_a":-203.205688,"cg_iq_raw_a":-203.063858,"cg_iu_a":-180.020599,"cg_iv_a":5.68695068,"cg_iw_a":174.333649,"cg_sample_age_us":23.9290905,"cg_sample_seq":4149516,"cg_sample_valid":1,"cg_theta_rad":4.27810144,"cg_vd_req_v":-1.98062551,"cg_vd_v":-1.98062551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31669044,"cg_vq_v":-8.31669044,"cg_vu_v":20.6749516,"cg_vv_v":24.1940918,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2469.34692,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1793823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":557.103038,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":557.103043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":557.103048,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":557.126343,"values":{"Elec_RPM":-2347.90405,"EncoderCos":35078,"EncoderSin":12743,"GapTicks":49541,"Mech_RPM":-469.580811,"cg_du":54.9619141,"cg_dv":45.0380859,"cg_dw":47.425251,"cg_id_a":11.7244425,"cg_id_raw_a":8.39819527,"cg_iq_a":-202.385895,"cg_iq_raw_a":-200.307114,"cg_iu_a":197.567657,"cg_iv_a":-67.0544281,"cg_iw_a":-132.724121,"cg_sample_age_us":24.0599995,"cg_sample_seq":4151217,"cg_sample_valid":1,"cg_theta_rad":4.84289885,"cg_vd_req_v":-2.16992521,"cg_vd_v":-2.16992521,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35258293,"cg_vq_v":-8.35258293,"cg_vu_v":140.325729,"cg_vv_v":124.049698,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2474.05347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1340332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":557.458374,"values":{"Elec_RPM":-2349.91895,"EncoderCos":45576,"EncoderSin":17346,"GapTicks":49305,"Mech_RPM":-469.983765,"cg_du":44.8236313,"cg_dv":55.1763687,"cg_dw":50.7668915,"cg_id_a":-5.76099539,"cg_id_raw_a":-9.95314789,"cg_iq_a":-196.650696,"cg_iq_raw_a":-195.663925,"cg_iu_a":-195.279236,"cg_iv_a":112.171326,"cg_iw_a":83.1079102,"cg_sample_age_us":23.8890915,"cg_sample_seq":4152917,"cg_sample_valid":1,"cg_theta_rad":5.42624617,"cg_vd_req_v":-1.87900221,"cg_vd_v":-1.87900221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47623348,"cg_vq_v":-8.47623348,"cg_vu_v":123.169922,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2540.60693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1497498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103781186,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":557.790405,"values":{"Elec_RPM":-2350.84839,"EncoderCos":51903,"EncoderSin":27204,"GapTicks":49330,"Mech_RPM":-470.169678,"cg_du":55.1536636,"cg_dv":44.8463364,"cg_dw":50.6267357,"cg_id_a":-14.6027412,"cg_id_raw_a":-12.77034,"cg_iq_a":-195.128387,"cg_iq_raw_a":-194.854523,"cg_iu_a":187.600616,"cg_iv_a":-146.935822,"cg_iw_a":-40.6647873,"cg_sample_age_us":24.1654549,"cg_sample_seq":4154616,"cg_sample_valid":1,"cg_theta_rad":6.01613855,"cg_vd_req_v":-1.63201928,"cg_vd_v":-1.63201928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47802639,"cg_vq_v":-8.47802639,"cg_vu_v":2.19946289,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.3083038,"dclink_p_w":-2497.32446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1113586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":558.094979,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":558.094985,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":558.09499,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":558.141968,"values":{"Elec_RPM":-2349.39453,"EncoderCos":51756,"EncoderSin":38450,"GapTicks":49843,"Mech_RPM":-469.878906,"cg_du":45.3118401,"cg_dv":54.6881599,"cg_dw":46.2464256,"cg_id_a":8.49851513,"cg_id_raw_a":14.2987785,"cg_iq_a":-203.972382,"cg_iq_raw_a":-204.955414,"cg_iu_a":-175.272644,"cg_iv_a":175.996735,"cg_iw_a":-0.724082947,"cg_sample_age_us":23.5072727,"cg_sample_seq":4156316,"cg_sample_valid":1,"cg_theta_rad":0.302691221,"cg_vd_req_v":-2.12116432,"cg_vd_v":-2.12116432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33933544,"cg_vq_v":-8.33933544,"cg_vu_v":18.9153805,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.681284,"dclink_p_w":-2406.85498,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1497498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":558.638062,"values":{"Elec_RPM":-2348.11743,"EncoderCos":47885,"EncoderSin":45844,"GapTicks":50037,"Mech_RPM":-469.623474,"cg_du":45.8026161,"cg_dv":45.4883041,"cg_dw":54.5116959,"cg_id_a":6.74014568,"cg_id_raw_a":10.6310396,"cg_iq_a":-205.444611,"cg_iq_raw_a":-206.578659,"cg_iu_a":-10.7256413,"cg_iv_a":-172.270264,"cg_iw_a":182.995911,"cg_sample_age_us":23.4127274,"cg_sample_seq":4158616,"cg_sample_valid":1,"cg_theta_rad":0.708780468,"cg_vd_req_v":-2.05992723,"cg_vd_v":-2.05992723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32579708,"cg_vq_v":-8.32579708,"cg_vu_v":102.93486,"cg_vv_v":77.4210892,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2526.70654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1427612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":558.990952,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":558.990963,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":558.990966,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":559.116577,"values":{"Elec_RPM":-2349.02734,"EncoderCos":22153,"EncoderSin":15485,"GapTicks":49365,"Mech_RPM":-469.80545,"cg_du":44.877449,"cg_dv":55.122551,"cg_dw":51.1001282,"cg_id_a":-6.8405304,"cg_id_raw_a":-10.6030521,"cg_iq_a":-196.35289,"cg_iq_raw_a":-195.931625,"cg_iu_a":-194.73558,"cg_iv_a":109.742996,"cg_iw_a":84.9925842,"cg_sample_age_us":23.9654541,"cg_sample_seq":4161217,"cg_sample_valid":1,"cg_theta_rad":4.17486191,"cg_vd_req_v":-1.76961064,"cg_vd_v":-1.76961064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46935844,"cg_vq_v":-8.46935844,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1375122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":559.118912,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":559.118918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":559.118923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":559.470093,"values":{"Elec_RPM":-2353.01709,"EncoderCos":33372,"EncoderSin":12596,"GapTicks":49336,"Mech_RPM":-470.603424,"cg_du":55.148632,"cg_dv":44.851368,"cg_dw":50.5642891,"cg_id_a":-17.66152,"cg_id_raw_a":-14.7100992,"cg_iq_a":-196.785126,"cg_iq_raw_a":-196.689651,"cg_iu_a":190.572601,"cg_iv_a":-150.596451,"cg_iw_a":-36.6779633,"cg_sample_age_us":24.0890903,"cg_sample_seq":4162916,"cg_sample_valid":1,"cg_theta_rad":4.76817989,"cg_vd_req_v":-1.54468179,"cg_vd_v":-1.54468179,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45512581,"cg_vq_v":-8.45512581,"cg_vu_v":142.965088,"cg_vv_v":137.246475,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2380.96973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1654358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":559.802124,"values":{"Elec_RPM":-2348.75464,"EncoderCos":44196,"EncoderSin":16212,"GapTicks":49706,"Mech_RPM":-469.750946,"cg_du":45.1876411,"cg_dv":54.8123589,"cg_dw":46.6817513,"cg_id_a":3.55869436,"cg_id_raw_a":6.90714645,"cg_iq_a":-202.895309,"cg_iq_raw_a":-204.194977,"cg_iu_a":-174.910202,"cg_iv_a":175.34433,"cg_iw_a":-0.434135437,"cg_sample_age_us":23.9509087,"cg_sample_seq":4164616,"cg_sample_valid":1,"cg_theta_rad":5.33066559,"cg_vd_req_v":-2.03346062,"cg_vd_v":-2.03346062,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3866396,"cg_vq_v":-8.3866396,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2515.42896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1479797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":560.109092,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":560.109097,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":560.109102,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":560.153687,"values":{"Elec_RPM":-2358.02051,"EncoderCos":50912,"EncoderSin":24386,"GapTicks":49379,"Mech_RPM":-471.604095,"cg_du":51.6127548,"cg_dv":44.8904381,"cg_dw":55.1095619,"cg_id_a":6.1967001,"cg_id_raw_a":2.03657031,"cg_iq_a":-197.530396,"cg_iq_raw_a":-196.612549,"cg_iu_a":157.590729,"cg_iv_a":-189.739807,"cg_iw_a":32.1490707,"cg_sample_age_us":24.5072727,"cg_sample_seq":4166321,"cg_sample_valid":1,"cg_theta_rad":5.91005516,"cg_vd_req_v":-2.09948921,"cg_vd_v":-2.09948921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44883251,"cg_vq_v":-8.44883251,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2486.84155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1514893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":560.487671,"values":{"Elec_RPM":-2354.80444,"EncoderCos":52229,"EncoderSin":36639,"GapTicks":49446,"Mech_RPM":-470.960876,"cg_du":48.4370422,"cg_dv":55.0483551,"cg_dw":44.9516449,"cg_id_a":-5.74157953,"cg_id_raw_a":-11.1928253,"cg_iq_a":-200.736847,"cg_iq_raw_a":-200.525604,"cg_iu_a":-103.872292,"cg_iv_a":200.606293,"cg_iw_a":-96.7340012,"cg_sample_age_us":23.4927273,"cg_sample_seq":4168016,"cg_sample_valid":1,"cg_theta_rad":0.207277089,"cg_vd_req_v":-1.86697161,"cg_vd_v":-1.86697161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36437988,"cg_vq_v":-8.36437988,"cg_vu_v":21.5547352,"cg_vv_v":25.0738773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4514656,"dclink_p_w":-2517.98047,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1514893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":560.817749,"values":{"Elec_RPM":-2357.59424,"EncoderCos":47152,"EncoderSin":46668,"GapTicks":49337,"Mech_RPM":-471.51886,"cg_du":49.0907516,"cg_dv":44.8518486,"cg_dw":55.1481514,"cg_id_a":-17.0566578,"cg_id_raw_a":-15.4587336,"cg_iq_a":-198.357574,"cg_iq_raw_a":-200.558655,"cg_iu_a":30.1211586,"cg_iv_a":-184.085754,"cg_iw_a":153.9646,"cg_sample_age_us":23.6854553,"cg_sample_seq":4169717,"cg_sample_valid":1,"cg_theta_rad":0.773361206,"cg_vd_req_v":-1.58968925,"cg_vd_v":-1.58968925,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47376347,"cg_vq_v":-8.47376347,"cg_vu_v":130.208206,"cg_vv_v":131.087982,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1549683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":561.102612,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":561.102618,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":561.102623,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":561.173218,"values":{"Elec_RPM":-2359.33984,"EncoderCos":36849,"EncoderSin":52277,"GapTicks":49589,"Mech_RPM":-471.86795,"cg_du":52.7102013,"cg_dv":54.9189949,"cg_dw":45.0810051,"cg_id_a":-2.33447194,"cg_id_raw_a":1.22145569,"cg_iq_a":-198.188354,"cg_iq_raw_a":-199.866531,"cg_iu_a":-4.63667727,"cg_iv_a":172.879745,"cg_iw_a":-168.243073,"cg_sample_age_us":23.9036369,"cg_sample_seq":4171416,"cg_sample_valid":1,"cg_theta_rad":1.3622601,"cg_vd_req_v":-1.82530451,"cg_vd_v":-1.82530451,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45768929,"cg_vq_v":-8.45768929,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2432.58008,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2651978,"temp_inv2_c":42.1445007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":561.505249,"values":{"Elec_RPM":-2362.74048,"EncoderCos":25537,"EncoderSin":51589,"GapTicks":49847,"Mech_RPM":-472.548096,"cg_du":45.3162537,"cg_dv":46.3939095,"cg_dw":54.6837463,"cg_id_a":13.2763386,"cg_id_raw_a":12.7514095,"cg_iq_a":-204.119873,"cg_iq_raw_a":-202.951965,"cg_iu_a":-24.7157612,"cg_iv_a":-165.637634,"cg_iw_a":190.353394,"cg_sample_age_us":23.8927269,"cg_sample_seq":4173116,"cg_sample_valid":1,"cg_theta_rad":1.94684446,"cg_vd_req_v":-2.15058374,"cg_vd_v":-2.15058374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29125881,"cg_vq_v":-8.29125881,"cg_vu_v":100.295509,"cg_vv_v":73.462059,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.5203304,"dclink_p_w":-2535.62378,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1549683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":561.835327,"values":{"Elec_RPM":-2363.96216,"EncoderCos":16581,"EncoderSin":44808,"GapTicks":49375,"Mech_RPM":-472.792419,"cg_du":55.1130981,"cg_dv":51.1152,"cg_dw":44.8869019,"cg_id_a":3.34392881,"cg_id_raw_a":-0.77857542,"cg_iq_a":-202.350311,"cg_iq_raw_a":-198.442398,"cg_iu_a":96.6285934,"cg_iv_a":105.647438,"cg_iw_a":-202.276031,"cg_sample_age_us":23.8818188,"cg_sample_seq":4174817,"cg_sample_valid":1,"cg_theta_rad":2.50505733,"cg_vd_req_v":-1.97941375,"cg_vd_v":-1.97941375,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35470486,"cg_vq_v":-8.35470486,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2502.81519,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1724243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":562.126596,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":562.126602,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":562.126607,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":562.190796,"values":{"Elec_RPM":-2363.48364,"EncoderCos":14676,"EncoderSin":23593,"GapTicks":49840,"Mech_RPM":-472.696716,"cg_du":54.6900406,"cg_dv":45.3099594,"cg_dw":46.2349739,"cg_id_a":16.7242699,"cg_id_raw_a":15.9818754,"cg_iq_a":-202.100342,"cg_iq_raw_a":-200.222687,"cg_iu_a":185.752182,"cg_iv_a":-27.8023529,"cg_iw_a":-157.949829,"cg_sample_age_us":24.1072731,"cg_sample_seq":4176467,"cg_sample_valid":1,"cg_theta_rad":3.61661243,"cg_vd_req_v":-2.21304822,"cg_vd_v":-2.21304822,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35031891,"cg_vq_v":-8.35031891,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2525.96826,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1828918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":562.520874,"values":{"Elec_RPM":-2361.61279,"EncoderCos":15159,"EncoderSin":22693,"GapTicks":49616,"Mech_RPM":-472.322571,"cg_du":54.8940964,"cg_dv":47.2686501,"cg_dw":45.1059036,"cg_id_a":-2.51833129,"cg_id_raw_a":4.71532154,"cg_iq_a":-197.774048,"cg_iq_raw_a":-200.040863,"cg_iu_a":169.478699,"cg_iv_a":3.22236633,"cg_iw_a":-172.701065,"cg_sample_age_us":23.9400005,"cg_sample_seq":4178216,"cg_sample_valid":1,"cg_theta_rad":3.67134547,"cg_vd_req_v":-1.8078481,"cg_vd_v":-1.8078481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42716789,"cg_vq_v":-8.42716789,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1619568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":562.854858,"values":{"Elec_RPM":-2360.28198,"EncoderCos":33602,"EncoderSin":12624,"GapTicks":49327,"Mech_RPM":-472.056396,"cg_du":55.1570129,"cg_dv":44.8429871,"cg_dw":50.0731621,"cg_id_a":-16.6720276,"cg_id_raw_a":-18.3344688,"cg_iq_a":-195.354218,"cg_iq_raw_a":-195.293259,"cg_iu_a":189.883972,"cg_iv_a":-141.318024,"cg_iw_a":-48.5659485,"cg_sample_age_us":24.0309086,"cg_sample_seq":4179867,"cg_sample_valid":1,"cg_theta_rad":4.76888752,"cg_vd_req_v":-1.5741986,"cg_vd_v":-1.5741986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5000124,"cg_vq_v":-8.5000124,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.3840847,"dclink_p_w":-2371.18091,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1445007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":563.086761,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":563.086766,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":563.086771,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":563.206421,"values":{"Elec_RPM":-2361.22412,"EncoderCos":34772,"EncoderSin":12702,"GapTicks":49394,"Mech_RPM":-472.244812,"cg_du":55.0954819,"cg_dv":44.9045181,"cg_dw":48.3712997,"cg_id_a":7.91850662,"cg_id_raw_a":2.70742536,"cg_iq_a":-199.410248,"cg_iq_raw_a":-198.783554,"cg_iu_a":200.032257,"cg_iv_a":-84.1252747,"cg_iw_a":-115.906982,"cg_sample_age_us":23.9654541,"cg_sample_seq":4181616,"cg_sample_valid":1,"cg_theta_rad":4.81957197,"cg_vd_req_v":-1.98874223,"cg_vd_v":-1.98874223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42755699,"cg_vq_v":-8.42755699,"cg_vu_v":129.328415,"cg_vv_v":118.770996,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6196709,"dclink_p_w":-2405.27612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1602173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":563.538452,"values":{"Elec_RPM":-2363.20947,"EncoderCos":45028,"EncoderSin":16881,"GapTicks":49341,"Mech_RPM":-472.641876,"cg_du":44.8554916,"cg_dv":55.1445084,"cg_dw":49.3253822,"cg_id_a":-12.5228796,"cg_id_raw_a":-12.6566544,"cg_iq_a":-197.261307,"cg_iq_raw_a":-198.733749,"cg_iu_a":-186.943161,"cg_iv_a":147.182892,"cg_iw_a":39.7602768,"cg_sample_age_us":23.9072723,"cg_sample_seq":4183317,"cg_sample_valid":1,"cg_theta_rad":5.38729811,"cg_vd_req_v":-1.70985579,"cg_vd_v":-1.70985579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45053387,"cg_vq_v":-8.45053387,"cg_vu_v":126.689056,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":563.890015,"values":{"Elec_RPM":-2360.79565,"EncoderCos":51662,"EncoderSin":26443,"GapTicks":49577,"Mech_RPM":-472.159149,"cg_du":54.9298744,"cg_dv":45.0701256,"cg_dw":52.5449905,"cg_id_a":-5.83171082,"cg_id_raw_a":2.85941887,"cg_iq_a":-199.518951,"cg_iq_raw_a":-202.154907,"cg_iu_a":173.791718,"cg_iv_a":-168.754608,"cg_iw_a":-5.03710175,"cg_sample_age_us":24.1436367,"cg_sample_seq":4185016,"cg_sample_valid":1,"cg_theta_rad":5.97556162,"cg_vd_req_v":-1.79948843,"cg_vd_v":-1.79948843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40618896,"cg_vq_v":-8.40618896,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-17.7522907,"dclink_p_w":-2561.38501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1549683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":564.079551,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":564.079557,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":564.079563,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":564.223999,"values":{"Elec_RPM":-2362.47021,"EncoderCos":51975,"EncoderSin":37820,"GapTicks":49860,"Mech_RPM":-472.494049,"cg_du":46.242733,"cg_dv":54.6721649,"cg_dw":45.3278351,"cg_id_a":13.1873713,"cg_id_raw_a":12.1701355,"cg_iq_a":-205.857483,"cg_iq_raw_a":-204.277313,"cg_iu_a":-155.954681,"cg_iv_a":195.785858,"cg_iw_a":-39.8311844,"cg_sample_age_us":23.4781818,"cg_sample_seq":4186716,"cg_sample_valid":1,"cg_theta_rad":0.25850305,"cg_vd_req_v":-2.23204637,"cg_vd_v":-2.23204637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31394196,"cg_vq_v":-8.31394196,"cg_vu_v":95.8965836,"cg_vv_v":100.735397,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1514893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":564.55603,"values":{"Elec_RPM":-2354.67871,"EncoderCos":46055,"EncoderSin":47795,"GapTicks":49443,"Mech_RPM":-470.93576,"cg_du":52.0289955,"cg_dv":44.9490013,"cg_dw":55.0509987,"cg_id_a":7.97676754,"cg_id_raw_a":4.3072257,"cg_iq_a":-198.758636,"cg_iq_raw_a":-197.987381,"cg_iu_a":125.33371,"cg_iv_a":-198.112122,"cg_iw_a":72.7784119,"cg_sample_age_us":23.5799999,"cg_sample_seq":4188416,"cg_sample_valid":1,"cg_theta_rad":0.849409401,"cg_vd_req_v":-2.10823774,"cg_vd_v":-2.10823774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43170738,"cg_vq_v":-8.43170738,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5109386,"dclink_p_w":-2382.27686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1828918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":564.907593,"values":{"Elec_RPM":-2355.31982,"EncoderCos":35936,"EncoderSin":52508,"GapTicks":49315,"Mech_RPM":-471.063965,"cg_du":50.4610138,"cg_dv":55.1673164,"cg_dw":44.8326836,"cg_id_a":-13.0283813,"cg_id_raw_a":-11.5406408,"cg_iq_a":-196.028046,"cg_iq_raw_a":-194.570358,"cg_iu_a":-44.3236771,"cg_iv_a":190.675476,"cg_iw_a":-146.351807,"cg_sample_age_us":23.8890915,"cg_sample_seq":4190117,"cg_sample_valid":1,"cg_theta_rad":1.41130769,"cg_vd_req_v":-1.63550484,"cg_vd_v":-1.63550484,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46388817,"cg_vq_v":-8.46388817,"cg_vu_v":142.085297,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2460.97974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1619568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":565.103013,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":565.103021,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":565.103028,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":565.241577,"values":{"Elec_RPM":-2354.82373,"EncoderCos":24722,"EncoderSin":51224,"GapTicks":49773,"Mech_RPM":-470.964752,"cg_du":46.7314682,"cg_dv":45.2482796,"cg_dw":54.7517204,"cg_id_a":1.01230514,"cg_id_raw_a":6.5055809,"cg_iq_a":-206.024185,"cg_iq_raw_a":-207.42012,"cg_iu_a":-2.31707191,"cg_iv_a":-175.09729,"cg_iw_a":177.414368,"cg_sample_age_us":23.7654552,"cg_sample_seq":4191817,"cg_sample_valid":1,"cg_theta_rad":1.9919579,"cg_vd_req_v":-1.89844072,"cg_vd_v":-1.89844072,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30383968,"cg_vq_v":-8.30383968,"cg_vu_v":38.7105446,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2480.06714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1514893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":565.59314,"values":{"Elec_RPM":-2349.78418,"EncoderCos":24783,"EncoderSin":51336,"GapTicks":49826,"Mech_RPM":-469.956848,"cg_du":46.4610672,"cg_dv":45.2965889,"cg_dw":54.7034111,"cg_id_a":4.34384489,"cg_id_raw_a":10.6097212,"cg_iq_a":-206.133804,"cg_iq_raw_a":-206.148422,"cg_iu_a":18.8855705,"cg_iv_a":-182.092361,"cg_iw_a":163.206787,"cg_sample_age_us":23.7618179,"cg_sample_seq":4193571,"cg_sample_valid":1,"cg_theta_rad":2.02048635,"cg_vd_req_v":-1.9638871,"cg_vd_v":-1.9638871,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31481934,"cg_vq_v":-8.31481934,"cg_vu_v":129.768311,"cg_vv_v":131.527878,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4043503,"dclink_p_w":-2518.83862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1671753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":565.927124,"values":{"Elec_RPM":-2351.98975,"EncoderCos":15238,"EncoderSin":22523,"GapTicks":49510,"Mech_RPM":-470.397949,"cg_du":54.9905319,"cg_dv":47.7466431,"cg_dw":45.0094681,"cg_id_a":-7.01318359,"cg_id_raw_a":-2.05822229,"cg_iq_a":-197.870361,"cg_iq_raw_a":-198.142487,"cg_iu_a":166.071777,"cg_iv_a":5.75942993,"cg_iw_a":-171.831207,"cg_sample_age_us":24.0200005,"cg_sample_seq":4195167,"cg_sample_valid":1,"cg_theta_rad":3.67463374,"cg_vd_req_v":-1.71790469,"cg_vd_v":-1.71790469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4189043,"cg_vq_v":-8.4189043,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-16.5000668,"dclink_p_w":-2380.70825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1567078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":566.094887,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":566.094893,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":566.094899,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":566.259155,"values":{"Elec_RPM":-2349.39404,"EncoderCos":12527,"EncoderSin":31942,"GapTicks":49746,"Mech_RPM":-469.878784,"cg_du":45.2236786,"cg_dv":46.6869774,"cg_dw":54.7763214,"cg_id_a":12.379674,"cg_id_raw_a":8.11270809,"cg_iq_a":-202.558151,"cg_iq_raw_a":-202.415329,"cg_iu_a":-52.2973175,"cg_iv_a":-143.238953,"cg_iw_a":195.53627,"cg_sample_age_us":23.8927269,"cg_sample_seq":4196966,"cg_sample_valid":1,"cg_theta_rad":3.17748642,"cg_vd_req_v":-2.13181663,"cg_vd_v":-2.13181663,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32967854,"cg_vq_v":-8.32967854,"cg_vu_v":97.2162552,"cg_vv_v":76.1014175,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2490.23193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.2073364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":566.591187,"values":{"Elec_RPM":-2349.60132,"EncoderCos":35031,"EncoderSin":12750,"GapTicks":49538,"Mech_RPM":-469.920258,"cg_du":54.9649429,"cg_dv":45.0350571,"cg_dw":47.4715691,"cg_id_a":9.87875271,"cg_id_raw_a":6.58779716,"cg_iq_a":-200.314285,"cg_iq_raw_a":-198.730362,"cg_iu_a":197.531433,"cg_iv_a":-71.9111099,"cg_iw_a":-125.620323,"cg_sample_age_us":23.9690914,"cg_sample_seq":4198566,"cg_sample_valid":1,"cg_theta_rad":4.83296108,"cg_vd_req_v":-2.12109113,"cg_vd_v":-2.12109113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38415337,"cg_vq_v":-8.38415337,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":566.944702,"values":{"Elec_RPM":-2350.85669,"EncoderCos":35832,"EncoderSin":12831,"GapTicks":49997,"Mech_RPM":-470.171326,"cg_du":54.5479164,"cg_dv":45.4520836,"cg_dw":45.8637238,"cg_id_a":12.3268337,"cg_id_raw_a":17.7093353,"cg_iq_a":-202.029861,"cg_iq_raw_a":-204.689896,"cg_iu_a":185.897156,"cg_iv_a":-20.299881,"cg_iw_a":-165.597275,"cg_sample_age_us":24.0963631,"cg_sample_seq":4200316,"cg_sample_valid":1,"cg_theta_rad":4.88388205,"cg_vd_req_v":-2.13863707,"cg_vd_v":-2.13863707,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34052086,"cg_vq_v":-8.34052086,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2496.01709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1776733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":567.119148,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":567.119155,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":567.11916,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":567.27478,"values":{"Elec_RPM":-2350.01563,"EncoderCos":51738,"EncoderSin":26619,"GapTicks":49449,"Mech_RPM":-470.003143,"cg_du":55.0463295,"cg_dv":44.9536705,"cg_dw":52.0802574,"cg_id_a":-9.20750046,"cg_id_raw_a":-5.9591136,"cg_iq_a":-197.879105,"cg_iq_raw_a":-199.625977,"cg_iu_a":176.437515,"cg_iv_a":-164.151642,"cg_iw_a":-12.2858658,"cg_sample_age_us":24.0527267,"cg_sample_seq":4201967,"cg_sample_valid":1,"cg_theta_rad":5.9872756,"cg_vd_req_v":-1.7394141,"cg_vd_v":-1.7394141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46546078,"cg_vq_v":-8.46546078,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2510.65942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.217804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":567.628296,"values":{"Elec_RPM":-2344.62793,"EncoderCos":51932,"EncoderSin":27349,"GapTicks":49282,"Mech_RPM":-468.925598,"cg_du":55.1980247,"cg_dv":44.8019753,"cg_dw":50.2887344,"cg_id_a":-15.984889,"cg_id_raw_a":-16.5925903,"cg_iq_a":-195.748871,"cg_iq_raw_a":-194.790741,"cg_iu_a":188.941635,"cg_iv_a":-142.477844,"cg_iw_a":-46.4637985,"cg_sample_age_us":24.1327267,"cg_sample_seq":4203717,"cg_sample_valid":1,"cg_theta_rad":6.02324963,"cg_vd_req_v":-1.6279999,"cg_vd_v":-1.6279999,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51033878,"cg_vq_v":-8.51033878,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1706543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":567.96228,"values":{"Elec_RPM":-2350.89185,"EncoderCos":45740,"EncoderSin":47985,"GapTicks":49559,"Mech_RPM":-470.178375,"cg_du":52.7172852,"cg_dv":45.0541573,"cg_dw":54.9458427,"cg_id_a":12.5780144,"cg_id_raw_a":10.8104954,"cg_iq_a":-199.718063,"cg_iq_raw_a":-199.040543,"cg_iu_a":143.636841,"cg_iv_a":-193.291687,"cg_iw_a":49.6548462,"cg_sample_age_us":23.5472736,"cg_sample_seq":4205366,"cg_sample_valid":1,"cg_theta_rad":0.867514849,"cg_vd_req_v":-2.19171333,"cg_vd_v":-2.19171333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3894577,"cg_vq_v":-8.3894577,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2436.66284,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":568.111393,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":568.111399,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":568.111404,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":568.376343,"values":{"Elec_RPM":-2348.24561,"EncoderCos":13177,"EncoderSin":37828,"GapTicks":49299,"Mech_RPM":-469.649109,"cg_du":44.8181725,"cg_dv":55.1818275,"cg_dw":50.1210175,"cg_id_a":-10.524025,"cg_id_raw_a":-12.3139772,"cg_iq_a":-195.822479,"cg_iq_raw_a":-195.352982,"cg_iu_a":-192.524719,"cg_iv_a":130.80069,"cg_iw_a":61.7240372,"cg_sample_age_us":23.9218178,"cg_sample_seq":4207516,"cg_sample_valid":1,"cg_theta_rad":2.88899636,"cg_vd_req_v":-1.64204192,"cg_vd_v":-1.64204192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50323296,"cg_vq_v":-8.50323296,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1776733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":568.895874,"values":{"Elec_RPM":-2338.33521,"EncoderCos":52620,"EncoderSin":33780,"GapTicks":49960,"Mech_RPM":-467.667023,"cg_du":54.5809212,"cg_dv":53.9934158,"cg_dw":45.4190788,"cg_id_a":12.7353544,"cg_id_raw_a":12.6487074,"cg_iq_a":-204.660645,"cg_iq_raw_a":-204.462814,"cg_iu_a":22.3649788,"cg_iv_a":165.123581,"cg_iw_a":-187.488556,"cg_sample_age_us":23.4854546,"cg_sample_seq":4210117,"cg_sample_valid":1,"cg_theta_rad":0.0639578998,"cg_vd_req_v":-2.19574046,"cg_vd_v":-2.19574046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28422832,"cg_vq_v":-8.28422832,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":568.975377,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":568.975387,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":568.97539,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":569.103641,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":569.103647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":569.103652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":569.288452,"values":{"Elec_RPM":-2344.05591,"EncoderCos":33637,"EncoderSin":12609,"GapTicks":49296,"Mech_RPM":-468.811188,"cg_du":55.1845856,"cg_dv":44.8154144,"cg_dw":50.0026321,"cg_id_a":-16.1732998,"cg_id_raw_a":-18.6210117,"cg_iq_a":-194.134064,"cg_iq_raw_a":-193.180817,"cg_iu_a":188.253006,"cg_iv_a":-138.092331,"cg_iw_a":-50.160675,"cg_sample_age_us":24.0636368,"cg_sample_seq":4212017,"cg_sample_valid":1,"cg_theta_rad":4.77099895,"cg_vd_req_v":-1.58784747,"cg_vd_v":-1.58784747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51740551,"cg_vq_v":-8.51740551,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4674473,"dclink_p_w":-2383.24561,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1968384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":569.620483,"values":{"Elec_RPM":-2344.6665,"EncoderCos":44396,"EncoderSin":16400,"GapTicks":49583,"Mech_RPM":-468.933319,"cg_du":45.0762215,"cg_dv":54.9237785,"cg_dw":47.4591293,"cg_id_a":-5.0695858,"cg_id_raw_a":0.0480246879,"cg_iq_a":-200.098282,"cg_iq_raw_a":-202.290665,"cg_iu_a":-175.200165,"cg_iv_a":168.929199,"cg_iw_a":6.27097321,"cg_sample_age_us":23.9036369,"cg_sample_seq":4213717,"cg_sample_valid":1,"cg_theta_rad":5.35148478,"cg_vd_req_v":-1.84362686,"cg_vd_v":-1.84362686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3854599,"cg_vq_v":-8.3854599,"cg_vu_v":111.732712,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1916199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":569.972046,"values":{"Elec_RPM":-2344.72266,"EncoderCos":45164,"EncoderSin":17025,"GapTicks":49328,"Mech_RPM":-468.94455,"cg_du":44.8444099,"cg_dv":55.1555901,"cg_dw":49.7893906,"cg_id_a":-14.5878229,"cg_id_raw_a":-14.5317659,"cg_iq_a":-197.05069,"cg_iq_raw_a":-197.313171,"cg_iu_a":-186.544479,"cg_iv_a":148.233948,"cg_iw_a":38.3105316,"cg_sample_age_us":23.8345451,"cg_sample_seq":4215466,"cg_sample_valid":1,"cg_theta_rad":5.38959932,"cg_vd_req_v":-1.68725324,"cg_vd_v":-1.68725324,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45131016,"cg_vq_v":-8.45131016,"cg_vu_v":35.1914063,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1619568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":570.127328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":570.127333,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":570.127338,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":570.30603,"values":{"Elec_RPM":-2345.46313,"EncoderCos":52208,"EncoderSin":36866,"GapTicks":49429,"Mech_RPM":-469.092621,"cg_du":48.0360031,"cg_dv":55.0638885,"cg_dw":44.9361115,"cg_id_a":0.357330203,"cg_id_raw_a":-4.42464066,"cg_iq_a":-199.411301,"cg_iq_raw_a":-199.066681,"cg_iu_a":-118.768509,"cg_iv_a":198.612885,"cg_iw_a":-79.844368,"cg_sample_age_us":23.4818172,"cg_sample_seq":4217117,"cg_sample_valid":1,"cg_theta_rad":0.21793294,"cg_vd_req_v":-2.00123715,"cg_vd_v":-2.00123715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43793678,"cg_vq_v":-8.43793678,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":135.926804,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2430.71606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.1916199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":570.657593,"values":{"Elec_RPM":-2355.58643,"EncoderCos":51838,"EncoderSin":26996,"GapTicks":49318,"Mech_RPM":-471.11731,"cg_du":55.1651955,"cg_dv":44.8348045,"cg_dw":51.1326828,"cg_id_a":-13.5107861,"cg_id_raw_a":-11.9645958,"cg_iq_a":-194.875015,"cg_iq_raw_a":-195.568359,"cg_iu_a":180.388092,"cg_iv_a":-154.293335,"cg_iw_a":-26.0947647,"cg_sample_age_us":24.1436367,"cg_sample_seq":4218917,"cg_sample_valid":1,"cg_theta_rad":6.00441742,"cg_vd_req_v":-1.65766776,"cg_vd_v":-1.65766776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54128361,"cg_vq_v":-8.54128361,"cg_vu_v":106.453995,"cg_vv_v":88.8582916,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00372625305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":570.989624,"values":{"Elec_RPM":-2351.74121,"EncoderCos":36489,"EncoderSin":52377,"GapTicks":49419,"Mech_RPM":-470.348236,"cg_du":51.7885971,"cg_dv":55.0733337,"cg_dw":44.9266663,"cg_id_a":-9.19633293,"cg_id_raw_a":-8.04235268,"cg_iq_a":-197.602921,"cg_iq_raw_a":-200.219528,"cg_iu_a":-10.2544708,"cg_iv_a":175.271851,"cg_iw_a":-165.01738,"cg_sample_age_us":23.8709087,"cg_sample_seq":4220516,"cg_sample_valid":1,"cg_theta_rad":1.37467039,"cg_vd_req_v":-1.70302343,"cg_vd_v":-1.70302343,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4559927,"cg_vq_v":-8.4559927,"cg_vu_v":17.1558094,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2539.23877,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1567078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":571.118583,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":571.118588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":571.118593,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":571.323608,"values":{"Elec_RPM":-2355.00513,"EncoderCos":45680,"EncoderSin":48142,"GapTicks":49628,"Mech_RPM":-471.001038,"cg_du":52.9570847,"cg_dv":45.1169205,"cg_dw":54.8830795,"cg_id_a":15.2788668,"cg_id_raw_a":13.3421898,"cg_iq_a":-202.258835,"cg_iq_raw_a":-201.30629,"cg_iu_a":152.226624,"cg_iv_a":-194.125305,"cg_iw_a":41.898674,"cg_sample_age_us":23.5472736,"cg_sample_seq":4222317,"cg_sample_valid":1,"cg_theta_rad":0.87552613,"cg_vd_req_v":-2.24497795,"cg_vd_v":-2.24497795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34808922,"cg_vq_v":-8.34808922,"cg_vu_v":105.134323,"cg_vv_v":74.3418427,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2390.90552,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2055969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":571.675171,"values":{"Elec_RPM":-2362.25952,"EncoderCos":16123,"EncoderSin":44234,"GapTicks":49557,"Mech_RPM":-472.451904,"cg_du":54.9480934,"cg_dv":52.5228424,"cg_dw":45.0519066,"cg_id_a":13.8040352,"cg_id_raw_a":13.9048052,"cg_iq_a":-202.860245,"cg_iq_raw_a":-202.145813,"cg_iu_a":53.8971138,"cg_iv_a":145.116989,"cg_iw_a":-199.014099,"cg_sample_age_us":23.9181824,"cg_sample_seq":4223916,"cg_sample_valid":1,"cg_theta_rad":2.54073071,"cg_vd_req_v":-2.16456175,"cg_vd_v":-2.16456175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3435564,"cg_vq_v":-8.3435564,"cg_vu_v":15.836132,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5489941,"dclink_p_w":-2395.04736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.214325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":572.007202,"values":{"Elec_RPM":-2361.06226,"EncoderCos":24077,"EncoderSin":50968,"GapTicks":49471,"Mech_RPM":-472.212433,"cg_du":48.60429,"cg_dv":44.9742851,"cg_dw":55.0257149,"cg_id_a":-18.4502869,"cg_id_raw_a":-14.441206,"cg_iq_a":-201.125549,"cg_iq_raw_a":-203.285492,"cg_iu_a":22.6911736,"cg_iv_a":-181.802399,"cg_iw_a":159.111221,"cg_sample_age_us":23.7763634,"cg_sample_seq":4225718,"cg_sample_valid":1,"cg_theta_rad":2.02703977,"cg_vd_req_v":-1.50807405,"cg_vd_v":-1.50807405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39743996,"cg_vq_v":-8.39743996,"cg_vu_v":103.814644,"cg_vv_v":73.9019547,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2447.31152,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1916199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":572.111009,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":572.111015,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":572.11102,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":572.341187,"values":{"Elec_RPM":-2354.28979,"EncoderCos":15298,"EncoderSin":22399,"GapTicks":49429,"Mech_RPM":-470.857971,"cg_du":55.0636787,"cg_dv":48.098938,"cg_dw":44.9363213,"cg_id_a":-10.6852255,"cg_id_raw_a":-5.27720785,"cg_iq_a":-197.382782,"cg_iq_raw_a":-200.417709,"cg_iu_a":163.643433,"cg_iv_a":15.5815125,"cg_iw_a":-179.224945,"cg_sample_age_us":24.0236359,"cg_sample_seq":4227316,"cg_sample_valid":1,"cg_theta_rad":3.68493795,"cg_vd_req_v":-1.66184461,"cg_vd_v":-1.66184461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47080803,"cg_vq_v":-8.47080803,"cg_vu_v":16.7159176,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5181885,"dclink_p_w":-2390.58911,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2597656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":572.692749,"values":{"Elec_RPM":-2357.12891,"EncoderCos":12512,"EncoderSin":32155,"GapTicks":49628,"Mech_RPM":-471.425781,"cg_du":45.1166229,"cg_dv":47.0854874,"cg_dw":54.8833771,"cg_id_a":10.3313046,"cg_id_raw_a":6.90782022,"cg_iq_a":-202.350922,"cg_iq_raw_a":-200.197571,"cg_iu_a":-50.9200516,"cg_iv_a":-144.434998,"cg_iw_a":195.355057,"cg_sample_age_us":23.9327278,"cg_sample_seq":4229117,"cg_sample_valid":1,"cg_theta_rad":3.1735785,"cg_vd_req_v":-2.10582852,"cg_vd_v":-2.10582852,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37086678,"cg_vq_v":-8.37086678,"cg_vu_v":130.648087,"cg_vv_v":109.093361,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1776733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":573.02478,"values":{"Elec_RPM":-2355.9751,"EncoderCos":35112,"EncoderSin":12773,"GapTicks":49588,"Mech_RPM":-471.195038,"cg_du":54.9199028,"cg_dv":45.0800972,"cg_dw":47.3840332,"cg_id_a":13.1132126,"cg_id_raw_a":9.31753254,"cg_iq_a":-202.144608,"cg_iq_raw_a":-201.391296,"cg_iu_a":198.183807,"cg_iv_a":-65.8221283,"cg_iw_a":-132.361679,"cg_sample_age_us":23.9654541,"cg_sample_seq":4230716,"cg_sample_valid":1,"cg_theta_rad":4.8439374,"cg_vd_req_v":-2.18200493,"cg_vd_v":-2.18200493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31911945,"cg_vq_v":-8.31911945,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2405396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":573.135238,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":573.135244,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":573.135248,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":573.356812,"values":{"Elec_RPM":-2355.33301,"EncoderCos":45298,"EncoderSin":17119,"GapTicks":49286,"Mech_RPM":-471.06662,"cg_du":44.805584,"cg_dv":55.194416,"cg_dw":50.1003838,"cg_id_a":-12.3468266,"cg_id_raw_a":-18.3239765,"cg_iq_a":-196.963287,"cg_iq_raw_a":-196.554886,"cg_iu_a":-192.234772,"cg_iv_a":132.50415,"cg_iw_a":59.730629,"cg_sample_age_us":23.8927269,"cg_sample_seq":4232417,"cg_sample_valid":1,"cg_theta_rad":5.405231,"cg_vd_req_v":-1.74230802,"cg_vd_v":-1.74230802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47754288,"cg_vq_v":-8.47754288,"cg_vu_v":101.615181,"cg_vv_v":104.254532,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2382.45874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.1898499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":573.710327,"values":{"Elec_RPM":-2349.82446,"EncoderCos":51752,"EncoderSin":26712,"GapTicks":49393,"Mech_RPM":-469.964874,"cg_du":55.0963898,"cg_dv":44.9036102,"cg_dw":51.8735924,"cg_id_a":-9.10899162,"cg_id_raw_a":-8.66705036,"cg_iq_a":-194.727539,"cg_iq_raw_a":-196.095093,"cg_iu_a":174.04541,"cg_iv_a":-160.309799,"cg_iw_a":-13.735611,"cg_sample_age_us":24.1327267,"cg_sample_seq":4234117,"cg_sample_valid":1,"cg_theta_rad":5.98729086,"cg_vd_req_v":-1.74067295,"cg_vd_v":-1.74067295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53071213,"cg_vq_v":-8.53071213,"cg_vu_v":143.404984,"cg_vv_v":124.489601,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2496.54565,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.1828918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":574.042358,"values":{"Elec_RPM":-2355.66431,"EncoderCos":51880,"EncoderSin":38103,"GapTicks":50055,"Mech_RPM":-471.132843,"cg_du":45.6314507,"cg_dv":54.4952049,"cg_dw":45.5047951,"cg_id_a":13.0851355,"cg_id_raw_a":12.0541201,"cg_iq_a":-203.435043,"cg_iq_raw_a":-205.288849,"cg_iu_a":-172.083191,"cg_iv_a":178.28009,"cg_iw_a":-6.19690704,"cg_sample_age_us":23.5654545,"cg_sample_seq":4235817,"cg_sample_valid":1,"cg_theta_rad":0.292224169,"cg_vd_req_v":-2.21515298,"cg_vd_v":-2.21515298,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32407379,"cg_vq_v":-8.32407379,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.2481709,"dclink_p_w":-2351.51099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2055969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":574.095415,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":574.09542,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":574.095425,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":574.395874,"values":{"Elec_RPM":-2357.91089,"EncoderCos":46439,"EncoderSin":47408,"GapTicks":49330,"Mech_RPM":-471.582184,"cg_du":51.0426712,"cg_dv":44.8455582,"cg_dw":55.1544418,"cg_id_a":-2.79947281,"cg_id_raw_a":-6.6894331,"cg_iq_a":-198.679504,"cg_iq_raw_a":-198.335495,"cg_iu_a":131.748871,"cg_iv_a":-198.184601,"cg_iw_a":66.4357376,"cg_sample_age_us":23.5072727,"cg_sample_seq":4237520,"cg_sample_valid":1,"cg_theta_rad":0.858149588,"cg_vd_req_v":-1.90271604,"cg_vd_v":-1.90271604,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43400192,"cg_vq_v":-8.43400192,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.1968384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":574.725952,"values":{"Elec_RPM":-2357.1438,"EncoderCos":35311,"EncoderSin":52576,"GapTicks":49341,"Mech_RPM":-471.428772,"cg_du":49.1690674,"cg_dv":55.1438179,"cg_dw":44.8561821,"cg_id_a":-8.76332474,"cg_id_raw_a":-13.0263538,"cg_iq_a":-198.566681,"cg_iq_raw_a":-198.394394,"cg_iu_a":-68.7882614,"cg_iv_a":195.785858,"cg_iw_a":-126.997589,"cg_sample_age_us":23.8163643,"cg_sample_seq":4239216,"cg_sample_valid":1,"cg_theta_rad":1.43480003,"cg_vd_req_v":-1.74113607,"cg_vd_v":-1.74113607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45593071,"cg_vq_v":-8.45593071,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2629986,"dclink_p_w":-2505.97534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.1898499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":575.059937,"values":{"Elec_RPM":-2354.60303,"EncoderCos":34716,"EncoderSin":52691,"GapTicks":49423,"Mech_RPM":-470.920593,"cg_du":48.1067429,"cg_dv":55.0696602,"cg_dw":44.9303398,"cg_id_a":4.30775356,"cg_id_raw_a":-0.18561925,"cg_iq_a":-199.14888,"cg_iq_raw_a":-198.273376,"cg_iu_a":-123.154007,"cg_iv_a":198.902832,"cg_iw_a":-75.7488251,"cg_sample_age_us":23.8963642,"cg_sample_seq":4240967,"cg_sample_valid":1,"cg_theta_rad":1.47370505,"cg_vd_req_v":-2.01422262,"cg_vd_v":-2.01422262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42947578,"cg_vq_v":-8.42947578,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2552.93335,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.2003479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":575.087388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":575.087393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":575.087397,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":575.413452,"values":{"Elec_RPM":-2352.93359,"EncoderCos":15485,"EncoderSin":43224,"GapTicks":49913,"Mech_RPM":-470.5867,"cg_du":53.8343658,"cg_dv":54.6239357,"cg_dw":45.3760643,"cg_id_a":6.8273468,"cg_id_raw_a":13.2687454,"cg_iq_a":-204.613251,"cg_iq_raw_a":-207.012375,"cg_iu_a":9.02724838,"cg_iv_a":171.647461,"cg_iw_a":-180.674713,"cg_sample_age_us":23.9109097,"cg_sample_seq":4242616,"cg_sample_valid":1,"cg_theta_rad":2.59953451,"cg_vd_req_v":-1.9985851,"cg_vd_v":-1.9985851,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30401134,"cg_vq_v":-8.30401134,"cg_vu_v":38.7105446,"cg_vv_v":51.9073219,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.8298836,"dclink_p_w":-2428.29565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.214325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":575.74353,"values":{"Elec_RPM":-2354.76123,"EncoderCos":15096,"EncoderSin":42558,"GapTicks":49438,"Mech_RPM":-470.952271,"cg_du":51.9602127,"cg_dv":55.0556068,"cg_dw":44.9443932,"cg_id_a":-6.56903458,"cg_id_raw_a":-5.5098691,"cg_iq_a":-197.98024,"cg_iq_raw_a":-200.07309,"cg_iu_a":-9.16715622,"cg_iv_a":175.30809,"cg_iw_a":-166.14093,"cg_sample_age_us":23.7872734,"cg_sample_seq":4244366,"cg_sample_valid":1,"cg_theta_rad":2.62857795,"cg_vd_req_v":-1.72615218,"cg_vd_v":-1.72615218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45702648,"cg_vq_v":-8.45702648,"cg_vu_v":5.71860361,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2460.97974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.1479797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":576.077515,"values":{"Elec_RPM":-2359.10059,"EncoderCos":15885,"EncoderSin":21433,"GapTicks":49372,"Mech_RPM":-471.820099,"cg_du":55.1156082,"cg_dv":50.4615746,"cg_dw":44.8843918,"cg_id_a":-5.3160491,"cg_id_raw_a":-10.2055626,"cg_iq_a":-198.109314,"cg_iq_raw_a":-195.36673,"cg_iu_a":119.462204,"cg_iv_a":76.797348,"cg_iw_a":-196.259552,"cg_sample_age_us":23.9909096,"cg_sample_seq":4246017,"cg_sample_valid":1,"cg_theta_rad":3.73865676,"cg_vd_req_v":-1.7814908,"cg_vd_v":-1.7814908,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4262495,"cg_vq_v":-8.4262495,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.8990784,"dclink_p_w":-2590.43799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.219574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"state","t":576.110644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":576.110649,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":576.110653,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":576.429077,"values":{"Elec_RPM":-2352.82178,"EncoderCos":12630,"EncoderSin":30716,"GapTicks":49690,"Mech_RPM":-470.564362,"cg_du":47.2018585,"cg_dv":45.1727562,"cg_dw":54.8272438,"cg_id_a":-2.59266973,"cg_id_raw_a":3.6577282,"cg_iq_a":-203.653275,"cg_iq_raw_a":-205.402863,"cg_iu_a":-1.37473226,"cg_iv_a":-173.973724,"cg_iw_a":177.631821,"cg_sample_age_us":23.9290905,"cg_sample_seq":4247816,"cg_sample_valid":1,"cg_theta_rad":3.24570727,"cg_vd_req_v":-1.79984331,"cg_vd_v":-1.79984331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34061623,"cg_vq_v":-8.34061623,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2413.37622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2160645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":576.763062,"values":{"Elec_RPM":-2354.85742,"EncoderCos":35968,"EncoderSin":12842,"GapTicks":50061,"Mech_RPM":-470.971466,"cg_du":54.4895554,"cg_dv":45.5104446,"cg_dw":45.6132889,"cg_id_a":13.0099726,"cg_id_raw_a":13.9467134,"cg_iq_a":-204.855026,"cg_iq_raw_a":-205.257614,"cg_iu_a":182.743942,"cg_iv_a":-17.6903229,"cg_iw_a":-165.053619,"cg_sample_age_us":24.0745449,"cg_sample_seq":4249417,"cg_sample_valid":1,"cg_theta_rad":4.88757753,"cg_vd_req_v":-2.16397476,"cg_vd_v":-2.16397476,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31084824,"cg_vq_v":-8.31084824,"cg_vu_v":139.885834,"cg_vv_v":128.888519,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2447.12207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.1986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":577.102856,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":577.102861,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":577.102864,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":577.114624,"values":{"Elec_RPM":-2353.11694,"EncoderCos":45774,"EncoderSin":17532,"GapTicks":49317,"Mech_RPM":-470.623383,"cg_du":44.8344536,"cg_dv":55.1655464,"cg_dw":51.35709,"cg_id_a":-4.49685383,"cg_id_raw_a":-6.06041241,"cg_iq_a":-195.001038,"cg_iq_raw_a":-195.278351,"cg_iu_a":-191.582367,"cg_iv_a":60.8500519,"cg_iw_a":130.732315,"cg_sample_age_us":23.8309097,"cg_sample_seq":4251120,"cg_sample_valid":1,"cg_theta_rad":5.47222328,"cg_vd_req_v":-1.90926254,"cg_vd_v":-1.90926254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51975822,"cg_vq_v":-8.51975822,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2440186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":577.446655,"values":{"Elec_RPM":-2349.854,"EncoderCos":52056,"EncoderSin":27858,"GapTicks":49340,"Mech_RPM":-469.970825,"cg_du":55.1446342,"cg_dv":44.8553658,"cg_dw":49.2247047,"cg_id_a":-11.6594572,"cg_id_raw_a":-12.6465836,"cg_iq_a":-195.933136,"cg_iq_raw_a":-195.647369,"cg_iu_a":194.378204,"cg_iv_a":-118.411934,"cg_iw_a":-75.9662704,"cg_sample_age_us":24.1399994,"cg_sample_seq":4252817,"cg_sample_valid":1,"cg_theta_rad":6.04936934,"cg_vd_req_v":-1.7173537,"cg_vd_v":-1.7173537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45726109,"cg_vq_v":-8.45726109,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.2073364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":577.78064,"values":{"Elec_RPM":-2349.13623,"EncoderCos":51492,"EncoderSin":39328,"GapTicks":49375,"Mech_RPM":-469.827271,"cg_du":44.8866081,"cg_dv":55.1133919,"cg_dw":48.536068,"cg_id_a":-8.64489746,"cg_id_raw_a":-5.44997501,"cg_iq_a":-198.4823,"cg_iq_raw_a":-199.767532,"cg_iu_a":-183.463745,"cg_iv_a":154.431641,"cg_iw_a":29.0321045,"cg_sample_age_us":23.5400009,"cg_sample_seq":4254516,"cg_sample_valid":1,"cg_theta_rad":0.348090827,"cg_vd_req_v":-1.7856375,"cg_vd_v":-1.7856375,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44814968,"cg_vq_v":-8.44814968,"cg_vu_v":39.590332,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5181885,"dclink_p_w":-2376.05664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.321167,"temp_inv2_c":42.1584473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":578.095135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":578.095141,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":578.095145,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":578.132202,"values":{"Elec_RPM":-2345.92236,"EncoderCos":44863,"EncoderSin":48710,"GapTicks":49853,"Mech_RPM":-469.184479,"cg_du":54.6783829,"cg_dv":45.3216171,"cg_dw":53.8829956,"cg_id_a":9.62921619,"cg_id_raw_a":15.3296041,"cg_iq_a":-201.632004,"cg_iq_raw_a":-202.273407,"cg_iu_a":171.508362,"cg_iv_a":-176.474548,"cg_iw_a":4.96619415,"cg_sample_age_us":24.0090904,"cg_sample_seq":4256216,"cg_sample_valid":1,"cg_theta_rad":0.922908306,"cg_vd_req_v":-2.10157919,"cg_vd_v":-2.10157919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41092491,"cg_vq_v":-8.41092491,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2455.4668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2073364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":578.616577,"values":{"Elec_RPM":-2345.92529,"EncoderCos":37526,"EncoderSin":52082,"GapTicks":50084,"Mech_RPM":-469.185059,"cg_du":54.4235573,"cg_dv":54.4688721,"cg_dw":45.5311279,"cg_id_a":11.1684227,"cg_id_raw_a":13.7728319,"cg_iq_a":-202.959702,"cg_iq_raw_a":-202.332031,"cg_iu_a":15.2249432,"cg_iv_a":166.174652,"cg_iw_a":-181.399597,"cg_sample_age_us":23.8818188,"cg_sample_seq":4258517,"cg_sample_valid":1,"cg_theta_rad":1.33011901,"cg_vd_req_v":-2.11263394,"cg_vd_v":-2.11263394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33816051,"cg_vq_v":-8.33816051,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.2038574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":578.990819,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":578.990828,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":578.990831,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":579.104858,"values":{"Elec_RPM":-2349.31665,"EncoderCos":34068,"EncoderSin":12635,"GapTicks":49350,"Mech_RPM":-469.863342,"cg_du":55.135788,"cg_dv":44.864212,"cg_dw":49.1691017,"cg_id_a":-11.6170559,"cg_id_raw_a":-17.3608665,"cg_iq_a":-197.791641,"cg_iq_raw_a":-197.453918,"cg_iu_a":195.972931,"cg_iv_a":-119.607979,"cg_iw_a":-76.3649521,"cg_sample_age_us":24.0309086,"cg_sample_seq":4261117,"cg_sample_valid":1,"cg_theta_rad":4.79077816,"cg_vd_req_v":-1.69433069,"cg_vd_v":-1.69433069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42508221,"cg_vq_v":-8.42508221,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.6290607,"dclink_p_w":-2543.60474,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2440186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":579.119541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":579.119546,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":579.11955,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":579.458374,"values":{"Elec_RPM":-2347.87939,"EncoderCos":24322,"EncoderSin":14402,"GapTicks":49688,"Mech_RPM":-469.575867,"cg_du":45.1713867,"cg_dv":52.9105988,"cg_dw":54.8286133,"cg_id_a":-0.344396591,"cg_id_raw_a":4.68189764,"cg_iq_a":-202.369415,"cg_iq_raw_a":-202.528198,"cg_iu_a":-173.061768,"cg_iv_a":-0.402008057,"cg_iw_a":173.463776,"cg_sample_age_us":23.9618187,"cg_sample_seq":4262917,"cg_sample_valid":1,"cg_theta_rad":4.29393196,"cg_vd_req_v":-1.87863743,"cg_vd_v":-1.87863743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33486748,"cg_vq_v":-8.33486748,"cg_vu_v":95.8965836,"cg_vv_v":95.8965836,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.231781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":579.792358,"values":{"Elec_RPM":-2350.48413,"EncoderCos":35808,"EncoderSin":12851,"GapTicks":49934,"Mech_RPM":-470.096832,"cg_du":54.6050148,"cg_dv":45.3949852,"cg_dw":45.9237862,"cg_id_a":14.030405,"cg_id_raw_a":17.0158443,"cg_iq_a":-203.780457,"cg_iq_raw_a":-206.057617,"cg_iu_a":186.658279,"cg_iv_a":-19.9736786,"cg_iw_a":-166.684601,"cg_sample_age_us":24.0854549,"cg_sample_seq":4264616,"cg_sample_valid":1,"cg_theta_rad":4.87928867,"cg_vd_req_v":-2.18982339,"cg_vd_v":-2.18982339,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3331337,"cg_vq_v":-8.3331337,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.674366,"dclink_p_w":-2557.9165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.1828918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":580.110477,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":580.110482,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":580.110487,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":580.143921,"values":{"Elec_RPM":-2347.83203,"EncoderCos":45954,"EncoderSin":17687,"GapTicks":49390,"Mech_RPM":-469.566406,"cg_du":44.9006195,"cg_dv":55.0993805,"cg_dw":51.7658195,"cg_id_a":0.842797935,"cg_id_raw_a":-4.68864012,"cg_iq_a":-196.059525,"cg_iq_raw_a":-195.531342,"cg_iu_a":-195.206757,"cg_iv_a":83.0675354,"cg_iw_a":112.139221,"cg_sample_age_us":23.9581814,"cg_sample_seq":4266317,"cg_sample_valid":1,"cg_theta_rad":5.4500308,"cg_vd_req_v":-2.01290035,"cg_vd_v":-2.01290035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4812212,"cg_vq_v":-8.4812212,"cg_vu_v":130.648087,"cg_vv_v":136.806595,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-17.7921581,"dclink_p_w":-2582.79053,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2038574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":580.477905,"values":{"Elec_RPM":-2347.573,"EncoderCos":46353,"EncoderSin":47428,"GapTicks":49350,"Mech_RPM":-469.514587,"cg_du":51.1769791,"cg_dv":44.8639679,"cg_dw":55.1360321,"cg_id_a":-1.2923311,"cg_id_raw_a":-2.8584702,"cg_iq_a":-199.40744,"cg_iq_raw_a":-199.081284,"cg_iu_a":102.391357,"cg_iv_a":-199.48938,"cg_iw_a":97.0980225,"cg_sample_age_us":23.5072727,"cg_sample_seq":4267916,"cg_sample_valid":1,"cg_theta_rad":0.831007957,"cg_vd_req_v":-1.93909073,"cg_vd_v":-1.93909073,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43786526,"cg_vq_v":-8.43786526,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2501.26636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.1357727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":580.807983,"values":{"Elec_RPM":-2356.21021,"EncoderCos":51667,"EncoderSin":38781,"GapTicks":49628,"Mech_RPM":-471.242035,"cg_du":45.1165504,"cg_dv":54.8834496,"cg_dw":47.1483612,"cg_id_a":-1.31095779,"cg_id_raw_a":4.94553709,"cg_iq_a":-202.929657,"cg_iq_raw_a":-204.499847,"cg_iu_a":-175.635086,"cg_iv_a":173.024734,"cg_iw_a":2.61035156,"cg_sample_age_us":23.5181828,"cg_sample_seq":4269717,"cg_sample_valid":1,"cg_theta_rad":0.317624211,"cg_vd_req_v":-1.92716789,"cg_vd_v":-1.92716789,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36697102,"cg_vq_v":-8.36697102,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.5931473,"dclink_p_w":-2690.88672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.1916199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103277631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":581.103067,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":581.103073,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":581.103078,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":581.161499,"values":{"Elec_RPM":-2356.5752,"EncoderCos":25512,"EncoderSin":51577,"GapTicks":49865,"Mech_RPM":-471.315063,"cg_du":45.3318977,"cg_dv":46.3094177,"cg_dw":54.6681023,"cg_id_a":12.2534428,"cg_id_raw_a":12.8165398,"cg_iq_a":-203.587891,"cg_iq_raw_a":-202.965775,"cg_iu_a":-4.16550732,"cg_iv_a":-174.771088,"cg_iw_a":178.9366,"cg_sample_age_us":23.7618179,"cg_sample_seq":4271320,"cg_sample_valid":1,"cg_theta_rad":1.98099172,"cg_vd_req_v":-2.12894344,"cg_vd_v":-2.12894344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30680084,"cg_vq_v":-8.30680084,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.0817566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":581.49353,"values":{"Elec_RPM":-2353.95044,"EncoderCos":34628,"EncoderSin":52676,"GapTicks":49460,"Mech_RPM":-470.7901,"cg_du":47.9547615,"cg_dv":55.0357628,"cg_dw":44.9642372,"cg_id_a":6.20189333,"cg_id_raw_a":0.978464842,"cg_iq_a":-198.839996,"cg_iq_raw_a":-198.140656,"cg_iu_a":-125.618599,"cg_iv_a":198.322937,"cg_iw_a":-72.7043304,"cg_sample_age_us":23.9400005,"cg_sample_seq":4273117,"cg_sample_valid":1,"cg_theta_rad":1.47786212,"cg_vd_req_v":-2.03829503,"cg_vd_v":-2.03829503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39994526,"cg_vq_v":-8.39994526,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2392.94946,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.214325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":581.825562,"values":{"Elec_RPM":-2349.03345,"EncoderCos":15617,"EncoderSin":43454,"GapTicks":50079,"Mech_RPM":-469.806702,"cg_du":54.4652596,"cg_dv":54.4732513,"cg_dw":45.5267487,"cg_id_a":11.3165865,"cg_id_raw_a":17.5115414,"cg_iq_a":-204.757416,"cg_iq_raw_a":-204.799927,"cg_iu_a":16.2397709,"cg_iv_a":167.00827,"cg_iw_a":-183.248047,"cg_sample_age_us":23.9036369,"cg_sample_seq":4274767,"cg_sample_valid":1,"cg_theta_rad":2.58838463,"cg_vd_req_v":-2.10174727,"cg_vd_v":-2.10174727,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34106159,"cg_vq_v":-8.34106159,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2430.91064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.23526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":582.126501,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":582.126506,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":582.12651,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":582.177124,"values":{"Elec_RPM":-2345.6936,"EncoderCos":15599,"EncoderSin":21923,"GapTicks":49341,"Mech_RPM":-469.138702,"cg_du":55.1436539,"cg_dv":49.4062881,"cg_dw":44.8563461,"cg_id_a":-13.7957582,"cg_id_raw_a":-12.9038124,"cg_iq_a":-195.352814,"cg_iq_raw_a":-196.826279,"cg_iu_a":146.065186,"cg_iv_a":42.9093628,"cg_iw_a":-188.974548,"cg_sample_age_us":24.045454,"cg_sample_seq":4276416,"cg_sample_valid":1,"cg_theta_rad":3.71277738,"cg_vd_req_v":-1.60003793,"cg_vd_v":-1.60003793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46492386,"cg_vq_v":-8.46492386,"cg_vu_v":48.3881836,"cg_vv_v":51.9073219,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2335205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":582.511108,"values":{"Elec_RPM":-2344.05664,"EncoderCos":16011,"EncoderSin":21231,"GapTicks":49348,"Mech_RPM":-468.81131,"cg_du":55.0897713,"cg_dv":50.9118576,"cg_dw":44.9102287,"cg_id_a":-3.09934282,"cg_id_raw_a":-4.90905571,"cg_iq_a":-200.65213,"cg_iq_raw_a":-200.448975,"cg_iu_a":118.701088,"cg_iv_a":78.537056,"cg_iw_a":-197.238144,"cg_sample_age_us":23.8600006,"cg_sample_seq":4278166,"cg_sample_valid":1,"cg_theta_rad":3.74281812,"cg_vd_req_v":-1.83908796,"cg_vd_v":-1.83908796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35097504,"cg_vq_v":-8.35097504,"cg_vu_v":14.9563465,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2013836,"dclink_p_w":-2481.89746,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2003479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":582.84314,"values":{"Elec_RPM":-2347.54224,"EncoderCos":35203,"EncoderSin":12783,"GapTicks":49595,"Mech_RPM":-469.508453,"cg_du":54.9135513,"cg_dv":45.0864487,"cg_dw":47.2045555,"cg_id_a":14.4745884,"cg_id_raw_a":10.3827848,"cg_iq_a":-203.173981,"cg_iq_raw_a":-200.777603,"cg_iu_a":196.226654,"cg_iv_a":-49.0412598,"cg_iw_a":-147.185394,"cg_sample_age_us":24.0599995,"cg_sample_seq":4279817,"cg_sample_valid":1,"cg_theta_rad":4.84917212,"cg_vd_req_v":-2.22302961,"cg_vd_v":-2.22302961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35205078,"cg_vq_v":-8.35205078,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-17.4858971,"dclink_p_w":-2530.64038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2545166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":583.118985,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":583.11899,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":583.118994,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":583.196655,"values":{"Elec_RPM":-2353.27173,"EncoderCos":36220,"EncoderSin":12913,"GapTicks":49868,"Mech_RPM":-470.654327,"cg_du":54.665081,"cg_dv":46.0864944,"cg_dw":45.334919,"cg_id_a":7.0847683,"cg_id_raw_a":12.539794,"cg_iq_a":-199.580414,"cg_iq_raw_a":-201.165817,"cg_iu_a":177.162384,"cg_iv_a":-7.94073486,"cg_iw_a":-169.221649,"cg_sample_age_us":23.9690914,"cg_sample_seq":4281566,"cg_sample_valid":1,"cg_theta_rad":4.90401602,"cg_vd_req_v":-2.03530002,"cg_vd_v":-2.03530002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4197464,"cg_vq_v":-8.4197464,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2548.73706,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.219574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":583.528687,"values":{"Elec_RPM":-2348.17212,"EncoderCos":51874,"EncoderSin":27109,"GapTicks":49341,"Mech_RPM":-469.63443,"cg_du":55.1444855,"cg_dv":44.8555145,"cg_dw":50.8343544,"cg_id_a":-15.4129829,"cg_id_raw_a":-15.2845669,"cg_iq_a":-195.010803,"cg_iq_raw_a":-195.120682,"cg_iu_a":181.801605,"cg_iv_a":-152.263672,"cg_iw_a":-29.5379333,"cg_sample_age_us":24.045454,"cg_sample_seq":4283217,"cg_sample_valid":1,"cg_theta_rad":6.01084471,"cg_vd_req_v":-1.6207602,"cg_vd_v":-1.6207602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48127174,"cg_vq_v":-8.48127174,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2534.02515,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2719727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":583.880249,"values":{"Elec_RPM":-2346.07007,"EncoderCos":51874,"EncoderSin":27033,"GapTicks":49320,"Mech_RPM":-469.21402,"cg_du":55.1628036,"cg_dv":44.8371964,"cg_dw":51.0477905,"cg_id_a":-12.9444008,"cg_id_raw_a":-13.7552557,"cg_iq_a":-195.316696,"cg_iq_raw_a":-195.89624,"cg_iu_a":196.335388,"cg_iv_a":-120.622818,"cg_iw_a":-75.7125702,"cg_sample_age_us":24.1145458,"cg_sample_seq":4284971,"cg_sample_valid":1,"cg_theta_rad":6.04951239,"cg_vd_req_v":-1.67003,"cg_vd_v":-1.67003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49782372,"cg_vq_v":-8.49782372,"cg_vu_v":142.965088,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7667885,"dclink_p_w":-2563.47681,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.3492126,"temp_inv2_c":42.23526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":584.079482,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":584.079487,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":584.079492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":584.214233,"values":{"Elec_RPM":-2343.22705,"EncoderCos":51502,"EncoderSin":39398,"GapTicks":49352,"Mech_RPM":-468.645386,"cg_du":44.8656654,"cg_dv":55.1343346,"cg_dw":48.6578178,"cg_id_a":-7.60005426,"cg_id_raw_a":-6.13202715,"cg_iq_a":-197.708054,"cg_iq_raw_a":-198.531113,"cg_iu_a":-181.615326,"cg_iv_a":158.889648,"cg_iw_a":22.7256851,"cg_sample_age_us":23.4345455,"cg_sample_seq":4286666,"cg_sample_valid":1,"cg_theta_rad":0.339774013,"cg_vd_req_v":-1.80986047,"cg_vd_v":-1.80986047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48650265,"cg_vq_v":-8.48650265,"cg_vu_v":124.489601,"cg_vv_v":135.486908,"cg_vw_v":107.773682,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2420.74194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2527466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":584.546265,"values":{"Elec_RPM":-2349.76025,"EncoderCos":44945,"EncoderSin":48631,"GapTicks":49943,"Mech_RPM":-469.952057,"cg_du":54.5970764,"cg_dv":45.4029236,"cg_dw":54.1178055,"cg_id_a":10.8922253,"cg_id_raw_a":16.8860264,"cg_iq_a":-201.064697,"cg_iq_raw_a":-202.188156,"cg_iu_a":167.992706,"cg_iv_a":-179.337814,"cg_iw_a":11.345108,"cg_sample_age_us":24.0090904,"cg_sample_seq":4288367,"cg_sample_valid":1,"cg_theta_rad":0.919299006,"cg_vd_req_v":-2.11530185,"cg_vd_v":-2.11530185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38620853,"cg_vq_v":-8.38620853,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2427.83105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.23526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":584.897827,"values":{"Elec_RPM":-2352.37329,"EncoderCos":24536,"EncoderSin":51218,"GapTicks":49667,"Mech_RPM":-470.47467,"cg_du":47.1579094,"cg_dv":45.1522141,"cg_dw":54.8477859,"cg_id_a":-2.36337042,"cg_id_raw_a":5.06253767,"cg_iq_a":-204.624268,"cg_iq_raw_a":-206.318176,"cg_iu_a":33.8905182,"cg_iv_a":-186.912781,"cg_iw_a":153.022263,"cg_sample_age_us":23.7800007,"cg_sample_seq":4290020,"cg_sample_valid":1,"cg_theta_rad":2.03403831,"cg_vd_req_v":-1.82870221,"cg_vd_v":-1.82870221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32840919,"cg_vq_v":-8.32840919,"cg_vu_v":40.4701157,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.1305542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":585.103521,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":585.103527,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":585.103532,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":585.231812,"values":{"Elec_RPM":-2354.10205,"EncoderCos":33345,"EncoderSin":52781,"GapTicks":50040,"Mech_RPM":-470.820404,"cg_du":45.491291,"cg_dv":54.508709,"cg_dw":45.6552086,"cg_id_a":11.7391891,"cg_id_raw_a":13.7529879,"cg_iq_a":-204.458389,"cg_iq_raw_a":-206.029663,"cg_iu_a":-170.633423,"cg_iv_a":182.049438,"cg_iw_a":-11.4160233,"cg_sample_age_us":23.9290905,"cg_sample_seq":4291816,"cg_sample_valid":1,"cg_theta_rad":1.54248846,"cg_vd_req_v":-2.12565541,"cg_vd_v":-2.12565541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32912636,"cg_vq_v":-8.32912636,"cg_vu_v":0.87978512,"cg_vv_v":5.27871037,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2442.15381,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.1881104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":585.56189,"values":{"Elec_RPM":-2358.81543,"EncoderCos":12558,"EncoderSin":31784,"GapTicks":49821,"Mech_RPM":-471.763062,"cg_du":45.2927246,"cg_dv":46.3322906,"cg_dw":54.7072754,"cg_id_a":12.1003027,"cg_id_raw_a":10.3436918,"cg_iq_a":-201.116409,"cg_iq_raw_a":-201.183212,"cg_iu_a":-32.2907219,"cg_iv_a":-157.084091,"cg_iw_a":189.374817,"cg_sample_age_us":23.9363632,"cg_sample_seq":4293416,"cg_sample_valid":1,"cg_theta_rad":3.19321132,"cg_vd_req_v":-2.11696982,"cg_vd_v":-2.11696982,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3619833,"cg_vq_v":-8.3619833,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.3772278,"temp_inv2_c":42.2405396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":585.915405,"values":{"Elec_RPM":-2357.8833,"EncoderCos":14613,"EncoderSin":41616,"GapTicks":49346,"Mech_RPM":-471.57666,"cg_du":49.6000023,"cg_dv":55.1395035,"cg_dw":44.8604965,"cg_id_a":-8.6921463,"cg_id_raw_a":-10.1641359,"cg_iq_a":-197.986053,"cg_iq_raw_a":-198.158844,"cg_iu_a":-71.9414825,"cg_iv_a":192.813873,"cg_iw_a":-135.696121,"cg_sample_age_us":23.8818188,"cg_sample_seq":4295217,"cg_sample_valid":1,"cg_theta_rad":2.68626976,"cg_vd_req_v":-1.70010877,"cg_vd_v":-1.70010877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42770958,"cg_vq_v":-8.42770958,"cg_vu_v":103.814644,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2498.10889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2335205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":586.095618,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":586.095624,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":586.095629,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":586.24939,"values":{"Elec_RPM":-2358.27539,"EncoderCos":25235,"EncoderSin":14035,"GapTicks":49352,"Mech_RPM":-471.65509,"cg_du":44.8661079,"cg_dv":50.4996109,"cg_dw":55.1338921,"cg_id_a":-14.4583626,"cg_id_raw_a":-12.07514,"cg_iq_a":-199.715332,"cg_iq_raw_a":-201.109024,"cg_iu_a":-149.430786,"cg_iv_a":-40.1252747,"cg_iw_a":189.556061,"cg_sample_age_us":23.9290905,"cg_sample_seq":4296816,"cg_sample_valid":1,"cg_theta_rad":4.34129,"cg_vd_req_v":-1.60988224,"cg_vd_v":-1.60988224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44081211,"cg_vq_v":-8.44081211,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7302151,"dclink_p_w":-2421.27466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2527466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":586.579468,"values":{"Elec_RPM":-2361.57837,"EncoderCos":36461,"EncoderSin":12945,"GapTicks":49748,"Mech_RPM":-472.315674,"cg_du":54.7737083,"cg_dv":46.7108688,"cg_dw":45.2262917,"cg_id_a":2.47562337,"cg_id_raw_a":6.51176929,"cg_iq_a":-199.378281,"cg_iq_raw_a":-198.770569,"cg_iu_a":171.907043,"cg_iv_a":-0.365783691,"cg_iw_a":-171.54126,"cg_sample_age_us":24.0599995,"cg_sample_seq":4298517,"cg_sample_valid":1,"cg_theta_rad":4.9239068,"cg_vd_req_v":-1.92183757,"cg_vd_v":-1.92183757,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39446068,"cg_vq_v":-8.39446068,"cg_vu_v":2.63935518,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2527.28369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2440186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":586.932983,"values":{"Elec_RPM":-2357.44849,"EncoderCos":37415,"EncoderSin":13132,"GapTicks":49367,"Mech_RPM":-471.489685,"cg_du":55.1207047,"cg_dv":49.121048,"cg_dw":44.8792953,"cg_id_a":-14.8458815,"cg_id_raw_a":-13.6240225,"cg_iq_a":-195.711365,"cg_iq_raw_a":-196.218414,"cg_iu_a":143.636841,"cg_iv_a":46.4975128,"cg_iw_a":-190.134354,"cg_sample_age_us":24.0090904,"cg_sample_seq":4300266,"cg_sample_valid":1,"cg_theta_rad":4.97448874,"cg_vd_req_v":-1.60416198,"cg_vd_v":-1.60416198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44836235,"cg_vq_v":-8.44836235,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2455.63159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.23526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":587.087673,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":587.087679,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":587.087683,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":587.265015,"values":{"Elec_RPM":-2355.38916,"EncoderCos":52198,"EncoderSin":28401,"GapTicks":49380,"Mech_RPM":-471.07785,"cg_du":55.1082497,"cg_dv":44.8917503,"cg_dw":48.2995758,"cg_id_a":2.83521414,"cg_id_raw_a":-2.9958992,"cg_iq_a":-199.327637,"cg_iq_raw_a":-198.805328,"cg_iu_a":199.416107,"cg_iv_a":-82.6755219,"cg_iw_a":-116.740585,"cg_sample_age_us":24.1399994,"cg_sample_seq":4301916,"cg_sample_valid":1,"cg_theta_rad":6.07772398,"cg_vd_req_v":-2.03195238,"cg_vd_v":-2.03195238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4248085,"cg_vq_v":-8.4248085,"cg_vu_v":38.7105446,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2441.89233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2422791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":587.61853,"values":{"Elec_RPM":-2351.60132,"EncoderCos":52194,"EncoderSin":28333,"GapTicks":49379,"Mech_RPM":-470.320251,"cg_du":55.1092377,"cg_dv":44.8907623,"cg_dw":48.3712692,"cg_id_a":-1.65532625,"cg_id_raw_a":-7.21158314,"cg_iq_a":-197.792404,"cg_iq_raw_a":-197.838242,"cg_iu_a":194.813141,"cg_iv_a":-49.2224731,"cg_iw_a":-145.590668,"cg_sample_age_us":26.9981823,"cg_sample_seq":4303670,"cg_sample_valid":1,"cg_theta_rad":6.10464334,"cg_vd_req_v":-1.92604434,"cg_vd_v":-1.92604434,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46529865,"cg_vq_v":-8.46529865,"cg_vu_v":25.953661,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2496.54565,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2562561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":587.950562,"values":{"Elec_RPM":-2354.48193,"EncoderCos":44483,"EncoderSin":48956,"GapTicks":49603,"Mech_RPM":-470.896393,"cg_du":54.9062691,"cg_dv":45.0937309,"cg_dw":52.6603775,"cg_id_a":-3.88249326,"cg_id_raw_a":5.06521034,"cg_iq_a":-199.649277,"cg_iq_raw_a":-201.548584,"cg_iu_a":172.849365,"cg_iv_a":-170.204376,"cg_iw_a":1.99420929,"cg_sample_age_us":23.9363632,"cg_sample_seq":4305316,"cg_sample_valid":1,"cg_theta_rad":0.946116984,"cg_vd_req_v":-1.81757772,"cg_vd_v":-1.81757772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39698029,"cg_vq_v":-8.39698029,"cg_vu_v":47.9482918,"cg_vv_v":42.2296829,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2518.50366,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.23703,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":588.111047,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":588.111053,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":588.111057,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":588.362671,"values":{"Elec_RPM":-2354.41382,"EncoderCos":29823,"EncoderSin":12825,"GapTicks":49307,"Mech_RPM":-470.882751,"cg_du":50.6338348,"cg_dv":44.8248711,"cg_dw":55.1751289,"cg_id_a":-9.16815281,"cg_id_raw_a":-12.3119421,"cg_iq_a":-197.700577,"cg_iq_raw_a":-197.918015,"cg_iu_a":77.5280914,"cg_iv_a":-197.024796,"cg_iw_a":130.768555,"cg_sample_age_us":23.7399998,"cg_sample_seq":4307316,"cg_sample_valid":1,"cg_theta_rad":4.57827759,"cg_vd_req_v":-1.75193048,"cg_vd_v":-1.75193048,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46418095,"cg_vq_v":-8.46418095,"cg_vu_v":39.590332,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.42066,"dclink_p_w":-2513.53564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2475281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":588.882202,"values":{"Elec_RPM":-2346.50757,"EncoderCos":28868,"EncoderSin":52469,"GapTicks":49798,"Mech_RPM":-469.301514,"cg_du":45.2710571,"cg_dv":53.6037788,"cg_dw":54.7289429,"cg_id_a":5.40392113,"cg_id_raw_a":11.7083101,"cg_iq_a":-200.451141,"cg_iq_raw_a":-200.344009,"cg_iu_a":-176.613678,"cg_iv_a":4.45466614,"cg_iw_a":172.159012,"cg_sample_age_us":23.863636,"cg_sample_seq":4309916,"cg_sample_valid":1,"cg_theta_rad":1.7665236,"cg_vd_req_v":-1.96661043,"cg_vd_v":-1.96661043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40684223,"cg_vq_v":-8.40684223,"cg_vu_v":1.31967759,"cg_vv_v":10.9973145,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2754822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":588.974925,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":588.974935,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":588.974937,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":589.13501,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":589.135015,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":589.13502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":589.276733,"values":{"Elec_RPM":-2345.38184,"EncoderCos":35493,"EncoderSin":12802,"GapTicks":49779,"Mech_RPM":-469.076355,"cg_du":54.7459412,"cg_dv":45.2540588,"cg_dw":46.6442986,"cg_id_a":15.7231855,"cg_id_raw_a":16.0289631,"cg_iq_a":-204.04834,"cg_iq_raw_a":-203.611069,"cg_iu_a":192.928467,"cg_iv_a":-33.1302032,"cg_iw_a":-159.798264,"cg_sample_age_us":24.0599995,"cg_sample_seq":4311966,"cg_sample_valid":1,"cg_theta_rad":4.86544037,"cg_vd_req_v":-2.22927165,"cg_vd_v":-2.22927165,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29833126,"cg_vq_v":-8.29833126,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2387695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":589.610718,"values":{"Elec_RPM":-2350.50391,"EncoderCos":36281,"EncoderSin":12962,"GapTicks":49853,"Mech_RPM":-470.1008,"cg_du":54.6782799,"cg_dv":46.271801,"cg_dw":45.3217201,"cg_id_a":6.30803537,"cg_id_raw_a":11.2700872,"cg_iq_a":-199.158081,"cg_iq_raw_a":-200.109924,"cg_iu_a":177.851028,"cg_iv_a":-12.6161957,"cg_iw_a":-165.234833,"cg_sample_age_us":23.9727268,"cg_sample_seq":4313716,"cg_sample_valid":1,"cg_theta_rad":4.89690399,"cg_vd_req_v":-2.00696039,"cg_vd_v":-2.00696039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39546394,"cg_vq_v":-8.39546394,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2377.73779,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2405396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":589.96228,"values":{"Elec_RPM":-2349.26416,"EncoderCos":51976,"EncoderSin":37669,"GapTicks":49751,"Mech_RPM":-469.852814,"cg_du":46.547142,"cg_dv":54.7713127,"cg_dw":45.2286873,"cg_id_a":14.4411554,"cg_id_raw_a":13.9659357,"cg_iq_a":-204.937759,"cg_iq_raw_a":-203.507523,"cg_iu_a":-166.574127,"cg_iv_a":186.471191,"cg_iw_a":-19.8970642,"cg_sample_age_us":23.3945446,"cg_sample_seq":4315317,"cg_sample_valid":1,"cg_theta_rad":0.272667557,"cg_vd_req_v":-2.26482749,"cg_vd_v":-2.26482749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33941746,"cg_vq_v":-8.33941746,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":26.3935547,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2422791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":590.127245,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":590.127248,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":590.127251,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":590.294312,"values":{"Elec_RPM":-2355.55444,"EncoderCos":51679,"EncoderSin":38711,"GapTicks":49672,"Mech_RPM":-471.11087,"cg_du":45.1571198,"cg_dv":54.8428802,"cg_dw":46.9842529,"cg_id_a":0.607564211,"cg_id_raw_a":5.91814184,"cg_iq_a":-201.159714,"cg_iq_raw_a":-202.9487,"cg_iu_a":-173.605438,"cg_iv_a":172.082397,"cg_iw_a":1.52303314,"cg_sample_age_us":23.5290909,"cg_sample_seq":4317066,"cg_sample_valid":1,"cg_theta_rad":0.311230689,"cg_vd_req_v":-1.95697248,"cg_vd_v":-1.95697248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40150642,"cg_vq_v":-8.40150642,"cg_vu_v":18.9153805,"cg_vv_v":28.5930176,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7051735,"dclink_p_w":-2562.37524,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2335205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":590.628296,"values":{"Elec_RPM":-2356.08374,"EncoderCos":45548,"EncoderSin":48145,"GapTicks":49666,"Mech_RPM":-471.216736,"cg_du":53.1753464,"cg_dv":45.1516533,"cg_dw":54.8483467,"cg_id_a":15.854599,"cg_id_raw_a":12.6410913,"cg_iq_a":-201.011597,"cg_iq_raw_a":-200.370743,"cg_iu_a":153.023987,"cg_iv_a":-192.748016,"cg_iw_a":39.7240372,"cg_sample_age_us":23.5472736,"cg_sample_seq":4318767,"cg_sample_valid":1,"cg_theta_rad":0.877874911,"cg_vd_req_v":-2.25199008,"cg_vd_v":-2.25199008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36427498,"cg_vq_v":-8.36427498,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.231781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":590.979858,"values":{"Elec_RPM":-2355.19873,"EncoderCos":44820,"EncoderSin":48796,"GapTicks":49832,"Mech_RPM":-471.039764,"cg_du":54.6974258,"cg_dv":45.3025742,"cg_dw":53.6734276,"cg_id_a":8.03497887,"cg_id_raw_a":14.526988,"cg_iq_a":-203.024933,"cg_iq_raw_a":-203.284058,"cg_iu_a":171.798309,"cg_iv_a":-180.570114,"cg_iw_a":8.77180481,"cg_sample_age_us":23.8745461,"cg_sample_seq":4320516,"cg_sample_valid":1,"cg_theta_rad":0.92059052,"cg_vd_req_v":-2.06744361,"cg_vd_v":-2.06744361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33427429,"cg_vq_v":-8.33427429,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2422.80493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2457581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":591.118563,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":591.118569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":591.118573,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":591.313843,"values":{"Elec_RPM":-2352.29883,"EncoderCos":34064,"EncoderSin":52679,"GapTicks":49638,"Mech_RPM":-470.459778,"cg_du":46.9647331,"cg_dv":54.874054,"cg_dw":45.125946,"cg_id_a":16.5394783,"cg_id_raw_a":13.5252123,"cg_iq_a":-204.415726,"cg_iq_raw_a":-203.457275,"cg_iu_a":-154.722397,"cg_iv_a":196.112061,"cg_iw_a":-41.3896561,"cg_sample_age_us":23.9290905,"cg_sample_seq":4322216,"cg_sample_valid":1,"cg_theta_rad":1.5037812,"cg_vd_req_v":-2.24882269,"cg_vd_v":-2.24882269,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3311882,"cg_vq_v":-8.3311882,"cg_vu_v":39.1504402,"cg_vv_v":68.6232376,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2562561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":591.665405,"values":{"Elec_RPM":-2356.4917,"EncoderCos":22923,"EncoderSin":50455,"GapTicks":49367,"Mech_RPM":-471.29834,"cg_du":51.0678291,"cg_dv":44.8793259,"cg_dw":55.1206741,"cg_id_a":-5.40264797,"cg_id_raw_a":-9.09098911,"cg_iq_a":-197.89978,"cg_iq_raw_a":-197.425522,"cg_iu_a":90.8658295,"cg_iv_a":-198.909485,"cg_iw_a":108.043655,"cg_sample_age_us":23.7181816,"cg_sample_seq":4323916,"cg_sample_valid":1,"cg_theta_rad":2.07779956,"cg_vd_req_v":-1.81510365,"cg_vd_v":-1.81510365,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45264816,"cg_vq_v":-8.45264816,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2493.92505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.214325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":591.997437,"values":{"Elec_RPM":-2354.91016,"EncoderCos":14891,"EncoderSin":42121,"GapTicks":49339,"Mech_RPM":-470.982056,"cg_du":50.8566818,"cg_dv":55.1459351,"cg_dw":44.8540649,"cg_id_a":-8.75061417,"cg_id_raw_a":-7.9841671,"cg_iq_a":-195.611099,"cg_iq_raw_a":-195.615723,"cg_iu_a":-39.8656845,"cg_iv_a":186.471191,"cg_iw_a":-146.605515,"cg_sample_age_us":23.8854542,"cg_sample_seq":4325616,"cg_sample_valid":1,"cg_theta_rad":2.66334248,"cg_vd_req_v":-1.68804944,"cg_vd_v":-1.68804944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47266865,"cg_vq_v":-8.47266865,"cg_vu_v":38.7105446,"cg_vv_v":52.7871094,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.6961117,"dclink_p_w":-2561.06372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2754822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":592.110796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":592.110803,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":592.110808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":592.329468,"values":{"Elec_RPM":-2357.9646,"EncoderCos":12617,"EncoderSin":31093,"GapTicks":49928,"Mech_RPM":-471.592926,"cg_du":46.1851463,"cg_dv":45.3894234,"cg_dw":54.6105766,"cg_id_a":8.69149113,"cg_id_raw_a":12.5316753,"cg_iq_a":-207.474289,"cg_iq_raw_a":-208.003769,"cg_iu_a":-8.00735378,"cg_iv_a":-175.532196,"cg_iw_a":183.539551,"cg_sample_age_us":23.9109097,"cg_sample_seq":4327316,"cg_sample_valid":1,"cg_theta_rad":3.22517109,"cg_vd_req_v":-2.03571558,"cg_vd_v":-2.03571558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26597118,"cg_vq_v":-8.26597118,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2471.43872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2842407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":592.682983,"values":{"Elec_RPM":-2357.62793,"EncoderCos":16596,"EncoderSin":20447,"GapTicks":49604,"Mech_RPM":-471.525604,"cg_du":54.9052315,"cg_dv":52.7413864,"cg_dw":45.0947685,"cg_id_a":11.8643894,"cg_id_raw_a":9.15187263,"cg_iq_a":-203.287704,"cg_iq_raw_a":-201.277344,"cg_iu_a":54.1508179,"cg_iv_a":143.449768,"cg_iw_a":-197.600586,"cg_sample_age_us":23.9654541,"cg_sample_seq":4329017,"cg_sample_valid":1,"cg_theta_rad":3.79949713,"cg_vd_req_v":-2.12921143,"cg_vd_v":-2.12921143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34615326,"cg_vq_v":-8.34615326,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2632446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":593.013062,"values":{"Elec_RPM":-2355.31128,"EncoderCos":45946,"EncoderSin":17691,"GapTicks":49383,"Mech_RPM":-471.062256,"cg_du":44.8937759,"cg_dv":55.1062241,"cg_dw":51.7930336,"cg_id_a":-1.54459381,"cg_id_raw_a":-6.52978611,"cg_iq_a":-197.499161,"cg_iq_raw_a":-196.357193,"cg_iu_a":-196.692749,"cg_iv_a":86.9456177,"cg_iw_a":109.747131,"cg_sample_age_us":23.9290905,"cg_sample_seq":4330617,"cg_sample_valid":1,"cg_theta_rad":5.45051956,"cg_vd_req_v":-1.97300816,"cg_vd_v":-1.97300816,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45312691,"cg_vq_v":-8.45312691,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2562561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":593.102954,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":593.10296,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":593.102965,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":593.366577,"values":{"Elec_RPM":-2354.18091,"EncoderCos":36565,"EncoderSin":12942,"GapTicks":49680,"Mech_RPM":-470.836182,"cg_du":54.8356514,"cg_dv":46.9457512,"cg_dw":45.1643486,"cg_id_a":0.154395461,"cg_id_raw_a":4.96049452,"cg_iq_a":-200.386017,"cg_iq_raw_a":-202.848892,"cg_iu_a":156.430923,"cg_iv_a":27.9044037,"cg_iw_a":-184.335327,"cg_sample_age_us":23.9181824,"cg_sample_seq":4332420,"cg_sample_valid":1,"cg_theta_rad":4.96001911,"cg_vd_req_v":-1.89070499,"cg_vd_v":-1.89070499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3911972,"cg_vq_v":-8.3911972,"cg_vu_v":46.1887207,"cg_vv_v":47.9482918,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2474.40747,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2475281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":593.700562,"values":{"Elec_RPM":-2354.91797,"EncoderCos":51524,"EncoderSin":39137,"GapTicks":49468,"Mech_RPM":-470.983582,"cg_du":44.9709816,"cg_dv":55.0290184,"cg_dw":48.1578636,"cg_id_a":-9.15616989,"cg_id_raw_a":-7.28407001,"cg_iq_a":-198.534866,"cg_iq_raw_a":-199.74791,"cg_iu_a":-180.600494,"cg_iv_a":167.479431,"cg_iw_a":8.8080368,"cg_sample_age_us":23.5363636,"cg_sample_seq":4334016,"cg_sample_valid":1,"cg_theta_rad":0.334140092,"cg_vd_req_v":-1.75538027,"cg_vd_v":-1.75538027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43546295,"cg_vq_v":-8.43546295,"cg_vu_v":0.87978512,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3192139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":594.03064,"values":{"Elec_RPM":-2352.21436,"EncoderCos":52287,"EncoderSin":29040,"GapTicks":49618,"Mech_RPM":-470.442871,"cg_du":54.8923187,"cg_dv":45.1076813,"cg_dw":47.1644554,"cg_id_a":15.1896496,"cg_id_raw_a":13.2235909,"cg_iq_a":-202.934799,"cg_iq_raw_a":-200.699295,"cg_iu_a":194.269485,"cg_iv_a":-43.8946075,"cg_iw_a":-150.374878,"cg_sample_age_us":24.1727276,"cg_sample_seq":4335817,"cg_sample_valid":1,"cg_theta_rad":6.1113162,"cg_vd_req_v":-2.24991989,"cg_vd_v":-2.24991989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32256699,"cg_vq_v":-8.32256699,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2454.84497,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.2300415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":594.094694,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":594.0947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":594.094706,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":594.364624,"values":{"Elec_RPM":-2357.5918,"EncoderCos":34456,"EncoderSin":52672,"GapTicks":49498,"Mech_RPM":-471.518372,"cg_du":47.6643028,"cg_dv":55.0012589,"cg_dw":44.9987411,"cg_id_a":9.8485384,"cg_id_raw_a":5.50416994,"cg_iq_a":-201.758942,"cg_iq_raw_a":-200.437378,"cg_iu_a":-135.223206,"cg_iv_a":199.156525,"cg_iw_a":-63.9333267,"cg_sample_age_us":23.8963642,"cg_sample_seq":4337416,"cg_sample_valid":1,"cg_theta_rad":1.48505747,"cg_vd_req_v":-2.12084627,"cg_vd_v":-2.12084627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39244556,"cg_vq_v":-8.39244556,"cg_vu_v":21.1148415,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2520.85693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2387695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":594.716187,"values":{"Elec_RPM":-2360.33911,"EncoderCos":43838,"EncoderSin":49410,"GapTicks":49308,"Mech_RPM":-472.067841,"cg_du":55.1742249,"cg_dv":44.8257751,"cg_dw":50.7046509,"cg_id_a":-16.5957317,"cg_id_raw_a":-15.1497097,"cg_iq_a":-195.339142,"cg_iq_raw_a":-195.407761,"cg_iu_a":179.481995,"cg_iv_a":-157.88147,"cg_iw_a":-21.6005325,"cg_sample_age_us":23.954546,"cg_sample_seq":4339216,"cg_sample_valid":1,"cg_theta_rad":0.977918804,"cg_vd_req_v":-1.58628726,"cg_vd_v":-1.58628726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52723312,"cg_vq_v":-8.52723312,"cg_vu_v":106.453995,"cg_vv_v":94.1370087,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2597656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":595.048218,"values":{"Elec_RPM":-2363.78955,"EncoderCos":15132,"EncoderSin":42643,"GapTicks":49488,"Mech_RPM":-472.757935,"cg_du":52.1377678,"cg_dv":55.0105705,"cg_dw":44.9894295,"cg_id_a":-7.69536495,"cg_id_raw_a":-5.82988119,"cg_iq_a":-198.515076,"cg_iq_raw_a":-200.68808,"cg_iu_a":-12.2478828,"cg_iv_a":175.92424,"cg_iw_a":-163.676361,"cg_sample_age_us":23.9109097,"cg_sample_seq":4340817,"cg_sample_valid":1,"cg_theta_rad":2.6311307,"cg_vd_req_v":-1.7045933,"cg_vd_v":-1.7045933,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42675114,"cg_vq_v":-8.42675114,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.3260956,"dclink_p_w":-2355.60669,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2562561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":595.087611,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":595.087617,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":595.087624,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":595.401733,"values":{"Elec_RPM":-2361.30396,"EncoderCos":14691,"EncoderSin":41780,"GapTicks":49339,"Mech_RPM":-472.260773,"cg_du":49.9087448,"cg_dv":55.1457672,"cg_dw":44.8542328,"cg_id_a":-13.6069584,"cg_id_raw_a":-15.8159685,"cg_iq_a":-199.427139,"cg_iq_raw_a":-199.609802,"cg_iu_a":-44.9035759,"cg_iv_a":190.856705,"cg_iw_a":-145.953125,"cg_sample_age_us":23.7872734,"cg_sample_seq":4342566,"cg_sample_valid":1,"cg_theta_rad":2.67220068,"cg_vd_req_v":-1.60647321,"cg_vd_v":-1.60647321,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42174339,"cg_vq_v":-8.42174339,"cg_vu_v":19.3552723,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2451.04395,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2562561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":595.733765,"values":{"Elec_RPM":-2362.73779,"EncoderCos":12688,"EncoderSin":30625,"GapTicks":49763,"Mech_RPM":-472.547577,"cg_du":46.7305298,"cg_dv":45.2392578,"cg_dw":54.7607422,"cg_id_a":-4.00620842,"cg_id_raw_a":0.695417225,"cg_iq_a":-203.328537,"cg_iq_raw_a":-204.977051,"cg_iu_a":-3.04194856,"cg_iv_a":-174.009979,"cg_iw_a":177.051926,"cg_sample_age_us":23.8418179,"cg_sample_seq":4344266,"cg_sample_valid":1,"cg_theta_rad":3.24264765,"cg_vd_req_v":-1.77221417,"cg_vd_v":-1.77221417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37293243,"cg_vq_v":-8.37293243,"cg_vu_v":106.014107,"cg_vv_v":90.6178665,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2772522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":596.067749,"values":{"Elec_RPM":-2360.62598,"EncoderCos":16991,"EncoderSin":19940,"GapTicks":49992,"Mech_RPM":-472.125214,"cg_du":54.5520859,"cg_dv":54.0430222,"cg_dw":45.4479141,"cg_id_a":11.786767,"cg_id_raw_a":12.3951435,"cg_iq_a":-203.940536,"cg_iq_raw_a":-206.402924,"cg_iu_a":25.8443871,"cg_iv_a":162.042847,"cg_iw_a":-187.887238,"cg_sample_age_us":23.8709087,"cg_sample_seq":4345966,"cg_sample_valid":1,"cg_theta_rad":3.83272099,"cg_vd_req_v":-2.09987593,"cg_vd_v":-2.09987593,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31389236,"cg_vq_v":-8.31389236,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.2667542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":596.078816,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":596.078822,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":596.078828,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":596.419312,"values":{"Elec_RPM":-2356.38623,"EncoderCos":17483,"EncoderSin":19314,"GapTicks":49667,"Mech_RPM":-471.277222,"cg_du":52.9963875,"cg_dv":54.8479691,"cg_dw":45.1520309,"cg_id_a":-1.03401232,"cg_id_raw_a":5.85228491,"cg_iq_a":-198.685059,"cg_iq_raw_a":-201.68689,"cg_iu_a":1.81472516,"cg_iv_a":170.523911,"cg_iw_a":-172.338638,"cg_sample_age_us":23.9727268,"cg_sample_seq":4347716,"cg_sample_valid":1,"cg_theta_rad":3.87345839,"cg_vd_req_v":-1.8276546,"cg_vd_v":-1.8276546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40558243,"cg_vq_v":-8.40558243,"cg_vu_v":0.43989256,"cg_vv_v":4.39892578,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2428.09326,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2597656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":596.751343,"values":{"Elec_RPM":-2352.98999,"EncoderCos":37771,"EncoderSin":13225,"GapTicks":49299,"Mech_RPM":-470.597992,"cg_du":55.1821632,"cg_dv":49.9555092,"cg_dw":44.8178368,"cg_id_a":-16.3379097,"cg_id_raw_a":-16.9431171,"cg_iq_a":-196.511597,"cg_iq_raw_a":-197.196716,"cg_iu_a":139.758759,"cg_iv_a":54.434906,"cg_iw_a":-194.193665,"cg_sample_age_us":23.9836369,"cg_sample_seq":4349366,"cg_sample_valid":1,"cg_theta_rad":4.9820857,"cg_vd_req_v":-1.59300172,"cg_vd_v":-1.59300172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48565578,"cg_vq_v":-8.48565578,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2496.021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2684937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":597.085327,"values":{"Elec_RPM":-2348.37427,"EncoderCos":47559,"EncoderSin":19362,"GapTicks":49521,"Mech_RPM":-469.674866,"cg_du":45.0196991,"cg_dv":52.2416153,"cg_dw":54.9803009,"cg_id_a":-5.63345242,"cg_id_raw_a":-1.19831705,"cg_iq_a":-198.75235,"cg_iq_raw_a":-200.837936,"cg_iu_a":-164.363251,"cg_iv_a":-16.3855438,"cg_iw_a":180.748795,"cg_sample_age_us":23.823637,"cg_sample_seq":4351066,"cg_sample_valid":1,"cg_theta_rad":5.56534767,"cg_vd_req_v":-1.85102844,"cg_vd_v":-1.85102844,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42436504,"cg_vq_v":-8.42436504,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2416.53296,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2772522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":597.103537,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":597.103544,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":597.103549,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":597.43689,"values":{"Elec_RPM":-2351.45239,"EncoderCos":51271,"EncoderSin":39968,"GapTicks":49289,"Mech_RPM":-470.290466,"cg_du":44.8084412,"cg_dv":55.1915588,"cg_dw":50.056797,"cg_id_a":-9.73178673,"cg_id_raw_a":-13.5650864,"cg_iq_a":-197.444,"cg_iq_raw_a":-197.246933,"cg_iu_a":-192.415985,"cg_iv_a":131.30809,"cg_iw_a":52.9892883,"cg_sample_age_us":23.5654545,"cg_sample_seq":4352717,"cg_sample_valid":1,"cg_theta_rad":0.377399623,"cg_vd_req_v":-1.77526605,"cg_vd_v":-1.77526605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46546841,"cg_vq_v":-8.46546841,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-17.7631626,"dclink_p_w":-2562.95361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.354248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":597.768921,"values":{"Elec_RPM":-2349.75439,"EncoderCos":50984,"EncoderSin":40656,"GapTicks":49349,"Mech_RPM":-469.950897,"cg_du":44.8630486,"cg_dv":55.1369514,"cg_dw":51.525341,"cg_id_a":-0.754245162,"cg_id_raw_a":-4.97026682,"cg_iq_a":-198.165009,"cg_iq_raw_a":-197.435059,"cg_iu_a":-197.598846,"cg_iv_a":90.6424866,"cg_iw_a":106.95636,"cg_sample_age_us":23.5618191,"cg_sample_seq":4354467,"cg_sample_valid":1,"cg_theta_rad":0.418584019,"cg_vd_req_v":-1.97039104,"cg_vd_v":-1.97039104,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45679569,"cg_vq_v":-8.45679569,"cg_vu_v":126.249161,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2484.51221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2649841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":598.100952,"values":{"Elec_RPM":-2349.00366,"EncoderCos":33379,"EncoderSin":52751,"GapTicks":50115,"Mech_RPM":-469.80072,"cg_du":45.5592575,"cg_dv":54.4407425,"cg_dw":45.5723877,"cg_id_a":14.2422228,"cg_id_raw_a":13.3540583,"cg_iq_a":-204.620743,"cg_iq_raw_a":-205.706955,"cg_iu_a":-169.908569,"cg_iv_a":181.795746,"cg_iw_a":-11.8871841,"cg_sample_age_us":23.9509087,"cg_sample_seq":4356117,"cg_sample_valid":1,"cg_theta_rad":1.54022086,"cg_vd_req_v":-2.17356825,"cg_vd_v":-2.17356825,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30924988,"cg_vq_v":-8.30924988,"cg_vu_v":102.494972,"cg_vv_v":104.694435,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2468.74487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2772522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":598.126991,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":598.126997,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":598.127003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":598.597046,"values":{"Elec_RPM":-2351.70313,"EncoderCos":16715,"EncoderSin":44955,"GapTicks":49339,"Mech_RPM":-470.340607,"cg_du":55.1460457,"cg_dv":50.7637329,"cg_dw":44.8539543,"cg_id_a":-0.567037761,"cg_id_raw_a":-4.47612858,"cg_iq_a":-200.704971,"cg_iq_raw_a":-200.705444,"cg_iu_a":110.981155,"cg_iv_a":77.7034454,"cg_iw_a":-197.165649,"cg_sample_age_us":23.7981815,"cg_sample_seq":4358366,"cg_sample_valid":1,"cg_theta_rad":2.49018359,"cg_vd_req_v":-1.9076252,"cg_vd_v":-1.9076252,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39090633,"cg_vq_v":-8.39090633,"cg_vu_v":40.4701157,"cg_vv_v":43.549366,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2468.5625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2754822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":598.990488,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":598.9905,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":598.990503,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":599.087731,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":599.087737,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":599.087742,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":599.095093,"values":{"Elec_RPM":-2350.17383,"EncoderCos":35652,"EncoderSin":12768,"GapTicks":49839,"Mech_RPM":-470.03476,"cg_du":54.6915703,"cg_dv":45.3084297,"cg_dw":46.3283195,"cg_id_a":16.0125732,"cg_id_raw_a":14.8599577,"cg_iq_a":-205.482101,"cg_iq_raw_a":-203.139099,"cg_iu_a":190.608856,"cg_iv_a":-30.3031921,"cg_iw_a":-160.305664,"cg_sample_age_us":24.0345459,"cg_sample_seq":4361067,"cg_sample_valid":1,"cg_theta_rad":4.87184477,"cg_vd_req_v":-2.23348999,"cg_vd_v":-2.23348999,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2813921,"cg_vq_v":-8.2813921,"cg_vu_v":142.965088,"cg_vv_v":130.648087,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2480.59033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2649841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":599.448608,"values":{"Elec_RPM":-2355.7417,"EncoderCos":26069,"EncoderSin":13720,"GapTicks":49376,"Mech_RPM":-471.148346,"cg_du":44.8875923,"cg_dv":48.6754761,"cg_dw":55.1124077,"cg_id_a":-7.88360357,"cg_id_raw_a":-12.9978161,"cg_iq_a":-196.950134,"cg_iq_raw_a":-198.361801,"cg_iu_a":-103.256149,"cg_iv_a":-93.0050201,"cg_iw_a":196.261169,"cg_sample_age_us":23.9327278,"cg_sample_seq":4362866,"cg_sample_valid":1,"cg_theta_rad":4.38521194,"cg_vd_req_v":-1.77434051,"cg_vd_v":-1.77434051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45439148,"cg_vq_v":-8.45439148,"cg_vu_v":11.4372072,"cg_vv_v":0.87978512,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.3877106,"dclink_p_w":-2371.70581,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":599.78064,"values":{"Elec_RPM":-2353.56006,"EncoderCos":46716,"EncoderSin":18496,"GapTicks":49854,"Mech_RPM":-470.712006,"cg_du":45.3220482,"cg_dv":54.6779518,"cg_dw":53.9259224,"cg_id_a":11.2088547,"cg_id_raw_a":10.818676,"cg_iq_a":-198.629486,"cg_iq_raw_a":-198.259277,"cg_iu_a":-186.50824,"cg_iv_a":35.515625,"cg_iw_a":150.992615,"cg_sample_age_us":23.8199997,"cg_sample_seq":4364516,"cg_sample_valid":1,"cg_theta_rad":5.49637461,"cg_vd_req_v":-2.20555806,"cg_vd_v":-2.20555806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42947388,"cg_vq_v":-8.42947388,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2390.85132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2090759,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":600.111241,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":600.111247,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":600.111253,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":600.112671,"values":{"Elec_RPM":-2356.41162,"EncoderCos":52209,"EncoderSin":28516,"GapTicks":49455,"Mech_RPM":-471.282318,"cg_du":55.0406647,"cg_dv":44.9593353,"cg_dw":48.0926018,"cg_id_a":4.98033619,"cg_id_raw_a":2.82415199,"cg_iq_a":-199.275085,"cg_iq_raw_a":-198.568298,"cg_iu_a":199.851044,"cg_iv_a":-75.2092972,"cg_iw_a":-124.641747,"cg_sample_age_us":24.1399994,"cg_sample_seq":4366216,"cg_sample_valid":1,"cg_theta_rad":6.08399916,"cg_vd_req_v":-2.04923296,"cg_vd_v":-2.04923296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37526417,"cg_vq_v":-8.37526417,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7667885,"dclink_p_w":-2571.29224,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3087158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":600.464233,"values":{"Elec_RPM":-2357.39795,"EncoderCos":45152,"EncoderSin":48544,"GapTicks":49980,"Mech_RPM":-471.479584,"cg_du":54.3056221,"cg_dv":45.4370728,"cg_dw":54.5629272,"cg_id_a":17.1308155,"cg_id_raw_a":19.9144077,"cg_iq_a":-202.890961,"cg_iq_raw_a":-202.620651,"cg_iu_a":169.297485,"cg_iv_a":-181.874878,"cg_iw_a":12.5774002,"cg_sample_age_us":23.9872723,"cg_sample_seq":4367866,"cg_sample_valid":1,"cg_theta_rad":0.909273744,"cg_vd_req_v":-2.26804781,"cg_vd_v":-2.26804781,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38200951,"cg_vq_v":-8.38200951,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.5257664,"dclink_p_w":-2544.12012,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2684937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":600.798218,"values":{"Elec_RPM":-2359.23389,"EncoderCos":34550,"EncoderSin":52633,"GapTicks":49478,"Mech_RPM":-471.846771,"cg_du":47.8606758,"cg_dv":55.0195198,"cg_dw":44.9804802,"cg_id_a":9.56540108,"cg_id_raw_a":1.75398147,"cg_iq_a":-200.565704,"cg_iq_raw_a":-200.088821,"cg_iu_a":-131.562592,"cg_iv_a":198.721619,"cg_iw_a":-67.1590271,"cg_sample_age_us":23.8963642,"cg_sample_seq":4369567,"cg_sample_valid":1,"cg_theta_rad":1.47864521,"cg_vd_req_v":-2.09771585,"cg_vd_v":-2.09771585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37995434,"cg_vq_v":-8.37995434,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.9552555,"dclink_p_w":-2598.56812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2545166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":601.103126,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":601.103133,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":601.103138,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":601.130249,"values":{"Elec_RPM":-2361.51758,"EncoderCos":23265,"EncoderSin":50550,"GapTicks":49335,"Mech_RPM":-472.303528,"cg_du":50.451767,"cg_dv":44.8504562,"cg_dw":55.1495438,"cg_id_a":-12.7451649,"cg_id_raw_a":-16.1014881,"cg_iq_a":-198.201111,"cg_iq_raw_a":-198.177673,"cg_iu_a":53.8608704,"cg_iv_a":-192.38559,"cg_iw_a":138.524719,"cg_sample_age_us":23.6018181,"cg_sample_seq":4371266,"cg_sample_valid":1,"cg_theta_rad":2.05254149,"cg_vd_req_v":-1.66250265,"cg_vd_v":-1.66250265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42802238,"cg_vq_v":-8.42802238,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2436.66284,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2877197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":601.481812,"values":{"Elec_RPM":-2355.05908,"EncoderCos":33015,"EncoderSin":52750,"GapTicks":49830,"Mech_RPM":-471.01181,"cg_du":45.3003197,"cg_dv":54.6996803,"cg_dw":46.4222794,"cg_id_a":7.80033684,"cg_id_raw_a":12.2089024,"cg_iq_a":-204.063507,"cg_iq_raw_a":-205.287796,"cg_iu_a":-174.149078,"cg_iv_a":177.047791,"cg_iw_a":-2.89871216,"cg_sample_age_us":23.8672733,"cg_sample_seq":4373067,"cg_sample_valid":1,"cg_theta_rad":1.55859661,"cg_vd_req_v":-2.0186069,"cg_vd_v":-2.0186069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31121922,"cg_vq_v":-8.31121922,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.6834259,"dclink_p_w":-2551.44897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2737427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":601.815796,"values":{"Elec_RPM":-2354.16113,"EncoderCos":12555,"EncoderSin":31629,"GapTicks":49918,"Mech_RPM":-470.832245,"cg_du":45.3803177,"cg_dv":46.0566101,"cg_dw":54.6196823,"cg_id_a":13.4587011,"cg_id_raw_a":13.8522396,"cg_iq_a":-203.334702,"cg_iq_raw_a":-201.225113,"cg_iu_a":-24.5345421,"cg_iv_a":-163.390533,"cg_iw_a":187.925079,"cg_sample_age_us":23.9654541,"cg_sample_seq":4374667,"cg_sample_valid":1,"cg_theta_rad":3.20368075,"cg_vd_req_v":-2.14046097,"cg_vd_v":-2.14046097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33633327,"cg_vq_v":-8.33633327,"cg_vu_v":106.893898,"cg_vv_v":109.973145,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2406.27344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2824707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":602.094836,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":602.094842,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":602.094848,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":602.167358,"values":{"Elec_RPM":-2356.64502,"EncoderCos":14318,"EncoderSin":41016,"GapTicks":49419,"Mech_RPM":-471.32901,"cg_du":48.3434753,"cg_dv":55.0734406,"cg_dw":44.9265594,"cg_id_a":1.40986013,"cg_id_raw_a":-4.46544552,"cg_iq_a":-199.882996,"cg_iq_raw_a":-198.958725,"cg_iu_a":-114.310516,"cg_iv_a":200.968735,"cg_iw_a":-86.6582184,"cg_sample_age_us":23.9654541,"cg_sample_seq":4376466,"cg_sample_valid":1,"cg_theta_rad":2.72153711,"cg_vd_req_v":-1.91393471,"cg_vd_v":-1.91393471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41277695,"cg_vq_v":-8.41277695,"cg_vu_v":17.5957031,"cg_vv_v":22.8744144,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2441.46924,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2824707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":602.501343,"values":{"Elec_RPM":-2354.2373,"EncoderCos":25478,"EncoderSin":13916,"GapTicks":49327,"Mech_RPM":-470.847473,"cg_du":44.8434563,"cg_dv":49.911747,"cg_dw":55.1565437,"cg_id_a":-14.7170334,"cg_id_raw_a":-15.9845963,"cg_iq_a":-198.662384,"cg_iq_raw_a":-197.746002,"cg_iu_a":-135.476913,"cg_iv_a":-56.8699036,"cg_iw_a":191.295746,"cg_sample_age_us":23.9400005,"cg_sample_seq":4378067,"cg_sample_valid":1,"cg_theta_rad":4.3538518,"cg_vd_req_v":-1.62210059,"cg_vd_v":-1.62210059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43699455,"cg_vq_v":-8.43699455,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.2844143,"dclink_p_w":-2349.59277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.3297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":602.833374,"values":{"Elec_RPM":-2354.20703,"EncoderCos":26422,"EncoderSin":13613,"GapTicks":49370,"Mech_RPM":-470.8414,"cg_du":44.8822556,"cg_dv":48.0788193,"cg_dw":55.1177444,"cg_id_a":3.89803362,"cg_id_raw_a":-2.63767743,"cg_iq_a":-196.424667,"cg_iq_raw_a":-195.807861,"cg_iu_a":-77.6317596,"cg_iv_a":-121.311447,"cg_iw_a":198.943207,"cg_sample_age_us":23.9436359,"cg_sample_seq":4379816,"cg_sample_valid":1,"cg_theta_rad":4.40507603,"cg_vd_req_v":-2.02382445,"cg_vd_v":-2.02382445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48643398,"cg_vq_v":-8.48643398,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2540.34473,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2667542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":603.119239,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":603.119244,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":603.11925,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":603.184937,"values":{"Elec_RPM":-2354.18286,"EncoderCos":47047,"EncoderSin":18774,"GapTicks":49990,"Mech_RPM":-470.836578,"cg_du":45.4459114,"cg_dv":54.1403732,"cg_dw":54.5540886,"cg_id_a":8.61690521,"cg_id_raw_a":11.0244894,"cg_iq_a":-201.331055,"cg_iq_raw_a":-200.568817,"cg_iu_a":-182.738876,"cg_iv_a":18.5897522,"cg_iw_a":164.149124,"cg_sample_age_us":23.8309097,"cg_sample_seq":4381466,"cg_sample_valid":1,"cg_theta_rad":5.51916218,"cg_vd_req_v":-2.13886929,"cg_vd_v":-2.13886929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35181904,"cg_vq_v":-8.35181904,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2428.03418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2929688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":603.518921,"values":{"Elec_RPM":-2350.48047,"EncoderCos":38419,"EncoderSin":13377,"GapTicks":49426,"Mech_RPM":-470.096069,"cg_du":55.067028,"cg_dv":51.1519661,"cg_dw":44.932972,"cg_id_a":-5.21573496,"cg_id_raw_a":-9.67823887,"cg_iq_a":-201.238159,"cg_iq_raw_a":-197.68985,"cg_iu_a":107.211792,"cg_iv_a":94.6655579,"cg_iw_a":-201.87735,"cg_sample_age_us":23.9618187,"cg_sample_seq":4383267,"cg_sample_valid":1,"cg_theta_rad":5.01268053,"cg_vd_req_v":-1.82824636,"cg_vd_v":-1.82824636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34234333,"cg_vq_v":-8.34234333,"cg_vu_v":126.689056,"cg_vv_v":139.445938,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2492.87939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2737427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":603.850952,"values":{"Elec_RPM":-2352.71582,"EncoderCos":51161,"EncoderSin":40224,"GapTicks":49293,"Mech_RPM":-470.543182,"cg_du":44.8125305,"cg_dv":55.1874695,"cg_dw":50.6014748,"cg_id_a":-5.80622578,"cg_id_raw_a":-7.05058575,"cg_iq_a":-197.194,"cg_iq_raw_a":-197.844788,"cg_iu_a":-198.106262,"cg_iv_a":113.947281,"cg_iw_a":84.1589813,"cg_sample_age_us":23.5327282,"cg_sample_seq":4384866,"cg_sample_valid":1,"cg_theta_rad":0.39433217,"cg_vd_req_v":-1.85787666,"cg_vd_v":-1.85787666,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48740482,"cg_vq_v":-8.48740482,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2772522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":604.079495,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":604.079501,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":604.079506,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":604.202515,"values":{"Elec_RPM":-2358.23682,"EncoderCos":50815,"EncoderSin":41003,"GapTicks":49441,"Mech_RPM":-471.647369,"cg_du":44.9465408,"cg_dv":55.0534592,"cg_dw":52.2382851,"cg_id_a":6.93467045,"cg_id_raw_a":5.11806345,"cg_iq_a":-196.185638,"cg_iq_raw_a":-195.907791,"cg_iu_a":-194.264404,"cg_iv_a":65.2355652,"cg_iw_a":129.028839,"cg_sample_age_us":23.5254555,"cg_sample_seq":4386616,"cg_sample_valid":1,"cg_theta_rad":0.435486436,"cg_vd_req_v":-2.11457133,"cg_vd_v":-2.11457133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48370457,"cg_vq_v":-8.48370457,"cg_vu_v":0.87978512,"cg_vv_v":13.6366701,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.8845806,"dclink_p_w":-2588.33984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3069763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":604.536499,"values":{"Elec_RPM":-2358.85229,"EncoderCos":43429,"EncoderSin":49739,"GapTicks":49339,"Mech_RPM":-471.770477,"cg_du":55.1460266,"cg_dv":44.8539734,"cg_dw":49.6301765,"cg_id_a":-13.4072876,"cg_id_raw_a":-17.6830902,"cg_iq_a":-195.657562,"cg_iq_raw_a":-194.189667,"cg_iu_a":194.015778,"cg_iv_a":-127.944061,"cg_iw_a":-66.0717163,"cg_sample_age_us":23.9581814,"cg_sample_seq":4388316,"cg_sample_valid":1,"cg_theta_rad":1.01193821,"cg_vd_req_v":-1.66099763,"cg_vd_v":-1.66099763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47198486,"cg_vq_v":-8.47198486,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-16.3550911,"dclink_p_w":-2366.98486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.2859802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":604.888062,"values":{"Elec_RPM":-2356.20264,"EncoderCos":33356,"EncoderSin":52779,"GapTicks":50081,"Mech_RPM":-471.240509,"cg_du":45.5288582,"cg_dv":54.4711418,"cg_dw":45.59758,"cg_id_a":12.5335121,"cg_id_raw_a":17.48279,"cg_iq_a":-205.616684,"cg_iq_raw_a":-205.710114,"cg_iu_a":-175.925049,"cg_iv_a":170.088989,"cg_iw_a":5.83605957,"cg_sample_age_us":26.7909088,"cg_sample_seq":4390020,"cg_sample_valid":1,"cg_theta_rad":1.57668352,"cg_vd_req_v":-2.13498855,"cg_vd_v":-2.13498855,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29846954,"cg_vq_v":-8.29846954,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2390.38257,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2999573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":605.102644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":605.10265,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":605.102655,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":605.222046,"values":{"Elec_RPM":-2352.35571,"EncoderCos":21575,"EncoderSin":49536,"GapTicks":49919,"Mech_RPM":-470.471161,"cg_du":54.136734,"cg_dv":45.3814926,"cg_dw":54.6185074,"cg_id_a":15.4111767,"cg_id_raw_a":14.8097935,"cg_iq_a":-201.765503,"cg_iq_raw_a":-202.082047,"cg_iu_a":165.673096,"cg_iv_a":-183.469604,"cg_iw_a":17.7965164,"cg_sample_age_us":24.0127277,"cg_sample_seq":4391716,"cg_sample_valid":1,"cg_theta_rad":2.1592474,"cg_vd_req_v":-2.2187891,"cg_vd_v":-2.2187891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40100956,"cg_vq_v":-8.40100956,"cg_vu_v":49.2679672,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2579,"hz_tim_isr":5001,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.23703,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":605.552124,"values":{"Elec_RPM":-2355.3999,"EncoderCos":14144,"EncoderSin":40611,"GapTicks":49536,"Mech_RPM":-471.079987,"cg_du":47.6144257,"cg_dv":54.9669266,"cg_dw":45.0330734,"cg_id_a":12.1904869,"cg_id_raw_a":8.65236282,"cg_iq_a":-202.082153,"cg_iq_raw_a":-200.827408,"cg_iu_a":-139.210022,"cg_iv_a":198.105453,"cg_iw_a":-58.8954315,"cg_sample_age_us":23.9836369,"cg_sample_seq":4393416,"cg_sample_valid":1,"cg_theta_rad":2.74357986,"cg_vd_req_v":-2.1219101,"cg_vd_v":-2.1219101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34817696,"cg_vq_v":-8.34817696,"cg_vu_v":0.87978512,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2579,"hz_tim_isr":5001,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2999573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":605.90564,"values":{"Elec_RPM":-2355.66235,"EncoderCos":12806,"EncoderSin":29675,"GapTicks":49369,"Mech_RPM":-471.132477,"cg_du":49.8180161,"cg_dv":44.8814201,"cg_dw":55.1185799,"cg_id_a":-20.6697884,"cg_id_raw_a":-20.7531567,"cg_iq_a":-198.745453,"cg_iq_raw_a":-198.555054,"cg_iu_a":42.8789902,"cg_iv_a":-189.37738,"cg_iw_a":146.498383,"cg_sample_age_us":23.8381824,"cg_sample_seq":4395117,"cg_sample_valid":1,"cg_theta_rad":3.29899001,"cg_vd_req_v":-1.46639383,"cg_vd_v":-1.46639383,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42904186,"cg_vq_v":-8.42904186,"cg_vu_v":104.694435,"cg_vv_v":80.5003433,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2475.88379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2579,"hz_tim_isr":5001,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3052368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":606.095163,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":606.095169,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":606.095175,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":606.237671,"values":{"Elec_RPM":-2351.5415,"EncoderCos":17587,"EncoderSin":19221,"GapTicks":49561,"Mech_RPM":-470.308319,"cg_du":52.682888,"cg_dv":54.9438477,"cg_dw":45.0561523,"cg_id_a":-3.09449768,"cg_id_raw_a":2.05021954,"cg_iq_a":-199.705826,"cg_iq_raw_a":-200.739166,"cg_iu_a":-1.70092654,"cg_iv_a":171.973663,"cg_iw_a":-170.272736,"cg_sample_age_us":23.9581814,"cg_sample_seq":4396817,"cg_sample_valid":1,"cg_theta_rad":3.87893772,"cg_vd_req_v":-1.79505587,"cg_vd_v":-1.79505587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44282722,"cg_vq_v":-8.44282722,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2947388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":606.569702,"values":{"Elec_RPM":-2354.45068,"EncoderCos":27460,"EncoderSin":13302,"GapTicks":49965,"Mech_RPM":-470.890137,"cg_du":45.4230003,"cg_dv":46.0347748,"cg_dw":54.5769997,"cg_id_a":13.0128832,"cg_id_raw_a":15.9414644,"cg_iq_a":-204.465729,"cg_iq_raw_a":-200.608307,"cg_iu_a":-24.1721039,"cg_iv_a":-165.818863,"cg_iw_a":189.990967,"cg_sample_age_us":23.8927269,"cg_sample_seq":4398517,"cg_sample_valid":1,"cg_theta_rad":4.46348572,"cg_vd_req_v":-2.16215849,"cg_vd_v":-2.16215849,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30125713,"cg_vq_v":-8.30125713,"cg_vu_v":104.254532,"cg_vv_v":88.4184036,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2428.61816,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.3104858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":606.923218,"values":{"Elec_RPM":-2352.87744,"EncoderCos":47812,"EncoderSin":19618,"GapTicks":49418,"Mech_RPM":-470.5755,"cg_du":44.9260216,"cg_dv":51.4093742,"cg_dw":55.0739784,"cg_id_a":-9.71274471,"cg_id_raw_a":-6.03484821,"cg_iq_a":-200.303406,"cg_iq_raw_a":-201.974197,"cg_iu_a":-156.17215,"cg_iv_a":-21.3509521,"cg_iw_a":182.053589,"cg_sample_age_us":23.9181824,"cg_sample_seq":4400166,"cg_sample_valid":1,"cg_theta_rad":5.58336401,"cg_vd_req_v":-1.7949059,"cg_vd_v":-1.7949059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39797974,"cg_vq_v":-8.39797974,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2894592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":607.087525,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":607.087531,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":607.087537,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":607.255249,"values":{"Elec_RPM":-2353.21582,"EncoderCos":39672,"EncoderSin":13840,"GapTicks":49854,"Mech_RPM":-470.643158,"cg_du":54.678093,"cg_dv":53.6816483,"cg_dw":45.321907,"cg_id_a":10.2907705,"cg_id_raw_a":8.11996746,"cg_iq_a":-205.2453,"cg_iq_raw_a":-206.080399,"cg_iu_a":43.9300613,"cg_iv_a":151.314667,"cg_iw_a":-195.244736,"cg_sample_age_us":23.8563633,"cg_sample_seq":4401966,"cg_sample_valid":1,"cg_theta_rad":5.07175589,"cg_vd_req_v":-2.13557768,"cg_vd_v":-2.13557768,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29014683,"cg_vq_v":-8.29014683,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2452.35132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2632446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":607.58728,"values":{"Elec_RPM":-2351.30225,"EncoderCos":50612,"EncoderSin":41416,"GapTicks":49638,"Mech_RPM":-470.260468,"cg_du":45.126358,"cg_dv":54.873642,"cg_dw":53.1220436,"cg_id_a":12.2489243,"cg_id_raw_a":9.79222965,"cg_iq_a":-197.785324,"cg_iq_raw_a":-197.725815,"cg_iu_a":-190.893738,"cg_iv_a":41.8583069,"cg_iw_a":149.035431,"cg_sample_age_us":23.5363636,"cg_sample_seq":4403566,"cg_sample_valid":1,"cg_theta_rad":0.457538068,"cg_vd_req_v":-2.19974899,"cg_vd_v":-2.19974899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42775345,"cg_vq_v":-8.42775345,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2754822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":607.938843,"values":{"Elec_RPM":-2348.28711,"EncoderCos":52597,"EncoderSin":31466,"GapTicks":49345,"Mech_RPM":-469.65744,"cg_du":55.1400375,"cg_dv":49.6162796,"cg_dw":44.8599625,"cg_id_a":-14.0451126,"cg_id_raw_a":-16.139183,"cg_iq_a":-195.988632,"cg_iq_raw_a":-193.574051,"cg_iu_a":142.404556,"cg_iv_a":46.7874603,"cg_iw_a":-189.192017,"cg_sample_age_us":24.0890903,"cg_sample_seq":4405367,"cg_sample_valid":1,"cg_theta_rad":6.22998714,"cg_vd_req_v":-1.6485244,"cg_vd_v":-1.6485244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46477699,"cg_vq_v":-8.46477699,"cg_vu_v":128.888519,"cg_vv_v":132.847549,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.2667542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":608.110975,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":608.11098,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":608.110985,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":608.347046,"values":{"Elec_RPM":-2355.04053,"EncoderCos":31308,"EncoderSin":12650,"GapTicks":49713,"Mech_RPM":-471.008118,"cg_du":53.4314613,"cg_dv":45.1941376,"cg_dw":54.8058624,"cg_id_a":14.362648,"cg_id_raw_a":9.7417593,"cg_iq_a":-200.856781,"cg_iq_raw_a":-199.442047,"cg_iu_a":155.162384,"cg_iv_a":-190.972092,"cg_iw_a":35.8097076,"cg_sample_age_us":23.7145462,"cg_sample_seq":4407267,"cg_sample_valid":1,"cg_theta_rad":4.65188456,"cg_vd_req_v":-2.21282387,"cg_vd_v":-2.21282387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40034008,"cg_vq_v":-8.40034008,"cg_vu_v":106.453995,"cg_vv_v":95.4566803,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3087158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":608.866577,"values":{"Elec_RPM":-2353.12085,"EncoderCos":47282,"EncoderSin":46539,"GapTicks":49377,"Mech_RPM":-470.624176,"cg_du":48.6345558,"cg_dv":44.8882027,"cg_dw":55.1117973,"cg_id_a":-14.4086361,"cg_id_raw_a":-10.9591398,"cg_iq_a":-199.048233,"cg_iq_raw_a":-200.282516,"cg_iu_a":24.1771698,"cg_iv_a":-181.693665,"cg_iw_a":157.516495,"cg_sample_age_us":23.7145462,"cg_sample_seq":4409967,"cg_sample_valid":1,"cg_theta_rad":0.763498604,"cg_vd_req_v":-1.64163327,"cg_vd_v":-1.64163327,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45941448,"cg_vq_v":-8.45941448,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2481.59644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3209839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":608.974773,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":608.974785,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":608.974787,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":609.103766,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":609.103772,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":609.103777,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":609.266968,"values":{"Elec_RPM":-2359.21411,"EncoderCos":37124,"EncoderSin":13137,"GapTicks":49426,"Mech_RPM":-471.842834,"cg_du":55.0667953,"cg_dv":48.5671768,"cg_dw":44.9332047,"cg_id_a":-17.0913792,"cg_id_raw_a":-10.508399,"cg_iq_a":-195.617889,"cg_iq_raw_a":-197.291931,"cg_iu_a":161.795013,"cg_iv_a":17.901123,"cg_iw_a":-179.696136,"cg_sample_age_us":24.005455,"cg_sample_seq":4411916,"cg_sample_valid":1,"cg_theta_rad":4.95021677,"cg_vd_req_v":-1.54303241,"cg_vd_v":-1.54303241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4660244,"cg_vq_v":-8.4660244,"cg_vu_v":7.91806602,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2877197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":609.598999,"values":{"Elec_RPM":-2359.34497,"EncoderCos":27296,"EncoderSin":13345,"GapTicks":49823,"Mech_RPM":-471.868988,"cg_du":45.2942162,"cg_dv":46.4234047,"cg_dw":54.7057838,"cg_id_a":16.3560848,"cg_id_raw_a":17.7320137,"cg_iq_a":-203.512543,"cg_iq_raw_a":-202.095352,"cg_iu_a":-28.847559,"cg_iv_a":-163.100571,"cg_iw_a":191.948135,"cg_sample_age_us":23.9509087,"cg_sample_seq":4413716,"cg_sample_valid":1,"cg_theta_rad":4.45332909,"cg_vd_req_v":-2.23563075,"cg_vd_v":-2.23563075,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3187542,"cg_vq_v":-8.3187542,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3227234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":609.950562,"values":{"Elec_RPM":-2356.01025,"EncoderCos":52264,"EncoderSin":28890,"GapTicks":49524,"Mech_RPM":-471.202026,"cg_du":54.9779739,"cg_dv":45.0220261,"cg_dw":47.4402351,"cg_id_a":13.5705204,"cg_id_raw_a":10.29424,"cg_iq_a":-201.763397,"cg_iq_raw_a":-201.150757,"cg_iu_a":198.220062,"cg_iv_a":-52.7381134,"cg_iw_a":-131.02066,"cg_sample_age_us":24.1727276,"cg_sample_seq":4415316,"cg_sample_valid":1,"cg_theta_rad":6.09905958,"cg_vd_req_v":-2.23470426,"cg_vd_v":-2.23470426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38506985,"cg_vq_v":-8.38506985,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.1557503,"dclink_p_w":-2338.1355,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3087158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":610.094731,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":610.094737,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":610.094741,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":610.284546,"values":{"Elec_RPM":-2355.16504,"EncoderCos":52430,"EncoderSin":29715,"GapTicks":50013,"Mech_RPM":-471.03302,"cg_du":54.5332069,"cg_dv":45.4667931,"cg_dw":45.6881447,"cg_id_a":13.3019295,"cg_id_raw_a":16.8870926,"cg_iq_a":-202.757889,"cg_iq_raw_a":-205.034882,"cg_iu_a":182.816437,"cg_iv_a":-16.0956116,"cg_iw_a":-166.720825,"cg_sample_age_us":24.1145458,"cg_sample_seq":4417066,"cg_sample_valid":1,"cg_theta_rad":6.14431095,"cg_vd_req_v":-2.19071245,"cg_vd_v":-2.19071245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36050034,"cg_vq_v":-8.36050034,"cg_vu_v":42.2296829,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3227234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":610.616577,"values":{"Elec_RPM":-2352.2771,"EncoderCos":44052,"EncoderSin":49263,"GapTicks":49436,"Mech_RPM":-470.455414,"cg_du":55.1140823,"cg_dv":44.8859177,"cg_dw":51.3287697,"cg_id_a":-13.4764395,"cg_id_raw_a":-10.8067017,"cg_iq_a":-195.542114,"cg_iq_raw_a":-197.141586,"cg_iu_a":174.951508,"cg_iv_a":-162.556915,"cg_iw_a":-12.3945999,"cg_sample_age_us":23.8381824,"cg_sample_seq":4418716,"cg_sample_valid":1,"cg_theta_rad":0.964398324,"cg_vd_req_v":-1.63354087,"cg_vd_v":-1.63354087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48616314,"cg_vq_v":-8.48616314,"cg_vu_v":106.453995,"cg_vv_v":83.5795898,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3209839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":610.970093,"values":{"Elec_RPM":-2354.97705,"EncoderCos":43413,"EncoderSin":49674,"GapTicks":49311,"Mech_RPM":-470.995422,"cg_du":55.1712914,"cg_dv":44.8287086,"cg_dw":49.6728745,"cg_id_a":-13.9057846,"cg_id_raw_a":-16.6945648,"cg_iq_a":-197.170746,"cg_iq_raw_a":-195.707123,"cg_iu_a":190.971283,"cg_iv_a":-140.448181,"cg_iw_a":-50.5231094,"cg_sample_age_us":23.8454552,"cg_sample_seq":4420466,"cg_sample_valid":1,"cg_theta_rad":1.00231493,"cg_vd_req_v":-1.65700507,"cg_vd_v":-1.65700507,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46067524,"cg_vq_v":-8.46067524,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3227234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":611.118638,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":611.118645,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":611.11865,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":611.302124,"values":{"Elec_RPM":-2352.42529,"EncoderCos":14780,"EncoderSin":42026,"GapTicks":49302,"Mech_RPM":-470.485077,"cg_du":50.4900551,"cg_dv":55.179245,"cg_dw":44.820755,"cg_id_a":-11.5097122,"cg_id_raw_a":-10.0579023,"cg_iq_a":-194.334244,"cg_iq_raw_a":-193.701462,"cg_iu_a":-44.5411377,"cg_iv_a":186.797394,"cg_iw_a":-142.256256,"cg_sample_age_us":23.9109097,"cg_sample_seq":4422066,"cg_sample_valid":1,"cg_theta_rad":2.66906524,"cg_vd_req_v":-1.63015306,"cg_vd_v":-1.63015306,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51346016,"cg_vq_v":-8.51346016,"cg_vu_v":38.7105446,"cg_vv_v":50.5876465,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2501.26636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3104858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":611.653687,"values":{"Elec_RPM":-2352.23291,"EncoderCos":22246,"EncoderSin":49981,"GapTicks":49524,"Mech_RPM":-470.446594,"cg_du":52.5297775,"cg_dv":45.0218506,"cg_dw":54.9781494,"cg_id_a":9.38511372,"cg_id_raw_a":4.89392138,"cg_iq_a":-198.39949,"cg_iq_raw_a":-198.647461,"cg_iu_a":167.304077,"cg_iv_a":-181.258759,"cg_iw_a":13.9546738,"cg_sample_age_us":26.5,"cg_sample_seq":4423870,"cg_sample_valid":1,"cg_theta_rad":2.16302466,"cg_vd_req_v":-2.10641432,"cg_vd_v":-2.10641432,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4372263,"cg_vq_v":-8.4372263,"cg_vu_v":35.6312981,"cg_vv_v":33.4318352,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2446.78564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3122253,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":611.987671,"values":{"Elec_RPM":-2350.86719,"EncoderCos":16659,"EncoderSin":20427,"GapTicks":49645,"Mech_RPM":-470.173462,"cg_du":54.867424,"cg_dv":52.8466644,"cg_dw":45.132576,"cg_id_a":11.1429291,"cg_id_raw_a":8.39947987,"cg_iq_a":-206.311768,"cg_iq_raw_a":-203.981308,"cg_iu_a":52.2298965,"cg_iv_a":146.530487,"cg_iw_a":-198.760391,"cg_sample_age_us":23.9654541,"cg_sample_seq":4425467,"cg_sample_valid":1,"cg_theta_rad":3.80411434,"cg_vd_req_v":-2.11691761,"cg_vd_v":-2.11691761,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29330444,"cg_vq_v":-8.29330444,"cg_vu_v":31.6722641,"cg_vv_v":25.5137672,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7015495,"dclink_p_w":-2561.85059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3052368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":612.11078,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":612.110785,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":612.110791,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":612.317749,"values":{"Elec_RPM":-2360.93042,"EncoderCos":12841,"EncoderSin":29465,"GapTicks":49308,"Mech_RPM":-472.186096,"cg_du":50.1179085,"cg_dv":44.8262939,"cg_dw":55.1737061,"cg_id_a":-12.6433878,"cg_id_raw_a":-15.9746895,"cg_iq_a":-197.511978,"cg_iq_raw_a":-197.961914,"cg_iu_a":62.7768555,"cg_iv_a":-194.378998,"cg_iw_a":131.602142,"cg_sample_age_us":23.7690907,"cg_sample_seq":4427266,"cg_sample_valid":1,"cg_theta_rad":3.31046987,"cg_vd_req_v":-1.64484525,"cg_vd_v":-1.64484525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48882866,"cg_vq_v":-8.48882866,"cg_vu_v":43.549366,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3122253,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":612.671265,"values":{"Elec_RPM":-2362.3855,"EncoderCos":26089,"EncoderSin":13720,"GapTicks":49376,"Mech_RPM":-472.477081,"cg_du":44.8878403,"cg_dv":48.6929512,"cg_dw":55.1121597,"cg_id_a":-4.66813993,"cg_id_raw_a":-8.60654926,"cg_iq_a":-195.885864,"cg_iq_raw_a":-197.165573,"cg_iu_a":-47.1506958,"cg_iv_a":-147.406998,"cg_iw_a":195.427551,"cg_sample_age_us":23.8345451,"cg_sample_seq":4428920,"cg_sample_valid":1,"cg_theta_rad":4.43113184,"cg_vd_req_v":-1.833215,"cg_vd_v":-1.833215,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4657259,"cg_vq_v":-8.4657259,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.336731,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":613.003296,"values":{"Elec_RPM":-2360.50537,"EncoderCos":38218,"EncoderSin":13336,"GapTicks":49387,"Mech_RPM":-472.101074,"cg_du":55.1026001,"cg_dv":50.7898636,"cg_dw":44.8973999,"cg_id_a":-9.53951931,"cg_id_raw_a":-12.0195074,"cg_iq_a":-201.478714,"cg_iq_raw_a":-201.833176,"cg_iu_a":118.882309,"cg_iv_a":83.1400299,"cg_iw_a":-197.63681,"cg_sample_age_us":23.9509087,"cg_sample_seq":4430616,"cg_sample_valid":1,"cg_theta_rad":5.00281382,"cg_vd_req_v":-1.74520385,"cg_vd_v":-1.74520385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35477638,"cg_vq_v":-8.35477638,"cg_vu_v":25.5137672,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2469.08545,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3157349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":613.103013,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":613.103019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":613.103024,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":613.33728,"values":{"Elec_RPM":-2352.40088,"EncoderCos":47685,"EncoderSin":19521,"GapTicks":49444,"Mech_RPM":-470.480194,"cg_du":44.949585,"cg_dv":51.7627335,"cg_dw":55.050415,"cg_id_a":-8.45909405,"cg_id_raw_a":-8.59189892,"cg_iq_a":-200.266769,"cg_iq_raw_a":-199.509659,"cg_iu_a":-161.173798,"cg_iv_a":-21.2784729,"cg_iw_a":182.452271,"cg_sample_age_us":23.9472733,"cg_sample_seq":4432317,"cg_sample_valid":1,"cg_theta_rad":5.57467222,"cg_vd_req_v":-1.80599022,"cg_vd_v":-1.80599022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41803837,"cg_vq_v":-8.41803837,"cg_vu_v":99.8556061,"cg_vv_v":99.4157181,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":613.688843,"values":{"Elec_RPM":-2346.54565,"EncoderCos":48394,"EncoderSin":20349,"GapTicks":49322,"Mech_RPM":-469.309143,"cg_du":44.8386765,"cg_dv":49.3722038,"cg_dw":55.1613235,"cg_id_a":-7.76490021,"cg_id_raw_a":-12.1518993,"cg_iq_a":-196.920135,"cg_iq_raw_a":-198.292206,"cg_iu_a":-117.717438,"cg_iv_a":-79.558548,"cg_iw_a":192.383072,"cg_sample_age_us":23.8272724,"cg_sample_seq":4434066,"cg_sample_valid":1,"cg_theta_rad":5.62707329,"cg_vd_req_v":-1.84759188,"cg_vd_v":-1.84759188,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47371674,"cg_vq_v":-8.47371674,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2488.15308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3139648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":614.020874,"values":{"Elec_RPM":-2346.65991,"EncoderCos":50732,"EncoderSin":41198,"GapTicks":49522,"Mech_RPM":-469.33197,"cg_du":45.0200691,"cg_dv":54.9799309,"cg_dw":52.6325302,"cg_id_a":9.56228638,"cg_id_raw_a":6.52639818,"cg_iq_a":-198.998764,"cg_iq_raw_a":-196.919174,"cg_iu_a":-193.938217,"cg_iv_a":56.8270111,"cg_iw_a":137.111206,"cg_sample_age_us":23.5290909,"cg_sample_seq":4435717,"cg_sample_valid":1,"cg_theta_rad":0.44693768,"cg_vd_req_v":-2.15929723,"cg_vd_v":-2.15929723,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40162182,"cg_vq_v":-8.40162182,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2498.10889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.2877197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":614.094949,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":614.094955,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":614.09496,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":614.354858,"values":{"Elec_RPM":-2350.12305,"EncoderCos":43251,"EncoderSin":49761,"GapTicks":49315,"Mech_RPM":-470.024628,"cg_du":55.167305,"cg_dv":44.832695,"cg_dw":49.3255348,"cg_id_a":-11.1661129,"cg_id_raw_a":-16.6435852,"cg_iq_a":-197.161789,"cg_iq_raw_a":-195.683441,"cg_iu_a":195.50177,"cg_iv_a":-123.014908,"cg_iw_a":-72.4868622,"cg_sample_age_us":23.9472733,"cg_sample_seq":4437417,"cg_sample_valid":1,"cg_theta_rad":1.01760042,"cg_vd_req_v":-1.72443104,"cg_vd_v":-1.72443104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48632336,"cg_vq_v":-8.48632336,"cg_vu_v":106.014107,"cg_vv_v":79.1806641,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-18.0132465,"dclink_p_w":-2606.96094,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3262329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":614.706421,"values":{"Elec_RPM":-2348.68628,"EncoderCos":42384,"EncoderSin":50220,"GapTicks":49480,"Mech_RPM":-469.737244,"cg_du":55.018116,"cg_dv":44.981884,"cg_dw":47.6396523,"cg_id_a":12.1915016,"cg_id_raw_a":12.1687574,"cg_iq_a":-200.655975,"cg_iq_raw_a":-199.826111,"cg_iu_a":198.365021,"cg_iv_a":-57.3048248,"cg_iw_a":-141.060196,"cg_sample_age_us":23.9218178,"cg_sample_seq":4439166,"cg_sample_valid":1,"cg_theta_rad":1.07116723,"cg_vd_req_v":-2.18840837,"cg_vd_v":-2.18840837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40960026,"cg_vq_v":-8.40960026,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.333252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":615.038452,"values":{"Elec_RPM":-2346.65259,"EncoderCos":21359,"EncoderSin":49377,"GapTicks":50017,"Mech_RPM":-469.330536,"cg_du":54.5292206,"cg_dv":45.4707794,"cg_dw":54.2487488,"cg_id_a":12.3514166,"cg_id_raw_a":18.1364574,"cg_iq_a":-202.205826,"cg_iq_raw_a":-201.669586,"cg_iu_a":170.239822,"cg_iv_a":-180.751328,"cg_iw_a":10.5115051,"cg_sample_age_us":24.0563641,"cg_sample_seq":4440817,"cg_sample_valid":1,"cg_theta_rad":2.17663097,"cg_vd_req_v":-2.14105296,"cg_vd_v":-2.14105296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33722305,"cg_vq_v":-8.33722305,"cg_vu_v":106.014107,"cg_vv_v":80.9402313,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2419.40576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3157349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":615.087782,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":615.087788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":615.087793,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":615.390015,"values":{"Elec_RPM":-2354.31494,"EncoderCos":20744,"EncoderSin":48988,"GapTicks":49529,"Mech_RPM":-470.863007,"cg_du":54.9727783,"cg_dv":45.0272217,"cg_dw":52.3810349,"cg_id_a":-6.86869431,"cg_id_raw_a":1.05242121,"cg_iq_a":-199.602448,"cg_iq_raw_a":-201.780121,"cg_iu_a":173.574249,"cg_iv_a":-171.50914,"cg_iw_a":-2.93495178,"cg_sample_age_us":23.8963642,"cg_sample_seq":4442567,"cg_sample_valid":1,"cg_theta_rad":2.20975399,"cg_vd_req_v":-1.74958313,"cg_vd_v":-1.74958313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41573715,"cg_vq_v":-8.41573715,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2454.32031,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.3262329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":615.723999,"values":{"Elec_RPM":-2352.57056,"EncoderCos":17578,"EncoderSin":19257,"GapTicks":49609,"Mech_RPM":-470.51413,"cg_du":52.7051125,"cg_dv":54.9001045,"cg_dw":45.0998955,"cg_id_a":-4.74129772,"cg_id_raw_a":1.30396819,"cg_iq_a":-199.387283,"cg_iq_raw_a":-201.582367,"cg_iu_a":0.401215792,"cg_iv_a":170.995087,"cg_iw_a":-171.396301,"cg_sample_age_us":23.9909096,"cg_sample_seq":4444166,"cg_sample_valid":1,"cg_theta_rad":3.87811708,"cg_vd_req_v":-1.75998676,"cg_vd_v":-1.75998676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41248703,"cg_vq_v":-8.41248703,"cg_vu_v":29.912693,"cg_vv_v":27.2733402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4614563,"temp_inv2_c":42.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":616.05603,"values":{"Elec_RPM":-2357.39478,"EncoderCos":13083,"EncoderSin":28176,"GapTicks":49518,"Mech_RPM":-471.478943,"cg_du":52.5580025,"cg_dv":45.0164642,"cg_dw":54.9835358,"cg_id_a":9.63604546,"cg_id_raw_a":7.71334505,"cg_iq_a":-197.242157,"cg_iq_raw_a":-195.809357,"cg_iu_a":135.554474,"cg_iv_a":-193.364182,"cg_iw_a":57.8097076,"cg_sample_age_us":23.6127281,"cg_sample_seq":4445966,"cg_sample_valid":1,"cg_theta_rad":3.37592769,"cg_vd_req_v":-2.09690738,"cg_vd_v":-2.09690738,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45647621,"cg_vq_v":-8.45647621,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.34198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":616.096246,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":616.096251,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":616.096255,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":616.409546,"values":{"Elec_RPM":-2361.40894,"EncoderCos":37615,"EncoderSin":13216,"GapTicks":49339,"Mech_RPM":-472.281769,"cg_du":55.1459694,"cg_dv":49.6091499,"cg_dw":44.8540306,"cg_id_a":-18.4214821,"cg_id_raw_a":-19.3910313,"cg_iq_a":-197.187347,"cg_iq_raw_a":-196.346909,"cg_iu_a":108.226624,"cg_iv_a":95.2817078,"cg_iw_a":-203.508331,"cg_sample_age_us":26.8745461,"cg_sample_seq":4447571,"cg_sample_valid":1,"cg_theta_rad":5.01406336,"cg_vd_req_v":-1.54602218,"cg_vd_v":-1.54602218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46790695,"cg_vq_v":-8.46790695,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2460.87695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3402405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":616.741577,"values":{"Elec_RPM":-2356.01245,"EncoderCos":28588,"EncoderSin":13070,"GapTicks":49526,"Mech_RPM":-471.202484,"cg_du":47.9037552,"cg_dv":45.0237923,"cg_dw":54.9762077,"cg_id_a":-11.0422583,"cg_id_raw_a":-2.99472451,"cg_iq_a":-203.063904,"cg_iq_raw_a":-203.926605,"cg_iu_a":7.64998198,"cg_iv_a":-178.467972,"cg_iw_a":176.109573,"cg_sample_age_us":24.0672722,"cg_sample_seq":4449367,"cg_sample_valid":1,"cg_theta_rad":4.51748562,"cg_vd_req_v":-1.67948651,"cg_vd_v":-1.67948651,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36540127,"cg_vq_v":-8.36540127,"cg_vu_v":104.694435,"cg_vv_v":87.53862,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.1089611,"dclink_p_w":-2476.08838,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3384705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":617.071655,"values":{"Elec_RPM":-2357.10474,"EncoderCos":52497,"EncoderSin":30547,"GapTicks":49574,"Mech_RPM":-471.420929,"cg_du":54.9325333,"cg_dv":47.4149246,"cg_dw":45.0674667,"cg_id_a":-4.37876797,"cg_id_raw_a":3.24252844,"cg_iq_a":-197.819885,"cg_iq_raw_a":-201.960434,"cg_iu_a":171.399628,"cg_iv_a":1.80885315,"cg_iw_a":-173.208481,"cg_sample_age_us":24.0890903,"cg_sample_seq":4450966,"cg_sample_valid":1,"cg_theta_rad":6.18091154,"cg_vd_req_v":-1.81748211,"cg_vd_v":-1.81748211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41805267,"cg_vq_v":-8.41805267,"cg_vu_v":32.5520515,"cg_vv_v":9.67763615,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2534.57446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3227234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":617.103666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":617.103671,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":617.103675,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":617.427124,"values":{"Elec_RPM":-2351.05273,"EncoderCos":49210,"EncoderSin":21347,"GapTicks":49613,"Mech_RPM":-470.210541,"cg_du":45.1034355,"cg_dv":47.0722618,"cg_dw":54.8965645,"cg_id_a":17.4195862,"cg_id_raw_a":11.1022587,"cg_iq_a":-201.236511,"cg_iq_raw_a":-201.468491,"cg_iu_a":-43.2001152,"cg_iv_a":-151.647537,"cg_iw_a":194.847656,"cg_sample_age_us":23.8309097,"cg_sample_seq":4452766,"cg_sample_valid":1,"cg_theta_rad":5.69069672,"cg_vd_req_v":-2.33222747,"cg_vd_v":-2.33222747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.336586,"cg_vq_v":-8.336586,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2523.55933,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.34375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103680477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":617.759155,"values":{"Elec_RPM":-2350.45215,"EncoderCos":50232,"EncoderSin":42283,"GapTicks":49870,"Mech_RPM":-470.090454,"cg_du":45.3364639,"cg_dv":53.8955498,"cg_dw":54.6635361,"cg_id_a":8.19393063,"cg_id_raw_a":10.7271576,"cg_iq_a":-202.683746,"cg_iq_raw_a":-202.022263,"cg_iu_a":-178.534592,"cg_iv_a":7.60786438,"cg_iw_a":170.926727,"cg_sample_age_us":23.5,"cg_sample_seq":4454417,"cg_sample_valid":1,"cg_theta_rad":0.50686872,"cg_vd_req_v":-2.10900617,"cg_vd_v":-2.10900617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36429787,"cg_vq_v":-8.36429787,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3122253,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":618.091187,"values":{"Elec_RPM":-2349.7251,"EncoderCos":42334,"EncoderSin":50320,"GapTicks":49524,"Mech_RPM":-469.945038,"cg_du":54.9774437,"cg_dv":45.0225563,"cg_dw":47.4689865,"cg_id_a":13.3288326,"cg_id_raw_a":10.6259155,"cg_iq_a":-200.530334,"cg_iq_raw_a":-200.325134,"cg_iu_a":192.892212,"cg_iv_a":-43.1697388,"cg_iw_a":-149.722473,"cg_sample_age_us":23.954546,"cg_sample_seq":4456118,"cg_sample_valid":1,"cg_theta_rad":1.08404326,"cg_vd_req_v":-2.20455265,"cg_vd_v":-2.20455265,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38404655,"cg_vq_v":-8.38404655,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.336731,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":618.095191,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":618.095196,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":618.0952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":618.58728,"values":{"Elec_RPM":-2349.3501,"EncoderCos":15752,"EncoderSin":43583,"GapTicks":49935,"Mech_RPM":-469.869995,"cg_du":54.6044617,"cg_dv":54.0578766,"cg_dw":45.3955383,"cg_id_a":14.7194099,"cg_id_raw_a":16.911068,"cg_iq_a":-205.147369,"cg_iq_raw_a":-206.544449,"cg_iu_a":28.5989189,"cg_iv_a":161.390457,"cg_iw_a":-189.98938,"cg_sample_age_us":23.7909088,"cg_sample_seq":4458316,"cg_sample_valid":1,"cg_theta_rad":2.56797838,"cg_vd_req_v":-2.17496109,"cg_vd_v":-2.17496109,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32789612,"cg_vq_v":-8.32789612,"cg_vu_v":105.574219,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.2964783,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":618.991229,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":618.991237,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":618.991239,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":619.085327,"values":{"Elec_RPM":-2341.34863,"EncoderCos":46621,"EncoderSin":18341,"GapTicks":49722,"Mech_RPM":-468.269714,"cg_du":45.2020111,"cg_dv":54.7979889,"cg_dw":53.5861206,"cg_id_a":10.5655327,"cg_id_raw_a":8.59458256,"cg_iq_a":-199.803589,"cg_iq_raw_a":-197.675964,"cg_iu_a":-187.849243,"cg_iv_a":33.1597595,"cg_iw_a":147.730667,"cg_sample_age_us":23.954546,"cg_sample_seq":4460967,"cg_sample_valid":1,"cg_theta_rad":5.4956255,"cg_vd_req_v":-2.20494008,"cg_vd_v":-2.20494008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42239475,"cg_vq_v":-8.42239475,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.4949589,"dclink_p_w":-2531.9519,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3087158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":619.087427,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":619.08743,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":619.087433,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":619.438843,"values":{"Elec_RPM":-2336.94824,"EncoderCos":46622,"EncoderSin":18365,"GapTicks":49715,"Mech_RPM":-467.389648,"cg_du":45.1957855,"cg_dv":54.8042145,"cg_dw":53.5783997,"cg_id_a":13.6226864,"cg_id_raw_a":10.9785137,"cg_iq_a":-198.230988,"cg_iq_raw_a":-196.274246,"cg_iu_a":-174.656494,"cg_iv_a":4.67211914,"cg_iw_a":171.18042,"cg_sample_age_us":23.8199997,"cg_sample_seq":4462721,"cg_sample_valid":1,"cg_theta_rad":5.54034758,"cg_vd_req_v":-2.26222134,"cg_vd_v":-2.26222134,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44152069,"cg_vq_v":-8.44152069,"cg_vu_v":114.811958,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2471.25049,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3717651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":619.768921,"values":{"Elec_RPM":-2342.24341,"EncoderCos":47766,"EncoderSin":19593,"GapTicks":49426,"Mech_RPM":-468.448669,"cg_du":44.9335594,"cg_dv":51.4908028,"cg_dw":55.0664406,"cg_id_a":-9.8534832,"cg_id_raw_a":-8.36640835,"cg_iq_a":-199.5811,"cg_iq_raw_a":-198.785233,"cg_iu_a":-156.317108,"cg_iv_a":-19.8649445,"cg_iw_a":183.06839,"cg_sample_age_us":23.8272724,"cg_sample_seq":4464467,"cg_sample_valid":1,"cg_theta_rad":5.58091068,"cg_vd_req_v":-1.77296388,"cg_vd_v":-1.77296388,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.403018,"cg_vq_v":-8.403018,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3244934,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":620.102905,"values":{"Elec_RPM":-2343.56787,"EncoderCos":50975,"EncoderSin":40667,"GapTicks":49339,"Mech_RPM":-468.713593,"cg_du":44.8541451,"cg_dv":55.1458549,"cg_dw":51.5588722,"cg_id_a":-0.50161469,"cg_id_raw_a":-3.78511739,"cg_iq_a":-196.775146,"cg_iq_raw_a":-197.53006,"cg_iu_a":-197.417633,"cg_iv_a":88.467865,"cg_iw_a":108.949768,"cg_sample_age_us":23.5254555,"cg_sample_seq":4466116,"cg_sample_valid":1,"cg_theta_rad":0.418492734,"cg_vd_req_v":-1.97707427,"cg_vd_v":-1.97707427,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47589588,"cg_vq_v":-8.47589588,"cg_vu_v":39.1504402,"cg_vv_v":69.0631332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2385.9375,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3507385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":620.103637,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":620.103643,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":620.103648,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":620.454468,"values":{"Elec_RPM":-2338.06372,"EncoderCos":50671,"EncoderSin":41413,"GapTicks":49608,"Mech_RPM":-467.612762,"cg_du":45.0982857,"cg_dv":54.9017143,"cg_dw":53.0693665,"cg_id_a":11.3777971,"cg_id_raw_a":10.3943615,"cg_iq_a":-199.449799,"cg_iq_raw_a":-199.747665,"cg_iu_a":-192.669678,"cg_iv_a":45.3014526,"cg_iw_a":147.368225,"cg_sample_age_us":23.5545464,"cg_sample_seq":4467866,"cg_sample_valid":1,"cg_theta_rad":0.456355065,"cg_vd_req_v":-2.20540071,"cg_vd_v":-2.20540071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42649651,"cg_vq_v":-8.42649651,"cg_vu_v":9.67763615,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3507385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":620.786499,"values":{"Elec_RPM":-2342.67236,"EncoderCos":43136,"EncoderSin":49827,"GapTicks":49327,"Mech_RPM":-468.534485,"cg_du":55.1566925,"cg_dv":44.8433075,"cg_dw":49.1000252,"cg_id_a":-7.5209837,"cg_id_raw_a":-13.9110861,"cg_iq_a":-196.707596,"cg_iq_raw_a":-196.002029,"cg_iu_a":195.900452,"cg_iv_a":-112.431702,"cg_iw_a":-83.46875,"cg_sample_age_us":23.9254551,"cg_sample_seq":4469567,"cg_sample_valid":1,"cg_theta_rad":1.02679193,"cg_vd_req_v":-1.79234171,"cg_vd_v":-1.79234171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47369385,"cg_vq_v":-8.47369385,"cg_vu_v":143.404984,"cg_vv_v":132.407669,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2525.91992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3612671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":621.094804,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":621.094809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":621.094813,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":621.120483,"values":{"Elec_RPM":-2343.46826,"EncoderCos":32080,"EncoderSin":52753,"GapTicks":49383,"Mech_RPM":-468.693665,"cg_du":44.8941765,"cg_dv":55.1058235,"cg_dw":48.7505074,"cg_id_a":-8.61253548,"cg_id_raw_a":-7.86462021,"cg_iq_a":-198.192719,"cg_iq_raw_a":-199.557083,"cg_iu_a":-182.811371,"cg_iv_a":154.794098,"cg_iw_a":28.0172806,"cg_sample_age_us":23.8963642,"cg_sample_seq":4471267,"cg_sample_valid":1,"cg_theta_rad":1.60417545,"cg_vd_req_v":-1.69338179,"cg_vd_v":-1.69338179,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42253685,"cg_vq_v":-8.42253685,"cg_vu_v":141.205521,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.354248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":621.472046,"values":{"Elec_RPM":-2344.80005,"EncoderCos":14275,"EncoderSin":40958,"GapTicks":49433,"Mech_RPM":-468.960022,"cg_du":48.2321358,"cg_dv":55.0608406,"cg_dw":44.9391594,"cg_id_a":3.06046057,"cg_id_raw_a":-3.98658609,"cg_iq_a":-201.311676,"cg_iq_raw_a":-200.684341,"cg_iu_a":-118.840996,"cg_iv_a":200.352585,"cg_iw_a":-81.5115891,"cg_sample_age_us":23.9909096,"cg_sample_seq":4472916,"cg_sample_valid":1,"cg_theta_rad":2.7256,"cg_vd_req_v":-1.95749509,"cg_vd_v":-1.95749509,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40264606,"cg_vq_v":-8.40264606,"cg_vu_v":39.590332,"cg_vv_v":67.303566,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.5942993,"dclink_p_w":-2401.60425,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3454895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":621.80603,"values":{"Elec_RPM":-2349.71362,"EncoderCos":13982,"EncoderSin":40206,"GapTicks":49728,"Mech_RPM":-469.942719,"cg_du":46.7349319,"cg_dv":54.7924309,"cg_dw":45.2075691,"cg_id_a":14.092556,"cg_id_raw_a":13.9238224,"cg_iq_a":-204.561005,"cg_iq_raw_a":-204.253601,"cg_iu_a":-155.556,"cg_iv_a":194.517334,"cg_iw_a":-50.0157013,"cg_sample_age_us":23.9581814,"cg_sample_seq":4474666,"cg_sample_valid":1,"cg_theta_rad":2.76656318,"cg_vd_req_v":-2.15522718,"cg_vd_v":-2.15522718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3318615,"cg_vq_v":-8.3318615,"cg_vu_v":7.03828096,"cg_vv_v":21.1148415,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.348999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":622.119087,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":622.119092,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":622.119097,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":622.138062,"values":{"Elec_RPM":-2352.74146,"EncoderCos":17469,"EncoderSin":19375,"GapTicks":49712,"Mech_RPM":-470.548279,"cg_du":53.1252975,"cg_dv":54.8071404,"cg_dw":45.1928596,"cg_id_a":-0.8201406,"cg_id_raw_a":5.27201557,"cg_iq_a":-201.494293,"cg_iq_raw_a":-202.264648,"cg_iu_a":4.17057419,"cg_iv_a":169.654068,"cg_iw_a":-173.824646,"cg_sample_age_us":23.9727268,"cg_sample_seq":4476317,"cg_sample_valid":1,"cg_theta_rad":3.86920786,"cg_vd_req_v":-1.84101176,"cg_vd_v":-1.84101176,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35413933,"cg_vq_v":-8.35413933,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4695873,"dclink_p_w":-2520.59521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3910522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":622.489624,"values":{"Elec_RPM":-2348.83643,"EncoderCos":17948,"EncoderSin":18836,"GapTicks":49364,"Mech_RPM":-469.767303,"cg_du":51.352314,"cg_dv":55.1228943,"cg_dw":44.8771057,"cg_id_a":-12.8306494,"cg_id_raw_a":-11.8881607,"cg_iq_a":-196.183136,"cg_iq_raw_a":-196.471878,"cg_iu_a":-23.5922012,"cg_iv_a":180.237244,"cg_iw_a":-156.64505,"cg_sample_age_us":23.9799995,"cg_sample_seq":4478067,"cg_sample_valid":1,"cg_theta_rad":3.90407419,"cg_vd_req_v":-1.61379158,"cg_vd_v":-1.61379158,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48142052,"cg_vq_v":-8.48142052,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-17.6036911,"dclink_p_w":-2539.94434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.354248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":622.823608,"values":{"Elec_RPM":-2348.24146,"EncoderCos":27837,"EncoderSin":13225,"GapTicks":49992,"Mech_RPM":-469.648285,"cg_du":45.9071007,"cg_dv":45.4480286,"cg_dw":54.5519714,"cg_id_a":9.50831604,"cg_id_raw_a":12.4008236,"cg_iq_a":-205.908051,"cg_iq_raw_a":-205.458481,"cg_iu_a":-8.84096146,"cg_iv_a":-172.813934,"cg_iw_a":181.654892,"cg_sample_age_us":23.9290905,"cg_sample_seq":4479767,"cg_sample_valid":1,"cg_theta_rad":4.4800148,"cg_vd_req_v":-2.09205365,"cg_vd_v":-2.09205365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31164646,"cg_vq_v":-8.31164646,"cg_vu_v":104.254532,"cg_vv_v":84.8992691,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.3170338,"dclink_p_w":-2361.47705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3612671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":623.111495,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":623.111501,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":623.111506,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":623.175171,"values":{"Elec_RPM":-2349.71484,"EncoderCos":39480,"EncoderSin":13763,"GapTicks":49794,"Mech_RPM":-469.942993,"cg_du":54.7320251,"cg_dv":53.2933426,"cg_dw":45.2679749,"cg_id_a":6.51797962,"cg_id_raw_a":5.09718561,"cg_iq_a":-205.332047,"cg_iq_raw_a":-206.299225,"cg_iu_a":47.010788,"cg_iv_a":150.98848,"cg_iw_a":-197.999268,"cg_sample_age_us":23.8563633,"cg_sample_seq":4481466,"cg_sample_valid":1,"cg_theta_rad":5.07105494,"cg_vd_req_v":-2.06805921,"cg_vd_v":-2.06805921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26764774,"cg_vq_v":-8.26764774,"cg_vu_v":12.7568836,"cg_vv_v":35.6312981,"cg_vw_v":21.5547352,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3402405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":623.507202,"values":{"Elec_RPM":-2353.104,"EncoderCos":48502,"EncoderSin":20520,"GapTicks":49362,"Mech_RPM":-470.620789,"cg_du":44.8750076,"cg_dv":48.990921,"cg_dw":55.1249924,"cg_id_a":-5.360219,"cg_id_raw_a":-9.4892931,"cg_iq_a":-198.721069,"cg_iq_raw_a":-198.448822,"cg_iu_a":-102.712494,"cg_iv_a":-92.7875366,"cg_iw_a":195.500031,"cg_sample_age_us":23.9181824,"cg_sample_seq":4483167,"cg_sample_valid":1,"cg_theta_rad":5.63982677,"cg_vd_req_v":-1.8950901,"cg_vd_v":-1.8950901,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40881729,"cg_vq_v":-8.40881729,"cg_vu_v":127.12896,"cg_vv_v":113.492287,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2381.75391,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3507385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":623.839233,"values":{"Elec_RPM":-2355.86548,"EncoderCos":52527,"EncoderSin":31065,"GapTicks":49354,"Mech_RPM":-471.173096,"cg_du":55.1326904,"cg_dv":48.7353096,"cg_dw":44.8673096,"cg_id_a":-14.712697,"cg_id_raw_a":-12.1138134,"cg_iq_a":-195.683319,"cg_iq_raw_a":-194.521729,"cg_iu_a":156.104736,"cg_iv_a":24.0263214,"cg_iw_a":-180.131058,"cg_sample_age_us":24.0927277,"cg_sample_seq":4484867,"cg_sample_valid":1,"cg_theta_rad":6.21096039,"cg_vd_req_v":-1.63134027,"cg_vd_v":-1.63134027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50881481,"cg_vq_v":-8.50881481,"cg_vu_v":105.134323,"cg_vv_v":92.3774414,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2530.37817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3735352,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":624.103365,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":624.103371,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":624.103376,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":624.192749,"values":{"Elec_RPM":-2350.96143,"EncoderCos":50180,"EncoderSin":42378,"GapTicks":49811,"Mech_RPM":-470.192261,"cg_du":45.2827606,"cg_dv":53.6026878,"cg_dw":54.7172394,"cg_id_a":5.73013926,"cg_id_raw_a":9.09324646,"cg_iq_a":-201.614502,"cg_iq_raw_a":-201.785629,"cg_iu_a":-175.16391,"cg_iv_a":4.2734375,"cg_iw_a":170.890472,"cg_sample_age_us":23.5363636,"cg_sample_seq":4486567,"cg_sample_valid":1,"cg_theta_rad":0.510714114,"cg_vd_req_v":-2.04683471,"cg_vd_v":-2.04683471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36881065,"cg_vq_v":-8.36881065,"cg_vu_v":116.571533,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2883682,"dclink_p_w":-2509.6582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3507385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":624.526733,"values":{"Elec_RPM":-2354.27954,"EncoderCos":31561,"EncoderSin":52744,"GapTicks":49293,"Mech_RPM":-470.855927,"cg_du":44.8118744,"cg_dv":55.1881256,"cg_dw":49.9162712,"cg_id_a":-9.95062923,"cg_id_raw_a":-9.75402641,"cg_iq_a":-196.753082,"cg_iq_raw_a":-197.530045,"cg_iu_a":-191.799835,"cg_iv_a":143.812195,"cg_iw_a":44.4719772,"cg_sample_age_us":23.8890915,"cg_sample_seq":4488216,"cg_sample_valid":1,"cg_theta_rad":1.62915504,"cg_vd_req_v":-1.68827271,"cg_vd_v":-1.68827271,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47761726,"cg_vq_v":-8.47761726,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2498.37012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.336731,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":624.856812,"values":{"Elec_RPM":-2352.32397,"EncoderCos":30762,"EncoderSin":52712,"GapTicks":49366,"Mech_RPM":-470.464783,"cg_du":44.8790512,"cg_dv":55.1209488,"cg_dw":51.4946709,"cg_id_a":-0.694956303,"cg_id_raw_a":-1.42852712,"cg_iq_a":-198.765991,"cg_iq_raw_a":-199.449188,"cg_iu_a":-199.592255,"cg_iv_a":94.5568237,"cg_iw_a":105.035431,"cg_sample_age_us":23.8600006,"cg_sample_seq":4489966,"cg_sample_valid":1,"cg_theta_rad":1.67116749,"cg_vd_req_v":-1.88530111,"cg_vd_v":-1.88530111,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44418144,"cg_vq_v":-8.44418144,"cg_vu_v":38.2706528,"cg_vv_v":52.7871094,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2453.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.2719727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":625.094626,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":625.094632,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":625.094638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":625.210327,"values":{"Elec_RPM":-2352.17334,"EncoderCos":13794,"EncoderSin":39740,"GapTicks":50066,"Mech_RPM":-470.434662,"cg_du":45.7291908,"cg_dv":54.4846458,"cg_dw":45.5153542,"cg_id_a":13.627696,"cg_id_raw_a":15.3014097,"cg_iq_a":-204.610901,"cg_iq_raw_a":-205.486328,"cg_iu_a":-168.640015,"cg_iv_a":184.477783,"cg_iw_a":-15.8377609,"cg_sample_age_us":23.9654541,"cg_sample_seq":4491616,"cg_sample_valid":1,"cg_theta_rad":2.79021931,"cg_vd_req_v":-2.12118888,"cg_vd_v":-2.12118888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31216908,"cg_vq_v":-8.31216908,"cg_vu_v":38.7105446,"cg_vv_v":62.0248489,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.0763435,"dclink_p_w":-2478.87964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3630066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":625.542358,"values":{"Elec_RPM":-2354.33105,"EncoderCos":13577,"EncoderSin":39030,"GapTicks":49653,"Mech_RPM":-470.866211,"cg_du":45.139286,"cg_dv":54.860714,"cg_dw":47.1465797,"cg_id_a":0.829226851,"cg_id_raw_a":10.2232981,"cg_iq_a":-200.99231,"cg_iq_raw_a":-202.461105,"cg_iu_a":-174.620255,"cg_iv_a":170.451416,"cg_iw_a":4.1688385,"cg_sample_age_us":23.9363632,"cg_sample_seq":4493366,"cg_sample_valid":1,"cg_theta_rad":2.82953858,"cg_vd_req_v":-1.84106314,"cg_vd_v":-1.84106314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37685299,"cg_vq_v":-8.37685299,"cg_vu_v":0.87978512,"cg_vv_v":21.5547352,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2494.44751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.347229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":625.895874,"values":{"Elec_RPM":-2353.16382,"EncoderCos":13066,"EncoderSin":28684,"GapTicks":49380,"Mech_RPM":-470.632782,"cg_du":51.6405602,"cg_dv":44.8914719,"cg_dw":55.1085281,"cg_id_a":-0.196155787,"cg_id_raw_a":-3.90283012,"cg_iq_a":-198.418869,"cg_iq_raw_a":-198.517029,"cg_iu_a":141.38974,"cg_iv_a":-194.16156,"cg_iw_a":52.7718124,"cg_sample_age_us":23.6599998,"cg_sample_seq":4495070,"cg_sample_valid":1,"cg_theta_rad":3.38539171,"cg_vd_req_v":-1.91649485,"cg_vd_v":-1.91649485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44133568,"cg_vq_v":-8.44133568,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.1575623,"dclink_p_w":-2331.29004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.34375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":626.087305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":626.087311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":626.087316,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":626.227905,"values":{"Elec_RPM":-2363.67578,"EncoderCos":18815,"EncoderSin":17986,"GapTicks":49370,"Mech_RPM":-472.735138,"cg_du":48.8210602,"cg_dv":55.1173058,"cg_dw":44.8826942,"cg_id_a":-7.62493134,"cg_id_raw_a":-11.5718136,"cg_iq_a":-199.052979,"cg_iq_raw_a":-198.514648,"cg_iu_a":-91.0057373,"cg_iv_a":199.555222,"cg_iw_a":-108.549484,"cg_sample_age_us":23.9690914,"cg_sample_seq":4496767,"cg_sample_valid":1,"cg_theta_rad":3.96252871,"cg_vd_req_v":-1.75946522,"cg_vd_v":-1.75946522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44570732,"cg_vq_v":-8.44570732,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3787842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":626.559937,"values":{"Elec_RPM":-2361.39526,"EncoderCos":29162,"EncoderSin":12940,"GapTicks":49357,"Mech_RPM":-472.279053,"cg_du":49.3398209,"cg_dv":44.8702545,"cg_dw":55.1297455,"cg_id_a":-17.8844604,"cg_id_raw_a":-16.5443726,"cg_iq_a":-197.142639,"cg_iq_raw_a":-199.380142,"cg_iu_a":32.4770088,"cg_iv_a":-184.266983,"cg_iw_a":151.789978,"cg_sample_age_us":23.8018188,"cg_sample_seq":4498467,"cg_sample_valid":1,"cg_theta_rad":4.54714251,"cg_vd_req_v":-1.54558945,"cg_vd_v":-1.54558945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45604324,"cg_vq_v":-8.45604324,"cg_vu_v":118.770996,"cg_vv_v":119.650772,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-18.1092911,"dclink_p_w":-2612.89478,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3717651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":626.911499,"values":{"Elec_RPM":-2357.41968,"EncoderCos":40528,"EncoderSin":14159,"GapTicks":49738,"Mech_RPM":-471.483948,"cg_du":53.1972923,"cg_dv":54.7828865,"cg_dw":45.2171135,"cg_id_a":0.253184319,"cg_id_raw_a":5.97750425,"cg_iq_a":-202.524704,"cg_iq_raw_a":-205.505951,"cg_iu_a":1.99594426,"cg_iv_a":173.640869,"cg_iw_a":-175.63681,"cg_sample_age_us":23.9872723,"cg_sample_seq":4500166,"cg_sample_valid":1,"cg_theta_rad":5.12689686,"cg_vd_req_v":-1.92796564,"cg_vd_v":-1.92796564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34775066,"cg_vq_v":-8.34775066,"cg_vu_v":17.1558094,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5109386,"dclink_p_w":-2389.53979,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3822937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":627.079501,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":627.079507,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":627.079512,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":627.245483,"values":{"Elec_RPM":-2356.67993,"EncoderCos":49343,"EncoderSin":21664,"GapTicks":49814,"Mech_RPM":-471.335968,"cg_du":45.2860336,"cg_dv":46.3859901,"cg_dw":54.7139664,"cg_id_a":17.1946011,"cg_id_raw_a":19.6274548,"cg_iq_a":-206.072113,"cg_iq_raw_a":-204.46257,"cg_iu_a":-25.911808,"cg_iv_a":-166.579987,"cg_iw_a":192.491791,"cg_sample_age_us":23.9436359,"cg_sample_seq":4501866,"cg_sample_valid":1,"cg_theta_rad":5.71160841,"cg_vd_req_v":-2.31684709,"cg_vd_v":-2.31684709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29750824,"cg_vq_v":-8.29750824,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.4067993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":627.577515,"values":{"Elec_RPM":-2351.45801,"EncoderCos":52598,"EncoderSin":32578,"GapTicks":49497,"Mech_RPM":-470.291595,"cg_du":55.0021629,"cg_dv":51.7017021,"cg_dw":44.9978371,"cg_id_a":0.409491658,"cg_id_raw_a":-2.04155946,"cg_iq_a":-203.290237,"cg_iq_raw_a":-203.334869,"cg_iu_a":100.506683,"cg_iv_a":101.841843,"cg_iw_a":-202.348526,"cg_sample_age_us":23.8999996,"cg_sample_seq":4503566,"cg_sample_valid":1,"cg_theta_rad":6.27808762,"cg_vd_req_v":-1.96474183,"cg_vd_v":-1.96474183,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31596088,"cg_vq_v":-8.31596088,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2421.53687,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4138489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":627.929077,"values":{"Elec_RPM":-2349.00366,"EncoderCos":49594,"EncoderSin":43461,"GapTicks":49367,"Mech_RPM":-469.800751,"cg_du":44.8795357,"cg_dv":50.6160316,"cg_dw":55.1204643,"cg_id_a":-12.3761711,"cg_id_raw_a":-10.7215595,"cg_iq_a":-199.721909,"cg_iq_raw_a":-199.342072,"cg_iu_a":-146.531281,"cg_iv_a":-42.0461884,"cg_iw_a":188.577469,"cg_sample_age_us":23.5618191,"cg_sample_seq":4505267,"cg_sample_valid":1,"cg_theta_rad":0.572200954,"cg_vd_req_v":-1.69612563,"cg_vd_v":-1.69612563,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3816452,"cg_vq_v":-8.3816452,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-15.9364738,"dclink_p_w":-2292.37988,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3770142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":628.103496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":628.103502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":628.103507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":628.30603,"values":{"Elec_RPM":-2347.53564,"EncoderCos":50600,"EncoderSin":23810,"GapTicks":49287,"Mech_RPM":-469.507111,"cg_du":50.4370079,"cg_dv":44.8071632,"cg_dw":55.1928368,"cg_id_a":-6.87489653,"cg_id_raw_a":-10.2549181,"cg_iq_a":-195.014496,"cg_iq_raw_a":-195.43309,"cg_iu_a":75.5346832,"cg_iv_a":-193.907837,"cg_iw_a":118.373161,"cg_sample_age_us":23.7363644,"cg_sample_seq":4507116,"cg_sample_valid":1,"cg_theta_rad":5.8338685,"cg_vd_req_v":-1.83835745,"cg_vd_v":-1.83835745,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49145985,"cg_vq_v":-8.49145985,"cg_vu_v":5.71860361,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-15.8241177,"dclink_p_w":-2290.13989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3840332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":628.827515,"values":{"Elec_RPM":-2346.57275,"EncoderCos":14051,"EncoderSin":25183,"GapTicks":49357,"Mech_RPM":-469.314545,"cg_du":55.1299019,"cg_dv":44.8700981,"cg_dw":49.3279152,"cg_id_a":-12.8980598,"cg_id_raw_a":-17.3248539,"cg_iq_a":-198.393768,"cg_iq_raw_a":-197.443588,"cg_iu_a":197.060257,"cg_iv_a":-133.888046,"cg_iw_a":-60.4539185,"cg_sample_age_us":23.994545,"cg_sample_seq":4509667,"cg_sample_valid":1,"cg_theta_rad":3.53006387,"cg_vd_req_v":-1.65239871,"cg_vd_v":-1.65239871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43696499,"cg_vq_v":-8.43696499,"cg_vu_v":106.453995,"cg_vv_v":92.3774414,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3927917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":628.966902,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":628.966914,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":628.966917,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":629.095424,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":629.095431,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":629.095438,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":629.257202,"values":{"Elec_RPM":-2347.5332,"EncoderCos":28221,"EncoderSin":13179,"GapTicks":49748,"Mech_RPM":-469.506622,"cg_du":46.9175262,"cg_dv":45.2262535,"cg_dw":54.7737465,"cg_id_a":-0.726343751,"cg_id_raw_a":7.20607519,"cg_iq_a":-203.236069,"cg_iq_raw_a":-204.449768,"cg_iu_a":-4.99911594,"cg_iv_a":-173.248856,"cg_iw_a":178.247971,"cg_sample_age_us":23.8454552,"cg_sample_seq":4511916,"cg_sample_valid":1,"cg_theta_rad":4.49001169,"cg_vd_req_v":-1.87149417,"cg_vd_v":-1.87149417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33220863,"cg_vq_v":-8.33220863,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2502.31567,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.348999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":629.589233,"values":{"Elec_RPM":-2347.65991,"EncoderCos":52430,"EncoderSin":29836,"GapTicks":49961,"Mech_RPM":-469.531982,"cg_du":54.5806351,"cg_dv":45.4193649,"cg_dw":45.9391785,"cg_id_a":9.03321362,"cg_id_raw_a":12.1677084,"cg_iq_a":-204.957764,"cg_iq_raw_a":-207.883026,"cg_iu_a":188.615448,"cg_iv_a":-25.8451996,"cg_iw_a":-162.770248,"cg_sample_age_us":24.0381813,"cg_sample_seq":4513516,"cg_sample_valid":1,"cg_theta_rad":6.14031935,"cg_vd_req_v":-2.16835117,"cg_vd_v":-2.16835117,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29440308,"cg_vq_v":-8.29440308,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2477.03833,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3787842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":629.940796,"values":{"Elec_RPM":-2344.87207,"EncoderCos":48634,"EncoderSin":20661,"GapTicks":49313,"Mech_RPM":-468.974396,"cg_du":44.8305473,"cg_dv":48.6823158,"cg_dw":55.1694527,"cg_id_a":1.6356442,"cg_id_raw_a":-3.46721005,"cg_iq_a":-197.800201,"cg_iq_raw_a":-199.864273,"cg_iu_a":-102.313812,"cg_iv_a":-93.3312073,"cg_iw_a":195.64502,"cg_sample_age_us":23.8309097,"cg_sample_seq":4515316,"cg_sample_valid":1,"cg_theta_rad":5.64089203,"cg_vd_req_v":-2.04342699,"cg_vd_v":-2.04342699,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46213913,"cg_vq_v":-8.46213913,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3735352,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":630.118539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":630.118544,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":630.118548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":630.27478,"values":{"Elec_RPM":-2343.97729,"EncoderCos":43232,"EncoderSin":49825,"GapTicks":49353,"Mech_RPM":-468.795441,"cg_du":55.1335258,"cg_dv":44.8664742,"cg_dw":49.2428589,"cg_id_a":-9.92692757,"cg_id_raw_a":-13.7204256,"cg_iq_a":-197.086456,"cg_iq_raw_a":-196.614334,"cg_iu_a":196.009186,"cg_iv_a":-118.0495,"cg_iw_a":-77.9596863,"cg_sample_age_us":23.8054543,"cg_sample_seq":4516916,"cg_sample_valid":1,"cg_theta_rad":1.02145505,"cg_vd_req_v":-1.73843896,"cg_vd_v":-1.73843896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43253899,"cg_vq_v":-8.43253899,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.348999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":630.604858,"values":{"Elec_RPM":-2346.44727,"EncoderCos":50150,"EncoderSin":42431,"GapTicks":49803,"Mech_RPM":-469.289429,"cg_du":45.2757301,"cg_dv":53.4524689,"cg_dw":54.7242699,"cg_id_a":4.70243311,"cg_id_raw_a":9.38234425,"cg_iq_a":-203.822922,"cg_iq_raw_a":-203.87561,"cg_iu_a":-176.541168,"cg_iv_a":2.89616394,"cg_iw_a":174.18866,"cg_sample_age_us":23.5363636,"cg_sample_seq":4518717,"cg_sample_valid":1,"cg_theta_rad":0.513324022,"cg_vd_req_v":-2.02363753,"cg_vd_v":-2.02363753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29967213,"cg_vq_v":-8.29967213,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4612122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":630.958374,"values":{"Elec_RPM":-2347.19678,"EncoderCos":42115,"EncoderSin":50394,"GapTicks":49610,"Mech_RPM":-469.439331,"cg_du":54.8997841,"cg_dv":45.1002159,"cg_dw":47.0593758,"cg_id_a":16.6888733,"cg_id_raw_a":13.6271296,"cg_iq_a":-203.275269,"cg_iq_raw_a":-200.690872,"cg_iu_a":194.88562,"cg_iv_a":-43.1697388,"cg_iw_a":-151.715881,"cg_sample_age_us":23.9472733,"cg_sample_seq":4520417,"cg_sample_valid":1,"cg_theta_rad":1.08450139,"cg_vd_req_v":-2.26992846,"cg_vd_v":-2.26992846,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3359499,"cg_vq_v":-8.3359499,"cg_vu_v":142.965088,"cg_vv_v":139.885834,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2483.98926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3963013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":631.111291,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":631.111296,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":631.111301,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":631.290405,"values":{"Elec_RPM":-2352.23242,"EncoderCos":30895,"EncoderSin":52704,"GapTicks":49332,"Mech_RPM":-470.446472,"cg_du":44.8480721,"cg_dv":55.1519279,"cg_dw":51.2506828,"cg_id_a":-2.29479742,"cg_id_raw_a":-5.98992491,"cg_iq_a":-195.983429,"cg_iq_raw_a":-195.798965,"cg_iu_a":-194.916809,"cg_iv_a":99.9209213,"cg_iw_a":94.9958878,"cg_sample_age_us":23.772728,"cg_sample_seq":4522117,"cg_sample_valid":1,"cg_theta_rad":1.66663611,"cg_vd_req_v":-1.85061276,"cg_vd_v":-1.85061276,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49447632,"cg_vq_v":-8.49447632,"cg_vu_v":106.893898,"cg_vv_v":106.453995,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.799408,"dclink_p_w":-2576.01318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3682556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":631.643921,"values":{"Elec_RPM":-2348.71191,"EncoderCos":21005,"EncoderSin":49123,"GapTicks":49726,"Mech_RPM":-469.742371,"cg_du":54.7942467,"cg_dv":45.2057533,"cg_dw":53.2007179,"cg_id_a":4.29513741,"cg_id_raw_a":7.34669256,"cg_iq_a":-200.654968,"cg_iq_raw_a":-202.11528,"cg_iu_a":182.3815,"cg_iv_a":-152.734833,"cg_iw_a":-29.6466599,"cg_sample_age_us":23.9581814,"cg_sample_seq":4523821,"cg_sample_valid":1,"cg_theta_rad":2.23581791,"cg_vd_req_v":-1.97291517,"cg_vd_v":-1.97291517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38347816,"cg_vq_v":-8.38347816,"cg_vu_v":141.205521,"cg_vv_v":109.533249,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2453.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3647461,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":631.973999,"values":{"Elec_RPM":-2354.58008,"EncoderCos":17906,"EncoderSin":18883,"GapTicks":49372,"Mech_RPM":-470.916016,"cg_du":51.5403671,"cg_dv":55.1155396,"cg_dw":44.8844604,"cg_id_a":-10.2149324,"cg_id_raw_a":-10.393425,"cg_iq_a":-195.71521,"cg_iq_raw_a":-196.526627,"cg_iu_a":-22.0699615,"cg_iv_a":179.621109,"cg_iw_a":-157.551147,"cg_sample_age_us":23.9654541,"cg_sample_seq":4525416,"cg_sample_valid":1,"cg_theta_rad":3.89978814,"cg_vd_req_v":-1.66515613,"cg_vd_v":-1.66515613,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51571465,"cg_vq_v":-8.51571465,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.3770142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":632.103151,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":632.103156,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":632.103161,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":632.307983,"values":{"Elec_RPM":-2353.15894,"EncoderCos":13221,"EncoderSin":27712,"GapTicks":49699,"Mech_RPM":-470.631775,"cg_du":53.4737206,"cg_dv":45.1811256,"cg_dw":54.8188744,"cg_id_a":15.8064499,"cg_id_raw_a":13.0604162,"cg_iq_a":-199.800079,"cg_iq_raw_a":-199.062561,"cg_iu_a":157.083313,"cg_iv_a":-187.855118,"cg_iw_a":30.7718048,"cg_sample_age_us":23.7036362,"cg_sample_seq":4527216,"cg_sample_valid":1,"cg_theta_rad":3.39703846,"cg_vd_req_v":-2.22008443,"cg_vd_v":-2.22008443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43533611,"cg_vq_v":-8.43533611,"cg_vu_v":42.6695786,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.3043499,"dclink_p_w":-2366.81372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3945313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":632.641968,"values":{"Elec_RPM":-2349.48096,"EncoderCos":39116,"EncoderSin":13626,"GapTicks":49616,"Mech_RPM":-469.896179,"cg_du":54.8945198,"cg_dv":52.4995651,"cg_dw":45.1054802,"cg_id_a":5.36794281,"cg_id_raw_a":4.19643402,"cg_iq_a":-206.283035,"cg_iq_raw_a":-207.723328,"cg_iu_a":67.6335297,"cg_iv_a":136.490952,"cg_iw_a":-204.124481,"cg_sample_age_us":23.9509087,"cg_sample_seq":4528816,"cg_sample_valid":1,"cg_theta_rad":5.05056,"cg_vd_req_v":-2.05113745,"cg_vd_v":-2.05113745,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25047398,"cg_vq_v":-8.25047398,"cg_vu_v":32.1121559,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2406.29468,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3770142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":632.99353,"values":{"Elec_RPM":-2354.99243,"EncoderCos":29113,"EncoderSin":12957,"GapTicks":49362,"Mech_RPM":-470.998505,"cg_du":49.1683769,"cg_dv":44.8752251,"cg_dw":55.1247749,"cg_id_a":-15.6628342,"cg_id_raw_a":-14.5442762,"cg_iq_a":-198.7836,"cg_iq_raw_a":-200.068451,"cg_iu_a":32.9119339,"cg_iv_a":-185.390533,"cg_iw_a":152.478607,"cg_sample_age_us":23.7000008,"cg_sample_seq":4530617,"cg_sample_valid":1,"cg_theta_rad":4.54272699,"cg_vd_req_v":-1.59773135,"cg_vd_v":-1.59773135,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42540741,"cg_vq_v":-8.42540741,"cg_vu_v":131.967773,"cg_vv_v":132.847549,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2466.4707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3980408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":633.094673,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":633.094678,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":633.094683,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":633.325562,"values":{"Elec_RPM":-2353.66724,"EncoderCos":52549,"EncoderSin":31080,"GapTicks":49378,"Mech_RPM":-470.733429,"cg_du":55.1108932,"cg_dv":48.7591095,"cg_dw":44.8891068,"cg_id_a":-13.693428,"cg_id_raw_a":-12.2003765,"cg_iq_a":-194.962494,"cg_iq_raw_a":-196.644455,"cg_iu_a":156.720871,"cg_iv_a":25.4398346,"cg_iw_a":-182.160706,"cg_sample_age_us":23.994545,"cg_sample_seq":4532216,"cg_sample_valid":1,"cg_theta_rad":6.21155977,"cg_vd_req_v":-1.64764035,"cg_vd_v":-1.64764035,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49236488,"cg_vq_v":-8.49236488,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.7468529,"dclink_p_w":-2568.40723,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3840332,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":633.677124,"values":{"Elec_RPM":-2358.38281,"EncoderCos":49281,"EncoderSin":21594,"GapTicks":49753,"Mech_RPM":-471.676544,"cg_du":45.2306747,"cg_dv":46.5879631,"cg_dw":54.7693253,"cg_id_a":18.4389553,"cg_id_raw_a":19.2228546,"cg_iq_a":-203.322113,"cg_iq_raw_a":-200.02153,"cg_iu_a":-30.5510178,"cg_iv_a":-162.013245,"cg_iw_a":192.56427,"cg_sample_age_us":23.8890915,"cg_sample_seq":4534017,"cg_sample_valid":1,"cg_theta_rad":5.70695972,"cg_vd_req_v":-2.34151769,"cg_vd_v":-2.34151769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32655525,"cg_vq_v":-8.32655525,"cg_vu_v":105.574219,"cg_vv_v":95.4566803,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2433.33887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":634.011108,"values":{"Elec_RPM":-2357.71582,"EncoderCos":42245,"EncoderSin":50310,"GapTicks":49537,"Mech_RPM":-471.543182,"cg_du":54.9662704,"cg_dv":45.0337296,"cg_dw":47.3634911,"cg_id_a":15.4745178,"cg_id_raw_a":11.5864906,"cg_iq_a":-203.062714,"cg_iq_raw_a":-202.252792,"cg_iu_a":198.47377,"cg_iv_a":-50.2735291,"cg_iw_a":-148.200241,"cg_sample_age_us":23.8381824,"cg_sample_seq":4535616,"cg_sample_valid":1,"cg_theta_rad":1.07653987,"cg_vd_req_v":-2.25192761,"cg_vd_v":-2.25192761,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35589409,"cg_vq_v":-8.35589409,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6290607,"dclink_p_w":-2551.35962,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.4895325,"temp_inv2_c":42.3594971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":634.086981,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":634.086986,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":634.086991,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":634.34314,"values":{"Elec_RPM":-2358.64526,"EncoderCos":49599,"EncoderSin":43386,"GapTicks":49349,"Mech_RPM":-471.729065,"cg_du":44.8633652,"cg_dv":50.7815475,"cg_dw":55.1366348,"cg_id_a":-11.5463791,"cg_id_raw_a":-9.73865223,"cg_iq_a":-199.943802,"cg_iq_raw_a":-199.478729,"cg_iu_a":-148.234741,"cg_iv_a":-40.3789673,"cg_iw_a":188.613708,"cg_sample_age_us":23.5327282,"cg_sample_seq":4537417,"cg_sample_valid":1,"cg_theta_rad":0.567497015,"cg_vd_req_v":-1.71709573,"cg_vd_v":-1.71709573,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41752815,"cg_vq_v":-8.41752815,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2445.03003,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3892822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":634.694702,"values":{"Elec_RPM":-2364.25244,"EncoderCos":20413,"EncoderSin":48680,"GapTicks":49390,"Mech_RPM":-472.850494,"cg_du":55.0998306,"cg_dv":44.9001694,"cg_dw":51.23769,"cg_id_a":-14.8592834,"cg_id_raw_a":-11.6572046,"cg_iq_a":-196.207916,"cg_iq_raw_a":-197.080734,"cg_iu_a":180.460571,"cg_iv_a":-157.337799,"cg_iw_a":-12.6845551,"cg_sample_age_us":23.9909096,"cg_sample_seq":4539016,"cg_sample_valid":1,"cg_theta_rad":2.22848701,"cg_vd_req_v":-1.59020305,"cg_vd_v":-1.59020305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45757008,"cg_vq_v":-8.45757008,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2503.07666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3770142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":635.028687,"values":{"Elec_RPM":-2358.41455,"EncoderCos":29454,"EncoderSin":52562,"GapTicks":49910,"Mech_RPM":-471.682922,"cg_du":45.3730164,"cg_dv":54.6269836,"cg_dw":54.0206871,"cg_id_a":13.3970366,"cg_id_raw_a":12.1379967,"cg_iq_a":-199.678802,"cg_iq_raw_a":-199.868195,"cg_iu_a":-184.841019,"cg_iv_a":23.8088684,"cg_iw_a":161.03215,"cg_sample_age_us":23.8999996,"cg_sample_seq":4540816,"cg_sample_valid":1,"cg_theta_rad":1.73595071,"cg_vd_req_v":-2.13559222,"cg_vd_v":-2.13559222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38312721,"cg_vq_v":-8.38312721,"cg_vu_v":10.9973145,"cg_vv_v":20.2350578,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.3717651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":635.078949,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":635.078954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":635.078959,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":635.362671,"values":{"Elec_RPM":-2358.03931,"EncoderCos":13183,"EncoderSin":28087,"GapTicks":49509,"Mech_RPM":-471.60788,"cg_du":52.7863083,"cg_dv":45.0085716,"cg_dw":54.9914284,"cg_id_a":11.5626125,"cg_id_raw_a":7.38702536,"cg_iq_a":-196.535568,"cg_iq_raw_a":-195.447464,"cg_iu_a":140.809814,"cg_iv_a":-191.044571,"cg_iw_a":50.2347565,"cg_sample_age_us":23.6890907,"cg_sample_seq":4542416,"cg_sample_valid":1,"cg_theta_rad":3.37955379,"cg_vd_req_v":-2.13977671,"cg_vd_v":-2.13977671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49862385,"cg_vq_v":-8.49862385,"cg_vu_v":15.3962402,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":635.714233,"values":{"Elec_RPM":-2355.31494,"EncoderCos":13248,"EncoderSin":37916,"GapTicks":49274,"Mech_RPM":-471.062988,"cg_du":44.7948189,"cg_dv":55.2051811,"cg_dw":49.9102974,"cg_id_a":-11.0988817,"cg_id_raw_a":-9.96427631,"cg_iq_a":-194.435471,"cg_iq_raw_a":-194.990906,"cg_iu_a":-190.277588,"cg_iv_a":134.533783,"cg_iw_a":55.7438049,"cg_sample_age_us":23.9218178,"cg_sample_seq":4544216,"cg_sample_valid":1,"cg_theta_rad":2.88532948,"cg_vd_req_v":-1.62832379,"cg_vd_v":-1.62832379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54523945,"cg_vq_v":-8.54523945,"cg_vu_v":39.590332,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2432.47925,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":636.046265,"values":{"Elec_RPM":-2357.11328,"EncoderCos":28992,"EncoderSin":13017,"GapTicks":49388,"Mech_RPM":-471.422668,"cg_du":48.9040833,"cg_dv":44.8986473,"cg_dw":55.1013527,"cg_id_a":-16.4022636,"cg_id_raw_a":-15.7984228,"cg_iq_a":-199.594757,"cg_iq_raw_a":-202.750458,"cg_iu_a":15.5148945,"cg_iv_a":-179.80899,"cg_iw_a":164.294098,"cg_sample_age_us":23.7763634,"cg_sample_seq":4545816,"cg_sample_valid":1,"cg_theta_rad":4.52920198,"cg_vd_req_v":-1.57397974,"cg_vd_v":-1.57397974,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41839027,"cg_vq_v":-8.41839027,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5946293,"dclink_p_w":-2538.63696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3998108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":636.102784,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":636.102789,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":636.102795,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":636.378296,"values":{"Elec_RPM":-2361.07983,"EncoderCos":40032,"EncoderSin":13959,"GapTicks":50103,"Mech_RPM":-472.215973,"cg_du":54.4351311,"cg_dv":54.4510345,"cg_dw":45.5489655,"cg_id_a":8.73647499,"cg_id_raw_a":10.6851768,"cg_iq_a":-205.514801,"cg_iq_raw_a":-204.785706,"cg_iu_a":17.8344994,"cg_iv_a":166.682053,"cg_iw_a":-184.516556,"cg_sample_age_us":23.9472733,"cg_sample_seq":4547517,"cg_sample_valid":1,"cg_theta_rad":5.09981775,"cg_vd_req_v":-2.10223031,"cg_vd_v":-2.10223031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31985092,"cg_vq_v":-8.31985092,"cg_vu_v":25.953661,"cg_vv_v":18.9153805,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8338394,"dclink_p_w":-2580.99634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.4103394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":636.731812,"values":{"Elec_RPM":-2356.16797,"EncoderCos":30289,"EncoderSin":12782,"GapTicks":49336,"Mech_RPM":-471.233612,"cg_du":51.4774246,"cg_dv":44.8510551,"cg_dw":55.1489449,"cg_id_a":0.782439649,"cg_id_raw_a":-5.25205469,"cg_iq_a":-197.752457,"cg_iq_raw_a":-197.210587,"cg_iu_a":106.958084,"cg_iv_a":-198.32959,"cg_iw_a":91.3715057,"cg_sample_age_us":23.7290916,"cg_sample_seq":4549317,"cg_sample_valid":1,"cg_theta_rad":4.60283327,"cg_vd_req_v":-1.96130276,"cg_vd_v":-1.96130276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47127342,"cg_vq_v":-8.47127342,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2494.92651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":637.06189,"values":{"Elec_RPM":-2356.44507,"EncoderCos":52556,"EncoderSin":32148,"GapTicks":49387,"Mech_RPM":-471.289032,"cg_du":55.1019783,"cg_dv":50.8720131,"cg_dw":44.8980217,"cg_id_a":-4.4402132,"cg_id_raw_a":-7.06359863,"cg_iq_a":-202.053177,"cg_iq_raw_a":-202.594711,"cg_iu_a":100.144241,"cg_iv_a":103.617783,"cg_iw_a":-203.762024,"cg_sample_age_us":23.9327278,"cg_sample_seq":4550916,"cg_sample_valid":1,"cg_theta_rad":6.27605343,"cg_vd_req_v":-1.86523247,"cg_vd_v":-1.86523247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33532143,"cg_vq_v":-8.33532143,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-18.1455364,"dclink_p_w":-2618.12427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.3910522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":637.095654,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":637.09566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":637.095665,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":637.415405,"values":{"Elec_RPM":-2355.28687,"EncoderCos":50014,"EncoderSin":22755,"GapTicks":49564,"Mech_RPM":-471.057373,"cg_du":47.8129044,"cg_dv":45.0587234,"cg_dw":54.9412766,"cg_id_a":-8.11697578,"cg_id_raw_a":-5.75157309,"cg_iq_a":-202.957932,"cg_iq_raw_a":-205.137451,"cg_iu_a":11.8542671,"cg_iv_a":-179.591537,"cg_iw_a":167.737274,"cg_sample_age_us":24.0381813,"cg_sample_seq":4552716,"cg_sample_valid":1,"cg_theta_rad":5.77343845,"cg_vd_req_v":-1.78776503,"cg_vd_v":-1.78776503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33329964,"cg_vq_v":-8.33329964,"cg_vu_v":0.43989256,"cg_vv_v":2.19946289,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2513.33081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4050598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":637.747437,"values":{"Elec_RPM":-2351.82104,"EncoderCos":41078,"EncoderSin":50917,"GapTicks":49751,"Mech_RPM":-470.364227,"cg_du":54.7712555,"cg_dv":46.6100311,"cg_dw":45.2287445,"cg_id_a":4.01365137,"cg_id_raw_a":7.96423054,"cg_iq_a":-200.988495,"cg_iq_raw_a":-203.299515,"cg_iu_a":175.024002,"cg_iv_a":-3.37400818,"cg_iw_a":-171.649994,"cg_sample_age_us":23.9327278,"cg_sample_seq":4554316,"cg_sample_valid":1,"cg_theta_rad":1.14265192,"cg_vd_req_v":-1.97016943,"cg_vd_v":-1.97016943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38996983,"cg_vq_v":-8.38996983,"cg_vu_v":139.445938,"cg_vv_v":133.287445,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2523.86377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3717651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":638.079468,"values":{"Elec_RPM":-2357.52832,"EncoderCos":48794,"EncoderSin":44682,"GapTicks":49431,"Mech_RPM":-471.505646,"cg_du":44.9375534,"cg_dv":47.8777733,"cg_dw":55.0624466,"cg_id_a":11.3913612,"cg_id_raw_a":4.94081497,"cg_iq_a":-198.852997,"cg_iq_raw_a":-197.735901,"cg_iu_a":-63.3879318,"cg_iv_a":-133.851807,"cg_iw_a":197.239746,"cg_sample_age_us":23.5436363,"cg_sample_seq":4556116,"cg_sample_valid":1,"cg_theta_rad":0.643610954,"cg_vd_req_v":-2.1924696,"cg_vd_v":-2.1924696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42365551,"cg_vq_v":-8.42365551,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2418.37427,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.354248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":638.087663,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":638.08767,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":638.087677,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":638.577515,"values":{"Elec_RPM":-2356.32861,"EncoderCos":50100,"EncoderSin":42465,"GapTicks":49779,"Mech_RPM":-471.265717,"cg_du":45.2544823,"cg_dv":53.311985,"cg_dw":54.7455177,"cg_id_a":3.85021067,"cg_id_raw_a":10.5212021,"cg_iq_a":-202.576996,"cg_iq_raw_a":-204.604004,"cg_iu_a":-175.562592,"cg_iv_a":6.19436646,"cg_iw_a":171.252914,"cg_sample_age_us":23.5581818,"cg_sample_seq":4558466,"cg_sample_valid":1,"cg_theta_rad":0.51445061,"cg_vd_req_v":-2.00546384,"cg_vd_v":-2.00546384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33821487,"cg_vq_v":-8.33821487,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":638.951147,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":638.951158,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":638.951162,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":639.073608,"values":{"Elec_RPM":-2349.18433,"EncoderCos":18918,"EncoderSin":17889,"GapTicks":49426,"Mech_RPM":-469.836884,"cg_du":48.5707703,"cg_dv":55.0668106,"cg_dw":44.9331894,"cg_id_a":-5.51460314,"cg_id_raw_a":-10.3261347,"cg_iq_a":-200.991425,"cg_iq_raw_a":-200.512833,"cg_iu_a":-99.5592804,"cg_iv_a":202.382248,"cg_iw_a":-102.822968,"cg_sample_age_us":23.9654541,"cg_sample_seq":4561067,"cg_sample_valid":1,"cg_theta_rad":3.97055125,"cg_vd_req_v":-1.79743433,"cg_vd_v":-1.79743433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36180305,"cg_vq_v":-8.36180305,"cg_vu_v":125.809273,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.9516315,"dclink_p_w":-2590.14673,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4015808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":639.07976,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":639.079766,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":639.079772,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":639.429077,"values":{"Elec_RPM":-2351.64648,"EncoderCos":39104,"EncoderSin":13656,"GapTicks":49592,"Mech_RPM":-470.329315,"cg_du":54.9158745,"cg_dv":52.5793495,"cg_dw":45.0841255,"cg_id_a":3.2948041,"cg_id_raw_a":1.93770576,"cg_iq_a":-203.094971,"cg_iq_raw_a":-203.894882,"cg_iu_a":24.539608,"cg_iv_a":163.238892,"cg_iw_a":-187.778503,"cg_sample_age_us":23.8563633,"cg_sample_seq":4562720,"cg_sample_valid":1,"cg_theta_rad":5.09217548,"cg_vd_req_v":-2.00485277,"cg_vd_v":-2.00485277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34635544,"cg_vq_v":-8.34635544,"cg_vu_v":37.830761,"cg_vv_v":44.4291458,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2454.58276,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4033203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":639.759155,"values":{"Elec_RPM":-2357.56323,"EncoderCos":49064,"EncoderSin":21156,"GapTicks":49492,"Mech_RPM":-471.512665,"cg_du":44.992939,"cg_dv":47.5175781,"cg_dw":55.007061,"cg_id_a":15.1155615,"cg_id_raw_a":8.3090229,"cg_iq_a":-199.040649,"cg_iq_raw_a":-198.560669,"cg_iu_a":-54.4719467,"cg_iv_a":-142.260376,"cg_iw_a":196.73233,"cg_sample_age_us":23.954546,"cg_sample_seq":4564416,"cg_sample_valid":1,"cg_theta_rad":5.67923975,"cg_vd_req_v":-2.29224467,"cg_vd_v":-2.29224467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39624405,"cg_vq_v":-8.39624405,"cg_vu_v":38.2706528,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5801315,"dclink_p_w":-2544.27856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":640.091187,"values":{"Elec_RPM":-2355.56396,"EncoderCos":52569,"EncoderSin":31767,"GapTicks":49322,"Mech_RPM":-471.112793,"cg_du":55.1617813,"cg_dv":50.207119,"cg_dw":44.8382187,"cg_id_a":-11.7727957,"cg_id_raw_a":-13.0681667,"cg_iq_a":-197.964478,"cg_iq_raw_a":-199.790649,"cg_iu_a":131.132721,"cg_iv_a":67.0839996,"cg_iw_a":-198.216721,"cg_sample_age_us":24.0309086,"cg_sample_seq":4566116,"cg_sample_valid":1,"cg_theta_rad":6.24815226,"cg_vd_req_v":-1.712623,"cg_vd_v":-1.712623,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42992115,"cg_vq_v":-8.42992115,"cg_vu_v":29.912693,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2465.16333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3857727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":640.102672,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":640.102678,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":640.102684,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":640.444702,"values":{"Elec_RPM":-2355.44092,"EncoderCos":49932,"EncoderSin":42780,"GapTicks":49524,"Mech_RPM":-471.088196,"cg_du":45.0219116,"cg_dv":52.4033241,"cg_dw":54.9780884,"cg_id_a":-5.35909176,"cg_id_raw_a":-2.90562081,"cg_iq_a":-200.774414,"cg_iq_raw_a":-200.13443,"cg_iu_a":-166.175446,"cg_iv_a":-11.1664429,"cg_iw_a":177.341888,"cg_sample_age_us":23.5290909,"cg_sample_seq":4567817,"cg_sample_valid":1,"cg_theta_rad":0.533320189,"cg_vd_req_v":-1.82586956,"cg_vd_v":-1.82586956,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41410255,"cg_vq_v":-8.41410255,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2409.20996,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4138489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":640.776733,"values":{"Elec_RPM":-2358.42603,"EncoderCos":41444,"EncoderSin":50744,"GapTicks":50051,"Mech_RPM":-471.685211,"cg_du":54.4987602,"cg_dv":45.6545868,"cg_dw":45.5012398,"cg_id_a":10.9926453,"cg_id_raw_a":16.2416687,"cg_iq_a":-202.694855,"cg_iq_raw_a":-206.661133,"cg_iu_a":181.004242,"cg_iv_a":-12.7249146,"cg_iw_a":-168.279327,"cg_sample_age_us":24.0381813,"cg_sample_seq":4569516,"cg_sample_valid":1,"cg_theta_rad":1.12207031,"cg_vd_req_v":-2.12210822,"cg_vd_v":-2.12210822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34238434,"cg_vq_v":-8.34238434,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3209896,"dclink_p_w":-2506.77417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4033203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":641.094945,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":641.094951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":641.094957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":641.110718,"values":{"Elec_RPM":-2355.40308,"EncoderCos":30235,"EncoderSin":52643,"GapTicks":49533,"Mech_RPM":-471.080597,"cg_du":45.0301208,"cg_dv":54.9698792,"cg_dw":52.4889297,"cg_id_a":6.93020344,"cg_id_raw_a":3.97640896,"cg_iq_a":-199.071976,"cg_iq_raw_a":-199.137054,"cg_iu_a":-197.163925,"cg_iv_a":63.7858124,"cg_iw_a":133.378113,"cg_sample_age_us":23.8672733,"cg_sample_seq":4571216,"cg_sample_valid":1,"cg_theta_rad":1.69407082,"cg_vd_req_v":-2.03408194,"cg_vd_v":-2.03408194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40285397,"cg_vq_v":-8.40285397,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2372.49243,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3963013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":641.46228,"values":{"Elec_RPM":-2350.73706,"EncoderCos":20020,"EncoderSin":48359,"GapTicks":49306,"Mech_RPM":-470.1474,"cg_du":55.1756058,"cg_dv":44.8243942,"cg_dw":50.0916824,"cg_id_a":-16.8521118,"cg_id_raw_a":-19.9213886,"cg_iq_a":-195.796417,"cg_iq_raw_a":-195.447922,"cg_iu_a":190.536377,"cg_iv_a":-148.85675,"cg_iw_a":-36.061821,"cg_sample_age_us":24.0200005,"cg_sample_seq":4572917,"cg_sample_valid":1,"cg_theta_rad":2.25426507,"cg_vd_req_v":-1.577878,"cg_vd_v":-1.577878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50445557,"cg_vq_v":-8.50445557,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.1358147,"dclink_p_w":-2335.25024,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4067993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":641.794312,"values":{"Elec_RPM":-2349.07886,"EncoderCos":13408,"EncoderSin":38528,"GapTicks":49404,"Mech_RPM":-469.815765,"cg_du":44.9132538,"cg_dv":55.0867462,"cg_dw":48.5164299,"cg_id_a":-10.7413292,"cg_id_raw_a":-8.57300091,"cg_iq_a":-196.323639,"cg_iq_raw_a":-197.44603,"cg_iu_a":-175.598846,"cg_iv_a":163.963776,"cg_iw_a":11.6350632,"cg_sample_age_us":24.7109089,"cg_sample_seq":4574616,"cg_sample_valid":1,"cg_theta_rad":2.84572077,"cg_vd_req_v":-1.61759782,"cg_vd_v":-1.61759782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49385929,"cg_vq_v":-8.49385929,"cg_vu_v":102.055069,"cg_vv_v":104.694435,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3717651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":642.119035,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":642.119041,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":642.119046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":642.126343,"values":{"Elec_RPM":-2348.38306,"EncoderCos":18613,"EncoderSin":18189,"GapTicks":49366,"Mech_RPM":-469.676605,"cg_du":49.382885,"cg_dv":55.1217079,"cg_dw":44.8782921,"cg_id_a":-11.2436523,"cg_id_raw_a":-13.9085617,"cg_iq_a":-200.531158,"cg_iq_raw_a":-199.821259,"cg_iu_a":-74.2248383,"cg_iv_a":199.229034,"cg_iw_a":-125.004189,"cg_sample_age_us":23.9981823,"cg_sample_seq":4576267,"cg_sample_valid":1,"cg_theta_rad":3.94888115,"cg_vd_req_v":-1.67876136,"cg_vd_v":-1.67876136,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38732147,"cg_vq_v":-8.38732147,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3963013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":642.479858,"values":{"Elec_RPM":-2346.28101,"EncoderCos":13493,"EncoderSin":26713,"GapTicks":49720,"Mech_RPM":-469.256195,"cg_du":54.7991257,"cg_dv":45.2008743,"cg_dw":53.1581879,"cg_id_a":2.66083956,"cg_id_raw_a":7.59043932,"cg_iq_a":-201.878372,"cg_iq_raw_a":-203.147903,"cg_iu_a":172.849365,"cg_iv_a":-174.336166,"cg_iw_a":1.48680115,"cg_sample_age_us":24.1036358,"cg_sample_seq":4578067,"cg_sample_valid":1,"cg_theta_rad":3.45116091,"cg_vd_req_v":-1.92241776,"cg_vd_v":-1.92241776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36118889,"cg_vq_v":-8.36118889,"cg_vu_v":106.453995,"cg_vv_v":83.5795898,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3963013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":642.809937,"values":{"Elec_RPM":-2347.50098,"EncoderCos":40355,"EncoderSin":14089,"GapTicks":49839,"Mech_RPM":-469.500214,"cg_du":53.6494751,"cg_dv":54.6915283,"cg_dw":45.3084717,"cg_id_a":4.26398182,"cg_id_raw_a":5.78031683,"cg_iq_a":-201.546402,"cg_iq_raw_a":-203.639938,"cg_iu_a":9.17222404,"cg_iv_a":169.110397,"cg_iw_a":-178.282623,"cg_sample_age_us":23.9581814,"cg_sample_seq":4579666,"cg_sample_valid":1,"cg_theta_rad":5.11358261,"cg_vd_req_v":-1.99793971,"cg_vd_v":-1.99793971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35913277,"cg_vq_v":-8.35913277,"cg_vu_v":43.1094704,"cg_vv_v":71.7024918,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4208374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":643.111357,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":643.111363,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":643.111368,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":643.165405,"values":{"Elec_RPM":-2353.82178,"EncoderCos":30429,"EncoderSin":12792,"GapTicks":49383,"Mech_RPM":-470.764374,"cg_du":51.7080841,"cg_dv":44.8943443,"cg_dw":55.1056557,"cg_id_a":5.04209614,"cg_id_raw_a":6.3271451,"cg_iq_a":-197.261719,"cg_iq_raw_a":-197.30925,"cg_iu_a":114.098122,"cg_iv_a":-196.626129,"cg_iw_a":82.5279999,"cg_sample_age_us":23.7036362,"cg_sample_seq":4581467,"cg_sample_valid":1,"cg_theta_rad":4.61173534,"cg_vd_req_v":-2.02799416,"cg_vd_v":-2.02799416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44999695,"cg_vq_v":-8.44999695,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.7704124,"dclink_p_w":-2571.81689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.348999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":643.497437,"values":{"Elec_RPM":-2359.57983,"EncoderCos":52606,"EncoderSin":32200,"GapTicks":49354,"Mech_RPM":-471.915955,"cg_du":55.1325874,"cg_dv":50.983139,"cg_dw":44.8674126,"cg_id_a":-3.6867919,"cg_id_raw_a":-5.92104435,"cg_iq_a":-200.697418,"cg_iq_raw_a":-200.533386,"cg_iu_a":108.9515,"cg_iv_a":95.9703445,"cg_iw_a":-204.921844,"cg_sample_age_us":24.0200005,"cg_sample_seq":4583066,"cg_sample_valid":1,"cg_theta_rad":6.26931858,"cg_vd_req_v":-1.89021206,"cg_vd_v":-1.89021206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39310074,"cg_vq_v":-8.39310074,"cg_vu_v":19.3552723,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2522.16406,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.4120789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":643.829468,"values":{"Elec_RPM":-2353.81323,"EncoderCos":52608,"EncoderSin":32762,"GapTicks":49492,"Mech_RPM":-470.762634,"cg_du":55.0066185,"cg_dv":52.0525742,"cg_dw":44.9933815,"cg_id_a":3.47371721,"cg_id_raw_a":0.950210571,"cg_iq_a":-203.398193,"cg_iq_raw_a":-201.766434,"cg_iu_a":76.1508331,"cg_iv_a":124.095551,"cg_iw_a":-200.246384,"cg_sample_age_us":24.2636356,"cg_sample_seq":4584817,"cg_sample_valid":1,"cg_theta_rad":0.0142773753,"cg_vd_req_v":-2.0371213,"cg_vd_v":-2.0371213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35311317,"cg_vq_v":-8.35311317,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2495.71606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.3787842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":644.103382,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":644.103388,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":644.103394,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":644.182983,"values":{"Elec_RPM":-2350.38525,"EncoderCos":42074,"EncoderSin":50473,"GapTicks":49667,"Mech_RPM":-470.077026,"cg_du":54.8478317,"cg_dv":45.1521683,"cg_dw":47.017765,"cg_id_a":19.0250053,"cg_id_raw_a":16.2480927,"cg_iq_a":-204.417038,"cg_iq_raw_a":-202.23291,"cg_iu_a":176.473755,"cg_iv_a":-6.74468994,"cg_iw_a":-169.729065,"cg_sample_age_us":26.7909088,"cg_sample_seq":4586471,"cg_sample_valid":1,"cg_theta_rad":1.13392866,"cg_vd_req_v":-2.30814672,"cg_vd_v":-2.30814672,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28155136,"cg_vq_v":-8.28155136,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4243469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":644.513062,"values":{"Elec_RPM":-2341.72314,"EncoderCos":40561,"EncoderSin":51100,"GapTicks":49456,"Mech_RPM":-468.344635,"cg_du":55.0391045,"cg_dv":48.0208778,"cg_dw":44.9608955,"cg_id_a":-8.97924232,"cg_id_raw_a":-6.17235041,"cg_iq_a":-197.913879,"cg_iq_raw_a":-198.512451,"cg_iu_a":162.628601,"cg_iv_a":13.2981567,"cg_iw_a":-175.926758,"cg_sample_age_us":23.9290905,"cg_sample_seq":4588217,"cg_sample_valid":1,"cg_theta_rad":1.17129958,"cg_vd_req_v":-1.71843958,"cg_vd_v":-1.71843958,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43531036,"cg_vq_v":-8.43531036,"cg_vu_v":106.014107,"cg_vv_v":97.6561432,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2522.68701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4454041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":644.847046,"values":{"Elec_RPM":-2347.87817,"EncoderCos":29308,"EncoderSin":52496,"GapTicks":50012,"Mech_RPM":-469.575653,"cg_du":45.4660263,"cg_dv":54.5339737,"cg_dw":54.3595619,"cg_id_a":11.596096,"cg_id_raw_a":11.8519983,"cg_iq_a":-201.062424,"cg_iq_raw_a":-199.719482,"cg_iu_a":-181.760284,"cg_iv_a":17.756134,"cg_iw_a":164.00415,"cg_sample_age_us":23.8963642,"cg_sample_seq":4589917,"cg_sample_valid":1,"cg_theta_rad":1.74684227,"cg_vd_req_v":-2.1149354,"cg_vd_v":-2.1149354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40409184,"cg_vq_v":-8.40409184,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":645.094854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":645.094861,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":645.094867,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":645.198608,"values":{"Elec_RPM":-2351.76025,"EncoderCos":19024,"EncoderSin":47448,"GapTicks":49480,"Mech_RPM":-470.352051,"cg_du":55.0178146,"cg_dv":44.9821854,"cg_dw":47.7275734,"cg_id_a":12.4769812,"cg_id_raw_a":5.60374212,"cg_iq_a":-199.048767,"cg_iq_raw_a":-196.9431,"cg_iu_a":195.900452,"cg_iv_a":-72.9259186,"cg_iw_a":-124.967941,"cg_sample_age_us":23.9981823,"cg_sample_seq":4591617,"cg_sample_valid":1,"cg_theta_rad":2.32010245,"cg_vd_req_v":-2.17988586,"cg_vd_v":-2.17988586,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41596031,"cg_vq_v":-8.41596031,"cg_vu_v":106.453995,"cg_vv_v":90.1779785,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2394409,"dclink_p_w":-2502.55566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3945313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":645.53064,"values":{"Elec_RPM":-2363.62256,"EncoderCos":13165,"EncoderSin":37652,"GapTicks":49321,"Mech_RPM":-472.724487,"cg_du":44.8377457,"cg_dv":55.1622543,"cg_dw":50.4421692,"cg_id_a":-8.46651173,"cg_id_raw_a":-12.586441,"cg_iq_a":-197.201721,"cg_iq_raw_a":-196.807785,"cg_iu_a":-194.373138,"cg_iv_a":124.965393,"cg_iw_a":69.4077454,"cg_sample_age_us":23.9254551,"cg_sample_seq":4593317,"cg_sample_valid":1,"cg_theta_rad":2.8975811,"cg_vd_req_v":-1.68896914,"cg_vd_v":-1.68896914,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44386196,"cg_vq_v":-8.44386196,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4243469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":645.884155,"values":{"Elec_RPM":-2358.25854,"EncoderCos":13450,"EncoderSin":26989,"GapTicks":49882,"Mech_RPM":-471.651703,"cg_du":54.6522751,"cg_dv":45.3477249,"cg_dw":53.9224129,"cg_id_a":9.90995598,"cg_id_raw_a":14.429183,"cg_iq_a":-202.48761,"cg_iq_raw_a":-202.169678,"cg_iu_a":178.829605,"cg_iv_a":-160.998444,"cg_iw_a":-17.8311691,"cg_sample_age_us":27.0018177,"cg_sample_seq":4595020,"cg_sample_valid":1,"cg_theta_rad":3.48242927,"cg_vd_req_v":-2.06669927,"cg_vd_v":-2.06669927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36907005,"cg_vq_v":-8.36907005,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.3297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":646.086772,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":646.086779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":646.086784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":646.216187,"values":{"Elec_RPM":-2360.82178,"EncoderCos":20338,"EncoderSin":16719,"GapTicks":49927,"Mech_RPM":-472.164337,"cg_du":45.3884392,"cg_dv":54.6115608,"cg_dw":46.0413208,"cg_id_a":10.0458393,"cg_id_raw_a":15.3211718,"cg_iq_a":-202.348251,"cg_iq_raw_a":-203.216003,"cg_iu_a":-170.597198,"cg_iv_a":177.301514,"cg_iw_a":-6.70431519,"cg_sample_age_us":23.8927269,"cg_sample_seq":4596716,"cg_sample_valid":1,"cg_theta_rad":4.06193638,"cg_vd_req_v":-2.07487059,"cg_vd_v":-2.07487059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37403393,"cg_vq_v":-8.37403393,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2525.96826,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4033203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":646.550171,"values":{"Elec_RPM":-2363.73218,"EncoderCos":31065,"EncoderSin":12717,"GapTicks":49617,"Mech_RPM":-472.746429,"cg_du":52.9383202,"cg_dv":45.1071396,"cg_dw":54.8928604,"cg_id_a":12.2521038,"cg_id_raw_a":9.51417065,"cg_iq_a":-199.61499,"cg_iq_raw_a":-198.715393,"cg_iu_a":135.481979,"cg_iv_a":-194.922668,"cg_iw_a":59.4406891,"cg_sample_age_us":23.59091,"cg_sample_seq":4598416,"cg_sample_valid":1,"cg_theta_rad":4.63486385,"cg_vd_req_v":-2.16390824,"cg_vd_v":-2.16390824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37926292,"cg_vq_v":-8.37926292,"cg_vu_v":46.6286087,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2453.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4348755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":646.901733,"values":{"Elec_RPM":-2359.89526,"EncoderCos":42038,"EncoderSin":14902,"GapTicks":49363,"Mech_RPM":-471.979034,"cg_du":49.300251,"cg_dv":55.1239395,"cg_dw":44.8760605,"cg_id_a":-14.0428181,"cg_id_raw_a":-18.1987991,"cg_iq_a":-200.127594,"cg_iq_raw_a":-198.541565,"cg_iu_a":-73.8986435,"cg_iv_a":198.939087,"cg_iw_a":-125.040436,"cg_sample_age_us":23.9872723,"cg_sample_seq":4600116,"cg_sample_valid":1,"cg_theta_rad":5.20879316,"cg_vd_req_v":-1.69121325,"cg_vd_v":-1.69121325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39460564,"cg_vq_v":-8.39460564,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.0397682,"dclink_p_w":-2314.29419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.3945313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":647.111166,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":647.111172,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":647.111177,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":647.233765,"values":{"Elec_RPM":-2362.00049,"EncoderCos":49373,"EncoderSin":43728,"GapTicks":49343,"Mech_RPM":-472.400085,"cg_du":44.8572884,"cg_dv":49.8752975,"cg_dw":55.1427116,"cg_id_a":-11.4129953,"cg_id_raw_a":-12.5230074,"cg_iq_a":-196.878143,"cg_iq_raw_a":-197.284866,"cg_iu_a":-131.417603,"cg_iv_a":-62.0890198,"cg_iw_a":193.506622,"cg_sample_age_us":23.4854546,"cg_sample_seq":4601716,"cg_sample_valid":1,"cg_theta_rad":0.587470829,"cg_vd_req_v":-1.72505319,"cg_vd_v":-1.72505319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44678688,"cg_vq_v":-8.44678688,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2629986,"dclink_p_w":-2490.7876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.436615,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104032956,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":647.567749,"values":{"Elec_RPM":-2357.63232,"EncoderCos":48938,"EncoderSin":44414,"GapTicks":49413,"Mech_RPM":-471.526459,"cg_du":44.9211311,"cg_dv":48.3997002,"cg_dw":55.0788689,"cg_id_a":3.30781746,"cg_id_raw_a":-2.9233315,"cg_iq_a":-199.405609,"cg_iq_raw_a":-200.960678,"cg_iu_a":-85.859108,"cg_iv_a":-116.346031,"cg_iw_a":202.205139,"cg_sample_age_us":23.5145454,"cg_sample_seq":4603466,"cg_sample_valid":1,"cg_theta_rad":0.628237903,"cg_vd_req_v":-2.02855515,"cg_vd_v":-2.02855515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38488865,"cg_vq_v":-8.38488865,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2480.80933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4278564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":647.919312,"values":{"Elec_RPM":-2359.15063,"EncoderCos":39986,"EncoderSin":51275,"GapTicks":49313,"Mech_RPM":-471.830139,"cg_du":55.1692886,"cg_dv":49.4060326,"cg_dw":44.8307114,"cg_id_a":-12.9674244,"cg_id_raw_a":-12.9473696,"cg_iq_a":-197.15834,"cg_iq_raw_a":-198.558685,"cg_iu_a":145.449036,"cg_iv_a":45.8451233,"cg_iw_a":-191.294159,"cg_sample_age_us":23.9872723,"cg_sample_seq":4605166,"cg_sample_valid":1,"cg_theta_rad":1.20052266,"cg_vd_req_v":-1.65769243,"cg_vd_v":-1.65769243,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47058105,"cg_vq_v":-8.47058105,"cg_vu_v":43.9892578,"cg_vv_v":34.7515144,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.8410873,"dclink_p_w":-2574.19702,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.4138489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":648.103298,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":648.103302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":648.103307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":648.296265,"values":{"Elec_RPM":-2356.14893,"EncoderCos":48182,"EncoderSin":45422,"GapTicks":49953,"Mech_RPM":-471.229797,"cg_du":45.4118996,"cg_dv":46.0121498,"cg_dw":54.5881004,"cg_id_a":15.4692936,"cg_id_raw_a":17.5863533,"cg_iq_a":-207.535217,"cg_iq_raw_a":-205.036606,"cg_iu_a":-21.0551338,"cg_iv_a":-164.622818,"cg_iw_a":194.195251,"cg_sample_age_us":23.5145454,"cg_sample_seq":4606967,"cg_sample_valid":1,"cg_theta_rad":0.69011718,"cg_vd_req_v":-2.24154806,"cg_vd_v":-2.24154806,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25354195,"cg_vq_v":-8.25354195,"cg_vu_v":102.055069,"cg_vv_v":80.9402313,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.3880405,"dclink_p_w":-2524.1272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4226074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":648.835327,"values":{"Elec_RPM":-2356.34766,"EncoderCos":15913,"EncoderSin":43771,"GapTicks":49816,"Mech_RPM":-471.269531,"cg_du":54.7124481,"cg_dv":53.4591599,"cg_dw":45.2875519,"cg_id_a":17.2724228,"cg_id_raw_a":15.5601339,"cg_iq_a":-206.812836,"cg_iq_raw_a":-207.156479,"cg_iu_a":30.3748665,"cg_iv_a":162.803986,"cg_iw_a":-193.178848,"cg_sample_age_us":23.7909088,"cg_sample_seq":4609716,"cg_sample_valid":1,"cg_theta_rad":2.56454086,"cg_vd_req_v":-2.23130584,"cg_vd_v":-2.23130584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25700378,"cg_vq_v":-8.25700378,"cg_vu_v":43.1094704,"cg_vv_v":62.9046364,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.3998108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":648.967513,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":648.967564,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":648.967585,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":649.095575,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":649.095581,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":649.095586,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":649.247437,"values":{"Elec_RPM":-2350.88403,"EncoderCos":40192,"EncoderSin":14017,"GapTicks":49975,"Mech_RPM":-470.176788,"cg_du":54.0941772,"cg_dv":54.567318,"cg_dw":45.432682,"cg_id_a":8.27414989,"cg_id_raw_a":8.36780834,"cg_iq_a":-203.23439,"cg_iq_raw_a":-203.708038,"cg_iu_a":10.9481707,"cg_iv_a":169.327866,"cg_iw_a":-180.276031,"cg_sample_age_us":23.9254551,"cg_sample_seq":4611817,"cg_sample_valid":1,"cg_theta_rad":5.10914612,"cg_vd_req_v":-2.08378816,"cg_vd_v":-2.08378816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31085205,"cg_vq_v":-8.31085205,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2526.87061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":649.577515,"values":{"Elec_RPM":-2347.72021,"EncoderCos":40848,"EncoderSin":14317,"GapTicks":49505,"Mech_RPM":-469.544067,"cg_du":52.2590294,"cg_dv":54.9950485,"cg_dw":45.0049515,"cg_id_a":-9.36837959,"cg_id_raw_a":-3.49619532,"cg_iq_a":-198.895081,"cg_iq_raw_a":-200.507843,"cg_iu_a":-3.36814308,"cg_iv_a":172.734787,"cg_iw_a":-172.882294,"cg_sample_age_us":23.9836369,"cg_sample_seq":4613567,"cg_sample_valid":1,"cg_theta_rad":5.14076042,"cg_vd_req_v":-1.73452318,"cg_vd_v":-1.73452318,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42433357,"cg_vq_v":-8.42433357,"cg_vu_v":105.574219,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2487.104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4594421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":649.93103,"values":{"Elec_RPM":-2349.00488,"EncoderCos":52599,"EncoderSin":31468,"GapTicks":49313,"Mech_RPM":-469.800995,"cg_du":55.1699638,"cg_dv":49.6290092,"cg_dw":44.8300362,"cg_id_a":-14.7371521,"cg_id_raw_a":-17.4804325,"cg_iq_a":-195.494354,"cg_iq_raw_a":-194.924118,"cg_iu_a":101.050339,"cg_iv_a":103.87149,"cg_iw_a":-204.921829,"cg_sample_age_us":24.1218185,"cg_sample_seq":4615220,"cg_sample_valid":1,"cg_theta_rad":6.27462053,"cg_vd_req_v":-1.64526522,"cg_vd_v":-1.64526522,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48916245,"cg_vq_v":-8.48916245,"cg_vu_v":27.7132301,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2457.04492,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4138489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":650.128622,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":650.128627,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":650.128632,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":650.265015,"values":{"Elec_RPM":-2347.44263,"EncoderCos":41730,"EncoderSin":50546,"GapTicks":49867,"Mech_RPM":-469.488525,"cg_du":54.6656647,"cg_dv":45.3343353,"cg_dw":46.2241898,"cg_id_a":16.4373608,"cg_id_raw_a":17.6436615,"cg_iq_a":-205.364563,"cg_iq_raw_a":-205.963882,"cg_iu_a":191.478699,"cg_iv_a":-25.1203003,"cg_iw_a":-166.358398,"cg_sample_age_us":23.9109097,"cg_sample_seq":4616866,"cg_sample_valid":1,"cg_theta_rad":1.10312641,"cg_vd_req_v":-2.24689579,"cg_vd_v":-2.24689579,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28046703,"cg_vq_v":-8.28046703,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2476.14526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.438385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":650.595093,"values":{"Elec_RPM":-2350.66919,"EncoderCos":41039,"EncoderSin":50869,"GapTicks":49719,"Mech_RPM":-470.13385,"cg_du":54.8008003,"cg_dv":46.6463852,"cg_dw":45.1991997,"cg_id_a":2.7292347,"cg_id_raw_a":9.55927753,"cg_iq_a":-200.626282,"cg_iq_raw_a":-203.30249,"cg_iu_a":174.770294,"cg_iv_a":-3.04782104,"cg_iw_a":-171.722473,"cg_sample_age_us":24.0090904,"cg_sample_seq":4618616,"cg_sample_valid":1,"cg_theta_rad":1.14186096,"cg_vd_req_v":-1.95400441,"cg_vd_v":-1.95400441,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40014362,"cg_vq_v":-8.40014362,"cg_vu_v":42.2296829,"cg_vv_v":41.3499031,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2389.85938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4840393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":650.948608,"values":{"Elec_RPM":-2352.67798,"EncoderCos":20881,"EncoderSin":49036,"GapTicks":49624,"Mech_RPM":-470.535583,"cg_du":54.8865356,"cg_dv":45.1134644,"cg_dw":52.7488289,"cg_id_a":-2.32921147,"cg_id_raw_a":2.89149356,"cg_iq_a":-199.852051,"cg_iq_raw_a":-201.411942,"cg_iu_a":185.063538,"cg_iv_a":-147.914398,"cg_iw_a":-37.1491318,"cg_sample_age_us":23.9436359,"cg_sample_seq":4620271,"cg_sample_valid":1,"cg_theta_rad":2.24938512,"cg_vd_req_v":-1.83557904,"cg_vd_v":-1.83557904,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41415691,"cg_vq_v":-8.41415691,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.5458069,"temp_inv2_c":42.436615,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":651.091515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":651.091519,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":651.091524,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":651.28064,"values":{"Elec_RPM":-2348.5603,"EncoderCos":28964,"EncoderSin":52450,"GapTicks":49889,"Mech_RPM":-469.712067,"cg_du":45.3541336,"cg_dv":53.8366165,"cg_dw":54.6458664,"cg_id_a":8.09364223,"cg_id_raw_a":11.8358946,"cg_iq_a":-200.931458,"cg_iq_raw_a":-200.48819,"cg_iu_a":-177.845947,"cg_iv_a":15.2553253,"cg_iw_a":165.852585,"cg_sample_age_us":23.863636,"cg_sample_seq":4622066,"cg_sample_valid":1,"cg_theta_rad":1.75823462,"cg_vd_req_v":-2.03002524,"cg_vd_v":-2.03002524,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38508892,"cg_vq_v":-8.38508892,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2485.19312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":651.612671,"values":{"Elec_RPM":-2351.7356,"EncoderCos":13239,"EncoderSin":27600,"GapTicks":49779,"Mech_RPM":-470.347107,"cg_du":53.6931381,"cg_dv":45.253788,"cg_dw":54.746212,"cg_id_a":15.442955,"cg_id_raw_a":15.5002956,"cg_iq_a":-202.045319,"cg_iq_raw_a":-201.456772,"cg_iu_a":153.567657,"cg_iv_a":-191.733215,"cg_iw_a":38.1655502,"cg_sample_age_us":23.6127281,"cg_sample_seq":4623666,"cg_sample_valid":1,"cg_theta_rad":3.39601541,"cg_vd_req_v":-2.20999837,"cg_vd_v":-2.20999837,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38233376,"cg_vq_v":-8.38233376,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4348755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":651.964233,"values":{"Elec_RPM":-2347.00879,"EncoderCos":13157,"EncoderSin":37594,"GapTicks":49306,"Mech_RPM":-469.401733,"cg_du":44.8243141,"cg_dv":55.1756859,"cg_dw":50.5655479,"cg_id_a":-8.03760338,"cg_id_raw_a":-13.1579046,"cg_iq_a":-197.268707,"cg_iq_raw_a":-196.765884,"cg_iu_a":-194.735596,"cg_iv_a":122.428345,"cg_iw_a":62.6301422,"cg_sample_age_us":23.9290905,"cg_sample_seq":4625467,"cg_sample_valid":1,"cg_theta_rad":2.89888954,"cg_vd_req_v":-1.70623052,"cg_vd_v":-1.70623052,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46998119,"cg_vq_v":-8.46998119,"cg_vu_v":102.93486,"cg_vv_v":104.694435,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2533.66895,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.440155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":652.115455,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":652.11546,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":652.115465,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":652.298218,"values":{"Elec_RPM":-2345.48975,"EncoderCos":29588,"EncoderSin":12883,"GapTicks":49327,"Mech_RPM":-469.097931,"cg_du":50.1718483,"cg_dv":44.8434486,"cg_dw":55.1565514,"cg_id_a":-12.0827808,"cg_id_raw_a":-16.2155972,"cg_iq_a":-196.12915,"cg_iq_raw_a":-196.625565,"cg_iu_a":62.3419266,"cg_iv_a":-193.364166,"cg_iw_a":131.022247,"cg_sample_age_us":23.7399998,"cg_sample_seq":4627066,"cg_sample_valid":1,"cg_theta_rad":4.56850147,"cg_vd_req_v":-1.67372048,"cg_vd_v":-1.67372048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45482063,"cg_vq_v":-8.45482063,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2407.90112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4313965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":652.64978,"values":{"Elec_RPM":-2344.35205,"EncoderCos":19741,"EncoderSin":17229,"GapTicks":49764,"Mech_RPM":-468.870392,"cg_du":46.6756744,"cg_dv":54.7596893,"cg_dw":45.2403107,"cg_id_a":11.9046364,"cg_id_raw_a":9.33833504,"cg_iq_a":-203.752563,"cg_iq_raw_a":-202.977264,"cg_iu_a":-171.358307,"cg_iv_a":177.011536,"cg_iw_a":-5.65323639,"cg_sample_age_us":23.8709087,"cg_sample_seq":4628870,"cg_sample_valid":1,"cg_theta_rad":4.06566906,"cg_vd_req_v":-2.13867831,"cg_vd_v":-2.13867831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30548668,"cg_vq_v":-8.30548668,"cg_vu_v":37.830761,"cg_vv_v":48.8280716,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4120789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"console","t":652.708004,"sequence":1373,"text":"> build_info"}
{"type":"command","t":652.713208,"received_t":652.824978,"source":"ui","text":"build_info","sent":true}
{"type":"console","t":652.713212,"sequence":1374,"text":"(sent)"}
{"type":"console","t":652.824973,"sequence":1375,"text":"[SHELL] graph=foc_demo hash=855dbcee90d611cb nodes=80"}
{"type":"telemetry","t":653.028687,"values":{"Elec_RPM":-2345.49316,"EncoderCos":20884,"EncoderSin":16348,"GapTicks":49519,"Mech_RPM":-469.098633,"cg_du":45.0178833,"cg_dv":54.9821167,"cg_dw":47.8029633,"cg_id_a":-9.91997719,"cg_id_raw_a":-4.20996571,"cg_iq_a":-199.551346,"cg_iq_raw_a":-201.643021,"cg_iu_a":-173.750397,"cg_iv_a":170.088974,"cg_iw_a":3.66142273,"cg_sample_age_us":23.9218178,"cg_sample_seq":4630617,"cg_sample_valid":1,"cg_theta_rad":4.09523964,"cg_vd_req_v":-1.67346799,"cg_vd_v":-1.67346799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40022659,"cg_vq_v":-8.40022659,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.3770142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":653.548218,"values":{"Elec_RPM":-2339.85864,"EncoderCos":47494,"EncoderSin":46260,"GapTicks":49547,"Mech_RPM":-467.97171,"cg_du":47.8148651,"cg_dv":45.0427475,"cg_dw":54.9572525,"cg_id_a":-10.5967379,"cg_id_raw_a":-3.20528078,"cg_iq_a":-203.387283,"cg_iq_raw_a":-204.823288,"cg_iu_a":6.56266737,"cg_iv_a":-177.271927,"cg_iw_a":170.709259,"cg_sample_age_us":23.5036373,"cg_sample_seq":4633267,"cg_sample_valid":1,"cg_theta_rad":0.745815754,"cg_vd_req_v":-1.70930648,"cg_vd_v":-1.70930648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34915066,"cg_vq_v":-8.34915066,"cg_vu_v":136.366699,"cg_vv_v":109.093361,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4278564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":653.68351,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":653.683522,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":653.683525,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":653.68353,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":653.977905,"values":{"Elec_RPM":-2338.60986,"EncoderCos":30097,"EncoderSin":52596,"GapTicks":49532,"Mech_RPM":-467.721985,"cg_du":45.0293503,"cg_dv":54.9706497,"cg_dw":52.7376671,"cg_id_a":11.692627,"cg_id_raw_a":9.81030178,"cg_iq_a":-197.704758,"cg_iq_raw_a":-198.126541,"cg_iu_a":-192.850906,"cg_iv_a":53.2751007,"cg_iw_a":139.575806,"cg_sample_age_us":23.8854542,"cg_sample_seq":4635516,"cg_sample_valid":1,"cg_theta_rad":1.70296431,"cg_vd_req_v":-2.13316035,"cg_vd_v":-2.13316035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45143032,"cg_vq_v":-8.45143032,"cg_vu_v":38.2706528,"cg_vv_v":48.3881836,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2489.74194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4243469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":654.099025,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":654.099031,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":654.099036,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":654.309937,"values":{"Elec_RPM":-2337.74585,"EncoderCos":13701,"EncoderSin":39427,"GapTicks":49934,"Mech_RPM":-467.549164,"cg_du":45.3945694,"cg_dv":54.6054306,"cg_dw":46.0871429,"cg_id_a":10.5757151,"cg_id_raw_a":10.2447157,"cg_iq_a":-205.090347,"cg_iq_raw_a":-206.210251,"cg_iu_a":-173.967865,"cg_iv_a":180.273499,"cg_iw_a":-6.30563354,"cg_sample_age_us":23.9618187,"cg_sample_seq":4637167,"cg_sample_valid":1,"cg_theta_rad":2.80672598,"cg_vd_req_v":-2.0546639,"cg_vd_v":-2.0546639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29565525,"cg_vq_v":-8.29565525,"cg_vu_v":104.694435,"cg_vv_v":105.134323,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2476.40674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4296265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":654.643921,"values":{"Elec_RPM":-2344.55298,"EncoderCos":13115,"EncoderSin":28157,"GapTicks":49528,"Mech_RPM":-468.910583,"cg_du":52.6191177,"cg_dv":45.0258713,"cg_dw":54.9741287,"cg_id_a":9.02530289,"cg_id_raw_a":7.26924372,"cg_iq_a":-199.621033,"cg_iq_raw_a":-198.593796,"cg_iu_a":136.641785,"cg_iv_a":-195.466324,"cg_iw_a":58.8245392,"cg_sample_age_us":23.7254543,"cg_sample_seq":4638867,"cg_sample_valid":1,"cg_theta_rad":3.37721491,"cg_vd_req_v":-2.0892024,"cg_vd_v":-2.0892024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43313122,"cg_vq_v":-8.43313122,"cg_vu_v":106.453995,"cg_vv_v":91.9375458,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4173279,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":654.995483,"values":{"Elec_RPM":-2347.16626,"EncoderCos":13379,"EncoderSin":27187,"GapTicks":50001,"Mech_RPM":-469.433258,"cg_du":54.5438766,"cg_dv":45.4561234,"cg_dw":54.3948936,"cg_id_a":13.6827469,"cg_id_raw_a":15.2556314,"cg_iq_a":-200.405594,"cg_iq_raw_a":-200.214203,"cg_iu_a":169.26123,"cg_iv_a":-178.939133,"cg_iw_a":9.67790222,"cg_sample_age_us":24.1654549,"cg_sample_seq":4640616,"cg_sample_valid":1,"cg_theta_rad":3.42806029,"cg_vd_req_v":-2.15860319,"cg_vd_v":-2.15860319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42502975,"cg_vq_v":-8.42502975,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2445.99634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4208374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":655.091365,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":655.091371,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":655.091377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":655.329468,"values":{"Elec_RPM":-2351.31104,"EncoderCos":39438,"EncoderSin":13796,"GapTicks":49749,"Mech_RPM":-470.262207,"cg_du":54.7728539,"cg_dv":53.2106895,"cg_dw":45.2271461,"cg_id_a":8.04325199,"cg_id_raw_a":5.93241119,"cg_iq_a":-206.28688,"cg_iq_raw_a":-204.81459,"cg_iu_a":47.0470276,"cg_iv_a":143.159805,"cg_iw_a":-201.2612,"cg_sample_age_us":23.9654541,"cg_sample_seq":4642217,"cg_sample_valid":1,"cg_theta_rad":5.06728935,"cg_vd_req_v":-2.10768771,"cg_vd_v":-2.10768771,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26604176,"cg_vq_v":-8.26604176,"cg_vu_v":106.014107,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2386.65503,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4576721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":655.659546,"values":{"Elec_RPM":-2349.93311,"EncoderCos":40350,"EncoderSin":14103,"GapTicks":49832,"Mech_RPM":-469.986633,"cg_du":53.6838455,"cg_dv":54.6978683,"cg_dw":45.3021317,"cg_id_a":4.87190723,"cg_id_raw_a":8.61433697,"cg_iq_a":-202.917236,"cg_iq_raw_a":-205.072128,"cg_iu_a":6.70764256,"cg_iv_a":171.683716,"cg_iw_a":-178.391357,"cg_sample_age_us":23.9727268,"cg_sample_seq":4643966,"cg_sample_valid":1,"cg_theta_rad":5.11541557,"cg_vd_req_v":-2.02355862,"cg_vd_v":-2.02355862,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34997559,"cg_vq_v":-8.34997559,"cg_vu_v":29.0329094,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2264252,"dclink_p_w":-2348.36377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4471436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":656.013062,"values":{"Elec_RPM":-2353.43774,"EncoderCos":52583,"EncoderSin":31653,"GapTicks":49335,"Mech_RPM":-470.687531,"cg_du":55.1492348,"cg_dv":49.9999199,"cg_dw":44.8507652,"cg_id_a":-13.238945,"cg_id_raw_a":-15.2599688,"cg_iq_a":-196.952713,"cg_iq_raw_a":-195.969559,"cg_iu_a":135.699432,"cg_iv_a":59.1103668,"cg_iw_a":-194.809799,"cg_sample_age_us":24.0927277,"cg_sample_seq":4645616,"cg_sample_valid":1,"cg_theta_rad":6.24075794,"cg_vd_req_v":-1.67102301,"cg_vd_v":-1.67102301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4412632,"cg_vq_v":-8.4412632,"cg_vu_v":29.0329094,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4103394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":656.113906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":656.113909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":656.113911,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":656.345093,"values":{"Elec_RPM":-2348.99976,"EncoderCos":52580,"EncoderSin":32437,"GapTicks":49405,"Mech_RPM":-469.799957,"cg_du":55.0444908,"cg_dv":51.4213715,"cg_dw":44.9555092,"cg_id_a":-0.599521637,"cg_id_raw_a":-2.42663431,"cg_iq_a":-202.35498,"cg_iq_raw_a":-201.783218,"cg_iu_a":107.646713,"cg_iv_a":93.7594757,"cg_iw_a":-201.406189,"cg_sample_age_us":23.9400005,"cg_sample_seq":4647366,"cg_sample_valid":1,"cg_theta_rad":6.27035427,"cg_vd_req_v":-1.94481099,"cg_vd_v":-1.94481099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31648159,"cg_vq_v":-8.31648159,"cg_vu_v":28.5930176,"cg_vv_v":3.95903301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2441.10791,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4752502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":656.677124,"values":{"Elec_RPM":-2349.97314,"EncoderCos":41764,"EncoderSin":50585,"GapTicks":49824,"Mech_RPM":-469.994629,"cg_du":54.7050896,"cg_dv":45.2949104,"cg_dw":46.2781792,"cg_id_a":18.9545517,"cg_id_raw_a":21.9727383,"cg_iq_a":-205.948456,"cg_iq_raw_a":-205.65976,"cg_iu_a":189.702759,"cg_iv_a":-22.2932892,"cg_iw_a":-167.40947,"cg_sample_age_us":24.0418186,"cg_sample_seq":4649016,"cg_sample_valid":1,"cg_theta_rad":1.10484862,"cg_vd_req_v":-2.30229259,"cg_vd_v":-2.30229259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30451584,"cg_vq_v":-8.30451584,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.3910522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":657.028687,"values":{"Elec_RPM":-2347.43848,"EncoderCos":41007,"EncoderSin":50940,"GapTicks":49662,"Mech_RPM":-469.487671,"cg_du":54.8520622,"cg_dv":46.788662,"cg_dw":45.1479378,"cg_id_a":1.89284325,"cg_id_raw_a":6.51237249,"cg_iq_a":-198.783295,"cg_iq_raw_a":-201.282516,"cg_iu_a":172.196991,"cg_iv_a":-1.2718811,"cg_iw_a":-170.92511,"cg_sample_age_us":23.994545,"cg_sample_seq":4650766,"cg_sample_valid":1,"cg_theta_rad":1.14639497,"cg_vd_req_v":-1.93640971,"cg_vd_v":-1.93640971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46152687,"cg_vq_v":-8.46152687,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.6254368,"dclink_p_w":-2550.83521,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.4243469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":657.083138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":657.083143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":657.083148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":657.362671,"values":{"Elec_RPM":-2347.85449,"EncoderCos":19957,"EncoderSin":48274,"GapTicks":49350,"Mech_RPM":-469.570892,"cg_du":55.1363068,"cg_dv":44.8636932,"cg_dw":49.8878822,"cg_id_a":-16.0869255,"cg_id_raw_a":-18.0871258,"cg_iq_a":-197.088608,"cg_iq_raw_a":-196.171326,"cg_iu_a":193.472107,"cg_iv_a":-136.606323,"cg_iw_a":-56.8657761,"cg_sample_age_us":23.9727268,"cg_sample_seq":4652416,"cg_sample_valid":1,"cg_theta_rad":2.25945544,"cg_vd_req_v":-1.58900392,"cg_vd_v":-1.58900392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43580246,"cg_vq_v":-8.43580246,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2508.56763,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4454041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":657.716187,"values":{"Elec_RPM":-2350.26538,"EncoderCos":13822,"EncoderSin":39629,"GapTicks":50111,"Mech_RPM":-470.05307,"cg_du":45.5561142,"cg_dv":54.4438858,"cg_dw":45.556797,"cg_id_a":13.8887253,"cg_id_raw_a":17.141098,"cg_iq_a":-207.150192,"cg_iq_raw_a":-206.970459,"cg_iu_a":-178.09967,"cg_iv_a":166.4646,"cg_iw_a":11.6350632,"cg_sample_age_us":23.8999996,"cg_sample_seq":4654120,"cg_sample_valid":1,"cg_theta_rad":2.83659315,"cg_vd_req_v":-2.1348381,"cg_vd_v":-2.1348381,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27795601,"cg_vq_v":-8.27795601,"cg_vu_v":19.3552723,"cg_vv_v":29.0329094,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2392.68701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4348755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":658.046265,"values":{"Elec_RPM":-2354.15405,"EncoderCos":13302,"EncoderSin":38128,"GapTicks":49286,"Mech_RPM":-470.830811,"cg_du":44.8060532,"cg_dv":55.1939468,"cg_dw":49.4086304,"cg_id_a":-10.9161587,"cg_id_raw_a":-11.5290279,"cg_iq_a":-196.244766,"cg_iq_raw_a":-196.523438,"cg_iu_a":-188.139206,"cg_iv_a":143.341034,"cg_iw_a":44.798172,"cg_sample_age_us":23.9254551,"cg_sample_seq":4655866,"cg_sample_valid":1,"cg_theta_rad":2.87264752,"cg_vd_req_v":-1.6348002,"cg_vd_v":-1.6348002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51660156,"cg_vq_v":-8.51660156,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4647217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":658.107216,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":658.107223,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":658.107228,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":658.49939,"values":{"Elec_RPM":-2351.66211,"EncoderCos":36098,"EncoderSin":12912,"GapTicks":49990,"Mech_RPM":-470.332428,"cg_du":54.5540619,"cg_dv":45.7979164,"cg_dw":45.4459381,"cg_id_a":9.42838764,"cg_id_raw_a":14.2671909,"cg_iq_a":-202.615372,"cg_iq_raw_a":-205.976624,"cg_iu_a":181.22171,"cg_iv_a":-10.8764954,"cg_iw_a":-170.345215,"cg_sample_age_us":24.0527267,"cg_sample_seq":4658016,"cg_sample_valid":1,"cg_theta_rad":4.89558744,"cg_vd_req_v":-2.09057903,"cg_vd_v":-2.09057903,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3387394,"cg_vq_v":-8.3387394,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.440155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":659.002499,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":659.002509,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":659.002512,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":659.040405,"values":{"Elec_RPM":-2351.40747,"EncoderCos":34298,"EncoderSin":52678,"GapTicks":49540,"Mech_RPM":-470.281494,"cg_du":47.4019508,"cg_dv":54.9627647,"cg_dw":45.0372353,"cg_id_a":13.1974525,"cg_id_raw_a":10.1046162,"cg_iq_a":-203.241821,"cg_iq_raw_a":-201.674377,"cg_iu_a":-171.793243,"cg_iv_a":186.65242,"cg_iw_a":-14.8591766,"cg_sample_age_us":25.2381821,"cg_sample_seq":4660671,"cg_sample_valid":1,"cg_theta_rad":1.53805768,"cg_vd_req_v":-2.19289064,"cg_vd_v":-2.19289064,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35466862,"cg_vq_v":-8.35466862,"cg_vu_v":117.891212,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2493.39844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4278564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":659.099475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":659.09948,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":659.099485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":659.37439,"values":{"Elec_RPM":-2349.27271,"EncoderCos":50218,"EncoderSin":42207,"GapTicks":49956,"Mech_RPM":-469.854523,"cg_du":45.4148712,"cg_dv":54.0238914,"cg_dw":54.5851288,"cg_id_a":9.52396393,"cg_id_raw_a":13.5042868,"cg_iq_a":-203.923523,"cg_iq_raw_a":-201.944489,"cg_iu_a":-179.513184,"cg_iv_a":7.60787964,"cg_iw_a":171.905304,"cg_sample_age_us":23.5618191,"cg_sample_seq":4662517,"cg_sample_valid":1,"cg_theta_rad":0.504710436,"cg_vd_req_v":-2.13928175,"cg_vd_v":-2.13928175,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31915092,"cg_vq_v":-8.31915092,"cg_vu_v":105.134323,"cg_vv_v":104.694435,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.5167046,"dclink_p_w":-2527.39355,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4629822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":659.706421,"values":{"Elec_RPM":-2356.35767,"EncoderCos":31802,"EncoderSin":52744,"GapTicks":49313,"Mech_RPM":-471.271545,"cg_du":44.8302879,"cg_dv":55.1697121,"cg_dw":49.389801,"cg_id_a":-9.6703701,"cg_id_raw_a":-9.13141441,"cg_iq_a":-195.086716,"cg_iq_raw_a":-195.847412,"cg_iu_a":-192.017303,"cg_iv_a":132.830322,"cg_iw_a":59.1869736,"cg_sample_age_us":23.8854542,"cg_sample_seq":4664167,"cg_sample_valid":1,"cg_theta_rad":1.63009906,"cg_vd_req_v":-1.68442631,"cg_vd_v":-1.68442631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52075291,"cg_vq_v":-8.52075291,"cg_vu_v":17.1558094,"cg_vv_v":28.1531239,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2536.22803,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.436615,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":660.057983,"values":{"Elec_RPM":-2357.41187,"EncoderCos":30812,"EncoderSin":52700,"GapTicks":49361,"Mech_RPM":-471.482361,"cg_du":44.8738441,"cg_dv":55.1261559,"cg_dw":51.4159203,"cg_id_a":-1.5760479,"cg_id_raw_a":-1.64270866,"cg_iq_a":-196.274765,"cg_iq_raw_a":-196.663422,"cg_iu_a":-197.562607,"cg_iv_a":107.858307,"cg_iw_a":87.2397156,"cg_sample_age_us":23.863636,"cg_sample_seq":4665916,"cg_sample_valid":1,"cg_theta_rad":1.66872001,"cg_vd_req_v":-1.86083567,"cg_vd_v":-1.86083567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47281265,"cg_vq_v":-8.47281265,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2457.05786,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4524536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":660.091286,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":660.091293,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":660.091299,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":660.391968,"values":{"Elec_RPM":-2354.52197,"EncoderCos":13999,"EncoderSin":40150,"GapTicks":49736,"Mech_RPM":-470.904388,"cg_du":46.6927223,"cg_dv":54.7848396,"cg_dw":45.2151604,"cg_id_a":16.2534103,"cg_id_raw_a":16.4961472,"cg_iq_a":-205.632843,"cg_iq_raw_a":-205.12355,"cg_iu_a":-159.071655,"cg_iv_a":194.517334,"cg_iw_a":-35.4456711,"cg_sample_age_us":23.9690914,"cg_sample_seq":4667567,"cg_sample_valid":1,"cg_theta_rad":2.77422214,"cg_vd_req_v":-2.20162988,"cg_vd_v":-2.20162988,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29596901,"cg_vq_v":-8.29596901,"cg_vu_v":104.254532,"cg_vv_v":105.134323,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2425.1582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4647217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":660.74353,"values":{"Elec_RPM":-2350.06982,"EncoderCos":19695,"EncoderSin":48060,"GapTicks":49324,"Mech_RPM":-470.013977,"cg_du":55.1595688,"cg_dv":44.8404312,"cg_dw":49.3012848,"cg_id_a":-9.14986134,"cg_id_raw_a":-11.5515604,"cg_iq_a":-198.035889,"cg_iq_raw_a":-198.227859,"cg_iu_a":198.220062,"cg_iv_a":-116.780975,"cg_iw_a":-81.4390869,"cg_sample_age_us":23.994545,"cg_sample_seq":4669366,"cg_sample_valid":1,"cg_theta_rad":2.27689075,"cg_vd_req_v":-1.75483322,"cg_vd_v":-1.75483322,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44190788,"cg_vq_v":-8.44190788,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2385.15283,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4120789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":661.075562,"values":{"Elec_RPM":-2351.07788,"EncoderCos":18376,"EncoderSin":18417,"GapTicks":49327,"Mech_RPM":-470.215576,"cg_du":50.0038757,"cg_dv":55.1567764,"cg_dw":44.8432236,"cg_id_a":-14.4110041,"cg_id_raw_a":-14.0709457,"cg_iq_a":-195.758118,"cg_iq_raw_a":-194.652054,"cg_iu_a":-51.9348793,"cg_iv_a":191.907776,"cg_iw_a":-139.9729,"cg_sample_age_us":23.9690914,"cg_sample_seq":4670966,"cg_sample_valid":1,"cg_theta_rad":3.9337697,"cg_vd_req_v":-1.59122717,"cg_vd_v":-1.59122717,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46949577,"cg_vq_v":-8.46949577,"cg_vu_v":38.7105446,"cg_vv_v":54.1067848,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.5185165,"dclink_p_w":-2527.65503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4103394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":661.127287,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":661.127293,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":661.127298,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":661.407593,"values":{"Elec_RPM":-2350.65283,"EncoderCos":28438,"EncoderSin":13136,"GapTicks":49619,"Mech_RPM":-470.130554,"cg_du":47.4229317,"cg_dv":45.109024,"cg_dw":54.890976,"cg_id_a":-3.92166448,"cg_id_raw_a":2.54762387,"cg_iq_a":-204.175873,"cg_iq_raw_a":-205.270325,"cg_iu_a":8.15739632,"cg_iv_a":-178.902878,"cg_iw_a":170.745483,"cg_sample_age_us":23.9218178,"cg_sample_seq":4672666,"cg_sample_valid":1,"cg_theta_rad":4.5172348,"cg_vd_req_v":-1.81604314,"cg_vd_v":-1.81604314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3214922,"cg_vq_v":-8.3214922,"cg_vu_v":132.407669,"cg_vv_v":137.686371,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":661.761108,"values":{"Elec_RPM":-2353.85522,"EncoderCos":39515,"EncoderSin":13786,"GapTicks":49769,"Mech_RPM":-470.771057,"cg_du":54.7552872,"cg_dv":53.393013,"cg_dw":45.2447128,"cg_id_a":7.44801521,"cg_id_raw_a":6.09406662,"cg_iq_a":-205.582748,"cg_iq_raw_a":-203.533859,"cg_iu_a":43.1326942,"cg_iv_a":152.836914,"cg_iw_a":-195.969604,"cg_sample_age_us":23.9763641,"cg_sample_seq":4674367,"cg_sample_valid":1,"cg_theta_rad":5.07198429,"cg_vd_req_v":-2.09029627,"cg_vd_v":-2.09029627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30962181,"cg_vq_v":-8.30962181,"cg_vu_v":108.21357,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4454041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":662.095093,"values":{"Elec_RPM":-2352.73608,"EncoderCos":48726,"EncoderSin":20822,"GapTicks":49368,"Mech_RPM":-470.547211,"cg_du":44.8802757,"cg_dv":48.3413811,"cg_dw":55.1197243,"cg_id_a":5.71576595,"cg_id_raw_a":1.66922081,"cg_iq_a":-195.555038,"cg_iq_raw_a":-194.305176,"cg_iu_a":-77.5230255,"cg_iv_a":-119.064331,"cg_iw_a":196.587357,"cg_sample_age_us":23.9509087,"cg_sample_seq":4676067,"cg_sample_valid":1,"cg_theta_rad":5.66003847,"cg_vd_req_v":-2.10769391,"cg_vd_v":-2.10769391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4723568,"cg_vq_v":-8.4723568,"cg_vu_v":97.2162552,"cg_vv_v":84.8992691,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4629822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":662.11856,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":662.118566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":662.118571,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":662.425171,"values":{"Elec_RPM":-2355.87305,"EncoderCos":52540,"EncoderSin":31465,"GapTicks":49328,"Mech_RPM":-471.174622,"cg_du":55.1555405,"cg_dv":49.6243172,"cg_dw":44.8444595,"cg_id_a":-15.7644882,"cg_id_raw_a":-17.1861458,"cg_iq_a":-196.714264,"cg_iq_raw_a":-194.834229,"cg_iu_a":144.94162,"cg_iv_a":42.1482544,"cg_iw_a":-187.089874,"cg_sample_age_us":24.1181812,"cg_sample_seq":4677767,"cg_sample_valid":1,"cg_theta_rad":6.22916269,"cg_vd_req_v":-1.62336433,"cg_vd_v":-1.62336433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44235992,"cg_vq_v":-8.44235992,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2433.07642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4840393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":662.778687,"values":{"Elec_RPM":-2350.85693,"EncoderCos":49922,"EncoderSin":42761,"GapTicks":49562,"Mech_RPM":-470.171387,"cg_du":45.0572662,"cg_dv":52.4556465,"cg_dw":54.9427338,"cg_id_a":-3.94387388,"cg_id_raw_a":2.74528408,"cg_iq_a":-201.732147,"cg_iq_raw_a":-204.024063,"cg_iu_a":-169.038696,"cg_iv_a":-12.5074615,"cg_iw_a":174.949799,"cg_sample_age_us":23.5363636,"cg_sample_seq":4679466,"cg_sample_valid":1,"cg_theta_rad":0.533719778,"cg_vd_req_v":-1.86269593,"cg_vd_v":-1.86269593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38875198,"cg_vq_v":-8.38875198,"cg_vu_v":39.1504402,"cg_vv_v":53.666893,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2420.97461,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4594421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":663.110718,"values":{"Elec_RPM":-2342.1145,"EncoderCos":49491,"EncoderSin":43463,"GapTicks":49331,"Mech_RPM":-468.422882,"cg_du":44.8471107,"cg_dv":50.5287285,"cg_dw":55.1528893,"cg_id_a":-10.3878975,"cg_id_raw_a":-9.08090687,"cg_iq_a":-198.903915,"cg_iq_raw_a":-203.104706,"cg_iu_a":-141.529633,"cg_iv_a":-49.5848999,"cg_iw_a":191.114532,"cg_sample_age_us":23.449091,"cg_sample_seq":4681216,"cg_sample_valid":1,"cg_theta_rad":0.576938689,"cg_vd_req_v":-1.7466048,"cg_vd_v":-1.7466048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44760513,"cg_vq_v":-8.44760513,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4418945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":663.111259,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":663.111266,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":663.111271,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":663.464233,"values":{"Elec_RPM":-2345.05664,"EncoderCos":41679,"EncoderSin":50611,"GapTicks":49943,"Mech_RPM":-469.011322,"cg_du":54.5969238,"cg_dv":45.4030762,"cg_dw":46.0733337,"cg_id_a":15.9565678,"cg_id_raw_a":20.333807,"cg_iq_a":-204.887024,"cg_iq_raw_a":-205.420425,"cg_iu_a":170.855957,"cg_iv_a":-3.15653992,"cg_iw_a":-169.801559,"cg_sample_age_us":23.9036369,"cg_sample_seq":4682920,"cg_sample_valid":1,"cg_theta_rad":1.15145099,"cg_vd_req_v":-2.23063493,"cg_vd_v":-2.23063493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29690742,"cg_vq_v":-8.29690742,"cg_vu_v":31.6722641,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2474.14453,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.4576721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":663.796265,"values":{"Elec_RPM":-2345.38647,"EncoderCos":29887,"EncoderSin":52578,"GapTicks":49663,"Mech_RPM":-469.077301,"cg_du":45.1490707,"cg_dv":54.8509293,"cg_dw":53.1812019,"cg_id_a":10.5229197,"cg_id_raw_a":8.42142487,"cg_iq_a":-200.347534,"cg_iq_raw_a":-198.636063,"cg_iu_a":-191.618622,"cg_iv_a":45.6639099,"cg_iw_a":145.954712,"cg_sample_age_us":23.8745461,"cg_sample_seq":4684617,"cg_sample_valid":1,"cg_theta_rad":1.71492028,"cg_vd_req_v":-2.10049796,"cg_vd_v":-2.10049796,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38266182,"cg_vq_v":-8.38266182,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.0092907,"dclink_p_w":-2454.1814,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4840393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":664.102703,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":664.102709,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":664.102714,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":664.128296,"values":{"Elec_RPM":-2349.60449,"EncoderCos":13505,"EncoderSin":38818,"GapTicks":49466,"Mech_RPM":-469.920898,"cg_du":44.9699287,"cg_dv":55.0300713,"cg_dw":47.7436447,"cg_id_a":-6.34516764,"cg_id_raw_a":-0.883948863,"cg_iq_a":-197.520203,"cg_iq_raw_a":-199.324631,"cg_iu_a":-180.709229,"cg_iv_a":158.418472,"cg_iw_a":22.2907562,"cg_sample_age_us":23.8963642,"cg_sample_seq":4686266,"cg_sample_valid":1,"cg_theta_rad":2.85069799,"cg_vd_req_v":-1.7098608,"cg_vd_v":-1.7098608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48632717,"cg_vq_v":-8.48632717,"cg_vu_v":138.566162,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.737793,"dclink_p_w":-2559.29321,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4524536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":664.479858,"values":{"Elec_RPM":-2347.15771,"EncoderCos":13245,"EncoderSin":37983,"GapTicks":49321,"Mech_RPM":-469.431549,"cg_du":44.8379898,"cg_dv":55.1620102,"cg_dw":49.7856445,"cg_id_a":-12.0497494,"cg_id_raw_a":-10.103611,"cg_iq_a":-195.394592,"cg_iq_raw_a":-195.404846,"cg_iu_a":-185.167206,"cg_iv_a":147.255356,"cg_iw_a":37.91185,"cg_sample_age_us":23.8454552,"cg_sample_seq":4688016,"cg_sample_valid":1,"cg_theta_rad":2.87405157,"cg_vd_req_v":-1.60683239,"cg_vd_v":-1.60683239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5046711,"cg_vq_v":-8.5046711,"cg_vu_v":99.4157181,"cg_vv_v":103.814644,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2414.43799,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4927979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":664.813843,"values":{"Elec_RPM":-2348.88232,"EncoderCos":19219,"EncoderSin":17642,"GapTicks":49481,"Mech_RPM":-469.776489,"cg_du":47.9423103,"cg_dv":55.01688,"cg_dw":44.98312,"cg_id_a":4.93260765,"cg_id_raw_a":-0.452292651,"cg_iq_a":-202.320328,"cg_iq_raw_a":-200.651276,"cg_iu_a":-125.691078,"cg_iv_a":201.403656,"cg_iw_a":-75.7125778,"cg_sample_age_us":24.0018177,"cg_sample_seq":4689666,"cg_sample_valid":1,"cg_theta_rad":3.99261427,"cg_vd_req_v":-2.01887465,"cg_vd_v":-2.01887465,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34893227,"cg_vq_v":-8.34893227,"cg_vu_v":0.87978512,"cg_vv_v":4.39892578,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4768372,"dclink_p_w":-2521.64136,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4735107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":665.094984,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":665.094991,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":665.094996,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":665.145874,"values":{"Elec_RPM":-2356.31616,"EncoderCos":29386,"EncoderSin":12944,"GapTicks":49298,"Mech_RPM":-471.263214,"cg_du":49.7776184,"cg_dv":44.8166275,"cg_dw":55.1833725,"cg_id_a":-15.7660122,"cg_id_raw_a":-17.0181866,"cg_iq_a":-196.222107,"cg_iq_raw_a":-197.178238,"cg_iu_a":48.8229752,"cg_iv_a":-188.253784,"cg_iw_a":139.430817,"cg_sample_age_us":23.7981815,"cg_sample_seq":4691367,"cg_sample_valid":1,"cg_theta_rad":4.55743885,"cg_vd_req_v":-1.60838556,"cg_vd_v":-1.60838556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51419067,"cg_vq_v":-8.51419067,"cg_vu_v":105.134323,"cg_vv_v":86.6588287,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2368.03394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.5015869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":665.497437,"values":{"Elec_RPM":-2346.84595,"EncoderCos":40876,"EncoderSin":14365,"GapTicks":49486,"Mech_RPM":-469.369171,"cg_du":52.1017303,"cg_dv":55.0123901,"cg_dw":44.9876099,"cg_id_a":-11.9639597,"cg_id_raw_a":-6.40597105,"cg_iq_a":-196.9245,"cg_iq_raw_a":-199.908127,"cg_iu_a":1.70599365,"cg_iv_a":168.892944,"cg_iw_a":-170.598938,"cg_sample_age_us":23.9836369,"cg_sample_seq":4693066,"cg_sample_valid":1,"cg_theta_rad":5.13738728,"cg_vd_req_v":-1.68242824,"cg_vd_v":-1.68242824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45253754,"cg_vq_v":-8.45253754,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4559326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":665.831421,"values":{"Elec_RPM":-2350.27563,"EncoderCos":41640,"EncoderSin":14703,"GapTicks":49344,"Mech_RPM":-470.055115,"cg_du":50.1298714,"cg_dv":55.141346,"cg_dw":44.858654,"cg_id_a":-19.1737289,"cg_id_raw_a":-19.3120842,"cg_iq_a":-195.84108,"cg_iq_raw_a":-195.81958,"cg_iu_a":-33.6679878,"cg_iv_a":184.224075,"cg_iw_a":-150.556091,"cg_sample_age_us":23.954546,"cg_sample_seq":4694816,"cg_sample_valid":1,"cg_theta_rad":5.17900562,"cg_vd_req_v":-1.55327058,"cg_vd_v":-1.55327058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45125198,"cg_vq_v":-8.45125198,"cg_vu_v":105.574219,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2405.80054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":666.086849,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":666.086855,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":666.086861,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":666.165405,"values":{"Elec_RPM":-2353.19556,"EncoderCos":49830,"EncoderSin":22437,"GapTicks":49723,"Mech_RPM":-470.639099,"cg_du":46.8584099,"cg_dv":45.2029152,"cg_dw":54.7970848,"cg_id_a":0.0583372116,"cg_id_raw_a":5.9170475,"cg_iq_a":-204.854187,"cg_iq_raw_a":-205.464523,"cg_iu_a":-1.01229382,"cg_iv_a":-175.604706,"cg_iw_a":176.617004,"cg_sample_age_us":23.9218178,"cg_sample_seq":4696517,"cg_sample_valid":1,"cg_theta_rad":5.7552743,"cg_vd_req_v":-1.95718348,"cg_vd_v":-1.95718348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31725883,"cg_vq_v":-8.31725883,"cg_vu_v":134.167236,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5910053,"dclink_p_w":-2545.85229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":666.516968,"values":{"Elec_RPM":-2354.05737,"EncoderCos":52535,"EncoderSin":33359,"GapTicks":49698,"Mech_RPM":-470.811493,"cg_du":54.8191566,"cg_dv":53.1955719,"cg_dw":45.1808434,"cg_id_a":10.458952,"cg_id_raw_a":9.88471508,"cg_iq_a":-204.377808,"cg_iq_raw_a":-202.197968,"cg_iu_a":31.4621811,"cg_iv_a":158.889648,"cg_iw_a":-190.351822,"cg_sample_age_us":23.5181828,"cg_sample_seq":4698217,"cg_sample_valid":1,"cg_theta_rad":0.0541771874,"cg_vd_req_v":-2.1782856,"cg_vd_v":-2.1782856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34382725,"cg_vq_v":-8.34382725,"cg_vu_v":43.549366,"cg_vv_v":64.6642075,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2390.06445,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4804993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":666.848999,"values":{"Elec_RPM":-2349.55029,"EncoderCos":40472,"EncoderSin":51088,"GapTicks":49447,"Mech_RPM":-469.910034,"cg_du":55.0480843,"cg_dv":48.2716789,"cg_dw":44.9519157,"cg_id_a":-12.5946074,"cg_id_raw_a":-8.66858768,"cg_iq_a":-197.277542,"cg_iq_raw_a":-199.18956,"cg_iu_a":163.317245,"cg_iv_a":15.6902466,"cg_iw_a":-179.007492,"cg_sample_age_us":23.9581814,"cg_sample_seq":4699866,"cg_sample_valid":1,"cg_theta_rad":1.17261147,"cg_vd_req_v":-1.64213872,"cg_vd_v":-1.64213872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44101906,"cg_vq_v":-8.44101906,"cg_vu_v":32.1121559,"cg_vv_v":9.23774433,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4506836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":667.0792,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":667.079207,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":667.079212,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":667.200562,"values":{"Elec_RPM":-2344.68726,"EncoderCos":40789,"EncoderSin":51017,"GapTicks":49571,"Mech_RPM":-468.937439,"cg_du":54.9350014,"cg_dv":47.4143448,"cg_dw":45.0649986,"cg_id_a":-5.11723232,"cg_id_raw_a":-0.844623268,"cg_iq_a":-200.143372,"cg_iq_raw_a":-200.39743,"cg_iu_a":143.673096,"cg_iv_a":44.8665161,"cg_iw_a":-188.539612,"cg_sample_age_us":23.9509087,"cg_sample_seq":4701621,"cg_sample_valid":1,"cg_theta_rad":1.20173132,"cg_vd_req_v":-1.8009119,"cg_vd_v":-1.8009119,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39902973,"cg_vq_v":-8.39902973,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2537.72168,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6021118,"temp_inv2_c":42.4840393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104838632,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":667.534546,"values":{"Elec_RPM":-2346.25635,"EncoderCos":19049,"EncoderSin":47415,"GapTicks":49443,"Mech_RPM":-469.251282,"cg_du":55.0513992,"cg_dv":44.9486008,"cg_dw":47.7325706,"cg_id_a":13.6396542,"cg_id_raw_a":9.99333477,"cg_iq_a":-198.733704,"cg_iq_raw_a":-196.774551,"cg_iu_a":196.552841,"cg_iv_a":-56.9061432,"cg_iw_a":-139.646698,"cg_sample_age_us":23.8927269,"cg_sample_seq":4703266,"cg_sample_valid":1,"cg_theta_rad":2.3264823,"cg_vd_req_v":-2.21443176,"cg_vd_v":-2.21443176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43460083,"cg_vq_v":-8.43460083,"cg_vu_v":36.5110817,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-17.3880405,"dclink_p_w":-2516.47827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.5209045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":667.864624,"values":{"Elec_RPM":-2351.09326,"EncoderCos":18569,"EncoderSin":46985,"GapTicks":49781,"Mech_RPM":-470.218628,"cg_du":54.7441063,"cg_dv":45.2558937,"cg_dw":46.4719772,"cg_id_a":17.3484917,"cg_id_raw_a":13.8364849,"cg_iq_a":-203.300827,"cg_iq_raw_a":-200.620834,"cg_iu_a":189.739014,"cg_iv_a":-30.5206604,"cg_iw_a":-159.218353,"cg_sample_age_us":23.9690914,"cg_sample_seq":4705017,"cg_sample_valid":1,"cg_theta_rad":2.35620189,"cg_vd_req_v":-2.26301908,"cg_vd_v":-2.26301908,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32583618,"cg_vq_v":-8.32583618,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2519.81079,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4629822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":668.103052,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":668.103058,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":668.103063,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":668.245483,"values":{"Elec_RPM":-2346.08984,"EncoderCos":12996,"EncoderSin":36844,"GapTicks":49455,"Mech_RPM":-469.217957,"cg_du":44.9591255,"cg_dv":55.0408745,"cg_dw":52.0716934,"cg_id_a":0.833422542,"cg_id_raw_a":-1.00710309,"cg_iq_a":-197.924423,"cg_iq_raw_a":-198.626236,"cg_iu_a":-197.308899,"cg_iv_a":94.2306366,"cg_iw_a":103.078262,"cg_sample_age_us":23.8345451,"cg_sample_seq":4706716,"cg_sample_valid":1,"cg_theta_rad":2.93174291,"cg_vd_req_v":-1.88014674,"cg_vd_v":-1.88014674,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42430687,"cg_vq_v":-8.42430687,"cg_vu_v":94.5769043,"cg_vv_v":101.175293,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2414.69946,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5033569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":668.765015,"values":{"Elec_RPM":-2337.95801,"EncoderCos":43952,"EncoderSin":16155,"GapTicks":49916,"Mech_RPM":-467.591614,"cg_du":45.3784447,"cg_dv":54.6215553,"cg_dw":46.1524811,"cg_id_a":7.83375072,"cg_id_raw_a":10.2222691,"cg_iq_a":-203.751007,"cg_iq_raw_a":-204.736359,"cg_iu_a":-171.756989,"cg_iv_a":178.859985,"cg_iw_a":-7.10300446,"cg_sample_age_us":23.9509087,"cg_sample_seq":4709417,"cg_sample_valid":1,"cg_theta_rad":5.32230949,"cg_vd_req_v":-2.1147213,"cg_vd_v":-2.1147213,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30403233,"cg_vq_v":-8.30403233,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4735107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":668.998594,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":668.998605,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":668.998608,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":669.095309,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":669.095315,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":669.095321,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":669.192749,"values":{"Elec_RPM":-2343.37305,"EncoderCos":49864,"EncoderSin":42902,"GapTicks":49498,"Mech_RPM":-468.674591,"cg_du":44.998497,"cg_dv":52.1093826,"cg_dw":55.001503,"cg_id_a":-4.79187441,"cg_id_raw_a":-2.52793503,"cg_iq_a":-200.344269,"cg_iq_raw_a":-202.783264,"cg_iu_a":-155.918427,"cg_iv_a":-27.7661133,"cg_iw_a":183.68454,"cg_sample_age_us":23.5618191,"cg_sample_seq":4711616,"cg_sample_valid":1,"cg_theta_rad":0.552500367,"cg_vd_req_v":-1.84260559,"cg_vd_v":-1.84260559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40274811,"cg_vq_v":-8.40274811,"cg_vu_v":113.052383,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.0433941,"dclink_p_w":-2321.87476,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4752502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":669.546265,"values":{"Elec_RPM":-2339.84473,"EncoderCos":41532,"EncoderSin":50649,"GapTicks":50041,"Mech_RPM":-467.968933,"cg_du":54.5080566,"cg_dv":45.4919434,"cg_dw":45.7412872,"cg_id_a":14.1115456,"cg_id_raw_a":16.9853077,"cg_iq_a":-204.178223,"cg_iq_raw_a":-206.343384,"cg_iu_a":184.664856,"cg_iv_a":-16.4580383,"cg_iw_a":-168.206818,"cg_sample_age_us":24.005455,"cg_sample_seq":4713316,"cg_sample_valid":1,"cg_theta_rad":1.11346209,"cg_vd_req_v":-2.19717264,"cg_vd_v":-2.19717264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29521275,"cg_vq_v":-8.29521275,"cg_vu_v":22.8744144,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5086365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":669.876343,"values":{"Elec_RPM":-2344.94189,"EncoderCos":30388,"EncoderSin":52636,"GapTicks":49448,"Mech_RPM":-468.988373,"cg_du":44.9532242,"cg_dv":55.0467758,"cg_dw":52.183567,"cg_id_a":6.48909712,"cg_id_raw_a":4.88062763,"cg_iq_a":-199.109283,"cg_iq_raw_a":-199.905518,"cg_iu_a":-197.997528,"cg_iv_a":84.9522095,"cg_iw_a":112.537903,"cg_sample_age_us":23.8600006,"cg_sample_seq":4715016,"cg_sample_valid":1,"cg_theta_rad":1.68751776,"cg_vd_req_v":-2.03310275,"cg_vd_v":-2.03310275,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42473412,"cg_vq_v":-8.42473412,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2503.07666,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4892883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":670.087305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":670.087309,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":670.087313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":670.210327,"values":{"Elec_RPM":-2345.43896,"EncoderCos":20061,"EncoderSin":48375,"GapTicks":49280,"Mech_RPM":-469.087799,"cg_du":55.1995926,"cg_dv":44.8004074,"cg_dw":50.1405754,"cg_id_a":-18.5194073,"cg_id_raw_a":-19.5740242,"cg_iq_a":-193.955353,"cg_iq_raw_a":-194.173645,"cg_iu_a":186.04213,"cg_iv_a":-141.499252,"cg_iw_a":-44.5428772,"cg_sample_age_us":24.0090904,"cg_sample_seq":4716717,"cg_sample_valid":1,"cg_theta_rad":2.25481105,"cg_vd_req_v":-1.54322708,"cg_vd_v":-1.54322708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55216503,"cg_vq_v":-8.55216503,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.4601974,"dclink_p_w":-2382.19629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4875488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":670.56189,"values":{"Elec_RPM":-2346.23999,"EncoderCos":13536,"EncoderSin":38855,"GapTicks":49536,"Mech_RPM":-469.247986,"cg_du":45.0329781,"cg_dv":54.9670219,"cg_dw":47.6350555,"cg_id_a":-5.13272858,"cg_id_raw_a":0.120277107,"cg_iq_a":-198.336548,"cg_iq_raw_a":-200.09903,"cg_iu_a":-173.822891,"cg_iv_a":167.008255,"cg_iw_a":6.81463623,"cg_sample_age_us":23.9436359,"cg_sample_seq":4718417,"cg_sample_valid":1,"cg_theta_rad":2.83787322,"cg_vd_req_v":-1.7320683,"cg_vd_v":-1.7320683,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43242931,"cg_vq_v":-8.43242931,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2552.93335,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4541931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":670.893921,"values":{"Elec_RPM":-2347.8689,"EncoderCos":13315,"EncoderSin":27434,"GapTicks":49916,"Mech_RPM":-469.573792,"cg_du":54.0726318,"cg_dv":45.3790092,"cg_dw":54.6209908,"cg_id_a":14.2019768,"cg_id_raw_a":14.1967497,"cg_iq_a":-202.237381,"cg_iq_raw_a":-201.599823,"cg_iu_a":164.295837,"cg_iv_a":-185.136841,"cg_iw_a":20.8410034,"cg_sample_age_us":24.0963631,"cg_sample_seq":4720116,"cg_sample_valid":1,"cg_theta_rad":3.41117454,"cg_vd_req_v":-2.17393517,"cg_vd_v":-2.17393517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36017609,"cg_vq_v":-8.36017609,"cg_vu_v":16.7159176,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.438385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":671.110866,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":671.110872,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":671.110878,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":671.247437,"values":{"Elec_RPM":-2347.99854,"EncoderCos":18478,"EncoderSin":18355,"GapTicks":49320,"Mech_RPM":-469.599731,"cg_du":49.7606506,"cg_dv":55.16325,"cg_dw":44.83675,"cg_id_a":-14.6066418,"cg_id_raw_a":-14.6362333,"cg_iq_a":-198.586258,"cg_iq_raw_a":-196.334198,"cg_iu_a":-114.636711,"cg_iv_a":200.678772,"cg_iw_a":-101.191986,"cg_sample_age_us":23.8709087,"cg_sample_seq":4721821,"cg_sample_valid":1,"cg_theta_rad":3.98212123,"cg_vd_req_v":-1.60369086,"cg_vd_v":-1.60369086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45459461,"cg_vq_v":-8.45459461,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4735107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":671.579468,"values":{"Elec_RPM":-2345.11401,"EncoderCos":19780,"EncoderSin":17210,"GapTicks":49781,"Mech_RPM":-469.022797,"cg_du":46.5439606,"cg_dv":54.7441902,"cg_dw":45.2558098,"cg_id_a":10.5581408,"cg_id_raw_a":11.0623999,"cg_iq_a":-203.825012,"cg_iq_raw_a":-202.798828,"cg_iu_a":-153.635071,"cg_iv_a":194.916016,"cg_iw_a":-41.2809372,"cg_sample_age_us":23.8709087,"cg_sample_seq":4723567,"cg_sample_valid":1,"cg_theta_rad":4.02897882,"cg_vd_req_v":-2.10808444,"cg_vd_v":-2.10808444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33852577,"cg_vq_v":-8.33852577,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.7740364,"dclink_p_w":-2580.15991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4682007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":671.913452,"values":{"Elec_RPM":-2348.27905,"EncoderCos":30318,"EncoderSin":12808,"GapTicks":49380,"Mech_RPM":-469.655823,"cg_du":51.551857,"cg_dv":44.891098,"cg_dw":55.108902,"cg_id_a":-0.00707817078,"cg_id_raw_a":-4.34633064,"cg_iq_a":-196.219467,"cg_iq_raw_a":-195.25322,"cg_iu_a":107.537987,"cg_iv_a":-196.916077,"cg_iw_a":89.3780899,"cg_sample_age_us":23.6709099,"cg_sample_seq":4725267,"cg_sample_valid":1,"cg_theta_rad":4.6057415,"cg_vd_req_v":-1.93223143,"cg_vd_v":-1.93223143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44986439,"cg_vq_v":-8.44986439,"cg_vu_v":121.850235,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2720585,"dclink_p_w":-2492.09473,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4787598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":672.102753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":672.102759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":672.102765,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":672.265015,"values":{"Elec_RPM":-2347.8584,"EncoderCos":52466,"EncoderSin":31050,"GapTicks":49399,"Mech_RPM":-469.571686,"cg_du":55.0909119,"cg_dv":48.135952,"cg_dw":44.9090881,"cg_id_a":-12.538661,"cg_id_raw_a":-14.555933,"cg_iq_a":-194.648499,"cg_iq_raw_a":-193.037857,"cg_iu_a":121.528107,"cg_iv_a":73.3904266,"cg_iw_a":-194.918533,"cg_sample_age_us":23.9909096,"cg_sample_seq":4726872,"cg_sample_valid":1,"cg_theta_rad":6.25369167,"cg_vd_req_v":-1.6719563,"cg_vd_v":-1.6719563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53337669,"cg_vq_v":-8.53337669,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2455.63159,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4840393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":672.597046,"values":{"Elec_RPM":-2349.47852,"EncoderCos":49962,"EncoderSin":22691,"GapTicks":49553,"Mech_RPM":-469.895721,"cg_du":47.6002808,"cg_dv":45.0483017,"cg_dw":54.9516983,"cg_id_a":-6.40633965,"cg_id_raw_a":-2.37117028,"cg_iq_a":-202.182541,"cg_iq_raw_a":-204.112442,"cg_iu_a":7.1788125,"cg_iv_a":-177.598099,"cg_iw_a":170.419281,"cg_sample_age_us":23.9145451,"cg_sample_seq":4728666,"cg_sample_valid":1,"cg_theta_rad":5.76785088,"cg_vd_req_v":-1.82335985,"cg_vd_v":-1.82335985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3970871,"cg_vq_v":-8.3970871,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2489.40234,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":672.93103,"values":{"Elec_RPM":-2354.16699,"EncoderCos":41380,"EncoderSin":50718,"GapTicks":50006,"Mech_RPM":-470.833405,"cg_du":54.5394516,"cg_dv":45.7315788,"cg_dw":45.4605484,"cg_id_a":10.8269958,"cg_id_raw_a":11.7599201,"cg_iq_a":-203.051163,"cg_iq_raw_a":-204.721268,"cg_iu_a":178.612152,"cg_iv_a":-12.3262329,"cg_iw_a":-166.285919,"cg_sample_age_us":24.0127277,"cg_sample_seq":4730267,"cg_sample_valid":1,"cg_theta_rad":1.12581956,"cg_vd_req_v":-2.12380648,"cg_vd_v":-2.12380648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33940506,"cg_vq_v":-8.33940506,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4664612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":673.094755,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":673.094761,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":673.094767,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":673.282593,"values":{"Elec_RPM":-2350.73828,"EncoderCos":48800,"EncoderSin":44588,"GapTicks":49440,"Mech_RPM":-470.147644,"cg_du":44.9463463,"cg_dv":48.0430336,"cg_dw":55.0536537,"cg_id_a":9.55251694,"cg_id_raw_a":2.28020954,"cg_iq_a":-200.203445,"cg_iq_raw_a":-197.195328,"cg_iu_a":-71.1078644,"cg_iv_a":-129.973724,"cg_iw_a":201.081589,"cg_sample_age_us":23.5036373,"cg_sample_seq":4732066,"cg_sample_valid":1,"cg_theta_rad":0.638764918,"cg_vd_req_v":-2.16362286,"cg_vd_v":-2.16362286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37900066,"cg_vq_v":-8.37900066,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2498.10889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4647217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104335092,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":673.614624,"values":{"Elec_RPM":-2355.61548,"EncoderCos":19739,"EncoderSin":48092,"GapTicks":49334,"Mech_RPM":-471.123077,"cg_du":55.1503334,"cg_dv":44.8496666,"cg_dw":49.3678741,"cg_id_a":-10.7262125,"cg_id_raw_a":-13.0027561,"cg_iq_a":-196.724457,"cg_iq_raw_a":-196.461746,"cg_iu_a":195.175568,"cg_iv_a":-118.883102,"cg_iw_a":-76.2924652,"cg_sample_age_us":23.9981823,"cg_sample_seq":4733667,"cg_sample_valid":1,"cg_theta_rad":2.27970123,"cg_vd_req_v":-1.70186985,"cg_vd_v":-1.70186985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45898724,"cg_vq_v":-8.45898724,"cg_vu_v":107.333786,"cg_vv_v":101.615181,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2494.40039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4682007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":673.966187,"values":{"Elec_RPM":-2353.14014,"EncoderCos":28599,"EncoderSin":52356,"GapTicks":49658,"Mech_RPM":-470.628021,"cg_du":45.144413,"cg_dv":52.8854637,"cg_dw":54.855587,"cg_id_a":-0.125730038,"cg_id_raw_a":3.5371592,"cg_iq_a":-200.923706,"cg_iq_raw_a":-200.636902,"cg_iu_a":-173.025528,"cg_iv_a":0.93901062,"cg_iw_a":172.086517,"cg_sample_age_us":23.8963642,"cg_sample_seq":4735467,"cg_sample_valid":1,"cg_theta_rad":1.77705765,"cg_vd_req_v":-1.84560525,"cg_vd_v":-1.84560525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37776756,"cg_vq_v":-8.37776756,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2522.77246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":674.118404,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":674.11841,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":674.118415,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":674.300171,"values":{"Elec_RPM":-2356.30811,"EncoderCos":13249,"EncoderSin":37768,"GapTicks":49310,"Mech_RPM":-471.261597,"cg_du":44.8280792,"cg_dv":55.1719208,"cg_dw":50.2268257,"cg_id_a":-12.1156301,"cg_id_raw_a":-15.8263502,"cg_iq_a":-196.14534,"cg_iq_raw_a":-195.618408,"cg_iu_a":-191.654861,"cg_iv_a":132.250427,"cg_iw_a":59.4044418,"cg_sample_age_us":23.9218178,"cg_sample_seq":4737117,"cg_sample_valid":1,"cg_theta_rad":2.89238477,"cg_vd_req_v":-1.62035084,"cg_vd_v":-1.62035084,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49255943,"cg_vq_v":-8.49255943,"cg_vu_v":98.0960464,"cg_vv_v":102.93486,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":674.632202,"values":{"Elec_RPM":-2358.96265,"EncoderCos":13024,"EncoderSin":37020,"GapTicks":49402,"Mech_RPM":-471.792542,"cg_du":44.911705,"cg_dv":55.088295,"cg_dw":51.7139473,"cg_id_a":-1.08613157,"cg_id_raw_a":-6.34012699,"cg_iq_a":-199.30101,"cg_iq_raw_a":-197.637329,"cg_iu_a":-198.106262,"cg_iv_a":92.6359024,"cg_iw_a":105.47036,"cg_sample_age_us":23.8454552,"cg_sample_seq":4738867,"cg_sample_valid":1,"cg_theta_rad":2.93248606,"cg_vd_req_v":-1.84940171,"cg_vd_v":-1.84940171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43586636,"cg_vq_v":-8.43586636,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2485.0354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":674.985718,"values":{"Elec_RPM":-2353.92578,"EncoderCos":20279,"EncoderSin":16808,"GapTicks":50004,"Mech_RPM":-470.785156,"cg_du":45.4583092,"cg_dv":54.5416908,"cg_dw":45.8225174,"cg_id_a":11.2192459,"cg_id_raw_a":15.6329908,"cg_iq_a":-203.414322,"cg_iq_raw_a":-204.055099,"cg_iu_a":-170.705917,"cg_iv_a":180.563446,"cg_iw_a":-9.85752869,"cg_sample_age_us":24.0163631,"cg_sample_seq":4740516,"cg_sample_valid":1,"cg_theta_rad":4.05872393,"cg_vd_req_v":-2.09299254,"cg_vd_v":-2.09299254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33484554,"cg_vq_v":-8.33484554,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2483.98926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":675.079093,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":675.079099,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":675.079105,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":675.315796,"values":{"Elec_RPM":-2356.49121,"EncoderCos":20734,"EncoderSin":16474,"GapTicks":49634,"Mech_RPM":-471.298218,"cg_du":45.1225815,"cg_dv":54.8774185,"cg_dw":47.251709,"cg_id_a":-2.95382452,"cg_id_raw_a":2.28022718,"cg_iq_a":-200.401367,"cg_iq_raw_a":-202.065445,"cg_iu_a":-172.663086,"cg_iv_a":171.538727,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9218178,"cg_sample_seq":4742267,"cg_sample_valid":1,"cg_theta_rad":4.08586454,"cg_vd_req_v":-1.81062007,"cg_vd_v":-1.81062007,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3778801,"cg_vq_v":-8.3778801,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":675.64978,"values":{"Elec_RPM":-2357.42578,"EncoderCos":41941,"EncoderSin":14864,"GapTicks":49350,"Mech_RPM":-471.485138,"cg_du":49.4967613,"cg_dv":55.1356888,"cg_dw":44.8643112,"cg_id_a":-15.1669016,"cg_id_raw_a":-18.0816059,"cg_iq_a":-199.317154,"cg_iq_raw_a":-196.967453,"cg_iu_a":-68.4983063,"cg_iv_a":198.105469,"cg_iw_a":-129.607162,"cg_sample_age_us":23.9618187,"cg_sample_seq":4743916,"cg_sample_valid":1,"cg_theta_rad":5.20415449,"cg_vd_req_v":-1.66782415,"cg_vd_v":-1.66782415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4328146,"cg_vq_v":-8.4328146,"cg_vu_v":38.7105446,"cg_vv_v":54.1067848,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2493.13623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":676.003296,"values":{"Elec_RPM":-2357.97266,"EncoderCos":50082,"EncoderSin":22921,"GapTicks":49446,"Mech_RPM":-471.594513,"cg_du":48.2551117,"cg_dv":44.9511337,"cg_dw":55.0488663,"cg_id_a":-10.7932568,"cg_id_raw_a":-7.94540596,"cg_iq_a":-199.039719,"cg_iq_raw_a":-199.990204,"cg_iu_a":20.1541061,"cg_iv_a":-178.250504,"cg_iw_a":167.374817,"cg_sample_age_us":23.9072723,"cg_sample_seq":4745617,"cg_sample_valid":1,"cg_theta_rad":5.78328609,"cg_vd_req_v":-1.72893274,"cg_vd_v":-1.72893274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42816067,"cg_vq_v":-8.42816067,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2478.09033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4892883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":676.071482,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":676.071489,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":676.071494,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":676.333374,"values":{"Elec_RPM":-2355.81323,"EncoderCos":52504,"EncoderSin":34118,"GapTicks":50024,"Mech_RPM":-471.162659,"cg_du":54.1599045,"cg_dv":54.5232849,"cg_dw":45.4767151,"cg_id_a":9.46861076,"cg_id_raw_a":11.0478468,"cg_iq_a":-204.624695,"cg_iq_raw_a":-205.841232,"cg_iu_a":10.7669525,"cg_iv_a":171.393753,"cg_iw_a":-182.160706,"cg_sample_age_us":23.48909,"cg_sample_seq":4747316,"cg_sample_valid":1,"cg_theta_rad":0.0794493705,"cg_vd_req_v":-2.13163805,"cg_vd_v":-2.13163805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28878975,"cg_vq_v":-8.28878975,"cg_vu_v":30.7924805,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4735107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":676.667358,"values":{"Elec_RPM":-2360.56738,"EncoderCos":48600,"EncoderSin":44863,"GapTicks":49541,"Mech_RPM":-472.113464,"cg_du":45.0377235,"cg_dv":47.4126434,"cg_dw":54.9622765,"cg_id_a":14.3364487,"cg_id_raw_a":11.3782663,"cg_iq_a":-203.681931,"cg_iq_raw_a":-203.619339,"cg_iu_a":-52.7322464,"cg_iv_a":-146.899597,"cg_iw_a":199.631836,"cg_sample_age_us":23.5145454,"cg_sample_seq":4749016,"cg_sample_valid":1,"cg_theta_rad":0.657669604,"cg_vd_req_v":-2.25664473,"cg_vd_v":-2.25664473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33378887,"cg_vq_v":-8.33378887,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5226746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":677.018921,"values":{"Elec_RPM":-2352.63721,"EncoderCos":39316,"EncoderSin":51573,"GapTicks":49353,"Mech_RPM":-470.527466,"cg_du":55.1333084,"cg_dv":50.8103905,"cg_dw":44.8666916,"cg_id_a":-2.46571827,"cg_id_raw_a":-5.17213726,"cg_iq_a":-198.745514,"cg_iq_raw_a":-198.640274,"cg_iu_a":111.198616,"cg_iv_a":91.4398575,"cg_iw_a":-202.638474,"cg_sample_age_us":23.9181824,"cg_sample_seq":4750716,"cg_sample_valid":1,"cg_theta_rad":1.23458719,"cg_vd_req_v":-1.88066971,"cg_vd_v":-1.88066971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4330349,"cg_vq_v":-8.4330349,"cg_vu_v":25.5137672,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.519165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":677.095431,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":677.095437,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":677.095442,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":677.352905,"values":{"Elec_RPM":-2355.51855,"EncoderCos":27929,"EncoderSin":52242,"GapTicks":49420,"Mech_RPM":-471.103699,"cg_du":44.928093,"cg_dv":51.1874886,"cg_dw":55.071907,"cg_id_a":-12.4710646,"cg_id_raw_a":-9.64001179,"cg_iq_a":-198.828659,"cg_iq_raw_a":-199.264481,"cg_iu_a":-151.496704,"cg_iv_a":-36.0659485,"cg_iw_a":187.562653,"cg_sample_age_us":23.8454552,"cg_sample_seq":4752416,"cg_sample_valid":1,"cg_theta_rad":1.82494915,"cg_vd_req_v":-1.61461306,"cg_vd_v":-1.61461306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39914799,"cg_vq_v":-8.39914799,"cg_vu_v":103.374756,"cg_vv_v":102.055069,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":677.704468,"values":{"Elec_RPM":-2357.88892,"EncoderCos":27454,"EncoderSin":52143,"GapTicks":49371,"Mech_RPM":-471.577789,"cg_du":44.8834076,"cg_dv":50.0842209,"cg_dw":55.1165924,"cg_id_a":-15.356226,"cg_id_raw_a":-13.1983318,"cg_iq_a":-200.174286,"cg_iq_raw_a":-199.595993,"cg_iu_a":-140.261108,"cg_iv_a":-52.0857086,"cg_iw_a":192.346817,"cg_sample_age_us":23.8600006,"cg_sample_seq":4754167,"cg_sample_valid":1,"cg_theta_rad":1.84159076,"cg_vd_req_v":-1.57422268,"cg_vd_v":-1.57422268,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37831116,"cg_vq_v":-8.37831116,"cg_vu_v":116.131638,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4565735,"dclink_p_w":-2374.43286,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6302795,"temp_inv2_c":42.4699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":678.036499,"values":{"Elec_RPM":-2357.13525,"EncoderCos":13769,"EncoderSin":26024,"GapTicks":49381,"Mech_RPM":-471.427032,"cg_du":55.1073151,"cg_dv":44.8926849,"cg_dw":51.1976738,"cg_id_a":-14.9367437,"cg_id_raw_a":-12.634469,"cg_iq_a":-195.33902,"cg_iq_raw_a":-196.593185,"cg_iu_a":178.793365,"cg_iv_a":-157.011627,"cg_iw_a":-21.7817459,"cg_sample_age_us":24.0709095,"cg_sample_seq":4755767,"cg_sample_valid":1,"cg_theta_rad":3.49086809,"cg_vd_req_v":-1.562971,"cg_vd_v":-1.562971,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49650955,"cg_vq_v":-8.49650955,"cg_vu_v":35.6312981,"cg_vv_v":29.912693,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2485.19312,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4822693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":678.086833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":678.086839,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":678.086844,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":678.489624,"values":{"Elec_RPM":-2352.96118,"EncoderCos":52102,"EncoderSin":28221,"GapTicks":49359,"Mech_RPM":-470.592224,"cg_du":55.1278305,"cg_dv":44.8721695,"cg_dw":48.6040955,"cg_id_a":-2.64452481,"cg_id_raw_a":-8.05914402,"cg_iq_a":-196.661682,"cg_iq_raw_a":-196.073395,"cg_iu_a":195.936707,"cg_iv_a":-108.046211,"cg_iw_a":-87.8904953,"cg_sample_age_us":24.1690903,"cg_sample_seq":4757866,"cg_sample_valid":1,"cg_theta_rad":6.05889082,"cg_vd_req_v":-1.90790939,"cg_vd_v":-1.90790939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46207619,"cg_vq_v":-8.46207619,"cg_vu_v":106.893898,"cg_vv_v":93.6971207,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2432.552,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.4541931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":678.951522,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":678.951534,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":678.951537,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":679.009155,"values":{"Elec_RPM":-2345.6333,"EncoderCos":21569,"EncoderSin":49482,"GapTicks":49944,"Mech_RPM":-469.126648,"cg_du":54.2136497,"cg_dv":45.403965,"cg_dw":54.596035,"cg_id_a":15.453145,"cg_id_raw_a":14.1317091,"cg_iq_a":-201.006927,"cg_iq_raw_a":-200.882065,"cg_iu_a":165.16568,"cg_iv_a":-182.889709,"cg_iw_a":17.7240295,"cg_sample_age_us":24.1000004,"cg_sample_seq":4760567,"cg_sample_valid":1,"cg_theta_rad":2.15905333,"cg_vd_req_v":-2.21276498,"cg_vd_v":-2.21276498,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40376282,"cg_vq_v":-8.40376282,"cg_vu_v":143.404984,"cg_vv_v":139.885834,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2387.24463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5138855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":679.07957,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":679.079576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":679.079582,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":679.364624,"values":{"Elec_RPM":-2347.30664,"EncoderCos":49257,"EncoderSin":43903,"GapTicks":49308,"Mech_RPM":-469.461334,"cg_du":44.8257523,"cg_dv":49.4631996,"cg_dw":55.1742477,"cg_id_a":-9.14237881,"cg_id_raw_a":-10.7924433,"cg_iq_a":-197.858154,"cg_iq_raw_a":-198.582886,"cg_iu_a":-121.233093,"cg_iv_a":-77.3839111,"cg_iw_a":198.617004,"cg_sample_age_us":23.5036373,"cg_sample_seq":4762466,"cg_sample_valid":1,"cg_theta_rad":0.602105916,"cg_vd_req_v":-1.78593266,"cg_vd_v":-1.78593266,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44935608,"cg_vq_v":-8.44935608,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2417.83691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5437622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":679.694702,"values":{"Elec_RPM":-2349.3479,"EncoderCos":40405,"EncoderSin":51114,"GapTicks":49359,"Mech_RPM":-469.869568,"cg_du":55.1278763,"cg_dv":48.3804626,"cg_dw":44.8721237,"cg_id_a":-10.5272388,"cg_id_raw_a":-6.89946651,"cg_iq_a":-194.031769,"cg_iq_raw_a":-195.808624,"cg_iu_a":149.907043,"cg_iv_a":21.9241943,"cg_iw_a":-178.971252,"cg_sample_age_us":23.9581814,"cg_sample_seq":4764166,"cg_sample_valid":1,"cg_theta_rad":1.18940079,"cg_vd_req_v":-1.69089317,"cg_vd_v":-1.69089317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54498672,"cg_vq_v":-8.54498672,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4980774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":680.048218,"values":{"Elec_RPM":-2344.11133,"EncoderCos":29258,"EncoderSin":52454,"GapTicks":50063,"Mech_RPM":-468.822266,"cg_du":45.5124664,"cg_dv":54.4625015,"cg_dw":54.4875336,"cg_id_a":10.2198534,"cg_id_raw_a":11.1554165,"cg_iq_a":-199.363892,"cg_iq_raw_a":-198.3629,"cg_iu_a":-181.977753,"cg_iv_a":24.7149506,"cg_iw_a":159.147476,"cg_sample_age_us":23.8709087,"cg_sample_seq":4765867,"cg_sample_valid":1,"cg_theta_rad":1.74472368,"cg_vd_req_v":-2.0680356,"cg_vd_v":-2.0680356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39644337,"cg_vq_v":-8.39644337,"cg_vu_v":98.5359344,"cg_vv_v":100.735397,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2530.90283,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4822693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":680.102845,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":680.102851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":680.102856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":680.382202,"values":{"Elec_RPM":-2347.35205,"EncoderCos":18961,"EncoderSin":47360,"GapTicks":49534,"Mech_RPM":-469.470428,"cg_du":54.9682312,"cg_dv":45.0317688,"cg_dw":47.548111,"cg_id_a":13.3425694,"cg_id_raw_a":10.4044924,"cg_iq_a":-202.535522,"cg_iq_raw_a":-202.183884,"cg_iu_a":198.944946,"cg_iv_a":-54.7677765,"cg_iw_a":-144.17717,"cg_sample_age_us":23.9909096,"cg_sample_seq":4767566,"cg_sample_valid":1,"cg_theta_rad":2.32811427,"cg_vd_req_v":-2.20391631,"cg_vd_v":-2.20391631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34698009,"cg_vq_v":-8.34698009,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4910583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":680.733765,"values":{"Elec_RPM":-2345.21899,"EncoderCos":13383,"EncoderSin":38375,"GapTicks":49351,"Mech_RPM":-469.043793,"cg_du":44.8647385,"cg_dv":55.1352615,"cg_dw":48.7675476,"cg_id_a":-7.84382248,"cg_id_raw_a":-6.13816357,"cg_iq_a":-197.534546,"cg_iq_raw_a":-198.311234,"cg_iu_a":-195.895386,"cg_iv_a":115.940681,"cg_iw_a":79.9547043,"cg_sample_age_us":25.3363628,"cg_sample_seq":4769270,"cg_sample_valid":1,"cg_theta_rad":2.90503025,"cg_vd_req_v":-1.69600201,"cg_vd_v":-1.69600201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49608803,"cg_vq_v":-8.49608803,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2470.91577,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4155884,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":681.065796,"values":{"Elec_RPM":-2347.59839,"EncoderCos":13728,"EncoderSin":26134,"GapTicks":49432,"Mech_RPM":-469.519684,"cg_du":55.0614128,"cg_dv":44.9385872,"cg_dw":51.4744339,"cg_id_a":-13.9794006,"cg_id_raw_a":-9.13887978,"cg_iq_a":-196.879639,"cg_iq_raw_a":-197.424271,"cg_iu_a":178.82962,"cg_iv_a":-160.309814,"cg_iw_a":-18.5198135,"cg_sample_age_us":24.1072731,"cg_sample_seq":4770966,"cg_sample_valid":1,"cg_theta_rad":3.48139048,"cg_vd_req_v":-1.58212769,"cg_vd_v":-1.58212769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45645142,"cg_vq_v":-8.45645142,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5121155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":681.094948,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":681.094953,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":681.094958,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":681.397827,"values":{"Elec_RPM":-2352.43066,"EncoderCos":20137,"EncoderSin":16927,"GapTicks":50086,"Mech_RPM":-470.486115,"cg_du":45.7197723,"cg_dv":54.4669991,"cg_dw":45.5330009,"cg_id_a":12.6722937,"cg_id_raw_a":13.613102,"cg_iq_a":-206.504181,"cg_iq_raw_a":-206.792694,"cg_iu_a":-168.748749,"cg_iv_a":186.144989,"cg_iw_a":-17.3962479,"cg_sample_age_us":24.0236359,"cg_sample_seq":4772667,"cg_sample_valid":1,"cg_theta_rad":4.05029202,"cg_vd_req_v":-2.14079714,"cg_vd_v":-2.14079714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25815201,"cg_vq_v":-8.25815201,"cg_vu_v":98.0960464,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2402.67163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4647217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":681.751343,"values":{"Elec_RPM":-2348.47998,"EncoderCos":30968,"EncoderSin":12754,"GapTicks":49504,"Mech_RPM":-469.695984,"cg_du":52.7531738,"cg_dv":45.00383,"cg_dw":54.99617,"cg_id_a":12.8666191,"cg_id_raw_a":9.43072605,"cg_iq_a":-198.277756,"cg_iq_raw_a":-197.81041,"cg_iu_a":143.419373,"cg_iv_a":-192.494324,"cg_iw_a":49.0749512,"cg_sample_age_us":23.7181816,"cg_sample_seq":4774366,"cg_sample_valid":1,"cg_theta_rad":4.63659716,"cg_vd_req_v":-2.19443679,"cg_vd_v":-2.19443679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4548893,"cg_vq_v":-8.4548893,"cg_vu_v":10.9973145,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.7051735,"dclink_p_w":-2562.37524,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4980774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":682.081421,"values":{"Elec_RPM":-2343.21045,"EncoderCos":42091,"EncoderSin":14952,"GapTicks":49403,"Mech_RPM":-468.64209,"cg_du":49.101387,"cg_dv":55.0877037,"cg_dw":44.9122963,"cg_id_a":-16.0969067,"cg_id_raw_a":-19.7401619,"cg_iq_a":-198.921112,"cg_iq_raw_a":-198.711258,"cg_iu_a":-90.607048,"cg_iv_a":199.301514,"cg_iw_a":-108.694466,"cg_sample_age_us":23.9436359,"cg_sample_seq":4776066,"cg_sample_valid":1,"cg_theta_rad":5.22312641,"cg_vd_req_v":-1.65170562,"cg_vd_v":-1.65170562,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4116888,"cg_vq_v":-8.4116888,"cg_vu_v":105.134323,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2533.07104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4822693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":682.086765,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":682.086771,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":682.086776,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":682.415405,"values":{"Elec_RPM":-2349.32275,"EncoderCos":52543,"EncoderSin":33162,"GapTicks":49637,"Mech_RPM":-469.864563,"cg_du":54.8747368,"cg_dv":52.8112946,"cg_dw":45.1252632,"cg_id_a":8.11297035,"cg_id_raw_a":5.07273293,"cg_iq_a":-204.928055,"cg_iq_raw_a":-202.686798,"cg_iu_a":57.1953049,"cg_iv_a":142.108734,"cg_iw_a":-199.304047,"cg_sample_age_us":23.5145454,"cg_sample_seq":4777717,"cg_sample_valid":1,"cg_theta_rad":0.0299305413,"cg_vd_req_v":-2.12155938,"cg_vd_v":-2.12155938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29287624,"cg_vq_v":-8.29287624,"cg_vu_v":141.645401,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2475.56396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.438385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":682.766968,"values":{"Elec_RPM":-2347.77759,"EncoderCos":50558,"EncoderSin":23857,"GapTicks":49306,"Mech_RPM":-469.555511,"cg_du":50.4448662,"cg_dv":44.8241234,"cg_dw":55.1758766,"cg_id_a":-5.32348967,"cg_id_raw_a":-6.97837687,"cg_iq_a":-197.229111,"cg_iq_raw_a":-196.762833,"cg_iu_a":78.4341888,"cg_iv_a":-196.916077,"cg_iw_a":118.48188,"cg_sample_age_us":23.772728,"cg_sample_seq":4779516,"cg_sample_valid":1,"cg_theta_rad":5.83473063,"cg_vd_req_v":-1.87344897,"cg_vd_v":-1.87344897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45517159,"cg_vq_v":-8.45517159,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4892883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":683.100952,"values":{"Elec_RPM":-2354.29053,"EncoderCos":39954,"EncoderSin":51344,"GapTicks":49325,"Mech_RPM":-470.858093,"cg_du":55.1589279,"cg_dv":49.5357666,"cg_dw":44.8410721,"cg_id_a":-12.6581364,"cg_id_raw_a":-12.1800728,"cg_iq_a":-194.836578,"cg_iq_raw_a":-195.789734,"cg_iu_a":141.063538,"cg_iv_a":49.6144714,"cg_iw_a":-190.678009,"cg_sample_age_us":23.9872723,"cg_sample_seq":4781116,"cg_sample_valid":1,"cg_theta_rad":1.20647526,"cg_vd_req_v":-1.65964508,"cg_vd_v":-1.65964508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49860573,"cg_vq_v":-8.49860573,"cg_vu_v":2.19946289,"cg_vv_v":3.07924795,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2536.67285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.510376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":683.110715,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":683.110721,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":683.110726,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":683.432983,"values":{"Elec_RPM":-2353.65381,"EncoderCos":28896,"EncoderSin":52432,"GapTicks":49864,"Mech_RPM":-470.730774,"cg_du":45.3316078,"cg_dv":53.6730804,"cg_dw":54.6683922,"cg_id_a":7.29102612,"cg_id_raw_a":10.182128,"cg_iq_a":-202.578003,"cg_iq_raw_a":-200.461639,"cg_iu_a":-177.193573,"cg_iv_a":5.54199219,"cg_iw_a":171.651581,"cg_sample_age_us":23.8818188,"cg_sample_seq":4782817,"cg_sample_valid":1,"cg_theta_rad":1.76733875,"cg_vd_req_v":-2.00601578,"cg_vd_v":-2.00601578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33059788,"cg_vq_v":-8.33059788,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5385132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":683.784546,"values":{"Elec_RPM":-2348.66748,"EncoderCos":18830,"EncoderSin":47304,"GapTicks":49557,"Mech_RPM":-469.73349,"cg_du":54.9477806,"cg_dv":45.0522194,"cg_dw":47.2852898,"cg_id_a":15.6320124,"cg_id_raw_a":12.4757776,"cg_iq_a":-203.334534,"cg_iq_raw_a":-200.428848,"cg_iu_a":195.900452,"cg_iv_a":-48.5700684,"cg_iw_a":-147.330383,"cg_sample_age_us":23.8963642,"cg_sample_seq":4784517,"cg_sample_valid":1,"cg_theta_rad":2.33879924,"cg_vd_req_v":-2.24197817,"cg_vd_v":-2.24197817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3512907,"cg_vq_v":-8.3512907,"cg_vu_v":106.893898,"cg_vv_v":102.494972,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2506.73755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":684.102957,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":684.102963,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":684.102968,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":684.11853,"values":{"Elec_RPM":-2349.82861,"EncoderCos":13101,"EncoderSin":37244,"GapTicks":49344,"Mech_RPM":-469.965729,"cg_du":44.8585167,"cg_dv":55.1414833,"cg_dw":51.2828712,"cg_id_a":-4.26221704,"cg_id_raw_a":-3.93386006,"cg_iq_a":-195.712646,"cg_iq_raw_a":-196.128006,"cg_iu_a":-195.714172,"cg_iv_a":103.146622,"cg_iw_a":92.5675507,"cg_sample_age_us":23.8890915,"cg_sample_seq":4786217,"cg_sample_valid":1,"cg_theta_rad":2.92281389,"cg_vd_req_v":-1.77997911,"cg_vd_v":-1.77997911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4963665,"cg_vq_v":-8.4963665,"cg_vu_v":108.21357,"cg_vv_v":107.333786,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-18.299572,"dclink_p_w":-2648.39917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5068665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":684.450562,"values":{"Elec_RPM":-2350.5481,"EncoderCos":13817,"EncoderSin":25881,"GapTicks":49374,"Mech_RPM":-470.109619,"cg_du":55.1139145,"cg_dv":44.8860855,"cg_dw":50.8385315,"cg_id_a":-16.7030697,"cg_id_raw_a":-17.0772591,"cg_iq_a":-196.419434,"cg_iq_raw_a":-196.749542,"cg_iu_a":181.511658,"cg_iv_a":-155.851822,"cg_iw_a":-25.6598358,"cg_sample_age_us":24.0745449,"cg_sample_seq":4787917,"cg_sample_valid":1,"cg_theta_rad":3.49242258,"cg_vd_req_v":-1.53362632,"cg_vd_v":-1.53362632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44614983,"cg_vq_v":-8.44614983,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.6073151,"dclink_p_w":-2548.21265,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4735107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":684.802124,"values":{"Elec_RPM":-2352.66748,"EncoderCos":20424,"EncoderSin":16679,"GapTicks":49851,"Mech_RPM":-470.533508,"cg_du":45.3197365,"cg_dv":54.6802635,"cg_dw":46.2648659,"cg_id_a":7.04723883,"cg_id_raw_a":10.5092621,"cg_iq_a":-203.713043,"cg_iq_raw_a":-204.759048,"cg_iu_a":-171.756989,"cg_iv_a":178.896225,"cg_iw_a":-7.13923645,"cg_sample_age_us":23.9618187,"cg_sample_seq":4789617,"cg_sample_valid":1,"cg_theta_rad":4.06881571,"cg_vd_req_v":-2.02256346,"cg_vd_v":-2.02256346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34385681,"cg_vq_v":-8.34385681,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2542.18018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4963379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":685.094798,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":685.094804,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":685.094809,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":685.136108,"values":{"Elec_RPM":-2354.59839,"EncoderCos":21021,"EncoderSin":16257,"GapTicks":49437,"Mech_RPM":-470.919678,"cg_du":44.9433937,"cg_dv":55.0566063,"cg_dw":48.1469994,"cg_id_a":-10.2361813,"cg_id_raw_a":-6.88142824,"cg_iq_a":-199.478195,"cg_iq_raw_a":-201.013687,"cg_iu_a":-179.078247,"cg_iv_a":164.289978,"cg_iw_a":14.7882767,"cg_sample_age_us":23.9036369,"cg_sample_seq":4791367,"cg_sample_valid":1,"cg_theta_rad":4.10646486,"cg_vd_req_v":-1.68117189,"cg_vd_v":-1.68117189,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4453764,"cg_vq_v":-8.4453764,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2542.01538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5068665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":685.487671,"values":{"Elec_RPM":-2352.92993,"EncoderCos":32222,"EncoderSin":12674,"GapTicks":49783,"Mech_RPM":-470.585968,"cg_du":54.7425766,"cg_dv":45.2574234,"cg_dw":53.5399513,"cg_id_a":7.3017025,"cg_id_raw_a":11.5652685,"cg_iq_a":-200.204346,"cg_iq_raw_a":-200.35997,"cg_iu_a":171.472107,"cg_iv_a":-173.103882,"cg_iw_a":1.6317749,"cg_sample_age_us":24.0127277,"cg_sample_seq":4793066,"cg_sample_valid":1,"cg_theta_rad":4.70153666,"cg_vd_req_v":-2.02539515,"cg_vd_v":-2.02539515,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38907051,"cg_vq_v":-8.38907051,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5121155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":685.821655,"values":{"Elec_RPM":-2352.75415,"EncoderCos":42919,"EncoderSin":15450,"GapTicks":49592,"Mech_RPM":-470.550842,"cg_du":47.4694748,"cg_dv":54.9157753,"cg_dw":45.0842247,"cg_id_a":5.49290133,"cg_id_raw_a":1.28920448,"cg_iq_a":-203.238724,"cg_iq_raw_a":-202.121155,"cg_iu_a":-136.383011,"cg_iv_a":200.062637,"cg_iw_a":-63.6796265,"cg_sample_age_us":23.9727268,"cg_sample_seq":4794767,"cg_sample_valid":1,"cg_theta_rad":5.26143599,"cg_vd_req_v":-2.0965724,"cg_vd_v":-2.0965724,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30966759,"cg_vq_v":-8.30966759,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2440.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5174255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":686.086716,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":686.086722,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":686.086728,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":686.153687,"values":{"Elec_RPM":-2348.04224,"EncoderCos":50630,"EncoderSin":24000,"GapTicks":49290,"Mech_RPM":-469.608459,"cg_du":50.7542534,"cg_dv":44.8094368,"cg_dw":55.1905632,"cg_id_a":-3.19752979,"cg_id_raw_a":-7.48788166,"cg_iq_a":-197.959351,"cg_iq_raw_a":-197.458923,"cg_iu_a":102.391365,"cg_iv_a":-199.48938,"cg_iw_a":97.0980225,"cg_sample_age_us":23.7654552,"cg_sample_seq":4796467,"cg_sample_valid":1,"cg_theta_rad":5.85272074,"cg_vd_req_v":-1.92683136,"cg_vd_v":-1.92683136,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46153927,"cg_vq_v":-8.46153927,"cg_vu_v":3.07924795,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.4857788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":686.505249,"values":{"Elec_RPM":-2346.14233,"EncoderCos":52412,"EncoderSin":35397,"GapTicks":49344,"Mech_RPM":-469.228455,"cg_du":50.9465599,"cg_dv":55.1416588,"cg_dw":44.8583412,"cg_id_a":-15.5424976,"cg_id_raw_a":-14.7712536,"cg_iq_a":-195.110626,"cg_iq_raw_a":-195.027985,"cg_iu_a":-28.3763866,"cg_iv_a":182.448135,"cg_iw_a":-154.071747,"cg_sample_age_us":23.5145454,"cg_sample_seq":4798166,"cg_sample_valid":1,"cg_theta_rad":0.143283725,"cg_vd_req_v":-1.63470614,"cg_vd_v":-1.63470614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51152039,"cg_vq_v":-8.51152039,"cg_vu_v":40.4701157,"cg_vv_v":64.2243118,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2467.56787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5121155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":686.839233,"values":{"Elec_RPM":-2349.76221,"EncoderCos":47723,"EncoderSin":45912,"GapTicks":49794,"Mech_RPM":-469.952454,"cg_du":46.7062798,"cg_dv":45.2675743,"cg_dw":54.7324257,"cg_id_a":2.42024422,"cg_id_raw_a":8.63931847,"cg_iq_a":-204.629364,"cg_iq_raw_a":-206.813995,"cg_iu_a":-4.27423906,"cg_iv_a":-174.879807,"cg_iw_a":179.154053,"cg_sample_age_us":23.5145454,"cg_sample_seq":4799866,"cg_sample_valid":1,"cg_theta_rad":0.724750817,"cg_vd_req_v":-1.959764,"cg_vd_v":-1.959764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2947607,"cg_vq_v":-8.2947607,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5261841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":687.079213,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":687.079219,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":687.079225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":687.190796,"values":{"Elec_RPM":-2347.16992,"EncoderCos":38968,"EncoderSin":51656,"GapTicks":49396,"Mech_RPM":-469.43396,"cg_du":55.0944099,"cg_dv":51.4364204,"cg_dw":44.9055901,"cg_id_a":4.47241402,"cg_id_raw_a":0.423713446,"cg_iq_a":-202.22142,"cg_iq_raw_a":-202.526566,"cg_iu_a":42.7340126,"cg_iv_a":153.851746,"cg_iw_a":-196.585754,"cg_sample_age_us":23.7981815,"cg_sample_seq":4801570,"cg_sample_valid":1,"cg_theta_rad":1.29693627,"cg_vd_req_v":-2.02888823,"cg_vd_v":-2.02888823,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35653496,"cg_vq_v":-8.35653496,"cg_vu_v":40.4701157,"cg_vv_v":51.4674301,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2499.93921,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4822693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":687.522827,"values":{"Elec_RPM":-2344.14429,"EncoderCos":26979,"EncoderSin":52026,"GapTicks":49343,"Mech_RPM":-468.828857,"cg_du":44.8581696,"cg_dv":49.0847206,"cg_dw":55.1418304,"cg_id_a":-11.0789299,"cg_id_raw_a":-14.6282654,"cg_iq_a":-197.769379,"cg_iq_raw_a":-196.26947,"cg_iu_a":-115.470322,"cg_iv_a":-79.1236115,"cg_iw_a":194.593933,"cg_sample_age_us":23.8963642,"cg_sample_seq":4803267,"cg_sample_valid":1,"cg_theta_rad":1.86285698,"cg_vd_req_v":-1.68157518,"cg_vd_v":-1.68157518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47270012,"cg_vq_v":-8.47270012,"cg_vu_v":112.172607,"cg_vv_v":122.290138,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2439.68286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5349731,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":687.854858,"values":{"Elec_RPM":-2349.22388,"EncoderCos":12841,"EncoderSin":35957,"GapTicks":49839,"Mech_RPM":-469.844757,"cg_du":45.308548,"cg_dv":54.691452,"cg_dw":53.7533836,"cg_id_a":11.2413464,"cg_id_raw_a":11.2159328,"cg_iq_a":-199.90448,"cg_iq_raw_a":-199.085342,"cg_iu_a":-187.66803,"cg_iv_a":29.1004639,"cg_iw_a":158.567566,"cg_sample_age_us":23.9654541,"cg_sample_seq":4804916,"cg_sample_valid":1,"cg_theta_rad":2.98760796,"cg_vd_req_v":-2.0839932,"cg_vd_v":-2.0839932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3808012,"cg_vq_v":-8.3808012,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4647217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":688.103262,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":688.103267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":688.103273,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":688.231812,"values":{"Elec_RPM":-2349.21851,"EncoderCos":13901,"EncoderSin":25705,"GapTicks":49335,"Mech_RPM":-469.843719,"cg_du":55.1495895,"cg_dv":44.8504105,"cg_dw":50.4248009,"cg_id_a":-17.1754456,"cg_id_raw_a":-17.8269176,"cg_iq_a":-197.11026,"cg_iq_raw_a":-196.905121,"cg_iu_a":198.908691,"cg_iv_a":-101.0149,"cg_iw_a":-97.8937912,"cg_sample_age_us":23.9799995,"cg_sample_seq":4806621,"cg_sample_valid":1,"cg_theta_rad":3.547405,"cg_vd_req_v":-1.55381227,"cg_vd_v":-1.55381227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47414398,"cg_vq_v":-8.47414398,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2448.81274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5543213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":688.74939,"values":{"Elec_RPM":-2348.1687,"EncoderCos":52319,"EncoderSin":35930,"GapTicks":49336,"Mech_RPM":-469.633759,"cg_du":49.7966919,"cg_dv":55.1486893,"cg_dw":44.8513107,"cg_id_a":-16.8133068,"cg_id_raw_a":-17.525156,"cg_iq_a":-198.606369,"cg_iq_raw_a":-196.710464,"cg_iu_a":-112.244614,"cg_iv_a":200.570038,"cg_iw_a":-88.3254242,"cg_sample_age_us":26.3945446,"cg_sample_seq":4809270,"cg_sample_valid":1,"cg_theta_rad":0.212393343,"cg_vd_req_v":-1.62614834,"cg_vd_v":-1.62614834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45137501,"cg_vq_v":-8.45137501,"cg_vu_v":39.590332,"cg_vv_v":69.9429169,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.519165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":688.967305,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":688.967316,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":688.967319,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":689.094902,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":689.094908,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":689.094913,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":689.182983,"values":{"Elec_RPM":-2343.58862,"EncoderCos":48927,"EncoderSin":44402,"GapTicks":49376,"Mech_RPM":-468.717712,"cg_du":44.887516,"cg_dv":48.3963814,"cg_dw":55.112484,"cg_id_a":3.8844738,"cg_id_raw_a":-2.73967385,"cg_iq_a":-197.51593,"cg_iq_raw_a":-197.61908,"cg_iu_a":-83.5032578,"cg_iv_a":-115.766151,"cg_iw_a":199.269409,"cg_sample_age_us":23.5400009,"cg_sample_seq":4811566,"cg_sample_valid":1,"cg_theta_rad":0.629188299,"cg_vd_req_v":-2.04512525,"cg_vd_v":-2.04512525,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43833351,"cg_vq_v":-8.43833351,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5437622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":689.534546,"values":{"Elec_RPM":-2343.46875,"EncoderCos":48572,"EncoderSin":44861,"GapTicks":49557,"Mech_RPM":-468.693726,"cg_du":45.0518799,"cg_dv":47.4102478,"cg_dw":54.9481201,"cg_id_a":16.5826206,"cg_id_raw_a":14.5489578,"cg_iq_a":-202.018494,"cg_iq_raw_a":-200.215988,"cg_iu_a":-47.9843025,"cg_iv_a":-146.790848,"cg_iw_a":194.775146,"cg_sample_age_us":23.51091,"cg_sample_seq":4813317,"cg_sample_valid":1,"cg_theta_rad":0.658234954,"cg_vd_req_v":-2.28525591,"cg_vd_v":-2.28525591,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33049107,"cg_vq_v":-8.33049107,"cg_vu_v":134.167236,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.5293903,"dclink_p_w":-2529.22388,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5613708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":689.866577,"values":{"Elec_RPM":-2342.09131,"EncoderCos":39234,"EncoderSin":51555,"GapTicks":49353,"Mech_RPM":-468.418274,"cg_du":55.1329155,"cg_dv":50.9647675,"cg_dw":44.8670845,"cg_id_a":-2.68617272,"cg_id_raw_a":-5.46843243,"cg_iq_a":-200.278824,"cg_iq_raw_a":-200.590073,"cg_iu_a":108.299103,"cg_iv_a":95.354187,"cg_iw_a":-203.65329,"cg_sample_age_us":23.863636,"cg_sample_seq":4815016,"cg_sample_valid":1,"cg_theta_rad":1.24090683,"cg_vd_req_v":-1.88065135,"cg_vd_v":-1.88065135,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39383411,"cg_vq_v":-8.39383411,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.7232952,"dclink_p_w":-2564.9978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5279541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":690.08732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":690.087326,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":690.087332,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":690.200562,"values":{"Elec_RPM":-2342.39795,"EncoderCos":18561,"EncoderSin":46970,"GapTicks":49781,"Mech_RPM":-468.479614,"cg_du":54.7444496,"cg_dv":45.2555504,"cg_dw":46.4310455,"cg_id_a":18.1172771,"cg_id_raw_a":20.9415989,"cg_iq_a":-203.206757,"cg_iq_raw_a":-203.562637,"cg_iu_a":190.028946,"cg_iv_a":-28.3822479,"cg_iw_a":-154.832855,"cg_sample_age_us":23.994545,"cg_sample_seq":4816666,"cg_sample_valid":1,"cg_theta_rad":2.35576463,"cg_vd_req_v":-2.26846027,"cg_vd_v":-2.26846027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34112644,"cg_vq_v":-8.34112644,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2462.04346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":690.552124,"values":{"Elec_RPM":-2345.85547,"EncoderCos":13535,"EncoderSin":26703,"GapTicks":49676,"Mech_RPM":-469.171082,"cg_du":54.8393288,"cg_dv":45.1606712,"cg_dw":53.0877609,"cg_id_a":1.09481823,"cg_id_raw_a":7.21477556,"cg_iq_a":-200.787369,"cg_iq_raw_a":-202.535049,"cg_iu_a":171.617081,"cg_iv_a":-173.647522,"cg_iw_a":2.03044891,"cg_sample_age_us":24.1472721,"cg_sample_seq":4818317,"cg_sample_valid":1,"cg_theta_rad":3.45412254,"cg_vd_req_v":-1.8866421,"cg_vd_v":-1.8866421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3825779,"cg_vq_v":-8.3825779,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.4822731,"dclink_p_w":-2537.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4998169,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":690.884155,"values":{"Elec_RPM":-2353.90088,"EncoderCos":13787,"EncoderSin":25947,"GapTicks":49358,"Mech_RPM":-470.780151,"cg_du":55.1283569,"cg_dv":44.8716431,"cg_dw":50.9694672,"cg_id_a":-18.4926739,"cg_id_raw_a":-15.0210218,"cg_iq_a":-196.04541,"cg_iq_raw_a":-196.81221,"cg_iu_a":181.547897,"cg_iv_a":-157.26532,"cg_iw_a":-24.2825775,"cg_sample_age_us":23.9909096,"cg_sample_seq":4820067,"cg_sample_valid":1,"cg_theta_rad":3.4958427,"cg_vd_req_v":-1.50753844,"cg_vd_v":-1.50753844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48824215,"cg_vq_v":-8.48824215,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2415.24219,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5121155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":691.111447,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":691.111453,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":691.111458,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":691.21814,"values":{"Elec_RPM":-2349.98828,"EncoderCos":30697,"EncoderSin":12783,"GapTicks":49466,"Mech_RPM":-469.99765,"cg_du":52.1959381,"cg_dv":44.9693985,"cg_dw":55.0306015,"cg_id_a":9.86852646,"cg_id_raw_a":10.0119658,"cg_iq_a":-197.622391,"cg_iq_raw_a":-197.034607,"cg_iu_a":131.422668,"cg_iv_a":-194.7052,"cg_iw_a":63.2825317,"cg_sample_age_us":23.7072735,"cg_sample_seq":4821716,"cg_sample_valid":1,"cg_theta_rad":4.626122,"cg_vd_req_v":-2.1231885,"cg_vd_v":-2.1231885,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.432868,"cg_vq_v":-8.432868,"cg_vu_v":46.1887207,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5683899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":691.569702,"values":{"Elec_RPM":-2350.18164,"EncoderCos":21351,"EncoderSin":16023,"GapTicks":49364,"Mech_RPM":-470.036316,"cg_du":44.8763733,"cg_dv":55.1236267,"cg_dw":49.1013794,"cg_id_a":-12.843668,"cg_id_raw_a":-11.1675739,"cg_iq_a":-196.75531,"cg_iq_raw_a":-197.13887,"cg_iu_a":-184.949753,"cg_iv_a":157.186172,"cg_iw_a":24.8640594,"cg_sample_age_us":23.954546,"cg_sample_seq":4823516,"cg_sample_valid":1,"cg_theta_rad":4.12399387,"cg_vd_req_v":-1.62885916,"cg_vd_v":-1.62885916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47714996,"cg_vq_v":-8.47714996,"cg_vu_v":0.87978512,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.0162106,"dclink_p_w":-2324.98608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5261841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":691.901733,"values":{"Elec_RPM":-2352.32324,"EncoderCos":50028,"EncoderSin":22832,"GapTicks":49498,"Mech_RPM":-470.464661,"cg_du":48.0226974,"cg_dv":44.9987755,"cg_dw":55.0012245,"cg_id_a":-11.2424612,"cg_id_raw_a":-7.33589315,"cg_iq_a":-201.741425,"cg_iq_raw_a":-204.174896,"cg_iu_a":14.0651407,"cg_iv_a":-179.953964,"cg_iw_a":165.888824,"cg_sample_age_us":23.9618187,"cg_sample_seq":4825116,"cg_sample_valid":1,"cg_theta_rad":5.78043127,"cg_vd_req_v":-1.73714781,"cg_vd_v":-1.73714781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39484787,"cg_vq_v":-8.39484787,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2608,"hz_tim_isr":4999,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5385132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":692.103444,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":692.10345,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":692.103456,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":692.255249,"values":{"Elec_RPM":-2346.40186,"EncoderCos":43096,"EncoderSin":15569,"GapTicks":49653,"Mech_RPM":-469.280396,"cg_du":47.0816879,"cg_dv":54.8607903,"cg_dw":45.1392097,"cg_id_a":9.43524933,"cg_id_raw_a":6.91798973,"cg_iq_a":-204.324371,"cg_iq_raw_a":-203.456909,"cg_iu_a":-148.089783,"cg_iv_a":198.286697,"cg_iw_a":-50.1969147,"cg_sample_age_us":23.9509087,"cg_sample_seq":4826916,"cg_sample_valid":1,"cg_theta_rad":5.27207184,"cg_vd_req_v":-2.17428517,"cg_vd_v":-2.17428517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31771088,"cg_vq_v":-8.31771088,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.9987488,"dclink_p_w":-2604.86279,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5156555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":692.58728,"values":{"Elec_RPM":-2351.62988,"EncoderCos":48654,"EncoderSin":44762,"GapTicks":49520,"Mech_RPM":-470.325989,"cg_du":45.0184822,"cg_dv":47.6394653,"cg_dw":54.9815178,"cg_id_a":14.0288477,"cg_id_raw_a":10.8516054,"cg_iq_a":-201.101273,"cg_iq_raw_a":-200.684158,"cg_iu_a":-55.7404823,"cg_iv_a":-142.042908,"cg_iw_a":197.783386,"cg_sample_age_us":23.51091,"cg_sample_seq":4828516,"cg_sample_valid":1,"cg_theta_rad":0.653857827,"cg_vd_req_v":-2.23549175,"cg_vd_v":-2.23549175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33617783,"cg_vq_v":-8.33617783,"cg_vu_v":17.1558094,"cg_vv_v":0.87978512,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5209045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":692.917358,"values":{"Elec_RPM":-2351.34839,"EncoderCos":52358,"EncoderSin":35513,"GapTicks":49334,"Mech_RPM":-470.269684,"cg_du":50.6887016,"cg_dv":55.1501846,"cg_dw":44.8498154,"cg_id_a":-15.3305931,"cg_id_raw_a":-14.8877316,"cg_iq_a":-194.857071,"cg_iq_raw_a":-194.98671,"cg_iu_a":-34.4291077,"cg_iv_a":180.490952,"cg_iw_a":-154.2892,"cg_sample_age_us":23.4927273,"cg_sample_seq":4830316,"cg_sample_valid":1,"cg_theta_rad":0.14753224,"cg_vd_req_v":-1.64162982,"cg_vd_v":-1.64162982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47473717,"cg_vq_v":-8.47473717,"cg_vu_v":39.1504402,"cg_vv_v":52.7871094,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2526.70654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5156555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":693.095512,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":693.095518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":693.095524,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":693.272827,"values":{"Elec_RPM":-2352.04419,"EncoderCos":47905,"EncoderSin":45746,"GapTicks":49942,"Mech_RPM":-470.408844,"cg_du":46.1157913,"cg_dv":45.4022522,"cg_dw":54.5977478,"cg_id_a":6.48763466,"cg_id_raw_a":10.9478502,"cg_iq_a":-205.751404,"cg_iq_raw_a":-205.69754,"cg_iu_a":-8.84096146,"cg_iv_a":-172.560226,"cg_iw_a":181.401184,"cg_sample_age_us":23.4854546,"cg_sample_seq":4832017,"cg_sample_valid":1,"cg_theta_rad":0.716089785,"cg_vd_req_v":-2.05570817,"cg_vd_v":-2.05570817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29784393,"cg_vq_v":-8.29784393,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2483.72778,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5420227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":693.604858,"values":{"Elec_RPM":-2356.5769,"EncoderCos":38306,"EncoderSin":51852,"GapTicks":49583,"Mech_RPM":-471.315399,"cg_du":54.9238205,"cg_dv":52.7887459,"cg_dw":45.0761795,"cg_id_a":13.6754951,"cg_id_raw_a":11.039731,"cg_iq_a":-202.662369,"cg_iq_raw_a":-201.19104,"cg_iu_a":49.2216568,"cg_iv_a":145.696869,"cg_iw_a":-194.918533,"cg_sample_age_us":23.8963642,"cg_sample_seq":4833717,"cg_sample_valid":1,"cg_theta_rad":1.29025507,"cg_vd_req_v":-2.19299293,"cg_vd_v":-2.19299293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37476254,"cg_vq_v":-8.37476254,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":693.956421,"values":{"Elec_RPM":-2353.76514,"EncoderCos":27512,"EncoderSin":52148,"GapTicks":49374,"Mech_RPM":-470.753052,"cg_du":44.8858681,"cg_dv":50.2179413,"cg_dw":55.1141319,"cg_id_a":-16.1668892,"cg_id_raw_a":-13.8815289,"cg_iq_a":-199.216217,"cg_iq_raw_a":-201.027496,"cg_iu_a":-99.233078,"cg_iv_a":-98.5140839,"cg_iw_a":197.747162,"cg_sample_age_us":26.4163628,"cg_sample_seq":4835420,"cg_sample_valid":1,"cg_theta_rad":1.88016176,"cg_vd_req_v":-1.54962492,"cg_vd_v":-1.54962492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40738106,"cg_vq_v":-8.40738106,"cg_vu_v":34.3116188,"cg_vv_v":32.5520515,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.5254364,"dclink_p_w":-2391.63818,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5437622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":694.118716,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":694.118722,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":694.118727,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":694.290405,"values":{"Elec_RPM":-2357.99341,"EncoderCos":14020,"EncoderSin":25312,"GapTicks":49315,"Mech_RPM":-471.598694,"cg_du":55.167614,"cg_dv":44.832386,"cg_dw":49.6359634,"cg_id_a":-11.5923443,"cg_id_raw_a":-12.6759615,"cg_iq_a":-197.159561,"cg_iq_raw_a":-197.129715,"cg_iu_a":191.478699,"cg_iv_a":-137.113739,"cg_iw_a":-54.3649521,"cg_sample_age_us":23.9836369,"cg_sample_seq":4837016,"cg_sample_valid":1,"cg_theta_rad":3.51672053,"cg_vd_req_v":-1.6759125,"cg_vd_v":-1.6759125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4788847,"cg_vq_v":-8.4788847,"cg_vu_v":43.1094704,"cg_vv_v":33.871727,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2391.01563,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5226746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":694.620483,"values":{"Elec_RPM":-2356.35571,"EncoderCos":12737,"EncoderSin":35352,"GapTicks":49881,"Mech_RPM":-471.271149,"cg_du":45.3469887,"cg_dv":53.9486465,"cg_dw":54.6530113,"cg_id_a":9.2780838,"cg_id_raw_a":12.9022598,"cg_iq_a":-202.047058,"cg_iq_raw_a":-200.644318,"cg_iu_a":-179.186981,"cg_iv_a":8.94888306,"cg_iw_a":170.238098,"cg_sample_age_us":23.8345451,"cg_sample_seq":4838817,"cg_sample_valid":1,"cg_theta_rad":3.01827741,"cg_vd_req_v":-2.02930713,"cg_vd_v":-2.02930713,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39073944,"cg_vq_v":-8.39073944,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2463.33301,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5824585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":694.954468,"values":{"Elec_RPM":-2356.41602,"EncoderCos":31614,"EncoderSin":12685,"GapTicks":49900,"Mech_RPM":-471.283203,"cg_du":54.0035133,"cg_dv":45.3644638,"cg_dw":54.6355362,"cg_id_a":16.2765827,"cg_id_raw_a":15.5795584,"cg_iq_a":-202.220917,"cg_iq_raw_a":-201.000443,"cg_iu_a":167.050354,"cg_iv_a":-184.158234,"cg_iw_a":17.1078796,"cg_sample_age_us":24.0563641,"cg_sample_seq":4840417,"cg_sample_valid":1,"cg_theta_rad":4.67061567,"cg_vd_req_v":-2.23655844,"cg_vd_v":-2.23655844,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33507824,"cg_vq_v":-8.33507824,"cg_vu_v":126.689056,"cg_vv_v":118.3311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5596008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":695.079088,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":695.079093,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":695.079098,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":695.30603,"values":{"Elec_RPM":-2353.84473,"EncoderCos":22195,"EncoderSin":15529,"GapTicks":49346,"Mech_RPM":-470.768951,"cg_du":44.860527,"cg_dv":55.139473,"cg_dw":51.0817413,"cg_id_a":-5.30668068,"cg_id_raw_a":-9.91236687,"cg_iq_a":-197.442139,"cg_iq_raw_a":-196.289246,"cg_iu_a":-196.294067,"cg_iv_a":108.800644,"cg_iw_a":87.4934235,"cg_sample_age_us":23.9654541,"cg_sample_seq":4842217,"cg_sample_valid":1,"cg_theta_rad":4.17361975,"cg_vd_req_v":-1.81129038,"cg_vd_v":-1.81129038,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43332481,"cg_vq_v":-8.43332481,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.928072,"dclink_p_w":-2594.63403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5578613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":695.638062,"values":{"Elec_RPM":-2344.21924,"EncoderCos":50548,"EncoderSin":23844,"GapTicks":49269,"Mech_RPM":-468.843842,"cg_du":50.4038467,"cg_dv":44.7905121,"cg_dw":55.2094879,"cg_id_a":-4.19114828,"cg_id_raw_a":-8.27391243,"cg_iq_a":-195.047302,"cg_iq_raw_a":-194.345123,"cg_iu_a":77.7093124,"cg_iv_a":-193.944092,"cg_iw_a":116.234772,"cg_sample_age_us":23.7399998,"cg_sample_seq":4843817,"cg_sample_valid":1,"cg_theta_rad":5.83533573,"cg_vd_req_v":-1.89351654,"cg_vd_v":-1.89351654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5062809,"cg_vq_v":-8.5062809,"cg_vu_v":116.131638,"cg_vv_v":116.131638,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2498.60962,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5683899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":695.989624,"values":{"Elec_RPM":-2344.73584,"EncoderCos":44050,"EncoderSin":16223,"GapTicks":49814,"Mech_RPM":-468.947144,"cg_du":45.286068,"cg_dv":54.713932,"cg_dw":46.4482498,"cg_id_a":4.88837147,"cg_id_raw_a":5.98466682,"cg_iq_a":-202.436844,"cg_iq_raw_a":-203.372086,"cg_iu_a":-171.249573,"cg_iv_a":176.902817,"cg_iw_a":-5.65324402,"cg_sample_age_us":23.8272724,"cg_sample_seq":4845617,"cg_sample_valid":1,"cg_theta_rad":5.32798862,"cg_vd_req_v":-2.05839491,"cg_vd_v":-2.05839491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36734867,"cg_vq_v":-8.36734867,"cg_vu_v":93.6971207,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5367432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":696.102812,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":696.102818,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":696.102823,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":696.323608,"values":{"Elec_RPM":-2348.2793,"EncoderCos":48095,"EncoderSin":45477,"GapTicks":50034,"Mech_RPM":-469.655853,"cg_du":45.4855423,"cg_dv":45.8298836,"cg_dw":54.5144577,"cg_id_a":14.5529699,"cg_id_raw_a":17.4585953,"cg_iq_a":-209.12941,"cg_iq_raw_a":-208.452408,"cg_iu_a":-17.9381638,"cg_iv_a":-168.428421,"cg_iw_a":193.289154,"cg_sample_age_us":23.4272728,"cg_sample_seq":4847217,"cg_sample_valid":1,"cg_theta_rad":0.695681632,"cg_vd_req_v":-2.23151541,"cg_vd_v":-2.23151541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22683716,"cg_vq_v":-8.22683716,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5455322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":696.657593,"values":{"Elec_RPM":-2345.56616,"EncoderCos":52218,"EncoderSin":36389,"GapTicks":49361,"Mech_RPM":-469.11322,"cg_du":48.8776436,"cg_dv":55.126133,"cg_dw":44.873867,"cg_id_a":-9.97925472,"cg_id_raw_a":-13.4638004,"cg_iq_a":-199.553558,"cg_iq_raw_a":-199.406815,"cg_iu_a":-104.053513,"cg_iv_a":199.591461,"cg_iw_a":-95.5379486,"cg_sample_age_us":23.4854546,"cg_sample_seq":4849017,"cg_sample_valid":1,"cg_theta_rad":0.204965591,"cg_vd_req_v":-1.79751611,"cg_vd_v":-1.79751611,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41863155,"cg_vq_v":-8.41863155,"cg_vu_v":38.7105446,"cg_vv_v":58.5057106,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.0180225,"dclink_p_w":-2311.15649,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5455322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":697.009155,"values":{"Elec_RPM":-2350.76855,"EncoderCos":27186,"EncoderSin":52048,"GapTicks":49367,"Mech_RPM":-470.153687,"cg_du":44.8794136,"cg_dv":49.4923019,"cg_dw":55.1205864,"cg_id_a":-13.1059656,"cg_id_raw_a":-15.2121582,"cg_iq_a":-196.954163,"cg_iq_raw_a":-196.124664,"cg_iu_a":-126.92337,"cg_iv_a":-65.6046753,"cg_iw_a":192.528046,"cg_sample_age_us":23.8709087,"cg_sample_seq":4850617,"cg_sample_valid":1,"cg_theta_rad":1.85025656,"cg_vd_req_v":-1.62264037,"cg_vd_v":-1.62264037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44274426,"cg_vq_v":-8.44274426,"cg_vu_v":101.175293,"cg_vv_v":96.7763672,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.8139038,"dclink_p_w":-2578.11108,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.510376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":697.094854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":697.09486,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":697.094865,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":697.341187,"values":{"Elec_RPM":-2351.13965,"EncoderCos":37038,"EncoderSin":52206,"GapTicks":49713,"Mech_RPM":-470.227905,"cg_du":53.1773872,"cg_dv":54.8063087,"cg_dw":45.1936913,"cg_id_a":0.0792655945,"cg_id_raw_a":6.52980185,"cg_iq_a":-198.932755,"cg_iq_raw_a":-200.628159,"cg_iu_a":3.62691689,"cg_iv_a":168.276794,"cg_iw_a":-171.903717,"cg_sample_age_us":23.8163643,"cg_sample_seq":4852417,"cg_sample_valid":1,"cg_theta_rad":1.35733354,"cg_vd_req_v":-1.87695765,"cg_vd_v":-1.87695765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41654205,"cg_vq_v":-8.41654205,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2490.98071,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5895081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":697.675171,"values":{"Elec_RPM":-2350.54736,"EncoderCos":12803,"EncoderSin":35692,"GapTicks":49961,"Mech_RPM":-470.109497,"cg_du":45.4196472,"cg_dv":54.5803528,"cg_dw":54.2958336,"cg_id_a":12.9339294,"cg_id_raw_a":12.9207544,"cg_iq_a":-200.827332,"cg_iq_raw_a":-198.926041,"cg_iu_a":-181.651566,"cg_iv_a":18.5535126,"cg_iw_a":163.098053,"cg_sample_age_us":23.8345451,"cg_sample_seq":4854017,"cg_sample_valid":1,"cg_theta_rad":2.99939179,"cg_vd_req_v":-2.11962485,"cg_vd_v":-2.11962485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41522789,"cg_vq_v":-8.41522789,"cg_vu_v":129.768311,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2394.52295,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5332336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":698.026733,"values":{"Elec_RPM":-2345.38965,"EncoderCos":16599,"EncoderSin":44783,"GapTicks":49369,"Mech_RPM":-469.077942,"cg_du":55.1185303,"cg_dv":51.1434135,"cg_dw":44.8814697,"cg_id_a":3.24769235,"cg_id_raw_a":0.995617628,"cg_iq_a":-201.486053,"cg_iq_raw_a":-196.861832,"cg_iu_a":95.5050354,"cg_iv_a":105.828659,"cg_iw_a":-201.333694,"cg_sample_age_us":23.8818188,"cg_sample_seq":4855817,"cg_sample_valid":1,"cg_theta_rad":2.50313759,"cg_vd_req_v":-1.9867208,"cg_vd_v":-1.9867208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39266396,"cg_vq_v":-8.39266396,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2425.74023,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5613708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00584115367,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":698.087332,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":698.087338,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":698.087343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":698.475952,"values":{"Elec_RPM":-2343.5835,"EncoderCos":50954,"EncoderSin":40535,"GapTicks":49356,"Mech_RPM":-468.716675,"cg_du":44.8691101,"cg_dv":55.1308899,"cg_dw":51.3212128,"cg_id_a":-1.40523303,"cg_id_raw_a":-3.18773699,"cg_iq_a":-196.315735,"cg_iq_raw_a":-196.505524,"cg_iu_a":-197.018951,"cg_iv_a":84.4085541,"cg_iw_a":112.610397,"cg_sample_age_us":23.5618191,"cg_sample_seq":4857766,"cg_sample_valid":1,"cg_theta_rad":0.421223134,"cg_vd_req_v":-1.94723117,"cg_vd_v":-1.94723117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44712162,"cg_vq_v":-8.44712162,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5719299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":698.983381,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":698.983392,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":698.983395,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":698.99353,"values":{"Elec_RPM":-2337.05615,"EncoderCos":12955,"EncoderSin":29028,"GapTicks":49344,"Mech_RPM":-467.411255,"cg_du":51.0069962,"cg_dv":44.8587151,"cg_dw":55.1412849,"cg_id_a":-7.75501204,"cg_id_raw_a":-12.5550833,"cg_iq_a":-197.272476,"cg_iq_raw_a":-198.144348,"cg_iu_a":72.236496,"cg_iv_a":-194.7052,"cg_iw_a":122.468704,"cg_sample_age_us":23.6672726,"cg_sample_seq":4860416,"cg_sample_valid":1,"cg_theta_rad":3.32391214,"cg_vd_req_v":-1.7536397,"cg_vd_v":-1.7536397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44001198,"cg_vq_v":-8.44001198,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2492.87939,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5543213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":699.111066,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":699.111072,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":699.111077,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":699.352905,"values":{"Elec_RPM":-2341.99487,"EncoderCos":48319,"EncoderSin":45170,"GapTicks":49747,"Mech_RPM":-468.398956,"cg_du":45.2251968,"cg_dv":46.6214066,"cg_dw":54.7748032,"cg_id_a":18.0808144,"cg_id_raw_a":18.5269203,"cg_iq_a":-205.720337,"cg_iq_raw_a":-203.371872,"cg_iu_a":-32.3269653,"cg_iv_a":-161.505859,"cg_iw_a":193.832825,"cg_sample_age_us":23.59091,"cg_sample_seq":4862417,"cg_sample_valid":1,"cg_theta_rad":0.676031291,"cg_vd_req_v":-2.32178688,"cg_vd_v":-2.32178688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30093002,"cg_vq_v":-8.30093002,"cg_vu_v":104.694435,"cg_vv_v":94.1370087,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.5167046,"dclink_p_w":-2527.39355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5648804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":699.684937,"values":{"Elec_RPM":-2335.41699,"EncoderCos":38684,"EncoderSin":51750,"GapTicks":49497,"Mech_RPM":-467.083374,"cg_du":55.0019684,"cg_dv":52.0277367,"cg_dw":44.9980316,"cg_id_a":8.12148857,"cg_id_raw_a":6.40065289,"cg_iq_a":-201.91893,"cg_iq_raw_a":-203.420013,"cg_iu_a":72.8526382,"cg_iv_a":128.734772,"cg_iw_a":-201.587402,"cg_sample_age_us":23.9254551,"cg_sample_seq":4864116,"cg_sample_valid":1,"cg_theta_rad":1.26879501,"cg_vd_req_v":-2.08784485,"cg_vd_v":-2.08784485,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35402107,"cg_vq_v":-8.35402107,"cg_vu_v":42.2296829,"cg_vv_v":51.0275345,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5543213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":700.038452,"values":{"Elec_RPM":-2332.70435,"EncoderCos":18226,"EncoderSin":46629,"GapTicks":50040,"Mech_RPM":-466.540863,"cg_du":54.5082207,"cg_dv":45.7440071,"cg_dw":45.4917793,"cg_id_a":9.84081459,"cg_id_raw_a":14.4980164,"cg_iq_a":-203.656113,"cg_iq_raw_a":-207.566147,"cg_iu_a":182.417755,"cg_iv_a":-12.9786377,"cg_iw_a":-169.439117,"cg_sample_age_us":23.9654541,"cg_sample_seq":4865766,"cg_sample_valid":1,"cg_theta_rad":2.38188767,"cg_vd_req_v":-2.09508586,"cg_vd_v":-2.09508586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32053757,"cg_vq_v":-8.32053757,"cg_vu_v":40.4701157,"cg_vv_v":40.0302238,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5560608,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":700.10286,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":700.102866,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":700.102872,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":700.370483,"values":{"Elec_RPM":-2344.21777,"EncoderCos":26867,"EncoderSin":51973,"GapTicks":49379,"Mech_RPM":-468.843536,"cg_du":44.8908463,"cg_dv":48.8659325,"cg_dw":55.1091537,"cg_id_a":-9.34567165,"cg_id_raw_a":-12.7259798,"cg_iq_a":-198.81955,"cg_iq_raw_a":-198.586563,"cg_iu_a":-109.70755,"cg_iv_a":-87.0610199,"cg_iw_a":197.928375,"cg_sample_age_us":23.8600006,"cg_sample_seq":4867567,"cg_sample_valid":1,"cg_theta_rad":1.86700118,"cg_vd_req_v":-1.7162087,"cg_vd_v":-1.7162087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40839767,"cg_vq_v":-8.40839767,"cg_vu_v":112.172607,"cg_vv_v":122.730026,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2532.62305,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5895081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":700.702515,"values":{"Elec_RPM":-2347.82861,"EncoderCos":14101,"EncoderSin":25200,"GapTicks":49373,"Mech_RPM":-469.565704,"cg_du":55.1151161,"cg_dv":44.8848839,"cg_dw":49.3173981,"cg_id_a":-12.6291676,"cg_id_raw_a":-14.2728653,"cg_iq_a":-197.227493,"cg_iq_raw_a":-197.351929,"cg_iu_a":195.393036,"cg_iv_a":-120.876511,"cg_iw_a":-74.5165253,"cg_sample_age_us":24.1036358,"cg_sample_seq":4869166,"cg_sample_valid":1,"cg_theta_rad":3.53236938,"cg_vd_req_v":-1.64667737,"cg_vd_v":-1.64667737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44032097,"cg_vq_v":-8.44032097,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2487.89087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5473022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":701.05603,"values":{"Elec_RPM":-2348.38086,"EncoderCos":12789,"EncoderSin":35176,"GapTicks":49797,"Mech_RPM":-469.676147,"cg_du":45.2705727,"cg_dv":53.5079803,"cg_dw":54.7294273,"cg_id_a":5.58928299,"cg_id_raw_a":9.32336235,"cg_iq_a":-201.211502,"cg_iq_raw_a":-200.77887,"cg_iu_a":-174.910202,"cg_iv_a":4.12846375,"cg_iw_a":170.781738,"cg_sample_age_us":23.9327278,"cg_sample_seq":4870967,"cg_sample_valid":1,"cg_theta_rad":3.02630901,"cg_vd_req_v":-1.94631147,"cg_vd_v":-1.94631147,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37454987,"cg_vq_v":-8.37454987,"cg_vu_v":110.413033,"cg_vv_v":111.732712,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5631409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":701.095497,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":701.095503,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":701.095508,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":701.388062,"values":{"Elec_RPM":-2356.05688,"EncoderCos":31688,"EncoderSin":12695,"GapTicks":49927,"Mech_RPM":-471.211395,"cg_du":54.1590157,"cg_dv":45.3886681,"cg_dw":54.6113319,"cg_id_a":17.046627,"cg_id_raw_a":17.5187988,"cg_iq_a":-202.358704,"cg_iq_raw_a":-201.888626,"cg_iu_a":167.412796,"cg_iv_a":-183.433365,"cg_iw_a":16.0205688,"cg_sample_age_us":24.1254539,"cg_sample_seq":4872567,"cg_sample_valid":1,"cg_theta_rad":4.67344809,"cg_vd_req_v":-2.25203276,"cg_vd_v":-2.25203276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36404896,"cg_vq_v":-8.36404896,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.5859985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":701.720093,"values":{"Elec_RPM":-2355.36646,"EncoderCos":42936,"EncoderSin":15470,"GapTicks":49606,"Mech_RPM":-471.073273,"cg_du":47.3999405,"cg_dv":54.9032021,"cg_dw":45.0967979,"cg_id_a":5.13909101,"cg_id_raw_a":1.90859377,"cg_iq_a":-202.63121,"cg_iq_raw_a":-201.15744,"cg_iu_a":-137.579071,"cg_iv_a":199.591476,"cg_iw_a":-62.0124054,"cg_sample_age_us":23.9472733,"cg_sample_seq":4874266,"cg_sample_valid":1,"cg_theta_rad":5.262815,"cg_vd_req_v":-2.08533788,"cg_vd_v":-2.08533788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33858109,"cg_vq_v":-8.33858109,"cg_vu_v":9.67763615,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.6584778,"temp_inv2_c":42.5578613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":702.071655,"values":{"Elec_RPM":-2352.63574,"EncoderCos":50668,"EncoderSin":24065,"GapTicks":49320,"Mech_RPM":-470.52713,"cg_du":50.9076576,"cg_dv":44.8365402,"cg_dw":55.1634598,"cg_id_a":-2.30274296,"cg_id_raw_a":-6.72229719,"cg_iq_a":-197.268509,"cg_iq_raw_a":-196.755066,"cg_iu_a":78.6516571,"cg_iv_a":-195.828766,"cg_iw_a":117.177109,"cg_sample_age_us":23.6672726,"cg_sample_seq":4875966,"cg_sample_valid":1,"cg_theta_rad":5.8387599,"cg_vd_req_v":-1.92932296,"cg_vd_v":-1.92932296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42881775,"cg_vq_v":-8.42881775,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.4436646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":702.119155,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":702.119161,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":702.119166,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":702.40564,"values":{"Elec_RPM":-2353.47949,"EncoderCos":52430,"EncoderSin":34901,"GapTicks":49473,"Mech_RPM":-470.695892,"cg_du":52.138752,"cg_dv":55.0238152,"cg_dw":44.9761848,"cg_id_a":-10.70047,"cg_id_raw_a":-4.4013567,"cg_iq_a":-198.227722,"cg_iq_raw_a":-199.349426,"cg_iu_a":-9.49335098,"cg_iv_a":175.416809,"cg_iw_a":-165.923462,"cg_sample_age_us":23.48909,"cg_sample_seq":4877667,"cg_sample_valid":1,"cg_theta_rad":0.121880695,"cg_vd_req_v":-1.72285938,"cg_vd_v":-1.72285938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44513798,"cg_vq_v":-8.44513798,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5683899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":702.757202,"values":{"Elec_RPM":-2352.34033,"EncoderCos":48575,"EncoderSin":44936,"GapTicks":49560,"Mech_RPM":-470.468079,"cg_du":45.0551758,"cg_dv":47.2163849,"cg_dw":54.9448242,"cg_id_a":14.252655,"cg_id_raw_a":12.7656231,"cg_iq_a":-201.068176,"cg_iq_raw_a":-199.708359,"cg_iu_a":-11.3417864,"cg_iv_a":-170.820511,"cg_iw_a":182.162292,"cg_sample_age_us":23.51091,"cg_sample_seq":4879371,"cg_sample_valid":1,"cg_theta_rad":0.702976227,"cg_vd_req_v":-2.24259758,"cg_vd_v":-2.24259758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39457035,"cg_vq_v":-8.39457035,"cg_vu_v":136.806595,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2548.47485,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.4822693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":703.089233,"values":{"Elec_RPM":-2355.73779,"EncoderCos":38292,"EncoderSin":51840,"GapTicks":49641,"Mech_RPM":-471.147583,"cg_du":54.8712769,"cg_dv":52.832653,"cg_dw":45.1287231,"cg_id_a":11.0805416,"cg_id_raw_a":10.2332191,"cg_iq_a":-202.040527,"cg_iq_raw_a":-200.388077,"cg_iu_a":50.4901962,"cg_iv_a":135.47612,"cg_iw_a":-197.491852,"cg_sample_age_us":23.8090916,"cg_sample_seq":4881066,"cg_sample_valid":1,"cg_theta_rad":1.28956497,"cg_vd_req_v":-2.13751507,"cg_vd_v":-2.13751507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34375572,"cg_vq_v":-8.34375572,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.5912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":703.110739,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":703.110745,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":703.110751,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":703.423218,"values":{"Elec_RPM":-2355.68579,"EncoderCos":37775,"EncoderSin":52000,"GapTicks":49914,"Mech_RPM":-471.137177,"cg_du":54.6235619,"cg_dv":53.8757744,"cg_dw":45.3764381,"cg_id_a":15.2572498,"cg_id_raw_a":14.9536839,"cg_iq_a":-203.9758,"cg_iq_raw_a":-202.893448,"cg_iu_a":20.8427372,"cg_iv_a":164.906097,"cg_iw_a":-185.74884,"cg_sample_age_us":23.9436359,"cg_sample_seq":4882817,"cg_sample_valid":1,"cg_theta_rad":1.31897724,"cg_vd_req_v":-2.20298219,"cg_vd_v":-2.20298219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29643726,"cg_vq_v":-8.29643726,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5040207,"dclink_p_w":-2525.56348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5701599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":703.77478,"values":{"Elec_RPM":-2350.28662,"EncoderCos":17384,"EncoderSin":45778,"GapTicks":49365,"Mech_RPM":-470.057312,"cg_du":55.1225319,"cg_dv":48.632885,"cg_dw":44.8774681,"cg_id_a":-9.21541023,"cg_id_raw_a":-8.17822742,"cg_iq_a":-196.976242,"cg_iq_raw_a":-198.689026,"cg_iu_a":155.597321,"cg_iv_a":28.1218872,"cg_iw_a":-183.719208,"cg_sample_age_us":23.9581814,"cg_sample_seq":4884466,"cg_sample_valid":1,"cg_theta_rad":2.43681431,"cg_vd_req_v":-1.7038784,"cg_vd_v":-1.7038784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49222565,"cg_vq_v":-8.49222565,"cg_vu_v":43.9892578,"cg_vv_v":44.4291458,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5543213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":704.102959,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":704.102965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":704.102971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":704.106812,"values":{"Elec_RPM":-2349.66016,"EncoderCos":25776,"EncoderSin":51610,"GapTicks":49666,"Mech_RPM":-469.932007,"cg_du":45.150959,"cg_dv":46.841465,"cg_dw":54.849041,"cg_id_a":13.8471069,"cg_id_raw_a":13.207284,"cg_iq_a":-202.562347,"cg_iq_raw_a":-199.128555,"cg_iu_a":-40.8080215,"cg_iv_a":-152.118713,"cg_iw_a":192.926727,"cg_sample_age_us":23.8709087,"cg_sample_seq":4886267,"cg_sample_valid":1,"cg_theta_rad":1.92528284,"cg_vd_req_v":-2.18534136,"cg_vd_v":-2.18534136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37714005,"cg_vq_v":-8.37714005,"cg_vu_v":105.134323,"cg_vv_v":95.8965836,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2514.91968,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5525818,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":704.440796,"values":{"Elec_RPM":-2354.50488,"EncoderCos":14527,"EncoderSin":24108,"GapTicks":49602,"Mech_RPM":-470.901001,"cg_du":54.9064484,"cg_dv":45.0935516,"cg_dw":47.3125076,"cg_id_a":13.65415,"cg_id_raw_a":11.773016,"cg_iq_a":-202.558594,"cg_iq_raw_a":-201.394028,"cg_iu_a":197.640152,"cg_iv_a":-49.8386078,"cg_iw_a":-147.801544,"cg_sample_age_us":24.1072731,"cg_sample_seq":4887866,"cg_sample_valid":1,"cg_theta_rad":3.59218383,"cg_vd_req_v":-2.17455077,"cg_vd_v":-2.17455077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32010078,"cg_vq_v":-8.32010078,"cg_vu_v":15.3962402,"cg_vv_v":9.23774433,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2462.18848,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5754395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":704.792358,"values":{"Elec_RPM":-2351.90552,"EncoderCos":12628,"EncoderSin":34011,"GapTicks":49368,"Mech_RPM":-470.381104,"cg_du":44.8805923,"cg_dv":50.5482635,"cg_dw":55.1194077,"cg_id_a":-16.5692253,"cg_id_raw_a":-17.5082207,"cg_iq_a":-198.927277,"cg_iq_raw_a":-197.629288,"cg_iu_a":-151.822876,"cg_iv_a":-32.8764954,"cg_iw_a":184.699371,"cg_sample_age_us":23.9327278,"cg_sample_seq":4889667,"cg_sample_valid":1,"cg_theta_rad":3.07935572,"cg_vd_req_v":-1.51628685,"cg_vd_v":-1.51628685,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40991402,"cg_vq_v":-8.40991402,"cg_vu_v":116.131638,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5367432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":705.095465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":705.095471,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":705.095476,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":705.126343,"values":{"Elec_RPM":-2345.54907,"EncoderCos":32950,"EncoderSin":12674,"GapTicks":49407,"Mech_RPM":-469.109833,"cg_du":55.0844727,"cg_dv":44.9155273,"cg_dw":51.5973778,"cg_id_a":-12.198288,"cg_id_raw_a":-9.92532825,"cg_iq_a":-195.985031,"cg_iq_raw_a":-197.087662,"cg_iu_a":176.437515,"cg_iv_a":-161.179657,"cg_iw_a":-9.96626282,"cg_sample_age_us":24.0381813,"cg_sample_seq":4891267,"cg_sample_valid":1,"cg_theta_rad":4.73461771,"cg_vd_req_v":-1.64918387,"cg_vd_v":-1.64918387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47654819,"cg_vq_v":-8.47654819,"cg_vu_v":143.404984,"cg_vv_v":123.60981,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.578949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":705.477905,"values":{"Elec_RPM":-2348.12061,"EncoderCos":43060,"EncoderSin":15547,"GapTicks":49657,"Mech_RPM":-469.624115,"cg_du":47.1255302,"cg_dv":54.8565292,"cg_dw":45.1434708,"cg_id_a":6.37278652,"cg_id_raw_a":3.63671708,"cg_iq_a":-204.06488,"cg_iq_raw_a":-202.964859,"cg_iu_a":-170.923386,"cg_iv_a":182.774323,"cg_iw_a":-11.8509445,"cg_sample_age_us":23.8563633,"cg_sample_seq":4892971,"cg_sample_valid":1,"cg_theta_rad":5.3131628,"cg_vd_req_v":-2.11124325,"cg_vd_v":-2.11124325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28589344,"cg_vq_v":-8.28589344,"cg_vu_v":0.87978512,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-15.6084671,"dclink_p_w":-2258.92993,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.580719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":705.809937,"values":{"Elec_RPM":-2345.77588,"EncoderCos":51032,"EncoderSin":24913,"GapTicks":49496,"Mech_RPM":-469.155182,"cg_du":52.5871887,"cg_dv":44.9967651,"cg_dw":55.0032349,"cg_id_a":15.5771589,"cg_id_raw_a":9.80729675,"cg_iq_a":-200.969955,"cg_iq_raw_a":-200.826477,"cg_iu_a":144.32547,"cg_iv_a":-195.683777,"cg_iw_a":51.3583069,"cg_sample_age_us":23.7690907,"cg_sample_seq":4894667,"cg_sample_valid":1,"cg_theta_rad":5.89336681,"cg_vd_req_v":-2.29034758,"cg_vd_v":-2.29034758,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39231968,"cg_vq_v":-8.39231968,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2509.875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.686676,"temp_inv2_c":42.4927979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":706.087035,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":706.08704,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":706.087046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":706.141968,"values":{"Elec_RPM":-2343.09229,"EncoderCos":52191,"EncoderSin":36584,"GapTicks":49368,"Mech_RPM":-468.618469,"cg_du":48.9449501,"cg_dv":55.1192856,"cg_dw":44.8807144,"cg_id_a":-4.87929392,"cg_id_raw_a":-10.1083183,"cg_iq_a":-197.704651,"cg_iq_raw_a":-197.477234,"cg_iu_a":-103.183662,"cg_iv_a":199.19278,"cg_iw_a":-96.0091171,"cg_sample_age_us":23.3945446,"cg_sample_seq":4896366,"cg_sample_valid":1,"cg_theta_rad":0.20454599,"cg_vd_req_v":-1.77954984,"cg_vd_v":-1.77954984,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45634842,"cg_vq_v":-8.45634842,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2531.49292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5754395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":706.495483,"values":{"Elec_RPM":-2349.41602,"EncoderCos":47074,"EncoderSin":46676,"GapTicks":49364,"Mech_RPM":-469.883179,"cg_du":49.1881638,"cg_dv":44.8766823,"cg_dw":55.1233177,"cg_id_a":-15.0873909,"cg_id_raw_a":-15.1136246,"cg_iq_a":-197.294037,"cg_iq_raw_a":-199.250671,"cg_iu_a":32.2233009,"cg_iv_a":-184.556915,"cg_iw_a":152.333618,"cg_sample_age_us":23.6599998,"cg_sample_seq":4898066,"cg_sample_valid":1,"cg_theta_rad":0.773978531,"cg_vd_req_v":-1.62520742,"cg_vd_v":-1.62520742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44251442,"cg_vq_v":-8.44251442,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.0615158,"dclink_p_w":-2317.43188,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5613708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":706.825562,"values":{"Elec_RPM":-2348.02075,"EncoderCos":37183,"EncoderSin":52202,"GapTicks":49811,"Mech_RPM":-469.604156,"cg_du":53.5862732,"cg_dv":54.7171822,"cg_dw":45.2828178,"cg_id_a":4.68494177,"cg_id_raw_a":9.10210991,"cg_iq_a":-201.754196,"cg_iq_raw_a":-203.966568,"cg_iu_a":5.62032747,"cg_iv_a":170.270203,"cg_iw_a":-175.890533,"cg_sample_age_us":23.8600006,"cg_sample_seq":4899766,"cg_sample_valid":1,"cg_theta_rad":1.34927785,"cg_vd_req_v":-1.98747575,"cg_vd_v":-1.98747575,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37646198,"cg_vq_v":-8.37646198,"cg_vu_v":38.7105446,"cg_vv_v":54.5466805,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.5638218,"dclink_p_w":-2541.91797,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5543213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":707.079871,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":707.079877,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":707.079883,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":707.159546,"values":{"Elec_RPM":-2347.00146,"EncoderCos":25849,"EncoderSin":51630,"GapTicks":49617,"Mech_RPM":-469.400269,"cg_du":45.1067352,"cg_dv":46.9673729,"cg_dw":54.8932648,"cg_id_a":13.1409597,"cg_id_raw_a":10.1836319,"cg_iq_a":-200.862061,"cg_iq_raw_a":-201.21405,"cg_iu_a":-45.2297707,"cg_iv_a":-138.056091,"cg_iw_a":194.702667,"cg_sample_age_us":23.8709087,"cg_sample_seq":4901466,"cg_sample_valid":1,"cg_theta_rad":1.91973019,"cg_vd_req_v":-2.17042017,"cg_vd_v":-2.17042017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40946007,"cg_vq_v":-8.40946007,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-16.3097858,"dclink_p_w":-2360.42822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.587738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":707.513062,"values":{"Elec_RPM":-2350.81787,"EncoderCos":16753,"EncoderSin":44896,"GapTicks":49366,"Mech_RPM":-470.163574,"cg_du":55.1217117,"cg_dv":50.8426399,"cg_dw":44.8782883,"cg_id_a":-0.943473458,"cg_id_raw_a":-6.42028236,"cg_iq_a":-198.58194,"cg_iq_raw_a":-196.136444,"cg_iu_a":109.85759,"cg_iv_a":90.1713409,"cg_iw_a":-200.028931,"cg_sample_age_us":23.9072723,"cg_sample_seq":4903167,"cg_sample_valid":1,"cg_theta_rad":2.49030423,"cg_vd_req_v":-1.88372159,"cg_vd_v":-1.88372159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41548443,"cg_vq_v":-8.41548443,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":707.845093,"values":{"Elec_RPM":-2348.1499,"EncoderCos":12654,"EncoderSin":34233,"GapTicks":49416,"Mech_RPM":-469.629974,"cg_du":44.9237709,"cg_dv":51.0740509,"cg_dw":55.0762291,"cg_id_a":-14.8221254,"cg_id_raw_a":-12.5028381,"cg_iq_a":-200.940186,"cg_iq_raw_a":-202.573608,"cg_iu_a":-160.448914,"cg_iv_a":-28.2010498,"cg_iw_a":188.649963,"cg_sample_age_us":23.9618187,"cg_sample_seq":4904866,"cg_sample_valid":1,"cg_theta_rad":3.07328701,"cg_vd_req_v":-1.54769802,"cg_vd_v":-1.54769802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37840462,"cg_vq_v":-8.37840462,"cg_vu_v":38.7105446,"cg_vv_v":48.3881836,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2428.81885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5930481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103932247,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":708.103063,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":708.103069,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":708.103074,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":708.196655,"values":{"Elec_RPM":-2355.03198,"EncoderCos":15049,"EncoderSin":22993,"GapTicks":49793,"Mech_RPM":-471.006378,"cg_du":54.7334175,"cg_dv":46.4107704,"cg_dw":45.2665825,"cg_id_a":6.51256227,"cg_id_raw_a":10.8400526,"cg_iq_a":-201.260193,"cg_iq_raw_a":-203.08728,"cg_iu_a":175.930099,"cg_iv_a":-3.37400818,"cg_iw_a":-172.556091,"cg_sample_age_us":24.0963631,"cg_sample_seq":4906566,"cg_sample_valid":1,"cg_theta_rad":3.65148854,"cg_vd_req_v":-2.00253463,"cg_vd_v":-2.00253463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39959812,"cg_vq_v":-8.39959812,"cg_vu_v":42.6695786,"cg_vv_v":42.2296829,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-17.4931469,"dclink_p_w":-2531.6897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5736694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":708.735718,"values":{"Elec_RPM":-2346.82007,"EncoderCos":46672,"EncoderSin":47050,"GapTicks":49305,"Mech_RPM":-469.364014,"cg_du":50.2794609,"cg_dv":44.8234062,"cg_dw":55.1765938,"cg_id_a":-9.55955696,"cg_id_raw_a":-11.9279528,"cg_iq_a":-195.682297,"cg_iq_raw_a":-195.681122,"cg_iu_a":109.495155,"cg_iv_a":-198.039642,"cg_iw_a":88.5444794,"cg_sample_age_us":23.5072727,"cg_sample_seq":4909170,"cg_sample_valid":1,"cg_theta_rad":0.838020027,"cg_vd_req_v":-1.76019931,"cg_vd_v":-1.76019931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50098419,"cg_vq_v":-8.50098419,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5385132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":708.96734,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":708.96735,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":708.967352,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":709.094461,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":709.094467,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":709.094471,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":709.171265,"values":{"Elec_RPM":-2344.1416,"EncoderCos":52310,"EncoderSin":35804,"GapTicks":49315,"Mech_RPM":-468.828308,"cg_du":50.0291023,"cg_dv":55.1679726,"cg_dw":44.8320274,"cg_id_a":-15.7165108,"cg_id_raw_a":-13.4051428,"cg_iq_a":-195.81839,"cg_iq_raw_a":-194.707016,"cg_iu_a":-54.3994598,"cg_iv_a":191.944016,"cg_iw_a":-137.544556,"cg_sample_age_us":23.5072727,"cg_sample_seq":4911567,"cg_sample_valid":1,"cg_theta_rad":0.167000934,"cg_vd_req_v":-1.64336133,"cg_vd_v":-1.64336133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47863865,"cg_vq_v":-8.47863865,"cg_vu_v":115.251846,"cg_vv_v":143.404984,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2413.40625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5086365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":709.522827,"values":{"Elec_RPM":-2351.37109,"EncoderCos":38510,"EncoderSin":51799,"GapTicks":49543,"Mech_RPM":-470.2742,"cg_du":54.9608841,"cg_dv":52.3588676,"cg_dw":45.0391159,"cg_id_a":10.137743,"cg_id_raw_a":8.20927525,"cg_iq_a":-204.579025,"cg_iq_raw_a":-202.844269,"cg_iu_a":63.1755371,"cg_iv_a":136.853378,"cg_iw_a":-200.028915,"cg_sample_age_us":23.9363632,"cg_sample_seq":4913217,"cg_sample_valid":1,"cg_theta_rad":1.27891612,"cg_vd_req_v":-2.1342175,"cg_vd_v":-2.1342175,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30093765,"cg_vq_v":-8.30093765,"cg_vu_v":122.290138,"cg_vv_v":142.085297,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2436.40137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5174255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":709.856812,"values":{"Elec_RPM":-2355.60449,"EncoderCos":37550,"EncoderSin":52031,"GapTicks":50052,"Mech_RPM":-471.120911,"cg_du":54.4978065,"cg_dv":54.3796616,"cg_dw":45.5021935,"cg_id_a":13.3515644,"cg_id_raw_a":17.1152344,"cg_iq_a":-204.839127,"cg_iq_raw_a":-205.368744,"cg_iu_a":14.8262615,"cg_iv_a":169.581573,"cg_iw_a":-184.407837,"cg_sample_age_us":23.9036369,"cg_sample_seq":4914966,"cg_sample_valid":1,"cg_theta_rad":1.33092129,"cg_vd_req_v":-2.16586113,"cg_vd_v":-2.16586113,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31929588,"cg_vq_v":-8.31929588,"cg_vu_v":120.090675,"cg_vv_v":142.965088,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-17.7287312,"dclink_p_w":-2565.78442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5842285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":710.087315,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":710.087321,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":710.087326,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":710.190796,"values":{"Elec_RPM":-2352.30176,"EncoderCos":17481,"EncoderSin":45812,"GapTicks":49402,"Mech_RPM":-470.460327,"cg_du":55.0888672,"cg_dv":48.4364929,"cg_dw":44.9111328,"cg_id_a":-8.9723177,"cg_id_raw_a":-9.65138531,"cg_iq_a":-195.112366,"cg_iq_raw_a":-193.713547,"cg_iu_a":154.220047,"cg_iv_a":24.20755,"cg_iw_a":-178.427597,"cg_sample_age_us":23.9472733,"cg_sample_seq":4916617,"cg_sample_valid":1,"cg_theta_rad":2.43485713,"cg_vd_req_v":-1.70759416,"cg_vd_v":-1.70759416,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49324036,"cg_vq_v":-8.49324036,"cg_vu_v":106.014107,"cg_vv_v":95.8965836,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2442.51807,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.6123962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":710.540405,"values":{"Elec_RPM":-2346.2439,"EncoderCos":14237,"EncoderSin":24850,"GapTicks":49360,"Mech_RPM":-469.248779,"cg_du":55.1267357,"cg_dv":44.8732643,"cg_dw":48.6581955,"cg_id_a":-4.5660429,"cg_id_raw_a":-10.4046402,"cg_iq_a":-196.462494,"cg_iq_raw_a":-195.663086,"cg_iu_a":197.313965,"cg_iv_a":-96.3032074,"cg_iw_a":-101.010757,"cg_sample_age_us":24.0490913,"cg_sample_seq":4918266,"cg_sample_valid":1,"cg_theta_rad":3.55203438,"cg_vd_req_v":-1.83568537,"cg_vd_v":-1.83568537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46805,"cg_vq_v":-8.46805,"cg_vu_v":17.1558094,"cg_vv_v":8.35795879,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.7740364,"dclink_p_w":-2572.34131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5736694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":710.87439,"values":{"Elec_RPM":-2344.05566,"EncoderCos":14353,"EncoderSin":24467,"GapTicks":49440,"Mech_RPM":-468.811157,"cg_du":55.0542488,"cg_dv":44.9457512,"cg_dw":48.0470009,"cg_id_a":7.8587842,"cg_id_raw_a":4.14593029,"cg_iq_a":-200.628601,"cg_iq_raw_a":-200.754471,"cg_iu_a":197.422699,"cg_iv_a":-59.9868774,"cg_iw_a":-137.435822,"cg_sample_age_us":24.1109085,"cg_sample_seq":4920018,"cg_sample_valid":1,"cg_theta_rad":3.58193541,"cg_vd_req_v":-2.08493209,"cg_vd_v":-2.08493209,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39906883,"cg_vq_v":-8.39906883,"cg_vu_v":121.850235,"cg_vv_v":115.69175,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5332336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":711.111253,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":711.111259,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":711.111265,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":711.206421,"values":{"Elec_RPM":-2346.66162,"EncoderCos":32302,"EncoderSin":12686,"GapTicks":49747,"Mech_RPM":-469.332336,"cg_du":54.7748756,"cg_dv":45.2251244,"cg_dw":53.3325157,"cg_id_a":5.72346401,"cg_id_raw_a":10.2852468,"cg_iq_a":-200.756622,"cg_iq_raw_a":-202.454788,"cg_iu_a":171.725815,"cg_iv_a":-173.357574,"cg_iw_a":1.63176727,"cg_sample_age_us":24.1509094,"cg_sample_seq":4921667,"cg_sample_valid":1,"cg_theta_rad":4.70360851,"cg_vd_req_v":-1.98857832,"cg_vd_v":-1.98857832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36993122,"cg_vq_v":-8.36993122,"cg_vu_v":124.929489,"cg_vv_v":116.131638,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5895081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":711.559937,"values":{"Elec_RPM":-2354.23413,"EncoderCos":33226,"EncoderSin":12651,"GapTicks":49365,"Mech_RPM":-470.846832,"cg_du":55.1226501,"cg_dv":44.8773499,"cg_dw":50.9218826,"cg_id_a":-15.6644268,"cg_id_raw_a":-12.9369974,"cg_iq_a":-195.560913,"cg_iq_raw_a":-196.681213,"cg_iu_a":178.467163,"cg_iv_a":-159.258728,"cg_iw_a":-19.2084427,"cg_sample_age_us":23.9727268,"cg_sample_seq":4923416,"cg_sample_valid":1,"cg_theta_rad":4.74262381,"cg_vd_req_v":-1.58325803,"cg_vd_v":-1.58325803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45985413,"cg_vq_v":-8.45985413,"cg_vu_v":141.205521,"cg_vv_v":109.533249,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2459.93384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5754395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":711.891968,"values":{"Elec_RPM":-2353.0332,"EncoderCos":43762,"EncoderSin":15991,"GapTicks":50081,"Mech_RPM":-470.606628,"cg_du":45.5285225,"cg_dv":54.4714775,"cg_dw":45.5312576,"cg_id_a":12.0622091,"cg_id_raw_a":11.2328806,"cg_iq_a":-205.129578,"cg_iq_raw_a":-206.731354,"cg_iu_a":-170.524704,"cg_iv_a":184.187836,"cg_iw_a":-13.6631317,"cg_sample_age_us":24.0127277,"cg_sample_seq":4925117,"cg_sample_valid":1,"cg_theta_rad":5.30897188,"cg_vd_req_v":-2.227566,"cg_vd_v":-2.227566,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30743027,"cg_vq_v":-8.30743027,"cg_vu_v":98.9758301,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":712.102758,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":712.102763,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":712.102769,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":712.24353,"values":{"Elec_RPM":-2354.06543,"EncoderCos":50832,"EncoderSin":24377,"GapTicks":49348,"Mech_RPM":-470.81308,"cg_du":51.5288925,"cg_dv":44.8621407,"cg_dw":55.1378593,"cg_id_a":6.14679384,"cg_id_raw_a":2.76811194,"cg_iq_a":-198.10051,"cg_iq_raw_a":-196.952744,"cg_iu_a":156.28595,"cg_iv_a":-188.906189,"cg_iw_a":32.6202469,"cg_sample_age_us":23.6454544,"cg_sample_seq":4926820,"cg_sample_valid":1,"cg_theta_rad":5.90727806,"cg_vd_req_v":-2.10237384,"cg_vd_v":-2.10237384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45438004,"cg_vq_v":-8.45438004,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":10.1175289,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2393.3833,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.6035767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":712.577515,"values":{"Elec_RPM":-2353.76367,"EncoderCos":52170,"EncoderSin":36694,"GapTicks":49400,"Mech_RPM":-470.752747,"cg_du":48.6472435,"cg_dv":55.0906296,"cg_dw":44.9093704,"cg_id_a":-3.58926678,"cg_id_raw_a":-7.52466106,"cg_iq_a":-198.078735,"cg_iq_raw_a":-198.270309,"cg_iu_a":-93.470314,"cg_iv_a":197.706787,"cg_iw_a":-104.236473,"cg_sample_age_us":23.3945446,"cg_sample_seq":4928516,"cg_sample_valid":1,"cg_theta_rad":0.201251298,"cg_vd_req_v":-1.80691576,"cg_vd_v":-1.80691576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41486359,"cg_vq_v":-8.41486359,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5983276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":712.907593,"values":{"Elec_RPM":-2347.60718,"EncoderCos":52102,"EncoderSin":37028,"GapTicks":49526,"Mech_RPM":-469.521454,"cg_du":47.7847748,"cg_dv":54.9760971,"cg_dw":45.0239029,"cg_id_a":5.57114506,"cg_id_raw_a":-0.405412525,"cg_iq_a":-202.457916,"cg_iq_raw_a":-201.584579,"cg_iu_a":-129.424194,"cg_iv_a":200.642532,"cg_iw_a":-71.218338,"cg_sample_age_us":23.4854546,"cg_sample_seq":4930267,"cg_sample_valid":1,"cg_theta_rad":0.227112517,"cg_vd_req_v":-2.09577084,"cg_vd_v":-2.09577084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32630634,"cg_vq_v":-8.32630634,"cg_vu_v":109.973145,"cg_vv_v":115.251846,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2542.82056,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.578949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":713.09539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":713.095395,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":713.095401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":713.261108,"values":{"Elec_RPM":-2352.1355,"EncoderCos":27370,"EncoderSin":52093,"GapTicks":49338,"Mech_RPM":-470.427094,"cg_du":44.8535995,"cg_dv":49.8684082,"cg_dw":55.1464005,"cg_id_a":-15.6131706,"cg_id_raw_a":-15.8650284,"cg_iq_a":-197.655258,"cg_iq_raw_a":-198.809555,"cg_iu_a":-87.6350555,"cg_iv_a":-112.177994,"cg_iw_a":199.813049,"cg_sample_age_us":25.3654537,"cg_sample_seq":4931870,"cg_sample_valid":1,"cg_theta_rad":1.88688505,"cg_vd_req_v":-1.57925761,"cg_vd_v":-1.57925761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45505238,"cg_vq_v":-8.45505238,"cg_vu_v":17.1558094,"cg_vv_v":0.87978512,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.5895081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":713.59314,"values":{"Elec_RPM":-2358.0332,"EncoderCos":36287,"EncoderSin":52339,"GapTicks":49343,"Mech_RPM":-471.606659,"cg_du":51.3386917,"cg_dv":55.1424599,"cg_dw":44.8575401,"cg_id_a":-10.3049679,"cg_id_raw_a":-10.8579502,"cg_iq_a":-194.489166,"cg_iq_raw_a":-196.027344,"cg_iu_a":-17.2132874,"cg_iv_a":176.250427,"cg_iw_a":-159.03714,"cg_sample_age_us":23.8054543,"cg_sample_seq":4933666,"cg_sample_valid":1,"cg_theta_rad":1.38421988,"cg_vd_req_v":-1.68198812,"cg_vd_v":-1.68198812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52594662,"cg_vq_v":-8.52594662,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2494.40039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5490417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":713.925171,"values":{"Elec_RPM":-2358.70947,"EncoderCos":12737,"EncoderSin":35124,"GapTicks":49746,"Mech_RPM":-471.741913,"cg_du":45.2242088,"cg_dv":53.3987083,"cg_dw":54.7757912,"cg_id_a":4.55673504,"cg_id_raw_a":6.79856491,"cg_iq_a":-202.492798,"cg_iq_raw_a":-199.860672,"cg_iu_a":-176.323715,"cg_iv_a":4.38217163,"cg_iw_a":171.941544,"cg_sample_age_us":23.9654541,"cg_sample_seq":4935267,"cg_sample_valid":1,"cg_theta_rad":3.02651715,"cg_vd_req_v":-1.93614304,"cg_vd_v":-1.93614304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35453701,"cg_vq_v":-8.35453701,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5859985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":714.119382,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":714.119387,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":714.119392,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":714.28064,"values":{"Elec_RPM":-2353.55151,"EncoderCos":16281,"EncoderSin":44279,"GapTicks":49509,"Mech_RPM":-470.710297,"cg_du":54.9915619,"cg_dv":52.2878494,"cg_dw":45.0084381,"cg_id_a":10.9868231,"cg_id_raw_a":8.590065,"cg_iq_a":-203.360596,"cg_iq_raw_a":-203.445358,"cg_iu_a":63.5742188,"cg_iv_a":135.729828,"cg_iw_a":-199.304047,"cg_sample_age_us":23.8818188,"cg_sample_seq":4937067,"cg_sample_valid":1,"cg_theta_rad":2.53398871,"cg_vd_req_v":-2.12718344,"cg_vd_v":-2.12718344,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33533096,"cg_vq_v":-8.33533096,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2402.41016,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.578949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":714.610718,"values":{"Elec_RPM":-2351.72119,"EncoderCos":15036,"EncoderSin":23165,"GapTicks":49901,"Mech_RPM":-470.344238,"cg_du":54.6347466,"cg_dv":46.0509148,"cg_dw":45.3652534,"cg_id_a":9.37923622,"cg_id_raw_a":15.2070293,"cg_iq_a":-200.549118,"cg_iq_raw_a":-200.576538,"cg_iu_a":174.117905,"cg_iv_a":-6.01980591,"cg_iw_a":-168.098099,"cg_sample_age_us":23.9799995,"cg_sample_seq":4938717,"cg_sample_valid":1,"cg_theta_rad":3.64798236,"cg_vd_req_v":-2.04759669,"cg_vd_v":-2.04759669,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38537693,"cg_vq_v":-8.38537693,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2454.15137,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6053467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":714.942749,"values":{"Elec_RPM":-2347.87915,"EncoderCos":33556,"EncoderSin":12699,"GapTicks":49310,"Mech_RPM":-469.575836,"cg_du":55.1720848,"cg_dv":44.8279152,"cg_dw":50.1842613,"cg_id_a":-16.54496,"cg_id_raw_a":-15.9548016,"cg_iq_a":-196.039368,"cg_iq_raw_a":-195.782532,"cg_iu_a":190.79007,"cg_iv_a":-142.695297,"cg_iw_a":-48.0947723,"cg_sample_age_us":23.9690914,"cg_sample_seq":4940366,"cg_sample_valid":1,"cg_theta_rad":4.76800299,"cg_vd_req_v":-1.58808255,"cg_vd_v":-1.58808255,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47123718,"cg_vq_v":-8.47123718,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.7287312,"dclink_p_w":-2557.9856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.5965576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":715.079042,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":715.079048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":715.079053,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":715.296265,"values":{"Elec_RPM":-2351.38257,"EncoderCos":34341,"EncoderSin":12728,"GapTicks":49379,"Mech_RPM":-470.27652,"cg_du":55.1092072,"cg_dv":44.8907928,"cg_dw":48.6811714,"cg_id_a":-6.03027582,"cg_id_raw_a":-9.82791233,"cg_iq_a":-199.135284,"cg_iq_raw_a":-198.870132,"cg_iu_a":199.74231,"cg_iv_a":-99.8913498,"cg_iw_a":-99.8509598,"cg_sample_age_us":24.0272732,"cg_sample_seq":4942116,"cg_sample_valid":1,"cg_theta_rad":4.80808687,"cg_vd_req_v":-1.82349622,"cg_vd_v":-1.82349622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41084099,"cg_vq_v":-8.41084099,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-16.9766731,"dclink_p_w":-2449.4751,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.5631409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":715.628296,"values":{"Elec_RPM":-2351.80615,"EncoderCos":51310,"EncoderSin":25632,"GapTicks":49948,"Mech_RPM":-470.361206,"cg_du":54.1411209,"cg_dv":45.4077301,"cg_dw":54.5922699,"cg_id_a":18.1391869,"cg_id_raw_a":21.6417007,"cg_iq_a":-202.672668,"cg_iq_raw_a":-203.046448,"cg_iu_a":167.775238,"cg_iv_a":-182.092346,"cg_iw_a":14.3171082,"cg_sample_age_us":24.1981812,"cg_sample_seq":4943766,"cg_sample_valid":1,"cg_theta_rad":5.93099499,"cg_vd_req_v":-2.29894161,"cg_vd_v":-2.29894161,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34108543,"cg_vq_v":-8.34108543,"cg_vu_v":43.1094704,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2498.10889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.578949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":715.979858,"values":{"Elec_RPM":-2357.78271,"EncoderCos":51217,"EncoderSin":25373,"GapTicks":49779,"Mech_RPM":-471.556519,"cg_du":53.6052971,"cg_dv":45.2537651,"cg_dw":54.7462349,"cg_id_a":16.9328251,"cg_id_raw_a":16.81954,"cg_iq_a":-201.306549,"cg_iq_raw_a":-200.882095,"cg_iu_a":169.986115,"cg_iv_a":-174.48114,"cg_iw_a":4.49502563,"cg_sample_age_us":23.6709099,"cg_sample_seq":4945521,"cg_sample_valid":1,"cg_theta_rad":5.95752764,"cg_vd_req_v":-2.2824614,"cg_vd_v":-2.2824614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35468292,"cg_vq_v":-8.35468292,"cg_vu_v":143.404984,"cg_vv_v":124.929489,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5167046,"dclink_p_w":-2535.09912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.580719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":716.102959,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":716.102965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":716.10297,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":716.313843,"values":{"Elec_RPM":-2352.86694,"EncoderCos":46798,"EncoderSin":46911,"GapTicks":49291,"Mech_RPM":-470.573395,"cg_du":49.9052544,"cg_dv":44.8104134,"cg_dw":55.1895866,"cg_id_a":-11.9102306,"cg_id_raw_a":-11.8337517,"cg_iq_a":-196.928848,"cg_iq_raw_a":-196.892578,"cg_iu_a":58.9712524,"cg_iv_a":-192.856781,"cg_iw_a":133.885529,"cg_sample_age_us":23.6563644,"cg_sample_seq":4947166,"cg_sample_valid":1,"cg_theta_rad":0.795430422,"cg_vd_req_v":-1.71561825,"cg_vd_v":-1.71561825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50161171,"cg_vq_v":-8.50161171,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6088867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":716.645874,"values":{"Elec_RPM":-2358.39648,"EncoderCos":51735,"EncoderSin":38331,"GapTicks":49934,"Mech_RPM":-471.679321,"cg_du":45.3948669,"cg_dv":54.6051331,"cg_dw":45.9936676,"cg_id_a":10.138957,"cg_id_raw_a":14.8283548,"cg_iq_a":-204.461533,"cg_iq_raw_a":-205.008102,"cg_iu_a":-174.076599,"cg_iv_a":177.990143,"cg_iw_a":-3.9135437,"cg_sample_age_us":23.5290909,"cg_sample_seq":4948966,"cg_sample_valid":1,"cg_theta_rad":0.294724613,"cg_vd_req_v":-2.16612792,"cg_vd_v":-2.16612792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33515739,"cg_vq_v":-8.33515739,"cg_vu_v":7.91806602,"cg_vv_v":23.7541981,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6053467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":716.997437,"values":{"Elec_RPM":-2354.63184,"EncoderCos":26170,"EncoderSin":51772,"GapTicks":49504,"Mech_RPM":-470.926392,"cg_du":45.004158,"cg_dv":47.6877441,"cg_dw":54.995842,"cg_id_a":7.56562424,"cg_id_raw_a":2.9138639,"cg_iq_a":-200.121353,"cg_iq_raw_a":-197.854263,"cg_iu_a":-21.7437668,"cg_iv_a":-169.008331,"cg_iw_a":190.75209,"cg_sample_age_us":26.7327271,"cg_sample_seq":4950570,"cg_sample_valid":1,"cg_theta_rad":1.94789457,"cg_vd_req_v":-2.06279016,"cg_vd_v":-2.06279016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36480999,"cg_vq_v":-8.36480999,"cg_vu_v":4.39892578,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2459.14966,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.5983276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":717.095542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":717.095548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":717.095554,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":717.331421,"values":{"Elec_RPM":-2352.02466,"EncoderCos":24715,"EncoderSin":51204,"GapTicks":49777,"Mech_RPM":-470.404938,"cg_du":46.704792,"cg_dv":45.2525406,"cg_dw":54.7474594,"cg_id_a":4.14334202,"cg_id_raw_a":8.99158382,"cg_iq_a":-205.50914,"cg_iq_raw_a":-206.540344,"cg_iu_a":-3.11443639,"cg_iv_a":-176.003387,"cg_iw_a":179.117828,"cg_sample_age_us":23.8709087,"cg_sample_seq":4952316,"cg_sample_valid":1,"cg_theta_rad":1.97935343,"cg_vd_req_v":-1.95481932,"cg_vd_v":-1.95481932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29374409,"cg_vq_v":-8.29374409,"cg_vu_v":39.1504402,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.5895081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":717.661499,"values":{"Elec_RPM":-2349.71411,"EncoderCos":15936,"EncoderSin":43761,"GapTicks":49786,"Mech_RPM":-469.94281,"cg_du":54.7398148,"cg_dv":53.5126801,"cg_dw":45.2601852,"cg_id_a":15.5430422,"cg_id_raw_a":13.3503523,"cg_iq_a":-206.201233,"cg_iq_raw_a":-207.789124,"cg_iu_a":32.3320313,"cg_iv_a":161.06427,"cg_iw_a":-193.396301,"cg_sample_age_us":23.9145451,"cg_sample_seq":4954016,"cg_sample_valid":1,"cg_theta_rad":2.56198955,"cg_vd_req_v":-2.20471025,"cg_vd_v":-2.20471025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30152321,"cg_vq_v":-8.30152321,"cg_vu_v":41.3499031,"cg_vv_v":55.4264603,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.1252708,"dclink_p_w":-2470.91553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":718.015015,"values":{"Elec_RPM":-2350.98657,"EncoderCos":12619,"EncoderSin":32838,"GapTicks":49422,"Mech_RPM":-470.197327,"cg_du":44.9292221,"cg_dv":48.2360191,"cg_dw":55.0707779,"cg_id_a":-3.67537999,"cg_id_raw_a":-8.91040897,"cg_iq_a":-195.709442,"cg_iq_raw_a":-198.671249,"cg_iu_a":-93.289093,"cg_iv_a":-104.31308,"cg_iw_a":193.144196,"cg_sample_age_us":23.9400005,"cg_sample_seq":4955716,"cg_sample_valid":1,"cg_theta_rad":3.13890624,"cg_vd_req_v":-1.81299031,"cg_vd_v":-1.81299031,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47776604,"cg_vq_v":-8.47776604,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6123962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":718.087189,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":718.087195,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":718.087201,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":718.454468,"values":{"Elec_RPM":-2349.71143,"EncoderCos":52517,"EncoderSin":31679,"GapTicks":49349,"Mech_RPM":-469.942261,"cg_du":55.1372261,"cg_dv":50.018631,"cg_dw":44.8627739,"cg_id_a":-11.965169,"cg_id_raw_a":-14.0001564,"cg_iq_a":-196.434662,"cg_iq_raw_a":-195.961517,"cg_iu_a":132.799927,"cg_iv_a":62.5172882,"cg_iw_a":-187.814743,"cg_sample_age_us":24.0927277,"cg_sample_seq":4957766,"cg_sample_valid":1,"cg_theta_rad":6.24137402,"cg_vd_req_v":-1.70301747,"cg_vd_v":-1.70301747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44103622,"cg_vq_v":-8.44103622,"cg_vu_v":18.0355949,"cg_vv_v":25.953661,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2471.89233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6106262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":718.975952,"values":{"Elec_RPM":-2347.09863,"EncoderCos":18561,"EncoderSin":18280,"GapTicks":49354,"Mech_RPM":-469.419708,"cg_du":49.5620346,"cg_dv":55.1324692,"cg_dw":44.8675308,"cg_id_a":-13.6425982,"cg_id_raw_a":-14.420433,"cg_iq_a":-200.337067,"cg_iq_raw_a":-199.824371,"cg_iu_a":-68.5345612,"cg_iv_a":198.214218,"cg_iw_a":-129.679657,"cg_sample_age_us":23.9909096,"cg_sample_seq":4960317,"cg_sample_valid":1,"cg_theta_rad":3.94704962,"cg_vd_req_v":-1.64031947,"cg_vd_v":-1.64031947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40274906,"cg_vq_v":-8.40274906,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2395.61206,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6000671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":718.983013,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":718.983023,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":718.983026,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":719.1114,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":719.111406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":719.111411,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":719.34314,"values":{"Elec_RPM":-2342.45044,"EncoderCos":47037,"EncoderSin":46704,"GapTicks":49331,"Mech_RPM":-468.490082,"cg_du":49.3071785,"cg_dv":44.8463669,"cg_dw":55.1536331,"cg_id_a":-16.2803898,"cg_id_raw_a":-16.5129452,"cg_iq_a":-197.874084,"cg_iq_raw_a":-199.733856,"cg_iu_a":38.1310463,"cg_iv_a":-187.673889,"cg_iw_a":149.542847,"cg_sample_age_us":23.6527271,"cg_sample_seq":4962366,"cg_sample_valid":1,"cg_theta_rad":0.777367413,"cg_vd_req_v":-1.61454785,"cg_vd_v":-1.61454785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48610306,"cg_vq_v":-8.48610306,"cg_vu_v":41.3499031,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2496.54565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6194458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":719.675171,"values":{"Elec_RPM":-2347.37354,"EncoderCos":36925,"EncoderSin":52233,"GapTicks":49665,"Mech_RPM":-469.474731,"cg_du":52.9190826,"cg_dv":54.849926,"cg_dw":45.150074,"cg_id_a":-0.717823029,"cg_id_raw_a":4.2367897,"cg_iq_a":-200.180588,"cg_iq_raw_a":-202.792801,"cg_iu_a":0.219996452,"cg_iv_a":172.517319,"cg_iw_a":-172.73732,"cg_sample_age_us":23.8963642,"cg_sample_seq":4964066,"cg_sample_valid":1,"cg_theta_rad":1.35956562,"cg_vd_req_v":-1.86539531,"cg_vd_v":-1.86539531,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40178108,"cg_vq_v":-8.40178108,"cg_vu_v":31.2323723,"cg_vv_v":29.0329094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6088867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":720.028687,"values":{"Elec_RPM":-2348.47876,"EncoderCos":25937,"EncoderSin":51650,"GapTicks":49615,"Mech_RPM":-469.69574,"cg_du":45.104805,"cg_dv":47.119545,"cg_dw":54.895195,"cg_id_a":9.7372036,"cg_id_raw_a":6.75303698,"cg_iq_a":-201.788116,"cg_iq_raw_a":-199.621429,"cg_iu_a":-51.137516,"cg_iv_a":-143.963837,"cg_iw_a":195.101349,"cg_sample_age_us":23.8709087,"cg_sample_seq":4965767,"cg_sample_valid":1,"cg_theta_rad":1.91697359,"cg_vd_req_v":-2.10037065,"cg_vd_v":-2.10037065,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35345554,"cg_vq_v":-8.35345554,"cg_vu_v":117.451309,"cg_vv_v":135.486908,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2493.14087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":720.103067,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":720.103073,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":720.103078,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":720.358765,"values":{"Elec_RPM":-2353.95801,"EncoderCos":16610,"EncoderSin":44704,"GapTicks":49341,"Mech_RPM":-470.791626,"cg_du":55.1440811,"cg_dv":50.8479042,"cg_dw":44.8559189,"cg_id_a":2.7982583,"cg_id_raw_a":-0.661310196,"cg_iq_a":-203.250626,"cg_iq_raw_a":-201.589539,"cg_iu_a":109.096474,"cg_iv_a":93.6507339,"cg_iw_a":-202.747208,"cg_sample_age_us":23.7872734,"cg_sample_seq":4967467,"cg_sample_valid":1,"cg_theta_rad":2.49709225,"cg_vd_req_v":-1.89502501,"cg_vd_v":-1.89502501,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39789581,"cg_vq_v":-8.39789581,"cg_vu_v":21.9946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5631409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":720.692749,"values":{"Elec_RPM":-2354.28833,"EncoderCos":12657,"EncoderSin":34230,"GapTicks":49395,"Mech_RPM":-470.857666,"cg_du":44.9052162,"cg_dv":51.1418953,"cg_dw":55.0947838,"cg_id_a":-10.9022064,"cg_id_raw_a":-9.95701122,"cg_iq_a":-198.724258,"cg_iq_raw_a":-197.151535,"cg_iu_a":-154.577423,"cg_iv_a":-30.0857086,"cg_iw_a":184.663132,"cg_sample_age_us":23.8418179,"cg_sample_seq":4969167,"cg_sample_valid":1,"cg_theta_rad":3.07236147,"cg_vd_req_v":-1.623716,"cg_vd_v":-1.623716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43012047,"cg_vq_v":-8.43012047,"cg_vu_v":119.650772,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.4857788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":721.044312,"values":{"Elec_RPM":-2353.07251,"EncoderCos":15181,"EncoderSin":22832,"GapTicks":49683,"Mech_RPM":-470.614502,"cg_du":54.8334885,"cg_dv":46.9814186,"cg_dw":45.1665115,"cg_id_a":0.062895298,"cg_id_raw_a":7.11951685,"cg_iq_a":-199.337448,"cg_iq_raw_a":-202.646271,"cg_iu_a":172.668152,"cg_iv_a":-1.05439758,"cg_iw_a":-171.613754,"cg_sample_age_us":24.005455,"cg_sample_seq":4970866,"cg_sample_valid":1,"cg_theta_rad":3.66182351,"cg_vd_req_v":-1.86195779,"cg_vd_v":-1.86195779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38212204,"cg_vq_v":-8.38212204,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6106262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":721.095279,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":721.095286,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":721.095291,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":721.378296,"values":{"Elec_RPM":-2360.56055,"EncoderCos":43554,"EncoderSin":15880,"GapTicks":49936,"Mech_RPM":-472.112122,"cg_du":45.9921341,"cg_dv":54.6035309,"cg_dw":45.3964691,"cg_id_a":12.5717068,"cg_id_raw_a":11.7588654,"cg_iq_a":-204.674774,"cg_iq_raw_a":-203.920807,"cg_iu_a":-164.979401,"cg_iv_a":186.398712,"cg_iw_a":-21.4193039,"cg_sample_age_us":23.9618187,"cg_sample_seq":4972467,"cg_sample_valid":1,"cg_theta_rad":5.30210304,"cg_vd_req_v":-2.22432756,"cg_vd_v":-2.22432756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3180294,"cg_vq_v":-8.3180294,"cg_vu_v":113.492287,"cg_vv_v":143.404984,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.7903461,"dclink_p_w":-2574.70166,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6106262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":721.710327,"values":{"Elec_RPM":-2354.052,"EncoderCos":34472,"EncoderSin":12735,"GapTicks":49376,"Mech_RPM":-470.810394,"cg_du":55.1122971,"cg_dv":44.8877029,"cg_dw":48.5307884,"cg_id_a":2.09860229,"cg_id_raw_a":-4.56004095,"cg_iq_a":-197.000961,"cg_iq_raw_a":-196.807053,"cg_iu_a":197.966339,"cg_iv_a":-88.1845703,"cg_iw_a":-109.781769,"cg_sample_age_us":24.0527267,"cg_sample_seq":4974266,"cg_sample_valid":1,"cg_theta_rad":4.81175804,"cg_vd_req_v":-1.97856677,"cg_vd_v":-1.97856677,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4581356,"cg_vq_v":-8.4581356,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2429.68628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.5578613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":722.06189,"values":{"Elec_RPM":-2354.11353,"EncoderCos":52316,"EncoderSin":35884,"GapTicks":49319,"Mech_RPM":-470.822723,"cg_du":49.8451538,"cg_dv":55.1644211,"cg_dw":44.8355789,"cg_id_a":-16.9657478,"cg_id_raw_a":-17.1697178,"cg_iq_a":-197.330307,"cg_iq_raw_a":-195.275986,"cg_iu_a":-56.2478943,"cg_iv_a":193.357513,"cg_iw_a":-137.109619,"cg_sample_age_us":23.3872719,"cg_sample_seq":4975867,"cg_sample_valid":1,"cg_theta_rad":0.168835521,"cg_vd_req_v":-1.62558866,"cg_vd_v":-1.62558866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45057678,"cg_vq_v":-8.45057678,"cg_vu_v":135.486908,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2395.35059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6053467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":722.087476,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":722.087482,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":722.087487,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":722.395874,"values":{"Elec_RPM":-2356.50928,"EncoderCos":51498,"EncoderSin":26167,"GapTicks":49737,"Mech_RPM":-471.30188,"cg_du":54.7840805,"cg_dv":45.2159195,"cg_dw":53.4171066,"cg_id_a":4.10775518,"cg_id_raw_a":10.7710276,"cg_iq_a":-201.241653,"cg_iq_raw_a":-203.131912,"cg_iu_a":170.058594,"cg_iv_a":-175.061035,"cg_iw_a":5.00244904,"cg_sample_age_us":24.1036358,"cg_sample_seq":4977667,"cg_sample_valid":1,"cg_theta_rad":5.96069765,"cg_vd_req_v":-2.0016861,"cg_vd_v":-2.0016861,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38610077,"cg_vq_v":-8.38610077,"cg_vu_v":35.1914063,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.1905098,"dclink_p_w":-2480.32861,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":722.727905,"values":{"Elec_RPM":-2354.73755,"EncoderCos":37270,"EncoderSin":52089,"GapTicks":49914,"Mech_RPM":-470.94751,"cg_du":53.8433838,"cg_dv":54.6227875,"cg_dw":45.3772125,"cg_id_a":7.58824396,"cg_id_raw_a":9.50218391,"cg_iq_a":-202.024811,"cg_iq_raw_a":-204.432037,"cg_iu_a":9.17222309,"cg_iv_a":168.856689,"cg_iw_a":-178.028915,"cg_sample_age_us":23.8927269,"cg_sample_seq":4979266,"cg_sample_valid":1,"cg_theta_rad":1.33916044,"cg_vd_req_v":-2.03418684,"cg_vd_v":-2.03418684,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35107231,"cg_vq_v":-8.35107231,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2414.97998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5983276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":723.079468,"values":{"Elec_RPM":-2355.0083,"EncoderCos":46095,"EncoderSin":47586,"GapTicks":49409,"Mech_RPM":-471.001678,"cg_du":51.7240486,"cg_dv":44.9176445,"cg_dw":55.0823555,"cg_id_a":4.63136578,"cg_id_raw_a":0.445637941,"cg_iq_a":-198.01506,"cg_iq_raw_a":-198.120758,"cg_iu_a":115.801582,"cg_iv_a":-197.350998,"cg_iw_a":81.5494156,"cg_sample_age_us":23.51091,"cg_sample_seq":4981066,"cg_sample_valid":1,"cg_theta_rad":0.841433942,"cg_vd_req_v":-2.04251528,"cg_vd_v":-2.04251528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4372673,"cg_vq_v":-8.4372673,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.1992416,"dclink_p_w":-2351.55566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6335449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":723.110575,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":723.110581,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":723.110586,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":723.413452,"values":{"Elec_RPM":-2356.09082,"EncoderCos":35834,"EncoderSin":52426,"GapTicks":49324,"Mech_RPM":-471.21817,"cg_du":50.2436485,"cg_dv":55.1595879,"cg_dw":44.8404121,"cg_id_a":-14.5887051,"cg_id_raw_a":-14.4810562,"cg_iq_a":-196.140244,"cg_iq_raw_a":-196.213882,"cg_iu_a":-46.1358643,"cg_iv_a":188.573334,"cg_iw_a":-149.613754,"cg_sample_age_us":23.8927269,"cg_sample_seq":4982766,"cg_sample_valid":1,"cg_theta_rad":1.41389644,"cg_vd_req_v":-1.61581373,"cg_vd_v":-1.61581373,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47288227,"cg_vq_v":-8.47288227,"cg_vu_v":38.7105446,"cg_vv_v":51.4674301,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.6705322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":723.765015,"values":{"Elec_RPM":-2359.58545,"EncoderCos":16832,"EncoderSin":45028,"GapTicks":49308,"Mech_RPM":-471.917114,"cg_du":55.1737862,"cg_dv":50.4854088,"cg_dw":44.8262138,"cg_id_a":-0.254956514,"cg_id_raw_a":-2.00124359,"cg_iq_a":-198.428741,"cg_iq_raw_a":-198.492844,"cg_iu_a":61.4720764,"cg_iv_a":137.505768,"cg_iw_a":-198.977844,"cg_sample_age_us":23.7945461,"cg_sample_seq":4984420,"cg_sample_valid":1,"cg_theta_rad":2.53211713,"cg_vd_req_v":-1.90969872,"cg_vd_v":-1.90969872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44555855,"cg_vq_v":-8.44555855,"cg_vu_v":47.0685043,"cg_vv_v":63.7844238,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2501.76636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.640564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":724.097046,"values":{"Elec_RPM":-2362.87817,"EncoderCos":15944,"EncoderSin":43768,"GapTicks":49797,"Mech_RPM":-472.575653,"cg_du":54.7293396,"cg_dv":53.5146103,"cg_dw":45.2706604,"cg_id_a":14.9063177,"cg_id_raw_a":14.0345097,"cg_iq_a":-203.969696,"cg_iq_raw_a":-202.760712,"cg_iu_a":31.7521305,"cg_iv_a":157.657349,"cg_iw_a":-189.409485,"cg_sample_age_us":23.9145451,"cg_sample_seq":4986167,"cg_sample_valid":1,"cg_theta_rad":2.56194401,"cg_vd_req_v":-2.17442846,"cg_vd_v":-2.17442846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32069778,"cg_vq_v":-8.32069778,"cg_vu_v":133.727341,"cg_vv_v":143.404984,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6159363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":724.102513,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":724.102519,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":724.102525,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":724.429077,"values":{"Elec_RPM":-2365.49829,"EncoderCos":15225,"EncoderSin":22730,"GapTicks":49596,"Mech_RPM":-473.09967,"cg_du":54.9124069,"cg_dv":47.2668457,"cg_dw":45.0875931,"cg_id_a":-3.23170137,"cg_id_raw_a":2.46042728,"cg_iq_a":-199.367706,"cg_iq_raw_a":-199.029434,"cg_iu_a":169.768646,"cg_iv_a":1.30143738,"cg_iw_a":-171.070084,"cg_sample_age_us":23.9981823,"cg_sample_seq":4987817,"cg_sample_valid":1,"cg_theta_rad":3.66767097,"cg_vd_req_v":-1.79594541,"cg_vd_v":-1.79594541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40653801,"cg_vq_v":-8.40653801,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2478.23706,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6106262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":724.782593,"values":{"Elec_RPM":-2360.72217,"EncoderCos":23421,"EncoderSin":14867,"GapTicks":49801,"Mech_RPM":-472.14444,"cg_du":45.2742729,"cg_dv":54.7257271,"cg_dw":53.8475418,"cg_id_a":8.35976791,"cg_id_raw_a":7.02336264,"cg_iq_a":-199.046829,"cg_iq_raw_a":-197.471222,"cg_iu_a":-186.725693,"cg_iv_a":32.4348907,"cg_iw_a":154.290802,"cg_sample_age_us":23.8418179,"cg_sample_seq":4989517,"cg_sample_valid":1,"cg_theta_rad":4.24471188,"cg_vd_req_v":-2.07552552,"cg_vd_v":-2.07552552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44857979,"cg_vq_v":-8.44857979,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2530.79272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.5385132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":725.095553,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":725.095559,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":725.095565,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":725.112671,"values":{"Elec_RPM":-2358.16479,"EncoderCos":34750,"EncoderSin":12791,"GapTicks":49455,"Mech_RPM":-471.632965,"cg_du":55.0401077,"cg_dv":44.9598923,"cg_dw":48.0337486,"cg_id_a":7.50518799,"cg_id_raw_a":1.34507453,"cg_iq_a":-199.522186,"cg_iq_raw_a":-198.435852,"cg_iu_a":197.785126,"cg_iv_a":-74.2306976,"cg_iw_a":-123.554428,"cg_sample_age_us":24.0636368,"cg_sample_seq":4991217,"cg_sample_valid":1,"cg_theta_rad":4.8259964,"cg_vd_req_v":-2.07944393,"cg_vd_v":-2.07944393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37955475,"cg_vq_v":-8.37955475,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2434.83252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6194458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":725.446655,"values":{"Elec_RPM":-2356.39453,"EncoderCos":45178,"EncoderSin":17114,"GapTicks":49318,"Mech_RPM":-471.278931,"cg_du":44.8352737,"cg_dv":55.1647263,"cg_dw":49.9202919,"cg_id_a":-14.3903522,"cg_id_raw_a":-17.3835163,"cg_iq_a":-197.88916,"cg_iq_raw_a":-197.983673,"cg_iu_a":-191.038727,"cg_iv_a":138.41188,"cg_iw_a":52.6268463,"cg_sample_age_us":23.8381824,"cg_sample_seq":4992917,"cg_sample_valid":1,"cg_theta_rad":5.40056562,"cg_vd_req_v":-1.69842124,"cg_vd_v":-1.69842124,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43578815,"cg_vq_v":-8.43578815,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2523.47168,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":725.800171,"values":{"Elec_RPM":-2360.41162,"EncoderCos":51998,"EncoderSin":37325,"GapTicks":49598,"Mech_RPM":-472.082336,"cg_du":47.1628647,"cg_dv":54.9108391,"cg_dw":45.0891609,"cg_id_a":10.2975817,"cg_id_raw_a":8.63905716,"cg_iq_a":-200.982025,"cg_iq_raw_a":-199.464767,"cg_iu_a":-144.392899,"cg_iv_a":195.133469,"cg_iw_a":-63.8245926,"cg_sample_age_us":23.5218182,"cg_sample_seq":4994566,"cg_sample_valid":1,"cg_theta_rad":0.241413265,"cg_vd_req_v":-2.17997789,"cg_vd_v":-2.17997789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39917374,"cg_vq_v":-8.39917374,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2457.30835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":726.087571,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":726.087577,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":726.087582,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":726.132202,"values":{"Elec_RPM":-2360.67114,"EncoderCos":51854,"EncoderSin":37907,"GapTicks":49959,"Mech_RPM":-472.134216,"cg_du":46.0088005,"cg_dv":54.5825577,"cg_dw":45.4174423,"cg_id_a":12.4698133,"cg_id_raw_a":14.2036324,"cg_iq_a":-204.678604,"cg_iq_raw_a":-205.416458,"cg_iu_a":-162.732269,"cg_iv_a":186.869873,"cg_iw_a":-24.1376038,"cg_sample_age_us":23.4636364,"cg_sample_seq":4996317,"cg_sample_valid":1,"cg_theta_rad":0.273101121,"cg_vd_req_v":-2.20956779,"cg_vd_v":-2.20956779,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3090477,"cg_vq_v":-8.3090477,"cg_vu_v":96.7763672,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.5332336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":726.464233,"values":{"Elec_RPM":-2362.88794,"EncoderCos":36423,"EncoderSin":52320,"GapTicks":49384,"Mech_RPM":-472.577606,"cg_du":51.6858368,"cg_dv":55.1051445,"cg_dw":44.8948555,"cg_id_a":-8.4642601,"cg_id_raw_a":-7.83564425,"cg_iq_a":-195.913574,"cg_iq_raw_a":-196.907181,"cg_iu_a":-22.2874241,"cg_iv_a":178.89624,"cg_iw_a":-156.60881,"cg_sample_age_us":23.9363632,"cg_sample_seq":4997967,"cg_sample_valid":1,"cg_theta_rad":1.38577843,"cg_vd_req_v":-1.71536636,"cg_vd_v":-1.71536636,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4870472,"cg_vq_v":-8.4870472,"cg_vu_v":102.93486,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2532.28198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6141663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":726.815796,"values":{"Elec_RPM":-2359.43408,"EncoderCos":35671,"EncoderSin":52451,"GapTicks":49318,"Mech_RPM":-471.886841,"cg_du":49.9574547,"cg_dv":55.164753,"cg_dw":44.835247,"cg_id_a":-10.9617567,"cg_id_raw_a":-10.1443539,"cg_iq_a":-198.783432,"cg_iq_raw_a":-197.033096,"cg_iu_a":-61.3945198,"cg_iv_a":194.589813,"cg_iw_a":-133.195297,"cg_sample_age_us":23.8999996,"cg_sample_seq":4999717,"cg_sample_valid":1,"cg_theta_rad":1.42715871,"cg_vd_req_v":-1.68974805,"cg_vd_v":-1.68974805,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4373312,"cg_vq_v":-8.4373312,"cg_vu_v":123.60981,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2384.96509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6088867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":727.111105,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":727.111136,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":727.111142,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":727.14978,"values":{"Elec_RPM":-2364.21167,"EncoderCos":16019,"EncoderSin":43906,"GapTicks":49723,"Mech_RPM":-472.842346,"cg_du":54.7965355,"cg_dv":53.1752052,"cg_dw":45.2034645,"cg_id_a":14.9277916,"cg_id_raw_a":13.7117758,"cg_iq_a":-204.215118,"cg_iq_raw_a":-203.862946,"cg_iu_a":50.5264359,"cg_iv_a":145.914337,"cg_iw_a":-196.440781,"cg_sample_age_us":23.7909088,"cg_sample_seq":5001366,"cg_sample_valid":1,"cg_theta_rad":2.54719687,"cg_vd_req_v":-2.17981863,"cg_vd_v":-2.17981863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29966927,"cg_vq_v":-8.29966927,"cg_vu_v":15.836132,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6247253,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":727.501343,"values":{"Elec_RPM":-2354.23901,"EncoderCos":34094,"EncoderSin":52679,"GapTicks":49636,"Mech_RPM":-470.847809,"cg_du":46.9902115,"cg_dv":54.8762207,"cg_dw":45.1237793,"cg_id_a":15.3893347,"cg_id_raw_a":14.3607645,"cg_iq_a":-202.535294,"cg_iq_raw_a":-200.779968,"cg_iu_a":-152.076599,"cg_iv_a":194.662323,"cg_iw_a":-42.5857162,"cg_sample_age_us":23.9036369,"cg_sample_seq":5003217,"cg_sample_valid":1,"cg_theta_rad":1.50413775,"cg_vd_req_v":-2.21495271,"cg_vd_v":-2.21495271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36243343,"cg_vq_v":-8.36243343,"cg_vu_v":95.4566803,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6176758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":727.833374,"values":{"Elec_RPM":-2352.104,"EncoderCos":12626,"EncoderSin":32700,"GapTicks":49404,"Mech_RPM":-470.420807,"cg_du":44.9135323,"cg_dv":48.0634842,"cg_dw":55.0864677,"cg_id_a":2.6877737,"cg_id_raw_a":-0.602312267,"cg_iq_a":-196.917404,"cg_iq_raw_a":-195.740875,"cg_iu_a":-78.5378571,"cg_iv_a":-118.375687,"cg_iw_a":196.913544,"cg_sample_age_us":23.9509087,"cg_sample_seq":5004817,"cg_sample_valid":1,"cg_theta_rad":3.14789271,"cg_vd_req_v":-1.95188522,"cg_vd_v":-1.95188522,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4542551,"cg_vq_v":-8.4542551,"cg_vu_v":112.172607,"cg_vv_v":121.410347,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.3895226,"dclink_p_w":-2364.7583,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.6212158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":728.103344,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":728.10335,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":728.103357,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":728.179077,"values":{"Elec_RPM":-2355.72705,"EncoderCos":15971,"EncoderSin":21451,"GapTicks":49323,"Mech_RPM":-471.145416,"cg_du":55.1601372,"cg_dv":50.5126915,"cg_dw":44.8398628,"cg_id_a":-4.69256687,"cg_id_raw_a":-8.40903091,"cg_iq_a":-198.415375,"cg_iq_raw_a":-199.405884,"cg_iu_a":128.088242,"cg_iv_a":65.4530182,"cg_iw_a":-193.54126,"cg_sample_age_us":23.8745461,"cg_sample_seq":5006516,"cg_sample_valid":1,"cg_theta_rad":3.73303223,"cg_vd_req_v":-1.8128432,"cg_vd_v":-1.8128432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44508839,"cg_vq_v":-8.44508839,"cg_vu_v":31.2323723,"cg_vv_v":10.9973145,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5163746,"dclink_p_w":-2390.32666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":728.71814,"values":{"Elec_RPM":-2351.10278,"EncoderCos":51177,"EncoderSin":40030,"GapTicks":49281,"Mech_RPM":-470.220551,"cg_du":44.8015366,"cg_dv":55.1984634,"cg_dw":50.2558327,"cg_id_a":-8.6703043,"cg_id_raw_a":-13.8538456,"cg_iq_a":-195.424698,"cg_iq_raw_a":-194.758469,"cg_iu_a":-192.524704,"cg_iv_a":126.378906,"cg_iw_a":66.1457977,"cg_sample_age_us":23.550909,"cg_sample_seq":5009167,"cg_sample_valid":1,"cg_theta_rad":0.382329792,"cg_vd_req_v":-1.79141283,"cg_vd_v":-1.79141283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50421143,"cg_vq_v":-8.50421143,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7431641,"temp_inv2_c":42.6423645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":728.9671,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":728.967141,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":728.967144,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":729.094956,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":729.094962,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":729.094968,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":729.161499,"values":{"Elec_RPM":-2347.08374,"EncoderCos":26996,"EncoderSin":51976,"GapTicks":49362,"Mech_RPM":-469.416748,"cg_du":44.8752365,"cg_dv":49.0642433,"cg_dw":55.1247635,"cg_id_a":-13.1228647,"cg_id_raw_a":-16.5093765,"cg_iq_a":-198.889465,"cg_iq_raw_a":-198.22699,"cg_iu_a":-119.275925,"cg_iv_a":-77.5651398,"cg_iw_a":196.841064,"cg_sample_age_us":23.8563633,"cg_sample_seq":5011367,"cg_sample_valid":1,"cg_theta_rad":1.86085141,"cg_vd_req_v":-1.64335859,"cg_vd_v":-1.64335859,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42671776,"cg_vq_v":-8.42671776,"cg_vu_v":99.8556061,"cg_vv_v":94.1370087,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-17.9135761,"dclink_p_w":-2584.65601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6212158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":729.513062,"values":{"Elec_RPM":-2346.1272,"EncoderCos":37589,"EncoderSin":52070,"GapTicks":50031,"Mech_RPM":-469.225433,"cg_du":54.5172653,"cg_dv":54.2898331,"cg_dw":45.4827347,"cg_id_a":12.2469387,"cg_id_raw_a":13.7223892,"cg_iq_a":-204.776382,"cg_iq_raw_a":-203.591339,"cg_iu_a":-16.1259727,"cg_iv_a":177.446487,"cg_iw_a":-161.320511,"cg_sample_age_us":26.7581825,"cg_sample_seq":5013171,"cg_sample_valid":1,"cg_theta_rad":1.37952077,"cg_vd_req_v":-2.14593315,"cg_vd_v":-2.14593315,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31041336,"cg_vq_v":-8.31041336,"cg_vu_v":26.3935547,"cg_vv_v":23.3143044,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2460.97974,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6564331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":729.847046,"values":{"Elec_RPM":-2351.7395,"EncoderCos":25269,"EncoderSin":51400,"GapTicks":49814,"Mech_RPM":-470.3479,"cg_du":45.500164,"cg_dv":45.6557579,"cg_dw":54.499836,"cg_id_a":9.35990715,"cg_id_raw_a":12.605463,"cg_iq_a":-203.44783,"cg_iq_raw_a":-203.067612,"cg_iu_a":-30.5147743,"cg_iv_a":-158.642593,"cg_iw_a":189.157364,"cg_sample_age_us":23.7763634,"cg_sample_seq":5014866,"cg_sample_valid":1,"cg_theta_rad":1.94420767,"cg_vd_req_v":-2.07100105,"cg_vd_v":-2.07100105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3562727,"cg_vq_v":-8.3562727,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6106262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":730.08737,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":730.087376,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":730.087381,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":730.179077,"values":{"Elec_RPM":-2350.57764,"EncoderCos":12686,"EncoderSin":34534,"GapTicks":49490,"Mech_RPM":-470.115509,"cg_du":44.9915962,"cg_dv":51.8111038,"cg_dw":55.0084038,"cg_id_a":-10.7316437,"cg_id_raw_a":-8.80024719,"cg_iq_a":-200.482361,"cg_iq_raw_a":-200.515152,"cg_iu_a":-166.066711,"cg_iv_a":-13.1598511,"cg_iw_a":179.226563,"cg_sample_age_us":23.8999996,"cg_sample_seq":5016517,"cg_sample_valid":1,"cg_theta_rad":3.05344605,"cg_vd_req_v":-1.62206066,"cg_vd_v":-1.62206066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36844826,"cg_vq_v":-8.36844826,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2417.31396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6088867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":730.53064,"values":{"Elec_RPM":-2349.78931,"EncoderCos":15835,"EncoderSin":43588,"GapTicks":49967,"Mech_RPM":-469.957855,"cg_du":54.5745544,"cg_dv":53.9411469,"cg_dw":45.4254456,"cg_id_a":13.0910082,"cg_id_raw_a":14.3982792,"cg_iq_a":-205.708862,"cg_iq_raw_a":-208.008713,"cg_iu_a":32.6219864,"cg_iv_a":159.143341,"cg_iw_a":-191.76532,"cg_sample_age_us":23.863636,"cg_sample_seq":5018316,"cg_sample_valid":1,"cg_theta_rad":2.56553912,"cg_vd_req_v":-2.13075995,"cg_vd_v":-2.13075995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26804924,"cg_vq_v":-8.26804924,"cg_vu_v":104.694435,"cg_vv_v":100.735397,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2534.45313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":730.864624,"values":{"Elec_RPM":-2351.49927,"EncoderCos":22847,"EncoderSin":15137,"GapTicks":49526,"Mech_RPM":-470.299835,"cg_du":45.0238876,"cg_dv":54.9761124,"cg_dw":52.5686874,"cg_id_a":4.37565804,"cg_id_raw_a":1.750121,"cg_iq_a":-196.98436,"cg_iq_raw_a":-195.595703,"cg_iu_a":-191.582367,"cg_iv_a":52.5864716,"cg_iw_a":138.995895,"cg_sample_age_us":23.8345451,"cg_sample_seq":5019917,"cg_sample_valid":1,"cg_theta_rad":4.22421598,"cg_vd_req_v":-2.00756836,"cg_vd_v":-2.00756836,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.468894,"cg_vq_v":-8.468894,"cg_vu_v":4.39892578,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2497.29419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6476135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":731.079939,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":731.079945,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":731.079951,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":731.194702,"values":{"Elec_RPM":-2354.87012,"EncoderCos":23793,"EncoderSin":14699,"GapTicks":50049,"Mech_RPM":-470.973999,"cg_du":45.499218,"cg_dv":54.390049,"cg_dw":54.500782,"cg_id_a":11.3337164,"cg_id_raw_a":15.1690283,"cg_iq_a":-200.977356,"cg_iq_raw_a":-201.259262,"cg_iu_a":-183.355026,"cg_iv_a":21.8516998,"cg_iw_a":161.503326,"cg_sample_age_us":23.8345451,"cg_sample_seq":5021666,"cg_sample_valid":1,"cg_theta_rad":4.25431728,"cg_vd_req_v":-2.12046528,"cg_vd_v":-2.12046528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36756611,"cg_vq_v":-8.36756611,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2403.979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":731.548218,"values":{"Elec_RPM":-2357.47095,"EncoderCos":44350,"EncoderSin":16461,"GapTicks":49570,"Mech_RPM":-471.494171,"cg_du":45.063736,"cg_dv":54.936264,"cg_dw":47.423645,"cg_id_a":-4.94831371,"cg_id_raw_a":2.02790594,"cg_iq_a":-201.637283,"cg_iq_raw_a":-203.265167,"cg_iu_a":-179.513168,"cg_iv_a":164.68866,"cg_iw_a":14.8245163,"cg_sample_age_us":23.9145451,"cg_sample_seq":5023318,"cg_sample_valid":1,"cg_theta_rad":5.36065292,"cg_vd_req_v":-1.86406922,"cg_vd_v":-1.86406922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38465309,"cg_vq_v":-8.38465309,"cg_vu_v":140.325729,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.5765076,"dclink_p_w":-2536.02222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6264954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":731.880249,"values":{"Elec_RPM":-2353.49902,"EncoderCos":45143,"EncoderSin":17101,"GapTicks":49303,"Mech_RPM":-470.699829,"cg_du":44.8209457,"cg_dv":55.1790543,"cg_dw":49.7831726,"cg_id_a":-11.4765596,"cg_id_raw_a":-16.1593781,"cg_iq_a":-197.497177,"cg_iq_raw_a":-196.697815,"cg_iu_a":-191.401154,"cg_iv_a":135.874802,"cg_iw_a":55.5263519,"cg_sample_age_us":23.8854542,"cg_sample_seq":5025067,"cg_sample_valid":1,"cg_theta_rad":5.40101528,"cg_vd_req_v":-1.76378846,"cg_vd_v":-1.76378846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4758606,"cg_vq_v":-8.4758606,"cg_vu_v":98.0960464,"cg_vv_v":103.374756,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2503.3645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6247253,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":732.103424,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":732.103429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":732.103435,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":732.214233,"values":{"Elec_RPM":-2354.85059,"EncoderCos":52042,"EncoderSin":37033,"GapTicks":49493,"Mech_RPM":-470.970123,"cg_du":47.7662735,"cg_dv":55.005497,"cg_dw":44.994503,"cg_id_a":7.27316046,"cg_id_raw_a":-0.0734393746,"cg_iq_a":-200.776184,"cg_iq_raw_a":-199.50914,"cg_iu_a":-143.523041,"cg_iv_a":197.054382,"cg_iw_a":-53.5313416,"cg_sample_age_us":23.4599991,"cg_sample_seq":5026718,"cg_sample_valid":1,"cg_theta_rad":0.238646507,"cg_vd_req_v":-2.13941574,"cg_vd_v":-2.13941574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3689146,"cg_vq_v":-8.3689146,"cg_vu_v":128.888519,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6493835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":732.567749,"values":{"Elec_RPM":-2352.71924,"EncoderCos":51861,"EncoderSin":27431,"GapTicks":49316,"Mech_RPM":-470.543854,"cg_du":55.1663895,"cg_dv":44.8336105,"cg_dw":50.1519279,"cg_id_a":-15.6854591,"cg_id_raw_a":-16.2768707,"cg_iq_a":-193.962494,"cg_iq_raw_a":-193.049728,"cg_iu_a":187.020721,"cg_iv_a":-138.708496,"cg_iw_a":-48.312233,"cg_sample_age_us":24.1727276,"cg_sample_seq":5028517,"cg_sample_valid":1,"cg_theta_rad":6.02688789,"cg_vd_req_v":-1.62473559,"cg_vd_v":-1.62473559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50748062,"cg_vq_v":-8.50748062,"cg_vu_v":106.453995,"cg_vv_v":85.7790527,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2392.99731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6352844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":732.897827,"values":{"Elec_RPM":-2359.81372,"EncoderCos":45783,"EncoderSin":47838,"GapTicks":49521,"Mech_RPM":-471.962738,"cg_du":52.4798584,"cg_dv":45.0199776,"cg_dw":54.9800224,"cg_id_a":9.79578495,"cg_id_raw_a":7.48919058,"cg_iq_a":-201.356537,"cg_iq_raw_a":-200.467346,"cg_iu_a":139.505051,"cg_iv_a":-197.242279,"cg_iw_a":57.7372208,"cg_sample_age_us":23.5799999,"cg_sample_seq":5030166,"cg_sample_valid":1,"cg_theta_rad":0.862100184,"cg_vd_req_v":-2.14653397,"cg_vd_v":-2.14653397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38914871,"cg_vq_v":-8.38914871,"cg_vu_v":15.836132,"cg_vv_v":10.1175289,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6423645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":733.12657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":733.126576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":733.126582,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":733.251343,"values":{"Elec_RPM":-2357.76611,"EncoderCos":36225,"EncoderSin":52336,"GapTicks":49329,"Mech_RPM":-471.553223,"cg_du":51.2092171,"cg_dv":55.1547165,"cg_dw":44.8452835,"cg_id_a":-10.0176945,"cg_id_raw_a":-8.67101288,"cg_iq_a":-193.772095,"cg_iq_raw_a":-194.754044,"cg_iu_a":-65.9250031,"cg_iv_a":193.79245,"cg_iw_a":-127.867447,"cg_sample_age_us":23.7981815,"cg_sample_seq":5031870,"cg_sample_valid":1,"cg_theta_rad":1.43099213,"cg_vd_req_v":-1.69236481,"cg_vd_v":-1.69236481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55348778,"cg_vq_v":-8.55348778,"cg_vu_v":102.055069,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.7631626,"dclink_p_w":-2570.76758,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":733.583374,"values":{"Elec_RPM":-2357.78003,"EncoderCos":24126,"EncoderSin":50937,"GapTicks":49472,"Mech_RPM":-471.556,"cg_du":48.4888382,"cg_dv":44.9751396,"cg_dw":55.0248604,"cg_id_a":-16.2557678,"cg_id_raw_a":-13.5057011,"cg_iq_a":-200.679443,"cg_iq_raw_a":-201.36319,"cg_iu_a":13.5577269,"cg_iv_a":-180.243912,"cg_iw_a":166.686188,"cg_sample_age_us":23.8854542,"cg_sample_seq":5033566,"cg_sample_valid":1,"cg_theta_rad":2.01426935,"cg_vd_req_v":-1.55026042,"cg_vd_v":-1.55026042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38068867,"cg_vq_v":-8.38068867,"cg_vu_v":7.47817326,"cg_vv_v":8.79785156,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2526.96875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":733.915405,"values":{"Elec_RPM":-2357.19604,"EncoderCos":15748,"EncoderSin":43470,"GapTicks":50016,"Mech_RPM":-471.439209,"cg_du":54.5305672,"cg_dv":54.290062,"cg_dw":45.4694328,"cg_id_a":12.6910019,"cg_id_raw_a":16.433651,"cg_iq_a":-203.921967,"cg_iq_raw_a":-202.996643,"cg_iu_a":17.4358177,"cg_iv_a":165.522247,"cg_iw_a":-182.958069,"cg_sample_age_us":23.9145451,"cg_sample_seq":5035267,"cg_sample_valid":1,"cg_theta_rad":2.58315468,"cg_vd_req_v":-2.12634444,"cg_vd_v":-2.12634444,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33561897,"cg_vq_v":-8.33561897,"cg_vu_v":104.254532,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":734.087122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":734.087141,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":734.087147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":734.266968,"values":{"Elec_RPM":-2356.10596,"EncoderCos":12616,"EncoderSin":32386,"GapTicks":49432,"Mech_RPM":-471.221191,"cg_du":45.0029831,"cg_dv":47.8873444,"cg_dw":55.061676,"cg_id_a":8.42946625,"cg_id_raw_a":3.88376164,"cg_iq_a":-199.453217,"cg_iq_raw_a":-199.131104,"cg_iu_a":-74.8047333,"cg_iv_a":-122.217545,"cg_iw_a":197.022278,"cg_sample_age_us":23.9654541,"cg_sample_seq":5036966,"cg_sample_valid":1,"cg_theta_rad":3.15501833,"cg_vd_req_v":-2.06723738,"cg_vd_v":-2.06723738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44294739,"cg_vq_v":-8.44294739,"cg_vu_v":18.0355949,"cg_vv_v":0.87978512,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.0582218,"dclink_p_w":-2468.74536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.640564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":734.600952,"values":{"Elec_RPM":-2356.36572,"EncoderCos":16043,"EncoderSin":21416,"GapTicks":49360,"Mech_RPM":-471.273132,"cg_du":55.1271591,"cg_dv":50.6679688,"cg_dw":44.8728409,"cg_id_a":-4.5069313,"cg_id_raw_a":-6.12287712,"cg_iq_a":-198.812042,"cg_iq_raw_a":-199.083878,"cg_iu_a":124.318878,"cg_iv_a":70.3097076,"cg_iw_a":-194.628586,"cg_sample_age_us":23.9400005,"cg_sample_seq":5038666,"cg_sample_valid":1,"cg_theta_rad":3.73620677,"cg_vd_req_v":-1.79893196,"cg_vd_v":-1.79893196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40195656,"cg_vq_v":-8.40195656,"cg_vu_v":24.6339836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2411.82324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6617126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":734.932983,"values":{"Elec_RPM":-2355.63208,"EncoderCos":24830,"EncoderSin":14209,"GapTicks":49450,"Mech_RPM":-471.126404,"cg_du":44.9552994,"cg_dv":51.5826073,"cg_dw":55.0447006,"cg_id_a":-9.34980679,"cg_id_raw_a":-7.59831095,"cg_iq_a":-201.063477,"cg_iq_raw_a":-202.093903,"cg_iu_a":-161.355011,"cg_iv_a":-25.4827576,"cg_iw_a":186.837769,"cg_sample_age_us":23.9363632,"cg_sample_seq":5040366,"cg_sample_valid":1,"cg_theta_rad":4.32056618,"cg_vd_req_v":-1.70835924,"cg_vd_v":-1.70835924,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36892414,"cg_vq_v":-8.36892414,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-18.1672821,"dclink_p_w":-2621.26196,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":735.079861,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":735.079868,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":735.079873,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":735.286499,"values":{"Elec_RPM":-2351.677,"EncoderCos":51344,"EncoderSin":25778,"GapTicks":50055,"Mech_RPM":-470.335388,"cg_du":54.494957,"cg_dv":45.505043,"cg_dw":54.3947067,"cg_id_a":13.0433426,"cg_id_raw_a":15.4167948,"cg_iq_a":-202.39856,"cg_iq_raw_a":-202.534546,"cg_iu_a":169.659912,"cg_iv_a":-170.095642,"cg_iw_a":0.435722351,"cg_sample_age_us":24.227272,"cg_sample_seq":5041970,"cg_sample_valid":1,"cg_theta_rad":5.97061062,"cg_vd_req_v":-2.18474269,"cg_vd_v":-2.18474269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34453106,"cg_vq_v":-8.34453106,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2428.2959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6511536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":735.61853,"values":{"Elec_RPM":-2350.15674,"EncoderCos":46146,"EncoderSin":17994,"GapTicks":49484,"Mech_RPM":-470.031372,"cg_du":44.986042,"cg_dv":55.013958,"cg_dw":52.4341583,"cg_id_a":5.45231867,"cg_id_raw_a":1.58054948,"cg_iq_a":-196.256805,"cg_iq_raw_a":-196.407959,"cg_iu_a":-192.887146,"cg_iv_a":64.9456177,"cg_iw_a":128.30397,"cg_sample_age_us":23.9181824,"cg_sample_seq":5043767,"cg_sample_valid":1,"cg_theta_rad":5.47734356,"cg_vd_req_v":-2.10933399,"cg_vd_v":-2.10933399,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46966076,"cg_vq_v":-8.46966076,"cg_vu_v":39.590332,"cg_vv_v":67.303566,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2487.29761,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6300049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":735.950562,"values":{"Elec_RPM":-2347.39844,"EncoderCos":51754,"EncoderSin":38303,"GapTicks":49942,"Mech_RPM":-469.479675,"cg_du":45.4024811,"cg_dv":54.5975189,"cg_dw":45.9687805,"cg_id_a":8.3581152,"cg_id_raw_a":9.29384804,"cg_iq_a":-204.693726,"cg_iq_raw_a":-206.895401,"cg_iu_a":-170.923386,"cg_iv_a":178.642517,"cg_iw_a":-7.7191391,"cg_sample_age_us":23.5618191,"cg_sample_seq":5045417,"cg_sample_valid":1,"cg_theta_rad":0.294660091,"cg_vd_req_v":-2.12167072,"cg_vd_v":-2.12167072,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31900883,"cg_vq_v":-8.31900883,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2529.85376,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6141663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":736.102696,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":736.102702,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":736.102708,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":736.304077,"values":{"Elec_RPM":-2346.62256,"EncoderCos":51518,"EncoderSin":39092,"GapTicks":49454,"Mech_RPM":-469.324524,"cg_du":44.9584541,"cg_dv":55.0415459,"cg_dw":47.9808769,"cg_id_a":-6.55345583,"cg_id_raw_a":-5.13342714,"cg_iq_a":-199.898026,"cg_iq_raw_a":-201.218506,"cg_iu_a":-180.926697,"cg_iv_a":162.477783,"cg_iw_a":18.4489059,"cg_sample_age_us":23.5327282,"cg_sample_seq":5047167,"cg_sample_valid":1,"cg_theta_rad":0.332496315,"cg_vd_req_v":-1.83138466,"cg_vd_v":-1.83138466,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42435741,"cg_vq_v":-8.42435741,"cg_vu_v":140.765625,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2477.71387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6634827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":736.636108,"values":{"Elec_RPM":-2347.64673,"EncoderCos":34848,"EncoderSin":52571,"GapTicks":49432,"Mech_RPM":-469.529327,"cg_du":48.3464584,"cg_dv":55.060936,"cg_dw":44.939064,"cg_id_a":0.230921149,"cg_id_raw_a":-6.1799593,"cg_iq_a":-199.68808,"cg_iq_raw_a":-199.273682,"cg_iu_a":-113.331932,"cg_iv_a":199.482727,"cg_iw_a":-102.750473,"cg_sample_age_us":23.8054543,"cg_sample_seq":5048816,"cg_sample_valid":1,"cg_theta_rad":1.46336973,"cg_vd_req_v":-1.91749012,"cg_vd_v":-1.91749012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39035511,"cg_vq_v":-8.39035511,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":736.987671,"values":{"Elec_RPM":-2347.32227,"EncoderCos":34749,"EncoderSin":52582,"GapTicks":49407,"Mech_RPM":-469.464478,"cg_du":48.5622864,"cg_dv":55.084301,"cg_dw":44.915699,"cg_id_a":2.97362876,"cg_id_raw_a":-1.32713079,"cg_iq_a":-199.190399,"cg_iq_raw_a":-197.964691,"cg_iu_a":-152.728973,"cg_iv_a":195.205948,"cg_iw_a":-42.4769745,"cg_sample_age_us":23.9327278,"cg_sample_seq":5050569,"cg_sample_valid":1,"cg_theta_rad":1.50493324,"cg_vd_req_v":-1.9804827,"cg_vd_v":-1.9804827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38067722,"cg_vq_v":-8.38067722,"cg_vu_v":38.2706528,"cg_vv_v":52.7871094,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":737.095368,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":737.095374,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":737.095379,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":737.321655,"values":{"Elec_RPM":-2347.78027,"EncoderCos":15394,"EncoderSin":42948,"GapTicks":49664,"Mech_RPM":-469.55603,"cg_du":53.2002716,"cg_dv":54.8505325,"cg_dw":45.1494675,"cg_id_a":2.80002499,"cg_id_raw_a":7.12902975,"cg_iq_a":-200.573074,"cg_iq_raw_a":-203.424667,"cg_iu_a":1.88721287,"cg_iv_a":172.553558,"cg_iw_a":-174.440765,"cg_sample_age_us":23.9072723,"cg_sample_seq":5052216,"cg_sample_valid":1,"cg_theta_rad":2.61079073,"cg_vd_req_v":-1.92260861,"cg_vd_v":-1.92260861,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4312849,"cg_vq_v":-8.4312849,"cg_vu_v":38.7105446,"cg_vv_v":50.5876465,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2555.29395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6582031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":737.651733,"values":{"Elec_RPM":-2345.19946,"EncoderCos":15073,"EncoderSin":42385,"GapTicks":49348,"Mech_RPM":-469.039886,"cg_du":51.5779533,"cg_dv":55.1376457,"cg_dw":44.8623543,"cg_id_a":-7.85051918,"cg_id_raw_a":-8.16172695,"cg_iq_a":-194.080292,"cg_iq_raw_a":-194.562363,"cg_iu_a":-24.5345421,"cg_iv_a":178.352585,"cg_iw_a":-153.818039,"cg_sample_age_us":23.8600006,"cg_sample_seq":5053967,"cg_sample_valid":1,"cg_theta_rad":2.64552546,"cg_vd_req_v":-1.70890212,"cg_vd_v":-1.70890212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.55055046,"cg_vq_v":-8.55055046,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.2826023,"dclink_p_w":-2356.4939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6352844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":738.005249,"values":{"Elec_RPM":-2346.33154,"EncoderCos":12695,"EncoderSin":31116,"GapTicks":49940,"Mech_RPM":-469.266296,"cg_du":46.2013359,"cg_dv":45.4003296,"cg_dw":54.5996704,"cg_id_a":7.51293659,"cg_id_raw_a":11.3107738,"cg_iq_a":-204.614746,"cg_iq_raw_a":-205.234131,"cg_iu_a":-13.987587,"cg_iv_a":-169.552002,"cg_iw_a":183.539581,"cg_sample_age_us":23.9036369,"cg_sample_seq":5055666,"cg_sample_valid":1,"cg_theta_rad":3.21916103,"cg_vd_req_v":-2.00481939,"cg_vd_v":-2.00481939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30300713,"cg_vq_v":-8.30300713,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2478.18677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6035767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":738.086943,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":738.086949,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":738.086954,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":738.438843,"values":{"Elec_RPM":-2345.75488,"EncoderCos":42687,"EncoderSin":15342,"GapTicks":49491,"Mech_RPM":-469.15097,"cg_du":47.9442024,"cg_dv":55.0077133,"cg_dw":44.9922867,"cg_id_a":2.88345695,"cg_id_raw_a":-1.0448997,"cg_iq_a":-200.847961,"cg_iq_raw_a":-200.178101,"cg_iu_a":-126.270981,"cg_iv_a":199.373993,"cg_iw_a":-73.1030197,"cg_sample_age_us":23.9836369,"cg_sample_seq":5057816,"cg_sample_valid":1,"cg_theta_rad":5.25177908,"cg_vd_req_v":-2.05015349,"cg_vd_v":-2.05015349,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37940598,"cg_vq_v":-8.37940598,"cg_vu_v":13.1967773,"cg_vv_v":21.5547352,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2471.51392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6264954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":738.958374,"values":{"Elec_RPM":-2345.17505,"EncoderCos":29782,"EncoderSin":12917,"GapTicks":49308,"Mech_RPM":-469.035004,"cg_du":50.5604973,"cg_dv":44.8260269,"cg_dw":55.1739731,"cg_id_a":-10.9975271,"cg_id_raw_a":-15.857337,"cg_iq_a":-194.928696,"cg_iq_raw_a":-194.187347,"cg_iu_a":70.2430878,"cg_iv_a":-193.146729,"cg_iw_a":122.903641,"cg_sample_age_us":23.7399998,"cg_sample_seq":5060217,"cg_sample_valid":1,"cg_theta_rad":4.57577324,"cg_vd_req_v":-1.71861207,"cg_vd_v":-1.71861207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5179987,"cg_vq_v":-8.5179987,"cg_vu_v":106.014107,"cg_vv_v":88.8582916,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6229553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103932247,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":738.983219,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":738.983231,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":738.983234,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":739.111207,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":739.111212,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":739.111218,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":739.331421,"values":{"Elec_RPM":-2349.55225,"EncoderCos":45704,"EncoderSin":47928,"GapTicks":49512,"Mech_RPM":-469.910431,"cg_du":52.649601,"cg_dv":45.0114021,"cg_dw":54.9885979,"cg_id_a":15.7756538,"cg_id_raw_a":13.3240204,"cg_iq_a":-199.093384,"cg_iq_raw_a":-198.31044,"cg_iu_a":145.412781,"cg_iv_a":-192.820526,"cg_iw_a":47.4077377,"cg_sample_age_us":23.5400009,"cg_sample_seq":5062316,"cg_sample_valid":1,"cg_theta_rad":0.867740452,"cg_vd_req_v":-2.27189398,"cg_vd_v":-2.27189398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44606495,"cg_vq_v":-8.44606495,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6212158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":739.663452,"values":{"Elec_RPM":-2347.01245,"EncoderCos":16626,"EncoderSin":44685,"GapTicks":49403,"Mech_RPM":-469.402496,"cg_du":55.0877762,"cg_dv":51.2937813,"cg_dw":44.9122238,"cg_id_a":1.90194488,"cg_id_raw_a":0.0291134585,"cg_iq_a":-202.946121,"cg_iq_raw_a":-199.667206,"cg_iu_a":93.0042114,"cg_iv_a":108.65567,"cg_iw_a":-201.659882,"cg_sample_age_us":23.8818188,"cg_sample_seq":5063917,"cg_sample_valid":1,"cg_theta_rad":2.50927639,"cg_vd_req_v":-1.95601332,"cg_vd_v":-1.95601332,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34111977,"cg_vq_v":-8.34111977,"cg_vu_v":140.325729,"cg_vv_v":131.087982,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6740723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":740.015015,"values":{"Elec_RPM":-2346.76221,"EncoderCos":25156,"EncoderSin":51375,"GapTicks":50131,"Mech_RPM":-469.352417,"cg_du":45.5757828,"cg_dv":45.5742188,"cg_dw":54.4257813,"cg_id_a":11.8161469,"cg_id_raw_a":13.2423067,"cg_iq_a":-207.769241,"cg_iq_raw_a":-206.491577,"cg_iu_a":11.8542671,"cg_iv_a":-180.606354,"cg_iw_a":168.75209,"cg_sample_age_us":26.4163628,"cg_sample_seq":5065721,"cg_sample_valid":1,"cg_theta_rad":2.01305771,"cg_vd_req_v":-2.12195849,"cg_vd_v":-2.12195849,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24486923,"cg_vq_v":-8.24486923,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2432.21777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":740.103472,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":740.103477,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":740.103483,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":740.348999,"values":{"Elec_RPM":-2347.25586,"EncoderCos":12585,"EncoderSin":33277,"GapTicks":49372,"Mech_RPM":-469.451172,"cg_du":44.8838692,"cg_dv":48.9996986,"cg_dw":55.1161308,"cg_id_a":-13.7412148,"cg_id_raw_a":-17.4780827,"cg_iq_a":-197.56427,"cg_iq_raw_a":-196.261658,"cg_iu_a":-117.572464,"cg_iv_a":-76.9127502,"cg_iw_a":194.485214,"cg_sample_age_us":23.9654541,"cg_sample_seq":5067367,"cg_sample_valid":1,"cg_theta_rad":3.12063718,"cg_vd_req_v":-1.60292304,"cg_vd_v":-1.60292304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45342445,"cg_vq_v":-8.45342445,"cg_vu_v":115.251846,"cg_vv_v":137.686371,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":740.682983,"values":{"Elec_RPM":-2349.39502,"EncoderCos":12672,"EncoderSin":32264,"GapTicks":49597,"Mech_RPM":-469.878998,"cg_du":45.089077,"cg_dv":47.2806015,"cg_dw":54.910923,"cg_id_a":9.32718086,"cg_id_raw_a":4.02285624,"cg_iq_a":-199.552002,"cg_iq_raw_a":-199.810287,"cg_iu_a":-55.9579468,"cg_iv_a":-140.665649,"cg_iw_a":196.623596,"cg_sample_age_us":23.8454552,"cg_sample_seq":5069116,"cg_sample_valid":1,"cg_theta_rad":3.17256379,"cg_vd_req_v":-2.07854104,"cg_vd_v":-2.07854104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38854504,"cg_vq_v":-8.38854504,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":119.210884,"control_outputs_enabled":1,"dclink_i_a":-17.4913349,"dclink_p_w":-2531.42749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6899414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":741.034546,"values":{"Elec_RPM":-2355.70386,"EncoderCos":23369,"EncoderSin":14939,"GapTicks":49742,"Mech_RPM":-471.140778,"cg_du":45.2201958,"cg_dv":54.7798042,"cg_dw":53.6120644,"cg_id_a":10.9809484,"cg_id_raw_a":9.98421288,"cg_iq_a":-199.212219,"cg_iq_raw_a":-199.40358,"cg_iu_a":-176.323715,"cg_iv_a":2.31626892,"cg_iw_a":174.007446,"cg_sample_age_us":23.8381824,"cg_sample_seq":5070770,"cg_sample_valid":1,"cg_theta_rad":4.28263283,"cg_vd_req_v":-2.14294004,"cg_vd_v":-2.14294004,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41995811,"cg_vq_v":-8.41995811,"cg_vu_v":38.2706528,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":741.095206,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":741.095212,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":741.095217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":741.366577,"values":{"Elec_RPM":-2361.18799,"EncoderCos":24803,"EncoderSin":14240,"GapTicks":49455,"Mech_RPM":-472.237579,"cg_du":44.959343,"cg_dv":51.6364059,"cg_dw":55.040657,"cg_id_a":-10.776247,"cg_id_raw_a":-6.24565649,"cg_iq_a":-200.848785,"cg_iq_raw_a":-202.459854,"cg_iu_a":-162.804764,"cg_iv_a":-22.8369598,"cg_iw_a":185.641724,"cg_sample_age_us":23.8454552,"cg_sample_seq":5072516,"cg_sample_valid":1,"cg_theta_rad":4.32205582,"cg_vd_req_v":-1.6863246,"cg_vd_v":-1.6863246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40276814,"cg_vq_v":-8.40276814,"cg_vu_v":113.932175,"cg_vv_v":139.006058,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7450409,"dclink_p_w":-2568.14502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6388245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":741.700562,"values":{"Elec_RPM":-2360.70044,"EncoderCos":45729,"EncoderSin":17593,"GapTicks":49372,"Mech_RPM":-472.140106,"cg_du":44.8839722,"cg_dv":55.1160278,"cg_dw":51.3170776,"cg_id_a":-3.27608728,"cg_id_raw_a":-2.43626118,"cg_iq_a":-196.523193,"cg_iq_raw_a":-196.826874,"cg_iu_a":-197.526367,"cg_iv_a":95.1729736,"cg_iw_a":102.353394,"cg_sample_age_us":23.9109097,"cg_sample_seq":5074166,"cg_sample_valid":1,"cg_theta_rad":5.44111109,"cg_vd_req_v":-1.93209136,"cg_vd_v":-1.93209136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45174885,"cg_vq_v":-8.45174885,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6229553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":742.052124,"values":{"Elec_RPM":-2353.51465,"EncoderCos":46338,"EncoderSin":18162,"GapTicks":49600,"Mech_RPM":-470.702942,"cg_du":45.0914917,"cg_dv":54.9085083,"cg_dw":52.889801,"cg_id_a":8.83250046,"cg_id_raw_a":8.33013821,"cg_iq_a":-198.861053,"cg_iq_raw_a":-199.724976,"cg_iu_a":-193.64827,"cg_iv_a":50.3393555,"cg_iw_a":143.308914,"cg_sample_age_us":23.9218178,"cg_sample_seq":5075916,"cg_sample_valid":1,"cg_theta_rad":5.48028994,"cg_vd_req_v":-2.1720612,"cg_vd_v":-2.1720612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38700199,"cg_vq_v":-8.38700199,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.426096,"dclink_p_w":-2521.98584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6388245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":742.086657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":742.086663,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":742.086668,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":742.384155,"values":{"Elec_RPM":-2354.46265,"EncoderCos":52005,"EncoderSin":28009,"GapTicks":49347,"Mech_RPM":-470.892548,"cg_du":55.1385956,"cg_dv":44.8614044,"cg_dw":48.9802284,"cg_id_a":-10.214572,"cg_id_raw_a":-11.5419655,"cg_iq_a":-198.510803,"cg_iq_raw_a":-198.236145,"cg_iu_a":199.379852,"cg_iv_a":-112.576675,"cg_iw_a":-86.8031769,"cg_sample_age_us":24.1399994,"cg_sample_seq":5077616,"cg_sample_valid":1,"cg_theta_rad":6.05606413,"cg_vd_req_v":-1.76659429,"cg_vd_v":-1.76659429,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43417931,"cg_vq_v":-8.43417931,"cg_vu_v":42.2296829,"cg_vv_v":39.590332,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2470.65405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.644104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":742.716187,"values":{"Elec_RPM":-2350.14697,"EncoderCos":45346,"EncoderSin":48238,"GapTicks":49788,"Mech_RPM":-470.029419,"cg_du":53.6074142,"cg_dv":45.2620697,"cg_dw":54.7379303,"cg_id_a":16.7202854,"cg_id_raw_a":15.2525396,"cg_iq_a":-201.329681,"cg_iq_raw_a":-200.81955,"cg_iu_a":152.444092,"cg_iv_a":-191.153305,"cg_iw_a":38.7092133,"cg_sample_age_us":23.4527264,"cg_sample_seq":5079266,"cg_sample_valid":1,"cg_theta_rad":0.882686913,"cg_vd_req_v":-2.26398206,"cg_vd_v":-2.26398206,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37463379,"cg_vq_v":-8.37463379,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.2068195,"dclink_p_w":-2490.25098,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6053467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":743.069702,"values":{"Elec_RPM":-2354.6665,"EncoderCos":44750,"EncoderSin":48678,"GapTicks":49984,"Mech_RPM":-470.933319,"cg_du":54.5594254,"cg_dv":45.4405746,"cg_dw":54.1926918,"cg_id_a":7.11877012,"cg_id_raw_a":12.9086561,"cg_iq_a":-200.663315,"cg_iq_raw_a":-201.552795,"cg_iu_a":168.971283,"cg_iv_a":-178.286743,"cg_iw_a":9.31546783,"cg_sample_age_us":23.8854542,"cg_sample_seq":5081016,"cg_sample_valid":1,"cg_theta_rad":0.919160426,"cg_vd_req_v":-2.14533925,"cg_vd_v":-2.03893828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35565758,"cg_vq_v":-8.36993599,"cg_vu_v":106.893898,"cg_vv_v":90.6178665,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2490.98071,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6388245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":743.110504,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":743.110509,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":743.110515,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":743.403687,"values":{"Elec_RPM":-2354.45459,"EncoderCos":23979,"EncoderSin":50843,"GapTicks":49393,"Mech_RPM":-470.89093,"cg_du":48.9213753,"cg_dv":44.9035263,"cg_dw":55.0964737,"cg_id_a":-19.4444122,"cg_id_raw_a":-17.362606,"cg_iq_a":-200.748001,"cg_iq_raw_a":-201.690079,"cg_iu_a":21.0239563,"cg_iv_a":-181.911133,"cg_iw_a":160.887177,"cg_sample_age_us":23.7981815,"cg_sample_seq":5082667,"cg_sample_valid":1,"cg_theta_rad":2.02446175,"cg_vd_req_v":-1.49571908,"cg_vd_v":-1.49571908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42238903,"cg_vq_v":-8.42238903,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":126.249161,"control_outputs_enabled":1,"dclink_i_a":-16.5979233,"dclink_p_w":-2402.12866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6546631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":743.755249,"values":{"Elec_RPM":-2351.29736,"EncoderCos":23454,"EncoderSin":50592,"GapTicks":49293,"Mech_RPM":-470.25946,"cg_du":50.1095924,"cg_dv":44.8124275,"cg_dw":55.1875725,"cg_id_a":-15.3989849,"cg_id_raw_a":-21.0816307,"cg_iq_a":-196.143768,"cg_iq_raw_a":-196.920822,"cg_iu_a":71.1854248,"cg_iv_a":-194.161545,"cg_iw_a":122.97612,"cg_sample_age_us":23.7800007,"cg_sample_seq":5084418,"cg_sample_valid":1,"cg_theta_rad":2.05896068,"cg_vd_req_v":-1.61127734,"cg_vd_v":-1.61127734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51874352,"cg_vq_v":-8.51874352,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":744.08728,"values":{"Elec_RPM":-2352.49072,"EncoderCos":15744,"EncoderSin":21874,"GapTicks":49337,"Mech_RPM":-470.498138,"cg_du":55.1478539,"cg_dv":49.6089897,"cg_dw":44.8521461,"cg_id_a":-12.3271847,"cg_id_raw_a":-15.6749897,"cg_iq_a":-197.971161,"cg_iq_raw_a":-195.555435,"cg_iu_a":143.129425,"cg_iv_a":47.9835052,"cg_iw_a":-191.11293,"cg_sample_age_us":24.0163631,"cg_sample_seq":5086017,"cg_sample_valid":1,"cg_theta_rad":3.71503663,"cg_vd_req_v":-1.65109181,"cg_vd_v":-1.65109181,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42459297,"cg_vq_v":-8.42459297,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2509.61353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6000671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":744.102858,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":744.102864,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":744.10287,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":744.419312,"values":{"Elec_RPM":-2359.27979,"EncoderCos":12667,"EncoderSin":31380,"GapTicks":50128,"Mech_RPM":-471.855957,"cg_du":45.5713692,"cg_dv":45.5741653,"cg_dw":54.4286308,"cg_id_a":11.5890379,"cg_id_raw_a":13.8045387,"cg_iq_a":-206.845947,"cg_iq_raw_a":-203.985519,"cg_iu_a":-16.2709484,"cg_iv_a":-170.494308,"cg_iw_a":186.765259,"cg_sample_age_us":23.9654541,"cg_sample_seq":5087817,"cg_sample_valid":1,"cg_theta_rad":3.21469045,"cg_vd_req_v":-2.10114884,"cg_vd_v":-2.10114884,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25524426,"cg_vq_v":-8.25524426,"cg_vu_v":144.28476,"cg_vv_v":141.205521,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1742001,"dclink_p_w":-2477.97534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6758118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":744.772827,"values":{"Elec_RPM":-2357.78223,"EncoderCos":35028,"EncoderSin":12865,"GapTicks":49542,"Mech_RPM":-471.556427,"cg_du":54.9611015,"cg_dv":45.0388985,"cg_dw":47.5057716,"cg_id_a":12.2207584,"cg_id_raw_a":9.1738348,"cg_iq_a":-200.713181,"cg_iq_raw_a":-200.020874,"cg_iu_a":185.752167,"cg_iv_a":-29.6145477,"cg_iw_a":-159.0009,"cg_sample_age_us":23.9654541,"cg_sample_seq":5089420,"cg_sample_valid":1,"cg_theta_rad":4.88354254,"cg_vd_req_v":-2.16691518,"cg_vd_v":-2.16691518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35649776,"cg_vq_v":-8.35649776,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2441.36938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6335449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":745.063156,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":745.063163,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":745.063168,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":745.102905,"values":{"Elec_RPM":-2360.61743,"EncoderCos":25882,"EncoderSin":13859,"GapTicks":49363,"Mech_RPM":-472.123505,"cg_du":44.8754654,"cg_dv":49.0680313,"cg_dw":55.1245346,"cg_id_a":-12.6715918,"cg_id_raw_a":-15.9420252,"cg_iq_a":-197.480209,"cg_iq_raw_a":-196.43277,"cg_iu_a":-115.977737,"cg_iv_a":-79.0873718,"cg_iw_a":195.065109,"cg_sample_age_us":23.9218178,"cg_sample_seq":5091217,"cg_sample_valid":1,"cg_theta_rad":4.37812281,"cg_vd_req_v":-1.66714704,"cg_vd_v":-1.66714704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44794273,"cg_vq_v":-8.44794273,"cg_vu_v":114.37207,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6493835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":745.43689,"values":{"Elec_RPM":-2362.21606,"EncoderCos":46586,"EncoderSin":18432,"GapTicks":49747,"Mech_RPM":-472.443207,"cg_du":45.2247658,"cg_dv":54.7752342,"cg_dw":53.6389122,"cg_id_a":10.9400339,"cg_id_raw_a":9.49113464,"cg_iq_a":-199.533295,"cg_iq_raw_a":-198.886414,"cg_iu_a":-188.28418,"cg_iv_a":30.6951904,"cg_iw_a":157.588989,"cg_sample_age_us":23.8927269,"cg_sample_seq":5092866,"cg_sample_valid":1,"cg_theta_rad":5.49828482,"cg_vd_req_v":-2.21751142,"cg_vd_v":-2.21751142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40412903,"cg_vq_v":-8.40412903,"cg_vu_v":39.590332,"cg_vv_v":66.8636703,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":745.788452,"values":{"Elec_RPM":-2362.64063,"EncoderCos":52092,"EncoderSin":28342,"GapTicks":49360,"Mech_RPM":-472.528137,"cg_du":55.1271553,"cg_dv":44.8728447,"cg_dw":48.4767647,"cg_id_a":3.18099761,"cg_id_raw_a":-0.557947814,"cg_iq_a":-198.397766,"cg_iq_raw_a":-198.390778,"cg_iu_a":199.488586,"cg_iv_a":-84.0527802,"cg_iw_a":-115.435806,"cg_sample_age_us":24.1072731,"cg_sample_seq":5094566,"cg_sample_valid":1,"cg_theta_rad":6.07599354,"cg_vd_req_v":-2.03612232,"cg_vd_v":-2.03612232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45149136,"cg_vq_v":-8.45149136,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2491.30029,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6582031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":746.086989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":746.086996,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":746.087001,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":746.120483,"values":{"Elec_RPM":-2359.61743,"EncoderCos":51219,"EncoderSin":39834,"GapTicks":49316,"Mech_RPM":-471.923492,"cg_du":44.8328476,"cg_dv":55.1671524,"cg_dw":49.8473549,"cg_id_a":-10.3560581,"cg_id_raw_a":-10.9625263,"cg_iq_a":-195.588409,"cg_iq_raw_a":-195.984741,"cg_iu_a":-191.401154,"cg_iv_a":133.301483,"cg_iw_a":58.0996628,"cg_sample_age_us":23.5363636,"cg_sample_seq":5096266,"cg_sample_valid":1,"cg_theta_rad":0.372057706,"cg_vd_req_v":-1.74917555,"cg_vd_v":-1.74917555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48408604,"cg_vq_v":-8.48408604,"cg_vu_v":1.75957024,"cg_vv_v":4.83881807,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2451.95972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6511536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":746.454468,"values":{"Elec_RPM":-2362.04858,"EncoderCos":44426,"EncoderSin":48908,"GapTicks":49600,"Mech_RPM":-472.409729,"cg_du":54.9087372,"cg_dv":45.0912628,"cg_dw":52.6187057,"cg_id_a":-4.41694832,"cg_id_raw_a":4.28615904,"cg_iq_a":-200.438293,"cg_iq_raw_a":-202.23497,"cg_iu_a":173.610504,"cg_iv_a":-170.566803,"cg_iw_a":-3.04369354,"cg_sample_age_us":23.9181824,"cg_sample_seq":5097966,"cg_sample_valid":1,"cg_theta_rad":0.948414385,"cg_vd_req_v":-1.81245315,"cg_vd_v":-1.81245315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38992023,"cg_vq_v":-8.38992023,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2449.21338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":746.80603,"values":{"Elec_RPM":-2359.36499,"EncoderCos":33968,"EncoderSin":52654,"GapTicks":49717,"Mech_RPM":-471.872986,"cg_du":46.7717361,"cg_dv":54.802227,"cg_dw":45.197773,"cg_id_a":15.8319788,"cg_id_raw_a":16.7261791,"cg_iq_a":-205.648544,"cg_iq_raw_a":-204.341766,"cg_iu_a":-157.33194,"cg_iv_a":195.278442,"cg_iw_a":-37.9464951,"cg_sample_age_us":23.8054543,"cg_sample_seq":5099667,"cg_sample_valid":1,"cg_theta_rad":1.51279008,"cg_vd_req_v":-2.22860646,"cg_vd_v":-2.22860646,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31494331,"cg_vq_v":-8.31494331,"cg_vu_v":130.648087,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.6018791,"dclink_p_w":-2539.68286,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":747.07876,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":747.078766,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":747.078771,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":747.138062,"values":{"Elec_RPM":-2355.49316,"EncoderCos":22851,"EncoderSin":50241,"GapTicks":49375,"Mech_RPM":-471.098633,"cg_du":51.3764687,"cg_dv":44.8864899,"cg_dw":55.1135101,"cg_id_a":-2.18334842,"cg_id_raw_a":-6.9183135,"cg_iq_a":-197.066742,"cg_iq_raw_a":-195.911407,"cg_iu_a":100.506683,"cg_iv_a":-197.314758,"cg_iw_a":96.808075,"cg_sample_age_us":23.7181816,"cg_sample_seq":5101367,"cg_sample_valid":1,"cg_theta_rad":2.08841014,"cg_vd_req_v":-1.88009489,"cg_vd_v":-1.88009489,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46803856,"cg_vq_v":-8.46803856,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6740723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":747.491577,"values":{"Elec_RPM":-2355.47705,"EncoderCos":21950,"EncoderSin":49754,"GapTicks":49717,"Mech_RPM":-471.095428,"cg_du":53.3063011,"cg_dv":45.1973076,"cg_dw":54.8026924,"cg_id_a":11.1172924,"cg_id_raw_a":9.25978756,"cg_iq_a":-199.760422,"cg_iq_raw_a":-198.736877,"cg_iu_a":151.175568,"cg_iv_a":-190.065979,"cg_iw_a":38.890419,"cg_sample_age_us":23.6054554,"cg_sample_seq":5103116,"cg_sample_valid":1,"cg_theta_rad":2.13864374,"cg_vd_req_v":-2.13597631,"cg_vd_v":-2.13597631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39547157,"cg_vq_v":-8.39547157,"cg_vu_v":38.2706528,"cg_vv_v":38.7105446,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6476135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":747.823608,"values":{"Elec_RPM":-2359.93213,"EncoderCos":16532,"EncoderSin":20654,"GapTicks":49534,"Mech_RPM":-471.98642,"cg_du":54.9688225,"cg_dv":52.3267555,"cg_dw":45.0311775,"cg_id_a":10.3946486,"cg_id_raw_a":7.73350668,"cg_iq_a":-203.879974,"cg_iq_raw_a":-205.779617,"cg_iu_a":54.0420914,"cg_iv_a":144.174652,"cg_iw_a":-201.87735,"cg_sample_age_us":23.9654541,"cg_sample_seq":5104716,"cg_sample_valid":1,"cg_theta_rad":3.79885149,"cg_vd_req_v":-2.10462856,"cg_vd_v":-2.10462856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34024239,"cg_vq_v":-8.34024239,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2399.2439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.7714233,"temp_inv2_c":42.6493835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":748.102731,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":748.102736,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":748.102741,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":748.165405,"values":{"Elec_RPM":-2356.72632,"EncoderCos":16917,"EncoderSin":20178,"GapTicks":49830,"Mech_RPM":-471.345245,"cg_du":54.6991615,"cg_dv":53.5726662,"cg_dw":45.3008385,"cg_id_a":12.4079237,"cg_id_raw_a":12.1179781,"cg_iq_a":-204.553345,"cg_iq_raw_a":-203.941559,"cg_iu_a":33.5643234,"cg_iv_a":156.062622,"cg_iw_a":-189.626953,"cg_sample_age_us":23.9690914,"cg_sample_seq":5106467,"cg_sample_valid":1,"cg_theta_rad":3.82067871,"cg_vd_req_v":-2.12283349,"cg_vd_v":-2.12283349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30928421,"cg_vq_v":-8.30928421,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2554.37939,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.645874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":748.682983,"values":{"Elec_RPM":-2347.82178,"EncoderCos":33324,"EncoderSin":52669,"GapTicks":50056,"Mech_RPM":-469.564362,"cg_du":45.5062637,"cg_dv":54.4937363,"cg_dw":45.6996078,"cg_id_a":12.2927132,"cg_id_raw_a":12.7854958,"cg_iq_a":-205.538849,"cg_iq_raw_a":-207.088226,"cg_iu_a":-172.409393,"cg_iv_a":182.266907,"cg_iw_a":-16.7438507,"cg_sample_age_us":23.9327278,"cg_sample_seq":5109017,"cg_sample_valid":1,"cg_theta_rad":1.54243493,"cg_vd_req_v":-2.12723708,"cg_vd_v":-2.12723708,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28482246,"cg_vq_v":-8.28482246,"cg_vu_v":141.645401,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6229553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":748.966777,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":748.966789,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":748.966792,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":749.095273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":749.095279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":749.095285,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":749.151733,"values":{"Elec_RPM":-2344.48779,"EncoderCos":35620,"EncoderSin":52440,"GapTicks":49316,"Mech_RPM":-468.897552,"cg_du":49.8650818,"cg_dv":55.1668968,"cg_dw":44.8331032,"cg_id_a":-10.02176,"cg_id_raw_a":-11.8633242,"cg_iq_a":-198.224884,"cg_iq_raw_a":-197.973892,"cg_iu_a":-63.0617371,"cg_iv_a":194.662308,"cg_iw_a":-131.600571,"cg_sample_age_us":23.8963642,"cg_sample_seq":5111366,"cg_sample_valid":1,"cg_theta_rad":1.42742574,"cg_vd_req_v":-1.71069467,"cg_vd_v":-1.71069467,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43765068,"cg_vq_v":-8.43765068,"cg_vu_v":27.2733402,"cg_vv_v":27.7132301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7903461,"dclink_p_w":-2566.87573,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6652527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":749.481812,"values":{"Elec_RPM":-2345.14502,"EncoderCos":34868,"EncoderSin":52541,"GapTicks":49385,"Mech_RPM":-469.029022,"cg_du":48.4236717,"cg_dv":55.1044998,"cg_dw":44.8955002,"cg_id_a":1.20623374,"cg_id_raw_a":-4.27113152,"cg_iq_a":-200.087433,"cg_iq_raw_a":-199.50676,"cg_iu_a":-110.939842,"cg_iv_a":200.533798,"cg_iw_a":-89.593956,"cg_sample_age_us":23.9290905,"cg_sample_seq":5113116,"cg_sample_valid":1,"cg_theta_rad":1.46241832,"cg_vd_req_v":-1.96017778,"cg_vd_v":-1.96017778,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41316986,"cg_vq_v":-8.41316986,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2528.43945,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":749.835327,"values":{"Elec_RPM":-2349.54248,"EncoderCos":23683,"EncoderSin":50696,"GapTicks":49333,"Mech_RPM":-469.908508,"cg_du":49.6347389,"cg_dv":44.8489151,"cg_dw":55.1510849,"cg_id_a":-18.6571865,"cg_id_raw_a":-19.9251556,"cg_iq_a":-196.862442,"cg_iq_raw_a":-197.398026,"cg_iu_a":41.2480164,"cg_iv_a":-187.782623,"cg_iw_a":146.534607,"cg_sample_age_us":23.7763634,"cg_sample_seq":5114816,"cg_sample_valid":1,"cg_theta_rad":2.03911114,"cg_vd_req_v":-1.52141476,"cg_vd_v":-1.52141476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47997665,"cg_vq_v":-8.47997665,"cg_vu_v":39.1504402,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7211533,"dclink_p_w":-2419.96313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6722717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":750.08691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":750.086916,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":750.086922,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":750.167358,"values":{"Elec_RPM":-2348.65479,"EncoderCos":15311,"EncoderSin":42755,"GapTicks":49599,"Mech_RPM":-469.730957,"cg_du":52.5831451,"cg_dv":54.9096413,"cg_dw":45.0903587,"cg_id_a":-4.34950256,"cg_id_raw_a":1.53449702,"cg_iq_a":-199.787552,"cg_iq_raw_a":-203.796021,"cg_iu_a":2.64833331,"cg_iv_a":170.523911,"cg_iw_a":-173.172241,"cg_sample_age_us":23.8090916,"cg_sample_seq":5116516,"cg_sample_valid":1,"cg_theta_rad":2.61460376,"cg_vd_req_v":-1.76315773,"cg_vd_v":-1.76315773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39163685,"cg_vq_v":-8.39163685,"cg_vu_v":27.2733402,"cg_vv_v":23.7541981,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2424.37378,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7146301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":750.520874,"values":{"Elec_RPM":-2351.86011,"EncoderCos":12678,"EncoderSin":32722,"GapTicks":49394,"Mech_RPM":-470.372009,"cg_du":44.904068,"cg_dv":48.4535789,"cg_dw":55.095932,"cg_id_a":0.0956305265,"cg_id_raw_a":-5.69141769,"cg_iq_a":-198.70105,"cg_iq_raw_a":-200.227676,"cg_iu_a":-47.005722,"cg_iv_a":-147.334503,"cg_iw_a":194.340225,"cg_sample_age_us":23.9654541,"cg_sample_seq":5118221,"cg_sample_valid":1,"cg_theta_rad":3.17927504,"cg_vd_req_v":-1.78979719,"cg_vd_v":-1.78979719,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43156147,"cg_vq_v":-8.43156147,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2433.00244,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":750.852905,"values":{"Elec_RPM":-2348.00513,"EncoderCos":16319,"EncoderSin":20912,"GapTicks":49432,"Mech_RPM":-469.601044,"cg_du":55.0614777,"cg_dv":51.7040367,"cg_dw":44.9385223,"cg_id_a":5.56593132,"cg_id_raw_a":6.48489332,"cg_iq_a":-201.73555,"cg_iq_raw_a":-200.982193,"cg_iu_a":83.3633499,"cg_iv_a":117.789116,"cg_iw_a":-201.152466,"cg_sample_age_us":23.9436359,"cg_sample_seq":5119916,"cg_sample_valid":1,"cg_theta_rad":3.77334857,"cg_vd_req_v":-2.01894045,"cg_vd_v":-2.01894045,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37686157,"cg_vq_v":-8.37686157,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2405.0249,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6511536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":751.078895,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":751.078901,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":751.078906,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":751.184937,"values":{"Elec_RPM":-2351.08496,"EncoderCos":25397,"EncoderSin":14053,"GapTicks":49366,"Mech_RPM":-470.21698,"cg_du":44.8785553,"cg_dv":50.1790581,"cg_dw":55.1214447,"cg_id_a":-14.7652063,"cg_id_raw_a":-15.0150976,"cg_iq_a":-197.340942,"cg_iq_raw_a":-200.223816,"cg_iu_a":-142.399475,"cg_iv_a":-48.6063232,"cg_iw_a":191.005798,"cg_sample_age_us":23.9327278,"cg_sample_seq":5121616,"cg_sample_valid":1,"cg_theta_rad":4.35025263,"cg_vd_req_v":-1.61227369,"cg_vd_v":-1.61227369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43366623,"cg_vq_v":-8.43366623,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.6979237,"dclink_p_w":-2553.54077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":751.538452,"values":{"Elec_RPM":-2358.14478,"EncoderCos":36385,"EncoderSin":13032,"GapTicks":49769,"Mech_RPM":-471.628967,"cg_du":54.755085,"cg_dv":46.5536842,"cg_dw":45.244915,"cg_id_a":2.34138584,"cg_id_raw_a":7.27029562,"cg_iq_a":-201.332779,"cg_iq_raw_a":-201.021957,"cg_iu_a":175.024017,"cg_iv_a":-6.01980591,"cg_iw_a":-169.004211,"cg_sample_age_us":23.9727268,"cg_sample_seq":5123317,"cg_sample_valid":1,"cg_theta_rad":4.91222286,"cg_vd_req_v":-1.94387698,"cg_vd_v":-1.94387698,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3649559,"cg_vq_v":-8.3649559,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6952209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":751.870483,"values":{"Elec_RPM":-2354.57397,"EncoderCos":46492,"EncoderSin":18348,"GapTicks":49672,"Mech_RPM":-470.914795,"cg_du":45.1565018,"cg_dv":54.8434982,"cg_dw":53.4665413,"cg_id_a":7.44651604,"cg_id_raw_a":4.31019115,"cg_iq_a":-199.285934,"cg_iq_raw_a":-197.845169,"cg_iu_a":-189.915161,"cg_iv_a":52.9489136,"cg_iw_a":140.84433,"cg_sample_age_us":23.8272724,"cg_sample_seq":5125017,"cg_sample_valid":1,"cg_theta_rad":5.48896742,"cg_vd_req_v":-2.14768982,"cg_vd_v":-2.14768982,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43560219,"cg_vq_v":-8.43560219,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6828613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":752.103099,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":752.103125,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":752.103131,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":752.202515,"values":{"Elec_RPM":-2354.19995,"EncoderCos":52124,"EncoderSin":28589,"GapTicks":49458,"Mech_RPM":-470.839996,"cg_du":55.037281,"cg_dv":44.962719,"cg_dw":48.0595894,"cg_id_a":8.86293602,"cg_id_raw_a":3.6668179,"cg_iq_a":-199.874649,"cg_iq_raw_a":-198.993546,"cg_iu_a":199.814789,"cg_iv_a":-71.9835892,"cg_iw_a":-127.8312,"cg_sample_age_us":24.1727276,"cg_sample_seq":5126716,"cg_sample_valid":1,"cg_theta_rad":6.08606005,"cg_vd_req_v":-2.13778043,"cg_vd_v":-2.13778043,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38153744,"cg_vq_v":-8.38153744,"cg_vu_v":32.9919434,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.696991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":752.554077,"values":{"Elec_RPM":-2352.70215,"EncoderCos":51221,"EncoderSin":39849,"GapTicks":49306,"Mech_RPM":-470.540405,"cg_du":44.8244095,"cg_dv":55.1755905,"cg_dw":49.8749809,"cg_id_a":-11.2268114,"cg_id_raw_a":-11.6384573,"cg_iq_a":-197.429901,"cg_iq_raw_a":-197.989182,"cg_iu_a":-193.757004,"cg_iv_a":133.446472,"cg_iw_a":43.8920822,"cg_sample_age_us":23.5327282,"cg_sample_seq":5128416,"cg_sample_valid":1,"cg_theta_rad":0.373738408,"cg_vd_req_v":-1.74505436,"cg_vd_v":-1.74505436,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44525623,"cg_vq_v":-8.44525623,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":752.888062,"values":{"Elec_RPM":-2354.41577,"EncoderCos":44434,"EncoderSin":48982,"GapTicks":49548,"Mech_RPM":-470.883148,"cg_du":54.9559631,"cg_dv":45.0440369,"cg_dw":52.5614319,"cg_id_a":-4.19292402,"cg_id_raw_a":1.23846769,"cg_iq_a":-199.453033,"cg_iq_raw_a":-201.966202,"cg_iu_a":171.943268,"cg_iv_a":-169.370758,"cg_iw_a":-2.5725174,"cg_sample_age_us":23.9145451,"cg_sample_seq":5130116,"cg_sample_valid":1,"cg_theta_rad":0.94540894,"cg_vd_req_v":-1.83042264,"cg_vd_v":-1.83042264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44690323,"cg_vq_v":-8.44690323,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.7015495,"dclink_p_w":-2561.85059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6758118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":753.095543,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":753.095549,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":753.095554,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":753.220093,"values":{"Elec_RPM":-2354.25952,"EncoderCos":33559,"EncoderSin":52656,"GapTicks":49970,"Mech_RPM":-470.851898,"cg_du":45.8895531,"cg_dv":54.5720825,"cg_dw":45.4279175,"cg_id_a":14.8069305,"cg_id_raw_a":15.7843027,"cg_iq_a":-203.956818,"cg_iq_raw_a":-204.570633,"cg_iu_a":-166.827835,"cg_iv_a":185.383881,"cg_iw_a":-18.5560455,"cg_sample_age_us":23.9290905,"cg_sample_seq":5131816,"cg_sample_valid":1,"cg_theta_rad":1.53035617,"cg_vd_req_v":-2.18384147,"cg_vd_v":-2.18384147,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32691383,"cg_vq_v":-8.32691383,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":753.571655,"values":{"Elec_RPM":-2359.53149,"EncoderCos":15232,"EncoderSin":42638,"GapTicks":49479,"Mech_RPM":-471.906311,"cg_du":52.2868347,"cg_dv":55.0190392,"cg_dw":44.9809608,"cg_id_a":-5.36636543,"cg_id_raw_a":-2.50215268,"cg_iq_a":-197.274811,"cg_iq_raw_a":-198.976212,"cg_iu_a":-13.9513426,"cg_iv_a":175.525558,"cg_iw_a":-161.574219,"cg_sample_age_us":23.7981815,"cg_sample_seq":5133467,"cg_sample_valid":1,"cg_theta_rad":2.63398981,"cg_vd_req_v":-1.75308692,"cg_vd_v":-1.75308692,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46690559,"cg_vq_v":-8.46690559,"cg_vu_v":10.5574207,"cg_vv_v":7.03828096,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6722717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":753.90564,"values":{"Elec_RPM":-2356.77734,"EncoderCos":14851,"EncoderSin":41940,"GapTicks":49299,"Mech_RPM":-471.355469,"cg_du":50.4467354,"cg_dv":55.182663,"cg_dw":44.817337,"cg_id_a":-9.91015625,"cg_id_raw_a":-6.68300295,"cg_iq_a":-196.626816,"cg_iq_raw_a":-195.194931,"cg_iu_a":-49.7240067,"cg_iv_a":191.146637,"cg_iw_a":-141.422638,"cg_sample_age_us":23.9145451,"cg_sample_seq":5135217,"cg_sample_valid":1,"cg_theta_rad":2.67116714,"cg_vd_req_v":-1.67478228,"cg_vd_v":-1.67478228,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48152924,"cg_vq_v":-8.48152924,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2547.00415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6811218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":754.087437,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":754.087443,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":754.087447,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":754.239624,"values":{"Elec_RPM":-2354.77563,"EncoderCos":16483,"EncoderSin":20759,"GapTicks":49526,"Mech_RPM":-470.955139,"cg_du":54.9756775,"cg_dv":52.1327629,"cg_dw":45.0243225,"cg_id_a":7.58273125,"cg_id_raw_a":5.14994669,"cg_iq_a":-203.285645,"cg_iq_raw_a":-201.803726,"cg_iu_a":72.0915222,"cg_iv_a":127.719925,"cg_iw_a":-199.811447,"cg_sample_age_us":23.8709087,"cg_sample_seq":5136867,"cg_sample_valid":1,"cg_theta_rad":3.78562093,"cg_vd_req_v":-2.04033661,"cg_vd_v":-2.04033661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31932545,"cg_vq_v":-8.31932545,"cg_vu_v":31.6722641,"cg_vv_v":22.4345207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7110901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":754.591187,"values":{"Elec_RPM":-2356.44141,"EncoderCos":17098,"EncoderSin":19935,"GapTicks":50039,"Mech_RPM":-471.2883,"cg_du":54.5096016,"cg_dv":54.1773605,"cg_dw":45.4903984,"cg_id_a":11.765543,"cg_id_raw_a":11.3348856,"cg_iq_a":-204.546021,"cg_iq_raw_a":-206.733353,"cg_iu_a":29.6137466,"cg_iv_a":159.759491,"cg_iw_a":-189.37323,"cg_sample_age_us":23.8818188,"cg_sample_seq":5138616,"cg_sample_valid":1,"cg_theta_rad":3.82684851,"cg_vd_req_v":-2.09817266,"cg_vd_v":-2.09817266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28467655,"cg_vq_v":-8.28467655,"cg_vu_v":26.8334465,"cg_vv_v":18.0355949,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":754.923218,"values":{"Elec_RPM":-2353.94604,"EncoderCos":26468,"EncoderSin":13681,"GapTicks":49419,"Mech_RPM":-470.789215,"cg_du":44.9264145,"cg_dv":48.0268364,"cg_dw":55.0735855,"cg_id_a":2.76830053,"cg_id_raw_a":-2.39595699,"cg_iq_a":-197.460358,"cg_iq_raw_a":-196.989609,"cg_iu_a":-90.8970032,"cg_iv_a":-105.327911,"cg_iw_a":196.224915,"cg_sample_age_us":23.8345451,"cg_sample_seq":5140316,"cg_sample_valid":1,"cg_theta_rad":4.39867544,"cg_vd_req_v":-2.00153899,"cg_vd_v":-2.00153899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45610905,"cg_vq_v":-8.45610905,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2493.66064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":755.079597,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":755.079603,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":755.079608,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":755.27478,"values":{"Elec_RPM":-2349.76611,"EncoderCos":37769,"EncoderSin":13340,"GapTicks":49325,"Mech_RPM":-469.953217,"cg_du":55.1583366,"cg_dv":49.944912,"cg_dw":44.8416634,"cg_id_a":-13.460289,"cg_id_raw_a":-15.3174524,"cg_iq_a":-197.641678,"cg_iq_raw_a":-197.315704,"cg_iu_a":136.460571,"cg_iv_a":58.0592804,"cg_iw_a":-194.519852,"cg_sample_age_us":23.994545,"cg_sample_seq":5142016,"cg_sample_valid":1,"cg_theta_rad":4.9821744,"cg_vd_req_v":-1.66014707,"cg_vd_v":-1.66014707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45907784,"cg_vq_v":-8.45907784,"cg_vu_v":20.6749516,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2478.09033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6934814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":755.608765,"values":{"Elec_RPM":-2350.9209,"EncoderCos":47534,"EncoderSin":19420,"GapTicks":49521,"Mech_RPM":-470.184174,"cg_du":45.0193977,"cg_dv":52.1794281,"cg_dw":54.9806023,"cg_id_a":-6.32161951,"cg_id_raw_a":-2.09127474,"cg_iq_a":-198.87027,"cg_iq_raw_a":-200.66478,"cg_iu_a":-163.167206,"cg_iv_a":-17.5090942,"cg_iw_a":180.6763,"cg_sample_age_us":23.9509087,"cg_sample_seq":5143716,"cg_sample_valid":1,"cg_theta_rad":5.56662178,"cg_vd_req_v":-1.84620678,"cg_vd_v":-1.84620678,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41063023,"cg_vq_v":-8.41063023,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.734169,"dclink_p_w":-2566.57153,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.6828613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":755.938843,"values":{"Elec_RPM":-2349.21826,"EncoderCos":52296,"EncoderSin":29434,"GapTicks":49837,"Mech_RPM":-469.843628,"cg_du":54.6930809,"cg_dv":45.3069191,"cg_dw":46.3634758,"cg_id_a":14.2906237,"cg_id_raw_a":14.9525318,"cg_iq_a":-205.900269,"cg_iq_raw_a":-203.841568,"cg_iu_a":191.478699,"cg_iv_a":-37.1170197,"cg_iw_a":-158.42099,"cg_sample_age_us":24.1399994,"cg_sample_seq":5145417,"cg_sample_valid":1,"cg_theta_rad":6.12897682,"cg_vd_req_v":-2.23200512,"cg_vd_v":-2.23200512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26980782,"cg_vq_v":-8.26980782,"cg_vu_v":142.965088,"cg_vv_v":144.28476,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2427.83105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.6881714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":756.071539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":756.071545,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":756.07155,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":756.292358,"values":{"Elec_RPM":-2352.73877,"EncoderCos":50757,"EncoderSin":40913,"GapTicks":49413,"Mech_RPM":-470.547729,"cg_du":44.9213791,"cg_dv":55.0786209,"cg_dw":52.1322861,"cg_id_a":5.74765491,"cg_id_raw_a":4.28688288,"cg_iq_a":-197.058731,"cg_iq_raw_a":-197.17923,"cg_iu_a":-195.931625,"cg_iv_a":69.186142,"cg_iw_a":126.745483,"cg_sample_age_us":23.550909,"cg_sample_seq":5147116,"cg_sample_valid":1,"cg_theta_rad":0.434499145,"cg_vd_req_v":-2.09742212,"cg_vd_v":-2.09742212,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4772377,"cg_vq_v":-8.4772377,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2510.39795,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.101364158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":756.626343,"values":{"Elec_RPM":-2347.93848,"EncoderCos":43534,"EncoderSin":49542,"GapTicks":49290,"Mech_RPM":-469.587708,"cg_du":55.1904602,"cg_dv":44.8095398,"cg_dw":50.0392303,"cg_id_a":-13.7335739,"cg_id_raw_a":-14.8140659,"cg_iq_a":-194.366882,"cg_iq_raw_a":-193.546432,"cg_iu_a":190.282654,"cg_iv_a":-136.388855,"cg_iw_a":-53.8937912,"cg_sample_age_us":23.9363632,"cg_sample_seq":5148817,"cg_sample_valid":1,"cg_theta_rad":1.00270748,"cg_vd_req_v":-1.65019131,"cg_vd_v":-1.65019131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51563644,"cg_vq_v":-8.51563644,"cg_vu_v":143.844864,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.7142334,"dclink_p_w":-2563.68628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6758118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":756.977905,"values":{"Elec_RPM":-2348.74316,"EncoderCos":33488,"EncoderSin":52720,"GapTicks":50034,"Mech_RPM":-469.748627,"cg_du":45.842289,"cg_dv":54.5142479,"cg_dw":45.4857521,"cg_id_a":15.1325254,"cg_id_raw_a":16.6653919,"cg_iq_a":-206.03009,"cg_iq_raw_a":-206.419205,"cg_iu_a":-181.252884,"cg_iv_a":162.80397,"cg_iw_a":18.4489136,"cg_sample_age_us":26.812727,"cg_sample_seq":5150521,"cg_sample_valid":1,"cg_theta_rad":1.58845854,"cg_vd_req_v":-2.1857276,"cg_vd_v":-2.1857276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25986767,"cg_vq_v":-8.25986767,"cg_vu_v":0.87978512,"cg_vv_v":21.1148415,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2483.87793,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":757.095406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":757.095412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":757.095417,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":757.31189,"values":{"Elec_RPM":-2345.76245,"EncoderCos":12750,"EncoderSin":31017,"GapTicks":49879,"Mech_RPM":-469.152496,"cg_du":46.448307,"cg_dv":45.3450546,"cg_dw":54.6549454,"cg_id_a":5.78245735,"cg_id_raw_a":12.1663284,"cg_iq_a":-205.241089,"cg_iq_raw_a":-207.067398,"cg_iu_a":-4.3104825,"cg_iv_a":-175.495972,"cg_iw_a":179.806458,"cg_sample_age_us":23.9363632,"cg_sample_seq":5152116,"cg_sample_valid":1,"cg_theta_rad":3.23584247,"cg_vd_req_v":-1.9663676,"cg_vd_v":-1.9663676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29636765,"cg_vq_v":-8.29636765,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2374.44238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7640381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":757.641968,"values":{"Elec_RPM":-2350.29004,"EncoderCos":14218,"EncoderSin":40532,"GapTicks":49565,"Mech_RPM":-470.058014,"cg_du":47.5101624,"cg_dv":54.9408188,"cg_dw":45.0591812,"cg_id_a":11.6743565,"cg_id_raw_a":7.28868532,"cg_iq_a":-202.289673,"cg_iq_raw_a":-202.441376,"cg_iu_a":-138.992569,"cg_iv_a":197.235611,"cg_iw_a":-71.9432144,"cg_sample_age_us":23.9581814,"cg_sample_seq":5153916,"cg_sample_valid":1,"cg_theta_rad":2.7442565,"cg_vd_req_v":-2.11086941,"cg_vd_v":-2.11086941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36300278,"cg_vq_v":-8.36300278,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5728836,"dclink_p_w":-2550.95972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.7128601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":757.973999,"values":{"Elec_RPM":-2350.7981,"EncoderCos":25944,"EncoderSin":13881,"GapTicks":49348,"Mech_RPM":-470.159607,"cg_du":44.8625488,"cg_dv":49.0412445,"cg_dw":55.1374512,"cg_id_a":-9.18561745,"cg_id_raw_a":-13.2135839,"cg_iq_a":-198.83432,"cg_iq_raw_a":-197.136383,"cg_iu_a":-112.93325,"cg_iv_a":-83.7990799,"cg_iw_a":196.73233,"cg_sample_age_us":23.9290905,"cg_sample_seq":5155517,"cg_sample_valid":1,"cg_theta_rad":4.37982655,"cg_vd_req_v":-1.75453842,"cg_vd_v":-1.75453842,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42813301,"cg_vq_v":-8.42813301,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7075806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":758.086825,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":758.086831,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":758.086837,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":758.425171,"values":{"Elec_RPM":-2344.25195,"EncoderCos":52440,"EncoderSin":34707,"GapTicks":49617,"Mech_RPM":-468.850372,"cg_du":52.6523895,"cg_dv":54.8934898,"cg_dw":45.1065102,"cg_id_a":-5.14835072,"cg_id_raw_a":0.461386919,"cg_iq_a":-200.624527,"cg_iq_raw_a":-203.779617,"cg_iu_a":-9.52959442,"cg_iv_a":175.34433,"cg_iw_a":-165.814743,"cg_sample_age_us":23.3945446,"cg_sample_seq":5157668,"cg_sample_valid":1,"cg_theta_rad":0.122079119,"cg_vd_req_v":-1.83072615,"cg_vd_v":-1.83072615,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37090492,"cg_vq_v":-8.37090492,"cg_vu_v":104.694435,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2382.01538,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6864014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":758.944702,"values":{"Elec_RPM":-2337.77686,"EncoderCos":14554,"EncoderSin":24189,"GapTicks":49526,"Mech_RPM":-467.555359,"cg_du":54.9758377,"cg_dv":45.0241623,"cg_dw":47.466835,"cg_id_a":15.8949318,"cg_id_raw_a":10.3545065,"cg_iq_a":-201.81221,"cg_iq_raw_a":-199.93364,"cg_iu_a":195.972931,"cg_iv_a":-52.4843903,"cg_iw_a":-143.488541,"cg_sample_age_us":23.9836369,"cg_sample_seq":5160267,"cg_sample_valid":1,"cg_theta_rad":3.5888412,"cg_vd_req_v":-2.23786354,"cg_vd_v":-2.23786354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37315273,"cg_vq_v":-8.37315273,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2407.11206,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6952209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":758.982701,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":758.982712,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":758.982715,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":759.079712,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":759.079718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":759.079723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":759.321655,"values":{"Elec_RPM":-2343.0293,"EncoderCos":34249,"EncoderSin":52580,"GapTicks":49608,"Mech_RPM":-468.605835,"cg_du":47.3251953,"cg_dv":54.901516,"cg_dw":45.098484,"cg_id_a":13.4716663,"cg_id_raw_a":11.1548624,"cg_iq_a":-202.375748,"cg_iq_raw_a":-201.410492,"cg_iu_a":-145.045288,"cg_iv_a":197.090637,"cg_iw_a":-52.0453491,"cg_sample_age_us":23.8963642,"cg_sample_seq":5162216,"cg_sample_valid":1,"cg_theta_rad":1.49629426,"cg_vd_req_v":-2.17890215,"cg_vd_v":-2.17890215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33401108,"cg_vq_v":-8.33401108,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6917114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":759.653687,"values":{"Elec_RPM":-2337.64136,"EncoderCos":23277,"EncoderSin":50466,"GapTicks":49347,"Mech_RPM":-467.528259,"cg_du":50.5386772,"cg_dv":44.8609123,"cg_dw":55.1390877,"cg_id_a":-14.1214867,"cg_id_raw_a":-16.770071,"cg_iq_a":-199.369751,"cg_iq_raw_a":-198.732712,"cg_iu_a":71.1491852,"cg_iv_a":-197.822174,"cg_iw_a":126.672989,"cg_sample_age_us":23.6200008,"cg_sample_seq":5163916,"cg_sample_valid":1,"cg_theta_rad":2.06455135,"cg_vd_req_v":-1.64266253,"cg_vd_v":-1.64266253,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41892242,"cg_vq_v":-8.41892242,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3895226,"dclink_p_w":-2364.7583,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.696991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":759.987671,"values":{"Elec_RPM":-2339.18799,"EncoderCos":15217,"EncoderSin":42588,"GapTicks":49436,"Mech_RPM":-467.837616,"cg_du":52.1510506,"cg_dv":55.0575333,"cg_dw":44.9424667,"cg_id_a":-6.57714462,"cg_id_raw_a":-4.99190283,"cg_iq_a":-196.798019,"cg_iq_raw_a":-197.797836,"cg_iu_a":-15.2561207,"cg_iv_a":176.322922,"cg_iw_a":-161.066803,"cg_sample_age_us":23.9218178,"cg_sample_seq":5165617,"cg_sample_valid":1,"cg_theta_rad":2.63345957,"cg_vd_req_v":-1.7326479,"cg_vd_v":-1.7326479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50169754,"cg_vq_v":-8.50169754,"cg_vu_v":104.254532,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7375488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":760.103516,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":760.103522,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":760.103527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":760.339233,"values":{"Elec_RPM":-2339.58765,"EncoderCos":12727,"EncoderSin":31269,"GapTicks":50046,"Mech_RPM":-467.917542,"cg_du":45.8398933,"cg_dv":45.4968796,"cg_dw":54.5031204,"cg_id_a":10.8256025,"cg_id_raw_a":11.3235636,"cg_iq_a":-204.677475,"cg_iq_raw_a":-204.953812,"cg_iu_a":-11.2692986,"cg_iv_a":-171.907822,"cg_iw_a":183.177124,"cg_sample_age_us":23.9254551,"cg_sample_seq":5167316,"cg_sample_valid":1,"cg_theta_rad":3.220608,"cg_vd_req_v":-2.07205105,"cg_vd_v":-2.07205105,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30003548,"cg_vq_v":-8.30003548,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2472.04004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6934814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":760.671265,"values":{"Elec_RPM":-2348.11572,"EncoderCos":16541,"EncoderSin":20673,"GapTicks":49575,"Mech_RPM":-469.623169,"cg_du":54.9313278,"cg_dv":52.3277054,"cg_dw":45.0686722,"cg_id_a":8.05117989,"cg_id_raw_a":4.92970085,"cg_iq_a":-203.885178,"cg_iq_raw_a":-203.081223,"cg_iu_a":67.8872375,"cg_iv_a":132.322906,"cg_iw_a":-200.210144,"cg_sample_age_us":23.9654541,"cg_sample_seq":5169017,"cg_sample_valid":1,"cg_theta_rad":3.78709793,"cg_vd_req_v":-2.05575442,"cg_vd_v":-2.05575442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29038525,"cg_vq_v":-8.29038525,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2431.17212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":761.022827,"values":{"Elec_RPM":-2350.46582,"EncoderCos":24771,"EncoderSin":14289,"GapTicks":49478,"Mech_RPM":-470.09314,"cg_du":44.9801407,"cg_dv":51.7618561,"cg_dw":55.0198593,"cg_id_a":-9.77217197,"cg_id_raw_a":-8.66430187,"cg_iq_a":-201.395248,"cg_iq_raw_a":-199.440689,"cg_iu_a":-133.121063,"cg_iv_a":-59.9143982,"cg_iw_a":193.035461,"cg_sample_age_us":23.8418179,"cg_sample_seq":5170721,"cg_sample_valid":1,"cg_theta_rad":4.36163425,"cg_vd_req_v":-1.70762324,"cg_vd_v":-1.70762324,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38729572,"cg_vq_v":-8.38729572,"cg_vu_v":95.0167923,"cg_vv_v":87.9785156,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.9606915,"dclink_p_w":-2591.4541,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":761.095031,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":761.095037,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":761.095043,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":761.356812,"values":{"Elec_RPM":-2361.74121,"EncoderCos":26288,"EncoderSin":13737,"GapTicks":49366,"Mech_RPM":-472.348267,"cg_du":44.8782959,"cg_dv":48.3756065,"cg_dw":55.1217041,"cg_id_a":-0.242733598,"cg_id_raw_a":-4.72160244,"cg_iq_a":-196.931046,"cg_iq_raw_a":-197.350449,"cg_iu_a":-85.859108,"cg_iv_a":-111.416878,"cg_iw_a":197.275986,"cg_sample_age_us":23.8454552,"cg_sample_seq":5172467,"cg_sample_valid":1,"cg_theta_rad":4.40040445,"cg_vd_req_v":-1.93772531,"cg_vd_v":-1.93772531,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48287201,"cg_vq_v":-8.48287201,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2404.24023,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7128601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":761.688843,"values":{"Elec_RPM":-2353.92627,"EncoderCos":52042,"EncoderSin":28217,"GapTicks":49388,"Mech_RPM":-470.785278,"cg_du":55.1014137,"cg_dv":44.8985863,"cg_dw":48.6324921,"cg_id_a":-4.60514879,"cg_id_raw_a":-8.35072517,"cg_iq_a":-199.342224,"cg_iq_raw_a":-198.921265,"cg_iu_a":200.140991,"cg_iv_a":-97.1730652,"cg_iw_a":-102.967926,"cg_sample_age_us":24.1654549,"cg_sample_seq":5174066,"cg_sample_valid":1,"cg_theta_rad":6.06678152,"cg_vd_req_v":-1.87485182,"cg_vd_v":-1.87485182,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39359188,"cg_vq_v":-8.39359188,"cg_vu_v":42.2296829,"cg_vv_v":33.871727,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2562.43066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6952209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":762.040405,"values":{"Elec_RPM":-2356.3916,"EncoderCos":47583,"EncoderSin":19495,"GapTicks":49499,"Mech_RPM":-471.27832,"cg_du":44.9999084,"cg_dv":52.0105057,"cg_dw":55.0000916,"cg_id_a":-6.1449995,"cg_id_raw_a":-5.28011227,"cg_iq_a":-201.808578,"cg_iq_raw_a":-203.966415,"cg_iu_a":-163.602127,"cg_iv_a":-21.8583679,"cg_iw_a":185.460495,"cg_sample_age_us":23.954546,"cg_sample_seq":5175866,"cg_sample_valid":1,"cg_theta_rad":5.57005024,"cg_vd_req_v":-1.8559221,"cg_vd_v":-1.8559221,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34815788,"cg_vq_v":-8.34815788,"cg_vu_v":38.7105446,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2515.10449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6864014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":762.087448,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":762.087453,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":762.087459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":762.37439,"values":{"Elec_RPM":-2357.63281,"EncoderCos":44728,"EncoderSin":48670,"GapTicks":49835,"Mech_RPM":-471.52655,"cg_du":54.6954117,"cg_dv":45.3045883,"cg_dw":53.6644173,"cg_id_a":8.09712124,"cg_id_raw_a":11.7912216,"cg_iq_a":-201.261703,"cg_iq_raw_a":-201.743149,"cg_iu_a":170.348541,"cg_iv_a":-174.952301,"cg_iw_a":4.60375977,"cg_sample_age_us":23.9727268,"cg_sample_seq":5177467,"cg_sample_valid":1,"cg_theta_rad":0.927722991,"cg_vd_req_v":-2.06582499,"cg_vd_v":-2.06582499,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38174629,"cg_vq_v":-8.38174629,"cg_vu_v":106.014107,"cg_vv_v":74.7817383,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.3699169,"dclink_p_w":-2506.21436,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7075806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":762.706421,"values":{"Elec_RPM":-2357.30566,"EncoderCos":50780,"EncoderSin":40901,"GapTicks":49434,"Mech_RPM":-471.461151,"cg_du":44.9408226,"cg_dv":55.0591774,"cg_dw":52.0998917,"cg_id_a":4.7788496,"cg_id_raw_a":-0.552948296,"cg_iq_a":-197.498505,"cg_iq_raw_a":-196.730362,"cg_iu_a":-194.880554,"cg_iv_a":75.5288086,"cg_iw_a":119.351746,"cg_sample_age_us":23.4309082,"cg_sample_seq":5179267,"cg_sample_valid":1,"cg_theta_rad":0.43148613,"cg_vd_req_v":-2.06572628,"cg_vd_v":-2.06572628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44496822,"cg_vq_v":-8.44496822,"cg_vu_v":1.31967759,"cg_vv_v":17.5957031,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6160469,"dclink_p_w":-2404.75171,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":763.059937,"values":{"Elec_RPM":-2353.30566,"EncoderCos":23146,"EncoderSin":50397,"GapTicks":49320,"Mech_RPM":-470.661133,"cg_du":50.7819633,"cg_dv":44.8371582,"cg_dw":55.1628418,"cg_id_a":-9.8496418,"cg_id_raw_a":-13.1509323,"cg_iq_a":-198.62439,"cg_iq_raw_a":-197.647888,"cg_iu_a":82.0585785,"cg_iv_a":-198.32959,"cg_iw_a":116.271011,"cg_sample_age_us":23.7000008,"cg_sample_seq":5180867,"cg_sample_valid":1,"cg_theta_rad":2.07271242,"cg_vd_req_v":-1.73512197,"cg_vd_v":-1.73512197,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45827866,"cg_vq_v":-8.45827866,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6828613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103630126,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":763.110723,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":763.110729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":763.110735,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":763.390015,"values":{"Elec_RPM":-2354.35938,"EncoderCos":32348,"EncoderSin":52694,"GapTicks":49449,"Mech_RPM":-470.871857,"cg_du":44.9541702,"cg_dv":55.0458298,"cg_dw":48.1614571,"cg_id_a":-8.89783382,"cg_id_raw_a":-4.95414495,"cg_iq_a":-199.09317,"cg_iq_raw_a":-200.22876,"cg_iu_a":-176.722412,"cg_iv_a":168.131821,"cg_iw_a":8.59059143,"cg_sample_age_us":23.7690907,"cg_sample_seq":5182666,"cg_sample_valid":1,"cg_theta_rad":1.59112954,"cg_vd_req_v":-1.69800079,"cg_vd_v":-1.69800079,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44787407,"cg_vq_v":-8.44787407,"cg_vu_v":37.830761,"cg_vv_v":49.707859,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.4695892,"dclink_p_w":-2528.28027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":763.723999,"values":{"Elec_RPM":-2353.07739,"EncoderCos":14512,"EncoderSin":41173,"GapTicks":49423,"Mech_RPM":-470.615479,"cg_du":48.7462349,"cg_dv":55.0692215,"cg_dw":44.9307785,"cg_id_a":-3.55233097,"cg_id_raw_a":-9.30405426,"cg_iq_a":-199.645615,"cg_iq_raw_a":-198.377853,"cg_iu_a":-84.2643738,"cg_iv_a":199.156525,"cg_iw_a":-114.892151,"cg_sample_age_us":23.8600006,"cg_sample_seq":5184316,"cg_sample_valid":1,"cg_theta_rad":2.70291948,"cg_vd_req_v":-1.81079459,"cg_vd_v":-1.81079459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39011955,"cg_vq_v":-8.39011955,"cg_vu_v":101.615181,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7005005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":764.077515,"values":{"Elec_RPM":-2352.48145,"EncoderCos":12861,"EncoderSin":30154,"GapTicks":49463,"Mech_RPM":-470.496307,"cg_du":48.7773399,"cg_dv":44.966526,"cg_dw":55.033474,"cg_id_a":-19.5611877,"cg_id_raw_a":-15.7772341,"cg_iq_a":-201.728729,"cg_iq_raw_a":-204.843674,"cg_iu_a":14.4638233,"cg_iv_a":-180.425125,"cg_iw_a":165.961304,"cg_sample_age_us":23.7690907,"cg_sample_seq":5186016,"cg_sample_valid":1,"cg_theta_rad":3.27741838,"cg_vd_req_v":-1.47560716,"cg_vd_v":-1.47560716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36478233,"cg_vq_v":-8.36478233,"cg_vu_v":116.131638,"cg_vv_v":117.451309,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2378.87769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":764.103414,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":764.10342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":764.103426,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":764.407593,"values":{"Elec_RPM":-2348.44385,"EncoderCos":17221,"EncoderSin":19808,"GapTicks":50039,"Mech_RPM":-469.688782,"cg_du":54.3574028,"cg_dv":54.5099297,"cg_dw":45.4900703,"cg_id_a":9.95089054,"cg_id_raw_a":12.7111416,"cg_iq_a":-204.194077,"cg_iq_raw_a":-204.717407,"cg_iu_a":14.3913355,"cg_iv_a":167.261948,"cg_iw_a":-181.65329,"cg_sample_age_us":23.8672733,"cg_sample_seq":5187717,"cg_sample_valid":1,"cg_theta_rad":3.84570622,"cg_vd_req_v":-2.08628583,"cg_vd_v":-2.08628583,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34699154,"cg_vq_v":-8.34699154,"cg_vu_v":30.3525867,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6811218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":764.761108,"values":{"Elec_RPM":-2348.69189,"EncoderCos":25984,"EncoderSin":13837,"GapTicks":49347,"Mech_RPM":-469.738403,"cg_du":44.8616409,"cg_dv":48.9122009,"cg_dw":55.1383591,"cg_id_a":-8.95430183,"cg_id_raw_a":-10.4437532,"cg_iq_a":-196.27446,"cg_iq_raw_a":-195.871246,"cg_iu_a":-52.3698044,"cg_iv_a":-140.738129,"cg_iw_a":193.107941,"cg_sample_age_us":23.8418179,"cg_sample_seq":5189421,"cg_sample_valid":1,"cg_theta_rad":4.4256115,"cg_vd_req_v":-1.75373054,"cg_vd_v":-1.75373054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47117233,"cg_vq_v":-8.47117233,"cg_vu_v":112.612495,"cg_vv_v":119.210884,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.6740723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":765.09314,"values":{"Elec_RPM":-2347.07202,"EncoderCos":38392,"EncoderSin":13509,"GapTicks":49459,"Mech_RPM":-469.414398,"cg_du":55.0365639,"cg_dv":51.172451,"cg_dw":44.9634361,"cg_id_a":-6.33023739,"cg_id_raw_a":-9.58064651,"cg_iq_a":-202.739594,"cg_iq_raw_a":-202.648041,"cg_iu_a":110.47374,"cg_iv_a":95.4266815,"cg_iw_a":-205.900421,"cg_sample_age_us":23.9836369,"cg_sample_seq":5191116,"cg_sample_valid":1,"cg_theta_rad":5.01327658,"cg_vd_req_v":-1.81840134,"cg_vd_v":-1.81840134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29550171,"cg_vq_v":-8.29550171,"cg_vu_v":46.1887207,"cg_vv_v":35.1914063,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2423.11035,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":765.0955,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":765.095505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":765.095511,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":765.427124,"values":{"Elec_RPM":-2345.93066,"EncoderCos":47830,"EncoderSin":19741,"GapTicks":49373,"Mech_RPM":-469.186127,"cg_du":44.8851738,"cg_dv":51.1637878,"cg_dw":55.1148262,"cg_id_a":-10.4707508,"cg_id_raw_a":-6.19786787,"cg_iq_a":-199.806442,"cg_iq_raw_a":-201.419846,"cg_iu_a":-153.272644,"cg_iv_a":-35.7034912,"cg_iw_a":188.976135,"cg_sample_age_us":23.9581814,"cg_sample_seq":5192816,"cg_sample_valid":1,"cg_theta_rad":5.59041119,"cg_vd_req_v":-1.780339,"cg_vd_v":-1.780339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40839386,"cg_vq_v":-8.40839386,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7393494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":765.778687,"values":{"Elec_RPM":-2346.76294,"EncoderCos":52385,"EncoderSin":30172,"GapTicks":49784,"Mech_RPM":-469.3526,"cg_du":54.741291,"cg_dv":46.3879929,"cg_dw":45.258709,"cg_id_a":5.41386509,"cg_id_raw_a":13.3775911,"cg_iq_a":-199.728439,"cg_iq_raw_a":-203.681595,"cg_iu_a":174.66156,"cg_iv_a":-3.4102478,"cg_iw_a":-171.251312,"cg_sample_age_us":24.1399994,"cg_sample_seq":5194516,"cg_sample_valid":1,"cg_theta_rad":6.16519547,"cg_vd_req_v":-2.0348475,"cg_vd_v":-2.0348475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41331482,"cg_vq_v":-8.41331482,"cg_vu_v":32.1121559,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2482.29956,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":766.087024,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":766.08703,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":766.087036,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":766.110718,"values":{"Elec_RPM":-2350.75586,"EncoderCos":50518,"EncoderSin":41519,"GapTicks":49691,"Mech_RPM":-470.151184,"cg_du":45.1740799,"cg_dv":54.8259201,"cg_dw":53.3552628,"cg_id_a":14.5463524,"cg_id_raw_a":13.8948898,"cg_iq_a":-198.369217,"cg_iq_raw_a":-197.542801,"cg_iu_a":-188.139206,"cg_iv_a":32.4711456,"cg_iw_a":155.66806,"cg_sample_age_us":23.5581818,"cg_sample_seq":5196216,"cg_sample_valid":1,"cg_theta_rad":0.464565665,"cg_vd_req_v":-2.24680638,"cg_vd_v":-2.24680638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39477634,"cg_vq_v":-8.39477634,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6952209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":766.444702,"values":{"Elec_RPM":-2352.16943,"EncoderCos":42959,"EncoderSin":49881,"GapTicks":49363,"Mech_RPM":-470.433899,"cg_du":55.1237831,"cg_dv":44.8762169,"cg_dw":48.8096237,"cg_id_a":-3.58020186,"cg_id_raw_a":-9.53778267,"cg_iq_a":-198.447952,"cg_iq_raw_a":-198.014847,"cg_iu_a":199.343628,"cg_iv_a":-100.000076,"cg_iw_a":-99.3435516,"cg_sample_age_us":23.9254551,"cg_sample_seq":5197916,"cg_sample_valid":1,"cg_theta_rad":1.03590739,"cg_vd_req_v":-1.88447022,"cg_vd_v":-1.88447022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43119049,"cg_vq_v":-8.43119049,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-17.4623394,"dclink_p_w":-2519.54956,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7676086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":766.796265,"values":{"Elec_RPM":-2357.604,"EncoderCos":21984,"EncoderSin":49700,"GapTicks":49673,"Mech_RPM":-471.520813,"cg_du":53.2924271,"cg_dv":45.1575966,"cg_dw":54.8424034,"cg_id_a":13.0563412,"cg_id_raw_a":9.61579227,"cg_iq_a":-199.758392,"cg_iq_raw_a":-199.41127,"cg_iu_a":152.335358,"cg_iv_a":-190.392181,"cg_iw_a":38.0568237,"cg_sample_age_us":23.6490917,"cg_sample_seq":5199567,"cg_sample_valid":1,"cg_theta_rad":2.13829088,"cg_vd_req_v":-2.17838645,"cg_vd_v":-2.17838645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41613197,"cg_vq_v":-8.41613197,"cg_vu_v":123.169922,"cg_vv_v":117.451309,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2501.76636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7216797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":767.078976,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":767.078982,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":767.078987,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":767.128296,"values":{"Elec_RPM":-2358.4458,"EncoderCos":21332,"EncoderSin":49275,"GapTicks":49942,"Mech_RPM":-471.689148,"cg_du":54.5977097,"cg_dv":45.4022903,"cg_dw":54.0686378,"cg_id_a":11.0014696,"cg_id_raw_a":13.5295582,"cg_iq_a":-201.811844,"cg_iq_raw_a":-201.719803,"cg_iu_a":169.841141,"cg_iv_a":-178.975372,"cg_iw_a":9.13423157,"cg_sample_age_us":24.0490913,"cg_sample_seq":5201317,"cg_sample_valid":1,"cg_theta_rad":2.17601252,"cg_vd_req_v":-2.10775256,"cg_vd_v":-2.10775256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36671829,"cg_vq_v":-8.36671829,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.6917114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":767.46228,"values":{"Elec_RPM":-2357.27441,"EncoderCos":12808,"EncoderSin":30148,"GapTicks":49425,"Mech_RPM":-471.454865,"cg_du":48.7677917,"cg_dv":44.9319458,"cg_dw":55.0680542,"cg_id_a":-19.2392578,"cg_id_raw_a":-15.9163103,"cg_iq_a":-201.242447,"cg_iq_raw_a":-204.01326,"cg_iu_a":27.1491661,"cg_iv_a":-185.100586,"cg_iw_a":157.951416,"cg_sample_age_us":23.8600006,"cg_sample_seq":5202968,"cg_sample_valid":1,"cg_theta_rad":3.2862401,"cg_vd_req_v":-1.47966135,"cg_vd_v":-1.47966135,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39708233,"cg_vq_v":-8.39708233,"cg_vu_v":105.134323,"cg_vv_v":89.7380829,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2444.50708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7287598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":767.813843,"values":{"Elec_RPM":-2357.8855,"EncoderCos":12948,"EncoderSin":29350,"GapTicks":49306,"Mech_RPM":-471.577087,"cg_du":50.4475479,"cg_dv":44.8244095,"cg_dw":55.1755905,"cg_id_a":-14.529068,"cg_id_raw_a":-19.5022526,"cg_iq_a":-196.473022,"cg_iq_raw_a":-197.733932,"cg_iu_a":79.847702,"cg_iv_a":-195.756287,"cg_iw_a":115.908577,"cg_sample_age_us":23.6599998,"cg_sample_seq":5204718,"cg_sample_valid":1,"cg_theta_rad":3.32777572,"cg_vd_req_v":-1.61383235,"cg_vd_v":-1.61383235,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50818348,"cg_vq_v":-8.50818348,"cg_vu_v":133.727341,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6846313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":768.103505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":768.103511,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":768.103516,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":768.145874,"values":{"Elec_RPM":-2353.56201,"EncoderCos":27248,"EncoderSin":13459,"GapTicks":49765,"Mech_RPM":-470.712402,"cg_du":45.2417488,"cg_dv":46.531208,"cg_dw":54.7582512,"cg_id_a":14.5799637,"cg_id_raw_a":15.3915224,"cg_iq_a":-201.412704,"cg_iq_raw_a":-198.229889,"cg_iu_a":-35.5526657,"cg_iv_a":-156.431702,"cg_iw_a":191.984375,"cg_sample_age_us":23.9218178,"cg_sample_seq":5206367,"cg_sample_valid":1,"cg_theta_rad":4.44694996,"cg_vd_req_v":-2.20623159,"cg_vd_v":-2.20623159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34044075,"cg_vq_v":-8.34044075,"cg_vu_v":144.28476,"cg_vv_v":141.205521,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.7794724,"dclink_p_w":-2573.12793,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.7269897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":768.665405,"values":{"Elec_RPM":-2345.69751,"EncoderCos":14608,"EncoderSin":41452,"GapTicks":49342,"Mech_RPM":-469.139496,"cg_du":49.2638855,"cg_dv":55.1427422,"cg_dw":44.8572578,"cg_id_a":-9.01794529,"cg_id_raw_a":-10.2126942,"cg_iq_a":-198.518951,"cg_iq_raw_a":-196.446335,"cg_iu_a":-93.470314,"cg_iv_a":198.902832,"cg_iw_a":-120.183762,"cg_sample_age_us":23.9654541,"cg_sample_seq":5208868,"cg_sample_valid":1,"cg_theta_rad":2.70761466,"cg_vd_req_v":-1.70528424,"cg_vd_v":-1.70528424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.453228,"cg_vq_v":-8.453228,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7164001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":768.998655,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":768.998667,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":768.99867,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":769.094993,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":769.094998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":769.095002,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":769.141968,"values":{"Elec_RPM":-2343.58789,"EncoderCos":52426,"EncoderSin":30430,"GapTicks":49645,"Mech_RPM":-468.71756,"cg_du":54.8677254,"cg_dv":47.0848846,"cg_dw":45.1322746,"cg_id_a":-1.21229935,"cg_id_raw_a":5.01419306,"cg_iq_a":-198.055099,"cg_iq_raw_a":-198.67981,"cg_iu_a":169.986115,"cg_iv_a":-0.0395812988,"cg_iw_a":-169.946533,"cg_sample_age_us":23.9981823,"cg_sample_seq":5211467,"cg_sample_valid":1,"cg_theta_rad":6.18026686,"cg_vd_req_v":-1.89365447,"cg_vd_v":-1.89365447,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42306709,"cg_vq_v":-8.42306709,"cg_vu_v":107.333786,"cg_vv_v":104.254532,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2389.27759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.645874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":769.472046,"values":{"Elec_RPM":-2341.26343,"EncoderCos":33271,"EncoderSin":52656,"GapTicks":50005,"Mech_RPM":-468.252686,"cg_du":45.4595108,"cg_dv":54.5404892,"cg_dw":45.8062706,"cg_id_a":11.8292646,"cg_id_raw_a":11.5523167,"cg_iq_a":-205.039658,"cg_iq_raw_a":-206.64476,"cg_iu_a":-171.503296,"cg_iv_a":181.94072,"cg_iw_a":-10.4374237,"cg_sample_age_us":23.9181824,"cg_sample_seq":5213067,"cg_sample_valid":1,"cg_theta_rad":1.54366875,"cg_vd_req_v":-2.12605953,"cg_vd_v":-2.12605953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33224487,"cg_vq_v":-8.33224487,"cg_vu_v":129.328415,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2554.64258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.6864014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":769.825562,"values":{"Elec_RPM":-2347.64551,"EncoderCos":22101,"EncoderSin":49804,"GapTicks":49628,"Mech_RPM":-469.529114,"cg_du":52.9885941,"cg_dv":45.1164436,"cg_dw":54.8835564,"cg_id_a":11.3207397,"cg_id_raw_a":8.77494431,"cg_iq_a":-199.455765,"cg_iq_raw_a":-198.78183,"cg_iu_a":144.90538,"cg_iv_a":-194.995163,"cg_iw_a":59.4406891,"cg_sample_age_us":23.6090908,"cg_sample_seq":5214766,"cg_sample_valid":1,"cg_theta_rad":2.12732172,"cg_vd_req_v":-2.14434052,"cg_vd_v":-2.14434052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41283512,"cg_vq_v":-8.41283512,"cg_vu_v":12.7568836,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-18.1709061,"dclink_p_w":-2629.77808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6599426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":770.087492,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":770.087498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":770.087503,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":770.157593,"values":{"Elec_RPM":-2353.76514,"EncoderCos":14477,"EncoderSin":41158,"GapTicks":49419,"Mech_RPM":-470.753021,"cg_du":48.7203484,"cg_dv":55.0727806,"cg_dw":44.9272194,"cg_id_a":-1.95030367,"cg_id_raw_a":-5.50661373,"cg_iq_a":-200.785721,"cg_iq_raw_a":-200.08136,"cg_iu_a":-100.900299,"cg_iv_a":201.584869,"cg_iw_a":-100.684578,"cg_sample_age_us":24.8163643,"cg_sample_seq":5216466,"cg_sample_valid":1,"cg_theta_rad":2.71191072,"cg_vd_req_v":-1.843081,"cg_vd_v":-1.843081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36612892,"cg_vq_v":-8.36612892,"cg_vu_v":27.2733402,"cg_vv_v":28.5930176,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2471.17725,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7146301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":770.489624,"values":{"Elec_RPM":-2357.49609,"EncoderCos":12804,"EncoderSin":30310,"GapTicks":49471,"Mech_RPM":-471.499237,"cg_du":48.2928696,"cg_dv":44.9738388,"cg_dw":55.0261612,"cg_id_a":-13.3727322,"cg_id_raw_a":-7.40107107,"cg_iq_a":-202.594025,"cg_iq_raw_a":-203.725632,"cg_iu_a":12.5791435,"cg_iv_a":-180.678848,"cg_iw_a":173.391296,"cg_sample_age_us":23.9072723,"cg_sample_seq":5218167,"cg_sample_valid":1,"cg_theta_rad":3.26594377,"cg_vd_req_v":-1.5973227,"cg_vd_v":-1.5973227,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38252544,"cg_vq_v":-8.38252544,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.696991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":770.841187,"values":{"Elec_RPM":-2358.87305,"EncoderCos":17328,"EncoderSin":19659,"GapTicks":49909,"Mech_RPM":-471.774628,"cg_du":53.942749,"cg_dv":54.627533,"cg_dw":45.372467,"cg_id_a":8.74331284,"cg_id_raw_a":12.2841301,"cg_iq_a":-201.756744,"cg_iq_raw_a":-202.435699,"cg_iu_a":7.86744499,"cg_iv_a":168.856674,"cg_iw_a":-176.724121,"cg_sample_age_us":23.994545,"cg_sample_seq":5219867,"cg_sample_valid":1,"cg_theta_rad":3.85384727,"cg_vd_req_v":-2.03584456,"cg_vd_v":-2.03584456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37432671,"cg_vq_v":-8.37432671,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7005005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":771.111318,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":771.111324,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":771.111329,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":771.175171,"values":{"Elec_RPM":-2357.47217,"EncoderCos":37399,"EncoderSin":13253,"GapTicks":49358,"Mech_RPM":-471.494415,"cg_du":55.1288033,"cg_dv":49.1920815,"cg_dw":44.8711967,"cg_id_a":-17.2694702,"cg_id_raw_a":-15.8965492,"cg_iq_a":-196.904678,"cg_iq_raw_a":-195.822281,"cg_iu_a":152.806534,"cg_iv_a":29.8978271,"cg_iw_a":-182.704361,"cg_sample_age_us":23.9218178,"cg_sample_seq":5221517,"cg_sample_valid":1,"cg_theta_rad":4.96245813,"cg_vd_req_v":-1.56302381,"cg_vd_v":-1.56302381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43657494,"cg_vq_v":-8.43657494,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2403.19458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7199097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":771.528687,"values":{"Elec_RPM":-2359.69214,"EncoderCos":37536,"EncoderSin":13257,"GapTicks":49335,"Mech_RPM":-471.938416,"cg_du":55.1499329,"cg_dv":49.4977875,"cg_dw":44.8500671,"cg_id_a":-18.1070728,"cg_id_raw_a":-17.3191414,"cg_iq_a":-196.647644,"cg_iq_raw_a":-197.301544,"cg_iu_a":111.307343,"cg_iv_a":94.8830261,"cg_iw_a":-206.190369,"cg_sample_age_us":24.0127277,"cg_sample_seq":5223270,"cg_sample_valid":1,"cg_theta_rad":5.01224327,"cg_vd_req_v":-1.55474579,"cg_vd_v":-1.55474579,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45185471,"cg_vq_v":-8.45185471,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5221424,"dclink_p_w":-2535.88599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7676086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119794004,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":771.858765,"values":{"Elec_RPM":-2362.59717,"EncoderCos":52314,"EncoderSin":29566,"GapTicks":49920,"Mech_RPM":-472.519409,"cg_du":54.6180077,"cg_dv":45.3819923,"cg_dw":46.1243248,"cg_id_a":16.6813316,"cg_id_raw_a":19.3307362,"cg_iq_a":-204.446976,"cg_iq_raw_a":-204.601181,"cg_iu_a":188.39798,"cg_iv_a":-21.1334839,"cg_iw_a":-167.264496,"cg_sample_age_us":24.1727276,"cg_sample_seq":5224916,"cg_sample_valid":1,"cg_theta_rad":6.13637018,"cg_vd_req_v":-2.26042485,"cg_vd_v":-2.26042485,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29928589,"cg_vq_v":-8.29928589,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2487.29761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6952209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":772.103097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":772.103103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":772.103121,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":772.192749,"values":{"Elec_RPM":-2357.93481,"EncoderCos":52428,"EncoderSin":30294,"GapTicks":49733,"Mech_RPM":-471.586945,"cg_du":54.7881088,"cg_dv":46.7411194,"cg_dw":45.2118912,"cg_id_a":2.21252465,"cg_id_raw_a":8.42844677,"cg_iq_a":-199.095795,"cg_iq_raw_a":-201.396194,"cg_iu_a":173.175568,"cg_iv_a":-1.92425537,"cg_iw_a":-171.251312,"cg_sample_age_us":24.045454,"cg_sample_seq":5226666,"cg_sample_valid":1,"cg_theta_rad":6.17404461,"cg_vd_req_v":-1.9536742,"cg_vd_v":-1.9536742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39910507,"cg_vq_v":-8.39910507,"cg_vu_v":39.590332,"cg_vv_v":40.0302238,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":772.544312,"values":{"Elec_RPM":-2357.1604,"EncoderCos":44298,"EncoderSin":48989,"GapTicks":49483,"Mech_RPM":-471.432098,"cg_du":55.0153809,"cg_dv":44.9846191,"cg_dw":52.2221336,"cg_id_a":-8.28613567,"cg_id_raw_a":0.386891425,"cg_iq_a":-197.940735,"cg_iq_raw_a":-200.091568,"cg_iu_a":191.043793,"cg_iv_a":-139.324631,"cg_iw_a":-51.719162,"cg_sample_age_us":23.954546,"cg_sample_seq":5228320,"cg_sample_valid":1,"cg_theta_rad":0.998106718,"cg_vd_req_v":-1.73763728,"cg_vd_v":-1.73763728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47495651,"cg_vq_v":-8.47495651,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":772.876343,"values":{"Elec_RPM":-2356.01416,"EncoderCos":43301,"EncoderSin":49654,"GapTicks":49306,"Mech_RPM":-471.20285,"cg_du":55.1761742,"cg_dv":44.8238258,"cg_dw":49.5610847,"cg_id_a":-10.2445803,"cg_id_raw_a":-12.0859108,"cg_iq_a":-197.168518,"cg_iq_raw_a":-197.73996,"cg_iu_a":197.096497,"cg_iv_a":-112.105507,"cg_iw_a":-84.9909897,"cg_sample_age_us":23.8345451,"cg_sample_seq":5230068,"cg_sample_valid":1,"cg_theta_rad":1.02693689,"cg_vd_req_v":-1.73651528,"cg_vd_v":-1.73651528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48457146,"cg_vq_v":-8.48457146,"cg_vu_v":129.768311,"cg_vv_v":117.891212,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.2517948,"dclink_p_w":-2352.0354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.6811218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":773.095679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":773.095685,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":773.095691,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":773.210327,"values":{"Elec_RPM":-2353.89624,"EncoderCos":31743,"EncoderSin":52664,"GapTicks":49331,"Mech_RPM":-470.779266,"cg_du":44.8469238,"cg_dv":55.1530762,"cg_dw":49.5671043,"cg_id_a":-11.6527615,"cg_id_raw_a":-12.6467276,"cg_iq_a":-195.894531,"cg_iq_raw_a":-196.572205,"cg_iu_a":-189.009064,"cg_iv_a":141.057678,"cg_iw_a":33.1639023,"cg_sample_age_us":23.8709087,"cg_sample_seq":5231766,"cg_sample_valid":1,"cg_theta_rad":1.61970305,"cg_vd_req_v":-1.64359117,"cg_vd_v":-1.64359117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49019814,"cg_vq_v":-8.49019814,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3025379,"dclink_p_w":-2359.37915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":773.56189,"values":{"Elec_RPM":-2354.15698,"EncoderCos":21105,"EncoderSin":49087,"GapTicks":49759,"Mech_RPM":-470.83139,"cg_du":54.7644157,"cg_dv":45.2355843,"cg_dw":53.3309479,"cg_id_a":3.96003509,"cg_id_raw_a":10.7887354,"cg_iq_a":-202.427521,"cg_iq_raw_a":-202.972641,"cg_iu_a":172.196991,"cg_iv_a":-172.379013,"cg_iw_a":0.182022095,"cg_sample_age_us":24.0890903,"cg_sample_seq":5233466,"cg_sample_valid":1,"cg_theta_rad":2.20096993,"cg_vd_req_v":-1.9701376,"cg_vd_v":-1.9701376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35704994,"cg_vq_v":-8.35704994,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7181702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":773.895874,"values":{"Elec_RPM":-2347.65405,"EncoderCos":12904,"EncoderSin":29596,"GapTicks":49327,"Mech_RPM":-469.530792,"cg_du":49.9712677,"cg_dv":44.8427429,"cg_dw":55.1572571,"cg_id_a":-17.7776089,"cg_id_raw_a":-20.447876,"cg_iq_a":-195.819855,"cg_iq_raw_a":-196.596649,"cg_iu_a":34.7241287,"cg_iv_a":-184.665649,"cg_iw_a":149.941528,"cg_sample_age_us":23.7145462,"cg_sample_seq":5235116,"cg_sample_valid":1,"cg_theta_rad":3.2951355,"cg_vd_req_v":-1.53416705,"cg_vd_v":-1.53416705,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50749683,"cg_vq_v":-8.50749683,"cg_vu_v":104.254532,"cg_vv_v":73.462059,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2484.14111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":774.086875,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":774.08688,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":774.086885,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":774.225952,"values":{"Elec_RPM":-2348.67651,"EncoderCos":17611,"EncoderSin":19322,"GapTicks":49614,"Mech_RPM":-469.735321,"cg_du":52.7961922,"cg_dv":54.8955879,"cg_dw":45.1044121,"cg_id_a":-2.76720834,"cg_id_raw_a":4.60977888,"cg_iq_a":-197.954697,"cg_iq_raw_a":-199.034561,"cg_iu_a":0.727410078,"cg_iv_a":169.364105,"cg_iw_a":-170.091522,"cg_sample_age_us":23.954546,"cg_sample_seq":5236817,"cg_sample_valid":1,"cg_theta_rad":3.8762629,"cg_vd_req_v":-1.79363775,"cg_vd_v":-1.79363775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42574692,"cg_vq_v":-8.42574692,"cg_vu_v":124.049698,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7093201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":774.579468,"values":{"Elec_RPM":-2346.63477,"EncoderCos":18291,"EncoderSin":18618,"GapTicks":49344,"Mech_RPM":-469.326935,"cg_du":50.4572601,"cg_dv":55.1413155,"cg_dw":44.8586845,"cg_id_a":-14.3575678,"cg_id_raw_a":-13.7647781,"cg_iq_a":-196.248047,"cg_iq_raw_a":-196.922119,"cg_iu_a":-40.1193924,"cg_iv_a":187.920929,"cg_iw_a":-147.801544,"cg_sample_age_us":23.9690914,"cg_sample_seq":5238566,"cg_sample_valid":1,"cg_theta_rad":3.92446184,"cg_vd_req_v":-1.59377611,"cg_vd_v":-1.59377611,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45424366,"cg_vq_v":-8.45424366,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":774.913452,"values":{"Elec_RPM":-2347.05811,"EncoderCos":28029,"EncoderSin":13258,"GapTicks":49888,"Mech_RPM":-469.411621,"cg_du":46.3050957,"cg_dv":45.3529434,"cg_dw":54.6470566,"cg_id_a":7.17581177,"cg_id_raw_a":11.8982296,"cg_iq_a":-206.9711,"cg_iq_raw_a":-206.471558,"cg_iu_a":-5.36155415,"cg_iv_a":-174.843582,"cg_iw_a":180.205139,"cg_sample_age_us":23.9618187,"cg_sample_seq":5240267,"cg_sample_valid":1,"cg_theta_rad":4.48745775,"cg_vd_req_v":-2.05011439,"cg_vd_v":-2.05011439,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26870155,"cg_vq_v":-8.26870155,"cg_vu_v":144.28476,"cg_vv_v":142.085297,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2438.63062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":775.110582,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":775.110588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":775.110593,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":775.245483,"values":{"Elec_RPM":-2343.04321,"EncoderCos":48072,"EncoderSin":20078,"GapTicks":49325,"Mech_RPM":-468.608643,"cg_du":44.8409424,"cg_dv":50.2071266,"cg_dw":55.1590576,"cg_id_a":-11.5943851,"cg_id_raw_a":-12.3518162,"cg_iq_a":-197.302292,"cg_iq_raw_a":-196.374649,"cg_iu_a":-136.781693,"cg_iv_a":-53.9703979,"cg_iw_a":190.75209,"cg_sample_age_us":23.9618187,"cg_sample_seq":5241917,"cg_sample_valid":1,"cg_theta_rad":5.60859871,"cg_vd_req_v":-1.75463605,"cg_vd_v":-1.75463605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44341373,"cg_vq_v":-8.44341373,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2506.50146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7481689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":775.597046,"values":{"Elec_RPM":-2346.90405,"EncoderCos":50671,"EncoderSin":41131,"GapTicks":49480,"Mech_RPM":-469.380829,"cg_du":44.9826088,"cg_dv":55.0173912,"cg_dw":52.5705338,"cg_id_a":9.23146629,"cg_id_raw_a":9.19684124,"cg_iq_a":-197.734985,"cg_iq_raw_a":-197.640594,"cg_iu_a":-194.083191,"cg_iv_a":56.7182617,"cg_iw_a":137.364929,"cg_sample_age_us":23.4418182,"cg_sample_seq":5243566,"cg_sample_valid":1,"cg_theta_rad":0.447298229,"cg_vd_req_v":-2.16931033,"cg_vd_v":-2.16931033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44304562,"cg_vq_v":-8.44304562,"cg_vu_v":38.2706528,"cg_vv_v":50.5876465,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.173872,"dclink_p_w":-2340.75806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7075806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":775.929077,"values":{"Elec_RPM":-2346.31616,"EncoderCos":50412,"EncoderSin":41662,"GapTicks":49784,"Mech_RPM":-469.263214,"cg_du":45.2586517,"cg_dv":54.7413483,"cg_dw":53.7336769,"cg_id_a":13.190876,"cg_id_raw_a":11.2650089,"cg_iq_a":-200.332703,"cg_iq_raw_a":-198.94072,"cg_iu_a":-186.073303,"cg_iv_a":27.7231903,"cg_iw_a":158.350113,"cg_sample_age_us":23.5400009,"cg_sample_seq":5245317,"cg_sample_valid":1,"cg_theta_rad":0.475832909,"cg_vd_req_v":-2.2394433,"cg_vd_v":-2.2394433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41087627,"cg_vq_v":-8.41087627,"cg_vu_v":129.328415,"cg_vv_v":133.727341,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":776.071536,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":776.071542,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":776.071548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":776.282593,"values":{"Elec_RPM":-2348.45654,"EncoderCos":43176,"EncoderSin":49744,"GapTicks":49337,"Mech_RPM":-469.691315,"cg_du":55.1474266,"cg_dv":44.8525734,"cg_dw":49.215786,"cg_id_a":-10.6579161,"cg_id_raw_a":-11.8588924,"cg_iq_a":-196.029709,"cg_iq_raw_a":-196.53154,"cg_iu_a":197.930115,"cg_iv_a":-61.4003906,"cg_iw_a":-136.529724,"cg_sample_age_us":23.8272724,"cg_sample_seq":5247020,"cg_sample_valid":1,"cg_theta_rad":1.06411695,"cg_vd_req_v":-1.73447275,"cg_vd_v":-1.73447275,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48607159,"cg_vq_v":-8.48607159,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5834274,"dclink_p_w":-2407.32568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6987305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":776.614624,"values":{"Elec_RPM":-2345.81494,"EncoderCos":31605,"EncoderSin":52700,"GapTicks":49306,"Mech_RPM":-469.162994,"cg_du":44.8243523,"cg_dv":55.1756477,"cg_dw":49.7877655,"cg_id_a":-8.21833897,"cg_id_raw_a":-9.26584053,"cg_iq_a":-196.518372,"cg_iq_raw_a":-196.279999,"cg_iu_a":-191.546127,"cg_iv_a":133.301483,"cg_iw_a":58.2446365,"cg_sample_age_us":23.8600006,"cg_sample_seq":5248717,"cg_sample_valid":1,"cg_theta_rad":1.6295315,"cg_vd_req_v":-1.71999884,"cg_vd_v":-1.71999884,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45210552,"cg_vq_v":-8.45210552,"cg_vu_v":131.527878,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7287598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":776.946655,"values":{"Elec_RPM":-2349.73657,"EncoderCos":20803,"EncoderSin":48885,"GapTicks":49538,"Mech_RPM":-469.947296,"cg_du":54.9648361,"cg_dv":45.0351639,"cg_dw":52.3241768,"cg_id_a":-7.97628593,"cg_id_raw_a":1.12006652,"cg_iq_a":-200.221725,"cg_iq_raw_a":-201.771667,"cg_iu_a":174.480347,"cg_iv_a":-169.878174,"cg_iw_a":-4.60217285,"cg_sample_age_us":24.0236359,"cg_sample_seq":5250416,"cg_sample_valid":1,"cg_theta_rad":2.21030831,"cg_vd_req_v":-1.72923255,"cg_vd_v":-1.72923255,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41885853,"cg_vq_v":-8.41885853,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2392.47412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":777.094702,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":777.094708,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":777.094714,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":777.298218,"values":{"Elec_RPM":-2356.26611,"EncoderCos":13872,"EncoderSin":39621,"GapTicks":50092,"Mech_RPM":-471.253204,"cg_du":45.538868,"cg_dv":54.461132,"cg_dw":45.5663986,"cg_id_a":13.0984507,"cg_id_raw_a":14.2739601,"cg_iq_a":-204.224548,"cg_iq_raw_a":-205.283661,"cg_iu_a":-169.328659,"cg_iv_a":182.085693,"cg_iw_a":-12.7570343,"cg_sample_age_us":23.9036369,"cg_sample_seq":5252116,"cg_sample_valid":1,"cg_theta_rad":2.79737401,"cg_vd_req_v":-2.10248995,"cg_vd_v":-2.10248995,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33411217,"cg_vq_v":-8.33411217,"cg_vu_v":0.87978512,"cg_vv_v":14.0765619,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2459.14966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7552185,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":777.632202,"values":{"Elec_RPM":-2353.26001,"EncoderCos":13126,"EncoderSin":28311,"GapTicks":49507,"Mech_RPM":-470.652008,"cg_du":52.3577347,"cg_dv":45.0067368,"cg_dw":54.9932632,"cg_id_a":5.6241293,"cg_id_raw_a":2.75952077,"cg_iq_a":-197.090836,"cg_iq_raw_a":-196.784103,"cg_iu_a":136.641785,"cg_iv_a":-193.762863,"cg_iw_a":57.1210785,"cg_sample_age_us":23.692728,"cg_sample_seq":5253816,"cg_sample_valid":1,"cg_theta_rad":3.37744784,"cg_vd_req_v":-2.01776338,"cg_vd_v":-2.01776338,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43731689,"cg_vq_v":-8.43731689,"cg_vu_v":106.893898,"cg_vv_v":100.735397,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2442.57642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7410889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":777.964233,"values":{"Elec_RPM":-2349.61133,"EncoderCos":18537,"EncoderSin":18373,"GapTicks":49341,"Mech_RPM":-469.922241,"cg_du":49.6891899,"cg_dv":55.1437759,"cg_dw":44.8562241,"cg_id_a":-15.2478256,"cg_id_raw_a":-16.766901,"cg_iq_a":-198.60704,"cg_iq_raw_a":-197.789017,"cg_iu_a":-49.5790329,"cg_iv_a":191.944031,"cg_iw_a":-142.36499,"cg_sample_age_us":23.8709087,"cg_sample_seq":5255516,"cg_sample_valid":1,"cg_theta_rad":3.9326539,"cg_vd_req_v":-1.59110975,"cg_vd_v":-1.59110975,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42612839,"cg_vq_v":-8.42612839,"cg_vu_v":102.055069,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4837551,"dclink_p_w":-2378.35474,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7287598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":778.087073,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":778.087079,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":778.087084,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":778.415405,"values":{"Elec_RPM":-2342.73242,"EncoderCos":52198,"EncoderSin":36231,"GapTicks":49365,"Mech_RPM":-468.546478,"cg_du":49.2346649,"cg_dv":55.1221924,"cg_dw":44.8778076,"cg_id_a":-10.6213961,"cg_id_raw_a":-13.2048187,"cg_iq_a":-200.629227,"cg_iq_raw_a":-200.527252,"cg_iu_a":-123.190254,"cg_iv_a":200.461319,"cg_iw_a":-77.2710648,"cg_sample_age_us":26.3872719,"cg_sample_seq":5257619,"cg_sample_valid":1,"cg_theta_rad":0.221689329,"cg_vd_req_v":-1.7702353,"cg_vd_v":-1.7702353,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38063622,"cg_vq_v":-8.38063622,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2542.27856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6917114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":778.934937,"values":{"Elec_RPM":-2343.04785,"EncoderCos":15146,"EncoderSin":22940,"GapTicks":49739,"Mech_RPM":-468.609558,"cg_du":54.7826385,"cg_dv":46.6472969,"cg_dw":45.2173615,"cg_id_a":4.57480764,"cg_id_raw_a":9.08245373,"cg_iq_a":-201.636993,"cg_iq_raw_a":-201.400482,"cg_iu_a":164.839478,"cg_iv_a":7.31793213,"cg_iw_a":-172.15741,"cg_sample_age_us":23.9836369,"cg_sample_seq":5260219,"cg_sample_valid":1,"cg_theta_rad":3.67979169,"cg_vd_req_v":-1.96260631,"cg_vd_v":-1.96260631,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39589882,"cg_vq_v":-8.39589882,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.753479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":778.982871,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":778.982882,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":778.982885,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":779.079354,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":779.07936,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":779.079365,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":779.292358,"values":{"Elec_RPM":-2349.42847,"EncoderCos":22333,"EncoderSin":49904,"GapTicks":49541,"Mech_RPM":-469.885712,"cg_du":52.5062027,"cg_dv":45.037468,"cg_dw":54.962532,"cg_id_a":7.39961815,"cg_id_raw_a":5.8735218,"cg_iq_a":-200.286972,"cg_iq_raw_a":-199.881622,"cg_iu_a":121.201912,"cg_iv_a":-198.510803,"cg_iw_a":77.3088913,"cg_sample_age_us":23.5436363,"cg_sample_seq":5262116,"cg_sample_valid":1,"cg_theta_rad":2.10889125,"cg_vd_req_v":-2.07866621,"cg_vd_v":-2.07866621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38457584,"cg_vq_v":-8.38457584,"cg_vu_v":105.574219,"cg_vv_v":84.8992691,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":779.643921,"values":{"Elec_RPM":-2352.32129,"EncoderCos":31953,"EncoderSin":52677,"GapTicks":49353,"Mech_RPM":-470.464264,"cg_du":44.867157,"cg_dv":55.132843,"cg_dw":49.0616989,"cg_id_a":-10.2150307,"cg_id_raw_a":-8.83349895,"cg_iq_a":-198.205368,"cg_iq_raw_a":-199.675934,"cg_iu_a":-186.290771,"cg_iv_a":150.444824,"cg_iw_a":35.8459473,"cg_sample_age_us":23.8709087,"cg_sample_seq":5263917,"cg_sample_valid":1,"cg_theta_rad":1.61203575,"cg_vd_req_v":-1.6684041,"cg_vd_v":-1.6684041,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43569851,"cg_vq_v":-8.43569851,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2502.29248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6828613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":779.975952,"values":{"Elec_RPM":-2351.72729,"EncoderCos":12787,"EncoderSin":30490,"GapTicks":49576,"Mech_RPM":-470.345459,"cg_du":47.8948135,"cg_dv":45.0696602,"cg_dw":54.9303398,"cg_id_a":-11.4628811,"cg_id_raw_a":-1.68946707,"cg_iq_a":-202.203186,"cg_iq_raw_a":-202.819138,"cg_iu_a":12.7966061,"cg_iv_a":-179.772736,"cg_iw_a":166.976135,"cg_sample_age_us":23.954546,"cg_sample_seq":5265517,"cg_sample_valid":1,"cg_theta_rad":3.26953745,"cg_vd_req_v":-1.61898124,"cg_vd_v":-1.61898124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35634422,"cg_vq_v":-8.35634422,"cg_vu_v":35.1914063,"cg_vv_v":32.1121559,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2467.04175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.6670227,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":780.103378,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":780.103383,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":780.103389,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":780.329468,"values":{"Elec_RPM":-2346.37573,"EncoderCos":14100,"EncoderSin":40276,"GapTicks":49671,"Mech_RPM":-469.275146,"cg_du":46.9623489,"cg_dv":54.8439369,"cg_dw":45.1560631,"cg_id_a":14.3834009,"cg_id_raw_a":14.9500723,"cg_iq_a":-203.358063,"cg_iq_raw_a":-203.620529,"cg_iu_a":-156.607071,"cg_iv_a":194.4086,"cg_iw_a":-37.8015289,"cg_sample_age_us":23.9363632,"cg_sample_seq":5267318,"cg_sample_valid":1,"cg_theta_rad":2.77104378,"cg_vd_req_v":-2.158535,"cg_vd_v":-2.158535,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33411789,"cg_vq_v":-8.33411789,"cg_vu_v":98.5359344,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2475.03955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7587585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":780.661499,"values":{"Elec_RPM":-2348.04492,"EncoderCos":26595,"EncoderSin":13647,"GapTicks":49458,"Mech_RPM":-469.608978,"cg_du":44.9618912,"cg_dv":47.7861443,"cg_dw":55.0381088,"cg_id_a":4.98067188,"cg_id_raw_a":0.201413691,"cg_iq_a":-198.540146,"cg_iq_raw_a":-195.002884,"cg_iu_a":-69.6218719,"cg_iv_a":-125.950638,"cg_iw_a":195.57251,"cg_sample_age_us":23.9836369,"cg_sample_seq":5268917,"cg_sample_valid":1,"cg_theta_rad":4.41337824,"cg_vd_req_v":-2.04758573,"cg_vd_v":-2.04758573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44130039,"cg_vq_v":-8.44130039,"cg_vu_v":128.448624,"cg_vv_v":109.093361,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-16.1358147,"dclink_p_w":-2335.25024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":781.013062,"values":{"Elec_RPM":-2347.29883,"EncoderCos":17726,"EncoderSin":19264,"GapTicks":49534,"Mech_RPM":-469.459747,"cg_du":52.5145645,"cg_dv":54.9687157,"cg_dw":45.0312843,"cg_id_a":-7.45109463,"cg_id_raw_a":-0.947125494,"cg_iq_a":-198.088089,"cg_iq_raw_a":-201.268799,"cg_iu_a":-32.0007706,"cg_iv_a":183.716644,"cg_iw_a":-151.715881,"cg_sample_age_us":26.8345451,"cg_sample_seq":5270720,"cg_sample_valid":1,"cg_theta_rad":3.91410899,"cg_vd_req_v":-1.72130001,"cg_vd_v":-1.72130001,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45076847,"cg_vq_v":-8.45076847,"cg_vu_v":108.653458,"cg_vv_v":106.893898,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2451.95972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7358093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":781.095208,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":781.095214,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":781.09522,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":781.347046,"values":{"Elec_RPM":-2349.66699,"EncoderCos":38686,"EncoderSin":13601,"GapTicks":49498,"Mech_RPM":-469.933411,"cg_du":55.0009651,"cg_dv":51.7200317,"cg_dw":44.9990349,"cg_id_a":-0.0234249234,"cg_id_raw_a":-2.92020154,"cg_iq_a":-203.972748,"cg_iq_raw_a":-201.12355,"cg_iu_a":88.1112976,"cg_iv_a":114.708405,"cg_iw_a":-205.682953,"cg_sample_age_us":23.9618187,"cg_sample_seq":5272367,"cg_sample_valid":1,"cg_theta_rad":5.02973795,"cg_vd_req_v":-1.94598234,"cg_vd_v":-1.94598234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29527855,"cg_vq_v":-8.29527855,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2487.104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7234497,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":781.677124,"values":{"Elec_RPM":-2351.01172,"EncoderCos":48119,"EncoderSin":20107,"GapTicks":49355,"Mech_RPM":-470.202362,"cg_du":44.8687668,"cg_dv":50.1192856,"cg_dw":55.1312332,"cg_id_a":-11.0888519,"cg_id_raw_a":-11.3234005,"cg_iq_a":-199.226761,"cg_iq_raw_a":-198.972534,"cg_iu_a":-133.229797,"cg_iv_a":-60.0593567,"cg_iw_a":193.289154,"cg_sample_age_us":23.8999996,"cg_sample_seq":5274067,"cg_sample_valid":1,"cg_theta_rad":5.61157751,"cg_vd_req_v":-1.7705543,"cg_vd_v":-1.7705543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39099693,"cg_vq_v":-8.39099693,"cg_vu_v":103.374756,"cg_vv_v":100.735397,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2516.93481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":782.03064,"values":{"Elec_RPM":-2348.50757,"EncoderCos":52327,"EncoderSin":29902,"GapTicks":50020,"Mech_RPM":-469.701508,"cg_du":54.5269737,"cg_dv":45.7449875,"cg_dw":45.4730263,"cg_id_a":9.84990788,"cg_id_raw_a":14.8615723,"cg_iq_a":-204.727615,"cg_iq_raw_a":-206.408569,"cg_iu_a":169.116272,"cg_iv_a":1.66387939,"cg_iw_a":-170.780151,"cg_sample_age_us":24.045454,"cg_sample_seq":5275770,"cg_sample_valid":1,"cg_theta_rad":6.18477964,"cg_vd_req_v":-2.13270497,"cg_vd_v":-2.13270497,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31192112,"cg_vq_v":-8.31192112,"cg_vu_v":140.765625,"cg_vv_v":124.489601,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8298836,"dclink_p_w":-2435.69922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7746582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":782.087535,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":782.087541,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":782.087546,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":782.364624,"values":{"Elec_RPM":-2346.9519,"EncoderCos":50261,"EncoderSin":42020,"GapTicks":50082,"Mech_RPM":-469.390381,"cg_du":45.5298309,"cg_dv":54.4479141,"cg_dw":54.4701691,"cg_id_a":12.5898123,"cg_id_raw_a":15.2315683,"cg_iq_a":-202.052536,"cg_iq_raw_a":-202.241333,"cg_iu_a":-183.463745,"cg_iv_a":11.3047333,"cg_iw_a":172.159012,"cg_sample_age_us":23.5363636,"cg_sample_seq":5277466,"cg_sample_valid":1,"cg_theta_rad":0.493313432,"cg_vd_req_v":-2.2050159,"cg_vd_v":-2.2050159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3553257,"cg_vq_v":-8.3553257,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2529.91431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":782.694702,"values":{"Elec_RPM":-2343.18335,"EncoderCos":42398,"EncoderSin":50180,"GapTicks":49499,"Mech_RPM":-468.636688,"cg_du":55.0005531,"cg_dv":44.9994469,"cg_dw":47.7499886,"cg_id_a":12.8371258,"cg_id_raw_a":9.91896534,"cg_iq_a":-201.115173,"cg_iq_raw_a":-200.570694,"cg_iu_a":198.183807,"cg_iv_a":-59.4069824,"cg_iw_a":-138.776825,"cg_sample_age_us":23.9363632,"cg_sample_seq":5279166,"cg_sample_valid":1,"cg_theta_rad":1.06589913,"cg_vd_req_v":-2.20162034,"cg_vd_v":-2.20162034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34856033,"cg_vq_v":-8.34856033,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.5399342,"dclink_p_w":-2393.73633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7287598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":783.048218,"values":{"Elec_RPM":-2342.08545,"EncoderCos":22104,"EncoderSin":49831,"GapTicks":49576,"Mech_RPM":-468.417114,"cg_du":52.9016914,"cg_dv":45.0695305,"cg_dw":54.9304695,"cg_id_a":12.8605919,"cg_id_raw_a":12.8231993,"cg_iq_a":-200.32373,"cg_iq_raw_a":-199.905472,"cg_iu_a":168.463867,"cg_iv_a":-183.578339,"cg_iw_a":15.1144714,"cg_sample_age_us":26.5072727,"cg_sample_seq":5280820,"cg_sample_valid":1,"cg_theta_rad":2.16627383,"cg_vd_req_v":-2.18279004,"cg_vd_v":-2.18279004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42392731,"cg_vq_v":-8.42392731,"cg_vu_v":106.014107,"cg_vv_v":80.5003433,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2489.92822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7269897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":783.079346,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":783.079352,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":783.079357,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":783.380249,"values":{"Elec_RPM":-2344.31348,"EncoderCos":30773,"EncoderSin":52649,"GapTicks":49335,"Mech_RPM":-468.862701,"cg_du":44.8500748,"cg_dv":55.1499252,"cg_dw":51.4919777,"cg_id_a":-0.00595425069,"cg_id_raw_a":-3.61577678,"cg_iq_a":-196.935364,"cg_iq_raw_a":-196.14328,"cg_iu_a":-195.532959,"cg_iv_a":94.7018127,"cg_iw_a":100.831146,"cg_sample_age_us":23.8309097,"cg_sample_seq":5282617,"cg_sample_valid":1,"cg_theta_rad":1.67194712,"cg_vd_req_v":-1.89713705,"cg_vd_v":-1.89713705,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48987865,"cg_vq_v":-8.48987865,"cg_vu_v":7.47817326,"cg_vv_v":23.3143044,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2343.90527,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7693481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":783.71228,"values":{"Elec_RPM":-2345.44238,"EncoderCos":12965,"EncoderSin":29310,"GapTicks":49333,"Mech_RPM":-469.08847,"cg_du":50.4650269,"cg_dv":44.8483315,"cg_dw":55.1516685,"cg_id_a":-11.3454924,"cg_id_raw_a":-16.104353,"cg_iq_a":-198.06192,"cg_iq_raw_a":-198.423203,"cg_iu_a":70.8954773,"cg_iv_a":-195.538818,"cg_iw_a":124.643341,"cg_sample_age_us":23.7472725,"cg_sample_seq":5284217,"cg_sample_valid":1,"cg_theta_rad":3.31920433,"cg_vd_req_v":-1.67586148,"cg_vd_v":-1.67586148,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42965031,"cg_vq_v":-8.42965031,"cg_vu_v":143.404984,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2514.05859,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7393494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":784.063843,"values":{"Elec_RPM":-2343.75562,"EncoderCos":13578,"EncoderSin":38879,"GapTicks":49556,"Mech_RPM":-468.751129,"cg_du":45.0512657,"cg_dv":54.9487343,"cg_dw":47.5483818,"cg_id_a":-4.76349068,"cg_id_raw_a":2.72855425,"cg_iq_a":-199.964691,"cg_iq_raw_a":-201.677887,"cg_iu_a":-180.56424,"cg_iv_a":162.296555,"cg_iw_a":11.7800446,"cg_sample_age_us":23.9181824,"cg_sample_seq":5286016,"cg_sample_valid":1,"cg_theta_rad":2.84721565,"cg_vd_req_v":-1.73992145,"cg_vd_v":-1.73992145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39712524,"cg_vq_v":-8.39712524,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2429.3418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7305298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":784.102803,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":784.102809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":784.102814,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":784.397827,"values":{"Elec_RPM":-2346.88818,"EncoderCos":27992,"EncoderSin":13305,"GapTicks":49900,"Mech_RPM":-469.377655,"cg_du":46.2016869,"cg_dv":45.363987,"cg_dw":54.636013,"cg_id_a":8.13732243,"cg_id_raw_a":14.3212509,"cg_iq_a":-204.058167,"cg_iq_raw_a":-205.3022,"cg_iu_a":-4.527946,"cg_iv_a":-174.154953,"cg_iw_a":178.682892,"cg_sample_age_us":23.8927269,"cg_sample_seq":5287616,"cg_sample_valid":1,"cg_theta_rad":4.48956537,"cg_vd_req_v":-2.05996132,"cg_vd_v":-2.05996132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31920433,"cg_vq_v":-8.31920433,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2517.5271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7340393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":784.74939,"values":{"Elec_RPM":-2347.94629,"EncoderCos":18628,"EncoderSin":18304,"GapTicks":49342,"Mech_RPM":-469.589264,"cg_du":49.4728203,"cg_dv":55.1428452,"cg_dw":44.8571548,"cg_id_a":-13.2925243,"cg_id_raw_a":-17.0579777,"cg_iq_a":-197.530334,"cg_iq_raw_a":-195.788589,"cg_iu_a":-122.936554,"cg_iv_a":200.243866,"cg_iw_a":-77.307312,"cg_sample_age_us":23.8709087,"cg_sample_seq":5289420,"cg_sample_valid":1,"cg_theta_rad":3.98868895,"cg_vd_req_v":-1.63180804,"cg_vd_v":-1.63180804,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45337677,"cg_vq_v":-8.45337677,"cg_vu_v":38.2706528,"cg_vv_v":54.5466805,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-15.9545956,"dclink_p_w":-2309.02344,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7199097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":785.083374,"values":{"Elec_RPM":-2349.00488,"EncoderCos":48477,"EncoderSin":20594,"GapTicks":49321,"Mech_RPM":-469.800995,"cg_du":44.8379898,"cg_dv":48.934063,"cg_dw":55.1620102,"cg_id_a":-3.12974644,"cg_id_raw_a":-9.89002705,"cg_iq_a":-196.758453,"cg_iq_raw_a":-198.683105,"cg_iu_a":-99.9217148,"cg_iv_a":-81.7331848,"cg_iw_a":195.02887,"cg_sample_age_us":23.9290905,"cg_sample_seq":5291016,"cg_sample_valid":1,"cg_theta_rad":5.64045477,"cg_vd_req_v":-1.95728326,"cg_vd_v":-1.95728326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46415615,"cg_vq_v":-8.46415615,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2484.51221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.753479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":785.095397,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":785.095403,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":785.095409,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":785.415405,"values":{"Elec_RPM":-2351.78833,"EncoderCos":40490,"EncoderSin":14235,"GapTicks":49693,"Mech_RPM":-470.357666,"cg_du":53.203186,"cg_dv":54.8238564,"cg_dw":45.1761436,"cg_id_a":-0.832422614,"cg_id_raw_a":4.56021786,"cg_iq_a":-200.479858,"cg_iq_raw_a":-202.231949,"cg_iu_a":2.75706482,"cg_iv_a":170.088974,"cg_iw_a":-172.846039,"cg_sample_age_us":23.9763641,"cg_sample_seq":5292817,"cg_sample_valid":1,"cg_theta_rad":5.12656975,"cg_vd_req_v":-1.9090271,"cg_vd_v":-1.9090271,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39282417,"cg_vq_v":-8.39282417,"cg_vu_v":117.891212,"cg_vv_v":142.525192,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2504.38428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7676086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":785.74939,"values":{"Elec_RPM":-2353.83008,"EncoderCos":50136,"EncoderSin":42223,"GapTicks":49921,"Mech_RPM":-470.766022,"cg_du":45.3833389,"cg_dv":53.911972,"cg_dw":54.6166611,"cg_id_a":9.55005455,"cg_id_raw_a":12.2969303,"cg_iq_a":-202.698196,"cg_iq_raw_a":-201.660248,"cg_iu_a":-176.541168,"cg_iv_a":6.77426147,"cg_iw_a":169.766907,"cg_sample_age_us":23.550909,"cg_sample_seq":5294417,"cg_sample_valid":1,"cg_theta_rad":0.505578637,"cg_vd_req_v":-2.13209176,"cg_vd_v":-2.13209176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32000637,"cg_vq_v":-8.32000637,"cg_vu_v":116.571533,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7587585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":786.087057,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":786.087062,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":786.087067,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":786.100952,"values":{"Elec_RPM":-2352.29297,"EncoderCos":52515,"EncoderSin":32825,"GapTicks":49545,"Mech_RPM":-470.458588,"cg_du":54.9582062,"cg_dv":52.1418571,"cg_dw":45.0417938,"cg_id_a":4.95694447,"cg_id_raw_a":2.36937904,"cg_iq_a":-202.930679,"cg_iq_raw_a":-204.668015,"cg_iu_a":74.7735596,"cg_iv_a":127.17627,"cg_iw_a":-201.949829,"cg_sample_age_us":23.369091,"cg_sample_seq":5296216,"cg_sample_valid":1,"cg_theta_rad":0.0159387197,"cg_vd_req_v":-2.06222749,"cg_vd_v":-2.06222749,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31365776,"cg_vq_v":-8.31365776,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2475.56396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7358093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":786.434937,"values":{"Elec_RPM":-2350.02051,"EncoderCos":31108,"EncoderSin":52646,"GapTicks":49291,"Mech_RPM":-470.00412,"cg_du":44.8100433,"cg_dv":55.1899567,"cg_dw":50.8456688,"cg_id_a":-5.28430605,"cg_id_raw_a":-9.80173492,"cg_iq_a":-196.838898,"cg_iq_raw_a":-196.626022,"cg_iu_a":-196.040359,"cg_iv_a":114.164742,"cg_iw_a":81.875618,"cg_sample_age_us":23.8600006,"cg_sample_seq":5297817,"cg_sample_valid":1,"cg_theta_rad":1.65497768,"cg_vd_req_v":-1.79457426,"cg_vd_v":-1.79457426,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49751568,"cg_vq_v":-8.49751568,"cg_vu_v":102.055069,"cg_vv_v":110.852921,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2510.18457,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7410889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":786.786499,"values":{"Elec_RPM":-2352.72559,"EncoderCos":30308,"EncoderSin":52564,"GapTicks":49481,"Mech_RPM":-470.545135,"cg_du":44.9831009,"cg_dv":55.0168991,"cg_dw":52.380249,"cg_id_a":6.44276333,"cg_id_raw_a":1.81647491,"cg_iq_a":-197.748428,"cg_iq_raw_a":-196.118881,"cg_iu_a":-193.394562,"cg_iv_a":66.3591232,"cg_iw_a":127.035439,"cg_sample_age_us":23.863636,"cg_sample_seq":5299567,"cg_sample_valid":1,"cg_theta_rad":1.69505382,"cg_vd_req_v":-2.03142333,"cg_vd_v":-2.03142333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45207596,"cg_vq_v":-8.45207596,"cg_vu_v":124.929489,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2490.25122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7110901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":787.079596,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":787.079602,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":787.079607,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":787.11853,"values":{"Elec_RPM":-2353.09961,"EncoderCos":19873,"EncoderSin":48113,"GapTicks":49340,"Mech_RPM":-470.619904,"cg_du":55.1452408,"cg_dv":44.8547592,"cg_dw":49.5842896,"cg_id_a":-13.0096598,"cg_id_raw_a":-16.4198437,"cg_iq_a":-196.603882,"cg_iq_raw_a":-196.311264,"cg_iu_a":193.363373,"cg_iv_a":-127.980301,"cg_iw_a":-65.3830719,"cg_sample_age_us":23.9727268,"cg_sample_seq":5301267,"cg_sample_valid":1,"cg_theta_rad":2.27131391,"cg_vd_req_v":-1.65681648,"cg_vd_v":-1.65681648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4467926,"cg_vq_v":-8.4467926,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2514.64233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7516785,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":787.450562,"values":{"Elec_RPM":-2354.6665,"EncoderCos":13245,"EncoderSin":27905,"GapTicks":49640,"Mech_RPM":-470.933289,"cg_du":53.1596451,"cg_dv":45.1281319,"cg_dw":54.8718681,"cg_id_a":11.361371,"cg_id_raw_a":8.80181408,"cg_iq_a":-199.821594,"cg_iq_raw_a":-199.136597,"cg_iu_a":147.33371,"cg_iv_a":-191.117065,"cg_iw_a":43.7833481,"cg_sample_age_us":23.6018181,"cg_sample_seq":5302916,"cg_sample_valid":1,"cg_theta_rad":3.39176965,"cg_vd_req_v":-2.13503194,"cg_vd_v":-2.13503194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42733955,"cg_vq_v":-8.42733955,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.753479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":787.804077,"values":{"Elec_RPM":-2354.79053,"EncoderCos":13408,"EncoderSin":27355,"GapTicks":49978,"Mech_RPM":-470.95813,"cg_du":54.3141403,"cg_dv":45.434742,"cg_dw":54.565258,"cg_id_a":13.5970135,"cg_id_raw_a":13.7524204,"cg_iq_a":-200.1707,"cg_iq_raw_a":-199.911346,"cg_iu_a":165.600616,"cg_iv_a":-181.07753,"cg_iw_a":15.4769135,"cg_sample_age_us":24.1290913,"cg_sample_seq":5304667,"cg_sample_valid":1,"cg_theta_rad":3.42031503,"cg_vd_req_v":-2.15510511,"cg_vd_v":-2.15510511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41934776,"cg_vq_v":-8.41934776,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2542.01538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":788.1034,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":788.103406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":788.103411,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":788.134155,"values":{"Elec_RPM":-2360.13745,"EncoderCos":19553,"EncoderSin":17422,"GapTicks":49655,"Mech_RPM":-472.027496,"cg_du":47.2220573,"cg_dv":54.8589897,"cg_dw":45.1410103,"cg_id_a":10.3452311,"cg_id_raw_a":7.48050547,"cg_iq_a":-203.311768,"cg_iq_raw_a":-202.308044,"cg_iu_a":-134.317108,"cg_iv_a":199.881409,"cg_iw_a":-65.5643005,"cg_sample_age_us":23.8709087,"cg_sample_seq":5306366,"cg_sample_valid":1,"cg_theta_rad":4.00217485,"cg_vd_req_v":-2.11556482,"cg_vd_v":-2.11556482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31193352,"cg_vq_v":-8.31193352,"cg_vu_v":99.8556061,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7428589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":788.65564,"values":{"Elec_RPM":-2356.92725,"EncoderCos":13101,"EncoderSin":28825,"GapTicks":49387,"Mech_RPM":-471.385437,"cg_du":51.3801651,"cg_dv":44.8974686,"cg_dw":55.1025314,"cg_id_a":-1.29419041,"cg_id_raw_a":-5.43595266,"cg_iq_a":-197.094147,"cg_iq_raw_a":-197.589981,"cg_iu_a":104.276047,"cg_iv_a":-197.242279,"cg_iw_a":92.9662323,"cg_sample_age_us":23.7909088,"cg_sample_seq":5308766,"cg_sample_valid":1,"cg_theta_rad":3.34658432,"cg_vd_req_v":-1.87787569,"cg_vd_v":-1.87787569,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45047188,"cg_vq_v":-8.45047188,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2488.34985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7658081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":788.966677,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":788.966687,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":788.96669,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":789.095374,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":789.09538,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":789.095386,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":789.128296,"values":{"Elec_RPM":-2348.21118,"EncoderCos":32009,"EncoderSin":52671,"GapTicks":49338,"Mech_RPM":-469.642242,"cg_du":44.8527641,"cg_dv":55.1472359,"cg_dw":48.8707657,"cg_id_a":-7.1045599,"cg_id_raw_a":-5.67900467,"cg_iq_a":-198.217651,"cg_iq_raw_a":-198.834579,"cg_iu_a":-183.173798,"cg_iv_a":157.729828,"cg_iw_a":25.4439697,"cg_sample_age_us":23.7763634,"cg_sample_seq":5311266,"cg_sample_valid":1,"cg_theta_rad":1.59979868,"cg_vd_req_v":-1.73637819,"cg_vd_v":-1.73637819,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46791172,"cg_vq_v":-8.46791172,"cg_vu_v":0.87978512,"cg_vv_v":21.5547352,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2382.01538,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7287598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":789.46228,"values":{"Elec_RPM":-2348.03442,"EncoderCos":21401,"EncoderSin":49324,"GapTicks":49982,"Mech_RPM":-469.606873,"cg_du":54.5610161,"cg_dv":45.4389839,"cg_dw":54.2324448,"cg_id_a":10.4739342,"cg_id_raw_a":13.5856953,"cg_iq_a":-200.768982,"cg_iq_raw_a":-201.596558,"cg_iu_a":167.847717,"cg_iv_a":-179.301575,"cg_iw_a":11.4538498,"cg_sample_age_us":24.0490913,"cg_sample_seq":5312967,"cg_sample_valid":1,"cg_theta_rad":2.17335582,"cg_vd_req_v":-2.10164976,"cg_vd_v":-2.10164976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38778114,"cg_vq_v":-8.38778114,"cg_vu_v":143.844864,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2460.72803,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7640381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":789.815796,"values":{"Elec_RPM":-2350.01123,"EncoderCos":20587,"EncoderSin":48760,"GapTicks":49438,"Mech_RPM":-470.002228,"cg_du":55.0559845,"cg_dv":44.9440155,"cg_dw":51.6865807,"cg_id_a":-12.5130529,"cg_id_raw_a":-6.29912376,"cg_iq_a":-196.948959,"cg_iq_raw_a":-198.026672,"cg_iu_a":176.908691,"cg_iv_a":-168.065979,"cg_iw_a":-5.94319916,"cg_sample_age_us":23.994545,"cg_sample_seq":5314716,"cg_sample_valid":1,"cg_theta_rad":2.21997428,"cg_vd_req_v":-1.63136375,"cg_vd_v":-1.63136375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44844818,"cg_vq_v":-8.44844818,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2457.58081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":790.087266,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":790.087272,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":790.087277,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":790.147827,"values":{"Elec_RPM":-2356.16162,"EncoderCos":13859,"EncoderSin":39756,"GapTicks":50008,"Mech_RPM":-471.23233,"cg_du":45.8061829,"cg_dv":54.5377693,"cg_dw":45.4622307,"cg_id_a":14.0513191,"cg_id_raw_a":16.3173885,"cg_iq_a":-206.859039,"cg_iq_raw_a":-208.498016,"cg_iu_a":-167.480225,"cg_iv_a":187.268555,"cg_iw_a":-19.7883301,"cg_sample_age_us":24.0200005,"cg_sample_seq":5316417,"cg_sample_valid":1,"cg_theta_rad":2.7902894,"cg_vd_req_v":-2.13729644,"cg_vd_v":-2.13729644,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27131462,"cg_vq_v":-8.27131462,"cg_vu_v":134.167236,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2416.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":790.479858,"values":{"Elec_RPM":-2357.44971,"EncoderCos":18185,"EncoderSin":18764,"GapTicks":49317,"Mech_RPM":-471.48996,"cg_du":50.8623276,"cg_dv":55.1662941,"cg_dw":44.8337059,"cg_id_a":-13.2100773,"cg_id_raw_a":-12.0381184,"cg_iq_a":-194.081848,"cg_iq_raw_a":-195.014664,"cg_iu_a":-33.5955009,"cg_iv_a":182.991806,"cg_iw_a":-149.396301,"cg_sample_age_us":23.9290905,"cg_sample_seq":5318066,"cg_sample_valid":1,"cg_theta_rad":3.91643262,"cg_vd_req_v":-1.60629058,"cg_vd_v":-1.60629058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52354336,"cg_vq_v":-8.52354336,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7552185,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":790.831421,"values":{"Elec_RPM":-2357.5188,"EncoderCos":27871,"EncoderSin":13305,"GapTicks":50027,"Mech_RPM":-471.503754,"cg_du":45.9459343,"cg_dv":45.4791489,"cg_dw":54.5208511,"cg_id_a":9.45656013,"cg_id_raw_a":13.5136642,"cg_iq_a":-206.028656,"cg_iq_raw_a":-205.143784,"cg_iu_a":-8.29730415,"cg_iv_a":-173.031403,"cg_iw_a":181.328705,"cg_sample_age_us":23.8309097,"cg_sample_seq":5319767,"cg_sample_valid":1,"cg_theta_rad":4.48215342,"cg_vd_req_v":-2.09414959,"cg_vd_v":-2.09414959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2457056,"cg_vq_v":-8.2457056,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2406.3252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":791.111034,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":791.11104,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":791.111046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":791.165405,"values":{"Elec_RPM":-2361.15112,"EncoderCos":28605,"EncoderSin":13141,"GapTicks":49552,"Mech_RPM":-472.230225,"cg_du":47.8739738,"cg_dv":45.0473099,"cg_dw":54.9526901,"cg_id_a":-9.37888908,"cg_id_raw_a":-2.4559021,"cg_iq_a":-202.981384,"cg_iq_raw_a":-204.389679,"cg_iu_a":8.37485886,"cg_iv_a":-178.721664,"cg_iw_a":170.346802,"cg_sample_age_us":23.9727268,"cg_sample_seq":5321517,"cg_sample_valid":1,"cg_theta_rad":4.51934576,"cg_vd_req_v":-1.7133913,"cg_vd_v":-1.7133913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32664967,"cg_vq_v":-8.32664967,"cg_vu_v":34.7515144,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7693481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":791.497437,"values":{"Elec_RPM":-2356.87085,"EncoderCos":40051,"EncoderSin":14059,"GapTicks":50042,"Mech_RPM":-471.374176,"cg_du":54.3626976,"cg_dv":54.5066757,"cg_dw":45.4933243,"cg_id_a":9.11594296,"cg_id_raw_a":9.61766911,"cg_iq_a":-203.773346,"cg_iq_raw_a":-206.268875,"cg_iu_a":15.2249432,"cg_iv_a":168.16806,"cg_iw_a":-183.393005,"cg_sample_age_us":23.9509087,"cg_sample_seq":5323216,"cg_sample_valid":1,"cg_theta_rad":5.10296869,"cg_vd_req_v":-2.1188035,"cg_vd_v":-2.1188035,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33647442,"cg_vq_v":-8.33647442,"cg_vu_v":31.2323723,"cg_vv_v":27.7132301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.760498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":791.848999,"values":{"Elec_RPM":-2361.3418,"EncoderCos":49063,"EncoderSin":21373,"GapTicks":49544,"Mech_RPM":-472.268341,"cg_du":45.0401039,"cg_dv":47.2327652,"cg_dw":54.9598961,"cg_id_a":20.3389797,"cg_id_raw_a":15.0481396,"cg_iq_a":-200.556305,"cg_iq_raw_a":-200.390594,"cg_iu_a":-39.2857819,"cg_iv_a":-153.532211,"cg_iw_a":192.817993,"cg_sample_age_us":23.9181824,"cg_sample_seq":5324916,"cg_sample_valid":1,"cg_theta_rad":5.68886518,"cg_vd_req_v":-2.39891171,"cg_vd_v":-2.39891171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37111568,"cg_vq_v":-8.37111568,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7693481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":792.103161,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":792.103167,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":792.103173,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":792.182983,"values":{"Elec_RPM":-2362.70142,"EncoderCos":52539,"EncoderSin":31874,"GapTicks":49374,"Mech_RPM":-472.540283,"cg_du":55.1139336,"cg_dv":50.3959541,"cg_dw":44.8860664,"cg_id_a":-10.302556,"cg_id_raw_a":-15.4525566,"cg_iq_a":-199.284073,"cg_iq_raw_a":-195.481735,"cg_iu_a":126.855957,"cg_iv_a":69.5123291,"cg_iw_a":-196.368286,"cg_sample_age_us":24.0309086,"cg_sample_seq":5326617,"cg_sample_valid":1,"cg_theta_rad":6.24889898,"cg_vd_req_v":-1.74178469,"cg_vd_v":-1.74178469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37541771,"cg_vq_v":-8.37541771,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4529495,"dclink_p_w":-2373.90991,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":792.534546,"values":{"Elec_RPM":-2352.146,"EncoderCos":50118,"EncoderSin":42345,"GapTicks":49824,"Mech_RPM":-470.429199,"cg_du":45.2951546,"cg_dv":53.646347,"cg_dw":54.7048454,"cg_id_a":7.17402172,"cg_id_raw_a":12.0997524,"cg_iq_a":-203.45639,"cg_iq_raw_a":-204.473328,"cg_iu_a":-162.913498,"cg_iv_a":-17.8352966,"cg_iw_a":180.748795,"cg_sample_age_us":23.4381809,"cg_sample_seq":5328320,"cg_sample_valid":1,"cg_theta_rad":0.545605063,"cg_vd_req_v":-2.08724594,"cg_vd_v":-2.08724594,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32994843,"cg_vq_v":-8.32994843,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3771667,"dclink_p_w":-2507.26025,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7763977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":792.866577,"values":{"Elec_RPM":-2350.68579,"EncoderCos":41226,"EncoderSin":50736,"GapTicks":49893,"Mech_RPM":-470.137177,"cg_du":54.6423645,"cg_dv":46.0583115,"cg_dw":45.3576355,"cg_id_a":9.17652893,"cg_id_raw_a":13.0613852,"cg_iq_a":-201.897842,"cg_iq_raw_a":-203.21022,"cg_iu_a":177.63356,"cg_iv_a":-6.05604553,"cg_iw_a":-171.577515,"cg_sample_age_us":24.0272732,"cg_sample_seq":5330016,"cg_sample_valid":1,"cg_theta_rad":1.13275683,"cg_vd_req_v":-2.09171724,"cg_vd_v":-2.09171724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38301277,"cg_vq_v":-8.38301277,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2387.17944,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":793.095442,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":793.095448,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":793.095454,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":793.200562,"values":{"Elec_RPM":-2354.31616,"EncoderCos":29992,"EncoderSin":52527,"GapTicks":49623,"Mech_RPM":-470.863251,"cg_du":45.1125374,"cg_dv":54.8874626,"cg_dw":53.0140266,"cg_id_a":9.17765331,"cg_id_raw_a":10.955266,"cg_iq_a":-197.831665,"cg_iq_raw_a":-198.09021,"cg_iu_a":-191.908569,"cg_iv_a":50.7017822,"cg_iw_a":141.206787,"cg_sample_age_us":23.8600006,"cg_sample_seq":5331716,"cg_sample_valid":1,"cg_theta_rad":1.70921934,"cg_vd_req_v":-2.0680747,"cg_vd_v":-2.0680747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41959953,"cg_vq_v":-8.41959953,"cg_vu_v":14.9563465,"cg_vv_v":25.0738773,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2405.53833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":793.552124,"values":{"Elec_RPM":-2362.29395,"EncoderCos":19697,"EncoderSin":47958,"GapTicks":49332,"Mech_RPM":-472.458771,"cg_du":55.1525574,"cg_dv":44.8474426,"cg_dw":49.1015396,"cg_id_a":-11.7529516,"cg_id_raw_a":-14.6358118,"cg_iq_a":-197.541718,"cg_iq_raw_a":-197.862335,"cg_iu_a":197.386444,"cg_iv_a":-116.056084,"cg_iw_a":-81.3303604,"cg_sample_age_us":24.0200005,"cg_sample_seq":5333416,"cg_sample_valid":1,"cg_theta_rad":2.27993011,"cg_vd_req_v":-1.69936097,"cg_vd_v":-1.69936097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45883465,"cg_vq_v":-8.45883465,"cg_vu_v":3.51914048,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.8562927,"temp_inv2_c":42.7728882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":793.884155,"values":{"Elec_RPM":-2362.48975,"EncoderCos":18321,"EncoderSin":18577,"GapTicks":49349,"Mech_RPM":-472.497925,"cg_du":50.3339615,"cg_dv":55.1367073,"cg_dw":44.8632927,"cg_id_a":-14.2811966,"cg_id_raw_a":-13.1764545,"cg_iq_a":-195.338318,"cg_iq_raw_a":-193.939621,"cg_iu_a":-42.6202164,"cg_iv_a":188.39212,"cg_iw_a":-145.771912,"cg_sample_age_us":23.9690914,"cg_sample_seq":5335017,"cg_sample_valid":1,"cg_theta_rad":3.92469454,"cg_vd_req_v":-1.58158827,"cg_vd_v":-1.58158827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46989632,"cg_vq_v":-8.46989632,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4022064,"dclink_p_w":-2381.01904,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.753479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":794.086874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":794.08688,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":794.086886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":794.216187,"values":{"Elec_RPM":-2359.53882,"EncoderCos":18867,"EncoderSin":18056,"GapTicks":49425,"Mech_RPM":-471.907745,"cg_du":48.8474007,"cg_dv":55.0681229,"cg_dw":44.9318771,"cg_id_a":-8.43386173,"cg_id_raw_a":-11.5564613,"cg_iq_a":-200.063156,"cg_iq_raw_a":-199.343124,"cg_iu_a":-90.2808533,"cg_iv_a":200.135117,"cg_iw_a":-109.854263,"cg_sample_age_us":23.9909096,"cg_sample_seq":5336767,"cg_sample_valid":1,"cg_theta_rad":3.96580935,"cg_vd_req_v":-1.73613811,"cg_vd_v":-1.73613811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36392975,"cg_vq_v":-8.36392975,"cg_vu_v":101.175293,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2367.63452,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7817078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":794.569702,"values":{"Elec_RPM":-2356.53076,"EncoderCos":29231,"EncoderSin":13015,"GapTicks":49328,"Mech_RPM":-471.306152,"cg_du":49.4721909,"cg_dv":44.84375,"cg_dw":55.15625,"cg_id_a":-19.1361122,"cg_id_raw_a":-18.3492241,"cg_iq_a":-197.511993,"cg_iq_raw_a":-199.272827,"cg_iu_a":34.7966156,"cg_iv_a":-186.405365,"cg_iw_a":151.608749,"cg_sample_age_us":23.7981815,"cg_sample_seq":5338466,"cg_sample_valid":1,"cg_theta_rad":4.55004597,"cg_vd_req_v":-1.53775334,"cg_vd_v":-1.53775334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46709061,"cg_vq_v":-8.46709061,"cg_vu_v":3.51914048,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-15.8549252,"dclink_p_w":-2294.59863,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7552185,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":794.89978,"values":{"Elec_RPM":-2361.08252,"EncoderCos":40486,"EncoderSin":14232,"GapTicks":49697,"Mech_RPM":-472.216492,"cg_du":53.2389297,"cg_dv":54.8200378,"cg_dw":45.1799622,"cg_id_a":0.859333277,"cg_id_raw_a":5.15185213,"cg_iq_a":-199.741119,"cg_iq_raw_a":-201.416382,"cg_iu_a":3.95311117,"cg_iv_a":170.415176,"cg_iw_a":-174.368286,"cg_sample_age_us":23.8309097,"cg_sample_seq":5340166,"cg_sample_valid":1,"cg_theta_rad":5.12274313,"cg_vd_req_v":-1.93728352,"cg_vd_v":-1.93728352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41989899,"cg_vq_v":-8.41989899,"cg_vu_v":35.1914063,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-17.7160454,"dclink_p_w":-2563.94849,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7269897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":795.111256,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":795.111262,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":795.111268,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":795.233765,"values":{"Elec_RPM":-2353.56543,"EncoderCos":49284,"EncoderSin":21721,"GapTicks":49820,"Mech_RPM":-470.713074,"cg_du":45.2917595,"cg_dv":46.3991852,"cg_dw":54.7082405,"cg_id_a":18.9341831,"cg_id_raw_a":20.0559044,"cg_iq_a":-204.606781,"cg_iq_raw_a":-202.834381,"cg_iu_a":-25.0781994,"cg_iv_a":-165.492661,"cg_iw_a":190.570862,"cg_sample_age_us":23.9436359,"cg_sample_seq":5341866,"cg_sample_valid":1,"cg_theta_rad":5.71017694,"cg_vd_req_v":-2.35266852,"cg_vd_v":-2.35266852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27296829,"cg_vq_v":-8.27296829,"cg_vu_v":39.590332,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.2391109,"dclink_p_w":-2350.19971,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7552185,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":795.585327,"values":{"Elec_RPM":-2356.96313,"EncoderCos":52534,"EncoderSin":32427,"GapTicks":49429,"Mech_RPM":-471.392639,"cg_du":55.0643311,"cg_dv":51.4049911,"cg_dw":44.9356689,"cg_id_a":-1.29734445,"cg_id_raw_a":-4.15467501,"cg_iq_a":-203.299149,"cg_iq_raw_a":-201.446304,"cg_iu_a":99.0569305,"cg_iv_a":107.568375,"cg_iw_a":-206.625305,"cg_sample_age_us":24.0636368,"cg_sample_seq":5343566,"cg_sample_valid":1,"cg_theta_rad":6.27861261,"cg_vd_req_v":-1.9420073,"cg_vd_v":-1.9420073,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32140541,"cg_vq_v":-8.32140541,"cg_vu_v":31.2323723,"cg_vv_v":16.7159176,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2430.64917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":795.919312,"values":{"Elec_RPM":-2356.3938,"EncoderCos":49413,"EncoderSin":43447,"GapTicks":49328,"Mech_RPM":-471.278748,"cg_du":44.843895,"cg_dv":50.4860954,"cg_dw":55.156105,"cg_id_a":-9.53573799,"cg_id_raw_a":-7.91410828,"cg_iq_a":-199.103394,"cg_iq_raw_a":-201.399185,"cg_iu_a":-147.038696,"cg_iv_a":-40.6689148,"cg_iw_a":187.707611,"cg_sample_age_us":23.5545464,"cg_sample_seq":5345266,"cg_sample_valid":1,"cg_theta_rad":0.568272233,"cg_vd_req_v":-1.76328027,"cg_vd_v":-1.76328027,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44723797,"cg_vq_v":-8.44723797,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2427.84473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7658081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":796.071892,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":796.071898,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":796.071903,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":796.251343,"values":{"Elec_RPM":-2356.11108,"EncoderCos":30326,"EncoderSin":52569,"GapTicks":49512,"Mech_RPM":-471.222229,"cg_du":45.0111275,"cg_dv":54.9888725,"cg_dw":52.3369217,"cg_id_a":5.66663265,"cg_id_raw_a":2.31418014,"cg_iq_a":-198.637665,"cg_iq_raw_a":-198.963196,"cg_iu_a":-197.526367,"cg_iv_a":69.1861572,"cg_iw_a":128.34021,"cg_sample_age_us":23.8745461,"cg_sample_seq":5346916,"cg_sample_valid":1,"cg_theta_rad":1.69030142,"cg_vd_req_v":-2.00569367,"cg_vd_v":-2.00569367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40047455,"cg_vq_v":-8.40047455,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2473.99048,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.753479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":796.602905,"values":{"Elec_RPM":-2356.47949,"EncoderCos":40117,"EncoderSin":51172,"GapTicks":49344,"Mech_RPM":-471.295898,"cg_du":55.1413574,"cg_dv":49.0517998,"cg_dw":44.8586426,"cg_id_a":-12.1699953,"cg_id_raw_a":-11.2269697,"cg_iq_a":-195.053131,"cg_iq_raw_a":-196.389648,"cg_iu_a":148.493515,"cg_iv_a":37.8714752,"cg_iw_a":-186.36499,"cg_sample_age_us":23.9618187,"cg_sample_seq":5348716,"cg_sample_valid":1,"cg_theta_rad":1.19406796,"cg_vd_req_v":-1.65802717,"cg_vd_v":-1.65802717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47990227,"cg_vq_v":-8.47990227,"cg_vu_v":40.4701157,"cg_vv_v":41.3499031,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":796.93689,"values":{"Elec_RPM":-2355.01929,"EncoderCos":29119,"EncoderSin":52384,"GapTicks":49965,"Mech_RPM":-471.003845,"cg_du":45.4231606,"cg_dv":54.1612167,"cg_dw":54.5768394,"cg_id_a":9.34588146,"cg_id_raw_a":11.2542028,"cg_iq_a":-201.752472,"cg_iq_raw_a":-199.608917,"cg_iu_a":-178.824539,"cg_iv_a":5.10704041,"cg_iw_a":173.717499,"cg_sample_age_us":23.8963642,"cg_sample_seq":5350417,"cg_sample_valid":1,"cg_theta_rad":1.76344538,"cg_vd_req_v":-2.05230045,"cg_vd_v":-2.05230045,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36386681,"cg_vq_v":-8.36386681,"cg_vu_v":3.51914048,"cg_vv_v":23.7541981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7375488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":797.095452,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":797.095457,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":797.095463,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":797.288452,"values":{"Elec_RPM":-2359.98804,"EncoderCos":18905,"EncoderSin":47254,"GapTicks":49529,"Mech_RPM":-471.997589,"cg_du":54.9734306,"cg_dv":45.0265694,"cg_dw":47.2910728,"cg_id_a":15.1518583,"cg_id_raw_a":9.34616089,"cg_iq_a":-200.101227,"cg_iq_raw_a":-198.106628,"cg_iu_a":194.37822,"cg_iv_a":-49.8023529,"cg_iw_a":-144.575867,"cg_sample_age_us":23.994545,"cg_sample_seq":5352117,"cg_sample_valid":1,"cg_theta_rad":2.33065319,"cg_vd_req_v":-2.23090887,"cg_vd_v":-2.23090887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42209053,"cg_vq_v":-8.42209053,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2469.53198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":797.622437,"values":{"Elec_RPM":-2352.81274,"EncoderCos":19289,"EncoderSin":17686,"GapTicks":49495,"Mech_RPM":-470.562561,"cg_du":47.8995628,"cg_dv":55.0037003,"cg_dw":44.9962997,"cg_id_a":4.76489544,"cg_id_raw_a":-1.92117488,"cg_iq_a":-203.15451,"cg_iq_raw_a":-202.168289,"cg_iu_a":-127.575768,"cg_iv_a":201.802338,"cg_iw_a":-74.2265701,"cg_sample_age_us":23.9509087,"cg_sample_seq":5353716,"cg_sample_valid":1,"cg_theta_rad":3.99338412,"cg_vd_req_v":-2.01894069,"cg_vd_v":-2.01894069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33680439,"cg_vq_v":-8.33680439,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2497.84741,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7516785,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104637213,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":797.954468,"values":{"Elec_RPM":-2354.32568,"EncoderCos":19874,"EncoderSin":17179,"GapTicks":49821,"Mech_RPM":-470.865112,"cg_du":46.4383469,"cg_dv":54.7076569,"cg_dw":45.2923431,"cg_id_a":12.7905273,"cg_id_raw_a":11.2536545,"cg_iq_a":-206.828827,"cg_iq_raw_a":-205.891861,"cg_iu_a":-160.30394,"cg_iv_a":194.589813,"cg_iw_a":-34.2858734,"cg_sample_age_us":23.9618187,"cg_sample_seq":5355466,"cg_sample_valid":1,"cg_theta_rad":4.03076506,"cg_vd_req_v":-2.17231178,"cg_vd_v":-2.17231178,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27854919,"cg_vq_v":-8.27854919,"cg_vu_v":3.51914048,"cg_vv_v":35.1914063,"cg_vw_v":26.8334465,"control_outputs_enabled":1,"dclink_i_a":-16.2517948,"dclink_p_w":-2344.88623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":798.086956,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":798.086962,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":798.086967,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":798.376343,"values":{"Elec_RPM":-2352.76318,"EncoderCos":26053,"EncoderSin":51644,"GapTicks":49582,"Mech_RPM":-470.552643,"cg_du":45.0752563,"cg_dv":47.3480911,"cg_dw":54.9247437,"cg_id_a":9.49024677,"cg_id_raw_a":6.36647034,"cg_iq_a":-201.099426,"cg_iq_raw_a":-197.912003,"cg_iu_a":-55.6679955,"cg_iv_a":-140.121994,"cg_iw_a":195.789993,"cg_sample_age_us":23.8709087,"cg_sample_seq":5357417,"cg_sample_valid":1,"cg_theta_rad":1.91370809,"cg_vd_req_v":-2.09407902,"cg_vd_v":-2.09407902,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36020374,"cg_vq_v":-8.36020374,"cg_vu_v":119.210884,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2386.39282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7799683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":798.893921,"values":{"Elec_RPM":-2350.08691,"EncoderCos":35367,"EncoderSin":12871,"GapTicks":49694,"Mech_RPM":-470.017365,"cg_du":54.8230133,"cg_dv":45.1769867,"cg_dw":46.8774414,"cg_id_a":16.0527592,"cg_id_raw_a":16.3797207,"cg_iq_a":-202.453827,"cg_iq_raw_a":-202.629745,"cg_iu_a":194.704407,"cg_iv_a":-50.0198059,"cg_iw_a":-144.684601,"cg_sample_age_us":23.9618187,"cg_sample_seq":5360066,"cg_sample_valid":1,"cg_theta_rad":4.85036039,"cg_vd_req_v":-2.23992205,"cg_vd_v":-2.23992205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30792332,"cg_vq_v":-8.30792332,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.9081383,"dclink_p_w":-2591.74902,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7552185,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":798.983209,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":798.98322,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":798.983223,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":799.079851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":799.079857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":799.079863,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":799.300171,"values":{"Elec_RPM":-2355.68286,"EncoderCos":31577,"EncoderSin":52662,"GapTicks":49299,"Mech_RPM":-471.136566,"cg_du":44.8176918,"cg_dv":55.1823082,"cg_dw":49.8355255,"cg_id_a":-9.94659615,"cg_id_raw_a":-10.2327805,"cg_iq_a":-197.309967,"cg_iq_raw_a":-199.149323,"cg_iu_a":-199.882202,"cg_iv_a":91.6935577,"cg_iw_a":108.188644,"cg_sample_age_us":26.7290916,"cg_sample_seq":5362120,"cg_sample_valid":1,"cg_theta_rad":1.67019272,"cg_vd_req_v":-1.68279481,"cg_vd_v":-1.68279481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44307327,"cg_vq_v":-8.44307327,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":799.634155,"values":{"Elec_RPM":-2355.37207,"EncoderCos":20475,"EncoderSin":48592,"GapTicks":49374,"Mech_RPM":-471.074402,"cg_du":55.1137428,"cg_dv":44.8862572,"cg_dw":51.2084198,"cg_id_a":-16.0054874,"cg_id_raw_a":-14.6219969,"cg_iq_a":-196.966446,"cg_iq_raw_a":-197.731979,"cg_iu_a":179.880676,"cg_iv_a":-159.294983,"cg_iw_a":-20.585701,"cg_sample_age_us":23.994545,"cg_sample_seq":5363817,"cg_sample_valid":1,"cg_theta_rad":2.23022199,"cg_vd_req_v":-1.57354236,"cg_vd_v":-1.57354236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48017693,"cg_vq_v":-8.48017693,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7799683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":799.964233,"values":{"Elec_RPM":-2348.53857,"EncoderCos":19825,"EncoderSin":48079,"GapTicks":49315,"Mech_RPM":-469.707703,"cg_du":55.1677818,"cg_dv":44.8322182,"cg_dw":49.4439621,"cg_id_a":-13.2886372,"cg_id_raw_a":-18.547266,"cg_iq_a":-196.86438,"cg_iq_raw_a":-194.837585,"cg_iu_a":194.88562,"cg_iv_a":-125.044556,"cg_iw_a":-69.8410645,"cg_sample_age_us":24.0272732,"cg_sample_seq":5365567,"cg_sample_valid":1,"cg_theta_rad":2.27397394,"cg_vd_req_v":-1.66001785,"cg_vd_v":-1.66001785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49198627,"cg_vq_v":-8.49198627,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2542.18018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7499084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":800.103071,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":800.103076,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":800.103082,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":800.317749,"values":{"Elec_RPM":-2348.14307,"EncoderCos":13538,"EncoderSin":38660,"GapTicks":49456,"Mech_RPM":-469.628632,"cg_du":44.9601173,"cg_dv":55.0398827,"cg_dw":48.1124763,"cg_id_a":-8.63506031,"cg_id_raw_a":-4.33665228,"cg_iq_a":-197.748077,"cg_iq_raw_a":-198.868652,"cg_iu_a":-181.869019,"cg_iv_a":158.019775,"cg_iw_a":23.8492355,"cg_sample_age_us":23.9654541,"cg_sample_seq":5367268,"cg_sample_valid":1,"cg_theta_rad":2.85699368,"cg_vd_req_v":-1.65616083,"cg_vd_v":-1.65616083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45632076,"cg_vq_v":-8.45632076,"cg_vu_v":112.172607,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":800.651733,"values":{"Elec_RPM":-2352.5603,"EncoderCos":13459,"EncoderSin":27250,"GapTicks":50076,"Mech_RPM":-470.512054,"cg_du":54.4756317,"cg_dv":45.5243683,"cg_dw":54.4244881,"cg_id_a":12.4902611,"cg_id_raw_a":13.7095003,"cg_iq_a":-202.095108,"cg_iq_raw_a":-202.53804,"cg_iu_a":168.572601,"cg_iv_a":-181.693665,"cg_iw_a":13.1210632,"cg_sample_age_us":24.1327267,"cg_sample_seq":5368967,"cg_sample_valid":1,"cg_theta_rad":3.42667747,"cg_vd_req_v":-2.13351917,"cg_vd_v":-2.13351917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34342766,"cg_vq_v":-8.34342766,"cg_vu_v":131.967773,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.3695869,"dclink_p_w":-2361.88184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7746582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":800.981812,"values":{"Elec_RPM":-2353.34814,"EncoderCos":29326,"EncoderSin":13012,"GapTicks":49298,"Mech_RPM":-470.669647,"cg_du":49.5986061,"cg_dv":44.8166237,"cg_dw":55.1833763,"cg_id_a":-14.6307755,"cg_id_raw_a":-15.7522039,"cg_iq_a":-194.934738,"cg_iq_raw_a":-195.678055,"cg_iu_a":47.3732224,"cg_iv_a":-187.383942,"cg_iw_a":140.010712,"cg_sample_age_us":23.8054543,"cg_sample_seq":5370616,"cg_sample_valid":1,"cg_theta_rad":4.55467319,"cg_vd_req_v":-1.62982726,"cg_vd_v":-1.62982726,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51622486,"cg_vq_v":-8.51622486,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7835083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":801.094803,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":801.094809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":801.094815,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":801.33728,"values":{"Elec_RPM":-2354.46313,"EncoderCos":48846,"EncoderSin":21148,"GapTicks":49469,"Mech_RPM":-470.892639,"cg_du":44.9720688,"cg_dv":47.8055077,"cg_dw":55.0279312,"cg_id_a":13.5178385,"cg_id_raw_a":6.79009342,"cg_iq_a":-199.892639,"cg_iq_raw_a":-199.235687,"cg_iu_a":-60.4884262,"cg_iv_a":-137.512421,"cg_iw_a":198.000854,"cg_sample_age_us":23.8345451,"cg_sample_seq":5372266,"cg_sample_valid":1,"cg_theta_rad":5.67264032,"cg_vd_req_v":-2.27407408,"cg_vd_v":-2.27407408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36129189,"cg_vq_v":-8.36129189,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2460.71826,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7640381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":801.667358,"values":{"Elec_RPM":-2355.12427,"EncoderCos":49290,"EncoderSin":21748,"GapTicks":49848,"Mech_RPM":-471.024872,"cg_du":45.3166161,"cg_dv":46.3623619,"cg_dw":54.6833839,"cg_id_a":18.3940277,"cg_id_raw_a":19.3681793,"cg_iq_a":-207.140076,"cg_iq_raw_a":-204.737137,"cg_iu_a":-25.0057106,"cg_iv_a":-168.863342,"cg_iw_a":193.869049,"cg_sample_age_us":23.954546,"cg_sample_seq":5374016,"cg_sample_valid":1,"cg_theta_rad":5.71160507,"cg_vd_req_v":-2.35205984,"cg_vd_v":-2.35205984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24870586,"cg_vq_v":-8.24870586,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2423.06641,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8099976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":801.99939,"values":{"Elec_RPM":-2353.25562,"EncoderCos":49888,"EncoderSin":42726,"GapTicks":49564,"Mech_RPM":-470.651123,"cg_du":45.0588303,"cg_dv":52.480423,"cg_dw":54.9411697,"cg_id_a":-3.77764463,"cg_id_raw_a":-1.31725955,"cg_iq_a":-200.575851,"cg_iq_raw_a":-200.727798,"cg_iu_a":-166.066711,"cg_iv_a":-11.3839111,"cg_iw_a":177.450623,"cg_sample_age_us":23.5254555,"cg_sample_seq":5375667,"cg_sample_valid":1,"cg_theta_rad":0.532206357,"cg_vd_req_v":-1.85869408,"cg_vd_v":-1.85869408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39385128,"cg_vq_v":-8.39385128,"cg_vu_v":118.770996,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.8082275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":802.087258,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":802.087263,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":802.087269,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":802.352905,"values":{"Elec_RPM":-2353.51636,"EncoderCos":52510,"EncoderSin":33100,"GapTicks":49589,"Mech_RPM":-470.703278,"cg_du":54.9184036,"cg_dv":52.697937,"cg_dw":45.0815964,"cg_id_a":8.56231022,"cg_id_raw_a":5.8553772,"cg_iq_a":-202.466217,"cg_iq_raw_a":-200.544662,"cg_iu_a":57.122818,"cg_iv_a":139.789139,"cg_iw_a":-196.911957,"cg_sample_age_us":23.4563637,"cg_sample_seq":5377467,"cg_sample_valid":1,"cg_theta_rad":0.0304291286,"cg_vd_req_v":-2.13055539,"cg_vd_v":-2.13055539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35427284,"cg_vq_v":-8.35427284,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2460.2019,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7693481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":802.684937,"values":{"Elec_RPM":-2353.22485,"EncoderCos":30564,"EncoderSin":52568,"GapTicks":49383,"Mech_RPM":-470.644958,"cg_du":44.8942337,"cg_dv":55.1057663,"cg_dw":51.8729324,"cg_id_a":3.75927639,"cg_id_raw_a":-1.89804494,"cg_iq_a":-198.41217,"cg_iq_raw_a":-197.774689,"cg_iu_a":-195.714172,"cg_iv_a":81.6902618,"cg_iw_a":114.023911,"cg_sample_age_us":23.863636,"cg_sample_seq":5379067,"cg_sample_valid":1,"cg_theta_rad":1.6800828,"cg_vd_req_v":-1.98162472,"cg_vd_v":-1.98162472,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4391346,"cg_vq_v":-8.4391346,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":803.038452,"values":{"Elec_RPM":-2351.84351,"EncoderCos":40094,"EncoderSin":51176,"GapTicks":49304,"Mech_RPM":-470.368713,"cg_du":55.178051,"cg_dv":49.0864487,"cg_dw":44.821949,"cg_id_a":-11.8482323,"cg_id_raw_a":-10.7822428,"cg_iq_a":-194.978668,"cg_iq_raw_a":-195.994034,"cg_iu_a":147.33371,"cg_iv_a":39.0675201,"cg_iw_a":-186.40123,"cg_sample_age_us":23.9909096,"cg_sample_seq":5380866,"cg_sample_valid":1,"cg_theta_rad":1.19353139,"cg_vd_req_v":-1.67523885,"cg_vd_v":-1.67523885,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50821304,"cg_vq_v":-8.50821304,"cg_vu_v":6.59838867,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7499084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":803.079787,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":803.079792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":803.079797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":803.370483,"values":{"Elec_RPM":-2350.80713,"EncoderCos":19287,"EncoderSin":47581,"GapTicks":49387,"Mech_RPM":-470.161438,"cg_du":55.1022758,"cg_dv":44.8977242,"cg_dw":48.2046585,"cg_id_a":6.09874678,"cg_id_raw_a":0.787420511,"cg_iq_a":-197.36055,"cg_iq_raw_a":-196.525528,"cg_iu_a":198.365021,"cg_iv_a":-77.4564056,"cg_iw_a":-120.908615,"cg_sample_age_us":23.8963642,"cg_sample_seq":5382516,"cg_sample_valid":1,"cg_theta_rad":2.30647755,"cg_vd_req_v":-2.0497787,"cg_vd_v":-2.0497787,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4558773,"cg_vq_v":-8.4558773,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":803.702515,"values":{"Elec_RPM":-2348.43994,"EncoderCos":13297,"EncoderSin":37920,"GapTicks":49324,"Mech_RPM":-469.687988,"cg_du":44.8405838,"cg_dv":55.1594162,"cg_dw":49.8142281,"cg_id_a":-8.87064171,"cg_id_raw_a":-9.36168671,"cg_iq_a":-196.434479,"cg_iq_raw_a":-196.038147,"cg_iu_a":-191.836075,"cg_iv_a":136.237244,"cg_iw_a":55.5988312,"cg_sample_age_us":23.8345451,"cg_sample_seq":5384216,"cg_sample_valid":1,"cg_theta_rad":2.88407111,"cg_vd_req_v":-1.67278039,"cg_vd_v":-1.67278039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4601593,"cg_vq_v":-8.4601593,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-17.5420761,"dclink_p_w":-2538.771,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7976379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":804.054077,"values":{"Elec_RPM":-2350.37061,"EncoderCos":13482,"EncoderSin":27095,"GapTicks":49926,"Mech_RPM":-470.074097,"cg_du":54.6119385,"cg_dv":45.3880615,"cg_dw":54.0851593,"cg_id_a":9.82919693,"cg_id_raw_a":15.6095409,"cg_iq_a":-201.67952,"cg_iq_raw_a":-201.619186,"cg_iu_a":172.559418,"cg_iv_a":-175.02478,"cg_iw_a":2.46537018,"cg_sample_age_us":24.1654549,"cg_sample_seq":5385918,"cg_sample_valid":1,"cg_theta_rad":3.4469161,"cg_vd_req_v":-2.07976866,"cg_vd_v":-2.07976866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3758955,"cg_vq_v":-8.3758955,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.5910053,"dclink_p_w":-2538.11401,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7763977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":804.103541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":804.103547,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":804.103553,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":804.388062,"values":{"Elec_RPM":-2353.23071,"EncoderCos":19989,"EncoderSin":17107,"GapTicks":49879,"Mech_RPM":-470.646149,"cg_du":46.1397781,"cg_dv":54.6551476,"cg_dw":45.3448524,"cg_id_a":13.8890791,"cg_id_raw_a":15.1540432,"cg_iq_a":-204.750702,"cg_iq_raw_a":-203.872772,"cg_iu_a":-164.218277,"cg_iv_a":188.682068,"cg_iw_a":-24.4637909,"cg_sample_age_us":23.9581814,"cg_sample_seq":5387616,"cg_sample_valid":1,"cg_theta_rad":4.03810644,"cg_vd_req_v":-2.17373013,"cg_vd_v":-2.17373013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3194828,"cg_vq_v":-8.3194828,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2391.90039,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7799683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":804.720093,"values":{"Elec_RPM":-2354.00122,"EncoderCos":30372,"EncoderSin":12864,"GapTicks":49372,"Mech_RPM":-470.800262,"cg_du":51.5759659,"cg_dv":44.8843346,"cg_dw":55.1156654,"cg_id_a":3.62982321,"cg_id_raw_a":-1.90843081,"cg_iq_a":-196.072876,"cg_iq_raw_a":-195.887344,"cg_iu_a":110.727448,"cg_iv_a":-195.756287,"cg_iw_a":85.0288315,"cg_sample_age_us":23.7836361,"cg_sample_seq":5389317,"cg_sample_valid":1,"cg_theta_rad":4.60770178,"cg_vd_req_v":-2.01408243,"cg_vd_v":-2.01408243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44632721,"cg_vq_v":-8.44632721,"cg_vu_v":106.014107,"cg_vv_v":89.2981949,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2453.00903,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":805.071655,"values":{"Elec_RPM":-2347.25635,"EncoderCos":41378,"EncoderSin":14677,"GapTicks":49335,"Mech_RPM":-469.451294,"cg_du":50.7346153,"cg_dv":55.1498528,"cg_dw":44.8501472,"cg_id_a":-17.4297466,"cg_id_raw_a":-17.5081596,"cg_iq_a":-195.571075,"cg_iq_raw_a":-195.398605,"cg_iu_a":-32.7981339,"cg_iv_a":184.006622,"cg_iw_a":-151.208481,"cg_sample_age_us":23.9581814,"cg_sample_seq":5391017,"cg_sample_valid":1,"cg_theta_rad":5.1736083,"cg_vd_req_v":-1.61178577,"cg_vd_v":-1.61178577,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48348808,"cg_vq_v":-8.48348808,"cg_vu_v":137.686371,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2492.87939,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7958679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105191126,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":805.095406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":805.095412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":805.095417,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":805.40564,"values":{"Elec_RPM":-2344.11157,"EncoderCos":49920,"EncoderSin":22757,"GapTicks":49548,"Mech_RPM":-468.822327,"cg_du":47.7206879,"cg_dv":45.0439949,"cg_dw":54.9560051,"cg_id_a":-8.45902824,"cg_id_raw_a":-4.57728815,"cg_iq_a":-202.502365,"cg_iq_raw_a":-204.773499,"cg_iu_a":9.17222404,"cg_iv_a":-175.387222,"cg_iw_a":175.239716,"cg_sample_age_us":23.954546,"cg_sample_seq":5392716,"cg_sample_valid":1,"cg_theta_rad":5.76982689,"cg_vd_req_v":-1.78517866,"cg_vd_v":-1.78517866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38114643,"cg_vq_v":-8.38114643,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2500.74194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":805.737671,"values":{"Elec_RPM":-2346.0293,"EncoderCos":49245,"EncoderSin":43774,"GapTicks":49326,"Mech_RPM":-469.205841,"cg_du":44.8423157,"cg_dv":49.6792984,"cg_dw":55.1576843,"cg_id_a":-9.05665016,"cg_id_raw_a":-10.8400831,"cg_iq_a":-197.750519,"cg_iq_raw_a":-196.858231,"cg_iu_a":-124.241333,"cg_iv_a":-69.7002258,"cg_iw_a":193.941559,"cg_sample_age_us":23.5181828,"cg_sample_seq":5394367,"cg_sample_valid":1,"cg_theta_rad":0.592474163,"cg_vd_req_v":-1.76919746,"cg_vd_v":-1.76919746,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41455364,"cg_vq_v":-8.41455364,"cg_vu_v":103.374756,"cg_vv_v":110.413033,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2537.72168,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7852478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":806.087511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":806.087517,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":806.087522,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":806.091187,"values":{"Elec_RPM":-2345.04956,"EncoderCos":48716,"EncoderSin":44537,"GapTicks":49425,"Mech_RPM":-469.009918,"cg_du":44.9323463,"cg_dv":48.0245056,"cg_dw":55.0676537,"cg_id_a":9.65340424,"cg_id_raw_a":3.9132998,"cg_iq_a":-200.55365,"cg_iq_raw_a":-199.188812,"cg_iu_a":-69.8755798,"cg_iv_a":-130.807312,"cg_iw_a":200.682892,"cg_sample_age_us":23.4200001,"cg_sample_seq":5396116,"cg_sample_valid":1,"cg_theta_rad":0.640459359,"cg_vd_req_v":-2.17156172,"cg_vd_v":-2.17156172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37731361,"cg_vq_v":-8.37731361,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2455.48901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8046875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":806.423218,"values":{"Elec_RPM":-2346.6792,"EncoderCos":39939,"EncoderSin":51245,"GapTicks":49286,"Mech_RPM":-469.335846,"cg_du":55.1937103,"cg_dv":49.4347801,"cg_dw":44.8062897,"cg_id_a":-10.5743628,"cg_id_raw_a":-12.2099466,"cg_iq_a":-196.066574,"cg_iq_raw_a":-193.862686,"cg_iu_a":140.737335,"cg_iv_a":48.9983215,"cg_iw_a":-189.735657,"cg_sample_age_us":23.9509087,"cg_sample_seq":5397817,"cg_sample_valid":1,"cg_theta_rad":1.20484149,"cg_vd_req_v":-1.70837831,"cg_vd_v":-1.70837831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.500103,"cg_vq_v":-8.500103,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.8320274,"dclink_p_w":-2580.73413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":806.77478,"values":{"Elec_RPM":-2345.3999,"EncoderCos":29389,"EncoderSin":52461,"GapTicks":49953,"Mech_RPM":-469.079956,"cg_du":45.4118805,"cg_dv":54.5881195,"cg_dw":54.1412086,"cg_id_a":13.3898048,"cg_id_raw_a":11.7014151,"cg_iq_a":-200.49202,"cg_iq_raw_a":-199.087997,"cg_iu_a":-171.358307,"cg_iv_a":-2.10548401,"cg_iw_a":173.463791,"cg_sample_age_us":26.7399998,"cg_sample_seq":5399521,"cg_sample_valid":1,"cg_theta_rad":1.78252041,"cg_vd_req_v":-2.1316855,"cg_vd_v":-2.1316855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37908459,"cg_vq_v":-8.37908459,"cg_vu_v":110.413033,"cg_vv_v":109.973145,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.7015495,"dclink_p_w":-2561.85059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7958679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":807.078954,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":807.078959,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":807.078964,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":807.108765,"values":{"Elec_RPM":-2352.9458,"EncoderCos":13272,"EncoderSin":37738,"GapTicks":49296,"Mech_RPM":-470.589172,"cg_du":44.8153648,"cg_dv":55.1846352,"cg_dw":50.227623,"cg_id_a":-9.68968582,"cg_id_raw_a":-13.688983,"cg_iq_a":-196.830841,"cg_iq_raw_a":-196.4599,"cg_iu_a":-192.524719,"cg_iv_a":130.329498,"cg_iw_a":62.1952133,"cg_sample_age_us":23.8999996,"cg_sample_seq":5401167,"cg_sample_valid":1,"cg_theta_rad":2.89381433,"cg_vd_req_v":-1.66908598,"cg_vd_v":-1.66908598,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47793102,"cg_vq_v":-8.47793102,"cg_vu_v":102.494972,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.7711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":807.438843,"values":{"Elec_RPM":-2351.88135,"EncoderCos":18056,"EncoderSin":46361,"GapTicks":49788,"Mech_RPM":-470.376282,"cg_du":54.7376404,"cg_dv":46.4389114,"cg_dw":45.2623596,"cg_id_a":5.21803904,"cg_id_raw_a":8.72105503,"cg_iq_a":-201.604233,"cg_iq_raw_a":-200.988205,"cg_iu_a":174.407867,"cg_iv_a":-5.33117676,"cg_iw_a":-169.076691,"cg_sample_age_us":24.0200005,"cg_sample_seq":5402967,"cg_sample_valid":1,"cg_theta_rad":2.3964684,"cg_vd_req_v":-1.99690902,"cg_vd_v":-1.99690902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3694725,"cg_vq_v":-8.3694725,"cg_vu_v":105.574219,"cg_vv_v":94.1370087,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2429.49463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.8082275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":807.792358,"values":{"Elec_RPM":-2352.44971,"EncoderCos":19661,"EncoderSin":17339,"GapTicks":49678,"Mech_RPM":-470.48996,"cg_du":46.9851227,"cg_dv":54.8380508,"cg_dw":45.1619492,"cg_id_a":13.76651,"cg_id_raw_a":9.82127857,"cg_iq_a":-203.800461,"cg_iq_raw_a":-202.764725,"cg_iu_a":-170.017288,"cg_iv_a":180.128525,"cg_iw_a":-10.1112366,"cg_sample_age_us":23.9581814,"cg_sample_seq":5404570,"cg_sample_valid":1,"cg_theta_rad":4.06043577,"cg_vd_req_v":-2.18256235,"cg_vd_v":-2.18256235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3105793,"cg_vq_v":-8.3105793,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.4420757,"dclink_p_w":-2379.57373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":808.071234,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":808.07124,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":808.071245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":808.12439,"values":{"Elec_RPM":-2357.23438,"EncoderCos":14389,"EncoderSin":24687,"GapTicks":49408,"Mech_RPM":-471.446869,"cg_du":55.0833473,"cg_dv":44.9166527,"cg_dw":48.3149605,"cg_id_a":1.45202482,"cg_id_raw_a":-5.17920828,"cg_iq_a":-197.533432,"cg_iq_raw_a":-197.203796,"cg_iu_a":197.096497,"cg_iv_a":-100.036308,"cg_iw_a":-97.0601883,"cg_sample_age_us":23.994545,"cg_sample_seq":5406366,"cg_sample_valid":1,"cg_theta_rad":3.55278707,"cg_vd_req_v":-1.94306505,"cg_vd_v":-1.94306505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42805767,"cg_vq_v":-8.42805767,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2434.04834,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":808.643921,"values":{"Elec_RPM":-2353.15454,"EncoderCos":13280,"EncoderSin":37814,"GapTicks":49310,"Mech_RPM":-470.63092,"cg_du":44.8275757,"cg_dv":55.1724243,"cg_dw":50.0940437,"cg_id_a":-10.5625086,"cg_id_raw_a":-15.8591108,"cg_iq_a":-194.701279,"cg_iq_raw_a":-193.601624,"cg_iu_a":-190.06012,"cg_iv_a":132.395386,"cg_iw_a":57.6647339,"cg_sample_age_us":23.9618187,"cg_sample_seq":5408767,"cg_sample_valid":1,"cg_theta_rad":2.89051294,"cg_vd_req_v":-1.6408124,"cg_vd_v":-1.6408124,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51391125,"cg_vq_v":-8.51391125,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2471.89233,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8099976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":808.966616,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":808.966627,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":808.96663,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":809.063094,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":809.0631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":809.06313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":809.11853,"values":{"Elec_RPM":-2353.35718,"EncoderCos":48980,"EncoderSin":44238,"GapTicks":49342,"Mech_RPM":-470.671417,"cg_du":44.8563957,"cg_dv":48.6985626,"cg_dw":55.1436043,"cg_id_a":0.305837274,"cg_id_raw_a":-5.59804249,"cg_iq_a":-198.079132,"cg_iq_raw_a":-200.646698,"cg_iu_a":-93.3978271,"cg_iv_a":-105.074203,"cg_iw_a":198.472031,"cg_sample_age_us":23.4163628,"cg_sample_seq":5411316,"cg_sample_valid":1,"cg_theta_rad":0.621268332,"cg_vd_req_v":-1.98022175,"cg_vd_v":-1.98022175,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43106079,"cg_vq_v":-8.43106079,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2482.68213,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":809.452515,"values":{"Elec_RPM":-2360.44165,"EncoderCos":20003,"EncoderSin":48198,"GapTicks":49331,"Mech_RPM":-472.088348,"cg_du":55.152832,"cg_dv":44.847168,"cg_dw":49.8544083,"cg_id_a":-16.2026749,"cg_id_raw_a":-21.1778641,"cg_iq_a":-196.320862,"cg_iq_raw_a":-194.421112,"cg_iu_a":190.826324,"cg_iv_a":-137.403717,"cg_iw_a":-53.4226151,"cg_sample_age_us":23.9836369,"cg_sample_seq":5412917,"cg_sample_valid":1,"cg_theta_rad":2.26025867,"cg_vd_req_v":-1.58515453,"cg_vd_v":-1.58515453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46509361,"cg_vq_v":-8.46509361,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3822727,"dclink_p_w":-2370.9187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7587585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":809.784546,"values":{"Elec_RPM":-2352.96826,"EncoderCos":13576,"EncoderSin":38798,"GapTicks":49518,"Mech_RPM":-470.593628,"cg_du":45.0165596,"cg_dv":54.9834404,"cg_dw":47.7319832,"cg_id_a":-5.5409708,"cg_id_raw_a":0.745451331,"cg_iq_a":-199.775787,"cg_iq_raw_a":-201.948883,"cg_iu_a":-176.323715,"cg_iv_a":168.24054,"cg_iw_a":8.08316803,"cg_sample_age_us":23.9218178,"cg_sample_seq":5414617,"cg_sample_valid":1,"cg_theta_rad":2.83958745,"cg_vd_req_v":-1.71812832,"cg_vd_v":-1.71812832,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41083813,"cg_vq_v":-8.41083813,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5728836,"dclink_p_w":-2535.49927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7993774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":810.086851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":810.086857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":810.086863,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":810.136108,"values":{"Elec_RPM":-2355.73462,"EncoderCos":13423,"EncoderSin":27304,"GapTicks":50009,"Mech_RPM":-471.146912,"cg_du":54.3661499,"cg_dv":45.4632912,"cg_dw":54.5367088,"cg_id_a":15.5698805,"cg_id_raw_a":17.7985916,"cg_iq_a":-201.838287,"cg_iq_raw_a":-201.748795,"cg_iu_a":166.869141,"cg_iv_a":-180.932541,"cg_iw_a":14.0634003,"cg_sample_age_us":24.1581821,"cg_sample_seq":5416316,"cg_sample_valid":1,"cg_theta_rad":3.42198682,"cg_vd_req_v":-2.19752455,"cg_vd_v":-2.19752455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39019775,"cg_vq_v":-8.39019775,"cg_vu_v":17.1558094,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2405.0249,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":810.470093,"values":{"Elec_RPM":-2358.16943,"EncoderCos":13155,"EncoderSin":37143,"GapTicks":49361,"Mech_RPM":-471.633881,"cg_du":44.8736649,"cg_dv":55.1263351,"cg_dw":51.41819,"cg_id_a":-2.25720596,"cg_id_raw_a":-1.9910717,"cg_iq_a":-197.280869,"cg_iq_raw_a":-197.398117,"cg_iu_a":-195.931641,"cg_iv_a":110.939041,"cg_iw_a":84.9925995,"cg_sample_age_us":23.8272724,"cg_sample_seq":5418116,"cg_sample_valid":1,"cg_theta_rad":2.9158206,"cg_vd_req_v":-1.82907104,"cg_vd_v":-1.82907104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48038483,"cg_vq_v":-8.48038483,"cg_vu_v":102.494972,"cg_vv_v":104.694435,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":810.821655,"values":{"Elec_RPM":-2360.18066,"EncoderCos":28999,"EncoderSin":13109,"GapTicks":49417,"Mech_RPM":-472.036133,"cg_du":48.8530006,"cg_dv":44.9249153,"cg_dw":55.0750847,"cg_id_a":-17.1500969,"cg_id_raw_a":-16.0935078,"cg_iq_a":-200.065308,"cg_iq_raw_a":-202.304916,"cg_iu_a":60.7834396,"cg_iv_a":-192.168121,"cg_iw_a":131.384689,"cg_sample_age_us":26.7181816,"cg_sample_seq":5419720,"cg_sample_valid":1,"cg_theta_rad":4.57030058,"cg_vd_req_v":-1.56206381,"cg_vd_v":-1.56206381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38276291,"cg_vq_v":-8.38276291,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7658081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":811.078804,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":811.07881,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":811.078815,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":811.153687,"values":{"Elec_RPM":-2357.71045,"EncoderCos":20659,"EncoderSin":16584,"GapTicks":49731,"Mech_RPM":-471.542084,"cg_du":45.210495,"cg_dv":54.789505,"cg_dw":46.9086609,"cg_id_a":0.929403901,"cg_id_raw_a":7.01305723,"cg_iq_a":-202.829803,"cg_iq_raw_a":-204.070328,"cg_iu_a":-173.351715,"cg_iv_a":175.090622,"cg_iw_a":-1.73890686,"cg_sample_age_us":23.9072723,"cg_sample_seq":5421516,"cg_sample_valid":1,"cg_theta_rad":4.08000565,"cg_vd_req_v":-1.894683,"cg_vd_v":-1.894683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32879829,"cg_vq_v":-8.32879829,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2405.80054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8170471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":811.487671,"values":{"Elec_RPM":-2358.17578,"EncoderCos":49589,"EncoderSin":22197,"GapTicks":49995,"Mech_RPM":-471.635132,"cg_du":45.9968987,"cg_dv":45.4505119,"cg_dw":54.5494881,"cg_id_a":10.8943214,"cg_id_raw_a":14.3313942,"cg_iq_a":-206.712402,"cg_iq_raw_a":-207.953644,"cg_iu_a":-6.70257568,"cg_iv_a":-174.879822,"cg_iw_a":181.582397,"cg_sample_age_us":23.8272724,"cg_sample_seq":5423116,"cg_sample_valid":1,"cg_theta_rad":5.74009943,"cg_vd_req_v":-2.17465401,"cg_vd_v":-2.17465401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27248096,"cg_vq_v":-8.27248096,"cg_vu_v":127.12896,"cg_vv_v":137.246475,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2434.44751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7976379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":811.839233,"values":{"Elec_RPM":-2352.67188,"EncoderCos":42374,"EncoderSin":15205,"GapTicks":49415,"Mech_RPM":-470.534393,"cg_du":48.47472,"cg_dv":55.0766754,"cg_dw":44.9233246,"cg_id_a":-7.44946527,"cg_id_raw_a":-12.549881,"cg_iq_a":-199.528915,"cg_iq_raw_a":-199.082748,"cg_iu_a":-87.4900818,"cg_iv_a":199.047806,"cg_iw_a":-111.557724,"cg_sample_age_us":23.863636,"cg_sample_seq":5424916,"cg_sample_valid":1,"cg_theta_rad":5.22274399,"cg_vd_req_v":-1.84344447,"cg_vd_v":-1.84344447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41086388,"cg_vq_v":-8.41086388,"cg_vu_v":100.295509,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2489.13916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":812.103335,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":812.103341,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":812.103347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":812.173218,"values":{"Elec_RPM":-2348.28491,"EncoderCos":49143,"EncoderSin":43932,"GapTicks":49323,"Mech_RPM":-469.656982,"cg_du":44.8397179,"cg_dv":49.2699699,"cg_dw":55.1602821,"cg_id_a":-9.26417732,"cg_id_raw_a":-12.9872828,"cg_iq_a":-198.199402,"cg_iq_raw_a":-199.404968,"cg_iu_a":-119.81958,"cg_iv_a":-78.4349976,"cg_iw_a":198.254578,"cg_sample_age_us":23.5145454,"cg_sample_seq":5426516,"cg_sample_valid":1,"cg_theta_rad":0.603294313,"cg_vd_req_v":-1.78538287,"cg_vd_v":-1.78538287,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43916416,"cg_vq_v":-8.43916416,"cg_vu_v":34.3116188,"cg_vv_v":32.9919434,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2503.59961,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":812.503296,"values":{"Elec_RPM":-2350.67041,"EncoderCos":40319,"EncoderSin":51116,"GapTicks":49354,"Mech_RPM":-470.134064,"cg_du":55.1324883,"cg_dv":48.5841446,"cg_dw":44.8675117,"cg_id_a":-11.5101881,"cg_id_raw_a":-10.5262356,"cg_iq_a":-193.557068,"cg_iq_raw_a":-195.655029,"cg_iu_a":155.706055,"cg_iv_a":23.0839844,"cg_iw_a":-178.790039,"cg_sample_age_us":23.994545,"cg_sample_seq":5428216,"cg_sample_valid":1,"cg_theta_rad":1.17949331,"cg_vd_req_v":-1.67025232,"cg_vd_v":-1.67025232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54997635,"cg_vq_v":-8.54997635,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2453.3623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7763977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":812.856812,"values":{"Elec_RPM":-2352.74683,"EncoderCos":29241,"EncoderSin":52405,"GapTicks":50057,"Mech_RPM":-470.549347,"cg_du":45.5068436,"cg_dv":54.4036369,"cg_dw":54.4931564,"cg_id_a":10.0165825,"cg_id_raw_a":11.1063023,"cg_iq_a":-200.215088,"cg_iq_raw_a":-198.480225,"cg_iu_a":-181.506592,"cg_iv_a":16.7775726,"cg_iw_a":164.729019,"cg_sample_age_us":23.8927269,"cg_sample_seq":5429917,"cg_sample_valid":1,"cg_theta_rad":1.74787056,"cg_vd_req_v":-2.06079531,"cg_vd_v":-2.06079531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3776741,"cg_vq_v":-8.3776741,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2448.81274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8135376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":813.09483,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":813.094837,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":813.094842,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":813.188843,"values":{"Elec_RPM":-2353.62866,"EncoderCos":18983,"EncoderSin":47268,"GapTicks":49521,"Mech_RPM":-470.725739,"cg_du":54.9806747,"cg_dv":45.0193253,"cg_dw":47.4667244,"cg_id_a":15.2443199,"cg_id_raw_a":9.90341282,"cg_iq_a":-202.153671,"cg_iq_raw_a":-201.439392,"cg_iu_a":198.546265,"cg_iv_a":-51.6508179,"cg_iw_a":-146.895447,"cg_sample_age_us":24.0236359,"cg_sample_seq":5431616,"cg_sample_valid":1,"cg_theta_rad":2.33118963,"cg_vd_req_v":-2.23628831,"cg_vd_v":-2.23628831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35434151,"cg_vq_v":-8.35434151,"cg_vu_v":107.773682,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.92626,"dclink_p_w":-2586.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7993774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":813.542358,"values":{"Elec_RPM":-2356.3479,"EncoderCos":18747,"EncoderSin":47110,"GapTicks":49648,"Mech_RPM":-471.269592,"cg_du":54.8645515,"cg_dv":45.1354485,"cg_dw":46.9532433,"cg_id_a":16.6291809,"cg_id_raw_a":18.6883202,"cg_iq_a":-204.324753,"cg_iq_raw_a":-205.149063,"cg_iu_a":185.281006,"cg_iv_a":-19.4662781,"cg_iw_a":-165.814728,"cg_sample_age_us":26.8527279,"cg_sample_seq":5433368,"cg_sample_valid":1,"cg_theta_rad":2.37103868,"cg_vd_req_v":-2.25392127,"cg_vd_v":-2.25392127,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31826401,"cg_vq_v":-8.31826401,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2437.97046,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8011475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":813.87439,"values":{"Elec_RPM":-2352.13599,"EncoderCos":13756,"EncoderSin":26305,"GapTicks":49473,"Mech_RPM":-470.427185,"cg_du":55.0239487,"cg_dv":44.9760513,"cg_dw":51.8615532,"cg_id_a":-11.4722815,"cg_id_raw_a":-7.02098656,"cg_iq_a":-196.606415,"cg_iq_raw_a":-197.485031,"cg_iu_a":175.458939,"cg_iv_a":-168.899582,"cg_iw_a":-3.15242004,"cg_sample_age_us":24.0709095,"cg_sample_seq":5435017,"cg_sample_valid":1,"cg_theta_rad":3.47185469,"cg_vd_req_v":-1.63282478,"cg_vd_v":-1.63282478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45555973,"cg_vq_v":-8.45555973,"cg_vu_v":106.014107,"cg_vv_v":73.462059,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2377.57031,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8153076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":814.086992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":814.086998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":814.087004,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":814.206421,"values":{"Elec_RPM":-2350.49951,"EncoderCos":20185,"EncoderSin":16944,"GapTicks":50111,"Mech_RPM":-470.099884,"cg_du":45.6484604,"cg_dv":54.4440765,"cg_dw":45.5559235,"cg_id_a":11.4863319,"cg_id_raw_a":12.178751,"cg_iq_a":-206.24025,"cg_iq_raw_a":-207.361588,"cg_iu_a":-168.096375,"cg_iv_a":185.891296,"cg_iw_a":-17.7949295,"cg_sample_age_us":23.8963642,"cg_sample_seq":5436717,"cg_sample_valid":1,"cg_theta_rad":4.05211449,"cg_vd_req_v":-2.12085128,"cg_vd_v":-2.12085128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26345253,"cg_vq_v":-8.26345253,"cg_vu_v":128.448624,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7958679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":814.559937,"values":{"Elec_RPM":-2356.28906,"EncoderCos":30760,"EncoderSin":12811,"GapTicks":49432,"Mech_RPM":-471.257813,"cg_du":52.2854691,"cg_dv":44.9389038,"cg_dw":55.0610962,"cg_id_a":11.6970596,"cg_id_raw_a":7.78502178,"cg_iq_a":-198.789337,"cg_iq_raw_a":-197.693726,"cg_iu_a":134.28595,"cg_iv_a":-195.430084,"cg_iw_a":73.7207489,"cg_sample_age_us":23.6890907,"cg_sample_seq":5438417,"cg_sample_valid":1,"cg_theta_rad":4.6257329,"cg_vd_req_v":-2.18460798,"cg_vd_v":-2.18460798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43565655,"cg_vq_v":-8.43565655,"cg_vu_v":128.008743,"cg_vv_v":120.970459,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2492.87402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8188171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":814.890015,"values":{"Elec_RPM":-2353.42798,"EncoderCos":42106,"EncoderSin":15007,"GapTicks":49413,"Mech_RPM":-470.685608,"cg_du":49.0245171,"cg_dv":55.0788612,"cg_dw":44.9211388,"cg_id_a":-16.2427235,"cg_id_raw_a":-16.1497345,"cg_iq_a":-199.230774,"cg_iq_raw_a":-198.965637,"cg_iu_a":-76.6894226,"cg_iv_a":198.902832,"cg_iw_a":-122.213409,"cg_sample_age_us":23.9218178,"cg_sample_seq":5440116,"cg_sample_valid":1,"cg_theta_rad":5.21679115,"cg_vd_req_v":-1.65560472,"cg_vd_v":-1.65560472,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40392303,"cg_vq_v":-8.40392303,"cg_vu_v":125.809273,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2502.31567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":815.11138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":815.111386,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":815.111391,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":815.223999,"values":{"Elec_RPM":-2359.31421,"EncoderCos":50158,"EncoderSin":23215,"GapTicks":49388,"Mech_RPM":-471.862823,"cg_du":48.970829,"cg_dv":44.8983765,"cg_dw":55.1016235,"cg_id_a":-14.5698023,"cg_id_raw_a":-11.6103659,"cg_iq_a":-198.271805,"cg_iq_raw_a":-201.119965,"cg_iu_a":30.0124283,"cg_iv_a":-183.868286,"cg_iw_a":153.855865,"cg_sample_age_us":23.7945461,"cg_sample_seq":5441816,"cg_sample_valid":1,"cg_theta_rad":5.79926825,"cg_vd_req_v":-1.66165733,"cg_vd_v":-1.66165733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42075634,"cg_vq_v":-8.42075634,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.485899,"dclink_p_w":-2522.94873,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":815.575562,"values":{"Elec_RPM":-2358.25244,"EncoderCos":43454,"EncoderSin":15877,"GapTicks":49938,"Mech_RPM":-471.650482,"cg_du":46.1893501,"cg_dv":54.6014137,"cg_dw":45.3985863,"cg_id_a":10.882431,"cg_id_raw_a":11.154273,"cg_iq_a":-206.652649,"cg_iq_raw_a":-205.521194,"cg_iu_a":-156.425858,"cg_iv_a":196.039566,"cg_iw_a":-39.6137085,"cg_sample_age_us":23.8527279,"cg_sample_seq":5443616,"cg_sample_valid":1,"cg_theta_rad":5.28654814,"cg_vd_req_v":-2.18916488,"cg_vd_v":-2.18916488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23741245,"cg_vq_v":-8.23741245,"cg_vu_v":100.735397,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.103680477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":815.907593,"values":{"Elec_RPM":-2354.06396,"EncoderCos":48445,"EncoderSin":45020,"GapTicks":49617,"Mech_RPM":-470.812805,"cg_du":45.1067314,"cg_dv":46.9662704,"cg_dw":54.8932686,"cg_id_a":16.9227505,"cg_id_raw_a":14.6707287,"cg_iq_a":-201.432541,"cg_iq_raw_a":-201.716354,"cg_iu_a":-49.9052238,"cg_iv_a":-143.637634,"cg_iw_a":193.542862,"cg_sample_age_us":23.51091,"cg_sample_seq":5445216,"cg_sample_valid":1,"cg_theta_rad":0.660410762,"cg_vd_req_v":-2.2978785,"cg_vd_v":-2.2978785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37590599,"cg_vq_v":-8.37590599,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2483.95679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.7993774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":816.070923,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":816.070929,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":816.070934,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":816.241577,"values":{"Elec_RPM":-2353.63428,"EncoderCos":39145,"EncoderSin":51536,"GapTicks":49397,"Mech_RPM":-470.726868,"cg_du":55.0932961,"cg_dv":51.0923615,"cg_dw":44.9067039,"cg_id_a":-0.976834834,"cg_id_raw_a":-4.06300974,"cg_iq_a":-200.549744,"cg_iq_raw_a":-200.269211,"cg_iu_a":103.986099,"cg_iv_a":100.138382,"cg_iw_a":-204.124481,"cg_sample_age_us":23.9218178,"cg_sample_seq":5446916,"cg_sample_valid":1,"cg_theta_rad":1.24365878,"cg_vd_req_v":-1.90908182,"cg_vd_v":-1.90908182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36142349,"cg_vq_v":-8.36142349,"cg_vu_v":50.1477547,"cg_vv_v":61.5849609,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.2409229,"dclink_p_w":-2350.46191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7923279,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":816.59314,"values":{"Elec_RPM":-2351.95215,"EncoderCos":27960,"EncoderSin":52173,"GapTicks":49429,"Mech_RPM":-470.390411,"cg_du":44.9358673,"cg_dv":51.222187,"cg_dw":55.0641327,"cg_id_a":-12.6213741,"cg_id_raw_a":-9.95574093,"cg_iq_a":-200.803467,"cg_iq_raw_a":-201.46756,"cg_iu_a":-163.89209,"cg_iv_a":-17.3278809,"cg_iw_a":181.219971,"cg_sample_age_us":23.7654552,"cg_sample_seq":5448616,"cg_sample_valid":1,"cg_theta_rad":1.80487204,"cg_vd_req_v":-1.61841965,"cg_vd_v":-1.61841965,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38994408,"cg_vq_v":-8.38994408,"cg_vu_v":99.4157181,"cg_vv_v":98.5359344,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2477.19092,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8029175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":816.927124,"values":{"Elec_RPM":-2349.93213,"EncoderCos":18090,"EncoderSin":46407,"GapTicks":49793,"Mech_RPM":-469.98645,"cg_du":54.7328224,"cg_dv":46.2919464,"cg_dw":45.2671776,"cg_id_a":7.00905752,"cg_id_raw_a":11.081152,"cg_iq_a":-199.621658,"cg_iq_raw_a":-201.315704,"cg_iu_a":174.915283,"cg_iv_a":-4.60630798,"cg_iw_a":-170.308975,"cg_sample_age_us":23.9690914,"cg_sample_seq":5450316,"cg_sample_valid":1,"cg_theta_rad":2.39355922,"cg_vd_req_v":-2.02517819,"cg_vd_v":-2.02517819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44118118,"cg_vq_v":-8.44118118,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2404.22681,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8099976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":817.063146,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":817.063151,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":817.063157,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":817.278687,"values":{"Elec_RPM":-2350.42627,"EncoderCos":13120,"EncoderSin":37048,"GapTicks":49401,"Mech_RPM":-470.085266,"cg_du":44.9108276,"cg_dv":55.0891724,"cg_dw":51.5771828,"cg_id_a":-0.996016026,"cg_id_raw_a":-1.28961635,"cg_iq_a":-197.393066,"cg_iq_raw_a":-197.877762,"cg_iu_a":-191.872314,"cg_iv_a":58.240509,"cg_iw_a":133.631805,"cg_sample_age_us":26.7981815,"cg_sample_seq":5452020,"cg_sample_valid":1,"cg_theta_rad":2.96392703,"cg_vd_req_v":-1.84107447,"cg_vd_v":-1.84107447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44132996,"cg_vq_v":-8.44132996,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":817.610718,"values":{"Elec_RPM":-2352.20679,"EncoderCos":14201,"EncoderSin":25059,"GapTicks":49351,"Mech_RPM":-470.441345,"cg_du":55.1349754,"cg_dv":44.8650246,"cg_dw":49.0525856,"cg_id_a":-7.97013092,"cg_id_raw_a":-8.00851822,"cg_iq_a":-198.0354,"cg_iq_raw_a":-197.932266,"cg_iu_a":198.075089,"cg_iv_a":-109.785904,"cg_iw_a":-88.2891846,"cg_sample_age_us":24.1036358,"cg_sample_seq":5453716,"cg_sample_valid":1,"cg_theta_rad":3.54586577,"cg_vd_req_v":-1.75468063,"cg_vd_v":-1.75468063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42272854,"cg_vq_v":-8.42272854,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":39.590332,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2520.07227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8153076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":817.944702,"values":{"Elec_RPM":-2351.12256,"EncoderCos":21317,"EncoderSin":16142,"GapTicks":49374,"Mech_RPM":-470.224487,"cg_du":44.8861923,"cg_dv":55.1138077,"cg_dw":48.8903122,"cg_id_a":-13.2848854,"cg_id_raw_a":-10.0935926,"cg_iq_a":-198.644653,"cg_iq_raw_a":-200.270569,"cg_iu_a":-184.007416,"cg_iv_a":155.301514,"cg_iw_a":28.7059097,"cg_sample_age_us":23.9218178,"cg_sample_seq":5455416,"cg_sample_valid":1,"cg_theta_rad":4.11969662,"cg_vd_req_v":-1.62488878,"cg_vd_v":-1.62488878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45801353,"cg_vq_v":-8.45801353,"cg_vu_v":1.31967759,"cg_vv_v":8.79785156,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2408.64087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8082275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":818.087037,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":818.087042,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":818.087047,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":818.354858,"values":{"Elec_RPM":-2349.45435,"EncoderCos":34555,"EncoderSin":52552,"GapTicks":49491,"Mech_RPM":-469.890869,"cg_du":47.8643951,"cg_dv":55.0076523,"cg_dw":44.9923477,"cg_id_a":8.00194073,"cg_id_raw_a":2.40953279,"cg_iq_a":-200.058365,"cg_iq_raw_a":-199.176392,"cg_iu_a":-128.518097,"cg_iv_a":198.03299,"cg_iw_a":-69.5148849,"cg_sample_age_us":23.8963642,"cg_sample_seq":5457416,"cg_sample_valid":1,"cg_theta_rad":1.47939134,"cg_vd_req_v":-2.07320428,"cg_vd_v":-2.07320428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39231873,"cg_vq_v":-8.39231873,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2466.77856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":818.87439,"values":{"Elec_RPM":-2340.96411,"EncoderCos":26520,"EncoderSin":13726,"GapTicks":49410,"Mech_RPM":-468.19281,"cg_du":44.9189835,"cg_dv":48.0381203,"cg_dw":55.0810165,"cg_id_a":7.87983799,"cg_id_raw_a":1.13379419,"cg_iq_a":-196.532791,"cg_iq_raw_a":-195.903137,"cg_iu_a":-84.4456024,"cg_iv_a":-110.692001,"cg_iw_a":195.137604,"cg_sample_age_us":23.8454552,"cg_sample_seq":5460066,"cg_sample_valid":1,"cg_theta_rad":4.40020084,"cg_vd_req_v":-2.09582925,"cg_vd_v":-2.09582925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44327164,"cg_vq_v":-8.44327164,"cg_vu_v":14.0765619,"cg_vv_v":0.87978512,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.9099503,"dclink_p_w":-2584.13281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":818.982888,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":818.982897,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":818.9829,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":819.078971,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":819.078977,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":819.078983,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":819.290405,"values":{"Elec_RPM":-2342.24146,"EncoderCos":40321,"EncoderSin":51105,"GapTicks":49399,"Mech_RPM":-468.448303,"cg_du":55.0915833,"cg_dv":48.5479469,"cg_dw":44.9084167,"cg_id_a":-10.5583963,"cg_id_raw_a":-8.40259266,"cg_iq_a":-195.843094,"cg_iq_raw_a":-197.077591,"cg_iu_a":122.687912,"cg_iv_a":76.5798798,"cg_iw_a":-199.267792,"cg_sample_age_us":23.8600006,"cg_sample_seq":5462120,"cg_sample_valid":1,"cg_theta_rad":1.22545171,"cg_vd_req_v":-1.68727684,"cg_vd_v":-1.68727684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4566164,"cg_vq_v":-8.4566164,"cg_vu_v":39.590332,"cg_vv_v":41.3499031,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2360.83618,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":819.622437,"values":{"Elec_RPM":-2346.80762,"EncoderCos":13361,"EncoderSin":38098,"GapTicks":49303,"Mech_RPM":-469.361542,"cg_du":44.8217468,"cg_dv":55.1782532,"cg_dw":49.4548607,"cg_id_a":-11.6073046,"cg_id_raw_a":-10.756135,"cg_iq_a":-195.174393,"cg_iq_raw_a":-195.543625,"cg_iu_a":-187.486816,"cg_iv_a":142.507431,"cg_iw_a":44.9793854,"cg_sample_age_us":23.9472733,"cg_sample_seq":5463716,"cg_sample_valid":1,"cg_theta_rad":2.87369037,"cg_vd_req_v":-1.62149477,"cg_vd_v":-1.62149477,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51654816,"cg_vq_v":-8.51654816,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2465.46338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":819.954468,"values":{"Elec_RPM":-2348.21167,"EncoderCos":18337,"EncoderSin":46646,"GapTicks":50061,"Mech_RPM":-469.642334,"cg_du":54.48946,"cg_dv":45.5313873,"cg_dw":45.51054,"cg_id_a":11.0668373,"cg_id_raw_a":17.7418499,"cg_iq_a":-200.768158,"cg_iq_raw_a":-203.224579,"cg_iu_a":180.859253,"cg_iv_a":-14.1384277,"cg_iw_a":-166.720825,"cg_sample_age_us":23.8999996,"cg_sample_seq":5465516,"cg_sample_valid":1,"cg_theta_rad":2.37888646,"cg_vd_req_v":-2.109869,"cg_vd_v":-2.109869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39193916,"cg_vq_v":-8.39193916,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2491.57202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8011475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":820.103293,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":820.103299,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":820.103304,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":820.288452,"values":{"Elec_RPM":-2349.66992,"EncoderCos":19797,"EncoderSin":17275,"GapTicks":49767,"Mech_RPM":-469.93399,"cg_du":46.6260567,"cg_dv":54.7571144,"cg_dw":45.2428856,"cg_id_a":10.3249435,"cg_id_raw_a":10.0673437,"cg_iq_a":-204.873093,"cg_iq_raw_a":-203.63942,"cg_iu_a":-154.541168,"cg_iv_a":195.097229,"cg_iw_a":-40.5560532,"cg_sample_age_us":23.9981823,"cg_sample_seq":5467116,"cg_sample_valid":1,"cg_theta_rad":4.02596712,"cg_vd_req_v":-2.11781764,"cg_vd_v":-2.11781764,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29836655,"cg_vq_v":-8.29836655,"cg_vu_v":14.9563465,"cg_vv_v":24.1940918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-15.9147282,"dclink_p_w":-2296.25269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7976379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":820.640015,"values":{"Elec_RPM":-2349.61768,"EncoderCos":20190,"EncoderSin":16938,"GapTicks":50094,"Mech_RPM":-469.923553,"cg_du":45.5919762,"cg_dv":54.459877,"cg_dw":45.540123,"cg_id_a":10.6015778,"cg_id_raw_a":10.7990599,"cg_iq_a":-205.401016,"cg_iq_raw_a":-206.864548,"cg_iu_a":-166.175446,"cg_iv_a":185.347656,"cg_iw_a":-19.1722031,"cg_sample_age_us":24.0090904,"cg_sample_seq":5468867,"cg_sample_valid":1,"cg_theta_rad":4.04887199,"cg_vd_req_v":-2.11596918,"cg_vd_v":-2.11596918,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31617737,"cg_vq_v":-8.31617737,"cg_vu_v":128.008743,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8046875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":820.972046,"values":{"Elec_RPM":-2347.41748,"EncoderCos":41447,"EncoderSin":14679,"GapTicks":49354,"Mech_RPM":-469.48349,"cg_du":50.5523796,"cg_dv":55.1319923,"cg_dw":44.8680077,"cg_id_a":-18.326889,"cg_id_raw_a":-16.0020466,"cg_iq_a":-195.16864,"cg_iq_raw_a":-195.216095,"cg_iu_a":-34.2841339,"cg_iv_a":185.891296,"cg_iw_a":-151.607162,"cg_sample_age_us":23.863636,"cg_sample_seq":5470516,"cg_sample_valid":1,"cg_theta_rad":5.18123436,"cg_vd_req_v":-1.57151067,"cg_vd_v":-1.57151067,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47443867,"cg_vq_v":-8.47443867,"cg_vu_v":121.410347,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2472.04004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":42.8846436,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":821.094785,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":821.09479,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":821.094796,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":821.325562,"values":{"Elec_RPM":-2342.37061,"EncoderCos":42175,"EncoderSin":15085,"GapTicks":49439,"Mech_RPM":-468.474121,"cg_du":48.8890572,"cg_dv":55.0551338,"cg_dw":44.9448662,"cg_id_a":-12.7379055,"cg_id_raw_a":-16.3006268,"cg_iq_a":-200.838486,"cg_iq_raw_a":-200.247665,"cg_iu_a":-85.6416473,"cg_iv_a":201.149948,"cg_iw_a":-115.508301,"cg_sample_age_us":23.863636,"cg_sample_seq":5472266,"cg_sample_valid":1,"cg_theta_rad":5.22282791,"cg_vd_req_v":-1.72126651,"cg_vd_v":-1.72126651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33977032,"cg_vq_v":-8.33977032,"cg_vu_v":125.809273,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8153076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":821.657593,"values":{"Elec_RPM":-2345.77417,"EncoderCos":50080,"EncoderSin":23071,"GapTicks":49394,"Mech_RPM":-469.154816,"cg_du":48.5377808,"cg_dv":44.9037933,"cg_dw":55.0962067,"cg_id_a":-11.4730711,"cg_id_raw_a":-10.1892214,"cg_iq_a":-199.130829,"cg_iq_raw_a":-201.457703,"cg_iu_a":24.1771698,"cg_iv_a":-181.331223,"cg_iw_a":157.154053,"cg_sample_age_us":23.8818188,"cg_sample_seq":5473967,"cg_sample_valid":1,"cg_theta_rad":5.79054737,"cg_vd_req_v":-1.73044121,"cg_vd_v":-1.73044121,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43051815,"cg_vq_v":-8.43051815,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2539.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":821.989624,"values":{"Elec_RPM":-2345.68823,"EncoderCos":52413,"EncoderSin":34280,"GapTicks":49832,"Mech_RPM":-469.137634,"cg_du":53.7864609,"cg_dv":54.6975174,"cg_dw":45.3024826,"cg_id_a":6.9997592,"cg_id_raw_a":10.8877201,"cg_iq_a":-200.559616,"cg_iq_raw_a":-202.251907,"cg_iu_a":6.74388695,"cg_iv_a":169.219131,"cg_iw_a":-175.963013,"cg_sample_age_us":23.48909,"cg_sample_seq":5475666,"cg_sample_valid":1,"cg_theta_rad":0.0878388658,"cg_vd_req_v":-2.07200527,"cg_vd_v":-2.07200527,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40707302,"cg_vq_v":-8.40707302,"cg_vu_v":3.95903301,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.551136,"dclink_p_w":-2540.08203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8188171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":822.086759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":822.086765,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":822.08677,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":822.341187,"values":{"Elec_RPM":-2353.95215,"EncoderCos":48368,"EncoderSin":45044,"GapTicks":49695,"Mech_RPM":-470.790405,"cg_du":45.1781616,"cg_dv":46.8853989,"cg_dw":54.8218384,"cg_id_a":18.3404007,"cg_id_raw_a":18.2368908,"cg_iq_a":-202.910187,"cg_iq_raw_a":-201.953674,"cg_iu_a":-35.1902313,"cg_iv_a":-157.917709,"cg_iw_a":193.107941,"cg_sample_age_us":23.4854546,"cg_sample_seq":5477366,"cg_sample_valid":1,"cg_theta_rad":0.67303133,"cg_vd_req_v":-2.30959749,"cg_vd_v":-2.30959749,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31126213,"cg_vq_v":-8.31126213,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":822.675171,"values":{"Elec_RPM":-2349.39844,"EncoderCos":39122,"EncoderSin":51496,"GapTicks":49373,"Mech_RPM":-469.879669,"cg_du":55.1148415,"cg_dv":51.1338501,"cg_dw":44.8851585,"cg_id_a":-1.95652723,"cg_id_raw_a":-4.6655283,"cg_iq_a":-200.712814,"cg_iq_raw_a":-200.46347,"cg_iu_a":104.348534,"cg_iv_a":100.065895,"cg_iw_a":-204.414429,"cg_sample_age_us":23.8854542,"cg_sample_seq":5479066,"cg_sample_valid":1,"cg_theta_rad":1.24315071,"cg_vd_req_v":-1.89707601,"cg_vd_v":-1.89707601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37905884,"cg_vq_v":-8.37905884,"cg_vu_v":27.7132301,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7160473,"dclink_p_w":-2563.94873,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":823.007202,"values":{"Elec_RPM":-2353.11572,"EncoderCos":27856,"EncoderSin":52156,"GapTicks":49389,"Mech_RPM":-470.623169,"cg_du":44.899456,"cg_dv":50.9800797,"cg_dw":55.100544,"cg_id_a":-13.2499304,"cg_id_raw_a":-12.2773657,"cg_iq_a":-200.242325,"cg_iq_raw_a":-201.066254,"cg_iu_a":-156.897034,"cg_iv_a":-31.4992218,"cg_iw_a":188.396255,"cg_sample_age_us":23.8963642,"cg_sample_seq":5480766,"cg_sample_valid":1,"cg_theta_rad":1.81635737,"cg_vd_req_v":-1.60996652,"cg_vd_v":-1.60996652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42352104,"cg_vq_v":-8.42352104,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2423.63574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":823.111363,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":823.111369,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":823.111375,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":823.360718,"values":{"Elec_RPM":-2352.55591,"EncoderCos":18003,"EncoderSin":46335,"GapTicks":49905,"Mech_RPM":-470.511169,"cg_du":54.6317825,"cg_dv":46.1241226,"cg_dw":45.3682175,"cg_id_a":1.91543758,"cg_id_raw_a":8.80701923,"cg_iq_a":-198.471771,"cg_iq_raw_a":-202.528336,"cg_iu_a":175.531418,"cg_iv_a":-10.4415436,"cg_iw_a":-165.089874,"cg_sample_age_us":23.9072723,"cg_sample_seq":5482466,"cg_sample_valid":1,"cg_theta_rad":2.39030147,"cg_vd_req_v":-2.02435946,"cg_vd_v":-1.91294134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38147545,"cg_vq_v":-8.42351055,"cg_vu_v":107.333786,"cg_vv_v":104.254532,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8011475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":823.692749,"values":{"Elec_RPM":-2347.33374,"EncoderCos":13053,"EncoderSin":36651,"GapTicks":49512,"Mech_RPM":-469.466736,"cg_du":45.0113029,"cg_dv":54.9886971,"cg_dw":52.3364906,"cg_id_a":5.87460995,"cg_id_raw_a":4.14506054,"cg_iq_a":-199.078979,"cg_iq_raw_a":-198.805466,"cg_iu_a":-195.061768,"cg_iv_a":60.0526886,"cg_iw_a":135.009079,"cg_sample_age_us":23.9254551,"cg_sample_seq":5484168,"cg_sample_valid":1,"cg_theta_rad":2.96087909,"cg_vd_req_v":-1.99117029,"cg_vd_v":-1.99117029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40352821,"cg_vq_v":-8.40352821,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.5979233,"dclink_p_w":-2402.12866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8099976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":824.044312,"values":{"Elec_RPM":-2353.94995,"EncoderCos":13937,"EncoderSin":25766,"GapTicks":49328,"Mech_RPM":-470.789978,"cg_du":55.1557579,"cg_dv":44.8442421,"cg_dw":50.529335,"cg_id_a":-16.6234722,"cg_id_raw_a":-14.4175415,"cg_iq_a":-196.55603,"cg_iq_raw_a":-196.491287,"cg_iu_a":198.075073,"cg_iv_a":-101.413574,"cg_iw_a":-96.661499,"cg_sample_age_us":23.9727268,"cg_sample_seq":5485870,"cg_sample_valid":1,"cg_theta_rad":3.5475359,"cg_vd_req_v":-1.55948949,"cg_vd_v":-1.55948949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48904514,"cg_vq_v":-8.48904514,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.365963,"dclink_p_w":-2368.55835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7799683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":824.103447,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":824.103453,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":824.103458,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":824.378296,"values":{"Elec_RPM":-2355.11279,"EncoderCos":14482,"EncoderSin":24361,"GapTicks":49453,"Mech_RPM":-471.022583,"cg_du":55.042099,"cg_dv":44.957901,"cg_dw":47.762825,"cg_id_a":11.6728296,"cg_id_raw_a":6.23580265,"cg_iq_a":-198.810562,"cg_iq_raw_a":-196.674423,"cg_iu_a":195.46553,"cg_iv_a":-62.1977539,"cg_iw_a":-133.267776,"cg_sample_age_us":24.045454,"cg_sample_seq":5487617,"cg_sample_valid":1,"cg_theta_rad":3.57896447,"cg_vd_req_v":-2.14437819,"cg_vd_v":-2.14437819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42963791,"cg_vq_v":-8.42963791,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2512.22827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8312073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":824.710327,"values":{"Elec_RPM":-2355.16699,"EncoderCos":42258,"EncoderSin":15107,"GapTicks":49406,"Mech_RPM":-471.033417,"cg_du":48.8041077,"cg_dv":55.0853081,"cg_dw":44.9146919,"cg_id_a":-8.46467495,"cg_id_raw_a":-11.4113636,"cg_iq_a":-201.725021,"cg_iq_raw_a":-201.018417,"cg_iu_a":-95.427475,"cg_iv_a":202.092285,"cg_iw_a":-120.075027,"cg_sample_age_us":23.954546,"cg_sample_seq":5489217,"cg_sample_valid":1,"cg_theta_rad":5.22355986,"cg_vd_req_v":-1.82606351,"cg_vd_v":-1.82606351,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3528738,"cg_vq_v":-8.3528738,"cg_vu_v":120.090675,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.364151,"dclink_p_w":-2361.09766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8082275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":825.06189,"values":{"Elec_RPM":-2353.6936,"EncoderCos":49869,"EncoderSin":22693,"GapTicks":49585,"Mech_RPM":-470.738708,"cg_du":47.4944954,"cg_dv":45.0777893,"cg_dw":54.9222107,"cg_id_a":-6.46668625,"cg_id_raw_a":0.0148772756,"cg_iq_a":-204.272079,"cg_iq_raw_a":-205.379639,"cg_iu_a":47.5181961,"cg_iv_a":-187.963837,"cg_iw_a":151.391296,"cg_sample_age_us":23.9254551,"cg_sample_seq":5490921,"cg_sample_valid":1,"cg_theta_rad":5.80942631,"cg_vd_req_v":-1.82825732,"cg_vd_v":-1.82825732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3496685,"cg_vq_v":-8.3496685,"cg_vu_v":138.126266,"cg_vv_v":137.246475,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":825.095306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":825.095312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":825.095318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":825.395874,"values":{"Elec_RPM":-2352.09033,"EncoderCos":52378,"EncoderSin":34552,"GapTicks":49666,"Mech_RPM":-470.41806,"cg_du":53.0327377,"cg_dv":54.8486633,"cg_dw":45.1513367,"cg_id_a":-1.95221519,"cg_id_raw_a":5.49846077,"cg_iq_a":-199.570313,"cg_iq_raw_a":-200.400833,"cg_iu_a":1.52477455,"cg_iv_a":169.581573,"cg_iw_a":-171.106354,"cg_sample_age_us":23.4963627,"cg_sample_seq":5492617,"cg_sample_valid":1,"cg_theta_rad":0.103883743,"cg_vd_req_v":-1.89013648,"cg_vd_v":-1.89013648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40501595,"cg_vq_v":-8.40501595,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":825.725952,"values":{"Elec_RPM":-2351.76489,"EncoderCos":52317,"EncoderSin":35365,"GapTicks":49352,"Mech_RPM":-470.352997,"cg_du":51.0946884,"cg_dv":55.1343079,"cg_dw":44.8656921,"cg_id_a":-10.5909128,"cg_id_raw_a":-12.1743813,"cg_iq_a":-195.33606,"cg_iq_raw_a":-194.315369,"cg_iu_a":-31.0946751,"cg_iv_a":182.55687,"cg_iw_a":-151.462189,"cg_sample_age_us":23.5,"cg_sample_seq":5494367,"cg_sample_valid":1,"cg_theta_rad":0.137921706,"cg_vd_req_v":-1.7299459,"cg_vd_v":-1.7299459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47002983,"cg_vq_v":-8.47002983,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-16.173872,"dclink_p_w":-2347.8728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":826.079468,"values":{"Elec_RPM":-2355.52686,"EncoderCos":38779,"EncoderSin":51684,"GapTicks":49435,"Mech_RPM":-471.105347,"cg_du":55.0589256,"cg_dv":51.8069839,"cg_dw":44.9410744,"cg_id_a":6.52993202,"cg_id_raw_a":3.92279124,"cg_iq_a":-203.601547,"cg_iq_raw_a":-204.716248,"cg_iu_a":79.2315521,"cg_iv_a":123.189468,"cg_iw_a":-202.421021,"cg_sample_age_us":23.8090916,"cg_sample_seq":5496016,"cg_sample_valid":1,"cg_theta_rad":1.26506734,"cg_vd_req_v":-2.07156062,"cg_vd_v":-2.07156062,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35276318,"cg_vq_v":-8.35276318,"cg_vu_v":39.590332,"cg_vv_v":44.4291458,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2404.95825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8011475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":826.086867,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":826.086873,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":826.086878,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":826.411499,"values":{"Elec_RPM":-2356.73779,"EncoderCos":38026,"EncoderSin":51881,"GapTicks":49719,"Mech_RPM":-471.347565,"cg_du":54.8007164,"cg_dv":53.3513985,"cg_dw":45.1992836,"cg_id_a":14.6476402,"cg_id_raw_a":14.0902147,"cg_iq_a":-203.610016,"cg_iq_raw_a":-203.791275,"cg_iu_a":34.8691025,"cg_iv_a":157.222412,"cg_iw_a":-195.027283,"cg_sample_age_us":23.8963642,"cg_sample_seq":5497766,"cg_sample_valid":1,"cg_theta_rad":1.30237293,"cg_vd_req_v":-2.21131682,"cg_vd_v":-2.21131682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36234283,"cg_vq_v":-8.36234283,"cg_vu_v":13.6366701,"cg_vv_v":35.6312981,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":826.74353,"values":{"Elec_RPM":-2351.8269,"EncoderCos":26796,"EncoderSin":51855,"GapTicks":49407,"Mech_RPM":-470.365387,"cg_du":44.9156418,"cg_dv":48.6448174,"cg_dw":55.0843582,"cg_id_a":-8.63466167,"cg_id_raw_a":-14.4085226,"cg_iq_a":-197.837799,"cg_iq_raw_a":-197.275574,"cg_iu_a":-105.249557,"cg_iv_a":-77.4926453,"cg_iw_a":197.964615,"cg_sample_age_us":23.8600006,"cg_sample_seq":5499467,"cg_sample_valid":1,"cg_theta_rad":1.8687197,"cg_vd_req_v":-1.71886313,"cg_vd_v":-1.71886313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42308044,"cg_vq_v":-8.42308044,"cg_vu_v":113.052383,"cg_vv_v":125.809273,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8259277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":827.079516,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":827.079522,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":827.079527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":827.095093,"values":{"Elec_RPM":-2350.8291,"EncoderCos":12874,"EncoderSin":35764,"GapTicks":49945,"Mech_RPM":-470.165833,"cg_du":45.404995,"cg_dv":54.595005,"cg_dw":54.1627617,"cg_id_a":9.66143131,"cg_id_raw_a":8.98320007,"cg_iq_a":-200.664948,"cg_iq_raw_a":-201.100098,"cg_iu_a":-186.870667,"cg_iv_a":25.1136322,"cg_iw_a":161.757034,"cg_sample_age_us":23.9290905,"cg_sample_seq":5501116,"cg_sample_valid":1,"cg_theta_rad":2.99466062,"cg_vd_req_v":-2.05931807,"cg_vd_v":-2.05931807,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39045525,"cg_vq_v":-8.39045525,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2505.42993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":827.429077,"values":{"Elec_RPM":-2352.47412,"EncoderCos":12832,"EncoderSin":35226,"GapTicks":49818,"Mech_RPM":-470.494812,"cg_du":45.2895889,"cg_dv":53.6834259,"cg_dw":54.7104111,"cg_id_a":7.58028173,"cg_id_raw_a":9.5720129,"cg_iq_a":-202.310272,"cg_iq_raw_a":-201.460342,"cg_iu_a":-178.063416,"cg_iv_a":6.95547485,"cg_iw_a":171.107941,"cg_sample_age_us":23.8999996,"cg_sample_seq":5502867,"cg_sample_valid":1,"cg_theta_rad":3.02057886,"cg_vd_req_v":-1.99625802,"cg_vd_v":-1.99625802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37595177,"cg_vq_v":-8.37595177,"cg_vu_v":128.448624,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":827.782593,"values":{"Elec_RPM":-2351.16602,"EncoderCos":14365,"EncoderSin":24572,"GapTicks":49418,"Mech_RPM":-470.233185,"cg_du":55.0736809,"cg_dv":44.9263191,"cg_dw":48.2515068,"cg_id_a":7.17894363,"cg_id_raw_a":2.83131528,"cg_iq_a":-198.071381,"cg_iq_raw_a":-197.635376,"cg_iu_a":190.71759,"cg_iv_a":-40.8138885,"cg_iw_a":-151.353455,"cg_sample_age_us":26.2527275,"cg_sample_seq":5504570,"cg_sample_valid":1,"cg_theta_rad":3.60811496,"cg_vd_req_v":-2.05386782,"cg_vd_v":-2.05386782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42453957,"cg_vq_v":-8.42453957,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-17.5076447,"dclink_p_w":-2526.08618,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7781982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":828.070934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":828.070941,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":828.070946,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":828.114624,"values":{"Elec_RPM":-2342.16992,"EncoderCos":22353,"EncoderSin":15563,"GapTicks":49402,"Mech_RPM":-468.43399,"cg_du":44.9112778,"cg_dv":55.0887222,"cg_dw":51.3430748,"cg_id_a":-5.98681116,"cg_id_raw_a":-11.9658985,"cg_iq_a":-197.983337,"cg_iq_raw_a":-196.937881,"cg_iu_a":-197.562592,"cg_iv_a":106.553528,"cg_iw_a":91.0090637,"cg_sample_age_us":23.9618187,"cg_sample_seq":5506267,"cg_sample_valid":1,"cg_theta_rad":4.17744923,"cg_vd_req_v":-1.80211997,"cg_vd_v":-1.80211997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41122437,"cg_vq_v":-8.41122437,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2517.19629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":828.62439,"values":{"Elec_RPM":-2336.78491,"EncoderCos":12960,"EncoderSin":36100,"GapTicks":49741,"Mech_RPM":-467.356964,"cg_du":45.2197456,"cg_dv":54.7802544,"cg_dw":53.4627876,"cg_id_a":10.1373453,"cg_id_raw_a":8.97518921,"cg_iq_a":-199.053802,"cg_iq_raw_a":-198.198318,"cg_iu_a":-188.864075,"cg_iv_a":39.6111603,"cg_iw_a":149.252914,"cg_sample_age_us":23.9400005,"cg_sample_seq":5508717,"cg_sample_valid":1,"cg_theta_rad":2.97904563,"cg_vd_req_v":-2.06300807,"cg_vd_v":-2.06300807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40962219,"cg_vq_v":-8.40962219,"cg_vu_v":116.131638,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2403.9646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":828.966818,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":828.966828,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":828.966831,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":829.095088,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":829.095093,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":829.095099,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":829.108765,"values":{"Elec_RPM":-2342.85962,"EncoderCos":39318,"EncoderSin":51474,"GapTicks":49333,"Mech_RPM":-468.57193,"cg_du":55.1513786,"cg_dv":50.7411346,"cg_dw":44.8486214,"cg_id_a":-3.14125395,"cg_id_raw_a":-6.30918264,"cg_iq_a":-199.347702,"cg_iq_raw_a":-196.571045,"cg_iu_a":111.452324,"cg_iv_a":88.2866287,"cg_iw_a":-199.738953,"cg_sample_age_us":23.9254551,"cg_sample_seq":5511217,"cg_sample_valid":1,"cg_theta_rad":1.23572612,"cg_vd_req_v":-1.87644124,"cg_vd_v":-1.87644124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43203735,"cg_vq_v":-8.43203735,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2469.67236,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7835083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":829.440796,"values":{"Elec_RPM":-2346.29932,"EncoderCos":27947,"EncoderSin":52162,"GapTicks":49411,"Mech_RPM":-469.259857,"cg_du":44.9192963,"cg_dv":51.1802063,"cg_dw":55.0807037,"cg_id_a":-12.4062138,"cg_id_raw_a":-10.6454849,"cg_iq_a":-199.030914,"cg_iq_raw_a":-198.008255,"cg_iu_a":-157.186981,"cg_iv_a":-25.7726898,"cg_iw_a":182.52475,"cg_sample_age_us":23.8600006,"cg_sample_seq":5512917,"cg_sample_valid":1,"cg_theta_rad":1.81153452,"cg_vd_req_v":-1.61326802,"cg_vd_v":-1.61326802,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41329193,"cg_vq_v":-8.41329193,"cg_vu_v":112.612495,"cg_vv_v":128.008743,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2517.5271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":829.77478,"values":{"Elec_RPM":-2346.34424,"EncoderCos":13111,"EncoderSin":36888,"GapTicks":49361,"Mech_RPM":-469.268829,"cg_du":44.8744965,"cg_dv":55.1255035,"cg_dw":51.4666634,"cg_id_a":-0.160190821,"cg_id_raw_a":-2.44452953,"cg_iq_a":-197.495438,"cg_iq_raw_a":-197.941742,"cg_iu_a":-196.584015,"cg_iv_a":97.9275055,"cg_iw_a":98.6565094,"cg_sample_age_us":23.8454552,"cg_sample_seq":5514567,"cg_sample_valid":1,"cg_theta_rad":2.92817378,"cg_vd_req_v":-1.81451261,"cg_vd_v":-1.81451261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46278954,"cg_vq_v":-8.46278954,"cg_vu_v":1.31967759,"cg_vv_v":16.7159176,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2495.23438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8206177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":830.087465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":830.08747,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":830.087474,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":830.126343,"values":{"Elec_RPM":-2351.25317,"EncoderCos":12955,"EncoderSin":36158,"GapTicks":49682,"Mech_RPM":-470.250641,"cg_du":45.1657562,"cg_dv":54.8342438,"cg_dw":53.3803749,"cg_id_a":8.7829113,"cg_id_raw_a":8.23707485,"cg_iq_a":-198.950821,"cg_iq_raw_a":-199.8022,"cg_iu_a":-191.654846,"cg_iv_a":44.2866211,"cg_iw_a":147.368225,"cg_sample_age_us":23.9363632,"cg_sample_seq":5516316,"cg_sample_valid":1,"cg_theta_rad":2.97281194,"cg_vd_req_v":-2.05176783,"cg_vd_v":-2.05176783,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43989944,"cg_vq_v":-8.43989944,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8418274,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":830.458374,"values":{"Elec_RPM":-2350.05591,"EncoderCos":20881,"EncoderSin":16451,"GapTicks":49544,"Mech_RPM":-470.0112,"cg_du":45.0403557,"cg_dv":54.9596443,"cg_dw":47.580162,"cg_id_a":-5.39796686,"cg_id_raw_a":1.34611022,"cg_iq_a":-198.364746,"cg_iq_raw_a":-200.103775,"cg_iu_a":-173.714157,"cg_iv_a":167.044495,"cg_iw_a":6.66965485,"cg_sample_age_us":23.9581814,"cg_sample_seq":5517966,"cg_sample_valid":1,"cg_theta_rad":4.09303856,"cg_vd_req_v":-1.76250744,"cg_vd_v":-1.76250744,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42849255,"cg_vq_v":-8.42849255,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.7302151,"dclink_p_w":-2406.55542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":830.790405,"values":{"Elec_RPM":-2350.62793,"EncoderCos":31349,"EncoderSin":12791,"GapTicks":49715,"Mech_RPM":-470.12561,"cg_du":53.4288788,"cg_dv":45.1960106,"cg_dw":54.8039894,"cg_id_a":17.6503849,"cg_id_raw_a":13.7896233,"cg_iq_a":-201.668564,"cg_iq_raw_a":-200.83989,"cg_iu_a":158.750519,"cg_iv_a":-189.413605,"cg_iw_a":30.6630783,"cg_sample_age_us":23.59091,"cg_sample_seq":5519667,"cg_sample_valid":1,"cg_theta_rad":4.65758896,"cg_vd_req_v":-2.27502751,"cg_vd_v":-2.27502751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35237503,"cg_vq_v":-8.35237503,"cg_vu_v":108.653458,"cg_vv_v":106.014107,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2471.10547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":831.079612,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":831.079618,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":831.079623,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":831.143921,"values":{"Elec_RPM":-2347.07715,"EncoderCos":42527,"EncoderSin":15312,"GapTicks":49440,"Mech_RPM":-469.415436,"cg_du":48.2103233,"cg_dv":55.0540047,"cg_dw":44.9459953,"cg_id_a":-0.515140176,"cg_id_raw_a":-8.22386646,"cg_iq_a":-201.24173,"cg_iq_raw_a":-200.45578,"cg_iu_a":-116.59388,"cg_iv_a":202.056046,"cg_iw_a":-85.4621658,"cg_sample_age_us":23.9872723,"cg_sample_seq":5521366,"cg_sample_valid":1,"cg_theta_rad":5.24200678,"cg_vd_req_v":-1.98659718,"cg_vd_v":-1.98659718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38860893,"cg_vq_v":-8.38860893,"cg_vu_v":38.7105446,"cg_vv_v":54.5466805,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":831.477905,"values":{"Elec_RPM":-2348.70703,"EncoderCos":50327,"EncoderSin":23603,"GapTicks":49311,"Mech_RPM":-469.741394,"cg_du":49.7992859,"cg_dv":44.8286476,"cg_dw":55.1713524,"cg_id_a":-9.44777107,"cg_id_raw_a":-12.9367971,"cg_iq_a":-195.429413,"cg_iq_raw_a":-195.104584,"cg_iu_a":56.8691101,"cg_iv_a":-190.464661,"cg_iw_a":133.595551,"cg_sample_age_us":23.7800007,"cg_sample_seq":5523067,"cg_sample_valid":1,"cg_theta_rad":5.81935263,"cg_vd_req_v":-1.78472078,"cg_vd_v":-1.78472078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48480797,"cg_vq_v":-8.48480797,"cg_vu_v":105.134323,"cg_vv_v":80.5003433,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2454.32031,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8259277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":831.829468,"values":{"Elec_RPM":-2350.81567,"EncoderCos":52428,"EncoderSin":34184,"GapTicks":49964,"Mech_RPM":-470.163147,"cg_du":53.9356041,"cg_dv":54.5780983,"cg_dw":45.4219017,"cg_id_a":5.45989895,"cg_id_raw_a":8.87771893,"cg_iq_a":-204.553741,"cg_iq_raw_a":-204.170609,"cg_iu_a":-4.41921425,"cg_iv_a":174.764435,"cg_iw_a":-170.345215,"cg_sample_age_us":23.3945446,"cg_sample_seq":5524769,"cg_sample_valid":1,"cg_theta_rad":0.114855096,"cg_vd_req_v":-2.04954219,"cg_vd_v":-2.04954219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29156971,"cg_vq_v":-8.29156971,"cg_vu_v":29.912693,"cg_vv_v":27.7132301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2487.62842,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":832.103421,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":832.103427,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":832.103433,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":832.161499,"values":{"Elec_RPM":-2347.83325,"EncoderCos":48236,"EncoderSin":45206,"GapTicks":49824,"Mech_RPM":-469.56665,"cg_du":45.2954483,"cg_dv":46.4339027,"cg_dw":54.7045517,"cg_id_a":15.9680481,"cg_id_raw_a":17.2805099,"cg_iq_a":-206.956604,"cg_iq_raw_a":-203.609619,"cg_iu_a":-30.4422874,"cg_iv_a":-162.919357,"cg_iw_a":193.361649,"cg_sample_age_us":23.5036373,"cg_sample_seq":5526467,"cg_sample_valid":1,"cg_theta_rad":0.680682003,"cg_vd_req_v":-2.27078915,"cg_vd_v":-2.27078915,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27599049,"cg_vq_v":-8.27599049,"cg_vu_v":98.0960464,"cg_vv_v":73.0221634,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.7269192,"dclink_p_w":-2557.72437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":832.49353,"values":{"Elec_RPM":-2346.31104,"EncoderCos":38809,"EncoderSin":51644,"GapTicks":49464,"Mech_RPM":-469.262207,"cg_du":55.0323105,"cg_dv":51.7185287,"cg_dw":44.9676895,"cg_id_a":6.45749044,"cg_id_raw_a":1.41348755,"cg_iq_a":-202.491653,"cg_iq_raw_a":-199.919434,"cg_iu_a":79.7752075,"cg_iv_a":119.093903,"cg_iw_a":-198.86911,"cg_sample_age_us":23.8999996,"cg_sample_seq":5528167,"cg_sample_valid":1,"cg_theta_rad":1.26094329,"cg_vd_req_v":-2.05885768,"cg_vd_v":-2.05885768,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34747696,"cg_vq_v":-8.34747696,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2460.72803,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":832.847046,"values":{"Elec_RPM":-2347.87036,"EncoderCos":19187,"EncoderSin":47469,"GapTicks":49444,"Mech_RPM":-469.574066,"cg_du":55.0507164,"cg_dv":44.9492836,"cg_dw":48.0307579,"cg_id_a":11.4439859,"cg_id_raw_a":6.02745962,"cg_iq_a":-201.709229,"cg_iq_raw_a":-201.437119,"cg_iu_a":183.722534,"cg_iv_a":-25.3377686,"cg_iw_a":-164.872406,"cg_sample_age_us":23.8890915,"cg_sample_seq":5529822,"cg_sample_valid":1,"cg_theta_rad":2.36942601,"cg_vd_req_v":-2.16954851,"cg_vd_v":-2.16954851,"cg_vdc_v":143.404984,"cg_vlimit_scale":1,"cg_vq_req_v":-8.348032,"cg_vq_v":-8.348032,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2391.16699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":833.095102,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":833.095131,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":833.095137,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":833.177124,"values":{"Elec_RPM":-2348.6106,"EncoderCos":17729,"EncoderSin":45996,"GapTicks":49490,"Mech_RPM":-469.722137,"cg_du":55.0088997,"cg_dv":47.7042961,"cg_dw":44.9911003,"cg_id_a":-6.15582561,"cg_id_raw_a":-2.16627789,"cg_iq_a":-198.099182,"cg_iq_raw_a":-201.005981,"cg_iu_a":164.803253,"cg_iv_a":1.66387939,"cg_iw_a":-171.070099,"cg_sample_age_us":23.8454552,"cg_sample_seq":5531566,"cg_sample_valid":1,"cg_theta_rad":2.41875911,"cg_vd_req_v":-1.76747489,"cg_vd_v":-1.76747489,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4494524,"cg_vq_v":-8.4494524,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2520.07227,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8153076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":833.511108,"values":{"Elec_RPM":-2349.78906,"EncoderCos":14077,"EncoderSin":25308,"GapTicks":49336,"Mech_RPM":-469.957825,"cg_du":55.1482964,"cg_dv":44.8517036,"cg_dw":49.5129013,"cg_id_a":-14.5533466,"cg_id_raw_a":-19.5709381,"cg_iq_a":-196.090683,"cg_iq_raw_a":-194.710861,"cg_iu_a":192.674744,"cg_iv_a":-129.212585,"cg_iw_a":-63.4621582,"cg_sample_age_us":24.0709095,"cg_sample_seq":5533217,"cg_sample_valid":1,"cg_theta_rad":3.52634382,"cg_vd_req_v":-1.60743105,"cg_vd_v":-1.60743105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46506405,"cg_vq_v":-8.46506405,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.1919937,"dclink_p_w":-2350.50342,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":833.862671,"values":{"Elec_RPM":-2347.90405,"EncoderCos":14306,"EncoderSin":24786,"GapTicks":49387,"Mech_RPM":-469.580811,"cg_du":55.1024399,"cg_dv":44.8975601,"cg_dw":48.517231,"cg_id_a":-1.7760911,"cg_id_raw_a":-8.45158577,"cg_iq_a":-196.43251,"cg_iq_raw_a":-196.571304,"cg_iu_a":196.480347,"cg_iv_a":-80.0659561,"cg_iw_a":-116.414391,"cg_sample_age_us":24.0781822,"cg_sample_seq":5534968,"cg_sample_valid":1,"cg_theta_rad":3.56310296,"cg_vd_req_v":-1.87596059,"cg_vd_v":-1.87596059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44008636,"cg_vq_v":-8.44008636,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.7728882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":834.087542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":834.087548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":834.087553,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":834.196655,"values":{"Elec_RPM":-2353.07422,"EncoderCos":31975,"EncoderSin":12761,"GapTicks":49963,"Mech_RPM":-470.614838,"cg_du":54.5785141,"cg_dv":45.4214859,"cg_dw":54.1903648,"cg_id_a":13.091527,"cg_id_raw_a":17.7830257,"cg_iq_a":-202.833191,"cg_iq_raw_a":-202.9328,"cg_iu_a":168.826309,"cg_iv_a":-182.128601,"cg_iw_a":13.3022842,"cg_sample_age_us":24.136364,"cg_sample_seq":5536616,"cg_sample_valid":1,"cg_theta_rad":4.680089,"cg_vd_req_v":-2.1637342,"cg_vd_v":-2.1637342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35178185,"cg_vq_v":-8.35178185,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0745316,"dclink_p_w":-2471.10571,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8206177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":834.550171,"values":{"Elec_RPM":-2351.8125,"EncoderCos":22471,"EncoderSin":15414,"GapTicks":49398,"Mech_RPM":-470.362518,"cg_du":44.9075813,"cg_dv":55.0924187,"cg_dw":51.6742859,"cg_id_a":-2.87065411,"cg_id_raw_a":-2.95466352,"cg_iq_a":-199.133881,"cg_iq_raw_a":-199.609558,"cg_iu_a":-199.519775,"cg_iv_a":91.7660522,"cg_iw_a":107.753723,"cg_sample_age_us":23.9400005,"cg_sample_seq":5538416,"cg_sample_valid":1,"cg_theta_rad":4.18844843,"cg_vd_req_v":-1.87503064,"cg_vd_v":-1.87503064,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42974472,"cg_vq_v":-8.42974472,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2429.86475,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":834.880249,"values":{"Elec_RPM":-2354.22461,"EncoderCos":43422,"EncoderSin":15875,"GapTicks":49909,"Mech_RPM":-470.84491,"cg_du":46.1933823,"cg_dv":54.6277161,"cg_dw":45.3722839,"cg_id_a":9.55023766,"cg_id_raw_a":9.78892708,"cg_iq_a":-204.887665,"cg_iq_raw_a":-204.249634,"cg_iu_a":-160.920074,"cg_iv_a":192.306458,"cg_iw_a":-31.3863754,"cg_sample_age_us":23.9836369,"cg_sample_seq":5540067,"cg_sample_valid":1,"cg_theta_rad":5.29531145,"cg_vd_req_v":-2.16356945,"cg_vd_v":-2.16356945,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28345871,"cg_vq_v":-8.28345871,"cg_vu_v":110.413033,"cg_vv_v":113.492287,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":835.078844,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":835.078851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":835.078856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":835.214233,"values":{"Elec_RPM":-2350.11084,"EncoderCos":50878,"EncoderSin":24855,"GapTicks":49483,"Mech_RPM":-470.022156,"cg_du":52.3112831,"cg_dv":44.9849586,"cg_dw":55.0150414,"cg_id_a":15.6133614,"cg_id_raw_a":11.9173012,"cg_iq_a":-201.967865,"cg_iq_raw_a":-200.644196,"cg_iu_a":142.150848,"cg_iv_a":-197.351013,"cg_iw_a":55.2001572,"cg_sample_age_us":23.6890907,"cg_sample_seq":5541766,"cg_sample_valid":1,"cg_theta_rad":5.88599873,"cg_vd_req_v":-2.28854966,"cg_vd_v":-2.28854966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33768749,"cg_vq_v":-8.33768749,"cg_vu_v":47.9482918,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8206177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":835.565796,"values":{"Elec_RPM":-2345.90063,"EncoderCos":52196,"EncoderSin":35989,"GapTicks":49349,"Mech_RPM":-469.180145,"cg_du":49.6225166,"cg_dv":55.136879,"cg_dw":44.863121,"cg_id_a":-14.9832153,"cg_id_raw_a":-17.2417755,"cg_iq_a":-199.304199,"cg_iq_raw_a":-198.27269,"cg_iu_a":-63.7866135,"cg_iv_a":196.293274,"cg_iw_a":-141.386398,"cg_sample_age_us":23.48909,"cg_sample_seq":5543466,"cg_sample_valid":1,"cg_theta_rad":0.172749773,"cg_vd_req_v":-1.67389846,"cg_vd_v":-1.67389846,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42751884,"cg_vq_v":-8.42751884,"cg_vu_v":25.5137672,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8188171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":835.897827,"values":{"Elec_RPM":-2349.62598,"EncoderCos":47398,"EncoderSin":46224,"GapTicks":49552,"Mech_RPM":-469.925171,"cg_du":47.9163933,"cg_dv":45.0473518,"cg_dw":54.9526482,"cg_id_a":-10.6852636,"cg_id_raw_a":-2.96206784,"cg_iq_a":-201.84317,"cg_iq_raw_a":-202.605209,"cg_iu_a":8.44734669,"cg_iv_a":-177.99678,"cg_iw_a":169.549438,"cg_sample_age_us":23.9036369,"cg_sample_seq":5545167,"cg_sample_valid":1,"cg_theta_rad":0.749432683,"cg_vd_req_v":-1.69863892,"cg_vd_v":-1.69863892,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37251472,"cg_vq_v":-8.37251472,"cg_vu_v":103.374756,"cg_vv_v":76.1014175,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":836.071606,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":836.071612,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":836.071617,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":836.231812,"values":{"Elec_RPM":-2353.76514,"EncoderCos":37659,"EncoderSin":51957,"GapTicks":49998,"Mech_RPM":-470.753021,"cg_du":54.5470123,"cg_dv":54.1146812,"cg_dw":45.4529877,"cg_id_a":13.0183306,"cg_id_raw_a":12.7202721,"cg_iq_a":-203.835724,"cg_iq_raw_a":-204.170044,"cg_iu_a":20.1903496,"cg_iv_a":164.543655,"cg_iw_a":-184.734009,"cg_sample_age_us":23.9363632,"cg_sample_seq":5546867,"cg_sample_valid":1,"cg_theta_rad":1.32145035,"cg_vd_req_v":-2.15666842,"cg_vd_v":-2.15666842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29755402,"cg_vq_v":-8.29755402,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2447.76367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":836.583374,"values":{"Elec_RPM":-2350.89844,"EncoderCos":26438,"EncoderSin":51750,"GapTicks":49412,"Mech_RPM":-470.179688,"cg_du":44.9206085,"cg_dv":48.0172272,"cg_dw":55.0793915,"cg_id_a":1.14528453,"cg_id_raw_a":-3.51208997,"cg_iq_a":-197.931076,"cg_iq_raw_a":-195.873062,"cg_iu_a":-81.7998047,"cg_iv_a":-117.832031,"cg_iw_a":199.631836,"cg_sample_age_us":23.7836361,"cg_sample_seq":5548567,"cg_sample_valid":1,"cg_theta_rad":1.8926146,"cg_vd_req_v":-1.9404819,"cg_vd_v":-1.9404819,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4549942,"cg_vq_v":-8.4549942,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":836.915405,"values":{"Elec_RPM":-2354.24048,"EncoderCos":17016,"EncoderSin":45154,"GapTicks":49306,"Mech_RPM":-470.848083,"cg_du":55.1758957,"cg_dv":50.1006241,"cg_dw":44.8241043,"cg_id_a":-4.07011795,"cg_id_raw_a":-8.44324684,"cg_iq_a":-197.215729,"cg_iq_raw_a":-195.158203,"cg_iu_a":124.210144,"cg_iv_a":69.7660522,"cg_iw_a":-193.976196,"cg_sample_age_us":23.8854542,"cg_sample_seq":5550267,"cg_sample_valid":1,"cg_theta_rad":2.47341704,"cg_vd_req_v":-1.82211149,"cg_vd_v":-1.82211149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45608711,"cg_vq_v":-8.45608711,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":837.095255,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":837.095261,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":837.095267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":837.247437,"values":{"Elec_RPM":-2355.83545,"EncoderCos":12745,"EncoderSin":34675,"GapTicks":49546,"Mech_RPM":-471.167114,"cg_du":45.04216,"cg_dv":52.1911469,"cg_dw":54.95784,"cg_id_a":-7.37472773,"cg_id_raw_a":-2.71707511,"cg_iq_a":-199.521759,"cg_iq_raw_a":-199.452576,"cg_iu_a":-167.878906,"cg_iv_a":-6.85342407,"cg_iw_a":174.73233,"cg_sample_age_us":23.9400005,"cg_sample_seq":5551967,"cg_sample_valid":1,"cg_theta_rad":3.04678607,"cg_vd_req_v":-1.68930316,"cg_vd_v":-1.68930316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38215733,"cg_vq_v":-8.38215733,"cg_vu_v":119.210884,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7740364,"dclink_p_w":-2572.34131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8011475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10332799,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":837.600952,"values":{"Elec_RPM":-2354.62646,"EncoderCos":14991,"EncoderSin":23374,"GapTicks":50086,"Mech_RPM":-470.925293,"cg_du":54.4663963,"cg_dv":45.5719261,"cg_dw":45.5336037,"cg_id_a":12.403204,"cg_id_raw_a":15.1827488,"cg_iq_a":-203.260941,"cg_iq_raw_a":-206.113968,"cg_iu_a":183.360092,"cg_iv_a":-13.993454,"cg_iw_a":-169.366638,"cg_sample_age_us":24.0672722,"cg_sample_seq":5553666,"cg_sample_valid":1,"cg_theta_rad":3.6311655,"cg_vd_req_v":-2.13319159,"cg_vd_v":-2.13319159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33145142,"cg_vq_v":-8.33145142,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2444.0918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":837.93103,"values":{"Elec_RPM":-2356.20703,"EncoderCos":33226,"EncoderSin":12755,"GapTicks":49356,"Mech_RPM":-471.241394,"cg_du":55.1303596,"cg_dv":44.8696404,"cg_dw":50.8990173,"cg_id_a":-16.3387852,"cg_id_raw_a":-14.2414551,"cg_iq_a":-194.774475,"cg_iq_raw_a":-195.973267,"cg_iu_a":176.836197,"cg_iv_a":-159.476196,"cg_iw_a":-17.3600006,"cg_sample_age_us":23.9763641,"cg_sample_seq":5555316,"cg_sample_valid":1,"cg_theta_rad":4.74289942,"cg_vd_req_v":-1.57326043,"cg_vd_v":-1.57326043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49910545,"cg_vq_v":-8.49910545,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5022068,"dclink_p_w":-2533.00073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":838.087436,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":838.087443,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":838.087448,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":838.345093,"values":{"Elec_RPM":-2363.39258,"EncoderCos":12661,"EncoderSin":32434,"GapTicks":49512,"Mech_RPM":-472.678497,"cg_du":45.0109444,"cg_dv":47.5442696,"cg_dw":54.9890556,"cg_id_a":5.02463341,"cg_id_raw_a":0.997052848,"cg_iq_a":-200.031006,"cg_iq_raw_a":-197.159088,"cg_iu_a":-68.1721191,"cg_iv_a":-119.318039,"cg_iw_a":200.066772,"cg_sample_age_us":23.9254551,"cg_sample_seq":5557217,"cg_sample_valid":1,"cg_theta_rad":3.15833354,"cg_vd_req_v":-1.99097836,"cg_vd_v":-1.99097836,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40868473,"cg_vq_v":-8.40868473,"cg_vu_v":125.809273,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":838.862671,"values":{"Elec_RPM":-2350.74756,"EncoderCos":52128,"EncoderSin":28842,"GapTicks":49501,"Mech_RPM":-470.149506,"cg_du":54.9985313,"cg_dv":45.0014687,"cg_dw":47.5837479,"cg_id_a":12.4169178,"cg_id_raw_a":7.70580101,"cg_iq_a":-201.687119,"cg_iq_raw_a":-200.230118,"cg_iu_a":196.806549,"cg_iv_a":-58.500885,"cg_iw_a":-138.305664,"cg_sample_age_us":24.1109085,"cg_sample_seq":5559867,"cg_sample_valid":1,"cg_theta_rad":6.09820747,"cg_vd_req_v":-2.21942973,"cg_vd_v":-2.21942973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38363838,"cg_vq_v":-8.38363838,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2503.87085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":838.983374,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":838.983386,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":838.983388,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":839.079413,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":839.079417,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":839.07942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":839.259155,"values":{"Elec_RPM":-2347.44824,"EncoderCos":18244,"EncoderSin":46574,"GapTicks":49977,"Mech_RPM":-469.489655,"cg_du":54.5654984,"cg_dv":45.7810478,"cg_dw":45.4345016,"cg_id_a":9.54296207,"cg_id_raw_a":15.9907341,"cg_iq_a":-201.965134,"cg_iq_raw_a":-205.520142,"cg_iu_a":179.481995,"cg_iv_a":-19.9011993,"cg_iw_a":-162.987717,"cg_sample_age_us":23.994545,"cg_sample_seq":5561966,"cg_sample_valid":1,"cg_theta_rad":2.38085032,"cg_vd_req_v":-2.08936572,"cg_vd_v":-2.08936572,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39133167,"cg_vq_v":-8.39133167,"cg_vu_v":18.4754887,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4638214,"dclink_p_w":-2382.72095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8312073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":839.612671,"values":{"Elec_RPM":-2343.66089,"EncoderCos":13036,"EncoderSin":36555,"GapTicks":49512,"Mech_RPM":-468.732178,"cg_du":45.0110435,"cg_dv":54.9889565,"cg_dw":52.5753479,"cg_id_a":6.38657999,"cg_id_raw_a":2.36546707,"cg_iq_a":-196.402069,"cg_iq_raw_a":-195.390549,"cg_iu_a":-192.343491,"cg_iv_a":65.2718048,"cg_iw_a":127.071686,"cg_sample_age_us":23.9654541,"cg_sample_seq":5563667,"cg_sample_valid":1,"cg_theta_rad":2.95216441,"cg_vd_req_v":-1.99620426,"cg_vd_v":-1.99620426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4675045,"cg_vq_v":-8.4675045,"cg_vu_v":125.369385,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.6580563,"dclink_p_w":-2563.32373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.7940979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119542226,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":839.944702,"values":{"Elec_RPM":-2346.85181,"EncoderCos":12878,"EncoderSin":35570,"GapTicks":50074,"Mech_RPM":-469.370361,"cg_du":45.5220222,"cg_dv":54.4682388,"cg_dw":54.4779778,"cg_id_a":12.8263397,"cg_id_raw_a":12.9702091,"cg_iq_a":-200.14415,"cg_iq_raw_a":-201.054291,"cg_iu_a":-181.832794,"cg_iv_a":16.0889282,"cg_iw_a":160.017319,"cg_sample_age_us":23.9472733,"cg_sample_seq":5565416,"cg_sample_valid":1,"cg_theta_rad":3.00129032,"cg_vd_req_v":-2.10243893,"cg_vd_v":-2.10243893,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37646961,"cg_vq_v":-8.37646961,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2469.53198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":840.102696,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":840.102701,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":840.102706,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":840.276733,"values":{"Elec_RPM":-2353.26465,"EncoderCos":21177,"EncoderSin":16243,"GapTicks":49422,"Mech_RPM":-470.652954,"cg_du":44.9295921,"cg_dv":55.0704079,"cg_dw":48.5152016,"cg_id_a":-13.5269527,"cg_id_raw_a":-9.51274681,"cg_iq_a":-199.12207,"cg_iq_raw_a":-200.595062,"cg_iu_a":-180.817963,"cg_iv_a":161.462952,"cg_iw_a":10.0765839,"cg_sample_age_us":23.9254551,"cg_sample_seq":5567066,"cg_sample_valid":1,"cg_theta_rad":4.10938358,"cg_vd_req_v":-1.61816359,"cg_vd_v":-1.61816359,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43986607,"cg_vq_v":-8.43986607,"cg_vu_v":0.87978512,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-15.9002304,"dclink_p_w":-2301.15527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8206177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":840.628296,"values":{"Elec_RPM":-2355.76099,"EncoderCos":21835,"EncoderSin":15817,"GapTicks":49305,"Mech_RPM":-471.152191,"cg_du":44.8228073,"cg_dv":55.1771927,"cg_dw":50.2087898,"cg_id_a":-11.9139643,"cg_id_raw_a":-12.3104172,"cg_iq_a":-197.007538,"cg_iq_raw_a":-197.220108,"cg_iu_a":-194.046951,"cg_iv_a":130.220764,"cg_iw_a":63.8261871,"cg_sample_age_us":23.9327278,"cg_sample_seq":5568816,"cg_sample_valid":1,"cg_theta_rad":4.15235996,"cg_vd_req_v":-1.67409587,"cg_vd_v":-1.67409587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49067116,"cg_vq_v":-8.49067116,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":840.96228,"values":{"Elec_RPM":-2362.13623,"EncoderCos":42814,"EncoderSin":15501,"GapTicks":49537,"Mech_RPM":-472.427246,"cg_du":47.6094551,"cg_dv":54.9660492,"cg_dw":45.0339508,"cg_id_a":6.36059093,"cg_id_raw_a":1.36066091,"cg_iq_a":-201.901993,"cg_iq_raw_a":-200.884933,"cg_iu_a":-134.933258,"cg_iv_a":200.28009,"cg_iw_a":-65.3468399,"cg_sample_age_us":23.863636,"cg_sample_seq":5570467,"cg_sample_valid":1,"cg_theta_rad":5.25804949,"cg_vd_req_v":-2.11290836,"cg_vd_v":-2.11290836,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32331467,"cg_vq_v":-8.32331467,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":841.095325,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":841.095331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":841.095336,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":841.313843,"values":{"Elec_RPM":-2357.42285,"EncoderCos":42942,"EncoderSin":15527,"GapTicks":49616,"Mech_RPM":-471.484589,"cg_du":47.3392982,"cg_dv":54.8944893,"cg_dw":45.1055107,"cg_id_a":5.13435841,"cg_id_raw_a":3.48507857,"cg_iq_a":-204.039932,"cg_iq_raw_a":-203.081879,"cg_iu_a":-169.292419,"cg_iv_a":185.420135,"cg_iw_a":-16.1277161,"cg_sample_age_us":23.8600006,"cg_sample_seq":5572220,"cg_sample_valid":1,"cg_theta_rad":5.30627871,"cg_vd_req_v":-2.08606219,"cg_vd_v":-2.08606219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2882061,"cg_vq_v":-8.2882061,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2479.40576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":841.645874,"values":{"Elec_RPM":-2362.0979,"EncoderCos":52298,"EncoderSin":35255,"GapTicks":49398,"Mech_RPM":-472.419586,"cg_du":51.8429337,"cg_dv":55.0919724,"cg_dw":44.9080276,"cg_id_a":-13.9099369,"cg_id_raw_a":-10.7474279,"cg_iq_a":-194.740021,"cg_iq_raw_a":-196.762314,"cg_iu_a":-17.2132874,"cg_iv_a":176.141693,"cg_iw_a":-158.928406,"cg_sample_age_us":23.4818172,"cg_sample_seq":5573867,"cg_sample_valid":1,"cg_theta_rad":0.128722489,"cg_vd_req_v":-1.73558164,"cg_vd_v":-1.73558164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51815891,"cg_vq_v":-8.51815891,"cg_vu_v":22.4345207,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0092907,"dclink_p_w":-2461.66382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":841.979858,"values":{"Elec_RPM":-2357.75732,"EncoderCos":52214,"EncoderSin":35829,"GapTicks":49316,"Mech_RPM":-471.551483,"cg_du":49.9481316,"cg_dv":55.1671181,"cg_dw":44.8328819,"cg_id_a":-15.8239241,"cg_id_raw_a":-14.0257425,"cg_iq_a":-196.080811,"cg_iq_raw_a":-195.404465,"cg_iu_a":-56.5016022,"cg_iv_a":193.031326,"cg_iw_a":-136.529724,"cg_sample_age_us":23.4854546,"cg_sample_seq":5575617,"cg_sample_valid":1,"cg_theta_rad":0.170495316,"cg_vd_req_v":-1.6470921,"cg_vd_v":-1.6470921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47656155,"cg_vq_v":-8.47656155,"cg_vu_v":110.413033,"cg_vv_v":115.251846,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8435974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":842.086949,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":842.086954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":842.086959,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":842.331421,"values":{"Elec_RPM":-2355.83423,"EncoderCos":38830,"EncoderSin":51664,"GapTicks":49447,"Mech_RPM":-471.16684,"cg_du":55.0473289,"cg_dv":51.6616135,"cg_dw":44.9526711,"cg_id_a":5.43379593,"cg_id_raw_a":2.48280787,"cg_iq_a":-203.857132,"cg_iq_raw_a":-201.166702,"cg_iu_a":48.641758,"cg_iv_a":151.459656,"cg_iw_a":-200.10141,"cg_sample_age_us":26.7836361,"cg_sample_seq":5577269,"cg_sample_valid":1,"cg_theta_rad":1.29560435,"cg_vd_req_v":-2.03871918,"cg_vd_v":-2.03871918,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31335258,"cg_vq_v":-8.31335258,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":39.1504402,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2391.95752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":842.665405,"values":{"Elec_RPM":-2355.10571,"EncoderCos":37417,"EncoderSin":52000,"GapTicks":50018,"Mech_RPM":-471.021149,"cg_du":54.2714958,"cg_dv":54.5284271,"cg_dw":45.4715729,"cg_id_a":10.9166384,"cg_id_raw_a":11.9825115,"cg_iq_a":-204.067734,"cg_iq_raw_a":-205.602386,"cg_iu_a":11.926754,"cg_iv_a":165.84845,"cg_iw_a":-185.458893,"cg_sample_age_us":23.9036369,"cg_sample_seq":5579016,"cg_sample_valid":1,"cg_theta_rad":1.33110857,"cg_vd_req_v":-2.11602306,"cg_vd_v":-2.11602306,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32619095,"cg_vq_v":-8.32619095,"cg_vu_v":23.7541981,"cg_vv_v":12.7568836,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2486.604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":842.997437,"values":{"Elec_RPM":-2350.81104,"EncoderCos":17343,"EncoderSin":45520,"GapTicks":49340,"Mech_RPM":-470.162231,"cg_du":55.1453934,"cg_dv":49.1736069,"cg_dw":44.8546066,"cg_id_a":-11.5013094,"cg_id_raw_a":-12.1858702,"cg_iq_a":-195.815491,"cg_iq_raw_a":-194.580261,"cg_iu_a":137.402908,"cg_iv_a":53.2388611,"cg_iw_a":-190.641769,"cg_sample_age_us":23.9181824,"cg_sample_seq":5580666,"cg_sample_valid":1,"cg_theta_rad":2.46548843,"cg_vd_req_v":-1.65882659,"cg_vd_v":-1.65882659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47472191,"cg_vq_v":-8.47472191,"cg_vu_v":106.453995,"cg_vv_v":101.175293,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.9298859,"dclink_p_w":-2594.89648,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8400574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":843.111225,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":843.111231,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":843.111236,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":843.348999,"values":{"Elec_RPM":-2347.99756,"EncoderCos":12840,"EncoderSin":35250,"GapTicks":49874,"Mech_RPM":-469.599487,"cg_du":45.3407974,"cg_dv":53.7076111,"cg_dw":54.6592026,"cg_id_a":7.43474531,"cg_id_raw_a":12.4149351,"cg_iq_a":-202.246536,"cg_iq_raw_a":-202.023941,"cg_iu_a":-178.752045,"cg_iv_a":4.30967712,"cg_iw_a":174.442368,"cg_sample_age_us":23.9690914,"cg_sample_seq":5582366,"cg_sample_valid":1,"cg_theta_rad":3.0228796,"cg_vd_req_v":-1.99055541,"cg_vd_v":-1.99055541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33417511,"cg_vq_v":-8.33417511,"cg_vu_v":123.169922,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8276672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":843.682983,"values":{"Elec_RPM":-2345.41187,"EncoderCos":12781,"EncoderSin":34686,"GapTicks":49532,"Mech_RPM":-469.082367,"cg_du":45.0290909,"cg_dv":52.2307243,"cg_dw":54.9709091,"cg_id_a":-7.51401186,"cg_id_raw_a":-2.04122233,"cg_iq_a":-200.701126,"cg_iq_raw_a":-200.319122,"cg_iu_a":-168.966217,"cg_iv_a":-6.20101929,"cg_iw_a":175.167236,"cg_sample_age_us":23.9290905,"cg_sample_seq":5584117,"cg_sample_valid":1,"cg_theta_rad":3.048208,"cg_vd_req_v":-1.69325984,"cg_vd_v":-1.69325984,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3860302,"cg_vq_v":-8.3860302,"cg_vu_v":97.2162552,"cg_vv_v":96.7763672,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":844.013062,"values":{"Elec_RPM":-2345.2019,"EncoderCos":22115,"EncoderSin":15649,"GapTicks":49340,"Mech_RPM":-469.040375,"cg_du":44.8548317,"cg_dv":55.1451683,"cg_dw":50.8400917,"cg_id_a":-7.25842762,"cg_id_raw_a":-10.5836477,"cg_iq_a":-196.419006,"cg_iq_raw_a":-195.641449,"cg_iu_a":-197.163925,"cg_iv_a":102.421738,"cg_iw_a":94.7421875,"cg_sample_age_us":23.954546,"cg_sample_seq":5585767,"cg_sample_valid":1,"cg_theta_rad":4.17796183,"cg_vd_req_v":-1.772102,"cg_vd_v":-1.772102,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47945213,"cg_vq_v":-8.47945213,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2514.13037,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8259277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":844.102822,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":844.102828,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":844.102834,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":844.366577,"values":{"Elec_RPM":-2346.87769,"EncoderCos":23017,"EncoderSin":15168,"GapTicks":49587,"Mech_RPM":-469.375549,"cg_du":45.0794411,"cg_dv":54.9205589,"cg_dw":52.7595558,"cg_id_a":8.23618698,"cg_id_raw_a":5.5920434,"cg_iq_a":-198.470245,"cg_iq_raw_a":-198.910965,"cg_iu_a":-194.953049,"cg_iv_a":69.4036026,"cg_iw_a":125.549446,"cg_sample_age_us":23.8345451,"cg_sample_seq":5587516,"cg_sample_valid":1,"cg_theta_rad":4.20952368,"cg_vd_req_v":-2.08495808,"cg_vd_v":-2.08495808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41505814,"cg_vq_v":-8.41505814,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2532.88452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8453674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":844.698608,"values":{"Elec_RPM":-2353.14014,"EncoderCos":43756,"EncoderSin":16111,"GapTicks":50026,"Mech_RPM":-470.628021,"cg_du":45.4790077,"cg_dv":54.5209923,"cg_dw":45.7177391,"cg_id_a":9.05774307,"cg_id_raw_a":10.1232395,"cg_iq_a":-204.994537,"cg_iq_raw_a":-205.134933,"cg_iu_a":-170.923386,"cg_iv_a":181.469543,"cg_iw_a":-10.5461578,"cg_sample_age_us":23.8818188,"cg_sample_seq":5589167,"cg_sample_valid":1,"cg_theta_rad":5.3163085,"cg_vd_req_v":-2.16168928,"cg_vd_v":-2.16168928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30834579,"cg_vq_v":-8.30834579,"cg_vu_v":96.7763672,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2403.19458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":845.052124,"values":{"Elec_RPM":-2347.16577,"EncoderCos":43774,"EncoderSin":16121,"GapTicks":50032,"Mech_RPM":-469.433136,"cg_du":45.4838066,"cg_dv":54.5161934,"cg_dw":45.6769867,"cg_id_a":11.4572992,"cg_id_raw_a":8.46116066,"cg_iq_a":-205.291901,"cg_iq_raw_a":-206.963501,"cg_iu_a":-178.498352,"cg_iv_a":167.406952,"cg_iw_a":11.0914078,"cg_sample_age_us":26.8454552,"cg_sample_seq":5590921,"cg_sample_valid":1,"cg_theta_rad":5.35666323,"cg_vd_req_v":-2.20355701,"cg_vd_v":-2.20355701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30962753,"cg_vq_v":-8.30962753,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8400574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":845.095245,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":845.095251,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":845.095257,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":845.386108,"values":{"Elec_RPM":-2348.52588,"EncoderCos":52164,"EncoderSin":36299,"GapTicks":49387,"Mech_RPM":-469.7052,"cg_du":49.071106,"cg_dv":55.1024017,"cg_dw":44.8975983,"cg_id_a":-8.64447594,"cg_id_raw_a":-9.32376766,"cg_iq_a":-198.470734,"cg_iq_raw_a":-198.056961,"cg_iu_a":-101.770157,"cg_iv_a":198.214203,"cg_iw_a":-109.419342,"cg_sample_age_us":23.48909,"cg_sample_seq":5592567,"cg_sample_valid":1,"cg_theta_rad":0.202361986,"cg_vd_req_v":-1.80645788,"cg_vd_v":-1.80645788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40796757,"cg_vq_v":-8.40796757,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2529.38843,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":845.716187,"values":{"Elec_RPM":-2351.86084,"EncoderCos":51918,"EncoderSin":37298,"GapTicks":49625,"Mech_RPM":-470.372192,"cg_du":47.2482834,"cg_dv":54.886261,"cg_dw":45.113739,"cg_id_a":11.2403269,"cg_id_raw_a":8.91443443,"cg_iq_a":-203.692245,"cg_iq_raw_a":-202.062271,"cg_iu_a":-146.567535,"cg_iv_a":198.322937,"cg_iw_a":-51.7554016,"cg_sample_age_us":23.4636364,"cg_sample_seq":5594316,"cg_sample_valid":1,"cg_theta_rad":0.244363576,"cg_vd_req_v":-2.20650673,"cg_vd_v":-2.20650673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29802132,"cg_vq_v":-8.29802132,"cg_vu_v":117.011421,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2428.35571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":846.069702,"values":{"Elec_RPM":-2351.67041,"EncoderCos":37718,"EncoderSin":51997,"GapTicks":49913,"Mech_RPM":-470.334106,"cg_du":54.6243324,"cg_dv":54.0014839,"cg_dw":45.3756676,"cg_id_a":14.0436106,"cg_id_raw_a":14.2543497,"cg_iq_a":-203.961273,"cg_iq_raw_a":-204.589386,"cg_iu_a":1.92345655,"cg_iv_a":171.502487,"cg_iw_a":-173.425949,"cg_sample_age_us":26.7654552,"cg_sample_seq":5595969,"cg_sample_valid":1,"cg_theta_rad":1.35581219,"cg_vd_req_v":-2.19140458,"cg_vd_v":-2.19140458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35604477,"cg_vq_v":-8.35604477,"cg_vu_v":121.410347,"cg_vv_v":143.404984,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2474.14453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":846.087632,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":846.087638,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":846.087644,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":846.401733,"values":{"Elec_RPM":-2345.71387,"EncoderCos":36182,"EncoderSin":52268,"GapTicks":49325,"Mech_RPM":-469.142792,"cg_du":51.1381874,"cg_dv":55.158329,"cg_dw":44.841671,"cg_id_a":-10.3384933,"cg_id_raw_a":-10.3570433,"cg_iq_a":-194.159653,"cg_iq_raw_a":-195.039078,"cg_iu_a":-22.3599129,"cg_iv_a":177.845169,"cg_iw_a":-155.48526,"cg_sample_age_us":23.8090916,"cg_sample_seq":5597716,"cg_sample_valid":1,"cg_theta_rad":1.38904154,"cg_vd_req_v":-1.68688178,"cg_vd_v":-1.68688178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52464104,"cg_vq_v":-8.52464104,"cg_vu_v":104.254532,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.894928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":846.733765,"values":{"Elec_RPM":-2348.97705,"EncoderCos":16594,"EncoderSin":44583,"GapTicks":49454,"Mech_RPM":-469.79541,"cg_du":55.0415421,"cg_dv":51.507328,"cg_dw":44.9584579,"cg_id_a":1.88424659,"cg_id_raw_a":-0.103772275,"cg_iq_a":-203.969894,"cg_iq_raw_a":-204.211594,"cg_iu_a":103.949844,"cg_iv_a":98.9060822,"cg_iw_a":-202.855927,"cg_sample_age_us":23.8090916,"cg_sample_seq":5599366,"cg_sample_valid":1,"cg_theta_rad":2.50273776,"cg_vd_req_v":-1.94625437,"cg_vd_v":-1.94625437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29854202,"cg_vq_v":-8.29854202,"cg_vu_v":29.0329094,"cg_vv_v":6.59838867,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5746956,"dclink_p_w":-2535.76074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":847.078994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":847.079001,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":847.079007,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":847.085327,"values":{"Elec_RPM":-2351.78174,"EncoderCos":16296,"EncoderSin":44164,"GapTicks":49513,"Mech_RPM":-470.356354,"cg_du":54.9873848,"cg_dv":52.4110832,"cg_dw":45.0126152,"cg_id_a":14.6896191,"cg_id_raw_a":11.4416542,"cg_iq_a":-202.945465,"cg_iq_raw_a":-200.369415,"cg_iu_a":57.0503273,"cg_iv_a":141.528839,"cg_iw_a":-198.579163,"cg_sample_age_us":23.8999996,"cg_sample_seq":5601117,"cg_sample_valid":1,"cg_theta_rad":2.53773737,"cg_vd_req_v":-2.19889975,"cg_vd_v":-2.19889975,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34191132,"cg_vq_v":-8.34191132,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.2590446,"dclink_p_w":-2353.08472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8241577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":847.419312,"values":{"Elec_RPM":-2349.60107,"EncoderCos":22687,"EncoderSin":15351,"GapTicks":49432,"Mech_RPM":-469.920197,"cg_du":44.9388084,"cg_dv":55.0611916,"cg_dw":52.0997925,"cg_id_a":1.65663993,"cg_id_raw_a":0.838912547,"cg_iq_a":-195.003876,"cg_iq_raw_a":-196.486694,"cg_iu_a":-194.445633,"cg_iv_a":76.3261795,"cg_iw_a":118.119453,"cg_sample_age_us":23.9618187,"cg_sample_seq":5602716,"cg_sample_valid":1,"cg_theta_rad":4.20059681,"cg_vd_req_v":-1.95013905,"cg_vd_v":-1.95013905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47574329,"cg_vq_v":-8.47574329,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":10.1175289,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2557.39209,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":847.751343,"values":{"Elec_RPM":-2349.34375,"EncoderCos":23378,"EncoderSin":14959,"GapTicks":49798,"Mech_RPM":-469.868774,"cg_du":45.2713776,"cg_dv":54.7286224,"cg_dw":53.5965881,"cg_id_a":10.1019745,"cg_id_raw_a":8.37181854,"cg_iq_a":-199.59668,"cg_iq_raw_a":-199.278,"cg_iu_a":-191.618622,"cg_iv_a":48.4184265,"cg_iw_a":143.200195,"cg_sample_age_us":23.8345451,"cg_sample_seq":5604466,"cg_sample_valid":1,"cg_theta_rad":4.23037815,"cg_vd_req_v":-2.10790014,"cg_vd_v":-2.10790014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36915112,"cg_vq_v":-8.36915112,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2351.03174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8082275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":848.071325,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":848.071331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":848.071336,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":848.102905,"values":{"Elec_RPM":-2349.78662,"EncoderCos":24049,"EncoderSin":14709,"GapTicks":49886,"Mech_RPM":-469.957336,"cg_du":45.3510208,"cg_dv":53.8577232,"cg_dw":54.6489792,"cg_id_a":6.56115055,"cg_id_raw_a":10.7000675,"cg_iq_a":-202.309448,"cg_iq_raw_a":-201.571976,"cg_iu_a":-179.730652,"cg_iv_a":5.68695068,"cg_iw_a":174.043701,"cg_sample_age_us":23.9290905,"cg_sample_seq":5606216,"cg_sample_valid":1,"cg_theta_rad":4.27748537,"cg_vd_req_v":-2.03299665,"cg_vd_v":-2.03299665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34438133,"cg_vq_v":-8.34438133,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8294373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":848.589233,"values":{"Elec_RPM":-2355.34204,"EncoderCos":42216,"EncoderSin":15153,"GapTicks":49394,"Mech_RPM":-471.06839,"cg_du":48.7522087,"cg_dv":55.0960007,"cg_dw":44.9039993,"cg_id_a":-11.0719051,"cg_id_raw_a":-14.621542,"cg_iq_a":-199.037521,"cg_iq_raw_a":-198.470078,"cg_iu_a":-91.3319244,"cg_iv_a":199.881409,"cg_iw_a":-108.549484,"cg_sample_age_us":23.9836369,"cg_sample_seq":5608466,"cg_sample_valid":1,"cg_theta_rad":5.22472429,"cg_vd_req_v":-1.75976276,"cg_vd_v":-1.75976276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41883278,"cg_vq_v":-8.41883278,"cg_vu_v":39.1504402,"cg_vv_v":58.0658188,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":848.93491,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":848.93492,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":848.934923,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":849.062918,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":849.062923,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":849.062929,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":849.097046,"values":{"Elec_RPM":-2355.65405,"EncoderCos":51917,"EncoderSin":37442,"GapTicks":49665,"Mech_RPM":-471.130829,"cg_du":46.9222946,"cg_dv":54.8497238,"cg_dw":45.1502762,"cg_id_a":10.5299339,"cg_id_raw_a":7.66287994,"cg_iq_a":-203.992538,"cg_iq_raw_a":-203.029129,"cg_iu_a":-149.938202,"cg_iv_a":196.510727,"cg_iw_a":-46.572525,"cg_sample_age_us":23.5145454,"cg_sample_seq":5611267,"cg_sample_valid":1,"cg_theta_rad":0.249847919,"cg_vd_req_v":-2.19635177,"cg_vd_v":-2.19635177,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32017231,"cg_vq_v":-8.32017231,"cg_vu_v":94.5769043,"cg_vv_v":99.8556061,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2415.24219,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8542175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":849.43103,"values":{"Elec_RPM":-2356.28467,"EncoderCos":25992,"EncoderSin":51594,"GapTicks":49594,"Mech_RPM":-471.256958,"cg_du":45.0857697,"cg_dv":47.2123871,"cg_dw":54.9142303,"cg_id_a":11.4890251,"cg_id_raw_a":7.37866402,"cg_iq_a":-199.886597,"cg_iq_raw_a":-198.918091,"cg_iu_a":-52.2973175,"cg_iv_a":-143.673889,"cg_iw_a":195.971207,"cg_sample_age_us":23.7654552,"cg_sample_seq":5612866,"cg_sample_valid":1,"cg_theta_rad":1.91403592,"cg_vd_req_v":-2.12744069,"cg_vd_v":-2.12744069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37559128,"cg_vq_v":-8.37559128,"cg_vu_v":35.6312981,"cg_vv_v":33.4318352,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":849.761108,"values":{"Elec_RPM":-2359.55371,"EncoderCos":12827,"EncoderSin":35179,"GapTicks":49798,"Mech_RPM":-471.910736,"cg_du":45.271698,"cg_dv":53.5276489,"cg_dw":54.728302,"cg_id_a":4.74966288,"cg_id_raw_a":10.0758133,"cg_iq_a":-203.102341,"cg_iq_raw_a":-203.015396,"cg_iu_a":-181.071655,"cg_iv_a":11.1597595,"cg_iw_a":169.911896,"cg_sample_age_us":23.8272724,"cg_sample_seq":5614516,"cg_sample_valid":1,"cg_theta_rad":3.01552892,"cg_vd_req_v":-1.94019902,"cg_vd_v":-1.94019902,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35503387,"cg_vq_v":-8.35503387,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2523.82178,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8347473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":850.086922,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":850.086928,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":850.086933,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":850.114624,"values":{"Elec_RPM":-2358.17114,"EncoderCos":12766,"EncoderSin":34607,"GapTicks":49478,"Mech_RPM":-471.634216,"cg_du":44.980381,"cg_dv":52.0246086,"cg_dw":55.019619,"cg_id_a":-9.31498718,"cg_id_raw_a":-5.58685493,"cg_iq_a":-200.25209,"cg_iq_raw_a":-199.825592,"cg_iu_a":-167.480225,"cg_iv_a":-10.2240906,"cg_iw_a":177.704315,"cg_sample_age_us":23.9327278,"cg_sample_seq":5616267,"cg_sample_valid":1,"cg_theta_rad":3.05130744,"cg_vd_req_v":-1.65663815,"cg_vd_v":-1.65663815,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42540741,"cg_vq_v":-8.42540741,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2463589,"dclink_p_w":-2358.39551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8453674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":850.448608,"values":{"Elec_RPM":-2354.43628,"EncoderCos":32356,"EncoderSin":12769,"GapTicks":49723,"Mech_RPM":-470.887238,"cg_du":54.7972336,"cg_dv":45.2027664,"cg_dw":53.1767082,"cg_id_a":2.27659178,"cg_id_raw_a":8.6801672,"cg_iq_a":-202.301407,"cg_iq_raw_a":-202.707489,"cg_iu_a":172.740631,"cg_iv_a":-177.779327,"cg_iw_a":4.20508575,"cg_sample_age_us":24.1290913,"cg_sample_seq":5617867,"cg_sample_valid":1,"cg_theta_rad":4.70598364,"cg_vd_req_v":-1.93769312,"cg_vd_v":-1.93769312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33438683,"cg_vq_v":-8.33438683,"cg_vu_v":142.965088,"cg_vv_v":133.727341,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2434.83252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":850.800171,"values":{"Elec_RPM":-2356.15796,"EncoderCos":22306,"EncoderSin":15573,"GapTicks":49374,"Mech_RPM":-471.231598,"cg_du":44.8857193,"cg_dv":55.1142807,"cg_dw":51.2176628,"cg_id_a":-4.68083191,"cg_id_raw_a":-7.70454359,"cg_iq_a":-197.549133,"cg_iq_raw_a":-196.626846,"cg_iu_a":-196.402802,"cg_iv_a":54.6523743,"cg_iw_a":141.750427,"cg_sample_age_us":23.9363632,"cg_sample_seq":5619670,"cg_sample_valid":1,"cg_theta_rad":4.22024441,"cg_vd_req_v":-1.83096802,"cg_vd_v":-1.83096802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43049622,"cg_vq_v":-8.43049622,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2456.01172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":851.111177,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":851.111183,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":851.111189,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":851.134155,"values":{"Elec_RPM":-2356.96973,"EncoderCos":50795,"EncoderSin":24501,"GapTicks":49363,"Mech_RPM":-471.393921,"cg_du":51.6712761,"cg_dv":44.8758469,"cg_dw":55.1241531,"cg_id_a":9.78075314,"cg_id_raw_a":4.45631599,"cg_iq_a":-197.911224,"cg_iq_raw_a":-197.943192,"cg_iu_a":120.114594,"cg_iv_a":-197.459732,"cg_iw_a":77.3451385,"cg_sample_age_us":23.7145462,"cg_sample_seq":5621267,"cg_sample_valid":1,"cg_theta_rad":5.87147474,"cg_vd_req_v":-2.17319584,"cg_vd_v":-2.17319584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43830776,"cg_vq_v":-8.43830776,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3083038,"dclink_p_w":-2504.93823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":851.464233,"values":{"Elec_RPM":-2362.82935,"EncoderCos":44711,"EncoderSin":16842,"GapTicks":49401,"Mech_RPM":-472.565887,"cg_du":44.9105186,"cg_dv":55.0894814,"cg_dw":48.7141457,"cg_id_a":-12.8468895,"cg_id_raw_a":-9.69523335,"cg_iq_a":-197.724091,"cg_iq_raw_a":-198.604919,"cg_iu_a":-182.485168,"cg_iv_a":153.561798,"cg_iw_a":28.923378,"cg_sample_age_us":23.954546,"cg_sample_seq":5623066,"cg_sample_valid":1,"cg_theta_rad":5.37662029,"cg_vd_req_v":-1.71538997,"cg_vd_v":-1.71538997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44897461,"cg_vq_v":-8.44897461,"cg_vu_v":1.31967759,"cg_vv_v":9.23774433,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1089611,"dclink_p_w":-2476.08838,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.9392395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":851.798218,"values":{"Elec_RPM":-2357.83667,"EncoderCos":47455,"EncoderSin":46155,"GapTicks":49568,"Mech_RPM":-471.567322,"cg_du":47.6470985,"cg_dv":45.0622101,"cg_dw":54.9377899,"cg_id_a":-7.62743092,"cg_id_raw_a":-1.36739647,"cg_iq_a":-203.864822,"cg_iq_raw_a":-206.701187,"cg_iu_a":5.5115962,"cg_iv_a":-178.830399,"cg_iw_a":173.318802,"cg_sample_age_us":23.5436363,"cg_sample_seq":5624666,"cg_sample_valid":1,"cg_theta_rad":0.742054105,"cg_vd_req_v":-1.75989342,"cg_vd_v":-1.75989342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34881592,"cg_vq_v":-8.34881592,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":852.070605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":852.070611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":852.070616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":852.14978,"values":{"Elec_RPM":-2361.9187,"EncoderCos":51903,"EncoderSin":37312,"GapTicks":49613,"Mech_RPM":-472.383759,"cg_du":47.1565094,"cg_dv":54.8964272,"cg_dw":45.1035728,"cg_id_a":9.06755733,"cg_id_raw_a":8.10127926,"cg_iq_a":-203.62854,"cg_iq_raw_a":-201.300522,"cg_iu_a":-146.277588,"cg_iv_a":200.28009,"cg_iw_a":-65.0568848,"cg_sample_age_us":23.5254555,"cg_sample_seq":5626466,"cg_sample_valid":1,"cg_theta_rad":0.242660582,"cg_vd_req_v":-2.1683259,"cg_vd_v":-2.1683259,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32634068,"cg_vq_v":-8.32634068,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2522.24805,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":852.483765,"values":{"Elec_RPM":-2361.7168,"EncoderCos":26372,"EncoderSin":51700,"GapTicks":49497,"Mech_RPM":-472.343353,"cg_du":44.9973831,"cg_dv":47.9155579,"cg_dw":55.0026169,"cg_id_a":3.20246601,"cg_id_raw_a":0.662634194,"cg_iq_a":-198.604202,"cg_iq_raw_a":-197.243439,"cg_iu_a":-74.3335724,"cg_iv_a":-123.993484,"cg_iw_a":198.327057,"cg_sample_age_us":23.8927269,"cg_sample_seq":5628066,"cg_sample_valid":1,"cg_theta_rad":1.90082324,"cg_vd_req_v":-1.96997762,"cg_vd_v":-1.96997762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39669895,"cg_vq_v":-8.39669895,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2382.7998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8435974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":852.835327,"values":{"Elec_RPM":-2354.34814,"EncoderCos":17639,"EncoderSin":45855,"GapTicks":49417,"Mech_RPM":-470.869629,"cg_du":55.0752106,"cg_dv":48.0994339,"cg_dw":44.9247894,"cg_id_a":-8.11748314,"cg_id_raw_a":-6.24159336,"cg_iq_a":-196.505508,"cg_iq_raw_a":-199.198212,"cg_iu_a":129.936676,"cg_iv_a":67.3739624,"cg_iw_a":-197.310638,"cg_sample_age_us":23.8527279,"cg_sample_seq":5629770,"cg_sample_valid":1,"cg_theta_rad":2.47379756,"cg_vd_req_v":-1.73274148,"cg_vd_v":-1.73274148,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47565269,"cg_vq_v":-8.47565269,"cg_vu_v":27.7132301,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2533.40747,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":853.095125,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":853.095131,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":853.095137,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":853.167358,"values":{"Elec_RPM":-2352.88574,"EncoderCos":12781,"EncoderSin":34750,"GapTicks":49542,"Mech_RPM":-470.577148,"cg_du":45.0382271,"cg_dv":52.3886795,"cg_dw":54.9617729,"cg_id_a":-6.32612133,"cg_id_raw_a":-0.140758529,"cg_iq_a":-199.426346,"cg_iq_raw_a":-200.399155,"cg_iu_a":-170.126007,"cg_iv_a":-7.17962646,"cg_iw_a":177.305634,"cg_sample_age_us":23.9400005,"cg_sample_seq":5631466,"cg_sample_valid":1,"cg_theta_rad":3.04439759,"cg_vd_req_v":-1.71542537,"cg_vd_v":-1.71542537,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43343067,"cg_vq_v":-8.43343067,"cg_vu_v":2.19946289,"cg_vv_v":7.03828096,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2527.28369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":853.501343,"values":{"Elec_RPM":-2353.06592,"EncoderCos":12716,"EncoderSin":33904,"GapTicks":49398,"Mech_RPM":-470.61319,"cg_du":44.9074402,"cg_dv":50.3401184,"cg_dw":55.0925598,"cg_id_a":-16.0359783,"cg_id_raw_a":-14.7151766,"cg_iq_a":-199.690674,"cg_iq_raw_a":-201.673462,"cg_iu_a":-148.995865,"cg_iv_a":-40.7776337,"cg_iw_a":189.773499,"cg_sample_age_us":23.9400005,"cg_sample_seq":5633216,"cg_sample_valid":1,"cg_theta_rad":3.08573437,"cg_vd_req_v":-1.53229892,"cg_vd_v":-1.53229892,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40402222,"cg_vq_v":-8.40402222,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2520.97021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8878479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":853.852905,"values":{"Elec_RPM":-2351.97363,"EncoderCos":12682,"EncoderSin":33146,"GapTicks":49427,"Mech_RPM":-470.394714,"cg_du":44.934227,"cg_dv":48.8609886,"cg_dw":55.065773,"cg_id_a":-7.74649429,"cg_id_raw_a":-11.3631611,"cg_iq_a":-199.686584,"cg_iq_raw_a":-200.091797,"cg_iu_a":-109.453842,"cg_iv_a":-89.8518066,"cg_iw_a":199.305649,"cg_sample_age_us":23.9254551,"cg_sample_seq":5634966,"cg_sample_valid":1,"cg_theta_rad":3.12592626,"cg_vd_req_v":-1.72265863,"cg_vd_v":-1.72265863,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38750076,"cg_vq_v":-8.38750076,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":854.087422,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":854.087428,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":854.087434,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":854.184937,"values":{"Elec_RPM":-2351.31079,"EncoderCos":23204,"EncoderSin":15113,"GapTicks":49628,"Mech_RPM":-470.262177,"cg_du":45.1165085,"cg_dv":54.8834915,"cg_dw":53.1486588,"cg_id_a":10.0465174,"cg_id_raw_a":6.83619595,"cg_iq_a":-199.337616,"cg_iq_raw_a":-198.275101,"cg_iu_a":-191.691101,"cg_iv_a":47.041153,"cg_iw_a":144.649948,"cg_sample_age_us":23.9654541,"cg_sample_seq":5636617,"cg_sample_valid":1,"cg_theta_rad":4.22590113,"cg_vd_req_v":-2.12585092,"cg_vd_v":-2.12585092,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41730499,"cg_vq_v":-8.41730499,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8577271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":854.518921,"values":{"Elec_RPM":-2350.4563,"EncoderCos":34619,"EncoderSin":12873,"GapTicks":49442,"Mech_RPM":-470.091248,"cg_du":55.0525627,"cg_dv":44.9474373,"cg_dw":48.1605644,"cg_id_a":0.723921776,"cg_id_raw_a":-7.29011154,"cg_iq_a":-198.077759,"cg_iq_raw_a":-198.095566,"cg_iu_a":198.546265,"cg_iv_a":-84.089035,"cg_iw_a":-114.45723,"cg_sample_age_us":24.0163631,"cg_sample_seq":5638316,"cg_sample_valid":1,"cg_theta_rad":4.82030678,"cg_vd_req_v":-1.94964087,"cg_vd_v":-1.94964087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43177795,"cg_vq_v":-8.43177795,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-15.6972656,"dclink_p_w":-2278.68652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8206177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":854.870483,"values":{"Elec_RPM":-2350.12549,"EncoderCos":51270,"EncoderSin":25750,"GapTicks":50010,"Mech_RPM":-470.025085,"cg_du":54.33218,"cg_dv":45.4638443,"cg_dw":54.5361557,"cg_id_a":17.7215157,"cg_id_raw_a":19.9069958,"cg_iq_a":-203.263657,"cg_iq_raw_a":-203.075531,"cg_iu_a":170.710999,"cg_iv_a":-181.04129,"cg_iw_a":10.3302841,"cg_sample_age_us":24.1072731,"cg_sample_seq":5639966,"cg_sample_valid":1,"cg_theta_rad":5.93748331,"cg_vd_req_v":-2.29549313,"cg_vd_v":-2.29549313,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31933308,"cg_vq_v":-8.31933308,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.7414169,"dclink_p_w":-2567.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.7711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":855.110884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":855.11089,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":855.110895,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":855.204468,"values":{"Elec_RPM":-2350.79932,"EncoderCos":51446,"EncoderSin":26306,"GapTicks":49687,"Mech_RPM":-470.159882,"cg_du":54.8299789,"cg_dv":45.1700211,"cg_dw":53.1131172,"cg_id_a":1.02512312,"cg_id_raw_a":7.37628937,"cg_iq_a":-201.777039,"cg_iq_raw_a":-203.514587,"cg_iu_a":171.580841,"cg_iv_a":-173.611298,"cg_iw_a":4.06010437,"cg_sample_age_us":24.1981812,"cg_sample_seq":5641717,"cg_sample_valid":1,"cg_theta_rad":5.96390581,"cg_vd_req_v":-1.94311678,"cg_vd_v":-1.94311678,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36336422,"cg_vq_v":-8.36336422,"cg_vu_v":142.085297,"cg_vv_v":122.290138,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.426096,"dclink_p_w":-2514.32007,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":855.534546,"values":{"Elec_RPM":-2357.50146,"EncoderCos":46566,"EncoderSin":47101,"GapTicks":49305,"Mech_RPM":-471.500275,"cg_du":50.4727554,"cg_dv":44.8231049,"cg_dw":55.1768951,"cg_id_a":-6.90228081,"cg_id_raw_a":-9.43496799,"cg_iq_a":-195.674088,"cg_iq_raw_a":-195.933258,"cg_iu_a":76.5857544,"cg_iv_a":-194.777695,"cg_iw_a":118.19194,"cg_sample_age_us":23.6345463,"cg_sample_seq":5643366,"cg_sample_valid":1,"cg_theta_rad":0.807961941,"cg_vd_req_v":-1.81211686,"cg_vd_v":-1.81211686,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49859619,"cg_vq_v":-8.49859619,"cg_vu_v":41.7897949,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.9715652,"dclink_p_w":-2600.92847,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8259277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":855.888062,"values":{"Elec_RPM":-2360.83276,"EncoderCos":45996,"EncoderSin":47626,"GapTicks":49422,"Mech_RPM":-472.166534,"cg_du":51.9015732,"cg_dv":44.9299316,"cg_dw":55.0700684,"cg_id_a":6.87792206,"cg_id_raw_a":3.43202519,"cg_iq_a":-197.856506,"cg_iq_raw_a":-197.358826,"cg_iu_a":122.905373,"cg_iv_a":-197.09729,"cg_iw_a":74.1919174,"cg_sample_age_us":23.5400009,"cg_sample_seq":5645116,"cg_sample_valid":1,"cg_theta_rad":0.847599745,"cg_vd_req_v":-2.08758307,"cg_vd_v":-2.08758307,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44118118,"cg_vq_v":-8.44118118,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":856.071087,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":856.071093,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":856.071098,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":856.222046,"values":{"Elec_RPM":-2359.09375,"EncoderCos":35732,"EncoderSin":52344,"GapTicks":49337,"Mech_RPM":-471.818756,"cg_du":50.0966835,"cg_dv":55.1474037,"cg_dw":44.8525963,"cg_id_a":-12.4609604,"cg_id_raw_a":-13.0167303,"cg_iq_a":-198.627762,"cg_iq_raw_a":-196.145782,"cg_iu_a":-52.6959991,"cg_iv_a":193.79245,"cg_iw_a":-141.096451,"cg_sample_age_us":23.8745461,"cg_sample_seq":5646816,"cg_sample_valid":1,"cg_theta_rad":1.41936088,"cg_vd_req_v":-1.65301192,"cg_vd_v":-1.65301192,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41556358,"cg_vq_v":-8.41556358,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2524.77881,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8630676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":856.573608,"values":{"Elec_RPM":-2355.23169,"EncoderCos":34963,"EncoderSin":52448,"GapTicks":49396,"Mech_RPM":-471.046326,"cg_du":48.5957451,"cg_dv":55.0938683,"cg_dw":44.9061317,"cg_id_a":-2.23044109,"cg_id_raw_a":-8.24579239,"cg_iq_a":-199.722031,"cg_iq_raw_a":-199.372208,"cg_iu_a":-104.017273,"cg_iv_a":199.917664,"cg_iw_a":-95.9003906,"cg_sample_age_us":23.9254551,"cg_sample_seq":5648566,"cg_sample_valid":1,"cg_theta_rad":1.46122396,"cg_vd_req_v":-1.88757551,"cg_vd_v":-1.88757551,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41048336,"cg_vq_v":-8.41048336,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2510.97046,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":856.90564,"values":{"Elec_RPM":-2353.56641,"EncoderCos":12651,"EncoderSin":33414,"GapTicks":49379,"Mech_RPM":-470.713257,"cg_du":44.8902435,"cg_dv":49.2833824,"cg_dw":55.1097565,"cg_id_a":-14.3994684,"cg_id_raw_a":-19.0418396,"cg_iq_a":-196.394165,"cg_iq_raw_a":-196.333862,"cg_iu_a":-127.503273,"cg_iv_a":-53.7891846,"cg_iw_a":190.172211,"cg_sample_age_us":23.9327278,"cg_sample_seq":5650166,"cg_sample_valid":1,"cg_theta_rad":3.10723329,"cg_vd_req_v":-1.57332599,"cg_vd_v":-1.57332599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44782734,"cg_vq_v":-8.44782734,"cg_vu_v":8.79785156,"cg_vv_v":0.87978512,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2491.27441,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8312073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":857.095257,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":857.095263,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":857.095269,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":857.237671,"values":{"Elec_RPM":-2349.22388,"EncoderCos":15434,"EncoderSin":22450,"GapTicks":49545,"Mech_RPM":-469.844788,"cg_du":54.958889,"cg_dv":47.5338173,"cg_dw":45.041111,"cg_id_a":-7.44298744,"cg_id_raw_a":-8.81165695,"cg_iq_a":-198.724579,"cg_iq_raw_a":-199.927841,"cg_iu_a":168.065186,"cg_iv_a":4.01972961,"cg_iw_a":-172.084915,"cg_sample_age_us":23.9909096,"cg_sample_seq":5651867,"cg_sample_valid":1,"cg_theta_rad":3.67610502,"cg_vd_req_v":-1.72322857,"cg_vd_v":-1.72322857,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42110729,"cg_vq_v":-8.42110729,"cg_vu_v":106.453995,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":857.591187,"values":{"Elec_RPM":-2358.73804,"EncoderCos":23575,"EncoderSin":14962,"GapTicks":49839,"Mech_RPM":-471.74762,"cg_du":45.3089676,"cg_dv":54.6910324,"cg_dw":53.9508324,"cg_id_a":12.3354931,"cg_id_raw_a":9.80845261,"cg_iq_a":-200.008392,"cg_iq_raw_a":-198.109299,"cg_iu_a":-184.65979,"cg_iv_a":25.2223663,"cg_iw_a":159.437424,"cg_sample_age_us":23.8999996,"cg_sample_seq":5653567,"cg_sample_valid":1,"cg_theta_rad":4.25018835,"cg_vd_req_v":-2.16108489,"cg_vd_v":-2.16108489,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41751099,"cg_vq_v":-8.41751099,"cg_vu_v":1.31967759,"cg_vv_v":13.6366701,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2376.26318,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":857.921265,"values":{"Elec_RPM":-2353.36865,"EncoderCos":34830,"EncoderSin":12885,"GapTicks":49486,"Mech_RPM":-470.673706,"cg_du":55.0121155,"cg_dv":44.9878845,"cg_dw":47.8476486,"cg_id_a":7.84847546,"cg_id_raw_a":2.6008563,"cg_iq_a":-199.476883,"cg_iq_raw_a":-197.605591,"cg_iu_a":197.313965,"cg_iv_a":-69.5190201,"cg_iw_a":-127.794945,"cg_sample_age_us":24.0890903,"cg_sample_seq":5655267,"cg_sample_valid":1,"cg_theta_rad":4.83250761,"cg_vd_req_v":-2.08858037,"cg_vd_v":-2.08858037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.372962,"cg_vq_v":-8.372962,"cg_vu_v":143.404984,"cg_vv_v":139.006058,"cg_vw_v":130.648087,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2494.44751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8312073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":858.087563,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":858.087569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":858.087574,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":858.329468,"values":{"Elec_RPM":-2353.76807,"EncoderCos":21318,"EncoderSin":49248,"GapTicks":49918,"Mech_RPM":-470.753632,"cg_du":54.6198769,"cg_dv":45.3801231,"cg_dw":53.9952621,"cg_id_a":9.74743462,"cg_id_raw_a":15.584527,"cg_iq_a":-202.424728,"cg_iq_raw_a":-203.018341,"cg_iu_a":171.327148,"cg_iv_a":-180.135193,"cg_iw_a":8.8080368,"cg_sample_age_us":24.0490913,"cg_sample_seq":5657267,"cg_sample_valid":1,"cg_theta_rad":2.17947507,"cg_vd_req_v":-2.08122349,"cg_vd_v":-2.08122349,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34751034,"cg_vq_v":-8.34751034,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2464.16455,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":858.848999,"values":{"Elec_RPM":-2346.93701,"EncoderCos":48697,"EncoderSin":20947,"GapTicks":49389,"Mech_RPM":-469.387421,"cg_du":44.8997078,"cg_dv":48.2066307,"cg_dw":55.1002922,"cg_id_a":6.48274183,"cg_id_raw_a":0.64017266,"cg_iq_a":-198.851563,"cg_iq_raw_a":-197.404526,"cg_iu_a":-74.369812,"cg_iv_a":-125.406998,"cg_iw_a":197.928375,"cg_sample_age_us":23.9254551,"cg_sample_seq":5659866,"cg_sample_valid":1,"cg_theta_rad":5.66158676,"cg_vd_req_v":-2.14824605,"cg_vd_v":-2.14824605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42765522,"cg_vq_v":-8.42765522,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8559875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":858.982911,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":858.982923,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":858.982927,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":859.079709,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":859.079715,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":859.07972,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":859.24939,"values":{"Elec_RPM":-2343.84131,"EncoderCos":25865,"EncoderSin":51542,"GapTicks":49666,"Mech_RPM":-468.76828,"cg_du":45.1510849,"cg_dv":46.9200478,"cg_dw":54.8489151,"cg_id_a":10.6335983,"cg_id_raw_a":8.69364262,"cg_iq_a":-202.416412,"cg_iq_raw_a":-200.571732,"cg_iu_a":-46.2445984,"cg_iv_a":-149.074219,"cg_iw_a":195.318817,"cg_sample_age_us":23.8672733,"cg_sample_seq":5661967,"cg_sample_valid":1,"cg_theta_rad":1.92255092,"cg_vd_req_v":-2.12193465,"cg_vd_v":-2.12193465,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36598873,"cg_vq_v":-8.36598873,"cg_vu_v":104.254532,"cg_vv_v":93.6971207,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8612976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":859.600952,"values":{"Elec_RPM":-2349.54248,"EncoderCos":16482,"EncoderSin":44454,"GapTicks":49445,"Mech_RPM":-469.908478,"cg_du":55.0494614,"cg_dv":51.7685738,"cg_dw":44.9505386,"cg_id_a":8.97550201,"cg_id_raw_a":6.01089144,"cg_iq_a":-202.153992,"cg_iq_raw_a":-203.058273,"cg_iu_a":89.2710953,"cg_iv_a":111.482689,"cg_iw_a":-200.753784,"cg_sample_age_us":23.7945461,"cg_sample_seq":5663666,"cg_sample_valid":1,"cg_theta_rad":2.5114398,"cg_vd_req_v":-2.08301449,"cg_vd_v":-2.08301449,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35334587,"cg_vq_v":-8.35334587,"cg_vu_v":24.1940918,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8542175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":859.932983,"values":{"Elec_RPM":-2347.46704,"EncoderCos":14936,"EncoderSin":23449,"GapTicks":50062,"Mech_RPM":-469.493408,"cg_du":54.4888535,"cg_dv":45.5111465,"cg_dw":45.7028351,"cg_id_a":11.6278601,"cg_id_raw_a":15.1996918,"cg_iq_a":-205.135162,"cg_iq_raw_a":-207.344681,"cg_iu_a":190.75383,"cg_iv_a":-30.411911,"cg_iw_a":-160.341919,"cg_sample_age_us":23.9909096,"cg_sample_seq":5665316,"cg_sample_valid":1,"cg_theta_rad":3.62100291,"cg_vd_req_v":-2.11612248,"cg_vd_v":-2.11612248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27876854,"cg_vq_v":-8.27876854,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2476.67676,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105543599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":860.07161,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":860.071616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":860.071621,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":860.266968,"values":{"Elec_RPM":-2348.41333,"EncoderCos":22553,"EncoderSin":15414,"GapTicks":49390,"Mech_RPM":-469.682678,"cg_du":44.9000015,"cg_dv":55.0999985,"cg_dw":51.79739,"cg_id_a":-0.483101666,"cg_id_raw_a":-6.57315969,"cg_iq_a":-198.389954,"cg_iq_raw_a":-197.351776,"cg_iu_a":-197.272644,"cg_iv_a":88.4678497,"cg_iw_a":108.804794,"cg_sample_age_us":23.8418179,"cg_sample_seq":5667017,"cg_sample_valid":1,"cg_theta_rad":4.19119596,"cg_vd_req_v":-1.92232406,"cg_vd_v":-1.92232406,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45522499,"cg_vq_v":-8.45522499,"cg_vu_v":10.9973145,"cg_vv_v":24.6339836,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.984251,"dclink_p_w":-2602.76465,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":860.61853,"values":{"Elec_RPM":-2348.07397,"EncoderCos":33688,"EncoderSin":12792,"GapTicks":49330,"Mech_RPM":-469.614807,"cg_du":55.1545219,"cg_dv":44.8454781,"cg_dw":49.8840446,"cg_id_a":-15.7717915,"cg_id_raw_a":-17.2468052,"cg_iq_a":-194.525955,"cg_iq_raw_a":-193.348526,"cg_iu_a":188.760422,"cg_iv_a":-135.591507,"cg_iw_a":-53.1689148,"cg_sample_age_us":24.0963631,"cg_sample_seq":5668717,"cg_sample_valid":1,"cg_theta_rad":4.77545547,"cg_vd_req_v":-1.59846592,"cg_vd_v":-1.59846592,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49168491,"cg_vq_v":-8.49168491,"cg_vu_v":106.014107,"cg_vv_v":76.9812012,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.7087975,"dclink_p_w":-2562.89966,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":860.950562,"values":{"Elec_RPM":-2354.3833,"EncoderCos":34476,"EncoderSin":12843,"GapTicks":49397,"Mech_RPM":-470.876648,"cg_du":55.0934105,"cg_dv":44.9065895,"cg_dw":48.4714622,"cg_id_a":0.141550839,"cg_id_raw_a":-7.16763592,"cg_iq_a":-197.212555,"cg_iq_raw_a":-196.106598,"cg_iu_a":197.748901,"cg_iv_a":-89.3806381,"cg_iw_a":-108.368263,"cg_sample_age_us":24.0963631,"cg_sample_seq":5670467,"cg_sample_valid":1,"cg_theta_rad":4.81481552,"cg_vd_req_v":-1.93693292,"cg_vd_v":-1.93693292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41865158,"cg_vq_v":-8.41865158,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8400574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":861.094909,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":861.094915,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":861.09492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":861.284546,"values":{"Elec_RPM":-2354.50244,"EncoderCos":51252,"EncoderSin":25629,"GapTicks":49917,"Mech_RPM":-470.900482,"cg_du":54.10495,"cg_dv":45.3791046,"cg_dw":54.6208954,"cg_id_a":17.2387695,"cg_id_raw_a":16.54916,"cg_iq_a":-203.649963,"cg_iq_raw_a":-203.683762,"cg_iu_a":167.01413,"cg_iv_a":-185.20932,"cg_iw_a":18.1951981,"cg_sample_age_us":24.2345448,"cg_sample_seq":5672117,"cg_sample_valid":1,"cg_theta_rad":5.92791033,"cg_vd_req_v":-2.30066705,"cg_vd_v":-2.30066705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34071732,"cg_vq_v":-8.34071732,"cg_vu_v":142.965088,"cg_vv_v":139.445938,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.1231308,"dclink_p_w":-2333.41455,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":861.636108,"values":{"Elec_RPM":-2354.48364,"EncoderCos":52017,"EncoderSin":36904,"GapTicks":49473,"Mech_RPM":-470.896729,"cg_du":47.8776627,"cg_dv":55.023941,"cg_dw":44.976059,"cg_id_a":0.354444742,"cg_id_raw_a":-4.67874193,"cg_iq_a":-199.347458,"cg_iq_raw_a":-198.891235,"cg_iu_a":-133.519745,"cg_iv_a":198.286682,"cg_iw_a":-64.7669449,"cg_sample_age_us":23.3945446,"cg_sample_seq":5673817,"cg_sample_valid":1,"cg_theta_rad":0.232430756,"cg_vd_req_v":-1.99540389,"cg_vd_v":-1.99540389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40827084,"cg_vq_v":-8.40827084,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":861.970093,"values":{"Elec_RPM":-2357.93848,"EncoderCos":46636,"EncoderSin":46975,"GapTicks":49321,"Mech_RPM":-471.587708,"cg_du":50.210743,"cg_dv":44.8376846,"cg_dw":55.1623154,"cg_id_a":-9.44567108,"cg_id_raw_a":-12.6811562,"cg_iq_a":-196.54744,"cg_iq_raw_a":-195.53923,"cg_iu_a":65.748848,"cg_iv_a":-193.509155,"cg_iw_a":127.7603,"cg_sample_age_us":23.6345463,"cg_sample_seq":5675517,"cg_sample_valid":1,"cg_theta_rad":0.801095188,"cg_vd_req_v":-1.75451601,"cg_vd_v":-1.75451601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44908142,"cg_vq_v":-8.44908142,"cg_vu_v":143.404984,"cg_vv_v":140.765625,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8542175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":862.086915,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":862.086922,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":862.086927,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":862.321655,"values":{"Elec_RPM":-2351.90698,"EncoderCos":46728,"EncoderSin":46968,"GapTicks":49315,"Mech_RPM":-470.381378,"cg_du":50.0862923,"cg_dv":44.8323212,"cg_dw":55.1676788,"cg_id_a":-11.3711462,"cg_id_raw_a":-15.3029432,"cg_iq_a":-197.645538,"cg_iq_raw_a":-197.19075,"cg_iu_a":114.786758,"cg_iv_a":-200.178024,"cg_iw_a":85.3912659,"cg_sample_age_us":23.5072727,"cg_sample_seq":5677271,"cg_sample_valid":1,"cg_theta_rad":0.839309335,"cg_vd_req_v":-1.72148776,"cg_vd_v":-1.72148776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43619823,"cg_vq_v":-8.43619823,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2378.09326,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8099976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":862.653687,"values":{"Elec_RPM":-2352.64526,"EncoderCos":35636,"EncoderSin":52384,"GapTicks":49333,"Mech_RPM":-470.529053,"cg_du":49.8942146,"cg_dv":55.1510201,"cg_dw":44.8489799,"cg_id_a":-11.429431,"cg_id_raw_a":-15.0295658,"cg_iq_a":-199.00946,"cg_iq_raw_a":-196.095871,"cg_iu_a":-59.6548157,"cg_iv_a":195.024734,"cg_iw_a":-135.369919,"cg_sample_age_us":23.8672733,"cg_sample_seq":5678966,"cg_sample_valid":1,"cg_theta_rad":1.42197919,"cg_vd_req_v":-1.68384075,"cg_vd_v":-1.68384075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44237518,"cg_vq_v":-8.44237518,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2394.52295,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8612976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":862.985718,"values":{"Elec_RPM":-2349.64355,"EncoderCos":24474,"EncoderSin":51024,"GapTicks":49593,"Mech_RPM":-469.928711,"cg_du":47.590889,"cg_dv":45.0846329,"cg_dw":54.9153671,"cg_id_a":-9.11418915,"cg_id_raw_a":-0.589962542,"cg_iq_a":-202.076202,"cg_iq_raw_a":-204.1353,"cg_iu_a":0.219996452,"cg_iv_a":-174.698608,"cg_iw_a":174.478607,"cg_sample_age_us":23.8600006,"cg_sample_seq":5680666,"cg_sample_valid":1,"cg_theta_rad":1.99707007,"cg_vd_req_v":-1.68884706,"cg_vd_v":-1.68884706,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36806107,"cg_vq_v":-8.36806107,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.4750252,"dclink_p_w":-2536.75415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8701477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":863.078675,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":863.078681,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":863.078686,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":863.339233,"values":{"Elec_RPM":-2347.11548,"EncoderCos":15805,"EncoderSin":43427,"GapTicks":50021,"Mech_RPM":-469.423096,"cg_du":54.5260696,"cg_dv":54.2090721,"cg_dw":45.4739304,"cg_id_a":16.30196,"cg_id_raw_a":17.1332264,"cg_iq_a":-204.391861,"cg_iq_raw_a":-204.62236,"cg_iu_a":16.6022091,"cg_iv_a":168.675476,"cg_iw_a":-185.277679,"cg_sample_age_us":23.8745461,"cg_sample_seq":5682366,"cg_sample_valid":1,"cg_theta_rad":2.5806303,"cg_vd_req_v":-2.19902039,"cg_vd_v":-2.19902039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29853344,"cg_vq_v":-8.29853344,"cg_vu_v":38.7105446,"cg_vv_v":49.2679672,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.672554,"dclink_p_w":-2557.6543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8612976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":863.671265,"values":{"Elec_RPM":-2347.82324,"EncoderCos":12712,"EncoderSin":33125,"GapTicks":49382,"Mech_RPM":-469.564636,"cg_du":44.8934937,"cg_dv":48.772747,"cg_dw":55.1065063,"cg_id_a":-9.58855438,"cg_id_raw_a":-13.0685492,"cg_iq_a":-199.37204,"cg_iq_raw_a":-200.052322,"cg_iu_a":-92.7091904,"cg_iv_a":-101.739784,"cg_iw_a":194.448975,"cg_sample_age_us":23.8381824,"cg_sample_seq":5684068,"cg_sample_valid":1,"cg_theta_rad":3.13887024,"cg_vd_req_v":-1.69819975,"cg_vd_v":-1.69819975,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41969204,"cg_vq_v":-8.41969204,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2403.45605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":864.003296,"values":{"Elec_RPM":-2348.18213,"EncoderCos":15798,"EncoderSin":21862,"GapTicks":49307,"Mech_RPM":-469.636414,"cg_du":55.1751595,"cg_dv":49.6856079,"cg_dw":44.8248405,"cg_id_a":-10.7101469,"cg_id_raw_a":-12.9353876,"cg_iq_a":-195.665726,"cg_iq_raw_a":-194.356613,"cg_iu_a":136.098129,"cg_iv_a":52.4777374,"cg_iw_a":-188.575867,"cg_sample_age_us":24.0490913,"cg_sample_seq":5685767,"cg_sample_valid":1,"cg_theta_rad":3.72099137,"cg_vd_req_v":-1.67405915,"cg_vd_v":-1.67405915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49025059,"cg_vq_v":-8.49025059,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2401.53809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":864.102717,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":864.102723,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":864.102728,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":864.356812,"values":{"Elec_RPM":-2349.74951,"EncoderCos":44102,"EncoderSin":16353,"GapTicks":49728,"Mech_RPM":-469.949921,"cg_du":45.2078438,"cg_dv":54.7921562,"cg_dw":46.7137756,"cg_id_a":0.152701378,"cg_id_raw_a":8.98932457,"cg_iq_a":-203.749115,"cg_iq_raw_a":-205.206711,"cg_iu_a":-188.28418,"cg_iv_a":145.805603,"cg_iw_a":42.4785767,"cg_sample_age_us":26.7909088,"cg_sample_seq":5687370,"cg_sample_valid":1,"cg_theta_rad":5.3880372,"cg_vd_req_v":-1.97218871,"cg_vd_v":-1.97218871,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33054161,"cg_vq_v":-8.33054161,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2409.16211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":864.688843,"values":{"Elec_RPM":-2347.50952,"EncoderCos":35777,"EncoderSin":12967,"GapTicks":49948,"Mech_RPM":-469.501892,"cg_du":54.5925674,"cg_dv":45.4074326,"cg_dw":45.9462852,"cg_id_a":12.8910484,"cg_id_raw_a":18.6283894,"cg_iq_a":-203.542648,"cg_iq_raw_a":-205.138184,"cg_iu_a":187.745605,"cg_iv_a":-21.387207,"cg_iw_a":-166.358398,"cg_sample_age_us":24.0272732,"cg_sample_seq":5689166,"cg_sample_valid":1,"cg_theta_rad":4.88134146,"cg_vd_req_v":-2.1678493,"cg_vd_v":-2.1678493,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30962086,"cg_vq_v":-8.30962086,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-18.3376274,"dclink_p_w":-2653.90674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":865.020874,"values":{"Elec_RPM":-2343.37793,"EncoderCos":51743,"EncoderSin":27236,"GapTicks":49350,"Mech_RPM":-468.675598,"cg_du":55.1361923,"cg_dv":44.8638077,"cg_dw":51.1199074,"cg_id_a":-15.8045063,"cg_id_raw_a":-16.3039799,"cg_iq_a":-193.614319,"cg_iq_raw_a":-193.701614,"cg_iu_a":179.844437,"cg_iv_a":-153.169769,"cg_iw_a":-26.6746674,"cg_sample_age_us":24.0345459,"cg_sample_seq":5690816,"cg_sample_valid":1,"cg_theta_rad":6.00597048,"cg_vd_req_v":-1.63075709,"cg_vd_v":-1.63075709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52270126,"cg_vq_v":-8.52270126,"cg_vu_v":44.8690414,"cg_vv_v":40.9100075,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2441.52417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8559875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":865.095415,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":865.095421,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":865.095426,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":865.372437,"values":{"Elec_RPM":-2351.24097,"EncoderCos":46469,"EncoderSin":18411,"GapTicks":49717,"Mech_RPM":-470.248199,"cg_du":45.1981049,"cg_dv":54.8018951,"cg_dw":53.4498405,"cg_id_a":10.0797863,"cg_id_raw_a":7.28370285,"cg_iq_a":-198.097748,"cg_iq_raw_a":-196.743149,"cg_iu_a":-187.088135,"cg_iv_a":35.8780518,"cg_iw_a":151.210083,"cg_sample_age_us":23.9509087,"cg_sample_seq":5692617,"cg_sample_valid":1,"cg_theta_rad":5.49383354,"cg_vd_req_v":-2.19729805,"cg_vd_v":-2.19729805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.432374,"cg_vq_v":-8.432374,"cg_vu_v":129.768311,"cg_vv_v":134.607132,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2421.27441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8878479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":865.706421,"values":{"Elec_RPM":-2349.25415,"EncoderCos":45654,"EncoderSin":47908,"GapTicks":49536,"Mech_RPM":-469.85083,"cg_du":52.7147598,"cg_dv":45.0327454,"cg_dw":54.9672546,"cg_id_a":13.9007549,"cg_id_raw_a":11.2230158,"cg_iq_a":-201.394409,"cg_iq_raw_a":-200.130722,"cg_iu_a":146.391373,"cg_iv_a":-195.32135,"cg_iw_a":48.9299774,"cg_sample_age_us":23.5763645,"cg_sample_seq":5694216,"cg_sample_valid":1,"cg_theta_rad":0.868974328,"cg_vd_req_v":-2.23817992,"cg_vd_v":-2.23817992,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38434505,"cg_vq_v":-8.38434505,"cg_vu_v":43.549366,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.5366402,"dclink_p_w":-2537.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8542175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":866.059937,"values":{"Elec_RPM":-2350.16089,"EncoderCos":36256,"EncoderSin":52282,"GapTicks":49336,"Mech_RPM":-470.032196,"cg_du":51.3978615,"cg_dv":55.1488304,"cg_dw":44.8511696,"cg_id_a":-7.6771903,"cg_id_raw_a":-6.92421579,"cg_iq_a":-194.07753,"cg_iq_raw_a":-194.230621,"cg_iu_a":-103.799805,"cg_iv_a":198.57663,"cg_iw_a":-94.776825,"cg_sample_age_us":26.7618179,"cg_sample_seq":5695921,"cg_sample_valid":1,"cg_theta_rad":1.45890546,"cg_vd_req_v":-1.73693156,"cg_vd_v":-1.73693156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53450108,"cg_vq_v":-8.53450108,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.4003944,"dclink_p_w":-2373.5415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":866.087355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":866.087361,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":866.087366,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":866.390015,"values":{"Elec_RPM":-2348.84033,"EncoderCos":24202,"EncoderSin":50913,"GapTicks":49493,"Mech_RPM":-469.768066,"cg_du":48.3446007,"cg_dv":44.9938278,"cg_dw":55.0061722,"cg_id_a":-15.0216761,"cg_id_raw_a":-8.04452038,"cg_iq_a":-200.712494,"cg_iq_raw_a":-200.956268,"cg_iu_a":11.4918289,"cg_iv_a":-178.902893,"cg_iw_a":167.411072,"cg_sample_age_us":23.7763634,"cg_sample_seq":5697617,"cg_sample_valid":1,"cg_theta_rad":2.01376629,"cg_vd_req_v":-1.56885755,"cg_vd_v":-1.56885755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37135124,"cg_vq_v":-8.37135124,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2425.68091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":866.723999,"values":{"Elec_RPM":-2347.76953,"EncoderCos":15602,"EncoderSin":43112,"GapTicks":49863,"Mech_RPM":-469.553925,"cg_du":53.8065758,"cg_dv":54.6696625,"cg_dw":45.3303375,"cg_id_a":8.32415581,"cg_id_raw_a":11.9084673,"cg_iq_a":-202.818481,"cg_iq_raw_a":-205.337708,"cg_iu_a":2.32213879,"cg_iv_a":169.690308,"cg_iw_a":-172.012451,"cg_sample_age_us":23.7945461,"cg_sample_seq":5699316,"cg_sample_valid":1,"cg_theta_rad":2.60929608,"cg_vd_req_v":-2.0293076,"cg_vd_v":-2.0293076,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35559464,"cg_vq_v":-8.35559464,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8630676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":867.075562,"values":{"Elec_RPM":-2346.4541,"EncoderCos":12725,"EncoderSin":32458,"GapTicks":49482,"Mech_RPM":-469.290833,"cg_du":44.9837379,"cg_dv":47.5616875,"cg_dw":55.0162621,"cg_id_a":4.14353657,"cg_id_raw_a":-1.00521934,"cg_iq_a":-198.828476,"cg_iq_raw_a":-194.818512,"cg_iu_a":-67.9184113,"cg_iv_a":-128.342743,"cg_iw_a":196.261154,"cg_sample_age_us":23.9290905,"cg_sample_seq":5701017,"cg_sample_valid":1,"cg_theta_rad":3.16000867,"cg_vd_req_v":-1.9827162,"cg_vd_v":-1.9827162,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45077229,"cg_vq_v":-8.45077229,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2488.15308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":867.079303,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":867.079309,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":867.079315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":867.409546,"values":{"Elec_RPM":-2348.36792,"EncoderCos":16060,"EncoderSin":21493,"GapTicks":49377,"Mech_RPM":-469.673584,"cg_du":55.1112442,"cg_dv":50.5695076,"cg_dw":44.8887558,"cg_id_a":-6.09661341,"cg_id_raw_a":-9.83577347,"cg_iq_a":-198.535858,"cg_iq_raw_a":-196.439774,"cg_iu_a":117.033875,"cg_iv_a":80.3492432,"cg_iw_a":-197.383118,"cg_sample_age_us":23.9909096,"cg_sample_seq":5702717,"cg_sample_valid":1,"cg_theta_rad":3.74286389,"cg_vd_req_v":-1.77672422,"cg_vd_v":-1.77672422,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39939785,"cg_vq_v":-8.39939785,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.67799,"dclink_p_w":-2558.44092,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":867.741577,"values":{"Elec_RPM":-2349.12744,"EncoderCos":24806,"EncoderSin":14337,"GapTicks":49493,"Mech_RPM":-469.82547,"cg_du":44.9939423,"cg_dv":51.6924744,"cg_dw":55.0060577,"cg_id_a":-11.4732399,"cg_id_raw_a":-7.94740582,"cg_iq_a":-201.197571,"cg_iq_raw_a":-199.920975,"cg_iu_a":-163.674622,"cg_iv_a":-17.436615,"cg_iw_a":181.111237,"cg_sample_age_us":23.954546,"cg_sample_seq":5704417,"cg_sample_valid":1,"cg_theta_rad":4.31767893,"cg_vd_req_v":-1.66911292,"cg_vd_v":-1.66911292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35866356,"cg_vq_v":-8.35866356,"cg_vu_v":102.93486,"cg_vv_v":102.055069,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":868.09314,"values":{"Elec_RPM":-2349.59497,"EncoderCos":36256,"EncoderSin":13086,"GapTicks":49861,"Mech_RPM":-469.918976,"cg_du":54.6713867,"cg_dv":46.2124519,"cg_dw":45.3286133,"cg_id_a":7.91514015,"cg_id_raw_a":11.2337532,"cg_iq_a":-202.106155,"cg_iq_raw_a":-204.377686,"cg_iu_a":178.430923,"cg_iv_a":-6.59971619,"cg_iw_a":-171.831207,"cg_sample_age_us":23.9727268,"cg_sample_seq":5706116,"cg_sample_valid":1,"cg_theta_rad":4.90406227,"cg_vd_req_v":-2.05572915,"cg_vd_v":-2.05572915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37078667,"cg_vq_v":-8.37078667,"cg_vu_v":41.7897949,"cg_vv_v":40.9100075,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2519.10083,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8701477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":868.102947,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":868.102953,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":868.102958,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":868.591187,"values":{"Elec_RPM":-2344.76538,"EncoderCos":12673,"EncoderSin":33039,"GapTicks":49423,"Mech_RPM":-468.953064,"cg_du":44.9308281,"cg_dv":48.6310081,"cg_dw":55.0691719,"cg_id_a":-7.60941315,"cg_id_raw_a":-11.8069239,"cg_iq_a":-198.870972,"cg_iq_raw_a":-197.593735,"cg_iu_a":-67.0485611,"cg_iv_a":-119.281784,"cg_iw_a":197.710907,"cg_sample_age_us":23.9363632,"cg_sample_seq":5708619,"cg_sample_valid":1,"cg_theta_rad":3.1606524,"cg_vd_req_v":-1.73700881,"cg_vd_v":-1.73700881,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39583302,"cg_vq_v":-8.39583302,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":868.966892,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":868.966904,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":868.966907,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":869.063583,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":869.063588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":869.063594,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":869.065796,"values":{"Elec_RPM":-2338.83374,"EncoderCos":12819,"EncoderSin":35156,"GapTicks":49762,"Mech_RPM":-467.766754,"cg_du":45.2387924,"cg_dv":53.4689827,"cg_dw":54.7612076,"cg_id_a":4.11578274,"cg_id_raw_a":7.4809556,"cg_iq_a":-201.912872,"cg_iq_raw_a":-200.901382,"cg_iu_a":-177.193573,"cg_iv_a":5.57821655,"cg_iw_a":171.615356,"cg_sample_age_us":23.8418179,"cg_sample_seq":5710967,"cg_sample_valid":1,"cg_theta_rad":3.02601194,"cg_vd_req_v":-1.92463911,"cg_vd_v":-1.92463911,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36078835,"cg_vq_v":-8.36078835,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2497.59473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":869.421265,"values":{"Elec_RPM":-2342.99707,"EncoderCos":16329,"EncoderSin":44223,"GapTicks":49517,"Mech_RPM":-468.599426,"cg_du":54.9840546,"cg_dv":52.2463875,"cg_dw":45.0159454,"cg_id_a":14.3546581,"cg_id_raw_a":9.68997669,"cg_iq_a":-204.829315,"cg_iq_raw_a":-203.374908,"cg_iu_a":61.7257843,"cg_iv_a":138.121918,"cg_iw_a":-199.847702,"cg_sample_age_us":23.9145451,"cg_sample_seq":5712767,"cg_sample_valid":1,"cg_theta_rad":2.53191996,"cg_vd_req_v":-2.19590139,"cg_vd_v":-2.19590139,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29450703,"cg_vq_v":-8.29450703,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2496.27832,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8435974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":869.751343,"values":{"Elec_RPM":-2341.09351,"EncoderCos":12699,"EncoderSin":33378,"GapTicks":49358,"Mech_RPM":-468.218719,"cg_du":44.8713722,"cg_dv":49.2441177,"cg_dw":55.1286278,"cg_id_a":-13.1742334,"cg_id_raw_a":-16.1684933,"cg_iq_a":-198.715698,"cg_iq_raw_a":-199.840958,"cg_iu_a":-124.712494,"cg_iv_a":-59.7331848,"cg_iw_a":193.325409,"cg_sample_age_us":23.8345451,"cg_sample_seq":5714466,"cg_sample_valid":1,"cg_theta_rad":3.11227036,"cg_vd_req_v":-1.61602092,"cg_vd_v":-1.61602092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44844341,"cg_vq_v":-8.44844341,"cg_vu_v":34.7515144,"cg_vv_v":33.4318352,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.67799,"dclink_p_w":-2558.44092,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.7905579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":870.08759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":870.087596,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":870.087601,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":870.104858,"values":{"Elec_RPM":-2339.81006,"EncoderCos":15481,"EncoderSin":22443,"GapTicks":49439,"Mech_RPM":-467.962036,"cg_du":55.0547562,"cg_dv":48.2581329,"cg_dw":44.9452438,"cg_id_a":-11.3668718,"cg_id_raw_a":-8.60621452,"cg_iq_a":-196.357025,"cg_iq_raw_a":-195.799988,"cg_iu_a":155.923508,"cg_iv_a":14.892868,"cg_iw_a":-175.383102,"cg_sample_age_us":24.0272732,"cg_sample_seq":5716167,"cg_sample_valid":1,"cg_theta_rad":3.6955092,"cg_vd_req_v":-1.63546169,"cg_vd_v":-1.63546169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45604324,"cg_vq_v":-8.45604324,"cg_vu_v":47.9482918,"cg_vv_v":48.8280716,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":870.43689,"values":{"Elec_RPM":-2344.58594,"EncoderCos":23569,"EncoderSin":14918,"GapTicks":49900,"Mech_RPM":-468.917206,"cg_du":45.3645401,"cg_dv":54.6354599,"cg_dw":53.9917297,"cg_id_a":9.66261005,"cg_id_raw_a":10.3598452,"cg_iq_a":-200.470581,"cg_iq_raw_a":-200.874603,"cg_iu_a":-181.905273,"cg_iv_a":18.9884338,"cg_iw_a":162.91684,"cg_sample_age_us":23.9327278,"cg_sample_seq":5717868,"cg_sample_valid":1,"cg_theta_rad":4.25935936,"cg_vd_req_v":-2.10579276,"cg_vd_v":-2.10579276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3637476,"cg_vq_v":-8.3637476,"cg_vu_v":119.650772,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2452.87427,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":870.768921,"values":{"Elec_RPM":-2338.42529,"EncoderCos":35120,"EncoderSin":12894,"GapTicks":49580,"Mech_RPM":-467.685059,"cg_du":54.926796,"cg_dv":45.073204,"cg_dw":47.3452492,"cg_id_a":13.2254391,"cg_id_raw_a":11.5001259,"cg_iq_a":-202.931137,"cg_iq_raw_a":-201.907806,"cg_iu_a":198.691223,"cg_iv_a":-51.3970947,"cg_iw_a":-147.294128,"cg_sample_age_us":24.0854549,"cg_sample_seq":5719566,"cg_sample_valid":1,"cg_theta_rad":4.84762001,"cg_vd_req_v":-2.20897913,"cg_vd_v":-2.20897913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33481503,"cg_vq_v":-8.33481503,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":871.079487,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":871.079492,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":871.079498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":871.122437,"values":{"Elec_RPM":-2345.20996,"EncoderCos":45503,"EncoderSin":17559,"GapTicks":49314,"Mech_RPM":-469.041992,"cg_du":44.8314133,"cg_dv":55.1685867,"cg_dw":50.9737511,"cg_id_a":-7.32957029,"cg_id_raw_a":-8.57622433,"cg_iq_a":-195.963135,"cg_iq_raw_a":-196.195694,"cg_iu_a":-197.16391,"cg_iv_a":109.598007,"cg_iw_a":87.5659027,"cg_sample_age_us":23.9145451,"cg_sample_seq":5721266,"cg_sample_valid":1,"cg_theta_rad":5.42732239,"cg_vd_req_v":-1.8609786,"cg_vd_v":-1.8609786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48671722,"cg_vq_v":-8.48671722,"cg_vu_v":38.2706528,"cg_vv_v":52.7871094,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-16.2681046,"dclink_p_w":-2361.552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8913879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":871.454468,"values":{"Elec_RPM":-2357.53247,"EncoderCos":51647,"EncoderSin":26949,"GapTicks":49392,"Mech_RPM":-471.5065,"cg_du":55.0976372,"cg_dv":44.9023628,"cg_dw":51.3637276,"cg_id_a":-13.0205975,"cg_id_raw_a":-14.0602369,"cg_iq_a":-195.915665,"cg_iq_raw_a":-196.896011,"cg_iu_a":178.575897,"cg_iv_a":-159.00502,"cg_iw_a":-19.5708771,"cg_sample_age_us":24.1436367,"cg_sample_seq":5722967,"cg_sample_valid":1,"cg_theta_rad":5.9980135,"cg_vd_req_v":-1.66214871,"cg_vd_v":-1.66214871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45808983,"cg_vq_v":-8.45808983,"cg_vu_v":143.404984,"cg_vv_v":124.929489,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2476.08887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8577271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":871.786499,"values":{"Elec_RPM":-2357.97314,"EncoderCos":51652,"EncoderSin":38292,"GapTicks":49930,"Mech_RPM":-471.594604,"cg_du":45.3911362,"cg_dv":54.6088638,"cg_dw":45.9442787,"cg_id_a":10.3417912,"cg_id_raw_a":16.1318016,"cg_iq_a":-203.91571,"cg_iq_raw_a":-204.091217,"cg_iu_a":-173.206757,"cg_iv_a":178.243866,"cg_iw_a":-5.03710175,"cg_sample_age_us":23.5290909,"cg_sample_seq":5724666,"cg_sample_valid":1,"cg_theta_rad":0.294749409,"cg_vd_req_v":-2.17570043,"cg_vd_v":-2.17570043,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3334856,"cg_vq_v":-8.3334856,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":872.070828,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":872.070833,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":872.070838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":872.140015,"values":{"Elec_RPM":-2358.94873,"EncoderCos":51432,"EncoderSin":39113,"GapTicks":49441,"Mech_RPM":-471.789764,"cg_du":44.946476,"cg_dv":55.053524,"cg_dw":48.1473618,"cg_id_a":-9.64851475,"cg_id_raw_a":-6.97973108,"cg_iq_a":-200.504929,"cg_iq_raw_a":-201.565643,"cg_iu_a":-182.195221,"cg_iv_a":162.369049,"cg_iw_a":19.8261795,"cg_sample_age_us":23.5218182,"cg_sample_seq":5726416,"cg_sample_valid":1,"cg_theta_rad":0.334834337,"cg_vd_req_v":-1.76831865,"cg_vd_v":-1.76831865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42235184,"cg_vq_v":-8.42235184,"cg_vu_v":39.1504402,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.4148922,"dclink_p_w":-2382.86035,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.894928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":872.472046,"values":{"Elec_RPM":-2355.47388,"EncoderCos":24676,"EncoderSin":51088,"GapTicks":49740,"Mech_RPM":-471.094788,"cg_du":46.9645805,"cg_dv":45.2186012,"cg_dw":54.7813988,"cg_id_a":0.100876093,"cg_id_raw_a":6.86029387,"cg_iq_a":-205.498047,"cg_iq_raw_a":-206.571991,"cg_iu_a":1.66974986,"cg_iv_a":-175.568466,"cg_iw_a":173.898712,"cg_sample_age_us":23.7654552,"cg_sample_seq":5728016,"cg_sample_valid":1,"cg_theta_rad":1.9988519,"cg_vd_req_v":-1.86713374,"cg_vd_v":-1.86713374,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27631187,"cg_vq_v":-8.27631187,"cg_vu_v":117.451309,"cg_vv_v":120.530563,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2513.79712,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9126587,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104435802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":872.823608,"values":{"Elec_RPM":-2342.85156,"EncoderCos":34312,"EncoderSin":52552,"GapTicks":49583,"Mech_RPM":-468.570313,"cg_du":47.4348755,"cg_dv":54.9243088,"cg_dw":45.0756912,"cg_id_a":11.5001163,"cg_id_raw_a":9.11684227,"cg_iq_a":-202.576141,"cg_iq_raw_a":-201.277298,"cg_iu_a":-140.732269,"cg_iv_a":198.612885,"cg_iw_a":-57.8806076,"cg_sample_age_us":23.8672733,"cg_sample_seq":5729816,"cg_sample_valid":1,"cg_theta_rad":1.49324262,"cg_vd_req_v":-2.14642382,"cg_vd_v":-2.14642382,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32091808,"cg_vq_v":-8.32091808,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2418.35986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8630676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104335092,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":873.095653,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":873.095659,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":873.095664,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":873.157593,"values":{"Elec_RPM":-2351.13257,"EncoderCos":12704,"EncoderSin":33112,"GapTicks":49370,"Mech_RPM":-470.226501,"cg_du":44.8824997,"cg_dv":48.7303314,"cg_dw":55.1175003,"cg_id_a":-9.50728226,"cg_id_raw_a":-13.8654394,"cg_iq_a":-196.649918,"cg_iq_raw_a":-196.627029,"cg_iu_a":-105.720734,"cg_iv_a":-88.1483459,"cg_iw_a":193.86908,"cg_sample_age_us":23.9654541,"cg_sample_seq":5731417,"cg_sample_valid":1,"cg_theta_rad":3.12706375,"cg_vd_req_v":-1.69768786,"cg_vd_v":-1.69768786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47089005,"cg_vq_v":-8.47089005,"cg_vu_v":119.210884,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8896179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":873.489624,"values":{"Elec_RPM":-2353.56396,"EncoderCos":15143,"EncoderSin":42338,"GapTicks":49377,"Mech_RPM":-470.712769,"cg_du":51.5303955,"cg_dv":55.1111717,"cg_dw":44.8888283,"cg_id_a":-8.85408783,"cg_id_raw_a":-4.76762629,"cg_iq_a":-194.32515,"cg_iq_raw_a":-195.312302,"cg_iu_a":-26.4554653,"cg_iv_a":179.693604,"cg_iw_a":-153.238144,"cg_sample_age_us":23.9145451,"cg_sample_seq":5733216,"cg_sample_valid":1,"cg_theta_rad":2.64796472,"cg_vd_req_v":-1.68017638,"cg_vd_v":-1.68017638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53061295,"cg_vq_v":-8.53061295,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-15.9310379,"dclink_p_w":-2298.60596,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":873.841187,"values":{"Elec_RPM":-2352.44653,"EncoderCos":23434,"EncoderSin":15009,"GapTicks":49783,"Mech_RPM":-470.489319,"cg_du":45.2579308,"cg_dv":54.7420692,"cg_dw":53.6648979,"cg_id_a":7.90068722,"cg_id_raw_a":5.47761059,"cg_iq_a":-199.88797,"cg_iq_raw_a":-199.020004,"cg_iu_a":-177.157318,"cg_iv_a":-0.83694458,"cg_iw_a":177.994263,"cg_sample_age_us":26.8018188,"cg_sample_seq":5734821,"cg_sample_valid":1,"cg_theta_rad":4.29060602,"cg_vd_req_v":-2.07959557,"cg_vd_v":-2.07959557,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39770985,"cg_vq_v":-8.39770985,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.4982529,"dclink_p_w":-2380.44653,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":874.087515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":874.087521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":874.087526,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":874.175171,"values":{"Elec_RPM":-2350.24707,"EncoderCos":16523,"EncoderSin":20819,"GapTicks":49476,"Mech_RPM":-470.049408,"cg_du":55.0211258,"cg_dv":52.0765381,"cg_dw":44.9788742,"cg_id_a":7.55191612,"cg_id_raw_a":4.28168678,"cg_iq_a":-203.318848,"cg_iq_raw_a":-202.71106,"cg_iu_a":71.4028854,"cg_iv_a":127.466225,"cg_iw_a":-198.86911,"cg_sample_age_us":23.9909096,"cg_sample_seq":5736617,"cg_sample_valid":1,"cg_theta_rad":3.78262401,"cg_vd_req_v":-2.06097102,"cg_vd_v":-2.06097102,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3230381,"cg_vq_v":-8.3230381,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2404.48926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":874.509155,"values":{"Elec_RPM":-2354.63525,"EncoderCos":45861,"EncoderSin":17844,"GapTicks":49412,"Mech_RPM":-470.927063,"cg_du":44.9208374,"cg_dv":55.0791626,"cg_dw":51.8675117,"cg_id_a":-1.21062851,"cg_id_raw_a":-1.57304311,"cg_iq_a":-196.359177,"cg_iq_raw_a":-197.101242,"cg_iu_a":-197.018951,"cg_iv_a":83.8649063,"cg_iw_a":113.154045,"cg_sample_age_us":23.9254551,"cg_sample_seq":5738216,"cg_sample_valid":1,"cg_theta_rad":5.4505558,"cg_vd_req_v":-1.97623706,"cg_vd_v":-1.97623706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44906998,"cg_vq_v":-8.44906998,"cg_vu_v":102.055069,"cg_vv_v":110.852921,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2502.03101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8542175,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":874.858765,"values":{"Elec_RPM":-2350.83569,"EncoderCos":37173,"EncoderSin":13242,"GapTicks":49408,"Mech_RPM":-470.167145,"cg_du":55.0833778,"cg_dv":48.7073212,"cg_dw":44.9166222,"cg_id_a":-16.701498,"cg_id_raw_a":-12.8531389,"cg_iq_a":-194.982864,"cg_iq_raw_a":-197.423218,"cg_iu_a":160.127792,"cg_iv_a":20.3294525,"cg_iw_a":-180.457245,"cg_sample_age_us":23.9909096,"cg_sample_seq":5740016,"cg_sample_valid":1,"cg_theta_rad":4.95172024,"cg_vd_req_v":-1.56218719,"cg_vd_v":-1.56218719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46931458,"cg_vq_v":-8.46931458,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8453674,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":875.07892,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":875.078927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":875.078932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":875.192749,"values":{"Elec_RPM":-2350.74512,"EncoderCos":52004,"EncoderSin":28287,"GapTicks":49388,"Mech_RPM":-470.149017,"cg_du":55.1017265,"cg_dv":44.8982735,"cg_dw":48.4641876,"cg_id_a":-5.83968019,"cg_id_raw_a":-10.7765093,"cg_iq_a":-198.484177,"cg_iq_raw_a":-198.759216,"cg_iu_a":199.05368,"cg_iv_a":-97.3905258,"cg_iw_a":-84.8822479,"cg_sample_age_us":24.136364,"cg_sample_seq":5741666,"cg_sample_valid":1,"cg_theta_rad":6.06578588,"cg_vd_req_v":-1.85182583,"cg_vd_v":-1.85182583,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42609978,"cg_vq_v":-8.42609978,"cg_vu_v":2.19946289,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2457.46753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":875.52478,"values":{"Elec_RPM":-2348.11694,"EncoderCos":51340,"EncoderSin":39370,"GapTicks":49349,"Mech_RPM":-469.623383,"cg_du":44.8628426,"cg_dv":55.1371574,"cg_dw":48.7488556,"cg_id_a":-9.03566456,"cg_id_raw_a":-9.55779552,"cg_iq_a":-196.570175,"cg_iq_raw_a":-196.965073,"cg_iu_a":-184.043655,"cg_iv_a":151.459656,"cg_iw_a":24.6103592,"cg_sample_age_us":23.5254555,"cg_sample_seq":5743367,"cg_sample_valid":1,"cg_theta_rad":0.348246336,"cg_vd_req_v":-1.78048778,"cg_vd_v":-1.78048778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48453999,"cg_vq_v":-8.48453999,"cg_vu_v":102.494972,"cg_vv_v":105.134323,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2361.73926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":875.878296,"values":{"Elec_RPM":-2352.80054,"EncoderCos":44937,"EncoderSin":48490,"GapTicks":50032,"Mech_RPM":-470.56012,"cg_du":54.5155258,"cg_dv":45.4844742,"cg_dw":54.3177261,"cg_id_a":13.1277008,"cg_id_raw_a":19.769146,"cg_iq_a":-201.857086,"cg_iq_raw_a":-201.278671,"cg_iu_a":171.689575,"cg_iv_a":-175.822174,"cg_iw_a":4.13259125,"cg_sample_age_us":23.9581814,"cg_sample_seq":5745068,"cg_sample_valid":1,"cg_theta_rad":0.929070354,"cg_vd_req_v":-2.16772294,"cg_vd_v":-2.16772294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34256935,"cg_vq_v":-8.34256935,"cg_vu_v":106.453995,"cg_vv_v":87.098732,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2404.22681,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8701477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":876.103273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":876.103279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":876.103284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":876.208374,"values":{"Elec_RPM":-2353.71631,"EncoderCos":34153,"EncoderSin":52566,"GapTicks":49622,"Mech_RPM":-470.743286,"cg_du":47.1319885,"cg_dv":54.888401,"cg_dw":45.111599,"cg_id_a":14.0865984,"cg_id_raw_a":11.7166433,"cg_iq_a":-203.879974,"cg_iq_raw_a":-202.55687,"cg_iu_a":-148.742157,"cg_iv_a":197.851746,"cg_iw_a":-49.1095963,"cg_sample_age_us":23.8927269,"cg_sample_seq":5746767,"cg_sample_valid":1,"cg_theta_rad":1.50303698,"cg_vd_req_v":-2.19226646,"cg_vd_v":-2.19226646,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31475258,"cg_vq_v":-8.31475258,"cg_vu_v":116.571533,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2438.75464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":876.56189,"values":{"Elec_RPM":-2349.76953,"EncoderCos":23501,"EncoderSin":50524,"GapTicks":49300,"Mech_RPM":-469.953888,"cg_du":50.0741806,"cg_dv":44.8186073,"cg_dw":55.1813927,"cg_id_a":-14.8412695,"cg_id_raw_a":-21.1424236,"cg_iq_a":-196.479095,"cg_iq_raw_a":-196.506744,"cg_iu_a":101.304047,"cg_iv_a":-198.184616,"cg_iw_a":96.8805695,"cg_sample_age_us":23.7872734,"cg_sample_seq":5748469,"cg_sample_valid":1,"cg_theta_rad":2.08409715,"cg_vd_req_v":-1.61995876,"cg_vd_v":-1.61995876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50622749,"cg_vq_v":-8.50622749,"cg_vu_v":17.1558094,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.969696,"temp_inv2_c":42.8825378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":876.895874,"values":{"Elec_RPM":-2352.23096,"EncoderCos":14904,"EncoderSin":41882,"GapTicks":49329,"Mech_RPM":-470.446167,"cg_du":50.3352814,"cg_dv":55.1548042,"cg_dw":44.8451958,"cg_id_a":-11.6416187,"cg_id_raw_a":-10.5213203,"cg_iq_a":-195.109604,"cg_iq_raw_a":-194.767441,"cg_iu_a":-47.2594223,"cg_iv_a":188.573334,"cg_iw_a":-141.313904,"cg_sample_age_us":25.0090904,"cg_sample_seq":5750166,"cg_sample_valid":1,"cg_theta_rad":2.6689353,"cg_vd_req_v":-1.63000655,"cg_vd_v":-1.63000655,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49162674,"cg_vq_v":-8.49162674,"cg_vu_v":14.0765619,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2509.39526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8383179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":877.0628,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":877.062806,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":877.062812,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":877.227905,"values":{"Elec_RPM":-2351.73364,"EncoderCos":12789,"EncoderSin":30949,"GapTicks":49841,"Mech_RPM":-470.34671,"cg_du":46.5950127,"cg_dv":45.3105202,"cg_dw":54.6894798,"cg_id_a":4.50663424,"cg_id_raw_a":6.62436628,"cg_iq_a":-207.61821,"cg_iq_raw_a":-209.642776,"cg_iu_a":-8.80471802,"cg_iv_a":-175.024811,"cg_iw_a":183.829529,"cg_sample_age_us":23.8309097,"cg_sample_seq":5751866,"cg_sample_valid":1,"cg_theta_rad":3.22731876,"cg_vd_req_v":-1.95067358,"cg_vd_v":-1.95067358,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24404049,"cg_vq_v":-8.24404049,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":877.581421,"values":{"Elec_RPM":-2351.23315,"EncoderCos":16797,"EncoderSin":20456,"GapTicks":49649,"Mech_RPM":-470.246613,"cg_du":54.8640289,"cg_dv":52.9492912,"cg_dw":45.1359711,"cg_id_a":13.1766386,"cg_id_raw_a":11.609499,"cg_iq_a":-205.468277,"cg_iq_raw_a":-203.458908,"cg_iu_a":46.9020538,"cg_iv_a":149.719955,"cg_iw_a":-196.622009,"cg_sample_age_us":23.994545,"cg_sample_seq":5753567,"cg_sample_valid":1,"cg_theta_rad":3.8068471,"cg_vd_req_v":-2.15821886,"cg_vd_v":-2.15821886,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31028938,"cg_vq_v":-8.31028938,"cg_vu_v":124.049698,"cg_vv_v":142.965088,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":877.911499,"values":{"Elec_RPM":-2351.91211,"EncoderCos":17444,"EncoderSin":19629,"GapTicks":49816,"Mech_RPM":-470.382416,"cg_du":53.6772232,"cg_dv":54.7122688,"cg_dw":45.2877312,"cg_id_a":5.11960316,"cg_id_raw_a":8.89016533,"cg_iq_a":-200.638229,"cg_iq_raw_a":-204.006027,"cg_iu_a":12.6878757,"cg_iv_a":166.355881,"cg_iw_a":-179.043762,"cg_sample_age_us":23.8745461,"cg_sample_seq":5755316,"cg_sample_valid":1,"cg_theta_rad":3.84961486,"cg_vd_req_v":-1.96372318,"cg_vd_v":-1.96372318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41097832,"cg_vq_v":-8.41097832,"cg_vu_v":25.5137672,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4822731,"dclink_p_w":-2537.8064,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":878.08701,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":878.087016,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":878.087021,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":878.294312,"values":{"Elec_RPM":-2350.10034,"EncoderCos":26847,"EncoderSin":13635,"GapTicks":49527,"Mech_RPM":-470.020081,"cg_du":45.0250702,"cg_dv":47.3859711,"cg_dw":54.9749298,"cg_id_a":12.0461874,"cg_id_raw_a":8.29764271,"cg_iq_a":-198.179398,"cg_iq_raw_a":-195.887695,"cg_iu_a":-52.6959991,"cg_iv_a":-140.62941,"cg_iw_a":193.325409,"cg_sample_age_us":23.9290905,"cg_sample_seq":5757017,"cg_sample_valid":1,"cg_theta_rad":4.42470646,"cg_vd_req_v":-2.17718649,"cg_vd_v":-2.17718649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41070366,"cg_vq_v":-8.41070366,"cg_vu_v":117.451309,"cg_vv_v":135.486908,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2484.93018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":878.835327,"values":{"Elec_RPM":-2348.89209,"EncoderCos":42231,"EncoderSin":50182,"GapTicks":49559,"Mech_RPM":-469.778412,"cg_du":54.9455986,"cg_dv":45.0544014,"cg_dw":47.4413185,"cg_id_a":13.1020947,"cg_id_raw_a":8.04527187,"cg_iq_a":-201.41861,"cg_iq_raw_a":-199.01326,"cg_iu_a":196.262878,"cg_iv_a":-65.387207,"cg_iw_a":-133.593964,"cg_sample_age_us":23.9290905,"cg_sample_seq":5759667,"cg_sample_valid":1,"cg_theta_rad":1.07266569,"cg_vd_req_v":-2.2037816,"cg_vd_v":-2.2037816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33931637,"cg_vq_v":-8.33931637,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2452.61279,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":878.983145,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":878.983156,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":878.983159,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":879.078766,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":879.078772,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":879.078777,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":879.239624,"values":{"Elec_RPM":-2351.1897,"EncoderCos":24143,"EncoderSin":50854,"GapTicks":49430,"Mech_RPM":-470.237946,"cg_du":48.4998741,"cg_dv":44.9372635,"cg_dw":55.0627365,"cg_id_a":-15.5933266,"cg_id_raw_a":-12.7694473,"cg_iq_a":-201.435837,"cg_iq_raw_a":-202.534653,"cg_iu_a":17.109623,"cg_iv_a":-181.766144,"cg_iw_a":164.656525,"cg_sample_age_us":23.7981815,"cg_sample_seq":5761917,"cg_sample_valid":1,"cg_theta_rad":2.01681042,"cg_vd_req_v":-1.5786171,"cg_vd_v":-1.5786171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41047573,"cg_vq_v":-8.41047573,"cg_vu_v":122.290138,"cg_vv_v":124.929489,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2540.34473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":879.591187,"values":{"Elec_RPM":-2361.38403,"EncoderCos":15939,"EncoderSin":43609,"GapTicks":49860,"Mech_RPM":-472.276794,"cg_du":54.6725121,"cg_dv":53.7529068,"cg_dw":45.3274879,"cg_id_a":17.1688461,"cg_id_raw_a":16.3661919,"cg_iq_a":-203.891708,"cg_iq_raw_a":-205.457382,"cg_iu_a":0.111264944,"cg_iv_a":172.191116,"cg_iw_a":-172.302383,"cg_sample_age_us":23.7909088,"cg_sample_seq":5763620,"cg_sample_valid":1,"cg_theta_rad":2.61479211,"cg_vd_req_v":-2.21805811,"cg_vd_v":-2.21805811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31639671,"cg_vq_v":-8.31639671,"cg_vu_v":24.1940918,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2493.13623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":879.923218,"values":{"Elec_RPM":-2359.63672,"EncoderCos":12721,"EncoderSin":32021,"GapTicks":49697,"Mech_RPM":-471.927368,"cg_du":45.1790924,"cg_dv":46.825573,"cg_dw":54.8209076,"cg_id_a":11.997098,"cg_id_raw_a":8.96035957,"cg_iq_a":-202.194717,"cg_iq_raw_a":-202.141647,"cg_iu_a":-44.2149429,"cg_iv_a":-151.212616,"cg_iw_a":195.427551,"cg_sample_age_us":23.8890915,"cg_sample_seq":5765316,"cg_sample_valid":1,"cg_theta_rad":3.17941093,"cg_vd_req_v":-2.12464333,"cg_vd_v":-2.12464333,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32592869,"cg_vq_v":-8.32592869,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2493.66382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8878479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":880.071706,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":880.071712,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":880.071718,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":880.257202,"values":{"Elec_RPM":-2357.8291,"EncoderCos":16291,"EncoderSin":21237,"GapTicks":49413,"Mech_RPM":-471.565826,"cg_du":55.0790443,"cg_dv":51.207077,"cg_dw":44.9209557,"cg_id_a":-1.36477971,"cg_id_raw_a":-5.41150427,"cg_iq_a":-203.660126,"cg_iq_raw_a":-202.718903,"cg_iu_a":114.931732,"cg_iv_a":86.7644043,"cg_iw_a":-201.696136,"cg_sample_age_us":23.8672733,"cg_sample_seq":5767016,"cg_sample_valid":1,"cg_theta_rad":3.75129318,"cg_vd_req_v":-1.87784779,"cg_vd_v":-1.87784779,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3322773,"cg_vq_v":-8.3322773,"cg_vu_v":31.2323723,"cg_vv_v":14.5164547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2522.24805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":880.608765,"values":{"Elec_RPM":-2356.26611,"EncoderCos":25220,"EncoderSin":14171,"GapTicks":49394,"Mech_RPM":-471.253235,"cg_du":44.9038963,"cg_dv":50.6869965,"cg_dw":55.0961037,"cg_id_a":-12.5159435,"cg_id_raw_a":-9.81740952,"cg_iq_a":-199.47699,"cg_iq_raw_a":-201.180328,"cg_iu_a":-149.648254,"cg_iv_a":-39.0741882,"cg_iw_a":188.722443,"cg_sample_age_us":23.9290905,"cg_sample_seq":5768716,"cg_sample_valid":1,"cg_theta_rad":4.33877325,"cg_vd_req_v":-1.65166247,"cg_vd_v":-1.65166247,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40730286,"cg_vq_v":-8.40730286,"cg_vu_v":15.3962402,"cg_vv_v":11.4372072,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":880.940796,"values":{"Elec_RPM":-2353.39917,"EncoderCos":36481,"EncoderSin":13137,"GapTicks":49730,"Mech_RPM":-470.67984,"cg_du":54.7901077,"cg_dv":46.8366928,"cg_dw":45.2098923,"cg_id_a":1.25835931,"cg_id_raw_a":8.61087322,"cg_iq_a":-200.39743,"cg_iq_raw_a":-202.630081,"cg_iu_a":174.444107,"cg_iv_a":-1.92425537,"cg_iw_a":-172.519852,"cg_sample_age_us":24.0418186,"cg_sample_seq":5770416,"cg_sample_valid":1,"cg_theta_rad":4.91833115,"cg_vd_req_v":-1.91260564,"cg_vd_v":-1.91260564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35079861,"cg_vq_v":-8.35079861,"cg_vu_v":16.2760258,"cg_vv_v":14.5164547,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.4768372,"dclink_p_w":-2521.64136,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8489075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":881.095033,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":881.095038,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":881.095044,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":881.27478,"values":{"Elec_RPM":-2353.03442,"EncoderCos":46440,"EncoderSin":18407,"GapTicks":49684,"Mech_RPM":-470.606873,"cg_du":45.1677895,"cg_dv":54.8322105,"cg_dw":53.3710556,"cg_id_a":11.0066347,"cg_id_raw_a":9.21987343,"cg_iq_a":-200.438644,"cg_iq_raw_a":-200.387589,"cg_iu_a":-191.074951,"cg_iv_a":37.3640442,"cg_iw_a":153.710907,"cg_sample_age_us":23.8272724,"cg_sample_seq":5772116,"cg_sample_valid":1,"cg_theta_rad":5.49175072,"cg_vd_req_v":-2.22463536,"cg_vd_v":-2.22463536,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3892746,"cg_vq_v":-8.3892746,"cg_vu_v":39.590332,"cg_vv_v":65.1041031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":881.626343,"values":{"Elec_RPM":-2353.2251,"EncoderCos":51958,"EncoderSin":28135,"GapTicks":49333,"Mech_RPM":-470.64502,"cg_du":55.1512413,"cg_dv":44.8487587,"cg_dw":48.8312492,"cg_id_a":-4.34685087,"cg_id_raw_a":-10.9425392,"cg_iq_a":-196.454132,"cg_iq_raw_a":-194.775589,"cg_iu_a":196.009186,"cg_iv_a":-100.761192,"cg_iw_a":-95.2479935,"cg_sample_age_us":24.1654549,"cg_sample_seq":5773817,"cg_sample_valid":1,"cg_theta_rad":6.059865,"cg_vd_req_v":-1.88044643,"cg_vd_v":-1.88044643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47587967,"cg_vq_v":-8.47587967,"cg_vu_v":106.893898,"cg_vv_v":93.6971207,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.8374634,"dclink_p_w":-2581.52075,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8772278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":881.958374,"values":{"Elec_RPM":-2351.38184,"EncoderCos":51261,"EncoderSin":39481,"GapTicks":49356,"Mech_RPM":-470.276367,"cg_du":44.8699265,"cg_dv":55.1300735,"cg_dw":49.0828018,"cg_id_a":-10.6001902,"cg_id_raw_a":-10.385087,"cg_iq_a":-195.77417,"cg_iq_raw_a":-196.763855,"cg_iu_a":-185.203461,"cg_iv_a":146.78421,"cg_iw_a":38.4192505,"cg_sample_age_us":23.5618191,"cg_sample_seq":5775517,"cg_sample_valid":1,"cg_theta_rad":0.357419014,"cg_vd_req_v":-1.74148118,"cg_vd_v":-1.74148118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46757698,"cg_vq_v":-8.46757698,"cg_vu_v":103.814644,"cg_vv_v":105.574219,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.2844143,"dclink_p_w":-2349.59277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":882.086723,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":882.086729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":882.086734,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":882.290405,"values":{"Elec_RPM":-2355.60449,"EncoderCos":44530,"EncoderSin":48769,"GapTicks":49673,"Mech_RPM":-471.12088,"cg_du":54.8422394,"cg_dv":45.1577606,"cg_dw":53.1223564,"cg_id_a":2.33697104,"cg_id_raw_a":9.95306301,"cg_iq_a":-201.305283,"cg_iq_raw_a":-203.173157,"cg_iu_a":172.776886,"cg_iv_a":-171.581635,"cg_iw_a":-1.19525146,"cg_sample_age_us":24.0200005,"cg_sample_seq":5777216,"cg_sample_valid":1,"cg_theta_rad":0.940744877,"cg_vd_req_v":-1.95505226,"cg_vd_v":-1.95505226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38342571,"cg_vq_v":-8.38342571,"cg_vu_v":46.6286087,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2408.6853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8825378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":882.643921,"values":{"Elec_RPM":-2349.64209,"EncoderCos":23681,"EncoderSin":50646,"GapTicks":49367,"Mech_RPM":-469.928406,"cg_du":49.7053909,"cg_dv":44.8793411,"cg_dw":55.1206589,"cg_id_a":-19.7539406,"cg_id_raw_a":-18.6680851,"cg_iq_a":-197.864395,"cg_iq_raw_a":-199.190536,"cg_iu_a":39.5808029,"cg_iv_a":-187.420197,"cg_iw_a":147.839386,"cg_sample_age_us":23.7800007,"cg_sample_seq":5778867,"cg_sample_valid":1,"cg_theta_rad":2.0419414,"cg_vd_req_v":-1.50197875,"cg_vd_v":-1.50197875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45570469,"cg_vq_v":-8.45570469,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":882.973999,"values":{"Elec_RPM":-2353.63672,"EncoderCos":15364,"EncoderSin":42678,"GapTicks":49568,"Mech_RPM":-470.727325,"cg_du":52.512867,"cg_dv":54.9381371,"cg_dw":45.0618629,"cg_id_a":-3.77632499,"cg_id_raw_a":0.689664543,"cg_iq_a":-198.362625,"cg_iq_raw_a":-199.493546,"cg_iu_a":-8.69598675,"cg_iv_a":173.56839,"cg_iw_a":-164.872406,"cg_sample_age_us":23.8927269,"cg_sample_seq":5780567,"cg_sample_valid":1,"cg_theta_rad":2.62349319,"cg_vd_req_v":-1.77394414,"cg_vd_v":-1.77394414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41616249,"cg_vq_v":-8.41616249,"cg_vu_v":117.011421,"cg_vv_v":143.404984,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2417.34058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8772278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":883.079284,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":883.079291,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":883.079296,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":883.307983,"values":{"Elec_RPM":-2358.79199,"EncoderCos":12736,"EncoderSin":31843,"GapTicks":49770,"Mech_RPM":-471.758392,"cg_du":45.246254,"cg_dv":46.4505272,"cg_dw":54.753746,"cg_id_a":12.4577665,"cg_id_raw_a":9.21848965,"cg_iq_a":-202.384048,"cg_iq_raw_a":-200.799316,"cg_iu_a":-35.0452538,"cg_iv_a":-156.504211,"cg_iw_a":191.549469,"cg_sample_age_us":23.9618187,"cg_sample_seq":5782267,"cg_sample_valid":1,"cg_theta_rad":3.1888876,"cg_vd_req_v":-2.14087772,"cg_vd_v":-2.14087772,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35464859,"cg_vq_v":-8.35464859,"cg_vu_v":130.648087,"cg_vv_v":109.093361,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.8770027,"dclink_p_w":-2435.09424,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8400574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":883.659546,"values":{"Elec_RPM":-2358.95874,"EncoderCos":12801,"EncoderSin":30869,"GapTicks":49762,"Mech_RPM":-471.791748,"cg_du":46.8027802,"cg_dv":45.2382393,"cg_dw":54.7617607,"cg_id_a":2.23828077,"cg_id_raw_a":8.54030514,"cg_iq_a":-205.374268,"cg_iq_raw_a":-207.343246,"cg_iu_a":-2.20834041,"cg_iv_a":-176.365814,"cg_iw_a":179.55275,"cg_sample_age_us":23.9363632,"cg_sample_seq":5784016,"cg_sample_valid":1,"cg_theta_rad":3.2404542,"cg_vd_req_v":-1.90583098,"cg_vd_v":-1.90583098,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31903458,"cg_vq_v":-8.31903458,"cg_vu_v":8.35795879,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.7885342,"dclink_p_w":-2574.43945,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":883.99353,"values":{"Elec_RPM":-2360.78711,"EncoderCos":16793,"EncoderSin":20496,"GapTicks":49677,"Mech_RPM":-472.15744,"cg_du":54.8383026,"cg_dv":52.9065437,"cg_dw":45.1616974,"cg_id_a":10.7109346,"cg_id_raw_a":9.73942566,"cg_iq_a":-204.710358,"cg_iq_raw_a":-204.826981,"cg_iu_a":37.9860687,"cg_iv_a":146.494232,"cg_iw_a":-199.231552,"cg_sample_age_us":23.9654541,"cg_sample_seq":5785718,"cg_sample_valid":1,"cg_theta_rad":3.81300163,"cg_vd_req_v":-2.1019268,"cg_vd_v":-2.1019268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29583549,"cg_vq_v":-8.29583549,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":884.103338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":884.103343,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":884.103348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":884.347046,"values":{"Elec_RPM":-2357.8811,"EncoderCos":26363,"EncoderSin":13771,"GapTicks":49428,"Mech_RPM":-471.576202,"cg_du":44.9350777,"cg_dv":48.2427063,"cg_dw":55.0649223,"cg_id_a":-1.40844345,"cg_id_raw_a":-8.55834103,"cg_iq_a":-197.133835,"cg_iq_raw_a":-199.298492,"cg_iu_a":-87.6350555,"cg_iv_a":-112.033035,"cg_iw_a":199.668091,"cg_sample_age_us":23.954546,"cg_sample_seq":5787416,"cg_sample_valid":1,"cg_theta_rad":4.39870214,"cg_vd_req_v":-1.91173637,"cg_vd_v":-1.91173637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41797256,"cg_vq_v":-8.41797256,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2411.53467,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8896179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":884.677124,"values":{"Elec_RPM":-2360.26855,"EncoderCos":46760,"EncoderSin":18701,"GapTicks":49952,"Mech_RPM":-472.053711,"cg_du":45.4109688,"cg_dv":54.5890312,"cg_dw":54.2307663,"cg_id_a":12.766737,"cg_id_raw_a":16.7110481,"cg_iq_a":-201.449066,"cg_iq_raw_a":-202.477478,"cg_iu_a":-183.608734,"cg_iv_a":26.0922394,"cg_iw_a":159.219955,"cg_sample_age_us":23.9181824,"cg_sample_seq":5789066,"cg_sample_valid":1,"cg_theta_rad":5.51345062,"cg_vd_req_v":-2.25019979,"cg_vd_v":-2.25019979,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39113045,"cg_vq_v":-8.39113045,"cg_vu_v":1.31967759,"cg_vv_v":9.23774433,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":885.011108,"values":{"Elec_RPM":-2360.65894,"EncoderCos":52064,"EncoderSin":28596,"GapTicks":49442,"Mech_RPM":-472.131805,"cg_du":55.0519333,"cg_dv":44.9480667,"cg_dw":48.0493393,"cg_id_a":8.24665165,"cg_id_raw_a":5.06707144,"cg_iq_a":-199.213913,"cg_iq_raw_a":-197.527252,"cg_iu_a":197.676407,"cg_iv_a":-71.1862259,"cg_iw_a":-126.490181,"cg_sample_age_us":24.1399994,"cg_sample_seq":5790767,"cg_sample_valid":1,"cg_theta_rad":6.08751202,"cg_vd_req_v":-2.12042165,"cg_vd_v":-2.12042165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38577557,"cg_vq_v":-8.38577557,"cg_vu_v":143.404984,"cg_vv_v":138.566162,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2439.9458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8312073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":885.094828,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":885.094834,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":885.094839,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":885.362671,"values":{"Elec_RPM":-2361.04297,"EncoderCos":47749,"EncoderSin":19788,"GapTicks":49390,"Mech_RPM":-472.208618,"cg_du":44.9009056,"cg_dv":51.2265739,"cg_dw":55.0990944,"cg_id_a":-8.65939236,"cg_id_raw_a":-8.56018162,"cg_iq_a":-198.671951,"cg_iq_raw_a":-197.428787,"cg_iu_a":-150.373138,"cg_iv_a":-34.0725403,"cg_iw_a":184.445679,"cg_sample_age_us":23.9472733,"cg_sample_seq":5792567,"cg_sample_valid":1,"cg_theta_rad":5.58766794,"cg_vd_req_v":-1.80492163,"cg_vd_v":-1.80492163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41160202,"cg_vq_v":-8.41160202,"cg_vu_v":99.4157181,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2470.91577,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9232788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":885.696655,"values":{"Elec_RPM":-2356.68311,"EncoderCos":44190,"EncoderSin":49000,"GapTicks":49447,"Mech_RPM":-471.336639,"cg_du":55.047966,"cg_dv":44.952034,"cg_dw":51.9798622,"cg_id_a":-10.3864651,"cg_id_raw_a":-2.49528456,"cg_iq_a":-197.617554,"cg_iq_raw_a":-199.248215,"cg_iu_a":172.88562,"cg_iv_a":-169.660706,"cg_iw_a":-3.22490692,"cg_sample_age_us":23.8018188,"cg_sample_seq":5794166,"cg_sample_valid":1,"cg_theta_rad":0.9519189,"cg_vd_req_v":-1.70185363,"cg_vd_v":-1.70185363,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48033142,"cg_vq_v":-8.48033142,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2524.6084,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":886.048218,"values":{"Elec_RPM":-2349.45703,"EncoderCos":50546,"EncoderSin":41264,"GapTicks":49584,"Mech_RPM":-469.891388,"cg_du":45.0769768,"cg_dv":54.9230232,"cg_dw":52.9048309,"cg_id_a":10.2443056,"cg_id_raw_a":8.46933174,"cg_iq_a":-199.922256,"cg_iq_raw_a":-197.192734,"cg_iu_a":-191.836075,"cg_iv_a":50.5930634,"cg_iw_a":141.243011,"cg_sample_age_us":23.5218182,"cg_sample_seq":5795967,"cg_sample_valid":1,"cg_theta_rad":0.454432756,"cg_vd_req_v":-2.18563962,"cg_vd_v":-2.18563962,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41202354,"cg_vq_v":-8.41202354,"cg_vu_v":104.694435,"cg_vv_v":105.134323,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":886.087302,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":886.087308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":886.087313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":886.380249,"values":{"Elec_RPM":-2355.57764,"EncoderCos":22570,"EncoderSin":50010,"GapTicks":49456,"Mech_RPM":-471.115509,"cg_du":52.0362473,"cg_dv":44.9601784,"cg_dw":55.0398216,"cg_id_a":3.47998095,"cg_id_raw_a":-1.76865387,"cg_iq_a":-198.178757,"cg_iq_raw_a":-198.233109,"cg_iu_a":118.519867,"cg_iv_a":-198.184601,"cg_iw_a":79.6647415,"cg_sample_age_us":23.6381817,"cg_sample_seq":5797567,"cg_sample_valid":1,"cg_theta_rad":2.10357165,"cg_vd_req_v":-1.99598956,"cg_vd_v":-1.99598956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41485596,"cg_vq_v":-8.41485596,"cg_vu_v":104.694435,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2379.66211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":886.714233,"values":{"Elec_RPM":-2348.44043,"EncoderCos":21997,"EncoderSin":49636,"GapTicks":49705,"Mech_RPM":-469.68811,"cg_du":53.3363724,"cg_dv":45.1867142,"cg_dw":54.8132858,"cg_id_a":11.7246428,"cg_id_raw_a":9.0195694,"cg_iq_a":-201.75177,"cg_iq_raw_a":-201.241119,"cg_iu_a":152.444092,"cg_iv_a":-191.76944,"cg_iw_a":39.3253555,"cg_sample_age_us":23.6381817,"cg_sample_seq":5799317,"cg_sample_valid":1,"cg_theta_rad":2.13759351,"cg_vd_req_v":-2.15936756,"cg_vd_v":-2.15936756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36326408,"cg_vq_v":-8.36326408,"cg_vu_v":128.888519,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2488.34985,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":887.044312,"values":{"Elec_RPM":-2348.96191,"EncoderCos":16848,"EncoderSin":20421,"GapTicks":49704,"Mech_RPM":-469.792389,"cg_du":54.8139458,"cg_dv":53.075592,"cg_dw":45.1860542,"cg_id_a":12.5974884,"cg_id_raw_a":9.6463604,"cg_iq_a":-203.881683,"cg_iq_raw_a":-204.328278,"cg_iu_a":48.8954659,"cg_iv_a":149.901169,"cg_iw_a":-198.796631,"cg_sample_age_us":23.9618187,"cg_sample_seq":5800916,"cg_sample_valid":1,"cg_theta_rad":3.80530858,"cg_vd_req_v":-2.1403389,"cg_vd_v":-2.1403389,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30317688,"cg_vq_v":-8.30317688,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8913879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":887.078814,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":887.07882,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":887.078826,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":887.397827,"values":{"Elec_RPM":-2347.65015,"EncoderCos":12973,"EncoderSin":29557,"GapTicks":49344,"Mech_RPM":-469.530029,"cg_du":50.0296097,"cg_dv":44.8585396,"cg_dw":55.1414604,"cg_id_a":-15.4385319,"cg_id_raw_a":-18.8603725,"cg_iq_a":-196.292145,"cg_iq_raw_a":-196.876007,"cg_iu_a":54.7669678,"cg_iv_a":-191.153305,"cg_iw_a":136.386337,"cg_sample_age_us":23.8018188,"cg_sample_seq":5802716,"cg_sample_valid":1,"cg_theta_rad":3.3072226,"cg_vd_req_v":-1.57836771,"cg_vd_v":-1.57836771,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47248173,"cg_vq_v":-8.47248173,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":887.731812,"values":{"Elec_RPM":-2353.15234,"EncoderCos":37054,"EncoderSin":13243,"GapTicks":49396,"Mech_RPM":-470.630463,"cg_du":55.0943642,"cg_dv":48.3832893,"cg_dw":44.9056358,"cg_id_a":-14.4605789,"cg_id_raw_a":-12.0959682,"cg_iq_a":-196.60022,"cg_iq_raw_a":-195.410858,"cg_iu_a":161.505066,"cg_iv_a":14.5666809,"cg_iw_a":-176.071747,"cg_sample_age_us":24.0418186,"cg_sample_seq":5804317,"cg_sample_valid":1,"cg_theta_rad":4.9462862,"cg_vd_req_v":-1.61849189,"cg_vd_v":-1.61849189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47564507,"cg_vq_v":-8.47564507,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.4405937,"dclink_p_w":-2524.08398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":888.070946,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":888.070952,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":888.070957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":888.083374,"values":{"Elec_RPM":-2354.65479,"EncoderCos":27480,"EncoderSin":13461,"GapTicks":49916,"Mech_RPM":-470.930939,"cg_du":45.3787727,"cg_dv":46.1156693,"cg_dw":54.6212273,"cg_id_a":14.7225142,"cg_id_raw_a":16.542696,"cg_iq_a":-205.633972,"cg_iq_raw_a":-204.502869,"cg_iu_a":-33.4505234,"cg_iv_a":-159.005035,"cg_iw_a":192.455551,"cg_sample_age_us":23.8490906,"cg_sample_seq":5806116,"cg_sample_valid":1,"cg_theta_rad":4.45036221,"cg_vd_req_v":-2.21800137,"cg_vd_v":-2.21800137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29252815,"cg_vq_v":-8.29252815,"cg_vu_v":104.254532,"cg_vv_v":91.9375458,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":888.559937,"values":{"Elec_RPM":-2344.63672,"EncoderCos":24831,"EncoderSin":14333,"GapTicks":49418,"Mech_RPM":-468.927368,"cg_du":44.9260101,"cg_dv":51.6408234,"cg_dw":55.0739899,"cg_id_a":-11.969738,"cg_id_raw_a":-9.04213238,"cg_iq_a":-199.607758,"cg_iq_raw_a":-199.058823,"cg_iu_a":-162.079895,"cg_iv_a":-19.5025177,"cg_iw_a":181.582413,"cg_sample_age_us":23.9290905,"cg_sample_seq":5808467,"cg_sample_valid":1,"cg_theta_rad":4.31796837,"cg_vd_req_v":-1.66833329,"cg_vd_v":-1.66833329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43625355,"cg_vq_v":-8.43625355,"cg_vu_v":114.37207,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9321289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":888.967247,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":888.967256,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":888.967259,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":889.05603,"values":{"Elec_RPM":-2343.53223,"EncoderCos":15310,"EncoderSin":22786,"GapTicks":49595,"Mech_RPM":-468.706421,"cg_du":54.9130745,"cg_dv":47.228363,"cg_dw":45.0869255,"cg_id_a":-2.42244434,"cg_id_raw_a":5.98537064,"cg_iq_a":-199.105438,"cg_iq_raw_a":-201.487534,"cg_iu_a":170.203583,"cg_iv_a":3.80227661,"cg_iw_a":-174.005859,"cg_sample_age_us":24.005455,"cg_sample_seq":5810866,"cg_sample_valid":1,"cg_theta_rad":3.6712997,"cg_vd_req_v":-1.83055997,"cg_vd_v":-1.83055997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43866825,"cg_vq_v":-8.43866825,"cg_vu_v":131.527878,"cg_vv_v":128.888519,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.893158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":889.094661,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":889.094667,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":889.094673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":889.411499,"values":{"Elec_RPM":-2349.32251,"EncoderCos":12699,"EncoderSin":32329,"GapTicks":49544,"Mech_RPM":-469.864502,"cg_du":45.0402222,"cg_dv":47.359024,"cg_dw":54.9597778,"cg_id_a":7.14971447,"cg_id_raw_a":2.7757864,"cg_iq_a":-200.800552,"cg_iq_raw_a":-201.633194,"cg_iu_a":-62.1556396,"cg_iv_a":-135.482773,"cg_iw_a":197.638412,"cg_sample_age_us":23.9654541,"cg_sample_seq":5812666,"cg_sample_valid":1,"cg_theta_rad":3.16872406,"cg_vd_req_v":-2.03752422,"cg_vd_v":-2.03752422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40140438,"cg_vq_v":-8.40140438,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-17.9407578,"dclink_p_w":-2588.57788,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":889.741577,"values":{"Elec_RPM":-2356.06104,"EncoderCos":15000,"EncoderSin":41986,"GapTicks":49288,"Mech_RPM":-471.212189,"cg_du":50.6715889,"cg_dv":55.1924477,"cg_dw":44.8075523,"cg_id_a":-10.7445736,"cg_id_raw_a":-8.50292301,"cg_iq_a":-195.398834,"cg_iq_raw_a":-194.516663,"cg_iu_a":-41.89534,"cg_iv_a":183.10051,"cg_iw_a":-152.621979,"cg_sample_age_us":23.8854542,"cg_sample_seq":5814467,"cg_sample_valid":1,"cg_theta_rad":2.66184974,"cg_vd_req_v":-1.65815556,"cg_vd_v":-1.65815556,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51505566,"cg_vq_v":-8.51505566,"cg_vu_v":102.93486,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2470.65405,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8878479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":890.073608,"values":{"Elec_RPM":-2349.6582,"EncoderCos":24933,"EncoderSin":14300,"GapTicks":49468,"Mech_RPM":-469.931641,"cg_du":44.9714241,"cg_dv":51.3794403,"cg_dw":55.0285759,"cg_id_a":-12.8207741,"cg_id_raw_a":-7.96100998,"cg_iq_a":-201.013962,"cg_iq_raw_a":-203.378784,"cg_iu_a":-159.905258,"cg_iv_a":-26.4975739,"cg_iw_a":180.458847,"cg_sample_age_us":23.9400005,"cg_sample_seq":5816066,"cg_sample_valid":1,"cg_theta_rad":4.32393551,"cg_vd_req_v":-1.64390528,"cg_vd_v":-1.64390528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34785748,"cg_vq_v":-8.34785748,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1252708,"dclink_p_w":-2470.91553,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":890.08708,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":890.087085,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":890.087089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":890.427124,"values":{"Elec_RPM":-2356.91187,"EncoderCos":16978,"EncoderSin":20230,"GapTicks":49853,"Mech_RPM":-471.382385,"cg_du":54.6785126,"cg_dv":53.5450592,"cg_dw":45.3214874,"cg_id_a":11.6515598,"cg_id_raw_a":11.3427038,"cg_iq_a":-204.946198,"cg_iq_raw_a":-203.501633,"cg_iu_a":32.9844208,"cg_iv_a":157.512375,"cg_iw_a":-190.496796,"cg_sample_age_us":23.994545,"cg_sample_seq":5817867,"cg_sample_valid":1,"cg_theta_rad":3.8217144,"cg_vd_req_v":-2.11667275,"cg_vd_v":-2.11667275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26720238,"cg_vq_v":-8.26720238,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":890.759155,"values":{"Elec_RPM":-2353.13062,"EncoderCos":46332,"EncoderSin":18270,"GapTicks":49598,"Mech_RPM":-470.626129,"cg_du":45.0894966,"cg_dv":54.9105034,"cg_dw":53.053009,"cg_id_a":9.92334938,"cg_id_raw_a":7.91151667,"cg_iq_a":-196.454498,"cg_iq_raw_a":-196.9328,"cg_iu_a":-191.183685,"cg_iv_a":59.4002991,"cg_iw_a":131.783386,"cg_sample_age_us":23.8818188,"cg_sample_seq":5819466,"cg_sample_valid":1,"cg_theta_rad":5.47444534,"cg_vd_req_v":-2.19780803,"cg_vd_v":-2.19780803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46461296,"cg_vq_v":-8.46461296,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2481.51025,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9108887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":891.078662,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":891.078668,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":891.078673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":891.110718,"values":{"Elec_RPM":-2353.6272,"EncoderCos":37525,"EncoderSin":13333,"GapTicks":49323,"Mech_RPM":-470.725433,"cg_du":55.1608315,"cg_dv":49.4774666,"cg_dw":44.8391685,"cg_id_a":-15.8250484,"cg_id_raw_a":-16.348753,"cg_iq_a":-195.093018,"cg_iq_raw_a":-193.215927,"cg_iu_a":146.355133,"cg_iv_a":37.1828308,"cg_iw_a":-183.537964,"cg_sample_age_us":24.0200005,"cg_sample_seq":5821267,"cg_sample_valid":1,"cg_theta_rad":4.96944904,"cg_vd_req_v":-1.59978437,"cg_vd_v":-1.59978437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48976231,"cg_vq_v":-8.48976231,"cg_vu_v":105.574219,"cg_vv_v":95.4566803,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2505.9873,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":891.444702,"values":{"Elec_RPM":-2347.96191,"EncoderCos":51381,"EncoderSin":39152,"GapTicks":49411,"Mech_RPM":-469.592407,"cg_du":44.9195404,"cg_dv":55.0804596,"cg_dw":48.2276497,"cg_id_a":-7.72102737,"cg_id_raw_a":-6.55516624,"cg_iq_a":-198.504959,"cg_iq_raw_a":-199.667252,"cg_iu_a":-182.303955,"cg_iv_a":158.998383,"cg_iw_a":23.3055725,"cg_sample_age_us":23.4563637,"cg_sample_seq":5822867,"cg_sample_valid":1,"cg_theta_rad":0.336806864,"cg_vd_req_v":-1.80747449,"cg_vd_v":-1.80747449,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44301128,"cg_vq_v":-8.44301128,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2483.46631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":891.776733,"values":{"Elec_RPM":-2347.75342,"EncoderCos":52207,"EncoderSin":29561,"GapTicks":49895,"Mech_RPM":-469.55069,"cg_du":54.6401215,"cg_dv":45.3598785,"cg_dw":46.1483612,"cg_id_a":15.5602531,"cg_id_raw_a":22.5408001,"cg_iq_a":-205.838104,"cg_iq_raw_a":-206.460785,"cg_iu_a":189.376556,"cg_iv_a":-20.662323,"cg_iw_a":-168.714233,"cg_sample_age_us":24.1690903,"cg_sample_seq":5824666,"cg_sample_valid":1,"cg_theta_rad":6.13684988,"cg_vd_req_v":-2.2472434,"cg_vd_v":-2.2472434,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27283859,"cg_vq_v":-8.27283859,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9055481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":892.103055,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":892.103061,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":892.103066,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":892.128296,"values":{"Elec_RPM":-2351.98535,"EncoderCos":34194,"EncoderSin":52543,"GapTicks":49608,"Mech_RPM":-470.397095,"cg_du":47.220047,"cg_dv":54.9017181,"cg_dw":45.0982819,"cg_id_a":14.7251396,"cg_id_raw_a":12.3293676,"cg_iq_a":-202.089844,"cg_iq_raw_a":-200.921326,"cg_iu_a":-146.748749,"cg_iv_a":196.438248,"cg_iw_a":-49.6894989,"cg_sample_age_us":23.9436359,"cg_sample_seq":5826267,"cg_sample_valid":1,"cg_theta_rad":1.49920797,"cg_vd_req_v":-2.19315529,"cg_vd_v":-2.19315529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33569527,"cg_vq_v":-8.33569527,"cg_vu_v":106.014107,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.4003944,"dclink_p_w":-2380.75586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":892.46228,"values":{"Elec_RPM":-2353.32568,"EncoderCos":43386,"EncoderSin":49535,"GapTicks":49321,"Mech_RPM":-470.665161,"cg_du":55.1621323,"cg_dv":44.8378677,"cg_dw":49.782795,"cg_id_a":-13.8233805,"cg_id_raw_a":-16.6057758,"cg_iq_a":-196.10083,"cg_iq_raw_a":-194.380722,"cg_iu_a":192.819733,"cg_iv_a":-131.169769,"cg_iw_a":-61.649971,"cg_sample_age_us":23.9254551,"cg_sample_seq":5828066,"cg_sample_valid":1,"cg_theta_rad":1.00939083,"cg_vd_req_v":-1.65287399,"cg_vd_v":-1.65287399,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46939564,"cg_vq_v":-8.46939564,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8772278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":892.794312,"values":{"Elec_RPM":-2356.58838,"EncoderCos":15026,"EncoderSin":42136,"GapTicks":49314,"Mech_RPM":-471.317657,"cg_du":51.0361023,"cg_dv":55.169014,"cg_dw":44.830986,"cg_id_a":-8.534132,"cg_id_raw_a":-6.112607,"cg_iq_a":-195.156677,"cg_iq_raw_a":-195.4254,"cg_iu_a":-35.2264709,"cg_iv_a":184.84021,"cg_iw_a":-149.613739,"cg_sample_age_us":23.9181824,"cg_sample_seq":5829666,"cg_sample_valid":1,"cg_theta_rad":2.65787387,"cg_vd_req_v":-1.69996572,"cg_vd_v":-1.69996572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52799416,"cg_vq_v":-8.52799416,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.862833,"dclink_p_w":-2585.19238,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9055481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":893.095323,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":893.095329,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":893.095334,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":893.147827,"values":{"Elec_RPM":-2362.42651,"EncoderCos":21935,"EncoderSin":49606,"GapTicks":49743,"Mech_RPM":-472.485321,"cg_du":53.4621849,"cg_dv":45.2216339,"cg_dw":54.7783661,"cg_id_a":12.9155827,"cg_id_raw_a":10.0945148,"cg_iq_a":-202.289032,"cg_iq_raw_a":-202.191437,"cg_iu_a":156.575897,"cg_iv_a":-190.138474,"cg_iw_a":33.5625763,"cg_sample_age_us":23.6381817,"cg_sample_seq":5831467,"cg_sample_valid":1,"cg_theta_rad":2.14180875,"cg_vd_req_v":-2.17442989,"cg_vd_v":-2.17442989,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37826443,"cg_vq_v":-8.37826443,"cg_vu_v":126.689056,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2475.62231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":893.479858,"values":{"Elec_RPM":-2360.41113,"EncoderCos":12873,"EncoderSin":30250,"GapTicks":49482,"Mech_RPM":-472.082214,"cg_du":48.4810715,"cg_dv":44.9837265,"cg_dw":55.0162735,"cg_id_a":-14.3971701,"cg_id_raw_a":-11.2917824,"cg_iq_a":-199.700623,"cg_iq_raw_a":-201.721725,"cg_iu_a":14.9349928,"cg_iv_a":-179.446564,"cg_iw_a":164.511566,"cg_sample_age_us":23.9509087,"cg_sample_seq":5833116,"cg_sample_valid":1,"cg_theta_rad":3.26969075,"cg_vd_req_v":-1.56709433,"cg_vd_v":-1.56709433,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39079952,"cg_vq_v":-8.39079952,"cg_vu_v":0,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2430.64917,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":893.81189,"values":{"Elec_RPM":-2360.0603,"EncoderCos":26076,"EncoderSin":13893,"GapTicks":49359,"Mech_RPM":-472.012054,"cg_du":44.8722992,"cg_dv":48.8223305,"cg_dw":55.1277008,"cg_id_a":-6.79850101,"cg_id_raw_a":-11.8401756,"cg_iq_a":-198.044403,"cg_iq_raw_a":-198.727814,"cg_iu_a":-105.430779,"cg_iv_a":-77.8550949,"cg_iw_a":196.551117,"cg_sample_age_us":23.9618187,"cg_sample_seq":5834766,"cg_sample_valid":1,"cg_theta_rad":4.38214016,"cg_vd_req_v":-1.80903947,"cg_vd_v":-1.80903947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45267105,"cg_vq_v":-8.45267105,"cg_vu_v":34.7515144,"cg_vv_v":33.4318352,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2546.90112,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":894.087423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":894.087429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":894.087434,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":894.165405,"values":{"Elec_RPM":-2357.74756,"EncoderCos":26808,"EncoderSin":13675,"GapTicks":49484,"Mech_RPM":-471.5495,"cg_du":44.9856033,"cg_dv":47.511692,"cg_dw":55.0143967,"cg_id_a":13.4789619,"cg_id_raw_a":9.26813698,"cg_iq_a":-198.828964,"cg_iq_raw_a":-198.261459,"cg_iu_a":-54.4357071,"cg_iv_a":-140.991821,"cg_iw_a":195.427536,"cg_sample_age_us":23.8490906,"cg_sample_seq":5836516,"cg_sample_valid":1,"cg_theta_rad":4.42331409,"cg_vd_req_v":-2.20908141,"cg_vd_v":-2.20908141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43230724,"cg_vq_v":-8.43230724,"cg_vu_v":38.2706528,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8825378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":894.495483,"values":{"Elec_RPM":-2356.49634,"EncoderCos":47188,"EncoderSin":19161,"GapTicks":49767,"Mech_RPM":-471.299255,"cg_du":45.2433243,"cg_dv":53.2373276,"cg_dw":54.7566757,"cg_id_a":1.53770363,"cg_id_raw_a":7.73961163,"cg_iq_a":-203.035675,"cg_iq_raw_a":-203.620544,"cg_iu_a":-176.323715,"cg_iv_a":6.62928772,"cg_iw_a":171.76033,"cg_sample_age_us":23.9400005,"cg_sample_seq":5838166,"cg_sample_valid":1,"cg_theta_rad":5.54381466,"cg_vd_req_v":-2.00048089,"cg_vd_v":-2.00048089,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30310631,"cg_vq_v":-8.30310631,"cg_vu_v":19.795166,"cg_vv_v":22.8744144,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-18.8432293,"dclink_p_w":-2718.79077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":894.848999,"values":{"Elec_RPM":-2356.43408,"EncoderCos":38913,"EncoderSin":13730,"GapTicks":49581,"Mech_RPM":-471.286804,"cg_du":54.9258156,"cg_dv":52.2285805,"cg_dw":45.0741844,"cg_id_a":1.77841842,"cg_id_raw_a":0.775132239,"cg_iq_a":-204.278412,"cg_iq_raw_a":-205.711838,"cg_iu_a":75.4259491,"cg_iv_a":115.795715,"cg_iw_a":-202.602234,"cg_sample_age_us":23.9618187,"cg_sample_seq":5839966,"cg_sample_valid":1,"cg_theta_rad":5.04292297,"cg_vd_req_v":-1.98002875,"cg_vd_v":-1.98002875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2742939,"cg_vq_v":-8.2742939,"cg_vu_v":29.912693,"cg_vv_v":16.2760258,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0419121,"dclink_p_w":-2458.88818,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":895.111433,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":895.111439,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":895.111445,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":895.182983,"values":{"Elec_RPM":-2357.85962,"EncoderCos":50836,"EncoderSin":40538,"GapTicks":49342,"Mech_RPM":-471.57193,"cg_du":44.8566589,"cg_dv":55.1433411,"cg_dw":51.4162102,"cg_id_a":-0.426015019,"cg_id_raw_a":-2.13525367,"cg_iq_a":-195.602493,"cg_iq_raw_a":-196.064499,"cg_iu_a":-196.294067,"cg_iv_a":89.6639099,"cg_iw_a":106.630157,"cg_sample_age_us":23.5036373,"cg_sample_seq":5841566,"cg_sample_valid":1,"cg_theta_rad":0.414045691,"cg_vd_req_v":-1.97676015,"cg_vd_v":-1.97676015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50285339,"cg_vq_v":-8.50285339,"cg_vu_v":1.31967759,"cg_vv_v":5.27871037,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":895.513062,"values":{"Elec_RPM":-2351.24829,"EncoderCos":52364,"EncoderSin":30778,"GapTicks":49428,"Mech_RPM":-470.249664,"cg_du":55.064785,"cg_dv":47.9732704,"cg_dw":44.935215,"cg_id_a":-9.96179199,"cg_id_raw_a":-5.72767162,"cg_iq_a":-195.077637,"cg_iq_raw_a":-197.39949,"cg_iu_a":163.172272,"cg_iv_a":12.2108459,"cg_iw_a":-175.383118,"cg_sample_age_us":24.0163631,"cg_sample_seq":5843366,"cg_sample_valid":1,"cg_theta_rad":6.195189,"cg_vd_req_v":-1.72721279,"cg_vd_v":-1.72721279,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51345634,"cg_vq_v":-8.51345634,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2396.54004,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":895.866577,"values":{"Elec_RPM":-2356.47339,"EncoderCos":32879,"EncoderSin":52581,"GapTicks":49735,"Mech_RPM":-471.294678,"cg_du":45.214222,"cg_dv":54.785778,"cg_dw":46.7650146,"cg_id_a":3.35345292,"cg_id_raw_a":10.8668776,"cg_iq_a":-203.983582,"cg_iq_raw_a":-205.344955,"cg_iu_a":-174.51152,"cg_iv_a":175.380585,"cg_iw_a":-0.869056702,"cg_sample_age_us":23.7763634,"cg_sample_seq":5844966,"cg_sample_valid":1,"cg_theta_rad":1.56709576,"cg_vd_req_v":-1.94782555,"cg_vd_v":-1.94782555,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33447933,"cg_vq_v":-8.33447933,"cg_vu_v":34.3116188,"cg_vv_v":34.7515144,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":896.102934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":896.10294,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":896.102945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":896.198608,"values":{"Elec_RPM":-2350.86963,"EncoderCos":42540,"EncoderSin":50013,"GapTicks":49427,"Mech_RPM":-470.17392,"cg_du":55.0657425,"cg_dv":44.9342575,"cg_dw":48.099556,"cg_id_a":7.76030159,"cg_id_raw_a":1.85016894,"cg_iq_a":-200.478958,"cg_iq_raw_a":-198.651932,"cg_iu_a":199.706055,"cg_iv_a":-73.5420761,"cg_iw_a":-126.163979,"cg_sample_age_us":23.954546,"cg_sample_seq":5846767,"cg_sample_valid":1,"cg_theta_rad":1.05824745,"cg_vd_req_v":-2.1111486,"cg_vd_v":-2.1111486,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37348652,"cg_vq_v":-8.37348652,"cg_vu_v":108.21357,"cg_vv_v":109.533249,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":896.532593,"values":{"Elec_RPM":-2352.22949,"EncoderCos":14543,"EncoderSin":41104,"GapTicks":49399,"Mech_RPM":-470.445923,"cg_du":48.7017899,"cg_dv":55.0918198,"cg_dw":44.9081802,"cg_id_a":-0.153595805,"cg_id_raw_a":-3.38238406,"cg_iq_a":-199.745529,"cg_iq_raw_a":-198.671051,"cg_iu_a":-103.21991,"cg_iv_a":200.751266,"cg_iw_a":-109.238121,"cg_sample_age_us":23.9654541,"cg_sample_seq":5848367,"cg_sample_valid":1,"cg_theta_rad":2.71317053,"cg_vd_req_v":-1.881791,"cg_vd_v":-1.881791,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39243221,"cg_vq_v":-8.39243221,"cg_vu_v":121.850235,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2502.55371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":896.884155,"values":{"Elec_RPM":-2347.02441,"EncoderCos":20652,"EncoderSin":48700,"GapTicks":49426,"Mech_RPM":-469.404907,"cg_du":55.0666656,"cg_dv":44.9333344,"cg_dw":51.7413025,"cg_id_a":-11.6309748,"cg_id_raw_a":-6.28342485,"cg_iq_a":-196.37883,"cg_iq_raw_a":-197.681732,"cg_iu_a":176.365021,"cg_iv_a":-162.01326,"cg_iw_a":-14.3517609,"cg_sample_age_us":24.0236359,"cg_sample_seq":5850166,"cg_sample_valid":1,"cg_theta_rad":2.22082591,"cg_vd_req_v":-1.65055346,"cg_vd_v":-1.65055346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47289467,"cg_vq_v":-8.47289467,"cg_vu_v":47.0685043,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":897.063398,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":897.063404,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":897.063409,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":897.216187,"values":{"Elec_RPM":-2349.28125,"EncoderCos":17599,"EncoderSin":19506,"GapTicks":49693,"Mech_RPM":-469.856232,"cg_du":53.1991577,"cg_dv":54.8241463,"cg_dw":45.1758537,"cg_id_a":0.923918128,"cg_id_raw_a":7.65103388,"cg_iq_a":-199.990662,"cg_iq_raw_a":-202.599808,"cg_iu_a":2.79330873,"cg_iv_a":170.741364,"cg_iw_a":-173.534668,"cg_sample_age_us":23.9981823,"cg_sample_seq":5851766,"cg_sample_valid":1,"cg_theta_rad":3.87045288,"cg_vd_req_v":-1.88737786,"cg_vd_v":-1.88737786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42365265,"cg_vq_v":-8.42365265,"cg_vu_v":0.43989256,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6196709,"dclink_p_w":-2397.96533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":897.550171,"values":{"Elec_RPM":-2355.39844,"EncoderCos":27144,"EncoderSin":13568,"GapTicks":49668,"Mech_RPM":-471.079681,"cg_du":45.1533852,"cg_dv":46.8036194,"cg_dw":54.8466148,"cg_id_a":15.5263023,"cg_id_raw_a":13.2007866,"cg_iq_a":-200.602921,"cg_iq_raw_a":-198.792114,"cg_iu_a":-37.4011002,"cg_iv_a":-152.154938,"cg_iw_a":189.55603,"cg_sample_age_us":23.9654541,"cg_sample_seq":5853467,"cg_sample_valid":1,"cg_theta_rad":4.44015551,"cg_vd_req_v":-2.2318759,"cg_vd_v":-2.2318759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37430954,"cg_vq_v":-8.37430954,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2449.15308,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":897.901733,"values":{"Elec_RPM":-2351.79053,"EncoderCos":38564,"EncoderSin":13595,"GapTicks":49490,"Mech_RPM":-470.358093,"cg_du":55.0084763,"cg_dv":51.4489899,"cg_dw":44.9915237,"cg_id_a":0.137504876,"cg_id_raw_a":0.0805797726,"cg_iq_a":-204.533386,"cg_iq_raw_a":-203.032074,"cg_iu_a":93.7653351,"cg_iv_a":98.3624268,"cg_iw_a":-203.834518,"cg_sample_age_us":23.8672733,"cg_sample_seq":5855166,"cg_sample_valid":1,"cg_theta_rad":5.02426624,"cg_vd_req_v":-1.94526744,"cg_vd_v":-1.94526744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25982475,"cg_vq_v":-8.25982475,"cg_vu_v":39.1504402,"cg_vv_v":42.6695786,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-15.9129162,"dclink_p_w":-2295.99121,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":898.086937,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":898.086943,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":898.086947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":898.278687,"values":{"Elec_RPM":-2353.77295,"EncoderCos":28829,"EncoderSin":13161,"GapTicks":49485,"Mech_RPM":-470.754608,"cg_du":48.4905548,"cg_dv":44.9865532,"cg_dw":55.0134468,"cg_id_a":-16.276453,"cg_id_raw_a":-12.1130543,"cg_iq_a":-201.079712,"cg_iq_raw_a":-203.392746,"cg_iu_a":7.86744499,"cg_iv_a":-177.960556,"cg_iw_a":170.093109,"cg_sample_age_us":23.8818188,"cg_sample_seq":5856966,"cg_sample_valid":1,"cg_theta_rad":4.51980257,"cg_vd_req_v":-1.57785678,"cg_vd_v":-1.57785678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35612106,"cg_vq_v":-8.35612106,"cg_vu_v":105.574219,"cg_vv_v":90.6178665,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":898.817749,"values":{"Elec_RPM":-2345.68213,"EncoderCos":31023,"EncoderSin":52584,"GapTicks":49313,"Mech_RPM":-469.136414,"cg_du":44.8303947,"cg_dv":55.1696053,"cg_dw":50.9390831,"cg_id_a":-2.4386692,"cg_id_raw_a":-5.89394474,"cg_iq_a":-197.117004,"cg_iq_raw_a":-196.073822,"cg_iu_a":-193.467056,"cg_iv_a":58.7116699,"cg_iw_a":134.755386,"cg_sample_age_us":26.7363644,"cg_sample_seq":5859571,"cg_sample_valid":1,"cg_theta_rad":1.7029283,"cg_vd_req_v":-1.85011399,"cg_vd_v":-1.85011399,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46016407,"cg_vq_v":-8.46016407,"cg_vu_v":100.295509,"cg_vv_v":102.93486,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2484.77368,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":898.950688,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":898.950699,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":898.950702,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":899.080054,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":899.080062,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":899.080068,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":899.227905,"values":{"Elec_RPM":-2346.75952,"EncoderCos":22310,"EncoderSin":49844,"GapTicks":49514,"Mech_RPM":-469.351898,"cg_du":52.6343536,"cg_dv":45.0127563,"cg_dw":54.9872437,"cg_id_a":8.41021347,"cg_id_raw_a":7.21852207,"cg_iq_a":-197.397125,"cg_iq_raw_a":-197.058014,"cg_iu_a":137.004227,"cg_iv_a":-192.639313,"cg_iw_a":55.6350784,"cg_sample_age_us":23.6454544,"cg_sample_seq":5861866,"cg_sample_valid":1,"cg_theta_rad":2.12190461,"cg_vd_req_v":-2.10635281,"cg_vd_v":-2.10635281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48218346,"cg_vq_v":-8.48218346,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":899.56189,"values":{"Elec_RPM":-2345.13696,"EncoderCos":14692,"EncoderSin":41472,"GapTicks":49344,"Mech_RPM":-469.027405,"cg_du":49.4203796,"cg_dv":55.1416168,"cg_dw":44.8583832,"cg_id_a":-7.26626587,"cg_id_raw_a":-8.66038704,"cg_iq_a":-197.263412,"cg_iq_raw_a":-195.252579,"cg_iu_a":-91.2956848,"cg_iv_a":198.612885,"cg_iw_a":-107.3172,"cg_sample_age_us":23.9981823,"cg_sample_seq":5863567,"cg_sample_valid":1,"cg_theta_rad":2.70382094,"cg_vd_req_v":-1.73472142,"cg_vd_v":-1.73472142,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4339695,"cg_vq_v":-8.4339695,"cg_vu_v":40.0302238,"cg_vv_v":68.1833496,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.426096,"dclink_p_w":-2521.98584,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8896179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":899.913452,"values":{"Elec_RPM":-2346.72388,"EncoderCos":12843,"EncoderSin":30478,"GapTicks":49555,"Mech_RPM":-469.344757,"cg_du":47.8977432,"cg_dv":45.0506096,"cg_dw":54.9493904,"cg_id_a":-10.992424,"cg_id_raw_a":-1.93609655,"cg_iq_a":-203.861603,"cg_iq_raw_a":-204.169907,"cg_iu_a":5.43910837,"cg_iv_a":-178.105515,"cg_iw_a":172.666412,"cg_sample_age_us":24.2745457,"cg_sample_seq":5865267,"cg_sample_valid":1,"cg_theta_rad":3.25992942,"cg_vd_req_v":-1.64390409,"cg_vd_v":-1.64390409,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32962704,"cg_vq_v":-8.32962704,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2442.83936,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8860779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":900.102798,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":900.102804,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":900.102808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":900.247437,"values":{"Elec_RPM":-2346.51465,"EncoderCos":17242,"EncoderSin":19869,"GapTicks":50077,"Mech_RPM":-469.302917,"cg_du":54.4074287,"cg_dv":54.4745979,"cg_dw":45.5254021,"cg_id_a":10.3227148,"cg_id_raw_a":13.8303585,"cg_iq_a":-203.995224,"cg_iq_raw_a":-203.364288,"cg_iu_a":15.5511379,"cg_iv_a":166.899536,"cg_iw_a":-182.450668,"cg_sample_age_us":23.9654541,"cg_sample_seq":5866967,"cg_sample_valid":1,"cg_theta_rad":3.84389424,"cg_vd_req_v":-2.085711,"cg_vd_v":-2.085711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34556198,"cg_vq_v":-8.34556198,"cg_vu_v":104.694435,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-15.8784847,"dclink_p_w":-2304.99316,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":900.598999,"values":{"Elec_RPM":-2344.37207,"EncoderCos":26030,"EncoderSin":13964,"GapTicks":49373,"Mech_RPM":-468.87439,"cg_du":44.8853264,"cg_dv":48.9053764,"cg_dw":55.1146736,"cg_id_a":-11.7477894,"cg_id_raw_a":-17.6026096,"cg_iq_a":-197.407898,"cg_iq_raw_a":-196.317017,"cg_iu_a":-55.2330704,"cg_iv_a":-137.621155,"cg_iw_a":192.854233,"cg_sample_age_us":26.8090916,"cg_sample_seq":5868671,"cg_sample_valid":1,"cg_theta_rad":4.42375278,"cg_vd_req_v":-1.70192254,"cg_vd_v":-1.70192254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4424839,"cg_vq_v":-8.4424839,"cg_vu_v":119.650772,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":900.93103,"values":{"Elec_RPM":-2346.27539,"EncoderCos":47190,"EncoderSin":19166,"GapTicks":49717,"Mech_RPM":-469.255096,"cg_du":45.1973801,"cg_dv":53.2627487,"cg_dw":54.8026199,"cg_id_a":1.5895896,"cg_id_raw_a":7.61281776,"cg_iq_a":-201.88681,"cg_iq_raw_a":-204.058685,"cg_iu_a":-174.620255,"cg_iv_a":-0.583236694,"cg_iw_a":175.203491,"cg_sample_age_us":23.8199997,"cg_sample_seq":5870316,"cg_sample_valid":1,"cg_theta_rad":5.54529858,"cg_vd_req_v":-2.0209682,"cg_vd_v":-2.0209682,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35394955,"cg_vq_v":-8.35394955,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2458.1687,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8577271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":901.09502,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":901.095027,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":901.095032,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":901.263062,"values":{"Elec_RPM":-2355.18066,"EncoderCos":38908,"EncoderSin":13705,"GapTicks":49543,"Mech_RPM":-471.036133,"cg_du":54.9607925,"cg_dv":52.2112541,"cg_dw":45.0392075,"cg_id_a":1.56112003,"cg_id_raw_a":0.839787781,"cg_iq_a":-204.27887,"cg_iq_raw_a":-205.702347,"cg_iu_a":76.404541,"cg_iv_a":127.067535,"cg_iw_a":-203.472076,"cg_sample_age_us":23.9509087,"cg_sample_seq":5872116,"cg_sample_valid":1,"cg_theta_rad":5.04219961,"cg_vd_req_v":-1.99012423,"cg_vd_v":-1.99012423,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29898262,"cg_vq_v":-8.29898262,"cg_vu_v":45.7488289,"cg_vv_v":59.825386,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.1974297,"dclink_p_w":-2337.04224,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":901.616577,"values":{"Elec_RPM":-2351.0415,"EncoderCos":51196,"EncoderSin":39905,"GapTicks":49305,"Mech_RPM":-470.208282,"cg_du":44.823288,"cg_dv":55.176712,"cg_dw":49.9637413,"cg_id_a":-10.1288137,"cg_id_raw_a":-11.5633717,"cg_iq_a":-196.000443,"cg_iq_raw_a":-196.689438,"cg_iu_a":-194.735596,"cg_iv_a":99.3772583,"cg_iw_a":95.3583374,"cg_sample_age_us":26.4054546,"cg_sample_seq":5873720,"cg_sample_valid":1,"cg_theta_rad":0.410804003,"cg_vd_req_v":-1.76525581,"cg_vd_v":-1.76525581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46904469,"cg_vq_v":-8.46904469,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":901.946655,"values":{"Elec_RPM":-2358.89673,"EncoderCos":52383,"EncoderSin":30754,"GapTicks":49473,"Mech_RPM":-471.779327,"cg_du":55.0242386,"cg_dv":47.9537773,"cg_dw":44.9757614,"cg_id_a":-10.8157558,"cg_id_raw_a":-5.00057077,"cg_iq_a":-196.210449,"cg_iq_raw_a":-196.355911,"cg_iu_a":165.201935,"cg_iv_a":6.55679321,"cg_iw_a":-171.758728,"cg_sample_age_us":23.994545,"cg_sample_seq":5875517,"cg_sample_valid":1,"cg_theta_rad":6.1949544,"cg_vd_req_v":-1.69899225,"cg_vd_v":-1.69899225,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45619011,"cg_vq_v":-8.45619011,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2428.37085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":902.087172,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":902.087178,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":902.087183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":902.28064,"values":{"Elec_RPM":-2362.84326,"EncoderCos":33240,"EncoderSin":52600,"GapTicks":49994,"Mech_RPM":-472.568665,"cg_du":45.4499092,"cg_dv":54.5500908,"cg_dw":45.7991409,"cg_id_a":15.1450291,"cg_id_raw_a":20.1038361,"cg_iq_a":-205.009399,"cg_iq_raw_a":-205.085114,"cg_iu_a":-174.584015,"cg_iv_a":176.649124,"cg_iw_a":-2.06510925,"cg_sample_age_us":23.8963642,"cg_sample_seq":5877118,"cg_sample_valid":1,"cg_theta_rad":1.55898142,"cg_vd_req_v":-2.18458343,"cg_vd_v":-2.18458343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33507347,"cg_vq_v":-8.33507347,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9108887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":902.634155,"values":{"Elec_RPM":-2365.59229,"EncoderCos":22263,"EncoderSin":49786,"GapTicks":49574,"Mech_RPM":-473.118469,"cg_du":52.7448311,"cg_dv":45.0674019,"cg_dw":54.9325981,"cg_id_a":9.49695969,"cg_id_raw_a":5.60433865,"cg_iq_a":-198.72467,"cg_iq_raw_a":-198.352982,"cg_iu_a":148.783478,"cg_iv_a":-191.733215,"cg_iw_a":42.9497375,"cg_sample_age_us":23.6127281,"cg_sample_seq":5878818,"cg_sample_valid":1,"cg_theta_rad":2.13271523,"cg_vd_req_v":-2.1112597,"cg_vd_v":-2.1112597,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42378712,"cg_vq_v":-8.42378712,"cg_vu_v":106.453995,"cg_vv_v":92.8173294,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2423.63574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8365173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":902.964233,"values":{"Elec_RPM":-2361.9248,"EncoderCos":21411,"EncoderSin":49232,"GapTicks":49969,"Mech_RPM":-472.384979,"cg_du":54.5729294,"cg_dv":45.4270706,"cg_dw":54.1610909,"cg_id_a":11.6050234,"cg_id_raw_a":14.0337563,"cg_iq_a":-200.716965,"cg_iq_raw_a":-200.978073,"cg_iu_a":169.478699,"cg_iv_a":-179.84523,"cg_iw_a":10.3665314,"cg_sample_age_us":24.0490913,"cg_sample_seq":5880567,"cg_sample_valid":1,"cg_theta_rad":2.17449689,"cg_vd_req_v":-2.11664629,"cg_vd_v":-2.11664629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3688736,"cg_vq_v":-8.3688736,"cg_vu_v":106.893898,"cg_vv_v":93.2572174,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9215088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":903.079867,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":903.079873,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":903.079879,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":903.319702,"values":{"Elec_RPM":-2354.7854,"EncoderCos":14555,"EncoderSin":41188,"GapTicks":49392,"Mech_RPM":-470.957092,"cg_du":48.7792015,"cg_dv":55.0979919,"cg_dw":44.9020081,"cg_id_a":-5.7296195,"cg_id_raw_a":-8.20554924,"cg_iq_a":-200.606415,"cg_iq_raw_a":-199.533951,"cg_iu_a":-147.473633,"cg_iv_a":199.047821,"cg_iw_a":-51.5741806,"cg_sample_age_us":23.8672733,"cg_sample_seq":5882271,"cg_sample_valid":1,"cg_theta_rad":2.75048494,"cg_vd_req_v":-1.77883577,"cg_vd_v":-1.77883577,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38779068,"cg_vq_v":-8.38779068,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-17.5076447,"dclink_p_w":-2526.08618,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":903.64978,"values":{"Elec_RPM":-2355.78345,"EncoderCos":13058,"EncoderSin":29062,"GapTicks":49308,"Mech_RPM":-471.156677,"cg_du":50.9331436,"cg_dv":44.8257141,"cg_dw":55.1742859,"cg_id_a":-5.22931528,"cg_id_raw_a":-8.0492239,"cg_iq_a":-196.723587,"cg_iq_raw_a":-196.913467,"cg_iu_a":89.9959717,"cg_iv_a":-196.916077,"cg_iw_a":106.920105,"cg_sample_age_us":23.772728,"cg_sample_seq":5883966,"cg_sample_valid":1,"cg_theta_rad":3.33424473,"cg_vd_req_v":-1.80761242,"cg_vd_v":-1.80761242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50368404,"cg_vq_v":-8.50368404,"cg_vu_v":38.7105446,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5674458,"dclink_p_w":-2542.44263,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":903.981812,"values":{"Elec_RPM":-2358.01196,"EncoderCos":18088,"EncoderSin":18926,"GapTicks":49383,"Mech_RPM":-471.602386,"cg_du":51.2668076,"cg_dv":55.1056175,"cg_dw":44.8943825,"cg_id_a":-12.9489555,"cg_id_raw_a":-11.1457348,"cg_iq_a":-194.645477,"cg_iq_raw_a":-194.22612,"cg_iu_a":-25.0781994,"cg_iv_a":176.286667,"cg_iw_a":-161.42923,"cg_sample_age_us":23.9690914,"cg_sample_seq":5885667,"cg_sample_valid":1,"cg_theta_rad":3.90434647,"cg_vd_req_v":-1.60289991,"cg_vd_v":-1.60289991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49558926,"cg_vq_v":-8.49558926,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2473.00732,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.8648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":904.106585,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":904.106589,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":904.106593,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":904.335327,"values":{"Elec_RPM":-2351.89502,"EncoderCos":27900,"EncoderSin":13367,"GapTicks":50018,"Mech_RPM":-470.379028,"cg_du":45.9786606,"cg_dv":45.471283,"cg_dw":54.528717,"cg_id_a":9.41526222,"cg_id_raw_a":11.7442579,"cg_iq_a":-206.91983,"cg_iq_raw_a":-206.040375,"cg_iu_a":-9.09466934,"cg_iv_a":-174.009979,"cg_iw_a":183.104645,"cg_sample_age_us":23.9618187,"cg_sample_seq":5887367,"cg_sample_valid":1,"cg_theta_rad":4.4799509,"cg_vd_req_v":-2.08975482,"cg_vd_v":-2.08975482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24395943,"cg_vq_v":-8.24395943,"cg_vu_v":104.694435,"cg_vv_v":88.4184036,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2518.24219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8630676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":904.667358,"values":{"Elec_RPM":-2355.427,"EncoderCos":52292,"EncoderSin":29845,"GapTicks":50070,"Mech_RPM":-471.085388,"cg_du":54.4814224,"cg_dv":45.6345901,"cg_dw":45.5185776,"cg_id_a":10.459466,"cg_id_raw_a":13.8861818,"cg_iq_a":-202.096832,"cg_iq_raw_a":-204.750504,"cg_iu_a":182.236526,"cg_iv_a":-14.2109222,"cg_iw_a":-168.025604,"cg_sample_age_us":24.1618176,"cg_sample_seq":5888966,"cg_sample_valid":1,"cg_theta_rad":6.14882755,"cg_vd_req_v":-2.13796759,"cg_vd_v":-2.13796759,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34893513,"cg_vq_v":-8.34893513,"cg_vu_v":42.2296829,"cg_vv_v":41.3499031,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2465.2002,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.8736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":905.001343,"values":{"Elec_RPM":-2353.8252,"EncoderCos":48574,"EncoderSin":20800,"GapTicks":49339,"Mech_RPM":-470.765045,"cg_du":44.8542709,"cg_dv":48.5343857,"cg_dw":55.1457291,"cg_id_a":2.75371385,"cg_id_raw_a":-4.35768795,"cg_iq_a":-196.139984,"cg_iq_raw_a":-199.002853,"cg_iu_a":-86.2215424,"cg_iv_a":-110.257095,"cg_iw_a":196.478638,"cg_sample_age_us":23.9218178,"cg_sample_seq":5890766,"cg_sample_valid":1,"cg_theta_rad":5.65157032,"cg_vd_req_v":-2.06024098,"cg_vd_v":-2.06024098,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46767616,"cg_vq_v":-8.46767616,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2514.37988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9232788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":905.095236,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":905.095242,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":905.095248,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":905.352905,"values":{"Elec_RPM":-2359.44434,"EncoderCos":44248,"EncoderSin":49018,"GapTicks":49459,"Mech_RPM":-471.888855,"cg_du":55.0364342,"cg_dv":44.9635658,"cg_dw":52.0663757,"cg_id_a":-9.89529037,"cg_id_raw_a":-5.87483263,"cg_iq_a":-197.456146,"cg_iq_raw_a":-199.070633,"cg_iu_a":191.297485,"cg_iv_a":-138.925934,"cg_iw_a":-52.3715439,"cg_sample_age_us":23.9036369,"cg_sample_seq":5892371,"cg_sample_valid":1,"cg_theta_rad":1.00197661,"cg_vd_req_v":-1.70702863,"cg_vd_v":-1.70702863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47936058,"cg_vq_v":-8.47936058,"cg_vu_v":106.453995,"cg_vv_v":91.9375458,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":905.684937,"values":{"Elec_RPM":-2352.63452,"EncoderCos":42817,"EncoderSin":49900,"GapTicks":49358,"Mech_RPM":-470.526886,"cg_du":55.1284065,"cg_dv":44.8715935,"cg_dw":48.5418739,"cg_id_a":-1.36333156,"cg_id_raw_a":-7.30502844,"cg_iq_a":-197.651001,"cg_iq_raw_a":-196.762177,"cg_iu_a":197.241486,"cg_iv_a":-92.316391,"cg_iw_a":-104.925095,"cg_sample_age_us":23.9472733,"cg_sample_seq":5894117,"cg_sample_valid":1,"cg_theta_rad":1.04323101,"cg_vd_req_v":-1.92374277,"cg_vd_v":-1.92374277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46923351,"cg_vq_v":-8.46923351,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2553.98242,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":906.018921,"values":{"Elec_RPM":-2353.78149,"EncoderCos":31720,"EncoderSin":52584,"GapTicks":49314,"Mech_RPM":-470.756317,"cg_du":44.8316956,"cg_dv":55.1683044,"cg_dw":49.6320534,"cg_id_a":-12.1103783,"cg_id_raw_a":-11.440299,"cg_iq_a":-195.216248,"cg_iq_raw_a":-196.662842,"cg_iu_a":-186.834442,"cg_iv_a":147.472839,"cg_iw_a":37.1144791,"cg_sample_age_us":23.7690907,"cg_sample_seq":5895817,"cg_sample_valid":1,"cg_theta_rad":1.62240517,"cg_vd_req_v":-1.63673985,"cg_vd_v":-1.63673985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48786926,"cg_vq_v":-8.48786926,"cg_vu_v":112.172607,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":906.087092,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":906.087098,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":906.087103,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":906.370483,"values":{"Elec_RPM":-2355.67065,"EncoderCos":14284,"EncoderSin":40514,"GapTicks":49544,"Mech_RPM":-471.134125,"cg_du":47.5665283,"cg_dv":54.9591637,"cg_dw":45.0408363,"cg_id_a":12.235013,"cg_id_raw_a":8.66488361,"cg_iq_a":-204.327332,"cg_iq_raw_a":-203.376266,"cg_iu_a":-140.478577,"cg_iv_a":199.990158,"cg_iw_a":-59.5115814,"cg_sample_age_us":23.9654541,"cg_sample_seq":5897466,"cg_sample_valid":1,"cg_theta_rad":2.74476719,"cg_vd_req_v":-2.1396296,"cg_vd_v":-2.1396296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31660271,"cg_vq_v":-8.31660271,"cg_vu_v":21.9946289,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7214832,"dclink_p_w":-2572.53125,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":906.702515,"values":{"Elec_RPM":-2356.31494,"EncoderCos":14043,"EncoderSin":39826,"GapTicks":49903,"Mech_RPM":-471.263,"cg_du":46.1215172,"cg_dv":54.633606,"cg_dw":45.366394,"cg_id_a":17.0952377,"cg_id_raw_a":19.2176876,"cg_iq_a":-206.972717,"cg_iq_raw_a":-207.185532,"cg_iu_a":-161.536224,"cg_iv_a":194.553558,"cg_iw_a":-33.0173416,"cg_sample_age_us":23.9363632,"cg_sample_seq":5899216,"cg_sample_valid":1,"cg_theta_rad":2.77389622,"cg_vd_req_v":-2.20545435,"cg_vd_v":-2.20545435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28554726,"cg_vq_v":-8.28554726,"cg_vu_v":1.31967759,"cg_vv_v":16.2760258,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":907.034546,"values":{"Elec_RPM":-2354.88135,"EncoderCos":17873,"EncoderSin":19181,"GapTicks":49491,"Mech_RPM":-470.976257,"cg_du":52.0710716,"cg_dv":55.0078697,"cg_dw":44.9921303,"cg_id_a":-9.57661152,"cg_id_raw_a":-6.21255589,"cg_iq_a":-197.159882,"cg_iq_raw_a":-198.58017,"cg_iu_a":-10.8343735,"cg_iv_a":174.075806,"cg_iw_a":-163.241425,"cg_sample_age_us":23.9581814,"cg_sample_seq":5900867,"cg_sample_valid":1,"cg_theta_rad":3.89004326,"cg_vd_req_v":-1.67003691,"cg_vd_v":-1.67003691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44045448,"cg_vq_v":-8.44045448,"cg_vu_v":126.689056,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2514.05859,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.893158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":907.071375,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":907.071381,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":907.071387,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":907.388062,"values":{"Elec_RPM":-2359.09326,"EncoderCos":13320,"EncoderSin":27966,"GapTicks":49617,"Mech_RPM":-471.818634,"cg_du":53.0617638,"cg_dv":45.1063805,"cg_dw":54.8936195,"cg_id_a":12.216897,"cg_id_raw_a":8.30949688,"cg_iq_a":-198.103516,"cg_iq_raw_a":-197.924515,"cg_iu_a":145.738983,"cg_iv_a":-190.174713,"cg_iw_a":44.4357376,"cg_sample_age_us":23.7036362,"cg_sample_seq":5902667,"cg_sample_valid":1,"cg_theta_rad":3.38997412,"cg_vd_req_v":-2.14502263,"cg_vd_v":-2.14502263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4263649,"cg_vq_v":-8.4263649,"cg_vu_v":143.844864,"cg_vv_v":129.328415,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2462.02563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":907.720093,"values":{"Elec_RPM":-2354.06323,"EncoderCos":18935,"EncoderSin":18097,"GapTicks":49412,"Mech_RPM":-470.812653,"cg_du":48.7905197,"cg_dv":55.0791168,"cg_dw":44.9208832,"cg_id_a":-9.22713661,"cg_id_raw_a":-13.7855434,"cg_iq_a":-201.246399,"cg_iq_raw_a":-201.11647,"cg_iu_a":-90.4620743,"cg_iv_a":200.787506,"cg_iw_a":-110.325439,"cg_sample_age_us":23.9363632,"cg_sample_seq":5904367,"cg_sample_valid":1,"cg_theta_rad":3.96243238,"cg_vd_req_v":-1.73179865,"cg_vd_v":-1.73179865,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36429405,"cg_vq_v":-8.36429405,"cg_vu_v":120.090675,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4040203,"dclink_p_w":-2374.06616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":908.073608,"values":{"Elec_RPM":-2346.58643,"EncoderCos":29259,"EncoderSin":13084,"GapTicks":49327,"Mech_RPM":-469.317261,"cg_du":49.4072266,"cg_dv":44.843338,"cg_dw":55.156662,"cg_id_a":-14.3561497,"cg_id_raw_a":-15.852807,"cg_iq_a":-197.659363,"cg_iq_raw_a":-198.941467,"cg_iu_a":44.4012299,"cg_iv_a":-189.196152,"cg_iw_a":155.05191,"cg_sample_age_us":23.8018188,"cg_sample_seq":5906066,"cg_sample_valid":1,"cg_theta_rad":4.5485878,"cg_vd_req_v":-1.6413939,"cg_vd_v":-1.6413939,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47903156,"cg_vq_v":-8.47903156,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.6326847,"dclink_p_w":-2559.64087,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":908.074858,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":908.074863,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":908.074866,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":908.542358,"values":{"Elec_RPM":-2351.03784,"EncoderCos":26858,"EncoderSin":13632,"GapTicks":49517,"Mech_RPM":-470.207581,"cg_du":45.0162621,"cg_dv":47.3622665,"cg_dw":54.9837379,"cg_id_a":12.7770586,"cg_id_raw_a":7.5519557,"cg_iq_a":-198.209274,"cg_iq_raw_a":-197.787308,"cg_iu_a":-54.1095123,"cg_iv_a":-141.028076,"cg_iw_a":195.137589,"cg_sample_age_us":23.9690914,"cg_sample_seq":5908416,"cg_sample_valid":1,"cg_theta_rad":4.42463923,"cg_vd_req_v":-2.18948722,"cg_vd_v":-2.18948722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42894077,"cg_vq_v":-8.42894077,"cg_vu_v":21.5547352,"cg_vv_v":0.87978512,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":908.963458,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":908.963467,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":908.96347,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":909.046265,"values":{"Elec_RPM":-2344.90405,"EncoderCos":22029,"EncoderSin":49661,"GapTicks":49709,"Mech_RPM":-468.980804,"cg_du":53.265873,"cg_dv":45.1908188,"cg_dw":54.8091812,"cg_id_a":10.7051849,"cg_id_raw_a":10.3193121,"cg_iq_a":-201.049652,"cg_iq_raw_a":-200.143921,"cg_iu_a":151.646729,"cg_iv_a":-192.059387,"cg_iw_a":40.4126663,"cg_sample_age_us":23.6381817,"cg_sample_seq":5910967,"cg_sample_valid":1,"cg_theta_rad":2.13678193,"cg_vd_req_v":-2.13872933,"cg_vd_v":-2.13872933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36330414,"cg_vq_v":-8.36330414,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":909.090559,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":909.090564,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":909.090568,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":909.397827,"values":{"Elec_RPM":-2347.45508,"EncoderCos":21236,"EncoderSin":49103,"GapTicks":49816,"Mech_RPM":-469.490997,"cg_du":54.7124062,"cg_dv":45.2875938,"cg_dw":53.6398277,"cg_id_a":6.8609643,"cg_id_raw_a":13.4454575,"cg_iq_a":-202.683395,"cg_iq_raw_a":-202.420731,"cg_iu_a":173.791718,"cg_iv_a":-176.800751,"cg_iw_a":3.00904083,"cg_sample_age_us":23.9654541,"cg_sample_seq":5912716,"cg_sample_valid":1,"cg_theta_rad":2.18706226,"cg_vd_req_v":-2.02997231,"cg_vd_v":-2.02997231,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35329723,"cg_vq_v":-8.35329723,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2613,"hz_tim_isr":5000,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":909.731812,"values":{"Elec_RPM":-2347.02344,"EncoderCos":17145,"EncoderSin":20067,"GapTicks":49957,"Mech_RPM":-469.404694,"cg_du":54.5840073,"cg_dv":54.0327263,"cg_dw":45.4159927,"cg_id_a":13.2322159,"cg_id_raw_a":12.6115665,"cg_iq_a":-203.100647,"cg_iq_raw_a":-204.95401,"cg_iu_a":21.6763458,"cg_iv_a":163.347626,"cg_iw_a":-185.023972,"cg_sample_age_us":23.9618187,"cg_sample_seq":5914317,"cg_sample_valid":1,"cg_theta_rad":3.83135343,"cg_vd_req_v":-2.13727474,"cg_vd_v":-2.13727474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3219223,"cg_vq_v":-8.3219223,"cg_vu_v":129.768311,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.4858971,"dclink_p_w":-2530.64038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2613,"hz_tim_isr":5000,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9658203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":910.082791,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":910.082796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":910.082801,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":910.085327,"values":{"Elec_RPM":-2349.97632,"EncoderCos":12982,"EncoderSin":29724,"GapTicks":49343,"Mech_RPM":-469.99527,"cg_du":49.7062111,"cg_dv":44.8577957,"cg_dw":55.1422043,"cg_id_a":-17.6448708,"cg_id_raw_a":-20.0948696,"cg_iq_a":-196.855042,"cg_iq_raw_a":-198.240356,"cg_iu_a":85.791687,"cg_iv_a":-196.626129,"cg_iw_a":110.834442,"cg_sample_age_us":23.7145462,"cg_sample_seq":5916120,"cg_sample_valid":1,"cg_theta_rad":3.33371949,"cg_vd_req_v":-1.53353024,"cg_vd_v":-1.53353024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4601326,"cg_vq_v":-8.4601326,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2427.83105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2613,"hz_tim_isr":5000,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":910.415405,"values":{"Elec_RPM":-2352.63184,"EncoderCos":27237,"EncoderSin":13529,"GapTicks":49725,"Mech_RPM":-470.526367,"cg_du":45.2052307,"cg_dv":46.5860023,"cg_dw":54.7947693,"cg_id_a":14.4044065,"cg_id_raw_a":12.8546572,"cg_iq_a":-202.180878,"cg_iq_raw_a":-200.467148,"cg_iu_a":-45.0847931,"cg_iv_a":-149.255432,"cg_iw_a":194.340225,"cg_sample_age_us":23.8272724,"cg_sample_seq":5917767,"cg_sample_valid":1,"cg_theta_rad":4.44399118,"cg_vd_req_v":-2.21695542,"cg_vd_v":-2.21695542,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34764385,"cg_vq_v":-8.34764385,"cg_vu_v":143.844864,"cg_vv_v":141.205521,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2426.78223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":910.74939,"values":{"Elec_RPM":-2357.02808,"EncoderCos":38520,"EncoderSin":13579,"GapTicks":49428,"Mech_RPM":-471.405609,"cg_du":55.0647926,"cg_dv":51.4309959,"cg_dw":44.9352074,"cg_id_a":-2.38048291,"cg_id_raw_a":-7.02555132,"cg_iq_a":-201.751801,"cg_iq_raw_a":-197.488586,"cg_iu_a":98.042099,"cg_iv_a":103.762772,"cg_iw_a":-201.804871,"cg_sample_age_us":23.9436359,"cg_sample_seq":5919467,"cg_sample_valid":1,"cg_theta_rad":5.01997423,"cg_vd_req_v":-1.89813888,"cg_vd_v":-1.89813888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36312866,"cg_vq_v":-8.36312866,"cg_vu_v":140.765625,"cg_vv_v":132.847549,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":911.075282,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":911.075287,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":911.075291,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":911.100952,"values":{"Elec_RPM":-2358.08838,"EncoderCos":47578,"EncoderSin":19560,"GapTicks":49475,"Mech_RPM":-471.617676,"cg_du":44.9774437,"cg_dv":51.8256378,"cg_dw":55.0225563,"cg_id_a":-9.44998741,"cg_id_raw_a":-6.44874716,"cg_iq_a":-199.409058,"cg_iq_raw_a":-200.84877,"cg_iu_a":-130.801453,"cg_iv_a":-62.4514771,"cg_iw_a":193.25293,"cg_sample_age_us":23.8418179,"cg_sample_seq":5921170,"cg_sample_valid":1,"cg_theta_rad":5.614851,"cg_vd_req_v":-1.77859724,"cg_vd_v":-1.77859724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38975525,"cg_vq_v":-8.38975525,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.0437222,"dclink_p_w":-2466.64673,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":911.434937,"values":{"Elec_RPM":-2352.41699,"EncoderCos":52375,"EncoderSin":30601,"GapTicks":49539,"Mech_RPM":-470.483398,"cg_du":54.9636765,"cg_dv":47.5308914,"cg_dw":45.0363235,"cg_id_a":-6.90063477,"cg_id_raw_a":-0.0396780334,"cg_iq_a":-198.757767,"cg_iq_raw_a":-201.279953,"cg_iu_a":169.152496,"cg_iv_a":4.59963989,"cg_iw_a":-173.752136,"cg_sample_age_us":24.1181812,"cg_sample_seq":5922866,"cg_sample_valid":1,"cg_theta_rad":6.187644,"cg_vd_req_v":-1.78364897,"cg_vd_v":-1.78364897,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4171524,"cg_vq_v":-8.4171524,"cg_vu_v":45.3089333,"cg_vv_v":44.8690414,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":911.766968,"values":{"Elec_RPM":-2355.9165,"EncoderCos":50317,"EncoderSin":41803,"GapTicks":49897,"Mech_RPM":-471.183319,"cg_du":45.3613892,"cg_dv":54.6386108,"cg_dw":54.0769463,"cg_id_a":13.5376883,"cg_id_raw_a":16.6492634,"cg_iq_a":-200.653351,"cg_iq_raw_a":-201.438614,"cg_iu_a":-184.514832,"cg_iv_a":20.1844788,"cg_iw_a":164.330353,"cg_sample_age_us":23.5327282,"cg_sample_seq":5924566,"cg_sample_valid":1,"cg_theta_rad":0.48410359,"cg_vd_req_v":-2.22902012,"cg_vd_v":-2.22902012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40202618,"cg_vq_v":-8.40202618,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2393.47412,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":912.098947,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":912.098951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":912.098956,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":912.11853,"values":{"Elec_RPM":-2357.18237,"EncoderCos":42453,"EncoderSin":50055,"GapTicks":49467,"Mech_RPM":-471.436462,"cg_du":55.0291595,"cg_dv":44.9708405,"cg_dw":47.8823586,"cg_id_a":8.19896507,"cg_id_raw_a":3.51941633,"cg_iq_a":-198.524612,"cg_iq_raw_a":-197.888428,"cg_iu_a":197.024017,"cg_iv_a":-81.8056641,"cg_iw_a":-115.218353,"cg_sample_age_us":23.8309097,"cg_sample_seq":5926266,"cg_sample_valid":1,"cg_theta_rad":1.05356622,"cg_vd_req_v":-2.11058235,"cg_vd_v":-2.11058235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41484356,"cg_vq_v":-8.41484356,"cg_vu_v":107.333786,"cg_vv_v":104.254532,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2513.79712,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":912.452515,"values":{"Elec_RPM":-2352.52075,"EncoderCos":31687,"EncoderSin":52555,"GapTicks":49316,"Mech_RPM":-470.50415,"cg_du":44.8332367,"cg_dv":55.1667633,"cg_dw":49.6469917,"cg_id_a":-9.82452393,"cg_id_raw_a":-11.3441133,"cg_iq_a":-196.807434,"cg_iq_raw_a":-196.84314,"cg_iu_a":-189.443985,"cg_iv_a":139.462952,"cg_iw_a":49.981041,"cg_sample_age_us":23.8963642,"cg_sample_seq":5927967,"cg_sample_valid":1,"cg_theta_rad":1.62522125,"cg_vd_req_v":-1.69032204,"cg_vd_v":-1.69032204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44736004,"cg_vq_v":-8.44736004,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2429.86475,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":912.782593,"values":{"Elec_RPM":-2349.00928,"EncoderCos":20914,"EncoderSin":48840,"GapTicks":49552,"Mech_RPM":-469.80188,"cg_du":54.9521484,"cg_dv":45.0478516,"cg_dw":52.5216103,"cg_id_a":-5.2713542,"cg_id_raw_a":2.67835736,"cg_iq_a":-199.671036,"cg_iq_raw_a":-201.506805,"cg_iu_a":172.88562,"cg_iv_a":-169.76944,"cg_iw_a":-3.11618042,"cg_sample_age_us":23.8999996,"cg_sample_seq":5929666,"cg_sample_valid":1,"cg_theta_rad":2.20785618,"cg_vd_req_v":-1.78731084,"cg_vd_v":-1.78731084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43872547,"cg_vq_v":-8.43872547,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":913.091524,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":913.09153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":913.091536,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":913.136108,"values":{"Elec_RPM":-2348.32715,"EncoderCos":13926,"EncoderSin":39648,"GapTicks":50072,"Mech_RPM":-469.665405,"cg_du":45.6328316,"cg_dv":54.4798355,"cg_dw":45.5201645,"cg_id_a":14.0518341,"cg_id_raw_a":16.5482655,"cg_iq_a":-203.351105,"cg_iq_raw_a":-204.784729,"cg_iu_a":-163.529633,"cg_iv_a":187.377289,"cg_iw_a":-23.8476486,"cg_sample_age_us":23.8999996,"cg_sample_seq":5931366,"cg_sample_valid":1,"cg_theta_rad":2.78449655,"cg_vd_req_v":-2.1317637,"cg_vd_v":-2.1317637,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34898949,"cg_vq_v":-8.34898949,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2518.86548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9091187,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":913.470093,"values":{"Elec_RPM":-2356.27588,"EncoderCos":18020,"EncoderSin":18992,"GapTicks":49395,"Mech_RPM":-471.255188,"cg_du":51.513649,"cg_dv":55.0946503,"cg_dw":44.9053497,"cg_id_a":-12.2544022,"cg_id_raw_a":-10.1380873,"cg_iq_a":-196.921249,"cg_iq_raw_a":-197.61235,"cg_iu_a":-20.2577705,"cg_iv_a":179.983536,"cg_iw_a":-159.725769,"cg_sample_age_us":23.9909096,"cg_sample_seq":5933016,"cg_sample_valid":1,"cg_theta_rad":3.90112352,"cg_vd_req_v":-1.63020182,"cg_vd_v":-1.63020182,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45624733,"cg_vq_v":-8.45624733,"cg_vu_v":41.3499031,"cg_vv_v":71.2625961,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.4130802,"dclink_p_w":-2375.37744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8913879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":913.821655,"values":{"Elec_RPM":-2349.77441,"EncoderCos":13215,"EncoderSin":28382,"GapTicks":49502,"Mech_RPM":-469.954895,"cg_du":52.2704048,"cg_dv":45.0024109,"cg_dw":54.9975891,"cg_id_a":3.24468231,"cg_id_raw_a":1.60732412,"cg_iq_a":-199.328308,"cg_iq_raw_a":-198.976929,"cg_iu_a":157.264526,"cg_iv_a":-189.667313,"cg_iw_a":32.4027863,"cg_sample_age_us":23.6127281,"cg_sample_seq":5934819,"cg_sample_valid":1,"cg_theta_rad":3.39949918,"cg_vd_req_v":-1.98502398,"cg_vd_v":-1.98502398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40287685,"cg_vq_v":-8.40287685,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2439.01611,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":914.083069,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":914.083075,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":914.08308,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":914.15564,"values":{"Elec_RPM":-2348.88867,"EncoderCos":39144,"EncoderSin":13795,"GapTicks":49646,"Mech_RPM":-469.77774,"cg_du":54.866703,"cg_dv":52.6741905,"cg_dw":45.133297,"cg_id_a":6.01256847,"cg_id_raw_a":4.41367722,"cg_iq_a":-203.086563,"cg_iq_raw_a":-204.059921,"cg_iu_a":71.6928406,"cg_iv_a":127.103775,"cg_iw_a":-198.796616,"cg_sample_age_us":23.8709087,"cg_sample_seq":5936416,"cg_sample_valid":1,"cg_theta_rad":5.04608774,"cg_vd_req_v":-2.06393528,"cg_vd_v":-2.06393528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30572128,"cg_vq_v":-8.30572128,"cg_vu_v":26.8334465,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7559147,"dclink_p_w":-2569.71875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":914.485718,"values":{"Elec_RPM":-2347.47925,"EncoderCos":29440,"EncoderSin":13051,"GapTicks":49339,"Mech_RPM":-469.49585,"cg_du":49.8020744,"cg_dv":44.8543358,"cg_dw":55.1456642,"cg_id_a":-13.1500225,"cg_id_raw_a":-15.4482784,"cg_iq_a":-196.289948,"cg_iq_raw_a":-197.011154,"cg_iu_a":53.4259415,"cg_iv_a":-189.884766,"cg_iw_a":136.458832,"cg_sample_age_us":23.8199997,"cg_sample_seq":5938216,"cg_sample_valid":1,"cg_theta_rad":4.56044817,"cg_vd_req_v":-1.65899014,"cg_vd_v":-1.65899014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46636295,"cg_vq_v":-8.46636295,"cg_vu_v":11.877099,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.8863926,"dclink_p_w":-2588.60205,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8878479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":914.817749,"values":{"Elec_RPM":-2349.68311,"EncoderCos":52397,"EncoderSin":31066,"GapTicks":49344,"Mech_RPM":-469.936615,"cg_du":55.1413689,"cg_dv":48.6976738,"cg_dw":44.8586311,"cg_id_a":-14.7489758,"cg_id_raw_a":-14.525713,"cg_iq_a":-195.831589,"cg_iq_raw_a":-197.058151,"cg_iu_a":162.302429,"cg_iv_a":11.9208679,"cg_iw_a":-174.223297,"cg_sample_age_us":24.005455,"cg_sample_seq":5939816,"cg_sample_valid":1,"cg_theta_rad":6.20175505,"cg_vd_req_v":-1.64495635,"cg_vd_v":-1.64495635,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49920654,"cg_vq_v":-8.49920654,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":915.106554,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":915.10656,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":915.106566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":915.171265,"values":{"Elec_RPM":-2349.01123,"EncoderCos":49249,"EncoderSin":21844,"GapTicks":49856,"Mech_RPM":-469.802246,"cg_du":45.3236771,"cg_dv":46.2106857,"cg_dw":54.6763229,"cg_id_a":18.071209,"cg_id_raw_a":18.9556694,"cg_iq_a":-206.624924,"cg_iq_raw_a":-204.651978,"cg_iu_a":-21.598793,"cg_iv_a":-169.334534,"cg_iw_a":190.933319,"cg_sample_age_us":23.9581814,"cg_sample_seq":5941616,"cg_sample_valid":1,"cg_theta_rad":5.71440315,"cg_vd_req_v":-2.34787655,"cg_vd_v":-2.34787655,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27484226,"cg_vq_v":-8.27484226,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2407.11206,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9055481,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":915.503296,"values":{"Elec_RPM":-2350.84863,"EncoderCos":49793,"EncoderSin":42763,"GapTicks":49537,"Mech_RPM":-470.169739,"cg_du":45.0344315,"cg_dv":52.2518921,"cg_dw":54.9655685,"cg_id_a":-6.48587608,"cg_id_raw_a":-3.62646222,"cg_iq_a":-200.018799,"cg_iq_raw_a":-200.100403,"cg_iu_a":-164.000824,"cg_iv_a":-13.8122253,"cg_iw_a":177.813049,"cg_sample_age_us":23.5581818,"cg_sample_seq":5943267,"cg_sample_valid":1,"cg_theta_rad":0.539862037,"cg_vd_req_v":-1.80457175,"cg_vd_v":-1.80457175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3859024,"cg_vq_v":-8.3859024,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9143982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":915.856812,"values":{"Elec_RPM":-2347.90112,"EncoderCos":31882,"EncoderSin":52648,"GapTicks":49318,"Mech_RPM":-469.580231,"cg_du":44.8351822,"cg_dv":55.1648178,"cg_dw":49.2171364,"cg_id_a":-10.585125,"cg_id_raw_a":-10.8017015,"cg_iq_a":-197.100372,"cg_iq_raw_a":-197.684891,"cg_iu_a":-195.424225,"cg_iv_a":119.673813,"cg_iw_a":75.750412,"cg_sample_age_us":25.3763638,"cg_sample_seq":5944920,"cg_sample_valid":1,"cg_theta_rad":1.64834535,"cg_vd_req_v":-1.67514813,"cg_vd_v":-1.67514813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47377586,"cg_vq_v":-8.47377586,"cg_vu_v":101.615181,"cg_vv_v":104.254532,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.4025383,"dclink_p_w":-2510.92114,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9020081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":916.098859,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":916.098865,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":916.09887,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":916.188843,"values":{"Elec_RPM":-2345.59546,"EncoderCos":30278,"EncoderSin":52497,"GapTicks":49484,"Mech_RPM":-469.11911,"cg_du":44.985878,"cg_dv":55.014122,"cg_dw":52.4095993,"cg_id_a":9.25450706,"cg_id_raw_a":7.55711079,"cg_iq_a":-199.081894,"cg_iq_raw_a":-199.409256,"cg_iu_a":-196.656494,"cg_iv_a":76.1087036,"cg_iw_a":120.547791,"cg_sample_age_us":23.8418179,"cg_sample_seq":5946666,"cg_sample_valid":1,"cg_theta_rad":1.68711901,"cg_vd_req_v":-2.08598542,"cg_vd_v":-2.08598542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44191742,"cg_vq_v":-8.44191742,"cg_vu_v":102.494972,"cg_vv_v":104.254532,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":916.520874,"values":{"Elec_RPM":-2352.68726,"EncoderCos":19890,"EncoderSin":48032,"GapTicks":49327,"Mech_RPM":-470.537445,"cg_du":55.1565285,"cg_dv":44.8434715,"cg_dw":49.5190048,"cg_id_a":-11.8591032,"cg_id_raw_a":-12.4131231,"cg_iq_a":-195.576538,"cg_iq_raw_a":-195.07901,"cg_iu_a":194.523193,"cg_iv_a":-121.746376,"cg_iw_a":-72.7768173,"cg_sample_age_us":23.9036369,"cg_sample_seq":5948366,"cg_sample_valid":1,"cg_theta_rad":2.27566266,"cg_vd_req_v":-1.68688571,"cg_vd_v":-1.68688571,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49001694,"cg_vq_v":-8.49001694,"cg_vu_v":49.2679672,"cg_vv_v":42.6695786,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-17.8157177,"dclink_p_w":-2578.37354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9445496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":916.872437,"values":{"Elec_RPM":-2358.64404,"EncoderCos":13568,"EncoderSin":38512,"GapTicks":49445,"Mech_RPM":-471.728821,"cg_du":44.9502411,"cg_dv":55.0497589,"cg_dw":48.4282646,"cg_id_a":-10.1876392,"cg_id_raw_a":-8.1351757,"cg_iq_a":-198.557037,"cg_iq_raw_a":-199.914764,"cg_iu_a":-179.476929,"cg_iv_a":160.738068,"cg_iw_a":18.7388535,"cg_sample_age_us":23.9327278,"cg_sample_seq":5950066,"cg_sample_valid":1,"cg_theta_rad":2.84872794,"cg_vd_req_v":-1.62782001,"cg_vd_v":-1.62782001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4180603,"cg_vq_v":-8.4180603,"cg_vu_v":7.03828096,"cg_vv_v":24.6339836,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.4964409,"dclink_p_w":-2387.44165,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":917.090945,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":917.090951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":917.090957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":917.206421,"values":{"Elec_RPM":-2360.97876,"EncoderCos":28330,"EncoderSin":13261,"GapTicks":49699,"Mech_RPM":-472.19577,"cg_du":47.1273041,"cg_dv":45.1812744,"cg_dw":54.8187256,"cg_id_a":-2.44341898,"cg_id_raw_a":6.26335955,"cg_iq_a":-203.057556,"cg_iq_raw_a":-203.897903,"cg_iu_a":-1.80965829,"cg_iv_a":-174.734833,"cg_iw_a":176.544495,"cg_sample_age_us":23.8527279,"cg_sample_seq":5951666,"cg_sample_valid":1,"cg_theta_rad":4.5036931,"cg_vd_req_v":-1.84318423,"cg_vd_v":-1.84318423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3410511,"cg_vq_v":-8.3410511,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2428.2959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":917.557983,"values":{"Elec_RPM":-2355.7771,"EncoderCos":18584,"EncoderSin":18477,"GapTicks":49347,"Mech_RPM":-471.155426,"cg_du":49.8025742,"cg_dv":55.1384659,"cg_dw":44.8615341,"cg_id_a":-13.804101,"cg_id_raw_a":-14.3164597,"cg_iq_a":-196.918915,"cg_iq_raw_a":-193.873428,"cg_iu_a":-127.503273,"cg_iv_a":201.331177,"cg_iw_a":-73.8278961,"cg_sample_age_us":23.8781815,"cg_sample_seq":5953472,"cg_sample_valid":1,"cg_theta_rad":3.993258,"cg_vd_req_v":-1.62046707,"cg_vd_v":-1.62046707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46152687,"cg_vq_v":-8.46152687,"cg_vu_v":132.847549,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2415.74365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":917.890015,"values":{"Elec_RPM":-2353.21875,"EncoderCos":48448,"EncoderSin":20666,"GapTicks":49326,"Mech_RPM":-470.643738,"cg_du":44.8425217,"cg_dv":48.8730659,"cg_dw":55.1574783,"cg_id_a":-2.30568099,"cg_id_raw_a":-6.28801727,"cg_iq_a":-198.083466,"cg_iq_raw_a":-196.398758,"cg_iu_a":-94.5938721,"cg_iv_a":-86.7710724,"cg_iw_a":199.523102,"cg_sample_age_us":23.9145451,"cg_sample_seq":5955067,"cg_sample_valid":1,"cg_theta_rad":5.64502573,"cg_vd_req_v":-1.97672141,"cg_vd_v":-1.97672141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43215942,"cg_vq_v":-8.43215942,"cg_vu_v":98.5359344,"cg_vv_v":90.1779785,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.898468,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":918.082857,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":918.082862,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":918.082868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":918.263062,"values":{"Elec_RPM":-2354.75928,"EncoderCos":30592,"EncoderSin":12885,"GapTicks":49448,"Mech_RPM":-470.951874,"cg_du":52.0028152,"cg_dv":44.9535332,"cg_dw":55.0464668,"cg_id_a":5.35618353,"cg_id_raw_a":3.90399098,"cg_iq_a":-198.538147,"cg_iq_raw_a":-198.042679,"cg_iu_a":123.231567,"cg_iv_a":-197.894653,"cg_iw_a":86.6960449,"cg_sample_age_us":23.6890907,"cg_sample_seq":5956916,"cg_sample_valid":1,"cg_theta_rad":4.61752033,"cg_vd_req_v":-2.05110168,"cg_vd_v":-2.05110168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40524673,"cg_vq_v":-8.40524673,"cg_vu_v":41.7897949,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2408.68555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8913879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":918.782593,"values":{"Elec_RPM":-2352.78149,"EncoderCos":19057,"EncoderSin":47277,"GapTicks":49481,"Mech_RPM":-470.556305,"cg_du":55.0170593,"cg_dv":44.9829407,"cg_dw":47.5912704,"cg_id_a":15.7430611,"cg_id_raw_a":13.8579111,"cg_iq_a":-200.878067,"cg_iq_raw_a":-198.740112,"cg_iu_a":195.175568,"cg_iv_a":-53.6441956,"cg_iw_a":-141.531372,"cg_sample_age_us":24.0490913,"cg_sample_seq":5959467,"cg_sample_valid":1,"cg_theta_rad":2.33206868,"cg_vd_req_v":-2.25100565,"cg_vd_v":-2.25100565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40408516,"cg_vq_v":-8.40408516,"cg_vu_v":140.765625,"cg_vv_v":124.049698,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.174202,"dclink_p_w":-2485.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9392395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":918.979125,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":918.979137,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":918.979141,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":919.075345,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":919.075352,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":919.075357,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":919.21814,"values":{"Elec_RPM":-2352.16504,"EncoderCos":14356,"EncoderSin":40659,"GapTicks":49503,"Mech_RPM":-470.433014,"cg_du":47.84589,"cg_dv":54.9964256,"cg_dw":45.0035744,"cg_id_a":9.61688805,"cg_id_raw_a":4.05830908,"cg_iq_a":-201.755524,"cg_iq_raw_a":-200.405884,"cg_iu_a":-142.798172,"cg_iv_a":198.50415,"cg_iw_a":-55.7059784,"cg_sample_age_us":23.8709087,"cg_sample_seq":5961768,"cg_sample_valid":1,"cg_theta_rad":2.74968672,"cg_vd_req_v":-2.07496452,"cg_vd_v":-2.07496452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35055161,"cg_vq_v":-8.35055161,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2391.90039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9108887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":919.550171,"values":{"Elec_RPM":-2350.08057,"EncoderCos":13924,"EncoderSin":39626,"GapTicks":50125,"Mech_RPM":-470.016113,"cg_du":45.6148605,"cg_dv":54.4312057,"cg_dw":45.5687943,"cg_id_a":12.8955517,"cg_id_raw_a":17.5928078,"cg_iq_a":-205.909973,"cg_iq_raw_a":-206.945038,"cg_iu_a":-171.213348,"cg_iv_a":183.245514,"cg_iw_a":-12.0321579,"cg_sample_age_us":23.9799995,"cg_sample_seq":5963516,"cg_sample_valid":1,"cg_theta_rad":2.79535985,"cg_vd_req_v":-2.1002028,"cg_vd_v":-2.1002028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26595688,"cg_vq_v":-8.26595688,"cg_vu_v":4.83881807,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5653057,"dclink_p_w":-2397.4082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.893158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":919.903687,"values":{"Elec_RPM":-2354.73193,"EncoderCos":18085,"EncoderSin":18957,"GapTicks":49354,"Mech_RPM":-470.946381,"cg_du":51.3386116,"cg_dv":55.1322517,"cg_dw":44.8677483,"cg_id_a":-12.9954824,"cg_id_raw_a":-12.0886221,"cg_iq_a":-196.498047,"cg_iq_raw_a":-197.616608,"cg_iu_a":-22.3961563,"cg_iv_a":180.962128,"cg_iw_a":-158.565979,"cg_sample_age_us":23.9690914,"cg_sample_seq":5965166,"cg_sample_valid":1,"cg_theta_rad":3.90383816,"cg_vd_req_v":-1.61247075,"cg_vd_v":-1.61247075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4953537,"cg_vq_v":-8.4953537,"cg_vu_v":41.7897949,"cg_vv_v":71.2625961,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":920.099481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":920.099486,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":920.099491,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":920.233765,"values":{"Elec_RPM":-2355.42627,"EncoderCos":18475,"EncoderSin":18496,"GapTicks":49319,"Mech_RPM":-471.085266,"cg_du":49.9921379,"cg_dv":55.164093,"cg_dw":44.835907,"cg_id_a":-14.026536,"cg_id_raw_a":-12.8770113,"cg_iq_a":-195.087372,"cg_iq_raw_a":-193.589188,"cg_iu_a":-55.1243362,"cg_iv_a":191.871521,"cg_iw_a":-136.747192,"cg_sample_age_us":23.9909096,"cg_sample_seq":5966917,"cg_sample_valid":1,"cg_theta_rad":3.93577766,"cg_vd_req_v":-1.616557,"cg_vd_v":-1.616557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50384712,"cg_vq_v":-8.50384712,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2511.9668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.8329773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":920.58728,"values":{"Elec_RPM":-2348.69629,"EncoderCos":27761,"EncoderSin":13417,"GapTicks":50121,"Mech_RPM":-469.739258,"cg_du":45.6257553,"cg_dv":45.5649719,"cg_dw":54.4350281,"cg_id_a":12.6078415,"cg_id_raw_a":14.2183104,"cg_iq_a":-204.65657,"cg_iq_raw_a":-203.82962,"cg_iu_a":6.34520435,"cg_iv_a":-176.728256,"cg_iw_a":170.383057,"cg_sample_age_us":23.8418179,"cg_sample_seq":5968621,"cg_sample_valid":1,"cg_theta_rad":4.51516342,"cg_vd_req_v":-2.15971088,"cg_vd_v":-2.15971088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27775383,"cg_vq_v":-8.27775383,"cg_vu_v":103.814644,"cg_vv_v":76.9812012,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2477.45239,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":920.921265,"values":{"Elec_RPM":-2346.95532,"EncoderCos":52331,"EncoderSin":30368,"GapTicks":49656,"Mech_RPM":-469.391083,"cg_du":54.8575134,"cg_dv":46.9009895,"cg_dw":45.1424866,"cg_id_a":-0.408718705,"cg_id_raw_a":7.95323133,"cg_iq_a":-199.284592,"cg_iq_raw_a":-202.727707,"cg_iu_a":173.900452,"cg_iv_a":-5.65737915,"cg_iw_a":-168.243073,"cg_sample_age_us":23.994545,"cg_sample_seq":5970216,"cg_sample_valid":1,"cg_theta_rad":6.16620064,"cg_vd_req_v":-1.91262805,"cg_vd_v":-1.91262805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43664551,"cg_vq_v":-8.43664551,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5565739,"dclink_p_w":-2540.86914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.894928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":921.059624,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":921.059631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":921.059636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":921.251343,"values":{"Elec_RPM":-2348.23071,"EncoderCos":48708,"EncoderSin":21056,"GapTicks":49377,"Mech_RPM":-469.646149,"cg_du":44.8883362,"cg_dv":48.0441589,"cg_dw":55.1116638,"cg_id_a":9.4323225,"cg_id_raw_a":5.24491835,"cg_iq_a":-198.780609,"cg_iq_raw_a":-194.105606,"cg_iu_a":-66.939827,"cg_iv_a":-129.575043,"cg_iw_a":196.514862,"cg_sample_age_us":23.8999996,"cg_sample_seq":5972017,"cg_sample_valid":1,"cg_theta_rad":5.66802692,"cg_vd_req_v":-2.2103374,"cg_vd_v":-2.2103374,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4369173,"cg_vq_v":-8.4369173,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9215088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":921.604858,"values":{"Elec_RPM":-2347.82544,"EncoderCos":50420,"EncoderSin":41581,"GapTicks":49758,"Mech_RPM":-469.565094,"cg_du":45.2348175,"cg_dv":54.7651825,"cg_dw":53.4846382,"cg_id_a":14.7006521,"cg_id_raw_a":13.1312304,"cg_iq_a":-200.851395,"cg_iq_raw_a":-200.260529,"cg_iu_a":-177.411041,"cg_iv_a":-0.32951355,"cg_iw_a":177.740555,"cg_sample_age_us":26.40909,"cg_sample_seq":5973670,"cg_sample_valid":1,"cg_theta_rad":0.513879478,"cg_vd_req_v":-2.25893092,"cg_vd_v":-2.25893092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34352875,"cg_vq_v":-8.34352875,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":921.93689,"values":{"Elec_RPM":-2344.96558,"EncoderCos":49627,"EncoderSin":42989,"GapTicks":49459,"Mech_RPM":-468.993134,"cg_du":44.9633522,"cg_dv":51.6116219,"cg_dw":55.0366478,"cg_id_a":-8.25296688,"cg_id_raw_a":-5.44880342,"cg_iq_a":-200.506226,"cg_iq_raw_a":-201.875565,"cg_iu_a":-164.000824,"cg_iv_a":-16.3855286,"cg_iw_a":180.386353,"cg_sample_age_us":23.4418182,"cg_sample_seq":5975416,"cg_sample_valid":1,"cg_theta_rad":0.543050945,"cg_vd_req_v":-1.77347529,"cg_vd_v":-1.77347529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37360287,"cg_vq_v":-8.37360287,"cg_vu_v":102.055069,"cg_vv_v":101.615181,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2455.63159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.893158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":922.08353,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":922.083536,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":922.083542,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":922.270874,"values":{"Elec_RPM":-2347.01807,"EncoderCos":31208,"EncoderSin":52567,"GapTicks":49265,"Mech_RPM":-469.403625,"cg_du":44.7867088,"cg_dv":55.2132912,"cg_dw":50.6304054,"cg_id_a":-4.81597948,"cg_id_raw_a":-8.22078609,"cg_iq_a":-195.357956,"cg_iq_raw_a":-194.273712,"cg_iu_a":-194.300659,"cg_iv_a":115.723221,"cg_iw_a":70.5313034,"cg_sample_age_us":23.772728,"cg_sample_seq":5977067,"cg_sample_valid":1,"cg_theta_rad":1.64822793,"cg_vd_req_v":-1.80436826,"cg_vd_v":-1.80436826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51776314,"cg_vq_v":-8.51776314,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":922.622437,"values":{"Elec_RPM":-2347.42188,"EncoderCos":40677,"EncoderSin":50892,"GapTicks":49507,"Mech_RPM":-469.484375,"cg_du":54.9931641,"cg_dv":47.5349121,"cg_dw":45.0068359,"cg_id_a":-5.49672604,"cg_id_raw_a":1.34425747,"cg_iq_a":-196.771057,"cg_iq_raw_a":-199.882111,"cg_iu_a":166.832901,"cg_iv_a":7.78909302,"cg_iw_a":-174.621994,"cg_sample_age_us":23.9436359,"cg_sample_seq":5978866,"cg_sample_valid":1,"cg_theta_rad":1.15973616,"cg_vd_req_v":-1.79163754,"cg_vd_v":-1.79163754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.489604,"cg_vq_v":-8.489604,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":922.954468,"values":{"Elec_RPM":-2352.05298,"EncoderCos":13855,"EncoderSin":39432,"GapTicks":49967,"Mech_RPM":-470.410583,"cg_du":45.4253807,"cg_dv":54.5746193,"cg_dw":46.0089645,"cg_id_a":8.33937454,"cg_id_raw_a":11.4167442,"cg_iq_a":-206.11676,"cg_iq_raw_a":-208.177338,"cg_iu_a":-172.046936,"cg_iv_a":182.049438,"cg_iw_a":-10.0025024,"cg_sample_age_us":23.9036369,"cg_sample_seq":5980467,"cg_sample_valid":1,"cg_theta_rad":2.80790257,"cg_vd_req_v":-2.01805162,"cg_vd_v":-2.01805162,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2917757,"cg_vq_v":-8.2917757,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.6000652,"dclink_p_w":-2547.16333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9143982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":923.075205,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":923.075211,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":923.075216,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":923.288452,"values":{"Elec_RPM":-2355.7041,"EncoderCos":13344,"EncoderSin":27983,"GapTicks":49624,"Mech_RPM":-471.140839,"cg_du":53.0851707,"cg_dv":45.1135483,"cg_dw":54.8864517,"cg_id_a":9.29422569,"cg_id_raw_a":5.71027517,"cg_iq_a":-199.510742,"cg_iq_raw_a":-198.593246,"cg_iu_a":145.847717,"cg_iv_a":-192.168121,"cg_iw_a":46.3204117,"cg_sample_age_us":23.7036362,"cg_sample_seq":5982166,"cg_sample_valid":1,"cg_theta_rad":3.38703728,"cg_vd_req_v":-2.09736657,"cg_vd_v":-2.09736657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43468761,"cg_vq_v":-8.43468761,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":923.640015,"values":{"Elec_RPM":-2350.94458,"EncoderCos":18837,"EncoderSin":18165,"GapTicks":49400,"Mech_RPM":-470.188934,"cg_du":49.0305481,"cg_dv":55.0908394,"cg_dw":44.9091606,"cg_id_a":-9.25901508,"cg_id_raw_a":-13.7104092,"cg_iq_a":-198.407562,"cg_iq_raw_a":-197.637131,"cg_iu_a":-96.6235275,"cg_iv_a":199.518982,"cg_iw_a":-102.895447,"cg_sample_age_us":23.9654541,"cg_sample_seq":5983867,"cg_sample_valid":1,"cg_theta_rad":3.9690249,"cg_vd_req_v":-1.72138989,"cg_vd_v":-1.72138989,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41041374,"cg_vq_v":-8.41041374,"cg_vu_v":5.27871037,"cg_vv_v":14.5164547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2396.27686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9108887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":923.972046,"values":{"Elec_RPM":-2348.22803,"EncoderCos":28969,"EncoderSin":13153,"GapTicks":49422,"Mech_RPM":-469.64563,"cg_du":48.7696915,"cg_dv":44.9295769,"cg_dw":55.0704231,"cg_id_a":-15.5504313,"cg_id_raw_a":-14.2723818,"cg_iq_a":-200.306641,"cg_iq_raw_a":-201.766693,"cg_iu_a":23.3435631,"cg_iv_a":-182.273575,"cg_iw_a":158.930008,"cg_sample_age_us":23.8563633,"cg_sample_seq":5985567,"cg_sample_valid":1,"cg_theta_rad":4.53501463,"cg_vd_req_v":-1.60245728,"cg_vd_v":-1.60245728,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37823296,"cg_vq_v":-8.37823296,"cg_vu_v":120.970459,"cg_vv_v":123.169922,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4384518,"dclink_p_w":-2371.81812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":924.067265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":924.067271,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":924.067276,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":924.30603,"values":{"Elec_RPM":-2345.39844,"EncoderCos":40074,"EncoderSin":14162,"GapTicks":50002,"Mech_RPM":-469.079681,"cg_du":54.2288513,"cg_dv":54.5435677,"cg_dw":45.4564323,"cg_id_a":8.58586788,"cg_id_raw_a":13.3695612,"cg_iq_a":-203.976593,"cg_iq_raw_a":-203.767456,"cg_iu_a":12.1442184,"cg_iv_a":168.458008,"cg_iw_a":-180.602234,"cg_sample_age_us":23.9654541,"cg_sample_seq":5987267,"cg_sample_valid":1,"cg_theta_rad":5.10720825,"cg_vd_req_v":-2.10637689,"cg_vd_v":-2.10637689,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33138943,"cg_vq_v":-8.33138943,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.0092907,"dclink_p_w":-2469.146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":924.657593,"values":{"Elec_RPM":-2348.17358,"EncoderCos":49168,"EncoderSin":21693,"GapTicks":49758,"Mech_RPM":-469.634705,"cg_du":45.2349396,"cg_dv":46.5640411,"cg_dw":54.7650604,"cg_id_a":18.7992191,"cg_id_raw_a":19.9900227,"cg_iq_a":-204.254898,"cg_iq_raw_a":-203.462341,"cg_iu_a":-36.1325684,"cg_iv_a":-155.779327,"cg_iw_a":191.911896,"cg_sample_age_us":23.8199997,"cg_sample_seq":5988966,"cg_sample_valid":1,"cg_theta_rad":5.69863367,"cg_vd_req_v":-2.35623288,"cg_vd_v":-2.35623288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29750633,"cg_vq_v":-8.29750633,"cg_vu_v":106.014107,"cg_vv_v":98.5359344,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2547.52686,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.898468,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":924.989624,"values":{"Elec_RPM":-2343.69116,"EncoderCos":52455,"EncoderSin":32389,"GapTicks":49452,"Mech_RPM":-468.73822,"cg_du":55.042984,"cg_dv":51.3203888,"cg_dw":44.957016,"cg_id_a":-1.97193348,"cg_id_raw_a":-4.76677561,"cg_iq_a":-202.60759,"cg_iq_raw_a":-201.218857,"cg_iu_a":110.47374,"cg_iv_a":90.8961945,"cg_iw_a":-201.369934,"cg_sample_age_us":23.9363632,"cg_sample_seq":5990666,"cg_sample_valid":1,"cg_theta_rad":6.26802063,"cg_vd_req_v":-1.93245482,"cg_vd_v":-1.93245482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30129814,"cg_vq_v":-8.30129814,"cg_vu_v":106.453995,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5728836,"dclink_p_w":-2543.22949,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.898468,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":925.091745,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":925.091748,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":925.091751,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":925.321655,"values":{"Elec_RPM":-2345.00073,"EncoderCos":41861,"EncoderSin":50338,"GapTicks":49711,"Mech_RPM":-469.000153,"cg_du":54.8074646,"cg_dv":45.1925354,"cg_dw":46.6945496,"cg_id_a":18.9125099,"cg_id_raw_a":18.9899426,"cg_iq_a":-204.877258,"cg_iq_raw_a":-202.825363,"cg_iu_a":191.986115,"cg_iv_a":-32.1153564,"cg_iw_a":-159.870758,"cg_sample_age_us":24.0345459,"cg_sample_seq":5992317,"cg_sample_valid":1,"cg_theta_rad":1.09618735,"cg_vd_req_v":-2.31546664,"cg_vd_v":-2.31546664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32788467,"cg_vq_v":-8.32788467,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":925.675171,"values":{"Elec_RPM":-2346.00464,"EncoderCos":49160,"EncoderSin":43810,"GapTicks":49322,"Mech_RPM":-469.200928,"cg_du":44.8383217,"cg_dv":49.5424042,"cg_dw":55.1616783,"cg_id_a":-8.31992722,"cg_id_raw_a":-8.03864288,"cg_iq_a":-198.58345,"cg_iq_raw_a":-197.992538,"cg_iu_a":-118.768509,"cg_iv_a":-76.9127502,"cg_iw_a":195.681259,"cg_sample_age_us":23.5327282,"cg_sample_seq":5994117,"cg_sample_valid":1,"cg_theta_rad":0.60159421,"cg_vd_req_v":-1.81129789,"cg_vd_v":-1.81129789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44510078,"cg_vq_v":-8.44510078,"cg_vu_v":98.0960464,"cg_vv_v":91.9375458,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2447.76367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9197083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":926.005249,"values":{"Elec_RPM":-2349.89941,"EncoderCos":20076,"EncoderSin":48183,"GapTicks":49344,"Mech_RPM":-469.979858,"cg_du":55.1409569,"cg_dv":44.8590431,"cg_dw":50.3653564,"cg_id_a":-17.6030331,"cg_id_raw_a":-17.7878284,"cg_iq_a":-196.717697,"cg_iq_raw_a":-196.818863,"cg_iu_a":186.223358,"cg_iv_a":-148.603058,"cg_iw_a":-37.6203003,"cg_sample_age_us":23.9072723,"cg_sample_seq":5995716,"cg_sample_valid":1,"cg_theta_rad":2.25071383,"cg_vd_req_v":-1.56930447,"cg_vd_v":-1.56930447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45948696,"cg_vq_v":-8.45630074,"cg_vu_v":106.014107,"cg_vv_v":83.1396942,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2422.02051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":926.099449,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":926.099454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":926.099459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":926.360718,"values":{"Elec_RPM":-2351.20459,"EncoderCos":28928,"EncoderSin":52282,"GapTicks":49855,"Mech_RPM":-470.240906,"cg_du":45.3227882,"cg_dv":53.6488266,"cg_dw":54.6772118,"cg_id_a":5.60128164,"cg_id_raw_a":9.80689621,"cg_iq_a":-201.870041,"cg_iq_raw_a":-201.400391,"cg_iu_a":-178.643326,"cg_iv_a":5.68695068,"cg_iw_a":167.701019,"cg_sample_age_us":23.8672733,"cg_sample_seq":5997516,"cg_sample_valid":1,"cg_theta_rad":1.76343918,"cg_vd_req_v":-1.97323632,"cg_vd_v":-1.97323632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34230995,"cg_vq_v":-8.34230995,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2498.11938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":926.692749,"values":{"Elec_RPM":-2353.94409,"EncoderCos":13440,"EncoderSin":27497,"GapTicks":49904,"Mech_RPM":-470.788818,"cg_du":54.0188637,"cg_dv":45.3674583,"cg_dw":54.6325417,"cg_id_a":14.6763611,"cg_id_raw_a":13.0867109,"cg_iq_a":-200.726212,"cg_iq_raw_a":-199.900162,"cg_iu_a":156.430923,"cg_iv_a":-188.471252,"cg_iw_a":32.0403366,"cg_sample_age_us":24.0018177,"cg_sample_seq":5999116,"cg_sample_valid":1,"cg_theta_rad":3.4037571,"cg_vd_req_v":-2.17180395,"cg_vd_v":-2.17180395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38158798,"cg_vq_v":-8.38158798,"cg_vu_v":26.3935547,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2411.0459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":927.02478,"values":{"Elec_RPM":-2352.30542,"EncoderCos":13593,"EncoderSin":26952,"GapTicks":49851,"Mech_RPM":-470.46109,"cg_du":54.6809044,"cg_dv":45.3190956,"cg_dw":53.6821136,"cg_id_a":8.75725365,"cg_id_raw_a":13.4659033,"cg_iq_a":-201.024719,"cg_iq_raw_a":-201.003647,"cg_iu_a":171.327133,"cg_iv_a":-175.640945,"cg_iw_a":4.31381226,"cg_sample_age_us":24.1072731,"cg_sample_seq":6000867,"cg_sample_valid":1,"cg_theta_rad":3.44234991,"cg_vd_req_v":-2.0418613,"cg_vd_v":-2.0418613,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37207794,"cg_vq_v":-8.37207794,"cg_vu_v":125.809273,"cg_vv_v":117.011421,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2408.68555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":927.070738,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":927.070743,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":927.070747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":927.378296,"values":{"Elec_RPM":-2354.68164,"EncoderCos":29585,"EncoderSin":13033,"GapTicks":49299,"Mech_RPM":-470.93634,"cg_du":50.0948448,"cg_dv":44.8176079,"cg_dw":55.1823921,"cg_id_a":-12.1944647,"cg_id_raw_a":-16.4927177,"cg_iq_a":-196.79393,"cg_iq_raw_a":-197.573883,"cg_iu_a":61.9794922,"cg_iv_a":-192.820526,"cg_iw_a":130.841034,"cg_sample_age_us":23.6527271,"cg_sample_seq":6002516,"cg_sample_valid":1,"cg_theta_rad":4.56821537,"cg_vd_req_v":-1.69307458,"cg_vd_v":-1.69307458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46702576,"cg_vq_v":-8.46702576,"cg_vu_v":43.1094704,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2397.70386,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":927.708374,"values":{"Elec_RPM":-2344.56567,"EncoderCos":30320,"EncoderSin":12960,"GapTicks":49352,"Mech_RPM":-468.913147,"cg_du":51.4709167,"cg_dv":44.8655205,"cg_dw":55.1344795,"cg_id_a":1.98997331,"cg_id_raw_a":-1.713588,"cg_iq_a":-197.573425,"cg_iq_raw_a":-197.221924,"cg_iu_a":110.546227,"cg_iv_a":-197.967148,"cg_iw_a":87.4209213,"cg_sample_age_us":23.7327271,"cg_sample_seq":6004266,"cg_sample_valid":1,"cg_theta_rad":4.60502005,"cg_vd_req_v":-1.98881161,"cg_vd_v":-1.98881161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46653557,"cg_vq_v":-8.46653557,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-16.5562439,"dclink_p_w":-2388.81372,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8807678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":928.042358,"values":{"Elec_RPM":-2347.94824,"EncoderCos":49404,"EncoderSin":22057,"GapTicks":50109,"Mech_RPM":-469.58963,"cg_du":45.5543823,"cg_dv":45.614399,"cg_dw":54.4456177,"cg_id_a":13.0515766,"cg_id_raw_a":16.760046,"cg_iq_a":-205.659439,"cg_iq_raw_a":-206.125473,"cg_iu_a":-13.5164165,"cg_iv_a":-171.037964,"cg_iw_a":184.554382,"cg_sample_age_us":23.8927269,"cg_sample_seq":6005916,"cg_sample_valid":1,"cg_theta_rad":5.72971964,"cg_vd_req_v":-2.2183578,"cg_vd_v":-2.2183578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25692654,"cg_vq_v":-8.25692654,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":928.094774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":928.094779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":928.094784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":928.52478,"values":{"Elec_RPM":-2350.57642,"EncoderCos":52164,"EncoderSin":29300,"GapTicks":49698,"Mech_RPM":-470.115295,"cg_du":54.8191528,"cg_dv":45.1808472,"cg_dw":46.7574615,"cg_id_a":19.0640221,"cg_id_raw_a":17.1066799,"cg_iq_a":-204.874756,"cg_iq_raw_a":-201.993073,"cg_iu_a":191.696167,"cg_iv_a":-32.0428772,"cg_iw_a":-159.65329,"cg_sample_age_us":24.1690903,"cg_sample_seq":6008217,"cg_sample_valid":1,"cg_theta_rad":6.12093306,"cg_vd_req_v":-2.33967733,"cg_vd_v":-2.33967733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28966713,"cg_vq_v":-8.28966713,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-15.9690933,"dclink_p_w":-2304.09668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8913879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":928.959461,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":928.95947,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":928.959473,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":929.036499,"values":{"Elec_RPM":-2345.89355,"EncoderCos":12993,"EncoderSin":29641,"GapTicks":49316,"Mech_RPM":-469.178711,"cg_du":49.8921585,"cg_dv":44.8333702,"cg_dw":55.1666298,"cg_id_a":-17.8039646,"cg_id_raw_a":-18.1100121,"cg_iq_a":-197.131805,"cg_iq_raw_a":-197.398254,"cg_iu_a":62.4144135,"cg_iv_a":-192.856766,"cg_iw_a":130.442352,"cg_sample_age_us":23.8163643,"cg_sample_seq":6010817,"cg_sample_valid":1,"cg_theta_rad":3.31395364,"cg_vd_req_v":-1.54232478,"cg_vd_v":-1.54232478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49590778,"cg_vq_v":-8.49590778,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":929.055624,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":929.05563,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":929.055634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":929.388062,"values":{"Elec_RPM":-2348.146,"EncoderCos":13800,"EncoderSin":39347,"GapTicks":49865,"Mech_RPM":-469.629181,"cg_du":45.3322716,"cg_dv":54.6677284,"cg_dw":46.1737289,"cg_id_a":9.1160183,"cg_id_raw_a":12.071311,"cg_iq_a":-203.697952,"cg_iq_raw_a":-204.68367,"cg_iu_a":-171.177094,"cg_iv_a":179.149933,"cg_iw_a":-7.97284698,"cg_sample_age_us":23.9654541,"cg_sample_seq":6012617,"cg_sample_valid":1,"cg_theta_rad":2.80983591,"cg_vd_req_v":-2.0363183,"cg_vd_v":-2.0363183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35921669,"cg_vq_v":-8.35921669,"cg_vu_v":125.809273,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2376.95117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9108887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":929.720093,"values":{"Elec_RPM":-2348.42334,"EncoderCos":13349,"EncoderSin":27841,"GapTicks":49686,"Mech_RPM":-469.684692,"cg_du":53.2716484,"cg_dv":45.169384,"cg_dw":54.830616,"cg_id_a":15.1015015,"cg_id_raw_a":14.0171671,"cg_iq_a":-198.915268,"cg_iq_raw_a":-197.920288,"cg_iu_a":152.734039,"cg_iv_a":-189.087402,"cg_iw_a":36.353363,"cg_sample_age_us":23.7290916,"cg_sample_seq":6014316,"cg_sample_valid":1,"cg_theta_rad":3.39315915,"cg_vd_req_v":-2.19904637,"cg_vd_v":-2.19904637,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41146851,"cg_vq_v":-8.41146851,"cg_vu_v":39.590332,"cg_vv_v":39.1504402,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.8701477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":930.054077,"values":{"Elec_RPM":-2351.86133,"EncoderCos":19080,"EncoderSin":17987,"GapTicks":49456,"Mech_RPM":-470.372284,"cg_du":48.4797134,"cg_dv":55.0394592,"cg_dw":44.9605408,"cg_id_a":-5.18175983,"cg_id_raw_a":-10.0118437,"cg_iq_a":-200.647141,"cg_iq_raw_a":-200.056854,"cg_iu_a":-103.002441,"cg_iv_a":201.766083,"cg_iw_a":-98.763649,"cg_sample_age_us":23.9690914,"cg_sample_seq":6016016,"cg_sample_valid":1,"cg_theta_rad":3.97336316,"cg_vd_req_v":-1.81343615,"cg_vd_v":-1.81343615,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35384655,"cg_vq_v":-8.35384655,"cg_vu_v":22.4345207,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.8666077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":930.079249,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":930.079255,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":930.07926,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":930.40564,"values":{"Elec_RPM":-2352.90259,"EncoderCos":39708,"EncoderSin":14035,"GapTicks":49905,"Mech_RPM":-470.580536,"cg_du":54.6313667,"cg_dv":53.9275513,"cg_dw":45.3686333,"cg_id_a":8.69142437,"cg_id_raw_a":7.34715652,"cg_iq_a":-204.583008,"cg_iq_raw_a":-205.890335,"cg_iu_a":41.2480164,"cg_iv_a":152.836914,"cg_iw_a":-194.08493,"cg_sample_age_us":23.8527279,"cg_sample_seq":6017666,"cg_sample_valid":1,"cg_theta_rad":5.07644176,"cg_vd_req_v":-2.11713266,"cg_vd_v":-2.11713266,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32639503,"cg_vq_v":-8.32639503,"cg_vu_v":18.4754887,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2418.63745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9427795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":930.739624,"values":{"Elec_RPM":-2350.48315,"EncoderCos":29818,"EncoderSin":12997,"GapTicks":49278,"Mech_RPM":-470.096619,"cg_du":50.5515327,"cg_dv":44.798996,"cg_dw":55.201004,"cg_id_a":-8.42011929,"cg_id_raw_a":-13.5602398,"cg_iq_a":-196.280289,"cg_iq_raw_a":-195.459274,"cg_iu_a":74.9547882,"cg_iv_a":-194.487747,"cg_iw_a":119.532959,"cg_sample_age_us":23.6527271,"cg_sample_seq":6019467,"cg_sample_valid":1,"cg_theta_rad":4.57906055,"cg_vd_req_v":-1.77909184,"cg_vd_v":-1.77909184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49713993,"cg_vq_v":-8.49713993,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2489.72656,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9143982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":931.071366,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":931.071371,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":931.071377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":931.071655,"values":{"Elec_RPM":-2351.14697,"EncoderCos":52423,"EncoderSin":31447,"GapTicks":49352,"Mech_RPM":-470.22937,"cg_du":55.1345367,"cg_dv":49.5156136,"cg_dw":44.8654633,"cg_id_a":-13.5810652,"cg_id_raw_a":-16.2704716,"cg_iq_a":-197.826874,"cg_iq_raw_a":-195.732635,"cg_iu_a":144.869141,"cg_iv_a":44.2141418,"cg_iw_a":-189.083282,"cg_sample_age_us":24.1218185,"cg_sample_seq":6021067,"cg_sample_valid":1,"cg_theta_rad":6.22818422,"cg_vd_req_v":-1.67520833,"cg_vd_v":-1.67520833,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42836189,"cg_vq_v":-8.42836189,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2406.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":931.423218,"values":{"Elec_RPM":-2359.76855,"EncoderCos":52471,"EncoderSin":32247,"GapTicks":49395,"Mech_RPM":-471.953735,"cg_du":55.0947685,"cg_dv":51.0704536,"cg_dw":44.9052315,"cg_id_a":-4.33188725,"cg_id_raw_a":-8.07392597,"cg_iq_a":-202.387024,"cg_iq_raw_a":-198.692673,"cg_iu_a":99.1294174,"cg_iv_a":107.822075,"cg_iw_a":-206.951492,"cg_sample_age_us":24.0309086,"cg_sample_seq":6022817,"cg_sample_valid":1,"cg_theta_rad":6.27851343,"cg_vd_req_v":-1.88231444,"cg_vd_v":-1.88231444,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34063435,"cg_vq_v":-8.34063435,"cg_vu_v":32.1121559,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":931.757202,"values":{"Elec_RPM":-2360.87402,"EncoderCos":41661,"EncoderSin":50492,"GapTicks":49912,"Mech_RPM":-472.174805,"cg_du":54.625206,"cg_dv":45.374794,"cg_dw":46.1314964,"cg_id_a":15.5701008,"cg_id_raw_a":16.0457325,"cg_iq_a":-203.6474,"cg_iq_raw_a":-202.86673,"cg_iu_a":186.440811,"cg_iv_a":-25.881424,"cg_iw_a":-160.559387,"cg_sample_age_us":24.0090904,"cg_sample_seq":6024467,"cg_sample_valid":1,"cg_theta_rad":1.1072613,"cg_vd_req_v":-2.22185731,"cg_vd_v":-2.22185731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31781292,"cg_vq_v":-8.31781292,"cg_vu_v":134.607132,"cg_vv_v":124.489601,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2453.3623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9392395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":932.095391,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":932.095397,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":932.095402,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":932.108765,"values":{"Elec_RPM":-2355.55103,"EncoderCos":41595,"EncoderSin":50514,"GapTicks":49944,"Mech_RPM":-471.110199,"cg_du":54.5962372,"cg_dv":45.4037628,"cg_dw":45.9694366,"cg_id_a":15.1106882,"cg_id_raw_a":19.1563663,"cg_iq_a":-203.070328,"cg_iq_raw_a":-205.565125,"cg_iu_a":171.327133,"cg_iv_a":-2.46791077,"cg_iw_a":-168.859222,"cg_sample_age_us":24.0309086,"cg_sample_seq":6026220,"cg_sample_valid":1,"cg_theta_rad":1.14457059,"cg_vd_req_v":-2.21048284,"cg_vd_v":-2.21048284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32066727,"cg_vq_v":-8.32066727,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":932.440796,"values":{"Elec_RPM":-2353.35864,"EncoderCos":30112,"EncoderSin":52472,"GapTicks":49551,"Mech_RPM":-470.671722,"cg_du":45.0464935,"cg_dv":54.9535065,"cg_dw":52.7441483,"cg_id_a":10.2927847,"cg_id_raw_a":8.85382557,"cg_iq_a":-199.88353,"cg_iq_raw_a":-200.415192,"cg_iu_a":-190.821259,"cg_iv_a":44.5765839,"cg_iw_a":146.244675,"cg_sample_age_us":23.7763634,"cg_sample_seq":6027918,"cg_sample_valid":1,"cg_theta_rad":1.71440554,"cg_vd_req_v":-2.10392928,"cg_vd_v":-2.10392928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40535545,"cg_vq_v":-8.40535545,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9161682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":932.772827,"values":{"Elec_RPM":-2351.3064,"EncoderCos":19419,"EncoderSin":47656,"GapTicks":49371,"Mech_RPM":-470.261261,"cg_du":55.1169243,"cg_dv":44.8830757,"cg_dw":48.4536629,"cg_id_a":1.22024405,"cg_id_raw_a":-4.23309374,"cg_iq_a":-198.325623,"cg_iq_raw_a":-198.099716,"cg_iu_a":198.799957,"cg_iv_a":-86.9885254,"cg_iw_a":-111.811432,"cg_sample_age_us":24.0127277,"cg_sample_seq":6029616,"cg_sample_valid":1,"cg_theta_rad":2.30342817,"cg_vd_req_v":-1.96434164,"cg_vd_v":-1.96434164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4550724,"cg_vq_v":-8.4550724,"cg_vu_v":41.3499031,"cg_vv_v":33.871727,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2437.97046,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":933.087428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":933.087433,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":933.087439,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":933.126343,"values":{"Elec_RPM":-2345.77368,"EncoderCos":13227,"EncoderSin":28427,"GapTicks":49459,"Mech_RPM":-469.154755,"cg_du":52.1429558,"cg_dv":44.9633598,"cg_dw":55.0366402,"cg_id_a":6.49361897,"cg_id_raw_a":1.27083123,"cg_iq_a":-197.534729,"cg_iq_raw_a":-197.243622,"cg_iu_a":162.374908,"cg_iv_a":-185.82547,"cg_iw_a":23.4505539,"cg_sample_age_us":23.5981827,"cg_sample_seq":6031271,"cg_sample_valid":1,"cg_theta_rad":3.40758586,"cg_vd_req_v":-2.03749752,"cg_vd_v":-2.03749752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42424965,"cg_vq_v":-8.42424965,"cg_vu_v":106.893898,"cg_vv_v":92.8173294,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2429.08032,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9427795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":933.460327,"values":{"Elec_RPM":-2347.12427,"EncoderCos":13265,"EncoderSin":37333,"GapTicks":49350,"Mech_RPM":-469.424835,"cg_du":44.8640366,"cg_dv":55.1359634,"cg_dw":51.0463142,"cg_id_a":-6.83181429,"cg_id_raw_a":-10.7456923,"cg_iq_a":-195.763794,"cg_iq_raw_a":-194.744888,"cg_iu_a":-195.061783,"cg_iv_a":111.808891,"cg_iw_a":83.2528915,"cg_sample_age_us":23.9181824,"cg_sample_seq":6033067,"cg_sample_valid":1,"cg_theta_rad":2.91315818,"cg_vd_req_v":-1.72949398,"cg_vd_v":-1.72949398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46723747,"cg_vq_v":-8.46723747,"cg_vu_v":102.494972,"cg_vv_v":104.694435,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":933.790405,"values":{"Elec_RPM":-2350.59448,"EncoderCos":13911,"EncoderSin":25976,"GapTicks":49351,"Mech_RPM":-470.118896,"cg_du":55.1346931,"cg_dv":44.8653069,"cg_dw":50.9762383,"cg_id_a":-17.3522186,"cg_id_raw_a":-13.7432728,"cg_iq_a":-196.581818,"cg_iq_raw_a":-197.749954,"cg_iu_a":182.961395,"cg_iv_a":-155.706833,"cg_iw_a":-27.2545624,"cg_sample_age_us":24.1000004,"cg_sample_seq":6034766,"cg_sample_valid":1,"cg_theta_rad":3.493366,"cg_vd_req_v":-1.54182279,"cg_vd_v":-1.54182279,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46683884,"cg_vq_v":-8.46683884,"cg_vu_v":51.0275345,"cg_vv_v":43.1094704,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9215088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":934.079419,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":934.079425,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":934.07943,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":934.143921,"values":{"Elec_RPM":-2355.62964,"EncoderCos":40924,"EncoderSin":14491,"GapTicks":49461,"Mech_RPM":-471.125946,"cg_du":51.8749619,"cg_dv":55.0351715,"cg_dw":44.9648285,"cg_id_a":-12.9045267,"cg_id_raw_a":-8.08257294,"cg_iq_a":-196.323792,"cg_iq_raw_a":-199.349182,"cg_iu_a":-8.26106071,"cg_iv_a":174.184525,"cg_iw_a":-168.750488,"cg_sample_age_us":23.9836369,"cg_sample_seq":6036366,"cg_sample_valid":1,"cg_theta_rad":5.14685059,"cg_vd_req_v":-1.66265571,"cg_vd_v":-1.66265571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44460106,"cg_vq_v":-8.44460106,"cg_vu_v":40.0302238,"cg_vv_v":60.7051735,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":934.475952,"values":{"Elec_RPM":-2354.40234,"EncoderCos":31121,"EncoderSin":12868,"GapTicks":49616,"Mech_RPM":-470.880493,"cg_du":53.0020828,"cg_dv":45.1061478,"cg_dw":54.8938522,"cg_id_a":14.4734249,"cg_id_raw_a":10.8039103,"cg_iq_a":-198.162521,"cg_iq_raw_a":-197.37616,"cg_iu_a":147.659912,"cg_iv_a":-189.812286,"cg_iw_a":42.1523743,"cg_sample_age_us":23.7109089,"cg_sample_seq":6038167,"cg_sample_valid":1,"cg_theta_rad":4.64513016,"cg_vd_req_v":-2.21645832,"cg_vd_v":-2.21645832,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.415452,"cg_vq_v":-8.415452,"cg_vu_v":107.333786,"cg_vv_v":98.9758301,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.8280735,"dclink_p_w":-2442.83984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.894928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":934.807983,"values":{"Elec_RPM":-2355.59912,"EncoderCos":52431,"EncoderSin":32917,"GapTicks":49548,"Mech_RPM":-471.119843,"cg_du":54.9563065,"cg_dv":52.3415108,"cg_dw":45.0436935,"cg_id_a":5.36586761,"cg_id_raw_a":3.30424809,"cg_iq_a":-204.184753,"cg_iq_raw_a":-206.564392,"cg_iu_a":70.9679565,"cg_iv_a":131.851746,"cg_iw_a":-202.819702,"cg_sample_age_us":23.5145454,"cg_sample_seq":6039766,"cg_sample_valid":1,"cg_theta_rad":0.0191358477,"cg_vd_req_v":-2.07785869,"cg_vd_v":-2.07785869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32999802,"cg_vq_v":-8.32999802,"cg_vu_v":44.4291458,"cg_vv_v":56.7461433,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-16.0379562,"dclink_p_w":-2321.08765,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8595276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":935.071512,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":935.071518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":935.071523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":935.159546,"values":{"Elec_RPM":-2353.30273,"EncoderCos":50182,"EncoderSin":23405,"GapTicks":49352,"Mech_RPM":-470.660522,"cg_du":49.3011551,"cg_dv":44.8275642,"cg_dw":55.1340141,"cg_id_a":-12.3610201,"cg_id_raw_a":-12.7478285,"cg_iq_a":-196.915665,"cg_iq_raw_a":-197.719101,"cg_iu_a":46.1046906,"cg_iv_a":-188.18132,"cg_iw_a":142.07663,"cg_sample_age_us":23.7218189,"cg_sample_seq":6041566,"cg_sample_valid":1,"cg_theta_rad":5.80772686,"cg_vd_req_v":-1.73778677,"cg_vd_v":-1.73778677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49416351,"cg_vq_v":-8.49416351,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9197083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":935.49353,"values":{"Elec_RPM":-2350.25732,"EncoderCos":40599,"EncoderSin":50899,"GapTicks":49515,"Mech_RPM":-470.051483,"cg_du":54.9855576,"cg_dv":47.7437706,"cg_dw":45.0144424,"cg_id_a":-7.992836,"cg_id_raw_a":-2.42091346,"cg_iq_a":-199.011566,"cg_iq_raw_a":-198.972839,"cg_iu_a":166.180511,"cg_iv_a":7.9703064,"cg_iw_a":-174.150818,"cg_sample_age_us":23.8527279,"cg_sample_seq":6043167,"cg_sample_valid":1,"cg_theta_rad":1.16699934,"cg_vd_req_v":-1.74310529,"cg_vd_v":-1.74310529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40624714,"cg_vq_v":-8.40624714,"cg_vu_v":26.3935547,"cg_vv_v":0,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2450.25952,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":935.825562,"values":{"Elec_RPM":-2349.46143,"EncoderCos":29473,"EncoderSin":52395,"GapTicks":49887,"Mech_RPM":-469.892273,"cg_du":45.3519363,"cg_dv":54.6480637,"cg_dw":54.0726204,"cg_id_a":12.5385523,"cg_id_raw_a":12.5671272,"cg_iq_a":-200.247803,"cg_iq_raw_a":-198.933746,"cg_iu_a":-182.630157,"cg_iv_a":21.5617676,"cg_iw_a":161.06839,"cg_sample_age_us":23.8600006,"cg_sample_seq":6044867,"cg_sample_valid":1,"cg_theta_rad":1.73944736,"cg_vd_req_v":-2.1321888,"cg_vd_v":-2.1321888,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4124155,"cg_vq_v":-8.4124155,"cg_vu_v":130.208206,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":936.094486,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":936.094492,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":936.094497,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":936.179077,"values":{"Elec_RPM":-2348.896,"EncoderCos":19063,"EncoderSin":47270,"GapTicks":49526,"Mech_RPM":-469.779175,"cg_du":54.9754601,"cg_dv":45.0245399,"cg_dw":47.5516396,"cg_id_a":13.3154316,"cg_id_raw_a":9.36594868,"cg_iq_a":-200.377365,"cg_iq_raw_a":-199.22084,"cg_iu_a":197.821381,"cg_iv_a":-55.1664429,"cg_iw_a":-142.654938,"cg_sample_age_us":23.9872723,"cg_sample_seq":6046566,"cg_sample_valid":1,"cg_theta_rad":2.326478,"cg_vd_req_v":-2.19103742,"cg_vd_v":-2.19103742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38858128,"cg_vq_v":-8.38858128,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.896698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":936.511108,"values":{"Elec_RPM":-2346.42603,"EncoderCos":18651,"EncoderSin":46870,"GapTicks":49804,"Mech_RPM":-469.285187,"cg_du":54.7228241,"cg_dv":45.2771759,"cg_dw":46.3930397,"cg_id_a":16.311161,"cg_id_raw_a":16.0411301,"cg_iq_a":-201.466339,"cg_iq_raw_a":-201.255768,"cg_iu_a":186.62204,"cg_iv_a":-30.774353,"cg_iw_a":-154.760376,"cg_sample_age_us":23.9981823,"cg_sample_seq":6048317,"cg_sample_valid":1,"cg_theta_rad":2.35445166,"cg_vd_req_v":-2.23530269,"cg_vd_v":-2.23530269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35815907,"cg_vq_v":-8.35815907,"cg_vu_v":106.893898,"cg_vv_v":101.175293,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.1938057,"dclink_p_w":-2343.64307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":936.862671,"values":{"Elec_RPM":-2350.61255,"EncoderCos":13505,"EncoderSin":27329,"GapTicks":50027,"Mech_RPM":-470.122528,"cg_du":54.3819656,"cg_dv":45.4792633,"cg_dw":54.5207367,"cg_id_a":13.6083183,"cg_id_raw_a":13.7091455,"cg_iq_a":-201.267715,"cg_iq_raw_a":-201.267838,"cg_iu_a":173.755478,"cg_iv_a":-168.210968,"cg_iw_a":-5.54451752,"cg_sample_age_us":24.0345459,"cg_sample_seq":6049971,"cg_sample_valid":1,"cg_theta_rad":3.4646945,"cg_vd_req_v":-2.16518307,"cg_vd_v":-2.16518307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38219738,"cg_vq_v":-8.38219738,"cg_vu_v":106.453995,"cg_vv_v":94.5769043,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":937.087261,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":937.087267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":937.087273,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":937.196655,"values":{"Elec_RPM":-2356.1394,"EncoderCos":14123,"EncoderSin":25569,"GapTicks":49319,"Mech_RPM":-471.227875,"cg_du":55.1637573,"cg_dv":44.8362427,"cg_dw":49.9589424,"cg_id_a":-17.843317,"cg_id_raw_a":-17.7707901,"cg_iq_a":-196.487137,"cg_iq_raw_a":-196.149231,"cg_iu_a":192.131104,"cg_iv_a":-137.693665,"cg_iw_a":-54.437439,"cg_sample_age_us":24.0381813,"cg_sample_seq":6051716,"cg_sample_valid":1,"cg_theta_rad":3.51960325,"cg_vd_req_v":-1.54981399,"cg_vd_v":-1.54981399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48912239,"cg_vq_v":-8.48912239,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.3369675,"dclink_p_w":-2357.17554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":937.528687,"values":{"Elec_RPM":-2359.88257,"EncoderCos":30787,"EncoderSin":12910,"GapTicks":49482,"Mech_RPM":-471.976532,"cg_du":52.3778992,"cg_dv":44.983799,"cg_dw":55.016201,"cg_id_a":9.04668045,"cg_id_raw_a":5.74926376,"cg_iq_a":-196.851227,"cg_iq_raw_a":-196.233871,"cg_iu_a":131.132721,"cg_iv_a":-193.871582,"cg_iw_a":62.7388611,"cg_sample_age_us":23.7181816,"cg_sample_seq":6053367,"cg_sample_valid":1,"cg_theta_rad":4.62946463,"cg_vd_req_v":-2.11360478,"cg_vd_v":-2.11360478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43012524,"cg_vq_v":-8.43012524,"cg_vu_v":143.404984,"cg_vv_v":139.006058,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.6055031,"dclink_p_w":-2547.95044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":937.880249,"values":{"Elec_RPM":-2359.55762,"EncoderCos":31506,"EncoderSin":12846,"GapTicks":49816,"Mech_RPM":-471.91153,"cg_du":53.756237,"cg_dv":45.2875061,"cg_dw":54.7124939,"cg_id_a":17.0130939,"cg_id_raw_a":16.4055805,"cg_iq_a":-201.182709,"cg_iq_raw_a":-200.449051,"cg_iu_a":162.991058,"cg_iv_a":-185.463043,"cg_iw_a":22.4719772,"cg_sample_age_us":23.6599998,"cg_sample_seq":6055117,"cg_sample_valid":1,"cg_theta_rad":4.66687536,"cg_vd_req_v":-2.25559163,"cg_vd_v":-2.25559163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34323406,"cg_vq_v":-8.34323406,"cg_vu_v":106.893898,"cg_vv_v":101.615181,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2391.42847,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9356689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":938.079243,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":938.079249,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":938.079254,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":938.24939,"values":{"Elec_RPM":-2359.48389,"EncoderCos":42391,"EncoderSin":15306,"GapTicks":49435,"Mech_RPM":-471.89679,"cg_du":48.3568115,"cg_dv":55.0586548,"cg_dw":44.9413452,"cg_id_a":-7.0679121,"cg_id_raw_a":-12.3436575,"cg_iq_a":-201.536926,"cg_iq_raw_a":-201.332047,"cg_iu_a":-102.495026,"cg_iv_a":202.201019,"cg_iw_a":-99.7059937,"cg_sample_age_us":23.9836369,"cg_sample_seq":6056817,"cg_sample_valid":1,"cg_theta_rad":5.23473835,"cg_vd_req_v":-1.85469973,"cg_vd_v":-1.85469973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37195778,"cg_vq_v":-8.37195778,"cg_vu_v":35.1914063,"cg_vv_v":142.085297,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2485.19312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":938.768921,"values":{"Elec_RPM":-2344.57861,"EncoderCos":26405,"EncoderSin":51672,"GapTicks":49449,"Mech_RPM":-468.915741,"cg_du":44.9540634,"cg_dv":47.9685249,"cg_dw":55.0459366,"cg_id_a":4.22505474,"cg_id_raw_a":0.388129711,"cg_iq_a":-199.568817,"cg_iq_raw_a":-198.490814,"cg_iu_a":-76.5082016,"cg_iv_a":-123.739784,"cg_iw_a":200.247986,"cg_sample_age_us":23.8381824,"cg_sample_seq":6059466,"cg_sample_valid":1,"cg_theta_rad":1.89529538,"cg_vd_req_v":-1.99880362,"cg_vd_v":-1.99880362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42333984,"cg_vq_v":-8.42333984,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.8683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":938.974676,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":938.974688,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":938.974691,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":939.071257,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":939.071263,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":939.071268,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":939.208374,"values":{"Elec_RPM":-2346.83423,"EncoderCos":13645,"EncoderSin":38737,"GapTicks":49521,"Mech_RPM":-469.366852,"cg_du":45.0197601,"cg_dv":54.9802399,"cg_dw":47.8428802,"cg_id_a":-6.67112207,"cg_id_raw_a":-0.310523599,"cg_iq_a":-198.890869,"cg_iq_raw_a":-199.959488,"cg_iu_a":-176.504944,"cg_iv_a":165.77597,"cg_iw_a":10.7289658,"cg_sample_age_us":23.9363632,"cg_sample_seq":6061717,"cg_sample_valid":1,"cg_theta_rad":2.84289098,"cg_vd_req_v":-1.69667315,"cg_vd_v":-1.69667315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40949535,"cg_vq_v":-8.40949535,"cg_vu_v":126.249161,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-18.4753551,"dclink_p_w":-2673.83936,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9179688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":939.538452,"values":{"Elec_RPM":-2342.00415,"EncoderCos":13402,"EncoderSin":37849,"GapTicks":49319,"Mech_RPM":-468.400818,"cg_du":44.8357925,"cg_dv":55.1642075,"cg_dw":49.970192,"cg_id_a":-12.4969149,"cg_id_raw_a":-11.2187757,"cg_iq_a":-196.843887,"cg_iq_raw_a":-197.733856,"cg_iu_a":-192.307251,"cg_iv_a":135.51236,"cg_iw_a":56.7948837,"cg_sample_age_us":23.9363632,"cg_sample_seq":6063466,"cg_sample_valid":1,"cg_theta_rad":2.88909578,"cg_vd_req_v":-1.60997772,"cg_vd_v":-1.60997772,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45194054,"cg_vq_v":-8.45194054,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2419.40576,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9232788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":939.891968,"values":{"Elec_RPM":-2346.96289,"EncoderCos":18835,"EncoderSin":18200,"GapTicks":49358,"Mech_RPM":-469.392578,"cg_du":49.0997238,"cg_dv":55.1290817,"cg_dw":44.8709183,"cg_id_a":-10.6379986,"cg_id_raw_a":-16.1267109,"cg_iq_a":-199.869293,"cg_iq_raw_a":-199.234161,"cg_iu_a":-121.849236,"cg_iv_a":200.570038,"cg_iw_a":-78.7208099,"cg_sample_age_us":26.8199997,"cg_sample_seq":6065120,"cg_sample_valid":1,"cg_theta_rad":3.99150443,"cg_vd_req_v":-1.70454371,"cg_vd_v":-1.70454371,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41826916,"cg_vq_v":-8.41826916,"cg_vu_v":0.87978512,"cg_vv_v":13.1967773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.0560799,"dclink_p_w":-2330.77368,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9197083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":940.062866,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":940.062872,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":940.062878,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":940.223999,"values":{"Elec_RPM":-2346.13867,"EncoderCos":20099,"EncoderSin":17094,"GapTicks":49963,"Mech_RPM":-469.227722,"cg_du":45.9781113,"cg_dv":54.5782471,"cg_dw":45.4217529,"cg_id_a":13.9156332,"cg_id_raw_a":14.111557,"cg_iq_a":-205.289032,"cg_iq_raw_a":-205.763947,"cg_iu_a":-166.90033,"cg_iv_a":186.253738,"cg_iw_a":-19.3534088,"cg_sample_age_us":23.9909096,"cg_sample_seq":6066866,"cg_sample_valid":1,"cg_theta_rad":4.04203272,"cg_vd_req_v":-2.17539907,"cg_vd_v":-2.17539907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29827309,"cg_vq_v":-8.29827309,"cg_vu_v":0.87978512,"cg_vv_v":15.3962402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2405.74731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9356689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":940.55603,"values":{"Elec_RPM":-2343.35498,"EncoderCos":40930,"EncoderSin":14516,"GapTicks":49455,"Mech_RPM":-468.671021,"cg_du":51.8613472,"cg_dv":55.0406342,"cg_dw":44.9593658,"cg_id_a":-12.9612312,"cg_id_raw_a":-7.95159197,"cg_iq_a":-198.339478,"cg_iq_raw_a":-199.994965,"cg_iu_a":-11.3417864,"cg_iv_a":177.410233,"cg_iw_a":-166.068451,"cg_sample_age_us":23.9618187,"cg_sample_seq":6068516,"cg_sample_valid":1,"cg_theta_rad":5.14954758,"cg_vd_req_v":-1.68130398,"cg_vd_v":-1.68130398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42050552,"cg_vq_v":-8.42050552,"cg_vu_v":28.5930176,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2370.5105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9533997,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":940.907593,"values":{"Elec_RPM":-2344.04028,"EncoderCos":41626,"EncoderSin":14859,"GapTicks":49343,"Mech_RPM":-468.808075,"cg_du":50.0116882,"cg_dv":55.1420097,"cg_dw":44.8579903,"cg_id_a":-20.5909042,"cg_id_raw_a":-20.2356129,"cg_iq_a":-198.572983,"cg_iq_raw_a":-196.732025,"cg_iu_a":-46.6070366,"cg_iv_a":192.451431,"cg_iw_a":-145.844391,"cg_sample_age_us":23.9472733,"cg_sample_seq":6070266,"cg_sample_valid":1,"cg_theta_rad":5.19101191,"cg_vd_req_v":-1.55831313,"cg_vd_v":-1.55831313,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42397022,"cg_vq_v":-8.42397022,"cg_vu_v":115.69175,"cg_vv_v":142.525192,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-17.7106094,"dclink_p_w":-2563.16187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":941.087466,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":941.087472,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":941.087477,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":941.241577,"values":{"Elec_RPM":-2350.4895,"EncoderCos":49548,"EncoderSin":43139,"GapTicks":49406,"Mech_RPM":-470.0979,"cg_du":44.915329,"cg_dv":51.2527695,"cg_dw":55.084671,"cg_id_a":-7.96029758,"cg_id_raw_a":-8.708354,"cg_iq_a":-198.850876,"cg_iq_raw_a":-197.712753,"cg_iu_a":-152.439026,"cg_iv_a":-32.550293,"cg_iw_a":184.989319,"cg_sample_age_us":23.5290909,"cg_sample_seq":6071867,"cg_sample_valid":1,"cg_theta_rad":0.556810081,"cg_vd_req_v":-1.78563178,"cg_vd_v":-1.78563178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39490891,"cg_vq_v":-8.39490891,"cg_vu_v":99.8556061,"cg_vv_v":98.5359344,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2479.54419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":941.575562,"values":{"Elec_RPM":-2345.3457,"EncoderCos":49023,"EncoderSin":43954,"GapTicks":49373,"Mech_RPM":-469.069122,"cg_du":44.8846664,"cg_dv":49.1707268,"cg_dw":55.1153336,"cg_id_a":-5.42089844,"cg_id_raw_a":-9.98928642,"cg_iq_a":-199.60701,"cg_iq_raw_a":-200.800491,"cg_iu_a":-112.860764,"cg_iv_a":-87.0610199,"cg_iw_a":199.921783,"cg_sample_age_us":23.4127274,"cg_sample_seq":6073616,"cg_sample_valid":1,"cg_theta_rad":0.608543038,"cg_vd_req_v":-1.85905766,"cg_vd_v":-1.85905766,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38209724,"cg_vq_v":-8.38209724,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5837574,"dclink_p_w":-2537.06812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":941.927124,"values":{"Elec_RPM":-2345.24463,"EncoderCos":40333,"EncoderSin":51016,"GapTicks":49371,"Mech_RPM":-469.04895,"cg_du":55.1172714,"cg_dv":48.4489021,"cg_dw":44.8827286,"cg_id_a":-11.3733549,"cg_id_raw_a":-8.34720516,"cg_iq_a":-196.413406,"cg_iq_raw_a":-199.127869,"cg_iu_a":159.76535,"cg_iv_a":22.6490631,"cg_iw_a":-182.414413,"cg_sample_age_us":23.863636,"cg_sample_seq":6075316,"cg_sample_valid":1,"cg_theta_rad":1.18110752,"cg_vd_req_v":-1.68101954,"cg_vd_v":-1.68101954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49042034,"cg_vq_v":-8.49042034,"cg_vu_v":39.1504402,"cg_vv_v":39.590332,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2500.97729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9605103,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":942.079671,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":942.079677,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":942.079683,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":942.259155,"values":{"Elec_RPM":-2344.15869,"EncoderCos":29052,"EncoderSin":52276,"GapTicks":49945,"Mech_RPM":-468.831757,"cg_du":45.4047966,"cg_dv":53.9773636,"cg_dw":54.5952034,"cg_id_a":10.0779905,"cg_id_raw_a":12.2720919,"cg_iq_a":-201.903702,"cg_iq_raw_a":-200.84491,"cg_iu_a":-179.404449,"cg_iv_a":6.95549011,"cg_iw_a":166.613708,"cg_sample_age_us":23.863636,"cg_sample_seq":6077016,"cg_sample_valid":1,"cg_theta_rad":1.75576019,"cg_vd_req_v":-2.06618071,"cg_vd_v":-2.06618071,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35919571,"cg_vq_v":-8.35919571,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2454.67749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9480896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":942.610718,"values":{"Elec_RPM":-2354.07813,"EncoderCos":28271,"EncoderSin":52121,"GapTicks":49496,"Mech_RPM":-470.815613,"cg_du":44.9967194,"cg_dv":51.9085007,"cg_dw":55.0032806,"cg_id_a":-9.2880497,"cg_id_raw_a":-4.52063036,"cg_iq_a":-199.362061,"cg_iq_raw_a":-201.230484,"cg_iu_a":-165.595535,"cg_iv_a":-15.8781281,"cg_iw_a":181.473663,"cg_sample_age_us":23.8927269,"cg_sample_seq":6078766,"cg_sample_valid":1,"cg_theta_rad":1.79935324,"cg_vd_req_v":-1.66509449,"cg_vd_v":-1.66509449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39805031,"cg_vq_v":-8.39805031,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-17.672554,"dclink_p_w":-2542.1062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":942.944702,"values":{"Elec_RPM":-2351.95386,"EncoderCos":13568,"EncoderSin":27121,"GapTicks":49941,"Mech_RPM":-470.390778,"cg_du":54.5984192,"cg_dv":45.4015808,"cg_dw":54.1577988,"cg_id_a":13.3460026,"cg_id_raw_a":16.2889633,"cg_iq_a":-201.674347,"cg_iq_raw_a":-201.6474,"cg_iu_a":171.435867,"cg_iv_a":-179.120361,"cg_iw_a":7.68448639,"cg_sample_age_us":24.1472721,"cg_sample_seq":6080367,"cg_sample_valid":1,"cg_theta_rad":3.43083835,"cg_vd_req_v":-2.15728712,"cg_vd_v":-2.15728712,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3959322,"cg_vq_v":-8.3959322,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-15.987215,"dclink_p_w":-2320.77686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":943.070834,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":943.07084,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":943.070844,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":943.276733,"values":{"Elec_RPM":-2352.90723,"EncoderCos":13813,"EncoderSin":26351,"GapTicks":49434,"Mech_RPM":-470.581421,"cg_du":55.0592918,"cg_dv":44.9407082,"cg_dw":51.9448624,"cg_id_a":-10.8961048,"cg_id_raw_a":-5.63057566,"cg_iq_a":-195.639664,"cg_iq_raw_a":-196.754089,"cg_iu_a":174.299133,"cg_iv_a":-163.390533,"cg_iw_a":-10.9086075,"cg_sample_age_us":24.0418186,"cg_sample_seq":6082117,"cg_sample_valid":1,"cg_theta_rad":3.47588897,"cg_vd_req_v":-1.65251493,"cg_vd_v":-1.65251493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5013752,"cg_vq_v":-8.5013752,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2398.38159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":943.628296,"values":{"Elec_RPM":-2352.07471,"EncoderCos":29435,"EncoderSin":13095,"GapTicks":49373,"Mech_RPM":-470.414948,"cg_du":49.3458176,"cg_dv":44.8854103,"cg_dw":55.1145897,"cg_id_a":-15.6345577,"cg_id_raw_a":-17.0814533,"cg_iq_a":-196.917572,"cg_iq_raw_a":-196.7836,"cg_iu_a":92.6055298,"cg_iv_a":-197.785934,"cg_iw_a":105.180405,"cg_sample_age_us":23.8309097,"cg_sample_seq":6083770,"cg_sample_valid":1,"cg_theta_rad":4.59133673,"cg_vd_req_v":-1.61686921,"cg_vd_v":-1.61686921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42387772,"cg_vq_v":-8.4360323,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.549324,"dclink_p_w":-2532.1001,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":943.96228,"values":{"Elec_RPM":-2351.49634,"EncoderCos":30804,"EncoderSin":12881,"GapTicks":49469,"Mech_RPM":-470.299286,"cg_du":52.3739433,"cg_dv":44.9726028,"cg_dw":55.0273972,"cg_id_a":10.973856,"cg_id_raw_a":7.21606779,"cg_iq_a":-199.18573,"cg_iq_raw_a":-198.537827,"cg_iu_a":135.083298,"cg_iv_a":-197.242279,"cg_iw_a":73.1046066,"cg_sample_age_us":23.681818,"cg_sample_seq":6085517,"cg_sample_valid":1,"cg_theta_rad":4.62762785,"cg_vd_req_v":-2.16364932,"cg_vd_v":-2.16364932,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40768433,"cg_vq_v":-8.40768433,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2480.06714,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":944.095496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":944.095502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":944.095508,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":944.296265,"values":{"Elec_RPM":-2350.02881,"EncoderCos":49743,"EncoderSin":22620,"GapTicks":49776,"Mech_RPM":-470.005737,"cg_du":46.7425842,"cg_dv":45.2516212,"cg_dw":54.7483788,"cg_id_a":-2.80421066,"cg_id_raw_a":5.21787024,"cg_iq_a":-201.927383,"cg_iq_raw_a":-204.782333,"cg_iu_a":-1.80965829,"cg_iv_a":-173.067627,"cg_iw_a":174.877289,"cg_sample_age_us":23.8309097,"cg_sample_seq":6087166,"cg_sample_valid":1,"cg_theta_rad":5.75279951,"cg_vd_req_v":-2.03261566,"cg_vd_v":-1.90401661,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31605339,"cg_vq_v":-8.36453438,"cg_vu_v":106.453995,"cg_vv_v":94.1370087,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.8048439,"dclink_p_w":-2584.63208,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9321289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":944.647827,"values":{"Elec_RPM":-2353.74902,"EncoderCos":50145,"EncoderSin":23339,"GapTicks":49356,"Mech_RPM":-470.749786,"cg_du":49.0976753,"cg_dv":44.869442,"cg_dw":55.130558,"cg_id_a":-9.84775639,"cg_id_raw_a":-11.8255854,"cg_iq_a":-196.726318,"cg_iq_raw_a":-199.735748,"cg_iu_a":43.4226456,"cg_iv_a":-187.420197,"cg_iw_a":152.949768,"cg_sample_age_us":23.8018188,"cg_sample_seq":6088916,"cg_sample_valid":1,"cg_theta_rad":5.80208349,"cg_vd_req_v":-1.76903689,"cg_vd_v":-1.76903689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46119213,"cg_vq_v":-8.46119213,"cg_vu_v":7.03828096,"cg_vv_v":7.91806602,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2465.72632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9232788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":944.979858,"values":{"Elec_RPM":-2355.06299,"EncoderCos":52380,"EncoderSin":34059,"GapTicks":50042,"Mech_RPM":-471.012604,"cg_du":54.281498,"cg_dv":54.5065804,"cg_dw":45.4934196,"cg_id_a":10.2763424,"cg_id_raw_a":11.209094,"cg_iq_a":-204.875641,"cg_iq_raw_a":-204.729797,"cg_iu_a":12.7603626,"cg_iv_a":169.545334,"cg_iw_a":-182.305695,"cg_sample_age_us":23.4963627,"cg_sample_seq":6090617,"cg_sample_valid":1,"cg_theta_rad":0.0775913447,"cg_vd_req_v":-2.14182663,"cg_vd_v":-2.14182663,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29137325,"cg_vq_v":-8.29137325,"cg_vu_v":127.12896,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.0615158,"dclink_p_w":-2317.43188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":945.087311,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":945.087317,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":945.087322,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":945.31189,"values":{"Elec_RPM":-2355.28857,"EncoderCos":48511,"EncoderSin":44730,"GapTicks":49492,"Mech_RPM":-471.057709,"cg_du":44.993454,"cg_dv":47.5266991,"cg_dw":55.006546,"cg_id_a":15.6488914,"cg_id_raw_a":12.6313753,"cg_iq_a":-202.177673,"cg_iq_raw_a":-199.657166,"cg_iu_a":-52.1161003,"cg_iv_a":-144.616226,"cg_iw_a":196.73233,"cg_sample_age_us":23.5436363,"cg_sample_seq":6092317,"cg_sample_valid":1,"cg_theta_rad":0.655929327,"cg_vd_req_v":-2.28153872,"cg_vd_v":-2.28153872,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36839485,"cg_vq_v":-8.36839485,"cg_vu_v":120.530563,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2416.81592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":945.665405,"values":{"Elec_RPM":-2358.12646,"EncoderCos":39113,"EncoderSin":51476,"GapTicks":49397,"Mech_RPM":-471.625275,"cg_du":55.0933113,"cg_dv":51.1180267,"cg_dw":44.9066887,"cg_id_a":-0.432260811,"cg_id_raw_a":-1.78297889,"cg_iq_a":-200.078781,"cg_iq_raw_a":-199.024811,"cg_iu_a":100.724152,"cg_iv_a":101.878082,"cg_iw_a":-202.602234,"cg_sample_age_us":23.9254551,"cg_sample_seq":6094016,"cg_sample_valid":1,"cg_theta_rad":1.24558485,"cg_vd_req_v":-1.91248584,"cg_vd_v":-1.91248584,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39058113,"cg_vq_v":-8.39058113,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2398.11841,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":945.995483,"values":{"Elec_RPM":-2360.396,"EncoderCos":28056,"EncoderSin":52101,"GapTicks":49446,"Mech_RPM":-472.079193,"cg_du":44.9509201,"cg_dv":51.4389648,"cg_dw":55.0490799,"cg_id_a":-10.9763956,"cg_id_raw_a":-9.90656281,"cg_iq_a":-200.41835,"cg_iq_raw_a":-201.557999,"cg_iu_a":-160.666382,"cg_iv_a":-22.5832367,"cg_iw_a":183.249619,"cg_sample_age_us":23.7872734,"cg_sample_seq":6095717,"cg_sample_valid":1,"cg_theta_rad":1.81045735,"cg_vd_req_v":-1.64062524,"cg_vd_v":-1.64062524,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3658123,"cg_vq_v":-8.3658123,"cg_vu_v":107.333786,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-16.2536068,"dclink_p_w":-2352.29761,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":946.078984,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":946.07899,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":946.078996,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":946.350952,"values":{"Elec_RPM":-2352.59302,"EncoderCos":18930,"EncoderSin":47145,"GapTicks":49575,"Mech_RPM":-470.518616,"cg_du":54.931221,"cg_dv":45.068779,"cg_dw":47.2430725,"cg_id_a":16.6354561,"cg_id_raw_a":12.8509665,"cg_iq_a":-203.513809,"cg_iq_raw_a":-200.718964,"cg_iu_a":178.467163,"cg_iv_a":-10.4415588,"cg_iw_a":-168.025604,"cg_sample_age_us":23.8963642,"cg_sample_seq":6097421,"cg_sample_valid":1,"cg_theta_rad":2.38182449,"cg_vd_req_v":-2.26774788,"cg_vd_v":-2.26774788,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32991409,"cg_vq_v":-8.32991409,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":946.68103,"values":{"Elec_RPM":-2355.55811,"EncoderCos":13075,"EncoderSin":36367,"GapTicks":49594,"Mech_RPM":-471.111633,"cg_du":45.0856323,"cg_dv":54.9143677,"cg_dw":52.9597054,"cg_id_a":5.73820686,"cg_id_raw_a":0.0879789591,"cg_iq_a":-197.131088,"cg_iq_raw_a":-195.757751,"cg_iu_a":-192.126022,"cg_iv_a":68.8599472,"cg_iw_a":126.491783,"cg_sample_age_us":23.9363632,"cg_sample_seq":6099117,"cg_sample_valid":1,"cg_theta_rad":2.95853925,"cg_vd_req_v":-1.98686385,"cg_vd_v":-1.98686385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46483421,"cg_vq_v":-8.46483421,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9197083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":947.013062,"values":{"Elec_RPM":-2355.50732,"EncoderCos":14357,"EncoderSin":24883,"GapTicks":49417,"Mech_RPM":-471.10144,"cg_du":55.0754471,"cg_dv":44.9245529,"cg_dw":48.6403122,"cg_id_a":-4.31498337,"cg_id_raw_a":-9.75169563,"cg_iq_a":-197.10318,"cg_iq_raw_a":-196.807419,"cg_iu_a":197.85762,"cg_iv_a":-96.8831024,"cg_iw_a":-100.974518,"cg_sample_age_us":24.1109085,"cg_sample_seq":6100816,"cg_sample_valid":1,"cg_theta_rad":3.55144405,"cg_vd_req_v":-1.8275969,"cg_vd_v":-1.8275969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41247559,"cg_vq_v":-8.41247559,"cg_vu_v":28.1531239,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2500.20068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":947.071373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":947.07138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":947.071385,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":947.36853,"values":{"Elec_RPM":-2359.46826,"EncoderCos":21272,"EncoderSin":16295,"GapTicks":49399,"Mech_RPM":-471.893646,"cg_du":44.9082832,"cg_dv":55.0917168,"cg_dw":48.5818863,"cg_id_a":-11.7848835,"cg_id_raw_a":-11.0440254,"cg_iq_a":-197.333191,"cg_iq_raw_a":-198.039154,"cg_iu_a":-180.600494,"cg_iv_a":158.527206,"cg_iw_a":22.073288,"cg_sample_age_us":23.9290905,"cg_sample_seq":6102517,"cg_sample_valid":1,"cg_theta_rad":4.1141758,"cg_vd_req_v":-1.65569115,"cg_vd_v":-1.65569115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45772362,"cg_vq_v":-8.45772362,"cg_vu_v":102.055069,"cg_vv_v":104.254532,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":947.698608,"values":{"Elec_RPM":-2361.83691,"EncoderCos":32281,"EncoderSin":12805,"GapTicks":49742,"Mech_RPM":-472.367371,"cg_du":54.7792664,"cg_dv":45.2207336,"cg_dw":53.4145889,"cg_id_a":5.95072126,"cg_id_raw_a":10.1259327,"cg_iq_a":-200.577637,"cg_iq_raw_a":-201.908218,"cg_iu_a":172.450684,"cg_iv_a":-172.668945,"cg_iw_a":0.218254089,"cg_sample_age_us":24.136364,"cg_sample_seq":6104216,"cg_sample_valid":1,"cg_theta_rad":4.70304251,"cg_vd_req_v":-2.01326108,"cg_vd_v":-2.01326108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40175819,"cg_vq_v":-8.40175819,"cg_vu_v":44.8690414,"cg_vv_v":40.9100075,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9445496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":948.03064,"values":{"Elec_RPM":-2354.85889,"EncoderCos":42950,"EncoderSin":15656,"GapTicks":49640,"Mech_RPM":-470.971802,"cg_du":47.1782341,"cg_dv":54.8724365,"cg_dw":45.1275635,"cg_id_a":5.18571377,"cg_id_raw_a":3.00014853,"cg_iq_a":-202.595184,"cg_iq_raw_a":-201.812698,"cg_iu_a":-141.094711,"cg_iv_a":198.177948,"cg_iw_a":-57.0832443,"cg_sample_age_us":23.9763641,"cg_sample_seq":6105917,"cg_sample_valid":1,"cg_theta_rad":5.26868916,"cg_vd_req_v":-2.09545112,"cg_vd_v":-2.09545112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32595825,"cg_vq_v":-8.32595825,"cg_vu_v":104.694435,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2439.89551,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9215088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":948.095448,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":948.095454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":948.095459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":948.509155,"values":{"Elec_RPM":-2354.32153,"EncoderCos":43116,"EncoderSin":49635,"GapTicks":49338,"Mech_RPM":-470.864288,"cg_du":55.1471786,"cg_dv":44.8528214,"cg_dw":49.2558823,"cg_id_a":-9.23652172,"cg_id_raw_a":-11.5606108,"cg_iq_a":-196.510422,"cg_iq_raw_a":-196.519257,"cg_iu_a":196.770294,"cg_iv_a":-115.983597,"cg_iw_a":-80.7866974,"cg_sample_age_us":23.954546,"cg_sample_seq":6108066,"cg_sample_valid":1,"cg_theta_rad":1.02442265,"cg_vd_req_v":-1.75638044,"cg_vd_v":-1.75638044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47775745,"cg_vq_v":-8.47775745,"cg_vu_v":17.1558094,"cg_vv_v":8.35795879,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2399.17065,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9143982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":948.95956,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":948.959572,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":948.959574,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":949.02478,"values":{"Elec_RPM":-2345.85352,"EncoderCos":13384,"EncoderSin":27752,"GapTicks":49716,"Mech_RPM":-469.170715,"cg_du":53.5413055,"cg_dv":45.1970749,"cg_dw":54.8029251,"cg_id_a":12.8641338,"cg_id_raw_a":10.8195353,"cg_iq_a":-198.378189,"cg_iq_raw_a":-197.994278,"cg_iu_a":153.132721,"cg_iv_a":-186.260376,"cg_iw_a":33.1276627,"cg_sample_age_us":23.7254543,"cg_sample_seq":6110767,"cg_sample_valid":1,"cg_theta_rad":3.4015882,"cg_vd_req_v":-2.15823579,"cg_vd_v":-2.15823579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45213032,"cg_vq_v":-8.45213032,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2467.04175,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9356689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":949.087463,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":949.087469,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":949.087474,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":949.358765,"values":{"Elec_RPM":-2347.6958,"EncoderCos":13600,"EncoderSin":26952,"GapTicks":49823,"Mech_RPM":-469.539154,"cg_du":54.7062454,"cg_dv":45.2937546,"cg_dw":53.6827049,"cg_id_a":8.27571869,"cg_id_raw_a":11.7673712,"cg_iq_a":-200.462982,"cg_iq_raw_a":-200.368652,"cg_iu_a":170.855957,"cg_iv_a":-175.02478,"cg_iw_a":4.16883087,"cg_sample_age_us":24.1618176,"cg_sample_seq":6112517,"cg_sample_valid":1,"cg_theta_rad":3.44047713,"cg_vd_req_v":-2.03363705,"cg_vd_v":-2.03363705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38714409,"cg_vq_v":-8.38714409,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9321289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":949.710327,"values":{"Elec_RPM":-2354.04004,"EncoderCos":13944,"EncoderSin":25971,"GapTicks":49352,"Mech_RPM":-470.807983,"cg_du":55.1343384,"cg_dv":44.8656616,"cg_dw":50.9398003,"cg_id_a":-16.8928413,"cg_id_raw_a":-14.4423523,"cg_iq_a":-194.702805,"cg_iq_raw_a":-195.532776,"cg_iu_a":181.185455,"cg_iv_a":-153.532196,"cg_iw_a":-27.6532516,"cg_sample_age_us":24.0781822,"cg_sample_seq":6114266,"cg_sample_valid":1,"cg_theta_rad":3.49425411,"cg_vd_req_v":-1.54435802,"cg_vd_v":-1.54435802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48861504,"cg_vq_v":-8.48861504,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2411.00854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.8524475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":950.044312,"values":{"Elec_RPM":-2355.78882,"EncoderCos":20340,"EncoderSin":16931,"GapTicks":50032,"Mech_RPM":-471.157776,"cg_du":45.484539,"cg_dv":54.515461,"cg_dw":45.772274,"cg_id_a":9.69760513,"cg_id_raw_a":10.4910278,"cg_iq_a":-205.407425,"cg_iq_raw_a":-207.037537,"cg_iu_a":-170.198517,"cg_iv_a":187.123596,"cg_iw_a":-19.6071243,"cg_sample_age_us":23.9909096,"cg_sample_seq":6115967,"cg_sample_valid":1,"cg_theta_rad":4.0550499,"cg_vd_req_v":-2.0868814,"cg_vd_v":-2.0868814,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29326725,"cg_vq_v":-8.29326725,"cg_vu_v":124.049698,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2476.92944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9462891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":950.079014,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":950.079018,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":950.079023,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":950.395874,"values":{"Elec_RPM":-2350.94775,"EncoderCos":30885,"EncoderSin":12891,"GapTicks":49508,"Mech_RPM":-470.189545,"cg_du":52.5526924,"cg_dv":45.0079079,"cg_dw":54.9920921,"cg_id_a":11.1535902,"cg_id_raw_a":11.8225374,"cg_iq_a":-199.867065,"cg_iq_raw_a":-199.539551,"cg_iu_a":150.341949,"cg_iv_a":-192.131882,"cg_iw_a":41.7899323,"cg_sample_age_us":23.6745453,"cg_sample_seq":6117667,"cg_sample_valid":1,"cg_theta_rad":4.64609003,"cg_vd_req_v":-2.16230869,"cg_vd_v":-2.16230869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42538357,"cg_vq_v":-8.42538357,"cg_vu_v":43.549366,"cg_vv_v":34.7515144,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":950.727905,"values":{"Elec_RPM":-2355.23682,"EncoderCos":42156,"EncoderSin":15173,"GapTicks":49426,"Mech_RPM":-471.047363,"cg_du":48.8398628,"cg_dv":55.0668526,"cg_dw":44.9331474,"cg_id_a":-11.7776976,"cg_id_raw_a":-13.7620363,"cg_iq_a":-199.568878,"cg_iq_raw_a":-199.092102,"cg_iu_a":-87.2001343,"cg_iv_a":199.192795,"cg_iw_a":-111.992661,"cg_sample_age_us":23.8927269,"cg_sample_seq":6119366,"cg_sample_valid":1,"cg_theta_rad":5.22227383,"cg_vd_req_v":-1.73789644,"cg_vd_v":-1.73789644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38889885,"cg_vq_v":-8.38889885,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2455.72974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9462891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":951.059937,"values":{"Elec_RPM":-2348.41968,"EncoderCos":50082,"EncoderSin":23221,"GapTicks":49397,"Mech_RPM":-469.683929,"cg_du":48.869133,"cg_dv":44.9068451,"cg_dw":55.0931549,"cg_id_a":-13.6487427,"cg_id_raw_a":-13.4212122,"cg_iq_a":-198.972717,"cg_iq_raw_a":-201.375458,"cg_iu_a":28.8526249,"cg_iv_a":-183.723328,"cg_iw_a":154.870697,"cg_sample_age_us":23.8818188,"cg_sample_seq":6121067,"cg_sample_valid":1,"cg_theta_rad":5.7951808,"cg_vd_req_v":-1.69620049,"cg_vd_v":-1.69620049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41169453,"cg_vq_v":-8.41169453,"cg_vu_v":105.574219,"cg_vv_v":91.0577545,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.8700829,"dclink_p_w":-2578.38062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9427795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":951.071098,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":951.071103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":951.071122,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":951.413452,"values":{"Elec_RPM":-2351.92651,"EncoderCos":52341,"EncoderSin":34358,"GapTicks":49782,"Mech_RPM":-470.385315,"cg_du":53.5617638,"cg_dv":54.7431374,"cg_dw":45.2568626,"cg_id_a":3.54676318,"cg_id_raw_a":7.03528786,"cg_iq_a":-202.518616,"cg_iq_raw_a":-204.368729,"cg_iu_a":6.38144779,"cg_iv_a":171.285019,"cg_iw_a":-177.666473,"cg_sample_age_us":23.5218182,"cg_sample_seq":6122766,"cg_sample_valid":1,"cg_theta_rad":0.0906573236,"cg_vd_req_v":-2.01401615,"cg_vd_v":-2.01401615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37427616,"cg_vq_v":-8.37427616,"cg_vu_v":41.7897949,"cg_vv_v":71.2625961,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9321289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":951.747437,"values":{"Elec_RPM":-2350.71802,"EncoderCos":48388,"EncoderSin":44906,"GapTicks":49582,"Mech_RPM":-470.143616,"cg_du":45.0751953,"cg_dv":47.1060677,"cg_dw":54.9248047,"cg_id_a":18.3545189,"cg_id_raw_a":16.1657963,"cg_iq_a":-200.980133,"cg_iq_raw_a":-199.62616,"cg_iu_a":-40.1918793,"cg_iv_a":-152.046219,"cg_iw_a":192.238098,"cg_sample_age_us":23.5436363,"cg_sample_seq":6124467,"cg_sample_valid":1,"cg_theta_rad":0.664466679,"cg_vd_req_v":-2.32451105,"cg_vd_v":-2.32451105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37412643,"cg_vq_v":-8.37412643,"cg_vu_v":112.172607,"cg_vv_v":117.891212,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9232788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":952.077515,"values":{"Elec_RPM":-2349.58838,"EncoderCos":38998,"EncoderSin":51512,"GapTicks":49438,"Mech_RPM":-469.917664,"cg_du":55.0562553,"cg_dv":51.3402252,"cg_dw":44.9437447,"cg_id_a":0.800857663,"cg_id_raw_a":-1.90786707,"cg_iq_a":-202.069321,"cg_iq_raw_a":-200.707748,"cg_iu_a":97.099762,"cg_iv_a":108.11203,"cg_iw_a":-205.211792,"cg_sample_age_us":23.8854542,"cg_sample_seq":6126166,"cg_sample_valid":1,"cg_theta_rad":1.24833322,"cg_vd_req_v":-1.93994653,"cg_vd_v":-1.93994653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32501984,"cg_vq_v":-8.32501984,"cg_vu_v":29.912693,"cg_vv_v":10.1175289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.8392754,"dclink_p_w":-2581.78296,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":952.094905,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":952.09491,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":952.094914,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":952.43103,"values":{"Elec_RPM":-2347.08667,"EncoderCos":13313,"EncoderSin":37590,"GapTicks":49290,"Mech_RPM":-469.417328,"cg_du":44.8094635,"cg_dv":55.1905365,"cg_dw":50.4980469,"cg_id_a":-7.82748079,"cg_id_raw_a":-7.31057882,"cg_iq_a":-194.843231,"cg_iq_raw_a":-194.847748,"cg_iu_a":-194.481873,"cg_iv_a":120.326187,"cg_iw_a":74.1556854,"cg_sample_age_us":23.8454552,"cg_sample_seq":6127766,"cg_sample_valid":1,"cg_theta_rad":2.90218163,"cg_vd_req_v":-1.7074914,"cg_vd_v":-1.7074914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51794243,"cg_vq_v":-8.51794243,"cg_vu_v":117.011421,"cg_vv_v":143.404984,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":952.763062,"values":{"Elec_RPM":-2349.70117,"EncoderCos":18021,"EncoderSin":46208,"GapTicks":49666,"Mech_RPM":-469.940216,"cg_du":54.8490181,"cg_dv":46.8035965,"cg_dw":45.1509819,"cg_id_a":1.22630739,"cg_id_raw_a":8.0585413,"cg_iq_a":-198.154144,"cg_iq_raw_a":-200.770493,"cg_iu_a":173.900452,"cg_iv_a":-6.81716919,"cg_iw_a":-167.083282,"cg_sample_age_us":23.9727268,"cg_sample_seq":6129566,"cg_sample_valid":1,"cg_theta_rad":2.39433336,"cg_vd_req_v":-1.91349137,"cg_vd_v":-1.91349137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.456604,"cg_vq_v":-8.456604,"cg_vu_v":24.1940918,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2414.71777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":953.087299,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":953.087306,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":953.087311,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":953.095093,"values":{"Elec_RPM":-2348.0022,"EncoderCos":20094,"EncoderSin":17165,"GapTicks":49926,"Mech_RPM":-469.600433,"cg_du":46.0797501,"cg_dv":54.6127281,"cg_dw":45.3872719,"cg_id_a":13.6525717,"cg_id_raw_a":12.5422888,"cg_iq_a":-206.189133,"cg_iq_raw_a":-205.753052,"cg_iu_a":-164.508224,"cg_iv_a":190.82045,"cg_iw_a":-26.3122253,"cg_sample_age_us":23.9654541,"cg_sample_seq":6131167,"cg_sample_valid":1,"cg_theta_rad":4.03781366,"cg_vd_req_v":-2.1794045,"cg_vd_v":-2.1794045,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27828407,"cg_vq_v":-8.27828407,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2476.35107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":953.446655,"values":{"Elec_RPM":-2348.23535,"EncoderCos":14328,"EncoderSin":24933,"GapTicks":49364,"Mech_RPM":-469.647064,"cg_du":55.1232986,"cg_dv":44.8767014,"cg_dw":48.8582573,"cg_id_a":-0.261061788,"cg_id_raw_a":-4.27444077,"cg_iq_a":-198.542633,"cg_iq_raw_a":-198.751495,"cg_iu_a":199.452347,"cg_iv_a":-109.713425,"cg_iw_a":-87.8904877,"cg_sample_age_us":24.0781822,"cg_sample_seq":6132966,"cg_sample_valid":1,"cg_theta_rad":3.54991078,"cg_vd_req_v":-1.92777407,"cg_vd_v":-1.92777407,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41429615,"cg_vq_v":-8.41429615,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2492.61792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9622498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":953.78064,"values":{"Elec_RPM":-2349.87134,"EncoderCos":31639,"EncoderSin":12827,"GapTicks":49911,"Mech_RPM":-469.974274,"cg_du":54.0618744,"cg_dv":45.3744011,"cg_dw":54.6255989,"cg_id_a":16.3036423,"cg_id_raw_a":17.5926971,"cg_iq_a":-200.859833,"cg_iq_raw_a":-199.882721,"cg_iu_a":165.346893,"cg_iv_a":-182.780975,"cg_iw_a":17.4340744,"cg_sample_age_us":24.1181812,"cg_sample_seq":6134616,"cg_sample_valid":1,"cg_theta_rad":4.67194033,"cg_vd_req_v":-2.22996116,"cg_vd_v":-2.22996116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37490177,"cg_vq_v":-8.37490177,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":10.1175289,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2494.70972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":954.078863,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":954.078869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":954.078875,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":954.132202,"values":{"Elec_RPM":-2349.21802,"EncoderCos":32246,"EncoderSin":12826,"GapTicks":49805,"Mech_RPM":-469.843597,"cg_du":54.7222099,"cg_dv":45.2777901,"cg_dw":53.4736633,"cg_id_a":6.99831104,"cg_id_raw_a":11.7219667,"cg_iq_a":-200.978104,"cg_iq_raw_a":-202.211472,"cg_iu_a":171.689575,"cg_iv_a":-176.655777,"cg_iw_a":5.14743042,"cg_sample_age_us":24.1436367,"cg_sample_seq":6136367,"cg_sample_valid":1,"cg_theta_rad":4.6996026,"cg_vd_req_v":-2.01966786,"cg_vd_v":-2.01966786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35919189,"cg_vq_v":-8.35919189,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":954.466187,"values":{"Elec_RPM":-2352.75049,"EncoderCos":52375,"EncoderSin":33779,"GapTicks":49955,"Mech_RPM":-470.55011,"cg_du":54.5857735,"cg_dv":54.01828,"cg_dw":45.4142265,"cg_id_a":12.2627401,"cg_id_raw_a":12.4135685,"cg_iq_a":-206.030472,"cg_iq_raw_a":-205.980621,"cg_iu_a":19.8641548,"cg_iv_a":166.029678,"cg_iw_a":-193.903717,"cg_sample_age_us":23.4927273,"cg_sample_seq":6137967,"cg_sample_valid":1,"cg_theta_rad":0.062618047,"cg_vd_req_v":-2.20561957,"cg_vd_v":-2.20561957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3002758,"cg_vq_v":-8.3002758,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2530.90283,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":954.798218,"values":{"Elec_RPM":-2356.46606,"EncoderCos":50590,"EncoderSin":24262,"GapTicks":49302,"Mech_RPM":-471.293213,"cg_du":51.1316376,"cg_dv":44.8206291,"cg_dw":55.1793709,"cg_id_a":2.04932213,"cg_id_raw_a":-3.90433931,"cg_iq_a":-198.375687,"cg_iq_raw_a":-196.332764,"cg_iu_a":104.094818,"cg_iv_a":-199.45314,"cg_iw_a":95.3583221,"cg_sample_age_us":23.7363644,"cg_sample_seq":6139767,"cg_sample_valid":1,"cg_theta_rad":5.85300732,"cg_vd_req_v":-2.04049087,"cg_vd_v":-2.04049087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45476627,"cg_vq_v":-8.45476627,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":955.071212,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":955.071218,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":955.071223,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":955.14978,"values":{"Elec_RPM":-2354.50098,"EncoderCos":52229,"EncoderSin":35408,"GapTicks":49330,"Mech_RPM":-470.900177,"cg_du":50.9230042,"cg_dv":55.1543388,"cg_dw":44.8456612,"cg_id_a":-12.8878889,"cg_id_raw_a":-10.9783792,"cg_iq_a":-195.17746,"cg_iq_raw_a":-195.072311,"cg_iu_a":-34.3566208,"cg_iv_a":184.115356,"cg_iw_a":-149.758728,"cg_sample_age_us":23.4963627,"cg_sample_seq":6141467,"cg_sample_valid":1,"cg_theta_rad":0.147040501,"cg_vd_req_v":-1.68349111,"cg_vd_v":-1.68349111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49429512,"cg_vq_v":-8.49429512,"cg_vu_v":110.413033,"cg_vv_v":113.052383,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2532.47632,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9303589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":955.483765,"values":{"Elec_RPM":-2353.58618,"EncoderCos":47470,"EncoderSin":46022,"GapTicks":49660,"Mech_RPM":-470.717255,"cg_du":47.3695221,"cg_dv":45.1456337,"cg_dw":54.8543663,"cg_id_a":-4.89825201,"cg_id_raw_a":2.11286402,"cg_iq_a":-204.2043,"cg_iq_raw_a":-206.372559,"cg_iu_a":1.92345667,"cg_iv_a":-176.32959,"cg_iw_a":174.406128,"cg_sample_age_us":23.5072727,"cg_sample_seq":6143166,"cg_sample_valid":1,"cg_theta_rad":0.737324357,"cg_vd_req_v":-1.81765306,"cg_vd_v":-1.81765306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30342865,"cg_vq_v":-8.30342865,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-18.2089634,"dclink_p_w":-2635.28589,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0013123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":955.835327,"values":{"Elec_RPM":-2354.12695,"EncoderCos":38527,"EncoderSin":51669,"GapTicks":49523,"Mech_RPM":-470.825378,"cg_du":54.9786148,"cg_dv":52.2420387,"cg_dw":45.0213852,"cg_id_a":9.97160339,"cg_id_raw_a":9.6665802,"cg_iq_a":-205.13591,"cg_iq_raw_a":-203.362366,"cg_iu_a":30.592329,"cg_iv_a":161.499191,"cg_iw_a":-192.091522,"cg_sample_age_us":23.9254551,"cg_sample_seq":6144869,"cg_sample_valid":1,"cg_theta_rad":1.31125295,"cg_vd_req_v":-2.13186622,"cg_vd_v":-2.13186622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30104733,"cg_vq_v":-8.30104733,"cg_vu_v":25.5137672,"cg_vv_v":11.877099,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7628345,"dclink_p_w":-2425.99536,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9285889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":956.094657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":956.094662,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":956.094668,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":956.167358,"values":{"Elec_RPM":-2353.43896,"EncoderCos":13102,"EncoderSin":36560,"GapTicks":49504,"Mech_RPM":-470.687805,"cg_du":45.0042534,"cg_dv":54.9957466,"cg_dw":52.5040131,"cg_id_a":7.23007298,"cg_id_raw_a":1.26649404,"cg_iq_a":-197.215591,"cg_iq_raw_a":-195.952164,"cg_iu_a":-193.756989,"cg_iv_a":65.2718048,"cg_iw_a":121.018959,"cg_sample_age_us":23.954546,"cg_sample_seq":6146467,"cg_sample_valid":1,"cg_theta_rad":2.95046759,"cg_vd_req_v":-2.01513505,"cg_vd_v":-2.01513505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42711639,"cg_vq_v":-8.42711639,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2844143,"dclink_p_w":-2356.75635,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9658203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":956.501343,"values":{"Elec_RPM":-2363.37109,"EncoderCos":17193,"EncoderSin":45247,"GapTicks":49337,"Mech_RPM":-472.674225,"cg_du":55.1473656,"cg_dv":49.7861061,"cg_dw":44.8526344,"cg_id_a":-8.92594624,"cg_id_raw_a":-11.2893019,"cg_iq_a":-196.650177,"cg_iq_raw_a":-196.159348,"cg_iu_a":133.416077,"cg_iv_a":60.9950562,"cg_iw_a":-194.411133,"cg_sample_age_us":23.8418179,"cg_sample_seq":6148266,"cg_sample_valid":1,"cg_theta_rad":2.4693861,"cg_vd_req_v":-1.71883547,"cg_vd_v":-1.71883547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43099785,"cg_vq_v":-8.43099785,"cg_vu_v":25.953661,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9480896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":956.831421,"values":{"Elec_RPM":-2360.85938,"EncoderCos":21291,"EncoderSin":16265,"GapTicks":49368,"Mech_RPM":-472.171875,"cg_du":44.880127,"cg_dv":55.119873,"cg_dw":48.6252098,"cg_id_a":-9.88437271,"cg_id_raw_a":-8.42159462,"cg_iq_a":-196.478622,"cg_iq_raw_a":-197.290283,"cg_iu_a":-181.14415,"cg_iv_a":154.177948,"cg_iw_a":26.9662094,"cg_sample_age_us":23.9363632,"cg_sample_seq":6149866,"cg_sample_valid":1,"cg_theta_rad":4.11436605,"cg_vd_req_v":-1.68489146,"cg_vd_v":-1.68489146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49269009,"cg_vq_v":-8.49269009,"cg_vu_v":0.87978512,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9197083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":957.055227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":957.055233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":957.055239,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":957.18689,"values":{"Elec_RPM":-2358.41748,"EncoderCos":14776,"EncoderSin":23893,"GapTicks":49690,"Mech_RPM":-471.683502,"cg_du":54.8267822,"cg_dv":45.1732178,"cg_dw":46.7515144,"cg_id_a":18.7658024,"cg_id_raw_a":15.3822908,"cg_iq_a":-203.184296,"cg_iq_raw_a":-200.278717,"cg_iu_a":191.33374,"cg_iv_a":-35.776001,"cg_iw_a":-155.557739,"cg_sample_age_us":24.0818176,"cg_sample_seq":6151667,"cg_sample_valid":1,"cg_theta_rad":3.60506034,"cg_vd_req_v":-2.28145385,"cg_vd_v":-2.28145385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34758568,"cg_vq_v":-8.34758568,"cg_vu_v":142.525192,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9995117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":957.516968,"values":{"Elec_RPM":-2352.64722,"EncoderCos":32611,"EncoderSin":12818,"GapTicks":49585,"Mech_RPM":-470.529449,"cg_du":54.9221916,"cg_dv":45.0778084,"cg_dw":52.4481392,"cg_id_a":-6.17861652,"cg_id_raw_a":0.874340892,"cg_iq_a":-199.838852,"cg_iq_raw_a":-203.004211,"cg_iu_a":173.429276,"cg_iv_a":-169.76944,"cg_iw_a":-3.65982819,"cg_sample_age_us":24.0563641,"cg_sample_seq":6153317,"cg_sample_valid":1,"cg_theta_rad":4.72259092,"cg_vd_req_v":-1.76032984,"cg_vd_v":-1.76032984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37507248,"cg_vq_v":-8.37507248,"cg_vu_v":139.885834,"cg_vv_v":121.850235,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9675903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":957.870483,"values":{"Elec_RPM":-2356.79443,"EncoderCos":33568,"EncoderSin":12777,"GapTicks":49356,"Mech_RPM":-471.358887,"cg_du":55.1308479,"cg_dv":44.8691521,"cg_dw":50.1865845,"cg_id_a":-15.0753431,"cg_id_raw_a":-14.9528847,"cg_iq_a":-197.959961,"cg_iq_raw_a":-197.709335,"cg_iu_a":191.297485,"cg_iv_a":-142.514084,"cg_iw_a":-48.7834015,"cg_sample_age_us":24.0599995,"cg_sample_seq":6155066,"cg_sample_valid":1,"cg_theta_rad":4.76849318,"cg_vd_req_v":-1.61465716,"cg_vd_v":-1.61465716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42286968,"cg_vq_v":-8.42286968,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.0549316,"temp_inv2_c":42.9658203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":958.078759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":958.078765,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":958.07877,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":958.227905,"values":{"Elec_RPM":-2356.11621,"EncoderCos":34385,"EncoderSin":12866,"GapTicks":49388,"Mech_RPM":-471.223236,"cg_du":55.101162,"cg_dv":44.898838,"cg_dw":48.5856552,"cg_id_a":-4.64869022,"cg_id_raw_a":-9.82884598,"cg_iq_a":-198.832642,"cg_iq_raw_a":-198.610687,"cg_iu_a":199.706055,"cg_iv_a":-113.120346,"cg_iw_a":-84.8097687,"cg_sample_age_us":24.0527267,"cg_sample_seq":6156816,"cg_sample_valid":1,"cg_theta_rad":4.80737782,"cg_vd_req_v":-1.85011339,"cg_vd_v":-1.85011339,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40582657,"cg_vq_v":-8.40582657,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2372.49243,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.985321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":958.74939,"values":{"Elec_RPM":-2342.06494,"EncoderCos":12801,"EncoderSin":34430,"GapTicks":49470,"Mech_RPM":-468.412964,"cg_du":44.9733391,"cg_dv":51.5865555,"cg_dw":55.0266609,"cg_id_a":-11.3581848,"cg_id_raw_a":-10.7983494,"cg_iq_a":-199.106567,"cg_iq_raw_a":-197.637558,"cg_iu_a":-162.804779,"cg_iv_a":-16.5305176,"cg_iw_a":179.335297,"cg_sample_age_us":23.8381824,"cg_sample_seq":6159317,"cg_sample_valid":1,"cg_theta_rad":3.06185651,"cg_vd_req_v":-1.60779035,"cg_vd_v":-1.60779035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38583374,"cg_vq_v":-8.38583374,"cg_vu_v":103.814644,"cg_vv_v":102.494972,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2464.02417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9569702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":958.974892,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":958.974903,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":958.974906,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":959.071132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":959.071137,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":959.071143,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":959.198608,"values":{"Elec_RPM":-2348.50244,"EncoderCos":13161,"EncoderSin":36976,"GapTicks":49430,"Mech_RPM":-469.7005,"cg_du":44.9366035,"cg_dv":55.0633965,"cg_dw":51.7393761,"cg_id_a":-0.994583845,"cg_id_raw_a":-6.15241957,"cg_iq_a":-197.597488,"cg_iq_raw_a":-195.523163,"cg_iu_a":-196.946457,"cg_iv_a":89.7363968,"cg_iw_a":107.21006,"cg_sample_age_us":23.9290905,"cg_sample_seq":6161667,"cg_sample_valid":1,"cg_theta_rad":2.93286562,"cg_vd_req_v":-1.84674144,"cg_vd_v":-1.84674144,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42644978,"cg_vq_v":-8.42644978,"cg_vu_v":96.7763672,"cg_vv_v":101.615181,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.7559147,"dclink_p_w":-2561.90796,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9622498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":959.528687,"values":{"Elec_RPM":-2348.44507,"EncoderCos":14096,"EncoderSin":25505,"GapTicks":49320,"Mech_RPM":-469.688995,"cg_du":55.1631851,"cg_dv":44.8368149,"cg_dw":49.8829613,"cg_id_a":-16.1765347,"cg_id_raw_a":-18.1611118,"cg_iq_a":-196.233444,"cg_iq_raw_a":-196.47464,"cg_iu_a":192.638504,"cg_iv_a":-136.678833,"cg_iw_a":-55.9596786,"cg_sample_age_us":24.0709095,"cg_sample_seq":6163366,"cg_sample_valid":1,"cg_theta_rad":3.51914287,"cg_vd_req_v":-1.58665562,"cg_vd_v":-1.58665562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48199749,"cg_vq_v":-8.48199749,"cg_vu_v":128.888519,"cg_vv_v":117.451309,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2427.56885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":959.882202,"values":{"Elec_RPM":-2346.94922,"EncoderCos":20343,"EncoderSin":16930,"GapTicks":50027,"Mech_RPM":-469.389832,"cg_du":45.7789497,"cg_dv":54.5204277,"cg_dw":45.4795723,"cg_id_a":12.4244013,"cg_id_raw_a":15.3981304,"cg_iq_a":-204.170959,"cg_iq_raw_a":-204.576813,"cg_iu_a":-172.73558,"cg_iv_a":170.777618,"cg_iw_a":1.95796967,"cg_sample_age_us":24.0163631,"cg_sample_seq":6165071,"cg_sample_valid":1,"cg_theta_rad":4.0931263,"cg_vd_req_v":-2.16153097,"cg_vd_v":-2.16153097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30545425,"cg_vq_v":-8.30545425,"cg_vu_v":117.011421,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2497.85693,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9321289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":960.063022,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":960.063028,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":960.063033,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":960.214233,"values":{"Elec_RPM":-2347.31421,"EncoderCos":31553,"EncoderSin":12859,"GapTicks":49822,"Mech_RPM":-469.46286,"cg_du":53.8135796,"cg_dv":45.293438,"cg_dw":54.706562,"cg_id_a":19.801693,"cg_id_raw_a":19.3298645,"cg_iq_a":-201.166611,"cg_iq_raw_a":-201.237274,"cg_iu_a":165.12944,"cg_iv_a":-184.339478,"cg_iw_a":19.2100296,"cg_sample_age_us":23.9872723,"cg_sample_seq":6166767,"cg_sample_valid":1,"cg_theta_rad":4.66850424,"cg_vd_req_v":-2.30768514,"cg_vd_v":-2.30768514,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34376431,"cg_vq_v":-8.34376431,"cg_vu_v":13.6366701,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":960.546265,"values":{"Elec_RPM":-2347.7417,"EncoderCos":42448,"EncoderSin":15323,"GapTicks":49427,"Mech_RPM":-469.54834,"cg_du":48.2468452,"cg_dv":55.0656967,"cg_dw":44.9343033,"cg_id_a":-5.54560518,"cg_id_raw_a":-10.2247171,"cg_iq_a":-200.917068,"cg_iq_raw_a":-200.866028,"cg_iu_a":-107.786629,"cg_iv_a":201.403656,"cg_iw_a":-93.6170273,"cg_sample_age_us":23.9618187,"cg_sample_seq":6168467,"cg_sample_valid":1,"cg_theta_rad":5.23617029,"cg_vd_req_v":-1.88181281,"cg_vd_v":-1.88181281,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37142849,"cg_vq_v":-8.37142849,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-18.1419125,"dclink_p_w":-2625.58203,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9675903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":960.897827,"values":{"Elec_RPM":-2354.65771,"EncoderCos":43094,"EncoderSin":15748,"GapTicks":49704,"Mech_RPM":-470.931519,"cg_du":46.884079,"cg_dv":54.8140602,"cg_dw":45.1859398,"cg_id_a":8.54801559,"cg_id_raw_a":6.01603413,"cg_iq_a":-204.750793,"cg_iq_raw_a":-203.710739,"cg_iu_a":-150.373138,"cg_iv_a":197.743042,"cg_iw_a":-47.3699036,"cg_sample_age_us":23.8563633,"cg_sample_seq":6170217,"cg_sample_valid":1,"cg_theta_rad":5.27535152,"cg_vd_req_v":-2.16285396,"cg_vd_v":-2.16285396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31152248,"cg_vq_v":-8.31152248,"cg_vu_v":100.295509,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2414.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":961.087614,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":961.08762,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":961.087625,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":961.231812,"values":{"Elec_RPM":-2355.18677,"EncoderCos":48381,"EncoderSin":44898,"GapTicks":49612,"Mech_RPM":-471.037354,"cg_du":45.1024246,"cg_dv":47.1503448,"cg_dw":54.8975754,"cg_id_a":18.374527,"cg_id_raw_a":16.6885757,"cg_iq_a":-204.00116,"cg_iq_raw_a":-202.989639,"cg_iu_a":-41.7503624,"cg_iv_a":-154.83699,"cg_iw_a":196.587357,"cg_sample_age_us":23.5472736,"cg_sample_seq":6171816,"cg_sample_valid":1,"cg_theta_rad":0.665859401,"cg_vd_req_v":-2.32193995,"cg_vd_v":-2.32193995,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2886591,"cg_vq_v":-8.2886591,"cg_vu_v":38.7105446,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2475.3606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":961.563843,"values":{"Elec_RPM":-2345.72803,"EncoderCos":47924,"EncoderSin":45490,"GapTicks":50127,"Mech_RPM":-469.14563,"cg_du":45.5701675,"cg_dv":45.5867691,"cg_dw":54.4298325,"cg_id_a":13.755188,"cg_id_raw_a":13.8687239,"cg_iq_a":-208.856918,"cg_iq_raw_a":-209.67482,"cg_iu_a":-15.4010954,"cg_iv_a":-173.611298,"cg_iw_a":189.01239,"cg_sample_age_us":23.51091,"cg_sample_seq":6173566,"cg_sample_valid":1,"cg_theta_rad":0.699920237,"cg_vd_req_v":-2.21082115,"cg_vd_v":-2.21082115,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22207928,"cg_vq_v":-8.22207928,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2457.58081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":961.915405,"values":{"Elec_RPM":-2344.5896,"EncoderCos":27984,"EncoderSin":52104,"GapTicks":49399,"Mech_RPM":-468.917908,"cg_du":44.9082031,"cg_dv":51.2266121,"cg_dw":55.0917969,"cg_id_a":-12.594533,"cg_id_raw_a":-9.47396564,"cg_iq_a":-198.421219,"cg_iq_raw_a":-200.151703,"cg_iu_a":-157.984344,"cg_iv_a":-27.548645,"cg_iw_a":178.392944,"cg_sample_age_us":23.8709087,"cg_sample_seq":6175216,"cg_sample_valid":1,"cg_theta_rad":1.81171048,"cg_vd_req_v":-1.61157441,"cg_vd_v":-1.61157441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4384861,"cg_vq_v":-8.4384861,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2453.79565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9037781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":962.078713,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":962.078719,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":962.078723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":962.24939,"values":{"Elec_RPM":-2349.68384,"EncoderCos":27205,"EncoderSin":51908,"GapTicks":49378,"Mech_RPM":-469.936768,"cg_du":44.8899765,"cg_dv":49.8842163,"cg_dw":55.1100235,"cg_id_a":-13.8016281,"cg_id_raw_a":-14.7939606,"cg_iq_a":-198.275589,"cg_iq_raw_a":-199.932205,"cg_iu_a":-136.527985,"cg_iv_a":-55.4926453,"cg_iw_a":192.02063,"cg_sample_age_us":23.7836361,"cg_sample_seq":6176966,"cg_sample_valid":1,"cg_theta_rad":1.8442167,"cg_vd_req_v":-1.58788085,"cg_vd_v":-1.60762084,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41778183,"cg_vq_v":-8.42126083,"cg_vu_v":102.494972,"cg_vv_v":98.9758301,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.6051731,"dclink_p_w":-2403.17798,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0279236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":962.583374,"values":{"Elec_RPM":-2346.09741,"EncoderCos":13088,"EncoderSin":36514,"GapTicks":49531,"Mech_RPM":-469.219482,"cg_du":45.0283737,"cg_dv":54.9716263,"cg_dw":52.6525612,"cg_id_a":4.71252632,"cg_id_raw_a":-0.330233544,"cg_iq_a":-198.071426,"cg_iq_raw_a":-196.827621,"cg_iu_a":-194.336914,"cg_iv_a":66.1416626,"cg_iw_a":128.195251,"cg_sample_age_us":23.9654541,"cg_sample_seq":6178617,"cg_sample_valid":1,"cg_theta_rad":2.9537077,"cg_vd_req_v":-1.97442305,"cg_vd_v":-1.97442305,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43919659,"cg_vq_v":-8.43919659,"cg_vu_v":102.494972,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2416.00659,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.9764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":962.934937,"values":{"Elec_RPM":-2347.73535,"EncoderCos":12984,"EncoderSin":35764,"GapTicks":49900,"Mech_RPM":-469.547089,"cg_du":45.3637924,"cg_dv":54.6362076,"cg_dw":54.0819778,"cg_id_a":13.1082726,"cg_id_raw_a":10.4747238,"cg_iq_a":-200.780289,"cg_iq_raw_a":-198.566238,"cg_iu_a":-184.551056,"cg_iv_a":23.9538269,"cg_iw_a":160.597229,"cg_sample_age_us":23.9654541,"cg_sample_seq":6180367,"cg_sample_valid":1,"cg_theta_rad":2.9943192,"cg_vd_req_v":-2.12777734,"cg_vd_v":-2.12777734,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39956093,"cg_vq_v":-8.39956093,"cg_vu_v":95.4566803,"cg_vv_v":98.5359344,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.6979237,"dclink_p_w":-2561.32593,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":963.071638,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":963.071643,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":963.071649,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":963.266968,"values":{"Elec_RPM":-2342.75049,"EncoderCos":14587,"EncoderSin":24341,"GapTicks":49527,"Mech_RPM":-468.55011,"cg_du":54.9747581,"cg_dv":45.0252419,"cg_dw":47.6674118,"cg_id_a":11.8186264,"cg_id_raw_a":11.059968,"cg_iq_a":-200.723663,"cg_iq_raw_a":-200.027847,"cg_iu_a":198.075073,"cg_iv_a":-58.2109222,"cg_iw_a":-139.864151,"cg_sample_age_us":24.0636368,"cg_sample_seq":6182066,"cg_sample_valid":1,"cg_theta_rad":3.58476472,"cg_vd_req_v":-2.1495502,"cg_vd_v":-2.1495502,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3672142,"cg_vq_v":-8.3672142,"cg_vu_v":48.3881836,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9338989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":963.61853,"values":{"Elec_RPM":-2344.26343,"EncoderCos":21177,"EncoderSin":16351,"GapTicks":49460,"Mech_RPM":-468.852692,"cg_du":44.9637604,"cg_dv":55.0362396,"cg_dw":48.3674889,"cg_id_a":-12.3823986,"cg_id_raw_a":-10.3757076,"cg_iq_a":-199.893768,"cg_iq_raw_a":-200.696228,"cg_iu_a":-192.488464,"cg_iv_a":133.591446,"cg_iw_a":58.8970184,"cg_sample_age_us":23.8345451,"cg_sample_seq":6183771,"cg_sample_valid":1,"cg_theta_rad":4.14896059,"cg_vd_req_v":-1.62664688,"cg_vd_v":-1.62664688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37992573,"cg_vq_v":-8.37992573,"cg_vu_v":113.492287,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2416.00659,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9392395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":963.952515,"values":{"Elec_RPM":-2345.19507,"EncoderCos":32920,"EncoderSin":12783,"GapTicks":49408,"Mech_RPM":-469.039032,"cg_du":55.08321,"cg_dv":44.91679,"cg_dw":51.6340599,"cg_id_a":-14.1715107,"cg_id_raw_a":-6.99668121,"cg_iq_a":-197.047852,"cg_iq_raw_a":-198.364395,"cg_iu_a":177.706055,"cg_iv_a":-162.158249,"cg_iw_a":-15.5478058,"cg_sample_age_us":24.0890903,"cg_sample_seq":6185466,"cg_sample_valid":1,"cg_theta_rad":4.7380085,"cg_vd_req_v":-1.61958683,"cg_vd_v":-1.61958683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45990849,"cg_vq_v":-8.45990849,"cg_vu_v":3.95903301,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.5022087,"dclink_p_w":-2525.302,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":964.095436,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":964.095442,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":964.095447,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":964.282593,"values":{"Elec_RPM":-2353.33105,"EncoderCos":43727,"EncoderSin":16140,"GapTicks":50026,"Mech_RPM":-470.666199,"cg_du":45.4785118,"cg_dv":54.5214882,"cg_dw":45.7215652,"cg_id_a":9.21886635,"cg_id_raw_a":11.6793222,"cg_iq_a":-203.657227,"cg_iq_raw_a":-203.896362,"cg_iu_a":-164.363251,"cg_iv_a":187.014862,"cg_iw_a":-22.6516037,"cg_sample_age_us":23.8927269,"cg_sample_seq":6187166,"cg_sample_valid":1,"cg_theta_rad":5.30497742,"cg_vd_req_v":-2.14818525,"cg_vd_v":-2.14818525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33780098,"cg_vq_v":-8.33780098,"cg_vu_v":101.615181,"cg_vv_v":104.254532,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":964.636108,"values":{"Elec_RPM":-2359.25171,"EncoderCos":52380,"EncoderSin":34301,"GapTicks":49867,"Mech_RPM":-471.850342,"cg_du":53.7276917,"cg_dv":54.6660576,"cg_dw":45.3339424,"cg_id_a":5.98471022,"cg_id_raw_a":11.238368,"cg_iq_a":-203.557022,"cg_iq_raw_a":-204.483276,"cg_iu_a":-20.112793,"cg_iv_a":179.766083,"cg_iw_a":-159.65329,"cg_sample_age_us":23.3909092,"cg_sample_seq":6188821,"cg_sample_valid":1,"cg_theta_rad":0.131893799,"cg_vd_req_v":-2.0660634,"cg_vd_v":-2.0660634,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30795765,"cg_vq_v":-8.30795765,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.5870514,"dclink_p_w":-2393.25879,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":964.96814,"values":{"Elec_RPM":-2357.1582,"EncoderCos":52138,"EncoderSin":35914,"GapTicks":49348,"Mech_RPM":-471.431641,"cg_du":49.7117043,"cg_dv":55.1375504,"cg_dw":44.8624496,"cg_id_a":-18.1358833,"cg_id_raw_a":-17.2910538,"cg_iq_a":-199.246216,"cg_iq_raw_a":-197.774567,"cg_iu_a":-59.4011116,"cg_iv_a":194.988495,"cg_iw_a":-135.587387,"cg_sample_age_us":23.4563637,"cg_sample_seq":6190567,"cg_sample_valid":1,"cg_theta_rad":0.175690427,"cg_vd_req_v":-1.61346018,"cg_vd_v":-1.61346018,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41057682,"cg_vq_v":-8.41057682,"cg_vu_v":1.75957024,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7522907,"dclink_p_w":-2561.38501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":965.087063,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":965.087069,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":965.087074,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":965.302124,"values":{"Elec_RPM":-2360.29614,"EncoderCos":47261,"EncoderSin":46248,"GapTicks":49441,"Mech_RPM":-472.059235,"cg_du":48.1432152,"cg_dv":44.947094,"cg_dw":55.052906,"cg_id_a":-11.2917261,"cg_id_raw_a":-8.13519192,"cg_iq_a":-200.085236,"cg_iq_raw_a":-200.765366,"cg_iu_a":13.3040199,"cg_iv_a":-179.446548,"cg_iw_a":166.142532,"cg_sample_age_us":23.7618179,"cg_sample_seq":6192267,"cg_sample_valid":1,"cg_theta_rad":0.752422512,"cg_vd_req_v":-1.6943742,"cg_vd_v":-1.6943742,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43735695,"cg_vq_v":-8.43735695,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":42.9981079,"temp_inv2_c":42.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":965.65564,"values":{"Elec_RPM":-2355.15381,"EncoderCos":37439,"EncoderSin":51996,"GapTicks":50051,"Mech_RPM":-471.030762,"cg_du":54.2266846,"cg_dv":54.4982147,"cg_dw":45.5017853,"cg_id_a":8.2256403,"cg_id_raw_a":12.5535946,"cg_iq_a":-204.300827,"cg_iq_raw_a":-204.158813,"cg_iu_a":15.9135761,"cg_iv_a":166.718307,"cg_iw_a":-182.631882,"cg_sample_age_us":23.9290905,"cg_sample_seq":6193967,"cg_sample_valid":1,"cg_theta_rad":1.33428669,"cg_vd_req_v":-2.04627371,"cg_vd_v":-2.04627371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30364132,"cg_vq_v":-8.30364132,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":965.985718,"values":{"Elec_RPM":-2356.91235,"EncoderCos":26256,"EncoderSin":51600,"GapTicks":49522,"Mech_RPM":-471.382477,"cg_du":45.0204239,"cg_dv":47.6302071,"cg_dw":54.9795761,"cg_id_a":4.22455835,"cg_id_raw_a":-1.81985343,"cg_iq_a":-200.571915,"cg_iq_raw_a":-196.821487,"cg_iu_a":-70.5279694,"cg_iv_a":-127.4729,"cg_iw_a":198.00087,"cg_sample_age_us":23.863636,"cg_sample_seq":6195667,"cg_sample_valid":1,"cg_theta_rad":1.90263796,"cg_vd_req_v":-1.9952265,"cg_vd_v":-1.9952265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3691721,"cg_vq_v":-8.3691721,"cg_vu_v":113.932175,"cg_vv_v":125.809273,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2379.92358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9551697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":966.078931,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":966.078937,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":966.078943,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":966.319702,"values":{"Elec_RPM":-2360.15674,"EncoderCos":12876,"EncoderSin":35141,"GapTicks":49761,"Mech_RPM":-472.031342,"cg_du":45.2376289,"cg_dv":53.4585686,"cg_dw":54.7623711,"cg_id_a":5.02554274,"cg_id_raw_a":11.1433487,"cg_iq_a":-199.982086,"cg_iq_raw_a":-200.204178,"cg_iu_a":-175.12767,"cg_iv_a":1.120224,"cg_iw_a":174.007446,"cg_sample_age_us":23.9254551,"cg_sample_seq":6197316,"cg_sample_valid":1,"cg_theta_rad":3.02545714,"cg_vd_req_v":-1.93681526,"cg_vd_v":-1.93681526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40967941,"cg_vq_v":-8.40967941,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.3695889,"dclink_p_w":-2369.08301,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":966.671265,"values":{"Elec_RPM":-2357.12036,"EncoderCos":12819,"EncoderSin":34515,"GapTicks":49482,"Mech_RPM":-471.424072,"cg_du":44.9842529,"cg_dv":51.7653046,"cg_dw":55.0157471,"cg_id_a":-11.6007328,"cg_id_raw_a":-8.16674232,"cg_iq_a":-198.238708,"cg_iq_raw_a":-197.204056,"cg_iu_a":-163.928314,"cg_iv_a":-13.9934692,"cg_iw_a":177.921783,"cg_sample_age_us":23.9290905,"cg_sample_seq":6199067,"cg_sample_valid":1,"cg_theta_rad":3.05776405,"cg_vd_req_v":-1.59951842,"cg_vd_v":-1.59951842,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42886829,"cg_vq_v":-8.42886829,"cg_vu_v":100.295509,"cg_vv_v":99.4157181,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":967.003296,"values":{"Elec_RPM":-2358.84888,"EncoderCos":22204,"EncoderSin":15667,"GapTicks":49328,"Mech_RPM":-471.769775,"cg_du":44.8442993,"cg_dv":55.1557007,"cg_dw":50.9606895,"cg_id_a":-6.72249269,"cg_id_raw_a":-10.7817345,"cg_iq_a":-197.6035,"cg_iq_raw_a":-196.858658,"cg_iu_a":-197.055191,"cg_iv_a":112.533768,"cg_iw_a":84.5214233,"cg_sample_age_us":23.9290905,"cg_sample_seq":6200717,"cg_sample_valid":1,"cg_theta_rad":4.16950798,"cg_vd_req_v":-1.79301631,"cg_vd_v":-1.79301631,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45114231,"cg_vq_v":-8.45114231,"cg_vu_v":118.770996,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2442.51807,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":967.071005,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":967.071012,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":967.071017,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":967.33728,"values":{"Elec_RPM":-2358.3252,"EncoderCos":33346,"EncoderSin":12834,"GapTicks":49314,"Mech_RPM":-471.665039,"cg_du":55.168232,"cg_dv":44.831768,"cg_dw":50.6695786,"cg_id_a":-14.9653416,"cg_id_raw_a":-12.7996674,"cg_iq_a":-195.214645,"cg_iq_raw_a":-195.225952,"cg_iu_a":185.788422,"cg_iv_a":-147.805679,"cg_iw_a":-37.9827423,"cg_sample_age_us":23.9799995,"cg_sample_seq":6202416,"cg_sample_valid":1,"cg_theta_rad":4.7583375,"cg_vd_req_v":-1.61627173,"cg_vd_v":-1.61627173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50880051,"cg_vq_v":-8.50880051,"cg_vu_v":43.549366,"cg_vv_v":40.0302238,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2483.95679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9747009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":967.688843,"values":{"Elec_RPM":-2358.56348,"EncoderCos":43892,"EncoderSin":16268,"GapTicks":49897,"Mech_RPM":-471.712708,"cg_du":45.3613663,"cg_dv":54.6386337,"cg_dw":46.2218781,"cg_id_a":5.20442438,"cg_id_raw_a":7.0064311,"cg_iq_a":-203.702866,"cg_iq_raw_a":-205.147018,"cg_iu_a":-171.249573,"cg_iv_a":178.751251,"cg_iw_a":-7.50167847,"cg_sample_age_us":23.9290905,"cg_sample_seq":6204117,"cg_sample_valid":1,"cg_theta_rad":5.3262639,"cg_vd_req_v":-2.06876159,"cg_vd_v":-2.06876159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31253815,"cg_vq_v":-8.31253815,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2417.05273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":968.020874,"values":{"Elec_RPM":-2358.3125,"EncoderCos":51068,"EncoderSin":25428,"GapTicks":49796,"Mech_RPM":-471.662506,"cg_du":53.5354652,"cg_dv":45.269886,"cg_dw":54.730114,"cg_id_a":17.6114883,"cg_id_raw_a":16.9649601,"cg_iq_a":-204.200027,"cg_iq_raw_a":-203.34404,"cg_iu_a":162.846085,"cg_iv_a":-189.413605,"cg_iw_a":26.5675201,"cg_sample_age_us":23.7654552,"cg_sample_seq":6205816,"cg_sample_valid":1,"cg_theta_rad":5.91763878,"cg_vd_req_v":-2.31117487,"cg_vd_v":-2.31117487,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29325104,"cg_vq_v":-8.29325104,"cg_vu_v":25.0738773,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2383.8457,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9569702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":968.063511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":968.063516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":968.063521,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":968.477905,"values":{"Elec_RPM":-2353.18848,"EncoderCos":31020,"EncoderSin":52565,"GapTicks":49345,"Mech_RPM":-470.637695,"cg_du":44.8596878,"cg_dv":55.1403122,"cg_dw":51.0493393,"cg_id_a":-4.87038469,"cg_id_raw_a":-5.24240303,"cg_iq_a":-195.273804,"cg_iq_raw_a":-195.523163,"cg_iu_a":-192.814667,"cg_iv_a":118.042839,"cg_iw_a":74.7718277,"cg_sample_age_us":23.7872734,"cg_sample_seq":6207966,"cg_sample_valid":1,"cg_theta_rad":1.64985609,"cg_vd_req_v":-1.78705192,"cg_vd_v":-1.78705192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4630022,"cg_vq_v":-8.4630022,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2402.93311,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":968.959181,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":968.959192,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":968.959194,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":969.015015,"values":{"Elec_RPM":-2348.12036,"EncoderCos":20072,"EncoderSin":17209,"GapTicks":49900,"Mech_RPM":-469.624084,"cg_du":46.1395798,"cg_dv":54.6358948,"cg_dw":45.3641052,"cg_id_a":12.9436216,"cg_id_raw_a":11.6361084,"cg_iq_a":-203.429489,"cg_iq_raw_a":-202.035568,"cg_iu_a":-161.318771,"cg_iv_a":191.255371,"cg_iw_a":-29.9366074,"cg_sample_age_us":23.9400005,"cg_sample_seq":6210667,"cg_sample_valid":1,"cg_theta_rad":4.03496075,"cg_vd_req_v":-2.16155887,"cg_vd_v":-2.16155887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31985283,"cg_vq_v":-8.31985283,"cg_vu_v":115.251846,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9906616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":969.087257,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":969.087263,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":969.087269,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":969.347046,"values":{"Elec_RPM":-2349.84595,"EncoderCos":12933,"EncoderSin":35409,"GapTicks":49940,"Mech_RPM":-469.969208,"cg_du":45.4002533,"cg_dv":54.0623932,"cg_dw":54.5997467,"cg_id_a":7.35695267,"cg_id_raw_a":8.8261776,"cg_iq_a":-200.143646,"cg_iq_raw_a":-200.571915,"cg_iu_a":-179.513168,"cg_iv_a":12.1020966,"cg_iw_a":167.411072,"cg_sample_age_us":23.8490906,"cg_sample_seq":6212516,"cg_sample_valid":1,"cg_theta_rad":3.0109973,"cg_vd_req_v":-1.98969781,"cg_vd_v":-1.98969781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39587784,"cg_vq_v":-8.39587784,"cg_vu_v":38.2706528,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2427.56885,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":969.700562,"values":{"Elec_RPM":-2355.46582,"EncoderCos":14567,"EncoderSin":24363,"GapTicks":49508,"Mech_RPM":-471.09314,"cg_du":54.9919128,"cg_dv":45.0080872,"cg_dw":47.7086487,"cg_id_a":10.9613724,"cg_id_raw_a":2.51854873,"cg_iq_a":-199.951752,"cg_iq_raw_a":-197.417297,"cg_iu_a":197.930115,"cg_iv_a":-63.8287354,"cg_iw_a":-134.101379,"cg_sample_age_us":24.0418186,"cg_sample_seq":6214217,"cg_sample_valid":1,"cg_theta_rad":3.57716632,"cg_vd_req_v":-2.12910867,"cg_vd_v":-2.12910867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36338043,"cg_vq_v":-8.36338043,"cg_vu_v":143.404984,"cg_vv_v":131.967773,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2468.03955,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":970.03064,"values":{"Elec_RPM":-2351.73145,"EncoderCos":22091,"EncoderSin":15773,"GapTicks":49311,"Mech_RPM":-470.346283,"cg_du":44.8284149,"cg_dv":55.1715851,"cg_dw":50.673954,"cg_id_a":-9.08029842,"cg_id_raw_a":-10.4229021,"cg_iq_a":-197.064804,"cg_iq_raw_a":-196.97435,"cg_iu_a":-197.200165,"cg_iv_a":117.354202,"cg_iw_a":79.8459625,"cg_sample_age_us":23.9436359,"cg_sample_seq":6215916,"cg_sample_valid":1,"cg_theta_rad":4.16062355,"cg_vd_req_v":-1.7438724,"cg_vd_v":-1.7438724,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46269989,"cg_vq_v":-8.46269989,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":970.079416,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":970.079421,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":970.079427,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":970.386108,"values":{"Elec_RPM":-2346.104,"EncoderCos":32208,"EncoderSin":12832,"GapTicks":49776,"Mech_RPM":-469.220825,"cg_du":54.7481995,"cg_dv":45.2518005,"cg_dw":53.5670319,"cg_id_a":5.84202099,"cg_id_raw_a":10.6969748,"cg_iq_a":-200.168961,"cg_iq_raw_a":-200.888184,"cg_iu_a":178.249695,"cg_iv_a":-155.851807,"cg_iw_a":-22.3978958,"cg_sample_age_us":24.0309086,"cg_sample_seq":6217620,"cg_sample_valid":1,"cg_theta_rad":4.74106789,"cg_vd_req_v":-2.01511359,"cg_vd_v":-2.01511359,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41108322,"cg_vq_v":-8.41108322,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2443.89185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":970.71814,"values":{"Elec_RPM":-2351.69727,"EncoderCos":52342,"EncoderSin":34694,"GapTicks":49591,"Mech_RPM":-470.339478,"cg_du":52.6898804,"cg_dv":54.9170609,"cg_dw":45.0829391,"cg_id_a":-4.24254465,"cg_id_raw_a":2.05217361,"cg_iq_a":-200.621338,"cg_iq_raw_a":-203.006821,"cg_iu_a":-0.722343445,"cg_iv_a":173.713379,"cg_iw_a":-172.991028,"cg_sample_age_us":23.5181828,"cg_sample_seq":6219216,"cg_sample_valid":1,"cg_theta_rad":0.10735026,"cg_vd_req_v":-1.84930265,"cg_vd_v":-1.84930265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3895874,"cg_vq_v":-8.3895874,"cg_vu_v":18.0355949,"cg_vv_v":11.877099,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9268188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":971.050171,"values":{"Elec_RPM":-2349.83936,"EncoderCos":50857,"EncoderSin":24895,"GapTicks":49499,"Mech_RPM":-469.967865,"cg_du":52.4375496,"cg_dv":44.9994164,"cg_dw":55.0005836,"cg_id_a":12.6929321,"cg_id_raw_a":9.57779408,"cg_iq_a":-201.64093,"cg_iq_raw_a":-201.362411,"cg_iu_a":140.048706,"cg_iv_a":-197.604706,"cg_iw_a":57.5559998,"cg_sample_age_us":23.7109089,"cg_sample_seq":6221017,"cg_sample_valid":1,"cg_theta_rad":5.88861942,"cg_vd_req_v":-2.23173189,"cg_vd_v":-2.23173189,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36221886,"cg_vq_v":-8.36221886,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":971.071356,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":971.071362,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":971.071367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":971.403687,"values":{"Elec_RPM":-2354.2207,"EncoderCos":48107,"EncoderSin":45294,"GapTicks":49916,"Mech_RPM":-470.844147,"cg_du":45.3788834,"cg_dv":46.1404572,"cg_dw":54.6211166,"cg_id_a":17.0726318,"cg_id_raw_a":19.4131718,"cg_iq_a":-205.573502,"cg_iq_raw_a":-204.112228,"cg_iu_a":-1.48346353,"cg_iv_a":-174.046204,"cg_iw_a":175.529663,"cg_sample_age_us":23.4127274,"cg_sample_seq":6222670,"cg_sample_valid":1,"cg_theta_rad":0.732284784,"cg_vd_req_v":-2.27875447,"cg_vd_v":-2.27875447,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29208946,"cg_vq_v":-8.29208946,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":971.733765,"values":{"Elec_RPM":-2355.72168,"EncoderCos":47146,"EncoderSin":46350,"GapTicks":49456,"Mech_RPM":-471.144318,"cg_du":48.5354996,"cg_dv":44.9605637,"cg_dw":55.0394363,"cg_id_a":-13.6974831,"cg_id_raw_a":-12.3211136,"cg_iq_a":-199.940125,"cg_iq_raw_a":-201.069962,"cg_iu_a":19.6466904,"cg_iv_a":-180.606354,"cg_iw_a":160.959656,"cg_sample_age_us":23.7581825,"cg_sample_seq":6224417,"cg_sample_valid":1,"cg_theta_rad":0.760784805,"cg_vd_req_v":-1.64953923,"cg_vd_v":-1.64953923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40491962,"cg_vq_v":-8.40491962,"cg_vu_v":106.453995,"cg_vv_v":96.7763672,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2523.07471,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":972.067749,"values":{"Elec_RPM":-2349.59448,"EncoderCos":26968,"EncoderSin":51824,"GapTicks":49355,"Mech_RPM":-469.918884,"cg_du":44.8685951,"cg_dv":48.9729729,"cg_dw":55.1314049,"cg_id_a":-9.89507961,"cg_id_raw_a":-13.7233572,"cg_iq_a":-198.343536,"cg_iq_raw_a":-197.111176,"cg_iu_a":-113.694374,"cg_iv_a":-83.3641586,"cg_iw_a":197.058533,"cg_sample_age_us":23.863636,"cg_sample_seq":6226067,"cg_sample_valid":1,"cg_theta_rad":1.86401737,"cg_vd_req_v":-1.70919096,"cg_vd_v":-1.70919096,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4346714,"cg_vq_v":-8.4346714,"cg_vu_v":100.735397,"cg_vv_v":95.0167923,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2418.3894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":972.094702,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":972.094708,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":972.094713,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":972.419312,"values":{"Elec_RPM":-2360.5437,"EncoderCos":17284,"EncoderSin":45382,"GapTicks":49306,"Mech_RPM":-472.108734,"cg_du":55.1755753,"cg_dv":49.4481354,"cg_dw":44.8244247,"cg_id_a":-9.79397583,"cg_id_raw_a":-9.89958191,"cg_iq_a":-195.855774,"cg_iq_raw_a":-196.980591,"cg_iu_a":148.312302,"cg_iv_a":34.2108459,"cg_iw_a":-182.523148,"cg_sample_age_us":23.9072723,"cg_sample_seq":6227766,"cg_sample_valid":1,"cg_theta_rad":2.45003033,"cg_vd_req_v":-1.70492649,"cg_vd_v":-1.70492649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49609089,"cg_vq_v":-8.49609089,"cg_vu_v":105.574219,"cg_vv_v":92.3774414,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5022087,"dclink_p_w":-2533.00122,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":972.751343,"values":{"Elec_RPM":-2353.28174,"EncoderCos":12855,"EncoderSin":34986,"GapTicks":49693,"Mech_RPM":-470.656342,"cg_du":45.1762848,"cg_dv":53.0452919,"cg_dw":54.8237152,"cg_id_a":1.08312464,"cg_id_raw_a":9.15921402,"cg_iq_a":-200.307068,"cg_iq_raw_a":-202.570694,"cg_iu_a":-172.844299,"cg_iv_a":-0.83694458,"cg_iw_a":173.681244,"cg_sample_age_us":23.8963642,"cg_sample_seq":6229466,"cg_sample_valid":1,"cg_theta_rad":3.03624296,"cg_vd_req_v":-1.85796499,"cg_vd_v":-1.85796499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37627888,"cg_vq_v":-8.37627888,"cg_vu_v":38.7105446,"cg_vv_v":47.9482918,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":973.086976,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":973.086982,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":973.086987,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":973.104858,"values":{"Elec_RPM":-2352.59888,"EncoderCos":12901,"EncoderSin":35274,"GapTicks":49899,"Mech_RPM":-470.519775,"cg_du":45.3628654,"cg_dv":53.8441277,"cg_dw":54.6371346,"cg_id_a":10.9746571,"cg_id_raw_a":10.9227333,"cg_iq_a":-201.373871,"cg_iq_raw_a":-200.145386,"cg_iu_a":-160.485168,"cg_iv_a":-26.0263977,"cg_iw_a":186.511566,"cg_sample_age_us":25.2199993,"cg_sample_seq":6231221,"cg_sample_valid":1,"cg_theta_rad":3.07361293,"cg_vd_req_v":-2.05690646,"cg_vd_v":-2.05690646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34126949,"cg_vq_v":-8.34126949,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":973.43689,"values":{"Elec_RPM":-2360.0415,"EncoderCos":22444,"EncoderSin":15576,"GapTicks":49364,"Mech_RPM":-472.008301,"cg_du":44.8768349,"cg_dv":55.1231651,"cg_dw":51.4290504,"cg_id_a":-1.61739624,"cg_id_raw_a":-2.75482941,"cg_iq_a":-197.862045,"cg_iq_raw_a":-198.076782,"cg_iu_a":-199.302307,"cg_iv_a":94.2668762,"cg_iw_a":105.035431,"cg_sample_age_us":23.9290905,"cg_sample_seq":6232866,"cg_sample_valid":1,"cg_theta_rad":4.18329525,"cg_vd_req_v":-1.89255309,"cg_vd_v":-1.89255309,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46278572,"cg_vq_v":-8.46278572,"cg_vu_v":38.2706528,"cg_vv_v":51.4674301,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-16.1611862,"dclink_p_w":-2338.92212,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":973.770874,"values":{"Elec_RPM":-2355.84521,"EncoderCos":23173,"EncoderSin":15170,"GapTicks":49637,"Mech_RPM":-471.169067,"cg_du":45.1249084,"cg_dv":54.8750916,"cg_dw":53.0845146,"cg_id_a":7.66935253,"cg_id_raw_a":8.57962513,"cg_iq_a":-197.569077,"cg_iq_raw_a":-197.103729,"cg_iu_a":-192.198517,"cg_iv_a":61.1037598,"cg_iw_a":131.094757,"cg_sample_age_us":23.8345451,"cg_sample_seq":6234616,"cg_sample_valid":1,"cg_theta_rad":4.21628475,"cg_vd_req_v":-2.06554699,"cg_vd_v":-2.06554699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45109272,"cg_vq_v":-8.45109272,"cg_vu_v":98.9758301,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.5366402,"dclink_p_w":-2537.98413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":974.078708,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":974.078714,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":974.078719,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":974.122437,"values":{"Elec_RPM":-2352.38037,"EncoderCos":34333,"EncoderSin":12859,"GapTicks":49390,"Mech_RPM":-470.476074,"cg_du":55.0993958,"cg_dv":44.9006042,"cg_dw":48.6895905,"cg_id_a":-5.07697105,"cg_id_raw_a":-10.5968647,"cg_iq_a":-196.819672,"cg_iq_raw_a":-196.595612,"cg_iu_a":197.966354,"cg_iv_a":-97.897934,"cg_iw_a":-100.06842,"cg_sample_age_us":24.0563641,"cg_sample_seq":6236316,"cg_sample_valid":1,"cg_theta_rad":4.80579185,"cg_vd_req_v":-1.83787274,"cg_vd_v":-1.83787274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41674042,"cg_vq_v":-8.41674042,"cg_vu_v":33.4318352,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.2409229,"dclink_p_w":-2350.46191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":974.454468,"values":{"Elec_RPM":-2350.56616,"EncoderCos":51084,"EncoderSin":25507,"GapTicks":49817,"Mech_RPM":-470.11322,"cg_du":53.7411385,"cg_dv":45.2885895,"cg_dw":54.7114105,"cg_id_a":17.1006432,"cg_id_raw_a":16.4600143,"cg_iq_a":-203.571167,"cg_iq_raw_a":-203.560989,"cg_iu_a":156.974579,"cg_iv_a":-191.878174,"cg_iw_a":34.9036026,"cg_sample_age_us":23.6709099,"cg_sample_seq":6237966,"cg_sample_valid":1,"cg_theta_rad":5.91360807,"cg_vd_req_v":-2.306391,"cg_vd_v":-2.306391,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34866142,"cg_vq_v":-8.34866142,"cg_vu_v":140.325729,"cg_vv_v":109.533249,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9605103,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":974.788452,"values":{"Elec_RPM":-2348.06445,"EncoderCos":51365,"EncoderSin":26177,"GapTicks":49772,"Mech_RPM":-469.612885,"cg_du":54.7523689,"cg_dv":45.2476311,"cg_dw":53.556488,"cg_id_a":7.29555321,"cg_id_raw_a":14.4717941,"cg_iq_a":-201.331757,"cg_iq_raw_a":-202.902069,"cg_iu_a":172.450684,"cg_iv_a":-173.140106,"cg_iw_a":0.689422607,"cg_sample_age_us":24.1836357,"cg_sample_seq":6239716,"cg_sample_valid":1,"cg_theta_rad":5.95752811,"cg_vd_req_v":-2.07964563,"cg_vd_v":-2.07964563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39778328,"cg_vq_v":-8.39778328,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5979233,"dclink_p_w":-2409.43018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.893158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":975.103341,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":975.103347,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":975.103352,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":975.140015,"values":{"Elec_RPM":-2347.16577,"EncoderCos":38581,"EncoderSin":51664,"GapTicks":49491,"Mech_RPM":-469.433167,"cg_du":55.007328,"cg_dv":52.1185608,"cg_dw":44.992672,"cg_id_a":10.8869352,"cg_id_raw_a":7.08221817,"cg_iq_a":-203.459534,"cg_iq_raw_a":-202.73558,"cg_iu_a":22.4374657,"cg_iv_a":165.014847,"cg_iw_a":-187.452316,"cg_sample_age_us":23.8163643,"cg_sample_seq":6241321,"cg_sample_valid":1,"cg_theta_rad":1.32006752,"cg_vd_req_v":-2.14965701,"cg_vd_v":-2.14965701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31438446,"cg_vq_v":-8.31438446,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2520.07227,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":975.472046,"values":{"Elec_RPM":-2346.32764,"EncoderCos":46335,"EncoderSin":47194,"GapTicks":49341,"Mech_RPM":-469.265533,"cg_du":50.9257698,"cg_dv":44.8558388,"cg_dw":55.1441612,"cg_id_a":-5.22846603,"cg_id_raw_a":-10.3816004,"cg_iq_a":-199.076843,"cg_iq_raw_a":-198.19577,"cg_iu_a":89.416069,"cg_iv_a":-198.873245,"cg_iw_a":109.457176,"cg_sample_age_us":23.630909,"cg_sample_seq":6243117,"cg_sample_valid":1,"cg_theta_rad":0.821771622,"cg_vd_req_v":-1.85744965,"cg_vd_v":-1.85744965,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41402245,"cg_vq_v":-8.41402245,"cg_vu_v":25.0738773,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2396.13477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9587402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":975.80603,"values":{"Elec_RPM":-2346.71558,"EncoderCos":25739,"EncoderSin":51443,"GapTicks":49722,"Mech_RPM":-469.343109,"cg_du":45.2023735,"cg_dv":46.6247482,"cg_dw":54.7976265,"cg_id_a":13.3562174,"cg_id_raw_a":11.073596,"cg_iq_a":-201.240082,"cg_iq_raw_a":-199.592453,"cg_iu_a":-37.4735909,"cg_iv_a":-145.051163,"cg_iw_a":194.593948,"cg_sample_age_us":23.8600006,"cg_sample_seq":6244767,"cg_sample_valid":1,"cg_theta_rad":1.92702127,"cg_vd_req_v":-2.15860558,"cg_vd_v":-2.15860558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38007259,"cg_vq_v":-8.38007259,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":976.094597,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":976.094603,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":976.094608,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":976.157593,"values":{"Elec_RPM":-2352.1106,"EncoderCos":24992,"EncoderSin":51156,"GapTicks":49931,"Mech_RPM":-470.422119,"cg_du":46.1581726,"cg_dv":45.3918533,"cg_dw":54.6081467,"cg_id_a":8.09147263,"cg_id_raw_a":8.81662464,"cg_iq_a":-204.499603,"cg_iq_raw_a":-204.343811,"cg_iu_a":-7.93486595,"cg_iv_a":-172.052811,"cg_iw_a":179.987671,"cg_sample_age_us":23.9036369,"cg_sample_seq":6246517,"cg_sample_valid":1,"cg_theta_rad":1.96858728,"cg_vd_req_v":-2.02975249,"cg_vd_v":-2.02975249,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30197811,"cg_vq_v":-8.30197811,"cg_vu_v":144.724655,"cg_vv_v":139.445938,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":976.491577,"values":{"Elec_RPM":-2352.60718,"EncoderCos":14898,"EncoderSin":23679,"GapTicks":49878,"Mech_RPM":-470.521423,"cg_du":54.6558304,"cg_dv":45.3441696,"cg_dw":46.2199097,"cg_id_a":15.8160067,"cg_id_raw_a":15.4138222,"cg_iq_a":-205.153107,"cg_iq_raw_a":-204.36499,"cg_iu_a":188.180511,"cg_iv_a":-33.2389221,"cg_iw_a":-160.740601,"cg_sample_age_us":24.0745449,"cg_sample_seq":6248117,"cg_sample_valid":1,"cg_theta_rad":3.61619186,"cg_vd_req_v":-2.21765256,"cg_vd_v":-2.21765256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30182552,"cg_vq_v":-8.30182552,"cg_vu_v":105.574219,"cg_vv_v":87.53862,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":976.84314,"values":{"Elec_RPM":-2355.30737,"EncoderCos":12808,"EncoderSin":33914,"GapTicks":49380,"Mech_RPM":-471.061493,"cg_du":44.8913345,"cg_dv":50.441494,"cg_dw":55.1086655,"cg_id_a":-13.918869,"cg_id_raw_a":-12.4867916,"cg_iq_a":-200.846603,"cg_iq_raw_a":-203.529984,"cg_iu_a":-104.850876,"cg_iv_a":-94.0560913,"cg_iw_a":198.906967,"cg_sample_age_us":23.8345451,"cg_sample_seq":6249920,"cg_sample_valid":1,"cg_theta_rad":3.12926173,"cg_vd_req_v":-1.59484076,"cg_vd_v":-1.59484076,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3978014,"cg_vq_v":-8.3978014,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2391.90039,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9693604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":977.087207,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":977.087213,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":977.087218,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":977.175171,"values":{"Elec_RPM":-2361.22095,"EncoderCos":23454,"EncoderSin":15053,"GapTicks":49830,"Mech_RPM":-472.244202,"cg_du":45.3001022,"cg_dv":54.6998978,"cg_dw":53.7037697,"cg_id_a":6.90702724,"cg_id_raw_a":3.95982003,"cg_iq_a":-198.457092,"cg_iq_raw_a":-197.634094,"cg_iu_a":-187.341843,"cg_iv_a":37.2553253,"cg_iw_a":150.086517,"cg_sample_age_us":23.9618187,"cg_sample_seq":6251567,"cg_sample_valid":1,"cg_theta_rad":4.23939896,"cg_vd_req_v":-2.05058765,"cg_vd_v":-2.05058765,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40870857,"cg_vq_v":-8.40870857,"cg_vu_v":102.494972,"cg_vv_v":103.814644,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2424.94629,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":977.507202,"values":{"Elec_RPM":-2353.43481,"EncoderCos":24378,"EncoderSin":14635,"GapTicks":49721,"Mech_RPM":-470.686951,"cg_du":45.2015762,"cg_dv":53.0599823,"cg_dw":54.7984238,"cg_id_a":1.77006483,"cg_id_raw_a":5.94033384,"cg_iq_a":-201.967285,"cg_iq_raw_a":-204.202744,"cg_iu_a":-174.946442,"cg_iv_a":-0.54699707,"cg_iw_a":175.493439,"cg_sample_age_us":23.9290905,"cg_sample_seq":6253316,"cg_sample_valid":1,"cg_theta_rad":4.28912973,"cg_vd_req_v":-1.93135285,"cg_vd_v":-1.93135285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32392883,"cg_vq_v":-8.32392883,"cg_vu_v":2.19946289,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7396049,"dclink_p_w":-2567.35815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":977.860718,"values":{"Elec_RPM":-2348.95459,"EncoderCos":44381,"EncoderSin":16682,"GapTicks":49503,"Mech_RPM":-469.790924,"cg_du":45.0036278,"cg_dv":54.9963722,"cg_dw":47.785244,"cg_id_a":-7.97290611,"cg_id_raw_a":-2.1556406,"cg_iq_a":-200.070801,"cg_iq_raw_a":-202.250031,"cg_iu_a":-191.872314,"cg_iv_a":136.59967,"cg_iw_a":55.2726364,"cg_sample_age_us":26.8018188,"cg_sample_seq":6254970,"cg_sample_valid":1,"cg_theta_rad":5.39940214,"cg_vd_req_v":-1.8078841,"cg_vd_v":-1.8078841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42697144,"cg_vq_v":-8.42697144,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.7903461,"dclink_p_w":-2574.70166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":978.079214,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":978.07922,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":978.079225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":978.223999,"values":{"Elec_RPM":-2349.8125,"EncoderCos":45710,"EncoderSin":17770,"GapTicks":49335,"Mech_RPM":-469.962494,"cg_du":44.8503189,"cg_dv":55.1496811,"cg_dw":51.5348473,"cg_id_a":-2.02322149,"cg_id_raw_a":-6.45181417,"cg_iq_a":-195.422363,"cg_iq_raw_a":-195.742523,"cg_iu_a":-196.185333,"cg_iv_a":89.7726288,"cg_iw_a":106.412704,"cg_sample_age_us":23.9254551,"cg_sample_seq":6256716,"cg_sample_valid":1,"cg_theta_rad":5.44136477,"cg_vd_req_v":-1.97273183,"cg_vd_v":-1.97273183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50655365,"cg_vq_v":-8.50655365,"cg_vu_v":38.2706528,"cg_vv_v":50.5876465,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-16.4040203,"dclink_p_w":-2381.28223,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9906616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":978.74353,"values":{"Elec_RPM":-2339.98096,"EncoderCos":22865,"EncoderSin":50116,"GapTicks":49373,"Mech_RPM":-467.996185,"cg_du":51.4238853,"cg_dv":44.8848534,"cg_dw":55.1151466,"cg_id_a":0.749706626,"cg_id_raw_a":-3.82232285,"cg_iq_a":-198.301346,"cg_iq_raw_a":-197.887253,"cg_iu_a":107.103058,"cg_iv_a":-198.692017,"cg_iw_a":91.5889587,"cg_sample_age_us":23.6890907,"cg_sample_seq":6259366,"cg_sample_valid":1,"cg_theta_rad":2.08710194,"cg_vd_req_v":-1.9393971,"cg_vd_v":-1.9393971,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4377861,"cg_vq_v":-8.4377861,"cg_vu_v":45.7488289,"cg_vv_v":43.549366,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-16.5489941,"dclink_p_w":-2395.04736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":978.942567,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":978.942577,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":978.94258,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":979.071406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":979.071412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":979.071417,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":979.184937,"values":{"Elec_RPM":-2340.14404,"EncoderCos":25123,"EncoderSin":51204,"GapTicks":50053,"Mech_RPM":-468.028809,"cg_du":45.8446121,"cg_dv":45.5032501,"cg_dw":54.4967499,"cg_id_a":10.5263424,"cg_id_raw_a":12.5443106,"cg_iq_a":-205.36087,"cg_iq_raw_a":-206.443909,"cg_iu_a":-11.1243238,"cg_iv_a":-172.451477,"cg_iw_a":183.575806,"cg_sample_age_us":23.8927269,"cg_sample_seq":6261716,"cg_sample_valid":1,"cg_theta_rad":1.96344841,"cg_vd_req_v":-2.08645105,"cg_vd_v":-2.08645105,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28450012,"cg_vq_v":-8.28450012,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-17.549324,"dclink_p_w":-2547.53979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9675903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":979.518921,"values":{"Elec_RPM":-2344.4978,"EncoderCos":14835,"EncoderSin":23738,"GapTicks":49807,"Mech_RPM":-468.899567,"cg_du":54.7203445,"cg_dv":45.2796555,"cg_dw":46.4022102,"cg_id_a":17.9357033,"cg_id_raw_a":19.0677109,"cg_iq_a":-204.666412,"cg_iq_raw_a":-204.8349,"cg_iu_a":191.152512,"cg_iv_a":-27.4761505,"cg_iw_a":-163.676361,"cg_sample_age_us":24.0672722,"cg_sample_seq":6263316,"cg_sample_valid":1,"cg_theta_rad":3.61497331,"cg_vd_req_v":-2.25469232,"cg_vd_v":-2.25469232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31816864,"cg_vq_v":-8.31816864,"cg_vu_v":35.1914063,"cg_vv_v":31.6722641,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2441.46924,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":979.850952,"values":{"Elec_RPM":-2352.29639,"EncoderCos":22609,"EncoderSin":15473,"GapTicks":49436,"Mech_RPM":-470.45929,"cg_du":44.9421005,"cg_dv":55.0578995,"cg_dw":51.8158417,"cg_id_a":0.677002549,"cg_id_raw_a":-0.021117121,"cg_iq_a":-197.213379,"cg_iq_raw_a":-197.684174,"cg_iu_a":-196.62027,"cg_iv_a":96.9489288,"cg_iw_a":99.6713409,"cg_sample_age_us":23.8345451,"cg_sample_seq":6265016,"cg_sample_valid":1,"cg_theta_rad":4.18430948,"cg_vd_req_v":-1.92759371,"cg_vd_v":-1.92759371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44104576,"cg_vq_v":-8.44104576,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":980.063125,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":980.063132,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":980.063137,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":980.204468,"values":{"Elec_RPM":-2356.55151,"EncoderCos":33589,"EncoderSin":12825,"GapTicks":49345,"Mech_RPM":-471.310303,"cg_du":55.1403122,"cg_dv":44.8596878,"cg_dw":50.0945244,"cg_id_a":-17.104063,"cg_id_raw_a":-19.050539,"cg_iq_a":-195.850281,"cg_iq_raw_a":-195.226135,"cg_iu_a":190.79007,"cg_iv_a":-140.484421,"cg_iw_a":-50.3056488,"cg_sample_age_us":24.0345459,"cg_sample_seq":6266716,"cg_sample_valid":1,"cg_theta_rad":4.77213335,"cg_vd_req_v":-1.57939148,"cg_vd_v":-1.57939148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44421291,"cg_vq_v":-8.44421291,"cg_vu_v":43.549366,"cg_vv_v":40.4701157,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2447.76367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9693604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":980.536499,"values":{"Elec_RPM":-2358.41699,"EncoderCos":34066,"EncoderSin":12854,"GapTicks":49348,"Mech_RPM":-471.68338,"cg_du":55.1373024,"cg_dv":44.8626976,"cg_dw":49.1882439,"cg_id_a":-10.0993004,"cg_id_raw_a":-13.9487057,"cg_iq_a":-198.32547,"cg_iq_raw_a":-197.781693,"cg_iu_a":197.205231,"cg_iv_a":-127.654114,"cg_iw_a":-68.3188324,"cg_sample_age_us":24.0527267,"cg_sample_seq":6268467,"cg_sample_valid":1,"cg_theta_rad":4.79329205,"cg_vd_req_v":-1.74008846,"cg_vd_v":-1.74008846,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41658401,"cg_vq_v":-8.41658401,"cg_vu_v":140.325729,"cg_vv_v":121.850235,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2387.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":42.9693604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":980.86853,"values":{"Elec_RPM":-2351.32764,"EncoderCos":52136,"EncoderSin":35867,"GapTicks":49350,"Mech_RPM":-470.265503,"cg_du":49.8641434,"cg_dv":55.1356277,"cg_dw":44.8643723,"cg_id_a":-15.093935,"cg_id_raw_a":-16.0290127,"cg_iq_a":-197.769043,"cg_iq_raw_a":-195.542816,"cg_iu_a":-59.5098419,"cg_iv_a":193.647476,"cg_iw_a":-134.137634,"cg_sample_age_us":23.3981819,"cg_sample_seq":6270067,"cg_sample_valid":1,"cg_theta_rad":0.169969752,"cg_vd_req_v":-1.66522455,"cg_vd_v":-1.66522455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42025471,"cg_vq_v":-8.42025471,"cg_vu_v":15.3962402,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2720604,"dclink_p_w":-2499.69287,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0172729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":981.087302,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":981.087308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":981.087314,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":981.222046,"values":{"Elec_RPM":-2349.11084,"EncoderCos":51986,"EncoderSin":36846,"GapTicks":49480,"Mech_RPM":-469.822144,"cg_du":48.0263863,"cg_dv":55.0175591,"cg_dw":44.9824409,"cg_id_a":1.31231475,"cg_id_raw_a":-4.72931433,"cg_iq_a":-200.117432,"cg_iq_raw_a":-199.195984,"cg_iu_a":-120.870651,"cg_iv_a":200.026398,"cg_iw_a":-79.1557388,"cg_sample_age_us":23.5,"cg_sample_seq":6271816,"cg_sample_valid":1,"cg_theta_rad":0.219499812,"cg_vd_req_v":-2.01442289,"cg_vd_v":-2.01442289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35923004,"cg_vq_v":-8.35923004,"cg_vu_v":37.830761,"cg_vv_v":46.6286087,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2450.521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":981.554077,"values":{"Elec_RPM":-2351.66089,"EncoderCos":46694,"EncoderSin":46856,"GapTicks":49305,"Mech_RPM":-470.332184,"cg_du":49.9652786,"cg_dv":44.8236008,"cg_dw":55.1763992,"cg_id_a":-11.3693867,"cg_id_raw_a":-15.7402172,"cg_iq_a":-196.972168,"cg_iq_raw_a":-197.940048,"cg_iu_a":46.9745407,"cg_iv_a":-188.83371,"cg_iw_a":141.859161,"cg_sample_age_us":23.5618191,"cg_sample_seq":6273516,"cg_sample_valid":1,"cg_theta_rad":0.786778092,"cg_vd_req_v":-1.72860479,"cg_vd_v":-1.72860479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47606754,"cg_vq_v":-8.47606754,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2512.01953,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0013123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":981.90564,"values":{"Elec_RPM":-2351.60767,"EncoderCos":27195,"EncoderSin":51898,"GapTicks":49357,"Mech_RPM":-470.321533,"cg_du":44.8707695,"cg_dv":49.4337845,"cg_dw":55.1292305,"cg_id_a":-12.7833376,"cg_id_raw_a":-15.05546,"cg_iq_a":-197.746063,"cg_iq_raw_a":-196.685867,"cg_iu_a":-71.6152802,"cg_iv_a":-123.703552,"cg_iw_a":199.559357,"cg_sample_age_us":23.863636,"cg_sample_seq":6275171,"cg_sample_valid":1,"cg_theta_rad":1.89571679,"cg_vd_req_v":-1.63371015,"cg_vd_v":-1.63371015,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43223381,"cg_vq_v":-8.43223381,"cg_vu_v":119.650772,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7124214,"dclink_p_w":-2563.42407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":982.079644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":982.07965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":982.079656,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":982.239624,"values":{"Elec_RPM":-2348.27905,"EncoderCos":25410,"EncoderSin":51336,"GapTicks":49974,"Mech_RPM":-469.655823,"cg_du":45.4313736,"cg_dv":45.9727173,"cg_dw":54.5686264,"cg_id_a":13.3529644,"cg_id_raw_a":14.7614841,"cg_iq_a":-204.00946,"cg_iq_raw_a":-203.00885,"cg_iu_a":-21.852499,"cg_iv_a":-166.21756,"cg_iw_a":188.070053,"cg_sample_age_us":23.8999996,"cg_sample_seq":6276916,"cg_sample_valid":1,"cg_theta_rad":1.94899547,"cg_vd_req_v":-2.15023255,"cg_vd_v":-2.15023255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29245758,"cg_vq_v":-8.29245758,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.985321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":982.569702,"values":{"Elec_RPM":-2352.82056,"EncoderCos":16619,"EncoderSin":44513,"GapTicks":49413,"Mech_RPM":-470.564117,"cg_du":55.0788193,"cg_dv":51.5326462,"cg_dw":44.9211807,"cg_id_a":6.44478416,"cg_id_raw_a":3.04590368,"cg_iq_a":-202.430283,"cg_iq_raw_a":-201.167191,"cg_iu_a":84.7406158,"cg_iv_a":106.807251,"cg_iw_a":-203.472092,"cg_sample_age_us":23.8527279,"cg_sample_seq":6278617,"cg_sample_valid":1,"cg_theta_rad":2.512182,"cg_vd_req_v":-2.03360105,"cg_vd_v":-2.03360105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34485435,"cg_vq_v":-8.34485435,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2506.99878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9640198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":982.923218,"values":{"Elec_RPM":-2352.10156,"EncoderCos":12817,"EncoderSin":33766,"GapTicks":49349,"Mech_RPM":-470.420319,"cg_du":44.8630371,"cg_dv":50.0499725,"cg_dw":55.1369629,"cg_id_a":-16.6315689,"cg_id_raw_a":-16.0170593,"cg_iq_a":-199.142975,"cg_iq_raw_a":-200.84668,"cg_iu_a":-142.761932,"cg_iv_a":-38.0231171,"cg_iw_a":188.033813,"cg_sample_age_us":23.9327278,"cg_sample_seq":6280316,"cg_sample_valid":1,"cg_theta_rad":3.0941,"cg_vd_req_v":-1.54148602,"cg_vd_v":-1.54148602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44516754,"cg_vq_v":-8.44516754,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.8410873,"dclink_p_w":-2582.04517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":983.103391,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":983.103397,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":983.103403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":983.257202,"values":{"Elec_RPM":-2349.7627,"EncoderCos":15370,"EncoderSin":22831,"GapTicks":49645,"Mech_RPM":-469.952515,"cg_du":54.867363,"cg_dv":47.2362823,"cg_dw":45.132637,"cg_id_a":-2.51234412,"cg_id_raw_a":3.63843465,"cg_iq_a":-199.153961,"cg_iq_raw_a":-199.035767,"cg_iu_a":169.080017,"cg_iv_a":0.794036865,"cg_iw_a":-169.874054,"cg_sample_age_us":24.0200005,"cg_sample_seq":6282017,"cg_sample_valid":1,"cg_theta_rad":3.66825938,"cg_vd_req_v":-1.81523323,"cg_vd_v":-1.81523323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39188957,"cg_vq_v":-8.39188957,"cg_vu_v":129.768311,"cg_vv_v":126.689056,"cg_vw_v":133.287445,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":983.58728,"values":{"Elec_RPM":-2350.38037,"EncoderCos":23687,"EncoderSin":14894,"GapTicks":50000,"Mech_RPM":-470.07605,"cg_du":45.45541,"cg_dv":54.54459,"cg_dw":54.2234879,"cg_id_a":8.76432323,"cg_id_raw_a":7.35882759,"cg_iq_a":-200.400848,"cg_iq_raw_a":-200.537521,"cg_iu_a":-185.783356,"cg_iv_a":23.845108,"cg_iw_a":161.938248,"cg_sample_age_us":23.8309097,"cg_sample_seq":6283716,"cg_sample_valid":1,"cg_theta_rad":4.25319815,"cg_vd_req_v":-2.08707857,"cg_vd_v":-2.08707857,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36227894,"cg_vq_v":-8.36227894,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.4638214,"dclink_p_w":-2382.72095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":983.940796,"values":{"Elec_RPM":-2351.81128,"EncoderCos":34782,"EncoderSin":12913,"GapTicks":49444,"Mech_RPM":-470.362274,"cg_du":55.0502853,"cg_dv":44.9497147,"cg_dw":47.9360962,"cg_id_a":7.19695473,"cg_id_raw_a":3.21003461,"cg_iq_a":-200.709396,"cg_iq_raw_a":-200.355988,"cg_iu_a":199.343628,"cg_iv_a":-85.0676193,"cg_iw_a":-114.276009,"cg_sample_age_us":23.9763641,"cg_sample_seq":6285416,"cg_sample_valid":1,"cg_theta_rad":4.82189608,"cg_vd_req_v":-2.0933485,"cg_vd_v":-2.0933485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38782692,"cg_vq_v":-8.38782692,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2405.01392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9871216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":984.094674,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":984.09468,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":984.094686,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":984.272827,"values":{"Elec_RPM":-2354.0686,"EncoderCos":35332,"EncoderSin":12996,"GapTicks":49670,"Mech_RPM":-470.813721,"cg_du":54.8446465,"cg_dv":45.1553535,"cg_dw":46.8534126,"cg_id_a":13.6469479,"cg_id_raw_a":11.1097345,"cg_iq_a":-202.20993,"cg_iq_raw_a":-200.444244,"cg_iu_a":193.182159,"cg_iv_a":-42.7348022,"cg_iw_a":-150.447357,"cg_sample_age_us":24.0963631,"cg_sample_seq":6287167,"cg_sample_valid":1,"cg_theta_rad":4.85624313,"cg_vd_req_v":-2.20429945,"cg_vd_v":-2.20429945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36087227,"cg_vq_v":-8.36087227,"cg_vu_v":106.893898,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.985321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":984.606812,"values":{"Elec_RPM":-2353.70972,"EncoderCos":51941,"EncoderSin":36954,"GapTicks":49474,"Mech_RPM":-470.741943,"cg_du":47.8629799,"cg_dv":55.0227432,"cg_dw":44.9772568,"cg_id_a":5.78696346,"cg_id_raw_a":0.331002861,"cg_iq_a":-201.639526,"cg_iq_raw_a":-200.478638,"cg_iu_a":-141.130951,"cg_iv_a":198.250443,"cg_iw_a":-57.1194916,"cg_sample_age_us":23.51091,"cg_sample_seq":6288767,"cg_sample_valid":1,"cg_theta_rad":0.236662626,"cg_vd_req_v":-2.11318994,"cg_vd_v":-2.11318994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35381985,"cg_vq_v":-8.35381985,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2468.03955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9693604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":984.958374,"values":{"Elec_RPM":-2353.60327,"EncoderCos":51775,"EncoderSin":27473,"GapTicks":49314,"Mech_RPM":-470.720642,"cg_du":55.168869,"cg_dv":44.831131,"cg_dw":50.1832123,"cg_id_a":-13.3728676,"cg_id_raw_a":-13.9714546,"cg_iq_a":-196.996353,"cg_iq_raw_a":-195.517776,"cg_iu_a":191.804901,"cg_iv_a":-139.578339,"cg_iw_a":-52.2265701,"cg_sample_age_us":24.1727276,"cg_sample_seq":6290566,"cg_sample_valid":1,"cg_theta_rad":6.02662897,"cg_vd_req_v":-1.68322015,"cg_vd_v":-1.68322015,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44736576,"cg_vq_v":-8.44736576,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.6924877,"dclink_p_w":-2560.53906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":985.087568,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":985.087573,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":985.087579,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":985.290405,"values":{"Elec_RPM":-2351.47852,"EncoderCos":36347,"EncoderSin":52182,"GapTicks":49399,"Mech_RPM":-470.295715,"cg_du":51.5485039,"cg_dv":55.0918121,"cg_dw":44.9081879,"cg_id_a":-8.85973263,"cg_id_raw_a":-8.00332928,"cg_iq_a":-194.689301,"cg_iq_raw_a":-194.64679,"cg_iu_a":-24.0271282,"cg_iv_a":178.859985,"cg_iw_a":-154.832855,"cg_sample_age_us":23.8745461,"cg_sample_seq":6292167,"cg_sample_valid":1,"cg_theta_rad":1.38701022,"cg_vd_req_v":-1.69952226,"cg_vd_v":-1.69952226,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4972496,"cg_vq_v":-8.4972496,"cg_vu_v":104.694435,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2455.4668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0172729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":985.641968,"values":{"Elec_RPM":-2349.09131,"EncoderCos":45116,"EncoderSin":48226,"GapTicks":49912,"Mech_RPM":-469.818268,"cg_du":53.9252472,"cg_dv":45.3746758,"cg_dw":54.6253242,"cg_id_a":17.0649529,"cg_id_raw_a":18.6808548,"cg_iq_a":-203.00177,"cg_iq_raw_a":-201.706406,"cg_iu_a":160.309006,"cg_iv_a":-190.102234,"cg_iw_a":29.7932281,"cg_sample_age_us":23.9509087,"cg_sample_seq":6293966,"cg_sample_valid":1,"cg_theta_rad":0.891612828,"cg_vd_req_v":-2.26477551,"cg_vd_v":-2.26477551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33130646,"cg_vq_v":-8.33130646,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00392767228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":985.975952,"values":{"Elec_RPM":-2353.31177,"EncoderCos":16440,"EncoderSin":44179,"GapTicks":49479,"Mech_RPM":-470.662354,"cg_du":55.0182991,"cg_dv":52.2234573,"cg_dw":44.9817009,"cg_id_a":13.2153425,"cg_id_raw_a":12.5445843,"cg_iq_a":-203.233582,"cg_iq_raw_a":-202.650192,"cg_iu_a":60.6747131,"cg_iv_a":138.266907,"cg_iw_a":-198.94162,"cg_sample_age_us":23.8854542,"cg_sample_seq":6295567,"cg_sample_valid":1,"cg_theta_rad":2.53348589,"cg_vd_req_v":-2.18087602,"cg_vd_v":-2.18087602,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34988213,"cg_vq_v":-8.34988213,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":986.079178,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":986.079184,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":986.07919,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":986.307983,"values":{"Elec_RPM":-2353.20752,"EncoderCos":15801,"EncoderSin":43331,"GapTicks":50072,"Mech_RPM":-470.641479,"cg_du":54.4751282,"cg_dv":54.4793549,"cg_dw":45.5206451,"cg_id_a":12.373024,"cg_id_raw_a":15.1838007,"cg_iq_a":-202.746124,"cg_iq_raw_a":-204.421112,"cg_iu_a":14.6812859,"cg_iv_a":166.4646,"cg_iw_a":-181.145889,"cg_sample_age_us":23.7872734,"cg_sample_seq":6297316,"cg_sample_valid":1,"cg_theta_rad":2.58836722,"cg_vd_req_v":-2.1245389,"cg_vd_v":-2.1245389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37637043,"cg_vq_v":-8.37637043,"cg_vu_v":37.3908691,"cg_vv_v":43.9892578,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2534.45313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9605103,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":986.659546,"values":{"Elec_RPM":-2349.67676,"EncoderCos":12768,"EncoderSin":32664,"GapTicks":49440,"Mech_RPM":-469.935364,"cg_du":44.9462547,"cg_dv":47.960495,"cg_dw":55.0537453,"cg_id_a":1.73422539,"cg_id_raw_a":-1.38666689,"cg_iq_a":-196.004959,"cg_iq_raw_a":-193.781799,"cg_iu_a":-91.6581268,"cg_iv_a":-104.784256,"cg_iw_a":196.442383,"cg_sample_age_us":23.8309097,"cg_sample_seq":6299017,"cg_sample_valid":1,"cg_theta_rad":3.14179444,"cg_vd_req_v":-1.92121375,"cg_vd_v":-1.92121375,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45621109,"cg_vq_v":-8.45621109,"cg_vu_v":142.525192,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.2880383,"dclink_p_w":-2357.28076,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9747009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":986.99353,"values":{"Elec_RPM":-2354.45703,"EncoderCos":23846,"EncoderSin":14836,"GapTicks":50066,"Mech_RPM":-470.891388,"cg_du":45.5153275,"cg_dv":54.4235992,"cg_dw":54.4846725,"cg_id_a":10.8269777,"cg_id_raw_a":11.9535112,"cg_iq_a":-203.394638,"cg_iq_raw_a":-200.726974,"cg_iu_a":-182.376434,"cg_iv_a":15.5090332,"cg_iw_a":166.867401,"cg_sample_age_us":23.9654541,"cg_sample_seq":6300667,"cg_sample_valid":1,"cg_theta_rad":4.26263762,"cg_vd_req_v":-2.12556744,"cg_vd_v":-2.12556744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33150673,"cg_vq_v":-8.33150673,"cg_vu_v":126.689056,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9462891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":987.070731,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":987.070737,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":987.070743,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":987.327515,"values":{"Elec_RPM":-2348.95972,"EncoderCos":24730,"EncoderSin":14472,"GapTicks":49508,"Mech_RPM":-469.791931,"cg_du":45.0079231,"cg_dv":52.0035439,"cg_dw":54.9920769,"cg_id_a":-9.66336918,"cg_id_raw_a":-2.81349611,"cg_iq_a":-201.025116,"cg_iq_raw_a":-202.436127,"cg_iu_a":-167.44397,"cg_iv_a":-14.9358063,"cg_iw_a":182.379776,"cg_sample_age_us":23.9254551,"cg_sample_seq":6302416,"cg_sample_valid":1,"cg_theta_rad":4.31224442,"cg_vd_req_v":-1.7101177,"cg_vd_v":-1.7101177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39098263,"cg_vq_v":-8.39098263,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.2952881,"dclink_p_w":-2358.32983,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":987.679077,"values":{"Elec_RPM":-2348.06299,"EncoderCos":35832,"EncoderSin":13073,"GapTicks":50006,"Mech_RPM":-469.612579,"cg_du":54.5394974,"cg_dv":45.4605026,"cg_dw":45.8113976,"cg_id_a":13.051403,"cg_id_raw_a":14.7071543,"cg_iq_a":-202.609085,"cg_iq_raw_a":-202.51712,"cg_iu_a":182.272766,"cg_iv_a":-21.5684052,"cg_iw_a":-160.704361,"cg_sample_age_us":23.9654541,"cg_sample_seq":6304117,"cg_sample_valid":1,"cg_theta_rad":4.88351202,"cg_vd_req_v":-2.16761827,"cg_vd_v":-2.16761827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31761265,"cg_vq_v":-8.31761265,"cg_vu_v":106.453995,"cg_vv_v":98.0960464,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":988.011108,"values":{"Elec_RPM":-2348.53979,"EncoderCos":45976,"EncoderSin":18039,"GapTicks":49461,"Mech_RPM":-469.707947,"cg_du":44.9646263,"cg_dv":55.0353737,"cg_dw":52.2569733,"cg_id_a":2.36882591,"cg_id_raw_a":-4.72502136,"cg_iq_a":-197.752655,"cg_iq_raw_a":-197.366653,"cg_iu_a":-195.496704,"cg_iv_a":73.1367111,"cg_iw_a":122.359993,"cg_sample_age_us":23.9145451,"cg_sample_seq":6305817,"cg_sample_valid":1,"cg_theta_rad":5.4606061,"cg_vd_req_v":-2.06258631,"cg_vd_v":-2.06258631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41652584,"cg_vq_v":-8.41652584,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":988.063589,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":988.063595,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":988.0636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":988.458374,"values":{"Elec_RPM":-2345.09277,"EncoderCos":29250,"EncoderSin":52308,"GapTicks":50061,"Mech_RPM":-469.018555,"cg_du":45.5108032,"cg_dv":54.4465408,"cg_dw":54.4891968,"cg_id_a":12.1713781,"cg_id_raw_a":15.8849649,"cg_iq_a":-200.936386,"cg_iq_raw_a":-201.911499,"cg_iu_a":-181.941513,"cg_iv_a":14.09552,"cg_iw_a":167.845993,"cg_sample_age_us":23.863636,"cg_sample_seq":6307916,"cg_sample_valid":1,"cg_theta_rad":1.75115752,"cg_vd_req_v":-2.11367822,"cg_vd_v":-2.11367822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35256767,"cg_vq_v":-8.35256767,"cg_vu_v":3.95903301,"cg_vv_v":30.7924805,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2363.05078,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9747009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":988.959178,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":988.959191,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":988.959194,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":988.997437,"values":{"Elec_RPM":-2341.75757,"EncoderCos":21529,"EncoderSin":16066,"GapTicks":49358,"Mech_RPM":-468.351501,"cg_du":44.8711739,"cg_dv":55.1288261,"cg_dw":49.3827019,"cg_id_a":-13.7558947,"cg_id_raw_a":-12.2672653,"cg_iq_a":-196.551575,"cg_iq_raw_a":-197.305466,"cg_iu_a":-186.653214,"cg_iv_a":147.654053,"cg_iw_a":38.9991684,"cg_sample_age_us":23.954546,"cg_sample_seq":6310617,"cg_sample_valid":1,"cg_theta_rad":4.13217115,"cg_vd_req_v":-1.6181407,"cg_vd_v":-1.6181407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43788147,"cg_vq_v":-8.43788147,"cg_vu_v":101.615181,"cg_vv_v":104.254532,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2485.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":989.08682,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":989.086826,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":989.086831,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":989.33728,"values":{"Elec_RPM":-2340.39087,"EncoderCos":12779,"EncoderSin":33745,"GapTicks":49355,"Mech_RPM":-468.078186,"cg_du":44.8686905,"cg_dv":49.9705048,"cg_dw":55.1313095,"cg_id_a":-17.1411095,"cg_id_raw_a":-16.1703281,"cg_iq_a":-197.744125,"cg_iq_raw_a":-198.840317,"cg_iu_a":-140.65979,"cg_iv_a":-47.3740234,"cg_iw_a":188.033813,"cg_sample_age_us":23.9290905,"cg_sample_seq":6312467,"cg_sample_valid":1,"cg_theta_rad":3.09456778,"cg_vd_req_v":-1.51634705,"cg_vd_v":-1.51634705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44003105,"cg_vq_v":-8.44003105,"cg_vu_v":116.131638,"cg_vv_v":145.164551,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2524.91626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":989.690796,"values":{"Elec_RPM":-2342.31055,"EncoderCos":23030,"EncoderSin":15244,"GapTicks":49541,"Mech_RPM":-468.462128,"cg_du":45.0377007,"cg_dv":54.9622993,"cg_dw":52.7258644,"cg_id_a":7.34947491,"cg_id_raw_a":6.59981394,"cg_iq_a":-198.727112,"cg_iq_raw_a":-199.218445,"cg_iu_a":-195.569183,"cg_iv_a":70.708374,"cg_iw_a":124.860809,"cg_sample_age_us":23.8272724,"cg_sample_seq":6314116,"cg_sample_valid":1,"cg_theta_rad":4.20844364,"cg_vd_req_v":-2.0847578,"cg_vd_v":-2.0847578,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41901398,"cg_vq_v":-8.41901398,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":990.020874,"values":{"Elec_RPM":-2340.82617,"EncoderCos":23735,"EncoderSin":14892,"GapTicks":49991,"Mech_RPM":-468.165253,"cg_du":45.4471359,"cg_dv":54.5528641,"cg_dw":54.3171654,"cg_id_a":9.97772503,"cg_id_raw_a":11.0126953,"cg_iq_a":-201.127518,"cg_iq_raw_a":-201.364227,"cg_iu_a":-185.022247,"cg_iv_a":20.8368835,"cg_iw_a":164.185364,"cg_sample_age_us":23.8272724,"cg_sample_seq":6315866,"cg_sample_valid":1,"cg_theta_rad":4.25816107,"cg_vd_req_v":-2.12132978,"cg_vd_v":-2.12132978,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38343048,"cg_vq_v":-8.38343048,"cg_vu_v":37.830761,"cg_vv_v":42.6695786,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2398.98169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":990.078992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":990.078998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":990.079003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":990.354858,"values":{"Elec_RPM":-2344.72803,"EncoderCos":34896,"EncoderSin":12919,"GapTicks":49504,"Mech_RPM":-468.945618,"cg_du":54.9962425,"cg_dv":45.0037575,"cg_dw":47.7856522,"cg_id_a":11.9644527,"cg_id_raw_a":8.18288422,"cg_iq_a":-200.50267,"cg_iq_raw_a":-199.905548,"cg_iu_a":198.654999,"cg_iv_a":-61.1466827,"cg_iw_a":-137.508316,"cg_sample_age_us":23.9690914,"cg_sample_seq":6317566,"cg_sample_valid":1,"cg_theta_rad":4.83849335,"cg_vd_req_v":-2.17852259,"cg_vd_v":-2.17852259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36559868,"cg_vq_v":-8.36559868,"cg_vu_v":16.7159176,"cg_vv_v":9.23774433,"cg_vw_v":27.2733402,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":990.708374,"values":{"Elec_RPM":-2347.07935,"EncoderCos":45163,"EncoderSin":17259,"GapTicks":49313,"Mech_RPM":-469.415863,"cg_du":44.8303757,"cg_dv":55.1696243,"cg_dw":50.0873909,"cg_id_a":-13.7565899,"cg_id_raw_a":-18.7064171,"cg_iq_a":-196.435822,"cg_iq_raw_a":-196.191757,"cg_iu_a":-190.712524,"cg_iv_a":134.135101,"cg_iw_a":56.5774155,"cg_sample_age_us":23.9581814,"cg_sample_seq":6319267,"cg_sample_valid":1,"cg_theta_rad":5.40497589,"cg_vd_req_v":-1.71379292,"cg_vd_v":-1.71379292,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.441082,"cg_vq_v":-8.441082,"cg_vu_v":141.205521,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.4438877,"dclink_p_w":-2372.60229,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":991.038452,"values":{"Elec_RPM":-2350.81323,"EncoderCos":51895,"EncoderSin":37083,"GapTicks":49501,"Mech_RPM":-470.162628,"cg_du":47.6222687,"cg_dv":54.9988556,"cg_dw":45.0011444,"cg_id_a":9.18226624,"cg_id_raw_a":7.03822708,"cg_iq_a":-201.508728,"cg_iq_raw_a":-200.342285,"cg_iu_a":-136.745453,"cg_iv_a":198.866577,"cg_iw_a":-74.1178436,"cg_sample_age_us":23.4927273,"cg_sample_seq":6320917,"cg_sample_valid":1,"cg_theta_rad":0.230315983,"cg_vd_req_v":-2.18472028,"cg_vd_v":-2.18472028,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38304615,"cg_vq_v":-8.38304615,"cg_vu_v":129.328415,"cg_vv_v":134.167236,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2365.41113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":991.071489,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":991.071495,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":991.0715,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":991.393921,"values":{"Elec_RPM":-2353.96143,"EncoderCos":51852,"EncoderSin":37253,"GapTicks":49581,"Mech_RPM":-470.792267,"cg_du":47.2371864,"cg_dv":54.925602,"cg_dw":45.074398,"cg_id_a":10.7368832,"cg_id_raw_a":7.95083046,"cg_iq_a":-202.120209,"cg_iq_raw_a":-199.788025,"cg_iu_a":-164.218277,"cg_iv_a":185.45636,"cg_iw_a":-21.2380905,"cg_sample_age_us":23.5218182,"cg_sample_seq":6322670,"cg_sample_valid":1,"cg_theta_rad":0.27520445,"cg_vd_req_v":-2.20054483,"cg_vd_v":-2.20054483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36770248,"cg_vq_v":-8.36770248,"cg_vu_v":124.049698,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2376.95117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":991.723999,"values":{"Elec_RPM":-2353.99463,"EncoderCos":36096,"EncoderSin":52242,"GapTicks":49345,"Mech_RPM":-470.79892,"cg_du":50.9630623,"cg_dv":55.1408501,"cg_dw":44.8591499,"cg_id_a":-10.1678848,"cg_id_raw_a":-8.63724995,"cg_iq_a":-196.347336,"cg_iq_raw_a":-196.718674,"cg_iu_a":-32.9793549,"cg_iv_a":185.202652,"cg_iw_a":-152.223297,"cg_sample_age_us":23.8709087,"cg_sample_seq":6324316,"cg_sample_valid":1,"cg_theta_rad":1.4030844,"cg_vd_req_v":-1.67995119,"cg_vd_v":-1.67995119,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44951248,"cg_vq_v":-8.44951248,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2520.85693,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":992.05603,"values":{"Elec_RPM":-2352.23901,"EncoderCos":35379,"EncoderSin":52352,"GapTicks":49342,"Mech_RPM":-470.447784,"cg_du":49.3705101,"cg_dv":55.1432114,"cg_dw":44.8567886,"cg_id_a":-10.2578983,"cg_id_raw_a":-13.8592234,"cg_iq_a":-198.926483,"cg_iq_raw_a":-198.95549,"cg_iu_a":-75.1309357,"cg_iv_a":197.163132,"cg_iw_a":-122.032196,"cg_sample_age_us":23.8927269,"cg_sample_seq":6326066,"cg_sample_valid":1,"cg_theta_rad":1.4368751,"cg_vd_req_v":-1.71559954,"cg_vd_v":-1.71559954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4171896,"cg_vq_v":-8.4171896,"cg_vu_v":38.2706528,"cg_vv_v":47.9482918,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.3822727,"dclink_p_w":-2363.71216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":992.063595,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":992.063601,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":992.063606,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":992.409546,"values":{"Elec_RPM":-2354.28491,"EncoderCos":16610,"EncoderSin":44528,"GapTicks":49433,"Mech_RPM":-470.856995,"cg_du":55.0607185,"cg_dv":51.514946,"cg_dw":44.9392815,"cg_id_a":6.09670734,"cg_id_raw_a":2.88857102,"cg_iq_a":-202.80069,"cg_iq_raw_a":-203.992569,"cg_iu_a":35.9926605,"cg_iv_a":148.052734,"cg_iw_a":-196.332062,"cg_sample_age_us":23.7945461,"cg_sample_seq":6327720,"cg_sample_valid":1,"cg_theta_rad":2.55472851,"cg_vd_req_v":-2.02884269,"cg_vd_v":-2.02884269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33928585,"cg_vq_v":-8.33928585,"cg_vu_v":40.0302238,"cg_vv_v":50.1477547,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.2554207,"dclink_p_w":-2352.56006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":992.741577,"values":{"Elec_RPM":-2353.85693,"EncoderCos":15813,"EncoderSin":43312,"GapTicks":50111,"Mech_RPM":-470.771362,"cg_du":54.4341393,"cg_dv":54.4441986,"cg_dw":45.5558014,"cg_id_a":13.0186434,"cg_id_raw_a":16.5659676,"cg_iq_a":-204.385559,"cg_iq_raw_a":-203.403336,"cg_iu_a":13.0865574,"cg_iv_a":166.39212,"cg_iw_a":-188.648361,"cg_sample_age_us":23.8745461,"cg_sample_seq":6329467,"cg_sample_valid":1,"cg_theta_rad":2.58560157,"cg_vd_req_v":-2.12244511,"cg_vd_v":-2.12244511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30400276,"cg_vq_v":-8.30400276,"cg_vu_v":105.574219,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2445.40332,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":993.075562,"values":{"Elec_RPM":-2353.88452,"EncoderCos":12776,"EncoderSin":32424,"GapTicks":49533,"Mech_RPM":-470.776917,"cg_du":45.0300369,"cg_dv":47.5549049,"cg_dw":54.9699631,"cg_id_a":5.83342457,"cg_id_raw_a":2.76041031,"cg_iq_a":-200.486099,"cg_iq_raw_a":-201.814148,"cg_iu_a":-65.743782,"cg_iv_a":-133.126923,"cg_iw_a":198.870712,"cg_sample_age_us":23.9472733,"cg_sample_seq":6331166,"cg_sample_valid":1,"cg_theta_rad":3.16189289,"cg_vd_req_v":-2.01077938,"cg_vd_v":-2.01077938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36963272,"cg_vq_v":-8.36963272,"cg_vu_v":3.51914048,"cg_vv_v":10.1175289,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2418.88306,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0013123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":993.087309,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":993.087315,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":993.08732,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":993.427124,"values":{"Elec_RPM":-2350.91113,"EncoderCos":23981,"EncoderSin":14769,"GapTicks":49910,"Mech_RPM":-470.18222,"cg_du":45.373291,"cg_dv":54.0541496,"cg_dw":54.626709,"cg_id_a":7.32615519,"cg_id_raw_a":10.6612282,"cg_iq_a":-199.259781,"cg_iq_raw_a":-197.70993,"cg_iu_a":-178.063416,"cg_iv_a":11.3047333,"cg_iw_a":166.758682,"cg_sample_age_us":23.9618187,"cg_sample_seq":6332817,"cg_sample_valid":1,"cg_theta_rad":4.27024603,"cg_vd_req_v":-2.0476768,"cg_vd_v":-2.0476768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4195652,"cg_vq_v":-8.4195652,"cg_vu_v":113.932175,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.985321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":993.759155,"values":{"Elec_RPM":-2351.39771,"EncoderCos":35220,"EncoderSin":12992,"GapTicks":49634,"Mech_RPM":-470.279541,"cg_du":54.8779259,"cg_dv":45.1220741,"cg_dw":47.1137848,"cg_id_a":14.2464485,"cg_id_raw_a":10.7028122,"cg_iq_a":-201.790314,"cg_iq_raw_a":-199.814941,"cg_iu_a":193.72583,"cg_iv_a":-47.9176941,"cg_iw_a":-145.808136,"cg_sample_age_us":24.0672722,"cg_sample_seq":6334517,"cg_sample_valid":1,"cg_theta_rad":4.85018873,"cg_vd_req_v":-2.20872521,"cg_vd_v":-2.20872521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32622337,"cg_vq_v":-8.32622337,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":994.078778,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":994.078785,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":994.07879,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":994.09314,"values":{"Elec_RPM":-2351.40674,"EncoderCos":45565,"EncoderSin":17654,"GapTicks":49333,"Mech_RPM":-470.281372,"cg_du":44.8489189,"cg_dv":55.1510811,"cg_dw":51.1796799,"cg_id_a":-6.19909716,"cg_id_raw_a":-7.80630445,"cg_iq_a":-197.318832,"cg_iq_raw_a":-197.377625,"cg_iu_a":-197.707581,"cg_iv_a":102.16803,"cg_iw_a":80.7158203,"cg_sample_age_us":23.9109097,"cg_sample_seq":6336216,"cg_sample_valid":1,"cg_theta_rad":5.4354744,"cg_vd_req_v":-1.8891499,"cg_vd_v":-1.8891499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44803619,"cg_vq_v":-8.44803619,"cg_vu_v":1.75957024,"cg_vv_v":7.03828096,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2405.01392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":994.444702,"values":{"Elec_RPM":-2349.02148,"EncoderCos":45807,"EncoderSin":17901,"GapTicks":49374,"Mech_RPM":-469.804321,"cg_du":44.8860207,"cg_dv":55.1139793,"cg_dw":51.8526917,"cg_id_a":-1.19543695,"cg_id_raw_a":-4.31110668,"cg_iq_a":-198.177582,"cg_iq_raw_a":-199.036987,"cg_iu_a":-195.895386,"cg_iv_a":71.9406738,"cg_iw_a":123.954712,"cg_sample_age_us":23.9436359,"cg_sample_seq":6337968,"cg_sample_valid":1,"cg_theta_rad":5.4617486,"cg_vd_req_v":-1.99822104,"cg_vd_v":-1.99822104,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44483089,"cg_vq_v":-8.44483089,"cg_vu_v":109.533249,"cg_vv_v":111.732712,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-16.0379562,"dclink_p_w":-2306.97754,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":994.776733,"values":{"Elec_RPM":-2352.82275,"EncoderCos":51503,"EncoderSin":38563,"GapTicks":49747,"Mech_RPM":-470.564545,"cg_du":45.2249222,"cg_dv":54.7750778,"cg_dw":46.7519455,"cg_id_a":3.03374481,"cg_id_raw_a":9.80566883,"cg_iq_a":-201.649994,"cg_iq_raw_a":-203.286011,"cg_iu_a":-173.605438,"cg_iv_a":172.589813,"cg_iw_a":-4.74714661,"cg_sample_age_us":23.5290909,"cg_sample_seq":6339616,"cg_sample_valid":1,"cg_theta_rad":0.307619333,"cg_vd_req_v":-2.00915575,"cg_vd_v":-2.00915575,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36115932,"cg_vq_v":-8.36115932,"cg_vu_v":34.3116188,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.4475117,"dclink_p_w":-2380.36035,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9995117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":995.071578,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":995.071584,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":995.071589,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":995.128296,"values":{"Elec_RPM":-2358.37622,"EncoderCos":51263,"EncoderSin":39351,"GapTicks":49373,"Mech_RPM":-471.675232,"cg_du":44.8852844,"cg_dv":55.1147156,"cg_dw":48.7614212,"cg_id_a":-8.56522655,"cg_id_raw_a":-5.51754808,"cg_iq_a":-196.491287,"cg_iq_raw_a":-196.932266,"cg_iu_a":-181.542816,"cg_iv_a":157.041199,"cg_iw_a":24.5016251,"cg_sample_age_us":23.4345455,"cg_sample_seq":6341366,"cg_sample_valid":1,"cg_theta_rad":0.342195183,"cg_vd_req_v":-1.78016448,"cg_vd_v":-1.78016448,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44493198,"cg_vq_v":-8.44493198,"cg_vu_v":107.333786,"cg_vv_v":106.893898,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":995.46228,"values":{"Elec_RPM":-2357.79395,"EncoderCos":44927,"EncoderSin":48417,"GapTicks":50043,"Mech_RPM":-471.558807,"cg_du":54.506073,"cg_dv":45.493927,"cg_dw":54.4654961,"cg_id_a":15.0066986,"cg_id_raw_a":16.9203949,"cg_iq_a":-202.435211,"cg_iq_raw_a":-202.193558,"cg_iu_a":169.369965,"cg_iv_a":-182.527267,"cg_iw_a":13.1573029,"cg_sample_age_us":23.9799995,"cg_sample_seq":6343067,"cg_sample_valid":1,"cg_theta_rad":0.911774397,"cg_vd_req_v":-2.22389174,"cg_vd_v":-2.22389174,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35853195,"cg_vq_v":-8.35853195,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2476.14526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":995.794312,"values":{"Elec_RPM":-2357.27417,"EncoderCos":34164,"EncoderSin":52501,"GapTicks":49605,"Mech_RPM":-471.454834,"cg_du":47.1553688,"cg_dv":54.9038582,"cg_dw":45.0961418,"cg_id_a":14.4682026,"cg_id_raw_a":13.2809887,"cg_iq_a":-202.150452,"cg_iq_raw_a":-201.307922,"cg_iu_a":-147.79982,"cg_iv_a":195.169708,"cg_iw_a":-47.3698959,"cg_sample_age_us":23.8054543,"cg_sample_seq":6344766,"cg_sample_valid":1,"cg_theta_rad":1.50077689,"cg_vd_req_v":-2.20398808,"cg_vd_v":-2.20398808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38380814,"cg_vq_v":-8.38380814,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":996.095398,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":996.095404,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":996.09541,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":996.147827,"values":{"Elec_RPM":-2356.5603,"EncoderCos":15591,"EncoderSin":42932,"GapTicks":49772,"Mech_RPM":-471.312042,"cg_du":53.3778229,"cg_dv":54.7520523,"cg_dw":45.2479477,"cg_id_a":3.8835125,"cg_id_raw_a":6.32204485,"cg_iq_a":-202.308197,"cg_iq_raw_a":-203.577774,"cg_iu_a":5.00418282,"cg_iv_a":170.813858,"cg_iw_a":-175.818039,"cg_sample_age_us":23.8854542,"cg_sample_seq":6346417,"cg_sample_valid":1,"cg_theta_rad":2.60433245,"cg_vd_req_v":-1.93001056,"cg_vd_v":-1.93001056,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33749104,"cg_vq_v":-8.33749104,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2483.72778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":996.477905,"values":{"Elec_RPM":-2355.00586,"EncoderCos":12780,"EncoderSin":31944,"GapTicks":49714,"Mech_RPM":-471.00116,"cg_du":45.1946793,"cg_dv":46.6557732,"cg_dw":54.8053207,"cg_id_a":12.366087,"cg_id_raw_a":8.92179489,"cg_iq_a":-202.334473,"cg_iq_raw_a":-202.025604,"cg_iu_a":-40.5543175,"cg_iv_a":-153.423477,"cg_iw_a":193.977798,"cg_sample_age_us":23.954546,"cg_sample_seq":6348116,"cg_sample_valid":1,"cg_theta_rad":3.18221927,"cg_vd_req_v":-2.14330959,"cg_vd_v":-2.14330959,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35757542,"cg_vq_v":-8.35757542,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":996.81189,"values":{"Elec_RPM":-2355.46289,"EncoderCos":16292,"EncoderSin":21258,"GapTicks":49405,"Mech_RPM":-471.09256,"cg_du":55.0858612,"cg_dv":51.1829605,"cg_dw":44.9141388,"cg_id_a":-1.42041969,"cg_id_raw_a":-4.75242233,"cg_iq_a":-201.121384,"cg_iq_raw_a":-198.343689,"cg_iu_a":101.195313,"cg_iv_a":88.322876,"cg_iw_a":-201.949829,"cg_sample_age_us":23.954546,"cg_sample_seq":6349817,"cg_sample_valid":1,"cg_theta_rad":3.7571125,"cg_vd_req_v":-1.87489974,"cg_vd_v":-1.87489974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36799335,"cg_vq_v":-8.36799335,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":133.287445,"control_outputs_enabled":1,"dclink_i_a":-18.1437244,"dclink_p_w":-2625.84424,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0066223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":997.086714,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":997.08672,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":997.086725,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":997.165405,"values":{"Elec_RPM":-2355.58862,"EncoderCos":35578,"EncoderSin":13019,"GapTicks":49820,"Mech_RPM":-471.117706,"cg_du":54.7087402,"cg_dv":45.2912598,"cg_dw":46.4032135,"cg_id_a":15.7779493,"cg_id_raw_a":13.7354231,"cg_iq_a":-204.153931,"cg_iq_raw_a":-202.655304,"cg_iu_a":190.065186,"cg_iv_a":-31.8254089,"cg_iw_a":-158.239777,"cg_sample_age_us":24.0963631,"cg_sample_seq":6351467,"cg_sample_valid":1,"cg_theta_rad":4.86967516,"cg_vd_req_v":-2.23248529,"cg_vd_v":-2.23248529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27830791,"cg_vq_v":-8.27830791,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":997.495483,"values":{"Elec_RPM":-2358.95239,"EncoderCos":25829,"EncoderSin":14038,"GapTicks":49371,"Mech_RPM":-471.790466,"cg_du":44.8829269,"cg_dv":49.3688736,"cg_dw":55.1170731,"cg_id_a":-11.2929173,"cg_id_raw_a":-13.9720564,"cg_iq_a":-198.544006,"cg_iq_raw_a":-197.715958,"cg_iu_a":-120.834404,"cg_iv_a":-74.8830948,"cg_iw_a":195.717499,"cg_sample_age_us":23.9581814,"cg_sample_seq":6353267,"cg_sample_valid":1,"cg_theta_rad":4.37200165,"cg_vd_req_v":-1.70786095,"cg_vd_v":-1.70786095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40114212,"cg_vq_v":-8.40114212,"cg_vu_v":105.574219,"cg_vv_v":102.93486,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2413.91479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":997.829468,"values":{"Elec_RPM":-2361.61328,"EncoderCos":51752,"EncoderSin":27586,"GapTicks":49302,"Mech_RPM":-472.322632,"cg_du":55.179512,"cg_dv":44.820488,"cg_dw":49.9071159,"cg_id_a":-14.9402342,"cg_id_raw_a":-17.0721703,"cg_iq_a":-193.606827,"cg_iq_raw_a":-192.88652,"cg_iu_a":190.355133,"cg_iv_a":-134.431702,"cg_iw_a":-55.9234314,"cg_sample_age_us":24.1399994,"cg_sample_seq":6354867,"cg_sample_valid":1,"cg_theta_rad":6.03005552,"cg_vd_req_v":-1.65290141,"cg_vd_v":-1.65290141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5236578,"cg_vq_v":-8.5236578,"cg_vu_v":106.893898,"cg_vv_v":97.2162552,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2463.0957,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":998.047293,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":998.078851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":998.078859,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":998.208374,"values":{"Elec_RPM":-2358.33789,"EncoderCos":47106,"EncoderSin":19147,"GapTicks":49781,"Mech_RPM":-471.667603,"cg_du":45.2554932,"cg_dv":53.4164963,"cg_dw":54.7445068,"cg_id_a":3.22392845,"cg_id_raw_a":8.51506138,"cg_iq_a":-202.40741,"cg_iq_raw_a":-203.894272,"cg_iu_a":-170.524704,"cg_iv_a":-3.70021057,"cg_iw_a":176.073334,"cg_sample_age_us":23.9218178,"cg_sample_seq":6356666,"cg_sample_valid":1,"cg_theta_rad":5.55136681,"cg_vd_req_v":-2.03551078,"cg_vd_v":-2.03551078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34189224,"cg_vq_v":-8.34189224,"cg_vu_v":127.12896,"cg_vv_v":128.448624,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":998.725952,"values":{"Elec_RPM":-2351.36572,"EncoderCos":31378,"EncoderSin":52530,"GapTicks":49295,"Mech_RPM":-470.273132,"cg_du":44.8139839,"cg_dv":55.1860161,"cg_dw":50.360199,"cg_id_a":-9.88320446,"cg_id_raw_a":-13.965663,"cg_iq_a":-195.309311,"cg_iq_raw_a":-194.625046,"cg_iu_a":-191.654861,"cg_iv_a":125.980225,"cg_iw_a":65.6746368,"cg_sample_age_us":23.8709087,"cg_sample_seq":6359367,"cg_sample_valid":1,"cg_theta_rad":1.63960862,"cg_vd_req_v":-1.69020653,"cg_vd_v":-1.69020653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50722694,"cg_vq_v":-8.50722694,"cg_vu_v":101.175293,"cg_vv_v":104.694435,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2506.76465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":998.943084,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":998.943096,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":998.943099,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":999.071394,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":999.071401,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":999.071406,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":999.175171,"values":{"Elec_RPM":-2350.60498,"EncoderCos":15777,"EncoderSin":43266,"GapTicks":50045,"Mech_RPM":-470.121002,"cg_du":54.2655106,"cg_dv":54.5037956,"cg_dw":45.4962044,"cg_id_a":9.8429718,"cg_id_raw_a":14.9814978,"cg_iq_a":-204.076828,"cg_iq_raw_a":-203.539642,"cg_iu_a":13.5577278,"cg_iv_a":168.131821,"cg_iw_a":-181.689545,"cg_sample_age_us":23.8854542,"cg_sample_seq":6361617,"cg_sample_valid":1,"cg_theta_rad":2.59312367,"cg_vd_req_v":-2.05515409,"cg_vd_v":-2.05515409,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30147743,"cg_vq_v":-8.30147743,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2435.61719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":999.509155,"values":{"Elec_RPM":-2350.70435,"EncoderCos":12770,"EncoderSin":32503,"GapTicks":49485,"Mech_RPM":-470.140869,"cg_du":44.9871216,"cg_dv":47.7454109,"cg_dw":55.0128784,"cg_id_a":7.10476637,"cg_id_raw_a":1.86421108,"cg_iq_a":-199.879456,"cg_iq_raw_a":-196.713089,"cg_iu_a":-68.5345535,"cg_iv_a":-128.052795,"cg_iw_a":196.587341,"cg_sample_age_us":23.9727268,"cg_sample_seq":6363317,"cg_sample_valid":1,"cg_theta_rad":3.15649939,"cg_vd_req_v":-2.04624724,"cg_vd_v":-2.04624724,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40965652,"cg_vq_v":-8.40965652,"cg_vu_v":127.568848,"cg_vv_v":109.093361,"cg_vw_v":119.210884,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":999.841187,"values":{"Elec_RPM":-2345.44019,"EncoderCos":24123,"EncoderSin":14727,"GapTicks":49866,"Mech_RPM":-469.088043,"cg_du":45.3330612,"cg_dv":53.7055321,"cg_dw":54.6669388,"cg_id_a":5.98751926,"cg_id_raw_a":9.12090397,"cg_iq_a":-201.811554,"cg_iq_raw_a":-199.043869,"cg_iu_a":-176.758636,"cg_iv_a":6.12185669,"cg_iw_a":170.63678,"cg_sample_age_us":23.9363632,"cg_sample_seq":6364967,"cg_sample_valid":1,"cg_theta_rad":4.27760267,"cg_vd_req_v":-2.0149672,"cg_vd_v":-2.0149672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33953953,"cg_vq_v":-8.33953953,"cg_vu_v":125.809273,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.8211536,"dclink_p_w":-2579.1604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1000.06387,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1000.063876,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1000.063881,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1000.192749,"values":{"Elec_RPM":-2347.75488,"EncoderCos":44862,"EncoderSin":17029,"GapTicks":49343,"Mech_RPM":-469.550995,"cg_du":44.857975,"cg_dv":55.142025,"cg_dw":49.2577896,"cg_id_a":-15.0768509,"cg_id_raw_a":-13.8747787,"cg_iq_a":-197.889801,"cg_iq_raw_a":-199.417496,"cg_iu_a":-186.725693,"cg_iv_a":149.10379,"cg_iw_a":37.6218948,"cg_sample_age_us":23.9472733,"cg_sample_seq":6366617,"cg_sample_valid":1,"cg_theta_rad":5.3886013,"cg_vd_req_v":-1.69493794,"cg_vd_v":-1.69493794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45458984,"cg_vq_v":-8.45458984,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.3699169,"dclink_p_w":-2513.85522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.983551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1000.526733,"values":{"Elec_RPM":-2346.64502,"EncoderCos":36200,"EncoderSin":13139,"GapTicks":49904,"Mech_RPM":-469.328979,"cg_du":54.632473,"cg_dv":46.1114922,"cg_dw":45.367527,"cg_id_a":7.78954363,"cg_id_raw_a":12.9150028,"cg_iq_a":-202.772461,"cg_iq_raw_a":-205.423782,"cg_iu_a":179.264526,"cg_iv_a":-8.70184326,"cg_iw_a":-170.562683,"cg_sample_age_us":24.0963631,"cg_sample_seq":6368416,"cg_sample_valid":1,"cg_theta_rad":4.90251732,"cg_vd_req_v":-2.06296802,"cg_vd_v":-2.06296802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32474327,"cg_vq_v":-8.32474327,"cg_vu_v":47.9482918,"cg_vv_v":45.7488289,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2480.85181,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0155029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1000.856812,"values":{"Elec_RPM":-2355.50732,"EncoderCos":51684,"EncoderSin":37968,"GapTicks":50038,"Mech_RPM":-471.101471,"cg_du":45.8087921,"cg_dv":54.5108566,"cg_dw":45.4891434,"cg_id_a":11.5460262,"cg_id_raw_a":12.8744345,"cg_iq_a":-205.371552,"cg_iq_raw_a":-205.407227,"cg_iu_a":-168.966217,"cg_iv_a":185.093918,"cg_iw_a":-16.1277008,"cg_sample_age_us":23.5581818,"cg_sample_seq":6370016,"cg_sample_valid":1,"cg_theta_rad":0.277765393,"cg_vd_req_v":-2.19629788,"cg_vd_v":-2.19629788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26764488,"cg_vq_v":-8.26764488,"cg_vu_v":38.7105446,"cg_vv_v":58.5057106,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1001.054839,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1001.054846,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1001.054851,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1001.210327,"values":{"Elec_RPM":-2359.96167,"EncoderCos":51871,"EncoderSin":28013,"GapTicks":49372,"Mech_RPM":-471.99234,"cg_du":55.1160698,"cg_dv":44.8839302,"cg_dw":49.0305328,"cg_id_a":-10.144331,"cg_id_raw_a":-15.0369377,"cg_iq_a":-195.930969,"cg_iq_raw_a":-195.111725,"cg_iu_a":194.813141,"cg_iv_a":-115.62117,"cg_iw_a":-79.1919708,"cg_sample_age_us":24.1399994,"cg_sample_seq":6371817,"cg_sample_valid":1,"cg_theta_rad":6.05073214,"cg_vd_req_v":-1.75193954,"cg_vd_v":-1.75193954,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44703865,"cg_vq_v":-8.44703865,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2464.02441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1001.544312,"values":{"Elec_RPM":-2357.86401,"EncoderCos":35604,"EncoderSin":52306,"GapTicks":49287,"Mech_RPM":-471.572815,"cg_du":49.8513184,"cg_dv":55.1931229,"cg_dw":44.8068771,"cg_id_a":-10.3030434,"cg_id_raw_a":-12.6643229,"cg_iq_a":-195.549561,"cg_iq_raw_a":-195.195831,"cg_iu_a":-62.626812,"cg_iv_a":188.537109,"cg_iw_a":-137.762024,"cg_sample_age_us":23.8054543,"cg_sample_seq":6373416,"cg_sample_valid":1,"cg_theta_rad":1.42473876,"cg_vd_req_v":-1.69905615,"cg_vd_v":-1.69905615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51168346,"cg_vq_v":-8.51168346,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2439.68286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1001.895874,"values":{"Elec_RPM":-2358.29517,"EncoderCos":44832,"EncoderSin":48460,"GapTicks":49953,"Mech_RPM":-471.659027,"cg_du":54.5877647,"cg_dv":45.4122353,"cg_dw":54.2025185,"cg_id_a":12.5340433,"cg_id_raw_a":16.8798161,"cg_iq_a":-201.878876,"cg_iq_raw_a":-202.036911,"cg_iu_a":171.10968,"cg_iv_a":-174.662369,"cg_iw_a":9.31546021,"cg_sample_age_us":23.9618187,"cg_sample_seq":6375217,"cg_sample_valid":1,"cg_theta_rad":0.9265939,"cg_vd_req_v":-2.16445184,"cg_vd_v":-2.16445184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39853859,"cg_vq_v":-8.39853859,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0083923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1002.0795,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1002.079505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1002.079511,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1002.229858,"values":{"Elec_RPM":-2354.15479,"EncoderCos":15869,"EncoderSin":43363,"GapTicks":50026,"Mech_RPM":-470.830933,"cg_du":54.52174,"cg_dv":54.2575836,"cg_dw":45.47826,"cg_id_a":15.8659382,"cg_id_raw_a":17.9988556,"cg_iq_a":-205.33783,"cg_iq_raw_a":-207.455658,"cg_iu_a":21.4951267,"cg_iv_a":165.630997,"cg_iw_a":-187.126129,"cg_sample_age_us":23.7800007,"cg_sample_seq":6376816,"cg_sample_valid":1,"cg_theta_rad":2.57424283,"cg_vd_req_v":-2.19181561,"cg_vd_v":-2.19181561,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28982258,"cg_vq_v":-8.28982258,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1002.559937,"values":{"Elec_RPM":-2356.3689,"EncoderCos":23230,"EncoderSin":50336,"GapTicks":49359,"Mech_RPM":-471.273773,"cg_du":50.6659584,"cg_dv":44.8720436,"cg_dw":55.1279564,"cg_id_a":-9.47673988,"cg_id_raw_a":-13.6126814,"cg_iq_a":-198.548645,"cg_iq_raw_a":-195.523148,"cg_iu_a":78.180481,"cg_iv_a":-197.74968,"cg_iw_a":119.569199,"cg_sample_age_us":23.6963634,"cg_sample_seq":6378617,"cg_sample_valid":1,"cg_theta_rad":2.06936097,"cg_vd_req_v":-1.73461759,"cg_vd_v":-1.73461759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41668224,"cg_vq_v":-8.41668224,"cg_vu_v":105.134323,"cg_vv_v":84.0194778,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2424.16211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1002.913452,"values":{"Elec_RPM":-2353.08691,"EncoderCos":15510,"EncoderSin":22545,"GapTicks":49448,"Mech_RPM":-470.617371,"cg_du":55.046402,"cg_dv":48.085598,"cg_dw":44.953598,"cg_id_a":-9.87189674,"cg_id_raw_a":-7.15095139,"cg_iq_a":-195.676437,"cg_iq_raw_a":-195.869003,"cg_iu_a":133.162384,"cg_iv_a":57.9143066,"cg_iw_a":-191.076691,"cg_sample_age_us":24.0490913,"cg_sample_seq":6380221,"cg_sample_valid":1,"cg_theta_rad":3.72740531,"cg_vd_req_v":-1.67133605,"cg_vd_v":-1.67133605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46980858,"cg_vq_v":-8.46980858,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.985321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1003.071357,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1003.071364,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1003.071369,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1003.245483,"values":{"Elec_RPM":-2355.11426,"EncoderCos":12857,"EncoderSin":30977,"GapTicks":49850,"Mech_RPM":-471.022858,"cg_du":46.5373421,"cg_dv":45.3186874,"cg_dw":54.6813126,"cg_id_a":5.82530308,"cg_id_raw_a":7.86577559,"cg_iq_a":-204.455643,"cg_iq_raw_a":-205.144806,"cg_iu_a":-3.91180086,"cg_iv_a":-174.553619,"cg_iw_a":178.465424,"cg_sample_age_us":23.9618187,"cg_sample_seq":6382016,"cg_sample_valid":1,"cg_theta_rad":3.23379612,"cg_vd_req_v":-1.97289109,"cg_vd_v":-1.97289109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30125332,"cg_vq_v":-8.30125332,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1003.577515,"values":{"Elec_RPM":-2349.33105,"EncoderCos":35882,"EncoderSin":13083,"GapTicks":50045,"Mech_RPM":-469.866211,"cg_du":54.5038605,"cg_dv":45.4961395,"cg_dw":45.7083206,"cg_id_a":12.0311995,"cg_id_raw_a":16.0567532,"cg_iq_a":-205.375229,"cg_iq_raw_a":-207.183746,"cg_iu_a":186.911987,"cg_iv_a":-18.0527649,"cg_iw_a":-168.859222,"cg_sample_age_us":24.0599995,"cg_sample_seq":6383616,"cg_sample_valid":1,"cg_theta_rad":4.8869648,"cg_vd_req_v":-2.15447092,"cg_vd_v":-2.15447092,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.288867,"cg_vq_v":-8.288867,"cg_vu_v":47.9482918,"cg_vv_v":44.4291458,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2504.90698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0013123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1003.929077,"values":{"Elec_RPM":-2348.35034,"EncoderCos":25907,"EncoderSin":14003,"GapTicks":49349,"Mech_RPM":-469.670074,"cg_du":44.8633118,"cg_dv":49.1851044,"cg_dw":55.1366882,"cg_id_a":-10.6993475,"cg_id_raw_a":-13.3268194,"cg_iq_a":-199.389587,"cg_iq_raw_a":-197.77829,"cg_iu_a":-117.210022,"cg_iv_a":-80.0297241,"cg_iw_a":197.239746,"cg_sample_age_us":23.9290905,"cg_sample_seq":6385417,"cg_sample_valid":1,"cg_theta_rad":4.37495947,"cg_vd_req_v":-1.7257638,"cg_vd_v":-1.7257638,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41877556,"cg_vq_v":-8.41877556,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2421.23633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.900238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1004.094706,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1004.094712,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1004.094718,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1004.263062,"values":{"Elec_RPM":-2346.19849,"EncoderCos":46610,"EncoderSin":18647,"GapTicks":49897,"Mech_RPM":-469.239685,"cg_du":45.3610573,"cg_dv":54.6389427,"cg_dw":53.9628181,"cg_id_a":10.7593489,"cg_id_raw_a":11.7555838,"cg_iq_a":-199.518982,"cg_iq_raw_a":-199.997009,"cg_iu_a":-185.094727,"cg_iv_a":25.2223816,"cg_iw_a":159.872345,"cg_sample_age_us":23.9181824,"cg_sample_seq":6387066,"cg_sample_valid":1,"cg_theta_rad":5.50772667,"cg_vd_req_v":-2.20440912,"cg_vd_v":-2.20440912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38525581,"cg_vq_v":-8.38525581,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2396.54004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1004.595093,"values":{"Elec_RPM":-2349.70483,"EncoderCos":51326,"EncoderSin":39058,"GapTicks":49459,"Mech_RPM":-469.940948,"cg_du":44.9631004,"cg_dv":55.0368996,"cg_dw":48.0973816,"cg_id_a":-8.61093712,"cg_id_raw_a":-6.75073051,"cg_iq_a":-199.431335,"cg_iq_raw_a":-200.709045,"cg_iu_a":-175.925034,"cg_iv_a":169.182892,"cg_iw_a":6.74214935,"cg_sample_age_us":24.5181828,"cg_sample_seq":6388716,"cg_sample_valid":1,"cg_theta_rad":0.327342033,"cg_vd_req_v":-1.78660893,"cg_vd_v":-1.78660893,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42790508,"cg_vq_v":-8.42790508,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1004.946655,"values":{"Elec_RPM":-2349.2229,"EncoderCos":51100,"EncoderSin":39792,"GapTicks":49294,"Mech_RPM":-469.844574,"cg_du":44.8129578,"cg_dv":55.1870422,"cg_dw":49.8131905,"cg_id_a":-9.43293667,"cg_id_raw_a":-8.18719101,"cg_iq_a":-197.060623,"cg_iq_raw_a":-197.091278,"cg_iu_a":-193.177094,"cg_iv_a":132.540375,"cg_iw_a":60.6367264,"cg_sample_age_us":23.5254555,"cg_sample_seq":6390466,"cg_sample_valid":1,"cg_theta_rad":0.373757541,"cg_vd_req_v":-1.79283607,"cg_vd_v":-1.79283607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48274136,"cg_vq_v":-8.48274136,"cg_vu_v":38.2706528,"cg_vv_v":54.9865723,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2438.75464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9995117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1005.087093,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1005.0871,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1005.087105,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1005.28064,"values":{"Elec_RPM":-2347.94727,"EncoderCos":34276,"EncoderSin":52474,"GapTicks":49570,"Mech_RPM":-469.589447,"cg_du":47.3912659,"cg_dv":54.9363098,"cg_dw":45.0636902,"cg_id_a":13.412509,"cg_id_raw_a":9.56462955,"cg_iq_a":-201.49794,"cg_iq_raw_a":-200.064835,"cg_iu_a":-143.05188,"cg_iv_a":197.41684,"cg_iw_a":-54.3649597,"cg_sample_age_us":23.8672733,"cg_sample_seq":6392116,"cg_sample_valid":1,"cg_theta_rad":1.49410236,"cg_vd_req_v":-2.18103933,"cg_vd_v":-2.18103933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34435844,"cg_vq_v":-8.34435844,"cg_vu_v":38.2706528,"cg_vv_v":53.2269974,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9871216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1005.612671,"values":{"Elec_RPM":-2350.18188,"EncoderCos":23400,"EncoderSin":50380,"GapTicks":49348,"Mech_RPM":-470.036377,"cg_du":50.3903008,"cg_dv":44.8624649,"cg_dw":55.1375351,"cg_id_a":-14.6072407,"cg_id_raw_a":-17.812149,"cg_iq_a":-198.461868,"cg_iq_raw_a":-199.212418,"cg_iu_a":68.0322037,"cg_iv_a":-195.647537,"cg_iw_a":140.554382,"cg_sample_age_us":23.6963634,"cg_sample_seq":6393816,"cg_sample_valid":1,"cg_theta_rad":2.05908585,"cg_vd_req_v":-1.63643122,"cg_vd_v":-1.63643122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43653393,"cg_vq_v":-8.43653393,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9942017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1005.964233,"values":{"Elec_RPM":-2354.58496,"EncoderCos":22880,"EncoderSin":50123,"GapTicks":49362,"Mech_RPM":-470.916992,"cg_du":51.3850975,"cg_dv":44.8751183,"cg_dw":55.1248817,"cg_id_a":-0.12556982,"cg_id_raw_a":-7.1120162,"cg_iq_a":-199.776703,"cg_iq_raw_a":-198.84729,"cg_iu_a":104.348526,"cg_iv_a":-199.743088,"cg_iw_a":95.3945618,"cg_sample_age_us":23.6890907,"cg_sample_seq":6395567,"cg_sample_valid":1,"cg_theta_rad":2.08512807,"cg_vd_req_v":-1.93580794,"cg_vd_v":-1.93580794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42206001,"cg_vq_v":-8.42206001,"cg_vu_v":121.850235,"cg_vv_v":118.770996,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0083923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1006.078751,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1006.078756,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1006.078762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1006.298218,"values":{"Elec_RPM":-2356.40186,"EncoderCos":14806,"EncoderSin":41544,"GapTicks":49325,"Mech_RPM":-471.280396,"cg_du":49.6147308,"cg_dv":55.1584625,"cg_dw":44.8415375,"cg_id_a":-10.2044802,"cg_id_raw_a":-13.8821783,"cg_iq_a":-196.771957,"cg_iq_raw_a":-193.77742,"cg_iu_a":-68.0996246,"cg_iv_a":194.626053,"cg_iw_a":-126.526428,"cg_sample_age_us":23.8563633,"cg_sample_seq":6397266,"cg_sample_valid":1,"cg_theta_rad":2.68857002,"cg_vd_req_v":-1.67644417,"cg_vd_v":-1.67644417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46408176,"cg_vq_v":-8.46408176,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2481.59644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1006.64978,"values":{"Elec_RPM":-2353.28662,"EncoderCos":16160,"EncoderSin":21540,"GapTicks":49375,"Mech_RPM":-470.657349,"cg_du":55.1131363,"cg_dv":50.5919838,"cg_dw":44.8868637,"cg_id_a":-5.83349466,"cg_id_raw_a":-10.4257145,"cg_iq_a":-199.514999,"cg_iq_raw_a":-197.050568,"cg_iu_a":71.4028854,"cg_iv_a":129.314667,"cg_iw_a":-205.610458,"cg_sample_age_us":23.8600006,"cg_sample_seq":6398921,"cg_sample_valid":1,"cg_theta_rad":3.78468204,"cg_vd_req_v":-1.78582859,"cg_vd_v":-1.78582859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37554741,"cg_vq_v":-8.37554741,"cg_vu_v":109.973145,"cg_vv_v":112.612495,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2370.24902,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1006.983765,"values":{"Elec_RPM":-2353.67773,"EncoderCos":12977,"EncoderSin":30006,"GapTicks":49404,"Mech_RPM":-470.735535,"cg_du":49.122921,"cg_dv":44.9127274,"cg_dw":55.0872726,"cg_id_a":-19.3846207,"cg_id_raw_a":-18.6116562,"cg_iq_a":-200.117859,"cg_iq_raw_a":-201.35524,"cg_iu_a":25.0470238,"cg_iv_a":-183.650833,"cg_iw_a":158.603806,"cg_sample_age_us":23.863636,"cg_sample_seq":6400717,"cg_sample_valid":1,"cg_theta_rad":3.28390408,"cg_vd_req_v":-1.48400307,"cg_vd_v":-1.48400307,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38729668,"cg_vq_v":-8.38729668,"cg_vu_v":127.568848,"cg_vv_v":128.888519,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1007.070718,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1007.070723,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1007.070728,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1007.313843,"values":{"Elec_RPM":-2350.0603,"EncoderCos":36924,"EncoderSin":13291,"GapTicks":49448,"Mech_RPM":-470.012054,"cg_du":55.046978,"cg_dv":48.1074333,"cg_dw":44.953022,"cg_id_a":-12.6853037,"cg_id_raw_a":-7.54196405,"cg_iq_a":-195.726349,"cg_iq_raw_a":-195.735779,"cg_iu_a":161.795013,"cg_iv_a":17.1399841,"cg_iw_a":-178.934998,"cg_sample_age_us":24.0272732,"cg_sample_seq":6402317,"cg_sample_valid":1,"cg_theta_rad":4.9485383,"cg_vd_req_v":-1.64263177,"cg_vd_v":-1.64263177,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47181416,"cg_vq_v":-8.47181416,"cg_vu_v":42.6695786,"cg_vv_v":43.1094704,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2449.59937,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1007.667358,"values":{"Elec_RPM":-2353.52148,"EncoderCos":27402,"EncoderSin":13569,"GapTicks":49827,"Mech_RPM":-470.704285,"cg_du":45.2973633,"cg_dv":46.2712135,"cg_dw":54.7026367,"cg_id_a":14.6367645,"cg_id_raw_a":13.939518,"cg_iq_a":-201.308777,"cg_iq_raw_a":-201.604126,"cg_iu_a":-28.8838024,"cg_iv_a":-161.034683,"cg_iw_a":189.918488,"cg_sample_age_us":23.954546,"cg_sample_seq":6404116,"cg_sample_valid":1,"cg_theta_rad":4.45308733,"cg_vd_req_v":-2.20321345,"cg_vd_v":-2.20321345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35756016,"cg_vq_v":-8.35756016,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9640198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1008.001343,"values":{"Elec_RPM":-2352.40137,"EncoderCos":52012,"EncoderSin":28793,"GapTicks":49469,"Mech_RPM":-470.480286,"cg_du":55.02771,"cg_dv":44.97229,"cg_dw":47.749649,"cg_id_a":12.3171329,"cg_id_raw_a":6.40026665,"cg_iq_a":-201.42688,"cg_iq_raw_a":-200.176163,"cg_iu_a":198.473755,"cg_iv_a":-62.7414093,"cg_iw_a":-135.732346,"cg_sample_age_us":24.1181812,"cg_sample_seq":6405717,"cg_sample_valid":1,"cg_theta_rad":6.09392643,"cg_vd_req_v":-2.22643328,"cg_vd_v":-2.22643328,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36023235,"cg_vq_v":-8.36023235,"cg_vu_v":106.014107,"cg_vv_v":88.4184036,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1008.094537,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1008.094543,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1008.094549,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1008.438843,"values":{"Elec_RPM":-2349.79443,"EncoderCos":18515,"EncoderSin":46706,"GapTicks":49938,"Mech_RPM":-469.958893,"cg_du":54.6014328,"cg_dv":45.3985672,"cg_dw":45.946125,"cg_id_a":14.70644,"cg_id_raw_a":14.9666548,"cg_iq_a":-204.352112,"cg_iq_raw_a":-204.76683,"cg_iu_a":185.425995,"cg_iv_a":-23.6343231,"cg_iw_a":-161.791672,"cg_sample_age_us":23.9654541,"cg_sample_seq":6407817,"cg_sample_valid":1,"cg_theta_rad":2.36500096,"cg_vd_req_v":-2.2048831,"cg_vd_v":-2.2048831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31355953,"cg_vq_v":-8.31355953,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9906616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1008.958374,"values":{"Elec_RPM":-2346.40601,"EncoderCos":43636,"EncoderSin":16117,"GapTicks":50078,"Mech_RPM":-469.281189,"cg_du":45.5456886,"cg_dv":54.4743652,"cg_dw":45.5256348,"cg_id_a":9.39983559,"cg_id_raw_a":6.57340288,"cg_iq_a":-204.651367,"cg_iq_raw_a":-205.388458,"cg_iu_a":-168.67627,"cg_iv_a":184.91272,"cg_iw_a":-16.2364502,"cg_sample_age_us":23.9872723,"cg_sample_seq":6410466,"cg_sample_valid":1,"cg_theta_rad":5.30576754,"cg_vd_req_v":-2.17420983,"cg_vd_v":-2.17420983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31870461,"cg_vq_v":-8.31870461,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2486.84155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1008.959485,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1008.959495,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1008.959498,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1009.054943,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1009.054949,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1009.054954,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1009.325562,"values":{"Elec_RPM":-2351.61719,"EncoderCos":12813,"EncoderSin":31642,"GapTicks":49919,"Mech_RPM":-470.323425,"cg_du":45.3815041,"cg_dv":46.085495,"cg_dw":54.6184959,"cg_id_a":14.4929266,"cg_id_raw_a":15.5010099,"cg_iq_a":-202.901672,"cg_iq_raw_a":-201.662613,"cg_iu_a":-23.4834709,"cg_iv_a":-164.94902,"cg_iw_a":188.432495,"cg_sample_age_us":23.9327278,"cg_sample_seq":6412416,"cg_sample_valid":1,"cg_theta_rad":3.20212436,"cg_vd_req_v":-2.16209149,"cg_vd_v":-2.16209149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31621742,"cg_vq_v":-8.31621742,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2507.81689,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1009.679077,"values":{"Elec_RPM":-2352.86548,"EncoderCos":16521,"EncoderSin":20955,"GapTicks":49500,"Mech_RPM":-470.57309,"cg_du":54.9998322,"cg_dv":51.8511505,"cg_dw":45.0001678,"cg_id_a":5.14637566,"cg_id_raw_a":3.53621554,"cg_iq_a":-205.438934,"cg_iq_raw_a":-206.67923,"cg_iu_a":80.7900391,"cg_iv_a":124.168045,"cg_iw_a":-204.958084,"cg_sample_age_us":23.9981823,"cg_sample_seq":6414116,"cg_sample_valid":1,"cg_theta_rad":3.78004074,"cg_vd_req_v":-2.01407218,"cg_vd_v":-2.01407218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27665997,"cg_vq_v":-8.27665997,"cg_vu_v":32.9919434,"cg_vv_v":25.953661,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1010.011108,"values":{"Elec_RPM":-2352.77173,"EncoderCos":25280,"EncoderSin":14265,"GapTicks":49359,"Mech_RPM":-470.554352,"cg_du":44.8720818,"cg_dv":50.6134567,"cg_dw":55.1279182,"cg_id_a":-14.9809036,"cg_id_raw_a":-13.3801355,"cg_iq_a":-200.770172,"cg_iq_raw_a":-199.76825,"cg_iu_a":-148.742157,"cg_iv_a":-39.0379333,"cg_iw_a":187.78009,"cg_sample_age_us":23.9290905,"cg_sample_seq":6415817,"cg_sample_valid":1,"cg_theta_rad":4.33976889,"cg_vd_req_v":-1.62298703,"cg_vd_v":-1.62298703,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40855789,"cg_vq_v":-8.40855789,"cg_vu_v":112.172607,"cg_vv_v":127.568848,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0439148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1010.078961,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1010.078967,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1010.078972,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1010.345093,"values":{"Elec_RPM":-2354.64307,"EncoderCos":36808,"EncoderSin":13227,"GapTicks":49513,"Mech_RPM":-470.928589,"cg_du":54.9876022,"cg_dv":47.7482681,"cg_dw":45.0123978,"cg_id_a":-8.66383743,"cg_id_raw_a":-1.26247239,"cg_iq_a":-197.099304,"cg_iq_raw_a":-199.580978,"cg_iu_a":168.681335,"cg_iv_a":-0.945678711,"cg_iw_a":-169.439117,"cg_sample_age_us":23.9145451,"cg_sample_seq":6417516,"cg_sample_valid":1,"cg_theta_rad":4.93090534,"cg_vd_req_v":-1.72038054,"cg_vd_v":-1.72038054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43989468,"cg_vq_v":-8.43989468,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6055031,"dclink_p_w":-2555.69482,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0155029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1010.696655,"values":{"Elec_RPM":-2356.13135,"EncoderCos":46694,"EncoderSin":18731,"GapTicks":49987,"Mech_RPM":-471.226257,"cg_du":45.442997,"cg_dv":54.557003,"cg_dw":54.1644516,"cg_id_a":10.9113617,"cg_id_raw_a":10.9110403,"cg_iq_a":-202.334381,"cg_iq_raw_a":-201.967667,"cg_iu_a":-188.030487,"cg_iv_a":30.0790558,"cg_iw_a":157.951431,"cg_sample_age_us":23.8309097,"cg_sample_seq":6419216,"cg_sample_valid":1,"cg_theta_rad":5.50931501,"cg_vd_req_v":-2.20879459,"cg_vd_v":-2.20879459,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32222366,"cg_vq_v":-8.32222366,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9977417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1011.028687,"values":{"Elec_RPM":-2360.20386,"EncoderCos":52007,"EncoderSin":28683,"GapTicks":49458,"Mech_RPM":-472.040771,"cg_du":55.0381508,"cg_dv":44.9618492,"cg_dw":47.9236221,"cg_id_a":8.5513382,"cg_id_raw_a":3.40282154,"cg_iq_a":-201.003342,"cg_iq_raw_a":-199.851517,"cg_iu_a":200.938354,"cg_iv_a":-68.2867126,"cg_iw_a":-132.651642,"cg_sample_age_us":24.0345459,"cg_sample_seq":6420916,"cg_sample_valid":1,"cg_theta_rad":6.08880424,"cg_vd_req_v":-2.15723515,"cg_vd_v":-2.15723515,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38132763,"cg_vq_v":-8.38132763,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2554.37939,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1011.071721,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1011.071728,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1011.071733,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1011.362671,"values":{"Elec_RPM":-2361.81616,"EncoderCos":44790,"EncoderSin":48495,"GapTicks":49950,"Mech_RPM":-472.36322,"cg_du":54.5905418,"cg_dv":45.4094582,"cg_dw":54.0203667,"cg_id_a":10.1513367,"cg_id_raw_a":15.3075428,"cg_iq_a":-201.535858,"cg_iq_raw_a":-202.061707,"cg_iu_a":171.363373,"cg_iv_a":-177.52562,"cg_iw_a":6.1622467,"cg_sample_age_us":23.9872723,"cg_sample_seq":6422566,"cg_sample_valid":1,"cg_theta_rad":0.9222821,"cg_vd_req_v":-2.11190176,"cg_vd_v":-2.11190176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35983944,"cg_vq_v":-8.35983944,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2579,"hz_tim_isr":4997,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0066223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1011.714233,"values":{"Elec_RPM":-2357.02832,"EncoderCos":34260,"EncoderSin":52478,"GapTicks":49580,"Mech_RPM":-471.40567,"cg_du":47.3697586,"cg_dv":54.9272728,"cg_dw":45.0727272,"cg_id_a":13.3730164,"cg_id_raw_a":8.88404179,"cg_iq_a":-204.106445,"cg_iq_raw_a":-202.475082,"cg_iu_a":-146.458801,"cg_iv_a":199.011566,"cg_iw_a":-52.5527573,"cg_sample_age_us":23.9036369,"cg_sample_seq":6424266,"cg_sample_valid":1,"cg_theta_rad":1.49616432,"cg_vd_req_v":-2.18098497,"cg_vd_v":-2.18098497,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30866528,"cg_vq_v":-8.30866528,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2438.23193,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2579,"hz_tim_isr":4997,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1012.046265,"values":{"Elec_RPM":-2359.27539,"EncoderCos":23464,"EncoderSin":50423,"GapTicks":49300,"Mech_RPM":-471.855103,"cg_du":50.2615242,"cg_dv":44.8187523,"cg_dw":55.1812477,"cg_id_a":-15.6147079,"cg_id_raw_a":-21.3025265,"cg_iq_a":-197.685898,"cg_iq_raw_a":-198.06601,"cg_iu_a":61.6532974,"cg_iv_a":-193.581635,"cg_iw_a":131.928345,"cg_sample_age_us":23.6963634,"cg_sample_seq":6425967,"cg_sample_valid":1,"cg_theta_rad":2.05721068,"cg_vd_req_v":-1.60380125,"cg_vd_v":-1.60380125,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48569107,"cg_vq_v":-8.48569107,"cg_vu_v":117.451309,"cg_vv_v":117.451309,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2579,"hz_tim_isr":4997,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0013123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1012.063418,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1012.063424,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1012.06343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1012.397827,"values":{"Elec_RPM":-2352.49658,"EncoderCos":15563,"EncoderSin":42903,"GapTicks":49733,"Mech_RPM":-470.499298,"cg_du":53.2624512,"cg_dv":54.7873344,"cg_dw":45.2126656,"cg_id_a":2.68617368,"cg_id_raw_a":9.29654312,"cg_iq_a":-201.046692,"cg_iq_raw_a":-203.354233,"cg_iu_a":-24.2083473,"cg_iv_a":178.497543,"cg_iw_a":-154.2892,"cg_sample_age_us":23.8963642,"cg_sample_seq":6427670,"cg_sample_valid":1,"cg_theta_rad":2.64563203,"cg_vd_req_v":-1.90072429,"cg_vd_v":-1.90072429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38450813,"cg_vq_v":-8.38450813,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.676178,"dclink_p_w":-2558.17871,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0527954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1012.731812,"values":{"Elec_RPM":-2353.06567,"EncoderCos":12840,"EncoderSin":31475,"GapTicks":50057,"Mech_RPM":-470.613129,"cg_du":45.5065575,"cg_dv":45.7457275,"cg_dw":54.4934425,"cg_id_a":12.75422,"cg_id_raw_a":14.9623804,"cg_iq_a":-205.531586,"cg_iq_raw_a":-201.831192,"cg_iu_a":-17.6844559,"cg_iv_a":-169.2258,"cg_iw_a":186.910248,"cg_sample_age_us":23.8381824,"cg_sample_seq":6429367,"cg_sample_valid":1,"cg_theta_rad":3.21311235,"cg_vd_req_v":-2.12284899,"cg_vd_v":-2.12284899,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26344872,"cg_vq_v":-8.26344872,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.019043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1013.063843,"values":{"Elec_RPM":-2353.95654,"EncoderCos":16769,"EncoderSin":20596,"GapTicks":49612,"Mech_RPM":-470.79129,"cg_du":54.8975525,"cg_dv":52.7024231,"cg_dw":45.1024475,"cg_id_a":11.1144199,"cg_id_raw_a":8.84233189,"cg_iq_a":-204.238388,"cg_iq_raw_a":-205.020187,"cg_iu_a":55.5643311,"cg_iv_a":144.863281,"cg_iw_a":-200.427612,"cg_sample_age_us":23.9836369,"cg_sample_seq":6431066,"cg_sample_valid":1,"cg_theta_rad":3.79934478,"cg_vd_req_v":-2.12705159,"cg_vd_v":-2.12705159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32224274,"cg_vq_v":-8.32224274,"cg_vu_v":1.75957024,"cg_vv_v":5.27871037,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2502.57788,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1013.087007,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1013.087014,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1013.087019,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1013.417358,"values":{"Elec_RPM":-2351.19922,"EncoderCos":26001,"EncoderSin":13961,"GapTicks":49340,"Mech_RPM":-470.239838,"cg_du":44.8549881,"cg_dv":48.9904175,"cg_dw":55.1450119,"cg_id_a":-8.10998821,"cg_id_raw_a":-12.5928602,"cg_iq_a":-196.306122,"cg_iq_raw_a":-197.390396,"cg_iu_a":-109.345108,"cg_iv_a":-86.6623383,"cg_iw_a":196.007446,"cg_sample_age_us":23.9327278,"cg_sample_seq":6432766,"cg_sample_valid":1,"cg_theta_rad":4.37852097,"cg_vd_req_v":-1.77469051,"cg_vd_v":-1.77469051,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46907234,"cg_vq_v":-8.46907234,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1013.74939,"values":{"Elec_RPM":-2349.54443,"EncoderCos":37288,"EncoderSin":13339,"GapTicks":49395,"Mech_RPM":-469.908875,"cg_du":55.094944,"cg_dv":48.9753799,"cg_dw":44.905056,"cg_id_a":-15.8183365,"cg_id_raw_a":-15.4411573,"cg_iq_a":-196.328125,"cg_iq_raw_a":-196.891769,"cg_iu_a":156.720871,"cg_iv_a":26.0922241,"cg_iw_a":-182.813095,"cg_sample_age_us":24.0090904,"cg_sample_seq":6434466,"cg_sample_valid":1,"cg_theta_rad":4.95664549,"cg_vd_req_v":-1.5858531,"cg_vd_v":-1.5858531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42356682,"cg_vq_v":-8.42356682,"cg_vu_v":27.7132301,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2431.69507,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0066223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1014.078945,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1014.078951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1014.078957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1014.079468,"values":{"Elec_RPM":-2350.32739,"EncoderCos":46988,"EncoderSin":19032,"GapTicks":49896,"Mech_RPM":-470.06546,"cg_du":45.3607597,"cg_dv":53.8106117,"cg_dw":54.6392403,"cg_id_a":5.53325224,"cg_id_raw_a":9.75623703,"cg_iq_a":-203.448944,"cg_iq_raw_a":-202.799561,"cg_iu_a":-180.165558,"cg_iv_a":14.1679993,"cg_iw_a":168.607117,"cg_sample_age_us":23.9254551,"cg_sample_seq":6436166,"cg_sample_valid":1,"cg_theta_rad":5.53162289,"cg_vd_req_v":-2.09680557,"cg_vd_v":-2.09680557,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32025719,"cg_vq_v":-8.32025719,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1014.434937,"values":{"Elec_RPM":-2354.02026,"EncoderCos":47358,"EncoderSin":19476,"GapTicks":49532,"Mech_RPM":-470.804047,"cg_du":45.0292625,"cg_dv":52.3554764,"cg_dw":54.9707375,"cg_id_a":-7.11126804,"cg_id_raw_a":-3.97901225,"cg_iq_a":-201.407959,"cg_iq_raw_a":-200.752853,"cg_iu_a":-169.219925,"cg_iv_a":-8.81059265,"cg_iw_a":178.030518,"cg_sample_age_us":23.9290905,"cg_sample_seq":6437917,"cg_sample_valid":1,"cg_theta_rad":5.56105947,"cg_vd_req_v":-1.84574604,"cg_vd_v":-1.84574604,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38513851,"cg_vq_v":-8.38513851,"cg_vu_v":113.932175,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1014.765015,"values":{"Elec_RPM":-2355.25122,"EncoderCos":52238,"EncoderSin":29765,"GapTicks":50028,"Mech_RPM":-471.050262,"cg_du":54.5196304,"cg_dv":45.4803696,"cg_dw":45.6965256,"cg_id_a":14.6960316,"cg_id_raw_a":15.3281679,"cg_iq_a":-203.009369,"cg_iq_raw_a":-203.470459,"cg_iu_a":180.859268,"cg_iv_a":-17.799057,"cg_iw_a":-163.060211,"cg_sample_age_us":24.1399994,"cg_sample_seq":6439617,"cg_sample_valid":1,"cg_theta_rad":6.14084911,"cg_vd_req_v":-2.22509551,"cg_vd_v":-2.22509551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32680416,"cg_vq_v":-8.32680416,"cg_vu_v":143.404984,"cg_vv_v":132.847549,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2458.5166,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.083374,"temp_inv2_c":42.937439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1015.071214,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1015.07122,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1015.071225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1015.11853,"values":{"Elec_RPM":-2358.33765,"EncoderCos":50999,"EncoderSin":40158,"GapTicks":49308,"Mech_RPM":-471.667542,"cg_du":44.8263206,"cg_dv":55.1736794,"cg_dw":50.5854759,"cg_id_a":-6.24055099,"cg_id_raw_a":-11.1240263,"cg_iq_a":-197.188324,"cg_iq_raw_a":-196.250961,"cg_iu_a":-195.025543,"cg_iv_a":66.7578125,"cg_iw_a":128.267731,"cg_sample_age_us":23.4381809,"cg_sample_seq":6441321,"cg_sample_valid":1,"cg_theta_rad":0.435382515,"cg_vd_req_v":-1.85900319,"cg_vd_v":-1.85900319,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43561077,"cg_vq_v":-8.43561077,"cg_vu_v":119.210884,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4003944,"dclink_p_w":-2366.3269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1015.452515,"values":{"Elec_RPM":-2352.72192,"EncoderCos":22773,"EncoderSin":50064,"GapTicks":49408,"Mech_RPM":-470.544373,"cg_du":51.6467209,"cg_dv":44.917038,"cg_dw":55.082962,"cg_id_a":1.14884365,"cg_id_raw_a":-4.20750475,"cg_iq_a":-198.08252,"cg_iq_raw_a":-197.436813,"cg_iu_a":108.987747,"cg_iv_a":-199.271927,"cg_iw_a":90.2841797,"cg_sample_age_us":23.692728,"cg_sample_seq":6442916,"cg_sample_valid":1,"cg_theta_rad":2.09066153,"cg_vd_req_v":-1.94620919,"cg_vd_v":-1.94620919,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44658089,"cg_vq_v":-8.44658089,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1015.782593,"values":{"Elec_RPM":-2355.01709,"EncoderCos":32454,"EncoderSin":52588,"GapTicks":49488,"Mech_RPM":-471.003418,"cg_du":44.9891815,"cg_dv":55.0108185,"cg_dw":47.8512001,"cg_id_a":-4.47567463,"cg_id_raw_a":-1.44350636,"cg_iq_a":-198.583191,"cg_iq_raw_a":-199.914139,"cg_iu_a":-178.7883,"cg_iv_a":161.607925,"cg_iw_a":17.1803741,"cg_sample_age_us":23.8672733,"cg_sample_seq":6444717,"cg_sample_valid":1,"cg_theta_rad":1.58700669,"cg_vd_req_v":-1.77573323,"cg_vd_v":-1.77573323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44185448,"cg_vq_v":-8.44185448,"cg_vu_v":111.732712,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1016.095345,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1016.095351,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1016.095356,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1016.116577,"values":{"Elec_RPM":-2351.021,"EncoderCos":12903,"EncoderSin":30757,"GapTicks":49879,"Mech_RPM":-470.204193,"cg_du":46.4538231,"cg_dv":45.3447647,"cg_dw":54.6552353,"cg_id_a":-1.8959955,"cg_id_raw_a":2.00929379,"cg_iq_a":-205.642303,"cg_iq_raw_a":-207.81427,"cg_iu_a":-5.94145536,"cg_iv_a":-174.444901,"cg_iw_a":180.386353,"cg_sample_age_us":23.8490906,"cg_sample_seq":6446316,"cg_sample_valid":1,"cg_theta_rad":3.23711061,"cg_vd_req_v":-1.93342125,"cg_vd_v":-1.82203972,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27583313,"cg_vq_v":-8.27583313,"cg_vu_v":136.806595,"cg_vv_v":109.533249,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9675903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1016.46814,"values":{"Elec_RPM":-2348.64038,"EncoderCos":12959,"EncoderSin":30059,"GapTicks":49399,"Mech_RPM":-469.728058,"cg_du":48.9957047,"cg_dv":44.9083519,"cg_dw":55.0916481,"cg_id_a":-18.9518871,"cg_id_raw_a":-16.3388329,"cg_iq_a":-200.100372,"cg_iq_raw_a":-202.88475,"cg_iu_a":14.2826042,"cg_iv_a":-180.062698,"cg_iw_a":165.78009,"cg_sample_age_us":23.7836361,"cg_sample_seq":6448066,"cg_sample_valid":1,"cg_theta_rad":3.2730062,"cg_vd_req_v":-1.49613953,"cg_vd_v":-1.49613953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43212891,"cg_vq_v":-8.43212891,"cg_vu_v":105.134323,"cg_vv_v":86.6588287,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2411.57031,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.019043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1016.800171,"values":{"Elec_RPM":-2345.75806,"EncoderCos":17622,"EncoderSin":19533,"GapTicks":49716,"Mech_RPM":-469.151611,"cg_du":53.1999016,"cg_dv":54.803524,"cg_dw":45.196476,"cg_id_a":1.08490813,"cg_id_raw_a":6.13434696,"cg_iq_a":-200.053406,"cg_iq_raw_a":-203.145935,"cg_iu_a":2.93828392,"cg_iv_a":170.378937,"cg_iw_a":-173.317215,"cg_sample_age_us":23.9981823,"cg_sample_seq":6449766,"cg_sample_valid":1,"cg_theta_rad":3.86932611,"cg_vd_req_v":-1.88336182,"cg_vd_v":-1.88336182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39184189,"cg_vq_v":-8.39184189,"cg_vu_v":40.4701157,"cg_vv_v":64.6642075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9977417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1017.087064,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1017.08707,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1017.087075,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1017.153687,"values":{"Elec_RPM":-2353.10938,"EncoderCos":36769,"EncoderSin":13259,"GapTicks":49527,"Mech_RPM":-470.621857,"cg_du":54.974823,"cg_dv":47.6639671,"cg_dw":45.025177,"cg_id_a":-8.50325966,"cg_id_raw_a":-0.2039105,"cg_iq_a":-198.776733,"cg_iq_raw_a":-201.28775,"cg_iu_a":153.640137,"cg_iv_a":29.934082,"cg_iw_a":-183.574219,"cg_sample_age_us":23.9290905,"cg_sample_seq":6451420,"cg_sample_valid":1,"cg_theta_rad":4.9709301,"cg_vd_req_v":-1.73112893,"cg_vd_v":-1.73112893,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41123199,"cg_vq_v":-8.41123199,"cg_vu_v":41.7897949,"cg_vv_v":43.549366,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.4532776,"dclink_p_w":-2525.91968,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1017.485718,"values":{"Elec_RPM":-2350.73828,"EncoderCos":38365,"EncoderSin":13623,"GapTicks":49411,"Mech_RPM":-470.147675,"cg_du":55.080574,"cg_dv":51.2107162,"cg_dw":44.919426,"cg_id_a":-6.97432566,"cg_id_raw_a":-10.462718,"cg_iq_a":-201.848618,"cg_iq_raw_a":-202.113663,"cg_iu_a":109.313934,"cg_iv_a":96.7677002,"cg_iw_a":-206.081635,"cg_sample_age_us":23.8600006,"cg_sample_seq":6453166,"cg_sample_valid":1,"cg_theta_rad":5.01557541,"cg_vd_req_v":-1.81729233,"cg_vd_v":-1.81729233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34876633,"cg_vq_v":-8.34876633,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2458.88794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1017.819702,"values":{"Elec_RPM":-2353.15161,"EncoderCos":47735,"EncoderSin":19839,"GapTicks":49374,"Mech_RPM":-470.630341,"cg_du":44.8856888,"cg_dv":51.1264648,"cg_dw":55.1143112,"cg_id_a":-10.3422775,"cg_id_raw_a":-9.35547543,"cg_iq_a":-198.300644,"cg_iq_raw_a":-197.300598,"cg_iu_a":-149.829468,"cg_iv_a":-33.7101135,"cg_iw_a":183.539581,"cg_sample_age_us":23.9109097,"cg_sample_seq":6454867,"cg_sample_valid":1,"cg_theta_rad":5.59019995,"cg_vd_req_v":-1.77576065,"cg_vd_v":-1.77576065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43054867,"cg_vq_v":-8.43054867,"cg_vu_v":116.571533,"cg_vv_v":145.164551,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3170338,"dclink_p_w":-2368.65479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1018.078938,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1018.078943,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1018.078949,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1018.188843,"values":{"Elec_RPM":-2353.66504,"EncoderCos":52278,"EncoderSin":30413,"GapTicks":49666,"Mech_RPM":-470.733032,"cg_du":54.8489075,"cg_dv":46.9951286,"cg_dw":45.1510925,"cg_id_a":-0.789877415,"cg_id_raw_a":5.35526371,"cg_iq_a":-198.436218,"cg_iq_raw_a":-201.39505,"cg_iu_a":172.414459,"cg_iv_a":-0.800704956,"cg_iw_a":-171.613754,"cg_sample_age_us":24.1145458,"cg_sample_seq":6456566,"cg_sample_valid":1,"cg_theta_rad":6.17572403,"cg_vd_req_v":-1.90407777,"cg_vd_v":-1.90407777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39294052,"cg_vq_v":-8.39294052,"cg_vu_v":50.1477547,"cg_vv_v":48.3881836,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0403748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1018.708374,"values":{"Elec_RPM":-2348.54688,"EncoderCos":13161,"EncoderSin":28892,"GapTicks":49337,"Mech_RPM":-469.709381,"cg_du":51.2735863,"cg_dv":44.8523026,"cg_dw":55.1476974,"cg_id_a":-2.0122211,"cg_id_raw_a":-5.58892393,"cg_iq_a":-197.474152,"cg_iq_raw_a":-197.319504,"cg_iu_a":98.3320541,"cg_iv_a":-197.71344,"cg_iw_a":99.3813858,"cg_sample_age_us":23.7545452,"cg_sample_seq":6459167,"cg_sample_valid":1,"cg_theta_rad":3.33986235,"cg_vd_req_v":-1.87678111,"cg_vd_v":-1.87678111,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45768166,"cg_vq_v":-8.45768166,"cg_vu_v":123.60981,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2409.2085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1018.943583,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1018.943594,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1018.943597,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1019.071308,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1019.071313,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1019.071318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1019.143921,"values":{"Elec_RPM":-2339.47217,"EncoderCos":16440,"EncoderSin":21106,"GapTicks":49439,"Mech_RPM":-467.894409,"cg_du":55.055336,"cg_dv":51.5489922,"cg_dw":44.944664,"cg_id_a":3.28756666,"cg_id_raw_a":1.68724501,"cg_iq_a":-202.949005,"cg_iq_raw_a":-203.675308,"cg_iu_a":99.9992676,"cg_iv_a":101.334427,"cg_iw_a":-201.333694,"cg_sample_age_us":23.8563633,"cg_sample_seq":6461466,"cg_sample_valid":1,"cg_theta_rad":3.760813,"cg_vd_req_v":-1.97202003,"cg_vd_v":-1.97202003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34961605,"cg_vq_v":-8.34961605,"cg_vu_v":111.292824,"cg_vv_v":106.893898,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1019.497437,"values":{"Elec_RPM":-2349.22314,"EncoderCos":16816,"EncoderSin":20603,"GapTicks":49631,"Mech_RPM":-469.844604,"cg_du":54.8800316,"cg_dv":52.7801933,"cg_dw":45.1199684,"cg_id_a":10.3208838,"cg_id_raw_a":9.01197243,"cg_iq_a":-203.52243,"cg_iq_raw_a":-200.713333,"cg_iu_a":55.38311,"cg_iv_a":142.398682,"cg_iw_a":-197.781799,"cg_sample_age_us":23.9581814,"cg_sample_seq":6463217,"cg_sample_valid":1,"cg_theta_rad":3.79911184,"cg_vd_req_v":-2.0973711,"cg_vd_v":-2.0973711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32487965,"cg_vq_v":-8.32487965,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1019.831421,"values":{"Elec_RPM":-2349.66577,"EncoderCos":36533,"EncoderSin":13226,"GapTicks":49655,"Mech_RPM":-469.933136,"cg_du":54.8583755,"cg_dv":47.0097694,"cg_dw":45.1416245,"cg_id_a":-1.32200444,"cg_id_raw_a":6.1687355,"cg_iq_a":-199.856415,"cg_iq_raw_a":-203.507416,"cg_iu_a":174.444107,"cg_iv_a":-2.2504425,"cg_iw_a":-172.193665,"cg_sample_age_us":24.0418186,"cg_sample_seq":6464866,"cg_sample_valid":1,"cg_theta_rad":4.9178977,"cg_vd_req_v":-1.87247992,"cg_vd_v":-1.87247992,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38362408,"cg_vq_v":-8.38362408,"cg_vu_v":32.9919434,"cg_vv_v":13.1967773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2453.27124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1020.063625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1020.063631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1020.063637,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1020.182983,"values":{"Elec_RPM":-2352.40723,"EncoderCos":37334,"EncoderSin":13363,"GapTicks":49351,"Mech_RPM":-470.481445,"cg_du":55.1353569,"cg_dv":49.1277313,"cg_dw":44.8646431,"cg_id_a":-18.4887753,"cg_id_raw_a":-17.4460678,"cg_iq_a":-196.511978,"cg_iq_raw_a":-198.242386,"cg_iu_a":161.613785,"cg_iv_a":14.9291229,"cg_iw_a":-176.542908,"cg_sample_age_us":23.9254551,"cg_sample_seq":6466616,"cg_sample_valid":1,"cg_theta_rad":4.9523716,"cg_vd_req_v":-1.54639626,"cg_vd_v":-1.54639626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45661354,"cg_vq_v":-8.45661354,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-16.3714008,"dclink_p_w":-2362.14355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0066223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1020.516968,"values":{"Elec_RPM":-2356.68652,"EncoderCos":51965,"EncoderSin":28571,"GapTicks":49411,"Mech_RPM":-471.33728,"cg_du":55.0807686,"cg_dv":44.9192314,"cg_dw":48.1207695,"cg_id_a":6.83963966,"cg_id_raw_a":2.70816302,"cg_iq_a":-197.61145,"cg_iq_raw_a":-196.612,"cg_iu_a":197.85762,"cg_iv_a":-72.5634918,"cg_iw_a":-125.294128,"cg_sample_age_us":24.1618176,"cg_sample_seq":6468266,"cg_sample_valid":1,"cg_theta_rad":6.08309364,"cg_vd_req_v":-2.1097219,"cg_vd_v":-2.1097219,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4218626,"cg_vq_v":-8.4218626,"cg_vu_v":45.3089333,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2470.46143,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.019043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1020.847046,"values":{"Elec_RPM":-2350.78711,"EncoderCos":47656,"EncoderSin":19787,"GapTicks":49404,"Mech_RPM":-470.15744,"cg_du":44.913166,"cg_dv":51.3483887,"cg_dw":55.086834,"cg_id_a":-9.54745579,"cg_id_raw_a":-6.94219971,"cg_iq_a":-198.866058,"cg_iq_raw_a":-199.704178,"cg_iu_a":-160.013992,"cg_iv_a":-21.7133942,"cg_iw_a":181.727386,"cg_sample_age_us":23.8418179,"cg_sample_seq":6470066,"cg_sample_valid":1,"cg_theta_rad":5.57551861,"cg_vd_req_v":-1.79419267,"cg_vd_v":-1.79419267,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41052246,"cg_vq_v":-8.41052246,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-15.6863918,"dclink_p_w":-2270.20776,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1021.086906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1021.086911,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1021.086916,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1021.200562,"values":{"Elec_RPM":-2349.08154,"EncoderCos":44370,"EncoderSin":48831,"GapTicks":49583,"Mech_RPM":-469.816284,"cg_du":54.9237251,"cg_dv":45.0762749,"cg_dw":52.6190376,"cg_id_a":-4.82655334,"cg_id_raw_a":2.67714405,"cg_iq_a":-200.360107,"cg_iq_raw_a":-202.423355,"cg_iu_a":172.26947,"cg_iv_a":-172.306503,"cg_iw_a":0.0370330811,"cg_sample_age_us":23.9472733,"cg_sample_seq":6471666,"cg_sample_valid":1,"cg_theta_rad":0.9472242,"cg_vd_req_v":-1.81362522,"cg_vd_v":-1.81362522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41425323,"cg_vq_v":-8.41425323,"cg_vu_v":16.2760258,"cg_vv_v":7.47817326,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2554.50708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9658203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1021.532593,"values":{"Elec_RPM":-2351.21851,"EncoderCos":50597,"EncoderSin":40986,"GapTicks":49460,"Mech_RPM":-470.243683,"cg_du":44.963707,"cg_dv":55.036293,"cg_dw":52.3744698,"cg_id_a":7.06514502,"cg_id_raw_a":0.835498571,"cg_iq_a":-198.615814,"cg_iq_raw_a":-196.928436,"cg_iu_a":-195.532959,"cg_iv_a":65.1630859,"cg_iw_a":130.369873,"cg_sample_age_us":23.4418182,"cg_sample_seq":6473467,"cg_sample_valid":1,"cg_theta_rad":0.440002948,"cg_vd_req_v":-2.13469505,"cg_vd_v":-2.13469505,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4299736,"cg_vq_v":-8.4299736,"cg_vu_v":1.75957024,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2429.60327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":42.9977417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1021.864624,"values":{"Elec_RPM":-2349.36914,"EncoderCos":22860,"EncoderSin":50080,"GapTicks":49399,"Mech_RPM":-469.87381,"cg_du":51.4936371,"cg_dv":44.9085197,"cg_dw":55.0914803,"cg_id_a":-0.971113801,"cg_id_raw_a":-6.26114464,"cg_iq_a":-198.206711,"cg_iq_raw_a":-197.800873,"cg_iu_a":104.819702,"cg_iv_a":-198.220856,"cg_iw_a":93.4011536,"cg_sample_age_us":23.6709099,"cg_sample_seq":6475067,"cg_sample_valid":1,"cg_theta_rad":2.09072709,"cg_vd_req_v":-1.90606713,"cg_vd_v":-1.90606713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41660976,"cg_vq_v":-8.41660976,"cg_vu_v":105.134323,"cg_vv_v":76.1014175,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1022.079492,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1022.079497,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1022.079502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1022.216187,"values":{"Elec_RPM":-2349.01025,"EncoderCos":32231,"EncoderSin":52585,"GapTicks":49416,"Mech_RPM":-469.802063,"cg_du":44.9242401,"cg_dv":55.0757599,"cg_dw":48.3944588,"cg_id_a":-7.37627363,"cg_id_raw_a":-6.76782703,"cg_iq_a":-198.210571,"cg_iq_raw_a":-198.59494,"cg_iu_a":-182.448914,"cg_iv_a":157.47612,"cg_iw_a":24.9727936,"cg_sample_age_us":23.863636,"cg_sample_seq":6476867,"cg_sample_valid":1,"cg_theta_rad":1.59731412,"cg_vd_req_v":-1.72143626,"cg_vd_v":-1.72143626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42224598,"cg_vq_v":-8.42224598,"cg_vu_v":102.494972,"cg_vv_v":110.852921,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.3714008,"dclink_p_w":-2369.34546,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1022.550171,"values":{"Elec_RPM":-2353.06982,"EncoderCos":14524,"EncoderSin":40986,"GapTicks":49365,"Mech_RPM":-470.613953,"cg_du":48.9153175,"cg_dv":55.1220474,"cg_dw":44.8779526,"cg_id_a":-1.91500354,"cg_id_raw_a":-10.0792389,"cg_iq_a":-200.843842,"cg_iq_raw_a":-200.024277,"cg_iu_a":-93.0353851,"cg_iv_a":200.823746,"cg_iw_a":-107.788361,"cg_sample_age_us":23.8672733,"cg_sample_seq":6478517,"cg_sample_valid":1,"cg_theta_rad":2.71072483,"cg_vd_req_v":-1.74348962,"cg_vd_v":-1.74348962,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41852379,"cg_vq_v":-8.41852379,"cg_vu_v":3.07924795,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2392.1626,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1022.903687,"values":{"Elec_RPM":-2354.19873,"EncoderCos":12906,"EncoderSin":30730,"GapTicks":49699,"Mech_RPM":-470.839752,"cg_du":47.1863441,"cg_dv":45.1810303,"cg_dw":54.8189697,"cg_id_a":-3.05823231,"cg_id_raw_a":5.70089531,"cg_iq_a":-204.924164,"cg_iq_raw_a":-206.535019,"cg_iu_a":33.52808,"cg_iv_a":-185.75296,"cg_iw_a":152.224884,"cg_sample_age_us":26.8018188,"cg_sample_seq":6480220,"cg_sample_valid":1,"cg_theta_rad":3.29350281,"cg_vd_req_v":-1.7919209,"cg_vd_v":-1.7919209,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30734539,"cg_vq_v":-8.30734539,"cg_vu_v":42.2296829,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2475.19678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1023.071253,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1023.071259,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1023.071264,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1023.235718,"values":{"Elec_RPM":-2355.24146,"EncoderCos":17690,"EncoderSin":19447,"GapTicks":49672,"Mech_RPM":-471.048279,"cg_du":52.9081497,"cg_dv":54.8428116,"cg_dw":45.1571884,"cg_id_a":-1.77851319,"cg_id_raw_a":3.46777201,"cg_iq_a":-200.232452,"cg_iq_raw_a":-203.551743,"cg_iu_a":1.45228684,"cg_iv_a":170.850098,"cg_iw_a":-172.302383,"cg_sample_age_us":23.9363632,"cg_sample_seq":6481916,"cg_sample_valid":1,"cg_theta_rad":3.87439919,"cg_vd_req_v":-1.82342529,"cg_vd_v":-1.82342529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36927032,"cg_vq_v":-8.36927032,"cg_vu_v":0.43989256,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.0923233,"dclink_p_w":-2328.95605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9977417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1023.567749,"values":{"Elec_RPM":-2350.6106,"EncoderCos":27240,"EncoderSin":13610,"GapTicks":49703,"Mech_RPM":-470.122131,"cg_du":45.1854401,"cg_dv":46.6778488,"cg_dw":54.8145599,"cg_id_a":16.7349529,"cg_id_raw_a":16.0038033,"cg_iq_a":-203.056,"cg_iq_raw_a":-202.134369,"cg_iu_a":-34.3928642,"cg_iv_a":-159.548691,"cg_iw_a":193.941559,"cg_sample_age_us":23.9654541,"cg_sample_seq":6483616,"cg_sample_valid":1,"cg_theta_rad":4.44551611,"cg_vd_req_v":-2.26774311,"cg_vd_v":-2.26774311,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33131409,"cg_vq_v":-8.33131409,"cg_vu_v":3.95903301,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0758972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1023.919312,"values":{"Elec_RPM":-2352.08081,"EncoderCos":38531,"EncoderSin":13674,"GapTicks":49447,"Mech_RPM":-470.416168,"cg_du":55.0477066,"cg_dv":51.4667587,"cg_dw":44.9522934,"cg_id_a":-0.25917697,"cg_id_raw_a":-2.94177437,"cg_iq_a":-202.639435,"cg_iq_raw_a":-200.368805,"cg_iu_a":94.4539642,"cg_iv_a":109.851715,"cg_iw_a":-204.305679,"cg_sample_age_us":23.8527279,"cg_sample_seq":6485316,"cg_sample_valid":1,"cg_theta_rad":5.02326155,"cg_vd_req_v":-1.93804979,"cg_vd_v":-1.93804979,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33083439,"cg_vq_v":-8.33083439,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2358.92139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1024.094837,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1024.095222,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1024.095567,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1024.253296,"values":{"Elec_RPM":-2352.44189,"EncoderCos":51066,"EncoderSin":40075,"GapTicks":49280,"Mech_RPM":-470.488403,"cg_du":44.8000908,"cg_dv":55.1999092,"cg_dw":50.0065193,"cg_id_a":-6.75256729,"cg_id_raw_a":-3.8469007,"cg_iq_a":-197.117935,"cg_iq_raw_a":-197.469406,"cg_iu_a":-194.300659,"cg_iv_a":128.227356,"cg_iw_a":66.0733032,"cg_sample_age_us":23.5072727,"cg_sample_seq":6486917,"cg_sample_valid":1,"cg_theta_rad":0.380804092,"cg_vd_req_v":-1.8493011,"cg_vd_v":-1.8493011,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46367073,"cg_vq_v":-8.46367073,"cg_vu_v":8.35795879,"cg_vv_v":24.6339836,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.1195049,"dclink_p_w":-2332.88989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1024.585327,"values":{"Elec_RPM":-2352.62695,"EncoderCos":50682,"EncoderSin":40888,"GapTicks":49420,"Mech_RPM":-470.525391,"cg_du":44.92799,"cg_dv":55.07201,"cg_dw":52.1244431,"cg_id_a":6.09546947,"cg_id_raw_a":4.15140724,"cg_iq_a":-197.738419,"cg_iq_raw_a":-198.240067,"cg_iu_a":-196.837723,"cg_iv_a":70.1647263,"cg_iw_a":112.211716,"cg_sample_age_us":23.449091,"cg_sample_seq":6488666,"cg_sample_valid":1,"cg_theta_rad":0.431616753,"cg_vd_req_v":-2.11632442,"cg_vd_v":-2.11632442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45963478,"cg_vq_v":-8.45963478,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2418.90039,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9995117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1024.93689,"values":{"Elec_RPM":-2358.15649,"EncoderCos":43486,"EncoderSin":49433,"GapTicks":49299,"Mech_RPM":-471.631317,"cg_du":55.1825333,"cg_dv":44.8174667,"cg_dw":50.0729332,"cg_id_a":-14.6770782,"cg_id_raw_a":-15.9425573,"cg_iq_a":-194.897171,"cg_iq_raw_a":-193.563904,"cg_iu_a":190.246414,"cg_iv_a":-136.316391,"cg_iw_a":-53.9300232,"cg_sample_age_us":23.9363632,"cg_sample_seq":6490367,"cg_sample_valid":1,"cg_theta_rad":1.00245929,"cg_vd_req_v":-1.63655698,"cg_vd_v":-1.63655698,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50498009,"cg_vq_v":-8.50498009,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2411.79761,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1025.086789,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1025.086795,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1025.0868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1025.270874,"values":{"Elec_RPM":-2351.06372,"EncoderCos":49932,"EncoderSin":42358,"GapTicks":49785,"Mech_RPM":-470.212738,"cg_du":45.2595444,"cg_dv":53.3669243,"cg_dw":54.7404556,"cg_id_a":4.55204153,"cg_id_raw_a":11.7500353,"cg_iq_a":-202.414017,"cg_iq_raw_a":-204.589874,"cg_iu_a":-177.084839,"cg_iv_a":5.5057373,"cg_iw_a":171.579102,"cg_sample_age_us":23.4345455,"cg_sample_seq":6492166,"cg_sample_valid":1,"cg_theta_rad":0.508017421,"cg_vd_req_v":-2.0369401,"cg_vd_v":-2.0369401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34309959,"cg_vq_v":-8.34309959,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2424.42163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0279236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1025.600952,"values":{"Elec_RPM":-2355.10864,"EncoderCos":21906,"EncoderSin":49471,"GapTicks":49783,"Mech_RPM":-471.021729,"cg_du":53.6811295,"cg_dv":45.2578011,"cg_dw":54.7421989,"cg_id_a":12.6499195,"cg_id_raw_a":10.018693,"cg_iq_a":-201.530685,"cg_iq_raw_a":-200.760483,"cg_iu_a":158.351837,"cg_iv_a":-192.023163,"cg_iw_a":41.6087189,"cg_sample_age_us":23.641819,"cg_sample_seq":6493767,"cg_sample_valid":1,"cg_theta_rad":2.14530277,"cg_vd_req_v":-2.16954446,"cg_vd_v":-2.16954446,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38171101,"cg_vq_v":-8.38171101,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2464.02441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1025.954468,"values":{"Elec_RPM":-2356.73242,"EncoderCos":31151,"EncoderSin":52504,"GapTicks":49306,"Mech_RPM":-471.346497,"cg_du":44.8238754,"cg_dv":55.1761246,"cg_dw":50.7070885,"cg_id_a":-2.6997714,"cg_id_raw_a":-4.11930704,"cg_iq_a":-197.657196,"cg_iq_raw_a":-196.497879,"cg_iu_a":-197.200165,"cg_iv_a":112.497528,"cg_iw_a":84.7026367,"cg_sample_age_us":23.863636,"cg_sample_seq":6495567,"cg_sample_valid":1,"cg_theta_rad":1.65538526,"cg_vd_req_v":-1.84462774,"cg_vd_v":-1.84462774,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45153809,"cg_vq_v":-8.45153809,"cg_vu_v":130.208206,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2391.54175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0155029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1026.078886,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1026.078892,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1026.078898,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1026.288452,"values":{"Elec_RPM":-2347.06567,"EncoderCos":13133,"EncoderSin":29398,"GapTicks":49340,"Mech_RPM":-469.413147,"cg_du":50.3532982,"cg_dv":44.8552856,"cg_dw":55.1447144,"cg_id_a":-11.8080235,"cg_id_raw_a":-15.0023165,"cg_iq_a":-195.691681,"cg_iq_raw_a":-196.370056,"cg_iu_a":67.9597168,"cg_iv_a":-189.667297,"cg_iw_a":136.241364,"cg_sample_age_us":23.6672726,"cg_sample_seq":6497166,"cg_sample_valid":1,"cg_theta_rad":3.31576467,"cg_vd_req_v":-1.66260719,"cg_vd_v":-1.66260719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46876717,"cg_vq_v":-8.46876717,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1026.640015,"values":{"Elec_RPM":-2349.96216,"EncoderCos":17229,"EncoderSin":19964,"GapTicks":50059,"Mech_RPM":-469.992432,"cg_du":54.491272,"cg_dv":54.3377762,"cg_dw":45.508728,"cg_id_a":10.4374495,"cg_id_raw_a":12.3912296,"cg_iq_a":-204.368515,"cg_iq_raw_a":-204.011688,"cg_iu_a":-3.07819247,"cg_iv_a":171.71994,"cg_iw_a":-168.641754,"cg_sample_age_us":23.863636,"cg_sample_seq":6498871,"cg_sample_valid":1,"cg_theta_rad":3.88301373,"cg_vd_req_v":-2.08536458,"cg_vd_v":-2.08536458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30975342,"cg_vq_v":-8.30975342,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.7504787,"dclink_p_w":-2561.12354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0066223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1026.972046,"values":{"Elec_RPM":-2348.03418,"EncoderCos":27454,"EncoderSin":13534,"GapTicks":49845,"Mech_RPM":-469.606842,"cg_du":45.3142014,"cg_dv":46.1572876,"cg_dw":54.6857986,"cg_id_a":14.9783401,"cg_id_raw_a":15.8064375,"cg_iq_a":-203.225739,"cg_iq_raw_a":-200.057999,"cg_iu_a":-16.8146057,"cg_iv_a":-169.551971,"cg_iw_a":186.366577,"cg_sample_age_us":23.8963642,"cg_sample_seq":6500567,"cg_sample_valid":1,"cg_theta_rad":4.4663763,"cg_vd_req_v":-2.2217474,"cg_vd_v":-2.2217474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34701538,"cg_vq_v":-8.34701538,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2467.77808,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9711304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1027.103393,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1027.103399,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1027.103404,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1027.304077,"values":{"Elec_RPM":-2349.92969,"EncoderCos":38792,"EncoderSin":13782,"GapTicks":49550,"Mech_RPM":-469.985962,"cg_du":54.9539757,"cg_dv":52.0375862,"cg_dw":45.0460243,"cg_id_a":1.20764315,"cg_id_raw_a":-2.25002789,"cg_iq_a":-203.968063,"cg_iq_raw_a":-202.314545,"cg_iu_a":82.1310577,"cg_iv_a":118.658966,"cg_iw_a":-200.790024,"cg_sample_age_us":23.9872723,"cg_sample_seq":6502267,"cg_sample_valid":1,"cg_theta_rad":5.03518009,"cg_vd_req_v":-1.96148574,"cg_vd_v":-1.96148574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2798233,"cg_vq_v":-8.2798233,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":130.648087,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2505.44946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1027.657593,"values":{"Elec_RPM":-2356.26221,"EncoderCos":39561,"EncoderSin":13987,"GapTicks":49848,"Mech_RPM":-471.252441,"cg_du":54.6831512,"cg_dv":53.589653,"cg_dw":45.3168488,"cg_id_a":7.91222477,"cg_id_raw_a":6.06610012,"cg_iq_a":-204.431824,"cg_iq_raw_a":-204.160507,"cg_iu_a":36.1013908,"cg_iv_a":155.08403,"cg_iw_a":-191.185425,"cg_sample_age_us":23.9581814,"cg_sample_seq":6504017,"cg_sample_valid":1,"cg_theta_rad":5.07653618,"cg_vd_req_v":-2.10033226,"cg_vd_v":-2.10033226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26973057,"cg_vq_v":-8.26973057,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.8135738,"dclink_p_w":-2425.94238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0296936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1027.989624,"values":{"Elec_RPM":-2354.10938,"EncoderCos":50430,"EncoderSin":41347,"GapTicks":49627,"Mech_RPM":-470.821899,"cg_du":45.1157303,"cg_dv":54.8842697,"cg_dw":53.1577454,"cg_id_a":12.2266808,"cg_id_raw_a":12.6686316,"cg_iq_a":-197.606995,"cg_iq_raw_a":-197.804825,"cg_iu_a":-190.785004,"cg_iv_a":53.9637146,"cg_iw_a":136.821289,"cg_sample_age_us":23.4309082,"cg_sample_seq":6505616,"cg_sample_valid":1,"cg_theta_rad":0.45662573,"cg_vd_req_v":-2.21785212,"cg_vd_v":-2.21785212,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45271587,"cg_vq_v":-8.45271587,"cg_vu_v":38.7105446,"cg_vv_v":55.4264603,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2473.35522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1028.063376,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1028.063382,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1028.063387,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1028.429077,"values":{"Elec_RPM":-2349.05273,"EncoderCos":17106,"EncoderSin":45075,"GapTicks":49315,"Mech_RPM":-469.810547,"cg_du":55.168087,"cg_dv":50.131218,"cg_dw":44.831913,"cg_id_a":-5.48750114,"cg_id_raw_a":-6.54146671,"cg_iq_a":-198.202881,"cg_iq_raw_a":-199.075821,"cg_iu_a":124.572586,"cg_iv_a":73.6078949,"cg_iw_a":-198.180481,"cg_sample_age_us":23.8527279,"cg_sample_seq":6507766,"cg_sample_valid":1,"cg_theta_rad":2.4787693,"cg_vd_req_v":-1.80331051,"cg_vd_v":-1.80331051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44716263,"cg_vq_v":-8.44716263,"cg_vu_v":108.21357,"cg_vv_v":108.653458,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2502.57788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1028.948608,"values":{"Elec_RPM":-2348.15942,"EncoderCos":45172,"EncoderSin":17322,"GapTicks":49282,"Mech_RPM":-469.631866,"cg_du":44.8026657,"cg_dv":55.1973343,"cg_dw":50.1633072,"cg_id_a":-12.7774935,"cg_id_raw_a":-13.7178688,"cg_iq_a":-197.162094,"cg_iq_raw_a":-197.683624,"cg_iu_a":-193.720764,"cg_iv_a":118.622742,"cg_iw_a":75.0980225,"cg_sample_age_us":23.9145451,"cg_sample_seq":6510416,"cg_sample_valid":1,"cg_theta_rad":5.41941261,"cg_vd_req_v":-1.7520926,"cg_vd_v":-1.7520926,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48139954,"cg_vq_v":-8.48139954,"cg_vu_v":127.12896,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2504.38428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0439148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1028.959567,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1028.959578,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1028.959581,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1029.087492,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1029.087498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1029.087504,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1029.315796,"values":{"Elec_RPM":-2348.73291,"EncoderCos":13008,"EncoderSin":29702,"GapTicks":49375,"Mech_RPM":-469.746582,"cg_du":49.7850761,"cg_dv":44.8864975,"cg_dw":55.1135025,"cg_id_a":-18.7208405,"cg_id_raw_a":-20.4434128,"cg_iq_a":-198.042786,"cg_iq_raw_a":-198.97789,"cg_iu_a":29.2875519,"cg_iv_a":-184.665665,"cg_iw_a":155.378113,"cg_sample_age_us":23.8054543,"cg_sample_seq":6512366,"cg_sample_valid":1,"cg_theta_rad":3.29118681,"cg_vd_req_v":-1.50593543,"cg_vd_v":-1.50593543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41417599,"cg_vq_v":-8.41417599,"cg_vu_v":103.814644,"cg_vv_v":73.462059,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2492.61792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0492249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1029.667358,"values":{"Elec_RPM":-2351.14844,"EncoderCos":17697,"EncoderSin":19421,"GapTicks":49612,"Mech_RPM":-470.229706,"cg_du":52.8451843,"cg_dv":54.8979416,"cg_dw":45.1020584,"cg_id_a":-3.5357523,"cg_id_raw_a":3.94617367,"cg_iq_a":-199.253952,"cg_iq_raw_a":-201.986938,"cg_iu_a":1.34355533,"cg_iv_a":171.393768,"cg_iw_a":-172.73732,"cg_sample_age_us":23.8672733,"cg_sample_seq":6514066,"cg_sample_valid":1,"cg_theta_rad":3.87738514,"cg_vd_req_v":-1.79847169,"cg_vd_v":-1.79847169,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41695404,"cg_vq_v":-8.41695404,"cg_vu_v":37.3908691,"cg_vv_v":43.549366,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2471.96167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0670166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1030.001343,"values":{"Elec_RPM":-2343.96143,"EncoderCos":46911,"EncoderSin":19027,"GapTicks":49928,"Mech_RPM":-468.792297,"cg_du":45.3893738,"cg_dv":53.9393425,"cg_dw":54.6106262,"cg_id_a":6.59254026,"cg_id_raw_a":12.0964003,"cg_iq_a":-201.88559,"cg_iq_raw_a":-201.734283,"cg_iu_a":-181.796539,"cg_iv_a":15.2190857,"cg_iw_a":166.577454,"cg_sample_age_us":23.9581814,"cg_sample_seq":6515666,"cg_sample_valid":1,"cg_theta_rad":5.52244377,"cg_vd_req_v":-2.11040306,"cg_vd_v":-2.11040306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32820988,"cg_vq_v":-8.32820988,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2435.09399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0403748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1030.078855,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1030.078861,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1030.078866,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1030.333374,"values":{"Elec_RPM":-2350.08032,"EncoderCos":38691,"EncoderSin":13702,"GapTicks":49494,"Mech_RPM":-470.016052,"cg_du":55.0048027,"cg_dv":51.7797928,"cg_dw":44.9951973,"cg_id_a":1.24640512,"cg_id_raw_a":-1.99931884,"cg_iq_a":-202.197662,"cg_iq_raw_a":-203.224487,"cg_iu_a":86.0816345,"cg_iv_a":104.596367,"cg_iw_a":-201.333694,"cg_sample_age_us":23.8527279,"cg_sample_seq":6517466,"cg_sample_valid":1,"cg_theta_rad":5.03087425,"cg_vd_req_v":-1.97078753,"cg_vd_v":-1.97078753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30760765,"cg_vq_v":-8.30760765,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2517.00269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0172729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1030.684937,"values":{"Elec_RPM":-2351.51733,"EncoderCos":52192,"EncoderSin":29800,"GapTicks":50061,"Mech_RPM":-470.303467,"cg_du":54.489521,"cg_dv":45.510479,"cg_dw":45.6262932,"cg_id_a":12.4008427,"cg_id_raw_a":16.3296089,"cg_iq_a":-205.352509,"cg_iq_raw_a":-207.000275,"cg_iu_a":184.193695,"cg_iv_a":-13.1960754,"cg_iw_a":-170.99762,"cg_sample_age_us":24.1727276,"cg_sample_seq":6519116,"cg_sample_valid":1,"cg_theta_rad":6.14715624,"cg_vd_req_v":-2.19411445,"cg_vd_v":-2.19411445,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29654026,"cg_vq_v":-8.29654026,"cg_vu_v":16.7159176,"cg_vv_v":11.4372072,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.302536,"dclink_p_w":-2359.37891,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1031.018921,"values":{"Elec_RPM":-2348.20532,"EncoderCos":52263,"EncoderSin":30369,"GapTicks":49679,"Mech_RPM":-469.641052,"cg_du":54.836483,"cg_dv":46.8168602,"cg_dw":45.163517,"cg_id_a":2.61348319,"cg_id_raw_a":5.98607779,"cg_iq_a":-200.192291,"cg_iq_raw_a":-200.664795,"cg_iu_a":171.435867,"cg_iv_a":-1.27186584,"cg_iw_a":-170.164001,"cg_sample_age_us":24.0636368,"cg_sample_seq":6520867,"cg_sample_valid":1,"cg_theta_rad":6.17347717,"cg_vd_req_v":-1.98277879,"cg_vd_v":-1.98277879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4158411,"cg_vq_v":-8.4158411,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2454.05811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1031.07099,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1031.070996,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1031.071002,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1031.352905,"values":{"Elec_RPM":-2350.40991,"EncoderCos":43156,"EncoderSin":49568,"GapTicks":49348,"Mech_RPM":-470.082001,"cg_du":55.1372833,"cg_dv":44.8627167,"cg_dw":49.4030457,"cg_id_a":-10.2974615,"cg_id_raw_a":-12.8281584,"cg_iq_a":-197.072754,"cg_iq_raw_a":-197.378082,"cg_iu_a":195.827972,"cg_iv_a":-121.238953,"cg_iw_a":-74.5890198,"cg_sample_age_us":23.7363644,"cg_sample_seq":6522516,"cg_sample_valid":1,"cg_theta_rad":1.01994431,"cg_vd_req_v":-1.7371707,"cg_vd_v":-1.7371707,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42721558,"cg_vq_v":-8.42721558,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2424.68799,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1031.704468,"values":{"Elec_RPM":-2351.0813,"EncoderCos":22445,"EncoderSin":49824,"GapTicks":49470,"Mech_RPM":-470.216278,"cg_du":52.3884888,"cg_dv":44.9731102,"cg_dw":55.0268898,"cg_id_a":8.33514214,"cg_id_raw_a":4.87081289,"cg_iq_a":-200.027756,"cg_iq_raw_a":-198.847916,"cg_iu_a":131.458923,"cg_iv_a":-197.133545,"cg_iw_a":65.6746216,"cg_sample_age_us":23.5618191,"cg_sample_seq":6524167,"cg_sample_valid":1,"cg_theta_rad":2.11127877,"cg_vd_req_v":-2.10704875,"cg_vd_v":-2.10704875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42501259,"cg_vq_v":-8.42501259,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1032.036499,"values":{"Elec_RPM":-2355.8623,"EncoderCos":21591,"EncoderSin":49268,"GapTicks":50018,"Mech_RPM":-471.172455,"cg_du":54.4310303,"cg_dv":45.4712715,"cg_dw":54.5287285,"cg_id_a":14.4971628,"cg_id_raw_a":17.7159729,"cg_iq_a":-200.576859,"cg_iq_raw_a":-199.922882,"cg_iu_a":163.607193,"cg_iv_a":-183.288391,"cg_iw_a":19.6811981,"cg_sample_age_us":23.9509087,"cg_sample_seq":6525916,"cg_sample_valid":1,"cg_theta_rad":2.15726447,"cg_vd_req_v":-2.18974519,"cg_vd_v":-2.18974519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41182423,"cg_vq_v":-8.41182423,"cg_vu_v":141.205521,"cg_vv_v":109.533249,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2479.54419,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1032.095383,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1032.095389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1032.095394,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1032.36853,"values":{"Elec_RPM":-2353.75684,"EncoderCos":12993,"EncoderSin":30081,"GapTicks":49450,"Mech_RPM":-470.751373,"cg_du":48.929184,"cg_dv":44.9547577,"cg_dw":55.0452423,"cg_id_a":-17.4798412,"cg_id_raw_a":-17.062788,"cg_iq_a":-201.147552,"cg_iq_raw_a":-203.479645,"cg_iu_a":23.7060013,"cg_iv_a":-184.339478,"cg_iw_a":160.633469,"cg_sample_age_us":23.8927269,"cg_sample_seq":6527566,"cg_sample_valid":1,"cg_theta_rad":3.28001094,"cg_vd_req_v":-1.51756108,"cg_vd_v":-1.51756108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35769463,"cg_vq_v":-8.35769463,"cg_vu_v":10.9973145,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3717308,"dclink_p_w":-2514.11768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1032.722046,"values":{"Elec_RPM":-2354.25317,"EncoderCos":14091,"EncoderSin":39898,"GapTicks":49879,"Mech_RPM":-470.850647,"cg_du":46.2973366,"cg_dv":54.6553154,"cg_dw":45.3446846,"cg_id_a":15.8570805,"cg_id_raw_a":15.4354963,"cg_iq_a":-206.392029,"cg_iq_raw_a":-206.085327,"cg_iu_a":-163.783356,"cg_iv_a":192.741379,"cg_iw_a":-28.9580231,"cg_sample_age_us":23.8672733,"cg_sample_seq":6529367,"cg_sample_valid":1,"cg_theta_rad":2.77929664,"cg_vd_req_v":-2.18339586,"cg_vd_v":-2.18339586,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25066948,"cg_vq_v":-8.25066948,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2420.97461,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1033.054077,"values":{"Elec_RPM":-2356.99976,"EncoderCos":18042,"EncoderSin":19089,"GapTicks":49392,"Mech_RPM":-471.399963,"cg_du":51.6763878,"cg_dv":55.0975418,"cg_dw":44.9024582,"cg_id_a":-10.0759048,"cg_id_raw_a":-10.4803114,"cg_iq_a":-195.696808,"cg_iq_raw_a":-197.401733,"cg_iu_a":-18.2281151,"cg_iv_a":178.388824,"cg_iw_a":-160.160706,"cg_sample_age_us":23.8818188,"cg_sample_seq":6531016,"cg_sample_valid":1,"cg_theta_rad":3.89852095,"cg_vd_req_v":-1.6733923,"cg_vd_v":-1.6733923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50786972,"cg_vq_v":-8.50786972,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0296936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1033.087369,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1033.087375,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1033.08738,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1033.40564,"values":{"Elec_RPM":-2355.20679,"EncoderCos":18472,"EncoderSin":18632,"GapTicks":49316,"Mech_RPM":-471.041351,"cg_du":50.1647682,"cg_dv":55.1665726,"cg_dw":44.8334274,"cg_id_a":-15.8143902,"cg_id_raw_a":-13.6646357,"cg_iq_a":-195.600555,"cg_iq_raw_a":-193.322067,"cg_iu_a":-47.0419617,"cg_iv_a":184.477783,"cg_iw_a":-150.374878,"cg_sample_age_us":23.9581814,"cg_sample_seq":6532767,"cg_sample_valid":1,"cg_theta_rad":3.92753267,"cg_vd_req_v":-1.56742811,"cg_vd_v":-1.56742811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4920702,"cg_vq_v":-8.4920702,"cg_vu_v":145.164551,"cg_vv_v":142.965088,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.3985825,"dclink_p_w":-2366.06543,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1033.739624,"values":{"Elec_RPM":-2354.80835,"EncoderCos":47598,"EncoderSin":19733,"GapTicks":49419,"Mech_RPM":-470.96167,"cg_du":44.9265671,"cg_dv":51.5378418,"cg_dw":55.0734329,"cg_id_a":-9.33013153,"cg_id_raw_a":-7.96389961,"cg_iq_a":-200.127777,"cg_iq_raw_a":-199.146179,"cg_iu_a":-156.244629,"cg_iv_a":-27.8023682,"cg_iw_a":184.046997,"cg_sample_age_us":23.9218178,"cg_sample_seq":6534367,"cg_sample_valid":1,"cg_theta_rad":5.58228016,"cg_vd_req_v":-1.80207741,"cg_vd_v":-1.80207741,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38973045,"cg_vq_v":-8.38973045,"cg_vu_v":116.131638,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2348.54712,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1034.069702,"values":{"Elec_RPM":-2353.09277,"EncoderCos":48222,"EncoderSin":20490,"GapTicks":49323,"Mech_RPM":-470.61853,"cg_du":44.839386,"cg_dv":49.4024162,"cg_dw":55.160614,"cg_id_a":-7.08983469,"cg_id_raw_a":-9.89430237,"cg_iq_a":-198.264008,"cg_iq_raw_a":-199.341949,"cg_iu_a":-115.615295,"cg_iv_a":-83.7990723,"cg_iw_a":199.414368,"cg_sample_age_us":23.9181824,"cg_sample_seq":6536116,"cg_sample_valid":1,"cg_theta_rad":5.63112307,"cg_vd_req_v":-1.87922943,"cg_vd_v":-1.87922943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43657684,"cg_vq_v":-8.43657684,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0332642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1034.078835,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1034.078841,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1034.078847,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1034.425171,"values":{"Elec_RPM":-2357.96729,"EncoderCos":52295,"EncoderSin":30849,"GapTicks":49435,"Mech_RPM":-471.593475,"cg_du":55.0582275,"cg_dv":48.1875381,"cg_dw":44.9417725,"cg_id_a":-13.084528,"cg_id_raw_a":-7.47400236,"cg_iq_a":-196.216904,"cg_iq_raw_a":-196.767487,"cg_iu_a":162.556122,"cg_iv_a":12.7182617,"cg_iw_a":-175.274384,"cg_sample_age_us":24.0818176,"cg_sample_seq":6537817,"cg_sample_valid":1,"cg_theta_rad":6.20141649,"cg_vd_req_v":-1.65636206,"cg_vd_v":-1.65636206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47156906,"cg_vq_v":-8.47156906,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1034.755249,"values":{"Elec_RPM":-2356.56885,"EncoderCos":49998,"EncoderSin":42220,"GapTicks":49876,"Mech_RPM":-471.313751,"cg_du":45.3419266,"cg_dv":53.7276611,"cg_dw":54.6580734,"cg_id_a":6.37148237,"cg_id_raw_a":8.80846024,"cg_iq_a":-203.562347,"cg_iq_raw_a":-203.201889,"cg_iu_a":-182.303955,"cg_iv_a":13.370636,"cg_iw_a":168.933319,"cg_sample_age_us":23.4381809,"cg_sample_seq":6539516,"cg_sample_valid":1,"cg_theta_rad":0.499743044,"cg_vd_req_v":-2.06977534,"cg_vd_v":-2.06977534,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29457092,"cg_vq_v":-8.29457092,"cg_vu_v":5.27871037,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9675903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1035.071122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1035.071128,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1035.071133,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1035.08728,"values":{"Elec_RPM":-2360.83521,"EncoderCos":42332,"EncoderSin":50051,"GapTicks":49466,"Mech_RPM":-472.167023,"cg_du":55.0300522,"cg_dv":44.9699478,"cg_dw":47.7577171,"cg_id_a":12.9139709,"cg_id_raw_a":6.99452209,"cg_iq_a":-201.67894,"cg_iq_raw_a":-199.50499,"cg_iu_a":198.401276,"cg_iv_a":-61.1829224,"cg_iw_a":-137.218353,"cg_sample_age_us":23.9290905,"cg_sample_seq":6541217,"cg_sample_valid":1,"cg_theta_rad":1.06505096,"cg_vd_req_v":-2.20977354,"cg_vd_v":-2.20977354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36655331,"cg_vq_v":-8.36655331,"cg_vu_v":139.885834,"cg_vv_v":108.653458,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.6344986,"dclink_p_w":-2544.3894,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1035.440796,"values":{"Elec_RPM":-2356.55542,"EncoderCos":21193,"EncoderSin":48975,"GapTicks":49777,"Mech_RPM":-471.311066,"cg_du":54.7477722,"cg_dv":45.2522278,"cg_dw":53.3186836,"cg_id_a":3.86338544,"cg_id_raw_a":11.8831825,"cg_iq_a":-201.784851,"cg_iq_raw_a":-202.307693,"cg_iu_a":172.052017,"cg_iv_a":-174.118713,"cg_iw_a":1.05187225,"cg_sample_age_us":24.0527267,"cg_sample_seq":6542866,"cg_sample_valid":1,"cg_theta_rad":2.20163131,"cg_vd_req_v":-1.95176435,"cg_vd_v":-1.95176435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35703468,"cg_vq_v":-8.35703468,"cg_vu_v":126.249161,"cg_vv_v":117.011421,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2444.68091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0155029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1035.772827,"values":{"Elec_RPM":-2357.07251,"EncoderCos":20551,"EncoderSin":48496,"GapTicks":49382,"Mech_RPM":-471.41452,"cg_du":55.1063766,"cg_dv":44.8936234,"cg_dw":51.2209549,"cg_id_a":-15.480629,"cg_id_raw_a":-12.149806,"cg_iq_a":-195.894196,"cg_iq_raw_a":-196.659332,"cg_iu_a":180.460571,"cg_iv_a":-156.612915,"cg_iw_a":-23.8476486,"cg_sample_age_us":23.994545,"cg_sample_seq":6544616,"cg_sample_valid":1,"cg_theta_rad":2.23096085,"cg_vd_req_v":-1.57984948,"cg_vd_v":-1.57984948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46827126,"cg_vq_v":-8.46827126,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2377.30884,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1036.094869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1036.094875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1036.09488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1036.106812,"values":{"Elec_RPM":-2362.97388,"EncoderCos":13114,"EncoderSin":29120,"GapTicks":49308,"Mech_RPM":-472.594788,"cg_du":50.870636,"cg_dv":44.8261337,"cg_dw":55.1738663,"cg_id_a":-7.83654213,"cg_id_raw_a":-13.1916685,"cg_iq_a":-197.263306,"cg_iq_raw_a":-196.776016,"cg_iu_a":83.6533051,"cg_iv_a":-195.611298,"cg_iw_a":111.957993,"cg_sample_age_us":23.7436371,"cg_sample_seq":6546267,"cg_sample_valid":1,"cg_theta_rad":3.32845616,"cg_vd_req_v":-1.75752568,"cg_vd_v":-1.75752568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48033237,"cg_vq_v":-8.48033237,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-17.7613506,"dclink_p_w":-2570.50537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1036.458374,"values":{"Elec_RPM":-2359.69995,"EncoderCos":13338,"EncoderSin":28183,"GapTicks":49506,"Mech_RPM":-471.940002,"cg_du":52.6166649,"cg_dv":45.0059204,"cg_dw":54.9940796,"cg_id_a":12.0758896,"cg_id_raw_a":12.5232906,"cg_iq_a":-198.764465,"cg_iq_raw_a":-197.833084,"cg_iu_a":150.523163,"cg_iv_a":-190.60965,"cg_iw_a":51.2133331,"cg_sample_age_us":23.7218189,"cg_sample_seq":6548016,"cg_sample_valid":1,"cg_theta_rad":3.39102006,"cg_vd_req_v":-2.15766168,"cg_vd_v":-2.15766168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44810486,"cg_vq_v":-8.44810486,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1036.790405,"values":{"Elec_RPM":-2353.1062,"EncoderCos":28329,"EncoderSin":13350,"GapTicks":49738,"Mech_RPM":-470.621246,"cg_du":47.0767288,"cg_dv":45.2171898,"cg_dw":54.7828102,"cg_id_a":-2.07886791,"cg_id_raw_a":3.84763622,"cg_iq_a":-204.72493,"cg_iq_raw_a":-206.588608,"cg_iu_a":-3.04194832,"cg_iv_a":-175.206009,"cg_iw_a":178.247955,"cg_sample_age_us":23.9363632,"cg_sample_seq":6549666,"cg_sample_valid":1,"cg_theta_rad":4.5019207,"cg_vd_req_v":-1.85272038,"cg_vd_v":-1.85272038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27080345,"cg_vq_v":-8.27080345,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2423.32788,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9924316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1037.087387,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1037.087393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1037.087398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1037.143921,"values":{"Elec_RPM":-2352.71289,"EncoderCos":27974,"EncoderSin":13419,"GapTicks":50000,"Mech_RPM":-470.542572,"cg_du":46.0834923,"cg_dv":45.4546928,"cg_dw":54.5453072,"cg_id_a":10.1882687,"cg_id_raw_a":13.950038,"cg_iq_a":-207.923615,"cg_iq_raw_a":-207.457474,"cg_iu_a":16.8196716,"cg_iv_a":-180.678833,"cg_iw_a":163.859161,"cg_sample_age_us":23.8345451,"cg_sample_seq":6551421,"cg_sample_valid":1,"cg_theta_rad":4.53076935,"cg_vd_req_v":-2.10907364,"cg_vd_v":-2.10907364,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21751404,"cg_vq_v":-8.21751404,"cg_vu_v":105.574219,"cg_vv_v":92.8173294,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.8845806,"dclink_p_w":-2580.47241,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1037.475952,"values":{"Elec_RPM":-2357.50757,"EncoderCos":48531,"EncoderSin":20959,"GapTicks":49328,"Mech_RPM":-471.501495,"cg_du":44.8442001,"cg_dv":48.3561821,"cg_dw":55.1557999,"cg_id_a":5.52339458,"cg_id_raw_a":0.474365145,"cg_iq_a":-195.19368,"cg_iq_raw_a":-193.721832,"cg_iu_a":-79.0452652,"cg_iv_a":-118.810616,"cg_iw_a":197.855881,"cg_sample_age_us":23.9218178,"cg_sample_seq":6553066,"cg_sample_valid":1,"cg_theta_rad":5.65781069,"cg_vd_req_v":-2.12726617,"cg_vd_v":-2.12726617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4986105,"cg_vq_v":-8.4986105,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2425.47729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9782104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1037.807983,"values":{"Elec_RPM":-2355.71313,"EncoderCos":49050,"EncoderSin":21612,"GapTicks":49674,"Mech_RPM":-471.142639,"cg_du":45.1587105,"cg_dv":46.8020973,"cg_dw":54.8412895,"cg_id_a":17.2289772,"cg_id_raw_a":16.6308556,"cg_iq_a":-201.943588,"cg_iq_raw_a":-201.214523,"cg_iu_a":-43.6712875,"cg_iv_a":-149.146698,"cg_iw_a":192.817993,"cg_sample_age_us":23.8818188,"cg_sample_seq":6554816,"cg_sample_valid":1,"cg_theta_rad":5.69163609,"cg_vd_req_v":-2.33578539,"cg_vd_v":-2.33578539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33783627,"cg_vq_v":-8.33783627,"cg_vu_v":128.888519,"cg_vv_v":109.533249,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-16.4656334,"dclink_p_w":-2382.98315,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0279236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1038.079301,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1038.079307,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1038.079312,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1038.169312,"values":{"Elec_RPM":-2357.24756,"EncoderCos":50450,"EncoderSin":41387,"GapTicks":49644,"Mech_RPM":-471.449524,"cg_du":45.1310616,"cg_dv":54.8689384,"cg_dw":53.2297783,"cg_id_a":10.3059711,"cg_id_raw_a":9.9044981,"cg_iq_a":-200.537903,"cg_iq_raw_a":-201.269882,"cg_iu_a":-176.541183,"cg_iv_a":3.65730286,"cg_iw_a":173.862457,"cg_sample_age_us":23.4454536,"cg_sample_seq":6556472,"cg_sample_valid":1,"cg_theta_rad":0.513053775,"cg_vd_req_v":-2.18305969,"cg_vd_v":-2.18305969,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38033009,"cg_vq_v":-8.38033009,"cg_vu_v":104.694435,"cg_vv_v":104.254532,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.2720585,"dclink_p_w":-2484.49683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1038.688843,"values":{"Elec_RPM":-2357.72827,"EncoderCos":13716,"EncoderSin":26856,"GapTicks":49756,"Mech_RPM":-471.545654,"cg_du":54.7665062,"cg_dv":45.2334938,"cg_dw":53.3646889,"cg_id_a":5.07523203,"cg_id_raw_a":14.0138111,"cg_iq_a":-201.956268,"cg_iq_raw_a":-202.674652,"cg_iu_a":174.335373,"cg_iv_a":-172.560211,"cg_iw_a":-1.77515411,"cg_sample_age_us":24.1327267,"cg_sample_seq":6559116,"cg_sample_valid":1,"cg_theta_rad":3.45071268,"cg_vd_req_v":-1.97670686,"cg_vd_v":-1.97670686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37140274,"cg_vq_v":-8.37140274,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1038.975499,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1038.97551,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1038.975513,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1039.071148,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1039.071153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1039.071158,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1039.134155,"values":{"Elec_RPM":-2350.96094,"EncoderCos":17552,"EncoderSin":19704,"GapTicks":49823,"Mech_RPM":-470.192169,"cg_du":53.6530075,"cg_dv":54.7055397,"cg_dw":45.2944603,"cg_id_a":5.27017498,"cg_id_raw_a":5.05701733,"cg_iq_a":-200.957336,"cg_iq_raw_a":-201.909683,"cg_iu_a":6.45393562,"cg_iv_a":168.023087,"cg_iw_a":-174.47702,"cg_sample_age_us":23.8818188,"cg_sample_seq":6561417,"cg_sample_valid":1,"cg_theta_rad":3.861058,"cg_vd_req_v":-1.97164655,"cg_vd_v":-1.97164655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38875198,"cg_vq_v":-8.38875198,"cg_vu_v":0.43989256,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.7504787,"dclink_p_w":-2576.74023,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0545654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1039.487671,"values":{"Elec_RPM":-2354.06689,"EncoderCos":18018,"EncoderSin":19077,"GapTicks":49407,"Mech_RPM":-470.813385,"cg_du":51.6327591,"cg_dv":55.084343,"cg_dw":44.915657,"cg_id_a":-12.4076462,"cg_id_raw_a":-10.4862318,"cg_iq_a":-195.091187,"cg_iq_raw_a":-195.746292,"cg_iu_a":-16.3434353,"cg_iv_a":175.996719,"cg_iw_a":-159.65329,"cg_sample_age_us":24.0018177,"cg_sample_seq":6563167,"cg_sample_valid":1,"cg_theta_rad":3.8967967,"cg_vd_req_v":-1.61846352,"cg_vd_v":-1.61846352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48852158,"cg_vq_v":-8.48852158,"cg_vu_v":127.12896,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1039.819702,"values":{"Elec_RPM":-2349.20361,"EncoderCos":38174,"EncoderSin":13559,"GapTicks":49367,"Mech_RPM":-469.840698,"cg_du":55.1201324,"cg_dv":50.8546143,"cg_dw":44.8798676,"cg_id_a":-10.4491453,"cg_id_raw_a":-14.4273977,"cg_iq_a":-199.154755,"cg_iq_raw_a":-197.336365,"cg_iu_a":116.92514,"cg_iv_a":80.4942169,"cg_iw_a":-197.419357,"cg_sample_age_us":23.9581814,"cg_sample_seq":6564817,"cg_sample_valid":1,"cg_theta_rad":5.00321484,"cg_vd_req_v":-1.73936296,"cg_vd_v":-1.73936296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39158249,"cg_vq_v":-8.39158249,"cg_vu_v":124.929489,"cg_vv_v":133.727341,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.4601974,"dclink_p_w":-2374.95557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1040.063434,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1040.06344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1040.063446,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1040.173218,"values":{"Elec_RPM":-2353.52075,"EncoderCos":38339,"EncoderSin":13648,"GapTicks":49398,"Mech_RPM":-470.704163,"cg_du":55.0926628,"cg_dv":51.1102791,"cg_dw":44.9073372,"cg_id_a":-5.73008347,"cg_id_raw_a":-9.14356899,"cg_iq_a":-201.660599,"cg_iq_raw_a":-201.128494,"cg_iu_a":61.3995895,"cg_iv_a":140.622742,"cg_iw_a":-202.022339,"cg_sample_age_us":26.812727,"cg_sample_seq":6566570,"cg_sample_valid":1,"cg_theta_rad":5.05539942,"cg_vd_req_v":-1.83699238,"cg_vd_v":-1.83699238,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35198212,"cg_vq_v":-8.35198212,"cg_vu_v":47.9482918,"cg_vv_v":69.5030289,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2418.63745,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1040.505249,"values":{"Elec_RPM":-2351.73584,"EncoderCos":48375,"EncoderSin":20693,"GapTicks":49300,"Mech_RPM":-470.347168,"cg_du":44.8190498,"cg_dv":48.9244041,"cg_dw":55.1809502,"cg_id_a":-0.504772782,"cg_id_raw_a":-6.12019539,"cg_iq_a":-195.034531,"cg_iq_raw_a":-197.575851,"cg_iu_a":-95.9348907,"cg_iv_a":-99.2751923,"cg_iw_a":193.216675,"cg_sample_age_us":26.59091,"cg_sample_seq":6568266,"cg_sample_valid":1,"cg_theta_rad":5.64236689,"cg_vd_req_v":-1.99472129,"cg_vd_v":-1.99472129,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48883247,"cg_vq_v":-8.48883247,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2528.33594,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1040.83728,"values":{"Elec_RPM":-2355.74023,"EncoderCos":52282,"EncoderSin":31221,"GapTicks":49376,"Mech_RPM":-471.148071,"cg_du":55.1120377,"cg_dv":49.031929,"cg_dw":44.8879623,"cg_id_a":-15.093976,"cg_id_raw_a":-13.4101639,"cg_iq_a":-196.151474,"cg_iq_raw_a":-197.368439,"cg_iu_a":153.27771,"cg_iv_a":31.7462463,"cg_iw_a":-185.023956,"cg_sample_age_us":23.9981823,"cg_sample_seq":6569966,"cg_sample_valid":1,"cg_theta_rad":6.21860695,"cg_vd_req_v":-1.63442647,"cg_vd_v":-1.63442647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43696404,"cg_vq_v":-8.43696404,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.5163746,"dclink_p_w":-2390.32666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1041.08694,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1041.086946,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1041.086952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1041.190796,"values":{"Elec_RPM":-2351.5957,"EncoderCos":49983,"EncoderSin":42196,"GapTicks":49862,"Mech_RPM":-470.319122,"cg_du":45.3293533,"cg_dv":53.7807045,"cg_dw":54.6706467,"cg_id_a":6.74585056,"cg_id_raw_a":12.3137121,"cg_iq_a":-203.218842,"cg_iq_raw_a":-202.104355,"cg_iu_a":-178.534592,"cg_iv_a":3.98347473,"cg_iw_a":174.551117,"cg_sample_age_us":23.5254555,"cg_sample_seq":6571666,"cg_sample_valid":1,"cg_theta_rad":0.508841574,"cg_vd_req_v":-2.08832455,"cg_vd_v":-2.08832455,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33168221,"cg_vq_v":-8.33168221,"cg_vu_v":12.7568836,"cg_vv_v":19.3552723,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.6616802,"dclink_p_w":-2548.31128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1041.520874,"values":{"Elec_RPM":-2354.77002,"EncoderCos":41998,"EncoderSin":50172,"GapTicks":49605,"Mech_RPM":-470.95401,"cg_du":54.9045105,"cg_dv":45.0954895,"cg_dw":47.079174,"cg_id_a":17.3487949,"cg_id_raw_a":18.1131878,"cg_iq_a":-202.345764,"cg_iq_raw_a":-201.437851,"cg_iu_a":194.486938,"cg_iv_a":-38.7117462,"cg_iw_a":-155.775192,"cg_sample_age_us":23.8418179,"cg_sample_seq":6573366,"cg_sample_valid":1,"cg_theta_rad":1.08810854,"cg_vd_req_v":-2.29123425,"cg_vd_v":-2.29123425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35871506,"cg_vq_v":-8.35871506,"cg_vu_v":14.5164547,"cg_vv_v":8.79785156,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0403748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1041.854858,"values":{"Elec_RPM":-2354.79077,"EncoderCos":30853,"EncoderSin":52462,"GapTicks":49377,"Mech_RPM":-470.95816,"cg_du":44.8882065,"cg_dv":55.1117935,"cg_dw":51.3840866,"cg_id_a":-2.26588297,"cg_id_raw_a":-2.21280122,"cg_iq_a":-196.434998,"cg_iq_raw_a":-197.017792,"cg_iu_a":-197.490112,"cg_iv_a":96.4052582,"cg_iw_a":101.084854,"cg_sample_age_us":23.7909088,"cg_sample_seq":6575066,"cg_sample_valid":1,"cg_theta_rad":1.66753137,"cg_vd_req_v":-1.83949053,"cg_vd_v":-1.83949053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44830894,"cg_vq_v":-8.44830894,"cg_vu_v":38.2706528,"cg_vv_v":53.666893,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2429.60327,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1042.079262,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1042.079268,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1042.079274,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1042.206421,"values":{"Elec_RPM":-2351.81714,"EncoderCos":20663,"EncoderSin":48592,"GapTicks":49421,"Mech_RPM":-470.363434,"cg_du":55.0711975,"cg_dv":44.9288025,"cg_dw":51.5629005,"cg_id_a":-15.1416359,"cg_id_raw_a":-12.7323599,"cg_iq_a":-197.105865,"cg_iq_raw_a":-198.58017,"cg_iu_a":176.546234,"cg_iv_a":-162.810623,"cg_iw_a":-13.735611,"cg_sample_age_us":24.0200005,"cg_sample_seq":6576767,"cg_sample_valid":1,"cg_theta_rad":2.22592402,"cg_vd_req_v":-1.59590328,"cg_vd_v":-1.59590328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45853615,"cg_vq_v":-8.45853615,"cg_vu_v":106.453995,"cg_vv_v":95.4566803,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.4931469,"dclink_p_w":-2523.99438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1042.540405,"values":{"Elec_RPM":-2349.27344,"EncoderCos":17954,"EncoderSin":19160,"GapTicks":49546,"Mech_RPM":-469.854675,"cg_du":52.4960022,"cg_dv":54.9574852,"cg_dw":45.0425148,"cg_id_a":-10.8921814,"cg_id_raw_a":-7.67179728,"cg_iq_a":-195.348816,"cg_iq_raw_a":-197.569992,"cg_iu_a":-2.53453493,"cg_iv_a":170.05275,"cg_iw_a":-167.518219,"cg_sample_age_us":23.8600006,"cg_sample_seq":6578366,"cg_sample_valid":1,"cg_theta_rad":3.88448477,"cg_vd_req_v":-1.64293861,"cg_vd_v":-1.64293861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48490334,"cg_vq_v":-8.48490334,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.7812862,"dclink_p_w":-2573.39063,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1042.872437,"values":{"Elec_RPM":-2349.12915,"EncoderCos":13383,"EncoderSin":27960,"GapTicks":49662,"Mech_RPM":-469.825836,"cg_du":53.0862503,"cg_dv":45.1476707,"cg_dw":54.8523293,"cg_id_a":12.5134993,"cg_id_raw_a":12.7942944,"cg_iq_a":-199.485001,"cg_iq_raw_a":-198.512375,"cg_iu_a":148.855957,"cg_iv_a":-190.790863,"cg_iw_a":41.934906,"cg_sample_age_us":23.6672726,"cg_sample_seq":6580166,"cg_sample_valid":1,"cg_theta_rad":3.39161515,"cg_vd_req_v":-2.1395793,"cg_vd_v":-2.1395793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39628601,"cg_vq_v":-8.39628601,"cg_vu_v":9.23774433,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.2427349,"dclink_p_w":-2357.86938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1043.071564,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1043.07157,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1043.071576,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1043.223999,"values":{"Elec_RPM":-2355.61621,"EncoderCos":38686,"EncoderSin":13723,"GapTicks":49486,"Mech_RPM":-471.12326,"cg_du":55.0121727,"cg_dv":51.8017235,"cg_dw":44.9878273,"cg_id_a":-0.232484639,"cg_id_raw_a":-5.98254156,"cg_iq_a":-204.893097,"cg_iq_raw_a":-202.443542,"cg_iu_a":90.1047058,"cg_iv_a":113.838547,"cg_iw_a":-203.943253,"cg_sample_age_us":24.0345459,"cg_sample_seq":6581767,"cg_sample_valid":1,"cg_theta_rad":5.02899981,"cg_vd_req_v":-1.95225799,"cg_vd_v":-1.95225799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30205917,"cg_vq_v":-8.30205917,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-15.8802967,"dclink_p_w":-2298.27051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1043.557983,"values":{"Elec_RPM":-2348.29443,"EncoderCos":29107,"EncoderSin":13200,"GapTicks":49362,"Mech_RPM":-469.658905,"cg_du":49.0338707,"cg_dv":44.8749924,"cg_dw":55.1250076,"cg_id_a":-14.6791096,"cg_id_raw_a":-12.5319843,"cg_iq_a":-198.139694,"cg_iq_raw_a":-200.366074,"cg_iu_a":31.0997429,"cg_iv_a":-184.883133,"cg_iw_a":153.783386,"cg_sample_age_us":23.8090916,"cg_sample_seq":6583566,"cg_sample_valid":1,"cg_theta_rad":4.54346228,"cg_vd_req_v":-1.63012981,"cg_vd_v":-1.63012981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45953274,"cg_vq_v":-8.45953274,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2511.44385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1043.909546,"values":{"Elec_RPM":-2350.73291,"EncoderCos":39582,"EncoderSin":14059,"GapTicks":49889,"Mech_RPM":-470.146576,"cg_du":54.6460724,"cg_dv":53.6605835,"cg_dw":45.3539276,"cg_id_a":9.0141983,"cg_id_raw_a":8.07530403,"cg_iq_a":-204.694321,"cg_iq_raw_a":-205.499695,"cg_iu_a":6.85261822,"cg_iv_a":169.037918,"cg_iw_a":-175.890533,"cg_sample_age_us":23.8563633,"cg_sample_seq":6585270,"cg_sample_valid":1,"cg_theta_rad":5.12254429,"cg_vd_req_v":-2.11607647,"cg_vd_v":-2.11607647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28988647,"cg_vq_v":-8.28988647,"cg_vu_v":0.87978512,"cg_vv_v":5.71860361,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.5438881,"dclink_p_w":-2546.75073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1044.095496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1044.095502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1044.095507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1044.241577,"values":{"Elec_RPM":-2352.66797,"EncoderCos":48960,"EncoderSin":21549,"GapTicks":49618,"Mech_RPM":-470.533569,"cg_du":45.107769,"cg_dv":47.027874,"cg_dw":54.892231,"cg_id_a":17.5713024,"cg_id_raw_a":15.6382513,"cg_iq_a":-202.278015,"cg_iq_raw_a":-200.720551,"cg_iu_a":-40.2281227,"cg_iv_a":-153.024796,"cg_iw_a":193.252914,"cg_sample_age_us":23.9509087,"cg_sample_seq":6586967,"cg_sample_valid":1,"cg_theta_rad":5.69423485,"cg_vd_req_v":-2.34011006,"cg_vd_v":-2.34011006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31453991,"cg_vq_v":-8.31453991,"cg_vu_v":143.404984,"cg_vv_v":139.006058,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.4837551,"dclink_p_w":-2385.60571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1044.575562,"values":{"Elec_RPM":-2357.85718,"EncoderCos":52379,"EncoderSin":32132,"GapTicks":49366,"Mech_RPM":-471.571442,"cg_du":55.1214943,"cg_dv":50.872879,"cg_dw":44.8785057,"cg_id_a":-7.44368029,"cg_id_raw_a":-10.6236963,"cg_iq_a":-201.002274,"cg_iq_raw_a":-198.139526,"cg_iu_a":114.134369,"cg_iv_a":87.2718048,"cg_iw_a":-201.406174,"cg_sample_age_us":23.954546,"cg_sample_seq":6588667,"cg_sample_valid":1,"cg_theta_rad":6.26549339,"cg_vd_req_v":-1.83045924,"cg_vd_v":-1.83045924,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37623787,"cg_vq_v":-8.37623787,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2376.26318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1044.927124,"values":{"Elec_RPM":-2350.98291,"EncoderCos":42315,"EncoderSin":50060,"GapTicks":49491,"Mech_RPM":-470.196564,"cg_du":55.0077629,"cg_dv":44.9922371,"cg_dw":47.7134819,"cg_id_a":12.9636288,"cg_id_raw_a":9.92835045,"cg_iq_a":-200.670975,"cg_iq_raw_a":-199.977036,"cg_iu_a":187.020721,"cg_iv_a":-18.1977539,"cg_iw_a":-168.822968,"cg_sample_age_us":23.8309097,"cg_sample_seq":6590320,"cg_sample_valid":1,"cg_theta_rad":1.11158884,"cg_vd_req_v":-2.20410252,"cg_vd_v":-2.20410252,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36917973,"cg_vq_v":-8.36917973,"cg_vu_v":3.07924795,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1045.086837,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1045.086843,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1045.086848,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1045.261108,"values":{"Elec_RPM":-2356.96582,"EncoderCos":41029,"EncoderSin":50690,"GapTicks":49787,"Mech_RPM":-471.393158,"cg_du":54.7387848,"cg_dv":46.495327,"cg_dw":45.2612152,"cg_id_a":4.53937387,"cg_id_raw_a":9.04083252,"cg_iq_a":-200.129974,"cg_iq_raw_a":-199.852432,"cg_iu_a":172.958099,"cg_iv_a":-7.86824036,"cg_iw_a":-170.707657,"cg_sample_age_us":23.9981823,"cg_sample_seq":6592067,"cg_sample_valid":1,"cg_theta_rad":1.13986945,"cg_vd_req_v":-1.97903574,"cg_vd_v":-1.97903574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3803587,"cg_vq_v":-8.3803587,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1045.591187,"values":{"Elec_RPM":-2355.04932,"EncoderCos":29986,"EncoderSin":52386,"GapTicks":49638,"Mech_RPM":-471.009888,"cg_du":45.1261063,"cg_dv":54.8738937,"cg_dw":53.0516777,"cg_id_a":9.04678059,"cg_id_raw_a":7.35461283,"cg_iq_a":-199.125061,"cg_iq_raw_a":-197.737869,"cg_iu_a":-190.893738,"cg_iv_a":48.708374,"cg_iw_a":142.185364,"cg_sample_age_us":23.8745461,"cg_sample_seq":6593767,"cg_sample_valid":1,"cg_theta_rad":1.71284366,"cg_vd_req_v":-2.07630587,"cg_vd_v":-2.07630587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4082222,"cg_vq_v":-8.4082222,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.42033,"dclink_p_w":-2369.20337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":42.9729309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1045.944702,"values":{"Elec_RPM":-2355.51465,"EncoderCos":19669,"EncoderSin":47718,"GapTicks":49343,"Mech_RPM":-471.102936,"cg_du":55.1423531,"cg_dv":44.8576469,"cg_dw":48.8066902,"cg_id_a":-6.57224941,"cg_id_raw_a":-13.0408859,"cg_iq_a":-197.237442,"cg_iq_raw_a":-196.713776,"cg_iu_a":197.386444,"cg_iv_a":-104.095619,"cg_iw_a":-93.2908249,"cg_sample_age_us":24.0309086,"cg_sample_seq":6595467,"cg_sample_valid":1,"cg_theta_rad":2.28921247,"cg_vd_req_v":-1.8080616,"cg_vd_v":-1.8080616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47973919,"cg_vq_v":-8.47973919,"cg_vu_v":106.893898,"cg_vv_v":92.3774414,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2487.104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1046.078746,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1046.078752,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1046.078757,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1046.278687,"values":{"Elec_RPM":-2354.57788,"EncoderCos":18797,"EncoderSin":18343,"GapTicks":49376,"Mech_RPM":-470.915588,"cg_du":49.3094559,"cg_dv":55.1125984,"cg_dw":44.8874016,"cg_id_a":-12.3906183,"cg_id_raw_a":-15.4408798,"cg_iq_a":-200.185608,"cg_iq_raw_a":-199.749252,"cg_iu_a":-74.1885986,"cg_iv_a":198.830353,"cg_iw_a":-124.641754,"cg_sample_age_us":23.9981823,"cg_sample_seq":6597066,"cg_sample_valid":1,"cg_theta_rad":3.95200372,"cg_vd_req_v":-1.65838826,"cg_vd_v":-1.65838826,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38124275,"cg_vq_v":-8.38124275,"cg_vu_v":38.7105446,"cg_vv_v":55.4264603,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.2119274,"dclink_p_w":-2346.26563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1046.630249,"values":{"Elec_RPM":-2349.98926,"EncoderCos":13464,"EncoderSin":27632,"GapTicks":49803,"Mech_RPM":-469.997833,"cg_du":53.6661072,"cg_dv":45.2754936,"cg_dw":54.7245064,"cg_id_a":15.8966932,"cg_id_raw_a":15.0255146,"cg_iq_a":-202.236694,"cg_iq_raw_a":-201.376556,"cg_iu_a":175.640152,"cg_iv_a":-173.683777,"cg_iw_a":-1.95637512,"cg_sample_age_us":26.5654545,"cg_sample_seq":6598870,"cg_sample_valid":1,"cg_theta_rad":3.45081162,"cg_vd_req_v":-2.21680975,"cg_vd_v":-2.21680975,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33538818,"cg_vq_v":-8.33538818,"cg_vu_v":48.3881836,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2498.37012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1046.96228,"values":{"Elec_RPM":-2353.69238,"EncoderCos":39852,"EncoderSin":14134,"GapTicks":50068,"Mech_RPM":-470.738495,"cg_du":54.4832153,"cg_dv":54.2291946,"cg_dw":45.5167847,"cg_id_a":8.59360886,"cg_id_raw_a":8.22238159,"cg_iq_a":-203.776169,"cg_iq_raw_a":-204.934204,"cg_iu_a":21.0601997,"cg_iv_a":164.724899,"cg_iw_a":-189.771912,"cg_sample_age_us":23.9618187,"cg_sample_seq":6600467,"cg_sample_valid":1,"cg_theta_rad":5.0924077,"cg_vd_req_v":-2.10302687,"cg_vd_v":-2.10302687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29466629,"cg_vq_v":-8.29466629,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2414.95459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1047.071623,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1047.071628,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1047.071634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1047.294312,"values":{"Elec_RPM":-2359.48364,"EncoderCos":30462,"EncoderSin":12978,"GapTicks":49377,"Mech_RPM":-471.896729,"cg_du":51.6927071,"cg_dv":44.8881798,"cg_dw":55.1118202,"cg_id_a":6.94532967,"cg_id_raw_a":4.25461626,"cg_iq_a":-196.620193,"cg_iq_raw_a":-196.210922,"cg_iu_a":117.323822,"cg_iv_a":-195.828766,"cg_iw_a":78.5049362,"cg_sample_age_us":23.772728,"cg_sample_seq":6602266,"cg_sample_valid":1,"cg_theta_rad":4.61240959,"cg_vd_req_v":-2.07096934,"cg_vd_v":-2.07096934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44709969,"cg_vq_v":-8.44709969,"cg_vu_v":43.1094704,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0527954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1047.626343,"values":{"Elec_RPM":-2362.5061,"EncoderCos":52398,"EncoderSin":32062,"GapTicks":49346,"Mech_RPM":-472.501221,"cg_du":55.1397285,"cg_dv":50.7170258,"cg_dw":44.8602715,"cg_id_a":-6.58768034,"cg_id_raw_a":-10.2665644,"cg_iq_a":-200.323547,"cg_iq_raw_a":-200.782822,"cg_iu_a":116.635193,"cg_iv_a":85.5683594,"cg_iw_a":-202.203552,"cg_sample_age_us":24.0309086,"cg_sample_seq":6603866,"cg_sample_valid":1,"cg_theta_rad":6.25854349,"cg_vd_req_v":-1.83485627,"cg_vd_v":-1.83485627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39257908,"cg_vq_v":-8.39257908,"cg_vu_v":32.5520515,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.2826023,"dclink_p_w":-2356.4939,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0296936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1047.977905,"values":{"Elec_RPM":-2355.96167,"EncoderCos":49715,"EncoderSin":22728,"GapTicks":49641,"Mech_RPM":-471.192322,"cg_du":47.3630791,"cg_dv":45.1288719,"cg_dw":54.8711281,"cg_id_a":-5.01979828,"cg_id_raw_a":0.15891172,"cg_iq_a":-204.745117,"cg_iq_raw_a":-207.309998,"cg_iu_a":4.38803768,"cg_iv_a":-177.815567,"cg_iw_a":173.427536,"cg_sample_age_us":23.9254551,"cg_sample_seq":6605666,"cg_sample_valid":1,"cg_theta_rad":5.76518345,"cg_vd_req_v":-1.86755931,"cg_vd_v":-1.86755931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32164955,"cg_vq_v":-8.32164955,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2464.02417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0332642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1048.06368,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1048.063686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1048.063691,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1048.415405,"values":{"Elec_RPM":-2354.33496,"EncoderCos":22568,"EncoderSin":15559,"GapTicks":49438,"Mech_RPM":-470.867004,"cg_du":44.9440842,"cg_dv":55.0559158,"cg_dw":51.6613884,"cg_id_a":-1.61390376,"cg_id_raw_a":-5.09200191,"cg_iq_a":-198.65921,"cg_iq_raw_a":-198.477249,"cg_iu_a":-199.266068,"cg_iv_a":89.8451233,"cg_iw_a":109.420944,"cg_sample_age_us":23.9618187,"cg_sample_seq":6607566,"cg_sample_valid":1,"cg_theta_rad":4.18907595,"cg_vd_req_v":-1.8890152,"cg_vd_v":-1.8890152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38980675,"cg_vq_v":-8.38980675,"cg_vu_v":38.7105446,"cg_vv_v":61.1450691,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.050642,"dclink_p_w":-2315.86304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0492249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1048.932983,"values":{"Elec_RPM":-2354.21826,"EncoderCos":46151,"EncoderSin":47366,"GapTicks":49374,"Mech_RPM":-470.843658,"cg_du":51.3600349,"cg_dv":44.8861465,"cg_dw":55.1138535,"cg_id_a":0.606358707,"cg_id_raw_a":-4.42076159,"cg_iq_a":-199.878784,"cg_iq_raw_a":-198.920334,"cg_iu_a":106.414429,"cg_iv_a":-200.178024,"cg_iw_a":93.7635956,"cg_sample_age_us":23.6381817,"cg_sample_seq":6610217,"cg_sample_valid":1,"cg_theta_rad":0.832624853,"cg_vd_req_v":-1.97572231,"cg_vd_v":-1.97572231,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39034176,"cg_vq_v":-8.39034176,"cg_vu_v":137.686371,"cg_vv_v":129.328415,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2500.98486,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1048.959219,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1048.959231,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1048.959234,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1049.055322,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1049.055327,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1049.055333,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1049.30603,"values":{"Elec_RPM":-2348.71606,"EncoderCos":13430,"EncoderSin":27851,"GapTicks":49720,"Mech_RPM":-469.743195,"cg_du":53.2693367,"cg_dv":45.2002716,"cg_dw":54.7997284,"cg_id_a":14.4786444,"cg_id_raw_a":12.3000574,"cg_iq_a":-201.828751,"cg_iq_raw_a":-200.444839,"cg_iu_a":155.089905,"cg_iv_a":-191.2258,"cg_iw_a":48.8937225,"cg_sample_age_us":23.6890907,"cg_sample_seq":6612316,"cg_sample_valid":1,"cg_theta_rad":3.39418387,"cg_vd_req_v":-2.18514061,"cg_vd_v":-2.18514061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33735657,"cg_vq_v":-8.33735657,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1049.638062,"values":{"Elec_RPM":-2345.85278,"EncoderCos":28505,"EncoderSin":13293,"GapTicks":49568,"Mech_RPM":-469.170563,"cg_du":47.5488968,"cg_dv":45.062561,"cg_dw":54.937439,"cg_id_a":-6.7260828,"cg_id_raw_a":-0.756404102,"cg_iq_a":-201.047363,"cg_iq_raw_a":-203.713638,"cg_iu_a":3.30072236,"cg_iv_a":-174.988556,"cg_iw_a":171.687836,"cg_sample_age_us":23.9327278,"cg_sample_seq":6613966,"cg_sample_valid":1,"cg_theta_rad":4.50989914,"cg_vd_req_v":-1.76480067,"cg_vd_v":-1.76480067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39996815,"cg_vq_v":-8.39996815,"cg_vu_v":2.63935518,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0101624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1049.989624,"values":{"Elec_RPM":-2347.55762,"EncoderCos":48230,"EncoderSin":20569,"GapTicks":49353,"Mech_RPM":-469.511505,"cg_du":44.8667336,"cg_dv":49.2576675,"cg_dw":55.1332664,"cg_id_a":-6.74309826,"cg_id_raw_a":-11.5756197,"cg_iq_a":-198.148254,"cg_iq_raw_a":-198.989929,"cg_iu_a":-114.999146,"cg_iv_a":-83.2554321,"cg_iw_a":198.254578,"cg_sample_age_us":23.9218178,"cg_sample_seq":6615616,"cg_sample_valid":1,"cg_theta_rad":5.63066006,"cg_vd_req_v":-1.87677217,"cg_vd_v":-1.87677217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40115929,"cg_vq_v":-8.40115929,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2354.56079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1050.046996,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1050.047001,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1050.047006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1050.323608,"values":{"Elec_RPM":-2353.7334,"EncoderCos":48683,"EncoderSin":21115,"GapTicks":49425,"Mech_RPM":-470.746704,"cg_du":44.9318886,"cg_dv":48.0348015,"cg_dw":55.0681114,"cg_id_a":11.0704985,"cg_id_raw_a":4.97778559,"cg_iq_a":-199.596512,"cg_iq_raw_a":-197.302155,"cg_iu_a":-65.2726135,"cg_iv_a":-133.525604,"cg_iw_a":198.798218,"cg_sample_age_us":23.9145451,"cg_sample_seq":6617366,"cg_sample_valid":1,"cg_theta_rad":5.66910934,"cg_vd_req_v":-2.2446146,"cg_vd_v":-2.2446146,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3838768,"cg_vq_v":-8.3838768,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-15.5178585,"dclink_p_w":-2245.81665,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1050.65564,"values":{"Elec_RPM":-2352.7168,"EncoderCos":50144,"EncoderSin":41909,"GapTicks":50033,"Mech_RPM":-470.543335,"cg_du":45.4845581,"cg_dv":54.5154419,"cg_dw":54.4486084,"cg_id_a":11.4942627,"cg_id_raw_a":13.5190811,"cg_iq_a":-201.056366,"cg_iq_raw_a":-198.098114,"cg_iu_a":-182.485168,"cg_iv_a":15.1828308,"cg_iw_a":167.302338,"cg_sample_age_us":23.5036373,"cg_sample_seq":6619017,"cg_sample_valid":1,"cg_theta_rad":0.492252082,"cg_vd_req_v":-2.18744302,"cg_vd_v":-2.18744302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37383366,"cg_vq_v":-8.37383366,"cg_vu_v":109.973145,"cg_vv_v":113.052383,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2432.47925,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0332642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1051.009155,"values":{"Elec_RPM":-2349.78979,"EncoderCos":52395,"EncoderSin":32518,"GapTicks":49428,"Mech_RPM":-469.957977,"cg_du":55.0649567,"cg_dv":51.5520554,"cg_dw":44.9350433,"cg_id_a":1.81875706,"cg_id_raw_a":-1.41976082,"cg_iq_a":-201.997757,"cg_iq_raw_a":-200.272079,"cg_iu_a":89.234848,"cg_iv_a":114.454697,"cg_iw_a":-203.689545,"cg_sample_age_us":24.0272732,"cg_sample_seq":6620816,"cg_sample_valid":1,"cg_theta_rad":0.0009387951,"cg_vd_req_v":-2.00786328,"cg_vd_v":-2.00786328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35788155,"cg_vq_v":-8.35788155,"cg_vu_v":30.7924805,"cg_vv_v":14.0765619,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.1974297,"dclink_p_w":-2351.29248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9871216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1051.071392,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1051.071398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1051.071403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1051.341187,"values":{"Elec_RPM":-2351.95752,"EncoderCos":31178,"EncoderSin":52504,"GapTicks":49312,"Mech_RPM":-470.391479,"cg_du":44.8295898,"cg_dv":55.1704102,"cg_dw":50.7175102,"cg_id_a":-6.06239271,"cg_id_raw_a":-5.97286749,"cg_iq_a":-197.211563,"cg_iq_raw_a":-197.501877,"cg_iu_a":-197.163925,"cg_iv_a":115.831955,"cg_iw_a":81.3319702,"cg_sample_age_us":23.8927269,"cg_sample_seq":6622416,"cg_sample_valid":1,"cg_theta_rad":1.65090203,"cg_vd_req_v":-1.77612329,"cg_vd_v":-1.77612329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45731163,"cg_vq_v":-8.45731163,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2512.75122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1051.692749,"values":{"Elec_RPM":-2352.23096,"EncoderCos":40973,"EncoderSin":50700,"GapTicks":49735,"Mech_RPM":-470.446198,"cg_du":54.7859993,"cg_dv":46.5833664,"cg_dw":45.2140007,"cg_id_a":4.26992035,"cg_id_raw_a":8.2327528,"cg_iq_a":-200.726852,"cg_iq_raw_a":-201.29686,"cg_iu_a":173.284302,"cg_iv_a":-3.01156616,"cg_iw_a":-171.251312,"cg_sample_age_us":24.0018177,"cg_sample_seq":6624217,"cg_sample_valid":1,"cg_theta_rad":1.14121759,"cg_vd_req_v":-1.99384594,"cg_vd_v":-1.99384594,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39083004,"cg_vq_v":-8.39083004,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2463.07153,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0545654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1052.026733,"values":{"Elec_RPM":-2357.59229,"EncoderCos":19984,"EncoderSin":48048,"GapTicks":49339,"Mech_RPM":-471.518433,"cg_du":55.1459961,"cg_dv":44.8540039,"cg_dw":49.6969757,"cg_id_a":-12.0470638,"cg_id_raw_a":-15.4774408,"cg_iq_a":-196.716278,"cg_iq_raw_a":-195.453888,"cg_iu_a":194.631927,"cg_iv_a":-139.034668,"cg_iw_a":-51.6466675,"cg_sample_age_us":23.8999996,"cg_sample_seq":6625866,"cg_sample_valid":1,"cg_theta_rad":2.26518488,"cg_vd_req_v":-1.67275381,"cg_vd_v":-1.67275381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46713066,"cg_vq_v":-8.46713066,"cg_vu_v":33.4318352,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2518.3396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1052.095187,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1052.095192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1052.095198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1052.356812,"values":{"Elec_RPM":-2357.29224,"EncoderCos":13653,"EncoderSin":38621,"GapTicks":49472,"Mech_RPM":-471.458435,"cg_du":44.9752121,"cg_dv":55.0247879,"cg_dw":48.1085205,"cg_id_a":-8.78277779,"cg_id_raw_a":-3.60085368,"cg_iq_a":-199.260956,"cg_iq_raw_a":-200.961899,"cg_iu_a":-175.236404,"cg_iv_a":169.182892,"cg_iw_a":6.0535202,"cg_sample_age_us":23.8381824,"cg_sample_seq":6627566,"cg_sample_valid":1,"cg_theta_rad":2.83737659,"cg_vd_req_v":-1.6586777,"cg_vd_v":-1.6586777,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40490627,"cg_vq_v":-8.40490627,"cg_vu_v":0.87978512,"cg_vv_v":9.23774433,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0670166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1052.798218,"values":{"Elec_RPM":-2356.74658,"EncoderCos":44490,"EncoderSin":16770,"GapTicks":49476,"Mech_RPM":-471.349335,"cg_du":44.9785233,"cg_dv":55.0214767,"cg_dw":48.144455,"cg_id_a":-10.6667643,"cg_id_raw_a":-7.93212938,"cg_iq_a":-198.850006,"cg_iq_raw_a":-199.639954,"cg_iu_a":-188.030472,"cg_iv_a":140.985184,"cg_iw_a":47.0452881,"cg_sample_age_us":26.1399994,"cg_sample_seq":6629670,"cg_sample_valid":1,"cg_theta_rad":5.39866972,"cg_vd_req_v":-1.756845,"cg_vd_v":-1.756845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39863968,"cg_vq_v":-8.39863968,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2428.03418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1053.055488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1053.055494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1053.055498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1053.132202,"values":{"Elec_RPM":-2356.99756,"EncoderCos":35930,"EncoderSin":13077,"GapTicks":50078,"Mech_RPM":-471.399506,"cg_du":54.4743729,"cg_dv":45.5256271,"cg_dw":45.5872383,"cg_id_a":11.7699938,"cg_id_raw_a":16.5346107,"cg_iq_a":-201.304565,"cg_iq_raw_a":-205.083359,"cg_iu_a":174.66156,"cg_iv_a":-8.66560364,"cg_iw_a":-165.995956,"cg_sample_age_us":24.0599995,"cg_sample_seq":6631468,"cg_sample_valid":1,"cg_theta_rad":4.89782143,"cg_vd_req_v":-2.13804817,"cg_vd_v":-2.13804817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33459377,"cg_vq_v":-8.33459377,"cg_vu_v":143.404984,"cg_vv_v":138.126266,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0030823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1053.464233,"values":{"Elec_RPM":-2347.97778,"EncoderCos":51660,"EncoderSin":37936,"GapTicks":50001,"Mech_RPM":-469.595551,"cg_du":45.8107491,"cg_dv":54.5436935,"cg_dw":45.4563065,"cg_id_a":10.2152166,"cg_id_raw_a":13.626812,"cg_iq_a":-204.903259,"cg_iq_raw_a":-204.437485,"cg_iu_a":-166.537872,"cg_iv_a":185.855042,"cg_iw_a":-19.3171692,"cg_sample_age_us":23.5363636,"cg_sample_seq":6633066,"cg_sample_valid":1,"cg_theta_rad":0.278821915,"cg_vd_req_v":-2.18598723,"cg_vd_v":-2.18598723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3195076,"cg_vq_v":-8.3195076,"cg_vu_v":0.87978512,"cg_vv_v":12.3169918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1053.817749,"values":{"Elec_RPM":-2356.58423,"EncoderCos":51820,"EncoderSin":27945,"GapTicks":49313,"Mech_RPM":-471.316864,"cg_du":55.1691818,"cg_dv":44.8308182,"cg_dw":49.2590637,"cg_id_a":-7.8037715,"cg_id_raw_a":-12.3261003,"cg_iq_a":-197.050827,"cg_iq_raw_a":-196.792801,"cg_iu_a":195.900452,"cg_iv_a":-114.968781,"cg_iw_a":-80.9316711,"cg_sample_age_us":24.1727276,"cg_sample_seq":6634867,"cg_sample_valid":1,"cg_theta_rad":6.05047703,"cg_vd_req_v":-1.81841791,"cg_vd_v":-1.81841791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47504807,"cg_vq_v":-8.47504807,"cg_vu_v":143.404984,"cg_vv_v":129.328415,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2437.31519,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1054.079245,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1054.079251,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1054.079256,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1054.147827,"values":{"Elec_RPM":-2361.5686,"EncoderCos":35562,"EncoderSin":52324,"GapTicks":49337,"Mech_RPM":-472.313721,"cg_du":49.7713089,"cg_dv":55.1479492,"cg_dw":44.8520508,"cg_id_a":-10.3483334,"cg_id_raw_a":-11.2942324,"cg_iq_a":-197.94429,"cg_iq_raw_a":-198.547119,"cg_iu_a":-66.5773926,"cg_iv_a":196.329529,"cg_iw_a":-129.752136,"cg_sample_age_us":23.9036369,"cg_sample_seq":6636466,"cg_sample_valid":1,"cg_theta_rad":1.43249631,"cg_vd_req_v":-1.70089591,"cg_vd_v":-1.70089591,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43599033,"cg_vq_v":-8.43599033,"cg_vu_v":144.724655,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1054.481812,"values":{"Elec_RPM":-2357.17505,"EncoderCos":24434,"EncoderSin":50885,"GapTicks":49565,"Mech_RPM":-471.435028,"cg_du":47.7986336,"cg_dv":45.0599213,"cg_dw":54.9400787,"cg_id_a":-9.78236198,"cg_id_raw_a":-2.68481874,"cg_iq_a":-203.875595,"cg_iq_raw_a":-205.157211,"cg_iu_a":3.88062382,"cg_iv_a":-177.45314,"cg_iw_a":173.57251,"cg_sample_age_us":23.8927269,"cg_sample_seq":6638166,"cg_sample_valid":1,"cg_theta_rad":2.00233388,"cg_vd_req_v":-1.67943776,"cg_vd_v":-1.67943776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35730934,"cg_vq_v":-8.35730934,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1054.833374,"values":{"Elec_RPM":-2357.97705,"EncoderCos":24061,"EncoderSin":50692,"GapTicks":49409,"Mech_RPM":-471.595428,"cg_du":48.8922348,"cg_dv":44.9178925,"cg_dw":55.0821075,"cg_id_a":-18.3895512,"cg_id_raw_a":-16.5346184,"cg_iq_a":-198.568237,"cg_iq_raw_a":-200.377457,"cg_iu_a":30.9547672,"cg_iv_a":-183.288391,"cg_iw_a":152.333618,"cg_sample_age_us":23.8345451,"cg_sample_seq":6639918,"cg_sample_valid":1,"cg_theta_rad":2.03275204,"cg_vd_req_v":-1.51115561,"cg_vd_v":-1.51115561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45187187,"cg_vq_v":-8.45187187,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-16.5616798,"dclink_p_w":-2404.1687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1055.10306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1055.103066,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1055.103071,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1055.165405,"values":{"Elec_RPM":-2358.05347,"EncoderCos":15298,"EncoderSin":42396,"GapTicks":49514,"Mech_RPM":-471.610687,"cg_du":52.3713837,"cg_dv":54.9867058,"cg_dw":45.0132942,"cg_id_a":-8.04381371,"cg_id_raw_a":-5.98621178,"cg_iq_a":-195.999924,"cg_iq_raw_a":-194.516998,"cg_iu_a":-9.23964405,"cg_iv_a":174.039566,"cg_iw_a":-164.799927,"cg_sample_age_us":23.7945461,"cg_sample_seq":6641616,"cg_sample_valid":1,"cg_theta_rad":2.62993431,"cg_vd_req_v":-1.74694955,"cg_vd_v":-1.74694955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46343327,"cg_vq_v":-8.46343327,"cg_vu_v":134.167236,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2457.58081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1055.49939,"values":{"Elec_RPM":-2347.84155,"EncoderCos":15922,"EncoderSin":21833,"GapTicks":49339,"Mech_RPM":-469.568298,"cg_du":55.1462746,"cg_dv":49.8853455,"cg_dw":44.8537254,"cg_id_a":-11.549859,"cg_id_raw_a":-15.9260836,"cg_iq_a":-199.040497,"cg_iq_raw_a":-195.984573,"cg_iu_a":138.345245,"cg_iv_a":54.9060669,"cg_iw_a":-193.251312,"cg_sample_age_us":24.0236359,"cg_sample_seq":6643267,"cg_sample_valid":1,"cg_theta_rad":3.72411418,"cg_vd_req_v":-1.66549814,"cg_vd_v":-1.66549814,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41139317,"cg_vq_v":-8.41139317,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.1919937,"dclink_p_w":-2336.25781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1055.850952,"values":{"Elec_RPM":-2350.01904,"EncoderCos":35037,"EncoderSin":12982,"GapTicks":49557,"Mech_RPM":-470.003784,"cg_du":54.9480629,"cg_dv":45.0519371,"cg_dw":47.4584579,"cg_id_a":11.5684977,"cg_id_raw_a":7.3206625,"cg_iq_a":-200.820465,"cg_iq_raw_a":-198.975372,"cg_iu_a":195.356796,"cg_iv_a":-55.6013794,"cg_iw_a":-139.755417,"cg_sample_age_us":24.0599995,"cg_sample_seq":6644917,"cg_sample_valid":1,"cg_theta_rad":4.84607792,"cg_vd_req_v":-2.16758013,"cg_vd_v":-2.16758013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34800243,"cg_vq_v":-8.34800243,"cg_vu_v":131.967773,"cg_vv_v":120.530563,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1056.062606,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1056.062612,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1056.062618,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1056.184937,"values":{"Elec_RPM":-2354.02783,"EncoderCos":25364,"EncoderSin":14253,"GapTicks":49353,"Mech_RPM":-470.805573,"cg_du":44.8666496,"cg_dv":50.4082222,"cg_dw":55.1333504,"cg_id_a":-15.2023191,"cg_id_raw_a":-13.7273512,"cg_iq_a":-197.532028,"cg_iq_raw_a":-195.893875,"cg_iu_a":-146.023865,"cg_iv_a":-41.7562408,"cg_iw_a":187.780106,"cg_sample_age_us":23.9363632,"cg_sample_seq":6646717,"cg_sample_valid":1,"cg_theta_rad":4.34503269,"cg_vd_req_v":-1.60858619,"cg_vd_v":-1.60858619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43556404,"cg_vq_v":-8.43556404,"cg_vu_v":117.891212,"cg_vv_v":145.164551,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1056.516968,"values":{"Elec_RPM":-2350.45435,"EncoderCos":51606,"EncoderSin":27116,"GapTicks":49326,"Mech_RPM":-470.090881,"cg_du":55.1577835,"cg_dv":44.8422165,"cg_dw":51.0232773,"cg_id_a":-14.1431494,"cg_id_raw_a":-14.6178818,"cg_iq_a":-195.345764,"cg_iq_raw_a":-194.916199,"cg_iu_a":182.490234,"cg_iv_a":-152.336151,"cg_iw_a":-30.1540833,"cg_sample_age_us":24.1472721,"cg_sample_seq":6648316,"cg_sample_valid":1,"cg_theta_rad":6.00848484,"cg_vd_req_v":-1.65888417,"cg_vd_v":-1.65888417,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51564121,"cg_vq_v":-8.51564121,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2507.55396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1056.86853,"values":{"Elec_RPM":-2355.26782,"EncoderCos":46592,"EncoderSin":18664,"GapTicks":49864,"Mech_RPM":-471.053558,"cg_du":45.3315735,"cg_dv":54.6684265,"cg_dw":53.9603462,"cg_id_a":11.3136578,"cg_id_raw_a":9.94037724,"cg_iq_a":-200.441406,"cg_iq_raw_a":-200.696213,"cg_iu_a":-186.834427,"cg_iv_a":25.4760895,"cg_iw_a":161.358337,"cg_sample_age_us":23.9145451,"cg_sample_seq":6650116,"cg_sample_valid":1,"cg_theta_rad":5.50549269,"cg_vd_req_v":-2.22801232,"cg_vd_v":-2.22801232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.396492,"cg_vq_v":-8.396492,"cg_vu_v":14.0765619,"cg_vv_v":22.4345207,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2463.88477,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0492249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1057.086992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1057.086998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1057.087003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1057.202515,"values":{"Elec_RPM":-2353.69385,"EncoderCos":45400,"EncoderSin":47960,"GapTicks":49675,"Mech_RPM":-470.73877,"cg_du":53.1310806,"cg_dv":45.159317,"cg_dw":54.840683,"cg_id_a":16.1251755,"cg_id_raw_a":14.649929,"cg_iq_a":-202.398865,"cg_iq_raw_a":-201.235367,"cg_iu_a":145.666504,"cg_iv_a":-194.922668,"cg_iw_a":49.2561646,"cg_sample_age_us":23.4599991,"cg_sample_seq":6651716,"cg_sample_valid":1,"cg_theta_rad":0.872150898,"cg_vd_req_v":-2.26887798,"cg_vd_v":-2.26887798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33171558,"cg_vq_v":-8.33171558,"cg_vu_v":106.453995,"cg_vv_v":91.0577545,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1057.554077,"values":{"Elec_RPM":-2355.67969,"EncoderCos":51029,"EncoderSin":39945,"GapTicks":49330,"Mech_RPM":-471.135956,"cg_du":44.8460312,"cg_dv":55.1539688,"cg_dw":50.1386833,"cg_id_a":-7.29877281,"cg_id_raw_a":-8.51149082,"cg_iq_a":-197.635132,"cg_iq_raw_a":-197.686417,"cg_iu_a":-195.061783,"cg_iv_a":125.654037,"cg_iw_a":69.4077454,"cg_sample_age_us":23.550909,"cg_sample_seq":6653516,"cg_sample_valid":1,"cg_theta_rad":0.382158995,"cg_vd_req_v":-1.83072972,"cg_vd_v":-1.83072972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41723824,"cg_vq_v":-8.41723824,"cg_vu_v":38.2706528,"cg_vv_v":51.0275345,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2442.677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1057.886108,"values":{"Elec_RPM":-2349.48828,"EncoderCos":44220,"EncoderSin":48861,"GapTicks":49509,"Mech_RPM":-469.897644,"cg_du":54.9916649,"cg_dv":45.0083351,"cg_dw":52.283493,"cg_id_a":-6.8120985,"cg_id_raw_a":-0.00823871512,"cg_iq_a":-198.888641,"cg_iq_raw_a":-201.056381,"cg_iu_a":175.096497,"cg_iv_a":-167.196136,"cg_iw_a":-7.90035248,"cg_sample_age_us":23.954546,"cg_sample_seq":6655216,"cg_sample_valid":1,"cg_theta_rad":0.952205062,"cg_vd_req_v":-1.7769773,"cg_vd_v":-1.7769773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44282341,"cg_vq_v":-8.44282341,"cg_vu_v":44.8690414,"cg_vv_v":40.9100075,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2483.95679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1058.078787,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1058.078793,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1058.078799,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1058.28064,"values":{"Elec_RPM":-2351.69507,"EncoderCos":52290,"EncoderSin":30908,"GapTicks":49457,"Mech_RPM":-470.33902,"cg_du":55.0384483,"cg_dv":48.3035164,"cg_dw":44.9615517,"cg_id_a":-13.0490017,"cg_id_raw_a":-9.73619461,"cg_iq_a":-198.281769,"cg_iq_raw_a":-200.376678,"cg_iu_a":164.368317,"cg_iv_a":15.7989807,"cg_iw_a":-180.167297,"cg_sample_age_us":24.1181812,"cg_sample_seq":6657066,"cg_sample_valid":1,"cg_theta_rad":6.20289516,"cg_vd_req_v":-1.67040396,"cg_vd_v":-1.67040396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41333485,"cg_vq_v":-8.41333485,"cg_vu_v":43.549366,"cg_vv_v":43.9892578,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2477.71387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1058.798218,"values":{"Elec_RPM":-2346.48389,"EncoderCos":13659,"EncoderSin":38490,"GapTicks":49406,"Mech_RPM":-469.296783,"cg_du":44.9151382,"cg_dv":55.0848618,"cg_dw":48.3732338,"cg_id_a":-8.86631393,"cg_id_raw_a":-6.77208567,"cg_iq_a":-198.104919,"cg_iq_raw_a":-199.004761,"cg_iu_a":-180.636734,"cg_iv_a":158.889648,"cg_iw_a":21.7470932,"cg_sample_age_us":23.8418179,"cg_sample_seq":6659716,"cg_sample_valid":1,"cg_theta_rad":2.85148048,"cg_vd_req_v":-1.66787243,"cg_vd_v":-1.66787243,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45198154,"cg_vq_v":-8.45198154,"cg_vu_v":0.87978512,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0137024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1058.943597,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1058.943609,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1058.943612,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1059.071042,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1059.071048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1059.071053,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1059.21228,"values":{"Elec_RPM":-2350.50415,"EncoderCos":51254,"EncoderSin":26068,"GapTicks":49886,"Mech_RPM":-470.10083,"cg_du":54.6488266,"cg_dv":45.3511734,"cg_dw":53.8942986,"cg_id_a":9.48948956,"cg_id_raw_a":15.7740107,"cg_iq_a":-202.951096,"cg_iq_raw_a":-203.043243,"cg_iu_a":173.103088,"cg_iv_a":-181.11377,"cg_iw_a":10.2940369,"cg_sample_age_us":24.227272,"cg_sample_seq":6661766,"cg_sample_valid":1,"cg_theta_rad":5.95108795,"cg_vd_req_v":-2.13663435,"cg_vd_v":-2.13663435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36104393,"cg_vq_v":-8.36104393,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1059.565796,"values":{"Elec_RPM":-2352.84155,"EncoderCos":45765,"EncoderSin":17869,"GapTicks":49393,"Mech_RPM":-470.568329,"cg_du":44.9032822,"cg_dv":55.0967178,"cg_dw":51.7466316,"cg_id_a":-2.15465164,"cg_id_raw_a":-4.3634491,"cg_iq_a":-197.725647,"cg_iq_raw_a":-198.382004,"cg_iu_a":-197.961288,"cg_iv_a":85.4596252,"cg_iw_a":112.501663,"cg_sample_age_us":23.9181824,"cg_sample_seq":6663566,"cg_sample_valid":1,"cg_theta_rad":5.45090246,"cg_vd_req_v":-1.97793639,"cg_vd_v":-1.97793639,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45413017,"cg_vq_v":-8.45413017,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1059.895874,"values":{"Elec_RPM":-2349.93555,"EncoderCos":51733,"EncoderSin":27592,"GapTicks":49293,"Mech_RPM":-469.987091,"cg_du":55.1875305,"cg_dv":44.8124695,"cg_dw":49.9484825,"cg_id_a":-13.0148239,"cg_id_raw_a":-13.1966476,"cg_iq_a":-194.631409,"cg_iq_raw_a":-193.689133,"cg_iu_a":192.058609,"cg_iv_a":-132.981964,"cg_iw_a":-59.0766525,"cg_sample_age_us":24.1327267,"cg_sample_seq":6665266,"cg_sample_valid":1,"cg_theta_rad":6.03114223,"cg_vd_req_v":-1.69474101,"cg_vd_v":-1.69474101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50194931,"cg_vq_v":-8.50194931,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.4167042,"dclink_p_w":-2375.90186,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1060.063534,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1060.06354,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1060.063545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1060.229858,"values":{"Elec_RPM":-2349.66846,"EncoderCos":51348,"EncoderSin":38869,"GapTicks":49550,"Mech_RPM":-469.933685,"cg_du":45.0460052,"cg_dv":54.9539948,"cg_dw":47.6137428,"cg_id_a":-4.51018333,"cg_id_raw_a":0.223007575,"cg_iq_a":-199.404739,"cg_iq_raw_a":-200.987579,"cg_iu_a":-177.990936,"cg_iv_a":164.326202,"cg_iw_a":13.6647263,"cg_sample_age_us":23.5618191,"cg_sample_seq":6666966,"cg_sample_valid":1,"cg_theta_rad":0.326016158,"cg_vd_req_v":-1.86202514,"cg_vd_v":-1.86202514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38881302,"cg_vq_v":-8.38881302,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2448.02588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1060.583374,"values":{"Elec_RPM":-2347.94824,"EncoderCos":45243,"EncoderSin":48080,"GapTicks":49769,"Mech_RPM":-469.589661,"cg_du":53.5855064,"cg_dv":45.2448692,"cg_dw":54.7551308,"cg_id_a":14.8695345,"cg_id_raw_a":12.555542,"cg_iq_a":-202.930222,"cg_iq_raw_a":-203.176712,"cg_iu_a":164.295837,"cg_iv_a":-185.897949,"cg_iw_a":21.6021194,"cg_sample_age_us":23.5763645,"cg_sample_seq":6668667,"cg_sample_valid":1,"cg_theta_rad":0.901104569,"cg_vd_req_v":-2.24228835,"cg_vd_v":-2.24228835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34447002,"cg_vq_v":-8.34447002,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2431.69507,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0652466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1060.913452,"values":{"Elec_RPM":-2349.17432,"EncoderCos":34613,"EncoderSin":52438,"GapTicks":49450,"Mech_RPM":-469.834869,"cg_du":47.9921951,"cg_dv":55.0450783,"cg_dw":44.9549217,"cg_id_a":7.40865946,"cg_id_raw_a":1.03578675,"cg_iq_a":-199.21846,"cg_iq_raw_a":-197.489716,"cg_iu_a":-113.658127,"cg_iv_a":199.555222,"cg_iw_a":-85.8970947,"cg_sample_age_us":23.823637,"cg_sample_seq":6670366,"cg_sample_valid":1,"cg_theta_rad":1.47526896,"cg_vd_req_v":-2.06597781,"cg_vd_v":-2.06597781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42745972,"cg_vq_v":-8.42745972,"cg_vu_v":39.590332,"cg_vv_v":70.3828125,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2367.3396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0652466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1061.086622,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1061.086629,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1061.086635,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1061.247437,"values":{"Elec_RPM":-2349.04028,"EncoderCos":23733,"EncoderSin":50561,"GapTicks":49361,"Mech_RPM":-469.808075,"cg_du":49.6776237,"cg_dv":44.8741188,"cg_dw":55.1258812,"cg_id_a":-19.1894646,"cg_id_raw_a":-19.9759903,"cg_iq_a":-197.677719,"cg_iq_raw_a":-197.729767,"cg_iu_a":38.8196793,"cg_iv_a":-186.804047,"cg_iw_a":147.984375,"cg_sample_age_us":23.7545452,"cg_sample_seq":6672067,"cg_sample_valid":1,"cg_theta_rad":2.03876328,"cg_vd_req_v":-1.50679028,"cg_vd_v":-1.50679028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43821812,"cg_vq_v":-8.43821812,"cg_vu_v":129.328415,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2583,"hz_tim_isr":4997,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1061.598999,"values":{"Elec_RPM":-2350.11255,"EncoderCos":15633,"EncoderSin":22407,"GapTicks":49388,"Mech_RPM":-470.022522,"cg_du":55.1010971,"cg_dv":48.4587402,"cg_dw":44.8989029,"cg_id_a":-10.4559669,"cg_id_raw_a":-9.8595562,"cg_iq_a":-196.301132,"cg_iq_raw_a":-195.351913,"cg_iu_a":157.083313,"cg_iv_a":20.6918945,"cg_iw_a":-177.775208,"cg_sample_age_us":24.0127277,"cg_sample_seq":6673667,"cg_sample_valid":1,"cg_theta_rad":3.69144726,"cg_vd_req_v":-1.67171538,"cg_vd_v":-1.67171538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49034691,"cg_vq_v":-8.49034691,"cg_vu_v":108.653458,"cg_vv_v":108.653458,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2515.42896,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2583,"hz_tim_isr":4997,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1061.932983,"values":{"Elec_RPM":-2346.69043,"EncoderCos":12818,"EncoderSin":31889,"GapTicks":49755,"Mech_RPM":-469.338104,"cg_du":45.2320328,"cg_dv":46.5498772,"cg_dw":54.7679672,"cg_id_a":12.9370098,"cg_id_raw_a":10.9114399,"cg_iq_a":-202.3358,"cg_iq_raw_a":-201.205444,"cg_iu_a":-33.2693024,"cg_iv_a":-156.721664,"cg_iw_a":189.990967,"cg_sample_age_us":23.9363632,"cg_sample_seq":6675467,"cg_sample_valid":1,"cg_theta_rad":3.19074821,"cg_vd_req_v":-2.15155983,"cg_vd_v":-2.15155983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36297989,"cg_vq_v":-8.36297989,"cg_vu_v":98.0960464,"cg_vv_v":73.462059,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2435.35571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2583,"hz_tim_isr":4997,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1062.078884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1062.07889,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1062.078895,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1062.265015,"values":{"Elec_RPM":-2348.58716,"EncoderCos":35067,"EncoderSin":12992,"GapTicks":49568,"Mech_RPM":-469.717438,"cg_du":54.9375992,"cg_dv":45.0624008,"cg_dw":47.4318314,"cg_id_a":12.7550745,"cg_id_raw_a":9.6045332,"cg_iq_a":-202.90799,"cg_iq_raw_a":-200.979614,"cg_iu_a":197.024017,"cg_iv_a":-54.2966003,"cg_iw_a":-142.727417,"cg_sample_age_us":24.0781822,"cg_sample_seq":6677067,"cg_sample_valid":1,"cg_theta_rad":4.84559536,"cg_vd_req_v":-2.19539666,"cg_vd_v":-2.19539666,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3039217,"cg_vq_v":-8.3039217,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1062.616577,"values":{"Elec_RPM":-2346.74561,"EncoderCos":35844,"EncoderSin":13105,"GapTicks":50008,"Mech_RPM":-469.349121,"cg_du":54.5378571,"cg_dv":45.4621429,"cg_dw":45.791214,"cg_id_a":13.0846357,"cg_id_raw_a":13.7354488,"cg_iq_a":-204.239044,"cg_iq_raw_a":-204.094528,"cg_iu_a":184.15744,"cg_iv_a":-21.8583679,"cg_iw_a":-162.299072,"cg_sample_age_us":24.0745449,"cg_sample_seq":6678817,"cg_sample_valid":1,"cg_theta_rad":4.88301516,"cg_vd_req_v":-2.18102288,"cg_vd_v":-2.18102288,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29406166,"cg_vq_v":-8.29406166,"cg_vu_v":106.014107,"cg_vv_v":95.0167923,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2482.15894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1062.950562,"values":{"Elec_RPM":-2340.5752,"EncoderCos":46008,"EncoderSin":18080,"GapTicks":49421,"Mech_RPM":-468.115051,"cg_du":44.9283943,"cg_dv":55.0716057,"cg_dw":52.3159943,"cg_id_a":6.84386158,"cg_id_raw_a":1.05568612,"cg_iq_a":-196.019104,"cg_iq_raw_a":-194.307449,"cg_iu_a":-192.633438,"cg_iv_a":64.2932281,"cg_iw_a":128.34021,"cg_sample_age_us":23.9618187,"cg_sample_seq":6680517,"cg_sample_valid":1,"cg_theta_rad":5.46351719,"cg_vd_req_v":-2.15981197,"cg_vd_v":-2.15981197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49469757,"cg_vq_v":-8.49469757,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105392538,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1063.071505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1063.071512,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1063.071517,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1063.302124,"values":{"Elec_RPM":-2343.54761,"EncoderCos":51692,"EncoderSin":27303,"GapTicks":49312,"Mech_RPM":-468.709534,"cg_du":55.1702843,"cg_dv":44.8297157,"cg_dw":50.5325813,"cg_id_a":-15.5065556,"cg_id_raw_a":-15.0699682,"cg_iq_a":-193.931488,"cg_iq_raw_a":-193.838593,"cg_iu_a":197.640167,"cg_iv_a":-105.074219,"cg_iw_a":-92.5659485,"cg_sample_age_us":24.1327267,"cg_sample_seq":6682220,"cg_sample_valid":1,"cg_theta_rad":6.05951118,"cg_vd_req_v":-1.62792754,"cg_vd_v":-1.62792754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50104713,"cg_vq_v":-8.50104713,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2524.87061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1063.634155,"values":{"Elec_RPM":-2346.8667,"EncoderCos":51271,"EncoderSin":39219,"GapTicks":49416,"Mech_RPM":-469.373322,"cg_du":44.9243317,"cg_dv":55.0756683,"cg_dw":48.50914,"cg_id_a":-10.6791792,"cg_id_raw_a":-7.93778181,"cg_iq_a":-199.291321,"cg_iq_raw_a":-200.583466,"cg_iu_a":-183.753708,"cg_iv_a":155.881409,"cg_iw_a":16.4192505,"cg_sample_age_us":23.5363636,"cg_sample_seq":6683916,"cg_sample_valid":1,"cg_theta_rad":0.344552964,"cg_vd_req_v":-1.75284219,"cg_vd_v":-1.75284219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42278099,"cg_vq_v":-8.42278099,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.1865559,"dclink_p_w":-2342.59375,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1063.96814,"values":{"Elec_RPM":-2349.89209,"EncoderCos":44751,"EncoderSin":48472,"GapTicks":49915,"Mech_RPM":-469.978394,"cg_du":54.6223946,"cg_dv":45.3776054,"cg_dw":54.05299,"cg_id_a":12.4682178,"cg_id_raw_a":17.2926636,"cg_iq_a":-202.428482,"cg_iq_raw_a":-202.802673,"cg_iu_a":172.486938,"cg_iv_a":-178.141769,"cg_iw_a":12.0699997,"cg_sample_age_us":23.9872723,"cg_sample_seq":6685616,"cg_sample_valid":1,"cg_theta_rad":0.918239355,"cg_vd_req_v":-2.16346979,"cg_vd_v":-2.16346979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38339233,"cg_vq_v":-8.38339233,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1064.063076,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1064.063082,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1064.063087,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1064.319702,"values":{"Elec_RPM":-2355.6792,"EncoderCos":34105,"EncoderSin":52504,"GapTicks":49644,"Mech_RPM":-471.135834,"cg_du":47.057106,"cg_dv":54.8687096,"cg_dw":45.1312904,"cg_id_a":15.298851,"cg_id_raw_a":14.9826965,"cg_iq_a":-203.097443,"cg_iq_raw_a":-201.60437,"cg_iu_a":-142.725677,"cg_iv_a":197.235611,"cg_iw_a":-54.5099335,"cg_sample_age_us":23.8963642,"cg_sample_seq":6687316,"cg_sample_valid":1,"cg_theta_rad":1.49475098,"cg_vd_req_v":-2.21039391,"cg_vd_v":-2.21039391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32918549,"cg_vq_v":-8.32918549,"cg_vu_v":98.9758301,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1064.653687,"values":{"Elec_RPM":-2354.83472,"EncoderCos":23330,"EncoderSin":50318,"GapTicks":49342,"Mech_RPM":-470.966949,"cg_du":50.5316315,"cg_dv":44.8571625,"cg_dw":55.1428375,"cg_id_a":-11.1676655,"cg_id_raw_a":-16.0416317,"cg_iq_a":-198.744812,"cg_iq_raw_a":-198.059937,"cg_iu_a":71.7653198,"cg_iv_a":-196.589874,"cg_iw_a":124.824554,"cg_sample_age_us":23.6890907,"cg_sample_seq":6689017,"cg_sample_valid":1,"cg_theta_rad":2.06390762,"cg_vd_req_v":-1.69239497,"cg_vd_v":-1.69239497,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41501236,"cg_vq_v":-8.41501236,"cg_vu_v":120.970459,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2475.3606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.9995117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1064.983765,"values":{"Elec_RPM":-2352.44873,"EncoderCos":15255,"EncoderSin":42336,"GapTicks":49385,"Mech_RPM":-470.489746,"cg_du":51.7095909,"cg_dv":55.1040955,"cg_dw":44.8959045,"cg_id_a":-6.88090515,"cg_id_raw_a":-7.16669226,"cg_iq_a":-196.965637,"cg_iq_raw_a":-197.947342,"cg_iu_a":-23.0847893,"cg_iv_a":180.201019,"cg_iw_a":-157.116226,"cg_sample_age_us":23.9036369,"cg_sample_seq":6690717,"cg_sample_valid":1,"cg_theta_rad":2.63964438,"cg_vd_req_v":-1.73050344,"cg_vd_v":-1.73050344,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48661995,"cg_vq_v":-8.48661995,"cg_vu_v":144.724655,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.5544319,"dclink_p_w":-2395.83447,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0758972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1065.087,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1065.087006,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1065.087012,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1065.33728,"values":{"Elec_RPM":-2350.21411,"EncoderCos":16435,"EncoderSin":21128,"GapTicks":49472,"Mech_RPM":-470.042816,"cg_du":55.0247459,"cg_dv":51.4579659,"cg_dw":44.9752541,"cg_id_a":4.62353373,"cg_id_raw_a":0.393666178,"cg_iq_a":-203.110428,"cg_iq_raw_a":-203.516754,"cg_iu_a":89.1261215,"cg_iv_a":115.360786,"cg_iw_a":-204.486908,"cg_sample_age_us":23.9690914,"cg_sample_seq":6692366,"cg_sample_valid":1,"cg_theta_rad":3.76803088,"cg_vd_req_v":-1.99245286,"cg_vd_v":-1.99245286,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30424309,"cg_vq_v":-8.30424309,"cg_vu_v":2.19946289,"cg_vv_v":4.83881807,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1065.669312,"values":{"Elec_RPM":-2348.46387,"EncoderCos":16896,"EncoderSin":20451,"GapTicks":49751,"Mech_RPM":-469.69278,"cg_du":54.7710724,"cg_dv":53.0489998,"cg_dw":45.2289276,"cg_id_a":12.0867462,"cg_id_raw_a":10.7309351,"cg_iq_a":-206.878174,"cg_iq_raw_a":-206.532898,"cg_iu_a":46.8658104,"cg_iv_a":153.453064,"cg_iw_a":-200.318878,"cg_sample_age_us":23.9690914,"cg_sample_seq":6694116,"cg_sample_valid":1,"cg_theta_rad":3.81002092,"cg_vd_req_v":-2.13263583,"cg_vd_v":-2.13263583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22656727,"cg_vq_v":-8.22656727,"cg_vu_v":31.6722641,"cg_vv_v":23.7541981,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2554207,"dclink_p_w":-2345.40942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":42.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1066.001343,"values":{"Elec_RPM":-2347.47192,"EncoderCos":36530,"EncoderSin":13248,"GapTicks":49642,"Mech_RPM":-469.494385,"cg_du":54.8708954,"cg_dv":47.0050583,"cg_dw":45.1291046,"cg_id_a":-0.663928986,"cg_id_raw_a":5.54502106,"cg_iq_a":-199.1091,"cg_iq_raw_a":-201.914383,"cg_iu_a":173.682983,"cg_iv_a":-1.56182861,"cg_iw_a":-172.121155,"cg_sample_age_us":23.9145451,"cg_sample_seq":6695766,"cg_sample_valid":1,"cg_theta_rad":4.91883421,"cg_vd_req_v":-1.88339114,"cg_vd_v":-1.88339114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42978001,"cg_vq_v":-8.42978001,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1066.079533,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1066.07954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1066.079545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1066.352905,"values":{"Elec_RPM":-2351.22949,"EncoderCos":26704,"EncoderSin":13813,"GapTicks":49460,"Mech_RPM":-470.24588,"cg_du":44.9644585,"cg_dv":47.7617149,"cg_dw":55.0355415,"cg_id_a":9.38084412,"cg_id_raw_a":5.59424257,"cg_iq_a":-199.236908,"cg_iq_raw_a":-198.978668,"cg_iu_a":-62.445591,"cg_iv_a":-135.26532,"cg_iw_a":197.710907,"cg_sample_age_us":23.8999996,"cg_sample_seq":6697566,"cg_sample_valid":1,"cg_theta_rad":4.42020273,"cg_vd_req_v":-2.13925552,"cg_vd_v":-2.13925552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4202652,"cg_vq_v":-8.4202652,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2478.18677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1066.68689,"values":{"Elec_RPM":-2353.552,"EncoderCos":51892,"EncoderSin":28255,"GapTicks":49387,"Mech_RPM":-470.710419,"cg_du":55.1024857,"cg_dv":44.8975143,"cg_dw":48.6492996,"cg_id_a":-3.60033989,"cg_id_raw_a":-7.96562815,"cg_iq_a":-198.667969,"cg_iq_raw_a":-197.835587,"cg_iu_a":198.47377,"cg_iv_a":-97.0280762,"cg_iw_a":-101.445694,"cg_sample_age_us":24.1290913,"cg_sample_seq":6699167,"cg_sample_valid":1,"cg_theta_rad":6.06829596,"cg_vd_req_v":-1.89804471,"cg_vd_v":-1.89804471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38766861,"cg_vq_v":-8.38766861,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2367.63452,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1067.040405,"values":{"Elec_RPM":-2352.82837,"EncoderCos":51391,"EncoderSin":38887,"GapTicks":49543,"Mech_RPM":-470.565674,"cg_du":45.0391426,"cg_dv":54.9608574,"cg_dw":47.610405,"cg_id_a":-4.40226936,"cg_id_raw_a":0.265520155,"cg_iq_a":-200.881134,"cg_iq_raw_a":-201.488708,"cg_iu_a":-192.814667,"cg_iv_a":138.556854,"cg_iw_a":54.2578125,"cg_sample_age_us":23.5690918,"cg_sample_seq":6700870,"cg_sample_valid":1,"cg_theta_rad":0.368171096,"cg_vd_req_v":-1.87162912,"cg_vd_v":-1.87162912,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39888,"cg_vq_v":-8.39888,"cg_vu_v":1.31967759,"cg_vv_v":8.79785156,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2456.53467,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1067.070809,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1067.070815,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1067.070821,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1067.372437,"values":{"Elec_RPM":-2350.02783,"EncoderCos":44280,"EncoderSin":48816,"GapTicks":49517,"Mech_RPM":-470.005554,"cg_du":54.9843864,"cg_dv":45.0156136,"cg_dw":52.4500656,"cg_id_a":-6.09981918,"cg_id_raw_a":2.18703914,"cg_iq_a":-196.834244,"cg_iq_raw_a":-199.780869,"cg_iu_a":170.239807,"cg_iv_a":-166.14505,"cg_iw_a":2.3928833,"cg_sample_age_us":23.9290905,"cg_sample_seq":6702566,"cg_sample_valid":1,"cg_theta_rad":0.948697746,"cg_vd_req_v":-1.77890158,"cg_vd_v":-1.77890158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47381592,"cg_vq_v":-8.47381592,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2509.92163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1067.704468,"values":{"Elec_RPM":-2347.42627,"EncoderCos":33632,"EncoderSin":52486,"GapTicks":49940,"Mech_RPM":-469.48526,"cg_du":46.1307564,"cg_dv":54.5992546,"cg_dw":45.4007454,"cg_id_a":16.2450142,"cg_id_raw_a":18.7236042,"cg_iq_a":-205.995544,"cg_iq_raw_a":-205.728531,"cg_iu_a":-168.241333,"cg_iv_a":186.579926,"cg_iw_a":-18.3385849,"cg_sample_age_us":23.9290905,"cg_sample_seq":6704266,"cg_sample_valid":1,"cg_theta_rad":1.52675104,"cg_vd_req_v":-2.21481371,"cg_vd_v":-2.21481371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25259972,"cg_vq_v":-8.25259972,"cg_vu_v":0.87978512,"cg_vv_v":13.1967773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2402.39136,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1068.05603,"values":{"Elec_RPM":-2349.01904,"EncoderCos":32923,"EncoderSin":52520,"GapTicks":49784,"Mech_RPM":-469.803802,"cg_du":45.2585678,"cg_dv":54.7414322,"cg_dw":46.6479874,"cg_id_a":5.27207279,"cg_id_raw_a":10.2450771,"cg_iq_a":-204.349655,"cg_iq_raw_a":-205.461487,"cg_iu_a":-175.16391,"cg_iv_a":175.743011,"cg_iw_a":-0.579101563,"cg_sample_age_us":23.8999996,"cg_sample_seq":6706016,"cg_sample_valid":1,"cg_theta_rad":1.56090498,"cg_vd_req_v":-1.97787154,"cg_vd_v":-1.97787154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29976463,"cg_vq_v":-8.29976463,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1068.062941,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1068.062947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1068.062952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1068.52478,"values":{"Elec_RPM":-2343.69775,"EncoderCos":25240,"EncoderSin":51210,"GapTicks":50125,"Mech_RPM":-468.739532,"cg_du":45.57164,"cg_dv":45.5686073,"cg_dw":54.4313927,"cg_id_a":11.916028,"cg_id_raw_a":12.5741978,"cg_iq_a":-206.708649,"cg_iq_raw_a":-205.390915,"cg_iu_a":-15.0749006,"cg_iv_a":-170.675522,"cg_iw_a":185.750427,"cg_sample_age_us":23.8963642,"cg_sample_seq":6708317,"cg_sample_valid":1,"cg_theta_rad":1.95785749,"cg_vd_req_v":-2.13152409,"cg_vd_v":-2.13152409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27965736,"cg_vq_v":-8.27965736,"cg_vu_v":103.814644,"cg_vv_v":84.4593658,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0492249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1068.958865,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1068.958876,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1068.958879,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1069.050171,"values":{"Elec_RPM":-2342.24146,"EncoderCos":34966,"EncoderSin":12992,"GapTicks":49516,"Mech_RPM":-468.448303,"cg_du":54.9847717,"cg_dv":45.0152283,"cg_dw":47.5872231,"cg_id_a":11.0205441,"cg_id_raw_a":8.99642754,"cg_iq_a":-201.419022,"cg_iq_raw_a":-200.800095,"cg_iu_a":178.104736,"cg_iv_a":-12.7249146,"cg_iw_a":-165.379822,"cg_sample_age_us":23.9763641,"cg_sample_seq":6710972,"cg_sample_valid":1,"cg_theta_rad":4.8905468,"cg_vd_req_v":-2.1612246,"cg_vd_v":-2.1612246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37503147,"cg_vq_v":-8.37503147,"cg_vu_v":106.014107,"cg_vv_v":91.4976578,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2495.1897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1069.05557,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1069.055576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1069.055581,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1069.384155,"values":{"Elec_RPM":-2344.06714,"EncoderCos":46283,"EncoderSin":18382,"GapTicks":49669,"Mech_RPM":-468.813416,"cg_du":45.1542778,"cg_dv":54.8457222,"cg_dw":53.133091,"cg_id_a":8.18684387,"cg_id_raw_a":7.54242468,"cg_iq_a":-198.692596,"cg_iq_raw_a":-198.918015,"cg_iu_a":-192.270996,"cg_iv_a":47.621048,"cg_iw_a":144.649948,"cg_sample_age_us":23.9181824,"cg_sample_seq":6712666,"cg_sample_valid":1,"cg_theta_rad":5.48277283,"cg_vd_req_v":-2.16367555,"cg_vd_v":-2.16367555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39563751,"cg_vq_v":-8.39563751,"cg_vu_v":1.31967759,"cg_vv_v":7.47817326,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2442.51807,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1069.716187,"values":{"Elec_RPM":-2349.06323,"EncoderCos":51842,"EncoderSin":27914,"GapTicks":49343,"Mech_RPM":-469.812653,"cg_du":55.1423492,"cg_dv":44.8576508,"cg_dw":49.269577,"cg_id_a":-10.8664303,"cg_id_raw_a":-14.8930712,"cg_iq_a":-198.192261,"cg_iq_raw_a":-197.921524,"cg_iu_a":196.371628,"cg_iv_a":-119.75296,"cg_iw_a":-76.6186676,"cg_sample_age_us":24.1327267,"cg_sample_seq":6714367,"cg_sample_valid":1,"cg_theta_rad":6.04950333,"cg_vd_req_v":-1.7590003,"cg_vd_v":-1.7590003,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41431236,"cg_vq_v":-8.41431236,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1070.067749,"values":{"Elec_RPM":-2347.03271,"EncoderCos":51223,"EncoderSin":39368,"GapTicks":49354,"Mech_RPM":-469.406555,"cg_du":44.8672905,"cg_dv":55.1327095,"cg_dw":48.8256187,"cg_id_a":-9.19030571,"cg_id_raw_a":-7.36293936,"cg_iq_a":-198.167114,"cg_iq_raw_a":-197.979568,"cg_iu_a":-186.689453,"cg_iv_a":158.019791,"cg_iw_a":25.6976776,"cg_sample_age_us":23.4418182,"cg_sample_seq":6716066,"cg_sample_valid":1,"cg_theta_rad":0.351122767,"cg_vd_req_v":-1.78667891,"cg_vd_v":-1.78667891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46548462,"cg_vq_v":-8.46548462,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.3224716,"dclink_p_w":-2355.08398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1070.078952,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1070.078957,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1070.078963,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1070.401733,"values":{"Elec_RPM":-2344.57471,"EncoderCos":24642,"EncoderSin":50975,"GapTicks":49717,"Mech_RPM":-468.914948,"cg_du":47.1953888,"cg_dv":45.1975517,"cg_dw":54.8024483,"cg_id_a":-2.55417252,"cg_id_raw_a":7.14071131,"cg_iq_a":-205.347412,"cg_iq_raw_a":-205.577072,"cg_iu_a":0.0750210285,"cg_iv_a":-177.018219,"cg_iw_a":176.943192,"cg_sample_age_us":23.8890915,"cg_sample_seq":6717667,"cg_sample_valid":1,"cg_theta_rad":1.99328148,"cg_vd_req_v":-1.80862772,"cg_vd_v":-1.80862772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27408981,"cg_vq_v":-8.27408981,"cg_vu_v":105.574219,"cg_vv_v":88.4184036,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2506.3938,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1070.731812,"values":{"Elec_RPM":-2341.2041,"EncoderCos":23782,"EncoderSin":50565,"GapTicks":49344,"Mech_RPM":-468.240814,"cg_du":49.5936546,"cg_dv":44.8583336,"cg_dw":55.1416664,"cg_id_a":-20.8075905,"cg_id_raw_a":-21.9157505,"cg_iq_a":-198.2742,"cg_iq_raw_a":-199.539215,"cg_iu_a":23.7060013,"cg_iv_a":-182.27356,"cg_iw_a":158.567566,"cg_sample_age_us":23.6636372,"cg_sample_seq":6719416,"cg_sample_valid":1,"cg_theta_rad":2.02942824,"cg_vd_req_v":-1.49143195,"cg_vd_v":-1.49143195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44452763,"cg_vq_v":-8.44452763,"cg_vu_v":14.9563465,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.1195049,"dclink_p_w":-2325.79883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1071.071361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1071.071365,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1071.07137,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1071.085327,"values":{"Elec_RPM":-2340.49316,"EncoderCos":15488,"EncoderSin":42711,"GapTicks":49567,"Mech_RPM":-468.098633,"cg_du":52.7425194,"cg_dv":54.9384193,"cg_dw":45.0615807,"cg_id_a":-2.89128876,"cg_id_raw_a":3.80723643,"cg_iq_a":-197.636658,"cg_iq_raw_a":-200.906906,"cg_iu_a":-4.78165293,"cg_iv_a":172.734772,"cg_iw_a":-167.953125,"cg_sample_age_us":23.9109097,"cg_sample_seq":6721116,"cg_sample_valid":1,"cg_theta_rad":2.62334418,"cg_vd_req_v":-1.80516124,"cg_vd_v":-1.80516124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47651482,"cg_vq_v":-8.47651482,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0670166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1071.419312,"values":{"Elec_RPM":-2341.00073,"EncoderCos":15181,"EncoderSin":42175,"GapTicks":49345,"Mech_RPM":-468.200134,"cg_du":51.2770958,"cg_dv":55.1406631,"cg_dw":44.8593369,"cg_id_a":-7.99946451,"cg_id_raw_a":-5.58441877,"cg_iq_a":-194.77832,"cg_iq_raw_a":-194.785736,"cg_iu_a":-32.906868,"cg_iv_a":182.738068,"cg_iw_a":-149.831207,"cg_sample_age_us":23.9109097,"cg_sample_seq":6722867,"cg_sample_valid":1,"cg_theta_rad":2.65304661,"cg_vd_req_v":-1.70208347,"cg_vd_v":-1.70208347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5101223,"cg_vq_v":-8.5101223,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2457.46753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1071.74939,"values":{"Elec_RPM":-2343.85034,"EncoderCos":16377,"EncoderSin":21191,"GapTicks":49433,"Mech_RPM":-468.770081,"cg_du":55.0603523,"cg_dv":51.3514671,"cg_dw":44.9396477,"cg_id_a":0.427542806,"cg_id_raw_a":-4.9003458,"cg_iq_a":-202.780334,"cg_iq_raw_a":-199.226624,"cg_iu_a":97.7521515,"cg_iv_a":106.517303,"cg_iw_a":-204.269455,"cg_sample_age_us":23.9690914,"cg_sample_seq":6724517,"cg_sample_valid":1,"cg_theta_rad":3.76233125,"cg_vd_req_v":-1.92268729,"cg_vd_v":-1.92268729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31096745,"cg_vq_v":-8.31096745,"cg_vu_v":105.134323,"cg_vv_v":98.0960464,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.9135761,"dclink_p_w":-2576.77588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1072.063374,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1072.06338,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1072.063385,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1072.102905,"values":{"Elec_RPM":-2345.34302,"EncoderCos":16789,"EncoderSin":20617,"GapTicks":49617,"Mech_RPM":-469.068604,"cg_du":54.8930626,"cg_dv":52.7011795,"cg_dw":45.1069374,"cg_id_a":10.0156736,"cg_id_raw_a":8.31303596,"cg_iq_a":-205.131973,"cg_iq_raw_a":-204.296692,"cg_iu_a":55.4555969,"cg_iv_a":143.594742,"cg_iw_a":-199.050339,"cg_sample_age_us":23.9690914,"cg_sample_seq":6726267,"cg_sample_valid":1,"cg_theta_rad":3.80003572,"cg_vd_req_v":-2.11048698,"cg_vd_v":-2.11048698,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29179573,"cg_vq_v":-8.29179573,"cg_vu_v":134.167236,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2470.94214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0527954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1072.434937,"values":{"Elec_RPM":-2348.45972,"EncoderCos":26163,"EncoderSin":13983,"GapTicks":49351,"Mech_RPM":-469.691956,"cg_du":44.864666,"cg_dv":48.7045135,"cg_dw":55.135334,"cg_id_a":-5.95293045,"cg_id_raw_a":-9.76983166,"cg_iq_a":-196.302048,"cg_iq_raw_a":-197.318039,"cg_iu_a":-84.7355499,"cg_iv_a":-110.945709,"cg_iw_a":195.64502,"cg_sample_age_us":23.9290905,"cg_sample_seq":6727966,"cg_sample_valid":1,"cg_theta_rad":4.39853048,"cg_vd_req_v":-1.82226503,"cg_vd_v":-1.82226503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47877884,"cg_vq_v":-8.47877884,"cg_vu_v":101.615181,"cg_vv_v":110.413033,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1072.788452,"values":{"Elec_RPM":-2349.56274,"EncoderCos":36677,"EncoderSin":13275,"GapTicks":49573,"Mech_RPM":-469.912567,"cg_du":54.9335403,"cg_dv":47.4079437,"cg_dw":45.0664597,"cg_id_a":-6.10252047,"cg_id_raw_a":0.0986486599,"cg_iq_a":-196.535248,"cg_iq_raw_a":-198.79892,"cg_iu_a":154.220047,"cg_iv_a":26.2371979,"cg_iw_a":-180.457245,"cg_sample_age_us":26.8818188,"cg_sample_seq":6729670,"cg_sample_valid":1,"cg_theta_rad":4.9592967,"cg_vd_req_v":-1.76691985,"cg_vd_v":-1.76691985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4324522,"cg_vq_v":-8.4324522,"cg_vu_v":105.574219,"cg_vv_v":94.1370087,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2407.90112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0527954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1073.05502,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1073.055026,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1073.055031,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1073.120483,"values":{"Elec_RPM":-2348.50562,"EncoderCos":47151,"EncoderSin":19229,"GapTicks":49741,"Mech_RPM":-469.701111,"cg_du":45.219593,"cg_dv":53.2002068,"cg_dw":54.780407,"cg_id_a":1.02890885,"cg_id_raw_a":6.85784912,"cg_iq_a":-203.231079,"cg_iq_raw_a":-205.856995,"cg_iu_a":-175.925034,"cg_iv_a":-0.764450073,"cg_iw_a":176.689484,"cg_sample_age_us":23.9400005,"cg_sample_seq":6731366,"cg_sample_valid":1,"cg_theta_rad":5.54693222,"cg_vd_req_v":-2.01343751,"cg_vd_v":-2.01343751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32461357,"cg_vq_v":-8.32461357,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2416.52979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1073.452515,"values":{"Elec_RPM":-2345.20239,"EncoderCos":52070,"EncoderSin":29111,"GapTicks":49606,"Mech_RPM":-469.040466,"cg_du":54.9034081,"cg_dv":45.0965919,"cg_dw":47.116848,"cg_id_a":15.637392,"cg_id_raw_a":12.2853994,"cg_iq_a":-203.277283,"cg_iq_raw_a":-200.394058,"cg_iu_a":195.211823,"cg_iv_a":-44.5107727,"cg_iw_a":-150.70105,"cg_sample_age_us":24.1399994,"cg_sample_seq":6733067,"cg_sample_valid":1,"cg_theta_rad":6.10920429,"cg_vd_req_v":-2.28775001,"cg_vd_v":-2.28775001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34567451,"cg_vq_v":-8.34567451,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2445.14111,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1073.804077,"values":{"Elec_RPM":-2347.75952,"EncoderCos":52158,"EncoderSin":29909,"GapTicks":50014,"Mech_RPM":-469.55191,"cg_du":54.5323105,"cg_dv":45.7507362,"cg_dw":45.4676895,"cg_id_a":8.48862648,"cg_id_raw_a":12.5412855,"cg_iq_a":-202.321365,"cg_iq_raw_a":-203.305511,"cg_iu_a":179.155792,"cg_iv_a":-14.6095886,"cg_iw_a":-164.546204,"cg_sample_age_us":24.1654549,"cg_sample_seq":6734817,"cg_sample_valid":1,"cg_theta_rad":6.15229225,"cg_vd_req_v":-2.09684777,"cg_vd_v":-2.09684777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3533783,"cg_vq_v":-8.3533783,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0687866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1074.079262,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1074.079267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1074.079273,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1074.138062,"values":{"Elec_RPM":-2348.16138,"EncoderCos":33562,"EncoderSin":52498,"GapTicks":49963,"Mech_RPM":-469.632263,"cg_du":45.9421768,"cg_dv":54.5788231,"cg_dw":45.4211769,"cg_id_a":14.8317852,"cg_id_raw_a":16.7762051,"cg_iq_a":-205.67128,"cg_iq_raw_a":-206.10025,"cg_iu_a":-168.67627,"cg_iv_a":186.65242,"cg_iw_a":-17.9761505,"cg_sample_age_us":23.8090916,"cg_sample_seq":6736416,"cg_sample_valid":1,"cg_theta_rad":1.53244054,"cg_vd_req_v":-2.19618177,"cg_vd_v":-2.19618177,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28293991,"cg_vq_v":-8.28293991,"cg_vu_v":37.830761,"cg_vv_v":43.9892578,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2459.82813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1074.470093,"values":{"Elec_RPM":-2349.02808,"EncoderCos":22656,"EncoderSin":49930,"GapTicks":49409,"Mech_RPM":-469.805603,"cg_du":51.9859657,"cg_dv":44.9172707,"cg_dw":55.0827293,"cg_id_a":3.20549679,"cg_id_raw_a":0.511995435,"cg_iq_a":-197.678101,"cg_iq_raw_a":-197.393372,"cg_iu_a":105.943253,"cg_iv_a":-197.387238,"cg_iw_a":91.443985,"cg_sample_age_us":23.5436363,"cg_sample_seq":6738116,"cg_sample_valid":1,"cg_theta_rad":2.09430647,"cg_vd_req_v":-2.00020099,"cg_vd_v":-2.00020099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47453117,"cg_vq_v":-8.47453117,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2424.42505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1074.821655,"values":{"Elec_RPM":-2346.64282,"EncoderCos":14934,"EncoderSin":41752,"GapTicks":49311,"Mech_RPM":-469.328583,"cg_du":50.1379318,"cg_dv":55.1710205,"cg_dw":44.8289795,"cg_id_a":-10.6002235,"cg_id_raw_a":-10.4310007,"cg_iq_a":-195.031006,"cg_iq_raw_a":-194.237534,"cg_iu_a":-56.3566284,"cg_iv_a":191.907776,"cg_iw_a":-135.551147,"cg_sample_age_us":23.863636,"cg_sample_seq":6739817,"cg_sample_valid":1,"cg_theta_rad":2.67857385,"cg_vd_req_v":-1.65919697,"cg_vd_v":-1.65919697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48174095,"cg_vq_v":-8.48174095,"cg_vu_v":110.413033,"cg_vv_v":114.37207,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-15.8748589,"dclink_p_w":-2290.50024,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1075.071465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1075.07147,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1075.071476,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1075.15564,"values":{"Elec_RPM":-2350.4873,"EncoderCos":12907,"EncoderSin":30818,"GapTicks":49734,"Mech_RPM":-470.097443,"cg_du":46.9425545,"cg_dv":45.2129936,"cg_dw":54.7870064,"cg_id_a":1.77161872,"cg_id_raw_a":8.53350258,"cg_iq_a":-205.470978,"cg_iq_raw_a":-204.898483,"cg_iu_a":-0.903562546,"cg_iv_a":-176.039627,"cg_iw_a":176.943192,"cg_sample_age_us":23.8345451,"cg_sample_seq":6741517,"cg_sample_valid":1,"cg_theta_rad":3.24358201,"cg_vd_req_v":-1.88946044,"cg_vd_v":-1.88946044,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28773499,"cg_vq_v":-8.28773499,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-15.7008896,"dclink_p_w":-2265.39917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1075.489624,"values":{"Elec_RPM":-2353.4165,"EncoderCos":17109,"EncoderSin":20217,"GapTicks":49840,"Mech_RPM":-470.683319,"cg_du":54.6901283,"cg_dv":53.7233047,"cg_dw":45.3098717,"cg_id_a":14.7988043,"cg_id_raw_a":13.9627285,"cg_iq_a":-205.129349,"cg_iq_raw_a":-204.782288,"cg_iu_a":27.2578964,"cg_iv_a":161.644165,"cg_iw_a":-188.902069,"cg_sample_age_us":23.9581814,"cg_sample_seq":6743217,"cg_sample_valid":1,"cg_theta_rad":3.8240242,"cg_vd_req_v":-2.18024278,"cg_vd_v":-2.18024278,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31457424,"cg_vq_v":-8.31457424,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2374.44238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1075.841187,"values":{"Elec_RPM":-2351.65063,"EncoderCos":17794,"EncoderSin":19367,"GapTicks":49554,"Mech_RPM":-470.330139,"cg_du":52.5777473,"cg_dv":54.9507408,"cg_dw":45.0492592,"cg_id_a":-5.0674715,"cg_id_raw_a":-1.02017808,"cg_iq_a":-197.78685,"cg_iq_raw_a":-200.771179,"cg_iu_a":-0.758586884,"cg_iv_a":170.342697,"cg_iw_a":-169.584106,"cg_sample_age_us":24.005455,"cg_sample_seq":6744966,"cg_sample_valid":1,"cg_theta_rad":3.87809944,"cg_vd_req_v":-1.76063859,"cg_vd_v":-1.76063859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4577961,"cg_vq_v":-8.4577961,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-17.5946293,"dclink_p_w":-2546.37671,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1076.095094,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1076.0951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1076.09512,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1076.173218,"values":{"Elec_RPM":-2351.12158,"EncoderCos":37644,"EncoderSin":13420,"GapTicks":49344,"Mech_RPM":-470.224335,"cg_du":55.1410751,"cg_dv":49.767292,"cg_dw":44.8589249,"cg_id_a":-16.0047951,"cg_id_raw_a":-16.9780178,"cg_iq_a":-197.092743,"cg_iq_raw_a":-195.610352,"cg_iu_a":140.121185,"cg_iv_a":48.7446289,"cg_iw_a":-188.865814,"cg_sample_age_us":24.005455,"cg_sample_seq":6746617,"cg_sample_valid":1,"cg_theta_rad":4.97816229,"cg_vd_req_v":-1.60551536,"cg_vd_v":-1.60551536,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41648293,"cg_vq_v":-8.41648293,"cg_vu_v":140.765625,"cg_vv_v":128.888519,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.3913345,"dclink_p_w":-2365.01978,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1076.505249,"values":{"Elec_RPM":-2344.44287,"EncoderCos":47384,"EncoderSin":19527,"GapTicks":49525,"Mech_RPM":-468.88855,"cg_du":45.0233841,"cg_dv":52.2360039,"cg_dw":54.9766159,"cg_id_a":-6.93124342,"cg_id_raw_a":-2.5143621,"cg_iq_a":-200.940582,"cg_iq_raw_a":-202.792725,"cg_iu_a":-165.740509,"cg_iv_a":-17.2554016,"cg_iw_a":182.995911,"cg_sample_age_us":23.954546,"cg_sample_seq":6748316,"cg_sample_valid":1,"cg_theta_rad":5.56714296,"cg_vd_req_v":-1.85570335,"cg_vd_v":-1.85570335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38906765,"cg_vq_v":-8.38906765,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2427.51147,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1076.858765,"values":{"Elec_RPM":-2345.2998,"EncoderCos":52172,"EncoderSin":29835,"GapTicks":50101,"Mech_RPM":-469.059967,"cg_du":54.4534721,"cg_dv":45.5609894,"cg_dw":45.5465279,"cg_id_a":11.3374996,"cg_id_raw_a":15.9593821,"cg_iq_a":-202.921265,"cg_iq_raw_a":-205.330048,"cg_iu_a":176.582489,"cg_iv_a":-8.6656189,"cg_iw_a":-167.91687,"cg_sample_age_us":24.1654549,"cg_sample_seq":6750016,"cg_sample_valid":1,"cg_theta_rad":6.15703011,"cg_vd_req_v":-2.16506195,"cg_vd_v":-2.16506195,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33626556,"cg_vq_v":-8.33626556,"cg_vu_v":124.929489,"cg_vv_v":120.090675,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2372.60107,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1077.0874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1077.087406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1077.087411,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1077.188843,"values":{"Elec_RPM":-2350.49658,"EncoderCos":50546,"EncoderSin":41064,"GapTicks":49495,"Mech_RPM":-470.099304,"cg_du":44.9957161,"cg_dv":55.0042839,"cg_dw":52.4823532,"cg_id_a":11.5382605,"cg_id_raw_a":10.6018858,"cg_iq_a":-198.937393,"cg_iq_raw_a":-199.171982,"cg_iu_a":-195.532959,"cg_iv_a":69.0049286,"cg_iw_a":126.52803,"cg_sample_age_us":23.5072727,"cg_sample_seq":6751716,"cg_sample_valid":1,"cg_theta_rad":0.435322583,"cg_vd_req_v":-2.21381283,"cg_vd_v":-2.21381283,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38529301,"cg_vq_v":-8.38529301,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2409.99292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1077.542358,"values":{"Elec_RPM":-2350.80786,"EncoderCos":43960,"EncoderSin":49085,"GapTicks":49371,"Mech_RPM":-470.161591,"cg_du":55.1167793,"cg_dv":44.8832207,"cg_dw":51.4913979,"cg_id_a":-11.1472626,"cg_id_raw_a":-8.8459692,"cg_iq_a":-196.356064,"cg_iq_raw_a":-197.538055,"cg_iu_a":192.312317,"cg_iv_a":-135.410294,"cg_iw_a":-56.9020233,"cg_sample_age_us":26.7909088,"cg_sample_seq":6753420,"cg_sample_valid":1,"cg_theta_rad":1.00726354,"cg_vd_req_v":-1.69478142,"cg_vd_v":-1.69478142,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47695446,"cg_vq_v":-8.47695446,"cg_vu_v":106.014107,"cg_vv_v":82.6998062,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2468.82397,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1077.876343,"values":{"Elec_RPM":-2355.74731,"EncoderCos":32522,"EncoderSin":52524,"GapTicks":49521,"Mech_RPM":-471.149445,"cg_du":45.0196533,"cg_dv":54.9803467,"cg_dw":47.6988869,"cg_id_a":-3.87175703,"cg_id_raw_a":0.950013816,"cg_iq_a":-198.346237,"cg_iq_raw_a":-200.208588,"cg_iu_a":-179.87561,"cg_iv_a":158.70842,"cg_iw_a":21.1671906,"cg_sample_age_us":23.8672733,"cg_sample_seq":6755117,"cg_sample_valid":1,"cg_theta_rad":1.59279239,"cg_vd_req_v":-1.78635132,"cg_vd_v":-1.78635132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45337296,"cg_vq_v":-8.45337296,"cg_vu_v":0.87978512,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2492.55908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0527954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1078.078535,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1078.078541,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1078.078547,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1078.266968,"values":{"Elec_RPM":-2363.4165,"EncoderCos":52374,"EncoderSin":32465,"GapTicks":49448,"Mech_RPM":-472.683319,"cg_du":55.0471039,"cg_dv":51.5231476,"cg_dw":44.9528961,"cg_id_a":-2.64089656,"cg_id_raw_a":-6.28073597,"cg_iq_a":-203.286194,"cg_iq_raw_a":-201.393219,"cg_iu_a":74.5923462,"cg_iv_a":128.589783,"cg_iw_a":-203.182129,"cg_sample_age_us":23.9472733,"cg_sample_seq":6757018,"cg_sample_valid":1,"cg_theta_rad":0.0185607281,"cg_vd_req_v":-1.9258436,"cg_vd_v":-1.9258436,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31534672,"cg_vq_v":-8.31534672,"cg_vu_v":40.4701157,"cg_vv_v":47.5083961,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1078.788452,"values":{"Elec_RPM":-2359.75684,"EncoderCos":13229,"EncoderSin":36842,"GapTicks":49460,"Mech_RPM":-471.951385,"cg_du":44.9644775,"cg_dv":55.0355225,"cg_dw":51.9871483,"cg_id_a":-1.0289588,"cg_id_raw_a":-5.13174534,"cg_iq_a":-199.090942,"cg_iq_raw_a":-198.244476,"cg_iu_a":-197.453873,"cg_iv_a":87.0905914,"cg_iw_a":110.363281,"cg_sample_age_us":23.8963642,"cg_sample_seq":6759667,"cg_sample_valid":1,"cg_theta_rad":2.94025373,"cg_vd_req_v":-1.8530668,"cg_vd_v":-1.8530668,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4294157,"cg_vq_v":-8.4294157,"cg_vu_v":94.5769043,"cg_vv_v":100.735397,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2503.33813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0670166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1078.942969,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1078.942983,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1078.942987,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1079.070801,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1079.070807,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1079.070812,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1079.202515,"values":{"Elec_RPM":-2357.00244,"EncoderCos":51495,"EncoderSin":38471,"GapTicks":49790,"Mech_RPM":-471.400482,"cg_du":45.2639084,"cg_dv":54.7360916,"cg_dw":46.5592804,"cg_id_a":3.50107431,"cg_id_raw_a":10.8746939,"cg_iq_a":-201.71727,"cg_iq_raw_a":-203.004974,"cg_iu_a":-170.452209,"cg_iv_a":178.678772,"cg_iw_a":-8.2265625,"cg_sample_age_us":23.4345455,"cg_sample_seq":6761666,"cg_sample_valid":1,"cg_theta_rad":0.296683282,"cg_vd_req_v":-2.02179313,"cg_vd_v":-2.02179313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36797714,"cg_vq_v":-8.36797714,"cg_vu_v":1.31967759,"cg_vv_v":4.83881807,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1079.534546,"values":{"Elec_RPM":-2357.42578,"EncoderCos":51980,"EncoderSin":28754,"GapTicks":49470,"Mech_RPM":-471.485138,"cg_du":55.0265808,"cg_dv":44.9734192,"cg_dw":47.8328323,"cg_id_a":11.9909582,"cg_id_raw_a":8.00047016,"cg_iq_a":-199.582977,"cg_iq_raw_a":-198.805893,"cg_iu_a":198.002594,"cg_iv_a":-61.8353271,"cg_iw_a":-136.167267,"cg_sample_age_us":24.1727276,"cg_sample_seq":6763466,"cg_sample_valid":1,"cg_theta_rad":6.09241056,"cg_vd_req_v":-2.21375608,"cg_vd_v":-2.21375608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39578915,"cg_vq_v":-8.39578915,"cg_vu_v":47.0685043,"cg_vv_v":42.2296829,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-17.8084679,"dclink_p_w":-2577.32446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1079.886108,"values":{"Elec_RPM":-2358.86426,"EncoderCos":51006,"EncoderSin":40029,"GapTicks":49313,"Mech_RPM":-471.772858,"cg_du":44.8301468,"cg_dv":55.1698532,"cg_dw":50.3596992,"cg_id_a":-7.93476772,"cg_id_raw_a":-6.99160671,"cg_iq_a":-195.937622,"cg_iq_raw_a":-195.894547,"cg_iu_a":-194.626846,"cg_iv_a":120.398682,"cg_iw_a":74.2281647,"cg_sample_age_us":23.5290909,"cg_sample_seq":6765166,"cg_sample_valid":1,"cg_theta_rad":0.38707903,"cg_vd_req_v":-1.81325245,"cg_vd_v":-1.81325245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45423222,"cg_vq_v":-8.45423222,"cg_vu_v":14.9563465,"cg_vv_v":27.2733402,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2458.10352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1080.062581,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1080.062587,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1080.062592,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1080.220093,"values":{"Elec_RPM":-2357.979,"EncoderCos":44344,"EncoderSin":48818,"GapTicks":49564,"Mech_RPM":-471.595825,"cg_du":54.941803,"cg_dv":45.058197,"cg_dw":52.6217422,"cg_id_a":-3.41856718,"cg_id_raw_a":2.91358781,"cg_iq_a":-199.927292,"cg_iq_raw_a":-202.252121,"cg_iu_a":173.791718,"cg_iv_a":-170.023163,"cg_iw_a":-3.76856232,"cg_sample_age_us":23.9145451,"cg_sample_seq":6766867,"cg_sample_valid":1,"cg_theta_rad":0.948729575,"cg_vd_req_v":-1.83423209,"cg_vd_v":-1.83423209,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41326046,"cg_vq_v":-8.41326046,"cg_vu_v":142.965088,"cg_vv_v":135.486908,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2447.76367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0652466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1080.571655,"values":{"Elec_RPM":-2356.3584,"EncoderCos":34309,"EncoderSin":52480,"GapTicks":49510,"Mech_RPM":-471.271698,"cg_du":47.5066795,"cg_dv":54.9908943,"cg_dw":45.0091057,"cg_id_a":14.4977713,"cg_id_raw_a":10.99265,"cg_iq_a":-202.760757,"cg_iq_raw_a":-201.273254,"cg_iu_a":-162.152374,"cg_iv_a":190.131821,"cg_iw_a":-27.9794464,"cg_sample_age_us":26.7618179,"cg_sample_seq":6768570,"cg_sample_valid":1,"cg_theta_rad":1.52899921,"cg_vd_req_v":-2.20930743,"cg_vd_v":-2.20930743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3673172,"cg_vq_v":-8.3673172,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-17.8428993,"dclink_p_w":-2582.30737,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1080.903687,"values":{"Elec_RPM":-2352.90576,"EncoderCos":22509,"EncoderSin":49820,"GapTicks":49487,"Mech_RPM":-470.581177,"cg_du":52.3271713,"cg_dv":44.9884033,"cg_dw":55.0115967,"cg_id_a":6.2821846,"cg_id_raw_a":5.06654453,"cg_iq_a":-197.915054,"cg_iq_raw_a":-197.441162,"cg_iu_a":137.402908,"cg_iv_a":-193.871597,"cg_iw_a":56.468689,"cg_sample_age_us":23.5472736,"cg_sample_seq":6770266,"cg_sample_valid":1,"cg_theta_rad":2.12381673,"cg_vd_req_v":-2.03979254,"cg_vd_v":-2.03979254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42747688,"cg_vq_v":-8.42747688,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1081.054935,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1081.054941,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1081.054947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1081.237671,"values":{"Elec_RPM":-2353.70361,"EncoderCos":14877,"EncoderSin":41606,"GapTicks":49314,"Mech_RPM":-470.740723,"cg_du":49.8404999,"cg_dv":55.1687889,"cg_dw":44.8312111,"cg_id_a":-9.11232471,"cg_id_raw_a":-9.8783865,"cg_iq_a":-197.247833,"cg_iq_raw_a":-195.637894,"cg_iu_a":-65.0189056,"cg_iv_a":195.749619,"cg_iw_a":-130.730713,"cg_sample_age_us":23.8745461,"cg_sample_seq":6771967,"cg_sample_valid":1,"cg_theta_rad":2.68151355,"cg_vd_req_v":-1.70232439,"cg_vd_v":-1.70232439,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44295788,"cg_vq_v":-8.44295788,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-15.8204937,"dclink_p_w":-2282.65625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1081.589233,"values":{"Elec_RPM":-2352.22266,"EncoderCos":12960,"EncoderSin":30477,"GapTicks":49532,"Mech_RPM":-470.444519,"cg_du":47.9187317,"cg_dv":45.0297318,"cg_dw":54.9702682,"cg_id_a":-10.498745,"cg_id_raw_a":-2.8591001,"cg_iq_a":-203.503296,"cg_iq_raw_a":-203.868103,"cg_iu_a":4.78671932,"cg_iv_a":-178.069275,"cg_iw_a":173.282562,"cg_sample_age_us":24.1072731,"cg_sample_seq":6773666,"cg_sample_valid":1,"cg_theta_rad":3.25952625,"cg_vd_req_v":-1.65018737,"cg_vd_v":-1.65018737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35796452,"cg_vq_v":-8.35796452,"cg_vu_v":40.9100075,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1081.921265,"values":{"Elec_RPM":-2349.00635,"EncoderCos":17348,"EncoderSin":19855,"GapTicks":50049,"Mech_RPM":-469.80127,"cg_du":54.2324333,"cg_dv":54.5007133,"cg_dw":45.4992867,"cg_id_a":10.7525492,"cg_id_raw_a":10.0553465,"cg_iq_a":-202.857193,"cg_iq_raw_a":-203.675949,"cg_iu_a":13.3040199,"cg_iv_a":168.711731,"cg_iw_a":-182.015747,"cg_sample_age_us":23.9654541,"cg_sample_seq":6775366,"cg_sample_valid":1,"cg_theta_rad":3.84593511,"cg_vd_req_v":-2.08135939,"cg_vd_v":-2.08135939,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3282423,"cg_vq_v":-8.3282423,"cg_vu_v":30.3525867,"cg_vv_v":25.5137672,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2390.85132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1082.07876,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1082.078765,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1082.07877,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1082.255249,"values":{"Elec_RPM":-2347.57861,"EncoderCos":26761,"EncoderSin":13771,"GapTicks":49501,"Mech_RPM":-469.515747,"cg_du":45.001236,"cg_dv":47.6277199,"cg_dw":54.998764,"cg_id_a":9.59088707,"cg_id_raw_a":4.71370029,"cg_iq_a":-199.79541,"cg_iq_raw_a":-199.617035,"cg_iu_a":-74.0436249,"cg_iv_a":-122.833679,"cg_iw_a":196.877304,"cg_sample_age_us":23.9072723,"cg_sample_seq":6777066,"cg_sample_valid":1,"cg_theta_rad":4.41065311,"cg_vd_req_v":-2.13363194,"cg_vd_v":-2.13363194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36743641,"cg_vq_v":-8.36743641,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.7465248,"dclink_p_w":-2416.26831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1082.606812,"values":{"Elec_RPM":-2344.01831,"EncoderCos":37955,"EncoderSin":13541,"GapTicks":49367,"Mech_RPM":-468.80368,"cg_du":55.1200943,"cg_dv":50.417511,"cg_dw":44.8799057,"cg_id_a":-12.6200504,"cg_id_raw_a":-13.1151848,"cg_iq_a":-199.684418,"cg_iq_raw_a":-200.93605,"cg_iu_a":128.341949,"cg_iv_a":71.0345764,"cg_iw_a":-192.671432,"cg_sample_age_us":23.8563633,"cg_sample_seq":6778766,"cg_sample_valid":1,"cg_theta_rad":4.99333429,"cg_vd_req_v":-1.69532537,"cg_vd_v":-1.69532537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3964119,"cg_vq_v":-8.3964119,"cg_vu_v":1.75957024,"cg_vv_v":3.07924795,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2542.27856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1082.938843,"values":{"Elec_RPM":-2341.896,"EncoderCos":47536,"EncoderSin":19717,"GapTicks":49446,"Mech_RPM":-468.379181,"cg_du":44.9515839,"cg_dv":51.6357536,"cg_dw":55.0484161,"cg_id_a":-9.3463316,"cg_id_raw_a":-6.35318184,"cg_iq_a":-198.942413,"cg_iq_raw_a":-200.16806,"cg_iu_a":-157.730637,"cg_iv_a":-28.4909821,"cg_iw_a":186.221619,"cg_sample_age_us":23.9218178,"cg_sample_seq":6780466,"cg_sample_valid":1,"cg_theta_rad":5.57997799,"cg_vd_req_v":-1.79759848,"cg_vd_v":-1.79759848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41926384,"cg_vq_v":-8.41926384,"cg_vu_v":38.2706528,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2477.03833,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1083.071679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1083.071686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1083.071692,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1083.270874,"values":{"Elec_RPM":-2344.87231,"EncoderCos":52179,"EncoderSin":29779,"GapTicks":50064,"Mech_RPM":-468.974457,"cg_du":54.4864082,"cg_dv":45.5135918,"cg_dw":45.7172318,"cg_id_a":14.024066,"cg_id_raw_a":16.3378315,"cg_iq_a":-204.652573,"cg_iq_raw_a":-205.202316,"cg_iu_a":180.388092,"cg_iv_a":-9.24551392,"cg_iw_a":-171.142578,"cg_sample_age_us":24.0490913,"cg_sample_seq":6782167,"cg_sample_valid":1,"cg_theta_rad":6.15463877,"cg_vd_req_v":-2.21482038,"cg_vd_v":-2.21482038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26923275,"cg_vq_v":-8.26923275,"cg_vu_v":33.4318352,"cg_vv_v":10.5574207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2442.51807,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1083.62439,"values":{"Elec_RPM":-2343.77466,"EncoderCos":33702,"EncoderSin":52508,"GapTicks":49891,"Mech_RPM":-468.754944,"cg_du":46.2080193,"cg_dv":54.6437263,"cg_dw":45.3562737,"cg_id_a":14.4359646,"cg_id_raw_a":15.3525448,"cg_iq_a":-204.163727,"cg_iq_raw_a":-203.861572,"cg_iu_a":-156.208389,"cg_iv_a":193.357529,"cg_iw_a":-37.1491394,"cg_sample_age_us":23.8963642,"cg_sample_seq":6783766,"cg_sample_valid":1,"cg_theta_rad":1.51512742,"cg_vd_req_v":-2.18365407,"cg_vd_v":-2.18365407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32391739,"cg_vq_v":-8.32391739,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2390.85132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1083.956421,"values":{"Elec_RPM":-2341.74658,"EncoderCos":43260,"EncoderSin":49479,"GapTicks":49260,"Mech_RPM":-468.349304,"cg_du":55.2180634,"cg_dv":44.7819366,"cg_dw":49.6633224,"cg_id_a":-11.5592327,"cg_id_raw_a":-15.0189562,"cg_iq_a":-194.407425,"cg_iq_raw_a":-192.607727,"cg_iu_a":192.529785,"cg_iv_a":-126.059402,"cg_iw_a":-66.4703827,"cg_sample_age_us":23.9472733,"cg_sample_seq":6785567,"cg_sample_valid":1,"cg_theta_rad":1.01185286,"cg_vd_req_v":-1.72180772,"cg_vd_v":-1.72180772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52753067,"cg_vq_v":-8.52753067,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2520.44409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119340807,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1084.062963,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1084.062969,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1084.062974,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1084.288452,"values":{"Elec_RPM":-2344.33691,"EncoderCos":22105,"EncoderSin":49597,"GapTicks":49712,"Mech_RPM":-468.867371,"cg_du":53.2096138,"cg_dv":45.1928368,"cg_dw":54.8071632,"cg_id_a":9.60626221,"cg_id_raw_a":7.08168983,"cg_iq_a":-201.51651,"cg_iq_raw_a":-200.756104,"cg_iu_a":148.855957,"cg_iv_a":-193.327942,"cg_iw_a":44.4719849,"cg_sample_age_us":23.6490917,"cg_sample_seq":6787216,"cg_sample_valid":1,"cg_theta_rad":2.1356957,"cg_vd_req_v":-2.11101842,"cg_vd_v":-2.11101842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34681416,"cg_vq_v":-8.34681416,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2447.12158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0687866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1084.640015,"values":{"Elec_RPM":-2351.88672,"EncoderCos":21520,"EncoderSin":49236,"GapTicks":50069,"Mech_RPM":-470.37735,"cg_du":54.4820709,"cg_dv":45.5179291,"cg_dw":54.416481,"cg_id_a":14.7865677,"cg_id_raw_a":16.2912846,"cg_iq_a":-203.465424,"cg_iq_raw_a":-202.955063,"cg_iu_a":171.72583,"cg_iv_a":-179.88147,"cg_iw_a":8.15564728,"cg_sample_age_us":24.0418186,"cg_sample_seq":6788966,"cg_sample_valid":1,"cg_theta_rad":2.16955662,"cg_vd_req_v":-2.20136881,"cg_vd_v":-2.20136881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33149719,"cg_vq_v":-8.33149719,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2431.17212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1084.973999,"values":{"Elec_RPM":-2354.40894,"EncoderCos":14323,"EncoderSin":40376,"GapTicks":49545,"Mech_RPM":-470.881775,"cg_du":47.3802185,"cg_dv":54.9584312,"cg_dw":45.0415688,"cg_id_a":16.7259426,"cg_id_raw_a":14.7181902,"cg_iq_a":-203.660797,"cg_iq_raw_a":-202.178635,"cg_iu_a":-147.183685,"cg_iv_a":197.34436,"cg_iw_a":-50.1606674,"cg_sample_age_us":23.8672733,"cg_sample_seq":6790666,"cg_sample_valid":1,"cg_theta_rad":2.75375819,"cg_vd_req_v":-2.21931124,"cg_vd_v":-2.21931124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34682274,"cg_vq_v":-8.34682274,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2445.81445,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1085.086832,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1085.086838,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1085.086843,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1085.327515,"values":{"Elec_RPM":-2351.71899,"EncoderCos":13132,"EncoderSin":29389,"GapTicks":49329,"Mech_RPM":-470.343781,"cg_du":50.408165,"cg_dv":44.844696,"cg_dw":55.155304,"cg_id_a":-13.5830622,"cg_id_raw_a":-18.5936737,"cg_iq_a":-196.209641,"cg_iq_raw_a":-196.072662,"cg_iu_a":66.2562637,"cg_iv_a":-193.327942,"cg_iw_a":127.071671,"cg_sample_age_us":23.7254543,"cg_sample_seq":6792367,"cg_sample_valid":1,"cg_theta_rad":3.3170042,"cg_vd_req_v":-1.6276139,"cg_vd_v":-1.6276139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46923637,"cg_vq_v":-8.46923637,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2490.98071,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1085.657593,"values":{"Elec_RPM":-2349.95337,"EncoderCos":18025,"EncoderSin":19136,"GapTicks":49440,"Mech_RPM":-469.990692,"cg_du":51.7289047,"cg_dv":55.0537796,"cg_dw":44.9462204,"cg_id_a":-12.0226974,"cg_id_raw_a":-9.43105984,"cg_iq_a":-196.264099,"cg_iq_raw_a":-197.123123,"cg_iu_a":-23.5559578,"cg_iv_a":181.070847,"cg_iw_a":-161.35675,"cg_sample_age_us":23.9654541,"cg_sample_seq":6794067,"cg_sample_valid":1,"cg_theta_rad":3.90514112,"cg_vd_req_v":-1.62789631,"cg_vd_v":-1.62789631,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45339394,"cg_vq_v":-8.45339394,"cg_vu_v":40.0302238,"cg_vv_v":59.825386,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.4438877,"dclink_p_w":-2379.83594,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1085.991577,"values":{"Elec_RPM":-2350.95093,"EncoderCos":27707,"EncoderSin":13504,"GapTicks":50049,"Mech_RPM":-470.190186,"cg_du":45.4998398,"cg_dv":45.6691208,"cg_dw":54.5001602,"cg_id_a":13.8086634,"cg_id_raw_a":15.7372208,"cg_iq_a":-205.980148,"cg_iq_raw_a":-204.096481,"cg_iu_a":-15.4373398,"cg_iv_a":-169.878174,"cg_iw_a":185.315521,"cg_sample_age_us":23.9036369,"cg_sample_seq":6795767,"cg_sample_valid":1,"cg_theta_rad":4.46850634,"cg_vd_req_v":-2.19577909,"cg_vd_v":-2.19577909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29130936,"cg_vq_v":-8.29130936,"cg_vu_v":117.891212,"cg_vv_v":126.249161,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1086.079218,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1086.079224,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1086.07923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1086.34314,"values":{"Elec_RPM":-2345.01709,"EncoderCos":39025,"EncoderSin":13857,"GapTicks":49595,"Mech_RPM":-469.003418,"cg_du":54.9129143,"cg_dv":52.5069351,"cg_dw":45.0870857,"cg_id_a":4.24758101,"cg_id_raw_a":-0.263825059,"cg_iq_a":-203.04393,"cg_iq_raw_a":-202.374954,"cg_iu_a":67.4885483,"cg_iv_a":131.199341,"cg_iw_a":-198.687897,"cg_sample_age_us":23.8600006,"cg_sample_seq":6797467,"cg_sample_valid":1,"cg_theta_rad":5.04804802,"cg_vd_req_v":-2.04382563,"cg_vd_v":-2.04382563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31142235,"cg_vq_v":-8.31142235,"cg_vu_v":42.6695786,"cg_vv_v":35.1914063,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1086.677124,"values":{"Elec_RPM":-2349.90869,"EncoderCos":48336,"EncoderSin":20676,"GapTicks":49349,"Mech_RPM":-469.98175,"cg_du":44.8633385,"cg_dv":48.9868317,"cg_dw":55.1366615,"cg_id_a":-3.124825,"cg_id_raw_a":-7.70461607,"cg_iq_a":-197.067154,"cg_iq_raw_a":-198.643585,"cg_iu_a":-101.117767,"cg_iv_a":-96.3394318,"cg_iw_a":197.457199,"cg_sample_age_us":23.9218178,"cg_sample_seq":6799166,"cg_sample_valid":1,"cg_theta_rad":5.6404047,"cg_vd_req_v":-1.94773614,"cg_vd_v":-1.94773614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41712475,"cg_vq_v":-8.41712475,"cg_vu_v":37.830761,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2392.68701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1087.028687,"values":{"Elec_RPM":-2350.57422,"EncoderCos":52247,"EncoderSin":30301,"GapTicks":49737,"Mech_RPM":-470.114838,"cg_du":54.7842102,"cg_dv":46.6328812,"cg_dw":45.2157898,"cg_id_a":2.16852093,"cg_id_raw_a":8.73386383,"cg_iq_a":-201.513519,"cg_iq_raw_a":-203.554184,"cg_iu_a":156.865845,"cg_iv_a":25.8747559,"cg_iw_a":-182.740601,"cg_sample_age_us":27.0090904,"cg_sample_seq":6800870,"cg_sample_valid":1,"cg_theta_rad":6.21379709,"cg_vd_req_v":-1.97852111,"cg_vd_v":-1.97852111,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37308311,"cg_vq_v":-8.37308311,"cg_vu_v":32.5520515,"cg_vv_v":15.836132,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2530.37817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1087.071171,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1087.071177,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1087.071182,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1087.360718,"values":{"Elec_RPM":-2357.00122,"EncoderCos":32693,"EncoderSin":52543,"GapTicks":49634,"Mech_RPM":-471.400238,"cg_du":45.1224365,"cg_dv":54.8775635,"cg_dw":47.2772522,"cg_id_a":-1.4919256,"cg_id_raw_a":3.62480927,"cg_iq_a":-200.75502,"cg_iq_raw_a":-202.452713,"cg_iu_a":-175.490112,"cg_iv_a":170.01651,"cg_iw_a":5.47360992,"cg_sample_age_us":23.8418179,"cg_sample_seq":6802467,"cg_sample_valid":1,"cg_theta_rad":1.57528901,"cg_vd_req_v":-1.83627295,"cg_vd_v":-1.83627295,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36475658,"cg_vq_v":-8.36475658,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.1376266,"dclink_p_w":-2335.51245,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1087.694702,"values":{"Elec_RPM":-2352.47559,"EncoderCos":42178,"EncoderSin":50128,"GapTicks":49557,"Mech_RPM":-470.495117,"cg_du":54.9481812,"cg_dv":45.0518188,"cg_dw":47.4033127,"cg_id_a":14.1073484,"cg_id_raw_a":10.6705675,"cg_iq_a":-200.708801,"cg_iq_raw_a":-198.42189,"cg_iu_a":195.103088,"cg_iv_a":-52.4844055,"cg_iw_a":-142.618683,"cg_sample_age_us":23.9363632,"cg_sample_seq":6804267,"cg_sample_valid":1,"cg_theta_rad":1.07726753,"cg_vd_req_v":-2.21664333,"cg_vd_v":-2.21664333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35111713,"cg_vq_v":-8.35111713,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.2481709,"dclink_p_w":-2344.36353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1088.02478,"values":{"Elec_RPM":-2347.22656,"EncoderCos":14433,"EncoderSin":40662,"GapTicks":49466,"Mech_RPM":-469.445313,"cg_du":47.9067955,"cg_dv":55.0305786,"cg_dw":44.9694214,"cg_id_a":9.53757,"cg_id_raw_a":4.09835625,"cg_iq_a":-201.054932,"cg_iq_raw_a":-199.781738,"cg_iu_a":-131.961273,"cg_iv_a":198.902832,"cg_iw_a":-66.9415665,"cg_sample_age_us":23.9981823,"cg_sample_seq":6805866,"cg_sample_valid":1,"cg_theta_rad":2.73833895,"cg_vd_req_v":-2.08456421,"cg_vd_v":-2.08456421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39090633,"cg_vq_v":-8.39090633,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2391.80469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1088.095289,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1088.095295,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1088.095301,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1088.507202,"values":{"Elec_RPM":-2350.0835,"EncoderCos":12809,"EncoderSin":32743,"GapTicks":49442,"Mech_RPM":-470.016724,"cg_du":44.9473724,"cg_dv":48.0995598,"cg_dw":55.0526276,"cg_id_a":-0.914011836,"cg_id_raw_a":-6.77381659,"cg_iq_a":-195.753693,"cg_iq_raw_a":-198.02948,"cg_iu_a":-84.4093552,"cg_iv_a":-113.265312,"cg_iw_a":197.674667,"cg_sample_age_us":23.9618187,"cg_sample_seq":6808166,"cg_sample_valid":1,"cg_theta_rad":3.14609838,"cg_vd_req_v":-1.87954736,"cg_vd_v":-1.87954736,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46042919,"cg_vq_v":-8.46042919,"cg_vu_v":21.1148415,"cg_vv_v":6.59838867,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2532.88452,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1088.958923,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1088.958934,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1088.958937,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1089.018921,"values":{"Elec_RPM":-2341.51074,"EncoderCos":51964,"EncoderSin":28565,"GapTicks":49440,"Mech_RPM":-468.302124,"cg_du":55.0543404,"cg_dv":44.9456596,"cg_dw":48.1850815,"cg_id_a":8.15395355,"cg_id_raw_a":4.64018965,"cg_iq_a":-199.935181,"cg_iq_raw_a":-199.217163,"cg_iu_a":198.654984,"cg_iv_a":-87.350975,"cg_iw_a":-111.304008,"cg_sample_age_us":24.0345459,"cg_sample_seq":6810816,"cg_sample_valid":1,"cg_theta_rad":6.07431889,"cg_vd_req_v":-2.13745165,"cg_vd_v":-2.13745165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35708332,"cg_vq_v":-8.35708332,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.0270844,"dclink_p_w":-2319.51416,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1089.055691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1089.055697,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1089.055702,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1089.372437,"values":{"Elec_RPM":-2344.76807,"EncoderCos":47612,"EncoderSin":19801,"GapTicks":49431,"Mech_RPM":-468.953613,"cg_du":44.9379349,"cg_dv":51.3659363,"cg_dw":55.0620651,"cg_id_a":-10.5816584,"cg_id_raw_a":-6.79331017,"cg_iq_a":-199.562469,"cg_iq_raw_a":-200.98317,"cg_iu_a":-155.737213,"cg_iv_a":-31.8979187,"cg_iw_a":187.635132,"cg_sample_age_us":23.9181824,"cg_sample_seq":6812616,"cg_sample_valid":1,"cg_theta_rad":5.58484173,"cg_vd_req_v":-1.77222633,"cg_vd_v":-1.77222633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37601089,"cg_vq_v":-8.37601089,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1089.706421,"values":{"Elec_RPM":-2349.34595,"EncoderCos":50774,"EncoderSin":40488,"GapTicks":49339,"Mech_RPM":-469.869171,"cg_du":44.8540421,"cg_dv":55.1459579,"cg_dw":51.361702,"cg_id_a":-0.821043491,"cg_id_raw_a":-2.23579812,"cg_iq_a":-197.356918,"cg_iq_raw_a":-197.530472,"cg_iu_a":-198.32373,"cg_iv_a":94.1581497,"cg_iw_a":104.165581,"cg_sample_age_us":23.5218182,"cg_sample_seq":6814266,"cg_sample_valid":1,"cg_theta_rad":0.410844326,"cg_vd_req_v":-1.97761679,"cg_vd_v":-1.97761679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47161198,"cg_vq_v":-8.47161198,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2454.05811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1090.036499,"values":{"Elec_RPM":-2347.88135,"EncoderCos":43575,"EncoderSin":49275,"GapTicks":49309,"Mech_RPM":-469.576263,"cg_du":55.1735268,"cg_dv":44.8264732,"cg_dw":50.3927765,"cg_id_a":-15.9279213,"cg_id_raw_a":-14.3791409,"cg_iq_a":-193.523743,"cg_iq_raw_a":-193.923325,"cg_iu_a":184.846085,"cg_iv_a":-143.166473,"cg_iw_a":-41.6796188,"cg_sample_age_us":23.8890915,"cg_sample_seq":6815966,"cg_sample_valid":1,"cg_theta_rad":0.99474901,"cg_vd_req_v":-1.6025095,"cg_vd_v":-1.6025095,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53106594,"cg_vq_v":-8.53106594,"cg_vu_v":129.768311,"cg_vv_v":117.891212,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2462.56958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0172729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1090.078786,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1090.078792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1090.078798,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1090.391968,"values":{"Elec_RPM":-2345.65283,"EncoderCos":43116,"EncoderSin":49580,"GapTicks":49335,"Mech_RPM":-469.130554,"cg_du":55.1492653,"cg_dv":44.8507347,"cg_dw":49.3210678,"cg_id_a":-9.37899494,"cg_id_raw_a":-12.860363,"cg_iq_a":-196.649017,"cg_iq_raw_a":-196.472595,"cg_iu_a":195.682983,"cg_iv_a":-117.977005,"cg_iw_a":-77.7059784,"cg_sample_age_us":23.9109097,"cg_sample_seq":6817717,"cg_sample_valid":1,"cg_theta_rad":1.02230811,"cg_vd_req_v":-1.75322211,"cg_vd_v":-1.75322211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45005989,"cg_vq_v":-8.45005989,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.6634922,"dclink_p_w":-2556.34277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1090.722046,"values":{"Elec_RPM":-2338.79932,"EncoderCos":32302,"EncoderSin":52517,"GapTicks":49433,"Mech_RPM":-467.759857,"cg_du":44.9394035,"cg_dv":55.0605965,"cg_dw":48.246006,"cg_id_a":-8.39282417,"cg_id_raw_a":-7.77067661,"cg_iq_a":-199.909225,"cg_iq_raw_a":-200.449402,"cg_iu_a":-182.340195,"cg_iv_a":160.955536,"cg_iw_a":21.3846512,"cg_sample_age_us":23.863636,"cg_sample_seq":6819417,"cg_sample_valid":1,"cg_theta_rad":1.59327543,"cg_vd_req_v":-1.71293855,"cg_vd_v":-1.71293855,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39929008,"cg_vq_v":-8.39929008,"cg_vu_v":98.5359344,"cg_vv_v":109.973145,"cg_vw_v":110.413033,"control_outputs_enabled":1,"dclink_i_a":-16.3913345,"dclink_p_w":-2372.23022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1091.071226,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1091.071232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1091.071238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1091.075562,"values":{"Elec_RPM":-2351.67944,"EncoderCos":14851,"EncoderSin":41504,"GapTicks":49290,"Mech_RPM":-470.335907,"cg_du":49.9516335,"cg_dv":55.1904182,"cg_dw":44.8095818,"cg_id_a":-6.84597254,"cg_id_raw_a":-6.86653137,"cg_iq_a":-196.874969,"cg_iq_raw_a":-193.944946,"cg_iu_a":-117.354996,"cg_iv_a":200.316345,"cg_iw_a":-82.9613495,"cg_sample_age_us":23.7872734,"cg_sample_seq":6821069,"cg_sample_valid":1,"cg_theta_rad":2.72607541,"cg_vd_req_v":-1.69992137,"cg_vd_v":-1.69992137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50581551,"cg_vq_v":-8.50581551,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1091.407593,"values":{"Elec_RPM":-2351.4834,"EncoderCos":14235,"EncoderSin":40126,"GapTicks":49731,"Mech_RPM":-470.296692,"cg_du":46.8305397,"cg_dv":54.7894592,"cg_dw":45.2105408,"cg_id_a":15.9264984,"cg_id_raw_a":13.3902988,"cg_iq_a":-203.973801,"cg_iq_raw_a":-202.808655,"cg_iu_a":-155.773468,"cg_iv_a":194.37236,"cg_iw_a":-38.5988922,"cg_sample_age_us":23.9363632,"cg_sample_seq":6822816,"cg_sample_valid":1,"cg_theta_rad":2.76606226,"cg_vd_req_v":-2.19016743,"cg_vd_v":-2.19016743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31040573,"cg_vq_v":-8.31040573,"cg_vu_v":37.830761,"cg_vv_v":42.6695786,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1091.739624,"values":{"Elec_RPM":-2347.3833,"EncoderCos":17522,"EncoderSin":19659,"GapTicks":49814,"Mech_RPM":-469.476654,"cg_du":53.6069107,"cg_dv":54.7143059,"cg_dw":45.2856941,"cg_id_a":3.81215048,"cg_id_raw_a":8.48159122,"cg_iq_a":-202.015991,"cg_iq_raw_a":-202.099655,"cg_iu_a":2.03218818,"cg_iv_a":171.574997,"cg_iw_a":-173.607178,"cg_sample_age_us":23.9509087,"cg_sample_seq":6824467,"cg_sample_valid":1,"cg_theta_rad":3.87214088,"cg_vd_req_v":-1.95091176,"cg_vd_v":-1.95091176,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36189747,"cg_vq_v":-8.36189747,"cg_vu_v":38.7105446,"cg_vv_v":54.9865723,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2491.57202,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1092.063785,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1092.063791,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1092.063797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1092.091187,"values":{"Elec_RPM":-2348.89746,"EncoderCos":18207,"EncoderSin":18955,"GapTicks":49339,"Mech_RPM":-469.77951,"cg_du":51.1267395,"cg_dv":55.1461372,"cg_dw":44.8538628,"cg_id_a":-14.4792843,"cg_id_raw_a":-12.9158192,"cg_iq_a":-195.68924,"cg_iq_raw_a":-196.665482,"cg_iu_a":-35.588913,"cg_iv_a":186.833633,"cg_iw_a":-151.24472,"cg_sample_age_us":23.9581814,"cg_sample_seq":6826216,"cg_sample_valid":1,"cg_theta_rad":3.91942954,"cg_vd_req_v":-1.59382212,"cg_vd_v":-1.59382212,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49374485,"cg_vq_v":-8.49374485,"cg_vu_v":121.410347,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5000668,"dclink_p_w":-2380.70825,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1092.425171,"values":{"Elec_RPM":-2346.20654,"EncoderCos":47414,"EncoderSin":19565,"GapTicks":49528,"Mech_RPM":-469.241333,"cg_du":45.0262184,"cg_dv":52.0987625,"cg_dw":54.9737816,"cg_id_a":-7.6729207,"cg_id_raw_a":-3.67399096,"cg_iq_a":-200.246521,"cg_iq_raw_a":-202.399734,"cg_iu_a":-164.39949,"cg_iv_a":-18.4152069,"cg_iw_a":182.814697,"cg_sample_age_us":23.9618187,"cg_sample_seq":6827816,"cg_sample_valid":1,"cg_theta_rad":5.56877804,"cg_vd_req_v":-1.82527566,"cg_vd_v":-1.82527566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3579855,"cg_vq_v":-8.3579855,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1092.757202,"values":{"Elec_RPM":-2346.50903,"EncoderCos":47928,"EncoderSin":20166,"GapTicks":49349,"Mech_RPM":-469.301819,"cg_du":44.8633308,"cg_dv":50.26474,"cg_dw":55.1366692,"cg_id_a":-12.6229553,"cg_id_raw_a":-13.5690994,"cg_iq_a":-199.746124,"cg_iq_raw_a":-202.219269,"cg_iu_a":-141.239685,"cg_iv_a":-52.2306976,"cg_iw_a":193.470383,"cg_sample_age_us":23.9218178,"cg_sample_seq":6829566,"cg_sample_valid":1,"cg_theta_rad":5.60652447,"cg_vd_req_v":-1.74835849,"cg_vd_v":-1.74835849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38136005,"cg_vq_v":-8.38136005,"cg_vu_v":38.7105446,"cg_vv_v":45.3089333,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2388.29077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1093.087153,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1093.087159,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1093.087164,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1093.108765,"values":{"Elec_RPM":-2350.27197,"EncoderCos":50690,"EncoderSin":40780,"GapTicks":49384,"Mech_RPM":-470.054382,"cg_du":44.8949776,"cg_dv":55.1050224,"cg_dw":51.9675446,"cg_id_a":3.62949586,"cg_id_raw_a":-1.06571615,"cg_iq_a":-195.641251,"cg_iq_raw_a":-194.796814,"cg_iu_a":-194.22818,"cg_iv_a":76.4711609,"cg_iw_a":117.757019,"cg_sample_age_us":23.5363636,"cg_sample_seq":6831217,"cg_sample_valid":1,"cg_theta_rad":0.426847607,"cg_vd_req_v":-2.06012368,"cg_vd_v":-2.06012368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49357605,"cg_vq_v":-8.49357605,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2460.46509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1093.442749,"values":{"Elec_RPM":-2352.44116,"EncoderCos":50270,"EncoderSin":41730,"GapTicks":49907,"Mech_RPM":-470.488251,"cg_du":45.370327,"cg_dv":54.629673,"cg_dw":53.9854813,"cg_id_a":11.9156694,"cg_id_raw_a":11.0799923,"cg_iq_a":-199.917114,"cg_iq_raw_a":-200.121338,"cg_iu_a":-185.747101,"cg_iv_a":24.2437897,"cg_iw_a":161.503311,"cg_sample_age_us":23.5436363,"cg_sample_seq":6832966,"cg_sample_valid":1,"cg_theta_rad":0.478020132,"cg_vd_req_v":-2.20134187,"cg_vd_v":-2.20134187,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38172722,"cg_vq_v":-8.38172722,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-15.7697525,"dclink_p_w":-2282.27197,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1093.77478,"values":{"Elec_RPM":-2353.5708,"EncoderCos":42551,"EncoderSin":49910,"GapTicks":49444,"Mech_RPM":-470.714172,"cg_du":55.0507431,"cg_dv":44.9492569,"cg_dw":48.2024574,"cg_id_a":5.7334156,"cg_id_raw_a":1.93460619,"cg_iq_a":-200.173187,"cg_iq_raw_a":-199.602005,"cg_iu_a":199.742294,"cg_iv_a":-91.7364807,"cg_iw_a":-108.005814,"cg_sample_age_us":23.8345451,"cg_sample_seq":6834666,"cg_sample_valid":1,"cg_theta_rad":1.04560947,"cg_vd_req_v":-2.06697655,"cg_vd_v":-2.06697655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36524105,"cg_vq_v":-8.36524105,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1094.079377,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1094.079383,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1094.079388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1094.126343,"values":{"Elec_RPM":-2348.8252,"EncoderCos":31610,"EncoderSin":52506,"GapTicks":49306,"Mech_RPM":-469.765015,"cg_du":44.8243408,"cg_dv":55.1756592,"cg_dw":49.8327827,"cg_id_a":-10.2377157,"cg_id_raw_a":-10.271203,"cg_iq_a":-196.901016,"cg_iq_raw_a":-197.379883,"cg_iu_a":-192.488464,"cg_iv_a":145.044495,"cg_iw_a":42.65979,"cg_sample_age_us":23.8672733,"cg_sample_seq":6836366,"cg_sample_valid":1,"cg_theta_rad":1.62767708,"cg_vd_req_v":-1.69192529,"cg_vd_v":-1.69192529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48367214,"cg_vq_v":-8.48367214,"cg_vu_v":19.795166,"cg_vv_v":29.0329094,"cg_vw_v":0,"control_outputs_enabled":1,"dclink_i_a":-17.7686005,"dclink_p_w":-2563.73828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1094.460327,"values":{"Elec_RPM":-2358.15552,"EncoderCos":20989,"EncoderSin":48804,"GapTicks":49571,"Mech_RPM":-471.631104,"cg_du":54.9353218,"cg_dv":45.0646782,"cg_dw":52.6190224,"cg_id_a":-4.21592522,"cg_id_raw_a":3.75124812,"cg_iq_a":-198.709259,"cg_iq_raw_a":-200.96434,"cg_iu_a":173.211823,"cg_iv_a":-168.645889,"cg_iw_a":-4.56593323,"cg_sample_age_us":23.8999996,"cg_sample_seq":6838066,"cg_sample_valid":1,"cg_theta_rad":2.20473123,"cg_vd_req_v":-1.79647958,"cg_vd_v":-1.79647958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43687057,"cg_vq_v":-8.43687057,"cg_vu_v":43.549366,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2425.4707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1094.81189,"values":{"Elec_RPM":-2359.99365,"EncoderCos":14473,"EncoderSin":40709,"GapTicks":49485,"Mech_RPM":-471.998749,"cg_du":48.0727425,"cg_dv":55.0132942,"cg_dw":44.9867058,"cg_id_a":7.67654133,"cg_id_raw_a":1.62123477,"cg_iq_a":-201.201843,"cg_iq_raw_a":-200.204727,"cg_iu_a":-161.355011,"cg_iv_a":192.741379,"cg_iw_a":-31.3863678,"cg_sample_age_us":26.8381824,"cg_sample_seq":6839771,"cg_sample_valid":1,"cg_theta_rad":2.77514243,"cg_vd_req_v":-2.03843927,"cg_vd_v":-2.03843927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33616447,"cg_vq_v":-8.33616447,"cg_vu_v":96.7763672,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2446.3374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0492249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1095.071675,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1095.071681,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1095.071687,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1095.145874,"values":{"Elec_RPM":-2356.65503,"EncoderCos":13243,"EncoderSin":28707,"GapTicks":49390,"Mech_RPM":-471.330994,"cg_du":51.6155853,"cg_dv":44.9008713,"cg_dw":55.0991287,"cg_id_a":2.2378087,"cg_id_raw_a":-1.16292274,"cg_iq_a":-198.320374,"cg_iq_raw_a":-199.111649,"cg_iu_a":113.554466,"cg_iv_a":-198.220856,"cg_iw_a":84.6663895,"cg_sample_age_us":23.7509098,"cg_sample_seq":6841466,"cg_sample_valid":1,"cg_theta_rad":3.35125852,"cg_vd_req_v":-1.96470606,"cg_vd_v":-1.96470606,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43699551,"cg_vq_v":-8.43699551,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2429.14258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1095.477905,"values":{"Elec_RPM":-2353.3291,"EncoderCos":18609,"EncoderSin":18557,"GapTicks":49313,"Mech_RPM":-470.665833,"cg_du":49.8637123,"cg_dv":55.1695366,"cg_dw":44.8304634,"cg_id_a":-14.6134872,"cg_id_raw_a":-16.4108887,"cg_iq_a":-195.729553,"cg_iq_raw_a":-194.44368,"cg_iu_a":-55.1243362,"cg_iv_a":193.067566,"cg_iw_a":-137.943237,"cg_sample_age_us":23.9654541,"cg_sample_seq":6843166,"cg_sample_valid":1,"cg_theta_rad":3.93543148,"cg_vd_req_v":-1.60283196,"cg_vd_v":-1.60283196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49002457,"cg_vq_v":-8.49002457,"cg_vu_v":5.71860361,"cg_vv_v":10.5574207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2518.60254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1095.829468,"values":{"Elec_RPM":-2357.9165,"EncoderCos":19183,"EncoderSin":18006,"GapTicks":49463,"Mech_RPM":-471.583282,"cg_du":48.356144,"cg_dv":55.0329857,"cg_dw":44.9670143,"cg_id_a":-3.84101343,"cg_id_raw_a":-8.35070801,"cg_iq_a":-200.075134,"cg_iq_raw_a":-199.403107,"cg_iu_a":-107.31546,"cg_iv_a":200.316345,"cg_iw_a":-93.000885,"cg_sample_age_us":23.9981823,"cg_sample_seq":6844916,"cg_sample_valid":1,"cg_theta_rad":3.97877264,"cg_vd_req_v":-1.83535695,"cg_vd_v":-1.83535695,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38657761,"cg_vq_v":-8.38657761,"cg_vu_v":0.87978512,"cg_vv_v":6.1584959,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2231293,"dclink_p_w":-2500.18774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0545654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1096.09458,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1096.094586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1096.094592,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1096.163452,"values":{"Elec_RPM":-2352.79004,"EncoderCos":48214,"EncoderSin":20464,"GapTicks":49323,"Mech_RPM":-470.557983,"cg_du":44.8391571,"cg_dv":49.4097595,"cg_dw":55.1608429,"cg_id_a":-9.42451763,"cg_id_raw_a":-12.7871656,"cg_iq_a":-197.725372,"cg_iq_raw_a":-199.052246,"cg_iu_a":-119.275925,"cg_iv_a":-78.0725555,"cg_iw_a":197.34848,"cg_sample_age_us":23.8309097,"cg_sample_seq":6846516,"cg_sample_valid":1,"cg_theta_rad":5.62818336,"cg_vd_req_v":-1.83219957,"cg_vd_v":-1.83219957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44682884,"cg_vq_v":-8.44682884,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1096.49353,"values":{"Elec_RPM":-2352.24414,"EncoderCos":48662,"EncoderSin":21120,"GapTicks":49378,"Mech_RPM":-470.448822,"cg_du":44.8898315,"cg_dv":48.0260811,"cg_dw":55.1101685,"cg_id_a":11.3455467,"cg_id_raw_a":4.69401026,"cg_iq_a":-198.781052,"cg_iq_raw_a":-196.89093,"cg_iu_a":-65.3450928,"cg_iv_a":-132.800751,"cg_iw_a":198.145844,"cg_sample_age_us":23.9472733,"cg_sample_seq":6848266,"cg_sample_valid":1,"cg_theta_rad":5.6706953,"cg_vd_req_v":-2.24572754,"cg_vd_v":-2.24572754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42894745,"cg_vq_v":-8.42894745,"cg_vu_v":3.51914048,"cg_vv_v":10.5574207,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2497.06299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1096.847046,"values":{"Elec_RPM":-2352.45337,"EncoderCos":50106,"EncoderSin":41950,"GapTicks":50075,"Mech_RPM":-470.490692,"cg_du":45.5232849,"cg_dv":54.3731537,"cg_dw":54.4767151,"cg_id_a":9.77742863,"cg_id_raw_a":13.2177229,"cg_iq_a":-202.165283,"cg_iq_raw_a":-200.782104,"cg_iu_a":-182.775116,"cg_iv_a":15.0016174,"cg_iw_a":167.773499,"cg_sample_age_us":23.5290909,"cg_sample_seq":6849917,"cg_sample_valid":1,"cg_theta_rad":0.495324165,"cg_vd_req_v":-2.14703107,"cg_vd_v":-2.14703107,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31634712,"cg_vq_v":-8.31634712,"cg_vu_v":113.052383,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2452.61279,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1097.087174,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1097.08718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1097.087185,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1097.179077,"values":{"Elec_RPM":-2351.13257,"EncoderCos":49676,"EncoderSin":42770,"GapTicks":49535,"Mech_RPM":-470.226501,"cg_du":45.0318451,"cg_dv":52.1273613,"cg_dw":54.9681549,"cg_id_a":-5.96456194,"cg_id_raw_a":-1.63199115,"cg_iq_a":-201.274017,"cg_iq_raw_a":-202.436325,"cg_iu_a":-164.363251,"cg_iv_a":-19.6474915,"cg_iw_a":184.010742,"cg_sample_age_us":23.5581818,"cg_sample_seq":6851666,"cg_sample_valid":1,"cg_theta_rad":0.544969738,"cg_vd_req_v":-1.8217864,"cg_vd_v":-1.8217864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35612869,"cg_vq_v":-8.35612869,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1097.513062,"values":{"Elec_RPM":-2351.62207,"EncoderCos":41674,"EncoderSin":50336,"GapTicks":49819,"Mech_RPM":-470.324402,"cg_du":54.7092743,"cg_dv":45.2907257,"cg_dw":46.3075142,"cg_id_a":16.1925392,"cg_id_raw_a":14.2206602,"cg_iq_a":-205.094025,"cg_iq_raw_a":-203.079895,"cg_iu_a":190.10144,"cg_iv_a":-29.2158508,"cg_iw_a":-160.88559,"cg_sample_age_us":24.0345459,"cg_sample_seq":6853367,"cg_sample_valid":1,"cg_theta_rad":1.10190582,"cg_vd_req_v":-2.25826955,"cg_vd_v":-2.25826955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3110714,"cg_vq_v":-8.3110714,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2437.97046,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1097.864624,"values":{"Elec_RPM":-2353.54102,"EncoderCos":30312,"EncoderSin":52428,"GapTicks":49516,"Mech_RPM":-470.708191,"cg_du":45.0146561,"cg_dv":54.9853439,"cg_dw":52.4100876,"cg_id_a":6.12484837,"cg_id_raw_a":4.81767559,"cg_iq_a":-197.672836,"cg_iq_raw_a":-198.475449,"cg_iu_a":-195.714172,"cg_iv_a":79.8418427,"cg_iw_a":115.87233,"cg_sample_age_us":23.7690907,"cg_sample_seq":6855066,"cg_sample_valid":1,"cg_theta_rad":1.68626702,"cg_vd_req_v":-2.01128483,"cg_vd_v":-2.01128483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43955898,"cg_vq_v":-8.43955898,"cg_vu_v":106.893898,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0279236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1098.079404,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1098.079409,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1098.079414,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1098.231812,"values":{"Elec_RPM":-2347.25928,"EncoderCos":19989,"EncoderSin":47996,"GapTicks":49363,"Mech_RPM":-469.451843,"cg_du":55.1241455,"cg_dv":44.8758545,"cg_dw":49.5839882,"cg_id_a":-15.2151375,"cg_id_raw_a":-19.0860825,"cg_iq_a":-197.879852,"cg_iq_raw_a":-196.122971,"cg_iu_a":195.284302,"cg_iv_a":-129.792496,"cg_iw_a":-65.491806,"cg_sample_age_us":24.9181824,"cg_sample_seq":6856766,"cg_sample_valid":1,"cg_theta_rad":2.26924682,"cg_vd_req_v":-1.61761522,"cg_vd_v":-1.61761522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41854668,"cg_vq_v":-8.41854668,"cg_vu_v":46.6286087,"cg_vv_v":41.3499031,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2381.23096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1098.772827,"values":{"Elec_RPM":-2344.70972,"EncoderCos":20864,"EncoderSin":16691,"GapTicks":49662,"Mech_RPM":-468.941956,"cg_du":45.1479263,"cg_dv":54.8520737,"cg_dw":47.1318512,"cg_id_a":-0.853011012,"cg_id_raw_a":5.02365637,"cg_iq_a":-200.024719,"cg_iq_raw_a":-201.826843,"cg_iu_a":-181.869019,"cg_iv_a":157.004944,"cg_iw_a":24.8640671,"cg_sample_age_us":25.9727268,"cg_sample_seq":6859520,"cg_sample_valid":1,"cg_theta_rad":4.11936378,"cg_vd_req_v":-1.85399032,"cg_vd_v":-1.85399032,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39135361,"cg_vq_v":-8.39135361,"cg_vu_v":104.694435,"cg_vv_v":106.014107,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.2068195,"dclink_p_w":-2482.68188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1098.943313,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1098.943322,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1098.943325,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1099.071216,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1099.071222,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1099.071227,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1099.190796,"values":{"Elec_RPM":-2344.97925,"EncoderCos":47963,"EncoderSin":20200,"GapTicks":49332,"Mech_RPM":-468.99585,"cg_du":44.8479156,"cg_dv":50.1508598,"cg_dw":55.1520844,"cg_id_a":-13.0531216,"cg_id_raw_a":-11.8159237,"cg_iq_a":-199.205429,"cg_iq_raw_a":-201.800903,"cg_iu_a":-136.890427,"cg_iv_a":-57.9209747,"cg_iw_a":194.811401,"cg_sample_age_us":23.823637,"cg_sample_seq":6861716,"cg_sample_valid":1,"cg_theta_rad":5.61186981,"cg_vd_req_v":-1.7537992,"cg_vd_v":-1.7537992,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43058109,"cg_vq_v":-8.43058109,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.4167042,"dclink_p_w":-2368.68018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1099.52478,"values":{"Elec_RPM":-2346.62549,"EncoderCos":52294,"EncoderSin":30747,"GapTicks":49479,"Mech_RPM":-469.325073,"cg_du":55.0188942,"cg_dv":47.8918037,"cg_dw":44.9811058,"cg_id_a":-9.94272041,"cg_id_raw_a":-4.09960413,"cg_iq_a":-196.403992,"cg_iq_raw_a":-198.656036,"cg_iu_a":165.16568,"cg_iv_a":9.78250122,"cg_iw_a":-174.948181,"cg_sample_age_us":24.1218185,"cg_sample_seq":6863416,"cg_sample_valid":1,"cg_theta_rad":6.19301128,"cg_vd_req_v":-1.72905827,"cg_vd_v":-1.72905827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45540047,"cg_vq_v":-8.45540047,"cg_vu_v":29.4728031,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1099.876343,"values":{"Elec_RPM":-2347.70605,"EncoderCos":50173,"EncoderSin":41833,"GapTicks":49999,"Mech_RPM":-469.541199,"cg_du":45.4543724,"cg_dv":54.5456276,"cg_dw":54.2065582,"cg_id_a":13.6548786,"cg_id_raw_a":17.8236103,"cg_iq_a":-202.380264,"cg_iq_raw_a":-202.610199,"cg_iu_a":-183.717468,"cg_iv_a":15.6902618,"cg_iw_a":168.027206,"cg_sample_age_us":23.5400009,"cg_sample_seq":6865116,"cg_sample_valid":1,"cg_theta_rad":0.489601731,"cg_vd_req_v":-2.22906137,"cg_vd_v":-2.22906137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31916237,"cg_vq_v":-8.31916237,"cg_vu_v":1.31967759,"cg_vv_v":7.91806602,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":42.9888916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1100.062805,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1100.062811,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1100.062816,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1100.210327,"values":{"Elec_RPM":-2350.01392,"EncoderCos":42654,"EncoderSin":49836,"GapTicks":49369,"Mech_RPM":-470.002777,"cg_du":55.1184196,"cg_dv":44.8815804,"cg_dw":48.4502068,"cg_id_a":4.83179474,"cg_id_raw_a":-2.89512682,"cg_iq_a":-199.597076,"cg_iq_raw_a":-198.119751,"cg_iu_a":199.416107,"cg_iv_a":-84.1252747,"cg_iw_a":-115.290833,"cg_sample_age_us":23.9581814,"cg_sample_seq":6866817,"cg_sample_valid":1,"cg_theta_rad":1.04701054,"cg_vd_req_v":-2.05942011,"cg_vd_v":-2.05942011,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40837002,"cg_vq_v":-8.40837002,"cg_vu_v":133.287445,"cg_vv_v":119.650772,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2422.28198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1100.542358,"values":{"Elec_RPM":-2347.62378,"EncoderCos":21697,"EncoderSin":49302,"GapTicks":49999,"Mech_RPM":-469.52475,"cg_du":54.2003174,"cg_dv":45.4538383,"cg_dw":54.5461617,"cg_id_a":13.1220016,"cg_id_raw_a":13.8164349,"cg_iq_a":-201.452011,"cg_iq_raw_a":-200.916229,"cg_iu_a":165.238159,"cg_iv_a":-182.81723,"cg_iw_a":17.5790634,"cg_sample_age_us":24.0418186,"cg_sample_seq":6868467,"cg_sample_valid":1,"cg_theta_rad":2.16103959,"cg_vd_req_v":-2.15459943,"cg_vd_v":-2.15459943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36366653,"cg_vq_v":-8.36366653,"cg_vu_v":124.929489,"cg_vv_v":117.451309,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2464.02441,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1100.893921,"values":{"Elec_RPM":-2350.52832,"EncoderCos":20835,"EncoderSin":48708,"GapTicks":49503,"Mech_RPM":-470.105652,"cg_du":54.9963684,"cg_dv":45.0036316,"cg_dw":52.1150208,"cg_id_a":-9.32183838,"cg_id_raw_a":-1.87517059,"cg_iq_a":-197.578995,"cg_iq_raw_a":-199.478348,"cg_iu_a":171.10968,"cg_iv_a":-171.291687,"cg_iw_a":0.182006836,"cg_sample_age_us":23.9654541,"cg_sample_seq":6870216,"cg_sample_valid":1,"cg_theta_rad":2.20473957,"cg_vd_req_v":-1.69115663,"cg_vd_v":-1.69115663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42734909,"cg_vq_v":-8.42734909,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.3550911,"dclink_p_w":-2359.79028,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1101.055174,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1101.05518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1101.055186,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1101.227905,"values":{"Elec_RPM":-2354.59985,"EncoderCos":13100,"EncoderSin":29456,"GapTicks":49311,"Mech_RPM":-470.919983,"cg_du":50.3051643,"cg_dv":44.8282318,"cg_dw":55.1717682,"cg_id_a":-16.4843731,"cg_id_raw_a":-21.9238186,"cg_iq_a":-197.495667,"cg_iq_raw_a":-198.010056,"cg_iu_a":59.623642,"cg_iv_a":-192.820541,"cg_iw_a":133.196899,"cg_sample_age_us":23.7509098,"cg_sample_seq":6871867,"cg_sample_valid":1,"cg_theta_rad":3.3132267,"cg_vd_req_v":-1.57262266,"cg_vd_v":-1.57262266,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47681427,"cg_vq_v":-8.47681427,"cg_vu_v":117.451309,"cg_vv_v":117.451309,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2505.44946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1101.557983,"values":{"Elec_RPM":-2352.64258,"EncoderCos":18034,"EncoderSin":19144,"GapTicks":49425,"Mech_RPM":-470.528503,"cg_du":51.7209816,"cg_dv":55.0680237,"cg_dw":44.9319763,"cg_id_a":-11.6047363,"cg_id_raw_a":-8.673172,"cg_iq_a":-194.17305,"cg_iq_raw_a":-195.416397,"cg_iu_a":-15.6910467,"cg_iv_a":174.474487,"cg_iw_a":-158.783447,"cg_sample_age_us":23.9981823,"cg_sample_seq":6873567,"cg_sample_valid":1,"cg_theta_rad":3.89579272,"cg_vd_req_v":-1.6247226,"cg_vd_v":-1.6247226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50299358,"cg_vq_v":-8.50299358,"cg_vu_v":104.254532,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2538.50879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0421448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1101.911499,"values":{"Elec_RPM":-2351.27612,"EncoderCos":27970,"EncoderSin":13469,"GapTicks":49984,"Mech_RPM":-470.255219,"cg_du":46.0503769,"cg_dv":45.4403152,"cg_dw":54.5596848,"cg_id_a":9.52427101,"cg_id_raw_a":13.166357,"cg_iq_a":-206.560394,"cg_iq_raw_a":-207.92688,"cg_iu_a":-8.22481728,"cg_iv_a":-174.771088,"cg_iw_a":182.995911,"cg_sample_age_us":23.9654541,"cg_sample_seq":6875266,"cg_sample_valid":1,"cg_theta_rad":4.4827075,"cg_vd_req_v":-2.09659791,"cg_vd_v":-2.09659791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23088741,"cg_vq_v":-8.23088741,"cg_vu_v":40.4701157,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2401.88721,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1102.078946,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1102.078952,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1102.078958,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1102.24353,"values":{"Elec_RPM":-2348.46582,"EncoderCos":38688,"EncoderSin":13737,"GapTicks":49502,"Mech_RPM":-469.693176,"cg_du":54.9976845,"cg_dv":51.8425179,"cg_dw":45.0023155,"cg_id_a":-1.47645211,"cg_id_raw_a":-2.13169146,"cg_iq_a":-204.596741,"cg_iq_raw_a":-206.147842,"cg_iu_a":75.5346832,"cg_iv_a":126.705109,"cg_iw_a":-202.239792,"cg_sample_age_us":23.863636,"cg_sample_seq":6876968,"cg_sample_valid":1,"cg_theta_rad":5.04490042,"cg_vd_req_v":-1.92146528,"cg_vd_v":-1.92146528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29327869,"cg_vq_v":-8.29327869,"cg_vu_v":106.014107,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2379.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1102.597046,"values":{"Elec_RPM":-2342.54443,"EncoderCos":47687,"EncoderSin":19839,"GapTicks":49388,"Mech_RPM":-468.508881,"cg_du":44.8987923,"cg_dv":51.1881866,"cg_dw":55.1012077,"cg_id_a":-11.4007444,"cg_id_raw_a":-10.2877483,"cg_iq_a":-200.404083,"cg_iq_raw_a":-198.926025,"cg_iu_a":-109.0914,"cg_iv_a":-83.1829376,"cg_iw_a":192.274338,"cg_sample_age_us":23.8818188,"cg_sample_seq":6878671,"cg_sample_valid":1,"cg_theta_rad":5.63057995,"cg_vd_req_v":-1.76498151,"cg_vd_v":-1.76498151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39180565,"cg_vq_v":-8.39180565,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2520.44409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1102.929077,"values":{"Elec_RPM":-2342.37134,"EncoderCos":52316,"EncoderSin":31176,"GapTicks":49362,"Mech_RPM":-468.474274,"cg_du":55.1253014,"cg_dv":48.9409943,"cg_dw":44.8746986,"cg_id_a":-14.9756002,"cg_id_raw_a":-12.3898373,"cg_iq_a":-194.66893,"cg_iq_raw_a":-195.939819,"cg_iu_a":146.282654,"cg_iv_a":39.4299622,"cg_iw_a":-185.712616,"cg_sample_age_us":24.0854549,"cg_sample_seq":6880366,"cg_sample_valid":1,"cg_theta_rad":6.22634983,"cg_vd_req_v":-1.63693666,"cg_vd_v":-1.63693666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46906281,"cg_vq_v":-8.46906281,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0510254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1103.071139,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1103.071144,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1103.071149,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1103.261108,"values":{"Elec_RPM":-2348.65918,"EncoderCos":49988,"EncoderSin":42148,"GapTicks":49879,"Mech_RPM":-469.731842,"cg_du":45.3451424,"cg_dv":53.8880959,"cg_dw":54.6548576,"cg_id_a":7.46480656,"cg_id_raw_a":12.4722462,"cg_iq_a":-202.158295,"cg_iq_raw_a":-202.348694,"cg_iu_a":-178.679565,"cg_iv_a":4.09222412,"cg_iw_a":174.587341,"cg_sample_age_us":23.5254555,"cg_sample_seq":6882066,"cg_sample_valid":1,"cg_theta_rad":0.50796032,"cg_vd_req_v":-2.10194445,"cg_vd_v":-2.10194445,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34943676,"cg_vq_v":-8.34943676,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2438.23193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1103.614624,"values":{"Elec_RPM":-2344.4209,"EncoderCos":49621,"EncoderSin":42872,"GapTicks":49474,"Mech_RPM":-468.884186,"cg_du":44.9767151,"cg_dv":51.8816338,"cg_dw":55.0232849,"cg_id_a":-6.58454227,"cg_id_raw_a":-4.42791939,"cg_iq_a":-202.233902,"cg_iq_raw_a":-203.101578,"cg_iu_a":-161.898682,"cg_iv_a":-23.9967499,"cg_iw_a":181.147491,"cg_sample_age_us":23.5254555,"cg_sample_seq":6883816,"cg_sample_valid":1,"cg_theta_rad":0.545225382,"cg_vd_req_v":-1.82383871,"cg_vd_v":-1.82383871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36606026,"cg_vq_v":-8.36606026,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-17.3083038,"dclink_p_w":-2497.32446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1103.944702,"values":{"Elec_RPM":-2347.50293,"EncoderCos":41208,"EncoderSin":50534,"GapTicks":49970,"Mech_RPM":-469.50061,"cg_du":54.5723763,"cg_dv":45.9016571,"cg_dw":45.4276237,"cg_id_a":11.0454578,"cg_id_raw_a":14.6828356,"cg_iq_a":-201.780579,"cg_iq_raw_a":-205.889023,"cg_iu_a":179.300781,"cg_iv_a":-8.55688477,"cg_iw_a":-170.743896,"cg_sample_age_us":24.005455,"cg_sample_seq":6885516,"cg_sample_valid":1,"cg_theta_rad":1.12757909,"cg_vd_req_v":-2.12253475,"cg_vd_v":-2.12253475,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36463451,"cg_vq_v":-8.36463451,"cg_vu_v":46.1887207,"cg_vv_v":43.9892578,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2510.97046,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1104.095185,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1104.095192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1104.095198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1104.300171,"values":{"Elec_RPM":-2344.33789,"EncoderCos":31003,"EncoderSin":52471,"GapTicks":49368,"Mech_RPM":-468.867584,"cg_du":44.8805847,"cg_dv":55.1194153,"cg_dw":51.0327606,"cg_id_a":-2.55309081,"cg_id_raw_a":-2.20005083,"cg_iq_a":-197.795517,"cg_iq_raw_a":-197.023483,"cg_iu_a":-195.714172,"cg_iv_a":68.8962021,"cg_iw_a":126.81797,"cg_sample_age_us":23.7654552,"cg_sample_seq":6887220,"cg_sample_valid":1,"cg_theta_rad":1.69601905,"cg_vd_req_v":-1.84519744,"cg_vd_v":-1.84519744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41310024,"cg_vq_v":-8.41310024,"cg_vu_v":1.31967759,"cg_vv_v":11.4372072,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.04883,"dclink_p_w":-2322.66138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1104.630249,"values":{"Elec_RPM":-2341.48413,"EncoderCos":19934,"EncoderSin":47984,"GapTicks":49330,"Mech_RPM":-468.296814,"cg_du":55.1540565,"cg_dv":44.8459435,"cg_dw":49.5313568,"cg_id_a":-12.501009,"cg_id_raw_a":-12.8608513,"cg_iq_a":-198.32576,"cg_iq_raw_a":-198.497177,"cg_iu_a":195.972931,"cg_iv_a":-124.972069,"cg_iw_a":-71.0008621,"cg_sample_age_us":23.9909096,"cg_sample_seq":6888916,"cg_sample_valid":1,"cg_theta_rad":2.27527022,"cg_vd_req_v":-1.68310237,"cg_vd_v":-1.68310237,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43244267,"cg_vq_v":-8.43244267,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2526.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1257019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1104.96228,"values":{"Elec_RPM":-2349.98315,"EncoderCos":13718,"EncoderSin":38671,"GapTicks":49450,"Mech_RPM":-469.996643,"cg_du":44.9553337,"cg_dv":55.0446663,"cg_dw":47.8958969,"cg_id_a":-5.33250904,"cg_id_raw_a":-3.37539148,"cg_iq_a":-196.556244,"cg_iq_raw_a":-198.156281,"cg_iu_a":-176.722412,"cg_iv_a":161.499207,"cg_iw_a":15.2232132,"cg_sample_age_us":23.9654541,"cg_sample_seq":6890617,"cg_sample_valid":1,"cg_theta_rad":2.84212708,"cg_vd_req_v":-1.72652209,"cg_vd_v":-1.72652209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49769783,"cg_vq_v":-8.49769783,"cg_vu_v":124.489601,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1105.055042,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1105.055048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1105.055053,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1105.317749,"values":{"Elec_RPM":-2348.75903,"EncoderCos":13552,"EncoderSin":27399,"GapTicks":49994,"Mech_RPM":-469.751801,"cg_du":54.272686,"cg_dv":45.4495049,"cg_dw":54.5504951,"cg_id_a":13.7675266,"cg_id_raw_a":14.8019772,"cg_iq_a":-199.868469,"cg_iq_raw_a":-199.612076,"cg_iu_a":164.730743,"cg_iv_a":-180.715088,"cg_iw_a":15.9843369,"cg_sample_age_us":24.1545448,"cg_sample_seq":6892317,"cg_sample_valid":1,"cg_theta_rad":3.42217469,"cg_vd_req_v":-2.16078186,"cg_vd_v":-2.16078186,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37578201,"cg_vq_v":-8.37578201,"cg_vu_v":143.404984,"cg_vv_v":139.445938,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2570.24316,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1105.647827,"values":{"Elec_RPM":-2343.1123,"EncoderCos":28915,"EncoderSin":13248,"GapTicks":49422,"Mech_RPM":-468.622437,"cg_du":48.6116791,"cg_dv":44.92976,"cg_dw":55.07024,"cg_id_a":-15.6762886,"cg_id_raw_a":-12.1281776,"cg_iq_a":-200.838837,"cg_iq_raw_a":-202.52533,"cg_iu_a":20.915226,"cg_iv_a":-181.65741,"cg_iw_a":160.742188,"cg_sample_age_us":23.8890915,"cg_sample_seq":6893967,"cg_sample_valid":1,"cg_theta_rad":4.53252649,"cg_vd_req_v":-1.60546792,"cg_vd_v":-1.60546792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40016747,"cg_vq_v":-8.40016747,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.6323566,"dclink_p_w":-2399.79565,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1105.981812,"values":{"Elec_RPM":-2346.05981,"EncoderCos":29684,"EncoderSin":13101,"GapTicks":49297,"Mech_RPM":-469.211945,"cg_du":50.2668343,"cg_dv":44.8157997,"cg_dw":55.1842003,"cg_id_a":-10.4377232,"cg_id_raw_a":-15.3007603,"cg_iq_a":-196.563461,"cg_iq_raw_a":-196.460434,"cg_iu_a":65.8575745,"cg_iv_a":-193.327942,"cg_iw_a":127.470367,"cg_sample_age_us":23.7399998,"cg_sample_seq":6895717,"cg_sample_valid":1,"cg_theta_rad":4.56935644,"cg_vd_req_v":-1.72744071,"cg_vd_v":-1.72744071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49344063,"cg_vq_v":-8.49344063,"cg_vu_v":104.694435,"cg_vv_v":79.1806641,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2429.66699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1106.078621,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1106.078627,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1106.078632,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1106.333374,"values":{"Elec_RPM":-2348.38477,"EncoderCos":49082,"EncoderSin":21711,"GapTicks":49719,"Mech_RPM":-469.676971,"cg_du":45.1997108,"cg_dv":46.662838,"cg_dw":54.8002892,"cg_id_a":20.0784874,"cg_id_raw_a":17.6302967,"cg_iq_a":-203.70723,"cg_iq_raw_a":-201.979691,"cg_iu_a":-29.4274597,"cg_iv_a":-163.789215,"cg_iw_a":193.216675,"cg_sample_age_us":23.9109097,"cg_sample_seq":6897366,"cg_sample_valid":1,"cg_theta_rad":5.70349789,"cg_vd_req_v":-2.39199734,"cg_vd_v":-2.39199734,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27909279,"cg_vq_v":-8.27909279,"cg_vu_v":3.95903301,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0350342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1106.665405,"values":{"Elec_RPM":-2349.33105,"EncoderCos":49487,"EncoderSin":22357,"GapTicks":49968,"Mech_RPM":-469.866211,"cg_du":46.2206421,"cg_dv":45.4263115,"cg_dw":54.5736885,"cg_id_a":7.87067175,"cg_id_raw_a":11.1240644,"cg_iq_a":-209.138031,"cg_iq_raw_a":-209.837006,"cg_iu_a":-6.59384441,"cg_iv_a":-176.728271,"cg_iw_a":183.322113,"cg_sample_age_us":23.9218178,"cg_sample_seq":6899116,"cg_sample_valid":1,"cg_theta_rad":5.74184227,"cg_vd_req_v":-2.1222384,"cg_vd_v":-2.1222384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.19829178,"cg_vq_v":-8.19829178,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1106.99939,"values":{"Elec_RPM":-2350.19727,"EncoderCos":49346,"EncoderSin":43357,"GapTicks":49326,"Mech_RPM":-470.039459,"cg_du":44.8422546,"cg_dv":50.5724373,"cg_dw":55.1577454,"cg_id_a":-10.1803513,"cg_id_raw_a":-10.103446,"cg_iq_a":-197.699295,"cg_iq_raw_a":-200.160706,"cg_iu_a":-148.995865,"cg_iv_a":-35.8484955,"cg_iw_a":184.84436,"cg_sample_age_us":23.5654545,"cg_sample_seq":6900766,"cg_sample_valid":1,"cg_theta_rad":0.57154125,"cg_vd_req_v":-1.76358771,"cg_vd_v":-1.76358771,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45500183,"cg_vq_v":-8.45500183,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2370.5105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1107.102509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1107.102515,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1107.10252,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1107.350952,"values":{"Elec_RPM":-2349.27905,"EncoderCos":40855,"EncoderSin":50727,"GapTicks":49660,"Mech_RPM":-469.855804,"cg_du":54.8540802,"cg_dv":46.915966,"cg_dw":45.1459198,"cg_id_a":1.03671992,"cg_id_raw_a":8.16607666,"cg_iq_a":-197.894882,"cg_iq_raw_a":-201.304382,"cg_iu_a":171.580841,"cg_iv_a":-0.583236694,"cg_iw_a":-170.997604,"cg_sample_age_us":23.9327278,"cg_sample_seq":6902466,"cg_sample_valid":1,"cg_theta_rad":1.1480335,"cg_vd_req_v":-1.91820347,"cg_vd_v":-1.91820347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42474174,"cg_vq_v":-8.42474174,"cg_vu_v":25.0738773,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5979233,"dclink_p_w":-2394.82739,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1107.682983,"values":{"Elec_RPM":-2342.68823,"EncoderCos":29844,"EncoderSin":52374,"GapTicks":49681,"Mech_RPM":-468.537628,"cg_du":45.1646423,"cg_dv":54.8353577,"cg_dw":53.3173981,"cg_id_a":11.7065315,"cg_id_raw_a":13.6649256,"cg_iq_a":-199.553253,"cg_iq_raw_a":-200.134018,"cg_iu_a":-190.277588,"cg_iv_a":36.2042542,"cg_iw_a":154.073334,"cg_sample_age_us":23.8672733,"cg_sample_seq":6904166,"cg_sample_valid":1,"cg_theta_rad":1.72170937,"cg_vd_req_v":-2.12776709,"cg_vd_v":-2.12776709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39963913,"cg_vq_v":-8.39963913,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.425766,"dclink_p_w":-2369.98779,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1108.015015,"values":{"Elec_RPM":-2351.19165,"EncoderCos":19574,"EncoderSin":47676,"GapTicks":49325,"Mech_RPM":-470.238342,"cg_du":55.1588898,"cg_dv":44.8411102,"cg_dw":48.7341118,"cg_id_a":0.674184918,"cg_id_raw_a":-4.51098919,"cg_iq_a":-196.769806,"cg_iq_raw_a":-196.788986,"cg_iu_a":198.147568,"cg_iv_a":-90.9753571,"cg_iw_a":-107.172211,"cg_sample_age_us":23.994545,"cg_sample_seq":6905866,"cg_sample_valid":1,"cg_theta_rad":2.29605532,"cg_vd_req_v":-1.96550727,"cg_vd_v":-1.96550727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4825592,"cg_vq_v":-8.4825592,"cg_vu_v":17.5957031,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5163746,"dclink_p_w":-2390.32666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1108.095422,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1108.095428,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1108.095433,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1108.489624,"values":{"Elec_RPM":-2345.98193,"EncoderCos":24726,"EncoderSin":14525,"GapTicks":49510,"Mech_RPM":-469.196411,"cg_du":45.0092163,"cg_dv":52.0802803,"cg_dw":54.9907837,"cg_id_a":-9.09706211,"cg_id_raw_a":-6.79933691,"cg_iq_a":-202.28186,"cg_iq_raw_a":-202.106445,"cg_iu_a":-167.37149,"cg_iv_a":-12.1087646,"cg_iw_a":179.480255,"cg_sample_age_us":23.8963642,"cg_sample_seq":6908017,"cg_sample_valid":1,"cg_theta_rad":4.30882549,"cg_vd_req_v":-1.72164261,"cg_vd_v":-1.72164261,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35061646,"cg_vq_v":-8.35061646,"cg_vu_v":109.533249,"cg_vv_v":111.732712,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1108.959206,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1108.959217,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1108.959219,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1109.007202,"values":{"Elec_RPM":-2334.24292,"EncoderCos":52222,"EncoderSin":30312,"GapTicks":49751,"Mech_RPM":-466.848572,"cg_du":54.7714233,"cg_dv":46.720211,"cg_dw":45.2285767,"cg_id_a":1.76870847,"cg_id_raw_a":5.47910309,"cg_iq_a":-201.179123,"cg_iq_raw_a":-201.836792,"cg_iu_a":173.50177,"cg_iv_a":-4.38883972,"cg_iw_a":-169.11293,"cg_sample_age_us":24.1436367,"cg_sample_seq":6910767,"cg_sample_valid":1,"cg_theta_rad":6.16961956,"cg_vd_req_v":-1.96389949,"cg_vd_v":-1.96389949,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35085106,"cg_vq_v":-8.35085106,"cg_vu_v":135.926804,"cg_vv_v":129.328415,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1109.087121,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1109.087127,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1109.087133,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1109.362671,"values":{"Elec_RPM":-2337.41724,"EncoderCos":52311,"EncoderSin":31057,"GapTicks":49378,"Mech_RPM":-467.483429,"cg_du":55.1104164,"cg_dv":48.6450577,"cg_dw":44.8895836,"cg_id_a":-13.6418324,"cg_id_raw_a":-14.4133606,"cg_iq_a":-196.594971,"cg_iq_raw_a":-195.059311,"cg_iu_a":158.098145,"cg_iv_a":20.401947,"cg_iw_a":-178.500092,"cg_sample_age_us":24.1000004,"cg_sample_seq":6912517,"cg_sample_valid":1,"cg_theta_rad":6.20669651,"cg_vd_req_v":-1.66236866,"cg_vd_v":-1.66236866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45148182,"cg_vq_v":-8.45148182,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2497.84741,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1109.694702,"values":{"Elec_RPM":-2340.02832,"EncoderCos":50008,"EncoderSin":42132,"GapTicks":49909,"Mech_RPM":-468.005646,"cg_du":45.3719406,"cg_dv":53.954174,"cg_dw":54.6280594,"cg_id_a":8.85873699,"cg_id_raw_a":11.8849344,"cg_iq_a":-203.078217,"cg_iq_raw_a":-201.33194,"cg_iu_a":-178.09967,"cg_iv_a":6.2668457,"cg_iw_a":171.832825,"cg_sample_age_us":23.5290909,"cg_sample_seq":6914217,"cg_sample_valid":1,"cg_theta_rad":0.507592797,"cg_vd_req_v":-2.13243103,"cg_vd_v":-2.13243103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35609627,"cg_vq_v":-8.35609627,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.5616798,"dclink_p_w":-2396.8833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1110.026733,"values":{"Elec_RPM":-2344.4624,"EncoderCos":42014,"EncoderSin":50159,"GapTicks":49615,"Mech_RPM":-468.892487,"cg_du":54.8949776,"cg_dv":45.1050224,"cg_dw":47.1026917,"cg_id_a":16.4968834,"cg_id_raw_a":13.0399599,"cg_iq_a":-201.80423,"cg_iq_raw_a":-199.975876,"cg_iu_a":193.508362,"cg_iv_a":-43.7858734,"cg_iw_a":-149.722488,"cg_sample_age_us":23.8490906,"cg_sample_seq":6915917,"cg_sample_valid":1,"cg_theta_rad":1.08447313,"cg_vd_req_v":-2.26115775,"cg_vd_v":-2.26115775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34366798,"cg_vq_v":-8.34366798,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1110.078966,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1110.078973,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1110.078978,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1110.380249,"values":{"Elec_RPM":-2344.41675,"EncoderCos":41162,"EncoderSin":50612,"GapTicks":49915,"Mech_RPM":-468.883362,"cg_du":54.6220055,"cg_dv":46.092392,"cg_dw":45.3779945,"cg_id_a":8.57877254,"cg_id_raw_a":13.7748032,"cg_iq_a":-201.671509,"cg_iq_raw_a":-204.552704,"cg_iu_a":177.452332,"cg_iv_a":-6.05604553,"cg_iw_a":-171.396286,"cg_sample_age_us":24.0127277,"cg_sample_seq":6917666,"cg_sample_valid":1,"cg_theta_rad":1.13336754,"cg_vd_req_v":-2.07749534,"cg_vd_v":-2.07749534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34017372,"cg_vq_v":-8.34017372,"cg_vu_v":39.590332,"cg_vv_v":39.590332,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1110.71228,"values":{"Elec_RPM":-2347.82813,"EncoderCos":20644,"EncoderSin":48536,"GapTicks":49388,"Mech_RPM":-469.565613,"cg_du":55.1016769,"cg_dv":44.8983231,"cg_dw":51.4554825,"cg_id_a":-15.128624,"cg_id_raw_a":-12.3578081,"cg_iq_a":-196.880493,"cg_iq_raw_a":-197.555023,"cg_iu_a":178.575897,"cg_iv_a":-160.491013,"cg_iw_a":-18.0848846,"cg_sample_age_us":24.0200005,"cg_sample_seq":6919317,"cg_sample_valid":1,"cg_theta_rad":2.23015857,"cg_vd_req_v":-1.59828913,"cg_vd_v":-1.59828913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49137115,"cg_vq_v":-8.49137115,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9657993,"dclink_p_w":-2455.36938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1111.044312,"values":{"Elec_RPM":-2346.29614,"EncoderCos":13891,"EncoderSin":39182,"GapTicks":49790,"Mech_RPM":-469.259216,"cg_du":45.2644577,"cg_dv":54.7355423,"cg_dw":46.5197754,"cg_id_a":5.9499259,"cg_id_raw_a":11.0539541,"cg_iq_a":-201.704666,"cg_iq_raw_a":-203.160812,"cg_iu_a":-171.322067,"cg_iv_a":174.945648,"cg_iw_a":-3.62358856,"cg_sample_age_us":23.954546,"cg_sample_seq":6921017,"cg_sample_valid":1,"cg_theta_rad":2.81729984,"cg_vd_req_v":-1.95758188,"cg_vd_v":-1.95758188,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37078857,"cg_vq_v":-8.37078857,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-17.674366,"dclink_p_w":-2565.69141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1111.071246,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1111.071252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1111.071258,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1111.395874,"values":{"Elec_RPM":-2346.14697,"EncoderCos":13451,"EncoderSin":27857,"GapTicks":49723,"Mech_RPM":-469.229401,"cg_du":53.3108215,"cg_dv":45.2031555,"cg_dw":54.7968445,"cg_id_a":12.3726187,"cg_id_raw_a":12.2139721,"cg_iq_a":-200.549133,"cg_iq_raw_a":-200.019669,"cg_iu_a":153.458923,"cg_iv_a":-190.428421,"cg_iw_a":36.9694977,"cg_sample_age_us":23.7436371,"cg_sample_seq":6922716,"cg_sample_valid":1,"cg_theta_rad":3.39462566,"cg_vd_req_v":-2.14883232,"cg_vd_v":-2.14883232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35737705,"cg_vq_v":-8.35737705,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-17.551136,"dclink_p_w":-2540.08203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2573,"hz_tim_isr":4999,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1111.729858,"values":{"Elec_RPM":-2358.72998,"EncoderCos":13648,"EncoderSin":27136,"GapTicks":49945,"Mech_RPM":-471.745972,"cg_du":54.5947266,"cg_dv":45.4052734,"cg_dw":54.0996628,"cg_id_a":11.7147427,"cg_id_raw_a":14.1309433,"cg_iq_a":-202.428558,"cg_iq_raw_a":-202.51239,"cg_iu_a":172.740646,"cg_iv_a":-178.757919,"cg_iw_a":6.01727295,"cg_sample_age_us":24.1581821,"cg_sample_seq":6924466,"cg_sample_valid":1,"cg_theta_rad":3.43169188,"cg_vd_req_v":-2.1129005,"cg_vd_v":-2.1129005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34785843,"cg_vq_v":-8.34785843,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2380.96973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2573,"hz_tim_isr":4999,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1112.063638,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1112.063644,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1112.063649,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1112.081421,"values":{"Elec_RPM":-2354.77881,"EncoderCos":28267,"EncoderSin":13379,"GapTicks":49754,"Mech_RPM":-470.95578,"cg_du":46.8468285,"cg_dv":45.2317047,"cg_dw":54.7682953,"cg_id_a":2.20830536,"cg_id_raw_a":9.09783268,"cg_iq_a":-203.394562,"cg_iq_raw_a":-202.870621,"cg_iu_a":27.0041885,"cg_iv_a":-181.838654,"cg_iw_a":154.834457,"cg_sample_age_us":23.8345451,"cg_sample_seq":6926121,"cg_sample_valid":1,"cg_theta_rad":4.54016447,"cg_vd_req_v":-1.94098258,"cg_vd_v":-1.94098258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33231831,"cg_vq_v":-8.33231831,"cg_vu_v":105.574219,"cg_vv_v":90.6178665,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.7015495,"dclink_p_w":-2561.85059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2573,"hz_tim_isr":4999,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1112.415405,"values":{"Elec_RPM":-2354.98975,"EncoderCos":30110,"EncoderSin":13051,"GapTicks":49350,"Mech_RPM":-470.997955,"cg_du":51.0605507,"cg_dv":44.863678,"cg_dw":55.136322,"cg_id_a":-2.38761616,"cg_id_raw_a":-7.9870286,"cg_iq_a":-196.035355,"cg_iq_raw_a":-196.155487,"cg_iu_a":96.7373199,"cg_iv_a":-196.698608,"cg_iw_a":99.9612885,"cg_sample_age_us":23.7145462,"cg_sample_seq":6927866,"cg_sample_valid":1,"cg_theta_rad":4.59303522,"cg_vd_req_v":-1.89305902,"cg_vd_v":-1.89305902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46136856,"cg_vq_v":-8.46136856,"cg_vu_v":39.1504402,"cg_vv_v":39.590332,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1112.747437,"values":{"Elec_RPM":-2358.59546,"EncoderCos":48880,"EncoderSin":21429,"GapTicks":49535,"Mech_RPM":-471.719086,"cg_du":45.0322914,"cg_dv":47.3291168,"cg_dw":54.9677086,"cg_id_a":17.1802711,"cg_id_raw_a":11.843194,"cg_iq_a":-200.769821,"cg_iq_raw_a":-201.69194,"cg_iu_a":-34.6465721,"cg_iv_a":-157.700241,"cg_iw_a":192.346817,"cg_sample_age_us":23.9472733,"cg_sample_seq":6929518,"cg_sample_valid":1,"cg_theta_rad":5.6993022,"cg_vd_req_v":-2.35330462,"cg_vd_v":-2.35330462,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36786652,"cg_vq_v":-8.36786652,"cg_vu_v":105.134323,"cg_vv_v":96.7763672,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2415.24219,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1113.05514,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1113.055146,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1113.055152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1113.098999,"values":{"Elec_RPM":-2354.82715,"EncoderCos":50080,"EncoderSin":42043,"GapTicks":49993,"Mech_RPM":-470.965454,"cg_du":45.4487724,"cg_dv":54.2134056,"cg_dw":54.5512276,"cg_id_a":9.06329536,"cg_id_raw_a":12.7546329,"cg_iq_a":-201.647614,"cg_iq_raw_a":-200.929443,"cg_iu_a":-167.117783,"cg_iv_a":-8.44815063,"cg_iw_a":175.565933,"cg_sample_age_us":26.0527267,"cg_sample_seq":6931170,"cg_sample_valid":1,"cg_theta_rad":0.532077551,"cg_vd_req_v":-2.1295886,"cg_vd_v":-2.1295886,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3569088,"cg_vq_v":-8.3569088,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2523.07471,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1113.432983,"values":{"Elec_RPM":-2354.71973,"EncoderCos":52388,"EncoderSin":33086,"GapTicks":49622,"Mech_RPM":-470.943939,"cg_du":54.8885345,"cg_dv":52.6916237,"cg_dw":45.1114655,"cg_id_a":6.36150455,"cg_id_raw_a":3.54238248,"cg_iq_a":-202.403305,"cg_iq_raw_a":-200.777649,"cg_iu_a":58.9712524,"cg_iv_a":138.411865,"cg_iw_a":-197.383118,"cg_sample_age_us":23.5181828,"cg_sample_seq":6932967,"cg_sample_valid":1,"cg_theta_rad":0.0297314208,"cg_vd_req_v":-2.09140682,"cg_vd_v":-2.09140682,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3400774,"cg_vq_v":-8.3400774,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2419.43872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1113.765015,"values":{"Elec_RPM":-2353.64063,"EncoderCos":30603,"EncoderSin":52438,"GapTicks":49412,"Mech_RPM":-470.728149,"cg_du":44.9200478,"cg_dv":55.0799522,"cg_dw":51.871563,"cg_id_a":0.617432177,"cg_id_raw_a":-3.84706903,"cg_iq_a":-198.493515,"cg_iq_raw_a":-197.780243,"cg_iu_a":-197.055191,"cg_iv_a":86.4382095,"cg_iw_a":110.616982,"cg_sample_age_us":23.772728,"cg_sample_seq":6934567,"cg_sample_valid":1,"cg_theta_rad":1.68102801,"cg_vd_req_v":-1.91610062,"cg_vd_v":-1.91610062,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43801785,"cg_vq_v":-8.43801785,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2510.97046,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1114.078994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1114.079,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1114.079006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1114.116577,"values":{"Elec_RPM":-2355.86084,"EncoderCos":40275,"EncoderSin":50965,"GapTicks":49371,"Mech_RPM":-471.17218,"cg_du":55.1168938,"cg_dv":48.5228271,"cg_dw":44.8831062,"cg_id_a":-11.5817299,"cg_id_raw_a":-10.4926052,"cg_iq_a":-196.206757,"cg_iq_raw_a":-195.907791,"cg_iu_a":155.778534,"cg_iv_a":24.0263214,"cg_iw_a":-179.804855,"cg_sample_age_us":23.9799995,"cg_sample_seq":6936367,"cg_sample_valid":1,"cg_theta_rad":1.18159103,"cg_vd_req_v":-1.67893541,"cg_vd_v":-1.67893541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4779892,"cg_vq_v":-8.4779892,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":125.809273,"control_outputs_enabled":1,"dclink_i_a":-16.3822727,"dclink_p_w":-2370.9187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1114.450562,"values":{"Elec_RPM":-2355.30322,"EncoderCos":13743,"EncoderSin":38812,"GapTicks":49548,"Mech_RPM":-471.060669,"cg_du":45.0441971,"cg_dv":54.9558029,"cg_dw":47.5940475,"cg_id_a":-5.65058231,"cg_id_raw_a":-0.361935914,"cg_iq_a":-198.965454,"cg_iq_raw_a":-200.55513,"cg_iu_a":-174.656494,"cg_iv_a":167.769379,"cg_iw_a":6.88712311,"cg_sample_age_us":23.8381824,"cg_sample_seq":6937967,"cg_sample_valid":1,"cg_theta_rad":2.83693171,"cg_vd_req_v":-1.71667373,"cg_vd_v":-1.71667373,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40126133,"cg_vq_v":-8.40126133,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2426.78223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1114.802124,"values":{"Elec_RPM":-2350.62378,"EncoderCos":19648,"EncoderSin":47725,"GapTicks":49354,"Mech_RPM":-470.124756,"cg_du":55.1323318,"cg_dv":44.8676682,"cg_dw":48.8659439,"cg_id_a":-2.34567904,"cg_id_raw_a":-8.4525795,"cg_iq_a":-196.706802,"cg_iq_raw_a":-195.95932,"cg_iu_a":193.72583,"cg_iv_a":-48.1351471,"cg_iw_a":-145.590683,"cg_sample_age_us":23.8963642,"cg_sample_seq":6939771,"cg_sample_valid":1,"cg_theta_rad":2.33706951,"cg_vd_req_v":-1.88166142,"cg_vd_v":-1.88166142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43910408,"cg_vq_v":-8.43910408,"cg_vu_v":143.404984,"cg_vv_v":140.325729,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2394.78516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1115.071009,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1115.071015,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1115.07102,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1115.134155,"values":{"Elec_RPM":-2350.92725,"EncoderCos":19484,"EncoderSin":17749,"GapTicks":49511,"Mech_RPM":-470.185455,"cg_du":47.6932144,"cg_dv":54.9891739,"cg_dw":45.0108261,"cg_id_a":7.05425501,"cg_id_raw_a":1.67814267,"cg_iq_a":-201.666595,"cg_iq_raw_a":-200.166183,"cg_iu_a":-120.580704,"cg_iv_a":200.715027,"cg_iw_a":-80.1343155,"cg_sample_age_us":23.8672733,"cg_sample_seq":6941366,"cg_sample_valid":1,"cg_theta_rad":3.98905683,"cg_vd_req_v":-2.06038404,"cg_vd_v":-2.06038404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37996674,"cg_vq_v":-8.37996674,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5783195,"dclink_p_w":-2544.01611,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1115.466187,"values":{"Elec_RPM":-2357.19995,"EncoderCos":14033,"EncoderSin":25942,"GapTicks":49379,"Mech_RPM":-471.440002,"cg_du":55.1731987,"cg_dv":44.8268013,"cg_dw":51.3552933,"cg_id_a":-16.725071,"cg_id_raw_a":-14.3751383,"cg_iq_a":-195.460129,"cg_iq_raw_a":-196.860367,"cg_iu_a":178.104736,"cg_iv_a":-159.331223,"cg_iw_a":-18.7735138,"cg_sample_age_us":23.994545,"cg_sample_seq":6943166,"cg_sample_valid":1,"cg_theta_rad":3.48727512,"cg_vd_req_v":-1.55860019,"cg_vd_v":-1.55860019,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51394081,"cg_vq_v":-8.51394081,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4040203,"dclink_p_w":-2374.06616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1115.798218,"values":{"Elec_RPM":-2358.7998,"EncoderCos":40801,"EncoderSin":14551,"GapTicks":49490,"Mech_RPM":-471.759949,"cg_du":52.1034431,"cg_dv":55.0087357,"cg_dw":44.9912643,"cg_id_a":-11.8540707,"cg_id_raw_a":-5.97155905,"cg_iq_a":-198.615417,"cg_iq_raw_a":-201.512634,"cg_iu_a":0.111264944,"cg_iv_a":170.995087,"cg_iw_a":-171.106354,"cg_sample_age_us":23.9327278,"cg_sample_seq":6944766,"cg_sample_valid":1,"cg_theta_rad":5.13763142,"cg_vd_req_v":-1.69340456,"cg_vd_v":-1.69340456,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41798115,"cg_vq_v":-8.41798115,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1116.063226,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1116.063232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1116.063238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1116.153687,"values":{"Elec_RPM":-2355.27612,"EncoderCos":41486,"EncoderSin":14881,"GapTicks":49321,"Mech_RPM":-471.055206,"cg_du":50.3024101,"cg_dv":55.1623344,"cg_dw":44.8376656,"cg_id_a":-18.7244816,"cg_id_raw_a":-18.4552059,"cg_iq_a":-196.856277,"cg_iq_raw_a":-197.572571,"cg_iu_a":-39.7931976,"cg_iv_a":189.914352,"cg_iw_a":-150.121155,"cg_sample_age_us":23.9581814,"cg_sample_seq":6946516,"cg_sample_valid":1,"cg_theta_rad":5.1845932,"cg_vd_req_v":-1.59238183,"cg_vd_v":-1.59238183,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45705414,"cg_vq_v":-8.45705414,"cg_vu_v":39.590332,"cg_vv_v":62.4647446,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.1521244,"dclink_p_w":-2330.50537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1116.483765,"values":{"Elec_RPM":-2353.32031,"EncoderCos":49851,"EncoderSin":22876,"GapTicks":49521,"Mech_RPM":-470.664063,"cg_du":47.8905373,"cg_dv":45.0195618,"cg_dw":54.9804382,"cg_id_a":-9.69534683,"cg_id_raw_a":-6.84664536,"cg_iq_a":-201.637924,"cg_iq_raw_a":-203.007629,"cg_iu_a":10.1508064,"cg_iv_a":-178.902878,"cg_iw_a":168.752075,"cg_sample_age_us":24.0490913,"cg_sample_seq":6948216,"cg_sample_valid":1,"cg_theta_rad":5.77426529,"cg_vd_req_v":-1.76254833,"cg_vd_v":-1.76254833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38498306,"cg_vq_v":-8.38498306,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2442.31348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1116.83728,"values":{"Elec_RPM":-2342.6106,"EncoderCos":49489,"EncoderSin":43134,"GapTicks":49414,"Mech_RPM":-468.522125,"cg_du":44.9224434,"cg_dv":51.1828079,"cg_dw":55.0775566,"cg_id_a":-9.02128124,"cg_id_raw_a":-6.24621534,"cg_iq_a":-199.78775,"cg_iq_raw_a":-201.931137,"cg_iu_a":-118.116119,"cg_iv_a":-81.6969452,"cg_iw_a":199.813065,"cg_sample_age_us":23.4418182,"cg_sample_seq":6949870,"cg_sample_valid":1,"cg_theta_rad":0.606518209,"cg_vd_req_v":-1.77642703,"cg_vd_v":-1.77642703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37536812,"cg_vq_v":-8.37536812,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.7577267,"dclink_p_w":-2569.98096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1117.086436,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1117.086442,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1117.086447,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1117.169312,"values":{"Elec_RPM":-2345.77832,"EncoderCos":48764,"EncoderSin":44276,"GapTicks":49359,"Mech_RPM":-469.15564,"cg_du":44.8720818,"cg_dv":48.4571304,"cg_dw":55.1279182,"cg_id_a":5.00418139,"cg_id_raw_a":0.251913011,"cg_iq_a":-198.939789,"cg_iq_raw_a":-196.152603,"cg_iu_a":-81.8722839,"cg_iv_a":-102.355927,"cg_iw_a":199.813065,"cg_sample_age_us":23.5145454,"cg_sample_seq":6951617,"cg_sample_valid":1,"cg_theta_rad":0.627359629,"cg_vd_req_v":-2.0871582,"cg_vd_v":-2.0871582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41641426,"cg_vq_v":-8.41641426,"cg_vu_v":114.811958,"cg_vv_v":135.486908,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-15.798748,"dclink_p_w":-2279.51855,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1117.501343,"values":{"Elec_RPM":-2345.96021,"EncoderCos":29363,"EncoderSin":52266,"GapTicks":50014,"Mech_RPM":-469.192047,"cg_du":45.4673615,"cg_dv":54.5326385,"cg_dw":54.3113937,"cg_id_a":12.0792427,"cg_id_raw_a":10.9301271,"cg_iq_a":-200.66301,"cg_iq_raw_a":-198.747025,"cg_iu_a":-184.043655,"cg_iv_a":19.5683441,"cg_iw_a":164.475311,"cg_sample_age_us":23.7909088,"cg_sample_seq":6953267,"cg_sample_valid":1,"cg_theta_rad":1.74339139,"cg_vd_req_v":-2.11298013,"cg_vd_v":-2.11298013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37940502,"cg_vq_v":-8.37940502,"cg_vu_v":1.31967759,"cg_vv_v":7.47817326,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0776672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1117.852905,"values":{"Elec_RPM":-2344.64478,"EncoderCos":28362,"EncoderSin":52084,"GapTicks":49554,"Mech_RPM":-468.928955,"cg_du":45.049614,"cg_dv":52.1065483,"cg_dw":54.950386,"cg_id_a":-7.7280221,"cg_id_raw_a":-0.701603293,"cg_iq_a":-200.269897,"cg_iq_raw_a":-202.848816,"cg_iu_a":-170.959625,"cg_iv_a":-1.70678711,"cg_iw_a":172.666412,"cg_sample_age_us":23.7690907,"cg_sample_seq":6955016,"cg_sample_valid":1,"cg_theta_rad":1.78627312,"cg_vd_req_v":-1.69575536,"cg_vd_v":-1.69575536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37471676,"cg_vq_v":-8.37471676,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1118.079373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1118.079379,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1118.079384,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1118.214233,"values":{"Elec_RPM":-2343.01416,"EncoderCos":18541,"EncoderSin":46631,"GapTicks":50010,"Mech_RPM":-468.602814,"cg_du":54.5361023,"cg_dv":45.4638977,"cg_dw":45.9127502,"cg_id_a":14.1464252,"cg_id_raw_a":18.5416069,"cg_iq_a":-205.732559,"cg_iq_raw_a":-206.521957,"cg_iu_a":188.651688,"cg_iv_a":-18.6688995,"cg_iw_a":-169.982788,"cg_sample_age_us":23.9981823,"cg_sample_seq":6956716,"cg_sample_valid":1,"cg_theta_rad":2.36810994,"cg_vd_req_v":-2.18921852,"cg_vd_v":-2.18921852,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25964451,"cg_vq_v":-8.25964451,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0652466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1118.753296,"values":{"Elec_RPM":-2349.01318,"EncoderCos":22488,"EncoderSin":15635,"GapTicks":49398,"Mech_RPM":-469.802612,"cg_du":44.9073181,"cg_dv":55.0926819,"cg_dw":51.5246315,"cg_id_a":-5.64375496,"cg_id_raw_a":-4.09263134,"cg_iq_a":-196.363495,"cg_iq_raw_a":-197.394485,"cg_iu_a":-191.872314,"cg_iv_a":49.1070557,"cg_iw_a":142.765259,"cg_sample_age_us":23.8418179,"cg_sample_seq":6959470,"cg_sample_valid":1,"cg_theta_rad":4.22546196,"cg_vd_req_v":-1.80737126,"cg_vd_v":-1.80737126,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44552994,"cg_vq_v":-8.44552994,"cg_vu_v":1.31967759,"cg_vv_v":12.3169918,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0243835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1118.943248,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1118.943259,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1118.943262,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1119.038783,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1119.03879,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1119.038795,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1119.18103,"values":{"Elec_RPM":-2343.26782,"EncoderCos":30752,"EncoderSin":12978,"GapTicks":49448,"Mech_RPM":-468.653564,"cg_du":52.2739372,"cg_dv":44.953125,"cg_dw":55.046875,"cg_id_a":8.9638443,"cg_id_raw_a":4.98883104,"cg_iq_a":-198.210388,"cg_iq_raw_a":-197.97908,"cg_iu_a":130.480347,"cg_iv_a":-195.357605,"cg_iw_a":64.8772507,"cg_sample_age_us":23.5872726,"cg_sample_seq":6961767,"cg_sample_valid":1,"cg_theta_rad":4.62642097,"cg_vd_req_v":-2.13617921,"cg_vd_v":-2.13617921,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4215126,"cg_vq_v":-8.4215126,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-16.3587151,"dclink_p_w":-2360.31323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1119.515015,"values":{"Elec_RPM":-2344.49805,"EncoderCos":52351,"EncoderSin":32684,"GapTicks":49447,"Mech_RPM":-468.899628,"cg_du":55.0474892,"cg_dv":51.4752197,"cg_dw":44.9525108,"cg_id_a":4.20863438,"cg_id_raw_a":1.11702669,"cg_iq_a":-203.434631,"cg_iq_raw_a":-204.412643,"cg_iu_a":92.460556,"cg_iv_a":110.105423,"cg_iw_a":-202.565979,"cg_sample_age_us":24.2672729,"cg_sample_seq":6963367,"cg_sample_valid":1,"cg_theta_rad":6.28280783,"cg_vd_req_v":-1.985286,"cg_vd_v":-1.985286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32072735,"cg_vq_v":-8.32072735,"cg_vu_v":107.333786,"cg_vv_v":106.893898,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2439.89551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1119.866577,"values":{"Elec_RPM":-2341.08252,"EncoderCos":49388,"EncoderSin":43386,"GapTicks":49351,"Mech_RPM":-468.216522,"cg_du":44.8648567,"cg_dv":50.568325,"cg_dw":55.1351433,"cg_id_a":-10.7937965,"cg_id_raw_a":-9.8029623,"cg_iq_a":-199.749207,"cg_iq_raw_a":-198.551437,"cg_iu_a":-142.39949,"cg_iv_a":-48.2438812,"cg_iw_a":190.643372,"cg_sample_age_us":23.5290909,"cg_sample_seq":6965067,"cg_sample_valid":1,"cg_theta_rad":0.574081481,"cg_vd_req_v":-1.75539732,"cg_vd_v":-1.75539732,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3912468,"cg_vq_v":-8.3912468,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2404.22681,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1120.062964,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1120.06297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1120.062975,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1120.198608,"values":{"Elec_RPM":-2353.12402,"EncoderCos":40890,"EncoderSin":50709,"GapTicks":49686,"Mech_RPM":-470.624786,"cg_du":54.8305283,"cg_dv":46.7865181,"cg_dw":45.1694717,"cg_id_a":2.6835928,"cg_id_raw_a":7.62745285,"cg_iq_a":-200.207672,"cg_iq_raw_a":-200.037903,"cg_iu_a":171.544586,"cg_iv_a":-0.909423828,"cg_iw_a":-170.635162,"cg_sample_age_us":23.9872723,"cg_sample_seq":6966767,"cg_sample_valid":1,"cg_theta_rad":1.14787579,"cg_vd_req_v":-1.96255934,"cg_vd_v":-1.96255934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42176342,"cg_vq_v":-8.42176342,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2503.88916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0830078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1120.53064,"values":{"Elec_RPM":-2348.90845,"EncoderCos":29450,"EncoderSin":52292,"GapTicks":49955,"Mech_RPM":-469.781708,"cg_du":45.4138374,"cg_dv":54.5861626,"cg_dw":54.1266899,"cg_id_a":12.5093594,"cg_id_raw_a":14.4477673,"cg_iq_a":-199.370087,"cg_iq_raw_a":-199.988586,"cg_iu_a":-183.681213,"cg_iv_a":31.3113403,"cg_iw_a":154.327042,"cg_sample_age_us":23.863636,"cg_sample_seq":6968466,"cg_sample_valid":1,"cg_theta_rad":1.73775005,"cg_vd_req_v":-2.12051916,"cg_vd_v":-2.12051916,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39933586,"cg_vq_v":-8.39933586,"cg_vu_v":38.7105446,"cg_vv_v":53.666893,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2452.04688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1120.884155,"values":{"Elec_RPM":-2353.63745,"EncoderCos":19504,"EncoderSin":47567,"GapTicks":49400,"Mech_RPM":-470.727478,"cg_du":55.0903778,"cg_dv":44.9096222,"cg_dw":48.5084419,"cg_id_a":2.43026161,"cg_id_raw_a":-5.2919898,"cg_iq_a":-198.702072,"cg_iq_raw_a":-197.733749,"cg_iu_a":199.017426,"cg_iv_a":-87.8221436,"cg_iw_a":-111.195282,"cg_sample_age_us":23.9909096,"cg_sample_seq":6970167,"cg_sample_valid":1,"cg_theta_rad":2.30366111,"cg_vd_req_v":-1.98464513,"cg_vd_v":-1.98464513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39621735,"cg_vq_v":-8.39621735,"cg_vu_v":141.205521,"cg_vv_v":109.533249,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2417.31396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1121.055554,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1121.05556,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1121.055566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1121.216187,"values":{"Elec_RPM":-2357.15454,"EncoderCos":13514,"EncoderSin":37970,"GapTicks":49322,"Mech_RPM":-471.430908,"cg_du":44.838871,"cg_dv":55.161129,"cg_dw":49.6556969,"cg_id_a":-12.8004799,"cg_id_raw_a":-15.3361902,"cg_iq_a":-196.91925,"cg_iq_raw_a":-197.129807,"cg_iu_a":-188.066711,"cg_iv_a":144.645813,"cg_iw_a":43.4209061,"cg_sample_age_us":23.9654541,"cg_sample_seq":6971867,"cg_sample_valid":1,"cg_theta_rad":2.87648869,"cg_vd_req_v":-1.59760916,"cg_vd_v":-1.59760916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48220444,"cg_vq_v":-8.48220444,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1121.567749,"values":{"Elec_RPM":-2355.85669,"EncoderCos":13527,"EncoderSin":27580,"GapTicks":49823,"Mech_RPM":-471.171326,"cg_du":53.8574409,"cg_dv":45.2939911,"cg_dw":54.7060089,"cg_id_a":15.6268063,"cg_id_raw_a":12.0427179,"cg_iq_a":-199.376099,"cg_iq_raw_a":-199.23613,"cg_iu_a":173.356796,"cg_iv_a":-166.398773,"cg_iw_a":-6.95802307,"cg_sample_age_us":26.5654545,"cg_sample_seq":6973571,"cg_sample_valid":1,"cg_theta_rad":3.46550584,"cg_vd_req_v":-2.20638752,"cg_vd_v":-2.20638752,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41617489,"cg_vq_v":-8.41617489,"cg_vu_v":39.590332,"cg_vv_v":39.1504402,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1121.901733,"values":{"Elec_RPM":-2351.0647,"EncoderCos":20016,"EncoderSin":17306,"GapTicks":49861,"Mech_RPM":-470.212921,"cg_du":46.3743935,"cg_dv":54.6714058,"cg_dw":45.3285942,"cg_id_a":12.6202354,"cg_id_raw_a":11.9801245,"cg_iq_a":-205.433395,"cg_iq_raw_a":-204.904922,"cg_iu_a":-158.709213,"cg_iv_a":192.995087,"cg_iw_a":-34.2858658,"cg_sample_age_us":23.9290905,"cg_sample_seq":6975267,"cg_sample_valid":1,"cg_theta_rad":4.0328846,"cg_vd_req_v":-2.14792943,"cg_vd_v":-2.14792943,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25356102,"cg_vq_v":-8.25356102,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2464.90186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1122.078445,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1122.078451,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1122.078456,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1122.233765,"values":{"Elec_RPM":-2350.7041,"EncoderCos":30584,"EncoderSin":12968,"GapTicks":49403,"Mech_RPM":-470.140839,"cg_du":51.924633,"cg_dv":44.9118919,"cg_dw":55.0881081,"cg_id_a":8.35109806,"cg_id_raw_a":7.0327177,"cg_iq_a":-197.757797,"cg_iq_raw_a":-197.660492,"cg_iu_a":122.94162,"cg_iv_a":-196.626129,"cg_iw_a":73.6845016,"cg_sample_age_us":23.681818,"cg_sample_seq":6976966,"cg_sample_valid":1,"cg_theta_rad":4.6187315,"cg_vd_req_v":-2.11582541,"cg_vd_v":-2.11582541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44223022,"cg_vq_v":-8.44223022,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1122.58728,"values":{"Elec_RPM":-2347.76099,"EncoderCos":41462,"EncoderSin":14893,"GapTicks":49284,"Mech_RPM":-469.552216,"cg_du":50.3371048,"cg_dv":55.1957283,"cg_dw":44.8042717,"cg_id_a":-17.9355888,"cg_id_raw_a":-17.2508202,"cg_iq_a":-194.532623,"cg_iq_raw_a":-193.248535,"cg_iu_a":-40.8442688,"cg_iv_a":187.522263,"cg_iw_a":-146.677994,"cg_sample_age_us":24.0381813,"cg_sample_seq":6978667,"cg_sample_valid":1,"cg_theta_rad":5.18224192,"cg_vd_req_v":-1.60147619,"cg_vd_v":-1.60147619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51312637,"cg_vq_v":-8.51312637,"cg_vu_v":127.12896,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1122.917358,"values":{"Elec_RPM":-2353.55493,"EncoderCos":49802,"EncoderSin":22837,"GapTicks":49570,"Mech_RPM":-470.710968,"cg_du":47.7001686,"cg_dv":45.0643768,"cg_dw":54.9356232,"cg_id_a":-6.34013653,"cg_id_raw_a":-2.37899971,"cg_iq_a":-201.885208,"cg_iq_raw_a":-203.022354,"cg_iu_a":9.86085606,"cg_iv_a":-177.706833,"cg_iw_a":167.845978,"cg_sample_age_us":23.9509087,"cg_sample_seq":6980367,"cg_sample_valid":1,"cg_theta_rad":5.77014208,"cg_vd_req_v":-1.82625759,"cg_vd_v":-1.82625759,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34383965,"cg_vq_v":-8.34383965,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2481.51025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0723572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1123.071362,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1123.071367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1123.071372,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1123.251343,"values":{"Elec_RPM":-2349.03662,"EncoderCos":52360,"EncoderSin":33384,"GapTicks":49775,"Mech_RPM":-469.807343,"cg_du":54.7499924,"cg_dv":53.2308044,"cg_dw":45.2500076,"cg_id_a":8.89321709,"cg_id_raw_a":8.76371384,"cg_iq_a":-206.782867,"cg_iq_raw_a":-204.871262,"cg_iu_a":31.280962,"cg_iv_a":159.32457,"cg_iw_a":-190.60553,"cg_sample_age_us":23.51091,"cg_sample_seq":6982068,"cg_sample_valid":1,"cg_theta_rad":0.0541216843,"cg_vd_req_v":-2.14926171,"cg_vd_v":-2.14926171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25272751,"cg_vq_v":-8.25272751,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1123.604858,"values":{"Elec_RPM":-2340.79395,"EncoderCos":52248,"EncoderSin":34813,"GapTicks":49645,"Mech_RPM":-468.158783,"cg_du":52.9689369,"cg_dv":54.8672829,"cg_dw":45.1327171,"cg_id_a":-7.57848263,"cg_id_raw_a":-0.933950067,"cg_iq_a":-199.710815,"cg_iq_raw_a":-200.586777,"cg_iu_a":-1.04853773,"cg_iv_a":174.1483,"cg_iw_a":-173.099762,"cg_sample_age_us":23.3945446,"cg_sample_seq":6983816,"cg_sample_valid":1,"cg_theta_rad":0.106898703,"cg_vd_req_v":-1.92237318,"cg_vd_v":-1.92237318,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37966919,"cg_vq_v":-8.37966919,"cg_vu_v":42.6695786,"cg_vv_v":71.2625961,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2381.54517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1123.934937,"values":{"Elec_RPM":-2346.11914,"EncoderCos":29181,"EncoderSin":52266,"GapTicks":50022,"Mech_RPM":-469.223816,"cg_du":45.4750252,"cg_dv":54.2458382,"cg_dw":54.5249748,"cg_id_a":10.5743456,"cg_id_raw_a":10.9233532,"cg_iq_a":-200.737488,"cg_iq_raw_a":-199.207535,"cg_iu_a":-181.035416,"cg_iv_a":14.2404938,"cg_iw_a":166.794922,"cg_sample_age_us":23.863636,"cg_sample_seq":6985417,"cg_sample_valid":1,"cg_theta_rad":1.74899995,"cg_vd_req_v":-2.07560492,"cg_vd_v":-2.07560492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34594917,"cg_vq_v":-8.34594917,"cg_vu_v":127.12896,"cg_vv_v":131.087982,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1124.06293,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1124.062937,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1124.062942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1124.268921,"values":{"Elec_RPM":-2346.4751,"EncoderCos":19055,"EncoderSin":47132,"GapTicks":49545,"Mech_RPM":-469.295044,"cg_du":54.9584351,"cg_dv":45.0415649,"cg_dw":47.3415108,"cg_id_a":13.3326855,"cg_id_raw_a":11.6281528,"cg_iq_a":-201.520859,"cg_iq_raw_a":-200.635483,"cg_iu_a":197.024017,"cg_iv_a":-64.2998962,"cg_iw_a":-132.724121,"cg_sample_age_us":23.8963642,"cg_sample_seq":6987116,"cg_sample_valid":1,"cg_theta_rad":2.32459784,"cg_vd_req_v":-2.20121813,"cg_vd_v":-2.20121813,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36292648,"cg_vq_v":-8.36292648,"cg_vu_v":28.1531239,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2474.31494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1124.620483,"values":{"Elec_RPM":-2348.19238,"EncoderCos":13403,"EncoderSin":37626,"GapTicks":49299,"Mech_RPM":-469.638458,"cg_du":44.8177643,"cg_dv":55.1822357,"cg_dw":50.3777275,"cg_id_a":-8.51483059,"cg_id_raw_a":-11.0702066,"cg_iq_a":-194.912766,"cg_iq_raw_a":-194.623428,"cg_iu_a":-192.415985,"cg_iv_a":121.703461,"cg_iw_a":70.7125244,"cg_sample_age_us":23.9363632,"cg_sample_seq":6988817,"cg_sample_valid":1,"cg_theta_rad":2.90337014,"cg_vd_req_v":-1.69954348,"cg_vd_v":-1.69954348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52650356,"cg_vq_v":-8.52650356,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2459.93896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1124.952515,"values":{"Elec_RPM":-2350.0957,"EncoderCos":13932,"EncoderSin":26293,"GapTicks":49430,"Mech_RPM":-470.019135,"cg_du":55.0633469,"cg_dv":44.9366531,"cg_dw":51.7101746,"cg_id_a":-12.1441269,"cg_id_raw_a":-8.77434921,"cg_iq_a":-195.782501,"cg_iq_raw_a":-196.652939,"cg_iu_a":176.292542,"cg_iv_a":-162.013275,"cg_iw_a":-14.279274,"cg_sample_age_us":23.9836369,"cg_sample_seq":6990517,"cg_sample_valid":1,"cg_theta_rad":3.47957492,"cg_vd_req_v":-1.62608206,"cg_vd_v":-1.62608206,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46617699,"cg_vq_v":-8.46617699,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-18.047678,"dclink_p_w":-2611.94409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1125.055036,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1125.055042,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1125.055048,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1125.286499,"values":{"Elec_RPM":-2353.07666,"EncoderCos":20480,"EncoderSin":16919,"GapTicks":49948,"Mech_RPM":-470.615326,"cg_du":45.4080963,"cg_dv":54.5919037,"cg_dw":46.003418,"cg_id_a":9.71840858,"cg_id_raw_a":13.5624437,"cg_iq_a":-205.056793,"cg_iq_raw_a":-206.307693,"cg_iu_a":-172.445618,"cg_iv_a":179.766083,"cg_iw_a":-15.2578583,"cg_sample_age_us":23.9363632,"cg_sample_seq":6992216,"cg_sample_valid":1,"cg_theta_rad":4.06135178,"cg_vd_req_v":-2.08763361,"cg_vd_v":-2.08763361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30353546,"cg_vq_v":-8.30353546,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.6486645,"dclink_p_w":-2402.14844,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1125.638062,"values":{"Elec_RPM":-2353.2229,"EncoderCos":31087,"EncoderSin":12958,"GapTicks":49586,"Mech_RPM":-470.644562,"cg_du":52.9582291,"cg_dv":45.0789948,"cg_dw":54.9210052,"cg_id_a":12.2423391,"cg_id_raw_a":8.22837925,"cg_iq_a":-199.416992,"cg_iq_raw_a":-198.85907,"cg_iu_a":134.82959,"cg_iv_a":-194.922653,"cg_iw_a":60.0930634,"cg_sample_age_us":23.6163635,"cg_sample_seq":6993916,"cg_sample_valid":1,"cg_theta_rad":4.63433695,"cg_vd_req_v":-2.18406606,"cg_vd_v":-2.18406606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42645073,"cg_vq_v":-8.42645073,"cg_vu_v":106.453995,"cg_vv_v":91.0577545,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.5562439,"dclink_p_w":-2396.09668,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1125.970093,"values":{"Elec_RPM":-2348.85718,"EncoderCos":42100,"EncoderSin":15237,"GapTicks":49383,"Mech_RPM":-469.771423,"cg_du":49.2560959,"cg_dv":55.1061478,"cg_dw":44.8938522,"cg_id_a":-12.8432293,"cg_id_raw_a":-18.1745319,"cg_iq_a":-198.548203,"cg_iq_raw_a":-197.626709,"cg_iu_a":-83.5032578,"cg_iv_a":199.19278,"cg_iw_a":-115.689522,"cg_sample_age_us":23.9690914,"cg_sample_seq":6995617,"cg_sample_valid":1,"cg_theta_rad":5.22007036,"cg_vd_req_v":-1.63050067,"cg_vd_v":-1.63050067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40653992,"cg_vq_v":-8.40653992,"cg_vu_v":24.1940918,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1126.079515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1126.079521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1126.079527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1126.323608,"values":{"Elec_RPM":-2346.52759,"EncoderCos":42598,"EncoderSin":15500,"GapTicks":49516,"Mech_RPM":-469.305511,"cg_du":47.8569603,"cg_dv":54.9849892,"cg_dw":45.0150108,"cg_id_a":-2.17285347,"cg_id_raw_a":-7.13554955,"cg_iq_a":-200.052841,"cg_iq_raw_a":-199.367004,"cg_iu_a":-121.668015,"cg_iv_a":199.66394,"cg_iw_a":-77.9959335,"cg_sample_age_us":23.9654541,"cg_sample_seq":6997367,"cg_sample_valid":1,"cg_theta_rad":5.24864244,"cg_vd_req_v":-1.95675874,"cg_vd_v":-1.95675874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35734272,"cg_vq_v":-8.35734272,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1126.65564,"values":{"Elec_RPM":-2343.14526,"EncoderCos":50418,"EncoderSin":24065,"GapTicks":49293,"Mech_RPM":-468.629059,"cg_du":50.6348419,"cg_dv":44.8124695,"cg_dw":55.1875305,"cg_id_a":-1.6089803,"cg_id_raw_a":-5.21490288,"cg_iq_a":-196.751221,"cg_iq_raw_a":-196.003616,"cg_iu_a":89.0536346,"cg_iv_a":-196.843597,"cg_iw_a":107.789963,"cg_sample_age_us":23.7399998,"cg_sample_seq":6999066,"cg_sample_valid":1,"cg_theta_rad":5.84258127,"cg_vd_req_v":-1.97104335,"cg_vd_v":-1.97104335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46421623,"cg_vq_v":-8.46421623,"cg_vu_v":12.3169918,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1126.989624,"values":{"Elec_RPM":-2346.43335,"EncoderCos":52188,"EncoderSin":35051,"GapTicks":49401,"Mech_RPM":-469.286652,"cg_du":51.7452507,"cg_dv":55.0892639,"cg_dw":44.9107361,"cg_id_a":-10.9914083,"cg_id_raw_a":-8.08027077,"cg_iq_a":-196.290024,"cg_iq_raw_a":-198.049255,"cg_iu_a":-18.2281151,"cg_iv_a":178.533783,"cg_iw_a":-160.305664,"cg_sample_age_us":23.4963627,"cg_sample_seq":7000766,"cg_sample_valid":1,"cg_theta_rad":0.129738033,"cg_vd_req_v":-1.72593606,"cg_vd_v":-1.72593606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49641895,"cg_vq_v":-8.49641895,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2488.34985,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1127.070789,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1127.070795,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1127.070801,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1127.341187,"values":{"Elec_RPM":-2345.60791,"EncoderCos":47743,"EncoderSin":45576,"GapTicks":49999,"Mech_RPM":-469.121582,"cg_du":46.0264969,"cg_dv":45.4539833,"cg_dw":54.5460167,"cg_id_a":9.68671989,"cg_id_raw_a":13.8628206,"cg_iq_a":-205.990021,"cg_iq_raw_a":-207.525208,"cg_iu_a":-8.04359818,"cg_iv_a":-173.393814,"cg_iw_a":181.437408,"cg_sample_age_us":23.5,"cg_sample_seq":7002466,"cg_sample_valid":1,"cg_theta_rad":0.712362289,"cg_vd_req_v":-2.11628127,"cg_vd_v":-2.11628127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26889229,"cg_vq_v":-8.26889229,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1127.673218,"values":{"Elec_RPM":-2349.05273,"EncoderCos":38306,"EncoderSin":51608,"GapTicks":49589,"Mech_RPM":-469.810547,"cg_du":54.9189796,"cg_dv":52.6153908,"cg_dw":45.0810204,"cg_id_a":12.6301041,"cg_id_raw_a":9.51176167,"cg_iq_a":-204.360672,"cg_iq_raw_a":-204.686584,"cg_iu_a":66.0387955,"cg_iv_a":133.337738,"cg_iw_a":-199.376526,"cg_sample_age_us":23.8090916,"cg_sample_seq":7004166,"cg_sample_valid":1,"cg_theta_rad":1.2766366,"cg_vd_req_v":-2.18003917,"cg_vd_v":-2.18003917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29091835,"cg_vq_v":-8.29091835,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1128.005249,"values":{"Elec_RPM":-2351.91748,"EncoderCos":18122,"EncoderSin":46172,"GapTicks":49869,"Mech_RPM":-470.383514,"cg_du":54.6644974,"cg_dv":46.0901794,"cg_dw":45.3355026,"cg_id_a":3.00666881,"cg_id_raw_a":9.11663532,"cg_iq_a":-198.767883,"cg_iq_raw_a":-201.061462,"cg_iu_a":174.842789,"cg_iv_a":-7.75952148,"cg_iw_a":-167.083267,"cg_sample_age_us":23.9618187,"cg_sample_seq":7005817,"cg_sample_valid":1,"cg_theta_rad":2.39174986,"cg_vd_req_v":-2.05154204,"cg_vd_v":-2.05154204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41330528,"cg_vq_v":-8.41330528,"cg_vu_v":106.014107,"cg_vv_v":91.9375458,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1128.094755,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1128.094762,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1128.094767,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1128.477905,"values":{"Elec_RPM":-2351.72778,"EncoderCos":36203,"EncoderSin":13160,"GapTicks":50024,"Mech_RPM":-470.345551,"cg_du":54.5232506,"cg_dv":45.6672821,"cg_dw":45.4767494,"cg_id_a":5.09387207,"cg_id_raw_a":6.34222126,"cg_iq_a":-200.273239,"cg_iq_raw_a":-199.118713,"cg_iu_a":160.272766,"cg_iv_a":14.675415,"cg_iw_a":-174.948181,"cg_sample_age_us":23.9690914,"cg_sample_seq":7007922,"cg_sample_valid":1,"cg_theta_rad":4.94419909,"cg_vd_req_v":-2.07333899,"cg_vd_v":-2.07333899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38537407,"cg_vq_v":-8.38537407,"cg_vu_v":140.765625,"cg_vv_v":139.445938,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2398.19482,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1128.958674,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1128.958683,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1128.958686,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1128.997437,"values":{"Elec_RPM":-2344.60962,"EncoderCos":31974,"EncoderSin":52508,"GapTicks":49337,"Mech_RPM":-468.921906,"cg_du":44.8523102,"cg_dv":55.1476898,"cg_dw":49.0022812,"cg_id_a":-8.80319881,"cg_id_raw_a":-8.64530277,"cg_iq_a":-195.978912,"cg_iq_raw_a":-196.654343,"cg_iu_a":-184.877258,"cg_iv_a":147.110382,"cg_iw_a":37.7668762,"cg_sample_age_us":23.863636,"cg_sample_seq":7010566,"cg_sample_valid":1,"cg_theta_rad":1.60777068,"cg_vd_req_v":-1.70149696,"cg_vd_v":-1.70149696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48730755,"cg_vq_v":-8.48730755,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2468.35693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1129.055371,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1129.055377,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1129.055382,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1129.352905,"values":{"Elec_RPM":-2348.72119,"EncoderCos":52404,"EncoderSin":32580,"GapTicks":49406,"Mech_RPM":-469.744263,"cg_du":55.0847664,"cg_dv":51.2225723,"cg_dw":44.9152336,"cg_id_a":-0.485985518,"cg_id_raw_a":-5.62681675,"cg_iq_a":-204.203949,"cg_iq_raw_a":-200.607697,"cg_iu_a":54.4045258,"cg_iv_a":146.421768,"cg_iw_a":-200.826294,"cg_sample_age_us":24.0527267,"cg_sample_seq":7012469,"cg_sample_valid":1,"cg_theta_rad":0.0338680409,"cg_vd_req_v":-1.97459102,"cg_vd_v":-1.97459102,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30261803,"cg_vq_v":-8.30261803,"cg_vu_v":41.7897949,"cg_vv_v":53.2269974,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.2753544,"dclink_p_w":-2348.28564,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1129.682983,"values":{"Elec_RPM":-2353.17285,"EncoderCos":52308,"EncoderSin":33946,"GapTicks":50044,"Mech_RPM":-470.634583,"cg_du":54.5046577,"cg_dv":54.370594,"cg_dw":45.4953423,"cg_id_a":12.9311247,"cg_id_raw_a":16.209013,"cg_iq_a":-204.104904,"cg_iq_raw_a":-204.824051,"cg_iu_a":20.8427372,"cg_iv_a":165.341034,"cg_iw_a":-186.183777,"cg_sample_age_us":23.3945446,"cg_sample_seq":7014216,"cg_sample_valid":1,"cg_theta_rad":0.0632884726,"cg_vd_req_v":-2.22267032,"cg_vd_v":-2.22267032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33733368,"cg_vq_v":-8.33733368,"cg_vu_v":106.014107,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2363.8374,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.1973267,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1130.016968,"values":{"Elec_RPM":-2348.55322,"EncoderCos":48536,"EncoderSin":44560,"GapTicks":49473,"Mech_RPM":-469.710663,"cg_du":44.9759064,"cg_dv":47.8317986,"cg_dw":55.0240936,"cg_id_a":14.1017323,"cg_id_raw_a":14.8081427,"cg_iq_a":-199.622528,"cg_iq_raw_a":-200.531708,"cg_iu_a":-59.5460815,"cg_iv_a":-135.700241,"cg_iw_a":195.246323,"cg_sample_age_us":23.5145454,"cg_sample_seq":7015917,"cg_sample_valid":1,"cg_theta_rad":0.648146212,"cg_vd_req_v":-2.24956131,"cg_vd_v":-2.24956131,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38233185,"cg_vq_v":-8.38233185,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.425766,"dclink_p_w":-2377.21338,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1130.047356,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1130.047362,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1130.047367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1130.36853,"values":{"Elec_RPM":-2347.80518,"EncoderCos":29168,"EncoderSin":52236,"GapTicks":49979,"Mech_RPM":-469.561035,"cg_du":45.4356575,"cg_dv":54.2410431,"cg_dw":54.5643425,"cg_id_a":10.7449713,"cg_id_raw_a":12.1907225,"cg_iq_a":-200.770081,"cg_iq_raw_a":-198.640518,"cg_iu_a":-180.056824,"cg_iv_a":13.2619019,"cg_iw_a":166.794922,"cg_sample_age_us":23.8563633,"cg_sample_seq":7017567,"cg_sample_valid":1,"cg_theta_rad":1.75340927,"cg_vd_req_v":-2.08595991,"cg_vd_v":-2.08595991,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37367535,"cg_vq_v":-8.37367535,"cg_vu_v":104.254532,"cg_vv_v":104.254532,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2388.0293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1130.702515,"values":{"Elec_RPM":-2355.78174,"EncoderCos":28385,"EncoderSin":52122,"GapTicks":49534,"Mech_RPM":-471.156372,"cg_du":45.0310135,"cg_dv":52.2175827,"cg_dw":54.9689865,"cg_id_a":-6.73412132,"cg_id_raw_a":-3.39630461,"cg_iq_a":-200.933899,"cg_iq_raw_a":-200.80838,"cg_iu_a":-167.262756,"cg_iv_a":-9.42672729,"cg_iw_a":176.689484,"cg_sample_age_us":23.8854542,"cg_sample_seq":7019317,"cg_sample_valid":1,"cg_theta_rad":1.79194438,"cg_vd_req_v":-1.72884691,"cg_vd_v":-1.72884691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39898872,"cg_vq_v":-8.39898872,"cg_vu_v":98.5359344,"cg_vv_v":98.5359344,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.4583855,"dclink_p_w":-2381.93408,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1131.034546,"values":{"Elec_RPM":-2354.30371,"EncoderCos":13397,"EncoderSin":37345,"GapTicks":49359,"Mech_RPM":-470.860748,"cg_du":44.8724022,"cg_dv":55.1275978,"cg_dw":50.9613876,"cg_id_a":-7.54667187,"cg_id_raw_a":-10.6679659,"cg_iq_a":-196.994644,"cg_iq_raw_a":-196.152451,"cg_iu_a":-194.808075,"cg_iv_a":115.070839,"cg_iw_a":74.4818878,"cg_sample_age_us":23.9436359,"cg_sample_seq":7020967,"cg_sample_valid":1,"cg_theta_rad":2.91095185,"cg_vd_req_v":-1.71053648,"cg_vd_v":-1.71053648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44752884,"cg_vq_v":-8.44752884,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1131.070986,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1131.070992,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1131.070997,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1131.386108,"values":{"Elec_RPM":-2354.30933,"EncoderCos":19794,"EncoderSin":17441,"GapTicks":49692,"Mech_RPM":-470.861847,"cg_du":46.915184,"cg_dv":54.825161,"cg_dw":45.174839,"cg_id_a":12.9367332,"cg_id_raw_a":10.9149923,"cg_iq_a":-205.507782,"cg_iq_raw_a":-204.115051,"cg_iu_a":-153.308884,"cg_iv_a":197.743027,"cg_iw_a":-44.4341431,"cg_sample_age_us":23.9654541,"cg_sample_seq":7022617,"cg_sample_valid":1,"cg_theta_rad":4.01871347,"cg_vd_req_v":-2.18231869,"cg_vd_v":-2.18231869,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28659439,"cg_vq_v":-8.28659439,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.0886974,"dclink_p_w":-2321.35376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1131.720093,"values":{"Elec_RPM":-2354.19824,"EncoderCos":14278,"EncoderSin":25273,"GapTicks":49348,"Mech_RPM":-470.839661,"cg_du":55.1379395,"cg_dv":44.8620605,"cg_dw":49.3523369,"cg_id_a":-11.9396143,"cg_id_raw_a":-15.3889761,"cg_iq_a":-197.175201,"cg_iq_raw_a":-197.054855,"cg_iu_a":195.864212,"cg_iv_a":-133.960541,"cg_iw_a":-58.5692368,"cg_sample_age_us":24.0745449,"cg_sample_seq":7024416,"cg_sample_valid":1,"cg_theta_rad":3.52938437,"cg_vd_req_v":-1.67981076,"cg_vd_v":-1.67981076,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44342804,"cg_vq_v":-8.44342804,"cg_vu_v":18.4754887,"cg_vv_v":8.35795879,"cg_vw_v":37.3908691,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2523.21021,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1132.052124,"values":{"Elec_RPM":-2352.72998,"EncoderCos":41551,"EncoderSin":14946,"GapTicks":49348,"Mech_RPM":-470.54599,"cg_du":50.0648422,"cg_dv":55.1374359,"cg_dw":44.8625641,"cg_id_a":-20.0217857,"cg_id_raw_a":-20.0646839,"cg_iq_a":-195.40506,"cg_iq_raw_a":-195.310577,"cg_iu_a":-33.6317444,"cg_iv_a":183.970367,"cg_iw_a":-150.338623,"cg_sample_age_us":23.8527279,"cg_sample_seq":7026016,"cg_sample_valid":1,"cg_theta_rad":5.18001223,"cg_vd_req_v":-1.55149448,"cg_vd_v":-1.55149448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44423866,"cg_vq_v":-8.44423866,"cg_vu_v":104.694435,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6649761,"dclink_p_w":-2411.83301,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1132.062664,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1132.06267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1132.062675,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1132.403687,"values":{"Elec_RPM":-2352.39111,"EncoderCos":31870,"EncoderSin":12878,"GapTicks":50055,"Mech_RPM":-470.478241,"cg_du":54.4954033,"cg_dv":45.5045967,"cg_dw":54.3681335,"cg_id_a":12.4216595,"cg_id_raw_a":16.6714306,"cg_iq_a":-201.18396,"cg_iq_raw_a":-201.233841,"cg_iu_a":167.594025,"cg_iv_a":-180.606354,"cg_iw_a":13.0123215,"cg_sample_age_us":24.1145458,"cg_sample_seq":7027817,"cg_sample_valid":1,"cg_theta_rad":4.68630695,"cg_vd_req_v":-2.14095402,"cg_vd_v":-2.14095402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34356308,"cg_vq_v":-8.34356308,"cg_vu_v":106.453995,"cg_vv_v":85.7790527,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1132.737671,"values":{"Elec_RPM":-2360.95337,"EncoderCos":52322,"EncoderSin":33640,"GapTicks":49850,"Mech_RPM":-472.190674,"cg_du":54.6811905,"cg_dv":53.7547531,"cg_dw":45.3188095,"cg_id_a":12.3210144,"cg_id_raw_a":12.3186741,"cg_iq_a":-204.231018,"cg_iq_raw_a":-206.190964,"cg_iu_a":28.4539413,"cg_iv_a":162.187836,"cg_iw_a":-190.641769,"cg_sample_age_us":23.48909,"cg_sample_seq":7029416,"cg_sample_valid":1,"cg_theta_rad":0.058073651,"cg_vd_req_v":-2.21488166,"cg_vd_v":-2.21488166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33163834,"cg_vq_v":-8.33163834,"cg_vu_v":47.9482918,"cg_vv_v":71.2625961,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1133.055024,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1133.05503,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1133.055035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1133.089233,"values":{"Elec_RPM":-2357.06348,"EncoderCos":50355,"EncoderSin":23940,"GapTicks":49289,"Mech_RPM":-471.41272,"cg_du":50.3887177,"cg_dv":44.8087616,"cg_dw":55.1912384,"cg_id_a":-4.95651293,"cg_id_raw_a":-8.64045715,"cg_iq_a":-197.453186,"cg_iq_raw_a":-196.275177,"cg_iu_a":79.8839417,"cg_iv_a":-196.879837,"cg_iw_a":116.995895,"cg_sample_age_us":23.7363644,"cg_sample_seq":7031217,"cg_sample_valid":1,"cg_theta_rad":5.83698988,"cg_vd_req_v":-1.89807415,"cg_vd_v":-1.89807415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47338295,"cg_vq_v":-8.47338295,"cg_vu_v":139.445938,"cg_vv_v":109.533249,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1133.423218,"values":{"Elec_RPM":-2353.85986,"EncoderCos":48222,"EncoderSin":44944,"GapTicks":49697,"Mech_RPM":-470.771973,"cg_du":45.1798553,"cg_dv":46.8695335,"cg_dw":54.8201447,"cg_id_a":18.10812,"cg_id_raw_a":16.2028408,"cg_iq_a":-203.470612,"cg_iq_raw_a":-201.266617,"cg_iu_a":-36.1325684,"cg_iv_a":-156.214249,"cg_iw_a":192.346817,"cg_sample_age_us":23.5363636,"cg_sample_seq":7032867,"cg_sample_valid":1,"cg_theta_rad":0.671943784,"cg_vd_req_v":-2.31240749,"cg_vd_v":-2.31240749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28615475,"cg_vq_v":-8.28615475,"cg_vu_v":96.3364716,"cg_vv_v":73.0221634,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-16.0615158,"dclink_p_w":-2317.43188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1133.753296,"values":{"Elec_RPM":-2357.75049,"EncoderCos":38941,"EncoderSin":51440,"GapTicks":49400,"Mech_RPM":-471.550079,"cg_du":55.0902328,"cg_dv":51.3501358,"cg_dw":44.9097672,"cg_id_a":3.58742142,"cg_id_raw_a":1.39551079,"cg_iq_a":-202.606339,"cg_iq_raw_a":-201.784805,"cg_iu_a":91.3732376,"cg_iv_a":113.367378,"cg_iw_a":-204.740616,"cg_sample_age_us":23.9036369,"cg_sample_seq":7034566,"cg_sample_valid":1,"cg_theta_rad":1.25325835,"cg_vd_req_v":-2.00907969,"cg_vd_v":-2.00907969,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34092522,"cg_vq_v":-8.34092522,"cg_vu_v":47.0685043,"cg_vv_v":57.1860352,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1134.079471,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1134.079478,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1134.079483,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1134.106812,"values":{"Elec_RPM":-2355.85718,"EncoderCos":27712,"EncoderSin":51939,"GapTicks":49358,"Mech_RPM":-471.171417,"cg_du":44.8711319,"cg_dv":50.5375595,"cg_dw":55.1288681,"cg_id_a":-13.5689507,"cg_id_raw_a":-9.21018505,"cg_iq_a":-198.794205,"cg_iq_raw_a":-200.366699,"cg_iu_a":-148.669678,"cg_iv_a":-41.4662781,"cg_iw_a":190.135956,"cg_sample_age_us":23.8709087,"cg_sample_seq":7036266,"cg_sample_valid":1,"cg_theta_rad":1.82777929,"cg_vd_req_v":-1.59613514,"cg_vd_v":-1.59613514,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43706131,"cg_vq_v":-8.43706131,"cg_vu_v":14.0765619,"cg_vv_v":9.23774433,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-16.3804607,"dclink_p_w":-2377.8623,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1134.440796,"values":{"Elec_RPM":-2350.41553,"EncoderCos":18032,"EncoderSin":46096,"GapTicks":49647,"Mech_RPM":-470.08313,"cg_du":54.8657532,"cg_dv":46.9831848,"cg_dw":45.1342468,"cg_id_a":0.54141593,"cg_id_raw_a":6.3059063,"cg_iq_a":-197.988068,"cg_iq_raw_a":-200.208267,"cg_iu_a":172.523193,"cg_iv_a":-4.28012085,"cg_iw_a":-168.243073,"cg_sample_age_us":23.8454552,"cg_sample_seq":7037966,"cg_sample_valid":1,"cg_theta_rad":2.39835715,"cg_vd_req_v":-1.89657593,"cg_vd_v":-1.89657593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42578697,"cg_vq_v":-8.42578697,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6598682,"dclink_p_w":-2555.81836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1134.770874,"values":{"Elec_RPM":-2347.39722,"EncoderCos":17491,"EncoderSin":45476,"GapTicks":49371,"Mech_RPM":-469.479462,"cg_du":55.116497,"cg_dv":49.0361481,"cg_dw":44.883503,"cg_id_a":-11.7937469,"cg_id_raw_a":-11.389082,"cg_iq_a":-196.499786,"cg_iq_raw_a":-198.114059,"cg_iu_a":149.943268,"cg_iv_a":37.3278198,"cg_iw_a":-187.271088,"cg_sample_age_us":23.9363632,"cg_sample_seq":7039716,"cg_sample_valid":1,"cg_theta_rad":2.44990063,"cg_vd_req_v":-1.65560532,"cg_vd_v":-1.65560532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43993759,"cg_vq_v":-8.43993759,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1135.071662,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1135.071668,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1135.071673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1135.12439,"values":{"Elec_RPM":-2350.12109,"EncoderCos":21068,"EncoderSin":16526,"GapTicks":49490,"Mech_RPM":-470.0242,"cg_du":44.9914246,"cg_dv":55.0085754,"cg_dw":47.8535156,"cg_id_a":-7.88870907,"cg_id_raw_a":-3.68562627,"cg_iq_a":-198.366898,"cg_iq_raw_a":-199.671082,"cg_iu_a":-176.649902,"cg_iv_a":165.123566,"cg_iw_a":11.526329,"cg_sample_age_us":23.9254551,"cg_sample_seq":7041316,"cg_sample_valid":1,"cg_theta_rad":4.09856319,"cg_vd_req_v":-1.7237016,"cg_vd_v":-1.7237016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44836998,"cg_vq_v":-8.44836998,"cg_vu_v":39.1504402,"cg_vv_v":71.7024918,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2400.84131,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1135.456421,"values":{"Elec_RPM":-2349.57764,"EncoderCos":14777,"EncoderSin":24074,"GapTicks":49628,"Mech_RPM":-469.915527,"cg_du":54.8834229,"cg_dv":45.1165771,"cg_dw":47.0511627,"cg_id_a":16.5207558,"cg_id_raw_a":15.719099,"cg_iq_a":-200.834381,"cg_iq_raw_a":-201.138687,"cg_iu_a":194.124512,"cg_iv_a":-53.3180084,"cg_iw_a":-140.806503,"cg_sample_age_us":23.9872723,"cg_sample_seq":7043116,"cg_sample_valid":1,"cg_theta_rad":3.58927941,"cg_vd_req_v":-2.24011302,"cg_vd_v":-2.24011302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37443447,"cg_vq_v":-8.37443447,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1135.788452,"values":{"Elec_RPM":-2352.20752,"EncoderCos":42535,"EncoderSin":15477,"GapTicks":49490,"Mech_RPM":-470.441498,"cg_du":48.0037079,"cg_dv":55.0090637,"cg_dw":44.9909363,"cg_id_a":-2.16162705,"cg_id_raw_a":-7.97849321,"cg_iq_a":-201.319687,"cg_iq_raw_a":-201.030685,"cg_iu_a":-118.551048,"cg_iv_a":200.932495,"cg_iw_a":-82.3814392,"cg_sample_age_us":23.9581814,"cg_sample_seq":7044716,"cg_sample_valid":1,"cg_theta_rad":5.24392939,"cg_vd_req_v":-1.96080053,"cg_vd_v":-1.96080053,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3627634,"cg_vq_v":-8.3627634,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2497.58594,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1136.063172,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1136.063178,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1136.063183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1136.141968,"values":{"Elec_RPM":-2346.94409,"EncoderCos":33239,"EncoderSin":12902,"GapTicks":49351,"Mech_RPM":-469.388824,"cg_du":55.134697,"cg_dv":44.865303,"cg_dw":50.8398476,"cg_id_a":-17.6867638,"cg_id_raw_a":-14.9298306,"cg_iq_a":-195.276581,"cg_iq_raw_a":-196.250778,"cg_iu_a":181.547897,"cg_iv_a":-153.71344,"cg_iw_a":-27.834465,"cg_sample_age_us":24.0636368,"cg_sample_seq":7046516,"cg_sample_valid":1,"cg_theta_rad":4.75253439,"cg_vd_req_v":-1.55257297,"cg_vd_v":-1.55257297,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47796249,"cg_vq_v":-8.47796249,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4312019,"dclink_p_w":-2370.77197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0048523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1136.473999,"values":{"Elec_RPM":-2348.68774,"EncoderCos":52202,"EncoderSin":34989,"GapTicks":49464,"Mech_RPM":-469.737549,"cg_du":51.8808975,"cg_dv":55.0324402,"cg_dw":44.9675598,"cg_id_a":-10.9496479,"cg_id_raw_a":-7.33546495,"cg_iq_a":-196.252548,"cg_iq_raw_a":-199.114273,"cg_iu_a":-14.5312433,"cg_iv_a":177.265259,"cg_iw_a":-162.734009,"cg_sample_age_us":23.5145454,"cg_sample_seq":7048116,"cg_sample_valid":1,"cg_theta_rad":0.125069425,"cg_vd_req_v":-1.72636473,"cg_vd_v":-1.72636473,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4551754,"cg_vq_v":-8.4551754,"cg_vu_v":41.3499031,"cg_vv_v":70.3828125,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.5562439,"dclink_p_w":-2388.81372,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1136.825562,"values":{"Elec_RPM":-2343.84424,"EncoderCos":50997,"EncoderSin":25400,"GapTicks":49733,"Mech_RPM":-468.76886,"cg_du":53.4242096,"cg_dv":45.2124977,"cg_dw":54.7875023,"cg_id_a":19.4635124,"cg_id_raw_a":19.1453419,"cg_iq_a":-202.130539,"cg_iq_raw_a":-200.916626,"cg_iu_a":161.215103,"cg_iv_a":-188.253799,"cg_iw_a":27.0386963,"cg_sample_age_us":23.7581825,"cg_sample_seq":7049916,"cg_sample_valid":1,"cg_theta_rad":5.91411495,"cg_vd_req_v":-2.34946132,"cg_vd_v":-2.34946132,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3309145,"cg_vq_v":-8.3309145,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.0652466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1137.087515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1137.08752,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1137.087526,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1137.159546,"values":{"Elec_RPM":-2345.76465,"EncoderCos":38514,"EncoderSin":51554,"GapTicks":49501,"Mech_RPM":-469.152924,"cg_du":54.9983292,"cg_dv":52.2442436,"cg_dw":45.0016708,"cg_id_a":8.62681007,"cg_id_raw_a":5.82714462,"cg_iq_a":-202.53685,"cg_iq_raw_a":-205.294403,"cg_iu_a":66.5824585,"cg_iv_a":119.67379,"cg_iw_a":-199.630219,"cg_sample_age_us":23.8963642,"cg_sample_seq":7051516,"cg_sample_valid":1,"cg_theta_rad":1.27224195,"cg_vd_req_v":-2.10837436,"cg_vd_v":-2.10837436,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36744499,"cg_vq_v":-8.36744499,"cg_vu_v":24.1940918,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2423.63477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1137.491577,"values":{"Elec_RPM":-2341.19556,"EncoderCos":47007,"EncoderSin":46410,"GapTicks":49353,"Mech_RPM":-468.239105,"cg_du":48.8586693,"cg_dv":44.8665886,"cg_dw":55.1334114,"cg_id_a":-15.6036034,"cg_id_raw_a":-13.11063,"cg_iq_a":-198.464127,"cg_iq_raw_a":-200.063126,"cg_iu_a":26.6417503,"cg_iv_a":-182.599762,"cg_iw_a":162.953064,"cg_sample_age_us":23.7072735,"cg_sample_seq":7053317,"cg_sample_valid":1,"cg_theta_rad":0.768967807,"cg_vd_req_v":-1.63321936,"cg_vd_v":-1.63321936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46664619,"cg_vq_v":-8.46664619,"cg_vu_v":125.369385,"cg_vv_v":127.568848,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2444.68091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1137.84314,"values":{"Elec_RPM":-2340.979,"EncoderCos":18301,"EncoderSin":46364,"GapTicks":49938,"Mech_RPM":-468.195801,"cg_du":54.601223,"cg_dv":45.9704857,"cg_dw":45.398777,"cg_id_a":9.91233444,"cg_id_raw_a":14.8719826,"cg_iq_a":-202.085571,"cg_iq_raw_a":-204.525452,"cg_iu_a":164.368317,"cg_iv_a":10.1449432,"cg_iw_a":-174.51326,"cg_sample_age_us":26.8563633,"cg_sample_seq":7054920,"cg_sample_valid":1,"cg_theta_rad":2.42346168,"cg_vd_req_v":-2.09148669,"cg_vd_v":-2.09148669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33156013,"cg_vq_v":-8.33156013,"cg_vu_v":140.765625,"cg_vv_v":124.489601,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2435.35571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1138.078963,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1138.078968,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1138.078973,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1138.198608,"values":{"Elec_RPM":-2340.38867,"EncoderCos":25750,"EncoderSin":51361,"GapTicks":49770,"Mech_RPM":-468.077728,"cg_du":45.2455788,"cg_dv":46.6448212,"cg_dw":54.7544212,"cg_id_a":13.268714,"cg_id_raw_a":10.8746643,"cg_iq_a":-203.484756,"cg_iq_raw_a":-203.507828,"cg_iu_a":-49.2528381,"cg_iv_a":-146.138458,"cg_iw_a":195.391296,"cg_sample_age_us":23.7654552,"cg_sample_seq":7056716,"cg_sample_valid":1,"cg_theta_rad":1.92231059,"cg_vd_req_v":-2.1701324,"cg_vd_v":-2.1701324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30044746,"cg_vq_v":-8.30044746,"cg_vu_v":38.2706528,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2476.40674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5003,"hz_app_loop":2604,"hz_tim_isr":5003,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1138.71814,"values":{"Elec_RPM":-2340.53003,"EncoderCos":44960,"EncoderSin":17218,"GapTicks":49320,"Mech_RPM":-468.106018,"cg_du":44.8366966,"cg_dv":55.1633034,"cg_dw":49.6657753,"cg_id_a":-14.0277939,"cg_id_raw_a":-14.6434412,"cg_iq_a":-197.601196,"cg_iq_raw_a":-197.677597,"cg_iu_a":-191.981049,"cg_iv_a":139.825378,"cg_iw_a":36.2808762,"cg_sample_age_us":23.9145451,"cg_sample_seq":7059316,"cg_sample_valid":1,"cg_theta_rad":5.39476252,"cg_vd_req_v":-1.72619069,"cg_vd_v":-1.72619069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46030521,"cg_vq_v":-8.46030521,"cg_vu_v":38.2706528,"cg_vv_v":61.5849609,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-15.8839207,"dclink_p_w":-2291.80762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5003,"hz_app_loop":2604,"hz_tim_isr":5003,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1138.942862,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1138.942874,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1138.942877,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1139.102609,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1139.102615,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1139.10262,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1139.171265,"values":{"Elec_RPM":-2337.81079,"EncoderCos":48958,"EncoderSin":43944,"GapTicks":49360,"Mech_RPM":-467.562164,"cg_du":44.8735619,"cg_dv":49.1508255,"cg_dw":55.1264381,"cg_id_a":-3.13542128,"cg_id_raw_a":-7.44333363,"cg_iq_a":-198.599335,"cg_iq_raw_a":-199.678757,"cg_iu_a":-106.518097,"cg_iv_a":-77.6376343,"cg_iw_a":196.804825,"cg_sample_age_us":23.4854546,"cg_sample_seq":7061516,"cg_sample_valid":1,"cg_theta_rad":0.608382523,"cg_vd_req_v":-1.90895247,"cg_vd_v":-1.90895247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39167881,"cg_vq_v":-8.39167881,"cg_vu_v":18.9153805,"cg_vv_v":9.23774433,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-17.7939701,"dclink_p_w":-2567.39868,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2607,"hz_tim_isr":4997,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1139.503296,"values":{"Elec_RPM":-2339.97412,"EncoderCos":48689,"EncoderSin":44388,"GapTicks":49407,"Mech_RPM":-467.994843,"cg_du":44.9160614,"cg_dv":48.2439842,"cg_dw":55.0839386,"cg_id_a":8.72112846,"cg_id_raw_a":3.73140693,"cg_iq_a":-200.240601,"cg_iq_raw_a":-197.285522,"cg_iu_a":-73.5724487,"cg_iv_a":-124.972076,"cg_iw_a":198.544525,"cg_sample_age_us":23.5400009,"cg_sample_seq":7063267,"cg_sample_valid":1,"cg_theta_rad":0.637228251,"cg_vd_req_v":-2.15555072,"cg_vd_v":-2.15555072,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36359978,"cg_vq_v":-8.36359978,"cg_vu_v":112.172607,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2399.01099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2607,"hz_tim_isr":4997,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1292725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1139.854858,"values":{"Elec_RPM":-2340.00342,"EncoderCos":52140,"EncoderSin":35402,"GapTicks":49373,"Mech_RPM":-468.000702,"cg_du":50.8738937,"cg_dv":55.1145706,"cg_dw":44.8854294,"cg_id_a":-15.8885555,"cg_id_raw_a":-14.2588692,"cg_iq_a":-197.261749,"cg_iq_raw_a":-197.721298,"cg_iu_a":-30.1885796,"cg_iv_a":184.224075,"cg_iw_a":-154.035492,"cg_sample_age_us":23.5145454,"cg_sample_seq":7065066,"cg_sample_valid":1,"cg_theta_rad":0.143887088,"cg_vd_req_v":-1.64730477,"cg_vd_v":-1.64730477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42917442,"cg_vq_v":-8.42917442,"cg_vu_v":4.83881807,"cg_vv_v":4.39892578,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5689297,"dclink_p_w":-2397.93262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2607,"hz_tim_isr":4997,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1140.062945,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1140.062951,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1140.062957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1140.188843,"values":{"Elec_RPM":-2343.48608,"EncoderCos":28531,"EncoderSin":52121,"GapTicks":49589,"Mech_RPM":-468.697235,"cg_du":45.0810051,"cg_dv":52.6063042,"cg_dw":54.9189949,"cg_id_a":-2.3427,"cg_id_raw_a":2.19935584,"cg_iq_a":-199.628632,"cg_iq_raw_a":-199.794586,"cg_iu_a":-169.111206,"cg_iv_a":-3.62771606,"cg_iw_a":172.738922,"cg_sample_age_us":23.8927269,"cg_sample_seq":7066667,"cg_sample_valid":1,"cg_theta_rad":1.78328598,"cg_vd_req_v":-1.80979872,"cg_vd_v":-1.80979872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4036665,"cg_vq_v":-8.4036665,"cg_vu_v":118.3311,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1140.518921,"values":{"Elec_RPM":-2344.9541,"EncoderCos":37983,"EncoderSin":51724,"GapTicks":49741,"Mech_RPM":-468.990814,"cg_du":54.7804718,"cg_dv":53.322216,"cg_dw":45.2195282,"cg_id_a":15.1894493,"cg_id_raw_a":15.0539846,"cg_iq_a":-204.149399,"cg_iq_raw_a":-205.006866,"cg_iu_a":35.3040276,"cg_iv_a":156.787491,"cg_iw_a":-192.091522,"cg_sample_age_us":23.8090916,"cg_sample_seq":7068466,"cg_sample_valid":1,"cg_theta_rad":1.30377221,"cg_vd_req_v":-2.21386862,"cg_vd_v":-2.21386862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31832123,"cg_vq_v":-8.31832123,"cg_vu_v":29.4728031,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1140.872437,"values":{"Elec_RPM":-2351.55786,"EncoderCos":13395,"EncoderSin":37470,"GapTicks":49318,"Mech_RPM":-470.311584,"cg_du":44.8349075,"cg_dv":55.1650925,"cg_dw":50.6587372,"cg_id_a":-6.55207109,"cg_id_raw_a":-6.68895721,"cg_iq_a":-197.77713,"cg_iq_raw_a":-198.011383,"cg_iu_a":-198.35997,"cg_iv_a":84.0098724,"cg_iw_a":114.350098,"cg_sample_age_us":23.8527279,"cg_sample_seq":7070070,"cg_sample_valid":1,"cg_theta_rad":2.94055009,"cg_vd_req_v":-1.74563694,"cg_vd_v":-1.74563694,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45020962,"cg_vq_v":-8.45020962,"cg_vu_v":126.249161,"cg_vv_v":134.607132,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.4022064,"dclink_p_w":-2366.58838,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1141.055736,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1141.055741,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1141.055747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1141.204468,"values":{"Elec_RPM":-2352.14648,"EncoderCos":17450,"EncoderSin":45448,"GapTicks":49339,"Mech_RPM":-470.429291,"cg_du":55.1455612,"cg_dv":49.0969353,"cg_dw":44.8544388,"cg_id_a":-10.4648581,"cg_id_raw_a":-10.9064083,"cg_iq_a":-197.385834,"cg_iq_raw_a":-198.378128,"cg_iu_a":148.022354,"cg_iv_a":43.3080444,"cg_iw_a":-191.330399,"cg_sample_age_us":23.954546,"cg_sample_seq":7071866,"cg_sample_valid":1,"cg_theta_rad":2.44929075,"cg_vd_req_v":-1.69760859,"cg_vd_v":-1.69760859,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44781303,"cg_vq_v":-8.44781303,"cg_vu_v":32.5520515,"cg_vv_v":14.5164547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1141.538452,"values":{"Elec_RPM":-2351.26343,"EncoderCos":21017,"EncoderSin":16604,"GapTicks":49554,"Mech_RPM":-470.252686,"cg_du":45.0494652,"cg_dv":54.9505348,"cg_dw":47.687149,"cg_id_a":-8.47222614,"cg_id_raw_a":-0.664402664,"cg_iq_a":-198.932037,"cg_iq_raw_a":-200.647522,"cg_iu_a":-172.989288,"cg_iv_a":169.509094,"cg_iw_a":3.48019409,"cg_sample_age_us":23.9472733,"cg_sample_seq":7073467,"cg_sample_valid":1,"cg_theta_rad":4.09455776,"cg_vd_req_v":-1.7040894,"cg_vd_v":-1.7040894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39753437,"cg_vq_v":-8.39753437,"cg_vu_v":101.615181,"cg_vv_v":104.694435,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2507.52173,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1141.891968,"values":{"Elec_RPM":-2351.14453,"EncoderCos":14795,"EncoderSin":24114,"GapTicks":49621,"Mech_RPM":-470.228912,"cg_du":54.8895416,"cg_dv":45.1104584,"cg_dw":47.1095505,"cg_id_a":16.0226307,"cg_id_raw_a":12.0359564,"cg_iq_a":-200.87738,"cg_iq_raw_a":-198.436295,"cg_iu_a":192.638504,"cg_iv_a":-43.7858734,"cg_iw_a":-148.852631,"cg_sample_age_us":24.1109085,"cg_sample_seq":7075267,"cg_sample_valid":1,"cg_theta_rad":3.59576321,"cg_vd_req_v":-2.22597837,"cg_vd_v":-2.22597837,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34200764,"cg_vq_v":-8.34200764,"cg_vu_v":143.404984,"cg_vv_v":139.885834,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.2028656,"dclink_p_w":-2344.9541,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1142.078804,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1142.078809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1142.078815,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1142.222046,"values":{"Elec_RPM":-2351.0188,"EncoderCos":42518,"EncoderSin":15479,"GapTicks":49447,"Mech_RPM":-470.203766,"cg_du":48.0228424,"cg_dv":55.048111,"cg_dw":44.951889,"cg_id_a":-1.57003272,"cg_id_raw_a":-7.35503054,"cg_iq_a":-200.880646,"cg_iq_raw_a":-200.732452,"cg_iu_a":-119.384659,"cg_iv_a":200.678787,"cg_iw_a":-81.2941284,"cg_sample_age_us":23.9290905,"cg_sample_seq":7076867,"cg_sample_valid":1,"cg_theta_rad":5.24450922,"cg_vd_req_v":-1.9712739,"cg_vd_v":-1.9712739,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39443207,"cg_vq_v":-8.39443207,"cg_vu_v":123.60981,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1142.55603,"values":{"Elec_RPM":-2349.69287,"EncoderCos":50348,"EncoderSin":23896,"GapTicks":49284,"Mech_RPM":-469.938568,"cg_du":50.3050537,"cg_dv":44.8039093,"cg_dw":55.1960907,"cg_id_a":-4.98160553,"cg_id_raw_a":-9.59368134,"cg_iq_a":-195.195404,"cg_iq_raw_a":-194.037369,"cg_iu_a":75.3897095,"cg_iv_a":-193.944077,"cg_iw_a":128.920105,"cg_sample_age_us":23.772728,"cg_sample_seq":7078567,"cg_sample_valid":1,"cg_theta_rad":5.83045244,"cg_vd_req_v":-1.88931119,"cg_vd_v":-1.88931119,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48045444,"cg_vq_v":-8.48045444,"cg_vu_v":116.131638,"cg_vv_v":116.571533,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1142.907593,"values":{"Elec_RPM":-2349.61963,"EncoderCos":52212,"EncoderSin":34805,"GapTicks":49529,"Mech_RPM":-469.92392,"cg_du":52.3637581,"cg_dv":54.9730644,"cg_dw":45.0269356,"cg_id_a":-8.03242683,"cg_id_raw_a":-2.72839856,"cg_iq_a":-199.456757,"cg_iq_raw_a":-200.861465,"cg_iu_a":-6.59384441,"cg_iv_a":174.18454,"cg_iw_a":-167.590698,"cg_sample_age_us":23.5145454,"cg_sample_seq":7080267,"cg_sample_valid":1,"cg_theta_rad":0.118547045,"cg_vd_req_v":-1.79263198,"cg_vd_v":-1.79263198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4026289,"cg_vq_v":-8.4026289,"cg_vu_v":104.694435,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1143.071581,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1143.071586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1143.071592,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1143.239624,"values":{"Elec_RPM":-2348.5415,"EncoderCos":47834,"EncoderSin":45503,"GapTicks":50068,"Mech_RPM":-469.708282,"cg_du":45.7410355,"cg_dv":45.5169601,"cg_dw":54.4830399,"cg_id_a":11.4538183,"cg_id_raw_a":15.776721,"cg_iq_a":-207.72345,"cg_iq_raw_a":-208.392044,"cg_iu_a":-12.6828079,"cg_iv_a":-174.118713,"cg_iw_a":186.801514,"cg_sample_age_us":23.5363636,"cg_sample_seq":7081966,"cg_sample_valid":1,"cg_theta_rad":0.706533551,"cg_vd_req_v":-2.16402888,"cg_vd_v":-2.16402888,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26613617,"cg_vq_v":-8.26613617,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.6489944,"dclink_p_w":-2546.48096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1143.591187,"values":{"Elec_RPM":-2352.26709,"EncoderCos":39273,"EncoderSin":51326,"GapTicks":49378,"Mech_RPM":-470.4534,"cg_du":55.1107559,"cg_dv":50.7535095,"cg_dw":44.8892441,"cg_id_a":-4.1088171,"cg_id_raw_a":-8.08274746,"cg_iq_a":-197.77771,"cg_iq_raw_a":-195.202972,"cg_iu_a":62.8130951,"cg_iv_a":133.990128,"cg_iw_a":-196.803223,"cg_sample_age_us":23.8745461,"cg_sample_seq":7083671,"cg_sample_valid":1,"cg_theta_rad":1.276003,"cg_vd_req_v":-1.83786476,"cg_vd_v":-1.83786476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42564964,"cg_vq_v":-8.42564964,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2445.40332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":1143.925171,"values":{"Elec_RPM":-2350.27808,"EncoderCos":27139,"EncoderSin":51830,"GapTicks":49385,"Mech_RPM":-470.055603,"cg_du":44.8959694,"cg_dv":49.2794456,"cg_dw":55.1040306,"cg_id_a":-12.9726152,"cg_id_raw_a":-14.5502043,"cg_iq_a":-198.516312,"cg_iq_raw_a":-199.60553,"cg_iu_a":-123.588936,"cg_iv_a":-61.1466827,"cg_iw_a":193.434143,"cg_sample_age_us":23.7872734,"cg_sample_seq":7085366,"cg_sample_valid":1,"cg_theta_rad":1.85762715,"cg_vd_req_v":-1.63246775,"cg_vd_v":-1.63246775,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40067101,"cg_vq_v":-8.40067101,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.3681049,"dclink_p_w":-2505.95288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0741272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1144.063542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1144.063548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1144.063554,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1144.259155,"values":{"Elec_RPM":-2355.75098,"EncoderCos":17793,"EncoderSin":45808,"GapTicks":49450,"Mech_RPM":-471.150177,"cg_du":55.0452194,"cg_dv":47.9525414,"cg_dw":44.9547806,"cg_id_a":-7.82892084,"cg_id_raw_a":-5.74410725,"cg_iq_a":-197.800598,"cg_iq_raw_a":-197.129425,"cg_iu_a":163.607208,"cg_iv_a":11.6671753,"cg_iw_a":-175.274384,"cg_sample_age_us":23.8454552,"cg_sample_seq":7087067,"cg_sample_valid":1,"cg_theta_rad":2.42502069,"cg_vd_req_v":-1.73209608,"cg_vd_v":-1.73209608,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45772552,"cg_vq_v":-8.45772552,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.2644806,"dclink_p_w":-2346.71655,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1144.610718,"values":{"Elec_RPM":-2354.23486,"EncoderCos":12993,"EncoderSin":35381,"GapTicks":49946,"Mech_RPM":-470.846954,"cg_du":45.4056282,"cg_dv":54.0540428,"cg_dw":54.5943718,"cg_id_a":8.89160538,"cg_id_raw_a":11.4638443,"cg_iq_a":-200.832443,"cg_iq_raw_a":-200.375046,"cg_iu_a":-179.295715,"cg_iv_a":8.44148254,"cg_iw_a":170.854233,"cg_sample_age_us":23.9254551,"cg_sample_seq":7088766,"cg_sample_valid":1,"cg_theta_rad":3.01271892,"cg_vd_req_v":-2.02376509,"cg_vd_v":-2.02376509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37572956,"cg_vq_v":-8.37572956,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2408.64087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1144.942749,"values":{"Elec_RPM":-2352.104,"EncoderCos":12914,"EncoderSin":34533,"GapTicks":49492,"Mech_RPM":-470.420807,"cg_du":44.9927711,"cg_dv":51.8597565,"cg_dw":55.0072289,"cg_id_a":-9.74172306,"cg_id_raw_a":-4.50459337,"cg_iq_a":-199.178757,"cg_iq_raw_a":-200.352859,"cg_iu_a":-167.625198,"cg_iv_a":-12.1812592,"cg_iw_a":179.806458,"cg_sample_age_us":23.9254551,"cg_sample_seq":7090516,"cg_sample_valid":1,"cg_theta_rad":3.05272555,"cg_vd_req_v":-1.63069808,"cg_vd_v":-1.63069808,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4011879,"cg_vq_v":-8.4011879,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2422.32056,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1145.086814,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1145.08682,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1145.086826,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1145.276733,"values":{"Elec_RPM":-2354.67334,"EncoderCos":15084,"EncoderSin":23527,"GapTicks":50075,"Mech_RPM":-470.934662,"cg_du":54.4766273,"cg_dv":45.5233727,"cg_dw":45.7176437,"cg_id_a":11.5625267,"cg_id_raw_a":16.5733318,"cg_iq_a":-204.46463,"cg_iq_raw_a":-206.512604,"cg_iu_a":184.592377,"cg_iv_a":-18.3427124,"cg_iw_a":-166.249664,"cg_sample_age_us":24.0345459,"cg_sample_seq":7092216,"cg_sample_valid":1,"cg_theta_rad":3.62925887,"cg_vd_req_v":-2.11589575,"cg_vd_v":-2.11589575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28013039,"cg_vq_v":-8.28013039,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1145.628296,"values":{"Elec_RPM":-2353.01416,"EncoderCos":22787,"EncoderSin":15482,"GapTicks":49433,"Mech_RPM":-470.602844,"cg_du":44.9398308,"cg_dv":55.0601692,"cg_dw":52.1225662,"cg_id_a":1.62504339,"cg_id_raw_a":1.62684035,"cg_iq_a":-198.429382,"cg_iq_raw_a":-199.006195,"cg_iu_a":-197.453873,"cg_iv_a":89.9538574,"cg_iw_a":107.500015,"cg_sample_age_us":23.8272724,"cg_sample_seq":7093916,"cg_sample_valid":1,"cg_theta_rad":4.19129038,"cg_vd_req_v":-1.9696871,"cg_vd_v":-1.9696871,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44764328,"cg_vq_v":-8.44764328,"cg_vu_v":1.31967759,"cg_vv_v":4.83881807,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6160469,"dclink_p_w":-2404.75171,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1145.960327,"values":{"Elec_RPM":-2352.31519,"EncoderCos":33665,"EncoderSin":12913,"GapTicks":49323,"Mech_RPM":-470.463043,"cg_du":55.1603012,"cg_dv":44.8396988,"cg_dw":49.932766,"cg_id_a":-15.117981,"cg_id_raw_a":-16.9428425,"cg_iq_a":-195.361908,"cg_iq_raw_a":-194.243423,"cg_iu_a":190.898804,"cg_iv_a":-144.434998,"cg_iw_a":-42.7669296,"cg_sample_age_us":24.0563641,"cg_sample_seq":7095617,"cg_sample_valid":1,"cg_theta_rad":4.77307987,"cg_vd_req_v":-1.60560095,"cg_vd_v":-1.60560095,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47302723,"cg_vq_v":-8.47302723,"cg_vu_v":143.844864,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2445.14111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1146.078824,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1146.07883,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1146.078835,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1146.31189,"values":{"Elec_RPM":-2351.52271,"EncoderCos":43747,"EncoderSin":16314,"GapTicks":50012,"Mech_RPM":-470.304535,"cg_du":45.4662094,"cg_dv":54.5337906,"cg_dw":45.9812889,"cg_id_a":8.39462757,"cg_id_raw_a":11.9847927,"cg_iq_a":-206.377991,"cg_iq_raw_a":-207.215256,"cg_iu_a":-176.831131,"cg_iv_a":171.103806,"cg_iw_a":5.72732544,"cg_sample_age_us":24.8418179,"cg_sample_seq":7097320,"cg_sample_valid":1,"cg_theta_rad":5.35370064,"cg_vd_req_v":-2.13594079,"cg_vd_v":-2.13594079,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23871613,"cg_vq_v":-8.23871613,"cg_vu_v":4.39892578,"cg_vv_v":23.3143044,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1146.645874,"values":{"Elec_RPM":-2352.48511,"EncoderCos":47590,"EncoderSin":45759,"GapTicks":49809,"Mech_RPM":-470.497009,"cg_du":46.6177826,"cg_dv":45.281456,"cg_dw":54.718544,"cg_id_a":3.70385456,"cg_id_raw_a":11.4479208,"cg_iq_a":-204.334335,"cg_iq_raw_a":-203.712051,"cg_iu_a":-3.18692398,"cg_iv_a":-173.973724,"cg_iw_a":181.763611,"cg_sample_age_us":23.5145454,"cg_sample_seq":7098917,"cg_sample_valid":1,"cg_theta_rad":0.723298371,"cg_vd_req_v":-1.99583733,"cg_vd_v":-1.99583733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32390499,"cg_vq_v":-8.32390499,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2430.2124,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1146.975952,"values":{"Elec_RPM":-2347.72314,"EncoderCos":51883,"EncoderSin":36868,"GapTicks":49461,"Mech_RPM":-469.544647,"cg_du":47.9003181,"cg_dv":55.0352554,"cg_dw":44.9647446,"cg_id_a":0.75878185,"cg_id_raw_a":-3.54223776,"cg_iq_a":-198.964752,"cg_iq_raw_a":-198.712112,"cg_iu_a":-122.791573,"cg_iv_a":199.917664,"cg_iw_a":-77.126091,"cg_sample_age_us":23.5,"cg_sample_seq":7100717,"cg_sample_valid":1,"cg_theta_rad":0.219457477,"cg_vd_req_v":-2.0110023,"cg_vd_v":-2.0110023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41815376,"cg_vq_v":-8.41815376,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.2699165,"dclink_p_w":-2361.81519,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1147.071471,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1147.071478,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1147.071485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1147.309937,"values":{"Elec_RPM":-2347.9812,"EncoderCos":26771,"EncoderSin":51729,"GapTicks":49385,"Mech_RPM":-469.596222,"cg_du":44.8958702,"cg_dv":48.5846329,"cg_dw":55.1041298,"cg_id_a":-5.24872255,"cg_id_raw_a":-9.32492161,"cg_iq_a":-197.487976,"cg_iq_raw_a":-199.620605,"cg_iu_a":-98.9068909,"cg_iv_a":-99.1664734,"cg_iw_a":198.073364,"cg_sample_age_us":23.7800007,"cg_sample_seq":7102316,"cg_sample_valid":1,"cg_theta_rad":1.87915444,"cg_vd_req_v":-1.80533504,"cg_vd_v":-1.80533504,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44756126,"cg_vq_v":-8.44756126,"cg_vu_v":118.770996,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2507.56104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1147.661499,"values":{"Elec_RPM":-2346.29712,"EncoderCos":25990,"EncoderSin":51427,"GapTicks":49639,"Mech_RPM":-469.25943,"cg_du":45.1270409,"cg_dv":47.0866547,"cg_dw":54.8729591,"cg_id_a":10.1571274,"cg_id_raw_a":7.26040745,"cg_iq_a":-202.741913,"cg_iq_raw_a":-201.802872,"cg_iu_a":-63.3516846,"cg_iv_a":-135.047852,"cg_iw_a":198.399536,"cg_sample_age_us":23.8600006,"cg_sample_seq":7104066,"cg_sample_valid":1,"cg_theta_rad":1.91057932,"cg_vd_req_v":-2.11078858,"cg_vd_v":-2.11078858,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35226154,"cg_vq_v":-8.35226154,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2508.08008,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1147.99353,"values":{"Elec_RPM":-2344.40015,"EncoderCos":16928,"EncoderSin":44773,"GapTicks":49351,"Mech_RPM":-468.880035,"cg_du":55.1352615,"cg_dv":50.862133,"cg_dw":44.8647385,"cg_id_a":-3.10442281,"cg_id_raw_a":-8.06812382,"cg_iq_a":-198.570709,"cg_iq_raw_a":-196.097,"cg_iu_a":108.625305,"cg_iv_a":90.8961945,"cg_iw_a":-199.5215,"cg_sample_age_us":23.7872734,"cg_sample_seq":7105767,"cg_sample_valid":1,"cg_theta_rad":2.4960115,"cg_vd_req_v":-1.84849381,"cg_vd_v":-1.84849381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42145538,"cg_vq_v":-8.42145538,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1148.095369,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1148.095374,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1148.09538,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1148.460327,"values":{"Elec_RPM":-2345.58545,"EncoderCos":27657,"EncoderSin":13576,"GapTicks":50004,"Mech_RPM":-469.117096,"cg_du":45.4588356,"cg_dv":45.8583298,"cg_dw":54.5411644,"cg_id_a":13.6932602,"cg_id_raw_a":15.8001909,"cg_iq_a":-206.009537,"cg_iq_raw_a":-204.925827,"cg_iu_a":11.1293907,"cg_iv_a":-179.881485,"cg_iw_a":168.75209,"cg_sample_age_us":26.8018188,"cg_sample_seq":7107921,"cg_sample_valid":1,"cg_theta_rad":4.52060747,"cg_vd_req_v":-2.19712353,"cg_vd_v":-2.19712353,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2904892,"cg_vq_v":-8.2904892,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":15.836132,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1148.958914,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1148.958925,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1148.958928,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1148.977905,"values":{"Elec_RPM":-2342.15234,"EncoderCos":29950,"EncoderSin":52360,"GapTicks":49651,"Mech_RPM":-468.430481,"cg_du":45.1380081,"cg_dv":54.8619919,"cg_dw":53.1371231,"cg_id_a":9.95619011,"cg_id_raw_a":9.1370306,"cg_iq_a":-197.903915,"cg_iq_raw_a":-198.226532,"cg_iu_a":-192.524704,"cg_iv_a":59.1465912,"cg_iw_a":133.378113,"cg_sample_age_us":23.772728,"cg_sample_seq":7110516,"cg_sample_valid":1,"cg_theta_rad":1.70505297,"cg_vd_req_v":-2.08334708,"cg_vd_v":-2.08334708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41650963,"cg_vq_v":-8.41650963,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2506.76465,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1149.054627,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1149.054632,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1149.054638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1149.34314,"values":{"Elec_RPM":-2345.05347,"EncoderCos":50510,"EncoderSin":24331,"GapTicks":49310,"Mech_RPM":-469.010681,"cg_du":51.2270851,"cg_dv":44.8469086,"cg_dw":55.1722221,"cg_id_a":0.218163252,"cg_id_raw_a":-5.56497955,"cg_iq_a":-198.182892,"cg_iq_raw_a":-197.415634,"cg_iu_a":139.287598,"cg_iv_a":-196.626129,"cg_iw_a":57.3385391,"cg_sample_age_us":23.772728,"cg_sample_seq":7112469,"cg_sample_valid":1,"cg_theta_rad":5.88665199,"cg_vd_req_v":-2.00321722,"cg_vd_v":-2.00321722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43139648,"cg_vq_v":-8.43139648,"cg_vu_v":40.9100075,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2386.9834,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.059906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1149.673218,"values":{"Elec_RPM":-2347.60889,"EncoderCos":39108,"EncoderSin":51357,"GapTicks":49373,"Mech_RPM":-469.521759,"cg_du":55.1154213,"cg_dv":51.0320778,"cg_dw":44.8845787,"cg_id_a":-0.210376441,"cg_id_raw_a":-4.1338439,"cg_iq_a":-199.143692,"cg_iq_raw_a":-195.230515,"cg_iu_a":101.159073,"cg_iv_a":98.9060822,"cg_iw_a":-200.065155,"cg_sample_age_us":23.8999996,"cg_sample_seq":7114067,"cg_sample_valid":1,"cg_theta_rad":1.2429316,"cg_vd_req_v":-1.92766356,"cg_vd_v":-1.92766356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38771152,"cg_vq_v":-8.38771152,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1150.007202,"values":{"Elec_RPM":-2342.00732,"EncoderCos":47284,"EncoderSin":46132,"GapTicks":49549,"Mech_RPM":-468.401459,"cg_du":47.9133987,"cg_dv":45.0450058,"cg_dw":54.9549942,"cg_id_a":-9.59834576,"cg_id_raw_a":-3.65254688,"cg_iq_a":-200.822159,"cg_iq_raw_a":-201.004868,"cg_iu_a":7.75871372,"cg_iv_a":-176.329575,"cg_iw_a":168.570862,"cg_sample_age_us":23.7872734,"cg_sample_seq":7115867,"cg_sample_valid":1,"cg_theta_rad":0.748054862,"cg_vd_req_v":-1.72290289,"cg_vd_v":-1.72290289,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37215424,"cg_vq_v":-8.37215424,"cg_vu_v":106.014107,"cg_vv_v":93.6971207,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2496.80786,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0687866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1150.047268,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1150.047273,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1150.047279,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1150.339233,"values":{"Elec_RPM":-2342.31665,"EncoderCos":18251,"EncoderSin":46320,"GapTicks":49832,"Mech_RPM":-468.463318,"cg_du":54.6981201,"cg_dv":46.2050972,"cg_dw":45.3018799,"cg_id_a":6.40461779,"cg_id_raw_a":11.0361214,"cg_iq_a":-200.253204,"cg_iq_raw_a":-200.809006,"cg_iu_a":174.770294,"cg_iv_a":-7.83200073,"cg_iw_a":-166.938293,"cg_sample_age_us":24.0236359,"cg_sample_seq":7117467,"cg_sample_valid":1,"cg_theta_rad":2.39165449,"cg_vd_req_v":-2.01949644,"cg_vd_v":-2.01949644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42431545,"cg_vq_v":-8.42431545,"cg_vu_v":106.893898,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2475.56396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1150.690796,"values":{"Elec_RPM":-2346.13916,"EncoderCos":26272,"EncoderSin":51536,"GapTicks":49491,"Mech_RPM":-469.227814,"cg_du":44.992054,"cg_dv":47.6620903,"cg_dw":55.007946,"cg_id_a":7.44029045,"cg_id_raw_a":1.53551257,"cg_iq_a":-199.624176,"cg_iq_raw_a":-198.655869,"cg_iu_a":-67.1935272,"cg_iv_a":-119.100571,"cg_iw_a":197.529694,"cg_sample_age_us":23.8890915,"cg_sample_seq":7119266,"cg_sample_valid":1,"cg_theta_rad":1.90100563,"cg_vd_req_v":-2.06484842,"cg_vd_v":-2.06484842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41808128,"cg_vq_v":-8.41808128,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1151.02478,"values":{"Elec_RPM":-2343.5957,"EncoderCos":12953,"EncoderSin":35173,"GapTicks":49830,"Mech_RPM":-468.719116,"cg_du":45.3006248,"cg_dv":53.5423584,"cg_dw":54.6993752,"cg_id_a":5.64877796,"cg_id_raw_a":8.94733715,"cg_iq_a":-200.845947,"cg_iq_raw_a":-200.65213,"cg_iu_a":-179.730637,"cg_iv_a":12.5370331,"cg_iw_a":167.193604,"cg_sample_age_us":23.8381824,"cg_sample_seq":7120916,"cg_sample_valid":1,"cg_theta_rad":3.01500249,"cg_vd_req_v":-1.95209622,"cg_vd_v":-1.95209622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33934975,"cg_vq_v":-8.33934975,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1151.071307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1151.071313,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1151.071318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1151.376343,"values":{"Elec_RPM":-2346.28882,"EncoderCos":20882,"EncoderSin":16597,"GapTicks":49596,"Mech_RPM":-469.257782,"cg_du":45.088028,"cg_dv":54.911972,"cg_dw":47.274559,"cg_id_a":-0.825461328,"cg_id_raw_a":3.05826998,"cg_iq_a":-201.736099,"cg_iq_raw_a":-203.281616,"cg_iu_a":-181.941513,"cg_iv_a":156.461304,"cg_iw_a":25.4802094,"cg_sample_age_us":23.9254551,"cg_sample_seq":7122570,"cg_sample_valid":1,"cg_theta_rad":4.12222576,"cg_vd_req_v":-1.87867141,"cg_vd_v":-1.87867141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38541222,"cg_vq_v":-8.38541222,"cg_vu_v":1.31967759,"cg_vv_v":11.4372072,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1151.708374,"values":{"Elec_RPM":-2348.45044,"EncoderCos":22113,"EncoderSin":15841,"GapTicks":49295,"Mech_RPM":-469.690094,"cg_du":44.8138084,"cg_dv":55.1861916,"cg_dw":50.651577,"cg_id_a":-8.82859421,"cg_id_raw_a":-14.0026588,"cg_iq_a":-195.147888,"cg_iq_raw_a":-194.488388,"cg_iu_a":-192.488464,"cg_iv_a":128.553543,"cg_iw_a":63.8986816,"cg_sample_age_us":23.9327278,"cg_sample_seq":7124317,"cg_sample_valid":1,"cg_theta_rad":4.15891504,"cg_vd_req_v":-1.74045873,"cg_vd_v":-1.74045873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51352215,"cg_vq_v":-8.51352215,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2494.13745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1152.040405,"values":{"Elec_RPM":-2347.63818,"EncoderCos":33090,"EncoderSin":12891,"GapTicks":49399,"Mech_RPM":-469.527618,"cg_du":55.0914268,"cg_dv":44.9085732,"cg_dw":51.2217178,"cg_id_a":-14.64958,"cg_id_raw_a":-13.7558727,"cg_iq_a":-195.347977,"cg_iq_raw_a":-195.99057,"cg_iu_a":178.757111,"cg_iv_a":-157.26532,"cg_iw_a":-21.4917984,"cg_sample_age_us":24.0636368,"cg_sample_seq":7126017,"cg_sample_valid":1,"cg_theta_rad":4.74527216,"cg_vd_req_v":-1.59955585,"cg_vd_v":-1.59955585,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46605968,"cg_vq_v":-8.46605968,"cg_vu_v":106.893898,"cg_vv_v":94.5769043,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2540.17383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1152.063187,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1152.063192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1152.063198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1152.393921,"values":{"Elec_RPM":-2348.61792,"EncoderCos":43830,"EncoderSin":16365,"GapTicks":49915,"Mech_RPM":-469.723572,"cg_du":45.3777924,"cg_dv":54.6222076,"cg_dw":46.1408272,"cg_id_a":8.49892807,"cg_id_raw_a":11.8896523,"cg_iq_a":-205.679245,"cg_iq_raw_a":-207.440475,"cg_iu_a":-176.577423,"cg_iv_a":178.859985,"cg_iw_a":-2.28256989,"cg_sample_age_us":23.9436359,"cg_sample_seq":7127716,"cg_sample_valid":1,"cg_theta_rad":5.32461834,"cg_vd_req_v":-2.15481138,"cg_vd_v":-2.15481138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27284336,"cg_vq_v":-8.27284336,"cg_vu_v":3.07924795,"cg_vv_v":35.6312981,"cg_vw_v":35.1914063,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2419.92871,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1152.727905,"values":{"Elec_RPM":-2349.17798,"EncoderCos":50929,"EncoderSin":25237,"GapTicks":49628,"Mech_RPM":-469.835602,"cg_du":53.0777512,"cg_dv":45.1165276,"cg_dw":54.8834724,"cg_id_a":17.9162025,"cg_id_raw_a":16.9778271,"cg_iq_a":-203.03775,"cg_iq_raw_a":-201.903656,"cg_iu_a":157.699463,"cg_iv_a":-195.466309,"cg_iw_a":48.1326065,"cg_sample_age_us":23.7581825,"cg_sample_seq":7129416,"cg_sample_valid":1,"cg_theta_rad":5.90546322,"cg_vd_req_v":-2.33920431,"cg_vd_v":-2.33920431,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36344242,"cg_vq_v":-8.36344242,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2475.03955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1153.055285,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1153.055291,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1153.055297,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1153.057983,"values":{"Elec_RPM":-2349.18188,"EncoderCos":52004,"EncoderSin":36238,"GapTicks":49363,"Mech_RPM":-469.836395,"cg_du":49.1072044,"cg_dv":55.1238785,"cg_dw":44.8761215,"cg_id_a":-10.2753811,"cg_id_raw_a":-12.7177992,"cg_iq_a":-198.251236,"cg_iq_raw_a":-195.802094,"cg_iu_a":-83.6844788,"cg_iv_a":198.794098,"cg_iw_a":-115.109627,"cg_sample_age_us":23.48909,"cg_sample_seq":7131117,"cg_sample_valid":1,"cg_theta_rad":0.190389588,"cg_vd_req_v":-1.77956963,"cg_vd_v":-1.77956963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41991425,"cg_vq_v":-8.41991425,"cg_vu_v":128.888519,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2460.87695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1153.411499,"values":{"Elec_RPM":-2352.83716,"EncoderCos":46991,"EncoderSin":46450,"GapTicks":49384,"Mech_RPM":-470.567413,"cg_du":48.9844284,"cg_dv":44.8952179,"cg_dw":55.1047821,"cg_id_a":-17.1566105,"cg_id_raw_a":-16.3648148,"cg_iq_a":-198.799057,"cg_iq_raw_a":-200.46666,"cg_iu_a":25.5544357,"cg_iv_a":-182.237335,"cg_iw_a":156.682892,"cg_sample_age_us":23.7436371,"cg_sample_seq":7132817,"cg_sample_valid":1,"cg_theta_rad":0.768997788,"cg_vd_req_v":-1.59109712,"cg_vd_v":-1.59109712,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41161442,"cg_vq_v":-8.41161442,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1153.74353,"values":{"Elec_RPM":-2348.521,"EncoderCos":46478,"EncoderSin":46940,"GapTicks":49293,"Mech_RPM":-469.704224,"cg_du":50.366188,"cg_dv":44.8121071,"cg_dw":55.1878929,"cg_id_a":-7.85114861,"cg_id_raw_a":-10.386404,"cg_iq_a":-197.117233,"cg_iq_raw_a":-196.019562,"cg_iu_a":73.360054,"cg_iv_a":-195.828766,"cg_iw_a":122.468704,"cg_sample_age_us":23.5981827,"cg_sample_seq":7134567,"cg_sample_valid":1,"cg_theta_rad":0.804960608,"cg_vd_req_v":-1.80376005,"cg_vd_v":-1.80376005,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46035671,"cg_vq_v":-8.46035671,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2429.08032,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1154.075562,"values":{"Elec_RPM":-2355.84497,"EncoderCos":17344,"EncoderSin":45324,"GapTicks":49318,"Mech_RPM":-471.169006,"cg_du":55.1652718,"cg_dv":49.4865646,"cg_dw":44.8347282,"cg_id_a":-10.8893976,"cg_id_raw_a":-12.9268341,"cg_iq_a":-194.719696,"cg_iq_raw_a":-193.307129,"cg_iu_a":138.055298,"cg_iv_a":48.2372131,"cg_iw_a":-186.292511,"cg_sample_age_us":23.8490906,"cg_sample_seq":7136167,"cg_sample_valid":1,"cg_theta_rad":2.4598,"cg_vd_req_v":-1.68043435,"cg_vd_v":-1.68043435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48119926,"cg_vq_v":-8.48119926,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.4786491,"dclink_p_w":-2529.59155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1154.078833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1154.078838,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1154.078844,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1154.427124,"values":{"Elec_RPM":-2351.15137,"EncoderCos":25272,"EncoderSin":51176,"GapTicks":50119,"Mech_RPM":-470.230255,"cg_du":45.5634804,"cg_dv":45.6215324,"cg_dw":54.4365196,"cg_id_a":13.2239151,"cg_id_raw_a":15.142396,"cg_iq_a":-205.911804,"cg_iq_raw_a":-205.117371,"cg_iu_a":-15.2198763,"cg_iv_a":-169.588226,"cg_iw_a":184.808105,"cg_sample_age_us":23.8999996,"cg_sample_seq":7137967,"cg_sample_valid":1,"cg_theta_rad":1.95733678,"cg_vd_req_v":-2.1391449,"cg_vd_v":-2.1391449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26063824,"cg_vq_v":-8.26063824,"cg_vu_v":105.134323,"cg_vv_v":89.2981949,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.4511356,"dclink_p_w":-2380.88501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1154.761108,"values":{"Elec_RPM":-2347.54175,"EncoderCos":14973,"EncoderSin":23680,"GapTicks":49737,"Mech_RPM":-469.508362,"cg_du":54.7836609,"cg_dv":45.2163391,"cg_dw":46.677433,"cg_id_a":16.0740356,"cg_id_raw_a":18.7053757,"cg_iq_a":-205.16449,"cg_iq_raw_a":-205.774872,"cg_iu_a":192.348557,"cg_iv_a":-34.5799561,"cg_iw_a":-157.7686,"cg_sample_age_us":23.9799995,"cg_sample_seq":7139567,"cg_sample_valid":1,"cg_theta_rad":3.61092567,"cg_vd_req_v":-2.25689435,"cg_vd_v":-2.25689435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31201172,"cg_vq_v":-8.31201172,"cg_vu_v":27.7132301,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2507.02759,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1155.07116,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1155.071166,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1155.071172,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1155.112671,"values":{"Elec_RPM":-2352.57544,"EncoderCos":15338,"EncoderSin":23023,"GapTicks":49698,"Mech_RPM":-470.515076,"cg_du":54.8195953,"cg_dv":46.7514038,"cg_dw":45.1804047,"cg_id_a":1.2478596,"cg_id_raw_a":10.1375275,"cg_iq_a":-198.788452,"cg_iq_raw_a":-200.953552,"cg_iu_a":172.776886,"cg_iv_a":-1.30810547,"cg_iw_a":-171.468781,"cg_sample_age_us":23.9799995,"cg_sample_seq":7141316,"cg_sample_valid":1,"cg_theta_rad":3.66233492,"cg_vd_req_v":-1.89597619,"cg_vd_v":-1.89597619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43205833,"cg_vq_v":-8.43205833,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1292725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1155.446655,"values":{"Elec_RPM":-2345.71875,"EncoderCos":33675,"EncoderSin":12915,"GapTicks":49354,"Mech_RPM":-469.143738,"cg_du":55.1325455,"cg_dv":44.8674545,"cg_dw":49.9053078,"cg_id_a":-16.4100704,"cg_id_raw_a":-15.5278645,"cg_iq_a":-196.223602,"cg_iq_raw_a":-195.344788,"cg_iu_a":192.348557,"cg_iv_a":-136.678833,"cg_iw_a":-55.6697311,"cg_sample_age_us":24.0636368,"cg_sample_seq":7142966,"cg_sample_valid":1,"cg_theta_rad":4.77395153,"cg_vd_req_v":-1.59364128,"cg_vd_v":-1.59364128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4283247,"cg_vq_v":-8.4283247,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2406.84961,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1155.778687,"values":{"Elec_RPM":-2336.52051,"EncoderCos":34434,"EncoderSin":12995,"GapTicks":49410,"Mech_RPM":-467.304108,"cg_du":55.0814133,"cg_dv":44.9185867,"cg_dw":48.4491081,"cg_id_a":-5.2758255,"cg_id_raw_a":-9.32807732,"cg_iq_a":-198.971359,"cg_iq_raw_a":-198.561676,"cg_iu_a":200.394684,"cg_iv_a":-94.5272522,"cg_iw_a":-105.867432,"cg_sample_age_us":24.0272732,"cg_sample_seq":7144716,"cg_sample_valid":1,"cg_theta_rad":4.8143487,"cg_vd_req_v":-1.84955573,"cg_vd_v":-1.84955573,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39502621,"cg_vq_v":-8.39502621,"cg_vu_v":44.8690414,"cg_vv_v":33.871727,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.0125866,"dclink_p_w":-2310.37231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.056366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1156.09447,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1156.094476,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1156.094481,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1156.130249,"values":{"Elec_RPM":-2333.3938,"EncoderCos":51039,"EncoderSin":25565,"GapTicks":49822,"Mech_RPM":-466.678772,"cg_du":53.8060303,"cg_dv":45.2934074,"cg_dw":54.7065926,"cg_id_a":19.0290699,"cg_id_raw_a":21.0804901,"cg_iq_a":-201.859558,"cg_iq_raw_a":-202.227158,"cg_iu_a":164.803253,"cg_iv_a":-185.064346,"cg_iw_a":20.2610931,"cg_sample_age_us":24.1327267,"cg_sample_seq":7146367,"cg_sample_valid":1,"cg_theta_rad":5.92455721,"cg_vd_req_v":-2.33880949,"cg_vd_v":-2.33880949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3593483,"cg_vq_v":-8.3593483,"cg_vu_v":143.404984,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1156.464233,"values":{"Elec_RPM":-2339.51123,"EncoderCos":51322,"EncoderSin":26380,"GapTicks":49690,"Mech_RPM":-467.902222,"cg_du":54.8271561,"cg_dv":45.1728439,"cg_dw":53.0400085,"cg_id_a":1.51337254,"cg_id_raw_a":4.61090469,"cg_iq_a":-201.051651,"cg_iq_raw_a":-202.519257,"cg_iu_a":170.239807,"cg_iv_a":-173.647522,"cg_iw_a":3.40771484,"cg_sample_age_us":24.2381821,"cg_sample_seq":7148117,"cg_sample_valid":1,"cg_theta_rad":5.96377325,"cg_vd_req_v":-1.9472239,"cg_vd_v":-1.9472239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3597374,"cg_vq_v":-8.3597374,"cg_vu_v":125.369385,"cg_vv_v":116.571533,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1156.815796,"values":{"Elec_RPM":-2342.94482,"EncoderCos":51908,"EncoderSin":36805,"GapTicks":49486,"Mech_RPM":-468.588989,"cg_du":48.0607681,"cg_dv":55.012619,"cg_dw":44.987381,"cg_id_a":-0.476469874,"cg_id_raw_a":-4.80365086,"cg_iq_a":-201.147446,"cg_iq_raw_a":-200.590652,"cg_iu_a":-152.910202,"cg_iv_a":196.220795,"cg_iw_a":-43.310585,"cg_sample_age_us":24.8381824,"cg_sample_seq":7149820,"cg_sample_valid":1,"cg_theta_rad":0.250297219,"cg_vd_req_v":-1.98968303,"cg_vd_v":-1.98968303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3493824,"cg_vq_v":-8.3493824,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1157.087488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1157.087494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1157.087499,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1157.147827,"values":{"Elec_RPM":-2348.58716,"EncoderCos":46026,"EncoderSin":47403,"GapTicks":49368,"Mech_RPM":-469.717438,"cg_du":51.5593109,"cg_dv":44.8801575,"cg_dw":55.1198425,"cg_id_a":4.46429205,"cg_id_raw_a":0.30664292,"cg_iq_a":-199.029785,"cg_iq_raw_a":-198.498734,"cg_iu_a":114.170609,"cg_iv_a":-199.271927,"cg_iw_a":85.1013184,"cg_sample_age_us":23.6163635,"cg_sample_seq":7151516,"cg_sample_valid":1,"cg_theta_rad":0.83832401,"cg_vd_req_v":-2.05724239,"cg_vd_v":-2.05724239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44011307,"cg_vq_v":-8.44011307,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2393.64624,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.058136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1157.481812,"values":{"Elec_RPM":-2343.88379,"EncoderCos":35728,"EncoderSin":52242,"GapTicks":49335,"Mech_RPM":-468.776764,"cg_du":50.1073189,"cg_dv":55.1494904,"cg_dw":44.8505096,"cg_id_a":-12.7255554,"cg_id_raw_a":-11.9765873,"cg_iq_a":-196.162994,"cg_iq_raw_a":-194.74678,"cg_iu_a":-53.5658531,"cg_iv_a":191.581573,"cg_iw_a":-138.015717,"cg_sample_age_us":23.8745461,"cg_sample_seq":7153216,"cg_sample_valid":1,"cg_theta_rad":1.42017126,"cg_vd_req_v":-1.65223157,"cg_vd_v":-1.65223157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47269058,"cg_vq_v":-8.47269058,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1157.833374,"values":{"Elec_RPM":-2346.15234,"EncoderCos":25042,"EncoderSin":51078,"GapTicks":49965,"Mech_RPM":-469.230469,"cg_du":46.1329422,"cg_dv":45.4227867,"cg_dw":54.5772133,"cg_id_a":7.87023258,"cg_id_raw_a":13.237031,"cg_iq_a":-206.667297,"cg_iq_raw_a":-207.501892,"cg_iu_a":-4.60043335,"cg_iv_a":-174.843582,"cg_iw_a":179.444016,"cg_sample_age_us":23.8672733,"cg_sample_seq":7154918,"cg_sample_valid":1,"cg_theta_rad":1.98148203,"cg_vd_req_v":-2.02538157,"cg_vd_v":-2.02538157,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23944664,"cg_vq_v":-8.23944664,"cg_vu_v":114.37207,"cg_vv_v":117.011421,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1905098,"dclink_p_w":-2480.32861,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1158.079214,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1158.07922,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1158.079226,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1158.182983,"values":{"Elec_RPM":-2345.27295,"EncoderCos":16170,"EncoderSin":43732,"GapTicks":49735,"Mech_RPM":-469.054596,"cg_du":54.7859192,"cg_dv":53.2828827,"cg_dw":45.2140808,"cg_id_a":15.3299084,"cg_id_raw_a":13.7271605,"cg_iq_a":-205.666473,"cg_iq_raw_a":-203.962418,"cg_iu_a":34.6878815,"cg_iv_a":157.077454,"cg_iw_a":-191.765335,"cg_sample_age_us":23.8745461,"cg_sample_seq":7156617,"cg_sample_valid":1,"cg_theta_rad":2.56032896,"cg_vd_req_v":-2.20778227,"cg_vd_v":-2.20778227,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28709126,"cg_vq_v":-8.28709126,"cg_vu_v":104.694435,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2376.52466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1158.704468,"values":{"Elec_RPM":-2337.92944,"EncoderCos":51784,"EncoderSin":27746,"GapTicks":49306,"Mech_RPM":-467.585907,"cg_du":55.1755028,"cg_dv":44.8244972,"cg_dw":49.6134109,"cg_id_a":-12.5943489,"cg_id_raw_a":-11.2427254,"cg_iq_a":-195.494507,"cg_iq_raw_a":-195.517075,"cg_iu_a":190.13768,"cg_iv_a":-135.736481,"cg_iw_a":-54.4011917,"cg_sample_age_us":24.045454,"cg_sample_seq":7159216,"cg_sample_valid":1,"cg_theta_rad":6.03168106,"cg_vd_req_v":-1.72478724,"cg_vd_v":-1.72478724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48344898,"cg_vq_v":-8.48344898,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2466.51538,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1158.943632,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1158.943643,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1158.943646,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1159.071464,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1159.07147,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1159.071475,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1159.161499,"values":{"Elec_RPM":-2346.00366,"EncoderCos":52080,"EncoderSin":35863,"GapTicks":49324,"Mech_RPM":-469.200745,"cg_du":49.7942657,"cg_dv":55.1593552,"cg_dw":44.8406448,"cg_id_a":-17.585146,"cg_id_raw_a":-17.1851177,"cg_iq_a":-194.947144,"cg_iq_raw_a":-194.363373,"cg_iu_a":-43.2363586,"cg_iv_a":186.761154,"cg_iw_a":-143.524796,"cg_sample_age_us":23.4054546,"cg_sample_seq":7161516,"cg_sample_valid":1,"cg_theta_rad":0.160887942,"cg_vd_req_v":-1.61995447,"cg_vd_v":-1.61995447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47076035,"cg_vq_v":-8.47076035,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1159.491577,"values":{"Elec_RPM":-2343.22217,"EncoderCos":51201,"EncoderSin":25973,"GapTicks":49985,"Mech_RPM":-468.644409,"cg_du":54.5587578,"cg_dv":45.4412422,"cg_dw":54.155838,"cg_id_a":12.8974123,"cg_id_raw_a":18.3822575,"cg_iq_a":-202.932129,"cg_iq_raw_a":-202.599182,"cg_iu_a":170.855957,"cg_iv_a":-179.084106,"cg_iw_a":8.22814178,"cg_sample_age_us":24.1981812,"cg_sample_seq":7163317,"cg_sample_valid":1,"cg_theta_rad":5.94642067,"cg_vd_req_v":-2.19126868,"cg_vd_v":-2.19126868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32553101,"cg_vq_v":-8.32553101,"cg_vu_v":143.404984,"cg_vv_v":125.369385,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1159.823608,"values":{"Elec_RPM":-2344.73462,"EncoderCos":37678,"EncoderSin":51834,"GapTicks":49929,"Mech_RPM":-468.94693,"cg_du":54.6097221,"cg_dv":54.0635376,"cg_dw":45.3902779,"cg_id_a":12.9183502,"cg_id_raw_a":13.8555622,"cg_iq_a":-202.754822,"cg_iq_raw_a":-205.026306,"cg_iu_a":23.6335144,"cg_iv_a":163.347626,"cg_iw_a":-186.98114,"cg_sample_age_us":23.8090916,"cg_sample_seq":7164916,"cg_sample_valid":1,"cg_theta_rad":1.32192922,"cg_vd_req_v":-2.1611762,"cg_vd_v":-2.1611762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3692379,"cg_vq_v":-8.3692379,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2440.47192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1160.063352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1160.063358,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1160.063363,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1160.179077,"values":{"Elec_RPM":-2347.62671,"EncoderCos":46380,"EncoderSin":47070,"GapTicks":49296,"Mech_RPM":-469.52533,"cg_du":50.6922112,"cg_dv":44.8147736,"cg_dw":55.1852264,"cg_id_a":-6.04186392,"cg_id_raw_a":-10.5669098,"cg_iq_a":-196.774658,"cg_iq_raw_a":-195.203537,"cg_iu_a":97.099762,"cg_iv_a":-198.510803,"cg_iw_a":101.411041,"cg_sample_age_us":23.6236362,"cg_sample_seq":7166717,"cg_sample_valid":1,"cg_theta_rad":0.822699785,"cg_vd_req_v":-1.84815788,"cg_vd_v":-1.84815788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49214077,"cg_vq_v":-8.49214077,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.2409229,"dclink_p_w":-2350.46191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.093689,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1160.509155,"values":{"Elec_RPM":-2350.07617,"EncoderCos":17294,"EncoderSin":45247,"GapTicks":49340,"Mech_RPM":-470.015259,"cg_du":55.1454277,"cg_dv":49.6360626,"cg_dw":44.8545723,"cg_id_a":-9.0269556,"cg_id_raw_a":-6.9654541,"cg_iq_a":-198.440521,"cg_iq_raw_a":-200.619049,"cg_iu_a":137.874084,"cg_iv_a":54.3261719,"cg_iw_a":-192.200256,"cg_sample_age_us":23.9109097,"cg_sample_seq":7168317,"cg_sample_valid":1,"cg_theta_rad":2.46378708,"cg_vd_req_v":-1.72369802,"cg_vd_v":-1.72369802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40478897,"cg_vq_v":-8.40478897,"cg_vu_v":106.453995,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1160.862671,"values":{"Elec_RPM":-2346.87402,"EncoderCos":13049,"EncoderSin":35540,"GapTicks":50046,"Mech_RPM":-469.374786,"cg_du":45.4970245,"cg_dv":54.4822578,"cg_dw":54.5029755,"cg_id_a":12.72402,"cg_id_raw_a":14.3707685,"cg_iq_a":-199.861343,"cg_iq_raw_a":-200.471176,"cg_iu_a":-169.76358,"cg_iv_a":-10.6952667,"cg_iw_a":180.458847,"cg_sample_age_us":23.8272724,"cg_sample_seq":7170020,"cg_sample_valid":1,"cg_theta_rad":3.04589987,"cg_vd_req_v":-2.11436248,"cg_vd_v":-2.11436248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4177618,"cg_vq_v":-8.4177618,"cg_vu_v":16.2760258,"cg_vv_v":18.0355949,"cg_vw_v":13.6366701,"control_outputs_enabled":1,"dclink_i_a":-17.7486668,"dclink_p_w":-2568.66968,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1161.055282,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1161.055288,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1161.055293,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1161.194702,"values":{"Elec_RPM":-2349.32788,"EncoderCos":14978,"EncoderSin":23733,"GapTicks":49871,"Mech_RPM":-469.86557,"cg_du":54.6621017,"cg_dv":45.3378983,"cg_dw":46.2034302,"cg_id_a":15.118597,"cg_id_raw_a":13.9058895,"cg_iq_a":-203.115997,"cg_iq_raw_a":-201.913666,"cg_iu_a":187.12944,"cg_iv_a":-29.2883453,"cg_iw_a":-157.841095,"cg_sample_age_us":24.0381813,"cg_sample_seq":7171717,"cg_sample_valid":1,"cg_theta_rad":3.61593151,"cg_vd_req_v":-2.18779945,"cg_vd_v":-2.18779945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32653809,"cg_vq_v":-8.32653809,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1161.526733,"values":{"Elec_RPM":-2349.80908,"EncoderCos":22672,"EncoderSin":15515,"GapTicks":49443,"Mech_RPM":-469.961823,"cg_du":44.948658,"cg_dv":55.051342,"cg_dw":51.9262199,"cg_id_a":-1.84763956,"cg_id_raw_a":-7.62465525,"cg_iq_a":-197.920563,"cg_iq_raw_a":-196.897369,"cg_iu_a":-196.873962,"cg_iv_a":86.7281494,"cg_iw_a":110.145813,"cg_sample_age_us":23.8345451,"cg_sample_seq":7173417,"cg_sample_valid":1,"cg_theta_rad":4.1947484,"cg_vd_req_v":-1.8861984,"cg_vd_v":-1.8861984,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40840626,"cg_vq_v":-8.40840626,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2417.31396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1161.878296,"values":{"Elec_RPM":-2354.20923,"EncoderCos":23319,"EncoderSin":15167,"GapTicks":49705,"Mech_RPM":-470.841827,"cg_du":45.1867561,"cg_dv":54.8132439,"cg_dw":53.3118782,"cg_id_a":8.4768343,"cg_id_raw_a":4.38807201,"cg_iq_a":-199.256119,"cg_iq_raw_a":-198.23851,"cg_iu_a":-190.205109,"cg_iv_a":45.7726288,"cg_iw_a":144.43248,"cg_sample_age_us":23.9254551,"cg_sample_seq":7175167,"cg_sample_valid":1,"cg_theta_rad":4.22804165,"cg_vd_req_v":-2.09688687,"cg_vd_v":-2.09688687,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39720058,"cg_vq_v":-8.39720058,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1162.079293,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1162.079299,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1162.079305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1162.21228,"values":{"Elec_RPM":-2354.14502,"EncoderCos":50888,"EncoderSin":25223,"GapTicks":49625,"Mech_RPM":-470.82901,"cg_du":53.0127411,"cg_dv":45.1139221,"cg_dw":54.8860779,"cg_id_a":18.2181988,"cg_id_raw_a":15.9768133,"cg_iq_a":-201.540085,"cg_iq_raw_a":-200.519424,"cg_iu_a":154.836182,"cg_iv_a":-191.479492,"cg_iw_a":36.6433182,"cg_sample_age_us":23.7654552,"cg_sample_seq":7176766,"cg_sample_valid":1,"cg_theta_rad":5.90514421,"cg_vd_req_v":-2.33136725,"cg_vd_v":-2.33136725,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34783363,"cg_vq_v":-8.34783363,"cg_vu_v":16.2760258,"cg_vv_v":9.23774433,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2378.87769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1162.544312,"values":{"Elec_RPM":-2346.84326,"EncoderCos":45023,"EncoderSin":17276,"GapTicks":49328,"Mech_RPM":-469.368652,"cg_du":44.8437881,"cg_dv":55.1562119,"cg_dw":49.8517456,"cg_id_a":-12.6761074,"cg_id_raw_a":-14.3348637,"cg_iq_a":-196.042664,"cg_iq_raw_a":-195.79245,"cg_iu_a":-191.944809,"cg_iv_a":135.729828,"cg_iw_a":56.2149811,"cg_sample_age_us":23.9218178,"cg_sample_seq":7178566,"cg_sample_valid":1,"cg_theta_rad":5.40097046,"cg_vd_req_v":-1.73388624,"cg_vd_v":-1.73388624,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46843052,"cg_vq_v":-8.46843052,"cg_vu_v":1.31967759,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2409.69336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1162.895874,"values":{"Elec_RPM":-2348.10254,"EncoderCos":47039,"EncoderSin":46412,"GapTicks":49388,"Mech_RPM":-469.620514,"cg_du":48.7832451,"cg_dv":44.8990669,"cg_dw":55.1009331,"cg_id_a":-13.9100437,"cg_id_raw_a":-13.7196665,"cg_iq_a":-199.222473,"cg_iq_raw_a":-201.660385,"cg_iu_a":26.3880444,"cg_iv_a":-180.823807,"cg_iw_a":163.641693,"cg_sample_age_us":23.7181816,"cg_sample_seq":7180166,"cg_sample_valid":1,"cg_theta_rad":0.764955759,"cg_vd_req_v":-1.66220188,"cg_vd_v":-1.66220188,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44274426,"cg_vq_v":-8.44274426,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":14.0765619,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1163.07085,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1163.070855,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1163.070861,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1163.229858,"values":{"Elec_RPM":-2340.00586,"EncoderCos":51760,"EncoderSin":37564,"GapTicks":49729,"Mech_RPM":-468.00116,"cg_du":46.6378784,"cg_dv":54.7912025,"cg_dw":45.2087975,"cg_id_a":12.7929878,"cg_id_raw_a":11.1285257,"cg_iq_a":-204.637589,"cg_iq_raw_a":-204.213104,"cg_iu_a":-157.476929,"cg_iv_a":194.046173,"cg_iw_a":-36.5692368,"cg_sample_age_us":23.4745445,"cg_sample_seq":7181967,"cg_sample_valid":1,"cg_theta_rad":0.25804019,"cg_vd_req_v":-2.24936724,"cg_vd_v":-2.24936724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31373405,"cg_vq_v":-8.31373405,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1163.563843,"values":{"Elec_RPM":-2338.67212,"EncoderCos":36360,"EncoderSin":52104,"GapTicks":49402,"Mech_RPM":-467.734406,"cg_du":51.6119194,"cg_dv":55.0883369,"cg_dw":44.9116631,"cg_id_a":-9.03954887,"cg_id_raw_a":-7.93022728,"cg_iq_a":-195.556351,"cg_iq_raw_a":-197.217407,"cg_iu_a":-23.8096657,"cg_iv_a":179.766083,"cg_iw_a":-155.956421,"cg_sample_age_us":23.8963642,"cg_sample_seq":7183616,"cg_sample_valid":1,"cg_theta_rad":1.3874898,"cg_vd_req_v":-1.69999254,"cg_vd_v":-1.69999254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47555161,"cg_vq_v":-8.47555161,"cg_vu_v":38.2706528,"cg_vv_v":48.3881836,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1163.915405,"values":{"Elec_RPM":-2338.89478,"EncoderCos":45263,"EncoderSin":48063,"GapTicks":49765,"Mech_RPM":-467.778961,"cg_du":53.4565125,"cg_dv":45.241497,"cg_dw":54.758503,"cg_id_a":18.4549751,"cg_id_raw_a":18.1434193,"cg_iq_a":-202.4189,"cg_iq_raw_a":-201.25354,"cg_iu_a":161.178864,"cg_iv_a":-188.290039,"cg_iw_a":27.1111832,"cg_sample_age_us":23.550909,"cg_sample_seq":7185416,"cg_sample_valid":1,"cg_theta_rad":0.890009999,"cg_vd_req_v":-2.3046627,"cg_vd_v":-2.3046627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33661556,"cg_vq_v":-8.33661556,"cg_vu_v":47.0685043,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1164.063336,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1164.063342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1164.063348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1164.247437,"values":{"Elec_RPM":-2339.53882,"EncoderCos":16459,"EncoderSin":44056,"GapTicks":49540,"Mech_RPM":-467.907776,"cg_du":54.9634132,"cg_dv":52.4319611,"cg_dw":45.0365868,"cg_id_a":12.4994774,"cg_id_raw_a":10.2122393,"cg_iq_a":-203.648285,"cg_iq_raw_a":-204.306702,"cg_iu_a":70.2430878,"cg_iv_a":129.387146,"cg_iw_a":-199.630234,"cg_sample_age_us":23.7945461,"cg_sample_seq":7187016,"cg_sample_valid":1,"cg_theta_rad":2.52851534,"cg_vd_req_v":-2.15941095,"cg_vd_v":-2.15941095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34518147,"cg_vq_v":-8.34518147,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2405.53833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1399231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1164.598999,"values":{"Elec_RPM":-2345.06396,"EncoderCos":23880,"EncoderSin":50579,"GapTicks":49364,"Mech_RPM":-469.012817,"cg_du":49.310524,"cg_dv":44.8765869,"cg_dw":55.1234131,"cg_id_a":-17.2712517,"cg_id_raw_a":-16.9550972,"cg_iq_a":-199.301193,"cg_iq_raw_a":-200.968048,"cg_iu_a":23.9234638,"cg_iv_a":-183.43338,"cg_iw_a":159.509918,"cg_sample_age_us":23.6599998,"cg_sample_seq":7188816,"cg_sample_valid":1,"cg_theta_rad":2.02485132,"cg_vd_req_v":-1.56235063,"cg_vd_v":-1.56235063,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44441509,"cg_vq_v":-8.44441509,"cg_vu_v":137.686371,"cg_vv_v":109.533249,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1164.932983,"values":{"Elec_RPM":-2343.69336,"EncoderCos":15552,"EncoderSin":22641,"GapTicks":49512,"Mech_RPM":-468.738647,"cg_du":54.9883652,"cg_dv":47.9032784,"cg_dw":45.0116348,"cg_id_a":-9.01711655,"cg_id_raw_a":-3.28060174,"cg_iq_a":-197.865448,"cg_iq_raw_a":-198.878357,"cg_iu_a":166.108017,"cg_iv_a":7.86158752,"cg_iw_a":-173.969604,"cg_sample_age_us":24.0563641,"cg_sample_seq":7190417,"cg_sample_valid":1,"cg_theta_rad":3.67998528,"cg_vd_req_v":-1.69483781,"cg_vd_v":-1.69483781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40909576,"cg_vq_v":-8.40909576,"cg_vu_v":141.205521,"cg_vv_v":125.809273,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.5040207,"dclink_p_w":-2525.56348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1165.087335,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1165.087341,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1165.087346,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1165.263062,"values":{"Elec_RPM":-2344.99023,"EncoderCos":23691,"EncoderSin":15001,"GapTicks":49916,"Mech_RPM":-468.998047,"cg_du":45.3790474,"cg_dv":54.6209526,"cg_dw":54.0776291,"cg_id_a":13.003129,"cg_id_raw_a":11.1466913,"cg_iq_a":-200.806702,"cg_iq_raw_a":-199.266434,"cg_iu_a":-183.391266,"cg_iv_a":21.2355652,"cg_iw_a":162.155701,"cg_sample_age_us":23.9436359,"cg_sample_seq":7192117,"cg_sample_valid":1,"cg_theta_rad":4.2513752,"cg_vd_req_v":-2.18451858,"cg_vd_v":-2.18451858,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38683414,"cg_vq_v":-8.38683414,"cg_vu_v":95.0167923,"cg_vv_v":98.0960464,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2455.20386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1165.616577,"values":{"Elec_RPM":-2346.60181,"EncoderCos":34857,"EncoderSin":13055,"GapTicks":49490,"Mech_RPM":-469.320343,"cg_du":55.0084648,"cg_dv":44.9915352,"cg_dw":47.7815971,"cg_id_a":9.1612072,"cg_id_raw_a":4.75876141,"cg_iq_a":-200.04837,"cg_iq_raw_a":-197.866684,"cg_iu_a":196.770294,"cg_iv_a":-67.163147,"cg_iw_a":-129.607147,"cg_sample_age_us":24.0672722,"cg_sample_seq":7193817,"cg_sample_valid":1,"cg_theta_rad":4.83308983,"cg_vd_req_v":-2.12876964,"cg_vd_v":-2.12876964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37278843,"cg_vq_v":-8.37278843,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1165.950562,"values":{"Elec_RPM":-2348.29077,"EncoderCos":45194,"EncoderSin":17417,"GapTicks":49330,"Mech_RPM":-469.658173,"cg_du":44.8459587,"cg_dv":55.1540413,"cg_dw":50.3210258,"cg_id_a":-12.275672,"cg_id_raw_a":-16.2035942,"cg_iq_a":-196.460785,"cg_iq_raw_a":-195.186264,"cg_iu_a":-193.64827,"cg_iv_a":125.61779,"cg_iw_a":68.0304794,"cg_sample_age_us":23.9218178,"cg_sample_seq":7195517,"cg_sample_valid":1,"cg_theta_rad":5.41272259,"cg_vd_req_v":-1.75799823,"cg_vd_v":-1.75799823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4374733,"cg_vq_v":-8.4374733,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1166.078788,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1166.078794,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1166.078799,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1166.282593,"values":{"Elec_RPM":-2352.43774,"EncoderCos":51511,"EncoderSin":27042,"GapTicks":49362,"Mech_RPM":-470.487549,"cg_du":55.1254501,"cg_dv":44.8745499,"cg_dw":51.2730026,"cg_id_a":-13.1941566,"cg_id_raw_a":-8.74138546,"cg_iq_a":-195.504425,"cg_iq_raw_a":-196.519455,"cg_iu_a":176.836197,"cg_iv_a":-161.397125,"cg_iw_a":-15.4390793,"cg_sample_age_us":24.1399994,"cg_sample_seq":7197216,"cg_sample_valid":1,"cg_theta_rad":5.99407148,"cg_vd_req_v":-1.68517816,"cg_vd_v":-1.68517816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4872551,"cg_vq_v":-8.4872551,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2549.61865,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1166.636108,"values":{"Elec_RPM":-2354.52759,"EncoderCos":46042,"EncoderSin":47328,"GapTicks":49380,"Mech_RPM":-470.905518,"cg_du":51.4241714,"cg_dv":44.8909988,"cg_dw":55.1090012,"cg_id_a":3.98588085,"cg_id_raw_a":0.256401658,"cg_iq_a":-198.188141,"cg_iq_raw_a":-197.050735,"cg_iu_a":113.228271,"cg_iv_a":-198.764511,"cg_iw_a":85.5362396,"cg_sample_age_us":23.6272736,"cg_sample_seq":7198866,"cg_sample_valid":1,"cg_theta_rad":0.835733473,"cg_vd_req_v":-2.0424068,"cg_vd_v":-2.0424068,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43010521,"cg_vq_v":-8.43010521,"cg_vu_v":40.4701157,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2470.72461,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1166.966187,"values":{"Elec_RPM":-2350.22534,"EncoderCos":45658,"EncoderSin":47687,"GapTicks":49514,"Mech_RPM":-470.045074,"cg_du":52.4590836,"cg_dv":45.0135498,"cg_dw":54.9864502,"cg_id_a":10.5998077,"cg_id_raw_a":7.90852737,"cg_iq_a":-199.590302,"cg_iq_raw_a":-198.945679,"cg_iu_a":136.496811,"cg_iv_a":-195.393829,"cg_iw_a":58.8970261,"cg_sample_age_us":23.5727272,"cg_sample_seq":7200617,"cg_sample_valid":1,"cg_theta_rad":0.862352073,"cg_vd_req_v":-2.16192293,"cg_vd_v":-2.16192293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39016247,"cg_vq_v":-8.39016247,"cg_vu_v":106.014107,"cg_vv_v":85.7790527,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2432.47925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0226135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1167.071517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1167.071523,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1167.071528,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1167.300171,"values":{"Elec_RPM":-2349.7627,"EncoderCos":24886,"EncoderSin":51017,"GapTicks":49853,"Mech_RPM":-469.952545,"cg_du":46.5442581,"cg_dv":45.3209724,"cg_dw":54.6790276,"cg_id_a":3.89233136,"cg_id_raw_a":8.55985737,"cg_iq_a":-207.276154,"cg_iq_raw_a":-209.47551,"cg_iu_a":-3.80306911,"cg_iv_a":-176.909485,"cg_iw_a":180.712555,"cg_sample_age_us":23.7763634,"cg_sample_seq":7202266,"cg_sample_valid":1,"cg_theta_rad":1.98016477,"cg_vd_req_v":-1.957201,"cg_vd_v":-1.957201,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27210045,"cg_vq_v":-8.27210045,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0208435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1167.651733,"values":{"Elec_RPM":-2357.03735,"EncoderCos":34430,"EncoderSin":52405,"GapTicks":49501,"Mech_RPM":-471.407471,"cg_du":47.6831207,"cg_dv":54.998539,"cg_dw":45.001461,"cg_id_a":10.3485088,"cg_id_raw_a":6.82497501,"cg_iq_a":-202.744797,"cg_iq_raw_a":-201.574524,"cg_iu_a":-137.579056,"cg_iv_a":199.845169,"cg_iw_a":-62.2661133,"cg_sample_age_us":23.9290905,"cg_sample_seq":7204066,"cg_sample_valid":1,"cg_theta_rad":1.48648822,"cg_vd_req_v":-2.13071489,"cg_vd_v":-2.13071489,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3534317,"cg_vq_v":-8.3534317,"cg_vu_v":39.1504402,"cg_vv_v":67.303566,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2487.65015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1167.983765,"values":{"Elec_RPM":-2363.51416,"EncoderCos":12901,"EncoderSin":32950,"GapTicks":49430,"Mech_RPM":-472.70282,"cg_du":44.9364777,"cg_dv":48.4648972,"cg_dw":55.0635223,"cg_id_a":-6.17597818,"cg_id_raw_a":-9.68778801,"cg_iq_a":-197.60997,"cg_iq_raw_a":-199.268234,"cg_iu_a":-97.2034302,"cg_iv_a":-100.362518,"cg_iw_a":197.565948,"cg_sample_age_us":23.9690914,"cg_sample_seq":7205666,"cg_sample_valid":1,"cg_theta_rad":3.1372025,"cg_vd_req_v":-1.75937009,"cg_vd_v":-1.75937009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40838814,"cg_vq_v":-8.40838814,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.7287312,"dclink_p_w":-2557.9856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1168.09517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1168.095176,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1168.095182,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1168.429077,"values":{"Elec_RPM":-2358.7417,"EncoderCos":48935,"EncoderSin":21535,"GapTicks":49628,"Mech_RPM":-471.748352,"cg_du":45.1166687,"cg_dv":47.0756645,"cg_dw":54.8833313,"cg_id_a":16.4100685,"cg_id_raw_a":15.2779627,"cg_iq_a":-201.681595,"cg_iq_raw_a":-199.15683,"cg_iu_a":-33.849205,"cg_iv_a":-160.672241,"cg_iw_a":194.521454,"cg_sample_age_us":23.8272724,"cg_sample_seq":7207767,"cg_sample_valid":1,"cg_theta_rad":5.7059269,"cg_vd_req_v":-2.32123661,"cg_vd_v":-2.32123661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31684303,"cg_vq_v":-8.31684303,"cg_vu_v":3.95903301,"cg_vv_v":8.79785156,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1168.946655,"values":{"Elec_RPM":-2358.3877,"EncoderCos":13573,"EncoderSin":38089,"GapTicks":49304,"Mech_RPM":-471.677551,"cg_du":44.8221054,"cg_dv":55.1778946,"cg_dw":49.3453178,"cg_id_a":-12.280838,"cg_id_raw_a":-11.725935,"cg_iq_a":-196.945389,"cg_iq_raw_a":-198.076157,"cg_iu_a":-186.761932,"cg_iv_a":147.509064,"cg_iw_a":39.2528687,"cg_sample_age_us":23.9290905,"cg_sample_seq":7210367,"cg_sample_valid":1,"cg_theta_rad":2.87516761,"cg_vd_req_v":-1.60849762,"cg_vd_v":-1.60849762,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47190762,"cg_vq_v":-8.47190762,"cg_vu_v":120.970459,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.5910053,"dclink_p_w":-2545.85229,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1168.958877,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1168.958889,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1168.958893,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1169.055753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1169.055759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1169.055765,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1169.31189,"values":{"Elec_RPM":-2353.70508,"EncoderCos":46870,"EncoderSin":46586,"GapTicks":49327,"Mech_RPM":-470.741028,"cg_du":49.322464,"cg_dv":44.8433456,"cg_dw":55.1566544,"cg_id_a":-13.3740435,"cg_id_raw_a":-13.6032848,"cg_iq_a":-196.458618,"cg_iq_raw_a":-198.031067,"cg_iu_a":27.9465294,"cg_iv_a":-183.070938,"cg_iw_a":155.124405,"cg_sample_age_us":23.630909,"cg_sample_seq":7212316,"cg_sample_valid":1,"cg_theta_rad":0.770690322,"cg_vd_req_v":-1.66547143,"cg_vd_v":-1.66547143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48023224,"cg_vq_v":-8.48023224,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2544.90918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1169.663452,"values":{"Elec_RPM":-2349.0603,"EncoderCos":37198,"EncoderSin":51908,"GapTicks":49892,"Mech_RPM":-469.812073,"cg_du":53.8012657,"cg_dv":54.6427574,"cg_dw":45.3572426,"cg_id_a":7.17675924,"cg_id_raw_a":10.6514559,"cg_iq_a":-203.199341,"cg_iq_raw_a":-204.215591,"cg_iu_a":6.52642345,"cg_iv_a":170.995071,"cg_iw_a":-177.5215,"cg_sample_age_us":23.8963642,"cg_sample_seq":7214017,"cg_sample_valid":1,"cg_theta_rad":1.34257078,"cg_vd_req_v":-2.03518629,"cg_vd_v":-2.03518629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31018829,"cg_vq_v":-8.31018829,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.5293903,"dclink_p_w":-2536.93506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1169.995483,"values":{"Elec_RPM":-2351.26025,"EncoderCos":45885,"EncoderSin":47524,"GapTicks":49436,"Mech_RPM":-470.252045,"cg_du":51.8811646,"cg_dv":44.9425507,"cg_dw":55.0574493,"cg_id_a":8.47896481,"cg_id_raw_a":4.26817417,"cg_iq_a":-199.241089,"cg_iq_raw_a":-198.17659,"cg_iu_a":123.050346,"cg_iv_a":-198.293335,"cg_iw_a":75.2429962,"cg_sample_age_us":23.550909,"cg_sample_seq":7215817,"cg_sample_valid":1,"cg_theta_rad":0.847487032,"cg_vd_req_v":-2.1230886,"cg_vd_v":-2.1230886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37960529,"cg_vq_v":-8.37960529,"cg_vu_v":142.965088,"cg_vv_v":139.445938,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4931469,"dclink_p_w":-2523.99438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0901184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1170.047085,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1170.047091,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1170.047096,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1170.327515,"values":{"Elec_RPM":-2342.64502,"EncoderCos":25340,"EncoderSin":51228,"GapTicks":50031,"Mech_RPM":-468.529022,"cg_du":45.4830704,"cg_dv":45.7494164,"cg_dw":54.5169296,"cg_id_a":12.684948,"cg_id_raw_a":13.062583,"cg_iq_a":-206.18454,"cg_iq_raw_a":-203.822083,"cg_iu_a":-13.4439287,"cg_iv_a":-172.161545,"cg_iw_a":185.605469,"cg_sample_age_us":23.772728,"cg_sample_seq":7217467,"cg_sample_valid":1,"cg_theta_rad":1.9624933,"cg_vd_req_v":-2.14535117,"cg_vd_v":-2.14535117,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29137802,"cg_vq_v":-8.29137802,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2391.6897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1170.68103,"values":{"Elec_RPM":-2346.29419,"EncoderCos":16274,"EncoderSin":43861,"GapTicks":49668,"Mech_RPM":-469.25885,"cg_du":54.8469315,"cg_dv":52.98209,"cg_dw":45.1530685,"cg_id_a":13.93894,"cg_id_raw_a":14.1023016,"cg_iq_a":-203.457367,"cg_iq_raw_a":-203.525192,"cg_iu_a":46.8658066,"cg_iv_a":149.792419,"cg_iw_a":-196.658234,"cg_sample_age_us":23.8854542,"cg_sample_seq":7219166,"cg_sample_valid":1,"cg_theta_rad":2.54988909,"cg_vd_req_v":-2.1636188,"cg_vd_v":-2.1636188,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31897068,"cg_vq_v":-8.31897068,"cg_vu_v":13.6366701,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5834274,"dclink_p_w":-2407.32568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1171.013062,"values":{"Elec_RPM":-2347.84253,"EncoderCos":15319,"EncoderSin":23031,"GapTicks":49740,"Mech_RPM":-469.568512,"cg_du":54.7811584,"cg_dv":46.6581078,"cg_dw":45.2188416,"cg_id_a":3.87808633,"cg_id_raw_a":9.16918755,"cg_iq_a":-201.179337,"cg_iq_raw_a":-203.018051,"cg_iu_a":175.422699,"cg_iv_a":-2.57666016,"cg_iw_a":-172.846039,"cg_sample_age_us":24.0745449,"cg_sample_seq":7220816,"cg_sample_valid":1,"cg_theta_rad":3.65456724,"cg_vd_req_v":-1.95561922,"cg_vd_v":-1.95561922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36426926,"cg_vq_v":-8.36426926,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1171.071508,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1171.071514,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1171.07152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1171.366577,"values":{"Elec_RPM":-2345.72705,"EncoderCos":12818,"EncoderSin":32781,"GapTicks":49426,"Mech_RPM":-469.145416,"cg_du":44.9328613,"cg_dv":48.1686935,"cg_dw":55.0671387,"cg_id_a":-2.01493979,"cg_id_raw_a":-8.5707407,"cg_iq_a":-198.050339,"cg_iq_raw_a":-197.26915,"cg_iu_a":-87.2363739,"cg_iv_a":-111.018204,"cg_iw_a":198.254578,"cg_sample_age_us":23.9618187,"cg_sample_seq":7222617,"cg_sample_valid":1,"cg_theta_rad":3.14333701,"cg_vd_req_v":-1.85896778,"cg_vd_v":-1.85896778,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42121983,"cg_vq_v":-8.42121983,"cg_vu_v":104.254532,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2386.39282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1171.698608,"values":{"Elec_RPM":-2345.72754,"EncoderCos":34260,"EncoderSin":12929,"GapTicks":49378,"Mech_RPM":-469.145508,"cg_du":55.1108856,"cg_dv":44.8891144,"cg_dw":48.8368683,"cg_id_a":-5.12526226,"cg_id_raw_a":-9.98492432,"cg_iq_a":-197.46933,"cg_iq_raw_a":-196.334595,"cg_iu_a":197.241486,"cg_iv_a":-101.232376,"cg_iw_a":-96.0091095,"cg_sample_age_us":24.0636368,"cg_sample_seq":7224217,"cg_sample_valid":1,"cg_theta_rad":4.80397034,"cg_vd_req_v":-1.83751667,"cg_vd_v":-1.83751667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4161377,"cg_vq_v":-8.4161377,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2414.69946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1172.03064,"values":{"Elec_RPM":-2347.21509,"EncoderCos":35072,"EncoderSin":13045,"GapTicks":49589,"Mech_RPM":-469.443024,"cg_du":54.9187355,"cg_dv":45.0812645,"cg_dw":47.3733711,"cg_id_a":11.0456991,"cg_id_raw_a":5.43246984,"cg_iq_a":-201.047684,"cg_iq_raw_a":-198.917358,"cg_iu_a":196.081665,"cg_iv_a":-56.6886902,"cg_iw_a":-139.392975,"cg_sample_age_us":24.0672722,"cg_sample_seq":7225967,"cg_sample_valid":1,"cg_theta_rad":4.84259844,"cg_vd_req_v":-2.16245031,"cg_vd_v":-2.16245031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32542038,"cg_vq_v":-8.32542038,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.5221424,"dclink_p_w":-2535.88599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0883484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1172.063321,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1172.063327,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1172.063333,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1172.384155,"values":{"Elec_RPM":-2344.5647,"EncoderCos":51082,"EncoderSin":25616,"GapTicks":49860,"Mech_RPM":-468.912933,"cg_du":53.9345436,"cg_dv":45.3275146,"cg_dw":54.6724854,"cg_id_a":18.7239456,"cg_id_raw_a":20.2967606,"cg_iq_a":-203.794662,"cg_iq_raw_a":-203.592941,"cg_iu_a":172.052002,"cg_iv_a":-171.400406,"cg_iw_a":-0.651596069,"cg_sample_age_us":24.1909084,"cg_sample_seq":7227620,"cg_sample_valid":1,"cg_theta_rad":5.96736193,"cg_vd_req_v":-2.33076191,"cg_vd_v":-2.33076191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33614731,"cg_vq_v":-8.33614731,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1172.714233,"values":{"Elec_RPM":-2337.63306,"EncoderCos":45949,"EncoderSin":18107,"GapTicks":49458,"Mech_RPM":-467.526611,"cg_du":44.9618721,"cg_dv":55.0381279,"cg_dw":52.2590408,"cg_id_a":5.25566769,"cg_id_raw_a":4.38831139,"cg_iq_a":-198.69278,"cg_iq_raw_a":-198.587051,"cg_iu_a":-196.910217,"cg_iv_a":79.8418274,"cg_iw_a":117.06839,"cg_sample_age_us":23.8309097,"cg_sample_seq":7229416,"cg_sample_valid":1,"cg_theta_rad":5.46409941,"cg_vd_req_v":-2.12773132,"cg_vd_v":-2.12773132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43265533,"cg_vq_v":-8.43265533,"cg_vu_v":1.31967759,"cg_vv_v":10.9973145,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.0470181,"dclink_p_w":-2322.39917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1173.048218,"values":{"Elec_RPM":-2346.3501,"EncoderCos":45959,"EncoderSin":47424,"GapTicks":49413,"Mech_RPM":-469.27002,"cg_du":51.6702232,"cg_dv":44.9211464,"cg_dw":55.0788536,"cg_id_a":5.15991402,"cg_id_raw_a":2.05739927,"cg_iq_a":-199.25386,"cg_iq_raw_a":-198.785507,"cg_iu_a":105.037163,"cg_iv_a":-198.981964,"cg_iw_a":93.944809,"cg_sample_age_us":23.5072727,"cg_sample_seq":7231016,"cg_sample_valid":1,"cg_theta_rad":0.832692921,"cg_vd_req_v":-2.06706858,"cg_vd_v":-2.06706858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3881464,"cg_vq_v":-8.3881464,"cg_vu_v":105.574219,"cg_vv_v":84.8992691,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.6852398,"dclink_p_w":-2551.71045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1257019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1173.054996,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1173.055002,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1173.055007,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1173.401733,"values":{"Elec_RPM":-2345.86279,"EncoderCos":51295,"EncoderSin":38972,"GapTicks":49522,"Mech_RPM":-469.172546,"cg_du":45.0200462,"cg_dv":54.9799538,"cg_dw":47.9308701,"cg_id_a":-7.83394241,"cg_id_raw_a":-3.88641286,"cg_iq_a":-200.252304,"cg_iq_raw_a":-201.785736,"cg_iu_a":-179.585663,"cg_iv_a":164.869873,"cg_iw_a":14.7157898,"cg_sample_age_us":23.5363636,"cg_sample_seq":7232817,"cg_sample_valid":1,"cg_theta_rad":0.332873672,"cg_vd_req_v":-1.7982657,"cg_vd_v":-1.7982657,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36722469,"cg_vq_v":-8.36722469,"cg_vu_v":123.60981,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1173.731812,"values":{"Elec_RPM":-2352.06885,"EncoderCos":24913,"EncoderSin":51044,"GapTicks":49841,"Mech_RPM":-470.413788,"cg_du":46.4987221,"cg_dv":45.3108673,"cg_dw":54.6891327,"cg_id_a":2.83943939,"cg_id_raw_a":8.55972767,"cg_iq_a":-204.440079,"cg_iq_raw_a":-204.152267,"cg_iu_a":-5.65150452,"cg_iv_a":-173.321335,"cg_iw_a":178.972839,"cg_sample_age_us":23.863636,"cg_sample_seq":7234417,"cg_sample_valid":1,"cg_theta_rad":1.9800961,"cg_vd_req_v":-1.9229697,"cg_vd_v":-1.9229697,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31382561,"cg_vq_v":-8.31382561,"cg_vu_v":107.773682,"cg_vv_v":101.175293,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1174.079484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1174.07949,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1174.079496,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1174.085327,"values":{"Elec_RPM":-2355.62476,"EncoderCos":24945,"EncoderSin":51044,"GapTicks":49900,"Mech_RPM":-471.124939,"cg_du":46.3722534,"cg_dv":45.3642807,"cg_dw":54.6357193,"cg_id_a":6.959939,"cg_id_raw_a":9.16322803,"cg_iq_a":-205.033112,"cg_iq_raw_a":-204.846649,"cg_iu_a":16.1310387,"cg_iv_a":-180.570099,"cg_iw_a":164.439056,"cg_sample_age_us":23.8600006,"cg_sample_seq":7236171,"cg_sample_valid":1,"cg_theta_rad":2.02165651,"cg_vd_req_v":-2.00294876,"cg_vd_v":-2.00294876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28819084,"cg_vq_v":-8.28819084,"cg_vu_v":0,"cg_vv_v":1.75957024,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.0143986,"dclink_p_w":-2317.67822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1174.417358,"values":{"Elec_RPM":-2358.28638,"EncoderCos":12833,"EncoderSin":33096,"GapTicks":49375,"Mech_RPM":-471.657288,"cg_du":44.887146,"cg_dv":48.7202339,"cg_dw":55.112854,"cg_id_a":-9.59364796,"cg_id_raw_a":-14.1245146,"cg_iq_a":-197.67627,"cg_iq_raw_a":-196.420151,"cg_iu_a":-106.119415,"cg_iv_a":-89.2356567,"cg_iw_a":195.355072,"cg_sample_age_us":23.9254551,"cg_sample_seq":7237817,"cg_sample_valid":1,"cg_theta_rad":3.12791657,"cg_vd_req_v":-1.70699203,"cg_vd_v":-1.70699203,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43582153,"cg_vq_v":-8.43582153,"cg_vu_v":117.451309,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2454.05811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1174.751343,"values":{"Elec_RPM":-2355.04175,"EncoderCos":12865,"EncoderSin":32134,"GapTicks":49630,"Mech_RPM":-471.008362,"cg_du":45.1186676,"cg_dv":47.0400772,"cg_dw":54.8813324,"cg_id_a":11.6489248,"cg_id_raw_a":9.03895569,"cg_iq_a":-201.737579,"cg_iq_raw_a":-202.541443,"cg_iu_a":-48.3829842,"cg_iv_a":-147.660706,"cg_iw_a":196.043686,"cg_sample_age_us":23.9181824,"cg_sample_seq":7239566,"cg_sample_valid":1,"cg_theta_rad":3.17830253,"cg_vd_req_v":-2.13181114,"cg_vd_v":-2.13181114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37578583,"cg_vq_v":-8.37578583,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2392.06787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1175.070856,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1175.070862,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1175.070867,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1175.102905,"values":{"Elec_RPM":-2356.01587,"EncoderCos":16171,"EncoderSin":21596,"GapTicks":49391,"Mech_RPM":-471.203156,"cg_du":55.0990181,"cg_dv":50.5262299,"cg_dw":44.9009819,"cg_id_a":-6.75570345,"cg_id_raw_a":-6.81208324,"cg_iq_a":-199.866394,"cg_iq_raw_a":-200.50708,"cg_iu_a":111.053635,"cg_iv_a":92.1647339,"cg_iw_a":-203.218369,"cg_sample_age_us":23.9872723,"cg_sample_seq":7241268,"cg_sample_valid":1,"cg_theta_rad":3.75211668,"cg_vd_req_v":-1.7607348,"cg_vd_v":-1.7607348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37922001,"cg_vq_v":-8.37922001,"cg_vu_v":129.328415,"cg_vv_v":142.085297,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2427.58179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1175.434937,"values":{"Elec_RPM":-2357.28223,"EncoderCos":25240,"EncoderSin":14331,"GapTicks":49417,"Mech_RPM":-471.456421,"cg_du":44.9252129,"cg_dv":50.7642822,"cg_dw":55.0747871,"cg_id_a":-13.8941793,"cg_id_raw_a":-13.3268509,"cg_iq_a":-200.2202,"cg_iq_raw_a":-201.85112,"cg_iu_a":-154.323715,"cg_iv_a":-34.6524353,"cg_iw_a":188.976151,"cg_sample_age_us":23.9290905,"cg_sample_seq":7242966,"cg_sample_valid":1,"cg_theta_rad":4.3341794,"cg_vd_req_v":-1.63012958,"cg_vd_v":-1.63012958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35512066,"cg_vq_v":-8.35512066,"cg_vu_v":3.95903301,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2492.61182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1175.768921,"values":{"Elec_RPM":-2355.56738,"EncoderCos":36352,"EncoderSin":13224,"GapTicks":49781,"Mech_RPM":-471.113495,"cg_du":54.7438278,"cg_dv":46.4908257,"cg_dw":45.2561722,"cg_id_a":5.5440402,"cg_id_raw_a":11.5418711,"cg_iq_a":-201.540466,"cg_iq_raw_a":-203.607849,"cg_iu_a":175.060242,"cg_iv_a":-1.05439758,"cg_iw_a":-174.005844,"cg_sample_age_us":24.0599995,"cg_sample_seq":7244666,"cg_sample_valid":1,"cg_theta_rad":4.91388512,"cg_vd_req_v":-2.0154829,"cg_vd_v":-2.0154829,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35444641,"cg_vq_v":-8.35444641,"cg_vu_v":39.590332,"cg_vv_v":40.0302238,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1176.0633,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1176.063306,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1176.063312,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1176.120483,"values":{"Elec_RPM":-2349.39478,"EncoderCos":51722,"EncoderSin":27723,"GapTicks":49325,"Mech_RPM":-469.878967,"cg_du":55.1584549,"cg_dv":44.8415451,"cg_dw":49.6271973,"cg_id_a":-15.0346575,"cg_id_raw_a":-16.6932583,"cg_iq_a":-195.285919,"cg_iq_raw_a":-194.526688,"cg_iu_a":191.442474,"cg_iv_a":-132.25708,"cg_iw_a":-59.1853867,"cg_sample_age_us":24.1618176,"cg_sample_seq":7246316,"cg_sample_valid":1,"cg_theta_rad":6.03600407,"cg_vd_req_v":-1.64700282,"cg_vd_v":-1.64700282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4693222,"cg_vq_v":-8.4693222,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.483757,"dclink_p_w":-2385.60596,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1176.452515,"values":{"Elec_RPM":-2350.03271,"EncoderCos":46961,"EncoderSin":19102,"GapTicks":49867,"Mech_RPM":-470.006561,"cg_du":45.3336716,"cg_dv":53.7151642,"cg_dw":54.6663284,"cg_id_a":4.28268909,"cg_id_raw_a":10.3716784,"cg_iq_a":-202.490585,"cg_iq_raw_a":-202.105621,"cg_iu_a":-173.895386,"cg_iv_a":1.55514526,"cg_iw_a":172.34024,"cg_sample_age_us":23.8381824,"cg_sample_seq":7248116,"cg_sample_valid":1,"cg_theta_rad":5.54780912,"cg_vd_req_v":-2.06571794,"cg_vd_v":-2.06571794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33014679,"cg_vq_v":-8.33014679,"cg_vu_v":120.090675,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5185165,"dclink_p_w":-2535.36133,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1176.786499,"values":{"Elec_RPM":-2348.11353,"EncoderCos":45094,"EncoderSin":48165,"GapTicks":49869,"Mech_RPM":-469.622711,"cg_du":53.9034729,"cg_dv":45.3361435,"cg_dw":54.6638565,"cg_id_a":16.7287998,"cg_id_raw_a":19.1771164,"cg_iq_a":-203.471039,"cg_iq_raw_a":-203.145187,"cg_iu_a":166.180511,"cg_iv_a":-186.115417,"cg_iw_a":19.9348984,"cg_sample_age_us":23.9072723,"cg_sample_seq":7249716,"cg_sample_valid":1,"cg_theta_rad":0.901619315,"cg_vd_req_v":-2.27232695,"cg_vd_v":-2.27232695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35261631,"cg_vq_v":-8.35261631,"cg_vu_v":135.047012,"cg_vv_v":121.410347,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2546.21948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0687866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1177.055371,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1177.055377,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1177.055383,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1177.138062,"values":{"Elec_RPM":-2346.86084,"EncoderCos":44644,"EncoderSin":48530,"GapTicks":49995,"Mech_RPM":-469.372192,"cg_du":54.5497971,"cg_dv":45.4502029,"cg_dw":54.2859917,"cg_id_a":13.4145451,"cg_id_raw_a":13.5117102,"cg_iq_a":-203.171646,"cg_iq_raw_a":-203.092178,"cg_iu_a":172.559418,"cg_iv_a":-176.547028,"cg_iw_a":3.98761749,"cg_sample_age_us":23.9799995,"cg_sample_seq":7251468,"cg_sample_valid":1,"cg_theta_rad":0.929426432,"cg_vd_req_v":-2.199476,"cg_vd_v":-2.199476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37098026,"cg_vq_v":-8.37098026,"cg_vu_v":106.453995,"cg_vv_v":85.7790527,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1177.472046,"values":{"Elec_RPM":-2347.052,"EncoderCos":15792,"EncoderSin":43144,"GapTicks":49998,"Mech_RPM":-469.4104,"cg_du":54.0575218,"cg_dv":54.5468674,"cg_dw":45.4531326,"cg_id_a":9.34774971,"cg_id_raw_a":13.5712118,"cg_iq_a":-204.780823,"cg_iq_raw_a":-206.714981,"cg_iu_a":12.3254375,"cg_iv_a":170.306442,"cg_iw_a":-185.023987,"cg_sample_age_us":23.8854542,"cg_sample_seq":7253066,"cg_sample_valid":1,"cg_theta_rad":2.5914402,"cg_vd_req_v":-2.05002451,"cg_vd_v":-2.05002451,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29816055,"cg_vq_v":-8.29816055,"cg_vu_v":0.43989256,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2460.97974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1177.823608,"values":{"Elec_RPM":-2350.96533,"EncoderCos":23651,"EncoderSin":50490,"GapTicks":49378,"Mech_RPM":-470.193085,"cg_du":49.8607445,"cg_dv":44.8891602,"cg_dw":55.1108398,"cg_id_a":-17.6507683,"cg_id_raw_a":-19.1222439,"cg_iq_a":-199.534576,"cg_iq_raw_a":-199.79567,"cg_iu_a":102.681313,"cg_iv_a":-200.359253,"cg_iw_a":110.979408,"cg_sample_age_us":23.6709099,"cg_sample_seq":7254870,"cg_sample_valid":1,"cg_theta_rad":2.08796787,"cg_vd_req_v":-1.5501399,"cg_vd_v":-1.5501399,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40013313,"cg_vq_v":-8.40013313,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2517.02441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1178.079623,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1178.079629,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1178.079634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1178.167358,"values":{"Elec_RPM":-2353.32568,"EncoderCos":12881,"EncoderSin":31658,"GapTicks":49899,"Mech_RPM":-470.665161,"cg_du":45.3629303,"cg_dv":46.0661087,"cg_dw":54.6370697,"cg_id_a":13.0765181,"cg_id_raw_a":13.662097,"cg_iq_a":-202.188889,"cg_iq_raw_a":-202.298889,"cg_iu_a":-26.0567818,"cg_iv_a":-163.752975,"cg_iw_a":189.809753,"cg_sample_age_us":23.9327278,"cg_sample_seq":7256516,"cg_sample_valid":1,"cg_theta_rad":3.20271969,"cg_vd_req_v":-2.1412673,"cg_vd_v":-2.1412673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35887241,"cg_vq_v":-8.35887241,"cg_vu_v":40.0302238,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2510.44751,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1150208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1178.68689,"values":{"Elec_RPM":-2348.42871,"EncoderCos":44725,"EncoderSin":48488,"GapTicks":49934,"Mech_RPM":-469.68576,"cg_du":54.6048737,"cg_dv":45.3951263,"cg_dw":53.9710579,"cg_id_a":12.0583191,"cg_id_raw_a":14.3725109,"cg_iq_a":-204.013672,"cg_iq_raw_a":-204.425018,"cg_iu_a":172.088257,"cg_iv_a":-179.736511,"cg_iw_a":7.64825439,"cg_sample_age_us":24.0090904,"cg_sample_seq":7259067,"cg_sample_valid":1,"cg_theta_rad":0.922631621,"cg_vd_req_v":-2.14982295,"cg_vd_v":-2.14982295,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29626846,"cg_vq_v":-8.29626846,"cg_vu_v":143.404984,"cg_vv_v":130.208206,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2434.30957,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1178.94325,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1178.943262,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1178.943265,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1179.071275,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1179.071281,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1179.071287,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1179.14978,"values":{"Elec_RPM":-2356.16479,"EncoderCos":51638,"EncoderSin":27181,"GapTicks":49326,"Mech_RPM":-471.232941,"cg_du":55.1573181,"cg_dv":44.8426819,"cg_dw":50.8239632,"cg_id_a":-15.7256613,"cg_id_raw_a":-16.6354752,"cg_iq_a":-193.610779,"cg_iq_raw_a":-194.450928,"cg_iu_a":180.714294,"cg_iv_a":-152.046204,"cg_iw_a":-28.6680832,"cg_sample_age_us":24.0418186,"cg_sample_seq":7261517,"cg_sample_valid":1,"cg_theta_rad":6.01120138,"cg_vd_req_v":-1.61863053,"cg_vd_v":-1.61863053,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50247192,"cg_vq_v":-8.50247192,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-18.3050079,"dclink_p_w":-2649.18604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1179.481812,"values":{"Elec_RPM":-2351.3479,"EncoderCos":51533,"EncoderSin":38308,"GapTicks":49933,"Mech_RPM":-470.269562,"cg_du":45.3944511,"cg_dv":54.6055489,"cg_dw":46.1134262,"cg_id_a":8.03529835,"cg_id_raw_a":6.6788106,"cg_iq_a":-204.994125,"cg_iq_raw_a":-207.478088,"cg_iu_a":-173.460449,"cg_iv_a":179.621094,"cg_iw_a":-6.16065216,"cg_sample_age_us":23.5363636,"cg_sample_seq":7263217,"cg_sample_valid":1,"cg_theta_rad":0.294457644,"cg_vd_req_v":-2.12867737,"cg_vd_v":-2.12867737,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29255581,"cg_vq_v":-8.29255581,"cg_vu_v":95.0167923,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1179.813843,"values":{"Elec_RPM":-2354.84863,"EncoderCos":35898,"EncoderSin":52144,"GapTicks":49289,"Mech_RPM":-470.969727,"cg_du":50.5574265,"cg_dv":55.1911507,"cg_dw":44.8088493,"cg_id_a":-10.6774921,"cg_id_raw_a":-9.33380985,"cg_iq_a":-194.172638,"cg_iq_raw_a":-193.746307,"cg_iu_a":-44.4324036,"cg_iv_a":186.61618,"cg_iw_a":-142.183777,"cg_sample_age_us":23.8963642,"cg_sample_seq":7264867,"cg_sample_valid":1,"cg_theta_rad":1.40909445,"cg_vd_req_v":-1.68902206,"cg_vd_v":-1.68902206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52608967,"cg_vq_v":-8.52608967,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1180.063564,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1180.06357,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1180.063575,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1180.165405,"values":{"Elec_RPM":-2350.19385,"EncoderCos":44669,"EncoderSin":48472,"GapTicks":49854,"Mech_RPM":-470.038788,"cg_du":54.6779022,"cg_dv":45.3220978,"cg_dw":53.8622017,"cg_id_a":9.6011858,"cg_id_raw_a":15.3832636,"cg_iq_a":-200.725616,"cg_iq_raw_a":-201.506683,"cg_iu_a":170.819733,"cg_iv_a":-175.423492,"cg_iw_a":4.60375214,"cg_sample_age_us":23.8672733,"cg_sample_seq":7266666,"cg_sample_valid":1,"cg_theta_rad":0.925189018,"cg_vd_req_v":-2.10159063,"cg_vd_v":-2.10159063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40125656,"cg_vq_v":-8.40125656,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2363.05078,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1180.49939,"values":{"Elec_RPM":-2352.03149,"EncoderCos":16004,"EncoderSin":43436,"GapTicks":49942,"Mech_RPM":-470.406281,"cg_du":54.597702,"cg_dv":53.9770889,"cg_dw":45.402298,"cg_id_a":15.6949759,"cg_id_raw_a":14.930933,"cg_iq_a":-206.176544,"cg_iq_raw_a":-208.014862,"cg_iu_a":23.6335144,"cg_iv_a":166.4646,"cg_iw_a":-190.098114,"cg_sample_age_us":23.8854542,"cg_sample_seq":7268266,"cg_sample_valid":1,"cg_theta_rad":2.57469654,"cg_vd_req_v":-2.1966629,"cg_vd_v":-2.1966629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27560997,"cg_vq_v":-8.27560997,"cg_vu_v":26.8334465,"cg_vv_v":17.1558094,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2456.60498,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1180.831421,"values":{"Elec_RPM":-2356.20874,"EncoderCos":12865,"EncoderSin":32731,"GapTicks":49420,"Mech_RPM":-471.24173,"cg_du":44.9274788,"cg_dv":48.0873528,"cg_dw":55.0725212,"cg_id_a":0.0869632959,"cg_id_raw_a":-5.58897448,"cg_iq_a":-197.607147,"cg_iq_raw_a":-199.42305,"cg_iu_a":-95.9348907,"cg_iv_a":-99.3476868,"cg_iw_a":195.282578,"cg_sample_age_us":23.9400005,"cg_sample_seq":7269966,"cg_sample_valid":1,"cg_theta_rad":3.1382761,"cg_vd_req_v":-1.90047789,"cg_vd_v":-1.90047789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46469307,"cg_vq_v":-8.46469307,"cg_vu_v":104.254532,"cg_vv_v":99.8556061,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.5475121,"dclink_p_w":-2539.55762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1181.055729,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1181.055734,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1181.05574,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1181.184937,"values":{"Elec_RPM":-2354.87695,"EncoderCos":16045,"EncoderSin":21804,"GapTicks":49354,"Mech_RPM":-470.975372,"cg_du":55.1326599,"cg_dv":50.0425606,"cg_dw":44.8673401,"cg_id_a":-9.44963646,"cg_id_raw_a":-12.6395311,"cg_iq_a":-198.044006,"cg_iq_raw_a":-196.749573,"cg_iu_a":131.712616,"cg_iv_a":64.6556702,"cg_iw_a":-196.368286,"cg_sample_age_us":24.0490913,"cg_sample_seq":7271666,"cg_sample_valid":1,"cg_theta_rad":3.72852874,"cg_vd_req_v":-1.70945215,"cg_vd_v":-1.70945215,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40540314,"cg_vq_v":-8.40540314,"cg_vu_v":29.0329094,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1415825,"dclink_p_w":-2473.26904,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1181.516968,"values":{"Elec_RPM":-2356.0332,"EncoderCos":16493,"EncoderSin":21112,"GapTicks":49476,"Mech_RPM":-471.206635,"cg_du":55.0211334,"cg_dv":51.5416183,"cg_dw":44.9788666,"cg_id_a":5.09625149,"cg_id_raw_a":0.799991667,"cg_iq_a":-203.310242,"cg_iq_raw_a":-203.58284,"cg_iu_a":85.5379791,"cg_iv_a":117.317947,"cg_iw_a":-202.855927,"cg_sample_age_us":23.9654541,"cg_sample_seq":7273416,"cg_sample_valid":1,"cg_theta_rad":3.77074718,"cg_vd_req_v":-2.00611734,"cg_vd_v":-2.00611734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28231239,"cg_vq_v":-8.28231239,"cg_vu_v":31.6722641,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2519.28809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1181.86853,"values":{"Elec_RPM":-2355.14038,"EncoderCos":34932,"EncoderSin":13012,"GapTicks":49480,"Mech_RPM":-471.028076,"cg_du":55.0174026,"cg_dv":44.9825974,"cg_dw":47.6575432,"cg_id_a":11.120718,"cg_id_raw_a":7.45317459,"cg_iq_a":-200.419388,"cg_iq_raw_a":-200.377106,"cg_iu_a":191.080017,"cg_iv_a":-30.991806,"cg_iw_a":-160.088211,"cg_sample_age_us":23.9581814,"cg_sample_seq":7275070,"cg_sample_valid":1,"cg_theta_rad":4.87228537,"cg_vd_req_v":-2.17049432,"cg_vd_v":-2.17049432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38113499,"cg_vq_v":-8.38113499,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2451.52075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1182.047295,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1182.047301,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1182.047307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1182.202515,"values":{"Elec_RPM":-2355.02246,"EncoderCos":36510,"EncoderSin":13256,"GapTicks":49638,"Mech_RPM":-471.004517,"cg_du":54.8740768,"cg_dv":46.9820518,"cg_dw":45.1259232,"cg_id_a":-1.41076088,"cg_id_raw_a":5.69564915,"cg_iq_a":-197.741806,"cg_iq_raw_a":-199.304214,"cg_iu_a":173.248062,"cg_iv_a":-2.2504425,"cg_iw_a":-170.99762,"cg_sample_age_us":24.0418186,"cg_sample_seq":7276816,"cg_sample_valid":1,"cg_theta_rad":4.91981649,"cg_vd_req_v":-1.86428583,"cg_vd_v":-1.86428583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44678116,"cg_vq_v":-8.44678116,"cg_vu_v":48.8280716,"cg_vv_v":47.9482918,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1182.534546,"values":{"Elec_RPM":-2353.56543,"EncoderCos":51672,"EncoderSin":27564,"GapTicks":49345,"Mech_RPM":-470.713104,"cg_du":55.1406746,"cg_dv":44.8593254,"cg_dw":49.9781876,"cg_id_a":-16.9905357,"cg_id_raw_a":-19.0090179,"cg_iq_a":-196.244614,"cg_iq_raw_a":-194.592377,"cg_iu_a":191.007538,"cg_iv_a":-139.469604,"cg_iw_a":-51.537941,"cg_sample_age_us":24.1436367,"cg_sample_seq":7278467,"cg_sample_valid":1,"cg_theta_rad":6.02772045,"cg_vd_req_v":-1.61530435,"cg_vd_v":-1.61530435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43756676,"cg_vq_v":-8.43756676,"cg_vu_v":105.574219,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2403.70239,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1182.886108,"values":{"Elec_RPM":-2352.56445,"EncoderCos":51894,"EncoderSin":28224,"GapTicks":49384,"Mech_RPM":-470.512878,"cg_du":55.1049309,"cg_dv":44.8950691,"cg_dw":48.7547989,"cg_id_a":-1.89760733,"cg_id_raw_a":-6.21935654,"cg_iq_a":-198.866211,"cg_iq_raw_a":-197.650574,"cg_iu_a":199.778549,"cg_iv_a":-96.0857391,"cg_iw_a":-103.69281,"cg_sample_age_us":24.1436367,"cg_sample_seq":7280217,"cg_sample_valid":1,"cg_theta_rad":6.06557369,"cg_vd_req_v":-1.94568336,"cg_vd_v":-1.94568336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39263153,"cg_vq_v":-8.39263153,"cg_vu_v":140.325729,"cg_vv_v":109.093361,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1183.070594,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1183.0706,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1183.070606,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1183.220093,"values":{"Elec_RPM":-2346.96802,"EncoderCos":44910,"EncoderSin":48303,"GapTicks":50063,"Mech_RPM":-469.393616,"cg_du":54.3887558,"cg_dv":45.5124855,"cg_dw":54.4875145,"cg_id_a":14.8607159,"cg_id_raw_a":19.2910767,"cg_iq_a":-202.916473,"cg_iq_raw_a":-202.047638,"cg_iu_a":170.203583,"cg_iv_a":-181.548691,"cg_iw_a":11.345108,"cg_sample_age_us":24.0090904,"cg_sample_seq":7281866,"cg_sample_valid":1,"cg_theta_rad":0.911820531,"cg_vd_req_v":-2.21709323,"cg_vd_v":-2.21709323,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34895325,"cg_vq_v":-8.34895325,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-18.0241184,"dclink_p_w":-2608.53442,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1183.550171,"values":{"Elec_RPM":-2351.13745,"EncoderCos":34380,"EncoderSin":52386,"GapTicks":49541,"Mech_RPM":-470.227509,"cg_du":47.6200943,"cg_dv":54.9619141,"cg_dw":45.0380859,"cg_id_a":12.1233711,"cg_id_raw_a":7.20440149,"cg_iq_a":-201.458801,"cg_iq_raw_a":-200.28804,"cg_iu_a":-127.684494,"cg_iv_a":199.1203,"cg_iw_a":-71.4358063,"cg_sample_age_us":23.863636,"cg_sample_seq":7283566,"cg_sample_valid":1,"cg_theta_rad":1.48026216,"cg_vd_req_v":-2.15734816,"cg_vd_v":-2.15734816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32924175,"cg_vq_v":-8.32924175,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-16.2191753,"dclink_p_w":-2347.31445,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1183.903687,"values":{"Elec_RPM":-2347.12817,"EncoderCos":33891,"EncoderSin":52454,"GapTicks":49770,"Mech_RPM":-469.425629,"cg_du":46.6613693,"cg_dv":54.7541733,"cg_dw":45.2458267,"cg_id_a":16.3176365,"cg_id_raw_a":15.4857645,"cg_iq_a":-206.088867,"cg_iq_raw_a":-205.052872,"cg_iu_a":-159.796539,"cg_iv_a":194.481094,"cg_iw_a":-34.6845551,"cg_sample_age_us":23.9072723,"cg_sample_seq":7285317,"cg_sample_valid":1,"cg_theta_rad":1.51286387,"cg_vd_req_v":-2.22453928,"cg_vd_v":-2.22453928,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25242901,"cg_vq_v":-8.25242901,"cg_vu_v":103.374756,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.7504787,"dclink_p_w":-2561.12354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1184.062978,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1184.062984,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1184.062989,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1184.237671,"values":{"Elec_RPM":-2347.72632,"EncoderCos":15354,"EncoderSin":42412,"GapTicks":49417,"Mech_RPM":-469.545258,"cg_du":51.9725304,"cg_dv":55.0752869,"cg_dw":44.9247131,"cg_id_a":-6.0017395,"cg_id_raw_a":-3.78573275,"cg_iq_a":-195.24736,"cg_iq_raw_a":-196.85553,"cg_iu_a":-21.417572,"cg_iv_a":178.497559,"cg_iw_a":-157.079987,"cg_sample_age_us":23.8854542,"cg_sample_seq":7286966,"cg_sample_valid":1,"cg_theta_rad":2.63807964,"cg_vd_req_v":-1.74525094,"cg_vd_v":-1.74525094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51539326,"cg_vq_v":-8.51539326,"cg_vu_v":16.7159176,"cg_vv_v":12.7568836,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1184.567749,"values":{"Elec_RPM":-2350.28369,"EncoderCos":12904,"EncoderSin":31646,"GapTicks":49952,"Mech_RPM":-470.056763,"cg_du":45.411232,"cg_dv":46.0638275,"cg_dw":54.588768,"cg_id_a":12.8886375,"cg_id_raw_a":14.0784407,"cg_iq_a":-202.62941,"cg_iq_raw_a":-199.809357,"cg_iu_a":-26.2742462,"cg_iv_a":-161.904526,"cg_iw_a":188.178772,"cg_sample_age_us":23.9618187,"cg_sample_seq":7288667,"cg_sample_valid":1,"cg_theta_rad":3.20329595,"cg_vd_req_v":-2.12192678,"cg_vd_v":-2.12192678,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31692886,"cg_vq_v":-8.31692886,"cg_vu_v":105.134323,"cg_vv_v":92.8173294,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2445.92773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1184.921265,"values":{"Elec_RPM":-2347.81958,"EncoderCos":24802,"EncoderSin":14506,"GapTicks":49489,"Mech_RPM":-469.563934,"cg_du":44.9905396,"cg_dv":51.8701363,"cg_dw":55.0094604,"cg_id_a":-10.9997482,"cg_id_raw_a":-8.60397625,"cg_iq_a":-201.655243,"cg_iq_raw_a":-200.582214,"cg_iu_a":-164.943146,"cg_iv_a":-14.6820984,"cg_iw_a":180.422607,"cg_sample_age_us":23.9436359,"cg_sample_seq":7290317,"cg_sample_valid":1,"cg_theta_rad":4.31295729,"cg_vd_req_v":-1.68763232,"cg_vd_v":-1.68763232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3692522,"cg_vq_v":-8.3692522,"cg_vu_v":117.011421,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2417.86499,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1185.087012,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1185.087017,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1185.087023,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1185.253296,"values":{"Elec_RPM":-2342.88379,"EncoderCos":17018,"EncoderSin":20399,"GapTicks":49798,"Mech_RPM":-468.576782,"cg_du":54.7286453,"cg_dv":53.3366776,"cg_dw":45.2713547,"cg_id_a":10.2226143,"cg_id_raw_a":10.470706,"cg_iq_a":-206.453415,"cg_iq_raw_a":-205.337265,"cg_iu_a":39.9794807,"cg_iv_a":154.032974,"cg_iw_a":-194.012451,"cg_sample_age_us":23.9872723,"cg_sample_seq":7292117,"cg_sample_valid":1,"cg_theta_rad":3.81592941,"cg_vd_req_v":-2.10771513,"cg_vd_v":-2.10771513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26840687,"cg_vq_v":-8.26840687,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1185.585327,"values":{"Elec_RPM":-2340.80054,"EncoderCos":46256,"EncoderSin":18389,"GapTicks":49653,"Mech_RPM":-468.160095,"cg_du":45.1391144,"cg_dv":54.8608856,"cg_dw":53.1095581,"cg_id_a":7.56211758,"cg_id_raw_a":6.44347429,"cg_iq_a":-198.53717,"cg_iq_raw_a":-198.652908,"cg_iu_a":-193.213348,"cg_iv_a":60.7050934,"cg_iw_a":132.508255,"cg_sample_age_us":23.8309097,"cg_sample_seq":7293716,"cg_sample_valid":1,"cg_theta_rad":5.47599077,"cg_vd_req_v":-2.16016889,"cg_vd_v":-2.16016889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38578033,"cg_vq_v":-8.38578033,"cg_vu_v":1.31967759,"cg_vv_v":9.67763615,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2478.44922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1185.93689,"values":{"Elec_RPM":-2343.05444,"EncoderCos":46672,"EncoderSin":18782,"GapTicks":49998,"Mech_RPM":-468.61087,"cg_du":45.4532585,"cg_dv":54.5467415,"cg_dw":54.19347,"cg_id_a":11.5285091,"cg_id_raw_a":11.7310982,"cg_iq_a":-202.491104,"cg_iq_raw_a":-201.318481,"cg_iu_a":-184.369843,"cg_iv_a":20.1119843,"cg_iw_a":164.257858,"cg_sample_age_us":23.9072723,"cg_sample_seq":7295467,"cg_sample_valid":1,"cg_theta_rad":5.51132345,"cg_vd_req_v":-2.22387528,"cg_vd_v":-2.22387528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31609535,"cg_vq_v":-8.31609535,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.4384518,"dclink_p_w":-2379.04932,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1186.079152,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1186.079157,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1186.079162,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1186.270874,"values":{"Elec_RPM":-2348.51221,"EncoderCos":51941,"EncoderSin":28852,"GapTicks":49496,"Mech_RPM":-469.702423,"cg_du":55.0034027,"cg_dv":44.9965973,"cg_dw":47.6734886,"cg_id_a":13.1074104,"cg_id_raw_a":11.4667702,"cg_iq_a":-201.972839,"cg_iq_raw_a":-201.741669,"cg_iu_a":199.162399,"cg_iv_a":-57.1598663,"cg_iw_a":-142.002533,"cg_sample_age_us":24.1800003,"cg_sample_seq":7297166,"cg_sample_valid":1,"cg_theta_rad":6.09689093,"cg_vd_req_v":-2.24343252,"cg_vd_v":-2.24343252,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36170673,"cg_vq_v":-8.36170673,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1186.622437,"values":{"Elec_RPM":-2352.1499,"EncoderCos":52094,"EncoderSin":29654,"GapTicks":49943,"Mech_RPM":-470.429993,"cg_du":54.5965347,"cg_dv":45.4034653,"cg_dw":45.9480896,"cg_id_a":13.140872,"cg_id_raw_a":18.3701248,"cg_iq_a":-203.940689,"cg_iq_raw_a":-205.606339,"cg_iu_a":185.933395,"cg_iv_a":-20.1186676,"cg_iw_a":-165.814728,"cg_sample_age_us":24.0418186,"cg_sample_seq":7298916,"cg_sample_valid":1,"cg_theta_rad":6.13988161,"cg_vd_req_v":-2.21569395,"cg_vd_v":-2.21569395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32938385,"cg_vq_v":-8.32938385,"cg_vu_v":16.7159176,"cg_vv_v":11.4372072,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-16.5544319,"dclink_p_w":-2395.83447,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0812073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1186.956421,"values":{"Elec_RPM":-2356.66187,"EncoderCos":44099,"EncoderSin":48918,"GapTicks":49488,"Mech_RPM":-471.332367,"cg_du":55.0101089,"cg_dv":44.9898911,"cg_dw":51.8850212,"cg_id_a":-11.4355736,"cg_id_raw_a":-9.73668575,"cg_iq_a":-197.26944,"cg_iq_raw_a":-198.827133,"cg_iu_a":175.567657,"cg_iv_a":-164.079163,"cg_iw_a":-11.4885025,"cg_sample_age_us":23.954546,"cg_sample_seq":7300567,"cg_sample_valid":1,"cg_theta_rad":0.962847829,"cg_vd_req_v":-1.67362452,"cg_vd_v":-1.67362452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4293375,"cg_vq_v":-8.4293375,"cg_vu_v":107.333786,"cg_vv_v":98.5359344,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2464.54883,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1187.071296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1187.071302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1187.071307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1187.288452,"values":{"Elec_RPM":-2350.78003,"EncoderCos":33492,"EncoderSin":52490,"GapTicks":50012,"Mech_RPM":-470.156006,"cg_du":45.8153038,"cg_dv":54.534462,"cg_dw":45.465538,"cg_id_a":15.6635323,"cg_id_raw_a":17.2794781,"cg_iq_a":-206.566711,"cg_iq_raw_a":-207.552353,"cg_iu_a":-169.908554,"cg_iv_a":187.957184,"cg_iw_a":-18.0486374,"cg_sample_age_us":23.9581814,"cg_sample_seq":7302267,"cg_sample_valid":1,"cg_theta_rad":1.53442287,"cg_vd_req_v":-2.20100927,"cg_vd_v":-2.20100927,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27231693,"cg_vq_v":-8.27231693,"cg_vu_v":131.967773,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.2101154,"dclink_p_w":-2331.74194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1187.640015,"values":{"Elec_RPM":-2353.25684,"EncoderCos":22568,"EncoderSin":49813,"GapTicks":49446,"Mech_RPM":-470.651367,"cg_du":52.2381401,"cg_dv":44.9517174,"cg_dw":55.0482826,"cg_id_a":5.83396816,"cg_id_raw_a":4.41181469,"cg_iq_a":-197.625412,"cg_iq_raw_a":-196.972824,"cg_iu_a":126.058586,"cg_iv_a":-195.538818,"cg_iw_a":69.4802246,"cg_sample_age_us":23.5654545,"cg_sample_seq":7303967,"cg_sample_valid":1,"cg_theta_rad":2.11194754,"cg_vd_req_v":-2.04363322,"cg_vd_v":-2.04363322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46516323,"cg_vq_v":-8.46516323,"cg_vu_v":129.768311,"cg_vv_v":122.290138,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2419.95288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1187.973999,"values":{"Elec_RPM":-2347.44775,"EncoderCos":14847,"EncoderSin":41448,"GapTicks":49337,"Mech_RPM":-469.489532,"cg_du":49.5405312,"cg_dv":55.1480522,"cg_dw":44.8519478,"cg_id_a":-6.35906124,"cg_id_raw_a":-7.5020256,"cg_iq_a":-196.82518,"cg_iq_raw_a":-194.783905,"cg_iu_a":-77.3780518,"cg_iv_a":196.76445,"cg_iw_a":-119.386398,"cg_sample_age_us":23.9581814,"cg_sample_seq":7305667,"cg_sample_valid":1,"cg_theta_rad":2.69175243,"cg_vd_req_v":-1.74921322,"cg_vd_v":-1.74921322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43504906,"cg_vq_v":-8.43504906,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1188.063048,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1188.063054,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1188.063059,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1188.411499,"values":{"Elec_RPM":-2340.98755,"EncoderCos":42610,"EncoderSin":15525,"GapTicks":49495,"Mech_RPM":-468.19751,"cg_du":47.8746834,"cg_dv":55.0041504,"cg_dw":44.9958496,"cg_id_a":1.87081277,"cg_id_raw_a":-4.47187996,"cg_iq_a":-199.913971,"cg_iq_raw_a":-199.873062,"cg_iu_a":-123.951378,"cg_iv_a":199.301514,"cg_iw_a":-88.8328476,"cg_sample_age_us":23.9509087,"cg_sample_seq":7307767,"cg_sample_valid":1,"cg_theta_rad":5.24564171,"cg_vd_req_v":-2.03646088,"cg_vd_v":-2.03646088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36606884,"cg_vq_v":-8.36606884,"cg_vu_v":101.175293,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1188.926852,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1188.926865,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1188.926868,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1188.932983,"values":{"Elec_RPM":-2342.22778,"EncoderCos":14200,"EncoderSin":25523,"GapTicks":49309,"Mech_RPM":-468.445557,"cg_du":55.1736374,"cg_dv":44.8263626,"cg_dw":50.2504158,"cg_id_a":-17.2163982,"cg_id_raw_a":-18.8675079,"cg_iq_a":-195.408005,"cg_iq_raw_a":-195.489777,"cg_iu_a":185.643448,"cg_iv_a":-145.884766,"cg_iw_a":-39.7586899,"cg_sample_age_us":24.0418186,"cg_sample_seq":7310267,"cg_sample_valid":1,"cg_theta_rad":3.51001477,"cg_vd_req_v":-1.52087092,"cg_vd_v":-1.52087092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51446247,"cg_vq_v":-8.51446247,"cg_vu_v":17.5957031,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2401.86646,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1189.054705,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1189.05471,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1189.054716,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1189.300171,"values":{"Elec_RPM":-2341.13135,"EncoderCos":51262,"EncoderSin":39102,"GapTicks":49422,"Mech_RPM":-468.226257,"cg_du":44.9294319,"cg_dv":55.0705681,"cg_dw":48.2218666,"cg_id_a":-8.00086308,"cg_id_raw_a":-5.45184803,"cg_iq_a":-197.718781,"cg_iq_raw_a":-198.357162,"cg_iu_a":-181.941498,"cg_iv_a":157.621094,"cg_iw_a":24.3203964,"cg_sample_age_us":23.5363636,"cg_sample_seq":7312316,"cg_sample_valid":1,"cg_theta_rad":0.340123951,"cg_vd_req_v":-1.80203331,"cg_vd_v":-1.80203331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45565128,"cg_vq_v":-8.45565128,"cg_vu_v":1.31967759,"cg_vv_v":7.91806602,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2483.16992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1189.651733,"values":{"Elec_RPM":-2339.41846,"EncoderCos":44983,"EncoderSin":48280,"GapTicks":50003,"Mech_RPM":-467.883667,"cg_du":54.2543602,"cg_dv":45.457653,"cg_dw":54.542347,"cg_id_a":14.7695065,"cg_id_raw_a":16.9529858,"cg_iq_a":-201.603836,"cg_iq_raw_a":-202.079727,"cg_iu_a":165.963043,"cg_iv_a":-181.766144,"cg_iw_a":15.8031006,"cg_sample_age_us":24.005455,"cg_sample_seq":7314017,"cg_sample_valid":1,"cg_theta_rad":0.907466471,"cg_vd_req_v":-2.21957088,"cg_vd_v":-2.21957088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33929634,"cg_vq_v":-8.33929634,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.0545654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1189.985718,"values":{"Elec_RPM":-2345.07617,"EncoderCos":34574,"EncoderSin":52385,"GapTicks":49464,"Mech_RPM":-469.015228,"cg_du":47.9590454,"cg_dv":55.0325851,"cg_dw":44.9674149,"cg_id_a":7.807796,"cg_id_raw_a":3.67344737,"cg_iq_a":-201.666672,"cg_iq_raw_a":-200.960632,"cg_iu_a":-129.569168,"cg_iv_a":200.606293,"cg_iw_a":-71.0371246,"cg_sample_age_us":23.8963642,"cg_sample_seq":7315717,"cg_sample_valid":1,"cg_theta_rad":1.48168314,"cg_vd_req_v":-2.08748126,"cg_vd_v":-2.08748126,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35449886,"cg_vq_v":-8.35449886,"cg_vu_v":116.131638,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2391.90039,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1190.07931,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1190.079316,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1190.079322,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1190.317749,"values":{"Elec_RPM":-2339.73657,"EncoderCos":23368,"EncoderSin":50296,"GapTicks":49306,"Mech_RPM":-467.947296,"cg_du":50.5034256,"cg_dv":44.8241119,"cg_dw":55.1758881,"cg_id_a":-11.675746,"cg_id_raw_a":-14.8825808,"cg_iq_a":-196.811935,"cg_iq_raw_a":-197.434845,"cg_iu_a":72.6714172,"cg_iv_a":-195.575058,"cg_iw_a":122.903641,"cg_sample_age_us":23.5981827,"cg_sample_seq":7317416,"cg_sample_valid":1,"cg_theta_rad":2.06324911,"cg_vd_req_v":-1.6922015,"cg_vd_v":-1.6922015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4963665,"cg_vq_v":-8.4963665,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2536.22803,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1190.671265,"values":{"Elec_RPM":-2342.56689,"EncoderCos":12864,"EncoderSin":32332,"GapTicks":49562,"Mech_RPM":-468.513397,"cg_du":45.0571213,"cg_dv":47.3942719,"cg_dw":54.9428787,"cg_id_a":8.22947121,"cg_id_raw_a":5.3958559,"cg_iq_a":-200.168167,"cg_iq_raw_a":-197.577301,"cg_iu_a":-58.893692,"cg_iv_a":-136.678818,"cg_iw_a":195.57251,"cg_sample_age_us":23.9618187,"cg_sample_seq":7319067,"cg_sample_valid":1,"cg_theta_rad":3.16736197,"cg_vd_req_v":-2.05376649,"cg_vd_v":-2.05376649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35951424,"cg_vq_v":-8.35951424,"cg_vu_v":143.404984,"cg_vv_v":140.325729,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2422.54346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1191.001343,"values":{"Elec_RPM":-2347.25,"EncoderCos":12901,"EncoderSin":31398,"GapTicks":50136,"Mech_RPM":-469.449982,"cg_du":45.5967751,"cg_dv":45.5782661,"cg_dw":54.4217339,"cg_id_a":10.4619961,"cg_id_raw_a":12.3567867,"cg_iq_a":-206.018539,"cg_iq_raw_a":-204.44899,"cg_iu_a":-16.0897293,"cg_iv_a":-171.581635,"cg_iw_a":187.671356,"cg_sample_age_us":23.9436359,"cg_sample_seq":7320816,"cg_sample_valid":1,"cg_theta_rad":3.21416616,"cg_vd_req_v":-2.08234835,"cg_vd_v":-2.08234835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26525974,"cg_vq_v":-8.26525974,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2442.677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1292725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1191.039316,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1191.039322,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1191.039328,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1191.335327,"values":{"Elec_RPM":-2347.67725,"EncoderCos":16773,"EncoderSin":20694,"GapTicks":49587,"Mech_RPM":-469.535461,"cg_du":54.9206276,"cg_dv":52.5466042,"cg_dw":45.0793724,"cg_id_a":10.6954746,"cg_id_raw_a":8.15700245,"cg_iq_a":-204.387482,"cg_iq_raw_a":-204.348251,"cg_iu_a":69.9168854,"cg_iv_a":130.510727,"cg_iw_a":-200.427612,"cg_sample_age_us":23.863636,"cg_sample_seq":7322516,"cg_sample_valid":1,"cg_theta_rad":3.7872951,"cg_vd_req_v":-2.11900353,"cg_vd_v":-2.11900353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31656742,"cg_vq_v":-8.31656742,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2403.70239,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1191.688843,"values":{"Elec_RPM":-2347.24634,"EncoderCos":25774,"EncoderSin":14147,"GapTicks":49346,"Mech_RPM":-469.44928,"cg_du":44.8607864,"cg_dv":49.5449753,"cg_dw":55.1392136,"cg_id_a":-11.5851307,"cg_id_raw_a":-14.6292334,"cg_iq_a":-197.568436,"cg_iq_raw_a":-194.807587,"cg_iu_a":-124.531281,"cg_iv_a":-68.4679413,"cg_iw_a":192.999222,"cg_sample_age_us":23.8345451,"cg_sample_seq":7324217,"cg_sample_valid":1,"cg_theta_rad":4.36674023,"cg_vd_req_v":-1.69460642,"cg_vd_v":-1.69460642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43091583,"cg_vq_v":-8.43091583,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.8718948,"dclink_p_w":-2586.50391,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1192.018921,"values":{"Elec_RPM":-2348.74146,"EncoderCos":36904,"EncoderSin":13338,"GapTicks":49501,"Mech_RPM":-469.748291,"cg_du":54.9982834,"cg_dv":48.08424,"cg_dw":45.0017166,"cg_id_a":-12.3756199,"cg_id_raw_a":-6.3162322,"cg_iq_a":-197.816498,"cg_iq_raw_a":-197.319061,"cg_iu_a":165.238159,"cg_iv_a":9.99996948,"cg_iw_a":-175.238129,"cg_sample_age_us":24.005455,"cg_sample_seq":7325917,"cg_sample_valid":1,"cg_theta_rad":4.94064569,"cg_vd_req_v":-1.64716029,"cg_vd_v":-1.64716029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39481068,"cg_vq_v":-8.39481068,"cg_vu_v":106.453995,"cg_vv_v":100.295509,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1192.063413,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1192.063418,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1192.063422,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1192.37439,"values":{"Elec_RPM":-2351.68213,"EncoderCos":46253,"EncoderSin":18410,"GapTicks":49617,"Mech_RPM":-470.336426,"cg_du":45.1069069,"cg_dv":54.8930931,"cg_dw":53.1493988,"cg_id_a":8.06946945,"cg_id_raw_a":7.10316992,"cg_iq_a":-199.237366,"cg_iq_raw_a":-199.714905,"cg_iu_a":-181.760284,"cg_iv_a":9.3475647,"cg_iw_a":172.41272,"cg_sample_age_us":23.823637,"cg_sample_seq":7327620,"cg_sample_valid":1,"cg_theta_rad":5.52659845,"cg_vd_req_v":-2.17605329,"cg_vd_v":-2.17605329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4202137,"cg_vq_v":-8.4202137,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2502.31567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1192.704468,"values":{"Elec_RPM":-2353.05811,"EncoderCos":51996,"EncoderSin":29085,"GapTicks":49536,"Mech_RPM":-470.611603,"cg_du":54.9667358,"cg_dv":45.0332642,"cg_dw":47.559967,"cg_id_a":15.2446709,"cg_id_raw_a":14.1310654,"cg_iq_a":-202.124146,"cg_iq_raw_a":-201.742157,"cg_iu_a":196.15416,"cg_iv_a":-57.3773346,"cg_iw_a":-138.776825,"cg_sample_age_us":24.0418186,"cg_sample_seq":7329316,"cg_sample_valid":1,"cg_theta_rad":6.09962463,"cg_vd_req_v":-2.2701757,"cg_vd_v":-2.2701757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33998585,"cg_vq_v":-8.33998585,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2504.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1193.036499,"values":{"Elec_RPM":-2352.57788,"EncoderCos":50804,"EncoderSin":40298,"GapTicks":49346,"Mech_RPM":-470.515564,"cg_du":44.8600121,"cg_dv":55.1399879,"cg_dw":50.9767685,"cg_id_a":-3.31367254,"cg_id_raw_a":-4.00030756,"cg_iq_a":-197.106934,"cg_iq_raw_a":-196.707657,"cg_iu_a":-198.033783,"cg_iv_a":115.976929,"cg_iw_a":79.8097229,"cg_sample_age_us":23.5290909,"cg_sample_seq":7331016,"cg_sample_valid":1,"cg_theta_rad":0.404079944,"cg_vd_req_v":-1.92334235,"cg_vd_v":-1.92334235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42440033,"cg_vq_v":-8.42440033,"cg_vu_v":37.830761,"cg_vv_v":46.6286087,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1193.055773,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1193.055792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1193.055797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1193.390015,"values":{"Elec_RPM":-2350.89502,"EncoderCos":43844,"EncoderSin":49060,"GapTicks":49333,"Mech_RPM":-470.178986,"cg_du":55.1514816,"cg_dv":44.8485184,"cg_dw":51.1830292,"cg_id_a":-15.5683813,"cg_id_raw_a":-12.059454,"cg_iq_a":-195.19072,"cg_iq_raw_a":-196.683838,"cg_iu_a":181.22171,"cg_iv_a":-155.706848,"cg_iw_a":-25.5148621,"cg_sample_age_us":23.823637,"cg_sample_seq":7332716,"cg_sample_valid":1,"cg_theta_rad":0.977849185,"cg_vd_req_v":-1.61128402,"cg_vd_v":-1.61128402,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50651646,"cg_vq_v":-8.50651646,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1193.722046,"values":{"Elec_RPM":-2346.33521,"EncoderCos":33058,"EncoderSin":52505,"GapTicks":49834,"Mech_RPM":-469.267059,"cg_du":45.3037834,"cg_dv":54.6962166,"cg_dw":46.3040009,"cg_id_a":8.3660202,"cg_id_raw_a":11.9140329,"cg_iq_a":-202.022858,"cg_iq_raw_a":-202.454056,"cg_iu_a":-170.270996,"cg_iv_a":180.128525,"cg_iw_a":-9.85752869,"cg_sample_age_us":23.772728,"cg_sample_seq":7334416,"cg_sample_valid":1,"cg_theta_rad":1.54730213,"cg_vd_req_v":-2.03912926,"cg_vd_v":-2.03912926,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37554741,"cg_vq_v":-8.37554741,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1194.054077,"values":{"Elec_RPM":-2347.41602,"EncoderCos":22449,"EncoderSin":49776,"GapTicks":49499,"Mech_RPM":-469.483185,"cg_du":52.4207649,"cg_dv":44.9997559,"cg_dw":55.0002441,"cg_id_a":9.69933701,"cg_id_raw_a":8.54996586,"cg_iq_a":-198.28302,"cg_iq_raw_a":-198.303665,"cg_iu_a":134.322174,"cg_iv_a":-194.523972,"cg_iw_a":60.2017975,"cg_sample_age_us":23.5545464,"cg_sample_seq":7336117,"cg_sample_valid":1,"cg_theta_rad":2.11917353,"cg_vd_req_v":-2.10988379,"cg_vd_v":-2.10988379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41592407,"cg_vq_v":-8.41592407,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1194.079312,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1194.079318,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1194.079324,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1194.407593,"values":{"Elec_RPM":-2343.38647,"EncoderCos":12928,"EncoderSin":31124,"GapTicks":49921,"Mech_RPM":-468.677307,"cg_du":46.1976624,"cg_dv":45.3829384,"cg_dw":54.6170616,"cg_id_a":7.22251129,"cg_id_raw_a":10.8989229,"cg_iq_a":-206.262161,"cg_iq_raw_a":-205.773453,"cg_iu_a":-6.34013748,"cg_iv_a":-174.227448,"cg_iw_a":180.567581,"cg_sample_age_us":23.9400005,"cg_sample_seq":7337767,"cg_sample_valid":1,"cg_theta_rad":3.22770023,"cg_vd_req_v":-2.01207328,"cg_vd_v":-2.01207328,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27646637,"cg_vq_v":-8.27646637,"cg_vu_v":113.492287,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2398.22656,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1194.739624,"values":{"Elec_RPM":-2343.91284,"EncoderCos":13007,"EncoderSin":30332,"GapTicks":49492,"Mech_RPM":-468.782562,"cg_du":48.3622131,"cg_dv":44.9935608,"cg_dw":55.0064392,"cg_id_a":-16.2440758,"cg_id_raw_a":-7.12609291,"cg_iq_a":-203.020889,"cg_iq_raw_a":-203.214386,"cg_iu_a":8.7735405,"cg_iv_a":-179.374054,"cg_iw_a":170.60051,"cg_sample_age_us":23.8890915,"cg_sample_seq":7339517,"cg_sample_valid":1,"cg_theta_rad":3.26913214,"cg_vd_req_v":-1.54374027,"cg_vd_v":-1.54374027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37324429,"cg_vq_v":-8.37324429,"cg_vu_v":105.574219,"cg_vv_v":90.1779785,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2441.52417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1195.071648,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1195.071654,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1195.07166,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1195.073608,"values":{"Elec_RPM":-2345.36768,"EncoderCos":26370,"EncoderSin":13935,"GapTicks":49405,"Mech_RPM":-469.073547,"cg_du":44.9144669,"cg_dv":48.333046,"cg_dw":55.0855331,"cg_id_a":-1.34934509,"cg_id_raw_a":-5.81042242,"cg_iq_a":-196.094727,"cg_iq_raw_a":-198.58461,"cg_iu_a":-86.6927185,"cg_iv_a":-110.547028,"cg_iw_a":197.239746,"cg_sample_age_us":23.8418179,"cg_sample_seq":7341166,"cg_sample_valid":1,"cg_theta_rad":4.40081024,"cg_vd_req_v":-1.91298628,"cg_vd_v":-1.91298628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4352684,"cg_vq_v":-8.4352684,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2509.65918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1195.425171,"values":{"Elec_RPM":-2346.06812,"EncoderCos":27058,"EncoderSin":13761,"GapTicks":49623,"Mech_RPM":-469.213623,"cg_du":45.1125793,"cg_dv":47.1396255,"cg_dw":54.8874207,"cg_id_a":15.5276394,"cg_id_raw_a":14.5187407,"cg_iq_a":-202.416168,"cg_iq_raw_a":-200.987228,"cg_iu_a":-43.3088455,"cg_iv_a":-152.191193,"cg_iw_a":195.500031,"cg_sample_age_us":23.9363632,"cg_sample_seq":7342916,"cg_sample_valid":1,"cg_theta_rad":4.43411827,"cg_vd_req_v":-2.25124526,"cg_vd_v":-2.25124526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32208347,"cg_vq_v":-8.32208347,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2478.71143,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1195.757202,"values":{"Elec_RPM":-2351.58716,"EncoderCos":47064,"EncoderSin":19269,"GapTicks":49716,"Mech_RPM":-470.317444,"cg_du":45.1966896,"cg_dv":53.3178024,"cg_dw":54.8033104,"cg_id_a":3.12432909,"cg_id_raw_a":4.23318768,"cg_iq_a":-201.996872,"cg_iq_raw_a":-201.480499,"cg_iu_a":-174.257813,"cg_iv_a":2.8961792,"cg_iw_a":171.361633,"cg_sample_age_us":23.9581814,"cg_sample_seq":7344567,"cg_sample_valid":1,"cg_theta_rad":5.54117155,"cg_vd_req_v":-2.05052543,"cg_vd_v":-2.05052543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36789894,"cg_vq_v":-8.36789894,"cg_vu_v":130.208206,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2413.6687,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1196.063104,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1196.06314,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1196.063146,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1196.108765,"values":{"Elec_RPM":-2352.5376,"EncoderCos":47657,"EncoderSin":19853,"GapTicks":49391,"Mech_RPM":-470.507538,"cg_du":44.9010963,"cg_dv":51.2679863,"cg_dw":55.0989037,"cg_id_a":-8.2249136,"cg_id_raw_a":-9.03967667,"cg_iq_a":-199.023041,"cg_iq_raw_a":-197.588028,"cg_iu_a":-152.185333,"cg_iv_a":-34.1812744,"cg_iw_a":186.366608,"cg_sample_age_us":23.9181824,"cg_sample_seq":7346317,"cg_sample_valid":1,"cg_theta_rad":5.58366489,"cg_vd_req_v":-1.82549763,"cg_vd_v":-1.82549763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41255283,"cg_vq_v":-8.41255283,"cg_vu_v":124.049698,"cg_vv_v":145.164551,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3209877,"dclink_p_w":-2499.15454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1025696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1196.442749,"values":{"Elec_RPM":-2353.07886,"EncoderCos":52206,"EncoderSin":30317,"GapTicks":49754,"Mech_RPM":-470.615784,"cg_du":54.7689705,"cg_dv":46.7222633,"cg_dw":45.2310295,"cg_id_a":1.96702147,"cg_id_raw_a":6.67229414,"cg_iq_a":-201.014526,"cg_iq_raw_a":-204.337433,"cg_iu_a":175.060242,"cg_iv_a":-3.01156616,"cg_iw_a":-172.048676,"cg_sample_age_us":24.1399994,"cg_sample_seq":7348016,"cg_sample_valid":1,"cg_theta_rad":6.17163754,"cg_vd_req_v":-1.9641,"cg_vd_v":-1.9641,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34613514,"cg_vq_v":-8.34613514,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.1376266,"dclink_p_w":-2328.41357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1196.772827,"values":{"Elec_RPM":-2349.13428,"EncoderCos":50463,"EncoderSin":41182,"GapTicks":49539,"Mech_RPM":-469.826874,"cg_du":45.0362778,"cg_dv":54.9637222,"cg_dw":52.7882957,"cg_id_a":12.4777069,"cg_id_raw_a":15.0474482,"cg_iq_a":-198.344818,"cg_iq_raw_a":-195.617035,"cg_iu_a":-191.25618,"cg_iv_a":50.8105164,"cg_iw_a":140.445663,"cg_sample_age_us":23.5363636,"cg_sample_seq":7349717,"cg_sample_valid":1,"cg_theta_rad":0.452085227,"cg_vd_req_v":-2.23585963,"cg_vd_v":-2.23585963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42889786,"cg_vq_v":-8.42889786,"cg_vu_v":100.295509,"cg_vv_v":102.93486,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1197.055658,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1197.055664,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1197.055669,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1197.128296,"values":{"Elec_RPM":-2354.44312,"EncoderCos":42918,"EncoderSin":49688,"GapTicks":49345,"Mech_RPM":-470.888641,"cg_du":55.1403236,"cg_dv":44.8596764,"cg_dw":48.907608,"cg_id_a":-5.14811516,"cg_id_raw_a":-13.3363771,"cg_iq_a":-196.344009,"cg_iq_raw_a":-195.289795,"cg_iu_a":196.661575,"cg_iv_a":-104.059387,"cg_iw_a":-92.6021881,"cg_sample_age_us":23.8527279,"cg_sample_seq":7351417,"cg_sample_valid":1,"cg_theta_rad":1.03388774,"cg_vd_req_v":-1.85075772,"cg_vd_v":-1.85075772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48131943,"cg_vq_v":-8.48131943,"cg_vu_v":106.893898,"cg_vv_v":99.4157181,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2428.37085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1197.458374,"values":{"Elec_RPM":-2355.43115,"EncoderCos":31800,"EncoderSin":52464,"GapTicks":49318,"Mech_RPM":-471.086212,"cg_du":44.8348961,"cg_dv":55.1651039,"cg_dw":49.4204979,"cg_id_a":-9.99307728,"cg_id_raw_a":-7.63140678,"cg_iq_a":-194.557709,"cg_iq_raw_a":-196.349625,"cg_iu_a":-187.885498,"cg_iv_a":139.535431,"cg_iw_a":48.3500671,"cg_sample_age_us":23.7872734,"cg_sample_seq":7353116,"cg_sample_valid":1,"cg_theta_rad":1.62241066,"cg_vd_req_v":-1.67734754,"cg_vd_v":-1.67734754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48548889,"cg_vq_v":-8.48548889,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1197.792358,"values":{"Elec_RPM":-2359.31201,"EncoderCos":21267,"EncoderSin":48958,"GapTicks":49768,"Mech_RPM":-471.862396,"cg_du":54.7556992,"cg_dv":45.2443008,"cg_dw":53.50383,"cg_id_a":5.6167922,"cg_id_raw_a":11.6328135,"cg_iq_a":-201.850845,"cg_iq_raw_a":-202.061813,"cg_iu_a":172.341965,"cg_iv_a":-175.604706,"cg_iw_a":3.26274109,"cg_sample_age_us":24.0200005,"cg_sample_seq":7354816,"cg_sample_valid":1,"cg_theta_rad":2.18858361,"cg_vd_req_v":-2.00566912,"cg_vd_v":-2.00566912,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37344551,"cg_vq_v":-8.37344551,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.3587151,"dclink_p_w":-2360.31323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1198.078887,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1198.078894,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1198.078899,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1198.14978,"values":{"Elec_RPM":-2354.25464,"EncoderCos":17286,"EncoderSin":20098,"GapTicks":50010,"Mech_RPM":-470.850922,"cg_du":54.5363197,"cg_dv":54.1587563,"cg_dw":45.4636803,"cg_id_a":13.0726967,"cg_id_raw_a":11.7224808,"cg_iq_a":-203.440582,"cg_iq_raw_a":-204.513336,"cg_iu_a":12.8690948,"cg_iv_a":168.711716,"cg_iw_a":-181.580811,"cg_sample_age_us":23.9799995,"cg_sample_seq":7356417,"cg_sample_valid":1,"cg_theta_rad":3.84743094,"cg_vd_req_v":-2.12825799,"cg_vd_v":-2.12825799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30899048,"cg_vq_v":-8.30899048,"cg_vu_v":28.5930176,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2423.85083,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1198.667358,"values":{"Elec_RPM":-2353.35962,"EncoderCos":32790,"EncoderSin":52504,"GapTicks":49682,"Mech_RPM":-470.671936,"cg_du":45.1663589,"cg_dv":54.8336411,"cg_dw":46.983223,"cg_id_a":1.68247092,"cg_id_raw_a":9.52989483,"cg_iq_a":-203.64917,"cg_iq_raw_a":-205.171143,"cg_iu_a":-176.722397,"cg_iv_a":170.378937,"cg_iw_a":6.34346771,"cg_sample_age_us":23.8927269,"cg_sample_seq":7358966,"cg_sample_valid":1,"cg_theta_rad":1.58017385,"cg_vd_req_v":-1.91560006,"cg_vd_v":-1.91560006,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34289551,"cg_vq_v":-8.34289551,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.3732128,"dclink_p_w":-2362.40503,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1198.942799,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1198.942811,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1198.942814,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1199.070928,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1199.070934,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1199.07094,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1199.140015,"values":{"Elec_RPM":-2352.09863,"EncoderCos":51420,"EncoderSin":38668,"GapTicks":49667,"Mech_RPM":-470.419708,"cg_du":45.1524773,"cg_dv":54.8475227,"cg_dw":47.0871887,"cg_id_a":-1.61331177,"cg_id_raw_a":4.97439241,"cg_iq_a":-202.98204,"cg_iq_raw_a":-203.96431,"cg_iu_a":-187.704285,"cg_iv_a":148.777618,"cg_iw_a":38.9266663,"cg_sample_age_us":23.4345455,"cg_sample_seq":7361421,"cg_sample_valid":1,"cg_theta_rad":0.356686652,"cg_vd_req_v":-1.92490208,"cg_vd_v":-1.92490208,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32891178,"cg_vq_v":-8.32891178,"cg_vu_v":111.732712,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1199.470093,"values":{"Elec_RPM":-2355.42432,"EncoderCos":44400,"EncoderSin":48688,"GapTicks":49629,"Mech_RPM":-471.084839,"cg_du":54.8818512,"cg_dv":45.1181488,"cg_dw":52.9576454,"cg_id_a":0.240972996,"cg_id_raw_a":8.34605312,"cg_iq_a":-200.23735,"cg_iq_raw_a":-202.705795,"cg_iu_a":172.088257,"cg_iv_a":-171.726608,"cg_iw_a":-0.36164856,"cg_sample_age_us":23.9981823,"cg_sample_seq":7363116,"cg_sample_valid":1,"cg_theta_rad":0.941409945,"cg_vd_req_v":-1.91443515,"cg_vd_v":-1.91443515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42822266,"cg_vq_v":-8.42822266,"cg_vu_v":40.0302238,"cg_vv_v":39.1504402,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2388.22876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.098999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1199.804077,"values":{"Elec_RPM":-2349.34082,"EncoderCos":33857,"EncoderSin":52474,"GapTicks":49778,"Mech_RPM":-469.868164,"cg_du":46.5733566,"cg_dv":54.7470856,"cg_dw":45.2529144,"cg_id_a":16.7154522,"cg_id_raw_a":16.753233,"cg_iq_a":-204.487015,"cg_iq_raw_a":-203.901581,"cg_iu_a":-159.542816,"cg_iv_a":192.741364,"cg_iw_a":-33.198555,"cg_sample_age_us":23.8709087,"cg_sample_seq":7364817,"cg_sample_valid":1,"cg_theta_rad":1.51464212,"cg_vd_req_v":-2.22970152,"cg_vd_v":-2.22970152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30011463,"cg_vq_v":-8.30011463,"cg_vu_v":129.328415,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2459.93896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1200.063623,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1200.063629,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1200.063634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1200.15564,"values":{"Elec_RPM":-2353.54541,"EncoderCos":22976,"EncoderSin":50076,"GapTicks":49401,"Mech_RPM":-470.709106,"cg_du":51.2944565,"cg_dv":44.9101219,"cg_dw":55.0898781,"cg_id_a":-2.75378537,"cg_id_raw_a":-7.25038004,"cg_iq_a":-199.476822,"cg_iq_raw_a":-198.999329,"cg_iu_a":112.104706,"cg_iv_a":-199.054459,"cg_iw_a":86.9497528,"cg_sample_age_us":23.6090908,"cg_sample_seq":7366517,"cg_sample_valid":1,"cg_theta_rad":2.0970943,"cg_vd_req_v":-1.87263703,"cg_vd_v":-1.87263703,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39065266,"cg_vq_v":-8.39065266,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2498.90601,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1200.487671,"values":{"Elec_RPM":-2359.31567,"EncoderCos":15138,"EncoderSin":41914,"GapTicks":49324,"Mech_RPM":-471.863129,"cg_du":50.6754417,"cg_dv":55.1595535,"cg_dw":44.8404465,"cg_id_a":-11.0538788,"cg_id_raw_a":-7.96077728,"cg_iq_a":-197.153076,"cg_iq_raw_a":-195.7668,"cg_iu_a":-43.5625534,"cg_iv_a":190.530518,"cg_iw_a":-146.967957,"cg_sample_age_us":23.9072723,"cg_sample_seq":7368217,"cg_sample_valid":1,"cg_theta_rad":2.66647029,"cg_vd_req_v":-1.65262949,"cg_vd_v":-1.65262949,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46073532,"cg_vq_v":-8.46073532,"cg_vu_v":115.69175,"cg_vv_v":142.525192,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2402.06421,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1200.821655,"values":{"Elec_RPM":-2353.68335,"EncoderCos":12947,"EncoderSin":30741,"GapTicks":49666,"Mech_RPM":-470.736664,"cg_du":47.2129555,"cg_dv":45.1510277,"cg_dw":54.8489723,"cg_id_a":-3.15318203,"cg_id_raw_a":2.37646222,"cg_iq_a":-202.998642,"cg_iq_raw_a":-204.315887,"cg_iu_a":-2.13585258,"cg_iv_a":-175.169785,"cg_iw_a":177.305634,"cg_sample_age_us":23.9618187,"cg_sample_seq":7369916,"cg_sample_valid":1,"cg_theta_rad":3.24747944,"cg_vd_req_v":-1.79207087,"cg_vd_v":-1.79207087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34761715,"cg_vq_v":-8.34761715,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1201.055034,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1201.05504,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1201.055046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1201.173218,"values":{"Elec_RPM":-2349.1748,"EncoderCos":17194,"EncoderSin":20161,"GapTicks":49955,"Mech_RPM":-469.834961,"cg_du":54.5857658,"cg_dv":53.9448967,"cg_dw":45.4142342,"cg_id_a":12.1047077,"cg_id_raw_a":11.6714468,"cg_iq_a":-203.488068,"cg_iq_raw_a":-205.93277,"cg_iu_a":33.4918365,"cg_iv_a":156.35257,"cg_iw_a":-189.844406,"cg_sample_age_us":23.8672733,"cg_sample_seq":7371616,"cg_sample_valid":1,"cg_theta_rad":3.82166815,"cg_vd_req_v":-2.11493421,"cg_vd_v":-2.11493421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29109383,"cg_vq_v":-8.29109383,"cg_vu_v":7.91806602,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1201.507202,"values":{"Elec_RPM":-2348.68628,"EncoderCos":26092,"EncoderSin":14051,"GapTicks":49364,"Mech_RPM":-469.737274,"cg_du":44.8767319,"cg_dv":48.8553696,"cg_dw":55.1232681,"cg_id_a":-9.49415398,"cg_id_raw_a":-14.3439837,"cg_iq_a":-197.815643,"cg_iq_raw_a":-199.235764,"cg_iu_a":-93.9414825,"cg_iv_a":-101.667282,"cg_iw_a":195.608765,"cg_sample_age_us":23.9327278,"cg_sample_seq":7373318,"cg_sample_valid":1,"cg_theta_rad":4.39073372,"cg_vd_req_v":-1.75511503,"cg_vd_v":-1.75511503,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4255085,"cg_vq_v":-8.4255085,"cg_vu_v":120.090675,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2439.80054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1201.83728,"values":{"Elec_RPM":-2349.79956,"EncoderCos":37641,"EncoderSin":13501,"GapTicks":49313,"Mech_RPM":-469.95993,"cg_du":55.1698685,"cg_dv":49.8173866,"cg_dw":44.8301315,"cg_id_a":-16.1045475,"cg_id_raw_a":-14.5016804,"cg_iq_a":-195.480545,"cg_iq_raw_a":-196.32283,"cg_iu_a":140.737335,"cg_iv_a":52.7314453,"cg_iw_a":-193.468781,"cg_sample_age_us":24.005455,"cg_sample_seq":7375016,"cg_sample_valid":1,"cg_theta_rad":4.97954273,"cg_vd_req_v":-1.60870838,"cg_vd_v":-1.60870838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49028778,"cg_vq_v":-8.49028778,"cg_vu_v":32.5520515,"cg_vv_v":17.5957031,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1202.047279,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1202.047284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1202.04729,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1202.190796,"values":{"Elec_RPM":-2349.73291,"EncoderCos":38272,"EncoderSin":13725,"GapTicks":49403,"Mech_RPM":-469.946594,"cg_du":55.0876465,"cg_dv":51.0758553,"cg_dw":44.9123535,"cg_id_a":-6.29517221,"cg_id_raw_a":-11.5467081,"cg_iq_a":-199.958267,"cg_iq_raw_a":-196.39183,"cg_iu_a":110.836182,"cg_iv_a":90.2800598,"cg_iw_a":-201.116241,"cg_sample_age_us":23.9618187,"cg_sample_seq":7376767,"cg_sample_valid":1,"cg_theta_rad":5.00867081,"cg_vd_req_v":-1.82341051,"cg_vd_v":-1.82341051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36894226,"cg_vq_v":-8.36894226,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1202.52478,"values":{"Elec_RPM":-2347.82495,"EncoderCos":50980,"EncoderSin":39870,"GapTicks":49295,"Mech_RPM":-469.565002,"cg_du":44.8144722,"cg_dv":55.1855278,"cg_dw":50.0643425,"cg_id_a":-9.11338139,"cg_id_raw_a":-13.4027624,"cg_iq_a":-197.695953,"cg_iq_raw_a":-197.068481,"cg_iu_a":-193.64827,"cg_iv_a":130.07579,"cg_iw_a":63.5724792,"cg_sample_age_us":23.5363636,"cg_sample_seq":7378367,"cg_sample_valid":1,"cg_theta_rad":0.381781697,"cg_vd_req_v":-1.79822731,"cg_vd_v":-1.79822731,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45039368,"cg_vq_v":-8.45039368,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2468.30078,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1399231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1202.876343,"values":{"Elec_RPM":-2344.29053,"EncoderCos":52236,"EncoderSin":30392,"GapTicks":49673,"Mech_RPM":-468.858124,"cg_du":54.8423615,"cg_dv":46.904213,"cg_dw":45.1576385,"cg_id_a":0.0413142443,"cg_id_raw_a":5.94318724,"cg_iq_a":-200.724609,"cg_iq_raw_a":-203.113205,"cg_iu_a":173.610504,"cg_iv_a":-1.2718811,"cg_iw_a":-172.338623,"cg_sample_age_us":24.0963631,"cg_sample_seq":7380166,"cg_sample_valid":1,"cg_theta_rad":6.17308807,"cg_vd_req_v":-1.93467164,"cg_vd_v":-1.93467164,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3792305,"cg_vq_v":-8.3792305,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2444.50708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1203.071379,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1203.071385,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1203.07139,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1203.208374,"values":{"Elec_RPM":-2346.29688,"EncoderCos":33181,"EncoderSin":52444,"GapTicks":49966,"Mech_RPM":-469.259369,"cg_du":45.4242058,"cg_dv":54.5757942,"cg_dw":45.9748154,"cg_id_a":12.7336903,"cg_id_raw_a":17.7353077,"cg_iq_a":-203.227707,"cg_iq_raw_a":-203.009415,"cg_iu_a":-173.786652,"cg_iv_a":177.120285,"cg_iw_a":-3.33363342,"cg_sample_age_us":23.772728,"cg_sample_seq":7381766,"cg_sample_valid":1,"cg_theta_rad":1.55184913,"cg_vd_req_v":-2.12783647,"cg_vd_v":-2.12783647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30831242,"cg_vq_v":-8.30831242,"cg_vu_v":38.2706528,"cg_vv_v":54.9865723,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119743653,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1203.540405,"values":{"Elec_RPM":-2345.49146,"EncoderCos":42612,"EncoderSin":49812,"GapTicks":49413,"Mech_RPM":-469.098297,"cg_du":55.0789185,"cg_dv":44.9210815,"cg_dw":48.356636,"cg_id_a":3.33772731,"cg_id_raw_a":-1.98105574,"cg_iq_a":-197.387634,"cg_iq_raw_a":-195.724548,"cg_iu_a":198.691223,"cg_iv_a":-81.5519562,"cg_iw_a":-117.139267,"cg_sample_age_us":23.9290905,"cg_sample_seq":7383566,"cg_sample_valid":1,"cg_theta_rad":1.05006993,"cg_vd_req_v":-2.01486301,"cg_vd_v":-2.01486301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42300224,"cg_vq_v":-8.42300224,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1203.893921,"values":{"Elec_RPM":-2343.85229,"EncoderCos":15308,"EncoderSin":42289,"GapTicks":49393,"Mech_RPM":-468.770447,"cg_du":51.6915665,"cg_dv":55.0964203,"cg_dw":44.9035797,"cg_id_a":-8.15380383,"cg_id_raw_a":-5.98796368,"cg_iq_a":-196.193222,"cg_iq_raw_a":-196.331589,"cg_iu_a":-67.3385086,"cg_iv_a":195.677124,"cg_iw_a":-128.338623,"cg_sample_age_us":26.7509098,"cg_sample_seq":7385171,"cg_sample_valid":1,"cg_theta_rad":2.68792629,"cg_vd_req_v":-1.70545959,"cg_vd_v":-1.70545959,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50242519,"cg_vq_v":-8.50242519,"cg_vu_v":127.12896,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1204.063585,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1204.063591,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1204.063596,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1204.225952,"values":{"Elec_RPM":-2355.32544,"EncoderCos":21133,"EncoderSin":48867,"GapTicks":49671,"Mech_RPM":-471.065094,"cg_du":54.8439445,"cg_dv":45.1560555,"cg_dw":53.088913,"cg_id_a":2.63438272,"cg_id_raw_a":8.50891495,"cg_iq_a":-201.113281,"cg_iq_raw_a":-202.126419,"cg_iu_a":173.429291,"cg_iv_a":-172.197784,"cg_iw_a":-1.23150635,"cg_sample_age_us":24.0490913,"cg_sample_seq":7386966,"cg_sample_valid":1,"cg_theta_rad":2.19571137,"cg_vd_req_v":-1.93831515,"cg_vd_v":-1.93831515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40548897,"cg_vq_v":-8.40548897,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1204.557983,"values":{"Elec_RPM":-2352.03809,"EncoderCos":13129,"EncoderSin":29676,"GapTicks":49364,"Mech_RPM":-470.407623,"cg_du":49.8749847,"cg_dv":44.8766556,"cg_dw":55.1233444,"cg_id_a":-18.6258774,"cg_id_raw_a":-19.553278,"cg_iq_a":-197.071609,"cg_iq_raw_a":-197.623596,"cg_iu_a":47.8081512,"cg_iv_a":-185.970428,"cg_iw_a":152.152405,"cg_sample_age_us":23.8163643,"cg_sample_seq":7388617,"cg_sample_valid":1,"cg_theta_rad":3.3014431,"cg_vd_req_v":-1.51552367,"cg_vd_v":-1.51552367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42747402,"cg_vq_v":-8.42747402,"cg_vu_v":106.014107,"cg_vv_v":93.6971207,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2356.65259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1204.909546,"values":{"Elec_RPM":-2349.42725,"EncoderCos":17964,"EncoderSin":19308,"GapTicks":49477,"Mech_RPM":-469.885437,"cg_du":52.1903877,"cg_dv":55.0205154,"cg_dw":44.9794846,"cg_id_a":-8.35954285,"cg_id_raw_a":-3.30977201,"cg_iq_a":-197.584137,"cg_iq_raw_a":-199.794876,"cg_iu_a":-1.66468287,"cg_iv_a":171.647476,"cg_iw_a":-169.982788,"cg_sample_age_us":23.8672733,"cg_sample_seq":7390316,"cg_sample_valid":1,"cg_theta_rad":3.87922192,"cg_vd_req_v":-1.71176267,"cg_vd_v":-1.71176267,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45419121,"cg_vq_v":-8.45419121,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1205.05533,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1205.055336,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1205.055341,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1205.24353,"values":{"Elec_RPM":-2345.39648,"EncoderCos":27669,"EncoderSin":13583,"GapTicks":50025,"Mech_RPM":-469.079285,"cg_du":45.4772911,"cg_dv":45.7478676,"cg_dw":54.5227089,"cg_id_a":12.3693981,"cg_id_raw_a":14.6197529,"cg_iq_a":-203.776733,"cg_iq_raw_a":-202.866943,"cg_iu_a":-19.170454,"cg_iv_a":-166.978653,"cg_iw_a":186.149109,"cg_sample_age_us":23.9400005,"cg_sample_seq":7392016,"cg_sample_valid":1,"cg_theta_rad":4.46542358,"cg_vd_req_v":-2.16572642,"cg_vd_v":-2.16572642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3225708,"cg_vq_v":-8.3225708,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.4387817,"dclink_p_w":-2523.82178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1205.575562,"values":{"Elec_RPM":-2350.59692,"EncoderCos":38922,"EncoderSin":13870,"GapTicks":49600,"Mech_RPM":-470.119385,"cg_du":54.908783,"cg_dv":52.3455391,"cg_dw":45.091217,"cg_id_a":1.80499113,"cg_id_raw_a":0.104799375,"cg_iq_a":-203.770721,"cg_iq_raw_a":-206.122147,"cg_iu_a":73.8312225,"cg_iv_a":127.248764,"cg_iw_a":-201.079987,"cg_sample_age_us":23.9509087,"cg_sample_seq":7393716,"cg_sample_valid":1,"cg_theta_rad":5.04538012,"cg_vd_req_v":-1.97895133,"cg_vd_v":-1.97895133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.276371,"cg_vq_v":-8.276371,"cg_vu_v":41.7897949,"cg_vv_v":49.707859,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-15.9074783,"dclink_p_w":-2302.20435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1205.927124,"values":{"Elec_RPM":-2345.16479,"EncoderCos":48077,"EncoderSin":20487,"GapTicks":49322,"Mech_RPM":-469.032959,"cg_du":44.8385468,"cg_dv":49.5349197,"cg_dw":55.1614532,"cg_id_a":-10.4937744,"cg_id_raw_a":-13.8964024,"cg_iq_a":-198.334839,"cg_iq_raw_a":-200.168564,"cg_iu_a":-133.483521,"cg_iv_a":-58.7545776,"cg_iw_a":192.238098,"cg_sample_age_us":23.9472733,"cg_sample_seq":7395416,"cg_sample_valid":1,"cg_theta_rad":5.61702299,"cg_vd_req_v":-1.80321252,"cg_vd_v":-1.80321252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41998291,"cg_vq_v":-8.41998291,"cg_vu_v":105.574219,"cg_vv_v":104.254532,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2458.10352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1206.078628,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1206.078634,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1206.078639,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1206.261108,"values":{"Elec_RPM":-2345.9917,"EncoderCos":52224,"EncoderSin":30565,"GapTicks":49559,"Mech_RPM":-469.198334,"cg_du":54.9456635,"cg_dv":47.3997688,"cg_dw":45.0543365,"cg_id_a":-6.2970314,"cg_id_raw_a":0.493997186,"cg_iq_a":-198.652649,"cg_iq_raw_a":-199.267685,"cg_iu_a":165.238174,"cg_iv_a":10.289917,"cg_iw_a":-175.528091,"cg_sample_age_us":23.9872723,"cg_sample_seq":7397117,"cg_sample_valid":1,"cg_theta_rad":6.19350052,"cg_vd_req_v":-1.80947304,"cg_vd_v":-1.80947304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44558811,"cg_vq_v":-8.44558811,"cg_vu_v":39.590332,"cg_vv_v":39.590332,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2360.16577,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1206.612671,"values":{"Elec_RPM":-2345.53564,"EncoderCos":50546,"EncoderSin":41053,"GapTicks":49506,"Mech_RPM":-469.107147,"cg_du":45.005497,"cg_dv":54.994503,"cg_dw":52.5203094,"cg_id_a":9.07058811,"cg_id_raw_a":4.57701969,"cg_iq_a":-197.841049,"cg_iq_raw_a":-196.519516,"cg_iu_a":-183.282532,"cg_iv_a":17.6473999,"cg_iw_a":165.635132,"cg_sample_age_us":23.4345455,"cg_sample_seq":7398821,"cg_sample_valid":1,"cg_theta_rad":0.487081051,"cg_vd_req_v":-2.16094375,"cg_vd_v":-2.16094375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42064857,"cg_vq_v":-8.42064857,"cg_vu_v":110.413033,"cg_vv_v":111.292824,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2529.91431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1206.944702,"values":{"Elec_RPM":-2343.80322,"EncoderCos":42431,"EncoderSin":49894,"GapTicks":49445,"Mech_RPM":-468.76062,"cg_du":55.0497589,"cg_dv":44.9502411,"cg_dw":48.0309067,"cg_id_a":7.8079071,"cg_id_raw_a":3.86699605,"cg_iq_a":-200.503708,"cg_iq_raw_a":-198.485901,"cg_iu_a":199.452362,"cg_iv_a":-72.2735443,"cg_iw_a":-115.834488,"cg_sample_age_us":23.9145451,"cg_sample_seq":7400517,"cg_sample_valid":1,"cg_theta_rad":1.0582099,"cg_vd_req_v":-2.11681128,"cg_vd_v":-2.11681128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3599205,"cg_vq_v":-8.3599205,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-16.2155514,"dclink_p_w":-2346.79004,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0847778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1207.071773,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1207.071779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1207.071784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1207.278687,"values":{"Elec_RPM":-2346.21045,"EncoderCos":31474,"EncoderSin":52432,"GapTicks":49277,"Mech_RPM":-469.242096,"cg_du":44.7981644,"cg_dv":55.2018356,"cg_dw":50.1155663,"cg_id_a":-8.73902512,"cg_id_raw_a":-13.7606897,"cg_iq_a":-196.506943,"cg_iq_raw_a":-196.066086,"cg_iu_a":-192.343491,"cg_iv_a":130.583206,"cg_iw_a":52.0106888,"cg_sample_age_us":23.8527279,"cg_sample_seq":7402217,"cg_sample_valid":1,"cg_theta_rad":1.63275361,"cg_vd_req_v":-1.72867334,"cg_vd_v":-1.72867334,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49312973,"cg_vq_v":-8.49312973,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1207.630249,"values":{"Elec_RPM":-2357,"EncoderCos":14610,"EncoderSin":40917,"GapTicks":49417,"Mech_RPM":-471.400024,"cg_du":48.4875259,"cg_dv":55.0746956,"cg_dw":44.9253044,"cg_id_a":4.28044224,"cg_id_raw_a":-1.80090892,"cg_iq_a":-200.060669,"cg_iq_raw_a":-199.123215,"cg_iu_a":-155.556,"cg_iv_a":194.227386,"cg_iw_a":-38.6713791,"cg_sample_age_us":23.8709087,"cg_sample_seq":7403870,"cg_sample_valid":1,"cg_theta_rad":2.76478553,"cg_vd_req_v":-1.97643483,"cg_vd_v":-1.97643483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37509632,"cg_vq_v":-8.37509632,"cg_vu_v":39.590332,"cg_vv_v":71.7024918,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1207.96228,"values":{"Elec_RPM":-2355.61816,"EncoderCos":14120,"EncoderSin":39655,"GapTicks":50028,"Mech_RPM":-471.123627,"cg_du":45.8743591,"cg_dv":54.5197945,"cg_dw":45.4802055,"cg_id_a":16.6395016,"cg_id_raw_a":17.5670376,"cg_iq_a":-206.229202,"cg_iq_raw_a":-206.589615,"cg_iu_a":-168.132614,"cg_iv_a":186.253723,"cg_iw_a":-18.1211166,"cg_sample_age_us":24.0200005,"cg_sample_seq":7405617,"cg_sample_valid":1,"cg_theta_rad":2.79034853,"cg_vd_req_v":-2.18328857,"cg_vd_v":-2.18328857,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25401497,"cg_vq_v":-8.25401497,"cg_vu_v":102.055069,"cg_vv_v":104.254532,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1506348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1208.063474,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1208.06348,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1208.063485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1208.397827,"values":{"Elec_RPM":-2349.18018,"EncoderCos":50781,"EncoderSin":24989,"GapTicks":49544,"Mech_RPM":-469.83606,"cg_du":52.5247993,"cg_dv":45.0407028,"cg_dw":54.9592972,"cg_id_a":13.1163263,"cg_id_raw_a":9.35295963,"cg_iq_a":-201.729858,"cg_iq_raw_a":-200.909058,"cg_iu_a":142.875732,"cg_iv_a":-197.09729,"cg_iw_a":54.2215652,"cg_sample_age_us":23.7545452,"cg_sample_seq":7407667,"cg_sample_valid":1,"cg_theta_rad":5.8927989,"cg_vd_req_v":-2.25088549,"cg_vd_v":-2.25088549,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3398447,"cg_vq_v":-8.3398447,"cg_vu_v":106.453995,"cg_vv_v":94.1370087,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2441.89233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1208.915405,"values":{"Elec_RPM":-2341.19458,"EncoderCos":24411,"EncoderSin":50788,"GapTicks":49563,"Mech_RPM":-468.238922,"cg_du":48.0010452,"cg_dv":45.0574417,"cg_dw":54.9425583,"cg_id_a":-12.7310638,"cg_id_raw_a":-4.39135361,"cg_iq_a":-203.054871,"cg_iq_raw_a":-204.55986,"cg_iu_a":5.33037663,"cg_iv_a":-178.866669,"cg_iw_a":173.536285,"cg_sample_age_us":23.954546,"cg_sample_seq":7410366,"cg_sample_valid":1,"cg_theta_rad":2.00560069,"cg_vd_req_v":-1.61528611,"cg_vd_v":-1.61528611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32664585,"cg_vq_v":-8.32664585,"cg_vu_v":3.51914048,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118585482,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1208.92762,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1208.927633,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1208.927636,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1209.086778,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1209.086784,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1209.08679,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1209.288452,"values":{"Elec_RPM":-2349.72949,"EncoderCos":50518,"EncoderSin":40982,"GapTicks":49532,"Mech_RPM":-469.945923,"cg_du":45.0291557,"cg_dv":54.9708443,"cg_dw":52.4105339,"cg_id_a":8.21954536,"cg_id_raw_a":5.27938318,"cg_iq_a":-197.382156,"cg_iq_raw_a":-197.154465,"cg_iu_a":-194.77182,"cg_iv_a":61.9373627,"cg_iw_a":132.834457,"cg_sample_age_us":23.5327282,"cg_sample_seq":7412266,"cg_sample_valid":1,"cg_theta_rad":0.439506769,"cg_vd_req_v":-2.13925505,"cg_vd_v":-2.13925505,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43810081,"cg_vq_v":-8.43810081,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2509.61353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":146.044327}}
{"type":"telemetry","t":1209.641968,"values":{"Elec_RPM":-2351.09106,"EncoderCos":43926,"EncoderSin":49059,"GapTicks":49405,"Mech_RPM":-470.218201,"cg_du":55.0862656,"cg_dv":44.9137344,"cg_dw":51.3682632,"cg_id_a":-13.3917236,"cg_id_raw_a":-10.3517599,"cg_iq_a":-196.702774,"cg_iq_raw_a":-197.644135,"cg_iu_a":191.623688,"cg_iv_a":-136.751312,"cg_iw_a":-54.8723755,"cg_sample_age_us":25.5836372,"cg_sample_seq":7413970,"cg_sample_valid":1,"cg_theta_rad":1.00686371,"cg_vd_req_v":-1.64059615,"cg_vd_v":-1.64059615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44384956,"cg_vq_v":-8.44384956,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2381.49243,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1209.973999,"values":{"Elec_RPM":-2351.05493,"EncoderCos":32587,"EncoderSin":52498,"GapTicks":49550,"Mech_RPM":-470.210968,"cg_du":45.0461617,"cg_dv":54.9538383,"cg_dw":47.5613327,"cg_id_a":-5.07755995,"cg_id_raw_a":-5.92569208,"cg_iq_a":-201.021317,"cg_iq_raw_a":-200.821075,"cg_iu_a":-176.613678,"cg_iv_a":168.929184,"cg_iw_a":7.68449402,"cg_sample_age_us":23.8781815,"cg_sample_seq":7415667,"cg_sample_valid":1,"cg_theta_rad":1.58264077,"cg_vd_req_v":-1.77347672,"cg_vd_v":-1.77347672,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3949728,"cg_vq_v":-8.3949728,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2414.45557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1210.047412,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1210.047418,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1210.047423,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1210.30603,"values":{"Elec_RPM":-2350.46387,"EncoderCos":14709,"EncoderSin":41131,"GapTicks":49374,"Mech_RPM":-470.092773,"cg_du":49.2071114,"cg_dv":55.1138611,"cg_dw":44.8861389,"cg_id_a":-3.13064504,"cg_id_raw_a":-8.6476078,"cg_iq_a":-199.116882,"cg_iq_raw_a":-198.911301,"cg_iu_a":-83.2133026,"cg_iv_a":197.706787,"cg_iw_a":-114.493484,"cg_sample_age_us":23.8600006,"cg_sample_seq":7417316,"cg_sample_valid":1,"cg_theta_rad":2.70020866,"cg_vd_req_v":-1.72314441,"cg_vd_v":-1.81845415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40532207,"cg_vq_v":-8.39407063,"cg_vu_v":9.23774433,"cg_vv_v":16.2760258,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2437.57813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1210.659546,"values":{"Elec_RPM":-2348.24902,"EncoderCos":14483,"EncoderSin":40630,"GapTicks":49528,"Mech_RPM":-469.649811,"cg_du":47.8405838,"cg_dv":54.9742622,"cg_dw":45.0257378,"cg_id_a":5.82336664,"cg_id_raw_a":0.516629994,"cg_iq_a":-201.630356,"cg_iq_raw_a":-200.755493,"cg_iu_a":-128.409363,"cg_iv_a":200.715012,"cg_iw_a":-72.3056488,"cg_sample_age_us":23.9581814,"cg_sample_seq":7419067,"cg_sample_valid":1,"cg_theta_rad":2.73655796,"cg_vd_req_v":-2.00347805,"cg_vd_v":-2.00347805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33231163,"cg_vq_v":-8.33231163,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.2629986,"dclink_p_w":-2498.38159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1470642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1210.991577,"values":{"Elec_RPM":-2344.22314,"EncoderCos":13125,"EncoderSin":29708,"GapTicks":49335,"Mech_RPM":-468.844635,"cg_du":49.7713203,"cg_dv":44.8505058,"cg_dw":55.1494942,"cg_id_a":-17.2845993,"cg_id_raw_a":-16.5308876,"cg_iq_a":-198.231033,"cg_iq_raw_a":-198.409042,"cg_iu_a":47.8443909,"cg_iv_a":-190.573395,"cg_iw_a":142.729004,"cg_sample_age_us":23.7072735,"cg_sample_seq":7420767,"cg_sample_valid":1,"cg_theta_rad":3.30444527,"cg_vd_req_v":-1.54952383,"cg_vd_v":-1.54952383,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44112587,"cg_vq_v":-8.44112587,"cg_vu_v":104.694435,"cg_vv_v":80.9402313,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.5746956,"dclink_p_w":-2535.76074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1211.070627,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1211.070633,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1211.070638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1211.323608,"values":{"Elec_RPM":-2349.58447,"EncoderCos":18041,"EncoderSin":19151,"GapTicks":49391,"Mech_RPM":-469.91687,"cg_du":51.7510681,"cg_dv":55.0988541,"cg_dw":44.9011459,"cg_id_a":-11.2957153,"cg_id_raw_a":-9.78399372,"cg_iq_a":-194.709625,"cg_iq_raw_a":-196.207855,"cg_iu_a":-15.6548023,"cg_iv_a":176.395401,"cg_iw_a":-160.740601,"cg_sample_age_us":23.9690914,"cg_sample_seq":7422466,"cg_sample_valid":1,"cg_theta_rad":3.89498734,"cg_vd_req_v":-1.64864564,"cg_vd_v":-1.64864564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5288763,"cg_vq_v":-8.5288763,"cg_vu_v":39.1504402,"cg_vv_v":55.4264603,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.681284,"dclink_p_w":-2414.19312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1211.675171,"values":{"Elec_RPM":-2352.21289,"EncoderCos":27878,"EncoderSin":13535,"GapTicks":50032,"Mech_RPM":-470.442596,"cg_du":45.8299599,"cg_dv":45.484211,"cg_dw":54.515789,"cg_id_a":10.1325836,"cg_id_raw_a":11.7128344,"cg_iq_a":-204.372864,"cg_iq_raw_a":-206.490906,"cg_iu_a":-12.2116385,"cg_iv_a":-170.784271,"cg_iw_a":182.995911,"cg_sample_age_us":23.9618187,"cg_sample_seq":7424166,"cg_sample_valid":1,"cg_theta_rad":4.47820616,"cg_vd_req_v":-2.10594845,"cg_vd_v":-2.10594845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28868103,"cg_vq_v":-8.28868103,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-17.5185165,"dclink_p_w":-2535.36133,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1212.009155,"values":{"Elec_RPM":-2353.64941,"EncoderCos":38944,"EncoderSin":13867,"GapTicks":49605,"Mech_RPM":-470.729889,"cg_du":54.9044418,"cg_dv":52.3469696,"cg_dw":45.0955582,"cg_id_a":2.83807611,"cg_id_raw_a":2.15042758,"cg_iq_a":-205.221237,"cg_iq_raw_a":-208.031143,"cg_iu_a":73.8312225,"cg_iv_a":130.546951,"cg_iw_a":-204.378174,"cg_sample_age_us":23.9581814,"cg_sample_seq":7425866,"cg_sample_valid":1,"cg_theta_rad":5.04587841,"cg_vd_req_v":-2.01515126,"cg_vd_v":-2.01515126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26081467,"cg_vq_v":-8.26081467,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2422.02051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1212.062735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1212.06274,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1212.062745,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1212.362671,"values":{"Elec_RPM":-2359.17578,"EncoderCos":47468,"EncoderSin":19682,"GapTicks":49454,"Mech_RPM":-471.835175,"cg_du":44.9590874,"cg_dv":51.8363075,"cg_dw":55.0409126,"cg_id_a":-8.04336262,"cg_id_raw_a":-7.08217812,"cg_iq_a":-200.118744,"cg_iq_raw_a":-198.444565,"cg_iu_a":-118.877243,"cg_iv_a":-77.9638214,"cg_iw_a":196.841064,"cg_sample_age_us":23.823637,"cg_sample_seq":7427571,"cg_sample_valid":1,"cg_theta_rad":5.62911177,"cg_vd_req_v":-1.82982254,"cg_vd_v":-1.82982254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41162491,"cg_vq_v":-8.41162491,"cg_vu_v":34.3116188,"cg_vv_v":33.4318352,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2413.93091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1212.694702,"values":{"Elec_RPM":-2353.74976,"EncoderCos":50335,"EncoderSin":41398,"GapTicks":49669,"Mech_RPM":-470.749969,"cg_du":45.1536713,"cg_dv":54.8463287,"cg_dw":53.2560005,"cg_id_a":15.805932,"cg_id_raw_a":15.8833961,"cg_iq_a":-199.059158,"cg_iq_raw_a":-198.701538,"cg_iu_a":-189.262772,"cg_iv_a":31.4563141,"cg_iw_a":144.359985,"cg_sample_age_us":23.5363636,"cg_sample_seq":7429216,"cg_sample_valid":1,"cg_theta_rad":0.46375367,"cg_vd_req_v":-2.28284502,"cg_vd_v":-2.28284502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38149261,"cg_vq_v":-8.38149261,"cg_vu_v":38.7105446,"cg_vv_v":50.1477547,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2406.5874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1213.026733,"values":{"Elec_RPM":-2346.39478,"EncoderCos":50028,"EncoderSin":42121,"GapTicks":49964,"Mech_RPM":-469.278961,"cg_du":45.4224358,"cg_dv":53.9810905,"cg_dw":54.5775642,"cg_id_a":8.92020798,"cg_id_raw_a":11.7406263,"cg_iq_a":-203.892456,"cg_iq_raw_a":-203.944626,"cg_iu_a":-181.071655,"cg_iv_a":6.30308533,"cg_iw_a":167.918488,"cg_sample_age_us":23.5290909,"cg_sample_seq":7430966,"cg_sample_valid":1,"cg_theta_rad":0.501537442,"cg_vd_req_v":-2.13368106,"cg_vd_v":-2.13368106,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28973866,"cg_vq_v":-8.28973866,"cg_vu_v":19.795166,"cg_vv_v":24.6339836,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2417.57544,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1719971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1213.054923,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1213.054929,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1213.054934,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1213.378296,"values":{"Elec_RPM":-2346.12354,"EncoderCos":32643,"EncoderSin":52516,"GapTicks":49655,"Mech_RPM":-469.224701,"cg_du":45.140976,"cg_dv":54.859024,"cg_dw":46.9500275,"cg_id_a":-2.54490733,"cg_id_raw_a":6.18256664,"cg_iq_a":-199.14325,"cg_iq_raw_a":-201.227951,"cg_iu_a":-186.000824,"cg_iv_a":145.515671,"cg_iw_a":40.4851532,"cg_sample_age_us":23.7654552,"cg_sample_seq":7432619,"cg_sample_valid":1,"cg_theta_rad":1.6135726,"cg_vd_req_v":-1.82430792,"cg_vd_v":-1.82430792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41039848,"cg_vq_v":-8.45097828,"cg_vu_v":6.59838867,"cg_vv_v":24.6339836,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2414.71777,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1213.71228,"values":{"Elec_RPM":-2343.80225,"EncoderCos":31109,"EncoderSin":52438,"GapTicks":49324,"Mech_RPM":-468.760437,"cg_du":44.8400116,"cg_dv":55.1599884,"cg_dw":50.8552208,"cg_id_a":-4.24637508,"cg_id_raw_a":-5.51161623,"cg_iq_a":-196.390762,"cg_iq_raw_a":-196.341705,"cg_iu_a":-193.901978,"cg_iv_a":120.978592,"cg_iw_a":72.9233856,"cg_sample_age_us":23.772728,"cg_sample_seq":7434366,"cg_sample_valid":1,"cg_theta_rad":1.64565206,"cg_vd_req_v":-1.80940986,"cg_vd_v":-1.80940986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47135353,"cg_vq_v":-8.47135353,"cg_vu_v":129.768311,"cg_vv_v":137.246475,"cg_vw_v":110.413033,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2510.65942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1214.044312,"values":{"Elec_RPM":-2344.74756,"EncoderCos":14227,"EncoderSin":40045,"GapTicks":49765,"Mech_RPM":-468.949524,"cg_du":46.6654968,"cg_dv":54.7586632,"cg_dw":45.2413368,"cg_id_a":15.5261087,"cg_id_raw_a":13.0454693,"cg_iq_a":-206.117401,"cg_iq_raw_a":-205.4823,"cg_iu_a":-157.621902,"cg_iv_a":196.003326,"cg_iw_a":-38.381424,"cg_sample_age_us":23.9654541,"cg_sample_seq":7436016,"cg_sample_valid":1,"cg_theta_rad":2.76595163,"cg_vd_req_v":-2.18292236,"cg_vd_v":-2.18292236,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26916313,"cg_vq_v":-8.26916313,"cg_vu_v":20.6749516,"cg_vv_v":27.2733402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2541.25146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1214.079583,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1214.079588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1214.079594,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1214.395874,"values":{"Elec_RPM":-2341.88306,"EncoderCos":13212,"EncoderSin":28967,"GapTicks":49348,"Mech_RPM":-468.376617,"cg_du":51.1553993,"cg_dv":44.8618355,"cg_dw":55.1381645,"cg_id_a":-3.58129478,"cg_id_raw_a":-7.61738873,"cg_iq_a":-197.920898,"cg_iq_raw_a":-197.933807,"cg_iu_a":95.2513275,"cg_iv_a":-198.112122,"cg_iw_a":102.860794,"cg_sample_age_us":23.7836361,"cg_sample_seq":7437716,"cg_sample_valid":1,"cg_theta_rad":3.33693933,"cg_vd_req_v":-1.8488307,"cg_vd_v":-1.8488307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45894718,"cg_vq_v":-8.45894718,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2476.77515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1214.729858,"values":{"Elec_RPM":-2344.59814,"EncoderCos":18254,"EncoderSin":18954,"GapTicks":49352,"Mech_RPM":-468.919617,"cg_du":51.0694504,"cg_dv":55.1344452,"cg_dw":44.8655548,"cg_id_a":-13.2265015,"cg_id_raw_a":-12.5941505,"cg_iq_a":-194.773575,"cg_iq_raw_a":-194.670578,"cg_iu_a":-30.224823,"cg_iv_a":181.795746,"cg_iw_a":-151.570923,"cg_sample_age_us":23.9327278,"cg_sample_seq":7439417,"cg_sample_valid":1,"cg_theta_rad":3.91045904,"cg_vd_req_v":-1.61419964,"cg_vd_v":-1.61419964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49008846,"cg_vq_v":-8.49008846,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2507.7832,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1215.059937,"values":{"Elec_RPM":-2351.61401,"EncoderCos":28045,"EncoderSin":13520,"GapTicks":49949,"Mech_RPM":-470.322784,"cg_du":46.1981354,"cg_dv":45.4090195,"cg_dw":54.5909805,"cg_id_a":8.87930012,"cg_id_raw_a":11.5969143,"cg_iq_a":-206.22464,"cg_iq_raw_a":-205.564758,"cg_iu_a":-2.67951035,"cg_iv_a":-175.351013,"cg_iw_a":178.030518,"cg_sample_age_us":23.9181824,"cg_sample_seq":7441117,"cg_sample_valid":1,"cg_theta_rad":4.49657583,"cg_vd_req_v":-2.08083129,"cg_vd_v":-2.08083129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24545479,"cg_vq_v":-8.24545479,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-16.927742,"dclink_p_w":-2449.86157,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1215.071423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1215.071428,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1215.071434,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1215.415405,"values":{"Elec_RPM":-2353.53735,"EncoderCos":28757,"EncoderSin":13313,"GapTicks":49481,"Mech_RPM":-470.707458,"cg_du":48.1631203,"cg_dv":44.9834595,"cg_dw":55.0165405,"cg_id_a":-11.728138,"cg_id_raw_a":-7.42048407,"cg_iq_a":-202.160538,"cg_iq_raw_a":-203.094254,"cg_iu_a":15.1524563,"cg_iv_a":-180.497604,"cg_iw_a":165.345154,"cg_sample_age_us":23.9254551,"cg_sample_seq":7442867,"cg_sample_valid":1,"cg_theta_rad":4.52466679,"cg_vd_req_v":-1.67191458,"cg_vd_v":-1.67191458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3507967,"cg_vq_v":-8.3507967,"cg_vu_v":142.965088,"cg_vv_v":140.325729,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2433.63232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1215.747437,"values":{"Elec_RPM":-2348.229,"EncoderCos":39903,"EncoderSin":14207,"GapTicks":50050,"Mech_RPM":-469.645813,"cg_du":54.4991074,"cg_dv":54.4344177,"cg_dw":45.5008926,"cg_id_a":8.88826752,"cg_id_raw_a":10.7940226,"cg_iq_a":-203.032898,"cg_iq_raw_a":-202.571121,"cg_iu_a":18.4506454,"cg_iv_a":164.61618,"cg_iw_a":-183.066818,"cg_sample_age_us":23.9581814,"cg_sample_seq":7444567,"cg_sample_valid":1,"cg_theta_rad":5.09856176,"cg_vd_req_v":-2.12128568,"cg_vd_v":-2.12128568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35947418,"cg_vq_v":-8.35947418,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.4858971,"dclink_p_w":-2530.64038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1470642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1216.063606,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1216.063612,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1216.063618,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1216.077515,"values":{"Elec_RPM":-2348.85156,"EncoderCos":52264,"EncoderSin":31259,"GapTicks":49354,"Mech_RPM":-469.770294,"cg_du":55.1325607,"cg_dv":49.141964,"cg_dw":44.8674393,"cg_id_a":-16.9117775,"cg_id_raw_a":-16.1091194,"cg_iq_a":-195.805939,"cg_iq_raw_a":-195.276932,"cg_iu_a":151.864197,"cg_iv_a":30.7676697,"cg_iw_a":-182.631866,"cg_sample_age_us":24.1145458,"cg_sample_seq":7446217,"cg_sample_valid":1,"cg_theta_rad":6.22084236,"cg_vd_req_v":-1.60663772,"cg_vd_v":-1.60663772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43930244,"cg_vq_v":-8.43930244,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2533.52563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1506348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1216.432983,"values":{"Elec_RPM":-2342.67773,"EncoderCos":42676,"EncoderSin":49792,"GapTicks":49384,"Mech_RPM":-468.535522,"cg_du":55.1046562,"cg_dv":44.8953438,"cg_dw":48.4593315,"cg_id_a":0.893549085,"cg_id_raw_a":-6.20518398,"cg_iq_a":-199.116974,"cg_iq_raw_a":-197.483231,"cg_iu_a":199.452347,"cg_iv_a":-88.1483383,"cg_iw_a":-111.304008,"cg_sample_age_us":23.8272724,"cg_sample_seq":7447867,"cg_sample_valid":1,"cg_theta_rad":1.0482223,"cg_vd_req_v":-1.97873521,"cg_vd_v":-1.97873521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43000698,"cg_vq_v":-8.43000698,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-17.7051735,"dclink_p_w":-2562.37524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1216.763062,"values":{"Elec_RPM":-2343.54321,"EncoderCos":49546,"EncoderSin":42945,"GapTicks":49439,"Mech_RPM":-468.708649,"cg_du":44.9450378,"cg_dv":51.6271248,"cg_dw":55.0549622,"cg_id_a":-8.20966625,"cg_id_raw_a":-8.84269905,"cg_iq_a":-200.953979,"cg_iq_raw_a":-201.509949,"cg_iu_a":-158.129303,"cg_iv_a":-25.7727051,"cg_iw_a":183.902008,"cg_sample_age_us":23.4418182,"cg_sample_seq":7449667,"cg_sample_valid":1,"cg_theta_rad":0.552536428,"cg_vd_req_v":-1.79877043,"cg_vd_v":-1.79877043,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40177536,"cg_vq_v":-8.40177536,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1114807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1217.087004,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1217.08701,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1217.087015,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1217.095093,"values":{"Elec_RPM":-2339.78296,"EncoderCos":20881,"EncoderSin":48696,"GapTicks":49529,"Mech_RPM":-467.956604,"cg_du":54.97295,"cg_dv":45.02705,"cg_dw":52.1827202,"cg_id_a":-9.03157043,"cg_id_raw_a":-0.633194685,"cg_iq_a":-198.755646,"cg_iq_raw_a":-200.136154,"cg_iu_a":174.226654,"cg_iv_a":-168.283447,"cg_iw_a":-5.94319916,"cg_sample_age_us":23.994545,"cg_sample_seq":7451266,"cg_sample_valid":1,"cg_theta_rad":2.20998144,"cg_vd_req_v":-1.69699478,"cg_vd_v":-1.69699478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40352821,"cg_vq_v":-8.40352821,"cg_vu_v":43.549366,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2542.5415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.0919189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1217.448608,"values":{"Elec_RPM":-2338.14258,"EncoderCos":29878,"EncoderSin":52312,"GapTicks":49716,"Mech_RPM":-467.62851,"cg_du":45.1963959,"cg_dv":54.8036041,"cg_dw":53.2916565,"cg_id_a":9.59715366,"cg_id_raw_a":9.62536621,"cg_iq_a":-199.330475,"cg_iq_raw_a":-200.095016,"cg_iu_a":-191.654861,"cg_iv_a":44.105423,"cg_iw_a":147.549438,"cg_sample_age_us":23.8345451,"cg_sample_seq":7453066,"cg_sample_valid":1,"cg_theta_rad":1.71709037,"cg_vd_req_v":-2.07168388,"cg_vd_v":-2.07168388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3806181,"cg_vq_v":-8.3806181,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2411.57031,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1217.78064,"values":{"Elec_RPM":-2340.30103,"EncoderCos":13313,"EncoderSin":28698,"GapTicks":49400,"Mech_RPM":-468.060211,"cg_du":51.7440529,"cg_dv":44.9094048,"cg_dw":55.0905952,"cg_id_a":-0.640671432,"cg_id_raw_a":-5.00967884,"cg_iq_a":-196.682724,"cg_iq_raw_a":-196.141205,"cg_iu_a":107.610474,"cg_iv_a":-196.227448,"cg_iw_a":88.6169662,"cg_sample_age_us":23.6672726,"cg_sample_seq":7454667,"cg_sample_valid":1,"cg_theta_rad":3.35296941,"cg_vd_req_v":-1.89874184,"cg_vd_v":-1.89874184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46148205,"cg_vq_v":-8.46148205,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2525.91992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1218.079141,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1218.079147,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1218.079152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1218.141968,"values":{"Elec_RPM":-2342.82446,"EncoderCos":13717,"EncoderSin":38377,"GapTicks":49382,"Mech_RPM":-468.56488,"cg_du":44.8930588,"cg_dv":55.1069412,"cg_dw":48.6196098,"cg_id_a":-10.6414843,"cg_id_raw_a":-8.58437824,"cg_iq_a":-196.659821,"cg_iq_raw_a":-196.964981,"cg_iu_a":-182.195221,"cg_iv_a":155.591446,"cg_iw_a":26.603775,"cg_sample_age_us":23.9327278,"cg_sample_seq":7456467,"cg_sample_valid":1,"cg_theta_rad":2.85905886,"cg_vd_req_v":-1.63198555,"cg_vd_v":-1.63198555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48212147,"cg_vq_v":-8.48212147,"cg_vu_v":116.571533,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2509.92139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1218.661499,"values":{"Elec_RPM":-2340.02881,"EncoderCos":31937,"EncoderSin":52501,"GapTicks":49334,"Mech_RPM":-468.005737,"cg_du":44.8498116,"cg_dv":55.1501884,"cg_dw":49.1287613,"cg_id_a":-11.2090197,"cg_id_raw_a":-8.4838028,"cg_iq_a":-197.846848,"cg_iq_raw_a":-199.031113,"cg_iu_a":-196.439041,"cg_iv_a":113.186157,"cg_iw_a":83.2528839,"cg_sample_age_us":23.8745461,"cg_sample_seq":7458921,"cg_sample_valid":1,"cg_theta_rad":1.65611017,"cg_vd_req_v":-1.65657139,"cg_vd_v":-1.65657139,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46068573,"cg_vq_v":-8.46068573,"cg_vu_v":142.085297,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.799408,"dclink_p_w":-2576.01318,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1218.942901,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1218.942913,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1218.942916,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1219.071669,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1219.071675,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1219.07168,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1219.108765,"values":{"Elec_RPM":-2345.42993,"EncoderCos":33550,"EncoderSin":52412,"GapTicks":49972,"Mech_RPM":-469.085999,"cg_du":45.8860779,"cg_dv":54.570549,"cg_dw":45.429451,"cg_id_a":13.8101101,"cg_id_raw_a":15.0952435,"cg_iq_a":-204.207825,"cg_iq_raw_a":-204.114822,"cg_iu_a":-165.486816,"cg_iv_a":187.558502,"cg_iw_a":-22.0716934,"cg_sample_age_us":23.8709087,"cg_sample_seq":7461267,"cg_sample_valid":1,"cg_theta_rad":1.53184557,"cg_vd_req_v":-2.17067027,"cg_vd_v":-2.17067027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3296032,"cg_vq_v":-8.3296032,"cg_vu_v":96.3364716,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-18.2234592,"dclink_p_w":-2645.40039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2602,"hz_tim_isr":5001,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1219.460327,"values":{"Elec_RPM":-2345.99609,"EncoderCos":32766,"EncoderSin":52487,"GapTicks":49649,"Mech_RPM":-469.199219,"cg_du":45.1357498,"cg_dv":54.8642502,"cg_dw":47.0812912,"cg_id_a":0.349747181,"cg_id_raw_a":6.22082901,"cg_iq_a":-200.641113,"cg_iq_raw_a":-202.364944,"cg_iu_a":-173.895386,"cg_iv_a":170.56015,"cg_iw_a":-1.26773834,"cg_sample_age_us":23.8999996,"cg_sample_seq":7463017,"cg_sample_valid":1,"cg_theta_rad":1.56991613,"cg_vd_req_v":-1.87432861,"cg_vd_v":-1.87432861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39612675,"cg_vq_v":-8.39612675,"cg_vu_v":124.489601,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1219.792358,"values":{"Elec_RPM":-2347.98389,"EncoderCos":41940,"EncoderSin":50142,"GapTicks":49632,"Mech_RPM":-469.596771,"cg_du":54.8791275,"cg_dv":45.1208725,"cg_dw":47.0207863,"cg_id_a":18.2571907,"cg_id_raw_a":15.5146532,"cg_iq_a":-202.908981,"cg_iq_raw_a":-201.799332,"cg_iu_a":194.160751,"cg_iv_a":-38.0593719,"cg_iw_a":-144.865814,"cg_sample_age_us":23.9581814,"cg_sample_seq":7464816,"cg_sample_valid":1,"cg_theta_rad":1.08459127,"cg_vd_req_v":-2.3004148,"cg_vd_v":-2.3004148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33385277,"cg_vq_v":-8.33385277,"cg_vu_v":43.1094704,"cg_vv_v":40.9100075,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.4022064,"dclink_p_w":-2373.80371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1220.06313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1220.063136,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1220.063141,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1220.12439,"values":{"Elec_RPM":-2350.45996,"EncoderCos":14512,"EncoderSin":40639,"GapTicks":49486,"Mech_RPM":-470.09201,"cg_du":47.9208221,"cg_dv":55.0124054,"cg_dw":44.9875946,"cg_id_a":8.04352093,"cg_id_raw_a":1.19418085,"cg_iq_a":-202.765121,"cg_iq_raw_a":-201.910355,"cg_iu_a":-129.279221,"cg_iv_a":201.476135,"cg_iw_a":-72.1969223,"cg_sample_age_us":23.994545,"cg_sample_seq":7466416,"cg_sample_valid":1,"cg_theta_rad":2.73447251,"cg_vd_req_v":-2.05285311,"cg_vd_v":-2.05285311,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3381052,"cg_vq_v":-8.3381052,"cg_vu_v":38.2706528,"cg_vv_v":49.707859,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1220.477905,"values":{"Elec_RPM":-2348.03857,"EncoderCos":20802,"EncoderSin":48606,"GapTicks":49446,"Mech_RPM":-469.607697,"cg_du":55.0489464,"cg_dv":44.9510536,"cg_dw":51.8877869,"cg_id_a":-12.2979631,"cg_id_raw_a":-6.64019108,"cg_iq_a":-197.856171,"cg_iq_raw_a":-198.981033,"cg_iu_a":175.676392,"cg_iv_a":-165.130234,"cg_iw_a":-10.5461578,"cg_sample_age_us":23.954546,"cg_sample_seq":7468217,"cg_sample_valid":1,"cg_theta_rad":2.22226977,"cg_vd_req_v":-1.65017104,"cg_vd_v":-1.65017104,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44589615,"cg_vq_v":-8.44589615,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2495.71606,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1220.809937,"values":{"Elec_RPM":-2351.2002,"EncoderCos":17953,"EncoderSin":19273,"GapTicks":49478,"Mech_RPM":-470.240051,"cg_du":52.1063995,"cg_dv":55.0192184,"cg_dw":44.9807816,"cg_id_a":-9.27172947,"cg_id_raw_a":-3.35488272,"cg_iq_a":-195.364212,"cg_iq_raw_a":-197.479263,"cg_iu_a":-1.33848834,"cg_iv_a":169.617813,"cg_iw_a":-168.279327,"cg_sample_age_us":23.9400005,"cg_sample_seq":7469816,"cg_sample_valid":1,"cg_theta_rad":3.87998962,"cg_vd_req_v":-1.67496264,"cg_vd_v":-1.67496264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46640587,"cg_vq_v":-8.46640587,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.6326847,"dclink_p_w":-2551.88428,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1221.054756,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1221.054762,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1221.054768,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1221.163452,"values":{"Elec_RPM":-2350.68506,"EncoderCos":13418,"EncoderSin":28194,"GapTicks":49554,"Mech_RPM":-470.136993,"cg_du":52.6758881,"cg_dv":45.0498047,"cg_dw":54.9501953,"cg_id_a":9.50651073,"cg_id_raw_a":6.60276699,"cg_iq_a":-198.183258,"cg_iq_raw_a":-197.694382,"cg_iu_a":137.076706,"cg_iv_a":-193.219208,"cg_iw_a":56.1424942,"cg_sample_age_us":23.6890907,"cg_sample_seq":7471617,"cg_sample_valid":1,"cg_theta_rad":3.38091159,"cg_vd_req_v":-2.08903265,"cg_vd_v":-2.08903265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41040802,"cg_vq_v":-8.41040802,"cg_vu_v":9.23774433,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1399231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1221.495483,"values":{"Elec_RPM":-2347.98779,"EncoderCos":38594,"EncoderSin":13755,"GapTicks":49450,"Mech_RPM":-469.597534,"cg_du":55.0452232,"cg_dv":51.6730919,"cg_dw":44.9547768,"cg_id_a":-1.70395303,"cg_id_raw_a":-5.03720331,"cg_iq_a":-203.102448,"cg_iq_raw_a":-199.801163,"cg_iu_a":91.9893799,"cg_iv_a":111.047775,"cg_iw_a":-203.037155,"cg_sample_age_us":23.9836369,"cg_sample_seq":7473217,"cg_sample_valid":1,"cg_theta_rad":5.02827024,"cg_vd_req_v":-1.92606831,"cg_vd_v":-1.92606831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33875656,"cg_vq_v":-8.33875656,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2476.61328,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1221.827515,"values":{"Elec_RPM":-2347.37549,"EncoderCos":39556,"EncoderSin":14093,"GapTicks":49851,"Mech_RPM":-469.475098,"cg_du":54.6802063,"cg_dv":53.6549721,"cg_dw":45.3197937,"cg_id_a":9.11299229,"cg_id_raw_a":8.77380753,"cg_iq_a":-203.789352,"cg_iq_raw_a":-204.967712,"cg_iu_a":45.6697617,"cg_iv_a":148.813843,"cg_iw_a":-194.483612,"cg_sample_age_us":23.9618187,"cg_sample_seq":7474966,"cg_sample_valid":1,"cg_theta_rad":5.07096434,"cg_vd_req_v":-2.12422085,"cg_vd_v":-2.12422085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31237411,"cg_vq_v":-8.31237411,"cg_vu_v":14.5164547,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.0615158,"dclink_p_w":-2324.49731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1222.078944,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1222.07895,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1222.078955,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1222.18103,"values":{"Elec_RPM":-2352.42773,"EncoderCos":52218,"EncoderSin":30558,"GapTicks":49580,"Mech_RPM":-470.485535,"cg_du":54.9269447,"cg_dv":47.3979149,"cg_dw":45.0730553,"cg_id_a":-7.00494194,"cg_id_raw_a":0.917220414,"cg_iq_a":-199.159485,"cg_iq_raw_a":-199.034897,"cg_iu_a":169.768646,"cg_iv_a":-2.61289978,"cg_iw_a":-172.519836,"cg_sample_age_us":24.005455,"cg_sample_seq":7476617,"cg_sample_valid":1,"cg_theta_rad":6.18404102,"cg_vd_req_v":-1.79058874,"cg_vd_v":-1.79058874,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3928051,"cg_vq_v":-8.3928051,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2356.65259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1222.511108,"values":{"Elec_RPM":-2349.47925,"EncoderCos":52297,"EncoderSin":31539,"GapTicks":49327,"Mech_RPM":-469.895844,"cg_du":55.1570358,"cg_dv":49.7427673,"cg_dw":44.8429642,"cg_id_a":-16.4596481,"cg_id_raw_a":-16.2928391,"cg_iq_a":-197.09549,"cg_iq_raw_a":-197.697571,"cg_iu_a":142.911972,"cg_iv_a":52.0428009,"cg_iw_a":-194.954773,"cg_sample_age_us":24.0854549,"cg_sample_seq":7478366,"cg_sample_valid":1,"cg_theta_rad":6.23442125,"cg_vd_req_v":-1.63887751,"cg_vd_v":-1.63887751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43779182,"cg_vq_v":-8.43779182,"cg_vu_v":42.6695786,"cg_vv_v":44.8690414,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2396.91919,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1222.845093,"values":{"Elec_RPM":-2347.62231,"EncoderCos":42221,"EncoderSin":50036,"GapTicks":49526,"Mech_RPM":-469.524445,"cg_du":54.9759064,"cg_dv":45.0240936,"cg_dw":47.5859413,"cg_id_a":14.4372158,"cg_id_raw_a":12.5883684,"cg_iq_a":-200.755615,"cg_iq_raw_a":-199.562332,"cg_iu_a":197.35022,"cg_iv_a":-54.6590424,"cg_iw_a":-142.691177,"cg_sample_age_us":23.9145451,"cg_sample_seq":7480016,"cg_sample_valid":1,"cg_theta_rad":1.07067585,"cg_vd_req_v":-2.22668719,"cg_vd_v":-2.22668719,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37060928,"cg_vq_v":-8.37060928,"cg_vu_v":41.7897949,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2430.71606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1223.070451,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1223.070457,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1223.070463,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1223.198608,"values":{"Elec_RPM":-2351.2771,"EncoderCos":41560,"EncoderSin":50372,"GapTicks":49914,"Mech_RPM":-470.255432,"cg_du":54.6232605,"cg_dv":45.3767395,"cg_dw":46.0977974,"cg_id_a":17.2541275,"cg_id_raw_a":20.2517757,"cg_iq_a":-204.48587,"cg_iq_raw_a":-205.179413,"cg_iu_a":187.926819,"cg_iv_a":-31.3904877,"cg_iw_a":-158.964661,"cg_sample_age_us":24.0018177,"cg_sample_seq":7481766,"cg_sample_valid":1,"cg_theta_rad":1.10550547,"cg_vd_req_v":-2.26568341,"cg_vd_v":-2.26568341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29061031,"cg_vq_v":-8.29061031,"cg_vu_v":42.2296829,"cg_vv_v":40.9100075,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1223.528687,"values":{"Elec_RPM":-2348.44507,"EncoderCos":41074,"EncoderSin":50608,"GapTicks":49857,"Mech_RPM":-469.688995,"cg_du":54.6747971,"cg_dv":46.3147736,"cg_dw":45.3252029,"cg_id_a":5.85894537,"cg_id_raw_a":9.34974384,"cg_iq_a":-201.774689,"cg_iq_raw_a":-201.650955,"cg_iu_a":176.256287,"cg_iv_a":-7.1071167,"cg_iw_a":-169.14917,"cg_sample_age_us":23.9109097,"cg_sample_seq":7483517,"cg_sample_valid":1,"cg_theta_rad":1.13772869,"cg_vd_req_v":-2.0123868,"cg_vd_v":-2.0123868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34407425,"cg_vq_v":-8.34407425,"cg_vu_v":106.893898,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2508.08545,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1223.882202,"values":{"Elec_RPM":-2348.75342,"EncoderCos":20917,"EncoderSin":48684,"GapTicks":49520,"Mech_RPM":-469.750702,"cg_du":54.9818115,"cg_dv":45.0181885,"cg_dw":52.3226662,"cg_id_a":-7.38609982,"cg_id_raw_a":0.616049707,"cg_iq_a":-199.264908,"cg_iq_raw_a":-200.491333,"cg_iu_a":183.722534,"cg_iv_a":-150.451492,"cg_iw_a":-33.2710419,"cg_sample_age_us":26.8490906,"cg_sample_seq":7485170,"cg_sample_valid":1,"cg_theta_rad":2.2474134,"cg_vd_req_v":-1.7438041,"cg_vd_v":-1.7438041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44343281,"cg_vq_v":-8.44343281,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1224.062589,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1224.062595,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1224.062601,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1224.214233,"values":{"Elec_RPM":-2344.64233,"EncoderCos":19725,"EncoderSin":47698,"GapTicks":49331,"Mech_RPM":-468.928467,"cg_du":55.1528778,"cg_dv":44.8471222,"cg_dw":48.8882599,"cg_id_a":-5.11019135,"cg_id_raw_a":-13.0094891,"cg_iq_a":-196.171463,"cg_iq_raw_a":-195.538986,"cg_iu_a":196.081665,"cg_iv_a":-104.240593,"cg_iw_a":-91.8410721,"cg_sample_age_us":23.994545,"cg_sample_seq":7486917,"cg_sample_valid":1,"cg_theta_rad":2.28378391,"cg_vd_req_v":-1.82800591,"cg_vd_v":-1.82800591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48298454,"cg_vq_v":-8.48298454,"cg_vu_v":106.893898,"cg_vv_v":91.9375458,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2433.33887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1224.548218,"values":{"Elec_RPM":-2343.76343,"EncoderCos":13577,"EncoderSin":27641,"GapTicks":49863,"Mech_RPM":-468.752686,"cg_du":53.7846832,"cg_dv":45.3300819,"cg_dw":54.6699181,"cg_id_a":13.9630833,"cg_id_raw_a":15.6258526,"cg_iq_a":-201.633453,"cg_iq_raw_a":-200.540482,"cg_iu_a":162.701111,"cg_iv_a":-186.115417,"cg_iw_a":23.4143143,"cg_sample_age_us":23.6963634,"cg_sample_seq":7488566,"cg_sample_valid":1,"cg_theta_rad":3.40953612,"cg_vd_req_v":-2.16797066,"cg_vd_v":-2.16797066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33891106,"cg_vq_v":-8.33891106,"cg_vu_v":44.4291458,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2491.57202,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1224.89978,"values":{"Elec_RPM":-2349.24512,"EncoderCos":13710,"EncoderSin":27098,"GapTicks":49921,"Mech_RPM":-469.84903,"cg_du":54.6166153,"cg_dv":45.3833847,"cg_dw":53.9745483,"cg_id_a":11.1818113,"cg_id_raw_a":15.8037605,"cg_iq_a":-202.13443,"cg_iq_raw_a":-201.870728,"cg_iu_a":171.435852,"cg_iv_a":-178.685425,"cg_iw_a":7.24956512,"cg_sample_age_us":24.1690903,"cg_sample_seq":7490317,"cg_sample_valid":1,"cg_theta_rad":3.43633938,"cg_vd_req_v":-2.10997987,"cg_vd_v":-2.10997987,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35311413,"cg_vq_v":-8.35311413,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-16.6196709,"dclink_p_w":-2397.96533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1225.055522,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1225.055528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1225.055533,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1225.231812,"values":{"Elec_RPM":-2349.85864,"EncoderCos":40029,"EncoderSin":14273,"GapTicks":50033,"Mech_RPM":-469.971741,"cg_du":54.2017212,"cg_dv":54.5153999,"cg_dw":45.4846001,"cg_id_a":8.09714985,"cg_id_raw_a":8.6826334,"cg_iq_a":-203.183792,"cg_iq_raw_a":-204.438751,"cg_iu_a":20.7702484,"cg_iv_a":164.253723,"cg_iw_a":-185.023972,"cg_sample_age_us":23.8563633,"cg_sample_seq":7491916,"cg_sample_valid":1,"cg_theta_rad":5.09599876,"cg_vd_req_v":-2.09732342,"cg_vd_v":-2.09732342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30515289,"cg_vq_v":-8.30515289,"cg_vu_v":30.3525867,"cg_vv_v":25.5137672,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.9606915,"dclink_p_w":-2599.35498,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1225.583374,"values":{"Elec_RPM":-2344.88184,"EncoderCos":28985,"EncoderSin":13293,"GapTicks":49441,"Mech_RPM":-468.976379,"cg_du":48.6912537,"cg_dv":44.9470406,"cg_dw":55.0529594,"cg_id_a":-14.6124687,"cg_id_raw_a":-12.0702944,"cg_iq_a":-200.274231,"cg_iq_raw_a":-201.622437,"cg_iu_a":102.898773,"cg_iv_a":-197.532227,"cg_iw_a":94.6334534,"cg_sample_age_us":26.7181816,"cg_sample_seq":7493723,"cg_sample_valid":1,"cg_theta_rad":4.59869003,"cg_vd_req_v":-1.62053704,"cg_vd_v":-1.62053704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38287544,"cg_vq_v":-8.38287544,"cg_vu_v":121.410347,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1399231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1225.917358,"values":{"Elec_RPM":-2350.73364,"EncoderCos":52311,"EncoderSin":31806,"GapTicks":49331,"Mech_RPM":-470.146729,"cg_du":55.1531715,"cg_dv":50.2095413,"cg_dw":44.8468285,"cg_id_a":-10.0469952,"cg_id_raw_a":-15.6519871,"cg_iq_a":-198.680511,"cg_iq_raw_a":-195.025421,"cg_iu_a":128.740631,"cg_iv_a":67.1564941,"cg_iw_a":-195.897125,"cg_sample_age_us":24.0272732,"cg_sample_seq":7495317,"cg_sample_valid":1,"cg_theta_rad":6.24409628,"cg_vd_req_v":-1.77181494,"cg_vd_v":-1.77181494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42983627,"cg_vq_v":-8.42983627,"cg_vu_v":141.205521,"cg_vv_v":130.208206,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2535.43872,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1226.079432,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1226.079438,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1226.079443,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1226.24939,"values":{"Elec_RPM":-2345.27051,"EncoderCos":49527,"EncoderSin":22535,"GapTicks":49781,"Mech_RPM":-469.054077,"cg_du":46.6472206,"cg_dv":45.2562523,"cg_dw":54.7437477,"cg_id_a":2.51471043,"cg_id_raw_a":10.0551414,"cg_iq_a":-206.383636,"cg_iq_raw_a":-207.611969,"cg_iu_a":-2.13585281,"cg_iv_a":-175.71344,"cg_iw_a":177.849289,"cg_sample_age_us":23.9109097,"cg_sample_seq":7497117,"cg_sample_valid":1,"cg_theta_rad":5.75348139,"cg_vd_req_v":-2.02440953,"cg_vd_v":-2.02440953,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29250526,"cg_vq_v":-8.29250526,"cg_vu_v":117.451309,"cg_vv_v":122.290138,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1226.583374,"values":{"Elec_RPM":-2343.6084,"EncoderCos":41340,"EncoderSin":50439,"GapTicks":50096,"Mech_RPM":-468.72168,"cg_du":54.4574127,"cg_dv":45.5425873,"cg_dw":45.5632133,"cg_id_a":13.2539244,"cg_id_raw_a":14.3167057,"cg_iq_a":-203.39122,"cg_iq_raw_a":-205.357773,"cg_iu_a":180.60556,"cg_iv_a":-14.210907,"cg_iw_a":-166.394653,"cg_sample_age_us":24.005455,"cg_sample_seq":7498717,"cg_sample_valid":1,"cg_theta_rad":1.12180293,"cg_vd_req_v":-2.17704773,"cg_vd_v":-2.17704773,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31096172,"cg_vq_v":-8.31096172,"cg_vu_v":137.246475,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.0651398,"dclink_p_w":-2325.02173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1226.934937,"values":{"Elec_RPM":-2346.21924,"EncoderCos":40666,"EncoderSin":50769,"GapTicks":49558,"Mech_RPM":-469.243866,"cg_du":54.9467506,"cg_dv":47.4154968,"cg_dw":45.0532494,"cg_id_a":-3.94015098,"cg_id_raw_a":0.938553512,"cg_iq_a":-199.262604,"cg_iq_raw_a":-200.294891,"cg_iu_a":166.724167,"cg_iv_a":5.90440369,"cg_iw_a":-172.628571,"cg_sample_age_us":23.9618187,"cg_sample_seq":7500467,"cg_sample_valid":1,"cg_theta_rad":1.15754378,"cg_vd_req_v":-1.82180142,"cg_vd_v":-1.82180142,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4133749,"cg_vq_v":-8.4133749,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.1575623,"dclink_p_w":-2338.39771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1506348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1227.07094,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1227.070946,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1227.070951,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1227.268921,"values":{"Elec_RPM":-2350.2959,"EncoderCos":19776,"EncoderSin":47741,"GapTicks":49347,"Mech_RPM":-470.059204,"cg_du":55.1390915,"cg_dv":44.8609085,"cg_dw":48.9715805,"cg_id_a":-8.97749996,"cg_id_raw_a":-14.9969501,"cg_iq_a":-196.566101,"cg_iq_raw_a":-196.795074,"cg_iu_a":193.399628,"cg_iv_a":-125.479492,"cg_iw_a":-67.9201355,"cg_sample_age_us":23.8999996,"cg_sample_seq":7502116,"cg_sample_valid":1,"cg_theta_rad":2.27679467,"cg_vd_req_v":-1.75241089,"cg_vd_v":-1.75241089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46578503,"cg_vq_v":-8.46578503,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2417.07813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1227.620483,"values":{"Elec_RPM":-2348.17236,"EncoderCos":28729,"EncoderSin":52126,"GapTicks":49687,"Mech_RPM":-469.634491,"cg_du":45.1702652,"cg_dv":53.0764503,"cg_dw":54.8297348,"cg_id_a":0.359330535,"cg_id_raw_a":3.54815149,"cg_iq_a":-200.336212,"cg_iq_raw_a":-200.126892,"cg_iu_a":-173.714172,"cg_iv_a":3.69354248,"cg_iw_a":171.216675,"cg_sample_age_us":23.8709087,"cg_sample_seq":7503917,"cg_sample_valid":1,"cg_theta_rad":1.77307475,"cg_vd_req_v":-1.86232567,"cg_vd_v":-1.86232567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39557171,"cg_vq_v":-8.39557171,"cg_vu_v":99.8556061,"cg_vv_v":109.533249,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2379.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119995423,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1227.952515,"values":{"Elec_RPM":-2345.7749,"EncoderCos":13608,"EncoderSin":27540,"GapTicks":49924,"Mech_RPM":-469.154968,"cg_du":54.0830536,"cg_dv":45.3861694,"cg_dw":54.6138306,"cg_id_a":10.2151737,"cg_id_raw_a":9.12038708,"cg_iq_a":-201.335846,"cg_iq_raw_a":-200.496017,"cg_iu_a":166.434219,"cg_iv_a":-181.911133,"cg_iw_a":15.4769058,"cg_sample_age_us":24.0854549,"cg_sample_seq":7505518,"cg_sample_valid":1,"cg_theta_rad":3.42331958,"cg_vd_req_v":-2.10519862,"cg_vd_v":-2.10519862,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3714819,"cg_vq_v":-8.3714819,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2392.47412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1228.094691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1228.094697,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1228.094702,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1228.378296,"values":{"Elec_RPM":-2348.00391,"EncoderCos":51775,"EncoderSin":37249,"GapTicks":49572,"Mech_RPM":-469.600769,"cg_du":47.2579384,"cg_dv":54.9345169,"cg_dw":45.0654831,"cg_id_a":11.0094767,"cg_id_raw_a":7.75567102,"cg_iq_a":-203.478394,"cg_iq_raw_a":-203.23613,"cg_iu_a":-144.719101,"cg_iv_a":197.779266,"cg_iw_a":-53.0601654,"cg_sample_age_us":23.5218182,"cg_sample_seq":7507567,"cg_sample_valid":1,"cg_theta_rad":0.238701284,"cg_vd_req_v":-2.22215438,"cg_vd_v":-2.22215438,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34307098,"cg_vq_v":-8.34307098,"cg_vu_v":123.60981,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-18.3176937,"dclink_p_w":-2651.02197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1228.897827,"values":{"Elec_RPM":-2337.19238,"EncoderCos":12875,"EncoderSin":32068,"GapTicks":49658,"Mech_RPM":-467.438477,"cg_du":45.144516,"cg_dv":46.8707657,"cg_dw":54.855484,"cg_id_a":10.9357443,"cg_id_raw_a":7.8901639,"cg_iq_a":-200.938934,"cg_iq_raw_a":-201.163559,"cg_iu_a":-45.1935272,"cg_iv_a":-148.240616,"cg_iw_a":193.434143,"cg_sample_age_us":23.8345451,"cg_sample_seq":7510216,"cg_sample_valid":1,"cg_theta_rad":3.18085957,"cg_vd_req_v":-2.11710024,"cg_vd_v":-2.11710024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39483261,"cg_vq_v":-8.39483261,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2454.41431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1228.959263,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1228.959274,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1228.959277,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1229.087305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1229.087311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1229.087317,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1229.278687,"values":{"Elec_RPM":-2336.19897,"EncoderCos":49636,"EncoderSin":42768,"GapTicks":49506,"Mech_RPM":-467.239777,"cg_du":45.0058975,"cg_dv":52.0708313,"cg_dw":54.9941025,"cg_id_a":-6.9729867,"cg_id_raw_a":-3.0704484,"cg_iq_a":-199.674271,"cg_iq_raw_a":-201.557083,"cg_iu_a":-155.483521,"cg_iv_a":-27.6211243,"cg_iw_a":183.104645,"cg_sample_age_us":23.5618191,"cg_sample_seq":7512216,"cg_sample_valid":1,"cg_theta_rad":0.555853248,"cg_vd_req_v":-1.80948198,"cg_vd_v":-1.80948198,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38871574,"cg_vq_v":-8.38871574,"cg_vu_v":110.413033,"cg_vv_v":112.172607,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1229.610718,"values":{"Elec_RPM":-2338.67651,"EncoderCos":31129,"EncoderSin":52419,"GapTicks":49319,"Mech_RPM":-467.735321,"cg_du":44.8360748,"cg_dv":55.1639252,"cg_dw":50.8629265,"cg_id_a":-7.17644691,"cg_id_raw_a":-7.78998852,"cg_iq_a":-196.93042,"cg_iq_raw_a":-197.301086,"cg_iu_a":-196.873962,"cg_iv_a":114.780876,"cg_iw_a":82.0930862,"cg_sample_age_us":23.7800007,"cg_sample_seq":7513866,"cg_sample_valid":1,"cg_theta_rad":1.6550926,"cg_vd_req_v":-1.76033342,"cg_vd_v":-1.76033342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46218491,"cg_vq_v":-8.46218491,"cg_vu_v":38.2706528,"cg_vv_v":52.3472176,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2409.2085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1229.96228,"values":{"Elec_RPM":-2341.75342,"EncoderCos":30377,"EncoderSin":52368,"GapTicks":49474,"Mech_RPM":-468.350677,"cg_du":44.9771423,"cg_dv":55.0228577,"cg_dw":52.2485161,"cg_id_a":7.1892128,"cg_id_raw_a":4.46013498,"cg_iq_a":-199.565552,"cg_iq_raw_a":-199.824081,"cg_iu_a":-198.35997,"cg_iv_a":68.6424866,"cg_iw_a":114.96624,"cg_sample_age_us":23.863636,"cg_sample_seq":7515616,"cg_sample_valid":1,"cg_theta_rad":1.68874598,"cg_vd_req_v":-2.05246139,"cg_vd_v":-2.05246139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42324638,"cg_vq_v":-8.42324638,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2517.26489,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1230.047136,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1230.047142,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1230.047147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1230.296265,"values":{"Elec_RPM":-2345.35254,"EncoderCos":14039,"EncoderSin":39465,"GapTicks":50047,"Mech_RPM":-469.070526,"cg_du":45.4975967,"cg_dv":54.5024033,"cg_dw":45.7517929,"cg_id_a":12.6386757,"cg_id_raw_a":12.2642536,"cg_iq_a":-203.557678,"cg_iq_raw_a":-205.184967,"cg_iu_a":-169.872314,"cg_iv_a":180.019791,"cg_iw_a":-16.8163376,"cg_sample_age_us":23.9909096,"cg_sample_seq":7517267,"cg_sample_valid":1,"cg_theta_rad":2.79818702,"cg_vd_req_v":-2.09996462,"cg_vd_v":-2.09996462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30679798,"cg_vq_v":-8.30679798,"cg_vu_v":102.494972,"cg_vv_v":104.694435,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2473.00732,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1230.64978,"values":{"Elec_RPM":-2345.99316,"EncoderCos":13731,"EncoderSin":38590,"GapTicks":49487,"Mech_RPM":-469.198639,"cg_du":44.9890404,"cg_dv":55.0109596,"cg_dw":48.1355896,"cg_id_a":-9.14375687,"cg_id_raw_a":-4.67248726,"cg_iq_a":-199.068298,"cg_iq_raw_a":-199.908371,"cg_iu_a":-176.178741,"cg_iv_a":169.037903,"cg_iw_a":7.14083099,"cg_sample_age_us":23.8490906,"cg_sample_seq":7519016,"cg_sample_valid":1,"cg_theta_rad":2.83811188,"cg_vd_req_v":-1.65411413,"cg_vd_v":-1.65411413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40378094,"cg_vq_v":-8.40378094,"cg_vu_v":104.254532,"cg_vv_v":105.574219,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2437.53516,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1230.979858,"values":{"Elec_RPM":-2352.95386,"EncoderCos":18916,"EncoderSin":18312,"GapTicks":49364,"Mech_RPM":-470.590759,"cg_du":49.0984116,"cg_dv":55.1229401,"cg_dw":44.8770599,"cg_id_a":-10.6373692,"cg_id_raw_a":-14.3234177,"cg_iq_a":-199.037308,"cg_iq_raw_a":-198.831329,"cg_iu_a":-81.2198944,"cg_iv_a":198.57663,"cg_iw_a":-117.356735,"cg_sample_age_us":23.9690914,"cg_sample_seq":7520666,"cg_sample_valid":1,"cg_theta_rad":3.95671558,"cg_vd_req_v":-1.70101833,"cg_vd_v":-1.70101833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43541145,"cg_vq_v":-8.43541145,"cg_vu_v":38.2706528,"cg_vv_v":47.5083961,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2413.40625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1231.071047,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1231.071053,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1231.071059,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1231.313843,"values":{"Elec_RPM":-2350.79248,"EncoderCos":19562,"EncoderSin":17738,"GapTicks":49543,"Mech_RPM":-470.158508,"cg_du":47.5665855,"cg_dv":54.9606552,"cg_dw":45.0393448,"cg_id_a":7.78001547,"cg_id_raw_a":4.67101908,"cg_iq_a":-201.248413,"cg_iq_raw_a":-200.061172,"cg_iu_a":-134.027161,"cg_iv_a":198.612885,"cg_iw_a":-64.5857162,"cg_sample_age_us":23.9690914,"cg_sample_seq":7522416,"cg_sample_valid":1,"cg_theta_rad":4.00173426,"cg_vd_req_v":-2.06659293,"cg_vd_v":-2.06659293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36447525,"cg_vq_v":-8.36447525,"cg_vu_v":39.1504402,"cg_vv_v":61.5849609,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.9440517,"dclink_p_w":-2452.22192,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00317235058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1231.665405,"values":{"Elec_RPM":-2351.70923,"EncoderCos":29872,"EncoderSin":13141,"GapTicks":49346,"Mech_RPM":-470.341858,"cg_du":50.6236687,"cg_dv":44.860817,"cg_dw":55.139183,"cg_id_a":-8.79015541,"cg_id_raw_a":-12.7723045,"cg_iq_a":-196.608704,"cg_iq_raw_a":-196.726669,"cg_iu_a":62.1607056,"cg_iv_a":-192.38559,"cg_iw_a":130.224884,"cg_sample_age_us":23.6454544,"cg_sample_seq":7524116,"cg_sample_valid":1,"cg_theta_rad":4.5720315,"cg_vd_req_v":-1.76119149,"cg_vd_v":-1.76119149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42726707,"cg_vq_v":-8.42726707,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2403.9646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1231.997437,"values":{"Elec_RPM":-2353.65967,"EncoderCos":40626,"EncoderSin":14539,"GapTicks":49564,"Mech_RPM":-470.731934,"cg_du":52.5456314,"cg_dv":54.9413338,"cg_dw":45.0586662,"cg_id_a":-7.73201466,"cg_id_raw_a":-0.383573502,"cg_iq_a":-199.508362,"cg_iq_raw_a":-201.095459,"cg_iu_a":0.944873095,"cg_iv_a":171.574982,"cg_iw_a":-174.984436,"cg_sample_age_us":23.9436359,"cg_sample_seq":7525817,"cg_sample_valid":1,"cg_theta_rad":5.13532734,"cg_vd_req_v":-1.77682638,"cg_vd_v":-1.77682638,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40318394,"cg_vq_v":-8.40318394,"cg_vu_v":137.686371,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.2083035,"dclink_p_w":-2345.74121,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1232.06324,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1232.063246,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1232.063251,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1232.331421,"values":{"Elec_RPM":-2349.00439,"EncoderCos":49348,"EncoderSin":22213,"GapTicks":50048,"Mech_RPM":-469.800873,"cg_du":45.7278061,"cg_dv":45.4983521,"cg_dw":54.5016479,"cg_id_a":11.6454659,"cg_id_raw_a":16.2111053,"cg_iq_a":-205.883286,"cg_iq_raw_a":-206.891617,"cg_iu_a":-10.7256413,"cg_iv_a":-171.871582,"cg_iw_a":182.597229,"cg_sample_age_us":23.9181824,"cg_sample_seq":7527516,"cg_sample_valid":1,"cg_theta_rad":5.73409271,"cg_vd_req_v":-2.205374,"cg_vd_v":-2.205374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28976917,"cg_vq_v":-8.28976917,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2452.04688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1232.682983,"values":{"Elec_RPM":-2344.83301,"EncoderCos":52326,"EncoderSin":32848,"GapTicks":49538,"Mech_RPM":-468.966614,"cg_du":54.9653397,"cg_dv":52.2072639,"cg_dw":45.0346603,"cg_id_a":4.21358585,"cg_id_raw_a":0.523834288,"cg_iq_a":-202.385773,"cg_iq_raw_a":-201.95076,"cg_iu_a":72.7076569,"cg_iv_a":126.052719,"cg_iw_a":-198.760376,"cg_sample_age_us":23.5,"cg_sample_seq":7529217,"cg_sample_valid":1,"cg_theta_rad":0.0155406473,"cg_vd_req_v":-2.05914426,"cg_vd_v":-2.05914426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31553459,"cg_vq_v":-8.31553459,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.5873814,"dclink_p_w":-2545.32764,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1233.016968,"values":{"Elec_RPM":-2341.50537,"EncoderCos":41254,"EncoderSin":50485,"GapTicks":50031,"Mech_RPM":-468.301056,"cg_du":54.5164986,"cg_dv":45.7492561,"cg_dw":45.4835014,"cg_id_a":11.6389189,"cg_id_raw_a":13.6862593,"cg_iq_a":-205.900803,"cg_iq_raw_a":-205.118698,"cg_iu_a":180.315613,"cg_iv_a":-15.8056335,"cg_iw_a":-172.193665,"cg_sample_age_us":24.0090904,"cg_sample_seq":7530867,"cg_sample_valid":1,"cg_theta_rad":1.12497914,"cg_vd_req_v":-2.14404845,"cg_vd_v":-2.14404845,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29113674,"cg_vq_v":-8.29113674,"cg_vu_v":105.134323,"cg_vv_v":84.4593658,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.1666222,"dclink_p_w":-2332.59717,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1233.055337,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1233.055343,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1233.055349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1233.347046,"values":{"Elec_RPM":-2346.36694,"EncoderCos":29863,"EncoderSin":52324,"GapTicks":49674,"Mech_RPM":-469.273407,"cg_du":45.1590118,"cg_dv":54.8409882,"cg_dw":53.3242226,"cg_id_a":11.2795172,"cg_id_raw_a":11.0723324,"cg_iq_a":-197.541473,"cg_iq_raw_a":-197.243591,"cg_iu_a":-189.588959,"cg_iv_a":40.8072205,"cg_iw_a":148.781738,"cg_sample_age_us":23.8672733,"cg_sample_seq":7532566,"cg_sample_valid":1,"cg_theta_rad":1.71552563,"cg_vd_req_v":-2.10814595,"cg_vd_v":-2.10814595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44333076,"cg_vq_v":-8.44333076,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-18.0114346,"dclink_p_w":-2606.69873,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1233.700562,"values":{"Elec_RPM":-2347.03687,"EncoderCos":29109,"EncoderSin":52214,"GapTicks":49962,"Mech_RPM":-469.407379,"cg_du":45.4208374,"cg_dv":54.0687332,"cg_dw":54.5791626,"cg_id_a":9.55803776,"cg_id_raw_a":12.7018185,"cg_iq_a":-201.58577,"cg_iq_raw_a":-201.574768,"cg_iu_a":-180.636734,"cg_iv_a":8.29649353,"cg_iw_a":172.34024,"cg_sample_age_us":23.8672733,"cg_sample_seq":7534316,"cg_sample_valid":1,"cg_theta_rad":1.75846887,"cg_vd_req_v":-2.05618334,"cg_vd_v":-2.05618334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35117245,"cg_vq_v":-8.35117245,"cg_vu_v":39.1504402,"cg_vv_v":53.666893,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-15.9854031,"dclink_p_w":-2313.48193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1234.034546,"values":{"Elec_RPM":-2353.73584,"EncoderCos":19113,"EncoderSin":47166,"GapTicks":49525,"Mech_RPM":-470.747162,"cg_du":54.9772339,"cg_dv":45.0227661,"cg_dw":47.5051804,"cg_id_a":14.3528299,"cg_id_raw_a":11.4254055,"cg_iq_a":-201.202057,"cg_iq_raw_a":-199.134293,"cg_iu_a":197.313965,"cg_iv_a":-51.977005,"cg_iw_a":-145.33696,"cg_sample_age_us":23.9581814,"cg_sample_seq":7536016,"cg_sample_valid":1,"cg_theta_rad":2.33186722,"cg_vd_req_v":-2.21138811,"cg_vd_v":-2.21138811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34456635,"cg_vq_v":-8.34456635,"cg_vu_v":40.9100075,"cg_vv_v":33.871727,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2472.74585,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1234.047591,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1234.047597,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1234.047602,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1234.386108,"values":{"Elec_RPM":-2357.1499,"EncoderCos":13478,"EncoderSin":37669,"GapTicks":49277,"Mech_RPM":-471.429993,"cg_du":44.798069,"cg_dv":55.201931,"cg_dw":50.249115,"cg_id_a":-9.66649246,"cg_id_raw_a":-7.60622644,"cg_iq_a":-196.067154,"cg_iq_raw_a":-195.735458,"cg_iu_a":-192.089783,"cg_iv_a":128.626038,"cg_iw_a":63.4637527,"cg_sample_age_us":23.8963642,"cg_sample_seq":7537717,"cg_sample_valid":1,"cg_theta_rad":2.89542365,"cg_vd_req_v":-1.68534172,"cg_vd_v":-1.68534172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50464344,"cg_vq_v":-8.50464344,"cg_vu_v":11.877099,"cg_vv_v":25.953661,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2384.29468,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1234.71814,"values":{"Elec_RPM":-2362.13208,"EncoderCos":19731,"EncoderSin":17587,"GapTicks":49659,"Mech_RPM":-472.426422,"cg_du":47.1499977,"cg_dv":54.8553085,"cg_dw":45.1446915,"cg_id_a":9.85043907,"cg_id_raw_a":9.03416157,"cg_iq_a":-203.246216,"cg_iq_raw_a":-201.700439,"cg_iu_a":-144.429138,"cg_iv_a":197.525543,"cg_iw_a":-53.0964127,"cg_sample_age_us":23.9981823,"cg_sample_seq":7539367,"cg_sample_valid":1,"cg_theta_rad":4.01327753,"cg_vd_req_v":-2.10497427,"cg_vd_v":-2.10497427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30454063,"cg_vq_v":-8.30454063,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2506.73755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1235.050171,"values":{"Elec_RPM":-2362.40527,"EncoderCos":30221,"EncoderSin":13088,"GapTicks":49360,"Mech_RPM":-472.481049,"cg_du":51.2304764,"cg_dv":44.8733292,"cg_dw":55.1266708,"cg_id_a":0.205454111,"cg_id_raw_a":-4.31398249,"cg_iq_a":-197.698074,"cg_iq_raw_a":-197.899429,"cg_iu_a":102.645073,"cg_iv_a":-198.402069,"cg_iw_a":108.659805,"cg_sample_age_us":23.7472725,"cg_sample_seq":7541066,"cg_sample_valid":1,"cg_theta_rad":4.59695864,"cg_vd_req_v":-1.95236862,"cg_vd_v":-1.95236862,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4260025,"cg_vq_v":-8.4260025,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2397.14575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1235.071237,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1235.071242,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1235.071255,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1235.401733,"values":{"Elec_RPM":-2365.52588,"EncoderCos":41100,"EncoderSin":14754,"GapTicks":49364,"Mech_RPM":-473.105164,"cg_du":51.2176323,"cg_dv":55.1235199,"cg_dw":44.8764801,"cg_id_a":-17.105547,"cg_id_raw_a":-14.7803249,"cg_iq_a":-196.101913,"cg_iq_raw_a":-195.998688,"cg_iu_a":-20.0765495,"cg_iv_a":179.331161,"cg_iw_a":-159.254608,"cg_sample_age_us":23.8563633,"cg_sample_seq":7542767,"cg_sample_valid":1,"cg_theta_rad":5.16281319,"cg_vd_req_v":-1.60470629,"cg_vd_v":-1.60470629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49203587,"cg_vq_v":-8.49203587,"cg_vu_v":103.814644,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2476.08887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1235.737671,"values":{"Elec_RPM":-2365.51611,"EncoderCos":49534,"EncoderSin":22511,"GapTicks":49813,"Mech_RPM":-473.103241,"cg_du":46.5992508,"cg_dv":45.2852173,"cg_dw":54.7147827,"cg_id_a":4.0677557,"cg_id_raw_a":9.39996624,"cg_iq_a":-204.800522,"cg_iq_raw_a":-205.271973,"cg_iu_a":-1.37473226,"cg_iv_a":-174.662384,"cg_iw_a":176.037109,"cg_sample_age_us":23.8272724,"cg_sample_seq":7544467,"cg_sample_valid":1,"cg_theta_rad":5.75162888,"cg_vd_req_v":-2.04280257,"cg_vd_v":-2.04280257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28686905,"cg_vq_v":-8.28686905,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2421.27441,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1236.063659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1236.063666,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1236.063671,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1236.069702,"values":{"Elec_RPM":-2359.84814,"EncoderCos":52321,"EncoderSin":33236,"GapTicks":49695,"Mech_RPM":-471.969604,"cg_du":54.8222885,"cg_dv":52.9580727,"cg_dw":45.1777115,"cg_id_a":7.40877867,"cg_id_raw_a":6.3836031,"cg_iq_a":-205.290283,"cg_iq_raw_a":-202.779633,"cg_iu_a":52.5560913,"cg_iv_a":145.878113,"cg_iw_a":-198.434204,"cg_sample_age_us":23.5218182,"cg_sample_seq":7546167,"cg_sample_valid":1,"cg_theta_rad":0.0367042385,"cg_vd_req_v":-2.11863828,"cg_vd_v":-2.11863828,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25566387,"cg_vq_v":-8.25566387,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.5544319,"dclink_p_w":-2388.55225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1236.421265,"values":{"Elec_RPM":-2358.14551,"EncoderCos":48783,"EncoderSin":44188,"GapTicks":49373,"Mech_RPM":-471.629089,"cg_du":44.8848419,"cg_dv":48.5755043,"cg_dw":55.1151581,"cg_id_a":1.0245204,"cg_id_raw_a":-5.21356916,"cg_iq_a":-199.186737,"cg_iq_raw_a":-200.500992,"cg_iu_a":-90.5708008,"cg_iv_a":-111.561859,"cg_iw_a":202.13266,"cg_sample_age_us":23.5327282,"cg_sample_seq":7547866,"cg_sample_valid":1,"cg_theta_rad":0.62629652,"cg_vd_req_v":-2.01172853,"cg_vd_v":-2.01172853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42095184,"cg_vq_v":-8.42095184,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1236.753296,"values":{"Elec_RPM":-2349.25073,"EncoderCos":40046,"EncoderSin":51007,"GapTicks":49331,"Mech_RPM":-469.850128,"cg_du":55.1533432,"cg_dv":49.0568542,"cg_dw":44.8466568,"cg_id_a":-12.2316942,"cg_id_raw_a":-10.965188,"cg_iq_a":-195.119629,"cg_iq_raw_a":-194.540695,"cg_iu_a":147.369965,"cg_iv_a":34.6095276,"cg_iw_a":-181.979492,"cg_sample_age_us":23.9618187,"cg_sample_seq":7549567,"cg_sample_valid":1,"cg_theta_rad":1.19536412,"cg_vd_req_v":-1.66496086,"cg_vd_v":-1.66496086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49832153,"cg_vq_v":-8.49832153,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2411.0459,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1237.085327,"values":{"Elec_RPM":-2349.24707,"EncoderCos":28826,"EncoderSin":52160,"GapTicks":49782,"Mech_RPM":-469.849396,"cg_du":45.2567902,"cg_dv":53.3748474,"cg_dw":54.7432098,"cg_id_a":4.7830224,"cg_id_raw_a":7.68168068,"cg_iq_a":-202.431427,"cg_iq_raw_a":-201.032242,"cg_iu_a":-175.526352,"cg_iv_a":4.92582703,"cg_iw_a":170.600525,"cg_sample_age_us":23.863636,"cg_sample_seq":7551267,"cg_sample_valid":1,"cg_theta_rad":1.76938212,"cg_vd_req_v":-1.94702733,"cg_vd_v":-1.94702733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3184185,"cg_vq_v":-8.3184185,"cg_vu_v":113.492287,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2410.7771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1237.086616,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1237.086622,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1237.086628,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1237.43689,"values":{"Elec_RPM":-2352.97559,"EncoderCos":18823,"EncoderSin":46797,"GapTicks":49759,"Mech_RPM":-470.595093,"cg_du":54.7645264,"cg_dv":45.2354736,"cg_dw":46.5826721,"cg_id_a":17.1427002,"cg_id_raw_a":16.3172874,"cg_iq_a":-205.170013,"cg_iq_raw_a":-204.401413,"cg_iu_a":194.088257,"cg_iv_a":-42.5898285,"cg_iw_a":-152.694473,"cg_sample_age_us":23.994545,"cg_sample_seq":7552966,"cg_sample_valid":1,"cg_theta_rad":2.35038567,"cg_vd_req_v":-2.25605249,"cg_vd_v":-2.25605249,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29016209,"cg_vq_v":-8.29016209,"cg_vu_v":28.1531239,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2492.35645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1237.768921,"values":{"Elec_RPM":-2354.79175,"EncoderCos":13315,"EncoderSin":37028,"GapTicks":49378,"Mech_RPM":-470.958344,"cg_du":44.889576,"cg_dv":55.110424,"cg_dw":51.5802803,"cg_id_a":-1.61892939,"cg_id_raw_a":-1.90437996,"cg_iq_a":-195.264572,"cg_iq_raw_a":-196.620804,"cg_iu_a":-196.112854,"cg_iv_a":90.4612808,"cg_iw_a":105.651573,"cg_sample_age_us":23.9290905,"cg_sample_seq":7554666,"cg_sample_valid":1,"cg_theta_rad":2.92949605,"cg_vd_req_v":-1.84345543,"cg_vd_v":-1.84345543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50410652,"cg_vq_v":-8.50410652,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1238.079156,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1238.079162,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1238.079167,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1238.12439,"values":{"Elec_RPM":-2357.46436,"EncoderCos":13886,"EncoderSin":26532,"GapTicks":49555,"Mech_RPM":-471.492859,"cg_du":54.94944,"cg_dv":45.05056,"cg_dw":52.3661804,"cg_id_a":-5.71561003,"cg_id_raw_a":2.53856134,"cg_iq_a":-198.640503,"cg_iq_raw_a":-199.78508,"cg_iu_a":186.223358,"cg_iv_a":-143.60141,"cg_iw_a":-42.6219482,"cg_sample_age_us":23.9763641,"cg_sample_seq":7556370,"cg_sample_valid":1,"cg_theta_rad":3.50782537,"cg_vd_req_v":-1.7487365,"cg_vd_v":-1.7487365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.400383,"cg_vq_v":-8.400383,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1238.640015,"values":{"Elec_RPM":-2343.32715,"EncoderCos":29505,"EncoderSin":52290,"GapTicks":49888,"Mech_RPM":-468.665436,"cg_du":45.3531189,"cg_dv":54.6468811,"cg_dw":54.0017319,"cg_id_a":15.3695107,"cg_id_raw_a":12.1949415,"cg_iq_a":-201.317245,"cg_iq_raw_a":-198.407425,"cg_iu_a":-177.266052,"cg_iv_a":3.83851624,"cg_iw_a":173.427536,"cg_sample_age_us":23.8999996,"cg_sample_seq":7558869,"cg_sample_valid":1,"cg_theta_rad":1.77089727,"cg_vd_req_v":-2.18657637,"cg_vd_v":-2.18657637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39227486,"cg_vq_v":-8.39227486,"cg_vu_v":4.83881807,"cg_vv_v":13.1967773,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4949589,"dclink_p_w":-2531.9519,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1238.943054,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1238.943062,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1238.943064,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1239.070754,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1239.070759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1239.070764,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1239.097046,"values":{"Elec_RPM":-2348.47705,"EncoderCos":52321,"EncoderSin":33084,"GapTicks":49596,"Mech_RPM":-469.695435,"cg_du":54.9118538,"cg_dv":52.6037674,"cg_dw":45.0881462,"cg_id_a":9.38635254,"cg_id_raw_a":7.36701822,"cg_iq_a":-204.963425,"cg_iq_raw_a":-204.70433,"cg_iu_a":58.0289116,"cg_iv_a":143.449753,"cg_iw_a":-201.478668,"cg_sample_age_us":23.4599991,"cg_sample_seq":7561366,"cg_sample_valid":1,"cg_theta_rad":0.03013427,"cg_vd_req_v":-2.17154479,"cg_vd_v":-2.17154479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27802658,"cg_vq_v":-8.27802658,"cg_vu_v":37.3908691,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2397.67041,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1452637,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1239.452515,"values":{"Elec_RPM":-2344.59131,"EncoderCos":49048,"EncoderSin":43751,"GapTicks":49306,"Mech_RPM":-468.918243,"cg_du":44.8237762,"cg_dv":49.4749069,"cg_dw":55.1762238,"cg_id_a":-10.2397957,"cg_id_raw_a":-11.2506189,"cg_iq_a":-197.891785,"cg_iq_raw_a":-196.94928,"cg_iu_a":-119.674606,"cg_iv_a":-75.5717316,"cg_iw_a":195.246338,"cg_sample_age_us":23.5400009,"cg_sample_seq":7563067,"cg_sample_valid":1,"cg_theta_rad":0.601299047,"cg_vd_req_v":-1.77882528,"cg_vd_v":-1.77882528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45353699,"cg_vq_v":-8.45353699,"cg_vu_v":142.525192,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2094116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1239.78064,"values":{"Elec_RPM":-2354.09106,"EncoderCos":29710,"EncoderSin":52296,"GapTicks":49773,"Mech_RPM":-470.818207,"cg_du":45.2486191,"cg_dv":54.7513809,"cg_dw":53.6061668,"cg_id_a":12.739728,"cg_id_raw_a":12.9715395,"cg_iq_a":-198.286377,"cg_iq_raw_a":-198.69429,"cg_iu_a":-187.414337,"cg_iv_a":30.8039246,"cg_iw_a":156.610413,"cg_sample_age_us":23.8563633,"cg_sample_seq":7564716,"cg_sample_valid":1,"cg_theta_rad":1.72735131,"cg_vd_req_v":-2.12943292,"cg_vd_v":-2.12943292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40346146,"cg_vq_v":-8.40346146,"cg_vu_v":38.2706528,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1240.03145,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1240.031456,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1240.031462,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1240.136108,"values":{"Elec_RPM":-2352.27661,"EncoderCos":29605,"EncoderSin":52320,"GapTicks":49838,"Mech_RPM":-470.455322,"cg_du":45.3081474,"cg_dv":54.6918526,"cg_dw":53.7832642,"cg_id_a":13.1726246,"cg_id_raw_a":11.5552711,"cg_iq_a":-200.850311,"cg_iq_raw_a":-199.432724,"cg_iu_a":-179.91185,"cg_iv_a":6.99172974,"cg_iw_a":172.92012,"cg_sample_age_us":23.7690907,"cg_sample_seq":7566469,"cg_sample_valid":1,"cg_theta_rad":1.76392388,"cg_vd_req_v":-2.1402514,"cg_vd_v":-2.1402514,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35262299,"cg_vq_v":-8.35262299,"cg_vu_v":38.7105446,"cg_vv_v":50.1477547,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2461.50293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2589,"hz_tim_isr":4997,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1240.46814,"values":{"Elec_RPM":-2346.06274,"EncoderCos":13632,"EncoderSin":38242,"GapTicks":49338,"Mech_RPM":-469.212555,"cg_du":44.8531647,"cg_dv":55.1468353,"cg_dw":48.9862289,"cg_id_a":-11.6567898,"cg_id_raw_a":-11.5900927,"cg_iq_a":-196.188324,"cg_iq_raw_a":-197.232925,"cg_iu_a":-182.485168,"cg_iv_a":153.163116,"cg_iw_a":29.322052,"cg_sample_age_us":23.9581814,"cg_sample_seq":7568117,"cg_sample_valid":1,"cg_theta_rad":2.8643322,"cg_vd_req_v":-1.6109947,"cg_vd_v":-1.6109947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50527287,"cg_vq_v":-8.50527287,"cg_vu_v":103.814644,"cg_vv_v":105.134323,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2589,"hz_tim_isr":4997,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1240.800171,"values":{"Elec_RPM":-2344.39063,"EncoderCos":13448,"EncoderSin":37468,"GapTicks":49301,"Mech_RPM":-468.878113,"cg_du":44.8199387,"cg_dv":55.1800613,"cg_dw":50.6614494,"cg_id_a":-6.63964176,"cg_id_raw_a":-10.6620455,"cg_iq_a":-195.059692,"cg_iq_raw_a":-194.105728,"cg_iu_a":-194.300659,"cg_iv_a":116.593079,"cg_iw_a":77.7075806,"cg_sample_age_us":23.9400005,"cg_sample_seq":7569867,"cg_sample_valid":1,"cg_theta_rad":2.90539551,"cg_vd_req_v":-1.73391521,"cg_vd_v":-1.73391521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50513935,"cg_vq_v":-8.50513935,"cg_vu_v":109.973145,"cg_vv_v":112.612495,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2497.55713,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2589,"hz_tim_isr":4997,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1241.05474,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1241.054746,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1241.054751,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1241.151733,"values":{"Elec_RPM":-2342.28711,"EncoderCos":19340,"EncoderSin":17920,"GapTicks":49483,"Mech_RPM":-468.457428,"cg_du":48.1357574,"cg_dv":55.015255,"cg_dw":44.984745,"cg_id_a":1.02544618,"cg_id_raw_a":-4.02915573,"cg_iq_a":-202.331345,"cg_iq_raw_a":-201.662613,"cg_iu_a":-150.010696,"cg_iv_a":198.214203,"cg_iw_a":-48.2034988,"cg_sample_age_us":26.8309097,"cg_sample_seq":7571520,"cg_sample_valid":1,"cg_theta_rad":4.02131844,"cg_vd_req_v":-1.95068252,"cg_vd_v":-1.95068252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32034302,"cg_vq_v":-8.32034302,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2447.12207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1241.483765,"values":{"Elec_RPM":-2343.52759,"EncoderCos":29902,"EncoderSin":13094,"GapTicks":49291,"Mech_RPM":-468.705505,"cg_du":50.6562538,"cg_dv":44.8100586,"cg_dw":55.1899414,"cg_id_a":-6.13994789,"cg_id_raw_a":-9.49876595,"cg_iq_a":-196.979263,"cg_iq_raw_a":-198.046326,"cg_iu_a":94.9251404,"cg_iv_a":-196.118713,"cg_iw_a":113.299019,"cg_sample_age_us":23.7763634,"cg_sample_seq":7573218,"cg_sample_valid":1,"cg_theta_rad":4.59303331,"cg_vd_req_v":-1.82876682,"cg_vd_v":-1.82876682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47467804,"cg_vq_v":-8.47467804,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2472.74585,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1241.815796,"values":{"Elec_RPM":-2345.66772,"EncoderCos":41234,"EncoderSin":14807,"GapTicks":49353,"Mech_RPM":-469.133545,"cg_du":50.8787651,"cg_dv":55.1330452,"cg_dw":44.8669548,"cg_id_a":-17.3375492,"cg_id_raw_a":-16.2238503,"cg_iq_a":-195.472885,"cg_iq_raw_a":-195.842484,"cg_iu_a":-29.1737537,"cg_iv_a":182.013199,"cg_iw_a":-152.839447,"cg_sample_age_us":23.9581814,"cg_sample_seq":7574917,"cg_sample_valid":1,"cg_theta_rad":5.17002058,"cg_vd_req_v":-1.59291935,"cg_vd_v":-1.59291935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47135544,"cg_vq_v":-8.47135544,"cg_vu_v":145.164551,"cg_vv_v":143.404984,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.304348,"dclink_p_w":-2359.64111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119491868,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1242.047744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1242.04775,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1242.047756,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1242.171265,"values":{"Elec_RPM":-2348.625,"EncoderCos":49568,"EncoderSin":22532,"GapTicks":49816,"Mech_RPM":-469.724976,"cg_du":46.7142677,"cg_dv":45.2879868,"cg_dw":54.7120132,"cg_id_a":1.99418724,"cg_id_raw_a":10.5730715,"cg_iq_a":-207.501099,"cg_iq_raw_a":-207.932709,"cg_iu_a":-1.30224466,"cg_iv_a":-178.178009,"cg_iw_a":179.480255,"cg_sample_age_us":23.9181824,"cg_sample_seq":7576617,"cg_sample_valid":1,"cg_theta_rad":5.7534585,"cg_vd_req_v":-2.00615072,"cg_vd_v":-2.00615072,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22158623,"cg_vq_v":-8.22158623,"cg_vu_v":122.290138,"cg_vv_v":129.328415,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1242.503296,"values":{"Elec_RPM":-2348.75928,"EncoderCos":52278,"EncoderSin":33546,"GapTicks":49821,"Mech_RPM":-469.751831,"cg_du":54.7076569,"cg_dv":53.5823517,"cg_dw":45.2923431,"cg_id_a":10.07265,"cg_id_raw_a":8.82460117,"cg_iq_a":-206.028748,"cg_iq_raw_a":-206.598618,"cg_iu_a":34.6153946,"cg_iv_a":159.034607,"cg_iw_a":-193.650009,"cg_sample_age_us":23.5218182,"cg_sample_seq":7578316,"cg_sample_valid":1,"cg_theta_rad":0.0519882031,"cg_vd_req_v":-2.17519116,"cg_vd_v":-2.17519116,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2860508,"cg_vq_v":-8.2860508,"cg_vu_v":47.0685043,"cg_vv_v":71.2625961,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2374.85278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1242.831421,"values":{"Elec_RPM":-2344.88135,"EncoderCos":40419,"EncoderSin":50865,"GapTicks":49463,"Mech_RPM":-468.976257,"cg_du":55.0332184,"cg_dv":48.1574287,"cg_dw":44.9667816,"cg_id_a":-10.8866415,"cg_id_raw_a":-5.82392406,"cg_iq_a":-196.238235,"cg_iq_raw_a":-198.457535,"cg_iu_a":161.831238,"cg_iv_a":15.7989807,"cg_iw_a":-177.630219,"cg_sample_age_us":23.9327278,"cg_sample_seq":7579966,"cg_sample_valid":1,"cg_theta_rad":1.17342293,"cg_vd_req_v":-1.67598128,"cg_vd_v":-1.67598128,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45870781,"cg_vq_v":-8.45870781,"cg_vu_v":42.6695786,"cg_vv_v":42.6695786,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.9788151,"dclink_p_w":-2586.16016,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1292725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1243.038908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1243.038914,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1243.03892,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1243.18689,"values":{"Elec_RPM":-2349.04395,"EncoderCos":48172,"EncoderSin":45008,"GapTicks":49740,"Mech_RPM":-469.808777,"cg_du":45.2185135,"cg_dv":46.6905441,"cg_dw":54.7814865,"cg_id_a":18.0180435,"cg_id_raw_a":17.8916492,"cg_iq_a":-203.385956,"cg_iq_raw_a":-203.86937,"cg_iu_a":-32.4356995,"cg_iv_a":-161.215881,"cg_iw_a":191.694427,"cg_sample_age_us":23.5181828,"cg_sample_seq":7581766,"cg_sample_valid":1,"cg_theta_rad":0.675891817,"cg_vd_req_v":-2.31308794,"cg_vd_v":-2.31308794,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31531143,"cg_vq_v":-8.31531143,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2472.56616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1243.518921,"values":{"Elec_RPM":-2351.63232,"EncoderCos":19449,"EncoderSin":47460,"GapTicks":49389,"Mech_RPM":-470.326477,"cg_du":55.1004829,"cg_dv":44.8995171,"cg_dw":48.2856598,"cg_id_a":4.39716339,"cg_id_raw_a":-4.42788792,"cg_iq_a":-198.575623,"cg_iq_raw_a":-197.151764,"cg_iu_a":197.712646,"cg_iv_a":-80.5008926,"cg_iw_a":-117.211754,"cg_sample_age_us":24.0236359,"cg_sample_seq":7583367,"cg_sample_valid":1,"cg_theta_rad":2.30656147,"cg_vd_req_v":-2.03334141,"cg_vd_v":-2.03334141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44115829,"cg_vq_v":-8.44115829,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1243.870483,"values":{"Elec_RPM":-2353.69727,"EncoderCos":28687,"EncoderSin":52178,"GapTicks":49687,"Mech_RPM":-470.739471,"cg_du":45.1706467,"cg_dv":53.0474663,"cg_dw":54.8293533,"cg_id_a":-0.142144799,"cg_id_raw_a":8.21190357,"cg_iq_a":-201.317032,"cg_iq_raw_a":-202.987976,"cg_iu_a":-159.252869,"cg_iv_a":-23.9967499,"cg_iw_a":183.249619,"cg_sample_age_us":26.7399998,"cg_sample_seq":7585170,"cg_sample_valid":1,"cg_theta_rad":1.81284857,"cg_vd_req_v":-1.86179221,"cg_vd_v":-1.86179221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38523579,"cg_vq_v":-8.38523579,"cg_vu_v":104.694435,"cg_vv_v":103.814644,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2408.1626,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1244.063507,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1244.063513,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1244.063518,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1244.206421,"values":{"Elec_RPM":-2354.3877,"EncoderCos":13875,"EncoderSin":26556,"GapTicks":49585,"Mech_RPM":-470.877563,"cg_du":54.9222679,"cg_dv":45.0777321,"cg_dw":52.4474869,"cg_id_a":-4.78269625,"cg_id_raw_a":1.90812647,"cg_iq_a":-199.976593,"cg_iq_raw_a":-201.338913,"cg_iu_a":174.480347,"cg_iv_a":-170.023148,"cg_iw_a":-4.4571991,"cg_sample_age_us":24.0381813,"cg_sample_seq":7586767,"cg_sample_valid":1,"cg_theta_rad":3.4660778,"cg_vd_req_v":-1.77492654,"cg_vd_v":-1.77492654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37193966,"cg_vq_v":-8.37193966,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1244.534546,"values":{"Elec_RPM":-2351.43335,"EncoderCos":13149,"EncoderSin":36018,"GapTicks":49782,"Mech_RPM":-470.286682,"cg_du":45.2564697,"cg_dv":54.7435303,"cg_dw":53.5136414,"cg_id_a":11.1713839,"cg_id_raw_a":10.5718803,"cg_iq_a":-199.759674,"cg_iq_raw_a":-200.083984,"cg_iu_a":-190.096375,"cg_iv_a":35.9505463,"cg_iw_a":154.145828,"cg_sample_age_us":23.8345451,"cg_sample_seq":7588566,"cg_sample_valid":1,"cg_theta_rad":2.98114204,"cg_vd_req_v":-2.08531046,"cg_vd_v":-2.08531046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36557102,"cg_vq_v":-8.36557102,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1244.890015,"values":{"Elec_RPM":-2352.97559,"EncoderCos":20232,"EncoderSin":17167,"GapTicks":50030,"Mech_RPM":-470.595123,"cg_du":45.8253098,"cg_dv":54.5174522,"cg_dw":45.4825478,"cg_id_a":10.4727116,"cg_id_raw_a":14.0880356,"cg_iq_a":-206.799408,"cg_iq_raw_a":-207.235001,"cg_iu_a":-174.257813,"cg_iv_a":172.009888,"cg_iw_a":2.24791718,"cg_sample_age_us":23.8963642,"cg_sample_seq":7590220,"cg_sample_valid":1,"cg_theta_rad":4.08696699,"cg_vd_req_v":-2.11734271,"cg_vd_v":-2.11734271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2904892,"cg_vq_v":-8.2904892,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2541.13135,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1245.055481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1245.055487,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1245.055492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1245.222046,"values":{"Elec_RPM":-2351.30591,"EncoderCos":31706,"EncoderSin":12939,"GapTicks":49973,"Mech_RPM":-470.261169,"cg_du":54.1378136,"cg_dv":45.4305229,"cg_dw":54.5694771,"cg_id_a":17.0742397,"cg_id_raw_a":18.4330616,"cg_iq_a":-201.352905,"cg_iq_raw_a":-200.764969,"cg_iu_a":165.093201,"cg_iv_a":-181.65744,"cg_iw_a":16.5642319,"cg_sample_age_us":24.1218185,"cg_sample_seq":7591916,"cg_sample_valid":1,"cg_theta_rad":4.67209911,"cg_vd_req_v":-2.24897599,"cg_vd_v":-2.24897599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34532166,"cg_vq_v":-8.34532166,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1898193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1245.554077,"values":{"Elec_RPM":-2351.12427,"EncoderCos":42333,"EncoderSin":15399,"GapTicks":49454,"Mech_RPM":-470.224854,"cg_du":48.4386368,"cg_dv":55.0409317,"cg_dw":44.9590683,"cg_id_a":-4.63327885,"cg_id_raw_a":-9.61305046,"cg_iq_a":-202.309479,"cg_iq_raw_a":-202.066528,"cg_iu_a":-106.518097,"cg_iv_a":202.998383,"cg_iw_a":-96.4802856,"cg_sample_age_us":23.9799995,"cg_sample_seq":7593617,"cg_sample_valid":1,"cg_theta_rad":5.23468637,"cg_vd_req_v":-1.90760195,"cg_vd_v":-1.90760195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31571579,"cg_vq_v":-8.31571579,"cg_vu_v":116.571533,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2414.96094,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1245.90564,"values":{"Elec_RPM":-2348.94482,"EncoderCos":50174,"EncoderSin":23631,"GapTicks":49278,"Mech_RPM":-469.78894,"cg_du":49.6942177,"cg_dv":44.7983627,"cg_dw":55.2016373,"cg_id_a":-10.5507126,"cg_id_raw_a":-15.352416,"cg_iq_a":-196.523056,"cg_iq_raw_a":-196.456467,"cg_iu_a":55.201889,"cg_iv_a":-188.253815,"cg_iw_a":145.193604,"cg_sample_age_us":23.7981815,"cg_sample_seq":7595317,"cg_sample_valid":1,"cg_theta_rad":5.81436872,"cg_vd_req_v":-1.78686261,"cg_vd_v":-1.78686261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48511028,"cg_vq_v":-8.48511028,"cg_vu_v":119.650772,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1246.078959,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1246.078965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1246.078971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1246.237671,"values":{"Elec_RPM":-2349.70728,"EncoderCos":52157,"EncoderSin":34826,"GapTicks":49525,"Mech_RPM":-469.941437,"cg_du":52.2758942,"cg_dv":54.9768333,"cg_dw":45.0231667,"cg_id_a":-8.49333954,"cg_id_raw_a":-1.12280953,"cg_iq_a":-197.74826,"cg_iq_raw_a":-200.532379,"cg_iu_a":-7.97110987,"cg_iv_a":174.873184,"cg_iw_a":-166.902069,"cg_sample_age_us":23.48909,"cg_sample_seq":7597016,"cg_sample_valid":1,"cg_theta_rad":0.117002212,"cg_vd_req_v":-1.77572346,"cg_vd_v":-1.77572346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44339943,"cg_vq_v":-8.44339943,"cg_vu_v":29.0329094,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1246.573608,"values":{"Elec_RPM":-2349.08398,"EncoderCos":47858,"EncoderSin":45387,"GapTicks":50151,"Mech_RPM":-469.816772,"cg_du":45.5927086,"cg_dv":45.6354103,"cg_dw":54.4072914,"cg_id_a":11.0618,"cg_id_raw_a":13.8856583,"cg_iq_a":-208.028992,"cg_iq_raw_a":-209.09816,"cg_iu_a":-16.0534859,"cg_iv_a":-171.581635,"cg_iw_a":187.635117,"cg_sample_age_us":23.5400009,"cg_sample_seq":7598716,"cg_sample_valid":1,"cg_theta_rad":0.701829135,"cg_vd_req_v":-2.14773083,"cg_vd_v":-2.14773083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.20770645,"cg_vq_v":-8.20770645,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2417.57544,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1246.925171,"values":{"Elec_RPM":-2348.68018,"EncoderCos":38544,"EncoderSin":51539,"GapTicks":49524,"Mech_RPM":-469.736023,"cg_du":54.9778099,"cg_dv":52.1847954,"cg_dw":45.0221901,"cg_id_a":6.89799023,"cg_id_raw_a":4.79501581,"cg_iq_a":-203.13678,"cg_iq_raw_a":-205.631683,"cg_iu_a":70.0981064,"cg_iv_a":132.105438,"cg_iw_a":-202.203552,"cg_sample_age_us":23.9254551,"cg_sample_seq":7600416,"cg_sample_valid":1,"cg_theta_rad":1.27354813,"cg_vd_req_v":-2.07139158,"cg_vd_v":-2.07139158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32778072,"cg_vq_v":-8.32778072,"cg_vu_v":2.19946289,"cg_vv_v":5.27871037,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2515.36572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1247.070903,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1247.070909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1247.070914,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1247.257202,"values":{"Elec_RPM":-2346.00586,"EncoderCos":27302,"EncoderSin":51795,"GapTicks":49341,"Mech_RPM":-469.201172,"cg_du":44.855938,"cg_dv":49.5465965,"cg_dw":55.144062,"cg_id_a":-14.8906813,"cg_id_raw_a":-16.7559891,"cg_iq_a":-197.113434,"cg_iq_raw_a":-197.931915,"cg_iu_a":-131.67131,"cg_iv_a":-62.3064728,"cg_iw_a":193.977783,"cg_sample_age_us":23.8527279,"cg_sample_seq":7602116,"cg_sample_valid":1,"cg_theta_rad":1.8490454,"cg_vd_req_v":-1.5865531,"cg_vd_v":-1.5865531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46007156,"cg_vq_v":-8.46007156,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.7287312,"dclink_p_w":-2573.58325,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1247.608765,"values":{"Elec_RPM":-2346.13013,"EncoderCos":18354,"EncoderSin":46414,"GapTicks":49964,"Mech_RPM":-469.226044,"cg_du":54.577858,"cg_dv":45.8508987,"cg_dw":45.422142,"cg_id_a":10.654108,"cg_id_raw_a":16.263361,"cg_iq_a":-200.278152,"cg_iq_raw_a":-202.310074,"cg_iu_a":159.076721,"cg_iv_a":17.2849731,"cg_iw_a":-176.361694,"cg_sample_age_us":23.8999996,"cg_sample_seq":7603820,"cg_sample_valid":1,"cg_theta_rad":2.42887926,"cg_vd_req_v":-2.10066104,"cg_vd_v":-2.10066104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37488365,"cg_vq_v":-8.37488365,"cg_vu_v":139.885834,"cg_vv_v":139.885834,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5801315,"dclink_p_w":-2544.27856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1247.940796,"values":{"Elec_RPM":-2349.16553,"EncoderCos":14272,"EncoderSin":25420,"GapTicks":49329,"Mech_RPM":-469.833099,"cg_du":55.1550293,"cg_dv":44.8449707,"cg_dw":49.6277618,"cg_id_a":-13.2605581,"cg_id_raw_a":-18.2600079,"cg_iq_a":-197.154816,"cg_iq_raw_a":-195.416504,"cg_iu_a":194.88562,"cg_iv_a":-128.995117,"cg_iw_a":-65.8904953,"cg_sample_age_us":24.1000004,"cg_sample_seq":7605467,"cg_sample_valid":1,"cg_theta_rad":3.52624345,"cg_vd_req_v":-1.64910316,"cg_vd_v":-1.64910316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4630661,"cg_vq_v":-8.4630661,"cg_vu_v":106.453995,"cg_vv_v":92.8173294,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-16.0288963,"dclink_p_w":-2319.77661,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1248.063383,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1248.063389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1248.063395,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1248.366577,"values":{"Elec_RPM":-2346.23633,"EncoderCos":47355,"EncoderSin":19551,"GapTicks":49532,"Mech_RPM":-469.247253,"cg_du":45.0291672,"cg_dv":52.2462997,"cg_dw":54.9708328,"cg_id_a":-6.93381166,"cg_id_raw_a":-2.6422677,"cg_iq_a":-201.553589,"cg_iq_raw_a":-204.277374,"cg_iu_a":-166.610367,"cg_iv_a":-15.4794464,"cg_iw_a":182.089813,"cg_sample_age_us":23.9581814,"cg_sample_seq":7607616,"cg_sample_valid":1,"cg_theta_rad":5.56560469,"cg_vd_req_v":-1.85718584,"cg_vd_v":-1.85718584,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35499668,"cg_vq_v":-8.35499668,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.6798019,"dclink_p_w":-2550.92603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1248.886108,"values":{"Elec_RPM":-2347.09277,"EncoderCos":17056,"EncoderSin":20452,"GapTicks":49765,"Mech_RPM":-469.418549,"cg_du":54.7583771,"cg_dv":53.2695808,"cg_dw":45.2416229,"cg_id_a":13.2600965,"cg_id_raw_a":14.0436573,"cg_iq_a":-205.004745,"cg_iq_raw_a":-203.824173,"cg_iu_a":37.2611923,"cg_iv_a":155.12027,"cg_iw_a":-192.38147,"cg_sample_age_us":23.9690914,"cg_sample_seq":7610117,"cg_sample_valid":1,"cg_theta_rad":3.81461382,"cg_vd_req_v":-2.15027618,"cg_vd_v":-2.15027618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28012371,"cg_vq_v":-8.28012371,"cg_vu_v":129.768311,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4130802,"dclink_p_w":-2382.59741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1248.927555,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1248.927566,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1248.927569,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1249.086797,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1249.086802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1249.086807,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1249.268921,"values":{"Elec_RPM":-2341.25562,"EncoderCos":48501,"EncoderSin":44554,"GapTicks":49490,"Mech_RPM":-468.251129,"cg_du":44.9910965,"cg_dv":47.7604179,"cg_dw":55.0089035,"cg_id_a":11.7453995,"cg_id_raw_a":6.29237795,"cg_iq_a":-199.982056,"cg_iq_raw_a":-199.482452,"cg_iu_a":-48.2380066,"cg_iv_a":-145.812286,"cg_iw_a":198.472015,"cg_sample_age_us":23.5036373,"cg_sample_seq":7612166,"cg_sample_valid":1,"cg_theta_rad":0.656096876,"cg_vd_req_v":-2.2063899,"cg_vd_v":-2.2063899,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35866165,"cg_vq_v":-8.35866165,"cg_vu_v":115.251846,"cg_vv_v":128.888519,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2503.88916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1249.600952,"values":{"Elec_RPM":-2348.15527,"EncoderCos":29214,"EncoderSin":52234,"GapTicks":50021,"Mech_RPM":-469.631042,"cg_du":45.4743843,"cg_dv":54.3231888,"cg_dw":54.5256157,"cg_id_a":10.8950787,"cg_id_raw_a":16.0746479,"cg_iq_a":-201.62059,"cg_iq_raw_a":-202.782013,"cg_iu_a":-182.231461,"cg_iv_a":19.677063,"cg_iw_a":162.554398,"cg_sample_age_us":23.8381824,"cg_sample_seq":7613816,"cg_sample_valid":1,"cg_theta_rad":1.74221849,"cg_vd_req_v":-2.09016204,"cg_vd_v":-2.09016204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38018322,"cg_vq_v":-8.38018322,"cg_vu_v":97.6561432,"cg_vv_v":100.735397,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2438.23193,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1249.952515,"values":{"Elec_RPM":-2348.60962,"EncoderCos":19091,"EncoderSin":47116,"GapTicks":49540,"Mech_RPM":-469.721924,"cg_du":54.9628906,"cg_dv":45.0371094,"cg_dw":47.4086914,"cg_id_a":15.3537674,"cg_id_raw_a":13.1700668,"cg_iq_a":-200.836594,"cg_iq_raw_a":-200.064392,"cg_iu_a":196.15416,"cg_iv_a":-48.8600311,"cg_iw_a":-147.294128,"cg_sample_age_us":24.0200005,"cg_sample_seq":7615516,"cg_sample_valid":1,"cg_theta_rad":2.33338737,"cg_vd_req_v":-2.23363113,"cg_vd_v":-2.23363113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36939144,"cg_vq_v":-8.36939144,"cg_vu_v":44.8690414,"cg_vv_v":41.7897949,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1250.078865,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1250.078871,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1250.078876,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1250.288452,"values":{"Elec_RPM":-2353.03198,"EncoderCos":13491,"EncoderSin":37593,"GapTicks":49341,"Mech_RPM":-470.606415,"cg_du":44.8559761,"cg_dv":55.1440239,"cg_dw":50.4029121,"cg_id_a":-9.43303585,"cg_id_raw_a":-14.5201702,"cg_iq_a":-196.832535,"cg_iq_raw_a":-195.570984,"cg_iu_a":-193.322083,"cg_iv_a":127.321259,"cg_iw_a":66.000824,"cg_sample_age_us":23.9690914,"cg_sample_seq":7617217,"cg_sample_valid":1,"cg_theta_rad":2.89671397,"cg_vd_req_v":-1.67559814,"cg_vd_v":-1.67559814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44043732,"cg_vq_v":-8.44043732,"cg_vu_v":101.175293,"cg_vv_v":104.254532,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1250.640015,"values":{"Elec_RPM":-2352.39575,"EncoderCos":13506,"EncoderSin":37694,"GapTicks":49320,"Mech_RPM":-470.479156,"cg_du":44.8370934,"cg_dv":55.1629066,"cg_dw":50.1370354,"cg_id_a":-9.60283089,"cg_id_raw_a":-13.9116507,"cg_iq_a":-197.309128,"cg_iq_raw_a":-196.412689,"cg_iu_a":-197.816315,"cg_iv_a":86.3294754,"cg_iw_a":111.486839,"cg_sample_age_us":26.8018188,"cg_sample_seq":7618971,"cg_sample_valid":1,"cg_theta_rad":2.93723559,"cg_vd_req_v":-1.67418063,"cg_vd_v":-1.67418063,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43822479,"cg_vq_v":-8.43822479,"cg_vu_v":104.694435,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.4601974,"dclink_p_w":-2374.95557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1250.972046,"values":{"Elec_RPM":-2352.82983,"EncoderCos":14280,"EncoderSin":25514,"GapTicks":49325,"Mech_RPM":-470.565979,"cg_du":55.1583672,"cg_dv":44.8416328,"cg_dw":49.804554,"cg_id_a":-13.8580046,"cg_id_raw_a":-16.4229622,"cg_iq_a":-197.189117,"cg_iq_raw_a":-196.327988,"cg_iu_a":194.305725,"cg_iv_a":-132.402054,"cg_iw_a":-46.8262329,"cg_sample_age_us":24.0709095,"cg_sample_seq":7620666,"cg_sample_valid":1,"cg_theta_rad":3.51903415,"cg_vd_req_v":-1.63435674,"cg_vd_v":-1.63435674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46608925,"cg_vq_v":-8.46608925,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2494.97119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1251.071321,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1251.071327,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1251.071332,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1251.304077,"values":{"Elec_RPM":-2356.5249,"EncoderCos":21168,"EncoderSin":16480,"GapTicks":49484,"Mech_RPM":-471.304962,"cg_du":44.9855957,"cg_dv":55.0144043,"cg_dw":48.1571312,"cg_id_a":-11.0345888,"cg_id_raw_a":-6.67549896,"cg_iq_a":-198.13298,"cg_iq_raw_a":-199.010773,"cg_iu_a":-177.990936,"cg_iv_a":163.492615,"cg_iw_a":4.64000702,"cg_sample_age_us":23.9400005,"cg_sample_seq":7622366,"cg_sample_valid":1,"cg_theta_rad":4.10218334,"cg_vd_req_v":-1.6641103,"cg_vd_v":-1.6641103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42966461,"cg_vq_v":-8.42966461,"cg_vu_v":1.31967759,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1719971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1251.65564,"values":{"Elec_RPM":-2349.2771,"EncoderCos":31819,"EncoderSin":12959,"GapTicks":49903,"Mech_RPM":-469.855438,"cg_du":53.914257,"cg_dv":45.3672295,"cg_dw":54.6327705,"cg_id_a":16.1153774,"cg_id_raw_a":18.2455158,"cg_iq_a":-202.821091,"cg_iq_raw_a":-202.977219,"cg_iu_a":165.818069,"cg_iv_a":-185.426788,"cg_iw_a":19.6087112,"cg_sample_age_us":24.0309086,"cg_sample_seq":7624067,"cg_sample_valid":1,"cg_theta_rad":4.67124319,"cg_vd_req_v":-2.27276087,"cg_vd_v":-2.27276087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30876923,"cg_vq_v":-8.30876923,"cg_vu_v":106.014107,"cg_vv_v":81.820015,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.0111046,"dclink_p_w":-2454.44312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1251.987671,"values":{"Elec_RPM":-2354.71094,"EncoderCos":42406,"EncoderSin":15428,"GapTicks":49433,"Mech_RPM":-470.9422,"cg_du":48.2923317,"cg_dv":55.060051,"cg_dw":44.939949,"cg_id_a":-2.49674082,"cg_id_raw_a":-2.09522843,"cg_iq_a":-201.853531,"cg_iq_raw_a":-201.980133,"cg_iu_a":-113.875595,"cg_iv_a":202.019806,"cg_iw_a":-88.1442108,"cg_sample_age_us":23.9290905,"cg_sample_seq":7625767,"cg_sample_valid":1,"cg_theta_rad":5.23862171,"cg_vd_req_v":-1.95423961,"cg_vd_v":-1.95423961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36359215,"cg_vq_v":-8.36359215,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1252.063035,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1252.063041,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1252.063045,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1252.319702,"values":{"Elec_RPM":-2353.60767,"EncoderCos":50359,"EncoderSin":24063,"GapTicks":49276,"Mech_RPM":-470.721527,"cg_du":50.2293243,"cg_dv":44.796917,"cg_dw":55.203083,"cg_id_a":-5.8026433,"cg_id_raw_a":-5.59586859,"cg_iq_a":-194.915268,"cg_iq_raw_a":-195.480698,"cg_iu_a":72.4902039,"cg_iv_a":-193.074234,"cg_iw_a":120.58403,"cg_sample_age_us":23.7145462,"cg_sample_seq":7627467,"cg_sample_valid":1,"cg_theta_rad":5.831604,"cg_vd_req_v":-1.86843646,"cg_vd_v":-1.86843646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49482346,"cg_vq_v":-8.49482346,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2498.11938,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1252.671265,"values":{"Elec_RPM":-2355.68433,"EncoderCos":52156,"EncoderSin":35058,"GapTicks":49435,"Mech_RPM":-471.136871,"cg_du":51.7369156,"cg_dv":55.0586777,"cg_dw":44.9413223,"cg_id_a":-10.6954203,"cg_id_raw_a":-9.65568542,"cg_iq_a":-196.291016,"cg_iq_raw_a":-197.467346,"cg_iu_a":-20.2215271,"cg_iv_a":179.258682,"cg_iw_a":-159.037155,"cg_sample_age_us":23.5181828,"cg_sample_seq":7629166,"cg_sample_valid":1,"cg_theta_rad":0.129247189,"cg_vd_req_v":-1.73806989,"cg_vd_v":-1.73806989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44116497,"cg_vq_v":-8.44116497,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2525.39502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1253.003296,"values":{"Elec_RPM":-2359.77075,"EncoderCos":39166,"EncoderSin":51351,"GapTicks":49343,"Mech_RPM":-471.954132,"cg_du":55.1425705,"cg_dv":50.9324684,"cg_dw":44.8574295,"cg_id_a":-1.32671165,"cg_id_raw_a":-4.71820927,"cg_iq_a":-199.388702,"cg_iq_raw_a":-199.525085,"cg_iu_a":107.42926,"cg_iv_a":95.4266663,"cg_iw_a":-202.855927,"cg_sample_age_us":23.8818188,"cg_sample_seq":7630816,"cg_sample_valid":1,"cg_theta_rad":1.23807585,"cg_vd_req_v":-1.90917802,"cg_vd_v":-1.90917802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42734814,"cg_vq_v":-8.42734814,"cg_vu_v":27.7132301,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1253.055763,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1253.055769,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1253.055774,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1253.339233,"values":{"Elec_RPM":-2363.96387,"EncoderCos":28096,"EncoderSin":51991,"GapTicks":49439,"Mech_RPM":-472.792786,"cg_du":44.9447327,"cg_dv":51.3954201,"cg_dw":55.0552673,"cg_id_a":-12.9533863,"cg_id_raw_a":-11.0228472,"cg_iq_a":-199.433517,"cg_iq_raw_a":-198.420395,"cg_iu_a":-161.282532,"cg_iv_a":-20.1911316,"cg_iw_a":181.473663,"cg_sample_age_us":23.8527279,"cg_sample_seq":7632517,"cg_sample_valid":1,"cg_theta_rad":1.80965638,"cg_vd_req_v":-1.59063196,"cg_vd_v":-1.59063196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4054718,"cg_vq_v":-8.4054718,"cg_vu_v":113.932175,"cg_vv_v":137.686371,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1253.690796,"values":{"Elec_RPM":-2365.86987,"EncoderCos":18165,"EncoderSin":46203,"GapTicks":49787,"Mech_RPM":-473.173981,"cg_du":54.7386284,"cg_dv":46.5736427,"cg_dw":45.2613716,"cg_id_a":3.85562325,"cg_id_raw_a":8.93998718,"cg_iq_a":-201.075607,"cg_iq_raw_a":-204.591553,"cg_iu_a":175.640152,"cg_iv_a":-4.42507935,"cg_iw_a":-171.215073,"cg_sample_age_us":23.994545,"cg_sample_seq":7634216,"cg_sample_valid":1,"cg_theta_rad":2.39899778,"cg_vd_req_v":-1.95668888,"cg_vd_v":-1.95668888,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35517216,"cg_vq_v":-8.35517216,"cg_vu_v":139.006058,"cg_vv_v":132.407669,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1254.022827,"values":{"Elec_RPM":-2366.17651,"EncoderCos":13177,"EncoderSin":36193,"GapTicks":49645,"Mech_RPM":-473.235321,"cg_du":45.1322861,"cg_dv":54.8677139,"cg_dw":53.1584892,"cg_id_a":10.8688116,"cg_id_raw_a":8.9289856,"cg_iq_a":-200.235046,"cg_iq_raw_a":-201.45578,"cg_iu_a":-194.518127,"cg_iv_a":59.3278351,"cg_iw_a":135.190292,"cg_sample_age_us":23.8381824,"cg_sample_seq":7635916,"cg_sample_valid":1,"cg_theta_rad":2.96235967,"cg_vd_req_v":-2.09867096,"cg_vd_v":-2.09867096,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40215683,"cg_vq_v":-8.40215683,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.2971001,"dclink_p_w":-2358.59229,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1254.046985,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1254.046992,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1254.046997,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1254.354858,"values":{"Elec_RPM":-2363.66675,"EncoderCos":14367,"EncoderSin":25222,"GapTicks":49339,"Mech_RPM":-472.733337,"cg_du":55.1457405,"cg_dv":44.8542595,"cg_dw":49.1897087,"cg_id_a":-10.6673422,"cg_id_raw_a":-14.3904161,"cg_iq_a":-196.137787,"cg_iq_raw_a":-194.721268,"cg_iu_a":195.175568,"cg_iv_a":-116.708473,"cg_iw_a":-78.4670944,"cg_sample_age_us":24.0709095,"cg_sample_seq":7637617,"cg_sample_valid":1,"cg_theta_rad":3.53764844,"cg_vd_req_v":-1.70237851,"cg_vd_v":-1.70237851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46521854,"cg_vq_v":-8.46521854,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5837574,"dclink_p_w":-2552.53833,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1254.706421,"values":{"Elec_RPM":-2364.32568,"EncoderCos":21522,"EncoderSin":16241,"GapTicks":49373,"Mech_RPM":-472.865112,"cg_du":44.8850899,"cg_dv":55.1149101,"cg_dw":49.1310616,"cg_id_a":-12.6914301,"cg_id_raw_a":-10.2850037,"cg_iq_a":-197.082184,"cg_iq_raw_a":-198.418518,"cg_iu_a":-186.109558,"cg_iv_a":148.56015,"cg_iw_a":37.549408,"cg_sample_age_us":23.9254551,"cg_sample_seq":7639316,"cg_sample_valid":1,"cg_theta_rad":4.12431192,"cg_vd_req_v":-1.63209343,"cg_vd_v":-1.63209343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43223476,"cg_vq_v":-8.43223476,"cg_vu_v":4.83881807,"cg_vv_v":23.7541981,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2433.07642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1255.038452,"values":{"Elec_RPM":-2361.3689,"EncoderCos":32079,"EncoderSin":12946,"GapTicks":49924,"Mech_RPM":-472.273773,"cg_du":54.6141205,"cg_dv":45.3858795,"cg_dw":53.9878387,"cg_id_a":13.6365976,"cg_id_raw_a":15.9404621,"cg_iq_a":-202.467163,"cg_iq_raw_a":-202.333206,"cg_iu_a":173.393036,"cg_iv_a":-177.851822,"cg_iw_a":4.45878601,"cg_sample_age_us":24.1436367,"cg_sample_seq":7641017,"cg_sample_valid":1,"cg_theta_rad":4.6912179,"cg_vd_req_v":-2.1728549,"cg_vd_v":-2.1728549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33903599,"cg_vq_v":-8.33903599,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2538.89819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1255.071197,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1255.071203,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1255.071208,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1255.393921,"values":{"Elec_RPM":-2362.31714,"EncoderCos":42319,"EncoderSin":15416,"GapTicks":49431,"Mech_RPM":-472.463409,"cg_du":48.3465042,"cg_dv":55.0625076,"cg_dw":44.9374924,"cg_id_a":-8.32487679,"cg_id_raw_a":-11.4767265,"cg_iq_a":-199.54863,"cg_iq_raw_a":-199.400894,"cg_iu_a":-151.750397,"cg_iv_a":197.199371,"cg_iw_a":-56.2496338,"cg_sample_age_us":23.8563633,"cg_sample_seq":7642720,"cg_sample_valid":1,"cg_theta_rad":5.27401829,"cg_vd_req_v":-1.83447337,"cg_vd_v":-1.83447337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41153049,"cg_vq_v":-8.41153049,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2534.31226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1255.725952,"values":{"Elec_RPM":-2365.49927,"EncoderCos":43709,"EncoderSin":16309,"GapTicks":50017,"Mech_RPM":-473.099854,"cg_du":45.4701195,"cg_dv":54.5298805,"cg_dw":45.8768501,"cg_id_a":9.8825922,"cg_id_raw_a":13.4181099,"cg_iq_a":-204.752029,"cg_iq_raw_a":-205.194351,"cg_iu_a":-172.554352,"cg_iv_a":185.021439,"cg_iw_a":-15.3665924,"cg_sample_age_us":23.9181824,"cg_sample_seq":7644466,"cg_sample_valid":1,"cg_theta_rad":5.31788874,"cg_vd_req_v":-2.16948104,"cg_vd_v":-2.16948104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29878616,"cg_vq_v":-8.29878616,"cg_vu_v":0.87978512,"cg_vv_v":17.5957031,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2487.62842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1256.057983,"values":{"Elec_RPM":-2358.49512,"EncoderCos":50782,"EncoderSin":25001,"GapTicks":49546,"Mech_RPM":-471.699005,"cg_du":52.5009155,"cg_dv":45.0421906,"cg_dw":54.9578094,"cg_id_a":15.4889269,"cg_id_raw_a":11.7953329,"cg_iq_a":-201.741074,"cg_iq_raw_a":-200.651413,"cg_iu_a":144.724167,"cg_iv_a":-196.843597,"cg_iw_a":52.1194229,"cg_sample_age_us":23.7545452,"cg_sample_seq":7646167,"cg_sample_valid":1,"cg_theta_rad":5.89387703,"cg_vd_req_v":-2.29085755,"cg_vd_v":-2.29085755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31976318,"cg_vq_v":-8.31976318,"cg_vu_v":106.014107,"cg_vv_v":85.3391571,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2453.91992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1256.062919,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1256.062926,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1256.062931,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1256.409546,"values":{"Elec_RPM":-2360.68018,"EncoderCos":51979,"EncoderSin":36225,"GapTicks":49361,"Mech_RPM":-472.136017,"cg_du":49.1247864,"cg_dv":55.1259422,"cg_dw":44.8740578,"cg_id_a":-11.4987278,"cg_id_raw_a":-16.0773487,"cg_iq_a":-200.016266,"cg_iq_raw_a":-199.759735,"cg_iu_a":-81.8360443,"cg_iv_a":199.374008,"cg_iw_a":-117.537964,"cg_sample_age_us":23.4818172,"cg_sample_seq":7647866,"cg_sample_valid":1,"cg_theta_rad":0.186217576,"cg_vd_req_v":-1.77042532,"cg_vd_v":-1.77042532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39689255,"cg_vq_v":-8.39689255,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2482.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1256.741577,"values":{"Elec_RPM":-2357.87231,"EncoderCos":46940,"EncoderSin":46456,"GapTicks":49344,"Mech_RPM":-471.574463,"cg_du":49.0009651,"cg_dv":44.8590698,"cg_dw":55.1409302,"cg_id_a":-13.2693977,"cg_id_raw_a":-11.3318386,"cg_iq_a":-196.848877,"cg_iq_raw_a":-199.412094,"cg_iu_a":22.6549301,"cg_iv_a":-180.316406,"cg_iw_a":157.661469,"cg_sample_age_us":23.6345463,"cg_sample_seq":7649566,"cg_sample_valid":1,"cg_theta_rad":0.763980329,"cg_vd_req_v":-1.66787767,"cg_vd_v":-1.66787767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48268127,"cg_vq_v":-8.48268127,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.4913349,"dclink_p_w":-2539.12183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.0794373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1257.054975,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1257.054981,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1257.054986,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1257.073608,"values":{"Elec_RPM":-2355.50903,"EncoderCos":37102,"EncoderSin":51902,"GapTicks":49810,"Mech_RPM":-471.101807,"cg_du":53.6013031,"cg_dv":54.7175522,"cg_dw":45.2824478,"cg_id_a":7.34783268,"cg_id_raw_a":12.0924482,"cg_iq_a":-200.046936,"cg_iq_raw_a":-202.067749,"cg_iu_a":7.32378769,"cg_iv_a":168.747955,"cg_iw_a":-176.071747,"cg_sample_age_us":23.8018188,"cg_sample_seq":7651266,"cg_sample_valid":1,"cg_theta_rad":1.34003782,"cg_vd_req_v":-2.02178645,"cg_vd_v":-2.02178645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37483311,"cg_vq_v":-8.37483311,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1257.429077,"values":{"Elec_RPM":-2355.96265,"EncoderCos":13134,"EncoderSin":35995,"GapTicks":49755,"Mech_RPM":-471.192535,"cg_du":45.2319527,"cg_dv":54.7680473,"cg_dw":53.6249123,"cg_id_a":10.3867283,"cg_id_raw_a":8.34477329,"cg_iq_a":-199.064575,"cg_iq_raw_a":-196.955505,"cg_iu_a":-186.363251,"cg_iv_a":34.4283142,"cg_iw_a":151.934937,"cg_sample_age_us":23.9290905,"cg_sample_seq":7652867,"cg_sample_valid":1,"cg_theta_rad":2.98382378,"cg_vd_req_v":-2.07107496,"cg_vd_v":-2.07107496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42454433,"cg_vq_v":-8.42454433,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2476.51221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1257.757202,"values":{"Elec_RPM":-2351.59302,"EncoderCos":16892,"EncoderSin":44672,"GapTicks":49368,"Mech_RPM":-470.318604,"cg_du":55.1195412,"cg_dv":51.0184669,"cg_dw":44.8804588,"cg_id_a":-0.291152894,"cg_id_raw_a":-3.35397482,"cg_iq_a":-200.970535,"cg_iq_raw_a":-200.24556,"cg_iu_a":104.747208,"cg_iv_a":99.6672211,"cg_iw_a":-204.414429,"cg_sample_age_us":23.8563633,"cg_sample_seq":7654666,"cg_sample_valid":1,"cg_theta_rad":2.49876046,"cg_vd_req_v":-1.91185892,"cg_vd_v":-1.91185892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39679337,"cg_vq_v":-8.39679337,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1258.079278,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1258.079284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1258.07929,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1258.09314,"values":{"Elec_RPM":-2347.66895,"EncoderCos":14943,"EncoderSin":23830,"GapTicks":49811,"Mech_RPM":-469.533783,"cg_du":54.716877,"cg_dv":45.283123,"cg_dw":46.4585724,"cg_id_a":16.5280113,"cg_id_raw_a":18.2396088,"cg_iq_a":-202.923996,"cg_iq_raw_a":-204.529526,"cg_iu_a":191.913635,"cg_iv_a":-29.9769897,"cg_iw_a":-161.936646,"cg_sample_age_us":24.0781822,"cg_sample_seq":7656316,"cg_sample_valid":1,"cg_theta_rad":3.61228108,"cg_vd_req_v":-2.22205448,"cg_vd_v":-2.22205448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29891491,"cg_vq_v":-8.29891491,"cg_vu_v":21.9946289,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1258.604858,"values":{"Elec_RPM":-2342.54492,"EncoderCos":13928,"EncoderSin":26440,"GapTicks":49496,"Mech_RPM":-468.509003,"cg_du":55.0030212,"cg_dv":44.9969788,"cg_dw":52.0791435,"cg_id_a":-10.0125799,"cg_id_raw_a":-3.489429,"cg_iq_a":-198.686539,"cg_iq_raw_a":-200.174683,"cg_iu_a":175.89386,"cg_iv_a":-166.543747,"cg_iw_a":-9.35011292,"cg_sample_age_us":24.045454,"cg_sample_seq":7658667,"cg_sample_valid":1,"cg_theta_rad":3.47366309,"cg_vd_req_v":-1.68055737,"cg_vd_v":-1.68055737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40553093,"cg_vq_v":-8.40553093,"cg_vu_v":43.1094704,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1258.942674,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1258.942687,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1258.942689,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1259.071212,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1259.071218,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1259.071223,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1259.085327,"values":{"Elec_RPM":-2340.26538,"EncoderCos":39930,"EncoderSin":51033,"GapTicks":49325,"Mech_RPM":-468.05307,"cg_du":55.1589622,"cg_dv":49.3083572,"cg_dw":44.8410378,"cg_id_a":-11.3901253,"cg_id_raw_a":-10.8647928,"cg_iq_a":-195.025726,"cg_iq_raw_a":-193.57872,"cg_iu_a":143.129425,"cg_iv_a":42.9818573,"cg_iw_a":-186.111282,"cg_sample_age_us":23.954546,"cg_sample_seq":7661217,"cg_sample_valid":1,"cg_theta_rad":1.19967258,"cg_vd_req_v":-1.68441665,"cg_vd_v":-1.68441665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50826931,"cg_vq_v":-8.50826931,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1259.43689,"values":{"Elec_RPM":-2348.43164,"EncoderCos":47822,"EncoderSin":45457,"GapTicks":50069,"Mech_RPM":-469.68634,"cg_du":45.6614838,"cg_dv":45.5180702,"cg_dw":54.4819298,"cg_id_a":12.4526548,"cg_id_raw_a":14.6210442,"cg_iq_a":-205.977814,"cg_iq_raw_a":-205.250549,"cg_iu_a":-10.2907162,"cg_iv_a":-172.052811,"cg_iw_a":182.343521,"cg_sample_age_us":23.4127274,"cg_sample_seq":7663017,"cg_sample_valid":1,"cg_theta_rad":0.707092941,"cg_vd_req_v":-2.18167377,"cg_vd_v":-2.18167377,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2982645,"cg_vq_v":-8.2982645,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2398.98169,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1259.772827,"values":{"Elec_RPM":-2349.84839,"EncoderCos":38398,"EncoderSin":51601,"GapTicks":49573,"Mech_RPM":-469.969696,"cg_du":54.9330635,"cg_dv":52.4503784,"cg_dw":45.0669365,"cg_id_a":11.7241678,"cg_id_raw_a":8.30881691,"cg_iq_a":-202.264221,"cg_iq_raw_a":-199.152176,"cg_iu_a":58.3551025,"cg_iv_a":139.245483,"cg_iw_a":-201.224976,"cg_sample_age_us":23.8890915,"cg_sample_seq":7664717,"cg_sample_valid":1,"cg_theta_rad":1.27929842,"cg_vd_req_v":-2.15011263,"cg_vd_v":-2.15011263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32915688,"cg_vq_v":-8.32915688,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1061401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1260.031366,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1260.031372,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1260.031377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1260.104858,"values":{"Elec_RPM":-2351.76221,"EncoderCos":27047,"EncoderSin":51738,"GapTicks":49373,"Mech_RPM":-470.352448,"cg_du":44.8853035,"cg_dv":49.0847893,"cg_dw":55.1146965,"cg_id_a":-10.5992365,"cg_id_raw_a":-14.7330666,"cg_iq_a":-199.186188,"cg_iq_raw_a":-200.003815,"cg_iu_a":-117.536224,"cg_iv_a":-81.5519562,"cg_iw_a":199.088181,"cg_sample_age_us":23.8890915,"cg_sample_seq":7666416,"cg_sample_valid":1,"cg_theta_rad":1.86341178,"cg_vd_req_v":-1.69334722,"cg_vd_v":-1.69334722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39770031,"cg_vq_v":-8.39770031,"cg_vu_v":34.3116188,"cg_vv_v":32.9919434,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.2543945,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1260.456421,"values":{"Elec_RPM":-2354.41504,"EncoderCos":14217,"EncoderSin":25574,"GapTicks":49343,"Mech_RPM":-470.883026,"cg_du":55.1426315,"cg_dv":44.8573685,"cg_dw":49.9824295,"cg_id_a":-13.3248138,"cg_id_raw_a":-15.6006861,"cg_iq_a":-196.844086,"cg_iq_raw_a":-196.162766,"cg_iu_a":192.094849,"cg_iv_a":-135.555267,"cg_iw_a":-56.5395813,"cg_sample_age_us":24.0672722,"cg_sample_seq":7668016,"cg_sample_valid":1,"cg_theta_rad":3.51723814,"cg_vd_req_v":-1.62827432,"cg_vd_v":-1.62827432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43839741,"cg_vq_v":-8.43839741,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1260.788452,"values":{"Elec_RPM":-2348.77148,"EncoderCos":14456,"EncoderSin":25016,"GapTicks":49381,"Mech_RPM":-469.754272,"cg_du":55.1074181,"cg_dv":44.8925819,"cg_dw":48.8118935,"cg_id_a":-4.71570349,"cg_id_raw_a":-10.5495386,"cg_iq_a":-197.023438,"cg_iq_raw_a":-196.413345,"cg_iu_a":196.190399,"cg_iv_a":-101.486069,"cg_iw_a":-94.7043304,"cg_sample_age_us":23.9799995,"cg_sample_seq":7669767,"cg_sample_valid":1,"cg_theta_rad":3.5493083,"cg_vd_req_v":-1.81986248,"cg_vd_v":-1.81986248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41734123,"cg_vq_v":-8.41734123,"cg_vu_v":106.453995,"cg_vv_v":85.3391571,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2462.02563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1261.055242,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1261.055248,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1261.055253,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1261.120483,"values":{"Elec_RPM":-2352.02905,"EncoderCos":31644,"EncoderSin":12938,"GapTicks":49899,"Mech_RPM":-470.405823,"cg_du":54.0190544,"cg_dv":45.3634109,"cg_dw":54.6365891,"cg_id_a":17.6664543,"cg_id_raw_a":17.2344799,"cg_iq_a":-202.180878,"cg_iq_raw_a":-201.877136,"cg_iu_a":166.39798,"cg_iv_a":-187.818878,"cg_iw_a":27.0386963,"cg_sample_age_us":23.9909096,"cg_sample_seq":7671416,"cg_sample_valid":1,"cg_theta_rad":4.66855526,"cg_vd_req_v":-2.27152348,"cg_vd_v":-2.27152348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36146641,"cg_vq_v":-8.36146641,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2384.81909,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1261.472046,"values":{"Elec_RPM":-2357.11206,"EncoderCos":32391,"EncoderSin":12911,"GapTicks":49669,"Mech_RPM":-471.422424,"cg_du":54.8461876,"cg_dv":45.1538124,"cg_dw":53.1178246,"cg_id_a":2.54689074,"cg_id_raw_a":9.60684299,"cg_iq_a":-199.625488,"cg_iq_raw_a":-201.529129,"cg_iu_a":172.414444,"cg_iv_a":-170.494324,"cg_iw_a":-1.92012787,"cg_sample_age_us":24.0890903,"cg_sample_seq":7673166,"cg_sample_valid":1,"cg_theta_rad":4.70937252,"cg_vd_req_v":-1.94631195,"cg_vd_v":-1.94631195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41718388,"cg_vq_v":-8.41718388,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.2318611,"dclink_p_w":-2356.29077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1261.807983,"values":{"Elec_RPM":-2351.83276,"EncoderCos":50279,"EncoderSin":23878,"GapTicks":49313,"Mech_RPM":-470.366547,"cg_du":50.1756325,"cg_dv":44.830162,"cg_dw":55.169838,"cg_id_a":-4.89988279,"cg_id_raw_a":-7.01386499,"cg_iq_a":-196.858627,"cg_iq_raw_a":-195.747711,"cg_iu_a":75.5709229,"cg_iv_a":-195.792511,"cg_iw_a":120.221588,"cg_sample_age_us":23.7363644,"cg_sample_seq":7674816,"cg_sample_valid":1,"cg_theta_rad":5.83167315,"cg_vd_req_v":-1.89914918,"cg_vd_v":-1.89914918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42988586,"cg_vq_v":-8.42988586,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-17.8374634,"dclink_p_w":-2581.52075,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1262.046977,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1262.046983,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1262.046988,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1262.159546,"values":{"Elec_RPM":-2354.68042,"EncoderCos":50274,"EncoderSin":23839,"GapTicks":49324,"Mech_RPM":-470.936096,"cg_du":50.1491318,"cg_dv":44.8400574,"cg_dw":55.1599426,"cg_id_a":-7.72509003,"cg_id_raw_a":-9.81585026,"cg_iq_a":-197.739243,"cg_iq_raw_a":-197.044403,"cg_iu_a":111.162369,"cg_iv_a":-199.960571,"cg_iw_a":88.7981949,"cg_sample_age_us":23.6454544,"cg_sample_seq":7676570,"cg_sample_valid":1,"cg_theta_rad":5.86096239,"cg_vd_req_v":-1.84006596,"cg_vd_v":-1.84006596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42558479,"cg_vq_v":-8.42558479,"cg_vu_v":104.694435,"cg_vv_v":74.3418427,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2506.99878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5001,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1262.491577,"values":{"Elec_RPM":-2354.35571,"EncoderCos":47833,"EncoderSin":45448,"GapTicks":50079,"Mech_RPM":-470.871124,"cg_du":45.6597328,"cg_dv":45.5267067,"cg_dw":54.4732933,"cg_id_a":11.2838745,"cg_id_raw_a":14.7674513,"cg_iq_a":-205.759827,"cg_iq_raw_a":-206.797867,"cg_iu_a":-14.6037312,"cg_iv_a":-170.603058,"cg_iw_a":185.206787,"cg_sample_age_us":23.5436363,"cg_sample_seq":7678216,"cg_sample_valid":1,"cg_theta_rad":0.701896369,"cg_vd_req_v":-2.15631294,"cg_vd_v":-2.15631294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29273033,"cg_vq_v":-8.29273033,"cg_vu_v":39.1504402,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5001,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1262.823608,"values":{"Elec_RPM":-2359.64893,"EncoderCos":51944,"EncoderSin":36415,"GapTicks":49365,"Mech_RPM":-471.929779,"cg_du":48.7626801,"cg_dv":55.1218338,"cg_dw":44.8781662,"cg_id_a":-7.1082778,"cg_id_raw_a":-10.7182064,"cg_iq_a":-197.900177,"cg_iq_raw_a":-196.627457,"cg_iu_a":-94.5938721,"cg_iv_a":198.685364,"cg_iw_a":-104.091499,"cg_sample_age_us":23.48909,"cg_sample_seq":7680016,"cg_sample_valid":1,"cg_theta_rad":0.198468253,"cg_vd_req_v":-1.85589099,"cg_vd_v":-1.85589099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44050407,"cg_vq_v":-8.44050407,"cg_vu_v":38.7105446,"cg_vv_v":57.6259232,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2343.90527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5001,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1263.03987,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1263.039876,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1263.039881,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1263.175171,"values":{"Elec_RPM":-2358.99561,"EncoderCos":37745,"EncoderSin":51764,"GapTicks":49909,"Mech_RPM":-471.799103,"cg_du":54.6274986,"cg_dv":53.7895088,"cg_dw":45.3725014,"cg_id_a":14.901825,"cg_id_raw_a":13.0783253,"cg_iq_a":-205.456726,"cg_iq_raw_a":-207.089294,"cg_iu_a":26.6055069,"cg_iv_a":164.797394,"cg_iw_a":-191.402893,"cg_sample_age_us":23.8890915,"cg_sample_seq":7681666,"cg_sample_valid":1,"cg_theta_rad":1.31540358,"cg_vd_req_v":-2.20269012,"cg_vd_v":-2.20269012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26548576,"cg_vq_v":-8.26548576,"cg_vu_v":39.590332,"cg_vv_v":50.5876465,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2492.61182,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1263.507202,"values":{"Elec_RPM":-2354.43896,"EncoderCos":26818,"EncoderSin":51635,"GapTicks":49383,"Mech_RPM":-470.887787,"cg_du":44.8944397,"cg_dv":48.6200218,"cg_dw":55.1055603,"cg_id_a":-6.20541859,"cg_id_raw_a":-11.7977066,"cg_iq_a":-198.190826,"cg_iq_raw_a":-196.684738,"cg_iu_a":-99.776741,"cg_iv_a":-96.0494919,"cg_iw_a":195.826233,"cg_sample_age_us":23.7690907,"cg_sample_seq":7683367,"cg_sample_valid":1,"cg_theta_rad":1.87723565,"cg_vd_req_v":-1.79915392,"cg_vd_v":-1.79915392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44584846,"cg_vq_v":-8.44584846,"cg_vu_v":104.254532,"cg_vv_v":100.295509,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1263.839233,"values":{"Elec_RPM":-2359.26855,"EncoderCos":17248,"EncoderSin":45125,"GapTicks":49338,"Mech_RPM":-471.853729,"cg_du":55.1471062,"cg_dv":49.880188,"cg_dw":44.8528938,"cg_id_a":-6.9610815,"cg_id_raw_a":-6.18171692,"cg_iq_a":-197.26503,"cg_iq_raw_a":-197.568146,"cg_iu_a":129.465515,"cg_iv_a":65.6342468,"cg_iw_a":-195.099762,"cg_sample_age_us":23.9763641,"cg_sample_seq":7685066,"cg_sample_valid":1,"cg_theta_rad":2.47307634,"cg_vd_req_v":-1.76323903,"cg_vd_v":-1.76323903,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44636059,"cg_vq_v":-8.44636059,"cg_vu_v":39.1504402,"cg_vv_v":40.4701157,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1264.062742,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1264.062747,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1264.062752,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1264.194702,"values":{"Elec_RPM":-2351.62134,"EncoderCos":12986,"EncoderSin":34730,"GapTicks":49599,"Mech_RPM":-470.324249,"cg_du":45.0903702,"cg_dv":52.3929214,"cg_dw":54.9096298,"cg_id_a":-5.59460449,"cg_id_raw_a":1.40474272,"cg_iq_a":-200.865692,"cg_iq_raw_a":-203.021713,"cg_iu_a":-171.756989,"cg_iv_a":-6.1285553,"cg_iw_a":177.885544,"cg_sample_age_us":23.9400005,"cg_sample_seq":7686766,"cg_sample_valid":1,"cg_theta_rad":3.04578257,"cg_vd_req_v":-1.72298086,"cg_vd_v":-1.72298086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34734726,"cg_vq_v":-8.34734726,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1264.526733,"values":{"Elec_RPM":-2349.1604,"EncoderCos":12933,"EncoderSin":34084,"GapTicks":49416,"Mech_RPM":-469.832092,"cg_du":44.9242973,"cg_dv":50.7859383,"cg_dw":55.0757027,"cg_id_a":-15.822423,"cg_id_raw_a":-12.4607,"cg_iq_a":-200.102142,"cg_iq_raw_a":-200.957443,"cg_iu_a":-156.824539,"cg_iv_a":-32.912735,"cg_iw_a":189.737274,"cg_sample_age_us":23.8418179,"cg_sample_seq":7688516,"cg_sample_valid":1,"cg_theta_rad":3.08071113,"cg_vd_req_v":-1.5438019,"cg_vd_v":-1.5438019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37491608,"cg_vq_v":-8.37491608,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-17.8809566,"dclink_p_w":-2579.94946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1264.858765,"values":{"Elec_RPM":-2352.61108,"EncoderCos":32967,"EncoderSin":12919,"GapTicks":49423,"Mech_RPM":-470.522217,"cg_du":55.069149,"cg_dv":44.930851,"cg_dw":51.5161438,"cg_id_a":-13.3519497,"cg_id_raw_a":-8.50774288,"cg_iq_a":-195.422363,"cg_iq_raw_a":-196.499313,"cg_iu_a":177.198639,"cg_iv_a":-165.275208,"cg_iw_a":-8.371521,"cg_sample_age_us":23.9727268,"cg_sample_seq":7690116,"cg_sample_valid":1,"cg_theta_rad":4.73584175,"cg_vd_req_v":-1.61922097,"cg_vd_v":-1.61922097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46934414,"cg_vq_v":-8.46934414,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.3083038,"dclink_p_w":-2504.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1265.055553,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1265.055559,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1265.055565,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1265.210327,"values":{"Elec_RPM":-2346.56592,"EncoderCos":23275,"EncoderSin":15259,"GapTicks":49638,"Mech_RPM":-469.313171,"cg_du":45.1254883,"cg_dv":54.8745117,"cg_dw":53.14534,"cg_id_a":9.94786835,"cg_id_raw_a":6.54154062,"cg_iq_a":-197.3228,"cg_iq_raw_a":-195.814651,"cg_iu_a":-189.154037,"cg_iv_a":46.9686737,"cg_iw_a":142.185364,"cg_sample_age_us":23.9654541,"cg_sample_seq":7691917,"cg_sample_valid":1,"cg_theta_rad":4.22844601,"cg_vd_req_v":-2.11441922,"cg_vd_v":-2.11441922,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43182373,"cg_vq_v":-8.43182373,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.8229656,"dclink_p_w":-2587.2627,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1265.542358,"values":{"Elec_RPM":-2348.05688,"EncoderCos":50696,"EncoderSin":24798,"GapTicks":49418,"Mech_RPM":-469.611359,"cg_du":52.1030006,"cg_dv":44.9262314,"cg_dw":55.0737686,"cg_id_a":12.2009735,"cg_id_raw_a":7.57115459,"cg_iq_a":-200.763947,"cg_iq_raw_a":-200.943832,"cg_iu_a":133.234863,"cg_iv_a":-197.74968,"cg_iw_a":64.5148163,"cg_sample_age_us":23.6272736,"cg_sample_seq":7693517,"cg_sample_valid":1,"cg_theta_rad":5.88206434,"cg_vd_req_v":-2.24928665,"cg_vd_v":-2.24928665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39577961,"cg_vq_v":-8.39577961,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7791443,"dclink_p_w":-2428.35596,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1595154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1265.893921,"values":{"Elec_RPM":-2344.37329,"EncoderCos":50989,"EncoderSin":25516,"GapTicks":49760,"Mech_RPM":-468.874664,"cg_du":53.6707115,"cg_dv":45.2363739,"cg_dw":54.7636261,"cg_id_a":19.2539101,"cg_id_raw_a":19.6210079,"cg_iq_a":-202.674789,"cg_iq_raw_a":-202.004257,"cg_iu_a":164.187103,"cg_iv_a":-186.804047,"cg_iw_a":22.616951,"cg_sample_age_us":23.8018188,"cg_sample_seq":7695267,"cg_sample_valid":1,"cg_theta_rad":5.92278671,"cg_vd_req_v":-2.35479736,"cg_vd_v":-2.35479736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36118507,"cg_vq_v":-8.36118507,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1266.07872,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1266.078726,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1266.078731,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1266.229858,"values":{"Elec_RPM":-2347.15479,"EncoderCos":47028,"EncoderSin":46366,"GapTicks":49418,"Mech_RPM":-469.430939,"cg_du":48.751255,"cg_dv":44.9258194,"cg_dw":55.0741806,"cg_id_a":-14.7609606,"cg_id_raw_a":-14.7703409,"cg_iq_a":-199.607605,"cg_iq_raw_a":-202.334579,"cg_iu_a":14.7537737,"cg_iv_a":-180.135178,"cg_iw_a":165.381409,"cg_sample_age_us":23.6236362,"cg_sample_seq":7696916,"cg_sample_valid":1,"cg_theta_rad":0.756962895,"cg_vd_req_v":-1.63142049,"cg_vd_v":-1.63142049,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38148403,"cg_vq_v":-8.38148403,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1266.56189,"values":{"Elec_RPM":-2350.27319,"EncoderCos":46502,"EncoderSin":46892,"GapTicks":49319,"Mech_RPM":-470.054626,"cg_du":50.3250122,"cg_dv":44.8357964,"cg_dw":55.1642036,"cg_id_a":-11.6443014,"cg_id_raw_a":-13.0391073,"cg_iq_a":-197.541275,"cg_iq_raw_a":-197.354584,"cg_iu_a":81.0799866,"cg_iv_a":-197.677185,"cg_iw_a":116.597198,"cg_sample_age_us":23.6018181,"cg_sample_seq":7698666,"cg_sample_valid":1,"cg_theta_rad":0.812233627,"cg_vd_req_v":-1.72469139,"cg_vd_v":-1.72469139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43501854,"cg_vq_v":-8.43501854,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2384.63013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1266.913452,"values":{"Elec_RPM":-2346.14673,"EncoderCos":26120,"EncoderSin":51416,"GapTicks":49570,"Mech_RPM":-469.22934,"cg_du":45.0641441,"cg_dv":47.2598267,"cg_dw":54.9358559,"cg_id_a":7.74578667,"cg_id_raw_a":4.07271004,"cg_iq_a":-199.482788,"cg_iq_raw_a":-199.693802,"cg_iu_a":-58.7124786,"cg_iv_a":-138.019852,"cg_iw_a":196.73233,"cg_sample_age_us":23.8709087,"cg_sample_seq":7700316,"cg_sample_valid":1,"cg_theta_rad":1.91123056,"cg_vd_req_v":-2.05634522,"cg_vd_v":-2.05634522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41419601,"cg_vq_v":-8.41419601,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1267.071544,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1267.07155,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1267.071556,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1267.245483,"values":{"Elec_RPM":-2343.38428,"EncoderCos":35783,"EncoderSin":52246,"GapTicks":49275,"Mech_RPM":-468.67688,"cg_du":50.1986046,"cg_dv":55.2043686,"cg_dw":44.7956314,"cg_id_a":-13.4910221,"cg_id_raw_a":-14.2028427,"cg_iq_a":-194.29776,"cg_iq_raw_a":-193.750519,"cg_iu_a":-47.1506958,"cg_iv_a":187.594757,"cg_iw_a":-140.444061,"cg_sample_age_us":23.8054543,"cg_sample_seq":7702116,"cg_sample_valid":1,"cg_theta_rad":1.41731119,"cg_vd_req_v":-1.63458586,"cg_vd_v":-1.63458586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54437256,"cg_vq_v":-8.54437256,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2545.43506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1239014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1267.577515,"values":{"Elec_RPM":-2347.90137,"EncoderCos":12964,"EncoderSin":34368,"GapTicks":49455,"Mech_RPM":-469.580261,"cg_du":44.9596825,"cg_dv":51.4562531,"cg_dw":55.0403175,"cg_id_a":-13.2951107,"cg_id_raw_a":-10.3885899,"cg_iq_a":-201.109619,"cg_iq_raw_a":-202.840866,"cg_iu_a":-164.653198,"cg_iv_a":-20.0461731,"cg_iw_a":184.699371,"cg_sample_age_us":23.9654541,"cg_sample_seq":7703716,"cg_sample_valid":1,"cg_theta_rad":3.06245804,"cg_vd_req_v":-1.57660055,"cg_vd_v":-1.57660055,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3662281,"cg_vq_v":-8.3662281,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2500.72339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1267.929077,"values":{"Elec_RPM":-2353.68164,"EncoderCos":12895,"EncoderSin":33819,"GapTicks":49361,"Mech_RPM":-470.736328,"cg_du":44.8739357,"cg_dv":50.1602669,"cg_dw":55.1260643,"cg_id_a":-17.8993797,"cg_id_raw_a":-17.3945942,"cg_iq_a":-199.884735,"cg_iq_raw_a":-199.259079,"cg_iu_a":-145.44397,"cg_iv_a":-44.9819336,"cg_iw_a":190.425903,"cg_sample_age_us":26.4127274,"cg_sample_seq":7705467,"cg_sample_valid":1,"cg_theta_rad":3.09268308,"cg_vd_req_v":-1.51623225,"cg_vd_v":-1.51623225,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40605736,"cg_vq_v":-8.40605736,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1268.063551,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1268.063558,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1268.063563,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1268.350952,"values":{"Elec_RPM":-2349.89453,"EncoderCos":43438,"EncoderSin":49316,"GapTicks":49330,"Mech_RPM":-469.978882,"cg_du":55.1541176,"cg_dv":44.8458824,"cg_dw":50.115551,"cg_id_a":-15.1002035,"cg_id_raw_a":-15.0661001,"cg_iq_a":-194.935226,"cg_iq_raw_a":-194.261963,"cg_iu_a":191.152512,"cg_iv_a":-137.186249,"cg_iw_a":-53.9662704,"cg_sample_age_us":23.9181824,"cg_sample_seq":7707416,"cg_sample_valid":1,"cg_theta_rad":1.00212193,"cg_vd_req_v":-1.62553179,"cg_vd_v":-1.62553179,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48584557,"cg_vq_v":-8.48584557,"cg_vu_v":35.6312981,"cg_vv_v":30.3525867,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1268.870483,"values":{"Elec_RPM":-2349.75684,"EncoderCos":27610,"EncoderSin":13635,"GapTicks":50008,"Mech_RPM":-469.951355,"cg_du":45.4621124,"cg_dv":45.9713211,"cg_dw":54.5378876,"cg_id_a":13.7680588,"cg_id_raw_a":16.6350765,"cg_iq_a":-206.684509,"cg_iq_raw_a":-205.183517,"cg_iu_a":-29.717411,"cg_iv_a":-162.484436,"cg_iw_a":192.201843,"cg_sample_age_us":23.8345451,"cg_sample_seq":7710016,"cg_sample_valid":1,"cg_theta_rad":4.45440006,"cg_vd_req_v":-2.19270921,"cg_vd_v":-2.19270921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23463058,"cg_vq_v":-8.23463058,"cg_vu_v":104.694435,"cg_vv_v":92.3774414,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2446.86035,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00397802703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1268.927371,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1268.927381,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1268.927384,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1269.086795,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1269.086801,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1269.086807,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1269.257202,"values":{"Elec_RPM":-2349.45825,"EncoderCos":38362,"EncoderSin":51576,"GapTicks":49568,"Mech_RPM":-469.891632,"cg_du":54.9372978,"cg_dv":52.5312424,"cg_dw":45.0627022,"cg_id_a":9.97494698,"cg_id_raw_a":7.72706461,"cg_iq_a":-204.18045,"cg_iq_raw_a":-204.373779,"cg_iu_a":60.384758,"cg_iv_a":140.187836,"cg_iw_a":-200.572586,"cg_sample_age_us":23.8927269,"cg_sample_seq":7712066,"cg_sample_valid":1,"cg_theta_rad":1.28224671,"cg_vd_req_v":-2.1310401,"cg_vd_v":-2.1310401,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30969238,"cg_vq_v":-8.30969238,"cg_vu_v":30.7924805,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1269.589233,"values":{"Elec_RPM":-2352.1709,"EncoderCos":37616,"EncoderSin":51784,"GapTicks":49973,"Mech_RPM":-470.434204,"cg_du":54.5694084,"cg_dv":54.0814323,"cg_dw":45.4305916,"cg_id_a":14.3814144,"cg_id_raw_a":14.596241,"cg_iq_a":-206.315491,"cg_iq_raw_a":-208.302414,"cg_iu_a":21.4226379,"cg_iv_a":166.645813,"cg_iw_a":-188.068451,"cg_sample_age_us":23.9145451,"cg_sample_seq":7713816,"cg_sample_valid":1,"cg_theta_rad":1.32226586,"cg_vd_req_v":-2.19458485,"cg_vd_v":-2.19458485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27966499,"cg_vq_v":-8.27966499,"cg_vu_v":45.3089333,"cg_vv_v":71.2625961,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.7396049,"dclink_p_w":-2559.55469,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1269.940796,"values":{"Elec_RPM":-2355.88867,"EncoderCos":17797,"EncoderSin":45770,"GapTicks":49481,"Mech_RPM":-471.177734,"cg_du":55.0166321,"cg_dv":48.0984802,"cg_dw":44.9833679,"cg_id_a":-10.6710711,"cg_id_raw_a":-5.85142851,"cg_iq_a":-196.812759,"cg_iq_raw_a":-196.363647,"cg_iu_a":161.758759,"cg_iv_a":12.8994751,"cg_iw_a":-174.658234,"cg_sample_age_us":23.9727268,"cg_sample_seq":7715467,"cg_sample_valid":1,"cg_theta_rad":2.42687964,"cg_vd_req_v":-1.65787256,"cg_vd_v":-1.65787256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44679832,"cg_vq_v":-8.44679832,"cg_vu_v":106.014107,"cg_vv_v":95.8965836,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2539.15967,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1270.04674,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1270.046746,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1270.046751,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1270.272827,"values":{"Elec_RPM":-2357.5,"EncoderCos":25657,"EncoderSin":51298,"GapTicks":49821,"Mech_RPM":-471.5,"cg_du":45.2920914,"cg_dv":46.3976669,"cg_dw":54.7079086,"cg_id_a":13.8382654,"cg_id_raw_a":12.736783,"cg_iq_a":-202.589462,"cg_iq_raw_a":-201.9991,"cg_iu_a":-32.5806732,"cg_iv_a":-160.491013,"cg_iw_a":193.071686,"cg_sample_age_us":23.7618179,"cg_sample_seq":7717266,"cg_sample_valid":1,"cg_theta_rad":1.93806314,"cg_vd_req_v":-2.15765285,"cg_vd_v":-2.15765285,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32604504,"cg_vq_v":-8.32604504,"cg_vu_v":40.0302238,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2436.66284,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1270.608765,"values":{"Elec_RPM":-2362.96436,"EncoderCos":14649,"EncoderSin":24492,"GapTicks":49471,"Mech_RPM":-472.592865,"cg_du":55.0259132,"cg_dv":44.9740868,"cg_dw":47.8336601,"cg_id_a":8.32817173,"cg_id_raw_a":2.79181695,"cg_iq_a":-199.967285,"cg_iq_raw_a":-198.4767,"cg_iu_a":197.821381,"cg_iv_a":-68.9028625,"cg_iw_a":-128.918518,"cg_sample_age_us":24.0709095,"cg_sample_seq":7718867,"cg_sample_valid":1,"cg_theta_rad":3.57472324,"cg_vd_req_v":-2.0844276,"cg_vd_v":-2.0844276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40041161,"cg_vq_v":-8.40041161,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-18.0784855,"dclink_p_w":-2608.44995,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1270.960327,"values":{"Elec_RPM":-2355.03467,"EncoderCos":12929,"EncoderSin":34125,"GapTicks":49397,"Mech_RPM":-471.006958,"cg_du":44.9068298,"cg_dv":50.8888397,"cg_dw":55.0931702,"cg_id_a":-15.1764946,"cg_id_raw_a":-13.0451269,"cg_iq_a":-201.354446,"cg_iq_raw_a":-200.138992,"cg_iu_a":-156.860779,"cg_iv_a":-29.3970795,"cg_iw_a":186.257858,"cg_sample_age_us":23.8454552,"cg_sample_seq":7720667,"cg_sample_valid":1,"cg_theta_rad":3.07582664,"cg_vd_req_v":-1.55302465,"cg_vd_v":-1.55302465,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38587952,"cg_vq_v":-8.38587952,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.3209877,"dclink_p_w":-2506.77393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1524048,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1271.039289,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1271.039295,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1271.039301,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1271.292358,"values":{"Elec_RPM":-2353.18115,"EncoderCos":32891,"EncoderSin":12941,"GapTicks":49446,"Mech_RPM":-470.63623,"cg_du":55.048912,"cg_dv":44.951088,"cg_dw":51.777359,"cg_id_a":-10.0222845,"cg_id_raw_a":-7.37118959,"cg_iq_a":-197.24057,"cg_iq_raw_a":-198.978622,"cg_iu_a":176.763702,"cg_iv_a":-163.173065,"cg_iw_a":-13.5906448,"cg_sample_age_us":24.0599995,"cg_sample_seq":7722267,"cg_sample_valid":1,"cg_theta_rad":4.73572206,"cg_vd_req_v":-1.69833899,"cg_vd_v":-1.69833899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41406631,"cg_vq_v":-8.41406631,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1271.62439,"values":{"Elec_RPM":-2354.22827,"EncoderCos":43569,"EncoderSin":16161,"GapTicks":50062,"Mech_RPM":-470.845673,"cg_du":45.6931419,"cg_dv":54.4881935,"cg_dw":45.5118065,"cg_id_a":11.8171577,"cg_id_raw_a":9.82241917,"cg_iq_a":-207.309418,"cg_iq_raw_a":-207.744522,"cg_iu_a":-172.953033,"cg_iv_a":182.44812,"cg_iw_a":-9.49508667,"cg_sample_age_us":23.9836369,"cg_sample_seq":7723967,"cg_sample_valid":1,"cg_theta_rad":5.31603384,"cg_vd_req_v":-2.22452641,"cg_vd_v":-2.22452641,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25398445,"cg_vq_v":-8.25398445,"cg_vu_v":3.51914048,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1271.975952,"values":{"Elec_RPM":-2353.31152,"EncoderCos":50879,"EncoderSin":25205,"GapTicks":49613,"Mech_RPM":-470.662323,"cg_du":52.9888535,"cg_dv":45.1035271,"cg_dw":54.8964729,"cg_id_a":17.854332,"cg_id_raw_a":16.9564819,"cg_iq_a":-200.48526,"cg_iq_raw_a":-199.408218,"cg_iu_a":152.915268,"cg_iv_a":-190.827118,"cg_iw_a":37.91185,"cg_sample_age_us":23.7618179,"cg_sample_seq":7725666,"cg_sample_valid":1,"cg_theta_rad":5.90256119,"cg_vd_req_v":-2.32522035,"cg_vd_v":-2.32522035,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38592243,"cg_vq_v":-8.38592243,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2384.81909,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1272.06324,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1272.063246,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1272.063251,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1272.307983,"values":{"Elec_RPM":-2351.70752,"EncoderCos":51975,"EncoderSin":36107,"GapTicks":49364,"Mech_RPM":-470.341492,"cg_du":49.3505745,"cg_dv":55.1233864,"cg_dw":44.8766136,"cg_id_a":-12.0278482,"cg_id_raw_a":-13.6192179,"cg_iq_a":-197.58371,"cg_iq_raw_a":-195.572525,"cg_iu_a":-76.1457672,"cg_iv_a":196.691956,"cg_iw_a":-120.546188,"cg_sample_age_us":23.48909,"cg_sample_seq":7727367,"cg_sample_valid":1,"cg_theta_rad":0.185062334,"cg_vd_req_v":-1.73990941,"cg_vd_v":-1.73990941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40660667,"cg_vq_v":-8.40660667,"cg_vu_v":116.131638,"cg_vv_v":143.404984,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-17.799408,"dclink_p_w":-2568.18335,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1272.659546,"values":{"Elec_RPM":-2351.17163,"EncoderCos":47690,"EncoderSin":45698,"GapTicks":49892,"Mech_RPM":-470.234314,"cg_du":46.2927628,"cg_dv":45.3572617,"cg_dw":54.6427383,"cg_id_a":6.11926079,"cg_id_raw_a":11.6462145,"cg_iq_a":-206.495377,"cg_iq_raw_a":-206.587311,"cg_iu_a":17.979475,"cg_iv_a":-181.222488,"cg_iw_a":163.243011,"cg_sample_age_us":26.4127274,"cg_sample_seq":7729071,"cg_sample_valid":1,"cg_theta_rad":0.761918068,"cg_vd_req_v":-2.04846621,"cg_vd_v":-2.04846621,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26748562,"cg_vq_v":-8.26748562,"cg_vu_v":104.694435,"cg_vv_v":86.2189407,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2389.33667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1272.995483,"values":{"Elec_RPM":-2347.92847,"EncoderCos":37354,"EncoderSin":51855,"GapTicks":49982,"Mech_RPM":-469.585693,"cg_du":54.2441025,"cg_dv":54.5617409,"cg_dw":45.4382591,"cg_id_a":12.411294,"cg_id_raw_a":15.1355162,"cg_iq_a":-202.120789,"cg_iq_raw_a":-202.429535,"cg_iu_a":9.89710045,"cg_iv_a":168.711731,"cg_iw_a":-178.608826,"cg_sample_age_us":23.8781815,"cg_sample_seq":7730767,"cg_sample_valid":1,"cg_theta_rad":1.33617878,"cg_vd_req_v":-2.14038253,"cg_vd_v":-2.14038253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38457584,"cg_vq_v":-8.38457584,"cg_vu_v":35.1914063,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1273.054735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1273.054741,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1273.054746,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1273.327515,"values":{"Elec_RPM":-2360.97192,"EncoderCos":26293,"EncoderSin":51509,"GapTicks":49498,"Mech_RPM":-472.194397,"cg_du":44.999073,"cg_dv":47.6386681,"cg_dw":55.000927,"cg_id_a":5.20857477,"cg_id_raw_a":-1.43301642,"cg_iq_a":-197.345734,"cg_iq_raw_a":-195.593185,"cg_iu_a":-55.8129692,"cg_iv_a":-139.542084,"cg_iw_a":197.638428,"cg_sample_age_us":23.8709087,"cg_sample_seq":7732468,"cg_sample_valid":1,"cg_theta_rad":1.91043079,"cg_vd_req_v":-2.01144099,"cg_vd_v":-2.01144099,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42543507,"cg_vq_v":-8.42543507,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1273.679077,"values":{"Elec_RPM":-2353.38184,"EncoderCos":17007,"EncoderSin":44808,"GapTicks":49359,"Mech_RPM":-470.676392,"cg_du":55.1280746,"cg_dv":50.6489258,"cg_dw":44.8719254,"cg_id_a":-1.61159039,"cg_id_raw_a":-4.50866795,"cg_iq_a":-200.918961,"cg_iq_raw_a":-198.287048,"cg_iu_a":112.285934,"cg_iv_a":89.3739471,"cg_iw_a":-201.659882,"cg_sample_age_us":23.8890915,"cg_sample_seq":7734167,"cg_sample_valid":1,"cg_theta_rad":2.49048471,"cg_vd_req_v":-1.8716315,"cg_vd_v":-1.8716315,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35947132,"cg_vq_v":-8.35947132,"cg_vu_v":135.047012,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.6961117,"dclink_p_w":-2561.06372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1506348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1274.011108,"values":{"Elec_RPM":-2351.78296,"EncoderCos":16555,"EncoderSin":44202,"GapTicks":49488,"Mech_RPM":-470.356598,"cg_du":55.0105209,"cg_dv":52.1158409,"cg_dw":44.9894791,"cg_id_a":8.79030704,"cg_id_raw_a":7.9097023,"cg_iq_a":-202.960953,"cg_iq_raw_a":-202.919128,"cg_iu_a":67.4160614,"cg_iv_a":132.032959,"cg_iw_a":-199.44902,"cg_sample_age_us":23.9181824,"cg_sample_seq":7735917,"cg_sample_valid":1,"cg_theta_rad":2.53195548,"cg_vd_req_v":-2.0860641,"cg_vd_v":-2.0860641,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33525276,"cg_vq_v":-8.33525276,"cg_vu_v":136.366699,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1274.046773,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1274.046779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1274.046784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1274.347046,"values":{"Elec_RPM":-2348.87915,"EncoderCos":15241,"EncoderSin":23301,"GapTicks":49927,"Mech_RPM":-469.775818,"cg_du":54.6116867,"cg_dv":46.004818,"cg_dw":45.3883133,"cg_id_a":8.95158482,"cg_id_raw_a":10.4851179,"cg_iq_a":-200.668793,"cg_iq_raw_a":-200.191589,"cg_iu_a":176.618744,"cg_iv_a":-8.55688477,"cg_iw_a":-168.061859,"cg_sample_age_us":24.0854549,"cg_sample_seq":7737567,"cg_sample_valid":1,"cg_theta_rad":3.64358711,"cg_vd_req_v":-2.05346894,"cg_vd_v":-2.05346894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3687458,"cg_vq_v":-8.3687458,"cg_vu_v":143.844864,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2415.48071,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1274.698608,"values":{"Elec_RPM":-2347.573,"EncoderCos":15621,"EncoderSin":22579,"GapTicks":49464,"Mech_RPM":-469.514618,"cg_du":55.0319061,"cg_dv":48.1252518,"cg_dw":44.9680939,"cg_id_a":-10.1413021,"cg_id_raw_a":-7.37745762,"cg_iq_a":-196.061966,"cg_iq_raw_a":-197.174698,"cg_iu_a":159.910324,"cg_iv_a":14.6391754,"cg_iw_a":-174.5495,"cg_sample_age_us":24.0236359,"cg_sample_seq":7739317,"cg_sample_valid":1,"cg_theta_rad":3.68435478,"cg_vd_req_v":-1.66591907,"cg_vd_v":-1.66591907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43847084,"cg_vq_v":-8.43847084,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2401.86646,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1275.03064,"values":{"Elec_RPM":-2346.18066,"EncoderCos":34098,"EncoderSin":12987,"GapTicks":49344,"Mech_RPM":-469.236115,"cg_du":55.1410484,"cg_dv":44.8589516,"cg_dw":49.0837402,"cg_id_a":-10.5447016,"cg_id_raw_a":-15.3005753,"cg_iq_a":-198.067261,"cg_iq_raw_a":-197.635239,"cg_iu_a":197.205231,"cg_iv_a":-116.817215,"cg_iw_a":-80.3880157,"cg_sample_age_us":24.1072731,"cg_sample_seq":7740967,"cg_sample_valid":1,"cg_theta_rad":4.79405689,"cg_vd_req_v":-1.73827624,"cg_vd_v":-1.73827624,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.433218,"cg_vq_v":-8.433218,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.1883678,"dclink_p_w":-2342.85596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1275.070874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1275.070881,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1275.070886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1275.362671,"values":{"Elec_RPM":-2344.22021,"EncoderCos":44791,"EncoderSin":17125,"GapTicks":49332,"Mech_RPM":-468.844055,"cg_du":44.8473778,"cg_dv":55.1526222,"cg_dw":49.243206,"cg_id_a":-13.5624695,"cg_id_raw_a":-13.5410681,"cg_iq_a":-196.809479,"cg_iq_raw_a":-197.622803,"cg_iu_a":-186.689453,"cg_iv_a":146.385529,"cg_iw_a":40.3039322,"cg_sample_age_us":23.8309097,"cg_sample_seq":7742666,"cg_sample_valid":1,"cg_theta_rad":5.38724613,"cg_vd_req_v":-1.71911907,"cg_vd_v":-1.71911907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46891403,"cg_vq_v":-8.46891403,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2448.02588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1275.714233,"values":{"Elec_RPM":-2345.92822,"EncoderCos":51315,"EncoderSin":26391,"GapTicks":49684,"Mech_RPM":-469.185669,"cg_du":54.8320732,"cg_dv":45.1679268,"cg_dw":52.9978828,"cg_id_a":-0.394904613,"cg_id_raw_a":8.70249844,"cg_iq_a":-200.520096,"cg_iq_raw_a":-202.289703,"cg_iu_a":172.088257,"cg_iv_a":-171.581635,"cg_iw_a":-0.506614685,"cg_sample_age_us":24.1945457,"cg_sample_seq":7744366,"cg_sample_valid":1,"cg_theta_rad":5.96679354,"cg_vd_req_v":-1.92122889,"cg_vd_v":-1.92122889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35952568,"cg_vq_v":-8.35952568,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2503.07666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1276.046265,"values":{"Elec_RPM":-2347.02954,"EncoderCos":51654,"EncoderSin":37464,"GapTicks":49701,"Mech_RPM":-469.405914,"cg_du":46.8029518,"cg_dv":54.8172607,"cg_dw":45.1827393,"cg_id_a":12.7222767,"cg_id_raw_a":12.411232,"cg_iq_a":-204.920334,"cg_iq_raw_a":-203.13266,"cg_iu_a":-156.063416,"cg_iv_a":197.743027,"cg_iw_a":-50.5955963,"cg_sample_age_us":23.5145454,"cg_sample_seq":7746066,"cg_sample_valid":1,"cg_theta_rad":0.252939075,"cg_vd_req_v":-2.25217009,"cg_vd_v":-2.25217009,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29450035,"cg_vq_v":-8.29450035,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.20047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1276.062777,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1276.062783,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1276.062788,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1276.401733,"values":{"Elec_RPM":-2349.66382,"EncoderCos":46484,"EncoderSin":46915,"GapTicks":49274,"Mech_RPM":-469.93277,"cg_du":50.3504753,"cg_dv":44.7953568,"cg_dw":55.2046432,"cg_id_a":-8.41641045,"cg_id_raw_a":-11.4273453,"cg_iq_a":-194.682129,"cg_iq_raw_a":-194.040207,"cg_iu_a":114.206848,"cg_iv_a":-196.916077,"cg_iw_a":82.7092285,"cg_sample_age_us":23.51091,"cg_sample_seq":7747769,"cg_sample_valid":1,"cg_theta_rad":0.837735116,"cg_vd_req_v":-1.78533924,"cg_vd_v":-1.78533924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52440643,"cg_vq_v":-8.52440643,"cg_vu_v":41.3499031,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2487.29761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1276.729858,"values":{"Elec_RPM":-2351.4729,"EncoderCos":36048,"EncoderSin":52146,"GapTicks":49319,"Mech_RPM":-470.294586,"cg_du":50.8891754,"cg_dv":55.1639977,"cg_dw":44.8360023,"cg_id_a":-10.3056383,"cg_id_raw_a":-8.81369877,"cg_iq_a":-193.599274,"cg_iq_raw_a":-192.590851,"cg_iu_a":-38.7421265,"cg_iv_a":183.934143,"cg_iw_a":-145.192017,"cg_sample_age_us":23.8927269,"cg_sample_seq":7749467,"cg_sample_valid":1,"cg_theta_rad":1.40477049,"cg_vd_req_v":-1.68414354,"cg_vd_v":-1.68414354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50718021,"cg_vq_v":-8.50718021,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3985825,"dclink_p_w":-2373.2793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1277.05561,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1277.055616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1277.055622,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1277.06189,"values":{"Elec_RPM":-2352.78735,"EncoderCos":24846,"EncoderSin":50970,"GapTicks":49788,"Mech_RPM":-470.557465,"cg_du":46.6541443,"cg_dv":45.2626877,"cg_dw":54.7373123,"cg_id_a":3.28656626,"cg_id_raw_a":8.35272503,"cg_iq_a":-205.0569,"cg_iq_raw_a":-206.559479,"cg_iu_a":-4.49170208,"cg_iv_a":-175.169785,"cg_iw_a":179.661484,"cg_sample_age_us":23.8345451,"cg_sample_seq":7751166,"cg_sample_valid":1,"cg_theta_rad":1.98226976,"cg_vd_req_v":-1.94504273,"cg_vd_v":-1.94504273,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29869461,"cg_vq_v":-8.29869461,"cg_vu_v":36.5110817,"cg_vv_v":37.830761,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1277.417358,"values":{"Elec_RPM":-2348.77539,"EncoderCos":16137,"EncoderSin":43616,"GapTicks":49785,"Mech_RPM":-469.755066,"cg_du":54.7407265,"cg_dv":53.5149536,"cg_dw":45.2592735,"cg_id_a":17.0900898,"cg_id_raw_a":15.9164429,"cg_iq_a":-204.93042,"cg_iq_raw_a":-206.046204,"cg_iu_a":39.7982635,"cg_iv_a":154.250412,"cg_iw_a":-194.048676,"cg_sample_age_us":23.8600006,"cg_sample_seq":7752866,"cg_sample_valid":1,"cg_theta_rad":2.55582261,"cg_vd_req_v":-2.23077965,"cg_vd_v":-2.23077965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32401562,"cg_vq_v":-8.32401562,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1277.74939,"values":{"Elec_RPM":-2348.63452,"EncoderCos":12833,"EncoderSin":32873,"GapTicks":49406,"Mech_RPM":-469.726898,"cg_du":44.91539,"cg_dv":48.3546867,"cg_dw":55.08461,"cg_id_a":-2.56344986,"cg_id_raw_a":-7.4661622,"cg_iq_a":-196.646469,"cg_iq_raw_a":-199.64798,"cg_iu_a":-102.422546,"cg_iv_a":-91.6277466,"cg_iw_a":194.050293,"cg_sample_age_us":23.8381824,"cg_sample_seq":7754566,"cg_sample_valid":1,"cg_theta_rad":3.13056254,"cg_vd_req_v":-1.84418154,"cg_vd_v":-1.84418154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44507599,"cg_vq_v":-8.44507599,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1278.079277,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1278.079283,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1278.079288,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1278.081421,"values":{"Elec_RPM":-2348.63892,"EncoderCos":15962,"EncoderSin":21981,"GapTicks":49346,"Mech_RPM":-469.727783,"cg_du":55.1396523,"cg_dv":49.6849823,"cg_dw":44.8603477,"cg_id_a":-12.7418261,"cg_id_raw_a":-13.844306,"cg_iq_a":-197.48233,"cg_iq_raw_a":-198.236679,"cg_iu_a":149.254639,"cg_iv_a":34.93573,"cg_iw_a":-184.190369,"cg_sample_age_us":23.9290905,"cg_sample_seq":7756266,"cg_sample_valid":1,"cg_theta_rad":3.71037459,"cg_vd_req_v":-1.63628304,"cg_vd_v":-1.63628304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41062355,"cg_vq_v":-8.41062355,"cg_vu_v":15.836132,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2467.25513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1278.59314,"values":{"Elec_RPM":-2346.11377,"EncoderCos":35505,"EncoderSin":52250,"GapTicks":49312,"Mech_RPM":-469.222778,"cg_du":49.6794434,"cg_dv":55.1702728,"cg_dw":44.8297272,"cg_id_a":-9.5011549,"cg_id_raw_a":-10.4772444,"cg_iq_a":-197.216614,"cg_iq_raw_a":-195.914688,"cg_iu_a":-70.3105011,"cg_iv_a":192.125244,"cg_iw_a":-136.602219,"cg_sample_age_us":23.8963642,"cg_sample_seq":7758817,"cg_sample_valid":1,"cg_theta_rad":1.43046188,"cg_vd_req_v":-1.72459781,"cg_vd_v":-1.72459781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47201729,"cg_vq_v":-8.47201729,"cg_vu_v":120.090675,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2496.50513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1278.942825,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1278.942883,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1278.942886,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1279.071033,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1279.071039,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1279.071044,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1279.073608,"values":{"Elec_RPM":-2347.51733,"EncoderCos":37852,"EncoderSin":51728,"GapTicks":49822,"Mech_RPM":-469.503479,"cg_du":54.7068596,"cg_dv":53.6070824,"cg_dw":45.2931404,"cg_id_a":14.3889608,"cg_id_raw_a":13.4667702,"cg_iq_a":-203.944244,"cg_iq_raw_a":-203.615189,"cg_iu_a":29.9399395,"cg_iv_a":158.382233,"cg_iw_a":-195.462204,"cg_sample_age_us":23.9327278,"cg_sample_seq":7761167,"cg_sample_valid":1,"cg_theta_rad":1.30660105,"cg_vd_req_v":-2.18874741,"cg_vd_v":-2.18874741,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31818867,"cg_vq_v":-8.31818867,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2418.11133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1279.409546,"values":{"Elec_RPM":-2343.14502,"EncoderCos":26477,"EncoderSin":51551,"GapTicks":49445,"Mech_RPM":-468.628998,"cg_du":44.9508514,"cg_dv":48.0222054,"cg_dw":55.0491486,"cg_id_a":3.20213938,"cg_id_raw_a":-2.26588464,"cg_iq_a":-198.144501,"cg_iq_raw_a":-198.76239,"cg_iu_a":-78.8278046,"cg_iv_a":-121.057739,"cg_iw_a":199.885544,"cg_sample_age_us":23.8927269,"cg_sample_seq":7762866,"cg_sample_valid":1,"cg_theta_rad":1.8917588,"cg_vd_req_v":-1.97620428,"cg_vd_v":-1.97620428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3951416,"cg_vq_v":-8.3951416,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1279.761108,"values":{"Elec_RPM":-2347.20557,"EncoderCos":25807,"EncoderSin":51389,"GapTicks":49727,"Mech_RPM":-469.441132,"cg_du":45.2064896,"cg_dv":46.7645416,"cg_dw":54.7935104,"cg_id_a":13.1603498,"cg_id_raw_a":11.6953659,"cg_iq_a":-203.929901,"cg_iq_raw_a":-203.161789,"cg_iu_a":-39.7931976,"cg_iv_a":-156.141769,"cg_iw_a":195.934967,"cg_sample_age_us":23.8672733,"cg_sample_seq":7764616,"cg_sample_valid":1,"cg_theta_rad":1.92944956,"cg_vd_req_v":-2.16132116,"cg_vd_v":-2.16132116,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29425621,"cg_vq_v":-8.29425621,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2377.04736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1043396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1280.063387,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1280.063393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1280.063398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1280.09314,"values":{"Elec_RPM":-2351.11694,"EncoderCos":16799,"EncoderSin":44510,"GapTicks":49396,"Mech_RPM":-470.223389,"cg_du":55.0940971,"cg_dv":51.3366623,"cg_dw":44.9059029,"cg_id_a":4.25509834,"cg_id_raw_a":1.64428294,"cg_iq_a":-202.92218,"cg_iq_raw_a":-200.29007,"cg_iu_a":91.3732376,"cg_iv_a":113.693565,"cg_iw_a":-205.066803,"cg_sample_age_us":23.9109097,"cg_sample_seq":7766316,"cg_sample_valid":1,"cg_theta_rad":2.51021671,"cg_vd_req_v":-1.9964031,"cg_vd_v":-1.9964031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34850883,"cg_vq_v":-8.34850883,"cg_vu_v":15.3962402,"cg_vv_v":29.912693,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2390.38257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1280.444702,"values":{"Elec_RPM":-2357.39917,"EncoderCos":14685,"EncoderSin":24425,"GapTicks":49497,"Mech_RPM":-471.479828,"cg_du":55.0019875,"cg_dv":44.9980125,"cg_dw":47.762291,"cg_id_a":12.5438995,"cg_id_raw_a":10.3589087,"cg_iq_a":-200.0242,"cg_iq_raw_a":-199.156494,"cg_iu_a":184.193695,"cg_iv_a":-29.4333191,"cg_iw_a":-158.131042,"cg_sample_age_us":23.9799995,"cg_sample_seq":7767970,"cg_sample_valid":1,"cg_theta_rad":3.62277818,"cg_vd_req_v":-2.16712141,"cg_vd_v":-2.16712141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35690308,"cg_vq_v":-8.35690308,"cg_vu_v":15.836132,"cg_vv_v":10.9973145,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1280.776733,"values":{"Elec_RPM":-2360.62012,"EncoderCos":15433,"EncoderSin":22752,"GapTicks":49661,"Mech_RPM":-472.124023,"cg_du":54.8535004,"cg_dv":47.1100922,"cg_dw":45.1464996,"cg_id_a":-2.04172325,"cg_id_raw_a":-2.29262376,"cg_iq_a":-199.470978,"cg_iq_raw_a":-198.54213,"cg_iu_a":172.958099,"cg_iv_a":-1.59805298,"cg_iw_a":-171.360046,"cg_sample_age_us":23.9290905,"cg_sample_seq":7769716,"cg_sample_valid":1,"cg_theta_rad":3.66552329,"cg_vd_req_v":-1.83097148,"cg_vd_v":-1.83097148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37902832,"cg_vq_v":-8.37902832,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-15.3402634,"dclink_p_w":-2213.36621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1281.054892,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1281.054897,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1281.054901,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1281.108765,"values":{"Elec_RPM":-2358.24756,"EncoderCos":33729,"EncoderSin":12969,"GapTicks":49297,"Mech_RPM":-471.649506,"cg_du":55.183918,"cg_dv":44.816082,"cg_dw":49.8198433,"cg_id_a":-14.037282,"cg_id_raw_a":-16.6779633,"cg_iq_a":-194.979645,"cg_iq_raw_a":-194.281082,"cg_iu_a":190.210175,"cg_iv_a":-132.474548,"cg_iw_a":-57.7356262,"cg_sample_age_us":24.0672722,"cg_sample_seq":7771366,"cg_sample_valid":1,"cg_theta_rad":4.77585745,"cg_vd_req_v":-1.64930117,"cg_vd_v":-1.64930117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50636101,"cg_vq_v":-8.50636101,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2447.50146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1281.464233,"values":{"Elec_RPM":-2362.48755,"EncoderCos":34326,"EncoderSin":12994,"GapTicks":49359,"Mech_RPM":-472.497528,"cg_du":55.1275673,"cg_dv":44.8724327,"cg_dw":48.6814079,"cg_id_a":-4.37604523,"cg_id_raw_a":-11.0641823,"cg_iq_a":-196.039429,"cg_iq_raw_a":-195.62851,"cg_iu_a":197.168991,"cg_iv_a":-112.286728,"cg_iw_a":-82.7076263,"cg_sample_age_us":24.0672722,"cg_sample_seq":7773117,"cg_sample_valid":1,"cg_theta_rad":4.80502081,"cg_vd_req_v":-1.8545531,"cg_vd_v":-1.8545531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4619503,"cg_vq_v":-8.4619503,"cg_vu_v":143.404984,"cg_vv_v":124.489601,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2394.78516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1281.796265,"values":{"Elec_RPM":-2357.90674,"EncoderCos":51048,"EncoderSin":25597,"GapTicks":49875,"Mech_RPM":-471.58136,"cg_du":53.8636246,"cg_dv":45.3415794,"cg_dw":54.6584206,"cg_id_a":16.9524765,"cg_id_raw_a":18.7205296,"cg_iq_a":-204.090271,"cg_iq_raw_a":-203.256729,"cg_iu_a":166.035522,"cg_iv_a":-190.355957,"cg_iw_a":29.4670334,"cg_sample_age_us":24.1581821,"cg_sample_seq":7774767,"cg_sample_valid":1,"cg_theta_rad":5.92352009,"cg_vd_req_v":-2.30020952,"cg_vd_v":-2.30020952,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29197979,"cg_vq_v":-8.29197979,"cg_vu_v":135.047012,"cg_vv_v":121.850235,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2427.25,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1310425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1282.047138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1282.047144,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1282.047149,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1282.147827,"values":{"Elec_RPM":-2359.03345,"EncoderCos":50948,"EncoderSin":25343,"GapTicks":49664,"Mech_RPM":-471.806702,"cg_du":53.2666702,"cg_dv":45.1498375,"cg_dw":54.8501625,"cg_id_a":19.9178257,"cg_id_raw_a":18.6284161,"cg_iq_a":-202.536026,"cg_iq_raw_a":-201.841721,"cg_iu_a":173.936691,"cg_iv_a":-168.790863,"cg_iw_a":3.29898071,"cg_sample_age_us":23.7581825,"cg_sample_seq":7776522,"cg_sample_valid":1,"cg_theta_rad":5.975142,"cg_vd_req_v":-2.37285876,"cg_vd_v":-2.37285876,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33905411,"cg_vq_v":-8.33905411,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.42066,"dclink_p_w":-2513.53564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1282.479858,"values":{"Elec_RPM":-2355.29517,"EncoderCos":46567,"EncoderSin":46802,"GapTicks":49299,"Mech_RPM":-471.059052,"cg_du":50.0710373,"cg_dv":44.8179779,"cg_dw":55.1820221,"cg_id_a":-10.1198406,"cg_id_raw_a":-14.4311781,"cg_iq_a":-195.606003,"cg_iq_raw_a":-195.451706,"cg_iu_a":62.0882187,"cg_iv_a":-191.841949,"cg_iw_a":129.753723,"cg_sample_age_us":23.6090908,"cg_sample_seq":7778167,"cg_sample_valid":1,"cg_theta_rad":0.796499372,"cg_vd_req_v":-1.74072814,"cg_vd_v":-1.74072814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48338318,"cg_vq_v":-8.48338318,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1282.81189,"values":{"Elec_RPM":-2352.76245,"EncoderCos":46021,"EncoderSin":47349,"GapTicks":49368,"Mech_RPM":-470.55249,"cg_du":51.4752007,"cg_dv":44.8806305,"cg_dw":55.1193695,"cg_id_a":5.20489025,"cg_id_raw_a":-1.65049112,"cg_iq_a":-196.566559,"cg_iq_raw_a":-196.024445,"cg_iu_a":111.379837,"cg_iv_a":-196.481155,"cg_iw_a":85.1013184,"cg_sample_age_us":23.6345463,"cg_sample_seq":7779917,"cg_sample_valid":1,"cg_theta_rad":0.835034132,"cg_vd_req_v":-2.06720757,"cg_vd_v":-2.06720757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44992447,"cg_vq_v":-8.44992447,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.9063263,"dclink_p_w":-2599.36377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.20047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1283.071395,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1283.071401,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1283.071406,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1283.167358,"values":{"Elec_RPM":-2350.23535,"EncoderCos":26586,"EncoderSin":51636,"GapTicks":49407,"Mech_RPM":-470.047058,"cg_du":44.9163208,"cg_dv":48.2525978,"cg_dw":55.0836792,"cg_id_a":0.19173646,"cg_id_raw_a":0.518362045,"cg_iq_a":-198.956116,"cg_iq_raw_a":-196.913681,"cg_iu_a":-30.9497013,"cg_iv_a":-162.339447,"cg_iw_a":193.289154,"cg_sample_age_us":23.7763634,"cg_sample_seq":7781572,"cg_sample_valid":1,"cg_theta_rad":1.9401921,"cg_vd_req_v":-1.92469907,"cg_vd_v":-1.92469907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4176321,"cg_vq_v":-8.4176321,"cg_vu_v":131.967773,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2396.39624,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1283.495483,"values":{"Elec_RPM":-2349.52124,"EncoderCos":24850,"EncoderSin":50930,"GapTicks":49778,"Mech_RPM":-469.904236,"cg_du":46.6906586,"cg_dv":45.2533951,"cg_dw":54.7466049,"cg_id_a":2.58131647,"cg_id_raw_a":7.20956039,"cg_iq_a":-206.090897,"cg_iq_raw_a":-206.912796,"cg_iu_a":-3.7668252,"cg_iv_a":-174.408646,"cg_iw_a":178.175476,"cg_sample_age_us":23.7763634,"cg_sample_seq":7783317,"cg_sample_valid":1,"cg_theta_rad":1.98252916,"cg_vd_req_v":-1.93387246,"cg_vd_v":-1.93387246,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30249786,"cg_vq_v":-8.30249786,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2533.52563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1283.831421,"values":{"Elec_RPM":-2349.62256,"EncoderCos":16116,"EncoderSin":43566,"GapTicks":49841,"Mech_RPM":-469.9245,"cg_du":54.6893692,"cg_dv":53.5858727,"cg_dw":45.3106308,"cg_id_a":17.8182964,"cg_id_raw_a":16.2321129,"cg_iq_a":-205.494171,"cg_iq_raw_a":-204.84053,"cg_iu_a":25.3007278,"cg_iv_a":162.586517,"cg_iw_a":-187.887238,"cg_sample_age_us":23.8018188,"cg_sample_seq":7785017,"cg_sample_valid":1,"cg_theta_rad":2.56872654,"cg_vd_req_v":-2.2351675,"cg_vd_v":-2.2351675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26957893,"cg_vq_v":-8.26957893,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1284.062763,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1284.062768,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1284.062774,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1284.182983,"values":{"Elec_RPM":-2346.07373,"EncoderCos":15605,"EncoderSin":42708,"GapTicks":49782,"Mech_RPM":-469.214752,"cg_du":53.4411736,"cg_dv":54.7428322,"cg_dw":45.2571678,"cg_id_a":-2.0805347,"cg_id_raw_a":2.4208734,"cg_iq_a":-198.043915,"cg_iq_raw_a":-200.59993,"cg_iu_a":5.94652224,"cg_iv_a":167.950607,"cg_iw_a":-173.897125,"cg_sample_age_us":23.8527279,"cg_sample_seq":7786767,"cg_sample_valid":1,"cg_theta_rad":2.60855651,"cg_vd_req_v":-1.90551579,"cg_vd_v":-1.90551579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37929535,"cg_vq_v":-8.37929535,"cg_vu_v":105.134323,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2392.99731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1284.515015,"values":{"Elec_RPM":-2351.57764,"EncoderCos":23874,"EncoderSin":14971,"GapTicks":50037,"Mech_RPM":-470.315552,"cg_du":45.4881897,"cg_dv":54.5118103,"cg_dw":54.4924088,"cg_id_a":11.591876,"cg_id_raw_a":14.543786,"cg_iq_a":-199.010635,"cg_iq_raw_a":-199.27916,"cg_iu_a":-179.766876,"cg_iv_a":14.312973,"cg_iw_a":165.453903,"cg_sample_age_us":23.954546,"cg_sample_seq":7788366,"cg_sample_valid":1,"cg_theta_rad":4.26207399,"cg_vd_req_v":-2.14247751,"cg_vd_v":-2.14247751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42889977,"cg_vq_v":-8.42889977,"cg_vu_v":3.51914048,"cg_vv_v":27.7132301,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2393.21167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1284.847046,"values":{"Elec_RPM":-2348.05884,"EncoderCos":34824,"EncoderSin":13039,"GapTicks":49514,"Mech_RPM":-469.611786,"cg_du":54.9869537,"cg_dv":45.0130463,"cg_dw":47.8248329,"cg_id_a":7.178442,"cg_id_raw_a":7.3332572,"cg_iq_a":-199.611893,"cg_iq_raw_a":-200.25589,"cg_iu_a":197.313965,"cg_iv_a":-68.3592072,"cg_iw_a":-128.954758,"cg_sample_age_us":24.0236359,"cg_sample_seq":7790067,"cg_sample_valid":1,"cg_theta_rad":4.83647728,"cg_vd_req_v":-2.08088374,"cg_vd_v":-2.08088374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36525631,"cg_vq_v":-8.36525631,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2484.77368,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1285.055657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1285.055663,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1285.055669,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1285.198608,"values":{"Elec_RPM":-2348.18652,"EncoderCos":45250,"EncoderSin":17536,"GapTicks":49314,"Mech_RPM":-469.637299,"cg_du":44.8310471,"cg_dv":55.1689529,"cg_dw":50.5658226,"cg_id_a":-10.6493492,"cg_id_raw_a":-12.6682596,"cg_iq_a":-197.342178,"cg_iq_raw_a":-198.457291,"cg_iu_a":-196.837738,"cg_iv_a":119.855026,"cg_iw_a":76.9827118,"cg_sample_age_us":23.9181824,"cg_sample_seq":7791766,"cg_sample_valid":1,"cg_theta_rad":5.41609764,"cg_vd_req_v":-1.78549373,"cg_vd_v":-1.78549373,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44220161,"cg_vq_v":-8.44220161,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2458.88794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1285.534546,"values":{"Elec_RPM":-2348.96069,"EncoderCos":51420,"EncoderSin":26716,"GapTicks":49450,"Mech_RPM":-469.792145,"cg_du":55.0453835,"cg_dv":44.9546165,"cg_dw":52.0872002,"cg_id_a":-10.1494665,"cg_id_raw_a":-6.40674639,"cg_iq_a":-198.013626,"cg_iq_raw_a":-199.768433,"cg_iu_a":175.350189,"cg_iv_a":-165.5289,"cg_iw_a":-9.82128143,"cg_sample_age_us":24.136364,"cg_sample_seq":7793467,"cg_sample_valid":1,"cg_theta_rad":5.98675394,"cg_vd_req_v":-1.73919404,"cg_vd_v":-1.73919404,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46551895,"cg_vq_v":-8.46551895,"cg_vu_v":143.404984,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2558.32568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1898193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1285.866577,"values":{"Elec_RPM":-2350.26147,"EncoderCos":51562,"EncoderSin":38031,"GapTicks":50067,"Mech_RPM":-470.052307,"cg_du":45.6374626,"cg_dv":54.4842911,"cg_dw":45.5157089,"cg_id_a":13.698349,"cg_id_raw_a":11.9328194,"cg_iq_a":-204.449142,"cg_iq_raw_a":-205.120544,"cg_iu_a":-168.495056,"cg_iv_a":184.84024,"cg_iw_a":-16.3451767,"cg_sample_age_us":23.5290909,"cg_sample_seq":7795167,"cg_sample_valid":1,"cg_theta_rad":0.279866815,"cg_vd_req_v":-2.24339414,"cg_vd_v":-2.24339414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29709244,"cg_vq_v":-8.29709244,"cg_vu_v":118.770996,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2438.10425,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1286.047163,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1286.047169,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1286.047175,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1286.21814,"values":{"Elec_RPM":-2344.92017,"EncoderCos":51372,"EncoderSin":38795,"GapTicks":49572,"Mech_RPM":-468.984039,"cg_du":45.0660744,"cg_dv":54.9339256,"cg_dw":47.4374771,"cg_id_a":-4.26231432,"cg_id_raw_a":0.607171774,"cg_iq_a":-198.867874,"cg_iq_raw_a":-200.953049,"cg_iu_a":-174.801483,"cg_iv_a":166.827057,"cg_iw_a":7.9744339,"cg_sample_age_us":23.5218182,"cg_sample_seq":7796917,"cg_sample_valid":1,"cg_theta_rad":0.321519285,"cg_vd_req_v":-1.87017131,"cg_vd_v":-1.87017131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40235424,"cg_vq_v":-8.40235424,"cg_vu_v":121.410347,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2446.59888,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1286.550171,"values":{"Elec_RPM":-2347.1377,"EncoderCos":44946,"EncoderSin":48252,"GapTicks":49985,"Mech_RPM":-469.427521,"cg_du":54.2602158,"cg_dv":45.4409943,"cg_dw":54.5590057,"cg_id_a":16.0196648,"cg_id_raw_a":17.9741459,"cg_iq_a":-203.334686,"cg_iq_raw_a":-204.362213,"cg_iu_a":168.536362,"cg_iv_a":-182.599762,"cg_iw_a":14.0634003,"cg_sample_age_us":23.9799995,"cg_sample_seq":7798616,"cg_sample_valid":1,"cg_theta_rad":0.908226728,"cg_vd_req_v":-2.25025845,"cg_vd_v":-2.25025845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33196831,"cg_vq_v":-8.33196831,"cg_vu_v":27.7132301,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2485.81958,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1286.901733,"values":{"Elec_RPM":-2349.3291,"EncoderCos":25144,"EncoderSin":51106,"GapTicks":50043,"Mech_RPM":-469.865814,"cg_du":45.8158836,"cg_dv":45.493885,"cg_dw":54.506115,"cg_id_a":10.5681543,"cg_id_raw_a":12.0412817,"cg_iq_a":-205.441986,"cg_iq_raw_a":-205.587936,"cg_iu_a":7.72246981,"cg_iv_a":-177.525635,"cg_iw_a":169.803162,"cg_sample_age_us":26.7254543,"cg_sample_seq":7800271,"cg_sample_valid":1,"cg_theta_rad":2.00781298,"cg_vd_req_v":-2.08831024,"cg_vd_v":-2.08831024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28504372,"cg_vq_v":-8.28504372,"cg_vu_v":119.210884,"cg_vv_v":122.290138,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.9480076,"dclink_p_w":-2605.41455,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1287.071079,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1287.071085,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1287.07109,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1287.237671,"values":{"Elec_RPM":-2343.85132,"EncoderCos":33623,"EncoderSin":52424,"GapTicks":49912,"Mech_RPM":-468.770264,"cg_du":46.0974541,"cg_dv":54.6251945,"cg_dw":45.3748055,"cg_id_a":17.075222,"cg_id_raw_a":17.3718014,"cg_iq_a":-204.77951,"cg_iq_raw_a":-204.644623,"cg_iu_a":-166.936554,"cg_iv_a":192.560165,"cg_iw_a":-33.1623077,"cg_sample_age_us":23.8963642,"cg_sample_seq":7802066,"cg_sample_valid":1,"cg_theta_rad":1.52331424,"cg_vd_req_v":-2.2320323,"cg_vd_v":-2.2320323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30289268,"cg_vq_v":-8.30289268,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1287.565796,"values":{"Elec_RPM":-2343.75244,"EncoderCos":12928,"EncoderSin":32342,"GapTicks":49536,"Mech_RPM":-468.750488,"cg_du":45.0333862,"cg_dv":47.4528885,"cg_dw":54.9666138,"cg_id_a":10.0254478,"cg_id_raw_a":9.72873592,"cg_iq_a":-201.238281,"cg_iq_raw_a":-200.69017,"cg_iu_a":-57.7701378,"cg_iv_a":-140.230713,"cg_iw_a":198.000854,"cg_sample_age_us":23.9036369,"cg_sample_seq":7803666,"cg_sample_valid":1,"cg_theta_rad":3.16961741,"cg_vd_req_v":-2.10340357,"cg_vd_v":-2.10340357,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36950016,"cg_vq_v":-8.36950016,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1287.921265,"values":{"Elec_RPM":-2340.93896,"EncoderCos":12905,"EncoderSin":31516,"GapTicks":50039,"Mech_RPM":-468.187775,"cg_du":45.4902954,"cg_dv":45.8024788,"cg_dw":54.5097046,"cg_id_a":11.4713984,"cg_id_raw_a":12.6078491,"cg_iq_a":-206.023895,"cg_iq_raw_a":-204.484558,"cg_iu_a":-21.6350346,"cg_iv_a":-168.827087,"cg_iw_a":190.462128,"cg_sample_age_us":23.9618187,"cg_sample_seq":7805416,"cg_sample_valid":1,"cg_theta_rad":3.20800638,"cg_vd_req_v":-2.11369634,"cg_vd_v":-2.11369634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2903738,"cg_vq_v":-8.2903738,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2509.92139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1288.062908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1288.062921,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1288.062926,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1288.331421,"values":{"Elec_RPM":-2342.00952,"EncoderCos":42559,"EncoderSin":49852,"GapTicks":49409,"Mech_RPM":-468.401917,"cg_du":55.0821228,"cg_dv":44.9178772,"cg_dw":48.2800407,"cg_id_a":6.78820181,"cg_id_raw_a":1.34166205,"cg_iq_a":-198.730835,"cg_iq_raw_a":-196.844925,"cg_iu_a":190.355148,"cg_iv_a":-31.6804352,"cg_iw_a":-156.68129,"cg_sample_age_us":23.8381824,"cg_sample_seq":7807371,"cg_sample_valid":1,"cg_theta_rad":1.09432554,"cg_vd_req_v":-2.08415937,"cg_vd_v":-2.08415937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39879417,"cg_vq_v":-8.39879417,"cg_vu_v":136.806595,"cg_vv_v":124.489601,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2480.06714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1288.850952,"values":{"Elec_RPM":-2344.59741,"EncoderCos":29720,"EncoderSin":13188,"GapTicks":49328,"Mech_RPM":-468.919464,"cg_du":50.3164177,"cg_dv":44.8439636,"cg_dw":55.1560364,"cg_id_a":-11.7378359,"cg_id_raw_a":-13.246172,"cg_iq_a":-197.903137,"cg_iq_raw_a":-197.971527,"cg_iu_a":67.4160614,"cg_iv_a":-195.393829,"cg_iw_a":127.97776,"cg_sample_age_us":23.7327271,"cg_sample_seq":7809966,"cg_sample_valid":1,"cg_theta_rad":4.57239437,"cg_vd_req_v":-1.71416545,"cg_vd_v":-1.71416545,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42298412,"cg_vq_v":-8.42298412,"cg_vu_v":38.7105446,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2464.37891,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1288.95924,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1288.959251,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1288.959304,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1289.086878,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1289.086883,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1289.086889,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1289.24939,"values":{"Elec_RPM":-2339.29248,"EncoderCos":36305,"EncoderSin":52049,"GapTicks":49381,"Mech_RPM":-467.858521,"cg_du":51.4886055,"cg_dv":55.1076279,"cg_dw":44.8923721,"cg_id_a":-10.9675503,"cg_id_raw_a":-8.38302898,"cg_iq_a":-197.034637,"cg_iq_raw_a":-198.820114,"cg_iu_a":-23.8821526,"cg_iv_a":181.542038,"cg_iw_a":-157.659882,"cg_sample_age_us":23.8709087,"cg_sample_seq":7812016,"cg_sample_valid":1,"cg_theta_rad":1.39053905,"cg_vd_req_v":-1.67030478,"cg_vd_v":-1.67030478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46603012,"cg_vq_v":-8.46603012,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2401.10278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1289.577515,"values":{"Elec_RPM":-2347.49292,"EncoderCos":25205,"EncoderSin":51134,"GapTicks":50080,"Mech_RPM":-469.498566,"cg_du":45.7513733,"cg_dv":45.5280838,"cg_dw":54.4719162,"cg_id_a":10.1046925,"cg_id_raw_a":15.6622381,"cg_iq_a":-205.273071,"cg_iq_raw_a":-206.395798,"cg_iu_a":-18.6267967,"cg_iv_a":-167.123627,"cg_iw_a":185.750427,"cg_sample_age_us":23.8418179,"cg_sample_seq":7813716,"cg_sample_valid":1,"cg_theta_rad":1.95267773,"cg_vd_req_v":-2.07811236,"cg_vd_v":-2.07811236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29311371,"cg_vq_v":-8.29311371,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2416.52979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1289.932983,"values":{"Elec_RPM":-2350.76758,"EncoderCos":16718,"EncoderSin":44445,"GapTicks":49445,"Mech_RPM":-470.153503,"cg_du":55.0499268,"cg_dv":51.5041313,"cg_dw":44.9500732,"cg_id_a":7.65348816,"cg_id_raw_a":2.4885056,"cg_iq_a":-202.426544,"cg_iq_raw_a":-200.202774,"cg_iu_a":36.2101212,"cg_iv_a":155.591461,"cg_iw_a":-191.801575,"cg_sample_age_us":23.9181824,"cg_sample_seq":7815419,"cg_sample_valid":1,"cg_theta_rad":2.55856633,"cg_vd_req_v":-2.06227303,"cg_vd_v":-2.06227303,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31094551,"cg_vq_v":-8.31094551,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2385.34351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1290.078714,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1290.078719,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1290.078724,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1290.265015,"values":{"Elec_RPM":-2349.63647,"EncoderCos":16053,"EncoderSin":43425,"GapTicks":49932,"Mech_RPM":-469.927307,"cg_du":54.6066475,"cg_dv":53.9552193,"cg_dw":45.3933525,"cg_id_a":15.2238255,"cg_id_raw_a":15.4837322,"cg_iq_a":-204.822174,"cg_iq_raw_a":-205.132935,"cg_iu_a":21.7488327,"cg_iv_a":164.724884,"cg_iw_a":-186.473724,"cg_sample_age_us":23.8818188,"cg_sample_seq":7817167,"cg_sample_valid":1,"cg_theta_rad":2.57378364,"cg_vd_req_v":-2.18627453,"cg_vd_v":-2.18627453,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28246403,"cg_vq_v":-8.28246403,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2440.58521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1290.597046,"values":{"Elec_RPM":-2349.45361,"EncoderCos":12864,"EncoderSin":32550,"GapTicks":49431,"Mech_RPM":-469.890717,"cg_du":44.9380798,"cg_dv":48.1319809,"cg_dw":55.0619202,"cg_id_a":1.84672689,"cg_id_raw_a":-3.95364523,"cg_iq_a":-198.93924,"cg_iq_raw_a":-198.349014,"cg_iu_a":-88.5049133,"cg_iv_a":-109.423462,"cg_iw_a":197.928375,"cg_sample_age_us":23.9363632,"cg_sample_seq":7818867,"cg_sample_valid":1,"cg_theta_rad":3.14669418,"cg_vd_req_v":-1.82779598,"cg_vd_v":-1.82779598,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42679214,"cg_vq_v":-8.42679214,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.9733772,"dclink_p_w":-2601.19092,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1290.948608,"values":{"Elec_RPM":-2350.03516,"EncoderCos":15947,"EncoderSin":22037,"GapTicks":49322,"Mech_RPM":-470.007019,"cg_du":55.1616821,"cg_dv":49.5801926,"cg_dw":44.8383179,"cg_id_a":-13.0739565,"cg_id_raw_a":-13.4244347,"cg_iq_a":-195.08577,"cg_iq_raw_a":-196.042847,"cg_iu_a":131.966339,"cg_iv_a":49.7594452,"cg_iw_a":-191.801559,"cg_sample_age_us":24.0200005,"cg_sample_seq":7820568,"cg_sample_valid":1,"cg_theta_rad":3.72574282,"cg_vd_req_v":-1.62835538,"cg_vd_v":-1.62835538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48046207,"cg_vq_v":-8.48046207,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-16.9929829,"dclink_p_w":-2459.30347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1291.038885,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1291.038891,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1291.038896,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1291.28064,"values":{"Elec_RPM":-2347.07422,"EncoderCos":44416,"EncoderSin":16844,"GapTicks":49447,"Mech_RPM":-469.414825,"cg_du":44.9519615,"cg_dv":55.0480385,"cg_dw":48.1471443,"cg_id_a":-11.2970448,"cg_id_raw_a":-8.37712955,"cg_iq_a":-199.515472,"cg_iq_raw_a":-200.768677,"cg_iu_a":-183.463745,"cg_iv_a":157.222412,"cg_iw_a":26.2413254,"cg_sample_age_us":23.9509087,"cg_sample_seq":7822168,"cg_sample_valid":1,"cg_theta_rad":5.37281275,"cg_vd_req_v":-1.75612903,"cg_vd_v":-1.75612903,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41581154,"cg_vq_v":-8.41581154,"cg_vu_v":139.885834,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2390.90552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1291.612671,"values":{"Elec_RPM":-2358.62085,"EncoderCos":45191,"EncoderSin":17458,"GapTicks":49297,"Mech_RPM":-471.724182,"cg_du":44.8154716,"cg_dv":55.1845284,"cg_dw":50.3120728,"cg_id_a":-9.1754818,"cg_id_raw_a":-13.249094,"cg_iq_a":-196.963638,"cg_iq_raw_a":-196.657318,"cg_iu_a":-193.757004,"cg_iv_a":123.950577,"cg_iw_a":69.806427,"cg_sample_age_us":23.9472733,"cg_sample_seq":7823917,"cg_sample_valid":1,"cg_theta_rad":5.41390371,"cg_vd_req_v":-1.82687664,"cg_vd_v":-1.82687664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47460747,"cg_vq_v":-8.47460747,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1097107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1291.964233,"values":{"Elec_RPM":-2355.92749,"EncoderCos":51726,"EncoderSin":37458,"GapTicks":49708,"Mech_RPM":-471.185516,"cg_du":46.8377037,"cg_dv":54.8101044,"cg_dw":45.1898956,"cg_id_a":12.3092127,"cg_id_raw_a":9.23006344,"cg_iq_a":-202.867996,"cg_iq_raw_a":-201.554367,"cg_iu_a":-152.620239,"cg_iv_a":194.444824,"cg_iw_a":-41.8245926,"cg_sample_age_us":23.5181828,"cg_sample_seq":7825567,"cg_sample_valid":1,"cg_theta_rad":0.251367331,"cg_vd_req_v":-2.22732091,"cg_vd_v":-2.22732091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30439758,"cg_vq_v":-8.30439758,"cg_vu_v":128.448624,"cg_vv_v":135.047012,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2355.86816,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1292.062652,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1292.062658,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1292.062663,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1292.300171,"values":{"Elec_RPM":-2359.51685,"EncoderCos":51725,"EncoderSin":27774,"GapTicks":49325,"Mech_RPM":-471.903381,"cg_du":55.1581955,"cg_dv":44.8418045,"cg_dw":49.5877457,"cg_id_a":-12.5874691,"cg_id_raw_a":-17.4945774,"cg_iq_a":-195.448151,"cg_iq_raw_a":-193.286285,"cg_iu_a":192.747238,"cg_iv_a":-127.291679,"cg_iw_a":-65.4555588,"cg_sample_age_us":24.1690903,"cg_sample_seq":7827367,"cg_sample_valid":1,"cg_theta_rad":6.03956795,"cg_vd_req_v":-1.71404326,"cg_vd_v":-1.71404326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45727158,"cg_vq_v":-8.45727158,"cg_vu_v":30.7924805,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2481.11328,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1292.628296,"values":{"Elec_RPM":-2359.66748,"EncoderCos":36074,"EncoderSin":52147,"GapTicks":49321,"Mech_RPM":-471.933502,"cg_du":50.919857,"cg_dv":55.1625137,"cg_dw":44.8374863,"cg_id_a":-12.1148405,"cg_id_raw_a":-9.51397038,"cg_iq_a":-195.413528,"cg_iq_raw_a":-194.149445,"cg_iu_a":-35.4439354,"cg_iv_a":185.565109,"cg_iw_a":-150.12117,"cg_sample_age_us":23.8054543,"cg_sample_seq":7828967,"cg_sample_valid":1,"cg_theta_rad":1.40508687,"cg_vd_req_v":-1.65624237,"cg_vd_v":-1.65624237,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51317787,"cg_vq_v":-8.51317787,"cg_vu_v":25.953661,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1292.983765,"values":{"Elec_RPM":-2353.79077,"EncoderCos":44944,"EncoderSin":48216,"GapTicks":49957,"Mech_RPM":-470.758148,"cg_du":54.2111473,"cg_dv":45.416214,"cg_dw":54.583786,"cg_id_a":17.0072308,"cg_id_raw_a":18.5839272,"cg_iq_a":-203.865936,"cg_iq_raw_a":-204.126266,"cg_iu_a":169.116272,"cg_iv_a":-183.288406,"cg_iw_a":14.1721344,"cg_sample_age_us":23.9799995,"cg_sample_seq":7830767,"cg_sample_valid":1,"cg_theta_rad":0.905443668,"cg_vd_req_v":-2.26728654,"cg_vd_v":-2.26728654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34200287,"cg_vq_v":-8.34200287,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2449.59937,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1363525,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1293.05472,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1293.054727,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1293.054731,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1293.315796,"values":{"Elec_RPM":-2350.86865,"EncoderCos":16201,"EncoderSin":43692,"GapTicks":49761,"Mech_RPM":-470.173706,"cg_du":54.7621536,"cg_dv":53.3110466,"cg_dw":45.2378464,"cg_id_a":15.2479992,"cg_id_raw_a":13.8435898,"cg_iq_a":-205.772385,"cg_iq_raw_a":-203.801437,"cg_iu_a":34.5791512,"cg_iv_a":157.113693,"cg_iw_a":-191.692841,"cg_sample_age_us":23.7909088,"cg_sample_seq":7832367,"cg_sample_valid":1,"cg_theta_rad":2.56041813,"cg_vd_req_v":-2.1943233,"cg_vd_v":-2.1943233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26299858,"cg_vq_v":-8.26299858,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2533.66895,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1898193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1293.667358,"values":{"Elec_RPM":-2356.89941,"EncoderCos":16168,"EncoderSin":43618,"GapTicks":49781,"Mech_RPM":-471.379883,"cg_du":54.7442741,"cg_dv":53.4642334,"cg_dw":45.2557259,"cg_id_a":16.2649555,"cg_id_raw_a":16.3313465,"cg_iq_a":-205.453064,"cg_iq_raw_a":-206.040802,"cg_iu_a":3.19199085,"cg_iv_a":171.973663,"cg_iw_a":-175.165649,"cg_sample_age_us":23.7945461,"cg_sample_seq":7834120,"cg_sample_valid":1,"cg_theta_rad":2.61060143,"cg_vd_req_v":-2.22441196,"cg_vd_v":-2.22441196,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28448486,"cg_vq_v":-8.28448486,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2533.66895,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1294.003296,"values":{"Elec_RPM":-2353.06909,"EncoderCos":16010,"EncoderSin":21945,"GapTicks":49335,"Mech_RPM":-470.6138,"cg_du":55.1494064,"cg_dv":49.7855721,"cg_dw":44.8505936,"cg_id_a":-11.2171736,"cg_id_raw_a":-13.1186008,"cg_iq_a":-196.132843,"cg_iq_raw_a":-195.993103,"cg_iu_a":137.040466,"cg_iv_a":57.8418274,"cg_iw_a":-194.882294,"cg_sample_age_us":24.0163631,"cg_sample_seq":7835766,"cg_sample_valid":1,"cg_theta_rad":3.72258306,"cg_vd_req_v":-1.66679668,"cg_vd_v":-1.66679668,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44493008,"cg_vq_v":-8.44493008,"cg_vu_v":17.1558094,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1666565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1294.079363,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1294.079369,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1294.079374,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1294.331421,"values":{"Elec_RPM":-2348.75977,"EncoderCos":16425,"EncoderSin":21293,"GapTicks":49430,"Mech_RPM":-469.751953,"cg_du":55.0635452,"cg_dv":51.2144966,"cg_dw":44.9364548,"cg_id_a":2.14743471,"cg_id_raw_a":0.742848277,"cg_iq_a":-201.986252,"cg_iq_raw_a":-201.658661,"cg_iu_a":96.9185486,"cg_iv_a":107.930786,"cg_iw_a":-204.849335,"cg_sample_age_us":23.9909096,"cg_sample_seq":7837516,"cg_sample_valid":1,"cg_theta_rad":3.76164842,"cg_vd_req_v":-1.9353044,"cg_vd_v":-1.9353044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32051563,"cg_vq_v":-8.32051563,"cg_vu_v":45.3089333,"cg_vv_v":53.666893,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.4043484,"dclink_p_w":-2518.83838,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1294.68689,"values":{"Elec_RPM":-2353.94775,"EncoderCos":24268,"EncoderSin":14812,"GapTicks":49813,"Mech_RPM":-470.789551,"cg_du":45.2854156,"cg_dv":53.4614182,"cg_dw":54.7145844,"cg_id_a":2.96939182,"cg_id_raw_a":6.04177284,"cg_iq_a":-203.502106,"cg_iq_raw_a":-202.959686,"cg_iu_a":-154.251221,"cg_iv_a":-34.217514,"cg_iw_a":188.468735,"cg_sample_age_us":23.9218178,"cg_sample_seq":7839221,"cg_sample_valid":1,"cg_theta_rad":4.33391523,"cg_vd_req_v":-1.96167886,"cg_vd_v":-1.96167886,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30270481,"cg_vq_v":-8.30270481,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2492.35645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1630859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1295.018921,"values":{"Elec_RPM":-2345.14429,"EncoderCos":36365,"EncoderSin":13284,"GapTicks":49751,"Mech_RPM":-469.028839,"cg_du":54.7709618,"cg_dv":46.5719872,"cg_dw":45.2290382,"cg_id_a":3.95128393,"cg_id_raw_a":7.70514727,"cg_iq_a":-200.477264,"cg_iq_raw_a":-202.326752,"cg_iu_a":175.676392,"cg_iv_a":-3.77268982,"cg_iw_a":-171.903702,"cg_sample_age_us":24.0599995,"cg_sample_seq":7840916,"cg_sample_valid":1,"cg_theta_rad":4.91050625,"cg_vd_req_v":-1.99124086,"cg_vd_v":-1.99124086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39891529,"cg_vq_v":-8.39891529,"cg_vu_v":43.1094704,"cg_vv_v":42.6695786,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2398.45703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.236145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1295.038967,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1295.038972,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1295.038978,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1295.350952,"values":{"Elec_RPM":-2343.01685,"EncoderCos":46389,"EncoderSin":18574,"GapTicks":49745,"Mech_RPM":-468.603363,"cg_du":45.2228394,"cg_dv":54.7771606,"cg_dw":53.491066,"cg_id_a":12.78689,"cg_id_raw_a":11.2152672,"cg_iq_a":-199.312057,"cg_iq_raw_a":-199.974701,"cg_iu_a":-188.791595,"cg_iv_a":31.6737671,"cg_iw_a":157.117828,"cg_sample_age_us":23.9472733,"cg_sample_seq":7842616,"cg_sample_valid":1,"cg_theta_rad":5.49335957,"cg_vd_req_v":-2.26245093,"cg_vd_v":-2.26245093,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39146519,"cg_vq_v":-8.39146519,"cg_vu_v":1.31967759,"cg_vv_v":7.91806602,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.2536068,"dclink_p_w":-2359.44751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1295.706421,"values":{"Elec_RPM":-2345.15771,"EncoderCos":51818,"EncoderSin":28371,"GapTicks":49395,"Mech_RPM":-469.031525,"cg_du":55.0953712,"cg_dv":44.9046288,"cg_dw":48.4668274,"cg_id_a":-2.16026497,"cg_id_raw_a":-7.87863064,"cg_iq_a":-198.280396,"cg_iq_raw_a":-198.064377,"cg_iu_a":197.422699,"cg_iv_a":-79.341095,"cg_iw_a":-118.081604,"cg_sample_age_us":24.1727276,"cg_sample_seq":7844316,"cg_sample_valid":1,"cg_theta_rad":6.0809226,"cg_vd_req_v":-1.93885338,"cg_vd_v":-1.93885338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3953476,"cg_vq_v":-8.3953476,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2420.45166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.164856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1296.034546,"values":{"Elec_RPM":-2341.44824,"EncoderCos":51082,"EncoderSin":39540,"GapTicks":49303,"Mech_RPM":-468.289642,"cg_du":44.821373,"cg_dv":55.178627,"cg_dw":49.3184891,"cg_id_a":-10.7393274,"cg_id_raw_a":-7.53715515,"cg_iq_a":-197.546906,"cg_iq_raw_a":-198.467346,"cg_iu_a":-190.893738,"cg_iv_a":143.413513,"cg_iw_a":47.480217,"cg_sample_age_us":23.5545464,"cg_sample_seq":7846016,"cg_sample_valid":1,"cg_theta_rad":0.363110602,"cg_vd_req_v":-1.76731169,"cg_vd_v":-1.76731169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47034645,"cg_vq_v":-8.47034645,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1296.062807,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1296.062813,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1296.062819,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1296.370483,"values":{"Elec_RPM":-2336.13013,"EncoderCos":34708,"EncoderSin":52336,"GapTicks":49437,"Mech_RPM":-467.226044,"cg_du":48.1590919,"cg_dv":55.0567551,"cg_dw":44.9432449,"cg_id_a":3.48394442,"cg_id_raw_a":-2.02996778,"cg_iq_a":-198.598312,"cg_iq_raw_a":-198.101563,"cg_iu_a":-120.145775,"cg_iv_a":199.011566,"cg_iw_a":-93.8707352,"cg_sample_age_us":23.9036369,"cg_sample_seq":7847667,"cg_sample_valid":1,"cg_theta_rad":1.47029412,"cg_vd_req_v":-1.99304008,"cg_vd_v":-1.99304008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40202522,"cg_vq_v":-8.40202522,"cg_vu_v":100.295509,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1296.722046,"values":{"Elec_RPM":-2342.1543,"EncoderCos":33952,"EncoderSin":52414,"GapTicks":49759,"Mech_RPM":-468.430878,"cg_du":46.7702141,"cg_dv":54.7640991,"cg_dw":45.2359009,"cg_id_a":14.7621098,"cg_id_raw_a":15.5364714,"cg_iq_a":-204.778763,"cg_iq_raw_a":-204.537888,"cg_iu_a":-155.157318,"cg_iv_a":196.039566,"cg_iw_a":-40.8822479,"cg_sample_age_us":23.8054543,"cg_sample_seq":7849417,"cg_sample_valid":1,"cg_theta_rad":1.51173496,"cg_vd_req_v":-2.18987894,"cg_vd_v":-2.18987894,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26438141,"cg_vq_v":-8.26438141,"cg_vu_v":0.87978512,"cg_vv_v":17.1558094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1719971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1297.054077,"values":{"Elec_RPM":-2343.09229,"EncoderCos":15581,"EncoderSin":42652,"GapTicks":49576,"Mech_RPM":-468.618469,"cg_du":52.7599792,"cg_dv":54.9302521,"cg_dw":45.0697479,"cg_id_a":-2.01618457,"cg_id_raw_a":1.74628031,"cg_iq_a":-199.45401,"cg_iq_raw_a":-201.219574,"cg_iu_a":-3.80306911,"cg_iv_a":172.299866,"cg_iw_a":-168.496796,"cg_sample_age_us":23.8563633,"cg_sample_seq":7851067,"cg_sample_valid":1,"cg_theta_rad":2.61943793,"cg_vd_req_v":-1.8253305,"cg_vd_v":-1.8253305,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43726158,"cg_vq_v":-8.43726158,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1328125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1297.087123,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1297.08713,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1297.087135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1297.386108,"values":{"Elec_RPM":-2343.73926,"EncoderCos":12889,"EncoderSin":31760,"GapTicks":49856,"Mech_RPM":-468.747864,"cg_du":45.324398,"cg_dv":46.2885056,"cg_dw":54.675602,"cg_id_a":12.9312496,"cg_id_raw_a":12.6636505,"cg_iq_a":-202.421371,"cg_iq_raw_a":-200.132172,"cg_iu_a":-31.1309204,"cg_iv_a":-159.222488,"cg_iw_a":190.353409,"cg_sample_age_us":23.9654541,"cg_sample_seq":7852767,"cg_sample_valid":1,"cg_theta_rad":3.19611287,"cg_vd_req_v":-2.13618803,"cg_vd_v":-2.13618803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32537651,"cg_vq_v":-8.32537651,"cg_vu_v":144.28476,"cg_vv_v":139.445938,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1898193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1297.737671,"values":{"Elec_RPM":-2349.51221,"EncoderCos":16717,"EncoderSin":20891,"GapTicks":49566,"Mech_RPM":-469.902466,"cg_du":54.9395523,"cg_dv":52.1464653,"cg_dw":45.0604477,"cg_id_a":8.06063843,"cg_id_raw_a":5.74757624,"cg_iq_a":-205.347153,"cg_iq_raw_a":-207.128815,"cg_iu_a":71.6565857,"cg_iv_a":132.757843,"cg_iw_a":-204.414429,"cg_sample_age_us":24.0527267,"cg_sample_seq":7854466,"cg_sample_valid":1,"cg_theta_rad":3.78404999,"cg_vd_req_v":-2.07056499,"cg_vd_v":-2.07056499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25476646,"cg_vq_v":-8.25476646,"cg_vu_v":44.4291458,"cg_vv_v":56.3062477,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1298.047248,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1298.047254,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1298.047259,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1298.069702,"values":{"Elec_RPM":-2351.46753,"EncoderCos":25681,"EncoderSin":14255,"GapTicks":49345,"Mech_RPM":-470.293488,"cg_du":44.8592491,"cg_dv":49.8032074,"cg_dw":55.1407509,"cg_id_a":-13.1821804,"cg_id_raw_a":-15.8926916,"cg_iq_a":-198.585663,"cg_iq_raw_a":-200.527832,"cg_iu_a":-142.109543,"cg_iv_a":-48.026413,"cg_iw_a":190.135956,"cg_sample_age_us":23.8490906,"cg_sample_seq":7856166,"cg_sample_valid":1,"cg_theta_rad":4.35108757,"cg_vd_req_v":-1.66923678,"cg_vd_v":-1.66923678,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42930222,"cg_vq_v":-8.42930222,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2471.10547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1079102,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1298.581421,"values":{"Elec_RPM":-2346.47266,"EncoderCos":23043,"EncoderSin":50089,"GapTicks":49386,"Mech_RPM":-469.294556,"cg_du":51.1604652,"cg_dv":44.8966675,"cg_dw":55.1033325,"cg_id_a":-2.98202443,"cg_id_raw_a":-6.16287041,"cg_iq_a":-198.424042,"cg_iq_raw_a":-197.760269,"cg_iu_a":98.2233276,"cg_iv_a":-199.598129,"cg_iw_a":101.374802,"cg_sample_age_us":23.6127281,"cg_sample_seq":7858716,"cg_sample_valid":1,"cg_theta_rad":2.08377433,"cg_vd_req_v":-1.87176931,"cg_vd_v":-1.87176931,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42220688,"cg_vq_v":-8.42220688,"cg_vu_v":123.169922,"cg_vv_v":119.650772,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2406.5874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1577148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1298.911454,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1298.911465,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1298.911468,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1299.065796,"values":{"Elec_RPM":-2351.84668,"EncoderCos":25239,"EncoderSin":51116,"GapTicks":50105,"Mech_RPM":-470.369354,"cg_du":45.7073669,"cg_dv":45.5503693,"cg_dw":54.4496307,"cg_id_a":9.94398499,"cg_id_raw_a":11.9901962,"cg_iq_a":-205.147461,"cg_iq_raw_a":-205.435135,"cg_iu_a":-14.3862686,"cg_iv_a":-170.85675,"cg_iw_a":185.243027,"cg_sample_age_us":23.863636,"cg_sample_seq":7861066,"cg_sample_valid":1,"cg_theta_rad":1.96042466,"cg_vd_req_v":-2.06957698,"cg_vd_v":-2.06957698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25611401,"cg_vq_v":-8.25611401,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2465.5979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1299.071175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1299.071181,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1299.071187,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1299.397827,"values":{"Elec_RPM":-2354.56885,"EncoderCos":24791,"EncoderSin":50935,"GapTicks":49773,"Mech_RPM":-470.913788,"cg_du":46.8400726,"cg_dv":45.2483521,"cg_dw":54.7516479,"cg_id_a":1.38028991,"cg_id_raw_a":7.95414591,"cg_iq_a":-206.241165,"cg_iq_raw_a":-205.947403,"cg_iu_a":-2.24458432,"cg_iv_a":-176.003387,"cg_iw_a":178.247971,"cg_sample_age_us":23.8854542,"cg_sample_seq":7862817,"cg_sample_valid":1,"cg_theta_rad":1.98535478,"cg_vd_req_v":-1.89865291,"cg_vd_v":-1.89865291,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26468849,"cg_vq_v":-8.26468849,"cg_vu_v":115.69175,"cg_vv_v":118.770996,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.0766735,"dclink_p_w":-2608.18848,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1299.74939,"values":{"Elec_RPM":-2353.8999,"EncoderCos":16024,"EncoderSin":43428,"GapTicks":49934,"Mech_RPM":-470.779968,"cg_du":54.6048889,"cg_dv":54.0003548,"cg_dw":45.3951111,"cg_id_a":15.0854044,"cg_id_raw_a":15.3906374,"cg_iq_a":-205.510162,"cg_iq_raw_a":-207.908829,"cg_iu_a":15.0799675,"cg_iv_a":168.602982,"cg_iw_a":-188.104706,"cg_sample_age_us":23.8854542,"cg_sample_seq":7864516,"cg_sample_valid":1,"cg_theta_rad":2.58536744,"cg_vd_req_v":-2.17863345,"cg_vd_v":-2.17863345,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30179596,"cg_vq_v":-8.30179596,"cg_vu_v":127.568848,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2520.07227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1300.063552,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1300.063558,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1300.063563,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1300.081421,"values":{"Elec_RPM":-2351.95337,"EncoderCos":12895,"EncoderSin":32645,"GapTicks":49473,"Mech_RPM":-470.390656,"cg_du":44.9761429,"cg_dv":47.9320869,"cg_dw":55.0238571,"cg_id_a":1.61157858,"cg_id_raw_a":-4.91476965,"cg_iq_a":-197.064575,"cg_iq_raw_a":-198.936172,"cg_iu_a":-78.4291229,"cg_iv_a":-119.861694,"cg_iw_a":198.290817,"cg_sample_age_us":23.8490906,"cg_sample_seq":7866216,"cg_sample_valid":1,"cg_theta_rad":3.15057492,"cg_vd_req_v":-1.9206779,"cg_vd_v":-1.9206779,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4398098,"cg_vq_v":-8.4398098,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5076447,"dclink_p_w":-2526.08618,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1773071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1300.43689,"values":{"Elec_RPM":-2353.21753,"EncoderCos":12908,"EncoderSin":32700,"GapTicks":49461,"Mech_RPM":-470.643494,"cg_du":44.9651222,"cg_dv":48.0464668,"cg_dw":55.0348778,"cg_id_a":1.01420355,"cg_id_raw_a":-3.95278335,"cg_iq_a":-197.086487,"cg_iq_raw_a":-197.66835,"cg_iu_a":-35.1177444,"cg_iv_a":-156.431732,"cg_iw_a":191.549469,"cg_sample_age_us":23.9218178,"cg_sample_seq":7867970,"cg_sample_valid":1,"cg_theta_rad":3.19081807,"cg_vd_req_v":-1.91090465,"cg_vd_v":-1.91090465,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4349575,"cg_vq_v":-8.4349575,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2484.25073,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1300.768921,"values":{"Elec_RPM":-2357.45874,"EncoderCos":24624,"EncoderSin":14633,"GapTicks":49591,"Mech_RPM":-471.49176,"cg_du":45.0831184,"cg_dv":52.4076805,"cg_dw":54.9168816,"cg_id_a":-7.09741402,"cg_id_raw_a":1.70928705,"cg_iq_a":-201.88147,"cg_iq_raw_a":-204.847519,"cg_iu_a":-172.264404,"cg_iv_a":-8.26693726,"cg_iw_a":180.531342,"cg_sample_age_us":23.9254551,"cg_sample_seq":7869616,"cg_sample_valid":1,"cg_theta_rad":4.30180359,"cg_vd_req_v":-1.7602644,"cg_vd_v":-1.7602644,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35543442,"cg_vq_v":-8.35543442,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2452.61279,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1301.055129,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1301.055135,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1301.05514,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1301.097046,"values":{"Elec_RPM":-2352.55957,"EncoderCos":25356,"EncoderSin":14327,"GapTicks":49372,"Mech_RPM":-470.511932,"cg_du":44.8840904,"cg_dv":50.5027733,"cg_dw":55.1159096,"cg_id_a":-14.9667397,"cg_id_raw_a":-13.0206957,"cg_iq_a":-200.19133,"cg_iq_raw_a":-202.181641,"cg_iu_a":-148.814651,"cg_iv_a":-40.2339935,"cg_iw_a":189.048645,"cg_sample_age_us":23.8345451,"cg_sample_seq":7871366,"cg_sample_valid":1,"cg_theta_rad":4.34318256,"cg_vd_req_v":-1.6211468,"cg_vd_v":-1.6211468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4082756,"cg_vq_v":-8.4082756,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2478.71143,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1301.452515,"values":{"Elec_RPM":-2357.69214,"EncoderCos":45135,"EncoderSin":17389,"GapTicks":49307,"Mech_RPM":-471.538422,"cg_du":44.8251076,"cg_dv":55.1748924,"cg_dw":50.1844902,"cg_id_a":-12.310915,"cg_id_raw_a":-16.0844116,"cg_iq_a":-195.967209,"cg_iq_raw_a":-195.49057,"cg_iu_a":-194.953049,"cg_iv_a":82.378891,"cg_iw_a":112.574158,"cg_sample_age_us":25.1472721,"cg_sample_seq":7873021,"cg_sample_valid":1,"cg_theta_rad":5.45407534,"cg_vd_req_v":-1.7483809,"cg_vd_v":-1.7483809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4443922,"cg_vq_v":-8.4443922,"cg_vu_v":122.730026,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4043503,"dclink_p_w":-2511.18237,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1301.784546,"values":{"Elec_RPM":-2353.24365,"EncoderCos":46314,"EncoderSin":18509,"GapTicks":49705,"Mech_RPM":-470.648743,"cg_du":45.1869659,"cg_dv":54.8130341,"cg_dw":53.324707,"cg_id_a":9.71339798,"cg_id_raw_a":8.91458988,"cg_iq_a":-200.358887,"cg_iq_raw_a":-197.85437,"cg_iu_a":-189.552704,"cg_iv_a":41.6045837,"cg_iw_a":147.94812,"cg_sample_age_us":23.8054543,"cg_sample_seq":7874767,"cg_sample_valid":1,"cg_theta_rad":5.49342442,"cg_vd_req_v":-2.20013547,"cg_vd_v":-2.20013547,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3479166,"cg_vq_v":-8.3479166,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":118.3311,"control_outputs_enabled":1,"dclink_i_a":-16.5870514,"dclink_p_w":-2393.25879,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.20047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1302.047749,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1302.047756,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1302.047761,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1302.116577,"values":{"Elec_RPM":-2343.17334,"EncoderCos":51365,"EncoderSin":38764,"GapTicks":49563,"Mech_RPM":-468.634644,"cg_du":45.057991,"cg_dv":54.942009,"cg_dw":47.3695984,"cg_id_a":-4.48965836,"cg_id_raw_a":0.855282724,"cg_iq_a":-199.771378,"cg_iq_raw_a":-201.735062,"cg_iu_a":-174.982697,"cg_iv_a":167.551926,"cg_iw_a":7.43077087,"cg_sample_age_us":23.5545464,"cg_sample_seq":7876417,"cg_sample_valid":1,"cg_theta_rad":0.320890635,"cg_vd_req_v":-1.87677705,"cg_vd_v":-1.87677705,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43362141,"cg_vq_v":-8.43362141,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.8320274,"dclink_p_w":-2588.57837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1302.46814,"values":{"Elec_RPM":-2343.56445,"EncoderCos":51071,"EncoderSin":39549,"GapTicks":49311,"Mech_RPM":-468.712891,"cg_du":44.8282051,"cg_dv":55.1717949,"cg_dw":49.3437004,"cg_id_a":-9.8938303,"cg_id_raw_a":-9.31740284,"cg_iq_a":-195.754974,"cg_iq_raw_a":-196.97641,"cg_iu_a":-187.051895,"cg_iv_a":142.000015,"cg_iw_a":45.0518799,"cg_sample_age_us":23.5072727,"cg_sample_seq":7878167,"cg_sample_valid":1,"cg_theta_rad":0.361823112,"cg_vd_req_v":-1.77276421,"cg_vd_v":-1.77276421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48267746,"cg_vq_v":-8.48267746,"cg_vu_v":110.413033,"cg_vv_v":115.69175,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2427.56885,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2111816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1302.800171,"values":{"Elec_RPM":-2343.0603,"EncoderCos":34613,"EncoderSin":52318,"GapTicks":49458,"Mech_RPM":-468.612061,"cg_du":47.9987793,"cg_dv":55.0373154,"cg_dw":44.9626846,"cg_id_a":5.22716331,"cg_id_raw_a":1.06792068,"cg_iq_a":-201.57312,"cg_iq_raw_a":-200.647049,"cg_iu_a":-124.35006,"cg_iv_a":201.729858,"cg_iw_a":-77.3797913,"cg_sample_age_us":23.8163643,"cg_sample_seq":7879817,"cg_sample_valid":1,"cg_theta_rad":1.4775573,"cg_vd_req_v":-2.02291203,"cg_vd_v":-2.02291203,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34237862,"cg_vq_v":-8.34237862,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2525.16235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1303.039306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1303.039312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1303.039317,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1303.15564,"values":{"Elec_RPM":-2340.48682,"EncoderCos":34912,"EncoderSin":52347,"GapTicks":49369,"Mech_RPM":-468.097351,"cg_du":48.5711937,"cg_dv":55.1189079,"cg_dw":44.8810921,"cg_id_a":1.61871016,"cg_id_raw_a":-3.46283913,"cg_iq_a":-198.870346,"cg_iq_raw_a":-198.388901,"cg_iu_a":-160.013992,"cg_iv_a":194.444855,"cg_iw_a":-40.9547348,"cg_sample_age_us":23.8054543,"cg_sample_seq":7881572,"cg_sample_valid":1,"cg_theta_rad":1.51447666,"cg_vd_req_v":-1.96174455,"cg_vd_v":-1.96174455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41272545,"cg_vq_v":-8.41272545,"cg_vu_v":104.694435,"cg_vv_v":105.134323,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2399.27246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1898193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1303.487671,"values":{"Elec_RPM":-2345.5979,"EncoderCos":22956,"EncoderSin":50002,"GapTicks":49353,"Mech_RPM":-469.119568,"cg_du":51.4190559,"cg_dv":44.8672638,"cg_dw":55.1327362,"cg_id_a":-1.06238556,"cg_id_raw_a":-4.22134733,"cg_iq_a":-197.154633,"cg_iq_raw_a":-196.607483,"cg_iu_a":104.167313,"cg_iv_a":-197.459747,"cg_iw_a":93.2924347,"cg_sample_age_us":23.6963634,"cg_sample_seq":7883267,"cg_sample_valid":1,"cg_theta_rad":2.09283566,"cg_vd_req_v":-1.90249407,"cg_vd_v":-1.90249407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47517586,"cg_vq_v":-8.47517586,"cg_vu_v":118.770996,"cg_vv_v":116.571533,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1415806,"dclink_p_w":-2480.80933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1303.819702,"values":{"Elec_RPM":-2342.58325,"EncoderCos":14971,"EncoderSin":41578,"GapTicks":49355,"Mech_RPM":-468.516663,"cg_du":49.8388176,"cg_dv":55.1314201,"cg_dw":44.8685799,"cg_id_a":-10.3760118,"cg_id_raw_a":-12.0023918,"cg_iq_a":-196.561798,"cg_iq_raw_a":-197.602432,"cg_iu_a":-63.7866135,"cg_iv_a":194.009918,"cg_iw_a":-130.223297,"cg_sample_age_us":23.9109097,"cg_sample_seq":7884966,"cg_sample_valid":1,"cg_theta_rad":2.68547487,"cg_vd_req_v":-1.66392136,"cg_vd_v":-1.66392136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44033241,"cg_vq_v":-8.44033241,"cg_vu_v":16.7159176,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1304.063439,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1304.063445,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1304.063451,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1304.171265,"values":{"Elec_RPM":-2339.80273,"EncoderCos":13006,"EncoderSin":30683,"GapTicks":49670,"Mech_RPM":-467.960571,"cg_du":47.346096,"cg_dv":45.1553459,"cg_dw":54.8446541,"cg_id_a":-3.78357077,"cg_id_raw_a":1.18464613,"cg_iq_a":-206.008255,"cg_iq_raw_a":-207.433868,"cg_iu_a":0.219996452,"cg_iv_a":-178.178009,"cg_iw_a":179.480255,"cg_sample_age_us":23.9327278,"cg_sample_seq":7886666,"cg_sample_valid":1,"cg_theta_rad":3.24762917,"cg_vd_req_v":-1.79747069,"cg_vd_v":-1.79747069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27251148,"cg_vq_v":-8.27251148,"cg_vu_v":4.83881807,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.6634922,"dclink_p_w":-2548.57275,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1304.503296,"values":{"Elec_RPM":-2346.58691,"EncoderCos":17135,"EncoderSin":20316,"GapTicks":49818,"Mech_RPM":-469.317383,"cg_du":54.7104378,"cg_dv":53.6497841,"cg_dw":45.2895622,"cg_id_a":11.4288216,"cg_id_raw_a":10.3791771,"cg_iq_a":-204.065033,"cg_iq_raw_a":-202.969803,"cg_iu_a":32.4407654,"cg_iv_a":156.570038,"cg_iw_a":-189.010803,"cg_sample_age_us":23.9690914,"cg_sample_seq":7888367,"cg_sample_valid":1,"cg_theta_rad":3.81972194,"cg_vd_req_v":-2.13068008,"cg_vd_v":-2.13068008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3291235,"cg_vq_v":-8.3291235,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2509.65918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1304.839233,"values":{"Elec_RPM":-2348.96118,"EncoderCos":26448,"EncoderSin":13958,"GapTicks":49380,"Mech_RPM":-469.792236,"cg_du":44.8912086,"cg_dv":48.2278748,"cg_dw":55.1087914,"cg_id_a":1.61764872,"cg_id_raw_a":-3.7202251,"cg_iq_a":-194.917267,"cg_iq_raw_a":-192.812531,"cg_iu_a":-96.4060669,"cg_iv_a":-99.3114471,"cg_iw_a":195.717514,"cg_sample_age_us":23.8418179,"cg_sample_seq":7890067,"cg_sample_valid":1,"cg_theta_rad":4.39858437,"cg_vd_req_v":-1.97890484,"cg_vd_v":-1.97890484,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47915268,"cg_vq_v":-8.47915268,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2414.95459,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1274719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1305.055323,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1305.055329,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1305.055335,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1305.190796,"values":{"Elec_RPM":-2349.82642,"EncoderCos":51656,"EncoderSin":27429,"GapTicks":49300,"Mech_RPM":-469.965271,"cg_du":55.181572,"cg_dv":44.818428,"cg_dw":50.2752228,"cg_id_a":-17.453022,"cg_id_raw_a":-17.1348858,"cg_iq_a":-195.087921,"cg_iq_raw_a":-194.592606,"cg_iu_a":199.234894,"cg_iv_a":-100.507492,"cg_iw_a":-98.7274017,"cg_sample_age_us":25.6381817,"cg_sample_seq":7891670,"cg_sample_valid":1,"cg_theta_rad":6.06328821,"cg_vd_req_v":-1.61926341,"cg_vd_v":-1.61926341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51050949,"cg_vq_v":-8.51050949,"cg_vu_v":44.8690414,"cg_vv_v":40.9100075,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1305.522827,"values":{"Elec_RPM":-2345.20288,"EncoderCos":47277,"EncoderSin":19561,"GapTicks":49553,"Mech_RPM":-469.040558,"cg_du":45.0482483,"cg_dv":52.3703308,"cg_dw":54.9517517,"cg_id_a":-5.52930355,"cg_id_raw_a":-1.82264137,"cg_iq_a":-201.525208,"cg_iq_raw_a":-203.480118,"cg_iu_a":-167.335251,"cg_iv_a":-14.1746674,"cg_iw_a":181.509918,"cg_sample_age_us":23.9181824,"cg_sample_seq":7893466,"cg_sample_valid":1,"cg_theta_rad":5.56352615,"cg_vd_req_v":-1.88930047,"cg_vd_v":-1.88930047,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37479591,"cg_vq_v":-8.37479591,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2415.24219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1305.854858,"values":{"Elec_RPM":-2348.20337,"EncoderCos":50888,"EncoderSin":40012,"GapTicks":49311,"Mech_RPM":-469.640656,"cg_du":44.829071,"cg_dv":55.170929,"cg_dw":50.3827171,"cg_id_a":-5.89135838,"cg_id_raw_a":-9.87875748,"cg_iq_a":-195.320389,"cg_iq_raw_a":-195.08931,"cg_iu_a":-195.677917,"cg_iv_a":107.640854,"cg_iw_a":88.0370636,"cg_sample_age_us":23.4527264,"cg_sample_seq":7895117,"cg_sample_valid":1,"cg_theta_rad":0.400295913,"cg_vd_req_v":-1.86052644,"cg_vd_v":-1.86052644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47365189,"cg_vq_v":-8.47365189,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.2463589,"dclink_p_w":-2358.39551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1306.047132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1306.047138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1306.047144,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1306.206421,"values":{"Elec_RPM":-2351.30151,"EncoderCos":52184,"EncoderSin":30403,"GapTicks":49694,"Mech_RPM":-470.260315,"cg_du":54.8233681,"cg_dv":46.9218941,"cg_dw":45.1766319,"cg_id_a":0.976670861,"cg_id_raw_a":5.44165134,"cg_iq_a":-199.117035,"cg_iq_raw_a":-199.698807,"cg_iu_a":170.819717,"cg_iv_a":-1.63430786,"cg_iw_a":-169.18541,"cg_sample_age_us":24.0672722,"cg_sample_seq":7896917,"cg_sample_valid":1,"cg_theta_rad":6.17433643,"cg_vd_req_v":-1.94194138,"cg_vd_v":-1.94194138,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39463615,"cg_vq_v":-8.39463615,"cg_vu_v":106.014107,"cg_vv_v":95.0167923,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.6272488,"dclink_p_w":-2551.09741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1306.538452,"values":{"Elec_RPM":-2349.10352,"EncoderCos":33217,"EncoderSin":52448,"GapTicks":49982,"Mech_RPM":-469.820709,"cg_du":45.4389038,"cg_dv":54.5610962,"cg_dw":45.8786278,"cg_id_a":13.6271782,"cg_id_raw_a":20.2971344,"cg_iq_a":-204.76178,"cg_iq_raw_a":-204.708313,"cg_iu_a":-175.018936,"cg_iv_a":183.752899,"cg_iw_a":-12.0321579,"cg_sample_age_us":23.8672733,"cg_sample_seq":7898516,"cg_sample_valid":1,"cg_theta_rad":1.54775357,"cg_vd_req_v":-2.14750528,"cg_vd_v":-2.14750528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32456017,"cg_vq_v":-8.32456017,"cg_vu_v":10.5574207,"cg_vv_v":24.6339836,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1306.870483,"values":{"Elec_RPM":-2346.00122,"EncoderCos":22516,"EncoderSin":49726,"GapTicks":49514,"Mech_RPM":-469.200256,"cg_du":52.4050598,"cg_dv":45.0134697,"cg_dw":54.9865303,"cg_id_a":5.93226814,"cg_id_raw_a":3.12140727,"cg_iq_a":-199.045395,"cg_iq_raw_a":-198.830231,"cg_iu_a":130.335358,"cg_iv_a":-195.865005,"cg_iw_a":65.5296478,"cg_sample_age_us":23.6636372,"cg_sample_seq":7900217,"cg_sample_valid":1,"cg_theta_rad":2.11385369,"cg_vd_req_v":-2.04393601,"cg_vd_v":-2.04393601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40527916,"cg_vq_v":-8.40527916,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1684265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1307.071375,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1307.071381,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1307.071387,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1307.225952,"values":{"Elec_RPM":-2348.90723,"EncoderCos":14827,"EncoderSin":41142,"GapTicks":49411,"Mech_RPM":-469.781464,"cg_du":48.9440308,"cg_dv":55.0803604,"cg_dw":44.9196396,"cg_id_a":-5.93472052,"cg_id_raw_a":-9.80196571,"cg_iq_a":-200.305405,"cg_iq_raw_a":-198.991943,"cg_iu_a":-91.8393402,"cg_iv_a":200.678772,"cg_iw_a":-108.839439,"cg_sample_age_us":23.9654541,"cg_sample_seq":7901916,"cg_sample_valid":1,"cg_theta_rad":2.70452642,"cg_vd_req_v":-1.76789379,"cg_vd_v":-1.76789379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36613846,"cg_vq_v":-8.36613846,"cg_vu_v":40.0302238,"cg_vv_v":71.2625961,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-17.6363106,"dclink_p_w":-2544.65088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1307.557983,"values":{"Elec_RPM":-2354.00635,"EncoderCos":14440,"EncoderSin":40464,"GapTicks":49544,"Mech_RPM":-470.80127,"cg_du":47.5559006,"cg_dv":54.9598427,"cg_dw":45.0401573,"cg_id_a":10.1573334,"cg_id_raw_a":6.51953888,"cg_iq_a":-203.037064,"cg_iq_raw_a":-201.534241,"cg_iu_a":-138.158966,"cg_iv_a":199.591461,"cg_iw_a":-61.4325027,"cg_sample_age_us":23.9654541,"cg_sample_seq":7903666,"cg_sample_valid":1,"cg_theta_rad":2.74448347,"cg_vd_req_v":-2.09944487,"cg_vd_v":-2.09944487,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33083725,"cg_vq_v":-8.33083725,"cg_vu_v":21.1148415,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2418.09839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1307.909546,"values":{"Elec_RPM":-2352.2019,"EncoderCos":17038,"EncoderSin":20390,"GapTicks":49755,"Mech_RPM":-470.440399,"cg_du":54.7676086,"cg_dv":53.3184509,"cg_dw":45.2323914,"cg_id_a":13.2218733,"cg_id_raw_a":12.5897636,"cg_iq_a":-203.692902,"cg_iq_raw_a":-205.012924,"cg_iu_a":7.86744499,"cg_iv_a":168.240555,"cg_iw_a":-176.108002,"cg_sample_age_us":26.8309097,"cg_sample_seq":7905320,"cg_sample_valid":1,"cg_theta_rad":3.85924959,"cg_vd_req_v":-2.15421391,"cg_vd_v":-2.15421391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31196404,"cg_vq_v":-8.31196404,"cg_vu_v":22.8744144,"cg_vv_v":14.9563465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2496.53979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1308.063166,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1308.063172,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1308.063178,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1308.296265,"values":{"Elec_RPM":-2343.28833,"EncoderCos":19866,"EncoderSin":47783,"GapTicks":49337,"Mech_RPM":-468.657684,"cg_du":55.1472816,"cg_dv":44.8527184,"cg_dw":49.1164474,"cg_id_a":-12.9794035,"cg_id_raw_a":-15.6154032,"cg_iq_a":-197.430283,"cg_iq_raw_a":-198.053513,"cg_iu_a":196.842789,"cg_iv_a":-117.687057,"cg_iw_a":-79.1557312,"cg_sample_age_us":23.994545,"cg_sample_seq":7907216,"cg_sample_valid":1,"cg_theta_rad":2.28075504,"cg_vd_req_v":-1.68111897,"cg_vd_v":-1.68111897,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45210934,"cg_vq_v":-8.45210934,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2546.21948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1308.815796,"values":{"Elec_RPM":-2344.73779,"EncoderCos":52310,"EncoderSin":32754,"GapTicks":49527,"Mech_RPM":-468.94754,"cg_du":54.974865,"cg_dv":52.0265732,"cg_dw":45.025135,"cg_id_a":2.50270081,"cg_id_raw_a":-1.0709033,"cg_iq_a":-202.542542,"cg_iq_raw_a":-202.759445,"cg_iu_a":79.3402863,"cg_iv_a":122.790771,"cg_iw_a":-202.131058,"cg_sample_age_us":24.2672729,"cg_sample_seq":7909766,"cg_sample_valid":1,"cg_theta_rad":0.0122695714,"cg_vd_req_v":-2.03084993,"cg_vd_v":-2.03084993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32226944,"cg_vq_v":-8.32226944,"cg_vu_v":39.1504402,"cg_vv_v":43.549366,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2453.00903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1308.92683,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1308.926842,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1308.926845,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1309.054909,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1309.054915,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1309.054921,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1309.233765,"values":{"Elec_RPM":-2346.68848,"EncoderCos":44128,"EncoderSin":48820,"GapTicks":49463,"Mech_RPM":-469.337677,"cg_du":55.0330734,"cg_dv":44.9669266,"cg_dw":52.1339722,"cg_id_a":-8.60568142,"cg_id_raw_a":-0.558068097,"cg_iq_a":-197.61322,"cg_iq_raw_a":-199.592316,"cg_iu_a":174.734055,"cg_iv_a":-164.659058,"cg_iw_a":-10.0749969,"cg_sample_age_us":23.9218178,"cg_sample_seq":7912016,"cg_sample_valid":1,"cg_theta_rad":0.957750678,"cg_vd_req_v":-1.73408628,"cg_vd_v":-1.73408628,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45701408,"cg_vq_v":-8.45701408,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2419.66724,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1381531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1309.569702,"values":{"Elec_RPM":-2348.12964,"EncoderCos":15635,"EncoderSin":42806,"GapTicks":49694,"Mech_RPM":-469.625946,"cg_du":53.1241531,"cg_dv":54.8228149,"cg_dw":45.1771851,"cg_id_a":0.565301776,"cg_id_raw_a":5.54212093,"cg_iq_a":-199.098236,"cg_iq_raw_a":-200.824936,"cg_iu_a":1.1260922,"cg_iv_a":170.705109,"cg_iw_a":-171.831207,"cg_sample_age_us":23.8490906,"cg_sample_seq":7913616,"cg_sample_valid":1,"cg_theta_rad":2.61290407,"cg_vd_req_v":-1.8590008,"cg_vd_v":-1.8590008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40159416,"cg_vq_v":-8.40159416,"cg_vu_v":22.4345207,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6544323,"dclink_p_w":-2555.03174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2182922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1309.921265,"values":{"Elec_RPM":-2350.1521,"EncoderCos":23521,"EncoderSin":50355,"GapTicks":49334,"Mech_RPM":-470.030426,"cg_du":50.1752663,"cg_dv":44.8496399,"cg_dw":55.1503601,"cg_id_a":-13.2559423,"cg_id_raw_a":-17.1868649,"cg_iq_a":-197.151794,"cg_iq_raw_a":-197.268417,"cg_iu_a":113.554459,"cg_iv_a":-199.054459,"cg_iw_a":85.5,"cg_sample_age_us":23.6890907,"cg_sample_seq":7915421,"cg_sample_valid":1,"cg_theta_rad":2.09770298,"cg_vd_req_v":-1.63969898,"cg_vd_v":-1.63969898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45101166,"cg_vq_v":-8.45101166,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1167908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1310.079001,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1310.079007,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1310.079012,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1310.253296,"values":{"Elec_RPM":-2350.17773,"EncoderCos":16431,"EncoderSin":21288,"GapTicks":49427,"Mech_RPM":-470.035553,"cg_du":55.0659752,"cg_dv":51.2578087,"cg_dw":44.9340248,"cg_id_a":-0.000218272209,"cg_id_raw_a":-3.47572613,"cg_iq_a":-203.684387,"cg_iq_raw_a":-202.37175,"cg_iu_a":100.977859,"cg_iv_a":106.770996,"cg_iw_a":-207.748856,"cg_sample_age_us":23.994545,"cg_sample_seq":7917016,"cg_sample_valid":1,"cg_theta_rad":3.76031756,"cg_vd_req_v":-1.9132911,"cg_vd_v":-1.9132911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33571625,"cg_vq_v":-8.33571625,"cg_vu_v":47.0685043,"cg_vv_v":57.6259232,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1310.585327,"values":{"Elec_RPM":-2352.54932,"EncoderCos":13014,"EncoderSin":30495,"GapTicks":49558,"Mech_RPM":-470.509857,"cg_du":47.8869629,"cg_dv":45.0529022,"cg_dw":54.9470978,"cg_id_a":-10.0062723,"cg_id_raw_a":-4.13134146,"cg_iq_a":-203.372467,"cg_iq_raw_a":-205.128967,"cg_iu_a":6.20022869,"cg_iv_a":-178.794159,"cg_iw_a":172.593933,"cg_sample_age_us":24.1909084,"cg_sample_seq":7918816,"cg_sample_valid":1,"cg_theta_rad":3.25973105,"cg_vd_req_v":-1.66227019,"cg_vd_v":-1.66227019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35111046,"cg_vq_v":-8.35111046,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2404.22681,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1310.917358,"values":{"Elec_RPM":-2355.33081,"EncoderCos":36423,"EncoderSin":13299,"GapTicks":49742,"Mech_RPM":-471.066162,"cg_du":54.7794991,"cg_dv":46.7510414,"cg_dw":45.2205009,"cg_id_a":1.7574985,"cg_id_raw_a":6.50468397,"cg_iq_a":-200.092926,"cg_iq_raw_a":-201.584488,"cg_iu_a":174.879028,"cg_iv_a":-3.66397095,"cg_iw_a":-171.215057,"cg_sample_age_us":24.0636368,"cg_sample_seq":7920416,"cg_sample_valid":1,"cg_theta_rad":4.91346645,"cg_vd_req_v":-1.94279313,"cg_vd_v":-1.94279313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35745716,"cg_vq_v":-8.35745716,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1311.039383,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1311.039389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1311.039395,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1311.272827,"values":{"Elec_RPM":-2354.88892,"EncoderCos":26533,"EncoderSin":13950,"GapTicks":49445,"Mech_RPM":-470.977783,"cg_du":44.9505234,"cg_dv":48.0662193,"cg_dw":55.0494766,"cg_id_a":1.21534181,"cg_id_raw_a":-3.51302552,"cg_iq_a":-197.375839,"cg_iq_raw_a":-195.140915,"cg_iu_a":-79.37146,"cg_iv_a":-118.121994,"cg_iw_a":197.493454,"cg_sample_age_us":23.8381824,"cg_sample_seq":7922217,"cg_sample_valid":1,"cg_theta_rad":4.4071331,"cg_vd_req_v":-1.97306812,"cg_vd_v":-1.97306812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41392326,"cg_vq_v":-8.41392326,"cg_vu_v":102.494972,"cg_vv_v":95.0167923,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1311.604858,"values":{"Elec_RPM":-2351.24487,"EncoderCos":46908,"EncoderSin":19113,"GapTicks":49866,"Mech_RPM":-470.248962,"cg_du":45.3329735,"cg_dv":53.8242836,"cg_dw":54.6670265,"cg_id_a":5.92505693,"cg_id_raw_a":11.4914389,"cg_iq_a":-201.795822,"cg_iq_raw_a":-201.695679,"cg_iu_a":-178.063416,"cg_iv_a":12.2833252,"cg_iw_a":167.918488,"cg_sample_age_us":23.8272724,"cg_sample_seq":7923866,"cg_sample_valid":1,"cg_theta_rad":5.53475571,"cg_vd_req_v":-2.10830092,"cg_vd_v":-2.10830092,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36646366,"cg_vq_v":-8.36646366,"cg_vu_v":18.4754887,"cg_vv_v":23.3143044,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2424.15942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1311.956421,"values":{"Elec_RPM":-2352.07324,"EncoderCos":51972,"EncoderSin":29019,"GapTicks":49582,"Mech_RPM":-470.414673,"cg_du":54.9249535,"cg_dv":45.0750465,"cg_dw":47.3341141,"cg_id_a":14.3744822,"cg_id_raw_a":11.0934429,"cg_iq_a":-201.862183,"cg_iq_raw_a":-200.214569,"cg_iu_a":195.429291,"cg_iv_a":-50.3460236,"cg_iw_a":-145.083267,"cg_sample_age_us":24.1327267,"cg_sample_seq":7925567,"cg_sample_valid":1,"cg_theta_rad":6.1034193,"cg_vd_req_v":-2.25309968,"cg_vd_v":-2.25309968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32326508,"cg_vq_v":-8.32326508,"cg_vu_v":143.404984,"cg_vv_v":127.568848,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2453.91992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1559448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1312.031556,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1312.031561,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1312.031566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1312.288452,"values":{"Elec_RPM":-2346.35205,"EncoderCos":50783,"EncoderSin":40323,"GapTicks":49325,"Mech_RPM":-469.270386,"cg_du":44.8416138,"cg_dv":55.1583862,"cg_dw":51.0457726,"cg_id_a":-3.18616128,"cg_id_raw_a":-4.31332302,"cg_iq_a":-197.401154,"cg_iq_raw_a":-198.40152,"cg_iu_a":-198.106262,"cg_iv_a":102.566711,"cg_iw_a":95.5395508,"cg_sample_age_us":23.5363636,"cg_sample_seq":7927266,"cg_sample_valid":1,"cg_theta_rad":0.403765947,"cg_vd_req_v":-1.93290985,"cg_vd_v":-1.93290985,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43418217,"cg_vq_v":-8.43418217,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.6508064,"dclink_p_w":-2546.74243,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2094116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1312.620483,"values":{"Elec_RPM":-2343.66138,"EncoderCos":43797,"EncoderSin":49084,"GapTicks":49312,"Mech_RPM":-468.732269,"cg_du":55.1700516,"cg_dv":44.8299484,"cg_dw":51.0756569,"cg_id_a":-14.8737803,"cg_id_raw_a":-10.8330564,"cg_iq_a":-195.415024,"cg_iq_raw_a":-196.465668,"cg_iu_a":184.991058,"cg_iv_a":-147.624466,"cg_iw_a":-37.3665924,"cg_sample_age_us":23.954546,"cg_sample_seq":7928966,"cg_sample_valid":1,"cg_theta_rad":0.991086781,"cg_vd_req_v":-1.62440419,"cg_vd_v":-1.62440419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.522089,"cg_vq_v":-8.522089,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2460.97974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1312.972046,"values":{"Elec_RPM":-2343.39233,"EncoderCos":32927,"EncoderSin":52486,"GapTicks":49750,"Mech_RPM":-468.678467,"cg_du":45.2278786,"cg_dv":54.7721214,"cg_dw":46.6613464,"cg_id_a":4.65044546,"cg_id_raw_a":9.61755466,"cg_iq_a":-201.039352,"cg_iq_raw_a":-201.985428,"cg_iu_a":-172.554352,"cg_iv_a":173.423416,"cg_iw_a":-0.869064331,"cg_sample_age_us":23.8709087,"cg_sample_seq":7930666,"cg_sample_valid":1,"cg_theta_rad":1.56434703,"cg_vd_req_v":-1.95517409,"cg_vd_v":-1.95517409,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37568855,"cg_vq_v":-8.37568855,"cg_vu_v":38.2706528,"cg_vv_v":54.5466805,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1313.054946,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1313.054952,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1313.054957,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1313.304077,"values":{"Elec_RPM":-2347.57056,"EncoderCos":22209,"EncoderSin":49552,"GapTicks":49685,"Mech_RPM":-469.514099,"cg_du":53.0841637,"cg_dv":45.168457,"cg_dw":54.831543,"cg_id_a":8.98835945,"cg_id_raw_a":6.15500736,"cg_iq_a":-201.446472,"cg_iq_raw_a":-201.082703,"cg_iu_a":136.967987,"cg_iv_a":-196.336182,"cg_iw_a":59.3681946,"cg_sample_age_us":23.5472736,"cg_sample_seq":7932366,"cg_sample_valid":1,"cg_theta_rad":2.12336898,"cg_vd_req_v":-2.09662676,"cg_vd_v":-2.09662676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34572411,"cg_vq_v":-8.34572411,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2397.67041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1313.636108,"values":{"Elec_RPM":-2344.92383,"EncoderCos":14781,"EncoderSin":41239,"GapTicks":49365,"Mech_RPM":-468.984772,"cg_du":49.0578232,"cg_dv":55.1222763,"cg_dw":44.8777237,"cg_id_a":-7.04533243,"cg_id_raw_a":-10.5242929,"cg_iq_a":-200.178528,"cg_iq_raw_a":-199.380951,"cg_iu_a":-85.9678345,"cg_iv_a":199.66394,"cg_iw_a":-113.696106,"cg_sample_age_us":23.9654541,"cg_sample_seq":7934067,"cg_sample_valid":1,"cg_theta_rad":2.70096016,"cg_vd_req_v":-1.74628425,"cg_vd_v":-1.74628425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40244293,"cg_vq_v":-8.40244293,"cg_vu_v":115.69175,"cg_vv_v":142.525192,"cg_vw_v":135.926804,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1612854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1313.991577,"values":{"Elec_RPM":-2353.12402,"EncoderCos":13103,"EncoderSin":30064,"GapTicks":49427,"Mech_RPM":-470.624817,"cg_du":49.0193253,"cg_dv":44.9343071,"cg_dw":55.0656929,"cg_id_a":-18.4564133,"cg_id_raw_a":-15.5091629,"cg_iq_a":-199.676468,"cg_iq_raw_a":-201.441589,"cg_iu_a":24.8658028,"cg_iv_a":-183.469604,"cg_iw_a":158.603806,"cg_sample_age_us":23.863636,"cg_sample_seq":7935766,"cg_sample_valid":1,"cg_theta_rad":3.28254247,"cg_vd_req_v":-1.50401974,"cg_vd_v":-1.50401974,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41064835,"cg_vq_v":-8.41064835,"cg_vu_v":0,"cg_vv_v":1.75957024,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1314.047659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1314.047666,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1314.047671,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1314.323608,"values":{"Elec_RPM":-2350.69556,"EncoderCos":13229,"EncoderSin":29211,"GapTicks":49355,"Mech_RPM":-470.13913,"cg_du":50.7436752,"cg_dv":44.8689194,"cg_dw":55.1310806,"cg_id_a":-9.3818264,"cg_id_raw_a":-13.0957041,"cg_iq_a":-196.371857,"cg_iq_raw_a":-196.14624,"cg_iu_a":78.8691177,"cg_iv_a":-194.813934,"cg_iw_a":115.944817,"cg_sample_age_us":23.7981815,"cg_sample_seq":7937516,"cg_sample_valid":1,"cg_theta_rad":3.32556891,"cg_vd_req_v":-1.71996915,"cg_vd_v":-1.71996915,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45774555,"cg_vq_v":-8.45774555,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-16.5236244,"dclink_p_w":-2391.37573,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1314.65564,"values":{"Elec_RPM":-2346.19165,"EncoderCos":37610,"EncoderSin":13518,"GapTicks":49333,"Mech_RPM":-469.238342,"cg_du":55.1510429,"cg_dv":49.7310867,"cg_dw":44.8489571,"cg_id_a":-15.5176163,"cg_id_raw_a":-15.2972441,"cg_iq_a":-196.668793,"cg_iq_raw_a":-197.240829,"cg_iu_a":141.172272,"cg_iv_a":51.6441345,"cg_iw_a":-192.816406,"cg_sample_age_us":24.0090904,"cg_sample_seq":7939116,"cg_sample_valid":1,"cg_theta_rad":4.97683907,"cg_vd_req_v":-1.63167644,"cg_vd_v":-1.63167644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45601654,"cg_vq_v":-8.45601654,"cg_vu_v":45.7488289,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2392.94946,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1315.007202,"values":{"Elec_RPM":-2350.07837,"EncoderCos":27720,"EncoderSin":13583,"GapTicks":50069,"Mech_RPM":-470.015686,"cg_du":45.5175247,"cg_dv":45.7122803,"cg_dw":54.4824753,"cg_id_a":13.7404308,"cg_id_raw_a":14.4387808,"cg_iq_a":-206.438995,"cg_iq_raw_a":-205.996506,"cg_iu_a":-10.6531544,"cg_iv_a":-173.683777,"cg_iw_a":184.336929,"cg_sample_age_us":23.9581814,"cg_sample_seq":7940917,"cg_sample_valid":1,"cg_theta_rad":4.47851849,"cg_vd_req_v":-2.19751906,"cg_vd_v":-2.19751906,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27028179,"cg_vq_v":-8.27028179,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1315.038953,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1315.03896,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1315.038965,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1315.339233,"values":{"Elec_RPM":-2349.2229,"EncoderCos":52031,"EncoderSin":29405,"GapTicks":49788,"Mech_RPM":-469.844574,"cg_du":54.7379189,"cg_dv":45.2620811,"cg_dw":46.6146698,"cg_id_a":18.3385372,"cg_id_raw_a":16.3598289,"cg_iq_a":-205.670471,"cg_iq_raw_a":-203.025208,"cg_iu_a":190.391388,"cg_iv_a":-21.6046448,"cg_iw_a":-168.786743,"cg_sample_age_us":24.1581821,"cg_sample_seq":7942517,"cg_sample_valid":1,"cg_theta_rad":6.13457823,"cg_vd_req_v":-2.32483959,"cg_vd_v":-2.32483959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2434082,"cg_vq_v":-8.2434082,"cg_vu_v":35.1914063,"cg_vv_v":31.6722641,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1315.690796,"values":{"Elec_RPM":-2352.78101,"EncoderCos":48120,"EncoderSin":20550,"GapTicks":49354,"Mech_RPM":-470.556213,"cg_du":44.867466,"cg_dv":49.4421387,"cg_dw":55.132534,"cg_id_a":-6.96457195,"cg_id_raw_a":-9.10998917,"cg_iq_a":-198.280792,"cg_iq_raw_a":-197.567886,"cg_iu_a":-114.165543,"cg_iv_a":-81.5881958,"cg_iw_a":195.753738,"cg_sample_age_us":23.9218178,"cg_sample_seq":7944317,"cg_sample_valid":1,"cg_theta_rad":5.63006592,"cg_vd_req_v":-1.87002695,"cg_vd_v":-1.87002695,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38811302,"cg_vq_v":-8.38811302,"cg_vu_v":131.087982,"cg_vv_v":122.730026,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2426.98853,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1316.026733,"values":{"Elec_RPM":-2353.15869,"EncoderCos":43305,"EncoderSin":49399,"GapTicks":49321,"Mech_RPM":-470.631714,"cg_du":55.1618309,"cg_dv":44.8381691,"cg_dw":49.8168411,"cg_id_a":-12.6054134,"cg_id_raw_a":-13.1679678,"cg_iq_a":-195.355225,"cg_iq_raw_a":-195.23674,"cg_iu_a":193.254654,"cg_iv_a":-139.868286,"cg_iw_a":-48.0222778,"cg_sample_age_us":23.8272724,"cg_sample_seq":7945916,"cg_sample_valid":1,"cg_theta_rad":1.00776327,"cg_vd_req_v":-1.67920065,"cg_vd_v":-1.67920065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48968315,"cg_vq_v":-8.48968315,"cg_vu_v":33.4318352,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.0470181,"dclink_p_w":-2322.39917,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1316.063719,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1316.063724,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1316.06373,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1316.358765,"values":{"Elec_RPM":-2350.40723,"EncoderCos":42793,"EncoderSin":49680,"GapTicks":49359,"Mech_RPM":-470.081451,"cg_du":55.1276016,"cg_dv":44.8723984,"cg_dw":48.768856,"cg_id_a":-0.765386283,"cg_id_raw_a":-6.31931686,"cg_iq_a":-197.554642,"cg_iq_raw_a":-197.067276,"cg_iu_a":198.292542,"cg_iv_a":-97.0643158,"cg_iw_a":-101.228226,"cg_sample_age_us":23.9218178,"cg_sample_seq":7947667,"cg_sample_valid":1,"cg_theta_rad":1.0357188,"cg_vd_req_v":-1.93230534,"cg_vd_v":-1.93230534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43229771,"cg_vq_v":-8.43229771,"cg_vu_v":143.404984,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1316.710327,"values":{"Elec_RPM":-2347.32129,"EncoderCos":31974,"EncoderSin":52484,"GapTicks":49351,"Mech_RPM":-469.464264,"cg_du":44.8652382,"cg_dv":55.1347618,"cg_dw":49.0259094,"cg_id_a":-10.1709251,"cg_id_raw_a":-7.99445629,"cg_iq_a":-197.48349,"cg_iq_raw_a":-199.193344,"cg_iu_a":-185.457169,"cg_iv_a":150.626038,"cg_iw_a":34.8311234,"cg_sample_age_us":23.7654552,"cg_sample_seq":7949367,"cg_sample_valid":1,"cg_theta_rad":1.61260498,"cg_vd_req_v":-1.67279029,"cg_vd_v":-1.67279029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44182587,"cg_vq_v":-8.44182587,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2436.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1132507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1317.042358,"values":{"Elec_RPM":-2347.89258,"EncoderCos":21375,"EncoderSin":49020,"GapTicks":49855,"Mech_RPM":-469.578522,"cg_du":54.6763878,"cg_dv":45.3236122,"cg_dw":53.8322678,"cg_id_a":9.25265884,"cg_id_raw_a":12.5107317,"cg_iq_a":-202.644913,"cg_iq_raw_a":-202.598038,"cg_iu_a":171.435867,"cg_iv_a":-177.634354,"cg_iw_a":6.19848633,"cg_sample_age_us":24.0854549,"cg_sample_seq":7951067,"cg_sample_valid":1,"cg_theta_rad":2.18192577,"cg_vd_req_v":-2.08115911,"cg_vd_v":-2.08115911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36414146,"cg_vq_v":-8.36414146,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1317.055147,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1317.055154,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1317.055159,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1317.393921,"values":{"Elec_RPM":-2350.92896,"EncoderCos":14514,"EncoderSin":40608,"GapTicks":49497,"Mech_RPM":-470.185791,"cg_du":47.8864059,"cg_dv":55.0021133,"cg_dw":44.9978867,"cg_id_a":9.67315865,"cg_id_raw_a":4.81733847,"cg_iq_a":-202.154266,"cg_iq_raw_a":-200.459015,"cg_iu_a":-164.290771,"cg_iv_a":186.68866,"cg_iw_a":-22.3978958,"cg_sample_age_us":23.9654541,"cg_sample_seq":7952770,"cg_sample_valid":1,"cg_theta_rad":2.77996874,"cg_vd_req_v":-2.07903028,"cg_vd_v":-2.07903028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34940815,"cg_vq_v":-8.34940815,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2477.30127,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1345825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1317.725952,"values":{"Elec_RPM":-2352.25635,"EncoderCos":13265,"EncoderSin":28939,"GapTicks":49381,"Mech_RPM":-470.451263,"cg_du":51.2296295,"cg_dv":44.8920517,"cg_dw":55.1079483,"cg_id_a":-3.75548983,"cg_id_raw_a":-9.94064236,"cg_iq_a":-197.783173,"cg_iq_raw_a":-197.838409,"cg_iu_a":95.8312302,"cg_iv_a":-197.024811,"cg_iw_a":101.193573,"cg_sample_age_us":23.7545452,"cg_sample_seq":7954467,"cg_sample_valid":1,"cg_theta_rad":3.33897495,"cg_vd_req_v":-1.84181404,"cg_vd_v":-1.84181404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41901588,"cg_vq_v":-8.41901588,"cg_vu_v":126.249161,"cg_vv_v":122.290138,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2545.17383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1318.06189,"values":{"Elec_RPM":-2353.1626,"EncoderCos":18335,"EncoderSin":18895,"GapTicks":49335,"Mech_RPM":-470.632507,"cg_du":50.8316307,"cg_dv":55.1497993,"cg_dw":44.8502007,"cg_id_a":-14.6649132,"cg_id_raw_a":-12.8385792,"cg_iq_a":-196.33284,"cg_iq_raw_a":-195.891129,"cg_iu_a":-32.3632088,"cg_iv_a":184.550278,"cg_iw_a":-152.187073,"cg_sample_age_us":23.9654541,"cg_sample_seq":7956167,"cg_sample_valid":1,"cg_theta_rad":3.91608357,"cg_vd_req_v":-1.59144926,"cg_vd_v":-1.59144926,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46883392,"cg_vq_v":-8.46883392,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2522.24805,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1318.078814,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1318.07882,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1318.078825,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1318.56189,"values":{"Elec_RPM":-2347.3562,"EncoderCos":16870,"EncoderSin":20639,"GapTicks":49641,"Mech_RPM":-469.471222,"cg_du":54.8717728,"cg_dv":52.7688904,"cg_dw":45.1282272,"cg_id_a":9.93031311,"cg_id_raw_a":8.66760445,"cg_iq_a":-204.90979,"cg_iq_raw_a":-205.514175,"cg_iu_a":55.4193573,"cg_iv_a":145.334457,"cg_iw_a":-200.753815,"cg_sample_age_us":24.8963642,"cg_sample_seq":7958516,"cg_sample_valid":1,"cg_theta_rad":3.80428052,"cg_vd_req_v":-2.10630083,"cg_vd_v":-2.10630083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30559158,"cg_vq_v":-8.30559158,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-16.2119274,"dclink_p_w":-2353.39722,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1318.943382,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1318.943393,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1318.943396,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1319.054077,"values":{"Elec_RPM":-2343.26855,"EncoderCos":23366,"EncoderSin":50238,"GapTicks":49364,"Mech_RPM":-468.653687,"cg_du":50.5706863,"cg_dv":44.8764343,"cg_dw":55.1235657,"cg_id_a":-12.393899,"cg_id_raw_a":-17.9669189,"cg_iq_a":-198.159363,"cg_iq_raw_a":-198.507751,"cg_iu_a":71.7290802,"cg_iv_a":-192.494324,"cg_iw_a":136.60379,"cg_sample_age_us":23.7290916,"cg_sample_seq":7961016,"cg_sample_valid":1,"cg_theta_rad":2.05961561,"cg_vd_req_v":-1.66731942,"cg_vd_v":-1.66731942,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41629982,"cg_vq_v":-8.41629982,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2481.63599,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1319.071279,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1319.071286,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1319.071292,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1319.386108,"values":{"Elec_RPM":-2341.18945,"EncoderCos":33052,"EncoderSin":52467,"GapTicks":49880,"Mech_RPM":-468.237915,"cg_du":45.3455544,"cg_dv":54.6544456,"cg_dw":46.3233299,"cg_id_a":8.95064163,"cg_id_raw_a":14.869463,"cg_iq_a":-203.749313,"cg_iq_raw_a":-204.868027,"cg_iu_a":-174.402802,"cg_iv_a":176.975311,"cg_iw_a":-2.5725174,"cg_sample_age_us":23.8709087,"cg_sample_seq":7962817,"cg_sample_valid":1,"cg_theta_rad":1.56007981,"cg_vd_req_v":-2.04590535,"cg_vd_v":-2.04590535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30052185,"cg_vq_v":-8.30052185,"cg_vu_v":103.814644,"cg_vv_v":105.134323,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2403.9646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1319.741577,"values":{"Elec_RPM":-2344.00708,"EncoderCos":14946,"EncoderSin":41613,"GapTicks":49310,"Mech_RPM":-468.801422,"cg_du":49.8759804,"cg_dv":55.1721268,"cg_dw":44.8278732,"cg_id_a":-10.7692032,"cg_id_raw_a":-13.2262583,"cg_iq_a":-196.764648,"cg_iq_raw_a":-195.266983,"cg_iu_a":-60.5609093,"cg_iv_a":193.683716,"cg_iw_a":-133.122803,"cg_sample_age_us":23.8818188,"cg_sample_seq":7964466,"cg_sample_valid":1,"cg_theta_rad":2.68100262,"cg_vd_req_v":-1.6651969,"cg_vd_v":-1.6651969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48224831,"cg_vq_v":-8.48224831,"cg_vu_v":26.8334465,"cg_vv_v":27.2733402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2491.04907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2111816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1320.063539,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1320.063545,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1320.06355,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1320.069702,"values":{"Elec_RPM":-2342.13037,"EncoderCos":13048,"EncoderSin":30556,"GapTicks":49618,"Mech_RPM":-468.426056,"cg_du":47.73666,"cg_dv":45.1078835,"cg_dw":54.8921165,"cg_id_a":-7.82336712,"cg_id_raw_a":-0.690774143,"cg_iq_a":-203.496811,"cg_iq_raw_a":-204.658279,"cg_iu_a":3.22823477,"cg_iv_a":-176.981964,"cg_iw_a":173.753723,"cg_sample_age_us":23.954546,"cg_sample_seq":7966166,"cg_sample_valid":1,"cg_theta_rad":3.25635076,"cg_vd_req_v":-1.6995405,"cg_vd_v":-1.6995405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31584454,"cg_vq_v":-8.31584454,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2374.85278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1320.40564,"values":{"Elec_RPM":-2347.92944,"EncoderCos":17304,"EncoderSin":20098,"GapTicks":50041,"Mech_RPM":-469.585907,"cg_du":54.5080719,"cg_dv":54.1715012,"cg_dw":45.4919281,"cg_id_a":11.0243454,"cg_id_raw_a":10.7707434,"cg_iq_a":-206.008575,"cg_iq_raw_a":-208.58139,"cg_iu_a":22.1112709,"cg_iv_a":165.77597,"cg_iw_a":-187.887238,"cg_sample_age_us":23.8600006,"cg_sample_seq":7967866,"cg_sample_valid":1,"cg_theta_rad":3.8384366,"cg_vd_req_v":-2.10623765,"cg_vd_v":-2.10623765,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25076485,"cg_vq_v":-8.25076485,"cg_vu_v":38.2706528,"cg_vv_v":47.0685043,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2457.58081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1844482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1320.757202,"values":{"Elec_RPM":-2352.26099,"EncoderCos":17626,"EncoderSin":19688,"GapTicks":49780,"Mech_RPM":-470.452209,"cg_du":53.5019264,"cg_dv":54.7448959,"cg_dw":45.2551041,"cg_id_a":2.84354806,"cg_id_raw_a":7.29646206,"cg_iq_a":-201.213333,"cg_iq_raw_a":-202.035233,"cg_iu_a":1.63350594,"cg_iv_a":171.82869,"cg_iw_a":-173.462189,"cg_sample_age_us":23.954546,"cg_sample_seq":7969617,"cg_sample_valid":1,"cg_theta_rad":3.87378597,"cg_vd_req_v":-1.9382143,"cg_vd_v":-1.9382143,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37158203,"cg_vq_v":-8.37158203,"cg_vu_v":42.2296829,"cg_vv_v":71.2625961,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2396.91919,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1321.055077,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1321.055083,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1321.055089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1321.089233,"values":{"Elec_RPM":-2357.11035,"EncoderCos":37612,"EncoderSin":13537,"GapTicks":49336,"Mech_RPM":-471.422089,"cg_du":55.1483383,"cg_dv":49.7576332,"cg_dw":44.8516617,"cg_id_a":-15.4290457,"cg_id_raw_a":-17.1750069,"cg_iq_a":-195.97937,"cg_iq_raw_a":-193.570297,"cg_iu_a":140.664856,"cg_iv_a":47.5848083,"cg_iw_a":-188.249664,"cg_sample_age_us":24.0200005,"cg_sample_seq":7971267,"cg_sample_valid":1,"cg_theta_rad":4.97880268,"cg_vd_req_v":-1.61739278,"cg_vd_v":-1.61739278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45341969,"cg_vq_v":-8.45341969,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1321.440796,"values":{"Elec_RPM":-2352.10449,"EncoderCos":38570,"EncoderSin":13845,"GapTicks":49475,"Mech_RPM":-470.420898,"cg_du":55.0223427,"cg_dv":51.6294861,"cg_dw":44.9776573,"cg_id_a":0.626288056,"cg_id_raw_a":-1.62005031,"cg_iq_a":-203.417786,"cg_iq_raw_a":-202.664124,"cg_iu_a":101.412781,"cg_iv_a":101.298187,"cg_iw_a":-202.710968,"cg_sample_age_us":23.8745461,"cg_sample_seq":7973016,"cg_sample_valid":1,"cg_theta_rad":5.01902485,"cg_vd_req_v":-1.95711195,"cg_vd_v":-1.95711195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28502846,"cg_vq_v":-8.28502846,"cg_vu_v":23.7541981,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1415825,"dclink_p_w":-2480.80957,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1541748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1321.772827,"values":{"Elec_RPM":-2351.86987,"EncoderCos":52094,"EncoderSin":29765,"GapTicks":50041,"Mech_RPM":-470.373993,"cg_du":54.5075302,"cg_dv":45.4924698,"cg_dw":45.7409973,"cg_id_a":11.988781,"cg_id_raw_a":16.8517265,"cg_iq_a":-206.353149,"cg_iq_raw_a":-207.931198,"cg_iu_a":187.74559,"cg_iv_a":-28.1647949,"cg_iw_a":-162.04538,"cg_sample_age_us":24.0418186,"cg_sample_seq":7974666,"cg_sample_valid":1,"cg_theta_rad":6.14194441,"cg_vd_req_v":-2.19222689,"cg_vd_v":-2.19222689,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26888275,"cg_vq_v":-8.26888275,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2377.73779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1506348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1322.046929,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1322.046935,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1322.04694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1322.108765,"values":{"Elec_RPM":-2349.42432,"EncoderCos":52159,"EncoderSin":30337,"GapTicks":49705,"Mech_RPM":-469.884857,"cg_du":54.8132401,"cg_dv":46.6884575,"cg_dw":45.1867599,"cg_id_a":3.5685606,"cg_id_raw_a":7.24039364,"cg_iq_a":-201.223114,"cg_iq_raw_a":-199.860611,"cg_iu_a":171.182159,"cg_iv_a":-2.43167114,"cg_iw_a":-170.417709,"cg_sample_age_us":24.1145458,"cg_sample_seq":7976417,"cg_sample_valid":1,"cg_theta_rad":6.18079996,"cg_vd_req_v":-2.01081061,"cg_vd_v":-2.01081061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39105034,"cg_vq_v":-8.39105034,"cg_vu_v":23.7541981,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2528.9624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1322.460327,"values":{"Elec_RPM":-2347.53833,"EncoderCos":50172,"EncoderSin":41732,"GapTicks":49921,"Mech_RPM":-469.50766,"cg_du":45.3830833,"cg_dv":54.6169167,"cg_dw":54.0515976,"cg_id_a":13.8193922,"cg_id_raw_a":16.8041458,"cg_iq_a":-200.978027,"cg_iq_raw_a":-201.728699,"cg_iu_a":-186.471985,"cg_iv_a":30.4052429,"cg_iw_a":156.066742,"cg_sample_age_us":23.4345455,"cg_sample_seq":7978116,"cg_sample_valid":1,"cg_theta_rad":0.473984718,"cg_vd_req_v":-2.23220921,"cg_vd_v":-2.23220921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35626888,"cg_vq_v":-8.35626888,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.4529495,"dclink_p_w":-2381.14746,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1737671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1322.792358,"values":{"Elec_RPM":-2348.23096,"EncoderCos":42671,"EncoderSin":49765,"GapTicks":49427,"Mech_RPM":-469.64621,"cg_du":55.0661049,"cg_dv":44.9338951,"cg_dw":48.4595833,"cg_id_a":-0.737176657,"cg_id_raw_a":-7.85291004,"cg_iq_a":-199.610428,"cg_iq_raw_a":-198.751648,"cg_iu_a":199.706055,"cg_iv_a":-91.4465332,"cg_iw_a":-108.259521,"cg_sample_age_us":23.9654541,"cg_sample_seq":7979817,"cg_sample_valid":1,"cg_theta_rad":1.04618728,"cg_vd_req_v":-1.93239045,"cg_vd_v":-1.93239045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37559128,"cg_vq_v":-8.37559128,"cg_vu_v":105.574219,"cg_vv_v":76.1014175,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2481.63599,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1323.03944,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1323.039446,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1323.039451,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1323.12439,"values":{"Elec_RPM":-2346.6582,"EncoderCos":31787,"EncoderSin":52442,"GapTicks":49302,"Mech_RPM":-469.331665,"cg_du":44.820549,"cg_dv":55.179451,"cg_dw":49.4199524,"cg_id_a":-8.92246342,"cg_id_raw_a":-10.8319416,"cg_iq_a":-197.095734,"cg_iq_raw_a":-198.056702,"cg_iu_a":-188.030487,"cg_iv_a":143.268555,"cg_iw_a":36.9695129,"cg_sample_age_us":23.8672733,"cg_sample_seq":7981517,"cg_sample_valid":1,"cg_theta_rad":1.61644971,"cg_vd_req_v":-1.70801306,"cg_vd_v":-1.70801306,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47691917,"cg_vq_v":-8.47691917,"cg_vu_v":129.768311,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1323.475952,"values":{"Elec_RPM":-2347.12842,"EncoderCos":14417,"EncoderSin":40383,"GapTicks":49601,"Mech_RPM":-469.425659,"cg_du":47.4135437,"cg_dv":54.9075394,"cg_dw":45.0924606,"cg_id_a":12.5327187,"cg_id_raw_a":11.1591492,"cg_iq_a":-203.178024,"cg_iq_raw_a":-202.017609,"cg_iu_a":-143.704269,"cg_iv_a":198.250443,"cg_iw_a":-54.5461731,"cg_sample_age_us":23.994545,"cg_sample_seq":7983166,"cg_sample_valid":1,"cg_theta_rad":2.75043702,"cg_vd_req_v":-2.12066865,"cg_vd_v":-2.12066865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3059864,"cg_vq_v":-8.3059864,"cg_vu_v":38.7105446,"cg_vv_v":54.9865723,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2403.979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1323.807983,"values":{"Elec_RPM":-2346.76294,"EncoderCos":14149,"EncoderSin":39706,"GapTicks":50016,"Mech_RPM":-469.3526,"cg_du":45.9456329,"cg_dv":54.5305786,"cg_dw":45.4694214,"cg_id_a":13.6280098,"cg_id_raw_a":15.9953537,"cg_iq_a":-205.922546,"cg_iq_raw_a":-206.259384,"cg_iu_a":-167.915146,"cg_iv_a":192.995087,"cg_iw_a":-32.1112442,"cg_sample_age_us":23.994545,"cg_sample_seq":7984916,"cg_sample_valid":1,"cg_theta_rad":2.78565192,"cg_vd_req_v":-2.12804461,"cg_vd_v":-2.12804461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25207806,"cg_vq_v":-8.25207806,"cg_vu_v":38.7105446,"cg_vv_v":62.0248489,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2503.3645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1324.063138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1324.063142,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1324.063147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1324.143921,"values":{"Elec_RPM":-2349.2168,"EncoderCos":17800,"EncoderSin":19508,"GapTicks":49604,"Mech_RPM":-469.843384,"cg_du":52.8487129,"cg_dv":54.9050102,"cg_dw":45.0949898,"cg_id_a":-3.12975717,"cg_id_raw_a":3.08881021,"cg_iq_a":-198.303085,"cg_iq_raw_a":-201.049393,"cg_iu_a":-7.57242775,"cg_iv_a":173.60463,"cg_iw_a":-166.032196,"cg_sample_age_us":23.9909096,"cg_sample_seq":7986568,"cg_sample_valid":1,"cg_theta_rad":3.88525248,"cg_vd_req_v":-1.81380725,"cg_vd_v":-1.81380725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45306873,"cg_vq_v":-8.45306873,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1915894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1324.495483,"values":{"Elec_RPM":-2346.73975,"EncoderCos":18632,"EncoderSin":18557,"GapTicks":49323,"Mech_RPM":-469.347931,"cg_du":49.8393707,"cg_dv":55.1608696,"cg_dw":44.8391304,"cg_id_a":-14.4838486,"cg_id_raw_a":-16.4673214,"cg_iq_a":-195.930389,"cg_iq_raw_a":-194.914703,"cg_iu_a":-58.4587708,"cg_iv_a":193.466248,"cg_iw_a":-135.007477,"cg_sample_age_us":24.0018177,"cg_sample_seq":7988316,"cg_sample_valid":1,"cg_theta_rad":3.94113994,"cg_vd_req_v":-1.61353993,"cg_vd_v":-1.61353993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47365379,"cg_vq_v":-8.47365379,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2429.14258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.236145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1324.827515,"values":{"Elec_RPM":-2347.10156,"EncoderCos":38822,"EncoderSin":13874,"GapTicks":49552,"Mech_RPM":-469.420288,"cg_du":54.9526596,"cg_dv":52.1348381,"cg_dw":45.0473404,"cg_id_a":1.73104048,"cg_id_raw_a":-1.92132056,"cg_iq_a":-204.117386,"cg_iq_raw_a":-203.430801,"cg_iu_a":78.1079941,"cg_iv_a":122.754524,"cg_iw_a":-200.862518,"cg_sample_age_us":23.9872723,"cg_sample_seq":7989967,"cg_sample_valid":1,"cg_theta_rad":5.04083204,"cg_vd_req_v":-1.99140179,"cg_vd_v":-1.99140179,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26661682,"cg_vq_v":-8.26661682,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1325.055228,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1325.055235,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1325.05524,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1325.179077,"values":{"Elec_RPM":-2354.62305,"EncoderCos":47482,"EncoderSin":19761,"GapTicks":49431,"Mech_RPM":-470.924622,"cg_du":44.9374809,"cg_dv":51.6194801,"cg_dw":55.0625191,"cg_id_a":-11.5546684,"cg_id_raw_a":-9.53356457,"cg_iq_a":-199.225342,"cg_iq_raw_a":-199.810333,"cg_iu_a":-128.083176,"cg_iv_a":-67.7068176,"cg_iw_a":195.789993,"cg_sample_age_us":23.823637,"cg_sample_seq":7991671,"cg_sample_valid":1,"cg_theta_rad":5.61867666,"cg_vd_req_v":-1.76913929,"cg_vd_v":-1.76913929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41938019,"cg_vq_v":-8.41938019,"cg_vu_v":104.254532,"cg_vv_v":102.055069,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2486.05493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1325.511108,"values":{"Elec_RPM":-2349.11401,"EncoderCos":48618,"EncoderSin":21214,"GapTicks":49411,"Mech_RPM":-469.822815,"cg_du":44.9190941,"cg_dv":47.9635391,"cg_dw":55.0809059,"cg_id_a":12.8028336,"cg_id_raw_a":8.84418964,"cg_iq_a":-199.602875,"cg_iq_raw_a":-200.084579,"cg_iu_a":-63.4241753,"cg_iv_a":-134.359222,"cg_iw_a":197.783401,"cg_sample_age_us":23.9581814,"cg_sample_seq":7993416,"cg_sample_valid":1,"cg_theta_rad":5.6696682,"cg_vd_req_v":-2.28564358,"cg_vd_v":-2.28564358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41020775,"cg_vq_v":-8.41020775,"cg_vu_v":21.5547352,"cg_vv_v":5.27871037,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2374.32837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00407873653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1325.84314,"values":{"Elec_RPM":-2347.56689,"EncoderCos":52280,"EncoderSin":31858,"GapTicks":49348,"Mech_RPM":-469.513367,"cg_du":55.1377831,"cg_dv":50.3456116,"cg_dw":44.8622169,"cg_id_a":-11.03403,"cg_id_raw_a":-11.9500847,"cg_iq_a":-197.78186,"cg_iq_raw_a":-198.995682,"cg_iu_a":125.369949,"cg_iv_a":72.1219025,"cg_iw_a":-197.491852,"cg_sample_age_us":24.0309086,"cg_sample_seq":7995116,"cg_sample_valid":1,"cg_theta_rad":6.25107813,"cg_vd_req_v":-1.74661517,"cg_vd_v":-1.74661517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41301346,"cg_vq_v":-8.41301346,"cg_vu_v":32.1121559,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2510.97363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1326.047283,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1326.04729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1326.047295,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1326.198608,"values":{"Elec_RPM":-2351.7583,"EncoderCos":49630,"EncoderSin":42812,"GapTicks":49525,"Mech_RPM":-470.351685,"cg_du":45.0234299,"cg_dv":52.0117455,"cg_dw":54.9765701,"cg_id_a":-5.7957058,"cg_id_raw_a":-3.48258591,"cg_iq_a":-201.452515,"cg_iq_raw_a":-202.868805,"cg_iu_a":-162.841003,"cg_iv_a":-22.4745178,"cg_iw_a":185.315521,"cg_sample_age_us":23.5254555,"cg_sample_seq":7996816,"cg_sample_valid":1,"cg_theta_rad":0.543958247,"cg_vd_req_v":-1.83494079,"cg_vd_v":-1.83494079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3405714,"cg_vq_v":-8.3405714,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2512.22827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1326.526733,"values":{"Elec_RPM":-2347.10156,"EncoderCos":41397,"EncoderSin":50387,"GapTicks":50024,"Mech_RPM":-469.420288,"cg_du":54.5235825,"cg_dv":45.4764175,"cg_dw":45.7254143,"cg_id_a":14.4319181,"cg_id_raw_a":17.193428,"cg_iq_a":-204.410431,"cg_iq_raw_a":-204.65004,"cg_iu_a":184.302429,"cg_iv_a":-15.298233,"cg_iw_a":-169.004196,"cg_sample_age_us":24.0381813,"cg_sample_seq":7998516,"cg_sample_valid":1,"cg_theta_rad":1.11721063,"cg_vd_req_v":-2.20881748,"cg_vd_v":-2.20881748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32328224,"cg_vq_v":-8.32328224,"cg_vu_v":50.5876465,"cg_vv_v":46.6286087,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1326.862671,"values":{"Elec_RPM":-2346.95532,"EncoderCos":30287,"EncoderSin":52346,"GapTicks":49517,"Mech_RPM":-469.391083,"cg_du":45.0154648,"cg_dv":54.9845352,"cg_dw":52.5087891,"cg_id_a":5.57288837,"cg_id_raw_a":3.44337368,"cg_iq_a":-197.367432,"cg_iq_raw_a":-197.181854,"cg_iu_a":-194.880554,"cg_iv_a":64.2569885,"cg_iw_a":130.623566,"cg_sample_age_us":23.7763634,"cg_sample_seq":8000216,"cg_sample_valid":1,"cg_theta_rad":1.69810939,"cg_vd_req_v":-1.99636674,"cg_vd_v":-1.99636674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44155312,"cg_vq_v":-8.44155312,"cg_vu_v":38.7105446,"cg_vv_v":54.5466805,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2375.11523,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2592,"hz_tim_isr":5001,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1327.070842,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1327.070848,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1327.070853,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1327.214233,"values":{"Elec_RPM":-2351.86133,"EncoderCos":13259,"EncoderSin":28914,"GapTicks":49366,"Mech_RPM":-470.372284,"cg_du":51.2807541,"cg_dv":44.8788109,"cg_dw":55.1211891,"cg_id_a":-3.4136157,"cg_id_raw_a":-8.0869112,"cg_iq_a":-198.442902,"cg_iq_raw_a":-198.511444,"cg_iu_a":99.6368332,"cg_iv_a":-197.495972,"cg_iw_a":113.407745,"cg_sample_age_us":23.6636372,"cg_sample_seq":8001816,"cg_sample_valid":1,"cg_theta_rad":3.33903146,"cg_vd_req_v":-1.85374713,"cg_vd_v":-1.85374713,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44591236,"cg_vq_v":-8.44591236,"cg_vu_v":15.3962402,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1327.546265,"values":{"Elec_RPM":-2348.7771,"EncoderCos":13835,"EncoderSin":38743,"GapTicks":49525,"Mech_RPM":-469.755432,"cg_du":45.0235786,"cg_dv":54.9764214,"cg_dw":47.6711121,"cg_id_a":-6.67542791,"cg_id_raw_a":-2.82022429,"cg_iq_a":-200.48114,"cg_iq_raw_a":-201.974503,"cg_iu_a":-175.236404,"cg_iv_a":169.40036,"cg_iw_a":-0.905303955,"cg_sample_age_us":23.9327278,"cg_sample_seq":8003617,"cg_sample_valid":1,"cg_theta_rad":2.83431959,"cg_vd_req_v":-1.72118986,"cg_vd_v":-1.72118986,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41406441,"cg_vq_v":-8.41406441,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5689297,"dclink_p_w":-2397.93262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1327.878296,"values":{"Elec_RPM":-2348.48413,"EncoderCos":27918,"EncoderSin":13576,"GapTicks":50040,"Mech_RPM":-469.696838,"cg_du":45.8623352,"cg_dv":45.4912949,"cg_dw":54.5087051,"cg_id_a":11.2565861,"cg_id_raw_a":16.1940613,"cg_iq_a":-205.143356,"cg_iq_raw_a":-205.837753,"cg_iu_a":-4.23799515,"cg_iv_a":-173.720032,"cg_iw_a":177.958023,"cg_sample_age_us":23.8963642,"cg_sample_seq":8005218,"cg_sample_valid":1,"cg_theta_rad":4.49095201,"cg_vd_req_v":-2.14055705,"cg_vd_v":-2.14055705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25387192,"cg_vq_v":-8.25387192,"cg_vu_v":107.333786,"cg_vv_v":99.4157181,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1328.063427,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1328.063432,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1328.063437,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1328.284546,"values":{"Elec_RPM":-2346.5542,"EncoderCos":13380,"EncoderSin":37058,"GapTicks":49347,"Mech_RPM":-469.310822,"cg_du":44.8612633,"cg_dv":55.1387367,"cg_dw":51.4465065,"cg_id_a":0.579244018,"cg_id_raw_a":-1.47441351,"cg_iq_a":-195.574005,"cg_iq_raw_a":-195.851379,"cg_iu_a":-196.584015,"cg_iv_a":92.6721344,"cg_iw_a":103.91188,"cg_sample_age_us":23.954546,"cg_sample_seq":8007116,"cg_sample_valid":1,"cg_theta_rad":2.9234879,"cg_vd_req_v":-1.88395703,"cg_vd_v":-1.88395703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49376965,"cg_vq_v":-8.49376965,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-16.2101154,"dclink_p_w":-2346.00342,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1328.804077,"values":{"Elec_RPM":-2338.86328,"EncoderCos":43743,"EncoderSin":16343,"GapTicks":49928,"Mech_RPM":-467.772675,"cg_du":45.3896179,"cg_dv":54.6103821,"cg_dw":45.9619942,"cg_id_a":9.06549835,"cg_id_raw_a":13.6067095,"cg_iq_a":-202.750702,"cg_iq_raw_a":-202.865234,"cg_iu_a":-171.612015,"cg_iv_a":178.642532,"cg_iw_a":-7.03051758,"cg_sample_age_us":23.9181824,"cg_sample_seq":8009816,"cg_sample_valid":1,"cg_theta_rad":5.32113123,"cg_vd_req_v":-2.15932918,"cg_vd_v":-2.15932918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3592186,"cg_vq_v":-8.3592186,"cg_vu_v":0.87978512,"cg_vv_v":7.03828096,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3786488,"dclink_p_w":-2370.39429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1328.927224,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1328.927236,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1328.927239,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1329.054825,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1329.054831,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1329.054836,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1329.225952,"values":{"Elec_RPM":-2347.86353,"EncoderCos":23069,"EncoderSin":50090,"GapTicks":49374,"Mech_RPM":-469.572723,"cg_du":51.1635284,"cg_dv":44.8861122,"cg_dw":55.1138878,"cg_id_a":-4.65596771,"cg_id_raw_a":-9.15966129,"cg_iq_a":-196.711823,"cg_iq_raw_a":-196.489166,"cg_iu_a":139.613785,"cg_iv_a":-192.603058,"cg_iw_a":52.9892731,"cg_sample_age_us":23.6054554,"cg_sample_seq":8011871,"cg_sample_valid":1,"cg_theta_rad":2.12596965,"cg_vd_req_v":-1.83058429,"cg_vd_v":-1.83058429,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47640705,"cg_vq_v":-8.47640705,"cg_vu_v":107.333786,"cg_vv_v":101.175293,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2386.39282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":1329.557983,"values":{"Elec_RPM":-2350.35669,"EncoderCos":31585,"EncoderSin":52456,"GapTicks":49285,"Mech_RPM":-470.07135,"cg_du":44.8054428,"cg_dv":55.1945572,"cg_dw":49.8770103,"cg_id_a":-8.30559921,"cg_id_raw_a":-10.9486589,"cg_iq_a":-194.753632,"cg_iq_raw_a":-194.220291,"cg_iu_a":-190.241348,"cg_iv_a":131.924225,"cg_iw_a":58.3171158,"cg_sample_age_us":23.8600006,"cg_sample_seq":8013667,"cg_sample_valid":1,"cg_theta_rad":1.6295861,"cg_vd_req_v":-1.7143389,"cg_vd_v":-1.7143389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51067448,"cg_vq_v":-8.51067448,"cg_vu_v":112.172607,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5203304,"dclink_p_w":-2535.62378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1329.890015,"values":{"Elec_RPM":-2346.52344,"EncoderCos":13102,"EncoderSin":29996,"GapTicks":49386,"Mech_RPM":-469.304688,"cg_du":49.1421967,"cg_dv":44.8964958,"cg_dw":55.1035042,"cg_id_a":-18.0104694,"cg_id_raw_a":-18.5849113,"cg_iq_a":-200.08812,"cg_iq_raw_a":-202.249741,"cg_iu_a":27.6565781,"cg_iv_a":-184.955627,"cg_iw_a":157.299042,"cg_sample_age_us":23.812727,"cg_sample_seq":8015266,"cg_sample_valid":1,"cg_theta_rad":3.28416967,"cg_vd_req_v":-1.52621675,"cg_vd_v":-1.52621675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40522957,"cg_vq_v":-8.40522957,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1330.079259,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1330.079265,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1330.079271,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1330.241577,"values":{"Elec_RPM":-2345.95435,"EncoderCos":17588,"EncoderSin":19741,"GapTicks":49800,"Mech_RPM":-469.190887,"cg_du":53.66716,"cg_dv":54.7269707,"cg_dw":45.2730293,"cg_id_a":5.00369263,"cg_id_raw_a":8.88308239,"cg_iq_a":-199.035583,"cg_iq_raw_a":-198.945984,"cg_iu_a":5.76530313,"cg_iv_a":167.515671,"cg_iw_a":-173.280975,"cg_sample_age_us":23.8818188,"cg_sample_seq":8016967,"cg_sample_valid":1,"cg_theta_rad":3.85826445,"cg_vd_req_v":-1.97007453,"cg_vd_v":-1.97007453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42842484,"cg_vq_v":-8.42842484,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1330.577515,"values":{"Elec_RPM":-2347.85083,"EncoderCos":13383,"EncoderSin":28442,"GapTicks":49434,"Mech_RPM":-469.57016,"cg_du":52.204361,"cg_dv":44.940094,"cg_dw":55.059906,"cg_id_a":6.35113335,"cg_id_raw_a":3.51593733,"cg_iq_a":-197.081635,"cg_iq_raw_a":-196.975754,"cg_iu_a":124.935028,"cg_iv_a":-196.481155,"cg_iw_a":82.2380524,"cg_sample_age_us":23.7000008,"cg_sample_seq":8018766,"cg_sample_valid":1,"cg_theta_rad":3.36371255,"cg_vd_req_v":-2.04269314,"cg_vd_v":-2.04269314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47650909,"cg_vq_v":-8.47650909,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2094116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1330.90564,"values":{"Elec_RPM":-2351.75879,"EncoderCos":38400,"EncoderSin":13773,"GapTicks":49436,"Mech_RPM":-470.351776,"cg_du":55.0581512,"cg_dv":51.3494644,"cg_dw":44.9418488,"cg_id_a":-5.7846818,"cg_id_raw_a":-8.92543507,"cg_iq_a":-202.204102,"cg_iq_raw_a":-201.322067,"cg_iu_a":104.710968,"cg_iv_a":101.443161,"cg_iw_a":-206.154129,"cg_sample_age_us":23.9872723,"cg_sample_seq":8020366,"cg_sample_valid":1,"cg_theta_rad":5.01876497,"cg_vd_req_v":-1.84158993,"cg_vd_v":-1.84158993,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32530022,"cg_vq_v":-8.32530022,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2436.92432,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1968994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1331.03961,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1331.039616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1331.039621,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1331.261108,"values":{"Elec_RPM":-2353.16113,"EncoderCos":28754,"EncoderSin":13351,"GapTicks":49523,"Mech_RPM":-470.632233,"cg_du":48.1799545,"cg_dv":45.0213928,"cg_dw":54.9786072,"cg_id_a":-13.3028584,"cg_id_raw_a":-8.80024624,"cg_iq_a":-202.509293,"cg_iq_raw_a":-203.928894,"cg_iu_a":12.1442175,"cg_iv_a":-181.041275,"cg_iw_a":168.897064,"cg_sample_age_us":23.8163643,"cg_sample_seq":8022166,"cg_sample_valid":1,"cg_theta_rad":4.52417374,"cg_vd_req_v":-1.64470565,"cg_vd_v":-1.64470565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34265709,"cg_vq_v":-8.34265709,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2497.59473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1331.59314,"values":{"Elec_RPM":-2355.28418,"EncoderCos":52166,"EncoderSin":30302,"GapTicks":49739,"Mech_RPM":-471.056854,"cg_du":54.7818375,"cg_dv":46.6728668,"cg_dw":45.2181625,"cg_id_a":2.21836472,"cg_id_raw_a":7.19190884,"cg_iq_a":-199.488785,"cg_iq_raw_a":-199.91449,"cg_iu_a":172.26947,"cg_iv_a":-3.84516907,"cg_iw_a":-168.424301,"cg_sample_age_us":24.1436367,"cg_sample_seq":8023767,"cg_sample_valid":1,"cg_theta_rad":6.1701622,"cg_vd_req_v":-1.96604228,"cg_vd_v":-1.96604228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38435173,"cg_vq_v":-8.38435173,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2560.69312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1331.944702,"values":{"Elec_RPM":-2361.88696,"EncoderCos":48796,"EncoderSin":21467,"GapTicks":49557,"Mech_RPM":-472.377411,"cg_du":45.0525742,"cg_dv":47.3601456,"cg_dw":54.9474258,"cg_id_a":16.4368649,"cg_id_raw_a":11.2864809,"cg_iq_a":-200.492691,"cg_iq_raw_a":-199.686432,"cg_iu_a":-58.0600891,"cg_iv_a":-136.678833,"cg_iw_a":194.738922,"cg_sample_age_us":23.9472733,"cg_sample_seq":8025566,"cg_sample_valid":1,"cg_theta_rad":5.67865324,"cg_vd_req_v":-2.33113909,"cg_vd_v":-2.33113909,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35856724,"cg_vq_v":-8.35856724,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.3877106,"dclink_p_w":-2371.70581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1332.062537,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1332.062543,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1332.062548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1332.276733,"values":{"Elec_RPM":-2358.96167,"EncoderCos":42642,"EncoderSin":49746,"GapTicks":49384,"Mech_RPM":-471.792328,"cg_du":55.1053696,"cg_dv":44.8946304,"cg_dw":48.4710503,"cg_id_a":1.78246427,"cg_id_raw_a":-3.28278422,"cg_iq_a":-199.111755,"cg_iq_raw_a":-198.550735,"cg_iu_a":200.394684,"cg_iv_a":-87.2784729,"cg_iw_a":-113.116211,"cg_sample_age_us":23.8272724,"cg_sample_seq":8027166,"cg_sample_valid":1,"cg_theta_rad":1.0480963,"cg_vd_req_v":-1.99804151,"cg_vd_v":-1.99804151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42466927,"cg_vq_v":-8.42466927,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1332.608765,"values":{"Elec_RPM":-2355.30347,"EncoderCos":49506,"EncoderSin":42933,"GapTicks":49423,"Mech_RPM":-471.060699,"cg_du":44.9306297,"cg_dv":51.5984383,"cg_dw":55.0693703,"cg_id_a":-8.62527657,"cg_id_raw_a":-6.69257259,"cg_iq_a":-200.385376,"cg_iq_raw_a":-201.899399,"cg_iu_a":-159.65155,"cg_iv_a":-26.7875366,"cg_iw_a":186.439087,"cg_sample_age_us":23.4345455,"cg_sample_seq":8028966,"cg_sample_valid":1,"cg_theta_rad":0.552335143,"cg_vd_req_v":-1.78547573,"cg_vd_v":-1.78547573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39694118,"cg_vq_v":-8.39694118,"cg_vu_v":3.51914048,"cg_vv_v":18.9153805,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2510.70801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1332.964233,"values":{"Elec_RPM":-2357.66431,"EncoderCos":21784,"EncoderSin":49300,"GapTicks":49949,"Mech_RPM":-471.532867,"cg_du":54.0371933,"cg_dv":45.4090767,"cg_dw":54.5909233,"cg_id_a":12.973897,"cg_id_raw_a":12.8151617,"cg_iq_a":-202.454681,"cg_iq_raw_a":-201.888489,"cg_iu_a":173.900452,"cg_iv_a":-176.547043,"cg_iw_a":4.02384949,"cg_sample_age_us":23.9218178,"cg_sample_seq":8030570,"cg_sample_valid":1,"cg_theta_rad":2.19627619,"cg_vd_req_v":-2.16180158,"cg_vd_v":-2.16180158,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32824993,"cg_vq_v":-8.32824993,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.9969368,"dclink_p_w":-2596.68359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1333.054808,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1333.054815,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1333.05482,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1333.296265,"values":{"Elec_RPM":-2359.80615,"EncoderCos":30070,"EncoderSin":52353,"GapTicks":49627,"Mech_RPM":-471.961243,"cg_du":45.1157417,"cg_dv":54.8842583,"cg_dw":52.8593597,"cg_id_a":9.34718895,"cg_id_raw_a":8.38933468,"cg_iq_a":-199.948242,"cg_iq_raw_a":-199.793625,"cg_iu_a":-195.134262,"cg_iv_a":52.3690033,"cg_iw_a":142.765259,"cg_sample_age_us":23.8600006,"cg_sample_seq":8032366,"cg_sample_valid":1,"cg_theta_rad":1.7071346,"cg_vd_req_v":-2.07264662,"cg_vd_v":-2.07264662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36287403,"cg_vq_v":-8.36287403,"cg_vu_v":1.31967759,"cg_vv_v":15.3962402,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1333.628296,"values":{"Elec_RPM":-2357.70483,"EncoderCos":13349,"EncoderSin":28714,"GapTicks":49399,"Mech_RPM":-471.540985,"cg_du":51.6635361,"cg_dv":44.9085541,"cg_dw":55.0914459,"cg_id_a":2.27638769,"cg_id_raw_a":-1.29518962,"cg_iq_a":-197.021484,"cg_iq_raw_a":-196.925446,"cg_iu_a":113.119537,"cg_iv_a":-196.807343,"cg_iw_a":98.6565094,"cg_sample_age_us":23.7800007,"cg_sample_seq":8033966,"cg_sample_valid":1,"cg_theta_rad":3.35017371,"cg_vd_req_v":-1.95366275,"cg_vd_v":-1.95366275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46229362,"cg_vq_v":-8.46229362,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2504.1228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1333.979858,"values":{"Elec_RPM":-2360.27246,"EncoderCos":13702,"EncoderSin":38368,"GapTicks":49371,"Mech_RPM":-472.054504,"cg_du":44.8834229,"cg_dv":55.1165771,"cg_dw":48.6498146,"cg_id_a":-10.5969553,"cg_id_raw_a":-6.5988493,"cg_iq_a":-196.108658,"cg_iq_raw_a":-197.283585,"cg_iu_a":-180.781708,"cg_iv_a":155.265259,"cg_iw_a":25.516449,"cg_sample_age_us":23.9618187,"cg_sample_seq":8035766,"cg_sample_valid":1,"cg_theta_rad":2.86056352,"cg_vd_req_v":-1.62658846,"cg_vd_v":-1.62658846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49483967,"cg_vq_v":-8.49483967,"cg_vu_v":113.492287,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2435.69946,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1334.047242,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1334.047248,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1334.047254,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1334.31189,"values":{"Elec_RPM":-2358.18042,"EncoderCos":28255,"EncoderSin":13486,"GapTicks":49774,"Mech_RPM":-471.636078,"cg_du":46.7437172,"cg_dv":45.2499542,"cg_dw":54.7500458,"cg_id_a":2.32690501,"cg_id_raw_a":8.20822334,"cg_iq_a":-205.558975,"cg_iq_raw_a":-205.845078,"cg_iu_a":-1.48346353,"cg_iv_a":-175.967148,"cg_iw_a":177.450607,"cg_sample_age_us":23.9363632,"cg_sample_seq":8037367,"cg_sample_valid":1,"cg_theta_rad":4.49656057,"cg_vd_req_v":-1.95634067,"cg_vd_v":-1.95634067,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28326225,"cg_vq_v":-8.28326225,"cg_vu_v":104.254532,"cg_vv_v":81.820015,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.2463589,"dclink_p_w":-2351.24878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1334.643921,"values":{"Elec_RPM":-2352.97852,"EncoderCos":39649,"EncoderSin":14147,"GapTicks":49925,"Mech_RPM":-470.595703,"cg_du":54.6132774,"cg_dv":53.9119263,"cg_dw":45.3867226,"cg_id_a":6.63795757,"cg_id_raw_a":6.42522526,"cg_iq_a":-203.927032,"cg_iq_raw_a":-206.174774,"cg_iu_a":31.0634995,"cg_iv_a":158.019775,"cg_iw_a":-189.083282,"cg_sample_age_us":23.8600006,"cg_sample_seq":8039066,"cg_sample_valid":1,"cg_theta_rad":5.08676624,"cg_vd_req_v":-2.08316422,"cg_vd_v":-2.08316422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32713699,"cg_vq_v":-8.32713699,"cg_vu_v":43.9892578,"cg_vv_v":68.6232376,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1334.995483,"values":{"Elec_RPM":-2351.97559,"EncoderCos":48500,"EncoderSin":21021,"GapTicks":49366,"Mech_RPM":-470.395142,"cg_du":44.8782501,"cg_dv":48.3247986,"cg_dw":55.1217499,"cg_id_a":6.54203987,"cg_id_raw_a":1.62701547,"cg_iq_a":-196.15451,"cg_iq_raw_a":-193.46138,"cg_iu_a":-75.1671753,"cg_iv_a":-120.187897,"cg_iw_a":195.355072,"cg_sample_age_us":23.8272724,"cg_sample_seq":8040767,"cg_sample_valid":1,"cg_theta_rad":5.66230965,"cg_vd_req_v":-2.14509773,"cg_vd_v":-2.14509773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44215012,"cg_vq_v":-8.44215012,"cg_vu_v":13.6366701,"cg_vv_v":0.87978512,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2506.99878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1335.070782,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1335.070788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1335.070793,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1335.331421,"values":{"Elec_RPM":-2350.96509,"EncoderCos":52284,"EncoderSin":31676,"GapTicks":49335,"Mech_RPM":-470.193024,"cg_du":55.1494255,"cg_dv":49.9599495,"cg_dw":44.8505745,"cg_id_a":-12.0501699,"cg_id_raw_a":-14.7341242,"cg_iq_a":-198.042694,"cg_iq_raw_a":-197.675629,"cg_iu_a":134.575897,"cg_iv_a":61.8286438,"cg_iw_a":-196.404541,"cg_sample_age_us":24.0490913,"cg_sample_seq":8042466,"cg_sample_valid":1,"cg_theta_rad":6.24104404,"cg_vd_req_v":-1.72075129,"cg_vd_v":-1.72075129,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40498352,"cg_vq_v":-8.40498352,"cg_vu_v":20.2350578,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2476.40674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1335.682983,"values":{"Elec_RPM":-2347.7583,"EncoderCos":49480,"EncoderSin":22506,"GapTicks":49844,"Mech_RPM":-469.551666,"cg_du":46.5580139,"cg_dv":45.3127594,"cg_dw":54.6872406,"cg_id_a":2.99854875,"cg_id_raw_a":8.85251141,"cg_iq_a":-207.257095,"cg_iq_raw_a":-209.105118,"cg_iu_a":-5.18033457,"cg_iv_a":-175.894653,"cg_iw_a":181.074982,"cg_sample_age_us":23.954546,"cg_sample_seq":8044266,"cg_sample_valid":1,"cg_theta_rad":5.75082874,"cg_vd_req_v":-2.02032614,"cg_vd_v":-2.02032614,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23794746,"cg_vq_v":-8.23794746,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2471.7002,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1336.015015,"values":{"Elec_RPM":-2350.80688,"EncoderCos":41574,"EncoderSin":50320,"GapTicks":49894,"Mech_RPM":-470.161377,"cg_du":54.6411934,"cg_dv":45.3588066,"cg_dw":46.1217041,"cg_id_a":15.7442732,"cg_id_raw_a":16.2658997,"cg_iq_a":-203.052979,"cg_iq_raw_a":-202.211472,"cg_iu_a":184.77359,"cg_iv_a":-26.0263977,"cg_iw_a":-158.747192,"cg_sample_age_us":24.0418186,"cg_sample_seq":8045867,"cg_sample_valid":1,"cg_theta_rad":1.1061033,"cg_vd_req_v":-2.2271421,"cg_vd_v":-2.2271421,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31854439,"cg_vq_v":-8.31854439,"cg_vu_v":106.893898,"cg_vv_v":101.615181,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2544.38306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1336.062476,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1336.062483,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1336.062488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1336.347046,"values":{"Elec_RPM":-2349.67334,"EncoderCos":48776,"EncoderSin":44110,"GapTicks":49356,"Mech_RPM":-469.934662,"cg_du":44.8698921,"cg_dv":48.679142,"cg_dw":55.1301079,"cg_id_a":0.8522228,"cg_id_raw_a":-6.34231281,"cg_iq_a":-195.740601,"cg_iq_raw_a":-197.61026,"cg_iu_a":-104.560928,"cg_iv_a":-89.4531097,"cg_iw_a":194.014038,"cg_sample_age_us":23.40909,"cg_sample_seq":8047666,"cg_sample_valid":1,"cg_theta_rad":0.613120139,"cg_vd_req_v":-1.99571562,"cg_vd_v":-1.99571562,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46149063,"cg_vq_v":-8.46149063,"cg_vu_v":103.374756,"cg_vv_v":98.9758301,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2420.22534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1336.698608,"values":{"Elec_RPM":-2354.59668,"EncoderCos":20145,"EncoderSin":48036,"GapTicks":49332,"Mech_RPM":-470.919312,"cg_du":55.1526108,"cg_dv":44.8473892,"cg_dw":49.9119377,"cg_id_a":-14.9327393,"cg_id_raw_a":-19.0002785,"cg_iq_a":-197.860184,"cg_iq_raw_a":-196.552673,"cg_iu_a":194.124512,"cg_iv_a":-135.591507,"cg_iw_a":-58.5330048,"cg_sample_age_us":24.0272732,"cg_sample_seq":8049266,"cg_sample_valid":1,"cg_theta_rad":2.26003981,"cg_vd_req_v":-1.62362051,"cg_vd_v":-1.62362051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45668411,"cg_vq_v":-8.45668411,"cg_vu_v":42.2296829,"cg_vv_v":39.590332,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2393.64624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1337.03064,"values":{"Elec_RPM":-2355.99561,"EncoderCos":28932,"EncoderSin":52156,"GapTicks":49830,"Mech_RPM":-471.199127,"cg_du":45.3008614,"cg_dv":53.5916748,"cg_dw":54.6991386,"cg_id_a":4.70694876,"cg_id_raw_a":11.4991398,"cg_iq_a":-203.376175,"cg_iq_raw_a":-202.951736,"cg_iu_a":-179.078247,"cg_iv_a":3.98348999,"cg_iw_a":175.094757,"cg_sample_age_us":23.8999996,"cg_sample_seq":8051066,"cg_sample_valid":1,"cg_theta_rad":1.76939368,"cg_vd_req_v":-1.94576371,"cg_vd_v":-1.94576371,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33328056,"cg_vq_v":-8.33328056,"cg_vu_v":39.1504402,"cg_vv_v":56.3062477,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2883701,"dclink_p_w":-2494.44824,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2111816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1337.055175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1337.055182,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1337.055187,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1337.362671,"values":{"Elec_RPM":-2357.68188,"EncoderCos":13654,"EncoderSin":27421,"GapTicks":50004,"Mech_RPM":-471.536377,"cg_du":54.2244949,"cg_dv":45.4590302,"cg_dw":54.5409698,"cg_id_a":15.545495,"cg_id_raw_a":16.7920418,"cg_iq_a":-201.708069,"cg_iq_raw_a":-200.951309,"cg_iu_a":167.666504,"cg_iv_a":-182.925934,"cg_iw_a":15.2594376,"cg_sample_age_us":24.1581821,"cg_sample_seq":8052666,"cg_sample_valid":1,"cg_theta_rad":3.41915107,"cg_vd_req_v":-2.19464684,"cg_vd_v":-2.19464684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32965851,"cg_vq_v":-8.32965851,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1337.71814,"values":{"Elec_RPM":-2350.95947,"EncoderCos":13362,"EncoderSin":37082,"GapTicks":49392,"Mech_RPM":-470.191895,"cg_du":44.9022179,"cg_dv":55.0977821,"cg_dw":51.4249077,"cg_id_a":-1.73294997,"cg_id_raw_a":-1.87769592,"cg_iq_a":-196.66806,"cg_iq_raw_a":-196.617249,"cg_iu_a":-197.852554,"cg_iv_a":95.3179474,"cg_iw_a":102.534607,"cg_sample_age_us":23.9363632,"cg_sample_seq":8054466,"cg_sample_valid":1,"cg_theta_rad":2.92749572,"cg_vd_req_v":-1.83556747,"cg_vd_v":-1.83556747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43182278,"cg_vq_v":-8.43182278,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2395.08911,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1338.050171,"values":{"Elec_RPM":-2356.23926,"EncoderCos":29736,"EncoderSin":13179,"GapTicks":49306,"Mech_RPM":-471.247864,"cg_du":50.3377571,"cg_dv":44.823864,"cg_dw":55.176136,"cg_id_a":-9.44057083,"cg_id_raw_a":-12.4412527,"cg_iq_a":-195.079468,"cg_iq_raw_a":-195.540649,"cg_iu_a":70.8954773,"cg_iv_a":-193.291702,"cg_iw_a":122.396225,"cg_sample_age_us":23.6527271,"cg_sample_seq":8056066,"cg_sample_valid":1,"cg_theta_rad":4.57603502,"cg_vd_req_v":-1.74663305,"cg_vd_v":-1.74663305,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50497913,"cg_vq_v":-8.50497913,"cg_vu_v":142.965088,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2467.30469,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1338.079315,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1338.079321,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1338.079327,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1338.542358,"values":{"Elec_RPM":-2346.72803,"EncoderCos":46228,"EncoderSin":18424,"GapTicks":49665,"Mech_RPM":-469.345612,"cg_du":45.1508026,"cg_dv":54.8491974,"cg_dw":53.1244736,"cg_id_a":6.8422389,"cg_id_raw_a":7.48774529,"cg_iq_a":-198.763931,"cg_iq_raw_a":-199.075439,"cg_iu_a":-181.796539,"cg_iv_a":8.40524292,"cg_iw_a":173.391296,"cg_sample_age_us":23.8199997,"cg_sample_seq":8058320,"cg_sample_valid":1,"cg_theta_rad":5.52781963,"cg_vd_req_v":-2.14417815,"cg_vd_v":-2.14417815,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37613773,"cg_vq_v":-8.37613773,"cg_vu_v":38.2706528,"cg_vv_v":44.8690414,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1338.942576,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1338.942588,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1338.942591,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1339.042358,"values":{"Elec_RPM":-2340.32666,"EncoderCos":49351,"EncoderSin":43166,"GapTicks":49381,"Mech_RPM":-468.065308,"cg_du":44.8925781,"cg_dv":50.9453773,"cg_dw":55.1074219,"cg_id_a":-9.44134521,"cg_id_raw_a":-7.26391554,"cg_iq_a":-198.169647,"cg_iq_raw_a":-199.709732,"cg_iu_a":-148.452209,"cg_iv_a":-39.5091248,"cg_iw_a":187.961334,"cg_sample_age_us":23.5072727,"cg_sample_seq":8061116,"cg_sample_valid":1,"cg_theta_rad":0.568309307,"cg_vd_req_v":-1.76985276,"cg_vd_v":-1.76985276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42602062,"cg_vq_v":-8.42602062,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1339.070521,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1339.070527,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1339.070532,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1339.37439,"values":{"Elec_RPM":-2350.49878,"EncoderCos":21192,"EncoderSin":48856,"GapTicks":49700,"Mech_RPM":-470.099762,"cg_du":54.8180008,"cg_dv":45.1819992,"cg_dw":53.17173,"cg_id_a":1.81205511,"cg_id_raw_a":6.72379303,"cg_iq_a":-202.106628,"cg_iq_raw_a":-203.450378,"cg_iu_a":172.559418,"cg_iv_a":-174.916061,"cg_iw_a":2.35664368,"cg_sample_age_us":24.0418186,"cg_sample_seq":8062717,"cg_sample_valid":1,"cg_theta_rad":2.1935432,"cg_vd_req_v":-1.92978346,"cg_vd_v":-1.92978346,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36764908,"cg_vq_v":-8.36764908,"cg_vu_v":135.047012,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2378.26221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1339.729858,"values":{"Elec_RPM":-2348.98975,"EncoderCos":14096,"EncoderSin":39605,"GapTicks":50047,"Mech_RPM":-469.797974,"cg_du":45.6187096,"cg_dv":54.5018768,"cg_dw":45.4981232,"cg_id_a":12.0569105,"cg_id_raw_a":13.2822695,"cg_iq_a":-203.481415,"cg_iq_raw_a":-204.529404,"cg_iu_a":-166.501633,"cg_iv_a":183.644165,"cg_iw_a":-17.14254,"cg_sample_age_us":23.9872723,"cg_sample_seq":8064416,"cg_sample_valid":1,"cg_theta_rad":2.79387832,"cg_vd_req_v":-2.09366918,"cg_vd_v":-2.09366918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34464359,"cg_vq_v":-8.34464359,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2533.66895,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2111816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1340.06189,"values":{"Elec_RPM":-2344.97656,"EncoderCos":13855,"EncoderSin":38816,"GapTicks":49601,"Mech_RPM":-468.995331,"cg_du":45.091835,"cg_dv":54.908165,"cg_dw":47.4862442,"cg_id_a":-3.4286077,"cg_id_raw_a":3.30807304,"cg_iq_a":-200.028931,"cg_iq_raw_a":-201.807785,"cg_iu_a":-174.982697,"cg_iv_a":169.110397,"cg_iw_a":5.87229919,"cg_sample_age_us":23.8963642,"cg_sample_seq":8066166,"cg_sample_valid":1,"cg_theta_rad":2.83367801,"cg_vd_req_v":-1.75826323,"cg_vd_v":-1.75826323,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39717197,"cg_vq_v":-8.39717197,"cg_vu_v":0.87978512,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2437.70898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1340.063292,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1340.063298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1340.063303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1340.393921,"values":{"Elec_RPM":-2345.11011,"EncoderCos":13569,"EncoderSin":27704,"GapTicks":49798,"Mech_RPM":-469.022034,"cg_du":53.6128197,"cg_dv":45.2710457,"cg_dw":54.7289543,"cg_id_a":15.8281631,"cg_id_raw_a":14.118434,"cg_iq_a":-200.942444,"cg_iq_raw_a":-199.867432,"cg_iu_a":160.816422,"cg_iv_a":-187.057755,"cg_iw_a":26.241333,"cg_sample_age_us":23.7254543,"cg_sample_seq":8067866,"cg_sample_valid":1,"cg_theta_rad":3.40530157,"cg_vd_req_v":-2.2247138,"cg_vd_v":-2.2247138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34591484,"cg_vq_v":-8.34591484,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.1847439,"dclink_p_w":-2335.21191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1340.745483,"values":{"Elec_RPM":-2347.65796,"EncoderCos":19132,"EncoderSin":18175,"GapTicks":49416,"Mech_RPM":-469.531586,"cg_du":48.6222153,"cg_dv":55.0760117,"cg_dw":44.9239883,"cg_id_a":-7.64330292,"cg_id_raw_a":-11.1957998,"cg_iq_a":-201.263611,"cg_iq_raw_a":-200.293976,"cg_iu_a":-95.3912354,"cg_iv_a":202.092285,"cg_iw_a":-106.70105,"cg_sample_age_us":23.9654541,"cg_sample_seq":8069567,"cg_sample_valid":1,"cg_theta_rad":3.96963334,"cg_vd_req_v":-1.7708571,"cg_vd_v":-1.7708571,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37496185,"cg_vq_v":-8.37496185,"cg_vu_v":125.809273,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1341.055097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1341.055103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1341.055128,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1341.077515,"values":{"Elec_RPM":-2345.78125,"EncoderCos":29276,"EncoderSin":13269,"GapTicks":49350,"Mech_RPM":-469.15625,"cg_du":49.430481,"cg_dv":44.8637352,"cg_dw":55.1362648,"cg_id_a":-16.4889126,"cg_id_raw_a":-15.2017612,"cg_iq_a":-197.301392,"cg_iq_raw_a":-199.452026,"cg_iu_a":37.5873871,"cg_iv_a":-186.260376,"cg_iw_a":148.672989,"cg_sample_age_us":23.8272724,"cg_sample_seq":8071267,"cg_sample_valid":1,"cg_theta_rad":4.55106258,"cg_vd_req_v":-1.58411527,"cg_vd_v":-1.58411527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45383358,"cg_vq_v":-8.45383358,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2487.89087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2290039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1341.429077,"values":{"Elec_RPM":-2341.35156,"EncoderCos":39836,"EncoderSin":14256,"GapTicks":50082,"Mech_RPM":-468.270294,"cg_du":54.470047,"cg_dv":54.3096466,"cg_dw":45.529953,"cg_id_a":7.75486231,"cg_id_raw_a":6.28721237,"cg_iq_a":-203.254898,"cg_iq_raw_a":-206.013489,"cg_iu_a":-0.359905005,"cg_iv_a":171.538742,"cg_iw_a":-171.178833,"cg_sample_age_us":23.8563633,"cg_sample_seq":8072970,"cg_sample_valid":1,"cg_theta_rad":5.13752842,"cg_vd_req_v":-2.08975458,"cg_vd_v":-2.08975458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29001331,"cg_vq_v":-8.29001331,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2406.5874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1341.761108,"values":{"Elec_RPM":-2347.19897,"EncoderCos":52262,"EncoderSin":31660,"GapTicks":49298,"Mech_RPM":-469.439789,"cg_du":55.1834335,"cg_dv":49.9480934,"cg_dw":44.8165665,"cg_id_a":-13.5291538,"cg_id_raw_a":-16.7765579,"cg_iq_a":-197.221344,"cg_iq_raw_a":-194.919235,"cg_iu_a":136.098129,"cg_iv_a":56.5370483,"cg_iw_a":-192.635178,"cg_sample_age_us":23.9836369,"cg_sample_seq":8074617,"cg_sample_valid":1,"cg_theta_rad":6.24101925,"cg_vd_req_v":-1.70727921,"cg_vd_v":-1.70727921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4655962,"cg_vq_v":-8.4655962,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2412.09521,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1342.046936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1342.046942,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1342.046948,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1342.097046,"values":{"Elec_RPM":-2338.18408,"EncoderCos":49430,"EncoderSin":22431,"GapTicks":49893,"Mech_RPM":-467.636841,"cg_du":46.2877426,"cg_dv":45.3573799,"cg_dw":54.6426201,"cg_id_a":6.45877457,"cg_id_raw_a":12.6522446,"cg_iq_a":-207.747864,"cg_iq_raw_a":-208.346817,"cg_iu_a":-4.85414028,"cg_iv_a":-175.459732,"cg_iw_a":180.313873,"cg_sample_age_us":23.8272724,"cg_sample_seq":8076417,"cg_sample_valid":1,"cg_theta_rad":5.74737358,"cg_vd_req_v":-2.10336065,"cg_vd_v":-2.10336065,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25559235,"cg_vq_v":-8.25559235,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2484.25073,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1342.448608,"values":{"Elec_RPM":-2344.65698,"EncoderCos":42064,"EncoderSin":50098,"GapTicks":49608,"Mech_RPM":-468.931396,"cg_du":54.9012947,"cg_dv":45.0987053,"cg_dw":47.2703972,"cg_id_a":15.6297245,"cg_id_raw_a":14.5956287,"cg_iq_a":-202.677765,"cg_iq_raw_a":-201.914978,"cg_iu_a":182.200287,"cg_iv_a":-12.6161804,"cg_iw_a":-169.584106,"cg_sample_age_us":23.8345451,"cg_sample_seq":8078020,"cg_sample_valid":1,"cg_theta_rad":1.12551081,"cg_vd_req_v":-2.2485249,"cg_vd_v":-2.2485249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30470085,"cg_vq_v":-8.30470085,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2503.59961,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1342.78064,"values":{"Elec_RPM":-2348.73853,"EncoderCos":40527,"EncoderSin":50766,"GapTicks":49513,"Mech_RPM":-469.747711,"cg_du":54.9878426,"cg_dv":47.7804604,"cg_dw":45.0121574,"cg_id_a":-7.67203426,"cg_id_raw_a":-2.17917633,"cg_iq_a":-198.41214,"cg_iq_raw_a":-201.850616,"cg_iu_a":167.920227,"cg_iv_a":8.1877594,"cg_iw_a":-176.107986,"cg_sample_age_us":23.994545,"cg_sample_seq":8079766,"cg_sample_valid":1,"cg_theta_rad":1.16252267,"cg_vd_req_v":-1.73991179,"cg_vd_v":-1.73991179,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42834091,"cg_vq_v":-8.42834091,"cg_vu_v":41.3499031,"cg_vv_v":40.9100075,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2414.43799,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1343.039664,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1343.03967,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1343.039676,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1343.112671,"values":{"Elec_RPM":-2351.86938,"EncoderCos":19935,"EncoderSin":47834,"GapTicks":49332,"Mech_RPM":-470.373871,"cg_du":55.1520576,"cg_dv":44.8479424,"cg_dw":49.3487244,"cg_id_a":-10.2515373,"cg_id_raw_a":-13.9258623,"cg_iq_a":-195.986496,"cg_iq_raw_a":-195.337814,"cg_iu_a":195.900452,"cg_iv_a":-118.88311,"cg_iw_a":-61.0700684,"cg_sample_age_us":23.994545,"cg_sample_seq":8081416,"cg_sample_valid":1,"cg_theta_rad":2.27409267,"cg_vd_req_v":-1.72276306,"cg_vd_v":-1.72276306,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48582172,"cg_vq_v":-8.48582172,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1343.464233,"values":{"Elec_RPM":-2349.97192,"EncoderCos":13736,"EncoderSin":38372,"GapTicks":49409,"Mech_RPM":-469.994385,"cg_du":44.9179077,"cg_dv":55.0820923,"cg_dw":48.6041069,"cg_id_a":-9.92857361,"cg_id_raw_a":-9.47250938,"cg_iq_a":-196.649826,"cg_iq_raw_a":-196.890625,"cg_iu_a":-177.447266,"cg_iv_a":163.383881,"cg_iw_a":14.0633926,"cg_sample_age_us":23.8418179,"cg_sample_seq":8083116,"cg_sample_valid":1,"cg_theta_rad":2.84883237,"cg_vd_req_v":-1.64207029,"cg_vd_v":-1.64207029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44075489,"cg_vq_v":-8.44075489,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2290039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1343.800171,"values":{"Elec_RPM":-2342.23022,"EncoderCos":13569,"EncoderSin":37864,"GapTicks":49323,"Mech_RPM":-468.446045,"cg_du":44.8394051,"cg_dv":55.1605949,"cg_dw":49.8075829,"cg_id_a":-10.8841925,"cg_id_raw_a":-14.5698185,"cg_iq_a":-196.767853,"cg_iq_raw_a":-196.930511,"cg_iu_a":-190.023895,"cg_iv_a":138.484375,"cg_iw_a":51.5395279,"cg_sample_age_us":23.9618187,"cg_sample_seq":8084867,"cg_sample_valid":1,"cg_theta_rad":2.88244653,"cg_vd_req_v":-1.63900161,"cg_vd_v":-1.63900161,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44220543,"cg_vq_v":-8.44220543,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.1651402,"dclink_p_w":-2476.66821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1344.03086,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1344.030865,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1344.030869,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1344.128296,"values":{"Elec_RPM":-2349.51758,"EncoderCos":13851,"EncoderSin":26715,"GapTicks":49640,"Mech_RPM":-469.903534,"cg_du":54.872036,"cg_dv":45.127964,"cg_dw":52.8850212,"cg_id_a":-0.676788926,"cg_id_raw_a":3.77697396,"cg_iq_a":-200.633118,"cg_iq_raw_a":-202.484192,"cg_iu_a":174.806549,"cg_iv_a":-167.37735,"cg_iw_a":-7.42919159,"cg_sample_age_us":24.0381813,"cg_sample_seq":8086567,"cg_sample_valid":1,"cg_theta_rad":3.46466255,"cg_vd_req_v":-1.86779916,"cg_vd_v":-1.86779916,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39934921,"cg_vq_v":-8.39934921,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1344.483765,"values":{"Elec_RPM":-2347.94629,"EncoderCos":20127,"EncoderSin":17281,"GapTicks":49926,"Mech_RPM":-469.589264,"cg_du":46.1537056,"cg_dv":54.6121483,"cg_dw":45.3878517,"cg_id_a":11.9970608,"cg_id_raw_a":12.3049555,"cg_iq_a":-205.324631,"cg_iq_raw_a":-204.491287,"cg_iu_a":-161.971161,"cg_iv_a":190.892944,"cg_iw_a":-28.9217834,"cg_sample_age_us":23.863636,"cg_sample_seq":8088267,"cg_sample_valid":1,"cg_theta_rad":4.03978729,"cg_vd_req_v":-2.14073825,"cg_vd_v":-2.14073825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28220367,"cg_vq_v":-8.28220367,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8461933,"dclink_p_w":-2438.05957,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2182922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1344.815796,"values":{"Elec_RPM":-2352.24438,"EncoderCos":30759,"EncoderSin":13058,"GapTicks":49500,"Mech_RPM":-470.448883,"cg_du":52.2501869,"cg_dv":45.0007515,"cg_dw":54.9992485,"cg_id_a":9.29823017,"cg_id_raw_a":9.07313251,"cg_iq_a":-199.344971,"cg_iq_raw_a":-198.044327,"cg_iu_a":132.002579,"cg_iv_a":-196.771103,"cg_iw_a":64.7685242,"cg_sample_age_us":23.5872726,"cg_sample_seq":8089966,"cg_sample_valid":1,"cg_theta_rad":4.62893343,"cg_vd_req_v":-2.12085342,"cg_vd_v":-2.12085342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36731148,"cg_vq_v":-8.36731148,"cg_vu_v":128.448624,"cg_vv_v":120.970459,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7269192,"dclink_p_w":-2557.72437,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1345.054875,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1345.054881,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1345.054886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1345.167358,"values":{"Elec_RPM":-2345.59302,"EncoderCos":40747,"EncoderSin":14589,"GapTicks":49505,"Mech_RPM":-469.118622,"cg_du":52.2151031,"cg_dv":54.9952621,"cg_dw":45.0047379,"cg_id_a":-10.0229397,"cg_id_raw_a":-4.23091793,"cg_iq_a":-198.788834,"cg_iq_raw_a":-199.044113,"cg_iu_a":-42.4389954,"cg_iv_a":191.182892,"cg_iw_a":-148.743896,"cg_sample_age_us":23.863636,"cg_sample_seq":8091671,"cg_sample_valid":1,"cg_theta_rad":5.18642998,"cg_vd_req_v":-1.73417056,"cg_vd_v":-1.73417056,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41396141,"cg_vq_v":-8.41396141,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1345.503296,"values":{"Elec_RPM":-2344.91309,"EncoderCos":49369,"EncoderSin":43196,"GapTicks":49382,"Mech_RPM":-468.982605,"cg_du":44.8929596,"cg_dv":50.8812714,"cg_dw":55.1070404,"cg_id_a":-10.6303911,"cg_id_raw_a":-9.76453686,"cg_iq_a":-198.188782,"cg_iq_raw_a":-197.662827,"cg_iu_a":-148.089783,"cg_iv_a":-38.0955963,"cg_iw_a":186.185379,"cg_sample_age_us":23.59091,"cg_sample_seq":8093267,"cg_sample_valid":1,"cg_theta_rad":0.565820038,"cg_vd_req_v":-1.73532522,"cg_vd_v":-1.73532522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39942932,"cg_vq_v":-8.39942932,"cg_vu_v":122.730026,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2524.87061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1345.831421,"values":{"Elec_RPM":-2345.81689,"EncoderCos":48825,"EncoderSin":43987,"GapTicks":49360,"Mech_RPM":-469.163391,"cg_du":44.8729477,"cg_dv":48.9093857,"cg_dw":55.1270523,"cg_id_a":-2.82502937,"cg_id_raw_a":-7.73665237,"cg_iq_a":-197.531479,"cg_iq_raw_a":-199.138351,"cg_iu_a":-100.827812,"cg_iv_a":-97.1368179,"cg_iw_a":197.96463,"cg_sample_age_us":23.5036373,"cg_sample_seq":8095016,"cg_sample_valid":1,"cg_theta_rad":0.616501272,"cg_vd_req_v":-1.92258525,"cg_vd_v":-1.92258525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41556072,"cg_vq_v":-8.41556072,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2503.88916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1346.078992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1346.078998,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1346.079003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1346.18689,"values":{"Elec_RPM":-2344.58423,"EncoderCos":41132,"EncoderSin":50546,"GapTicks":49902,"Mech_RPM":-468.91684,"cg_du":54.6341705,"cg_dv":46.0536575,"cg_dw":45.3658295,"cg_id_a":7.81015825,"cg_id_raw_a":10.5884008,"cg_iq_a":-203.145401,"cg_iq_raw_a":-203.908112,"cg_iu_a":159.547882,"cg_iv_a":19.242157,"cg_iw_a":-178.790039,"cg_sample_age_us":26.8781815,"cg_sample_seq":8096721,"cg_sample_valid":1,"cg_theta_rad":1.17721069,"cg_vd_req_v":-2.05975628,"cg_vd_v":-2.05975628,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35329151,"cg_vq_v":-8.35329151,"cg_vu_v":138.566162,"cg_vv_v":136.806595,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2449.07495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1346.518921,"values":{"Elec_RPM":-2348.32935,"EncoderCos":39427,"EncoderSin":51246,"GapTicks":49310,"Mech_RPM":-469.665863,"cg_du":55.1726799,"cg_dv":50.3897896,"cg_dw":44.8273201,"cg_id_a":-4.97927713,"cg_id_raw_a":-6.32180452,"cg_iq_a":-197.690369,"cg_iq_raw_a":-198.219986,"cg_iu_a":119.172256,"cg_iv_a":79.660614,"cg_iw_a":-198.83287,"cg_sample_age_us":23.9181824,"cg_sample_seq":8098466,"cg_sample_valid":1,"cg_theta_rad":1.22610879,"cg_vd_req_v":-1.82715404,"cg_vd_v":-1.82715404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45730686,"cg_vq_v":-8.45730686,"cg_vu_v":43.549366,"cg_vv_v":47.5083961,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2473.88135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1346.850952,"values":{"Elec_RPM":-2350.76611,"EncoderCos":19113,"EncoderSin":47104,"GapTicks":49554,"Mech_RPM":-470.153229,"cg_du":54.9500961,"cg_dv":45.0499039,"cg_dw":47.3815727,"cg_id_a":12.1148987,"cg_id_raw_a":6.90581131,"cg_iq_a":-200.877075,"cg_iq_raw_a":-199.0681,"cg_iu_a":195.719238,"cg_iv_a":-53.3905029,"cg_iw_a":-142.328735,"cg_sample_age_us":23.994545,"cg_sample_seq":8100117,"cg_sample_valid":1,"cg_theta_rad":2.33246613,"cg_vd_req_v":-2.17645979,"cg_vd_v":-2.17645979,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34397984,"cg_vq_v":-8.34397984,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1808777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1347.070837,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1347.070843,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1347.070848,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1347.202515,"values":{"Elec_RPM":-2349.61646,"EncoderCos":13542,"EncoderSin":27853,"GapTicks":49703,"Mech_RPM":-469.923309,"cg_du":53.3726692,"cg_dv":45.185009,"cg_dw":54.814991,"cg_id_a":13.2706175,"cg_id_raw_a":10.6450605,"cg_iq_a":-200.601578,"cg_iq_raw_a":-200.055862,"cg_iu_a":171.544601,"cg_iv_a":-176.32959,"cg_iw_a":4.78498077,"cg_sample_age_us":23.6018181,"cg_sample_seq":8101771,"cg_sample_valid":1,"cg_theta_rad":3.44037294,"cg_vd_req_v":-2.17342377,"cg_vd_v":-2.17342377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40305805,"cg_vq_v":-8.40305805,"cg_vu_v":106.893898,"cg_vv_v":96.7763672,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1347.534546,"values":{"Elec_RPM":-2351.88208,"EncoderCos":14019,"EncoderSin":26239,"GapTicks":49379,"Mech_RPM":-470.376434,"cg_du":55.1095161,"cg_dv":44.8904839,"cg_dw":51.5009537,"cg_id_a":-14.0195332,"cg_id_raw_a":-11.3896265,"cg_iq_a":-194.733749,"cg_iq_raw_a":-195.536575,"cg_iu_a":175.748886,"cg_iv_a":-159.04126,"cg_iw_a":-16.7076187,"cg_sample_age_us":23.9836369,"cg_sample_seq":8103517,"cg_sample_valid":1,"cg_theta_rad":3.48456526,"cg_vd_req_v":-1.59480894,"cg_vd_v":-1.59480894,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51252747,"cg_vq_v":-8.51252747,"cg_vu_v":35.6312981,"cg_vv_v":30.3525867,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1347.866577,"values":{"Elec_RPM":-2347.77441,"EncoderCos":20677,"EncoderSin":16881,"GapTicks":49821,"Mech_RPM":-469.554901,"cg_du":45.2925415,"cg_dv":54.7074585,"cg_dw":46.4614029,"cg_id_a":5.71806669,"cg_id_raw_a":11.60711,"cg_iq_a":-201.631699,"cg_iq_raw_a":-201.836716,"cg_iu_a":-172.699341,"cg_iv_a":174.691956,"cg_iw_a":-1.99262238,"cg_sample_age_us":23.9327278,"cg_sample_seq":8105216,"cg_sample_valid":1,"cg_theta_rad":4.07270861,"cg_vd_req_v":-2.00185204,"cg_vd_v":-2.00185204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33880329,"cg_vq_v":-8.33880329,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1348.062581,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1348.062587,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1348.062592,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1348.268921,"values":{"Elec_RPM":-2342.63867,"EncoderCos":14663,"EncoderSin":24497,"GapTicks":49480,"Mech_RPM":-468.52771,"cg_du":55.0180092,"cg_dv":44.9819908,"cg_dw":47.8140259,"cg_id_a":7.47290325,"cg_id_raw_a":3.42058873,"cg_iq_a":-198.361313,"cg_iq_raw_a":-198.087463,"cg_iu_a":197.495178,"cg_iv_a":-66.583252,"cg_iw_a":-130.911926,"cg_sample_age_us":24.0745449,"cg_sample_seq":8107016,"cg_sample_valid":1,"cg_theta_rad":3.57576251,"cg_vd_req_v":-2.06946325,"cg_vd_v":-2.06946325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39564896,"cg_vq_v":-8.39564896,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2378.87769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2129822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1348.788452,"values":{"Elec_RPM":-2336.75659,"EncoderCos":47128,"EncoderSin":46166,"GapTicks":49478,"Mech_RPM":-467.351318,"cg_du":48.2233391,"cg_dv":44.9801216,"cg_dw":55.0198784,"cg_id_a":-12.5229406,"cg_id_raw_a":-9.26709652,"cg_iq_a":-202.519135,"cg_iq_raw_a":-204.338272,"cg_iu_a":15.0799685,"cg_iv_a":-180.896301,"cg_iw_a":165.81633,"cg_sample_age_us":23.7981815,"cg_sample_seq":8109617,"cg_sample_valid":1,"cg_theta_rad":0.752197504,"cg_vd_req_v":-1.6829077,"cg_vd_v":-1.6829077,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34213829,"cg_vq_v":-8.34213829,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1348.926898,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1348.926911,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1348.926914,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1349.086983,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1349.086988,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1349.086994,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1349.214233,"values":{"Elec_RPM":-2337.3562,"EncoderCos":30815,"EncoderSin":52382,"GapTicks":49354,"Mech_RPM":-467.471252,"cg_du":44.8676643,"cg_dv":55.1323357,"cg_dw":51.4501114,"cg_id_a":-0.4729321,"cg_id_raw_a":-2.42561579,"cg_iq_a":-196.234222,"cg_iq_raw_a":-196.451691,"cg_iu_a":-191.76358,"cg_iv_a":59.1828308,"cg_iw_a":132.58075,"cg_sample_age_us":23.8527279,"cg_sample_seq":8111870,"cg_sample_valid":1,"cg_theta_rad":1.70344269,"cg_vd_req_v":-1.89389789,"cg_vd_v":-1.89389789,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48131847,"cg_vq_v":-8.48131847,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2512.54395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2861023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1349.546265,"values":{"Elec_RPM":-2340.15649,"EncoderCos":29415,"EncoderSin":52246,"GapTicks":49963,"Mech_RPM":-468.031281,"cg_du":45.421669,"cg_dv":54.578331,"cg_dw":54.170784,"cg_id_a":14.7890434,"cg_id_raw_a":14.5761576,"cg_iq_a":-200.585602,"cg_iq_raw_a":-200.280655,"cg_iu_a":-183.173798,"cg_iv_a":19.7857971,"cg_iw_a":163.388,"cg_sample_age_us":23.863636,"cg_sample_seq":8113617,"cg_sample_valid":1,"cg_theta_rad":1.73895407,"cg_vd_req_v":-2.16420555,"cg_vd_v":-2.16420555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36945057,"cg_vq_v":-8.36945057,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2475.72266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.20047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1349.878296,"values":{"Elec_RPM":-2346.04761,"EncoderCos":13488,"EncoderSin":28074,"GapTicks":49581,"Mech_RPM":-469.209503,"cg_du":52.9306488,"cg_dv":45.0737038,"cg_dw":54.9262962,"cg_id_a":10.9615326,"cg_id_raw_a":7.85385942,"cg_iq_a":-200.071838,"cg_iq_raw_a":-199.094315,"cg_iu_a":144.90538,"cg_iv_a":-192.965485,"cg_iw_a":48.060112,"cg_sample_age_us":23.7254543,"cg_sample_seq":8115217,"cg_sample_valid":1,"cg_theta_rad":3.38481402,"cg_vd_req_v":-2.13828278,"cg_vd_v":-2.13828278,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41054916,"cg_vq_v":-8.41054916,"cg_vu_v":126.689056,"cg_vv_v":119.650772,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5109386,"dclink_p_w":-2389.53979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1350.079186,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1350.079192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1350.079198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1350.233765,"values":{"Elec_RPM":-2346.74487,"EncoderCos":13504,"EncoderSin":37534,"GapTicks":49297,"Mech_RPM":-469.348969,"cg_du":44.8160553,"cg_dv":55.1839447,"cg_dw":50.4763603,"cg_id_a":-6.80439472,"cg_id_raw_a":-6.51512527,"cg_iq_a":-197.100601,"cg_iq_raw_a":-197.622589,"cg_iu_a":-196.439056,"cg_iv_a":119.347618,"cg_iw_a":77.0914383,"cg_sample_age_us":23.954546,"cg_sample_seq":8117016,"cg_sample_valid":1,"cg_theta_rad":2.9026494,"cg_vd_req_v":-1.73500407,"cg_vd_v":-1.73500407,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4730854,"cg_vq_v":-8.4730854,"cg_vu_v":38.7105446,"cg_vv_v":67.303566,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2482.82544,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1350.565796,"values":{"Elec_RPM":-2345.85815,"EncoderCos":29414,"EncoderSin":13245,"GapTicks":49369,"Mech_RPM":-469.171631,"cg_du":49.7531929,"cg_dv":44.8817062,"cg_dw":55.1182938,"cg_id_a":-17.9636307,"cg_id_raw_a":-16.2529926,"cg_iq_a":-197.643494,"cg_iq_raw_a":-198.342896,"cg_iu_a":49.8740463,"cg_iv_a":-190.718384,"cg_iw_a":140.84433,"cg_sample_age_us":23.8309097,"cg_sample_seq":8118616,"cg_sample_valid":1,"cg_theta_rad":4.56100321,"cg_vd_req_v":-1.57214642,"cg_vd_v":-1.57214642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41101074,"cg_vq_v":-8.41101074,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4913349,"dclink_p_w":-2523.73315,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1350.897827,"values":{"Elec_RPM":-2345.0498,"EncoderCos":20471,"EncoderSin":17024,"GapTicks":50024,"Mech_RPM":-469.009979,"cg_du":45.4767914,"cg_dv":54.5232086,"cg_dw":45.8864746,"cg_id_a":9.69943047,"cg_id_raw_a":12.9532347,"cg_iq_a":-204.33429,"cg_iq_raw_a":-205.9245,"cg_iu_a":-166.82782,"cg_iv_a":185.673828,"cg_iw_a":-18.8460007,"cg_sample_age_us":23.8999996,"cg_sample_seq":8120416,"cg_sample_valid":1,"cg_theta_rad":4.05087662,"cg_vd_req_v":-2.08242941,"cg_vd_v":-2.08242941,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27962875,"cg_vq_v":-8.27962875,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.20047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1351.038897,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1351.038904,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1351.038909,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1351.24939,"values":{"Elec_RPM":-2347.29248,"EncoderCos":49134,"EncoderSin":21981,"GapTicks":49919,"Mech_RPM":-469.458496,"cg_du":45.3813553,"cg_dv":46.0676346,"cg_dw":54.6186447,"cg_id_a":15.495389,"cg_id_raw_a":20.1473484,"cg_iq_a":-204.996414,"cg_iq_raw_a":-204.050568,"cg_iu_a":-21.0188904,"cg_iv_a":-168.210968,"cg_iw_a":189.229858,"cg_sample_age_us":23.9181824,"cg_sample_seq":8122016,"cg_sample_valid":1,"cg_theta_rad":5.71845961,"cg_vd_req_v":-2.29795337,"cg_vd_v":-2.29795337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28781509,"cg_vq_v":-8.28781509,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6942997,"dclink_p_w":-2560.80151,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1351.581421,"values":{"Elec_RPM":-2343.49585,"EncoderCos":41725,"EncoderSin":15107,"GapTicks":49331,"Mech_RPM":-468.699158,"cg_du":49.6113892,"cg_dv":55.1527786,"cg_dw":44.8472214,"cg_id_a":-18.5851154,"cg_id_raw_a":-19.9342747,"cg_iq_a":-197.798889,"cg_iq_raw_a":-195.469421,"cg_iu_a":-59.5098419,"cg_iv_a":194.37236,"cg_iw_a":-134.862518,"cg_sample_age_us":23.9872723,"cg_sample_seq":8123817,"cg_sample_valid":1,"cg_theta_rad":5.1992588,"cg_vd_req_v":-1.61295259,"cg_vd_v":-1.61295259,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44022179,"cg_vq_v":-8.44022179,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.8555851,"dclink_p_w":-2584.14331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1351.913452,"values":{"Elec_RPM":-2347.24121,"EncoderCos":52293,"EncoderSin":33204,"GapTicks":49668,"Mech_RPM":-469.448242,"cg_du":54.8472748,"cg_dv":52.8579865,"cg_dw":45.1527252,"cg_id_a":9.43766975,"cg_id_raw_a":5.63553715,"cg_iq_a":-205.353134,"cg_iq_raw_a":-203.314102,"cg_iu_a":53.8971138,"cg_iv_a":144.899521,"cg_iw_a":-198.796631,"cg_sample_age_us":23.48909,"cg_sample_seq":8125467,"cg_sample_valid":1,"cg_theta_rad":0.0335913487,"cg_vd_req_v":-2.16008687,"cg_vd_v":-2.16008687,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25291634,"cg_vq_v":-8.25291634,"cg_vu_v":138.126266,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2465.4248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1826782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1352.063444,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1352.063449,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1352.063455,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1352.265015,"values":{"Elec_RPM":-2344.60938,"EncoderCos":48895,"EncoderSin":43940,"GapTicks":49336,"Mech_RPM":-468.921875,"cg_du":44.8513336,"cg_dv":49.0508308,"cg_dw":55.1486664,"cg_id_a":-4.36006069,"cg_id_raw_a":-9.59233093,"cg_iq_a":-197.894348,"cg_iq_raw_a":-197.78598,"cg_iu_a":-103.763565,"cg_iv_a":-90.8666229,"cg_iw_a":194.630188,"cg_sample_age_us":23.5436363,"cg_sample_seq":8127167,"cg_sample_valid":1,"cg_theta_rad":0.611373782,"cg_vd_req_v":-1.89635408,"cg_vd_v":-1.89635408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44236374,"cg_vq_v":-8.44236374,"cg_vu_v":105.574219,"cg_vv_v":103.374756,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.365963,"dclink_p_w":-2361.35913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1352.597046,"values":{"Elec_RPM":-2346.21753,"EncoderCos":40072,"EncoderSin":50992,"GapTicks":49329,"Mech_RPM":-469.2435,"cg_du":55.154892,"cg_dv":48.9816589,"cg_dw":44.845108,"cg_id_a":-11.38692,"cg_id_raw_a":-10.9961815,"cg_iq_a":-194.540314,"cg_iq_raw_a":-194.025711,"cg_iu_a":148.747223,"cg_iv_a":32.9423218,"cg_iw_a":-181.689545,"cg_sample_age_us":23.9509087,"cg_sample_seq":8128867,"cg_sample_valid":1,"cg_theta_rad":1.1889106,"cg_vd_req_v":-1.67406034,"cg_vd_v":-1.67406034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50722694,"cg_vq_v":-8.50722694,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2426.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1352.952515,"values":{"Elec_RPM":-2346.75635,"EncoderCos":29505,"EncoderSin":52248,"GapTicks":49958,"Mech_RPM":-469.351257,"cg_du":45.4164352,"cg_dv":54.5835648,"cg_dw":54.067234,"cg_id_a":9.61148643,"cg_id_raw_a":9.46979809,"cg_iq_a":-198.53569,"cg_iq_raw_a":-198.24147,"cg_iu_a":-176.251221,"cg_iv_a":5.10704041,"cg_iw_a":171.14418,"cg_sample_age_us":23.772728,"cg_sample_seq":8130570,"cg_sample_valid":1,"cg_theta_rad":1.76998925,"cg_vd_req_v":-2.06071973,"cg_vd_v":-2.06071973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38305664,"cg_vq_v":-8.38305664,"cg_vu_v":103.374756,"cg_vv_v":103.374756,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1880188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1353.054912,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1353.054918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1353.054923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1353.284546,"values":{"Elec_RPM":-2347.70947,"EncoderCos":19062,"EncoderSin":47032,"GapTicks":49562,"Mech_RPM":-469.541901,"cg_du":54.9431686,"cg_dv":45.0568314,"cg_dw":47.2653809,"cg_id_a":16.4522991,"cg_id_raw_a":14.2964907,"cg_iq_a":-202.431152,"cg_iq_raw_a":-199.980896,"cg_iu_a":194.052017,"cg_iv_a":-45.1994019,"cg_iw_a":-148.852615,"cg_sample_age_us":23.9654541,"cg_sample_seq":8132267,"cg_sample_valid":1,"cg_theta_rad":2.34039092,"cg_vd_req_v":-2.25927305,"cg_vd_v":-2.25927305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34505272,"cg_vq_v":-8.34505272,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.0092926,"dclink_p_w":-2454.18164,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1353.616577,"values":{"Elec_RPM":-2349.29346,"EncoderCos":13919,"EncoderSin":26509,"GapTicks":49549,"Mech_RPM":-469.858704,"cg_du":54.9552841,"cg_dv":45.0447159,"cg_dw":52.2793388,"cg_id_a":-6.69603443,"cg_id_raw_a":-0.483731389,"cg_iq_a":-198.379791,"cg_iq_raw_a":-199.937424,"cg_iu_a":173.393036,"cg_iv_a":-167.37735,"cg_iw_a":-6.01567841,"cg_sample_age_us":24.0963631,"cg_sample_seq":8133916,"cg_sample_valid":1,"cg_theta_rad":3.46609259,"cg_vd_req_v":-1.74026167,"cg_vd_v":-1.74026167,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41599655,"cg_vq_v":-8.41599655,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1353.96814,"values":{"Elec_RPM":-2347.62988,"EncoderCos":13236,"EncoderSin":36409,"GapTicks":49578,"Mech_RPM":-469.52597,"cg_du":45.071785,"cg_dv":54.928215,"cg_dw":52.7502899,"cg_id_a":7.72602558,"cg_id_raw_a":9.90734482,"cg_iq_a":-197.541473,"cg_iq_raw_a":-199.512161,"cg_iu_a":-191.582367,"cg_iv_a":58.8928833,"cg_iw_a":132.689484,"cg_sample_age_us":23.9036369,"cg_sample_seq":8135717,"cg_sample_valid":1,"cg_theta_rad":2.96129322,"cg_vd_req_v":-2.02697086,"cg_vd_v":-2.02697086,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43893814,"cg_vq_v":-8.43893814,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.4565735,"dclink_p_w":-2388.91113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2094116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1354.047352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1354.047357,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1354.047362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1354.300171,"values":{"Elec_RPM":-2345.98169,"EncoderCos":30642,"EncoderSin":13045,"GapTicks":49434,"Mech_RPM":-469.19632,"cg_du":52.0208969,"cg_dv":44.9409027,"cg_dw":55.0590973,"cg_id_a":8.17321396,"cg_id_raw_a":4.20540953,"cg_iq_a":-199.04982,"cg_iq_raw_a":-198.78627,"cg_iu_a":125.877365,"cg_iv_a":-197.314758,"cg_iw_a":71.4373932,"cg_sample_age_us":23.6890907,"cg_sample_seq":8137316,"cg_sample_valid":1,"cg_theta_rad":4.61951971,"cg_vd_req_v":-2.11911964,"cg_vd_v":-2.11911964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41360664,"cg_vq_v":-8.41360664,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.304348,"dclink_p_w":-2352.46899,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1354.651733,"values":{"Elec_RPM":-2347.21167,"EncoderCos":20746,"EncoderSin":16787,"GapTicks":49743,"Mech_RPM":-469.442322,"cg_du":45.2213821,"cg_dv":54.7786179,"cg_dw":46.7690582,"cg_id_a":1.4857167,"cg_id_raw_a":7.8442173,"cg_iq_a":-203.782745,"cg_iq_raw_a":-205.50766,"cg_iu_a":-180.49176,"cg_iv_a":162.985199,"cg_iw_a":17.5065689,"cg_sample_age_us":23.9327278,"cg_sample_seq":8139120,"cg_sample_valid":1,"cg_theta_rad":4.10985136,"cg_vd_req_v":-1.91986918,"cg_vd_v":-1.91986918,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32811356,"cg_vq_v":-8.32811356,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2530.37817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1354.987671,"values":{"Elec_RPM":-2345.91357,"EncoderCos":49837,"EncoderSin":23058,"GapTicks":49494,"Mech_RPM":-469.182739,"cg_du":48.2677307,"cg_dv":44.994915,"cg_dw":55.005085,"cg_id_a":-12.6241913,"cg_id_raw_a":-10.4330168,"cg_iq_a":-200.845428,"cg_iq_raw_a":-203.674286,"cg_iu_a":8.01242065,"cg_iv_a":-177.308167,"cg_iw_a":169.295746,"cg_sample_age_us":23.8163643,"cg_sample_seq":8140716,"cg_sample_valid":1,"cg_theta_rad":5.77514505,"cg_vd_req_v":-1.72021949,"cg_vd_v":-1.72021949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35426712,"cg_vq_v":-8.35426712,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2388.0293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1355.039733,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1355.039739,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1355.039744,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1355.319702,"values":{"Elec_RPM":-2348.84473,"EncoderCos":43012,"EncoderSin":15863,"GapTicks":49708,"Mech_RPM":-469.768951,"cg_du":46.9396095,"cg_dv":54.8106842,"cg_dw":45.1893158,"cg_id_a":10.095809,"cg_id_raw_a":9.35354042,"cg_iq_a":-203.741104,"cg_iq_raw_a":-202.509872,"cg_iu_a":-150.989288,"cg_iv_a":195.858353,"cg_iw_a":-44.8690643,"cg_sample_age_us":23.954546,"cg_sample_seq":8142516,"cg_sample_valid":1,"cg_theta_rad":5.27608299,"cg_vd_req_v":-2.18589973,"cg_vd_v":-2.18589973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2807703,"cg_vq_v":-8.2807703,"cg_vu_v":38.2706528,"cg_vv_v":52.3472176,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2387.24463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1355.651733,"values":{"Elec_RPM":-2349.32153,"EncoderCos":48454,"EncoderSin":44609,"GapTicks":49396,"Mech_RPM":-469.864288,"cg_du":44.9062042,"cg_dv":48.0867271,"cg_dw":55.0937958,"cg_id_a":15.9073696,"cg_id_raw_a":10.423481,"cg_iq_a":-198.712158,"cg_iq_raw_a":-199.889694,"cg_iu_a":-66.939827,"cg_iv_a":-129.466309,"cg_iw_a":196.406128,"cg_sample_age_us":23.4709091,"cg_sample_seq":8144117,"cg_sample_valid":1,"cg_theta_rad":0.642891705,"cg_vd_req_v":-2.20302582,"cg_vd_v":-2.20302582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42708397,"cg_vq_v":-8.42708397,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.5127506,"dclink_p_w":-2397.06592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1356.003296,"values":{"Elec_RPM":-2347.56592,"EncoderCos":52032,"EncoderSin":35394,"GapTicks":49313,"Mech_RPM":-469.513184,"cg_du":50.8983536,"cg_dv":55.169735,"cg_dw":44.830265,"cg_id_a":-13.6820679,"cg_id_raw_a":-13.4455547,"cg_iq_a":-195.19133,"cg_iq_raw_a":-196.064941,"cg_iu_a":-33.6317444,"cg_iv_a":184.441544,"cg_iw_a":-150.809799,"cg_sample_age_us":23.5072727,"cg_sample_seq":8145916,"cg_sample_valid":1,"cg_theta_rad":0.146377712,"cg_vd_req_v":-1.69272685,"cg_vd_v":-1.69272685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51610184,"cg_vq_v":-8.51610184,"cg_vu_v":7.03828096,"cg_vv_v":35.6312981,"cg_vw_v":22.8744144,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2536.67285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1356.063313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1356.063319,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1356.063324,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1356.339233,"values":{"Elec_RPM":-2352.17969,"EncoderCos":28345,"EncoderSin":52060,"GapTicks":49520,"Mech_RPM":-470.435944,"cg_du":45.0184937,"cg_dv":52.0588303,"cg_dw":54.9815063,"cg_id_a":-8.84123611,"cg_id_raw_a":-1.58934689,"cg_iq_a":-201.143478,"cg_iq_raw_a":-203.681351,"cg_iu_a":-168.241333,"cg_iv_a":-13.413559,"cg_iw_a":181.654892,"cg_sample_age_us":23.8672733,"cg_sample_seq":8147516,"cg_sample_valid":1,"cg_theta_rad":1.79655385,"cg_vd_req_v":-1.68144667,"cg_vd_v":-1.68144667,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36515999,"cg_vq_v":-8.36515999,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.6834259,"dclink_p_w":-2551.44897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1356.690796,"values":{"Elec_RPM":-2352.55371,"EncoderCos":19321,"EncoderSin":47313,"GapTicks":49446,"Mech_RPM":-470.510742,"cg_du":55.0483131,"cg_dv":44.9516869,"cg_dw":47.9715881,"cg_id_a":9.98444748,"cg_id_raw_a":5.83580065,"cg_iq_a":-201.140259,"cg_iq_raw_a":-198.980576,"cg_iu_a":186.694519,"cg_iv_a":-25.5552368,"cg_iw_a":-161.139282,"cg_sample_age_us":23.8963642,"cg_sample_seq":8149221,"cg_sample_valid":1,"cg_theta_rad":2.36200905,"cg_vd_req_v":-2.13424635,"cg_vd_v":-2.13424635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39334965,"cg_vq_v":-8.39334965,"cg_vu_v":130.208206,"cg_vv_v":121.850235,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1488342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1357.022827,"values":{"Elec_RPM":-2355.87231,"EncoderCos":13301,"EncoderSin":36649,"GapTicks":49493,"Mech_RPM":-471.174469,"cg_du":44.9945297,"cg_dv":55.0054703,"cg_dw":52.2476044,"cg_id_a":5.64355469,"cg_id_raw_a":0.95075357,"cg_iq_a":-197.159454,"cg_iq_raw_a":-196.342789,"cg_iu_a":-194.481873,"cg_iv_a":71.8319397,"cg_iw_a":122.649933,"cg_sample_age_us":23.9145451,"cg_sample_seq":8150917,"cg_sample_valid":1,"cg_theta_rad":2.94638515,"cg_vd_req_v":-1.9823705,"cg_vd_v":-1.9823705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43787575,"cg_vq_v":-8.43787575,"cg_vu_v":102.93486,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.1195049,"dclink_p_w":-2332.88989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1357.055035,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1357.055039,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1357.055042,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1357.354858,"values":{"Elec_RPM":-2353.05127,"EncoderCos":13115,"EncoderSin":35701,"GapTicks":49981,"Mech_RPM":-470.610229,"cg_du":45.437706,"cg_dv":54.562294,"cg_dw":54.1704674,"cg_id_a":11.1573439,"cg_id_raw_a":9.87272358,"cg_iq_a":-199.779022,"cg_iq_raw_a":-199.684418,"cg_iu_a":-185.27594,"cg_iv_a":23.3739319,"cg_iw_a":161.902008,"cg_sample_age_us":23.8272724,"cg_sample_seq":8152666,"cg_sample_valid":1,"cg_theta_rad":2.99623704,"cg_vd_req_v":-2.07592082,"cg_vd_v":-2.07592082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36720753,"cg_vq_v":-8.36720753,"cg_vu_v":101.175293,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-18.0585499,"dclink_p_w":-2613.51733,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1357.706421,"values":{"Elec_RPM":-2346.34082,"EncoderCos":14527,"EncoderSin":24873,"GapTicks":49388,"Mech_RPM":-469.268188,"cg_du":55.1011581,"cg_dv":44.8988419,"cg_dw":48.5257988,"cg_id_a":-1.3368479,"cg_id_raw_a":-6.70092869,"cg_iq_a":-198.549164,"cg_iq_raw_a":-197.562851,"cg_iu_a":198.220062,"cg_iv_a":-93.4037018,"cg_iw_a":-104.81636,"cg_sample_age_us":24.1072731,"cg_sample_seq":8154367,"cg_sample_valid":1,"cg_theta_rad":3.55581594,"cg_vd_req_v":-1.89354825,"cg_vd_v":-1.89354825,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40566254,"cg_vq_v":-8.40566254,"cg_vu_v":132.847549,"cg_vv_v":119.650772,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2405.80933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1358.038452,"values":{"Elec_RPM":-2349.30273,"EncoderCos":42080,"EncoderSin":15297,"GapTicks":49410,"Mech_RPM":-469.860535,"cg_du":48.8902779,"cg_dv":55.0811081,"cg_dw":44.9188919,"cg_id_a":-10.8663559,"cg_id_raw_a":-15.7221279,"cg_iq_a":-199.413803,"cg_iq_raw_a":-199.046906,"cg_iu_a":-86.9464264,"cg_iv_a":199.337753,"cg_iw_a":-121.706009,"cg_sample_age_us":23.9581814,"cg_sample_seq":8155966,"cg_sample_valid":1,"cg_theta_rad":5.2208457,"cg_vd_req_v":-1.77239954,"cg_vd_v":-1.77239954,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37292385,"cg_vq_v":-8.37292385,"cg_vu_v":38.2706528,"cg_vv_v":48.8280716,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2094116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1358.078605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1358.078611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1358.078616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1358.526733,"values":{"Elec_RPM":-2342.57861,"EncoderCos":38908,"EncoderSin":13921,"GapTicks":49601,"Mech_RPM":-468.515717,"cg_du":54.9077415,"cg_dv":52.3567696,"cg_dw":45.0922585,"cg_id_a":1.17846668,"cg_id_raw_a":-2.54014421,"cg_iq_a":-203.473251,"cg_iq_raw_a":-202.863297,"cg_iu_a":27.3303833,"cg_iv_a":160.556854,"cg_iw_a":-187.887238,"cg_sample_age_us":23.8600006,"cg_sample_seq":8158321,"cg_sample_valid":1,"cg_theta_rad":5.08845997,"cg_vd_req_v":-1.97723114,"cg_vd_v":-1.97723114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27803326,"cg_vq_v":-8.27803326,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.3536091,"dclink_p_w":-2511.49512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1358.943356,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1358.943367,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1358.94337,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1359.03064,"values":{"Elec_RPM":-2339.11938,"EncoderCos":29320,"EncoderSin":52212,"GapTicks":50071,"Mech_RPM":-467.823883,"cg_du":45.5198212,"cg_dv":54.4801788,"cg_dw":54.4345436,"cg_id_a":9.81520081,"cg_id_raw_a":12.3544893,"cg_iq_a":-201.485413,"cg_iq_raw_a":-202.051971,"cg_iu_a":-184.877258,"cg_iv_a":18.7709656,"cg_iw_a":166.106293,"cg_sample_age_us":23.8963642,"cg_sample_seq":8160966,"cg_sample_valid":1,"cg_theta_rad":1.74502409,"cg_vd_req_v":-2.07039285,"cg_vd_v":-2.07039285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34406471,"cg_vq_v":-8.34406471,"cg_vu_v":39.1504402,"cg_vv_v":55.4264603,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1252708,"dclink_p_w":-2478.44897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1359.071265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1359.07127,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1359.071275,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1359.366577,"values":{"Elec_RPM":-2344.33203,"EncoderCos":28805,"EncoderSin":52124,"GapTicks":49756,"Mech_RPM":-468.866425,"cg_du":45.2329369,"cg_dv":53.3078156,"cg_dw":54.7670631,"cg_id_a":3.77048326,"cg_id_raw_a":6.85493565,"cg_iq_a":-203.113617,"cg_iq_raw_a":-202.723984,"cg_iu_a":-176.939865,"cg_iv_a":3.7297821,"cg_iw_a":173.210083,"cg_sample_age_us":23.8890915,"cg_sample_seq":8162717,"cg_sample_valid":1,"cg_theta_rad":1.77146006,"cg_vd_req_v":-1.93611979,"cg_vd_v":-1.93611979,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33388805,"cg_vq_v":-8.33388805,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1359.71814,"values":{"Elec_RPM":-2339.99146,"EncoderCos":18848,"EncoderSin":46821,"GapTicks":49722,"Mech_RPM":-467.998291,"cg_du":54.7978821,"cg_dv":45.2021179,"cg_dw":46.6248703,"cg_id_a":17.1777611,"cg_id_raw_a":16.2290154,"cg_iq_a":-202.878693,"cg_iq_raw_a":-200.986786,"cg_iu_a":189.847733,"cg_iv_a":-33.275177,"cg_iw_a":-156.572556,"cg_sample_age_us":23.994545,"cg_sample_seq":8164417,"cg_sample_valid":1,"cg_theta_rad":2.35311437,"cg_vd_req_v":-2.25937819,"cg_vd_v":-2.25937819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35383034,"cg_vq_v":-8.35383034,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2422.80493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1360.050171,"values":{"Elec_RPM":-2342.73877,"EncoderCos":13340,"EncoderSin":36958,"GapTicks":49419,"Mech_RPM":-468.54776,"cg_du":44.9270554,"cg_dv":55.0729446,"cg_dw":51.7162819,"cg_id_a":-1.9733299,"cg_id_raw_a":-8.08232212,"cg_iq_a":-196.694229,"cg_iq_raw_a":-195.580856,"cg_iu_a":-196.221588,"cg_iv_a":92.0922546,"cg_iw_a":104.129333,"cg_sample_age_us":23.9436359,"cg_sample_seq":8166117,"cg_sample_valid":1,"cg_theta_rad":2.93009257,"cg_vd_req_v":-1.83022451,"cg_vd_v":-1.83022451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44166756,"cg_vq_v":-8.44166756,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5873814,"dclink_p_w":-2545.32764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1360.062904,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1360.062909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1360.062915,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1360.382202,"values":{"Elec_RPM":-2342.77393,"EncoderCos":14223,"EncoderSin":25649,"GapTicks":49335,"Mech_RPM":-468.554779,"cg_du":55.1495667,"cg_dv":44.8504333,"cg_dw":50.0709801,"cg_id_a":-16.8227844,"cg_id_raw_a":-16.4678631,"cg_iq_a":-197.169525,"cg_iq_raw_a":-196.950531,"cg_iu_a":192.421051,"cg_iv_a":-141.644226,"cg_iw_a":-50.7768173,"cg_sample_age_us":24.0709095,"cg_sample_seq":8167816,"cg_sample_valid":1,"cg_theta_rad":3.51317263,"cg_vd_req_v":-1.56754136,"cg_vd_v":-1.56754136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43533134,"cg_vq_v":-8.43533134,"cg_vu_v":39.1504402,"cg_vv_v":38.2706528,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-18.4264259,"dclink_p_w":-2658.65234,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1360.733765,"values":{"Elec_RPM":-2341.36768,"EncoderCos":20964,"EncoderSin":16663,"GapTicks":49595,"Mech_RPM":-468.27356,"cg_du":45.086647,"cg_dv":54.913353,"cg_dw":47.4110641,"cg_id_a":-3.84578896,"cg_id_raw_a":2.39869833,"cg_iq_a":-201.724136,"cg_iq_raw_a":-204.317383,"cg_iu_a":-175.78006,"cg_iv_a":171.574982,"cg_iw_a":4.20507813,"cg_sample_age_us":23.954546,"cg_sample_seq":8169516,"cg_sample_valid":1,"cg_theta_rad":4.09025717,"cg_vd_req_v":-1.81242681,"cg_vd_v":-1.81242681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38887215,"cg_vq_v":-8.38887215,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.04883,"dclink_p_w":-2329.72119,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.2182922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1361.055469,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1361.055475,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1361.055481,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1361.065796,"values":{"Elec_RPM":-2350.6272,"EncoderCos":31478,"EncoderSin":13060,"GapTicks":49787,"Mech_RPM":-470.125427,"cg_du":53.6710854,"cg_dv":45.261734,"cg_dw":54.738266,"cg_id_a":17.629694,"cg_id_raw_a":17.1938419,"cg_iq_a":-199.940323,"cg_iq_raw_a":-199.158539,"cg_iu_a":161.758759,"cg_iv_a":-185.318054,"cg_iw_a":23.559288,"cg_sample_age_us":23.6781826,"cg_sample_seq":8171217,"cg_sample_valid":1,"cg_theta_rad":4.66326904,"cg_vd_req_v":-2.26993418,"cg_vd_v":-2.26993418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37211418,"cg_vq_v":-8.37211418,"cg_vu_v":143.844864,"cg_vv_v":128.888519,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2483.16992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1361.401733,"values":{"Elec_RPM":-2352.10107,"EncoderCos":42340,"EncoderSin":15445,"GapTicks":49460,"Mech_RPM":-470.420197,"cg_du":48.3536873,"cg_dv":55.0358047,"cg_dw":44.9641953,"cg_id_a":-5.22350121,"cg_id_raw_a":-10.4105043,"cg_iq_a":-201.190796,"cg_iq_raw_a":-200.893951,"cg_iu_a":-106.228142,"cg_iv_a":201.729858,"cg_iw_a":-95.501709,"cg_sample_age_us":23.954546,"cg_sample_seq":8172917,"cg_sample_valid":1,"cg_theta_rad":5.23490667,"cg_vd_req_v":-1.88910151,"cg_vd_v":-1.88910151,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32646751,"cg_vq_v":-8.32646751,"cg_vu_v":128.448624,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.1933594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1361.753296,"values":{"Elec_RPM":-2349.92871,"EncoderCos":52225,"EncoderSin":34036,"GapTicks":50017,"Mech_RPM":-469.985748,"cg_du":54.3637657,"cg_dv":54.5290947,"cg_dw":45.4709053,"cg_id_a":10.8909569,"cg_id_raw_a":10.9484196,"cg_iq_a":-203.571381,"cg_iq_raw_a":-205.283875,"cg_iu_a":11.3106089,"cg_iv_a":169.617813,"cg_iw_a":-180.928421,"cg_sample_age_us":23.3981819,"cg_sample_seq":8174566,"cg_sample_valid":1,"cg_theta_rad":0.0786487833,"cg_vd_req_v":-2.18498325,"cg_vd_v":-2.18498325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35361671,"cg_vq_v":-8.35361671,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2385.67603,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1362.046913,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1362.046919,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1362.046924,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1362.085327,"values":{"Elec_RPM":-2356.15625,"EncoderCos":48288,"EncoderSin":44734,"GapTicks":49578,"Mech_RPM":-471.231232,"cg_du":45.0709839,"cg_dv":47.3080406,"cg_dw":54.9290161,"cg_id_a":18.745945,"cg_id_raw_a":16.5592041,"cg_iq_a":-201.380997,"cg_iq_raw_a":-200.068176,"cg_iu_a":-44.2511902,"cg_iv_a":-151.031387,"cg_iw_a":195.57251,"cg_sample_age_us":23.4781818,"cg_sample_seq":8176266,"cg_sample_valid":1,"cg_theta_rad":0.6597839,"cg_vd_req_v":-2.3388381,"cg_vd_v":-2.3388381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34140396,"cg_vq_v":-8.34140396,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2413.37622,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1362.417358,"values":{"Elec_RPM":-2354.36182,"EncoderCos":39474,"EncoderSin":51178,"GapTicks":49338,"Mech_RPM":-470.872345,"cg_du":55.1470871,"cg_dv":50.2466736,"cg_dw":44.8529129,"cg_id_a":-6.51844978,"cg_id_raw_a":-9.08810711,"cg_iq_a":-199.258224,"cg_iq_raw_a":-196.814041,"cg_iu_a":124.173904,"cg_iv_a":72.6655426,"cg_iw_a":-196.839447,"cg_sample_age_us":23.9036369,"cg_sample_seq":8177967,"cg_sample_valid":1,"cg_theta_rad":1.22174299,"cg_vd_req_v":-1.79906881,"cg_vd_v":-1.79906881,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38785458,"cg_vq_v":-8.38785458,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2570.24316,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1362.768921,"values":{"Elec_RPM":-2350.11035,"EncoderCos":38496,"EncoderSin":51499,"GapTicks":49506,"Mech_RPM":-470.022095,"cg_du":54.9943237,"cg_dv":52.2279434,"cg_dw":45.0056763,"cg_id_a":9.51762009,"cg_id_raw_a":7.9466958,"cg_iq_a":-203.127121,"cg_iq_raw_a":-205.526947,"cg_iu_a":55.3106232,"cg_iv_a":133.845154,"cg_iw_a":-201.514923,"cg_sample_age_us":23.8963642,"cg_sample_seq":8179716,"cg_sample_valid":1,"cg_theta_rad":1.28363967,"cg_vd_req_v":-2.11300373,"cg_vd_v":-2.11300373,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32850933,"cg_vq_v":-8.32850933,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2477.19092,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1363.039206,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1363.039212,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1363.039217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1363.100952,"values":{"Elec_RPM":-2349.49609,"EncoderCos":18466,"EncoderSin":46475,"GapTicks":50041,"Mech_RPM":-469.8992,"cg_du":54.5079346,"cg_dv":45.5883026,"cg_dw":45.4920654,"cg_id_a":11.5114412,"cg_id_raw_a":13.4007959,"cg_iq_a":-199.760864,"cg_iq_raw_a":-200.428665,"cg_iu_a":177.814789,"cg_iv_a":-12.7974243,"cg_iw_a":-165.017365,"cg_sample_age_us":23.9836369,"cg_sample_seq":8181367,"cg_sample_valid":1,"cg_theta_rad":2.38102841,"cg_vd_req_v":-2.11610055,"cg_vd_v":-2.11610055,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38999176,"cg_vq_v":-8.38999176,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1363.456421,"values":{"Elec_RPM":-2353.36621,"EncoderCos":17936,"EncoderSin":45866,"GapTicks":49512,"Mech_RPM":-470.673248,"cg_du":54.9890823,"cg_dv":47.6618309,"cg_dw":45.0109177,"cg_id_a":-7.43423843,"cg_id_raw_a":-2.49556422,"cg_iq_a":-195.57132,"cg_iq_raw_a":-195.59584,"cg_iu_a":165.383148,"cg_iv_a":5.90441895,"cg_iw_a":-169.511612,"cg_sample_age_us":23.9363632,"cg_sample_seq":8183117,"cg_sample_valid":1,"cg_theta_rad":2.41693473,"cg_vd_req_v":-1.72571838,"cg_vd_v":-1.72571838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46309662,"cg_vq_v":-8.46309662,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2434.57104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1363.788452,"values":{"Elec_RPM":-2353.36108,"EncoderCos":20752,"EncoderSin":16839,"GapTicks":49751,"Mech_RPM":-470.672211,"cg_du":45.2290649,"cg_dv":54.7709351,"cg_dw":46.6581001,"cg_id_a":4.86439705,"cg_id_raw_a":10.5661831,"cg_iq_a":-202.782928,"cg_iq_raw_a":-204.971466,"cg_iu_a":-173.38797,"cg_iv_a":174.220779,"cg_iw_a":-0.832809448,"cg_sample_age_us":23.8490906,"cg_sample_seq":8184716,"cg_sample_valid":1,"cg_theta_rad":4.07558155,"cg_vd_req_v":-1.97600138,"cg_vd_v":-1.97600138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37011909,"cg_vq_v":-8.37011909,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2491.30029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1364.031004,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1364.03101,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1364.031015,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1364.120483,"values":{"Elec_RPM":-2351.84985,"EncoderCos":14613,"EncoderSin":24675,"GapTicks":49402,"Mech_RPM":-470.369965,"cg_du":55.0885887,"cg_dv":44.9114113,"cg_dw":48.1823387,"cg_id_a":5.82636499,"cg_id_raw_a":0.301805854,"cg_iq_a":-199.569901,"cg_iq_raw_a":-198.55246,"cg_iu_a":197.458939,"cg_iv_a":-76.2241211,"cg_iw_a":-121.234818,"cg_sample_age_us":23.9799995,"cg_sample_seq":8186517,"cg_sample_valid":1,"cg_theta_rad":3.57142305,"cg_vd_req_v":-2.04172206,"cg_vd_v":-2.04172206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41205788,"cg_vq_v":-8.41205788,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2423.37256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1364.472046,"values":{"Elec_RPM":-2349.0415,"EncoderCos":41348,"EncoderSin":14895,"GapTicks":49352,"Mech_RPM":-469.808289,"cg_du":50.550621,"cg_dv":55.1340179,"cg_dw":44.8659821,"cg_id_a":-19.2728672,"cg_id_raw_a":-19.6712627,"cg_iq_a":-196.980789,"cg_iq_raw_a":-195.656815,"cg_iu_a":-86.6202316,"cg_iv_a":201.838577,"cg_iw_a":-115.218346,"cg_sample_age_us":23.954546,"cg_sample_seq":8188121,"cg_sample_valid":1,"cg_theta_rad":5.21822834,"cg_vd_req_v":-1.57416773,"cg_vd_v":-1.57416773,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4241333,"cg_vq_v":-8.4241333,"cg_vu_v":140.325729,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1364.804077,"values":{"Elec_RPM":-2346.36328,"EncoderCos":42873,"EncoderSin":15783,"GapTicks":49633,"Mech_RPM":-469.272675,"cg_du":47.2002678,"cg_dv":54.8784981,"cg_dw":45.1215019,"cg_id_a":5.67184019,"cg_id_raw_a":1.80602491,"cg_iq_a":-203.26387,"cg_iq_raw_a":-202.578918,"cg_iu_a":-139.681213,"cg_iv_a":198.721619,"cg_iw_a":-59.0404053,"cg_sample_age_us":23.9618187,"cg_sample_seq":8189866,"cg_sample_valid":1,"cg_theta_rad":5.26597452,"cg_vd_req_v":-2.12148404,"cg_vd_v":-2.12148404,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32235432,"cg_vq_v":-8.32235432,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2492.05664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1365.054732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1365.054737,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1365.054743,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1365.136108,"values":{"Elec_RPM":-2348.33325,"EncoderCos":50452,"EncoderSin":24346,"GapTicks":49287,"Mech_RPM":-469.666656,"cg_du":51.1138458,"cg_dv":44.8069572,"cg_dw":55.1930428,"cg_id_a":5.27105093,"cg_id_raw_a":-0.0610279366,"cg_iq_a":-196.15947,"cg_iq_raw_a":-195.423767,"cg_iu_a":106.414429,"cg_iv_a":-196.626114,"cg_iw_a":90.2116852,"cg_sample_age_us":23.7690907,"cg_sample_seq":8191566,"cg_sample_valid":1,"cg_theta_rad":5.85365772,"cg_vd_req_v":-2.11120272,"cg_vd_v":-2.11120272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48589134,"cg_vq_v":-8.48589134,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1365.487671,"values":{"Elec_RPM":-2347.34766,"EncoderCos":52078,"EncoderSin":35190,"GapTicks":49390,"Mech_RPM":-469.469513,"cg_du":51.3551407,"cg_dv":55.0999031,"cg_dw":44.9000969,"cg_id_a":-13.6975384,"cg_id_raw_a":-11.1149406,"cg_iq_a":-194.421204,"cg_iq_raw_a":-194.200943,"cg_iu_a":-33.8129654,"cg_iv_a":183.281738,"cg_iw_a":-149.468781,"cg_sample_age_us":23.5254555,"cg_sample_seq":8193267,"cg_sample_valid":1,"cg_theta_rad":0.147316813,"cg_vd_req_v":-1.68057585,"cg_vd_v":-1.68057585,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48369408,"cg_vq_v":-8.48369408,"cg_vu_v":38.7105446,"cg_vv_v":48.8280716,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2445.47046,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1365.823608,"values":{"Elec_RPM":-2350.78003,"EncoderCos":47669,"EncoderSin":45541,"GapTicks":49983,"Mech_RPM":-470.156006,"cg_du":46.0472069,"cg_dv":45.4390907,"cg_dw":54.5609093,"cg_id_a":9.59140015,"cg_id_raw_a":13.0349083,"cg_iq_a":-208.326538,"cg_iq_raw_a":-207.973526,"cg_iu_a":-8.47852325,"cg_iv_a":-174.988556,"cg_iw_a":188.106293,"cg_sample_age_us":23.51091,"cg_sample_seq":8194967,"cg_sample_valid":1,"cg_theta_rad":0.710063994,"cg_vd_req_v":-2.12194991,"cg_vd_v":-2.12194991,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22767639,"cg_vq_v":-8.22767639,"cg_vu_v":139.445938,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.9117622,"dclink_p_w":-2584.39429,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1366.047339,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1366.047346,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1366.047351,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1366.15564,"values":{"Elec_RPM":-2343.3667,"EncoderCos":38084,"EncoderSin":51628,"GapTicks":49680,"Mech_RPM":-468.67334,"cg_du":54.8360558,"cg_dv":53.0564384,"cg_dw":45.1639442,"cg_id_a":14.9230938,"cg_id_raw_a":14.8276711,"cg_iq_a":-205.46167,"cg_iq_raw_a":-204.425507,"cg_iu_a":43.6038666,"cg_iv_a":154.866577,"cg_iw_a":-198.470444,"cg_sample_age_us":23.8709087,"cg_sample_seq":8196666,"cg_sample_valid":1,"cg_theta_rad":1.29770052,"cg_vd_req_v":-2.21636534,"cg_vd_v":-2.21636534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31252098,"cg_vq_v":-8.31252098,"cg_vu_v":30.3525867,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1366.507202,"values":{"Elec_RPM":-2346.45166,"EncoderCos":26816,"EncoderSin":51644,"GapTicks":49400,"Mech_RPM":-469.290344,"cg_du":44.9093285,"cg_dv":48.6044083,"cg_dw":55.0906715,"cg_id_a":-5.83343363,"cg_id_raw_a":-11.8140974,"cg_iq_a":-196.418411,"cg_iq_raw_a":-199.205902,"cg_iu_a":-111.084824,"cg_iv_a":-82.8929749,"cg_iw_a":193.977798,"cg_sample_age_us":23.8454552,"cg_sample_seq":8198366,"cg_sample_valid":1,"cg_theta_rad":1.86714971,"cg_vd_req_v":-1.78222644,"cg_vd_v":-1.78222644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45345783,"cg_vq_v":-8.45345783,"cg_vu_v":102.93486,"cg_vv_v":98.0960464,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.6036911,"dclink_p_w":-2555.43188,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1366.839233,"values":{"Elec_RPM":-2347.23193,"EncoderCos":13195,"EncoderSin":36086,"GapTicks":49721,"Mech_RPM":-469.446381,"cg_du":45.2013245,"cg_dv":54.7986755,"cg_dw":53.4235535,"cg_id_a":8.62666225,"cg_id_raw_a":7.39712906,"cg_iq_a":-199.436981,"cg_iq_raw_a":-197.49881,"cg_iu_a":-187.740524,"cg_iv_a":29.0279846,"cg_iw_a":158.71254,"cg_sample_age_us":23.9072723,"cg_sample_seq":8200017,"cg_sample_valid":1,"cg_theta_rad":2.98607993,"cg_vd_req_v":-2.04633451,"cg_vd_v":-2.04633451,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4008894,"cg_vq_v":-8.4008894,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2426.72705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1367.039184,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1367.039189,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1367.039194,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1367.190796,"values":{"Elec_RPM":-2349.3667,"EncoderCos":17135,"EncoderSin":44907,"GapTicks":49312,"Mech_RPM":-469.873322,"cg_du":55.1703682,"cg_dv":50.3768921,"cg_dw":44.8296318,"cg_id_a":-5.32707787,"cg_id_raw_a":-8.44681358,"cg_iq_a":-197.781128,"cg_iq_raw_a":-195.490891,"cg_iu_a":119.31723,"cg_iv_a":76.2899475,"cg_iw_a":-195.607178,"cg_sample_age_us":23.7981815,"cg_sample_seq":8201817,"cg_sample_valid":1,"cg_theta_rad":2.48170328,"cg_vd_req_v":-1.81061697,"cg_vd_v":-1.81061697,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42948723,"cg_vq_v":-8.42948723,"cg_vu_v":125.809273,"cg_vv_v":132.407669,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2440.58521,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1367.526733,"values":{"Elec_RPM":-2356.35693,"EncoderCos":21700,"EncoderSin":16219,"GapTicks":49348,"Mech_RPM":-471.271393,"cg_du":44.8625755,"cg_dv":55.1374245,"cg_dw":49.5288506,"cg_id_a":-14.9534235,"cg_id_raw_a":-13.2049828,"cg_iq_a":-196.314789,"cg_iq_raw_a":-197.817154,"cg_iu_a":-186.616974,"cg_iv_a":145.878113,"cg_iw_a":40.7388611,"cg_sample_age_us":23.954546,"cg_sample_seq":8203417,"cg_sample_valid":1,"cg_theta_rad":4.13492393,"cg_vd_req_v":-1.59901059,"cg_vd_v":-1.59901059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44735622,"cg_vq_v":-8.44735622,"cg_vu_v":98.5359344,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.5674458,"dclink_p_w":-2534.7146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1367.858765,"values":{"Elec_RPM":-2353.01855,"EncoderCos":22354,"EncoderSin":15828,"GapTicks":49381,"Mech_RPM":-470.603699,"cg_du":44.8923492,"cg_dv":55.1076508,"cg_dw":51.0733032,"cg_id_a":-8.30107594,"cg_id_raw_a":-12.3218136,"cg_iq_a":-197.390518,"cg_iq_raw_a":-196.515015,"cg_iu_a":-197.23642,"cg_iv_a":112.85997,"cg_iw_a":84.3764496,"cg_sample_age_us":23.954546,"cg_sample_seq":8205167,"cg_sample_valid":1,"cg_theta_rad":4.17225838,"cg_vd_req_v":-1.76569796,"cg_vd_v":-1.76569796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4149189,"cg_vq_v":-8.4149189,"cg_vu_v":98.0960464,"cg_vv_v":102.93486,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-17.6000652,"dclink_p_w":-2539.42114,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1368.062852,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1368.062857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1368.062863,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1368.24939,"values":{"Elec_RPM":-2347.81958,"EncoderCos":15618,"EncoderSin":42746,"GapTicks":49663,"Mech_RPM":-469.563934,"cg_du":52.9803581,"cg_dv":54.8517685,"cg_dw":45.1482315,"cg_id_a":-0.545838535,"cg_id_raw_a":4.90928745,"cg_iq_a":-198.8694,"cg_iq_raw_a":-202.080963,"cg_iu_a":5.47535229,"cg_iv_a":168.82045,"cg_iw_a":-174.295807,"cg_sample_age_us":23.7909088,"cg_sample_seq":8207066,"cg_sample_valid":1,"cg_theta_rad":2.6073606,"cg_vd_req_v":-1.8484515,"cg_vd_v":-1.8484515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42861938,"cg_vq_v":-8.42861938,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1368.768921,"values":{"Elec_RPM":-2349.93115,"EncoderCos":36111,"EncoderSin":52122,"GapTicks":49342,"Mech_RPM":-469.986206,"cg_du":51.0293159,"cg_dv":55.14291,"cg_dw":44.85709,"cg_id_a":-10.8271523,"cg_id_raw_a":-9.2278738,"cg_iq_a":-196.294586,"cg_iq_raw_a":-195.855896,"cg_iu_a":-33.3780365,"cg_iv_a":183.64418,"cg_iw_a":-150.266144,"cg_sample_age_us":23.8999996,"cg_sample_seq":8209517,"cg_sample_valid":1,"cg_theta_rad":1.40055764,"cg_vd_req_v":-1.67321968,"cg_vd_v":-1.67321968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48835373,"cg_vq_v":-8.48835373,"cg_vu_v":102.93486,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2514.58154,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1368.92763,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1368.92764,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1368.927642,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1369.055444,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1369.05545,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1369.055454,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1369.182983,"values":{"Elec_RPM":-2343.33594,"EncoderCos":28046,"EncoderSin":51946,"GapTicks":49408,"Mech_RPM":-468.667175,"cg_du":44.9168854,"cg_dv":51.2985611,"cg_dw":55.0831146,"cg_id_a":-11.5495682,"cg_id_raw_a":-11.6766787,"cg_iq_a":-197.987488,"cg_iq_raw_a":-196.385788,"cg_iu_a":-156.534576,"cg_iv_a":-24.3591919,"cg_iw_a":180.893768,"cg_sample_age_us":23.863636,"cg_sample_seq":8211817,"cg_sample_valid":1,"cg_theta_rad":1.80954516,"cg_vd_req_v":-1.62995875,"cg_vd_v":-1.62995875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43035316,"cg_vq_v":-8.43035316,"cg_vu_v":112.172607,"cg_vv_v":127.568848,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2013836,"dclink_p_w":-2497.03101,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1369.538452,"values":{"Elec_RPM":-2349.09082,"EncoderCos":18188,"EncoderSin":46140,"GapTicks":49785,"Mech_RPM":-469.818176,"cg_du":54.7400093,"cg_dv":46.642643,"cg_dw":45.2599907,"cg_id_a":3.72909117,"cg_id_raw_a":10.1087465,"cg_iq_a":-201.820541,"cg_iq_raw_a":-203.694153,"cg_iu_a":176.691223,"cg_iv_a":-2.28669739,"cg_iw_a":-174.404526,"cg_sample_age_us":24.0490913,"cg_sample_seq":8213516,"cg_sample_valid":1,"cg_theta_rad":2.39893889,"cg_vd_req_v":-1.95881689,"cg_vd_v":-1.95881689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33074856,"cg_vq_v":-8.33074856,"cg_vu_v":32.9919434,"cg_vv_v":11.4372072,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2404.76343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1369.866577,"values":{"Elec_RPM":-2349.46802,"EncoderCos":13225,"EncoderSin":36358,"GapTicks":49591,"Mech_RPM":-469.893616,"cg_du":45.0827942,"cg_dv":54.9172058,"cg_dw":52.8588295,"cg_id_a":7.51984024,"cg_id_raw_a":5.39317656,"cg_iq_a":-199.790802,"cg_iq_raw_a":-198.993683,"cg_iu_a":-194.046951,"cg_iv_a":57.0444641,"cg_iw_a":137.002487,"cg_sample_age_us":23.9618187,"cg_sample_seq":8215217,"cg_sample_valid":1,"cg_theta_rad":2.96497583,"cg_vd_req_v":-2.02605081,"cg_vd_v":-2.02605081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40069294,"cg_vq_v":-8.40069294,"cg_vu_v":2.63935518,"cg_vv_v":18.4754887,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2348.54712,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1370.047014,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1370.047019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1370.047025,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1370.222046,"values":{"Elec_RPM":-2353.25439,"EncoderCos":14119,"EncoderSin":25967,"GapTicks":49349,"Mech_RPM":-470.650879,"cg_du":55.1370506,"cg_dv":44.8629494,"cg_dw":50.8087921,"cg_id_a":-16.5031548,"cg_id_raw_a":-16.1711845,"cg_iq_a":-194.556229,"cg_iq_raw_a":-194.368332,"cg_iu_a":198.111328,"cg_iv_a":-95.1071548,"cg_iw_a":-103.004173,"cg_sample_age_us":23.9981823,"cg_sample_seq":8216921,"cg_sample_valid":1,"cg_theta_rad":3.55065846,"cg_vd_req_v":-1.55928075,"cg_vd_v":-1.55928075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50454617,"cg_vq_v":-8.50454617,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2386.54346,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1370.554077,"values":{"Elec_RPM":-2359.15381,"EncoderCos":14815,"EncoderSin":24184,"GapTicks":49617,"Mech_RPM":-471.83078,"cg_du":54.8931198,"cg_dv":45.1068802,"cg_dw":47.228981,"cg_id_a":15.4702663,"cg_id_raw_a":12.0464468,"cg_iq_a":-201.424377,"cg_iq_raw_a":-200.892181,"cg_iu_a":196.407867,"cg_iv_a":-47.7727051,"cg_iw_a":-148.635162,"cg_sample_age_us":24.0745449,"cg_sample_seq":8218666,"cg_sample_valid":1,"cg_theta_rad":3.59295273,"cg_vd_req_v":-2.21522427,"cg_vd_v":-2.21522427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34001637,"cg_vq_v":-8.34001637,"cg_vu_v":25.5137672,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.739275,"dclink_p_w":-2422.58569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2290039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1370.886108,"values":{"Elec_RPM":-2352.43311,"EncoderCos":22083,"EncoderSin":15947,"GapTicks":49323,"Mech_RPM":-470.486603,"cg_du":44.8392677,"cg_dv":55.1607323,"cg_dw":50.4574318,"cg_id_a":-9.2958622,"cg_id_raw_a":-14.401845,"cg_iq_a":-196.91983,"cg_iq_raw_a":-196.302292,"cg_iu_a":-194.336899,"cg_iv_a":124.530479,"cg_iw_a":69.8064194,"cg_sample_age_us":23.9327278,"cg_sample_seq":8220367,"cg_sample_valid":1,"cg_theta_rad":4.1560936,"cg_vd_req_v":-1.72852492,"cg_vd_v":-1.72852492,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.434021,"cg_vq_v":-8.434021,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1371.0389,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1371.038905,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1371.038911,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1371.241577,"values":{"Elec_RPM":-2347.63818,"EncoderCos":49858,"EncoderSin":23131,"GapTicks":49454,"Mech_RPM":-469.527618,"cg_du":48.4531136,"cg_dv":44.9585342,"cg_dw":55.0414658,"cg_id_a":-13.5368681,"cg_id_raw_a":-11.6623859,"cg_iq_a":-198.766083,"cg_iq_raw_a":-200.983459,"cg_iu_a":73.1063461,"cg_iv_a":-194.08905,"cg_iw_a":120.982712,"cg_sample_age_us":23.7545452,"cg_sample_seq":8221970,"cg_sample_valid":1,"cg_theta_rad":5.82735109,"cg_vd_req_v":-1.7035141,"cg_vd_v":-1.7035141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41139126,"cg_vq_v":-8.41139126,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.5438881,"dclink_p_w":-2539.0332,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1371.569702,"values":{"Elec_RPM":-2346.58984,"EncoderCos":50494,"EncoderSin":24389,"GapTicks":49333,"Mech_RPM":-469.317963,"cg_du":51.2399673,"cg_dv":44.8483238,"cg_dw":55.1516762,"cg_id_a":4.32108402,"cg_id_raw_a":-2.68530512,"cg_iq_a":-197.009048,"cg_iq_raw_a":-195.531052,"cg_iu_a":108.661545,"cg_iv_a":-198.039627,"cg_iw_a":102.643333,"cg_sample_age_us":23.7363644,"cg_sample_seq":8223717,"cg_sample_valid":1,"cg_theta_rad":5.85545921,"cg_vd_req_v":-2.09442639,"cg_vd_v":-2.09442639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43576908,"cg_vq_v":-8.43576908,"cg_vu_v":106.014107,"cg_vv_v":90.1779785,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.1951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1371.901733,"values":{"Elec_RPM":-2348.45996,"EncoderCos":48053,"EncoderSin":45072,"GapTicks":49819,"Mech_RPM":-469.691986,"cg_du":45.2905312,"cg_dv":46.4019585,"cg_dw":54.7094688,"cg_id_a":15.672802,"cg_id_raw_a":17.2699814,"cg_iq_a":-206.050781,"cg_iq_raw_a":-203.533051,"cg_iu_a":-29.4999485,"cg_iv_a":-163.934189,"cg_iw_a":193.434143,"cg_sample_age_us":23.5036373,"cg_sample_seq":8225367,"cg_sample_valid":1,"cg_theta_rad":0.682834208,"cg_vd_req_v":-2.26559234,"cg_vd_v":-2.26559234,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27096176,"cg_vq_v":-8.27096176,"cg_vu_v":106.014107,"cg_vv_v":98.5359344,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2411.30811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1372.031199,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1372.031205,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1372.03121,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1372.257202,"values":{"Elec_RPM":-2347.99683,"EncoderCos":47563,"EncoderSin":45728,"GapTicks":49814,"Mech_RPM":-469.599365,"cg_du":46.563427,"cg_dv":45.2856827,"cg_dw":54.7143173,"cg_id_a":4.89241314,"cg_id_raw_a":10.0200281,"cg_iq_a":-206.173477,"cg_iq_raw_a":-207.025284,"cg_iu_a":-3.29565525,"cg_iv_a":-174.843582,"cg_iw_a":178.139236,"cg_sample_age_us":23.5327282,"cg_sample_seq":8227117,"cg_sample_valid":1,"cg_theta_rad":0.723480821,"cg_vd_req_v":-2.03213143,"cg_vd_v":-2.03213143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30249977,"cg_vq_v":-8.30249977,"cg_vu_v":103.814644,"cg_vv_v":77.8609848,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.3405933,"dclink_p_w":-2364.88672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1372.589233,"values":{"Elec_RPM":-2349.35083,"EncoderCos":27344,"EncoderSin":51774,"GapTicks":49366,"Mech_RPM":-469.870148,"cg_du":44.8790207,"cg_dv":49.6122971,"cg_dw":55.1209793,"cg_id_a":-15.6418571,"cg_id_raw_a":-17.7796726,"cg_iq_a":-197.17746,"cg_iq_raw_a":-197.77092,"cg_iu_a":-134.208389,"cg_iv_a":-60.6030121,"cg_iw_a":194.811401,"cg_sample_age_us":23.863636,"cg_sample_seq":8228766,"cg_sample_valid":1,"cg_theta_rad":1.84806097,"cg_vd_req_v":-1.56410658,"cg_vd_v":-1.56410658,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42201996,"cg_vq_v":-8.42201996,"cg_vu_v":14.9563465,"cg_vv_v":6.1584959,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2391.11353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1372.940796,"values":{"Elec_RPM":-2347.61841,"EncoderCos":27653,"EncoderSin":51863,"GapTicks":49382,"Mech_RPM":-469.523682,"cg_du":44.8933983,"cg_dv":50.3639526,"cg_dw":55.1066017,"cg_id_a":-14.5115194,"cg_id_raw_a":-13.1010132,"cg_iq_a":-199.916443,"cg_iq_raw_a":-199.3573,"cg_iu_a":-101.806396,"cg_iv_a":-93.8023682,"cg_iw_a":195.608765,"cg_sample_age_us":23.7654552,"cg_sample_seq":8230521,"cg_sample_valid":1,"cg_theta_rad":1.87363899,"cg_vd_req_v":-1.58390808,"cg_vd_v":-1.58390808,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36647987,"cg_vq_v":-8.36647987,"cg_vu_v":112.612495,"cg_vv_v":123.60981,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1373.055237,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1373.055242,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1373.055248,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1373.272827,"values":{"Elec_RPM":-2348.104,"EncoderCos":13158,"EncoderSin":35916,"GapTicks":49776,"Mech_RPM":-469.620789,"cg_du":45.2509422,"cg_dv":54.7490578,"cg_dw":53.7545624,"cg_id_a":12.5573254,"cg_id_raw_a":10.7288494,"cg_iq_a":-199.014893,"cg_iq_raw_a":-198.064651,"cg_iu_a":-185.928329,"cg_iv_a":30.1152954,"cg_iw_a":155.813034,"cg_sample_age_us":23.9472733,"cg_sample_seq":8232167,"cg_sample_valid":1,"cg_theta_rad":2.98439097,"cg_vd_req_v":-2.11267567,"cg_vd_v":-2.11267567,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43696976,"cg_vq_v":-8.43696976,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2497.33252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1373.604858,"values":{"Elec_RPM":-2349.01294,"EncoderCos":17018,"EncoderSin":44758,"GapTicks":49345,"Mech_RPM":-469.802582,"cg_du":55.1401939,"cg_dv":50.7549286,"cg_dw":44.8598061,"cg_id_a":-2.85170031,"cg_id_raw_a":-6.61993742,"cg_iq_a":-199.704651,"cg_iq_raw_a":-196.740891,"cg_iu_a":112.21344,"cg_iv_a":88.6128387,"cg_iw_a":-200.826279,"cg_sample_age_us":23.8854542,"cg_sample_seq":8233967,"cg_sample_valid":1,"cg_theta_rad":2.49132848,"cg_vd_req_v":-1.85628819,"cg_vd_v":-1.85628819,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41856575,"cg_vq_v":-8.41856575,"cg_vu_v":125.369385,"cg_vv_v":134.167236,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1373.956421,"values":{"Elec_RPM":-2350.18311,"EncoderCos":14964,"EncoderSin":23960,"GapTicks":49748,"Mech_RPM":-470.036621,"cg_du":54.7743416,"cg_dv":45.2256584,"cg_dw":46.7341347,"cg_id_a":18.3170757,"cg_id_raw_a":15.5835495,"cg_iq_a":-203.688629,"cg_iq_raw_a":-200.855179,"cg_iu_a":191.116272,"cg_iv_a":-33.7825928,"cg_iw_a":-157.333679,"cg_sample_age_us":24.1145458,"cg_sample_seq":8235617,"cg_sample_valid":1,"cg_theta_rad":3.60760427,"cg_vd_req_v":-2.2659874,"cg_vd_v":-2.2659874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27355862,"cg_vq_v":-8.27355862,"cg_vu_v":105.574219,"cg_vv_v":83.5795898,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1374.047566,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1374.047571,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1374.047576,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1374.292358,"values":{"Elec_RPM":-2349.51465,"EncoderCos":22465,"EncoderSin":15743,"GapTicks":49350,"Mech_RPM":-469.902954,"cg_du":44.8639603,"cg_dv":55.1360397,"cg_dw":51.2984428,"cg_id_a":-2.88989377,"cg_id_raw_a":-5.32258081,"cg_iq_a":-197.441437,"cg_iq_raw_a":-196.256363,"cg_iu_a":-197.127686,"cg_iv_a":100.935745,"cg_iw_a":96.1919403,"cg_sample_age_us":23.9436359,"cg_sample_seq":8237317,"cg_sample_valid":1,"cg_theta_rad":4.18064547,"cg_vd_req_v":-1.87061954,"cg_vd_v":-1.87061954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44285583,"cg_vq_v":-8.44285583,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1374.62439,"values":{"Elec_RPM":-2344.56592,"EncoderCos":33365,"EncoderSin":12978,"GapTicks":49307,"Mech_RPM":-468.913208,"cg_du":55.1749878,"cg_dv":44.8250122,"cg_dw":50.5804901,"cg_id_a":-16.513113,"cg_id_raw_a":-17.2360516,"cg_iq_a":-193.718109,"cg_iq_raw_a":-193.819901,"cg_iu_a":183.360092,"cg_iv_a":-147.443237,"cg_iw_a":-26.7108994,"cg_sample_age_us":24.0672722,"cg_sample_seq":8239017,"cg_sample_valid":1,"cg_theta_rad":4.75733089,"cg_vd_req_v":-1.58864117,"cg_vd_v":-1.58864117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51937294,"cg_vq_v":-8.51937294,"cg_vu_v":143.404984,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2416.81592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1374.975952,"values":{"Elec_RPM":-2349.34302,"EncoderCos":50732,"EncoderSin":24979,"GapTicks":49536,"Mech_RPM":-469.868591,"cg_du":52.4570045,"cg_dv":45.0328674,"cg_dw":54.9671326,"cg_id_a":13.0758305,"cg_id_raw_a":11.9911871,"cg_iq_a":-201.371124,"cg_iq_raw_a":-199.171799,"cg_iu_a":143.20192,"cg_iv_a":-196.009979,"cg_iw_a":52.8080597,"cg_sample_age_us":23.7945461,"cg_sample_seq":8240666,"cg_sample_valid":1,"cg_theta_rad":5.8921299,"cg_vd_req_v":-2.2538147,"cg_vd_v":-2.2538147,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33322144,"cg_vq_v":-8.33322144,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2437.97046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1375.070591,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1375.070597,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1375.070603,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1375.307983,"values":{"Elec_RPM":-2355.89648,"EncoderCos":51037,"EncoderSin":25739,"GapTicks":49775,"Mech_RPM":-471.179321,"cg_du":53.5890388,"cg_dv":45.2500687,"cg_dw":54.7499313,"cg_id_a":16.7301292,"cg_id_raw_a":16.4862671,"cg_iq_a":-203.44104,"cg_iq_raw_a":-203.86235,"cg_iu_a":162.302414,"cg_iv_a":-188.435028,"cg_iw_a":26.1326065,"cg_sample_age_us":23.7363644,"cg_sample_seq":8242417,"cg_sample_valid":1,"cg_theta_rad":5.92317104,"cg_vd_req_v":-2.3042562,"cg_vd_v":-2.3042562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32073784,"cg_vq_v":-8.32073784,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2498.37012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1375.640015,"values":{"Elec_RPM":-2352.28857,"EncoderCos":47044,"EncoderSin":46343,"GapTicks":49431,"Mech_RPM":-470.457703,"cg_du":48.6979866,"cg_dv":44.937355,"cg_dw":55.062645,"cg_id_a":-14.7123413,"cg_id_raw_a":-15.6050777,"cg_iq_a":-199.359894,"cg_iq_raw_a":-201.724121,"cg_iu_a":12.7603626,"cg_iv_a":-178.794159,"cg_iw_a":166.033798,"cg_sample_age_us":23.7545452,"cg_sample_seq":8244066,"cg_sample_valid":1,"cg_theta_rad":0.756208897,"cg_vd_req_v":-1.63160872,"cg_vd_v":-1.63160872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42254353,"cg_vq_v":-8.42254353,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1375.991577,"values":{"Elec_RPM":-2348.76147,"EncoderCos":51617,"EncoderSin":37564,"GapTicks":49785,"Mech_RPM":-469.752289,"cg_du":46.5718613,"cg_dv":54.7405396,"cg_dw":45.2594604,"cg_id_a":12.5128918,"cg_id_raw_a":13.7462511,"cg_iq_a":-203.801605,"cg_iq_raw_a":-202.498703,"cg_iu_a":-159.0354,"cg_iv_a":191.617813,"cg_iw_a":-44.1441956,"cg_sample_age_us":23.4927273,"cg_sample_seq":8245866,"cg_sample_valid":1,"cg_theta_rad":0.260199249,"cg_vd_req_v":-2.23349047,"cg_vd_v":-2.23349047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3162365,"cg_vq_v":-8.3162365,"cg_vu_v":1.31967759,"cg_vv_v":7.47817326,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2720604,"dclink_p_w":-2492.09497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1376.063267,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1376.063273,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1376.063279,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1376.323608,"values":{"Elec_RPM":-2347.31543,"EncoderCos":26441,"EncoderSin":51478,"GapTicks":49441,"Mech_RPM":-469.463104,"cg_du":44.9467278,"cg_dv":47.854023,"cg_dw":55.0532722,"cg_id_a":1.99244964,"cg_id_raw_a":-4.45741892,"cg_iq_a":-197.478851,"cg_iq_raw_a":-195.62236,"cg_iu_a":-76.3632202,"cg_iv_a":-120.115402,"cg_iw_a":196.478622,"cg_sample_age_us":23.8600006,"cg_sample_seq":8247467,"cg_sample_valid":1,"cg_theta_rad":1.8929404,"cg_vd_req_v":-1.95450711,"cg_vd_v":-1.95450711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44517899,"cg_vq_v":-8.44517899,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6649761,"dclink_p_w":-2411.83301,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1376.679077,"values":{"Elec_RPM":-2344.12207,"EncoderCos":26290,"EncoderSin":51518,"GapTicks":49484,"Mech_RPM":-468.824432,"cg_du":44.9856567,"cg_dv":47.6767311,"cg_dw":55.0143433,"cg_id_a":6.90363359,"cg_id_raw_a":2.10852909,"cg_iq_a":-200.212997,"cg_iq_raw_a":-198.215912,"cg_iu_a":-34.9727669,"cg_iv_a":-158.026443,"cg_iw_a":192.999207,"cg_sample_age_us":23.8709087,"cg_sample_seq":8249220,"cg_sample_valid":1,"cg_theta_rad":1.93754649,"cg_vd_req_v":-2.05266619,"cg_vd_v":-2.05266619,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40077591,"cg_vq_v":-8.40077591,"cg_vu_v":131.527878,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1377.011108,"values":{"Elec_RPM":-2350.74561,"EncoderCos":14811,"EncoderSin":24225,"GapTicks":49592,"Mech_RPM":-470.149109,"cg_du":54.9154892,"cg_dv":45.0845108,"cg_dw":47.2642403,"cg_id_a":12.8118658,"cg_id_raw_a":9.17094517,"cg_iq_a":-201.547668,"cg_iq_raw_a":-198.369858,"cg_iu_a":195.610504,"cg_iv_a":-51.2883606,"cg_iw_a":-144.322144,"cg_sample_age_us":23.994545,"cg_sample_seq":8250817,"cg_sample_valid":1,"cg_theta_rad":3.59244251,"cg_vd_req_v":-2.17114663,"cg_vd_v":-2.17114663,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32338047,"cg_vq_v":-8.32338047,"cg_vu_v":142.965088,"cg_vv_v":135.486908,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5544319,"dclink_p_w":-2381.27002,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1377.055277,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1377.055283,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1377.055289,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1377.34314,"values":{"Elec_RPM":-2349.79443,"EncoderCos":12938,"EncoderSin":33774,"GapTicks":49371,"Mech_RPM":-469.958893,"cg_du":44.8834763,"cg_dv":50.079998,"cg_dw":55.1165237,"cg_id_a":-16.310688,"cg_id_raw_a":-16.3976479,"cg_iq_a":-198.906586,"cg_iq_raw_a":-198.941284,"cg_iu_a":-143.885483,"cg_iv_a":-45.525589,"cg_iw_a":189.411072,"cg_sample_age_us":23.8999996,"cg_sample_seq":8252617,"cg_sample_valid":1,"cg_theta_rad":3.09043646,"cg_vd_req_v":-1.52866077,"cg_vd_v":-1.52866077,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38658524,"cg_vq_v":-8.38658524,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.8990784,"dclink_p_w":-2590.43799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1377.694702,"values":{"Elec_RPM":-2353.27759,"EncoderCos":22169,"EncoderSin":15957,"GapTicks":49306,"Mech_RPM":-470.655518,"cg_du":44.8242188,"cg_dv":55.1757813,"cg_dw":50.5718956,"cg_id_a":-7.09811306,"cg_id_raw_a":-12.8171501,"cg_iq_a":-196.939789,"cg_iq_raw_a":-196.174194,"cg_iu_a":-195.061768,"cg_iv_a":60.1976624,"cg_iw_a":123.447296,"cg_sample_age_us":23.8381824,"cg_sample_seq":8254271,"cg_sample_valid":1,"cg_theta_rad":4.21260977,"cg_vd_req_v":-1.77865922,"cg_vd_v":-1.77865922,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48254585,"cg_vq_v":-8.48254585,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4750252,"dclink_p_w":-2529.06689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1378.026733,"values":{"Elec_RPM":-2347.74976,"EncoderCos":23838,"EncoderSin":15022,"GapTicks":50024,"Mech_RPM":-469.549957,"cg_du":45.4765205,"cg_dv":54.5234795,"cg_dw":54.4122772,"cg_id_a":9.3955946,"cg_id_raw_a":10.0794544,"cg_iq_a":-198.908722,"cg_iq_raw_a":-198.980774,"cg_iu_a":-184.442337,"cg_iv_a":28.7380219,"cg_iw_a":155.704315,"cg_sample_age_us":23.8999996,"cg_sample_seq":8256016,"cg_sample_valid":1,"cg_theta_rad":4.24917459,"cg_vd_req_v":-2.09553885,"cg_vd_v":-2.09553885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41875362,"cg_vq_v":-8.41875362,"cg_vu_v":1.31967759,"cg_vv_v":7.91806602,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.8139057,"dclink_p_w":-2578.11133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1378.046763,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1378.046768,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1378.046773,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1378.495483,"values":{"Elec_RPM":-2342.97876,"EncoderCos":41632,"EncoderSin":15057,"GapTicks":49364,"Mech_RPM":-468.595764,"cg_du":49.8451385,"cg_dv":55.1232643,"cg_dw":44.8767357,"cg_id_a":-18.9312744,"cg_id_raw_a":-17.7826157,"cg_iq_a":-198.71785,"cg_iq_raw_a":-195.357086,"cg_iu_a":-55.8129692,"cg_iv_a":190.965424,"cg_iw_a":-149.903702,"cg_sample_age_us":23.9581814,"cg_sample_seq":8258267,"cg_sample_valid":1,"cg_theta_rad":5.19419575,"cg_vd_req_v":-1.59731293,"cg_vd_v":-1.59731293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38618374,"cg_vq_v":-8.38618374,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2481.11328,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1378.911735,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1378.911748,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1378.911751,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1379.022827,"values":{"Elec_RPM":-2346.09448,"EncoderCos":51720,"EncoderSin":37344,"GapTicks":49641,"Mech_RPM":-469.218903,"cg_du":47.0397339,"cg_dv":54.8710938,"cg_dw":45.1289063,"cg_id_a":11.0747108,"cg_id_raw_a":8.8690815,"cg_iq_a":-202.522507,"cg_iq_raw_a":-201.058151,"cg_iu_a":-138.231445,"cg_iv_a":197.743027,"cg_iw_a":-59.5115814,"cg_sample_age_us":23.3872719,"cg_sample_seq":8261066,"cg_sample_valid":1,"cg_theta_rad":0.238178,"cg_vd_req_v":-2.2181294,"cg_vd_v":-2.2181294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33674812,"cg_vq_v":-8.33674812,"cg_vu_v":1.75957024,"cg_vv_v":17.1558094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2472.30298,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1379.039465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1379.03947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1379.039476,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1379.354858,"values":{"Elec_RPM":-2349.89233,"EncoderCos":26912,"EncoderSin":51655,"GapTicks":49370,"Mech_RPM":-469.978485,"cg_du":44.882534,"cg_dv":48.8066177,"cg_dw":55.117466,"cg_id_a":-7.2114768,"cg_id_raw_a":-10.9090948,"cg_iq_a":-198.834152,"cg_iq_raw_a":-200.332336,"cg_iu_a":-91.7306061,"cg_iv_a":-91.5190125,"cg_iw_a":199.233154,"cg_sample_age_us":23.863636,"cg_sample_seq":8262668,"cg_sample_valid":1,"cg_theta_rad":1.87934744,"cg_vd_req_v":-1.7665714,"cg_vd_v":-1.7665714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41958332,"cg_vq_v":-8.41958332,"cg_vu_v":105.134323,"cg_vv_v":101.175293,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2485.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1379.68689,"values":{"Elec_RPM":-2349.44116,"EncoderCos":13125,"EncoderSin":35585,"GapTicks":50049,"Mech_RPM":-469.888214,"cg_du":45.499424,"cg_dv":54.500576,"cg_dw":54.3755569,"cg_id_a":12.3341751,"cg_id_raw_a":11.8483067,"cg_iq_a":-200.47879,"cg_iq_raw_a":-199.009903,"cg_iu_a":-181.687805,"cg_iv_a":17.0312653,"cg_iw_a":164.65654,"cg_sample_age_us":23.954546,"cg_sample_seq":8264317,"cg_sample_valid":1,"cg_theta_rad":3.00186563,"cg_vd_req_v":-2.10077572,"cg_vd_v":-2.10077572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36515808,"cg_vq_v":-8.36515808,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1380.038452,"values":{"Elec_RPM":-2346.91064,"EncoderCos":14696,"EncoderSin":24504,"GapTicks":49488,"Mech_RPM":-469.382141,"cg_du":55.0105438,"cg_dv":44.9894562,"cg_dw":47.84161,"cg_id_a":9.0006609,"cg_id_raw_a":3.09456062,"cg_iq_a":-200.937454,"cg_iq_raw_a":-198.891144,"cg_iu_a":199.05368,"cg_iv_a":-68.9391174,"cg_iw_a":-130.114563,"cg_sample_age_us":24.1000004,"cg_sample_seq":8266017,"cg_sample_valid":1,"cg_theta_rad":3.5759604,"cg_vd_req_v":-2.0951314,"cg_vd_v":-2.0951314,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34310532,"cg_vq_v":-8.34310532,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2456.94287,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1380.063274,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1380.063279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1380.063285,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1380.37439,"values":{"Elec_RPM":-2352.47949,"EncoderCos":22140,"EncoderSin":15958,"GapTicks":49312,"Mech_RPM":-470.495911,"cg_du":44.8293724,"cg_dv":55.1706276,"cg_dw":50.5435371,"cg_id_a":-8.5823555,"cg_id_raw_a":-9.32743835,"cg_iq_a":-196.711761,"cg_iq_raw_a":-196.991943,"cg_iu_a":-196.221588,"cg_iv_a":118.87645,"cg_iw_a":77.3451385,"cg_sample_age_us":23.9363632,"cg_sample_seq":8267716,"cg_sample_valid":1,"cg_theta_rad":4.15907478,"cg_vd_req_v":-1.74884701,"cg_vd_v":-1.74884701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47823334,"cg_vq_v":-8.47823334,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-17.5457001,"dclink_p_w":-2539.29541,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1380.725952,"values":{"Elec_RPM":-2351.58984,"EncoderCos":32230,"EncoderSin":12991,"GapTicks":49809,"Mech_RPM":-470.317963,"cg_du":54.7187424,"cg_dv":45.2812576,"cg_dw":53.5206337,"cg_id_a":4.49558544,"cg_id_raw_a":10.7666397,"cg_iq_a":-201.170502,"cg_iq_raw_a":-202.582535,"cg_iu_a":175.386444,"cg_iv_a":-162.194489,"cg_iw_a":-13.1919632,"cg_sample_age_us":26.9836369,"cg_sample_seq":8269420,"cg_sample_valid":1,"cg_theta_rad":4.73426485,"cg_vd_req_v":-1.97979295,"cg_vd_v":-1.97979295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35478306,"cg_vq_v":-8.35478306,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.4438877,"dclink_p_w":-2387.06958,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1381.055087,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1381.055091,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1381.055095,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1381.057983,"values":{"Elec_RPM":-2348.38745,"EncoderCos":23621,"EncoderSin":15130,"GapTicks":49741,"Mech_RPM":-469.67749,"cg_du":45.2195816,"cg_dv":54.7804184,"cg_dw":53.5473442,"cg_id_a":8.77644825,"cg_id_raw_a":9.61685085,"cg_iq_a":-197.793503,"cg_iq_raw_a":-198.585052,"cg_iu_a":-187.12439,"cg_iv_a":41.8583069,"cg_iw_a":145.266083,"cg_sample_age_us":23.8527279,"cg_sample_seq":8271216,"cg_sample_valid":1,"cg_theta_rad":4.23712778,"cg_vd_req_v":-2.090729,"cg_vd_v":-2.090729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42689228,"cg_vq_v":-8.42689228,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2421.27441,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1381.390015,"values":{"Elec_RPM":-2350.16113,"EncoderCos":50735,"EncoderSin":24913,"GapTicks":49465,"Mech_RPM":-470.032227,"cg_du":52.3203087,"cg_dv":44.9689789,"cg_dw":55.0310211,"cg_id_a":14.6343613,"cg_id_raw_a":11.1628075,"cg_iq_a":-201.508057,"cg_iq_raw_a":-200.554398,"cg_iu_a":142.042114,"cg_iv_a":-196.843597,"cg_iw_a":54.8014755,"cg_sample_age_us":23.5945454,"cg_sample_seq":8272817,"cg_sample_valid":1,"cg_theta_rad":5.88939142,"cg_vd_req_v":-2.28854346,"cg_vd_v":-2.28854346,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36667824,"cg_vq_v":-8.36667824,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.2662926,"dclink_p_w":-2354.13354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1381.741577,"values":{"Elec_RPM":-2347.06909,"EncoderCos":44875,"EncoderSin":17245,"GapTicks":49309,"Mech_RPM":-469.413818,"cg_du":44.826828,"cg_dv":55.173172,"cg_dw":49.5687218,"cg_id_a":-14.5563135,"cg_id_raw_a":-13.2663231,"cg_iq_a":-197.256622,"cg_iq_raw_a":-197.728912,"cg_iu_a":-190.458801,"cg_iv_a":142.144989,"cg_iw_a":34.3237076,"cg_sample_age_us":23.9218178,"cg_sample_seq":8274616,"cg_sample_valid":1,"cg_theta_rad":5.39291811,"cg_vd_req_v":-1.70785248,"cg_vd_v":-1.70785248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45807362,"cg_vq_v":-8.45807362,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2498.0835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1382.047431,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1382.047437,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1382.047443,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1382.073608,"values":{"Elec_RPM":-2345.89307,"EncoderCos":47062,"EncoderSin":46271,"GapTicks":49452,"Mech_RPM":-469.178619,"cg_du":48.5299225,"cg_dv":44.9569817,"cg_dw":55.0430183,"cg_id_a":-13.3478584,"cg_id_raw_a":-10.5889025,"cg_iq_a":-199.492035,"cg_iq_raw_a":-200.380875,"cg_iu_a":23.0898552,"cg_iv_a":-181.983627,"cg_iw_a":158.893768,"cg_sample_age_us":23.7145462,"cg_sample_seq":8276217,"cg_sample_valid":1,"cg_theta_rad":0.762120843,"cg_vd_req_v":-1.65279937,"cg_vd_v":-1.65279937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3847456,"cg_vq_v":-8.3847456,"cg_vu_v":132.847549,"cg_vv_v":136.366699,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2446.59888,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1382.40564,"values":{"Elec_RPM":-2343.42236,"EncoderCos":37174,"EncoderSin":51902,"GapTicks":49836,"Mech_RPM":-468.684448,"cg_du":53.7529678,"cg_dv":54.6942902,"cg_dw":45.3057098,"cg_id_a":6.33872747,"cg_id_raw_a":9.80384636,"cg_iq_a":-201.5728,"cg_iq_raw_a":-204.819351,"cg_iu_a":5.91027832,"cg_iv_a":170.813858,"cg_iw_a":-176.724136,"cg_sample_age_us":23.9327278,"cg_sample_seq":8277916,"cg_sample_valid":1,"cg_theta_rad":1.34465981,"cg_vd_req_v":-2.02060008,"cg_vd_v":-2.02060008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37355137,"cg_vq_v":-8.37355137,"cg_vu_v":8.79785156,"cg_vv_v":35.1914063,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-17.7106094,"dclink_p_w":-2563.16187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1382.761108,"values":{"Elec_RPM":-2345.68457,"EncoderCos":26197,"EncoderSin":51461,"GapTicks":49504,"Mech_RPM":-469.136932,"cg_du":45.0044098,"cg_dv":47.4221382,"cg_dw":54.9955902,"cg_id_a":7.34164572,"cg_id_raw_a":3.79741526,"cg_iq_a":-198.761078,"cg_iq_raw_a":-195.253357,"cg_iu_a":-62.3731041,"cg_iv_a":-134.214233,"cg_iw_a":196.587341,"cg_sample_age_us":23.8418179,"cg_sample_seq":8279617,"cg_sample_valid":1,"cg_theta_rad":1.91030729,"cg_vd_req_v":-2.04941154,"cg_vd_v":-2.04941154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43918133,"cg_vq_v":-8.43918133,"cg_vu_v":34.7515144,"cg_vv_v":32.1121559,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1383.038881,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1383.038887,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1383.038892,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1383.089233,"values":{"Elec_RPM":-2345.51074,"EncoderCos":17011,"EncoderSin":44780,"GapTicks":49362,"Mech_RPM":-469.102142,"cg_du":55.1248169,"cg_dv":50.6882095,"cg_dw":44.8751831,"cg_id_a":-1.29815292,"cg_id_raw_a":-6.42896128,"cg_iq_a":-199.52681,"cg_iq_raw_a":-196.511078,"cg_iu_a":99.2381516,"cg_iv_a":106.04612,"cg_iw_a":-201.22496,"cg_sample_age_us":23.8890915,"cg_sample_seq":8281317,"cg_sample_valid":1,"cg_theta_rad":2.50032425,"cg_vd_req_v":-1.883443,"cg_vd_v":-1.883443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38094711,"cg_vq_v":-8.38094711,"cg_vu_v":30.3525867,"cg_vv_v":10.1175289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2147522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1383.425171,"values":{"Elec_RPM":-2339.021,"EncoderCos":12980,"EncoderSin":34428,"GapTicks":49495,"Mech_RPM":-467.804199,"cg_du":44.9960365,"cg_dv":51.6023598,"cg_dw":55.0039635,"cg_id_a":-12.6732798,"cg_id_raw_a":-10.5660486,"cg_iq_a":-201.680344,"cg_iq_raw_a":-200.709457,"cg_iu_a":-165.523056,"cg_iv_a":-15.6969147,"cg_iw_a":181.219971,"cg_sample_age_us":23.9363632,"cg_sample_seq":8283017,"cg_sample_valid":1,"cg_theta_rad":3.0586729,"cg_vd_req_v":-1.59445238,"cg_vd_v":-1.59445238,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35320187,"cg_vq_v":-8.35320187,"cg_vu_v":104.694435,"cg_vv_v":103.814644,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2582,"hz_tim_isr":5001,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1383.776733,"values":{"Elec_RPM":-2343.14893,"EncoderCos":15324,"EncoderSin":23191,"GapTicks":49826,"Mech_RPM":-468.629761,"cg_du":54.7028389,"cg_dv":46.3251305,"cg_dw":45.2971611,"cg_id_a":6.11531544,"cg_id_raw_a":11.8761206,"cg_iq_a":-201.202972,"cg_iq_raw_a":-202.479065,"cg_iu_a":175.748871,"cg_iv_a":-3.59146118,"cg_iw_a":-168.315567,"cg_sample_age_us":24.0672722,"cg_sample_seq":8284716,"cg_sample_valid":1,"cg_theta_rad":3.6504848,"cg_vd_req_v":-2.01009107,"cg_vd_v":-2.01009107,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38428688,"cg_vq_v":-8.38428688,"cg_vu_v":20.6749516,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2534.83667,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2582,"hz_tim_isr":5001,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1384.062641,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1384.062646,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1384.062651,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1384.108765,"values":{"Elec_RPM":-2344.08765,"EncoderCos":23384,"EncoderSin":15281,"GapTicks":49717,"Mech_RPM":-468.817535,"cg_du":45.197834,"cg_dv":54.802166,"cg_dw":53.3516388,"cg_id_a":7.70367622,"cg_id_raw_a":8.31911182,"cg_iq_a":-197.613098,"cg_iq_raw_a":-197.905548,"cg_iu_a":-190.712524,"cg_iv_a":44.2503815,"cg_iw_a":146.462143,"cg_sample_age_us":23.9509087,"cg_sample_seq":8286416,"cg_sample_valid":1,"cg_theta_rad":4.23019457,"cg_vd_req_v":-2.07234836,"cg_vd_v":-2.07234836,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42734814,"cg_vq_v":-8.42734814,"cg_vu_v":1.31967759,"cg_vv_v":8.79785156,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2419.92871,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1384.440796,"values":{"Elec_RPM":-2344.24414,"EncoderCos":43857,"EncoderSin":16464,"GapTicks":49826,"Mech_RPM":-468.848816,"cg_du":45.2964172,"cg_dv":54.7035828,"cg_dw":46.3346901,"cg_id_a":6.24145555,"cg_id_raw_a":7.92641544,"cg_iq_a":-203.189972,"cg_iq_raw_a":-203.90033,"cg_iu_a":-173.605423,"cg_iv_a":177.990143,"cg_iw_a":-4.38471222,"cg_sample_age_us":23.9181824,"cg_sample_seq":8288067,"cg_sample_valid":1,"cg_theta_rad":5.32594299,"cg_vd_req_v":-2.11298156,"cg_vd_v":-2.11298156,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32918167,"cg_vq_v":-8.32918167,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1384.792358,"values":{"Elec_RPM":-2347.97363,"EncoderCos":44503,"EncoderSin":16933,"GapTicks":49430,"Mech_RPM":-469.594727,"cg_du":44.9365005,"cg_dv":55.0634995,"cg_dw":48.4612732,"cg_id_a":-12.9355145,"cg_id_raw_a":-11.7149067,"cg_iq_a":-199.651627,"cg_iq_raw_a":-200.858398,"cg_iu_a":-182.376434,"cg_iv_a":161.535431,"cg_iw_a":20.8410034,"cg_sample_age_us":23.9109097,"cg_sample_seq":8289817,"cg_sample_valid":1,"cg_theta_rad":5.3681035,"cg_vd_req_v":-1.72111392,"cg_vd_v":-1.72111392,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41688156,"cg_vq_v":-8.41688156,"cg_vu_v":127.568848,"cg_vv_v":136.366699,"cg_vw_v":107.773682,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2579,"hz_tim_isr":4998,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1385.05483,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1385.054836,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1385.054842,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1385.128296,"values":{"Elec_RPM":-2356.63379,"EncoderCos":51830,"EncoderSin":36781,"GapTicks":49455,"Mech_RPM":-471.326752,"cg_du":48.0926018,"cg_dv":55.0406303,"cg_dw":44.9593697,"cg_id_a":1.73887134,"cg_id_raw_a":-3.43195915,"cg_iq_a":-199.307877,"cg_iq_raw_a":-198.65358,"cg_iu_a":-120.254509,"cg_iv_a":199.011566,"cg_iw_a":-92.3484955,"cg_sample_age_us":23.4927273,"cg_sample_seq":8291466,"cg_sample_valid":1,"cg_theta_rad":0.217368394,"cg_vd_req_v":-2.02183318,"cg_vd_v":-2.02183318,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38186646,"cg_vq_v":-8.38186646,"cg_vu_v":38.7105446,"cg_vv_v":57.1860352,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1385.479858,"values":{"Elec_RPM":-2353.08252,"EncoderCos":51465,"EncoderSin":26936,"GapTicks":49395,"Mech_RPM":-470.616516,"cg_du":55.0946693,"cg_dv":44.9053307,"cg_dw":51.5548248,"cg_id_a":-11.2055054,"cg_id_raw_a":-10.3579273,"cg_iq_a":-195.287094,"cg_iq_raw_a":-196.420624,"cg_iu_a":177.307373,"cg_iv_a":-158.135162,"cg_iw_a":-19.1722031,"cg_sample_age_us":24.1436367,"cg_sample_seq":8293267,"cg_sample_valid":1,"cg_theta_rad":5.99375677,"cg_vd_req_v":-1.70874965,"cg_vd_v":-1.70874965,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47448635,"cg_vq_v":-8.47448635,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1385.81189,"values":{"Elec_RPM":-2349.55249,"EncoderCos":46213,"EncoderSin":47091,"GapTicks":49300,"Mech_RPM":-469.910492,"cg_du":50.8779984,"cg_dv":44.8186302,"cg_dw":55.1813698,"cg_id_a":-0.319990873,"cg_id_raw_a":-5.23515701,"cg_iq_a":-197.295685,"cg_iq_raw_a":-196.636963,"cg_iu_a":95.4325485,"cg_iv_a":-198.547058,"cg_iw_a":103.114502,"cg_sample_age_us":23.5763645,"cg_sample_seq":8294917,"cg_sample_valid":1,"cg_theta_rad":0.820368767,"cg_vd_req_v":-1.9582113,"cg_vd_v":-1.9582113,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44973183,"cg_vq_v":-8.44973183,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1386.047659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1386.047665,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1386.04767,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1386.143921,"values":{"Elec_RPM":-2349.92041,"EncoderCos":36110,"EncoderSin":52096,"GapTicks":49307,"Mech_RPM":-469.9841,"cg_du":51.066925,"cg_dv":55.1746178,"cg_dw":44.8253822,"cg_id_a":-9.28240967,"cg_id_raw_a":-8.35301113,"cg_iq_a":-193.492142,"cg_iq_raw_a":-193.568192,"cg_iu_a":-34.1753998,"cg_iv_a":182.701828,"cg_iw_a":-148.526428,"cg_sample_age_us":23.8999996,"cg_sample_seq":8296617,"cg_sample_valid":1,"cg_theta_rad":1.39695036,"cg_vd_req_v":-1.70563066,"cg_vd_v":-1.70563066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53988457,"cg_vq_v":-8.53988457,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1386.495483,"values":{"Elec_RPM":-2350.38818,"EncoderCos":24010,"EncoderSin":52659,"GapTicks":49733,"Mech_RPM":-470.077637,"cg_du":46.9395981,"cg_dv":45.2121773,"cg_dw":54.7878227,"cg_id_a":0.592380404,"cg_id_raw_a":5.87822723,"cg_iq_a":-202.969711,"cg_iq_raw_a":-204.641693,"cg_iu_a":-2.13585281,"cg_iv_a":-173.720016,"cg_iw_a":175.855865,"cg_sample_age_us":23.8890915,"cg_sample_seq":8298316,"cg_sample_valid":1,"cg_theta_rad":1.98446929,"cg_vd_req_v":-1.87782848,"cg_vd_v":-1.87782848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3192749,"cg_vq_v":-8.3192749,"cg_vu_v":38.7105446,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2453.79565,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1386.827515,"values":{"Elec_RPM":-2348.68188,"EncoderCos":14593,"EncoderSin":44627,"GapTicks":49833,"Mech_RPM":-469.736389,"cg_du":54.6967888,"cg_dv":53.5281601,"cg_dw":45.3032112,"cg_id_a":15.2766571,"cg_id_raw_a":14.927227,"cg_iq_a":-206.156311,"cg_iq_raw_a":-206.715027,"cg_iu_a":31.2084732,"cg_iv_a":154.612854,"cg_iw_a":-195.86087,"cg_sample_age_us":23.8709087,"cg_sample_seq":8300016,"cg_sample_valid":1,"cg_theta_rad":2.56314182,"cg_vd_req_v":-2.1991446,"cg_vd_v":-2.1991446,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26788425,"cg_vq_v":-8.26788425,"cg_vu_v":1.75957024,"cg_vv_v":6.59838867,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2445.03003,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1387.039307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1387.039312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1387.039318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1387.182983,"values":{"Elec_RPM":-2351.73853,"EncoderCos":11047,"EncoderSin":34134,"GapTicks":49371,"Mech_RPM":-470.347687,"cg_du":44.8827705,"cg_dv":50.6092987,"cg_dw":55.1172295,"cg_id_a":-16.0430145,"cg_id_raw_a":-16.2788143,"cg_iq_a":-199.258606,"cg_iq_raw_a":-197.874939,"cg_iu_a":-96.0798645,"cg_iv_a":-100.942413,"cg_iw_a":197.022278,"cg_sample_age_us":23.8381824,"cg_sample_seq":8301721,"cg_sample_valid":1,"cg_theta_rad":3.13366795,"cg_vd_req_v":-1.54571509,"cg_vd_v":-1.54571509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43125343,"cg_vq_v":-8.43125343,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1387.515015,"values":{"Elec_RPM":-2350.87793,"EncoderCos":14254,"EncoderSin":21216,"GapTicks":49357,"Mech_RPM":-470.175598,"cg_du":55.1296654,"cg_dv":49.1153336,"cg_dw":44.8703346,"cg_id_a":-12.2470789,"cg_id_raw_a":-11.888073,"cg_iq_a":-195.437851,"cg_iq_raw_a":-194.475174,"cg_iu_a":147.406204,"cg_iv_a":36.1680145,"cg_iw_a":-183.574219,"cg_sample_age_us":24.0490913,"cg_sample_seq":8303417,"cg_sample_valid":1,"cg_theta_rad":3.70656133,"cg_vd_req_v":-1.63895822,"cg_vd_v":-1.63895822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45741844,"cg_vq_v":-8.45741844,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2411.30005,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1387.847046,"values":{"Elec_RPM":-2352.26489,"EncoderCos":23667,"EncoderSin":13041,"GapTicks":49704,"Mech_RPM":-470.452972,"cg_du":45.186264,"cg_dv":52.9845161,"cg_dw":54.813736,"cg_id_a":-1.15354037,"cg_id_raw_a":6.56130028,"cg_iq_a":-203.081833,"cg_iq_raw_a":-204.773727,"cg_iu_a":-176.214981,"cg_iv_a":-0.83694458,"cg_iw_a":177.051926,"cg_sample_age_us":23.9618187,"cg_sample_seq":8305116,"cg_sample_valid":1,"cg_theta_rad":4.29319,"cg_vd_req_v":-1.87862575,"cg_vd_v":-1.87862575,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30855179,"cg_vq_v":-8.30855179,"cg_vu_v":3.51914048,"cg_vv_v":22.4345207,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.3952885,"dclink_p_w":-2509.875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1388.063296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1388.063302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1388.063307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1388.229858,"values":{"Elec_RPM":-2358.33105,"EncoderCos":11192,"EncoderSin":30307,"GapTicks":49578,"Mech_RPM":-471.666199,"cg_du":47.848259,"cg_dv":45.0710793,"cg_dw":54.9289207,"cg_id_a":-9.14447403,"cg_id_raw_a":-2.19494772,"cg_iq_a":-202.137192,"cg_iq_raw_a":-204.009293,"cg_iu_a":4.06184292,"cg_iv_a":-177.45314,"cg_iw_a":173.391296,"cg_sample_age_us":23.9327278,"cg_sample_seq":8306966,"cg_sample_valid":1,"cg_theta_rad":3.2568872,"cg_vd_req_v":-1.6713177,"cg_vd_v":-1.6713177,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32846069,"cg_vq_v":-8.32846069,"cg_vu_v":39.1504402,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2485.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1388.74939,"values":{"Elec_RPM":-2348.19653,"EncoderCos":22833,"EncoderSin":52088,"GapTicks":49348,"Mech_RPM":-469.639313,"cg_du":49.8886185,"cg_dv":44.8620682,"cg_dw":55.1379318,"cg_id_a":-17.1894493,"cg_id_raw_a":-19.8826694,"cg_iq_a":-196.683685,"cg_iq_raw_a":-198.567703,"cg_iu_a":48.641758,"cg_iv_a":-188.652481,"cg_iw_a":140.010727,"cg_sample_age_us":23.7763634,"cg_sample_seq":8309417,"cg_sample_valid":1,"cg_theta_rad":2.04373693,"cg_vd_req_v":-1.56202531,"cg_vd_v":-1.56202531,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47013187,"cg_vq_v":-8.47013187,"cg_vu_v":105.574219,"cg_vv_v":87.53862,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2524.65308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1388.927578,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1388.927588,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1388.927592,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1389.055507,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1389.055513,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1389.055518,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1389.194702,"values":{"Elec_RPM":-2346.4646,"EncoderCos":37881,"EncoderSin":53712,"GapTicks":50046,"Mech_RPM":-469.292908,"cg_du":54.3192406,"cg_dv":54.503273,"cg_dw":45.496727,"cg_id_a":11.1477842,"cg_id_raw_a":14.0689535,"cg_iq_a":-201.910416,"cg_iq_raw_a":-202.485764,"cg_iu_a":-22.2511806,"cg_iv_a":178.098862,"cg_iw_a":-155.847687,"cg_sample_age_us":23.812727,"cg_sample_seq":8311822,"cg_sample_valid":1,"cg_theta_rad":1.38986897,"cg_vd_req_v":-2.11519742,"cg_vd_v":-2.11519742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36525822,"cg_vq_v":-8.36525822,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2517.28735,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1389.526733,"values":{"Elec_RPM":-2343.74048,"EncoderCos":11185,"EncoderSin":35006,"GapTicks":49611,"Mech_RPM":-468.748108,"cg_du":45.101265,"cg_dv":52.5973892,"cg_dw":54.898735,"cg_id_a":-5.09104395,"cg_id_raw_a":2.61276054,"cg_iq_a":-202.021912,"cg_iq_raw_a":-203.351395,"cg_iu_a":-176.178741,"cg_iv_a":3.62104797,"cg_iw_a":172.557693,"cg_sample_age_us":23.8418179,"cg_sample_seq":8313416,"cg_sample_valid":1,"cg_theta_rad":3.03286099,"cg_vd_req_v":-1.74997962,"cg_vd_v":-1.74997962,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35409832,"cg_vq_v":-8.35409832,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2511.44385,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1389.858765,"values":{"Elec_RPM":-2344.94189,"EncoderCos":14797,"EncoderSin":44926,"GapTicks":49641,"Mech_RPM":-468.988403,"cg_du":54.8717346,"cg_dv":52.9046402,"cg_dw":45.1282654,"cg_id_a":12.9022245,"cg_id_raw_a":13.6535254,"cg_iq_a":-204.225128,"cg_iq_raw_a":-205.140594,"cg_iu_a":58.8625183,"cg_iv_a":138.556854,"cg_iw_a":-197.419373,"cg_sample_age_us":23.7909088,"cg_sample_seq":8315216,"cg_sample_valid":1,"cg_theta_rad":2.5396111,"cg_vd_req_v":-2.15812945,"cg_vd_v":-2.15812945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30829334,"cg_vq_v":-8.30829334,"cg_vu_v":106.014107,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2511.9668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1390.047637,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1390.047643,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1390.047648,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1390.190796,"values":{"Elec_RPM":-2344.68726,"EncoderCos":21840,"EncoderSin":13853,"GapTicks":49447,"Mech_RPM":-468.937469,"cg_du":44.9519272,"cg_dv":55.0480728,"cg_dw":52.0656128,"cg_id_a":2.66445827,"cg_id_raw_a":1.39054,"cg_iq_a":-196.556427,"cg_iq_raw_a":-197.380722,"cg_iu_a":-195.859146,"cg_iv_a":75.1663742,"cg_iw_a":120.692772,"cg_sample_age_us":23.9654541,"cg_sample_seq":8316816,"cg_sample_valid":1,"cg_theta_rad":4.20089245,"cg_vd_req_v":-1.9897424,"cg_vd_v":-1.9897424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43678093,"cg_vq_v":-8.43678093,"cg_vu_v":1.31967759,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1390.542358,"values":{"Elec_RPM":-2349.03174,"EncoderCos":14277,"EncoderSin":21281,"GapTicks":49374,"Mech_RPM":-469.806335,"cg_du":55.1136818,"cg_dv":49.0536537,"cg_dw":44.8863182,"cg_id_a":-13.1598587,"cg_id_raw_a":-10.9636621,"cg_iq_a":-194.788116,"cg_iq_raw_a":-196.141327,"cg_iu_a":150.921844,"cg_iv_a":33.2322693,"cg_iw_a":-184.154114,"cg_sample_age_us":24.045454,"cg_sample_seq":8318616,"cg_sample_valid":1,"cg_theta_rad":3.70487452,"cg_vd_req_v":-1.61728752,"cg_vd_v":-1.61728752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46735573,"cg_vq_v":-8.46735573,"cg_vu_v":40.0302238,"cg_vv_v":40.9100075,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1390.87439,"values":{"Elec_RPM":-2349.44751,"EncoderCos":45337,"EncoderSin":15210,"GapTicks":49534,"Mech_RPM":-469.889496,"cg_du":45.0310783,"cg_dv":54.9689217,"cg_dw":47.586853,"cg_id_a":-6.83269119,"cg_id_raw_a":0.720175445,"cg_iq_a":-200.970154,"cg_iq_raw_a":-201.744171,"cg_iu_a":-178.244629,"cg_iv_a":168.2043,"cg_iw_a":10.040329,"cg_sample_age_us":23.8927269,"cg_sample_seq":8320216,"cg_sample_valid":1,"cg_theta_rad":5.35549545,"cg_vd_req_v":-1.83325541,"cg_vd_v":-1.83325541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40004826,"cg_vq_v":-8.40004826,"cg_vu_v":116.571533,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2413.13037,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1391.071304,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1391.07131,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1391.071315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1391.225952,"values":{"Elec_RPM":-2353.87842,"EncoderCos":52450,"EncoderSin":24169,"GapTicks":49504,"Mech_RPM":-470.775696,"cg_du":52.3544159,"cg_dv":45.0037422,"cg_dw":54.9962578,"cg_id_a":11.9587193,"cg_id_raw_a":7.48967838,"cg_iq_a":-199.26561,"cg_iq_raw_a":-198.808609,"cg_iu_a":171.435867,"cg_iv_a":-180.243912,"cg_iw_a":16.3830032,"cg_sample_age_us":23.6854553,"cg_sample_seq":8321921,"cg_sample_valid":1,"cg_theta_rad":5.93834734,"cg_vd_req_v":-2.22584319,"cg_vd_v":-2.22584319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38896084,"cg_vq_v":-8.38896084,"cg_vu_v":46.6286087,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2479.66895,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1391.56189,"values":{"Elec_RPM":-2356.54785,"EncoderCos":53693,"EncoderSin":37085,"GapTicks":49463,"Mech_RPM":-471.30957,"cg_du":48.2615242,"cg_dv":55.0332375,"cg_dw":44.9667625,"cg_id_a":-0.756459236,"cg_id_raw_a":-4.34046745,"cg_iq_a":-201.554077,"cg_iq_raw_a":-201.206589,"cg_iu_a":-128.083176,"cg_iv_a":200.062622,"cg_iw_a":-71.979454,"cg_sample_age_us":23.5218182,"cg_sample_seq":8323617,"cg_sample_valid":1,"cg_theta_rad":0.226559445,"cg_vd_req_v":-1.9858731,"cg_vd_v":-1.9858731,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34376812,"cg_vq_v":-8.34376812,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2414.71777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1391.893921,"values":{"Elec_RPM":-2357.08838,"EncoderCos":47787,"EncoderSin":48242,"GapTicks":49281,"Mech_RPM":-471.417694,"cg_du":50.3117218,"cg_dv":44.8017502,"cg_dw":55.1982498,"cg_id_a":-8.01738453,"cg_id_raw_a":-11.0833225,"cg_iq_a":-196.155609,"cg_iq_raw_a":-196.180756,"cg_iu_a":70.5330353,"cg_iv_a":-194.342773,"cg_iw_a":123.809738,"cg_sample_age_us":23.6345463,"cg_sample_seq":8325316,"cg_sample_valid":1,"cg_theta_rad":0.803287029,"cg_vd_req_v":-1.80188525,"cg_vd_v":-1.80188525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50337601,"cg_vq_v":-8.50337601,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1392.031451,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1392.031457,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1392.031463,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1392.245483,"values":{"Elec_RPM":-2359.17358,"EncoderCos":47325,"EncoderSin":48682,"GapTicks":49320,"Mech_RPM":-471.834717,"cg_du":51.3674698,"cg_dv":44.836586,"cg_dw":55.163414,"cg_id_a":4.96857262,"cg_id_raw_a":-0.520426869,"cg_iq_a":-196.843018,"cg_iq_raw_a":-195.959869,"cg_iu_a":109.386421,"cg_iv_a":-197.024811,"cg_iw_a":87.638382,"cg_sample_age_us":23.6054554,"cg_sample_seq":8327067,"cg_sample_valid":1,"cg_theta_rad":0.834064782,"cg_vd_req_v":-2.06100726,"cg_vd_v":-2.06100726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4822588,"cg_vq_v":-8.4822588,"cg_vu_v":106.893898,"cg_vv_v":98.5359344,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2236633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1392.577515,"values":{"Elec_RPM":-2359.40308,"EncoderCos":36142,"EncoderSin":54027,"GapTicks":49355,"Mech_RPM":-471.880615,"cg_du":50.3644524,"cg_dv":55.1314926,"cg_dw":44.8685074,"cg_id_a":-12.7153263,"cg_id_raw_a":-10.7705574,"cg_iq_a":-196.121063,"cg_iq_raw_a":-193.395309,"cg_iu_a":-46.8607407,"cg_iv_a":188.93576,"cg_iw_a":-151.208481,"cg_sample_age_us":23.8890915,"cg_sample_seq":8328767,"cg_sample_valid":1,"cg_theta_rad":1.41289866,"cg_vd_req_v":-1.63835347,"cg_vd_v":-1.63835347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45138073,"cg_vq_v":-8.45138073,"cg_vu_v":103.814644,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1392.909546,"values":{"Elec_RPM":-2355.49878,"EncoderCos":24119,"EncoderSin":52694,"GapTicks":49823,"Mech_RPM":-471.099762,"cg_du":46.6407089,"cg_dv":45.2937965,"cg_dw":54.7062035,"cg_id_a":4.13939238,"cg_id_raw_a":9.43424034,"cg_iq_a":-206.949341,"cg_iq_raw_a":-206.346985,"cg_iu_a":-4.89038372,"cg_iv_a":-175.061035,"cg_iw_a":179.951416,"cg_sample_age_us":23.863636,"cg_sample_seq":8330467,"cg_sample_valid":1,"cg_theta_rad":1.97635818,"cg_vd_req_v":-1.95777333,"cg_vd_v":-1.95777333,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25146103,"cg_vq_v":-8.25146103,"cg_vu_v":126.249161,"cg_vv_v":134.607132,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2534.83667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1393.054957,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1393.054963,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1393.054969,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1393.261108,"values":{"Elec_RPM":-2353.09326,"EncoderCos":13611,"EncoderSin":22259,"GapTicks":49850,"Mech_RPM":-470.618652,"cg_du":54.6814613,"cg_dv":46.3331947,"cg_dw":45.3185387,"cg_id_a":6.19745541,"cg_id_raw_a":11.0931025,"cg_iq_a":-200.059937,"cg_iq_raw_a":-202.748962,"cg_iu_a":176.437515,"cg_iv_a":-5.00498962,"cg_iw_a":-171.432526,"cg_sample_age_us":24.1000004,"cg_sample_seq":8332066,"cg_sample_valid":1,"cg_theta_rad":3.65033674,"cg_vd_req_v":-1.99929225,"cg_vd_v":-1.99929225,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37693405,"cg_vq_v":-8.37693405,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.3714008,"dclink_p_w":-2369.34546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1393.597046,"values":{"Elec_RPM":-2347.98315,"EncoderCos":11017,"EncoderSin":32913,"GapTicks":49425,"Mech_RPM":-469.596619,"cg_du":44.932457,"cg_dv":48.4017105,"cg_dw":55.067543,"cg_id_a":-2.84394979,"cg_id_raw_a":-7.42436409,"cg_iq_a":-197.189499,"cg_iq_raw_a":-196.707367,"cg_iu_a":-92.0205536,"cg_iv_a":-103.080795,"cg_iw_a":195.101349,"cg_sample_age_us":23.9690914,"cg_sample_seq":8333867,"cg_sample_valid":1,"cg_theta_rad":3.13844824,"cg_vd_req_v":-1.83844483,"cg_vd_v":-1.83844483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43597603,"cg_vq_v":-8.43597603,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2481.77344,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2218628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1393.925171,"values":{"Elec_RPM":-2347.86328,"EncoderCos":23094,"EncoderSin":13263,"GapTicks":50034,"Mech_RPM":-469.572662,"cg_du":45.486187,"cg_dv":54.4136467,"cg_dw":54.513813,"cg_id_a":11.019227,"cg_id_raw_a":12.1719093,"cg_iq_a":-201.143311,"cg_iq_raw_a":-201.350739,"cg_iu_a":-179.513184,"cg_iv_a":7.35417175,"cg_iw_a":172.159012,"cg_sample_age_us":23.9290905,"cg_sample_seq":8335516,"cg_sample_valid":1,"cg_theta_rad":4.27133274,"cg_vd_req_v":-2.14100432,"cg_vd_v":-2.14100432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3662796,"cg_vq_v":-8.3662796,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2429.08032,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1394.047238,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1394.047244,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1394.04725,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1394.28064,"values":{"Elec_RPM":-2352.26196,"EncoderCos":23866,"EncoderSin":12953,"GapTicks":49568,"Mech_RPM":-470.452393,"cg_du":45.0625343,"cg_dv":52.4658051,"cg_dw":54.9374657,"cg_id_a":-6.10807991,"cg_id_raw_a":-0.374814928,"cg_iq_a":-201.663467,"cg_iq_raw_a":-203.81871,"cg_iu_a":-171.974457,"cg_iv_a":-6.49098206,"cg_iw_a":178.465439,"cg_sample_age_us":23.9290905,"cg_sample_seq":8337266,"cg_sample_valid":1,"cg_theta_rad":4.2993989,"cg_vd_req_v":-1.78376472,"cg_vd_v":-1.78376472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37332344,"cg_vq_v":-8.37332344,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-17.3717308,"dclink_p_w":-2514.11768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1394.612671,"values":{"Elec_RPM":-2352.35083,"EncoderCos":36088,"EncoderSin":11347,"GapTicks":49992,"Mech_RPM":-470.470184,"cg_du":54.5520172,"cg_dv":45.4479828,"cg_dw":45.8502731,"cg_id_a":12.2910872,"cg_id_raw_a":17.2775745,"cg_iq_a":-201.41571,"cg_iq_raw_a":-204.743408,"cg_iu_a":186.368317,"cg_iv_a":-31.3179932,"cg_iw_a":-155.050323,"cg_sample_age_us":23.9799995,"cg_sample_seq":8338966,"cg_sample_valid":1,"cg_theta_rad":4.87395334,"cg_vd_req_v":-2.16147327,"cg_vd_v":-2.16147327,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34717846,"cg_vq_v":-8.34717846,"cg_vu_v":106.893898,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1394.964233,"values":{"Elec_RPM":-2354.77197,"EncoderCos":47021,"EncoderSin":16563,"GapTicks":49440,"Mech_RPM":-470.954407,"cg_du":44.9454536,"cg_dv":55.0545464,"cg_dw":51.8640518,"cg_id_a":-1.36334217,"cg_id_raw_a":-7.53261375,"cg_iq_a":-197.74176,"cg_iq_raw_a":-197.264908,"cg_iu_a":-196.511536,"cg_iv_a":86.148262,"cg_iw_a":110.363274,"cg_sample_age_us":23.9218178,"cg_sample_seq":8340667,"cg_sample_valid":1,"cg_theta_rad":5.45002556,"cg_vd_req_v":-1.98376191,"cg_vd_v":-1.98376191,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40525436,"cg_vq_v":-8.40525436,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1395.039409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1395.039415,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1395.03942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1395.300171,"values":{"Elec_RPM":-2356.89526,"EncoderCos":53343,"EncoderSin":38473,"GapTicks":50003,"Mech_RPM":-471.379059,"cg_du":45.7294121,"cg_dv":54.5425491,"cg_dw":45.4574509,"cg_id_a":13.6273365,"cg_id_raw_a":14.1583281,"cg_iq_a":-205.643402,"cg_iq_raw_a":-205.404739,"cg_iu_a":-168.277588,"cg_iv_a":186.289978,"cg_iw_a":-18.0123825,"cg_sample_age_us":23.5363636,"cg_sample_seq":8342317,"cg_sample_valid":1,"cg_theta_rad":0.278236896,"cg_vd_req_v":-2.25248718,"cg_vd_v":-2.25248718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31130219,"cg_vq_v":-8.31130219,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1395.628296,"values":{"Elec_RPM":-2359.84106,"EncoderCos":46839,"EncoderSin":49240,"GapTicks":49521,"Mech_RPM":-471.968201,"cg_du":52.52314,"cg_dv":45.0194321,"cg_dw":54.9805679,"cg_id_a":11.3730097,"cg_id_raw_a":11.9611835,"cg_iq_a":-199.66983,"cg_iq_raw_a":-199.505371,"cg_iu_a":138.019043,"cg_iv_a":-195.937485,"cg_iw_a":57.9184418,"cg_sample_age_us":23.5472736,"cg_sample_seq":8344017,"cg_sample_valid":1,"cg_theta_rad":0.866136849,"cg_vd_req_v":-2.17272878,"cg_vd_v":-2.17272878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39531994,"cg_vq_v":-8.39531994,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1395.983765,"values":{"Elec_RPM":-2354.69531,"EncoderCos":35443,"EncoderSin":54143,"GapTicks":49402,"Mech_RPM":-470.939056,"cg_du":49.0318832,"cg_dv":55.0884819,"cg_dw":44.9115181,"cg_id_a":-8.45029068,"cg_id_raw_a":-12.5952072,"cg_iq_a":-199.192459,"cg_iq_raw_a":-198.691238,"cg_iu_a":-99.5592804,"cg_iv_a":200.425079,"cg_iw_a":-100.865791,"cg_sample_age_us":23.8999996,"cg_sample_seq":8345716,"cg_sample_valid":1,"cg_theta_rad":1.45850861,"cg_vd_req_v":-1.74430752,"cg_vd_v":-1.74430752,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37497425,"cg_vq_v":-8.37497425,"cg_vu_v":134.607132,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.1195049,"dclink_p_w":-2332.88989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2040405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1396.063397,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1396.063403,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1396.063408,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1396.315796,"values":{"Elec_RPM":-2356.51318,"EncoderCos":23607,"EncoderSin":52492,"GapTicks":49512,"Mech_RPM":-471.302643,"cg_du":48.0621376,"cg_dv":45.0115433,"cg_dw":54.9884567,"cg_id_a":-13.9734459,"cg_id_raw_a":-6.20872736,"cg_iq_a":-202.720749,"cg_iq_raw_a":-204.267639,"cg_iu_a":6.05525351,"cg_iv_a":-178.250504,"cg_iw_a":172.195251,"cg_sample_age_us":23.9981823,"cg_sample_seq":8347417,"cg_sample_valid":1,"cg_theta_rad":2.00722146,"cg_vd_req_v":-1.60296214,"cg_vd_v":-1.60296214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36532688,"cg_vq_v":-8.36532688,"cg_vu_v":127.12896,"cg_vv_v":131.527878,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2466.20947,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1396.647827,"values":{"Elec_RPM":-2352.92529,"EncoderCos":14257,"EncoderSin":44104,"GapTicks":49973,"Mech_RPM":-470.585083,"cg_du":54.111351,"cg_dv":54.569397,"cg_dw":45.430603,"cg_id_a":10.4070024,"cg_id_raw_a":15.5964994,"cg_iq_a":-202.549988,"cg_iq_raw_a":-202.391159,"cg_iu_a":10.8756838,"cg_iv_a":168.458023,"cg_iw_a":-179.33371,"cg_sample_age_us":23.9181824,"cg_sample_seq":8349117,"cg_sample_valid":1,"cg_theta_rad":2.59469438,"cg_vd_req_v":-2.0832231,"cg_vd_v":-2.0832231,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34895992,"cg_vq_v":-8.34895992,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1396.99939,"values":{"Elec_RPM":-2359.41382,"EncoderCos":11055,"EncoderSin":32133,"GapTicks":49630,"Mech_RPM":-471.882782,"cg_du":45.1187439,"cg_dv":47.1211433,"cg_dw":54.8812561,"cg_id_a":10.8042641,"cg_id_raw_a":9.01990604,"cg_iq_a":-201.286377,"cg_iq_raw_a":-201.795547,"cg_iu_a":-62.8805199,"cg_iv_a":-133.743073,"cg_iw_a":196.623596,"cg_sample_age_us":23.8963642,"cg_sample_seq":8350816,"cg_sample_valid":1,"cg_theta_rad":3.16589093,"cg_vd_req_v":-2.1047461,"cg_vd_v":-2.1047461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32917118,"cg_vq_v":-8.32917118,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2549.52368,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1397.055446,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1397.055452,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1397.055457,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1397.331421,"values":{"Elec_RPM":-2359.12622,"EncoderCos":11076,"EncoderSin":31588,"GapTicks":49909,"Mech_RPM":-471.825256,"cg_du":45.3722725,"cg_dv":46.14291,"cg_dw":54.6277275,"cg_id_a":12.5691166,"cg_id_raw_a":12.0697718,"cg_iq_a":-204.521271,"cg_iq_raw_a":-201.910995,"cg_iu_a":-28.158926,"cg_iv_a":-162.846878,"cg_iw_a":191.005798,"cg_sample_age_us":23.9327278,"cg_sample_seq":8352567,"cg_sample_valid":1,"cg_theta_rad":3.20162344,"cg_vd_req_v":-2.13554144,"cg_vd_v":-2.13554144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28549957,"cg_vq_v":-8.28549957,"cg_vu_v":143.844864,"cg_vv_v":139.006058,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2473.99048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2022705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1397.663452,"values":{"Elec_RPM":-2362.50488,"EncoderCos":24397,"EncoderSin":12686,"GapTicks":49383,"Mech_RPM":-472.500977,"cg_du":44.8943901,"cg_dv":51.128521,"cg_dw":55.1056099,"cg_id_a":-12.7881393,"cg_id_raw_a":-11.6232548,"cg_iq_a":-198.15239,"cg_iq_raw_a":-199.676773,"cg_iu_a":-155.302292,"cg_iv_a":-31.0280609,"cg_iw_a":186.330353,"cg_sample_age_us":23.9363632,"cg_sample_seq":8354216,"cg_sample_valid":1,"cg_theta_rad":4.32790184,"cg_vd_req_v":-1.65367055,"cg_vd_v":-1.65367055,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44090462,"cg_vq_v":-8.44090462,"cg_vu_v":38.2706528,"cg_vv_v":44.8690414,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.236145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1398.015015,"values":{"Elec_RPM":-2359.14355,"EncoderCos":25280,"EncoderSin":12416,"GapTicks":49360,"Mech_RPM":-471.828705,"cg_du":44.8734322,"cg_dv":49.2871284,"cg_dw":55.1265678,"cg_id_a":-11.0190554,"cg_id_raw_a":-15.8109961,"cg_iq_a":-196.64035,"cg_iq_raw_a":-197.448929,"cg_iu_a":-119.565872,"cg_iv_a":-76.1516266,"cg_iw_a":195.717499,"cg_sample_age_us":23.9400005,"cg_sample_seq":8355966,"cg_sample_valid":1,"cg_theta_rad":4.37107372,"cg_vd_req_v":-1.71668649,"cg_vd_v":-1.71668649,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44822884,"cg_vq_v":-8.44822884,"cg_vu_v":9.23774433,"cg_vv_v":0.87978512,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2537.19727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1398.047356,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1398.047362,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1398.047367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1398.479858,"values":{"Elec_RPM":-2356.6145,"EncoderCos":52108,"EncoderSin":23430,"GapTicks":49311,"Mech_RPM":-471.322906,"cg_du":50.8995743,"cg_dv":44.8288956,"cg_dw":55.1711044,"cg_id_a":1.23692369,"cg_id_raw_a":-5.36972475,"cg_iq_a":-198.89679,"cg_iq_raw_a":-198.784561,"cg_iu_a":98.0058594,"cg_iv_a":-199.45314,"cg_iw_a":101.447281,"cg_sample_age_us":23.7472725,"cg_sample_seq":8358167,"cg_sample_valid":1,"cg_theta_rad":5.84804106,"cg_vd_req_v":-2.02990699,"cg_vd_v":-2.02990699,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41739368,"cg_vq_v":-8.41739368,"cg_vu_v":105.574219,"cg_vv_v":88.4184036,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2445.81445,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1398.910919,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1398.91093,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1398.910933,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1399.011108,"values":{"Elec_RPM":-2352.54346,"EncoderCos":16140,"EncoderSin":46648,"GapTicks":49345,"Mech_RPM":-470.508698,"cg_du":55.1403465,"cg_dv":48.8981094,"cg_dw":44.8596535,"cg_id_a":-7.96605396,"cg_id_raw_a":-8.62714195,"cg_iq_a":-196.748245,"cg_iq_raw_a":-195.420334,"cg_iu_a":107.393013,"cg_iv_a":94.7380447,"cg_iw_a":-202.131058,"cg_sample_age_us":23.8490906,"cg_sample_seq":8360821,"cg_sample_valid":1,"cg_theta_rad":2.49671531,"cg_vd_req_v":-1.74866724,"cg_vd_v":-1.74866724,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47728157,"cg_vq_v":-8.47728157,"cg_vu_v":32.5520515,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1399.071392,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1399.071398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1399.071403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1399.34314,"values":{"Elec_RPM":-2361.00415,"EncoderCos":23680,"EncoderSin":52565,"GapTicks":49559,"Mech_RPM":-472.200836,"cg_du":47.8046646,"cg_dv":45.0538025,"cg_dw":54.9461975,"cg_id_a":-10.1939487,"cg_id_raw_a":-2.17184329,"cg_iq_a":-202.861954,"cg_iq_raw_a":-203.982101,"cg_iu_a":4.24306202,"cg_iv_a":-178.286758,"cg_iw_a":174.043701,"cg_sample_age_us":23.8927269,"cg_sample_seq":8362616,"cg_sample_valid":1,"cg_theta_rad":2.00375509,"cg_vd_req_v":-1.67189431,"cg_vd_v":-1.67189431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36744595,"cg_vq_v":-8.36744595,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2522.24805,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2572,"hz_tim_isr":4999,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1399.679077,"values":{"Elec_RPM":-2365.10547,"EncoderCos":13752,"EncoderSin":22080,"GapTicks":49708,"Mech_RPM":-473.021118,"cg_du":54.8108788,"cg_dv":46.8601379,"cg_dw":45.1891212,"cg_id_a":0.484800458,"cg_id_raw_a":7.71562386,"cg_iq_a":-200.524948,"cg_iq_raw_a":-203.297058,"cg_iu_a":174.117905,"cg_iv_a":-1.48933411,"cg_iw_a":-172.628571,"cg_sample_age_us":23.9290905,"cg_sample_seq":8364216,"cg_sample_valid":1,"cg_theta_rad":3.66263318,"cg_vd_req_v":-1.88118517,"cg_vd_v":-1.88118517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35621452,"cg_vq_v":-8.35621452,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4185162,"dclink_p_w":-2368.94165,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2572,"hz_tim_isr":4999,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1400.03064,"values":{"Elec_RPM":-2366.59229,"EncoderCos":14090,"EncoderSin":21637,"GapTicks":49431,"Mech_RPM":-473.318451,"cg_du":55.0625153,"cg_dv":48.1392746,"cg_dw":44.9374847,"cg_id_a":-9.39266777,"cg_id_raw_a":-7.97454739,"cg_iq_a":-196.560837,"cg_iq_raw_a":-195.074585,"cg_iu_a":161.106369,"cg_iv_a":15.654007,"cg_iw_a":-176.760376,"cg_sample_age_us":24.0236359,"cg_sample_seq":8365967,"cg_sample_valid":1,"cg_theta_rad":3.68480134,"cg_vd_req_v":-1.69547296,"cg_vd_v":-1.69547296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45390892,"cg_vq_v":-8.45390892,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2486.34253,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2572,"hz_tim_isr":4999,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1400.063103,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1400.063123,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1400.063128,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1400.362671,"values":{"Elec_RPM":-2367.0459,"EncoderCos":23048,"EncoderSin":13285,"GapTicks":50054,"Mech_RPM":-473.40918,"cg_du":45.5042763,"cg_dv":54.4713478,"cg_dw":54.4957237,"cg_id_a":9.72586632,"cg_id_raw_a":10.0184889,"cg_iq_a":-200.655106,"cg_iq_raw_a":-198.625717,"cg_iu_a":-182.231461,"cg_iv_a":16.378891,"cg_iw_a":165.85257,"cg_sample_age_us":23.8527279,"cg_sample_seq":8367667,"cg_sample_valid":1,"cg_theta_rad":4.26365232,"cg_vd_req_v":-2.10472941,"cg_vd_v":-2.10472941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40393734,"cg_vq_v":-8.40393734,"cg_vu_v":128.888519,"cg_vv_v":132.847549,"cg_vw_v":124.049698,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2549.52368,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1400.694702,"values":{"Elec_RPM":-2362.39282,"EncoderCos":35502,"EncoderSin":11260,"GapTicks":49687,"Mech_RPM":-472.478546,"cg_du":54.8292847,"cg_dv":45.1707153,"cg_dw":47.0355377,"cg_id_a":13.8549824,"cg_id_raw_a":13.4991798,"cg_iq_a":-202.776154,"cg_iq_raw_a":-202.720856,"cg_iu_a":194.776886,"cg_iv_a":-42.6985626,"cg_iw_a":-152.078323,"cg_sample_age_us":24.0490913,"cg_sample_seq":8369366,"cg_sample_valid":1,"cg_theta_rad":4.85434437,"cg_vd_req_v":-2.20356607,"cg_vd_v":-2.20356607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30076122,"cg_vq_v":-8.30076122,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9114323,"dclink_p_w":-2447.50122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1401.046265,"values":{"Elec_RPM":-2364.1958,"EncoderCos":46488,"EncoderSin":16131,"GapTicks":49316,"Mech_RPM":-472.839172,"cg_du":44.8336296,"cg_dv":55.1663704,"cg_dw":50.6032753,"cg_id_a":-8.76364422,"cg_id_raw_a":-15.8677769,"cg_iq_a":-197.519653,"cg_iq_raw_a":-196.202499,"cg_iu_a":-196.149094,"cg_iv_a":118.803955,"cg_iw_a":77.3451385,"cg_sample_age_us":23.9145451,"cg_sample_seq":8371067,"cg_sample_valid":1,"cg_theta_rad":5.41783476,"cg_vd_req_v":-1.84187102,"cg_vd_v":-1.84187102,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42809105,"cg_vq_v":-8.42809105,"cg_vu_v":123.169922,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.5417461,"dclink_p_w":-2393.99854,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1401.055051,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1401.055057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1401.055062,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1401.378296,"values":{"Elec_RPM":-2359.18433,"EncoderCos":53258,"EncoderSin":26436,"GapTicks":49354,"Mech_RPM":-471.836884,"cg_du":55.1319122,"cg_dv":44.8680878,"cg_dw":51.45261,"cg_id_a":-13.0282631,"cg_id_raw_a":-12.2622614,"cg_iq_a":-196.23967,"cg_iq_raw_a":-197.445633,"cg_iu_a":177.814789,"cg_iv_a":-158.570099,"cg_iw_a":-19.2446823,"cg_sample_age_us":24.1654549,"cg_sample_seq":8372767,"cg_sample_valid":1,"cg_theta_rad":5.99831152,"cg_vd_req_v":-1.69052577,"cg_vd_v":-1.69052577,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4969368,"cg_vq_v":-8.4969368,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1401.729858,"values":{"Elec_RPM":-2357.96118,"EncoderCos":53484,"EncoderSin":38070,"GapTicks":49801,"Mech_RPM":-471.592224,"cg_du":46.5418396,"cg_dv":54.7260399,"cg_dw":45.2739601,"cg_id_a":12.9724445,"cg_id_raw_a":13.9703245,"cg_iq_a":-204.048004,"cg_iq_raw_a":-202.758026,"cg_iu_a":-172.083191,"cg_iv_a":178.171356,"cg_iw_a":-6.08816528,"cg_sample_age_us":23.3945446,"cg_sample_seq":8374470,"cg_sample_valid":1,"cg_theta_rad":0.302467078,"cg_vd_req_v":-2.24115086,"cg_vd_v":-2.24115086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30261803,"cg_vq_v":-8.30261803,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2433.10596,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1402.046922,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1402.046927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1402.046932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1402.06189,"values":{"Elec_RPM":-2356.49463,"EncoderCos":46703,"EncoderSin":49240,"GapTicks":49584,"Mech_RPM":-471.29895,"cg_du":52.8275909,"cg_dv":45.0763626,"cg_dw":54.9236374,"cg_id_a":14.5749922,"cg_id_raw_a":10.3136568,"cg_iq_a":-201.253235,"cg_iq_raw_a":-200.963257,"cg_iu_a":148.058594,"cg_iv_a":-193.4729,"cg_iw_a":45.4143143,"cg_sample_age_us":23.5327282,"cg_sample_seq":8376167,"cg_sample_valid":1,"cg_theta_rad":0.873055756,"cg_vd_req_v":-2.23985171,"cg_vd_v":-2.23985171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34690952,"cg_vq_v":-8.34690952,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":106.453995,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1402.397827,"values":{"Elec_RPM":-2359.68237,"EncoderCos":35502,"EncoderSin":54118,"GapTicks":49352,"Mech_RPM":-471.936462,"cg_du":49.1644325,"cg_dv":55.134449,"cg_dw":44.865551,"cg_id_a":-8.07294464,"cg_id_raw_a":-11.5105658,"cg_iq_a":-199.564545,"cg_iq_raw_a":-198.543304,"cg_iu_a":-84.9892578,"cg_iv_a":199.446487,"cg_iw_a":-114.45723,"cg_sample_age_us":23.9218178,"cg_sample_seq":8377867,"cg_sample_valid":1,"cg_theta_rad":1.44502449,"cg_vd_req_v":-1.76220953,"cg_vd_v":-1.76220953,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40930462,"cg_vq_v":-8.40930462,"cg_vu_v":139.885834,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.3297195,"dclink_p_w":-2356.12964,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119743653,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1402.74939,"values":{"Elec_RPM":-2355.58545,"EncoderCos":23163,"EncoderSin":52274,"GapTicks":49404,"Mech_RPM":-471.117065,"cg_du":49.1298103,"cg_dv":44.9130516,"cg_dw":55.0869484,"cg_id_a":-17.7052078,"cg_id_raw_a":-17.5271454,"cg_iq_a":-199.031494,"cg_iq_raw_a":-201.119751,"cg_iu_a":29.722477,"cg_iv_a":-185.463013,"cg_iw_a":155.74054,"cg_sample_age_us":23.7800007,"cg_sample_seq":8379566,"cg_sample_valid":1,"cg_theta_rad":2.03054476,"cg_vd_req_v":-1.54220951,"cg_vd_v":-1.54220951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4283762,"cg_vq_v":-8.4283762,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2485.98242,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1403.039404,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1403.03941,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1403.039415,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1403.081421,"values":{"Elec_RPM":-2348.17603,"EncoderCos":14017,"EncoderSin":43710,"GapTicks":49682,"Mech_RPM":-469.635193,"cg_du":52.9876404,"cg_dv":54.8343582,"cg_dw":45.1656418,"cg_id_a":-1.36424458,"cg_id_raw_a":4.27154827,"cg_iq_a":-199.582031,"cg_iq_raw_a":-202.165939,"cg_iu_a":0.836141586,"cg_iv_a":168.82045,"cg_iw_a":-175.310623,"cg_sample_age_us":23.8818188,"cg_sample_seq":8381266,"cg_sample_valid":1,"cg_theta_rad":2.61418748,"cg_vd_req_v":-1.82891178,"cg_vd_v":-1.82891178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38047791,"cg_vq_v":-8.38047791,"cg_vu_v":38.2706528,"cg_vv_v":48.8280716,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-15.6900158,"dclink_p_w":-2263.83008,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1403.413452,"values":{"Elec_RPM":-2349.47729,"EncoderCos":14308,"EncoderSin":21147,"GapTicks":49314,"Mech_RPM":-469.895477,"cg_du":55.1684151,"cg_dv":49.30933,"cg_dw":44.8315849,"cg_id_a":-13.6049862,"cg_id_raw_a":-13.5227003,"cg_iq_a":-195.973145,"cg_iq_raw_a":-194.645981,"cg_iu_a":146.681335,"cg_iv_a":39.7199097,"cg_iw_a":-186.401245,"cg_sample_age_us":23.9363632,"cg_sample_seq":8382917,"cg_sample_valid":1,"cg_theta_rad":3.71263695,"cg_vd_req_v":-1.62538123,"cg_vd_v":-1.62538123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48213863,"cg_vq_v":-8.48213863,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.8102798,"dclink_p_w":-2585.42139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1403.765015,"values":{"Elec_RPM":-2349.70654,"EncoderCos":14930,"EncoderSin":20148,"GapTicks":49400,"Mech_RPM":-469.941284,"cg_du":55.0901604,"cg_dv":51.3257675,"cg_dw":44.9098396,"cg_id_a":4.38184977,"cg_id_raw_a":0.909114122,"cg_iq_a":-201.566757,"cg_iq_raw_a":-201.692108,"cg_iu_a":91.9531403,"cg_iv_a":112.026352,"cg_iw_a":-203.979492,"cg_sample_age_us":23.863636,"cg_sample_seq":8384666,"cg_sample_valid":1,"cg_theta_rad":3.76517296,"cg_vd_req_v":-1.99878812,"cg_vd_v":-1.99878812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36654663,"cg_vq_v":-8.36654663,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":26.3935547,"control_outputs_enabled":1,"dclink_i_a":-17.3681049,"dclink_p_w":-2513.59302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2290039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1404.06329,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1404.063297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1404.063302,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1404.097046,"values":{"Elec_RPM":-2353.55273,"EncoderCos":35762,"EncoderSin":11260,"GapTicks":49774,"Mech_RPM":-470.710541,"cg_du":54.7500038,"cg_dv":45.2499962,"cg_dw":46.5825081,"cg_id_a":16.4029217,"cg_id_raw_a":15.6856565,"cg_iq_a":-204.293488,"cg_iq_raw_a":-202.462173,"cg_iu_a":190.898804,"cg_iv_a":-32.2966003,"cg_iw_a":-158.602203,"cg_sample_age_us":24.0963631,"cg_sample_seq":8386317,"cg_sample_valid":1,"cg_theta_rad":4.8681736,"cg_vd_req_v":-2.25553679,"cg_vd_v":-2.25553679,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26720524,"cg_vq_v":-8.26720524,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2492.35645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1404.432983,"values":{"Elec_RPM":-2356.41113,"EncoderCos":36578,"EncoderSin":11427,"GapTicks":49857,"Mech_RPM":-471.282227,"cg_du":54.6745834,"cg_dv":46.2566414,"cg_dw":45.3254166,"cg_id_a":6.00740099,"cg_id_raw_a":7.91170835,"cg_iq_a":-202.070496,"cg_iq_raw_a":-203.25058,"cg_iu_a":175.966339,"cg_iv_a":-11.8188171,"cg_iw_a":-169.656586,"cg_sample_age_us":23.9763641,"cg_sample_seq":8388067,"cg_sample_valid":1,"cg_theta_rad":4.90410423,"cg_vd_req_v":-2.02948332,"cg_vd_v":-2.02948332,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33674431,"cg_vq_v":-8.33674431,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-17.6381226,"dclink_p_w":-2544.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1404.784546,"values":{"Elec_RPM":-2359.82251,"EncoderCos":53482,"EncoderSin":27222,"GapTicks":49311,"Mech_RPM":-471.964508,"cg_du":55.1716461,"cg_dv":44.8283539,"cg_dw":49.7763443,"cg_id_a":-12.9146128,"cg_id_raw_a":-13.123786,"cg_iq_a":-195.869507,"cg_iq_raw_a":-195.514511,"cg_iu_a":192.131104,"cg_iv_a":-129.756256,"cg_iw_a":-62.3748474,"cg_sample_age_us":24.0490913,"cg_sample_seq":8389716,"cg_sample_valid":1,"cg_theta_rad":6.03666306,"cg_vd_req_v":-1.70366549,"cg_vd_v":-1.70366549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47568989,"cg_vq_v":-8.47568989,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2430.71606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1405.05519,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1405.055196,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1405.055201,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1405.116577,"values":{"Elec_RPM":-2356.80933,"EncoderCos":53664,"EncoderSin":28090,"GapTicks":49424,"Mech_RPM":-471.361877,"cg_du":55.0684967,"cg_dv":44.9315033,"cg_dw":48.3248367,"cg_id_a":3.61771393,"cg_id_raw_a":2.59521627,"cg_iq_a":-199.452438,"cg_iq_raw_a":-198.436493,"cg_iu_a":201.409515,"cg_iv_a":-80.1022034,"cg_iw_a":-121.307312,"cg_sample_age_us":24.1618176,"cg_sample_seq":8391466,"cg_sample_valid":1,"cg_theta_rad":6.08034229,"cg_vd_req_v":-2.04879689,"cg_vd_v":-2.04879689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37604713,"cg_vq_v":-8.37604713,"cg_vu_v":40.9100075,"cg_vv_v":33.871727,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1405.46814,"values":{"Elec_RPM":-2350.59521,"EncoderCos":53163,"EncoderSin":39206,"GapTicks":49676,"Mech_RPM":-470.119049,"cg_du":45.1607857,"cg_dv":54.8392143,"cg_dw":47.0333862,"cg_id_a":-0.580928981,"cg_id_raw_a":3.6711092,"cg_iq_a":-202.420013,"cg_iq_raw_a":-203.888351,"cg_iu_a":-186.979401,"cg_iv_a":147.654053,"cg_iw_a":39.3253479,"cg_sample_age_us":23.4381809,"cg_sample_seq":8393171,"cg_sample_valid":1,"cg_theta_rad":0.357476383,"cg_vd_req_v":-1.94664907,"cg_vd_v":-1.94664907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32801819,"cg_vq_v":-8.32801819,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1405.800171,"values":{"Elec_RPM":-2356.33325,"EncoderCos":45487,"EncoderSin":50176,"GapTicks":49639,"Mech_RPM":-471.266632,"cg_du":54.8728027,"cg_dv":45.1271973,"cg_dw":52.8993149,"cg_id_a":-1.6659193,"cg_id_raw_a":7.03777361,"cg_iq_a":-200.794128,"cg_iq_raw_a":-202.761719,"cg_iu_a":172.776886,"cg_iv_a":-171.400421,"cg_iw_a":-1.37646484,"cg_sample_age_us":23.9872723,"cg_sample_seq":8394866,"cg_sample_valid":1,"cg_theta_rad":0.941766679,"cg_vd_req_v":-1.87378824,"cg_vd_v":-1.87378824,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40383816,"cg_vq_v":-8.40383816,"cg_vu_v":43.549366,"cg_vv_v":40.0302238,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-17.3771667,"dclink_p_w":-2514.90454,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1406.047067,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1406.047072,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1406.047078,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1406.136108,"values":{"Elec_RPM":-2355.99268,"EncoderCos":22633,"EncoderSin":51985,"GapTicks":49362,"Mech_RPM":-471.198547,"cg_du":50.305687,"cg_dv":44.8751068,"cg_dw":55.1248932,"cg_id_a":-15.6577415,"cg_id_raw_a":-20.7703934,"cg_iq_a":-197.081268,"cg_iq_raw_a":-198.498642,"cg_iu_a":62.0519753,"cg_iv_a":-188.942429,"cg_iw_a":142.837738,"cg_sample_age_us":23.6963634,"cg_sample_seq":8396516,"cg_sample_valid":1,"cg_theta_rad":2.05344868,"cg_vd_req_v":-1.59836042,"cg_vd_v":-1.59836042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44560432,"cg_vq_v":-8.44560432,"cg_vu_v":8.35795879,"cg_vv_v":7.91806602,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2530.70361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1406.487671,"values":{"Elec_RPM":-2355.43262,"EncoderCos":22070,"EncoderSin":51680,"GapTicks":49413,"Mech_RPM":-471.086517,"cg_du":51.361702,"cg_dv":44.9211159,"cg_dw":55.0788841,"cg_id_a":-4.15797377,"cg_id_raw_a":-8.42604256,"cg_iq_a":-198.56308,"cg_iq_raw_a":-197.998398,"cg_iu_a":98.2958069,"cg_iv_a":-198.800751,"cg_iw_a":100.504944,"cg_sample_age_us":23.6854553,"cg_sample_seq":8398267,"cg_sample_valid":1,"cg_theta_rad":2.08414125,"cg_vd_req_v":-1.83617365,"cg_vd_v":-1.83617365,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39001751,"cg_vq_v":-8.39001751,"cg_vu_v":117.451309,"cg_vv_v":116.131638,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2361.73926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1406.819702,"values":{"Elec_RPM":-2354.92334,"EncoderCos":13496,"EncoderSin":42752,"GapTicks":49316,"Mech_RPM":-470.98468,"cg_du":50.6319733,"cg_dv":55.1664886,"cg_dw":44.8335114,"cg_id_a":-10.9554367,"cg_id_raw_a":-7.96916103,"cg_iq_a":-196.31012,"cg_iq_raw_a":-195.222809,"cg_iu_a":-43.200119,"cg_iv_a":187.377289,"cg_iw_a":-144.17717,"cg_sample_age_us":23.9181824,"cg_sample_seq":8399967,"cg_sample_valid":1,"cg_theta_rad":2.66596508,"cg_vd_req_v":-1.66653562,"cg_vd_v":-1.66653562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46664619,"cg_vq_v":-8.46664619,"cg_vu_v":126.249161,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2481709,"dclink_p_w":-2344.36353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1407.07162,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1407.071626,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1407.071631,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1407.151733,"values":{"Elec_RPM":-2355.00586,"EncoderCos":11106,"EncoderSin":30798,"GapTicks":49793,"Mech_RPM":-471.00116,"cg_du":46.5936279,"cg_dv":45.2671623,"cg_dw":54.7328377,"cg_id_a":4.12086725,"cg_id_raw_a":8.90867996,"cg_iq_a":-203.39621,"cg_iq_raw_a":-203.224808,"cg_iu_a":-3.9480443,"cg_iv_a":-173.285095,"cg_iw_a":177.233139,"cg_sample_age_us":23.9618187,"cg_sample_seq":8401667,"cg_sample_valid":1,"cg_theta_rad":3.23765945,"cg_vd_req_v":-1.95386136,"cg_vd_v":-1.95386136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33904552,"cg_vq_v":-8.33904552,"cg_vu_v":144.724655,"cg_vv_v":140.765625,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1407.503296,"values":{"Elec_RPM":-2357.11133,"EncoderCos":15620,"EncoderSin":19169,"GapTicks":49832,"Mech_RPM":-471.422241,"cg_du":54.6973,"cg_dv":53.5099792,"cg_dw":45.3027,"cg_id_a":12.1282158,"cg_id_raw_a":11.5229692,"cg_iq_a":-204.156662,"cg_iq_raw_a":-203.392044,"cg_iu_a":34.216713,"cg_iv_a":156.316315,"cg_iw_a":-196.875702,"cg_sample_age_us":23.9654541,"cg_sample_seq":8403367,"cg_sample_valid":1,"cg_theta_rad":3.81804848,"cg_vd_req_v":-2.13244629,"cg_vd_v":-2.13244629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27895355,"cg_vq_v":-8.27895355,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2530.79272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1407.835327,"values":{"Elec_RPM":-2361.98096,"EncoderCos":25963,"EncoderSin":12170,"GapTicks":49440,"Mech_RPM":-472.396179,"cg_du":44.9460526,"cg_dv":48.0501938,"cg_dw":55.0539474,"cg_id_a":1.01041329,"cg_id_raw_a":-7.23079967,"cg_iq_a":-197.638611,"cg_iq_raw_a":-198.854935,"cg_iu_a":-82.0535126,"cg_iv_a":-117.832047,"cg_iw_a":199.885559,"cg_sample_age_us":23.954546,"cg_sample_seq":8405066,"cg_sample_valid":1,"cg_theta_rad":4.40328884,"cg_vd_req_v":-1.97424209,"cg_vd_v":-1.97424209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42458153,"cg_vq_v":-8.42458153,"cg_vu_v":10.5574207,"cg_vv_v":0.87978512,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1408.062821,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1408.062826,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1408.062831,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1408.225952,"values":{"Elec_RPM":-2358.50806,"EncoderCos":26733,"EncoderSin":11947,"GapTicks":49695,"Mech_RPM":-471.701599,"cg_du":45.1777687,"cg_dv":46.7139091,"cg_dw":54.8222313,"cg_id_a":14.2066965,"cg_id_raw_a":10.4679384,"cg_iq_a":-202.734024,"cg_iq_raw_a":-202.134506,"cg_iu_a":-37.3648605,"cg_iv_a":-156.069275,"cg_iw_a":193.434143,"cg_sample_age_us":23.9472733,"cg_sample_seq":8406816,"cg_sample_valid":1,"cg_theta_rad":4.44380713,"cg_vd_req_v":-2.22851014,"cg_vd_v":-2.22851014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34097576,"cg_vq_v":-8.34097576,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2539.15967,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2308044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1408.741577,"values":{"Elec_RPM":-2360.51318,"EncoderCos":42876,"EncoderSin":51756,"GapTicks":49619,"Mech_RPM":-472.102661,"cg_du":54.8909264,"cg_dv":45.1090736,"cg_dw":47.098835,"cg_id_a":15.016367,"cg_id_raw_a":11.063118,"cg_iq_a":-203.450409,"cg_iq_raw_a":-201.432693,"cg_iu_a":195.50177,"cg_iv_a":-46.2504578,"cg_iw_a":-149.251312,"cg_sample_age_us":23.9254551,"cg_sample_seq":8409467,"cg_sample_valid":1,"cg_theta_rad":1.08555746,"cg_vd_req_v":-2.24526858,"cg_vd_v":-2.24526858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34256744,"cg_vq_v":-8.34256744,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-15.5975933,"dclink_p_w":-2257.3562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1408.926596,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1408.926608,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1408.926611,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1409.055313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1409.055319,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1409.055324,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1409.163452,"values":{"Elec_RPM":-2357.58984,"EncoderCos":14497,"EncoderSin":44476,"GapTicks":49920,"Mech_RPM":-471.517975,"cg_du":54.6179199,"cg_dv":53.8746033,"cg_dw":45.3820801,"cg_id_a":15.5276232,"cg_id_raw_a":16.3806438,"cg_iq_a":-205.432404,"cg_iq_raw_a":-205.875443,"cg_iu_a":20.9514694,"cg_iv_a":165.413513,"cg_iw_a":-186.36499,"cg_sample_age_us":23.7981815,"cg_sample_seq":8411667,"cg_sample_valid":1,"cg_theta_rad":2.57584143,"cg_vd_req_v":-2.19044709,"cg_vd_v":-2.19044709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26350689,"cg_vq_v":-8.26350689,"cg_vu_v":105.574219,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2414.43799,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1409.515015,"values":{"Elec_RPM":-2355.64624,"EncoderCos":13935,"EncoderSin":43544,"GapTicks":49559,"Mech_RPM":-471.129242,"cg_du":52.5812149,"cg_dv":54.9459686,"cg_dw":45.0540314,"cg_id_a":-4.54958725,"cg_id_raw_a":1.15995944,"cg_iq_a":-199.212463,"cg_iq_raw_a":-201.783463,"cg_iu_a":2.75706482,"cg_iv_a":170.741379,"cg_iw_a":-173.498444,"cg_sample_age_us":23.7800007,"cg_sample_seq":8413416,"cg_sample_valid":1,"cg_theta_rad":2.6146121,"cg_vd_req_v":-1.77078247,"cg_vd_v":-1.77078247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42204857,"cg_vq_v":-8.42204857,"cg_vu_v":28.5930176,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2412.08472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1409.847046,"values":{"Elec_RPM":-2358.91431,"EncoderCos":14616,"EncoderSin":20632,"GapTicks":49348,"Mech_RPM":-471.782867,"cg_du":55.1378555,"cg_dv":50.3932838,"cg_dw":44.8621445,"cg_id_a":-6.72891045,"cg_id_raw_a":-10.0935001,"cg_iq_a":-196.971817,"cg_iq_raw_a":-197.85202,"cg_iu_a":123.014099,"cg_iv_a":75.7825317,"cg_iw_a":-198.796631,"cg_sample_age_us":23.9654541,"cg_sample_seq":8415066,"cg_sample_valid":1,"cg_theta_rad":3.73815084,"cg_vd_req_v":-1.76565135,"cg_vd_v":-1.76565135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43780518,"cg_vq_v":-8.43780518,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1410.046763,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1410.046769,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1410.046774,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1410.179077,"values":{"Elec_RPM":-2360.62842,"EncoderCos":24053,"EncoderSin":12848,"GapTicks":49534,"Mech_RPM":-472.125671,"cg_du":45.0317001,"cg_dv":51.9331284,"cg_dw":54.9682999,"cg_id_a":-10.3578281,"cg_id_raw_a":-3.99714851,"cg_iq_a":-200.989365,"cg_iq_raw_a":-203.50412,"cg_iu_a":-166.28418,"cg_iv_a":-14.6820831,"cg_iw_a":180.966263,"cg_sample_age_us":23.9218178,"cg_sample_seq":8416766,"cg_sample_valid":1,"cg_theta_rad":4.31354952,"cg_vd_req_v":-1.68596804,"cg_vd_v":-1.68596804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34093571,"cg_vq_v":-8.34093571,"cg_vu_v":14.5164547,"cg_vv_v":15.836132,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2519.02661,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3115234,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1410.53064,"values":{"Elec_RPM":-2358.44507,"EncoderCos":36174,"EncoderSin":11335,"GapTicks":50039,"Mech_RPM":-471.688995,"cg_du":54.5095558,"cg_dv":45.4904442,"cg_dw":45.673275,"cg_id_a":10.8666916,"cg_id_raw_a":16.8198185,"cg_iq_a":-203.240173,"cg_iq_raw_a":-206.072113,"cg_iu_a":184.664856,"cg_iv_a":-17.8352966,"cg_iw_a":-166.829559,"cg_sample_age_us":24.0563641,"cg_sample_seq":8418466,"cg_sample_valid":1,"cg_theta_rad":4.88748264,"cg_vd_req_v":-2.13371634,"cg_vd_v":-2.13371634,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31963158,"cg_vq_v":-8.31963158,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2521.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1410.866577,"values":{"Elec_RPM":-2356.7063,"EncoderCos":47264,"EncoderSin":16813,"GapTicks":49477,"Mech_RPM":-471.341248,"cg_du":44.9794312,"cg_dv":55.0205688,"cg_dw":52.449192,"cg_id_a":6.21871996,"cg_id_raw_a":5.21103716,"cg_iq_a":-195.71994,"cg_iq_raw_a":-196.256638,"cg_iu_a":-193.467041,"cg_iv_a":60.1976624,"cg_iw_a":133.269379,"cg_sample_age_us":23.9181824,"cg_sample_seq":8420166,"cg_sample_valid":1,"cg_theta_rad":5.46883678,"cg_vd_req_v":-2.14167571,"cg_vd_v":-2.14167571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47660637,"cg_vq_v":-8.47660637,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1411.070942,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1411.070948,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1411.070953,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1411.198608,"values":{"Elec_RPM":-2352.08276,"EncoderCos":53465,"EncoderSin":27266,"GapTicks":49327,"Mech_RPM":-470.416565,"cg_du":55.1567154,"cg_dv":44.8432846,"cg_dw":49.7133789,"cg_id_a":-12.761261,"cg_id_raw_a":-14.849864,"cg_iq_a":-195.49855,"cg_iq_raw_a":-193.589691,"cg_iu_a":192.094849,"cg_iv_a":-127.799088,"cg_iw_a":-64.2957611,"cg_sample_age_us":24.1327267,"cg_sample_seq":8421867,"cg_sample_valid":1,"cg_theta_rad":6.03893757,"cg_vd_req_v":-1.71600175,"cg_vd_v":-1.71600175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44951725,"cg_vq_v":-8.44951725,"cg_vu_v":143.404984,"cg_vv_v":135.926804,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1411.550171,"values":{"Elec_RPM":-2352.89038,"EncoderCos":53005,"EncoderSin":39608,"GapTicks":49458,"Mech_RPM":-470.578064,"cg_du":44.9627151,"cg_dv":55.0372849,"cg_dw":48.0388336,"cg_id_a":-8.92100143,"cg_id_raw_a":-3.5826633,"cg_iq_a":-199.489624,"cg_iq_raw_a":-200.901367,"cg_iu_a":-177.121078,"cg_iv_a":168.602997,"cg_iw_a":8.51808929,"cg_sample_age_us":23.4345455,"cg_sample_seq":8423566,"cg_sample_valid":1,"cg_theta_rad":0.325702012,"cg_vd_req_v":-1.79520524,"cg_vd_v":-1.79520524,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41239548,"cg_vq_v":-8.41239548,"cg_vu_v":2.19946289,"cg_vv_v":22.4345207,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1411.882202,"values":{"Elec_RPM":-2351.92651,"EncoderCos":52796,"EncoderSin":40256,"GapTicks":49299,"Mech_RPM":-470.385315,"cg_du":44.8180847,"cg_dv":55.1819153,"cg_dw":49.4872055,"cg_id_a":-11.6864862,"cg_id_raw_a":-13.1235094,"cg_iq_a":-197.333069,"cg_iq_raw_a":-197.728363,"cg_iu_a":-188.936584,"cg_iv_a":142.181244,"cg_iw_a":46.7553406,"cg_sample_age_us":23.5618191,"cg_sample_seq":8425317,"cg_sample_valid":1,"cg_theta_rad":0.367065102,"cg_vd_req_v":-1.74953616,"cg_vd_v":-1.74953616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46861553,"cg_vq_v":-8.46861553,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1412.062908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1412.062914,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1412.06292,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1412.233765,"values":{"Elec_RPM":-2347.50708,"EncoderCos":35569,"EncoderSin":54138,"GapTicks":49373,"Mech_RPM":-469.501404,"cg_du":49.3256454,"cg_dv":55.1154327,"cg_dw":44.8845673,"cg_id_a":-5.73026752,"cg_id_raw_a":-8.10247421,"cg_iq_a":-198.221024,"cg_iq_raw_a":-197.780182,"cg_iu_a":-135.658142,"cg_iv_a":199.265259,"cg_iw_a":-63.6071243,"cg_sample_age_us":23.8163643,"cg_sample_seq":8426971,"cg_sample_valid":1,"cg_theta_rad":1.48916924,"cg_vd_req_v":-1.79181838,"cg_vd_v":-1.79181838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41061878,"cg_vq_v":-8.41061878,"cg_vu_v":18.9153805,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2458.88647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1412.565796,"values":{"Elec_RPM":-2353.03076,"EncoderCos":33542,"EncoderSin":54335,"GapTicks":50080,"Mech_RPM":-470.60614,"cg_du":45.750206,"cg_dv":54.4718475,"cg_dw":45.5281525,"cg_id_a":13.6128225,"cg_id_raw_a":16.7946682,"cg_iq_a":-205.992325,"cg_iq_raw_a":-205.944839,"cg_iu_a":-164.399506,"cg_iv_a":191.037933,"cg_iw_a":-26.6384201,"cg_sample_age_us":23.8890915,"cg_sample_seq":8428716,"cg_sample_valid":1,"cg_theta_rad":1.52699625,"cg_vd_req_v":-2.15170765,"cg_vd_v":-2.15170765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24800873,"cg_vq_v":-8.24800873,"cg_vu_v":96.7763672,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2430.64917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1412.897827,"values":{"Elec_RPM":-2353.76929,"EncoderCos":13797,"EncoderSin":43343,"GapTicks":49454,"Mech_RPM":-470.753845,"cg_du":52.0576057,"cg_dv":55.0414429,"cg_dw":44.9585571,"cg_id_a":-6.52627563,"cg_id_raw_a":-3.86593723,"cg_iq_a":-197.068085,"cg_iq_raw_a":-197.914505,"cg_iu_a":-15.799778,"cg_iv_a":176.214188,"cg_iw_a":-160.414413,"cg_sample_age_us":23.8890915,"cg_sample_seq":8430367,"cg_sample_valid":1,"cg_theta_rad":2.63438773,"cg_vd_req_v":-1.73795974,"cg_vd_v":-1.73795974,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47940159,"cg_vq_v":-8.47940159,"cg_vu_v":105.134323,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4493237,"dclink_p_w":-2387.85864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1413.054753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1413.054758,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1413.054764,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1413.253296,"values":{"Elec_RPM":-2356.38428,"EncoderCos":11081,"EncoderSin":31388,"GapTicks":50054,"Mech_RPM":-471.276855,"cg_du":45.5039215,"cg_dv":45.7972412,"cg_dw":54.4960785,"cg_id_a":13.3633356,"cg_id_raw_a":15.9142456,"cg_iq_a":-204.159363,"cg_iq_raw_a":-200.866638,"cg_iu_a":-17.9019203,"cg_iv_a":-167.739777,"cg_iw_a":185.641693,"cg_sample_age_us":23.9654541,"cg_sample_seq":8432067,"cg_sample_valid":1,"cg_theta_rad":3.21117806,"cg_vd_req_v":-2.13678384,"cg_vd_v":-2.13678384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29301739,"cg_vq_v":-8.29301739,"cg_vu_v":101.615181,"cg_vv_v":73.462059,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.8320274,"dclink_p_w":-2588.57837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1413.585327,"values":{"Elec_RPM":-2355.40991,"EncoderCos":15414,"EncoderSin":19516,"GapTicks":49662,"Mech_RPM":-471.08197,"cg_du":54.8520279,"cg_dv":52.7450294,"cg_dw":45.1479721,"cg_id_a":11.1551924,"cg_id_raw_a":9.97341824,"cg_iq_a":-204.804413,"cg_iq_raw_a":-204.695206,"cg_iu_a":54.5132599,"cg_iv_a":146.276794,"cg_iw_a":-200.790054,"cg_sample_age_us":23.954546,"cg_sample_seq":8433766,"cg_sample_valid":1,"cg_theta_rad":3.80193043,"cg_vd_req_v":-2.12259293,"cg_vd_v":-2.12259293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26167679,"cg_vq_v":-8.26167679,"cg_vu_v":27.2733402,"cg_vv_v":10.1175289,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1413.917358,"values":{"Elec_RPM":-2349.72339,"EncoderCos":15610,"EncoderSin":19229,"GapTicks":49796,"Mech_RPM":-469.944672,"cg_du":54.7302704,"cg_dv":53.3467255,"cg_dw":45.2697296,"cg_id_a":14.031848,"cg_id_raw_a":12.1587915,"cg_iq_a":-207.268021,"cg_iq_raw_a":-208.106827,"cg_iu_a":27.2578964,"cg_iv_a":162.514008,"cg_iw_a":-195.099762,"cg_sample_age_us":23.9654541,"cg_sample_seq":8435518,"cg_sample_valid":1,"cg_theta_rad":3.82464576,"cg_vd_req_v":-2.1851027,"cg_vd_v":-2.1851027,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22783184,"cg_vq_v":-8.22783184,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2483.98926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1414.047363,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1414.047368,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1414.047374,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1414.268921,"values":{"Elec_RPM":-2359.64819,"EncoderCos":37420,"EncoderSin":11563,"GapTicks":49417,"Mech_RPM":-471.929626,"cg_du":55.0749588,"cg_dv":48.3408775,"cg_dw":44.9250412,"cg_id_a":-13.5231161,"cg_id_raw_a":-10.9279766,"cg_iq_a":-195.268219,"cg_iq_raw_a":-195.204926,"cg_iu_a":161.468811,"cg_iv_a":11.6671753,"cg_iw_a":-173.172241,"cg_sample_age_us":24.0163631,"cg_sample_seq":8437167,"cg_sample_valid":1,"cg_theta_rad":4.9412303,"cg_vd_req_v":-1.62709558,"cg_vd_v":-1.62709558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47593784,"cg_vq_v":-8.47593784,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1414.600952,"values":{"Elec_RPM":-2357.41479,"EncoderCos":48242,"EncoderSin":17828,"GapTicks":49906,"Mech_RPM":-471.482971,"cg_du":45.3696938,"cg_dv":53.8217964,"cg_dw":54.6303062,"cg_id_a":5.33556938,"cg_id_raw_a":10.7867346,"cg_iq_a":-202.197083,"cg_iq_raw_a":-201.806442,"cg_iu_a":-179.114502,"cg_iv_a":5.94065857,"cg_iw_a":173.173843,"cg_sample_age_us":23.9581814,"cg_sample_seq":8438866,"cg_sample_valid":1,"cg_theta_rad":5.53516197,"cg_vd_req_v":-2.08793068,"cg_vd_v":-2.08793068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31336308,"cg_vq_v":-8.31336308,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1414.956421,"values":{"Elec_RPM":-2347.5061,"EncoderCos":48357,"EncoderSin":17977,"GapTicks":49781,"Mech_RPM":-469.501221,"cg_du":45.2559738,"cg_dv":53.3856697,"cg_dw":54.7440262,"cg_id_a":0.821448922,"cg_id_raw_a":4.75429058,"cg_iq_a":-202.5849,"cg_iq_raw_a":-202.119659,"cg_iu_a":-162.587311,"cg_iv_a":-22.3657837,"cg_iw_a":184.953094,"cg_sample_age_us":23.9472733,"cg_sample_seq":8440619,"cg_sample_valid":1,"cg_theta_rad":5.57485008,"cg_vd_req_v":-1.99875343,"cg_vd_v":-1.99875343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3115139,"cg_vq_v":-8.3115139,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2451.13062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1415.039488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1415.039494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1415.039499,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1415.288452,"values":{"Elec_RPM":-2348.74951,"EncoderCos":52501,"EncoderSin":41050,"GapTicks":49310,"Mech_RPM":-469.749878,"cg_du":44.8277779,"cg_dv":55.1722221,"cg_dw":51.0713806,"cg_id_a":-3.19221902,"cg_id_raw_a":-3.22340846,"cg_iq_a":-195.983383,"cg_iq_raw_a":-196.582367,"cg_iu_a":-197.018951,"cg_iv_a":101.878082,"cg_iw_a":95.1408691,"cg_sample_age_us":23.5872726,"cg_sample_seq":8442266,"cg_sample_valid":1,"cg_theta_rad":0.404154867,"cg_vd_req_v":-1.92978168,"cg_vd_v":-1.92978168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48848152,"cg_vq_v":-8.48848152,"cg_vu_v":1.31967759,"cg_vv_v":5.27871037,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.551136,"dclink_p_w":-2540.08203,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1415.620483,"values":{"Elec_RPM":-2348.68701,"EncoderCos":52143,"EncoderSin":41864,"GapTicks":49516,"Mech_RPM":-469.737396,"cg_du":45.014679,"cg_dv":54.985321,"cg_dw":52.6138649,"cg_id_a":10.6514759,"cg_id_raw_a":8.62653351,"cg_iq_a":-196.635605,"cg_iq_raw_a":-196.715439,"cg_iu_a":-192.343491,"cg_iv_a":66.286644,"cg_iw_a":126.636757,"cg_sample_age_us":23.5,"cg_sample_seq":8444016,"cg_sample_valid":1,"cg_theta_rad":0.446108133,"cg_vd_req_v":-2.19637394,"cg_vd_v":-2.19637394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45017433,"cg_vq_v":-8.45017433,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2530.44043,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1415.972046,"values":{"Elec_RPM":-2351.81934,"EncoderCos":33802,"EncoderSin":54328,"GapTicks":49907,"Mech_RPM":-470.363892,"cg_du":46.2437897,"cg_dv":54.6292496,"cg_dw":45.3707504,"cg_id_a":14.0574827,"cg_id_raw_a":15.3294659,"cg_iq_a":-207.490417,"cg_iq_raw_a":-207.200607,"cg_iu_a":-175.018936,"cg_iv_a":177.808914,"cg_iw_a":-2.78997803,"cg_sample_age_us":23.9400005,"cg_sample_seq":8445669,"cg_sample_valid":1,"cg_theta_rad":1.5572418,"cg_vd_req_v":-2.18027878,"cg_vd_v":-2.18027878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23316097,"cg_vq_v":-8.23316097,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1416.062819,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1416.062826,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1416.062832,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1416.304077,"values":{"Elec_RPM":-2349.54883,"EncoderCos":32213,"EncoderSin":54366,"GapTicks":49412,"Mech_RPM":-469.90979,"cg_du":44.9207993,"cg_dv":55.0792007,"cg_dw":48.3691673,"cg_id_a":-7.94648409,"cg_id_raw_a":-4.94066429,"cg_iq_a":-198.676956,"cg_iq_raw_a":-200.051834,"cg_iu_a":-182.2677,"cg_iv_a":158.237244,"cg_iw_a":24.0304565,"cg_sample_age_us":23.8890915,"cg_sample_seq":8447416,"cg_sample_valid":1,"cg_theta_rad":1.59573185,"cg_vd_req_v":-1.71521509,"cg_vd_v":-1.71521509,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4337616,"cg_vq_v":-8.4337616,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1416.636108,"values":{"Elec_RPM":-2348.47266,"EncoderCos":13035,"EncoderSin":41768,"GapTicks":49406,"Mech_RPM":-469.69455,"cg_du":48.6171227,"cg_dv":55.0854263,"cg_dw":44.9145737,"cg_id_a":-0.743691921,"cg_id_raw_a":-5.40330887,"cg_iq_a":-198.889542,"cg_iq_raw_a":-197.906036,"cg_iu_a":-105.177071,"cg_iv_a":199.808929,"cg_iw_a":-94.6318512,"cg_sample_age_us":23.994545,"cg_sample_seq":8449066,"cg_sample_valid":1,"cg_theta_rad":2.71861601,"cg_vd_req_v":-1.873052,"cg_vd_v":-1.873052,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39615154,"cg_vq_v":-8.39615154,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2450562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118585482,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1416.987671,"values":{"Elec_RPM":-2351.44653,"EncoderCos":12540,"EncoderSin":40772,"GapTicks":49612,"Mech_RPM":-470.289307,"cg_du":47.3258018,"cg_dv":54.8980865,"cg_dw":45.1019135,"cg_id_a":15.303278,"cg_id_raw_a":12.5671654,"cg_iq_a":-203.30806,"cg_iq_raw_a":-203.953156,"cg_iu_a":-149.684509,"cg_iv_a":195.749619,"cg_iw_a":-46.0651093,"cg_sample_age_us":23.8709087,"cg_sample_seq":8450816,"cg_sample_valid":1,"cg_theta_rad":2.75785112,"cg_vd_req_v":-2.17690897,"cg_vd_v":-2.17690897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30172157,"cg_vq_v":-8.30172157,"cg_vu_v":38.2706528,"cg_vv_v":51.9073219,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2058411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1417.05479,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1417.054795,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1417.0548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1417.323608,"values":{"Elec_RPM":-2354.23926,"EncoderCos":25605,"EncoderSin":12269,"GapTicks":49327,"Mech_RPM":-470.84787,"cg_du":44.8429298,"cg_dv":48.6432495,"cg_dw":55.1570702,"cg_id_a":-5.53933096,"cg_id_raw_a":-10.6145668,"cg_iq_a":-195.494186,"cg_iq_raw_a":-194.84343,"cg_iu_a":-98.0370331,"cg_iv_a":-96.0857391,"cg_iw_a":194.122772,"cg_sample_age_us":23.9290905,"cg_sample_seq":8452417,"cg_sample_valid":1,"cg_theta_rad":4.38895416,"cg_vd_req_v":-1.83410907,"cg_vd_v":-1.83410907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49477386,"cg_vq_v":-8.49477386,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.0162106,"dclink_p_w":-2324.98608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1417.65564,"values":{"Elec_RPM":-2352.10474,"EncoderCos":26503,"EncoderSin":12015,"GapTicks":49618,"Mech_RPM":-470.420929,"cg_du":45.1076584,"cg_dv":47.1551323,"cg_dw":54.8923416,"cg_id_a":12.7869358,"cg_id_raw_a":11.0949249,"cg_iq_a":-200.405212,"cg_iq_raw_a":-199.153442,"cg_iu_a":-46.4258194,"cg_iv_a":-145.594818,"cg_iw_a":192.02063,"cg_sample_age_us":23.9290905,"cg_sample_seq":8454167,"cg_sample_valid":1,"cg_theta_rad":4.43296671,"cg_vd_req_v":-2.19377732,"cg_vd_v":-2.19377732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3676424,"cg_vq_v":-8.3676424,"cg_vu_v":131.967773,"cg_vv_v":109.533249,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2429.08032,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1418.007202,"values":{"Elec_RPM":-2349.74121,"EncoderCos":48622,"EncoderSin":18249,"GapTicks":49603,"Mech_RPM":-469.948242,"cg_du":45.0940056,"cg_dv":52.4955292,"cg_dw":54.9059944,"cg_id_a":-7.11516619,"cg_id_raw_a":-1.31044006,"cg_iq_a":-203.057678,"cg_iq_raw_a":-205.639542,"cg_iu_a":-172.953033,"cg_iv_a":-6.88967896,"cg_iw_a":179.842712,"cg_sample_age_us":23.8854542,"cg_sample_seq":8455816,"cg_sample_valid":1,"cg_theta_rad":5.55923891,"cg_vd_req_v":-1.84871781,"cg_vd_v":-1.84871781,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31584167,"cg_vq_v":-8.31584167,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2516.93481,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2503967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1418.078924,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1418.078929,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1418.078934,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1418.460327,"values":{"Elec_RPM":-2346.97656,"EncoderCos":48421,"EncoderSin":47602,"GapTicks":49442,"Mech_RPM":-469.395294,"cg_du":48.5879898,"cg_dv":44.9476662,"cg_dw":55.0523338,"cg_id_a":-12.4825668,"cg_id_raw_a":-8.82678032,"cg_iq_a":-198.792877,"cg_iq_raw_a":-200.783432,"cg_iu_a":24.9745331,"cg_iv_a":-182.056107,"cg_iw_a":157.081573,"cg_sample_age_us":23.6854553,"cg_sample_seq":8458016,"cg_sample_valid":1,"cg_theta_rad":0.764241159,"cg_vd_req_v":-1.67599189,"cg_vd_v":-1.67599189,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41302013,"cg_vq_v":-8.41302013,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2434.83252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2753906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1418.943049,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1418.94306,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1418.943063,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1418.979858,"values":{"Elec_RPM":-2339.70239,"EncoderCos":11060,"EncoderSin":32604,"GapTicks":49473,"Mech_RPM":-467.940491,"cg_du":44.9763489,"cg_dv":47.8509369,"cg_dw":55.0236511,"cg_id_a":1.63326156,"cg_id_raw_a":-1.31025875,"cg_iq_a":-195.945587,"cg_iq_raw_a":-196.323685,"cg_iu_a":-76.0370331,"cg_iv_a":-121.383926,"cg_iw_a":197.420959,"cg_sample_age_us":23.8309097,"cg_sample_seq":8460716,"cg_sample_valid":1,"cg_theta_rad":3.1562407,"cg_vd_req_v":-1.92813849,"cg_vd_v":-1.92813849,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45673561,"cg_vq_v":-8.45673561,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2503.87085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1419.070496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1419.070501,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1419.070507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1419.335327,"values":{"Elec_RPM":-2340.87085,"EncoderCos":21530,"EncoderSin":51350,"GapTicks":49476,"Mech_RPM":-468.174164,"cg_du":52.4309578,"cg_dv":44.9789238,"cg_dw":55.0210762,"cg_id_a":8.04107666,"cg_id_raw_a":6.16595268,"cg_iq_a":-198.42453,"cg_iq_raw_a":-197.510391,"cg_iu_a":132.836182,"cg_iv_a":-197.133545,"cg_iw_a":77.3088913,"cg_sample_age_us":23.641819,"cg_sample_seq":8462566,"cg_sample_valid":1,"cg_theta_rad":2.11261296,"cg_vd_req_v":-2.09396124,"cg_vd_v":-2.09396124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45717049,"cg_vq_v":-8.45717049,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1419.663452,"values":{"Elec_RPM":-2342.13037,"EncoderCos":11097,"EncoderSin":31118,"GapTicks":50042,"Mech_RPM":-468.426056,"cg_du":45.9236374,"cg_dv":45.4930191,"cg_dw":54.5069809,"cg_id_a":9.1447382,"cg_id_raw_a":10.1228724,"cg_iq_a":-205.711258,"cg_iq_raw_a":-205.094711,"cg_iu_a":-10.7256413,"cg_iv_a":-172.12529,"cg_iw_a":182.850937,"cg_sample_age_us":23.9254551,"cg_sample_seq":8464217,"cg_sample_valid":1,"cg_theta_rad":3.22013307,"cg_vd_req_v":-2.05351472,"cg_vd_v":-2.05351472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24495602,"cg_vq_v":-8.24495602,"cg_vu_v":106.014107,"cg_vv_v":93.2572174,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1420.018921,"values":{"Elec_RPM":-2343.86621,"EncoderCos":11173,"EncoderSin":30172,"GapTicks":49524,"Mech_RPM":-468.773224,"cg_du":48.1899414,"cg_dv":45.0224075,"cg_dw":54.9775925,"cg_id_a":-13.8881474,"cg_id_raw_a":-7.68347931,"cg_iq_a":-203.107666,"cg_iq_raw_a":-205.040207,"cg_iu_a":11.3106089,"cg_iv_a":-181.11377,"cg_iw_a":169.803162,"cg_sample_age_us":23.994545,"cg_sample_seq":8465966,"cg_sample_valid":1,"cg_theta_rad":3.26651406,"cg_vd_req_v":-1.59226155,"cg_vd_v":-1.59226155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32280636,"cg_vq_v":-8.32280636,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2398.22656,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1420.062854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1420.06286,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1420.062865,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1420.350952,"values":{"Elec_RPM":-2337.34155,"EncoderCos":37028,"EncoderSin":11546,"GapTicks":49602,"Mech_RPM":-467.468292,"cg_du":54.9065323,"cg_dv":47.4057846,"cg_dw":45.0934677,"cg_id_a":-5.16567993,"cg_id_raw_a":4.15910292,"cg_iq_a":-199.093231,"cg_iq_raw_a":-201.024261,"cg_iu_a":171.435852,"cg_iv_a":0.902770996,"cg_iw_a":-172.338623,"cg_sample_age_us":24.0200005,"cg_sample_seq":8467566,"cg_sample_valid":1,"cg_theta_rad":4.92666864,"cg_vd_req_v":-1.7904892,"cg_vd_v":-1.7904892,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38394451,"cg_vq_v":-8.38394451,"cg_vu_v":31.6722641,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1420.682983,"values":{"Elec_RPM":-2345.31201,"EncoderCos":37882,"EncoderSin":11709,"GapTicks":49360,"Mech_RPM":-469.062408,"cg_du":55.1271973,"cg_dv":49.3990173,"cg_dw":44.8728027,"cg_id_a":-17.6583519,"cg_id_raw_a":-16.5937672,"cg_iq_a":-195.129852,"cg_iq_raw_a":-196.193436,"cg_iu_a":156.140961,"cg_iv_a":22.5765839,"cg_iw_a":-178.717545,"cg_sample_age_us":23.9218178,"cg_sample_seq":8469316,"cg_sample_valid":1,"cg_theta_rad":4.95909977,"cg_vd_req_v":-1.5636996,"cg_vd_v":-1.5636996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44427872,"cg_vq_v":-8.44427872,"cg_vu_v":106.014107,"cg_vv_v":97.6561432,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9114323,"dclink_p_w":-2447.50122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1421.034546,"values":{"Elec_RPM":-2348.7937,"EncoderCos":53675,"EncoderSin":27936,"GapTicks":49376,"Mech_RPM":-469.758759,"cg_du":55.1119385,"cg_dv":44.8880615,"cg_dw":48.5347862,"cg_id_a":-0.831539273,"cg_id_raw_a":-8.79772663,"cg_iq_a":-198.112808,"cg_iq_raw_a":-196.607788,"cg_iu_a":198.618744,"cg_iv_a":-91.9176941,"cg_iw_a":-106.70105,"cg_sample_age_us":24.1399994,"cg_sample_seq":8470967,"cg_sample_valid":1,"cg_theta_rad":6.07287931,"cg_vd_req_v":-1.97862363,"cg_vd_v":-1.97862363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4298296,"cg_vq_v":-8.4298296,"cg_vu_v":106.014107,"cg_vv_v":80.9402313,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1421.054523,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1421.054528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1421.054532,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1421.366577,"values":{"Elec_RPM":-2350.23047,"EncoderCos":53844,"EncoderSin":29007,"GapTicks":49698,"Mech_RPM":-470.046082,"cg_du":54.8195114,"cg_dv":45.1804886,"cg_dw":46.7184601,"cg_id_a":16.9558182,"cg_id_raw_a":17.4496593,"cg_iq_a":-203.333069,"cg_iq_raw_a":-203.558624,"cg_iu_a":193.182159,"cg_iv_a":-33.4201355,"cg_iw_a":-159.762024,"cg_sample_age_us":24.136364,"cg_sample_seq":8472716,"cg_sample_valid":1,"cg_theta_rad":6.1198163,"cg_vd_req_v":-2.3112607,"cg_vd_v":-2.3112607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33968353,"cg_vq_v":-8.33968353,"cg_vu_v":32.9919434,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2396851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1421.698608,"values":{"Elec_RPM":-2349.71948,"EncoderCos":52535,"EncoderSin":41088,"GapTicks":49335,"Mech_RPM":-469.943909,"cg_du":44.8502045,"cg_dv":55.1497955,"cg_dw":51.1119919,"cg_id_a":-3.32823062,"cg_id_raw_a":-6.5876112,"cg_iq_a":-196.048691,"cg_iq_raw_a":-195.302185,"cg_iu_a":-195.35173,"cg_iv_a":101.986816,"cg_iw_a":93.3649139,"cg_sample_age_us":23.5327282,"cg_sample_seq":8474417,"cg_sample_valid":1,"cg_theta_rad":0.407471806,"cg_vd_req_v":-1.92256689,"cg_vd_v":-1.92256689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45684147,"cg_vq_v":-8.45684147,"cg_vu_v":110.413033,"cg_vv_v":114.811958,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1422.04664,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1422.046646,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1422.046651,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1422.050171,"values":{"Elec_RPM":-2352.85645,"EncoderCos":52060,"EncoderSin":42119,"GapTicks":49638,"Mech_RPM":-470.571289,"cg_du":45.1259651,"cg_dv":54.8740349,"cg_dw":53.0894356,"cg_id_a":11.9491177,"cg_id_raw_a":11.4917269,"cg_iq_a":-198.522552,"cg_iq_raw_a":-198.023849,"cg_iu_a":-191.908569,"cg_iv_a":40.4447784,"cg_iw_a":151.463791,"cg_sample_age_us":23.5290909,"cg_sample_seq":8476166,"cg_sample_valid":1,"cg_theta_rad":0.459674448,"cg_vd_req_v":-2.21872067,"cg_vd_v":-2.21872067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38488197,"cg_vq_v":-8.38488197,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.4152222,"dclink_p_w":-2520.41211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1422.386108,"values":{"Elec_RPM":-2354.69067,"EncoderCos":21781,"EncoderSin":51528,"GapTicks":49409,"Mech_RPM":-470.938141,"cg_du":51.8811684,"cg_dv":44.9174347,"cg_dw":55.0825653,"cg_id_a":4.06179905,"cg_id_raw_a":2.26386762,"cg_iq_a":-197.876312,"cg_iq_raw_a":-197.237854,"cg_iu_a":106.885597,"cg_iv_a":-197.858414,"cg_iw_a":90.9728165,"cg_sample_age_us":23.5981827,"cg_sample_seq":8477766,"cg_sample_valid":1,"cg_theta_rad":2.0925293,"cg_vd_req_v":-2.011307,"cg_vd_v":-2.011307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44933033,"cg_vq_v":-8.44933033,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2426.52002,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1422.71814,"values":{"Elec_RPM":-2356.10156,"EncoderCos":13276,"EncoderSin":42352,"GapTicks":49347,"Mech_RPM":-471.220337,"cg_du":49.6971321,"cg_dv":55.1386108,"cg_dw":44.8613892,"cg_id_a":-10.5859089,"cg_id_raw_a":-11.4649582,"cg_iq_a":-196.673035,"cg_iq_raw_a":-197.090927,"cg_iu_a":-66.758606,"cg_iv_a":194.698532,"cg_iw_a":-127.939926,"cg_sample_age_us":23.8854542,"cg_sample_seq":8479466,"cg_sample_valid":1,"cg_theta_rad":2.68953562,"cg_vd_req_v":-1.66647387,"cg_vd_v":-1.66647387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42913246,"cg_vq_v":-8.42913246,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.5127506,"dclink_p_w":-2382.53833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1423.039168,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1423.039174,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1423.039179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1423.069702,"values":{"Elec_RPM":-2351.45605,"EncoderCos":11146,"EncoderSin":30397,"GapTicks":49622,"Mech_RPM":-470.291229,"cg_du":47.6229057,"cg_dv":45.1117744,"cg_dw":54.8882256,"cg_id_a":-7.84011269,"cg_id_raw_a":-2.72595739,"cg_iq_a":-204.485489,"cg_iq_raw_a":-205.59285,"cg_iu_a":0.61867857,"cg_iv_a":-176.837006,"cg_iw_a":176.218323,"cg_sample_age_us":23.9072723,"cg_sample_seq":8481166,"cg_sample_valid":1,"cg_theta_rad":3.25316691,"cg_vd_req_v":-1.71276546,"cg_vd_v":-1.71276546,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31007576,"cg_vq_v":-8.31007576,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2384.8916,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1423.401733,"values":{"Elec_RPM":-2348.66333,"EncoderCos":15875,"EncoderSin":18901,"GapTicks":50013,"Mech_RPM":-469.732666,"cg_du":54.5333519,"cg_dv":54.2569237,"cg_dw":45.4666481,"cg_id_a":10.7413979,"cg_id_raw_a":10.2301264,"cg_iq_a":-204.204575,"cg_iq_raw_a":-207.202927,"cg_iu_a":22.9448795,"cg_iv_a":164.289978,"cg_iw_a":-187.234863,"cg_sample_age_us":23.8745461,"cg_sample_seq":8482866,"cg_sample_valid":1,"cg_theta_rad":3.83743,"cg_vd_req_v":-2.10756636,"cg_vd_v":-2.10756636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32887077,"cg_vq_v":-8.32887077,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2486267,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1423.753296,"values":{"Elec_RPM":-2352.37109,"EncoderCos":25289,"EncoderSin":12386,"GapTicks":49352,"Mech_RPM":-470.474213,"cg_du":44.8656998,"cg_dv":49.2696114,"cg_dw":55.1343002,"cg_id_a":-9.87814426,"cg_id_raw_a":-14.632534,"cg_iq_a":-197.02977,"cg_iq_raw_a":-198.789719,"cg_iu_a":-76.870636,"cg_iv_a":-119.028076,"cg_iw_a":195.898712,"cg_sample_age_us":24.3909092,"cg_sample_seq":8484570,"cg_sample_valid":1,"cg_theta_rad":4.40824366,"cg_vd_req_v":-1.73600924,"cg_vd_v":-1.73600924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43215561,"cg_vq_v":-8.43215561,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":106.453995,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1424.063304,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1424.06331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1424.063315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1424.089233,"values":{"Elec_RPM":-2348.43994,"EncoderCos":38079,"EncoderSin":11751,"GapTicks":49352,"Mech_RPM":-469.687988,"cg_du":55.1341133,"cg_dv":49.784996,"cg_dw":44.8658867,"cg_id_a":-17.494854,"cg_id_raw_a":-19.4323425,"cg_iq_a":-197.479401,"cg_iq_raw_a":-195.596619,"cg_iu_a":143.564362,"cg_iv_a":46.20755,"cg_iw_a":-186.944901,"cg_sample_age_us":24.005455,"cg_sample_seq":8486267,"cg_sample_valid":1,"cg_theta_rad":4.97475529,"cg_vd_req_v":-1.5846709,"cg_vd_v":-1.5846709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40819931,"cg_vq_v":-8.40819931,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.5873814,"dclink_p_w":-2537.59106,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1424.421265,"values":{"Elec_RPM":-2352.04834,"EncoderCos":39097,"EncoderSin":11998,"GapTicks":49468,"Mech_RPM":-470.409668,"cg_du":55.0286827,"cg_dv":51.5671959,"cg_dw":44.9713173,"cg_id_a":-2.47709703,"cg_id_raw_a":-4.31503344,"cg_iq_a":-203.660675,"cg_iq_raw_a":-201.781601,"cg_iu_a":95.9762039,"cg_iv_a":110.975273,"cg_iw_a":-206.951477,"cg_sample_age_us":23.8527279,"cg_sample_seq":8488016,"cg_sample_valid":1,"cg_theta_rad":5.02733469,"cg_vd_req_v":-1.91025543,"cg_vd_v":-1.91025543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29551315,"cg_vq_v":-8.29551315,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1424.772827,"values":{"Elec_RPM":-2360.32983,"EncoderCos":53932,"EncoderSin":29554,"GapTicks":50065,"Mech_RPM":-472.065979,"cg_du":54.4858208,"cg_dv":45.5141792,"cg_dw":45.603817,"cg_id_a":12.5688963,"cg_id_raw_a":19.5283775,"cg_iq_a":-202.385712,"cg_iq_raw_a":-205.484955,"cg_iu_a":181.112976,"cg_iv_a":-12.217514,"cg_iw_a":-168.895462,"cg_sample_age_us":24.1399994,"cg_sample_seq":8489666,"cg_sample_valid":1,"cg_theta_rad":6.14960527,"cg_vd_req_v":-2.19644976,"cg_vd_v":-2.19644976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3284359,"cg_vq_v":-8.3284359,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5837555,"dclink_p_w":-2552.53809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.266449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1425.055213,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1425.055219,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1425.055225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1425.104858,"values":{"Elec_RPM":-2357.4856,"EncoderCos":54027,"EncoderSin":30213,"GapTicks":49675,"Mech_RPM":-471.497101,"cg_du":54.8406258,"cg_dv":47.0068321,"cg_dw":45.1593742,"cg_id_a":-1.71195173,"cg_id_raw_a":3.97877669,"cg_iq_a":-198.120575,"cg_iq_raw_a":-197.970154,"cg_iu_a":169.768646,"cg_iv_a":-1.19937134,"cg_iw_a":-168.569275,"cg_sample_age_us":24.0890903,"cg_sample_seq":8491417,"cg_sample_valid":1,"cg_theta_rad":6.17805195,"cg_vd_req_v":-1.90112376,"cg_vd_v":-1.90112376,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40311813,"cg_vq_v":-8.40311813,"cg_vu_v":105.574219,"cg_vv_v":91.4976578,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1425.43689,"values":{"Elec_RPM":-2358.33643,"EncoderCos":44220,"EncoderSin":51043,"GapTicks":49333,"Mech_RPM":-471.667267,"cg_du":55.1514664,"cg_dv":44.8485336,"cg_dw":49.5751076,"cg_id_a":-14.1357718,"cg_id_raw_a":-14.7332878,"cg_iq_a":-197.526428,"cg_iq_raw_a":-197.502106,"cg_iu_a":195.465515,"cg_iv_a":-128.016541,"cg_iw_a":-67.4489746,"cg_sample_age_us":23.9109097,"cg_sample_seq":8493066,"cg_sample_valid":1,"cg_theta_rad":1.01631033,"cg_vd_req_v":-1.66576254,"cg_vd_v":-1.66576254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45605087,"cg_vq_v":-8.45605087,"cg_vu_v":38.2706528,"cg_vv_v":30.3525867,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.6344986,"dclink_p_w":-2552.14673,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1425.792358,"values":{"Elec_RPM":-2357.91211,"EncoderCos":43467,"EncoderSin":51398,"GapTicks":49364,"Mech_RPM":-471.582397,"cg_du":55.1229553,"cg_dv":44.8770447,"cg_dw":48.3448906,"cg_id_a":9.04168415,"cg_id_raw_a":5.02279139,"cg_iq_a":-199.922256,"cg_iq_raw_a":-199.241898,"cg_iu_a":199.959763,"cg_iv_a":-75.8254395,"cg_iw_a":-124.134323,"cg_sample_age_us":23.954546,"cg_sample_seq":8494816,"cg_sample_valid":1,"cg_theta_rad":1.05103517,"cg_vd_req_v":-2.13827753,"cg_vd_v":-2.13827753,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41492462,"cg_vq_v":-8.41492462,"cg_vu_v":20.2350578,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1426.047198,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1426.047204,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1426.047209,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1426.120483,"values":{"Elec_RPM":-2355.32983,"EncoderCos":20754,"EncoderSin":50870,"GapTicks":49945,"Mech_RPM":-471.065948,"cg_du":53.9927101,"cg_dv":45.4053497,"cg_dw":54.5946503,"cg_id_a":15.6258059,"cg_id_raw_a":14.2452059,"cg_iq_a":-202.338409,"cg_iq_raw_a":-201.566818,"cg_iu_a":165.673096,"cg_iv_a":-184.629425,"cg_iw_a":18.9563217,"cg_sample_age_us":23.9836369,"cg_sample_seq":8496467,"cg_sample_valid":1,"cg_theta_rad":2.1597414,"cg_vd_req_v":-2.2183094,"cg_vd_v":-2.2183094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3261385,"cg_vq_v":-8.3261385,"cg_vu_v":106.453995,"cg_vv_v":83.5795898,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.9335098,"dclink_p_w":-2579.64331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1426.475952,"values":{"Elec_RPM":-2354.45581,"EncoderCos":30704,"EncoderSin":54285,"GapTicks":49374,"Mech_RPM":-470.891174,"cg_du":44.8857422,"cg_dv":55.1142578,"cg_dw":51.3222122,"cg_id_a":-0.696822166,"cg_id_raw_a":-5.38502789,"cg_iq_a":-196.448654,"cg_iq_raw_a":-195.614151,"cg_iu_a":-197.526367,"cg_iv_a":86.0757751,"cg_iw_a":96.771843,"cg_sample_age_us":23.8345451,"cg_sample_seq":8498267,"cg_sample_valid":1,"cg_theta_rad":1.67412353,"cg_vd_req_v":-1.8725369,"cg_vd_v":-1.8725369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43598175,"cg_vq_v":-8.43598175,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2417.86499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1426.807983,"values":{"Elec_RPM":-2356.16968,"EncoderCos":11312,"EncoderSin":29263,"GapTicks":49303,"Mech_RPM":-471.233917,"cg_du":50.0949669,"cg_dv":44.821804,"cg_dw":55.178196,"cg_id_a":-16.0910034,"cg_id_raw_a":-19.713623,"cg_iq_a":-195.809402,"cg_iq_raw_a":-195.656464,"cg_iu_a":54.9844284,"cg_iv_a":-190.428436,"cg_iw_a":135.444,"cg_sample_age_us":23.812727,"cg_sample_seq":8499867,"cg_sample_valid":1,"cg_theta_rad":3.30987883,"cg_vd_req_v":-1.57971716,"cg_vd_v":-1.57971716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5085535,"cg_vq_v":-8.5085535,"cg_vu_v":125.369385,"cg_vv_v":123.60981,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1427.038936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1427.038941,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1427.038947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1427.140015,"values":{"Elec_RPM":-2352.16089,"EncoderCos":11510,"EncoderSin":28393,"GapTicks":49382,"Mech_RPM":-470.432159,"cg_du":51.5687828,"cg_dv":44.893425,"cg_dw":55.106575,"cg_id_a":0.88064146,"cg_id_raw_a":-5.4640336,"cg_iq_a":-195.900711,"cg_iq_raw_a":-195.40419,"cg_iu_a":108.552811,"cg_iv_a":-195.828766,"cg_iw_a":87.2759552,"cg_sample_age_us":23.7763634,"cg_sample_seq":8501617,"cg_sample_valid":1,"cg_theta_rad":3.34908199,"cg_vd_req_v":-1.93975878,"cg_vd_v":-1.93975878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4741478,"cg_vq_v":-8.4741478,"cg_vu_v":106.893898,"cg_vv_v":96.3364716,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2440.73511,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1427.495483,"values":{"Elec_RPM":-2357.58154,"EncoderCos":17248,"EncoderSin":17359,"GapTicks":49367,"Mech_RPM":-471.516327,"cg_du":50.076725,"cg_dv":55.1207962,"cg_dw":44.8792038,"cg_id_a":-17.034893,"cg_id_raw_a":-15.5650187,"cg_iq_a":-197.285156,"cg_iq_raw_a":-195.650558,"cg_iu_a":-48.020546,"cg_iv_a":192.197723,"cg_iw_a":-150.882278,"cg_sample_age_us":23.9909096,"cg_sample_seq":8503317,"cg_sample_valid":1,"cg_theta_rad":3.93047404,"cg_vd_req_v":-1.54893517,"cg_vd_v":-1.54893517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41652775,"cg_vq_v":-8.41652775,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2469.6084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1427.823608,"values":{"Elec_RPM":-2357.23389,"EncoderCos":28042,"EncoderSin":11589,"GapTicks":49659,"Mech_RPM":-471.446777,"cg_du":47.2964439,"cg_dv":45.1449776,"cg_dw":54.8550224,"cg_id_a":-4.38570166,"cg_id_raw_a":3.16094971,"cg_iq_a":-204.858673,"cg_iq_raw_a":-204.953156,"cg_iu_a":0.727410197,"cg_iv_a":-176.039642,"cg_iw_a":175.312225,"cg_sample_age_us":23.8418179,"cg_sample_seq":8505017,"cg_sample_valid":1,"cg_theta_rad":4.5076561,"cg_vd_req_v":-1.81616867,"cg_vd_v":-1.81616867,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30013084,"cg_vq_v":-8.30013084,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1428.062759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1428.062766,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1428.062771,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1428.210327,"values":{"Elec_RPM":-2351.40479,"EncoderCos":28171,"EncoderSin":11600,"GapTicks":49594,"Mech_RPM":-470.280975,"cg_du":47.6002426,"cg_dv":45.0855026,"cg_dw":54.9144974,"cg_id_a":-7.35060453,"cg_id_raw_a":-0.311216533,"cg_iq_a":-202.989624,"cg_iq_raw_a":-205.307617,"cg_iu_a":48.4242935,"cg_iv_a":-189.558563,"cg_iw_a":141.134277,"cg_sample_age_us":23.8418179,"cg_sample_seq":8506770,"cg_sample_valid":1,"cg_theta_rad":4.55444765,"cg_vd_req_v":-1.76276326,"cg_vd_v":-1.76276326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34886742,"cg_vq_v":-8.34886742,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1428.729858,"values":{"Elec_RPM":-2348.62915,"EncoderCos":41118,"EncoderSin":52596,"GapTicks":49400,"Mech_RPM":-469.72583,"cg_du":55.0907326,"cg_dv":48.2248764,"cg_dw":44.9092674,"cg_id_a":-10.855401,"cg_id_raw_a":-8.19773483,"cg_iq_a":-195.026611,"cg_iq_raw_a":-195.104691,"cg_iu_a":146.681335,"cg_iv_a":36.4579468,"cg_iw_a":-183.139282,"cg_sample_age_us":23.863636,"cg_sample_seq":8509419,"cg_sample_valid":1,"cg_theta_rad":1.19621694,"cg_vd_req_v":-1.68395531,"cg_vd_v":-1.68395531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51304436,"cg_vq_v":-8.51304436,"cg_vu_v":106.014107,"cg_vv_v":97.6561432,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1428.926687,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1428.926699,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1428.926703,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1429.054789,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1429.054795,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1429.0548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1429.151733,"values":{"Elec_RPM":-2344.70386,"EncoderCos":21009,"EncoderSin":51019,"GapTicks":49765,"Mech_RPM":-468.940765,"cg_du":53.5064812,"cg_dv":45.2417183,"cg_dw":54.7582817,"cg_id_a":12.7145958,"cg_id_raw_a":9.30383778,"cg_iq_a":-201.740784,"cg_iq_raw_a":-201.160278,"cg_iu_a":156.82959,"cg_iv_a":-189.921021,"cg_iw_a":33.091423,"cg_sample_age_us":23.6381817,"cg_sample_seq":8511667,"cg_sample_valid":1,"cg_theta_rad":2.14316559,"cg_vd_req_v":-2.1758945,"cg_vd_v":-2.1758945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33595657,"cg_vq_v":-8.33595657,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2405.80933,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2753906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1429.503296,"values":{"Elec_RPM":-2347.22656,"EncoderCos":12864,"EncoderSin":41403,"GapTicks":49485,"Mech_RPM":-469.445313,"cg_du":48.0144424,"cg_dv":55.0135918,"cg_dw":44.9864082,"cg_id_a":8.42494774,"cg_id_raw_a":3.19852924,"cg_iq_a":-202.76506,"cg_iq_raw_a":-200.730957,"cg_iu_a":-128.373123,"cg_iv_a":201.729858,"cg_iw_a":-86.4407501,"cg_sample_age_us":23.9727268,"cg_sample_seq":8513366,"cg_sample_valid":1,"cg_theta_rad":2.73091769,"cg_vd_req_v":-2.07323909,"cg_vd_v":-2.07323909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34081554,"cg_vq_v":-8.34081554,"cg_vu_v":38.2706528,"cg_vv_v":54.9865723,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.3496532,"dclink_p_w":-2359.00586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1429.835327,"values":{"Elec_RPM":-2351.41675,"EncoderCos":15914,"EncoderSin":18903,"GapTicks":50060,"Mech_RPM":-470.283356,"cg_du":54.4905663,"cg_dv":54.2764664,"cg_dw":45.5094337,"cg_id_a":10.803092,"cg_id_raw_a":13.0004854,"cg_iq_a":-203.847488,"cg_iq_raw_a":-203.56076,"cg_iu_a":20.226593,"cg_iv_a":164.362457,"cg_iw_a":-184.58905,"cg_sample_age_us":23.9727268,"cg_sample_seq":8515017,"cg_sample_valid":1,"cg_theta_rad":3.8374691,"cg_vd_req_v":-2.09572673,"cg_vd_v":-2.09572673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3034668,"cg_vq_v":-8.3034668,"cg_vu_v":127.568848,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2398.19482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1430.047427,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1430.047433,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1430.047438,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1430.171265,"values":{"Elec_RPM":-2354.0603,"EncoderCos":16601,"EncoderSin":18069,"GapTicks":49510,"Mech_RPM":-470.812042,"cg_du":52.1571388,"cg_dv":54.990036,"cg_dw":45.009964,"cg_id_a":-9.32034874,"cg_id_raw_a":-2.75624681,"cg_iq_a":-196.73642,"cg_iq_raw_a":-199.127853,"cg_iu_a":-9.38461971,"cg_iv_a":174.18454,"cg_iw_a":-164.799927,"cg_sample_age_us":23.9690914,"cg_sample_seq":8516766,"cg_sample_valid":1,"cg_theta_rad":3.89008665,"cg_vd_req_v":-1.67845452,"cg_vd_v":-1.67845452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42934799,"cg_vq_v":-8.42934799,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2495.49414,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1430.522827,"values":{"Elec_RPM":-2350.41113,"EncoderCos":38484,"EncoderSin":11815,"GapTicks":49339,"Mech_RPM":-470.082245,"cg_du":55.1457672,"cg_dv":50.4337273,"cg_dw":44.8542328,"cg_id_a":-9.10635948,"cg_id_raw_a":-10.0682716,"cg_iq_a":-199.383575,"cg_iq_raw_a":-200.349518,"cg_iu_a":122.216736,"cg_iv_a":77.15979,"cg_iw_a":-199.376526,"cg_sample_age_us":23.9872723,"cg_sample_seq":8518416,"cg_sample_valid":1,"cg_theta_rad":4.99755287,"cg_vd_req_v":-1.7707994,"cg_vd_v":-1.7707994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39863396,"cg_vq_v":-8.39863396,"cg_vu_v":24.6339836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1430.854858,"values":{"Elec_RPM":-2352.75195,"EncoderCos":39352,"EncoderSin":12120,"GapTicks":49503,"Mech_RPM":-470.550415,"cg_du":54.9966316,"cg_dv":52.0199661,"cg_dw":45.0033684,"cg_id_a":3.44625449,"cg_id_raw_a":-0.757963359,"cg_iq_a":-203.284088,"cg_iq_raw_a":-203.955582,"cg_iu_a":91.155777,"cg_iv_a":110.830307,"cg_iw_a":-201.986084,"cg_sample_age_us":23.8527279,"cg_sample_seq":8520166,"cg_sample_valid":1,"cg_theta_rad":5.02993298,"cg_vd_req_v":-2.0369947,"cg_vd_v":-2.0369947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32900524,"cg_vq_v":-8.32900524,"cg_vu_v":29.0329094,"cg_vv_v":10.5574207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8157177,"dclink_p_w":-2578.37354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1431.070946,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1431.070952,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1431.070958,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1431.18689,"values":{"Elec_RPM":-2352.49951,"EncoderCos":53960,"EncoderSin":29742,"GapTicks":50121,"Mech_RPM":-470.499908,"cg_du":54.5435333,"cg_dv":45.5649796,"cg_dw":45.5735931,"cg_id_a":8.69723606,"cg_id_raw_a":16.1849251,"cg_iq_a":-203.603439,"cg_iq_raw_a":-206.401718,"cg_iu_a":182.490234,"cg_iv_a":-16.5667572,"cg_iw_a":-165.923477,"cg_sample_age_us":24.0418186,"cg_sample_seq":8521816,"cg_sample_valid":1,"cg_theta_rad":6.14607716,"cg_vd_req_v":-2.10654998,"cg_vd_v":-2.10654998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29234695,"cg_vq_v":-8.29234695,"cg_vu_v":140.765625,"cg_vv_v":114.811958,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1431.538452,"values":{"Elec_RPM":-2344.46191,"EncoderCos":52120,"EncoderSin":41936,"GapTicks":49524,"Mech_RPM":-468.892365,"cg_du":45.0226097,"cg_dv":54.9773903,"cg_dw":52.7426529,"cg_id_a":11.1355381,"cg_id_raw_a":10.0229988,"cg_iq_a":-198.931641,"cg_iq_raw_a":-199.262665,"cg_iu_a":-193.901978,"cg_iv_a":50.7017975,"cg_iw_a":143.20018,"cg_sample_age_us":23.51091,"cg_sample_seq":8523516,"cg_sample_valid":1,"cg_theta_rad":0.450218916,"cg_vd_req_v":-2.21730018,"cg_vd_v":-2.21730018,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41491985,"cg_vq_v":-8.41491985,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-16.4982529,"dclink_p_w":-2380.44653,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2432861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1431.870483,"values":{"Elec_RPM":-2348.91821,"EncoderCos":44103,"EncoderSin":51086,"GapTicks":49305,"Mech_RPM":-469.783661,"cg_du":55.176384,"cg_dv":44.823616,"cg_dw":49.3970261,"cg_id_a":-9.63617897,"cg_id_raw_a":-16.3387032,"cg_iq_a":-195.164246,"cg_iq_raw_a":-192.251465,"cg_iu_a":194.631927,"cg_iv_a":-119.173065,"cg_iw_a":-75.4588623,"cg_sample_age_us":23.9181824,"cg_sample_seq":8525217,"cg_sample_valid":1,"cg_theta_rad":1.01842034,"cg_vd_req_v":-1.750947,"cg_vd_v":-1.750947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49133778,"cg_vq_v":-8.49133778,"cg_vu_v":143.404984,"cg_vv_v":136.806595,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1432.06349,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1432.063496,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1432.063502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1432.225952,"values":{"Elec_RPM":-2346.78857,"EncoderCos":44153,"EncoderSin":51084,"GapTicks":49337,"Mech_RPM":-469.357697,"cg_du":55.147644,"cg_dv":44.852356,"cg_dw":49.4930611,"cg_id_a":-9.5447979,"cg_id_raw_a":-14.2114649,"cg_iq_a":-195.658585,"cg_iq_raw_a":-194.029297,"cg_iu_a":197.640167,"cg_iv_a":-70.6788177,"cg_iw_a":-126.961349,"cg_sample_age_us":23.8309097,"cg_sample_seq":8526971,"cg_sample_valid":1,"cg_theta_rad":1.06131303,"cg_vd_req_v":-1.74884844,"cg_vd_v":-1.74884844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46370792,"cg_vq_v":-8.46370792,"cg_vu_v":106.453995,"cg_vv_v":91.4976578,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-18.1346626,"dclink_p_w":-2632.51025,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1432.557983,"values":{"Elec_RPM":-2356.07373,"EncoderCos":20641,"EncoderSin":50755,"GapTicks":50012,"Mech_RPM":-471.214752,"cg_du":54.3767166,"cg_dv":45.465786,"cg_dw":54.534214,"cg_id_a":12.9811869,"cg_id_raw_a":12.4576483,"cg_iq_a":-201.644775,"cg_iq_raw_a":-201.461487,"cg_iu_a":166.760406,"cg_iv_a":-185.934189,"cg_iw_a":24.4653778,"cg_sample_age_us":24.0781822,"cg_sample_seq":8528617,"cg_sample_valid":1,"cg_theta_rad":2.16147661,"cg_vd_req_v":-2.16733861,"cg_vd_v":-2.16733861,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37216759,"cg_vq_v":-8.37216759,"cg_vu_v":128.448624,"cg_vv_v":118.3311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2031956,"dclink_p_w":-2482.15894,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00317235058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1432.886108,"values":{"Elec_RPM":-2356.77393,"EncoderCos":19752,"EncoderSin":50154,"GapTicks":49474,"Mech_RPM":-471.354797,"cg_du":55.0231133,"cg_dv":44.9768867,"cg_dw":52.0925484,"cg_id_a":-10.1459436,"cg_id_raw_a":-3.15836072,"cg_iq_a":-199.036407,"cg_iq_raw_a":-200.385895,"cg_iu_a":176.727478,"cg_iv_a":-166.579987,"cg_iw_a":-10.1474838,"cg_sample_age_us":24.0090904,"cg_sample_seq":8530366,"cg_sample_valid":1,"cg_theta_rad":2.21415687,"cg_vd_req_v":-1.69407141,"cg_vd_v":-1.69407141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43909073,"cg_vq_v":-8.43909073,"cg_vu_v":43.9892578,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1433.054603,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1433.054609,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1433.054615,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1433.241577,"values":{"Elec_RPM":-2354.35815,"EncoderCos":11313,"EncoderSin":29644,"GapTicks":49400,"Mech_RPM":-470.871613,"cg_du":49.4253349,"cg_dv":44.9094391,"cg_dw":55.0905609,"cg_id_a":-19.2849503,"cg_id_raw_a":-20.5704689,"cg_iq_a":-198.449265,"cg_iq_raw_a":-200.721893,"cg_iu_a":89.5610504,"cg_iv_a":-195.865005,"cg_iw_a":106.303955,"cg_sample_age_us":23.7181816,"cg_sample_seq":8532020,"cg_sample_valid":1,"cg_theta_rad":3.33456016,"cg_vd_req_v":-1.49111009,"cg_vd_v":-1.49111009,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41996765,"cg_vq_v":-8.41996765,"cg_vu_v":38.7105446,"cg_vv_v":39.590332,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2473.88135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1433.573608,"values":{"Elec_RPM":-2352.01855,"EncoderCos":16779,"EncoderSin":17852,"GapTicks":49410,"Mech_RPM":-470.403687,"cg_du":51.5531769,"cg_dv":55.0810623,"cg_dw":44.9189377,"cg_id_a":-11.9959126,"cg_id_raw_a":-10.0944519,"cg_iq_a":-197.274384,"cg_iq_raw_a":-197.939575,"cg_iu_a":-20.3302574,"cg_iv_a":179.693604,"cg_iw_a":-159.363342,"cg_sample_age_us":23.8672733,"cg_sample_seq":8533717,"cg_sample_valid":1,"cg_theta_rad":3.90225577,"cg_vd_req_v":-1.63479757,"cg_vd_v":-1.63479757,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4392767,"cg_vq_v":-8.4392767,"cg_vu_v":27.2733402,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.360527,"dclink_p_w":-2360.57471,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1433.90564,"values":{"Elec_RPM":-2355.02246,"EncoderCos":27631,"EncoderSin":11722,"GapTicks":49908,"Mech_RPM":-471.004517,"cg_du":46.2373276,"cg_dv":45.3712234,"cg_dw":54.6287766,"cg_id_a":7.2078824,"cg_id_raw_a":10.15907,"cg_iq_a":-206.017502,"cg_iq_raw_a":-207.665588,"cg_iu_a":-5.57901716,"cg_iv_a":-175.423492,"cg_iw_a":181.002502,"cg_sample_age_us":23.9327278,"cg_sample_seq":8535416,"cg_sample_valid":1,"cg_theta_rad":4.48775721,"cg_vd_req_v":-2.0569706,"cg_vd_v":-2.0569706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29357624,"cg_vq_v":-8.29357624,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1434.046635,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1434.046641,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1434.046646,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1434.261108,"values":{"Elec_RPM":-2353.32788,"EncoderCos":39886,"EncoderSin":12287,"GapTicks":49713,"Mech_RPM":-470.665558,"cg_du":54.8060951,"cg_dv":53.0297394,"cg_dw":45.1939049,"cg_id_a":8.38324642,"cg_id_raw_a":7.43544579,"cg_iq_a":-204.219177,"cg_iq_raw_a":-204.727173,"cg_iu_a":52.1936531,"cg_iv_a":147.001663,"cg_iw_a":-199.195313,"cg_sample_age_us":23.9836369,"cg_sample_seq":8537116,"cg_sample_valid":1,"cg_theta_rad":5.06515169,"cg_vd_req_v":-2.11138654,"cg_vd_v":-2.11138654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28216553,"cg_vq_v":-8.28216553,"cg_vu_v":25.953661,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2807903,"dclink_p_w":-2356.23169,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1434.589233,"values":{"Elec_RPM":-2352.26831,"EncoderCos":49824,"EncoderSin":19768,"GapTicks":49361,"Mech_RPM":-470.453674,"cg_du":44.8736534,"cg_dv":48.6362762,"cg_dw":55.1263466,"cg_id_a":-2.24496269,"cg_id_raw_a":-8.50581932,"cg_iq_a":-195.96907,"cg_iq_raw_a":-199.256592,"cg_iu_a":-105.793213,"cg_iv_a":-88.0033722,"cg_iw_a":193.796585,"cg_sample_age_us":23.8272724,"cg_sample_seq":8538816,"cg_sample_valid":1,"cg_theta_rad":5.64096355,"cg_vd_req_v":-1.97758937,"cg_vd_v":-1.97758937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43865108,"cg_vq_v":-8.43865108,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2477.71387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1434.925171,"values":{"Elec_RPM":-2352.42163,"EncoderCos":51943,"EncoderSin":42266,"GapTicks":49694,"Mech_RPM":-470.484344,"cg_du":45.1771431,"cg_dv":54.8228569,"cg_dw":53.4849434,"cg_id_a":11.8291521,"cg_id_raw_a":10.7475758,"cg_iq_a":-198.396515,"cg_iq_raw_a":-196.483597,"cg_iu_a":-187.269348,"cg_iv_a":35.1894226,"cg_iw_a":152.079926,"cg_sample_age_us":23.5254555,"cg_sample_seq":8540467,"cg_sample_valid":1,"cg_theta_rad":0.466994077,"cg_vd_req_v":-2.21686053,"cg_vd_v":-2.21686053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44683933,"cg_vq_v":-8.44683933,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2377.47559,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1435.039642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1435.039648,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1435.039653,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1435.276733,"values":{"Elec_RPM":-2356.20581,"EncoderCos":54154,"EncoderSin":31975,"GapTicks":49330,"Mech_RPM":-471.24115,"cg_du":55.153923,"cg_dv":50.6416054,"cg_dw":44.846077,"cg_id_a":-6.17215061,"cg_id_raw_a":-9.97294521,"cg_iq_a":-198.412354,"cg_iq_raw_a":-199.278809,"cg_iu_a":116.308998,"cg_iv_a":83.6836777,"cg_iw_a":-199.992676,"cg_sample_age_us":24.0200005,"cg_sample_seq":8542266,"cg_sample_valid":1,"cg_theta_rad":6.25657368,"cg_vd_req_v":-1.85461271,"cg_vd_v":-1.85461271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43361282,"cg_vq_v":-8.43361282,"cg_vu_v":43.1094704,"cg_vv_v":47.9482918,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2472.48462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1435.608765,"values":{"Elec_RPM":-2355.94238,"EncoderCos":42887,"EncoderSin":51793,"GapTicks":49646,"Mech_RPM":-471.188477,"cg_du":54.866684,"cg_dv":45.133316,"cg_dw":47.117157,"cg_id_a":16.0224533,"cg_id_raw_a":13.0355873,"cg_iq_a":-203.099915,"cg_iq_raw_a":-200.489944,"cg_iu_a":195.574249,"cg_iv_a":-44.9094391,"cg_iw_a":-150.66481,"cg_sample_age_us":23.823637,"cg_sample_seq":8543917,"cg_sample_valid":1,"cg_theta_rad":1.08484852,"cg_vd_req_v":-2.25350952,"cg_vd_v":-2.25350952,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29470444,"cg_vq_v":-8.29470444,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.296814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1435.940796,"values":{"Elec_RPM":-2359.27881,"EncoderCos":30913,"EncoderSin":54273,"GapTicks":49345,"Mech_RPM":-471.855743,"cg_du":44.8592529,"cg_dv":55.1407471,"cg_dw":50.9403992,"cg_id_a":-3.64435291,"cg_id_raw_a":-8.11942577,"cg_iq_a":-197.57782,"cg_iq_raw_a":-196.006424,"cg_iu_a":-197.200165,"cg_iv_a":110.830307,"cg_iw_a":86.3698578,"cg_sample_age_us":23.8927269,"cg_sample_seq":8545617,"cg_sample_valid":1,"cg_theta_rad":1.65605557,"cg_vd_req_v":-1.82847929,"cg_vd_v":-1.82847929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44294357,"cg_vq_v":-8.44294357,"cg_vu_v":100.735397,"cg_vv_v":103.814644,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.7269192,"dclink_p_w":-2557.72437,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1436.063081,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1436.063087,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1436.063092,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1436.292358,"values":{"Elec_RPM":-2360.0686,"EncoderCos":19291,"EncoderSin":49752,"GapTicks":49304,"Mech_RPM":-472.013733,"cg_du":55.1776657,"cg_dv":44.8223343,"cg_dw":50.6676865,"cg_id_a":-18.355526,"cg_id_raw_a":-15.2491808,"cg_iq_a":-193.96019,"cg_iq_raw_a":-193.834473,"cg_iu_a":182.852661,"cg_iv_a":-149.617859,"cg_iw_a":-33.2347946,"cg_sample_age_us":23.8709087,"cg_sample_seq":8547316,"cg_sample_valid":1,"cg_theta_rad":2.24515843,"cg_vd_req_v":-1.53124905,"cg_vd_v":-1.53124905,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54034519,"cg_vq_v":-8.54034519,"cg_vu_v":37.3908691,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1436.628296,"values":{"Elec_RPM":-2357.98218,"EncoderCos":12169,"EncoderSin":39732,"GapTicks":49781,"Mech_RPM":-471.596436,"cg_du":45.2560272,"cg_dv":54.7439728,"cg_dw":46.5731239,"cg_id_a":7.84375,"cg_id_raw_a":10.0010662,"cg_iq_a":-200.982361,"cg_iq_raw_a":-201.603287,"cg_iu_a":-172.191925,"cg_iv_a":173.640869,"cg_iw_a":-5.1820755,"cg_sample_age_us":23.9290905,"cg_sample_seq":8549017,"cg_sample_valid":1,"cg_theta_rad":2.81405425,"cg_vd_req_v":-1.99050128,"cg_vd_v":-1.99050128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35585213,"cg_vq_v":-8.35585213,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1436.979858,"values":{"Elec_RPM":-2362.78589,"EncoderCos":11537,"EncoderSin":28133,"GapTicks":49462,"Mech_RPM":-472.557159,"cg_du":52.0113106,"cg_dv":44.9663429,"cg_dw":55.0336571,"cg_id_a":3.58620071,"cg_id_raw_a":-0.823457062,"cg_iq_a":-199.380402,"cg_iq_raw_a":-199.16745,"cg_iu_a":152.190399,"cg_iv_a":-191.588242,"cg_iw_a":39.3978424,"cg_sample_age_us":23.630909,"cg_sample_seq":8550719,"cg_sample_valid":1,"cg_theta_rad":3.39470363,"cg_vd_req_v":-1.99887395,"cg_vd_v":-1.99887395,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39826488,"cg_vq_v":-8.39826488,"cg_vu_v":43.9892578,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1437.054759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1437.054764,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1437.05477,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1437.31189,"values":{"Elec_RPM":-2359.8728,"EncoderCos":17915,"EncoderSin":16718,"GapTicks":49424,"Mech_RPM":-471.974579,"cg_du":48.4774399,"cg_dv":55.0686378,"cg_dw":44.9313622,"cg_id_a":-4.4880662,"cg_id_raw_a":-9.26377964,"cg_iq_a":-200.439163,"cg_iq_raw_a":-199.7556,"cg_iu_a":-103.908539,"cg_iv_a":201.077454,"cg_iw_a":-97.1689224,"cg_sample_age_us":24.8054543,"cg_sample_seq":8552416,"cg_sample_valid":1,"cg_theta_rad":3.9741714,"cg_vd_req_v":-1.83291125,"cg_vd_v":-1.83291125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39915848,"cg_vq_v":-8.39915848,"cg_vu_v":38.7105446,"cg_vv_v":54.9865723,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2165222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1437.643921,"values":{"Elec_RPM":-2360.29565,"EncoderCos":29102,"EncoderSin":11400,"GapTicks":49354,"Mech_RPM":-472.059113,"cg_du":49.7059593,"cg_dv":44.8677025,"cg_dw":55.1322975,"cg_id_a":-15.4925766,"cg_id_raw_a":-15.7632332,"cg_iq_a":-196.20134,"cg_iq_raw_a":-197.21434,"cg_iu_a":49.7653198,"cg_iv_a":-189.486084,"cg_iw_a":139.720764,"cg_sample_age_us":23.7872734,"cg_sample_seq":8554116,"cg_sample_valid":1,"cg_theta_rad":4.55866957,"cg_vd_req_v":-1.60469937,"cg_vd_v":-1.60469937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45663929,"cg_vq_v":-8.45663929,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2487.62842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1437.995483,"values":{"Elec_RPM":-2360.43164,"EncoderCos":49432,"EncoderSin":19185,"GapTicks":49315,"Mech_RPM":-472.086304,"cg_du":44.8322983,"cg_dv":49.8582153,"cg_dw":55.1677017,"cg_id_a":-13.7935877,"cg_id_raw_a":-13.7305698,"cg_iq_a":-197.691742,"cg_iq_raw_a":-196.500961,"cg_iu_a":-77.051857,"cg_iv_a":-120.079155,"cg_iw_a":197.131012,"cg_sample_age_us":23.8272724,"cg_sample_seq":8555771,"cg_sample_valid":1,"cg_theta_rad":5.65942812,"cg_vd_req_v":-1.74378371,"cg_vd_v":-1.74378371,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43235111,"cg_vq_v":-8.43235111,"cg_vu_v":130.208206,"cg_vv_v":114.37207,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1438.047144,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1438.04715,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1438.047155,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1438.448608,"values":{"Elec_RPM":-2354.12549,"EncoderCos":24908,"EncoderSin":52993,"GapTicks":49858,"Mech_RPM":-470.825073,"cg_du":45.32584,"cg_dv":46.2446289,"cg_dw":54.67416,"cg_id_a":15.8327589,"cg_id_raw_a":15.9316015,"cg_iq_a":-204.768677,"cg_iq_raw_a":-203.719925,"cg_iu_a":-26.7816582,"cg_iv_a":-165.057739,"cg_iw_a":191.839401,"cg_sample_age_us":23.8709087,"cg_sample_seq":8557866,"cg_sample_valid":1,"cg_theta_rad":1.94076216,"cg_vd_req_v":-2.2111659,"cg_vd_v":-2.2111659,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29477119,"cg_vq_v":-8.29477119,"cg_vu_v":39.590332,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1438.911612,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1438.911623,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1438.911626,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1438.96814,"values":{"Elec_RPM":-2350.47412,"EncoderCos":15338,"EncoderSin":19595,"GapTicks":49625,"Mech_RPM":-470.094849,"cg_du":54.8862686,"cg_dv":52.589077,"cg_dw":45.1137314,"cg_id_a":8.53591347,"cg_id_raw_a":4.47087288,"cg_iq_a":-204.74736,"cg_iq_raw_a":-201.76268,"cg_iu_a":61.2908554,"cg_iv_a":138.810547,"cg_iw_a":-200.10141,"cg_sample_age_us":23.9690914,"cg_sample_seq":8560617,"cg_sample_valid":1,"cg_theta_rad":3.79675651,"cg_vd_req_v":-2.06788254,"cg_vd_v":-2.06788254,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25825596,"cg_vq_v":-8.25825596,"cg_vu_v":136.366699,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.7522907,"dclink_p_w":-2561.38501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1439.071386,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1439.071392,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1439.071397,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1439.323608,"values":{"Elec_RPM":-2347.91772,"EncoderCos":19517,"EncoderSin":49930,"GapTicks":49409,"Mech_RPM":-469.583527,"cg_du":55.082531,"cg_dv":44.917469,"cg_dw":51.2926064,"cg_id_a":-16.29212,"cg_id_raw_a":-9.94102573,"cg_iq_a":-196.950806,"cg_iq_raw_a":-197.647827,"cg_iu_a":180.60556,"cg_iv_a":-158.243896,"cg_iw_a":-22.3616562,"cg_sample_age_us":23.8927269,"cg_sample_seq":8562516,"cg_sample_valid":1,"cg_theta_rad":2.23456693,"cg_vd_req_v":-1.56328523,"cg_vd_v":-1.56328523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46767044,"cg_vq_v":-8.46767044,"cg_vu_v":50.1477547,"cg_vv_v":43.1094704,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2506.23853,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1439.65564,"values":{"Elec_RPM":-2356.06885,"EncoderCos":12215,"EncoderSin":39871,"GapTicks":49896,"Mech_RPM":-471.213776,"cg_du":45.3602676,"cg_dv":54.6397324,"cg_dw":46.2785988,"cg_id_a":8.54953289,"cg_id_raw_a":14.7132206,"cg_iq_a":-203.403625,"cg_iq_raw_a":-204.382202,"cg_iu_a":-174.257813,"cg_iv_a":176.721603,"cg_iw_a":-2.46379089,"cg_sample_age_us":23.9036369,"cg_sample_seq":8564216,"cg_sample_valid":1,"cg_theta_rad":2.81570101,"cg_vd_req_v":-2.02044988,"cg_vd_v":-2.02044988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30230808,"cg_vq_v":-8.30230808,"cg_vu_v":37.830761,"cg_vv_v":43.549366,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.1466885,"dclink_p_w":-2336.82397,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1439.987671,"values":{"Elec_RPM":-2355.36694,"EncoderCos":27035,"EncoderSin":11861,"GapTicks":49876,"Mech_RPM":-471.073395,"cg_du":45.3418694,"cg_dv":46.1443672,"cg_dw":54.6581306,"cg_id_a":16.1563797,"cg_id_raw_a":19.5556145,"cg_iq_a":-203.122482,"cg_iq_raw_a":-200.590607,"cg_iu_a":-21.7800102,"cg_iv_a":-166.000092,"cg_iw_a":187.780106,"cg_sample_age_us":23.8454552,"cg_sample_seq":8565816,"cg_sample_valid":1,"cg_theta_rad":4.45875263,"cg_vd_req_v":-2.24522758,"cg_vd_v":-2.24522758,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33030701,"cg_vq_v":-8.33030701,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2414.45557,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1440.063389,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1440.063395,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1440.063401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1440.339233,"values":{"Elec_RPM":-2355.18018,"EncoderCos":17561,"EncoderSin":17049,"GapTicks":49345,"Mech_RPM":-471.036041,"cg_du":49.3049202,"cg_dv":55.1404686,"cg_dw":44.8595314,"cg_id_a":-11.2668476,"cg_id_raw_a":-12.9846764,"cg_iq_a":-197.856079,"cg_iq_raw_a":-195.961945,"cg_iu_a":-75.7108307,"cg_iv_a":196.329514,"cg_iw_a":-120.618683,"cg_sample_age_us":23.9909096,"cg_sample_seq":8567617,"cg_sample_valid":1,"cg_theta_rad":3.9511683,"cg_vd_req_v":-1.68702996,"cg_vd_v":-1.68702996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44979954,"cg_vq_v":-8.44979954,"cg_vu_v":102.494972,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2455.20386,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1440.671265,"values":{"Elec_RPM":-2357.03467,"EncoderCos":40134,"EncoderSin":12347,"GapTicks":49862,"Mech_RPM":-471.406952,"cg_du":54.6705246,"cg_dv":53.4870262,"cg_dw":45.3294754,"cg_id_a":7.94538927,"cg_id_raw_a":8.36301804,"cg_iq_a":-205.905319,"cg_iq_raw_a":-206.431473,"cg_iu_a":40.2331886,"cg_iv_a":156.28009,"cg_iw_a":-196.513275,"cg_sample_age_us":23.9799995,"cg_sample_seq":8569266,"cg_sample_valid":1,"cg_theta_rad":5.07731056,"cg_vd_req_v":-2.10471988,"cg_vd_v":-2.10471988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23460007,"cg_vq_v":-8.23460007,"cg_vu_v":0.87978512,"cg_vv_v":3.51914048,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2421.23633,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1441.022827,"values":{"Elec_RPM":-2352.77393,"EncoderCos":53950,"EncoderSin":29424,"GapTicks":49978,"Mech_RPM":-470.55481,"cg_du":54.5647354,"cg_dv":45.4352646,"cg_dw":45.864296,"cg_id_a":13.5590496,"cg_id_raw_a":15.1332312,"cg_iq_a":-205.914429,"cg_iq_raw_a":-205.083008,"cg_iu_a":170.203583,"cg_iv_a":-0.14831543,"cg_iw_a":-170.055267,"cg_sample_age_us":24.1327267,"cg_sample_seq":8570921,"cg_sample_valid":1,"cg_theta_rad":6.18206072,"cg_vd_req_v":-2.22261477,"cg_vd_v":-2.22261477,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28993893,"cg_vq_v":-8.28993893,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2986145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1441.055245,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1441.055252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1441.055258,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1441.358765,"values":{"Elec_RPM":-2353.33398,"EncoderCos":54095,"EncoderSin":31433,"GapTicks":49318,"Mech_RPM":-470.666779,"cg_du":55.1652374,"cg_dv":49.7175331,"cg_dw":44.8347626,"cg_id_a":-14.8217916,"cg_id_raw_a":-15.8163433,"cg_iq_a":-195.628571,"cg_iq_raw_a":-196.713791,"cg_iu_a":148.56601,"cg_iv_a":33.9208984,"cg_iw_a":-182.486908,"cg_sample_age_us":24.1727276,"cg_sample_seq":8572666,"cg_sample_valid":1,"cg_theta_rad":6.22527599,"cg_vd_req_v":-1.66452873,"cg_vd_v":-1.66452873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47418976,"cg_vq_v":-8.47418976,"cg_vu_v":32.5520515,"cg_vv_v":14.0765619,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1441.690796,"values":{"Elec_RPM":-2357.76123,"EncoderCos":51278,"EncoderSin":43537,"GapTicks":49600,"Mech_RPM":-471.552246,"cg_du":45.0916939,"cg_dv":52.4775925,"cg_dw":54.9083061,"cg_id_a":-3.97511816,"cg_id_raw_a":2.60155725,"cg_iq_a":-201.081131,"cg_iq_raw_a":-203.776749,"cg_iu_a":-169.799835,"cg_iv_a":-10.6952515,"cg_iw_a":180.495087,"cg_sample_age_us":23.5618191,"cg_sample_seq":8574366,"cg_sample_valid":1,"cg_theta_rad":0.533982277,"cg_vd_req_v":-1.86226499,"cg_vd_v":-1.86226499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33825111,"cg_vq_v":-8.33825111,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-16.1648102,"dclink_p_w":-2332.33569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1442.042358,"values":{"Elec_RPM":-2361.00317,"EncoderCos":42449,"EncoderSin":51952,"GapTicks":49707,"Mech_RPM":-472.200653,"cg_du":54.8118134,"cg_dv":45.1881866,"cg_dw":46.7259331,"cg_id_a":16.1608639,"cg_id_raw_a":17.1748562,"cg_iq_a":-204.795532,"cg_iq_raw_a":-205.162643,"cg_iu_a":192.348557,"cg_iv_a":-35.9209747,"cg_iw_a":-156.427582,"cg_sample_age_us":23.9218178,"cg_sample_seq":8576066,"cg_sample_valid":1,"cg_theta_rad":1.09645355,"cg_vd_req_v":-2.26858878,"cg_vd_v":-2.25243402,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30903816,"cg_vq_v":-8.29683781,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2539.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1442.047353,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1442.047359,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1442.047364,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1442.37439,"values":{"Elec_RPM":-2357.08716,"EncoderCos":30429,"EncoderSin":54232,"GapTicks":49386,"Mech_RPM":-471.41745,"cg_du":44.897213,"cg_dv":55.102787,"cg_dw":51.8005409,"cg_id_a":4.1759038,"cg_id_raw_a":2.97761917,"cg_iq_a":-196.940109,"cg_iq_raw_a":-197.670807,"cg_iu_a":-197.091431,"cg_iv_a":79.2619171,"cg_iw_a":117.829514,"cg_sample_age_us":23.863636,"cg_sample_seq":8577766,"cg_sample_valid":1,"cg_theta_rad":1.67936528,"cg_vd_req_v":-1.98426247,"cg_vd_v":-1.98426247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47337723,"cg_vq_v":-8.47337723,"cg_vu_v":17.1558094,"cg_vv_v":27.2733402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2500.97729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1442.725952,"values":{"Elec_RPM":-2358.4834,"EncoderCos":29739,"EncoderSin":54155,"GapTicks":49639,"Mech_RPM":-471.696686,"cg_du":45.1265488,"cg_dv":54.8734512,"cg_dw":53.0666199,"cg_id_a":10.5377722,"cg_id_raw_a":8.15540504,"cg_iq_a":-197.709244,"cg_iq_raw_a":-196.450653,"cg_iu_a":-190.241348,"cg_iv_a":48.2009735,"cg_iw_a":142.040375,"cg_sample_age_us":23.8963642,"cg_sample_seq":8579517,"cg_sample_valid":1,"cg_theta_rad":1.7131412,"cg_vd_req_v":-2.09218574,"cg_vd_v":-2.09218574,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43577099,"cg_vq_v":-8.43577099,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.4405937,"dclink_p_w":-2524.08398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.234375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1443.0395,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1443.039505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1443.039511,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1443.057983,"values":{"Elec_RPM":-2353.75122,"EncoderCos":11563,"EncoderSin":28016,"GapTicks":49421,"Mech_RPM":-470.750244,"cg_du":51.7843628,"cg_dv":44.9284782,"cg_dw":55.0715218,"cg_id_a":5.80510139,"cg_id_raw_a":3.24073148,"cg_iq_a":-198.791321,"cg_iq_raw_a":-198.778061,"cg_iu_a":126.928436,"cg_iv_a":-197.13353,"cg_iw_a":70.2050934,"cg_sample_age_us":23.7472725,"cg_sample_seq":8581117,"cg_sample_valid":1,"cg_theta_rad":3.36770749,"cg_vd_req_v":-1.96225142,"cg_vd_v":-1.96225142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4227438,"cg_vq_v":-8.4227438,"cg_vu_v":35.1914063,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2522.24805,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2182922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1443.393921,"values":{"Elec_RPM":-2349.07861,"EncoderCos":11835,"EncoderSin":38560,"GapTicks":49313,"Mech_RPM":-469.815704,"cg_du":44.8301582,"cg_dv":55.1698418,"cg_dw":49.3798599,"cg_id_a":-11.7192297,"cg_id_raw_a":-8.91219044,"cg_iq_a":-196.227295,"cg_iq_raw_a":-197.7285,"cg_iu_a":-187.921753,"cg_iv_a":144.355865,"cg_iw_a":43.5658875,"cg_sample_age_us":23.9509087,"cg_sample_seq":8582916,"cg_sample_valid":1,"cg_theta_rad":2.87367511,"cg_vd_req_v":-1.62570322,"cg_vd_v":-1.62570322,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4794426,"cg_vq_v":-8.4794426,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2474.31494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1443.745483,"values":{"Elec_RPM":-2347.38232,"EncoderCos":27411,"EncoderSin":11764,"GapTicks":50068,"Mech_RPM":-469.47644,"cg_du":45.7246819,"cg_dv":45.5164261,"cg_dw":54.4835739,"cg_id_a":10.6688881,"cg_id_raw_a":11.6753616,"cg_iq_a":-203.80011,"cg_iq_raw_a":-204.000565,"cg_iu_a":8.77354145,"cg_iv_a":-177.634354,"cg_iw_a":168.860809,"cg_sample_age_us":26.7981815,"cg_sample_seq":8584521,"cg_sample_valid":1,"cg_theta_rad":4.52072859,"cg_vd_req_v":-2.12737298,"cg_vd_v":-2.12737298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28429794,"cg_vq_v":-8.28429794,"cg_vu_v":113.492287,"cg_vv_v":115.69175,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2476.14526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1444.031207,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1444.031213,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1444.031218,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1444.077515,"values":{"Elec_RPM":-2349.12256,"EncoderCos":18651,"EncoderSin":16095,"GapTicks":49682,"Mech_RPM":-469.824524,"cg_du":46.8858376,"cg_dv":54.8336525,"cg_dw":45.1663475,"cg_id_a":11.8674574,"cg_id_raw_a":9.73110867,"cg_iq_a":-203.37706,"cg_iq_raw_a":-202.315308,"cg_iu_a":-150.336884,"cg_iv_a":195.894592,"cg_iw_a":-55.4885178,"cg_sample_age_us":23.9581814,"cg_sample_seq":8586317,"cg_sample_valid":1,"cg_theta_rad":4.01750422,"cg_vd_req_v":-2.14638114,"cg_vd_v":-2.14638114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2927494,"cg_vq_v":-8.2927494,"cg_vu_v":105.574219,"cg_vv_v":105.574219,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2418.3894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1444.409546,"values":{"Elec_RPM":-2350.36182,"EncoderCos":50020,"EncoderSin":19970,"GapTicks":49347,"Mech_RPM":-470.072357,"cg_du":44.8615417,"cg_dv":48.2205544,"cg_dw":55.1384583,"cg_id_a":6.99293137,"cg_id_raw_a":3.52456951,"cg_iq_a":-197.113571,"cg_iq_raw_a":-195.989227,"cg_iu_a":-59.0386734,"cg_iv_a":-135.120331,"cg_iw_a":194.159012,"cg_sample_age_us":23.954546,"cg_sample_seq":8587918,"cg_sample_valid":1,"cg_theta_rad":5.67325115,"cg_vd_req_v":-2.16042638,"cg_vd_v":-2.16042638,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45886135,"cg_vq_v":-8.45886135,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2403.979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1444.761108,"values":{"Elec_RPM":-2348.5769,"EncoderCos":42007,"EncoderSin":13162,"GapTicks":49343,"Mech_RPM":-469.715393,"cg_du":50.9313354,"cg_dv":55.1426392,"cg_dw":44.8573608,"cg_id_a":-17.165493,"cg_id_raw_a":-16.7665443,"cg_iq_a":-195.877258,"cg_iq_raw_a":-195.285568,"cg_iu_a":-26.9266357,"cg_iv_a":182.049438,"cg_iw_a":-161.429245,"cg_sample_age_us":23.9581814,"cg_sample_seq":8589717,"cg_sample_valid":1,"cg_theta_rad":5.16646814,"cg_vd_req_v":-1.60646713,"cg_vd_v":-1.60646713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49025917,"cg_vq_v":-8.49025917,"cg_vu_v":103.814644,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6812859,"dclink_p_w":-2414.19336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1445.055365,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1445.055371,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1445.055377,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1445.097046,"values":{"Elec_RPM":-2353.44067,"EncoderCos":51060,"EncoderSin":43976,"GapTicks":49421,"Mech_RPM":-470.688141,"cg_du":44.9288788,"cg_dv":51.3479996,"cg_dw":55.0711212,"cg_id_a":-11.9971371,"cg_id_raw_a":-8.96602345,"cg_iq_a":-200.193237,"cg_iq_raw_a":-201.513168,"cg_iu_a":-159.434082,"cg_iv_a":-27.5486603,"cg_iw_a":186.982742,"cg_sample_age_us":23.5545464,"cg_sample_seq":8591316,"cg_sample_valid":1,"cg_theta_rad":0.556822777,"cg_vd_req_v":-1.71010327,"cg_vd_v":-1.71010327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37488174,"cg_vq_v":-8.37488174,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":21.5547352,"control_outputs_enabled":1,"dclink_i_a":-16.2372971,"dclink_p_w":-2349.93726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1445.425171,"values":{"Elec_RPM":-2353.44189,"EncoderCos":42114,"EncoderSin":52142,"GapTicks":50034,"Mech_RPM":-470.688354,"cg_du":54.5139465,"cg_dv":45.6226082,"cg_dw":45.4860535,"cg_id_a":12.5961208,"cg_id_raw_a":19.9331665,"cg_iq_a":-203.786118,"cg_iq_raw_a":-206.498566,"cg_iu_a":183.65004,"cg_iv_a":-17.6903229,"cg_iw_a":-165.959717,"cg_sample_age_us":23.9181824,"cg_sample_seq":8593016,"cg_sample_valid":1,"cg_theta_rad":1.11441958,"cg_vd_req_v":-2.16393375,"cg_vd_v":-2.16393375,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34292316,"cg_vq_v":-8.34292316,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2489.20215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1445.78064,"values":{"Elec_RPM":-2350.95972,"EncoderCos":41372,"EncoderSin":52485,"GapTicks":49505,"Mech_RPM":-470.191925,"cg_du":54.9945679,"cg_dv":47.5581017,"cg_dw":45.0054321,"cg_id_a":-5.15689182,"cg_id_raw_a":-0.454848498,"cg_iq_a":-195.848267,"cg_iq_raw_a":-195.831726,"cg_iu_a":164.332062,"cg_iv_a":5.90441895,"cg_iw_a":-170.236481,"cg_sample_age_us":23.9618187,"cg_sample_seq":8594767,"cg_sample_valid":1,"cg_theta_rad":1.15896034,"cg_vd_req_v":-1.78744113,"cg_vd_v":-1.78744113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48656082,"cg_vq_v":-8.48656082,"cg_vu_v":127.12896,"cg_vv_v":124.049698,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.266449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1446.04758,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1446.047586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1446.047591,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1446.112671,"values":{"Elec_RPM":-2352.12476,"EncoderCos":18784,"EncoderSin":49328,"GapTicks":49365,"Mech_RPM":-470.424957,"cg_du":55.1225739,"cg_dv":44.8774261,"cg_dw":49.4451141,"cg_id_a":-13.5510883,"cg_id_raw_a":-18.5890045,"cg_iq_a":-197.53244,"cg_iq_raw_a":-196.283066,"cg_iu_a":195.175568,"cg_iv_a":-127.037964,"cg_iw_a":-68.1376038,"cg_sample_age_us":23.9981823,"cg_sample_seq":8596417,"cg_sample_valid":1,"cg_theta_rad":2.27090406,"cg_vd_req_v":-1.64818776,"cg_vd_v":-1.64818776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41739655,"cg_vq_v":-8.41739655,"cg_vu_v":143.404984,"cg_vv_v":123.169922,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2393.47412,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1446.464233,"values":{"Elec_RPM":-2355.30322,"EncoderCos":18743,"EncoderSin":49298,"GapTicks":49337,"Mech_RPM":-471.060669,"cg_du":55.147522,"cg_dv":44.852478,"cg_dw":49.3736916,"cg_id_a":-12.4629803,"cg_id_raw_a":-14.8809118,"cg_iq_a":-197.785477,"cg_iq_raw_a":-197.738831,"cg_iu_a":198.582489,"cg_iv_a":-64.9885254,"cg_iw_a":-133.593964,"cg_sample_age_us":23.9036369,"cg_sample_seq":8598170,"cg_sample_valid":1,"cg_theta_rad":2.31767321,"cg_vd_req_v":-1.68558991,"cg_vd_v":-1.68558991,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43033981,"cg_vq_v":-8.43033981,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2423.5896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1446.796265,"values":{"Elec_RPM":-2349.01416,"EncoderCos":11791,"EncoderSin":38337,"GapTicks":49294,"Mech_RPM":-469.802856,"cg_du":44.8134041,"cg_dv":55.1865959,"cg_dw":49.8218384,"cg_id_a":-10.7652512,"cg_id_raw_a":-11.9731655,"cg_iq_a":-195.844574,"cg_iq_raw_a":-195.65329,"cg_iu_a":-190.168854,"cg_iv_a":135.331146,"cg_iw_a":54.8377151,"cg_sample_age_us":23.9654541,"cg_sample_seq":8599867,"cg_sample_valid":1,"cg_theta_rad":2.88688397,"cg_vd_req_v":-1.6584059,"cg_vd_v":-1.6584059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5091114,"cg_vq_v":-8.5091114,"cg_vu_v":102.93486,"cg_vv_v":105.134323,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2468.74487,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2539978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1447.038844,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1447.03885,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1447.038855,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1447.128296,"values":{"Elec_RPM":-2346.82593,"EncoderCos":12201,"EncoderSin":25758,"GapTicks":49479,"Mech_RPM":-469.365173,"cg_du":55.019062,"cg_dv":44.980938,"cg_dw":51.8370361,"cg_id_a":-10.82827,"cg_id_raw_a":-4.09231758,"cg_iq_a":-196.59137,"cg_iq_raw_a":-197.675247,"cg_iu_a":176.256287,"cg_iv_a":-162.701889,"cg_iw_a":-13.5543976,"cg_sample_age_us":24.0745449,"cg_sample_seq":8601566,"cg_sample_valid":1,"cg_theta_rad":3.47729421,"cg_vd_req_v":-1.65055418,"cg_vd_v":-1.65055418,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43892288,"cg_vq_v":-8.43892288,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2513.33081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1447.479858,"values":{"Elec_RPM":-2357.39111,"EncoderCos":19226,"EncoderSin":15597,"GapTicks":50114,"Mech_RPM":-471.47821,"cg_du":45.5586777,"cg_dv":54.4413223,"cg_dw":45.7029648,"cg_id_a":9.24900913,"cg_id_raw_a":12.6590271,"cg_iq_a":-206.932648,"cg_iq_raw_a":-206.824112,"cg_iu_a":-165.921738,"cg_iv_a":191.219147,"cg_iw_a":-25.2974014,"cg_sample_age_us":23.8927269,"cg_sample_seq":8603266,"cg_sample_valid":1,"cg_theta_rad":4.04592609,"cg_vd_req_v":-2.07657695,"cg_vd_v":-2.07657695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24398804,"cg_vq_v":-8.24398804,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.4786491,"dclink_p_w":-2529.59155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1447.815796,"values":{"Elec_RPM":-2350.14746,"EncoderCos":30659,"EncoderSin":11196,"GapTicks":49478,"Mech_RPM":-470.02948,"cg_du":52.3361092,"cg_dv":44.9800682,"cg_dw":55.0199318,"cg_id_a":12.6535912,"cg_id_raw_a":9.63654995,"cg_iq_a":-200.036499,"cg_iq_raw_a":-199.470306,"cg_iu_a":139.106369,"cg_iv_a":-197.930908,"cg_iw_a":71.1111984,"cg_sample_age_us":23.6890907,"cg_sample_seq":8604966,"cg_sample_valid":1,"cg_theta_rad":4.62894249,"cg_vd_req_v":-2.21243382,"cg_vd_v":-2.21243382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4000349,"cg_vq_v":-8.4000349,"cg_vu_v":48.3881836,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.4079742,"dclink_p_w":-2519.36304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1448.063326,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1448.063331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1448.063337,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1448.167358,"values":{"Elec_RPM":-2352.35449,"EncoderCos":42520,"EncoderSin":13440,"GapTicks":49377,"Mech_RPM":-470.470917,"cg_du":49.7360039,"cg_dv":55.111805,"cg_dw":44.888195,"cg_id_a":-18.1177597,"cg_id_raw_a":-17.9380379,"cg_iq_a":-197.626999,"cg_iq_raw_a":-194.16478,"cg_iu_a":-55.9579468,"cg_iv_a":194.118652,"cg_iw_a":-138.160706,"cg_sample_age_us":23.8527279,"cg_sample_seq":8606667,"cg_sample_valid":1,"cg_theta_rad":5.1967926,"cg_vd_req_v":-1.60042,"cg_vd_v":-1.60042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42157364,"cg_vq_v":-8.42157364,"cg_vu_v":101.175293,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2537.19727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1448.682983,"values":{"Elec_RPM":-2350.38525,"EncoderCos":12141,"EncoderSin":25951,"GapTicks":49542,"Mech_RPM":-470.077026,"cg_du":54.9617271,"cg_dv":45.0382729,"cg_dw":52.3348083,"cg_id_a":-7.48357582,"cg_id_raw_a":-0.00790363085,"cg_iq_a":-199.249512,"cg_iq_raw_a":-200.869446,"cg_iu_a":174.371613,"cg_iv_a":-169.479492,"cg_iw_a":-4.89212036,"cg_sample_age_us":23.994545,"cg_sample_seq":8609166,"cg_sample_valid":1,"cg_theta_rad":3.46286654,"cg_vd_req_v":-1.73469746,"cg_vd_v":-1.73469746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41534901,"cg_vq_v":-8.41534901,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1742001,"dclink_p_w":-2477.97534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.296814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1448.958719,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1448.95873,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1448.958733,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1449.05553,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1449.055536,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1449.055541,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1449.140015,"values":{"Elec_RPM":-2351.58496,"EncoderCos":19059,"EncoderSin":49562,"GapTicks":49343,"Mech_RPM":-470.317017,"cg_du":55.1418839,"cg_dv":44.8581161,"cg_dw":50.0751266,"cg_id_a":-18.7288628,"cg_id_raw_a":-21.0374775,"cg_iq_a":-197.714661,"cg_iq_raw_a":-197.003021,"cg_iu_a":190.17392,"cg_iv_a":-143.238953,"cg_iw_a":-46.934967,"cg_sample_age_us":23.9909096,"cg_sample_seq":8611617,"cg_sample_valid":1,"cg_theta_rad":2.25631499,"cg_vd_req_v":-1.54085624,"cg_vd_v":-1.54085624,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42726707,"cg_vq_v":-8.42726707,"cg_vu_v":124.929489,"cg_vv_v":116.131638,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2471.7002,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1449.491577,"values":{"Elec_RPM":-2348.80615,"EncoderCos":12369,"EncoderSin":40269,"GapTicks":50044,"Mech_RPM":-469.76123,"cg_du":45.7393723,"cg_dv":54.5046158,"cg_dw":45.4953842,"cg_id_a":14.2113209,"cg_id_raw_a":15.8435936,"cg_iq_a":-207.088943,"cg_iq_raw_a":-206.57193,"cg_iu_a":-174.837708,"cg_iv_a":169.182877,"cg_iw_a":5.65483093,"cg_sample_age_us":23.8890915,"cg_sample_seq":8613321,"cg_sample_valid":1,"cg_theta_rad":2.83501744,"cg_vd_req_v":-2.15029955,"cg_vd_v":-2.15029955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27625656,"cg_vq_v":-8.27625656,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2367.3396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1449.827515,"values":{"Elec_RPM":-2354.42822,"EncoderCos":11803,"EncoderSin":27110,"GapTicks":49850,"Mech_RPM":-470.88562,"cg_du":53.9022636,"cg_dv":45.3187332,"cg_dw":54.6812668,"cg_id_a":15.8059387,"cg_id_raw_a":15.3184214,"cg_iq_a":-199.481506,"cg_iq_raw_a":-199.334808,"cg_iu_a":162.15744,"cg_iv_a":-184.194489,"cg_iw_a":22.0370483,"cg_sample_age_us":24.1000004,"cg_sample_seq":8615017,"cg_sample_valid":1,"cg_theta_rad":3.41083431,"cg_vd_req_v":-2.20661783,"cg_vd_v":-2.20661783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39679337,"cg_vq_v":-8.39679337,"cg_vu_v":143.844864,"cg_vv_v":131.087982,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2738705,"dclink_p_w":-2499.95483,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1450.0474,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1450.047407,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1450.047412,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1450.159546,"values":{"Elec_RPM":-2353.44214,"EncoderCos":18370,"EncoderSin":16345,"GapTicks":49588,"Mech_RPM":-470.688416,"cg_du":47.5793228,"cg_dv":54.9190941,"cg_dw":45.0809059,"cg_id_a":8.1125946,"cg_id_raw_a":7.12780714,"cg_iq_a":-203.358902,"cg_iq_raw_a":-202.769501,"cg_iu_a":-136.455505,"cg_iv_a":200.207611,"cg_iw_a":-63.7521133,"cg_sample_age_us":23.9363632,"cg_sample_seq":8616716,"cg_sample_valid":1,"cg_theta_rad":4.00271606,"cg_vd_req_v":-2.07788754,"cg_vd_v":-2.07788754,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28935432,"cg_vq_v":-8.28935432,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2451.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1450.511108,"values":{"Elec_RPM":-2357.7793,"EncoderCos":29527,"EncoderSin":11367,"GapTicks":49300,"Mech_RPM":-471.555847,"cg_du":50.4132805,"cg_dv":44.8184052,"cg_dw":55.1815948,"cg_id_a":-8.53706932,"cg_id_raw_a":-10.2453804,"cg_iq_a":-197.559525,"cg_iq_raw_a":-198.24437,"cg_iu_a":75.317215,"cg_iv_a":-196.517395,"cg_iw_a":121.20018,"cg_sample_age_us":23.772728,"cg_sample_seq":8618416,"cg_sample_valid":1,"cg_theta_rad":4.57598925,"cg_vd_req_v":-1.78006959,"cg_vd_v":-1.78006959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45666599,"cg_vq_v":-8.45666599,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2470.58105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2200928,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1450.84314,"values":{"Elec_RPM":-2354.15283,"EncoderCos":41682,"EncoderSin":12984,"GapTicks":49433,"Mech_RPM":-470.830566,"cg_du":51.7147713,"cg_dv":55.0605316,"cg_dw":44.9394684,"cg_id_a":-15.3641014,"cg_id_raw_a":-9.51708031,"cg_iq_a":-196.296234,"cg_iq_raw_a":-198.457901,"cg_iu_a":-21.3450851,"cg_iv_a":178.932495,"cg_iw_a":-157.587402,"cg_sample_age_us":23.9509087,"cg_sample_seq":8620116,"cg_sample_valid":1,"cg_theta_rad":5.16337252,"cg_vd_req_v":-1.63020992,"cg_vd_v":-1.63020992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46154594,"cg_vq_v":-8.46154594,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.672554,"dclink_p_w":-2557.6543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1451.071187,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1451.071192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1451.071198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1451.175171,"values":{"Elec_RPM":-2351.51758,"EncoderCos":50809,"EncoderSin":21128,"GapTicks":50084,"Mech_RPM":-470.303528,"cg_du":45.5309448,"cg_dv":45.725193,"cg_dw":54.4690552,"cg_id_a":13.8373766,"cg_id_raw_a":14.5820074,"cg_iq_a":-206.444901,"cg_iq_raw_a":-204.61409,"cg_iu_a":-13.3714409,"cg_iv_a":-171.907822,"cg_iw_a":185.279266,"cg_sample_age_us":23.8963642,"cg_sample_seq":8621817,"cg_sample_valid":1,"cg_theta_rad":5.72908545,"cg_vd_req_v":-2.25495315,"cg_vd_v":-2.25495315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2282114,"cg_vq_v":-8.2282114,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1451.53064,"values":{"Elec_RPM":-2348.93018,"EncoderCos":54164,"EncoderSin":32828,"GapTicks":49526,"Mech_RPM":-469.786011,"cg_du":54.9755516,"cg_dv":52.1561966,"cg_dw":45.0244484,"cg_id_a":2.81640816,"cg_id_raw_a":0.102573961,"cg_iq_a":-203.604919,"cg_iq_raw_a":-203.262512,"cg_iu_a":75.4984436,"cg_iv_a":124.313004,"cg_iw_a":-199.811447,"cg_sample_age_us":23.5,"cg_sample_seq":8623517,"cg_sample_valid":1,"cg_theta_rad":0.0131499646,"cg_vd_req_v":-2.03361154,"cg_vd_v":-2.03361154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29956627,"cg_vq_v":-8.29956627,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-17.5076447,"dclink_p_w":-2541.48926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1451.858765,"values":{"Elec_RPM":-2346.8584,"EncoderCos":50476,"EncoderSin":44949,"GapTicks":49316,"Mech_RPM":-469.371674,"cg_du":44.8332787,"cg_dv":49.1309052,"cg_dw":55.1667213,"cg_id_a":-6.65788698,"cg_id_raw_a":-11.418005,"cg_iq_a":-196.467239,"cg_iq_raw_a":-197.94548,"cg_iu_a":-110.178726,"cg_iv_a":-86.2999115,"cg_iw_a":196.478638,"cg_sample_age_us":23.5145454,"cg_sample_seq":8625216,"cg_sample_valid":1,"cg_theta_rad":0.609754741,"cg_vd_req_v":-1.84285438,"cg_vd_v":-1.84285438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47691727,"cg_vq_v":-8.47691727,"cg_vu_v":100.295509,"cg_vv_v":110.413033,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2490.51343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1452.031269,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1452.031275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1452.03128,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1452.194702,"values":{"Elec_RPM":-2352.54175,"EncoderCos":29568,"EncoderSin":54148,"GapTicks":49725,"Mech_RPM":-470.508362,"cg_du":45.2050667,"cg_dv":54.7949333,"cg_dw":53.3525391,"cg_id_a":11.8882723,"cg_id_raw_a":10.7248259,"cg_iq_a":-199.425873,"cg_iq_raw_a":-199.267319,"cg_iu_a":-190.386322,"cg_iv_a":37.87146,"cg_iw_a":152.514862,"cg_sample_age_us":23.8600006,"cg_sample_seq":8626866,"cg_sample_valid":1,"cg_theta_rad":1.72205496,"cg_vd_req_v":-2.11690664,"cg_vd_v":-2.11690664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37791824,"cg_vq_v":-8.37791824,"cg_vu_v":124.489601,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2374.32837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1452.546265,"values":{"Elec_RPM":-2348.05542,"EncoderCos":12149,"EncoderSin":39655,"GapTicks":49711,"Mech_RPM":-469.611084,"cg_du":45.1920242,"cg_dv":54.8079758,"cg_dw":46.7722168,"cg_id_a":4.15281677,"cg_id_raw_a":9.12281895,"cg_iq_a":-202.983627,"cg_iq_raw_a":-204.800827,"cg_iu_a":-173.641663,"cg_iv_a":174.836914,"cg_iw_a":-1.19525146,"cg_sample_age_us":23.9072723,"cg_sample_seq":8628517,"cg_sample_valid":1,"cg_theta_rad":2.8212328,"cg_vd_req_v":-1.93477106,"cg_vd_v":-1.93477106,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37032509,"cg_vq_v":-8.37032509,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1452.878296,"values":{"Elec_RPM":-2350.43286,"EncoderCos":11908,"EncoderSin":38802,"GapTicks":49361,"Mech_RPM":-470.086578,"cg_du":44.8741837,"cg_dv":55.1258163,"cg_dw":48.8424492,"cg_id_a":-10.1487923,"cg_id_raw_a":-7.70334339,"cg_iq_a":-196.657303,"cg_iq_raw_a":-198.112671,"cg_iu_a":-183.789948,"cg_iv_a":152.764435,"cg_iw_a":31.0255127,"cg_sample_age_us":23.8418179,"cg_sample_seq":8630267,"cg_sample_valid":1,"cg_theta_rad":2.8648963,"cg_vd_req_v":-1.64449179,"cg_vd_v":-1.64449179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48046303,"cg_vq_v":-8.48046303,"cg_vu_v":5.27871037,"cg_vv_v":23.7541981,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.0092926,"dclink_p_w":-2461.66406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1453.055462,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1453.055468,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1453.055473,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1453.210327,"values":{"Elec_RPM":-2349.81055,"EncoderCos":18130,"EncoderSin":16539,"GapTicks":49511,"Mech_RPM":-469.962097,"cg_du":48.0590248,"cg_dv":54.9897614,"cg_dw":45.0102386,"cg_id_a":0.926083922,"cg_id_raw_a":-4.6274929,"cg_iq_a":-202.37207,"cg_iq_raw_a":-201.661972,"cg_iu_a":-106.880539,"cg_iv_a":202.16478,"cg_iw_a":-95.2842407,"cg_sample_age_us":23.8709087,"cg_sample_seq":8631916,"cg_sample_valid":1,"cg_theta_rad":3.97857523,"cg_vd_req_v":-1.9521693,"cg_vd_v":-1.9521693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32032871,"cg_vq_v":-8.32032871,"cg_vu_v":20.6749516,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2441.46924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2861023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1453.56189,"values":{"Elec_RPM":-2354.71875,"EncoderCos":12194,"EncoderSin":25794,"GapTicks":49487,"Mech_RPM":-470.943726,"cg_du":55.0110893,"cg_dv":44.9889107,"cg_dw":51.9419479,"cg_id_a":-10.5134459,"cg_id_raw_a":-6.20592117,"cg_iq_a":-197.749786,"cg_iq_raw_a":-198.830276,"cg_iu_a":175.24147,"cg_iv_a":-164.296631,"cg_iw_a":-10.9448471,"cg_sample_age_us":24.1072731,"cg_sample_seq":8633717,"cg_sample_valid":1,"cg_theta_rad":3.47509336,"cg_vd_req_v":-1.67410278,"cg_vd_v":-1.67410278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41637802,"cg_vq_v":-8.41637802,"cg_vu_v":106.453995,"cg_vv_v":83.5795898,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2409.2085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1453.893921,"values":{"Elec_RPM":-2349.21362,"EncoderCos":19172,"EncoderSin":15631,"GapTicks":50104,"Mech_RPM":-469.842743,"cg_du":45.5861282,"cg_dv":54.4508018,"cg_dw":45.5491982,"cg_id_a":10.7351665,"cg_id_raw_a":11.1221857,"cg_iq_a":-206.431488,"cg_iq_raw_a":-207.062347,"cg_iu_a":-167.733917,"cg_iv_a":185.528839,"cg_iw_a":-17.7949295,"cg_sample_age_us":24.0163631,"cg_sample_seq":8635417,"cg_sample_valid":1,"cg_theta_rad":4.04999113,"cg_vd_req_v":-2.11512995,"cg_vd_v":-2.11512995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27880859,"cg_vq_v":-8.27880859,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2417.07813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1454.047319,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1454.047325,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1454.04733,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1454.24939,"values":{"Elec_RPM":-2350.21045,"EncoderCos":30993,"EncoderSin":11185,"GapTicks":49614,"Mech_RPM":-470.042114,"cg_du":52.9686203,"cg_dv":45.104332,"cg_dw":54.895668,"cg_id_a":15.339262,"cg_id_raw_a":14.6921129,"cg_iq_a":-198.824524,"cg_iq_raw_a":-197.359879,"cg_iu_a":151.393021,"cg_iv_a":-191.044586,"cg_iw_a":39.6515579,"cg_sample_age_us":23.7181816,"cg_sample_seq":8637116,"cg_sample_valid":1,"cg_theta_rad":4.64716005,"cg_vd_req_v":-2.24253607,"cg_vd_v":-2.24253607,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.400383,"cg_vq_v":-8.400383,"cg_vu_v":40.9100075,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1454.581421,"values":{"Elec_RPM":-2348.82349,"EncoderCos":42943,"EncoderSin":13633,"GapTicks":49422,"Mech_RPM":-469.764709,"cg_du":49.2985268,"cg_dv":55.07024,"cg_dw":44.92976,"cg_id_a":-16.5704479,"cg_id_raw_a":-17.2217999,"cg_iq_a":-200.306885,"cg_iq_raw_a":-200.193924,"cg_iu_a":-72.0139618,"cg_iv_a":198.866592,"cg_iw_a":-126.852631,"cg_sample_age_us":23.9509087,"cg_sample_seq":8638817,"cg_sample_valid":1,"cg_theta_rad":5.20983744,"cg_vd_req_v":-1.64453995,"cg_vd_v":-1.64453995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33944321,"cg_vq_v":-8.33944321,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.266449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1454.913452,"values":{"Elec_RPM":-2352.61426,"EncoderCos":51523,"EncoderSin":22299,"GapTicks":49403,"Mech_RPM":-470.522858,"cg_du":48.6086655,"cg_dv":44.912262,"cg_dw":55.087738,"cg_id_a":-14.3183737,"cg_id_raw_a":-11.4568567,"cg_iq_a":-199.80162,"cg_iq_raw_a":-202.047867,"cg_iu_a":24.3583908,"cg_iv_a":-181.621185,"cg_iw_a":157.262787,"cg_sample_age_us":23.8381824,"cg_sample_seq":8640517,"cg_sample_valid":1,"cg_theta_rad":5.79154873,"cg_vd_req_v":-1.69605184,"cg_vd_v":-1.69605184,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41218853,"cg_vq_v":-8.41218853,"cg_vu_v":120.530563,"cg_vv_v":123.169922,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.3967705,"dclink_p_w":-2365.8042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1455.039196,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1455.039202,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1455.039208,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1455.265015,"values":{"Elec_RPM":-2354.271,"EncoderCos":54116,"EncoderSin":34233,"GapTicks":49972,"Mech_RPM":-470.854187,"cg_du":54.1513062,"cg_dv":54.5705566,"cg_dw":45.4294434,"cg_id_a":7.74501419,"cg_id_raw_a":12.2700834,"cg_iq_a":-201.763855,"cg_iq_raw_a":-200.35614,"cg_iu_a":11.2743654,"cg_iv_a":167.189468,"cg_iw_a":-178.463837,"cg_sample_age_us":23.51091,"cg_sample_seq":8642217,"cg_sample_valid":1,"cg_theta_rad":0.0838393122,"cg_vd_req_v":-2.10132456,"cg_vd_v":-2.10132456,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3645916,"cg_vq_v":-8.3645916,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1455.597046,"values":{"Elec_RPM":-2345.82666,"EncoderCos":49760,"EncoderSin":45915,"GapTicks":49606,"Mech_RPM":-469.165344,"cg_du":45.0966225,"cg_dv":47.1905365,"cg_dw":54.9033775,"cg_id_a":16.5670547,"cg_id_raw_a":15.4535608,"cg_iq_a":-201.559631,"cg_iq_raw_a":-200.836121,"cg_iu_a":-43.4900665,"cg_iv_a":-149.182953,"cg_iw_a":192.673019,"cg_sample_age_us":23.5254555,"cg_sample_seq":8643917,"cg_sample_valid":1,"cg_theta_rad":0.665089846,"cg_vd_req_v":-2.29062223,"cg_vd_v":-2.29062223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32140732,"cg_vq_v":-8.32140732,"cg_vu_v":96.3364716,"cg_vv_v":73.0221634,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1455.932983,"values":{"Elec_RPM":-2349.48242,"EncoderCos":40073,"EncoderSin":52932,"GapTicks":49311,"Mech_RPM":-469.896484,"cg_du":55.1718178,"cg_dv":50.35429,"cg_dw":44.8281822,"cg_id_a":-6.80143547,"cg_id_raw_a":-7.79410505,"cg_iq_a":-199.015167,"cg_iq_raw_a":-199.900757,"cg_iu_a":113.264511,"cg_iv_a":87.7792358,"cg_iw_a":-201.043747,"cg_sample_age_us":23.8927269,"cg_sample_seq":8645618,"cg_sample_valid":1,"cg_theta_rad":1.23492205,"cg_vd_req_v":-1.79952407,"cg_vd_v":-1.79952407,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40653801,"cg_vq_v":-8.40653801,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2506.91504,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":1456.031799,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1456.031806,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1456.031811,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1456.284546,"values":{"Elec_RPM":-2355.19995,"EncoderCos":11697,"EncoderSin":37999,"GapTicks":49325,"Mech_RPM":-471.039978,"cg_du":44.84095,"cg_dv":55.15905,"cg_dw":50.5148239,"cg_id_a":-8.80426311,"cg_id_raw_a":-9.54959679,"cg_iq_a":-195.471863,"cg_iq_raw_a":-195.58699,"cg_iu_a":-194.735596,"cg_iv_a":113.693573,"cg_iw_a":81.0420227,"cg_sample_age_us":23.8890915,"cg_sample_seq":8647216,"cg_sample_valid":1,"cg_theta_rad":2.90981507,"cg_vd_req_v":-1.68214381,"cg_vd_v":-1.68214381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47036076,"cg_vq_v":-8.47036076,"cg_vu_v":99.4157181,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2365.41113,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1456.616577,"values":{"Elec_RPM":-2354.84033,"EncoderCos":11488,"EncoderSin":37213,"GapTicks":49461,"Mech_RPM":-470.968079,"cg_du":44.9651833,"cg_dv":55.0348167,"cg_dw":51.9632187,"cg_id_a":0.370844424,"cg_id_raw_a":-0.0564636886,"cg_iq_a":-197.495087,"cg_iq_raw_a":-197.944122,"cg_iu_a":-197.417633,"cg_iv_a":81.2915802,"cg_iw_a":116.126053,"cg_sample_age_us":23.8418179,"cg_sample_seq":8648966,"cg_sample_valid":1,"cg_theta_rad":2.94224215,"cg_vd_req_v":-1.8814441,"cg_vd_v":-1.8814441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41672039,"cg_vq_v":-8.41672039,"cg_vu_v":124.929489,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1456.948608,"values":{"Elec_RPM":-2352.77368,"EncoderCos":19117,"EncoderSin":15691,"GapTicks":50058,"Mech_RPM":-470.554749,"cg_du":45.7634201,"cg_dv":54.4919662,"cg_dw":45.5080338,"cg_id_a":11.8761845,"cg_id_raw_a":14.5333967,"cg_iq_a":-206.855789,"cg_iq_raw_a":-206.32428,"cg_iu_a":-163.2397,"cg_iv_a":192.523926,"cg_iw_a":-29.2842178,"cg_sample_age_us":23.8927269,"cg_sample_seq":8650616,"cg_sample_valid":1,"cg_theta_rad":4.03909159,"cg_vd_req_v":-2.13858342,"cg_vd_v":-2.13858342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27557755,"cg_vq_v":-8.27557755,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2398.48804,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1457.055255,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1457.055261,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1457.055267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1457.300171,"values":{"Elec_RPM":-2351.89844,"EncoderCos":12801,"EncoderSin":24248,"GapTicks":49346,"Mech_RPM":-470.3797,"cg_du":55.1397591,"cg_dv":44.8602409,"cg_dw":48.7055244,"cg_id_a":-3.19852877,"cg_id_raw_a":-7.98369741,"cg_iq_a":-197.575211,"cg_iq_raw_a":-197.055588,"cg_iu_a":198.582489,"cg_iv_a":-97.0280685,"cg_iw_a":-101.55442,"cg_sample_age_us":24.0854549,"cg_sample_seq":8652416,"cg_sample_valid":1,"cg_theta_rad":3.55317783,"cg_vd_req_v":-1.8618747,"cg_vd_v":-1.8618747,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45050716,"cg_vq_v":-8.45050716,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2402.67163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1457.632202,"values":{"Elec_RPM":-2350.30347,"EncoderCos":42644,"EncoderSin":13493,"GapTicks":49385,"Mech_RPM":-470.060699,"cg_du":49.4949722,"cg_dv":55.1041031,"cg_dw":44.8958969,"cg_id_a":-17.603941,"cg_id_raw_a":-19.7818489,"cg_iq_a":-199.468567,"cg_iq_raw_a":-198.266312,"cg_iu_a":-53.7833138,"cg_iv_a":193.937424,"cg_iw_a":-140.154114,"cg_sample_age_us":23.863636,"cg_sample_seq":8654016,"cg_sample_valid":1,"cg_theta_rad":5.19481897,"cg_vd_req_v":-1.62331295,"cg_vd_v":-1.62331295,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36147308,"cg_vq_v":-8.36147308,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2393.78149,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.296814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1457.983765,"values":{"Elec_RPM":-2352.12988,"EncoderCos":42540,"EncoderSin":13426,"GapTicks":49353,"Mech_RPM":-470.425964,"cg_du":49.7030487,"cg_dv":55.1334381,"cg_dw":44.8665619,"cg_id_a":-19.3264294,"cg_id_raw_a":-20.4460506,"cg_iq_a":-198.439987,"cg_iq_raw_a":-196.889969,"cg_iu_a":-114.201782,"cg_iv_a":201.149948,"cg_iw_a":-86.9481659,"cg_sample_age_us":23.8490906,"cg_sample_seq":8655770,"cg_sample_valid":1,"cg_theta_rad":5.23781824,"cg_vd_req_v":-1.58970189,"cg_vd_v":-1.58970189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40840816,"cg_vq_v":-8.40840816,"cg_vu_v":37.830761,"cg_vv_v":48.8280716,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1458.047081,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1458.047086,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1458.047091,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1458.432983,"values":{"Elec_RPM":-2347.94092,"EncoderCos":34027,"EncoderSin":54288,"GapTicks":49774,"Mech_RPM":-469.588165,"cg_du":46.6778374,"cg_dv":54.7505913,"cg_dw":45.2494087,"cg_id_a":15.430665,"cg_id_raw_a":14.3976545,"cg_iq_a":-205.547729,"cg_iq_raw_a":-204.155228,"cg_iu_a":-158.999161,"cg_iv_a":194.662308,"cg_iw_a":-35.663147,"cg_sample_age_us":23.8927269,"cg_sample_seq":8657867,"cg_sample_valid":1,"cg_theta_rad":1.51617146,"cg_vd_req_v":-2.20765543,"cg_vd_v":-2.20765543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27202034,"cg_vq_v":-8.27202034,"cg_vu_v":129.328415,"cg_vv_v":135.047012,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1458.911553,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1458.911564,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1458.911567,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1458.952515,"values":{"Elec_RPM":-2347.48291,"EncoderCos":17051,"EncoderSin":17570,"GapTicks":49379,"Mech_RPM":-469.496582,"cg_du":51.2275009,"cg_dv":55.109993,"cg_dw":44.890007,"cg_id_a":-13.5986938,"cg_id_raw_a":-10.7085094,"cg_iq_a":-197.333649,"cg_iq_raw_a":-197.318069,"cg_iu_a":-28.0501938,"cg_iv_a":183.209259,"cg_iw_a":-155.159058,"cg_sample_age_us":23.863636,"cg_sample_seq":8660566,"cg_sample_valid":1,"cg_theta_rad":3.90967488,"cg_vd_req_v":-1.61703134,"cg_vd_v":-1.61703134,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42648411,"cg_vq_v":-8.42648411,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8356514,"dclink_p_w":-2573.4126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1459.039246,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1459.039252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1459.039258,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1459.31189,"values":{"Elec_RPM":-2340.68994,"EncoderCos":11873,"EncoderSin":26971,"GapTicks":49982,"Mech_RPM":-468.138,"cg_du":54.1351471,"cg_dv":45.4382133,"cg_dw":54.5617867,"cg_id_a":15.0866413,"cg_id_raw_a":15.881197,"cg_iq_a":-202.391968,"cg_iq_raw_a":-202.269424,"cg_iu_a":161.831253,"cg_iv_a":-187.130249,"cg_iw_a":25.2989883,"cg_sample_age_us":24.045454,"cg_sample_seq":8662366,"cg_sample_valid":1,"cg_theta_rad":3.40896606,"cg_vd_req_v":-2.20478153,"cg_vd_v":-2.20478153,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31700325,"cg_vq_v":-8.31700325,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1459.643921,"values":{"Elec_RPM":-2345.83398,"EncoderCos":11929,"EncoderSin":26592,"GapTicks":49926,"Mech_RPM":-469.166809,"cg_du":54.6123352,"cg_dv":45.3876648,"cg_dw":54.0326233,"cg_id_a":12.01408,"cg_id_raw_a":14.0223341,"cg_iq_a":-202.017609,"cg_iq_raw_a":-201.643326,"cg_iu_a":172.052002,"cg_iv_a":-175.061035,"cg_iw_a":3.00904083,"cg_sample_age_us":24.1654549,"cg_sample_seq":8664118,"cg_sample_valid":1,"cg_theta_rad":3.44415021,"cg_vd_req_v":-2.12480831,"cg_vd_v":-2.12480831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34157372,"cg_vq_v":-8.34157372,"cg_vu_v":124.929489,"cg_vv_v":116.131638,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2518.76514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1459.975952,"values":{"Elec_RPM":-2350.1709,"EncoderCos":29324,"EncoderSin":11371,"GapTicks":49318,"Mech_RPM":-470.03418,"cg_du":50.1197205,"cg_dv":44.8352356,"cg_dw":55.1647644,"cg_id_a":-13.3616495,"cg_id_raw_a":-17.0858898,"cg_iq_a":-195.820343,"cg_iq_raw_a":-195.715225,"cg_iu_a":57.4852524,"cg_iv_a":-190.573425,"cg_iw_a":133.088165,"cg_sample_age_us":23.7690907,"cg_sample_seq":8665767,"cg_sample_valid":1,"cg_theta_rad":4.56643438,"cg_vd_req_v":-1.6594789,"cg_vd_v":-1.6594789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4707756,"cg_vq_v":-8.4707756,"cg_vu_v":119.210884,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1460.062812,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1460.062818,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1460.062823,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1460.327515,"values":{"Elec_RPM":-2353.0459,"EncoderCos":30401,"EncoderSin":11202,"GapTicks":49437,"Mech_RPM":-470.609161,"cg_du":51.9417686,"cg_dv":44.943428,"cg_dw":55.056572,"cg_id_a":6.67372131,"cg_id_raw_a":4.5939436,"cg_iq_a":-197.264969,"cg_iq_raw_a":-197.047745,"cg_iu_a":121.999283,"cg_iv_a":-195.35759,"cg_iw_a":73.3583069,"cg_sample_age_us":23.7145462,"cg_sample_seq":8667516,"cg_sample_valid":1,"cg_theta_rad":4.61778641,"cg_vd_req_v":-2.0799005,"cg_vd_v":-2.0799005,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42889881,"cg_vq_v":-8.42889881,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2426.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1460.663452,"values":{"Elec_RPM":-2353.40991,"EncoderCos":50870,"EncoderSin":21227,"GapTicks":50106,"Mech_RPM":-470.681976,"cg_du":45.6563301,"cg_dv":45.551281,"cg_dw":54.448719,"cg_id_a":12.1703978,"cg_id_raw_a":15.1797285,"cg_iq_a":-208.987366,"cg_iq_raw_a":-209.542618,"cg_iu_a":-12.9727583,"cg_iv_a":-174.988541,"cg_iw_a":187.961304,"cg_sample_age_us":23.9145451,"cg_sample_seq":8669166,"cg_sample_valid":1,"cg_theta_rad":5.73174953,"cg_vd_req_v":-2.22882843,"cg_vd_v":-2.22882843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21123886,"cg_vq_v":-8.21123886,"cg_vu_v":39.1504402,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2430.64917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.266449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1461.015015,"values":{"Elec_RPM":-2355.27197,"EncoderCos":43094,"EncoderSin":13737,"GapTicks":49409,"Mech_RPM":-471.054413,"cg_du":48.663929,"cg_dv":55.082325,"cg_dw":44.917675,"cg_id_a":-7.76169395,"cg_id_raw_a":-13.6791754,"cg_iq_a":-200.757462,"cg_iq_raw_a":-200.125763,"cg_iu_a":-95.5724487,"cg_iv_a":201.149948,"cg_iw_a":-105.577499,"cg_sample_age_us":23.954546,"cg_sample_seq":8670966,"cg_sample_valid":1,"cg_theta_rad":5.2257452,"cg_vd_req_v":-1.83920562,"cg_vd_v":-1.83920562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36460304,"cg_vq_v":-8.36460304,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2456.01172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1461.054851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1461.054857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1461.054862,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1461.347046,"values":{"Elec_RPM":-2345.54419,"EncoderCos":50467,"EncoderSin":44904,"GapTicks":49331,"Mech_RPM":-469.108856,"cg_du":44.8465805,"cg_dv":49.2632484,"cg_dw":55.1534195,"cg_id_a":-3.73722339,"cg_id_raw_a":-8.53652573,"cg_iq_a":-196.518845,"cg_iq_raw_a":-197.296234,"cg_iu_a":-109.961258,"cg_iv_a":-87.3509674,"cg_iw_a":197.312225,"cg_sample_age_us":23.51091,"cg_sample_seq":8672566,"cg_sample_valid":1,"cg_theta_rad":0.6052562,"cg_vd_req_v":-1.89584875,"cg_vd_v":-1.89584875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43082333,"cg_vq_v":-8.43082333,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2555.29395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1461.679077,"values":{"Elec_RPM":-2343.55273,"EncoderCos":54040,"EncoderSin":34788,"GapTicks":49649,"Mech_RPM":-468.710541,"cg_du":52.8505402,"cg_dv":54.8640938,"cg_dw":45.1359062,"cg_id_a":-3.39838505,"cg_id_raw_a":2.1628139,"cg_iq_a":-198.577637,"cg_iq_raw_a":-199.883804,"cg_iu_a":0.654922485,"cg_iv_a":170.813858,"cg_iw_a":-171.468781,"cg_sample_age_us":23.5254555,"cg_sample_seq":8674366,"cg_sample_valid":1,"cg_theta_rad":0.107904568,"cg_vd_req_v":-1.87145221,"cg_vd_v":-1.87145221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40140438,"cg_vq_v":-8.40140438,"cg_vu_v":36.5110817,"cg_vv_v":39.590332,"cg_vw_v":39.1504402,"control_outputs_enabled":1,"dclink_i_a":-17.4079742,"dclink_p_w":-2527.02075,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1462.03064,"values":{"Elec_RPM":-2347.86328,"EncoderCos":29979,"EncoderSin":54215,"GapTicks":49534,"Mech_RPM":-469.572662,"cg_du":45.0313225,"cg_dv":54.9686775,"cg_dw":52.6392365,"cg_id_a":7.05948067,"cg_id_raw_a":4.62607574,"cg_iq_a":-199.806259,"cg_iq_raw_a":-199.470688,"cg_iu_a":-182.88385,"cg_iv_a":19.5320892,"cg_iw_a":163.351761,"cg_sample_age_us":23.8600006,"cg_sample_seq":8675971,"cg_sample_valid":1,"cg_theta_rad":1.74124813,"cg_vd_req_v":-2.03772902,"cg_vd_v":-2.03772902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41543198,"cg_vq_v":-8.41543198,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1462.047265,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1462.047271,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1462.047276,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1462.366577,"values":{"Elec_RPM":-2348.42822,"EncoderCos":39452,"EncoderSin":53182,"GapTicks":49414,"Mech_RPM":-469.685638,"cg_du":55.0775032,"cg_dv":51.4916229,"cg_dw":44.9224968,"cg_id_a":4.41889906,"cg_id_raw_a":2.0994482,"cg_iq_a":-202.296051,"cg_iq_raw_a":-203.044846,"cg_iu_a":87.3864136,"cg_iv_a":115.723221,"cg_iw_a":-203.109634,"cg_sample_age_us":23.9363632,"cg_sample_seq":8677766,"cg_sample_valid":1,"cg_theta_rad":1.25623548,"cg_vd_req_v":-2.02507234,"cg_vd_v":-2.02507234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36474323,"cg_vq_v":-8.36474323,"cg_vu_v":2.19946289,"cg_vv_v":4.39892578,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2439.15674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1462.694702,"values":{"Elec_RPM":-2351.06714,"EncoderCos":11701,"EncoderSin":38054,"GapTicks":49339,"Mech_RPM":-470.21344,"cg_du":44.8538361,"cg_dv":55.1461639,"cg_dw":50.3934097,"cg_id_a":-9.34324551,"cg_id_raw_a":-14.4739771,"cg_iq_a":-196.95697,"cg_iq_raw_a":-195.712875,"cg_iu_a":-194.409393,"cg_iv_a":126.922569,"cg_iw_a":67.486824,"cg_sample_age_us":23.9654541,"cg_sample_seq":8679367,"cg_sample_valid":1,"cg_theta_rad":2.89882159,"cg_vd_req_v":-1.68516278,"cg_vd_v":-1.68516278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44176102,"cg_vq_v":-8.44176102,"cg_vu_v":101.175293,"cg_vv_v":104.254532,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-16.3405933,"dclink_p_w":-2357.69849,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1463.039027,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1463.039033,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1463.039038,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1463.050171,"values":{"Elec_RPM":-2347.41919,"EncoderCos":16627,"EncoderSin":47180,"GapTicks":49604,"Mech_RPM":-469.483856,"cg_du":54.9049377,"cg_dv":47.3897934,"cg_dw":45.0950623,"cg_id_a":-4.18510389,"cg_id_raw_a":3.17480302,"cg_iq_a":-199.439697,"cg_iq_raw_a":-202.593918,"cg_iu_a":173.066833,"cg_iv_a":-2.93907166,"cg_iw_a":-170.127762,"cg_sample_age_us":23.8454552,"cg_sample_seq":8681166,"cg_sample_valid":1,"cg_theta_rad":2.4123702,"cg_vd_req_v":-1.80112469,"cg_vd_v":-1.80112469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38368893,"cg_vq_v":-8.38368893,"cg_vu_v":45.3089333,"cg_vv_v":44.4291458,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.108633,"dclink_p_w":-2324.23022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2950439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1463.382202,"values":{"Elec_RPM":-2347.03467,"EncoderCos":19221,"EncoderSin":15589,"GapTicks":50065,"Mech_RPM":-469.406952,"cg_du":45.5143394,"cg_dv":54.4856606,"cg_dw":45.6279297,"cg_id_a":11.9997244,"cg_id_raw_a":10.6959314,"cg_iq_a":-202.941986,"cg_iq_raw_a":-204.62944,"cg_iu_a":-167.98764,"cg_iv_a":181.94072,"cg_iw_a":-13.9530792,"cg_sample_age_us":24.0236359,"cg_sample_seq":8682767,"cg_sample_valid":1,"cg_theta_rad":4.0530839,"cg_vd_req_v":-2.13190842,"cg_vd_v":-2.13190842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33314896,"cg_vq_v":-8.33314896,"cg_vu_v":142.085297,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2406.3252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2592,"hz_tim_isr":5002,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1463.714233,"values":{"Elec_RPM":-2356.63208,"EncoderCos":30704,"EncoderSin":11185,"GapTicks":49514,"Mech_RPM":-471.326416,"cg_du":52.4631538,"cg_dv":45.0135345,"cg_dw":54.9864655,"cg_id_a":11.108304,"cg_id_raw_a":8.08822536,"cg_iq_a":-199.459198,"cg_iq_raw_a":-198.175095,"cg_iu_a":137.257935,"cg_iv_a":-195.9375,"cg_iw_a":58.6795654,"cg_sample_age_us":23.7181816,"cg_sample_seq":8684467,"cg_sample_valid":1,"cg_theta_rad":4.63352585,"cg_vd_req_v":-2.15910387,"cg_vd_v":-2.15910387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36483097,"cg_vq_v":-8.36483097,"cg_vu_v":25.5137672,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2592,"hz_tim_isr":5002,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1464.03086,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1464.030865,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1464.03087,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1464.065796,"values":{"Elec_RPM":-2354.10864,"EncoderCos":31700,"EncoderSin":11119,"GapTicks":50027,"Mech_RPM":-470.821747,"cg_du":54.2685127,"cg_dv":45.4792442,"cg_dw":54.5207558,"cg_id_a":16.5923691,"cg_id_raw_a":19.0653362,"cg_iq_a":-203.303482,"cg_iq_raw_a":-202.794449,"cg_iu_a":170.167328,"cg_iv_a":-186.332886,"cg_iw_a":21.2396851,"cg_sample_age_us":24.0200005,"cg_sample_seq":8686216,"cg_sample_valid":1,"cg_theta_rad":4.67532063,"cg_vd_req_v":-2.24266434,"cg_vd_v":-2.24266434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.307024,"cg_vq_v":-8.307024,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":10.1175289,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2592,"hz_tim_isr":5002,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1464.397827,"values":{"Elec_RPM":-2349.77881,"EncoderCos":51527,"EncoderSin":22343,"GapTicks":49409,"Mech_RPM":-469.95575,"cg_du":48.7030907,"cg_dv":44.9180832,"cg_dw":55.0819168,"cg_id_a":-14.0041904,"cg_id_raw_a":-12.6809654,"cg_iq_a":-198.117218,"cg_iq_raw_a":-199.916031,"cg_iu_a":25.1195107,"cg_iv_a":-181.222504,"cg_iw_a":156.102997,"cg_sample_age_us":23.8781815,"cg_sample_seq":8687867,"cg_sample_valid":1,"cg_theta_rad":5.79289389,"cg_vd_req_v":-1.69442594,"cg_vd_v":-1.69442594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44199181,"cg_vq_v":-8.44199181,"cg_vu_v":104.694435,"cg_vv_v":83.1396942,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1464.753296,"values":{"Elec_RPM":-2359.35742,"EncoderCos":52039,"EncoderSin":23315,"GapTicks":49321,"Mech_RPM":-471.87149,"cg_du":50.7431602,"cg_dv":44.8381424,"cg_dw":55.1618576,"cg_id_a":-3.37745643,"cg_id_raw_a":-6.48759699,"cg_iq_a":-195.580521,"cg_iq_raw_a":-195.070892,"cg_iu_a":88.3287506,"cg_iv_a":-193.255447,"cg_iw_a":119.641693,"cg_sample_age_us":23.7690907,"cg_sample_seq":8689616,"cg_sample_valid":1,"cg_theta_rad":5.8418951,"cg_vd_req_v":-1.91897023,"cg_vd_v":-1.91897023,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4675045,"cg_vq_v":-8.4675045,"cg_vu_v":39.1504402,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.1013832,"dclink_p_w":-2330.26709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1465.055262,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1465.055268,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1465.055273,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1465.081421,"values":{"Elec_RPM":-2358.89014,"EncoderCos":49835,"EncoderSin":45786,"GapTicks":49518,"Mech_RPM":-471.778015,"cg_du":45.0171547,"cg_dv":47.4670753,"cg_dw":54.9828453,"cg_id_a":15.8808393,"cg_id_raw_a":12.6617432,"cg_iq_a":-202.444199,"cg_iq_raw_a":-201.083099,"cg_iu_a":-49.4702988,"cg_iv_a":-145.703522,"cg_iw_a":199.378113,"cg_sample_age_us":23.5036373,"cg_sample_seq":8691267,"cg_sample_valid":1,"cg_theta_rad":0.655512869,"cg_vd_req_v":-2.29197264,"cg_vd_v":-2.29197264,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34273624,"cg_vq_v":-8.34273624,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-15.9944649,"dclink_p_w":-2314.79346,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1465.417358,"values":{"Elec_RPM":-2356.1062,"EncoderCos":53880,"EncoderSin":35840,"GapTicks":49325,"Mech_RPM":-471.221252,"cg_du":50.4596214,"cg_dv":55.1584167,"cg_dw":44.8415833,"cg_id_a":-17.4084663,"cg_id_raw_a":-15.1266937,"cg_iq_a":-197.34729,"cg_iq_raw_a":-196.483032,"cg_iu_a":-40.0469017,"cg_iv_a":190.458038,"cg_iw_a":-150.411133,"cg_sample_age_us":23.3945446,"cg_sample_seq":8693067,"cg_sample_valid":1,"cg_theta_rad":0.157351092,"cg_vd_req_v":-1.6280396,"cg_vd_v":-1.6280396,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45017815,"cg_vq_v":-8.45017815,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.674366,"dclink_p_w":-2557.9165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1465.768921,"values":{"Elec_RPM":-2354.15186,"EncoderCos":27584,"EncoderSin":53814,"GapTicks":49431,"Mech_RPM":-470.830353,"cg_du":44.9376869,"cg_dv":51.2398567,"cg_dw":55.0623131,"cg_id_a":-12.3144627,"cg_id_raw_a":-10.5279303,"cg_iq_a":-198.866013,"cg_iq_raw_a":-196.692749,"cg_iu_a":-158.238037,"cg_iv_a":-24.1054993,"cg_iw_a":182.343536,"cg_sample_age_us":23.8563633,"cg_sample_seq":8694667,"cg_sample_valid":1,"cg_theta_rad":1.8136512,"cg_vd_req_v":-1.60663676,"cg_vd_v":-1.60663676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39155579,"cg_vq_v":-8.39155579,"cg_vu_v":127.12896,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1466.047167,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1466.047173,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1466.047178,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1466.100952,"values":{"Elec_RPM":-2353.26196,"EncoderCos":26589,"EncoderSin":53545,"GapTicks":49402,"Mech_RPM":-470.652374,"cg_du":44.9116554,"cg_dv":49.1637039,"cg_dw":55.0883446,"cg_id_a":-13.6840334,"cg_id_raw_a":-16.1481133,"cg_iq_a":-199.028397,"cg_iq_raw_a":-199.630157,"cg_iu_a":-121.812988,"cg_iv_a":-76.8040161,"cg_iw_a":198.617004,"cg_sample_age_us":23.8927269,"cg_sample_seq":8696416,"cg_sample_valid":1,"cg_theta_rad":1.86102343,"cg_vd_req_v":-1.6296407,"cg_vd_v":-1.6296407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38461113,"cg_vq_v":-8.38461113,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2433.07642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1466.432983,"values":{"Elec_RPM":-2357.2854,"EncoderCos":11397,"EncoderSin":36702,"GapTicks":49585,"Mech_RPM":-471.457062,"cg_du":45.0774841,"cg_dv":54.9225159,"cg_dw":52.8745651,"cg_id_a":7.43278122,"cg_id_raw_a":3.2733686,"cg_iq_a":-198.620804,"cg_iq_raw_a":-196.575424,"cg_iu_a":-192.923401,"cg_iv_a":57.9868164,"cg_iw_a":134.936584,"cg_sample_age_us":23.8345451,"cg_sample_seq":8698067,"cg_sample_valid":1,"cg_theta_rad":2.96255422,"cg_vd_req_v":-2.0289948,"cg_vd_v":-2.0289948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44071007,"cg_vq_v":-8.44071007,"cg_vu_v":97.2162552,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2468567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1466.784546,"values":{"Elec_RPM":-2357.81055,"EncoderCos":15871,"EncoderSin":46370,"GapTicks":49324,"Mech_RPM":-471.562134,"cg_du":55.159832,"cg_dv":49.7011604,"cg_dw":44.840168,"cg_id_a":-8.77272987,"cg_id_raw_a":-12.7008114,"cg_iq_a":-197.703979,"cg_iq_raw_a":-194.178772,"cg_iu_a":136.025635,"cg_iv_a":55.6309509,"cg_iw_a":-191.656586,"cg_sample_age_us":23.9109097,"cg_sample_seq":8699867,"cg_sample_valid":1,"cg_theta_rad":2.46442032,"cg_vd_req_v":-1.73743403,"cg_vd_v":-1.73743403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45085049,"cg_vq_v":-8.45085049,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2459.67261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1467.039864,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1467.039871,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1467.039876,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1467.120483,"values":{"Elec_RPM":-2357.98071,"EncoderCos":20220,"EncoderSin":14918,"GapTicks":49445,"Mech_RPM":-471.59613,"cg_du":44.9504013,"cg_dv":55.0495987,"cg_dw":48.4087906,"cg_id_a":-11.314784,"cg_id_raw_a":-9.93754959,"cg_iq_a":-199.329636,"cg_iq_raw_a":-200.649536,"cg_iu_a":-182.521408,"cg_iv_a":157.43988,"cg_iw_a":25.0815277,"cg_sample_age_us":23.9327278,"cg_sample_seq":8701468,"cg_sample_valid":1,"cg_theta_rad":4.11724281,"cg_vd_req_v":-1.65749562,"cg_vd_v":-1.65749562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38883495,"cg_vq_v":-8.38883495,"cg_vu_v":130.208206,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2500.46191,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1467.452515,"values":{"Elec_RPM":-2360.23315,"EncoderCos":32322,"EncoderSin":11106,"GapTicks":49729,"Mech_RPM":-472.046631,"cg_du":54.7917252,"cg_dv":45.2082748,"cg_dw":53.2455444,"cg_id_a":4.07948542,"cg_id_raw_a":10.1981716,"cg_iq_a":-201.889572,"cg_iq_raw_a":-202.764893,"cg_iu_a":174.081665,"cg_iv_a":-172.523972,"cg_iw_a":-1.55769348,"cg_sample_age_us":24.0309086,"cg_sample_seq":8703166,"cg_sample_valid":1,"cg_theta_rad":4.70823956,"cg_vd_req_v":-1.9834398,"cg_vd_v":-1.9834398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36622334,"cg_vq_v":-8.36622334,"cg_vu_v":142.965088,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1467.804077,"values":{"Elec_RPM":-2358.03369,"EncoderCos":44124,"EncoderSin":14359,"GapTicks":49793,"Mech_RPM":-471.60672,"cg_du":46.6405411,"cg_dv":54.7334747,"cg_dw":45.2665253,"cg_id_a":9.32013416,"cg_id_raw_a":9.82481384,"cg_iq_a":-204.452484,"cg_iq_raw_a":-203.908997,"cg_iu_a":-145.335236,"cg_iv_a":197.416824,"cg_iw_a":-52.0815887,"cg_sample_age_us":23.9327278,"cg_sample_seq":8704866,"cg_sample_valid":1,"cg_theta_rad":5.27440882,"cg_vd_req_v":-2.17562723,"cg_vd_v":-2.17562723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29398537,"cg_vq_v":-8.29398537,"cg_vu_v":8.35795879,"cg_vv_v":21.5547352,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.4493237,"dclink_p_w":-2387.85864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1468.062699,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1468.062705,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1468.06271,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1468.151733,"values":{"Elec_RPM":-2358.87891,"EncoderCos":52280,"EncoderSin":23769,"GapTicks":49408,"Mech_RPM":-471.775787,"cg_du":51.5589638,"cg_dv":44.9170189,"cg_dw":55.0829811,"cg_id_a":6.78850937,"cg_id_raw_a":7.24735641,"cg_iq_a":-200.051743,"cg_iq_raw_a":-200.178543,"cg_iu_a":119.027283,"cg_iv_a":-199.996796,"cg_iw_a":80.9695206,"cg_sample_age_us":23.6563644,"cg_sample_seq":8706566,"cg_sample_valid":1,"cg_theta_rad":5.86851883,"cg_vd_req_v":-2.12765312,"cg_vd_v":-2.12765312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35999966,"cg_vq_v":-8.35999966,"cg_vu_v":45.7488289,"cg_vv_v":43.549366,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2861023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1468.675171,"values":{"Elec_RPM":-2357.01709,"EncoderCos":15418,"EncoderSin":45754,"GapTicks":49400,"Mech_RPM":-471.403412,"cg_du":55.0900497,"cg_dv":51.0327339,"cg_dw":44.9099503,"cg_id_a":1.16322362,"cg_id_raw_a":-1.31914711,"cg_iq_a":-202.755188,"cg_iq_raw_a":-198.676224,"cg_iu_a":98.2233276,"cg_iv_a":104.777588,"cg_iw_a":-203.000916,"cg_sample_age_us":23.9290905,"cg_sample_seq":8709217,"cg_sample_valid":1,"cg_theta_rad":2.50612688,"cg_vd_req_v":-1.94174254,"cg_vd_v":-1.94174254,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31457329,"cg_vq_v":-8.31457329,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.8863926,"dclink_p_w":-2580.73389,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1468.927064,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1468.927076,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1468.927079,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1469.055179,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1469.055184,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1469.05519,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1469.132202,"values":{"Elec_RPM":-2353.13916,"EncoderCos":11648,"EncoderSin":37826,"GapTicks":49335,"Mech_RPM":-470.627808,"cg_du":44.8508987,"cg_dv":55.1491013,"cg_dw":50.8171806,"cg_id_a":-6.74007177,"cg_id_raw_a":-11.164216,"cg_iq_a":-197.49942,"cg_iq_raw_a":-196.222305,"cg_iu_a":-197.200165,"cg_iv_a":116.194397,"cg_iw_a":81.0057678,"cg_sample_age_us":23.8418179,"cg_sample_seq":8711517,"cg_sample_valid":1,"cg_theta_rad":2.91134095,"cg_vd_req_v":-1.74876535,"cg_vd_v":-1.74876535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46208954,"cg_vq_v":-8.46208954,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2411.30811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1469.460327,"values":{"Elec_RPM":-2357.96191,"EncoderCos":12407,"EncoderSin":25319,"GapTicks":49355,"Mech_RPM":-471.592377,"cg_du":55.1316071,"cg_dv":44.8683929,"cg_dw":50.72229,"cg_id_a":-17.9831982,"cg_id_raw_a":-14.3787327,"cg_iq_a":-194.600189,"cg_iq_raw_a":-195.434494,"cg_iu_a":182.816437,"cg_iv_a":-151.176361,"cg_iw_a":-31.6400757,"cg_sample_age_us":24.0745449,"cg_sample_seq":8713216,"cg_sample_valid":1,"cg_theta_rad":3.49816155,"cg_vd_req_v":-1.52353823,"cg_vd_v":-1.52353823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49449348,"cg_vq_v":-8.49449348,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2447.23901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1469.815796,"values":{"Elec_RPM":-2359.58032,"EncoderCos":11243,"EncoderSin":35848,"GapTicks":50062,"Mech_RPM":-471.916077,"cg_du":45.5114708,"cg_dv":54.4885292,"cg_dw":54.4323997,"cg_id_a":11.3865833,"cg_id_raw_a":14.1792011,"cg_iq_a":-199.098511,"cg_iq_raw_a":-200.164322,"cg_iu_a":-182.303955,"cg_iv_a":18.4085388,"cg_iw_a":163.895416,"cg_sample_age_us":23.9509087,"cg_sample_seq":8715016,"cg_sample_valid":1,"cg_theta_rad":3.00032091,"cg_vd_req_v":-2.08587885,"cg_vd_v":-2.08587885,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40569973,"cg_vq_v":-8.40569973,"cg_vu_v":38.7105446,"cg_vv_v":51.0275345,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2410.74561,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1470.046801,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1470.046807,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1470.046813,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1470.147827,"values":{"Elec_RPM":-2357.51855,"EncoderCos":30939,"EncoderSin":11173,"GapTicks":49549,"Mech_RPM":-471.503693,"cg_du":52.8451385,"cg_dv":45.0446243,"cg_dw":54.9553757,"cg_id_a":16.1935234,"cg_id_raw_a":11.4123878,"cg_iq_a":-200.761078,"cg_iq_raw_a":-199.823151,"cg_iu_a":148.783478,"cg_iv_a":-194.16156,"cg_iw_a":45.3780746,"cg_sample_age_us":23.6890907,"cg_sample_seq":8716617,"cg_sample_valid":1,"cg_theta_rad":4.64277697,"cg_vd_req_v":-2.27131557,"cg_vd_v":-2.27131557,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36844063,"cg_vq_v":-8.36844063,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2466.38452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1470.49939,"values":{"Elec_RPM":-2357.85352,"EncoderCos":31082,"EncoderSin":11195,"GapTicks":49655,"Mech_RPM":-471.570679,"cg_du":53.1437454,"cg_dv":45.1417503,"cg_dw":54.8582497,"cg_id_a":14.6233616,"cg_id_raw_a":14.5983162,"cg_iq_a":-201.233627,"cg_iq_raw_a":-199.935089,"cg_iu_a":172.341949,"cg_iv_a":-178.902893,"cg_iw_a":6.56093597,"cg_sample_age_us":23.59091,"cg_sample_seq":8718370,"cg_sample_valid":1,"cg_theta_rad":4.69191408,"cg_vd_req_v":-2.23115277,"cg_vd_v":-2.23115277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37478447,"cg_vq_v":-8.37478447,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2424.68799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1470.831421,"values":{"Elec_RPM":-2359.10986,"EncoderCos":54150,"EncoderSin":33617,"GapTicks":49869,"Mech_RPM":-471.821991,"cg_du":54.6643295,"cg_dv":53.5717506,"cg_dw":45.3356705,"cg_id_a":7.48521137,"cg_id_raw_a":6.45272446,"cg_iq_a":-205.504974,"cg_iq_raw_a":-203.74704,"cg_iu_a":38.2397766,"cg_iv_a":155.011551,"cg_iw_a":-193.251328,"cg_sample_age_us":23.5145454,"cg_sample_seq":8719967,"cg_sample_valid":1,"cg_theta_rad":0.0512962155,"cg_vd_req_v":-2.11920571,"cg_vd_v":-2.11920571,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2548542,"cg_vq_v":-8.2548542,"cg_vu_v":106.014107,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.6363106,"dclink_p_w":-2544.65088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1471.070958,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1471.070964,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1471.070969,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1471.163452,"values":{"Elec_RPM":-2358.98926,"EncoderCos":52126,"EncoderSin":23506,"GapTicks":49333,"Mech_RPM":-471.797852,"cg_du":51.0483856,"cg_dv":44.8482399,"cg_dw":55.1517601,"cg_id_a":1.67913651,"cg_id_raw_a":-1.67264569,"cg_iq_a":-198.025131,"cg_iq_raw_a":-197.077225,"cg_iu_a":103.732384,"cg_iv_a":-199.308167,"cg_iw_a":95.5757828,"cg_sample_age_us":23.7654552,"cg_sample_seq":8721766,"cg_sample_valid":1,"cg_theta_rad":5.85340357,"cg_vd_req_v":-2.03237176,"cg_vd_v":-2.03237176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39979172,"cg_vq_v":-8.39979172,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2488.17285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1471.518921,"values":{"Elec_RPM":-2352.2666,"EncoderCos":49962,"EncoderSin":45718,"GapTicks":49465,"Mech_RPM":-470.453339,"cg_du":44.9682617,"cg_dv":47.6772194,"cg_dw":55.0317383,"cg_id_a":14.3192959,"cg_id_raw_a":10.9940567,"cg_iq_a":-200.038055,"cg_iq_raw_a":-198.473694,"cg_iu_a":-26.9991226,"cg_iv_a":-164.767792,"cg_iw_a":191.766922,"cg_sample_age_us":23.5072727,"cg_sample_seq":8723419,"cg_sample_valid":1,"cg_theta_rad":0.684250295,"cg_vd_req_v":-2.26363087,"cg_vd_v":-2.26363087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40267944,"cg_vq_v":-8.40267944,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1471.850952,"values":{"Elec_RPM":-2352.70825,"EncoderCos":48980,"EncoderSin":47016,"GapTicks":49796,"Mech_RPM":-470.541656,"cg_du":46.6916924,"cg_dv":45.2693329,"cg_dw":54.7306671,"cg_id_a":3.27206588,"cg_id_raw_a":6.78285074,"cg_iq_a":-204.073441,"cg_iq_raw_a":-207.861954,"cg_iu_a":-6.63008785,"cg_iv_a":-172.270279,"cg_iw_a":178.90036,"cg_sample_age_us":23.4672718,"cg_sample_seq":8725166,"cg_sample_valid":1,"cg_theta_rad":0.717422903,"cg_vd_req_v":-1.98381484,"cg_vd_v":-1.98381484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31829262,"cg_vq_v":-8.31829262,"cg_vu_v":12.3169918,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1472.031463,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1472.031469,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1472.031474,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1472.182983,"values":{"Elec_RPM":-2354.80078,"EncoderCos":27441,"EncoderSin":53776,"GapTicks":49440,"Mech_RPM":-470.960175,"cg_du":44.9459915,"cg_dv":50.9548683,"cg_dw":55.0540085,"cg_id_a":-12.9156189,"cg_id_raw_a":-12.3868885,"cg_iq_a":-201.805206,"cg_iq_raw_a":-200.837753,"cg_iu_a":-155.882202,"cg_iv_a":-32.0791168,"cg_iw_a":187.961319,"cg_sample_age_us":23.863636,"cg_sample_seq":8726817,"cg_sample_valid":1,"cg_theta_rad":1.81956756,"cg_vd_req_v":-1.61654615,"cg_vd_v":-1.61654615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34082794,"cg_vq_v":-8.34082794,"cg_vu_v":128.888519,"cg_vv_v":124.929489,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1472.534546,"values":{"Elec_RPM":-2353.79443,"EncoderCos":11702,"EncoderSin":37942,"GapTicks":49297,"Mech_RPM":-470.758911,"cg_du":44.8160133,"cg_dv":55.1839867,"cg_dw":50.5036888,"cg_id_a":-5.37247372,"cg_id_raw_a":-6.45608521,"cg_iq_a":-195.669418,"cg_iq_raw_a":-195.406372,"cg_iu_a":-195.279236,"cg_iv_a":83.5386963,"cg_iw_a":111.74054,"cg_sample_age_us":26.7909088,"cg_sample_seq":8728470,"cg_sample_valid":1,"cg_theta_rad":2.9374125,"cg_vd_req_v":-1.77299571,"cg_vd_v":-1.77299571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49369335,"cg_vq_v":-8.49369335,"cg_vu_v":100.735397,"cg_vv_v":103.814644,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1472.866577,"values":{"Elec_RPM":-2349.96313,"EncoderCos":11336,"EncoderSin":36104,"GapTicks":49735,"Mech_RPM":-469.992645,"cg_du":45.2141647,"cg_dv":54.7858353,"cg_dw":53.4599724,"cg_id_a":11.5150394,"cg_id_raw_a":11.345026,"cg_iq_a":-199.535767,"cg_iq_raw_a":-199.158859,"cg_iu_a":-186.689453,"cg_iv_a":27.3245239,"cg_iw_a":159.364929,"cg_sample_age_us":23.9181824,"cg_sample_seq":8730217,"cg_sample_valid":1,"cg_theta_rad":2.98992491,"cg_vd_req_v":-2.09998941,"cg_vd_v":-2.09998941,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40825844,"cg_vq_v":-8.40825844,"cg_vu_v":38.2706528,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1473.054542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1473.054548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1473.054554,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1473.202515,"values":{"Elec_RPM":-2350.29663,"EncoderCos":20017,"EncoderSin":15052,"GapTicks":49499,"Mech_RPM":-470.059326,"cg_du":44.9995956,"cg_dv":55.0004044,"cg_dw":47.8588333,"cg_id_a":-8.67312717,"cg_id_raw_a":-2.57939792,"cg_iq_a":-199.667099,"cg_iq_raw_a":-200.743439,"cg_iu_a":-179.476929,"cg_iv_a":165.630997,"cg_iw_a":13.845932,"cg_sample_age_us":23.8381824,"cg_sample_seq":8731866,"cg_sample_valid":1,"cg_theta_rad":4.09997082,"cg_vd_req_v":-1.71747386,"cg_vd_v":-1.71747386,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40815639,"cg_vq_v":-8.40815639,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2950439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1473.554077,"values":{"Elec_RPM":-2349.81787,"EncoderCos":20720,"EncoderSin":14603,"GapTicks":49311,"Mech_RPM":-469.963593,"cg_du":44.8288689,"cg_dv":55.1711311,"cg_dw":49.6708031,"cg_id_a":-14.9791908,"cg_id_raw_a":-14.3513393,"cg_iq_a":-197.109314,"cg_iq_raw_a":-197.106873,"cg_iu_a":-191.727356,"cg_iv_a":141.782562,"cg_iw_a":49.9447937,"cg_sample_age_us":23.9327278,"cg_sample_seq":8733616,"cg_sample_valid":1,"cg_theta_rad":4.13956928,"cg_vd_req_v":-1.6171931,"cg_vd_v":-1.6171931,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4681778,"cg_vq_v":-8.4681778,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2463.33301,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1473.886108,"values":{"Elec_RPM":-2349.35352,"EncoderCos":32392,"EncoderSin":11119,"GapTicks":49677,"Mech_RPM":-469.870728,"cg_du":54.8385468,"cg_dv":45.1614532,"cg_dw":53.0446243,"cg_id_a":1.42463768,"cg_id_raw_a":5.50843763,"cg_iq_a":-200.241974,"cg_iq_raw_a":-202.170486,"cg_iu_a":171.508362,"cg_iv_a":-172.958908,"cg_iw_a":1.45054626,"cg_sample_age_us":24.1218185,"cg_sample_seq":8735317,"cg_sample_valid":1,"cg_theta_rad":4.70852518,"cg_vd_req_v":-1.92007387,"cg_vd_v":-1.92007387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38593006,"cg_vq_v":-8.38593006,"cg_vu_v":134.167236,"cg_vv_v":120.090675,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1474.047659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1474.047665,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1474.04767,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1474.21814,"values":{"Elec_RPM":-2349.07568,"EncoderCos":44158,"EncoderSin":14420,"GapTicks":49842,"Mech_RPM":-469.815125,"cg_du":46.5099945,"cg_dv":54.6884613,"cg_dw":45.3115387,"cg_id_a":7.94863224,"cg_id_raw_a":7.91682482,"cg_iq_a":-204.624039,"cg_iq_raw_a":-203.1828,"cg_iu_a":-156.317123,"cg_iv_a":193.973663,"cg_iw_a":-48.3484726,"cg_sample_age_us":23.954546,"cg_sample_seq":8737017,"cg_sample_valid":1,"cg_theta_rad":5.28642035,"cg_vd_req_v":-2.14286566,"cg_vd_v":-2.14286566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25437546,"cg_vq_v":-8.25437546,"cg_vu_v":97.6561432,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2523.47168,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1474.569702,"values":{"Elec_RPM":-2351.44971,"EncoderCos":53989,"EncoderSin":35223,"GapTicks":49433,"Mech_RPM":-470.289948,"cg_du":51.8303108,"cg_dv":55.0601768,"cg_dw":44.9398232,"cg_id_a":-12.2709055,"cg_id_raw_a":-8.04074764,"cg_iq_a":-197.410934,"cg_iq_raw_a":-199.757004,"cg_iu_a":-14.2775364,"cg_iv_a":178.098862,"cg_iw_a":-163.82132,"cg_sample_age_us":23.4854546,"cg_sample_seq":8738666,"cg_sample_valid":1,"cg_theta_rad":0.126568064,"cg_vd_req_v":-1.7156868,"cg_vd_v":-1.7156868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46658421,"cg_vq_v":-8.46658421,"cg_vu_v":39.590332,"cg_vv_v":58.5057106,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1474.901733,"values":{"Elec_RPM":-2355.37329,"EncoderCos":53867,"EncoderSin":36124,"GapTicks":49284,"Mech_RPM":-471.074677,"cg_du":49.90588,"cg_dv":55.1959,"cg_dw":44.8041,"cg_id_a":-15.3778524,"cg_id_raw_a":-17.6336021,"cg_iq_a":-194.155197,"cg_iq_raw_a":-193.656418,"cg_iu_a":-53.4933624,"cg_iv_a":190.711716,"cg_iw_a":-137.218353,"cg_sample_age_us":23.4963627,"cg_sample_seq":8740416,"cg_sample_valid":1,"cg_theta_rad":0.167945132,"cg_vd_req_v":-1.67375541,"cg_vd_v":-1.67375541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52069664,"cg_vq_v":-8.52069664,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.7486649,"dclink_p_w":-2568.66943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.296814,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1475.038955,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1475.038961,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1475.038967,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1475.253296,"values":{"Elec_RPM":-2359.91797,"EncoderCos":49207,"EncoderSin":46655,"GapTicks":50084,"Mech_RPM":-471.983582,"cg_du":45.7636261,"cg_dv":45.5314217,"cg_dw":54.4685783,"cg_id_a":11.2192516,"cg_id_raw_a":16.3984909,"cg_iq_a":-205.883774,"cg_iq_raw_a":-208.098801,"cg_iu_a":12.2167053,"cg_iv_a":-179.192841,"cg_iw_a":172.158997,"cg_sample_age_us":23.4163628,"cg_sample_seq":8742120,"cg_sample_valid":1,"cg_theta_rad":0.748645544,"cg_vd_req_v":-2.1456213,"cg_vd_v":-2.1456213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26494503,"cg_vq_v":-8.26494503,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2471.10547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1475.589233,"values":{"Elec_RPM":-2356.04688,"EncoderCos":48114,"EncoderSin":47872,"GapTicks":49367,"Mech_RPM":-471.209381,"cg_du":49.4639091,"cg_dv":44.8793411,"cg_dw":55.1206589,"cg_id_a":-15.5046663,"cg_id_raw_a":-17.295454,"cg_iq_a":-197.903473,"cg_iq_raw_a":-199.147095,"cg_iu_a":39.9069939,"cg_iv_a":-187.311462,"cg_iw_a":147.404465,"cg_sample_age_us":23.6599998,"cg_sample_seq":8743867,"cg_sample_valid":1,"cg_theta_rad":0.779084444,"cg_vd_req_v":-1.62289131,"cg_vd_v":-1.62289131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41792393,"cg_vq_v":-8.41792393,"cg_vu_v":104.694435,"cg_vv_v":82.2599106,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2454.84497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1475.917358,"values":{"Elec_RPM":-2358.90747,"EncoderCos":16401,"EncoderSin":46945,"GapTicks":49426,"Mech_RPM":-471.781494,"cg_du":55.067215,"cg_dv":48.1232147,"cg_dw":44.932785,"cg_id_a":-8.60005856,"cg_id_raw_a":-8.51183605,"cg_iq_a":-195.484482,"cg_iq_raw_a":-193.883469,"cg_iu_a":158.460571,"cg_iv_a":16.4513702,"cg_iw_a":-174.911942,"cg_sample_age_us":23.8672733,"cg_sample_seq":8745467,"cg_sample_valid":1,"cg_theta_rad":2.42789674,"cg_vd_req_v":-1.71405339,"cg_vd_v":-1.71405339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48811626,"cg_vq_v":-8.48811626,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2380.09814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1476.031685,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1476.031691,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1476.031696,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1476.272827,"values":{"Elec_RPM":-2357.89087,"EncoderCos":11336,"EncoderSin":36296,"GapTicks":49771,"Mech_RPM":-471.578186,"cg_du":45.2467995,"cg_dv":54.7532005,"cg_dw":53.5289078,"cg_id_a":12.1829052,"cg_id_raw_a":10.6942863,"cg_iq_a":-198.910858,"cg_iq_raw_a":-197.484833,"cg_iu_a":-179.368195,"cg_iv_a":8.07904053,"cg_iw_a":171.289154,"cg_sample_age_us":26.7981815,"cg_sample_seq":8747169,"cg_sample_valid":1,"cg_theta_rad":3.01548362,"cg_vd_req_v":-2.11054707,"cg_vd_v":-2.11054707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38054085,"cg_vq_v":-8.38054085,"cg_vu_v":0.87978512,"cg_vv_v":6.1584959,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.7087975,"dclink_p_w":-2562.89966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1476.604858,"values":{"Elec_RPM":-2360.13257,"EncoderCos":11147,"EncoderSin":34812,"GapTicks":49556,"Mech_RPM":-472.02652,"cg_du":45.0512161,"cg_dv":52.123455,"cg_dw":54.9487839,"cg_id_a":-8.77260017,"cg_id_raw_a":-2.18296194,"cg_iq_a":-201.021957,"cg_iq_raw_a":-202.931061,"cg_iu_a":-171.901978,"cg_iv_a":-8.12194824,"cg_iw_a":180.023926,"cg_sample_age_us":23.9436359,"cg_sample_seq":8748916,"cg_sample_valid":1,"cg_theta_rad":3.04840517,"cg_vd_req_v":-1.66997051,"cg_vd_v":-1.66997051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35482788,"cg_vq_v":-8.35482788,"cg_vu_v":37.830761,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1476.93689,"values":{"Elec_RPM":-2362.69995,"EncoderCos":21092,"EncoderSin":14425,"GapTicks":49292,"Mech_RPM":-472.540009,"cg_du":44.8118057,"cg_dv":55.1881943,"cg_dw":50.4420624,"cg_id_a":-10.6451416,"cg_id_raw_a":-14.2899456,"cg_iq_a":-195.228317,"cg_iq_raw_a":-195.113144,"cg_iu_a":-191.908569,"cg_iv_a":124.494232,"cg_iw_a":67.4143372,"cg_sample_age_us":23.9363632,"cg_sample_seq":8750567,"cg_sample_valid":1,"cg_theta_rad":4.15668583,"cg_vd_req_v":-1.70094883,"cg_vd_v":-1.70094883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51238441,"cg_vq_v":-8.51238441,"cg_vu_v":126.249161,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2986145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1477.054863,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1477.054868,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1477.054873,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1477.292358,"values":{"Elec_RPM":-2360.59399,"EncoderCos":21854,"EncoderSin":13935,"GapTicks":49434,"Mech_RPM":-472.118805,"cg_du":44.9401627,"cg_dv":55.0598373,"cg_dw":52.0266914,"cg_id_a":2.39784956,"cg_id_raw_a":-3.18254805,"cg_iq_a":-196.894028,"cg_iq_raw_a":-196.400146,"cg_iu_a":-194.590607,"cg_iv_a":78.5370483,"cg_iw_a":116.053558,"cg_sample_age_us":23.9618187,"cg_sample_seq":8752317,"cg_sample_valid":1,"cg_theta_rad":4.19786263,"cg_vd_req_v":-1.97172081,"cg_vd_v":-1.97172081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4518919,"cg_vq_v":-8.4518919,"cg_vu_v":116.131638,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1477.620483,"values":{"Elec_RPM":-2359.95947,"EncoderCos":44752,"EncoderSin":14799,"GapTicks":50066,"Mech_RPM":-471.991913,"cg_du":45.7341232,"cg_dv":54.4848518,"cg_dw":45.5151482,"cg_id_a":7.56806087,"cg_id_raw_a":11.5106697,"cg_iq_a":-206.679688,"cg_iq_raw_a":-207.555939,"cg_iu_a":-173.025528,"cg_iv_a":181.433304,"cg_iw_a":-8.40777588,"cg_sample_age_us":23.9218178,"cg_sample_seq":8753966,"cg_sample_valid":1,"cg_theta_rad":5.31996202,"cg_vd_req_v":-2.19368982,"cg_vd_v":-2.13685417,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23748875,"cg_vq_v":-8.23748875,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2463.33301,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1477.975952,"values":{"Elec_RPM":-2363.60156,"EncoderCos":44706,"EncoderSin":14760,"GapTicks":50036,"Mech_RPM":-472.720306,"cg_du":45.4877243,"cg_dv":54.5122757,"cg_dw":45.7740936,"cg_id_a":7.96459389,"cg_id_raw_a":9.70234203,"cg_iq_a":-205.974731,"cg_iq_raw_a":-206.918427,"cg_iu_a":-181.434097,"cg_iv_a":165.993439,"cg_iw_a":15.4406662,"cg_sample_age_us":26.8454552,"cg_sample_seq":8755720,"cg_sample_valid":1,"cg_theta_rad":5.35934496,"cg_vd_req_v":-2.13814521,"cg_vd_v":-2.13814521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27451515,"cg_vq_v":-8.27451515,"cg_vu_v":38.2706528,"cg_vv_v":57.1860352,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2489.21875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.264679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1478.047424,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1478.047429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1478.047435,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1478.393921,"values":{"Elec_RPM":-2364.77734,"EncoderCos":13096,"EncoderSin":41955,"GapTicks":49339,"Mech_RPM":-472.955444,"cg_du":48.9743195,"cg_dv":55.1460266,"cg_dw":44.8539734,"cg_id_a":-2.65470266,"cg_id_raw_a":-5.23878336,"cg_iq_a":-198.309433,"cg_iq_raw_a":-197.862396,"cg_iu_a":-95.9348907,"cg_iv_a":198.395416,"cg_iw_a":-102.460526,"cg_sample_age_us":24.005455,"cg_sample_seq":8757717,"cg_sample_valid":1,"cg_theta_rad":2.71050596,"cg_vd_req_v":-1.84111309,"cg_vd_v":-1.84111309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43148041,"cg_vq_v":-8.43148041,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2473.46582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1478.932983,"values":{"Elec_RPM":-2353.05444,"EncoderCos":49776,"EncoderSin":19629,"GapTicks":49324,"Mech_RPM":-470.610901,"cg_du":44.8402061,"cg_dv":48.9504242,"cg_dw":55.1597939,"cg_id_a":-0.666097522,"cg_id_raw_a":-1.06676495,"cg_iq_a":-196.345276,"cg_iq_raw_a":-197.399368,"cg_iu_a":-96.4060669,"cg_iv_a":-98.260376,"cg_iw_a":194.666443,"cg_sample_age_us":23.8927269,"cg_sample_seq":8760367,"cg_sample_valid":1,"cg_theta_rad":5.64514256,"cg_vd_req_v":-2.00661349,"cg_vd_v":-2.00661349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44690895,"cg_vq_v":-8.44690895,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.7142334,"dclink_p_w":-2563.68628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1478.943337,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1478.943348,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1478.943351,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1479.070797,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1479.070803,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1479.070808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1479.300171,"values":{"Elec_RPM":-2347.90942,"EncoderCos":15881,"EncoderSin":46342,"GapTicks":49337,"Mech_RPM":-469.581879,"cg_du":55.1475372,"cg_dv":49.7032318,"cg_dw":44.8524628,"cg_id_a":-6.60630941,"cg_id_raw_a":-9.82891846,"cg_iq_a":-196.120422,"cg_iq_raw_a":-195.895142,"cg_iu_a":132.4375,"cg_iv_a":62.1185913,"cg_iw_a":-194.556091,"cg_sample_age_us":23.9618187,"cg_sample_seq":8762416,"cg_sample_valid":1,"cg_theta_rad":2.4648695,"cg_vd_req_v":-1.7697196,"cg_vd_v":-1.7697196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44983006,"cg_vq_v":-8.44983006,"cg_vu_v":13.6366701,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-18.3557491,"dclink_p_w":-2656.52954,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1479.632202,"values":{"Elec_RPM":-2350.83643,"EncoderCos":20228,"EncoderSin":14903,"GapTicks":49407,"Mech_RPM":-470.167267,"cg_du":44.916317,"cg_dv":55.083683,"cg_dw":48.443428,"cg_id_a":-11.6873093,"cg_id_raw_a":-8.74148464,"cg_iq_a":-197.912842,"cg_iq_raw_a":-198.619827,"cg_iu_a":-180.419266,"cg_iv_a":159.505783,"cg_iw_a":20.9134827,"cg_sample_age_us":23.9436359,"cg_sample_seq":8764016,"cg_sample_valid":1,"cg_theta_rad":4.11007738,"cg_vd_req_v":-1.66137969,"cg_vd_v":-1.66137969,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46577358,"cg_vq_v":-8.46577358,"cg_vu_v":0.87978512,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.5399342,"dclink_p_w":-2393.73633,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1479.96814,"values":{"Elec_RPM":-2349.67871,"EncoderCos":21055,"EncoderSin":14409,"GapTicks":49310,"Mech_RPM":-469.93576,"cg_du":44.8274384,"cg_dv":55.1725616,"cg_dw":50.3997231,"cg_id_a":-11.2164507,"cg_id_raw_a":-12.8934679,"cg_iq_a":-194.698303,"cg_iq_raw_a":-194.975143,"cg_iu_a":-192.887146,"cg_iv_a":124.349258,"cg_iw_a":68.5378876,"cg_sample_age_us":23.9654541,"cg_sample_seq":8765766,"cg_sample_valid":1,"cg_theta_rad":4.15305233,"cg_vd_req_v":-1.69829893,"cg_vd_v":-1.69829893,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51117039,"cg_vq_v":-8.51117039,"cg_vu_v":14.0765619,"cg_vv_v":26.8334465,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2421.00513,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1480.063196,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1480.063201,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1480.063206,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1480.319702,"values":{"Elec_RPM":-2353.37378,"EncoderCos":43618,"EncoderSin":14058,"GapTicks":49580,"Mech_RPM":-470.674744,"cg_du":47.6192017,"cg_dv":54.9264221,"cg_dw":45.0735779,"cg_id_a":0.551691413,"cg_id_raw_a":-3.12312412,"cg_iq_a":-202.444611,"cg_iq_raw_a":-201.190125,"cg_iu_a":-130.149078,"cg_iv_a":200.642548,"cg_iw_a":-70.4934616,"cg_sample_age_us":23.9836369,"cg_sample_seq":8767417,"cg_sample_valid":1,"cg_theta_rad":5.2583766,"cg_vd_req_v":-2.00842524,"cg_vd_v":-2.00842524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30785465,"cg_vq_v":-8.30785465,"cg_vu_v":102.055069,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2441.10791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1480.651733,"values":{"Elec_RPM":-2353.94678,"EncoderCos":44477,"EncoderSin":14591,"GapTicks":49990,"Mech_RPM":-470.789337,"cg_du":45.8570709,"cg_dv":54.5544701,"cg_dw":45.4455299,"cg_id_a":10.2596893,"cg_id_raw_a":11.5475302,"cg_iq_a":-205.267853,"cg_iq_raw_a":-205.071365,"cg_iu_a":-166.755341,"cg_iv_a":185.528839,"cg_iw_a":-18.7735062,"cg_sample_age_us":23.9690914,"cg_sample_seq":8769166,"cg_sample_valid":1,"cg_theta_rad":5.30230951,"cg_vd_req_v":-2.20085812,"cg_vd_v":-2.20085812,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28341389,"cg_vq_v":-8.28341389,"cg_vu_v":37.830761,"cg_vv_v":49.707859,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2500.20068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1481.003296,"values":{"Elec_RPM":-2354.52686,"EncoderCos":52089,"EncoderSin":23369,"GapTicks":49273,"Mech_RPM":-470.905396,"cg_du":50.416378,"cg_dv":44.7943192,"cg_dw":55.2056808,"cg_id_a":-5.33308983,"cg_id_raw_a":-5.95647526,"cg_iq_a":-195.789612,"cg_iq_raw_a":-196.083298,"cg_iu_a":142.295822,"cg_iv_a":-193.944092,"cg_iw_a":51.648262,"cg_sample_age_us":23.6563644,"cg_sample_seq":8770871,"cg_sample_valid":1,"cg_theta_rad":5.89051485,"cg_vd_req_v":-1.8981843,"cg_vd_v":-1.8981843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4992857,"cg_vq_v":-8.4992857,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.6417465,"dclink_p_w":-2553.1958,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1481.055626,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1481.055631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1481.055636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1481.335327,"values":{"Elec_RPM":-2358.6355,"EncoderCos":53826,"EncoderSin":36212,"GapTicks":49339,"Mech_RPM":-471.727112,"cg_du":49.7372589,"cg_dv":55.1457939,"cg_dw":44.8542061,"cg_id_a":-14.9483376,"cg_id_raw_a":-16.172842,"cg_iq_a":-196.553818,"cg_iq_raw_a":-195.373657,"cg_iu_a":-75.0222015,"cg_iv_a":197.163116,"cg_iw_a":-132.071732,"cg_sample_age_us":23.4927273,"cg_sample_seq":8772567,"cg_sample_valid":1,"cg_theta_rad":0.181968182,"cg_vd_req_v":-1.67989326,"cg_vd_v":-1.67989326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43745041,"cg_vq_v":-8.43745041,"cg_vu_v":1.31967759,"cg_vv_v":4.83881807,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.5910053,"dclink_p_w":-2545.85229,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1481.667358,"values":{"Elec_RPM":-2360.41577,"EncoderCos":48754,"EncoderSin":47201,"GapTicks":49626,"Mech_RPM":-472.08316,"cg_du":47.4197617,"cg_dv":45.1150742,"cg_dw":54.8849258,"cg_id_a":-6.32274389,"cg_id_raw_a":0.951283813,"cg_iq_a":-203.849884,"cg_iq_raw_a":-206.200943,"cg_iu_a":11.2743654,"cg_iv_a":-179.664017,"cg_iw_a":168.389648,"cg_sample_age_us":23.51091,"cg_sample_seq":8774268,"cg_sample_valid":1,"cg_theta_rad":0.749542236,"cg_vd_req_v":-1.79468298,"cg_vd_v":-1.79468298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31716824,"cg_vq_v":-8.31716824,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2432.21777,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1482.018921,"values":{"Elec_RPM":-2360.27808,"EncoderCos":37807,"EncoderSin":53630,"GapTicks":50010,"Mech_RPM":-472.055603,"cg_du":54.2449493,"cg_dv":54.5355453,"cg_dw":45.4644547,"cg_id_a":10.972126,"cg_id_raw_a":11.5016317,"cg_iq_a":-203.641541,"cg_iq_raw_a":-205.147339,"cg_iu_a":19.3204975,"cg_iv_a":165.77597,"cg_iw_a":-185.096466,"cg_sample_age_us":23.8199997,"cg_sample_seq":8775966,"cg_sample_valid":1,"cg_theta_rad":1.32632482,"cg_vd_req_v":-2.12277389,"cg_vd_v":-2.12277389,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34968948,"cg_vq_v":-8.34968948,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2420.48755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2986145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1482.046566,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1482.046572,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1482.046577,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1482.354858,"values":{"Elec_RPM":-2362.99658,"EncoderCos":25530,"EncoderSin":53183,"GapTicks":49596,"Mech_RPM":-472.599304,"cg_du":45.0881119,"cg_dv":47.335083,"cg_dw":54.9118881,"cg_id_a":7.72705698,"cg_id_raw_a":4.2290988,"cg_iq_a":-200.865509,"cg_iq_raw_a":-200.632935,"cg_iu_a":-71.506546,"cg_iv_a":-126.421829,"cg_iw_a":197.928375,"cg_sample_age_us":23.7836361,"cg_sample_seq":8777666,"cg_sample_valid":1,"cg_theta_rad":1.903458,"cg_vd_req_v":-2.05365562,"cg_vd_v":-2.05365562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35295963,"cg_vq_v":-8.35295963,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.7849102,"dclink_p_w":-2581.73853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1482.68689,"values":{"Elec_RPM":-2366.4895,"EncoderCos":15545,"EncoderSin":45936,"GapTicks":49374,"Mech_RPM":-473.297882,"cg_du":55.1140289,"cg_dv":50.6522751,"cg_dw":44.8859711,"cg_id_a":-1.62596905,"cg_id_raw_a":-3.61002064,"cg_iq_a":-201.211472,"cg_iq_raw_a":-201.263123,"cg_iu_a":99.3106384,"cg_iv_a":103.364075,"cg_iw_a":-202.674713,"cg_sample_age_us":23.7945461,"cg_sample_seq":8779366,"cg_sample_valid":1,"cg_theta_rad":2.50248075,"cg_vd_req_v":-1.87268555,"cg_vd_v":-1.87268555,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3355608,"cg_vq_v":-8.3355608,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1483.038452,"values":{"Elec_RPM":-2364.74365,"EncoderCos":11125,"EncoderSin":34564,"GapTicks":49436,"Mech_RPM":-472.94873,"cg_du":44.9419975,"cg_dv":51.5341949,"cg_dw":55.0580025,"cg_id_a":-13.9745913,"cg_id_raw_a":-10.1943731,"cg_iq_a":-199.804825,"cg_iq_raw_a":-201.489548,"cg_iu_a":-164.544464,"cg_iv_a":-18.1977386,"cg_iw_a":182.742203,"cg_sample_age_us":23.8418179,"cg_sample_seq":8781066,"cg_sample_valid":1,"cg_theta_rad":3.06417418,"cg_vd_req_v":-1.5756377,"cg_vd_v":-1.5756377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40881538,"cg_vq_v":-8.40881538,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118837267,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1483.03914,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1483.039146,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1483.039151,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1483.370483,"values":{"Elec_RPM":-2360.55176,"EncoderCos":32607,"EncoderSin":11095,"GapTicks":49599,"Mech_RPM":-472.110352,"cg_du":54.9091644,"cg_dv":45.0908356,"cg_dw":52.4600487,"cg_id_a":-6.19744825,"cg_id_raw_a":2.96216321,"cg_iq_a":-200.117203,"cg_iq_raw_a":-202.199173,"cg_iu_a":172.486938,"cg_iv_a":-174.118713,"cg_iw_a":1.63176727,"cg_sample_age_us":23.9763641,"cg_sample_seq":8782666,"cg_sample_valid":1,"cg_theta_rad":4.71157122,"cg_vd_req_v":-1.76280224,"cg_vd_v":-1.76280224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35643005,"cg_vq_v":-8.35643005,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.8661289,"dclink_p_w":-2440.94458,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1483.702515,"values":{"Elec_RPM":-2356.22021,"EncoderCos":22267,"EncoderSin":13719,"GapTicks":49608,"Mech_RPM":-471.244049,"cg_du":45.0984726,"cg_dv":54.9015274,"cg_dw":52.8379974,"cg_id_a":7.20372438,"cg_id_raw_a":8.12233925,"cg_iq_a":-198.295685,"cg_iq_raw_a":-199.474228,"cg_iu_a":-194.481873,"cg_iv_a":68.1350708,"cg_iw_a":126.346802,"cg_sample_age_us":23.8381824,"cg_sample_seq":8784466,"cg_sample_valid":1,"cg_theta_rad":4.21115589,"cg_vd_req_v":-2.0699029,"cg_vd_v":-2.0699029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3849659,"cg_vq_v":-8.3849659,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2491.5625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1484.031571,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1484.031577,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1484.031582,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1484.057983,"values":{"Elec_RPM":-2349.68652,"EncoderCos":52352,"EncoderSin":24036,"GapTicks":49415,"Mech_RPM":-469.937286,"cg_du":52.0555534,"cg_dv":44.9231491,"cg_dw":55.0768509,"cg_id_a":11.8086166,"cg_id_raw_a":9.99401665,"cg_iq_a":-198.445251,"cg_iq_raw_a":-197.469894,"cg_iu_a":131.386429,"cg_iv_a":-195.9375,"cg_iw_a":64.5510635,"cg_sample_age_us":23.6890907,"cg_sample_seq":8786066,"cg_sample_valid":1,"cg_theta_rad":5.87799883,"cg_vd_req_v":-2.2249577,"cg_vd_v":-2.2249577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42395401,"cg_vq_v":-8.42395401,"cg_vu_v":41.3499031,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.2971001,"dclink_p_w":-2358.59229,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1484.386108,"values":{"Elec_RPM":-2355.44556,"EncoderCos":45709,"EncoderSin":15513,"GapTicks":49371,"Mech_RPM":-471.089111,"cg_du":44.8833847,"cg_dv":55.1166153,"cg_dw":48.6558876,"cg_id_a":-12.5255556,"cg_id_raw_a":-11.1018515,"cg_iq_a":-196.831009,"cg_iq_raw_a":-197.69548,"cg_iu_a":-178.498352,"cg_iv_a":162.079102,"cg_iw_a":16.4192429,"cg_sample_age_us":23.8309097,"cg_sample_seq":8787866,"cg_sample_valid":1,"cg_theta_rad":5.3651967,"cg_vd_req_v":-1.74245167,"cg_vd_v":-1.74245167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4709959,"cg_vq_v":-8.4709959,"cg_vu_v":94.5769043,"cg_vv_v":102.055069,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.7033615,"dclink_p_w":-2562.11279,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1484.722046,"values":{"Elec_RPM":-2355.07324,"EncoderCos":48650,"EncoderSin":47292,"GapTicks":49546,"Mech_RPM":-471.014648,"cg_du":47.7567329,"cg_dv":45.0425377,"cg_dw":54.9574623,"cg_id_a":-9.82452774,"cg_id_raw_a":-3.29107428,"cg_iq_a":-202.020752,"cg_iq_raw_a":-203.311539,"cg_iu_a":6.67139912,"cg_iv_a":-177.815567,"cg_iw_a":171.144165,"cg_sample_age_us":23.5472736,"cg_sample_seq":8789466,"cg_sample_valid":1,"cg_theta_rad":0.745218933,"cg_vd_req_v":-1.72878754,"cg_vd_v":-1.72878754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35974312,"cg_vq_v":-8.35974312,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2475.3606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1485.055516,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1485.055522,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1485.055528,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1485.073608,"values":{"Elec_RPM":-2350.0542,"EncoderCos":53522,"EncoderSin":37666,"GapTicks":49592,"Mech_RPM":-470.010864,"cg_du":47.300808,"cg_dv":54.9155388,"cg_dw":45.0844612,"cg_id_a":11.7576313,"cg_id_raw_a":11.4232998,"cg_iq_a":-204.370514,"cg_iq_raw_a":-202.778152,"cg_iu_a":-147.111176,"cg_iv_a":198.177948,"cg_iw_a":-51.0667725,"cg_sample_age_us":23.5181828,"cg_sample_seq":8791266,"cg_sample_valid":1,"cg_theta_rad":0.245730087,"cg_vd_req_v":-2.23895717,"cg_vd_v":-2.23895717,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29440308,"cg_vq_v":-8.29440308,"cg_vu_v":31.2323723,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2427.51147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1485.40564,"values":{"Elec_RPM":-2351.79248,"EncoderCos":37195,"EncoderSin":53800,"GapTicks":49605,"Mech_RPM":-470.358521,"cg_du":52.7184982,"cg_dv":54.9041061,"cg_dw":45.0958939,"cg_id_a":-3.54838037,"cg_id_raw_a":2.81848884,"cg_iq_a":-198.326141,"cg_iq_raw_a":-200.464828,"cg_iu_a":-4.67292118,"cg_iv_a":173.423416,"cg_iw_a":-168.750488,"cg_sample_age_us":23.9472733,"cg_sample_seq":8792916,"cg_sample_valid":1,"cg_theta_rad":1.36611485,"cg_vd_req_v":-1.80610681,"cg_vd_v":-1.80610681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43999004,"cg_vq_v":-8.43999004,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2522.77246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1485.757202,"values":{"Elec_RPM":-2353.20215,"EncoderCos":25889,"EncoderSin":53339,"GapTicks":49467,"Mech_RPM":-470.640411,"cg_du":44.9703064,"cg_dv":48.0658112,"cg_dw":55.0296936,"cg_id_a":5.62291288,"cg_id_raw_a":1.77123868,"cg_iq_a":-199.202866,"cg_iq_raw_a":-197.321289,"cg_iu_a":-32.3269653,"cg_iv_a":-160.237335,"cg_iw_a":192.564301,"cg_sample_age_us":23.7763634,"cg_sample_seq":8794620,"cg_sample_valid":1,"cg_theta_rad":1.9374305,"cg_vd_req_v":-2.01695585,"cg_vd_v":-2.01695585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37040329,"cg_vq_v":-8.37040329,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-17.7178593,"dclink_p_w":-2572.00513,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1486.047352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1486.047358,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1486.047363,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1486.089233,"values":{"Elec_RPM":-2351.38086,"EncoderCos":24465,"EncoderSin":52812,"GapTicks":50060,"Mech_RPM":-470.276184,"cg_du":45.8488922,"cg_dv":45.5099602,"cg_dw":54.4900398,"cg_id_a":10.2321959,"cg_id_raw_a":11.8078175,"cg_iq_a":-207.481125,"cg_iq_raw_a":-206.754593,"cg_iu_a":-10.9793482,"cg_iv_a":-172.813919,"cg_iw_a":183.793274,"cg_sample_age_us":23.8709087,"cg_sample_seq":8796367,"cg_sample_valid":1,"cg_theta_rad":1.96344042,"cg_vd_req_v":-2.08459115,"cg_vd_v":-2.08459115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21938896,"cg_vq_v":-8.21938896,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":124.929489,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2390.90552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2598,"hz_tim_isr":5001,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2950439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1486.425171,"values":{"Elec_RPM":-2356.02148,"EncoderCos":11119,"EncoderSin":34038,"GapTicks":49359,"Mech_RPM":-471.204315,"cg_du":44.8721542,"cg_dv":50.4246368,"cg_dw":55.1278458,"cg_id_a":-15.7026253,"cg_id_raw_a":-13.6254826,"cg_iq_a":-197.583008,"cg_iq_raw_a":-200.408951,"cg_iu_a":-147.872314,"cg_iv_a":-39.7265778,"cg_iw_a":187.598892,"cg_sample_age_us":23.8345451,"cg_sample_seq":8798016,"cg_sample_valid":1,"cg_theta_rad":3.08766532,"cg_vd_req_v":-1.55199146,"cg_vd_v":-1.55199146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46408176,"cg_vq_v":-8.46408176,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2419.68994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1486.776733,"values":{"Elec_RPM":-2345.87915,"EncoderCos":11036,"EncoderSin":33092,"GapTicks":49386,"Mech_RPM":-469.175842,"cg_du":44.8967209,"cg_dv":48.6581345,"cg_dw":55.1032791,"cg_id_a":-7.41441011,"cg_id_raw_a":-12.8981829,"cg_iq_a":-196.571213,"cg_iq_raw_a":-196.861557,"cg_iu_a":-103.981026,"cg_iv_a":-93.4399338,"cg_iw_a":197.420959,"cg_sample_age_us":24.0127277,"cg_sample_seq":8799766,"cg_sample_valid":1,"cg_theta_rad":3.12991571,"cg_vd_req_v":-1.73639226,"cg_vd_v":-1.73639226,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44941425,"cg_vq_v":-8.44941425,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2479.14282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2753906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1487.070572,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1487.070577,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1487.070583,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1487.108765,"values":{"Elec_RPM":-2345.53442,"EncoderCos":33967,"EncoderSin":11161,"GapTicks":49331,"Mech_RPM":-469.106903,"cg_du":55.1530724,"cg_dv":44.8469276,"cg_dw":49.5632172,"cg_id_a":-14.0356331,"cg_id_raw_a":-17.5144291,"cg_iq_a":-197.603806,"cg_iq_raw_a":-196.389252,"cg_iu_a":195.356796,"cg_iv_a":-129.430054,"cg_iw_a":-52.0091171,"cg_sample_age_us":23.9654541,"cg_sample_seq":8801366,"cg_sample_valid":1,"cg_theta_rad":4.78080463,"cg_vd_req_v":-1.66072869,"cg_vd_v":-1.66072869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43362617,"cg_vq_v":-8.43362617,"cg_vu_v":6.1584959,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2351.77319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1487.440796,"values":{"Elec_RPM":-2348.87158,"EncoderCos":34575,"EncoderSin":11180,"GapTicks":49395,"Mech_RPM":-469.774292,"cg_du":55.0953178,"cg_dv":44.9046822,"cg_dw":48.5609322,"cg_id_a":-2.08130574,"cg_id_raw_a":-9.11478615,"cg_iq_a":-198.7052,"cg_iq_raw_a":-197.408005,"cg_iu_a":198.981171,"cg_iv_a":-94.1285629,"cg_iw_a":-104.852608,"cg_sample_age_us":24.0599995,"cg_sample_seq":8803117,"cg_sample_valid":1,"cg_theta_rad":4.81089115,"cg_vd_req_v":-1.90702856,"cg_vd_v":-1.90702856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4140234,"cg_vq_v":-8.4140234,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.4025364,"dclink_p_w":-2518.57617,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1487.792358,"values":{"Elec_RPM":-2348.53662,"EncoderCos":52881,"EncoderSin":25333,"GapTicks":50017,"Mech_RPM":-469.707306,"cg_du":54.5293808,"cg_dv":45.4706192,"cg_dw":54.2227325,"cg_id_a":12.7760477,"cg_id_raw_a":18.0835781,"cg_iq_a":-202.560669,"cg_iq_raw_a":-202.697189,"cg_iu_a":171.580841,"cg_iv_a":-179.446548,"cg_iw_a":7.8657074,"cg_sample_age_us":24.1909084,"cg_sample_seq":8804766,"cg_sample_valid":1,"cg_theta_rad":5.94366217,"cg_vd_req_v":-2.20136881,"cg_vd_v":-2.20136881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30940437,"cg_vq_v":-8.30940437,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-17.9697533,"dclink_p_w":-2592.76147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1488.031428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1488.031434,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1488.03144,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1488.143921,"values":{"Elec_RPM":-2351.11328,"EncoderCos":46826,"EncoderSin":16479,"GapTicks":49395,"Mech_RPM":-470.222656,"cg_du":44.9049797,"cg_dv":55.0950203,"cg_dw":51.4927139,"cg_id_a":-3.01684809,"cg_id_raw_a":-3.84706616,"cg_iq_a":-195.779343,"cg_iq_raw_a":-196.220825,"cg_iu_a":-196.656509,"cg_iv_a":92.092247,"cg_iw_a":104.564262,"cg_sample_age_us":23.8890915,"cg_sample_seq":8806566,"cg_sample_valid":1,"cg_theta_rad":5.44229221,"cg_vd_req_v":-1.95233238,"cg_vd_v":-1.95233238,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43877316,"cg_vq_v":-8.43877316,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1488.663452,"values":{"Elec_RPM":-2348.43164,"EncoderCos":11054,"EncoderSin":32488,"GapTicks":49479,"Mech_RPM":-469.68634,"cg_du":44.9811745,"cg_dv":47.7135582,"cg_dw":55.0188255,"cg_id_a":5.38669968,"cg_id_raw_a":1.5034517,"cg_iq_a":-199.723999,"cg_iq_raw_a":-199.607803,"cg_iu_a":-81.5823364,"cg_iv_a":-116.237305,"cg_iw_a":197.819641,"cg_sample_age_us":23.8563633,"cg_sample_seq":8809116,"cg_sample_valid":1,"cg_theta_rad":3.14922762,"cg_vd_req_v":-2.01895285,"cg_vd_v":-2.01895285,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40702057,"cg_vq_v":-8.40702057,"cg_vu_v":127.12896,"cg_vv_v":109.093361,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1488.895286,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1488.895297,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1488.8953,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1489.055122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1489.055129,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1489.055135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1489.120483,"values":{"Elec_RPM":-2355.94067,"EncoderCos":15593,"EncoderSin":45955,"GapTicks":49345,"Mech_RPM":-471.188141,"cg_du":55.1401825,"cg_dv":50.5714226,"cg_dw":44.8598175,"cg_id_a":-1.98718095,"cg_id_raw_a":-5.50849867,"cg_iq_a":-199.76825,"cg_iq_raw_a":-196.039001,"cg_iu_a":113.626953,"cg_iv_a":86.8731384,"cg_iw_a":-200.500092,"cg_sample_age_us":23.8854542,"cg_sample_seq":8811517,"cg_sample_valid":1,"cg_theta_rad":2.49204469,"cg_vd_req_v":-1.88222218,"cg_vd_v":-1.88222218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39930534,"cg_vq_v":-8.39930534,"cg_vu_v":43.9892578,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2416.81592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1489.452515,"values":{"Elec_RPM":-2358.11401,"EncoderCos":13231,"EncoderSin":23162,"GapTicks":49709,"Mech_RPM":-471.622803,"cg_du":54.8095436,"cg_dv":45.1904564,"cg_dw":46.81073,"cg_id_a":17.9195652,"cg_id_raw_a":15.6674671,"cg_iq_a":-202.891953,"cg_iq_raw_a":-200.213699,"cg_iu_a":190.500122,"cg_iv_a":-34.6161957,"cg_iw_a":-155.883926,"cg_sample_age_us":23.9799995,"cg_sample_seq":8813167,"cg_sample_valid":1,"cg_theta_rad":3.60764766,"cg_vd_req_v":-2.25876141,"cg_vd_v":-2.25876141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30460548,"cg_vq_v":-8.30460548,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4148922,"dclink_p_w":-2375.63965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1489.804077,"values":{"Elec_RPM":-2353.14111,"EncoderCos":21551,"EncoderSin":14101,"GapTicks":49382,"Mech_RPM":-470.628235,"cg_du":44.893013,"cg_dv":55.106987,"cg_dw":51.4109535,"cg_id_a":-2.76767635,"cg_id_raw_a":-6.97927713,"cg_iq_a":-198.077103,"cg_iq_raw_a":-197.807236,"cg_iu_a":-197.163925,"cg_iv_a":99.15979,"cg_iw_a":98.0041351,"cg_sample_age_us":23.8927269,"cg_sample_seq":8814867,"cg_sample_valid":1,"cg_theta_rad":4.18176794,"cg_vd_req_v":-1.86778355,"cg_vd_v":-1.86778355,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41121197,"cg_vq_v":-8.41121197,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2519.81079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1490.047062,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1490.047068,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1490.047073,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1490.136108,"values":{"Elec_RPM":-2359.42871,"EncoderCos":22466,"EncoderSin":13626,"GapTicks":49698,"Mech_RPM":-471.885742,"cg_du":45.1802216,"cg_dv":54.8197784,"cg_dw":53.2700043,"cg_id_a":7.38241482,"cg_id_raw_a":5.92416763,"cg_iq_a":-199.428986,"cg_iq_raw_a":-199.566788,"cg_iu_a":-193.104614,"cg_iv_a":46.4250183,"cg_iw_a":146.679596,"cg_sample_age_us":23.9654541,"cg_sample_seq":8816616,"cg_sample_valid":1,"cg_theta_rad":4.22943687,"cg_vd_req_v":-2.07373738,"cg_vd_v":-2.07373738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39813709,"cg_vq_v":-8.39813709,"cg_vu_v":8.79785156,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7791443,"dclink_p_w":-2420.97485,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1490.46814,"values":{"Elec_RPM":-2358.32544,"EncoderCos":52380,"EncoderSin":24040,"GapTicks":49423,"Mech_RPM":-471.66507,"cg_du":52.0271645,"cg_dv":44.9300613,"cg_dw":55.0699387,"cg_id_a":13.5628357,"cg_id_raw_a":9.46883392,"cg_iq_a":-198.770889,"cg_iq_raw_a":-197.613449,"cg_iu_a":134.140961,"cg_iv_a":-195.865005,"cg_iw_a":61.7240448,"cg_sample_age_us":23.6890907,"cg_sample_seq":8818217,"cg_sample_valid":1,"cg_theta_rad":5.87897587,"cg_vd_req_v":-2.27080226,"cg_vd_v":-2.27080226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3936348,"cg_vq_v":-8.3936348,"cg_vu_v":105.134323,"cg_vv_v":75.2216263,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2454.70459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.266449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1490.819702,"values":{"Elec_RPM":-2363.92969,"EncoderCos":53845,"EncoderSin":36076,"GapTicks":49326,"Mech_RPM":-472.78595,"cg_du":50.0090904,"cg_dv":55.1576118,"cg_dw":44.8423882,"cg_id_a":-15.3284178,"cg_id_raw_a":-14.2510223,"cg_iq_a":-197.464294,"cg_iq_raw_a":-196.819504,"cg_iu_a":-54.6169205,"cg_iv_a":193.140045,"cg_iw_a":-146.931702,"cg_sample_age_us":23.5218182,"cg_sample_seq":8819917,"cg_sample_valid":1,"cg_theta_rad":0.16506654,"cg_vd_req_v":-1.6649586,"cg_vd_v":-1.6649586,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43003178,"cg_vq_v":-8.43003178,"cg_vu_v":103.374756,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2396.13477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1491.039257,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1491.039264,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1491.03927,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1491.15564,"values":{"Elec_RPM":-2360.6626,"EncoderCos":53659,"EncoderSin":37146,"GapTicks":49451,"Mech_RPM":-472.132538,"cg_du":48.1412201,"cg_dv":55.0437775,"cg_dw":44.9562225,"cg_id_a":-0.0680164099,"cg_id_raw_a":-5.91484594,"cg_iq_a":-202.087433,"cg_iq_raw_a":-201.431519,"cg_iu_a":-119.78334,"cg_iv_a":201.729858,"cg_iw_a":-81.9465179,"cg_sample_age_us":23.4854546,"cg_sample_seq":8821666,"cg_sample_valid":1,"cg_theta_rad":0.216804743,"cg_vd_req_v":-2.00982237,"cg_vd_v":-2.00982237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35293388,"cg_vq_v":-8.35293388,"cg_vu_v":39.590332,"cg_vv_v":68.6232376,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2496.021,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1491.487671,"values":{"Elec_RPM":-2356.03882,"EncoderCos":37509,"EncoderSin":53681,"GapTicks":49995,"Mech_RPM":-471.207764,"cg_du":54.1153755,"cg_dv":54.5498619,"cg_dw":45.4501381,"cg_id_a":9.2892971,"cg_id_raw_a":8.96277428,"cg_iq_a":-201.376587,"cg_iq_raw_a":-200.884491,"cg_iu_a":10.1870499,"cg_iv_a":168.602997,"cg_iw_a":-178.790039,"cg_sample_age_us":23.8090916,"cg_sample_seq":8823316,"cg_sample_valid":1,"cg_theta_rad":1.3396821,"cg_vd_req_v":-2.06600094,"cg_vd_v":-2.06600094,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35211849,"cg_vq_v":-8.35211849,"cg_vu_v":42.2296829,"cg_vv_v":69.0631332,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2451.52075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1491.839233,"values":{"Elec_RPM":-2357.2146,"EncoderCos":47366,"EncoderSin":48626,"GapTicks":49363,"Mech_RPM":-471.442902,"cg_du":51.2878494,"cg_dv":44.8761139,"cg_dw":55.1238861,"cg_id_a":1.46439016,"cg_id_raw_a":-3.33419514,"cg_iq_a":-196.853195,"cg_iq_raw_a":-195.491348,"cg_iu_a":103.732384,"cg_iv_a":-197.71344,"cg_iw_a":93.9810638,"cg_sample_age_us":23.6454544,"cg_sample_seq":8825117,"cg_sample_valid":1,"cg_theta_rad":0.829721808,"cg_vd_req_v":-1.98197889,"cg_vd_v":-1.98197889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4493494,"cg_vq_v":-8.4493494,"cg_vu_v":105.134323,"cg_vv_v":76.5413055,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1492.063486,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1492.063492,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1492.063497,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1492.171265,"values":{"Elec_RPM":-2357.74072,"EncoderCos":15763,"EncoderSin":46224,"GapTicks":49330,"Mech_RPM":-471.548157,"cg_du":55.1536484,"cg_dv":50.0310402,"cg_dw":44.8463516,"cg_id_a":-6.71201181,"cg_id_raw_a":-10.0280638,"cg_iq_a":-197.685043,"cg_iq_raw_a":-195.156464,"cg_iu_a":126.892197,"cg_iv_a":67.410202,"cg_iw_a":-194.302399,"cg_sample_age_us":23.9763641,"cg_sample_seq":8826717,"cg_sample_valid":1,"cg_theta_rad":2.47400355,"cg_vd_req_v":-1.78225279,"cg_vd_v":-1.78225279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45283031,"cg_vq_v":-8.45283031,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-16.7465248,"dclink_p_w":-2423.63501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1492.522827,"values":{"Elec_RPM":-2351.76563,"EncoderCos":24048,"EncoderSin":52598,"GapTicks":49737,"Mech_RPM":-470.353149,"cg_du":46.8824768,"cg_dv":45.2160797,"cg_dw":54.7839203,"cg_id_a":1.38958085,"cg_id_raw_a":6.77168798,"cg_iq_a":-205.691284,"cg_iq_raw_a":-207.764587,"cg_iu_a":0.473703384,"cg_iv_a":-176.184616,"cg_iw_a":175.710907,"cg_sample_age_us":23.7690907,"cg_sample_seq":8828516,"cg_sample_valid":1,"cg_theta_rad":1.99636161,"cg_vd_req_v":-1.90664768,"cg_vd_v":-1.90664768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29955387,"cg_vq_v":-8.29955387,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2408.42407,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1492.854858,"values":{"Elec_RPM":-2354.62598,"EncoderCos":13624,"EncoderSin":22413,"GapTicks":49967,"Mech_RPM":-470.925171,"cg_du":54.5753632,"cg_dv":46.0352097,"cg_dw":45.4246368,"cg_id_a":9.3936882,"cg_id_raw_a":14.0152416,"cg_iq_a":-202.95163,"cg_iq_raw_a":-205.126801,"cg_iu_a":179.808197,"cg_iv_a":-7.90449524,"cg_iw_a":-171.903702,"cg_sample_age_us":24.045454,"cg_sample_seq":8830116,"cg_sample_valid":1,"cg_theta_rad":3.64314175,"cg_vd_req_v":-2.06246638,"cg_vd_v":-2.06246638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29709435,"cg_vq_v":-8.29709435,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1493.023454,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1493.023458,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1493.023463,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1493.190796,"values":{"Elec_RPM":-2356.22168,"EncoderCos":13988,"EncoderSin":21729,"GapTicks":49510,"Mech_RPM":-471.244354,"cg_du":54.9902153,"cg_dv":47.8806953,"cg_dw":45.0097847,"cg_id_a":-8.97553444,"cg_id_raw_a":-2.36865044,"cg_iq_a":-199.220337,"cg_iq_raw_a":-201.439804,"cg_iu_a":167.485291,"cg_iv_a":10.6161194,"cg_iw_a":-178.10141,"cg_sample_age_us":24.0563641,"cg_sample_seq":8831866,"cg_sample_valid":1,"cg_theta_rad":3.67877746,"cg_vd_req_v":-1.6945802,"cg_vd_v":-1.6945802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39085484,"cg_vq_v":-8.39085484,"cg_vu_v":29.0329094,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2475.62231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1493.542358,"values":{"Elec_RPM":-2358.93652,"EncoderCos":22731,"EncoderSin":13469,"GapTicks":49811,"Mech_RPM":-471.787323,"cg_du":45.283535,"cg_dv":54.716465,"cg_dw":53.7906876,"cg_id_a":12.3761988,"cg_id_raw_a":8.88963032,"cg_iq_a":-199.608612,"cg_iq_raw_a":-197.922668,"cg_iu_a":-184.551056,"cg_iv_a":20.5106812,"cg_iw_a":156.827866,"cg_sample_age_us":23.9363632,"cg_sample_seq":8833567,"cg_sample_valid":1,"cg_theta_rad":4.25367308,"cg_vd_req_v":-2.16951609,"cg_vd_v":-2.16951609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41387272,"cg_vq_v":-8.41387272,"cg_vu_v":1.31967759,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.982439,"dclink_p_w":-2602.5022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1493.87439,"values":{"Elec_RPM":-2354.21289,"EncoderCos":34899,"EncoderSin":11201,"GapTicks":49464,"Mech_RPM":-470.84256,"cg_du":55.032135,"cg_dv":44.967865,"cg_dw":48.0764008,"cg_id_a":6.38496828,"cg_id_raw_a":0.251013219,"cg_iq_a":-198.763123,"cg_iq_raw_a":-197.375366,"cg_iu_a":197.27771,"cg_iv_a":-74.8830872,"cg_iw_a":-122.394623,"cg_sample_age_us":24.0599995,"cg_sample_seq":8835267,"cg_sample_valid":1,"cg_theta_rad":4.82544088,"cg_vd_req_v":-2.07439494,"cg_vd_v":-2.07439494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38514996,"cg_vq_v":-8.38514996,"cg_vu_v":126.689056,"cg_vv_v":117.451309,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1494.047103,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1494.04712,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1494.047126,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1494.206421,"values":{"Elec_RPM":-2356.59375,"EncoderCos":46200,"EncoderSin":15928,"GapTicks":49340,"Mech_RPM":-471.318726,"cg_du":44.8547058,"cg_dv":55.1452942,"cg_dw":50.0555687,"cg_id_a":-16.4888058,"cg_id_raw_a":-18.8582554,"cg_iq_a":-196.546997,"cg_iq_raw_a":-196.527145,"cg_iu_a":-190.785004,"cg_iv_a":137.034607,"cg_iw_a":53.7503967,"cg_sample_age_us":23.9109097,"cg_sample_seq":8836967,"cg_sample_valid":1,"cg_theta_rad":5.40451241,"cg_vd_req_v":-1.66637635,"cg_vd_v":-1.66637635,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43564034,"cg_vq_v":-8.43564034,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2455.75024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1494.557983,"values":{"Elec_RPM":-2351.27539,"EncoderCos":53151,"EncoderSin":26122,"GapTicks":49477,"Mech_RPM":-470.255066,"cg_du":55.0204048,"cg_dv":44.9795952,"cg_dw":52.2221909,"cg_id_a":-8.14978027,"cg_id_raw_a":-5.35781527,"cg_iq_a":-198.080109,"cg_iq_raw_a":-200.467499,"cg_iu_a":173.936691,"cg_iv_a":-166.290039,"cg_iw_a":-7.64665222,"cg_sample_age_us":24.1618176,"cg_sample_seq":8838667,"cg_sample_valid":1,"cg_theta_rad":5.98099756,"cg_vd_req_v":-1.78420401,"cg_vd_v":-1.78420401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44670486,"cg_vq_v":-8.44670486,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2442.31348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1494.893921,"values":{"Elec_RPM":-2355.15649,"EncoderCos":53289,"EncoderSin":38672,"GapTicks":50021,"Mech_RPM":-471.031281,"cg_du":45.4743118,"cg_dv":54.5256882,"cg_dw":45.7792358,"cg_id_a":10.3883047,"cg_id_raw_a":10.7768116,"cg_iq_a":-204.348587,"cg_iq_raw_a":-206.540649,"cg_iu_a":-171.648254,"cg_iv_a":177.953888,"cg_iw_a":-6.30563354,"cg_sample_age_us":23.5327282,"cg_sample_seq":8840366,"cg_sample_valid":1,"cg_theta_rad":0.297199994,"cg_vd_req_v":-2.17918181,"cg_vd_v":-2.17918181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30870247,"cg_vq_v":-8.30870247,"cg_vu_v":105.134323,"cg_vv_v":106.014107,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.5870514,"dclink_p_w":-2400.55518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1495.039537,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1495.039543,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1495.039548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1495.245483,"values":{"Elec_RPM":-2355.07422,"EncoderCos":47472,"EncoderSin":48552,"GapTicks":49363,"Mech_RPM":-471.014832,"cg_du":51.0665894,"cg_dv":44.8760872,"cg_dw":55.1239128,"cg_id_a":-1.69986832,"cg_id_raw_a":-5.9509964,"cg_iq_a":-197.786835,"cg_iq_raw_a":-196.981384,"cg_iu_a":144.144257,"cg_iv_a":-195.031387,"cg_iw_a":50.8871307,"cg_sample_age_us":25.0381813,"cg_sample_seq":8842070,"cg_sample_valid":1,"cg_theta_rad":0.867482066,"cg_vd_req_v":-1.92531157,"cg_vd_v":-1.92531157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40672016,"cg_vq_v":-8.40672016,"cg_vu_v":43.549366,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1495.577515,"values":{"Elec_RPM":-2357.37354,"EncoderCos":35570,"EncoderSin":54059,"GapTicks":49328,"Mech_RPM":-471.474701,"cg_du":49.7827797,"cg_dv":55.1556053,"cg_dw":44.8443947,"cg_id_a":-9.04659939,"cg_id_raw_a":-12.0042048,"cg_iq_a":-198.989319,"cg_iq_raw_a":-198.974777,"cg_iu_a":-65.743782,"cg_iv_a":195.532166,"cg_iw_a":-129.788376,"cg_sample_age_us":23.8054543,"cg_sample_seq":8843766,"cg_sample_valid":1,"cg_theta_rad":1.43154478,"cg_vd_req_v":-1.69382966,"cg_vd_v":-1.74125338,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42346191,"cg_vq_v":-8.42346191,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1495.909546,"values":{"Elec_RPM":-2351.375,"EncoderCos":23457,"EncoderSin":52344,"GapTicks":49427,"Mech_RPM":-470.274994,"cg_du":48.5072899,"cg_dv":44.9339943,"cg_dw":55.0660057,"cg_id_a":-16.091095,"cg_id_raw_a":-13.2565594,"cg_iq_a":-198.808624,"cg_iq_raw_a":-199.150955,"cg_iu_a":13.7751904,"cg_iv_a":-179.047867,"cg_iw_a":165.272675,"cg_sample_age_us":23.7581825,"cg_sample_seq":8845466,"cg_sample_valid":1,"cg_theta_rad":2.01465869,"cg_vd_req_v":-1.56290913,"cg_vd_v":-1.56290913,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44419956,"cg_vq_v":-8.44419956,"cg_vu_v":35.1914063,"cg_vv_v":32.5520515,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2471.77686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1496.031693,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1496.031698,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1496.031704,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1496.261108,"values":{"Elec_RPM":-2353.53662,"EncoderCos":14369,"EncoderSin":44204,"GapTicks":50076,"Mech_RPM":-470.707306,"cg_du":54.3953247,"cg_dv":54.4756317,"cg_dw":45.5243683,"cg_id_a":12.1590004,"cg_id_raw_a":17.1780262,"cg_iq_a":-201.953552,"cg_iq_raw_a":-200.645447,"cg_iu_a":9.13597965,"cg_iv_a":169.364105,"cg_iw_a":-178.500092,"cg_sample_age_us":23.9109097,"cg_sample_seq":8847167,"cg_sample_valid":1,"cg_theta_rad":2.59693861,"cg_vd_req_v":-2.10943604,"cg_vd_v":-2.10943604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33519936,"cg_vq_v":-8.33519936,"cg_vu_v":23.3143044,"cg_vv_v":14.9563465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-15.7516308,"dclink_p_w":-2279.64941,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1496.59314,"values":{"Elec_RPM":-2350.62891,"EncoderCos":14262,"EncoderSin":21260,"GapTicks":49364,"Mech_RPM":-470.125763,"cg_du":55.1232033,"cg_dv":49.0612526,"cg_dw":44.8767967,"cg_id_a":-13.3965282,"cg_id_raw_a":-11.1849937,"cg_iq_a":-197.135559,"cg_iq_raw_a":-198.847122,"cg_iu_a":151.682983,"cg_iv_a":34.9719543,"cg_iw_a":-186.654938,"cg_sample_age_us":24.045454,"cg_sample_seq":8848816,"cg_sample_valid":1,"cg_theta_rad":3.70596337,"cg_vd_req_v":-1.62535572,"cg_vd_v":-1.62535572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4545269,"cg_vq_v":-8.4545269,"cg_vu_v":48.3881836,"cg_vv_v":50.5876465,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.298912,"dclink_p_w":-2358.85449,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1496.925171,"values":{"Elec_RPM":-2347.95386,"EncoderCos":11073,"EncoderSin":31706,"GapTicks":49853,"Mech_RPM":-469.59079,"cg_du":45.3211288,"cg_dv":46.3782196,"cg_dw":54.6788712,"cg_id_a":12.4087658,"cg_id_raw_a":12.1091595,"cg_iq_a":-204.978653,"cg_iq_raw_a":-201.828995,"cg_iu_a":-34.2478867,"cg_iv_a":-159.729889,"cg_iw_a":193.977783,"cg_sample_age_us":23.9654541,"cg_sample_seq":8850617,"cg_sample_valid":1,"cg_theta_rad":3.19513226,"cg_vd_req_v":-2.14809728,"cg_vd_v":-2.14809728,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29058552,"cg_vq_v":-8.29058552,"cg_vu_v":106.014107,"cg_vv_v":98.0960464,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.1089611,"dclink_p_w":-2476.08838,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1497.055396,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1497.055401,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1497.055407,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1497.276733,"values":{"Elec_RPM":-2355.53467,"EncoderCos":35690,"EncoderSin":11295,"GapTicks":49756,"Mech_RPM":-471.106934,"cg_du":54.7672157,"cg_dv":45.2327843,"cg_dw":46.6921463,"cg_id_a":15.5665445,"cg_id_raw_a":19.6605415,"cg_iq_a":-203.964294,"cg_iq_raw_a":-204.108032,"cg_iu_a":193.399628,"cg_iv_a":-34.3987274,"cg_iw_a":-159.0009,"cg_sample_age_us":23.9690914,"cg_sample_seq":8852216,"cg_sample_valid":1,"cg_theta_rad":4.86741209,"cg_vd_req_v":-2.22937822,"cg_vd_v":-2.22937822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26053524,"cg_vq_v":-8.26053524,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1497.612671,"values":{"Elec_RPM":-2354.81201,"EncoderCos":36484,"EncoderSin":11423,"GapTicks":50101,"Mech_RPM":-470.962402,"cg_du":54.4535561,"cg_dv":45.6535988,"cg_dw":45.5464439,"cg_id_a":7.97609997,"cg_id_raw_a":11.6648083,"cg_iq_a":-204.372131,"cg_iq_raw_a":-206.664169,"cg_iu_a":184.483643,"cg_iv_a":-17.3278809,"cg_iw_a":-167.155762,"cg_sample_age_us":23.9690914,"cg_sample_seq":8853966,"cg_sample_valid":1,"cg_theta_rad":4.89232588,"cg_vd_req_v":-2.07100677,"cg_vd_v":-2.07100677,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27135944,"cg_vq_v":-8.27135944,"cg_vu_v":106.014107,"cg_vv_v":93.2572174,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4677753,"dclink_p_w":-2528.01782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1497.944702,"values":{"Elec_RPM":-2357.03613,"EncoderCos":53308,"EncoderSin":26641,"GapTicks":49306,"Mech_RPM":-471.407227,"cg_du":55.1762352,"cg_dv":44.8237648,"cg_dw":51.0183144,"cg_id_a":-12.9314108,"cg_id_raw_a":-12.0374823,"cg_iq_a":-193.387634,"cg_iq_raw_a":-193.740555,"cg_iu_a":181.874084,"cg_iv_a":-150.813904,"cg_iw_a":-31.060173,"cg_sample_age_us":24.136364,"cg_sample_seq":8855617,"cg_sample_valid":1,"cg_theta_rad":6.0085578,"cg_vd_req_v":-1.69830036,"cg_vd_v":-1.69830036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53855515,"cg_vq_v":-8.53855515,"cg_vu_v":143.404984,"cg_vv_v":131.087982,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2386.13062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1498.047247,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1498.047253,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1498.047258,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1498.378296,"values":{"Elec_RPM":-2351.93457,"EncoderCos":12077,"EncoderSin":39388,"GapTicks":49564,"Mech_RPM":-470.386902,"cg_du":45.0582542,"cg_dv":54.9417458,"cg_dw":47.4892349,"cg_id_a":-4.18003702,"cg_id_raw_a":1.99758887,"cg_iq_a":-199.152313,"cg_iq_raw_a":-200.858688,"cg_iu_a":-171.829483,"cg_iv_a":172.771027,"cg_iw_a":-0.941543579,"cg_sample_age_us":23.8381824,"cg_sample_seq":8857666,"cg_sample_valid":1,"cg_theta_rad":2.82554245,"cg_vd_req_v":-1.76293564,"cg_vd_v":-1.76293564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42380333,"cg_vq_v":-8.42380333,"cg_vu_v":0.87978512,"cg_vv_v":21.1148415,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2513.07813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1498.897827,"values":{"Elec_RPM":-2344.99463,"EncoderCos":51044,"EncoderSin":44042,"GapTicks":49414,"Mech_RPM":-468.998932,"cg_du":44.9219246,"cg_dv":51.2920647,"cg_dw":55.0780754,"cg_id_a":-8.77929878,"cg_id_raw_a":-5.21115351,"cg_iq_a":-201.14975,"cg_iq_raw_a":-203.688583,"cg_iu_a":-156.389618,"cg_iv_a":-32.8764801,"cg_iw_a":189.266098,"cg_sample_age_us":23.5363636,"cg_sample_seq":8860216,"cg_sample_valid":1,"cg_theta_rad":0.558802187,"cg_vd_req_v":-1.78414118,"cg_vd_v":-1.78414118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36296749,"cg_vq_v":-8.36296749,"cg_vu_v":39.590332,"cg_vv_v":51.0275345,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2476.40674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1498.911026,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1498.91104,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1498.911043,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1499.039368,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1499.039373,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1499.039379,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1499.292358,"values":{"Elec_RPM":-2348.80664,"EncoderCos":11065,"EncoderSin":33698,"GapTicks":49384,"Mech_RPM":-469.761353,"cg_du":44.8953629,"cg_dv":49.7296066,"cg_dw":55.1046371,"cg_id_a":-16.713583,"cg_id_raw_a":-16.8737392,"cg_iq_a":-200.221436,"cg_iq_raw_a":-199.683624,"cg_iu_a":-135.476913,"cg_iv_a":-58.2834167,"cg_iw_a":193.76033,"cg_sample_age_us":23.9036369,"cg_sample_seq":8862317,"cg_sample_valid":1,"cg_theta_rad":3.10522389,"cg_vd_req_v":-1.54434919,"cg_vd_v":-1.54434919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3672657,"cg_vq_v":-8.3672657,"cg_vu_v":108.21357,"cg_vv_v":107.333786,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2510.65942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1499.62439,"values":{"Elec_RPM":-2350.83911,"EncoderCos":14020,"EncoderSin":21707,"GapTicks":49469,"Mech_RPM":-470.167816,"cg_du":55.027607,"cg_dv":47.9542198,"cg_dw":44.972393,"cg_id_a":-9.46803665,"cg_id_raw_a":-4.03401184,"cg_iq_a":-197.120346,"cg_iq_raw_a":-197.353531,"cg_iu_a":164.005875,"cg_iv_a":10.3624115,"cg_iw_a":-174.368286,"cg_sample_age_us":24.0163631,"cg_sample_seq":8864017,"cg_sample_valid":1,"cg_theta_rad":3.68299818,"cg_vd_req_v":-1.69655061,"cg_vd_v":-1.69655061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46216774,"cg_vq_v":-8.46216774,"cg_vu_v":106.014107,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1499.956421,"values":{"Elec_RPM":-2352.41016,"EncoderCos":23096,"EncoderSin":13351,"GapTicks":50066,"Mech_RPM":-470.482056,"cg_du":45.5151711,"cg_dv":54.4566841,"cg_dw":54.4848289,"cg_id_a":11.2008438,"cg_id_raw_a":12.9836454,"cg_iq_a":-200.263412,"cg_iq_raw_a":-198.145508,"cg_iu_a":-181.397858,"cg_iv_a":15.1103516,"cg_iw_a":166.287506,"cg_sample_age_us":23.9618187,"cg_sample_seq":8865717,"cg_sample_valid":1,"cg_theta_rad":4.26283932,"cg_vd_req_v":-2.12699962,"cg_vd_v":-2.12699962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37477493,"cg_vq_v":-8.37477493,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2406.5874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1500.062646,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1500.062652,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1500.062658,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1500.307983,"values":{"Elec_RPM":-2358.06909,"EncoderCos":45661,"EncoderSin":15482,"GapTicks":49417,"Mech_RPM":-471.613831,"cg_du":44.9252701,"cg_dv":55.0747299,"cg_dw":48.5420761,"cg_id_a":-12.7836895,"cg_id_raw_a":-10.8761797,"cg_iq_a":-199.876801,"cg_iq_raw_a":-200.3078,"cg_iu_a":-182.666382,"cg_iv_a":158.563431,"cg_iw_a":24.102951,"cg_sample_age_us":23.9145451,"cg_sample_seq":8867367,"cg_sample_valid":1,"cg_theta_rad":5.37449646,"cg_vd_req_v":-1.73128498,"cg_vd_v":-1.73128498,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39361095,"cg_vq_v":-8.39361095,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.8320274,"dclink_p_w":-2580.73413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1500.640015,"values":{"Elec_RPM":-2355.07788,"EncoderCos":46495,"EncoderSin":16190,"GapTicks":49304,"Mech_RPM":-471.015594,"cg_du":44.8219223,"cg_dv":55.1780777,"cg_dw":50.6970406,"cg_id_a":-8.20405006,"cg_id_raw_a":-8.6488924,"cg_iq_a":-197.259491,"cg_iq_raw_a":-197.375,"cg_iu_a":-198.432449,"cg_iv_a":115.360786,"cg_iw_a":83.0716629,"cg_sample_age_us":23.8199997,"cg_sample_seq":8869116,"cg_sample_valid":1,"cg_theta_rad":5.42334461,"cg_vd_req_v":-1.8481735,"cg_vd_v":-1.8481735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45331001,"cg_vq_v":-8.45331001,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2498.10889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1500.972046,"values":{"Elec_RPM":-2349.80273,"EncoderCos":53516,"EncoderSin":37607,"GapTicks":49600,"Mech_RPM":-469.960571,"cg_du":47.405632,"cg_dv":54.9087982,"cg_dw":45.0912018,"cg_id_a":11.3491135,"cg_id_raw_a":8.69602871,"cg_iq_a":-202.685913,"cg_iq_raw_a":-201.053436,"cg_iu_a":-154.758636,"cg_iv_a":196.1483,"cg_iw_a":-41.3896637,"cg_sample_age_us":23.48909,"cg_sample_seq":8870768,"cg_sample_valid":1,"cg_theta_rad":0.250655442,"cg_vd_req_v":-2.22462463,"cg_vd_v":-2.22462463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31012726,"cg_vq_v":-8.31012726,"cg_vu_v":98.0960464,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2485.19312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1501.055468,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1501.055473,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1501.055479,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1501.327515,"values":{"Elec_RPM":-2349.32397,"EncoderCos":53274,"EncoderSin":38685,"GapTicks":50024,"Mech_RPM":-469.864777,"cg_du":45.4772415,"cg_dv":54.5227585,"cg_dw":45.852272,"cg_id_a":8.88519859,"cg_id_raw_a":9.44941044,"cg_iq_a":-204.175064,"cg_iq_raw_a":-205.593262,"cg_iu_a":-171.322067,"cg_iv_a":180.962128,"cg_iw_a":-9.64006805,"cg_sample_age_us":23.5618191,"cg_sample_seq":8872517,"cg_sample_valid":1,"cg_theta_rad":0.290878981,"cg_vd_req_v":-2.14522386,"cg_vd_v":-2.14522386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27879333,"cg_vq_v":-8.27879333,"cg_vu_v":99.4157181,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2486.08105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1501.65564,"values":{"Elec_RPM":-2346.71655,"EncoderCos":24811,"EncoderSin":52952,"GapTicks":49947,"Mech_RPM":-469.343292,"cg_du":45.4069023,"cg_dv":45.9962769,"cg_dw":54.5930977,"cg_id_a":13.1407528,"cg_id_raw_a":15.683959,"cg_iq_a":-204.124329,"cg_iq_raw_a":-203.532959,"cg_iu_a":-22.9760571,"cg_iv_a":-165.63765,"cg_iw_a":188.613708,"cg_sample_age_us":23.8927269,"cg_sample_seq":8874116,"cg_sample_valid":1,"cg_theta_rad":1.94966388,"cg_vd_req_v":-2.15155673,"cg_vd_v":-2.15155673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31920719,"cg_vq_v":-8.31920719,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1502.011108,"values":{"Elec_RPM":-2347.70581,"EncoderCos":36477,"EncoderSin":53964,"GapTicks":49303,"Mech_RPM":-469.541168,"cg_du":51.1425476,"cg_dv":55.1789322,"cg_dw":44.8210678,"cg_id_a":-8.73911095,"cg_id_raw_a":-8.77242374,"cg_iq_a":-194.438599,"cg_iq_raw_a":-194.44635,"cg_iu_a":-82.0172577,"cg_iv_a":197.126877,"cg_iw_a":-115.109619,"cg_sample_age_us":23.8018188,"cg_sample_seq":8875921,"cg_sample_valid":1,"cg_theta_rad":1.43992126,"cg_vd_req_v":-1.71573162,"cg_vd_v":-1.71573162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52720833,"cg_vq_v":-8.52720833,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.4855671,"dclink_p_w":-2393.11987,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1502.046948,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1502.046954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1502.046959,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1502.34314,"values":{"Elec_RPM":-2347.28223,"EncoderCos":14536,"EncoderSin":44483,"GapTicks":49929,"Mech_RPM":-469.456421,"cg_du":54.6092339,"cg_dv":53.8379402,"cg_dw":45.3907661,"cg_id_a":14.0728655,"cg_id_raw_a":12.1792603,"cg_iq_a":-204.985458,"cg_iq_raw_a":-207.332901,"cg_iu_a":26.7504826,"cg_iv_a":162.514008,"cg_iw_a":-189.264496,"cg_sample_age_us":23.7836361,"cg_sample_seq":8877566,"cg_sample_valid":1,"cg_theta_rad":2.57185292,"cg_vd_req_v":-2.16514516,"cg_vd_v":-2.16514516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26770973,"cg_vq_v":-8.26770973,"cg_vu_v":6.1584959,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.1285667,"dclink_p_w":-2334.20117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1502.675171,"values":{"Elec_RPM":-2348.35083,"EncoderCos":11057,"EncoderSin":33162,"GapTicks":49375,"Mech_RPM":-469.670166,"cg_du":44.8866692,"cg_dv":48.8269958,"cg_dw":55.1133308,"cg_id_a":-7.21401215,"cg_id_raw_a":-11.4565401,"cg_iq_a":-198.139084,"cg_iq_raw_a":-197.368958,"cg_iu_a":-104.742142,"cg_iv_a":-91.0840912,"cg_iw_a":195.826233,"cg_sample_age_us":23.9218178,"cg_sample_seq":8879267,"cg_sample_valid":1,"cg_theta_rad":3.12863564,"cg_vd_req_v":-1.75722218,"cg_vd_v":-1.75722218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4386797,"cg_vq_v":-8.4386797,"cg_vu_v":128.448624,"cg_vv_v":114.37207,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2497.59473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1503.026733,"values":{"Elec_RPM":-2345.51733,"EncoderCos":13865,"EncoderSin":22007,"GapTicks":49615,"Mech_RPM":-469.103455,"cg_du":54.8950653,"cg_dv":47.1110611,"cg_dw":45.1049347,"cg_id_a":-2.31843853,"cg_id_raw_a":5.08463097,"cg_iq_a":-197.255753,"cg_iq_raw_a":-197.913589,"cg_iu_a":144.760406,"cg_iv_a":41.822052,"cg_iw_a":-186.582458,"cg_sample_age_us":26.8818188,"cg_sample_seq":8880971,"cg_sample_valid":1,"cg_theta_rad":3.71133542,"cg_vd_req_v":-1.82671201,"cg_vd_v":-1.82671201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44689369,"cg_vq_v":-8.44689369,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2425.1582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1503.039311,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1503.039316,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1503.039321,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1503.358765,"values":{"Elec_RPM":-2356.05054,"EncoderCos":14816,"EncoderSin":20373,"GapTicks":49391,"Mech_RPM":-471.210114,"cg_du":55.0981979,"cg_dv":50.9397392,"cg_dw":44.9018021,"cg_id_a":-1.87420142,"cg_id_raw_a":-7.82894564,"cg_iq_a":-199.978653,"cg_iq_raw_a":-196.668839,"cg_iu_a":108.009155,"cg_iv_a":94.0856628,"cg_iw_a":-202.094818,"cg_sample_age_us":23.994545,"cg_sample_seq":8882717,"cg_sample_valid":1,"cg_theta_rad":3.75262117,"cg_vd_req_v":-1.8689996,"cg_vd_v":-1.8689996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3615551,"cg_vq_v":-8.3615551,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1503.690796,"values":{"Elec_RPM":-2353.32568,"EncoderCos":35870,"EncoderSin":11363,"GapTicks":49848,"Mech_RPM":-470.665161,"cg_du":54.6830864,"cg_dv":45.3169136,"cg_dw":46.3207207,"cg_id_a":14.5665836,"cg_id_raw_a":15.9890375,"cg_iq_a":-204.976913,"cg_iq_raw_a":-205.533295,"cg_iu_a":190.935059,"cg_iv_a":-29.1796265,"cg_iw_a":-161.755432,"cg_sample_age_us":24.0309086,"cg_sample_seq":8884366,"cg_sample_valid":1,"cg_theta_rad":4.87338066,"cg_vd_req_v":-2.2238605,"cg_vd_v":-2.2238605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27377415,"cg_vq_v":-8.27377415,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1504.0313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1504.031306,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1504.031312,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1504.042358,"values":{"Elec_RPM":-2354.31982,"EncoderCos":46818,"EncoderSin":16484,"GapTicks":49336,"Mech_RPM":-470.863953,"cg_du":44.8515244,"cg_dv":55.1484756,"cg_dw":51.5225525,"cg_id_a":-3.9644537,"cg_id_raw_a":-8.06370544,"cg_iq_a":-194.886703,"cg_iq_raw_a":-194.474579,"cg_iu_a":-194.083191,"cg_iv_a":94.1581345,"cg_iw_a":99.9250565,"cg_sample_age_us":23.9472733,"cg_sample_seq":8886067,"cg_sample_valid":1,"cg_theta_rad":5.4431076,"cg_vd_req_v":-1.94805944,"cg_vd_v":-1.94805944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50814056,"cg_vq_v":-8.50814056,"cg_vu_v":96.3364716,"cg_vv_v":102.055069,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2545.43506,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1504.378296,"values":{"Elec_RPM":-2351.20508,"EncoderCos":47487,"EncoderSin":17071,"GapTicks":49604,"Mech_RPM":-470.240997,"cg_du":45.0948296,"cg_dv":54.9051704,"cg_dw":53.0586128,"cg_id_a":9.19077492,"cg_id_raw_a":6.46871281,"cg_iq_a":-197.75946,"cg_iq_raw_a":-197.295013,"cg_iu_a":-189.588959,"cg_iv_a":46.4250183,"cg_iw_a":143.16394,"cg_sample_age_us":23.9509087,"cg_sample_seq":8887817,"cg_sample_valid":1,"cg_theta_rad":5.48663473,"cg_vd_req_v":-2.19952798,"cg_vd_v":-2.19952798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43000507,"cg_vq_v":-8.43000507,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.4728832,"dclink_p_w":-2391.27881,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1504.710327,"values":{"Elec_RPM":-2345.85889,"EncoderCos":53070,"EncoderSin":39416,"GapTicks":49589,"Mech_RPM":-469.171783,"cg_du":45.0811119,"cg_dv":54.9188881,"cg_dw":47.5562401,"cg_id_a":-4.22377729,"cg_id_raw_a":1.76664996,"cg_iq_a":-202.122925,"cg_iq_raw_a":-203.844711,"cg_iu_a":-179.911865,"cg_iv_a":167.298218,"cg_iw_a":12.6136475,"cg_sample_age_us":23.5254555,"cg_sample_seq":8889466,"cg_sample_valid":1,"cg_theta_rad":0.324693382,"cg_vd_req_v":-1.88100088,"cg_vd_v":-1.88100088,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34216404,"cg_vq_v":-8.34216404,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1505.023729,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1505.023735,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1505.023741,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1505.06189,"values":{"Elec_RPM":-2353.90723,"EncoderCos":52891,"EncoderSin":39973,"GapTicks":49349,"Mech_RPM":-470.781433,"cg_du":44.8636093,"cg_dv":55.1363907,"cg_dw":48.8348351,"cg_id_a":-10.1426344,"cg_id_raw_a":-10.1965628,"cg_iq_a":-197.983459,"cg_iq_raw_a":-198.84584,"cg_iu_a":-185.130981,"cg_iv_a":150.95224,"cg_iw_a":25.8064117,"cg_sample_age_us":23.5327282,"cg_sample_seq":8891217,"cg_sample_valid":1,"cg_theta_rad":0.351058394,"cg_vd_req_v":-1.78031933,"cg_vd_v":-1.78031933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44497871,"cg_vq_v":-8.44497871,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2409.73145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1505.393921,"values":{"Elec_RPM":-2356.27515,"EncoderCos":23440,"EncoderSin":52334,"GapTicks":49484,"Mech_RPM":-471.255035,"cg_du":48.5940018,"cg_dv":44.9858856,"cg_dw":55.0141144,"cg_id_a":-17.8635368,"cg_id_raw_a":-14.9444456,"cg_iq_a":-201.147049,"cg_iq_raw_a":-202.434601,"cg_iu_a":14.2101164,"cg_iv_a":-180.316406,"cg_iw_a":166.106293,"cg_sample_age_us":23.8309097,"cg_sample_seq":8892816,"cg_sample_valid":1,"cg_theta_rad":2.01631212,"cg_vd_req_v":-1.51440299,"cg_vd_v":-1.51440299,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3521843,"cg_vq_v":-8.3521843,"cg_vu_v":39.590332,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2433.26392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1505.745483,"values":{"Elec_RPM":-2360.31323,"EncoderCos":34948,"EncoderSin":54180,"GapTicks":49438,"Mech_RPM":-472.062653,"cg_du":48.2733727,"cg_dv":55.055584,"cg_dw":44.944416,"cg_id_a":4.25492573,"cg_id_raw_a":-2.24319649,"cg_iq_a":-199.422302,"cg_iq_raw_a":-198.798477,"cg_iu_a":-157.041992,"cg_iv_a":193.901184,"cg_iw_a":-36.8591919,"cg_sample_age_us":23.8054543,"cg_sample_seq":8894621,"cg_sample_valid":1,"cg_theta_rad":1.5118891,"cg_vd_req_v":-2.00281024,"cg_vd_v":-2.00281024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37510109,"cg_vq_v":-8.37510109,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1506.047439,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1506.047444,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1506.047449,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1506.081421,"values":{"Elec_RPM":-2366.9292,"EncoderCos":11083,"EncoderSin":32594,"GapTicks":49440,"Mech_RPM":-473.385864,"cg_du":44.9462204,"cg_dv":47.8580513,"cg_dw":55.0537796,"cg_id_a":2.95528793,"cg_id_raw_a":-1.28056824,"cg_iq_a":-197.124146,"cg_iq_raw_a":-195.555573,"cg_iu_a":-73.8986435,"cg_iv_a":-122.724953,"cg_iw_a":196.623596,"cg_sample_age_us":23.9400005,"cg_sample_seq":8896217,"cg_sample_valid":1,"cg_theta_rad":3.15532804,"cg_vd_req_v":-1.96387661,"cg_vd_v":-1.96387661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4700346,"cg_vq_v":-8.4700346,"cg_vu_v":112.612495,"cg_vv_v":121.850235,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1506.413452,"values":{"Elec_RPM":-2362.52466,"EncoderCos":13532,"EncoderSin":42816,"GapTicks":49296,"Mech_RPM":-472.504913,"cg_du":50.8082275,"cg_dv":55.1846962,"cg_dw":44.8153038,"cg_id_a":-8.86741066,"cg_id_raw_a":-8.16905022,"cg_iq_a":-194.250031,"cg_iq_raw_a":-193.513794,"cg_iu_a":-41.6416321,"cg_iv_a":185.818817,"cg_iw_a":-144.177185,"cg_sample_age_us":23.9181824,"cg_sample_seq":8898017,"cg_sample_valid":1,"cg_theta_rad":2.66208148,"cg_vd_req_v":-1.69748986,"cg_vd_v":-1.69748986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53213406,"cg_vq_v":-8.53213406,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.9371338,"dclink_p_w":-2595.94556,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119693294,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1506.745483,"values":{"Elec_RPM":-2360.11011,"EncoderCos":24089,"EncoderSin":12857,"GapTicks":49510,"Mech_RPM":-472.022003,"cg_du":45.0098572,"cg_dv":51.8723984,"cg_dw":54.9901428,"cg_id_a":-11.1139889,"cg_id_raw_a":-8.85004234,"cg_iq_a":-201.620361,"cg_iq_raw_a":-200.639496,"cg_iu_a":-166.610382,"cg_iv_a":-13.7759857,"cg_iw_a":180.386368,"cg_sample_age_us":23.9690914,"cg_sample_seq":8899617,"cg_sample_valid":1,"cg_theta_rad":4.31330347,"cg_vd_req_v":-1.67876947,"cg_vd_v":-1.67876947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3394165,"cg_vq_v":-8.3394165,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.3514652,"dclink_p_w":-2359.26733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1507.039349,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1507.039355,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1507.039361,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1507.097046,"values":{"Elec_RPM":-2361.02441,"EncoderCos":15750,"EncoderSin":19025,"GapTicks":49931,"Mech_RPM":-472.204865,"cg_du":54.6075745,"cg_dv":53.8184357,"cg_dw":45.3924255,"cg_id_a":14.4139423,"cg_id_raw_a":11.1594944,"cg_iq_a":-206.041046,"cg_iq_raw_a":-207.649521,"cg_iu_a":35.2315407,"cg_iv_a":157.693604,"cg_iw_a":-192.92514,"cg_sample_age_us":23.8672733,"cg_sample_seq":8901416,"cg_sample_valid":1,"cg_theta_rad":3.82007861,"cg_vd_req_v":-2.17463446,"cg_vd_v":-2.17463446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25422096,"cg_vq_v":-8.25422096,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1507.429077,"values":{"Elec_RPM":-2363.30859,"EncoderCos":37103,"EncoderSin":11548,"GapTicks":49499,"Mech_RPM":-472.661743,"cg_du":55.0002213,"cg_dv":47.5712547,"cg_dw":44.9997787,"cg_id_a":-7.2133913,"cg_id_raw_a":-2.63513446,"cg_iq_a":-196.119354,"cg_iq_raw_a":-196.475739,"cg_iu_a":166.289246,"cg_iv_a":3.0411377,"cg_iw_a":-169.330383,"cg_sample_age_us":24.0090904,"cg_sample_seq":8903067,"cg_sample_valid":1,"cg_theta_rad":4.93075895,"cg_vd_req_v":-1.7518698,"cg_vd_v":-1.7518698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47281551,"cg_vq_v":-8.47281551,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2427.56885,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1507.784546,"values":{"Elec_RPM":-2358.64087,"EncoderCos":47903,"EncoderSin":17544,"GapTicks":49964,"Mech_RPM":-471.72818,"cg_du":45.4222908,"cg_dv":54.5777092,"cg_dw":54.2038765,"cg_id_a":11.182229,"cg_id_raw_a":8.98579979,"cg_iq_a":-199.448944,"cg_iq_raw_a":-197.51651,"cg_iu_a":-183.572479,"cg_iv_a":20.6556396,"cg_iw_a":162.91684,"cg_sample_age_us":23.9290905,"cg_sample_seq":8904767,"cg_sample_valid":1,"cg_theta_rad":5.51057625,"cg_vd_req_v":-2.2169528,"cg_vd_v":-2.2169528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37010384,"cg_vq_v":-8.37010384,"cg_vu_v":114.37207,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2383.77002,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1508.063554,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1508.063559,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1508.063565,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1508.12439,"values":{"Elec_RPM":-2359.45752,"EncoderCos":53724,"EncoderSin":28526,"GapTicks":49523,"Mech_RPM":-471.891479,"cg_du":54.9788704,"cg_dv":45.0211296,"cg_dw":47.6131325,"cg_id_a":11.4069519,"cg_id_raw_a":10.1193428,"cg_iq_a":-202.974213,"cg_iq_raw_a":-202.051239,"cg_iu_a":199.6698,"cg_iv_a":-70.8962708,"cg_iw_a":-128.773529,"cg_sample_age_us":24.045454,"cg_sample_seq":8906466,"cg_sample_valid":1,"cg_theta_rad":6.08899736,"cg_vd_req_v":-2.21311188,"cg_vd_v":-2.21311188,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31756115,"cg_vq_v":-8.31756115,"cg_vu_v":28.1531239,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-18.0023727,"dclink_p_w":-2605.38721,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1508.643921,"values":{"Elec_RPM":-2354.62061,"EncoderCos":15435,"EncoderSin":19527,"GapTicks":49633,"Mech_RPM":-470.924103,"cg_du":54.8788147,"cg_dv":52.7860489,"cg_dw":45.1211853,"cg_id_a":10.9010983,"cg_id_raw_a":8.5781374,"cg_iq_a":-203.356766,"cg_iq_raw_a":-203.393372,"cg_iu_a":39.5807991,"cg_iv_a":151.967072,"cg_iw_a":-191.547867,"cg_sample_age_us":23.9327278,"cg_sample_seq":8909018,"cg_sample_valid":1,"cg_theta_rad":3.81356454,"cg_vd_req_v":-2.12122774,"cg_vd_v":-2.12122774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3186655,"cg_vq_v":-8.3186655,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-17.7667885,"dclink_p_w":-2571.29224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1508.926621,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1508.926633,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1508.926637,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1509.055338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1509.055345,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1509.055351,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1509.108765,"values":{"Elec_RPM":-2346.06226,"EncoderCos":14171,"EncoderSin":21419,"GapTicks":49391,"Mech_RPM":-469.212463,"cg_du":55.0988541,"cg_dv":48.665638,"cg_dw":44.9011459,"cg_id_a":-11.7709913,"cg_id_raw_a":-10.1631222,"cg_iq_a":-195.363037,"cg_iq_raw_a":-197.497162,"cg_iu_a":156.467163,"cg_iv_a":25.7297821,"cg_iw_a":-182.196945,"cg_sample_age_us":24.0527267,"cg_sample_seq":8911366,"cg_sample_valid":1,"cg_theta_rad":3.69603682,"cg_vd_req_v":-1.64720714,"cg_vd_v":-1.64720714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45869923,"cg_vq_v":-8.45869923,"cg_vu_v":31.6722641,"cg_vv_v":6.59838867,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2385.41431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2611084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1509.440796,"values":{"Elec_RPM":-2351.35913,"EncoderCos":11084,"EncoderSin":31681,"GapTicks":49861,"Mech_RPM":-470.27182,"cg_du":45.3287811,"cg_dv":46.3220444,"cg_dw":54.6712189,"cg_id_a":13.5103521,"cg_id_raw_a":11.4932404,"cg_iq_a":-202.174973,"cg_iq_raw_a":-201.199768,"cg_iu_a":-30.8409691,"cg_iv_a":-161.433365,"cg_iw_a":192.274338,"cg_sample_age_us":23.9363632,"cg_sample_seq":8913166,"cg_sample_valid":1,"cg_theta_rad":3.19534588,"cg_vd_req_v":-2.1525557,"cg_vd_v":-2.1525557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32731819,"cg_vq_v":-8.32731819,"cg_vu_v":6.1584959,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2386.13062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1509.772827,"values":{"Elec_RPM":-2349.22412,"EncoderCos":35331,"EncoderSin":11279,"GapTicks":49572,"Mech_RPM":-469.844849,"cg_du":54.9343681,"cg_dv":45.0656319,"cg_dw":47.3400841,"cg_id_a":12.9937019,"cg_id_raw_a":11.2302647,"cg_iq_a":-203.224945,"cg_iq_raw_a":-202.647736,"cg_iu_a":198.763718,"cg_iv_a":-51.5420685,"cg_iw_a":-147.221649,"cg_sample_age_us":24.0563641,"cg_sample_seq":8914766,"cg_sample_valid":1,"cg_theta_rad":4.84702778,"cg_vd_req_v":-2.21324229,"cg_vd_v":-2.21324229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32055378,"cg_vq_v":-8.32055378,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1510.047479,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1510.047485,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1510.04749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1510.12439,"values":{"Elec_RPM":-2353.64258,"EncoderCos":24778,"EncoderSin":12596,"GapTicks":49360,"Mech_RPM":-470.728516,"cg_du":44.8730125,"cg_dv":50.2914085,"cg_dw":55.1269875,"cg_id_a":-15.9921074,"cg_id_raw_a":-14.9539766,"cg_iq_a":-199.132385,"cg_iq_raw_a":-202.344467,"cg_iu_a":-151.714142,"cg_iv_a":-34.2175293,"cg_iw_a":185.931671,"cg_sample_age_us":23.8381824,"cg_sample_seq":8916566,"cg_sample_valid":1,"cg_theta_rad":4.33890963,"cg_vd_req_v":-1.61509466,"cg_vd_v":-1.61509466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41899014,"cg_vq_v":-8.41899014,"cg_vu_v":101.615181,"cg_vv_v":99.8556061,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2436.14014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1510.460327,"values":{"Elec_RPM":-2358.05225,"EncoderCos":53282,"EncoderSin":26630,"GapTicks":49365,"Mech_RPM":-471.610443,"cg_du":55.1221466,"cg_dv":44.8778534,"cg_dw":50.967495,"cg_id_a":-16.9232101,"cg_id_raw_a":-12.1905098,"cg_iq_a":-194.942963,"cg_iq_raw_a":-195.882401,"cg_iu_a":181.946579,"cg_iv_a":-153.242249,"cg_iw_a":-28.7043228,"cg_sample_age_us":24.0345459,"cg_sample_seq":8918166,"cg_sample_valid":1,"cg_theta_rad":6.01001692,"cg_vd_req_v":-1.60663271,"cg_vd_v":-1.60663271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45933533,"cg_vq_v":-8.45933533,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.5979233,"dclink_p_w":-2402.12866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1510.81189,"values":{"Elec_RPM":-2358.45459,"EncoderCos":53527,"EncoderSin":27473,"GapTicks":49359,"Mech_RPM":-471.690918,"cg_du":55.127903,"cg_dv":44.872097,"cg_dw":49.3060265,"cg_id_a":-11.7983189,"cg_id_raw_a":-17.5271873,"cg_iq_a":-197.492111,"cg_iq_raw_a":-197.037567,"cg_iu_a":193.399628,"cg_iv_a":-132.547028,"cg_iw_a":-60.8526077,"cg_sample_age_us":24.1109085,"cg_sample_seq":8919916,"cg_sample_valid":1,"cg_theta_rad":6.03989553,"cg_vd_req_v":-1.74303079,"cg_vd_v":-1.74303079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41695786,"cg_vq_v":-8.41695786,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5888634,"dclink_p_w":-2400.81763,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1511.038857,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1511.038863,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1511.038868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1511.143921,"values":{"Elec_RPM":-2357.34546,"EncoderCos":53014,"EncoderSin":39428,"GapTicks":49540,"Mech_RPM":-471.469086,"cg_du":45.0365028,"cg_dv":54.9634972,"cg_dw":47.6203918,"cg_id_a":-5.23001003,"cg_id_raw_a":0.356690854,"cg_iq_a":-201.188965,"cg_iq_raw_a":-203.140762,"cg_iu_a":-178.244644,"cg_iv_a":167.116989,"cg_iw_a":11.127655,"cg_sample_age_us":23.5618191,"cg_sample_seq":8921617,"cg_sample_valid":1,"cg_theta_rad":0.328885764,"cg_vd_req_v":-1.86800897,"cg_vd_v":-1.86800897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40139771,"cg_vq_v":-8.40139771,"cg_vu_v":93.2572174,"cg_vv_v":101.175293,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2397.67041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1511.475952,"values":{"Elec_RPM":-2358.95557,"EncoderCos":45878,"EncoderSin":49848,"GapTicks":49970,"Mech_RPM":-471.791138,"cg_du":54.5723953,"cg_dv":45.4276047,"cg_dw":54.1220093,"cg_id_a":11.925621,"cg_id_raw_a":17.1173687,"cg_iq_a":-201.383362,"cg_iq_raw_a":-201.3517,"cg_iu_a":170.167328,"cg_iv_a":-177.126923,"cg_iw_a":6.95960236,"cg_sample_age_us":23.9836369,"cg_sample_seq":8923316,"cg_sample_valid":1,"cg_theta_rad":0.920669854,"cg_vd_req_v":-2.14486766,"cg_vd_v":-2.14486766,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3698616,"cg_vq_v":-8.3698616,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2414.69165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1511.827515,"values":{"Elec_RPM":-2352.74658,"EncoderCos":23251,"EncoderSin":52344,"GapTicks":49420,"Mech_RPM":-470.549316,"cg_du":48.9726677,"cg_dv":44.9277458,"cg_dw":55.0722542,"cg_id_a":-20.8001404,"cg_id_raw_a":-18.3694649,"cg_iq_a":-200.721115,"cg_iq_raw_a":-202.62674,"cg_iu_a":10.9119282,"cg_iv_a":-179.88147,"cg_iw_a":168.969543,"cg_sample_age_us":23.7072735,"cg_sample_seq":8924966,"cg_sample_valid":1,"cg_theta_rad":2.015064,"cg_vd_req_v":-1.47147369,"cg_vd_v":-1.47147369,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38003731,"cg_vq_v":-8.38003731,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4768372,"dclink_p_w":-2521.64136,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1512.063402,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1512.063408,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1512.063412,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1512.163452,"values":{"Elec_RPM":-2356.61816,"EncoderCos":22749,"EncoderSin":52012,"GapTicks":49333,"Mech_RPM":-471.323639,"cg_du":50.0537148,"cg_dv":44.8485298,"cg_dw":55.1514702,"cg_id_a":-15.296566,"cg_id_raw_a":-19.9036541,"cg_iq_a":-197.97937,"cg_iq_raw_a":-197.437576,"cg_iu_a":55.0569153,"cg_iv_a":-191.841949,"cg_iw_a":136.785034,"cg_sample_age_us":23.7145462,"cg_sample_seq":8926717,"cg_sample_valid":1,"cg_theta_rad":2.05058646,"cg_vd_req_v":-1.61539137,"cg_vd_v":-1.61539137,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45605087,"cg_vq_v":-8.45605087,"cg_vu_v":105.574219,"cg_vv_v":87.098732,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1512.491577,"values":{"Elec_RPM":-2351.65308,"EncoderCos":13656,"EncoderSin":43018,"GapTicks":49339,"Mech_RPM":-470.330627,"cg_du":51.3076439,"cg_dv":55.145504,"cg_dw":44.854496,"cg_id_a":-7.81275892,"cg_id_raw_a":-6.96191359,"cg_iq_a":-193.913956,"cg_iq_raw_a":-195.519089,"cg_iu_a":-31.0946751,"cg_iv_a":181.288345,"cg_iw_a":-150.193665,"cg_sample_age_us":23.7872734,"cg_sample_seq":8928416,"cg_sample_valid":1,"cg_theta_rad":2.65075254,"cg_vd_req_v":-1.70924854,"cg_vd_v":-1.70924854,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52116489,"cg_vq_v":-8.52116489,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1512.847046,"values":{"Elec_RPM":-2350.55298,"EncoderCos":11108,"EncoderSin":31345,"GapTicks":50097,"Mech_RPM":-470.110596,"cg_du":45.5431404,"cg_dv":45.6904755,"cg_dw":54.4568596,"cg_id_a":11.539711,"cg_id_raw_a":14.6364441,"cg_iq_a":-204.255966,"cg_iq_raw_a":-200.950623,"cg_iu_a":-17.9744072,"cg_iv_a":-167.88475,"cg_iw_a":185.859161,"cg_sample_age_us":23.9581814,"cg_sample_seq":8930117,"cg_sample_valid":1,"cg_theta_rad":3.21295142,"cg_vd_req_v":-2.09703493,"cg_vd_v":-2.09703493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26826096,"cg_vq_v":-8.26826096,"cg_vu_v":144.28476,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-18.1274147,"dclink_p_w":-2623.48389,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2986145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1513.023266,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1513.023271,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1513.023276,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1513.179077,"values":{"Elec_RPM":-2356.30688,"EncoderCos":15257,"EncoderSin":19802,"GapTicks":49521,"Mech_RPM":-471.261383,"cg_du":54.9804115,"cg_dv":52.1682434,"cg_dw":45.0195885,"cg_id_a":8.56363392,"cg_id_raw_a":6.00125074,"cg_iq_a":-204.377579,"cg_iq_raw_a":-203.082687,"cg_iu_a":57.9564247,"cg_iv_a":143.014832,"cg_iw_a":-200.68132,"cg_sample_age_us":23.9690914,"cg_sample_seq":8931817,"cg_sample_valid":1,"cg_theta_rad":3.79534578,"cg_vd_req_v":-2.08602381,"cg_vd_v":-2.08602381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2975502,"cg_vq_v":-8.2975502,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":26.3935547,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1513.53064,"values":{"Elec_RPM":-2350.32446,"EncoderCos":24448,"EncoderSin":12729,"GapTicks":49392,"Mech_RPM":-470.064911,"cg_du":44.9022598,"cg_dv":51.0413551,"cg_dw":55.0977402,"cg_id_a":-14.4612389,"cg_id_raw_a":-12.5960093,"cg_iq_a":-199.247589,"cg_iq_raw_a":-200.72023,"cg_iu_a":-116.122711,"cg_iv_a":-64.5898514,"cg_iw_a":191.150787,"cg_sample_age_us":23.8381824,"cg_sample_seq":8933520,"cg_sample_valid":1,"cg_theta_rad":4.37167072,"cg_vd_req_v":-1.63239157,"cg_vd_v":-1.63239157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42131138,"cg_vq_v":-8.42131138,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1513.862671,"values":{"Elec_RPM":-2348.26172,"EncoderCos":37658,"EncoderSin":11637,"GapTicks":49391,"Mech_RPM":-469.652344,"cg_du":55.0989037,"cg_dv":48.9022331,"cg_dw":44.9010963,"cg_id_a":-16.7158337,"cg_id_raw_a":-13.7245703,"cg_iq_a":-195.59877,"cg_iq_raw_a":-197.01329,"cg_iu_a":158.06189,"cg_iv_a":23.4464264,"cg_iw_a":-181.508316,"cg_sample_age_us":24.0418186,"cg_sample_seq":8935216,"cg_sample_valid":1,"cg_theta_rad":4.95566797,"cg_vd_req_v":-1.57722998,"cg_vd_v":-1.57722998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44043636,"cg_vq_v":-8.44043636,"cg_vu_v":25.953661,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2862263,"dclink_p_w":-2349.85425,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1514.051059,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1514.051065,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1514.05107,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1514.194702,"values":{"Elec_RPM":-2343.40381,"EncoderCos":53609,"EncoderSin":27976,"GapTicks":49383,"Mech_RPM":-468.680786,"cg_du":55.1061516,"cg_dv":44.8938484,"cg_dw":48.4737282,"cg_id_a":-1.87997437,"cg_id_raw_a":-7.08090639,"cg_iq_a":-199.002838,"cg_iq_raw_a":-197.753067,"cg_iu_a":200.430939,"cg_iv_a":-91.0840912,"cg_iw_a":-109.346848,"cg_sample_age_us":24.0490913,"cg_sample_seq":8936866,"cg_sample_valid":1,"cg_theta_rad":6.07418108,"cg_vd_req_v":-1.96375215,"cg_vd_v":-1.96375215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40657139,"cg_vq_v":-8.40657139,"cg_vu_v":142.965088,"cg_vv_v":127.568848,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2448.95215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1514.550171,"values":{"Elec_RPM":-2348.70703,"EncoderCos":53792,"EncoderSin":28573,"GapTicks":49521,"Mech_RPM":-469.741394,"cg_du":54.9805984,"cg_dv":45.0194016,"cg_dw":47.5288544,"cg_id_a":13.648489,"cg_id_raw_a":7.75350618,"cg_iq_a":-202.399384,"cg_iq_raw_a":-200.892105,"cg_iu_a":197.458939,"cg_iv_a":-55.7463531,"cg_iw_a":-141.712585,"cg_sample_age_us":24.1727276,"cg_sample_seq":8938617,"cg_sample_valid":1,"cg_theta_rad":6.09979153,"cg_vd_req_v":-2.26835823,"cg_vd_v":-2.26835823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35558414,"cg_vq_v":-8.35558414,"cg_vu_v":105.574219,"cg_vv_v":78.3008804,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2500.47974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1514.878296,"values":{"Elec_RPM":-2351.09644,"EncoderCos":45615,"EncoderSin":50030,"GapTicks":49751,"Mech_RPM":-470.219269,"cg_du":54.7713127,"cg_dv":45.2286873,"cg_dw":53.3869514,"cg_id_a":4.72336864,"cg_id_raw_a":10.5268383,"cg_iq_a":-200.826889,"cg_iq_raw_a":-201.960831,"cg_iu_a":171.218414,"cg_iv_a":-176.655762,"cg_iw_a":5.36487579,"cg_sample_age_us":23.9872723,"cg_sample_seq":8940267,"cg_sample_valid":1,"cg_theta_rad":0.932080686,"cg_vd_req_v":-1.99098051,"cg_vd_v":-1.99098051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3570919,"cg_vq_v":-8.3570919,"cg_vu_v":106.893898,"cg_vv_v":95.4566803,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2444.61621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1515.042989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1515.042994,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1515.042998,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1515.214233,"values":{"Elec_RPM":-2350.3147,"EncoderCos":44761,"EncoderSin":50662,"GapTicks":49355,"Mech_RPM":-470.062958,"cg_du":55.1314392,"cg_dv":44.8685608,"cg_dw":50.8657761,"cg_id_a":-15.952919,"cg_id_raw_a":-13.3639021,"cg_iq_a":-195.455521,"cg_iq_raw_a":-196.226334,"cg_iu_a":183.251343,"cg_iv_a":-151.466309,"cg_iw_a":-31.7850418,"cg_sample_age_us":23.954546,"cg_sample_seq":8942016,"cg_sample_valid":1,"cg_theta_rad":0.983453035,"cg_vd_req_v":-1.60196614,"cg_vd_v":-1.60196614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46568871,"cg_vq_v":-8.46568871,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2553.98242,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1515.565796,"values":{"Elec_RPM":-2350.97095,"EncoderCos":33330,"EncoderSin":54317,"GapTicks":50020,"Mech_RPM":-470.194183,"cg_du":45.4728508,"cg_dv":54.5271492,"cg_dw":45.8526459,"cg_id_a":9.91448402,"cg_id_raw_a":12.3877163,"cg_iq_a":-205.417419,"cg_iq_raw_a":-207.383636,"cg_iu_a":-171.756989,"cg_iv_a":181.940704,"cg_iw_a":-10.1837234,"cg_sample_age_us":23.9436359,"cg_sample_seq":8943717,"cg_sample_valid":1,"cg_theta_rad":1.54769921,"cg_vd_req_v":-2.0780406,"cg_vd_v":-2.0780406,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30242538,"cg_vq_v":-8.30242538,"cg_vu_v":103.814644,"cg_vv_v":105.134323,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2575378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1515.897827,"values":{"Elec_RPM":-2352.39624,"EncoderCos":21243,"EncoderSin":51127,"GapTicks":49663,"Mech_RPM":-470.479248,"cg_du":53.0794144,"cg_dv":45.148407,"cg_dw":54.851593,"cg_id_a":10.0896492,"cg_id_raw_a":9.91034031,"cg_iq_a":-199.872665,"cg_iq_raw_a":-198.737274,"cg_iu_a":147.224976,"cg_iv_a":-191.69696,"cg_iw_a":44.4719772,"cg_sample_age_us":23.6127281,"cg_sample_seq":8945416,"cg_sample_valid":1,"cg_theta_rad":2.13373041,"cg_vd_req_v":-2.11730027,"cg_vd_v":-2.11730027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39838791,"cg_vq_v":-8.39838791,"cg_vu_v":39.590332,"cg_vv_v":39.1504402,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1516.035662,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1516.035667,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1516.035673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1516.229858,"values":{"Elec_RPM":-2352.58521,"EncoderCos":11157,"EncoderSin":30643,"GapTicks":49744,"Mech_RPM":-470.517029,"cg_du":46.9851685,"cg_dv":45.2224236,"cg_dw":54.7775764,"cg_id_a":0.186797142,"cg_id_raw_a":4.75545979,"cg_iq_a":-206.014435,"cg_iq_raw_a":-207.723618,"cg_iu_a":-2.38955951,"cg_iv_a":-176.547058,"cg_iw_a":178.936615,"cg_sample_age_us":23.9654541,"cg_sample_seq":8947066,"cg_sample_valid":1,"cg_theta_rad":3.24317622,"cg_vd_req_v":-1.86975098,"cg_vd_v":-1.86975098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26261902,"cg_vq_v":-8.26261902,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2436.14014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1516.581421,"values":{"Elec_RPM":-2349.59229,"EncoderCos":11261,"EncoderSin":29835,"GapTicks":49403,"Mech_RPM":-469.918457,"cg_du":48.9786873,"cg_dv":44.9127121,"cg_dw":55.0872879,"cg_id_a":-19.10326,"cg_id_raw_a":-17.4731064,"cg_iq_a":-200.526367,"cg_iq_raw_a":-203.474457,"cg_iu_a":23.2710743,"cg_iv_a":-183.578339,"cg_iw_a":160.307266,"cg_sample_age_us":23.8999996,"cg_sample_seq":8948816,"cg_sample_valid":1,"cg_theta_rad":3.28047299,"cg_vd_req_v":-1.50347352,"cg_vd_v":-1.50347352,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39895058,"cg_vq_v":-8.39895058,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2513.0127,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2807617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1516.917358,"values":{"Elec_RPM":-2355.92065,"EncoderCos":16177,"EncoderSin":18558,"GapTicks":49836,"Mech_RPM":-471.184113,"cg_du":53.7377625,"cg_dv":54.693924,"cg_dw":45.306076,"cg_id_a":5.99509716,"cg_id_raw_a":9.17176151,"cg_iq_a":-200.352234,"cg_iq_raw_a":-201.285355,"cg_iu_a":7.1788125,"cg_iv_a":166.609573,"cg_iw_a":-173.788391,"cg_sample_age_us":23.9472733,"cg_sample_seq":8950517,"cg_sample_valid":1,"cg_theta_rad":3.85531044,"cg_vd_req_v":-1.99788392,"cg_vd_v":-1.99788392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39911842,"cg_vq_v":-8.39911842,"cg_vu_v":109.093361,"cg_vv_v":114.37207,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2493.34839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2986145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1517.059384,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1517.059389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1517.059394,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1517.268921,"values":{"Elec_RPM":-2356.64844,"EncoderCos":26800,"EncoderSin":11951,"GapTicks":49755,"Mech_RPM":-471.329712,"cg_du":45.2322845,"cg_dv":46.6037521,"cg_dw":54.7677155,"cg_id_a":14.5973377,"cg_id_raw_a":12.8025303,"cg_iq_a":-201.463791,"cg_iq_raw_a":-200.993408,"cg_iu_a":-26.8903923,"cg_iv_a":-161.759567,"cg_iw_a":188.649963,"cg_sample_age_us":23.9618187,"cg_sample_seq":8952216,"cg_sample_valid":1,"cg_theta_rad":4.45697308,"cg_vd_req_v":-2.21932411,"cg_vd_v":-2.21932411,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32424831,"cg_vq_v":-8.32424831,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":118.3311,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1517.600952,"values":{"Elec_RPM":-2357.13354,"EncoderCos":38663,"EncoderSin":11977,"GapTicks":49378,"Mech_RPM":-471.426727,"cg_du":55.110405,"cg_dv":50.8517647,"cg_dw":44.889595,"cg_id_a":-8.35547638,"cg_id_raw_a":-12.9441595,"cg_iq_a":-199.963547,"cg_iq_raw_a":-197.660294,"cg_iu_a":115.982803,"cg_iv_a":84.0461121,"cg_iw_a":-200.028915,"cg_sample_age_us":23.9509087,"cg_sample_seq":8953917,"cg_sample_valid":1,"cg_theta_rad":5.0044179,"cg_vd_req_v":-1.78767955,"cg_vd_v":-1.78767955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36466026,"cg_vq_v":-8.36466026,"cg_vu_v":137.686371,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1517.932983,"values":{"Elec_RPM":-2355.96899,"EncoderCos":49024,"EncoderSin":18715,"GapTicks":49374,"Mech_RPM":-471.193817,"cg_du":44.8863525,"cg_dv":51.2152557,"cg_dw":55.1136475,"cg_id_a":-9.48084164,"cg_id_raw_a":-9.55130959,"cg_iq_a":-200.230652,"cg_iq_raw_a":-199.301422,"cg_iu_a":-151.750397,"cg_iv_a":-34.9061584,"cg_iw_a":186.656555,"cg_sample_age_us":23.9109097,"cg_sample_seq":8955617,"cg_sample_valid":1,"cg_theta_rad":5.58828497,"cg_vd_req_v":-1.80953801,"cg_vd_v":-1.80953801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40690804,"cg_vq_v":-8.40690804,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-15.9147282,"dclink_p_w":-2303.25366,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1518.051322,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1518.051328,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1518.051332,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1518.370483,"values":{"Elec_RPM":-2357.61084,"EncoderCos":16759,"EncoderSin":47336,"GapTicks":49660,"Mech_RPM":-471.522156,"cg_du":54.8544312,"cg_dv":46.8892822,"cg_dw":45.1455688,"cg_id_a":0.399508834,"cg_id_raw_a":5.13369989,"cg_iq_a":-197.679092,"cg_iq_raw_a":-198.4534,"cg_iu_a":169.514954,"cg_iv_a":-0.728210449,"cg_iw_a":-168.786743,"cg_sample_age_us":23.8454552,"cg_sample_seq":8957667,"cg_sample_valid":1,"cg_theta_rad":2.40667534,"cg_vd_req_v":-1.88983858,"cg_vd_v":-1.88983858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44083405,"cg_vq_v":-8.44083405,"cg_vu_v":18.0355949,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1518.890015,"values":{"Elec_RPM":-2347.80273,"EncoderCos":53971,"EncoderSin":35423,"GapTicks":49402,"Mech_RPM":-469.560547,"cg_du":51.4406166,"cg_dv":55.0888824,"cg_dw":44.9111176,"cg_id_a":-11.2922688,"cg_id_raw_a":-10.2796211,"cg_iq_a":-196.701538,"cg_iq_raw_a":-197.723297,"cg_iu_a":-25.223175,"cg_iv_a":181.505798,"cg_iw_a":-156.282623,"cg_sample_age_us":23.5181828,"cg_sample_seq":8960216,"cg_sample_valid":1,"cg_theta_rad":0.134847119,"cg_vd_req_v":-1.73427916,"cg_vd_v":-1.73427916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44073296,"cg_vq_v":-8.44073296,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2486.05493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1518.914914,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1518.914925,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1518.914928,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1519.043696,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1519.043702,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1519.043707,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1519.261108,"values":{"Elec_RPM":-2348.77563,"EncoderCos":23977,"EncoderSin":12894,"GapTicks":49517,"Mech_RPM":-469.755127,"cg_du":45.0162125,"cg_dv":52.1937447,"cg_dw":54.9837875,"cg_id_a":-6.8523407,"cg_id_raw_a":-0.57841152,"cg_iq_a":-199.600189,"cg_iq_raw_a":-201.405426,"cg_iu_a":-167.588959,"cg_iv_a":-12.1812744,"cg_iw_a":179.770233,"cg_sample_age_us":23.9363632,"cg_sample_seq":8962166,"cg_sample_valid":1,"cg_theta_rad":4.30591679,"cg_vd_req_v":-1.76840317,"cg_vd_v":-1.76840317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40940666,"cg_vq_v":-8.40940666,"cg_vu_v":14.9563465,"cg_vv_v":16.7159176,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2470.58105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1519.612671,"values":{"Elec_RPM":-2352.52539,"EncoderCos":15585,"EncoderSin":19342,"GapTicks":49734,"Mech_RPM":-470.505096,"cg_du":54.7872086,"cg_dv":53.2301636,"cg_dw":45.2127914,"cg_id_a":11.9354038,"cg_id_raw_a":11.276824,"cg_iq_a":-204.424759,"cg_iq_raw_a":-204.980499,"cg_iu_a":43.1326981,"cg_iv_a":144.174622,"cg_iw_a":-196.911942,"cg_sample_age_us":23.9872723,"cg_sample_seq":8963966,"cg_sample_valid":1,"cg_theta_rad":3.81146121,"cg_vd_req_v":-2.13865232,"cg_vd_v":-2.13865232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31506634,"cg_vq_v":-8.31506634,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2523.55933,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1519.944702,"values":{"Elec_RPM":-2355.87256,"EncoderCos":47158,"EncoderSin":16786,"GapTicks":49469,"Mech_RPM":-471.1745,"cg_du":44.972641,"cg_dv":55.027359,"cg_dw":52.2349625,"cg_id_a":5.66362572,"cg_id_raw_a":3.55429244,"cg_iq_a":-198.796188,"cg_iq_raw_a":-199.180801,"cg_iu_a":-197.018951,"cg_iv_a":81.5090561,"cg_iw_a":115.509895,"cg_sample_age_us":23.8309097,"cg_sample_seq":8965566,"cg_sample_valid":1,"cg_theta_rad":5.45483494,"cg_vd_req_v":-2.13305092,"cg_vd_v":-2.13305092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40734959,"cg_vq_v":-8.40734959,"cg_vu_v":99.4157181,"cg_vv_v":102.93486,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1520.06695,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1520.066956,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1520.066962,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1520.296265,"values":{"Elec_RPM":-2355.87378,"EncoderCos":37770,"EncoderSin":11706,"GapTicks":49372,"Mech_RPM":-471.174774,"cg_du":55.1161575,"cg_dv":49.1459503,"cg_dw":44.8838425,"cg_id_a":-16.7844429,"cg_id_raw_a":-18.352663,"cg_iq_a":-197.145721,"cg_iq_raw_a":-198.989761,"cg_iu_a":153.785126,"cg_iv_a":33.232254,"cg_iw_a":-187.01738,"cg_sample_age_us":23.9872723,"cg_sample_seq":8967366,"cg_sample_valid":1,"cg_theta_rad":4.96581411,"cg_vd_req_v":-1.58270073,"cg_vd_v":-1.58270073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41577435,"cg_vq_v":-8.41577435,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2526.70654,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1520.632202,"values":{"Elec_RPM":-2359.60229,"EncoderCos":48226,"EncoderSin":17805,"GapTicks":49880,"Mech_RPM":-471.920471,"cg_du":45.3461418,"cg_dv":53.9575119,"cg_dw":54.6538582,"cg_id_a":7.17932129,"cg_id_raw_a":10.8501511,"cg_iq_a":-201.840759,"cg_iq_raw_a":-201.844879,"cg_iu_a":-178.135895,"cg_iv_a":9.23883057,"cg_iw_a":168.897064,"cg_sample_age_us":23.9581814,"cg_sample_seq":8969067,"cg_sample_valid":1,"cg_theta_rad":5.52934551,"cg_vd_req_v":-2.14778304,"cg_vd_v":-2.14778304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3663826,"cg_vq_v":-8.3663826,"cg_vu_v":99.8556061,"cg_vv_v":101.175293,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2417.60278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1520.960327,"values":{"Elec_RPM":-2357.09863,"EncoderCos":53832,"EncoderSin":29113,"GapTicks":49791,"Mech_RPM":-471.419739,"cg_du":54.7346344,"cg_dv":45.2653656,"cg_dw":46.5332565,"cg_id_a":16.3719711,"cg_id_raw_a":19.9863853,"cg_iq_a":-203.212723,"cg_iq_raw_a":-203.900482,"cg_iu_a":190.608856,"cg_iv_a":-30.3394165,"cg_iw_a":-160.26944,"cg_sample_age_us":24.1618176,"cg_sample_seq":8970766,"cg_sample_valid":1,"cg_theta_rad":6.12623262,"cg_vd_req_v":-2.28545094,"cg_vd_v":-2.28545094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30764866,"cg_vq_v":-8.30764866,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1521.058611,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1521.058616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1521.058621,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1521.315796,"values":{"Elec_RPM":-2359.55225,"EncoderCos":52426,"EncoderSin":41112,"GapTicks":49354,"Mech_RPM":-471.910461,"cg_du":44.8676987,"cg_dv":55.1323013,"cg_dw":51.2472992,"cg_id_a":-4.08741999,"cg_id_raw_a":-6.94567537,"cg_iq_a":-197.213074,"cg_iq_raw_a":-196.35025,"cg_iu_a":-196.439056,"cg_iv_a":101.044479,"cg_iw_a":95.394577,"cg_sample_age_us":23.4381809,"cg_sample_seq":8972467,"cg_sample_valid":1,"cg_theta_rad":0.412022769,"cg_vd_req_v":-1.9078548,"cg_vd_v":-1.9078548,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42105579,"cg_vq_v":-8.42105579,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3075256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1521.647827,"values":{"Elec_RPM":-2352.71997,"EncoderCos":44768,"EncoderSin":50610,"GapTicks":49332,"Mech_RPM":-470.544006,"cg_du":55.1524048,"cg_dv":44.8475952,"cg_dw":50.9430695,"cg_id_a":-15.7222624,"cg_id_raw_a":-14.8528652,"cg_iq_a":-196.46228,"cg_iq_raw_a":-196.943771,"cg_iu_a":182.925171,"cg_iv_a":-155.018219,"cg_iw_a":-27.9069595,"cg_sample_age_us":23.9436359,"cg_sample_seq":8974167,"cg_sample_valid":1,"cg_theta_rad":0.981517792,"cg_vd_req_v":-1.60535538,"cg_vd_v":-1.60535538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48140144,"cg_vq_v":-8.48140144,"cg_vu_v":106.014107,"cg_vv_v":81.380127,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-17.1234608,"dclink_p_w":-2478.18701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1521.979858,"values":{"Elec_RPM":-2353.81055,"EncoderCos":32768,"EncoderSin":54355,"GapTicks":49655,"Mech_RPM":-470.762085,"cg_du":45.1413078,"cg_dv":54.8586922,"cg_dw":47.0824623,"cg_id_a":1.75151312,"cg_id_raw_a":7.87713766,"cg_iq_a":-201.119324,"cg_iq_raw_a":-202.195313,"cg_iu_a":-175.018936,"cg_iv_a":170.632645,"cg_iw_a":4.3862915,"cg_sample_age_us":23.8527279,"cg_sample_seq":8975866,"cg_sample_valid":1,"cg_theta_rad":1.57081616,"cg_vd_req_v":-1.89720345,"cg_vd_v":-1.89720345,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3816061,"cg_vq_v":-8.3816061,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.7251072,"dclink_p_w":-2573.05713,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1522.051077,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1522.051083,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1522.051088,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1522.331421,"values":{"Elec_RPM":-2353.15601,"EncoderCos":11111,"EncoderSin":31205,"GapTicks":50074,"Mech_RPM":-470.631195,"cg_du":45.728363,"cg_dv":45.5225525,"cg_dw":54.4774475,"cg_id_a":10.3550816,"cg_id_raw_a":11.5045033,"cg_iq_a":-205.398605,"cg_iq_raw_a":-204.469162,"cg_iu_a":-15.8722649,"cg_iv_a":-171.037979,"cg_iw_a":186.910248,"cg_sample_age_us":23.9618187,"cg_sample_seq":8977466,"cg_sample_valid":1,"cg_theta_rad":3.21645975,"cg_vd_req_v":-2.08136415,"cg_vd_v":-2.08136415,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28496552,"cg_vq_v":-8.28496552,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.3152218,"dclink_p_w":-2361.21484,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1522.663452,"values":{"Elec_RPM":-2352.41602,"EncoderCos":12930,"EncoderSin":41580,"GapTicks":49442,"Mech_RPM":-470.483185,"cg_du":48.2827072,"cg_dv":55.0522957,"cg_dw":44.9477043,"cg_id_a":3.36745501,"cg_id_raw_a":-0.749925554,"cg_iq_a":-201.856995,"cg_iq_raw_a":-200.812027,"cg_iu_a":-130.004089,"cg_iv_a":201.476135,"cg_iw_a":-83.1788025,"cg_sample_age_us":23.9690914,"cg_sample_seq":8979266,"cg_sample_valid":1,"cg_theta_rad":2.73551679,"cg_vd_req_v":-1.96324587,"cg_vd_v":-1.96324587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3502779,"cg_vq_v":-8.3502779,"cg_vu_v":119.210884,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2486.604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1522.995483,"values":{"Elec_RPM":-2355.48804,"EncoderCos":25442,"EncoderSin":12388,"GapTicks":49396,"Mech_RPM":-471.097626,"cg_du":44.9056625,"cg_dv":48.9635201,"cg_dw":55.0943375,"cg_id_a":-11.3227253,"cg_id_raw_a":-18.9436016,"cg_iq_a":-196.735703,"cg_iq_raw_a":-197.306091,"cg_iu_a":-115.579056,"cg_iv_a":-81.0445404,"cg_iw_a":196.623596,"cg_sample_age_us":23.9327278,"cg_sample_seq":8980866,"cg_sample_valid":1,"cg_theta_rad":4.37605429,"cg_vd_req_v":-1.72073627,"cg_vd_v":-1.72073627,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42397594,"cg_vq_v":-8.42397594,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4496536,"dclink_p_w":-2517.71899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1523.04267,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1523.042676,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1523.042682,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1523.350952,"values":{"Elec_RPM":-2358.82568,"EncoderCos":16366,"EncoderSin":18376,"GapTicks":49707,"Mech_RPM":-471.765137,"cg_du":53.0847282,"cg_dv":54.8115807,"cg_dw":45.1884193,"cg_id_a":-0.752516389,"cg_id_raw_a":3.86215091,"cg_iq_a":-199.84729,"cg_iq_raw_a":-200.599854,"cg_iu_a":4.46052504,"cg_iv_a":169.4366,"cg_iw_a":-173.897125,"cg_sample_age_us":23.9981823,"cg_sample_seq":8982667,"cg_sample_valid":1,"cg_theta_rad":3.86767173,"cg_vd_req_v":-1.84881508,"cg_vd_v":-1.84881508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37224483,"cg_vq_v":-8.37224483,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1523.682983,"values":{"Elec_RPM":-2361.72168,"EncoderCos":48207,"EncoderSin":17803,"GapTicks":49892,"Mech_RPM":-472.34436,"cg_du":45.3569336,"cg_dv":53.8990135,"cg_dw":54.6430664,"cg_id_a":4.00150776,"cg_id_raw_a":7.54608679,"cg_iq_a":-201.871552,"cg_iq_raw_a":-202.077179,"cg_iu_a":-180.817963,"cg_iv_a":9.74627686,"cg_iw_a":171.071686,"cg_sample_age_us":23.8199997,"cg_sample_seq":8984266,"cg_sample_valid":1,"cg_theta_rad":5.53094292,"cg_vd_req_v":-2.07379961,"cg_vd_v":-2.07379961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36996651,"cg_vq_v":-8.36996651,"cg_vu_v":125.369385,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2477.66211,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2789612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1524.034546,"values":{"Elec_RPM":-2354.53955,"EncoderCos":39219,"EncoderSin":12045,"GapTicks":49480,"Mech_RPM":-470.907928,"cg_du":55.0178375,"cg_dv":51.7961159,"cg_dw":44.9821625,"cg_id_a":-0.244411111,"cg_id_raw_a":-3.89828873,"cg_iq_a":-204.045609,"cg_iq_raw_a":-204.548218,"cg_iu_a":89.4160767,"cg_iv_a":114.925858,"cg_iw_a":-204.341934,"cg_sample_age_us":23.9763641,"cg_sample_seq":8986066,"cg_sample_valid":1,"cg_theta_rad":5.03018856,"cg_vd_req_v":-1.95157218,"cg_vd_v":-1.95157218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31058598,"cg_vq_v":-8.31058598,"cg_vu_v":26.8334465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1524.034845,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1524.034851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1524.034855,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1524.366577,"values":{"Elec_RPM":-2351.73804,"EncoderCos":52464,"EncoderSin":41006,"GapTicks":49357,"Mech_RPM":-470.347595,"cg_du":44.8702126,"cg_dv":55.1297874,"cg_dw":51.0184402,"cg_id_a":-4.61601543,"cg_id_raw_a":-3.99554253,"cg_iq_a":-198.036987,"cg_iq_raw_a":-198.195374,"cg_iu_a":-196.584015,"cg_iv_a":117.064247,"cg_iw_a":79.5197678,"cg_sample_age_us":23.4345455,"cg_sample_seq":8987666,"cg_sample_valid":1,"cg_theta_rad":0.395927101,"cg_vd_req_v":-1.90231669,"cg_vd_v":-1.90231669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41640091,"cg_vq_v":-8.41640091,"cg_vu_v":102.93486,"cg_vv_v":105.134323,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1524.698608,"values":{"Elec_RPM":-2355.67334,"EncoderCos":53946,"EncoderSin":30016,"GapTicks":49808,"Mech_RPM":-471.134674,"cg_du":54.7191925,"cg_dv":46.4968071,"cg_dw":45.2808075,"cg_id_a":3.53468537,"cg_id_raw_a":10.1027012,"cg_iq_a":-202.694473,"cg_iq_raw_a":-207.041519,"cg_iu_a":171.979523,"cg_iv_a":-0.691955566,"cg_iw_a":-171.287567,"cg_sample_age_us":24.1436367,"cg_sample_seq":8989468,"cg_sample_valid":1,"cg_theta_rad":6.1800828,"cg_vd_req_v":-2.00902176,"cg_vd_v":-2.00902176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31485367,"cg_vq_v":-8.31485367,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.3840847,"dclink_p_w":-2363.97363,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1525.050171,"values":{"Elec_RPM":-2354.16064,"EncoderCos":33968,"EncoderSin":54300,"GapTicks":49800,"Mech_RPM":-470.832123,"cg_du":46.5242767,"cg_dv":54.72686,"cg_dw":45.27314,"cg_id_a":14.5900402,"cg_id_raw_a":16.6929016,"cg_iq_a":-204.198868,"cg_iq_raw_a":-203.425766,"cg_iu_a":-172.880554,"cg_iv_a":174.655701,"cg_iw_a":-1.77515411,"cg_sample_age_us":23.7981815,"cg_sample_seq":8991070,"cg_sample_valid":1,"cg_theta_rad":1.55760324,"cg_vd_req_v":-2.17862153,"cg_vd_v":-2.17862153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30044174,"cg_vq_v":-8.30044174,"cg_vu_v":18.0355949,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2402.85352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1525.059442,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1525.059448,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1525.059454,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1525.386108,"values":{"Elec_RPM":-2354.06836,"EncoderCos":43244,"EncoderSin":51511,"GapTicks":49460,"Mech_RPM":-470.81366,"cg_du":55.0361633,"cg_dv":44.9638367,"cg_dw":47.8930435,"cg_id_a":11.9697027,"cg_id_raw_a":6.48862553,"cg_iq_a":-198.963959,"cg_iq_raw_a":-198.077896,"cg_iu_a":198.111328,"cg_iv_a":-78.2175293,"cg_iw_a":-118.878967,"cg_sample_age_us":23.9472733,"cg_sample_seq":8992866,"cg_sample_valid":1,"cg_theta_rad":1.05979013,"cg_vd_req_v":-2.18348527,"cg_vd_v":-2.18348527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40549088,"cg_vq_v":-8.40549088,"cg_vu_v":42.2296829,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-17.8791428,"dclink_p_w":-2595.41772,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1525.714233,"values":{"Elec_RPM":-2353.4458,"EncoderCos":31317,"EncoderSin":54265,"GapTicks":49348,"Mech_RPM":-470.689178,"cg_du":44.8626671,"cg_dv":55.1373329,"cg_dw":50.2175674,"cg_id_a":-8.53547668,"cg_id_raw_a":-10.5570393,"cg_iq_a":-197.413986,"cg_iq_raw_a":-196.999878,"cg_iu_a":-195.750412,"cg_iv_a":126.632614,"cg_iw_a":69.1177979,"cg_sample_age_us":23.772728,"cg_sample_seq":8994566,"cg_sample_valid":1,"cg_theta_rad":1.64192224,"cg_vd_req_v":-1.71353555,"cg_vd_v":-1.71353555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41506004,"cg_vq_v":-8.41506004,"cg_vu_v":37.830761,"cg_vv_v":44.4291458,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2379.92358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1526.050815,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1526.050821,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1526.050827,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1526.069702,"values":{"Elec_RPM":-2355.66138,"EncoderCos":11236,"EncoderSin":30009,"GapTicks":49455,"Mech_RPM":-471.132263,"cg_du":48.5850983,"cg_dv":44.9597473,"cg_dw":55.0402527,"cg_id_a":-16.4029541,"cg_id_raw_a":-12.2693119,"cg_iq_a":-200.44516,"cg_iq_raw_a":-200.934601,"cg_iu_a":16.2760143,"cg_iv_a":-181.222504,"cg_iw_a":164.946487,"cg_sample_age_us":23.8927269,"cg_sample_seq":8996167,"cg_sample_valid":1,"cg_theta_rad":3.27394438,"cg_vd_req_v":-1.54067874,"cg_vd_v":-1.54067874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39261627,"cg_vq_v":-8.39261627,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2452.48462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1526.401733,"values":{"Elec_RPM":-2353.0249,"EncoderCos":12376,"EncoderSin":40244,"GapTicks":50068,"Mech_RPM":-470.60498,"cg_du":45.6702576,"cg_dv":54.482769,"cg_dw":45.517231,"cg_id_a":13.2686472,"cg_id_raw_a":15.3205566,"cg_iq_a":-205.165405,"cg_iq_raw_a":-206.401688,"cg_iu_a":-168.096375,"cg_iv_a":183.209259,"cg_iw_a":-15.1128845,"cg_sample_age_us":23.9836369,"cg_sample_seq":8997966,"cg_sample_valid":1,"cg_theta_rad":2.79307842,"cg_vd_req_v":-2.1221931,"cg_vd_v":-2.1221931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31067848,"cg_vq_v":-8.31067848,"cg_vu_v":1.75957024,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.9353218,"dclink_p_w":-2587.7937,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1526.733765,"values":{"Elec_RPM":-2355.82178,"EncoderCos":26414,"EncoderSin":12053,"GapTicks":49546,"Mech_RPM":-471.164337,"cg_du":45.0422554,"cg_dv":47.3175125,"cg_dw":54.9577446,"cg_id_a":11.8203354,"cg_id_raw_a":9.90535831,"cg_iq_a":-200.230942,"cg_iq_raw_a":-197.597092,"cg_iu_a":-50.8113213,"cg_iv_a":-143.492661,"cg_iw_a":194.303986,"cg_sample_age_us":23.9618187,"cg_sample_seq":8999567,"cg_sample_valid":1,"cg_theta_rad":4.42934561,"cg_vd_req_v":-2.1830337,"cg_vd_v":-2.1830337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37364101,"cg_vq_v":-8.37364101,"cg_vu_v":130.648087,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2382.01538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1527.043411,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1527.043418,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1527.043423,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1527.089233,"values":{"Elec_RPM":-2357.62598,"EncoderCos":17436,"EncoderSin":17197,"GapTicks":49361,"Mech_RPM":-471.525208,"cg_du":49.6014557,"cg_dv":55.1256676,"cg_dw":44.8743324,"cg_id_a":-16.4331837,"cg_id_raw_a":-18.8027554,"cg_iq_a":-199.039856,"cg_iq_raw_a":-197.277618,"cg_iu_a":-61.1770554,"cg_iv_a":195.858337,"cg_iw_a":-134.68129,"cg_sample_age_us":23.9654541,"cg_sample_seq":9001366,"cg_sample_valid":1,"cg_theta_rad":3.94095755,"cg_vd_req_v":-1.57722521,"cg_vd_v":-1.57722521,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4014864,"cg_vq_v":-8.4014864,"cg_vu_v":38.7105446,"cg_vv_v":56.3062477,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2433.33887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1527.417358,"values":{"Elec_RPM":-2350.61572,"EncoderCos":49226,"EncoderSin":18937,"GapTicks":49375,"Mech_RPM":-470.123169,"cg_du":44.8864746,"cg_dv":50.5342484,"cg_dw":55.1135254,"cg_id_a":-12.2993069,"cg_id_raw_a":-12.1800299,"cg_iq_a":-198.012787,"cg_iq_raw_a":-199.968979,"cg_iu_a":-145.987625,"cg_iv_a":-44.8369598,"cg_iw_a":190.824585,"cg_sample_age_us":23.8927269,"cg_sample_seq":9002966,"cg_sample_valid":1,"cg_theta_rad":5.60003805,"cg_vd_req_v":-1.75296438,"cg_vd_v":-1.75296438,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40611649,"cg_vq_v":-8.40611649,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2447.3833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.27005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1527.772827,"values":{"Elec_RPM":-2350.05103,"EncoderCos":40524,"EncoderSin":12511,"GapTicks":50053,"Mech_RPM":-470.010223,"cg_du":54.4972305,"cg_dv":54.2868881,"cg_dw":45.5027695,"cg_id_a":10.4676628,"cg_id_raw_a":11.5366592,"cg_iq_a":-203.019165,"cg_iq_raw_a":-204.457611,"cg_iu_a":18.5593758,"cg_iv_a":165.993423,"cg_iw_a":-184.552795,"cg_sample_age_us":23.8563633,"cg_sample_seq":9004766,"cg_sample_valid":1,"cg_theta_rad":5.09745312,"cg_vd_req_v":-2.14004469,"cg_vd_v":-2.14004469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30724144,"cg_vq_v":-8.30724144,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2388.29077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1528.067175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1528.067182,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1528.067188,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1528.104858,"values":{"Elec_RPM":-2352.6731,"EncoderCos":52008,"EncoderSin":42101,"GapTicks":49591,"Mech_RPM":-470.534637,"cg_du":45.0828133,"cg_dv":54.9171867,"cg_dw":53.0971031,"cg_id_a":13.2253838,"cg_id_raw_a":10.0558453,"cg_iq_a":-199.358582,"cg_iq_raw_a":-197.558319,"cg_iu_a":-191.002472,"cg_iv_a":41.6408386,"cg_iw_a":149.361633,"cg_sample_age_us":23.5654545,"cg_sample_seq":9006367,"cg_sample_valid":1,"cg_theta_rad":0.459762603,"cg_vd_req_v":-2.25973082,"cg_vd_v":-2.25973082,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41918564,"cg_vq_v":-8.41918564,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2628784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1528.62439,"values":{"Elec_RPM":-2340.81714,"EncoderCos":27419,"EncoderSin":11757,"GapTicks":50075,"Mech_RPM":-468.163422,"cg_du":45.7802505,"cg_dv":45.5234566,"cg_dw":54.4765434,"cg_id_a":11.6714783,"cg_id_raw_a":15.7233458,"cg_iq_a":-204.167664,"cg_iq_raw_a":-203.739807,"cg_iu_a":-11.6317368,"cg_iv_a":-171.327911,"cg_iw_a":182.959656,"cg_sample_age_us":23.9290905,"cg_sample_seq":9008916,"cg_sample_valid":1,"cg_theta_rad":4.47511864,"cg_vd_req_v":-2.14074469,"cg_vd_v":-2.14074469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27035618,"cg_vq_v":-8.27035618,"cg_vu_v":4.83881807,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1528.930882,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1528.930894,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1528.930897,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1529.02748,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1529.027485,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1529.027491,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1529.097046,"values":{"Elec_RPM":-2340.88843,"EncoderCos":12936,"EncoderSin":41532,"GapTicks":49390,"Mech_RPM":-468.177704,"cg_du":48.2810631,"cg_dv":55.0993195,"cg_dw":44.9006805,"cg_id_a":9.02883244,"cg_id_raw_a":1.08020914,"cg_iq_a":-200.39798,"cg_iq_raw_a":-199.611191,"cg_iu_a":-122.972794,"cg_iv_a":200.823761,"cg_iw_a":-90.5363007,"cg_sample_age_us":23.9690914,"cg_sample_seq":9011417,"cg_sample_valid":1,"cg_theta_rad":2.7237556,"cg_vd_req_v":-2.08567691,"cg_vd_v":-2.08567691,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40010357,"cg_vq_v":-8.40010357,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2449.94214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1529.429077,"values":{"Elec_RPM":-2348.12061,"EncoderCos":25332,"EncoderSin":12401,"GapTicks":49335,"Mech_RPM":-469.624115,"cg_du":44.8507881,"cg_dv":49.2307434,"cg_dw":55.1492119,"cg_id_a":-8.76259804,"cg_id_raw_a":-11.3817892,"cg_iq_a":-197.67691,"cg_iq_raw_a":-196.865967,"cg_iu_a":-114.310516,"cg_iv_a":-80.8270874,"cg_iw_a":195.137604,"cg_sample_age_us":23.9472733,"cg_sample_seq":9013017,"cg_sample_valid":1,"cg_theta_rad":4.37468624,"cg_vd_req_v":-1.77354836,"cg_vd_v":-1.77354836,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4261055,"cg_vq_v":-8.4261055,"cg_vu_v":114.811958,"cg_vv_v":140.325729,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1529.765015,"values":{"Elec_RPM":-2346.31641,"EncoderCos":26361,"EncoderSin":12056,"GapTicks":49563,"Mech_RPM":-469.263275,"cg_du":45.0573692,"cg_dv":47.4140816,"cg_dw":54.9426308,"cg_id_a":10.2463627,"cg_id_raw_a":6.36286879,"cg_iq_a":-201.623184,"cg_iq_raw_a":-201.672562,"cg_iu_a":-57.3714523,"cg_iv_a":-140.991821,"cg_iw_a":198.363281,"cg_sample_age_us":23.9327278,"cg_sample_seq":9014766,"cg_sample_valid":1,"cg_theta_rad":4.42465878,"cg_vd_req_v":-2.15779209,"cg_vd_v":-2.15779209,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35423756,"cg_vq_v":-8.35423756,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5076447,"dclink_p_w":-2526.08618,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":5000,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1530.051431,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1530.051437,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1530.051442,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1530.116577,"values":{"Elec_RPM":-2352.86694,"EncoderCos":38407,"EncoderSin":11871,"GapTicks":49348,"Mech_RPM":-470.573395,"cg_du":55.1380539,"cg_dv":50.3623238,"cg_dw":44.8619461,"cg_id_a":-10.90277,"cg_id_raw_a":-15.0113297,"cg_iq_a":-197.818649,"cg_iq_raw_a":-195.188675,"cg_iu_a":125.551178,"cg_iv_a":67.8813629,"cg_iw_a":-193.432541,"cg_sample_age_us":23.9472733,"cg_sample_seq":9016467,"cg_sample_valid":1,"cg_theta_rad":4.99364614,"cg_vd_req_v":-1.72378194,"cg_vd_v":-1.72378194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41883945,"cg_vq_v":-8.41883945,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2527.54688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1530.448608,"values":{"Elec_RPM":-2350.83521,"EncoderCos":48831,"EncoderSin":18509,"GapTicks":49473,"Mech_RPM":-470.167053,"cg_du":44.9762421,"cg_dv":51.7890396,"cg_dw":55.0237579,"cg_id_a":-8.87887383,"cg_id_raw_a":-8.27847767,"cg_iq_a":-198.719864,"cg_iq_raw_a":-197.676712,"cg_iu_a":-159.10791,"cg_iv_a":-22.5832214,"cg_iw_a":181.691132,"cg_sample_age_us":23.9254551,"cg_sample_seq":9018167,"cg_sample_valid":1,"cg_theta_rad":5.57438183,"cg_vd_req_v":-1.81317472,"cg_vd_v":-1.81317472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3770113,"cg_vq_v":-8.3770113,"cg_vu_v":101.615181,"cg_vv_v":100.735397,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2433.26392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1530.800171,"values":{"Elec_RPM":-2359.36133,"EncoderCos":49395,"EncoderSin":19218,"GapTicks":49368,"Mech_RPM":-471.872253,"cg_du":44.8806152,"cg_dv":49.8880882,"cg_dw":55.1193848,"cg_id_a":-12.2030296,"cg_id_raw_a":-12.1882372,"cg_iq_a":-199.217377,"cg_iq_raw_a":-198.640472,"cg_iu_a":-130.112823,"cg_iv_a":-63.2125854,"cg_iw_a":193.325409,"cg_sample_age_us":23.9581814,"cg_sample_seq":9019917,"cg_sample_valid":1,"cg_theta_rad":5.61901331,"cg_vd_req_v":-1.7650255,"cg_vd_v":-1.7650255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37183475,"cg_vq_v":-8.37183475,"cg_vu_v":103.814644,"cg_vv_v":101.175293,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1531.042893,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1531.042898,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1531.042904,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1531.132202,"values":{"Elec_RPM":-2355.82251,"EncoderCos":44739,"EncoderSin":50652,"GapTicks":49313,"Mech_RPM":-471.16452,"cg_du":55.1693459,"cg_dv":44.8306541,"cg_dw":50.8451347,"cg_id_a":-15.4749479,"cg_id_raw_a":-14.6543627,"cg_iq_a":-193.660599,"cg_iq_raw_a":-193.549545,"cg_iu_a":180.6418,"cg_iv_a":-150.378998,"cg_iw_a":-30.2628098,"cg_sample_age_us":23.9254551,"cg_sample_seq":9021517,"cg_sample_valid":1,"cg_theta_rad":0.986344874,"cg_vd_req_v":-1.61134958,"cg_vd_v":-1.61134958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52615547,"cg_vq_v":-8.52615547,"cg_vu_v":35.6312981,"cg_vv_v":30.3525867,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.3424053,"dclink_p_w":-2365.14893,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1531.46814,"values":{"Elec_RPM":-2355.60938,"EncoderCos":51744,"EncoderSin":42677,"GapTicks":50007,"Mech_RPM":-471.121857,"cg_du":45.4610672,"cg_dv":54.5389328,"cg_dw":54.2852364,"cg_id_a":12.350399,"cg_id_raw_a":14.5775909,"cg_iq_a":-201.696121,"cg_iq_raw_a":-199.564285,"cg_iu_a":-183.934921,"cg_iv_a":18.6259918,"cg_iw_a":165.308929,"cg_sample_age_us":23.5218182,"cg_sample_seq":9023317,"cg_sample_valid":1,"cg_theta_rad":0.488717526,"cg_vd_req_v":-2.20645285,"cg_vd_v":-2.20645285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3522892,"cg_vq_v":-8.3522892,"cg_vu_v":110.413033,"cg_vv_v":111.292824,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2514.65674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1531.819702,"values":{"Elec_RPM":-2356.13354,"EncoderCos":22113,"EncoderSin":51690,"GapTicks":49373,"Mech_RPM":-471.226715,"cg_du":51.2416649,"cg_dv":44.8852615,"cg_dw":55.1147385,"cg_id_a":-2.94229698,"cg_id_raw_a":-9.62170506,"cg_iq_a":-200.023819,"cg_iq_raw_a":-200.230988,"cg_iu_a":143.20192,"cg_iv_a":-195.538818,"cg_iw_a":52.3368912,"cg_sample_age_us":23.6890907,"cg_sample_seq":9024921,"cg_sample_valid":1,"cg_theta_rad":2.12776351,"cg_vd_req_v":-1.87746835,"cg_vd_v":-1.87746835,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39741707,"cg_vq_v":-8.39741707,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.2572327,"dclink_p_w":-2359.97388,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1532.035355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1532.035361,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1532.035367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1532.151733,"values":{"Elec_RPM":-2354.30859,"EncoderCos":31401,"EncoderSin":54280,"GapTicks":49286,"Mech_RPM":-470.861694,"cg_du":44.8058777,"cg_dv":55.1941223,"cg_dw":50.0649948,"cg_id_a":-9.56197643,"cg_id_raw_a":-11.0177345,"cg_iq_a":-196.997986,"cg_iq_raw_a":-196.613617,"cg_iu_a":-192.959641,"cg_iv_a":130.039551,"cg_iw_a":52.6268463,"cg_sample_age_us":23.8709087,"cg_sample_seq":9026717,"cg_sample_valid":1,"cg_theta_rad":1.63538766,"cg_vd_req_v":-1.70163512,"cg_vd_v":-1.70163512,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45807266,"cg_vq_v":-8.45807266,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2490.26465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1532.483765,"values":{"Elec_RPM":-2355.33789,"EncoderCos":11328,"EncoderSin":29451,"GapTicks":49386,"Mech_RPM":-471.067566,"cg_du":49.7831688,"cg_dv":44.8970108,"cg_dw":55.1029892,"cg_id_a":-19.4309368,"cg_id_raw_a":-22.2688332,"cg_iq_a":-197.508835,"cg_iq_raw_a":-200.514038,"cg_iu_a":43.6038666,"cg_iv_a":-183.43338,"cg_iw_a":154.906952,"cg_sample_age_us":23.8163643,"cg_sample_seq":9028316,"cg_sample_valid":1,"cg_theta_rad":3.29638052,"cg_vd_req_v":-1.50091565,"cg_vd_v":-1.50091565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42361355,"cg_vq_v":-8.42361355,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2501.79077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2521973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1532.835327,"values":{"Elec_RPM":-2359.61523,"EncoderCos":11441,"EncoderSin":28656,"GapTicks":49392,"Mech_RPM":-471.923035,"cg_du":51.1408157,"cg_dv":44.9018631,"cg_dw":55.0981369,"cg_id_a":-6.91008472,"cg_id_raw_a":-10.9964695,"cg_iq_a":-198.317444,"cg_iq_raw_a":-198.558228,"cg_iu_a":90.4671402,"cg_iv_a":-197.822174,"cg_iw_a":107.355034,"cg_sample_age_us":23.7618179,"cg_sample_seq":9030066,"cg_sample_valid":1,"cg_theta_rad":3.33510137,"cg_vd_req_v":-1.78263533,"cg_vd_v":-1.78263533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40349483,"cg_vq_v":-8.40349483,"cg_vu_v":5.27871037,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.0763435,"dclink_p_w":-2463.8562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1533.027738,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1533.027744,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1533.027749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1533.171265,"values":{"Elec_RPM":-2363.99976,"EncoderCos":26915,"EncoderSin":11903,"GapTicks":49817,"Mech_RPM":-472.799957,"cg_du":45.2883949,"cg_dv":46.3707504,"cg_dw":54.7116051,"cg_id_a":15.078227,"cg_id_raw_a":15.4915476,"cg_iq_a":-202.366928,"cg_iq_raw_a":-201.461639,"cg_iu_a":-29.7536545,"cg_iv_a":-161.215912,"cg_iw_a":190.969559,"cg_sample_age_us":23.954546,"cg_sample_seq":9031716,"cg_sample_valid":1,"cg_theta_rad":4.4518714,"cg_vd_req_v":-2.22901106,"cg_vd_v":-2.22901106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35108376,"cg_vq_v":-8.35108376,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.1684341,"dclink_p_w":-2339.97095,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1533.522827,"values":{"Elec_RPM":-2358.75439,"EncoderCos":26701,"EncoderSin":11970,"GapTicks":49678,"Mech_RPM":-471.750854,"cg_du":45.1621704,"cg_dv":46.8373871,"cg_dw":54.8378296,"cg_id_a":14.9118996,"cg_id_raw_a":13.9514017,"cg_iq_a":-201.278458,"cg_iq_raw_a":-199.045853,"cg_iu_a":-7.42745256,"cg_iv_a":-172.596466,"cg_iw_a":180.023926,"cg_sample_age_us":26.7909088,"cg_sample_seq":9033471,"cg_sample_valid":1,"cg_theta_rad":4.48568201,"cg_vd_req_v":-2.22488141,"cg_vd_v":-2.22488141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35002041,"cg_vq_v":-8.35002041,"cg_vu_v":124.929489,"cg_vv_v":136.366699,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.1412525,"dclink_p_w":-2343.1377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1533.854858,"values":{"Elec_RPM":-2351.75879,"EncoderCos":40012,"EncoderSin":12357,"GapTicks":49807,"Mech_RPM":-470.351746,"cg_du":54.7202415,"cg_dv":53.2789955,"cg_dw":45.2797585,"cg_id_a":8.07999897,"cg_id_raw_a":7.57758045,"cg_iq_a":-205.289612,"cg_iq_raw_a":-205.423248,"cg_iu_a":53.6796494,"cg_iv_a":143.739716,"cg_iw_a":-197.419373,"cg_sample_age_us":23.8672733,"cg_sample_seq":9035166,"cg_sample_valid":1,"cg_theta_rad":5.06196976,"cg_vd_req_v":-2.10501313,"cg_vd_v":-2.10501313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23413277,"cg_vq_v":-8.23413277,"cg_vu_v":30.3525867,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-15.9002304,"dclink_p_w":-2294.16089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1534.019346,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1534.019352,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1534.019357,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1534.18689,"values":{"Elec_RPM":-2347.56592,"EncoderCos":49690,"EncoderSin":19565,"GapTicks":49339,"Mech_RPM":-469.513184,"cg_du":44.853714,"cg_dv":49.0711708,"cg_dw":55.146286,"cg_id_a":-6.0912714,"cg_id_raw_a":-9.64996529,"cg_iq_a":-197.353851,"cg_iq_raw_a":-196.605255,"cg_iu_a":-103.727325,"cg_iv_a":-90.9391022,"cg_iw_a":194.666428,"cg_sample_age_us":23.9509087,"cg_sample_seq":9036867,"cg_sample_valid":1,"cg_theta_rad":5.64007378,"cg_vd_req_v":-1.90877223,"cg_vd_v":-1.90877223,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43339729,"cg_vq_v":-8.43339729,"cg_vu_v":98.5359344,"cg_vv_v":91.4976578,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-18.0549259,"dclink_p_w":-2605.05054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1534.538452,"values":{"Elec_RPM":-2350.2207,"EncoderCos":54079,"EncoderSin":31047,"GapTicks":49341,"Mech_RPM":-470.044159,"cg_du":55.143795,"cg_dv":48.9544144,"cg_dw":44.856205,"cg_id_a":-15.7372913,"cg_id_raw_a":-15.8590298,"cg_iq_a":-193.464569,"cg_iq_raw_a":-192.478195,"cg_iu_a":152.117905,"cg_iv_a":27.0345612,"cg_iw_a":-179.152466,"cg_sample_age_us":24.1072731,"cg_sample_seq":9038567,"cg_sample_valid":1,"cg_theta_rad":6.21629953,"cg_vd_req_v":-1.63851273,"cg_vd_v":-1.63851273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5252552,"cg_vq_v":-8.5252552,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2511.7627,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1534.870483,"values":{"Elec_RPM":-2343.16113,"EncoderCos":51348,"EncoderSin":43344,"GapTicks":49682,"Mech_RPM":-468.632202,"cg_du":45.1657524,"cg_dv":52.9469528,"cg_dw":54.8342476,"cg_id_a":-0.608863533,"cg_id_raw_a":5.49324989,"cg_iq_a":-199.899277,"cg_iq_raw_a":-202.513794,"cg_iu_a":-170.705917,"cg_iv_a":-5.83859253,"cg_iw_a":176.54451,"cg_sample_age_us":23.5581818,"cg_sample_seq":9040266,"cg_sample_valid":1,"cg_theta_rad":0.52479136,"cg_vd_req_v":-1.94395494,"cg_vd_v":-1.94395494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36763191,"cg_vq_v":-8.36763191,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-17.672554,"dclink_p_w":-2549.88013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1535.042701,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1535.042707,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1535.042712,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1535.202515,"values":{"Elec_RPM":-2349.78589,"EncoderCos":42588,"EncoderSin":51892,"GapTicks":49810,"Mech_RPM":-469.957184,"cg_du":54.7174492,"cg_dv":45.2825508,"cg_dw":46.5161514,"cg_id_a":15.2784605,"cg_id_raw_a":15.7505817,"cg_iq_a":-205.372742,"cg_iq_raw_a":-204.973648,"cg_iu_a":193.72583,"cg_iv_a":-32.1878662,"cg_iw_a":-161.537964,"cg_sample_age_us":24.0672722,"cg_sample_seq":9041966,"cg_sample_valid":1,"cg_theta_rad":1.09687483,"cg_vd_req_v":-2.23412919,"cg_vd_v":-2.23412919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27385902,"cg_vq_v":-8.27385902,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2440.06226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1535.554077,"values":{"Elec_RPM":-2356.89673,"EncoderCos":30799,"EncoderSin":54265,"GapTicks":49322,"Mech_RPM":-471.379333,"cg_du":44.8384514,"cg_dv":55.1615486,"cg_dw":51.1737785,"cg_id_a":-2.66567969,"cg_id_raw_a":-5.93919706,"cg_iq_a":-197.241608,"cg_iq_raw_a":-196.318085,"cg_iu_a":-196.873962,"cg_iv_a":102.602951,"cg_iw_a":94.2710114,"cg_sample_age_us":23.8927269,"cg_sample_seq":9043667,"cg_sample_valid":1,"cg_theta_rad":1.66180968,"cg_vd_req_v":-1.84569967,"cg_vd_v":-1.84569967,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47457409,"cg_vq_v":-8.47457409,"cg_vu_v":119.210884,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2414.45557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1535.886108,"values":{"Elec_RPM":-2358.06299,"EncoderCos":19324,"EncoderSin":49760,"GapTicks":49358,"Mech_RPM":-471.612579,"cg_du":55.1287804,"cg_dv":44.8712196,"cg_dw":50.7835922,"cg_id_a":-16.1900444,"cg_id_raw_a":-14.901207,"cg_iq_a":-195.972275,"cg_iq_raw_a":-196.598434,"cg_iu_a":183.323853,"cg_iv_a":-151.103882,"cg_iw_a":-32.2199783,"cg_sample_age_us":23.994545,"cg_sample_seq":9045367,"cg_sample_valid":1,"cg_theta_rad":2.24084091,"cg_vd_req_v":-1.5721544,"cg_vd_v":-1.5721544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45931911,"cg_vq_v":-8.45931911,"cg_vu_v":143.844864,"cg_vv_v":127.12896,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2523.55933,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1536.035156,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1536.035161,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1536.035167,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1536.222046,"values":{"Elec_RPM":-2352.13428,"EncoderCos":12208,"EncoderSin":39718,"GapTicks":49807,"Mech_RPM":-470.426849,"cg_du":45.2796211,"cg_dv":54.7203789,"cg_dw":46.5994568,"cg_id_a":6.54203463,"cg_id_raw_a":13.5763397,"cg_iq_a":-203.713455,"cg_iq_raw_a":-205.697693,"cg_iu_a":-173.859131,"cg_iv_a":174.80069,"cg_iw_a":-0.941551208,"cg_sample_age_us":23.9290905,"cg_sample_seq":9047067,"cg_sample_valid":1,"cg_theta_rad":2.82022905,"cg_vd_req_v":-1.97414541,"cg_vd_v":-1.97414541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31229115,"cg_vq_v":-8.31229115,"cg_vu_v":128.888519,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2435.35571,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1536.573608,"values":{"Elec_RPM":-2354.72119,"EncoderCos":11717,"EncoderSin":27572,"GapTicks":49606,"Mech_RPM":-470.944244,"cg_du":53.0604782,"cg_dv":45.0965233,"cg_dw":54.9034767,"cg_id_a":11.7873764,"cg_id_raw_a":8.71114349,"cg_iq_a":-199.807693,"cg_iq_raw_a":-198.796371,"cg_iu_a":147.768646,"cg_iv_a":-191.950668,"cg_iw_a":44.1820221,"cg_sample_age_us":23.7290916,"cg_sample_seq":9048767,"cg_sample_valid":1,"cg_theta_rad":3.39121532,"cg_vd_req_v":-2.15487504,"cg_vd_v":-2.15487504,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41208363,"cg_vq_v":-8.41208363,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1536.90564,"values":{"Elec_RPM":-2359.22876,"EncoderCos":28415,"EncoderSin":11562,"GapTicks":49514,"Mech_RPM":-471.845764,"cg_du":48.2026291,"cg_dv":45.0133934,"cg_dw":54.9866066,"cg_id_a":-12.144846,"cg_id_raw_a":-8.23811531,"cg_iq_a":-200.131073,"cg_iq_raw_a":-201.074554,"cg_iu_a":13.8114338,"cg_iv_a":-176.075867,"cg_iw_a":170.781738,"cg_sample_age_us":23.9036369,"cg_sample_seq":9050416,"cg_sample_valid":1,"cg_theta_rad":4.52123833,"cg_vd_req_v":-1.65994239,"cg_vd_v":-1.65994239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37477493,"cg_vq_v":-8.37477493,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2505.44946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1537.05954,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1537.059546,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1537.059551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1537.257202,"values":{"Elec_RPM":-2357.51196,"EncoderCos":28104,"EncoderSin":11645,"GapTicks":49669,"Mech_RPM":-471.50238,"cg_du":47.4351501,"cg_dv":45.1542206,"cg_dw":54.8457794,"cg_id_a":-5.85516834,"cg_id_raw_a":0.73127681,"cg_iq_a":-204.058014,"cg_iq_raw_a":-204.142136,"cg_iu_a":39.6170425,"cg_iv_a":-186.477844,"cg_iw_a":146.860809,"cg_sample_age_us":23.9400005,"cg_sample_seq":9052171,"cg_sample_valid":1,"cg_theta_rad":4.5492177,"cg_vd_req_v":-1.783939,"cg_vd_v":-1.783939,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27757931,"cg_vq_v":-8.27757931,"cg_vu_v":140.765625,"cg_vv_v":139.885834,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1537.589233,"values":{"Elec_RPM":-2354.04175,"EncoderCos":50017,"EncoderSin":20021,"GapTicks":49375,"Mech_RPM":-470.80835,"cg_du":44.8865166,"cg_dv":48.2236443,"cg_dw":55.1134834,"cg_id_a":9.26234055,"cg_id_raw_a":4.05720425,"cg_iq_a":-198.543701,"cg_iq_raw_a":-195.566681,"cg_iu_a":-70.3105011,"cg_iv_a":-126.566818,"cg_iw_a":196.877319,"cg_sample_age_us":23.9181824,"cg_sample_seq":9053817,"cg_sample_valid":1,"cg_theta_rad":5.66696596,"cg_vd_req_v":-2.22767377,"cg_vd_v":-2.22767377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42600346,"cg_vq_v":-8.42600346,"cg_vu_v":8.79785156,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1537.921265,"values":{"Elec_RPM":-2356.23389,"EncoderCos":54116,"EncoderSin":31677,"GapTicks":49352,"Mech_RPM":-471.246796,"cg_du":55.133831,"cg_dv":50.1139755,"cg_dw":44.866169,"cg_id_a":-10.5458946,"cg_id_raw_a":-15.2751837,"cg_iq_a":-197.116653,"cg_iq_raw_a":-193.512589,"cg_iu_a":119.136017,"cg_iv_a":80.3854828,"cg_iw_a":-192.997604,"cg_sample_age_us":24.0345459,"cg_sample_seq":9055517,"cg_sample_valid":1,"cg_theta_rad":6.25462341,"cg_vd_req_v":-1.76190281,"cg_vd_v":-1.76190281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42383099,"cg_vq_v":-8.42383099,"cg_vu_v":45.7488289,"cg_vv_v":51.4674301,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.8012199,"dclink_p_w":-2584.1062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1538.051153,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1538.051159,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1538.051165,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1538.354858,"values":{"Elec_RPM":-2355.90991,"EncoderCos":23932,"EncoderSin":52647,"GapTicks":49662,"Mech_RPM":-471.181976,"cg_du":47.1370049,"cg_dv":45.147419,"cg_dw":54.852581,"cg_id_a":-2.3730042,"cg_id_raw_a":4.0543189,"cg_iq_a":-202.339035,"cg_iq_raw_a":-203.440384,"cg_iu_a":-2.46204734,"cg_iv_a":-173.828751,"cg_iw_a":176.290802,"cg_sample_age_us":23.8709087,"cg_sample_seq":9057666,"cg_sample_valid":1,"cg_theta_rad":1.9885186,"cg_vd_req_v":-1.8210845,"cg_vd_v":-1.8210845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37108898,"cg_vq_v":-8.37108898,"cg_vu_v":41.3499031,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1538.893921,"values":{"Elec_RPM":-2348.32056,"EncoderCos":46315,"EncoderSin":16064,"GapTicks":49316,"Mech_RPM":-469.664124,"cg_du":44.8330765,"cg_dv":55.1669235,"cg_dw":50.3359528,"cg_id_a":-12.1881428,"cg_id_raw_a":-15.9928913,"cg_iq_a":-195.523682,"cg_iq_raw_a":-195.044479,"cg_iu_a":-193.720764,"cg_iv_a":80.023056,"cg_iw_a":105.361633,"cg_sample_age_us":23.9181824,"cg_sample_seq":9060271,"cg_sample_valid":1,"cg_theta_rad":5.45573378,"cg_vd_req_v":-1.75642431,"cg_vd_v":-1.75642431,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4603157,"cg_vq_v":-8.4603157,"cg_vu_v":118.3311,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.0911694,"dclink_p_w":-2618.23828,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1538.914769,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1538.91478,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1538.914783,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1539.043195,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1539.043199,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1539.043204,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1539.24939,"values":{"Elec_RPM":-2354.0874,"EncoderCos":11491,"EncoderSin":28441,"GapTicks":49392,"Mech_RPM":-470.817505,"cg_du":51.4833679,"cg_dv":44.902359,"cg_dw":55.097641,"cg_id_a":-1.2198807,"cg_id_raw_a":-4.57491875,"cg_iq_a":-198.834534,"cg_iq_raw_a":-198.490753,"cg_iu_a":107.211792,"cg_iv_a":-199.525635,"cg_iw_a":92.3138428,"cg_sample_age_us":23.7872734,"cg_sample_seq":9062216,"cg_sample_valid":1,"cg_theta_rad":3.34658551,"cg_vd_req_v":-1.90457118,"cg_vd_v":-1.90457118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42566109,"cg_vq_v":-8.42566109,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.6486645,"dclink_p_w":-2409.47217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1539.600952,"values":{"Elec_RPM":-2356.63037,"EncoderCos":27302,"EncoderSin":11821,"GapTicks":50144,"Mech_RPM":-471.32605,"cg_du":45.5860405,"cg_dv":45.6159439,"cg_dw":54.4139595,"cg_id_a":10.7429304,"cg_id_raw_a":13.0671329,"cg_iq_a":-205.448105,"cg_iq_raw_a":-205.803909,"cg_iu_a":-16.6696301,"cg_iv_a":-170.131882,"cg_iw_a":186.801514,"cg_sample_age_us":23.9618187,"cg_sample_seq":9063866,"cg_sample_valid":1,"cg_theta_rad":4.46869755,"cg_vd_req_v":-2.11751485,"cg_vd_v":-2.11751485,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26186371,"cg_vq_v":-8.26186371,"cg_vu_v":39.1504402,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2399.27246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1539.932983,"values":{"Elec_RPM":-2347.8125,"EncoderCos":28115,"EncoderSin":11635,"GapTicks":49641,"Mech_RPM":-469.5625,"cg_du":47.4319839,"cg_dv":45.1284103,"cg_dw":54.8715897,"cg_id_a":-4.73654747,"cg_id_raw_a":2.39423299,"cg_iq_a":-202.420898,"cg_iq_raw_a":-204.336334,"cg_iu_a":3.11950302,"cg_iv_a":-176.474564,"cg_iw_a":173.355057,"cg_sample_age_us":23.9254551,"cg_sample_seq":9065616,"cg_sample_valid":1,"cg_theta_rad":4.50946999,"cg_vd_req_v":-1.81065333,"cg_vd_v":-1.81065333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31492043,"cg_vq_v":-8.31492043,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2367.63452,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1540.035287,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1540.035293,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1540.035298,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1540.265015,"values":{"Elec_RPM":-2350.1748,"EncoderCos":49306,"EncoderSin":19107,"GapTicks":49310,"Mech_RPM":-470.034973,"cg_du":44.8279915,"cg_dv":50.1697731,"cg_dw":55.1720085,"cg_id_a":-12.5123501,"cg_id_raw_a":-11.7150354,"cg_iq_a":-198.530396,"cg_iq_raw_a":-197.871292,"cg_iu_a":-135.440674,"cg_iv_a":-55.7825928,"cg_iw_a":191.730667,"cg_sample_age_us":23.9145451,"cg_sample_seq":9067267,"cg_sample_valid":1,"cg_theta_rad":5.61064291,"cg_vd_req_v":-1.76765895,"cg_vd_v":-1.76765895,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43518448,"cg_vq_v":-8.43518448,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.1829319,"dclink_p_w":-2349.18799,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.2896729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1540.616577,"values":{"Elec_RPM":-2349.86304,"EncoderCos":52012,"EncoderSin":42094,"GapTicks":49632,"Mech_RPM":-469.972626,"cg_du":45.1208458,"cg_dv":54.8791542,"cg_dw":53.0761299,"cg_id_a":13.2556772,"cg_id_raw_a":12.7846756,"cg_iq_a":-197.786987,"cg_iq_raw_a":-198.622177,"cg_iu_a":-189.552719,"cg_iv_a":39.0312805,"cg_iw_a":150.521439,"cg_sample_age_us":23.5581818,"cg_sample_seq":9068916,"cg_sample_valid":1,"cg_theta_rad":0.461103439,"cg_vd_req_v":-2.23863649,"cg_vd_v":-2.23863649,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41064453,"cg_vq_v":-8.41064453,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2500.97729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1540.952515,"values":{"Elec_RPM":-2344.90991,"EncoderCos":54078,"EncoderSin":31389,"GapTicks":49326,"Mech_RPM":-468.981964,"cg_du":55.1576004,"cg_dv":49.6163712,"cg_dw":44.8423996,"cg_id_a":-14.1886826,"cg_id_raw_a":-15.7058582,"cg_iq_a":-194.933838,"cg_iq_raw_a":-193.342865,"cg_iu_a":140.628601,"cg_iv_a":47.548584,"cg_iw_a":-188.177185,"cg_sample_age_us":24.0890903,"cg_sample_seq":9070717,"cg_sample_valid":1,"cg_theta_rad":6.23120737,"cg_vd_req_v":-1.67306137,"cg_vd_v":-1.67306137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46320915,"cg_vq_v":-8.46320915,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2512.01953,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1541.05938,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1541.059386,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1541.059392,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1541.284546,"values":{"Elec_RPM":-2350.26245,"EncoderCos":31988,"EncoderSin":54311,"GapTicks":49369,"Mech_RPM":-470.05249,"cg_du":44.881443,"cg_dv":55.118557,"cg_dw":48.8500443,"cg_id_a":-8.89788342,"cg_id_raw_a":-6.72921324,"cg_iq_a":-198.608261,"cg_iq_raw_a":-199.246857,"cg_iu_a":-185.819611,"cg_iv_a":151.423416,"cg_iw_a":34.3961945,"cg_sample_age_us":23.8672733,"cg_sample_seq":9072316,"cg_sample_valid":1,"cg_theta_rad":1.60669065,"cg_vd_req_v":-1.70260167,"cg_vd_v":-1.70260167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45575333,"cg_vq_v":-8.45575333,"cg_vu_v":1.31967759,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1541.636108,"values":{"Elec_RPM":-2348.26147,"EncoderCos":42613,"EncoderSin":51874,"GapTicks":49718,"Mech_RPM":-469.652283,"cg_du":54.8015938,"cg_dv":45.1984062,"cg_dw":46.5849686,"cg_id_a":18.6145554,"cg_id_raw_a":16.9791641,"cg_iq_a":-204.30249,"cg_iq_raw_a":-202.977493,"cg_iu_a":189.992706,"cg_iv_a":-33.3839111,"cg_iw_a":-156.608795,"cg_sample_age_us":24.0636368,"cg_sample_seq":9074117,"cg_sample_valid":1,"cg_theta_rad":1.09716618,"cg_vd_req_v":-2.30803251,"cg_vd_v":-2.30803251,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33422279,"cg_vq_v":-8.33422279,"cg_vu_v":142.965088,"cg_vv_v":135.926804,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2843018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1541.96814,"values":{"Elec_RPM":-2352.94458,"EncoderCos":12753,"EncoderSin":41225,"GapTicks":49557,"Mech_RPM":-470.588898,"cg_du":47.6620941,"cg_dv":54.9477882,"cg_dw":45.0522118,"cg_id_a":10.6846399,"cg_id_raw_a":6.72427702,"cg_iq_a":-204.549911,"cg_iq_raw_a":-203.488815,"cg_iu_a":-147.76358,"cg_iv_a":200.38884,"cg_iw_a":-52.6252594,"cg_sample_age_us":23.9909096,"cg_sample_seq":9075718,"cg_sample_valid":1,"cg_theta_rad":2.75383973,"cg_vd_req_v":-2.11217666,"cg_vd_v":-2.11217666,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27936554,"cg_vq_v":-8.27936554,"cg_vu_v":121.850235,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2482.9436,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1542.050779,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1542.050785,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1542.050791,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1542.319702,"values":{"Elec_RPM":-2353.00171,"EncoderCos":19200,"EncoderSin":49598,"GapTicks":49343,"Mech_RPM":-470.600342,"cg_du":55.1425972,"cg_dv":44.8574028,"cg_dw":50.392601,"cg_id_a":-16.3082905,"cg_id_raw_a":-17.0236835,"cg_iq_a":-196.809631,"cg_iq_raw_a":-196.5056,"cg_iu_a":189.811493,"cg_iv_a":-144.036316,"cg_iw_a":-45.7751694,"cg_sample_age_us":23.9618187,"cg_sample_seq":9077517,"cg_sample_valid":1,"cg_theta_rad":2.25185013,"cg_vd_req_v":-1.58345973,"cg_vd_v":-1.58345973,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42872715,"cg_vq_v":-8.42872715,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.6526203,"dclink_p_w":-2547.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1542.65564,"values":{"Elec_RPM":-2355.26831,"EncoderCos":11570,"EncoderSin":28082,"GapTicks":49422,"Mech_RPM":-471.05368,"cg_du":52.1049194,"cg_dv":44.9293518,"cg_dw":55.0706482,"cg_id_a":6.74333096,"cg_id_raw_a":3.39605665,"cg_iq_a":-197.304245,"cg_iq_raw_a":-196.942413,"cg_iu_a":123.086594,"cg_iv_a":-195.575058,"cg_iw_a":72.4884644,"cg_sample_age_us":23.7181816,"cg_sample_seq":9079167,"cg_sample_valid":1,"cg_theta_rad":3.36533093,"cg_vd_req_v":-2.05910778,"cg_vd_v":-2.05910778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4669323,"cg_vq_v":-8.4669323,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4420757,"dclink_p_w":-2379.57373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1542.987671,"values":{"Elec_RPM":-2356.28735,"EncoderCos":17510,"EncoderSin":17163,"GapTicks":49394,"Mech_RPM":-471.257477,"cg_du":49.4787827,"cg_dv":55.0955353,"cg_dw":44.9044647,"cg_id_a":-14.5901489,"cg_id_raw_a":-17.0996017,"cg_iq_a":-198.211075,"cg_iq_raw_a":-197.638412,"cg_iu_a":-67.8821716,"cg_iv_a":195.858368,"cg_iw_a":-127.976189,"cg_sample_age_us":23.954546,"cg_sample_seq":9080867,"cg_sample_valid":1,"cg_theta_rad":3.94607782,"cg_vd_req_v":-1.60911584,"cg_vd_v":-1.60911584,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40342712,"cg_vq_v":-8.40342712,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2439.15674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2609,"hz_tim_isr":5000,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1543.043409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1543.043415,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1543.043421,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1543.339233,"values":{"Elec_RPM":-2353.10156,"EncoderCos":28350,"EncoderSin":11549,"GapTicks":49541,"Mech_RPM":-470.6203,"cg_du":48.0515556,"cg_dv":45.0377274,"cg_dw":54.9622726,"cg_id_a":-11.6424122,"cg_id_raw_a":-4.35319901,"cg_iq_a":-203.495514,"cg_iq_raw_a":-203.371765,"cg_iu_a":9.42593002,"cg_iv_a":-180.606354,"cg_iw_a":171.18042,"cg_sample_age_us":23.9290905,"cg_sample_seq":9082567,"cg_sample_valid":1,"cg_theta_rad":4.51888847,"cg_vd_req_v":-1.67911756,"cg_vd_v":-1.67911756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30924606,"cg_vq_v":-8.30924606,"cg_vu_v":113.492287,"cg_vv_v":115.69175,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9440536,"dclink_p_w":-2444.7688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1543.671265,"values":{"Elec_RPM":-2345.3208,"EncoderCos":40534,"EncoderSin":12511,"GapTicks":50050,"Mech_RPM":-469.064178,"cg_du":54.4997635,"cg_dv":54.3463631,"cg_dw":45.5002365,"cg_id_a":8.24559784,"cg_id_raw_a":8.34545612,"cg_iq_a":-204.161163,"cg_iq_raw_a":-205.204376,"cg_iu_a":19.2480087,"cg_iv_a":165.014832,"cg_iw_a":-190.134354,"cg_sample_age_us":23.9509087,"cg_sample_seq":9084267,"cg_sample_valid":1,"cg_theta_rad":5.0951333,"cg_vd_req_v":-2.11419058,"cg_vd_v":-2.11419058,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31937027,"cg_vq_v":-8.31937027,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9766731,"dclink_p_w":-2449.4751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1544.003296,"values":{"Elec_RPM":-2352.31738,"EncoderCos":50433,"EncoderSin":20587,"GapTicks":49622,"Mech_RPM":-470.46347,"cg_du":45.1112633,"cg_dv":46.9773979,"cg_dw":54.8887367,"cg_id_a":18.3024616,"cg_id_raw_a":16.3950291,"cg_iq_a":-201.157654,"cg_iq_raw_a":-200.138794,"cg_iu_a":-37.8722725,"cg_iv_a":-155.126938,"cg_iw_a":192.999207,"cg_sample_age_us":23.9181824,"cg_sample_seq":9085966,"cg_sample_valid":1,"cg_theta_rad":5.69766092,"cg_vd_req_v":-2.36818981,"cg_vd_v":-2.36818981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34513474,"cg_vq_v":-8.34513474,"cg_vu_v":103.814644,"cg_vv_v":110.413033,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-17.5040207,"dclink_p_w":-2533.26343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1544.035434,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1544.035439,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1544.035445,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1544.358765,"values":{"Elec_RPM":-2353.27808,"EncoderCos":54117,"EncoderSin":32161,"GapTicks":49402,"Mech_RPM":-470.655609,"cg_du":55.0890465,"cg_dv":50.9533424,"cg_dw":44.9109535,"cg_id_a":-3.95836091,"cg_id_raw_a":-7.72684193,"cg_iq_a":-200.604126,"cg_iq_raw_a":-200.41983,"cg_iu_a":110.47374,"cg_iv_a":93.5420074,"cg_iw_a":-204.015747,"cg_sample_age_us":24.0236359,"cg_sample_seq":9087666,"cg_sample_valid":1,"cg_theta_rad":6.26571083,"cg_vd_req_v":-1.8948499,"cg_vd_v":-1.8948499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34158134,"cg_vq_v":-8.34158134,"cg_vu_v":2.19946289,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2436.92432,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1544.690796,"values":{"Elec_RPM":-2355.77686,"EncoderCos":51106,"EncoderSin":43846,"GapTicks":49434,"Mech_RPM":-471.155365,"cg_du":44.9403839,"cg_dv":51.6916237,"cg_dw":55.0596161,"cg_id_a":-9.24129009,"cg_id_raw_a":-9.22382641,"cg_iq_a":-200.49469,"cg_iq_raw_a":-199.028107,"cg_iu_a":-158.962921,"cg_iv_a":-23.3081207,"cg_iw_a":182.271042,"cg_sample_age_us":23.5254555,"cg_sample_seq":9089367,"cg_sample_valid":1,"cg_theta_rad":0.551401019,"cg_vd_req_v":-1.77784336,"cg_vd_v":-1.77784336,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39912033,"cg_vq_v":-8.39912033,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2449.47485,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1545.027772,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1545.027778,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1545.027784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1545.042358,"values":{"Elec_RPM":-2356.35449,"EncoderCos":42636,"EncoderSin":51900,"GapTicks":49754,"Mech_RPM":-471.270905,"cg_du":54.7687149,"cg_dv":45.2312851,"cg_dw":46.6100464,"cg_id_a":18.4955177,"cg_id_raw_a":20.963316,"cg_iq_a":-202.954987,"cg_iq_raw_a":-203.667679,"cg_iu_a":174.842789,"cg_iv_a":-3.08406067,"cg_iw_a":-171.758728,"cg_sample_age_us":23.9145451,"cg_sample_seq":9091070,"cg_sample_valid":1,"cg_theta_rad":1.13996804,"cg_vd_req_v":-2.2891326,"cg_vd_v":-2.2891326,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3316946,"cg_vq_v":-8.3316946,"cg_vu_v":40.0302238,"cg_vv_v":40.0302238,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2466.25244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1545.37439,"values":{"Elec_RPM":-2361.24414,"EncoderCos":41186,"EncoderSin":52508,"GapTicks":49464,"Mech_RPM":-472.24881,"cg_du":55.0324173,"cg_dv":47.978611,"cg_dw":44.9675827,"cg_id_a":-8.09979725,"cg_id_raw_a":-5.81591129,"cg_iq_a":-196.174347,"cg_iq_raw_a":-195.784668,"cg_iu_a":160.3815,"cg_iv_a":14.9291229,"cg_iw_a":-175.310623,"cg_sample_age_us":23.9836369,"cg_sample_seq":9092817,"cg_sample_valid":1,"cg_theta_rad":1.17021716,"cg_vd_req_v":-1.72858071,"cg_vd_v":-1.72858071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45820904,"cg_vq_v":-8.45820904,"cg_vu_v":105.574219,"cg_vv_v":91.9375458,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-15.740757,"dclink_p_w":-2278.07568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1545.706421,"values":{"Elec_RPM":-2361.22095,"EncoderCos":12127,"EncoderSin":39513,"GapTicks":49623,"Mech_RPM":-472.244202,"cg_du":45.111927,"cg_dv":54.888073,"cg_dw":47.1514626,"cg_id_a":-0.944548368,"cg_id_raw_a":6.84230137,"cg_iq_a":-201.725571,"cg_iq_raw_a":-203.724274,"cg_iu_a":-173.170502,"cg_iv_a":176.359161,"cg_iw_a":-3.18865967,"cg_sample_age_us":23.8490906,"cg_sample_seq":9094416,"cg_sample_valid":1,"cg_theta_rad":2.81929374,"cg_vd_req_v":-1.82660902,"cg_vd_v":-1.82660902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39599609,"cg_vq_v":-8.39599609,"cg_vu_v":127.12896,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2444.15503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1546.019214,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1546.01922,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1546.019225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1546.057983,"values":{"Elec_RPM":-2351.78491,"EncoderCos":17947,"EncoderSin":48560,"GapTicks":49494,"Mech_RPM":-470.356995,"cg_du":55.0050964,"cg_dv":44.9949036,"cg_dw":47.6688881,"cg_id_a":12.6213417,"cg_id_raw_a":12.6901112,"cg_iq_a":-201.086838,"cg_iq_raw_a":-201.20105,"cg_iu_a":197.350204,"cg_iv_a":-57.4498138,"cg_iw_a":-127.070068,"cg_sample_age_us":23.9981823,"cg_sample_seq":9096216,"cg_sample_valid":1,"cg_theta_rad":2.32589841,"cg_vd_req_v":-2.19133544,"cg_vd_v":-2.19133544,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37952423,"cg_vq_v":-8.37952423,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2470.39282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1546.390015,"values":{"Elec_RPM":-2357.52954,"EncoderCos":17907,"EncoderSin":16747,"GapTicks":49446,"Mech_RPM":-471.50589,"cg_du":48.4993744,"cg_dv":55.0482178,"cg_dw":44.9517822,"cg_id_a":-6.9153471,"cg_id_raw_a":-11.5526314,"cg_iq_a":-200.68985,"cg_iq_raw_a":-200.32254,"cg_iu_a":-100.24791,"cg_iv_a":200.968719,"cg_iw_a":-100.72081,"cg_sample_age_us":23.8709087,"cg_sample_seq":9097817,"cg_sample_valid":1,"cg_theta_rad":3.97414041,"cg_vd_req_v":-1.78550828,"cg_vd_v":-1.78550828,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34469604,"cg_vq_v":-8.34469604,"cg_vu_v":14.5164547,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1546.745483,"values":{"Elec_RPM":-2357.95508,"EncoderCos":11882,"EncoderSin":26905,"GapTicks":50014,"Mech_RPM":-471.591003,"cg_du":54.2376709,"cg_dv":45.4679947,"cg_dw":54.5320053,"cg_id_a":16.6689396,"cg_id_raw_a":16.2559395,"cg_iq_a":-201.919739,"cg_iq_raw_a":-201.242935,"cg_iu_a":176.147568,"cg_iv_a":-166.362518,"cg_iw_a":-2.7537384,"cg_sample_age_us":24.0381813,"cg_sample_seq":9099622,"cg_sample_valid":1,"cg_theta_rad":3.4714694,"cg_vd_req_v":-2.22105217,"cg_vd_v":-2.22105217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31524563,"cg_vq_v":-8.31524563,"cg_vu_v":125.369385,"cg_vv_v":116.571533,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1547.042937,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1547.042943,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1547.042949,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1547.073608,"values":{"Elec_RPM":-2358.88232,"EncoderCos":41095,"EncoderSin":12756,"GapTicks":49726,"Mech_RPM":-471.776459,"cg_du":53.2652206,"cg_dv":54.7942085,"cg_dw":45.2057915,"cg_id_a":0.169168234,"cg_id_raw_a":5.34883928,"cg_iq_a":-199.81633,"cg_iq_raw_a":-200.308243,"cg_iu_a":4.09808636,"cg_iv_a":168.82045,"cg_iw_a":-172.918533,"cg_sample_age_us":23.9799995,"cg_sample_seq":9101217,"cg_sample_valid":1,"cg_theta_rad":5.12567139,"cg_vd_req_v":-1.93026125,"cg_vd_v":-1.93026125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38973045,"cg_vq_v":-8.38973045,"cg_vu_v":106.014107,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2376.95117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1547.409546,"values":{"Elec_RPM":-2362.64136,"EncoderCos":30643,"EncoderSin":11175,"GapTicks":49453,"Mech_RPM":-472.528259,"cg_du":52.396389,"cg_dv":44.9574928,"cg_dw":55.0425072,"cg_id_a":10.361948,"cg_id_raw_a":8.94688988,"cg_iq_a":-196.216278,"cg_iq_raw_a":-194.412674,"cg_iu_a":132.509995,"cg_iv_a":-193.472916,"cg_iw_a":60.9629211,"cg_sample_age_us":23.7218189,"cg_sample_seq":9103017,"cg_sample_valid":1,"cg_theta_rad":4.6305089,"cg_vd_req_v":-2.14969015,"cg_vd_v":-2.14969015,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46960545,"cg_vq_v":-8.46960545,"cg_vu_v":143.404984,"cg_vv_v":139.445938,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2434.42139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2589,"hz_tim_isr":4997,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1547.761108,"values":{"Elec_RPM":-2363.63501,"EncoderCos":50568,"EncoderSin":20769,"GapTicks":49776,"Mech_RPM":-472.72702,"cg_du":45.2515869,"cg_dv":46.5448837,"cg_dw":54.7484131,"cg_id_a":16.349184,"cg_id_raw_a":16.7064152,"cg_iq_a":-204.95842,"cg_iq_raw_a":-202.227631,"cg_iu_a":-3.18692374,"cg_iv_a":-175.894653,"cg_iw_a":179.081573,"cg_sample_age_us":23.9581814,"cg_sample_seq":9104671,"cg_sample_valid":1,"cg_theta_rad":5.75229216,"cg_vd_req_v":-2.32044578,"cg_vd_v":-2.32044578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26116562,"cg_vq_v":-8.26116562,"cg_vu_v":143.844864,"cg_vv_v":139.006058,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.3789787,"dclink_p_w":-2515.16675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2589,"hz_tim_isr":4997,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1548.035271,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1548.035277,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1548.035282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1548.097046,"values":{"Elec_RPM":-2368.23389,"EncoderCos":51465,"EncoderSin":22280,"GapTicks":49416,"Mech_RPM":-473.646759,"cg_du":48.4674339,"cg_dv":44.9238396,"cg_dw":55.0761604,"cg_id_a":-11.8234005,"cg_id_raw_a":-10.9037819,"cg_iq_a":-199.409271,"cg_iq_raw_a":-201.78186,"cg_iu_a":35.340271,"cg_iv_a":-186.079163,"cg_iw_a":150.738892,"cg_sample_age_us":23.8745461,"cg_sample_seq":9106417,"cg_sample_valid":1,"cg_theta_rad":5.79928637,"cg_vd_req_v":-1.74021673,"cg_vd_v":-1.74021673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40646076,"cg_vq_v":-8.40646076,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":13.6366701,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2424.94629,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1548.616577,"values":{"Elec_RPM":-2354.58813,"EncoderCos":29696,"EncoderSin":11383,"GapTicks":49333,"Mech_RPM":-470.917633,"cg_du":50.7336426,"cg_dv":44.8483315,"cg_dw":55.1516685,"cg_id_a":-7.47168541,"cg_id_raw_a":-12.1464148,"cg_iq_a":-196.691589,"cg_iq_raw_a":-195.747375,"cg_iu_a":81.4786682,"cg_iv_a":-196.408661,"cg_iw_a":114.929993,"cg_sample_age_us":23.772728,"cg_sample_seq":9108867,"cg_sample_valid":1,"cg_theta_rad":4.58400822,"cg_vd_req_v":-1.79544079,"cg_vd_v":-1.79544079,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42269516,"cg_vq_v":-8.42269516,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.922636,"dclink_p_w":-2585.96313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1548.89863,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1548.89864,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1548.898642,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1549.05958,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1549.059586,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1549.059591,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1549.069702,"values":{"Elec_RPM":-2354.02759,"EncoderCos":27195,"EncoderSin":11845,"GapTicks":49869,"Mech_RPM":-470.805511,"cg_du":45.3355675,"cg_dv":46.2828636,"cg_dw":54.6644325,"cg_id_a":13.7989321,"cg_id_raw_a":16.6136532,"cg_iq_a":-205.995422,"cg_iq_raw_a":-204.634644,"cg_iu_a":-27.6152687,"cg_iv_a":-163.064331,"cg_iw_a":190.679596,"cg_sample_age_us":23.8999996,"cg_sample_seq":9111217,"cg_sample_valid":1,"cg_theta_rad":4.45631886,"cg_vd_req_v":-2.23960638,"cg_vd_v":-2.23960638,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.282938,"cg_vq_v":-8.282938,"cg_vu_v":133.727341,"cg_vv_v":109.533249,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1549.421265,"values":{"Elec_RPM":-2355.97559,"EncoderCos":27810,"EncoderSin":11728,"GapTicks":49800,"Mech_RPM":-471.195099,"cg_du":46.6752739,"cg_dv":45.272747,"cg_dw":54.727253,"cg_id_a":1.35479653,"cg_id_raw_a":8.82962132,"cg_iq_a":-205.705383,"cg_iq_raw_a":-206.336685,"cg_iu_a":-3.47687459,"cg_iv_a":-175.206024,"cg_iw_a":178.682892,"cg_sample_age_us":23.8999996,"cg_sample_seq":9112967,"cg_sample_valid":1,"cg_theta_rad":4.4981184,"cg_vd_req_v":-1.94052947,"cg_vd_v":-1.94052947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27594185,"cg_vq_v":-8.27594185,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1549.753296,"values":{"Elec_RPM":-2359.30225,"EncoderCos":28659,"EncoderSin":11503,"GapTicks":49426,"Mech_RPM":-471.860474,"cg_du":48.7550926,"cg_dv":44.9335938,"cg_dw":55.0664063,"cg_id_a":-15.1084118,"cg_id_raw_a":-14.4138393,"cg_iq_a":-200.650513,"cg_iq_raw_a":-201.391983,"cg_iu_a":22.5824413,"cg_iv_a":-182.164841,"cg_iw_a":159.582397,"cg_sample_age_us":23.8781815,"cg_sample_seq":9114717,"cg_sample_valid":1,"cg_theta_rad":4.53321934,"cg_vd_req_v":-1.61308432,"cg_vd_v":-1.61308432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39791012,"cg_vq_v":-8.39791012,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2412.09521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1550.051436,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1550.051442,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1550.051448,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1550.104858,"values":{"Elec_RPM":-2353.6499,"EncoderCos":40829,"EncoderSin":12678,"GapTicks":49906,"Mech_RPM":-470.72998,"cg_du":53.8535423,"cg_dv":54.6304321,"cg_dw":45.3695679,"cg_id_a":3.9480238,"cg_id_raw_a":9.98905945,"cg_iq_a":-201.706665,"cg_iq_raw_a":-201.636658,"cg_iu_a":10.2595387,"cg_iv_a":168.602982,"cg_iw_a":-178.862518,"cg_sample_age_us":23.8709087,"cg_sample_seq":9116417,"cg_sample_valid":1,"cg_theta_rad":5.11601782,"cg_vd_req_v":-2.00541449,"cg_vd_v":-2.00541449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3474493,"cg_vq_v":-8.3474493,"cg_vu_v":108.653458,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1550.43689,"values":{"Elec_RPM":-2353.05737,"EncoderCos":50552,"EncoderSin":20845,"GapTicks":49822,"Mech_RPM":-470.611481,"cg_du":45.2932053,"cg_dv":46.4640427,"cg_dw":54.7067947,"cg_id_a":16.9465122,"cg_id_raw_a":14.6245251,"cg_iq_a":-204.807953,"cg_iq_raw_a":-203.935455,"cg_iu_a":-30.8772144,"cg_iv_a":-163.789215,"cg_iw_a":194.666428,"cg_sample_age_us":23.954546,"cg_sample_seq":9118116,"cg_sample_valid":1,"cg_theta_rad":5.7087183,"cg_vd_req_v":-2.33023643,"cg_vd_v":-2.33023643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25095367,"cg_vq_v":-8.25095367,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1550.768921,"values":{"Elec_RPM":-2350.9043,"EncoderCos":51220,"EncoderSin":43560,"GapTicks":49554,"Mech_RPM":-470.180878,"cg_du":45.0495148,"cg_dv":52.405571,"cg_dw":54.9504852,"cg_id_a":-3.57758045,"cg_id_raw_a":1.39051759,"cg_iq_a":-201.54953,"cg_iq_raw_a":-203.975052,"cg_iu_a":-166.102951,"cg_iv_a":-4.93249512,"cg_iw_a":175.819641,"cg_sample_age_us":23.5254555,"cg_sample_seq":9119766,"cg_sample_valid":1,"cg_theta_rad":0.535381675,"cg_vd_req_v":-1.88575161,"cg_vd_v":-1.88575161,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38285828,"cg_vq_v":-8.38285828,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.2681046,"dclink_p_w":-2361.552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1551.043011,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1551.043017,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1551.043022,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1551.12439,"values":{"Elec_RPM":-2348.77393,"EncoderCos":51021,"EncoderSin":43966,"GapTicks":49419,"Mech_RPM":-469.754791,"cg_du":44.926609,"cg_dv":51.4091225,"cg_dw":55.073391,"cg_id_a":-7.52951956,"cg_id_raw_a":-5.88880014,"cg_iq_a":-198.730103,"cg_iq_raw_a":-199.240051,"cg_iu_a":-144.864075,"cg_iv_a":-41.1400757,"cg_iw_a":186.00415,"cg_sample_age_us":23.5290909,"cg_sample_seq":9121518,"cg_sample_valid":1,"cg_theta_rad":0.566461086,"cg_vd_req_v":-1.80441213,"cg_vd_v":-1.80441213,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42160416,"cg_vq_v":-8.42160416,"cg_vu_v":105.574219,"cg_vv_v":104.694435,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2475.19678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1551.452515,"values":{"Elec_RPM":-2353.68188,"EncoderCos":41720,"EncoderSin":52310,"GapTicks":49757,"Mech_RPM":-470.736389,"cg_du":54.7661362,"cg_dv":46.6227112,"cg_dw":45.2338638,"cg_id_a":3.65528035,"cg_id_raw_a":10.2573605,"cg_iq_a":-199.332748,"cg_iq_raw_a":-199.891479,"cg_iu_a":171.544586,"cg_iv_a":-3.08404541,"cg_iw_a":-168.460541,"cg_sample_age_us":23.9981823,"cg_sample_seq":9123217,"cg_sample_valid":1,"cg_theta_rad":1.14451051,"cg_vd_req_v":-1.96767807,"cg_vd_v":-1.96767807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37766171,"cg_vq_v":-8.37766171,"cg_vu_v":133.287445,"cg_vv_v":127.568848,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2462.54858,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1551.807983,"values":{"Elec_RPM":-2349.3667,"EncoderCos":29689,"EncoderSin":54124,"GapTicks":49640,"Mech_RPM":-469.873352,"cg_du":45.1274719,"cg_dv":54.8725281,"cg_dw":53.1735344,"cg_id_a":10.1257629,"cg_id_raw_a":8.33182526,"cg_iq_a":-198.63916,"cg_iq_raw_a":-198.154129,"cg_iu_a":-190.785004,"cg_iv_a":46.8961792,"cg_iw_a":143.888824,"cg_sample_age_us":23.8854542,"cg_sample_seq":9124917,"cg_sample_valid":1,"cg_theta_rad":1.71295202,"cg_vd_req_v":-2.10046744,"cg_vd_v":-2.10046744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4146843,"cg_vq_v":-8.4146843,"cg_vu_v":102.494972,"cg_vv_v":103.814644,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2453.27124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1552.034793,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1552.034798,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1552.034802,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1552.140015,"values":{"Elec_RPM":-2347.40552,"EncoderCos":18299,"EncoderSin":48862,"GapTicks":49368,"Mech_RPM":-469.48111,"cg_du":55.1199303,"cg_dv":44.8800697,"cg_dw":48.3879395,"cg_id_a":2.68048859,"cg_id_raw_a":-2.63010502,"cg_iq_a":-197.137192,"cg_iq_raw_a":-197.734207,"cg_iu_a":197.785126,"cg_iv_a":-82.3855591,"cg_iw_a":-115.399567,"cg_sample_age_us":23.9690914,"cg_sample_seq":9126616,"cg_sample_valid":1,"cg_theta_rad":2.30567026,"cg_vd_req_v":-1.99526227,"cg_vd_v":-1.99526227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46433449,"cg_vq_v":-8.46433449,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1552.472046,"values":{"Elec_RPM":-2347.60449,"EncoderCos":11871,"EncoderSin":26979,"GapTicks":49998,"Mech_RPM":-469.520874,"cg_du":54.1226616,"cg_dv":45.4531784,"cg_dw":54.5468216,"cg_id_a":14.4625015,"cg_id_raw_a":15.996232,"cg_iq_a":-203.027679,"cg_iq_raw_a":-201.708603,"cg_iu_a":167.01413,"cg_iv_a":-183.397125,"cg_iw_a":16.3830032,"cg_sample_age_us":24.1545448,"cg_sample_seq":9128266,"cg_sample_valid":1,"cg_theta_rad":3.41830802,"cg_vd_req_v":-2.17901802,"cg_vd_v":-2.17901802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29510498,"cg_vq_v":-8.29510498,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2471.89233,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1552.823608,"values":{"Elec_RPM":-2349.88257,"EncoderCos":12053,"EncoderSin":26444,"GapTicks":49841,"Mech_RPM":-469.976501,"cg_du":54.6899605,"cg_dv":45.3100395,"cg_dw":53.5869827,"cg_id_a":7.08218622,"cg_id_raw_a":12.5349712,"cg_iq_a":-202.893372,"cg_iq_raw_a":-202.865585,"cg_iu_a":173.175568,"cg_iv_a":-177.054443,"cg_iw_a":3.87888336,"cg_sample_age_us":24.1327267,"cg_sample_seq":9130017,"cg_sample_valid":1,"cg_theta_rad":3.44453526,"cg_vd_req_v":-2.02597594,"cg_vd_v":-2.02597594,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3246727,"cg_vq_v":-8.3246727,"cg_vu_v":131.527878,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1553.026726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1553.026731,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1553.026736,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1553.15564,"values":{"Elec_RPM":-2354.13672,"EncoderCos":29263,"EncoderSin":11402,"GapTicks":49315,"Mech_RPM":-470.827332,"cg_du":49.9587288,"cg_dv":44.8321495,"cg_dw":55.1678505,"cg_id_a":-12.5885267,"cg_id_raw_a":-17.1691895,"cg_iq_a":-194.953766,"cg_iq_raw_a":-195.037277,"cg_iu_a":57.122818,"cg_iv_a":-189.594818,"cg_iw_a":132.472,"cg_sample_age_us":23.8309097,"cg_sample_seq":9131667,"cg_sample_valid":1,"cg_theta_rad":4.56407642,"cg_vd_req_v":-1.68852675,"cg_vd_v":-1.68852675,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49636841,"cg_vq_v":-8.49636841,"cg_vu_v":105.574219,"cg_vv_v":85.7790527,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.7396049,"dclink_p_w":-2567.35815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1553.491577,"values":{"Elec_RPM":-2353.12671,"EncoderCos":30485,"EncoderSin":11265,"GapTicks":49457,"Mech_RPM":-470.625336,"cg_du":52.1044006,"cg_dv":44.9614906,"cg_dw":55.0385094,"cg_id_a":6.57136917,"cg_id_raw_a":0.527929723,"cg_iq_a":-196.684311,"cg_iq_raw_a":-196.771759,"cg_iu_a":123.666489,"cg_iv_a":-195.720032,"cg_iw_a":84.1952209,"cg_sample_age_us":23.7181816,"cg_sample_seq":9133416,"cg_sample_valid":1,"cg_theta_rad":4.61728621,"cg_vd_req_v":-2.07747364,"cg_vd_v":-2.07747364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43565941,"cg_vq_v":-8.43565941,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1553.84314,"values":{"Elec_RPM":-2351.86353,"EncoderCos":50694,"EncoderSin":21001,"GapTicks":49931,"Mech_RPM":-470.372711,"cg_du":45.3924789,"cg_dv":46.0646286,"cg_dw":54.6075211,"cg_id_a":16.425808,"cg_id_raw_a":20.0816555,"cg_iq_a":-207.109619,"cg_iq_raw_a":-204.969635,"cg_iu_a":-18.916748,"cg_iv_a":-168.682129,"cg_iw_a":187.598877,"cg_sample_age_us":23.9618187,"cg_sample_seq":9135067,"cg_sample_valid":1,"cg_theta_rad":5.71919537,"cg_vd_req_v":-2.32224727,"cg_vd_v":-2.32224727,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23793983,"cg_vq_v":-8.23793983,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2436.14014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2736206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1554.051336,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1554.051342,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1554.051347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1554.175171,"values":{"Elec_RPM":-2356.09399,"EncoderCos":51149,"EncoderSin":21733,"GapTicks":49697,"Mech_RPM":-471.218781,"cg_du":47.0400696,"cg_dv":45.1798973,"cg_dw":54.8201027,"cg_id_a":-3.32127428,"cg_id_raw_a":4.68882704,"cg_iq_a":-205.182388,"cg_iq_raw_a":-206.736038,"cg_iu_a":0.0750210285,"cg_iv_a":-175.822174,"cg_iw_a":180.857529,"cg_sample_age_us":23.8199997,"cg_sample_seq":9136817,"cg_sample_valid":1,"cg_theta_rad":5.75984812,"cg_vd_req_v":-1.9108938,"cg_vd_v":-1.9108938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30329895,"cg_vq_v":-8.30329895,"cg_vu_v":113.492287,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5022087,"dclink_p_w":-2533.00122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1554.526733,"values":{"Elec_RPM":-2356.41968,"EncoderCos":54143,"EncoderSin":32925,"GapTicks":49537,"Mech_RPM":-471.283936,"cg_du":54.9654694,"cg_dv":52.2912445,"cg_dw":45.0345306,"cg_id_a":6.47113943,"cg_id_raw_a":6.75043869,"cg_iq_a":-202.623642,"cg_iq_raw_a":-204.609634,"cg_iu_a":24.8295593,"cg_iv_a":163.420105,"cg_iw_a":-188.249664,"cg_sample_age_us":23.3945446,"cg_sample_seq":9138520,"cg_sample_valid":1,"cg_theta_rad":0.0652557984,"cg_vd_req_v":-2.10240889,"cg_vd_v":-2.10240889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3260603,"cg_vq_v":-8.3260603,"cg_vu_v":39.1504402,"cg_vv_v":50.1477547,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1554.858765,"values":{"Elec_RPM":-2358.19092,"EncoderCos":50095,"EncoderSin":45444,"GapTicks":49427,"Mech_RPM":-471.638184,"cg_du":44.9342728,"cg_dv":48.1601982,"cg_dw":55.0657272,"cg_id_a":7.15685511,"cg_id_raw_a":3.04343271,"cg_iq_a":-199.557892,"cg_iq_raw_a":-195.589813,"cg_iu_a":-72.8475723,"cg_iv_a":-123.884758,"cg_iw_a":196.73233,"cg_sample_age_us":23.4127274,"cg_sample_seq":9140217,"cg_sample_valid":1,"cg_theta_rad":0.638888955,"cg_vd_req_v":-2.11472559,"cg_vd_v":-2.11472559,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36001205,"cg_vq_v":-8.36001205,"cg_vu_v":104.694435,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2406.59351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1555.043304,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1555.043311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1555.043316,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1555.190796,"values":{"Elec_RPM":-2355.18091,"EncoderCos":40415,"EncoderSin":52793,"GapTicks":49322,"Mech_RPM":-471.036163,"cg_du":55.1615791,"cg_dv":49.7147636,"cg_dw":44.8384209,"cg_id_a":-11.5990591,"cg_id_raw_a":-15.3902359,"cg_iq_a":-197.515823,"cg_iq_raw_a":-194.902573,"cg_iu_a":139.360077,"cg_iv_a":51.6441193,"cg_iw_a":-191.004196,"cg_sample_age_us":23.9581814,"cg_sample_seq":9141917,"cg_sample_valid":1,"cg_theta_rad":1.20627964,"cg_vd_req_v":-1.68893039,"cg_vd_v":-1.68893039,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43646336,"cg_vq_v":-8.43646336,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2397.67041,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1555.542358,"values":{"Elec_RPM":-2356.79834,"EncoderCos":39644,"EncoderSin":53098,"GapTicks":49375,"Mech_RPM":-471.35968,"cg_du":55.1128845,"cg_dv":51.1550446,"cg_dw":44.8871155,"cg_id_a":0.0933474898,"cg_id_raw_a":-2.56819963,"cg_iq_a":-201.797897,"cg_iq_raw_a":-199.125717,"cg_iu_a":100.905365,"cg_iv_a":101.153198,"cg_iw_a":-202.058563,"cg_sample_age_us":23.9290905,"cg_sample_seq":9143667,"cg_sample_valid":1,"cg_theta_rad":1.2468226,"cg_vd_req_v":-1.93463433,"cg_vd_v":-1.93463433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36982346,"cg_vq_v":-8.36982346,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.6888638,"dclink_p_w":-2560.01465,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1555.878296,"values":{"Elec_RPM":-2354.90259,"EncoderCos":11709,"EncoderSin":38048,"GapTicks":49334,"Mech_RPM":-470.98053,"cg_du":44.8498497,"cg_dv":55.1501503,"cg_dw":50.382,"cg_id_a":-8.26323128,"cg_id_raw_a":-11.9379902,"cg_iq_a":-196.592865,"cg_iq_raw_a":-196.283737,"cg_iu_a":-194.046951,"cg_iv_a":124.13179,"cg_iw_a":69.9151611,"cg_sample_age_us":23.9290905,"cg_sample_seq":9145267,"cg_sample_valid":1,"cg_theta_rad":2.8984623,"cg_vd_req_v":-1.70387232,"cg_vd_v":-1.70387232,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44430542,"cg_vq_v":-8.44430542,"cg_vu_v":95.4566803,"cg_vv_v":101.615181,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2532.88452,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1556.035511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1556.035517,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1556.035523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1556.210327,"values":{"Elec_RPM":-2351.43726,"EncoderCos":12280,"EncoderSin":25632,"GapTicks":49418,"Mech_RPM":-470.287445,"cg_du":55.0743408,"cg_dv":44.9256592,"cg_dw":51.5202637,"cg_id_a":-13.5663109,"cg_id_raw_a":-9.26361084,"cg_iq_a":-197.557343,"cg_iq_raw_a":-198.611649,"cg_iu_a":180.67804,"cg_iv_a":-160.998444,"cg_iw_a":-19.6796036,"cg_sample_age_us":24.1109085,"cg_sample_seq":9146966,"cg_sample_valid":1,"cg_theta_rad":3.4830687,"cg_vd_req_v":-1.62182593,"cg_vd_v":-1.62182593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45163345,"cg_vq_v":-8.45163345,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1556.56189,"values":{"Elec_RPM":-2350.51685,"EncoderCos":19421,"EncoderSin":15510,"GapTicks":49953,"Mech_RPM":-470.103363,"cg_du":45.4122086,"cg_dv":54.5877914,"cg_dw":46.0775337,"cg_id_a":9.24043655,"cg_id_raw_a":13.8281536,"cg_iq_a":-203.867752,"cg_iq_raw_a":-206.095367,"cg_iu_a":-172.191925,"cg_iv_a":178.28009,"cg_iw_a":-6.08817291,"cg_sample_age_us":23.9254551,"cg_sample_seq":9148666,"cg_sample_valid":1,"cg_theta_rad":4.06600046,"cg_vd_req_v":-2.07160711,"cg_vd_v":-2.07160711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32203579,"cg_vq_v":-8.32203579,"cg_vu_v":1.31967759,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2555.29395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1556.893921,"values":{"Elec_RPM":-2349.26978,"EncoderCos":30982,"EncoderSin":11194,"GapTicks":49632,"Mech_RPM":-469.853973,"cg_du":52.9561234,"cg_dv":45.1208229,"cg_dw":54.8791771,"cg_id_a":13.9738312,"cg_id_raw_a":13.2225332,"cg_iq_a":-200.105728,"cg_iq_raw_a":-199.090073,"cg_iu_a":148.892212,"cg_iv_a":-191.986923,"cg_iw_a":43.0947113,"cg_sample_age_us":23.59091,"cg_sample_seq":9150366,"cg_sample_valid":1,"cg_theta_rad":4.64531279,"cg_vd_req_v":-2.20787692,"cg_vd_v":-2.20787692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35129166,"cg_vq_v":-8.35129166,"cg_vu_v":143.404984,"cg_vv_v":131.087982,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4076443,"dclink_p_w":-2374.59058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1557.027655,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1557.027662,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1557.027667,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1557.225952,"values":{"Elec_RPM":-2356.38037,"EncoderCos":42830,"EncoderSin":13597,"GapTicks":49393,"Mech_RPM":-471.276062,"cg_du":49.1343346,"cg_dv":55.0968246,"cg_dw":44.9031754,"cg_id_a":-14.9226904,"cg_id_raw_a":-19.7645817,"cg_iq_a":-200.736557,"cg_iq_raw_a":-200.483139,"cg_iu_a":-77.812973,"cg_iv_a":200.026382,"cg_iw_a":-122.213409,"cg_sample_age_us":23.9836369,"cg_sample_seq":9152066,"cg_sample_valid":1,"cg_theta_rad":5.21443462,"cg_vd_req_v":-1.69634879,"cg_vd_v":-1.69634879,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3619976,"cg_vq_v":-8.3619976,"cg_vu_v":39.1504402,"cg_vv_v":61.1450691,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1557.581421,"values":{"Elec_RPM":-2351.10693,"EncoderCos":54102,"EncoderSin":33686,"GapTicks":49858,"Mech_RPM":-470.221375,"cg_du":54.6738472,"cg_dv":53.6997871,"cg_dw":45.3261528,"cg_id_a":10.4777851,"cg_id_raw_a":8.94173145,"cg_iq_a":-203.265289,"cg_iq_raw_a":-204.393082,"cg_iu_a":31.9333496,"cg_iv_a":157.947296,"cg_iw_a":-189.880646,"cg_sample_age_us":23.48909,"cg_sample_seq":9153716,"cg_sample_valid":1,"cg_theta_rad":0.0620455518,"cg_vd_req_v":-2.17139888,"cg_vd_v":-2.17139888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30864525,"cg_vq_v":-8.30864525,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.3351555,"dclink_p_w":-2364.09985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2718201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1557.913452,"values":{"Elec_RPM":-2356.40259,"EncoderCos":52025,"EncoderSin":23313,"GapTicks":49320,"Mech_RPM":-471.280518,"cg_du":50.6837082,"cg_dv":44.8370171,"cg_dw":55.1629829,"cg_id_a":-2.13982201,"cg_id_raw_a":-4.57104015,"cg_iq_a":-196.690277,"cg_iq_raw_a":-195.87648,"cg_iu_a":91.0832825,"cg_iv_a":-197.495972,"cg_iw_a":106.412689,"cg_sample_age_us":23.7399998,"cg_sample_seq":9155516,"cg_sample_valid":1,"cg_theta_rad":5.84428263,"cg_vd_req_v":-1.95956743,"cg_vd_v":-1.95956743,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45543194,"cg_vq_v":-8.45543194,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2429.66699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1558.050683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1558.050689,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1558.050694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1558.331421,"values":{"Elec_RPM":-2355.51001,"EncoderCos":11108,"EncoderSin":31832,"GapTicks":49788,"Mech_RPM":-471.10202,"cg_du":45.262558,"cg_dv":46.5954132,"cg_dw":54.737442,"cg_id_a":12.338213,"cg_id_raw_a":9.37095737,"cg_iq_a":-202.650421,"cg_iq_raw_a":-202.701889,"cg_iu_a":-39.4307556,"cg_iv_a":-154.25708,"cg_iw_a":193.687836,"cg_sample_age_us":23.9363632,"cg_sample_seq":9157516,"cg_sample_valid":1,"cg_theta_rad":3.18308544,"cg_vd_req_v":-2.13281369,"cg_vd_v":-2.13281369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30173779,"cg_vq_v":-8.30173779,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1558.870483,"values":{"Elec_RPM":-2351.09814,"EncoderCos":48043,"EncoderSin":17683,"GapTicks":50085,"Mech_RPM":-470.219635,"cg_du":45.531929,"cg_dv":54.3597145,"cg_dw":54.468071,"cg_id_a":9.95916653,"cg_id_raw_a":13.6370316,"cg_iq_a":-202.934372,"cg_iq_raw_a":-201.322937,"cg_iu_a":-159.216629,"cg_iv_a":-22.800705,"cg_iw_a":182.017334,"cg_sample_age_us":23.8309097,"cg_sample_seq":9160222,"cg_sample_valid":1,"cg_theta_rad":5.57545424,"cg_vd_req_v":-2.18940639,"cg_vd_v":-2.18940639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28569221,"cg_vq_v":-8.28569221,"cg_vu_v":95.8965836,"cg_vv_v":94.5769043,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2519.28809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1558.915375,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1558.915385,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1558.915388,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1559.042993,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1559.042999,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1559.043004,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1559.237671,"values":{"Elec_RPM":-2347.50317,"EncoderCos":18388,"EncoderSin":16320,"GapTicks":49570,"Mech_RPM":-469.500641,"cg_du":47.4675102,"cg_dv":54.9360847,"cg_dw":45.0639153,"cg_id_a":6.75940752,"cg_id_raw_a":3.25756645,"cg_iq_a":-201.95903,"cg_iq_raw_a":-200.471756,"cg_iu_a":-134.860779,"cg_iv_a":199.1203,"cg_iw_a":-64.2595215,"cg_sample_age_us":23.9690914,"cg_sample_seq":9162117,"cg_sample_valid":1,"cg_theta_rad":4.00239134,"cg_vd_req_v":-2.05790567,"cg_vd_v":-2.05790567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35339451,"cg_vq_v":-8.35339451,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1559.59314,"values":{"Elec_RPM":-2353.87451,"EncoderCos":29617,"EncoderSin":11324,"GapTicks":49306,"Mech_RPM":-470.774902,"cg_du":50.5651512,"cg_dv":44.8238831,"cg_dw":55.1761169,"cg_id_a":-5.47772408,"cg_id_raw_a":-9.83458614,"cg_iq_a":-194.982925,"cg_iq_raw_a":-194.102249,"cg_iu_a":78.9778442,"cg_iv_a":-194.270279,"cg_iw_a":115.292435,"cg_sample_age_us":23.7363644,"cg_sample_seq":9163817,"cg_sample_valid":1,"cg_theta_rad":4.58224869,"cg_vd_req_v":-1.82879639,"cg_vd_v":-1.82879639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46579838,"cg_vq_v":-8.46579838,"cg_vu_v":143.844864,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2405.01392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1559.921265,"values":{"Elec_RPM":-2356.18555,"EncoderCos":41566,"EncoderSin":12992,"GapTicks":49472,"Mech_RPM":-471.237122,"cg_du":51.9750061,"cg_dv":55.0250969,"cg_dw":44.9749031,"cg_id_a":-13.1411819,"cg_id_raw_a":-7.13117504,"cg_iq_a":-197.965271,"cg_iq_raw_a":-198.204361,"cg_iu_a":-9.92827606,"cg_iv_a":172.734802,"cg_iw_a":-172.121185,"cg_sample_age_us":23.954546,"cg_sample_seq":9165517,"cg_sample_valid":1,"cg_theta_rad":5.1471014,"cg_vd_req_v":-1.67667913,"cg_vd_v":-1.67667913,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41961002,"cg_vq_v":-8.41961002,"cg_vu_v":122.730026,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2392.47412,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1560.035546,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1560.035552,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1560.035558,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1560.257202,"values":{"Elec_RPM":-2359.72363,"EncoderCos":50870,"EncoderSin":21276,"GapTicks":50060,"Mech_RPM":-471.944733,"cg_du":45.7910652,"cg_dv":45.5099144,"cg_dw":54.4900856,"cg_id_a":9.63775826,"cg_id_raw_a":14.0083151,"cg_iq_a":-207.70433,"cg_iq_raw_a":-207.512131,"cg_iu_a":-10.8706169,"cg_iv_a":-174.082458,"cg_iw_a":184.953079,"cg_sample_age_us":23.9218178,"cg_sample_seq":9167217,"cg_sample_valid":1,"cg_theta_rad":5.73548269,"cg_vd_req_v":-2.17064118,"cg_vd_v":-2.17064118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25121212,"cg_vq_v":-8.25121212,"cg_vu_v":104.254532,"cg_vv_v":85.7790527,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2377.47559,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1560.608765,"values":{"Elec_RPM":-2355.40991,"EncoderCos":54104,"EncoderSin":33124,"GapTicks":49633,"Mech_RPM":-471.08197,"cg_du":54.878582,"cg_dv":52.6360321,"cg_dw":45.121418,"cg_id_a":7.74387169,"cg_id_raw_a":7.15122795,"cg_iq_a":-203.576843,"cg_iq_raw_a":-201.901886,"cg_iu_a":58.065155,"cg_iv_a":131.779266,"cg_iw_a":-201.33371,"cg_sample_age_us":23.4818172,"cg_sample_seq":9168917,"cg_sample_valid":1,"cg_theta_rad":0.0287049953,"cg_vd_req_v":-2.13255882,"cg_vd_v":-2.13255882,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29653358,"cg_vq_v":-8.29653358,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2426.25757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1560.940796,"values":{"Elec_RPM":-2354.57739,"EncoderCos":50284,"EncoderSin":45118,"GapTicks":49352,"Mech_RPM":-470.915497,"cg_du":44.8660583,"cg_dv":48.7651062,"cg_dw":55.1339417,"cg_id_a":-0.433373511,"cg_id_raw_a":-5.61794567,"cg_iq_a":-198.040848,"cg_iq_raw_a":-200.309952,"cg_iu_a":-95.5724564,"cg_iv_a":-103.117043,"cg_iw_a":198.689499,"cg_sample_age_us":23.5036373,"cg_sample_seq":9170616,"cg_sample_valid":1,"cg_theta_rad":0.619997025,"cg_vd_req_v":-1.96838403,"cg_vd_v":-1.96838403,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40819645,"cg_vq_v":-8.40819645,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2405.54785,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1561.058988,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1561.058994,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1561.059,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1561.292358,"values":{"Elec_RPM":-2356.08252,"EncoderCos":50526,"EncoderSin":44838,"GapTicks":49329,"Mech_RPM":-471.216522,"cg_du":44.8445473,"cg_dv":49.3493233,"cg_dw":55.1554527,"cg_id_a":-9.05009556,"cg_id_raw_a":-12.0078974,"cg_iq_a":-198.332703,"cg_iq_raw_a":-198.051437,"cg_iu_a":-61.9019356,"cg_iv_a":-134.105515,"cg_iw_a":196.007446,"cg_sample_age_us":23.4163628,"cg_sample_seq":9172371,"cg_sample_valid":1,"cg_theta_rad":0.646043718,"cg_vd_req_v":-1.79722846,"cg_vd_v":-1.79722846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42243099,"cg_vq_v":-8.42243099,"cg_vu_v":142.525192,"cg_vv_v":139.445938,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2480.32886,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1561.62439,"values":{"Elec_RPM":-2359.64746,"EncoderCos":39920,"EncoderSin":53013,"GapTicks":49315,"Mech_RPM":-471.929474,"cg_du":55.1680298,"cg_dv":50.6690178,"cg_dw":44.8319702,"cg_id_a":-3.80291343,"cg_id_raw_a":-7.42684698,"cg_iq_a":-197.139191,"cg_iq_raw_a":-197.277374,"cg_iu_a":114.496811,"cg_iv_a":85.6770782,"cg_iw_a":-200.173889,"cg_sample_age_us":23.8090916,"cg_sample_seq":9174066,"cg_sample_valid":1,"cg_theta_rad":1.23184061,"cg_vd_req_v":-1.84970427,"cg_vd_v":-1.84970427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46073627,"cg_vq_v":-8.46073627,"cg_vu_v":40.0302238,"cg_vv_v":42.6695786,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2476.61328,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1561.960327,"values":{"Elec_RPM":-2358.19678,"EncoderCos":27628,"EncoderSin":53787,"GapTicks":49445,"Mech_RPM":-471.639374,"cg_du":44.9502602,"cg_dv":51.3031311,"cg_dw":55.0497398,"cg_id_a":-12.7226782,"cg_id_raw_a":-11.2484941,"cg_iq_a":-198.360062,"cg_iq_raw_a":-199.129684,"cg_iu_a":-153.308884,"cg_iv_a":-30.991806,"cg_iw_a":184.30069,"cg_sample_age_us":23.863636,"cg_sample_seq":9175766,"cg_sample_valid":1,"cg_theta_rad":1.82005584,"cg_vd_req_v":-1.59975016,"cg_vd_v":-1.59975016,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40703392,"cg_vq_v":-8.40703392,"cg_vu_v":105.574219,"cg_vv_v":104.694435,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2442.83936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1562.050679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1562.050684,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1562.05069,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1562.31189,"values":{"Elec_RPM":-2354.85083,"EncoderCos":17064,"EncoderSin":47664,"GapTicks":49977,"Mech_RPM":-470.970184,"cg_du":54.5657806,"cg_dv":45.8484726,"cg_dw":45.4342194,"cg_id_a":9.72212505,"cg_id_raw_a":15.077117,"cg_iq_a":-202.632919,"cg_iq_raw_a":-205.826782,"cg_iu_a":180.243118,"cg_iv_a":-9.93414307,"cg_iw_a":-170.308975,"cg_sample_age_us":23.8854542,"cg_sample_seq":9177466,"cg_sample_valid":1,"cg_theta_rad":2.38746452,"cg_vd_req_v":-2.09019065,"cg_vd_v":-2.09019065,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33319473,"cg_vq_v":-8.33319473,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1562.643921,"values":{"Elec_RPM":-2352.99365,"EncoderCos":11413,"EncoderSin":36714,"GapTicks":49572,"Mech_RPM":-470.598724,"cg_du":45.0663261,"cg_dv":54.9336739,"cg_dw":52.8403549,"cg_id_a":7.89579153,"cg_id_raw_a":6.58002853,"cg_iq_a":-198.175644,"cg_iq_raw_a":-198.850449,"cg_iu_a":-194.77182,"cg_iv_a":69.2586212,"cg_iw_a":125.513199,"cg_sample_age_us":23.8527279,"cg_sample_seq":9179166,"cg_sample_valid":1,"cg_theta_rad":2.95328236,"cg_vd_req_v":-2.03921843,"cg_vd_v":-2.03921843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44565964,"cg_vq_v":-8.44565964,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2383.50781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1562.975952,"values":{"Elec_RPM":-2351.19043,"EncoderCos":19486,"EncoderSin":15479,"GapTicks":49888,"Mech_RPM":-470.238098,"cg_du":45.353363,"cg_dv":54.646637,"cg_dw":46.236969,"cg_id_a":6.85274124,"cg_id_raw_a":8.67415142,"cg_iq_a":-203.345062,"cg_iq_raw_a":-204.853348,"cg_iu_a":-171.793243,"cg_iv_a":178.207611,"cg_iw_a":-6.41436768,"cg_sample_age_us":23.9327278,"cg_sample_seq":9180817,"cg_sample_valid":1,"cg_theta_rad":4.06634712,"cg_vd_req_v":-2.02363586,"cg_vd_v":-2.02363586,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30292511,"cg_vq_v":-8.30292511,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2529.85376,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1563.043278,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1563.043284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1563.043289,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1563.327515,"values":{"Elec_RPM":-2347.86938,"EncoderCos":41480,"EncoderSin":12960,"GapTicks":49513,"Mech_RPM":-469.573883,"cg_du":52.165535,"cg_dv":54.987854,"cg_dw":45.012146,"cg_id_a":-12.7737331,"cg_id_raw_a":-5.94459438,"cg_iq_a":-198.665527,"cg_iq_raw_a":-201.68309,"cg_iu_a":-33.7767181,"cg_iv_a":185.166428,"cg_iw_a":-151.389709,"cg_sample_age_us":23.863636,"cg_sample_seq":9182470,"cg_sample_valid":1,"cg_theta_rad":5.17720652,"cg_vd_req_v":-1.69091964,"cg_vd_v":-1.69091964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42525101,"cg_vq_v":-8.42525101,"cg_vu_v":105.574219,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1563.659546,"values":{"Elec_RPM":-2351.92725,"EncoderCos":43176,"EncoderSin":13800,"GapTicks":49411,"Mech_RPM":-470.385468,"cg_du":48.4116745,"cg_dv":55.0804443,"cg_dw":44.9195557,"cg_id_a":-9.69270039,"cg_id_raw_a":-15.5528526,"cg_iq_a":-199.401352,"cg_iq_raw_a":-198.223297,"cg_iu_a":-84.3368683,"cg_iv_a":199.15654,"cg_iw_a":-114.819672,"cg_sample_age_us":23.9218178,"cg_sample_seq":9184216,"cg_sample_valid":1,"cg_theta_rad":5.2234354,"cg_vd_req_v":-1.81217253,"cg_vd_v":-1.81217253,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40801811,"cg_vq_v":-8.40801811,"cg_vu_v":10.9973145,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1563.991577,"values":{"Elec_RPM":-2351.17261,"EncoderCos":54072,"EncoderSin":33876,"GapTicks":50013,"Mech_RPM":-470.234528,"cg_du":54.5329628,"cg_dv":54.0570183,"cg_dw":45.4670372,"cg_id_a":8.31631851,"cg_id_raw_a":8.99198437,"cg_iq_a":-204.922195,"cg_iq_raw_a":-207.304016,"cg_iu_a":32.8756905,"cg_iv_a":157.729843,"cg_iw_a":-190.60553,"cg_sample_age_us":23.3945446,"cg_sample_seq":9185866,"cg_sample_valid":1,"cg_theta_rad":0.0552950799,"cg_vd_req_v":-2.12332654,"cg_vd_v":-2.12332654,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25815964,"cg_vq_v":-8.25815964,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2419.32837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1564.034989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1564.034995,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1564.035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1564.347046,"values":{"Elec_RPM":-2347.66895,"EncoderCos":52108,"EncoderSin":23579,"GapTicks":49355,"Mech_RPM":-469.533813,"cg_du":51.1307602,"cg_dv":44.8682137,"cg_dw":55.1317863,"cg_id_a":3.33091164,"cg_id_raw_a":-1.61834776,"cg_iq_a":-198.355682,"cg_iq_raw_a":-197.354996,"cg_iu_a":105.907013,"cg_iv_a":-199.45314,"cg_iw_a":93.5461273,"cg_sample_age_us":23.7290916,"cg_sample_seq":9187666,"cg_sample_valid":1,"cg_theta_rad":5.85446739,"cg_vd_req_v":-2.06927347,"cg_vd_v":-2.06927347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39373016,"cg_vq_v":-8.39373016,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2536.67285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1564.679077,"values":{"Elec_RPM":-2350.04346,"EncoderCos":49655,"EncoderSin":46021,"GapTicks":49629,"Mech_RPM":-470.008667,"cg_du":45.1173172,"cg_dv":46.9304619,"cg_dw":54.8826828,"cg_id_a":18.82724,"cg_id_raw_a":18.9988194,"cg_iq_a":-203.823715,"cg_iq_raw_a":-200.935135,"cg_iu_a":-35.770134,"cg_iv_a":-157.555267,"cg_iw_a":193.325409,"cg_sample_age_us":23.4818172,"cg_sample_seq":9189317,"cg_sample_valid":1,"cg_theta_rad":0.673177302,"cg_vd_req_v":-2.34136224,"cg_vd_v":-2.34136224,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33133888,"cg_vq_v":-8.33133888,"cg_vu_v":102.494972,"cg_vv_v":109.973145,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1565.011108,"values":{"Elec_RPM":-2350.65967,"EncoderCos":39292,"EncoderSin":53180,"GapTicks":49468,"Mech_RPM":-470.131927,"cg_du":55.0285225,"cg_dv":51.7698288,"cg_dw":44.9714775,"cg_id_a":5.87085724,"cg_id_raw_a":2.06356573,"cg_iq_a":-201.262955,"cg_iq_raw_a":-202.843246,"cg_iu_a":80.8625259,"cg_iv_a":120.326195,"cg_iw_a":-201.188721,"cg_sample_age_us":23.8963642,"cg_sample_seq":9191016,"cg_sample_valid":1,"cg_theta_rad":1.26054215,"cg_vd_req_v":-2.04548788,"cg_vd_v":-2.04548788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35438538,"cg_vq_v":-8.35438538,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2489.92822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1565.027287,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1565.027292,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1565.027297,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1565.362671,"values":{"Elec_RPM":-2352.34668,"EncoderCos":27151,"EncoderSin":53692,"GapTicks":49373,"Mech_RPM":-470.46933,"cg_du":44.8850327,"cg_dv":50.2777481,"cg_dw":55.1149673,"cg_id_a":-15.9452362,"cg_id_raw_a":-13.8145714,"cg_iq_a":-199.208282,"cg_iq_raw_a":-202.312912,"cg_iu_a":-146.640015,"cg_iv_a":-45.5256042,"cg_iw_a":192.165619,"cg_sample_age_us":23.8927269,"cg_sample_seq":9192716,"cg_sample_valid":1,"cg_theta_rad":1.83492565,"cg_vd_req_v":-1.55860889,"cg_vd_v":-1.55860889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38234138,"cg_vq_v":-8.38234138,"cg_vu_v":38.2706528,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3092957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1565.694702,"values":{"Elec_RPM":-2356.85034,"EncoderCos":16710,"EncoderSin":47264,"GapTicks":49615,"Mech_RPM":-471.370087,"cg_du":54.8949356,"cg_dv":47.0782013,"cg_dw":45.1050644,"cg_id_a":-1.73563898,"cg_id_raw_a":4.5729084,"cg_iq_a":-199.527008,"cg_iq_raw_a":-202.690598,"cg_iu_a":171.399628,"cg_iv_a":-0.293289185,"cg_iw_a":-171.106339,"cg_sample_age_us":23.9690914,"cg_sample_seq":9194416,"cg_sample_valid":1,"cg_theta_rad":2.40835071,"cg_vd_req_v":-1.86375201,"cg_vd_v":-1.86375201,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42218113,"cg_vq_v":-8.42218113,"cg_vu_v":32.5520515,"cg_vv_v":9.67763615,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1566.050171,"values":{"Elec_RPM":-2360.14551,"EncoderCos":11480,"EncoderSin":36993,"GapTicks":49484,"Mech_RPM":-472.029114,"cg_du":44.9860344,"cg_dv":55.0139656,"cg_dw":52.3153801,"cg_id_a":5.21693993,"cg_id_raw_a":4.01742029,"cg_iq_a":-197.488281,"cg_iq_raw_a":-197.749741,"cg_iu_a":-182.92009,"cg_iv_a":18.5535126,"cg_iw_a":164.366577,"cg_sample_age_us":23.8454552,"cg_sample_seq":9196120,"cg_sample_valid":1,"cg_theta_rad":2.99997854,"cg_vd_req_v":-1.98335838,"cg_vd_v":-1.98335838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44184685,"cg_vq_v":-8.44184685,"cg_vu_v":115.69175,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1566.050827,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1566.050833,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1566.050838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1566.378296,"values":{"Elec_RPM":-2362.698,"EncoderCos":11251,"EncoderSin":35472,"GapTicks":49873,"Mech_RPM":-472.539612,"cg_du":45.3394089,"cg_dv":53.7472496,"cg_dw":54.6605911,"cg_id_a":7.47542334,"cg_id_raw_a":9.90763283,"cg_iq_a":-201.036652,"cg_iq_raw_a":-199.364639,"cg_iu_a":-177.193573,"cg_iv_a":7.209198,"cg_iw_a":169.984375,"cg_sample_age_us":23.9036369,"cg_sample_seq":9197867,"cg_sample_valid":1,"cg_theta_rad":3.02091789,"cg_vd_req_v":-1.99559212,"cg_vd_v":-1.99559212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35162449,"cg_vq_v":-8.35162449,"cg_vu_v":128.008743,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1566.714233,"values":{"Elec_RPM":-2355.10254,"EncoderCos":13187,"EncoderSin":23381,"GapTicks":49645,"Mech_RPM":-471.020508,"cg_du":54.867569,"cg_dv":45.132431,"cg_dw":47.197197,"cg_id_a":14.39853,"cg_id_raw_a":11.6597862,"cg_iq_a":-203.72522,"cg_iq_raw_a":-201.433044,"cg_iu_a":196.335388,"cg_iv_a":-58.3921509,"cg_iw_a":-141.13269,"cg_sample_age_us":24.0963631,"cg_sample_seq":9199567,"cg_sample_valid":1,"cg_theta_rad":3.59384203,"cg_vd_req_v":-2.20615196,"cg_vd_v":-2.20615196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28334236,"cg_vq_v":-8.28334236,"cg_vu_v":105.574219,"cg_vv_v":80.9402313,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1567.042833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1567.042838,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1567.042843,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1567.065796,"values":{"Elec_RPM":-2354.65527,"EncoderCos":42645,"EncoderSin":13519,"GapTicks":49399,"Mech_RPM":-470.931061,"cg_du":49.4220505,"cg_dv":55.0915565,"cg_dw":44.9084435,"cg_id_a":-19.8976727,"cg_id_raw_a":-20.6316967,"cg_iq_a":-199.216644,"cg_iq_raw_a":-199.831757,"cg_iu_a":-121.124359,"cg_iv_a":200.352585,"cg_iw_a":-79.2282257,"cg_sample_age_us":23.954546,"cg_sample_seq":9201171,"cg_sample_valid":1,"cg_theta_rad":5.24621153,"cg_vd_req_v":-1.57856679,"cg_vd_v":-1.57856679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37954807,"cg_vq_v":-8.37954807,"cg_vu_v":126.249161,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2376.52466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1567.397827,"values":{"Elec_RPM":-2351.94727,"EncoderCos":33534,"EncoderSin":11173,"GapTicks":49336,"Mech_RPM":-470.389465,"cg_du":55.1482048,"cg_dv":44.8517952,"cg_dw":50.3541985,"cg_id_a":-17.3097305,"cg_id_raw_a":-16.1693783,"cg_iq_a":-193.539185,"cg_iq_raw_a":-193.36499,"cg_iu_a":185.969635,"cg_iv_a":-144.434998,"cg_iw_a":-41.5346375,"cg_sample_age_us":24.0927277,"cg_sample_seq":9202966,"cg_sample_valid":1,"cg_theta_rad":4.76285934,"cg_vd_req_v":-1.56585491,"cg_vd_v":-1.56585491,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49316978,"cg_vq_v":-8.49316978,"cg_vu_v":46.1887207,"cg_vv_v":41.3499031,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1567.729858,"values":{"Elec_RPM":-2350.24658,"EncoderCos":53897,"EncoderSin":35286,"GapTicks":49419,"Mech_RPM":-470.049316,"cg_du":51.6940956,"cg_dv":55.0733795,"cg_dw":44.9266205,"cg_id_a":-11.5957556,"cg_id_raw_a":-9.82754517,"cg_iq_a":-198.369614,"cg_iq_raw_a":-199.181213,"cg_iu_a":-8.55101204,"cg_iv_a":176.431656,"cg_iw_a":-167.880646,"cg_sample_age_us":23.3909092,"cg_sample_seq":9204566,"cg_sample_valid":1,"cg_theta_rad":0.121355243,"cg_vd_req_v":-1.7236768,"cg_vd_v":-1.7236768,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43384457,"cg_vq_v":-8.43384457,"cg_vu_v":102.93486,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.0941353,"dclink_p_w":-2322.13843,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1568.035011,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1568.035018,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1568.035023,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1568.081421,"values":{"Elec_RPM":-2346.93066,"EncoderCos":53820,"EncoderSin":35867,"GapTicks":49312,"Mech_RPM":-469.386139,"cg_du":50.4608498,"cg_dv":55.1700668,"cg_dw":44.8299332,"cg_id_a":-13.5729885,"cg_id_raw_a":-12.2574606,"cg_iq_a":-196.297562,"cg_iq_raw_a":-195.338837,"cg_iu_a":-45.1935272,"cg_iv_a":190.566757,"cg_iw_a":-145.37323,"cg_sample_age_us":23.48909,"cg_sample_seq":9206317,"cg_sample_valid":1,"cg_theta_rad":0.156567857,"cg_vd_req_v":-1.70979261,"cg_vd_v":-1.70979261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48068047,"cg_vq_v":-8.48068047,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2424.15942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1568.597046,"values":{"Elec_RPM":-2348.47705,"EncoderCos":51070,"EncoderSin":21562,"GapTicks":49829,"Mech_RPM":-469.695404,"cg_du":46.5811081,"cg_dv":45.2995911,"cg_dw":54.7004089,"cg_id_a":2.27838445,"cg_id_raw_a":6.82391596,"cg_iq_a":-206.755341,"cg_iq_raw_a":-208.932434,"cg_iu_a":27.3666286,"cg_iv_a":-181.911133,"cg_iw_a":164.366577,"cg_sample_age_us":23.8272724,"cg_sample_seq":9208720,"cg_sample_valid":1,"cg_theta_rad":5.78900623,"cg_vd_req_v":-2.02393174,"cg_vd_v":-2.02393174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27563667,"cg_vq_v":-8.27563667,"cg_vu_v":42.2296829,"cg_vv_v":43.549366,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2453.3623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2605,"hz_tim_isr":4997,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1568.931266,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1568.931277,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1568.93128,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1569.027243,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1569.027249,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1569.027255,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1569.077515,"values":{"Elec_RPM":-2345.77856,"EncoderCos":11415,"EncoderSin":36569,"GapTicks":49648,"Mech_RPM":-469.155701,"cg_du":45.1348381,"cg_dv":54.8651619,"cg_dw":53.1107407,"cg_id_a":8.27326298,"cg_id_raw_a":4.52234602,"cg_iq_a":-197.841415,"cg_iq_raw_a":-197.028641,"cg_iu_a":-192.053543,"cg_iv_a":50.7742767,"cg_iw_a":141.279266,"cg_sample_age_us":23.954546,"cg_sample_seq":9211317,"cg_sample_valid":1,"cg_theta_rad":2.96827126,"cg_vd_req_v":-2.03709483,"cg_vd_v":-2.03709483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42382622,"cg_vq_v":-8.42382622,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2605,"hz_tim_isr":4997,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1569.409546,"values":{"Elec_RPM":-2348.75586,"EncoderCos":12865,"EncoderSin":24201,"GapTicks":49408,"Mech_RPM":-469.75119,"cg_du":55.0832062,"cg_dv":44.9167938,"cg_dw":48.6221046,"cg_id_a":-1.81252658,"cg_id_raw_a":-7.43666792,"cg_iq_a":-198.249985,"cg_iq_raw_a":-198.284424,"cg_iu_a":199.271118,"cg_iv_a":-93.7661285,"cg_iw_a":-105.50499,"cg_sample_age_us":24.0672722,"cg_sample_seq":9213016,"cg_sample_valid":1,"cg_theta_rad":3.55423737,"cg_vd_req_v":-1.89266753,"cg_vd_v":-1.89266753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38722897,"cg_vq_v":-8.38722897,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2563.06079,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1569.741577,"values":{"Elec_RPM":-2354.89233,"EncoderCos":31441,"EncoderSin":11157,"GapTicks":49809,"Mech_RPM":-470.978455,"cg_du":53.7927132,"cg_dv":45.2814407,"cg_dw":54.7185593,"cg_id_a":18.8624516,"cg_id_raw_a":19.5173779,"cg_iq_a":-201.083786,"cg_iq_raw_a":-199.794098,"cg_iu_a":164.404572,"cg_iv_a":-183.614594,"cg_iw_a":19.210022,"cg_sample_age_us":23.6854553,"cg_sample_seq":9214666,"cg_sample_valid":1,"cg_theta_rad":4.66785097,"cg_vd_req_v":-2.29939747,"cg_vd_v":-2.29939747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38345146,"cg_vq_v":-8.38345146,"cg_vu_v":38.2706528,"cg_vv_v":38.7105446,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1570.051305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1570.051311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1570.051317,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1570.09314,"values":{"Elec_RPM":-2356.11743,"EncoderCos":43403,"EncoderSin":13955,"GapTicks":49520,"Mech_RPM":-471.22348,"cg_du":48.0347176,"cg_dv":54.9811401,"cg_dw":45.0188599,"cg_id_a":-2.08771372,"cg_id_raw_a":-7.98082829,"cg_iq_a":-201.240601,"cg_iq_raw_a":-200.73175,"cg_iu_a":-103.799805,"cg_iv_a":201.186188,"cg_iw_a":-97.3863831,"cg_sample_age_us":23.8600006,"cg_sample_seq":9216366,"cg_sample_valid":1,"cg_theta_rad":5.2362113,"cg_vd_req_v":-1.95398843,"cg_vd_v":-1.95398843,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33743572,"cg_vq_v":-8.33743572,"cg_vu_v":103.814644,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1570.429077,"values":{"Elec_RPM":-2352.55225,"EncoderCos":51754,"EncoderSin":22848,"GapTicks":49319,"Mech_RPM":-470.510437,"cg_du":49.7585106,"cg_dv":44.8361588,"cg_dw":55.1638412,"cg_id_a":-11.2546825,"cg_id_raw_a":-14.924839,"cg_iq_a":-196.421936,"cg_iq_raw_a":-195.85524,"cg_iu_a":55.9992561,"cg_iv_a":-190.827103,"cg_iw_a":134.82785,"cg_sample_age_us":23.823637,"cg_sample_seq":9218067,"cg_sample_valid":1,"cg_theta_rad":5.81793594,"cg_vd_req_v":-1.77192926,"cg_vd_v":-1.77192926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44881439,"cg_vq_v":-8.44881439,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2508.08545,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1570.757202,"values":{"Elec_RPM":-2357.59131,"EncoderCos":49802,"EncoderSin":45862,"GapTicks":49538,"Mech_RPM":-471.51825,"cg_du":45.0350113,"cg_dv":47.2950249,"cg_dw":54.9649887,"cg_id_a":16.7672653,"cg_id_raw_a":12.7104988,"cg_iq_a":-200.391632,"cg_iq_raw_a":-199.859039,"cg_iu_a":-46.3895721,"cg_iv_a":-147.660706,"cg_iw_a":194.050278,"cg_sample_age_us":23.5327282,"cg_sample_seq":9219716,"cg_sample_valid":1,"cg_theta_rad":0.659927309,"cg_vd_req_v":-2.29793406,"cg_vd_v":-2.29793406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38891697,"cg_vq_v":-8.38891697,"cg_vu_v":39.1504402,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2484.14111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1571.0434,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1571.043406,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1571.043412,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1571.112671,"values":{"Elec_RPM":-2359.12427,"EncoderCos":49399,"EncoderSin":46320,"GapTicks":49899,"Mech_RPM":-471.82486,"cg_du":45.3634796,"cg_dv":46.1594582,"cg_dw":54.6365204,"cg_id_a":16.4623775,"cg_id_raw_a":21.2221146,"cg_iq_a":-204.94249,"cg_iq_raw_a":-201.760635,"cg_iu_a":-21.5987911,"cg_iv_a":-166.000092,"cg_iw_a":187.598877,"cg_sample_age_us":23.4854546,"cg_sample_seq":9221467,"cg_sample_valid":1,"cg_theta_rad":0.69155097,"cg_vd_req_v":-2.26263237,"cg_vd_v":-2.26263237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28532314,"cg_vq_v":-8.28532314,"cg_vu_v":116.131638,"cg_vv_v":124.489601,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4837551,"dclink_p_w":-2392.85693,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1571.444702,"values":{"Elec_RPM":-2355.6062,"EncoderCos":27753,"EncoderSin":53792,"GapTicks":49456,"Mech_RPM":-471.121246,"cg_du":44.9607544,"cg_dv":51.593853,"cg_dw":55.0392456,"cg_id_a":-11.6695843,"cg_id_raw_a":-8.21746254,"cg_iq_a":-200.392136,"cg_iq_raw_a":-202.107773,"cg_iu_a":-163.819595,"cg_iv_a":-20.6260834,"cg_iw_a":184.445679,"cg_sample_age_us":23.8745461,"cg_sample_seq":9223116,"cg_sample_valid":1,"cg_theta_rad":1.80575967,"cg_vd_req_v":-1.63199067,"cg_vd_v":-1.63199067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37701321,"cg_vq_v":-8.37701321,"cg_vu_v":3.51914048,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2542.82056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1571.796265,"values":{"Elec_RPM":-2358.08569,"EncoderCos":38281,"EncoderSin":53520,"GapTicks":49866,"Mech_RPM":-471.617157,"cg_du":54.6670647,"cg_dv":53.7224159,"cg_dw":45.3329353,"cg_id_a":13.2267914,"cg_id_raw_a":12.995038,"cg_iq_a":-205.240234,"cg_iq_raw_a":-206.495575,"cg_iu_a":28.9976006,"cg_iv_a":162.296555,"cg_iw_a":-191.294159,"cg_sample_age_us":23.9290905,"cg_sample_seq":9224916,"cg_sample_valid":1,"cg_theta_rad":1.31180727,"cg_vd_req_v":-2.17075372,"cg_vd_v":-2.17075372,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2806015,"cg_vq_v":-8.2806015,"cg_vu_v":16.2760258,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4529495,"dclink_p_w":-2373.90991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1572.066815,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1572.066821,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1572.066827,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1572.128296,"values":{"Elec_RPM":-2357.48291,"EncoderCos":11465,"EncoderSin":36844,"GapTicks":49516,"Mech_RPM":-471.496582,"cg_du":45.0148811,"cg_dv":54.9851189,"cg_dw":52.5626984,"cg_id_a":8.54154301,"cg_id_raw_a":2.59665227,"cg_iq_a":-196.241882,"cg_iq_raw_a":-195.277191,"cg_iu_a":-191.799835,"cg_iv_a":62.7347412,"cg_iw_a":129.065094,"cg_sample_age_us":23.9581814,"cg_sample_seq":9226517,"cg_sample_valid":1,"cg_theta_rad":2.95468283,"cg_vd_req_v":-2.04321694,"cg_vd_v":-2.04321694,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4463768,"cg_vq_v":-8.4463768,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.4312019,"dclink_p_w":-2378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1572.460327,"values":{"Elec_RPM":-2361.29785,"EncoderCos":16000,"EncoderSin":46462,"GapTicks":49330,"Mech_RPM":-472.259583,"cg_du":55.1544418,"cg_dv":49.4038696,"cg_dw":44.8455582,"cg_id_a":-9.03754807,"cg_id_raw_a":-11.5485668,"cg_iq_a":-195.678879,"cg_iq_raw_a":-194.246765,"cg_iu_a":139.287582,"cg_iv_a":49.2882843,"cg_iw_a":-188.575867,"cg_sample_age_us":23.9436359,"cg_sample_seq":9228317,"cg_sample_valid":1,"cg_theta_rad":2.45879769,"cg_vd_req_v":-1.71936119,"cg_vd_v":-1.71936119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46000767,"cg_vq_v":-8.46000767,"cg_vu_v":106.014107,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5181885,"dclink_p_w":-2390.58911,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1572.815796,"values":{"Elec_RPM":-2360.50415,"EncoderCos":19556,"EncoderSin":15437,"GapTicks":49834,"Mech_RPM":-472.10083,"cg_du":45.3042793,"cg_dv":54.6957207,"cg_dw":46.3893814,"cg_id_a":6.06481647,"cg_id_raw_a":8.92722034,"cg_iq_a":-204.76825,"cg_iq_raw_a":-206.460602,"cg_iu_a":-184.297363,"cg_iv_a":153.815491,"cg_iw_a":30.4818649,"cg_sample_age_us":23.9290905,"cg_sample_seq":9229920,"cg_sample_valid":1,"cg_theta_rad":4.1226325,"cg_vd_req_v":-2.01772833,"cg_vd_v":-2.01772833,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31838322,"cg_vq_v":-8.31838322,"cg_vu_v":121.850235,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2486.86548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1573.027721,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1573.027727,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1573.027732,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1573.147827,"values":{"Elec_RPM":-2360.87256,"EncoderCos":13384,"EncoderSin":22937,"GapTicks":49836,"Mech_RPM":-472.1745,"cg_du":54.693821,"cg_dv":45.306179,"cg_dw":46.2772026,"cg_id_a":17.5446777,"cg_id_raw_a":20.2619152,"cg_iq_a":-203.631104,"cg_iq_raw_a":-204.862076,"cg_iu_a":188.579193,"cg_iv_a":-23.8880005,"cg_iw_a":-164.691193,"cg_sample_age_us":23.9799995,"cg_sample_seq":9231716,"cg_sample_valid":1,"cg_theta_rad":3.61946368,"cg_vd_req_v":-2.25204921,"cg_vd_v":-2.25204921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32816887,"cg_vq_v":-8.32816887,"cg_vu_v":42.6695786,"cg_vv_v":40.9100075,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2447.50146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1573.479858,"values":{"Elec_RPM":-2358.10596,"EncoderCos":43876,"EncoderSin":14302,"GapTicks":49673,"Mech_RPM":-471.621185,"cg_du":47.1203575,"cg_dv":54.8425369,"cg_dw":45.1574631,"cg_id_a":9.560853,"cg_id_raw_a":7.69547558,"cg_iq_a":-205.1521,"cg_iq_raw_a":-203.741364,"cg_iu_a":-137.506577,"cg_iv_a":201.113708,"cg_iw_a":-63.607132,"cg_sample_age_us":23.8927269,"cg_sample_seq":9233316,"cg_sample_valid":1,"cg_theta_rad":5.26296043,"cg_vd_req_v":-2.18375492,"cg_vd_v":-2.18375492,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24593067,"cg_vq_v":-8.24593067,"cg_vu_v":3.51914048,"cg_vv_v":18.0355949,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1573.831421,"values":{"Elec_RPM":-2350.22437,"EncoderCos":33591,"EncoderSin":11169,"GapTicks":49358,"Mech_RPM":-470.044861,"cg_du":55.1290894,"cg_dv":44.8709106,"cg_dw":50.2138901,"cg_id_a":-18.7961845,"cg_id_raw_a":-20.1055641,"cg_iq_a":-195.654678,"cg_iq_raw_a":-194.816177,"cg_iu_a":187.818085,"cg_iv_a":-145.522324,"cg_iw_a":-42.2957611,"cg_sample_age_us":24.0927277,"cg_sample_seq":9235117,"cg_sample_valid":1,"cg_theta_rad":4.76636887,"cg_vd_req_v":-1.53455663,"cg_vd_v":-1.53455663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4354496,"cg_vq_v":-8.4354496,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2500.98486,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1574.019511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1574.019517,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1574.019522,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1574.163452,"values":{"Elec_RPM":-2349.41162,"EncoderCos":53876,"EncoderSin":35633,"GapTicks":49343,"Mech_RPM":-469.882324,"cg_du":50.9303436,"cg_dv":55.1418686,"cg_dw":44.8581314,"cg_id_a":-13.8539848,"cg_id_raw_a":-14.6275949,"cg_iq_a":-194.58725,"cg_iq_raw_a":-195.309433,"cg_iu_a":-22.8673248,"cg_iv_a":178.896225,"cg_iw_a":-156.0289,"cg_sample_age_us":23.4054546,"cg_sample_seq":9236716,"cg_sample_valid":1,"cg_theta_rad":0.136826694,"cg_vd_req_v":-1.68639231,"cg_vd_v":-1.68639231,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50011158,"cg_vq_v":-8.50011158,"cg_vu_v":104.694435,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2522.77246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1574.495483,"values":{"Elec_RPM":-2350.89648,"EncoderCos":49018,"EncoderSin":46806,"GapTicks":49934,"Mech_RPM":-470.179291,"cg_du":46.2649117,"cg_dv":45.3947449,"cg_dw":54.6052551,"cg_id_a":7.49100876,"cg_id_raw_a":13.6185551,"cg_iq_a":-205.966003,"cg_iq_raw_a":-205.452545,"cg_iu_a":-5.14409065,"cg_iv_a":-174.009979,"cg_iw_a":179.154068,"cg_sample_age_us":23.5145454,"cg_sample_seq":9238417,"cg_sample_valid":1,"cg_theta_rad":0.716533184,"cg_vd_req_v":-2.07054043,"cg_vd_v":-2.07054043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24186325,"cg_vq_v":-8.24186325,"cg_vu_v":102.055069,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-16.6649761,"dclink_p_w":-2404.50195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1574.847046,"values":{"Elec_RPM":-2345.78247,"EncoderCos":48497,"EncoderSin":47444,"GapTicks":49496,"Mech_RPM":-469.156494,"cg_du":48.2647972,"cg_dv":44.9970055,"cg_dw":55.0029945,"cg_id_a":-13.5745144,"cg_id_raw_a":-9.87260246,"cg_iq_a":-202.216217,"cg_iq_raw_a":-202.467743,"cg_iu_a":14.0288973,"cg_iv_a":-181.258743,"cg_iw_a":167.229843,"cg_sample_age_us":23.7618179,"cg_sample_seq":9240167,"cg_sample_valid":1,"cg_theta_rad":0.753674805,"cg_vd_req_v":-1.6541996,"cg_vd_v":-1.6541996,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33823872,"cg_vq_v":-8.33823872,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4076443,"dclink_p_w":-2367.37305,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1575.043,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1575.043006,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1575.043011,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1575.182983,"values":{"Elec_RPM":-2341.38818,"EncoderCos":37745,"EncoderSin":53670,"GapTicks":49950,"Mech_RPM":-468.277618,"cg_du":54.0656013,"cg_dv":54.5908051,"cg_dw":45.4091949,"cg_id_a":9.13901615,"cg_id_raw_a":12.7122669,"cg_iq_a":-202.501678,"cg_iq_raw_a":-204.544846,"cg_iu_a":9.96958733,"cg_iv_a":169.690292,"cg_iw_a":-182.668121,"cg_sample_age_us":23.9072723,"cg_sample_seq":9241866,"cg_sample_valid":1,"cg_theta_rad":1.33625889,"cg_vd_req_v":-2.07307839,"cg_vd_v":-2.07307839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36341667,"cg_vq_v":-8.36341667,"cg_vu_v":0.87978512,"cg_vv_v":6.1584959,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.6975937,"dclink_p_w":-2416.55347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1575.515015,"values":{"Elec_RPM":-2346.66553,"EncoderCos":16210,"EncoderSin":46631,"GapTicks":49351,"Mech_RPM":-469.33313,"cg_du":55.1348763,"cg_dv":48.93853,"cg_dw":44.8651237,"cg_id_a":-12.4563627,"cg_id_raw_a":-13.3139973,"cg_iq_a":-194.145554,"cg_iq_raw_a":-193.098633,"cg_iu_a":149.290894,"cg_iv_a":32.1811829,"cg_iw_a":-181.472076,"cg_sample_age_us":23.9436359,"cg_sample_seq":9243517,"cg_sample_valid":1,"cg_theta_rad":2.44398284,"cg_vd_req_v":-1.64706767,"cg_vd_v":-1.64706767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48357201,"cg_vq_v":-8.48357201,"cg_vu_v":106.014107,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2424.42163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1575.866577,"values":{"Elec_RPM":-2345.66748,"EncoderCos":11243,"EncoderSin":35534,"GapTicks":49896,"Mech_RPM":-469.133514,"cg_du":45.3605766,"cg_dv":53.8667221,"cg_dw":54.6394234,"cg_id_a":7.08030128,"cg_id_raw_a":9.67510128,"cg_iq_a":-201.648773,"cg_iq_raw_a":-200.263885,"cg_iu_a":-180.274292,"cg_iv_a":11.3047485,"cg_iw_a":168.969543,"cg_sample_age_us":23.9654541,"cg_sample_seq":9245217,"cg_sample_valid":1,"cg_theta_rad":3.01562643,"cg_vd_req_v":-1.9968859,"cg_vd_v":-1.9968859,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34219551,"cg_vq_v":-8.34219551,"cg_vu_v":120.970459,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2441.10791,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1576.034979,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1576.034986,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1576.034992,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1576.198608,"values":{"Elec_RPM":-2355.5564,"EncoderCos":13226,"EncoderSin":23409,"GapTicks":49604,"Mech_RPM":-471.111267,"cg_du":54.9047737,"cg_dv":45.0952263,"cg_dw":47.1931381,"cg_id_a":14.88167,"cg_id_raw_a":11.0723448,"cg_iq_a":-202.808945,"cg_iq_raw_a":-200.361038,"cg_iu_a":195.284302,"cg_iv_a":-46.8666077,"cg_iw_a":-148.417694,"cg_sample_age_us":24.1145458,"cg_sample_seq":9246917,"cg_sample_valid":1,"cg_theta_rad":3.59474754,"cg_vd_req_v":-2.22049117,"cg_vd_v":-2.22049117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34187508,"cg_vq_v":-8.34187508,"cg_vu_v":106.453995,"cg_vv_v":98.0960464,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2420.48755,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0038773173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1576.550171,"values":{"Elec_RPM":-2357.39233,"EncoderCos":20864,"EncoderSin":14582,"GapTicks":49336,"Mech_RPM":-471.478455,"cg_du":44.8511696,"cg_dv":55.1488304,"cg_dw":49.893261,"cg_id_a":-13.8560324,"cg_id_raw_a":-14.4684954,"cg_iq_a":-195.239227,"cg_iq_raw_a":-195.763229,"cg_iu_a":-197.635101,"cg_iv_a":90.6425018,"cg_iw_a":106.992599,"cg_sample_age_us":26.7945461,"cg_sample_seq":9248620,"cg_sample_valid":1,"cg_theta_rad":4.18742609,"cg_vd_req_v":-1.62973952,"cg_vd_v":-1.62973952,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47590637,"cg_vq_v":-8.47590637,"cg_vu_v":19.3552723,"cg_vv_v":28.1531239,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-15.7951221,"dclink_p_w":-2292.89185,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1576.886108,"values":{"Elec_RPM":-2356.30005,"EncoderCos":22383,"EncoderSin":13699,"GapTicks":49645,"Mech_RPM":-471.26001,"cg_du":45.1321716,"cg_dv":54.8678284,"cg_dw":53.0492783,"cg_id_a":8.39200783,"cg_id_raw_a":6.91597843,"cg_iq_a":-196.934738,"cg_iq_raw_a":-197.005356,"cg_iu_a":-192.162262,"cg_iv_a":61.0312653,"cg_iw_a":131.130997,"cg_sample_age_us":23.8527279,"cg_sample_seq":9250366,"cg_sample_valid":1,"cg_theta_rad":4.21633291,"cg_vd_req_v":-2.09196401,"cg_vd_v":-2.09196401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42080593,"cg_vq_v":-8.42080593,"cg_vu_v":1.31967759,"cg_vv_v":8.79785156,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2480.06567,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1577.027246,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1577.027252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1577.027257,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1577.214233,"values":{"Elec_RPM":-2351.26318,"EncoderCos":45006,"EncoderSin":15000,"GapTicks":49754,"Mech_RPM":-470.252625,"cg_du":45.2317924,"cg_dv":54.7682076,"cg_dw":46.6551247,"cg_id_a":0.806449354,"cg_id_raw_a":7.31456327,"cg_iq_a":-203.578796,"cg_iq_raw_a":-204.872421,"cg_iu_a":-174.040344,"cg_iv_a":175.489319,"cg_iw_a":-1.44896698,"cg_sample_age_us":23.8345451,"cg_sample_seq":9252016,"cg_sample_valid":1,"cg_theta_rad":5.33404493,"cg_vd_req_v":-2.00033069,"cg_vd_v":-2.00033069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33422565,"cg_vq_v":-8.33422565,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1577.569702,"values":{"Elec_RPM":-2355.06958,"EncoderCos":35185,"EncoderSin":11273,"GapTicks":49550,"Mech_RPM":-471.013916,"cg_du":54.9544868,"cg_dv":45.0455132,"cg_dw":47.5811043,"cg_id_a":10.0307856,"cg_id_raw_a":7.19100237,"cg_iq_a":-202.302658,"cg_iq_raw_a":-201.270065,"cg_iu_a":199.271133,"cg_iv_a":-59.8056488,"cg_iw_a":-139.465485,"cg_sample_age_us":23.9654541,"cg_sample_seq":9253816,"cg_sample_valid":1,"cg_theta_rad":4.84213829,"cg_vd_req_v":-2.15220046,"cg_vd_v":-2.15220046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32868004,"cg_vq_v":-8.32868004,"cg_vu_v":43.9892578,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2385.9375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1577.901733,"values":{"Elec_RPM":-2360.03979,"EncoderCos":53630,"EncoderSin":37072,"GapTicks":49474,"Mech_RPM":-472.007965,"cg_du":48.2535591,"cg_dv":55.0233002,"cg_dw":44.9766998,"cg_id_a":-1.45368242,"cg_id_raw_a":-6.84787369,"cg_iq_a":-200.795471,"cg_iq_raw_a":-199.908539,"cg_iu_a":-114.745445,"cg_iv_a":201.149948,"cg_iw_a":-86.4045029,"cg_sample_age_us":23.3945446,"cg_sample_seq":9255416,"cg_sample_valid":1,"cg_theta_rad":0.216749415,"cg_vd_req_v":-1.97110713,"cg_vd_v":-1.97110713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33208847,"cg_vq_v":-8.33208847,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2453.39697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.2825317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1578.061599,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1578.061605,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1578.061612,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1578.319702,"values":{"Elec_RPM":-2358.23364,"EncoderCos":15875,"EncoderSin":18994,"GapTicks":49983,"Mech_RPM":-471.646729,"cg_du":54.5602684,"cg_dv":54.0734596,"cg_dw":45.4397316,"cg_id_a":12.0402308,"cg_id_raw_a":12.9009275,"cg_iq_a":-205.243103,"cg_iq_raw_a":-204.594208,"cg_iu_a":14.8987484,"cg_iv_a":168.095581,"cg_iw_a":-182.994324,"cg_sample_age_us":23.9654541,"cg_sample_seq":9257417,"cg_sample_valid":1,"cg_theta_rad":3.84350491,"cg_vd_req_v":-2.12824512,"cg_vd_v":-2.12824512,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27936268,"cg_vq_v":-8.27936268,"cg_vu_v":31.2323723,"cg_vv_v":26.8334465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2414.96094,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1578.839233,"values":{"Elec_RPM":-2351.06152,"EncoderCos":51732,"EncoderSin":42635,"GapTicks":49955,"Mech_RPM":-470.21228,"cg_du":45.413662,"cg_dv":54.586338,"cg_dw":54.2265396,"cg_id_a":13.1531096,"cg_id_raw_a":14.3133602,"cg_iq_a":-201.975571,"cg_iq_raw_a":-201.080063,"cg_iu_a":-183.5,"cg_iv_a":18.9159546,"cg_iw_a":164.584045,"cg_sample_age_us":23.5690918,"cg_sample_seq":9260067,"cg_sample_valid":1,"cg_theta_rad":0.485705882,"cg_vd_req_v":-2.23503685,"cg_vd_v":-2.23503685,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36177444,"cg_vq_v":-8.36177444,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2427.25,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1578.914885,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1578.914895,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1578.914898,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1579.043338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1579.043344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1579.04335,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1579.229858,"values":{"Elec_RPM":-2352.90576,"EncoderCos":13088,"EncoderSin":23616,"GapTicks":49494,"Mech_RPM":-470.581146,"cg_du":55.0046959,"cg_dv":44.9953041,"cg_dw":47.6232414,"cg_id_a":13.0182171,"cg_id_raw_a":6.75619888,"cg_iq_a":-200.065277,"cg_iq_raw_a":-197.821594,"cg_iu_a":195.900452,"cg_iv_a":-59.4432068,"cg_iw_a":-136.457245,"cg_sample_age_us":24.0745449,"cg_sample_seq":9262117,"cg_sample_valid":1,"cg_theta_rad":3.58115482,"cg_vd_req_v":-2.18464875,"cg_vd_v":-2.18464875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39252853,"cg_vq_v":-8.39252853,"cg_vu_v":106.014107,"cg_vv_v":88.4184036,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.7251072,"dclink_p_w":-2565.26001,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1579.581421,"values":{"Elec_RPM":-2353.2793,"EncoderCos":31516,"EncoderSin":11162,"GapTicks":49903,"Mech_RPM":-470.655884,"cg_du":53.9288712,"cg_dv":45.3664093,"cg_dw":54.6335907,"cg_id_a":16.9989376,"cg_id_raw_a":17.0655613,"cg_iq_a":-201.274048,"cg_iq_raw_a":-200.243683,"cg_iu_a":173.682983,"cg_iv_a":-172.342743,"cg_iw_a":-1.34023285,"cg_sample_age_us":23.9981823,"cg_sample_seq":9263770,"cg_sample_valid":1,"cg_theta_rad":4.71325016,"cg_vd_req_v":-2.25250745,"cg_vd_v":-2.25250745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32197571,"cg_vq_v":-8.32197571,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2439.89551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1579.913452,"values":{"Elec_RPM":-2356.01514,"EncoderCos":44051,"EncoderSin":14381,"GapTicks":49752,"Mech_RPM":-471.203003,"cg_du":46.7138481,"cg_dv":54.7702827,"cg_dw":45.2297173,"cg_id_a":7.79776287,"cg_id_raw_a":7.70573759,"cg_iq_a":-205.273987,"cg_iq_raw_a":-204.539734,"cg_iu_a":-161.065063,"cg_iv_a":193.285034,"cg_iw_a":-32.2199707,"cg_sample_age_us":23.863636,"cg_sample_seq":9265466,"cg_sample_valid":1,"cg_theta_rad":5.29304266,"cg_vd_req_v":-2.16018033,"cg_vd_v":-2.16018033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27580357,"cg_vq_v":-8.27580357,"cg_vu_v":128.888519,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2451.56665,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1580.06729,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1580.067298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1580.067305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1580.245483,"values":{"Elec_RPM":-2354.77686,"EncoderCos":52226,"EncoderSin":23673,"GapTicks":49345,"Mech_RPM":-470.955383,"cg_du":51.4552193,"cg_dv":44.8599052,"cg_dw":55.1400948,"cg_id_a":1.8525306,"cg_id_raw_a":-5.10277557,"cg_iq_a":-196.722473,"cg_iq_raw_a":-195.328766,"cg_iu_a":107.248039,"cg_iv_a":-197.133545,"cg_iw_a":89.885498,"cg_sample_age_us":23.7363644,"cg_sample_seq":9267167,"cg_sample_valid":1,"cg_theta_rad":5.85973454,"cg_vd_req_v":-2.04573655,"cg_vd_v":-2.04573655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45996189,"cg_vq_v":-8.45996189,"cg_vu_v":119.210884,"cg_vv_v":117.451309,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7830982,"dclink_p_w":-2573.65283,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1580.597046,"values":{"Elec_RPM":-2353.62183,"EncoderCos":52526,"EncoderSin":24697,"GapTicks":49608,"Mech_RPM":-470.724365,"cg_du":52.9504242,"cg_dv":45.0985641,"cg_dw":54.9014359,"cg_id_a":17.3768539,"cg_id_raw_a":18.8741226,"cg_iq_a":-199.876038,"cg_iq_raw_a":-199.662796,"cg_iu_a":151.066833,"cg_iv_a":-191.479523,"cg_iw_a":40.4126816,"cg_sample_age_us":23.6672726,"cg_sample_seq":9268917,"cg_sample_valid":1,"cg_theta_rad":5.90336037,"cg_vd_req_v":-2.33006382,"cg_vd_v":-2.33006382,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37998009,"cg_vq_v":-8.37998009,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2355.70728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1580.929077,"values":{"Elec_RPM":-2353.07935,"EncoderCos":53740,"EncoderSin":36531,"GapTicks":49364,"Mech_RPM":-470.615875,"cg_du":49.1942787,"cg_dv":55.1233826,"cg_dw":44.8766174,"cg_id_a":-9.70600414,"cg_id_raw_a":-12.9737349,"cg_iq_a":-199.279175,"cg_iq_raw_a":-198.850433,"cg_iu_a":-83.7207184,"cg_iv_a":199.518967,"cg_iw_a":-127.468765,"cg_sample_age_us":23.4636364,"cg_sample_seq":9270617,"cg_sample_valid":1,"cg_theta_rad":0.187112719,"cg_vd_req_v":-1.8028791,"cg_vd_v":-1.8028791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37919521,"cg_vq_v":-8.37919521,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2480.54712,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1581.059332,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1581.059338,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1581.059343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1581.265015,"values":{"Elec_RPM":-2355.17749,"EncoderCos":48214,"EncoderSin":47766,"GapTicks":49400,"Mech_RPM":-471.035492,"cg_du":48.6904488,"cg_dv":44.909893,"cg_dw":55.090107,"cg_id_a":-15.7123213,"cg_id_raw_a":-14.3853045,"cg_iq_a":-198.121872,"cg_iq_raw_a":-200.88913,"cg_iu_a":23.5247803,"cg_iv_a":-182.382294,"cg_iw_a":158.857513,"cg_sample_age_us":23.5727272,"cg_sample_seq":9272316,"cg_sample_valid":1,"cg_theta_rad":0.765992641,"cg_vd_req_v":-1.6525861,"cg_vd_v":-1.62939072,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41267109,"cg_vq_v":-8.45784187,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12100251,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1581.616577,"values":{"Elec_RPM":-2354.19897,"EncoderCos":16427,"EncoderSin":46886,"GapTicks":49451,"Mech_RPM":-470.839813,"cg_du":55.0445251,"cg_dv":48.2468224,"cg_dw":44.9554749,"cg_id_a":-11.7116756,"cg_id_raw_a":-7.43895483,"cg_iq_a":-196.45784,"cg_iq_raw_a":-198.591858,"cg_iu_a":162.121216,"cg_iv_a":16.7413025,"cg_iw_a":-178.862518,"cg_sample_age_us":23.9363632,"cg_sample_seq":9273916,"cg_sample_valid":1,"cg_theta_rad":2.43284106,"cg_vd_req_v":-1.64971375,"cg_vd_v":-1.64971375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43836975,"cg_vq_v":-8.43836975,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-16.3822727,"dclink_p_w":-2370.9187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1581.948608,"values":{"Elec_RPM":-2353.96826,"EncoderCos":25131,"EncoderSin":53088,"GapTicks":49774,"Mech_RPM":-470.793671,"cg_du":45.2492752,"cg_dv":46.640358,"cg_dw":54.7507248,"cg_id_a":12.48104,"cg_id_raw_a":12.479497,"cg_iq_a":-202.550934,"cg_iq_raw_a":-202.740112,"cg_iu_a":-37.9085159,"cg_iv_a":-155.960541,"cg_iw_a":193.869049,"cg_sample_age_us":23.772728,"cg_sample_seq":9275716,"cg_sample_valid":1,"cg_theta_rad":1.93396389,"cg_vd_req_v":-2.13301802,"cg_vd_v":-2.13301802,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30583954,"cg_vq_v":-8.30583954,"cg_vu_v":121.850235,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1742001,"dclink_p_w":-2485.53027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1582.051205,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1582.051211,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1582.051216,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1582.28064,"values":{"Elec_RPM":-2355.51807,"EncoderCos":13085,"EncoderSin":23636,"GapTicks":49507,"Mech_RPM":-471.103607,"cg_du":54.9932251,"cg_dv":45.0067749,"cg_dw":47.6296616,"cg_id_a":11.3537302,"cg_id_raw_a":8.43826008,"cg_iq_a":-199.097687,"cg_iq_raw_a":-197.783768,"cg_iu_a":196.770294,"cg_iv_a":-58.4283752,"cg_iw_a":-138.341919,"cg_sample_age_us":24.0672722,"cg_sample_seq":9277316,"cg_sample_valid":1,"cg_theta_rad":3.58209229,"cg_vd_req_v":-2.14810228,"cg_vd_v":-2.14810228,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40832806,"cg_vq_v":-8.40832806,"cg_vu_v":42.6695786,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-17.6018791,"dclink_p_w":-2547.42578,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1582.632202,"values":{"Elec_RPM":-2356.32861,"EncoderCos":11134,"EncoderSin":34153,"GapTicks":49353,"Mech_RPM":-471.265717,"cg_du":44.8669739,"cg_dv":50.6822014,"cg_dw":55.1330261,"cg_id_a":-14.7140217,"cg_id_raw_a":-13.8695107,"cg_iq_a":-197.650177,"cg_iq_raw_a":-199.071381,"cg_iu_a":-152.51152,"cg_iv_a":-33.6376038,"cg_iw_a":186.149124,"cg_sample_age_us":23.9290905,"cg_sample_seq":9279116,"cg_sample_valid":1,"cg_theta_rad":3.07914448,"cg_vd_req_v":-1.5687176,"cg_vd_v":-1.5687176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45897293,"cg_vq_v":-8.45897293,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2454.41431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1582.964233,"values":{"Elec_RPM":-2358.22168,"EncoderCos":21852,"EncoderSin":13921,"GapTicks":49460,"Mech_RPM":-471.644348,"cg_du":44.9638252,"cg_dv":55.0361748,"cg_dw":52.0250206,"cg_id_a":2.14856291,"cg_id_raw_a":0.255207896,"cg_iq_a":-197.540985,"cg_iq_raw_a":-197.738998,"cg_iu_a":-197.200165,"cg_iv_a":77.9933929,"cg_iw_a":119.206772,"cg_sample_age_us":23.9218178,"cg_sample_seq":9280766,"cg_sample_valid":1,"cg_theta_rad":4.19649172,"cg_vd_req_v":-1.96694076,"cg_vd_v":-1.96694076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41307354,"cg_vq_v":-8.41307354,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2462.81006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1583.0427,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1583.042706,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1583.042712,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1583.319702,"values":{"Elec_RPM":-2360.50195,"EncoderCos":32863,"EncoderSin":11145,"GapTicks":49464,"Mech_RPM":-472.100372,"cg_du":55.032383,"cg_dv":44.967617,"cg_dw":51.8783112,"cg_id_a":-10.4134293,"cg_id_raw_a":-4.0206418,"cg_iq_a":-199.050873,"cg_iq_raw_a":-200.129944,"cg_iu_a":194.233246,"cg_iv_a":-145.014893,"cg_iw_a":-44.9415665,"cg_sample_age_us":23.9654541,"cg_sample_seq":9282470,"cg_sample_valid":1,"cg_theta_rad":4.77530909,"cg_vd_req_v":-1.68816352,"cg_vd_v":-1.68816352,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40891552,"cg_vq_v":-8.40891552,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2469.34692,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1583.651733,"values":{"Elec_RPM":-2360.31299,"EncoderCos":45352,"EncoderSin":15289,"GapTicks":49554,"Mech_RPM":-472.062622,"cg_du":45.049511,"cg_dv":54.950489,"cg_dw":47.7183685,"cg_id_a":-7.09863567,"cg_id_raw_a":-1.60064673,"cg_iq_a":-200.465454,"cg_iq_raw_a":-201.589661,"cg_iu_a":-178.643326,"cg_iv_a":166.718307,"cg_iw_a":11.9250183,"cg_sample_age_us":23.9290905,"cg_sample_seq":9284166,"cg_sample_valid":1,"cg_theta_rad":5.35317755,"cg_vd_req_v":-1.83064556,"cg_vd_v":-1.83064556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38943672,"cg_vq_v":-8.38943672,"cg_vu_v":10.9973145,"cg_vv_v":25.953661,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2407.37817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1583.979858,"values":{"Elec_RPM":-2361.98145,"EncoderCos":52813,"EncoderSin":25269,"GapTicks":50075,"Mech_RPM":-472.396301,"cg_du":54.4765129,"cg_dv":45.5234871,"cg_dw":54.4256935,"cg_id_a":15.0827265,"cg_id_raw_a":17.4480495,"cg_iq_a":-202.35788,"cg_iq_raw_a":-201.647491,"cg_iu_a":170.855957,"cg_iv_a":-180.062683,"cg_iw_a":9.20672607,"cg_sample_age_us":24.1654549,"cg_sample_seq":9285866,"cg_sample_valid":1,"cg_theta_rad":5.93992996,"cg_vd_req_v":-2.24851584,"cg_vd_v":-2.24851584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31509304,"cg_vq_v":-8.31509304,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2538.89819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1584.035551,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1584.035557,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1584.035562,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1584.335327,"values":{"Elec_RPM":-2358.88403,"EncoderCos":53589,"EncoderSin":37282,"GapTicks":49479,"Mech_RPM":-471.776825,"cg_du":47.8877487,"cg_dv":55.0185051,"cg_dw":44.9814949,"cg_id_a":2.41648364,"cg_id_raw_a":-5.0741415,"cg_iq_a":-201.33606,"cg_iq_raw_a":-200.409973,"cg_iu_a":-126.162247,"cg_iv_a":200.243851,"cg_iw_a":-74.081604,"cg_sample_age_us":23.5218182,"cg_sample_seq":9287566,"cg_sample_valid":1,"cg_theta_rad":0.222984359,"cg_vd_req_v":-2.05967879,"cg_vd_v":-2.05967879,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35428238,"cg_vq_v":-8.35428238,"cg_vu_v":7.91806602,"cg_vv_v":18.0355949,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2504.56909,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1584.667358,"values":{"Elec_RPM":-2353.27295,"EncoderCos":47703,"EncoderSin":48190,"GapTicks":49284,"Mech_RPM":-470.654602,"cg_du":50.3838844,"cg_dv":44.8042603,"cg_dw":55.1957397,"cg_id_a":-8.57684612,"cg_id_raw_a":-8.83736897,"cg_iq_a":-195.555466,"cg_iq_raw_a":-194.968277,"cg_iu_a":58.7537842,"cg_iv_a":-191.189545,"cg_iw_a":132.43576,"cg_sample_age_us":23.5145454,"cg_sample_seq":9289266,"cg_sample_valid":1,"cg_theta_rad":0.796959698,"cg_vd_req_v":-1.78153718,"cg_vd_v":-1.78153718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5061264,"cg_vq_v":-8.5061264,"cg_vu_v":35.1914063,"cg_vv_v":31.6722641,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2534.57446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1584.99939,"values":{"Elec_RPM":-2361.70215,"EncoderCos":36736,"EncoderSin":53904,"GapTicks":49409,"Mech_RPM":-472.340454,"cg_du":51.6761131,"cg_dv":55.0824509,"cg_dw":44.9175491,"cg_id_a":-9.02387524,"cg_id_raw_a":-7.983634,"cg_iq_a":-194.885544,"cg_iq_raw_a":-196.580383,"cg_iu_a":-22.8673248,"cg_iv_a":178.425064,"cg_iw_a":-155.557739,"cg_sample_age_us":23.9290905,"cg_sample_seq":9290966,"cg_sample_valid":1,"cg_theta_rad":1.38734043,"cg_vd_req_v":-1.70099962,"cg_vd_v":-1.70099962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47707558,"cg_vq_v":-8.47707558,"cg_vu_v":40.9100075,"cg_vv_v":67.743454,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1585.026971,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1585.026977,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1585.026982,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1585.350952,"values":{"Elec_RPM":-2359.06641,"EncoderCos":24906,"EncoderSin":52934,"GapTicks":49913,"Mech_RPM":-471.813263,"cg_du":45.3761139,"cg_dv":46.1357727,"cg_dw":54.6238861,"cg_id_a":11.5603313,"cg_id_raw_a":11.1781502,"cg_iq_a":-204.48082,"cg_iq_raw_a":-202.927444,"cg_iu_a":-31.0221882,"cg_iv_a":-159.512451,"cg_iw_a":190.534637,"cg_sample_age_us":23.8672733,"cg_sample_seq":9292667,"cg_sample_valid":1,"cg_theta_rad":1.9403075,"cg_vd_req_v":-2.11974335,"cg_vd_v":-2.11974335,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28667831,"cg_vq_v":-8.28667831,"cg_vu_v":113.052383,"cg_vv_v":118.770996,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2422.80493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1585.682983,"values":{"Elec_RPM":-2355.40088,"EncoderCos":15273,"EncoderSin":45553,"GapTicks":49405,"Mech_RPM":-471.08017,"cg_du":55.0861473,"cg_dv":51.4315567,"cg_dw":44.9138527,"cg_id_a":6.92669868,"cg_id_raw_a":3.47732592,"cg_iq_a":-203.530731,"cg_iq_raw_a":-204.349243,"cg_iu_a":73.7949829,"cg_iv_a":125.654022,"cg_iw_a":-199.449005,"cg_sample_age_us":23.9145451,"cg_sample_seq":9294368,"cg_sample_valid":1,"cg_theta_rad":2.52100587,"cg_vd_req_v":-2.06005907,"cg_vd_v":-2.06005907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33413506,"cg_vq_v":-8.33413506,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2416.79126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1586.01873,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1586.018736,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1586.018741,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1586.018921,"values":{"Elec_RPM":-2355.26074,"EncoderCos":13727,"EncoderSin":22258,"GapTicks":49816,"Mech_RPM":-471.052155,"cg_du":54.7126427,"cg_dv":46.4168358,"cg_dw":45.2873573,"cg_id_a":6.97957754,"cg_id_raw_a":11.0312262,"cg_iq_a":-199.561737,"cg_iq_raw_a":-201.480347,"cg_iu_a":176.473755,"cg_iv_a":-9.46298218,"cg_iw_a":-167.010773,"cg_sample_age_us":23.994545,"cg_sample_seq":9296016,"cg_sample_valid":1,"cg_theta_rad":3.64406514,"cg_vd_req_v":-2.01337409,"cg_vd_v":-2.01337409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36189079,"cg_vq_v":-8.36189079,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2484.77368,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1586.370483,"values":{"Elec_RPM":-2353.27246,"EncoderCos":11090,"EncoderSin":33078,"GapTicks":49402,"Mech_RPM":-470.65451,"cg_du":44.9111748,"cg_dv":48.6385155,"cg_dw":55.0888252,"cg_id_a":-8.00019264,"cg_id_raw_a":-12.9656057,"cg_iq_a":-196.651382,"cg_iq_raw_a":-197.928513,"cg_iu_a":-89.3022766,"cg_iv_a":-104.965485,"cg_iw_a":194.267761,"cg_sample_age_us":23.9218178,"cg_sample_seq":9297818,"cg_sample_valid":1,"cg_theta_rad":3.14227295,"cg_vd_req_v":-1.73388278,"cg_vd_v":-1.73388278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42848206,"cg_vq_v":-8.42848206,"cg_vu_v":141.645401,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1586.702515,"values":{"Elec_RPM":-2349.87769,"EncoderCos":34162,"EncoderSin":11189,"GapTicks":49321,"Mech_RPM":-469.975555,"cg_du":55.1620636,"cg_dv":44.8379364,"cg_dw":49.22855,"cg_id_a":-10.2347784,"cg_id_raw_a":-16.647234,"cg_iq_a":-195.672241,"cg_iq_raw_a":-192.445923,"cg_iu_a":195.429291,"cg_iv_a":-117.578339,"cg_iw_a":-77.8509521,"cg_sample_age_us":23.9727268,"cg_sample_seq":9299417,"cg_sample_valid":1,"cg_theta_rad":4.79033899,"cg_vd_req_v":-1.74446309,"cg_vd_v":-1.74446309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48101616,"cg_vq_v":-8.48101616,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1587.043097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1587.043103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1587.043125,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1587.054077,"values":{"Elec_RPM":-2352.02783,"EncoderCos":45080,"EncoderSin":15075,"GapTicks":49731,"Mech_RPM":-470.405579,"cg_du":45.2105865,"cg_dv":54.7894135,"cg_dw":46.9010048,"cg_id_a":0.189448833,"cg_id_raw_a":8.37049675,"cg_iq_a":-202.857178,"cg_iq_raw_a":-204.349228,"cg_iu_a":-185.710876,"cg_iv_a":150.698547,"cg_iw_a":35.0123367,"cg_sample_age_us":23.9218178,"cg_sample_seq":9301120,"cg_sample_valid":1,"cg_theta_rad":5.38196325,"cg_vd_req_v":-1.96693182,"cg_vd_v":-1.96693182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.314538,"cg_vq_v":-8.314538,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-15.987215,"dclink_p_w":-2313.74414,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1587.386108,"values":{"Elec_RPM":-2355.63989,"EncoderCos":52958,"EncoderSin":25754,"GapTicks":49738,"Mech_RPM":-471.127991,"cg_du":54.7834167,"cg_dv":45.2165833,"cg_dw":53.2576675,"cg_id_a":3.53029156,"cg_id_raw_a":11.119792,"cg_iq_a":-203.122803,"cg_iq_raw_a":-204.359436,"cg_iu_a":174.009186,"cg_iv_a":-174.372421,"cg_iw_a":0.363235474,"cg_sample_age_us":24.1690903,"cg_sample_seq":9302816,"cg_sample_valid":1,"cg_theta_rad":5.96254873,"cg_vd_req_v":-2.01490164,"cg_vd_v":-2.01490164,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32294273,"cg_vq_v":-8.32294273,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.3985825,"dclink_p_w":-2373.2793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1587.722046,"values":{"Elec_RPM":-2352.23511,"EncoderCos":53484,"EncoderSin":37672,"GapTicks":49589,"Mech_RPM":-470.447021,"cg_du":47.2061996,"cg_dv":54.9185295,"cg_dw":45.0814705,"cg_id_a":9.05154037,"cg_id_raw_a":5.02895975,"cg_iq_a":-203.372635,"cg_iq_raw_a":-202.697586,"cg_iu_a":-144.646606,"cg_iv_a":198.359161,"cg_iw_a":-53.7125626,"cg_sample_age_us":23.48909,"cg_sample_seq":9304517,"cg_sample_valid":1,"cg_theta_rad":0.241914839,"cg_vd_req_v":-2.19311547,"cg_vd_v":-2.19311547,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34043121,"cg_vq_v":-8.34043121,"cg_vu_v":128.448624,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1588.035577,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1588.035582,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1588.035587,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1588.073608,"values":{"Elec_RPM":-2353.19409,"EncoderCos":53214,"EncoderSin":38792,"GapTicks":49910,"Mech_RPM":-470.638824,"cg_du":45.3729897,"cg_dv":54.6270103,"cg_dw":46.0265198,"cg_id_a":9.87198067,"cg_id_raw_a":14.8108797,"cg_iq_a":-202.585892,"cg_iq_raw_a":-203.047165,"cg_iu_a":-172.228149,"cg_iv_a":177.229004,"cg_iw_a":-5.00086212,"cg_sample_age_us":23.5,"cg_sample_seq":9306266,"cg_sample_valid":1,"cg_theta_rad":0.295150548,"cg_vd_req_v":-2.17255259,"cg_vd_v":-2.17255259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35266399,"cg_vq_v":-8.35266399,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.5526199,"dclink_p_w":-2395.57227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1588.56189,"values":{"Elec_RPM":-2351.62329,"EncoderCos":53821,"EncoderSin":36145,"GapTicks":49360,"Mech_RPM":-470.324646,"cg_du":49.8824234,"cg_dv":55.127018,"cg_dw":44.872982,"cg_id_a":-14.4681273,"cg_id_raw_a":-15.6311874,"cg_iq_a":-197.68045,"cg_iq_raw_a":-195.61113,"cg_iu_a":-45.9546471,"cg_iv_a":190.530518,"cg_iw_a":-144.575867,"cg_sample_age_us":23.3945446,"cg_sample_seq":9308616,"cg_sample_valid":1,"cg_theta_rad":0.161025643,"cg_vd_req_v":-1.68928468,"cg_vd_v":-1.68928468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4270916,"cg_vq_v":-8.4270916,"cg_vu_v":0.87978512,"cg_vv_v":3.95903301,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9585495,"dclink_p_w":-2461.78027,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1588.931104,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1588.93114,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1588.931143,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1589.027241,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1589.027247,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1589.027252,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1589.046265,"values":{"Elec_RPM":-2350.5376,"EncoderCos":32400,"EncoderSin":11151,"GapTicks":49663,"Mech_RPM":-470.107544,"cg_du":54.8509293,"cg_dv":45.1490707,"cg_dw":53.0241699,"cg_id_a":0.185106039,"cg_id_raw_a":9.82933617,"cg_iq_a":-201.101196,"cg_iq_raw_a":-203.023834,"cg_iu_a":171.762054,"cg_iv_a":-176.25708,"cg_iw_a":4.49503326,"cg_sample_age_us":24.1218185,"cg_sample_seq":9311116,"cg_sample_valid":1,"cg_theta_rad":4.70246935,"cg_vd_req_v":-1.90676141,"cg_vd_v":-1.90676141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37518597,"cg_vq_v":-8.37518597,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1589.397827,"values":{"Elec_RPM":-2348.6123,"EncoderCos":22105,"EncoderSin":13831,"GapTicks":49483,"Mech_RPM":-469.722443,"cg_du":44.9852257,"cg_dv":55.0147743,"cg_dw":52.5191612,"cg_id_a":4.81305313,"cg_id_raw_a":4.26942778,"cg_iq_a":-199.593491,"cg_iq_raw_a":-200.132797,"cg_iu_a":-197.490112,"cg_iv_a":65.1268311,"cg_iw_a":132.363281,"cg_sample_age_us":23.8890915,"cg_sample_seq":9312916,"cg_sample_valid":1,"cg_theta_rad":4.21124601,"cg_vd_req_v":-2.03111792,"cg_vd_v":-2.03111792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40420151,"cg_vq_v":-8.40420151,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-17.0745316,"dclink_p_w":-2463.59473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":143.404984}}
{"type":"telemetry","t":1589.729858,"values":{"Elec_RPM":-2351.10571,"EncoderCos":33900,"EncoderSin":11209,"GapTicks":49341,"Mech_RPM":-470.22113,"cg_du":55.1440315,"cg_dv":44.8559685,"cg_dw":49.663887,"cg_id_a":-14.8693943,"cg_id_raw_a":-18.2934303,"cg_iq_a":-195.272659,"cg_iq_raw_a":-193.23407,"cg_iu_a":192.094849,"cg_iv_a":-129.864975,"cg_iw_a":-62.2298737,"cg_sample_age_us":24.0563641,"cg_sample_seq":9314617,"cg_sample_valid":1,"cg_theta_rad":4.7806015,"cg_vd_req_v":-1.63455856,"cg_vd_v":-1.63455856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47240734,"cg_vq_v":-8.47240734,"cg_vu_v":128.448624,"cg_vv_v":117.451309,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1590.018773,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1590.018779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1590.018785,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1590.085327,"values":{"Elec_RPM":-2348.30859,"EncoderCos":35039,"EncoderSin":11249,"GapTicks":49508,"Mech_RPM":-469.661713,"cg_du":54.9922409,"cg_dv":45.0077591,"cg_dw":47.8382797,"cg_id_a":8.66181755,"cg_id_raw_a":4.78595352,"cg_iq_a":-199.607422,"cg_iq_raw_a":-198.868393,"cg_iu_a":198.328796,"cg_iv_a":-65.4959412,"cg_iw_a":-132.832855,"cg_sample_age_us":24.0636368,"cg_sample_seq":9316366,"cg_sample_valid":1,"cg_theta_rad":4.83221531,"cg_vd_req_v":-2.12136149,"cg_vd_v":-2.12136149,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3606863,"cg_vq_v":-8.3606863,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.3496532,"dclink_p_w":-2366.198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1590.413452,"values":{"Elec_RPM":-2346.26514,"EncoderCos":53687,"EncoderSin":36826,"GapTicks":49395,"Mech_RPM":-469.253052,"cg_du":48.6360664,"cg_dv":55.0952644,"cg_dw":44.9047356,"cg_id_a":-6.94837427,"cg_id_raw_a":-13.5586758,"cg_iq_a":-199.301758,"cg_iq_raw_a":-199.063004,"cg_iu_a":-97.2034302,"cg_iv_a":200.026382,"cg_iw_a":-102.822952,"cg_sample_age_us":23.5145454,"cg_sample_seq":9317966,"cg_sample_valid":1,"cg_theta_rad":0.201185584,"cg_vd_req_v":-1.87090945,"cg_vd_v":-1.87090945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41038895,"cg_vq_v":-8.41038895,"cg_vu_v":37.830761,"cg_vv_v":46.6286087,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1590.74939,"values":{"Elec_RPM":-2340.19678,"EncoderCos":53471,"EncoderSin":37634,"GapTicks":49590,"Mech_RPM":-468.039337,"cg_du":47.2745056,"cg_dv":54.9176979,"cg_dw":45.0823021,"cg_id_a":9.23536682,"cg_id_raw_a":5.60565519,"cg_iq_a":-203.003845,"cg_iq_raw_a":-201.5448,"cg_iu_a":-150.590591,"cg_iv_a":195.822113,"cg_iw_a":-45.231514,"cg_sample_age_us":23.5218182,"cg_sample_seq":9319716,"cg_sample_valid":1,"cg_theta_rad":0.25001654,"cg_vd_req_v":-2.19178891,"cg_vd_v":-2.19178891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34559631,"cg_vq_v":-8.34559631,"cg_vu_v":107.333786,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.42939,"dclink_p_w":-2377.73779,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1591.043505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1591.04351,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1591.043515,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1591.100952,"values":{"Elec_RPM":-2343.33521,"EncoderCos":27116,"EncoderSin":53686,"GapTicks":49382,"Mech_RPM":-468.667023,"cg_du":44.8930931,"cg_dv":50.2255096,"cg_dw":55.1069069,"cg_id_a":-15.2440567,"cg_id_raw_a":-13.0740461,"cg_iq_a":-199.507477,"cg_iq_raw_a":-198.766357,"cg_iu_a":-96.9134827,"cg_iv_a":-99.4926453,"cg_iw_a":196.406128,"cg_sample_age_us":23.772728,"cg_sample_seq":9321321,"cg_sample_valid":1,"cg_theta_rad":1.87742627,"cg_vd_req_v":-1.58289599,"cg_vd_v":-1.58289599,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38908386,"cg_vq_v":-8.38908386,"cg_vu_v":102.494972,"cg_vv_v":95.8965836,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2459.93384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1591.432983,"values":{"Elec_RPM":-2345.80762,"EncoderCos":25215,"EncoderSin":53055,"GapTicks":49704,"Mech_RPM":-469.161499,"cg_du":45.1861725,"cg_dv":46.7616043,"cg_dw":54.8138275,"cg_id_a":12.1690264,"cg_id_raw_a":8.92575741,"cg_iq_a":-202.984222,"cg_iq_raw_a":-203.329254,"cg_iu_a":-41.7503624,"cg_iv_a":-152.988556,"cg_iw_a":194.738922,"cg_sample_age_us":23.8527279,"cg_sample_seq":9323066,"cg_sample_valid":1,"cg_theta_rad":1.92674708,"cg_vd_req_v":-2.15523887,"cg_vd_v":-2.15523887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32948971,"cg_vq_v":-8.32948971,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2408.37793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1591.765015,"values":{"Elec_RPM":-2347.07373,"EncoderCos":24406,"EncoderSin":52838,"GapTicks":50005,"Mech_RPM":-469.414764,"cg_du":45.9663315,"cg_dv":45.4595108,"cg_dw":54.5404892,"cg_id_a":8.43323708,"cg_id_raw_a":12.9175835,"cg_iq_a":-206.64328,"cg_iq_raw_a":-207.746109,"cg_iu_a":-9.56583881,"cg_iv_a":-174.046219,"cg_iw_a":183.612061,"cg_sample_age_us":23.8927269,"cg_sample_seq":9324816,"cg_sample_valid":1,"cg_theta_rad":1.96831799,"cg_vd_req_v":-2.04775524,"cg_vd_v":-2.04775524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27811813,"cg_vq_v":-8.27811813,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2478.18677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1592.035453,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1592.035459,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1592.035464,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1592.116577,"values":{"Elec_RPM":-2349.19287,"EncoderCos":14775,"EncoderSin":44794,"GapTicks":49676,"Mech_RPM":-469.838562,"cg_du":54.8396645,"cg_dv":53.0751114,"cg_dw":45.1603355,"cg_id_a":17.3390121,"cg_id_raw_a":17.3696117,"cg_iq_a":-202.94754,"cg_iq_raw_a":-202.463013,"cg_iu_a":40.4144058,"cg_iv_a":154.177948,"cg_iw_a":-194.592346,"cg_sample_age_us":23.8818188,"cg_sample_seq":9326516,"cg_sample_valid":1,"cg_theta_rad":2.55562854,"cg_vd_req_v":-2.23139453,"cg_vd_v":-2.23139453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32077312,"cg_vq_v":-8.32077312,"cg_vu_v":42.2296829,"cg_vv_v":55.8663559,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2495.1897,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1592.452515,"values":{"Elec_RPM":-2351.30933,"EncoderCos":13824,"EncoderSin":22086,"GapTicks":49688,"Mech_RPM":-470.261871,"cg_du":54.8287773,"cg_dv":46.8957367,"cg_dw":45.1712227,"cg_id_a":1.05655694,"cg_id_raw_a":7.18245077,"cg_iq_a":-200.630905,"cg_iq_raw_a":-203.856842,"cg_iu_a":173.320541,"cg_iv_a":-1.85176086,"cg_iw_a":-171.468781,"cg_sample_age_us":24.0272732,"cg_sample_seq":9328166,"cg_sample_valid":1,"cg_theta_rad":3.66176367,"cg_vd_req_v":-1.90513337,"cg_vd_v":-1.90513337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36713219,"cg_vq_v":-8.36713219,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1592.784546,"values":{"Elec_RPM":-2356.38867,"EncoderCos":22608,"EncoderSin":13581,"GapTicks":49714,"Mech_RPM":-471.27774,"cg_du":45.1950645,"cg_dv":54.8049355,"cg_dw":53.5266342,"cg_id_a":10.6478777,"cg_id_raw_a":9.35066414,"cg_iq_a":-197.889984,"cg_iq_raw_a":-197.867569,"cg_iu_a":-184.224884,"cg_iv_a":26.0197449,"cg_iw_a":153.747131,"cg_sample_age_us":23.9618187,"cg_sample_seq":9329866,"cg_sample_valid":1,"cg_theta_rad":4.24556637,"cg_vd_req_v":-2.14701772,"cg_vd_v":-2.14701772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45246506,"cg_vq_v":-8.45246506,"cg_vu_v":101.175293,"cg_vv_v":102.93486,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1593.059361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1593.059367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1593.059372,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1593.136108,"values":{"Elec_RPM":-2360.70508,"EncoderCos":23483,"EncoderSin":13175,"GapTicks":49831,"Mech_RPM":-472.141022,"cg_du":45.3017654,"cg_dv":53.5255432,"cg_dw":54.6982346,"cg_id_a":5.15182686,"cg_id_raw_a":9.53578091,"cg_iq_a":-201.754517,"cg_iq_raw_a":-202.326355,"cg_iu_a":-176.758636,"cg_iv_a":3.0411377,"cg_iw_a":173.717499,"cg_sample_age_us":23.9327278,"cg_sample_seq":9331616,"cg_sample_valid":1,"cg_theta_rad":4.28088617,"cg_vd_req_v":-2.00114393,"cg_vd_v":-2.00114393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34602165,"cg_vq_v":-8.34602165,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1593.46814,"values":{"Elec_RPM":-2355.32935,"EncoderCos":35621,"EncoderSin":11332,"GapTicks":49745,"Mech_RPM":-471.065887,"cg_du":54.7770958,"cg_dv":45.2229042,"cg_dw":46.8110809,"cg_id_a":14.8633366,"cg_id_raw_a":15.0691872,"cg_iq_a":-203.570419,"cg_iq_raw_a":-203.802658,"cg_iu_a":193.72583,"cg_iv_a":-36.4283752,"cg_iw_a":-157.297455,"cg_sample_age_us":24.0563641,"cg_sample_seq":9333316,"cg_sample_valid":1,"cg_theta_rad":4.86171103,"cg_vd_req_v":-2.21690559,"cg_vd_v":-2.21690559,"cg_vdc_v":143.404984,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26335335,"cg_vq_v":-8.26335335,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2511.75732,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1593.819702,"values":{"Elec_RPM":-2365.7312,"EncoderCos":46662,"EncoderSin":16374,"GapTicks":49331,"Mech_RPM":-473.14624,"cg_du":44.8467903,"cg_dv":55.1532097,"cg_dw":51.144474,"cg_id_a":-5.80553579,"cg_id_raw_a":-6.92827082,"cg_iq_a":-197.217468,"cg_iq_raw_a":-198.044159,"cg_iu_a":-195.496704,"cg_iv_a":116.266884,"cg_iw_a":79.2298203,"cg_sample_age_us":23.9145451,"cg_sample_seq":9335016,"cg_sample_valid":1,"cg_theta_rad":5.42507648,"cg_vd_req_v":-1.90746796,"cg_vd_v":-1.90746796,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44304085,"cg_vq_v":-8.44304085,"cg_vu_v":1.31967759,"cg_vv_v":12.7568836,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4493237,"dclink_p_w":-2373.38672,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1594.050697,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1594.050703,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1594.050709,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1594.15564,"values":{"Elec_RPM":-2364.94385,"EncoderCos":47847,"EncoderSin":48144,"GapTicks":49311,"Mech_RPM":-472.98877,"cg_du":50.1178741,"cg_dv":44.8286896,"cg_dw":55.1713104,"cg_id_a":-9.23483753,"cg_id_raw_a":-16.1534138,"cg_iq_a":-195.773468,"cg_iq_raw_a":-196.19809,"cg_iu_a":64.5165558,"cg_iv_a":-191.950668,"cg_iw_a":127.434113,"cg_sample_age_us":23.5327282,"cg_sample_seq":9336617,"cg_sample_valid":1,"cg_theta_rad":0.799008131,"cg_vd_req_v":-1.75412393,"cg_vd_v":-1.75412393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46283531,"cg_vq_v":-8.46283531,"cg_vu_v":106.893898,"cg_vv_v":101.175293,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-16.0832615,"dclink_p_w":-2327.64453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1594.487671,"values":{"Elec_RPM":-2364.69434,"EncoderCos":47033,"EncoderSin":48884,"GapTicks":49467,"Mech_RPM":-472.938843,"cg_du":51.9865799,"cg_dv":44.9705505,"cg_dw":55.0294495,"cg_id_a":7.7014122,"cg_id_raw_a":4.3894124,"cg_iq_a":-200.387009,"cg_iq_raw_a":-199.322159,"cg_iu_a":125.841125,"cg_iv_a":-198.837006,"cg_iw_a":72.9958801,"cg_sample_age_us":23.5363636,"cg_sample_seq":9338366,"cg_sample_valid":1,"cg_theta_rad":0.849827528,"cg_vd_req_v":-2.10565639,"cg_vd_v":-2.10565639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35956383,"cg_vq_v":-8.35956383,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2408.6853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1594.839233,"values":{"Elec_RPM":-2363.72852,"EncoderCos":25545,"EncoderSin":53202,"GapTicks":49548,"Mech_RPM":-472.745697,"cg_du":45.0444717,"cg_dv":47.385025,"cg_dw":54.9555283,"cg_id_a":9.13933563,"cg_id_raw_a":5.67997026,"cg_iq_a":-200.577637,"cg_iq_raw_a":-201.877579,"cg_iu_a":-16.7421188,"cg_iv_a":-169.914429,"cg_iw_a":186.65654,"cg_sample_age_us":23.8854542,"cg_sample_seq":9340020,"cg_sample_valid":1,"cg_theta_rad":1.95248556,"cg_vd_req_v":-2.09305096,"cg_vd_v":-2.09305096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40033627,"cg_vq_v":-8.40033627,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2524.34619,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1595.042776,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1595.042782,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1595.042788,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1595.171265,"values":{"Elec_RPM":-2360.73267,"EncoderCos":23986,"EncoderSin":52605,"GapTicks":49703,"Mech_RPM":-472.146515,"cg_du":47.0195541,"cg_dv":45.1854248,"cg_dw":54.8145752,"cg_id_a":0.546312928,"cg_id_raw_a":5.48980236,"cg_iq_a":-203.053116,"cg_iq_raw_a":-203.265564,"cg_iu_a":-1.37473226,"cg_iv_a":-173.865005,"cg_iw_a":178.936615,"cg_sample_age_us":23.8709087,"cg_sample_seq":9341767,"cg_sample_valid":1,"cg_theta_rad":1.98409426,"cg_vd_req_v":-1.87643385,"cg_vd_v":-1.87643385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33566761,"cg_vq_v":-8.33566761,"cg_vu_v":107.333786,"cg_vv_v":97.2162552,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.4677753,"dclink_p_w":-2520.33374,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1595.503296,"values":{"Elec_RPM":-2355.29004,"EncoderCos":14472,"EncoderSin":44322,"GapTicks":50000,"Mech_RPM":-471.058014,"cg_du":54.5453148,"cg_dv":54.1382103,"cg_dw":45.4546852,"cg_id_a":16.0769005,"cg_id_raw_a":15.6238499,"cg_iq_a":-204.645844,"cg_iq_raw_a":-206.569901,"cg_iu_a":11.0931463,"cg_iv_a":168.747971,"cg_iw_a":-179.84111,"cg_sample_age_us":23.8563633,"cg_sample_seq":9343466,"cg_sample_valid":1,"cg_theta_rad":2.59087873,"cg_vd_req_v":-2.19459677,"cg_vd_v":-2.19459677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26891613,"cg_vq_v":-8.26891613,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1595.854858,"values":{"Elec_RPM":-2350.59692,"EncoderCos":13999,"EncoderSin":43574,"GapTicks":49628,"Mech_RPM":-470.119385,"cg_du":52.694252,"cg_dv":54.8831558,"cg_dw":45.1168442,"cg_id_a":-3.96790814,"cg_id_raw_a":0.78391397,"cg_iq_a":-199.979126,"cg_iq_raw_a":-203.189087,"cg_iu_a":-1.9183898,"cg_iv_a":173.495911,"cg_iw_a":-171.577515,"cg_sample_age_us":23.8818188,"cg_sample_seq":9345216,"cg_sample_valid":1,"cg_theta_rad":2.61939287,"cg_vd_req_v":-1.78242159,"cg_vd_v":-1.78242159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37691975,"cg_vq_v":-8.37691975,"cg_vu_v":38.2706528,"cg_vv_v":47.5083961,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1596.035657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1596.035662,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1596.035668,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1596.18689,"values":{"Elec_RPM":-2352.26611,"EncoderCos":23257,"EncoderSin":13323,"GapTicks":49974,"Mech_RPM":-470.453217,"cg_du":45.4313622,"cg_dv":54.1177597,"cg_dw":54.5686378,"cg_id_a":8.86410618,"cg_id_raw_a":12.5108376,"cg_iq_a":-201.000595,"cg_iq_raw_a":-200.193893,"cg_iu_a":-180.419281,"cg_iv_a":8.47772217,"cg_iw_a":171.941559,"cg_sample_age_us":23.8999996,"cg_sample_seq":9346816,"cg_sample_valid":1,"cg_theta_rad":4.27182102,"cg_vd_req_v":-2.08123541,"cg_vd_v":-2.08123541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3512373,"cg_vq_v":-8.3512373,"cg_vu_v":39.1504402,"cg_vv_v":54.5466805,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1596.518921,"values":{"Elec_RPM":-2354.36328,"EncoderCos":24031,"EncoderSin":12936,"GapTicks":49546,"Mech_RPM":-470.872681,"cg_du":45.0426941,"cg_dv":52.0715828,"cg_dw":54.9573059,"cg_id_a":-9.03662395,"cg_id_raw_a":-1.85594332,"cg_iq_a":-200.531097,"cg_iq_raw_a":-202.298187,"cg_iu_a":-169.473633,"cg_iv_a":-11.9638062,"cg_iw_a":181.437439,"cg_sample_age_us":24.0163631,"cg_sample_seq":9348566,"cg_sample_valid":1,"cg_theta_rad":4.30894518,"cg_vd_req_v":-1.71457291,"cg_vd_v":-1.71457291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34777069,"cg_vq_v":-8.34777069,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4656334,"dclink_p_w":-2375.73999,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1596.870483,"values":{"Elec_RPM":-2351.28613,"EncoderCos":36092,"EncoderSin":11383,"GapTicks":50007,"Mech_RPM":-470.257202,"cg_du":54.5385056,"cg_dv":45.4614944,"cg_dw":45.902874,"cg_id_a":14.0131493,"cg_id_raw_a":17.9852142,"cg_iq_a":-205.079391,"cg_iq_raw_a":-206.937943,"cg_iu_a":187.383148,"cg_iv_a":-20.6260681,"cg_iw_a":-166.75708,"cg_sample_age_us":24.0563641,"cg_sample_seq":9350266,"cg_sample_valid":1,"cg_theta_rad":4.88135862,"cg_vd_req_v":-2.19640017,"cg_vd_v":-2.19640017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26597881,"cg_vq_v":-8.26597881,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2382.7998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1597.026841,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1597.026846,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1597.02685,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1597.206421,"values":{"Elec_RPM":-2351.88135,"EncoderCos":46870,"EncoderSin":16606,"GapTicks":49353,"Mech_RPM":-470.376251,"cg_du":44.8668442,"cg_dv":55.1331558,"cg_dw":51.6629143,"cg_id_a":0.983077228,"cg_id_raw_a":-2.85234928,"cg_iq_a":-197.420197,"cg_iq_raw_a":-196.856735,"cg_iu_a":-195.96788,"cg_iv_a":84.6985016,"cg_iw_a":111.269379,"cg_sample_age_us":23.9581814,"cg_sample_seq":9351967,"cg_sample_valid":1,"cg_theta_rad":5.44962215,"cg_vd_req_v":-2.044523,"cg_vd_v":-2.044523,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45679855,"cg_vq_v":-8.45679855,"cg_vu_v":117.011421,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2413.39185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1597.557983,"values":{"Elec_RPM":-2351.27344,"EncoderCos":53279,"EncoderSin":26635,"GapTicks":49353,"Mech_RPM":-470.2547,"cg_du":55.1328583,"cg_dv":44.8671417,"cg_dw":50.9940147,"cg_id_a":-15.2092323,"cg_id_raw_a":-14.1123028,"cg_iq_a":-193.805756,"cg_iq_raw_a":-194.827301,"cg_iu_a":195.46553,"cg_iv_a":-120.296616,"cg_iw_a":-75.1689148,"cg_sample_age_us":24.0418186,"cg_sample_seq":9353670,"cg_sample_valid":1,"cg_theta_rad":6.04528332,"cg_vd_req_v":-1.64795542,"cg_vd_v":-1.64795542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49909973,"cg_vq_v":-8.49909973,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1597.890015,"values":{"Elec_RPM":-2354.44629,"EncoderCos":53024,"EncoderSin":39400,"GapTicks":49577,"Mech_RPM":-470.889252,"cg_du":45.0700569,"cg_dv":54.9299431,"cg_dw":47.5877495,"cg_id_a":-5.98407078,"cg_id_raw_a":-1.30178905,"cg_iq_a":-200.951782,"cg_iq_raw_a":-202.498901,"cg_iu_a":-177.592255,"cg_iv_a":167.878113,"cg_iw_a":9.71414185,"cg_sample_age_us":23.5254555,"cg_sample_seq":9355367,"cg_sample_valid":1,"cg_theta_rad":0.326101482,"cg_vd_req_v":-1.84546435,"cg_vd_v":-1.84546435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35976982,"cg_vq_v":-8.35976982,"cg_vu_v":98.5359344,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2465.4248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1598.051292,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1598.051297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1598.051303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1598.307983,"values":{"Elec_RPM":-2350.09399,"EncoderCos":11784,"EncoderSin":38081,"GapTicks":49321,"Mech_RPM":-470.018799,"cg_du":44.8372917,"cg_dv":55.1627083,"cg_dw":50.3068161,"cg_id_a":-9.55660725,"cg_id_raw_a":-11.302515,"cg_iq_a":-196.205383,"cg_iq_raw_a":-195.743195,"cg_iu_a":-194.336914,"cg_iv_a":126.233948,"cg_iw_a":68.1029663,"cg_sample_age_us":23.9436359,"cg_sample_seq":9357466,"cg_sample_valid":1,"cg_theta_rad":2.89415002,"cg_vd_req_v":-1.67628086,"cg_vd_v":-1.67628086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44160271,"cg_vq_v":-8.44160271,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2372.86377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1598.827515,"values":{"Elec_RPM":-2344.28467,"EncoderCos":29994,"EncoderSin":54164,"GapTicks":49567,"Mech_RPM":-468.856934,"cg_du":45.0614967,"cg_dv":54.9385033,"cg_dw":52.5806198,"cg_id_a":8.51460075,"cg_id_raw_a":6.39894342,"cg_iq_a":-198.487289,"cg_iq_raw_a":-199.538452,"cg_iu_a":-195.859146,"cg_iv_a":74.115303,"cg_iw_a":121.743843,"cg_sample_age_us":23.7690907,"cg_sample_seq":9359916,"cg_sample_valid":1,"cg_theta_rad":1.69190133,"cg_vd_req_v":-2.05708671,"cg_vd_v":-2.05708671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39826012,"cg_vq_v":-8.39826012,"cg_vu_v":1.31967759,"cg_vv_v":16.2760258,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2356.65259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1598.915333,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1598.915341,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1598.915343,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1599.042587,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1599.042593,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1599.042598,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1599.21814,"values":{"Elec_RPM":-2344.66748,"EncoderCos":22789,"EncoderSin":13505,"GapTicks":49869,"Mech_RPM":-468.933472,"cg_du":45.3358536,"cg_dv":54.6641464,"cg_dw":53.8737907,"cg_id_a":10.6535549,"cg_id_raw_a":7.65546656,"cg_iq_a":-199.529007,"cg_iq_raw_a":-197.114914,"cg_iu_a":-185.638382,"cg_iv_a":28.7380219,"cg_iw_a":156.90036,"cg_sample_age_us":23.8381824,"cg_sample_seq":9362017,"cg_sample_valid":1,"cg_theta_rad":4.24581146,"cg_vd_req_v":-2.12412047,"cg_vd_v":-2.12412047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3791666,"cg_vq_v":-8.3791666,"cg_vu_v":110.413033,"cg_vv_v":113.052383,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2421.23633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1599.550171,"values":{"Elec_RPM":-2354.09326,"EncoderCos":34782,"EncoderSin":11240,"GapTicks":49457,"Mech_RPM":-470.818665,"cg_du":55.0385666,"cg_dv":44.9614334,"cg_dw":48.2256126,"cg_id_a":1.76642203,"cg_id_raw_a":-5.02756166,"cg_iq_a":-199.306366,"cg_iq_raw_a":-198.190094,"cg_iu_a":199.12616,"cg_iv_a":-81.8419189,"cg_iw_a":-117.284241,"cg_sample_age_us":24.0599995,"cg_sample_seq":9363717,"cg_sample_valid":1,"cg_theta_rad":4.82086897,"cg_vd_req_v":-1.98412621,"cg_vd_v":-1.98412621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36019135,"cg_vq_v":-8.36019135,"cg_vu_v":106.453995,"cg_vv_v":96.7763672,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2503.07666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1599.901733,"values":{"Elec_RPM":-2348.70313,"EncoderCos":52896,"EncoderSin":25501,"GapTicks":49871,"Mech_RPM":-469.740601,"cg_du":54.6625214,"cg_dv":45.3374786,"cg_dw":53.8809662,"cg_id_a":9.73434544,"cg_id_raw_a":16.31637,"cg_iq_a":-201.661179,"cg_iq_raw_a":-201.810776,"cg_iu_a":169.188751,"cg_iv_a":-180.715088,"cg_iw_a":11.5263367,"cg_sample_age_us":24.1145458,"cg_sample_seq":9365366,"cg_sample_valid":1,"cg_theta_rad":5.9437604,"cg_vd_req_v":-2.14686608,"cg_vd_v":-2.14686608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37393761,"cg_vq_v":-8.37393761,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2444.94409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1600.066757,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1600.066763,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1600.066769,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1600.233765,"values":{"Elec_RPM":-2348.37891,"EncoderCos":53190,"EncoderSin":26380,"GapTicks":49420,"Mech_RPM":-469.675781,"cg_du":55.0722351,"cg_dv":44.9277649,"cg_dw":51.6141968,"cg_id_a":-11.5639248,"cg_id_raw_a":-7.95605278,"cg_iq_a":-195.598389,"cg_iq_raw_a":-196.491974,"cg_iu_a":177.343597,"cg_iv_a":-158.461365,"cg_iw_a":-18.8822327,"cg_sample_age_us":24.1727276,"cg_sample_seq":9367116,"cg_sample_valid":1,"cg_theta_rad":5.99480486,"cg_vd_req_v":-1.71306169,"cg_vd_v":-1.71306169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47304535,"cg_vq_v":-8.47304535,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.3224716,"dclink_p_w":-2369.44434,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1600.585327,"values":{"Elec_RPM":-2341.31934,"EncoderCos":53496,"EncoderSin":37614,"GapTicks":49612,"Mech_RPM":-468.263855,"cg_du":47.4386559,"cg_dv":54.8979111,"cg_dw":45.1020889,"cg_id_a":11.7581358,"cg_id_raw_a":9.97458172,"cg_iq_a":-202.339874,"cg_iq_raw_a":-200.206329,"cg_iu_a":-170.850891,"cg_iv_a":183.209244,"cg_iw_a":-12.3583527,"cg_sample_age_us":26.3909092,"cg_sample_seq":9368820,"cg_sample_valid":1,"cg_theta_rad":0.284918815,"cg_vd_req_v":-2.23531675,"cg_vd_v":-2.23531675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30646992,"cg_vq_v":-8.30646992,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5583858,"dclink_p_w":-2533.40747,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":1600.921265,"values":{"Elec_RPM":-2347.3916,"EncoderCos":47035,"EncoderSin":48844,"GapTicks":49414,"Mech_RPM":-469.478302,"cg_du":51.9494324,"cg_dv":44.9219284,"cg_dw":55.0780716,"cg_id_a":7.43522644,"cg_id_raw_a":3.68876076,"cg_iq_a":-200.112061,"cg_iq_raw_a":-200.184219,"cg_iu_a":123.847717,"cg_iv_a":-198.474564,"cg_iw_a":74.6268463,"cg_sample_age_us":23.4527264,"cg_sample_seq":9370517,"cg_sample_valid":1,"cg_theta_rad":0.848892868,"cg_vd_req_v":-2.11788559,"cg_vd_v":-2.11788559,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40287781,"cg_vq_v":-8.40287781,"cg_vu_v":37.3908691,"cg_vv_v":34.7515144,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-15.8422394,"dclink_p_w":-2292.7627,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1601.026792,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1601.026798,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1601.026804,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1601.24939,"values":{"Elec_RPM":-2348.11084,"EncoderCos":35872,"EncoderSin":54012,"GapTicks":49322,"Mech_RPM":-469.622162,"cg_du":49.8609962,"cg_dv":55.1617279,"cg_dw":44.8382721,"cg_id_a":-10.9793959,"cg_id_raw_a":-10.7793465,"cg_iq_a":-196.446777,"cg_iq_raw_a":-194.788239,"cg_iu_a":-62.8805199,"cg_iv_a":194.082413,"cg_iw_a":-131.201889,"cg_sample_age_us":23.9254551,"cg_sample_seq":9372217,"cg_sample_valid":1,"cg_theta_rad":1.42683041,"cg_vd_req_v":-1.68526769,"cg_vd_v":-1.68526769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46078491,"cg_vq_v":-8.46078491,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1601.604858,"values":{"Elec_RPM":-2351.75,"EncoderCos":23501,"EncoderSin":52364,"GapTicks":49501,"Mech_RPM":-470.349976,"cg_du":48.4055367,"cg_dv":45.0015068,"cg_dw":54.9984932,"cg_id_a":-15.4352455,"cg_id_raw_a":-12.6917992,"cg_iq_a":-200.928131,"cg_iq_raw_a":-202.095062,"cg_iu_a":13.0865574,"cg_iv_a":-180.606354,"cg_iw_a":167.519791,"cg_sample_age_us":23.7690907,"cg_sample_seq":9373916,"cg_sample_valid":1,"cg_theta_rad":2.01460123,"cg_vd_req_v":-1.5660789,"cg_vd_v":-1.5660789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34801674,"cg_vq_v":-8.34801674,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1601.93689,"values":{"Elec_RPM":-2348.87378,"EncoderCos":14341,"EncoderSin":44114,"GapTicks":50001,"Mech_RPM":-469.77475,"cg_du":54.179718,"cg_dv":54.5438232,"cg_dw":45.4561768,"cg_id_a":8.54680252,"cg_id_raw_a":9.98385239,"cg_iq_a":-203.601089,"cg_iq_raw_a":-205.555344,"cg_iu_a":13.3402643,"cg_iv_a":169.32785,"cg_iw_a":-182.668121,"cg_sample_age_us":23.8781815,"cg_sample_seq":9375616,"cg_sample_valid":1,"cg_theta_rad":2.58995962,"cg_vd_req_v":-2.0500412,"cg_vd_v":-2.0500412,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32288551,"cg_vq_v":-8.32288551,"cg_vu_v":8.79785156,"cg_vv_v":35.1914063,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-16.7320271,"dclink_p_w":-2414.17651,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1602.051065,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1602.05107,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1602.051075,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1602.268921,"values":{"Elec_RPM":-2355.20215,"EncoderCos":14308,"EncoderSin":21252,"GapTicks":49363,"Mech_RPM":-471.040436,"cg_du":55.1236954,"cg_dv":49.1339569,"cg_dw":44.8763046,"cg_id_a":-13.4629154,"cg_id_raw_a":-11.3093643,"cg_iq_a":-195.067947,"cg_iq_raw_a":-196.554977,"cg_iu_a":150.378204,"cg_iv_a":34.8994751,"cg_iw_a":-185.277679,"cg_sample_age_us":24.0599995,"cg_sample_seq":9377266,"cg_sample_valid":1,"cg_theta_rad":3.70690894,"cg_vd_req_v":-1.62011075,"cg_vd_v":-1.62011075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47576809,"cg_vq_v":-8.47576809,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2489.66528,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1602.62439,"values":{"Elec_RPM":-2355.83984,"EncoderCos":14498,"EncoderSin":20940,"GapTicks":49352,"Mech_RPM":-471.167969,"cg_du":55.1342506,"cg_dv":49.8402023,"cg_dw":44.8657494,"cg_id_a":-12.1370869,"cg_id_raw_a":-12.9298077,"cg_iq_a":-197.048309,"cg_iq_raw_a":-196.714493,"cg_iu_a":125.152496,"cg_iv_a":68.7512207,"cg_iw_a":-193.903717,"cg_sample_age_us":24.0127277,"cg_sample_seq":9379018,"cg_sample_valid":1,"cg_theta_rad":3.73498082,"cg_vd_req_v":-1.65501297,"cg_vd_v":-1.65501297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42031288,"cg_vq_v":-8.42031288,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1602.952515,"values":{"Elec_RPM":-2354.47168,"EncoderCos":35549,"EncoderSin":11323,"GapTicks":49673,"Mech_RPM":-470.894318,"cg_du":54.8423691,"cg_dv":45.1576309,"cg_dw":46.9648247,"cg_id_a":15.9821596,"cg_id_raw_a":16.8903904,"cg_iq_a":-204.584473,"cg_iq_raw_a":-204.066086,"cg_iu_a":196.335388,"cg_iv_a":-38.2043457,"cg_iw_a":-158.131042,"cg_sample_age_us":24.1000004,"cg_sample_seq":9380666,"cg_sample_valid":1,"cg_theta_rad":4.86041451,"cg_vd_req_v":-2.25452924,"cg_vd_v":-2.25452924,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.278162,"cg_vq_v":-8.278162,"cg_vu_v":39.590332,"cg_vv_v":39.1504402,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1603.04305,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1603.043056,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1603.043061,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1603.307983,"values":{"Elec_RPM":-2352.93652,"EncoderCos":25040,"EncoderSin":12558,"GapTicks":49334,"Mech_RPM":-470.587311,"cg_du":44.8498764,"cg_dv":49.8127403,"cg_dw":55.1501236,"cg_id_a":-13.2669268,"cg_id_raw_a":-15.3339663,"cg_iq_a":-198.403427,"cg_iq_raw_a":-199.525711,"cg_iu_a":-134.244629,"cg_iv_a":-60.8204956,"cg_iw_a":190.208435,"cg_sample_age_us":23.9400005,"cg_sample_seq":9382466,"cg_sample_valid":1,"cg_theta_rad":4.35668325,"cg_vd_req_v":-1.67054915,"cg_vd_v":-1.67054915,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41813183,"cg_vq_v":-8.41813183,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2483.69458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1603.640015,"values":{"Elec_RPM":-2356.06836,"EncoderCos":53350,"EncoderSin":26928,"GapTicks":49320,"Mech_RPM":-471.213684,"cg_du":55.1634064,"cg_dv":44.8365936,"cg_dw":50.4105339,"cg_id_a":-13.8784637,"cg_id_raw_a":-13.8822498,"cg_iq_a":-194.312012,"cg_iq_raw_a":-194.16954,"cg_iu_a":187.673096,"cg_iv_a":-143.093964,"cg_iw_a":-44.5791245,"cg_sample_age_us":24.1581821,"cg_sample_seq":9384066,"cg_sample_valid":1,"cg_theta_rad":6.02017832,"cg_vd_req_v":-1.67962778,"cg_vd_v":-1.67962778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47296906,"cg_vq_v":-8.47296906,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.3858986,"dclink_p_w":-2364.23535,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1603.972046,"values":{"Elec_RPM":-2360.16943,"EncoderCos":53543,"EncoderSin":27665,"GapTicks":49381,"Mech_RPM":-472.033875,"cg_du":55.1075516,"cg_dv":44.8924484,"cg_dw":49.0074921,"cg_id_a":-7.57497454,"cg_id_raw_a":-10.111845,"cg_iq_a":-198.232697,"cg_iq_raw_a":-197.555389,"cg_iu_a":199.524841,"cg_iv_a":-109.387238,"cg_iw_a":-90.1376038,"cg_sample_age_us":24.1327267,"cg_sample_seq":9385816,"cg_sample_valid":1,"cg_theta_rad":6.05651188,"cg_vd_req_v":-1.82807076,"cg_vd_v":-1.82807076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39216805,"cg_vq_v":-8.39216805,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2507.7832,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1604.034953,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1604.034958,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1604.034963,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1604.323608,"values":{"Elec_RPM":-2355.80298,"EncoderCos":47419,"EncoderSin":48457,"GapTicks":49303,"Mech_RPM":-471.160583,"cg_du":51.0126991,"cg_dv":44.8210411,"cg_dw":55.1789589,"cg_id_a":-1.08444023,"cg_id_raw_a":-6.2927289,"cg_iq_a":-197.731461,"cg_iq_raw_a":-198.105713,"cg_iu_a":152.879028,"cg_iv_a":-191.733215,"cg_iw_a":38.854187,"cg_sample_age_us":23.5945454,"cg_sample_seq":9387472,"cg_sample_valid":1,"cg_theta_rad":0.876877487,"cg_vd_req_v":-1.95078659,"cg_vd_v":-1.95078659,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46128178,"cg_vq_v":-8.46128178,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1604.65564,"values":{"Elec_RPM":-2356.50195,"EncoderCos":45686,"EncoderSin":49978,"GapTicks":49825,"Mech_RPM":-471.300415,"cg_du":54.7038612,"cg_dv":45.2961388,"cg_dw":53.5776672,"cg_id_a":6.52071953,"cg_id_raw_a":12.3368196,"cg_iq_a":-201.565125,"cg_iq_raw_a":-201.728455,"cg_iu_a":170.058594,"cg_iv_a":-180.026443,"cg_iw_a":9.96784973,"cg_sample_age_us":23.8818188,"cg_sample_seq":9389216,"cg_sample_valid":1,"cg_theta_rad":0.921666563,"cg_vd_req_v":-2.03210402,"cg_vd_v":-2.03210402,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3681879,"cg_vq_v":-8.3681879,"cg_vu_v":106.893898,"cg_vv_v":95.8965836,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2481.24731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1604.987671,"values":{"Elec_RPM":-2359.13574,"EncoderCos":23242,"EncoderSin":52252,"GapTicks":49429,"Mech_RPM":-471.827148,"cg_du":49.0498047,"cg_dv":44.936348,"cg_dw":55.063652,"cg_id_a":-19.7561607,"cg_id_raw_a":-18.4101887,"cg_iq_a":-200.468475,"cg_iq_raw_a":-202.938232,"cg_iu_a":22.9448814,"cg_iv_a":-183.179672,"cg_iw_a":160.234787,"cg_sample_age_us":23.7836361,"cg_sample_seq":9390867,"cg_sample_valid":1,"cg_theta_rad":2.02737498,"cg_vd_req_v":-1.49113667,"cg_vd_v":-1.49113667,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37993431,"cg_vq_v":-8.37993431,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.8265896,"dclink_p_w":-2572.10522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3687439,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1605.027387,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1605.027393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1605.027398,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1605.34314,"values":{"Elec_RPM":-2365.32056,"EncoderCos":14056,"EncoderSin":43650,"GapTicks":49653,"Mech_RPM":-473.064117,"cg_du":52.9575729,"cg_dv":54.8605232,"cg_dw":45.1394768,"cg_id_a":-0.883444011,"cg_id_raw_a":5.61325598,"cg_iq_a":-200.570465,"cg_iq_raw_a":-202.928543,"cg_iu_a":-1.08478165,"cg_iv_a":172.988495,"cg_iw_a":-176.216736,"cg_sample_age_us":23.8490906,"cg_sample_seq":9392566,"cg_sample_valid":1,"cg_theta_rad":2.61440182,"cg_vd_req_v":-1.85164499,"cg_vd_v":-1.85164499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40778351,"cg_vq_v":-8.40778351,"cg_vu_v":25.5137672,"cg_vv_v":20.6749516,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2475.03955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1605.675171,"values":{"Elec_RPM":-2365.302,"EncoderCos":13682,"EncoderSin":43090,"GapTicks":49329,"Mech_RPM":-473.060394,"cg_du":51.4939156,"cg_dv":55.1548729,"cg_dw":44.8451271,"cg_id_a":-6.76863956,"cg_id_raw_a":-4.07401228,"cg_iq_a":-193.866959,"cg_iq_raw_a":-194.033127,"cg_iu_a":-29.6449223,"cg_iv_a":179.657349,"cg_iw_a":-150.012421,"cg_sample_age_us":23.8781815,"cg_sample_seq":9394317,"cg_sample_valid":1,"cg_theta_rad":2.64637733,"cg_vd_req_v":-1.73113799,"cg_vd_v":-1.73113799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53388691,"cg_vq_v":-8.53388691,"cg_vu_v":134.607132,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1606.007202,"values":{"Elec_RPM":-2363.96509,"EncoderCos":15067,"EncoderSin":20090,"GapTicks":49466,"Mech_RPM":-472.79303,"cg_du":55.0306625,"cg_dv":51.5632401,"cg_dw":44.9693375,"cg_id_a":3.57049489,"cg_id_raw_a":2.36436176,"cg_iq_a":-203.429474,"cg_iq_raw_a":-204.648621,"cg_iu_a":85.5017395,"cg_iv_a":117.06424,"cg_iw_a":-202.565979,"cg_sample_age_us":23.9654541,"cg_sample_seq":9395966,"cg_sample_valid":1,"cg_theta_rad":3.77368021,"cg_vd_req_v":-1.98322248,"cg_vd_v":-1.98322248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28102016,"cg_vq_v":-8.28102016,"cg_vu_v":20.6749516,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1606.019574,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1606.019578,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1606.019583,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1606.358765,"values":{"Elec_RPM":-2359.54712,"EncoderCos":15616,"EncoderSin":19389,"GapTicks":49738,"Mech_RPM":-471.909424,"cg_du":54.7830276,"cg_dv":53.1798592,"cg_dw":45.2169724,"cg_id_a":11.7320442,"cg_id_raw_a":9.98276043,"cg_iq_a":-205.457703,"cg_iq_raw_a":-206.5634,"cg_iu_a":45.5972748,"cg_iv_a":152.76442,"cg_iw_a":-198.361694,"cg_sample_age_us":23.9727268,"cg_sample_seq":9397716,"cg_sample_valid":1,"cg_theta_rad":3.81076956,"cg_vd_req_v":-2.13139296,"cg_vd_v":-2.13139296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2652626,"cg_vq_v":-8.2652626,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.0923233,"dclink_p_w":-2328.95605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1606.690796,"values":{"Elec_RPM":-2352.97778,"EncoderCos":36992,"EncoderSin":11560,"GapTicks":49602,"Mech_RPM":-470.595551,"cg_du":54.9068985,"cg_dv":47.2846756,"cg_dw":45.0931015,"cg_id_a":-2.48417807,"cg_id_raw_a":5.0676198,"cg_iq_a":-198.372391,"cg_iq_raw_a":-200.908249,"cg_iu_a":170.276062,"cg_iv_a":1.84509277,"cg_iw_a":-172.121155,"cg_sample_age_us":24.0090904,"cg_sample_seq":9399366,"cg_sample_valid":1,"cg_theta_rad":4.92692995,"cg_vd_req_v":-1.84639525,"cg_vd_v":-1.84639525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40808868,"cg_vq_v":-8.40808868,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2469.53198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1607.042358,"values":{"Elec_RPM":-2353.58936,"EncoderCos":36750,"EncoderSin":11519,"GapTicks":49760,"Mech_RPM":-470.717865,"cg_du":54.7628136,"cg_dv":46.7276726,"cg_dw":45.2371864,"cg_id_a":1.39339864,"cg_id_raw_a":6.42174959,"cg_iq_a":-200.835144,"cg_iq_raw_a":-199.838074,"cg_iu_a":154.799957,"cg_iv_a":23.482666,"cg_iw_a":-178.282623,"cg_sample_age_us":24.0563641,"cg_sample_seq":9401121,"cg_sample_valid":1,"cg_theta_rad":4.95517778,"cg_vd_req_v":-1.92468095,"cg_vd_v":-1.92468095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34352779,"cg_vq_v":-8.34352779,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2454.58276,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1607.042875,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1607.04288,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1607.042884,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1607.378296,"values":{"Elec_RPM":-2354.60303,"EncoderCos":53608,"EncoderSin":27989,"GapTicks":49373,"Mech_RPM":-470.920624,"cg_du":55.1152382,"cg_dv":44.8847618,"cg_dw":48.5370674,"cg_id_a":2.48581219,"cg_id_raw_a":-5.99086475,"cg_iq_a":-199.218872,"cg_iq_raw_a":-197.756409,"cg_iu_a":199.416107,"cg_iv_a":-88.3295593,"cg_iw_a":-111.086548,"cg_sample_age_us":24.1727276,"cg_sample_seq":9402767,"cg_sample_valid":1,"cg_theta_rad":6.07072639,"cg_vd_req_v":-2.0471158,"cg_vd_v":-2.0471158,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3915863,"cg_vq_v":-8.3915863,"cg_vu_v":139.885834,"cg_vv_v":122.290138,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2468.88306,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1607.710327,"values":{"Elec_RPM":-2353.07153,"EncoderCos":53736,"EncoderSin":28813,"GapTicks":49637,"Mech_RPM":-470.614319,"cg_du":54.875206,"cg_dv":45.124794,"cg_dw":47.0687866,"cg_id_a":12.6366081,"cg_id_raw_a":9.47316742,"cg_iq_a":-203.284546,"cg_iq_raw_a":-201.280579,"cg_iu_a":195.646759,"cg_iv_a":-46.250473,"cg_iw_a":-149.396286,"cg_sample_age_us":24.1436367,"cg_sample_seq":9404517,"cg_sample_valid":1,"cg_theta_rad":6.1101613,"cg_vd_req_v":-2.234375,"cg_vd_v":-2.234375,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32956409,"cg_vq_v":-8.32956409,"cg_vu_v":126.689056,"cg_vv_v":118.3311,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2549.61865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1608.034884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1608.034889,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1608.034893,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1608.06189,"values":{"Elec_RPM":-2356.04785,"EncoderCos":45980,"EncoderSin":49770,"GapTicks":50084,"Mech_RPM":-471.209564,"cg_du":54.4690742,"cg_dv":45.5309258,"cg_dw":54.4149323,"cg_id_a":15.2403498,"cg_id_raw_a":16.2660961,"cg_iq_a":-202.388031,"cg_iq_raw_a":-201.727859,"cg_iu_a":173.393036,"cg_iv_a":-170.784271,"cg_iw_a":-0.144180298,"cg_sample_age_us":23.8818188,"cg_sample_seq":9406170,"cg_sample_valid":1,"cg_theta_rad":0.953844607,"cg_vd_req_v":-2.21530795,"cg_vd_v":-2.21530795,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33454895,"cg_vq_v":-8.33454895,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1608.542358,"values":{"Elec_RPM":-2343.3811,"EncoderCos":47320,"EncoderSin":48615,"GapTicks":49398,"Mech_RPM":-468.676208,"cg_du":51.3274803,"cg_dv":44.9075699,"cg_dw":55.0924301,"cg_id_a":0.826937616,"cg_id_raw_a":-2.37415767,"cg_iq_a":-199.104553,"cg_iq_raw_a":-199.007813,"cg_iu_a":106.849358,"cg_iv_a":-199.706848,"cg_iw_a":92.8574905,"cg_sample_age_us":23.5145454,"cg_sample_seq":9408516,"cg_sample_valid":1,"cg_theta_rad":0.832966268,"cg_vd_req_v":-1.97536659,"cg_vd_v":-1.97536659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37621498,"cg_vq_v":-8.37621498,"cg_vu_v":42.2296829,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.672554,"dclink_p_w":-2557.6543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1608.931163,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1608.931171,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1608.931174,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1609.026927,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1609.026932,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1609.026936,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1609.034546,"values":{"Elec_RPM":-2338.66016,"EncoderCos":23734,"EncoderSin":13073,"GapTicks":49655,"Mech_RPM":-467.732056,"cg_du":45.1418037,"cg_dv":52.894886,"cg_dw":54.8581963,"cg_id_a":-1.75259089,"cg_id_raw_a":4.57734108,"cg_iq_a":-201.867203,"cg_iq_raw_a":-203.702621,"cg_iu_a":-174.620255,"cg_iv_a":-1.77928162,"cg_iw_a":171.289154,"cg_sample_age_us":23.9327278,"cg_sample_seq":9411116,"cg_sample_valid":1,"cg_theta_rad":4.29196787,"cg_vd_req_v":-1.88070178,"cg_vd_v":-1.88070178,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35046101,"cg_vq_v":-8.35046101,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":20.2350578,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2467.95825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1609.390015,"values":{"Elec_RPM":-2342.88354,"EncoderCos":35892,"EncoderSin":11389,"GapTicks":49848,"Mech_RPM":-468.576691,"cg_du":54.6828232,"cg_dv":45.3171768,"cg_dw":46.2469368,"cg_id_a":14.8461523,"cg_id_raw_a":17.6220016,"cg_iq_a":-202.625366,"cg_iq_raw_a":-202.959991,"cg_iu_a":188.506714,"cg_iv_a":-26.96875,"cg_iw_a":-161.537964,"cg_sample_age_us":24.0890903,"cg_sample_seq":9412816,"cg_sample_valid":1,"cg_theta_rad":4.87214708,"cg_vd_req_v":-2.22771645,"cg_vd_v":-2.22771645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33007145,"cg_vq_v":-8.33007145,"cg_vu_v":42.2296829,"cg_vv_v":40.9100075,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.3949585,"dclink_p_w":-2372.75464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1609.71814,"values":{"Elec_RPM":-2345.48535,"EncoderCos":46967,"EncoderSin":16656,"GapTicks":49403,"Mech_RPM":-469.097076,"cg_du":44.9125137,"cg_dv":55.0874863,"cg_dw":51.8680992,"cg_id_a":1.29892826,"cg_id_raw_a":-3.15347123,"cg_iq_a":-195.89035,"cg_iq_raw_a":-196.22612,"cg_iu_a":-196.040375,"cg_iv_a":79.2619324,"cg_iw_a":116.778442,"cg_sample_age_us":23.9181824,"cg_sample_seq":9414516,"cg_sample_valid":1,"cg_theta_rad":5.45117474,"cg_vd_req_v":-2.04865074,"cg_vd_v":-2.04865074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44592857,"cg_vq_v":-8.44592857,"cg_vu_v":38.7105446,"cg_vv_v":57.6259232,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2363.05078,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1610.050963,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1610.050968,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1610.050972,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1610.054077,"values":{"Elec_RPM":-2348.91699,"EncoderCos":53388,"EncoderSin":27138,"GapTicks":49303,"Mech_RPM":-469.783386,"cg_du":55.1786575,"cg_dv":44.8213425,"cg_dw":50.0008812,"cg_id_a":-13.3902359,"cg_id_raw_a":-14.0718679,"cg_iq_a":-196.3228,"cg_iq_raw_a":-195.814865,"cg_iu_a":191.913635,"cg_iv_a":-135.627747,"cg_iw_a":-56.285881,"cg_sample_age_us":24.1690903,"cg_sample_seq":9416216,"cg_sample_valid":1,"cg_theta_rad":6.03082752,"cg_vd_req_v":-1.70912445,"cg_vd_v":-1.70912445,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45696259,"cg_vq_v":-8.45696259,"cg_vu_v":43.9892578,"cg_vv_v":40.4701157,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-17.4695892,"dclink_p_w":-2520.59546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1610.40564,"values":{"Elec_RPM":-2351.74048,"EncoderCos":53100,"EncoderSin":39142,"GapTicks":49675,"Mech_RPM":-470.348083,"cg_du":45.1597824,"cg_dv":54.8402176,"cg_dw":46.897747,"cg_id_a":1.63471305,"cg_id_raw_a":8.05176735,"cg_iq_a":-201.233795,"cg_iq_raw_a":-202.218353,"cg_iu_a":-173.750397,"cg_iv_a":172.118622,"cg_iw_a":1.63176727,"cg_sample_age_us":23.5436363,"cg_sample_seq":9417917,"cg_sample_valid":1,"cg_theta_rad":0.3142488,"cg_vd_req_v":-2.00039649,"cg_vd_v":-2.00039649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38951111,"cg_vq_v":-8.38951111,"cg_vu_v":102.055069,"cg_vv_v":104.694435,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1610.737671,"values":{"Elec_RPM":-2356.22388,"EncoderCos":52796,"EncoderSin":40048,"GapTicks":49350,"Mech_RPM":-471.244781,"cg_du":44.86409,"cg_dv":55.13591,"cg_dw":49.0532951,"cg_id_a":-9.37666225,"cg_id_raw_a":-8.94598198,"cg_iq_a":-196.013031,"cg_iq_raw_a":-197.745636,"cg_iu_a":-185.203461,"cg_iv_a":147.146637,"cg_iw_a":38.0568161,"cg_sample_age_us":23.5363636,"cg_sample_seq":9419667,"cg_sample_valid":1,"cg_theta_rad":0.355032265,"cg_vd_req_v":-1.78218126,"cg_vd_v":-1.78218126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47208691,"cg_vq_v":-8.47208691,"cg_vu_v":99.8556061,"cg_vv_v":104.254532,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2367.24707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1611.043475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1611.04348,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1611.043484,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1611.089233,"values":{"Elec_RPM":-2357.03784,"EncoderCos":35936,"EncoderSin":54026,"GapTicks":49377,"Mech_RPM":-471.407562,"cg_du":50.0207443,"cg_dv":55.1118088,"cg_dw":44.8881912,"cg_id_a":-11.8511715,"cg_id_raw_a":-12.1859026,"cg_iq_a":-199.181137,"cg_iq_raw_a":-199.551468,"cg_iu_a":-116.086464,"cg_iv_a":201.077454,"cg_iw_a":-84.9909973,"cg_sample_age_us":26.7618179,"cg_sample_seq":9421321,"cg_sample_valid":1,"cg_theta_rad":1.46618032,"cg_vd_req_v":-1.66033125,"cg_vd_v":-1.66033125,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37964916,"cg_vq_v":-8.37964916,"cg_vu_v":104.254532,"cg_vv_v":104.254532,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3354855,"dclink_p_w":-2508.87207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1611.421265,"values":{"Elec_RPM":-2356.58179,"EncoderCos":45126,"EncoderSin":50375,"GapTicks":49473,"Mech_RPM":-471.316345,"cg_du":55.0240669,"cg_dv":44.9759331,"cg_dw":51.8782234,"cg_id_a":-11.7848282,"cg_id_raw_a":-4.17115784,"cg_iq_a":-197.585388,"cg_iq_raw_a":-199.323181,"cg_iu_a":178.757111,"cg_iv_a":-160.056091,"cg_iw_a":-18.7010193,"cg_sample_age_us":23.9400005,"cg_sample_seq":9423118,"cg_sample_valid":1,"cg_theta_rad":0.972390354,"cg_vd_req_v":-1.6678139,"cg_vd_v":-1.6678139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42576504,"cg_vq_v":-8.42576504,"cg_vu_v":105.574219,"cg_vv_v":76.1014175,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1611.757202,"values":{"Elec_RPM":-2356.75562,"EncoderCos":13807,"EncoderSin":43268,"GapTicks":49420,"Mech_RPM":-471.351135,"cg_du":51.8822708,"cg_dv":55.0719566,"cg_dw":44.9280434,"cg_id_a":-8.82194138,"cg_id_raw_a":-7.17401361,"cg_iq_a":-194.397827,"cg_iq_raw_a":-198.054504,"cg_iu_a":-8.33354855,"cg_iv_a":170.922592,"cg_iw_a":-162.58905,"cg_sample_age_us":23.8018188,"cg_sample_seq":9424716,"cg_sample_valid":1,"cg_theta_rad":2.62889171,"cg_vd_req_v":-1.68550789,"cg_vd_v":-1.68550789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50285816,"cg_vq_v":-8.50285816,"cg_vu_v":139.445938,"cg_vv_v":135.926804,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2525.82495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1612.035373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1612.035377,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1612.035381,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1612.108765,"values":{"Elec_RPM":-2358.33203,"EncoderCos":13401,"EncoderSin":42471,"GapTicks":49321,"Mech_RPM":-471.666412,"cg_du":50.0535202,"cg_dv":55.1623383,"cg_dw":44.8376617,"cg_id_a":-9.1469326,"cg_id_raw_a":-13.7341623,"cg_iq_a":-195.466125,"cg_iq_raw_a":-194.661652,"cg_iu_a":-46.0996246,"cg_iv_a":187.30481,"cg_iw_a":-141.205185,"cg_sample_age_us":23.8527279,"cg_sample_seq":9426466,"cg_sample_valid":1,"cg_theta_rad":2.67061734,"cg_vd_req_v":-1.69276905,"cg_vd_v":-1.69276905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45941925,"cg_vq_v":-8.45941925,"cg_vu_v":14.5164547,"cg_vv_v":16.2760258,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1612.440796,"values":{"Elec_RPM":-2359.93555,"EncoderCos":24263,"EncoderSin":12815,"GapTicks":49437,"Mech_RPM":-471.987122,"cg_du":44.9431152,"cg_dv":51.5187149,"cg_dw":55.0568848,"cg_id_a":-10.7396975,"cg_id_raw_a":-8.61696911,"cg_iq_a":-199.946808,"cg_iq_raw_a":-202.132294,"cg_iu_a":-165.269348,"cg_iv_a":-12.6161804,"cg_iw_a":177.885529,"cg_sample_age_us":23.8272724,"cg_sample_seq":9428066,"cg_sample_valid":1,"cg_theta_rad":4.31301594,"cg_vd_req_v":-1.68778479,"cg_vd_v":-1.68778479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40913391,"cg_vq_v":-8.40913391,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2487.62842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1612.772827,"values":{"Elec_RPM":-2357.12354,"EncoderCos":15752,"EncoderSin":19118,"GapTicks":49883,"Mech_RPM":-471.424713,"cg_du":54.651413,"cg_dv":53.740551,"cg_dw":45.348587,"cg_id_a":12.6656332,"cg_id_raw_a":11.0404291,"cg_iq_a":-205.396011,"cg_iq_raw_a":-206.94809,"cg_iu_a":30.157402,"cg_iv_a":161.317963,"cg_iw_a":-191.475372,"cg_sample_age_us":23.9836369,"cg_sample_seq":9429866,"cg_sample_valid":1,"cg_theta_rad":3.82638049,"cg_vd_req_v":-2.14464283,"cg_vd_v":-2.14464283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2974205,"cg_vq_v":-8.2974205,"cg_vu_v":38.7105446,"cg_vv_v":47.5083961,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1613.058444,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1613.058449,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1613.058453,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1613.12439,"values":{"Elec_RPM":-2352.76099,"EncoderCos":47413,"EncoderSin":17069,"GapTicks":49619,"Mech_RPM":-470.552185,"cg_du":45.1090851,"cg_dv":54.8909149,"cg_dw":52.9248581,"cg_id_a":8.45868206,"cg_id_raw_a":7.27849865,"cg_iq_a":-200.019958,"cg_iq_raw_a":-200.98143,"cg_iu_a":-194.663101,"cg_iv_a":51.1729584,"cg_iw_a":143.490143,"cg_sample_age_us":23.9218178,"cg_sample_seq":9431466,"cg_sample_valid":1,"cg_theta_rad":5.47798586,"cg_vd_req_v":-2.18568802,"cg_vd_v":-2.18568802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36604404,"cg_vq_v":-8.36604404,"cg_vu_v":38.7105446,"cg_vv_v":55.4264603,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2482.9436,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1613.460327,"values":{"Elec_RPM":-2359.35254,"EncoderCos":38111,"EncoderSin":11796,"GapTicks":49377,"Mech_RPM":-471.870483,"cg_du":55.1110573,"cg_dv":49.8398438,"cg_dw":44.8889427,"cg_id_a":-16.016386,"cg_id_raw_a":-17.7235203,"cg_iq_a":-197.688416,"cg_iq_raw_a":-196.884521,"cg_iu_a":141.317245,"cg_iv_a":53.1663666,"cg_iw_a":-194.483612,"cg_sample_age_us":24.0127277,"cg_sample_seq":9433266,"cg_sample_valid":1,"cg_theta_rad":4.97859573,"cg_vd_req_v":-1.61069131,"cg_vd_v":-1.61069131,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38945484,"cg_vq_v":-8.38945484,"cg_vu_v":47.0685043,"cg_vv_v":50.5876465,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-15.8295555,"dclink_p_w":-2283.96362,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1613.788452,"values":{"Elec_RPM":-2357.75269,"EncoderCos":52921,"EncoderSin":39732,"GapTicks":49431,"Mech_RPM":-471.550537,"cg_du":44.9378548,"cg_dv":55.0621452,"cg_dw":48.3372421,"cg_id_a":-8.28018188,"cg_id_raw_a":-7.61674547,"cg_iq_a":-197.476105,"cg_iq_raw_a":-198.232788,"cg_iu_a":-181.434097,"cg_iv_a":156.425049,"cg_iw_a":25.0090408,"cg_sample_age_us":23.5581818,"cg_sample_seq":9434867,"cg_sample_valid":1,"cg_theta_rad":0.342799574,"cg_vd_req_v":-1.79931104,"cg_vd_v":-1.79931104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44697189,"cg_vq_v":-8.44697189,"cg_vu_v":98.9758301,"cg_vv_v":103.814644,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.5674458,"dclink_p_w":-2542.44263,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1614.050616,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1614.050621,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1614.050626,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1614.143921,"values":{"Elec_RPM":-2357.83228,"EncoderCos":53866,"EncoderSin":29432,"GapTicks":50009,"Mech_RPM":-471.566467,"cg_du":54.5368729,"cg_dv":45.4631271,"cg_dw":45.8725853,"cg_id_a":12.7574444,"cg_id_raw_a":16.0298538,"cg_iq_a":-204.123199,"cg_iq_raw_a":-204.457703,"cg_iu_a":186.150864,"cg_iv_a":-19.6112518,"cg_iw_a":-159.762024,"cg_sample_age_us":24.0527267,"cg_sample_seq":9436666,"cg_sample_valid":1,"cg_theta_rad":6.13848543,"cg_vd_req_v":-2.20024586,"cg_vd_v":-2.20024586,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30340195,"cg_vq_v":-8.30340195,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1614.475952,"values":{"Elec_RPM":-2353.44971,"EncoderCos":44980,"EncoderSin":50448,"GapTicks":49401,"Mech_RPM":-470.689941,"cg_du":55.089386,"cg_dv":44.910614,"cg_dw":51.5163498,"cg_id_a":-14.1170216,"cg_id_raw_a":-11.4062004,"cg_iq_a":-196.802551,"cg_iq_raw_a":-198.287033,"cg_iu_a":179.010834,"cg_iv_a":-160.164825,"cg_iw_a":-18.8460007,"cg_sample_age_us":23.8854542,"cg_sample_seq":9438316,"cg_sample_valid":1,"cg_theta_rad":0.970084131,"cg_vd_req_v":-1.6295644,"cg_vd_v":-1.6295644,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4480114,"cg_vq_v":-8.4480114,"cg_vu_v":44.4291458,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2469.34692,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1614.827515,"values":{"Elec_RPM":-2346.4458,"EncoderCos":34253,"EncoderSin":54230,"GapTicks":49632,"Mech_RPM":-469.289185,"cg_du":47.1034622,"cg_dv":54.879879,"cg_dw":45.120121,"cg_id_a":15.3634291,"cg_id_raw_a":10.5674982,"cg_iq_a":-203.756866,"cg_iq_raw_a":-202.185837,"cg_iu_a":-172.735565,"cg_iv_a":182.41188,"cg_iw_a":-9.67631531,"cg_sample_age_us":23.8054543,"cg_sample_seq":9440020,"cg_sample_valid":1,"cg_theta_rad":1.54280794,"cg_vd_req_v":-2.22651768,"cg_vd_v":-2.22651768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3280201,"cg_vq_v":-8.3280201,"cg_vu_v":38.7105446,"cg_vv_v":62.0248489,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2482.38306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1615.043334,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1615.043339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1615.043344,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1615.159546,"values":{"Elec_RPM":-2351.54663,"EncoderCos":21492,"EncoderSin":51263,"GapTicks":49456,"Mech_RPM":-470.309326,"cg_du":52.1664009,"cg_dv":44.9600258,"cg_dw":55.0399742,"cg_id_a":8.62168694,"cg_id_raw_a":7.04204226,"cg_iq_a":-198.119965,"cg_iq_raw_a":-197.324295,"cg_iu_a":124.391373,"cg_iv_a":-195.97374,"cg_iw_a":71.5823669,"cg_sample_age_us":23.550909,"cg_sample_seq":9441717,"cg_sample_valid":1,"cg_theta_rad":2.11027694,"cg_vd_req_v":-2.0480988,"cg_vd_v":-2.0480988,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43282413,"cg_vq_v":-8.43282413,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2393.90942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1615.491577,"values":{"Elec_RPM":-2351.00439,"EncoderCos":13272,"EncoderSin":42234,"GapTicks":49366,"Mech_RPM":-470.200897,"cg_du":49.5321312,"cg_dv":55.1212158,"cg_dw":44.8787842,"cg_id_a":-8.65686035,"cg_id_raw_a":-9.98521137,"cg_iq_a":-199.422119,"cg_iq_raw_a":-198.109055,"cg_iu_a":-74.8409805,"cg_iv_a":198.50415,"cg_iw_a":-123.66317,"cg_sample_age_us":23.9690914,"cg_sample_seq":9443417,"cg_sample_valid":1,"cg_theta_rad":2.69021821,"cg_vd_req_v":-1.71006703,"cg_vd_v":-1.71006703,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37122154,"cg_vq_v":-8.37122154,"cg_vu_v":141.205521,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.4007244,"dclink_p_w":-2510.65942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1615.847046,"values":{"Elec_RPM":-2354.63794,"EncoderCos":12928,"EncoderSin":41474,"GapTicks":49454,"Mech_RPM":-470.927582,"cg_du":48.1465378,"cg_dv":55.0416603,"cg_dw":44.9583397,"cg_id_a":6.2397356,"cg_id_raw_a":2.30419517,"cg_iq_a":-202.040009,"cg_iq_raw_a":-201.207092,"cg_iu_a":-123.081528,"cg_iv_a":201.874832,"cg_iw_a":-78.7933044,"cg_sample_age_us":23.8600006,"cg_sample_seq":9445167,"cg_sample_valid":1,"cg_theta_rad":2.73132014,"cg_vd_req_v":-2.02445912,"cg_vd_v":-2.02445912,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34475613,"cg_vq_v":-8.34475613,"cg_vu_v":0.87978512,"cg_vv_v":14.5164547,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1616.035264,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1616.035267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1616.035269,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1616.179077,"values":{"Elec_RPM":-2354.25757,"EncoderCos":25258,"EncoderSin":12486,"GapTicks":49378,"Mech_RPM":-470.851532,"cg_du":44.8897476,"cg_dv":49.3660316,"cg_dw":55.1102524,"cg_id_a":-11.7825899,"cg_id_raw_a":-13.9003849,"cg_iq_a":-197.274673,"cg_iq_raw_a":-198.441742,"cg_iu_a":-104.633415,"cg_iv_a":-88.8007278,"cg_iw_a":193.434143,"cg_sample_age_us":23.9654541,"cg_sample_seq":9446768,"cg_sample_valid":1,"cg_theta_rad":4.38204813,"cg_vd_req_v":-1.69675374,"cg_vd_v":-1.69675374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41853905,"cg_vq_v":-8.41853905,"cg_vu_v":105.134323,"cg_vv_v":101.615181,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.0687637,"dclink_p_w":-2332.61499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1616.511108,"values":{"Elec_RPM":-2349.38745,"EncoderCos":16786,"EncoderSin":18005,"GapTicks":49463,"Mech_RPM":-469.877472,"cg_du":51.7614212,"cg_dv":55.0335197,"cg_dw":44.9664803,"cg_id_a":-11.7311926,"cg_id_raw_a":-9.8517828,"cg_iq_a":-196.272858,"cg_iq_raw_a":-197.509796,"cg_iu_a":-13.8426113,"cg_iv_a":176.141708,"cg_iw_a":-162.299103,"cg_sample_age_us":23.8454552,"cg_sample_seq":9448566,"cg_sample_valid":1,"cg_theta_rad":3.89373708,"cg_vd_req_v":-1.6370666,"cg_vd_v":-1.6370666,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45063591,"cg_vq_v":-8.45063591,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-15.9455357,"dclink_p_w":-2307.71216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1616.862671,"values":{"Elec_RPM":-2352.07349,"EncoderCos":48352,"EncoderSin":18047,"GapTicks":49746,"Mech_RPM":-470.414703,"cg_du":45.2239227,"cg_dv":53.3484497,"cg_dw":54.7760773,"cg_id_a":2.41176295,"cg_id_raw_a":7.73417282,"cg_iq_a":-203.302582,"cg_iq_raw_a":-204.405289,"cg_iu_a":-175.635071,"cg_iv_a":-1.1993866,"cg_iw_a":176.834457,"cg_sample_age_us":23.8345451,"cg_sample_seq":9450166,"cg_sample_valid":1,"cg_theta_rad":5.54732943,"cg_vd_req_v":-2.04644394,"cg_vd_v":-2.04644394,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33686543,"cg_vq_v":-8.33686543,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":126.249161,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3003845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1617.027023,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1617.027027,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1617.027031,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1617.194702,"values":{"Elec_RPM":-2352.79224,"EncoderCos":39470,"EncoderSin":12182,"GapTicks":49558,"Mech_RPM":-470.558441,"cg_du":54.9466057,"cg_dv":52.2616386,"cg_dw":45.0533943,"cg_id_a":3.7070024,"cg_id_raw_a":0.899186254,"cg_iq_a":-204.160843,"cg_iq_raw_a":-206.444595,"cg_iu_a":74.0486908,"cg_iv_a":128.988464,"cg_iw_a":-203.037155,"cg_sample_age_us":23.9690914,"cg_sample_seq":9451966,"cg_sample_valid":1,"cg_theta_rad":5.04411507,"cg_vd_req_v":-2.04516697,"cg_vd_v":-2.04516697,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30139256,"cg_vq_v":-8.30139256,"cg_vu_v":39.1504402,"cg_vv_v":43.549366,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2414.97998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1617.526733,"values":{"Elec_RPM":-2348.22998,"EncoderCos":52295,"EncoderSin":41339,"GapTicks":49399,"Mech_RPM":-469.645996,"cg_du":44.9088249,"cg_dv":55.0911751,"cg_dw":51.6406288,"cg_id_a":2.57609487,"cg_id_raw_a":-0.211140364,"cg_iq_a":-197.520538,"cg_iq_raw_a":-197.501053,"cg_iu_a":-197.345139,"cg_iv_a":81.0378723,"cg_iw_a":116.307266,"cg_sample_age_us":23.5327282,"cg_sample_seq":9453566,"cg_sample_valid":1,"cg_theta_rad":0.423415303,"cg_vd_req_v":-2.04901838,"cg_vd_v":-2.04901838,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4079771,"cg_vq_v":-8.4079771,"cg_vu_v":34.3116188,"cg_vv_v":34.7515144,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-16.5997353,"dclink_p_w":-2402.39087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1617.878296,"values":{"Elec_RPM":-2349.9021,"EncoderCos":53967,"EncoderSin":30359,"GapTicks":49614,"Mech_RPM":-469.980438,"cg_du":54.8956375,"cg_dv":47.3147659,"cg_dw":45.1043625,"cg_id_a":-3.54317594,"cg_id_raw_a":5.00575447,"cg_iq_a":-199.400803,"cg_iq_raw_a":-203.175003,"cg_iu_a":165.528122,"cg_iv_a":6.91923523,"cg_iw_a":-172.447357,"cg_sample_age_us":23.9872723,"cg_sample_seq":9455368,"cg_sample_valid":1,"cg_theta_rad":6.19518518,"cg_vd_req_v":-1.86106765,"cg_vd_v":-1.86106765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37746429,"cg_vq_v":-8.37746429,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1618.05102,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1618.051026,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1618.051032,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1618.268921,"values":{"Elec_RPM":-2348.63013,"EncoderCos":54068,"EncoderSin":31369,"GapTicks":49353,"Mech_RPM":-469.726013,"cg_du":55.133152,"cg_dv":49.5693626,"cg_dw":44.866848,"cg_id_a":-15.0240135,"cg_id_raw_a":-15.924592,"cg_iq_a":-197.404846,"cg_iq_raw_a":-195.110275,"cg_iu_a":144.252991,"cg_iv_a":45.5189209,"cg_iw_a":-189.771912,"cg_sample_age_us":24.0890903,"cg_sample_seq":9457117,"cg_sample_valid":1,"cg_theta_rad":6.22846508,"cg_vd_req_v":-1.67074251,"cg_vd_v":-1.67074251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42417622,"cg_vq_v":-8.42417622,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2629986,"dclink_p_w":-2498.38159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1618.807983,"values":{"Elec_RPM":-2346.12158,"EncoderCos":11826,"EncoderSin":38372,"GapTicks":49301,"Mech_RPM":-469.224304,"cg_du":44.8199883,"cg_dv":55.1800117,"cg_dw":49.7372513,"cg_id_a":-10.9710941,"cg_id_raw_a":-14.1352072,"cg_iq_a":-196.353561,"cg_iq_raw_a":-196.368652,"cg_iu_a":-189.081543,"cg_iv_a":141.275116,"cg_iw_a":47.8064194,"cg_sample_age_us":23.9654541,"cg_sample_seq":9459767,"cg_sample_valid":1,"cg_theta_rad":2.88121223,"cg_vd_req_v":-1.64858174,"cg_vd_v":-1.64858174,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47504044,"cg_vq_v":-8.47504044,"cg_vu_v":102.055069,"cg_vv_v":104.254532,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2460.19531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1618.915332,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1618.915343,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1618.915347,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1619.04278,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1619.042785,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1619.04279,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1619.206421,"values":{"Elec_RPM":-2339.43066,"EncoderCos":25224,"EncoderSin":12450,"GapTicks":49344,"Mech_RPM":-467.886108,"cg_du":44.8585739,"cg_dv":49.3750267,"cg_dw":55.1414261,"cg_id_a":-12.9970121,"cg_id_raw_a":-15.1567183,"cg_iq_a":-195.520584,"cg_iq_raw_a":-194.732971,"cg_iu_a":-120.798164,"cg_iv_a":-71.2949448,"cg_iw_a":192.093109,"cg_sample_age_us":23.8272724,"cg_sample_seq":9461967,"cg_sample_valid":1,"cg_theta_rad":4.37147188,"cg_vd_req_v":-1.67895722,"cg_vd_v":-1.67895722,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4479351,"cg_vq_v":-8.4479351,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-17.1633282,"dclink_p_w":-2483.95679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1619.538452,"values":{"Elec_RPM":-2343.92798,"EncoderCos":37527,"EncoderSin":11647,"GapTicks":49390,"Mech_RPM":-468.785583,"cg_du":55.0996704,"cg_dv":48.636116,"cg_dw":44.9003296,"cg_id_a":-16.5718594,"cg_id_raw_a":-12.8548479,"cg_iq_a":-195.787292,"cg_iq_raw_a":-197.996307,"cg_iu_a":161.287598,"cg_iv_a":19.3508606,"cg_iw_a":-180.638458,"cg_sample_age_us":24.0381813,"cg_sample_seq":9463666,"cg_sample_valid":1,"cg_theta_rad":4.95151138,"cg_vd_req_v":-1.58430123,"cg_vd_v":-1.58430123,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44978523,"cg_vq_v":-8.44978523,"cg_vu_v":46.1887207,"cg_vv_v":47.0685043,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2467.25513,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1619.890015,"values":{"Elec_RPM":-2348.21069,"EncoderCos":48232,"EncoderSin":17883,"GapTicks":49873,"Mech_RPM":-469.642151,"cg_du":45.3396111,"cg_dv":53.7819633,"cg_dw":54.6603889,"cg_id_a":5.40268087,"cg_id_raw_a":9.49554539,"cg_iq_a":-203.029541,"cg_iq_raw_a":-202.583237,"cg_iu_a":-179.948105,"cg_iv_a":14.3492432,"cg_iw_a":167.882233,"cg_sample_age_us":23.9181824,"cg_sample_seq":9465366,"cg_sample_valid":1,"cg_theta_rad":5.53145695,"cg_vd_req_v":-2.10697556,"cg_vd_v":-2.10697556,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33850861,"cg_vq_v":-8.33850861,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2400.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1620.034791,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1620.034796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1620.0348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1620.225952,"values":{"Elec_RPM":-2353.33545,"EncoderCos":53749,"EncoderSin":28721,"GapTicks":49596,"Mech_RPM":-470.667114,"cg_du":54.9125252,"cg_dv":45.0874748,"cg_dw":47.2805328,"cg_id_a":14.630291,"cg_id_raw_a":8.97840214,"cg_iq_a":-202.303345,"cg_iq_raw_a":-200.514587,"cg_iu_a":195.429291,"cg_iv_a":-49.2224731,"cg_iw_a":-146.206818,"cg_sample_age_us":24.1618176,"cg_sample_seq":9467067,"cg_sample_valid":1,"cg_theta_rad":6.10679817,"cg_vd_req_v":-2.26860714,"cg_vd_v":-2.26860714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31467056,"cg_vq_v":-8.31467056,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-16.4728832,"dclink_p_w":-2384.03223,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1620.554077,"values":{"Elec_RPM":-2357.3208,"EncoderCos":45635,"EncoderSin":49983,"GapTicks":49788,"Mech_RPM":-471.464142,"cg_du":54.7378387,"cg_dv":45.2621613,"cg_dw":53.5001488,"cg_id_a":5.54260063,"cg_id_raw_a":10.5698109,"cg_iq_a":-203.29631,"cg_iq_raw_a":-203.728775,"cg_iu_a":172.740646,"cg_iv_a":-175.894653,"cg_iw_a":3.15400696,"cg_sample_age_us":24.005455,"cg_sample_seq":9468717,"cg_sample_valid":1,"cg_theta_rad":0.933127582,"cg_vd_req_v":-2.02039814,"cg_vd_v":-2.02039814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3403101,"cg_vq_v":-8.3403101,"cg_vu_v":142.965088,"cg_vv_v":138.566162,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1620.909546,"values":{"Elec_RPM":-2357.23413,"EncoderCos":44981,"EncoderSin":50460,"GapTicks":49383,"Mech_RPM":-471.446838,"cg_du":55.1061287,"cg_dv":44.8938713,"cg_dw":51.5077591,"cg_id_a":-13.9456367,"cg_id_raw_a":-11.4215651,"cg_iq_a":-196.019531,"cg_iq_raw_a":-197.218994,"cg_iu_a":176.981171,"cg_iv_a":-161.107162,"cg_iw_a":-15.8740082,"cg_sample_age_us":23.9181824,"cg_sample_seq":9470467,"cg_sample_valid":1,"cg_theta_rad":0.968052983,"cg_vd_req_v":-1.63768697,"cg_vd_v":-1.63768697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49982166,"cg_vq_v":-8.49982166,"cg_vu_v":106.893898,"cg_vv_v":93.2572174,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1621.026835,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1621.02684,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1621.026844,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1621.241577,"values":{"Elec_RPM":-2358.63403,"EncoderCos":21969,"EncoderSin":51516,"GapTicks":49394,"Mech_RPM":-471.726807,"cg_du":51.5952034,"cg_dv":44.9043617,"cg_dw":55.0956383,"cg_id_a":2.02754021,"cg_id_raw_a":0.227168918,"cg_iq_a":-197.092163,"cg_iq_raw_a":-196.71843,"cg_iu_a":111.995979,"cg_iv_a":-197.314758,"cg_iw_a":85.318779,"cg_sample_age_us":23.7181816,"cg_sample_seq":9472116,"cg_sample_valid":1,"cg_theta_rad":2.09591722,"cg_vd_req_v":-1.9639343,"cg_vd_v":-1.9639343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42767429,"cg_vq_v":-8.42767429,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1621.59314,"values":{"Elec_RPM":-2352.71997,"EncoderCos":21992,"EncoderSin":51560,"GapTicks":49410,"Mech_RPM":-470.544006,"cg_du":51.5470543,"cg_dv":44.9185524,"cg_dw":55.0814476,"cg_id_a":-0.430769563,"cg_id_raw_a":-5.05944395,"cg_iq_a":-198.256042,"cg_iq_raw_a":-197.16333,"cg_iu_a":149.182159,"cg_iv_a":-191.660736,"cg_iw_a":42.478569,"cg_sample_age_us":23.6018181,"cg_sample_seq":9473870,"cg_sample_valid":1,"cg_theta_rad":2.13404274,"cg_vd_req_v":-1.91803551,"cg_vd_v":-1.91803551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40592957,"cg_vq_v":-8.40592957,"cg_vu_v":35.1914063,"cg_vv_v":31.6722641,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1621.925171,"values":{"Elec_RPM":-2354.27734,"EncoderCos":11217,"EncoderSin":30610,"GapTicks":49696,"Mech_RPM":-470.855469,"cg_du":47.0802536,"cg_dv":45.1785774,"cg_dw":54.8214226,"cg_id_a":-1.25343025,"cg_id_raw_a":4.9163928,"cg_iq_a":-204.33902,"cg_iq_raw_a":-205.47377,"cg_iu_a":3.55442929,"cg_iv_a":-176.329575,"cg_iw_a":172.775146,"cg_sample_age_us":23.9254551,"cg_sample_seq":9475516,"cg_sample_valid":1,"cg_theta_rad":3.25419044,"cg_vd_req_v":-1.84939456,"cg_vd_v":-1.84939456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33276081,"cg_vq_v":-8.33276081,"cg_vu_v":114.37207,"cg_vv_v":116.571533,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-15.9781551,"dclink_p_w":-2312.43311,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1622.051135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1622.051143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1622.051148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1622.257202,"values":{"Elec_RPM":-2349.14307,"EncoderCos":11323,"EncoderSin":29726,"GapTicks":49398,"Mech_RPM":-469.828613,"cg_du":49.2214241,"cg_dv":44.907505,"cg_dw":55.092495,"cg_id_a":-18.7988644,"cg_id_raw_a":-17.2566566,"cg_iq_a":-198.232513,"cg_iq_raw_a":-199.459702,"cg_iu_a":29.9036961,"cg_iv_a":-184.08577,"cg_iw_a":154.182068,"cg_sample_age_us":23.8381824,"cg_sample_seq":9477266,"cg_sample_valid":1,"cg_theta_rad":3.28702545,"cg_vd_req_v":-1.50694191,"cg_vd_v":-1.50694191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43576908,"cg_vq_v":-8.43576908,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2525.70532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1622.612671,"values":{"Elec_RPM":-2351.49219,"EncoderCos":16381,"EncoderSin":18369,"GapTicks":49721,"Mech_RPM":-470.298431,"cg_du":53.0791092,"cg_dv":54.7990799,"cg_dw":45.2009201,"cg_id_a":0.75769937,"cg_id_raw_a":6.51166058,"cg_iq_a":-200.549377,"cg_iq_raw_a":-204.624832,"cg_iu_a":2.39462662,"cg_iv_a":171.357529,"cg_iw_a":-175.274384,"cg_sample_age_us":23.9654541,"cg_sample_seq":9478966,"cg_sample_valid":1,"cg_theta_rad":3.86826825,"cg_vd_req_v":-1.8774122,"cg_vd_v":-1.8774122,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34386826,"cg_vq_v":-8.34386826,"cg_vu_v":27.7132301,"cg_vv_v":24.1940918,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2914429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1622.944702,"values":{"Elec_RPM":-2349.66699,"EncoderCos":26546,"EncoderSin":12055,"GapTicks":49596,"Mech_RPM":-469.933411,"cg_du":45.0880203,"cg_dv":47.0586662,"cg_dw":54.9119797,"cg_id_a":11.5890064,"cg_id_raw_a":9.14491749,"cg_iq_a":-199.767792,"cg_iq_raw_a":-197.524887,"cg_iu_a":-47.331913,"cg_iv_a":-145.812271,"cg_iw_a":193.14418,"cg_sample_age_us":23.9618187,"cg_sample_seq":9480667,"cg_sample_valid":1,"cg_theta_rad":4.43291426,"cg_vd_req_v":-2.18017244,"cg_vd_v":-2.18017244,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37994576,"cg_vq_v":-8.37994576,"cg_vu_v":111.732712,"cg_vv_v":117.011421,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0600319,"dclink_p_w":-2461.50269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1623.042584,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1623.042589,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1623.042593,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1623.276733,"values":{"Elec_RPM":-2348.14355,"EncoderCos":48670,"EncoderSin":18383,"GapTicks":49555,"Mech_RPM":-469.628723,"cg_du":45.0500031,"cg_dv":52.2575645,"cg_dw":54.9499969,"cg_id_a":-5.22379351,"cg_id_raw_a":-0.920314193,"cg_iq_a":-200.418457,"cg_iq_raw_a":-203.395004,"cg_iu_a":-169.292419,"cg_iv_a":-5.7298584,"cg_iw_a":175.022278,"cg_sample_age_us":23.8199997,"cg_sample_seq":9482316,"cg_sample_valid":1,"cg_theta_rad":5.55729961,"cg_vd_req_v":-1.88294578,"cg_vd_v":-1.88294578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.370924,"cg_vq_v":-8.370924,"cg_vu_v":13.1967773,"cg_vv_v":15.836132,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2415.50464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1623.628296,"values":{"Elec_RPM":-2354.96265,"EncoderCos":49229,"EncoderSin":19069,"GapTicks":49363,"Mech_RPM":-470.992523,"cg_du":44.8762283,"cg_dv":50.326458,"cg_dw":55.1237717,"cg_id_a":-12.3973293,"cg_id_raw_a":-12.7472677,"cg_iq_a":-197.497421,"cg_iq_raw_a":-200.248138,"cg_iu_a":-141.167206,"cg_iv_a":-50.9983978,"cg_iw_a":192.165604,"cg_sample_age_us":23.9181824,"cg_sample_seq":9484066,"cg_sample_valid":1,"cg_theta_rad":5.60425377,"cg_vd_req_v":-1.75862801,"cg_vd_v":-1.75862801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4125042,"cg_vq_v":-8.4125042,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2496.80786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1623.960327,"values":{"Elec_RPM":-2357.31494,"EncoderCos":53939,"EncoderSin":29981,"GapTicks":49815,"Mech_RPM":-471.462982,"cg_du":54.7131233,"cg_dv":46.4186401,"cg_dw":45.2868767,"cg_id_a":3.66608691,"cg_id_raw_a":8.62632751,"cg_iq_a":-202.34523,"cg_iq_raw_a":-202.406952,"cg_iu_a":171.834549,"cg_iv_a":-1.88801575,"cg_iw_a":-169.946533,"cg_sample_age_us":24.1727276,"cg_sample_seq":9485767,"cg_sample_valid":1,"cg_theta_rad":6.1760807,"cg_vd_req_v":-2.01576352,"cg_vd_v":-2.01576352,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33445549,"cg_vq_v":-8.33445549,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2392.21265,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1624.035286,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1624.035291,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1624.035296,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1624.31189,"values":{"Elec_RPM":-2356.64258,"EncoderCos":52262,"EncoderSin":41535,"GapTicks":49399,"Mech_RPM":-471.328491,"cg_du":44.9089661,"cg_dv":55.0910339,"cg_dw":51.9694672,"cg_id_a":4.63592672,"cg_id_raw_a":0.319718033,"cg_iq_a":-198.637238,"cg_iq_raw_a":-199.344299,"cg_iu_a":-189.552704,"cg_iv_a":38.8862915,"cg_iw_a":150.666412,"cg_sample_age_us":26.4054546,"cg_sample_seq":9487470,"cg_sample_valid":1,"cg_theta_rad":0.464933395,"cg_vd_req_v":-2.09521675,"cg_vd_v":-2.09521675,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43459702,"cg_vq_v":-8.43459702,"cg_vu_v":125.809273,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1624.647827,"values":{"Elec_RPM":-2357.22998,"EncoderCos":43630,"EncoderSin":51314,"GapTicks":49380,"Mech_RPM":-471.445984,"cg_du":55.1090012,"cg_dv":44.8909988,"cg_dw":48.5585976,"cg_id_a":1.33661044,"cg_id_raw_a":-6.19172621,"cg_iq_a":-197.533447,"cg_iq_raw_a":-196.178833,"cg_iu_a":197.966354,"cg_iv_a":-90.4679413,"cg_iw_a":-107.498413,"cg_sample_age_us":23.9581814,"cg_sample_seq":9489167,"cg_sample_valid":1,"cg_theta_rad":1.04300249,"cg_vd_req_v":-1.96780598,"cg_vd_v":-1.96780598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42356873,"cg_vq_v":-8.42356873,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2497.85693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1624.979858,"values":{"Elec_RPM":-2350.90625,"EncoderCos":31578,"EncoderSin":54268,"GapTicks":49341,"Mech_RPM":-470.181244,"cg_du":44.8555412,"cg_dv":55.1444588,"cg_dw":49.7360573,"cg_id_a":-10.6946535,"cg_id_raw_a":-9.44621277,"cg_iq_a":-196.742523,"cg_iq_raw_a":-197.459976,"cg_iu_a":-192.488464,"cg_iv_a":135.729828,"cg_iw_a":56.7586441,"cg_sample_age_us":23.8709087,"cg_sample_seq":9490866,"cg_sample_valid":1,"cg_theta_rad":1.62598729,"cg_vd_req_v":-1.66342056,"cg_vd_v":-1.66342056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43847752,"cg_vq_v":-8.43847752,"cg_vu_v":38.2706528,"cg_vv_v":50.5876465,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1625.027091,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1625.027097,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1625.027101,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1625.331421,"values":{"Elec_RPM":-2354.83423,"EncoderCos":20125,"EncoderSin":50317,"GapTicks":49683,"Mech_RPM":-470.966827,"cg_du":54.8331833,"cg_dv":45.1668167,"cg_dw":53.1334114,"cg_id_a":2.80764866,"cg_id_raw_a":10.631073,"cg_iq_a":-201.920654,"cg_iq_raw_a":-202.944626,"cg_iu_a":175.205231,"cg_iv_a":-172.306519,"cg_iw_a":-2.89871216,"cg_sample_age_us":24.0345459,"cg_sample_seq":9492566,"cg_sample_valid":1,"cg_theta_rad":2.1955328,"cg_vd_req_v":-1.94651616,"cg_vd_v":-1.94651616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37471581,"cg_vq_v":-8.37471581,"cg_vu_v":47.9482918,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2429.3418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1625.663452,"values":{"Elec_RPM":-2353.85767,"EncoderCos":11450,"EncoderSin":29025,"GapTicks":49365,"Mech_RPM":-470.771545,"cg_du":50.5667953,"cg_dv":44.877594,"cg_dw":55.122406,"cg_id_a":-13.8486872,"cg_id_raw_a":-19.5777054,"cg_iq_a":-196.463409,"cg_iq_raw_a":-197.296997,"cg_iu_a":53.4621887,"cg_iv_a":-190.428436,"cg_iw_a":136.966248,"cg_sample_age_us":23.6745453,"cg_sample_seq":9494216,"cg_sample_valid":1,"cg_theta_rad":3.3112452,"cg_vd_req_v":-1.62553799,"cg_vd_v":-1.62553799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4488039,"cg_vq_v":-8.4488039,"cg_vu_v":138.566162,"cg_vv_v":109.973145,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1625.995483,"values":{"Elec_RPM":-2356.51318,"EncoderCos":16729,"EncoderSin":17966,"GapTicks":49464,"Mech_RPM":-471.302643,"cg_du":51.790493,"cg_dv":55.0321426,"cg_dw":44.9678574,"cg_id_a":-12.2150364,"cg_id_raw_a":-9.33735371,"cg_iq_a":-198.911591,"cg_iq_raw_a":-201.575577,"cg_iu_a":-13.5889044,"cg_iv_a":178.533783,"cg_iw_a":-164.944885,"cg_sample_age_us":23.9654541,"cg_sample_seq":9495916,"cg_sample_valid":1,"cg_theta_rad":3.8955636,"cg_vd_req_v":-1.63345039,"cg_vd_v":-1.63345039,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40159702,"cg_vq_v":-8.40159702,"cg_vu_v":18.0355949,"cg_vv_v":14.5164547,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2482.68213,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1626.019426,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1626.019432,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1626.019437,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1626.347046,"values":{"Elec_RPM":-2357.14136,"EncoderCos":27072,"EncoderSin":11905,"GapTicks":49893,"Mech_RPM":-471.428253,"cg_du":45.3574028,"cg_dv":46.0583305,"cg_dw":54.6425972,"cg_id_a":14.0392027,"cg_id_raw_a":14.6466866,"cg_iq_a":-203.832428,"cg_iq_raw_a":-200.867645,"cg_iu_a":-25.4768829,"cg_iv_a":-163.970444,"cg_iw_a":189.447327,"cg_sample_age_us":23.9400005,"cg_sample_seq":9497617,"cg_sample_valid":1,"cg_theta_rad":4.457973,"cg_vd_req_v":-2.2058661,"cg_vd_v":-2.2058661,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32689476,"cg_vq_v":-8.32689476,"cg_vu_v":118.770996,"cg_vv_v":130.648087,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118837267,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1626.682983,"values":{"Elec_RPM":-2356.7373,"EncoderCos":39585,"EncoderSin":12243,"GapTicks":49620,"Mech_RPM":-471.347473,"cg_du":54.8903656,"cg_dv":52.524929,"cg_dw":45.1096344,"cg_id_a":3.6114223,"cg_id_raw_a":2.90867734,"cg_iq_a":-203.676422,"cg_iq_raw_a":-204.666107,"cg_iu_a":68.3946533,"cg_iv_a":132.866547,"cg_iw_a":-201.333694,"cg_sample_age_us":23.9836369,"cg_sample_seq":9499316,"cg_sample_valid":1,"cg_theta_rad":5.04787779,"cg_vd_req_v":-2.02408075,"cg_vd_v":-2.02408075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28414726,"cg_vq_v":-8.28414726,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2423.63574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1627.011108,"values":{"Elec_RPM":-2360.13574,"EncoderCos":49612,"EncoderSin":19511,"GapTicks":49366,"Mech_RPM":-472.02713,"cg_du":44.8786469,"cg_dv":49.2347221,"cg_dw":55.1213531,"cg_id_a":-7.84751749,"cg_id_raw_a":-12.2162113,"cg_iq_a":-198.371902,"cg_iq_raw_a":-199.513962,"cg_iu_a":-125.799812,"cg_iv_a":-69.0115891,"cg_iw_a":194.811401,"cg_sample_age_us":23.8199997,"cg_sample_seq":9501016,"cg_sample_valid":1,"cg_theta_rad":5.6255374,"cg_vd_req_v":-1.86606538,"cg_vd_v":-1.86606538,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38514042,"cg_vq_v":-8.38514042,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2540.98999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1627.042773,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1627.042779,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1627.042784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1627.366577,"values":{"Elec_RPM":-2360.81445,"EncoderCos":54010,"EncoderSin":30812,"GapTicks":49392,"Mech_RPM":-472.162903,"cg_du":55.0976753,"cg_dv":48.4687157,"cg_dw":44.9023247,"cg_id_a":-16.7120323,"cg_id_raw_a":-13.0498896,"cg_iq_a":-196.725433,"cg_iq_raw_a":-199.412109,"cg_iu_a":162.918564,"cg_iv_a":4.67211914,"cg_iw_a":-172.193649,"cg_sample_age_us":24.1072731,"cg_sample_seq":9502716,"cg_sample_valid":1,"cg_theta_rad":6.2021246,"cg_vd_req_v":-1.61857486,"cg_vd_v":-1.61857486,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46646976,"cg_vq_v":-8.46646976,"cg_vu_v":48.8280716,"cg_vv_v":49.707859,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2435.09399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1627.698608,"values":{"Elec_RPM":-2359.86401,"EncoderCos":51531,"EncoderSin":42986,"GapTicks":49907,"Mech_RPM":-471.972809,"cg_du":45.3704529,"cg_dv":53.8823395,"cg_dw":54.6295471,"cg_id_a":7.34924889,"cg_id_raw_a":11.281086,"cg_iq_a":-202.442444,"cg_iq_raw_a":-201.704941,"cg_iu_a":-179.078247,"cg_iv_a":6.04937744,"cg_iw_a":173.02887,"cg_sample_age_us":23.5654545,"cg_sample_seq":9504416,"cg_sample_valid":1,"cg_theta_rad":0.505592287,"cg_vd_req_v":-2.10310864,"cg_vd_v":-2.10310864,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33444881,"cg_vq_v":-8.33444881,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2517.00269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1628.03064,"values":{"Elec_RPM":-2358.19556,"EncoderCos":42903,"EncoderSin":51647,"GapTicks":49606,"Mech_RPM":-471.639099,"cg_du":54.9027596,"cg_dv":45.0972404,"cg_dw":47.2827797,"cg_id_a":16.125618,"cg_id_raw_a":13.5234642,"cg_iq_a":-202.686401,"cg_iq_raw_a":-202.306503,"cg_iu_a":197.241486,"cg_iv_a":-60.2768402,"cg_iw_a":-136.964645,"cg_sample_age_us":23.8199997,"cg_sample_seq":9506116,"cg_sample_valid":1,"cg_theta_rad":1.07200325,"cg_vd_req_v":-2.25932789,"cg_vd_v":-2.25932789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3004055,"cg_vq_v":-8.3004055,"cg_vu_v":105.574219,"cg_vv_v":75.6615219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1628.034989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1628.034995,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1628.035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1628.526733,"values":{"Elec_RPM":-2357.7771,"EncoderCos":52422,"EncoderSin":41116,"GapTicks":49363,"Mech_RPM":-471.55542,"cg_du":44.8761673,"cg_dv":55.1238327,"cg_dw":51.2368088,"cg_id_a":-3.0861125,"cg_id_raw_a":-7.52734423,"cg_iq_a":-195.280487,"cg_iq_raw_a":-195.030457,"cg_iu_a":-194.916809,"cg_iv_a":99.1235504,"cg_iw_a":95.7932587,"cg_sample_age_us":23.5290909,"cg_sample_seq":9508517,"cg_sample_valid":1,"cg_theta_rad":0.407499522,"cg_vd_req_v":-1.93462467,"cg_vd_v":-1.93462467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45309639,"cg_vq_v":-8.45309639,"cg_vu_v":94.5769043,"cg_vv_v":101.175293,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2514.37988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2572,"hz_tim_isr":5000,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1628.9312,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1628.93121,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1628.931213,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1629.022827,"values":{"Elec_RPM":-2343.18311,"EncoderCos":25991,"EncoderSin":12229,"GapTicks":49383,"Mech_RPM":-468.636627,"cg_du":44.8940048,"cg_dv":48.0565186,"cg_dw":55.1059952,"cg_id_a":3.8334372,"cg_id_raw_a":-1.10674489,"cg_iq_a":-196.396484,"cg_iq_raw_a":-194.140564,"cg_iu_a":-75.928299,"cg_iv_a":-120.622818,"cg_iw_a":196.551117,"cg_sample_age_us":23.9436359,"cg_sample_seq":9511067,"cg_sample_valid":1,"cg_theta_rad":4.4072361,"cg_vd_req_v":-2.03305721,"cg_vd_v":-2.03305721,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46926594,"cg_vq_v":-8.46926594,"cg_vu_v":113.492287,"cg_vv_v":126.249161,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5000648,"dclink_p_w":-2387.96631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2572,"hz_tim_isr":5000,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1629.058684,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1629.05869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1629.058695,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1629.378296,"values":{"Elec_RPM":-2344.30176,"EncoderCos":38458,"EncoderSin":11910,"GapTicks":49371,"Mech_RPM":-468.860352,"cg_du":55.116394,"cg_dv":50.4630089,"cg_dw":44.883606,"cg_id_a":-10.040719,"cg_id_raw_a":-11.0191097,"cg_iq_a":-197.816376,"cg_iq_raw_a":-198.135208,"cg_iu_a":112.684616,"cg_iv_a":86.4019623,"cg_iw_a":-199.086578,"cg_sample_age_us":23.9836369,"cg_sample_seq":9512766,"cg_sample_valid":1,"cg_theta_rad":5.00836897,"cg_vd_req_v":-1.74477816,"cg_vd_v":-1.74477816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40876961,"cg_vq_v":-8.40876961,"cg_vu_v":110.413033,"cg_vv_v":111.732712,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2507.55396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1629.710327,"values":{"Elec_RPM":-2346.25464,"EncoderCos":39342,"EncoderSin":12153,"GapTicks":49543,"Mech_RPM":-469.250946,"cg_du":54.9604263,"cg_dv":52.055275,"cg_dw":45.0395737,"cg_id_a":1.40708256,"cg_id_raw_a":-1.64396477,"cg_iq_a":-203.04187,"cg_iq_raw_a":-204.469177,"cg_iu_a":80.7537918,"cg_iv_a":121.485985,"cg_iw_a":-202.239777,"cg_sample_age_us":23.9872723,"cg_sample_seq":9514516,"cg_sample_valid":1,"cg_theta_rad":5.03704071,"cg_vd_req_v":-1.98247659,"cg_vd_v":-1.98247659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28967381,"cg_vq_v":-8.28967381,"cg_vu_v":47.9482918,"cg_vv_v":63.3445282,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2444.0918,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1630.042358,"values":{"Elec_RPM":-2348.36475,"EncoderCos":52436,"EncoderSin":41101,"GapTicks":49335,"Mech_RPM":-469.672974,"cg_du":44.8504448,"cg_dv":55.1495552,"cg_dw":51.1871643,"cg_id_a":-2.52955818,"cg_id_raw_a":-3.12698984,"cg_iq_a":-197.574066,"cg_iq_raw_a":-198.070602,"cg_iu_a":-199.266068,"cg_iv_a":98.9423294,"cg_iw_a":100.323738,"cg_sample_age_us":23.5290909,"cg_sample_seq":9516116,"cg_sample_valid":1,"cg_theta_rad":0.40665099,"cg_vd_req_v":-1.95391953,"cg_vd_v":-1.95391953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45876312,"cg_vq_v":-8.45876312,"cg_vu_v":18.4754887,"cg_vv_v":28.1531239,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-15.9419098,"dclink_p_w":-2307.1875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1630.051009,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1630.051016,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1630.051021,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1630.393921,"values":{"Elec_RPM":-2352.21826,"EncoderCos":54004,"EncoderSin":30532,"GapTicks":49481,"Mech_RPM":-470.443634,"cg_du":55.0169868,"cg_dv":47.7685966,"cg_dw":44.9830132,"cg_id_a":-9.89123535,"cg_id_raw_a":-3.06645775,"cg_iq_a":-197.701218,"cg_iq_raw_a":-200.113022,"cg_iu_a":168.13768,"cg_iv_a":7.31791687,"cg_iw_a":-175.455597,"cg_sample_age_us":24.0927277,"cg_sample_seq":9517916,"cg_sample_valid":1,"cg_theta_rad":6.19319868,"cg_vd_req_v":-1.74829948,"cg_vd_v":-1.74829948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45082283,"cg_vq_v":-8.45082283,"cg_vu_v":24.6339836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6254368,"dclink_p_w":-2558.58862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1630.725952,"values":{"Elec_RPM":-2355.28369,"EncoderCos":43909,"EncoderSin":51132,"GapTicks":49354,"Mech_RPM":-471.056732,"cg_du":55.1319084,"cg_dv":44.8680916,"cg_dw":49.0653381,"cg_id_a":-7.68481588,"cg_id_raw_a":-10.9803324,"cg_iq_a":-196.453583,"cg_iq_raw_a":-196.15126,"cg_iu_a":197.060257,"cg_iv_a":-110.764496,"cg_iw_a":-86.2957611,"cg_sample_age_us":23.9181824,"cg_sample_seq":9519566,"cg_sample_valid":1,"cg_theta_rad":1.02678096,"cg_vd_req_v":-1.79105449,"cg_vd_v":-1.79105449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43534946,"cg_vq_v":-8.43534946,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2499.95532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1631.042968,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1631.042975,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1631.04298,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1631.077515,"values":{"Elec_RPM":-2362.44263,"EncoderCos":44023,"EncoderSin":51120,"GapTicks":49364,"Mech_RPM":-472.488525,"cg_du":55.1230392,"cg_dv":44.8769608,"cg_dw":49.3081779,"cg_id_a":-8.52103043,"cg_id_raw_a":-10.3395681,"cg_iq_a":-197.786682,"cg_iq_raw_a":-198.085159,"cg_iu_a":199.524841,"cg_iv_a":-61.8715515,"cg_iw_a":-137.65329,"cg_sample_age_us":26.4745445,"cg_sample_seq":9521320,"cg_sample_valid":1,"cg_theta_rad":1.0668366,"cg_vd_req_v":-1.7704612,"cg_vd_v":-1.7704612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40278435,"cg_vq_v":-8.40278435,"cg_vu_v":47.0685043,"cg_vv_v":42.2296829,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2469.53198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1631.413452,"values":{"Elec_RPM":-2361.06982,"EncoderCos":20650,"EncoderSin":50716,"GapTicks":50038,"Mech_RPM":-472.213989,"cg_du":54.4233055,"cg_dv":45.4894371,"cg_dw":54.5105629,"cg_id_a":11.8122644,"cg_id_raw_a":11.5191212,"cg_iq_a":-201.102448,"cg_iq_raw_a":-200.539932,"cg_iu_a":165.74559,"cg_iv_a":-182.056091,"cg_iw_a":16.3105087,"cg_sample_age_us":24.0381813,"cg_sample_seq":9522967,"cg_sample_valid":1,"cg_theta_rad":2.16451263,"cg_vd_req_v":-2.13978052,"cg_vd_v":-2.13978052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39362144,"cg_vq_v":-8.39362144,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2421.79443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1631.745483,"values":{"Elec_RPM":-2357.70239,"EncoderCos":19943,"EncoderSin":50176,"GapTicks":49578,"Mech_RPM":-471.540497,"cg_du":54.9285126,"cg_dv":45.0714874,"cg_dw":52.4939957,"cg_id_a":-5.43763208,"cg_id_raw_a":0.55847609,"cg_iq_a":-198.774872,"cg_iq_raw_a":-200.374191,"cg_iu_a":174.516586,"cg_iv_a":-164.514084,"cg_iw_a":-10.0025024,"cg_sample_age_us":23.9909096,"cg_sample_seq":9524717,"cg_sample_valid":1,"cg_theta_rad":2.21695566,"cg_vd_req_v":-1.77451777,"cg_vd_v":-1.77451777,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42168999,"cg_vq_v":-8.42168999,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2455.20386,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1632.035253,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1632.035259,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1632.035265,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1632.097046,"values":{"Elec_RPM":-2356.07373,"EncoderCos":11338,"EncoderSin":29747,"GapTicks":49420,"Mech_RPM":-471.214752,"cg_du":49.1602135,"cg_dv":44.9273338,"cg_dw":55.0726662,"cg_id_a":-20.0688934,"cg_id_raw_a":-19.6711006,"cg_iq_a":-200.880829,"cg_iq_raw_a":-203.359299,"cg_iu_a":95.4325409,"cg_iv_a":-198.764511,"cg_iw_a":103.33197,"cg_sample_age_us":26.681818,"cg_sample_seq":9526370,"cg_sample_valid":1,"cg_theta_rad":3.33898592,"cg_vd_req_v":-1.47290182,"cg_vd_v":-1.47290182,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36112213,"cg_vq_v":-8.36112213,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-17.8501492,"dclink_p_w":-2575.50439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1632.429077,"values":{"Elec_RPM":-2362.06006,"EncoderCos":16794,"EncoderSin":17933,"GapTicks":49401,"Mech_RPM":-472.412018,"cg_du":51.6283646,"cg_dv":55.0897675,"cg_dw":44.9102325,"cg_id_a":-13.2913513,"cg_id_raw_a":-11.4361763,"cg_iq_a":-195.544617,"cg_iq_raw_a":-196.178986,"cg_iu_a":-15.5823154,"cg_iv_a":176.032974,"cg_iw_a":-160.450653,"cg_sample_age_us":23.9618187,"cg_sample_seq":9528067,"cg_sample_valid":1,"cg_theta_rad":3.89746571,"cg_vd_req_v":-1.61380041,"cg_vd_v":-1.61380041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49769592,"cg_vq_v":-8.49769592,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.7522907,"dclink_p_w":-2569.19409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1632.765015,"values":{"Elec_RPM":-2363.01465,"EncoderCos":27510,"EncoderSin":11789,"GapTicks":50019,"Mech_RPM":-472.602905,"cg_du":45.9900703,"cg_dv":45.4725952,"cg_dw":54.5274048,"cg_id_a":8.47963142,"cg_id_raw_a":12.1668558,"cg_iq_a":-205.389053,"cg_iq_raw_a":-204.423325,"cg_iu_a":-8.80471802,"cg_iv_a":-171.581635,"cg_iw_a":180.386353,"cg_sample_age_us":23.9654541,"cg_sample_seq":9529767,"cg_sample_valid":1,"cg_theta_rad":4.48111439,"cg_vd_req_v":-2.07319164,"cg_vd_v":-2.07319164,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26758194,"cg_vq_v":-8.26758194,"cg_vu_v":107.333786,"cg_vv_v":99.8556061,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1633.05868,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1633.058686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1633.058691,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1633.116577,"values":{"Elec_RPM":-2360.66577,"EncoderCos":39883,"EncoderSin":12353,"GapTicks":49760,"Mech_RPM":-472.133148,"cg_du":54.7627678,"cg_dv":53.101944,"cg_dw":45.2372322,"cg_id_a":5.02451468,"cg_id_raw_a":3.7044785,"cg_iq_a":-204.392853,"cg_iq_raw_a":-204.76503,"cg_iu_a":54.1508179,"cg_iv_a":146.349274,"cg_iw_a":-200.500092,"cg_sample_age_us":23.8709087,"cg_sample_seq":9531466,"cg_sample_valid":1,"cg_theta_rad":5.06685781,"cg_vd_req_v":-2.04832816,"cg_vd_v":-2.04832816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25293827,"cg_vq_v":-8.25293827,"cg_vu_v":39.1504402,"cg_vv_v":46.6286087,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2478.76001,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1633.448608,"values":{"Elec_RPM":-2361.05371,"EncoderCos":40404,"EncoderSin":12530,"GapTicks":49994,"Mech_RPM":-472.210754,"cg_du":54.5506554,"cg_dv":54.0810661,"cg_dw":45.4493446,"cg_id_a":9.61929989,"cg_id_raw_a":9.11235046,"cg_iq_a":-205.350464,"cg_iq_raw_a":-206.123077,"cg_iu_a":23.850975,"cg_iv_a":163.927551,"cg_iw_a":-187.778519,"cg_sample_age_us":23.9872723,"cg_sample_seq":9533217,"cg_sample_valid":1,"cg_theta_rad":5.0907712,"cg_vd_req_v":-2.13564897,"cg_vd_v":-2.13564897,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26622963,"cg_vq_v":-8.26622963,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2434.38794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1633.78064,"values":{"Elec_RPM":-2358.71167,"EncoderCos":51796,"EncoderSin":42516,"GapTicks":49917,"Mech_RPM":-471.74234,"cg_du":45.3792419,"cg_dv":54.6207581,"cg_dw":53.9537544,"cg_id_a":13.1113071,"cg_id_raw_a":15.5406322,"cg_iq_a":-200.920746,"cg_iq_raw_a":-200.366211,"cg_iu_a":-186.109558,"cg_iv_a":23.7363892,"cg_iw_a":162.373169,"cg_sample_age_us":23.5363636,"cg_sample_seq":9534816,"cg_sample_valid":1,"cg_theta_rad":0.480055332,"cg_vd_req_v":-2.21928763,"cg_vd_v":-2.21928763,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34903622,"cg_vq_v":-8.34903622,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":13.6366701,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1634.018729,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1634.018735,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1634.01874,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1634.132202,"values":{"Elec_RPM":-2362.22144,"EncoderCos":54087,"EncoderSin":32124,"GapTicks":49399,"Mech_RPM":-472.444275,"cg_du":55.0916519,"cg_dv":50.9105949,"cg_dw":44.9083481,"cg_id_a":-5.4087801,"cg_id_raw_a":-9.71108723,"cg_iq_a":-199.511719,"cg_iq_raw_a":-199.342407,"cg_iu_a":111.851006,"cg_iv_a":91.1861496,"cg_iw_a":-203.037155,"cg_sample_age_us":23.9290905,"cg_sample_seq":9536616,"cg_sample_valid":1,"cg_theta_rad":6.26617289,"cg_vd_req_v":-1.86567414,"cg_vd_v":-1.86567414,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37479115,"cg_vq_v":-8.37479115,"cg_vu_v":38.7105446,"cg_vv_v":40.9100075,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.6435585,"dclink_p_w":-2553.45801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1634.464233,"values":{"Elec_RPM":-2355.55908,"EncoderCos":31765,"EncoderSin":54256,"GapTicks":49306,"Mech_RPM":-471.111816,"cg_du":44.8236504,"cg_dv":55.1763496,"cg_dw":49.3051605,"cg_id_a":-8.51475716,"cg_id_raw_a":-8.14241123,"cg_iq_a":-197.108429,"cg_iq_raw_a":-198.171432,"cg_iu_a":-187.196869,"cg_iv_a":145.334457,"cg_iw_a":41.8624115,"cg_sample_age_us":23.7836361,"cg_sample_seq":9538217,"cg_sample_valid":1,"cg_theta_rad":1.61828017,"cg_vd_req_v":-1.70977044,"cg_vd_v":-1.70977044,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4792881,"cg_vq_v":-8.4792881,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2453.79565,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1634.815796,"values":{"Elec_RPM":-2356.11719,"EncoderCos":42784,"EncoderSin":51772,"GapTicks":49630,"Mech_RPM":-471.22345,"cg_du":54.8811264,"cg_dv":45.1188736,"cg_dw":46.9995384,"cg_id_a":18.9246922,"cg_id_raw_a":16.4762821,"cg_iq_a":-204.728394,"cg_iq_raw_a":-204.027328,"cg_iu_a":179.844437,"cg_iv_a":-7.03463745,"cg_iw_a":-172.809799,"cg_sample_age_us":23.9218178,"cg_sample_seq":9540020,"cg_sample_valid":1,"cg_theta_rad":1.13029146,"cg_vd_req_v":-2.3220613,"cg_vd_v":-2.3220613,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31090164,"cg_vq_v":-8.31090164,"cg_vu_v":43.9892578,"cg_vv_v":42.6695786,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2440.99829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1635.042649,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1635.042655,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1635.04266,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1635.147827,"values":{"Elec_RPM":-2358.84033,"EncoderCos":12467,"EncoderSin":40360,"GapTicks":50012,"Mech_RPM":-471.768066,"cg_du":45.9782104,"cg_dv":54.53442,"cg_dw":45.46558,"cg_id_a":13.3425493,"cg_id_raw_a":16.6668015,"cg_iq_a":-206.204025,"cg_iq_raw_a":-206.261002,"cg_iu_a":-167.516464,"cg_iv_a":186.217499,"cg_iw_a":-18.7010269,"cg_sample_age_us":23.994545,"cg_sample_seq":9541616,"cg_sample_valid":1,"cg_theta_rad":2.78734183,"cg_vd_req_v":-2.12904024,"cg_vd_v":-2.12904024,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24286461,"cg_vq_v":-8.24286461,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2433.00244,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3057556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1635.483765,"values":{"Elec_RPM":-2355.38354,"EncoderCos":18579,"EncoderSin":49076,"GapTicks":49393,"Mech_RPM":-471.076691,"cg_du":55.097187,"cg_dv":44.902813,"cg_dw":48.9063263,"cg_id_a":-8.35176945,"cg_id_raw_a":-13.0201683,"cg_iq_a":-198.008301,"cg_iq_raw_a":-197.416595,"cg_iu_a":199.524841,"cg_iv_a":-109.42347,"cg_iw_a":-90.1013718,"cg_sample_age_us":23.9690914,"cg_sample_seq":9543416,"cg_sample_valid":1,"cg_theta_rad":2.28808594,"cg_vd_req_v":-1.75853038,"cg_vd_v":-1.75853038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40112686,"cg_vq_v":-8.40112686,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.3699169,"dclink_p_w":-2521.49609,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1635.815796,"values":{"Elec_RPM":-2355.3291,"EncoderCos":17371,"EncoderSin":17318,"GapTicks":49358,"Mech_RPM":-471.065826,"cg_du":49.8798828,"cg_dv":55.1287117,"cg_dw":44.8712883,"cg_id_a":-15.3050289,"cg_id_raw_a":-14.4166908,"cg_iq_a":-196.908798,"cg_iq_raw_a":-195.045303,"cg_iu_a":-57.8788681,"cg_iv_a":193.1763,"cg_iw_a":-135.29744,"cg_sample_age_us":23.8709087,"cg_sample_seq":9545016,"cg_sample_valid":1,"cg_theta_rad":3.94218206,"cg_vd_req_v":-1.59558988,"cg_vd_v":-1.59558988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44825554,"cg_vq_v":-8.44825554,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2374.32837,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1636.034749,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1636.034755,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1636.03476,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1636.167358,"values":{"Elec_RPM":-2356.5647,"EncoderCos":12017,"EncoderSin":26510,"GapTicks":49839,"Mech_RPM":-471.312927,"cg_du":54.6912498,"cg_dv":45.3087502,"cg_dw":53.755928,"cg_id_a":8.21811581,"cg_id_raw_a":12.7884445,"cg_iq_a":-200.38591,"cg_iq_raw_a":-201.387054,"cg_iu_a":167.231583,"cg_iv_a":-179.374054,"cg_iw_a":12.1424789,"cg_sample_age_us":24.0309086,"cg_sample_seq":9546816,"cg_sample_valid":1,"cg_theta_rad":3.43087578,"cg_vd_req_v":-2.04126215,"cg_vd_v":-2.04126215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39205742,"cg_vq_v":-8.39205742,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1636.49939,"values":{"Elec_RPM":-2354.47388,"EncoderCos":28866,"EncoderSin":11517,"GapTicks":49383,"Mech_RPM":-470.894775,"cg_du":49.1974716,"cg_dv":44.8939362,"cg_dw":55.1060638,"cg_id_a":-16.7697067,"cg_id_raw_a":-15.4727421,"cg_iq_a":-198.796188,"cg_iq_raw_a":-199.285156,"cg_iu_a":32.8756905,"cg_iv_a":-186.079178,"cg_iw_a":153.203491,"cg_sample_age_us":23.7036362,"cg_sample_seq":9548467,"cg_sample_valid":1,"cg_theta_rad":4.54690695,"cg_vd_req_v":-1.5827632,"cg_vd_v":-1.5827632,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39402771,"cg_vq_v":-8.39402771,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2416.00659,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1636.850952,"values":{"Elec_RPM":-2361.31323,"EncoderCos":49577,"EncoderSin":19442,"GapTicks":49304,"Mech_RPM":-472.262665,"cg_du":44.8226089,"cg_dv":49.3521957,"cg_dw":55.1773911,"cg_id_a":-8.48143673,"cg_id_raw_a":-10.3074942,"cg_iq_a":-196.557587,"cg_iq_raw_a":-198.384689,"cg_iu_a":-60.9233513,"cg_iv_a":-123.594803,"cg_iw_a":196.478622,"cg_sample_age_us":23.8272724,"cg_sample_seq":9550120,"cg_sample_valid":1,"cg_theta_rad":5.67295313,"cg_vd_req_v":-1.85275543,"cg_vd_v":-1.85275543,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47450352,"cg_vq_v":-8.47450352,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2434.15845,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1637.026879,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1637.026886,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1637.026893,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1637.182983,"values":{"Elec_RPM":-2354.75342,"EncoderCos":50644,"EncoderSin":21005,"GapTicks":49935,"Mech_RPM":-470.950684,"cg_du":45.395752,"cg_dv":46.0598793,"cg_dw":54.604248,"cg_id_a":14.456953,"cg_id_raw_a":18.8038006,"cg_iq_a":-205.356384,"cg_iq_raw_a":-202.40332,"cg_iu_a":-31.4933586,"cg_iv_a":-160.889694,"cg_iw_a":192.383057,"cg_sample_age_us":23.8272724,"cg_sample_seq":9551866,"cg_sample_valid":1,"cg_theta_rad":5.70941925,"cg_vd_req_v":-2.27578187,"cg_vd_v":-2.27578187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27497673,"cg_vq_v":-8.27497673,"cg_vu_v":98.0960464,"cg_vv_v":73.462059,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2498.0835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1637.518921,"values":{"Elec_RPM":-2356.79663,"EncoderCos":54160,"EncoderSin":32462,"GapTicks":49471,"Mech_RPM":-471.359314,"cg_du":55.0256538,"cg_dv":51.4639854,"cg_dw":44.9743462,"cg_id_a":-0.240680844,"cg_id_raw_a":-4.76821852,"cg_iq_a":-202.714447,"cg_iq_raw_a":-199.228577,"cg_iu_a":94.4539642,"cg_iv_a":108.619431,"cg_iw_a":-203.073395,"cg_sample_age_us":24.0309086,"cg_sample_seq":9553567,"cg_sample_valid":1,"cg_theta_rad":6.27789688,"cg_vd_req_v":-1.97664666,"cg_vd_v":-1.97664666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28394508,"cg_vq_v":-8.28394508,"cg_vu_v":127.12896,"cg_vv_v":141.645401,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2932434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1637.870483,"values":{"Elec_RPM":-2357.08862,"EncoderCos":50684,"EncoderSin":44466,"GapTicks":49332,"Mech_RPM":-471.417725,"cg_du":44.848011,"cg_dv":50.1299629,"cg_dw":55.151989,"cg_id_a":-11.0554008,"cg_id_raw_a":-12.7907972,"cg_iq_a":-198.270538,"cg_iq_raw_a":-198.194321,"cg_iu_a":-144.682846,"cg_iv_a":-45.0181732,"cg_iw_a":189.701019,"cg_sample_age_us":23.5618191,"cg_sample_seq":9555266,"cg_sample_valid":1,"cg_theta_rad":0.57624203,"cg_vd_req_v":-1.75891066,"cg_vd_v":-1.75891066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4290247,"cg_vq_v":-8.4290247,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1638.050823,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1638.050828,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1638.050833,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1638.24939,"values":{"Elec_RPM":-2356.37988,"EncoderCos":54052,"EncoderSin":34054,"GapTicks":50088,"Mech_RPM":-471.27597,"cg_du":54.4645538,"cg_dv":54.4126511,"cg_dw":45.5354462,"cg_id_a":7.96121502,"cg_id_raw_a":9.59911919,"cg_iq_a":-204.345688,"cg_iq_raw_a":-203.423874,"cg_iu_a":18.8493271,"cg_iv_a":165.522247,"cg_iw_a":-184.371582,"cg_sample_age_us":23.4818172,"cg_sample_seq":9557067,"cg_sample_valid":1,"cg_theta_rad":0.069884412,"cg_vd_req_v":-2.13050938,"cg_vd_v":-2.13050938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29480457,"cg_vq_v":-8.29480457,"cg_vu_v":126.249161,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2475.03955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1638.772827,"values":{"Elec_RPM":-2353.57544,"EncoderCos":12861,"EncoderSin":24225,"GapTicks":49343,"Mech_RPM":-470.715088,"cg_du":55.1420097,"cg_dv":44.8579903,"cg_dw":48.6896591,"cg_id_a":0.2965132,"cg_id_raw_a":-5.80837631,"cg_iq_a":-196.594727,"cg_iq_raw_a":-197.208908,"cg_iu_a":197.930115,"cg_iv_a":-91.1203461,"cg_iw_a":-106.809769,"cg_sample_age_us":24.0781822,"cg_sample_seq":9559666,"cg_sample_valid":1,"cg_theta_rad":3.55352712,"cg_vd_req_v":-1.94196653,"cg_vd_v":-1.94196653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46562099,"cg_vq_v":-8.46562099,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1638.914985,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1638.914996,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1638.915,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1639.043209,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1639.043216,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1639.043221,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1639.198608,"values":{"Elec_RPM":-2351.26929,"EncoderCos":28017,"EncoderSin":11673,"GapTicks":49721,"Mech_RPM":-470.253876,"cg_du":47.205864,"cg_dv":45.2014694,"cg_dw":54.7985306,"cg_id_a":-3.00725412,"cg_id_raw_a":4.00228119,"cg_iq_a":-205.141144,"cg_iq_raw_a":-206.720764,"cg_iu_a":-0.468636513,"cg_iv_a":-176.692001,"cg_iw_a":177.160645,"cg_sample_age_us":23.9363632,"cg_sample_seq":9561916,"cg_sample_valid":1,"cg_theta_rad":4.50397635,"cg_vd_req_v":-1.83796358,"cg_vd_v":-1.83796358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25796223,"cg_vq_v":-8.25796223,"cg_vu_v":40.4701157,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2379.66211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1639.526733,"values":{"Elec_RPM":-2349.06421,"EncoderCos":40101,"EncoderSin":12421,"GapTicks":49814,"Mech_RPM":-469.812836,"cg_du":54.7143898,"cg_dv":53.4719925,"cg_dw":45.2856102,"cg_id_a":9.54592037,"cg_id_raw_a":7.54160452,"cg_iq_a":-205.764206,"cg_iq_raw_a":-206.599625,"cg_iu_a":37.5873871,"cg_iv_a":157.113693,"cg_iw_a":-194.70108,"cg_sample_age_us":23.9618187,"cg_sample_seq":9563616,"cg_sample_valid":1,"cg_theta_rad":5.07549191,"cg_vd_req_v":-2.14649296,"cg_vd_v":-2.14649296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2606554,"cg_vq_v":-8.2606554,"cg_vu_v":25.0738773,"cg_vv_v":9.67763615,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2480.28491,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1639.882202,"values":{"Elec_RPM":-2347.63477,"EncoderCos":50009,"EncoderSin":20064,"GapTicks":49381,"Mech_RPM":-469.526978,"cg_du":44.8918457,"cg_dv":48.1486206,"cg_dw":55.1081543,"cg_id_a":9.69597721,"cg_id_raw_a":2.40902495,"cg_iq_a":-197.306213,"cg_iq_raw_a":-195.920303,"cg_iu_a":-70.74543,"cg_iv_a":-127.400414,"cg_iw_a":198.145844,"cg_sample_age_us":23.9472733,"cg_sample_seq":9565316,"cg_sample_valid":1,"cg_theta_rad":5.66477919,"cg_vd_req_v":-2.21945906,"cg_vd_v":-2.21945906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43417168,"cg_vq_v":-8.43417168,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1640.035186,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1640.035193,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1640.035198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1640.214233,"values":{"Elec_RPM":-2345.64307,"EncoderCos":54047,"EncoderSin":31574,"GapTicks":49344,"Mech_RPM":-469.128632,"cg_du":55.1415977,"cg_dv":49.9329796,"cg_dw":44.8584023,"cg_id_a":-11.9684839,"cg_id_raw_a":-14.1121616,"cg_iq_a":-196.303146,"cg_iq_raw_a":-195.511444,"cg_iu_a":134.249695,"cg_iv_a":59.4002991,"cg_iw_a":-193.649994,"cg_sample_age_us":24.0890903,"cg_sample_seq":9567016,"cg_sample_valid":1,"cg_theta_rad":6.2389226,"cg_vd_req_v":-1.72573864,"cg_vd_v":-1.72573864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41746902,"cg_vq_v":-8.41746902,"cg_vu_v":43.549366,"cg_vv_v":46.1887207,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.1702461,"dclink_p_w":-2333.12012,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1640.546265,"values":{"Elec_RPM":-2340.53735,"EncoderCos":51325,"EncoderSin":43506,"GapTicks":49617,"Mech_RPM":-468.107452,"cg_du":45.1070442,"cg_dv":52.5993004,"cg_dw":54.8929558,"cg_id_a":-3.44343686,"cg_id_raw_a":4.32539845,"cg_iq_a":-202.368927,"cg_iq_raw_a":-205.467575,"cg_iu_a":-170.089783,"cg_iv_a":-10.0791168,"cg_iw_a":180.1689,"cg_sample_age_us":23.5581818,"cg_sample_seq":9568716,"cg_sample_valid":1,"cg_theta_rad":0.532670557,"cg_vd_req_v":-1.88875067,"cg_vd_v":-1.88875067,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34158897,"cg_vq_v":-8.34158897,"cg_vu_v":9.23774433,"cg_vv_v":14.0765619,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2474.83765,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1640.897827,"values":{"Elec_RPM":-2345.81421,"EncoderCos":42381,"EncoderSin":51942,"GapTicks":49892,"Mech_RPM":-469.162842,"cg_du":54.6429253,"cg_dv":45.3570747,"cg_dw":46.0998878,"cg_id_a":16.2089863,"cg_id_raw_a":20.2532101,"cg_iq_a":-204.412933,"cg_iq_raw_a":-204.719101,"cg_iu_a":188.108032,"cg_iv_a":-32.8402405,"cg_iw_a":-158.348511,"cg_sample_age_us":24.0090904,"cg_sample_seq":9570416,"cg_sample_valid":1,"cg_theta_rad":1.10539269,"cg_vd_req_v":-2.24426508,"cg_vd_v":-2.24426508,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3261385,"cg_vq_v":-8.3261385,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2509.39526,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1641.058994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1641.058999,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1641.059004,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1641.229858,"values":{"Elec_RPM":-2349.15845,"EncoderCos":30201,"EncoderSin":54134,"GapTicks":49494,"Mech_RPM":-469.831696,"cg_du":44.995079,"cg_dv":55.004921,"cg_dw":52.2224083,"cg_id_a":6.16783953,"cg_id_raw_a":2.74672818,"cg_iq_a":-197.348343,"cg_iq_raw_a":-197.668228,"cg_iu_a":-195.967865,"cg_iv_a":84.3723145,"cg_iw_a":111.74054,"cg_sample_age_us":23.7763634,"cg_sample_seq":9572116,"cg_sample_valid":1,"cg_theta_rad":1.68656099,"cg_vd_req_v":-2.01864314,"cg_vd_v":-2.01864314,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4220953,"cg_vq_v":-8.4220953,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.2137394,"dclink_p_w":-2346.52783,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1641.585327,"values":{"Elec_RPM":-2355.99609,"EncoderCos":19584,"EncoderSin":49948,"GapTicks":49421,"Mech_RPM":-471.199219,"cg_du":55.0717659,"cg_dv":44.9282341,"cg_dw":51.4564247,"cg_id_a":-15.5782909,"cg_id_raw_a":-13.2060518,"cg_iq_a":-197.87796,"cg_iq_raw_a":-198.880127,"cg_iu_a":194.196991,"cg_iv_a":-126.965477,"cg_iw_a":-67.231514,"cg_sample_age_us":24.0309086,"cg_sample_seq":9573819,"cg_sample_valid":1,"cg_theta_rad":2.26934958,"cg_vd_req_v":-1.58395672,"cg_vd_v":-1.58395672,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4174633,"cg_vq_v":-8.4174633,"cg_vu_v":142.965088,"cg_vv_v":128.008743,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2413.39185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1641.913452,"values":{"Elec_RPM":-2355.74023,"EncoderCos":12178,"EncoderSin":39482,"GapTicks":49617,"Mech_RPM":-471.148071,"cg_du":45.1071053,"cg_dv":54.8928947,"cg_dw":47.1922951,"cg_id_a":-1.76840472,"cg_id_raw_a":4.19643354,"cg_iq_a":-201.597519,"cg_iq_raw_a":-203.426407,"cg_iu_a":-173.098022,"cg_iv_a":172.95224,"cg_iw_a":0.145774841,"cg_sample_age_us":25.0599995,"cg_sample_seq":9575517,"cg_sample_valid":1,"cg_theta_rad":2.82730603,"cg_vd_req_v":-1.81352615,"cg_vd_v":-1.81352615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39389992,"cg_vq_v":-8.39389992,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1642.051175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1642.051181,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1642.051187,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1642.24939,"values":{"Elec_RPM":-2355.89575,"EncoderCos":11843,"EncoderSin":27273,"GapTicks":49773,"Mech_RPM":-471.179169,"cg_du":53.5981026,"cg_dv":45.2486305,"cg_dw":54.7513695,"cg_id_a":16.4471397,"cg_id_raw_a":13.7691154,"cg_iq_a":-199.885376,"cg_iq_raw_a":-199.701035,"cg_iu_a":158.496826,"cg_iv_a":-186.514099,"cg_iw_a":28.0172806,"cg_sample_age_us":23.7036362,"cg_sample_seq":9577217,"cg_sample_valid":1,"cg_theta_rad":3.40240955,"cg_vd_req_v":-2.21933889,"cg_vd_v":-2.21933889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37692165,"cg_vq_v":-8.37692165,"cg_vu_v":143.844864,"cg_vv_v":126.689056,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2411.57031,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1642.600952,"values":{"Elec_RPM":-2349.76294,"EncoderCos":18289,"EncoderSin":16459,"GapTicks":49548,"Mech_RPM":-469.952576,"cg_du":47.7957458,"cg_dv":54.9562721,"cg_dw":45.0437279,"cg_id_a":5.27407169,"cg_id_raw_a":0.456944346,"cg_iq_a":-202.374893,"cg_iq_raw_a":-201.103394,"cg_iu_a":-118.152367,"cg_iv_a":201.51239,"cg_iw_a":-83.3600235,"cg_sample_age_us":23.9909096,"cg_sample_seq":9578916,"cg_sample_valid":1,"cg_theta_rad":3.9871223,"cg_vd_req_v":-2.03043127,"cg_vd_v":-2.03043127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3067379,"cg_vq_v":-8.3067379,"cg_vu_v":105.574219,"cg_vv_v":105.134323,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2417.05273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3039551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1642.932983,"values":{"Elec_RPM":-2351.229,"EncoderCos":29400,"EncoderSin":11434,"GapTicks":49296,"Mech_RPM":-470.245789,"cg_du":50.1179314,"cg_dv":44.8153114,"cg_dw":55.1846886,"cg_id_a":-7.92511368,"cg_id_raw_a":-10.597805,"cg_iq_a":-197.471909,"cg_iq_raw_a":-197.715912,"cg_iu_a":68.8658142,"cg_iv_a":-195.538803,"cg_iw_a":126.672989,"cg_sample_age_us":23.7290916,"cg_sample_seq":9580616,"cg_sample_valid":1,"cg_theta_rad":4.57163668,"cg_vd_req_v":-1.79239464,"cg_vd_v":-1.79239464,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45074177,"cg_vq_v":-8.45074177,"cg_vu_v":143.404984,"cg_vv_v":140.765625,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2480.85181,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1643.043097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1643.043102,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1643.043124,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1643.265015,"values":{"Elec_RPM":-2351.81128,"EncoderCos":41315,"EncoderSin":12917,"GapTicks":49597,"Mech_RPM":-470.362244,"cg_du":52.628746,"cg_dv":54.9112129,"cg_dw":45.0887871,"cg_id_a":-5.65014505,"cg_id_raw_a":1.02425277,"cg_iq_a":-198.166229,"cg_iq_raw_a":-198.991653,"cg_iu_a":-0.323661089,"cg_iv_a":170.342682,"cg_iw_a":-170.019028,"cg_sample_age_us":23.9509087,"cg_sample_seq":9582317,"cg_sample_valid":1,"cg_theta_rad":5.13721323,"cg_vd_req_v":-1.82183838,"cg_vd_v":-1.82183838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42157078,"cg_vq_v":-8.42157078,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2445.7334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1643.616577,"values":{"Elec_RPM":-2352.62549,"EncoderCos":42294,"EncoderSin":13387,"GapTicks":49364,"Mech_RPM":-470.525116,"cg_du":50.1553726,"cg_dv":55.122757,"cg_dw":44.877243,"cg_id_a":-19.9060345,"cg_id_raw_a":-18.3071461,"cg_iq_a":-196.839417,"cg_iq_raw_a":-196.744568,"cg_iu_a":-33.9216957,"cg_iv_a":185.347626,"cg_iw_a":-151.425934,"cg_sample_age_us":23.8672733,"cg_sample_seq":9584066,"cg_sample_valid":1,"cg_theta_rad":5.1788516,"cg_vd_req_v":-1.55701292,"cg_vd_v":-1.55701292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41937637,"cg_vq_v":-8.41937637,"cg_vu_v":14.5164547,"cg_vv_v":16.2760258,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2717304,"dclink_p_w":-2354.92065,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1643.948608,"values":{"Elec_RPM":-2354.22876,"EncoderCos":50954,"EncoderSin":44022,"GapTicks":49384,"Mech_RPM":-470.845764,"cg_du":44.8949013,"cg_dv":51.239975,"cg_dw":55.1050987,"cg_id_a":-8.20657921,"cg_id_raw_a":-5.09582281,"cg_iq_a":-199.225922,"cg_iq_raw_a":-201.02446,"cg_iu_a":-152.982697,"cg_iv_a":-33.710083,"cg_iw_a":186.69278,"cg_sample_age_us":23.5327282,"cg_sample_seq":9585666,"cg_sample_valid":1,"cg_theta_rad":0.562084496,"cg_vd_req_v":-1.79870796,"cg_vd_v":-1.79870796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42492104,"cg_vq_v":-8.42492104,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2503.10229,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1644.034785,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1644.034792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1644.034797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1644.284546,"values":{"Elec_RPM":-2352.50342,"EncoderCos":50475,"EncoderSin":44792,"GapTicks":49309,"Mech_RPM":-470.500671,"cg_du":44.8268204,"cg_dv":49.387104,"cg_dw":55.1731796,"cg_id_a":-7.17568779,"cg_id_raw_a":-9.36957932,"cg_iq_a":-196.732361,"cg_iq_raw_a":-197.857529,"cg_iu_a":-116.376419,"cg_iv_a":-80.7908325,"cg_iw_a":197.167252,"cg_sample_age_us":23.51091,"cg_sample_seq":9587416,"cg_sample_valid":1,"cg_theta_rad":0.603654683,"cg_vd_req_v":-1.82855844,"cg_vd_v":-1.82855844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47015572,"cg_vq_v":-8.47015572,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6323547,"dclink_p_w":-2407.11182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1644.636108,"values":{"Elec_RPM":-2351.03491,"EncoderCos":40969,"EncoderSin":52614,"GapTicks":49392,"Mech_RPM":-470.207001,"cg_du":55.0978203,"cg_dv":48.5352478,"cg_dw":44.9021797,"cg_id_a":-11.2010365,"cg_id_raw_a":-10.3116627,"cg_iq_a":-194.852051,"cg_iq_raw_a":-196.758789,"cg_iu_a":156.068481,"cg_iv_a":24.2800293,"cg_iw_a":-180.348511,"cg_sample_age_us":23.9727268,"cg_sample_seq":9589116,"cg_sample_valid":1,"cg_theta_rad":1.17956901,"cg_vd_req_v":-1.66752303,"cg_vd_v":-1.66752303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47305298,"cg_vq_v":-8.47305298,"cg_vu_v":15.836132,"cg_vv_v":17.1558094,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2475.62231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1644.96814,"values":{"Elec_RPM":-2353.13477,"EncoderCos":28919,"EncoderSin":53976,"GapTicks":50053,"Mech_RPM":-470.626953,"cg_du":45.5032616,"cg_dv":54.3515854,"cg_dw":54.4967384,"cg_id_a":12.2370577,"cg_id_raw_a":14.7783909,"cg_iq_a":-201.948624,"cg_iq_raw_a":-202.383942,"cg_iu_a":-183.971161,"cg_iv_a":21.1630554,"cg_iw_a":162.808105,"cg_sample_age_us":23.7618179,"cg_sample_seq":9590816,"cg_sample_valid":1,"cg_theta_rad":1.74244654,"cg_vd_req_v":-2.11416554,"cg_vd_v":-2.11416554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34435463,"cg_vq_v":-8.34435463,"cg_vu_v":16.7159176,"cg_vv_v":22.8744144,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2460.19531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1645.027295,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1645.027301,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1645.027306,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1645.319702,"values":{"Elec_RPM":-2352.01416,"EncoderCos":18680,"EncoderSin":49146,"GapTicks":49330,"Mech_RPM":-470.402832,"cg_du":55.1538277,"cg_dv":44.8461723,"cg_dw":49.1235733,"cg_id_a":-10.1838512,"cg_id_raw_a":-15.1056099,"cg_iq_a":-197.162964,"cg_iq_raw_a":-197.302811,"cg_iu_a":197.567673,"cg_iv_a":-69.1565704,"cg_iw_a":-128.411102,"cg_sample_age_us":25.2236366,"cg_sample_seq":9592520,"cg_sample_valid":1,"cg_theta_rad":2.31673431,"cg_vd_req_v":-1.74622488,"cg_vd_v":-1.74622488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47615147,"cg_vq_v":-8.47615147,"cg_vu_v":140.765625,"cg_vv_v":109.093361,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1645.651733,"values":{"Elec_RPM":-2354.64307,"EncoderCos":11670,"EncoderSin":37778,"GapTicks":49341,"Mech_RPM":-470.928619,"cg_du":44.8562279,"cg_dv":55.1437721,"cg_dw":50.8867416,"cg_id_a":-5.47677088,"cg_id_raw_a":-7.7314682,"cg_iq_a":-196.135834,"cg_iq_raw_a":-196.470047,"cg_iu_a":-193.140854,"cg_iv_a":123.189453,"cg_iw_a":69.9514008,"cg_sample_age_us":23.9036369,"cg_sample_seq":9594216,"cg_sample_valid":1,"cg_theta_rad":2.90216494,"cg_vd_req_v":-1.76260877,"cg_vd_v":-1.76260877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45668316,"cg_vq_v":-8.45668316,"cg_vu_v":1.31967759,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2501.50781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1645.983765,"values":{"Elec_RPM":-2359.17847,"EncoderCos":12250,"EncoderSin":25872,"GapTicks":49503,"Mech_RPM":-471.835693,"cg_du":54.9970779,"cg_dv":45.0029221,"cg_dw":52.0534744,"cg_id_a":-10.1371346,"cg_id_raw_a":-4.56955719,"cg_iq_a":-198.636749,"cg_iq_raw_a":-200.266068,"cg_iu_a":174.842789,"cg_iv_a":-167.558563,"cg_iw_a":-7.28421783,"cg_sample_age_us":24.0418186,"cg_sample_seq":9595917,"cg_sample_valid":1,"cg_theta_rad":3.47216797,"cg_vd_req_v":-1.66681159,"cg_vd_v":-1.66681159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39260483,"cg_vq_v":-8.39260483,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1646.018994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1646.019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1646.019006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1646.339233,"values":{"Elec_RPM":-2356.65845,"EncoderCos":19164,"EncoderSin":15804,"GapTicks":50041,"Mech_RPM":-471.331696,"cg_du":45.8369331,"cg_dv":54.5073547,"cg_dw":45.4926453,"cg_id_a":12.2946043,"cg_id_raw_a":14.2029467,"cg_iq_a":-207.075272,"cg_iq_raw_a":-207.515076,"cg_iu_a":-167.37149,"cg_iv_a":187.051102,"cg_iw_a":-19.6796112,"cg_sample_age_us":24.0272732,"cg_sample_seq":9597617,"cg_sample_valid":1,"cg_theta_rad":4.0462966,"cg_vd_req_v":-2.14280009,"cg_vd_v":-2.14280009,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26311684,"cg_vq_v":-8.26311684,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2504.15137,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1646.671265,"values":{"Elec_RPM":-2351.10596,"EncoderCos":30931,"EncoderSin":11245,"GapTicks":49581,"Mech_RPM":-470.221191,"cg_du":52.8179932,"cg_dv":45.0737801,"cg_dw":54.9262199,"cg_id_a":15.9514427,"cg_id_raw_a":12.1465635,"cg_iq_a":-198.929779,"cg_iq_raw_a":-197.949966,"cg_iu_a":137.22168,"cg_iv_a":-193.944061,"cg_iw_a":56.7223892,"cg_sample_age_us":23.59091,"cg_sample_seq":9599316,"cg_sample_valid":1,"cg_theta_rad":4.63342857,"cg_vd_req_v":-2.26455593,"cg_vd_v":-2.26455593,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39606762,"cg_vq_v":-8.39606762,"cg_vu_v":106.014107,"cg_vv_v":84.8992691,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1647.003296,"values":{"Elec_RPM":-2348.40771,"EncoderCos":42852,"EncoderSin":13701,"GapTicks":49429,"Mech_RPM":-469.681519,"cg_du":49.0344734,"cg_dv":55.0643959,"cg_dw":44.9356041,"cg_id_a":-13.1540098,"cg_id_raw_a":-18.5854416,"cg_iq_a":-200.159363,"cg_iq_raw_a":-200.117325,"cg_iu_a":-67.7734375,"cg_iv_a":197.090637,"cg_iw_a":-129.3172,"cg_sample_age_us":23.8709087,"cg_sample_seq":9601016,"cg_sample_valid":1,"cg_theta_rad":5.20828438,"cg_vd_req_v":-1.72843385,"cg_vd_v":-1.72843385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3371315,"cg_vq_v":-8.3371315,"cg_vu_v":21.1148415,"cg_vv_v":23.7541981,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1647.042514,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1647.04252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1647.042525,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1647.354858,"values":{"Elec_RPM":-2347.94287,"EncoderCos":51551,"EncoderSin":22455,"GapTicks":49364,"Mech_RPM":-469.588562,"cg_du":48.8216209,"cg_dv":44.8767509,"cg_dw":55.1232491,"cg_id_a":-10.3298521,"cg_id_raw_a":-11.3957062,"cg_iq_a":-198.669006,"cg_iq_raw_a":-200.490219,"cg_iu_a":34.5791512,"cg_iv_a":-186.441605,"cg_iw_a":151.862457,"cg_sample_age_us":23.8709087,"cg_sample_seq":9602716,"cg_sample_valid":1,"cg_theta_rad":5.79688263,"cg_vd_req_v":-1.78959322,"cg_vd_v":-1.78959322,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42253113,"cg_vq_v":-8.42253113,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2682495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1647.68689,"values":{"Elec_RPM":-2349.43921,"EncoderCos":53998,"EncoderSin":34376,"GapTicks":49887,"Mech_RPM":-469.887848,"cg_du":53.8158836,"cg_dv":54.6474457,"cg_dw":45.3525543,"cg_id_a":5.14929628,"cg_id_raw_a":8.32587242,"cg_iq_a":-201.46756,"cg_iq_raw_a":-203.22673,"cg_iu_a":8.04866409,"cg_iv_a":166.573334,"cg_iw_a":-181.254623,"cg_sample_age_us":23.5254555,"cg_sample_seq":9604416,"cg_sample_valid":1,"cg_theta_rad":0.0857340172,"cg_vd_req_v":-2.05855322,"cg_vd_v":-2.05855322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37171936,"cg_vq_v":-8.37171936,"cg_vu_v":38.2706528,"cg_vv_v":49.2679672,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.1252708,"dclink_p_w":-2478.44897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1648.018921,"values":{"Elec_RPM":-2351.34424,"EncoderCos":40686,"EncoderSin":52720,"GapTicks":49353,"Mech_RPM":-470.268829,"cg_du":55.1329079,"cg_dv":49.1872368,"cg_dw":44.8670921,"cg_id_a":-13.7306967,"cg_id_raw_a":-13.9727755,"cg_iq_a":-196.515991,"cg_iq_raw_a":-195.265503,"cg_iu_a":149.508347,"cg_iv_a":34.573288,"cg_iw_a":-184.081635,"cg_sample_age_us":23.9290905,"cg_sample_seq":9606067,"cg_sample_valid":1,"cg_theta_rad":1.19402385,"cg_vd_req_v":-1.63123751,"cg_vd_v":-1.63123751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43102169,"cg_vq_v":-8.43102169,"cg_vu_v":106.014107,"cg_vv_v":98.5359344,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3554192,"dclink_p_w":-2504.12256,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1648.03538,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1648.035386,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1648.035391,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1648.515015,"values":{"Elec_RPM":-2353.61743,"EncoderCos":51102,"EncoderSin":43710,"GapTicks":49509,"Mech_RPM":-470.72348,"cg_du":45.0083313,"cg_dv":51.9539757,"cg_dw":54.9916687,"cg_id_a":-6.61002541,"cg_id_raw_a":-3.61821556,"cg_iq_a":-200.287857,"cg_iq_raw_a":-201.728195,"cg_iu_a":-166.392914,"cg_iv_a":-11.1664276,"cg_iw_a":177.559341,"cg_sample_age_us":23.4381809,"cg_sample_seq":9608466,"cg_sample_valid":1,"cg_theta_rad":0.535821736,"cg_vd_req_v":-1.81433916,"cg_vd_v":-1.81433916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35746861,"cg_vq_v":-8.35746861,"cg_vu_v":101.175293,"cg_vv_v":101.615181,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2529.85376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1648.93074,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1648.93075,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1648.930754,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1649.015015,"values":{"Elec_RPM":-2349.00122,"EncoderCos":49554,"EncoderSin":19415,"GapTicks":49333,"Mech_RPM":-469.800262,"cg_du":44.8486328,"cg_dv":49.4437408,"cg_dw":55.1513672,"cg_id_a":-7.68947458,"cg_id_raw_a":-11.4859552,"cg_iq_a":-195.998932,"cg_iq_raw_a":-196.837021,"cg_iu_a":-117.934898,"cg_iv_a":-78.8336868,"cg_iw_a":196.768585,"cg_sample_age_us":23.9218178,"cg_sample_seq":9610916,"cg_sample_valid":1,"cg_theta_rad":5.62781525,"cg_vd_req_v":-1.86494923,"cg_vd_v":-1.86494923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44817352,"cg_vq_v":-8.44817352,"cg_vu_v":9.67763615,"cg_vv_v":0.87978512,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1649.058493,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1649.0585,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1649.058505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1649.366577,"values":{"Elec_RPM":-2343.90503,"EncoderCos":29761,"EncoderSin":11435,"GapTicks":49321,"Mech_RPM":-468.781006,"cg_du":50.7979279,"cg_dv":44.8379326,"cg_dw":55.1620674,"cg_id_a":-4.26255178,"cg_id_raw_a":-7.00693464,"cg_iq_a":-195.266541,"cg_iq_raw_a":-195.061951,"cg_iu_a":87.2052002,"cg_iv_a":-195.430084,"cg_iw_a":108.224884,"cg_sample_age_us":23.7763634,"cg_sample_seq":9612766,"cg_sample_valid":1,"cg_theta_rad":4.58733845,"cg_vd_req_v":-1.86873865,"cg_vd_v":-1.86873865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4837513,"cg_vq_v":-8.4837513,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2549.52368,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2599,"hz_tim_isr":4997,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1649.698608,"values":{"Elec_RPM":-2350.44043,"EncoderCos":50519,"EncoderSin":20807,"GapTicks":49768,"Mech_RPM":-470.088074,"cg_du":45.2438011,"cg_dv":46.5821991,"cg_dw":54.7561989,"cg_id_a":18.4923267,"cg_id_raw_a":19.532999,"cg_iq_a":-205.453949,"cg_iq_raw_a":-203.482513,"cg_iu_a":-30.4785309,"cg_iv_a":-164.079163,"cg_iw_a":194.557693,"cg_sample_age_us":23.9181824,"cg_sample_seq":9614416,"cg_sample_valid":1,"cg_theta_rad":5.70679235,"cg_vd_req_v":-2.36844969,"cg_vd_v":-2.36844969,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24560261,"cg_vq_v":-8.24560261,"cg_vu_v":39.1504402,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2431.95654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2599,"hz_tim_isr":4997,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1650.03064,"values":{"Elec_RPM":-2350.8999,"EncoderCos":54072,"EncoderSin":32407,"GapTicks":49449,"Mech_RPM":-470.179962,"cg_du":55.0459251,"cg_dv":51.3807869,"cg_dw":44.9540749,"cg_id_a":-1.43579602,"cg_id_raw_a":-3.29181552,"cg_iq_a":-203.963547,"cg_iq_raw_a":-203.447021,"cg_iu_a":98.1870804,"cg_iv_a":108.075768,"cg_iw_a":-202.819702,"cg_sample_age_us":24.0272732,"cg_sample_seq":9616116,"cg_sample_valid":1,"cg_theta_rad":6.27672243,"cg_vd_req_v":-1.95758986,"cg_vd_v":-1.95758986,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30954647,"cg_vq_v":-8.30954647,"cg_vu_v":32.9919434,"cg_vv_v":23.7541981,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3895226,"dclink_p_w":-2371.96802,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2599,"hz_tim_isr":4997,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1650.051388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1650.051395,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1650.0514,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1650.386108,"values":{"Elec_RPM":-2350.1145,"EncoderCos":50768,"EncoderSin":44380,"GapTicks":49360,"Mech_RPM":-470.022919,"cg_du":44.8728104,"cg_dv":50.3506355,"cg_dw":55.1271896,"cg_id_a":-11.1481171,"cg_id_raw_a":-9.63703442,"cg_iq_a":-198.049774,"cg_iq_raw_a":-200.60141,"cg_iu_a":-140.587296,"cg_iv_a":-51.5420685,"cg_iw_a":187.16394,"cg_sample_age_us":23.5290909,"cg_sample_seq":9617816,"cg_sample_valid":1,"cg_theta_rad":0.578483045,"cg_vd_req_v":-1.73890972,"cg_vd_v":-1.73890972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42335701,"cg_vq_v":-8.42335701,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1650.71814,"values":{"Elec_RPM":-2352.70386,"EncoderCos":50294,"EncoderSin":45096,"GapTicks":49354,"Mech_RPM":-470.540771,"cg_du":44.8676605,"cg_dv":48.8025703,"cg_dw":55.1323395,"cg_id_a":-0.491532981,"cg_id_raw_a":-5.30016899,"cg_iq_a":-195.953842,"cg_iq_raw_a":-198.018494,"cg_iu_a":-95.2825012,"cg_iv_a":-101.30484,"cg_iw_a":196.587341,"cg_sample_age_us":23.51091,"cg_sample_seq":9619566,"cg_sample_valid":1,"cg_theta_rad":0.619796872,"cg_vd_req_v":-1.96758282,"cg_vd_v":-1.96758282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45467472,"cg_vq_v":-8.45467472,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2389.85938,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3021851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1651.043054,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1651.043059,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1651.043065,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1651.046265,"values":{"Elec_RPM":-2356.15332,"EncoderCos":29432,"EncoderSin":54075,"GapTicks":49763,"Mech_RPM":-471.230652,"cg_du":45.2392006,"cg_dv":54.7607994,"cg_dw":53.6247711,"cg_id_a":13.1729164,"cg_id_raw_a":13.7743788,"cg_iq_a":-199.811859,"cg_iq_raw_a":-201.052185,"cg_iu_a":-188.392914,"cg_iv_a":29.9703217,"cg_iw_a":158.422592,"cg_sample_age_us":23.863636,"cg_sample_seq":9621216,"cg_sample_valid":1,"cg_theta_rad":1.72570693,"cg_vd_req_v":-2.14753699,"cg_vd_v":-2.14753699,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39391327,"cg_vq_v":-8.39391327,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1651.401733,"values":{"Elec_RPM":-2362.00854,"EncoderCos":12112,"EncoderSin":39293,"GapTicks":49565,"Mech_RPM":-472.401703,"cg_du":45.0597343,"cg_dv":54.9402657,"cg_dw":47.6429367,"cg_id_a":-3.16009331,"cg_id_raw_a":-0.389108151,"cg_iq_a":-200.46402,"cg_iq_raw_a":-201.910706,"cg_iu_a":-175.562592,"cg_iv_a":167.769379,"cg_iw_a":3.04527283,"cg_sample_age_us":23.9654541,"cg_sample_seq":9622867,"cg_sample_valid":1,"cg_theta_rad":2.83293438,"cg_vd_req_v":-1.76694047,"cg_vd_v":-1.76694047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37907887,"cg_vq_v":-8.37907887,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2449.07495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1651.733765,"values":{"Elec_RPM":-2368.62036,"EncoderCos":17824,"EncoderSin":48344,"GapTicks":49604,"Mech_RPM":-473.724091,"cg_du":54.9052811,"cg_dv":45.0947189,"cg_dw":47.253273,"cg_id_a":15.3133602,"cg_id_raw_a":11.7127571,"cg_iq_a":-201.255981,"cg_iq_raw_a":-199.033478,"cg_iu_a":194.523193,"cg_iv_a":-48.6425781,"cg_iw_a":-145.880615,"cg_sample_age_us":24.0200005,"cg_sample_seq":9624667,"cg_sample_valid":1,"cg_theta_rad":2.3360498,"cg_vd_req_v":-2.22374821,"cg_vd_v":-2.22374821,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35028648,"cg_vq_v":-8.35028648,"cg_vu_v":106.014107,"cg_vv_v":83.5795898,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2406.84961,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1652.065796,"values":{"Elec_RPM":-2366.08472,"EncoderCos":18040,"EncoderSin":16659,"GapTicks":49457,"Mech_RPM":-473.216949,"cg_du":48.305584,"cg_dv":55.039032,"cg_dw":44.960968,"cg_id_a":-0.55068934,"cg_id_raw_a":-2.89372945,"cg_iq_a":-201.54599,"cg_iq_raw_a":-200.850418,"cg_iu_a":-115.615295,"cg_iv_a":202.490967,"cg_iw_a":-86.875679,"cg_sample_age_us":23.8709087,"cg_sample_seq":9626267,"cg_sample_valid":1,"cg_theta_rad":3.98378134,"cg_vd_req_v":-1.91458046,"cg_vd_v":-1.91458046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36174488,"cg_vq_v":-8.36174488,"cg_vu_v":100.735397,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1652.06727,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1652.067276,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1652.067282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1652.421265,"values":{"Elec_RPM":-2362.28857,"EncoderCos":12401,"EncoderSin":25379,"GapTicks":49374,"Mech_RPM":-472.457733,"cg_du":55.1144104,"cg_dv":44.8855896,"cg_dw":50.8598099,"cg_id_a":-17.9574738,"cg_id_raw_a":-15.5775928,"cg_iq_a":-197.574936,"cg_iq_raw_a":-198.042755,"cg_iu_a":183.650024,"cg_iv_a":-155.634338,"cg_iw_a":-28.0156784,"cg_sample_age_us":24.0709095,"cg_sample_seq":9628066,"cg_sample_valid":1,"cg_theta_rad":3.49639249,"cg_vd_req_v":-1.53257847,"cg_vd_v":-1.53257847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44916916,"cg_vq_v":-8.44916916,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1652.74939,"values":{"Elec_RPM":-2359.79688,"EncoderCos":41582,"EncoderSin":13032,"GapTicks":49493,"Mech_RPM":-471.959381,"cg_du":51.8628273,"cg_dv":55.0061874,"cg_dw":44.9938126,"cg_id_a":-15.1789608,"cg_id_raw_a":-7.14045715,"cg_iq_a":-197.957458,"cg_iq_raw_a":-200.886932,"cg_iu_a":-1.41097593,"cg_iv_a":171.683716,"cg_iw_a":-170.272736,"cg_sample_age_us":23.8454552,"cg_sample_seq":9629666,"cg_sample_valid":1,"cg_theta_rad":5.14189768,"cg_vd_req_v":-1.6341393,"cg_vd_v":-1.6341393,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39941978,"cg_vq_v":-8.39941978,"cg_vu_v":12.3169918,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3152218,"dclink_p_w":-2354.03784,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1653.027093,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1653.027099,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1653.027105,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1653.104858,"values":{"Elec_RPM":-2357.52466,"EncoderCos":31264,"EncoderSin":11218,"GapTicks":49754,"Mech_RPM":-471.504944,"cg_du":53.4314423,"cg_dv":45.2317047,"cg_dw":54.7682953,"cg_id_a":17.4110527,"cg_id_raw_a":16.1357861,"cg_iq_a":-200.975616,"cg_iq_raw_a":-199.929504,"cg_iu_a":151.139313,"cg_iv_a":-191.805695,"cg_iw_a":40.6663742,"cg_sample_age_us":23.5945454,"cg_sample_seq":9631466,"cg_sample_valid":1,"cg_theta_rad":4.64925241,"cg_vd_req_v":-2.26984286,"cg_vd_v":-2.26984286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32499313,"cg_vq_v":-8.32499313,"cg_vu_v":12.3169918,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1653.43689,"values":{"Elec_RPM":-2352.22607,"EncoderCos":54096,"EncoderSin":32795,"GapTicks":49485,"Mech_RPM":-470.445221,"cg_du":55.0127754,"cg_dv":52.052124,"cg_dw":44.9872246,"cg_id_a":5.61856222,"cg_id_raw_a":3.54874158,"cg_iq_a":-201.536499,"cg_iq_raw_a":-201.046463,"cg_iu_a":73.6500092,"cg_iv_a":124.856674,"cg_iw_a":-198.506683,"cg_sample_age_us":23.4963627,"cg_sample_seq":9633067,"cg_sample_valid":1,"cg_theta_rad":0.0107853403,"cg_vd_req_v":-2.09387946,"cg_vd_v":-2.09387946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34928131,"cg_vq_v":-8.34928131,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1653.768921,"values":{"Elec_RPM":-2359.73438,"EncoderCos":51590,"EncoderSin":22598,"GapTicks":49333,"Mech_RPM":-471.946899,"cg_du":49.1839752,"cg_dv":44.8483772,"cg_dw":55.1516228,"cg_id_a":-12.173296,"cg_id_raw_a":-12.1424465,"cg_iq_a":-195.555908,"cg_iq_raw_a":-197.486053,"cg_iu_a":40.4506531,"cg_iv_a":-183.868301,"cg_iw_a":143.417648,"cg_sample_age_us":23.7909088,"cg_sample_seq":9634867,"cg_sample_valid":1,"cg_theta_rad":5.80384302,"cg_vd_req_v":-1.73714745,"cg_vd_v":-1.73714745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49547863,"cg_vq_v":-8.49547863,"cg_vu_v":138.566162,"cg_vv_v":109.533249,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-17.5565739,"dclink_p_w":-2540.86914,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1654.019515,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1654.019521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1654.019527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1654.12439,"values":{"Elec_RPM":-2352.2915,"EncoderCos":41856,"EncoderSin":52218,"GapTicks":49875,"Mech_RPM":-470.458313,"cg_du":54.6587753,"cg_dv":46.157917,"cg_dw":45.3412247,"cg_id_a":8.49218464,"cg_id_raw_a":12.8733072,"cg_iq_a":-202.608353,"cg_iq_raw_a":-207.082779,"cg_iu_a":158.60556,"cg_iv_a":21.8516846,"cg_iw_a":-180.457245,"cg_sample_age_us":26.8709087,"cg_sample_seq":9636470,"cg_sample_valid":1,"cg_theta_rad":1.17840445,"cg_vd_req_v":-2.08087373,"cg_vd_v":-2.08087373,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34107113,"cg_vq_v":-8.34107113,"cg_vu_v":28.1531239,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2064915,"dclink_p_w":-2345.479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1654.452515,"values":{"Elec_RPM":-2349.04272,"EncoderCos":49504,"EncoderSin":46212,"GapTicks":49801,"Mech_RPM":-469.808563,"cg_du":45.2744331,"cg_dv":46.4933472,"cg_dw":54.7255669,"cg_id_a":18.4136009,"cg_id_raw_a":19.6553059,"cg_iq_a":-205.393616,"cg_iq_raw_a":-205.164078,"cg_iu_a":-27.1803398,"cg_iv_a":-165.782623,"cg_iw_a":192.962967,"cg_sample_age_us":23.48909,"cg_sample_seq":9638266,"cg_sample_valid":1,"cg_theta_rad":0.683114469,"cg_vd_req_v":-2.3213532,"cg_vd_v":-2.3213532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2717514,"cg_vq_v":-8.2717514,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2422.28198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1654.784546,"values":{"Elec_RPM":-2347.43726,"EncoderCos":27959,"EncoderSin":53763,"GapTicks":49512,"Mech_RPM":-469.487457,"cg_du":45.0116272,"cg_dv":52.028759,"cg_dw":54.9883728,"cg_id_a":-8.43349457,"cg_id_raw_a":-2.00483465,"cg_iq_a":-199.558167,"cg_iq_raw_a":-201.899292,"cg_iu_a":-167.045288,"cg_iv_a":-12.1450195,"cg_iw_a":179.190308,"cg_sample_age_us":23.8672733,"cg_sample_seq":9639916,"cg_sample_valid":1,"cg_theta_rad":1.79642928,"cg_vd_req_v":-1.68056369,"cg_vd_v":-1.68056369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39643955,"cg_vq_v":-8.39643955,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.1578903,"dclink_p_w":-2490.71753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1655.011818,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1655.011825,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1655.011831,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1655.140015,"values":{"Elec_RPM":-2348.82764,"EncoderCos":17416,"EncoderSin":47964,"GapTicks":49896,"Mech_RPM":-469.765503,"cg_du":54.6396103,"cg_dv":45.3603897,"cg_dw":46.2086601,"cg_id_a":15.7395363,"cg_id_raw_a":16.4066544,"cg_iq_a":-203.767853,"cg_iq_raw_a":-202.800247,"cg_iu_a":185.752182,"cg_iv_a":-26.2076263,"cg_iw_a":-159.544556,"cg_sample_age_us":24.0236359,"cg_sample_seq":9641617,"cg_sample_valid":1,"cg_theta_rad":2.36184001,"cg_vd_req_v":-2.22134733,"cg_vd_v":-2.22134733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28022861,"cg_vq_v":-8.28022861,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1655.472046,"values":{"Elec_RPM":-2353.65967,"EncoderCos":11512,"EncoderSin":37001,"GapTicks":49505,"Mech_RPM":-470.731934,"cg_du":45.0047531,"cg_dv":54.9952469,"cg_dw":52.3306885,"cg_id_a":2.24000883,"cg_id_raw_a":1.05845165,"cg_iq_a":-198.305542,"cg_iq_raw_a":-198.964233,"cg_iu_a":-197.925049,"cg_iv_a":73.0642395,"cg_iw_a":124.860809,"cg_sample_age_us":23.8309097,"cg_sample_seq":9643316,"cg_sample_valid":1,"cg_theta_rad":2.95034885,"cg_vd_req_v":-1.92969167,"cg_vd_v":-1.92969167,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42720222,"cg_vq_v":-8.42720222,"cg_vu_v":37.830761,"cg_vv_v":44.4291458,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1655.804077,"values":{"Elec_RPM":-2353.20776,"EncoderCos":19297,"EncoderSin":15667,"GapTicks":50081,"Mech_RPM":-470.641541,"cg_du":45.5281868,"cg_dv":54.4718132,"cg_dw":45.6922379,"cg_id_a":10.0040388,"cg_id_raw_a":11.2165079,"cg_iq_a":-204.998947,"cg_iq_raw_a":-205.948013,"cg_iu_a":-170.017288,"cg_iv_a":183.354218,"cg_iw_a":-13.336937,"cg_sample_age_us":24.0490913,"cg_sample_seq":9644967,"cg_sample_valid":1,"cg_theta_rad":4.05531073,"cg_vd_req_v":-2.09869742,"cg_vd_v":-2.09869742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2895031,"cg_vq_v":-8.2895031,"cg_vu_v":127.568848,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1656.034605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1656.03461,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1656.034616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1656.15564,"values":{"Elec_RPM":-2350.01733,"EncoderCos":20163,"EncoderSin":15023,"GapTicks":49464,"Mech_RPM":-470.003479,"cg_du":44.9678001,"cg_dv":55.0321999,"cg_dw":48.2079811,"cg_id_a":-11.745574,"cg_id_raw_a":-8.32700825,"cg_iq_a":-197.202408,"cg_iq_raw_a":-198.134003,"cg_iu_a":-178.969513,"cg_iv_a":161.970367,"cg_iw_a":16.9991531,"cg_sample_age_us":23.8418179,"cg_sample_seq":9646716,"cg_sample_valid":1,"cg_theta_rad":4.10677624,"cg_vd_req_v":-1.64968848,"cg_vd_v":-1.64968848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42540932,"cg_vq_v":-8.42540932,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1656.487671,"values":{"Elec_RPM":-2354.66064,"EncoderCos":42799,"EncoderSin":13679,"GapTicks":49385,"Mech_RPM":-470.932129,"cg_du":49.0830879,"cg_dv":55.1037292,"cg_dw":44.8962708,"cg_id_a":-16.1335545,"cg_id_raw_a":-20.397625,"cg_iq_a":-200.207336,"cg_iq_raw_a":-200.705338,"cg_iu_a":-75.7833252,"cg_iv_a":199.011566,"cg_iw_a":-123.228233,"cg_sample_age_us":23.9836369,"cg_sample_seq":9648366,"cg_sample_valid":1,"cg_theta_rad":5.21443081,"cg_vd_req_v":-1.67524874,"cg_vd_v":-1.67524874,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38297367,"cg_vq_v":-8.38297367,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.3297195,"dclink_p_w":-2356.12964,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1656.839233,"values":{"Elec_RPM":-2353.82813,"EncoderCos":32607,"EncoderSin":11163,"GapTicks":49566,"Mech_RPM":-470.765625,"cg_du":54.9397507,"cg_dv":45.0602493,"cg_dw":52.5234299,"cg_id_a":-4.29933643,"cg_id_raw_a":1.4867208,"cg_iq_a":-200.231262,"cg_iq_raw_a":-201.652725,"cg_iu_a":174.951508,"cg_iv_a":-169.805679,"cg_iw_a":-5.14582825,"cg_sample_age_us":24.0381813,"cg_sample_seq":9650166,"cg_sample_valid":1,"cg_theta_rad":4.72060728,"cg_vd_req_v":-1.81605649,"cg_vd_v":-1.81605649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38599873,"cg_vq_v":-8.38599873,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1657.027357,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1657.027363,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1657.027369,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1657.175171,"values":{"Elec_RPM":-2349.97778,"EncoderCos":54057,"EncoderSin":34266,"GapTicks":49984,"Mech_RPM":-469.995544,"cg_du":54.069912,"cg_dv":54.5590973,"cg_dw":45.4409027,"cg_id_a":7.49654007,"cg_id_raw_a":12.8025551,"cg_iq_a":-202.417648,"cg_iq_raw_a":-202.22847,"cg_iu_a":5.62032795,"cg_iv_a":170.342682,"cg_iw_a":-175.963013,"cg_sample_age_us":23.3945446,"cg_sample_seq":9651767,"cg_sample_valid":1,"cg_theta_rad":0.094080165,"cg_vd_req_v":-2.1026063,"cg_vd_v":-2.1026063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30938148,"cg_vq_v":-8.30938148,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.422142,"dclink_p_w":-2376.68872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1657.507202,"values":{"Elec_RPM":-2352.01855,"EncoderCos":52301,"EncoderSin":23923,"GapTicks":49427,"Mech_RPM":-470.403717,"cg_du":51.8277512,"cg_dv":44.9341507,"cg_dw":55.0658493,"cg_id_a":9.06288147,"cg_id_raw_a":5.76610088,"cg_iq_a":-199.034912,"cg_iq_raw_a":-198.040634,"cg_iu_a":123.376541,"cg_iv_a":-197.967148,"cg_iw_a":74.5906067,"cg_sample_age_us":23.6636372,"cg_sample_seq":9653567,"cg_sample_valid":1,"cg_theta_rad":5.87315845,"cg_vd_req_v":-2.17119956,"cg_vd_v":-2.17119956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37043667,"cg_vq_v":-8.37043667,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5765076,"dclink_p_w":-2543.75391,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1657.858765,"values":{"Elec_RPM":-2355.69312,"EncoderCos":40087,"EncoderSin":52886,"GapTicks":49309,"Mech_RPM":-471.138641,"cg_du":55.1731682,"cg_dv":50.3225784,"cg_dw":44.8268318,"cg_id_a":-6.81368065,"cg_id_raw_a":-7.47255135,"cg_iq_a":-196.840057,"cg_iq_raw_a":-198.371643,"cg_iu_a":111.887245,"cg_iv_a":86.2207413,"cg_iw_a":-198.107986,"cg_sample_age_us":23.863636,"cg_sample_seq":9655168,"cg_sample_valid":1,"cg_theta_rad":1.23584247,"cg_vd_req_v":-1.7820121,"cg_vd_v":-1.7820121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46513557,"cg_vq_v":-8.46513557,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1658.051209,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1658.051215,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1658.05122,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1658.237671,"values":{"Elec_RPM":-2353.6521,"EncoderCos":53680,"EncoderSin":36742,"GapTicks":49377,"Mech_RPM":-470.730408,"cg_du":48.7771759,"cg_dv":55.1112747,"cg_dw":44.8887253,"cg_id_a":-8.47723579,"cg_id_raw_a":-11.9688282,"cg_iq_a":-199.959717,"cg_iq_raw_a":-199.115631,"cg_iu_a":-94.4126587,"cg_iv_a":199.518982,"cg_iw_a":-105.106323,"cg_sample_age_us":23.5072727,"cg_sample_seq":9657017,"cg_sample_valid":1,"cg_theta_rad":0.197207764,"cg_vd_req_v":-1.84178424,"cg_vd_v":-1.84178424,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3969059,"cg_vq_v":-8.3969059,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2407.1167,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1658.776733,"values":{"Elec_RPM":-2343.70874,"EncoderCos":14174,"EncoderSin":43841,"GapTicks":49772,"Mech_RPM":-468.74176,"cg_du":53.5022316,"cg_dv":54.7523575,"cg_dw":45.2476425,"cg_id_a":4.20893908,"cg_id_raw_a":10.0958719,"cg_iq_a":-201.253815,"cg_iq_raw_a":-203.697021,"cg_iu_a":2.68457699,"cg_iv_a":172.191132,"cg_iw_a":-174.875702,"cg_sample_age_us":23.8527279,"cg_sample_seq":9659716,"cg_sample_valid":1,"cg_theta_rad":2.61046553,"cg_vd_req_v":-1.9606303,"cg_vd_v":-1.9606303,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37822151,"cg_vq_v":-8.37822151,"cg_vu_v":37.3908691,"cg_vv_v":44.4291458,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.3750248,"dclink_p_w":-2362.6665,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1658.91476,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1658.914771,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1658.914775,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1659.043012,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1659.043018,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1659.043024,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1659.18689,"values":{"Elec_RPM":-2343.84131,"EncoderCos":41804,"EncoderSin":13163,"GapTicks":49386,"Mech_RPM":-468.76828,"cg_du":51.3358345,"cg_dv":55.1035156,"cg_dw":44.8964844,"cg_id_a":-16.2778568,"cg_id_raw_a":-16.3179588,"cg_iq_a":-196.721405,"cg_iq_raw_a":-197.994171,"cg_iu_a":-20.2215271,"cg_iv_a":180.67218,"cg_iw_a":-160.450653,"cg_sample_age_us":23.9581814,"cg_sample_seq":9661816,"cg_sample_valid":1,"cg_theta_rad":5.16184616,"cg_vd_req_v":-1.62889171,"cg_vd_v":-1.62889171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44360542,"cg_vq_v":-8.44360542,"cg_vu_v":28.1531239,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1659.518921,"values":{"Elec_RPM":-2343.4834,"EncoderCos":50880,"EncoderSin":21384,"GapTicks":49971,"Mech_RPM":-468.696655,"cg_du":45.9794197,"cg_dv":45.4285698,"cg_dw":54.5714302,"cg_id_a":8.96021271,"cg_id_raw_a":13.787466,"cg_iq_a":-205.200226,"cg_iq_raw_a":-205.07518,"cg_iu_a":-8.07984161,"cg_iv_a":-172.016571,"cg_iw_a":180.096405,"cg_sample_age_us":23.9472733,"cg_sample_seq":9663517,"cg_sample_valid":1,"cg_theta_rad":5.73921394,"cg_vd_req_v":-2.15368247,"cg_vd_v":-2.15368247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29285145,"cg_vq_v":-8.29285145,"cg_vu_v":116.131638,"cg_vv_v":121.850235,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2453.00903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1659.870483,"values":{"Elec_RPM":-2345.58081,"EncoderCos":51492,"EncoderSin":22372,"GapTicks":49418,"Mech_RPM":-469.11615,"cg_du":48.7112846,"cg_dv":44.9259338,"cg_dw":55.0740662,"cg_id_a":-13.3917561,"cg_id_raw_a":-12.086463,"cg_iq_a":-198.028473,"cg_iq_raw_a":-199.990952,"cg_iu_a":26.2793121,"cg_iv_a":-181.258743,"cg_iw_a":154.979431,"cg_sample_age_us":23.8527279,"cg_sample_seq":9665266,"cg_sample_valid":1,"cg_theta_rad":5.79294062,"cg_vd_req_v":-1.70404029,"cg_vd_v":-1.70404029,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42559433,"cg_vq_v":-8.42559433,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2448.81274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1660.03565,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1660.035656,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1660.035662,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1660.202515,"values":{"Elec_RPM":-2349.56396,"EncoderCos":50400,"EncoderSin":44862,"GapTicks":49344,"Mech_RPM":-469.912781,"cg_du":44.8585091,"cg_dv":49.2662201,"cg_dw":55.1414909,"cg_id_a":-4.71430492,"cg_id_raw_a":-8.04683876,"cg_iq_a":-198.503281,"cg_iq_raw_a":-198.543015,"cg_iu_a":-108.873947,"cg_iv_a":-87.0610199,"cg_iw_a":195.934967,"cg_sample_age_us":23.5036373,"cg_sample_seq":9666917,"cg_sample_valid":1,"cg_theta_rad":0.607902348,"cg_vd_req_v":-1.89768648,"cg_vd_v":-1.89768648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40980244,"cg_vq_v":-8.40980244,"cg_vu_v":100.295509,"cg_vv_v":95.0167923,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2391.16699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1660.534546,"values":{"Elec_RPM":-2354.75073,"EncoderCos":53950,"EncoderSin":34676,"GapTicks":49692,"Mech_RPM":-470.950165,"cg_du":53.1338234,"cg_dv":54.8253021,"cg_dw":45.1746979,"cg_id_a":-1.00227666,"cg_id_raw_a":7.06625891,"cg_iq_a":-201.03244,"cg_iq_raw_a":-201.865417,"cg_iu_a":1.48853064,"cg_iv_a":171.574982,"cg_iw_a":-173.063507,"cg_sample_age_us":23.5072727,"cg_sample_seq":9668717,"cg_sample_valid":1,"cg_theta_rad":0.104366921,"cg_vd_req_v":-1.93583381,"cg_vd_v":-1.93583381,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36471748,"cg_vq_v":-8.36471748,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2518.24219,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1660.886108,"values":{"Elec_RPM":-2351.53271,"EncoderCos":28436,"EncoderSin":53904,"GapTicks":49764,"Mech_RPM":-470.306519,"cg_du":45.2404556,"cg_dv":53.2240143,"cg_dw":54.7595444,"cg_id_a":3.0015626,"cg_id_raw_a":9.8568716,"cg_iq_a":-201.273148,"cg_iq_raw_a":-203.380676,"cg_iu_a":-175.381378,"cg_iv_a":0.830276489,"cg_iw_a":174.551102,"cg_sample_age_us":23.8563633,"cg_sample_seq":9670316,"cg_sample_valid":1,"cg_theta_rad":1.77223146,"cg_vd_req_v":-1.90801668,"cg_vd_v":-1.90801668,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35124207,"cg_vq_v":-8.35124207,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2511.23682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3468628,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1661.059122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1661.059128,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1661.059134,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1661.222046,"values":{"Elec_RPM":-2355.45679,"EncoderCos":27598,"EncoderSin":53764,"GapTicks":49436,"Mech_RPM":-471.091339,"cg_du":44.9418869,"cg_dv":51.2481041,"cg_dw":55.0581131,"cg_id_a":-12.3398867,"cg_id_raw_a":-9.81232452,"cg_iq_a":-198.588104,"cg_iq_raw_a":-200.161865,"cg_iu_a":-162.514816,"cg_iv_a":-16.2768097,"cg_iw_a":178.791626,"cg_sample_age_us":23.7654552,"cg_sample_seq":9672066,"cg_sample_valid":1,"cg_theta_rad":1.80395246,"cg_vd_req_v":-1.60981357,"cg_vd_v":-1.60981357,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38501167,"cg_vq_v":-8.38501167,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1661.554077,"values":{"Elec_RPM":-2355.44507,"EncoderCos":17084,"EncoderSin":47590,"GapTicks":49941,"Mech_RPM":-471.08902,"cg_du":54.5989075,"cg_dv":45.9045105,"cg_dw":45.4010925,"cg_id_a":10.1704302,"cg_id_raw_a":15.8518229,"cg_iq_a":-201.634735,"cg_iq_raw_a":-203.786102,"cg_iu_a":178.612152,"cg_iv_a":-7.57830811,"cg_iw_a":-171.033844,"cg_sample_age_us":23.9690914,"cg_sample_seq":9673766,"cg_sample_valid":1,"cg_theta_rad":2.38736916,"cg_vd_req_v":-2.10126019,"cg_vd_v":-2.10126019,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35528755,"cg_vq_v":-8.35528755,"cg_vu_v":131.087982,"cg_vv_v":125.369385,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1661.90564,"values":{"Elec_RPM":-2358.59814,"EncoderCos":11517,"EncoderSin":36917,"GapTicks":49487,"Mech_RPM":-471.719604,"cg_du":44.9889908,"cg_dv":55.0110092,"cg_dw":52.4640961,"cg_id_a":5.29423714,"cg_id_raw_a":1.23890722,"cg_iq_a":-196.490585,"cg_iq_raw_a":-195.512863,"cg_iu_a":-193.430817,"cg_iv_a":67.3014679,"cg_iw_a":126.129349,"cg_sample_age_us":23.9654541,"cg_sample_seq":9675467,"cg_sample_valid":1,"cg_theta_rad":2.95179915,"cg_vd_req_v":-1.9868685,"cg_vd_v":-1.9868685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47524071,"cg_vq_v":-8.47524071,"cg_vu_v":101.615181,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2496.80786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1662.051448,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1662.051454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1662.051459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1662.237671,"values":{"Elec_RPM":-2363.88696,"EncoderCos":30100,"EncoderSin":11350,"GapTicks":49356,"Mech_RPM":-472.777374,"cg_du":51.3253441,"cg_dv":44.8693581,"cg_dw":55.1306419,"cg_id_a":4.63070965,"cg_id_raw_a":0.298843086,"cg_iq_a":-197.650833,"cg_iq_raw_a":-197.48024,"cg_iu_a":109.748856,"cg_iv_a":-198.402069,"cg_iw_a":88.6532135,"cg_sample_age_us":23.7181816,"cg_sample_seq":9677067,"cg_sample_valid":1,"cg_theta_rad":4.60489559,"cg_vd_req_v":-2.04592729,"cg_vd_v":-2.04592729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42394447,"cg_vq_v":-8.42394447,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.3264256,"dclink_p_w":-2499.93921,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1662.589233,"values":{"Elec_RPM":-2355.17847,"EncoderCos":19640,"EncoderSin":15416,"GapTicks":49803,"Mech_RPM":-471.035675,"cg_du":45.2761803,"cg_dv":54.7238197,"cg_dw":46.581337,"cg_id_a":2.7221489,"cg_id_raw_a":9.7199707,"cg_iq_a":-204.325775,"cg_iq_raw_a":-205.130157,"cg_iu_a":-180.962921,"cg_iv_a":163.45636,"cg_iw_a":17.5065689,"cg_sample_age_us":26.7981815,"cg_sample_seq":9678870,"cg_sample_valid":1,"cg_theta_rad":4.10868454,"cg_vd_req_v":-1.94650567,"cg_vd_v":-1.94650567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30445862,"cg_vq_v":-8.30445862,"cg_vu_v":99.4157181,"cg_vv_v":103.814644,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-16.5127506,"dclink_p_w":-2389.80225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1662.921265,"values":{"Elec_RPM":-2354.00391,"EncoderCos":43003,"EncoderSin":13761,"GapTicks":49415,"Mech_RPM":-470.800781,"cg_du":48.728302,"cg_dv":55.0771523,"cg_dw":44.9228477,"cg_id_a":-11.4189615,"cg_id_raw_a":-17.1290741,"cg_iq_a":-199.523376,"cg_iq_raw_a":-198.26561,"cg_iu_a":-89.7734451,"cg_iv_a":199.373993,"cg_iw_a":-109.600555,"cg_sample_age_us":23.8600006,"cg_sample_seq":9680517,"cg_sample_valid":1,"cg_theta_rad":5.22182178,"cg_vd_req_v":-1.76792109,"cg_vd_v":-1.76792109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38859844,"cg_vq_v":-8.38859844,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1663.042646,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1663.042652,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1663.042657,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1663.257202,"values":{"Elec_RPM":-2354.03857,"EncoderCos":32964,"EncoderSin":11181,"GapTicks":49417,"Mech_RPM":-470.807739,"cg_du":55.0754204,"cg_dv":44.9245796,"cg_dw":51.5966911,"cg_id_a":-13.6465645,"cg_id_raw_a":-8.94700909,"cg_iq_a":-195.200378,"cg_iq_raw_a":-195.902649,"cg_iu_a":175.857605,"cg_iv_a":-160.708481,"cg_iw_a":-15.1491241,"cg_sample_age_us":24.0636368,"cg_sample_seq":9682316,"cg_sample_valid":1,"cg_theta_rad":4.73697042,"cg_vd_req_v":-1.62989259,"cg_vd_v":-1.62989259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49168682,"cg_vq_v":-8.49168682,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.8625031,"dclink_p_w":-2447.83765,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1663.608765,"values":{"Elec_RPM":-2351.17993,"EncoderCos":54047,"EncoderSin":33809,"GapTicks":49900,"Mech_RPM":-470.235992,"cg_du":54.6356659,"cg_dv":53.9147797,"cg_dw":45.3643341,"cg_id_a":11.4480066,"cg_id_raw_a":10.6363754,"cg_iq_a":-204.479172,"cg_iq_raw_a":-206.409058,"cg_iu_a":5.47535229,"cg_iv_a":170.016495,"cg_iw_a":-175.491852,"cg_sample_age_us":23.48909,"cg_sample_seq":9683920,"cg_sample_valid":1,"cg_theta_rad":0.0936798677,"cg_vd_req_v":-2.20710397,"cg_vd_v":-2.20710397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30407524,"cg_vq_v":-8.30407524,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2449.21338,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1663.940796,"values":{"Elec_RPM":-2348.16187,"EncoderCos":52450,"EncoderSin":24380,"GapTicks":49524,"Mech_RPM":-469.632385,"cg_du":52.6231842,"cg_dv":45.0223122,"cg_dw":54.9776878,"cg_id_a":17.6428928,"cg_id_raw_a":13.3890162,"cg_iq_a":-201.618591,"cg_iq_raw_a":-200.659073,"cg_iu_a":149.979523,"cg_iv_a":-194.487732,"cg_iw_a":44.5082169,"cg_sample_age_us":23.7654552,"cg_sample_seq":9685716,"cg_sample_valid":1,"cg_theta_rad":5.89537287,"cg_vd_req_v":-2.35251951,"cg_vd_v":-2.35251951,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34314251,"cg_vq_v":-8.34314251,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2409.99292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1664.034821,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1664.034826,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1664.034831,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1664.272827,"values":{"Elec_RPM":-2350.84644,"EncoderCos":39458,"EncoderSin":53132,"GapTicks":49444,"Mech_RPM":-470.169281,"cg_du":55.0506897,"cg_dv":51.4649506,"cg_dw":44.9493103,"cg_id_a":2.92183399,"cg_id_raw_a":-2.11086035,"cg_iq_a":-202.292542,"cg_iq_raw_a":-199.68924,"cg_iu_a":90.3584137,"cg_iv_a":111.265228,"cg_iw_a":-201.623642,"cg_sample_age_us":23.8890915,"cg_sample_seq":9687317,"cg_sample_valid":1,"cg_theta_rad":1.25414884,"cg_vd_req_v":-1.98880434,"cg_vd_v":-1.98880434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3236208,"cg_vq_v":-8.3236208,"cg_vu_v":140.765625,"cg_vv_v":132.407669,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2449.07495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1664.62439,"values":{"Elec_RPM":-2352.69116,"EncoderCos":27145,"EncoderSin":53679,"GapTicks":49397,"Mech_RPM":-470.538239,"cg_du":44.9072418,"cg_dv":50.2658806,"cg_dw":55.0927582,"cg_id_a":-16.0112629,"cg_id_raw_a":-14.7430954,"cg_iq_a":-200.319702,"cg_iq_raw_a":-204.209564,"cg_iu_a":-146.929962,"cg_iv_a":-46.7941284,"cg_iw_a":193.724091,"cg_sample_age_us":23.8381824,"cg_sample_seq":9689016,"cg_sample_valid":1,"cg_theta_rad":1.83327377,"cg_vd_req_v":-1.56400728,"cg_vd_v":-1.56400728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36968327,"cg_vq_v":-8.36968327,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2475.3606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1664.956421,"values":{"Elec_RPM":-2351.90039,"EncoderCos":37640,"EncoderSin":53589,"GapTicks":49916,"Mech_RPM":-470.380066,"cg_du":53.8812408,"cg_dv":54.6213417,"cg_dw":45.3786583,"cg_id_a":7.84290791,"cg_id_raw_a":11.956727,"cg_iq_a":-203.543564,"cg_iq_raw_a":-205.901947,"cg_iu_a":13.4489956,"cg_iv_a":168.566757,"cg_iw_a":-182.015747,"cg_sample_age_us":23.8054543,"cg_sample_seq":9690816,"cg_sample_valid":1,"cg_theta_rad":1.33337295,"cg_vd_req_v":-2.040416,"cg_vd_v":-2.040416,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30997562,"cg_vq_v":-8.30997562,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1665.026788,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1665.026793,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1665.026798,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1665.288452,"values":{"Elec_RPM":-2355.95801,"EncoderCos":11377,"EncoderSin":35976,"GapTicks":49966,"Mech_RPM":-471.19162,"cg_du":45.4237633,"cg_dv":54.5762367,"cg_dw":54.1699905,"cg_id_a":11.0510054,"cg_id_raw_a":10.4326067,"cg_iq_a":-199.217575,"cg_iq_raw_a":-199.343353,"cg_iu_a":-184.406097,"cg_iv_a":21.7067261,"cg_iw_a":162.699371,"cg_sample_age_us":23.9509087,"cg_sample_seq":9692416,"cg_sample_valid":1,"cg_theta_rad":2.9942596,"cg_vd_req_v":-2.08132315,"cg_vd_v":-2.08132315,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38688469,"cg_vq_v":-8.38688469,"cg_vu_v":38.7105446,"cg_vv_v":53.666893,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1665.643921,"values":{"Elec_RPM":-2356.54395,"EncoderCos":15641,"EncoderSin":45918,"GapTicks":49354,"Mech_RPM":-471.308777,"cg_du":55.1323242,"cg_dv":50.610775,"cg_dw":44.8676758,"cg_id_a":-3.80017829,"cg_id_raw_a":-8.22744465,"cg_iq_a":-198.853149,"cg_iq_raw_a":-196.536545,"cg_iu_a":113.735687,"cg_iv_a":85.4958496,"cg_iw_a":-199.231537,"cg_sample_age_us":23.8854542,"cg_sample_seq":9694217,"cg_sample_valid":1,"cg_theta_rad":2.49031067,"cg_vd_req_v":-1.84115016,"cg_vd_v":-1.84115016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39756966,"cg_vq_v":-8.39756966,"cg_vu_v":127.568848,"cg_vv_v":135.486908,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1665.972046,"values":{"Elec_RPM":-2354.34814,"EncoderCos":20687,"EncoderSin":14730,"GapTicks":49320,"Mech_RPM":-470.869629,"cg_du":44.8372116,"cg_dv":55.1627884,"cg_dw":49.4496269,"cg_id_a":-14.095953,"cg_id_raw_a":-13.849824,"cg_iq_a":-197.494049,"cg_iq_raw_a":-198.355927,"cg_iu_a":-187.12439,"cg_iv_a":146.82045,"cg_iw_a":40.3039398,"cg_sample_age_us":23.8345451,"cg_sample_seq":9695817,"cg_sample_valid":1,"cg_theta_rad":4.1328845,"cg_vd_req_v":-1.63351035,"cg_vd_v":-1.63351035,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46154404,"cg_vq_v":-8.46154404,"cg_vu_v":112.612495,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2406.33228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1666.019479,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1666.019485,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1666.01949,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1666.327515,"values":{"Elec_RPM":-2354.49243,"EncoderCos":20787,"EncoderSin":14649,"GapTicks":49323,"Mech_RPM":-470.898468,"cg_du":44.8393669,"cg_dv":55.1606331,"cg_dw":49.7459488,"cg_id_a":-15.0717306,"cg_id_raw_a":-13.2320528,"cg_iq_a":-196.891052,"cg_iq_raw_a":-197.354019,"cg_iu_a":-196.330322,"cg_iv_a":111.37397,"cg_iw_a":84.9563522,"cg_sample_age_us":23.8381824,"cg_sample_seq":9697570,"cg_sample_valid":1,"cg_theta_rad":4.17357588,"cg_vd_req_v":-1.6072706,"cg_vd_v":-1.6072706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47657204,"cg_vq_v":-8.47657204,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2418.80713,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1666.659546,"values":{"Elec_RPM":-2352.14575,"EncoderCos":51980,"EncoderSin":23357,"GapTicks":49325,"Mech_RPM":-470.429169,"cg_du":50.7293739,"cg_dv":44.8411713,"cg_dw":55.1588287,"cg_id_a":-3.02710843,"cg_id_raw_a":-4.74758673,"cg_iq_a":-197.345215,"cg_iq_raw_a":-196.422897,"cg_iu_a":75.4984436,"cg_iv_a":-195.575058,"cg_iw_a":120.076614,"cg_sample_age_us":23.6599998,"cg_sample_seq":9699166,"cg_sample_valid":1,"cg_theta_rad":5.83518934,"cg_vd_req_v":-1.95028424,"cg_vd_v":-1.95028424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42704773,"cg_vq_v":-8.42704773,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1666.991577,"values":{"Elec_RPM":-2353.60352,"EncoderCos":44918,"EncoderSin":15013,"GapTicks":49838,"Mech_RPM":-470.720703,"cg_du":45.3075447,"cg_dv":54.6924553,"cg_dw":46.4925613,"cg_id_a":3.51087594,"cg_id_raw_a":5.73710442,"cg_iq_a":-205.284821,"cg_iq_raw_a":-206.365372,"cg_iu_a":-173.822891,"cg_iv_a":178.388824,"cg_iw_a":-4.5659256,"cg_sample_age_us":23.9218178,"cg_sample_seq":9700967,"cg_sample_valid":1,"cg_theta_rad":5.33226395,"cg_vd_req_v":-2.04913568,"cg_vd_v":-2.04913568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26456833,"cg_vq_v":-8.26456833,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1667.042813,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1667.042819,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1667.042824,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1667.323608,"values":{"Elec_RPM":-2355.49536,"EncoderCos":49144,"EncoderSin":46622,"GapTicks":50079,"Mech_RPM":-471.099091,"cg_du":45.8073311,"cg_dv":45.5266151,"cg_dw":54.4733849,"cg_id_a":10.091073,"cg_id_raw_a":14.452857,"cg_iq_a":-206.504303,"cg_iq_raw_a":-205.067474,"cg_iu_a":-10.2544708,"cg_iv_a":-172.958908,"cg_iw_a":183.213379,"cg_sample_age_us":23.4781818,"cg_sample_seq":9702567,"cg_sample_valid":1,"cg_theta_rad":0.707489073,"cg_vd_req_v":-2.13275909,"cg_vd_v":-2.13275909,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25470161,"cg_vq_v":-8.25470161,"cg_vu_v":106.453995,"cg_vv_v":96.3364716,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2417.83691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1667.675171,"values":{"Elec_RPM":-2358.04712,"EncoderCos":48598,"EncoderSin":47258,"GapTicks":49561,"Mech_RPM":-471.609406,"cg_du":47.7634239,"cg_dv":45.0562935,"cg_dw":54.9437065,"cg_id_a":-8.66985512,"cg_id_raw_a":-1.09915364,"cg_iq_a":-201.286789,"cg_iq_raw_a":-201.852524,"cg_iu_a":8.70105362,"cg_iv_a":-177.126953,"cg_iw_a":168.425903,"cg_sample_age_us":23.5400009,"cg_sample_seq":9704317,"cg_sample_valid":1,"cg_theta_rad":0.747295141,"cg_vd_req_v":-1.74687088,"cg_vd_v":-1.74687088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35818481,"cg_vq_v":-8.35818481,"cg_vu_v":103.814644,"cg_vv_v":79.1806641,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-15.7498188,"dclink_p_w":-2272.45874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1668.011108,"values":{"Elec_RPM":-2360.65259,"EncoderCos":37898,"EncoderSin":53556,"GapTicks":50098,"Mech_RPM":-472.130524,"cg_du":54.4555321,"cg_dv":54.4529152,"cg_dw":45.5444679,"cg_id_a":12.1803141,"cg_id_raw_a":13.7692738,"cg_iq_a":-204.375183,"cg_iq_raw_a":-205.568192,"cg_iu_a":16.4934769,"cg_iv_a":168.711731,"cg_iw_a":-185.2052,"cg_sample_age_us":23.8709087,"cg_sample_seq":9706016,"cg_sample_valid":1,"cg_theta_rad":1.33037221,"cg_vd_req_v":-2.14262676,"cg_vd_v":-2.14262676,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29812241,"cg_vq_v":-8.29812241,"cg_vu_v":9.67763615,"cg_vv_v":35.1914063,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.550806,"dclink_p_w":-2388.02905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1668.035513,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1668.035518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1668.035523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1668.495483,"values":{"Elec_RPM":-2356.68848,"EncoderCos":40502,"EncoderSin":52729,"GapTicks":49313,"Mech_RPM":-471.337677,"cg_du":55.1695442,"cg_dv":49.5110626,"cg_dw":44.8304558,"cg_id_a":-12.8593092,"cg_id_raw_a":-14.5896721,"cg_iq_a":-196.507553,"cg_iq_raw_a":-197.298813,"cg_iu_a":143.818054,"cg_iv_a":31.1663666,"cg_iw_a":-182.341934,"cg_sample_age_us":23.954546,"cg_sample_seq":9708366,"cg_sample_valid":1,"cg_theta_rad":1.19936156,"cg_vd_req_v":-1.66981125,"cg_vd_v":-1.66981125,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46241283,"cg_vq_v":-8.46241283,"cg_vu_v":41.3499031,"cg_vv_v":42.6695786,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2542.82056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1668.930855,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1668.930868,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1668.930871,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1669.003296,"values":{"Elec_RPM":-2355.81152,"EncoderCos":50944,"EncoderSin":21434,"GapTicks":49949,"Mech_RPM":-471.162323,"cg_du":46.166832,"cg_dv":45.4088669,"cg_dw":54.5911331,"cg_id_a":6.91696167,"cg_id_raw_a":13.4335661,"cg_iq_a":-206.373444,"cg_iq_raw_a":-206.08078,"cg_iu_a":-6.41262484,"cg_iv_a":-174.408661,"cg_iw_a":180.821289,"cg_sample_age_us":23.9145451,"cg_sample_seq":9710867,"cg_sample_valid":1,"cg_theta_rad":5.74383879,"cg_vd_req_v":-2.10634804,"cg_vd_v":-2.10634804,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2259779,"cg_vq_v":-8.2259779,"cg_vu_v":144.28476,"cg_vv_v":138.566162,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2482.38306,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1669.027338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1669.027344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1669.027349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1669.339233,"values":{"Elec_RPM":-2359.2749,"EncoderCos":43261,"EncoderSin":13888,"GapTicks":49451,"Mech_RPM":-471.85498,"cg_du":48.294342,"cg_dv":55.0443268,"cg_dw":44.9556732,"cg_id_a":-4.08605433,"cg_id_raw_a":-8.58054543,"cg_iq_a":-198.963654,"cg_iq_raw_a":-199.904572,"cg_iu_a":-109.888771,"cg_iv_a":199.19278,"cg_iw_a":-89.3040161,"cg_sample_age_us":23.9618187,"cg_sample_seq":9712667,"cg_sample_valid":1,"cg_theta_rad":5.23795319,"cg_vd_req_v":-1.91605914,"cg_vd_v":-1.91605914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37244225,"cg_vq_v":-8.37244225,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12059968,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1669.68689,"values":{"Elec_RPM":-2359.12817,"EncoderCos":51871,"EncoderSin":23129,"GapTicks":49297,"Mech_RPM":-471.825623,"cg_du":50.3411903,"cg_dv":44.8156853,"cg_dw":55.1843147,"cg_id_a":-9.0055294,"cg_id_raw_a":-10.9773226,"cg_iq_a":-196.678131,"cg_iq_raw_a":-196.487259,"cg_iu_a":72.7076645,"cg_iv_a":-195.393829,"cg_iw_a":122.686172,"cg_sample_age_us":23.7654552,"cg_sample_seq":9714366,"cg_sample_valid":1,"cg_theta_rad":5.83425331,"cg_vd_req_v":-1.81864405,"cg_vd_v":-1.81864405,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45010757,"cg_vq_v":-8.45010757,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.3409233,"dclink_p_w":-2502.03101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1670.022827,"values":{"Elec_RPM":-2358.36035,"EncoderCos":53927,"EncoderSin":35101,"GapTicks":49467,"Mech_RPM":-471.672058,"cg_du":52.1396217,"cg_dv":55.0299873,"cg_dw":44.9700127,"cg_id_a":-8.57544231,"cg_id_raw_a":-3.09839535,"cg_iq_a":-197.424133,"cg_iq_raw_a":-199.685684,"cg_iu_a":-12.1029072,"cg_iv_a":175.743027,"cg_iw_a":-163.640121,"cg_sample_age_us":23.4563637,"cg_sample_seq":9716066,"cg_sample_valid":1,"cg_theta_rad":0.121824205,"cg_vd_req_v":-1.78922534,"cg_vd_v":-1.78922534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46862888,"cg_vq_v":-8.46862888,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2393.47412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3432617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1670.050798,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1670.050804,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1670.050809,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1670.37439,"values":{"Elec_RPM":-2351.57056,"EncoderCos":49631,"EncoderSin":46052,"GapTicks":49675,"Mech_RPM":-470.314117,"cg_du":45.1591492,"cg_dv":46.8983879,"cg_dw":54.8408508,"cg_id_a":18.4763069,"cg_id_raw_a":17.4797516,"cg_iq_a":-203.209503,"cg_iq_raw_a":-200.789612,"cg_iu_a":-13.8426113,"cg_iv_a":-171.327927,"cg_iw_a":185.170532,"cg_sample_age_us":26.3981819,"cg_sample_seq":9717769,"cg_sample_valid":1,"cg_theta_rad":0.706309795,"cg_vd_req_v":-2.32301116,"cg_vd_v":-2.32301116,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30677509,"cg_vq_v":-8.30677509,"cg_vu_v":36.9509773,"cg_vv_v":37.830761,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2429.14258,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1670.706421,"values":{"Elec_RPM":-2353.35425,"EncoderCos":48784,"EncoderSin":47091,"GapTicks":49697,"Mech_RPM":-470.670837,"cg_du":47.1775551,"cg_dv":45.1796112,"cg_dw":54.8203888,"cg_id_a":-3.15007997,"cg_id_raw_a":4.56105375,"cg_iq_a":-203.422501,"cg_iq_raw_a":-204.246704,"cg_iu_a":-0.686099291,"cg_iv_a":-173.937485,"cg_iw_a":174.623581,"cg_sample_age_us":23.5181828,"cg_sample_seq":9719517,"cg_sample_valid":1,"cg_theta_rad":0.733998895,"cg_vd_req_v":-1.84851742,"cg_vd_v":-1.84851742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30001068,"cg_vq_v":-8.30001068,"cg_vu_v":124.049698,"cg_vv_v":130.648087,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1671.038452,"values":{"Elec_RPM":-2351.16748,"EncoderCos":27018,"EncoderSin":53596,"GapTicks":49334,"Mech_RPM":-470.23349,"cg_du":44.8499718,"cg_dv":49.9549408,"cg_dw":55.1500282,"cg_id_a":-16.4350834,"cg_id_raw_a":-16.9163589,"cg_iq_a":-198.541321,"cg_iq_raw_a":-198.750076,"cg_iu_a":-139.065063,"cg_iv_a":-51.4333191,"cg_iw_a":190.498383,"cg_sample_age_us":23.8672733,"cg_sample_seq":9721167,"cg_sample_valid":1,"cg_theta_rad":1.83955932,"cg_vd_req_v":-1.56065154,"cg_vd_v":-1.56065154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43722725,"cg_vq_v":-8.43722725,"cg_vu_v":118.770996,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.17239,"dclink_p_w":-2485.26831,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1671.043249,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1671.043253,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1671.043258,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1671.390015,"values":{"Elec_RPM":-2352.93677,"EncoderCos":16577,"EncoderSin":47010,"GapTicks":49485,"Mech_RPM":-470.587341,"cg_du":55.012886,"cg_dv":47.750042,"cg_dw":44.987114,"cg_id_a":-6.67120647,"cg_id_raw_a":-1.65230274,"cg_iq_a":-195.604996,"cg_iq_raw_a":-196.287079,"cg_iu_a":162.592377,"cg_iv_a":9.78250122,"cg_iw_a":-172.374878,"cg_sample_age_us":23.8490906,"cg_sample_seq":9722867,"cg_sample_valid":1,"cg_theta_rad":2.42215323,"cg_vd_req_v":-1.75284386,"cg_vd_v":-1.75284386,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4745388,"cg_vq_v":-8.4745388,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2618,"hz_tim_isr":4997,"hz_vsense":2618,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1671.722046,"values":{"Elec_RPM":-2353.91406,"EncoderCos":11347,"EncoderSin":36010,"GapTicks":49946,"Mech_RPM":-470.782806,"cg_du":45.4055328,"cg_dv":54.5944672,"cg_dw":54.0709496,"cg_id_a":12.7602434,"cg_id_raw_a":11.655118,"cg_iq_a":-199.980347,"cg_iq_raw_a":-198.343887,"cg_iu_a":-183.934921,"cg_iv_a":21.8879395,"cg_iw_a":162.046982,"cg_sample_age_us":23.8999996,"cg_sample_seq":9724567,"cg_sample_valid":1,"cg_theta_rad":2.99722528,"cg_vd_req_v":-2.11724281,"cg_vd_v":-2.11724281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36039066,"cg_vq_v":-8.36039066,"cg_vu_v":105.574219,"cg_vv_v":105.134323,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.3840847,"dclink_p_w":-2363.97363,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2618,"hz_tim_isr":4997,"hz_vsense":2618,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1672.035136,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1672.035141,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1672.035147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1672.054077,"values":{"Elec_RPM":-2348.8125,"EncoderCos":13097,"EncoderSin":23644,"GapTicks":49503,"Mech_RPM":-469.762482,"cg_du":54.9972572,"cg_dv":45.0027428,"cg_dw":47.6430321,"cg_id_a":10.6993465,"cg_id_raw_a":6.80551195,"cg_iq_a":-201.322281,"cg_iq_raw_a":-200.903107,"cg_iu_a":199.379868,"cg_iv_a":-60.2405853,"cg_iw_a":-139.139282,"cg_sample_age_us":24.1072731,"cg_sample_seq":9726266,"cg_sample_valid":1,"cg_theta_rad":3.58114028,"cg_vd_req_v":-2.14713001,"cg_vd_v":-2.14713001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35747337,"cg_vq_v":-8.35747337,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.0995712,"dclink_p_w":-2322.92285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2618,"hz_tim_isr":4997,"hz_vsense":2618,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1672.409546,"values":{"Elec_RPM":-2352.104,"EncoderCos":21248,"EncoderSin":14371,"GapTicks":49327,"Mech_RPM":-470.420807,"cg_du":44.8429184,"cg_dv":55.1570816,"cg_dw":50.7080879,"cg_id_a":-8.0363493,"cg_id_raw_a":-10.2898273,"cg_iq_a":-195.277817,"cg_iq_raw_a":-195.55481,"cg_iu_a":-195.496704,"cg_iv_a":114.889618,"cg_iw_a":80.6070862,"cg_sample_age_us":23.8454552,"cg_sample_seq":9727966,"cg_sample_valid":1,"cg_theta_rad":4.16650438,"cg_vd_req_v":-1.76506233,"cg_vd_v":-1.76506233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48996258,"cg_vq_v":-8.48996258,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2500.71411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1672.741577,"values":{"Elec_RPM":-2349.3999,"EncoderCos":32934,"EncoderSin":11195,"GapTicks":49476,"Mech_RPM":-469.879974,"cg_du":55.0213013,"cg_dv":44.9786987,"cg_dw":51.6969452,"cg_id_a":-11.081974,"cg_id_raw_a":-9.89104939,"cg_iq_a":-196.846664,"cg_iq_raw_a":-197.689362,"cg_iu_a":175.386444,"cg_iv_a":-162.701904,"cg_iw_a":-12.6845474,"cg_sample_age_us":24.0672722,"cg_sample_seq":9729667,"cg_sample_valid":1,"cg_theta_rad":4.73205662,"cg_vd_req_v":-1.66711533,"cg_vd_v":-1.66711533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41189003,"cg_vq_v":-8.41189003,"cg_vu_v":107.333786,"cg_vv_v":98.9758301,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2483.20508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1673.026669,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1673.026674,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1673.026678,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1673.073608,"values":{"Elec_RPM":-2349.82129,"EncoderCos":44637,"EncoderSin":14787,"GapTicks":50038,"Mech_RPM":-469.964233,"cg_du":45.4895515,"cg_dv":54.5104485,"cg_dw":45.7538452,"cg_id_a":6.43381834,"cg_id_raw_a":7.14734268,"cg_iq_a":-205.011261,"cg_iq_raw_a":-205.823914,"cg_iu_a":-163.89209,"cg_iv_a":188.899536,"cg_iw_a":-25.0074539,"cg_sample_age_us":23.954546,"cg_sample_seq":9731366,"cg_sample_valid":1,"cg_theta_rad":5.30555248,"cg_vd_req_v":-2.11685634,"cg_vd_v":-2.11685634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28680515,"cg_vq_v":-8.28680515,"cg_vu_v":34.3116188,"cg_vv_v":34.3116188,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2510.70801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1673.425171,"values":{"Elec_RPM":-2354.51929,"EncoderCos":52411,"EncoderSin":24429,"GapTicks":49534,"Mech_RPM":-470.90387,"cg_du":52.7518082,"cg_dv":45.0312996,"cg_dw":54.9687004,"cg_id_a":15.5793629,"cg_id_raw_a":15.1998148,"cg_iq_a":-200.001602,"cg_iq_raw_a":-198.95665,"cg_iu_a":137.874084,"cg_iv_a":-195.32135,"cg_iw_a":57.4472733,"cg_sample_age_us":23.6781826,"cg_sample_seq":9733066,"cg_sample_valid":1,"cg_theta_rad":5.88901329,"cg_vd_req_v":-2.30463052,"cg_vd_v":-2.30463052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40737343,"cg_vq_v":-8.40737343,"cg_vu_v":106.893898,"cg_vv_v":99.4157181,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.610939,"dclink_p_w":-2548.73706,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1673.757202,"values":{"Elec_RPM":-2354.14111,"EncoderCos":53748,"EncoderSin":36387,"GapTicks":49387,"Mech_RPM":-470.828247,"cg_du":49.411808,"cg_dv":55.1026497,"cg_dw":44.8973503,"cg_id_a":-12.9337301,"cg_id_raw_a":-13.6992712,"cg_iq_a":-198.236008,"cg_iq_raw_a":-198.202606,"cg_iu_a":-74.2610779,"cg_iv_a":196.510727,"cg_iw_a":-122.249649,"cg_sample_age_us":23.4745445,"cg_sample_seq":9734767,"cg_sample_valid":1,"cg_theta_rad":0.180963829,"cg_vd_req_v":-1.72593951,"cg_vd_v":-1.72593951,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39650822,"cg_vq_v":-8.39650822,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":124.049698,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2500.47974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1674.019302,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1674.019308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1674.019313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1674.108765,"values":{"Elec_RPM":-2354.50903,"EncoderCos":48703,"EncoderSin":47143,"GapTicks":49638,"Mech_RPM":-470.901825,"cg_du":47.3937874,"cg_dv":45.1256752,"cg_dw":54.8743248,"cg_id_a":-5.62935352,"cg_id_raw_a":2.34889507,"cg_iq_a":-204.105698,"cg_iq_raw_a":-205.322845,"cg_iu_a":42.3715744,"cg_iv_a":-187.637665,"cg_iw_a":145.266083,"cg_sample_age_us":23.51091,"cg_sample_seq":9736469,"cg_sample_valid":1,"cg_theta_rad":0.783465385,"cg_vd_req_v":-1.80536163,"cg_vd_v":-1.80536163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30508041,"cg_vq_v":-8.30508041,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2493.14087,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1674.444702,"values":{"Elec_RPM":-2356.87305,"EncoderCos":37620,"EncoderSin":53624,"GapTicks":49875,"Mech_RPM":-471.374603,"cg_du":53.8219261,"cg_dv":54.6585693,"cg_dw":45.3414307,"cg_id_a":6.99185562,"cg_id_raw_a":11.1886902,"cg_iq_a":-202.305145,"cg_iq_raw_a":-204.319397,"cg_iu_a":7.32378769,"cg_iv_a":170.995071,"cg_iw_a":-178.318863,"cg_sample_age_us":23.8890915,"cg_sample_seq":9738166,"cg_sample_valid":1,"cg_theta_rad":1.34273267,"cg_vd_req_v":-2.03019428,"cg_vd_v":-2.03019428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3716135,"cg_vq_v":-8.3716135,"cg_vu_v":38.2706528,"cg_vv_v":49.707859,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2439.10864,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1674.776733,"values":{"Elec_RPM":-2355.00366,"EncoderCos":25609,"EncoderSin":53164,"GapTicks":49566,"Mech_RPM":-471.000732,"cg_du":45.060318,"cg_dv":47.4280739,"cg_dw":54.939682,"cg_id_a":6.0115118,"cg_id_raw_a":4.64415884,"cg_iq_a":-199.916153,"cg_iq_raw_a":-197.385864,"cg_iu_a":-60.1622276,"cg_iv_a":-136.171417,"cg_iw_a":196.333649,"cg_sample_age_us":23.8854542,"cg_sample_seq":9739867,"cg_sample_valid":1,"cg_theta_rad":1.91195953,"cg_vd_req_v":-2.02401519,"cg_vd_v":-2.02401519,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37879276,"cg_vq_v":-8.37879276,"cg_vu_v":143.844864,"cg_vv_v":140.765625,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.5674477,"dclink_p_w":-2542.44287,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1675.011753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1675.011759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1675.011764,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1675.128296,"values":{"Elec_RPM":-2356.80371,"EncoderCos":15451,"EncoderSin":45744,"GapTicks":49422,"Mech_RPM":-471.360748,"cg_du":55.0708313,"cg_dv":50.9958763,"cg_dw":44.9291687,"cg_id_a":1.85845792,"cg_id_raw_a":0.502511919,"cg_iq_a":-202.573853,"cg_iq_raw_a":-202.165115,"cg_iu_a":101.630249,"cg_iv_a":103.074127,"cg_iw_a":-204.704376,"cg_sample_age_us":23.9145451,"cg_sample_seq":9741566,"cg_sample_valid":1,"cg_theta_rad":2.50029492,"cg_vd_req_v":-1.94721341,"cg_vd_v":-1.94721341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30308151,"cg_vq_v":-8.30308151,"cg_vu_v":42.6695786,"cg_vv_v":34.7515144,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.5689297,"dclink_p_w":-2397.93262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1675.460327,"values":{"Elec_RPM":-2354.93701,"EncoderCos":20846,"EncoderSin":14635,"GapTicks":49314,"Mech_RPM":-470.987427,"cg_du":44.8309135,"cg_dv":55.1690865,"cg_dw":49.8622055,"cg_id_a":-14.6259193,"cg_id_raw_a":-16.0494137,"cg_iq_a":-195.200851,"cg_iq_raw_a":-196.429459,"cg_iu_a":-188.537888,"cg_iv_a":139.028015,"cg_iw_a":49.5098648,"cg_sample_age_us":23.9254551,"cg_sample_seq":9743167,"cg_sample_valid":1,"cg_theta_rad":4.14145899,"cg_vd_req_v":-1.61104858,"cg_vd_v":-1.61104858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48773003,"cg_vq_v":-8.48773003,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2520.18091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1675.792358,"values":{"Elec_RPM":-2354.59131,"EncoderCos":13659,"EncoderSin":22487,"GapTicks":49949,"Mech_RPM":-470.918274,"cg_du":54.5917206,"cg_dv":45.9355927,"cg_dw":45.4082794,"cg_id_a":9.00182343,"cg_id_raw_a":10.8325224,"cg_iq_a":-200.715881,"cg_iq_raw_a":-200.256256,"cg_iu_a":177.307373,"cg_iv_a":-10.6227722,"cg_iw_a":-166.684601,"cg_sample_age_us":24.0709095,"cg_sample_seq":9744967,"cg_sample_valid":1,"cg_theta_rad":3.64127135,"cg_vd_req_v":-2.05627775,"cg_vd_v":-2.05627775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36842632,"cg_vq_v":-8.36842632,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2417.32227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1676.035504,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1676.035509,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1676.035514,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1676.147827,"values":{"Elec_RPM":-2353.31885,"EncoderCos":22280,"EncoderSin":13835,"GapTicks":49600,"Mech_RPM":-470.663757,"cg_du":45.0910187,"cg_dv":54.9089813,"cg_dw":52.7832565,"cg_id_a":5.53893852,"cg_id_raw_a":1.89924812,"cg_iq_a":-197.957794,"cg_iq_raw_a":-196.376434,"cg_iu_a":-191.908569,"cg_iv_a":45.8088684,"cg_iw_a":133.813034,"cg_sample_age_us":23.8418179,"cg_sample_seq":9746667,"cg_sample_valid":1,"cg_theta_rad":4.22788525,"cg_vd_req_v":-2.03588963,"cg_vd_v":-2.03588963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38839149,"cg_vq_v":-8.38839149,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.551136,"dclink_p_w":-2540.08203,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1676.479858,"values":{"Elec_RPM":-2351.76807,"EncoderCos":34444,"EncoderSin":11235,"GapTicks":49395,"Mech_RPM":-470.353607,"cg_du":55.0947952,"cg_dv":44.9052048,"cg_dw":48.7706223,"cg_id_a":-5.08471012,"cg_id_raw_a":-9.79206371,"cg_iq_a":-198.656586,"cg_iq_raw_a":-197.870132,"cg_iu_a":199.923523,"cg_iv_a":-101.449829,"cg_iw_a":-98.4736938,"cg_sample_age_us":24.0636368,"cg_sample_seq":9748366,"cg_sample_valid":1,"cg_theta_rad":4.80469275,"cg_vd_req_v":-1.84884858,"cg_vd_v":-1.84884858,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39515209,"cg_vq_v":-8.39515209,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2394.78516,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1676.831421,"values":{"Elec_RPM":-2358.14209,"EncoderCos":44748,"EncoderSin":14851,"GapTicks":49944,"Mech_RPM":-471.628418,"cg_du":45.4044456,"cg_dv":54.5955544,"cg_dw":45.9524193,"cg_id_a":8.29475975,"cg_id_raw_a":10.7915373,"cg_iq_a":-203.198853,"cg_iq_raw_a":-203.493759,"cg_iu_a":-182.775116,"cg_iv_a":156.026367,"cg_iw_a":26.7487411,"cg_sample_age_us":23.9327278,"cg_sample_seq":9750072,"cg_sample_valid":1,"cg_theta_rad":5.3745532,"cg_vd_req_v":-2.14875293,"cg_vd_v":-2.14875293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34344196,"cg_vq_v":-8.34344196,"cg_vu_v":105.134323,"cg_vv_v":106.014107,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.1557503,"dclink_p_w":-2338.1355,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1677.02736,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1677.027366,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1677.027371,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1677.163452,"values":{"Elec_RPM":-2360.80029,"EncoderCos":52894,"EncoderSin":25649,"GapTicks":49792,"Mech_RPM":-472.160034,"cg_du":54.7338066,"cg_dv":45.2661934,"cg_dw":53.4932861,"cg_id_a":4.68804836,"cg_id_raw_a":9.21355915,"cg_iq_a":-200.611389,"cg_iq_raw_a":-201.65062,"cg_iu_a":169.478699,"cg_iv_a":-174.408661,"cg_iw_a":4.92996216,"cg_sample_age_us":24.2199993,"cg_sample_seq":9751767,"cg_sample_valid":1,"cg_theta_rad":5.96070671,"cg_vd_req_v":-2.02404881,"cg_vd_v":-2.02404881,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35729599,"cg_vq_v":-8.35729599,"cg_vu_v":143.404984,"cg_vv_v":138.566162,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2416.52979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1677.495483,"values":{"Elec_RPM":-2359.32275,"EncoderCos":53398,"EncoderSin":37891,"GapTicks":49701,"Mech_RPM":-471.864563,"cg_du":46.8204079,"cg_dv":54.816433,"cg_dw":45.183567,"cg_id_a":12.0726261,"cg_id_raw_a":13.4850426,"cg_iq_a":-204.626984,"cg_iq_raw_a":-202.697464,"cg_iu_a":-155.411026,"cg_iv_a":194.662292,"cg_iw_a":-39.2512741,"cg_sample_age_us":23.4818172,"cg_sample_seq":9753466,"cg_sample_valid":1,"cg_theta_rad":0.255176365,"cg_vd_req_v":-2.2396574,"cg_vd_v":-2.2396574,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29034615,"cg_vq_v":-8.29034615,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1677.847046,"values":{"Elec_RPM":-2357.7439,"EncoderCos":47239,"EncoderSin":48628,"GapTicks":49349,"Mech_RPM":-471.548798,"cg_du":51.3849144,"cg_dv":44.8635864,"cg_dw":55.1364136,"cg_id_a":5.60255146,"cg_id_raw_a":-0.205490619,"cg_iq_a":-199.274521,"cg_iq_raw_a":-198.73848,"cg_iu_a":100.216736,"cg_iv_a":-199.271927,"cg_iw_a":99.055191,"cg_sample_age_us":23.51091,"cg_sample_seq":9755166,"cg_sample_valid":1,"cg_theta_rad":0.826753438,"cg_vd_req_v":-2.08080101,"cg_vd_v":-2.08080101,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43414211,"cg_vq_v":-8.43414211,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2404.22681,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1678.027227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1678.027233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1678.027239,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1678.225952,"values":{"Elec_RPM":-2355.7876,"EncoderCos":36300,"EncoderSin":53908,"GapTicks":49324,"Mech_RPM":-471.157532,"cg_du":50.7461662,"cg_dv":55.1597824,"cg_dw":44.8402176,"cg_id_a":-11.0275164,"cg_id_raw_a":-10.4282236,"cg_iq_a":-194.389923,"cg_iq_raw_a":-193.842743,"cg_iu_a":-39.2495346,"cg_iv_a":185.383881,"cg_iw_a":-146.134338,"cg_sample_age_us":23.9290905,"cg_sample_seq":9756867,"cg_sample_valid":1,"cg_theta_rad":1.4052465,"cg_vd_req_v":-1.66210425,"cg_vd_v":-1.66210425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4915657,"cg_vq_v":-8.4915657,"cg_vu_v":145.164551,"cg_vv_v":143.404984,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2398.38159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1678.745483,"values":{"Elec_RPM":-2356.96655,"EncoderCos":15450,"EncoderSin":19596,"GapTicks":49633,"Mech_RPM":-471.393311,"cg_du":54.8782768,"cg_dv":52.6950378,"cg_dw":45.1217232,"cg_id_a":10.5698853,"cg_id_raw_a":6.94804859,"cg_iq_a":-202.381744,"cg_iq_raw_a":-199.276016,"cg_iu_a":56.8328629,"cg_iv_a":140.441528,"cg_iw_a":-197.274399,"cg_sample_age_us":23.9509087,"cg_sample_seq":9759567,"cg_sample_valid":1,"cg_theta_rad":3.79826045,"cg_vd_req_v":-2.11280751,"cg_vd_v":-2.11280751,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31881046,"cg_vq_v":-8.31881046,"cg_vu_v":110.413033,"cg_vv_v":113.492287,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-17.0763416,"dclink_p_w":-2471.36768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1678.922614,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1678.922623,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1678.922626,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1679.051289,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1679.051295,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1679.051299,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1679.175171,"values":{"Elec_RPM":-2361.06079,"EncoderCos":51352,"EncoderSin":22140,"GapTicks":49471,"Mech_RPM":-472.212158,"cg_du":48.0777702,"cg_dv":44.9744835,"cg_dw":55.0255165,"cg_id_a":-11.8802338,"cg_id_raw_a":-8.23155689,"cg_iq_a":-199.753632,"cg_iq_raw_a":-201.325897,"cg_iu_a":64.9877319,"cg_iv_a":-191.841949,"cg_iw_a":126.85421,"cg_sample_age_us":26.7654552,"cg_sample_seq":9761721,"cg_sample_valid":1,"cg_theta_rad":5.82491016,"cg_vd_req_v":-1.73901606,"cg_vd_v":-1.73901606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42302132,"cg_vq_v":-8.42302132,"cg_vu_v":105.134323,"cg_vv_v":85.3391571,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1679.507202,"values":{"Elec_RPM":-2358.63428,"EncoderCos":33944,"EncoderSin":11204,"GapTicks":49349,"Mech_RPM":-471.726837,"cg_du":55.1368408,"cg_dv":44.8631592,"cg_dw":49.59235,"cg_id_a":-14.6650391,"cg_id_raw_a":-18.4517059,"cg_iq_a":-197.535828,"cg_iq_raw_a":-196.594971,"cg_iu_a":194.595673,"cg_iv_a":-129.611267,"cg_iw_a":-64.9843979,"cg_sample_age_us":24.0636368,"cg_sample_seq":9763567,"cg_sample_valid":1,"cg_theta_rad":4.78405142,"cg_vd_req_v":-1.64361954,"cg_vd_v":-1.64361954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43471527,"cg_vq_v":-8.43471527,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2420.48755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1679.839233,"values":{"Elec_RPM":-2350.28125,"EncoderCos":53781,"EncoderSin":36086,"GapTicks":49381,"Mech_RPM":-470.056274,"cg_du":49.9641838,"cg_dv":55.1078873,"cg_dw":44.8921127,"cg_id_a":-16.5619221,"cg_id_raw_a":-16.6773777,"cg_iq_a":-198.788177,"cg_iq_raw_a":-196.378326,"cg_iu_a":-54.0370255,"cg_iv_a":194.444824,"cg_iw_a":-140.407806,"cg_sample_age_us":23.48909,"cg_sample_seq":9765166,"cg_sample_valid":1,"cg_theta_rad":0.166056588,"cg_vd_req_v":-1.65425324,"cg_vd_v":-1.65425324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37421608,"cg_vq_v":-8.37421608,"cg_vu_v":25.0738773,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1680.042768,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1680.042774,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1680.042779,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1680.190796,"values":{"Elec_RPM":-2350.75439,"EncoderCos":52916,"EncoderSin":25608,"GapTicks":49839,"Mech_RPM":-470.150879,"cg_du":54.691082,"cg_dv":45.308918,"cg_dw":53.6015511,"cg_id_a":7.05302238,"cg_id_raw_a":13.5373945,"cg_iq_a":-202.176025,"cg_iq_raw_a":-202.629379,"cg_iu_a":172.559418,"cg_iv_a":-175.459717,"cg_iw_a":2.90029907,"cg_sample_age_us":24.1836357,"cg_sample_seq":9766966,"cg_sample_valid":1,"cg_theta_rad":5.95775604,"cg_vd_req_v":-2.08054829,"cg_vd_v":-2.08054829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31883049,"cg_vq_v":-8.31883049,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2392.94946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1680.522827,"values":{"Elec_RPM":-2355.00391,"EncoderCos":38071,"EncoderSin":53468,"GapTicks":49955,"Mech_RPM":-471.000793,"cg_du":54.5855713,"cg_dv":54.0956154,"cg_dw":45.4144287,"cg_id_a":14.1985474,"cg_id_raw_a":12.4574356,"cg_iq_a":-202.922729,"cg_iq_raw_a":-205.396866,"cg_iu_a":21.2051773,"cg_iv_a":159.034607,"cg_iw_a":-187.778503,"cg_sample_age_us":23.8963642,"cg_sample_seq":9768566,"cg_sample_valid":1,"cg_theta_rad":1.31835437,"cg_vd_req_v":-2.18313885,"cg_vd_v":-2.18313885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34099388,"cg_vq_v":-8.34099388,"cg_vu_v":30.3525867,"cg_vv_v":24.1940918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2528.80469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1680.878296,"values":{"Elec_RPM":-2356.95508,"EncoderCos":26707,"EncoderSin":53515,"GapTicks":49361,"Mech_RPM":-471.390991,"cg_du":44.8740501,"cg_dv":49.3881416,"cg_dw":55.1259499,"cg_id_a":-13.6436253,"cg_id_raw_a":-18.2420025,"cg_iq_a":-196.298004,"cg_iq_raw_a":-197.283295,"cg_iu_a":-61.5032539,"cg_iv_a":-134.540451,"cg_iw_a":196.043701,"cg_sample_age_us":26.7399998,"cg_sample_seq":9770270,"cg_sample_valid":1,"cg_theta_rad":1.90840364,"cg_vd_req_v":-1.60798597,"cg_vd_v":-1.60798597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43457127,"cg_vq_v":-8.43457127,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2491.30029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1681.035076,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1681.035082,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1681.035087,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1681.210327,"values":{"Elec_RPM":-2361.62939,"EncoderCos":15848,"EncoderSin":46190,"GapTicks":49322,"Mech_RPM":-472.325867,"cg_du":55.1612129,"cg_dv":49.9954224,"cg_dw":44.8387871,"cg_id_a":-7.77168083,"cg_id_raw_a":-7.39901066,"cg_iq_a":-198.058289,"cg_iq_raw_a":-198.925415,"cg_iu_a":128.233215,"cg_iv_a":68.4974976,"cg_iw_a":-196.730713,"cg_sample_age_us":23.9436359,"cg_sample_seq":9771966,"cg_sample_valid":1,"cg_theta_rad":2.47640705,"cg_vd_req_v":-1.7541039,"cg_vd_v":-1.7541039,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4180603,"cg_vq_v":-8.4180603,"cg_vu_v":15.836132,"cg_vv_v":22.4345207,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2389.85938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1681.542358,"values":{"Elec_RPM":-2361.11841,"EncoderCos":15307,"EncoderSin":45490,"GapTicks":49424,"Mech_RPM":-472.223694,"cg_du":55.0684052,"cg_dv":51.5089378,"cg_dw":44.9315948,"cg_id_a":5.89829063,"cg_id_raw_a":2.40465927,"cg_iq_a":-203.507263,"cg_iq_raw_a":-204.635574,"cg_iu_a":86.1903687,"cg_iv_a":118.369019,"cg_iw_a":-204.559387,"cg_sample_age_us":23.8490906,"cg_sample_seq":9773716,"cg_sample_valid":1,"cg_theta_rad":2.51332259,"cg_vd_req_v":-2.03717685,"cg_vd_v":-2.03717685,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32238102,"cg_vq_v":-8.32238102,"cg_vu_v":24.6339836,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1681.893921,"values":{"Elec_RPM":-2358.66968,"EncoderCos":11179,"EncoderSin":33984,"GapTicks":49378,"Mech_RPM":-471.733948,"cg_du":44.8896866,"cg_dv":50.3159752,"cg_dw":55.1103134,"cg_id_a":-16.2060719,"cg_id_raw_a":-13.7069674,"cg_iq_a":-197.539261,"cg_iq_raw_a":-199.309204,"cg_iu_a":-146.748749,"cg_iv_a":-32.2241058,"cg_iw_a":184.8806,"cg_sample_age_us":23.8345451,"cg_sample_seq":9775416,"cg_sample_valid":1,"cg_theta_rad":3.08720517,"cg_vd_req_v":-1.54155779,"cg_vd_v":-1.54155779,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43167973,"cg_vq_v":-8.43167973,"cg_vu_v":34.3116188,"cg_vv_v":33.4318352,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2390.85132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1682.059071,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1682.059076,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1682.059081,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1682.225952,"values":{"Elec_RPM":-2356.89502,"EncoderCos":13848,"EncoderSin":22121,"GapTicks":49723,"Mech_RPM":-471.378998,"cg_du":54.796402,"cg_dv":46.8533821,"cg_dw":45.203598,"cg_id_a":2.68458438,"cg_id_raw_a":6.72081232,"cg_iq_a":-199.661804,"cg_iq_raw_a":-199.995499,"cg_iu_a":171.870789,"cg_iv_a":-1.56182861,"cg_iw_a":-170.30896,"cg_sample_age_us":24.0236359,"cg_sample_seq":9777117,"cg_sample_valid":1,"cg_theta_rad":3.65884781,"cg_vd_req_v":-1.92072654,"cg_vd_v":-1.92072654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35315132,"cg_vq_v":-8.35315132,"cg_vu_v":106.893898,"cg_vv_v":100.735397,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1682.56189,"values":{"Elec_RPM":-2354.32031,"EncoderCos":22741,"EncoderSin":13562,"GapTicks":49820,"Mech_RPM":-470.864075,"cg_du":45.2909164,"cg_dv":54.7090836,"cg_dw":53.7534409,"cg_id_a":9.57380486,"cg_id_raw_a":10.0037231,"cg_iq_a":-199.329285,"cg_iq_raw_a":-199.534729,"cg_iu_a":-188.066711,"cg_iv_a":30.4777222,"cg_iw_a":157.588989,"cg_sample_age_us":23.8381824,"cg_sample_seq":9778816,"cg_sample_valid":1,"cg_theta_rad":4.24431086,"cg_vd_req_v":-2.12472391,"cg_vd_v":-2.12472391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39819813,"cg_vq_v":-8.39819813,"cg_vu_v":116.131638,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1682.913452,"values":{"Elec_RPM":-2358.75391,"EncoderCos":52388,"EncoderSin":24332,"GapTicks":49507,"Mech_RPM":-471.750793,"cg_du":52.5028648,"cg_dv":45.0064354,"cg_dw":54.9935646,"cg_id_a":17.588026,"cg_id_raw_a":13.7412968,"cg_iq_a":-199.772903,"cg_iq_raw_a":-199.326584,"cg_iu_a":145.412796,"cg_iv_a":-193.037994,"cg_iw_a":47.6251907,"cg_sample_age_us":23.8018188,"cg_sample_seq":9780417,"cg_sample_valid":1,"cg_theta_rad":5.89308214,"cg_vd_req_v":-2.33654046,"cg_vd_v":-2.33654046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36718941,"cg_vq_v":-8.36718941,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.3134098,"dclink_p_w":-2360.95264,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1683.050827,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1683.050833,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1683.050838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1683.245483,"values":{"Elec_RPM":-2355.21338,"EncoderCos":45982,"EncoderSin":15832,"GapTicks":49349,"Mech_RPM":-471.042664,"cg_du":44.8636322,"cg_dv":55.1363678,"cg_dw":49.5411339,"cg_id_a":-14.0911884,"cg_id_raw_a":-17.5156593,"cg_iq_a":-195.933716,"cg_iq_raw_a":-197.51506,"cg_iu_a":-186.580719,"cg_iv_a":145.696869,"cg_iw_a":40.8838425,"cg_sample_age_us":23.8818188,"cg_sample_seq":9782217,"cg_sample_valid":1,"cg_theta_rad":5.38869858,"cg_vd_req_v":-1.70783508,"cg_vd_v":-1.70783508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45025635,"cg_vq_v":-8.45025635,"cg_vu_v":128.008743,"cg_vv_v":136.366699,"cg_vw_v":108.21357,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2401.34204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1683.577515,"values":{"Elec_RPM":-2354.96533,"EncoderCos":53534,"EncoderSin":37401,"GapTicks":49511,"Mech_RPM":-470.993042,"cg_du":47.7596893,"cg_dv":54.9892616,"cg_dw":45.0107384,"cg_id_a":7.83336639,"cg_id_raw_a":1.62176299,"cg_iq_a":-202.812363,"cg_iq_raw_a":-200.950119,"cg_iu_a":-136.238037,"cg_iv_a":199.881409,"cg_iw_a":-63.6433792,"cg_sample_age_us":23.4927273,"cg_sample_seq":9783866,"cg_sample_valid":1,"cg_theta_rad":0.230185345,"cg_vd_req_v":-2.18359494,"cg_vd_v":-2.18359494,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33198166,"cg_vq_v":-8.33198166,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2497.84741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1683.929077,"values":{"Elec_RPM":-2354.12402,"EncoderCos":53238,"EncoderSin":26720,"GapTicks":49316,"Mech_RPM":-470.824829,"cg_du":55.1664658,"cg_dv":44.8335342,"cg_dw":50.8911705,"cg_id_a":-14.0871344,"cg_id_raw_a":-14.97192,"cg_iq_a":-195.310822,"cg_iq_raw_a":-195.601639,"cg_iu_a":181.910339,"cg_iv_a":-152.154953,"cg_iw_a":-29.7553864,"cg_sample_age_us":24.1654549,"cg_sample_seq":9785667,"cg_sample_valid":1,"cg_theta_rad":6.01006651,"cg_vd_req_v":-1.68155956,"cg_vd_v":-1.68155956,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48518753,"cg_vq_v":-8.48518753,"cg_vu_v":142.965088,"cg_vv_v":138.566162,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2354.56079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1684.043501,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1684.043507,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1684.043513,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1684.261108,"values":{"Elec_RPM":-2357.90991,"EncoderCos":36842,"EncoderSin":53800,"GapTicks":49450,"Mech_RPM":-471.582001,"cg_du":51.9199867,"cg_dv":55.0449371,"cg_dw":44.9550629,"cg_id_a":-8.98876286,"cg_id_raw_a":-4.4730258,"cg_iq_a":-194.900864,"cg_iq_raw_a":-194.512695,"cg_iu_a":-16.3796787,"cg_iv_a":175.489319,"cg_iw_a":-159.109634,"cg_sample_age_us":23.9254551,"cg_sample_seq":9787267,"cg_sample_valid":1,"cg_theta_rad":1.38057816,"cg_vd_req_v":-1.69340336,"cg_vd_v":-1.69340336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46416092,"cg_vq_v":-8.46416092,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5928173,"dclink_p_w":-2538.37549,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1684.616577,"values":{"Elec_RPM":-2359.47095,"EncoderCos":46300,"EncoderSin":49470,"GapTicks":49813,"Mech_RPM":-471.894196,"cg_du":53.6522751,"cg_dv":45.2849388,"cg_dw":54.7150612,"cg_id_a":17.6281891,"cg_id_raw_a":18.1890259,"cg_iq_a":-202.163925,"cg_iq_raw_a":-201.032761,"cg_iu_a":156.684631,"cg_iv_a":-190.935852,"cg_iw_a":34.2512207,"cg_sample_age_us":23.4563637,"cg_sample_seq":9789066,"cg_sample_valid":1,"cg_theta_rad":0.884887636,"cg_vd_req_v":-2.27781868,"cg_vd_v":-2.27781868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32559681,"cg_vq_v":-8.32559681,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2488.17285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1684.944702,"values":{"Elec_RPM":-2362.302,"EncoderCos":14928,"EncoderSin":44978,"GapTicks":49579,"Mech_RPM":-472.460388,"cg_du":54.9274902,"cg_dv":52.6705971,"cg_dw":45.0725098,"cg_id_a":13.6079273,"cg_id_raw_a":12.7150984,"cg_iq_a":-202.624191,"cg_iq_raw_a":-202.486465,"cg_iu_a":62.9943161,"cg_iv_a":134.787476,"cg_iw_a":-197.781799,"cg_sample_age_us":23.7872734,"cg_sample_seq":9790666,"cg_sample_valid":1,"cg_theta_rad":2.54152369,"cg_vd_req_v":-2.17417336,"cg_vd_v":-2.17417336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34981251,"cg_vq_v":-8.34981251,"cg_vu_v":43.1094704,"cg_vv_v":56.3062477,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2413.93091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1685.035511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1685.035518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1685.035523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1685.28064,"values":{"Elec_RPM":-2357.67798,"EncoderCos":11142,"EncoderSin":33362,"GapTicks":49391,"Mech_RPM":-471.535583,"cg_du":44.9016762,"cg_dv":49.1736069,"cg_dw":55.0983238,"cg_id_a":-10.643899,"cg_id_raw_a":-13.9548645,"cg_iq_a":-197.454193,"cg_iq_raw_a":-198.958511,"cg_iu_a":-118.043633,"cg_iv_a":-79.2685928,"cg_iw_a":197.312225,"cg_sample_age_us":23.9618187,"cg_sample_seq":9792366,"cg_sample_valid":1,"cg_theta_rad":3.11856914,"cg_vd_req_v":-1.67612791,"cg_vd_v":-1.67612791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4179821,"cg_vq_v":-8.4179821,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.6453705,"dclink_p_w":-2561.48218,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1685.632202,"values":{"Elec_RPM":-2360.48486,"EncoderCos":14097,"EncoderSin":21696,"GapTicks":49464,"Mech_RPM":-472.096985,"cg_du":55.0320435,"cg_dv":48.0962029,"cg_dw":44.9679565,"cg_id_a":-11.566143,"cg_id_raw_a":-7.23022509,"cg_iq_a":-197.620544,"cg_iq_raw_a":-197.71109,"cg_iu_a":163.027298,"cg_iv_a":12.5370331,"cg_iw_a":-175.564331,"cg_sample_age_us":24.0599995,"cg_sample_seq":9794067,"cg_sample_valid":1,"cg_theta_rad":3.68476558,"cg_vd_req_v":-1.64731848,"cg_vd_v":-1.64731848,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42174625,"cg_vq_v":-8.42174625,"cg_vu_v":105.574219,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2424.37378,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1685.964233,"values":{"Elec_RPM":-2362.86035,"EncoderCos":23255,"EncoderSin":13313,"GapTicks":49949,"Mech_RPM":-472.572052,"cg_du":45.4083061,"cg_dv":54.1454659,"cg_dw":54.5916939,"cg_id_a":9.27429962,"cg_id_raw_a":11.6027803,"cg_iq_a":-201.878098,"cg_iq_raw_a":-201.335327,"cg_iu_a":-180.093079,"cg_iv_a":8.40522766,"cg_iw_a":171.687851,"cg_sample_age_us":23.8454552,"cg_sample_seq":9795766,"cg_sample_valid":1,"cg_theta_rad":4.27026367,"cg_vd_req_v":-2.09391427,"cg_vd_v":-2.09391427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36891174,"cg_vq_v":-8.36891174,"cg_vu_v":127.568848,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1686.026936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1686.026942,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1686.026947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1686.296265,"values":{"Elec_RPM":-2362.67383,"EncoderCos":35435,"EncoderSin":11329,"GapTicks":49641,"Mech_RPM":-472.53479,"cg_du":54.8712234,"cg_dv":45.1287766,"cg_dw":47.1912117,"cg_id_a":16.1579399,"cg_id_raw_a":15.255435,"cg_iq_a":-202.354767,"cg_iq_raw_a":-201.289627,"cg_iu_a":195.465515,"cg_iv_a":-56.2900085,"cg_iw_a":-140.262833,"cg_sample_age_us":24.0636368,"cg_sample_seq":9797466,"cg_sample_valid":1,"cg_theta_rad":4.85162401,"cg_vd_req_v":-2.25735283,"cg_vd_v":-2.25735283,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30445671,"cg_vq_v":-8.30445671,"cg_vu_v":43.549366,"cg_vv_v":41.3499031,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2519.91797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1686.647827,"values":{"Elec_RPM":-2361.62378,"EncoderCos":46442,"EncoderSin":16181,"GapTicks":49317,"Mech_RPM":-472.324738,"cg_du":44.8340912,"cg_dv":55.1659088,"cg_dw":50.6077118,"cg_id_a":-9.12903214,"cg_id_raw_a":-15.5269127,"cg_iq_a":-196.763092,"cg_iq_raw_a":-196.726257,"cg_iu_a":-193.829498,"cg_iv_a":119.166397,"cg_iw_a":74.6631012,"cg_sample_age_us":23.8272724,"cg_sample_seq":9799167,"cg_sample_valid":1,"cg_theta_rad":5.41880322,"cg_vd_req_v":-1.83225,"cg_vd_v":-1.83225,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42969704,"cg_vq_v":-8.42969704,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.1412525,"dclink_p_w":-2336.03711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1686.979858,"values":{"Elec_RPM":-2359.73755,"EncoderCos":53174,"EncoderSin":26457,"GapTicks":49384,"Mech_RPM":-471.94751,"cg_du":55.1048584,"cg_dv":44.8951416,"cg_dw":51.4663239,"cg_id_a":-12.8728218,"cg_id_raw_a":-11.6843786,"cg_iq_a":-196.120605,"cg_iq_raw_a":-197.152588,"cg_iu_a":178.21347,"cg_iv_a":-157.736496,"cg_iw_a":-20.4769745,"cg_sample_age_us":24.1327267,"cg_sample_seq":9800867,"cg_sample_valid":1,"cg_theta_rad":5.99771881,"cg_vd_req_v":-1.69910169,"cg_vd_v":-1.69910169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47886181,"cg_vq_v":-8.47886181,"cg_vu_v":105.574219,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2519.10083,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1687.019473,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1687.019481,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1687.019487,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1687.315796,"values":{"Elec_RPM":-2358.98584,"EncoderCos":47118,"EncoderSin":48738,"GapTicks":49419,"Mech_RPM":-471.79715,"cg_du":51.6812935,"cg_dv":44.9265976,"cg_dw":55.0734024,"cg_id_a":7.39898348,"cg_id_raw_a":2.54309249,"cg_iq_a":-198.516296,"cg_iq_raw_a":-197.350952,"cg_iu_a":119.93338,"cg_iv_a":-198.583282,"cg_iw_a":78.64991,"cg_sample_age_us":23.5945454,"cg_sample_seq":9802516,"cg_sample_valid":1,"cg_theta_rad":0.842379093,"cg_vd_req_v":-2.10009909,"cg_vd_v":-2.10009909,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39982605,"cg_vq_v":-8.39982605,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6671181,"dclink_p_w":-2556.86768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1687.667358,"values":{"Elec_RPM":-2349.9436,"EncoderCos":52868,"EncoderSin":39801,"GapTicks":49426,"Mech_RPM":-469.988739,"cg_du":44.9334984,"cg_dv":55.0665016,"cg_dw":48.503006,"cg_id_a":-8.10844898,"cg_id_raw_a":-7.16271114,"cg_iq_a":-197.486725,"cg_iq_raw_a":-198.259857,"cg_iu_a":-183.934921,"cg_iv_a":153.996719,"cg_iw_a":29.9382019,"cg_sample_age_us":23.4418182,"cg_sample_seq":9804316,"cg_sample_valid":1,"cg_theta_rad":0.345908225,"cg_vd_req_v":-1.80317128,"cg_vd_v":-1.80317128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42442036,"cg_vq_v":-8.42442036,"cg_vu_v":110.413033,"cg_vv_v":115.251846,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1687.99939,"values":{"Elec_RPM":-2349.68286,"EncoderCos":24243,"EncoderSin":52664,"GapTicks":49859,"Mech_RPM":-469.936554,"cg_du":46.4681053,"cg_dv":45.3270912,"cg_dw":54.6729088,"cg_id_a":3.38710189,"cg_id_raw_a":8.34175491,"cg_iq_a":-205.848862,"cg_iq_raw_a":-206.052811,"cg_iu_a":-6.30389357,"cg_iv_a":-173.393829,"cg_iw_a":179.697723,"cg_sample_age_us":23.8963642,"cg_sample_seq":9805917,"cg_sample_valid":1,"cg_theta_rad":1.97821724,"cg_vd_req_v":-1.9424938,"cg_vd_v":-1.9424938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29581642,"cg_vq_v":-8.29581642,"cg_vu_v":103.814644,"cg_vv_v":80.0604477,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4005127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1688.043222,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1688.043227,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1688.043232,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1688.487671,"values":{"Elec_RPM":-2349.23364,"EncoderCos":16753,"EncoderSin":47260,"GapTicks":49659,"Mech_RPM":-469.846741,"cg_du":54.8553276,"cg_dv":47.0416756,"cg_dw":45.1446724,"cg_id_a":-0.87773782,"cg_id_raw_a":5.38848686,"cg_iq_a":-198.788498,"cg_iq_raw_a":-201.744507,"cg_iu_a":172.160736,"cg_iv_a":0.069152832,"cg_iw_a":-172.229889,"cg_sample_age_us":23.9327278,"cg_sample_seq":9808216,"cg_sample_valid":1,"cg_theta_rad":2.40761232,"cg_vd_req_v":-1.86319578,"cg_vd_v":-1.86319578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3970871,"cg_vq_v":-8.3970871,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1688.907041,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1688.907052,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1688.907056,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1688.991577,"values":{"Elec_RPM":-2351.39258,"EncoderCos":34325,"EncoderSin":11224,"GapTicks":49396,"Mech_RPM":-470.278534,"cg_du":55.0942307,"cg_dv":44.9057693,"cg_dw":48.8913765,"cg_id_a":-10.4270821,"cg_id_raw_a":-14.5778913,"cg_iq_a":-196.884171,"cg_iq_raw_a":-197.127335,"cg_iu_a":197.313965,"cg_iv_a":-110.003372,"cg_iw_a":-87.3105927,"cg_sample_age_us":24.0672722,"cg_sample_seq":9810916,"cg_sample_valid":1,"cg_theta_rad":4.80137968,"cg_vd_req_v":-1.7296716,"cg_vd_v":-1.7296716,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43055916,"cg_vq_v":-8.43055916,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2511.75732,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1689.035074,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1689.03508,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1689.035084,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1689.323608,"values":{"Elec_RPM":-2349.07178,"EncoderCos":45728,"EncoderSin":15583,"GapTicks":49425,"Mech_RPM":-469.814331,"cg_du":44.9325562,"cg_dv":55.0674438,"cg_dw":48.7905083,"cg_id_a":-13.2726831,"cg_id_raw_a":-11.3211489,"cg_iq_a":-199.39563,"cg_iq_raw_a":-200.457062,"cg_iu_a":-185.094727,"cg_iv_a":154.757843,"cg_iw_a":30.3368912,"cg_sample_age_us":23.9581814,"cg_sample_seq":9812616,"cg_sample_valid":1,"cg_theta_rad":5.37816906,"cg_vd_req_v":-1.72232378,"cg_vd_v":-1.72232378,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37311554,"cg_vq_v":-8.37311554,"cg_vu_v":9.23774433,"cg_vv_v":25.0738773,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2428.03418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1689.679077,"values":{"Elec_RPM":-2346.93823,"EncoderCos":52902,"EncoderSin":25608,"GapTicks":49817,"Mech_RPM":-469.387665,"cg_du":54.7109871,"cg_dv":45.2890129,"cg_dw":53.6229591,"cg_id_a":6.18342972,"cg_id_raw_a":13.4503584,"cg_iq_a":-203.323334,"cg_iq_raw_a":-204.065979,"cg_iu_a":173.610504,"cg_iv_a":-176.257095,"cg_iw_a":2.64659119,"cg_sample_age_us":24.1945457,"cg_sample_seq":9814316,"cg_sample_valid":1,"cg_theta_rad":5.95800543,"cg_vd_req_v":-2.0811708,"cg_vd_v":-2.0811708,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33166218,"cg_vq_v":-8.33166218,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6377926,"dclink_p_w":-2407.89868,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1690.011108,"values":{"Elec_RPM":-2350.3374,"EncoderCos":53433,"EncoderSin":37804,"GapTicks":49639,"Mech_RPM":-470.067474,"cg_du":46.9998207,"cg_dv":54.8733597,"cg_dw":45.1266403,"cg_id_a":12.8373642,"cg_id_raw_a":10.9012747,"cg_iq_a":-202.747391,"cg_iq_raw_a":-201.275787,"cg_iu_a":-141.384659,"cg_iv_a":197.271851,"cg_iw_a":-55.8871994,"cg_sample_age_us":23.3909092,"cg_sample_seq":9816016,"cg_sample_valid":1,"cg_theta_rad":0.240150928,"cg_vd_req_v":-2.2655468,"cg_vd_v":-2.2655468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34097672,"cg_vq_v":-8.34097672,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2520.67432,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1690.027655,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1690.027661,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1690.027667,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1690.34314,"values":{"Elec_RPM":-2350.73853,"EncoderCos":47496,"EncoderSin":48432,"GapTicks":49326,"Mech_RPM":-470.147705,"cg_du":50.8725395,"cg_dv":44.8419647,"cg_dw":55.1580353,"cg_id_a":-1.20090234,"cg_id_raw_a":-5.57588482,"cg_iq_a":-196.286606,"cg_iq_raw_a":-194.007416,"cg_iu_a":91.4819641,"cg_iv_a":-197.024811,"cg_iw_a":105.542847,"cg_sample_age_us":23.5763645,"cg_sample_seq":9817717,"cg_sample_valid":1,"cg_theta_rad":0.820016861,"cg_vd_req_v":-1.93161011,"cg_vd_v":-1.93161011,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4426403,"cg_vq_v":-8.4426403,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1690.694702,"values":{"Elec_RPM":-2349.3457,"EncoderCos":36334,"EncoderSin":53888,"GapTicks":49323,"Mech_RPM":-469.869141,"cg_du":50.8527794,"cg_dv":55.1604614,"cg_dw":44.8395386,"cg_id_a":-10.3524551,"cg_id_raw_a":-9.47074699,"cg_iq_a":-195.971039,"cg_iq_raw_a":-196.589218,"cg_iu_a":-36.0600815,"cg_iv_a":185.565094,"cg_iw_a":-149.50502,"cg_sample_age_us":23.9181824,"cg_sample_seq":9819416,"cg_sample_valid":1,"cg_theta_rad":1.40434313,"cg_vd_req_v":-1.68663061,"cg_vd_v":-1.68663061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47037506,"cg_vq_v":-8.47037506,"cg_vu_v":16.7159176,"cg_vv_v":16.7159176,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2468.30078,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3110962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1691.026733,"values":{"Elec_RPM":-2350.45361,"EncoderCos":24234,"EncoderSin":52613,"GapTicks":49830,"Mech_RPM":-470.090729,"cg_du":46.4913406,"cg_dv":45.3005753,"cg_dw":54.6994247,"cg_id_a":4.54913902,"cg_id_raw_a":8.17288494,"cg_iq_a":-204.867615,"cg_iq_raw_a":-206.66893,"cg_iu_a":-5.65150452,"cg_iv_a":-173.792511,"cg_iw_a":179.444016,"cg_sample_age_us":23.8999996,"cg_sample_seq":9821116,"cg_sample_valid":1,"cg_theta_rad":1.97669911,"cg_vd_req_v":-1.96640289,"cg_vd_v":-1.96640289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32279301,"cg_vq_v":-8.32279301,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":13.1967773,"control_outputs_enabled":1,"dclink_i_a":-16.42033,"dclink_p_w":-2383.6499,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1691.051104,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1691.051123,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1691.051129,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1691.382202,"values":{"Elec_RPM":-2357.53442,"EncoderCos":15199,"EncoderSin":45382,"GapTicks":49468,"Mech_RPM":-471.506866,"cg_du":55.0285339,"cg_dv":51.7251129,"cg_dw":44.9714661,"cg_id_a":8.5636282,"cg_id_raw_a":3.40845251,"cg_iq_a":-202.688309,"cg_iq_raw_a":-205.097229,"cg_iu_a":41.9728928,"cg_iv_a":152.691956,"cg_iw_a":-194.664841,"cg_sample_age_us":26.7509098,"cg_sample_seq":9822820,"cg_sample_valid":1,"cg_theta_rad":2.55352902,"cg_vd_req_v":-2.08211231,"cg_vd_v":-2.08211231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30973625,"cg_vq_v":-8.30973625,"cg_vu_v":32.1121559,"cg_vv_v":26.8334465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2501.26636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1691.714233,"values":{"Elec_RPM":-2356.0625,"EncoderCos":13824,"EncoderSin":22171,"GapTicks":49759,"Mech_RPM":-471.212494,"cg_du":54.7644958,"cg_dv":46.7093468,"cg_dw":45.2355042,"cg_id_a":3.58506227,"cg_id_raw_a":8.23185539,"cg_iq_a":-202.06131,"cg_iq_raw_a":-202.482635,"cg_iu_a":173.646744,"cg_iv_a":-2.46791077,"cg_iw_a":-171.178833,"cg_sample_age_us":24.0709095,"cg_sample_seq":9824467,"cg_sample_valid":1,"cg_theta_rad":3.65702081,"cg_vd_req_v":-1.95921361,"cg_vd_v":-1.95921361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34488106,"cg_vq_v":-8.34488106,"cg_vu_v":126.689056,"cg_vv_v":122.730026,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2469.6084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1692.043226,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1692.043232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1692.043237,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1692.046265,"values":{"Elec_RPM":-2353.16577,"EncoderCos":14386,"EncoderSin":21182,"GapTicks":49339,"Mech_RPM":-470.633148,"cg_du":55.1460762,"cg_dv":49.2902756,"cg_dw":44.8539238,"cg_id_a":-11.4911547,"cg_id_raw_a":-12.7779551,"cg_iq_a":-196.557251,"cg_iq_raw_a":-196.024658,"cg_iu_a":146.717575,"cg_iv_a":44.9027863,"cg_iw_a":-191.620361,"cg_sample_age_us":23.9400005,"cg_sample_seq":9826216,"cg_sample_valid":1,"cg_theta_rad":3.70886779,"cg_vd_req_v":-1.66693091,"cg_vd_v":-1.66693091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46443939,"cg_vq_v":-8.46443939,"cg_vu_v":29.912693,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-18.0712357,"dclink_p_w":-2615.35327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1692.397827,"values":{"Elec_RPM":-2355.17676,"EncoderCos":34026,"EncoderSin":11226,"GapTicks":49369,"Mech_RPM":-471.03537,"cg_du":55.1189117,"cg_dv":44.8810883,"cg_dw":49.4873962,"cg_id_a":-11.2246332,"cg_id_raw_a":-13.6244678,"cg_iq_a":-196.082809,"cg_iq_raw_a":-195.646576,"cg_iu_a":198.220062,"cg_iv_a":-70.171402,"cg_iw_a":-128.04866,"cg_sample_age_us":24.0599995,"cg_sample_seq":9827870,"cg_sample_valid":1,"cg_theta_rad":4.83182573,"cg_vd_req_v":-1.70731819,"cg_vd_v":-1.70731819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42344379,"cg_vq_v":-8.42344379,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2494.44751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1692.729858,"values":{"Elec_RPM":-2346.25684,"EncoderCos":24459,"EncoderSin":12783,"GapTicks":49437,"Mech_RPM":-469.251343,"cg_du":44.9430885,"cg_dv":51.0564308,"cg_dw":55.0569115,"cg_id_a":-13.846302,"cg_id_raw_a":-12.0755949,"cg_iq_a":-199.094147,"cg_iq_raw_a":-198.4375,"cg_iu_a":-156.752045,"cg_iv_a":-30.7380981,"cg_iw_a":187.490143,"cg_sample_age_us":23.8999996,"cg_sample_seq":9829666,"cg_sample_valid":1,"cg_theta_rad":4.33148003,"cg_vd_req_v":-1.62812185,"cg_vd_v":-1.62812185,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38123322,"cg_vq_v":-8.38123322,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2438.05981,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1693.03464,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1693.034646,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1693.034651,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1693.06189,"values":{"Elec_RPM":-2343.58594,"EncoderCos":53063,"EncoderSin":26133,"GapTicks":49482,"Mech_RPM":-468.717194,"cg_du":55.0161629,"cg_dv":44.9838371,"cg_dw":52.2803612,"cg_id_a":-6.77923918,"cg_id_raw_a":1.1071192,"cg_iq_a":-197.154495,"cg_iq_raw_a":-199.946426,"cg_iu_a":174.299133,"cg_iv_a":-163.20932,"cg_iw_a":-11.0898209,"cg_sample_age_us":24.0418186,"cg_sample_seq":9831266,"cg_sample_valid":1,"cg_theta_rad":5.98413515,"cg_vd_req_v":-1.81605875,"cg_vd_v":-1.81605875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47420788,"cg_vq_v":-8.47420788,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.360527,"dclink_p_w":-2367.77173,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1693.413452,"values":{"Elec_RPM":-2348.05688,"EncoderCos":53298,"EncoderSin":26804,"GapTicks":49303,"Mech_RPM":-469.611359,"cg_du":55.178894,"cg_dv":44.821106,"cg_dw":50.6627693,"cg_id_a":-14.8905125,"cg_id_raw_a":-15.3574028,"cg_iq_a":-193.423584,"cg_iq_raw_a":-193.23584,"cg_iu_a":184.012482,"cg_iv_a":-145.812286,"cg_iw_a":-38.2002029,"cg_sample_age_us":24.0490913,"cg_sample_seq":9833017,"cg_sample_valid":1,"cg_theta_rad":6.01750708,"cg_vd_req_v":-1.66362715,"cg_vd_v":-1.66362715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51727676,"cg_vq_v":-8.51727676,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.5257664,"dclink_p_w":-2536.4104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1693.74939,"values":{"Elec_RPM":-2353.45361,"EncoderCos":47039,"EncoderSin":48756,"GapTicks":49417,"Mech_RPM":-470.690704,"cg_du":51.8151855,"cg_dv":44.9246178,"cg_dw":55.0753822,"cg_id_a":7.58219194,"cg_id_raw_a":2.18475008,"cg_iq_a":-200.306549,"cg_iq_raw_a":-200.190369,"cg_iu_a":122.252983,"cg_iv_a":-199.126953,"cg_iw_a":76.8739624,"cg_sample_age_us":23.5181828,"cg_sample_seq":9834667,"cg_sample_valid":1,"cg_theta_rad":0.846651554,"cg_vd_req_v":-2.11046386,"cg_vd_v":-2.11046386,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37236023,"cg_vq_v":-8.37236023,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1694.027211,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1694.027217,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1694.027223,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1694.100952,"values":{"Elec_RPM":-2356.729,"EncoderCos":46990,"EncoderSin":48896,"GapTicks":49448,"Mech_RPM":-471.345825,"cg_du":52.0871315,"cg_dv":44.95327,"cg_dw":55.04673,"cg_id_a":7.50909901,"cg_id_raw_a":5.48161888,"cg_iq_a":-199.407837,"cg_iq_raw_a":-198.893539,"cg_iu_a":162.084961,"cg_iv_a":-187.492691,"cg_iw_a":25.4077301,"cg_sample_age_us":24.005455,"cg_sample_seq":9836420,"cg_sample_valid":1,"cg_theta_rad":0.895404756,"cg_vd_req_v":-2.11120415,"cg_vd_v":-2.11120415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40990067,"cg_vq_v":-8.40990067,"cg_vu_v":40.4701157,"cg_vv_v":39.590332,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2415.50464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1694.432983,"values":{"Elec_RPM":-2354.00244,"EncoderCos":34929,"EncoderSin":54109,"GapTicks":49406,"Mech_RPM":-470.800476,"cg_du":48.2344742,"cg_dv":55.0850296,"cg_dw":44.9149704,"cg_id_a":4.5373559,"cg_id_raw_a":-1.97006607,"cg_iq_a":-199.178589,"cg_iq_raw_a":-198.64653,"cg_iu_a":-119.058456,"cg_iv_a":198.939072,"cg_iw_a":-79.8806152,"cg_sample_age_us":23.9218178,"cg_sample_seq":9838116,"cg_sample_valid":1,"cg_theta_rad":1.46785557,"cg_vd_req_v":-2.01301956,"cg_vd_v":-2.01301956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42980576,"cg_vq_v":-8.42980576,"cg_vu_v":39.1504402,"cg_vv_v":58.9456062,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2479.40576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1694.765015,"values":{"Elec_RPM":-2354.63672,"EncoderCos":22879,"EncoderSin":52026,"GapTicks":49352,"Mech_RPM":-470.927368,"cg_du":49.9179344,"cg_dv":44.8655281,"cg_dw":55.1344719,"cg_id_a":-19.5334377,"cg_id_raw_a":-20.0012569,"cg_iq_a":-196.600098,"cg_iq_raw_a":-196.926758,"cg_iu_a":48.2430763,"cg_iv_a":-189.921021,"cg_iw_a":141.677948,"cg_sample_age_us":23.6563644,"cg_sample_seq":9839816,"cg_sample_valid":1,"cg_theta_rad":2.04821301,"cg_vd_req_v":-1.50083172,"cg_vd_v":-1.50083172,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44849777,"cg_vq_v":-8.44849777,"cg_vu_v":40.4701157,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2374.44238,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1695.019053,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1695.01906,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1695.019065,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1695.116577,"values":{"Elec_RPM":-2358.14526,"EncoderCos":14073,"EncoderSin":43648,"GapTicks":49687,"Mech_RPM":-471.629059,"cg_du":53.0003929,"cg_dv":54.8294449,"cg_dw":45.1705551,"cg_id_a":1.38656473,"cg_id_raw_a":7.02912426,"cg_iq_a":-201.200317,"cg_iq_raw_a":-202.20607,"cg_iu_a":-1.66468287,"cg_iv_a":172.988495,"cg_iw_a":-171.323807,"cg_sample_age_us":23.9145451,"cg_sample_seq":9841517,"cg_sample_valid":1,"cg_theta_rad":2.6147089,"cg_vd_req_v":-1.88742554,"cg_vd_v":-1.88742554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36381721,"cg_vq_v":-8.36381721,"cg_vu_v":103.814644,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2412.8689,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1695.452515,"values":{"Elec_RPM":-2361.93726,"EncoderCos":11126,"EncoderSin":31872,"GapTicks":49706,"Mech_RPM":-472.387451,"cg_du":45.1876068,"cg_dv":46.6199608,"cg_dw":54.8123932,"cg_id_a":12.4065876,"cg_id_raw_a":9.7328825,"cg_iq_a":-200.993881,"cg_iq_raw_a":-199.505295,"cg_iu_a":-39.8656845,"cg_iv_a":-144.072571,"cg_iw_a":194.41272,"cg_sample_age_us":23.9327278,"cg_sample_seq":9843217,"cg_sample_valid":1,"cg_theta_rad":3.18346763,"cg_vd_req_v":-2.14246726,"cg_vd_v":-2.14246726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38237953,"cg_vq_v":-8.38237953,"cg_vu_v":116.131638,"cg_vv_v":127.568848,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1695.78064,"values":{"Elec_RPM":-2360.80518,"EncoderCos":15105,"EncoderSin":20101,"GapTicks":49470,"Mech_RPM":-472.161011,"cg_du":55.0272598,"cg_dv":51.5934334,"cg_dw":44.9727402,"cg_id_a":3.85484409,"cg_id_raw_a":-1.74842227,"cg_iq_a":-202.73468,"cg_iq_raw_a":-199.857056,"cg_iu_a":86.5165634,"cg_iv_a":114.99836,"cg_iw_a":-201.514923,"cg_sample_age_us":23.9872723,"cg_sample_seq":9844917,"cg_sample_valid":1,"cg_theta_rad":3.77073884,"cg_vd_req_v":-1.98653221,"cg_vd_v":-1.98653221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3065033,"cg_vq_v":-8.3065033,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2441.46924,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1696.04307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1696.043076,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1696.043081,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1696.136108,"values":{"Elec_RPM":-2357.06738,"EncoderCos":36228,"EncoderSin":11457,"GapTicks":50086,"Mech_RPM":-471.413452,"cg_du":54.466671,"cg_dv":45.5373878,"cg_dw":45.533329,"cg_id_a":10.4324131,"cg_id_raw_a":16.3393192,"cg_iq_a":-202.561279,"cg_iq_raw_a":-205.821121,"cg_iu_a":182.707703,"cg_iv_a":-14.4646301,"cg_iw_a":-168.243073,"cg_sample_age_us":23.9763641,"cg_sample_seq":9846566,"cg_sample_valid":1,"cg_theta_rad":4.89286566,"cg_vd_req_v":-2.12586474,"cg_vd_v":-2.12586474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32383823,"cg_vq_v":-8.32383823,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.5127506,"dclink_p_w":-2382.53833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2583,"hz_tim_isr":5001,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1696.46814,"values":{"Elec_RPM":-2356.62354,"EncoderCos":37088,"EncoderSin":11643,"GapTicks":49532,"Mech_RPM":-471.324707,"cg_du":54.9701996,"cg_dv":47.5694618,"cg_dw":45.0298004,"cg_id_a":-7.12590742,"cg_id_raw_a":0.674540818,"cg_iq_a":-198.235504,"cg_iq_raw_a":-201.691101,"cg_iu_a":170.49353,"cg_iv_a":-1.12689209,"cg_iw_a":-169.366638,"cg_sample_age_us":23.9909096,"cg_sample_seq":9848316,"cg_sample_valid":1,"cg_theta_rad":4.92250204,"cg_vd_req_v":-1.76871157,"cg_vd_v":-1.76871157,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42060089,"cg_vq_v":-8.42060089,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2500.20068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2583,"hz_tim_isr":5001,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1696.800171,"values":{"Elec_RPM":-2355.05396,"EncoderCos":53424,"EncoderSin":27464,"GapTicks":49358,"Mech_RPM":-471.010773,"cg_du":55.128212,"cg_dv":44.871788,"cg_dw":49.33675,"cg_id_a":-12.8653421,"cg_id_raw_a":-15.8545561,"cg_iq_a":-195.60257,"cg_iq_raw_a":-195.583771,"cg_iu_a":192.928467,"cg_iv_a":-122.688721,"cg_iw_a":-70.2397461,"cg_sample_age_us":24.045454,"cg_sample_seq":9849967,"cg_sample_valid":1,"cg_theta_rad":6.04587936,"cg_vd_req_v":-1.71220899,"cg_vd_v":-1.71220899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44815636,"cg_vq_v":-8.44815636,"cg_vu_v":106.453995,"cg_vv_v":88.8582916,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2500.74194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2583,"hz_tim_isr":5001,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1697.035013,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1697.035019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1697.035025,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1697.15564,"values":{"Elec_RPM":-2354.95972,"EncoderCos":53666,"EncoderSin":28391,"GapTicks":49489,"Mech_RPM":-470.991943,"cg_du":55.0097008,"cg_dv":44.9902992,"cg_dw":47.8883247,"cg_id_a":10.5396538,"cg_id_raw_a":9.31581879,"cg_iq_a":-200.767303,"cg_iq_raw_a":-199.894348,"cg_iu_a":198.691223,"cg_iv_a":-63.3213043,"cg_iw_a":-135.369919,"cg_sample_age_us":24.0345459,"cg_sample_seq":9851716,"cg_sample_valid":1,"cg_theta_rad":6.09440613,"cg_vd_req_v":-2.19967508,"cg_vd_v":-2.19967508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33073044,"cg_vq_v":-8.33073044,"cg_vu_v":143.404984,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2451.30518,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1697.483765,"values":{"Elec_RPM":-2352.77002,"EncoderCos":45862,"EncoderSin":49802,"GapTicks":49975,"Mech_RPM":-470.553986,"cg_du":54.5678635,"cg_dv":45.4321365,"cg_dw":54.1802521,"cg_id_a":12.3650408,"cg_id_raw_a":17.354723,"cg_iq_a":-203.389679,"cg_iq_raw_a":-203.5495,"cg_iu_a":172.559418,"cg_iv_a":-179.700256,"cg_iw_a":7.14083099,"cg_sample_age_us":23.9436359,"cg_sample_seq":9853366,"cg_sample_valid":1,"cg_theta_rad":0.91909492,"cg_vd_req_v":-2.16694498,"cg_vd_v":-2.16694498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35715199,"cg_vq_v":-8.35715199,"cg_vu_v":11.4372072,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2414.95459,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1697.815796,"values":{"Elec_RPM":-2352.55835,"EncoderCos":34210,"EncoderSin":54178,"GapTicks":49692,"Mech_RPM":-470.511658,"cg_du":46.990509,"cg_dv":54.8254166,"cg_dw":45.1745834,"cg_id_a":13.8324776,"cg_id_raw_a":12.5310574,"cg_iq_a":-202.64621,"cg_iq_raw_a":-200.988739,"cg_iu_a":-140.732269,"cg_iv_a":197.41684,"cg_iw_a":-56.6845627,"cg_sample_age_us":23.8090916,"cg_sample_seq":9855066,"cg_sample_valid":1,"cg_theta_rad":1.49512327,"cg_vd_req_v":-2.16561627,"cg_vd_v":-2.16561627,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31958389,"cg_vq_v":-8.31958389,"cg_vu_v":101.175293,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.4369678,"dclink_p_w":-2531.22949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1698.027465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1698.027471,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1698.027475,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1698.206421,"values":{"Elec_RPM":-2351.64844,"EncoderCos":22574,"EncoderSin":51872,"GapTicks":49347,"Mech_RPM":-470.329681,"cg_du":50.4909859,"cg_dv":44.8614426,"cg_dw":55.1385574,"cg_id_a":-14.5846786,"cg_id_raw_a":-17.7309418,"cg_iq_a":-197.801636,"cg_iq_raw_a":-197.102371,"cg_iu_a":65.7850952,"cg_iv_a":-195.140121,"cg_iw_a":129.355026,"cg_sample_age_us":23.6890907,"cg_sample_seq":9856767,"cg_sample_valid":1,"cg_theta_rad":2.06328011,"cg_vd_req_v":-1.62407231,"cg_vd_v":-1.62407231,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41893101,"cg_vq_v":-8.41893101,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.2013836,"dclink_p_w":-2489.46436,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5001,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1698.725952,"values":{"Elec_RPM":-2350.22144,"EncoderCos":48188,"EncoderSin":17871,"GapTicks":49900,"Mech_RPM":-470.044281,"cg_du":45.3640175,"cg_dv":53.9437866,"cg_dw":54.6359825,"cg_id_a":8.91317463,"cg_id_raw_a":10.7243471,"cg_iq_a":-203.300873,"cg_iq_raw_a":-202.520264,"cg_iu_a":-178.969513,"cg_iv_a":6.2668457,"cg_iw_a":172.702667,"cg_sample_age_us":23.9218178,"cg_sample_seq":9859367,"cg_sample_valid":1,"cg_theta_rad":5.5322504,"cg_vd_req_v":-2.18500662,"cg_vd_v":-2.18500662,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32309055,"cg_vq_v":-8.32309055,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.4348259,"dclink_p_w":-2371.29492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5001,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1698.923028,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1698.923039,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1698.923042,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1699.019582,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1699.019588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1699.019594,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1699.163452,"values":{"Elec_RPM":-2353.43335,"EncoderCos":35794,"EncoderSin":11408,"GapTicks":49800,"Mech_RPM":-470.686676,"cg_du":54.7271843,"cg_dv":45.2728157,"cg_dw":46.4757309,"cg_id_a":16.130125,"cg_id_raw_a":14.6855106,"cg_iq_a":-205.254654,"cg_iq_raw_a":-203.052994,"cg_iu_a":191.152512,"cg_iv_a":-38.9654541,"cg_iw_a":-157.369934,"cg_sample_age_us":24.0854549,"cg_sample_seq":9861767,"cg_sample_valid":1,"cg_theta_rad":4.86678457,"cg_vd_req_v":-2.25415564,"cg_vd_v":-2.25415564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2727499,"cg_vq_v":-8.2727499,"cg_vu_v":142.525192,"cg_vv_v":140.325729,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2401.34204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1699.495483,"values":{"Elec_RPM":-2355.94019,"EncoderCos":47081,"EncoderSin":16835,"GapTicks":49459,"Mech_RPM":-471.188019,"cg_du":44.9631195,"cg_dv":55.0368805,"cg_dw":52.2556915,"cg_id_a":3.12218618,"cg_id_raw_a":-0.090621978,"cg_iq_a":-195.749908,"cg_iq_raw_a":-196.067902,"cg_iu_a":-195.170517,"cg_iv_a":70.3097076,"cg_iw_a":124.860809,"cg_sample_age_us":23.9072723,"cg_sample_seq":9863466,"cg_sample_valid":1,"cg_theta_rad":5.45986986,"cg_vd_req_v":-2.0830214,"cg_vd_v":-2.0830214,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46811295,"cg_vq_v":-8.46811295,"cg_vu_v":1.31967759,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2521.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1699.827515,"values":{"Elec_RPM":-2355.01611,"EncoderCos":53375,"EncoderSin":27174,"GapTicks":49328,"Mech_RPM":-471.003204,"cg_du":55.1556396,"cg_dv":44.8443604,"cg_dw":49.8835411,"cg_id_a":-15.4072247,"cg_id_raw_a":-18.5296116,"cg_iq_a":-194.736862,"cg_iq_raw_a":-192.825912,"cg_iu_a":190.13768,"cg_iv_a":-135.482788,"cg_iw_a":-54.6548996,"cg_sample_age_us":24.1399994,"cg_sample_seq":9865167,"cg_sample_valid":1,"cg_theta_rad":6.03149271,"cg_vd_req_v":-1.65617073,"cg_vd_v":-1.65617073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45584679,"cg_vq_v":-8.45584679,"cg_vu_v":106.893898,"cg_vv_v":97.2162552,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.4638214,"dclink_p_w":-2375.47852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1700.011509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1700.011515,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1700.01152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1700.182983,"values":{"Elec_RPM":-2354.78564,"EncoderCos":53005,"EncoderSin":39233,"GapTicks":49619,"Mech_RPM":-470.957123,"cg_du":45.1088829,"cg_dv":54.8911171,"cg_dw":47.2095184,"cg_id_a":-2.7895813,"cg_id_raw_a":1.57119286,"cg_iq_a":-201.580536,"cg_iq_raw_a":-203.165146,"cg_iu_a":-174.837723,"cg_iv_a":171.285034,"cg_iw_a":3.55269623,"cg_sample_age_us":23.5545464,"cg_sample_seq":9866867,"cg_sample_valid":1,"cg_theta_rad":0.318751842,"cg_vd_req_v":-1.91099656,"cg_vd_v":-1.91099656,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36403179,"cg_vq_v":-8.36403179,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2399.2439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1700.515015,"values":{"Elec_RPM":-2355.63135,"EncoderCos":46015,"EncoderSin":49622,"GapTicks":49826,"Mech_RPM":-471.126282,"cg_du":54.3056679,"cg_dv":45.4478836,"cg_dw":54.5521164,"cg_id_a":15.8496685,"cg_id_raw_a":19.1619682,"cg_iq_a":-202.278412,"cg_iq_raw_a":-202.020996,"cg_iu_a":165.274414,"cg_iv_a":-184.955612,"cg_iw_a":19.6811981,"cg_sample_age_us":23.954546,"cg_sample_seq":9868566,"cg_sample_valid":1,"cg_theta_rad":0.899022937,"cg_vd_req_v":-2.2396121,"cg_vd_v":-2.2396121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37325859,"cg_vq_v":-8.37325859,"cg_vu_v":14.9563465,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1700.866577,"values":{"Elec_RPM":-2361.46362,"EncoderCos":35415,"EncoderSin":54083,"GapTicks":49387,"Mech_RPM":-472.292725,"cg_du":49.0124741,"cg_dv":55.1023979,"cg_dw":44.8976021,"cg_id_a":-6.73631573,"cg_id_raw_a":-12.1650372,"cg_iq_a":-198.604706,"cg_iq_raw_a":-199.118469,"cg_iu_a":-139.644958,"cg_iv_a":197.960495,"cg_iw_a":-58.3155365,"cg_sample_age_us":23.7981815,"cg_sample_seq":9870270,"cg_sample_valid":1,"cg_theta_rad":1.48925817,"cg_vd_req_v":-1.77045858,"cg_vd_v":-1.77045858,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39521885,"cg_vq_v":-8.39521885,"cg_vu_v":19.3552723,"cg_vv_v":25.5137672,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1701.035158,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1701.035164,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1701.03517,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1701.198608,"values":{"Elec_RPM":-2357.68774,"EncoderCos":11138,"EncoderSin":33269,"GapTicks":49356,"Mech_RPM":-471.537537,"cg_du":44.8696556,"cg_dv":48.9695244,"cg_dw":55.1303444,"cg_id_a":-10.7533102,"cg_id_raw_a":-12.785408,"cg_iq_a":-198.244461,"cg_iq_raw_a":-197.258072,"cg_iu_a":-114.346764,"cg_iv_a":-82.4943008,"cg_iw_a":196.841064,"cg_sample_age_us":23.8381824,"cg_sample_seq":9871867,"cg_sample_valid":1,"cg_theta_rad":3.12286496,"cg_vd_req_v":-1.67560875,"cg_vd_v":-1.67560875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44000244,"cg_vq_v":-8.44000244,"cg_vu_v":117.011421,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2461.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2574,"hz_tim_isr":4998,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1701.53064,"values":{"Elec_RPM":-2353.76709,"EncoderCos":11114,"EncoderSin":32371,"GapTicks":49525,"Mech_RPM":-470.753418,"cg_du":45.0233765,"cg_dv":47.4585457,"cg_dw":54.9766235,"cg_id_a":5.13153696,"cg_id_raw_a":1.17213631,"cg_iq_a":-197.539566,"cg_iq_raw_a":-194.678558,"cg_iu_a":-64.076561,"cg_iv_a":-129.901245,"cg_iw_a":193.977798,"cg_sample_age_us":23.9290905,"cg_sample_seq":9873617,"cg_sample_valid":1,"cg_theta_rad":3.16244268,"cg_vd_req_v":-2.004004,"cg_vd_v":-2.004004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43580246,"cg_vq_v":-8.43580246,"cg_vu_v":131.087982,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.3209877,"dclink_p_w":-2506.77393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2574,"hz_tim_isr":4998,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1701.882202,"values":{"Elec_RPM":-2356.0564,"EncoderCos":14449,"EncoderSin":21145,"GapTicks":49347,"Mech_RPM":-471.211273,"cg_du":55.1385841,"cg_dv":49.4722519,"cg_dw":44.8614159,"cg_id_a":-13.8144217,"cg_id_raw_a":-15.0769262,"cg_iq_a":-195.08876,"cg_iq_raw_a":-194.65062,"cg_iu_a":101.702728,"cg_iv_a":100.863251,"cg_iw_a":-202.565979,"cg_sample_age_us":23.9290905,"cg_sample_seq":9875320,"cg_sample_valid":1,"cg_theta_rad":3.75435734,"cg_vd_req_v":-1.617823,"cg_vd_v":-1.617823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44886017,"cg_vq_v":-8.44886017,"cg_vu_v":42.6695786,"cg_vv_v":47.5083961,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.9588795,"dclink_p_w":-2599.09253,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2574,"hz_tim_isr":4998,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1702.027072,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1702.027078,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1702.027083,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1702.21814,"values":{"Elec_RPM":-2357.08105,"EncoderCos":15293,"EncoderSin":19845,"GapTicks":49535,"Mech_RPM":-471.416199,"cg_du":54.9676018,"cg_dv":52.1444016,"cg_dw":45.0323982,"cg_id_a":7.76988649,"cg_id_raw_a":4.59221935,"cg_iq_a":-203.82132,"cg_iq_raw_a":-203.618439,"cg_iu_a":69.6269379,"cg_iv_a":131.018127,"cg_iw_a":-200.645065,"cg_sample_age_us":23.9763641,"cg_sample_seq":9877067,"cg_sample_valid":1,"cg_theta_rad":3.78747272,"cg_vd_req_v":-2.07127905,"cg_vd_v":-2.07127905,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27416706,"cg_vq_v":-8.27416706,"cg_vu_v":128.448624,"cg_vv_v":142.965088,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2506.73755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1702.546265,"values":{"Elec_RPM":-2355.17554,"EncoderCos":36388,"EncoderSin":11481,"GapTicks":49945,"Mech_RPM":-471.035126,"cg_du":54.5949707,"cg_dv":45.8482666,"cg_dw":45.4050293,"cg_id_a":9.23228264,"cg_id_raw_a":10.1712065,"cg_iq_a":-201.172058,"cg_iq_raw_a":-200.594284,"cg_iu_a":177.162384,"cg_iv_a":-10.1878357,"cg_iw_a":-166.974548,"cg_sample_age_us":24.0599995,"cg_sample_seq":9878717,"cg_sample_valid":1,"cg_theta_rad":4.89806509,"cg_vd_req_v":-2.09790897,"cg_vd_v":-2.09790897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37577629,"cg_vq_v":-8.37577629,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2440.68237,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1702.901733,"values":{"Elec_RPM":-2358.61792,"EncoderCos":37464,"EncoderSin":11697,"GapTicks":49410,"Mech_RPM":-471.723602,"cg_du":55.08144,"cg_dv":48.5147629,"cg_dw":44.91856,"cg_id_a":-15.1655312,"cg_id_raw_a":-11.314045,"cg_iq_a":-195.544373,"cg_iq_raw_a":-197.850815,"cg_iu_a":164.295837,"cg_iv_a":7.71658325,"cg_iw_a":-172.012421,"cg_sample_age_us":23.9290905,"cg_sample_seq":9880466,"cg_sample_valid":1,"cg_theta_rad":4.94007635,"cg_vd_req_v":-1.60515535,"cg_vd_v":-1.60515535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46092892,"cg_vq_v":-8.46092892,"cg_vu_v":106.453995,"cg_vv_v":100.295509,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9114323,"dclink_p_w":-2447.50122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1703.019618,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1703.019624,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1703.01963,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1703.233765,"values":{"Elec_RPM":-2356.81372,"EncoderCos":53452,"EncoderSin":27708,"GapTicks":49361,"Mech_RPM":-471.362732,"cg_du":55.125946,"cg_dv":44.874054,"cg_dw":48.9818001,"cg_id_a":-6.88638496,"cg_id_raw_a":-13.2079973,"cg_iq_a":-198.298553,"cg_iq_raw_a":-197.488464,"cg_iu_a":198.365036,"cg_iv_a":-108.263672,"cg_iw_a":-90.1013641,"cg_sample_age_us":24.1436367,"cg_sample_seq":9882117,"cg_sample_valid":1,"cg_theta_rad":6.05546379,"cg_vd_req_v":-1.85022473,"cg_vd_v":-1.85022473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39461422,"cg_vq_v":-8.39461422,"cg_vu_v":141.645401,"cg_vv_v":122.290138,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1703.565796,"values":{"Elec_RPM":-2353.62988,"EncoderCos":52768,"EncoderSin":40075,"GapTicks":49333,"Mech_RPM":-470.725952,"cg_du":44.8486061,"cg_dv":55.1513939,"cg_dw":49.0963249,"cg_id_a":-8.79743385,"cg_id_raw_a":-7.32531881,"cg_iq_a":-197.813873,"cg_iq_raw_a":-198.090408,"cg_iu_a":-189.951385,"cg_iv_a":142.906097,"cg_iw_a":32.3302994,"cg_sample_age_us":23.5363636,"cg_sample_seq":9883816,"cg_sample_valid":1,"cg_theta_rad":0.359232754,"cg_vd_req_v":-1.807693,"cg_vd_v":-1.807693,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46179008,"cg_vq_v":-8.46179008,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2412.34619,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1703.921265,"values":{"Elec_RPM":-2354.92749,"EncoderCos":45487,"EncoderSin":50051,"GapTicks":49698,"Mech_RPM":-470.985504,"cg_du":54.8193245,"cg_dv":45.1806755,"cg_dw":53.0809479,"cg_id_a":0.884358168,"cg_id_raw_a":8.59172821,"cg_iq_a":-199.981873,"cg_iq_raw_a":-202.348953,"cg_iu_a":171.617096,"cg_iv_a":-171.074219,"cg_iw_a":4.42254639,"cg_sample_age_us":23.8818188,"cg_sample_seq":9885516,"cg_sample_valid":1,"cg_theta_rad":0.939227879,"cg_vd_req_v":-1.92110717,"cg_vd_v":-1.92110717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39388084,"cg_vq_v":-8.39388084,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2475.09912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1704.043044,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1704.043049,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1704.043055,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1704.24939,"values":{"Elec_RPM":-2357.3916,"EncoderCos":33976,"EncoderSin":54206,"GapTicks":49815,"Mech_RPM":-471.478333,"cg_du":46.6103325,"cg_dv":54.7128601,"cg_dw":45.2871399,"cg_id_a":15.2180738,"cg_id_raw_a":15.8461847,"cg_iq_a":-206.209869,"cg_iq_raw_a":-204.425064,"cg_iu_a":-161.318771,"cg_iv_a":194.444839,"cg_iw_a":-33.1260681,"cg_sample_age_us":23.8999996,"cg_sample_seq":9887216,"cg_sample_valid":1,"cg_theta_rad":1.51468122,"cg_vd_req_v":-2.20270061,"cg_vd_v":-2.20270061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23849106,"cg_vq_v":-8.23849106,"cg_vu_v":38.7105446,"cg_vv_v":58.0658188,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2401.36426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1704.585327,"values":{"Elec_RPM":-2353.45483,"EncoderCos":22166,"EncoderSin":51624,"GapTicks":49394,"Mech_RPM":-470.690948,"cg_du":51.2545738,"cg_dv":44.9039116,"cg_dw":55.0960884,"cg_id_a":-5.00902367,"cg_id_raw_a":-9.12481976,"cg_iq_a":-200.088898,"cg_iq_raw_a":-200.392792,"cg_iu_a":83.3633499,"cg_iv_a":-198.438324,"cg_iw_a":115.074966,"cg_sample_age_us":23.6709099,"cg_sample_seq":9888916,"cg_sample_valid":1,"cg_theta_rad":2.07509112,"cg_vd_req_v":-1.83282852,"cg_vd_v":-1.83282852,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40432167,"cg_vq_v":-8.40432167,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.5942993,"dclink_p_w":-2394.30444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1704.93689,"values":{"Elec_RPM":-2354.15283,"EncoderCos":11167,"EncoderSin":31501,"GapTicks":49978,"Mech_RPM":-470.830566,"cg_du":45.4348679,"cg_dv":46.0279045,"cg_dw":54.5651321,"cg_id_a":14.9428787,"cg_id_raw_a":15.6074209,"cg_iq_a":-204.599472,"cg_iq_raw_a":-202.775528,"cg_iu_a":-21.8887424,"cg_iv_a":-167.739792,"cg_iw_a":189.62854,"cg_sample_age_us":23.9290905,"cg_sample_seq":9890566,"cg_sample_valid":1,"cg_theta_rad":3.20141435,"cg_vd_req_v":-2.17347097,"cg_vd_v":-2.17347097,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28300285,"cg_vq_v":-8.28300285,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":9.67763615,"control_outputs_enabled":1,"dclink_i_a":-16.7809544,"dclink_p_w":-2435.99976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1705.034692,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1705.034698,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1705.034703,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1705.268921,"values":{"Elec_RPM":-2353.50684,"EncoderCos":11213,"EncoderSin":30894,"GapTicks":49896,"Mech_RPM":-470.701355,"cg_du":46.3954887,"cg_dv":45.3602562,"cg_dw":54.6397438,"cg_id_a":7.1275239,"cg_id_raw_a":9.04248619,"cg_iq_a":-204.815735,"cg_iq_raw_a":-204.964096,"cg_iu_a":-3.62185001,"cg_iv_a":-174.263672,"cg_iw_a":177.885529,"cg_sample_age_us":23.9290905,"cg_sample_seq":9892317,"cg_sample_valid":1,"cg_theta_rad":3.2297945,"cg_vd_req_v":-2.00295329,"cg_vd_v":-2.00295329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25844193,"cg_vq_v":-8.25844193,"cg_vu_v":136.806595,"cg_vv_v":109.533249,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-17.7269192,"dclink_p_w":-2565.52222,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1705.620483,"values":{"Elec_RPM":-2352.67896,"EncoderCos":15184,"EncoderSin":19998,"GapTicks":49492,"Mech_RPM":-470.535797,"cg_du":55.0067902,"cg_dv":51.8344917,"cg_dw":44.9932098,"cg_id_a":4.45231819,"cg_id_raw_a":1.47168231,"cg_iq_a":-204.395081,"cg_iq_raw_a":-206.461243,"cg_iu_a":46.3221512,"cg_iv_a":149.756195,"cg_iw_a":-196.078339,"cg_sample_age_us":23.8709087,"cg_sample_seq":9894020,"cg_sample_valid":1,"cg_theta_rad":3.8111074,"cg_vd_req_v":-2.00698233,"cg_vd_v":-2.00698233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28662395,"cg_vq_v":-8.28662395,"cg_vu_v":31.6722641,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5783195,"dclink_p_w":-2528.55103,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1705.952515,"values":{"Elec_RPM":-2354.88086,"EncoderCos":25603,"EncoderSin":12379,"GapTicks":49341,"Mech_RPM":-470.976196,"cg_du":44.8561478,"cg_dv":48.7470055,"cg_dw":55.1438522,"cg_id_a":-5.10575247,"cg_id_raw_a":-9.68772507,"cg_iq_a":-195.730301,"cg_iq_raw_a":-195.866699,"cg_iu_a":-97.6745987,"cg_iv_a":-94.2010574,"cg_iw_a":191.875656,"cg_sample_age_us":23.9254551,"cg_sample_seq":9895717,"cg_sample_valid":1,"cg_theta_rad":4.38599634,"cg_vd_req_v":-1.85059607,"cg_vd_v":-1.85059607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48111916,"cg_vq_v":-8.48111916,"cg_vu_v":117.451309,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7773304,"dclink_p_w":-2435.47363,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1706.026784,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1706.026791,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1706.026796,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1706.288452,"values":{"Elec_RPM":-2354.2417,"EncoderCos":37863,"EncoderSin":11791,"GapTicks":49354,"Mech_RPM":-470.848358,"cg_du":55.1323853,"cg_dv":49.372364,"cg_dw":44.8676147,"cg_id_a":-16.6045628,"cg_id_raw_a":-17.9355297,"cg_iq_a":-195.106277,"cg_iq_raw_a":-192.839935,"cg_iu_a":148.638489,"cg_iv_a":33.9208984,"cg_iw_a":-182.305679,"cg_sample_age_us":23.9981823,"cg_sample_seq":9897417,"cg_sample_valid":1,"cg_theta_rad":4.96422338,"cg_vd_req_v":-1.59106708,"cg_vd_v":-1.59106708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4497776,"cg_vq_v":-8.4497776,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.1162109,"dclink_p_w":-2477.1377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1706.640015,"values":{"Elec_RPM":-2348.97412,"EncoderCos":38930,"EncoderSin":12088,"GapTicks":49475,"Mech_RPM":-469.7948,"cg_du":55.022007,"cg_dv":51.3829613,"cg_dw":44.977993,"cg_id_a":-6.32736635,"cg_id_raw_a":-8.73721027,"cg_iq_a":-201.670563,"cg_iq_raw_a":-200.919022,"cg_iu_a":104.45726,"cg_iv_a":101.261932,"cg_iw_a":-199.376526,"cg_sample_age_us":23.954546,"cg_sample_seq":9899166,"cg_sample_valid":1,"cg_theta_rad":5.01699591,"cg_vd_req_v":-1.8210547,"cg_vd_v":-1.8210547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30045509,"cg_vq_v":-8.30045509,"cg_vu_v":41.3499031,"cg_vv_v":45.7488289,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2492.61792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121052869,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1706.972046,"values":{"Elec_RPM":-2354.21216,"EncoderCos":52593,"EncoderSin":40476,"GapTicks":49281,"Mech_RPM":-470.842438,"cg_du":44.8011208,"cg_dv":55.1988792,"cg_dw":49.9708443,"cg_id_a":-6.63740873,"cg_id_raw_a":-12.5937977,"cg_iq_a":-195.337891,"cg_iq_raw_a":-194.745148,"cg_iu_a":-191.328674,"cg_iv_a":128.517303,"cg_iw_a":62.8113632,"cg_sample_age_us":23.4272728,"cg_sample_seq":9900767,"cg_sample_valid":1,"cg_theta_rad":0.378384888,"cg_vd_req_v":-1.8475492,"cg_vd_v":-1.8475492,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48936462,"cg_vq_v":-8.48936462,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2450.12402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1707.019273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1707.019278,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1707.019284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1707.323608,"values":{"Elec_RPM":-2353.9187,"EncoderCos":53766,"EncoderSin":29047,"GapTicks":49730,"Mech_RPM":-470.783752,"cg_du":54.7908669,"cg_dv":45.2091331,"cg_dw":46.679985,"cg_id_a":16.863224,"cg_id_raw_a":14.0791025,"cg_iq_a":-202.628967,"cg_iq_raw_a":-199.273468,"cg_iu_a":172.849365,"cg_iv_a":-1.30810547,"cg_iw_a":-171.54126,"cg_sample_age_us":24.0381813,"cg_sample_seq":9902571,"cg_sample_valid":1,"cg_theta_rad":6.17501354,"cg_vd_req_v":-2.3094399,"cg_vd_v":-2.3094399,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33541679,"cg_vq_v":-8.33541679,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2428.10791,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1707.65564,"values":{"Elec_RPM":-2356.29346,"EncoderCos":44308,"EncoderSin":50854,"GapTicks":49359,"Mech_RPM":-471.258698,"cg_du":55.1278229,"cg_dv":44.8721771,"cg_dw":49.9176788,"cg_id_a":-14.6171246,"cg_id_raw_a":-16.9338398,"cg_iq_a":-197.923737,"cg_iq_raw_a":-195.778717,"cg_iu_a":194.196991,"cg_iv_a":-145.159882,"cg_iw_a":-45.3040009,"cg_sample_age_us":23.8272724,"cg_sample_seq":9904216,"cg_sample_valid":1,"cg_theta_rad":1.0036242,"cg_vd_req_v":-1.63775396,"cg_vd_v":-1.63775396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41170788,"cg_vq_v":-8.41170788,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2530.79272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1707.987671,"values":{"Elec_RPM":-2361.42139,"EncoderCos":32567,"EncoderSin":54242,"GapTicks":49677,"Mech_RPM":-472.284302,"cg_du":45.0389137,"cg_dv":54.9610863,"cg_dw":47.5774345,"cg_id_a":-4.12182522,"cg_id_raw_a":0.908369899,"cg_iq_a":-200.947754,"cg_iq_raw_a":-202.989517,"cg_iu_a":-174.402802,"cg_iv_a":173.495911,"cg_iw_a":0.90688324,"cg_sample_age_us":23.7690907,"cg_sample_seq":9905916,"cg_sample_valid":1,"cg_theta_rad":1.57160604,"cg_vd_req_v":-1.79046631,"cg_vd_v":-1.79046631,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39892864,"cg_vq_v":-8.39892864,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.6181889,"dclink_p_w":-2549.78638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1708.043387,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1708.043393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1708.043399,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1708.472046,"values":{"Elec_RPM":-2353.36646,"EncoderCos":23950,"EncoderSin":52546,"GapTicks":49677,"Mech_RPM":-470.673279,"cg_du":47.1982841,"cg_dv":45.1616821,"cg_dw":54.8383179,"cg_id_a":-2.71806192,"cg_id_raw_a":2.74256921,"cg_iq_a":-202.894623,"cg_iq_raw_a":-203.807205,"cg_iu_a":-1.55595136,"cg_iv_a":-174.698593,"cg_iw_a":176.254547,"cg_sample_age_us":23.8999996,"cg_sample_seq":9908216,"cg_sample_valid":1,"cg_theta_rad":1.98928547,"cg_vd_req_v":-1.81118226,"cg_vd_v":-1.81118226,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33078098,"cg_vq_v":-8.33078098,"cg_vu_v":11.4372072,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2414.16528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2878723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1708.907217,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1708.907228,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1708.907231,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1708.983765,"values":{"Elec_RPM":-2354.57031,"EncoderCos":53049,"EncoderSin":26133,"GapTicks":49537,"Mech_RPM":-470.914063,"cg_du":54.9659081,"cg_dv":45.0340919,"cg_dw":52.3002052,"cg_id_a":-5.9435873,"cg_id_raw_a":0.456576616,"cg_iq_a":-199.095367,"cg_iq_raw_a":-201.284561,"cg_iu_a":177.887268,"cg_iv_a":-161.433365,"cg_iw_a":-16.4539032,"cg_sample_age_us":24.045454,"cg_sample_seq":9910768,"cg_sample_valid":1,"cg_theta_rad":5.99114895,"cg_vd_req_v":-1.82806289,"cg_vd_v":-1.82806289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39357376,"cg_vq_v":-8.39357376,"cg_vu_v":106.014107,"cg_vv_v":76.9812012,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3414917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1709.034931,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1709.034937,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1709.034942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1709.315796,"values":{"Elec_RPM":-2347.70728,"EncoderCos":47573,"EncoderSin":17321,"GapTicks":49765,"Mech_RPM":-469.541473,"cg_du":45.2417793,"cg_dv":54.7582207,"cg_dw":53.488121,"cg_id_a":8.24613857,"cg_id_raw_a":8.71799088,"cg_iq_a":-200.111328,"cg_iq_raw_a":-200.563965,"cg_iu_a":-187.885498,"cg_iv_a":26.3096924,"cg_iw_a":161.575806,"cg_sample_age_us":23.8272724,"cg_sample_seq":9912567,"cg_sample_valid":1,"cg_theta_rad":5.50573683,"cg_vd_req_v":-2.18068194,"cg_vd_v":-2.18068194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35460281,"cg_vq_v":-8.35460281,"cg_vu_v":1.31967759,"cg_vv_v":14.5164547,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2439.89551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1709.667358,"values":{"Elec_RPM":-2351.81836,"EncoderCos":53567,"EncoderSin":27972,"GapTicks":49368,"Mech_RPM":-470.363678,"cg_du":55.1193771,"cg_dv":44.8806229,"cg_dw":48.5347443,"cg_id_a":-0.165475726,"cg_id_raw_a":-6.6074152,"cg_iq_a":-199.020844,"cg_iq_raw_a":-197.749924,"cg_iu_a":198.981186,"cg_iv_a":-91.591507,"cg_iw_a":-107.389679,"cg_sample_age_us":24.1254539,"cg_sample_seq":9914267,"cg_sample_valid":1,"cg_theta_rad":6.06981421,"cg_vd_req_v":-1.998487,"cg_vd_v":-1.998487,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41066933,"cg_vq_v":-8.41066933,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2455.48901,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1709.99939,"values":{"Elec_RPM":-2349.92529,"EncoderCos":35561,"EncoderSin":54019,"GapTicks":49386,"Mech_RPM":-469.985046,"cg_du":49.2744865,"cg_dv":55.1033897,"cg_dw":44.8966103,"cg_id_a":-9.28528786,"cg_id_raw_a":-12.3641081,"cg_iq_a":-198.681442,"cg_iq_raw_a":-198.149811,"cg_iu_a":-90.6795349,"cg_iv_a":199.337753,"cg_iw_a":-108.658218,"cg_sample_age_us":23.8090916,"cg_sample_seq":9915867,"cg_sample_valid":1,"cg_theta_rad":1.44850826,"cg_vd_req_v":-1.71686912,"cg_vd_v":-1.71686912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3831377,"cg_vq_v":-8.3831377,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2473.72827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2590,"hz_tim_isr":4997,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1710.027134,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1710.02714,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1710.027146,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1710.331421,"values":{"Elec_RPM":-2351.72168,"EncoderCos":45383,"EncoderSin":50113,"GapTicks":49649,"Mech_RPM":-470.34433,"cg_du":54.863739,"cg_dv":45.136261,"cg_dw":52.7947807,"cg_id_a":-1.63396025,"cg_id_raw_a":3.93721461,"cg_iq_a":-200.653381,"cg_iq_raw_a":-202.812241,"cg_iu_a":172.196991,"cg_iv_a":-172.161545,"cg_iw_a":-0.035446167,"cg_sample_age_us":23.9836369,"cg_sample_seq":9917667,"cg_sample_valid":1,"cg_theta_rad":0.944722652,"cg_vd_req_v":-1.86646736,"cg_vd_v":-1.86646736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35770607,"cg_vq_v":-8.35770607,"cg_vu_v":143.404984,"cg_vv_v":124.049698,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1710.682983,"values":{"Elec_RPM":-2352.4397,"EncoderCos":33878,"EncoderSin":54212,"GapTicks":49819,"Mech_RPM":-470.487946,"cg_du":46.3929176,"cg_dv":54.7091408,"cg_dw":45.2908592,"cg_id_a":15.1224051,"cg_id_raw_a":15.1120672,"cg_iq_a":-206.564148,"cg_iq_raw_a":-205.09201,"cg_iu_a":-164.580719,"cg_iv_a":193.973679,"cg_iw_a":-29.3929596,"cg_sample_age_us":23.8054543,"cg_sample_seq":9919367,"cg_sample_valid":1,"cg_theta_rad":1.52101719,"cg_vd_req_v":-2.21038127,"cg_vd_v":-2.21038127,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26193237,"cg_vq_v":-8.26193237,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2385.15283,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1711.015015,"values":{"Elec_RPM":-2348.09863,"EncoderCos":21979,"EncoderSin":51472,"GapTicks":49404,"Mech_RPM":-469.619751,"cg_du":51.6558075,"cg_dv":44.9134026,"cg_dw":55.0865974,"cg_id_a":0.219691217,"cg_id_raw_a":-4.97103262,"cg_iq_a":-196.972992,"cg_iq_raw_a":-196.113953,"cg_iu_a":108.589066,"cg_iv_a":-196.662369,"cg_iw_a":88.0733032,"cg_sample_age_us":23.7254543,"cg_sample_seq":9921067,"cg_sample_valid":1,"cg_theta_rad":2.09423828,"cg_vd_req_v":-1.93794358,"cg_vd_v":-1.93794358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45629215,"cg_vq_v":-8.45629215,"cg_vu_v":104.694435,"cg_vv_v":73.462059,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1711.018744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1711.018749,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1711.018754,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1711.370483,"values":{"Elec_RPM":-2349.25439,"EncoderCos":13893,"EncoderSin":43371,"GapTicks":49497,"Mech_RPM":-469.850861,"cg_du":52.217556,"cg_dv":55.0018539,"cg_dw":44.9981461,"cg_id_a":-6.74176311,"cg_id_raw_a":-0.526479542,"cg_iq_a":-197.011368,"cg_iq_raw_a":-197.532867,"cg_iu_a":-54.6531677,"cg_iv_a":191.980255,"cg_iw_a":-137.327087,"cg_sample_age_us":26.7436371,"cg_sample_seq":9922771,"cg_sample_valid":1,"cg_theta_rad":2.67684674,"cg_vd_req_v":-1.71281862,"cg_vd_v":-1.71281862,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4297905,"cg_vq_v":-8.4297905,"cg_vu_v":145.164551,"cg_vv_v":142.965088,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2526.87061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1711.702515,"values":{"Elec_RPM":-2348.87109,"EncoderCos":11268,"EncoderSin":30422,"GapTicks":49625,"Mech_RPM":-469.774231,"cg_du":47.5441246,"cg_dv":45.1138649,"cg_dw":54.8861351,"cg_id_a":-5.22460175,"cg_id_raw_a":1.12770545,"cg_iq_a":-203.769913,"cg_iq_raw_a":-205.239655,"cg_iu_a":-0.86731863,"cg_iv_a":-175.74968,"cg_iw_a":176.617004,"cg_sample_age_us":23.8418179,"cg_sample_seq":9924466,"cg_sample_valid":1,"cg_theta_rad":3.24564052,"cg_vd_req_v":-1.76644206,"cg_vd_v":-1.76644206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31672955,"cg_vq_v":-8.31672955,"cg_vu_v":103.814644,"cg_vv_v":74.7817383,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.2101154,"dclink_p_w":-2338.87256,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1712.034546,"values":{"Elec_RPM":-2349.65112,"EncoderCos":15956,"EncoderSin":18945,"GapTicks":50029,"Mech_RPM":-469.930237,"cg_du":54.5187798,"cg_dv":54.2916756,"cg_dw":45.4812202,"cg_id_a":10.9542103,"cg_id_raw_a":11.5712194,"cg_iq_a":-202.992188,"cg_iq_raw_a":-204.49971,"cg_iu_a":20.9877129,"cg_iv_a":164.543671,"cg_iw_a":-185.531387,"cg_sample_age_us":23.9872723,"cg_sample_seq":9926166,"cg_sample_valid":1,"cg_theta_rad":3.84027553,"cg_vd_req_v":-2.10637498,"cg_vd_v":-2.10637498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35068989,"cg_vq_v":-8.35068989,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1712.04281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1712.042816,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1712.042822,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1712.386108,"values":{"Elec_RPM":-2357.92993,"EncoderCos":25978,"EncoderSin":12296,"GapTicks":49415,"Mech_RPM":-471.585999,"cg_du":44.9234428,"cg_dv":48.116127,"cg_dw":55.0765572,"cg_id_a":2.81348467,"cg_id_raw_a":-0.911757529,"cg_iq_a":-195.766479,"cg_iq_raw_a":-193.571243,"cg_iu_a":-76.9068756,"cg_iv_a":-118.846863,"cg_iw_a":195.753738,"cg_sample_age_us":23.9290905,"cg_sample_seq":9927867,"cg_sample_valid":1,"cg_theta_rad":4.40508938,"cg_vd_req_v":-2.00048327,"cg_vd_v":-2.00048327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44237041,"cg_vq_v":-8.44237041,"cg_vu_v":101.615181,"cg_vv_v":91.9375458,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2392.68701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1712.71814,"values":{"Elec_RPM":-2355.4834,"EncoderCos":38105,"EncoderSin":11833,"GapTicks":49366,"Mech_RPM":-471.09668,"cg_du":55.1276817,"cg_dv":49.3851738,"cg_dw":44.8787193,"cg_id_a":-16.8257847,"cg_id_raw_a":-19.6212845,"cg_iq_a":-197.912781,"cg_iq_raw_a":-196.120026,"cg_iu_a":142.150848,"cg_iv_a":49.3607788,"cg_iw_a":-191.511627,"cg_sample_age_us":23.9727268,"cg_sample_seq":9929567,"cg_sample_valid":1,"cg_theta_rad":4.97950792,"cg_vd_req_v":-1.59884417,"cg_vd_v":-1.59884417,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39313316,"cg_vq_v":-8.39313316,"cg_vu_v":140.765625,"cg_vv_v":128.448624,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.5725536,"dclink_p_w":-2391.16699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1713.034644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1713.03465,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1713.034654,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1713.054077,"values":{"Elec_RPM":-2354.60571,"EncoderCos":48543,"EncoderSin":18259,"GapTicks":49584,"Mech_RPM":-470.921143,"cg_du":45.0769348,"cg_dv":52.6738167,"cg_dw":54.9230652,"cg_id_a":-3.30724072,"cg_id_raw_a":0.335386574,"cg_iq_a":-201.214294,"cg_iq_raw_a":-201.241104,"cg_iu_a":-168.277588,"cg_iv_a":-8.91931152,"cg_iw_a":177.196899,"cg_sample_age_us":23.954546,"cg_sample_seq":9931267,"cg_sample_valid":1,"cg_theta_rad":5.55868816,"cg_vd_req_v":-1.9283886,"cg_vd_v":-1.9283886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37679863,"cg_vq_v":-8.37679863,"cg_vu_v":112.172607,"cg_vv_v":131.087982,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2441.46924,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1713.40564,"values":{"Elec_RPM":-2355.46826,"EncoderCos":53848,"EncoderSin":29714,"GapTicks":50008,"Mech_RPM":-471.093658,"cg_du":54.5377426,"cg_dv":45.8078308,"cg_dw":45.4622574,"cg_id_a":9.22031498,"cg_id_raw_a":14.76653,"cg_iq_a":-202.019836,"cg_iq_raw_a":-203.693405,"cg_iu_a":181.149216,"cg_iv_a":-12.072525,"cg_iw_a":-169.076691,"cg_sample_age_us":24.1399994,"cg_sample_seq":9932966,"cg_sample_valid":1,"cg_theta_rad":6.15256882,"cg_vd_req_v":-2.12360954,"cg_vd_v":-2.12360954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32796001,"cg_vq_v":-8.32796001,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4022083,"dclink_p_w":-2373.80396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1713.737671,"values":{"Elec_RPM":-2351.76147,"EncoderCos":52046,"EncoderSin":41834,"GapTicks":49540,"Mech_RPM":-470.352295,"cg_du":45.0368538,"cg_dv":54.9631462,"cg_dw":52.6180305,"cg_id_a":9.73207474,"cg_id_raw_a":7.30839109,"cg_iq_a":-199.924942,"cg_iq_raw_a":-199.998703,"cg_iu_a":-191.618622,"cg_iv_a":46.2438049,"cg_iw_a":145.374817,"cg_sample_age_us":23.5254555,"cg_sample_seq":9934666,"cg_sample_valid":1,"cg_theta_rad":0.457303882,"cg_vd_req_v":-2.18691087,"cg_vd_v":-2.18691087,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36263084,"cg_vq_v":-8.36263084,"cg_vu_v":107.773682,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2488.6958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1714.026812,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1714.026818,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1714.026823,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1714.069702,"values":{"Elec_RPM":-2348.10205,"EncoderCos":44095,"EncoderSin":51036,"GapTicks":49333,"Mech_RPM":-469.620422,"cg_du":55.1514893,"cg_dv":44.8485107,"cg_dw":49.4224663,"cg_id_a":-11.3463106,"cg_id_raw_a":-13.46665,"cg_iq_a":-197.459457,"cg_iq_raw_a":-196.640762,"cg_iu_a":196.516602,"cg_iv_a":-122.833687,"cg_iw_a":-73.6829147,"cg_sample_age_us":23.9654541,"cg_sample_seq":9936366,"cg_sample_valid":1,"cg_theta_rad":1.01786447,"cg_vd_req_v":-1.7250334,"cg_vd_v":-1.7250334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.452631,"cg_vq_v":-8.452631,"cg_vu_v":46.1887207,"cg_vv_v":40.9100075,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1714.421265,"values":{"Elec_RPM":-2352.30859,"EncoderCos":13442,"EncoderSin":42526,"GapTicks":49314,"Mech_RPM":-470.4617,"cg_du":50.1766624,"cg_dv":55.1682243,"cg_dw":44.8317757,"cg_id_a":-10.4611969,"cg_id_raw_a":-11.0783167,"cg_iq_a":-195.749115,"cg_iq_raw_a":-194.551865,"cg_iu_a":-65.562561,"cg_iv_a":195.604645,"cg_iw_a":-130.042084,"cg_sample_age_us":23.7945461,"cg_sample_seq":9937966,"cg_sample_valid":1,"cg_theta_rad":2.68644238,"cg_vd_req_v":-1.67547584,"cg_vd_v":-1.67547584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44768238,"cg_vq_v":-8.44768238,"cg_vu_v":132.847549,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2495.23267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1714.757202,"values":{"Elec_RPM":-2349.78906,"EncoderCos":20720,"EncoderSin":50724,"GapTicks":50018,"Mech_RPM":-469.957794,"cg_du":54.235981,"cg_dv":45.4717903,"cg_dw":54.5282097,"cg_id_a":13.6757841,"cg_id_raw_a":13.1306438,"cg_iq_a":-202.00621,"cg_iq_raw_a":-201.802139,"cg_iu_a":166.760406,"cg_iv_a":-183.324631,"cg_iw_a":16.5642242,"cg_sample_age_us":24.0854549,"cg_sample_seq":9939767,"cg_sample_valid":1,"cg_theta_rad":2.16076207,"cg_vd_req_v":-2.17276073,"cg_vd_v":-2.17276073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32142639,"cg_vq_v":-8.32142639,"cg_vu_v":107.333786,"cg_vv_v":100.295509,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2433.86353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1715.05061,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1715.050615,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1715.05062,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1715.085327,"values":{"Elec_RPM":-2357.55078,"EncoderCos":15812,"EncoderSin":19115,"GapTicks":49891,"Mech_RPM":-471.510132,"cg_du":54.6442261,"cg_dv":53.861805,"cg_dw":45.3557739,"cg_id_a":11.9116707,"cg_id_raw_a":11.2598915,"cg_iq_a":-202.493713,"cg_iq_raw_a":-203.061508,"cg_iu_a":37.9860687,"cg_iv_a":152.836914,"cg_iw_a":-190.822983,"cg_sample_age_us":23.863636,"cg_sample_seq":9941366,"cg_sample_valid":1,"cg_theta_rad":3.81836009,"cg_vd_req_v":-2.12381816,"cg_vd_v":-2.12381816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34311676,"cg_vq_v":-8.34311676,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4442177,"dclink_p_w":-2516.93481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1715.440796,"values":{"Elec_RPM":-2354.98438,"EncoderCos":11436,"EncoderSin":29195,"GapTicks":49305,"Mech_RPM":-470.996887,"cg_du":50.2342911,"cg_dv":44.8231583,"cg_dw":55.1768417,"cg_id_a":-14.2866278,"cg_id_raw_a":-17.9454231,"cg_iq_a":-195.528778,"cg_iq_raw_a":-195.335815,"cg_iu_a":62.2694397,"cg_iv_a":-191.552002,"cg_iw_a":129.282562,"cg_sample_age_us":23.6527271,"cg_sample_seq":9943167,"cg_sample_valid":1,"cg_theta_rad":3.31455827,"cg_vd_req_v":-1.6193347,"cg_vd_v":-1.6193347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50130844,"cg_vq_v":-8.50130844,"cg_vu_v":25.0738773,"cg_vv_v":1.75957024,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.2264252,"dclink_p_w":-2348.36377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1715.772827,"values":{"Elec_RPM":-2357.38135,"EncoderCos":37845,"EncoderSin":11807,"GapTicks":49343,"Mech_RPM":-471.476288,"cg_du":55.141861,"cg_dv":49.3539352,"cg_dw":44.858139,"cg_id_a":-17.3627472,"cg_id_raw_a":-17.2478275,"cg_iq_a":-196.186859,"cg_iq_raw_a":-194.963486,"cg_iu_a":150.88562,"cg_iv_a":32.5436096,"cg_iw_a":-183.42923,"cg_sample_age_us":24.005455,"cg_sample_seq":9944767,"cg_sample_valid":1,"cg_theta_rad":4.96541405,"cg_vd_req_v":-1.57812929,"cg_vd_v":-1.57812929,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44291878,"cg_vq_v":-8.44291878,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2446.07593,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1716.011718,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1716.011725,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1716.01173,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1716.12439,"values":{"Elec_RPM":-2353.71484,"EncoderCos":27547,"EncoderSin":11735,"GapTicks":49975,"Mech_RPM":-470.74295,"cg_du":46.0634499,"cg_dv":45.4320908,"cg_dw":54.5679092,"cg_id_a":7.9827919,"cg_id_raw_a":11.8795872,"cg_iq_a":-206.429825,"cg_iq_raw_a":-207.552795,"cg_iu_a":-9.52959442,"cg_iv_a":-173.792511,"cg_iw_a":183.322113,"cg_sample_age_us":23.9290905,"cg_sample_seq":9946566,"cg_sample_valid":1,"cg_theta_rad":4.48171186,"cg_vd_req_v":-2.07271886,"cg_vd_v":-2.07271886,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24378681,"cg_vq_v":-8.24378681,"cg_vu_v":39.590332,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2455.48901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1716.456421,"values":{"Elec_RPM":-2354.8479,"EncoderCos":39706,"EncoderSin":12323,"GapTicks":49644,"Mech_RPM":-470.969574,"cg_du":54.8684998,"cg_dv":52.7691078,"cg_dw":45.1315002,"cg_id_a":5.14412785,"cg_id_raw_a":2.70966244,"cg_iq_a":-204.272766,"cg_iq_raw_a":-204.477051,"cg_iu_a":60.1672974,"cg_iv_a":140.514008,"cg_iw_a":-200.681305,"cg_sample_age_us":23.9872723,"cg_sample_seq":9948266,"cg_sample_valid":1,"cg_theta_rad":5.0559392,"cg_vd_req_v":-2.07488918,"cg_vd_v":-2.07488918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30820656,"cg_vq_v":-8.30820656,"cg_vu_v":19.3552723,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2457.83447,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1716.788452,"values":{"Elec_RPM":-2357.59253,"EncoderCos":49736,"EncoderSin":19717,"GapTicks":49354,"Mech_RPM":-471.518494,"cg_du":44.8673363,"cg_dv":48.8339844,"cg_dw":55.1326637,"cg_id_a":-1.82071924,"cg_id_raw_a":-8.44526863,"cg_iq_a":-195.744324,"cg_iq_raw_a":-197.705612,"cg_iu_a":-81.618576,"cg_iv_a":-114.932541,"cg_iw_a":196.551117,"cg_sample_age_us":23.9472733,"cg_sample_seq":9949966,"cg_sample_valid":1,"cg_theta_rad":5.65448761,"cg_vd_req_v":-1.98052883,"cg_vd_v":-1.98052883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44809151,"cg_vq_v":-8.44809151,"cg_vu_v":102.93486,"cg_vv_v":96.7763672,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2457.57129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1717.035138,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1717.035143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1717.035148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1717.143921,"values":{"Elec_RPM":-2358.81104,"EncoderCos":54028,"EncoderSin":31071,"GapTicks":49369,"Mech_RPM":-471.762207,"cg_du":55.1190147,"cg_dv":48.9591522,"cg_dw":44.8809853,"cg_id_a":-14.8274174,"cg_id_raw_a":-12.708643,"cg_iq_a":-196.553375,"cg_iq_raw_a":-197.820236,"cg_iu_a":154.509995,"cg_iv_a":31.3838348,"cg_iw_a":-185.893829,"cg_sample_age_us":24.1218185,"cg_sample_seq":9951666,"cg_sample_valid":1,"cg_theta_rad":6.21705914,"cg_vd_req_v":-1.65829027,"cg_vd_v":-1.65829027,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42549229,"cg_vq_v":-8.42549229,"cg_vu_v":32.5520515,"cg_vv_v":13.6366701,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.8483372,"dclink_p_w":-2583.09448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1717.475952,"values":{"Elec_RPM":-2357.36157,"EncoderCos":51551,"EncoderSin":42851,"GapTicks":49969,"Mech_RPM":-471.472321,"cg_du":45.4268379,"cg_dv":54.2097244,"cg_dw":54.5731621,"cg_id_a":10.5599947,"cg_id_raw_a":13.5207663,"cg_iq_a":-202.582794,"cg_iq_raw_a":-201.200104,"cg_iu_a":-180.49176,"cg_iv_a":10.1811829,"cg_iw_a":170.310577,"cg_sample_age_us":23.5581818,"cg_sample_seq":9953367,"cg_sample_valid":1,"cg_theta_rad":0.500216365,"cg_vd_req_v":-2.17768908,"cg_vd_v":-2.17768908,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34902382,"cg_vq_v":-8.34902382,"cg_vu_v":119.210884,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1717.807983,"values":{"Elec_RPM":-2348.48926,"EncoderCos":42690,"EncoderSin":51736,"GapTicks":49702,"Mech_RPM":-469.697876,"cg_du":54.8163071,"cg_dv":45.1836929,"cg_dw":46.8626595,"cg_id_a":18.2901783,"cg_id_raw_a":19.2397423,"cg_iq_a":-203.166534,"cg_iq_raw_a":-204.57785,"cg_iu_a":193.689575,"cg_iv_a":-34.9423828,"cg_iw_a":-158.747192,"cg_sample_age_us":24.0090904,"cg_sample_seq":9955066,"cg_sample_valid":1,"cg_theta_rad":1.09070826,"cg_vd_req_v":-2.29548383,"cg_vd_v":-2.29548383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31416702,"cg_vq_v":-8.31416702,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1718.027064,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1718.027069,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1718.027075,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1718.18689,"values":{"Elec_RPM":-2352.78418,"EncoderCos":50559,"EncoderSin":44653,"GapTicks":49318,"Mech_RPM":-470.556854,"cg_du":44.8351288,"cg_dv":49.6892281,"cg_dw":55.1648712,"cg_id_a":-9.09423351,"cg_id_raw_a":-10.2247572,"cg_iq_a":-196.884399,"cg_iq_raw_a":-197.322571,"cg_iu_a":-125.002449,"cg_iv_a":-71.5849075,"cg_iw_a":196.587357,"cg_sample_age_us":23.48909,"cg_sample_seq":9956866,"cg_sample_valid":1,"cg_theta_rad":0.597282887,"cg_vd_req_v":-1.7889775,"cg_vd_v":-1.7889775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44909477,"cg_vq_v":-8.44909477,"cg_vu_v":38.7105446,"cg_vv_v":44.8690414,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1718.706421,"values":{"Elec_RPM":-2345.74731,"EncoderCos":49943,"EncoderSin":20010,"GapTicks":49371,"Mech_RPM":-469.149475,"cg_du":44.883194,"cg_dv":48.2726212,"cg_dw":55.116806,"cg_id_a":6.50808525,"cg_id_raw_a":1.12330079,"cg_iq_a":-197.779816,"cg_iq_raw_a":-195.422897,"cg_iu_a":-73.7174225,"cg_iv_a":-123.739792,"cg_iw_a":197.457214,"cg_sample_age_us":23.9218178,"cg_sample_seq":9959317,"cg_sample_valid":1,"cg_theta_rad":5.66295958,"cg_vd_req_v":-2.17202401,"cg_vd_v":-2.17202401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43667412,"cg_vq_v":-8.43667412,"cg_vu_v":102.055069,"cg_vv_v":94.5769043,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.8335094,"dclink_p_w":-2436.22388,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1718.890959,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1718.890971,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1718.890973,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1719.019465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1719.019469,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1719.019473,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1719.151733,"values":{"Elec_RPM":-2342.79126,"EncoderCos":38665,"EncoderSin":12066,"GapTicks":49378,"Mech_RPM":-468.558258,"cg_du":55.1102753,"cg_dv":50.9301796,"cg_dw":44.8897247,"cg_id_a":-9.66895866,"cg_id_raw_a":-12.3411798,"cg_iq_a":-200.2742,"cg_iq_raw_a":-200.82605,"cg_iu_a":126.964676,"cg_iv_a":69.0774078,"cg_iw_a":-196.042084,"cg_sample_age_us":23.9327278,"cg_sample_seq":9961716,"cg_sample_valid":1,"cg_theta_rad":4.99872541,"cg_vd_req_v":-1.77198923,"cg_vd_v":-1.77198923,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37549782,"cg_vq_v":-8.37549782,"cg_vu_v":31.6722641,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2497.85693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1719.487671,"values":{"Elec_RPM":-2346.89282,"EncoderCos":52782,"EncoderSin":40087,"GapTicks":49361,"Mech_RPM":-469.378571,"cg_du":44.8739586,"cg_dv":55.1260414,"cg_dw":49.1616516,"cg_id_a":-11.5725908,"cg_id_raw_a":-9.52233124,"cg_iq_a":-198.63739,"cg_iq_raw_a":-199.812393,"cg_iu_a":-190.857483,"cg_iv_a":138.665558,"cg_iw_a":52.1919174,"cg_sample_age_us":23.5327282,"cg_sample_seq":9963318,"cg_sample_valid":1,"cg_theta_rad":0.369699687,"cg_vd_req_v":-1.74930239,"cg_vd_v":-1.74930239,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39800644,"cg_vq_v":-8.39800644,"cg_vu_v":133.287445,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2519.02661,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1719.819702,"values":{"Elec_RPM":-2343.80737,"EncoderCos":52284,"EncoderSin":41290,"GapTicks":49392,"Mech_RPM":-468.761475,"cg_du":44.9019051,"cg_dv":55.0980949,"cg_dw":51.6136055,"cg_id_a":-0.325818658,"cg_id_raw_a":-4.70988655,"cg_iq_a":-197.933258,"cg_iq_raw_a":-199.061127,"cg_iu_a":-197.018951,"cg_iv_a":102.349258,"cg_iw_a":94.669693,"cg_sample_age_us":23.5363636,"cg_sample_seq":9965066,"cg_sample_valid":1,"cg_theta_rad":0.411127061,"cg_vd_req_v":-1.99904287,"cg_vd_v":-1.99904287,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42682457,"cg_vq_v":-8.42682457,"cg_vu_v":93.6971207,"cg_vv_v":100.735397,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2533.66895,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1720.042897,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1720.0429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1720.042904,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1720.171265,"values":{"Elec_RPM":-2345.57568,"EncoderCos":44532,"EncoderSin":50759,"GapTicks":49305,"Mech_RPM":-469.115112,"cg_du":55.1764526,"cg_dv":44.8235474,"cg_dw":50.4028893,"cg_id_a":-14.0346861,"cg_id_raw_a":-13.8532572,"cg_iq_a":-195.624893,"cg_iq_raw_a":-195.517151,"cg_iu_a":189.557785,"cg_iv_a":-143.855103,"cg_iw_a":-45.7026825,"cg_sample_age_us":23.9181824,"cg_sample_seq":9966766,"cg_sample_valid":1,"cg_theta_rad":0.993584514,"cg_vd_req_v":-1.64716339,"cg_vd_v":-1.64716339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50118446,"cg_vq_v":-8.50118446,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2512.54395,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1720.503296,"values":{"Elec_RPM":-2351.9895,"EncoderCos":32872,"EncoderSin":54231,"GapTicks":49734,"Mech_RPM":-470.397919,"cg_du":45.2133141,"cg_dv":54.7866859,"cg_dw":46.8361359,"cg_id_a":4.35535097,"cg_id_raw_a":9.59399033,"cg_iq_a":-202.389709,"cg_iq_raw_a":-203.847244,"cg_iu_a":-173.351715,"cg_iv_a":174.220764,"cg_iw_a":-0.869056702,"cg_sample_age_us":23.8890915,"cg_sample_seq":9968467,"cg_sample_valid":1,"cg_theta_rad":1.56786644,"cg_vd_req_v":-1.94421637,"cg_vd_v":-1.94421637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33820534,"cg_vq_v":-8.33820534,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1720.835327,"values":{"Elec_RPM":-2351.19165,"EncoderCos":21208,"EncoderSin":51056,"GapTicks":49688,"Mech_RPM":-470.238342,"cg_du":53.1668816,"cg_dv":45.1713867,"cg_dw":54.8286133,"cg_id_a":11.1905556,"cg_id_raw_a":9.63270092,"cg_iq_a":-201.13797,"cg_iq_raw_a":-200.095062,"cg_iu_a":150.233215,"cg_iv_a":-192.820526,"cg_iw_a":42.5873032,"cg_sample_age_us":23.6345463,"cg_sample_seq":9970167,"cg_sample_valid":1,"cg_theta_rad":2.13676047,"cg_vd_req_v":-2.14972329,"cg_vd_v":-2.14972329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35631275,"cg_vq_v":-8.35631275,"cg_vu_v":106.893898,"cg_vv_v":97.2162552,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.3681049,"dclink_p_w":-2513.59302,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1721.034899,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1721.034903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1721.034906,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1721.190796,"values":{"Elec_RPM":-2352.32568,"EncoderCos":12971,"EncoderSin":41520,"GapTicks":49438,"Mech_RPM":-470.465149,"cg_du":48.2196388,"cg_dv":55.0561638,"cg_dw":44.9438362,"cg_id_a":3.99960518,"cg_id_raw_a":-1.62496006,"cg_iq_a":-202.000244,"cg_iq_raw_a":-199.816208,"cg_iu_a":-121.740501,"cg_iv_a":202.309753,"cg_iw_a":-80.5692444,"cg_sample_age_us":23.994545,"cg_sample_seq":9971866,"cg_sample_valid":1,"cg_theta_rad":2.72869396,"cg_vd_req_v":-1.98371792,"cg_vd_v":-1.98371792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36415005,"cg_vq_v":-8.36415005,"cg_vu_v":39.590332,"cg_vv_v":71.2625961,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.0111046,"dclink_p_w":-2454.44312,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1721.518921,"values":{"Elec_RPM":-2352.13354,"EncoderCos":12644,"EncoderSin":40709,"GapTicks":49744,"Mech_RPM":-470.426697,"cg_du":46.6874123,"cg_dv":54.7778549,"cg_dw":45.2221451,"cg_id_a":14.9888306,"cg_id_raw_a":13.6251965,"cg_iq_a":-204.402771,"cg_iq_raw_a":-203.58992,"cg_iu_a":-155.556,"cg_iv_a":193.79245,"cg_iw_a":-48.4572144,"cg_sample_age_us":23.994545,"cg_sample_seq":9973616,"cg_sample_valid":1,"cg_theta_rad":2.76582861,"cg_vd_req_v":-2.17150164,"cg_vd_v":-2.17150164,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32171917,"cg_vq_v":-8.32171917,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3514652,"dclink_p_w":-2366.46021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1721.850952,"values":{"Elec_RPM":-2359.75122,"EncoderCos":16460,"EncoderSin":18361,"GapTicks":49680,"Mech_RPM":-471.950226,"cg_du":52.9159241,"cg_dv":54.8360252,"cg_dw":45.1639748,"cg_id_a":-1.99205494,"cg_id_raw_a":4.71401453,"cg_iq_a":-200.048996,"cg_iq_raw_a":-200.763351,"cg_iu_a":2.32213879,"cg_iv_a":169.944,"cg_iw_a":-172.266144,"cg_sample_age_us":23.9618187,"cg_sample_seq":9975267,"cg_sample_valid":1,"cg_theta_rad":3.87385702,"cg_vd_req_v":-1.8240279,"cg_vd_v":-1.8240279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36069107,"cg_vq_v":-8.36069107,"cg_vu_v":109.093361,"cg_vv_v":114.37207,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.0832615,"dclink_p_w":-2320.56958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1722.026514,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1722.026516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1722.026519,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1722.206421,"values":{"Elec_RPM":-2362.55273,"EncoderCos":17136,"EncoderSin":17600,"GapTicks":49343,"Mech_RPM":-472.510559,"cg_du":50.6655312,"cg_dv":55.1418533,"cg_dw":44.8581467,"cg_id_a":-13.7148867,"cg_id_raw_a":-12.272933,"cg_iq_a":-197.019623,"cg_iq_raw_a":-196.475922,"cg_iu_a":-37.3648605,"cg_iv_a":189.696899,"cg_iw_a":-152.332031,"cg_sample_age_us":23.9327278,"cg_sample_seq":9977016,"cg_sample_valid":1,"cg_theta_rad":3.92039466,"cg_vd_req_v":-1.62233698,"cg_vd_v":-1.62233698,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43592262,"cg_vq_v":-8.43592262,"cg_vu_v":27.7132301,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1722.538452,"values":{"Elec_RPM":-2354.65845,"EncoderCos":39254,"EncoderSin":12152,"GapTicks":49504,"Mech_RPM":-470.931702,"cg_du":54.9956436,"cg_dv":51.8962975,"cg_dw":45.0043564,"cg_id_a":1.23332667,"cg_id_raw_a":-1.28094018,"cg_iq_a":-202.869415,"cg_iq_raw_a":-205.17775,"cg_iu_a":83.290863,"cg_iv_a":118.332779,"cg_iw_a":-201.623642,"cg_sample_age_us":23.9363632,"cg_sample_seq":9978666,"cg_sample_valid":1,"cg_theta_rad":5.03322315,"cg_vd_req_v":-1.98196781,"cg_vd_v":-1.98196781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3135519,"cg_vq_v":-8.3135519,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1722.890015,"values":{"Elec_RPM":-2354.52368,"EncoderCos":39861,"EncoderSin":12363,"GapTicks":49738,"Mech_RPM":-470.904755,"cg_du":54.783165,"cg_dv":53.0666809,"cg_dw":45.216835,"cg_id_a":6.11581182,"cg_id_raw_a":5.27314472,"cg_iq_a":-203.308502,"cg_iq_raw_a":-200.971207,"cg_iu_a":52.1574097,"cg_iv_a":143.703476,"cg_iw_a":-200.572586,"cg_sample_age_us":23.9581814,"cg_sample_seq":9980417,"cg_sample_valid":1,"cg_theta_rad":5.06198645,"cg_vd_req_v":-2.07025099,"cg_vd_v":-2.07025099,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29483223,"cg_vq_v":-8.29483223,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-17.4405937,"dclink_p_w":-2531.75586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1723.050602,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1723.050606,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1723.050609,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1723.222046,"values":{"Elec_RPM":-2358.53613,"EncoderCos":52052,"EncoderSin":41819,"GapTicks":49499,"Mech_RPM":-471.707245,"cg_du":44.9997559,"cg_dv":55.0002441,"cg_dw":52.5718498,"cg_id_a":11.4521294,"cg_id_raw_a":9.42145824,"cg_iq_a":-198.611343,"cg_iq_raw_a":-199.010727,"cg_iu_a":-194.264404,"cg_iv_a":53.130127,"cg_iw_a":141.134277,"cg_sample_age_us":23.550909,"cg_sample_seq":9982016,"cg_sample_valid":1,"cg_theta_rad":0.446048647,"cg_vd_req_v":-2.23062253,"cg_vd_v":-2.23062253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42649746,"cg_vq_v":-8.42649746,"cg_vu_v":1.31967759,"cg_vv_v":10.9973145,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.2046776,"dclink_p_w":-2345.21631,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1723.554077,"values":{"Elec_RPM":-2353.66919,"EncoderCos":51769,"EncoderSin":42405,"GapTicks":49789,"Mech_RPM":-470.733826,"cg_du":45.263588,"cg_dv":54.736412,"cg_dw":53.7776031,"cg_id_a":16.1801624,"cg_id_raw_a":14.4523134,"cg_iq_a":-198.930573,"cg_iq_raw_a":-196.079361,"cg_iu_a":-183.028839,"cg_iv_a":21.9966736,"cg_iw_a":161.032166,"cg_sample_age_us":23.4418182,"cg_sample_seq":9983767,"cg_sample_valid":1,"cg_theta_rad":0.479791433,"cg_vd_req_v":-2.30766106,"cg_vd_v":-2.30766106,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4303894,"cg_vq_v":-8.4303894,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2485.4563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1723.90564,"values":{"Elec_RPM":-2356.49634,"EncoderCos":33248,"EncoderSin":54280,"GapTicks":49985,"Mech_RPM":-471.299286,"cg_du":45.4410133,"cg_dv":54.5589867,"cg_dw":46.0220032,"cg_id_a":9.30888176,"cg_id_raw_a":12.4036636,"cg_iq_a":-205.481613,"cg_iq_raw_a":-207.290741,"cg_iu_a":-182.086487,"cg_iv_a":161.209244,"cg_iw_a":20.877243,"cg_sample_age_us":23.7654552,"cg_sample_seq":9985421,"cg_sample_valid":1,"cg_theta_rad":1.59144735,"cg_vd_req_v":-2.05426669,"cg_vd_v":-2.05426669,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25310135,"cg_vq_v":-8.25310135,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2381.75391,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1724.043211,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1724.043215,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1724.043218,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1724.241577,"values":{"Elec_RPM":-2354.40747,"EncoderCos":31509,"EncoderSin":54201,"GapTicks":49338,"Mech_RPM":-470.8815,"cg_du":44.8532639,"cg_dv":55.1467361,"cg_dw":49.8748131,"cg_id_a":-10.8629456,"cg_id_raw_a":-13.7310133,"cg_iq_a":-197.300293,"cg_iq_raw_a":-196.852921,"cg_iu_a":-191.256165,"cg_iv_a":136.853378,"cg_iw_a":54.4027863,"cg_sample_age_us":23.8927269,"cg_sample_seq":9987167,"cg_sample_valid":1,"cg_theta_rad":1.62912989,"cg_vd_req_v":-1.67290211,"cg_vd_v":-1.67290211,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43750477,"cg_vq_v":-8.43750477,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2480.59033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1724.573608,"values":{"Elec_RPM":-2361.38354,"EncoderCos":20069,"EncoderSin":50236,"GapTicks":49614,"Mech_RPM":-472.276703,"cg_du":54.8960571,"cg_dv":45.1039429,"cg_dw":52.8501053,"cg_id_a":-2.57925987,"cg_id_raw_a":2.94788837,"cg_iq_a":-200.901947,"cg_iq_raw_a":-203.080887,"cg_iu_a":172.015762,"cg_iv_a":-172.74144,"cg_iw_a":0.72567749,"cg_sample_age_us":24.0490913,"cg_sample_seq":9988867,"cg_sample_valid":1,"cg_theta_rad":2.20286226,"cg_vd_req_v":-1.8417064,"cg_vd_v":-1.8417064,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4060955,"cg_vq_v":-8.4060955,"cg_vu_v":143.404984,"cg_vv_v":125.369385,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2453.00903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1724.925171,"values":{"Elec_RPM":-2359.96631,"EncoderCos":12476,"EncoderSin":40299,"GapTicks":50026,"Mech_RPM":-471.993286,"cg_du":45.8588448,"cg_dv":54.5211525,"cg_dw":45.4788475,"cg_id_a":13.7383842,"cg_id_raw_a":15.5194483,"cg_iq_a":-205.259369,"cg_iq_raw_a":-205.03154,"cg_iu_a":-165.66803,"cg_iv_a":186.03627,"cg_iw_a":-20.3682404,"cg_sample_age_us":23.8672733,"cg_sample_seq":9990567,"cg_sample_valid":1,"cg_theta_rad":2.79022455,"cg_vd_req_v":-2.13116241,"cg_vd_v":-2.13116241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27691364,"cg_vq_v":-8.27691364,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2488.93994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1725.003525,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1725.003528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1725.003532,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1725.257202,"values":{"Elec_RPM":-2358.16211,"EncoderCos":11680,"EncoderSin":27983,"GapTicks":49527,"Mech_RPM":-471.632446,"cg_du":52.3369217,"cg_dv":45.0246582,"cg_dw":54.9753418,"cg_id_a":5.13541174,"cg_id_raw_a":3.60184765,"cg_iq_a":-199.347855,"cg_iq_raw_a":-199.095398,"cg_iu_a":116.598946,"cg_iv_a":-198.438324,"cg_iw_a":81.8393707,"cg_sample_age_us":23.6636372,"cg_sample_seq":9992266,"cg_sample_valid":1,"cg_theta_rad":3.36106277,"cg_vd_req_v":-2.02122521,"cg_vd_v":-2.02122521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37430763,"cg_vq_v":-8.37430763,"cg_vu_v":105.574219,"cg_vv_v":82.2599106,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2434.83252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1725.59314,"values":{"Elec_RPM":-2357.95557,"EncoderCos":17490,"EncoderSin":17216,"GapTicks":49372,"Mech_RPM":-471.591125,"cg_du":49.6255493,"cg_dv":55.1158142,"cg_dw":44.8841858,"cg_id_a":-13.1855297,"cg_id_raw_a":-14.8881998,"cg_iq_a":-199.647308,"cg_iq_raw_a":-198.942993,"cg_iu_a":-67.1935349,"cg_iv_a":196.836945,"cg_iw_a":-129.643402,"cg_sample_age_us":23.9654541,"cg_sample_seq":9993966,"cg_sample_valid":1,"cg_theta_rad":3.94693065,"cg_vd_req_v":-1.65001762,"cg_vd_v":-1.65001762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3962574,"cg_vq_v":-8.3962574,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6363106,"dclink_p_w":-2552.40894,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1725.944702,"values":{"Elec_RPM":-2355.43652,"EncoderCos":28521,"EncoderSin":11616,"GapTicks":49468,"Mech_RPM":-471.08728,"cg_du":48.4229317,"cg_dv":44.9713669,"cg_dw":55.0286331,"cg_id_a":-14.2352619,"cg_id_raw_a":-10.0671272,"cg_iq_a":-200.038086,"cg_iq_raw_a":-201.710709,"cg_iu_a":16.8559151,"cg_iv_a":-180.243912,"cg_iw_a":163.388,"cg_sample_age_us":23.8781815,"cg_sample_seq":9995666,"cg_sample_valid":1,"cg_theta_rad":4.53029156,"cg_vd_req_v":-1.62595677,"cg_vd_v":-1.62595677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38396454,"cg_vq_v":-8.38396454,"cg_vu_v":7.03828096,"cg_vv_v":8.79785156,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2409.73462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1726.026772,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1726.026776,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1726.02678,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1726.276733,"values":{"Elec_RPM":-2358.68115,"EncoderCos":40437,"EncoderSin":12627,"GapTicks":50055,"Mech_RPM":-471.736206,"cg_du":54.4952393,"cg_dv":54.2000198,"cg_dw":45.5047607,"cg_id_a":9.38653946,"cg_id_raw_a":8.51820183,"cg_iq_a":-203.97995,"cg_iq_raw_a":-204.46669,"cg_iu_a":20.5890312,"cg_iv_a":164.000015,"cg_iw_a":-184.58905,"cg_sample_age_us":23.9872723,"cg_sample_seq":9997367,"cg_sample_valid":1,"cg_theta_rad":5.09330606,"cg_vd_req_v":-2.12240124,"cg_vd_v":-2.12240124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26735306,"cg_vq_v":-8.26735306,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2376.26318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1726.628296,"values":{"Elec_RPM":-2358.07544,"EncoderCos":49525,"EncoderSin":19486,"GapTicks":49317,"Mech_RPM":-471.615082,"cg_du":44.8342743,"cg_dv":49.3591881,"cg_dw":55.1657257,"cg_id_a":-8.7880106,"cg_id_raw_a":-11.9118042,"cg_iq_a":-198.61673,"cg_iq_raw_a":-196.959702,"cg_iu_a":-59.2923775,"cg_iv_a":-125.696945,"cg_iw_a":199.015686,"cg_sample_age_us":23.9145451,"cg_sample_seq":9999071,"cg_sample_valid":1,"cg_theta_rad":5.67186022,"cg_vd_req_v":-1.84892368,"cg_vd_v":-1.84892368,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40108395,"cg_vq_v":-8.40108395,"cg_vu_v":116.571533,"cg_vv_v":137.686371,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2410.72607,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1726.960327,"values":{"Elec_RPM":-2355.52954,"EncoderCos":54033,"EncoderSin":31995,"GapTicks":49323,"Mech_RPM":-471.105896,"cg_du":55.1607742,"cg_dv":50.6751251,"cg_dw":44.8392258,"cg_id_a":-6.10098839,"cg_id_raw_a":-8.73671246,"cg_iq_a":-197.094894,"cg_iq_raw_a":-197.431076,"cg_iu_a":114.279343,"cg_iv_a":86.0032806,"cg_iw_a":-200.282623,"cg_sample_age_us":24.0200005,"cg_sample_seq":10000766,"cg_sample_valid":1,"cg_theta_rad":6.25850964,"cg_vd_req_v":-1.85861003,"cg_vd_v":-1.85861003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44686031,"cg_vq_v":-8.44686031,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1727.019232,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1727.019236,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1727.019239,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1727.292358,"values":{"Elec_RPM":-2358.10645,"EncoderCos":51018,"EncoderSin":43826,"GapTicks":49449,"Mech_RPM":-471.621277,"cg_du":44.9537506,"cg_dv":51.6861916,"cg_dw":55.0462494,"cg_id_a":-5.68904018,"cg_id_raw_a":-7.27256441,"cg_iq_a":-198.474655,"cg_iq_raw_a":-198.146225,"cg_iu_a":-155.447266,"cg_iv_a":-26.5700684,"cg_iw_a":182.017334,"cg_sample_age_us":23.51091,"cg_sample_seq":10002467,"cg_sample_valid":1,"cg_theta_rad":0.549590826,"cg_vd_req_v":-1.83234215,"cg_vd_v":-1.83234215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39072609,"cg_vq_v":-8.39072609,"cg_vu_v":102.494972,"cg_vv_v":110.852921,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.5399342,"dclink_p_w":-2386.46045,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1727.643921,"values":{"Elec_RPM":-2358.94556,"EncoderCos":31607,"EncoderSin":54258,"GapTicks":49324,"Mech_RPM":-471.789093,"cg_du":44.8408661,"cg_dv":55.1591339,"cg_dw":49.6815338,"cg_id_a":-11.0106668,"cg_id_raw_a":-10.7842331,"cg_iq_a":-197.234711,"cg_iq_raw_a":-197.479538,"cg_iu_a":-200.063416,"cg_iv_a":98.1449585,"cg_iw_a":101.918457,"cg_sample_age_us":23.7836361,"cg_sample_seq":10004120,"cg_sample_valid":1,"cg_theta_rad":1.66799796,"cg_vd_req_v":-1.66149008,"cg_vd_v":-1.66149008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4655838,"cg_vq_v":-8.4655838,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.2950439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1727.979858,"values":{"Elec_RPM":-2358.12012,"EncoderCos":30060,"EncoderSin":54108,"GapTicks":49510,"Mech_RPM":-471.624023,"cg_du":45.0098267,"cg_dv":54.9901733,"cg_dw":52.5146561,"cg_id_a":7.03271389,"cg_id_raw_a":3.48990273,"cg_iq_a":-198.367737,"cg_iq_raw_a":-197.269043,"cg_iu_a":-194.300659,"cg_iv_a":63.1334229,"cg_iw_a":131.167236,"cg_sample_age_us":23.8854542,"cg_sample_seq":10005867,"cg_sample_valid":1,"cg_theta_rad":1.69933414,"cg_vd_req_v":-2.03066397,"cg_vd_v":-2.03066397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44430161,"cg_vq_v":-8.44430161,"cg_vu_v":98.9758301,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-16.3224716,"dclink_p_w":-2362.26416,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1728.042725,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1728.042729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1728.042733,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1728.456421,"values":{"Elec_RPM":-2349.59692,"EncoderCos":14067,"EncoderSin":43643,"GapTicks":49661,"Mech_RPM":-469.919373,"cg_du":52.9436378,"cg_dv":54.8534355,"cg_dw":45.1465645,"cg_id_a":-0.724844396,"cg_id_raw_a":4.48782825,"cg_iq_a":-198.648834,"cg_iq_raw_a":-201.771271,"cg_iu_a":-39.213295,"cg_iv_a":185.637573,"cg_iw_a":-146.424286,"cg_sample_age_us":23.7872734,"cg_sample_seq":10008120,"cg_sample_valid":1,"cg_theta_rad":2.66076207,"cg_vd_req_v":-1.84469509,"cg_vd_v":-1.84469509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39330959,"cg_vq_v":-8.39330959,"cg_vu_v":41.3499031,"cg_vv_v":71.2625961,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2390.06445,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1728.907176,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1728.907184,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1728.907186,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1728.972046,"values":{"Elec_RPM":-2353.19629,"EncoderCos":52822,"EncoderSin":39894,"GapTicks":49384,"Mech_RPM":-470.639282,"cg_du":44.8952217,"cg_dv":55.1047783,"cg_dw":48.7003975,"cg_id_a":-10.1196365,"cg_id_raw_a":-9.95046902,"cg_iq_a":-198.246796,"cg_iq_raw_a":-198.74382,"cg_iu_a":-195.279236,"cg_iv_a":124.530472,"cg_iw_a":70.748764,"cg_sample_age_us":26.4127274,"cg_sample_seq":10010669,"cg_sample_valid":1,"cg_theta_rad":0.384393603,"cg_vd_req_v":-1.77973199,"cg_vd_v":-1.77973199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43676472,"cg_vq_v":-8.43676472,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2458.25439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1729.035394,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1729.035398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1729.035403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1729.304077,"values":{"Elec_RPM":-2350.04419,"EncoderCos":49423,"EncoderSin":19366,"GapTicks":49322,"Mech_RPM":-470.00885,"cg_du":44.8382797,"cg_dv":49.6448631,"cg_dw":55.1617203,"cg_id_a":-10.6905184,"cg_id_raw_a":-12.5060863,"cg_iq_a":-198.001785,"cg_iq_raw_a":-196.898666,"cg_iu_a":-124.096352,"cg_iv_a":-70.2801285,"cg_iw_a":194.37648,"cg_sample_age_us":23.9509087,"cg_sample_seq":10012517,"cg_sample_valid":1,"cg_theta_rad":5.62459993,"cg_vd_req_v":-1.81075156,"cg_vd_v":-1.81075156,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41385841,"cg_vq_v":-8.41385841,"cg_vu_v":141.205521,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.5580559,"dclink_p_w":-2396.35889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1729.659546,"values":{"Elec_RPM":-2352.30127,"EncoderCos":53859,"EncoderSin":29733,"GapTicks":50001,"Mech_RPM":-470.460236,"cg_du":54.5437469,"cg_dv":45.8384132,"cg_dw":45.4562531,"cg_id_a":8.76098442,"cg_id_raw_a":11.4226332,"cg_iq_a":-204.356186,"cg_iq_raw_a":-204.854507,"cg_iu_a":162.918564,"cg_iv_a":10.4711304,"cg_iw_a":-173.389694,"cg_sample_age_us":24.0418186,"cg_sample_seq":10014221,"cg_sample_valid":1,"cg_theta_rad":6.19398308,"cg_vd_req_v":-2.13274169,"cg_vd_v":-2.13274169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32048416,"cg_vq_v":-8.32048416,"cg_vu_v":106.014107,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2511.49487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1729.987671,"values":{"Elec_RPM":-2356.86719,"EncoderCos":51488,"EncoderSin":42991,"GapTicks":49923,"Mech_RPM":-471.373413,"cg_du":45.3849297,"cg_dv":53.8179512,"cg_dw":54.6150703,"cg_id_a":7.74874878,"cg_id_raw_a":12.5595932,"cg_iq_a":-202.827393,"cg_iq_raw_a":-201.753174,"cg_iu_a":-178.860779,"cg_iv_a":3.25860596,"cg_iw_a":175.602173,"cg_sample_age_us":23.5290909,"cg_sample_seq":10015916,"cg_sample_valid":1,"cg_theta_rad":0.505665362,"cg_vd_req_v":-2.10235929,"cg_vd_v":-2.10235929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31117535,"cg_vq_v":-8.31117535,"cg_vu_v":0.87978512,"cg_vv_v":9.67763615,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3343201,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1730.027352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1730.027355,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1730.027358,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1730.323608,"values":{"Elec_RPM":-2358.50781,"EncoderCos":31763,"EncoderSin":54224,"GapTicks":49325,"Mech_RPM":-471.701538,"cg_du":44.8410072,"cg_dv":55.1589928,"cg_dw":49.3559723,"cg_id_a":-10.8772917,"cg_id_raw_a":-10.154788,"cg_iq_a":-197.030807,"cg_iq_raw_a":-197.698074,"cg_iu_a":-183.717468,"cg_iv_a":153.018143,"cg_iw_a":30.6993256,"cg_sample_age_us":23.7690907,"cg_sample_seq":10017566,"cg_sample_valid":1,"cg_theta_rad":1.60977948,"cg_vd_req_v":-1.66336834,"cg_vd_v":-1.66336834,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45541382,"cg_vq_v":-8.45541382,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2379.66211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1730.675171,"values":{"Elec_RPM":-2354.81055,"EncoderCos":30950,"EncoderSin":54198,"GapTicks":49334,"Mech_RPM":-470.962097,"cg_du":44.8494492,"cg_dv":55.1505508,"cg_dw":50.875782,"cg_id_a":-3.2898612,"cg_id_raw_a":-3.81190085,"cg_iq_a":-197.932007,"cg_iq_raw_a":-197.926697,"cg_iu_a":-195.279236,"cg_iv_a":120.869843,"cg_iw_a":74.4093933,"cg_sample_age_us":23.8927269,"cg_sample_seq":10019316,"cg_sample_valid":1,"cg_theta_rad":1.64739919,"cg_vd_req_v":-1.83299971,"cg_vd_v":-1.83299971,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.452178,"cg_vq_v":-8.452178,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1731.007202,"values":{"Elec_RPM":-2355.54248,"EncoderCos":12663,"EncoderSin":40745,"GapTicks":49742,"Mech_RPM":-471.108521,"cg_du":46.7926979,"cg_dv":54.7793655,"cg_dw":45.2206345,"cg_id_a":15.0995388,"cg_id_raw_a":14.6342211,"cg_iq_a":-203.924088,"cg_iq_raw_a":-203.022385,"cg_iu_a":-154.106247,"cg_iv_a":194.662308,"cg_iw_a":-40.5560608,"cg_sample_age_us":23.9836369,"cg_sample_seq":10020967,"cg_sample_valid":1,"cg_theta_rad":2.76627517,"cg_vd_req_v":-2.17628837,"cg_vd_v":-2.17628837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28440762,"cg_vq_v":-8.28440762,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2464.02417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1731.019588,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1731.019593,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1731.019597,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1731.339233,"values":{"Elec_RPM":-2358.35522,"EncoderCos":12312,"EncoderSin":39748,"GapTicks":49844,"Mech_RPM":-471.671051,"cg_du":45.3132858,"cg_dv":54.6867142,"cg_dw":46.4826508,"cg_id_a":6.35228157,"cg_id_raw_a":11.0320358,"cg_iq_a":-203.304733,"cg_iq_raw_a":-204.824524,"cg_iu_a":-173.42421,"cg_iv_a":177.373993,"cg_iw_a":-3.94979095,"cg_sample_age_us":23.9654541,"cg_sample_seq":10022716,"cg_sample_valid":1,"cg_theta_rad":2.81399202,"cg_vd_req_v":-1.97292674,"cg_vd_v":-1.97292674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30462646,"cg_vq_v":-8.30462646,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2448.28809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1731.690796,"values":{"Elec_RPM":-2358.70972,"EncoderCos":11730,"EncoderSin":27675,"GapTicks":49610,"Mech_RPM":-471.741943,"cg_du":52.9087601,"cg_dv":45.1000786,"cg_dw":54.8999214,"cg_id_a":8.38775158,"cg_id_raw_a":5.6333189,"cg_iq_a":-200.008652,"cg_iq_raw_a":-199.779297,"cg_iu_a":143.890549,"cg_iv_a":-193.762863,"cg_iw_a":49.8723145,"cg_sample_age_us":23.5981827,"cg_sample_seq":10024416,"cg_sample_valid":1,"cg_theta_rad":3.38596344,"cg_vd_req_v":-2.08946013,"cg_vd_v":-2.08946013,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40005112,"cg_vq_v":-8.40005112,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.8718948,"dclink_p_w":-2578.64209,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3146667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1732.022827,"values":{"Elec_RPM":-2354.0083,"EncoderCos":17707,"EncoderSin":17033,"GapTicks":49382,"Mech_RPM":-470.801636,"cg_du":49.0796165,"cg_dv":55.1069145,"cg_dw":44.8930855,"cg_id_a":-10.9730597,"cg_id_raw_a":-14.5766821,"cg_iq_a":-198.642853,"cg_iq_raw_a":-197.835098,"cg_iu_a":-95.6449432,"cg_iv_a":199.19278,"cg_iw_a":-103.547836,"cg_sample_age_us":23.9909096,"cg_sample_seq":10026117,"cg_sample_valid":1,"cg_theta_rad":3.96793127,"cg_vd_req_v":-1.68988192,"cg_vd_v":-1.68988192,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41237259,"cg_vq_v":-8.41237259,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1732.042872,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1732.042875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1732.042879,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1732.378296,"values":{"Elec_RPM":-2358.47632,"EncoderCos":27989,"EncoderSin":11701,"GapTicks":49714,"Mech_RPM":-471.695282,"cg_du":47.1481094,"cg_dv":45.1951866,"cg_dw":54.8048134,"cg_id_a":-3.84467936,"cg_id_raw_a":3.16030979,"cg_iq_a":-203.467896,"cg_iq_raw_a":-205.106888,"cg_iu_a":24.0684395,"cg_iv_a":-183.324631,"cg_iw_a":159.256195,"cg_sample_age_us":23.9509087,"cg_sample_seq":10027820,"cg_sample_valid":1,"cg_theta_rad":4.53557634,"cg_vd_req_v":-1.82600868,"cg_vd_v":-1.82600868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28913593,"cg_vq_v":-8.28913593,"cg_vu_v":107.333786,"cg_vv_v":103.814644,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2502.31567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1732.710327,"values":{"Elec_RPM":-2357.14966,"EncoderCos":49894,"EncoderSin":19996,"GapTicks":49352,"Mech_RPM":-471.429932,"cg_du":44.8661194,"cg_dv":48.3296661,"cg_dw":55.1338806,"cg_id_a":6.03273964,"cg_id_raw_a":0.534089148,"cg_iq_a":-196.728348,"cg_iq_raw_a":-196.957855,"cg_iu_a":-76.4357147,"cg_iv_a":-121.311447,"cg_iw_a":197.747162,"cg_sample_age_us":23.9618187,"cg_sample_seq":10029466,"cg_sample_valid":1,"cg_theta_rad":5.66162682,"cg_vd_req_v":-2.15151858,"cg_vd_v":-2.15151858,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46017265,"cg_vq_v":-8.46017265,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2486.08105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1733.034565,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1733.034569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1733.034572,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1733.042358,"values":{"Elec_RPM":-2352.31104,"EncoderCos":54033,"EncoderSin":31566,"GapTicks":49341,"Mech_RPM":-470.462219,"cg_du":55.1443253,"cg_dv":49.9087257,"cg_dw":44.8556747,"cg_id_a":-11.2229271,"cg_id_raw_a":-14.1685934,"cg_iq_a":-196.196442,"cg_iq_raw_a":-195.490494,"cg_iu_a":135.192032,"cg_iv_a":59.436554,"cg_iw_a":-194.628586,"cg_sample_age_us":24.1218185,"cg_sample_seq":10031166,"cg_sample_valid":1,"cg_theta_rad":6.23904228,"cg_vd_req_v":-1.73582518,"cg_vd_v":-1.73582518,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44694138,"cg_vq_v":-8.44694138,"cg_vu_v":43.549366,"cg_vv_v":46.1887207,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2423.37256,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1733.393921,"values":{"Elec_RPM":-2350.14722,"EncoderCos":51498,"EncoderSin":42998,"GapTicks":49936,"Mech_RPM":-470.029449,"cg_du":45.3964272,"cg_dv":53.8718605,"cg_dw":54.6035728,"cg_id_a":9.94046211,"cg_id_raw_a":11.0416679,"cg_iq_a":-203.835876,"cg_iq_raw_a":-203.1409,"cg_iu_a":-166.755341,"cg_iv_a":-16.276825,"cg_iw_a":183.032166,"cg_sample_age_us":23.4454536,"cg_sample_seq":10032869,"cg_sample_valid":1,"cg_theta_rad":0.539056778,"cg_vd_req_v":-2.15507507,"cg_vd_v":-2.15507507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27625179,"cg_vq_v":-8.27625179,"cg_vu_v":18.0355949,"cg_vv_v":20.2350578,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2426.46558,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1733.725952,"values":{"Elec_RPM":-2349.37964,"EncoderCos":42590,"EncoderSin":51812,"GapTicks":49745,"Mech_RPM":-469.875946,"cg_du":54.7767372,"cg_dv":45.2232628,"cg_dw":46.6216049,"cg_id_a":17.9930401,"cg_id_raw_a":16.5140839,"cg_iq_a":-205.197998,"cg_iq_raw_a":-203.339767,"cg_iu_a":188.434235,"cg_iv_a":-22.6194916,"cg_iw_a":-165.814743,"cg_sample_age_us":24.0090904,"cg_sample_seq":10034567,"cg_sample_valid":1,"cg_theta_rad":1.10794997,"cg_vd_req_v":-2.29422569,"cg_vd_v":-2.29422569,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28442383,"cg_vq_v":-8.28442383,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7812843,"dclink_p_w":-2565.56836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1734.057983,"values":{"Elec_RPM":-2350.86328,"EncoderCos":30552,"EncoderSin":54180,"GapTicks":49400,"Mech_RPM":-470.172668,"cg_du":44.909256,"cg_dv":55.090744,"cg_dw":51.6186905,"cg_id_a":1.10810649,"cg_id_raw_a":-4.1377902,"cg_iq_a":-196.658615,"cg_iq_raw_a":-195.5242,"cg_iu_a":-195.750412,"cg_iv_a":88.467865,"cg_iw_a":107.282547,"cg_sample_age_us":23.8963642,"cg_sample_seq":10036267,"cg_sample_valid":1,"cg_theta_rad":1.67511833,"cg_vd_req_v":-1.91372621,"cg_vd_v":-1.91372621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46208477,"cg_vq_v":-8.46208477,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1734.058668,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1734.058671,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1734.058674,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1734.413452,"values":{"Elec_RPM":-2347.88062,"EncoderCos":19004,"EncoderSin":49389,"GapTicks":49361,"Mech_RPM":-469.576111,"cg_du":55.1260948,"cg_dv":44.8739052,"cg_dw":49.8107567,"cg_id_a":-16.4119186,"cg_id_raw_a":-18.4563351,"cg_iq_a":-196.837891,"cg_iq_raw_a":-195.363617,"cg_iu_a":193.254654,"cg_iv_a":-134.431702,"cg_iw_a":-58.8229446,"cg_sample_age_us":23.994545,"cg_sample_seq":10037966,"cg_sample_valid":1,"cg_theta_rad":2.26489949,"cg_vd_req_v":-1.58718383,"cg_vd_v":-1.58718383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42006493,"cg_vq_v":-8.42006493,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2554.50708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1734.741577,"values":{"Elec_RPM":-2350.23657,"EncoderCos":12193,"EncoderSin":39460,"GapTicks":49609,"Mech_RPM":-470.047302,"cg_du":45.0999565,"cg_dv":54.9000435,"cg_dw":47.2073555,"cg_id_a":-0.893406987,"cg_id_raw_a":4.98664713,"cg_iq_a":-200.15097,"cg_iq_raw_a":-202.24118,"cg_iu_a":-172.808075,"cg_iv_a":171.430008,"cg_iw_a":1.37806702,"cg_sample_age_us":23.8454552,"cg_sample_seq":10039667,"cg_sample_valid":1,"cg_theta_rad":2.83053255,"cg_vd_req_v":-1.83076298,"cg_vd_v":-1.83076298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39708614,"cg_vq_v":-8.39708614,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.3137398,"dclink_p_w":-2505.7251,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1735.019141,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1735.019145,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1735.019148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1735.077515,"values":{"Elec_RPM":-2349.94653,"EncoderCos":11858,"EncoderSin":27291,"GapTicks":49758,"Mech_RPM":-469.989288,"cg_du":53.6015625,"cg_dv":45.2350845,"cg_dw":54.7649155,"cg_id_a":15.038641,"cg_id_raw_a":12.4932175,"cg_iq_a":-199.896194,"cg_iq_raw_a":-199.402817,"cg_iu_a":157.119537,"cg_iv_a":-187.130234,"cg_iw_a":39.3253555,"cg_sample_age_us":23.7036362,"cg_sample_seq":10041367,"cg_sample_valid":1,"cg_theta_rad":3.40142941,"cg_vd_req_v":-2.20595694,"cg_vd_v":-2.20595694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40328979,"cg_vq_v":-8.40328979,"cg_vu_v":127.568848,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2454.58252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1735.429077,"values":{"Elec_RPM":-2351.78271,"EncoderCos":18320,"EncoderSin":16479,"GapTicks":49542,"Mech_RPM":-470.356567,"cg_du":47.7997131,"cg_dv":54.9609261,"cg_dw":45.0390739,"cg_id_a":7.13980865,"cg_id_raw_a":0.419928819,"cg_iq_a":-201.528778,"cg_iq_raw_a":-200.530914,"cg_iu_a":-130.439026,"cg_iv_a":199.446503,"cg_iw_a":-69.0074692,"cg_sample_age_us":23.9290905,"cg_sample_seq":10043066,"cg_sample_valid":1,"cg_theta_rad":3.99339366,"cg_vd_req_v":-2.06255364,"cg_vd_v":-2.06255364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33240509,"cg_vq_v":-8.33240509,"cg_vu_v":0.87978512,"cg_vv_v":10.5574207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1735.761108,"values":{"Elec_RPM":-2354.39307,"EncoderCos":29412,"EncoderSin":11447,"GapTicks":49335,"Mech_RPM":-470.878601,"cg_du":50.1898766,"cg_dv":44.8503113,"cg_dw":55.1496887,"cg_id_a":-10.4855804,"cg_id_raw_a":-12.3611069,"cg_iq_a":-197.456665,"cg_iq_raw_a":-197.845871,"cg_iu_a":66.2562637,"cg_iv_a":-195.140137,"cg_iw_a":128.883865,"cg_sample_age_us":23.6745453,"cg_sample_seq":10044766,"cg_sample_valid":1,"cg_theta_rad":4.56889486,"cg_vd_req_v":-1.73559976,"cg_vd_v":-1.73559976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43099213,"cg_vq_v":-8.43099213,"cg_vu_v":4.83881807,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2407.63965,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1736.010687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1736.010691,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1736.010694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1736.09314,"values":{"Elec_RPM":-2358.07056,"EncoderCos":41466,"EncoderSin":12999,"GapTicks":49508,"Mech_RPM":-471.614105,"cg_du":52.1702652,"cg_dv":54.9920692,"cg_dw":45.0079308,"cg_id_a":-12.2971191,"cg_id_raw_a":-3.82996821,"cg_iq_a":-198.873932,"cg_iq_raw_a":-201.301498,"cg_iu_a":-3.91180038,"cg_iv_a":174.401993,"cg_iw_a":-172.483612,"cg_sample_age_us":23.9654541,"cg_sample_seq":10046466,"cg_sample_valid":1,"cg_theta_rad":5.14411688,"cg_vd_req_v":-1.69894099,"cg_vd_v":-1.69894099,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43174458,"cg_vq_v":-8.43174458,"cg_vu_v":18.0355949,"cg_vv_v":14.5164547,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4312019,"dclink_p_w":-2378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1736.444702,"values":{"Elec_RPM":-2359.84106,"EncoderCos":50810,"EncoderSin":21325,"GapTicks":50081,"Mech_RPM":-471.968201,"cg_du":45.8123627,"cg_dv":45.5282021,"cg_dw":54.4717979,"cg_id_a":10.7853489,"cg_id_raw_a":16.0207615,"cg_iq_a":-206.480408,"cg_iq_raw_a":-207.407059,"cg_iu_a":-17.358263,"cg_iv_a":-169.443253,"cg_iw_a":186.801514,"cg_sample_age_us":23.9218178,"cg_sample_seq":10048166,"cg_sample_valid":1,"cg_theta_rad":5.72674274,"cg_vd_req_v":-2.18316555,"cg_vd_v":-2.18316555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23670006,"cg_vq_v":-8.23670006,"cg_vu_v":3.51914048,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2465.07349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1736.78064,"values":{"Elec_RPM":-2353.98877,"EncoderCos":51178,"EncoderSin":21859,"GapTicks":49659,"Mech_RPM":-470.797729,"cg_du":47.3475227,"cg_dv":45.1446609,"cg_dw":54.8553391,"cg_id_a":-5.65860081,"cg_id_raw_a":0.296155512,"cg_iq_a":-202.927353,"cg_iq_raw_a":-204.567886,"cg_iu_a":3.30072236,"cg_iv_a":-175.532196,"cg_iw_a":172.231476,"cg_sample_age_us":23.9472733,"cg_sample_seq":10049917,"cg_sample_valid":1,"cg_theta_rad":5.76549768,"cg_vd_req_v":-1.854761,"cg_vd_v":-1.854761,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30332565,"cg_vq_v":-8.30332565,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1737.034743,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1737.034746,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1737.034749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1737.112671,"values":{"Elec_RPM":-2355.33398,"EncoderCos":41831,"EncoderSin":52155,"GapTicks":49846,"Mech_RPM":-471.066803,"cg_du":54.6846542,"cg_dv":46.1625061,"cg_dw":45.3153458,"cg_id_a":9.91333961,"cg_id_raw_a":15.2567739,"cg_iq_a":-200.847977,"cg_iq_raw_a":-203.542633,"cg_iu_a":177.851013,"cg_iv_a":-10.0066223,"cg_iw_a":-167.844391,"cg_sample_age_us":23.9836369,"cg_sample_seq":10051516,"cg_sample_valid":1,"cg_theta_rad":1.12665868,"cg_vd_req_v":-2.10478783,"cg_vd_v":-2.10478783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40042591,"cg_vq_v":-8.40042591,"cg_vu_v":106.453995,"cg_vv_v":95.8965836,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4638214,"dclink_p_w":-2382.72095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1737.464233,"values":{"Elec_RPM":-2353.59814,"EncoderCos":49976,"EncoderSin":45502,"GapTicks":49413,"Mech_RPM":-470.719635,"cg_du":44.9210243,"cg_dv":47.9682083,"cg_dw":55.0789757,"cg_id_a":10.1973839,"cg_id_raw_a":4.21998262,"cg_iq_a":-199.029816,"cg_iq_raw_a":-197.152588,"cg_iu_a":-80.0600967,"cg_iv_a":-117.977013,"cg_iw_a":198.037109,"cg_sample_age_us":23.4127274,"cg_sample_seq":10053316,"cg_sample_valid":1,"cg_theta_rad":0.634013116,"cg_vd_req_v":-2.19453239,"cg_vd_v":-2.19453239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43014717,"cg_vq_v":-8.43014717,"cg_vu_v":129.328415,"cg_vv_v":112.172607,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-16.2336731,"dclink_p_w":-2349.41284,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1737.796265,"values":{"Elec_RPM":-2351.97607,"EncoderCos":28767,"EncoderSin":53941,"GapTicks":49955,"Mech_RPM":-470.395203,"cg_du":45.4141846,"cg_dv":53.9875679,"cg_dw":54.5858154,"cg_id_a":8.46221161,"cg_id_raw_a":11.5709009,"cg_iq_a":-202.240768,"cg_iq_raw_a":-203.148132,"cg_iu_a":-182.2677,"cg_iv_a":17.7198944,"cg_iw_a":164.547806,"cg_sample_age_us":23.7690907,"cg_sample_seq":10054966,"cg_sample_valid":1,"cg_theta_rad":1.74886203,"cg_vd_req_v":-2.0327723,"cg_vd_v":-2.0327723,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30379581,"cg_vq_v":-8.30379581,"cg_vu_v":8.35795879,"cg_vv_v":17.5957031,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2495.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1738.026666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1738.02667,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1738.026673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1738.179077,"values":{"Elec_RPM":-2349.67505,"EncoderCos":39361,"EncoderSin":53119,"GapTicks":49451,"Mech_RPM":-469.935028,"cg_du":55.0436554,"cg_dv":51.5864906,"cg_dw":44.9563446,"cg_id_a":6.18547916,"cg_id_raw_a":3.98042369,"cg_iq_a":-201.730194,"cg_iq_raw_a":-202.916,"cg_iu_a":81.5874023,"cg_iv_a":119.238876,"cg_iw_a":-200.826279,"cg_sample_age_us":23.8963642,"cg_sample_seq":10056766,"cg_sample_valid":1,"cg_theta_rad":1.25885892,"cg_vd_req_v":-2.04732013,"cg_vd_v":-2.04732013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31825638,"cg_vq_v":-8.31825638,"cg_vu_v":25.5137672,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2382.7998,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1738.698608,"values":{"Elec_RPM":-2346.17944,"EncoderCos":13800,"EncoderSin":22261,"GapTicks":49809,"Mech_RPM":-469.235901,"cg_du":54.7182465,"cg_dv":46.561367,"cg_dw":45.2817535,"cg_id_a":3.91246104,"cg_id_raw_a":9.87660313,"cg_iq_a":-199.939026,"cg_iq_raw_a":-201.763718,"cg_iu_a":174.045425,"cg_iv_a":-3.48274231,"cg_iw_a":-170.562683,"cg_sample_age_us":24.0418186,"cg_sample_seq":10059466,"cg_sample_valid":1,"cg_theta_rad":3.65577555,"cg_vd_req_v":-1.94584012,"cg_vd_v":-1.94584012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35684967,"cg_vq_v":-8.35684967,"cg_vu_v":43.549366,"cg_vv_v":43.1094704,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3718872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1738.890556,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1738.890563,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1738.890564,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1739.050418,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1739.050422,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1739.050425,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1739.120483,"values":{"Elec_RPM":-2343.95728,"EncoderCos":53957,"EncoderSin":30832,"GapTicks":49418,"Mech_RPM":-468.791443,"cg_du":55.0736809,"cg_dv":48.4323769,"cg_dw":44.9263191,"cg_id_a":-12.6157007,"cg_id_raw_a":-12.0729856,"cg_iq_a":-195.826035,"cg_iq_raw_a":-195.934082,"cg_iu_a":158.351837,"cg_iv_a":18.8796997,"cg_iw_a":-177.231537,"cg_sample_age_us":24.0927277,"cg_sample_seq":10061567,"cg_sample_valid":1,"cg_theta_rad":6.20423365,"cg_vd_req_v":-1.69225991,"cg_vd_v":-1.69225991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44476795,"cg_vq_v":-8.44476795,"cg_vu_v":138.126266,"cg_vv_v":137.246475,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2479.80566,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1739.475952,"values":{"Elec_RPM":-2351.82324,"EncoderCos":50558,"EncoderSin":20914,"GapTicks":49854,"Mech_RPM":-470.364624,"cg_du":45.3219299,"cg_dv":46.3536797,"cg_dw":54.6780701,"cg_id_a":16.8618927,"cg_id_raw_a":18.0575695,"cg_iq_a":-205.616913,"cg_iq_raw_a":-203.618393,"cg_iu_a":-27.4340496,"cg_iv_a":-164.876526,"cg_iw_a":192.310577,"cg_sample_age_us":23.8890915,"cg_sample_seq":10063367,"cg_sample_valid":1,"cg_theta_rad":5.71113396,"cg_vd_req_v":-2.3350873,"cg_vd_v":-2.3350873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24867535,"cg_vq_v":-8.24867535,"cg_vu_v":120.090675,"cg_vv_v":133.727341,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1739.807983,"values":{"Elec_RPM":-2353.11523,"EncoderCos":54042,"EncoderSin":32660,"GapTicks":49509,"Mech_RPM":-470.623047,"cg_du":54.9913292,"cg_dv":51.8016701,"cg_dw":45.0086708,"cg_id_a":2.06474042,"cg_id_raw_a":-1.57378602,"cg_iq_a":-204.727859,"cg_iq_raw_a":-206.588089,"cg_iu_a":84.3419342,"cg_iv_a":120.072495,"cg_iw_a":-204.414429,"cg_sample_age_us":24.0599995,"cg_sample_seq":10065066,"cg_sample_valid":1,"cg_theta_rad":0.00766948983,"cg_vd_req_v":-2.03439426,"cg_vd_v":-2.03439426,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27396202,"cg_vq_v":-8.27396202,"cg_vu_v":39.590332,"cg_vv_v":43.9892578,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1740.042752,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1740.042756,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1740.042759,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1740.159546,"values":{"Elec_RPM":-2354.53638,"EncoderCos":42844,"EncoderSin":51699,"GapTicks":49582,"Mech_RPM":-470.907288,"cg_du":54.9249001,"cg_dv":45.0750999,"cg_dw":47.1462479,"cg_id_a":18.9964314,"cg_id_raw_a":17.7795258,"cg_iq_a":-201.727982,"cg_iq_raw_a":-201.426331,"cg_iu_a":179.735703,"cg_iv_a":-9.86164856,"cg_iw_a":-169.874054,"cg_sample_age_us":23.8345451,"cg_sample_seq":10066720,"cg_sample_valid":1,"cg_theta_rad":1.12592661,"cg_vd_req_v":-2.31878471,"cg_vd_v":-2.31878471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36303139,"cg_vq_v":-8.36303139,"cg_vu_v":32.5520515,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2449.07495,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2611,"hz_tim_isr":5001,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1740.495483,"values":{"Elec_RPM":-2357.31982,"EncoderCos":29891,"EncoderSin":54120,"GapTicks":49585,"Mech_RPM":-471.463959,"cg_du":45.0776558,"cg_dv":54.9223442,"cg_dw":52.7831726,"cg_id_a":9.5745573,"cg_id_raw_a":9.24261951,"cg_iq_a":-197.770233,"cg_iq_raw_a":-197.793945,"cg_iu_a":-193.322083,"cg_iv_a":53.9637451,"cg_iw_a":139.358337,"cg_sample_age_us":23.8672733,"cg_sample_seq":10068416,"cg_sample_valid":1,"cg_theta_rad":1.70506978,"cg_vd_req_v":-2.07545924,"cg_vd_v":-2.07545924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40052414,"cg_vq_v":-8.40052414,"cg_vu_v":1.31967759,"cg_vv_v":17.5957031,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2611,"hz_tim_isr":5001,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4005127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1740.823608,"values":{"Elec_RPM":-2364.1604,"EncoderCos":19009,"EncoderSin":49396,"GapTicks":49328,"Mech_RPM":-472.832062,"cg_du":55.1562614,"cg_dv":44.8437386,"cg_dw":49.8394547,"cg_id_a":-16.1467381,"cg_id_raw_a":-19.4229259,"cg_iq_a":-197.113663,"cg_iq_raw_a":-195.824661,"cg_iu_a":192.421051,"cg_iv_a":-134.431702,"cg_iw_a":-57.9893417,"cg_sample_age_us":24.0272732,"cg_sample_seq":10070117,"cg_sample_valid":1,"cg_theta_rad":2.26485682,"cg_vd_req_v":-1.59912598,"cg_vd_v":-1.59912598,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44189072,"cg_vq_v":-8.44189072,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2445.03003,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2611,"hz_tim_isr":5001,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1741.035304,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1741.035307,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1741.03531,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1741.179077,"values":{"Elec_RPM":-2366.03662,"EncoderCos":18235,"EncoderSin":48646,"GapTicks":49416,"Mech_RPM":-473.207336,"cg_du":55.076107,"cg_dv":44.923893,"cg_dw":48.0983887,"cg_id_a":6.70303774,"cg_id_raw_a":3.48003578,"cg_iq_a":-199.835083,"cg_iq_raw_a":-199.061157,"cg_iu_a":199.706055,"cg_iv_a":-73.2883682,"cg_iw_a":-126.417686,"cg_sample_age_us":24.0236359,"cg_sample_seq":10071866,"cg_sample_valid":1,"cg_theta_rad":2.31365108,"cg_vd_req_v":-2.07514215,"cg_vd_v":-2.07514215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40011215,"cg_vq_v":-8.40011215,"cg_vu_v":45.7488289,"cg_vv_v":41.7897949,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2420.45166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1741.511108,"values":{"Elec_RPM":-2361.67529,"EncoderCos":17779,"EncoderSin":16986,"GapTicks":49417,"Mech_RPM":-472.335052,"cg_du":48.9728775,"cg_dv":55.0753784,"cg_dw":44.9246216,"cg_id_a":-8.73954296,"cg_id_raw_a":-11.9007416,"cg_iq_a":-200.633789,"cg_iq_raw_a":-199.899063,"cg_iu_a":-87.2363739,"cg_iv_a":200.207611,"cg_iw_a":-112.971237,"cg_sample_age_us":23.9581814,"cg_sample_seq":10073467,"cg_sample_valid":1,"cg_theta_rad":3.9605391,"cg_vd_req_v":-1.73293543,"cg_vd_v":-1.73293543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33515644,"cg_vq_v":-8.33515644,"cg_vu_v":136.366699,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2504.38428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1741.84314,"values":{"Elec_RPM":-2362.56274,"EncoderCos":18410,"EncoderSin":16432,"GapTicks":49594,"Mech_RPM":-472.512543,"cg_du":47.6228333,"cg_dv":54.9138107,"cg_dw":45.0861893,"cg_id_a":6.54889393,"cg_id_raw_a":3.34848142,"cg_iq_a":-204.465256,"cg_iq_raw_a":-204.589111,"cg_iu_a":-135.114471,"cg_iv_a":202.05603,"cg_iw_a":-66.9415588,"cg_sample_age_us":23.9909096,"cg_sample_seq":10075217,"cg_sample_valid":1,"cg_theta_rad":4.0013628,"cg_vd_req_v":-2.05539823,"cg_vd_v":-2.05539823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27447414,"cg_vq_v":-8.27447414,"cg_vu_v":105.574219,"cg_vv_v":105.134323,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.1793079,"dclink_p_w":-2334.42749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1742.027055,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1742.027059,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1742.027063,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1742.194702,"values":{"Elec_RPM":-2357.90625,"EncoderCos":41015,"EncoderSin":12821,"GapTicks":49742,"Mech_RPM":-471.581238,"cg_du":53.3610992,"cg_dv":54.7793159,"cg_dw":45.2206841,"cg_id_a":-0.00272572041,"cg_id_raw_a":5.93750811,"cg_iq_a":-199.529587,"cg_iq_raw_a":-200.906647,"cg_iu_a":2.75706482,"cg_iv_a":168.276794,"cg_iw_a":-175.818039,"cg_sample_age_us":23.9654541,"cg_sample_seq":10076866,"cg_sample_valid":1,"cg_theta_rad":5.13254642,"cg_vd_req_v":-1.93227994,"cg_vd_v":-1.93227994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40077305,"cg_vq_v":-8.40077305,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1742.526733,"values":{"Elec_RPM":-2356.82593,"EncoderCos":41630,"EncoderSin":13095,"GapTicks":49430,"Mech_RPM":-471.365173,"cg_du":51.7497749,"cg_dv":55.0628548,"cg_dw":44.9371452,"cg_id_a":-13.7322636,"cg_id_raw_a":-11.0417309,"cg_iq_a":-195.414871,"cg_iq_raw_a":-196.087708,"cg_iu_a":-15.4010963,"cg_iv_a":175.670532,"cg_iw_a":-160.26944,"cg_sample_age_us":23.9581814,"cg_sample_seq":10078617,"cg_sample_valid":1,"cg_theta_rad":5.15389347,"cg_vd_req_v":-1.66177416,"cg_vd_v":-1.66177416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46595669,"cg_vq_v":-8.46595669,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2462.9751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1742.858765,"values":{"Elec_RPM":-2359.70483,"EncoderCos":50975,"EncoderSin":21586,"GapTicks":49880,"Mech_RPM":-471.940979,"cg_du":46.5263214,"cg_dv":45.346035,"cg_dw":54.653965,"cg_id_a":2.99583149,"cg_id_raw_a":9.41216278,"cg_iq_a":-206.746536,"cg_iq_raw_a":-208.720352,"cg_iu_a":-5.39779758,"cg_iv_a":-176.257095,"cg_iw_a":181.654892,"cg_sample_age_us":23.9218178,"cg_sample_seq":10080316,"cg_sample_valid":1,"cg_theta_rad":5.74866056,"cg_vd_req_v":-2.03130937,"cg_vd_v":-2.03130937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22158813,"cg_vq_v":-8.22158813,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1743.051333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1743.051337,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1743.051341,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1743.214233,"values":{"Elec_RPM":-2360.81885,"EncoderCos":51381,"EncoderSin":22298,"GapTicks":49459,"Mech_RPM":-472.163788,"cg_du":48.4280739,"cg_dv":44.9628601,"cg_dw":55.0371399,"cg_id_a":-12.3720779,"cg_id_raw_a":-10.3403053,"cg_iq_a":-200.446472,"cg_iq_raw_a":-202.406448,"cg_iu_a":21.4588814,"cg_iv_a":-182.019852,"cg_iw_a":160.560974,"cg_sample_age_us":23.8563633,"cg_sample_seq":10082066,"cg_sample_valid":1,"cg_theta_rad":5.78790951,"cg_vd_req_v":-1.73480213,"cg_vd_v":-1.73480213,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37551022,"cg_vq_v":-8.37551022,"cg_vu_v":34.7515144,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2407.37817,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1743.546265,"values":{"Elec_RPM":-2361.08691,"EncoderCos":50338,"EncoderSin":44952,"GapTicks":49336,"Mech_RPM":-472.217407,"cg_du":44.8510933,"cg_dv":49.0118828,"cg_dw":55.1489067,"cg_id_a":-4.72834873,"cg_id_raw_a":-10.216053,"cg_iq_a":-196.682449,"cg_iq_raw_a":-196.022278,"cg_iu_a":-104.198486,"cg_iv_a":-90.4679565,"cg_iw_a":194.666443,"cg_sample_age_us":23.51091,"cg_sample_seq":10083717,"cg_sample_valid":1,"cg_theta_rad":0.611177027,"cg_vd_req_v":-1.87910783,"cg_vd_v":-1.87910783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45078278,"cg_vq_v":-8.45078278,"cg_vu_v":123.60981,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2539.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1743.878296,"values":{"Elec_RPM":-2356.75439,"EncoderCos":29612,"EncoderSin":54056,"GapTicks":49702,"Mech_RPM":-471.350891,"cg_du":45.1840286,"cg_dv":54.8159714,"cg_dw":53.3150826,"cg_id_a":10.9197054,"cg_id_raw_a":9.18536472,"cg_iq_a":-199.785706,"cg_iq_raw_a":-198.327286,"cg_iu_a":-189.588959,"cg_iv_a":43.3805237,"cg_iw_a":146.208435,"cg_sample_age_us":23.8890915,"cg_sample_seq":10085367,"cg_sample_valid":1,"cg_theta_rad":1.71673226,"cg_vd_req_v":-2.09969473,"cg_vd_v":-2.09969473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37490749,"cg_vq_v":-8.37490749,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2439.53906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1744.043371,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1744.043376,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1744.043381,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1744.229858,"values":{"Elec_RPM":-2357.21875,"EncoderCos":28582,"EncoderSin":53920,"GapTicks":49831,"Mech_RPM":-471.443756,"cg_du":45.3012848,"cg_dv":53.5856667,"cg_dw":54.6987152,"cg_id_a":5.38251781,"cg_id_raw_a":10.6212263,"cg_iq_a":-202.936523,"cg_iq_raw_a":-202.414886,"cg_iu_a":-181.252869,"cg_iv_a":12.1020966,"cg_iw_a":169.150772,"cg_sample_age_us":23.7654552,"cg_sample_seq":10087116,"cg_sample_valid":1,"cg_theta_rad":1.75760961,"cg_vd_req_v":-1.97277498,"cg_vd_v":-1.97277498,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32386875,"cg_vq_v":-8.32386875,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2426.52002,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1744.56189,"values":{"Elec_RPM":-2357.2688,"EncoderCos":11826,"EncoderSin":38237,"GapTicks":49297,"Mech_RPM":-471.453766,"cg_du":44.8157806,"cg_dv":55.1842194,"cg_dw":50.0411491,"cg_id_a":-11.9982395,"cg_id_raw_a":-12.501214,"cg_iq_a":-194.197495,"cg_iq_raw_a":-194.826904,"cg_iu_a":-191.509888,"cg_iv_a":122.899506,"cg_iw_a":68.6103821,"cg_sample_age_us":23.9363632,"cg_sample_seq":10088766,"cg_sample_valid":1,"cg_theta_rad":2.89803386,"cg_vd_req_v":-1.6198864,"cg_vd_v":-1.6198864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51084137,"cg_vq_v":-8.51084137,"cg_vu_v":115.251846,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2505.46289,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1744.913452,"values":{"Elec_RPM":-2356.43091,"EncoderCos":11637,"EncoderSin":37433,"GapTicks":49393,"Mech_RPM":-471.286194,"cg_du":44.9028473,"cg_dv":55.0971527,"cg_dw":51.5212479,"cg_id_a":-2.0913415,"cg_id_raw_a":-3.65951514,"cg_iq_a":-196.283951,"cg_iq_raw_a":-196.645523,"cg_iu_a":-197.055191,"cg_iv_a":93.4332733,"cg_iw_a":103.621918,"cg_sample_age_us":23.9254551,"cg_sample_seq":10090516,"cg_sample_valid":1,"cg_theta_rad":2.92683601,"cg_vd_req_v":-1.83186114,"cg_vd_v":-1.83186114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44721794,"cg_vq_v":-8.44721794,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-18.1237888,"dclink_p_w":-2622.95898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1745.03543,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1745.035434,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1745.035438,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1745.24939,"values":{"Elec_RPM":-2360.82959,"EncoderCos":12317,"EncoderSin":25792,"GapTicks":49479,"Mech_RPM":-472.165924,"cg_du":55.0182304,"cg_dv":44.9817696,"cg_dw":51.8484192,"cg_id_a":-10.497776,"cg_id_raw_a":-2.16976857,"cg_iq_a":-198.420288,"cg_iq_raw_a":-200.147537,"cg_iu_a":180.02565,"cg_iv_a":-160.491028,"cg_iw_a":-19.5346298,"cg_sample_age_us":23.9836369,"cg_sample_seq":10092218,"cg_sample_valid":1,"cg_theta_rad":3.48815918,"cg_vd_req_v":-1.66311812,"cg_vd_v":-1.66311812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41083145,"cg_vq_v":-8.41083145,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1745.600952,"values":{"Elec_RPM":-2362.55518,"EncoderCos":12354,"EncoderSin":25657,"GapTicks":49410,"Mech_RPM":-472.511017,"cg_du":55.0811806,"cg_dv":44.9188194,"cg_dw":51.5047455,"cg_id_a":-14.3104963,"cg_id_raw_a":-13.484868,"cg_iq_a":-197.447937,"cg_iq_raw_a":-198.106903,"cg_iu_a":194.704407,"cg_iv_a":-129.937469,"cg_iw_a":-64.7669296,"cg_sample_age_us":24.0672722,"cg_sample_seq":10093971,"cg_sample_valid":1,"cg_theta_rad":3.52330518,"cg_vd_req_v":-1.60050869,"cg_vd_v":-1.60050869,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43793392,"cg_vq_v":-8.43793392,"cg_vu_v":142.965088,"cg_vv_v":126.689056,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2491.31055,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1745.932983,"values":{"Elec_RPM":-2360.02539,"EncoderCos":42444,"EncoderSin":13462,"GapTicks":49386,"Mech_RPM":-472.005096,"cg_du":49.8135986,"cg_dv":55.1028595,"cg_dw":44.8971405,"cg_id_a":-20.8808308,"cg_id_raw_a":-20.7074738,"cg_iq_a":-197.938522,"cg_iq_raw_a":-196.078995,"cg_iu_a":-51.2100029,"cg_iv_a":193.647476,"cg_iw_a":-142.437469,"cg_sample_age_us":23.9763641,"cg_sample_seq":10095566,"cg_sample_valid":1,"cg_theta_rad":5.1963191,"cg_vd_req_v":-1.55191588,"cg_vd_v":-1.55191588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38709831,"cg_vq_v":-8.38709831,"cg_vu_v":12.7568836,"cg_vv_v":15.836132,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2554207,"dclink_p_w":-2345.40942,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1746.027212,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1746.027215,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1746.027217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1746.265015,"values":{"Elec_RPM":-2354.34009,"EncoderCos":31956,"EncoderSin":11223,"GapTicks":49966,"Mech_RPM":-470.868011,"cg_du":54.5759773,"cg_dv":45.4240227,"cg_dw":54.0787277,"cg_id_a":11.4056187,"cg_id_raw_a":16.8649006,"cg_iq_a":-200.975357,"cg_iq_raw_a":-199.972366,"cg_iu_a":169.333725,"cg_iv_a":-178.757919,"cg_iw_a":9.42419434,"cg_sample_age_us":24.1545448,"cg_sample_seq":10097367,"cg_sample_valid":1,"cg_theta_rad":4.68841505,"cg_vd_req_v":-2.12426877,"cg_vd_v":-2.12426877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33377838,"cg_vq_v":-8.33377838,"cg_vu_v":143.404984,"cg_vv_v":140.765625,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.4318619,"dclink_p_w":-2659.43677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1746.597046,"values":{"Elec_RPM":-2351.11157,"EncoderCos":54021,"EncoderSin":33666,"GapTicks":49821,"Mech_RPM":-470.222321,"cg_du":54.7081108,"cg_dv":53.62397,"cg_dw":45.2918892,"cg_id_a":12.8765316,"cg_id_raw_a":12.6579189,"cg_iq_a":-204.292984,"cg_iq_raw_a":-203.337265,"cg_iu_a":28.5626755,"cg_iv_a":159.83197,"cg_iw_a":-188.394653,"cg_sample_age_us":23.4927273,"cg_sample_seq":10098967,"cg_sample_valid":1,"cg_theta_rad":0.0537764542,"cg_vd_req_v":-2.23289752,"cg_vd_v":-2.23289752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31526184,"cg_vq_v":-8.31526184,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.0687637,"dclink_p_w":-2325.54639,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1746.948608,"values":{"Elec_RPM":-2361.74268,"EncoderCos":52054,"EncoderSin":23543,"GapTicks":49304,"Mech_RPM":-472.348541,"cg_du":51.0228195,"cg_dv":44.8220673,"cg_dw":55.1779327,"cg_id_a":3.87726784,"cg_id_raw_a":-0.468976706,"cg_iq_a":-197.721466,"cg_iq_raw_a":-197.167542,"cg_iu_a":113.554466,"cg_iv_a":-198.438324,"cg_iw_a":84.8838501,"cg_sample_age_us":23.7654552,"cg_sample_seq":10100766,"cg_sample_valid":1,"cg_theta_rad":5.86399078,"cg_vd_req_v":-2.08218575,"cg_vd_v":-2.08218575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45655346,"cg_vq_v":-8.45655346,"cg_vu_v":106.014107,"cg_vv_v":87.53862,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.4366398,"dclink_p_w":-2378.78711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1747.019471,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1747.019475,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1747.019478,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1747.28064,"values":{"Elec_RPM":-2358.33325,"EncoderCos":40100,"EncoderSin":52851,"GapTicks":49340,"Mech_RPM":-471.666656,"cg_du":55.1449165,"cg_dv":50.2506905,"cg_dw":44.8550835,"cg_id_a":-7.16254139,"cg_id_raw_a":-8.87311459,"cg_iq_a":-199.252563,"cg_iq_raw_a":-200.744781,"cg_iu_a":114.351822,"cg_iv_a":83.5749512,"cg_iw_a":-197.926773,"cg_sample_age_us":23.8709087,"cg_sample_seq":10102366,"cg_sample_valid":1,"cg_theta_rad":1.23328853,"cg_vd_req_v":-1.78407729,"cg_vd_v":-1.78407729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38747025,"cg_vq_v":-8.38747025,"cg_vu_v":105.134323,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2419.40576,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1747.636108,"values":{"Elec_RPM":-2350.81299,"EncoderCos":28902,"EncoderSin":53962,"GapTicks":50015,"Mech_RPM":-470.162598,"cg_du":45.4682922,"cg_dv":54.3113556,"cg_dw":54.5317078,"cg_id_a":10.9015465,"cg_id_raw_a":15.9815998,"cg_iq_a":-202.451584,"cg_iq_raw_a":-203.81662,"cg_iu_a":-171.61203,"cg_iv_a":-3.33776855,"cg_iw_a":174.949799,"cg_sample_age_us":23.8854542,"cg_sample_seq":10104070,"cg_sample_valid":1,"cg_theta_rad":1.78662562,"cg_vd_req_v":-2.0930481,"cg_vd_v":-2.0930481,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35590839,"cg_vq_v":-8.35590839,"cg_vu_v":117.891212,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2454.58276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1747.964233,"values":{"Elec_RPM":-2352.50708,"EncoderCos":17232,"EncoderSin":47704,"GapTicks":50095,"Mech_RPM":-470.501434,"cg_du":54.4587669,"cg_dv":45.5788612,"cg_dw":45.5412331,"cg_id_a":11.2204962,"cg_id_raw_a":15.606843,"cg_iq_a":-201.59848,"cg_iq_raw_a":-204.77858,"cg_iu_a":181.729126,"cg_iv_a":-14.4646301,"cg_iw_a":-167.264496,"cg_sample_age_us":23.9909096,"cg_sample_seq":10105766,"cg_sample_valid":1,"cg_theta_rad":2.37861991,"cg_vd_req_v":-2.11822033,"cg_vd_v":-2.11822033,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34734917,"cg_vq_v":-8.34734917,"cg_vu_v":35.1914063,"cg_vv_v":32.1121559,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2492.35645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1748.042942,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1748.042945,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1748.042948,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1748.409546,"values":{"Elec_RPM":-2353.13013,"EncoderCos":16234,"EncoderSin":18604,"GapTicks":49839,"Mech_RPM":-470.626007,"cg_du":53.7169724,"cg_dv":54.6917,"cg_dw":45.3083,"cg_id_a":4.88738871,"cg_id_raw_a":10.7923489,"cg_iq_a":-202.010193,"cg_iq_raw_a":-203.800278,"cg_iu_a":14.0651417,"cg_iv_a":167.116989,"cg_iw_a":-181.182129,"cg_sample_age_us":23.8672733,"cg_sample_seq":10107966,"cg_sample_valid":1,"cg_theta_rad":3.84913802,"cg_vd_req_v":-1.97830343,"cg_vd_v":-1.97830343,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36476517,"cg_vq_v":-8.36476517,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1748.929077,"values":{"Elec_RPM":-2345.38525,"EncoderCos":43632,"EncoderSin":51283,"GapTicks":49368,"Mech_RPM":-469.077057,"cg_du":55.1194801,"cg_dv":44.8805199,"cg_dw":48.6060257,"cg_id_a":1.82883573,"cg_id_raw_a":-5.18544722,"cg_iq_a":-197.552109,"cg_iq_raw_a":-196.654144,"cg_iu_a":197.531433,"cg_iv_a":-90.1780014,"cg_iw_a":-107.353432,"cg_sample_age_us":23.8381824,"cg_sample_seq":10110567,"cg_sample_valid":1,"cg_theta_rad":1.04476893,"cg_vd_req_v":-1.98532832,"cg_vd_v":-1.98532832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42978954,"cg_vq_v":-8.42978954,"cg_vu_v":107.333786,"cg_vv_v":101.175293,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1748.939291,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1748.939299,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1748.9393,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1749.034848,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1749.034852,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1749.034856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1749.292358,"values":{"Elec_RPM":-2348.03687,"EncoderCos":51024,"EncoderSin":21643,"GapTicks":49812,"Mech_RPM":-469.607361,"cg_du":46.6794853,"cg_dv":45.2839813,"cg_dw":54.7160187,"cg_id_a":1.13472104,"cg_id_raw_a":9.10364723,"cg_iq_a":-207.273529,"cg_iq_raw_a":-207.802322,"cg_iu_a":-3.25941157,"cg_iv_a":-176.365829,"cg_iw_a":179.625244,"cg_sample_age_us":23.9290905,"cg_sample_seq":10112467,"cg_sample_valid":1,"cg_theta_rad":5.75438023,"cg_vd_req_v":-2.00826025,"cg_vd_v":-2.00826025,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24034977,"cg_vq_v":-8.24034977,"cg_vu_v":113.932175,"cg_vv_v":117.011421,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2435.61719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1749.628296,"values":{"Elec_RPM":-2352.11548,"EncoderCos":50530,"EncoderSin":44670,"GapTicks":49341,"Mech_RPM":-470.423096,"cg_du":44.855484,"cg_dv":49.6822357,"cg_dw":55.144516,"cg_id_a":-7.03969908,"cg_id_raw_a":-9.52362823,"cg_iq_a":-198.413101,"cg_iq_raw_a":-198.36499,"cg_iu_a":-123.154007,"cg_iv_a":-74.5931549,"cg_iw_a":197.747162,"cg_sample_age_us":23.5472736,"cg_sample_seq":10114116,"cg_sample_valid":1,"cg_theta_rad":0.596009851,"cg_vd_req_v":-1.83327079,"cg_vd_v":-1.83327079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40504169,"cg_vq_v":-8.40504169,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2534.31226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1749.979858,"values":{"Elec_RPM":-2352.87817,"EncoderCos":50131,"EncoderSin":45237,"GapTicks":49363,"Mech_RPM":-470.575653,"cg_du":44.875473,"cg_dv":48.4750137,"cg_dw":55.124527,"cg_id_a":5.04769421,"cg_id_raw_a":-0.138577878,"cg_iq_a":-195.770813,"cg_iq_raw_a":-193.103424,"cg_iu_a":-82.2709656,"cg_iv_a":-114.42511,"cg_iw_a":196.696075,"cg_sample_age_us":23.4854546,"cg_sample_seq":10115867,"cg_sample_valid":1,"cg_theta_rad":0.628282905,"cg_vd_req_v":-2.07248425,"cg_vd_v":-2.07248425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43848896,"cg_vq_v":-8.43848896,"cg_vu_v":112.172607,"cg_vv_v":120.530563,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1750.027223,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1750.027225,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1750.027228,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1750.31189,"values":{"Elec_RPM":-2353.06445,"EncoderCos":29258,"EncoderSin":54024,"GapTicks":49872,"Mech_RPM":-470.612915,"cg_du":45.3382187,"cg_dv":54.6617813,"cg_dw":53.9596024,"cg_id_a":13.0326805,"cg_id_raw_a":11.4661274,"cg_iq_a":-200.947891,"cg_iq_raw_a":-199.672379,"cg_iu_a":-185.674622,"cg_iv_a":26.5271606,"cg_iw_a":159.147461,"cg_sample_age_us":23.8600006,"cg_sample_seq":10117517,"cg_sample_valid":1,"cg_theta_rad":1.73386383,"cg_vd_req_v":-2.14420033,"cg_vd_v":-2.14420033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38044739,"cg_vq_v":-8.38044739,"cg_vu_v":134.167236,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2365.28125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1750.663452,"values":{"Elec_RPM":-2348.77344,"EncoderCos":39807,"EncoderSin":52954,"GapTicks":49350,"Mech_RPM":-469.754669,"cg_du":55.136364,"cg_dv":50.7868156,"cg_dw":44.863636,"cg_id_a":-2.10264778,"cg_id_raw_a":-6.36028481,"cg_iq_a":-200.728638,"cg_iq_raw_a":-197.631683,"cg_iu_a":109.85759,"cg_iv_a":91.911026,"cg_iw_a":-201.768616,"cg_sample_age_us":23.9254551,"cg_sample_seq":10119317,"cg_sample_valid":1,"cg_theta_rad":1.23733974,"cg_vd_req_v":-1.89214849,"cg_vd_v":-1.89214849,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37991333,"cg_vq_v":-8.37991333,"cg_vu_v":140.765625,"cg_vv_v":131.087982,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2425.74023,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1750.995483,"values":{"Elec_RPM":-2353.06104,"EncoderCos":11837,"EncoderSin":38181,"GapTicks":49324,"Mech_RPM":-470.612183,"cg_du":44.8404579,"cg_dv":55.1595421,"cg_dw":50.1233559,"cg_id_a":-11.6865635,"cg_id_raw_a":-13.5487804,"cg_iq_a":-196.448456,"cg_iq_raw_a":-196.265396,"cg_iu_a":-191.509888,"cg_iv_a":134.026367,"cg_iw_a":49.4736252,"cg_sample_age_us":23.9436359,"cg_sample_seq":10120917,"cg_sample_valid":1,"cg_theta_rad":2.88998246,"cg_vd_req_v":-1.63086021,"cg_vd_v":-1.63086021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44080353,"cg_vq_v":-8.44080353,"cg_vu_v":113.052383,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4565735,"dclink_p_w":-2374.43286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1751.051004,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1751.051007,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1751.05101,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1751.331421,"values":{"Elec_RPM":-2349.64673,"EncoderCos":12208,"EncoderSin":26080,"GapTicks":49602,"Mech_RPM":-469.929352,"cg_du":54.906601,"cg_dv":45.093399,"cg_dw":52.6020164,"cg_id_a":-4.0825305,"cg_id_raw_a":1.80817413,"cg_iq_a":-200.578094,"cg_iq_raw_a":-201.933395,"cg_iu_a":173.175568,"cg_iv_a":-171.835342,"cg_iw_a":-1.34022522,"cg_sample_age_us":24.0709095,"cg_sample_seq":10122617,"cg_sample_valid":1,"cg_theta_rad":3.46284771,"cg_vd_req_v":-1.80034351,"cg_vd_v":-1.80034351,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38420105,"cg_vq_v":-8.38420105,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1751.682983,"values":{"Elec_RPM":-2348.06128,"EncoderCos":19320,"EncoderSin":15684,"GapTicks":50042,"Mech_RPM":-469.612244,"cg_du":45.4933853,"cg_dv":54.5066147,"cg_dw":45.7033501,"cg_id_a":9.67522335,"cg_id_raw_a":13.2406216,"cg_iq_a":-203.133133,"cg_iq_raw_a":-204.725555,"cg_iu_a":-168.277588,"cg_iv_a":180.164764,"cg_iw_a":-21.9629669,"cg_sample_age_us":23.9690914,"cg_sample_seq":10124316,"cg_sample_valid":1,"cg_theta_rad":4.05465651,"cg_vd_req_v":-2.0895865,"cg_vd_v":-2.0895865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33892059,"cg_vq_v":-8.33892059,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1752.010649,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1752.010652,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1752.010655,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1752.015015,"values":{"Elec_RPM":-2351.16797,"EncoderCos":30574,"EncoderSin":11307,"GapTicks":49482,"Mech_RPM":-470.233582,"cg_du":52.2124367,"cg_dv":44.9842186,"cg_dw":55.0157814,"cg_id_a":9.37395,"cg_id_raw_a":6.00064468,"cg_iq_a":-196.910278,"cg_iq_raw_a":-195.850601,"cg_iu_a":130.299118,"cg_iv_a":-194.306519,"cg_iw_a":64.0074005,"cg_sample_age_us":23.681818,"cg_sample_seq":10126017,"cg_sample_valid":1,"cg_theta_rad":4.62704134,"cg_vd_req_v":-2.13366151,"cg_vd_v":-2.13366151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4094286,"cg_vq_v":-8.4094286,"cg_vu_v":106.453995,"cg_vv_v":93.6971207,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1752.347046,"values":{"Elec_RPM":-2352.73096,"EncoderCos":42646,"EncoderSin":13597,"GapTicks":49379,"Mech_RPM":-470.546204,"cg_du":49.3934898,"cg_dv":55.1094284,"cg_dw":44.8905716,"cg_id_a":-18.2223473,"cg_id_raw_a":-22.5259666,"cg_iq_a":-199.657913,"cg_iq_raw_a":-198.233246,"cg_iu_a":-82.4521942,"cg_iv_a":201.004974,"cg_iw_a":-118.55278,"cg_sample_age_us":23.9581814,"cg_sample_seq":10127716,"cg_sample_valid":1,"cg_theta_rad":5.21422911,"cg_vd_req_v":-1.62766194,"cg_vd_v":-1.62766194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37588501,"cg_vq_v":-8.37588501,"cg_vu_v":117.011421,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2453.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3325195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1752.698608,"values":{"Elec_RPM":-2351.36768,"EncoderCos":43358,"EncoderSin":14002,"GapTicks":49420,"Mech_RPM":-470.273529,"cg_du":48.4519577,"cg_dv":55.0725174,"cg_dw":44.9274826,"cg_id_a":-1.17505312,"cg_id_raw_a":-4.56437922,"cg_iq_a":-202.443481,"cg_iq_raw_a":-201.702713,"cg_iu_a":-104.99585,"cg_iv_a":202.309753,"cg_iw_a":-97.3138962,"cg_sample_age_us":23.8454552,"cg_sample_seq":10129466,"cg_sample_valid":1,"cg_theta_rad":5.23545504,"cg_vd_req_v":-1.98284781,"cg_vd_v":-1.98284781,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3303175,"cg_vq_v":-8.3303175,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2511.49487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1753.03064,"values":{"Elec_RPM":-2345.23291,"EncoderCos":51759,"EncoderSin":23003,"GapTicks":49304,"Mech_RPM":-469.04657,"cg_du":50.0001335,"cg_dv":44.8224602,"cg_dw":55.1775398,"cg_id_a":-8.44830608,"cg_id_raw_a":-13.8872128,"cg_iq_a":-195.125076,"cg_iq_raw_a":-194.67662,"cg_iu_a":65.0239716,"cg_iv_a":-191.624481,"cg_iw_a":126.60051,"cg_sample_age_us":23.7654552,"cg_sample_seq":10131167,"cg_sample_valid":1,"cg_theta_rad":5.82375813,"cg_vd_req_v":-1.83076024,"cg_vd_v":-1.83076024,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48337555,"cg_vq_v":-8.48337555,"cg_vu_v":105.574219,"cg_vv_v":87.098732,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2407.63965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1753.035276,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1753.035279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1753.035281,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1753.382202,"values":{"Elec_RPM":-2347.05469,"EncoderCos":54044,"EncoderSin":34065,"GapTicks":50086,"Mech_RPM":-469.41095,"cg_du":54.466938,"cg_dv":54.3455505,"cg_dw":45.533062,"cg_id_a":10.4148655,"cg_id_raw_a":9.91255856,"cg_iq_a":-203.765869,"cg_iq_raw_a":-204.170517,"cg_iu_a":-5.94145536,"cg_iv_a":173.314682,"cg_iw_a":-167.37323,"cg_sample_age_us":26.1109085,"cg_sample_seq":10132871,"cg_sample_valid":1,"cg_theta_rad":0.115043223,"cg_vd_req_v":-2.17498565,"cg_vd_v":-2.17498565,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28085136,"cg_vq_v":-8.28085136,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2475.88379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1753.71814,"values":{"Elec_RPM":-2349.48877,"EncoderCos":49365,"EncoderSin":46336,"GapTicks":49928,"Mech_RPM":-469.897736,"cg_du":45.3897896,"cg_dv":46.1016006,"cg_dw":54.6102104,"cg_id_a":15.478056,"cg_id_raw_a":18.9317913,"cg_iq_a":-206.980316,"cg_iq_raw_a":-205.822113,"cg_iu_a":-23.66469,"cg_iv_a":-166.072586,"cg_iw_a":189.737274,"cg_sample_age_us":23.4818172,"cg_sample_seq":10134567,"cg_sample_valid":1,"cg_theta_rad":0.690212429,"cg_vd_req_v":-2.25202394,"cg_vd_v":-2.25202394,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24534225,"cg_vq_v":-8.24534225,"cg_vu_v":139.445938,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2494.70972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1754.026614,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1754.026619,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1754.026623,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1754.046265,"values":{"Elec_RPM":-2351.86499,"EncoderCos":38982,"EncoderSin":53182,"GapTicks":49506,"Mech_RPM":-470.372986,"cg_du":54.9943657,"cg_dv":52.3027153,"cg_dw":45.0056343,"cg_id_a":10.4912682,"cg_id_raw_a":8.2425499,"cg_iq_a":-201.873352,"cg_iq_raw_a":-204.136353,"cg_iu_a":64.9877243,"cg_iv_a":134.714996,"cg_iw_a":-199.702728,"cg_sample_age_us":23.8163643,"cg_sample_seq":10136266,"cg_sample_valid":1,"cg_theta_rad":1.27546191,"cg_vd_req_v":-2.13116002,"cg_vd_v":-2.13116002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36985016,"cg_vq_v":-8.36985016,"cg_vu_v":41.3499031,"cg_vv_v":49.707859,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2487.62842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1754.401733,"values":{"Elec_RPM":-2359.93701,"EncoderCos":26961,"EncoderSin":53552,"GapTicks":49378,"Mech_RPM":-471.987396,"cg_du":44.8892517,"cg_dv":49.8166313,"cg_dw":55.1107483,"cg_id_a":-16.0861435,"cg_id_raw_a":-16.9330959,"cg_iq_a":-197.031403,"cg_iq_raw_a":-195.588364,"cg_iu_a":-135.585648,"cg_iv_a":-55.7100983,"cg_iw_a":191.295746,"cg_sample_age_us":23.8345451,"cg_sample_seq":10137967,"cg_sample_valid":1,"cg_theta_rad":1.84536755,"cg_vd_req_v":-1.55381286,"cg_vd_v":-1.55381286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4264946,"cg_vq_v":-8.4264946,"cg_vu_v":128.008743,"cg_vv_v":119.650772,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1754.733765,"values":{"Elec_RPM":-2357.60547,"EncoderCos":11496,"EncoderSin":36617,"GapTicks":49608,"Mech_RPM":-471.521118,"cg_du":45.0989838,"cg_dv":54.9010162,"cg_dw":52.9735603,"cg_id_a":8.37205315,"cg_id_raw_a":8.60050583,"cg_iq_a":-199.603302,"cg_iq_raw_a":-200.269638,"cg_iu_a":-194.191925,"cg_iv_a":51.8616028,"cg_iw_a":142.330322,"cg_sample_age_us":23.8890915,"cg_sample_seq":10139616,"cg_sample_valid":1,"cg_theta_rad":2.96508574,"cg_vd_req_v":-2.05023479,"cg_vd_v":-2.05023479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40540695,"cg_vq_v":-8.40540695,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1755.018799,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1755.018802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1755.018805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1755.065796,"values":{"Elec_RPM":-2350.73877,"EncoderCos":12730,"EncoderSin":24620,"GapTicks":49335,"Mech_RPM":-470.147736,"cg_du":55.1495323,"cg_dv":44.8504677,"cg_dw":49.3211555,"cg_id_a":-10.7722273,"cg_id_raw_a":-15.6916361,"cg_iq_a":-196.128204,"cg_iq_raw_a":-193.593735,"cg_iu_a":194.305725,"cg_iv_a":-118.448181,"cg_iw_a":-75.8575439,"cg_sample_age_us":24.0672722,"cg_sample_seq":10141317,"cg_sample_valid":1,"cg_theta_rad":3.53394008,"cg_vd_req_v":-1.70780325,"cg_vd_v":-1.70780325,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45980263,"cg_vq_v":-8.45980263,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-16.0868855,"dclink_p_w":-2321.09229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3289795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1755.417358,"values":{"Elec_RPM":-2358.97192,"EncoderCos":20539,"EncoderSin":14814,"GapTicks":49387,"Mech_RPM":-471.794373,"cg_du":44.8978081,"cg_dv":55.1021919,"cg_dw":49.1011658,"cg_id_a":-13.3978424,"cg_id_raw_a":-13.1373968,"cg_iq_a":-197.456726,"cg_iq_raw_a":-198.213348,"cg_iu_a":-184.04364,"cg_iv_a":151.350922,"cg_iw_a":32.6927261,"cg_sample_age_us":23.9400005,"cg_sample_seq":10143016,"cg_sample_valid":1,"cg_theta_rad":4.12561417,"cg_vd_req_v":-1.62696671,"cg_vd_v":-1.62696671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41460228,"cg_vq_v":-8.41460228,"cg_vu_v":38.7105446,"cg_vv_v":63.3445282,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1755.74939,"values":{"Elec_RPM":-2357.09131,"EncoderCos":32170,"EncoderSin":11205,"GapTicks":49815,"Mech_RPM":-471.418243,"cg_du":54.7135849,"cg_dv":45.2864151,"cg_dw":53.5862045,"cg_id_a":5.90021706,"cg_id_raw_a":13.5434828,"cg_iq_a":-202.252472,"cg_iq_raw_a":-201.510529,"cg_iu_a":173.682983,"cg_iv_a":-176.655762,"cg_iw_a":9.75038147,"cg_sample_age_us":24.0418186,"cg_sample_seq":10144716,"cg_sample_valid":1,"cg_theta_rad":4.69986677,"cg_vd_req_v":-2.0237906,"cg_vd_v":-2.0237906,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33516598,"cg_vq_v":-8.33516598,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2509.92139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1756.011665,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1756.011669,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1756.011672,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1756.085327,"values":{"Elec_RPM":-2358.75366,"EncoderCos":43911,"EncoderSin":14335,"GapTicks":49655,"Mech_RPM":-471.750732,"cg_du":47.0231476,"cg_dv":54.8585472,"cg_dw":45.1414528,"cg_id_a":10.6798649,"cg_id_raw_a":8.48569298,"cg_iq_a":-202.5186,"cg_iq_raw_a":-201.74147,"cg_iu_a":-150.264404,"cg_iv_a":197.163116,"cg_iw_a":-57.7356262,"cg_sample_age_us":23.8709087,"cg_sample_seq":10146416,"cg_sample_valid":1,"cg_theta_rad":5.27367687,"cg_vd_req_v":-2.22512603,"cg_vd_v":-2.22512603,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34701824,"cg_vq_v":-8.34701824,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.1974297,"dclink_p_w":-2344.16748,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1756.43689,"values":{"Elec_RPM":-2349.13965,"EncoderCos":52132,"EncoderSin":23738,"GapTicks":49377,"Mech_RPM":-469.827911,"cg_du":51.3856621,"cg_dv":44.8884125,"cg_dw":55.1115875,"cg_id_a":6.82321262,"cg_id_raw_a":3.33151937,"cg_iq_a":-197.970306,"cg_iq_raw_a":-196.871857,"cg_iu_a":115.656609,"cg_iv_a":-198.94574,"cg_iw_a":83.2891235,"cg_sample_age_us":23.772728,"cg_sample_seq":10148116,"cg_sample_valid":1,"cg_theta_rad":5.86445427,"cg_vd_req_v":-2.13561225,"cg_vd_v":-2.13561225,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40536213,"cg_vq_v":-8.40536213,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2505.9873,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1756.768921,"values":{"Elec_RPM":-2349.02881,"EncoderCos":53804,"EncoderSin":35657,"GapTicks":49352,"Mech_RPM":-469.805786,"cg_du":50.8515663,"cg_dv":55.1342964,"cg_dw":44.8657036,"cg_id_a":-15.1670828,"cg_id_raw_a":-14.9025602,"cg_iq_a":-196.327759,"cg_iq_raw_a":-197.14978,"cg_iu_a":-34.2841339,"cg_iv_a":185.311386,"cg_iw_a":-151.027252,"cg_sample_age_us":23.5218182,"cg_sample_seq":10149816,"cg_sample_valid":1,"cg_theta_rad":0.147702545,"cg_vd_req_v":-1.67071569,"cg_vd_v":-1.67071569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45588779,"cg_vq_v":-8.45588779,"cg_vu_v":38.2706528,"cg_vv_v":47.0685043,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1757.034884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1757.034887,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1757.03489,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1757.100952,"values":{"Elec_RPM":-2354.72974,"EncoderCos":48968,"EncoderSin":46811,"GapTicks":49875,"Mech_RPM":-470.945953,"cg_du":46.3457718,"cg_dv":45.3416748,"cg_dw":54.6583252,"cg_id_a":5.48705339,"cg_id_raw_a":10.3618593,"cg_iq_a":-207.150879,"cg_iq_raw_a":-207.714005,"cg_iu_a":-5.36155367,"cg_iv_a":-174.51738,"cg_iw_a":179.878937,"cg_sample_age_us":23.4818172,"cg_sample_seq":10151517,"cg_sample_valid":1,"cg_theta_rad":0.720513284,"cg_vd_req_v":-2.03988433,"cg_vd_v":-2.03988433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27210712,"cg_vq_v":-8.27210712,"cg_vu_v":113.932175,"cg_vv_v":117.451309,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2496.01709,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1757.452515,"values":{"Elec_RPM":-2354.01953,"EncoderCos":38311,"EncoderSin":53436,"GapTicks":49865,"Mech_RPM":-470.803894,"cg_du":54.6672897,"cg_dv":53.6621323,"cg_dw":45.3327103,"cg_id_a":11.4843349,"cg_id_raw_a":12.2069149,"cg_iq_a":-203.935654,"cg_iq_raw_a":-204.455368,"cg_iu_a":31.6434002,"cg_iv_a":158.273499,"cg_iw_a":-194.592346,"cg_sample_age_us":23.8963642,"cg_sample_seq":10153216,"cg_sample_valid":1,"cg_theta_rad":1.30897284,"cg_vd_req_v":-2.12526822,"cg_vd_v":-2.12526822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29473686,"cg_vq_v":-8.29473686,"cg_vu_v":23.3143044,"cg_vv_v":6.1584959,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1757.784546,"values":{"Elec_RPM":-2355.55811,"EncoderCos":37495,"EncoderSin":53622,"GapTicks":49822,"Mech_RPM":-471.111603,"cg_du":53.5694695,"cg_dv":54.7071114,"cg_dw":45.2928886,"cg_id_a":6.85834122,"cg_id_raw_a":11.3250456,"cg_iq_a":-200.642014,"cg_iq_raw_a":-202.812805,"cg_iu_a":3.59067297,"cg_iv_a":169.219131,"cg_iw_a":-177.086578,"cg_sample_age_us":23.8090916,"cg_sample_seq":10154966,"cg_sample_valid":1,"cg_theta_rad":1.34613264,"cg_vd_req_v":-2.01210904,"cg_vd_v":-2.01210904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34803009,"cg_vq_v":-8.34803009,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2469.34692,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1758.027099,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1758.027103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1758.027122,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1758.163452,"values":{"Elec_RPM":-2360.69409,"EncoderCos":25657,"EncoderSin":53163,"GapTicks":49543,"Mech_RPM":-472.138824,"cg_du":45.0393867,"cg_dv":47.5513306,"cg_dw":54.9606133,"cg_id_a":7.49034977,"cg_id_raw_a":4.34965324,"cg_iq_a":-200.522095,"cg_iq_raw_a":-196.393356,"cg_iu_a":-63.5691528,"cg_iv_a":-133.706833,"cg_iw_a":197.275986,"cg_sample_age_us":23.8963642,"cg_sample_seq":10156667,"cg_sample_valid":1,"cg_theta_rad":1.9059689,"cg_vd_req_v":-2.05544448,"cg_vd_v":-2.05544448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37129593,"cg_vq_v":-8.37129593,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2384.81909,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1758.682983,"values":{"Elec_RPM":-2355.79883,"EncoderCos":23951,"EncoderSin":13054,"GapTicks":49595,"Mech_RPM":-471.15976,"cg_du":45.0870399,"cg_dv":52.3745613,"cg_dw":54.9129601,"cg_id_a":-6.94346046,"cg_id_raw_a":-1.38546705,"cg_iq_a":-203.028214,"cg_iq_raw_a":-203.964066,"cg_iu_a":-170.705933,"cg_iv_a":-7.1071167,"cg_iw_a":177.813049,"cg_sample_age_us":23.9327278,"cg_sample_seq":10159367,"cg_sample_valid":1,"cg_theta_rad":4.30611181,"cg_vd_req_v":-1.7696054,"cg_vd_v":-1.7696054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31168938,"cg_vq_v":-8.31168938,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2442.677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1758.891333,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1758.89134,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1758.891342,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1759.050699,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1759.050702,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1759.050705,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1759.112671,"values":{"Elec_RPM":-2355.32764,"EncoderCos":54013,"EncoderSin":33836,"GapTicks":49959,"Mech_RPM":-471.065552,"cg_du":54.5819893,"cg_dv":53.95467,"cg_dw":45.4180107,"cg_id_a":10.7799397,"cg_id_raw_a":9.01618385,"cg_iq_a":-203.797241,"cg_iq_raw_a":-206.263931,"cg_iu_a":25.3007278,"cg_iv_a":162.948944,"cg_iw_a":-188.249664,"cg_sample_age_us":23.3872719,"cg_sample_seq":10161516,"cg_sample_valid":1,"cg_theta_rad":0.0614286475,"cg_vd_req_v":-2.18028545,"cg_vd_v":-2.18028545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2726469,"cg_vq_v":-8.2726469,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-17.7867222,"dclink_p_w":-2566.35303,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1759.464233,"values":{"Elec_RPM":-2357.48706,"EncoderCos":51997,"EncoderSin":23556,"GapTicks":49340,"Mech_RPM":-471.497406,"cg_du":51.0446548,"cg_dv":44.8548851,"cg_dw":55.1451149,"cg_id_a":0.608360648,"cg_id_raw_a":-5.67039967,"cg_iq_a":-197.015808,"cg_iq_raw_a":-196.211853,"cg_iu_a":101.122833,"cg_iv_a":-197.858414,"cg_iw_a":96.7355804,"cg_sample_age_us":23.7763634,"cg_sample_seq":10163316,"cg_sample_valid":1,"cg_theta_rad":5.85135889,"cg_vd_req_v":-2.01976156,"cg_vd_v":-2.01976156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41815472,"cg_vq_v":-8.41815472,"cg_vu_v":39.590332,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2455.75024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1759.796265,"values":{"Elec_RPM":-2355.52148,"EncoderCos":49675,"EncoderSin":45926,"GapTicks":49597,"Mech_RPM":-471.104309,"cg_du":45.088707,"cg_dv":47.0804749,"cg_dw":54.911293,"cg_id_a":17.6616764,"cg_id_raw_a":15.7134027,"cg_iq_a":-203.19339,"cg_iq_raw_a":-200.062973,"cg_iu_a":-40.5905609,"cg_iv_a":-153.822159,"cg_iw_a":194.41272,"cg_sample_age_us":23.5072727,"cg_sample_seq":10164967,"cg_sample_valid":1,"cg_theta_rad":0.666303456,"cg_vd_req_v":-2.3173511,"cg_vd_v":-2.3173511,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33484268,"cg_vq_v":-8.33484268,"cg_vu_v":113.052383,"cg_vv_v":121.410347,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1760.042941,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1760.042944,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1760.042947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1760.128296,"values":{"Elec_RPM":-2351.81738,"EncoderCos":39442,"EncoderSin":53101,"GapTicks":49428,"Mech_RPM":-470.363495,"cg_du":55.0647736,"cg_dv":51.4243164,"cg_dw":44.9352264,"cg_id_a":5.70205927,"cg_id_raw_a":3.69366384,"cg_iq_a":-202.555283,"cg_iq_raw_a":-203.990707,"cg_iu_a":85.6467133,"cg_iv_a":116.484344,"cg_iw_a":-202.131058,"cg_sample_age_us":23.8054543,"cg_sample_seq":10166666,"cg_sample_valid":1,"cg_theta_rad":1.25823617,"cg_vd_req_v":-2.04428887,"cg_vd_v":-2.04428887,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32750797,"cg_vq_v":-8.32750797,"cg_vu_v":39.590332,"cg_vv_v":43.1094704,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2480.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1760.479858,"values":{"Elec_RPM":-2352.77295,"EncoderCos":27222,"EncoderSin":53620,"GapTicks":49396,"Mech_RPM":-470.554565,"cg_du":44.9054604,"cg_dv":50.377182,"cg_dw":55.0945396,"cg_id_a":-16.240694,"cg_id_raw_a":-13.7725811,"cg_iq_a":-200.420486,"cg_iq_raw_a":-202.508743,"cg_iu_a":-149.575775,"cg_iv_a":-41.7199707,"cg_iw_a":191.295746,"cg_sample_age_us":23.7654552,"cg_sample_seq":10168366,"cg_sample_valid":1,"cg_theta_rad":1.83326995,"cg_vd_req_v":-1.54999137,"cg_vd_v":-1.54999137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35295296,"cg_vq_v":-8.35295296,"cg_vu_v":39.590332,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1760.815796,"values":{"Elec_RPM":-2352.52686,"EncoderCos":16981,"EncoderSin":47448,"GapTicks":49826,"Mech_RPM":-470.505371,"cg_du":54.7030754,"cg_dv":46.307373,"cg_dw":45.2969246,"cg_id_a":6.272439,"cg_id_raw_a":10.2387915,"cg_iq_a":-201.591873,"cg_iq_raw_a":-201.412064,"cg_iu_a":175.27771,"cg_iv_a":-6.12854004,"cg_iw_a":-169.14917,"cg_sample_age_us":23.9872723,"cg_sample_seq":10170067,"cg_sample_valid":1,"cg_theta_rad":2.3960278,"cg_vd_req_v":-2.02446175,"cg_vd_v":-2.02446175,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3614769,"cg_vq_v":-8.3614769,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2414.69946,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1761.034754,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1761.034758,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1761.034761,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1761.167358,"values":{"Elec_RPM":-2349.91992,"EncoderCos":11603,"EncoderSin":37126,"GapTicks":49421,"Mech_RPM":-469.984009,"cg_du":44.9283257,"cg_dv":55.0716743,"cg_dw":52.0356445,"cg_id_a":2.33328342,"cg_id_raw_a":0.906238198,"cg_iq_a":-195.599335,"cg_iq_raw_a":-196.899597,"cg_iu_a":-188.102966,"cg_iv_a":41.1696625,"cg_iw_a":146.933304,"cg_sample_age_us":26.8018188,"cg_sample_seq":10171770,"cg_sample_valid":1,"cg_theta_rad":2.97644091,"cg_vd_req_v":-1.92855108,"cg_vd_v":-1.92855108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48360825,"cg_vq_v":-8.48360825,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-17.549324,"dclink_p_w":-2539.81982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1761.49939,"values":{"Elec_RPM":-2353.7771,"EncoderCos":11315,"EncoderSin":35500,"GapTicks":49871,"Mech_RPM":-470.755432,"cg_du":45.3378868,"cg_dv":53.7943344,"cg_dw":54.6621132,"cg_id_a":6.61641979,"cg_id_raw_a":9.18441391,"cg_iq_a":-199.424927,"cg_iq_raw_a":-198.029739,"cg_iu_a":-177.447266,"cg_iv_a":9.63751221,"cg_iw_a":167.809753,"cg_sample_age_us":23.9363632,"cg_sample_seq":10173517,"cg_sample_valid":1,"cg_theta_rad":3.01612163,"cg_vd_req_v":-1.97186244,"cg_vd_v":-1.97186244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37937641,"cg_vq_v":-8.37937641,"cg_vu_v":101.175293,"cg_vv_v":102.055069,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1761.831421,"values":{"Elec_RPM":-2355.1416,"EncoderCos":20594,"EncoderSin":14810,"GapTicks":49348,"Mech_RPM":-471.02832,"cg_du":44.862709,"cg_dv":55.137291,"cg_dw":49.2034721,"cg_id_a":-13.7288313,"cg_id_raw_a":-13.8495789,"cg_iq_a":-196.398407,"cg_iq_raw_a":-197.537155,"cg_iu_a":-184.224884,"cg_iv_a":150.082397,"cg_iw_a":34.1424866,"cg_sample_age_us":23.9290905,"cg_sample_seq":10175167,"cg_sample_valid":1,"cg_theta_rad":4.12674427,"cg_vd_req_v":-1.62935233,"cg_vd_v":-1.62935233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46404457,"cg_vq_v":-8.46404457,"cg_vu_v":93.6971207,"cg_vv_v":101.175293,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1762.026797,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1762.0268,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1762.026803,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1762.182983,"values":{"Elec_RPM":-2353.16138,"EncoderCos":42751,"EncoderSin":13622,"GapTicks":49402,"Mech_RPM":-470.632263,"cg_du":49.2034416,"cg_dv":55.0890808,"cg_dw":44.9109192,"cg_id_a":-16.9531784,"cg_id_raw_a":-21.1389732,"cg_iq_a":-199.643433,"cg_iq_raw_a":-199.157303,"cg_iu_a":-128.554352,"cg_iv_a":199.482742,"cg_iw_a":-70.9283905,"cg_sample_age_us":23.8709087,"cg_sample_seq":10176820,"cg_sample_valid":1,"cg_theta_rad":5.25423956,"cg_vd_req_v":-1.64997017,"cg_vd_v":-1.64997017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37827873,"cg_vq_v":-8.37827873,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2453.79565,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1762.515015,"values":{"Elec_RPM":-2358.91992,"EncoderCos":33193,"EncoderSin":11178,"GapTicks":49364,"Mech_RPM":-471.783997,"cg_du":55.1227951,"cg_dv":44.8772049,"cg_dw":51.0723839,"cg_id_a":-16.5730324,"cg_id_raw_a":-15.7122402,"cg_iq_a":-194.65155,"cg_iq_raw_a":-196.013397,"cg_iu_a":179.37326,"cg_iv_a":-155.561859,"cg_iw_a":-23.8114014,"cg_sample_age_us":24.0599995,"cg_sample_seq":10178617,"cg_sample_valid":1,"cg_theta_rad":4.74965096,"cg_vd_req_v":-1.57152605,"cg_vd_v":-1.57152605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47877502,"cg_vq_v":-8.47877502,"cg_vu_v":138.566162,"cg_vv_v":120.970459,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1762.850952,"values":{"Elec_RPM":-2363.55493,"EncoderCos":53855,"EncoderSin":35176,"GapTicks":49440,"Mech_RPM":-472.710968,"cg_du":51.9383392,"cg_dv":55.054142,"cg_dw":44.945858,"cg_id_a":-10.4538002,"cg_id_raw_a":-7.02902031,"cg_iq_a":-197.633072,"cg_iq_raw_a":-199.18837,"cg_iu_a":-13.4439287,"cg_iv_a":177.265259,"cg_iw_a":-163.821335,"cg_sample_age_us":23.5181828,"cg_sample_seq":10180216,"cg_sample_valid":1,"cg_theta_rad":0.123185612,"cg_vd_req_v":-1.7506882,"cg_vd_v":-1.7506882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44488239,"cg_vq_v":-8.44488239,"cg_vu_v":38.2706528,"cg_vv_v":46.6286087,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1763.01843,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1763.018434,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1763.018437,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1763.202515,"values":{"Elec_RPM":-2367.06104,"EncoderCos":52542,"EncoderSin":24811,"GapTicks":49738,"Mech_RPM":-473.412231,"cg_du":53.4683762,"cg_dv":45.2163925,"cg_dw":54.7836075,"cg_id_a":17.6920357,"cg_id_raw_a":19.0084171,"cg_iq_a":-203.299652,"cg_iq_raw_a":-202.704712,"cg_iu_a":154.944916,"cg_iv_a":-192.31311,"cg_iw_a":37.3681946,"cg_sample_age_us":23.6781826,"cg_sample_seq":10182016,"cg_sample_valid":1,"cg_theta_rad":5.90758371,"cg_vd_req_v":-2.33878875,"cg_vd_v":-2.33878875,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31730652,"cg_vq_v":-8.31730652,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1763.534546,"values":{"Elec_RPM":-2362.84766,"EncoderCos":39015,"EncoderSin":53205,"GapTicks":49526,"Mech_RPM":-472.56955,"cg_du":54.9758148,"cg_dv":52.2724228,"cg_dw":45.0241852,"cg_id_a":8.73944569,"cg_id_raw_a":5.61768961,"cg_iq_a":-200.923035,"cg_iq_raw_a":-200.61113,"cg_iu_a":65.4226532,"cg_iv_a":132.359146,"cg_iw_a":-197.781799,"cg_sample_age_us":23.8999996,"cg_sample_seq":10183617,"cg_sample_valid":1,"cg_theta_rad":1.27479327,"cg_vd_req_v":-2.09079528,"cg_vd_v":-2.09079528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34142017,"cg_vq_v":-8.34142017,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2457.84204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1763.886108,"values":{"Elec_RPM":-2356.67017,"EncoderCos":47942,"EncoderSin":47916,"GapTicks":49302,"Mech_RPM":-471.334045,"cg_du":49.6472588,"cg_dv":44.8206139,"cg_dw":55.1793861,"cg_id_a":-9.22047997,"cg_id_raw_a":-11.8905487,"cg_iq_a":-195.007263,"cg_iq_raw_a":-195.64389,"cg_iu_a":67.1986008,"cg_iv_a":-192.639313,"cg_iw_a":125.440704,"cg_sample_age_us":23.681818,"cg_sample_seq":10185416,"cg_sample_valid":1,"cg_theta_rad":0.798387289,"cg_vd_req_v":-1.75895512,"cg_vd_v":-1.75895512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48168182,"cg_vq_v":-8.48168182,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2420.48755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3182373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1764.042966,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1764.042972,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1764.042978,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1764.21814,"values":{"Elec_RPM":-2354.5293,"EncoderCos":16370,"EncoderSin":46782,"GapTicks":49374,"Mech_RPM":-470.905884,"cg_du":55.1139908,"cg_dv":48.4634628,"cg_dw":44.8860092,"cg_id_a":-11.4831963,"cg_id_raw_a":-8.59476376,"cg_iq_a":-194.813843,"cg_iq_raw_a":-197.243546,"cg_iu_a":161.831253,"cg_iv_a":10.7610931,"cg_iw_a":-172.592346,"cg_sample_age_us":23.8490906,"cg_sample_seq":10187016,"cg_sample_valid":1,"cg_theta_rad":2.42716742,"cg_vd_req_v":-1.66941881,"cg_vd_v":-1.66941881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5116396,"cg_vq_v":-8.5116396,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1764.554077,"values":{"Elec_RPM":-2355.35376,"EncoderCos":25324,"EncoderSin":53000,"GapTicks":49674,"Mech_RPM":-471.07077,"cg_du":45.1590652,"cg_dv":46.9022331,"cg_dw":54.8409348,"cg_id_a":11.3211212,"cg_id_raw_a":10.7215786,"cg_iq_a":-202.301788,"cg_iq_raw_a":-199.988617,"cg_iu_a":-44.1787033,"cg_iv_a":-149.690338,"cg_iw_a":193.869049,"cg_sample_age_us":23.8709087,"cg_sample_seq":10188817,"cg_sample_valid":1,"cg_theta_rad":1.92294264,"cg_vd_req_v":-2.13401008,"cg_vd_v":-2.13401008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35613251,"cg_vq_v":-8.35613251,"cg_vu_v":100.295509,"cg_vv_v":81.820015,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.8447113,"dclink_p_w":-2582.56958,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1764.90564,"values":{"Elec_RPM":-2349.60156,"EncoderCos":12753,"EncoderSin":24604,"GapTicks":49364,"Mech_RPM":-469.920319,"cg_du":55.1234627,"cg_dv":44.8765373,"cg_dw":49.6662903,"cg_id_a":-10.8482285,"cg_id_raw_a":-14.3101721,"cg_iq_a":-197.957703,"cg_iq_raw_a":-197.934601,"cg_iu_a":198.908691,"cg_iv_a":-65.169754,"cg_iw_a":-133.738937,"cg_sample_age_us":23.9836369,"cg_sample_seq":10190421,"cg_sample_valid":1,"cg_theta_rad":3.57838702,"cg_vd_req_v":-1.70527291,"cg_vd_v":-1.70527291,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40066051,"cg_vq_v":-8.40066051,"cg_vu_v":105.574219,"cg_vv_v":81.820015,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2475.62231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.327179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1765.003237,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1765.003243,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1765.003248,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1765.237671,"values":{"Elec_RPM":-2347.00977,"EncoderCos":11209,"EncoderSin":34202,"GapTicks":49415,"Mech_RPM":-469.401947,"cg_du":44.9228592,"cg_dv":50.8082733,"cg_dw":55.0771408,"cg_id_a":-14.6244545,"cg_id_raw_a":-15.1610012,"cg_iq_a":-201.138184,"cg_iq_raw_a":-202.79599,"cg_iu_a":-153.707565,"cg_iv_a":-33.3114166,"cg_iw_a":187.018982,"cg_sample_age_us":23.9363632,"cg_sample_seq":10192217,"cg_sample_valid":1,"cg_theta_rad":3.08148003,"cg_vd_req_v":-1.57228374,"cg_vd_v":-1.57228374,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34768391,"cg_vq_v":-8.34768391,"cg_vu_v":16.7159176,"cg_vv_v":11.877099,"cg_vw_v":14.0765619,"control_outputs_enabled":1,"dclink_i_a":-18.1527843,"dclink_p_w":-2619.17017,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1765.569702,"values":{"Elec_RPM":-2350.64258,"EncoderCos":21855,"EncoderSin":14033,"GapTicks":49403,"Mech_RPM":-470.12851,"cg_du":44.9123611,"cg_dv":55.0876389,"cg_dw":51.9856834,"cg_id_a":0.000597655773,"cg_id_raw_a":-6.10319138,"cg_iq_a":-195.378174,"cg_iq_raw_a":-194.624924,"cg_iu_a":-194.119446,"cg_iv_a":82.6326141,"cg_iw_a":102.71582,"cg_sample_age_us":23.9290905,"cg_sample_seq":10193867,"cg_sample_valid":1,"cg_theta_rad":4.1936779,"cg_vd_req_v":-1.93609381,"cg_vd_v":-1.93609381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49755287,"cg_vq_v":-8.49755287,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4279079,"dclink_p_w":-2529.91431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1765.921265,"values":{"Elec_RPM":-2358.54883,"EncoderCos":34073,"EncoderSin":11249,"GapTicks":49371,"Mech_RPM":-471.709747,"cg_du":55.1172714,"cg_dv":44.8827286,"cg_dw":49.3969727,"cg_id_a":-10.9549398,"cg_id_raw_a":-13.8228521,"cg_iq_a":-196.11554,"cg_iq_raw_a":-195.761215,"cg_iu_a":194.233246,"cg_iv_a":-120.731552,"cg_iw_a":-73.5016937,"cg_sample_age_us":24.1000004,"cg_sample_seq":10195566,"cg_sample_valid":1,"cg_theta_rad":4.78850651,"cg_vd_req_v":-1.71658337,"cg_vd_v":-1.71658337,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42436981,"cg_vq_v":-8.42436981,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2456.53467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1766.027328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1766.027334,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1766.027339,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1766.253296,"values":{"Elec_RPM":-2354.98657,"EncoderCos":45270,"EncoderSin":15334,"GapTicks":49556,"Mech_RPM":-470.997314,"cg_du":45.0512581,"cg_dv":54.9487419,"cg_dw":47.6320229,"cg_id_a":-7.65459061,"cg_id_raw_a":-3.86433959,"cg_iq_a":-201.711456,"cg_iq_raw_a":-204.180481,"cg_iu_a":-176.214981,"cg_iv_a":170.523895,"cg_iw_a":5.69107819,"cg_sample_age_us":23.8927269,"cg_sample_seq":10197267,"cg_sample_valid":1,"cg_theta_rad":5.35199118,"cg_vd_req_v":-1.8269558,"cg_vd_v":-1.8269558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35634613,"cg_vq_v":-8.35634613,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3504333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1766.585327,"values":{"Elec_RPM":-2356.71436,"EncoderCos":53636,"EncoderSin":36704,"GapTicks":49403,"Mech_RPM":-471.342896,"cg_du":48.8254776,"cg_dv":55.0877686,"cg_dw":44.9122314,"cg_id_a":-8.69235897,"cg_id_raw_a":-13.0144739,"cg_iq_a":-198.514862,"cg_iq_raw_a":-197.789749,"cg_iu_a":-91.8393402,"cg_iv_a":199.047806,"cg_iw_a":-107.208466,"cg_sample_age_us":23.4054546,"cg_sample_seq":10198916,"cg_sample_valid":1,"cg_theta_rad":0.198598266,"cg_vd_req_v":-1.82565749,"cg_vd_v":-1.82565749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40768051,"cg_vq_v":-8.40768051,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.42066,"dclink_p_w":-2521.19897,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1766.940796,"values":{"Elec_RPM":-2350.80103,"EncoderCos":52962,"EncoderSin":25973,"GapTicks":49577,"Mech_RPM":-470.160187,"cg_du":54.9294357,"cg_dv":45.0705643,"cg_dw":52.7013969,"cg_id_a":-3.59673619,"cg_id_raw_a":3.01866841,"cg_iq_a":-198.106964,"cg_iq_raw_a":-200.916077,"cg_iu_a":171.617081,"cg_iv_a":-167.776031,"cg_iw_a":-3.84104156,"cg_sample_age_us":24.0418186,"cg_sample_seq":10200717,"cg_sample_valid":1,"cg_theta_rad":5.97675705,"cg_vd_req_v":-1.86881793,"cg_vd_v":-1.86881793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43572426,"cg_vq_v":-8.43572426,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4695873,"dclink_p_w":-2528.28003,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3254089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1767.018994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1767.019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1767.019005,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1767.272827,"values":{"Elec_RPM":-2345.93555,"EncoderCos":37469,"EncoderSin":53627,"GapTicks":49933,"Mech_RPM":-469.187103,"cg_du":54.0659599,"cg_dv":54.6057396,"cg_dw":45.3942604,"cg_id_a":5.50382614,"cg_id_raw_a":11.5325317,"cg_iq_a":-200.370575,"cg_iq_raw_a":-202.717758,"cg_iu_a":7.83120155,"cg_iv_a":168.820435,"cg_iw_a":-176.651642,"cg_sample_age_us":23.8090916,"cg_sample_seq":10202316,"cg_sample_valid":1,"cg_theta_rad":1.3410517,"cg_vd_req_v":-1.99540782,"cg_vd_v":-1.99540782,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38551235,"cg_vq_v":-8.38551235,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1767.62439,"values":{"Elec_RPM":-2348.55566,"EncoderCos":46914,"EncoderSin":48879,"GapTicks":49457,"Mech_RPM":-469.711151,"cg_du":52.1035805,"cg_dv":44.9609375,"cg_dw":55.0390625,"cg_id_a":10.5938148,"cg_id_raw_a":8.05968761,"cg_iq_a":-200.336517,"cg_iq_raw_a":-199.695786,"cg_iu_a":119.570938,"cg_iv_a":-199.344406,"cg_iw_a":79.773468,"cg_sample_age_us":23.5218182,"cg_sample_seq":10204116,"cg_sample_valid":1,"cg_theta_rad":0.845457911,"cg_vd_req_v":-2.18293214,"cg_vd_v":-2.18293214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38252068,"cg_vq_v":-8.38252068,"cg_vu_v":104.694435,"cg_vv_v":73.0221634,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.5746956,"dclink_p_w":-2543.4917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1767.956421,"values":{"Elec_RPM":-2346.71094,"EncoderCos":15395,"EncoderSin":45523,"GapTicks":49439,"Mech_RPM":-469.342194,"cg_du":55.0546417,"cg_dv":51.3847961,"cg_dw":44.9453583,"cg_id_a":4.26465368,"cg_id_raw_a":0.352852136,"cg_iq_a":-202.345825,"cg_iq_raw_a":-202.611542,"cg_iu_a":103.551163,"cg_iv_a":97.7462921,"cg_iw_a":-201.297455,"cg_sample_age_us":23.8199997,"cg_sample_seq":10205716,"cg_sample_valid":1,"cg_theta_rad":2.50089312,"cg_vd_req_v":-1.99546003,"cg_vd_v":-1.99546003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31595135,"cg_vq_v":-8.31595135,"cg_vu_v":30.3525867,"cg_vv_v":11.4372072,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2387.17944,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1768.011427,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1768.011433,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1768.011438,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1768.40564,"values":{"Elec_RPM":-2342.50391,"EncoderCos":18221,"EncoderSin":16625,"GapTicks":49465,"Mech_RPM":-468.500763,"cg_du":48.0650101,"cg_dv":55.0309868,"cg_dw":44.9690132,"cg_id_a":4.06587982,"cg_id_raw_a":-0.564425528,"cg_iq_a":-201.269821,"cg_iq_raw_a":-200.492554,"cg_iu_a":-123.081528,"cg_iv_a":200.026398,"cg_iw_a":-76.9448624,"cg_sample_age_us":23.8709087,"cg_sample_seq":10207916,"cg_sample_valid":1,"cg_theta_rad":3.99072695,"cg_vd_req_v":-2.00911379,"cg_vd_v":-2.00911379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37462711,"cg_vq_v":-8.37462711,"cg_vu_v":37.3908691,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2431.17212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1768.907222,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1768.907234,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1768.907237,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1768.944702,"values":{"Elec_RPM":-2339.33643,"EncoderCos":54046,"EncoderSin":33551,"GapTicks":49809,"Mech_RPM":-467.86731,"cg_du":54.7183571,"cg_dv":53.4725227,"cg_dw":45.2816429,"cg_id_a":7.73791265,"cg_id_raw_a":10.755456,"cg_iq_a":-205.068008,"cg_iq_raw_a":-202.936646,"cg_iu_a":0.473703384,"cg_iv_a":172.046143,"cg_iw_a":-172.519852,"cg_sample_age_us":23.3981819,"cg_sample_seq":10210621,"cg_sample_valid":1,"cg_theta_rad":0.104242057,"cg_vd_req_v":-2.13736677,"cg_vd_v":-2.13736677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29640675,"cg_vq_v":-8.29640675,"cg_vu_v":42.2296829,"cg_vv_v":71.2625961,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2388.75317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1769.034802,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1769.034808,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1769.034813,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1769.284546,"values":{"Elec_RPM":-2341.84302,"EncoderCos":53796,"EncoderSin":35517,"GapTicks":49347,"Mech_RPM":-468.368591,"cg_du":51.1654167,"cg_dv":55.1390877,"cg_dw":44.8609123,"cg_id_a":-13.2503796,"cg_id_raw_a":-10.8879089,"cg_iq_a":-194.336227,"cg_iq_raw_a":-195.872513,"cg_iu_a":-21.7800102,"cg_iv_a":177.953903,"cg_iw_a":-156.173889,"cg_sample_age_us":23.3909092,"cg_sample_seq":10212366,"cg_sample_valid":1,"cg_theta_rad":0.132310539,"cg_vd_req_v":-1.70871592,"cg_vd_v":-1.70871592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51804352,"cg_vq_v":-8.51804352,"cg_vu_v":105.134323,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2443.10278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1769.616577,"values":{"Elec_RPM":-2342.30786,"EncoderCos":48978,"EncoderSin":46733,"GapTicks":49934,"Mech_RPM":-468.461578,"cg_du":46.2059708,"cg_dv":45.3950119,"cg_dw":54.6049881,"cg_id_a":7.89350939,"cg_id_raw_a":12.5598927,"cg_iq_a":-205.069214,"cg_iq_raw_a":-205.131989,"cg_iu_a":-6.63008833,"cg_iv_a":-173.430069,"cg_iw_a":180.06015,"cg_sample_age_us":23.5290909,"cg_sample_seq":10214067,"cg_sample_valid":1,"cg_theta_rad":0.716049135,"cg_vd_req_v":-2.07466984,"cg_vd_v":-2.07466984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2654314,"cg_vq_v":-8.2654314,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1769.96814,"values":{"Elec_RPM":-2345.04199,"EncoderCos":38740,"EncoderSin":53322,"GapTicks":49602,"Mech_RPM":-469.008423,"cg_du":54.9068146,"cg_dv":52.7894287,"cg_dw":45.0931854,"cg_id_a":12.6776886,"cg_id_raw_a":9.29105854,"cg_iq_a":-203.024231,"cg_iq_raw_a":-202.430283,"cg_iu_a":50.5989227,"cg_iv_a":145.696884,"cg_iw_a":-196.295807,"cg_sample_age_us":23.8999996,"cg_sample_seq":10215767,"cg_sample_valid":1,"cg_theta_rad":1.28940892,"cg_vd_req_v":-2.17889023,"cg_vd_v":-2.17889023,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3236351,"cg_vq_v":-8.3236351,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-17.5167046,"dclink_p_w":-2535.09912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1770.027584,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1770.02759,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1770.027596,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1770.300171,"values":{"Elec_RPM":-2346.41064,"EncoderCos":26366,"EncoderSin":53344,"GapTicks":49385,"Mech_RPM":-469.282135,"cg_du":44.8961296,"cg_dv":48.7239037,"cg_dw":55.1038704,"cg_id_a":-7.41473103,"cg_id_raw_a":-11.2167187,"cg_iq_a":-198.586456,"cg_iq_raw_a":-200.628571,"cg_iu_a":-117.862411,"cg_iv_a":-79.1236115,"cg_iw_a":196.986023,"cg_sample_age_us":23.8963642,"cg_sample_seq":10217466,"cg_sample_valid":1,"cg_theta_rad":1.86445618,"cg_vd_req_v":-1.76362801,"cg_vd_v":-1.76362801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43527317,"cg_vq_v":-8.43527317,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2496.021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1770.632202,"values":{"Elec_RPM":-2353.15039,"EncoderCos":16060,"EncoderSin":46444,"GapTicks":49343,"Mech_RPM":-470.630096,"cg_du":55.1421356,"cg_dv":49.3842468,"cg_dw":44.8578644,"cg_id_a":-10.3318033,"cg_id_raw_a":-10.7469416,"cg_iq_a":-196.10614,"cg_iq_raw_a":-195.915543,"cg_iu_a":142.513275,"cg_iv_a":49.1433105,"cg_iw_a":-191.656586,"cg_sample_age_us":23.9618187,"cg_sample_seq":10219166,"cg_sample_valid":1,"cg_theta_rad":2.45692992,"cg_vd_req_v":-1.68953979,"cg_vd_v":-1.68953979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4464016,"cg_vq_v":-8.4464016,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2486.34253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1770.983765,"values":{"Elec_RPM":-2352.71021,"EncoderCos":11319,"EncoderSin":35466,"GapTicks":49873,"Mech_RPM":-470.542053,"cg_du":45.339447,"cg_dv":53.7940025,"cg_dw":54.660553,"cg_id_a":8.74803352,"cg_id_raw_a":9.64355946,"cg_iq_a":-201.421951,"cg_iq_raw_a":-200.455399,"cg_iu_a":-178.13591,"cg_iv_a":7.46290588,"cg_iw_a":170.673004,"cg_sample_age_us":23.9145451,"cg_sample_seq":10220867,"cg_sample_valid":1,"cg_theta_rad":3.01601934,"cg_vd_req_v":-2.03033662,"cg_vd_v":-2.03033662,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33591461,"cg_vq_v":-8.33591461,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2458.88794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1771.018925,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1771.018931,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1771.018937,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1771.315796,"values":{"Elec_RPM":-2358.24805,"EncoderCos":11259,"EncoderSin":34680,"GapTicks":49489,"Mech_RPM":-471.649628,"cg_du":44.9902191,"cg_dv":51.8367958,"cg_dw":55.0097809,"cg_id_a":-11.6779232,"cg_id_raw_a":-8.32066345,"cg_iq_a":-200.722672,"cg_iq_raw_a":-200.118546,"cg_iu_a":-165.994232,"cg_iv_a":-12.289978,"cg_iw_a":178.28421,"cg_sample_age_us":23.9581814,"cg_sample_seq":10222617,"cg_sample_valid":1,"cg_theta_rad":3.05541039,"cg_vd_req_v":-1.61993909,"cg_vd_v":-1.61993909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3763237,"cg_vq_v":-8.3763237,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2430.47534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1771.671265,"values":{"Elec_RPM":-2359.96362,"EncoderCos":13657,"EncoderSin":22604,"GapTicks":50009,"Mech_RPM":-471.992737,"cg_du":54.5371246,"cg_dv":45.6683807,"cg_dw":45.4628754,"cg_id_a":11.7925539,"cg_id_raw_a":12.5801229,"cg_iq_a":-200.437363,"cg_iq_raw_a":-199.802078,"cg_iu_a":177.814789,"cg_iv_a":-11.275177,"cg_iw_a":-166.539612,"cg_sample_age_us":24.0345459,"cg_sample_seq":10224317,"cg_sample_valid":1,"cg_theta_rad":3.63864946,"cg_vd_req_v":-2.12449932,"cg_vd_v":-2.12449932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39296818,"cg_vq_v":-8.39296818,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2456.68066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1772.003296,"values":{"Elec_RPM":-2360.2395,"EncoderCos":22250,"EncoderSin":13881,"GapTicks":49558,"Mech_RPM":-472.047913,"cg_du":45.0528336,"cg_dv":54.9471664,"cg_dw":52.6852913,"cg_id_a":6.61067152,"cg_id_raw_a":2.46730447,"cg_iq_a":-197.377213,"cg_iq_raw_a":-195.90477,"cg_iu_a":-193.068375,"cg_iv_a":59.8352356,"cg_iw_a":133.233139,"cg_sample_age_us":23.9509087,"cg_sample_seq":10226017,"cg_sample_valid":1,"cg_theta_rad":4.21467972,"cg_vd_req_v":-2.05282116,"cg_vd_v":-2.05282116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41713524,"cg_vq_v":-8.41713524,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1772.042914,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1772.04292,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1772.042926,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1772.335327,"values":{"Elec_RPM":-2359.17407,"EncoderCos":34089,"EncoderSin":11277,"GapTicks":49360,"Mech_RPM":-471.834808,"cg_du":55.1272316,"cg_dv":44.8727684,"cg_dw":49.3810539,"cg_id_a":-10.5810738,"cg_id_raw_a":-12.7548342,"cg_iq_a":-198.409393,"cg_iq_raw_a":-198.199326,"cg_iu_a":197.748886,"cg_iv_a":-120.804031,"cg_iw_a":-76.9448547,"cg_sample_age_us":24.0709095,"cg_sample_seq":10227717,"cg_sample_valid":1,"cg_theta_rad":4.79055595,"cg_vd_req_v":-1.73071527,"cg_vd_v":-1.73071527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38625336,"cg_vq_v":-8.38625336,"cg_vu_v":122.730026,"cg_vv_v":115.251846,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2494.97119,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1772.68689,"values":{"Elec_RPM":-2355.83447,"EncoderCos":45561,"EncoderSin":15526,"GapTicks":49414,"Mech_RPM":-471.16687,"cg_du":44.9224052,"cg_dv":55.0775948,"cg_dw":48.4208183,"cg_id_a":-12.0685596,"cg_id_raw_a":-12.3720169,"cg_iq_a":-199.793686,"cg_iq_raw_a":-201.373199,"cg_iu_a":-180.817963,"cg_iv_a":160.629349,"cg_iw_a":20.1886139,"cg_sample_age_us":23.9254551,"cg_sample_seq":10229417,"cg_sample_valid":1,"cg_theta_rad":5.36759996,"cg_vd_req_v":-1.74505484,"cg_vd_v":-1.74505484,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41584015,"cg_vq_v":-8.41584015,"cg_vu_v":126.249161,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2433.26392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1773.018921,"values":{"Elec_RPM":-2359.45654,"EncoderCos":48566,"EncoderSin":47209,"GapTicks":49580,"Mech_RPM":-471.891296,"cg_du":47.741581,"cg_dv":45.0733376,"cg_dw":54.9266624,"cg_id_a":-9.56610584,"cg_id_raw_a":-2.91044307,"cg_iq_a":-203.270203,"cg_iq_raw_a":-204.800629,"cg_iu_a":6.30896044,"cg_iv_a":-176.981964,"cg_iw_a":178.175476,"cg_sample_age_us":23.5145454,"cg_sample_seq":10231017,"cg_sample_valid":1,"cg_theta_rad":0.742291152,"cg_vd_req_v":-1.73461127,"cg_vd_v":-1.73461127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31163597,"cg_vq_v":-8.31163597,"cg_vu_v":106.453995,"cg_vv_v":98.0960464,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.3061619,"dclink_p_w":-2359.90356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1773.03475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1773.034756,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1773.034761,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1773.350952,"values":{"Elec_RPM":-2362.0437,"EncoderCos":53344,"EncoderSin":37898,"GapTicks":49751,"Mech_RPM":-472.408752,"cg_du":46.7586098,"cg_dv":54.7713852,"cg_dw":45.2286148,"cg_id_a":9.27381706,"cg_id_raw_a":10.861433,"cg_iq_a":-205.146179,"cg_iq_raw_a":-203.63089,"cg_iu_a":-155.338531,"cg_iv_a":195.314697,"cg_iw_a":-39.9761581,"cg_sample_age_us":23.4963627,"cg_sample_seq":10232816,"cg_sample_valid":1,"cg_theta_rad":0.257613063,"cg_vd_req_v":-2.18531966,"cg_vd_v":-2.18531966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25461197,"cg_vq_v":-8.25461197,"cg_vu_v":4.39892578,"cg_vv_v":35.6312981,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1773.702515,"values":{"Elec_RPM":-2362.83423,"EncoderCos":37364,"EncoderSin":53689,"GapTicks":49682,"Mech_RPM":-472.566833,"cg_du":53.1935501,"cg_dv":54.8338661,"cg_dw":45.1661339,"cg_id_a":0.619976461,"cg_id_raw_a":7.67294216,"cg_iq_a":-200.260178,"cg_iq_raw_a":-200.971436,"cg_iu_a":0.836141706,"cg_iv_a":170.451431,"cg_iw_a":-171.287567,"cg_sample_age_us":23.812727,"cg_sample_seq":10234467,"cg_sample_valid":1,"cg_theta_rad":1.3594532,"cg_vd_req_v":-1.89143229,"cg_vd_v":-1.89143229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40938091,"cg_vq_v":-8.40938091,"cg_vu_v":125.809273,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.2354851,"dclink_p_w":-2342.53296,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1774.026612,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1774.026616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1774.026622,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1774.038452,"values":{"Elec_RPM":-2362.59082,"EncoderCos":24896,"EncoderSin":52900,"GapTicks":49938,"Mech_RPM":-472.518158,"cg_du":45.3984184,"cg_dv":46.1447487,"cg_dw":54.6015816,"cg_id_a":13.6217251,"cg_id_raw_a":15.0426559,"cg_iq_a":-203.822678,"cg_iq_raw_a":-203.140076,"cg_iu_a":-26.41922,"cg_iv_a":-164.006683,"cg_iw_a":190.425903,"cg_sample_age_us":23.8672733,"cg_sample_seq":10236166,"cg_sample_valid":1,"cg_theta_rad":1.94315577,"cg_vd_req_v":-2.15536833,"cg_vd_v":-2.15536833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29269123,"cg_vq_v":-8.29269123,"cg_vu_v":13.1967773,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2386.9834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1774.370483,"values":{"Elec_RPM":-2360.35693,"EncoderCos":15195,"EncoderSin":45290,"GapTicks":49485,"Mech_RPM":-472.071411,"cg_du":55.0131721,"cg_dv":51.9077682,"cg_dw":44.9868279,"cg_id_a":8.78796005,"cg_id_raw_a":6.75273657,"cg_iq_a":-203.687622,"cg_iq_raw_a":-206.261887,"cg_iu_a":74.0849304,"cg_iv_a":129.387146,"cg_iw_a":-203.472076,"cg_sample_age_us":23.8018188,"cg_sample_seq":10237866,"cg_sample_valid":1,"cg_theta_rad":2.52585053,"cg_vd_req_v":-2.08945036,"cg_vd_v":-2.08945036,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29225445,"cg_vq_v":-8.29225445,"cg_vu_v":141.645401,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.0180225,"dclink_p_w":-2311.15649,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1774.722046,"values":{"Elec_RPM":-2359.51855,"EncoderCos":11169,"EncoderSin":34032,"GapTicks":49357,"Mech_RPM":-471.903687,"cg_du":44.8702736,"cg_dv":50.4280777,"cg_dw":55.1297264,"cg_id_a":-16.1624737,"cg_id_raw_a":-18.192627,"cg_iq_a":-199.7164,"cg_iq_raw_a":-198.290848,"cg_iu_a":-150.046936,"cg_iv_a":-29.6870422,"cg_iw_a":188.070068,"cg_sample_age_us":23.9363632,"cg_sample_seq":10239567,"cg_sample_valid":1,"cg_theta_rad":3.08171725,"cg_vd_req_v":-1.55098343,"cg_vd_v":-1.55098343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41458607,"cg_vq_v":-8.41458607,"cg_vu_v":114.37207,"cg_vv_v":142.085297,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1775.019031,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1775.019037,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1775.019042,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1775.054077,"values":{"Elec_RPM":-2356.2478,"EncoderCos":14100,"EncoderSin":21825,"GapTicks":49497,"Mech_RPM":-471.249542,"cg_du":55.002655,"cg_dv":47.8195229,"cg_dw":44.997345,"cg_id_a":-8.56675148,"cg_id_raw_a":-2.089077,"cg_iq_a":-195.931549,"cg_iq_raw_a":-198.5215,"cg_iu_a":164.875732,"cg_iv_a":10.4711304,"cg_iw_a":-175.346863,"cg_sample_age_us":24.0200005,"cg_sample_seq":10241266,"cg_sample_valid":1,"cg_theta_rad":3.67868733,"cg_vd_req_v":-1.70664239,"cg_vd_v":-1.70664239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45014381,"cg_vq_v":-8.45014381,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2397.3291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1775.40564,"values":{"Elec_RPM":-2360.3584,"EncoderCos":22167,"EncoderSin":13950,"GapTicks":49540,"Mech_RPM":-472.071655,"cg_du":45.0370026,"cg_dv":54.9629974,"cg_dw":52.5072975,"cg_id_a":3.93398786,"cg_id_raw_a":3.62030292,"cg_iq_a":-197.893906,"cg_iq_raw_a":-199.113388,"cg_iu_a":-185.493408,"cg_iv_a":21.7429657,"cg_iw_a":163.750443,"cg_sample_age_us":23.9290905,"cg_sample_seq":10242970,"cg_sample_valid":1,"cg_theta_rad":4.25334072,"cg_vd_req_v":-2.0059948,"cg_vd_v":-2.0059948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40333366,"cg_vq_v":-8.40333366,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2506.51172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1775.741577,"values":{"Elec_RPM":-2357.21899,"EncoderCos":34921,"EncoderSin":11333,"GapTicks":49441,"Mech_RPM":-471.443787,"cg_du":55.0536156,"cg_dv":44.9463844,"cg_dw":48.053566,"cg_id_a":8.44039536,"cg_id_raw_a":4.17679787,"cg_iq_a":-201.039886,"cg_iq_raw_a":-200.256577,"cg_iu_a":199.923523,"cg_iv_a":-85.9374695,"cg_iw_a":-113.986053,"cg_sample_age_us":23.9581814,"cg_sample_seq":10244666,"cg_sample_valid":1,"cg_theta_rad":4.82032585,"cg_vd_req_v":-2.12720537,"cg_vd_v":-2.12720537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35884476,"cg_vq_v":-8.35884476,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2530.96655,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1776.011735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1776.011741,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1776.011746,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1776.073608,"values":{"Elec_RPM":-2357.729,"EncoderCos":46262,"EncoderSin":16114,"GapTicks":49309,"Mech_RPM":-471.545807,"cg_du":44.8270264,"cg_dv":55.1729736,"cg_dw":50.3166695,"cg_id_a":-12.5318012,"cg_id_raw_a":-13.8120337,"cg_iq_a":-195.873077,"cg_iq_raw_a":-196.335617,"cg_iu_a":-193.974457,"cg_iv_a":125.001633,"cg_iw_a":68.9728241,"cg_sample_age_us":23.8818188,"cg_sample_seq":10246366,"cg_sample_valid":1,"cg_theta_rad":5.41187954,"cg_vd_req_v":-1.75643075,"cg_vd_v":-1.75643075,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46993828,"cg_vq_v":-8.46993828,"cg_vu_v":39.1504402,"cg_vv_v":68.1833496,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1776.425171,"values":{"Elec_RPM":-2356.98022,"EncoderCos":46908,"EncoderSin":16706,"GapTicks":49428,"Mech_RPM":-471.396057,"cg_du":44.9353867,"cg_dv":55.0646133,"cg_dw":51.8464012,"cg_id_a":0.457730055,"cg_id_raw_a":-3.07203078,"cg_iq_a":-196.491333,"cg_iq_raw_a":-196.646545,"cg_iu_a":-197.163925,"cg_iv_a":81.3278275,"cg_iw_a":115.836098,"cg_sample_age_us":23.9290905,"cg_sample_seq":10248116,"cg_sample_valid":1,"cg_theta_rad":5.44965219,"cg_vd_req_v":-2.03355932,"cg_vd_v":-2.03355932,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43369865,"cg_vq_v":-8.43369865,"cg_vu_v":10.9973145,"cg_vv_v":24.6339836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2546.63892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1776.757202,"values":{"Elec_RPM":-2362.52295,"EncoderCos":53237,"EncoderSin":26928,"GapTicks":49343,"Mech_RPM":-472.504608,"cg_du":55.1426506,"cg_dv":44.8573494,"cg_dw":50.3979721,"cg_id_a":-17.8721085,"cg_id_raw_a":-17.4360828,"cg_iq_a":-195.649582,"cg_iq_raw_a":-195.129562,"cg_iu_a":186.730774,"cg_iv_a":-147.189545,"cg_iw_a":-39.5412292,"cg_sample_age_us":24.1945457,"cg_sample_seq":10249817,"cg_sample_valid":1,"cg_theta_rad":6.02123213,"cg_vd_req_v":-1.60166276,"cg_vd_v":-1.60166276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45223045,"cg_vq_v":-8.45223045,"cg_vu_v":129.328415,"cg_vv_v":117.451309,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-15.8368034,"dclink_p_w":-2291.97583,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1777.003355,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1777.003361,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1777.003366,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1777.089233,"values":{"Elec_RPM":-2356.59595,"EncoderCos":52980,"EncoderSin":39332,"GapTicks":49582,"Mech_RPM":-471.319183,"cg_du":45.0751228,"cg_dv":54.9248772,"cg_dw":47.4258347,"cg_id_a":-3.44706202,"cg_id_raw_a":3.2467494,"cg_iq_a":-201.274445,"cg_iq_raw_a":-202.847702,"cg_iu_a":-177.084839,"cg_iv_a":168.965424,"cg_iw_a":8.11940765,"cg_sample_age_us":23.5145454,"cg_sample_seq":10251516,"cg_sample_valid":1,"cg_theta_rad":0.321572214,"cg_vd_req_v":-1.90234351,"cg_vd_v":-1.90234351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38359928,"cg_vq_v":-8.38359928,"cg_vu_v":0.87978512,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2550.04858,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1777.444702,"values":{"Elec_RPM":-2359.88477,"EncoderCos":24553,"EncoderSin":52736,"GapTicks":50073,"Mech_RPM":-471.976929,"cg_du":45.7616043,"cg_dv":45.5210304,"cg_dw":54.4789696,"cg_id_a":9.51560974,"cg_id_raw_a":11.1507339,"cg_iq_a":-205.756439,"cg_iq_raw_a":-204.511932,"cg_iu_a":-15.6185589,"cg_iv_a":-166.942444,"cg_iw_a":189.447327,"cg_sample_age_us":23.8963642,"cg_sample_seq":10253117,"cg_sample_valid":1,"cg_theta_rad":1.95879197,"cg_vd_req_v":-2.06714511,"cg_vd_v":-2.06714511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24819851,"cg_vq_v":-8.24819851,"cg_vu_v":119.210884,"cg_vv_v":127.12896,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2408.6853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1777.776733,"values":{"Elec_RPM":-2355.2312,"EncoderCos":34964,"EncoderSin":54056,"GapTicks":49469,"Mech_RPM":-471.046234,"cg_du":48.3036537,"cg_dv":55.0274696,"cg_dw":44.9725304,"cg_id_a":1.74495065,"cg_id_raw_a":-0.929999232,"cg_iq_a":-201.206665,"cg_iq_raw_a":-200.553055,"cg_iu_a":-129.424194,"cg_iv_a":201.149948,"cg_iw_a":-84.4835815,"cg_sample_age_us":23.8927269,"cg_sample_seq":10254917,"cg_sample_valid":1,"cg_theta_rad":1.47673821,"cg_vd_req_v":-1.95440793,"cg_vd_v":-1.95440793,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33340931,"cg_vq_v":-8.33340931,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9821091,"dclink_p_w":-2457.72998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3522034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1778.027477,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1778.027483,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1778.027488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1778.120483,"values":{"Elec_RPM":-2353.33325,"EncoderCos":11175,"EncoderSin":33422,"GapTicks":49366,"Mech_RPM":-470.666656,"cg_du":44.8782921,"cg_dv":49.2560577,"cg_dw":55.1217079,"cg_id_a":-12.3904104,"cg_id_raw_a":-15.4376106,"cg_iq_a":-197.82605,"cg_iq_raw_a":-196.574051,"cg_iu_a":-120.798164,"cg_iv_a":-73.9407578,"cg_iw_a":194.738922,"cg_sample_age_us":23.954546,"cg_sample_seq":10256517,"cg_sample_valid":1,"cg_theta_rad":3.11487937,"cg_vd_req_v":-1.63987398,"cg_vd_v":-1.63987398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43111706,"cg_vq_v":-8.43111706,"cg_vu_v":128.448624,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5130806,"dclink_p_w":-2526.87061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1778.659546,"values":{"Elec_RPM":-2352.88965,"EncoderCos":47595,"EncoderSin":17329,"GapTicks":49711,"Mech_RPM":-470.577942,"cg_du":45.1925545,"cg_dv":54.8074455,"cg_dw":53.5077362,"cg_id_a":10.3867102,"cg_id_raw_a":6.6328783,"cg_iq_a":-197.823685,"cg_iq_raw_a":-196.490402,"cg_iu_a":-183.318787,"cg_iv_a":18.4810181,"cg_iw_a":164.837769,"cg_sample_age_us":26.7800007,"cg_sample_seq":10259219,"cg_sample_valid":1,"cg_theta_rad":5.51928997,"cg_vd_req_v":-2.2189734,"cg_vd_v":-2.2189734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43052101,"cg_vq_v":-8.43052101,"cg_vu_v":127.568848,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2525.70532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3200378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1778.923433,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1778.923444,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1778.923447,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1779.019742,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1779.019747,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1779.019753,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1779.100952,"values":{"Elec_RPM":-2348.76758,"EncoderCos":52756,"EncoderSin":25322,"GapTicks":50047,"Mech_RPM":-469.75354,"cg_du":54.5026131,"cg_dv":45.4973869,"cg_dw":54.334507,"cg_id_a":13.0586967,"cg_id_raw_a":17.2120571,"cg_iq_a":-202.076508,"cg_iq_raw_a":-202.631485,"cg_iu_a":170.928467,"cg_iv_a":-179.301575,"cg_iw_a":8.37311554,"cg_sample_age_us":24.1836357,"cg_sample_seq":10261516,"cg_sample_valid":1,"cg_theta_rad":5.94285727,"cg_vd_req_v":-2.21429706,"cg_vd_v":-2.21429706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31891632,"cg_vq_v":-8.31891632,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7211533,"dclink_p_w":-2419.96313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1779.456421,"values":{"Elec_RPM":-2350.87256,"EncoderCos":53588,"EncoderSin":36926,"GapTicks":49411,"Mech_RPM":-470.17453,"cg_du":48.4938431,"cg_dv":55.0800133,"cg_dw":44.9199867,"cg_id_a":-2.94438529,"cg_id_raw_a":-8.64038086,"cg_iq_a":-200.70015,"cg_iq_raw_a":-200.503677,"cg_iu_a":-121.631775,"cg_iv_a":200.823761,"cg_iw_a":-94.7043457,"cg_sample_age_us":23.5218182,"cg_sample_seq":10263218,"cg_sample_valid":1,"cg_theta_rad":0.215483084,"cg_vd_req_v":-1.95663786,"cg_vd_v":-1.95663786,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36079216,"cg_vq_v":-8.36079216,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1779.784546,"values":{"Elec_RPM":-2352.60449,"EncoderCos":47639,"EncoderSin":48217,"GapTicks":49291,"Mech_RPM":-470.520905,"cg_du":50.4236031,"cg_dv":44.8105087,"cg_dw":55.1894913,"cg_id_a":-4.71702909,"cg_id_raw_a":-6.41425753,"cg_iq_a":-196.989777,"cg_iq_raw_a":-196.812546,"cg_iu_a":65.6763611,"cg_iv_a":-193.400436,"cg_iw_a":127.724075,"cg_sample_age_us":23.5727272,"cg_sample_seq":10264916,"cg_sample_valid":1,"cg_theta_rad":0.800199151,"cg_vd_req_v":-1.86878181,"cg_vd_v":-1.86878181,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4784584,"cg_vq_v":-8.4784584,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1780.011493,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1780.011499,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1780.011504,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1780.120483,"values":{"Elec_RPM":-2349.9126,"EncoderCos":36583,"EncoderSin":53780,"GapTicks":49391,"Mech_RPM":-469.982544,"cg_du":51.3864403,"cg_dv":55.0989609,"cg_dw":44.9010391,"cg_id_a":-9.77573776,"cg_id_raw_a":-11.2573099,"cg_iq_a":-194.274017,"cg_iq_raw_a":-195.742813,"cg_iu_a":-25.4043922,"cg_iv_a":180.092285,"cg_iw_a":-154.687897,"cg_sample_age_us":23.8890915,"cg_sample_seq":10266616,"cg_sample_valid":1,"cg_theta_rad":1.38982904,"cg_vd_req_v":-1.68064404,"cg_vd_v":-1.68064404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4868269,"cg_vq_v":-8.4868269,"cg_vu_v":38.2706528,"cg_vv_v":44.8690414,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1780.472046,"values":{"Elec_RPM":-2348.06909,"EncoderCos":24575,"EncoderSin":52784,"GapTicks":50120,"Mech_RPM":-469.613831,"cg_du":45.680275,"cg_dv":45.5637741,"cg_dw":54.4362259,"cg_id_a":10.6531715,"cg_id_raw_a":11.8623104,"cg_iq_a":-207.548721,"cg_iq_raw_a":-208.285706,"cg_iu_a":-14.6037321,"cg_iv_a":-172.306519,"cg_iw_a":186.910248,"cg_sample_age_us":23.7763634,"cg_sample_seq":10268316,"cg_sample_valid":1,"cg_theta_rad":1.96043897,"cg_vd_req_v":-2.09098864,"cg_vd_v":-2.09098864,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21704578,"cg_vq_v":-8.21704578,"cg_vu_v":39.590332,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.42033,"dclink_p_w":-2369.20337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1780.804077,"values":{"Elec_RPM":-2352.96118,"EncoderCos":24113,"EncoderSin":52561,"GapTicks":49762,"Mech_RPM":-470.592224,"cg_du":46.8123627,"cg_dv":45.2385063,"cg_dw":54.7614937,"cg_id_a":0.855260968,"cg_id_raw_a":9.29515648,"cg_iq_a":-204.898254,"cg_iq_raw_a":-205.69249,"cg_iu_a":-2.75199795,"cg_iv_a":-174.771103,"cg_iw_a":180.313873,"cg_sample_age_us":23.8672733,"cg_sample_seq":10270067,"cg_sample_valid":1,"cg_theta_rad":1.98479784,"cg_vd_req_v":-1.89165664,"cg_vd_v":-1.89165664,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29182339,"cg_vq_v":-8.29182339,"cg_vu_v":117.891212,"cg_vv_v":121.850235,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2434.30957,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1781.034915,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1781.034921,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1781.034926,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1781.136108,"values":{"Elec_RPM":-2348.71851,"EncoderCos":13823,"EncoderSin":22239,"GapTicks":49761,"Mech_RPM":-469.743713,"cg_du":54.7621956,"cg_dv":46.6146774,"cg_dw":45.2378044,"cg_id_a":3.09630132,"cg_id_raw_a":10.1937256,"cg_iq_a":-198.635422,"cg_iq_raw_a":-201.077957,"cg_iu_a":173.682983,"cg_iv_a":-3.37400818,"cg_iw_a":-166.358398,"cg_sample_age_us":23.994545,"cg_sample_seq":10271666,"cg_sample_valid":1,"cg_theta_rad":3.65461183,"cg_vd_req_v":-1.93539941,"cg_vd_v":-1.93539941,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38193703,"cg_vq_v":-8.38193703,"cg_vu_v":2.19946289,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2467.25513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1781.487671,"values":{"Elec_RPM":-2346.28271,"EncoderCos":14241,"EncoderSin":21462,"GapTicks":49413,"Mech_RPM":-469.256561,"cg_du":55.0789528,"cg_dv":48.6755219,"cg_dw":44.9210472,"cg_id_a":-12.368845,"cg_id_raw_a":-9.08872604,"cg_iq_a":-196.251617,"cg_iq_raw_a":-199.083755,"cg_iu_a":156.938324,"cg_iv_a":26.7808533,"cg_iw_a":-183.719177,"cg_sample_age_us":24.0200005,"cg_sample_seq":10273416,"cg_sample_valid":1,"cg_theta_rad":3.69611478,"cg_vd_req_v":-1.63566029,"cg_vd_v":-1.63566029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42599392,"cg_vq_v":-8.42599392,"cg_vu_v":31.2323723,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6486645,"dclink_p_w":-2402.14844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1781.819702,"values":{"Elec_RPM":-2346.43457,"EncoderCos":45000,"EncoderSin":15093,"GapTicks":49731,"Mech_RPM":-469.286896,"cg_du":45.2103577,"cg_dv":54.7896423,"cg_dw":46.6982765,"cg_id_a":3.67803311,"cg_id_raw_a":6.91770649,"cg_iq_a":-201.342499,"cg_iq_raw_a":-202.517288,"cg_iu_a":-173.170502,"cg_iv_a":173.133453,"cg_iw_a":0.0370407104,"cg_sample_age_us":23.8818188,"cg_sample_seq":10275017,"cg_sample_valid":1,"cg_theta_rad":5.33577967,"cg_vd_req_v":-2.0556612,"cg_vd_v":-2.0556612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36592293,"cg_vq_v":-8.36592293,"cg_vu_v":127.568848,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2468.48267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1782.027323,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1782.027329,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1782.027335,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1782.15564,"values":{"Elec_RPM":-2349.09375,"EncoderCos":45880,"EncoderSin":15807,"GapTicks":49353,"Mech_RPM":-469.818756,"cg_du":44.8665657,"cg_dv":55.1334343,"cg_dw":49.3177147,"cg_id_a":-13.3046532,"cg_id_raw_a":-13.9411659,"cg_iq_a":-197.467072,"cg_iq_raw_a":-198.074951,"cg_iu_a":-188.24794,"cg_iv_a":146.16806,"cg_iw_a":42.0798874,"cg_sample_age_us":23.9690914,"cg_sample_seq":10276766,"cg_sample_valid":1,"cg_theta_rad":5.38558388,"cg_vd_req_v":-1.72963488,"cg_vd_v":-1.72963488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42823982,"cg_vq_v":-8.42823982,"cg_vu_v":38.7105446,"cg_vv_v":64.6642075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1782.507202,"values":{"Elec_RPM":-2356.09082,"EncoderCos":52853,"EncoderSin":25669,"GapTicks":49813,"Mech_RPM":-471.21817,"cg_du":54.7153778,"cg_dv":45.2846222,"cg_dw":53.5111771,"cg_id_a":5.13639784,"cg_id_raw_a":10.5180902,"cg_iq_a":-203.480377,"cg_iq_raw_a":-203.879486,"cg_iu_a":172.414444,"cg_iv_a":-177.670593,"cg_iw_a":5.25615692,"cg_sample_age_us":24.1909084,"cg_sample_seq":10278467,"cg_sample_valid":1,"cg_theta_rad":5.95607471,"cg_vd_req_v":-2.05176401,"cg_vd_v":-2.05176401,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30151367,"cg_vq_v":-8.30151367,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.6979237,"dclink_p_w":-2553.54077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1782.839233,"values":{"Elec_RPM":-2357.90942,"EncoderCos":53146,"EncoderSin":26652,"GapTicks":49322,"Mech_RPM":-471.581879,"cg_du":55.1610909,"cg_dv":44.8389091,"cg_dw":51.0246887,"cg_id_a":-16.8925705,"cg_id_raw_a":-12.5871363,"cg_iq_a":-194.146484,"cg_iq_raw_a":-194.499512,"cg_iu_a":181.330429,"cg_iv_a":-152.263672,"cg_iw_a":-29.0667496,"cg_sample_age_us":24.1727276,"cg_sample_seq":10280216,"cg_sample_valid":1,"cg_theta_rad":6.00879765,"cg_vd_req_v":-1.62794411,"cg_vd_v":-1.62794411,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50049591,"cg_vq_v":-8.50049591,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2509.35205,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1783.019534,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1783.01954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1783.019546,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1783.190796,"values":{"Elec_RPM":-2362.73047,"EncoderCos":53110,"EncoderSin":38864,"GapTicks":49842,"Mech_RPM":-472.546112,"cg_du":45.3111076,"cg_dv":54.6888924,"cg_dw":46.2552338,"cg_id_a":7.54807806,"cg_id_raw_a":13.6224451,"cg_iq_a":-202.556747,"cg_iq_raw_a":-203.998764,"cg_iu_a":-173.859131,"cg_iv_a":174.72818,"cg_iw_a":-0.869049072,"cg_sample_age_us":23.5181828,"cg_sample_seq":10281916,"cg_sample_valid":1,"cg_theta_rad":0.300166041,"cg_vd_req_v":-2.12561464,"cg_vd_v":-2.12561464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36273956,"cg_vq_v":-8.36273956,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2511.49976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1783.522827,"values":{"Elec_RPM":-2359.97827,"EncoderCos":46718,"EncoderSin":49128,"GapTicks":49569,"Mech_RPM":-471.995636,"cg_du":52.6489258,"cg_dv":45.0633926,"cg_dw":54.9366074,"cg_id_a":15.1894188,"cg_id_raw_a":13.2331591,"cg_iq_a":-200.140381,"cg_iq_raw_a":-199.475937,"cg_iu_a":145.738983,"cg_iv_a":-194.052811,"cg_iw_a":48.3138275,"cg_sample_age_us":23.4563637,"cg_sample_seq":10283617,"cg_sample_valid":1,"cg_theta_rad":0.87217325,"cg_vd_req_v":-2.24711108,"cg_vd_v":-2.24711108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.366292,"cg_vq_v":-8.366292,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1783.854858,"values":{"Elec_RPM":-2358.99951,"EncoderCos":35505,"EncoderSin":53986,"GapTicks":49377,"Mech_RPM":-471.799927,"cg_du":49.1823158,"cg_dv":55.1112747,"cg_dw":44.8887253,"cg_id_a":-9.4924984,"cg_id_raw_a":-11.6410055,"cg_iq_a":-199.891937,"cg_iq_raw_a":-198.942871,"cg_iu_a":-82.0172577,"cg_iv_a":198.902832,"cg_iw_a":-116.885574,"cg_sample_age_us":23.8963642,"cg_sample_seq":10285317,"cg_sample_valid":1,"cg_theta_rad":1.44429326,"cg_vd_req_v":-1.72700071,"cg_vd_v":-1.72700071,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37572956,"cg_vq_v":-8.37572956,"cg_vu_v":18.0355949,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7178593,"dclink_p_w":-2556.41699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1784.043031,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1784.043037,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1784.043042,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1784.210327,"values":{"Elec_RPM":-2359.45142,"EncoderCos":23296,"EncoderSin":52180,"GapTicks":49417,"Mech_RPM":-471.890289,"cg_du":48.9894638,"cg_dv":44.9248085,"cg_dw":55.0751915,"cg_id_a":-18.5017719,"cg_id_raw_a":-16.9298515,"cg_iq_a":-201.079544,"cg_iq_raw_a":-203.399918,"cg_iu_a":25.0470238,"cg_iv_a":-184.810638,"cg_iw_a":159.763611,"cg_sample_age_us":23.8090916,"cg_sample_seq":10287016,"cg_sample_valid":1,"cg_theta_rad":2.02401257,"cg_vd_req_v":-1.51608551,"cg_vd_v":-1.51608551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40149593,"cg_vq_v":-8.40149593,"cg_vu_v":5.27871037,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1784.538452,"values":{"Elec_RPM":-2354.21289,"EncoderCos":14243,"EncoderSin":43902,"GapTicks":49835,"Mech_RPM":-470.84259,"cg_du":53.6484909,"cg_dv":54.6947174,"cg_dw":45.3052826,"cg_id_a":4.67829037,"cg_id_raw_a":11.4517298,"cg_iq_a":-200.504883,"cg_iq_raw_a":-201.198441,"cg_iu_a":6.09149742,"cg_iv_a":167.62442,"cg_iw_a":-173.715912,"cg_sample_age_us":23.7945461,"cg_sample_seq":10288717,"cg_sample_valid":1,"cg_theta_rad":2.60691094,"cg_vd_req_v":-1.94891965,"cg_vd_v":-1.94891965,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3752861,"cg_vq_v":-8.3752861,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2474.40747,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1784.893921,"values":{"Elec_RPM":-2355.20459,"EncoderCos":11180,"EncoderSin":32884,"GapTicks":49421,"Mech_RPM":-471.040894,"cg_du":44.9289322,"cg_dv":48.3434563,"cg_dw":55.0710678,"cg_id_a":-3.54228806,"cg_id_raw_a":-8.97350693,"cg_iq_a":-197.633331,"cg_iq_raw_a":-199.080444,"cg_iu_a":-41.7503624,"cg_iv_a":-152.51738,"cg_iw_a":194.267746,"cg_sample_age_us":23.8381824,"cg_sample_seq":10290420,"cg_sample_valid":1,"cg_theta_rad":3.1831038,"cg_vd_req_v":-1.82922053,"cg_vd_v":-1.82922053,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40078926,"cg_vq_v":-8.40078926,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2396.65771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1785.035042,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1785.035048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1785.035054,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1785.225952,"values":{"Elec_RPM":-2357.58105,"EncoderCos":14991,"EncoderSin":20266,"GapTicks":49435,"Mech_RPM":-471.516205,"cg_du":55.0582581,"cg_dv":51.2512741,"cg_dw":44.9417419,"cg_id_a":0.464257479,"cg_id_raw_a":-2.62697268,"cg_iq_a":-203.00325,"cg_iq_raw_a":-201.366592,"cg_iu_a":111.234863,"cg_iv_a":90.2800598,"cg_iw_a":-201.514923,"cg_sample_age_us":23.9327278,"cg_sample_seq":10292116,"cg_sample_valid":1,"cg_theta_rad":3.75334811,"cg_vd_req_v":-1.92583156,"cg_vd_v":-1.92583156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31880283,"cg_vq_v":-8.31880283,"cg_vu_v":43.9892578,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2451.95972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1785.557983,"values":{"Elec_RPM":-2360.50806,"EncoderCos":24722,"EncoderSin":12737,"GapTicks":49364,"Mech_RPM":-472.101593,"cg_du":44.8766098,"cg_dv":50.5227814,"cg_dw":55.1233902,"cg_id_a":-13.9602852,"cg_id_raw_a":-11.2994623,"cg_iq_a":-197.983856,"cg_iq_raw_a":-200.01738,"cg_iu_a":-137.905258,"cg_iv_a":-51.687027,"cg_iw_a":188.939911,"cg_sample_age_us":23.9254551,"cg_sample_seq":10293816,"cg_sample_valid":1,"cg_theta_rad":4.35216475,"cg_vd_req_v":-1.6298697,"cg_vd_v":-1.6298697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42043591,"cg_vq_v":-8.42043591,"cg_vu_v":116.131638,"cg_vv_v":145.164551,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1785.913452,"values":{"Elec_RPM":-2360.45044,"EncoderCos":25320,"EncoderSin":12495,"GapTicks":49369,"Mech_RPM":-472.090088,"cg_du":44.8810616,"cg_dv":49.2247009,"cg_dw":55.1189384,"cg_id_a":-13.0945683,"cg_id_raw_a":-14.6583328,"cg_iq_a":-197.099213,"cg_iq_raw_a":-196.60318,"cg_iu_a":-118.732269,"cg_iv_a":-74.8830872,"cg_iw_a":193.615356,"cg_sample_age_us":23.9290905,"cg_sample_seq":10295567,"cg_sample_valid":1,"cg_theta_rad":4.37276649,"cg_vd_req_v":-1.67127347,"cg_vd_v":-1.67127347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42287922,"cg_vq_v":-8.42287922,"cg_vu_v":112.172607,"cg_vv_v":123.60981,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.7450409,"dclink_p_w":-2575.95093,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4327393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1786.027307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1786.027313,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1786.027318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1786.241577,"values":{"Elec_RPM":-2357.21997,"EncoderCos":53275,"EncoderSin":26997,"GapTicks":49310,"Mech_RPM":-471.444,"cg_du":55.1722717,"cg_dv":44.8277283,"cg_dw":50.3438606,"cg_id_a":-13.5380659,"cg_id_raw_a":-14.9143133,"cg_iq_a":-195.910141,"cg_iq_raw_a":-194.95842,"cg_iu_a":187.310669,"cg_iv_a":-140.593155,"cg_iw_a":-46.717514,"cg_sample_age_us":24.1327267,"cg_sample_seq":10297167,"cg_sample_valid":1,"cg_theta_rad":6.0238204,"cg_vd_req_v":-1.70954347,"cg_vd_v":-1.70954347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47932243,"cg_vq_v":-8.47932243,"cg_vu_v":105.574219,"cg_vv_v":73.9019547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2513.33081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1786.577515,"values":{"Elec_RPM":-2357.65674,"EncoderCos":53538,"EncoderSin":28069,"GapTicks":49384,"Mech_RPM":-471.531342,"cg_du":55.1049995,"cg_dv":44.8950005,"cg_dw":48.3815269,"cg_id_a":1.72247839,"cg_id_raw_a":-4.08552742,"cg_iq_a":-197.768326,"cg_iq_raw_a":-197.399246,"cg_iu_a":199.234894,"cg_iv_a":-83.146698,"cg_iw_a":-116.088196,"cg_sample_age_us":24.1581821,"cg_sample_seq":10298916,"cg_sample_valid":1,"cg_theta_rad":6.07662201,"cg_vd_req_v":-2.03116012,"cg_vd_v":-2.03116012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4316864,"cg_vq_v":-8.4316864,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2429.66699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1786.929077,"values":{"Elec_RPM":-2354.4917,"EncoderCos":45994,"EncoderSin":49642,"GapTicks":50035,"Mech_RPM":-470.898315,"cg_du":54.2941742,"cg_dv":45.4870682,"cg_dw":54.5129318,"cg_id_a":16.9840717,"cg_id_raw_a":19.7936592,"cg_iq_a":-203.27951,"cg_iq_raw_a":-203.266525,"cg_iu_a":169.623688,"cg_iv_a":-181.802399,"cg_iw_a":12.1787109,"cg_sample_age_us":24.0127277,"cg_sample_seq":10300566,"cg_sample_valid":1,"cg_theta_rad":0.909320474,"cg_vd_req_v":-2.25821781,"cg_vd_v":-2.25821781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30323505,"cg_vq_v":-8.30323505,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.2068195,"dclink_p_w":-2482.68188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1787.019477,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1787.019483,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1787.019488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1787.261108,"values":{"Elec_RPM":-2357.11475,"EncoderCos":45598,"EncoderSin":50006,"GapTicks":49752,"Mech_RPM":-471.422974,"cg_du":54.7706146,"cg_dv":45.2293854,"cg_dw":53.3740158,"cg_id_a":3.66752696,"cg_id_raw_a":10.5587111,"cg_iq_a":-202.102295,"cg_iq_raw_a":-203.412964,"cg_iu_a":171.580841,"cg_iv_a":-175.532227,"cg_iw_a":3.95137787,"cg_sample_age_us":24.0200005,"cg_sample_seq":10302317,"cg_sample_valid":1,"cg_theta_rad":0.935709238,"cg_vd_req_v":-1.97559464,"cg_vd_v":-1.97559464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3547945,"cg_vq_v":-8.3547945,"cg_vu_v":106.453995,"cg_vv_v":89.7380829,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2511.44385,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1787.59314,"values":{"Elec_RPM":-2359.26831,"EncoderCos":22679,"EncoderSin":51896,"GapTicks":49359,"Mech_RPM":-471.853668,"cg_du":50.3049965,"cg_dv":44.8724785,"cg_dw":55.1275215,"cg_id_a":-15.6630383,"cg_id_raw_a":-21.0767326,"cg_iq_a":-197.166504,"cg_iq_raw_a":-197.870377,"cg_iu_a":63.4654846,"cg_iv_a":-193.835342,"cg_iw_a":130.369858,"cg_sample_age_us":23.6963634,"cg_sample_seq":10303966,"cg_sample_valid":1,"cg_theta_rad":2.05824924,"cg_vd_req_v":-1.59908235,"cg_vd_v":-1.59908235,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44992256,"cg_vq_v":-8.44992256,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2413.37622,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1787.944702,"values":{"Elec_RPM":-2358.56372,"EncoderCos":21928,"EncoderSin":51436,"GapTicks":49437,"Mech_RPM":-471.712738,"cg_du":51.7419891,"cg_dv":44.9428635,"cg_dw":55.0571365,"cg_id_a":1.92474103,"cg_id_raw_a":-1.61705351,"cg_iq_a":-198.083496,"cg_iq_raw_a":-198.132324,"cg_iu_a":114.243095,"cg_iv_a":-196.916077,"cg_iw_a":82.6729813,"cg_sample_age_us":23.7000008,"cg_sample_seq":10305716,"cg_sample_valid":1,"cg_theta_rad":2.09901261,"cg_vd_req_v":-1.96267903,"cg_vd_v":-1.96267903,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41706371,"cg_vq_v":-8.41706371,"cg_vu_v":17.1558094,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1788.043083,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1788.043089,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1788.043095,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1788.386108,"values":{"Elec_RPM":-2350.60083,"EncoderCos":50750,"EncoderSin":21255,"GapTicks":50144,"Mech_RPM":-470.120178,"cg_du":45.5931854,"cg_dv":45.5860138,"cg_dw":54.4139862,"cg_id_a":12.0851765,"cg_id_raw_a":15.4941044,"cg_iq_a":-208.290863,"cg_iq_raw_a":-206.96019,"cg_iu_a":-11.9216881,"cg_iv_a":-173.212616,"cg_iw_a":185.134308,"cg_sample_age_us":23.8345451,"cg_sample_seq":10307717,"cg_sample_valid":1,"cg_theta_rad":5.73152065,"cg_vd_req_v":-2.22638941,"cg_vd_v":-2.22638941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.19097805,"cg_vq_v":-8.19097805,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1788.90564,"values":{"Elec_RPM":-2352.2959,"EncoderCos":17328,"EncoderSin":47780,"GapTicks":50001,"Mech_RPM":-470.459167,"cg_du":54.5439224,"cg_dv":45.4560776,"cg_dw":45.7742081,"cg_id_a":13.1047869,"cg_id_raw_a":17.6858406,"cg_iq_a":-203.353073,"cg_iq_raw_a":-204.283493,"cg_iu_a":182.743942,"cg_iv_a":-20.1911469,"cg_iw_a":-162.552795,"cg_sample_age_us":23.994545,"cg_sample_seq":10310367,"cg_sample_valid":1,"cg_theta_rad":2.3715117,"cg_vd_req_v":-2.16566658,"cg_vd_v":-2.16566658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31527328,"cg_vq_v":-8.31527328,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":133.287445,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2421.4978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1788.907393,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1788.907405,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1788.907408,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1789.035362,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1789.035367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1789.035373,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1789.272827,"values":{"Elec_RPM":-2352.32642,"EncoderCos":53236,"EncoderSin":38426,"GapTicks":50058,"Mech_RPM":-470.465302,"cg_du":45.7375336,"cg_dv":54.4921074,"cg_dw":45.5078926,"cg_id_a":10.417078,"cg_id_raw_a":12.5644007,"cg_iq_a":-204.327362,"cg_iq_raw_a":-204.815338,"cg_iu_a":-167.335236,"cg_iv_a":183.934113,"cg_iw_a":-16.598877,"cg_sample_age_us":23.5327282,"cg_sample_seq":10312316,"cg_sample_valid":1,"cg_theta_rad":0.279586583,"cg_vd_req_v":-2.18279958,"cg_vd_v":-2.18279958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30352306,"cg_vq_v":-8.30352306,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":21.5547352,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2542.18018,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3378906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1789.604858,"values":{"Elec_RPM":-2352.58496,"EncoderCos":53094,"EncoderSin":39044,"GapTicks":49768,"Mech_RPM":-470.516998,"cg_du":45.2444191,"cg_dv":54.7555809,"cg_dw":46.6799431,"cg_id_a":4.46264744,"cg_id_raw_a":9.19993496,"cg_iq_a":-201.656464,"cg_iq_raw_a":-202.827927,"cg_iu_a":-173.750397,"cg_iv_a":173.423401,"cg_iw_a":0.32698822,"cg_sample_age_us":23.5581818,"cg_sample_seq":10314067,"cg_sample_valid":1,"cg_theta_rad":0.310339063,"cg_vd_req_v":-2.05512857,"cg_vd_v":-2.05512857,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3452301,"cg_vq_v":-8.3452301,"cg_vu_v":98.0960464,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2491.83325,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1789.956421,"values":{"Elec_RPM":-2348.82983,"EncoderCos":35987,"EncoderSin":53926,"GapTicks":49319,"Mech_RPM":-469.765961,"cg_du":50.0718498,"cg_dv":55.1639557,"cg_dw":44.8360443,"cg_id_a":-13.6445742,"cg_id_raw_a":-11.5885458,"cg_iq_a":-196.89418,"cg_iq_raw_a":-195.725357,"cg_iu_a":-55.1243362,"cg_iv_a":193.031342,"cg_iw_a":-137.906998,"cg_sample_age_us":23.8890915,"cg_sample_seq":10315717,"cg_sample_valid":1,"cg_theta_rad":1.42170262,"cg_vd_req_v":-1.63030648,"cg_vd_v":-1.63030648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44784641,"cg_vq_v":-8.44784641,"cg_vu_v":120.970459,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2548.99927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1790.027272,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1790.027277,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1790.027283,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1790.292358,"values":{"Elec_RPM":-2349.76733,"EncoderCos":35163,"EncoderSin":54054,"GapTicks":49383,"Mech_RPM":-469.953461,"cg_du":48.6062622,"cg_dv":55.105751,"cg_dw":44.894249,"cg_id_a":-2.17063737,"cg_id_raw_a":-6.38785172,"cg_iq_a":-199.866043,"cg_iq_raw_a":-199.822205,"cg_iu_a":-104.234726,"cg_iv_a":200.31633,"cg_iw_a":-96.081604,"cg_sample_age_us":23.8672733,"cg_sample_seq":10317467,"cg_sample_valid":1,"cg_theta_rad":1.46028256,"cg_vd_req_v":-1.88332343,"cg_vd_v":-1.88332343,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40299892,"cg_vq_v":-8.40299892,"cg_vu_v":139.445938,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1790.620483,"values":{"Elec_RPM":-2348.86719,"EncoderCos":14532,"EncoderSin":44304,"GapTicks":50011,"Mech_RPM":-469.773438,"cg_du":54.5351524,"cg_dv":54.1498871,"cg_dw":45.4648476,"cg_id_a":13.7910528,"cg_id_raw_a":16.3138695,"cg_iq_a":-203.29924,"cg_iq_raw_a":-202.230606,"cg_iu_a":19.6104469,"cg_iv_a":164.61618,"cg_iw_a":-184.226624,"cg_sample_age_us":23.8672733,"cg_sample_seq":10319117,"cg_sample_valid":1,"cg_theta_rad":2.57822204,"cg_vd_req_v":-2.14962673,"cg_vd_v":-2.14962673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29757309,"cg_vq_v":-8.29757309,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-16.6667881,"dclink_p_w":-2412.09521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1790.975952,"values":{"Elec_RPM":-2354.04492,"EncoderCos":22154,"EncoderSin":51567,"GapTicks":49380,"Mech_RPM":-470.80899,"cg_du":51.2841148,"cg_dv":44.8911209,"cg_dw":55.1088791,"cg_id_a":-1.7250874,"cg_id_raw_a":-4.28858709,"cg_iq_a":-197.553345,"cg_iq_raw_a":-197.225708,"cg_iu_a":101.630241,"cg_iv_a":-198.32959,"cg_iw_a":96.6993484,"cg_sample_age_us":23.59091,"cg_sample_seq":10320916,"cg_sample_valid":1,"cg_theta_rad":2.08834004,"cg_vd_req_v":-1.88776994,"cg_vd_v":-1.88776994,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41798782,"cg_vq_v":-8.41798782,"cg_vu_v":13.1967773,"cg_vv_v":9.67763615,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1791.019717,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1791.019723,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1791.019728,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1791.307983,"values":{"Elec_RPM":-2357.83496,"EncoderCos":14752,"EncoderSin":20669,"GapTicks":49341,"Mech_RPM":-471.567017,"cg_du":55.1440163,"cg_dv":50.4865265,"cg_dw":44.8559837,"cg_id_a":-7.33637953,"cg_id_raw_a":-8.87289238,"cg_iq_a":-198.502777,"cg_iq_raw_a":-199.130325,"cg_iu_a":120.477036,"cg_iv_a":79.0807037,"cg_iw_a":-199.557739,"cg_sample_age_us":23.9581814,"cg_sample_seq":10322516,"cg_sample_valid":1,"cg_theta_rad":3.73969436,"cg_vd_req_v":-1.76393092,"cg_vd_v":-1.76393092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42651653,"cg_vq_v":-8.42651653,"cg_vu_v":46.6286087,"cg_vv_v":52.3472176,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2548.06616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1791.640015,"values":{"Elec_RPM":-2360.65601,"EncoderCos":24251,"EncoderSin":12941,"GapTicks":49506,"Mech_RPM":-472.131195,"cg_du":45.0055313,"cg_dv":51.6688423,"cg_dw":54.9944687,"cg_id_a":-9.17996407,"cg_id_raw_a":-6.76875877,"cg_iq_a":-200.733658,"cg_iq_raw_a":-201.79747,"cg_iu_a":-161.246277,"cg_iv_a":-24.2142334,"cg_iw_a":179.407776,"cg_sample_age_us":23.9290905,"cg_sample_seq":10324216,"cg_sample_valid":1,"cg_theta_rad":4.31707954,"cg_vd_req_v":-1.71817064,"cg_vd_v":-1.71817064,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35125065,"cg_vq_v":-8.35125065,"cg_vu_v":3.07924795,"cg_vv_v":17.1558094,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.2536068,"dclink_p_w":-2352.29761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1791.991577,"values":{"Elec_RPM":-2364.56396,"EncoderCos":35802,"EncoderSin":11437,"GapTicks":49835,"Mech_RPM":-472.912811,"cg_du":54.6950226,"cg_dv":45.3049774,"cg_dw":46.444397,"cg_id_a":14.6665516,"cg_id_raw_a":17.5487995,"cg_iq_a":-205.159439,"cg_iq_raw_a":-204.479858,"cg_iu_a":185.281006,"cg_iv_a":-29.5782928,"cg_iw_a":-162.516556,"cg_sample_age_us":23.9799995,"cg_sample_seq":10325918,"cg_sample_valid":1,"cg_theta_rad":4.87978315,"cg_vd_req_v":-2.21770763,"cg_vd_v":-2.21770763,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24411583,"cg_vq_v":-8.24411583,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.2793083,"dclink_p_w":-2493.14087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1792.042942,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1792.042948,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1792.042953,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1792.323608,"values":{"Elec_RPM":-2358.92969,"EncoderCos":47174,"EncoderSin":16964,"GapTicks":49472,"Mech_RPM":-471.785919,"cg_du":44.9747238,"cg_dv":55.0252762,"cg_dw":52.4727478,"cg_id_a":7.70030785,"cg_id_raw_a":6.61639547,"cg_iq_a":-198.681076,"cg_iq_raw_a":-198.490601,"cg_iu_a":-195.714172,"cg_iv_a":59.1828613,"cg_iw_a":136.531311,"cg_sample_age_us":23.9145451,"cg_sample_seq":10327616,"cg_sample_valid":1,"cg_theta_rad":5.46973276,"cg_vd_req_v":-2.18403721,"cg_vd_v":-2.18403721,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4252243,"cg_vq_v":-8.4252243,"cg_vu_v":38.7105446,"cg_vv_v":56.3062477,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.614563,"dclink_p_w":-2549.26147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1792.679077,"values":{"Elec_RPM":-2352.13647,"EncoderCos":53199,"EncoderSin":26575,"GapTicks":49365,"Mech_RPM":-470.427277,"cg_du":55.1224213,"cg_dv":44.8775787,"cg_dw":51.1656876,"cg_id_a":-14.8719978,"cg_id_raw_a":-13.4091616,"cg_iq_a":-193.989868,"cg_iq_raw_a":-194.402283,"cg_iu_a":194.160751,"cg_iv_a":-121.130226,"cg_iw_a":-73.0305252,"cg_sample_age_us":24.045454,"cg_sample_seq":10329321,"cg_sample_valid":1,"cg_theta_rad":6.04696226,"cg_vd_req_v":-1.6544044,"cg_vd_v":-1.6544044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50058174,"cg_vq_v":-8.50058174,"cg_vu_v":124.489601,"cg_vv_v":116.131638,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2468.74487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1793.007202,"values":{"Elec_RPM":-2350.5625,"EncoderCos":52789,"EncoderSin":39877,"GapTicks":49416,"Mech_RPM":-470.112488,"cg_du":44.924118,"cg_dv":55.075882,"cg_dw":48.6798897,"cg_id_a":-7.58865929,"cg_id_raw_a":-5.99587488,"cg_iq_a":-199.188873,"cg_iq_raw_a":-200.385101,"cg_iu_a":-187.704285,"cg_iv_a":159.215836,"cg_iw_a":23.7042694,"cg_sample_age_us":23.5218182,"cg_sample_seq":10331016,"cg_sample_valid":1,"cg_theta_rad":0.347569883,"cg_vd_req_v":-1.8192513,"cg_vd_v":-1.8192513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3824358,"cg_vq_v":-8.3824358,"cg_vu_v":11.4372072,"cg_vv_v":25.953661,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.679472,"dclink_p_w":-2413.93091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3540039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1793.035463,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1793.035469,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1793.035475,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1793.34314,"values":{"Elec_RPM":-2349.31689,"EncoderCos":45758,"EncoderSin":49790,"GapTicks":49936,"Mech_RPM":-469.863403,"cg_du":54.6031647,"cg_dv":45.3968353,"cg_dw":54.0635605,"cg_id_a":13.1306648,"cg_id_raw_a":18.3489628,"cg_iq_a":-203.847229,"cg_iq_raw_a":-204.343781,"cg_iu_a":171.508362,"cg_iv_a":-181.766159,"cg_iw_a":10.2577972,"cg_sample_age_us":24.0127277,"cg_sample_seq":10332716,"cg_sample_valid":1,"cg_theta_rad":0.913367569,"cg_vd_req_v":-2.18330145,"cg_vd_v":-2.18330145,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32628441,"cg_vq_v":-8.32628441,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1793.694702,"values":{"Elec_RPM":-2348.90259,"EncoderCos":23932,"EncoderSin":52484,"GapTicks":49666,"Mech_RPM":-469.780518,"cg_du":47.3011169,"cg_dv":45.1514015,"cg_dw":54.8485985,"cg_id_a":-3.79266214,"cg_id_raw_a":3.30732536,"cg_iq_a":-202.963654,"cg_iq_raw_a":-204.257416,"cg_iu_a":35.4852448,"cg_iv_a":-186.477859,"cg_iw_a":150.992615,"cg_sample_age_us":24.3290901,"cg_sample_seq":10334370,"cg_sample_valid":1,"cg_theta_rad":2.03606868,"cg_vd_req_v":-1.79051304,"cg_vd_v":-1.79051304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32033539,"cg_vq_v":-8.32033539,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2520.70703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1794.026619,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1794.026624,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1794.026628,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1794.026733,"values":{"Elec_RPM":-2352.15088,"EncoderCos":33321,"EncoderSin":54206,"GapTicks":50036,"Mech_RPM":-470.430176,"cg_du":45.4878273,"cg_dv":54.5121727,"cg_dw":45.8529739,"cg_id_a":11.2448149,"cg_id_raw_a":15.1043873,"cg_iq_a":-205.157867,"cg_iq_raw_a":-206.389053,"cg_iu_a":-167.770172,"cg_iv_a":187.159821,"cg_iw_a":-19.3896561,"cg_sample_age_us":23.8963642,"cg_sample_seq":10336166,"cg_sample_valid":1,"cg_theta_rad":1.53648949,"cg_vd_req_v":-2.09384274,"cg_vd_v":-2.09384274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27549171,"cg_vq_v":-8.27549171,"cg_vu_v":1.31967759,"cg_vv_v":8.35795879,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1794.358765,"values":{"Elec_RPM":-2353.54028,"EncoderCos":13771,"EncoderSin":43060,"GapTicks":49372,"Mech_RPM":-470.708038,"cg_du":51.4873886,"cg_dv":55.1156464,"cg_dw":44.8843536,"cg_id_a":-8.87519264,"cg_id_raw_a":-7.34306288,"cg_iq_a":-195.914474,"cg_iq_raw_a":-196.235092,"cg_iu_a":-24.8607368,"cg_iv_a":180.237259,"cg_iw_a":-155.376526,"cg_sample_age_us":23.8854542,"cg_sample_seq":10337817,"cg_sample_valid":1,"cg_theta_rad":2.64600873,"cg_vd_req_v":-1.69323981,"cg_vd_v":-1.69323981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47471046,"cg_vq_v":-8.47471046,"cg_vu_v":117.891212,"cg_vv_v":142.965088,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2468.82397,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1794.710327,"values":{"Elec_RPM":-2354.54688,"EncoderCos":11208,"EncoderSin":31029,"GapTicks":49933,"Mech_RPM":-470.909393,"cg_du":46.091011,"cg_dv":45.3940239,"cg_dw":54.6059761,"cg_id_a":8.34053802,"cg_id_raw_a":12.5159063,"cg_iq_a":-204.239639,"cg_iq_raw_a":-205.187393,"cg_iu_a":-8.22481728,"cg_iv_a":-172.995132,"cg_iw_a":181.219955,"cg_sample_age_us":23.954546,"cg_sample_seq":10339516,"cg_sample_valid":1,"cg_theta_rad":3.22542024,"cg_vd_req_v":-2.04182911,"cg_vd_v":-2.04182911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32480431,"cg_vq_v":-8.32480431,"cg_vu_v":40.0302238,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1795.046265,"values":{"Elec_RPM":-2358.15698,"EncoderCos":15494,"EncoderSin":19592,"GapTicks":49653,"Mech_RPM":-471.631378,"cg_du":54.8603668,"cg_dv":52.766861,"cg_dw":45.1396332,"cg_id_a":9.65080643,"cg_id_raw_a":7.92846012,"cg_iq_a":-203.30307,"cg_iq_raw_a":-201.127304,"cg_iu_a":55.6005745,"cg_iv_a":134.026367,"cg_iw_a":-200.463837,"cg_sample_age_us":23.8672733,"cg_sample_seq":10341217,"cg_sample_valid":1,"cg_theta_rad":3.79870129,"cg_vd_req_v":-2.08907413,"cg_vd_v":-2.08907413,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29063797,"cg_vq_v":-8.29063797,"cg_vu_v":110.413033,"cg_vv_v":113.492287,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-16.8588791,"dclink_p_w":-2432.47925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3808289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1795.051344,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1795.05135,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1795.051356,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1795.37439,"values":{"Elec_RPM":-2356.49194,"EncoderCos":25548,"EncoderSin":12417,"GapTicks":49373,"Mech_RPM":-471.298401,"cg_du":44.8845825,"cg_dv":48.8386688,"cg_dw":55.1154175,"cg_id_a":-8.38177586,"cg_id_raw_a":-11.3847532,"cg_iq_a":-198.331772,"cg_iq_raw_a":-200.877792,"cg_iu_a":-104.560928,"cg_iv_a":-91.80896,"cg_iw_a":196.369888,"cg_sample_age_us":23.9690914,"cg_sample_seq":10342916,"cg_sample_valid":1,"cg_theta_rad":4.38751936,"cg_vd_req_v":-1.78453076,"cg_vd_v":-1.78453076,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40818691,"cg_vq_v":-8.40818691,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1795.729858,"values":{"Elec_RPM":-2355.79736,"EncoderCos":37516,"EncoderSin":11741,"GapTicks":49398,"Mech_RPM":-471.159485,"cg_du":55.0921211,"cg_dv":48.6152191,"cg_dw":44.9078789,"cg_id_a":-14.6648226,"cg_id_raw_a":-14.4570856,"cg_iq_a":-196.646851,"cg_iq_raw_a":-195.417114,"cg_iu_a":159.692871,"cg_iv_a":17.8648682,"cg_iw_a":-177.557739,"cg_sample_age_us":24.0418186,"cg_sample_seq":10344617,"cg_sample_valid":1,"cg_theta_rad":4.94925165,"cg_vd_req_v":-1.62669313,"cg_vd_v":-1.62669313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45888901,"cg_vq_v":-8.45888901,"cg_vu_v":106.014107,"cg_vv_v":99.4157181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2648106,"dclink_p_w":-2498.6438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1796.011046,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1796.011052,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1796.011057,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1796.06189,"values":{"Elec_RPM":-2356.70483,"EncoderCos":48163,"EncoderSin":17960,"GapTicks":49871,"Mech_RPM":-471.340973,"cg_du":45.3377876,"cg_dv":53.7487106,"cg_dw":54.6622124,"cg_id_a":4.54480886,"cg_id_raw_a":8.73013115,"cg_iq_a":-201.893875,"cg_iq_raw_a":-200.689804,"cg_iu_a":-176.577423,"cg_iv_a":7.39041138,"cg_iw_a":169.187012,"cg_sample_age_us":23.8927269,"cg_sample_seq":10346317,"cg_sample_valid":1,"cg_theta_rad":5.53471327,"cg_vd_req_v":-2.08921885,"cg_vd_v":-2.08921885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33184338,"cg_vq_v":-8.33184338,"cg_vu_v":112.612495,"cg_vv_v":137.246475,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7900162,"dclink_p_w":-2429.9292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1796.413452,"values":{"Elec_RPM":-2351.84912,"EncoderCos":53534,"EncoderSin":28184,"GapTicks":49446,"Mech_RPM":-470.369843,"cg_du":55.0486641,"cg_dv":44.9513359,"cg_dw":48.2075958,"cg_id_a":2.70996881,"cg_id_raw_a":-1.67099059,"cg_iq_a":-200.042053,"cg_iq_raw_a":-200.091782,"cg_iu_a":196.480347,"cg_iv_a":-44.6919708,"cg_iw_a":-151.788376,"cg_sample_age_us":24.0418186,"cg_sample_seq":10348020,"cg_sample_valid":1,"cg_theta_rad":6.11878347,"cg_vd_req_v":-2.05259562,"cg_vd_v":-2.05259562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33728981,"cg_vq_v":-8.33728981,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2393.52173,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1796.74939,"values":{"Elec_RPM":-2353.46777,"EncoderCos":52288,"EncoderSin":41178,"GapTicks":49368,"Mech_RPM":-470.693542,"cg_du":44.880146,"cg_dv":55.119854,"cg_dw":51.3930855,"cg_id_a":-0.0832233429,"cg_id_raw_a":-0.459983498,"cg_iq_a":-198.414871,"cg_iq_raw_a":-199.206192,"cg_iu_a":-198.976105,"cg_iv_a":92.4184341,"cg_iw_a":106.557671,"cg_sample_age_us":23.5363636,"cg_sample_seq":10349716,"cg_sample_valid":1,"cg_theta_rad":0.413651884,"cg_vd_req_v":-2.00220466,"cg_vd_v":-2.00220466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42629719,"cg_vq_v":-8.42629719,"cg_vu_v":3.51914048,"cg_vv_v":21.9946289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2412.8689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1797.034625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1797.034631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1797.034636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1797.077515,"values":{"Elec_RPM":-2355.15723,"EncoderCos":44658,"EncoderSin":50598,"GapTicks":49335,"Mech_RPM":-471.031464,"cg_du":55.1496391,"cg_dv":44.8503609,"cg_dw":50.7766457,"cg_id_a":-15.0213165,"cg_id_raw_a":-16.1266346,"cg_iq_a":-194.08696,"cg_iq_raw_a":-194.354523,"cg_iu_a":182.635223,"cg_iv_a":-150.052811,"cg_iw_a":-32.5824127,"cg_sample_age_us":23.9254551,"cg_sample_seq":10351417,"cg_sample_valid":1,"cg_theta_rad":0.983377397,"cg_vd_req_v":-1.62048244,"cg_vd_v":-1.62048244,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51168156,"cg_vq_v":-8.51168156,"cg_vu_v":126.249161,"cg_vv_v":116.571533,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1797.432983,"values":{"Elec_RPM":-2350.8689,"EncoderCos":22688,"EncoderSin":51876,"GapTicks":49369,"Mech_RPM":-470.173798,"cg_du":50.1856499,"cg_dv":44.8816757,"cg_dw":55.1183243,"cg_id_a":-12.4314651,"cg_id_raw_a":-16.1796207,"cg_iq_a":-199.592773,"cg_iq_raw_a":-199.640289,"cg_iu_a":104.819702,"cg_iv_a":-200.395477,"cg_iw_a":95.5757828,"cg_sample_age_us":25.7181816,"cg_sample_seq":10353070,"cg_sample_valid":1,"cg_theta_rad":2.09276891,"cg_vd_req_v":-1.67199194,"cg_vd_v":-1.67199194,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39031887,"cg_vq_v":-8.39031887,"cg_vu_v":104.254532,"cg_vv_v":73.462059,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.6236248,"dclink_p_w":-2542.82056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1797.765015,"values":{"Elec_RPM":-2353.2439,"EncoderCos":21367,"EncoderSin":51103,"GapTicks":49602,"Mech_RPM":-470.648773,"cg_du":52.9212685,"cg_dv":45.0927658,"cg_dw":54.9072342,"cg_id_a":9.05713463,"cg_id_raw_a":6.66536379,"cg_iq_a":-200.339554,"cg_iq_raw_a":-199.764481,"cg_iu_a":143.020691,"cg_iv_a":-194.306519,"cg_iw_a":51.28582,"cg_sample_age_us":23.6490917,"cg_sample_seq":10354817,"cg_sample_valid":1,"cg_theta_rad":2.12830782,"cg_vd_req_v":-2.10177374,"cg_vd_v":-2.10177374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38576031,"cg_vq_v":-8.38576031,"cg_vu_v":106.014107,"cg_vv_v":85.7790527,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2480.28491,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1798.026906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1798.026911,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1798.026916,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1798.104858,"values":{"Elec_RPM":-2353.54248,"EncoderCos":11259,"EncoderSin":30558,"GapTicks":49706,"Mech_RPM":-470.708496,"cg_du":47.2131195,"cg_dv":45.1879272,"cg_dw":54.8120728,"cg_id_a":-0.883862019,"cg_id_raw_a":5.37051916,"cg_iq_a":-203.694397,"cg_iq_raw_a":-203.681854,"cg_iu_a":1.16233611,"cg_iv_a":-175.640945,"cg_iw_a":174.478607,"cg_sample_age_us":23.9436359,"cg_sample_seq":10356467,"cg_sample_valid":1,"cg_theta_rad":3.24524069,"cg_vd_req_v":-1.83733058,"cg_vd_v":-1.83733058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30420303,"cg_vq_v":-8.30420303,"cg_vu_v":106.893898,"cg_vv_v":94.5769043,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2442.31348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1798.62439,"values":{"Elec_RPM":-2350.91724,"EncoderCos":52096,"EncoderSin":41746,"GapTicks":49516,"Mech_RPM":-470.183441,"cg_du":45.0150185,"cg_dv":54.9849815,"cg_dw":52.430954,"cg_id_a":9.00429916,"cg_id_raw_a":3.88752389,"cg_iq_a":-198.87085,"cg_iq_raw_a":-197.14621,"cg_iu_a":-194.26442,"cg_iv_a":49.1432953,"cg_iw_a":145.121124,"cg_sample_age_us":23.5545464,"cg_sample_seq":10359067,"cg_sample_valid":1,"cg_theta_rad":0.45333913,"cg_vd_req_v":-2.1710887,"cg_vd_v":-2.1710887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37772179,"cg_vq_v":-8.37772179,"cg_vu_v":38.2706528,"cg_vv_v":47.0685043,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1798.923535,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1798.923547,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1798.92355,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1799.019297,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1799.019302,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1799.019307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1799.09314,"values":{"Elec_RPM":-2359.2124,"EncoderCos":48000,"EncoderSin":17736,"GapTicks":50048,"Mech_RPM":-471.842499,"cg_du":45.4982414,"cg_dv":54.3573608,"cg_dw":54.5017586,"cg_id_a":9.60497952,"cg_id_raw_a":9.93517971,"cg_iq_a":-201.454071,"cg_iq_raw_a":-199.18187,"cg_iu_a":-182.122742,"cg_iv_a":13.7330933,"cg_iw_a":168.389648,"cg_sample_age_us":23.8345451,"cg_sample_seq":10361517,"cg_sample_valid":1,"cg_theta_rad":5.52275562,"cg_vd_req_v":-2.18660545,"cg_vd_v":-2.18660545,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33604813,"cg_vq_v":-8.33604813,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2447.23901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1799.425171,"values":{"Elec_RPM":-2357.48413,"EncoderCos":46152,"EncoderSin":49488,"GapTicks":49873,"Mech_RPM":-471.496826,"cg_du":53.8912849,"cg_dv":45.3399048,"cg_dw":54.6600952,"cg_id_a":17.4546089,"cg_id_raw_a":19.3227081,"cg_iq_a":-203.8909,"cg_iq_raw_a":-203.613098,"cg_iu_a":166.651672,"cg_iv_a":-186.042923,"cg_iw_a":19.3912506,"cg_sample_age_us":23.9799995,"cg_sample_seq":10363116,"cg_sample_valid":1,"cg_theta_rad":0.900464416,"cg_vd_req_v":-2.28728485,"cg_vd_v":-2.28728485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33736515,"cg_vq_v":-8.33736515,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1799.776733,"values":{"Elec_RPM":-2354.08911,"EncoderCos":52508,"EncoderSin":40724,"GapTicks":49277,"Mech_RPM":-470.81781,"cg_du":44.7975845,"cg_dv":55.2024155,"cg_dw":50.4832726,"cg_id_a":-5.8974185,"cg_id_raw_a":-9.68374062,"cg_iq_a":-196.879929,"cg_iq_raw_a":-196.142181,"cg_iu_a":-194.880554,"cg_iv_a":116.774292,"cg_iw_a":78.1062622,"cg_sample_age_us":23.5290909,"cg_sample_seq":10364917,"cg_sample_valid":1,"cg_theta_rad":0.390553206,"cg_vd_req_v":-1.88039434,"cg_vd_v":-1.88039434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47384453,"cg_vq_v":-8.47384453,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.4130802,"dclink_p_w":-2375.37744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1800.042833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1800.042839,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1800.042845,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1800.108765,"values":{"Elec_RPM":-2352.96729,"EncoderCos":23004,"EncoderSin":52024,"GapTicks":49377,"Mech_RPM":-470.593445,"cg_du":49.6682739,"cg_dv":44.8887138,"cg_dw":55.1112862,"cg_id_a":-19.2610512,"cg_id_raw_a":-19.304985,"cg_iq_a":-198.255447,"cg_iq_raw_a":-198.166672,"cg_iu_a":56.071743,"cg_iv_a":-193.291687,"cg_iw_a":146.607101,"cg_sample_age_us":23.7181816,"cg_sample_seq":10366517,"cg_sample_valid":1,"cg_theta_rad":2.04940796,"cg_vd_req_v":-1.51720452,"cg_vd_v":-1.51720452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41192341,"cg_vq_v":-8.41192341,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1800.460327,"values":{"Elec_RPM":-2353.0791,"EncoderCos":14566,"EncoderSin":44365,"GapTicks":49955,"Mech_RPM":-470.615845,"cg_du":54.585598,"cg_dv":54.0547562,"cg_dw":45.414402,"cg_id_a":12.4592094,"cg_id_raw_a":14.9190655,"cg_iq_a":-204.783905,"cg_iq_raw_a":-205.249878,"cg_iu_a":-6.05018663,"cg_iv_a":172.408585,"cg_iw_a":-166.358398,"cg_sample_age_us":23.7945461,"cg_sample_seq":10368221,"cg_sample_valid":1,"cg_theta_rad":2.62002158,"cg_vd_req_v":-2.13218021,"cg_vd_v":-2.13218021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30863571,"cg_vq_v":-8.30863571,"cg_vu_v":109.533249,"cg_vv_v":111.732712,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.1521244,"dclink_p_w":-2337.6106,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1800.792358,"values":{"Elec_RPM":-2346.82227,"EncoderCos":11201,"EncoderSin":31661,"GapTicks":49873,"Mech_RPM":-469.364471,"cg_du":45.3399315,"cg_dv":46.2775803,"cg_dw":54.6600685,"cg_id_a":13.3122005,"cg_id_raw_a":10.963933,"cg_iq_a":-202.564392,"cg_iq_raw_a":-200.256042,"cg_iu_a":-31.3121395,"cg_iv_a":-159.186249,"cg_iw_a":190.498383,"cg_sample_age_us":23.9181824,"cg_sample_seq":10369917,"cg_sample_valid":1,"cg_theta_rad":3.19417834,"cg_vd_req_v":-2.15739274,"cg_vd_v":-2.15739274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32701683,"cg_vq_v":-8.32701683,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1801.034759,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1801.034764,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1801.03477,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1801.128296,"values":{"Elec_RPM":-2346.1748,"EncoderCos":15361,"EncoderSin":19787,"GapTicks":49589,"Mech_RPM":-469.234955,"cg_du":54.9187851,"cg_dv":52.310318,"cg_dw":45.0812149,"cg_id_a":8.31648254,"cg_id_raw_a":6.38501215,"cg_iq_a":-204.17099,"cg_iq_raw_a":-206.149261,"cg_iu_a":78.7241364,"cg_iv_a":122.537064,"cg_iw_a":-201.2612,"cg_sample_age_us":23.8672733,"cg_sample_seq":10371616,"cg_sample_valid":1,"cg_theta_rad":3.78121638,"cg_vd_req_v":-2.06789279,"cg_vd_v":-2.06789279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26198196,"cg_vq_v":-8.26198196,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1801.479858,"values":{"Elec_RPM":-2351.93774,"EncoderCos":15854,"EncoderSin":19166,"GapTicks":49921,"Mech_RPM":-470.387543,"cg_du":54.6166534,"cg_dv":53.7860756,"cg_dw":45.3833466,"cg_id_a":11.5037737,"cg_id_raw_a":11.6984348,"cg_iq_a":-205.982727,"cg_iq_raw_a":-207.254196,"cg_iu_a":29.4687691,"cg_iv_a":162.369064,"cg_iw_a":-194.121185,"cg_sample_age_us":23.9581814,"cg_sample_seq":10373366,"cg_sample_valid":1,"cg_theta_rad":3.82682562,"cg_vd_req_v":-2.11950922,"cg_vd_v":-2.11950922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24204731,"cg_vq_v":-8.24204731,"cg_vu_v":28.1531239,"cg_vv_v":18.4754887,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5620098,"dclink_p_w":-2533.93042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1801.81189,"values":{"Elec_RPM":-2356.56201,"EncoderCos":37288,"EncoderSin":11676,"GapTicks":49437,"Mech_RPM":-471.312378,"cg_du":55.056488,"cg_dv":48.0884933,"cg_dw":44.943512,"cg_id_a":-12.1240902,"cg_id_raw_a":-7.69751978,"cg_iq_a":-194.868134,"cg_iq_raw_a":-195.185303,"cg_iu_a":164.114609,"cg_iv_a":12.2108307,"cg_iw_a":-176.325439,"cg_sample_age_us":24.0090904,"cg_sample_seq":10375016,"cg_sample_valid":1,"cg_theta_rad":4.94138288,"cg_vd_req_v":-1.66686809,"cg_vd_v":-1.66686809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48685837,"cg_vq_v":-8.48685837,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1802.027391,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1802.027397,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1802.027403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1802.163452,"values":{"Elec_RPM":-2357.40137,"EncoderCos":26509,"EncoderSin":12144,"GapTicks":49548,"Mech_RPM":-471.480286,"cg_du":45.0442276,"cg_dv":47.2294044,"cg_dw":54.9557724,"cg_id_a":14.9487057,"cg_id_raw_a":12.4723997,"cg_iq_a":-199.023163,"cg_iq_raw_a":-195.784943,"cg_iu_a":-46.9332314,"cg_iv_a":-144.906174,"cg_iw_a":191.839401,"cg_sample_age_us":23.9290905,"cg_sample_seq":10376817,"cg_sample_valid":1,"cg_theta_rad":4.43190098,"cg_vd_req_v":-2.24347758,"cg_vd_v":-2.24347758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40835094,"cg_vq_v":-8.40835094,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2487.104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1802.495483,"values":{"Elec_RPM":-2354.21582,"EncoderCos":53605,"EncoderSin":28335,"GapTicks":49459,"Mech_RPM":-470.84314,"cg_du":55.0367088,"cg_dv":44.9632912,"cg_dw":47.9655724,"cg_id_a":7.52957058,"cg_id_raw_a":1.67939663,"cg_iq_a":-200.631027,"cg_iq_raw_a":-198.591492,"cg_iu_a":198.836212,"cg_iv_a":-71.9473572,"cg_iw_a":-126.888855,"cg_sample_age_us":24.0418186,"cg_sample_seq":10378417,"cg_sample_valid":1,"cg_theta_rad":6.08751535,"cg_vd_req_v":-2.15005898,"cg_vd_v":-2.15005898,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34404373,"cg_vq_v":-8.34404373,"cg_vu_v":106.453995,"cg_vv_v":97.6561432,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2542.29761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1802.827515,"values":{"Elec_RPM":-2351.77612,"EncoderCos":53770,"EncoderSin":29165,"GapTicks":49799,"Mech_RPM":-470.355225,"cg_du":54.7277527,"cg_dv":45.2722473,"cg_dw":46.509285,"cg_id_a":17.6564484,"cg_id_raw_a":16.4285965,"cg_iq_a":-207.047379,"cg_iq_raw_a":-205.387238,"cg_iu_a":192.167343,"cg_iv_a":-31.0280609,"cg_iw_a":-161.139282,"cg_sample_age_us":24.1436367,"cg_sample_seq":10380167,"cg_sample_valid":1,"cg_theta_rad":6.12456226,"cg_vd_req_v":-2.32688856,"cg_vd_v":-2.32688856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24028778,"cg_vq_v":-8.24028778,"cg_vu_v":125.809273,"cg_vv_v":118.770996,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-17.5620098,"dclink_p_w":-2533.93042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1803.051175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1803.05118,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1803.051185,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1803.182983,"values":{"Elec_RPM":-2346.75244,"EncoderCos":45796,"EncoderSin":49791,"GapTicks":49978,"Mech_RPM":-469.350494,"cg_du":54.5649872,"cg_dv":45.4350128,"cg_dw":54.1101074,"cg_id_a":11.9782419,"cg_id_raw_a":14.941144,"cg_iq_a":-202.960648,"cg_iq_raw_a":-203.269409,"cg_iu_a":175.132736,"cg_iv_a":-162.556915,"cg_iw_a":-12.5758133,"cg_sample_age_us":26.8490906,"cg_sample_seq":10381821,"cg_sample_valid":1,"cg_theta_rad":0.962945759,"cg_vd_req_v":-2.14926744,"cg_vd_v":-2.14926744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32487488,"cg_vq_v":-8.32487488,"cg_vu_v":143.404984,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.2068214,"dclink_p_w":-2497.82056,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1803.515015,"values":{"Elec_RPM":-2352.77246,"EncoderCos":44178,"EncoderSin":50894,"GapTicks":49358,"Mech_RPM":-470.554504,"cg_du":55.1284904,"cg_dv":44.8715096,"cg_dw":49.6465607,"cg_id_a":-14.1095219,"cg_id_raw_a":-15.176774,"cg_iq_a":-195.443329,"cg_iq_raw_a":-194.219864,"cg_iu_a":194.450699,"cg_iv_a":-128.813904,"cg_iw_a":-65.6367874,"cg_sample_age_us":23.9400005,"cg_sample_seq":10383566,"cg_sample_valid":1,"cg_theta_rad":1.01137829,"cg_vd_req_v":-1.64387691,"cg_vd_v":-1.64387691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44474506,"cg_vq_v":-8.44474506,"cg_vu_v":2.19946289,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1803.84314,"values":{"Elec_RPM":-2351.74268,"EncoderCos":32669,"EncoderSin":54216,"GapTicks":49603,"Mech_RPM":-470.348541,"cg_du":45.0943985,"cg_dv":54.9056015,"cg_dw":47.3648148,"cg_id_a":-3.17903805,"cg_id_raw_a":2.26906919,"cg_iq_a":-201.515564,"cg_iq_raw_a":-202.90834,"cg_iu_a":-175.743805,"cg_iv_a":170.306427,"cg_iw_a":5.4373703,"cg_sample_age_us":23.8854542,"cg_sample_seq":10385267,"cg_sample_valid":1,"cg_theta_rad":1.57656217,"cg_vd_req_v":-1.80454779,"cg_vd_v":-1.80454779,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36462116,"cg_vq_v":-8.36462116,"cg_vu_v":93.2572174,"cg_vv_v":101.175293,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4022083,"dclink_p_w":-2366.58862,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1804.043321,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1804.043327,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1804.043333,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1804.198608,"values":{"Elec_RPM":-2350.44824,"EncoderCos":20808,"EncoderSin":50718,"GapTicks":49924,"Mech_RPM":-470.08963,"cg_du":54.1393661,"cg_dv":45.3857117,"cg_dw":54.6142883,"cg_id_a":14.7758455,"cg_id_raw_a":15.483983,"cg_iq_a":-200.480591,"cg_iq_raw_a":-199.929092,"cg_iu_a":164.730743,"cg_iv_a":-181.874878,"cg_iw_a":17.1441345,"cg_sample_age_us":24.045454,"cg_sample_seq":10386966,"cg_sample_valid":1,"cg_theta_rad":2.15954542,"cg_vd_req_v":-2.20239758,"cg_vd_v":-2.20239758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40005779,"cg_vq_v":-8.40005779,"cg_vu_v":24.6339836,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2394.26074,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1804.53064,"values":{"Elec_RPM":-2350.79297,"EncoderCos":11390,"EncoderSin":30021,"GapTicks":49484,"Mech_RPM":-470.158569,"cg_du":48.6249275,"cg_dv":44.9855804,"cg_dw":55.0144196,"cg_id_a":-17.9890442,"cg_id_raw_a":-13.143795,"cg_iq_a":-201.069122,"cg_iq_raw_a":-202.827255,"cg_iu_a":7.03383732,"cg_iv_a":-178.504211,"cg_iw_a":171.470367,"cg_sample_age_us":23.772728,"cg_sample_seq":10388616,"cg_sample_valid":1,"cg_theta_rad":3.2650671,"cg_vd_req_v":-1.51642168,"cg_vd_v":-1.51642168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34753418,"cg_vq_v":-8.34753418,"cg_vu_v":106.014107,"cg_vv_v":93.2572174,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.0361443,"dclink_p_w":-2313.77124,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1804.862671,"values":{"Elec_RPM":-2349.27637,"EncoderCos":11425,"EncoderSin":29435,"GapTicks":49350,"Mech_RPM":-469.855255,"cg_du":49.8319931,"cg_dv":44.8638115,"cg_dw":55.1361885,"cg_id_a":-19.2044468,"cg_id_raw_a":-18.2802944,"cg_iq_a":-198.315796,"cg_iq_raw_a":-199.255859,"cg_iu_a":45.27108,"cg_iv_a":-190.065979,"cg_iw_a":154.399536,"cg_sample_age_us":23.8090916,"cg_sample_seq":10390367,"cg_sample_valid":1,"cg_theta_rad":3.29973865,"cg_vd_req_v":-1.51462603,"cg_vd_v":-1.51462603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42362213,"cg_vq_v":-8.42362213,"cg_vu_v":127.12896,"cg_vv_v":126.249161,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7957821,"dclink_p_w":-2575.48853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1805.035281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1805.035287,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1805.035293,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1805.214233,"values":{"Elec_RPM":-2349.25928,"EncoderCos":26549,"EncoderSin":12130,"GapTicks":49611,"Mech_RPM":-469.851837,"cg_du":45.101162,"cg_dv":47.1560669,"cg_dw":54.898838,"cg_id_a":14.3812351,"cg_id_raw_a":11.8392344,"cg_iq_a":-199.93924,"cg_iq_raw_a":-199.502823,"cg_iu_a":-46.2808418,"cg_iv_a":-147.841934,"cg_iw_a":194.122772,"cg_sample_age_us":23.8527279,"cg_sample_seq":10392016,"cg_sample_valid":1,"cg_theta_rad":4.43259335,"cg_vd_req_v":-2.22394753,"cg_vd_v":-2.22394753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37005424,"cg_vq_v":-8.37005424,"cg_vu_v":34.7515144,"cg_vv_v":31.2323723,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2458.5166,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1805.546265,"values":{"Elec_RPM":-2352.62549,"EncoderCos":27449,"EncoderSin":11873,"GapTicks":50089,"Mech_RPM":-470.525116,"cg_du":45.8013344,"cg_dv":45.535862,"cg_dw":54.464138,"cg_id_a":10.9802332,"cg_id_raw_a":14.6598501,"cg_iq_a":-206.182434,"cg_iq_raw_a":-206.682541,"cg_iu_a":-11.3055429,"cg_iv_a":-173.285095,"cg_iw_a":186.982727,"cg_sample_age_us":23.9290905,"cg_sample_seq":10393766,"cg_sample_valid":1,"cg_theta_rad":4.47459793,"cg_vd_req_v":-2.1252408,"cg_vd_v":-2.1252408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24542999,"cg_vq_v":-8.24542999,"cg_vu_v":40.0302238,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2423.11035,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1805.882202,"values":{"Elec_RPM":-2348.31763,"EncoderCos":48799,"EncoderSin":18620,"GapTicks":49460,"Mech_RPM":-469.663544,"cg_du":44.9645042,"cg_dv":51.6547623,"cg_dw":55.0354958,"cg_id_a":-10.1441841,"cg_id_raw_a":-9.42832184,"cg_iq_a":-201.418427,"cg_iq_raw_a":-200.113739,"cg_iu_a":-159.542816,"cg_iv_a":-24.1417236,"cg_iw_a":183.68454,"cg_sample_age_us":23.8199997,"cg_sample_seq":10395417,"cg_sample_valid":1,"cg_theta_rad":5.58067989,"cg_vd_req_v":-1.80147648,"cg_vd_v":-1.80147648,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34689236,"cg_vq_v":-8.34689236,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2457.05786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1806.026851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1806.026857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1806.026863,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1806.233765,"values":{"Elec_RPM":-2347.61377,"EncoderCos":49485,"EncoderSin":19452,"GapTicks":49300,"Mech_RPM":-469.522736,"cg_du":44.8184395,"cg_dv":49.4788208,"cg_dw":55.1815605,"cg_id_a":-8.47246933,"cg_id_raw_a":-11.1125879,"cg_iq_a":-198.682343,"cg_iq_raw_a":-198.954468,"cg_iu_a":-120.326996,"cg_iv_a":-79.1598663,"cg_iw_a":199.486862,"cg_sample_age_us":23.9218178,"cg_sample_seq":10397166,"cg_sample_valid":1,"cg_theta_rad":5.62819195,"cg_vd_req_v":-1.86828017,"cg_vd_v":-1.86828017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41607857,"cg_vq_v":-8.41607857,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2474.67065,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1806.565796,"values":{"Elec_RPM":-2345.76367,"EncoderCos":53961,"EncoderSin":30910,"GapTicks":49390,"Mech_RPM":-469.15274,"cg_du":55.0995674,"cg_dv":48.6370201,"cg_dw":44.9004326,"cg_id_a":-15.0120811,"cg_id_raw_a":-13.2724924,"cg_iq_a":-194.447937,"cg_iq_raw_a":-197.103226,"cg_iu_a":157.98941,"cg_iv_a":21.8879395,"cg_iw_a":-179.87735,"cg_sample_age_us":24.0854549,"cg_sample_seq":10398866,"cg_sample_valid":1,"cg_theta_rad":6.20874023,"cg_vd_req_v":-1.65425456,"cg_vd_v":-1.65425456,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4894743,"cg_vq_v":-8.4894743,"cg_vu_v":43.9892578,"cg_vv_v":44.4291458,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2519.10083,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1806.917358,"values":{"Elec_RPM":-2347.04785,"EncoderCos":44478,"EncoderSin":50744,"GapTicks":49350,"Mech_RPM":-469.409576,"cg_du":55.136055,"cg_dv":44.863945,"cg_dw":50.2868996,"cg_id_a":-16.4044685,"cg_id_raw_a":-15.0011339,"cg_iq_a":-196.84201,"cg_iq_raw_a":-195.795639,"cg_iu_a":200.24971,"cg_iv_a":-96.5569077,"cg_iw_a":-103.692802,"cg_sample_age_us":23.8199997,"cg_sample_seq":10400520,"cg_sample_valid":1,"cg_theta_rad":1.03906691,"cg_vd_req_v":-1.59800303,"cg_vd_v":-1.59800303,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43751717,"cg_vq_v":-8.43751717,"cg_vu_v":131.527878,"cg_vv_v":119.210884,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2410.52148,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1807.019544,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1807.01955,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1807.019555,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1807.24939,"values":{"Elec_RPM":-2349.49854,"EncoderCos":43133,"EncoderSin":51474,"GapTicks":49479,"Mech_RPM":-469.899689,"cg_du":55.0186768,"cg_dv":44.9813232,"cg_dw":47.7735863,"cg_id_a":12.6478662,"cg_id_raw_a":6.5155201,"cg_iq_a":-202.131287,"cg_iq_raw_a":-199.985947,"cg_iu_a":198.582504,"cg_iv_a":-63.1763306,"cg_iw_a":-135.406174,"cg_sample_age_us":23.954546,"cg_sample_seq":10402267,"cg_sample_valid":1,"cg_theta_rad":1.06602633,"cg_vd_req_v":-2.20881987,"cg_vd_v":-2.20881987,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.343894,"cg_vq_v":-8.343894,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4005127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1807.585327,"values":{"Elec_RPM":-2347.13794,"EncoderCos":20258,"EncoderSin":50352,"GapTicks":49952,"Mech_RPM":-469.427582,"cg_du":54.7382774,"cg_dv":45.2617226,"cg_dw":53.9920883,"cg_id_a":4.08531713,"cg_id_raw_a":10.464963,"cg_iq_a":-201.039963,"cg_iq_raw_a":-202.209961,"cg_iu_a":169.587433,"cg_iv_a":-178.467972,"cg_iw_a":8.88053894,"cg_sample_age_us":23.9618187,"cg_sample_seq":10403916,"cg_sample_valid":1,"cg_theta_rad":2.18087673,"cg_vd_req_v":-1.9665072,"cg_vd_v":-1.9665072,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36053944,"cg_vq_v":-8.36053944,"cg_vu_v":106.893898,"cg_vv_v":89.2981949,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2491.30029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1807.93689,"values":{"Elec_RPM":-2354.75659,"EncoderCos":19563,"EncoderSin":49814,"GapTicks":49395,"Mech_RPM":-470.951324,"cg_du":55.094635,"cg_dv":44.905365,"cg_dw":51.1894302,"cg_id_a":-18.1052647,"cg_id_raw_a":-15.4758453,"cg_iq_a":-195.697632,"cg_iq_raw_a":-196.863342,"cg_iu_a":179.51825,"cg_iv_a":-157.84523,"cg_iw_a":-21.6730194,"cg_sample_age_us":23.9872723,"cg_sample_seq":10405666,"cg_sample_valid":1,"cg_theta_rad":2.23170829,"cg_vd_req_v":-1.52384925,"cg_vd_v":-1.52384925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45459747,"cg_vq_v":-8.45459747,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2436.40137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1808.042841,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1808.042847,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1808.042853,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1808.370483,"values":{"Elec_RPM":-2348.09521,"EncoderCos":33981,"EncoderSin":11265,"GapTicks":49346,"Mech_RPM":-469.619019,"cg_du":55.1395607,"cg_dv":44.8604393,"cg_dw":49.5135574,"cg_id_a":-13.6737642,"cg_id_raw_a":-14.9245453,"cg_iq_a":-195.235138,"cg_iq_raw_a":-193.174286,"cg_iu_a":193.399628,"cg_iv_a":-124.174698,"cg_iw_a":-69.2249298,"cg_sample_age_us":24.0890903,"cg_sample_seq":10407767,"cg_sample_valid":1,"cg_theta_rad":4.78840876,"cg_vd_req_v":-1.65371633,"cg_vd_v":-1.65371633,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44125557,"cg_vq_v":-8.44125557,"cg_vu_v":143.404984,"cg_vv_v":138.566162,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-16.6849098,"dclink_p_w":-2414.71777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1808.890015,"values":{"Elec_RPM":-2341.72168,"EncoderCos":11293,"EncoderSin":34995,"GapTicks":49603,"Mech_RPM":-468.34436,"cg_du":45.0942574,"cg_dv":52.6780396,"cg_dw":54.9057426,"cg_id_a":-1.61159241,"cg_id_raw_a":2.76112485,"cg_iq_a":-201.862488,"cg_iq_raw_a":-201.942352,"cg_iu_a":-172.046936,"cg_iv_a":-0.619491577,"cg_iw_a":172.666428,"cg_sample_age_us":23.9363632,"cg_sample_seq":10410267,"cg_sample_valid":1,"cg_theta_rad":3.04010701,"cg_vd_req_v":-1.82530439,"cg_vd_v":-1.82530439,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37293053,"cg_vq_v":-8.37293053,"cg_vu_v":113.932175,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1808.906932,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1808.906943,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1808.906946,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1809.002961,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1809.002967,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1809.002972,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1809.261108,"values":{"Elec_RPM":-2348.59668,"EncoderCos":49266,"EncoderSin":19115,"GapTicks":49315,"Mech_RPM":-469.71933,"cg_du":44.8322945,"cg_dv":50.2058258,"cg_dw":55.1677055,"cg_id_a":-12.485075,"cg_id_raw_a":-13.7910347,"cg_iq_a":-198.437347,"cg_iq_raw_a":-197.941238,"cg_iu_a":-138.340179,"cg_iv_a":-52.6656189,"cg_iw_a":191.005798,"cg_sample_age_us":23.9145451,"cg_sample_seq":10412367,"cg_sample_valid":1,"cg_theta_rad":5.60815096,"cg_vd_req_v":-1.76365423,"cg_vd_v":-1.76365423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42944431,"cg_vq_v":-8.42944431,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-17.5819435,"dclink_p_w":-2544.54077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1809.59314,"values":{"Elec_RPM":-2346.89966,"EncoderCos":44607,"EncoderSin":50664,"GapTicks":49354,"Mech_RPM":-469.379944,"cg_du":55.1318817,"cg_dv":44.8681183,"cg_dw":50.5949936,"cg_id_a":-16.5663013,"cg_id_raw_a":-15.9545221,"cg_iq_a":-196.195221,"cg_iq_raw_a":-196.22374,"cg_iu_a":186.730774,"cg_iv_a":-149.400421,"cg_iw_a":-37.3303604,"cg_sample_age_us":23.9618187,"cg_sample_seq":10413966,"cg_sample_valid":1,"cg_theta_rad":0.987888694,"cg_vd_req_v":-1.59531868,"cg_vd_v":-1.59531868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44591999,"cg_vq_v":-8.44591999,"cg_vu_v":47.0685043,"cg_vv_v":41.7897949,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1809.948608,"values":{"Elec_RPM":-2347.44849,"EncoderCos":34078,"EncoderSin":54182,"GapTicks":49702,"Mech_RPM":-469.489716,"cg_du":46.7675781,"cg_dv":54.8163147,"cg_dw":45.1836853,"cg_id_a":15.5615711,"cg_id_raw_a":12.6087265,"cg_iq_a":-204.657898,"cg_iq_raw_a":-204.012543,"cg_iu_a":-172.77182,"cg_iv_a":179.548615,"cg_iw_a":-6.77680206,"cg_sample_age_us":23.8054543,"cg_sample_seq":10415671,"cg_sample_valid":1,"cg_theta_rad":1.55145907,"cg_vd_req_v":-2.22473049,"cg_vd_v":-2.22473049,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31304932,"cg_vq_v":-8.31304932,"cg_vu_v":116.131638,"cg_vv_v":142.525192,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1810.027042,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1810.027048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1810.027054,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1810.276733,"values":{"Elec_RPM":-2349.75684,"EncoderCos":32069,"EncoderSin":54207,"GapTicks":49359,"Mech_RPM":-469.951355,"cg_du":44.8722687,"cg_dv":55.1277313,"cg_dw":48.7032394,"cg_id_a":-9.31800461,"cg_id_raw_a":-5.25839186,"cg_iq_a":-196.462265,"cg_iq_raw_a":-197.169022,"cg_iu_a":-181.796539,"cg_iv_a":153.163116,"cg_iw_a":28.6334229,"cg_sample_age_us":23.7399998,"cg_sample_seq":10417416,"cg_sample_valid":1,"cg_theta_rad":1.60282743,"cg_vd_req_v":-1.69102514,"cg_vd_v":-1.69102514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49328804,"cg_vq_v":-8.49328804,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2503.10229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1810.612671,"values":{"Elec_RPM":-2354.0813,"EncoderCos":13077,"EncoderSin":41610,"GapTicks":49446,"Mech_RPM":-470.816254,"cg_du":48.4278259,"cg_dv":55.0482025,"cg_dw":44.9517975,"cg_id_a":1.12939954,"cg_id_raw_a":-3.28876925,"cg_iq_a":-201.220169,"cg_iq_raw_a":-200.79808,"cg_iu_a":-113.513153,"cg_iv_a":201.874832,"cg_iw_a":-88.3616791,"cg_sample_age_us":23.9363632,"cg_sample_seq":10419066,"cg_sample_valid":1,"cg_theta_rad":2.72409129,"cg_vd_req_v":-1.91725838,"cg_vd_v":-1.91725838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32761669,"cg_vq_v":-8.32761669,"cg_vu_v":39.590332,"cg_vv_v":65.1041031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2425.4707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1810.964233,"values":{"Elec_RPM":-2357.77466,"EncoderCos":12740,"EncoderSin":40838,"GapTicks":49702,"Mech_RPM":-471.554932,"cg_du":47.0392113,"cg_dv":54.8157997,"cg_dw":45.1842003,"cg_id_a":14.7555876,"cg_id_raw_a":12.585454,"cg_iq_a":-206.001968,"cg_iq_raw_a":-204.227722,"cg_iu_a":-153.743805,"cg_iv_a":198.359161,"cg_iw_a":-44.6153641,"cg_sample_age_us":23.9654541,"cg_sample_seq":10420816,"cg_sample_valid":1,"cg_theta_rad":2.75900054,"cg_vd_req_v":-2.18394589,"cg_vd_v":-2.18394589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2558403,"cg_vq_v":-8.2558403,"cg_vu_v":0.87978512,"cg_vv_v":8.79785156,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1811.019258,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1811.019264,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1811.01927,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1811.296265,"values":{"Elec_RPM":-2355.77051,"EncoderCos":25875,"EncoderSin":12331,"GapTicks":49387,"Mech_RPM":-471.154114,"cg_du":44.897747,"cg_dv":48.3170319,"cg_dw":55.102253,"cg_id_a":1.58179712,"cg_id_raw_a":-4.03878117,"cg_iq_a":-195.872406,"cg_iq_raw_a":-194.222458,"cg_iu_a":-82.3796997,"cg_iv_a":-114.062683,"cg_iw_a":196.442383,"cg_sample_age_us":23.9290905,"cg_sample_seq":10422417,"cg_sample_valid":1,"cg_theta_rad":4.39974308,"cg_vd_req_v":-1.9800241,"cg_vd_v":-1.9800241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45094299,"cg_vq_v":-8.45094299,"cg_vu_v":123.169922,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2494.70972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1811.628296,"values":{"Elec_RPM":-2352.91895,"EncoderCos":26955,"EncoderSin":12004,"GapTicks":49826,"Mech_RPM":-470.583801,"cg_du":45.2966919,"cg_dv":46.374733,"cg_dw":54.7033081,"cg_id_a":16.3066483,"cg_id_raw_a":16.509861,"cg_iq_a":-201.899887,"cg_iq_raw_a":-202.210724,"cg_iu_a":-28.1226826,"cg_iv_a":-161.868286,"cg_iw_a":189.990967,"cg_sample_age_us":23.9436359,"cg_sample_seq":10424166,"cg_sample_valid":1,"cg_theta_rad":4.45152187,"cg_vd_req_v":-2.24263763,"cg_vd_v":-2.24263763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30556965,"cg_vq_v":-8.30556965,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2475.82617,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1811.979858,"values":{"Elec_RPM":-2353.69531,"EncoderCos":48598,"EncoderSin":18404,"GapTicks":49536,"Mech_RPM":-470.739075,"cg_du":45.0332375,"cg_dv":52.3160744,"cg_dw":54.9667625,"cg_id_a":-6.76996279,"cg_id_raw_a":-0.143639132,"cg_iq_a":-201.313934,"cg_iq_raw_a":-204.12648,"cg_iu_a":-167.552704,"cg_iv_a":-13.8484802,"cg_iw_a":181.401184,"cg_sample_age_us":23.9618187,"cg_sample_seq":10425816,"cg_sample_valid":1,"cg_theta_rad":5.56473589,"cg_vd_req_v":-1.86259043,"cg_vd_v":-1.86259043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36469269,"cg_vq_v":-8.36469269,"cg_vu_v":3.95903301,"cg_vv_v":21.1148415,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.4297199,"dclink_p_w":-2522.51025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1812.043409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1812.043416,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1812.043422,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1812.315796,"values":{"Elec_RPM":-2360.1499,"EncoderCos":49161,"EncoderSin":19097,"GapTicks":49290,"Mech_RPM":-472.029999,"cg_du":44.8093414,"cg_dv":50.3958893,"cg_dw":55.1906586,"cg_id_a":-11.3300982,"cg_id_raw_a":-10.6874676,"cg_iq_a":-197.035049,"cg_iq_raw_a":-199.893082,"cg_iu_a":-129.025513,"cg_iv_a":-51.5783081,"cg_iw_a":191.078293,"cg_sample_age_us":23.9254551,"cg_sample_seq":10427566,"cg_sample_valid":1,"cg_theta_rad":5.61495352,"cg_vd_req_v":-1.7891444,"cg_vd_v":-1.7891444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46939659,"cg_vq_v":-8.46939659,"cg_vu_v":98.0960464,"cg_vv_v":109.973145,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.6381226,"dclink_p_w":-2544.91235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1812.647827,"values":{"Elec_RPM":-2356.50122,"EncoderCos":53878,"EncoderSin":30414,"GapTicks":49578,"Mech_RPM":-471.300262,"cg_du":54.9283905,"cg_dv":47.4485779,"cg_dw":45.0716095,"cg_id_a":-6.22989416,"cg_id_raw_a":2.90362263,"cg_iq_a":-197.957581,"cg_iq_raw_a":-200.347427,"cg_iu_a":170.384796,"cg_iv_a":3.87475586,"cg_iw_a":-169.801559,"cg_sample_age_us":24.0890903,"cg_sample_seq":10429266,"cg_sample_valid":1,"cg_theta_rad":6.18648481,"cg_vd_req_v":-1.81434882,"cg_vd_v":-1.81434882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40237617,"cg_vq_v":-8.40237617,"cg_vu_v":47.5083961,"cg_vv_v":46.6286087,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2471.43872,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1812.99939,"values":{"Elec_RPM":-2357.13159,"EncoderCos":53972,"EncoderSin":31063,"GapTicks":49368,"Mech_RPM":-471.426331,"cg_du":55.1197853,"cg_dv":49.0023346,"cg_dw":44.8802147,"cg_id_a":-17.3751717,"cg_id_raw_a":-17.4223442,"cg_iq_a":-194.489182,"cg_iq_raw_a":-193.481308,"cg_iu_a":154.836182,"cg_iv_a":26.3821716,"cg_iw_a":-181.218353,"cg_sample_age_us":24.0890903,"cg_sample_seq":10431017,"cg_sample_valid":1,"cg_theta_rad":6.21649599,"cg_vd_req_v":-1.5983206,"cg_vd_v":-1.5983206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46018219,"cg_vq_v":-8.46018219,"cg_vu_v":41.7897949,"cg_vv_v":34.7515144,"cg_vw_v":27.7132301,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2456.94287,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1813.034724,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1813.03473,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1813.034737,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1813.331421,"values":{"Elec_RPM":-2356.29883,"EncoderCos":43413,"EncoderSin":51344,"GapTicks":49401,"Mech_RPM":-471.259766,"cg_du":55.0893059,"cg_dv":44.9106941,"cg_dw":48.3044319,"cg_id_a":8.50042725,"cg_id_raw_a":4.37207794,"cg_iq_a":-200.191437,"cg_iq_raw_a":-199.54274,"cg_iu_a":199.343628,"cg_iv_a":-91.2653198,"cg_iw_a":-108.078308,"cg_sample_age_us":23.8309097,"cg_sample_seq":10432666,"cg_sample_valid":1,"cg_theta_rad":1.04411721,"cg_vd_req_v":-2.12456894,"cg_vd_v":-2.12456894,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39620209,"cg_vq_v":-8.39620209,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1452065,"dclink_p_w":-2481.33398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1813.682983,"values":{"Elec_RPM":-2360.64258,"EncoderCos":42598,"EncoderSin":51798,"GapTicks":49741,"Mech_RPM":-472.12854,"cg_du":54.7806282,"cg_dv":45.2193718,"cg_dw":46.5899162,"cg_id_a":16.4856758,"cg_id_raw_a":16.8563805,"cg_iq_a":-203.020813,"cg_iq_raw_a":-202.319427,"cg_iu_a":192.131104,"cg_iv_a":-31.7167053,"cg_iw_a":-160.414398,"cg_sample_age_us":24.005455,"cg_sample_seq":10434416,"cg_sample_valid":1,"cg_theta_rad":1.09418392,"cg_vd_req_v":-2.25393796,"cg_vd_v":-2.25393796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34088039,"cg_vq_v":-8.34088039,"cg_vu_v":44.4291458,"cg_vv_v":41.7897949,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2442.25586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1814.015015,"values":{"Elec_RPM":-2359.37622,"EncoderCos":19954,"EncoderSin":50100,"GapTicks":49588,"Mech_RPM":-471.875244,"cg_du":54.9199524,"cg_dv":45.0800476,"cg_dw":52.4238281,"cg_id_a":-5.6306982,"cg_id_raw_a":2.21333528,"cg_iq_a":-200.470139,"cg_iq_raw_a":-202.184067,"cg_iu_a":174.299133,"cg_iv_a":-170.276855,"cg_iw_a":-4.0222702,"cg_sample_age_us":23.994545,"cg_sample_seq":10436066,"cg_sample_valid":1,"cg_theta_rad":2.20562124,"cg_vd_req_v":-1.77130449,"cg_vd_v":-1.77130449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36249638,"cg_vq_v":-8.36249638,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5746956,"dclink_p_w":-2535.76074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4327393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1814.026751,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1814.026757,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1814.026762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1814.350952,"values":{"Elec_RPM":-2355.20044,"EncoderCos":12611,"EncoderSin":40556,"GapTicks":49842,"Mech_RPM":-471.04007,"cg_du":46.4346809,"cg_dv":54.6885452,"cg_dw":45.3114548,"cg_id_a":15.3015871,"cg_id_raw_a":13.6751013,"cg_iq_a":-205.913513,"cg_iq_raw_a":-205.1353,"cg_iu_a":-161.282532,"cg_iv_a":193.683716,"cg_iw_a":-32.4011917,"cg_sample_age_us":23.8527279,"cg_sample_seq":10437767,"cg_sample_valid":1,"cg_theta_rad":2.77574778,"cg_vd_req_v":-2.18346834,"cg_vd_v":-2.18346834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27381134,"cg_vq_v":-8.27381134,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2379.40063,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3647156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1814.702515,"values":{"Elec_RPM":-2355.15479,"EncoderCos":11696,"EncoderSin":28169,"GapTicks":49429,"Mech_RPM":-471.030975,"cg_du":52.0032501,"cg_dv":44.9362259,"cg_dw":55.0637741,"cg_id_a":5.31903362,"cg_id_raw_a":1.28291512,"cg_iq_a":-197.0121,"cg_iq_raw_a":-196.595947,"cg_iu_a":120.694504,"cg_iv_a":-195.466324,"cg_iw_a":74.7718201,"cg_sample_age_us":23.6709099,"cg_sample_seq":10439466,"cg_sample_valid":1,"cg_theta_rad":3.35977745,"cg_vd_req_v":-2.02717352,"cg_vd_v":-2.02717352,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44015026,"cg_vq_v":-8.44015026,"cg_vu_v":44.8690414,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2570.24316,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1815.034546,"values":{"Elec_RPM":-2355.45142,"EncoderCos":17493,"EncoderSin":17300,"GapTicks":49396,"Mech_RPM":-471.090271,"cg_du":49.7443581,"cg_dv":55.0936852,"cg_dw":44.9063148,"cg_id_a":-12.8607883,"cg_id_raw_a":-13.9657516,"cg_iq_a":-199.275925,"cg_iq_raw_a":-196.114182,"cg_iu_a":-62.8442726,"cg_iv_a":197.126877,"cg_iw_a":-134.282608,"cg_sample_age_us":23.9654541,"cg_sample_seq":10441166,"cg_sample_valid":1,"cg_theta_rad":3.94087648,"cg_vd_req_v":-1.64382946,"cg_vd_v":-1.64382946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3556509,"cg_vq_v":-8.3556509,"cg_vu_v":9.23774433,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2459.30322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1815.050885,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1815.050891,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1815.050897,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1815.366577,"values":{"Elec_RPM":-2363.33472,"EncoderCos":28066,"EncoderSin":11693,"GapTicks":49649,"Mech_RPM":-472.666931,"cg_du":47.2841797,"cg_dv":45.1362534,"cg_dw":54.8637466,"cg_id_a":-3.86979079,"cg_id_raw_a":4.13450718,"cg_iq_a":-203.681046,"cg_iq_raw_a":-204.589417,"cg_iu_a":1.16233611,"cg_iv_a":-175.459732,"cg_iw_a":174.297394,"cg_sample_age_us":23.9254551,"cg_sample_seq":10442867,"cg_sample_valid":1,"cg_theta_rad":4.50616169,"cg_vd_req_v":-1.82803166,"cg_vd_v":-1.82803166,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3153944,"cg_vq_v":-8.3153944,"cg_vu_v":131.967773,"cg_vv_v":140.765625,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.3079739,"dclink_p_w":-2352.99219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1815.71814,"values":{"Elec_RPM":-2357.9458,"EncoderCos":49464,"EncoderSin":19451,"GapTicks":49308,"Mech_RPM":-471.589172,"cg_du":44.8261757,"cg_dv":49.5013885,"cg_dw":55.1738243,"cg_id_a":-7.70646095,"cg_id_raw_a":-11.3402157,"cg_iq_a":-195.567398,"cg_iq_raw_a":-194.881912,"cg_iu_a":-115.94149,"cg_iv_a":-78.2537613,"cg_iw_a":194.195251,"cg_sample_age_us":23.9109097,"cg_sample_seq":10444517,"cg_sample_valid":1,"cg_theta_rad":5.62852335,"cg_vd_req_v":-1.86712527,"cg_vd_v":-1.86712527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45585537,"cg_vq_v":-8.45585537,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1816.010886,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1816.010892,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1816.010898,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1816.050171,"values":{"Elec_RPM":-2357.50439,"EncoderCos":50152,"EncoderSin":20344,"GapTicks":49493,"Mech_RPM":-471.500885,"cg_du":44.9943466,"cg_dv":47.6364479,"cg_dw":55.0056534,"cg_id_a":14.5147724,"cg_id_raw_a":9.96406555,"cg_iq_a":-199.513092,"cg_iq_raw_a":-199.000443,"cg_iu_a":-54.5444374,"cg_iv_a":-141.789215,"cg_iw_a":196.333649,"cg_sample_age_us":23.9400005,"cg_sample_seq":10446266,"cg_sample_valid":1,"cg_theta_rad":5.67893934,"cg_vd_req_v":-2.30850196,"cg_vd_v":-2.30850196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3574276,"cg_vq_v":-8.3574276,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1816.382202,"values":{"Elec_RPM":-2352.81836,"EncoderCos":51450,"EncoderSin":42986,"GapTicks":49886,"Mech_RPM":-470.56366,"cg_du":45.3517838,"cg_dv":53.8119774,"cg_dw":54.6482162,"cg_id_a":6.78454447,"cg_id_raw_a":10.5800266,"cg_iq_a":-204.058182,"cg_iq_raw_a":-204.740173,"cg_iu_a":-179.839371,"cg_iv_a":5.25202942,"cg_iw_a":174.587341,"cg_sample_age_us":23.5254555,"cg_sample_seq":10447916,"cg_sample_valid":1,"cg_theta_rad":0.507607818,"cg_vd_req_v":-2.10090804,"cg_vd_v":-2.10090804,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30684471,"cg_vq_v":-8.30684471,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2493.39844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1816.737671,"values":{"Elec_RPM":-2350.95776,"EncoderCos":51118,"EncoderSin":43538,"GapTicks":49536,"Mech_RPM":-470.191559,"cg_du":45.0327835,"cg_dv":52.301136,"cg_dw":54.9672165,"cg_id_a":-5.58067274,"cg_id_raw_a":-4.92206383,"cg_iq_a":-200.853409,"cg_iq_raw_a":-200.916107,"cg_iu_a":-164.653198,"cg_iv_a":-14.9720459,"cg_iw_a":179.625244,"cg_sample_age_us":23.5545464,"cg_sample_seq":10449667,"cg_sample_valid":1,"cg_theta_rad":0.53861481,"cg_vd_req_v":-1.84683228,"cg_vd_v":-1.84683228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39186287,"cg_vq_v":-8.39186287,"cg_vu_v":94.1370087,"cg_vv_v":95.0167923,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1817.034967,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1817.034973,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1817.034978,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1817.069702,"values":{"Elec_RPM":-2353.64136,"EncoderCos":31005,"EncoderSin":54160,"GapTicks":49361,"Mech_RPM":-470.728271,"cg_du":44.8742142,"cg_dv":55.1257858,"cg_dw":50.8119774,"cg_id_a":-5.55431223,"cg_id_raw_a":-9.93240452,"cg_iq_a":-196.832886,"cg_iq_raw_a":-195.692825,"cg_iu_a":-195.424225,"cg_iv_a":115.795715,"cg_iw_a":79.6285095,"cg_sample_age_us":23.7690907,"cg_sample_seq":10451317,"cg_sample_valid":1,"cg_theta_rad":1.65391505,"cg_vd_req_v":-1.77772021,"cg_vd_v":-1.77772021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41593361,"cg_vq_v":-8.41593361,"cg_vu_v":1.31967759,"cg_vv_v":10.5574207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1817.421265,"values":{"Elec_RPM":-2351.3894,"EncoderCos":41648,"EncoderSin":52202,"GapTicks":49760,"Mech_RPM":-470.277863,"cg_du":54.7627983,"cg_dv":46.6774673,"cg_dw":45.2372017,"cg_id_a":3.35962534,"cg_id_raw_a":9.39969826,"cg_iq_a":-200.102539,"cg_iq_raw_a":-201.991562,"cg_iu_a":169.152496,"cg_iv_a":0.540328979,"cg_iw_a":-169.692825,"cg_sample_age_us":23.9799995,"cg_sample_seq":10453118,"cg_sample_valid":1,"cg_theta_rad":1.15499508,"cg_vd_req_v":-1.95563173,"cg_vd_v":-1.95563173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35476685,"cg_vq_v":-8.35476685,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-18.0186825,"dclink_p_w":-2607.74756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1817.753296,"values":{"Elec_RPM":-2356.4021,"EncoderCos":12307,"EncoderSin":39754,"GapTicks":49800,"Mech_RPM":-471.280426,"cg_du":45.2732582,"cg_dv":54.7267418,"cg_dw":46.4440842,"cg_id_a":6.87314939,"cg_id_raw_a":11.816802,"cg_iq_a":-201.876312,"cg_iq_raw_a":-202.393845,"cg_iu_a":-172.590607,"cg_iv_a":175.34433,"cg_iw_a":-2.75373077,"cg_sample_age_us":23.8963642,"cg_sample_seq":10454716,"cg_sample_valid":1,"cg_theta_rad":2.81623554,"cg_vd_req_v":-1.99057269,"cg_vd_v":-1.99057269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37873077,"cg_vq_v":-8.37873077,"cg_vu_v":38.2706528,"cg_vv_v":57.1860352,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2433.63232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4005127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1818.026726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1818.026732,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1818.026738,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1818.089233,"values":{"Elec_RPM":-2358.8999,"EncoderCos":11723,"EncoderSin":28042,"GapTicks":49508,"Mech_RPM":-471.779968,"cg_du":52.2539024,"cg_dv":45.0076904,"cg_dw":54.9923096,"cg_id_a":5.33002472,"cg_id_raw_a":5.07740211,"cg_iq_a":-198.132217,"cg_iq_raw_a":-197.763626,"cg_iu_a":137.910324,"cg_iv_a":-195.32135,"cg_iw_a":57.4110184,"cg_sample_age_us":23.6018181,"cg_sample_seq":10456418,"cg_sample_valid":1,"cg_theta_rad":3.38154125,"cg_vd_req_v":-2.0171783,"cg_vd_v":-2.0171783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40924549,"cg_vq_v":-8.40924549,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2424.15942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1818.608765,"values":{"Elec_RPM":-2354.97803,"EncoderCos":53997,"EncoderSin":33409,"GapTicks":49749,"Mech_RPM":-470.995605,"cg_du":54.7736053,"cg_dv":53.1436005,"cg_dw":45.2263947,"cg_id_a":10.1785507,"cg_id_raw_a":9.89285851,"cg_iq_a":-204.640076,"cg_iq_raw_a":-204.430283,"cg_iu_a":30.846035,"cg_iv_a":153.598022,"cg_iw_a":-197.673065,"cg_sample_age_us":23.4781818,"cg_sample_seq":10459066,"cg_sample_valid":1,"cg_theta_rad":0.0516541302,"cg_vd_req_v":-2.17405319,"cg_vd_v":-2.17405319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25293541,"cg_vq_v":-8.25293541,"cg_vu_v":104.694435,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2368.03394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1818.922754,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1818.922765,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1818.922768,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1819.051364,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1819.05137,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1819.051376,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1819.081421,"values":{"Elec_RPM":-2350.60107,"EncoderCos":44607,"EncoderSin":50657,"GapTicks":49311,"Mech_RPM":-470.120209,"cg_du":55.1715508,"cg_dv":44.8284492,"cg_dw":50.610836,"cg_id_a":-15.6815081,"cg_id_raw_a":-14.4082994,"cg_iq_a":-194.992661,"cg_iq_raw_a":-195.150192,"cg_iu_a":185.607208,"cg_iv_a":-148.168121,"cg_iw_a":-37.4390793,"cg_sample_age_us":23.9218178,"cg_sample_seq":10461316,"cg_sample_valid":1,"cg_theta_rad":0.987713516,"cg_vd_req_v":-1.60962319,"cg_vd_v":-1.60962319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5115757,"cg_vq_v":-8.5115757,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2433.78687,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1819.413452,"values":{"Elec_RPM":-2348.85498,"EncoderCos":43819,"EncoderSin":51120,"GapTicks":49345,"Mech_RPM":-469.770996,"cg_du":55.1400871,"cg_dv":44.8599129,"cg_dw":48.9807243,"cg_id_a":-4.20487309,"cg_id_raw_a":-8.01159,"cg_iq_a":-196.582336,"cg_iq_raw_a":-196.16655,"cg_iu_a":198.075073,"cg_iv_a":-102.355911,"cg_iw_a":-95.719162,"cg_sample_age_us":23.9145451,"cg_sample_seq":10463066,"cg_sample_valid":1,"cg_theta_rad":1.03121471,"cg_vd_req_v":-1.86325002,"cg_vd_v":-1.86325002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46965122,"cg_vq_v":-8.46965122,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2415.48071,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1819.765015,"values":{"Elec_RPM":-2351.73975,"EncoderCos":43218,"EncoderSin":51462,"GapTicks":49481,"Mech_RPM":-470.347961,"cg_du":55.016571,"cg_dv":44.983429,"cg_dw":47.8947945,"cg_id_a":11.4962444,"cg_id_raw_a":6.90956354,"cg_iq_a":-199.94986,"cg_iq_raw_a":-198.116882,"cg_iu_a":197.168991,"cg_iv_a":-65.0972595,"cg_iw_a":-132.071732,"cg_sample_age_us":23.9618187,"cg_sample_seq":10464817,"cg_sample_valid":1,"cg_theta_rad":1.0635016,"cg_vd_req_v":-2.16715908,"cg_vd_v":-2.16715908,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37634087,"cg_vq_v":-8.37634087,"cg_vu_v":106.453995,"cg_vv_v":91.4976578,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.1793079,"dclink_p_w":-2341.54468,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1820.011373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1820.01138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1820.011385,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1820.097046,"values":{"Elec_RPM":-2353.30786,"EncoderCos":31295,"EncoderSin":54190,"GapTicks":49330,"Mech_RPM":-470.661591,"cg_du":44.8459053,"cg_dv":55.1540947,"cg_dw":50.2566643,"cg_id_a":-7.5409565,"cg_id_raw_a":-12.2032461,"cg_iq_a":-196.38446,"cg_iq_raw_a":-196.00145,"cg_iu_a":-192.923401,"cg_iv_a":126.958817,"cg_iw_a":65.9645844,"cg_sample_age_us":23.8709087,"cg_sample_seq":10466517,"cg_sample_valid":1,"cg_theta_rad":1.63632143,"cg_vd_req_v":-1.73578405,"cg_vd_v":-1.73578405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44011307,"cg_vq_v":-8.44011307,"cg_vu_v":96.3364716,"cg_vv_v":102.055069,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1820.448608,"values":{"Elec_RPM":-2348.51294,"EncoderCos":19992,"EncoderSin":50129,"GapTicks":49582,"Mech_RPM":-469.702606,"cg_du":54.9249268,"cg_dv":45.0750732,"cg_dw":52.5453835,"cg_id_a":-4.6711731,"cg_id_raw_a":1.08192825,"cg_iq_a":-200.328918,"cg_iq_raw_a":-203.031601,"cg_iu_a":175.24147,"cg_iv_a":-166.14505,"cg_iw_a":-9.09641266,"cg_sample_age_us":23.8890915,"cg_sample_seq":10468217,"cg_sample_valid":1,"cg_theta_rad":2.2167573,"cg_vd_req_v":-1.79775095,"cg_vd_v":-1.79775095,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39856815,"cg_vq_v":-8.39856815,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5254364,"dclink_p_w":-2391.63818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1820.784546,"values":{"Elec_RPM":-2352.25488,"EncoderCos":16427,"EncoderSin":18471,"GapTicks":49733,"Mech_RPM":-470.450958,"cg_du":53.1175537,"cg_dv":54.787529,"cg_dw":45.212471,"cg_id_a":-1.8230691,"cg_id_raw_a":4.43479204,"cg_iq_a":-200.245926,"cg_iq_raw_a":-201.218048,"cg_iu_a":-2.31707191,"cg_iv_a":172.589813,"cg_iw_a":-170.272736,"cg_sample_age_us":23.9436359,"cg_sample_seq":10469817,"cg_sample_valid":1,"cg_theta_rad":3.87977028,"cg_vd_req_v":-1.82775974,"cg_vd_v":-1.82775974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34964752,"cg_vq_v":-8.34964752,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1821.034907,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1821.034911,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1821.034914,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1821.112671,"values":{"Elec_RPM":-2350.96411,"EncoderCos":11744,"EncoderSin":27771,"GapTicks":49570,"Mech_RPM":-470.192841,"cg_du":52.7160072,"cg_dv":45.0644226,"cg_dw":54.9355774,"cg_id_a":9.28076744,"cg_id_raw_a":5.29441214,"cg_iq_a":-198.229492,"cg_iq_raw_a":-197.021027,"cg_iu_a":138.30899,"cg_iv_a":-193.617889,"cg_iw_a":55.3088913,"cg_sample_age_us":23.6963634,"cg_sample_seq":10471616,"cg_sample_valid":1,"cg_theta_rad":3.37864351,"cg_vd_req_v":-2.10472369,"cg_vd_v":-2.10472369,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39445972,"cg_vq_v":-8.39445972,"cg_vu_v":8.35795879,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2521.46118,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1821.46814,"values":{"Elec_RPM":-2347.32129,"EncoderCos":27811,"EncoderSin":11840,"GapTicks":49814,"Mech_RPM":-469.464233,"cg_du":46.5568886,"cg_dv":45.2857552,"cg_dw":54.7142448,"cg_id_a":5.37656212,"cg_id_raw_a":8.16777897,"cg_iq_a":-204.54158,"cg_iq_raw_a":-206.723938,"cg_iu_a":-3.44063091,"cg_iv_a":-175.06105,"cg_iw_a":178.501678,"cg_sample_age_us":23.9654541,"cg_sample_seq":10473266,"cg_sample_valid":1,"cg_theta_rad":4.49280167,"cg_vd_req_v":-2.01788545,"cg_vd_v":-2.01788545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30838108,"cg_vq_v":-8.30838108,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2557.79956,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3396912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1821.800171,"values":{"Elec_RPM":-2347.35498,"EncoderCos":28354,"EncoderSin":11691,"GapTicks":49508,"Mech_RPM":-469.471008,"cg_du":47.9653397,"cg_dv":45.0081291,"cg_dw":54.9918709,"cg_id_a":-9.8696022,"cg_id_raw_a":-3.6508131,"cg_iq_a":-200.850586,"cg_iq_raw_a":-201.313416,"cg_iu_a":12.5429001,"cg_iv_a":-179.120361,"cg_iw_a":166.577454,"cg_sample_age_us":23.9690914,"cg_sample_seq":10475017,"cg_sample_valid":1,"cg_theta_rad":4.51931715,"cg_vd_req_v":-1.72026896,"cg_vd_v":-1.72026896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39553547,"cg_vq_v":-8.39553547,"cg_vu_v":142.965088,"cg_vv_v":138.566162,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2504.9231,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1822.027423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1822.027426,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1822.027429,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1822.132202,"values":{"Elec_RPM":-2347.03979,"EncoderCos":49651,"EncoderSin":19687,"GapTicks":49362,"Mech_RPM":-469.407959,"cg_du":44.8746719,"cg_dv":48.9950638,"cg_dw":55.1253281,"cg_id_a":-3.12779236,"cg_id_raw_a":-6.9150486,"cg_iq_a":-197.569153,"cg_iq_raw_a":-196.581619,"cg_iu_a":-98.4357147,"cg_iv_a":-96.8468628,"cg_iw_a":198.363312,"cg_sample_age_us":23.9072723,"cg_sample_seq":10476667,"cg_sample_valid":1,"cg_theta_rad":5.64130259,"cg_vd_req_v":-1.97129035,"cg_vd_v":-1.97129035,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39139366,"cg_vq_v":-8.39139366,"cg_vu_v":98.0960464,"cg_vv_v":89.7380829,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.2231312,"dclink_p_w":-2485.0354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3736877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1822.487671,"values":{"Elec_RPM":-2344.45996,"EncoderCos":41576,"EncoderSin":13102,"GapTicks":49500,"Mech_RPM":-468.891998,"cg_du":51.8307533,"cg_dv":54.9993629,"cg_dw":45.0006371,"cg_id_a":-14.541256,"cg_id_raw_a":-7.88739777,"cg_iq_a":-198.315353,"cg_iq_raw_a":-199.809265,"cg_iu_a":-2.280828,"cg_iv_a":172.553558,"cg_iw_a":-170.272736,"cg_sample_age_us":23.8527279,"cg_sample_seq":10478466,"cg_sample_valid":1,"cg_theta_rad":5.14251518,"cg_vd_req_v":-1.65370464,"cg_vd_v":-1.65370464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37764454,"cg_vq_v":-8.37764454,"cg_vu_v":103.814644,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4366398,"dclink_p_w":-2371.55664,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1822.815796,"values":{"Elec_RPM":-2345.70435,"EncoderCos":51388,"EncoderSin":43152,"GapTicks":49768,"Mech_RPM":-469.140869,"cg_du":45.2443619,"cg_dv":53.394268,"cg_dw":54.7556381,"cg_id_a":3.18886089,"cg_id_raw_a":6.65050459,"cg_iq_a":-201.75798,"cg_iq_raw_a":-201.452148,"cg_iu_a":-174.221573,"cg_iv_a":3.83851624,"cg_iw_a":170.383057,"cg_sample_age_us":23.5218182,"cg_sample_seq":10480067,"cg_sample_valid":1,"cg_theta_rad":0.515628755,"cg_vd_req_v":-2.02090073,"cg_vd_v":-2.02090073,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35468674,"cg_vq_v":-8.35468674,"cg_vu_v":110.413033,"cg_vv_v":112.172607,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2585,"hz_tim_isr":5001,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1823.018919,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1823.018923,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1823.018926,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1823.151733,"values":{"Elec_RPM":-2346.09375,"EncoderCos":42494,"EncoderSin":51844,"GapTicks":49815,"Mech_RPM":-469.21875,"cg_du":54.7135086,"cg_dv":45.2864914,"cg_dw":46.4232521,"cg_id_a":17.8964634,"cg_id_raw_a":19.4930744,"cg_iq_a":-203.192047,"cg_iq_raw_a":-203.189651,"cg_iu_a":189.702759,"cg_iv_a":-27.6936188,"cg_iw_a":-162.00914,"cg_sample_age_us":24.0127277,"cg_sample_seq":10481766,"cg_sample_valid":1,"cg_theta_rad":1.09911144,"cg_vd_req_v":-2.2789185,"cg_vd_v":-2.2789185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29225159,"cg_vq_v":-8.29225159,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.2720604,"dclink_p_w":-2499.69287,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1823.503296,"values":{"Elec_RPM":-2343.78955,"EncoderCos":41718,"EncoderSin":52165,"GapTicks":49804,"Mech_RPM":-468.757904,"cg_du":54.7234154,"cg_dv":46.4862137,"cg_dw":45.2765846,"cg_id_a":4.69942188,"cg_id_raw_a":10.0184708,"cg_iq_a":-201.609558,"cg_iq_raw_a":-203.669617,"cg_iu_a":176.582489,"cg_iv_a":-3.77268982,"cg_iw_a":-172.809799,"cg_sample_age_us":24.005455,"cg_sample_seq":10483516,"cg_sample_valid":1,"cg_theta_rad":1.13842213,"cg_vd_req_v":-1.99028897,"cg_vd_v":-1.99028897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33013725,"cg_vq_v":-8.33013725,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1823.835327,"values":{"Elec_RPM":-2349.7395,"EncoderCos":29909,"EncoderSin":54069,"GapTicks":49581,"Mech_RPM":-469.947906,"cg_du":45.073658,"cg_dv":54.926342,"cg_dw":52.7499886,"cg_id_a":9.27670288,"cg_id_raw_a":5.75935268,"cg_iq_a":-199.859863,"cg_iq_raw_a":-199.491959,"cg_iu_a":-193.865723,"cg_iv_a":56.9719543,"cg_iw_a":136.893768,"cg_sample_age_us":23.7872734,"cg_sample_seq":10485217,"cg_sample_valid":1,"cg_theta_rad":1.70567811,"cg_vd_req_v":-2.08566546,"cg_vd_v":-2.08566546,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39436531,"cg_vq_v":-8.39436531,"cg_vu_v":97.2162552,"cg_vv_v":101.175293,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2361.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1824.011307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1824.011311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1824.011314,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1824.18689,"values":{"Elec_RPM":-2349.26074,"EncoderCos":18547,"EncoderSin":48937,"GapTicks":49373,"Mech_RPM":-469.852142,"cg_du":55.1151352,"cg_dv":44.8848648,"cg_dw":48.7594147,"cg_id_a":-3.38649154,"cg_id_raw_a":-9.15800571,"cg_iq_a":-196.460724,"cg_iq_raw_a":-195.707031,"cg_iu_a":197.676392,"cg_iv_a":-96.8468475,"cg_iw_a":-100.829544,"cg_sample_age_us":23.9909096,"cg_sample_seq":10486916,"cg_sample_valid":1,"cg_theta_rad":2.29125738,"cg_vd_req_v":-1.86696088,"cg_vd_v":-1.86696088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45402622,"cg_vq_v":-8.45402622,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.4043503,"dclink_p_w":-2518.83862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1824.518921,"values":{"Elec_RPM":-2349.74731,"EncoderCos":12019,"EncoderSin":38760,"GapTicks":49391,"Mech_RPM":-469.949463,"cg_du":44.9014435,"cg_dv":55.0985565,"cg_dw":48.8832626,"cg_id_a":-11.3512344,"cg_id_raw_a":-10.822197,"cg_iq_a":-196.456665,"cg_iq_raw_a":-196.953232,"cg_iu_a":-181.579071,"cg_iv_a":154.467896,"cg_iw_a":27.1111832,"cg_sample_age_us":23.9254551,"cg_sample_seq":10488617,"cg_sample_valid":1,"cg_theta_rad":2.8608079,"cg_vd_req_v":-1.61957097,"cg_vd_v":-1.61957097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43414879,"cg_vq_v":-8.43414879,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2464.28662,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1824.850952,"values":{"Elec_RPM":-2354.00537,"EncoderCos":12128,"EncoderSin":26516,"GapTicks":49838,"Mech_RPM":-470.801056,"cg_du":54.6921577,"cg_dv":45.3078423,"cg_dw":53.7286224,"cg_id_a":8.61304855,"cg_id_raw_a":15.4745131,"cg_iq_a":-202.040131,"cg_iq_raw_a":-201.980804,"cg_iu_a":173.429291,"cg_iv_a":-180.207672,"cg_iw_a":10.0765762,"cg_sample_age_us":24.1327267,"cg_sample_seq":10490316,"cg_sample_valid":1,"cg_theta_rad":3.43903708,"cg_vd_req_v":-2.06054354,"cg_vd_v":-2.06054354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35041046,"cg_vq_v":-8.35041046,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.0307083,"dclink_p_w":-2312.98682,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1825.03437,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1825.034373,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1825.034376,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1825.206421,"values":{"Elec_RPM":-2356.80469,"EncoderCos":39485,"EncoderSin":12321,"GapTicks":49592,"Mech_RPM":-471.360962,"cg_du":54.9163055,"cg_dv":52.4248428,"cg_dw":45.0836945,"cg_id_a":2.21801805,"cg_id_raw_a":0.642855227,"cg_iq_a":-201.750061,"cg_iq_raw_a":-200.32811,"cg_iu_a":24.4671211,"cg_iv_a":160.955536,"cg_iw_a":-185.422653,"cg_sample_age_us":23.8563633,"cg_sample_seq":10491921,"cg_sample_valid":1,"cg_theta_rad":5.08825254,"cg_vd_req_v":-1.99497306,"cg_vd_v":-1.99497306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30622292,"cg_vq_v":-8.30622292,"cg_vu_v":139.885834,"cg_vv_v":135.926804,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.6036911,"dclink_p_w":-2539.94434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1825.538452,"values":{"Elec_RPM":-2348.97192,"EncoderCos":29932,"EncoderSin":11421,"GapTicks":49346,"Mech_RPM":-469.794373,"cg_du":51.1281509,"cg_dv":44.8605957,"cg_dw":55.1394043,"cg_id_a":-3.03345537,"cg_id_raw_a":-7.93023109,"cg_iq_a":-195.551086,"cg_iq_raw_a":-194.958603,"cg_iu_a":94.4539642,"cg_iv_a":-195.575058,"cg_iw_a":112.900337,"cg_sample_age_us":23.7290916,"cg_sample_seq":10493717,"cg_sample_valid":1,"cg_theta_rad":4.593503,"cg_vd_req_v":-1.88686764,"cg_vd_v":-1.88686764,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44922161,"cg_vq_v":-8.44922161,"cg_vu_v":124.049698,"cg_vv_v":120.970459,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2530.90283,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1825.870483,"values":{"Elec_RPM":-2348.94434,"EncoderCos":53996,"EncoderSin":31865,"GapTicks":49341,"Mech_RPM":-469.788849,"cg_du":55.144516,"cg_dv":50.4280205,"cg_dw":44.855484,"cg_id_a":-8.46186733,"cg_id_raw_a":-12.3805447,"cg_iq_a":-199.239334,"cg_iq_raw_a":-199.978409,"cg_iu_a":122.470444,"cg_iv_a":76.2536926,"cg_iw_a":-198.724136,"cg_sample_age_us":24.0236359,"cg_sample_seq":10495316,"cg_sample_valid":1,"cg_theta_rad":6.25363255,"cg_vd_req_v":-1.82509243,"cg_vd_v":-1.82509243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.411376,"cg_vq_v":-8.411376,"cg_vu_v":27.2733402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3242836,"dclink_p_w":-2362.52637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1826.027152,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1826.027156,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1826.027159,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1826.222046,"values":{"Elec_RPM":-2349.80444,"EncoderCos":51038,"EncoderSin":21805,"GapTicks":49721,"Mech_RPM":-469.960876,"cg_du":47.0180435,"cg_dv":45.2016563,"cg_dw":54.7983437,"cg_id_a":-1.39254296,"cg_id_raw_a":5.34180164,"cg_iq_a":-205.811829,"cg_iq_raw_a":-208.252792,"cg_iu_a":-2.86072946,"cg_iv_a":-176.692017,"cg_iw_a":179.55275,"cg_sample_age_us":23.8272724,"cg_sample_seq":10497116,"cg_sample_valid":1,"cg_theta_rad":5.75146437,"cg_vd_req_v":-1.95442224,"cg_vd_v":-1.95442224,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29199696,"cg_vq_v":-8.29199696,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1826.554077,"values":{"Elec_RPM":-2347.35132,"EncoderCos":50620,"EncoderSin":44459,"GapTicks":49363,"Mech_RPM":-469.470276,"cg_du":44.8757057,"cg_dv":50.0388336,"cg_dw":55.1242943,"cg_id_a":-11.6278696,"cg_id_raw_a":-11.5333881,"cg_iq_a":-196.779541,"cg_iq_raw_a":-195.240173,"cg_iu_a":-132.976105,"cg_iv_a":-58.1384277,"cg_iw_a":191.114532,"cg_sample_age_us":23.51091,"cg_sample_seq":10498767,"cg_sample_valid":1,"cg_theta_rad":0.588043272,"cg_vd_req_v":-1.7283107,"cg_vd_v":-1.7283107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41382885,"cg_vq_v":-8.41382885,"cg_vu_v":124.489601,"cg_vv_v":116.571533,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2402.91577,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1826.90564,"values":{"Elec_RPM":-2354.23828,"EncoderCos":50686,"EncoderSin":44371,"GapTicks":49366,"Mech_RPM":-470.847656,"cg_du":44.8787651,"cg_dv":50.2696114,"cg_dw":55.1212349,"cg_id_a":-12.2355061,"cg_id_raw_a":-10.086235,"cg_iq_a":-198.863098,"cg_iq_raw_a":-199.205582,"cg_iu_a":-90.3533478,"cg_iv_a":-92.0264435,"cg_iw_a":197.674683,"cg_sample_age_us":23.4418182,"cg_sample_seq":10500521,"cg_sample_valid":1,"cg_theta_rad":0.621566772,"cg_vd_req_v":-1.72562385,"cg_vd_v":-1.72562385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38654423,"cg_vq_v":-8.38654423,"cg_vu_v":101.175293,"cg_vv_v":94.1370087,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2532.62305,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1827.019308,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1827.019312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1827.019315,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1827.241577,"values":{"Elec_RPM":-2359.85767,"EncoderCos":29107,"EncoderSin":53964,"GapTicks":49964,"Mech_RPM":-471.971527,"cg_du":45.422493,"cg_dv":54.577507,"cg_dw":54.29179,"cg_id_a":12.7486115,"cg_id_raw_a":14.1259832,"cg_iq_a":-198.600815,"cg_iq_raw_a":-197.952194,"cg_iu_a":-181.687805,"cg_iv_a":20.0757446,"cg_iw_a":161.612061,"cg_sample_age_us":23.8709087,"cg_sample_seq":10502166,"cg_sample_valid":1,"cg_theta_rad":1.74057817,"cg_vd_req_v":-2.12569857,"cg_vd_v":-2.12569857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4347496,"cg_vq_v":-8.4347496,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1827.573608,"values":{"Elec_RPM":-2360.58105,"EncoderCos":18099,"EncoderSin":48544,"GapTicks":49472,"Mech_RPM":-472.116211,"cg_du":55.0248451,"cg_dv":44.9751549,"cg_dw":47.8334351,"cg_id_a":10.7845039,"cg_id_raw_a":7.69426441,"cg_iq_a":-198.98053,"cg_iq_raw_a":-198.461456,"cg_iu_a":198.256302,"cg_iv_a":-62.0165405,"cg_iw_a":-136.239761,"cg_sample_age_us":23.9690914,"cg_sample_seq":10503866,"cg_sample_valid":1,"cg_theta_rad":2.32259464,"cg_vd_req_v":-2.14732265,"cg_vd_v":-2.14732265,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38281536,"cg_vq_v":-8.38281536,"cg_vu_v":42.6695786,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2439.01611,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1827.925171,"values":{"Elec_RPM":-2355.98413,"EncoderCos":12136,"EncoderSin":39136,"GapTicks":49497,"Mech_RPM":-471.196808,"cg_du":44.9980316,"cg_dv":55.0019684,"cg_dw":47.9843483,"cg_id_a":-6.98008442,"cg_id_raw_a":-3.90560436,"cg_iq_a":-200.185562,"cg_iq_raw_a":-201.826065,"cg_iu_a":-190.893738,"cg_iv_a":135.258667,"cg_iw_a":55.6350784,"cg_sample_age_us":23.9509087,"cg_sample_seq":10505571,"cg_sample_valid":1,"cg_theta_rad":2.88665938,"cg_vd_req_v":-1.70646584,"cg_vd_v":-1.70646584,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38423634,"cg_vq_v":-8.38423634,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2421.27441,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00443121977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1828.01136,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1828.011363,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1828.011367,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1828.339233,"values":{"Elec_RPM":-2356.81421,"EncoderCos":47819,"EncoderSin":47951,"GapTicks":49299,"Mech_RPM":-471.362823,"cg_du":49.9330368,"cg_dv":44.8174744,"cg_dw":55.1825256,"cg_id_a":-11.785428,"cg_id_raw_a":-15.1566715,"cg_iq_a":-195.460999,"cg_iq_raw_a":-195.726349,"cg_iu_a":57.9926682,"cg_iv_a":-187.0215,"cg_iw_a":142.330322,"cg_sample_age_us":23.6599998,"cg_sample_seq":10507516,"cg_sample_valid":1,"cg_theta_rad":0.791769028,"cg_vd_req_v":-1.70805454,"cg_vd_v":-1.70805454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49084854,"cg_vq_v":-8.49084854,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.4656334,"dclink_p_w":-2382.98315,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1828.878296,"values":{"Elec_RPM":-2351.02734,"EncoderCos":22061,"EncoderSin":13979,"GapTicks":49485,"Mech_RPM":-470.205444,"cg_du":44.9867439,"cg_dv":55.0132561,"cg_dw":52.3073769,"cg_id_a":4.09591007,"cg_id_raw_a":1.23280489,"cg_iq_a":-196.335312,"cg_iq_raw_a":-195.869797,"cg_iu_a":-181.289124,"cg_iv_a":16.0527039,"cg_iw_a":165.23642,"cg_sample_age_us":23.8381824,"cg_sample_seq":10510121,"cg_sample_valid":1,"cg_theta_rad":4.25893974,"cg_vd_req_v":-2.00859809,"cg_vd_v":-2.00859809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43266106,"cg_vq_v":-8.43266106,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2361.73926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4005127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1828.907368,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1828.907376,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1828.907378,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1829.002825,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1829.002829,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1829.002833,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1829.253296,"values":{"Elec_RPM":-2354.854,"EncoderCos":54012,"EncoderSin":32053,"GapTicks":49384,"Mech_RPM":-470.970795,"cg_du":55.1049805,"cg_dv":50.7510071,"cg_dw":44.8950195,"cg_id_a":-4.73907518,"cg_id_raw_a":-6.20113802,"cg_iq_a":-199.054077,"cg_iq_raw_a":-198.863525,"cg_iu_a":98.8394699,"cg_iv_a":101.479408,"cg_iw_a":-200.318878,"cg_sample_age_us":24.0018177,"cg_sample_seq":10512268,"cg_sample_valid":1,"cg_theta_rad":6.2747879,"cg_vd_req_v":-1.87947524,"cg_vd_v":-1.87947524,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37967396,"cg_vq_v":-8.37967396,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.2318611,"dclink_p_w":-2356.29077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3450623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1829.581421,"values":{"Elec_RPM":-2353.85083,"EncoderCos":31300,"EncoderSin":54174,"GapTicks":49287,"Mech_RPM":-470.770172,"cg_du":44.806488,"cg_dv":55.193512,"cg_dw":50.2388268,"cg_id_a":-7.23991251,"cg_id_raw_a":-10.9589977,"cg_iq_a":-196.705078,"cg_iq_raw_a":-196.380493,"cg_iu_a":-193.322083,"cg_iv_a":125.726532,"cg_iw_a":58.9332733,"cg_sample_age_us":23.8745461,"cg_sample_seq":10513867,"cg_sample_valid":1,"cg_theta_rad":1.63817251,"cg_vd_req_v":-1.75437331,"cg_vd_v":-1.75437331,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47607899,"cg_vq_v":-8.47607899,"cg_vu_v":101.175293,"cg_vv_v":104.254532,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1829.93689,"values":{"Elec_RPM":-2354.36255,"EncoderCos":42300,"EncoderSin":51945,"GapTicks":49965,"Mech_RPM":-470.872498,"cg_du":54.5770874,"cg_dv":45.4229126,"cg_dw":45.9600372,"cg_id_a":14.0088434,"cg_id_raw_a":19.8255024,"cg_iq_a":-206.104919,"cg_iq_raw_a":-207.101028,"cg_iu_a":173.719238,"cg_iv_a":-1.85177612,"cg_iw_a":-171.867462,"cg_sample_age_us":23.8963642,"cg_sample_seq":10515670,"cg_sample_valid":1,"cg_theta_rad":1.14627481,"cg_vd_req_v":-2.203228,"cg_vd_v":-2.203228,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27031898,"cg_vq_v":-8.27031898,"cg_vu_v":32.1121559,"cg_vv_v":6.1584959,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2451.56665,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1830.027383,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1830.027387,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1830.027391,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1830.268921,"values":{"Elec_RPM":-2359.32715,"EncoderCos":12443,"EncoderSin":40047,"GapTicks":50064,"Mech_RPM":-471.865417,"cg_du":45.512886,"cg_dv":54.487114,"cg_dw":45.7394447,"cg_id_a":12.7879763,"cg_id_raw_a":10.7665272,"cg_iq_a":-205.365448,"cg_iq_raw_a":-207.263504,"cg_iu_a":-170.597198,"cg_iv_a":181.868225,"cg_iw_a":-11.2710342,"cg_sample_age_us":24.0090904,"cg_sample_seq":10517267,"cg_sample_valid":1,"cg_theta_rad":2.79572225,"cg_vd_req_v":-2.11077332,"cg_vd_v":-2.11077332,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25998878,"cg_vq_v":-8.25998878,"cg_vu_v":128.448624,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.4532776,"dclink_p_w":-2525.91968,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1830.600952,"values":{"Elec_RPM":-2352.86304,"EncoderCos":18285,"EncoderSin":48700,"GapTicks":49437,"Mech_RPM":-470.572601,"cg_du":55.057148,"cg_dv":44.942852,"cg_dw":48.2365494,"cg_id_a":5.85542393,"cg_id_raw_a":1.23150814,"cg_iq_a":-198.734192,"cg_iq_raw_a":-197.811874,"cg_iu_a":199.343628,"cg_iv_a":-79.3048553,"cg_iw_a":-120.038773,"cg_sample_age_us":24.0090904,"cg_sample_seq":10519066,"cg_sample_valid":1,"cg_theta_rad":2.30697632,"cg_vd_req_v":-2.04810572,"cg_vd_v":-2.04810572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37392807,"cg_vq_v":-8.37392807,"cg_vu_v":44.4291458,"cg_vv_v":40.9100075,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2466.20947,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1830.932983,"values":{"Elec_RPM":-2354.89844,"EncoderCos":17799,"EncoderSin":17017,"GapTicks":49390,"Mech_RPM":-470.979675,"cg_du":48.9581184,"cg_dv":55.0994263,"cg_dw":44.9005737,"cg_id_a":-9.37957954,"cg_id_raw_a":-14.0013218,"cg_iq_a":-198.977905,"cg_iq_raw_a":-198.389267,"cg_iu_a":-85.8228607,"cg_iv_a":199.156525,"cg_iw_a":-113.333664,"cg_sample_age_us":23.994545,"cg_sample_seq":10520666,"cg_sample_valid":1,"cg_theta_rad":3.96144199,"cg_vd_req_v":-1.72582376,"cg_vd_v":-1.72582376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40558147,"cg_vq_v":-8.40558147,"cg_vu_v":14.0765619,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2398.48804,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1831.018778,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1831.018782,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1831.018785,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1831.284546,"values":{"Elec_RPM":-2349.98511,"EncoderCos":12233,"EncoderSin":26133,"GapTicks":49582,"Mech_RPM":-469.997009,"cg_du":54.9250336,"cg_dv":45.0749664,"cg_dw":52.721241,"cg_id_a":-2.57451439,"cg_id_raw_a":5.64744806,"cg_iq_a":-198.365723,"cg_iq_raw_a":-199.867294,"cg_iu_a":172.124496,"cg_iv_a":-168.247208,"cg_iw_a":-3.87728882,"cg_sample_age_us":24.1290913,"cg_sample_seq":10522466,"cg_sample_valid":1,"cg_theta_rad":3.45999742,"cg_vd_req_v":-1.82799315,"cg_vd_v":-1.82799315,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44342136,"cg_vq_v":-8.44342136,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2450.46851,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1831.620483,"values":{"Elec_RPM":-2347.25317,"EncoderCos":29567,"EncoderSin":11467,"GapTicks":49342,"Mech_RPM":-469.450653,"cg_du":50.4393578,"cg_dv":44.8572426,"cg_dw":55.1427574,"cg_id_a":-7.43176508,"cg_id_raw_a":-9.32237625,"cg_iq_a":-196.886292,"cg_iq_raw_a":-197.860214,"cg_iu_a":78.7241364,"cg_iv_a":-195.683777,"cg_iw_a":116.959641,"cg_sample_age_us":23.7399998,"cg_sample_seq":10524116,"cg_sample_valid":1,"cg_theta_rad":4.57920265,"cg_vd_req_v":-1.79730356,"cg_vd_v":-1.79730356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41490173,"cg_vq_v":-8.41490173,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4327393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1831.972046,"values":{"Elec_RPM":-2346.31689,"EncoderCos":41523,"EncoderSin":13093,"GapTicks":49475,"Mech_RPM":-469.263397,"cg_du":51.9579506,"cg_dv":55.0220566,"cg_dw":44.9779434,"cg_id_a":-14.0772285,"cg_id_raw_a":-7.8528595,"cg_iq_a":-198.743561,"cg_iq_raw_a":-201.703415,"cg_iu_a":-7.35496473,"cg_iv_a":175.92424,"cg_iw_a":-168.569275,"cg_sample_age_us":23.9254551,"cg_sample_seq":10525816,"cg_sample_valid":1,"cg_theta_rad":5.14842653,"cg_vd_req_v":-1.66811776,"cg_vd_v":-1.66811776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41258526,"cg_vq_v":-8.41258526,"cg_vu_v":23.3143044,"cg_vv_v":20.2350578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2432.84302,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1832.01095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1832.010954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1832.010956,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1832.304077,"values":{"Elec_RPM":-2348.8606,"EncoderCos":50718,"EncoderSin":21226,"GapTicks":50105,"Mech_RPM":-469.772125,"cg_du":45.5504875,"cg_dv":45.6146736,"cg_dw":54.4495125,"cg_id_a":11.843132,"cg_id_raw_a":15.7124815,"cg_iq_a":-205.976151,"cg_iq_raw_a":-204.991302,"cg_iu_a":-13.1539783,"cg_iv_a":-171.001724,"cg_iw_a":184.155701,"cg_sample_age_us":23.9218178,"cg_sample_seq":10527517,"cg_sample_valid":1,"cg_theta_rad":5.73051739,"cg_vd_req_v":-2.22198915,"cg_vd_v":-2.22198915,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26167107,"cg_vq_v":-8.26167107,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.8139057,"dclink_p_w":-2585.94751,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1832.636108,"values":{"Elec_RPM":-2349.82886,"EncoderCos":53992,"EncoderSin":33166,"GapTicks":49642,"Mech_RPM":-469.965759,"cg_du":54.8704147,"cg_dv":52.7385101,"cg_dw":45.1295853,"cg_id_a":7.05660677,"cg_id_raw_a":5.41730452,"cg_iq_a":-202.847458,"cg_iq_raw_a":-202.834076,"cg_iu_a":68.6121063,"cg_iv_a":130.184525,"cg_iw_a":-198.796631,"cg_sample_age_us":23.4527264,"cg_sample_seq":10529216,"cg_sample_valid":1,"cg_theta_rad":0.0223346148,"cg_vd_req_v":-2.12195706,"cg_vd_v":-2.12195706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28999138,"cg_vq_v":-8.28999138,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.3877106,"dclink_p_w":-2371.70581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1832.987671,"values":{"Elec_RPM":-2355.10059,"EncoderCos":50375,"EncoderSin":44824,"GapTicks":49346,"Mech_RPM":-471.020142,"cg_du":44.8608894,"cg_dv":49.262886,"cg_dw":55.1391106,"cg_id_a":-6.64363623,"cg_id_raw_a":-9.781847,"cg_iq_a":-199.508057,"cg_iq_raw_a":-200.573303,"cg_iu_a":-124.277573,"cg_iv_a":-71.1499786,"cg_iw_a":195.427551,"cg_sample_age_us":23.4163628,"cg_sample_seq":10530916,"cg_sample_valid":1,"cg_theta_rad":0.597275734,"cg_vd_req_v":-1.85297549,"cg_vd_v":-1.85297549,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38915253,"cg_vq_v":-8.38915253,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.38974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1833.035461,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1833.035465,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1833.03547,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1833.323608,"values":{"Elec_RPM":-2361.04053,"EncoderCos":40919,"EncoderSin":52512,"GapTicks":49358,"Mech_RPM":-472.20813,"cg_du":55.1282005,"cg_dv":48.5425758,"cg_dw":44.8717995,"cg_id_a":-12.0101986,"cg_id_raw_a":-9.26002407,"cg_iq_a":-194.773026,"cg_iq_raw_a":-196.868896,"cg_iu_a":156.213455,"cg_iv_a":24.6787262,"cg_iw_a":-180.892181,"cg_sample_age_us":23.9327278,"cg_sample_seq":10532616,"cg_sample_valid":1,"cg_theta_rad":1.18204367,"cg_vd_req_v":-1.6725806,"cg_vd_v":-1.6725806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52193165,"cg_vq_v":-8.52193165,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1833.675171,"values":{"Elec_RPM":-2359.42407,"EncoderCos":41110,"EncoderSin":52445,"GapTicks":49456,"Mech_RPM":-471.884827,"cg_du":55.0392723,"cg_dv":48.1128387,"cg_dw":44.9607277,"cg_id_a":-9.94747353,"cg_id_raw_a":-6.65362024,"cg_iq_a":-195.86882,"cg_iq_raw_a":-195.394623,"cg_iu_a":128.994339,"cg_iv_a":62.4447937,"cg_iw_a":-192.961365,"cg_sample_age_us":23.863636,"cg_sample_seq":10534371,"cg_sample_valid":1,"cg_theta_rad":1.21389544,"cg_vd_req_v":-1.69254959,"cg_vd_v":-1.69254959,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47472858,"cg_vq_v":-8.47472858,"cg_vu_v":106.014107,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-18.0349922,"dclink_p_w":-2610.10791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1834.007202,"values":{"Elec_RPM":-2361.28442,"EncoderCos":12031,"EncoderSin":38766,"GapTicks":49372,"Mech_RPM":-472.256866,"cg_du":44.8839188,"cg_dv":55.1160812,"cg_dw":48.8578529,"cg_id_a":-11.6228771,"cg_id_raw_a":-10.8366184,"cg_iq_a":-198.165558,"cg_iq_raw_a":-198.926483,"cg_iu_a":-182.88385,"cg_iv_a":155.518967,"cg_iw_a":27.3648834,"cg_sample_age_us":23.9618187,"cg_sample_seq":10535967,"cg_sample_valid":1,"cg_theta_rad":2.86159849,"cg_vd_req_v":-1.61963081,"cg_vd_v":-1.61963081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44019985,"cg_vq_v":-8.44019985,"cg_vu_v":115.251846,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2481.59644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1834.059244,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1834.059249,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1834.059253,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1834.339233,"values":{"Elec_RPM":-2359.9436,"EncoderCos":17299,"EncoderSin":47746,"GapTicks":50038,"Mech_RPM":-471.988708,"cg_du":54.5107384,"cg_dv":45.4892616,"cg_dw":45.6628647,"cg_id_a":11.4218788,"cg_id_raw_a":17.6160908,"cg_iq_a":-203.077682,"cg_iq_raw_a":-207.077179,"cg_iu_a":184.483643,"cg_iv_a":-17.1466675,"cg_iw_a":-167.336975,"cg_sample_age_us":24.0272732,"cg_sample_seq":10537766,"cg_sample_valid":1,"cg_theta_rad":2.37318087,"cg_vd_req_v":-2.13398075,"cg_vd_v":-2.13398075,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32635498,"cg_vq_v":-8.32635498,"cg_vu_v":40.0302238,"cg_vv_v":39.590332,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1834.671265,"values":{"Elec_RPM":-2355.09204,"EncoderCos":18917,"EncoderSin":16033,"GapTicks":49856,"Mech_RPM":-471.018402,"cg_du":46.4589653,"cg_dv":54.6762047,"cg_dw":45.3237953,"cg_id_a":11.6773949,"cg_id_raw_a":12.4988794,"cg_iq_a":-204.865082,"cg_iq_raw_a":-203.628922,"cg_iu_a":-159.144135,"cg_iv_a":193.067566,"cg_iw_a":-33.923439,"cg_sample_age_us":23.9872723,"cg_sample_seq":10539366,"cg_sample_valid":1,"cg_theta_rad":4.03181982,"cg_vd_req_v":-2.13922095,"cg_vd_v":-2.13922095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25613785,"cg_vq_v":-8.25613785,"cg_vu_v":39.590332,"cg_vv_v":71.7024918,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2456.94287,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4327393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1835.019031,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1835.019034,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1835.019037,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1835.022827,"values":{"Elec_RPM":-2357.66797,"EncoderCos":12772,"EncoderSin":24643,"GapTicks":49354,"Mech_RPM":-471.533569,"cg_du":55.1318283,"cg_dv":44.8681717,"cg_dw":49.3394547,"cg_id_a":-10.4399872,"cg_id_raw_a":-13.9106607,"cg_iq_a":-195.915771,"cg_iq_raw_a":-195.042877,"cg_iu_a":195.429291,"cg_iv_a":-117.868286,"cg_iw_a":-77.5610046,"cg_sample_age_us":24.0345459,"cg_sample_seq":10541166,"cg_sample_valid":1,"cg_theta_rad":3.53172851,"cg_vd_req_v":-1.70394468,"cg_vd_v":-1.70394468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4291296,"cg_vq_v":-8.4291296,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2437.53516,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1835.354858,"values":{"Elec_RPM":-2357.74927,"EncoderCos":42149,"EncoderSin":13359,"GapTicks":49313,"Mech_RPM":-471.549835,"cg_du":50.4949036,"cg_dv":55.1695099,"cg_dw":44.8304901,"cg_id_a":-17.4731808,"cg_id_raw_a":-15.9098883,"cg_iq_a":-194.907959,"cg_iq_raw_a":-193.987885,"cg_iu_a":-36.350029,"cg_iv_a":186.036285,"cg_iw_a":-149.686249,"cg_sample_age_us":23.9327278,"cg_sample_seq":10542766,"cg_sample_valid":1,"cg_theta_rad":5.18157387,"cg_vd_req_v":-1.61170352,"cg_vd_v":-1.61170352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50070381,"cg_vq_v":-8.50070381,"cg_vu_v":37.830761,"cg_vv_v":43.1094704,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2409.16699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1835.710327,"values":{"Elec_RPM":-2360.26172,"EncoderCos":31860,"EncoderSin":11272,"GapTicks":50038,"Mech_RPM":-472.052338,"cg_du":54.5107956,"cg_dv":45.4892044,"cg_dw":54.3496742,"cg_id_a":14.9102898,"cg_id_raw_a":17.2298889,"cg_iq_a":-202.92392,"cg_iq_raw_a":-202.830688,"cg_iu_a":172.704407,"cg_iv_a":-179.84523,"cg_iw_a":7.14082336,"cg_sample_age_us":24.0272732,"cg_sample_seq":10544566,"cg_sample_valid":1,"cg_theta_rad":4.68704653,"cg_vd_req_v":-2.21219277,"cg_vd_v":-2.21219277,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33920097,"cg_vq_v":-8.33920097,"cg_vu_v":143.404984,"cg_vv_v":138.126266,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7051735,"dclink_p_w":-2562.37524,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1836.010982,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1836.010985,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1836.010989,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1836.038452,"values":{"Elec_RPM":-2362.53809,"EncoderCos":53996,"EncoderSin":33655,"GapTicks":49873,"Mech_RPM":-472.507599,"cg_du":54.6605759,"cg_dv":53.6269836,"cg_dw":45.3394241,"cg_id_a":8.96086216,"cg_id_raw_a":9.33623409,"cg_iq_a":-206.785187,"cg_iq_raw_a":-207.891327,"cg_iu_a":33.6730537,"cg_iv_a":159.723251,"cg_iw_a":-193.396301,"cg_sample_age_us":23.4599991,"cg_sample_seq":10546166,"cg_sample_valid":1,"cg_theta_rad":0.0560745299,"cg_vd_req_v":-2.15216017,"cg_vd_v":-2.15216017,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23600006,"cg_vq_v":-8.23600006,"cg_vu_v":40.9100075,"cg_vv_v":54.9865723,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2433.26392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1836.37439,"values":{"Elec_RPM":-2356.13916,"EncoderCos":53932,"EncoderSin":34536,"GapTicks":49782,"Mech_RPM":-471.227844,"cg_du":53.4817657,"cg_dv":54.7435951,"cg_dw":45.2564049,"cg_id_a":3.01904631,"cg_id_raw_a":7.10352993,"cg_iq_a":-202.216339,"cg_iq_raw_a":-203.658951,"cg_iu_a":10.0058308,"cg_iv_a":169.654053,"cg_iw_a":-179.659882,"cg_sample_age_us":23.5254555,"cg_sample_seq":10547916,"cg_sample_valid":1,"cg_theta_rad":0.0922159702,"cg_vd_req_v":-2.01887774,"cg_vd_v":-2.01887774,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34263897,"cg_vq_v":-8.34263897,"cg_vu_v":22.8744144,"cg_vv_v":15.836132,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2431.69507,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1836.725952,"values":{"Elec_RPM":-2353.72925,"EncoderCos":49454,"EncoderSin":46072,"GapTicks":49732,"Mech_RPM":-470.74585,"cg_du":45.2116165,"cg_dv":46.5920715,"cg_dw":54.7883835,"cg_id_a":17.9841518,"cg_id_raw_a":18.2616291,"cg_iq_a":-202.956955,"cg_iq_raw_a":-202.278595,"cg_iu_a":-31.5296021,"cg_iv_a":-153.13353,"cg_iw_a":192.63678,"cg_sample_age_us":23.4127274,"cg_sample_seq":10549616,"cg_sample_valid":1,"cg_theta_rad":0.676174819,"cg_vd_req_v":-2.30969143,"cg_vd_v":-2.30969143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33723068,"cg_vq_v":-8.33723068,"cg_vu_v":35.1914063,"cg_vv_v":32.1121559,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.3369694,"dclink_p_w":-2364.3623,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1837.003208,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1837.003214,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1837.003218,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1837.057983,"values":{"Elec_RPM":-2353.82471,"EncoderCos":39846,"EncoderSin":52890,"GapTicks":49354,"Mech_RPM":-470.764954,"cg_du":55.1324348,"cg_dv":50.7241287,"cg_dw":44.8675652,"cg_id_a":-3.92382932,"cg_id_raw_a":-7.01667833,"cg_iq_a":-197.401031,"cg_iq_raw_a":-196.615555,"cg_iu_a":101.122833,"cg_iv_a":98.217453,"cg_iw_a":-201.043732,"cg_sample_age_us":23.823637,"cg_sample_seq":10551318,"cg_sample_valid":1,"cg_theta_rad":1.24163854,"cg_vd_req_v":-1.83857906,"cg_vd_v":-1.83857906,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40670395,"cg_vq_v":-8.40670395,"cg_vu_v":123.169922,"cg_vv_v":132.847549,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.362915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1837.413452,"values":{"Elec_RPM":-2354.47559,"EncoderCos":28035,"EncoderSin":53772,"GapTicks":49549,"Mech_RPM":-470.895142,"cg_du":45.0451431,"cg_dv":52.2157249,"cg_dw":54.9548569,"cg_id_a":-7.80723333,"cg_id_raw_a":-3.46794677,"cg_iq_a":-201.325012,"cg_iq_raw_a":-200.774246,"cg_iu_a":-153.490112,"cg_iv_a":-34.5799561,"cg_iw_a":188.070068,"cg_sample_age_us":23.9181824,"cg_sample_seq":10553019,"cg_sample_valid":1,"cg_theta_rad":1.82560599,"cg_vd_req_v":-1.70807159,"cg_vd_v":-1.70807159,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3529129,"cg_vq_v":-8.3529129,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2466.4707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1837.741577,"values":{"Elec_RPM":-2351.06006,"EncoderCos":17034,"EncoderSin":47458,"GapTicks":49844,"Mech_RPM":-470.212036,"cg_du":54.6870384,"cg_dv":46.235321,"cg_dw":45.3129616,"cg_id_a":6.24811983,"cg_id_raw_a":9.73094082,"cg_iq_a":-201.042053,"cg_iq_raw_a":-200.459625,"cg_iu_a":175.712646,"cg_iv_a":-7.5058136,"cg_iw_a":-168.206833,"cg_sample_age_us":23.9799995,"cg_sample_seq":10554717,"cg_sample_valid":1,"cg_theta_rad":2.39041352,"cg_vd_req_v":-2.01921535,"cg_vd_v":-2.01921535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39446831,"cg_vq_v":-8.39446831,"cg_vu_v":127.568848,"cg_vv_v":122.290138,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2512.01953,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.361145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1838.026676,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1838.026681,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1838.026685,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1838.081421,"values":{"Elec_RPM":-2354.77563,"EncoderCos":11492,"EncoderSin":36390,"GapTicks":49731,"Mech_RPM":-470.955139,"cg_du":45.2104073,"cg_dv":54.7895927,"cg_dw":53.3736725,"cg_id_a":10.1867247,"cg_id_raw_a":7.24309492,"cg_iq_a":-198.945679,"cg_iq_raw_a":-197.394165,"cg_iu_a":-189.081543,"cg_iv_a":29.0642242,"cg_iw_a":160.017319,"cg_sample_age_us":23.954546,"cg_sample_seq":10556417,"cg_sample_valid":1,"cg_theta_rad":2.98761129,"cg_vd_req_v":-2.07143211,"cg_vd_v":-2.07143211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38864517,"cg_vq_v":-8.38864517,"cg_vu_v":110.413033,"cg_vv_v":111.292824,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1838.597046,"values":{"Elec_RPM":-2355.28979,"EncoderCos":39899,"EncoderSin":52944,"GapTicks":49341,"Mech_RPM":-471.057953,"cg_du":55.1442986,"cg_dv":50.5936661,"cg_dw":44.8557014,"cg_id_a":-1.95493579,"cg_id_raw_a":-6.21408892,"cg_iq_a":-199.725342,"cg_iq_raw_a":-196.565842,"cg_iu_a":112.068466,"cg_iv_a":88.250412,"cg_iw_a":-200.318878,"cg_sample_age_us":23.9181824,"cg_sample_seq":10558917,"cg_sample_valid":1,"cg_theta_rad":1.23297977,"cg_vd_req_v":-1.90209639,"cg_vd_v":-1.90209639,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40330315,"cg_vq_v":-8.40330315,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2449.6792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00876173005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12211033,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1838.89061,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1838.890621,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1838.890623,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1839.01934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1839.019343,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1839.019346,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1839.069702,"values":{"Elec_RPM":-2348.62964,"EncoderCos":50749,"EncoderSin":44226,"GapTicks":49334,"Mech_RPM":-469.725922,"cg_du":44.8494835,"cg_dv":50.6066589,"cg_dw":55.1505165,"cg_id_a":-11.4006052,"cg_id_raw_a":-9.86675167,"cg_iq_a":-198.722778,"cg_iq_raw_a":-198.530777,"cg_iu_a":-143.523041,"cg_iv_a":-46.1417389,"cg_iw_a":187.852585,"cg_sample_age_us":23.5290909,"cg_sample_seq":10561317,"cg_sample_valid":1,"cg_theta_rad":0.572295725,"cg_vd_req_v":-1.74600804,"cg_vd_v":-1.74600804,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42178631,"cg_vq_v":-8.42178631,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0092926,"dclink_p_w":-2454.18164,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1839.401733,"values":{"Elec_RPM":-2356.04736,"EncoderCos":50292,"EncoderSin":44968,"GapTicks":49320,"Mech_RPM":-471.209473,"cg_du":44.836937,"cg_dv":49.0101395,"cg_dw":55.163063,"cg_id_a":-0.953949809,"cg_id_raw_a":-4.66175604,"cg_iq_a":-197.486938,"cg_iq_raw_a":-195.919586,"cg_iu_a":-97.8920593,"cg_iv_a":-83.944046,"cg_iw_a":198.50827,"cg_sample_age_us":23.5363636,"cg_sample_seq":10563067,"cg_sample_valid":1,"cg_theta_rad":0.613617718,"cg_vd_req_v":-1.96365392,"cg_vd_v":-1.96365392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45586777,"cg_vq_v":-8.45586777,"cg_vu_v":112.612495,"cg_vv_v":124.489601,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1839.753296,"values":{"Elec_RPM":-2356.48291,"EncoderCos":29369,"EncoderSin":53980,"GapTicks":49824,"Mech_RPM":-471.2966,"cg_du":45.2953873,"cg_dv":54.7046127,"cg_dw":53.7163239,"cg_id_a":14.6216469,"cg_id_raw_a":10.5277538,"cg_iq_a":-200.539154,"cg_iq_raw_a":-198.667786,"cg_iu_a":-186.471985,"cg_iv_a":29.7528381,"cg_iw_a":156.719147,"cg_sample_age_us":23.8672733,"cg_sample_seq":10564717,"cg_sample_valid":1,"cg_theta_rad":1.72912633,"cg_vd_req_v":-2.16893554,"cg_vd_v":-2.16893554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33732414,"cg_vq_v":-8.33732414,"cg_vu_v":133.287445,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2493.13623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1840.011361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1840.011365,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1840.011369,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1840.089233,"values":{"Elec_RPM":-2350.85156,"EncoderCos":28411,"EncoderSin":53840,"GapTicks":49762,"Mech_RPM":-470.170288,"cg_du":45.2390747,"cg_dv":53.1410217,"cg_dw":54.7609253,"cg_id_a":1.56258047,"cg_id_raw_a":9.44629574,"cg_iq_a":-203.21106,"cg_iq_raw_a":-204.909302,"cg_iu_a":-177.990936,"cg_iv_a":6.48431396,"cg_iw_a":171.506622,"cg_sample_age_us":23.7690907,"cg_sample_seq":10566466,"cg_sample_valid":1,"cg_theta_rad":1.76672792,"cg_vd_req_v":-1.89417887,"cg_vd_v":-1.89417887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3004055,"cg_vq_v":-8.3004055,"cg_vu_v":3.51914048,"cg_vv_v":96.3364716,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2435.61719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1840.417358,"values":{"Elec_RPM":-2352.70728,"EncoderCos":11863,"EncoderSin":38160,"GapTicks":49299,"Mech_RPM":-470.541473,"cg_du":44.8174973,"cg_dv":55.1825027,"cg_dw":50.1444969,"cg_id_a":-10.6228724,"cg_id_raw_a":-10.333827,"cg_iq_a":-195.135864,"cg_iq_raw_a":-195.576111,"cg_iu_a":-187.196869,"cg_iv_a":140.260315,"cg_iw_a":46.9365616,"cg_sample_age_us":23.9581814,"cg_sample_seq":10568116,"cg_sample_valid":1,"cg_theta_rad":2.88338804,"cg_vd_req_v":-1.65078688,"cg_vd_v":-1.65078688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50302982,"cg_vq_v":-8.50302982,"cg_vu_v":1.31967759,"cg_vv_v":15.3962402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2496.24194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3951416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1840.772827,"values":{"Elec_RPM":-2349.08862,"EncoderCos":11735,"EncoderSin":37496,"GapTicks":49374,"Mech_RPM":-469.817719,"cg_du":44.8856201,"cg_dv":55.1143799,"cg_dw":51.3469734,"cg_id_a":-1.83228266,"cg_id_raw_a":-4.4805665,"cg_iq_a":-196.873077,"cg_iq_raw_a":-194.755661,"cg_iu_a":-196.439056,"cg_iv_a":100.35585,"cg_iw_a":96.0832062,"cg_sample_age_us":23.8381824,"cg_sample_seq":10569867,"cg_sample_valid":1,"cg_theta_rad":2.92293859,"cg_vd_req_v":-1.83711588,"cg_vd_v":-1.83711588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44761562,"cg_vq_v":-8.44761562,"cg_vu_v":110.413033,"cg_vv_v":115.251846,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.5601978,"dclink_p_w":-2541.39355,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1841.034369,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1841.034372,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1841.034375,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1841.104858,"values":{"Elec_RPM":-2348.22412,"EncoderCos":19168,"EncoderSin":15858,"GapTicks":50000,"Mech_RPM":-469.644836,"cg_du":45.8925018,"cg_dv":54.5445557,"cg_dw":45.4554443,"cg_id_a":12.591301,"cg_id_raw_a":13.7752104,"cg_iq_a":-206.324249,"cg_iq_raw_a":-206.574326,"cg_iu_a":-167.081543,"cg_iv_a":187.77597,"cg_iw_a":-20.6944275,"cg_sample_age_us":23.9472733,"cg_sample_seq":10571516,"cg_sample_valid":1,"cg_theta_rad":4.04234219,"cg_vd_req_v":-2.16131425,"cg_vd_v":-2.16131425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26235771,"cg_vq_v":-8.26235771,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2446.7146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1841.456421,"values":{"Elec_RPM":-2353.40723,"EncoderCos":19444,"EncoderSin":15628,"GapTicks":49982,"Mech_RPM":-470.681458,"cg_du":45.4383125,"cg_dv":54.5616875,"cg_dw":46.0110283,"cg_id_a":6.43711948,"cg_id_raw_a":12.4668617,"cg_iq_a":-206.438797,"cg_iq_raw_a":-207.348267,"cg_iu_a":-172.228149,"cg_iv_a":179.149933,"cg_iw_a":-6.92178345,"cg_sample_age_us":23.8927269,"cg_sample_seq":10573268,"cg_sample_valid":1,"cg_theta_rad":4.07208443,"cg_vd_req_v":-2.02713919,"cg_vd_v":-2.02713919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26883316,"cg_vq_v":-8.26883316,"cg_vu_v":120.970459,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4583855,"dclink_p_w":-2374.69409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1841.792358,"values":{"Elec_RPM":-2350.99316,"EncoderCos":42292,"EncoderSin":13451,"GapTicks":49356,"Mech_RPM":-470.198639,"cg_du":50.1212311,"cg_dv":55.1302795,"cg_dw":44.8697205,"cg_id_a":-19.3781166,"cg_id_raw_a":-18.8287907,"cg_iq_a":-196.441162,"cg_iq_raw_a":-196.097748,"cg_iu_a":-45.8096695,"cg_iv_a":189.479431,"cg_iw_a":-143.669769,"cg_sample_age_us":23.9290905,"cg_sample_seq":10574917,"cg_sample_valid":1,"cg_theta_rad":5.19056845,"cg_vd_req_v":-1.57981181,"cg_vd_v":-1.57981181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42739487,"cg_vq_v":-8.42739487,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1842.026714,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1842.026717,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1842.026719,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1842.120483,"values":{"Elec_RPM":-2351.95483,"EncoderCos":43108,"EncoderSin":13892,"GapTicks":49444,"Mech_RPM":-470.390961,"cg_du":48.469593,"cg_dv":55.0500336,"cg_dw":44.9499664,"cg_id_a":-9.26940727,"cg_id_raw_a":-14.0432549,"cg_iq_a":-199.79216,"cg_iq_raw_a":-199.218002,"cg_iu_a":-98.1820068,"cg_iv_a":200.388824,"cg_iw_a":-102.206818,"cg_sample_age_us":23.9290905,"cg_sample_seq":10576667,"cg_sample_valid":1,"cg_theta_rad":5.22866011,"cg_vd_req_v":-1.81632471,"cg_vd_v":-1.81632471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34610558,"cg_vq_v":-8.34610558,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2424.63525,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1842.475952,"values":{"Elec_RPM":-2352.17505,"EncoderCos":51794,"EncoderSin":22987,"GapTicks":49280,"Mech_RPM":-470.434998,"cg_du":49.9964676,"cg_dv":44.8008194,"cg_dw":55.1991806,"cg_id_a":-8.55128098,"cg_id_raw_a":-13.4139576,"cg_iq_a":-196.007111,"cg_iq_raw_a":-197.496811,"cg_iu_a":64.1541214,"cg_iv_a":-193.182953,"cg_iw_a":129.028839,"cg_sample_age_us":23.6527271,"cg_sample_seq":10578366,"cg_sample_valid":1,"cg_theta_rad":5.82102919,"cg_vd_req_v":-1.83196342,"cg_vd_v":-1.83196342,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46619225,"cg_vq_v":-8.46619225,"cg_vu_v":34.7515144,"cg_vv_v":30.3525867,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1842.807983,"values":{"Elec_RPM":-2355.43286,"EncoderCos":53920,"EncoderSin":34659,"GapTicks":49690,"Mech_RPM":-471.086578,"cg_du":53.1713066,"cg_dv":54.8270912,"cg_dw":45.1729088,"cg_id_a":-0.237431169,"cg_id_raw_a":5.68533325,"cg_iq_a":-200.407852,"cg_iq_raw_a":-200.970993,"cg_iu_a":1.95970047,"cg_iv_a":170.487671,"cg_iw_a":-172.447372,"cg_sample_age_us":23.4963627,"cg_sample_seq":10580067,"cg_sample_valid":1,"cg_theta_rad":0.101504102,"cg_vd_req_v":-1.94958842,"cg_vd_v":-1.94958842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40436649,"cg_vq_v":-8.40436649,"cg_vu_v":142.085297,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2475.82617,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1843.018911,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1843.018914,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1843.018917,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1843.140015,"values":{"Elec_RPM":-2352.3689,"EncoderCos":49374,"EncoderSin":46192,"GapTicks":49834,"Mech_RPM":-470.473785,"cg_du":45.3040581,"cg_dv":46.3622894,"cg_dw":54.6959419,"cg_id_a":18.6160641,"cg_id_raw_a":19.4029617,"cg_iq_a":-204.306885,"cg_iq_raw_a":-201.432785,"cg_iu_a":-25.3319054,"cg_iv_a":-164.731537,"cg_iw_a":192.817978,"cg_sample_age_us":23.5472736,"cg_sample_seq":10581767,"cg_sample_valid":1,"cg_theta_rad":0.682031751,"cg_vd_req_v":-2.31753254,"cg_vd_v":-2.31753254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27839184,"cg_vq_v":-8.27839184,"cg_vu_v":104.694435,"cg_vv_v":91.0577545,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2457.20532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1843.491577,"values":{"Elec_RPM":-2353.30713,"EncoderCos":17992,"EncoderSin":48404,"GapTicks":49485,"Mech_RPM":-470.661407,"cg_du":55.0128822,"cg_dv":44.9871178,"cg_dw":47.509758,"cg_id_a":12.9643564,"cg_id_raw_a":7.72783422,"cg_iq_a":-200.229813,"cg_iq_raw_a":-198.936386,"cg_iu_a":194.740662,"cg_iv_a":-56.0725403,"cg_iw_a":-138.668121,"cg_sample_age_us":23.9981823,"cg_sample_seq":10583367,"cg_sample_valid":1,"cg_theta_rad":2.32973218,"cg_vd_req_v":-2.20051193,"cg_vd_v":-2.20051193,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40518951,"cg_vq_v":-8.40518951,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.122664221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1843.823608,"values":{"Elec_RPM":-2352.56812,"EncoderCos":27001,"EncoderSin":53506,"GapTicks":49354,"Mech_RPM":-470.513641,"cg_du":44.8680038,"cg_dv":49.9157562,"cg_dw":55.1319962,"cg_id_a":-14.6363239,"cg_id_raw_a":-15.1815329,"cg_iq_a":-199.344543,"cg_iq_raw_a":-201.260239,"cg_iu_a":-139.753693,"cg_iv_a":-54.8764954,"cg_iw_a":194.630188,"cg_sample_age_us":23.8527279,"cg_sample_seq":10585166,"cg_sample_valid":1,"cg_theta_rad":1.8428061,"cg_vd_req_v":-1.59976029,"cg_vd_v":-1.59976029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42613316,"cg_vq_v":-8.42613316,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":119.210884,"control_outputs_enabled":1,"dclink_i_a":-16.9766712,"dclink_p_w":-2464.41089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1844.042732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1844.042736,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1844.042739,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1844.159546,"values":{"Elec_RPM":-2351.88086,"EncoderCos":12427,"EncoderSin":25670,"GapTicks":49436,"Mech_RPM":-470.37616,"cg_du":55.0577126,"cg_dv":44.9422874,"cg_dw":51.462883,"cg_id_a":-14.9945822,"cg_id_raw_a":-10.710804,"cg_iq_a":-198.554901,"cg_iq_raw_a":-198.734436,"cg_iu_a":180.279358,"cg_iv_a":-162.158234,"cg_iw_a":-10.5824051,"cg_sample_age_us":24.1072731,"cg_sample_seq":10586767,"cg_sample_valid":1,"cg_theta_rad":3.483531,"cg_vd_req_v":-1.58497024,"cg_vd_v":-1.58497024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39480495,"cg_vq_v":-8.39480495,"cg_vu_v":143.404984,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2470.13135,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1844.511108,"values":{"Elec_RPM":-2348.54565,"EncoderCos":11459,"EncoderSin":36148,"GapTicks":49863,"Mech_RPM":-469.709137,"cg_du":45.3303223,"cg_dv":54.6696777,"cg_dw":53.7889023,"cg_id_a":11.8511496,"cg_id_raw_a":9.68147945,"cg_iq_a":-199.938293,"cg_iq_raw_a":-198.485046,"cg_iu_a":-186.290771,"cg_iv_a":29.789093,"cg_iw_a":156.501678,"cg_sample_age_us":23.9618187,"cg_sample_seq":10588567,"cg_sample_valid":1,"cg_theta_rad":2.98777699,"cg_vd_req_v":-2.10878873,"cg_vd_v":-2.10878873,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35547543,"cg_vq_v":-8.35547543,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1844.84314,"values":{"Elec_RPM":-2345.58887,"EncoderCos":20130,"EncoderSin":15145,"GapTicks":49463,"Mech_RPM":-469.117767,"cg_du":44.9670715,"cg_dv":55.0329285,"cg_dw":47.9349022,"cg_id_a":-9.0039959,"cg_id_raw_a":-3.97514534,"cg_iq_a":-197.593567,"cg_iq_raw_a":-198.876587,"cg_iu_a":-181.470337,"cg_iv_a":157.657349,"cg_iw_a":23.8129883,"cg_sample_age_us":23.9327278,"cg_sample_seq":10590217,"cg_sample_valid":1,"cg_theta_rad":4.11150455,"cg_vd_req_v":-1.72336471,"cg_vd_v":-1.72336471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46994877,"cg_vq_v":-8.46994877,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1845.034541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1845.034545,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1845.034548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1845.194702,"values":{"Elec_RPM":-2347.29541,"EncoderCos":31157,"EncoderSin":11305,"GapTicks":49717,"Mech_RPM":-469.459076,"cg_du":53.2636147,"cg_dv":45.1973,"cg_dw":54.8027,"cg_id_a":14.5383739,"cg_id_raw_a":13.8888702,"cg_iq_a":-200.0681,"cg_iq_raw_a":-198.547623,"cg_iu_a":172.341965,"cg_iv_a":-177.126938,"cg_iw_a":4.78497314,"cg_sample_age_us":23.5872726,"cg_sample_seq":10591920,"cg_sample_valid":1,"cg_theta_rad":4.6941781,"cg_vd_req_v":-2.22367263,"cg_vd_v":-2.22367263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35698128,"cg_vq_v":-8.35698128,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.7812843,"dclink_p_w":-2581.21216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1845.526733,"values":{"Elec_RPM":-2348.92407,"EncoderCos":43758,"EncoderSin":14296,"GapTicks":49641,"Mech_RPM":-469.784821,"cg_du":47.2552757,"cg_dv":54.8716812,"cg_dw":45.1283188,"cg_id_a":5.81542063,"cg_id_raw_a":2.88941264,"cg_iq_a":-204.445877,"cg_iq_raw_a":-202.744705,"cg_iu_a":-140.732269,"cg_iv_a":199.917664,"cg_iw_a":-59.1853943,"cg_sample_age_us":23.9690914,"cg_sample_seq":10593616,"cg_sample_valid":1,"cg_theta_rad":5.26687384,"cg_vd_req_v":-2.12188792,"cg_vd_v":-2.12188792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26713276,"cg_vq_v":-8.26713276,"cg_vu_v":0.87978512,"cg_vv_v":15.836132,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2469.08545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1845.858765,"values":{"Elec_RPM":-2351.42896,"EncoderCos":51968,"EncoderSin":23502,"GapTicks":49314,"Mech_RPM":-470.285797,"cg_du":50.9082718,"cg_dv":44.8317451,"cg_dw":55.1682549,"cg_id_a":0.92600131,"cg_id_raw_a":-3.68999004,"cg_iq_a":-198.321213,"cg_iq_raw_a":-198.068649,"cg_iu_a":98.9844437,"cg_iv_a":-198.837006,"cg_iw_a":99.852562,"cg_sample_age_us":23.6490917,"cg_sample_seq":10595316,"cg_sample_valid":1,"cg_theta_rad":5.85077953,"cg_vd_req_v":-2.03803134,"cg_vd_v":-2.03803134,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43858433,"cg_vq_v":-8.43858433,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2475.72266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2607,"hz_tim_isr":5001,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1846.026861,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1846.026864,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1846.026867,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1846.210327,"values":{"Elec_RPM":-2356.14893,"EncoderCos":53785,"EncoderSin":35573,"GapTicks":49379,"Mech_RPM":-471.229797,"cg_du":51.0080185,"cg_dv":55.1096764,"cg_dw":44.8903236,"cg_id_a":-15.2226553,"cg_id_raw_a":-13.4221325,"cg_iq_a":-195.695724,"cg_iq_raw_a":-195.738251,"cg_iu_a":-20.1852818,"cg_iv_a":178.787506,"cg_iw_a":-158.602219,"cg_sample_age_us":23.3909092,"cg_sample_seq":10597016,"cg_sample_valid":1,"cg_theta_rad":0.134972364,"cg_vd_req_v":-1.66206014,"cg_vd_v":-1.66206014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45855141,"cg_vq_v":-8.45855141,"cg_vu_v":6.59838867,"cg_vv_v":6.1584959,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4997,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1846.546265,"values":{"Elec_RPM":-2352.81763,"EncoderCos":53711,"EncoderSin":36213,"GapTicks":49351,"Mech_RPM":-470.563538,"cg_du":49.7134476,"cg_dv":55.1350937,"cg_dw":44.8649063,"cg_id_a":-14.8512363,"cg_id_raw_a":-14.97227,"cg_iq_a":-196.986832,"cg_iq_raw_a":-195.026886,"cg_iu_a":-63.569149,"cg_iv_a":193.75621,"cg_iw_a":-130.187057,"cg_sample_age_us":23.5181828,"cg_sample_seq":10598767,"cg_sample_valid":1,"cg_theta_rad":0.172957346,"cg_vd_req_v":-1.69375002,"cg_vd_v":-1.69375002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41716957,"cg_vq_v":-8.41716957,"cg_vu_v":128.008743,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-18.1274147,"dclink_p_w":-2631.45801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4997,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1846.87439,"values":{"Elec_RPM":-2351.10547,"EncoderCos":38808,"EncoderSin":53256,"GapTicks":49565,"Mech_RPM":-470.221069,"cg_du":54.9406891,"cg_dv":52.6490707,"cg_dw":45.0593109,"cg_id_a":11.7244396,"cg_id_raw_a":7.99760675,"cg_iq_a":-202.907288,"cg_iq_raw_a":-201.441956,"cg_iu_a":54.6219902,"cg_iv_a":142.434937,"cg_iw_a":-197.056931,"cg_sample_age_us":23.8999996,"cg_sample_seq":10600417,"cg_sample_valid":1,"cg_theta_rad":1.28442109,"cg_vd_req_v":-2.15831828,"cg_vd_v":-2.15831828,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34216309,"cg_vq_v":-8.34216309,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2971001,"dclink_p_w":-2365.76123,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4997,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3754578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1847.018905,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1847.018909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1847.018912,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1847.229858,"values":{"Elec_RPM":-2358.96045,"EncoderCos":16713,"EncoderSin":47112,"GapTicks":49605,"Mech_RPM":-471.792084,"cg_du":54.9043083,"cg_dv":47.3614426,"cg_dw":45.0956917,"cg_id_a":-3.12230158,"cg_id_raw_a":3.85671902,"cg_iq_a":-197.884399,"cg_iq_raw_a":-201.025208,"cg_iu_a":169.478699,"cg_iv_a":3.5123291,"cg_iw_a":-172.991028,"cg_sample_age_us":23.9581814,"cg_sample_seq":10602066,"cg_sample_valid":1,"cg_theta_rad":2.41196299,"cg_vd_req_v":-1.81623101,"cg_vd_v":-1.81623101,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4143486,"cg_vq_v":-8.4143486,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1847.56189,"values":{"Elec_RPM":-2358.19409,"EncoderCos":25523,"EncoderSin":53088,"GapTicks":49609,"Mech_RPM":-471.638824,"cg_du":45.0995979,"cg_dv":47.2561569,"cg_dw":54.9004021,"cg_id_a":7.6506815,"cg_id_raw_a":7.29033709,"cg_iq_a":-200.501602,"cg_iq_raw_a":-200.045776,"cg_iu_a":-58.0600891,"cg_iv_a":-137.149994,"cg_iw_a":195.210083,"cg_sample_age_us":23.8381824,"cg_sample_seq":10603866,"cg_sample_valid":1,"cg_theta_rad":1.91620684,"cg_vd_req_v":-2.05279303,"cg_vd_v":-2.05279303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3581171,"cg_vq_v":-8.3581171,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1847.893921,"values":{"Elec_RPM":-2356.19165,"EncoderCos":13032,"EncoderSin":24053,"GapTicks":49379,"Mech_RPM":-471.238342,"cg_du":55.1091461,"cg_dv":44.8908539,"cg_dw":48.3156357,"cg_id_a":4.97297096,"cg_id_raw_a":-0.19606775,"cg_iq_a":-198.394333,"cg_iq_raw_a":-197.999359,"cg_iu_a":196.15416,"cg_iv_a":-68.7578888,"cg_iw_a":-127.396271,"cg_sample_age_us":24.0781822,"cg_sample_seq":10605466,"cg_sample_valid":1,"cg_theta_rad":3.57429481,"cg_vd_req_v":-2.02641749,"cg_vd_v":-2.02641749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42466736,"cg_vq_v":-8.42466736,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1848.011059,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1848.011064,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1848.011068,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1848.339233,"values":{"Elec_RPM":-2356.77441,"EncoderCos":39591,"EncoderSin":12333,"GapTicks":49638,"Mech_RPM":-471.354858,"cg_du":54.8738632,"cg_dv":52.5787163,"cg_dw":45.1261368,"cg_id_a":3.49416518,"cg_id_raw_a":1.22107601,"cg_iq_a":-204.743896,"cg_iq_raw_a":-207.295319,"cg_iu_a":67.3073273,"cg_iv_a":135.004959,"cg_iw_a":-202.312286,"cg_sample_age_us":23.9218178,"cg_sample_seq":10607666,"cg_sample_valid":1,"cg_theta_rad":5.05282927,"cg_vd_req_v":-2.02615166,"cg_vd_v":-2.02615166,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24524021,"cg_vq_v":-8.24524021,"cg_vu_v":41.7897949,"cg_vv_v":51.0275345,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2437.18579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1848.858765,"values":{"Elec_RPM":-2352.22949,"EncoderCos":19920,"EncoderSin":50031,"GapTicks":49531,"Mech_RPM":-470.445923,"cg_du":54.9714279,"cg_dv":45.0285721,"cg_dw":52.230484,"cg_id_a":-9.17273521,"cg_id_raw_a":-1.16086066,"cg_iq_a":-200.186691,"cg_iq_raw_a":-201.734131,"cg_iu_a":182.816437,"cg_iv_a":-158.642609,"cg_iw_a":-24.1738358,"cg_sample_age_us":23.8854542,"cg_sample_seq":10610268,"cg_sample_valid":1,"cg_theta_rad":2.23443389,"cg_vd_req_v":-1.7149123,"cg_vd_v":-1.7149123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40904713,"cg_vq_v":-8.40904713,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2519.10083,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1848.906528,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1848.906536,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1848.906537,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1849.002684,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1849.002688,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1849.002692,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1849.241577,"values":{"Elec_RPM":-2347.62842,"EncoderCos":49525,"EncoderSin":46004,"GapTicks":49720,"Mech_RPM":-469.525665,"cg_du":45.2002144,"cg_dv":46.8342781,"cg_dw":54.7997856,"cg_id_a":17.9181843,"cg_id_raw_a":18.7223492,"cg_iq_a":-205.636993,"cg_iq_raw_a":-205.006424,"cg_iu_a":-43.961235,"cg_iv_a":-151.828735,"cg_iw_a":195.789978,"cg_sample_age_us":23.4200001,"cg_sample_seq":10612166,"cg_sample_valid":1,"cg_theta_rad":0.665033817,"cg_vd_req_v":-2.31403017,"cg_vd_v":-2.31403017,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2380476,"cg_vq_v":-8.2380476,"cg_vu_v":108.21357,"cg_vv_v":106.453995,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1849.573608,"values":{"Elec_RPM":-2355.59375,"EncoderCos":49194,"EncoderSin":46516,"GapTicks":50129,"Mech_RPM":-471.118774,"cg_du":45.5718193,"cg_dv":45.6852226,"cg_dw":54.4281807,"cg_id_a":14.5938063,"cg_id_raw_a":17.1822033,"cg_iq_a":-208.785706,"cg_iq_raw_a":-207.747482,"cg_iu_a":-13.8788557,"cg_iv_a":-174.082443,"cg_iw_a":187.961304,"cg_sample_age_us":23.5072727,"cg_sample_seq":10613917,"cg_sample_valid":1,"cg_theta_rad":0.701341689,"cg_vd_req_v":-2.22708392,"cg_vd_v":-2.22708392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.19342899,"cg_vq_v":-8.19342899,"cg_vu_v":106.014107,"cg_vv_v":96.3364716,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2479.80566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1849.90564,"values":{"Elec_RPM":-2352.59692,"EncoderCos":27665,"EncoderSin":53671,"GapTicks":49427,"Mech_RPM":-470.519379,"cg_du":44.9336929,"cg_dv":51.3702316,"cg_dw":55.0663071,"cg_id_a":-10.8734922,"cg_id_raw_a":-11.0512438,"cg_iq_a":-197.92363,"cg_iq_raw_a":-196.298737,"cg_iu_a":-157.186966,"cg_iv_a":-23.3081207,"cg_iw_a":180.495087,"cg_sample_age_us":23.8854542,"cg_sample_seq":10615567,"cg_sample_valid":1,"cg_theta_rad":1.807881,"cg_vd_req_v":-1.64855564,"cg_vd_v":-1.64855564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43555546,"cg_vq_v":-8.43555546,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1850.026544,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1850.026548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1850.026551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1850.257202,"values":{"Elec_RPM":-2367.94531,"EncoderCos":11713,"EncoderSin":37495,"GapTicks":49388,"Mech_RPM":-473.589081,"cg_du":44.8987541,"cg_dv":55.1012459,"cg_dw":51.3441772,"cg_id_a":-2.3761189,"cg_id_raw_a":-5.07172537,"cg_iq_a":-198.649582,"cg_iq_raw_a":-198.181091,"cg_iu_a":-198.39621,"cg_iv_a":99.9934006,"cg_iw_a":98.4028091,"cg_sample_age_us":23.9654541,"cg_sample_seq":10617217,"cg_sample_valid":1,"cg_theta_rad":2.92359853,"cg_vd_req_v":-1.8332485,"cg_vd_v":-1.8332485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3990078,"cg_vq_v":-8.3990078,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.0256023,"dclink_p_w":-2456.53491,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1850.589233,"values":{"Elec_RPM":-2362.20996,"EncoderCos":11546,"EncoderSin":36642,"GapTicks":49572,"Mech_RPM":-472.442017,"cg_du":45.0659866,"cg_dv":54.9340134,"cg_dw":52.9260521,"cg_id_a":7.91740799,"cg_id_raw_a":3.86001301,"cg_iq_a":-198.468231,"cg_iq_raw_a":-197.214005,"cg_iu_a":-191.799835,"cg_iv_a":55.5947113,"cg_iw_a":136.205124,"cg_sample_age_us":23.8963642,"cg_sample_seq":10618967,"cg_sample_valid":1,"cg_theta_rad":2.96317601,"cg_vd_req_v":-2.04476476,"cg_vd_v":-2.04476476,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41755581,"cg_vq_v":-8.41755581,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1850.925171,"values":{"Elec_RPM":-2355.36328,"EncoderCos":12911,"EncoderSin":24257,"GapTicks":49363,"Mech_RPM":-471.072632,"cg_du":55.1240692,"cg_dv":44.8759308,"cg_dw":48.6231689,"cg_id_a":-4.32394838,"cg_id_raw_a":-9.22531414,"cg_iq_a":-196.788986,"cg_iq_raw_a":-196.838684,"cg_iu_a":198.437531,"cg_iv_a":-95.2158966,"cg_iw_a":-103.221634,"cg_sample_age_us":24.1000004,"cg_sample_seq":10620666,"cg_sample_valid":1,"cg_theta_rad":3.55347562,"cg_vd_req_v":-1.85153461,"cg_vd_v":-1.85153461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4653244,"cg_vq_v":-8.4653244,"cg_vu_v":39.1504402,"cg_vv_v":38.2706528,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1851.018995,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1851.018999,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1851.019003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1851.276733,"values":{"Elec_RPM":-2355.27637,"EncoderCos":20715,"EncoderSin":14743,"GapTicks":49367,"Mech_RPM":-471.055298,"cg_du":44.8793411,"cg_dv":55.1206589,"cg_dw":49.512764,"cg_id_a":-15.1726418,"cg_id_raw_a":-13.4531536,"cg_iq_a":-196.831696,"cg_iq_raw_a":-197.509827,"cg_iu_a":-189.661453,"cg_iv_a":137.542023,"cg_iw_a":52.1194305,"cg_sample_age_us":23.9690914,"cg_sample_seq":10622366,"cg_sample_valid":1,"cg_theta_rad":4.14274216,"cg_vd_req_v":-1.60524786,"cg_vd_v":-1.60524786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44506073,"cg_vq_v":-8.44506073,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-17.6000652,"dclink_p_w":-2554.90552,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1851.608765,"values":{"Elec_RPM":-2353.75684,"EncoderCos":32380,"EncoderSin":11259,"GapTicks":49732,"Mech_RPM":-470.751343,"cg_du":54.7886009,"cg_dv":45.2113991,"cg_dw":53.1450539,"cg_id_a":4.62582445,"cg_id_raw_a":9.24028683,"cg_iq_a":-201.995346,"cg_iq_raw_a":-203.457581,"cg_iu_a":173.103088,"cg_iv_a":-176.800751,"cg_iw_a":3.69766235,"cg_sample_age_us":24.0963631,"cg_sample_seq":10624066,"cg_sample_valid":1,"cg_theta_rad":4.70151377,"cg_vd_req_v":-1.99913764,"cg_vd_v":-1.99913764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32164574,"cg_vq_v":-8.32164574,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2471.17725,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3772583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1851.960327,"values":{"Elec_RPM":-2353.36353,"EncoderCos":43222,"EncoderSin":13968,"GapTicks":49461,"Mech_RPM":-470.672699,"cg_du":48.2965355,"cg_dv":55.0348892,"cg_dw":44.9651108,"cg_id_a":-4.12812757,"cg_id_raw_a":-7.34604692,"cg_iq_a":-201.786896,"cg_iq_raw_a":-200.931015,"cg_iu_a":-153.816284,"cg_iv_a":195.532135,"cg_iw_a":-41.7158585,"cg_sample_age_us":23.9509087,"cg_sample_seq":10625770,"cg_sample_valid":1,"cg_theta_rad":5.28164339,"cg_vd_req_v":-1.92396271,"cg_vd_v":-1.92396271,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35433197,"cg_vq_v":-8.35433197,"cg_vu_v":37.830761,"cg_vv_v":49.707859,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2453.91992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1852.043385,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1852.043389,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1852.043393,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1852.292358,"values":{"Elec_RPM":-2351.15918,"EncoderCos":52063,"EncoderSin":23733,"GapTicks":49337,"Mech_RPM":-470.231812,"cg_du":51.3451576,"cg_dv":44.8526039,"cg_dw":55.1473961,"cg_id_a":5.93377781,"cg_id_raw_a":2.18212557,"cg_iq_a":-196.824158,"cg_iq_raw_a":-195.312057,"cg_iu_a":112.467148,"cg_iv_a":-197.350998,"cg_iw_a":84.8838501,"cg_sample_age_us":23.7327271,"cg_sample_seq":10627467,"cg_sample_valid":1,"cg_theta_rad":5.86441422,"cg_vd_req_v":-2.12253213,"cg_vd_v":-2.12253213,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43645096,"cg_vq_v":-8.43645096,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2414.69165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1852.628296,"values":{"Elec_RPM":-2350.31055,"EncoderCos":53771,"EncoderSin":35693,"GapTicks":49366,"Mech_RPM":-470.062134,"cg_du":50.7581406,"cg_dv":55.1217499,"cg_dw":44.8782501,"cg_id_a":-15.727128,"cg_id_raw_a":-15.2806654,"cg_iq_a":-196.40184,"cg_iq_raw_a":-196.278671,"cg_iu_a":-34.9727631,"cg_iv_a":184.29657,"cg_iw_a":-149.323807,"cg_sample_age_us":23.5254555,"cg_sample_seq":10629167,"cg_sample_valid":1,"cg_theta_rad":0.148723155,"cg_vd_req_v":-1.65781021,"cg_vd_v":-1.65781021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4288559,"cg_vq_v":-8.4288559,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2402.67163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1852.979858,"values":{"Elec_RPM":-2353.4646,"EncoderCos":39945,"EncoderSin":52881,"GapTicks":49334,"Mech_RPM":-470.692932,"cg_du":55.150692,"cg_dv":50.5407753,"cg_dw":44.849308,"cg_id_a":-5.12033176,"cg_id_raw_a":-9.00528622,"cg_iq_a":-198.702194,"cg_iq_raw_a":-199.336502,"cg_iu_a":69.0832825,"cg_iv_a":131.054352,"cg_iw_a":-198.977844,"cg_sample_age_us":23.7981815,"cg_sample_seq":10630820,"cg_sample_valid":1,"cg_theta_rad":1.26916122,"cg_vd_req_v":-1.82789969,"cg_vd_v":-1.82789969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42734623,"cg_vq_v":-8.42734623,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2404.48926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1853.035328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1853.035331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1853.035335,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1853.31189,"values":{"Elec_RPM":-2353.1521,"EncoderCos":38169,"EncoderSin":53410,"GapTicks":49910,"Mech_RPM":-470.630432,"cg_du":54.6268539,"cg_dv":53.8604889,"cg_dw":45.3731461,"cg_id_a":14.7127457,"cg_id_raw_a":13.2463665,"cg_iq_a":-203.312073,"cg_iq_raw_a":-205.793167,"cg_iu_a":25.7719002,"cg_iv_a":161.970383,"cg_iw_a":-187.742279,"cg_sample_age_us":23.8927269,"cg_sample_seq":10632566,"cg_sample_valid":1,"cg_theta_rad":1.31437492,"cg_vd_req_v":-2.19342709,"cg_vd_v":-2.19342709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32444382,"cg_vq_v":-8.32444382,"cg_vu_v":0.87978512,"cg_vv_v":3.51914048,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2425.4707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1853.643921,"values":{"Elec_RPM":-2352.44922,"EncoderCos":16615,"EncoderSin":47028,"GapTicks":49554,"Mech_RPM":-470.489868,"cg_du":54.9502716,"cg_dv":47.6721573,"cg_dw":45.0497284,"cg_id_a":-6.74958324,"cg_id_raw_a":-2.75102901,"cg_iq_a":-198.921234,"cg_iq_raw_a":-199.007202,"cg_iu_a":167.159088,"cg_iv_a":6.84674072,"cg_iw_a":-174.005829,"cg_sample_age_us":23.954546,"cg_sample_seq":10634217,"cg_sample_valid":1,"cg_theta_rad":2.41633797,"cg_vd_req_v":-1.75763428,"cg_vd_v":-1.75763428,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38991928,"cg_vq_v":-8.38991928,"cg_vu_v":130.208206,"cg_vv_v":126.689056,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1853.995483,"values":{"Elec_RPM":-2355.61426,"EncoderCos":16178,"EncoderSin":46442,"GapTicks":49315,"Mech_RPM":-471.122833,"cg_du":55.1681175,"cg_dv":49.2032242,"cg_dw":44.8318825,"cg_id_a":-9.64452934,"cg_id_raw_a":-9.14913654,"cg_iq_a":-195.431396,"cg_iq_raw_a":-193.457153,"cg_iu_a":141.93338,"cg_iv_a":45.8088684,"cg_iw_a":-187.742249,"cg_sample_age_us":23.9472733,"cg_sample_seq":10635967,"cg_sample_valid":1,"cg_theta_rad":2.45617104,"cg_vd_req_v":-1.71623898,"cg_vd_v":-1.71623898,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47233772,"cg_vq_v":-8.47233772,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2465.94775,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1854.027092,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1854.027095,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1854.027098,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1854.327515,"values":{"Elec_RPM":-2357.11499,"EncoderCos":13170,"EncoderSin":23651,"GapTicks":49518,"Mech_RPM":-471.423004,"cg_du":54.9827385,"cg_dv":45.0172615,"cg_dw":47.5991936,"cg_id_a":11.4397545,"cg_id_raw_a":11.2590427,"cg_iq_a":-200.087677,"cg_iq_raw_a":-199.322418,"cg_iu_a":197.640152,"cg_iv_a":-57.776001,"cg_iw_a":-139.864151,"cg_sample_age_us":24.0672722,"cg_sample_seq":10637616,"cg_sample_valid":1,"cg_theta_rad":3.58380389,"cg_vd_req_v":-2.15011573,"cg_vd_v":-2.15011573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37130356,"cg_vq_v":-8.37130356,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.6489944,"dclink_p_w":-2554.24463,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1854.679077,"values":{"Elec_RPM":-2359.8916,"EncoderCos":11247,"EncoderSin":34300,"GapTicks":49406,"Mech_RPM":-471.978333,"cg_du":44.915062,"cg_dv":51.012001,"cg_dw":55.084938,"cg_id_a":-14.1700029,"cg_id_raw_a":-13.5733042,"cg_iq_a":-198.787964,"cg_iq_raw_a":-197.387405,"cg_iu_a":-155.664734,"cg_iv_a":-21.0972595,"cg_iw_a":183.1409,"cg_sample_age_us":23.9254551,"cg_sample_seq":10639417,"cg_sample_valid":1,"cg_theta_rad":3.07238317,"cg_vd_req_v":-1.57450533,"cg_vd_v":-1.57450533,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40737534,"cg_vq_v":-8.40737534,"cg_vu_v":113.932175,"cg_vv_v":139.885834,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1855.011108,"values":{"Elec_RPM":-2358.09131,"EncoderCos":32746,"EncoderSin":11220,"GapTicks":49508,"Mech_RPM":-471.618286,"cg_du":54.9921951,"cg_dv":45.0078049,"cg_dw":52.1435928,"cg_id_a":-9.17272091,"cg_id_raw_a":-5.04769802,"cg_iq_a":-199.291061,"cg_iq_raw_a":-200.548615,"cg_iu_a":175.350189,"cg_iv_a":-168.464661,"cg_iw_a":-6.88552856,"cg_sample_age_us":24.0927277,"cg_sample_seq":10641017,"cg_sample_valid":1,"cg_theta_rad":4.72679567,"cg_vd_req_v":-1.71769917,"cg_vd_v":-1.71769917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39512539,"cg_vq_v":-8.39512539,"cg_vu_v":105.574219,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-15.8204937,"dclink_p_w":-2289.61548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1855.050882,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1855.050886,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1855.050891,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1855.347046,"values":{"Elec_RPM":-2359.24487,"EncoderCos":33580,"EncoderSin":11276,"GapTicks":49319,"Mech_RPM":-471.848969,"cg_du":55.1641464,"cg_dv":44.8358536,"cg_dw":50.277977,"cg_id_a":-16.8559074,"cg_id_raw_a":-17.282196,"cg_iq_a":-195.312927,"cg_iq_raw_a":-195.489746,"cg_iu_a":193.000946,"cg_iv_a":-144.579987,"cg_iw_a":-43.3468323,"cg_sample_age_us":24.0890903,"cg_sample_seq":10642767,"cg_sample_valid":1,"cg_theta_rad":4.77597809,"cg_vd_req_v":-1.59047544,"cg_vd_v":-1.59047544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48641014,"cg_vq_v":-8.48641014,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.681284,"dclink_p_w":-2414.19312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1855.698608,"values":{"Elec_RPM":-2352.67554,"EncoderCos":34694,"EncoderSin":11346,"GapTicks":49396,"Mech_RPM":-470.535126,"cg_du":55.0944252,"cg_dv":44.9055748,"cg_dw":48.3661919,"cg_id_a":2.07164669,"cg_id_raw_a":-6.76803637,"cg_iq_a":-197.542969,"cg_iq_raw_a":-195.632553,"cg_iu_a":197.676392,"cg_iv_a":-99.3114319,"cg_iw_a":-98.3649597,"cg_sample_age_us":24.0599995,"cg_sample_seq":10644516,"cg_sample_valid":1,"cg_theta_rad":4.80946445,"cg_vd_req_v":-1.99587762,"cg_vd_v":-1.99587762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42500019,"cg_vq_v":-8.42500019,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2454.41431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1856.010989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1856.010993,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1856.010997,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1856.03064,"values":{"Elec_RPM":-2356.90894,"EncoderCos":53708,"EncoderSin":36192,"GapTicks":49342,"Mech_RPM":-471.381805,"cg_du":49.7325478,"cg_dv":55.1428413,"cg_dw":44.8571587,"cg_id_a":-16.5124416,"cg_id_raw_a":-17.8172836,"cg_iq_a":-198.73407,"cg_iq_raw_a":-199.126755,"cg_iu_a":-62.1193962,"cg_iv_a":195.133484,"cg_iw_a":-133.014084,"cg_sample_age_us":23.3981819,"cg_sample_seq":10646117,"cg_sample_valid":1,"cg_theta_rad":0.175843298,"cg_vd_req_v":-1.66900432,"cg_vd_v":-1.66900432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40808201,"cg_vq_v":-8.40808201,"cg_vu_v":14.0765619,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2408.68555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1856.362671,"values":{"Elec_RPM":-2357.39258,"EncoderCos":52950,"EncoderSin":26023,"GapTicks":49557,"Mech_RPM":-471.478516,"cg_du":54.9478836,"cg_dv":45.0521164,"cg_dw":52.6093216,"cg_id_a":-4.99856758,"cg_id_raw_a":4.03786421,"cg_iq_a":-198.604233,"cg_iq_raw_a":-201.048676,"cg_iu_a":173.646729,"cg_iv_a":-167.087387,"cg_iw_a":-6.55934143,"cg_sample_age_us":24.1036358,"cg_sample_seq":10647916,"cg_sample_valid":1,"cg_theta_rad":5.97862291,"cg_vd_req_v":-1.85623765,"cg_vd_v":-1.85623765,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41478062,"cg_vq_v":-8.41478062,"cg_vu_v":47.0685043,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1856.714233,"values":{"Elec_RPM":-2360.4458,"EncoderCos":37776,"EncoderSin":53510,"GapTicks":50012,"Mech_RPM":-472.089172,"cg_du":54.1875572,"cg_dv":54.5343437,"cg_dw":45.4656563,"cg_id_a":9.64889526,"cg_id_raw_a":15.8684111,"cg_iq_a":-201.808777,"cg_iq_raw_a":-202.697983,"cg_iu_a":11.2018785,"cg_iv_a":166.42836,"cg_iw_a":-177.630234,"cg_sample_age_us":23.8890915,"cg_sample_seq":10649517,"cg_sample_valid":1,"cg_theta_rad":1.3356961,"cg_vd_req_v":-2.07184362,"cg_vd_v":-2.07184362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33366394,"cg_vq_v":-8.33366394,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-18.0839214,"dclink_p_w":-2617.18921,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1857.002642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1857.002646,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1857.00265,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1857.046265,"values":{"Elec_RPM":-2362.00708,"EncoderCos":47127,"EncoderSin":48631,"GapTicks":49398,"Mech_RPM":-472.401398,"cg_du":51.5583725,"cg_dv":44.9073715,"cg_dw":55.0926285,"cg_id_a":5.46871281,"cg_id_raw_a":0.342712641,"cg_iq_a":-198.996811,"cg_iq_raw_a":-197.916565,"cg_iu_a":114.56929,"cg_iv_a":-199.163193,"cg_iw_a":84.5939026,"cg_sample_age_us":23.5945454,"cg_sample_seq":10651317,"cg_sample_valid":1,"cg_theta_rad":0.838933051,"cg_vd_req_v":-2.06206417,"cg_vd_v":-2.06206417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39266682,"cg_vq_v":-8.39266682,"cg_vu_v":136.366699,"cg_vv_v":128.008743,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2435.69946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1857.382202,"values":{"Elec_RPM":-2362.11621,"EncoderCos":15769,"EncoderSin":45935,"GapTicks":49310,"Mech_RPM":-472.423218,"cg_du":55.1718903,"cg_dv":50.4038773,"cg_dw":44.8281097,"cg_id_a":-2.96355033,"cg_id_raw_a":-5.72698736,"cg_iq_a":-199.17421,"cg_iq_raw_a":-196.37738,"cg_iu_a":116.961388,"cg_iv_a":82.1251907,"cg_iw_a":-199.086578,"cg_sample_age_us":23.8854542,"cg_sample_seq":10652917,"cg_sample_valid":1,"cg_theta_rad":2.48492956,"cg_vd_req_v":-1.86324,"cg_vd_v":-1.86324,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42176342,"cg_vq_v":-8.42176342,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1857.733765,"values":{"Elec_RPM":-2363.96509,"EncoderCos":15039,"EncoderSin":44999,"GapTicks":49532,"Mech_RPM":-472.792999,"cg_du":54.9700203,"cg_dv":52.4935646,"cg_dw":45.0299797,"cg_id_a":14.4879951,"cg_id_raw_a":16.1506119,"cg_iq_a":-201.69754,"cg_iq_raw_a":-200.119736,"cg_iu_a":54.8032074,"cg_iv_a":143.703476,"cg_iw_a":-198.506683,"cg_sample_age_us":23.8854542,"cg_sample_seq":10654666,"cg_sample_valid":1,"cg_theta_rad":2.5389924,"cg_vd_req_v":-2.19953966,"cg_vd_v":-2.19953966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3625927,"cg_vq_v":-8.3625927,"cg_vu_v":43.1094704,"cg_vv_v":54.9865723,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2387.17944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1858.026741,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1858.026745,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1858.026749,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1858.065796,"values":{"Elec_RPM":-2359.12354,"EncoderCos":13837,"EncoderSin":22313,"GapTicks":49837,"Mech_RPM":-471.824707,"cg_du":54.6935806,"cg_dv":46.4547424,"cg_dw":45.3064194,"cg_id_a":5.60479641,"cg_id_raw_a":10.8980265,"cg_iq_a":-201.27684,"cg_iq_raw_a":-203.295624,"cg_iu_a":176.147552,"cg_iv_a":-4.24386597,"cg_iw_a":-171.903687,"cg_sample_age_us":24.0381813,"cg_sample_seq":10656316,"cg_sample_valid":1,"cg_theta_rad":3.65323997,"cg_vd_req_v":-1.99158406,"cg_vd_v":-1.99158406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32202911,"cg_vq_v":-8.32202911,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2391.42847,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1858.581421,"values":{"Elec_RPM":-2351.89551,"EncoderCos":37140,"EncoderSin":53700,"GapTicks":49547,"Mech_RPM":-470.379089,"cg_du":52.6772423,"cg_dv":54.9564438,"cg_dw":45.0435562,"cg_id_a":-3.53496552,"cg_id_raw_a":1.7962662,"cg_iq_a":-198.280457,"cg_iq_raw_a":-199.473618,"cg_iu_a":-4.20175123,"cg_iv_a":171.756195,"cg_iw_a":-167.554443,"cg_sample_age_us":23.9363632,"cg_sample_seq":10658867,"cg_sample_valid":1,"cg_theta_rad":1.36666,"cg_vd_req_v":-1.81122208,"cg_vd_v":-1.81122208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45820236,"cg_vq_v":-8.45820236,"cg_vu_v":108.653458,"cg_vv_v":110.852921,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1858.923346,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1858.923354,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1858.923356,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1859.019275,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1859.019279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1859.019283,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1859.057983,"values":{"Elec_RPM":-2340.6626,"EncoderCos":53742,"EncoderSin":35962,"GapTicks":49355,"Mech_RPM":-468.132538,"cg_du":50.2271042,"cg_dv":55.1313591,"cg_dw":44.8686409,"cg_id_a":-14.9489899,"cg_id_raw_a":-16.7643356,"cg_iq_a":-198.688492,"cg_iq_raw_a":-195.995865,"cg_iu_a":-63.6416397,"cg_iv_a":196.655731,"cg_iw_a":-133.014084,"cg_sample_age_us":23.4563637,"cg_sample_seq":10661317,"cg_sample_valid":1,"cg_theta_rad":0.173966676,"cg_vd_req_v":-1.68614149,"cg_vd_v":-1.68614149,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4106493,"cg_vq_v":-8.4106493,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.3496532,"dclink_p_w":-2366.198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1859.390015,"values":{"Elec_RPM":-2340.57422,"EncoderCos":48368,"EncoderSin":47422,"GapTicks":49428,"Mech_RPM":-468.114838,"cg_du":48.3504448,"cg_dv":44.934948,"cg_dw":55.065052,"cg_id_a":-10.6941242,"cg_id_raw_a":-8.36429882,"cg_iq_a":-198.578903,"cg_iq_raw_a":-200.205658,"cg_iu_a":20.3353233,"cg_iv_a":-181.294983,"cg_iw_a":160.959656,"cg_sample_age_us":23.7436371,"cg_sample_seq":10663016,"cg_sample_valid":1,"cg_theta_rad":0.757872105,"cg_vd_req_v":-1.71835625,"cg_vd_v":-1.71835625,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43956375,"cg_vq_v":-8.43956375,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2458.36499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1859.745483,"values":{"Elec_RPM":-2344.92896,"EncoderCos":38008,"EncoderSin":53438,"GapTicks":50018,"Mech_RPM":-468.985779,"cg_du":54.5287781,"cg_dv":54.1906128,"cg_dw":45.4712219,"cg_id_a":13.1888514,"cg_id_raw_a":13.8388319,"cg_iq_a":-202.903152,"cg_iq_raw_a":-203.916779,"cg_iu_a":17.7620125,"cg_iv_a":165.304794,"cg_iw_a":-183.066803,"cg_sample_age_us":23.8999996,"cg_sample_seq":10664717,"cg_sample_valid":1,"cg_theta_rad":1.3216455,"cg_vd_req_v":-2.15755129,"cg_vd_v":-2.15755129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.304842,"cg_vq_v":-8.304842,"cg_vu_v":104.694435,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2494.70972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1860.010962,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1860.010965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1860.010968,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1860.073608,"values":{"Elec_RPM":-2349.06934,"EncoderCos":16488,"EncoderSin":46836,"GapTicks":49410,"Mech_RPM":-469.813873,"cg_du":55.0814285,"cg_dv":48.1641808,"cg_dw":44.9185715,"cg_id_a":-9.07489586,"cg_id_raw_a":-6.90967798,"cg_iq_a":-196.279541,"cg_iq_raw_a":-196.497879,"cg_iu_a":158.424316,"cg_iv_a":19.8945313,"cg_iw_a":-178.318848,"cg_sample_age_us":23.9690914,"cg_sample_seq":10666367,"cg_sample_valid":1,"cg_theta_rad":2.43168759,"cg_vd_req_v":-1.71981287,"cg_vd_v":-1.71981287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47542477,"cg_vq_v":-8.47542477,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.2880402,"dclink_p_w":-2357.28101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1860.409546,"values":{"Elec_RPM":-2347.06641,"EncoderCos":11354,"EncoderSin":35354,"GapTicks":49806,"Mech_RPM":-469.4133,"cg_du":45.2790451,"cg_dv":53.5082741,"cg_dw":54.7209549,"cg_id_a":5.23447323,"cg_id_raw_a":8.71652889,"cg_iq_a":-201.018478,"cg_iq_raw_a":-200.127136,"cg_iu_a":-177.01236,"cg_iv_a":4.56338501,"cg_iw_a":167.918488,"cg_sample_age_us":23.9363632,"cg_sample_seq":10668066,"cg_sample_valid":1,"cg_theta_rad":3.02016068,"cg_vd_req_v":-1.95580375,"cg_vd_v":-1.95580375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35908604,"cg_vq_v":-8.35908604,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2428.88037,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1860.761108,"values":{"Elec_RPM":-2348.73145,"EncoderCos":11282,"EncoderSin":34544,"GapTicks":49471,"Mech_RPM":-469.746307,"cg_du":44.9740944,"cg_dv":51.5729904,"cg_dw":55.0259056,"cg_id_a":-10.8939686,"cg_id_raw_a":-8.11241722,"cg_iq_a":-199.298935,"cg_iq_raw_a":-200.758499,"cg_iu_a":-162.406082,"cg_iv_a":-22.800705,"cg_iw_a":185.206787,"cg_sample_age_us":23.9036369,"cg_sample_seq":10669816,"cg_sample_valid":1,"cg_theta_rad":3.06382227,"cg_vd_req_v":-1.63327861,"cg_vd_v":-1.63327861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37725925,"cg_vq_v":-8.37725925,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1861.035012,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1861.035018,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1861.035022,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1861.09314,"values":{"Elec_RPM":-2347.24268,"EncoderCos":21473,"EncoderSin":14335,"GapTicks":49348,"Mech_RPM":-469.448517,"cg_du":44.8625755,"cg_dv":55.1374245,"cg_dw":51.0196114,"cg_id_a":-3.45785975,"cg_id_raw_a":-4.0862422,"cg_iq_a":-198.963776,"cg_iq_raw_a":-199.851837,"cg_iu_a":-200.389618,"cg_iv_a":106.118607,"cg_iw_a":94.2710114,"cg_sample_age_us":23.8345451,"cg_sample_seq":10671466,"cg_sample_valid":1,"cg_theta_rad":4.17283058,"cg_vd_req_v":-1.87322509,"cg_vd_v":-1.87322509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40913391,"cg_vq_v":-8.40913391,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.1267548,"dclink_p_w":-2326.84497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1861.448608,"values":{"Elec_RPM":-2348.4812,"EncoderCos":21241,"EncoderSin":14465,"GapTicks":49312,"Mech_RPM":-469.696228,"cg_du":44.8291702,"cg_dv":55.1708298,"cg_dw":50.6072197,"cg_id_a":-9.26602936,"cg_id_raw_a":-14.4224501,"cg_iq_a":-197.199677,"cg_iq_raw_a":-196.65419,"cg_iu_a":-195.35173,"cg_iv_a":74.1153107,"cg_iw_a":121.23642,"cg_sample_age_us":23.9254551,"cg_sample_seq":10673221,"cg_sample_valid":1,"cg_theta_rad":4.2000742,"cg_vd_req_v":-1.74551558,"cg_vd_v":-1.74551558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45640469,"cg_vq_v":-8.45640469,"cg_vu_v":123.169922,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2424.37378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1861.776733,"values":{"Elec_RPM":-2350.16382,"EncoderCos":44914,"EncoderSin":15112,"GapTicks":49787,"Mech_RPM":-470.032745,"cg_du":45.2613297,"cg_dv":54.7386703,"cg_dw":46.6400261,"cg_id_a":1.58229327,"cg_id_raw_a":6.58041716,"cg_iq_a":-202.078918,"cg_iq_raw_a":-203.260834,"cg_iu_a":-172.77182,"cg_iv_a":174.583221,"cg_iw_a":-1.81140137,"cg_sample_age_us":23.9181824,"cg_sample_seq":10674866,"cg_sample_valid":1,"cg_theta_rad":5.33418274,"cg_vd_req_v":-2.00695205,"cg_vd_v":-2.00695205,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31813717,"cg_vq_v":-8.31813717,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1862.02726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1862.027267,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1862.027272,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1862.112671,"values":{"Elec_RPM":-2354.24121,"EncoderCos":45613,"EncoderSin":15639,"GapTicks":49421,"Mech_RPM":-470.848267,"cg_du":44.9288979,"cg_dv":55.0711021,"cg_dw":48.688446,"cg_id_a":-14.058836,"cg_id_raw_a":-10.3143787,"cg_iq_a":-198.287964,"cg_iq_raw_a":-199.603439,"cg_iu_a":-179.404449,"cg_iv_a":164.217499,"cg_iw_a":15.1869583,"cg_sample_age_us":23.8272724,"cg_sample_seq":10676616,"cg_sample_valid":1,"cg_theta_rad":5.36550426,"cg_vd_req_v":-1.70758128,"cg_vd_v":-1.70758128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39658737,"cg_vq_v":-8.39658737,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2451.82813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1862.464233,"values":{"Elec_RPM":-2346.74219,"EncoderCos":53784,"EncoderSin":35700,"GapTicks":49310,"Mech_RPM":-469.34845,"cg_du":50.7586517,"cg_dv":55.1719627,"cg_dw":44.8280373,"cg_id_a":-15.1912756,"cg_id_raw_a":-12.8906021,"cg_iq_a":-196.21817,"cg_iq_raw_a":-196.336304,"cg_iu_a":-86.4027634,"cg_iv_a":199.011566,"cg_iw_a":-112.608803,"cg_sample_age_us":23.4818172,"cg_sample_seq":10678271,"cg_sample_valid":1,"cg_theta_rad":0.194678158,"cg_vd_req_v":-1.6733073,"cg_vd_v":-1.6733073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48419571,"cg_vq_v":-8.48419571,"cg_vu_v":128.888519,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2473.88135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1862.796265,"values":{"Elec_RPM":-2355.59302,"EncoderCos":48112,"EncoderSin":47769,"GapTicks":49368,"Mech_RPM":-471.118591,"cg_du":49.3141518,"cg_dv":44.8801041,"cg_dw":55.1198959,"cg_id_a":-15.3843975,"cg_id_raw_a":-14.5802727,"cg_iq_a":-197.951218,"cg_iq_raw_a":-199.055695,"cg_iu_a":34.5066643,"cg_iv_a":-185.390549,"cg_iw_a":150.883881,"cg_sample_age_us":23.6636372,"cg_sample_seq":10679967,"cg_sample_valid":1,"cg_theta_rad":0.777088881,"cg_vd_req_v":-1.62595224,"cg_vd_v":-1.62595224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42615318,"cg_vq_v":-8.42615318,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2451.25781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1863.018892,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1863.018898,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1863.018903,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1863.128296,"values":{"Elec_RPM":-2355.43018,"EncoderCos":37254,"EncoderSin":53660,"GapTicks":49659,"Mech_RPM":-471.08606,"cg_du":52.9366913,"cg_dv":54.8547249,"cg_dw":45.1452751,"cg_id_a":-2.16532946,"cg_id_raw_a":4.80523396,"cg_iq_a":-200.754456,"cg_iq_raw_a":-201.924713,"cg_iu_a":0.183752775,"cg_iv_a":173.314697,"cg_iw_a":-173.498444,"cg_sample_age_us":23.9363632,"cg_sample_seq":10681666,"cg_sample_valid":1,"cg_theta_rad":1.3610549,"cg_vd_req_v":-1.84117818,"cg_vd_v":-1.84117818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36715794,"cg_vq_v":-8.36715794,"cg_vu_v":37.830761,"cg_vv_v":45.7488289,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2411.30005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4076538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1863.479858,"values":{"Elec_RPM":-2358.35132,"EncoderCos":25358,"EncoderSin":53011,"GapTicks":49675,"Mech_RPM":-471.670258,"cg_du":45.159565,"cg_dv":46.9410591,"cg_dw":54.840435,"cg_id_a":9.4479351,"cg_id_raw_a":7.86551714,"cg_iq_a":-202.215057,"cg_iq_raw_a":-200.375031,"cg_iu_a":-48.1292801,"cg_iv_a":-146.355927,"cg_iw_a":194.485199,"cg_sample_age_us":23.9036369,"cg_sample_seq":10683367,"cg_sample_valid":1,"cg_theta_rad":1.9232856,"cg_vd_req_v":-2.09427214,"cg_vd_v":-2.09427214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35206413,"cg_vq_v":-8.35206413,"cg_vu_v":106.453995,"cg_vv_v":100.735397,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2464.02417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119894713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1863.815796,"values":{"Elec_RPM":-2362.52246,"EncoderCos":15440,"EncoderSin":45564,"GapTicks":49403,"Mech_RPM":-472.504517,"cg_du":55.0878677,"cg_dv":51.2626266,"cg_dw":44.9121323,"cg_id_a":4.46407795,"cg_id_raw_a":-0.218463495,"cg_iq_a":-200.869171,"cg_iq_raw_a":-198.738281,"cg_iu_a":91.1920166,"cg_iv_a":108.800659,"cg_iw_a":-199.992676,"cg_sample_age_us":23.8563633,"cg_sample_seq":10685067,"cg_sample_valid":1,"cg_theta_rad":2.50719523,"cg_vd_req_v":-2.00538969,"cg_vd_v":-2.00538969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35196781,"cg_vq_v":-8.35196781,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4165955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1864.043418,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1864.043424,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1864.04343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1864.147827,"values":{"Elec_RPM":-2362.99561,"EncoderCos":11213,"EncoderSin":34164,"GapTicks":49418,"Mech_RPM":-472.599121,"cg_du":44.9254951,"cg_dv":50.7339745,"cg_dw":55.0745049,"cg_id_a":-14.41714,"cg_id_raw_a":-16.5595798,"cg_iq_a":-201.132111,"cg_iq_raw_a":-198.771149,"cg_iu_a":-153.598831,"cg_iv_a":-25.9901733,"cg_iw_a":187.816345,"cg_sample_age_us":23.9290905,"cg_sample_seq":10686767,"cg_sample_valid":1,"cg_theta_rad":3.07632303,"cg_vd_req_v":-1.56950212,"cg_vd_v":-1.56950212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33740044,"cg_vq_v":-8.33740044,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2542.18018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4291382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1864.49939,"values":{"Elec_RPM":-2361.6084,"EncoderCos":13975,"EncoderSin":22063,"GapTicks":49622,"Mech_RPM":-472.321686,"cg_du":54.8885689,"cg_dv":47.1370773,"cg_dw":45.1114311,"cg_id_a":-1.71971571,"cg_id_raw_a":6.39959812,"cg_iq_a":-199.640427,"cg_iq_raw_a":-202.747681,"cg_iu_a":172.776886,"cg_iv_a":0.0328979492,"cg_iw_a":-172.809784,"cg_sample_age_us":23.9327278,"cg_sample_seq":10688466,"cg_sample_valid":1,"cg_theta_rad":3.6674614,"cg_vd_req_v":-1.84367228,"cg_vd_v":-1.84367228,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39759064,"cg_vq_v":-8.39759064,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-17.7921581,"dclink_p_w":-2582.79053,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3969116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1864.831421,"values":{"Elec_RPM":-2348.47607,"EncoderCos":22856,"EncoderSin":13611,"GapTicks":49887,"Mech_RPM":-469.695221,"cg_du":45.3522186,"cg_dv":54.6477814,"cg_dw":53.9259758,"cg_id_a":8.7832222,"cg_id_raw_a":9.90317249,"cg_iq_a":-198.578232,"cg_iq_raw_a":-198.200226,"cg_iu_a":-186.254517,"cg_iv_a":27.0345612,"cg_iw_a":159.219955,"cg_sample_age_us":23.8272724,"cg_sample_seq":10690166,"cg_sample_valid":1,"cg_theta_rad":4.24889755,"cg_vd_req_v":-2.09552217,"cg_vd_v":-2.09552217,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41065598,"cg_vq_v":-8.41065598,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1865.034584,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1865.03459,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1865.034595,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1865.163452,"values":{"Elec_RPM":-2349.49121,"EncoderCos":34928,"EncoderSin":11356,"GapTicks":49490,"Mech_RPM":-469.898254,"cg_du":55.0085945,"cg_dv":44.9914055,"cg_dw":47.9449196,"cg_id_a":4.47301054,"cg_id_raw_a":0.0364440233,"cg_iq_a":-198.832916,"cg_iq_raw_a":-198.006729,"cg_iu_a":198.836212,"cg_iv_a":-74.4844208,"cg_iw_a":-124.351791,"cg_sample_age_us":24.0672722,"cg_sample_seq":10691866,"cg_sample_valid":1,"cg_theta_rad":4.82653332,"cg_vd_req_v":-2.02681875,"cg_vd_v":-2.02681875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35949516,"cg_vq_v":-8.35949516,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2438.75464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1865.515015,"values":{"Elec_RPM":-2350.65454,"EncoderCos":46036,"EncoderSin":15971,"GapTicks":49317,"Mech_RPM":-470.13089,"cg_du":44.83395,"cg_dv":55.16605,"cg_dw":49.8245773,"cg_id_a":-15.9174786,"cg_id_raw_a":-16.2811966,"cg_iq_a":-197.158157,"cg_iq_raw_a":-197.570572,"cg_iu_a":-190.132629,"cg_iv_a":138.665588,"cg_iw_a":51.467041,"cg_sample_age_us":23.9254551,"cg_sample_seq":10693566,"cg_sample_valid":1,"cg_theta_rad":5.39792156,"cg_vd_req_v":-1.6905818,"cg_vd_v":-1.6905818,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44095612,"cg_vq_v":-8.44095612,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6160469,"dclink_p_w":-2397.44238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1865.847046,"values":{"Elec_RPM":-2356.21997,"EncoderCos":52962,"EncoderSin":25937,"GapTicks":49594,"Mech_RPM":-471.243988,"cg_du":54.9140015,"cg_dv":45.0859985,"cg_dw":52.8099327,"cg_id_a":-1.60822082,"cg_id_raw_a":4.33242273,"cg_iq_a":-198.5905,"cg_iq_raw_a":-200.732681,"cg_iu_a":170.855957,"cg_iv_a":-169.298279,"cg_iw_a":-1.55768585,"cg_sample_age_us":24.1981812,"cg_sample_seq":10695267,"cg_sample_valid":1,"cg_theta_rad":5.97141218,"cg_vd_req_v":-1.90686822,"cg_vd_v":-1.90686822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43507004,"cg_vq_v":-8.43507004,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6051731,"dclink_p_w":-2403.17798,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1866.026794,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1866.026799,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1866.026805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1866.182983,"values":{"Elec_RPM":-2357.2085,"EncoderCos":47523,"EncoderSin":48352,"GapTicks":49347,"Mech_RPM":-471.441711,"cg_du":50.742054,"cg_dv":44.8616943,"cg_dw":55.1383057,"cg_id_a":-3.12858891,"cg_id_raw_a":-7.59050894,"cg_iq_a":-197.808685,"cg_iq_raw_a":-197.142242,"cg_iu_a":88.2200241,"cg_iv_a":-198.655792,"cg_iw_a":110.43576,"cg_sample_age_us":23.6345463,"cg_sample_seq":10696916,"cg_sample_valid":1,"cg_theta_rad":0.814625025,"cg_vd_req_v":-1.89429641,"cg_vd_v":-1.89429641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40580559,"cg_vq_v":-8.40580559,"cg_vu_v":11.4372072,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.6326847,"dclink_p_w":-2551.88428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1866.534546,"values":{"Elec_RPM":-2351.64258,"EncoderCos":53053,"EncoderSin":39012,"GapTicks":49797,"Mech_RPM":-470.328491,"cg_du":45.2703667,"cg_dv":54.7296333,"cg_dw":46.6249084,"cg_id_a":5.16831255,"cg_id_raw_a":9.3370018,"cg_iq_a":-203.454544,"cg_iq_raw_a":-204.604965,"cg_iu_a":-174.692749,"cg_iv_a":174.438248,"cg_iw_a":0.254501343,"cg_sample_age_us":23.5327282,"cg_sample_seq":10698717,"cg_sample_valid":1,"cg_theta_rad":0.304920703,"cg_vd_req_v":-2.07228708,"cg_vd_v":-2.07228708,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29341793,"cg_vq_v":-8.29341793,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1866.866577,"values":{"Elec_RPM":-2355.52026,"EncoderCos":35818,"EncoderSin":53924,"GapTicks":49347,"Mech_RPM":-471.104034,"cg_du":49.7696915,"cg_dv":55.1385155,"cg_dw":44.8614845,"cg_id_a":-11.8703127,"cg_id_raw_a":-15.44806,"cg_iq_a":-198.86528,"cg_iq_raw_a":-198.840012,"cg_iu_a":-63.5691528,"cg_iv_a":195.278442,"cg_iw_a":-131.70929,"cg_sample_age_us":23.823637,"cg_sample_seq":10700366,"cg_sample_valid":1,"cg_theta_rad":1.42679536,"cg_vd_req_v":-1.66763401,"cg_vd_v":-1.66763401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42660809,"cg_vq_v":-8.42660809,"cg_vu_v":7.47817326,"cg_vv_v":11.877099,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1867.019371,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1867.019377,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1867.019383,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1867.21814,"values":{"Elec_RPM":-2357.47632,"EncoderCos":23697,"EncoderSin":52341,"GapTicks":49594,"Mech_RPM":-471.49527,"cg_du":48.0171738,"cg_dv":45.0854797,"cg_dw":54.9145203,"cg_id_a":-12.0549049,"cg_id_raw_a":-5.54303122,"cg_iq_a":-204.095444,"cg_iq_raw_a":-204.521011,"cg_iu_a":3.22823477,"cg_iv_a":-178.286743,"cg_iw_a":175.058502,"cg_sample_age_us":23.9763641,"cg_sample_seq":10702066,"cg_sample_valid":1,"cg_theta_rad":2.00369906,"cg_vd_req_v":-1.62257636,"cg_vd_v":-1.62257636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30124855,"cg_vq_v":-8.30124855,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2507.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1867.550171,"values":{"Elec_RPM":-2364.82471,"EncoderCos":14500,"EncoderSin":44136,"GapTicks":50098,"Mech_RPM":-472.964935,"cg_du":54.4560585,"cg_dv":54.413475,"cg_dw":45.5439415,"cg_id_a":14.6517458,"cg_id_raw_a":15.7064981,"cg_iq_a":-204.809479,"cg_iq_raw_a":-205.982056,"cg_iu_a":20.4803009,"cg_iv_a":166.065903,"cg_iw_a":-186.546204,"cg_sample_age_us":23.7945461,"cg_sample_seq":10703766,"cg_sample_valid":1,"cg_theta_rad":2.57751894,"cg_vd_req_v":-2.17025805,"cg_vd_v":-2.17025805,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27219009,"cg_vq_v":-8.27219009,"cg_vu_v":104.694435,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.3206596,"dclink_p_w":-2354.82251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1867.882202,"values":{"Elec_RPM":-2361.12891,"EncoderCos":11208,"EncoderSin":32727,"GapTicks":49432,"Mech_RPM":-472.225769,"cg_du":44.9382591,"cg_dv":48.1011238,"cg_dw":55.0617409,"cg_id_a":0.289106727,"cg_id_raw_a":-6.96938896,"cg_iq_a":-197.558456,"cg_iq_raw_a":-196.983597,"cg_iu_a":-83.1408234,"cg_iv_a":-113.627762,"cg_iw_a":196.768585,"cg_sample_age_us":23.8490906,"cg_sample_seq":10705467,"cg_sample_valid":1,"cg_theta_rad":3.14596844,"cg_vd_req_v":-1.92123687,"cg_vd_v":-1.92123687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43905735,"cg_vq_v":-8.43905735,"cg_vu_v":105.134323,"cg_vv_v":100.735397,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2537.19727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1868.010983,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1868.010989,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1868.010994,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1868.304077,"values":{"Elec_RPM":-2355.35938,"EncoderCos":54000,"EncoderSin":31977,"GapTicks":49334,"Mech_RPM":-471.071899,"cg_du":55.1505203,"cg_dv":50.632843,"cg_dw":44.8494797,"cg_id_a":-6.62761021,"cg_id_raw_a":-9.89444542,"cg_iq_a":-198.444962,"cg_iq_raw_a":-198.889938,"cg_iu_a":115.874069,"cg_iv_a":83.9736328,"cg_iw_a":-199.847702,"cg_sample_age_us":24.0345459,"cg_sample_seq":10707516,"cg_sample_valid":1,"cg_theta_rad":6.25896692,"cg_vd_req_v":-1.85563684,"cg_vd_v":-1.85563684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42696381,"cg_vq_v":-8.42696381,"cg_vu_v":39.1504402,"cg_vv_v":40.9100075,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.1415825,"dclink_p_w":-2488.3501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1868.823608,"values":{"Elec_RPM":-2347.81104,"EncoderCos":39666,"EncoderSin":12370,"GapTicks":49657,"Mech_RPM":-469.562225,"cg_du":54.8564796,"cg_dv":52.7432289,"cg_dw":45.1435204,"cg_id_a":3.56339645,"cg_id_raw_a":-0.254594892,"cg_iq_a":-205.31311,"cg_iq_raw_a":-204.721207,"cg_iu_a":64.4803162,"cg_iv_a":137.940704,"cg_iw_a":-202.421021,"cg_sample_age_us":23.9836369,"cg_sample_seq":10709966,"cg_sample_valid":1,"cg_theta_rad":5.05299902,"cg_vd_req_v":-2.03794456,"cg_vd_v":-2.03794456,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26296806,"cg_vq_v":-8.26296806,"cg_vu_v":45.7488289,"cg_vv_v":62.4647446,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1868.907328,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1868.907338,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1868.907341,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1869.03466,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1869.034667,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1869.034673,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1869.229858,"values":{"Elec_RPM":-2351.53589,"EncoderCos":53274,"EncoderSin":38207,"GapTicks":49889,"Mech_RPM":-470.307159,"cg_du":46.2307816,"cg_dv":54.6462021,"cg_dw":45.3537979,"cg_id_a":14.6906633,"cg_id_raw_a":14.4903917,"cg_iq_a":-204.468048,"cg_iq_raw_a":-203.484634,"cg_iu_a":-164.39949,"cg_iv_a":188.609589,"cg_iw_a":-24.2100906,"cg_sample_age_us":23.51091,"cg_sample_seq":10712166,"cg_sample_valid":1,"cg_theta_rad":0.266780943,"cg_vd_req_v":-2.27619982,"cg_vd_v":-2.27619982,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26623917,"cg_vq_v":-8.26623917,"cg_vu_v":39.1504402,"cg_vv_v":66.8636703,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-17.3372974,"dclink_p_w":-2509.13428,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3486328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1869.56189,"values":{"Elec_RPM":-2356.65747,"EncoderCos":47264,"EncoderSin":48523,"GapTicks":49338,"Mech_RPM":-471.331482,"cg_du":51.2565002,"cg_dv":44.8533554,"cg_dw":55.1466446,"cg_id_a":2.64904499,"cg_id_raw_a":-2.92648125,"cg_iq_a":-198.566193,"cg_iq_raw_a":-198.338257,"cg_iu_a":106.84935,"cg_iv_a":-198.800751,"cg_iw_a":91.9514008,"cg_sample_age_us":23.5872726,"cg_sample_seq":10713867,"cg_sample_valid":1,"cg_theta_rad":0.830617487,"cg_vd_req_v":-2.02135706,"cg_vd_v":-2.02135706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4201355,"cg_vq_v":-8.4201355,"cg_vu_v":106.453995,"cg_vv_v":98.9758301,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.5671158,"dclink_p_w":-2390.38232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1869.893921,"values":{"Elec_RPM":-2359.49585,"EncoderCos":24723,"EncoderSin":52792,"GapTicks":50079,"Mech_RPM":-471.89917,"cg_du":45.5271454,"cg_dv":45.7220802,"cg_dw":54.4728546,"cg_id_a":10.4828558,"cg_id_raw_a":12.5799494,"cg_iq_a":-203.658539,"cg_iq_raw_a":-202.835876,"cg_iu_a":-20.6202087,"cg_iv_a":-165.818878,"cg_iw_a":186.439087,"cg_sample_age_us":23.7654552,"cg_sample_seq":10715516,"cg_sample_valid":1,"cg_theta_rad":1.95418382,"cg_vd_req_v":-2.0921936,"cg_vd_v":-2.0921936,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.305089,"cg_vq_v":-8.305089,"cg_vu_v":37.3908691,"cg_vv_v":38.2706528,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2409.16699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1870.027611,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1870.027618,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1870.027624,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1870.24939,"values":{"Elec_RPM":-2357.77246,"EncoderCos":15210,"EncoderSin":45218,"GapTicks":49506,"Mech_RPM":-471.554504,"cg_du":54.9939575,"cg_dv":52.0129089,"cg_dw":45.0060425,"cg_id_a":8.68783379,"cg_id_raw_a":4.0804162,"cg_iq_a":-203.28064,"cg_iq_raw_a":-203.318695,"cg_iu_a":71.6565857,"cg_iv_a":128.444809,"cg_iw_a":-200.101395,"cg_sample_age_us":23.9181824,"cg_sample_seq":10717217,"cg_sample_valid":1,"cg_theta_rad":2.5245266,"cg_vd_req_v":-2.08136034,"cg_vd_v":-2.08136034,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28510189,"cg_vq_v":-8.28510189,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2446.52246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1870.581421,"values":{"Elec_RPM":-2351.87451,"EncoderCos":11240,"EncoderSin":33640,"GapTicks":49371,"Mech_RPM":-470.374878,"cg_du":44.8831367,"cg_dv":49.6262283,"cg_dw":55.1168633,"cg_id_a":-16.8115578,"cg_id_raw_a":-17.5314751,"cg_iq_a":-198.443192,"cg_iq_raw_a":-198.715851,"cg_iu_a":-142.834412,"cg_iv_a":-47.3015442,"cg_iw_a":190.135956,"cg_sample_age_us":23.812727,"cg_sample_seq":10718916,"cg_sample_valid":1,"cg_theta_rad":3.09624529,"cg_vd_req_v":-1.55258512,"cg_vd_v":-1.55258512,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41657734,"cg_vq_v":-8.41657734,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11873655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1870.932983,"values":{"Elec_RPM":-2354.13306,"EncoderCos":11225,"EncoderSin":33755,"GapTicks":49357,"Mech_RPM":-470.826599,"cg_du":44.8707733,"cg_dv":49.9343262,"cg_dw":55.1292267,"cg_id_a":-15.0633297,"cg_id_raw_a":-14.0595303,"cg_iq_a":-198.943817,"cg_iq_raw_a":-200.796082,"cg_iu_a":-87.5625687,"cg_iv_a":-112.975365,"cg_iw_a":200.537933,"cg_sample_age_us":26.7945461,"cg_sample_seq":10720670,"cg_sample_valid":1,"cg_theta_rad":3.14542508,"cg_vd_req_v":-1.5861367,"cg_vd_v":-1.5861367,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42384338,"cg_vq_v":-8.42384338,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2428.61816,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1871.019481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1871.019486,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1871.019492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1871.265015,"values":{"Elec_RPM":-2355.03931,"EncoderCos":34136,"EncoderSin":11338,"GapTicks":49367,"Mech_RPM":-471.007843,"cg_du":55.1200562,"cg_dv":44.8799438,"cg_dw":49.2513618,"cg_id_a":-11.7852545,"cg_id_raw_a":-15.8348351,"cg_iq_a":-197.938873,"cg_iq_raw_a":-197.170898,"cg_iu_a":196.516602,"cg_iv_a":-119.571747,"cg_iw_a":-76.9448547,"cg_sample_age_us":24.0599995,"cg_sample_seq":10722267,"cg_sample_valid":1,"cg_theta_rad":4.79288292,"cg_vd_req_v":-1.70893645,"cg_vd_v":-1.70893645,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38833618,"cg_vq_v":-8.38833618,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2448.95215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1871.597046,"values":{"Elec_RPM":-2356.7063,"EncoderCos":34920,"EncoderSin":11393,"GapTicks":49451,"Mech_RPM":-471.341248,"cg_du":55.0439949,"cg_dv":44.9560051,"cg_dw":48.0162849,"cg_id_a":7.35890675,"cg_id_raw_a":1.93196595,"cg_iq_a":-199.938721,"cg_iq_raw_a":-198.102341,"cg_iu_a":198.618744,"cg_iv_a":-72.1285629,"cg_iw_a":-126.490181,"cg_sample_age_us":23.9690914,"cg_sample_seq":10724017,"cg_sample_valid":1,"cg_theta_rad":4.83041334,"cg_vd_req_v":-2.09895515,"cg_vd_v":-2.09895515,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35796642,"cg_vq_v":-8.35796642,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6649761,"dclink_p_w":-2404.50195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3987122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1871.948608,"values":{"Elec_RPM":-2360.18652,"EncoderCos":45479,"EncoderSin":15508,"GapTicks":49435,"Mech_RPM":-472.037292,"cg_du":44.9413376,"cg_dv":55.0586624,"cg_dw":48.2707977,"cg_id_a":-12.3596668,"cg_id_raw_a":-10.023941,"cg_iq_a":-198.818466,"cg_iq_raw_a":-199.9207,"cg_iu_a":-191.437393,"cg_iv_a":128.33609,"cg_iw_a":63.1013107,"cg_sample_age_us":23.8272724,"cg_sample_seq":10725721,"cg_sample_valid":1,"cg_theta_rad":5.40842056,"cg_vd_req_v":-1.74303555,"cg_vd_v":-1.74303555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43864059,"cg_vq_v":-8.43864059,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1872.043468,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1872.043474,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1872.043479,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1872.284546,"values":{"Elec_RPM":-2361.57935,"EncoderCos":53111,"EncoderSin":26635,"GapTicks":49365,"Mech_RPM":-472.315857,"cg_du":55.1223068,"cg_dv":44.8776932,"cg_dw":51.0839539,"cg_id_a":-16.0458908,"cg_id_raw_a":-13.6575871,"cg_iq_a":-195.157776,"cg_iq_raw_a":-195.868927,"cg_iu_a":180.895508,"cg_iv_a":-154.655762,"cg_iw_a":-26.2397385,"cg_sample_age_us":24.1254539,"cg_sample_seq":10727416,"cg_sample_valid":1,"cg_theta_rad":6.00472355,"cg_vd_req_v":-1.63244438,"cg_vd_v":-1.63244438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46780872,"cg_vq_v":-8.46780872,"cg_vu_v":44.4291458,"cg_vv_v":33.871727,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1872.612671,"values":{"Elec_RPM":-2362.56299,"EncoderCos":53156,"EncoderSin":38408,"GapTicks":50034,"Mech_RPM":-472.512604,"cg_du":45.813633,"cg_dv":54.5137787,"cg_dw":45.4862213,"cg_id_a":13.4849358,"cg_id_raw_a":16.0025043,"cg_iq_a":-207.372849,"cg_iq_raw_a":-206.930832,"cg_iu_a":-170.452209,"cg_iv_a":185.492615,"cg_iw_a":-15.0403976,"cg_sample_age_us":23.5363636,"cg_sample_seq":10729117,"cg_sample_valid":1,"cg_theta_rad":0.282520562,"cg_vd_req_v":-2.25314641,"cg_vd_v":-2.25314641,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22754478,"cg_vq_v":-8.22754478,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2464.11768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1872.96814,"values":{"Elec_RPM":-2360.99072,"EncoderCos":46838,"EncoderSin":48926,"GapTicks":49466,"Mech_RPM":-472.198151,"cg_du":52.2380638,"cg_dv":44.9694366,"cg_dw":55.0305634,"cg_id_a":13.1806574,"cg_id_raw_a":9.36304569,"cg_iq_a":-201.306702,"cg_iq_raw_a":-200.291763,"cg_iu_a":137.1492,"cg_iv_a":-198.257095,"cg_iw_a":61.1078949,"cg_sample_age_us":23.5799999,"cg_sample_seq":10730817,"cg_sample_valid":1,"cg_theta_rad":0.855906487,"cg_vd_req_v":-2.22993517,"cg_vd_v":-2.22993517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38831234,"cg_vq_v":-8.38831234,"cg_vu_v":106.453995,"cg_vv_v":92.8173294,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1873.034535,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1873.03454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1873.034544,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1873.300171,"values":{"Elec_RPM":-2367.02246,"EncoderCos":35546,"EncoderSin":53934,"GapTicks":49364,"Mech_RPM":-473.40448,"cg_du":49.3237343,"cg_dv":55.1235886,"cg_dw":44.8764114,"cg_id_a":-6.07484293,"cg_id_raw_a":-8.86363983,"cg_iq_a":-198.344681,"cg_iq_raw_a":-197.367065,"cg_iu_a":-81.618576,"cg_iv_a":197.743027,"cg_iw_a":-116.124451,"cg_sample_age_us":23.8927269,"cg_sample_seq":10732517,"cg_sample_valid":1,"cg_theta_rad":1.43972325,"cg_vd_req_v":-1.77335429,"cg_vd_v":-1.77335429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40193558,"cg_vq_v":-8.40193558,"cg_vu_v":125.369385,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3825989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1873.632202,"values":{"Elec_RPM":-2362.52734,"EncoderCos":23606,"EncoderSin":52272,"GapTicks":49517,"Mech_RPM":-472.505463,"cg_du":48.2755661,"cg_dv":45.0161324,"cg_dw":54.9838676,"cg_id_a":-15.0023289,"cg_id_raw_a":-7.89616776,"cg_iq_a":-202.689545,"cg_iq_raw_a":-203.097763,"cg_iu_a":8.84602928,"cg_iv_a":-180.026443,"cg_iw_a":174.696075,"cg_sample_age_us":23.8781815,"cg_sample_seq":10734217,"cg_sample_valid":1,"cg_theta_rad":2.00932455,"cg_vd_req_v":-1.57400417,"cg_vd_v":-1.57400417,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31988525,"cg_vq_v":-8.31988525,"cg_vu_v":104.254532,"cg_vv_v":79.6205521,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2442.677,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1873.983765,"values":{"Elec_RPM":-2362.5835,"EncoderCos":14446,"EncoderSin":44085,"GapTicks":50039,"Mech_RPM":-472.516724,"cg_du":54.2931824,"cg_dv":54.5093346,"cg_dw":45.4906654,"cg_id_a":11.3567696,"cg_id_raw_a":16.5755291,"cg_iq_a":-204.618179,"cg_iq_raw_a":-204.386673,"cg_iu_a":11.7455349,"cg_iv_a":169.617813,"cg_iw_a":-181.363342,"cg_sample_age_us":23.9290905,"cg_sample_seq":10735917,"cg_sample_valid":1,"cg_theta_rad":2.59234095,"cg_vd_req_v":-2.10612607,"cg_vd_v":-2.10612607,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31024551,"cg_vq_v":-8.31024551,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1874.0275,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1874.027506,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1874.027511,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1874.315796,"values":{"Elec_RPM":-2355.86914,"EncoderCos":14529,"EncoderSin":21083,"GapTicks":49347,"Mech_RPM":-471.173828,"cg_du":55.1390572,"cg_dv":49.6461601,"cg_dw":44.8609428,"cg_id_a":-12.7009411,"cg_id_raw_a":-12.2471962,"cg_iq_a":-195.868423,"cg_iq_raw_a":-196.11145,"cg_iu_a":139.903732,"cg_iv_a":52.1877899,"cg_iw_a":-192.091522,"cg_sample_age_us":24.0527267,"cg_sample_seq":10737566,"cg_sample_valid":1,"cg_theta_rad":3.71845078,"cg_vd_req_v":-1.6387372,"cg_vd_v":-1.6387372,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43717766,"cg_vq_v":-8.43717766,"cg_vu_v":18.4754887,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1397686,"dclink_p_w":-2473.00732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1874.671265,"values":{"Elec_RPM":-2356.91626,"EncoderCos":11230,"EncoderSin":32378,"GapTicks":49549,"Mech_RPM":-471.38324,"cg_du":45.0452652,"cg_dv":47.5408058,"cg_dw":54.9547348,"cg_id_a":7.71161079,"cg_id_raw_a":4.44255733,"cg_iq_a":-198.473053,"cg_iq_raw_a":-196.144745,"cg_iu_a":-19.8590889,"cg_iv_a":-166.543747,"cg_iw_a":186.402832,"cg_sample_age_us":23.8418179,"cg_sample_seq":10739371,"cg_sample_valid":1,"cg_theta_rad":3.20545435,"cg_vd_req_v":-2.04954314,"cg_vd_v":-2.04954314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39284515,"cg_vq_v":-8.39284515,"cg_vu_v":102.055069,"cg_vv_v":77.4210892,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2486.84155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1875.003296,"values":{"Elec_RPM":-2355.07007,"EncoderCos":35778,"EncoderSin":11469,"GapTicks":49778,"Mech_RPM":-471.014008,"cg_du":54.7471313,"cg_dv":45.2528687,"cg_dw":46.445015,"cg_id_a":14.9197016,"cg_id_raw_a":17.2262115,"cg_iq_a":-203.413391,"cg_iq_raw_a":-205.014389,"cg_iu_a":189.883972,"cg_iv_a":-31.3905029,"cg_iw_a":-158.493469,"cg_sample_age_us":24.0963631,"cg_sample_seq":10740966,"cg_sample_valid":1,"cg_theta_rad":4.86944818,"cg_vd_req_v":-2.23794055,"cg_vd_v":-2.23794055,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32087708,"cg_vq_v":-8.32087708,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2377.47559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1875.050611,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1875.050618,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1875.050623,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1875.335327,"values":{"Elec_RPM":-2356.46387,"EncoderCos":25302,"EncoderSin":12560,"GapTicks":49349,"Mech_RPM":-471.292755,"cg_du":44.8628464,"cg_dv":49.3359528,"cg_dw":55.1371536,"cg_id_a":-12.1667509,"cg_id_raw_a":-15.9856472,"cg_iq_a":-198.24472,"cg_iq_raw_a":-199.33107,"cg_iu_a":-123.117767,"cg_iv_a":-73.9407501,"cg_iw_a":193.216675,"cg_sample_age_us":23.9509087,"cg_sample_seq":10742766,"cg_sample_valid":1,"cg_theta_rad":4.36866093,"cg_vd_req_v":-1.70676053,"cg_vd_v":-1.70676053,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43787575,"cg_vq_v":-8.43787575,"cg_vu_v":13.1967773,"cg_vv_v":3.07924795,"cg_vw_v":10.5574207,"control_outputs_enabled":1,"dclink_i_a":-16.5834274,"dclink_p_w":-2400.03076,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1875.667358,"values":{"Elec_RPM":-2351.92114,"EncoderCos":53276,"EncoderSin":27165,"GapTicks":49341,"Mech_RPM":-470.384216,"cg_du":55.1437073,"cg_dv":44.8562927,"cg_dw":49.9518127,"cg_id_a":-15.9353056,"cg_id_raw_a":-16.3827724,"cg_iq_a":-195.573029,"cg_iq_raw_a":-194.825439,"cg_iu_a":191.514954,"cg_iv_a":-136.642578,"cg_iw_a":-54.8723679,"cg_sample_age_us":24.0563641,"cg_sample_seq":10744366,"cg_sample_valid":1,"cg_theta_rad":6.03351974,"cg_vd_req_v":-1.65021753,"cg_vd_v":-1.65021753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43607235,"cg_vq_v":-8.43607235,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1876.010687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1876.010693,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1876.010699,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1876.018921,"values":{"Elec_RPM":-2355.23462,"EncoderCos":48130,"EncoderSin":17931,"GapTicks":49923,"Mech_RPM":-471.046936,"cg_du":45.3852997,"cg_dv":53.8389549,"cg_dw":54.6147003,"cg_id_a":5.70715046,"cg_id_raw_a":9.03720951,"cg_iq_a":-202.51004,"cg_iq_raw_a":-202.361389,"cg_iu_a":-179.766876,"cg_iv_a":6.62927246,"cg_iw_a":173.137604,"cg_sample_age_us":23.8854542,"cg_sample_seq":10746166,"cg_sample_valid":1,"cg_theta_rad":5.53285551,"cg_vd_req_v":-2.10516214,"cg_vd_v":-2.10516214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29212189,"cg_vq_v":-8.29212189,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2428.10791,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4094543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1876.350952,"values":{"Elec_RPM":-2357.80688,"EncoderCos":46271,"EncoderSin":49420,"GapTicks":49791,"Mech_RPM":-471.561371,"cg_du":53.6688156,"cg_dv":45.2649879,"cg_dw":54.7350121,"cg_id_a":16.912653,"cg_id_raw_a":16.5166817,"cg_iq_a":-201.577621,"cg_iq_raw_a":-201.477844,"cg_iu_a":161.215118,"cg_iv_a":-186.659073,"cg_iw_a":25.4439545,"cg_sample_age_us":23.5727272,"cg_sample_seq":10747767,"cg_sample_valid":1,"cg_theta_rad":0.892908752,"cg_vd_req_v":-2.2694943,"cg_vd_v":-2.2694943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3661623,"cg_vq_v":-8.3661623,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4380798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1876.702515,"values":{"Elec_RPM":-2353.11841,"EncoderCos":35646,"EncoderSin":53942,"GapTicks":49359,"Mech_RPM":-470.623688,"cg_du":49.488842,"cg_dv":55.1276779,"cg_dw":44.8723221,"cg_id_a":-10.1835127,"cg_id_raw_a":-12.0732136,"cg_iq_a":-198.03595,"cg_iq_raw_a":-197.186478,"cg_iu_a":-118.985977,"cg_iv_a":200.425079,"cg_iw_a":-81.4391022,"cg_sample_age_us":26.7472725,"cg_sample_seq":10749470,"cg_sample_valid":1,"cg_theta_rad":1.47100711,"cg_vd_req_v":-1.69889534,"cg_vd_v":-1.69889534,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38679695,"cg_vq_v":-8.38679695,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3699169,"dclink_p_w":-2506.21436,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1877.003216,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1877.003222,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1877.003227,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1877.038452,"values":{"Elec_RPM":-2355.7959,"EncoderCos":34176,"EncoderSin":54108,"GapTicks":49683,"Mech_RPM":-471.15918,"cg_du":46.9784966,"cg_dv":54.8330917,"cg_dw":45.1669083,"cg_id_a":14.8019323,"cg_id_raw_a":14.6584129,"cg_iq_a":-204.673599,"cg_iq_raw_a":-203.932999,"cg_iu_a":-153.671326,"cg_iv_a":198.757858,"cg_iw_a":-53.5675964,"cg_sample_age_us":23.8999996,"cg_sample_seq":10751217,"cg_sample_valid":1,"cg_theta_rad":1.5049026,"cg_vd_req_v":-2.20486164,"cg_vd_v":-2.20486164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27185535,"cg_vq_v":-8.27185535,"cg_vu_v":113.492287,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-15.9962769,"dclink_p_w":-2308.01904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1877.370483,"values":{"Elec_RPM":-2353.29858,"EncoderCos":22171,"EncoderSin":51550,"GapTicks":49370,"Mech_RPM":-470.659729,"cg_du":51.2443085,"cg_dv":44.8825531,"cg_dw":55.1174469,"cg_id_a":-0.889947057,"cg_id_raw_a":-4.25622702,"cg_iq_a":-199.496902,"cg_iq_raw_a":-199.123138,"cg_iu_a":103.768631,"cg_iv_a":-199.924316,"cg_iw_a":110.290779,"cg_sample_age_us":23.6963634,"cg_sample_seq":10752916,"cg_sample_valid":1,"cg_theta_rad":2.08482242,"cg_vd_req_v":-1.91606545,"cg_vd_v":-1.91606545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42056465,"cg_vq_v":-8.42056465,"cg_vu_v":46.1887207,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-15.798748,"dclink_p_w":-2279.51855,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1877.722046,"values":{"Elec_RPM":-2361.03784,"EncoderCos":13532,"EncoderSin":42454,"GapTicks":49310,"Mech_RPM":-472.20755,"cg_du":50.134449,"cg_dv":55.1718521,"cg_dw":44.8281479,"cg_id_a":-9.63347244,"cg_id_raw_a":-10.4856024,"cg_iq_a":-195.171875,"cg_iq_raw_a":-195.251114,"cg_iu_a":-45.0847969,"cg_iv_a":186.434952,"cg_iw_a":-141.350159,"cg_sample_age_us":23.8090916,"cg_sample_seq":10754616,"cg_sample_valid":1,"cg_theta_rad":2.66831589,"cg_vd_req_v":-1.68435669,"cg_vd_v":-1.68435669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47814655,"cg_vq_v":-8.47814655,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-18.4971008,"dclink_p_w":-2685.12329,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1878.027244,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1878.02725,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1878.027255,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1878.054077,"values":{"Elec_RPM":-2358.63477,"EncoderCos":11336,"EncoderSin":30602,"GapTicks":49738,"Mech_RPM":-471.726929,"cg_du":47.1522942,"cg_dv":45.2169647,"cg_dw":54.7830353,"cg_id_a":-2.01200366,"cg_id_raw_a":2.9503262,"cg_iq_a":-205.30899,"cg_iq_raw_a":-207.116165,"cg_iu_a":-2.49829102,"cg_iv_a":-176.800751,"cg_iw_a":179.299042,"cg_sample_age_us":23.8272724,"cg_sample_seq":10756316,"cg_sample_valid":1,"cg_theta_rad":3.24856234,"cg_vd_req_v":-1.82385778,"cg_vd_v":-1.82385778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25301647,"cg_vq_v":-8.25301647,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":126.249161,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2403.70239,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1878.569702,"values":{"Elec_RPM":-2354.22339,"EncoderCos":13891,"EncoderSin":22235,"GapTicks":49885,"Mech_RPM":-470.844696,"cg_du":54.6492233,"cg_dv":46.1423645,"cg_dw":45.3507767,"cg_id_a":2.98101544,"cg_id_raw_a":8.5249958,"cg_iq_a":-200.677902,"cg_iq_raw_a":-202.837051,"cg_iu_a":176.691223,"cg_iv_a":-8.30317688,"cg_iw_a":-168.388046,"cg_sample_age_us":23.9799995,"cg_sample_seq":10758616,"cg_sample_valid":1,"cg_theta_rad":3.64845967,"cg_vd_req_v":-1.94380558,"cg_vd_v":-1.94380558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36812019,"cg_vq_v":-8.36812019,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1878.890451,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1878.89046,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1878.890461,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1879.019492,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1879.019498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1879.019504,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1879.050171,"values":{"Elec_RPM":-2341.88159,"EncoderCos":47154,"EncoderSin":48669,"GapTicks":49338,"Mech_RPM":-468.376312,"cg_du":51.548996,"cg_dv":44.8532753,"cg_dw":55.1467247,"cg_id_a":7.684237,"cg_id_raw_a":2.91552663,"cg_iq_a":-197.095093,"cg_iq_raw_a":-196.547318,"cg_iu_a":115.874069,"cg_iv_a":-197.350998,"cg_iw_a":91.6614532,"cg_sample_age_us":23.5981827,"cg_sample_seq":10761217,"cg_sample_valid":1,"cg_theta_rad":0.837972105,"cg_vd_req_v":-2.12310624,"cg_vd_v":-2.12310624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46765327,"cg_vq_v":-8.46765327,"cg_vu_v":120.530563,"cg_vv_v":117.451309,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2388.22876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1879.382202,"values":{"Elec_RPM":-2347.93091,"EncoderCos":46238,"EncoderSin":49392,"GapTicks":49821,"Mech_RPM":-469.586182,"cg_du":53.6612663,"cg_dv":45.2920647,"cg_dw":54.7079353,"cg_id_a":16.8078957,"cg_id_raw_a":18.1717453,"cg_iq_a":-202.105698,"cg_iq_raw_a":-201.242874,"cg_iu_a":162.701111,"cg_iv_a":-186.985275,"cg_iw_a":24.2841644,"cg_sample_age_us":23.5727272,"cg_sample_seq":10762966,"cg_sample_valid":1,"cg_theta_rad":0.89326787,"cg_vd_req_v":-2.2711637,"cg_vd_v":-2.2711637,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34700012,"cg_vq_v":-8.34700012,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-16.5979252,"dclink_p_w":-2409.43042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1879.733765,"values":{"Elec_RPM":-2344.94214,"EncoderCos":45774,"EncoderSin":49790,"GapTicks":49959,"Mech_RPM":-468.988434,"cg_du":54.5825958,"cg_dv":45.4174042,"cg_dw":54.0061569,"cg_id_a":10.8911171,"cg_id_raw_a":14.4971876,"cg_iq_a":-201.910904,"cg_iq_raw_a":-201.95874,"cg_iu_a":169.587433,"cg_iv_a":-178.286743,"cg_iw_a":8.69931793,"cg_sample_age_us":24.0018177,"cg_sample_seq":10764717,"cg_sample_valid":1,"cg_theta_rad":0.922710836,"cg_vd_req_v":-2.12604833,"cg_vd_v":-2.12604833,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33758736,"cg_vq_v":-8.33758736,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-17.6671162,"dclink_p_w":-2556.86719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1880.011753,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1880.011758,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1880.011763,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1880.065796,"values":{"Elec_RPM":-2345.59521,"EncoderCos":14522,"EncoderSin":44248,"GapTicks":50003,"Mech_RPM":-469.119019,"cg_du":54.5419121,"cg_dv":54.2309227,"cg_dw":45.4580879,"cg_id_a":16.0199413,"cg_id_raw_a":17.0512257,"cg_iq_a":-203.858063,"cg_iq_raw_a":-205.50563,"cg_iu_a":17.7620125,"cg_iv_a":167.660645,"cg_iw_a":-185.422653,"cg_sample_age_us":23.8854542,"cg_sample_seq":10766316,"cg_sample_valid":1,"cg_theta_rad":2.57824087,"cg_vd_req_v":-2.20224285,"cg_vd_v":-2.20224285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33212662,"cg_vq_v":-8.33212662,"cg_vu_v":39.590332,"cg_vv_v":51.9073219,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1880.397827,"values":{"Elec_RPM":-2352.07495,"EncoderCos":11223,"EncoderSin":32511,"GapTicks":49523,"Mech_RPM":-470.415009,"cg_du":45.0211143,"cg_dv":47.7336769,"cg_dw":54.9788857,"cg_id_a":3.85112762,"cg_id_raw_a":-0.965194046,"cg_iq_a":-198.244598,"cg_iq_raw_a":-196.878204,"cg_iu_a":-71.5427933,"cg_iv_a":-126.131889,"cg_iw_a":197.674683,"cg_sample_age_us":23.9072723,"cg_sample_seq":10768016,"cg_sample_valid":1,"cg_theta_rad":3.15815377,"cg_vd_req_v":-1.97340953,"cg_vd_v":-1.97340953,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40039063,"cg_vq_v":-8.40039063,"cg_vu_v":37.3908691,"cg_vv_v":38.2706528,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.2644806,"dclink_p_w":-2353.87134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1880.74939,"values":{"Elec_RPM":-2352.79492,"EncoderCos":14729,"EncoderSin":20796,"GapTicks":49354,"Mech_RPM":-470.55896,"cg_du":55.1326065,"cg_dv":50.2266731,"cg_dw":44.8673935,"cg_id_a":-6.82288551,"cg_id_raw_a":-7.58490562,"cg_iq_a":-197.731949,"cg_iq_raw_a":-198.880463,"cg_iu_a":124.246399,"cg_iv_a":56.7907562,"cg_iw_a":-191.185425,"cg_sample_age_us":23.9727268,"cg_sample_seq":10769716,"cg_sample_valid":1,"cg_theta_rad":3.73335028,"cg_vd_req_v":-1.77241337,"cg_vd_v":-1.77241337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39501476,"cg_vq_v":-8.39501476,"cg_vu_v":44.4291458,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2387.5061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1881.034913,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1881.034919,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1881.034925,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1881.085327,"values":{"Elec_RPM":-2346.27539,"EncoderCos":23836,"EncoderSin":13146,"GapTicks":49633,"Mech_RPM":-469.255096,"cg_du":45.1210938,"cg_dv":52.7592125,"cg_dw":54.8789063,"cg_id_a":-2.23920488,"cg_id_raw_a":2.99788022,"cg_iq_a":-202.696625,"cg_iq_raw_a":-201.856689,"cg_iu_a":-171.901978,"cg_iv_a":-4.09887695,"cg_iw_a":176.000854,"cg_sample_age_us":23.8418179,"cg_sample_seq":10771417,"cg_sample_valid":1,"cg_theta_rad":4.29971838,"cg_vd_req_v":-1.86798489,"cg_vd_v":-1.86798489,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34432888,"cg_vq_v":-8.34432888,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1881.417358,"values":{"Elec_RPM":-2348.12964,"EncoderCos":36210,"EncoderSin":11567,"GapTicks":50081,"Mech_RPM":-469.625916,"cg_du":54.4717712,"cg_dv":45.5379562,"cg_dw":45.5282288,"cg_id_a":10.6588087,"cg_id_raw_a":14.385128,"cg_iq_a":-200.272034,"cg_iq_raw_a":-203.234848,"cg_iu_a":180.315613,"cg_iv_a":-13.5947876,"cg_iw_a":-166.720825,"cg_sample_age_us":23.9763641,"cg_sample_seq":10773116,"cg_sample_valid":1,"cg_theta_rad":4.89153147,"cg_vd_req_v":-2.13324857,"cg_vd_v":-2.13324857,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35632229,"cg_vq_v":-8.35632229,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2519.12866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1881.768921,"values":{"Elec_RPM":-2349.46729,"EncoderCos":47007,"EncoderSin":16826,"GapTicks":49447,"Mech_RPM":-469.893433,"cg_du":44.9521942,"cg_dv":55.0478058,"cg_dw":52.1277008,"cg_id_a":2.26770711,"cg_id_raw_a":-5.02361059,"cg_iq_a":-197.116165,"cg_iq_raw_a":-196.678101,"cg_iu_a":-195.061768,"cg_iv_a":73.4991455,"cg_iw_a":121.562622,"cg_sample_age_us":23.8818188,"cg_sample_seq":10774817,"cg_sample_valid":1,"cg_theta_rad":5.45926332,"cg_vd_req_v":-2.07005787,"cg_vd_v":-2.07005787,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40419388,"cg_vq_v":-8.40419388,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2407.63965,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1882.02692,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1882.026927,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1882.026933,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1882.100952,"values":{"Elec_RPM":-2351.76221,"EncoderCos":47760,"EncoderSin":17540,"GapTicks":49913,"Mech_RPM":-470.352417,"cg_du":45.3758698,"cg_dv":54.6241302,"cg_dw":54.007843,"cg_id_a":9.54877567,"cg_id_raw_a":11.230031,"cg_iq_a":-201.764038,"cg_iq_raw_a":-201.920074,"cg_iu_a":-187.595551,"cg_iv_a":25.2223816,"cg_iw_a":162.373169,"cg_sample_age_us":23.8345451,"cg_sample_seq":10776566,"cg_sample_valid":1,"cg_theta_rad":5.51012182,"cg_vd_req_v":-2.20241666,"cg_vd_v":-2.20241666,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32850933,"cg_vq_v":-8.32850933,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2399.53394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1882.452515,"values":{"Elec_RPM":-2352.80322,"EncoderCos":53356,"EncoderSin":27444,"GapTicks":49312,"Mech_RPM":-470.560669,"cg_du":55.170517,"cg_dv":44.829483,"cg_dw":49.4303169,"cg_id_a":-12.5949821,"cg_id_raw_a":-14.306179,"cg_iq_a":-197.088333,"cg_iq_raw_a":-197.024017,"cg_iu_a":198.038849,"cg_iv_a":-84.1252823,"cg_iw_a":-113.913567,"cg_sample_age_us":25.6381817,"cg_sample_seq":10778270,"cg_sample_valid":1,"cg_theta_rad":6.0772562,"cg_vd_req_v":-1.73431683,"cg_vd_v":-1.73431683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45575905,"cg_vq_v":-8.45575905,"cg_vu_v":108.21357,"cg_vv_v":105.574219,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1882.784546,"values":{"Elec_RPM":-2353.70532,"EncoderCos":52488,"EncoderSin":40588,"GapTicks":49326,"Mech_RPM":-470.741058,"cg_du":44.8419838,"cg_dv":55.1580162,"cg_dw":50.2963638,"cg_id_a":-8.69839001,"cg_id_raw_a":-9.6480217,"cg_iq_a":-195.91571,"cg_iq_raw_a":-196.643723,"cg_iu_a":-194.046951,"cg_iv_a":122.319603,"cg_iw_a":71.7273483,"cg_sample_age_us":23.5363636,"cg_sample_seq":10779966,"cg_sample_valid":1,"cg_theta_rad":0.385138094,"cg_vd_req_v":-1.81307435,"cg_vd_v":-1.81307435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45857239,"cg_vq_v":-8.45857239,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.4982529,"dclink_p_w":-2387.70386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1883.019228,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1883.019233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1883.019237,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1883.120483,"values":{"Elec_RPM":-2354.11157,"EncoderCos":45268,"EncoderSin":50164,"GapTicks":49584,"Mech_RPM":-470.822327,"cg_du":54.9233971,"cg_dv":45.0766029,"cg_dw":52.4633446,"cg_id_a":-5.98634052,"cg_id_raw_a":-0.356242687,"cg_iq_a":-199.524689,"cg_iq_raw_a":-201.08783,"cg_iu_a":177.234879,"cg_iv_a":-163.897949,"cg_iw_a":-13.3369293,"cg_sample_age_us":23.9218178,"cg_sample_seq":10781667,"cg_sample_valid":1,"cg_theta_rad":0.96047914,"cg_vd_req_v":-1.77699423,"cg_vd_v":-1.77699423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37768078,"cg_vq_v":-8.37768078,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.360527,"dclink_p_w":-2367.77173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1883.472046,"values":{"Elec_RPM":-2360.19995,"EncoderCos":33771,"EncoderSin":54132,"GapTicks":49894,"Mech_RPM":-472.039978,"cg_du":46.2097206,"cg_dv":54.6415443,"cg_dw":45.3584557,"cg_id_a":15.3819504,"cg_id_raw_a":13.8540421,"cg_iq_a":-207.093353,"cg_iq_raw_a":-206.182358,"cg_iu_a":-164.870667,"cg_iv_a":192.451447,"cg_iw_a":-27.5807724,"cg_sample_age_us":23.8054543,"cg_sample_seq":10783367,"cg_sample_valid":1,"cg_theta_rad":1.52549469,"cg_vd_req_v":-2.20486212,"cg_vd_v":-2.20486212,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26022911,"cg_vq_v":-8.26022911,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2518.24219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1883.804077,"values":{"Elec_RPM":-2358.93652,"EncoderCos":11210,"EncoderSin":32110,"GapTicks":49647,"Mech_RPM":-471.787323,"cg_du":45.1343956,"cg_dv":47.039135,"cg_dw":54.8656044,"cg_id_a":8.53001118,"cg_id_raw_a":5.0535779,"cg_iq_a":-200.406525,"cg_iq_raw_a":-198.583023,"cg_iu_a":-51.826149,"cg_iv_a":-132.220825,"cg_iw_a":197.565933,"cg_sample_age_us":23.9363632,"cg_sample_seq":10784967,"cg_sample_valid":1,"cg_theta_rad":3.17234969,"cg_vd_req_v":-2.06775618,"cg_vd_v":-2.06775618,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33961105,"cg_vq_v":-8.33961105,"cg_vu_v":102.055069,"cg_vv_v":109.973145,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1884.043025,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1884.043031,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1884.043037,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1884.136108,"values":{"Elec_RPM":-2360.02734,"EncoderCos":13432,"EncoderSin":42368,"GapTicks":49346,"Mech_RPM":-472.005493,"cg_du":49.9193573,"cg_dv":55.1399307,"cg_dw":44.8600693,"cg_id_a":-8.78941536,"cg_id_raw_a":-9.58005428,"cg_iq_a":-197.954346,"cg_iq_raw_a":-196.152542,"cg_iu_a":-64.2940216,"cg_iv_a":195.350937,"cg_iw_a":-131.056915,"cg_sample_age_us":23.8854542,"cg_sample_seq":10786767,"cg_sample_valid":1,"cg_theta_rad":2.68031049,"cg_vd_req_v":-1.70543444,"cg_vd_v":-1.70543444,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39223671,"cg_vq_v":-8.39223671,"cg_vu_v":139.885834,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.2666225,"dclink_p_w":-2491.31055,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1884.487671,"values":{"Elec_RPM":-2352.68091,"EncoderCos":23879,"EncoderSin":13160,"GapTicks":49598,"Mech_RPM":-470.536194,"cg_du":45.0897827,"cg_dv":52.6167221,"cg_dw":54.9102173,"cg_id_a":-5.38337994,"cg_id_raw_a":2.13421965,"cg_iq_a":-199.660339,"cg_iq_raw_a":-202.368286,"cg_iu_a":-153.127655,"cg_iv_a":-32.0428925,"cg_iw_a":185.170547,"cg_sample_age_us":23.954546,"cg_sample_seq":10788370,"cg_sample_valid":1,"cg_theta_rad":4.33231688,"cg_vd_req_v":-1.79631674,"cg_vd_v":-1.79631674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39523125,"cg_vq_v":-8.39523125,"cg_vu_v":117.451309,"cg_vv_v":145.164551,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.7450409,"dclink_p_w":-2560.33887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1884.819702,"values":{"Elec_RPM":-2352.30029,"EncoderCos":25347,"EncoderSin":12531,"GapTicks":49353,"Mech_RPM":-470.460052,"cg_du":44.866806,"cg_dv":49.2002792,"cg_dw":55.133194,"cg_id_a":-12.6568708,"cg_id_raw_a":-14.489253,"cg_iq_a":-196.043106,"cg_iq_raw_a":-194.150909,"cg_iu_a":-116.920074,"cg_iv_a":-76.5503082,"cg_iw_a":193.470383,"cg_sample_age_us":23.9654541,"cg_sample_seq":10790117,"cg_sample_valid":1,"cg_theta_rad":4.37521648,"cg_vd_req_v":-1.68344522,"cg_vd_v":-1.68344522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4467783,"cg_vq_v":-8.4467783,"cg_vu_v":113.932175,"cg_vv_v":132.847549,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1071491,"dclink_p_w":-2483.35156,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1885.034831,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1885.034837,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1885.034843,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1885.151733,"values":{"Elec_RPM":-2355.07715,"EncoderCos":37217,"EncoderSin":11667,"GapTicks":49534,"Mech_RPM":-471.015411,"cg_du":54.9688148,"cg_dv":47.9424515,"cg_dw":45.0311852,"cg_id_a":-11.6149158,"cg_id_raw_a":-4.33332729,"cg_iq_a":-198.498489,"cg_iq_raw_a":-200.916367,"cg_iu_a":162.954803,"cg_iv_a":15.2553253,"cg_iw_a":-178.210129,"cg_sample_age_us":24.0127277,"cg_sample_seq":10791818,"cg_sample_valid":1,"cg_theta_rad":4.94738579,"cg_vd_req_v":-1.67253709,"cg_vd_v":-1.67253709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37214661,"cg_vq_v":-8.37214661,"cg_vu_v":132.847549,"cg_vv_v":133.287445,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-17.6961117,"dclink_p_w":-2561.06372,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1885.507202,"values":{"Elec_RPM":-2351.31299,"EncoderCos":48190,"EncoderSin":18002,"GapTicks":49868,"Mech_RPM":-470.262604,"cg_du":45.3354416,"cg_dv":53.6688919,"cg_dw":54.6645584,"cg_id_a":5.12620831,"cg_id_raw_a":9.67967987,"cg_iq_a":-204.352737,"cg_iq_raw_a":-203.85202,"cg_iu_a":-180.020599,"cg_iv_a":3.5123291,"cg_iw_a":176.50827,"cg_sample_age_us":23.9181824,"cg_sample_seq":10793516,"cg_sample_valid":1,"cg_theta_rad":5.53733778,"cg_vd_req_v":-2.10918713,"cg_vd_v":-2.10918713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29733086,"cg_vq_v":-8.29733086,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.0977592,"dclink_p_w":-2322.66138,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1885.839233,"values":{"Elec_RPM":-2352.59839,"EncoderCos":53650,"EncoderSin":29005,"GapTicks":49593,"Mech_RPM":-470.519684,"cg_du":54.9150467,"cg_dv":45.0849533,"cg_dw":47.2213135,"cg_id_a":17.9825668,"cg_id_raw_a":19.9860172,"cg_iq_a":-202.636719,"cg_iq_raw_a":-203.770386,"cg_iu_a":193.798309,"cg_iv_a":-43.9308472,"cg_iw_a":-149.867462,"cg_sample_age_us":24.1036358,"cg_sample_seq":10795217,"cg_sample_valid":1,"cg_theta_rad":6.10996008,"cg_vd_req_v":-2.33498001,"cg_vd_v":-2.33498001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31868553,"cg_vq_v":-8.31868553,"cg_vu_v":25.5137672,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7302132,"dclink_p_w":-2421.27441,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1886.027484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1886.02749,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1886.027495,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1886.171265,"values":{"Elec_RPM":-2352.7124,"EncoderCos":52323,"EncoderSin":40993,"GapTicks":49360,"Mech_RPM":-470.54248,"cg_du":44.8732224,"cg_dv":55.1267776,"cg_dw":51.0947838,"cg_id_a":-3.66058874,"cg_id_raw_a":-8.21439362,"cg_iq_a":-196.375076,"cg_iq_raw_a":-195.26265,"cg_iu_a":-195.931641,"cg_iv_a":103.835251,"cg_iw_a":92.0963898,"cg_sample_age_us":23.5618191,"cg_sample_seq":10796917,"cg_sample_valid":1,"cg_theta_rad":0.405446708,"cg_vd_req_v":-1.91436088,"cg_vd_v":-1.91436088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41747189,"cg_vq_v":-8.41747189,"cg_vu_v":116.571533,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2494.18652,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1886.522827,"values":{"Elec_RPM":-2352.76831,"EncoderCos":44596,"EncoderSin":50586,"GapTicks":49317,"Mech_RPM":-470.55365,"cg_du":55.1663132,"cg_dv":44.8336868,"cg_dw":50.6772194,"cg_id_a":-16.1925411,"cg_id_raw_a":-13.1380157,"cg_iq_a":-195.632797,"cg_iq_raw_a":-195.675064,"cg_iu_a":187.346909,"cg_iv_a":-149.255432,"cg_iw_a":-38.0914688,"cg_sample_age_us":23.8927269,"cg_sample_seq":10798616,"cg_sample_valid":1,"cg_theta_rad":0.986344218,"cg_vd_req_v":-1.60701418,"cg_vd_v":-1.60701418,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48107719,"cg_vq_v":-8.48107719,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2450.12402,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1886.854858,"values":{"Elec_RPM":-2358.08545,"EncoderCos":32869,"EncoderSin":54157,"GapTicks":49702,"Mech_RPM":-471.617096,"cg_du":45.1841431,"cg_dv":54.8158569,"cg_dw":46.8488846,"cg_id_a":2.81892967,"cg_id_raw_a":8.07700253,"cg_iq_a":-201.365189,"cg_iq_raw_a":-202.549515,"cg_iu_a":-173.242981,"cg_iv_a":173.242188,"cg_iw_a":0.000793457031,"cg_sample_age_us":23.8672733,"cg_sample_seq":10800316,"cg_sample_valid":1,"cg_theta_rad":1.56495678,"cg_vd_req_v":-1.92813671,"cg_vd_v":-1.92813671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3842268,"cg_vq_v":-8.3842268,"cg_vu_v":6.59838867,"cg_vv_v":23.7541981,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1886.99566,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1886.995666,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1886.995671,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1887.210327,"values":{"Elec_RPM":-2357.28247,"EncoderCos":21926,"EncoderSin":51438,"GapTicks":49445,"Mech_RPM":-471.456512,"cg_du":51.7611771,"cg_dv":44.9507713,"cg_dw":55.0492287,"cg_id_a":1.22734189,"cg_id_raw_a":-1.85222578,"cg_iq_a":-197.809158,"cg_iq_raw_a":-197.346924,"cg_iu_a":144.832886,"cg_iv_a":-192.38559,"cg_iw_a":47.5527039,"cg_sample_age_us":23.6018181,"cg_sample_seq":10802020,"cg_sample_valid":1,"cg_theta_rad":2.13037205,"cg_vd_req_v":-1.93986106,"cg_vd_v":-1.93986106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4127512,"cg_vq_v":-8.4127512,"cg_vu_v":140.765625,"cg_vv_v":109.973145,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.5417461,"dclink_p_w":-2393.99854,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4022827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1887.538452,"values":{"Elec_RPM":-2364.03369,"EncoderCos":11313,"EncoderSin":30540,"GapTicks":49683,"Mech_RPM":-472.806763,"cg_du":47.3100243,"cg_dv":45.1665726,"cg_dw":54.8334274,"cg_id_a":-4.7960062,"cg_id_raw_a":4.22197008,"cg_iq_a":-205.440079,"cg_iq_raw_a":-207.126846,"cg_iu_a":-0.359904766,"cg_iv_a":-176.329559,"cg_iw_a":179.045319,"cg_sample_age_us":23.8345451,"cg_sample_seq":10803666,"cg_sample_valid":1,"cg_theta_rad":3.24919701,"cg_vd_req_v":-1.77716827,"cg_vd_v":-1.77716827,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29582405,"cg_vq_v":-8.29582405,"cg_vu_v":28.5930176,"cg_vv_v":1.31967759,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1887.87439,"values":{"Elec_RPM":-2364.7478,"EncoderCos":11393,"EncoderSin":29870,"GapTicks":49414,"Mech_RPM":-472.949554,"cg_du":48.9346352,"cg_dv":44.9220963,"cg_dw":55.0779037,"cg_id_a":-18.5909195,"cg_id_raw_a":-16.4172134,"cg_iq_a":-200.369644,"cg_iq_raw_a":-201.589462,"cg_iu_a":22.9448814,"cg_iv_a":-182.237335,"cg_iw_a":159.29245,"cg_sample_age_us":23.863636,"cg_sample_seq":10805417,"cg_sample_valid":1,"cg_theta_rad":3.28042054,"cg_vd_req_v":-1.51172042,"cg_vd_v":-1.51172042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41316223,"cg_vq_v":-8.41316223,"cg_vu_v":125.809273,"cg_vv_v":127.12896,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2414.95459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1888.018981,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1888.018987,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1888.018992,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1888.288452,"values":{"Elec_RPM":-2362.25562,"EncoderCos":49742,"EncoderSin":45709,"GapTicks":49535,"Mech_RPM":-472.451111,"cg_du":45.03265,"cg_dv":47.4786339,"cg_dw":54.96735,"cg_id_a":16.4795628,"cg_id_raw_a":13.3935928,"cg_iq_a":-199.866776,"cg_iq_raw_a":-199.9048,"cg_iu_a":-49.2528381,"cg_iv_a":-146.392166,"cg_iw_a":195.645004,"cg_sample_age_us":23.4163628,"cg_sample_seq":10807416,"cg_sample_valid":1,"cg_theta_rad":0.659084141,"cg_vd_req_v":-2.29103446,"cg_vd_v":-2.29103446,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36859035,"cg_vq_v":-8.36859035,"cg_vu_v":37.3908691,"cg_vv_v":38.2706528,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.7178593,"dclink_p_w":-2572.00513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4434509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1888.807983,"values":{"Elec_RPM":-2351.20508,"EncoderCos":31023,"EncoderSin":11329,"GapTicks":49609,"Mech_RPM":-470.241028,"cg_du":53.004406,"cg_dv":45.0999756,"cg_dw":54.9000244,"cg_id_a":14.7132397,"cg_id_raw_a":11.4547424,"cg_iq_a":-200.381973,"cg_iq_raw_a":-199.503113,"cg_iu_a":150.052002,"cg_iv_a":-194.306519,"cg_iw_a":52.5906067,"cg_sample_age_us":23.6163635,"cg_sample_seq":10809967,"cg_sample_valid":1,"cg_theta_rad":4.64484739,"cg_vd_req_v":-2.24212337,"cg_vd_v":-2.24212337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3648653,"cg_vq_v":-8.3648653,"cg_vu_v":142.965088,"cg_vv_v":132.847549,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2431.17212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1888.914511,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1888.914524,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1888.914527,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1889.011045,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1889.011051,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1889.011056,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1889.202515,"values":{"Elec_RPM":-2351.07861,"EncoderCos":45668,"EncoderSin":49832,"GapTicks":49872,"Mech_RPM":-470.215698,"cg_du":54.6613655,"cg_dv":45.3386345,"cg_dw":53.8243408,"cg_id_a":10.5430269,"cg_id_raw_a":15.3236446,"cg_iq_a":-203.256943,"cg_iq_raw_a":-203.649048,"cg_iu_a":172.849365,"cg_iv_a":-177.634338,"cg_iw_a":4.78498077,"cg_sample_age_us":23.9836369,"cg_sample_seq":10812067,"cg_sample_valid":1,"cg_theta_rad":0.927181482,"cg_vd_req_v":-2.12493348,"cg_vd_v":-2.12493348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32642174,"cg_vq_v":-8.32642174,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.4366398,"dclink_p_w":-2371.55664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1889.554077,"values":{"Elec_RPM":-2353.4563,"EncoderCos":34233,"EncoderSin":54103,"GapTicks":49647,"Mech_RPM":-470.691254,"cg_du":47.050148,"cg_dv":54.8662491,"cg_dw":45.1337509,"cg_id_a":14.2304401,"cg_id_raw_a":12.3737764,"cg_iq_a":-203.758224,"cg_iq_raw_a":-202.184799,"cg_iu_a":-150.373138,"cg_iv_a":198.649124,"cg_iw_a":-56.7932892,"cg_sample_age_us":23.8927269,"cg_sample_seq":10813767,"cg_sample_valid":1,"cg_theta_rad":1.50099421,"cg_vd_req_v":-2.18942165,"cg_vd_v":-2.18942165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33300018,"cg_vq_v":-8.33300018,"cg_vu_v":102.055069,"cg_vv_v":103.814644,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4542236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1889.886108,"values":{"Elec_RPM":-2354.5,"EncoderCos":22296,"EncoderSin":51612,"GapTicks":49375,"Mech_RPM":-470.900024,"cg_du":51.058651,"cg_dv":44.8872261,"cg_dw":55.1127739,"cg_id_a":-5.36380816,"cg_id_raw_a":-9.74261761,"cg_iq_a":-196.956207,"cg_iq_raw_a":-196.518341,"cg_iu_a":90.7208481,"cg_iv_a":-197.822174,"cg_iw_a":107.101318,"cg_sample_age_us":23.6672726,"cg_sample_seq":10815467,"cg_sample_valid":1,"cg_theta_rad":2.0807507,"cg_vd_req_v":-1.81454635,"cg_vd_v":-1.81454635,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43823814,"cg_vq_v":-8.43823814,"cg_vu_v":106.893898,"cg_vv_v":95.0167923,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.8374634,"dclink_p_w":-2589.36743,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1890.003541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1890.003547,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1890.003551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1890.237671,"values":{"Elec_RPM":-2356.79834,"EncoderCos":13981,"EncoderSin":43330,"GapTicks":49499,"Mech_RPM":-471.35965,"cg_du":52.2077713,"cg_dv":55.0006371,"cg_dw":44.9993629,"cg_id_a":-7.04417086,"cg_id_raw_a":-3.05712438,"cg_iq_a":-197.503906,"cg_iq_raw_a":-200.236511,"cg_iu_a":-39.1045609,"cg_iv_a":186.036255,"cg_iw_a":-146.931702,"cg_sample_age_us":23.7945461,"cg_sample_seq":10817170,"cg_sample_valid":1,"cg_theta_rad":2.66452122,"cg_vd_req_v":-1.72283709,"cg_vd_v":-1.72283709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42336273,"cg_vq_v":-8.42336273,"cg_vu_v":39.1504402,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2536.67285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1890.569702,"values":{"Elec_RPM":-2358.85278,"EncoderCos":11301,"EncoderSin":30721,"GapTicks":49755,"Mech_RPM":-471.770569,"cg_du":46.8268051,"cg_dv":45.2319107,"cg_dw":54.7680893,"cg_id_a":1.37888789,"cg_id_raw_a":7.02190924,"cg_iq_a":-205.305664,"cg_iq_raw_a":-206.364746,"cg_iu_a":-2.82448554,"cg_iv_a":-176.148361,"cg_iw_a":178.972839,"cg_sample_age_us":23.9327278,"cg_sample_seq":10818866,"cg_sample_valid":1,"cg_theta_rad":3.24078751,"cg_vd_req_v":-1.89755535,"cg_vd_v":-1.89755535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29586601,"cg_vq_v":-8.29586601,"cg_vu_v":5.27871037,"cg_vv_v":7.47817326,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1890.901733,"values":{"Elec_RPM":-2356.26416,"EncoderCos":15889,"EncoderSin":19186,"GapTicks":49909,"Mech_RPM":-471.252838,"cg_du":54.6275139,"cg_dv":53.7928581,"cg_dw":45.3724861,"cg_id_a":13.0539961,"cg_id_raw_a":11.6595573,"cg_iq_a":-203.430664,"cg_iq_raw_a":-205.213364,"cg_iu_a":28.9613571,"cg_iv_a":160.846802,"cg_iw_a":-189.808167,"cg_sample_age_us":23.8709087,"cg_sample_seq":10820566,"cg_sample_valid":1,"cg_theta_rad":3.82794285,"cg_vd_req_v":-2.15039468,"cg_vd_v":-2.15039468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30756474,"cg_vq_v":-8.30756474,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2525.70532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4112244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1891.027333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1891.027339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1891.027344,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1891.253296,"values":{"Elec_RPM":-2352.75415,"EncoderCos":25683,"EncoderSin":12451,"GapTicks":49377,"Mech_RPM":-470.550812,"cg_du":44.8883171,"cg_dv":48.6562653,"cg_dw":55.1116829,"cg_id_a":-5.12967443,"cg_id_raw_a":-9.35750103,"cg_iq_a":-196.408005,"cg_iq_raw_a":-196.269409,"cg_iu_a":-97.0584564,"cg_iv_a":-97.2092896,"cg_iw_a":194.267746,"cg_sample_age_us":23.8418179,"cg_sample_seq":10822267,"cg_sample_valid":1,"cg_theta_rad":4.391541,"cg_vd_req_v":-1.84824812,"cg_vd_v":-1.84824812,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41325665,"cg_vq_v":-8.41325665,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-16.2137394,"dclink_p_w":-2339.39551,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1891.589233,"values":{"Elec_RPM":-2352.33911,"EncoderCos":37808,"EncoderSin":11861,"GapTicks":49380,"Mech_RPM":-470.467804,"cg_du":55.1086617,"cg_dv":49.2784271,"cg_dw":44.8913383,"cg_id_a":-17.080061,"cg_id_raw_a":-18.890501,"cg_iq_a":-199.221191,"cg_iq_raw_a":-196.628616,"cg_iu_a":153.458923,"cg_iv_a":31.2026062,"cg_iw_a":-184.66153,"cg_sample_age_us":24.0127277,"cg_sample_seq":10823967,"cg_sample_valid":1,"cg_theta_rad":4.9638195,"cg_vd_req_v":-1.60105348,"cg_vd_v":-1.60105348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38814259,"cg_vq_v":-8.38814259,"cg_vu_v":124.489601,"cg_vv_v":126.689056,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2484.77368,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4273376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1891.917358,"values":{"Elec_RPM":-2354.05371,"EncoderCos":48358,"EncoderSin":18214,"GapTicks":49684,"Mech_RPM":-470.81076,"cg_du":45.1679649,"cg_dv":53.0529289,"cg_dw":54.8320351,"cg_id_a":0.55730772,"cg_id_raw_a":5.24703169,"cg_iq_a":-201.065918,"cg_iq_raw_a":-200.150406,"cg_iu_a":-170.742157,"cg_iv_a":-3.12030029,"cg_iw_a":175.384705,"cg_sample_age_us":23.9181824,"cg_sample_seq":10825667,"cg_sample_valid":1,"cg_theta_rad":5.5495739,"cg_vd_req_v":-2.00441527,"cg_vd_v":-2.00441527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35847378,"cg_vq_v":-8.35847378,"cg_vu_v":119.650772,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1892.019333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1892.019339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1892.019345,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1892.272827,"values":{"Elec_RPM":-2354.92944,"EncoderCos":53708,"EncoderSin":29237,"GapTicks":49856,"Mech_RPM":-470.985901,"cg_du":54.6756935,"cg_dv":45.3243065,"cg_dw":46.3430443,"cg_id_a":15.6185713,"cg_id_raw_a":15.6230555,"cg_iq_a":-203.871521,"cg_iq_raw_a":-202.604736,"cg_iu_a":188.687927,"cg_iv_a":-28.9259033,"cg_iw_a":-159.762024,"cg_sample_age_us":24.0345459,"cg_sample_seq":10827367,"cg_sample_valid":1,"cg_theta_rad":6.13113356,"cg_vd_req_v":-2.27071095,"cg_vd_v":-2.27071095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26724243,"cg_vq_v":-8.26724243,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.2246132,"dclink_p_w":-2340.96436,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4219666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1892.604858,"values":{"Elec_RPM":-2357.14258,"EncoderCos":34442,"EncoderSin":54104,"GapTicks":49539,"Mech_RPM":-471.428497,"cg_du":47.4239883,"cg_dv":54.963665,"cg_dw":45.036335,"cg_id_a":13.0552721,"cg_id_raw_a":11.9368525,"cg_iq_a":-200.793228,"cg_iq_raw_a":-200.029358,"cg_iu_a":-142.073288,"cg_iv_a":196.510742,"cg_iw_a":-54.4374466,"cg_sample_age_us":23.9363632,"cg_sample_seq":10828967,"cg_sample_valid":1,"cg_theta_rad":1.49347389,"cg_vd_req_v":-2.17397594,"cg_vd_v":-2.17397594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38197422,"cg_vq_v":-8.38197422,"cg_vu_v":98.0960464,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3880386,"dclink_p_w":-2524.12671,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1892.93689,"values":{"Elec_RPM":-2356.09473,"EncoderCos":33243,"EncoderSin":54164,"GapTicks":49983,"Mech_RPM":-471.218933,"cg_du":45.4394722,"cg_dv":54.5605278,"cg_dw":45.9710579,"cg_id_a":12.4920425,"cg_id_raw_a":17.4300499,"cg_iq_a":-203.600479,"cg_iq_raw_a":-205.135513,"cg_iu_a":-172.445618,"cg_iv_a":178.316315,"cg_iw_a":-5.87070465,"cg_sample_age_us":23.7909088,"cg_sample_seq":10830716,"cg_sample_valid":1,"cg_theta_rad":1.55000246,"cg_vd_req_v":-2.11743855,"cg_vd_v":-2.11743855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31603336,"cg_vq_v":-8.31603336,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2445.40332,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1893.011256,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1893.011262,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1893.011267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1893.288452,"values":{"Elec_RPM":-2361.41333,"EncoderCos":21492,"EncoderSin":51156,"GapTicks":49582,"Mech_RPM":-472.282684,"cg_du":52.6512222,"cg_dv":45.0746574,"cg_dw":54.9253426,"cg_id_a":8.14942265,"cg_id_raw_a":4.8772316,"cg_iq_a":-199.709717,"cg_iq_raw_a":-199.126862,"cg_iu_a":124.898781,"cg_iv_a":-197.024811,"cg_iw_a":72.1260223,"cg_sample_age_us":23.550909,"cg_sample_seq":10832416,"cg_sample_valid":1,"cg_theta_rad":2.11325431,"cg_vd_req_v":-2.08121467,"cg_vd_v":-2.08121467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36420155,"cg_vq_v":-8.36420155,"cg_vu_v":39.590332,"cg_vv_v":39.590332,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-17.9661293,"dclink_p_w":-2600.14185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1893.620483,"values":{"Elec_RPM":-2362.84229,"EncoderCos":20841,"EncoderSin":50718,"GapTicks":49937,"Mech_RPM":-472.568451,"cg_du":54.0400543,"cg_dv":45.3977051,"cg_dw":54.6022949,"cg_id_a":14.4448929,"cg_id_raw_a":15.2542667,"cg_iq_a":-203.218582,"cg_iq_raw_a":-202.53537,"cg_iu_a":160.091553,"cg_iv_a":-189.631073,"cg_iw_a":29.5395203,"cg_sample_age_us":23.9218178,"cg_sample_seq":10834166,"cg_sample_valid":1,"cg_theta_rad":2.15745711,"cg_vd_req_v":-2.1968658,"cg_vd_v":-2.1968658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31078434,"cg_vq_v":-8.31078434,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2546.63892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4559937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1893.972046,"values":{"Elec_RPM":-2360.04004,"EncoderCos":11280,"EncoderSin":30984,"GapTicks":49936,"Mech_RPM":-472.008026,"cg_du":46.1893425,"cg_dv":45.3964424,"cg_dw":54.6035576,"cg_id_a":6.93387985,"cg_id_raw_a":11.8645267,"cg_iq_a":-204.250229,"cg_iq_raw_a":-203.878311,"cg_iu_a":13.7751904,"cg_iv_a":-181.222504,"cg_iw_a":167.447311,"cg_sample_age_us":26.7909088,"cg_sample_seq":10835820,"cg_sample_valid":1,"cg_theta_rad":3.27418351,"cg_vd_req_v":-2.00623631,"cg_vd_v":-2.00623631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31385994,"cg_vq_v":-8.31385994,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2460.71826,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1894.035611,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1894.035617,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1894.035622,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1894.307983,"values":{"Elec_RPM":-2355.2627,"EncoderCos":12608,"EncoderSin":40408,"GapTicks":49888,"Mech_RPM":-471.052521,"cg_du":46.1646919,"cg_dv":54.6470757,"cg_dw":45.3529243,"cg_id_a":16.9374866,"cg_id_raw_a":18.7062683,"cg_iq_a":-204.296921,"cg_iq_raw_a":-204.072052,"cg_iu_a":-164.943146,"cg_iv_a":185.782562,"cg_iw_a":-20.8394089,"cg_sample_age_us":23.9872723,"cg_sample_seq":10837616,"cg_sample_valid":1,"cg_theta_rad":2.78285694,"cg_vd_req_v":-2.20606589,"cg_vd_v":-2.20606589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31477833,"cg_vq_v":-8.31477833,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1894.640015,"values":{"Elec_RPM":-2357.39526,"EncoderCos":16651,"EncoderSin":18203,"GapTicks":49557,"Mech_RPM":-471.479065,"cg_du":52.2943382,"cg_dv":54.9473,"cg_dw":45.0527,"cg_id_a":-9.18231773,"cg_id_raw_a":-2.84153509,"cg_iq_a":-198.654709,"cg_iq_raw_a":-199.575211,"cg_iu_a":-5.18033457,"cg_iv_a":173.749603,"cg_iw_a":-168.569275,"cg_sample_age_us":23.863636,"cg_sample_seq":10839267,"cg_sample_valid":1,"cg_theta_rad":3.8869071,"cg_vd_req_v":-1.68631911,"cg_vd_v":-1.68631911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39106369,"cg_vq_v":-8.39106369,"cg_vu_v":109.093361,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2472.74585,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1894.991577,"values":{"Elec_RPM":-2362.12646,"EncoderCos":27073,"EncoderSin":11993,"GapTicks":49904,"Mech_RPM":-472.425293,"cg_du":45.3673401,"cg_dv":46.1146469,"cg_dw":54.6326599,"cg_id_a":13.2914715,"cg_id_raw_a":15.5565863,"cg_iq_a":-204.905472,"cg_iq_raw_a":-202.137741,"cg_iu_a":-24.8244934,"cg_iv_a":-164.586578,"cg_iw_a":189.411072,"cg_sample_age_us":23.9363632,"cg_sample_seq":10840967,"cg_sample_valid":1,"cg_theta_rad":4.45833397,"cg_vd_req_v":-2.19239354,"cg_vd_v":-2.19239354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29051685,"cg_vq_v":-8.29051685,"cg_vu_v":103.374756,"cg_vv_v":86.2189407,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.5674458,"dclink_p_w":-2542.44263,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1895.02727,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1895.027275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1895.027279,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1895.323608,"values":{"Elec_RPM":-2358.23901,"EncoderCos":39478,"EncoderSin":12314,"GapTicks":49567,"Mech_RPM":-471.647797,"cg_du":54.9382477,"cg_dv":52.3514519,"cg_dw":45.0617523,"cg_id_a":4.98434591,"cg_id_raw_a":4.09117603,"cg_iq_a":-203.027557,"cg_iq_raw_a":-205.869659,"cg_iu_a":68.9020615,"cg_iv_a":131.96048,"cg_iw_a":-200.862534,"cg_sample_age_us":23.9509087,"cg_sample_seq":10842666,"cg_sample_valid":1,"cg_theta_rad":5.04833555,"cg_vd_req_v":-2.05730081,"cg_vd_v":-2.05730081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30772686,"cg_vq_v":-8.30772686,"cg_vu_v":28.5930176,"cg_vv_v":12.3169918,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2442.05029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1895.65564,"values":{"Elec_RPM":-2351.96069,"EncoderCos":49476,"EncoderSin":19521,"GapTicks":49354,"Mech_RPM":-470.392151,"cg_du":44.8675652,"cg_dv":49.3576584,"cg_dw":55.1324348,"cg_id_a":-9.06110477,"cg_id_raw_a":-10.766058,"cg_iq_a":-197.064209,"cg_iq_raw_a":-198.169037,"cg_iu_a":-125.582352,"cg_iv_a":-67.6343231,"cg_iw_a":193.216675,"cg_sample_age_us":23.8309097,"cg_sample_seq":10844366,"cg_sample_valid":1,"cg_theta_rad":5.62188721,"cg_vd_req_v":-1.83953226,"cg_vd_v":-1.83953226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40030289,"cg_vq_v":-8.40030289,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1896.007202,"values":{"Elec_RPM":-2353.06299,"EncoderCos":49890,"EncoderSin":20067,"GapTicks":49388,"Mech_RPM":-470.612579,"cg_du":44.898777,"cg_dv":48.2276726,"cg_dw":55.101223,"cg_id_a":5.30701733,"cg_id_raw_a":-1.60060155,"cg_iq_a":-197.932281,"cg_iq_raw_a":-195.812378,"cg_iu_a":-76.7256622,"cg_iv_a":-120.514084,"cg_iw_a":197.239746,"cg_sample_age_us":23.9581814,"cg_sample_seq":10846117,"cg_sample_valid":1,"cg_theta_rad":5.66042805,"cg_vd_req_v":-2.14248633,"cg_vd_v":-2.14248633,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39927769,"cg_vq_v":-8.39927769,"cg_vu_v":111.732712,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1896.019069,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1896.019075,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1896.01908,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1896.34314,"values":{"Elec_RPM":-2353.42554,"EncoderCos":43621,"EncoderSin":51161,"GapTicks":49390,"Mech_RPM":-470.685089,"cg_du":55.099514,"cg_dv":44.900486,"cg_dw":48.7037086,"cg_id_a":0.564544916,"cg_id_raw_a":-4.74869061,"cg_iq_a":-197.822021,"cg_iq_raw_a":-196.797958,"cg_iu_a":200.104736,"cg_iv_a":-92.896286,"cg_iw_a":-107.20845,"cg_sample_age_us":23.9218178,"cg_sample_seq":10847716,"cg_sample_valid":1,"cg_theta_rad":1.04031003,"cg_vd_req_v":-1.96138823,"cg_vd_v":-1.96138823,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41386414,"cg_vq_v":-8.41386414,"cg_vu_v":30.7924805,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2494.70972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1896.675171,"values":{"Elec_RPM":-2356.66162,"EncoderCos":31846,"EncoderSin":54207,"GapTicks":49374,"Mech_RPM":-471.332306,"cg_du":44.8858948,"cg_dv":55.1141052,"cg_dw":49.2129593,"cg_id_a":-11.74016,"cg_id_raw_a":-7.89111614,"cg_iq_a":-197.537018,"cg_iq_raw_a":-198.452103,"cg_iu_a":-188.501648,"cg_iv_a":147.545319,"cg_iw_a":40.9563293,"cg_sample_age_us":23.9072723,"cg_sample_seq":10849416,"cg_sample_valid":1,"cg_theta_rad":1.61656213,"cg_vd_req_v":-1.63581073,"cg_vd_v":-1.63581073,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42265797,"cg_vq_v":-8.42265797,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1897.010924,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1897.01093,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1897.010934,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1897.026733,"values":{"Elec_RPM":-2355.13794,"EncoderCos":20577,"EncoderSin":50512,"GapTicks":50009,"Mech_RPM":-471.027588,"cg_du":54.5369072,"cg_dv":45.4630928,"cg_dw":54.2014885,"cg_id_a":11.0471621,"cg_id_raw_a":14.221817,"cg_iq_a":-203.650421,"cg_iq_raw_a":-203.991821,"cg_iu_a":171.073425,"cg_iv_a":-181.403717,"cg_iw_a":10.3302841,"cg_sample_age_us":24.0890903,"cg_sample_seq":10851117,"cg_sample_valid":1,"cg_theta_rad":2.17443633,"cg_vd_req_v":-2.11995602,"cg_vd_v":-2.11995602,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3319912,"cg_vq_v":-8.3319912,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":109.973145,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2464.90186,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3933411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1897.358765,"values":{"Elec_RPM":-2359.32813,"EncoderCos":19833,"EncoderSin":49975,"GapTicks":49448,"Mech_RPM":-471.865631,"cg_du":55.0464058,"cg_dv":44.9535942,"cg_dw":51.9703331,"cg_id_a":-11.9135838,"cg_id_raw_a":-4.61700153,"cg_iq_a":-198.255463,"cg_iq_raw_a":-199.936401,"cg_iu_a":174.371613,"cg_iv_a":-167.667297,"cg_iw_a":-6.70431519,"cg_sample_age_us":23.994545,"cg_sample_seq":10852867,"cg_sample_valid":1,"cg_theta_rad":2.2155714,"cg_vd_req_v":-1.65501416,"cg_vd_v":-1.65501416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4581728,"cg_vq_v":-8.4581728,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2411.79761,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1897.710327,"values":{"Elec_RPM":-2356.85156,"EncoderCos":11472,"EncoderSin":29424,"GapTicks":49378,"Mech_RPM":-471.370331,"cg_du":49.8769569,"cg_dv":44.8894005,"cg_dw":55.1105995,"cg_id_a":-19.4767799,"cg_id_raw_a":-20.8909836,"cg_iq_a":-197.577118,"cg_iq_raw_a":-198.883621,"cg_iu_a":103.551163,"cg_iv_a":-196.988556,"cg_iw_a":93.4373932,"cg_sample_age_us":23.7109089,"cg_sample_seq":10854520,"cg_sample_valid":1,"cg_theta_rad":3.34534597,"cg_vd_req_v":-1.5030216,"cg_vd_v":-1.5030216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40804958,"cg_vq_v":-8.40804958,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.4424057,"dclink_p_w":-2516.67334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4559937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1898.002935,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1898.00294,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1898.002945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1898.046265,"values":{"Elec_RPM":-2350.17114,"EncoderCos":11761,"EncoderSin":27950,"GapTicks":49515,"Mech_RPM":-470.034241,"cg_du":52.4336014,"cg_dv":45.0143738,"cg_dw":54.9856262,"cg_id_a":5.78718567,"cg_id_raw_a":1.99678719,"cg_iq_a":-199.004974,"cg_iq_raw_a":-199.042023,"cg_iu_a":129.864197,"cg_iv_a":-197.71344,"cg_iw_a":79.0485992,"cg_sample_age_us":23.6127281,"cg_sample_seq":10856267,"cg_sample_valid":1,"cg_theta_rad":3.36881065,"cg_vd_req_v":-2.0418334,"cg_vd_v":-2.0418334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38486099,"cg_vq_v":-8.38486099,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2442.41553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1898.554077,"values":{"Elec_RPM":-2348.13647,"EncoderCos":13070,"EncoderSin":41474,"GapTicks":49468,"Mech_RPM":-469.627289,"cg_du":48.1963577,"cg_dv":55.0286484,"cg_dw":44.9713516,"cg_id_a":2.51957083,"cg_id_raw_a":-3.48692513,"cg_iq_a":-201.247482,"cg_iq_raw_a":-201.053986,"cg_iu_a":-104.30722,"cg_iv_a":200.751266,"cg_iw_a":-96.444046,"cg_sample_age_us":23.8781815,"cg_sample_seq":10858666,"cg_sample_valid":1,"cg_theta_rad":2.71864915,"cg_vd_req_v":-1.9478898,"cg_vd_v":-1.9478898,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33107281,"cg_vq_v":-8.33107281,"cg_vu_v":18.4754887,"cg_vv_v":23.7541981,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1898.898905,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1898.898917,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1898.89892,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1899.026817,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1899.026824,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1899.026829,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1899.038452,"values":{"Elec_RPM":-2346.25586,"EncoderCos":44732,"EncoderSin":50484,"GapTicks":49341,"Mech_RPM":-469.25119,"cg_du":55.1437111,"cg_dv":44.8562889,"cg_dw":51.0307961,"cg_id_a":-14.7514763,"cg_id_raw_a":-14.7486963,"cg_iq_a":-194.820465,"cg_iq_raw_a":-195.22197,"cg_iu_a":180.315613,"cg_iv_a":-153.350998,"cg_iw_a":-26.9646149,"cg_sample_age_us":23.9363632,"cg_sample_seq":10861167,"cg_sample_valid":1,"cg_theta_rad":0.980127633,"cg_vd_req_v":-1.61458731,"cg_vd_v":-1.61458731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5012188,"cg_vq_v":-8.5012188,"cg_vu_v":143.404984,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.4964409,"dclink_p_w":-2387.44165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1899.370483,"values":{"Elec_RPM":-2351.05273,"EncoderCos":33104,"EncoderSin":54140,"GapTicks":49882,"Mech_RPM":-470.210571,"cg_du":45.347847,"cg_dv":54.652153,"cg_dw":46.3100281,"cg_id_a":7.86616516,"cg_id_raw_a":12.0002174,"cg_iq_a":-204.093307,"cg_iq_raw_a":-205.416199,"cg_iu_a":-172.77182,"cg_iv_a":181.505798,"cg_iw_a":-9.09640503,"cg_sample_age_us":23.7800007,"cg_sample_seq":10862867,"cg_sample_valid":1,"cg_theta_rad":1.55378389,"cg_vd_req_v":-2.02281761,"cg_vd_v":-2.02281761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28133106,"cg_vq_v":-8.28133106,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2476.08887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1899.702515,"values":{"Elec_RPM":-2349.3645,"EncoderCos":21259,"EncoderSin":50992,"GapTicks":49677,"Mech_RPM":-469.872894,"cg_du":53.1953697,"cg_dv":45.1614189,"cg_dw":54.8385811,"cg_id_a":9.49190903,"cg_id_raw_a":6.94830322,"cg_iq_a":-201.197311,"cg_iq_raw_a":-200.67511,"cg_iu_a":148.56601,"cg_iv_a":-192.639313,"cg_iw_a":44.0732956,"cg_sample_age_us":23.641819,"cg_sample_seq":10864566,"cg_sample_valid":1,"cg_theta_rad":2.13344431,"cg_vd_req_v":-2.11228967,"cg_vd_v":-2.11228967,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36485672,"cg_vq_v":-8.36485672,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-17.2901821,"dclink_p_w":-2509.92163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1900.018774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1900.01878,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1900.018784,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1900.054077,"values":{"Elec_RPM":-2348.16602,"EncoderCos":13225,"EncoderSin":41844,"GapTicks":49360,"Mech_RPM":-469.633209,"cg_du":48.8847771,"cg_dv":55.1269646,"cg_dw":44.8730354,"cg_id_a":-2.75854588,"cg_id_raw_a":-6.29500246,"cg_iq_a":-198.246994,"cg_iq_raw_a":-197.614105,"cg_iu_a":-96.8047485,"cg_iv_a":199.1203,"cg_iw_a":-115.000885,"cg_sample_age_us":23.9690914,"cg_sample_seq":10866267,"cg_sample_valid":1,"cg_theta_rad":2.70896482,"cg_vd_req_v":-1.84741974,"cg_vd_v":-1.84741974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43522263,"cg_vq_v":-8.43522263,"cg_vu_v":114.37207,"cg_vv_v":143.404984,"cg_vw_v":131.967773,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2456.51904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1900.390015,"values":{"Elec_RPM":-2348.78638,"EncoderCos":11488,"EncoderSin":29585,"GapTicks":49386,"Mech_RPM":-469.757294,"cg_du":49.5364609,"cg_dv":44.8964462,"cg_dw":55.1035538,"cg_id_a":-18.2605972,"cg_id_raw_a":-19.3921432,"cg_iq_a":-197.101028,"cg_iq_raw_a":-199.693741,"cg_iu_a":41.9004059,"cg_iv_a":-186.985275,"cg_iw_a":145.084869,"cg_sample_age_us":23.8309097,"cg_sample_seq":10867966,"cg_sample_valid":1,"cg_theta_rad":3.29520273,"cg_vd_req_v":-1.52558374,"cg_vd_v":-1.52558374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42947388,"cg_vq_v":-8.42947388,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-17.2086334,"dclink_p_w":-2490.51343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1900.741577,"values":{"Elec_RPM":-2348.95728,"EncoderCos":15936,"EncoderSin":19151,"GapTicks":49939,"Mech_RPM":-469.791443,"cg_du":54.6004486,"cg_dv":53.8997612,"cg_dw":45.3995514,"cg_id_a":12.3271971,"cg_id_raw_a":10.9438992,"cg_iq_a":-205.767426,"cg_iq_raw_a":-208.655701,"cg_iu_a":1.95970047,"cg_iv_a":171.901169,"cg_iw_a":-173.86087,"cg_sample_age_us":23.8745461,"cg_sample_seq":10869670,"cg_sample_valid":1,"cg_theta_rad":3.87404251,"cg_vd_req_v":-2.14081407,"cg_vd_v":-2.14081407,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26041508,"cg_vq_v":-8.26041508,"cg_vu_v":129.328415,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1977596,"dclink_p_w":-2481.37451,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1901.011569,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1901.011574,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1901.011579,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1901.073608,"values":{"Elec_RPM":-2348.54077,"EncoderCos":17043,"EncoderSin":17831,"GapTicks":49340,"Mech_RPM":-469.70816,"cg_du":51.1069183,"cg_dv":55.1454544,"cg_dw":44.8545456,"cg_id_a":-14.7010279,"cg_id_raw_a":-12.1786175,"cg_iq_a":-195.514297,"cg_iq_raw_a":-196.998596,"cg_iu_a":-27.3978043,"cg_iv_a":181.83197,"cg_iw_a":-154.434174,"cg_sample_age_us":23.9690914,"cg_sample_seq":10871416,"cg_sample_valid":1,"cg_theta_rad":3.91234946,"cg_vd_req_v":-1.5963304,"cg_vd_v":-1.5963304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48971176,"cg_vq_v":-8.48971176,"cg_vu_v":23.3143044,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4559937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1901.40564,"values":{"Elec_RPM":-2352.80322,"EncoderCos":39085,"EncoderSin":12203,"GapTicks":49501,"Mech_RPM":-470.560669,"cg_du":54.9990387,"cg_dv":51.6238022,"cg_dw":45.0009613,"cg_id_a":-0.525431752,"cg_id_raw_a":-1.81613946,"cg_iq_a":-203.369171,"cg_iq_raw_a":-203.926468,"cg_iu_a":90.8658295,"cg_iv_a":99.9571457,"cg_iw_a":-202.239777,"cg_sample_age_us":23.9836369,"cg_sample_seq":10873066,"cg_sample_valid":1,"cg_theta_rad":5.027668,"cg_vd_req_v":-1.94281232,"cg_vd_v":-1.94281232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27469444,"cg_vq_v":-8.27469444,"cg_vu_v":32.9919434,"cg_vv_v":23.7541981,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2462.02563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1901.757202,"values":{"Elec_RPM":-2353.44971,"EncoderCos":28260,"EncoderSin":11728,"GapTicks":49595,"Mech_RPM":-470.689941,"cg_du":47.7668266,"cg_dv":45.0872574,"cg_dw":54.9127426,"cg_id_a":-8.79766655,"cg_id_raw_a":-2.96797323,"cg_iq_a":-201.603546,"cg_iq_raw_a":-203.731979,"cg_iu_a":13.9926529,"cg_iv_a":-180.243927,"cg_iw_a":166.251266,"cg_sample_age_us":23.9690914,"cg_sample_seq":10874868,"cg_sample_valid":1,"cg_theta_rad":4.52567863,"cg_vd_req_v":-1.72657394,"cg_vd_v":-1.72657394,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33677483,"cg_vq_v":-8.33677483,"cg_vu_v":104.694435,"cg_vv_v":81.820015,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2455.72974,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2605,"hz_tim_isr":4999,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3682861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1902.035064,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1902.035069,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1902.035073,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1902.089233,"values":{"Elec_RPM":-2350.36182,"EncoderCos":53872,"EncoderSin":30166,"GapTicks":49711,"Mech_RPM":-470.072388,"cg_du":54.8072929,"cg_dv":46.803093,"cg_dw":45.1927071,"cg_id_a":1.06227529,"cg_id_raw_a":5.55335045,"cg_iq_a":-201.349121,"cg_iq_raw_a":-200.93074,"cg_iu_a":173.066833,"cg_iv_a":-1.960495,"cg_iw_a":-171.106339,"cg_sample_age_us":24.0854549,"cg_sample_seq":10876467,"cg_sample_valid":1,"cg_theta_rad":6.17237377,"cg_vd_req_v":-1.97405553,"cg_vd_v":-1.97405553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37594891,"cg_vq_v":-8.37594891,"cg_vu_v":124.489601,"cg_vv_v":120.970459,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1902.425171,"values":{"Elec_RPM":-2351.03589,"EncoderCos":51849,"EncoderSin":42088,"GapTicks":49654,"Mech_RPM":-470.207184,"cg_du":45.1401749,"cg_dv":54.8598251,"cg_dw":53.2009506,"cg_id_a":13.0696068,"cg_id_raw_a":12.8789282,"cg_iq_a":-199.316711,"cg_iq_raw_a":-199.15155,"cg_iu_a":-185.493408,"cg_iv_a":29.209198,"cg_iw_a":156.28421,"cg_sample_age_us":23.5254555,"cg_sample_seq":10878168,"cg_sample_valid":1,"cg_theta_rad":0.471410811,"cg_vd_req_v":-2.24337387,"cg_vd_v":-2.24337387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39422321,"cg_vq_v":-8.39422321,"cg_vu_v":116.131638,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5363102,"dclink_p_w":-2393.21167,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1902.776733,"values":{"Elec_RPM":-2350.05396,"EncoderCos":43294,"EncoderSin":51352,"GapTicks":49458,"Mech_RPM":-470.010773,"cg_du":55.0375328,"cg_dv":44.9624672,"cg_dw":48.1159134,"cg_id_a":9.22691059,"cg_id_raw_a":5.79615593,"cg_iq_a":-200.61087,"cg_iq_raw_a":-200.006561,"cg_iu_a":196.480347,"cg_iv_a":-60.7479858,"cg_iw_a":-135.732361,"cg_sample_age_us":23.8199997,"cg_sample_seq":10879866,"cg_sample_valid":1,"cg_theta_rad":1.07029128,"cg_vd_req_v":-2.1332624,"cg_vd_v":-2.1332624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34405327,"cg_vq_v":-8.34405327,"cg_vu_v":134.167236,"cg_vv_v":120.970459,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1903.026869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1903.026873,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1903.026878,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1903.108765,"values":{"Elec_RPM":-2348.24414,"EncoderCos":31418,"EncoderSin":54157,"GapTicks":49300,"Mech_RPM":-469.648804,"cg_du":44.8184967,"cg_dv":55.1815033,"cg_dw":50.0424843,"cg_id_a":-9.27739525,"cg_id_raw_a":-9.89189434,"cg_iq_a":-197.065155,"cg_iq_raw_a":-197.351334,"cg_iu_a":-189.37149,"cg_iv_a":140.948929,"cg_iw_a":48.4225616,"cg_sample_age_us":23.8600006,"cg_sample_seq":10881566,"cg_sample_valid":1,"cg_theta_rad":1.62589788,"cg_vd_req_v":-1.70551157,"cg_vd_v":-1.70551157,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4626255,"cg_vq_v":-8.4626255,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2432.552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1903.440796,"values":{"Elec_RPM":-2342.51318,"EncoderCos":19915,"EncoderSin":50061,"GapTicks":49531,"Mech_RPM":-468.502655,"cg_du":54.9710121,"cg_dv":45.0289879,"cg_dw":52.2605286,"cg_id_a":-8.06562805,"cg_id_raw_a":-0.376447886,"cg_iq_a":-197.685394,"cg_iq_raw_a":-199.412521,"cg_iu_a":174.009186,"cg_iv_a":-166.072571,"cg_iw_a":-7.93660736,"cg_sample_age_us":23.994545,"cg_sample_seq":10883266,"cg_sample_valid":1,"cg_theta_rad":2.20942593,"cg_vd_req_v":-1.72472894,"cg_vd_v":-1.72472894,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44046783,"cg_vq_v":-8.44046783,"cg_vu_v":40.9100075,"cg_vv_v":39.1504402,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2459.56592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1903.792358,"values":{"Elec_RPM":-2348.75757,"EncoderCos":12525,"EncoderSin":40203,"GapTicks":50080,"Mech_RPM":-469.751526,"cg_du":45.7153015,"cg_dv":54.472477,"cg_dw":45.527523,"cg_id_a":13.0282097,"cg_id_raw_a":15.809967,"cg_iq_a":-204.726746,"cg_iq_raw_a":-205.249893,"cg_iu_a":-168.966217,"cg_iv_a":183.68042,"cg_iw_a":-14.7142029,"cg_sample_age_us":23.9581814,"cg_sample_seq":10884966,"cg_sample_valid":1,"cg_theta_rad":2.79497552,"cg_vd_req_v":-2.11646461,"cg_vd_v":-2.11646461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27484512,"cg_vq_v":-8.27484512,"cg_vu_v":38.2706528,"cg_vv_v":53.2269974,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1904.019086,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1904.019091,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1904.019096,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1904.12439,"values":{"Elec_RPM":-2352.5542,"EncoderCos":11706,"EncoderSin":28224,"GapTicks":49411,"Mech_RPM":-470.510864,"cg_du":51.8663063,"cg_dv":44.9196358,"cg_dw":55.0803642,"cg_id_a":6.17439032,"cg_id_raw_a":1.44915819,"cg_iq_a":-197.658127,"cg_iq_raw_a":-197.898682,"cg_iu_a":119.752159,"cg_iv_a":-197.206024,"cg_iw_a":77.4538727,"cg_sample_age_us":23.7800007,"cg_sample_seq":10886666,"cg_sample_valid":1,"cg_theta_rad":3.36045718,"cg_vd_req_v":-2.05686045,"cg_vd_v":-2.05686045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43157864,"cg_vq_v":-8.43157864,"cg_vu_v":40.0302238,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.0923233,"dclink_p_w":-2328.95605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1904.479858,"values":{"Elec_RPM":-2353.71289,"EncoderCos":16736,"EncoderSin":18143,"GapTicks":49442,"Mech_RPM":-470.742584,"cg_du":52.1102295,"cg_dv":55.0524483,"cg_dw":44.9475517,"cg_id_a":-9.31628036,"cg_id_raw_a":-6.63697433,"cg_iq_a":-195.994644,"cg_iq_raw_a":-197.34523,"cg_iu_a":-51.4999542,"cg_iv_a":191.581589,"cg_iw_a":-140.081635,"cg_sample_age_us":23.9690914,"cg_sample_seq":10888371,"cg_sample_valid":1,"cg_theta_rad":3.9333353,"cg_vd_req_v":-1.69514656,"cg_vd_v":-1.69514656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49139786,"cg_vq_v":-8.49139786,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1904.807983,"values":{"Elec_RPM":-2349.85596,"EncoderCos":28252,"EncoderSin":11726,"GapTicks":49587,"Mech_RPM":-469.971191,"cg_du":47.7451401,"cg_dv":45.0792465,"cg_dw":54.9207535,"cg_id_a":-8.46299362,"cg_id_raw_a":-2.18063617,"cg_iq_a":-201.891647,"cg_iq_raw_a":-202.561813,"cg_iu_a":7.21505642,"cg_iv_a":-177.380646,"cg_iw_a":170.165588,"cg_sample_age_us":23.8381824,"cg_sample_seq":10890067,"cg_sample_valid":1,"cg_theta_rad":4.51459646,"cg_vd_req_v":-1.72739649,"cg_vd_v":-1.72739649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32892609,"cg_vq_v":-8.32892609,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2355.70728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4130249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1905.043058,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1905.043064,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1905.043068,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1905.143921,"values":{"Elec_RPM":-2352.03296,"EncoderCos":40477,"EncoderSin":12661,"GapTicks":50094,"Mech_RPM":-470.406586,"cg_du":54.4593811,"cg_dv":54.3063583,"cg_dw":45.5406189,"cg_id_a":7.54334164,"cg_id_raw_a":6.67545414,"cg_iq_a":-205.86554,"cg_iq_raw_a":-207.500244,"cg_iu_a":30.7735481,"cg_iv_a":160.339401,"cg_iw_a":-191.112946,"cg_sample_age_us":23.8527279,"cg_sample_seq":10891766,"cg_sample_valid":1,"cg_theta_rad":5.08788347,"cg_vd_req_v":-2.0977385,"cg_vd_v":-2.0977385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24358463,"cg_vq_v":-8.24358463,"cg_vu_v":23.3143044,"cg_vv_v":11.4372072,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1905.495483,"values":{"Elec_RPM":-2354.6084,"EncoderCos":49918,"EncoderSin":20171,"GapTicks":49385,"Mech_RPM":-470.921692,"cg_du":44.8963051,"cg_dv":48.0592918,"cg_dw":55.1036949,"cg_id_a":7.81037188,"cg_id_raw_a":2.52572489,"cg_iq_a":-198.69838,"cg_iq_raw_a":-195.271149,"cg_iu_a":-71.0353851,"cg_iv_a":-126.095627,"cg_iw_a":197.131012,"cg_sample_age_us":23.9290905,"cg_sample_seq":10893467,"cg_sample_valid":1,"cg_theta_rad":5.66552687,"cg_vd_req_v":-2.19646645,"cg_vd_v":-2.19646645,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42390537,"cg_vq_v":-8.42390537,"cg_vu_v":115.251846,"cg_vv_v":133.727341,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1905.827515,"values":{"Elec_RPM":-2354.54761,"EncoderCos":43504,"EncoderSin":51248,"GapTicks":49401,"Mech_RPM":-470.909515,"cg_du":55.0893631,"cg_dv":44.9106369,"cg_dw":48.4597206,"cg_id_a":2.56639719,"cg_id_raw_a":-2.7272315,"cg_iq_a":-199.67775,"cg_iq_raw_a":-199.637894,"cg_iu_a":200.648407,"cg_iv_a":-85.9737167,"cg_iw_a":-114.67469,"cg_sample_age_us":23.9290905,"cg_sample_seq":10895066,"cg_sample_valid":1,"cg_theta_rad":1.04608047,"cg_vd_req_v":-2.00769091,"cg_vd_v":-2.00769091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37022114,"cg_vq_v":-8.37022114,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2522.16406,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2574,"hz_tim_isr":5000,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1906.034838,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1906.034844,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1906.03485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1906.159546,"values":{"Elec_RPM":-2350.98193,"EncoderCos":50916,"EncoderSin":43900,"GapTicks":49454,"Mech_RPM":-470.196411,"cg_du":44.9585381,"cg_dv":51.3796425,"cg_dw":55.0414619,"cg_id_a":-9.63853645,"cg_id_raw_a":-10.1104202,"cg_iq_a":-200.799561,"cg_iq_raw_a":-202.582825,"cg_iu_a":-163.710861,"cg_iv_a":-17.5453491,"cg_iw_a":181.25621,"cg_sample_age_us":23.449091,"cg_sample_seq":10896866,"cg_sample_valid":1,"cg_theta_rad":0.548299313,"cg_vd_req_v":-1.76416814,"cg_vd_v":-1.76416814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34504414,"cg_vq_v":-8.34504414,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.8737068,"dclink_p_w":-2586.76611,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1906.511108,"values":{"Elec_RPM":-2347.73682,"EncoderCos":42032,"EncoderSin":51984,"GapTicks":50061,"Mech_RPM":-469.547363,"cg_du":54.4893112,"cg_dv":45.7019882,"cg_dw":45.5106888,"cg_id_a":10.4723701,"cg_id_raw_a":16.7083797,"cg_iq_a":-204.873062,"cg_iq_raw_a":-207.713425,"cg_iu_a":182.925171,"cg_iv_a":-12.4712219,"cg_iw_a":-170.453949,"cg_sample_age_us":24.0127277,"cg_sample_seq":10898566,"cg_sample_valid":1,"cg_theta_rad":1.12357605,"cg_vd_req_v":-2.11665273,"cg_vd_v":-2.11665273,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3066206,"cg_vq_v":-8.3066206,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2503.08179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1906.84314,"values":{"Elec_RPM":-2353.64111,"EncoderCos":29909,"EncoderSin":54064,"GapTicks":49559,"Mech_RPM":-470.728241,"cg_du":45.054184,"cg_dv":54.945816,"cg_dw":52.7864532,"cg_id_a":9.35210991,"cg_id_raw_a":10.641613,"cg_iq_a":-197.319397,"cg_iq_raw_a":-198.496124,"cg_iu_a":-192.850906,"cg_iv_a":53.8912506,"cg_iw_a":138.959656,"cg_sample_age_us":23.7763634,"cg_sample_seq":10900266,"cg_sample_valid":1,"cg_theta_rad":1.70776391,"cg_vd_req_v":-2.07326603,"cg_vd_v":-2.07326603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44048691,"cg_vq_v":-8.44048691,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2550.43359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4147949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1906.995197,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1906.995203,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1906.995209,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1907.198608,"values":{"Elec_RPM":-2350.39648,"EncoderCos":19696,"EncoderSin":49855,"GapTicks":49442,"Mech_RPM":-470.079285,"cg_du":55.0525284,"cg_dv":44.9474716,"cg_dw":51.5900879,"cg_id_a":-14.0852795,"cg_id_raw_a":-11.7293615,"cg_iq_a":-196.944244,"cg_iq_raw_a":-197.463028,"cg_iu_a":194.523193,"cg_iv_a":-127.291687,"cg_iw_a":-67.2315063,"cg_sample_age_us":26.8600006,"cg_sample_seq":10901971,"cg_sample_valid":1,"cg_theta_rad":2.27156878,"cg_vd_req_v":-1.60907972,"cg_vd_v":-1.60907972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42950916,"cg_vq_v":-8.42950916,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.6377926,"dclink_p_w":-2407.89868,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1907.53064,"values":{"Elec_RPM":-2348.99805,"EncoderCos":12096,"EncoderSin":38824,"GapTicks":49386,"Mech_RPM":-469.799591,"cg_du":44.8971062,"cg_dv":55.1028938,"cg_dw":48.7072258,"cg_id_a":-11.9349728,"cg_id_raw_a":-8.92193794,"cg_iq_a":-198.024521,"cg_iq_raw_a":-199.451111,"cg_iu_a":-181.252869,"cg_iv_a":157.403625,"cg_iw_a":23.8492355,"cg_sample_age_us":23.9654541,"cg_sample_seq":10903666,"cg_sample_valid":1,"cg_theta_rad":2.85741711,"cg_vd_req_v":-1.62084568,"cg_vd_v":-1.62084568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43790817,"cg_vq_v":-8.43790817,"cg_vu_v":1.31967759,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2549.61865,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1907.862671,"values":{"Elec_RPM":-2352.57471,"EncoderCos":12036,"EncoderSin":26881,"GapTicks":50057,"Mech_RPM":-470.514923,"cg_du":54.4585228,"cg_dv":45.5067444,"cg_dw":54.4932556,"cg_id_a":13.0525036,"cg_id_raw_a":12.7972126,"cg_iq_a":-199.375351,"cg_iq_raw_a":-199.219971,"cg_iu_a":166.39798,"cg_iv_a":-181.077515,"cg_iw_a":14.6795425,"cg_sample_age_us":24.1654549,"cg_sample_seq":10905367,"cg_sample_valid":1,"cg_theta_rad":3.4219265,"cg_vd_req_v":-2.1560204,"cg_vd_v":-2.1560204,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40803337,"cg_vq_v":-8.40803337,"cg_vu_v":106.014107,"cg_vv_v":77.8609848,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-17.2013836,"dclink_p_w":-2497.03101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1908.019632,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1908.019638,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1908.019643,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1908.268921,"values":{"Elec_RPM":-2352.66211,"EncoderCos":47967,"EncoderSin":47826,"GapTicks":49326,"Mech_RPM":-470.53241,"cg_du":49.5348663,"cg_dv":44.842453,"cg_dw":55.157547,"cg_id_a":-12.0188541,"cg_id_raw_a":-13.6750956,"cg_iq_a":-195.566895,"cg_iq_raw_a":-196.064285,"cg_iu_a":49.2579041,"cg_iv_a":-187.60141,"cg_iw_a":138.343506,"cg_sample_age_us":23.681818,"cg_sample_seq":10907367,"cg_sample_valid":1,"cg_theta_rad":0.784468591,"cg_vd_req_v":-1.70146322,"cg_vd_v":-1.70146322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4612627,"cg_vq_v":-8.4612627,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2377.30884,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1908.788452,"values":{"Elec_RPM":-2349.88623,"EncoderCos":34187,"EncoderSin":11330,"GapTicks":49371,"Mech_RPM":-469.977234,"cg_du":55.1171799,"cg_dv":44.8828201,"cg_dw":49.1938362,"cg_id_a":-9.77312279,"cg_id_raw_a":-11.4535646,"cg_iq_a":-198.837891,"cg_iq_raw_a":-199.062439,"cg_iu_a":195.574265,"cg_iv_a":-128.16153,"cg_iw_a":-67.412735,"cg_sample_age_us":23.9654541,"cg_sample_seq":10909916,"cg_sample_valid":1,"cg_theta_rad":4.78629303,"cg_vd_req_v":-1.76019871,"cg_vd_v":-1.76019871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40445709,"cg_vq_v":-8.40445709,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.6381226,"dclink_p_w":-2544.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1908.91505,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1908.915058,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1908.915061,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1909.011281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1909.011286,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1909.01129,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1909.18689,"values":{"Elec_RPM":-2350.42603,"EncoderCos":42926,"EncoderSin":51536,"GapTicks":49556,"Mech_RPM":-470.085205,"cg_du":54.9482346,"cg_dv":45.0517654,"cg_dw":47.3788719,"cg_id_a":14.2635841,"cg_id_raw_a":12.5788288,"cg_iq_a":-202.989929,"cg_iq_raw_a":-202.453506,"cg_iu_a":198.691223,"cg_iv_a":-50.6722107,"cg_iw_a":-148.019012,"cg_sample_age_us":23.954546,"cg_sample_seq":10912016,"cg_sample_valid":1,"cg_theta_rad":1.07620728,"cg_vd_req_v":-2.23137355,"cg_vd_v":-2.23137355,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32718086,"cg_vq_v":-8.32718086,"cg_vu_v":42.2296829,"cg_vv_v":40.4701157,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1909.542358,"values":{"Elec_RPM":-2350.93311,"EncoderCos":20493,"EncoderSin":50444,"GapTicks":49942,"Mech_RPM":-470.186615,"cg_du":54.5973511,"cg_dv":45.4026489,"cg_dw":53.9397659,"cg_id_a":8.63388538,"cg_id_raw_a":12.5929575,"cg_iq_a":-201.696136,"cg_iq_raw_a":-201.32666,"cg_iu_a":169.696167,"cg_iv_a":-178.975372,"cg_iw_a":9.27921295,"cg_sample_age_us":24.0527267,"cg_sample_seq":10913667,"cg_sample_valid":1,"cg_theta_rad":2.17920208,"cg_vd_req_v":-2.06723452,"cg_vd_v":-2.06723452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34556961,"cg_vq_v":-8.34556961,"cg_vu_v":106.014107,"cg_vv_v":74.3418427,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2480.06714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1909.87439,"values":{"Elec_RPM":-2352.64429,"EncoderCos":19948,"EncoderSin":50079,"GapTicks":49551,"Mech_RPM":-470.52887,"cg_du":54.9528961,"cg_dv":45.0471039,"cg_dw":52.3336372,"cg_id_a":-8.34179878,"cg_id_raw_a":1.33957517,"cg_iq_a":-198.517502,"cg_iq_raw_a":-200.057419,"cg_iu_a":175.531418,"cg_iv_a":-164.767792,"cg_iw_a":-10.7636261,"cg_sample_age_us":23.9654541,"cg_sample_seq":10915418,"cg_sample_valid":1,"cg_theta_rad":2.21982741,"cg_vd_req_v":-1.71664405,"cg_vd_v":-1.71664405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40421295,"cg_vq_v":-8.40421295,"cg_vu_v":143.404984,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.5402641,"dclink_p_w":-2538.50879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1910.003376,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1910.003383,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1910.003388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1910.206421,"values":{"Elec_RPM":-2353.01221,"EncoderCos":11563,"EncoderSin":28865,"GapTicks":49334,"Mech_RPM":-470.602448,"cg_du":50.804306,"cg_dv":44.8497887,"cg_dw":55.1502113,"cg_id_a":-8.52455235,"cg_id_raw_a":-11.3241758,"cg_iq_a":-198.41568,"cg_iq_raw_a":-197.880264,"cg_iu_a":81.8048706,"cg_iv_a":-197.387253,"cg_iw_a":115.582382,"cg_sample_age_us":23.7545452,"cg_sample_seq":10917067,"cg_sample_valid":1,"cg_theta_rad":3.33040905,"cg_vd_req_v":-1.75565338,"cg_vd_v":-1.75565338,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43457031,"cg_vq_v":-8.43457031,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2476.61328,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1910.557983,"values":{"Elec_RPM":-2355.34082,"EncoderCos":11826,"EncoderSin":27756,"GapTicks":49461,"Mech_RPM":-471.068146,"cg_du":52.7899895,"cg_dv":45.0432053,"cg_dw":55.0351868,"cg_id_a":10.3123703,"cg_id_raw_a":7.64239311,"cg_iq_a":-198.102997,"cg_iq_raw_a":-197.891708,"cg_iu_a":128.813126,"cg_iv_a":-194.523987,"cg_iw_a":65.7108612,"cg_sample_age_us":23.5981827,"cg_sample_seq":10918816,"cg_sample_valid":1,"cg_theta_rad":3.37259364,"cg_vd_req_v":-2.12751532,"cg_vd_v":-2.12751532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44605446,"cg_vq_v":-8.44605446,"cg_vu_v":35.6312981,"cg_vv_v":33.4318352,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2473.09204,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1910.890015,"values":{"Elec_RPM":-2354.2085,"EncoderCos":27780,"EncoderSin":11821,"GapTicks":49868,"Mech_RPM":-470.841675,"cg_du":46.565052,"cg_dv":45.3350067,"cg_dw":54.6649933,"cg_id_a":3.35342407,"cg_id_raw_a":6.59450531,"cg_iq_a":-205.321411,"cg_iq_raw_a":-204.590225,"cg_iu_a":-5.32531023,"cg_iv_a":-173.973724,"cg_iw_a":179.299042,"cg_sample_age_us":23.954546,"cg_sample_seq":10920467,"cg_sample_valid":1,"cg_theta_rad":4.49061203,"cg_vd_req_v":-1.97154939,"cg_vd_v":-1.97154939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23842525,"cg_vq_v":-8.23842525,"cg_vu_v":106.453995,"cg_vv_v":94.1370087,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2428.61816,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1911.027003,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1911.027009,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1911.027015,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1911.245483,"values":{"Elec_RPM":-2350.65698,"EncoderCos":39177,"EncoderSin":12224,"GapTicks":49497,"Mech_RPM":-470.131378,"cg_du":55.0019608,"cg_dv":51.8249321,"cg_dw":44.9980392,"cg_id_a":-1.04227805,"cg_id_raw_a":-4.16854286,"cg_iq_a":-203.270599,"cg_iq_raw_a":-204.008423,"cg_iu_a":43.7850876,"cg_iv_a":144.682053,"cg_iw_a":-198.180481,"cg_sample_age_us":23.8563633,"cg_sample_seq":10922170,"cg_sample_valid":1,"cg_theta_rad":5.07064009,"cg_vd_req_v":-1.94470918,"cg_vd_v":-1.94470918,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29141617,"cg_vq_v":-8.29141617,"cg_vu_v":32.1121559,"cg_vv_v":26.8334465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1911.577515,"values":{"Elec_RPM":-2351.28442,"EncoderCos":40843,"EncoderSin":12813,"GapTicks":49884,"Mech_RPM":-470.256897,"cg_du":53.8092918,"cg_dv":54.6501007,"cg_dw":45.3498993,"cg_id_a":6.99778128,"cg_id_raw_a":10.2606573,"cg_iq_a":-202.831848,"cg_iq_raw_a":-204.45871,"cg_iu_a":5.04042625,"cg_iv_a":172.481079,"cg_iw_a":-177.5215,"cg_sample_age_us":23.9509087,"cg_sample_seq":10923916,"cg_sample_valid":1,"cg_theta_rad":5.11579466,"cg_vd_req_v":-2.0828352,"cg_vd_v":-2.0828352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34011078,"cg_vq_v":-8.34011078,"cg_vu_v":30.3525867,"cg_vv_v":26.3935547,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2437.84131,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4237671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1911.909546,"values":{"Elec_RPM":-2354.35889,"EncoderCos":53949,"EncoderSin":31522,"GapTicks":49358,"Mech_RPM":-470.871796,"cg_du":55.1290283,"cg_dv":49.8319702,"cg_dw":44.8709717,"cg_id_a":-13.1327782,"cg_id_raw_a":-13.078723,"cg_iq_a":-195.959412,"cg_iq_raw_a":-196.92569,"cg_iu_a":144.108017,"cg_iv_a":40.9159546,"cg_iw_a":-185.023972,"cg_sample_age_us":24.1218185,"cg_sample_seq":10925566,"cg_sample_valid":1,"cg_theta_rad":6.22899628,"cg_vd_req_v":-1.70862269,"cg_vd_v":-1.70862269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42743111,"cg_vq_v":-8.42743111,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2603,"hz_tim_isr":5001,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.3700867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1912.019343,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1912.019349,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1912.019355,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1912.261108,"values":{"Elec_RPM":-2356.75635,"EncoderCos":51176,"EncoderSin":43406,"GapTicks":49610,"Mech_RPM":-471.351257,"cg_du":45.1008453,"cg_dv":52.6772995,"cg_dw":54.8991547,"cg_id_a":-1.3825016,"cg_id_raw_a":-2.84934545,"cg_iq_a":-202.460907,"cg_iq_raw_a":-204.47821,"cg_iu_a":-169.038712,"cg_iv_a":-10.8402405,"cg_iw_a":179.878952,"cg_sample_age_us":23.5036373,"cg_sample_seq":10927266,"cg_sample_valid":1,"cg_theta_rad":0.531012297,"cg_vd_req_v":-1.92967665,"cg_vd_v":-1.92967665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33852959,"cg_vq_v":-8.33852959,"cg_vu_v":37.830761,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.0180225,"dclink_p_w":-2311.15649,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1912.59314,"values":{"Elec_RPM":-2355.52954,"EncoderCos":50764,"EncoderSin":44136,"GapTicks":49348,"Mech_RPM":-471.105927,"cg_du":44.8626022,"cg_dv":50.8111954,"cg_dw":55.1373978,"cg_id_a":-9.74404335,"cg_id_raw_a":-7.82502556,"cg_iq_a":-199.1259,"cg_iq_raw_a":-201.435043,"cg_iu_a":-152.728973,"cg_iv_a":-32.695282,"cg_iw_a":185.424255,"cg_sample_age_us":23.5072727,"cg_sample_seq":10929016,"cg_sample_valid":1,"cg_theta_rad":0.560703993,"cg_vd_req_v":-1.77234435,"cg_vd_v":-1.77234435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4099617,"cg_vq_v":-8.4099617,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2380.09814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1912.925171,"values":{"Elec_RPM":-2354.44897,"EncoderCos":41722,"EncoderSin":52146,"GapTicks":49791,"Mech_RPM":-470.889801,"cg_du":54.7353401,"cg_dv":46.4319916,"cg_dw":45.2646599,"cg_id_a":6.54175615,"cg_id_raw_a":10.4963617,"cg_iq_a":-199.969879,"cg_iq_raw_a":-200.024399,"cg_iu_a":173.393036,"cg_iv_a":-3.7364502,"cg_iw_a":-169.656586,"cg_sample_age_us":24.0381813,"cg_sample_seq":10930717,"cg_sample_valid":1,"cg_theta_rad":1.13986135,"cg_vd_req_v":-2.01897693,"cg_vd_v":-2.01897693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39026928,"cg_vq_v":-8.39026928,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.2735424,"dclink_p_w":-2355.18286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1913.011472,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1913.011478,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1913.011483,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1913.276733,"values":{"Elec_RPM":-2357.09814,"EncoderCos":19144,"EncoderSin":49430,"GapTicks":49351,"Mech_RPM":-471.419647,"cg_du":55.1351089,"cg_dv":44.8648911,"cg_dw":50.078949,"cg_id_a":-17.5754433,"cg_id_raw_a":-18.584137,"cg_iq_a":-198.156113,"cg_iq_raw_a":-198.095886,"cg_iu_a":192.674744,"cg_iv_a":-141.028076,"cg_iw_a":-51.6466675,"cg_sample_age_us":23.994545,"cg_sample_seq":10932366,"cg_sample_valid":1,"cg_theta_rad":2.2593739,"cg_vd_req_v":-1.57318866,"cg_vd_v":-1.57318866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40984058,"cg_vq_v":-8.40984058,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5203304,"dclink_p_w":-2527.91675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1913.612671,"values":{"Elec_RPM":-2350.62427,"EncoderCos":18710,"EncoderSin":49043,"GapTicks":49331,"Mech_RPM":-470.124847,"cg_du":55.1536026,"cg_dv":44.8463974,"cg_dw":49.1170044,"cg_id_a":-6.23731279,"cg_id_raw_a":-11.3265524,"cg_iq_a":-197.138641,"cg_iq_raw_a":-195.952057,"cg_iu_a":197.132751,"cg_iv_a":-107.611282,"cg_iw_a":-89.5214691,"cg_sample_age_us":23.8927269,"cg_sample_seq":10934117,"cg_sample_valid":1,"cg_theta_rad":2.28714705,"cg_vd_req_v":-1.82339585,"cg_vd_v":-1.82339585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43322945,"cg_vq_v":-8.43322945,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":27.2733402,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1913.944702,"values":{"Elec_RPM":-2352.52466,"EncoderCos":11943,"EncoderSin":27274,"GapTicks":49800,"Mech_RPM":-470.504944,"cg_du":53.6353264,"cg_dv":45.273159,"cg_dw":54.726841,"cg_id_a":16.1181469,"cg_id_raw_a":12.4612856,"cg_iq_a":-199.836807,"cg_iq_raw_a":-199.632721,"cg_iu_a":158.351837,"cg_iv_a":-186.622833,"cg_iw_a":28.2709885,"cg_sample_age_us":23.7000008,"cg_sample_seq":10935767,"cg_sample_valid":1,"cg_theta_rad":3.4039259,"cg_vd_req_v":-2.22090149,"cg_vd_v":-2.22090149,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37985992,"cg_vq_v":-8.37985992,"cg_vu_v":122.290138,"cg_vv_v":116.571533,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1914.035495,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1914.0355,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1914.035504,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1914.296265,"values":{"Elec_RPM":-2354.81201,"EncoderCos":12184,"EncoderSin":26446,"GapTicks":49801,"Mech_RPM":-470.962402,"cg_du":54.7257385,"cg_dv":45.2742615,"cg_dw":53.4954147,"cg_id_a":6.34687376,"cg_id_raw_a":10.8416624,"cg_iq_a":-201.032654,"cg_iq_raw_a":-201.508163,"cg_iu_a":171.907043,"cg_iv_a":-174.046219,"cg_iw_a":2.13917542,"cg_sample_age_us":24.045454,"cg_sample_seq":10937517,"cg_sample_valid":1,"cg_theta_rad":3.44719458,"cg_vd_req_v":-1.9975189,"cg_vd_v":-1.9975189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35175323,"cg_vq_v":-8.35175323,"cg_vu_v":14.5164547,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.2919941,"dclink_p_w":-2510.18457,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1914.628296,"values":{"Elec_RPM":-2356.33276,"EncoderCos":18970,"EncoderSin":16002,"GapTicks":49875,"Mech_RPM":-471.266571,"cg_du":46.3543739,"cg_dv":54.6588898,"cg_dw":45.3411102,"cg_id_a":11.7172394,"cg_id_raw_a":11.3023739,"cg_iq_a":-206.689606,"cg_iq_raw_a":-205.830841,"cg_iu_a":-160.992584,"cg_iv_a":197.453079,"cg_iw_a":-43.9992218,"cg_sample_age_us":23.8818188,"cg_sample_seq":10939216,"cg_sample_valid":1,"cg_theta_rad":4.0311017,"cg_vd_req_v":-2.1518333,"cg_vd_v":-2.1518333,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24105644,"cg_vq_v":-8.24105644,"cg_vu_v":37.830761,"cg_vv_v":48.8280716,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2401.10278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1914.979858,"values":{"Elec_RPM":-2359.7373,"EncoderCos":40642,"EncoderSin":12756,"GapTicks":50003,"Mech_RPM":-471.947479,"cg_du":54.2097015,"cg_dv":54.5425415,"cg_dw":45.4574585,"cg_id_a":7.46014595,"cg_id_raw_a":9.27113247,"cg_iq_a":-201.606842,"cg_iq_raw_a":-203.612244,"cg_iu_a":0.618678689,"cg_iv_a":170.161469,"cg_iw_a":-170.780151,"cg_sample_age_us":23.8600006,"cg_sample_seq":10940870,"cg_sample_valid":1,"cg_theta_rad":5.13927412,"cg_vd_req_v":-2.09296918,"cg_vd_v":-2.09296918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35122204,"cg_vq_v":-8.35122204,"cg_vu_v":25.0738773,"cg_vv_v":22.8744144,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.174202,"dclink_p_w":-2485.53052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1915.026919,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1915.026924,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1915.026929,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1915.315796,"values":{"Elec_RPM":-2363.12061,"EncoderCos":50762,"EncoderSin":21348,"GapTicks":50084,"Mech_RPM":-472.624146,"cg_du":45.7945633,"cg_dv":45.5312195,"cg_dw":54.4687805,"cg_id_a":10.1756077,"cg_id_raw_a":12.9588976,"cg_iq_a":-206.504593,"cg_iq_raw_a":-207.415588,"cg_iu_a":-13.0090036,"cg_iv_a":-168.247192,"cg_iw_a":187.453888,"cg_sample_age_us":23.9145451,"cg_sample_seq":10942566,"cg_sample_valid":1,"cg_theta_rad":5.73108006,"cg_vd_req_v":-2.18226933,"cg_vd_v":-2.18226933,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21409988,"cg_vq_v":-8.21409988,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2416.52979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2578,"hz_tim_isr":5001,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1915.643921,"values":{"Elec_RPM":-2354.98877,"EncoderCos":53989,"EncoderSin":32729,"GapTicks":49513,"Mech_RPM":-470.997742,"cg_du":54.9880066,"cg_dv":51.9743996,"cg_dw":45.0119934,"cg_id_a":0.868113875,"cg_id_raw_a":-3.50046539,"cg_iq_a":-204.027802,"cg_iq_raw_a":-202.420288,"cg_iu_a":82.928421,"cg_iv_a":118.332779,"cg_iw_a":-201.2612,"cg_sample_age_us":24.2672729,"cg_sample_seq":10944267,"cg_sample_valid":1,"cg_theta_rad":0.0100000212,"cg_vd_req_v":-2.00910711,"cg_vd_v":-2.00910711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28441143,"cg_vq_v":-8.28441143,"cg_vu_v":139.885834,"cg_vv_v":131.527878,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.2119274,"dclink_p_w":-2339.13403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2578,"hz_tim_isr":5001,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1915.99939,"values":{"Elec_RPM":-2354.83057,"EncoderCos":50591,"EncoderSin":44570,"GapTicks":49308,"Mech_RPM":-470.966095,"cg_du":44.8257599,"cg_dv":49.8638992,"cg_dw":55.1742401,"cg_id_a":-9.50003433,"cg_id_raw_a":-8.80626774,"cg_iq_a":-197.000916,"cg_iq_raw_a":-196.129929,"cg_iu_a":-126.379715,"cg_iv_a":-67.5618439,"cg_iw_a":193.941559,"cg_sample_age_us":23.5072727,"cg_sample_seq":10945967,"cg_sample_valid":1,"cg_theta_rad":0.593418539,"cg_vd_req_v":-1.78585052,"cg_vd_v":-1.78585052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46145535,"cg_vq_v":-8.46145535,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2578,"hz_tim_isr":5001,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1916.051408,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1916.051413,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1916.051418,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1916.331421,"values":{"Elec_RPM":-2347.59814,"EncoderCos":40908,"EncoderSin":52473,"GapTicks":49417,"Mech_RPM":-469.519653,"cg_du":55.0750809,"cg_dv":48.5591202,"cg_dw":44.9249191,"cg_id_a":-12.427248,"cg_id_raw_a":-9.96926212,"cg_iq_a":-195.197983,"cg_iq_raw_a":-197.228195,"cg_iu_a":157.663208,"cg_iv_a":11.8846436,"cg_iw_a":-173.462189,"cg_sample_age_us":23.9872723,"cg_sample_seq":10947666,"cg_sample_valid":1,"cg_theta_rad":1.17886651,"cg_vd_req_v":-1.65295076,"cg_vd_v":-1.65295076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46050072,"cg_vq_v":-8.46050072,"cg_vu_v":41.7897949,"cg_vv_v":41.7897949,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.0669518,"dclink_p_w":-2325.28394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1916.663452,"values":{"Elec_RPM":-2348.77539,"EncoderCos":29088,"EncoderSin":53926,"GapTicks":50026,"Mech_RPM":-469.755096,"cg_du":45.4784698,"cg_dv":54.5215302,"cg_dw":54.3120689,"cg_id_a":10.9821873,"cg_id_raw_a":7.92097664,"cg_iq_a":-201.526611,"cg_iq_raw_a":-199.865341,"cg_iu_a":-183.427505,"cg_iv_a":20.6194,"cg_iw_a":162.808105,"cg_sample_age_us":23.8563633,"cg_sample_seq":10949367,"cg_sample_valid":1,"cg_theta_rad":1.74390149,"cg_vd_req_v":-2.09314013,"cg_vd_v":-2.09314013,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34090996,"cg_vq_v":-8.34090996,"cg_vu_v":3.51914048,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2485.55811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.38797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1917.011145,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1917.01115,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1917.011156,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1917.015015,"values":{"Elec_RPM":-2352.29053,"EncoderCos":18001,"EncoderSin":48400,"GapTicks":49538,"Mech_RPM":-470.45813,"cg_du":54.9653168,"cg_dv":45.0346832,"cg_dw":47.5263519,"cg_id_a":12.0838118,"cg_id_raw_a":11.2471676,"cg_iq_a":-202.103943,"cg_iq_raw_a":-201.626907,"cg_iu_a":199.597321,"cg_iv_a":-55.4926453,"cg_iw_a":-144.104675,"cg_sample_age_us":23.994545,"cg_sample_seq":10951066,"cg_sample_valid":1,"cg_theta_rad":2.32686114,"cg_vd_req_v":-2.1732738,"cg_vd_v":-2.1732738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35614395,"cg_vq_v":-8.35614395,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-15.675518,"dclink_p_w":-2268.63403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2595,"hz_tim_isr":4997,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1917.347046,"values":{"Elec_RPM":-2354.65063,"EncoderCos":17510,"EncoderSin":47893,"GapTicks":49837,"Mech_RPM":-470.930145,"cg_du":54.6929169,"cg_dv":45.3070831,"cg_dw":46.1885338,"cg_id_a":16.1294689,"cg_id_raw_a":18.1491547,"cg_iq_a":-201.174866,"cg_iq_raw_a":-201.015427,"cg_iu_a":183.939987,"cg_iv_a":-26.7512817,"cg_iw_a":-157.188705,"cg_sample_age_us":23.994545,"cg_sample_seq":10952817,"cg_sample_valid":1,"cg_theta_rad":2.36351228,"cg_vd_req_v":-2.23021388,"cg_vd_v":-2.23021388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36985493,"cg_vq_v":-8.36985493,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2432.552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1917.679077,"values":{"Elec_RPM":-2357.49805,"EncoderCos":12370,"EncoderSin":25847,"GapTicks":49500,"Mech_RPM":-471.499634,"cg_du":54.9991302,"cg_dv":45.0008698,"cg_dw":51.8962631,"cg_id_a":-11.8221893,"cg_id_raw_a":-5.50838184,"cg_iq_a":-198.287949,"cg_iq_raw_a":-199.242752,"cg_iu_a":177.126144,"cg_iv_a":-165.456421,"cg_iw_a":-11.6697159,"cg_sample_age_us":24.0927277,"cg_sample_seq":10954467,"cg_sample_valid":1,"cg_theta_rad":3.47507024,"cg_vd_req_v":-1.6415118,"cg_vd_v":-1.6415118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39320564,"cg_vq_v":-8.39320564,"cg_vu_v":106.893898,"cg_vv_v":99.8556061,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2508.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1918.003051,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1918.003057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1918.003062,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1918.03064,"values":{"Elec_RPM":-2355.39111,"EncoderCos":12711,"EncoderSin":24871,"GapTicks":49348,"Mech_RPM":-471.078217,"cg_du":55.1376877,"cg_dv":44.8623123,"cg_dw":49.7459335,"cg_id_a":-14.5573807,"cg_id_raw_a":-17.3104649,"cg_iq_a":-197.184128,"cg_iq_raw_a":-196.301376,"cg_iu_a":194.631927,"cg_iv_a":-132.003387,"cg_iw_a":-62.6285477,"cg_sample_age_us":24.0781822,"cg_sample_seq":10956216,"cg_sample_valid":1,"cg_theta_rad":3.52035427,"cg_vd_req_v":-1.62628186,"cg_vd_v":-1.62628186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43391418,"cg_vq_v":-8.43391418,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1918.518921,"values":{"Elec_RPM":-2346.08105,"EncoderCos":17435,"EncoderSin":17401,"GapTicks":49332,"Mech_RPM":-469.216217,"cg_du":49.9222527,"cg_dv":55.1523209,"cg_dw":44.8476791,"cg_id_a":-14.8320837,"cg_id_raw_a":-15.360178,"cg_iq_a":-196.896057,"cg_iq_raw_a":-195.142212,"cg_iu_a":-55.5230179,"cg_iv_a":193.285034,"cg_iw_a":-137.762024,"cg_sample_age_us":23.9690914,"cg_sample_seq":10958516,"cg_sample_valid":1,"cg_theta_rad":3.93585467,"cg_vd_req_v":-1.61576176,"cg_vd_v":-1.61576176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45759869,"cg_vq_v":-8.45759869,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2494.70972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1918.899507,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1918.899517,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1918.89952,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1918.995196,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1918.995202,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1918.995207,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1919.026733,"values":{"Elec_RPM":-2348.36987,"EncoderCos":31861,"EncoderSin":54172,"GapTicks":49355,"Mech_RPM":-469.673981,"cg_du":44.8687439,"cg_dv":55.1312561,"cg_dw":49.1657753,"cg_id_a":-10.8889751,"cg_id_raw_a":-10.6361408,"cg_iq_a":-196.648743,"cg_iq_raw_a":-197.894592,"cg_iu_a":-196.511536,"cg_iv_a":110.177925,"cg_iw_a":86.3336105,"cg_sample_age_us":23.863636,"cg_sample_seq":10961071,"cg_sample_valid":1,"cg_theta_rad":1.65721989,"cg_vd_req_v":-1.65422559,"cg_vd_v":-1.65422559,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42568588,"cg_vq_v":-8.42568588,"cg_vu_v":121.850235,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1919.358765,"values":{"Elec_RPM":-2347.28442,"EncoderCos":41158,"EncoderSin":52385,"GapTicks":49562,"Mech_RPM":-469.456879,"cg_du":54.9431458,"cg_dv":47.463028,"cg_dw":45.0568542,"cg_id_a":-8.02222443,"cg_id_raw_a":-3.27616119,"cg_iq_a":-195.83551,"cg_iq_raw_a":-198.325867,"cg_iu_a":165.963043,"cg_iv_a":5.75942993,"cg_iw_a":-171.722473,"cg_sample_age_us":23.863636,"cg_sample_seq":10962866,"cg_sample_valid":1,"cg_theta_rad":1.15923429,"cg_vd_req_v":-1.81474364,"cg_vd_v":-1.81474364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42240238,"cg_vq_v":-8.42240238,"cg_vu_v":106.014107,"cg_vv_v":95.8965836,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0763435,"dclink_p_w":-2463.8562,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1919.694702,"values":{"Elec_RPM":-2352.78149,"EncoderCos":12333,"EncoderSin":39662,"GapTicks":49749,"Mech_RPM":-470.556305,"cg_du":45.2264824,"cg_dv":54.7735176,"cg_dw":46.6342278,"cg_id_a":4.91010857,"cg_id_raw_a":11.1647043,"cg_iq_a":-201.129456,"cg_iq_raw_a":-203.11853,"cg_iu_a":-170.705917,"cg_iv_a":176.939056,"cg_iw_a":-6.23314667,"cg_sample_age_us":23.8454552,"cg_sample_seq":10964466,"cg_sample_valid":1,"cg_theta_rad":2.80954647,"cg_vd_req_v":-1.95058632,"cg_vd_v":-1.95058632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38907051,"cg_vq_v":-8.38907051,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2404.48926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1920.018859,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1920.018864,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1920.018868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1920.046265,"values":{"Elec_RPM":-2354.57959,"EncoderCos":18141,"EncoderSin":48512,"GapTicks":49447,"Mech_RPM":-470.915894,"cg_du":55.0480766,"cg_dv":44.9519234,"cg_dw":47.8293724,"cg_id_a":9.96991539,"cg_id_raw_a":5.24840355,"cg_iq_a":-199.046616,"cg_iq_raw_a":-197.928696,"cg_iu_a":197.132751,"cg_iv_a":-78.6162109,"cg_iw_a":-118.516541,"cg_sample_age_us":23.9654541,"cg_sample_seq":10966266,"cg_sample_valid":1,"cg_theta_rad":2.31165886,"cg_vd_req_v":-2.14569187,"cg_vd_v":-2.14569187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42309856,"cg_vq_v":-8.42309856,"cg_vu_v":45.3089333,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.4728832,"dclink_p_w":-2384.03223,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1920.378296,"values":{"Elec_RPM":-2355.24927,"EncoderCos":12067,"EncoderSin":26877,"GapTicks":50085,"Mech_RPM":-471.049866,"cg_du":54.4530792,"cg_dv":45.5326042,"cg_dw":54.4673958,"cg_id_a":12.3434906,"cg_id_raw_a":14.7686291,"cg_iq_a":-201.929718,"cg_iq_raw_a":-201.698898,"cg_iu_a":168.536346,"cg_iv_a":-181.476196,"cg_iw_a":21.8558197,"cg_sample_age_us":24.0381813,"cg_sample_seq":10967917,"cg_sample_valid":1,"cg_theta_rad":3.42319536,"cg_vd_req_v":-2.13976431,"cg_vd_v":-2.13976431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31662655,"cg_vq_v":-8.31662655,"cg_vu_v":142.965088,"cg_vv_v":139.445938,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.5580559,"dclink_p_w":-2389.0752,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4058838,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119290456,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1920.710327,"values":{"Elec_RPM":-2358.23438,"EncoderCos":18461,"EncoderSin":16475,"GapTicks":49549,"Mech_RPM":-471.646851,"cg_du":47.5961456,"cg_dv":54.9552879,"cg_dw":45.0447121,"cg_id_a":7.75086308,"cg_id_raw_a":3.95534992,"cg_iq_a":-202.93512,"cg_iq_raw_a":-201.30484,"cg_iu_a":-135.730621,"cg_iv_a":200.570038,"cg_iw_a":-64.8394241,"cg_sample_age_us":23.9436359,"cg_sample_seq":10969617,"cg_sample_valid":1,"cg_theta_rad":4.0027256,"cg_vd_req_v":-2.08167911,"cg_vd_v":-2.08167911,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31692791,"cg_vq_v":-8.31692791,"cg_vu_v":103.814644,"cg_vv_v":104.254532,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2422.80493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1921.042627,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1921.042633,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1921.042638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1921.06189,"values":{"Elec_RPM":-2359.20239,"EncoderCos":41090,"EncoderSin":12927,"GapTicks":49725,"Mech_RPM":-471.840485,"cg_du":53.1103287,"cg_dv":54.7953148,"cg_dw":45.2046852,"cg_id_a":-1.17986095,"cg_id_raw_a":5.40420151,"cg_iq_a":-199.960297,"cg_iq_raw_a":-202.310394,"cg_iu_a":2.68457699,"cg_iv_a":171.321289,"cg_iw_a":-174.005859,"cg_sample_age_us":23.9509087,"cg_sample_seq":10971266,"cg_sample_valid":1,"cg_theta_rad":5.12728119,"cg_vd_req_v":-1.90950322,"cg_vd_v":-1.90950322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36800289,"cg_vq_v":-8.36800289,"cg_vu_v":38.7105446,"cg_vv_v":52.3472176,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2430.47534,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1921.393921,"values":{"Elec_RPM":-2358.9231,"EncoderCos":41923,"EncoderSin":13316,"GapTicks":49375,"Mech_RPM":-471.784637,"cg_du":50.9259148,"cg_dv":55.1129456,"cg_dw":44.8870544,"cg_id_a":-18.5640259,"cg_id_raw_a":-18.0788689,"cg_iq_a":-194.878922,"cg_iq_raw_a":-196.681442,"cg_iu_a":-15.4010954,"cg_iv_a":175.996735,"cg_iw_a":-160.595642,"cg_sample_age_us":23.863636,"cg_sample_seq":10973016,"cg_sample_valid":1,"cg_theta_rad":5.16155434,"cg_vd_req_v":-1.57666254,"cg_vd_v":-1.57666254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44508362,"cg_vq_v":-8.44508362,"cg_vu_v":104.254532,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2527.49341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1921.725952,"values":{"Elec_RPM":-2354.92163,"EncoderCos":53951,"EncoderSin":32259,"GapTicks":49390,"Mech_RPM":-470.984314,"cg_du":55.0999565,"cg_dv":51.0856819,"cg_dw":44.9000435,"cg_id_a":-1.33059108,"cg_id_raw_a":-5.41470146,"cg_iq_a":-201.398621,"cg_iq_raw_a":-199.21962,"cg_iu_a":103.007507,"cg_iv_a":99.4859924,"cg_iw_a":-202.4935,"cg_sample_age_us":24.0272732,"cg_sample_seq":10974667,"cg_sample_valid":1,"cg_theta_rad":6.27182722,"cg_vd_req_v":-1.96374655,"cg_vd_v":-1.96374655,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35929108,"cg_vq_v":-8.35929108,"cg_vu_v":124.489601,"cg_vv_v":135.047012,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1922.034993,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1922.034999,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1922.035004,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1922.081421,"values":{"Elec_RPM":-2353.15234,"EncoderCos":53976,"EncoderSin":33148,"GapTicks":49593,"Mech_RPM":-470.630493,"cg_du":54.9146957,"cg_dv":52.6925964,"cg_dw":45.0853043,"cg_id_a":8.73571777,"cg_id_raw_a":5.84391737,"cg_iq_a":-202.8228,"cg_iq_raw_a":-201.065125,"cg_iu_a":57.1228142,"cg_iv_a":140.586502,"cg_iw_a":-197.70932,"cg_sample_age_us":23.5218182,"cg_sample_seq":10976417,"cg_sample_valid":1,"cg_theta_rad":0.0291559957,"cg_vd_req_v":-2.1636436,"cg_vd_v":-2.1636436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33805656,"cg_vq_v":-8.33805656,"cg_vu_v":140.765625,"cg_vv_v":134.607132,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.5000648,"dclink_p_w":-2387.96631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120096132,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1922.413452,"values":{"Elec_RPM":-2355.50854,"EncoderCos":50098,"EncoderSin":45168,"GapTicks":49396,"Mech_RPM":-471.101715,"cg_du":44.9062729,"cg_dv":48.5339012,"cg_dw":55.0937271,"cg_id_a":3.04150081,"cg_id_raw_a":-3.98489499,"cg_iq_a":-197.350159,"cg_iq_raw_a":-198.597672,"cg_iu_a":-86.620224,"cg_iv_a":-112.757904,"cg_iw_a":199.378128,"cg_sample_age_us":23.5363636,"cg_sample_seq":10978116,"cg_sample_valid":1,"cg_theta_rad":0.626577079,"cg_vd_req_v":-2.03770208,"cg_vd_v":-2.03770208,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4119873,"cg_vq_v":-8.4119873,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1922.765015,"values":{"Elec_RPM":-2353.40234,"EncoderCos":30216,"EncoderSin":54072,"GapTicks":49470,"Mech_RPM":-470.68045,"cg_du":44.9728813,"cg_dv":55.0271187,"cg_dw":52.2276421,"cg_id_a":5.13652706,"cg_id_raw_a":3.43101025,"cg_iq_a":-198.899384,"cg_iq_raw_a":-199.513138,"cg_iu_a":-188.755341,"cg_iv_a":37.3640442,"cg_iw_a":151.391296,"cg_sample_age_us":23.772728,"cg_sample_seq":10979770,"cg_sample_valid":1,"cg_theta_rad":1.72365999,"cg_vd_req_v":-2.00221491,"cg_vd_v":-2.00221491,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41017056,"cg_vq_v":-8.41017056,"cg_vu_v":14.0765619,"cg_vv_v":22.8744144,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1923.027013,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1923.027019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1923.027024,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1923.097046,"values":{"Elec_RPM":-2355.52148,"EncoderCos":28702,"EncoderSin":53836,"GapTicks":49884,"Mech_RPM":-471.104309,"cg_du":45.3499298,"cg_dv":53.8756485,"cg_dw":54.6500702,"cg_id_a":9.98362923,"cg_id_raw_a":11.4444113,"cg_iq_a":-201.566452,"cg_iq_raw_a":-198.953171,"cg_iu_a":-177.411041,"cg_iv_a":6.23062134,"cg_iw_a":171.18042,"cg_sample_age_us":23.8709087,"cg_sample_seq":10981517,"cg_sample_valid":1,"cg_theta_rad":1.76102769,"cg_vd_req_v":-2.07018781,"cg_vd_v":-2.07018781,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3716135,"cg_vq_v":-8.3716135,"cg_vu_v":93.6971207,"cg_vv_v":95.8965836,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.5326862,"dclink_p_w":-2392.68726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1923.429077,"values":{"Elec_RPM":-2351.34277,"EncoderCos":11961,"EncoderSin":38350,"GapTicks":49318,"Mech_RPM":-470.268555,"cg_du":44.8347511,"cg_dv":55.1652489,"cg_dw":49.7078743,"cg_id_a":-10.4246483,"cg_id_raw_a":-12.9950752,"cg_iq_a":-194.421585,"cg_iq_raw_a":-194.587982,"cg_iu_a":-187.196869,"cg_iv_a":138.593094,"cg_iw_a":48.603775,"cg_sample_age_us":23.9436359,"cg_sample_seq":10983167,"cg_sample_valid":1,"cg_theta_rad":2.88029146,"cg_vd_req_v":-1.647156,"cg_vd_v":-1.647156,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47790718,"cg_vq_v":-8.47790718,"cg_vu_v":98.0960464,"cg_vv_v":102.93486,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2472.56616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1923.784546,"values":{"Elec_RPM":-2353.1272,"EncoderCos":11753,"EncoderSin":37552,"GapTicks":49395,"Mech_RPM":-470.625427,"cg_du":44.9046288,"cg_dv":55.0953712,"cg_dw":51.2745132,"cg_id_a":-5.29886198,"cg_id_raw_a":-9.72626114,"cg_iq_a":-197.38002,"cg_iq_raw_a":-196.127701,"cg_iu_a":-196.801483,"cg_iv_a":105.828659,"cg_iw_a":90.9728241,"cg_sample_age_us":23.8963642,"cg_sample_seq":10984917,"cg_sample_valid":1,"cg_theta_rad":2.91906118,"cg_vd_req_v":-1.77534199,"cg_vd_v":-1.77534199,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4182291,"cg_vq_v":-8.4182291,"cg_vu_v":102.494972,"cg_vv_v":104.694435,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2496.53979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1924.01908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1924.019086,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1924.019091,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1924.112671,"values":{"Elec_RPM":-2346.58228,"EncoderCos":18968,"EncoderSin":16067,"GapTicks":49807,"Mech_RPM":-469.316467,"cg_du":46.4137077,"cg_dv":54.7205696,"cg_dw":45.2794304,"cg_id_a":13.2358112,"cg_id_raw_a":12.4163227,"cg_iq_a":-205.12999,"cg_iq_raw_a":-204.607483,"cg_iu_a":-160.30394,"cg_iv_a":193.14006,"cg_iw_a":-32.8361206,"cg_sample_age_us":23.9909096,"cg_sample_seq":10986567,"cg_sample_valid":1,"cg_theta_rad":4.03303766,"cg_vd_req_v":-2.18071866,"cg_vd_v":-2.18071866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30654335,"cg_vq_v":-8.30654335,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1924.46814,"values":{"Elec_RPM":-2351.55103,"EncoderCos":18999,"EncoderSin":16048,"GapTicks":49864,"Mech_RPM":-470.310211,"cg_du":46.3480721,"cg_dv":54.6682053,"cg_dw":45.3317947,"cg_id_a":12.3085451,"cg_id_raw_a":11.5074167,"cg_iq_a":-205.246536,"cg_iq_raw_a":-204.459656,"cg_iu_a":-171.829483,"cg_iv_a":175.018143,"cg_iw_a":-3.18865967,"cg_sample_age_us":23.9654541,"cg_sample_seq":10988321,"cg_sample_valid":1,"cg_theta_rad":4.07828474,"cg_vd_req_v":-2.15167665,"cg_vd_v":-2.15167665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28517342,"cg_vq_v":-8.28517342,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1924.800171,"values":{"Elec_RPM":-2355.08276,"EncoderCos":42260,"EncoderSin":13462,"GapTicks":49358,"Mech_RPM":-471.016571,"cg_du":50.1831169,"cg_dv":55.1288261,"cg_dw":44.8711739,"cg_id_a":-19.1869087,"cg_id_raw_a":-19.1060448,"cg_iq_a":-197.638535,"cg_iq_raw_a":-196.332748,"cg_iu_a":-43.4900665,"cg_iv_a":192.088989,"cg_iw_a":-151.86087,"cg_sample_age_us":23.954546,"cg_sample_seq":10989967,"cg_sample_valid":1,"cg_theta_rad":5.18504095,"cg_vd_req_v":-1.58603656,"cg_vd_v":-1.58603656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39827919,"cg_vq_v":-8.39827919,"cg_vu_v":131.087982,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.4170341,"dclink_p_w":-2513.0127,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1925.043254,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1925.04326,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1925.043266,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1925.132202,"values":{"Elec_RPM":-2358.89819,"EncoderCos":43166,"EncoderSin":13985,"GapTicks":49444,"Mech_RPM":-471.779633,"cg_du":48.3308487,"cg_dv":55.0502892,"cg_dw":44.9497108,"cg_id_a":-6.8014183,"cg_id_raw_a":-13.0427341,"cg_iq_a":-200.820404,"cg_iq_raw_a":-200.340302,"cg_iu_a":-105.394531,"cg_iv_a":201.004974,"cg_iw_a":-95.6104431,"cg_sample_age_us":23.9509087,"cg_sample_seq":10991716,"cg_sample_valid":1,"cg_theta_rad":5.2350421,"cg_vd_req_v":-1.87896168,"cg_vd_v":-1.87896168,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35726452,"cg_vq_v":-8.35726452,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2380.96973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1925.483765,"values":{"Elec_RPM":-2358.31079,"EncoderCos":51420,"EncoderSin":22603,"GapTicks":49340,"Mech_RPM":-471.66217,"cg_du":49.0490646,"cg_dv":44.8551178,"cg_dw":55.1448822,"cg_id_a":-14.0962133,"cg_id_raw_a":-13.3094721,"cg_iq_a":-196.802628,"cg_iq_raw_a":-199.467773,"cg_iu_a":49.6928291,"cg_iv_a":-186.405365,"cg_iw_a":147.694427,"cg_sample_age_us":23.8018188,"cg_sample_seq":10993418,"cg_sample_valid":1,"cg_theta_rad":5.81113958,"cg_vd_req_v":-1.71133053,"cg_vd_v":-1.71133053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47557068,"cg_vq_v":-8.47557068,"cg_vu_v":130.648087,"cg_vv_v":130.208206,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2430.71606,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.420166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1925.815796,"values":{"Elec_RPM":-2355.45142,"EncoderCos":53820,"EncoderSin":34965,"GapTicks":49562,"Mech_RPM":-471.090271,"cg_du":52.4186897,"cg_dv":54.9427719,"cg_dw":45.0572281,"cg_id_a":-6.13246918,"cg_id_raw_a":-1.67742777,"cg_iq_a":-197.80542,"cg_iq_raw_a":-200.027542,"cg_iu_a":-7.75364685,"cg_iv_a":174.1483,"cg_iw_a":-166.394653,"cg_sample_age_us":23.5181828,"cg_sample_seq":10995116,"cg_sample_valid":1,"cg_theta_rad":0.112708986,"cg_vd_req_v":-1.82921028,"cg_vd_v":-1.82921028,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41289234,"cg_vq_v":-8.41289234,"cg_vu_v":9.67763615,"cg_vv_v":2.19946289,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2392.59375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1926.03488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1926.034886,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1926.034892,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1926.151733,"values":{"Elec_RPM":-2357.27612,"EncoderCos":49265,"EncoderSin":46360,"GapTicks":49999,"Mech_RPM":-471.455231,"cg_du":45.454422,"cg_dv":45.9596558,"cg_dw":54.545578,"cg_id_a":14.1413813,"cg_id_raw_a":16.8716736,"cg_iq_a":-208.084946,"cg_iq_raw_a":-207.496094,"cg_iu_a":-29.8261414,"cg_iv_a":-163.644241,"cg_iw_a":193.470383,"cg_sample_age_us":23.4163628,"cg_sample_seq":10996816,"cg_sample_valid":1,"cg_theta_rad":0.685269654,"cg_vd_req_v":-2.23240137,"cg_vd_v":-2.23240137,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21424007,"cg_vq_v":-8.21424007,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2384.55688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1926.503296,"values":{"Elec_RPM":-2361.2688,"EncoderCos":39409,"EncoderSin":53044,"GapTicks":49416,"Mech_RPM":-472.253754,"cg_du":55.0760727,"cg_dv":51.4840736,"cg_dw":44.9239273,"cg_id_a":3.99743271,"cg_id_raw_a":-1.53888333,"cg_iq_a":-203.109436,"cg_iq_raw_a":-199.176498,"cg_iu_a":89.1986084,"cg_iv_a":113.693573,"cg_iw_a":-202.892181,"cg_sample_age_us":23.8927269,"cg_sample_seq":10998517,"cg_sample_valid":1,"cg_theta_rad":1.25459933,"cg_vd_req_v":-2.01561642,"cg_vd_v":-2.01561642,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33645248,"cg_vq_v":-8.33645248,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1926.835327,"values":{"Elec_RPM":-2361.22632,"EncoderCos":27143,"EncoderSin":53528,"GapTicks":49360,"Mech_RPM":-472.24527,"cg_du":44.8732529,"cg_dv":50.1489563,"cg_dw":55.1267471,"cg_id_a":-16.6720848,"cg_id_raw_a":-15.1852808,"cg_iq_a":-196.994537,"cg_iq_raw_a":-197.695724,"cg_iu_a":-143.269348,"cg_iv_a":-44.0758362,"cg_iw_a":187.345184,"cg_sample_age_us":23.8527279,"cg_sample_seq":11000217,"cg_sample_valid":1,"cg_theta_rad":1.8363384,"cg_vd_req_v":-1.53731847,"cg_vd_v":-1.53731847,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42966557,"cg_vq_v":-8.42966557,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1927.026578,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1927.026585,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1927.02659,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1927.167358,"values":{"Elec_RPM":-2358.34424,"EncoderCos":16732,"EncoderSin":47104,"GapTicks":49597,"Mech_RPM":-471.668823,"cg_du":54.9116516,"cg_dv":47.3396835,"cg_dw":45.0883484,"cg_id_a":-3.67156744,"cg_id_raw_a":0.809070349,"cg_iq_a":-199.237656,"cg_iq_raw_a":-199.636185,"cg_iu_a":169.225006,"cg_iv_a":2.67869568,"cg_iw_a":-171.903702,"cg_sample_age_us":23.9472733,"cg_sample_seq":11001917,"cg_sample_valid":1,"cg_theta_rad":2.4118433,"cg_vd_req_v":-1.81198275,"cg_vd_v":-1.81198275,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38021374,"cg_vq_v":-8.38021374,"cg_vu_v":139.885834,"cg_vv_v":134.607132,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2443.19971,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1927.518921,"values":{"Elec_RPM":-2354.24756,"EncoderCos":11473,"EncoderSin":36141,"GapTicks":49818,"Mech_RPM":-470.849518,"cg_du":45.2892685,"cg_dv":54.7107315,"cg_dw":53.8346443,"cg_id_a":12.34797,"cg_id_raw_a":9.70943642,"cg_iq_a":-199.461731,"cg_iq_raw_a":-198.286087,"cg_iu_a":-185.130981,"cg_iv_a":39.0675201,"cg_iw_a":151.101334,"cg_sample_age_us":23.9436359,"cg_sample_seq":11003617,"cg_sample_valid":1,"cg_theta_rad":2.98500276,"cg_vd_req_v":-2.11948085,"cg_vd_v":-2.11948085,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40890026,"cg_vq_v":-8.40890026,"cg_vu_v":98.5359344,"cg_vv_v":101.175293,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2384.81909,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.4546814,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1927.850952,"values":{"Elec_RPM":-2354.45703,"EncoderCos":13091,"EncoderSin":23960,"GapTicks":49420,"Mech_RPM":-470.891418,"cg_du":55.0720215,"cg_dv":44.9279785,"cg_dw":48.1298447,"cg_id_a":6.40316105,"cg_id_raw_a":-2.83880138,"cg_iq_a":-197.390259,"cg_iq_raw_a":-196.631989,"cg_iu_a":195.211823,"cg_iv_a":-75.4267502,"cg_iw_a":-119.785072,"cg_sample_age_us":23.9799995,"cg_sample_seq":11005317,"cg_sample_valid":1,"cg_theta_rad":3.56926823,"cg_vd_req_v":-2.05875993,"cg_vd_v":-2.05875993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41787338,"cg_vq_v":-8.41787338,"cg_vu_v":107.333786,"cg_vv_v":103.814644,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1928.018875,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1928.01888,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1928.018885,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1928.261108,"values":{"Elec_RPM":-2352.88843,"EncoderCos":24008,"EncoderSin":52462,"GapTicks":49686,"Mech_RPM":-470.577667,"cg_du":47.1008835,"cg_dv":45.1692467,"cg_dw":54.8307533,"cg_id_a":-1.05862379,"cg_id_raw_a":5.47035456,"cg_iq_a":-205.651886,"cg_iq_raw_a":-205.727859,"cg_iu_a":-0.867318392,"cg_iv_a":-176.728256,"cg_iw_a":177.595581,"cg_sample_age_us":23.9036369,"cg_sample_seq":11007217,"cg_sample_valid":1,"cg_theta_rad":1.98913157,"cg_vd_req_v":-1.85680616,"cg_vd_v":-1.85680616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28627968,"cg_vq_v":-8.28627968,"cg_vu_v":143.844864,"cg_vv_v":140.325729,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.4475117,"dclink_p_w":-2373.12524,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1928.78064,"values":{"Elec_RPM":-2345.22046,"EncoderCos":37192,"EncoderSin":11717,"GapTicks":49497,"Mech_RPM":-469.044098,"cg_du":55.0025826,"cg_dv":47.883316,"cg_dw":44.9974174,"cg_id_a":-10.5629091,"cg_id_raw_a":-3.41456175,"cg_iq_a":-197.861694,"cg_iq_raw_a":-200.302856,"cg_iu_a":167.920212,"cg_iv_a":7.75285339,"cg_iw_a":-175.673065,"cg_sample_age_us":24.0090904,"cg_sample_seq":11009866,"cg_sample_valid":1,"cg_theta_rad":4.93562365,"cg_vd_req_v":-1.70287609,"cg_vd_v":-1.70287609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43567085,"cg_vq_v":-8.43567085,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2466.90942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1928.883547,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1928.883558,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1928.883561,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1929.04285,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1929.042856,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1929.042861,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1929.179077,"values":{"Elec_RPM":-2343.37109,"EncoderCos":18597,"EncoderSin":48935,"GapTicks":49367,"Mech_RPM":-468.674225,"cg_du":55.1201973,"cg_dv":44.8798027,"cg_dw":48.8651047,"cg_id_a":-2.19107866,"cg_id_raw_a":-7.01610851,"cg_iq_a":-196.625916,"cg_iq_raw_a":-196.591644,"cg_iu_a":197.748886,"cg_iv_a":-98.0429077,"cg_iw_a":-99.7059784,"cg_sample_age_us":23.9581814,"cg_sample_seq":11011866,"cg_sample_valid":1,"cg_theta_rad":2.29128003,"cg_vd_req_v":-1.89541769,"cg_vd_v":-1.89541769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44239235,"cg_vq_v":-8.44239235,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2450.73169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1929.53064,"values":{"Elec_RPM":-2350.63159,"EncoderCos":27977,"EncoderSin":53671,"GapTicks":49492,"Mech_RPM":-470.126312,"cg_du":44.9935417,"cg_dv":52.0621948,"cg_dw":55.0064583,"cg_id_a":-7.45471573,"cg_id_raw_a":-1.91592085,"cg_iq_a":-199.156479,"cg_iq_raw_a":-201.419571,"cg_iu_a":-166.827835,"cg_iv_a":-12.3624878,"cg_iw_a":179.190323,"cg_sample_age_us":23.8927269,"cg_sample_seq":11013666,"cg_sample_valid":1,"cg_theta_rad":1.7953794,"cg_vd_req_v":-1.71015203,"cg_vd_v":-1.71015203,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40137672,"cg_vq_v":-8.40137672,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2401.88721,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1929.862671,"values":{"Elec_RPM":-2352.56787,"EncoderCos":11862,"EncoderSin":37996,"GapTicks":49313,"Mech_RPM":-470.51358,"cg_du":44.8305931,"cg_dv":55.1694069,"cg_dw":50.4508705,"cg_id_a":-10.5461044,"cg_id_raw_a":-14.5177212,"cg_iq_a":-196.313858,"cg_iq_raw_a":-195.534302,"cg_iu_a":-193.358322,"cg_iv_a":125.980225,"cg_iw_a":67.3780975,"cg_sample_age_us":23.9581814,"cg_sample_seq":11015317,"cg_sample_valid":1,"cg_theta_rad":2.899616,"cg_vd_req_v":-1.66673887,"cg_vd_v":-1.66673887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46083069,"cg_vq_v":-8.46083069,"cg_vu_v":139.445938,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1930.002988,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1930.002993,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1930.002998,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1930.194702,"values":{"Elec_RPM":-2355.61572,"EncoderCos":12440,"EncoderSin":25658,"GapTicks":49400,"Mech_RPM":-471.123169,"cg_du":55.0905151,"cg_dv":44.9094849,"cg_dw":51.4436913,"cg_id_a":-14.6006975,"cg_id_raw_a":-11.3041649,"cg_iq_a":-196.847351,"cg_iq_raw_a":-197.990051,"cg_iu_a":178.974579,"cg_iv_a":-159.113754,"cg_iw_a":-19.8608246,"cg_sample_age_us":24.1109085,"cg_sample_seq":11017016,"cg_sample_valid":1,"cg_theta_rad":3.4830749,"cg_vd_req_v":-1.60242844,"cg_vd_v":-1.60242844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46997929,"cg_vq_v":-8.46997929,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1930.546265,"values":{"Elec_RPM":-2350.92993,"EncoderCos":19592,"EncoderSin":15616,"GapTicks":49927,"Mech_RPM":-470.186005,"cg_du":45.38834,"cg_dv":54.61166,"cg_dw":46.2236786,"cg_id_a":8.77653313,"cg_id_raw_a":12.8260393,"cg_iq_a":-203.784882,"cg_iq_raw_a":-204.319153,"cg_iu_a":-173.098022,"cg_iv_a":178.606277,"cg_iw_a":-5.508255,"cg_sample_age_us":23.9472733,"cg_sample_seq":11018716,"cg_sample_valid":1,"cg_theta_rad":4.06589746,"cg_vd_req_v":-2.06249285,"cg_vd_v":-2.06249285,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29802036,"cg_vq_v":-8.29802036,"cg_vu_v":0.87978512,"cg_vv_v":18.0355949,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5366402,"dclink_p_w":-2537.98413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1930.882202,"values":{"Elec_RPM":-2351.72461,"EncoderCos":30939,"EncoderSin":11325,"GapTicks":49611,"Mech_RPM":-470.34494,"cg_du":52.834774,"cg_dv":45.1012573,"cg_dw":54.8987427,"cg_id_a":13.4740076,"cg_id_raw_a":10.9527769,"cg_iq_a":-200.427872,"cg_iq_raw_a":-199.320877,"cg_iu_a":147.804886,"cg_iv_a":-193.400421,"cg_iw_a":45.5955429,"cg_sample_age_us":23.692728,"cg_sample_seq":11020416,"cg_sample_valid":1,"cg_theta_rad":4.6413641,"cg_vd_req_v":-2.21961308,"cg_vd_v":-2.21961308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34099865,"cg_vq_v":-8.34099865,"cg_vu_v":41.7897949,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.366293,"dclink_p_w":-2505.69141,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1931.026998,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1931.027004,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1931.027009,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1931.214233,"values":{"Elec_RPM":-2348.73828,"EncoderCos":42803,"EncoderSin":13795,"GapTicks":49401,"Mech_RPM":-469.74765,"cg_du":49.0035019,"cg_dv":55.0898209,"cg_dw":44.9101791,"cg_id_a":-14.7740889,"cg_id_raw_a":-21.037653,"cg_iq_a":-199.941132,"cg_iq_raw_a":-198.921768,"cg_iu_a":-79.0090256,"cg_iv_a":198.685364,"cg_iw_a":-119.676338,"cg_sample_age_us":23.9836369,"cg_sample_seq":11022116,"cg_sample_valid":1,"cg_theta_rad":5.21435881,"cg_vd_req_v":-1.71627223,"cg_vd_v":-1.71627223,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38612747,"cg_vq_v":-8.38612747,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12059968,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1931.565796,"values":{"Elec_RPM":-2351.08374,"EncoderCos":51554,"EncoderSin":22688,"GapTicks":49320,"Mech_RPM":-470.216766,"cg_du":49.3203888,"cg_dv":44.8363876,"cg_dw":55.1636124,"cg_id_a":-13.2578535,"cg_id_raw_a":-14.835041,"cg_iq_a":-195.588928,"cg_iq_raw_a":-196.748535,"cg_iu_a":43.0964508,"cg_iv_a":-186.876541,"cg_iw_a":143.78009,"cg_sample_age_us":23.7872734,"cg_sample_seq":11023816,"cg_sample_valid":1,"cg_theta_rad":5.80556965,"cg_vd_req_v":-1.72929275,"cg_vd_v":-1.72929275,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47944069,"cg_vq_v":-8.47944069,"cg_vu_v":35.1914063,"cg_vv_v":29.912693,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.4384518,"dclink_p_w":-2379.04932,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1931.897827,"values":{"Elec_RPM":-2355.53491,"EncoderCos":51886,"EncoderSin":23447,"GapTicks":49324,"Mech_RPM":-471.106964,"cg_du":50.7674904,"cg_dv":44.840477,"cg_dw":55.159523,"cg_id_a":-0.254957199,"cg_id_raw_a":-4.24045944,"cg_iq_a":-195.845398,"cg_iq_raw_a":-195.406693,"cg_iu_a":78.0355072,"cg_iv_a":-194.415253,"cg_iw_a":116.379745,"cg_sample_age_us":23.6563644,"cg_sample_seq":11025566,"cg_sample_valid":1,"cg_theta_rad":5.83739614,"cg_vd_req_v":-1.99999797,"cg_vd_v":-1.99999797,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44676113,"cg_vq_v":-8.44676113,"cg_vu_v":106.893898,"cg_vv_v":100.735397,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-16.1557503,"dclink_p_w":-2345.24219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1932.018834,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1932.01884,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1932.018845,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1932.24939,"values":{"Elec_RPM":-2349.41113,"EncoderCos":50188,"EncoderSin":45017,"GapTicks":49343,"Mech_RPM":-469.882233,"cg_du":44.8577805,"cg_dv":48.8202591,"cg_dw":55.1422195,"cg_id_a":-0.844423056,"cg_id_raw_a":-5.02328491,"cg_iq_a":-198.233429,"cg_iq_raw_a":-197.682053,"cg_iu_a":-46.7882538,"cg_iv_a":-148.820511,"cg_iw_a":195.608765,"cg_sample_age_us":23.40909,"cg_sample_seq":11027221,"cg_sample_valid":1,"cg_theta_rad":0.660583258,"cg_vd_req_v":-1.97076595,"cg_vd_v":-1.97076595,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41435051,"cg_vq_v":-8.41435051,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2468.48267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1932.581421,"values":{"Elec_RPM":-2347.46069,"EncoderCos":53724,"EncoderSin":35925,"GapTicks":49314,"Mech_RPM":-469.492157,"cg_du":50.2432289,"cg_dv":55.1687622,"cg_dw":44.8312378,"cg_id_a":-17.4463139,"cg_id_raw_a":-14.5684175,"cg_iq_a":-196.342392,"cg_iq_raw_a":-194.838806,"cg_iu_a":-46.6795235,"cg_iv_a":189.370712,"cg_iw_a":-142.691193,"cg_sample_age_us":23.4963627,"cg_sample_seq":11029017,"cg_sample_valid":1,"cg_theta_rad":0.159941837,"cg_vd_req_v":-1.63843894,"cg_vd_v":-1.63843894,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45738697,"cg_vq_v":-8.45738697,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2460.99121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1932.917358,"values":{"Elec_RPM":-2354.32397,"EncoderCos":27547,"EncoderSin":53612,"GapTicks":49443,"Mech_RPM":-470.864777,"cg_du":44.9485664,"cg_dv":51.0648537,"cg_dw":55.0514336,"cg_id_a":-12.9924583,"cg_id_raw_a":-12.3371401,"cg_iq_a":-198.919678,"cg_iq_raw_a":-197.101761,"cg_iu_a":-155.737213,"cg_iv_a":-28.0198364,"cg_iw_a":183.75705,"cg_sample_age_us":23.8600006,"cg_sample_seq":11030617,"cg_sample_valid":1,"cg_theta_rad":1.81521523,"cg_vd_req_v":-1.60271156,"cg_vd_v":-1.60271156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37784767,"cg_vq_v":-8.37784767,"cg_vu_v":104.694435,"cg_vv_v":103.374756,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2389.01538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1933.043361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1933.043367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1933.043373,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1933.268921,"values":{"Elec_RPM":-2361.01514,"EncoderCos":37852,"EncoderSin":53470,"GapTicks":50070,"Mech_RPM":-472.203033,"cg_du":54.3849297,"cg_dv":54.4811172,"cg_dw":45.5188828,"cg_id_a":11.3152018,"cg_id_raw_a":13.8614988,"cg_iq_a":-201.790375,"cg_iq_raw_a":-203.782715,"cg_iu_a":13.0503139,"cg_iv_a":168.131821,"cg_iw_a":-181.182129,"cg_sample_age_us":23.8963642,"cg_sample_seq":11032416,"cg_sample_valid":1,"cg_theta_rad":1.33056617,"cg_vd_req_v":-2.11596513,"cg_vd_v":-2.11596513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33667469,"cg_vq_v":-8.33667469,"cg_vu_v":29.4728031,"cg_vv_v":23.3143044,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1933.600952,"values":{"Elec_RPM":-2358.30029,"EncoderCos":11545,"EncoderSin":36589,"GapTicks":49588,"Mech_RPM":-471.660034,"cg_du":45.0806465,"cg_dv":54.9193535,"cg_dw":53.0287781,"cg_id_a":8.83926392,"cg_id_raw_a":4.70751715,"cg_iq_a":-197.897263,"cg_iq_raw_a":-197.511658,"cg_iu_a":-191.183685,"cg_iv_a":51.9340668,"cg_iw_a":139.249619,"cg_sample_age_us":23.9290905,"cg_sample_seq":11034017,"cg_sample_valid":1,"cg_theta_rad":2.96483779,"cg_vd_req_v":-2.0585804,"cg_vd_v":-2.0585804,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45122337,"cg_vq_v":-8.45122337,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2440.99829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1933.932983,"values":{"Elec_RPM":-2359.9187,"EncoderCos":11417,"EncoderSin":35470,"GapTicks":49887,"Mech_RPM":-471.983734,"cg_du":45.3523903,"cg_dv":53.758503,"cg_dw":54.6476097,"cg_id_a":6.55856657,"cg_id_raw_a":9.74994469,"cg_iq_a":-200.585617,"cg_iq_raw_a":-200.22876,"cg_iu_a":-178.208405,"cg_iv_a":6.48431396,"cg_iw_a":171.724091,"cg_sample_age_us":23.9618187,"cg_sample_seq":11035766,"cg_sample_valid":1,"cg_theta_rad":3.01726103,"cg_vd_req_v":-1.97888541,"cg_vd_v":-1.97888541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36687469,"cg_vq_v":-8.36687469,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5489941,"dclink_p_w":-2402.32739,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1934.00357,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1934.003576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1934.00358,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1934.284546,"values":{"Elec_RPM":-2359.54321,"EncoderCos":20747,"EncoderSin":14781,"GapTicks":49357,"Mech_RPM":-471.908661,"cg_du":44.8705673,"cg_dv":55.1294327,"cg_dw":49.5260429,"cg_id_a":-15.3897038,"cg_id_raw_a":-15.1101274,"cg_iq_a":-197.297592,"cg_iq_raw_a":-197.724808,"cg_iu_a":-189.37149,"cg_iv_a":145.443176,"cg_iw_a":43.9283218,"cg_sample_age_us":23.8890915,"cg_sample_seq":11037416,"cg_sample_valid":1,"cg_theta_rad":4.13270187,"cg_vd_req_v":-1.59965181,"cg_vd_v":-1.59965181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43380737,"cg_vq_v":-8.43380737,"cg_vu_v":1.31967759,"cg_vv_v":20.2350578,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2450.12402,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1934.620483,"values":{"Elec_RPM":-2358.1936,"EncoderCos":21442,"EncoderSin":14401,"GapTicks":49346,"Mech_RPM":-471.638702,"cg_du":44.8601341,"cg_dv":55.1398659,"cg_dw":50.9523811,"cg_id_a":-5.99010372,"cg_id_raw_a":-7.17436361,"cg_iq_a":-196.963364,"cg_iq_raw_a":-196.47142,"cg_iu_a":-194.844315,"cg_iv_a":121.014824,"cg_iw_a":73.8294907,"cg_sample_age_us":23.8272724,"cg_sample_seq":11039166,"cg_sample_valid":1,"cg_theta_rad":4.16230965,"cg_vd_req_v":-1.81896281,"cg_vd_v":-1.81896281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44474983,"cg_vq_v":-8.44474983,"cg_vu_v":1.31967759,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2465.5979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1934.948608,"values":{"Elec_RPM":-2354.99902,"EncoderCos":44130,"EncoderSin":14587,"GapTicks":49841,"Mech_RPM":-470.999786,"cg_du":46.4375,"cg_dv":54.6894646,"cg_dw":45.3105354,"cg_id_a":11.323308,"cg_id_raw_a":11.7341681,"cg_iq_a":-204.996704,"cg_iq_raw_a":-203.927551,"cg_iu_a":-160.448914,"cg_iv_a":192.270203,"cg_iw_a":-31.8212967,"cg_sample_age_us":23.9872723,"cg_sample_seq":11040816,"cg_sample_valid":1,"cg_theta_rad":5.28824759,"cg_vd_req_v":-2.21380067,"cg_vd_v":-2.21380067,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26607037,"cg_vq_v":-8.26607037,"cg_vu_v":39.590332,"cg_vv_v":71.7024918,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1935.026847,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1935.026852,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1935.026857,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1935.304077,"values":{"Elec_RPM":-2351.05176,"EncoderCos":44639,"EncoderSin":14932,"GapTicks":50011,"Mech_RPM":-470.210327,"cg_du":45.4654083,"cg_dv":54.5345917,"cg_dw":45.9017715,"cg_id_a":7.92295361,"cg_id_raw_a":8.50062275,"cg_iq_a":-204.014511,"cg_iq_raw_a":-205.583023,"cg_iu_a":-170.850891,"cg_iv_a":179.983551,"cg_iw_a":-9.13265991,"cg_sample_age_us":23.9581814,"cg_sample_seq":11042567,"cg_sample_valid":1,"cg_theta_rad":5.31893539,"cg_vd_req_v":-2.13470364,"cg_vd_v":-2.13470364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27664185,"cg_vq_v":-8.27664185,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.4185181,"dclink_p_w":-2376.16431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1935.636108,"values":{"Elec_RPM":-2352.26392,"EncoderCos":52383,"EncoderSin":24559,"GapTicks":49578,"Mech_RPM":-470.452789,"cg_du":52.9018555,"cg_dv":45.0714073,"cg_dw":54.9285927,"cg_id_a":18.0459538,"cg_id_raw_a":13.2245903,"cg_iq_a":-201.16124,"cg_iq_raw_a":-201.607025,"cg_iu_a":151.972931,"cg_iv_a":-193.255463,"cg_iw_a":41.2825241,"cg_sample_age_us":23.8054543,"cg_sample_seq":11044267,"cg_sample_valid":1,"cg_theta_rad":5.90212154,"cg_vd_req_v":-2.35419774,"cg_vd_v":-2.35419774,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34714222,"cg_vq_v":-8.34714222,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0111046,"dclink_p_w":-2454.44312,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4792786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1935.96814,"values":{"Elec_RPM":-2355.54443,"EncoderCos":39102,"EncoderSin":53116,"GapTicks":49504,"Mech_RPM":-471.108887,"cg_du":54.9958458,"cg_dv":52.080265,"cg_dw":45.0041542,"cg_id_a":7.28016758,"cg_id_raw_a":4.77272797,"cg_iq_a":-201.564728,"cg_iq_raw_a":-201.374878,"cg_iu_a":71.1491776,"cg_iv_a":127.212517,"cg_iw_a":-198.361694,"cg_sample_age_us":23.9327278,"cg_sample_seq":11045867,"cg_sample_valid":1,"cg_theta_rad":1.27209604,"cg_vd_req_v":-2.05834365,"cg_vd_v":-2.05834365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33625603,"cg_vq_v":-8.33625603,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2480.59033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1936.019032,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1936.019039,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1936.019046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1936.319702,"values":{"Elec_RPM":-2355.63696,"EncoderCos":47938,"EncoderSin":47842,"GapTicks":49342,"Mech_RPM":-471.127411,"cg_du":49.5985756,"cg_dv":44.8563728,"cg_dw":55.1436272,"cg_id_a":-11.8706055,"cg_id_raw_a":-14.3990021,"cg_iq_a":-196.399017,"cg_iq_raw_a":-197.555298,"cg_iu_a":51.4325333,"cg_iv_a":-189.957245,"cg_iw_a":138.524719,"cg_sample_age_us":23.5727272,"cg_sample_seq":11047666,"cg_sample_valid":1,"cg_theta_rad":0.786178887,"cg_vd_req_v":-1.70377386,"cg_vd_v":-1.70377386,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46073341,"cg_vq_v":-8.46073341,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2413.6687,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1936.651733,"values":{"Elec_RPM":-2358.08032,"EncoderCos":16513,"EncoderSin":46801,"GapTicks":49432,"Mech_RPM":-471.616058,"cg_du":55.061573,"cg_dv":48.2291985,"cg_dw":44.938427,"cg_id_a":-10.8795147,"cg_id_raw_a":-8.76369381,"cg_iq_a":-197.076675,"cg_iq_raw_a":-199.960403,"cg_iu_a":163.353485,"cg_iv_a":16.8138123,"cg_iw_a":-180.167297,"cg_sample_age_us":23.9509087,"cg_sample_seq":11049266,"cg_sample_valid":1,"cg_theta_rad":2.42771268,"cg_vd_req_v":-1.67963052,"cg_vd_v":-1.67963052,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46436405,"cg_vq_v":-8.46436405,"cg_vu_v":50.1477547,"cg_vv_v":50.1477547,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1937.007202,"values":{"Elec_RPM":-2353.8623,"EncoderCos":25437,"EncoderSin":53008,"GapTicks":49601,"Mech_RPM":-470.772461,"cg_du":45.0924377,"cg_dv":47.1206589,"cg_dw":54.9075623,"cg_id_a":12.0326624,"cg_id_raw_a":9.73763561,"cg_iq_a":-201.960785,"cg_iq_raw_a":-199.728943,"cg_iu_a":-48.6004486,"cg_iv_a":-146.537155,"cg_iw_a":195.137604,"cg_sample_age_us":23.8709087,"cg_sample_seq":11051067,"cg_sample_valid":1,"cg_theta_rad":1.92051196,"cg_vd_req_v":-2.15271211,"cg_vd_v":-2.15271211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35991478,"cg_vq_v":-8.35991478,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":126.249161,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2405.53833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1937.011525,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1937.01153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1937.011535,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1937.339233,"values":{"Elec_RPM":-2352.08179,"EncoderCos":13160,"EncoderSin":23812,"GapTicks":49479,"Mech_RPM":-470.416351,"cg_du":55.0182877,"cg_dv":44.9817123,"cg_dw":47.8777466,"cg_id_a":9.51403618,"cg_id_raw_a":5.22360229,"cg_iq_a":-200.144348,"cg_iq_raw_a":-198.831451,"cg_iu_a":197.930115,"cg_iv_a":-67.0906677,"cg_iw_a":-120.29248,"cg_sample_age_us":24.1145458,"cg_sample_seq":11052667,"cg_sample_valid":1,"cg_theta_rad":3.574826,"cg_vd_req_v":-2.11544228,"cg_vd_v":-2.11544228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34232616,"cg_vq_v":-8.34232616,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1379566,"dclink_p_w":-2472.74585,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1937.671265,"values":{"Elec_RPM":-2347.64941,"EncoderCos":11233,"EncoderSin":33973,"GapTicks":49402,"Mech_RPM":-469.529877,"cg_du":44.9113693,"cg_dv":50.3316193,"cg_dw":55.0886307,"cg_id_a":-15.2541418,"cg_id_raw_a":-13.9556351,"cg_iq_a":-199.470505,"cg_iq_raw_a":-201.995529,"cg_iu_a":-147.908554,"cg_iv_a":-43.5321808,"cg_iw_a":191.440735,"cg_sample_age_us":23.9363632,"cg_sample_seq":11054466,"cg_sample_valid":1,"cg_theta_rad":3.08839321,"cg_vd_req_v":-1.56435895,"cg_vd_v":-1.56435895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36479092,"cg_vq_v":-8.36479092,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1938.003158,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1938.003163,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1938.003168,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1938.022827,"values":{"Elec_RPM":-2351.21582,"EncoderCos":33106,"EncoderSin":11293,"GapTicks":49404,"Mech_RPM":-470.243164,"cg_du":55.0872307,"cg_dv":44.9127693,"cg_dw":51.2576523,"cg_id_a":-15.9434299,"cg_id_raw_a":-11.6905088,"cg_iq_a":-195.487198,"cg_iq_raw_a":-196.320724,"cg_iu_a":175.386444,"cg_iv_a":-163.861694,"cg_iw_a":-11.5247421,"cg_sample_age_us":24.0963631,"cg_sample_seq":11056066,"cg_sample_valid":1,"cg_theta_rad":4.73540831,"cg_vd_req_v":-1.58731699,"cg_vd_v":-1.58731699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46619987,"cg_vq_v":-8.46619987,"cg_vu_v":106.014107,"cg_vv_v":73.462059,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1938.49939,"values":{"Elec_RPM":-2343.10083,"EncoderCos":30491,"EncoderSin":11375,"GapTicks":49457,"Mech_RPM":-468.620148,"cg_du":52.0573273,"cg_dv":44.9611664,"cg_dw":55.0388336,"cg_id_a":7.95973396,"cg_id_raw_a":5.58791447,"cg_iq_a":-197.210571,"cg_iq_raw_a":-197.351013,"cg_iu_a":125.877365,"cg_iv_a":-195.901245,"cg_iw_a":70.02388,"cg_sample_age_us":23.6636372,"cg_sample_seq":11058416,"cg_sample_valid":1,"cg_theta_rad":4.62247992,"cg_vd_req_v":-2.11105967,"cg_vd_v":-2.11105967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41697121,"cg_vq_v":-8.41697121,"cg_vu_v":124.049698,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.485899,"dclink_p_w":-2530.64063,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1938.898563,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1938.898574,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1938.898577,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1938.995803,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1938.995809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1938.995814,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1939.015015,"values":{"Elec_RPM":-2341.92773,"EncoderCos":48686,"EncoderSin":47036,"GapTicks":49693,"Mech_RPM":-468.385529,"cg_du":47.2281342,"cg_dv":45.1756554,"cg_dw":54.8243446,"cg_id_a":-3.05549002,"cg_id_raw_a":4.71398497,"cg_iq_a":-203.579681,"cg_iq_raw_a":-205.202072,"cg_iu_a":-1.15726924,"cg_iv_a":-175.06105,"cg_iw_a":176.218323,"cg_sample_age_us":23.5363636,"cg_sample_seq":11061116,"cg_sample_valid":1,"cg_theta_rad":0.73532927,"cg_vd_req_v":-1.85575998,"cg_vd_v":-1.85575998,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31539345,"cg_vq_v":-8.31539345,"cg_vu_v":17.1558094,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2409.95654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1939.350952,"values":{"Elec_RPM":-2343.68408,"EncoderCos":27032,"EncoderSin":53557,"GapTicks":49366,"Mech_RPM":-468.736816,"cg_du":44.8787117,"cg_dv":49.9787407,"cg_dw":55.1212883,"cg_id_a":-15.9701624,"cg_id_raw_a":-14.0820112,"cg_iq_a":-199.597244,"cg_iq_raw_a":-202.348984,"cg_iu_a":-142.073303,"cg_iv_a":-52.049469,"cg_iw_a":194.122772,"cg_sample_age_us":23.8890915,"cg_sample_seq":11062766,"cg_sample_valid":1,"cg_theta_rad":1.84098077,"cg_vd_req_v":-1.56919527,"cg_vd_v":-1.56919527,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38684464,"cg_vq_v":-8.38684464,"cg_vu_v":38.7105446,"cg_vv_v":46.1887207,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1939.682983,"values":{"Elec_RPM":-2348.78711,"EncoderCos":16801,"EncoderSin":47154,"GapTicks":49595,"Mech_RPM":-469.757446,"cg_du":54.9130783,"cg_dv":47.1460571,"cg_dw":45.0869217,"cg_id_a":-2.6741004,"cg_id_raw_a":3.60298824,"cg_iq_a":-198.654892,"cg_iq_raw_a":-199.294083,"cg_iu_a":169.659912,"cg_iv_a":-0.402008057,"cg_iw_a":-169.257904,"cg_sample_age_us":23.8527279,"cg_sample_seq":11064467,"cg_sample_valid":1,"cg_theta_rad":2.40873981,"cg_vd_req_v":-1.83585095,"cg_vd_v":-1.83585095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43609619,"cg_vq_v":-8.43609619,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2361.62036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1940.019227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1940.019233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1940.019238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1940.034546,"values":{"Elec_RPM":-2350.22656,"EncoderCos":11464,"EncoderSin":36086,"GapTicks":49888,"Mech_RPM":-470.045288,"cg_du":45.3535881,"cg_dv":54.6464119,"cg_dw":53.9253044,"cg_id_a":11.8005533,"cg_id_raw_a":9.28693962,"cg_iq_a":-199.610977,"cg_iq_raw_a":-197.989624,"cg_iu_a":-184.587311,"cg_iv_a":26.4546509,"cg_iw_a":158.13266,"cg_sample_age_us":23.9618187,"cg_sample_seq":11066167,"cg_sample_valid":1,"cg_theta_rad":2.99025655,"cg_vd_req_v":-2.09978485,"cg_vd_v":-2.09978485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38010502,"cg_vq_v":-8.38010502,"cg_vu_v":118.3311,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2488.95728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1940.366577,"values":{"Elec_RPM":-2349.51074,"EncoderCos":13105,"EncoderSin":24026,"GapTicks":49465,"Mech_RPM":-469.90213,"cg_du":55.0310059,"cg_dv":44.9689941,"cg_dw":48.1692123,"cg_id_a":1.18669879,"cg_id_raw_a":-6.63512516,"cg_iq_a":-199.461456,"cg_iq_raw_a":-197.956619,"cg_iu_a":198.328796,"cg_iv_a":-83.6541138,"cg_iw_a":-114.674683,"cg_sample_age_us":23.9872723,"cg_sample_seq":11067867,"cg_sample_valid":1,"cg_theta_rad":3.56720924,"cg_vd_req_v":-1.95793617,"cg_vd_v":-1.95793617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36496639,"cg_vq_v":-8.36496639,"cg_vu_v":105.574219,"cg_vv_v":74.3418427,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2515.95337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1940.698608,"values":{"Elec_RPM":-2344.20679,"EncoderCos":20880,"EncoderSin":14753,"GapTicks":49319,"Mech_RPM":-468.841339,"cg_du":44.8357162,"cg_dv":55.1642838,"cg_dw":49.7426682,"cg_id_a":-13.389513,"cg_id_raw_a":-15.3092937,"cg_iq_a":-196.663971,"cg_iq_raw_a":-197.372879,"cg_iu_a":-193.467041,"cg_iv_a":128.698517,"cg_iw_a":64.7685318,"cg_sample_age_us":23.954546,"cg_sample_seq":11069567,"cg_sample_valid":1,"cg_theta_rad":4.14955521,"cg_vd_req_v":-1.65534663,"cg_vd_v":-1.65534663,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47362137,"cg_vq_v":-8.47362137,"cg_vu_v":1.75957024,"cg_vv_v":3.95903301,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.418396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1941.011267,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1941.011273,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1941.011277,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1941.050171,"values":{"Elec_RPM":-2342.04736,"EncoderCos":43582,"EncoderSin":14222,"GapTicks":49579,"Mech_RPM":-468.409454,"cg_du":47.5533562,"cg_dv":54.927784,"cg_dw":45.072216,"cg_id_a":2.57090926,"cg_id_raw_a":-1.89357674,"cg_iq_a":-201.479401,"cg_iq_raw_a":-200.358994,"cg_iu_a":-131.888779,"cg_iv_a":199.808929,"cg_iw_a":-79.1557388,"cg_sample_age_us":23.9509087,"cg_sample_seq":11071217,"cg_sample_valid":1,"cg_theta_rad":5.25784159,"cg_vd_req_v":-2.0591135,"cg_vd_v":-2.0591135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31550789,"cg_vq_v":-8.31550789,"cg_vu_v":131.967773,"cg_vv_v":135.926804,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2378.26221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1941.386108,"values":{"Elec_RPM":-2350.90381,"EncoderCos":33795,"EncoderSin":11288,"GapTicks":49337,"Mech_RPM":-470.180786,"cg_du":55.1479492,"cg_dv":44.8520508,"cg_dw":49.8403397,"cg_id_a":-16.0950603,"cg_id_raw_a":-18.0297642,"cg_iq_a":-194.630676,"cg_iq_raw_a":-194.047729,"cg_iu_a":185.715942,"cg_iv_a":-143.746368,"cg_iw_a":-41.969574,"cg_sample_age_us":23.9727268,"cg_sample_seq":11073016,"cg_sample_valid":1,"cg_theta_rad":4.76780415,"cg_vd_req_v":-1.5994339,"cg_vd_v":-1.5994339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45434093,"cg_vq_v":-8.45434093,"cg_vu_v":22.8744144,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1941.71814,"values":{"Elec_RPM":-2351.09619,"EncoderCos":53733,"EncoderSin":35523,"GapTicks":49344,"Mech_RPM":-470.219238,"cg_du":51.1031914,"cg_dv":55.1413155,"cg_dw":44.8586845,"cg_id_a":-15.6821117,"cg_id_raw_a":-14.6209717,"cg_iq_a":-195.680939,"cg_iq_raw_a":-197.367142,"cg_iu_a":-26.1292706,"cg_iv_a":177.301498,"cg_iw_a":-159.798264,"cg_sample_age_us":23.4563637,"cg_sample_seq":11074616,"cg_sample_valid":1,"cg_theta_rad":0.138528854,"cg_vd_req_v":-1.66986763,"cg_vd_v":-1.66986763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49494839,"cg_vq_v":-8.49494839,"cg_vu_v":38.7105446,"cg_vv_v":52.3472176,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2424.94629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119945064,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1942.003391,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1942.003396,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1942.003401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1942.069702,"values":{"Elec_RPM":-2351.62866,"EncoderCos":52607,"EncoderSin":25147,"GapTicks":49915,"Mech_RPM":-470.325714,"cg_du":54.1259651,"cg_dv":45.3781281,"cg_dw":54.6218719,"cg_id_a":18.3542538,"cg_id_raw_a":19.9898739,"cg_iq_a":-203.311981,"cg_iq_raw_a":-203.167404,"cg_iu_a":168.355133,"cg_iv_a":-182.998444,"cg_iw_a":14.6433029,"cg_sample_age_us":24.1945457,"cg_sample_seq":11076416,"cg_sample_valid":1,"cg_theta_rad":5.93216944,"cg_vd_req_v":-2.34216356,"cg_vd_v":-2.34216356,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34026146,"cg_vq_v":-8.34026146,"cg_vu_v":21.9946289,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2432.58008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4040833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1942.401733,"values":{"Elec_RPM":-2350.5354,"EncoderCos":38741,"EncoderSin":53236,"GapTicks":49623,"Mech_RPM":-470.107086,"cg_du":54.8880806,"cg_dv":52.7149124,"cg_dw":45.1119194,"cg_id_a":12.6138401,"cg_id_raw_a":9.78109455,"cg_iq_a":-204.371384,"cg_iq_raw_a":-201.322922,"cg_iu_a":51.7224808,"cg_iv_a":137.759491,"cg_iw_a":-202.022339,"cg_sample_age_us":23.8054543,"cg_sample_seq":11078017,"cg_sample_valid":1,"cg_theta_rad":1.28676677,"cg_vd_req_v":-2.17167377,"cg_vd_v":-2.17167377,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27196693,"cg_vq_v":-8.27196693,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1942.753296,"values":{"Elec_RPM":-2354.0293,"EncoderCos":38805,"EncoderSin":53249,"GapTicks":49596,"Mech_RPM":-470.805847,"cg_du":54.9119148,"cg_dv":52.6483383,"cg_dw":45.0880852,"cg_id_a":10.4927626,"cg_id_raw_a":5.38855791,"cg_iq_a":-204.077621,"cg_iq_raw_a":-201.609741,"cg_iu_a":16.8196716,"cg_iv_a":166.899536,"cg_iw_a":-183.719208,"cg_sample_age_us":23.8090916,"cg_sample_seq":11079771,"cg_sample_valid":1,"cg_theta_rad":1.32691073,"cg_vd_req_v":-2.1347208,"cg_vd_v":-2.1347208,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30075359,"cg_vq_v":-8.30075359,"cg_vu_v":134.607132,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2524.87061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1943.027168,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1943.027171,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1943.027174,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1943.085327,"values":{"Elec_RPM":-2351.50659,"EncoderCos":25606,"EncoderSin":53093,"GapTicks":49543,"Mech_RPM":-470.301331,"cg_du":45.039978,"cg_dv":47.4145584,"cg_dw":54.960022,"cg_id_a":8.69923306,"cg_id_raw_a":7.91581678,"cg_iq_a":-199.82132,"cg_iq_raw_a":-199.993042,"cg_iu_a":-59.0749168,"cg_iv_a":-137.983612,"cg_iw_a":197.058533,"cg_sample_age_us":23.8563633,"cg_sample_seq":11081466,"cg_sample_valid":1,"cg_theta_rad":1.91452384,"cg_vd_req_v":-2.08114147,"cg_vd_v":-2.08114147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40219498,"cg_vq_v":-8.40219498,"cg_vu_v":38.7105446,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.7522907,"dclink_p_w":-2569.19409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1943.417358,"values":{"Elec_RPM":-2352.28491,"EncoderCos":15626,"EncoderSin":45748,"GapTicks":49374,"Mech_RPM":-470.457001,"cg_du":55.1138191,"cg_dv":50.8709221,"cg_dw":44.8861809,"cg_id_a":-2.23162103,"cg_id_raw_a":-3.37482786,"cg_iq_a":-198.845978,"cg_iq_raw_a":-197.179916,"cg_iu_a":106.59565,"cg_iv_a":95.89785,"cg_iw_a":-202.4935,"cg_sample_age_us":23.8600006,"cg_sample_seq":11083166,"cg_sample_valid":1,"cg_theta_rad":2.49833441,"cg_vd_req_v":-1.87324643,"cg_vd_v":-1.87324643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38028908,"cg_vq_v":-8.38028908,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.2176933,"dclink_p_w":-2491.82471,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1943.768921,"values":{"Elec_RPM":-2347.73975,"EncoderCos":11251,"EncoderSin":34470,"GapTicks":49478,"Mech_RPM":-469.547974,"cg_du":44.9801102,"cg_dv":51.3850136,"cg_dw":55.0198898,"cg_id_a":-12.7865458,"cg_id_raw_a":-8.8972559,"cg_iq_a":-201.189255,"cg_iq_raw_a":-203.50795,"cg_iu_a":-163.27594,"cg_iv_a":-21.9671021,"cg_iw_a":185.243042,"cg_sample_age_us":23.9327278,"cg_sample_seq":11084866,"cg_sample_valid":1,"cg_theta_rad":3.06553435,"cg_vd_req_v":-1.60069108,"cg_vd_v":-1.60069108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34250832,"cg_vq_v":-8.34250832,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2606,"hz_tim_isr":5001,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1944.018713,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1944.018718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1944.018723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1944.104858,"values":{"Elec_RPM":-2346.927,"EncoderCos":13805,"EncoderSin":22452,"GapTicks":49883,"Mech_RPM":-469.385406,"cg_du":54.6509171,"cg_dv":46.1072311,"cg_dw":45.3490829,"cg_id_a":8.64099979,"cg_id_raw_a":13.2132158,"cg_iq_a":-201.203354,"cg_iq_raw_a":-204.179337,"cg_iu_a":177.234879,"cg_iv_a":-5.69361877,"cg_iw_a":-171.54126,"cg_sample_age_us":24.045454,"cg_sample_seq":11086566,"cg_sample_valid":1,"cg_theta_rad":3.645087,"cg_vd_req_v":-2.07040429,"cg_vd_v":-2.07040429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38026428,"cg_vq_v":-8.38026428,"cg_vu_v":20.2350578,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.3858967,"dclink_p_w":-2378.65137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1944.43689,"values":{"Elec_RPM":-2348.00195,"EncoderCos":22493,"EncoderSin":13843,"GapTicks":49659,"Mech_RPM":-469.600372,"cg_du":45.1449928,"cg_dv":54.8550072,"cg_dw":53.1175919,"cg_id_a":8.08602905,"cg_id_raw_a":8.2400713,"cg_iq_a":-197.122421,"cg_iq_raw_a":-197.186829,"cg_iu_a":-191.147446,"cg_iv_a":47.8022919,"cg_iw_a":143.345154,"cg_sample_age_us":23.9363632,"cg_sample_seq":11088266,"cg_sample_valid":1,"cg_theta_rad":4.22740889,"cg_vd_req_v":-2.08370852,"cg_vd_v":-2.08370852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42547989,"cg_vq_v":-8.42547989,"cg_vu_v":7.91806602,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2522.02246,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00443121977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1944.788452,"values":{"Elec_RPM":-2348.89185,"EncoderCos":34392,"EncoderSin":11353,"GapTicks":49413,"Mech_RPM":-469.778381,"cg_du":55.0788689,"cg_dv":44.9211311,"cg_dw":48.8305779,"cg_id_a":-6.84971046,"cg_id_raw_a":-11.9963503,"cg_iq_a":-198.634308,"cg_iq_raw_a":-198.284515,"cg_iu_a":199.089905,"cg_iv_a":-105.400391,"cg_iw_a":-93.6895142,"cg_sample_age_us":24.0599995,"cg_sample_seq":11089966,"cg_sample_valid":1,"cg_theta_rad":4.80209398,"cg_vd_req_v":-1.81277108,"cg_vd_v":-1.81277108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36804771,"cg_vq_v":-8.36804771,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2423.85083,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1945.011453,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1945.011458,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1945.011462,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1945.120483,"values":{"Elec_RPM":-2347.15674,"EncoderCos":45430,"EncoderSin":15611,"GapTicks":49440,"Mech_RPM":-469.431366,"cg_du":44.94627,"cg_dv":55.05373,"cg_dw":48.2815971,"cg_id_a":-11.0099754,"cg_id_raw_a":-10.2285929,"cg_iq_a":-200.463318,"cg_iq_raw_a":-200.881439,"cg_iu_a":-182.340179,"cg_iv_a":162.622742,"cg_iw_a":19.7174377,"cg_sample_age_us":23.9472733,"cg_sample_seq":11091667,"cg_sample_valid":1,"cg_theta_rad":5.36606932,"cg_vd_req_v":-1.7751478,"cg_vd_v":-1.7751478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39488602,"cg_vq_v":-8.39488602,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2482.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1945.456421,"values":{"Elec_RPM":-2343.06787,"EncoderCos":53465,"EncoderSin":37090,"GapTicks":49477,"Mech_RPM":-468.613586,"cg_du":48.1670074,"cg_dv":55.0200272,"cg_dw":44.9799728,"cg_id_a":0.334543347,"cg_id_raw_a":-4.05154562,"cg_iq_a":-199.865906,"cg_iq_raw_a":-199.992752,"cg_iu_a":-117.826172,"cg_iv_a":199.772675,"cg_iw_a":-81.9465103,"cg_sample_age_us":23.4963627,"cg_sample_seq":11093316,"cg_sample_valid":1,"cg_theta_rad":0.2168632,"cg_vd_req_v":-2.00400519,"cg_vd_v":-2.00400519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36283588,"cg_vq_v":-8.36283588,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1945.807983,"values":{"Elec_RPM":-2349.00342,"EncoderCos":53255,"EncoderSin":37704,"GapTicks":49656,"Mech_RPM":-469.80069,"cg_du":47.1272163,"cg_dv":54.8580208,"cg_dw":45.1419792,"cg_id_a":12.2967072,"cg_id_raw_a":9.6482029,"cg_iq_a":-203.082962,"cg_iq_raw_a":-201.948013,"cg_iu_a":-148.959625,"cg_iv_a":196.76445,"cg_iw_a":-47.8048248,"cg_sample_age_us":23.4927273,"cg_sample_seq":11095067,"cg_sample_valid":1,"cg_theta_rad":0.24518621,"cg_vd_req_v":-2.24643302,"cg_vd_v":-2.24643302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27917671,"cg_vq_v":-8.27917671,"cg_vu_v":122.730026,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1946.034975,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1946.034981,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1946.034985,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1946.140015,"values":{"Elec_RPM":-2347.56323,"EncoderCos":37089,"EncoderSin":53656,"GapTicks":49564,"Mech_RPM":-469.512634,"cg_du":52.5542793,"cg_dv":54.9415436,"cg_dw":45.0584564,"cg_id_a":-5.16728115,"cg_id_raw_a":-0.272471189,"cg_iq_a":-198.982071,"cg_iq_raw_a":-202.020996,"cg_iu_a":-5.65150452,"cg_iv_a":174.546982,"cg_iw_a":-168.895477,"cg_sample_age_us":23.8999996,"cg_sample_seq":11096716,"cg_sample_valid":1,"cg_theta_rad":1.36750197,"cg_vd_req_v":-1.7821101,"cg_vd_v":-1.7821101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43161106,"cg_vq_v":-8.43161106,"cg_vu_v":14.9563465,"cg_vv_v":7.47817326,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2520.93652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1946.491577,"values":{"Elec_RPM":-2347.63623,"EncoderCos":46600,"EncoderSin":49079,"GapTicks":49568,"Mech_RPM":-469.527222,"cg_du":52.7734489,"cg_dv":45.0620728,"cg_dw":54.9379272,"cg_id_a":14.8089514,"cg_id_raw_a":12.5782967,"cg_iq_a":-201.372192,"cg_iq_raw_a":-200.387772,"cg_iu_a":147.406204,"cg_iv_a":-194.016571,"cg_iw_a":46.6103668,"cg_sample_age_us":23.5727272,"cg_sample_seq":11098516,"cg_sample_valid":1,"cg_theta_rad":0.87008512,"cg_vd_req_v":-2.25559282,"cg_vd_v":-2.25559282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37660217,"cg_vq_v":-8.37660217,"cg_vu_v":25.953661,"cg_vv_v":1.75957024,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.7541027,"dclink_p_w":-2569.4563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1946.823608,"values":{"Elec_RPM":-2349.41284,"EncoderCos":15509,"EncoderSin":45579,"GapTicks":49410,"Mech_RPM":-469.882568,"cg_du":55.0816422,"cg_dv":51.185051,"cg_dw":44.9183578,"cg_id_a":2.29092646,"cg_id_raw_a":-1.24224138,"cg_iq_a":-201.909119,"cg_iq_raw_a":-198.784912,"cg_iu_a":85.8279266,"cg_iv_a":115.433273,"cg_iw_a":-201.2612,"cg_sample_age_us":23.812727,"cg_sample_seq":11100118,"cg_sample_valid":1,"cg_theta_rad":2.51267409,"cg_vd_req_v":-1.96496344,"cg_vd_v":-1.96496344,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3136425,"cg_vq_v":-8.3136425,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8389454,"dclink_p_w":-2429.60327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1946.994864,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1946.994869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1946.994873,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1947.159546,"values":{"Elec_RPM":-2347.39111,"EncoderCos":11258,"EncoderSin":34058,"GapTicks":49383,"Mech_RPM":-469.47821,"cg_du":44.8942184,"cg_dv":50.4745789,"cg_dw":55.1057816,"cg_id_a":-17.3570747,"cg_id_raw_a":-15.9727116,"cg_iq_a":-201.067673,"cg_iq_raw_a":-200.212387,"cg_iu_a":-150.409363,"cg_iv_a":-37.6969299,"cg_iw_a":188.106293,"cg_sample_age_us":23.9254551,"cg_sample_seq":11101817,"cg_sample_valid":1,"cg_theta_rad":3.08698511,"cg_vd_req_v":-1.53156281,"cg_vd_v":-1.53156281,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3799572,"cg_vq_v":-8.3799572,"cg_vu_v":114.37207,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2473.88135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1947.511108,"values":{"Elec_RPM":-2350.67969,"EncoderCos":14123,"EncoderSin":21831,"GapTicks":49504,"Mech_RPM":-470.135956,"cg_du":54.9961967,"cg_dv":47.8567238,"cg_dw":45.0038033,"cg_id_a":-9.19274426,"cg_id_raw_a":-2.36606216,"cg_iq_a":-196.169678,"cg_iq_raw_a":-199.417801,"cg_iu_a":169.007538,"cg_iv_a":-0.438262939,"cg_iw_a":-168.569275,"cg_sample_age_us":23.9872723,"cg_sample_seq":11103516,"cg_sample_valid":1,"cg_theta_rad":3.67032027,"cg_vd_req_v":-1.69051862,"cg_vd_v":-1.69051862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46050262,"cg_vq_v":-8.46050262,"cg_vu_v":26.3935547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2423.63477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1947.84314,"values":{"Elec_RPM":-2352.34277,"EncoderCos":14476,"EncoderSin":21294,"GapTicks":49350,"Mech_RPM":-470.468536,"cg_du":55.1361656,"cg_dv":49.264328,"cg_dw":44.8638344,"cg_id_a":-14.4856882,"cg_id_raw_a":-14.052413,"cg_iq_a":-194.670959,"cg_iq_raw_a":-194.449524,"cg_iu_a":148.094849,"cg_iv_a":34.6095123,"cg_iw_a":-182.704361,"cg_sample_age_us":24.0381813,"cg_sample_seq":11105267,"cg_sample_valid":1,"cg_theta_rad":3.70835614,"cg_vd_req_v":-1.59802139,"cg_vd_v":-1.59802139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46298122,"cg_vq_v":-8.46298122,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1948.019436,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1948.019441,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1948.019445,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1948.24939,"values":{"Elec_RPM":-2349.5647,"EncoderCos":13427,"EncoderSin":42293,"GapTicks":49315,"Mech_RPM":-469.912933,"cg_du":49.744812,"cg_dv":55.1676712,"cg_dw":44.8323288,"cg_id_a":-9.98112011,"cg_id_raw_a":-11.2691631,"cg_iq_a":-195.958038,"cg_iq_raw_a":-193.606445,"cg_iu_a":-65.7075348,"cg_iv_a":193.502502,"cg_iw_a":-127.794968,"cg_sample_age_us":23.8527279,"cg_sample_seq":11107116,"cg_sample_valid":1,"cg_theta_rad":2.68875289,"cg_vd_req_v":-1.69474125,"cg_vd_v":-1.69474125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47153664,"cg_vq_v":-8.47153664,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2474.93359,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1948.768921,"values":{"Elec_RPM":-2345.36548,"EncoderCos":39850,"EncoderSin":12480,"GapTicks":49720,"Mech_RPM":-469.07309,"cg_du":54.7993469,"cg_dv":53.1312218,"cg_dw":45.2006531,"cg_id_a":6.24236584,"cg_id_raw_a":4.20052147,"cg_iq_a":-203.789185,"cg_iq_raw_a":-202.14035,"cg_iu_a":51.5050201,"cg_iv_a":145.116974,"cg_iw_a":-196.621994,"cg_sample_age_us":23.9763641,"cg_sample_seq":11109817,"cg_sample_valid":1,"cg_theta_rad":5.06284857,"cg_vd_req_v":-2.08678555,"cg_vd_v":-2.08678555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31255627,"cg_vq_v":-8.31255627,"cg_vu_v":127.12896,"cg_vv_v":143.404984,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2474.57642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1948.882939,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1948.882949,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1948.882952,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1949.010711,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1949.010717,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1949.010721,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1949.167358,"values":{"Elec_RPM":-2350.49829,"EncoderCos":25968,"EncoderSin":53157,"GapTicks":49462,"Mech_RPM":-470.09967,"cg_du":44.9659271,"cg_dv":48.0308456,"cg_dw":55.0340729,"cg_id_a":2.85356092,"cg_id_raw_a":-1.86547053,"cg_iq_a":-197.553329,"cg_iq_raw_a":-197.322098,"cg_iu_a":-79.8426361,"cg_iv_a":-119.861694,"cg_iw_a":199.70433,"cg_sample_age_us":23.8927269,"cg_sample_seq":11111866,"cg_sample_valid":1,"cg_theta_rad":1.89153612,"cg_vd_req_v":-1.95949185,"cg_vd_v":-1.95949185,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4258585,"cg_vq_v":-8.4258585,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.302866,"dclink_p_w":-2504.15137,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1949.522827,"values":{"Elec_RPM":-2352.89355,"EncoderCos":25113,"EncoderSin":52960,"GapTicks":49808,"Mech_RPM":-470.578735,"cg_du":45.2805328,"cg_dv":46.5339699,"cg_dw":54.7194672,"cg_id_a":12.6289682,"cg_id_raw_a":11.8293753,"cg_iq_a":-202.107941,"cg_iq_raw_a":-202.406265,"cg_iu_a":-34.5015945,"cg_iv_a":-157.33783,"cg_iw_a":191.839417,"cg_sample_age_us":23.8999996,"cg_sample_seq":11113616,"cg_sample_valid":1,"cg_theta_rad":1.93413246,"cg_vd_req_v":-2.14344978,"cg_vd_v":-2.14344978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32096291,"cg_vq_v":-8.32096291,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1949.850952,"values":{"Elec_RPM":-2357.23218,"EncoderCos":11349,"EncoderSin":34901,"GapTicks":49559,"Mech_RPM":-471.446442,"cg_du":45.053833,"cg_dv":52.3855705,"cg_dw":54.946167,"cg_id_a":-7.12479401,"cg_id_raw_a":-0.183777973,"cg_iq_a":-200.132919,"cg_iq_raw_a":-202.327271,"cg_iu_a":-173.822891,"cg_iv_a":2.71495056,"cg_iw_a":171.107941,"cg_sample_age_us":23.8381824,"cg_sample_seq":11115266,"cg_sample_valid":1,"cg_theta_rad":3.03670168,"cg_vd_req_v":-1.70603597,"cg_vd_v":-1.70603597,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.382267,"cg_vq_v":-8.382267,"cg_vu_v":93.6971207,"cg_vv_v":94.5769043,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2448.26318,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1950.003378,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1950.003383,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1950.003388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1950.18689,"values":{"Elec_RPM":-2354.07422,"EncoderCos":11273,"EncoderSin":34042,"GapTicks":49384,"Mech_RPM":-470.814819,"cg_du":44.8953934,"cg_dv":50.477356,"cg_dw":55.1046066,"cg_id_a":-15.380394,"cg_id_raw_a":-13.1662483,"cg_iq_a":-200.093628,"cg_iq_raw_a":-201.864777,"cg_iu_a":-150.844299,"cg_iv_a":-39.581604,"cg_iw_a":190.425903,"cg_sample_age_us":23.8963642,"cg_sample_seq":11117016,"cg_sample_valid":1,"cg_theta_rad":3.08407879,"cg_vd_req_v":-1.56607199,"cg_vd_v":-1.56607199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39814568,"cg_vq_v":-8.39814568,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2383.77002,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1950.538452,"values":{"Elec_RPM":-2354.3479,"EncoderCos":22088,"EncoderSin":14031,"GapTicks":49476,"Mech_RPM":-470.869568,"cg_du":44.9788284,"cg_dv":55.0211716,"cg_dw":52.2864609,"cg_id_a":4.96991014,"cg_id_raw_a":2.78306293,"cg_iq_a":-196.044235,"cg_iq_raw_a":-197.269501,"cg_iu_a":-194.989288,"cg_iv_a":68.6062393,"cg_iw_a":126.383049,"cg_sample_age_us":23.9472733,"cg_sample_seq":11118666,"cg_sample_valid":1,"cg_theta_rad":4.20545149,"cg_vd_req_v":-2.02742362,"cg_vd_v":-2.02742362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43600464,"cg_vq_v":-8.43600464,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":10.9973145,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1950.870483,"values":{"Elec_RPM":-2350.64307,"EncoderCos":22825,"EncoderSin":13663,"GapTicks":49863,"Mech_RPM":-470.128632,"cg_du":45.3304977,"cg_dv":54.6695023,"cg_dw":53.7714653,"cg_id_a":10.3240509,"cg_id_raw_a":10.9001789,"cg_iq_a":-200.284149,"cg_iq_raw_a":-200.477219,"cg_iu_a":-187.776764,"cg_iv_a":29.3179169,"cg_iw_a":158.458847,"cg_sample_age_us":23.9327278,"cg_sample_seq":11120416,"cg_sample_valid":1,"cg_theta_rad":4.24215889,"cg_vd_req_v":-2.1261065,"cg_vd_v":-2.1261065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3434639,"cg_vq_v":-8.3434639,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2389.01538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1951.026905,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1951.026909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1951.026912,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1951.202515,"values":{"Elec_RPM":-2351.87769,"EncoderCos":45132,"EncoderSin":15317,"GapTicks":49586,"Mech_RPM":-470.375519,"cg_du":45.0789719,"cg_dv":54.9210281,"cg_dw":47.3279839,"cg_id_a":-4.99382782,"cg_id_raw_a":-1.05718613,"cg_iq_a":-201.692444,"cg_iq_raw_a":-202.787247,"cg_iu_a":-173.714157,"cg_iv_a":172.879761,"cg_iw_a":0.834403992,"cg_sample_age_us":23.9472733,"cg_sample_seq":11122067,"cg_sample_valid":1,"cg_theta_rad":5.34678268,"cg_vd_req_v":-1.88490129,"cg_vd_v":-1.88490129,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3828392,"cg_vq_v":-8.3828392,"cg_vu_v":124.929489,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.365963,"dclink_p_w":-2368.55835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1951.554077,"values":{"Elec_RPM":-2353.72217,"EncoderCos":45871,"EncoderSin":15885,"GapTicks":49320,"Mech_RPM":-470.744446,"cg_du":44.8367729,"cg_dv":55.1632271,"cg_dw":49.3749733,"cg_id_a":-12.040308,"cg_id_raw_a":-13.1317892,"cg_iq_a":-196.18161,"cg_iq_raw_a":-197.280304,"cg_iu_a":-186.653214,"cg_iv_a":144.682053,"cg_iw_a":41.9711609,"cg_sample_age_us":23.9472733,"cg_sample_seq":11123817,"cg_sample_valid":1,"cg_theta_rad":5.38806534,"cg_vd_req_v":-1.76125145,"cg_vd_v":-1.76125145,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46829128,"cg_vq_v":-8.46829128,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2508.86914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1951.886108,"values":{"Elec_RPM":-2354.96362,"EncoderCos":52912,"EncoderSin":26006,"GapTicks":49610,"Mech_RPM":-470.992706,"cg_du":54.8997574,"cg_dv":45.1002426,"cg_dw":52.6480942,"cg_id_a":-4.2040596,"cg_id_raw_a":2.29799414,"cg_iq_a":-199.024704,"cg_iq_raw_a":-201.260345,"cg_iu_a":171.508347,"cg_iv_a":-170.168121,"cg_iw_a":-1.34021759,"cg_sample_age_us":24.1836357,"cg_sample_seq":11125517,"cg_sample_valid":1,"cg_theta_rad":5.97292852,"cg_vd_req_v":-1.85179114,"cg_vd_v":-1.85179114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37524605,"cg_vq_v":-8.37524605,"cg_vu_v":106.893898,"cg_vv_v":97.6561432,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2432.21777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1952.019678,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1952.019684,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1952.019688,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1952.241577,"values":{"Elec_RPM":-2349.04663,"EncoderCos":53458,"EncoderSin":37311,"GapTicks":49465,"Mech_RPM":-469.809326,"cg_du":47.8878021,"cg_dv":55.0312996,"cg_dw":44.9687004,"cg_id_a":5.91957378,"cg_id_raw_a":0.774900079,"cg_iq_a":-201.258194,"cg_iq_raw_a":-200.136429,"cg_iu_a":-164.834427,"cg_iv_a":189.261963,"cg_iw_a":-24.4275436,"cg_sample_age_us":26.3872719,"cg_sample_seq":11127220,"cg_sample_valid":1,"cg_theta_rad":0.270727426,"cg_vd_req_v":-2.14093733,"cg_vd_v":-2.14093733,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35520363,"cg_vq_v":-8.35520363,"cg_vu_v":38.2706528,"cg_vv_v":57.1860352,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1952.573608,"values":{"Elec_RPM":-2351.86523,"EncoderCos":36556,"EncoderSin":53728,"GapTicks":49365,"Mech_RPM":-470.373047,"cg_du":51.3464432,"cg_dv":55.1223068,"cg_dw":44.8776932,"cg_id_a":-10.2156992,"cg_id_raw_a":-10.3608999,"cg_iq_a":-194.165619,"cg_iq_raw_a":-196.20488,"cg_iu_a":-26.600441,"cg_iv_a":180.345978,"cg_iw_a":-153.745544,"cg_sample_age_us":23.8672733,"cg_sample_seq":11128866,"cg_sample_valid":1,"cg_theta_rad":1.39300096,"cg_vd_req_v":-1.67154884,"cg_vd_v":-1.67154884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49519825,"cg_vq_v":-8.49519825,"cg_vu_v":40.9100075,"cg_vv_v":65.9838867,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1952.90564,"values":{"Elec_RPM":-2357.20557,"EncoderCos":36186,"EncoderSin":53791,"GapTicks":49320,"Mech_RPM":-471.441101,"cg_du":50.5618172,"cg_dv":55.1628036,"cg_dw":44.8371964,"cg_id_a":-11.2850523,"cg_id_raw_a":-10.5333681,"cg_iq_a":-194.177795,"cg_iq_raw_a":-194.23851,"cg_iu_a":-56.3566284,"cg_iv_a":192.233978,"cg_iw_a":-144.358383,"cg_sample_age_us":23.9036369,"cg_sample_seq":11130618,"cg_sample_valid":1,"cg_theta_rad":1.41994023,"cg_vd_req_v":-1.66758442,"cg_vd_v":-1.66758442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48239326,"cg_vq_v":-8.48239326,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-17.7867222,"dclink_p_w":-2574.17725,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1953.011047,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1953.011053,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1953.011057,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1953.257202,"values":{"Elec_RPM":-2359.53076,"EncoderCos":24005,"EncoderSin":52464,"GapTicks":49710,"Mech_RPM":-471.906128,"cg_du":47.1447678,"cg_dv":45.1910248,"cg_dw":54.8089752,"cg_id_a":-2.13159561,"cg_id_raw_a":4.39450216,"cg_iq_a":-205.285126,"cg_iq_raw_a":-206.047653,"cg_iu_a":-0.287417173,"cg_iv_a":-176.32959,"cg_iw_a":176.617004,"cg_sample_age_us":23.8672733,"cg_sample_seq":11132317,"cg_sample_valid":1,"cg_theta_rad":1.99012983,"cg_vd_req_v":-1.82666171,"cg_vd_v":-1.82666171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27035999,"cg_vq_v":-8.27035999,"cg_vu_v":124.049698,"cg_vv_v":130.208206,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-15.5160465,"dclink_p_w":-2238.729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1953.589233,"values":{"Elec_RPM":-2351.28857,"EncoderCos":14539,"EncoderSin":44235,"GapTicks":49991,"Mech_RPM":-470.257721,"cg_du":54.5532837,"cg_dv":54.2342606,"cg_dw":45.4467163,"cg_id_a":16.6940041,"cg_id_raw_a":17.7591419,"cg_iq_a":-203.214996,"cg_iq_raw_a":-204.918167,"cg_iu_a":16.4934769,"cg_iv_a":167.841858,"cg_iw_a":-184.335342,"cg_sample_age_us":23.8018188,"cg_sample_seq":11134016,"cg_sample_valid":1,"cg_theta_rad":2.58147502,"cg_vd_req_v":-2.21652961,"cg_vd_v":-2.21652961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34723568,"cg_vq_v":-8.34723568,"cg_vu_v":36.5110817,"cg_vv_v":39.1504402,"cg_vw_v":39.1504402,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2480.98413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1953.921265,"values":{"Elec_RPM":-2356.0874,"EncoderCos":11243,"EncoderSin":32456,"GapTicks":49534,"Mech_RPM":-471.217468,"cg_du":45.0316734,"cg_dv":47.6064949,"cg_dw":54.9683266,"cg_id_a":3.30640268,"cg_id_raw_a":-1.52449763,"cg_iq_a":-197.750977,"cg_iq_raw_a":-196.968292,"cg_iu_a":-70.8179169,"cg_iv_a":-126.893005,"cg_iw_a":197.710922,"cg_sample_age_us":23.9472733,"cg_sample_seq":11135716,"cg_sample_valid":1,"cg_theta_rad":3.15976286,"cg_vd_req_v":-1.963763,"cg_vd_v":-1.963763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41810322,"cg_vq_v":-8.41810322,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4363098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1954.034582,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1954.034588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1954.034593,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1954.276733,"values":{"Elec_RPM":-2360.1748,"EncoderCos":33672,"EncoderSin":11336,"GapTicks":49316,"Mech_RPM":-472.034973,"cg_du":55.1669884,"cg_dv":44.8330116,"cg_dw":50.0816498,"cg_id_a":-17.1541519,"cg_id_raw_a":-17.9609623,"cg_iq_a":-196.293243,"cg_iq_raw_a":-195.672211,"cg_iu_a":200.467178,"cg_iv_a":-94.7447205,"cg_iw_a":-105.722458,"cg_sample_age_us":23.9654541,"cg_sample_seq":11137320,"cg_sample_valid":1,"cg_theta_rad":4.81101322,"cg_vd_req_v":-1.58768129,"cg_vd_v":-1.58768129,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46118259,"cg_vq_v":-8.46118259,"cg_vu_v":41.7897949,"cg_vv_v":39.590332,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2477.45239,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1954.604858,"values":{"Elec_RPM":-2357.84155,"EncoderCos":23925,"EncoderSin":13125,"GapTicks":49613,"Mech_RPM":-471.568329,"cg_du":45.1034088,"cg_dv":52.5353317,"cg_dw":54.8965912,"cg_id_a":-4.32168293,"cg_id_raw_a":-0.887740791,"cg_iq_a":-202.728912,"cg_iq_raw_a":-202.096207,"cg_iu_a":-170.017288,"cg_iv_a":-4.96873474,"cg_iw_a":174.986023,"cg_sample_age_us":23.9654541,"cg_sample_seq":11139117,"cg_sample_valid":1,"cg_theta_rad":4.30097437,"cg_vd_req_v":-1.82858205,"cg_vd_v":-1.82858205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34262657,"cg_vq_v":-8.34262657,"cg_vu_v":102.494972,"cg_vv_v":102.494972,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1954.940796,"values":{"Elec_RPM":-2356.12329,"EncoderCos":46558,"EncoderSin":16477,"GapTicks":49344,"Mech_RPM":-471.22467,"cg_du":44.8587265,"cg_dv":55.1412735,"cg_dw":51.1268768,"cg_id_a":-6.00007248,"cg_id_raw_a":-7.86456585,"cg_iq_a":-195.55751,"cg_iq_raw_a":-195.691772,"cg_iu_a":-196.692749,"cg_iv_a":103.94397,"cg_iw_a":92.7487793,"cg_sample_age_us":23.8199997,"cg_sample_seq":11140766,"cg_sample_valid":1,"cg_theta_rad":5.43259859,"cg_vd_req_v":-1.90221012,"cg_vd_v":-1.90221012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44879723,"cg_vq_v":-8.44879723,"cg_vu_v":38.2706528,"cg_vv_v":52.7871094,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1955.026951,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1955.026957,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1955.026962,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1955.292358,"values":{"Elec_RPM":-2355.01685,"EncoderCos":47006,"EncoderSin":16889,"GapTicks":49473,"Mech_RPM":-471.003357,"cg_du":44.9757729,"cg_dv":55.0242271,"cg_dw":52.1365013,"cg_id_a":5.50527763,"cg_id_raw_a":0.26037395,"cg_iq_a":-198.457458,"cg_iq_raw_a":-197.364624,"cg_iu_a":-196.076599,"cg_iv_a":71.3970108,"cg_iw_a":124.679588,"cg_sample_age_us":23.9181824,"cg_sample_seq":11142517,"cg_sample_valid":1,"cg_theta_rad":5.46135187,"cg_vd_req_v":-2.13089681,"cg_vd_v":-2.13089681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37879086,"cg_vq_v":-8.37879086,"cg_vu_v":102.055069,"cg_vv_v":104.254532,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2438.75464,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1955.62439,"values":{"Elec_RPM":-2352.17578,"EncoderCos":53095,"EncoderSin":38683,"GapTicks":49970,"Mech_RPM":-470.435181,"cg_du":45.4273796,"cg_dv":54.5726204,"cg_dw":45.8998718,"cg_id_a":9.78173256,"cg_id_raw_a":11.1311073,"cg_iq_a":-204.15271,"cg_iq_raw_a":-205.552063,"cg_iu_a":-174.185333,"cg_iv_a":175.271851,"cg_iw_a":-1.08651733,"cg_sample_age_us":23.5618191,"cg_sample_seq":11144167,"cg_sample_valid":1,"cg_theta_rad":0.302313209,"cg_vd_req_v":-2.17431927,"cg_vd_v":-2.17431927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32549,"cg_vq_v":-8.32549,"cg_vu_v":20.6749516,"cg_vv_v":29.0329094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.173872,"dclink_p_w":-2340.75806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1955.956421,"values":{"Elec_RPM":-2353.14722,"EncoderCos":46536,"EncoderSin":49120,"GapTicks":49615,"Mech_RPM":-470.629425,"cg_du":52.8877335,"cg_dv":45.1054459,"cg_dw":54.8945541,"cg_id_a":16.2524986,"cg_id_raw_a":14.429122,"cg_iq_a":-200.448166,"cg_iq_raw_a":-199.415146,"cg_iu_a":150.015762,"cg_iv_a":-192.023163,"cg_iw_a":42.0073929,"cg_sample_age_us":23.5763645,"cg_sample_seq":11145867,"cg_sample_valid":1,"cg_theta_rad":0.876014352,"cg_vd_req_v":-2.27510452,"cg_vd_v":-2.27510452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36331272,"cg_vq_v":-8.36331272,"cg_vu_v":123.169922,"cg_vv_v":117.891212,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2435.17456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1956.018825,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1956.01883,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1956.018835,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1956.307983,"values":{"Elec_RPM":-2352.73413,"EncoderCos":35155,"EncoderSin":53979,"GapTicks":49428,"Mech_RPM":-470.546814,"cg_du":48.6205902,"cg_dv":55.0646019,"cg_dw":44.9353981,"cg_id_a":-2.36654615,"cg_id_raw_a":-7.57521343,"cg_iq_a":-199.588715,"cg_iq_raw_a":-197.981567,"cg_iu_a":-102.56752,"cg_iv_a":200.751266,"cg_iw_a":-98.1837463,"cg_sample_age_us":23.9254551,"cg_sample_seq":11147566,"cg_sample_valid":1,"cg_theta_rad":1.45856321,"cg_vd_req_v":-1.87401867,"cg_vd_v":-1.87401867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36017418,"cg_vq_v":-8.36017418,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2456.41846,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1956.643921,"values":{"Elec_RPM":-2350.91455,"EncoderCos":23219,"EncoderSin":52108,"GapTicks":49383,"Mech_RPM":-470.182892,"cg_du":49.2079811,"cg_dv":44.893856,"cg_dw":55.106144,"cg_id_a":-19.6486511,"cg_id_raw_a":-18.6586456,"cg_iq_a":-199.929703,"cg_iq_raw_a":-202.174271,"cg_iu_a":16.6384525,"cg_iv_a":-181.331238,"cg_iw_a":164.69278,"cg_sample_age_us":23.6563644,"cg_sample_seq":11149266,"cg_sample_valid":1,"cg_theta_rad":2.02150178,"cg_vd_req_v":-1.50378466,"cg_vd_v":-1.50378466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40774632,"cg_vq_v":-8.40774632,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":106.014107,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2515.4458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1956.995483,"values":{"Elec_RPM":-2347.30664,"EncoderCos":14667,"EncoderSin":44375,"GapTicks":49878,"Mech_RPM":-469.461334,"cg_du":54.6555214,"cg_dv":53.8193092,"cg_dw":45.3444786,"cg_id_a":17.3106728,"cg_id_raw_a":17.3376675,"cg_iq_a":-203.792511,"cg_iq_raw_a":-205.647934,"cg_iu_a":4.71423149,"cg_iv_a":168.530487,"cg_iw_a":-173.24472,"cg_sample_age_us":26.7472725,"cg_sample_seq":11150970,"cg_sample_valid":1,"cg_theta_rad":2.61602092,"cg_vd_req_v":-2.22808027,"cg_vd_v":-2.22808027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31524849,"cg_vq_v":-8.31524849,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2461.51709,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1957.011103,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1957.011127,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1957.011132,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1957.327515,"values":{"Elec_RPM":-2347.9519,"EncoderCos":11253,"EncoderSin":31795,"GapTicks":49811,"Mech_RPM":-469.590363,"cg_du":45.2827339,"cg_dv":46.5256119,"cg_dw":54.7172661,"cg_id_a":12.8011827,"cg_id_raw_a":9.45588875,"cg_iq_a":-202.297501,"cg_iq_raw_a":-202.577774,"cg_iu_a":-35.407692,"cg_iv_a":-146.283432,"cg_iw_a":192.383057,"cg_sample_age_us":23.9363632,"cg_sample_seq":11152666,"cg_sample_valid":1,"cg_theta_rad":3.18743873,"cg_vd_req_v":-2.14341879,"cg_vd_v":-2.14341879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29383659,"cg_vq_v":-8.29383659,"cg_vu_v":38.2706528,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2502.29248,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1957.659546,"values":{"Elec_RPM":-2349.47754,"EncoderCos":11285,"EncoderSin":31255,"GapTicks":50118,"Mech_RPM":-469.895508,"cg_du":45.6346626,"cg_dv":45.5627174,"cg_dw":54.4372826,"cg_id_a":11.3557539,"cg_id_raw_a":11.9765415,"cg_iq_a":-206.063034,"cg_iq_raw_a":-204.549713,"cg_iu_a":-13.8063669,"cg_iv_a":-172.08905,"cg_iw_a":185.895416,"cg_sample_age_us":23.9327278,"cg_sample_seq":11154417,"cg_sample_valid":1,"cg_theta_rad":3.21402073,"cg_vd_req_v":-2.10723376,"cg_vd_v":-2.10723376,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23676014,"cg_vq_v":-8.23676014,"cg_vu_v":102.055069,"cg_vv_v":76.1014175,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2410.51587,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1958.00296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1958.002966,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1958.002971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1958.011108,"values":{"Elec_RPM":-2354.34009,"EncoderCos":34964,"EncoderSin":11411,"GapTicks":49499,"Mech_RPM":-470.868011,"cg_du":55.0005798,"cg_dv":44.9994202,"cg_dw":47.9038429,"cg_id_a":6.69140911,"cg_id_raw_a":1.77802336,"cg_iq_a":-199.282074,"cg_iq_raw_a":-197.247864,"cg_iu_a":186.259583,"cg_iv_a":-29.1071167,"cg_iw_a":-157.152466,"cg_sample_age_us":23.9690914,"cg_sample_seq":11156021,"cg_sample_valid":1,"cg_theta_rad":4.87259388,"cg_vd_req_v":-2.07204247,"cg_vd_v":-2.07204247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37141418,"cg_vq_v":-8.37141418,"cg_vu_v":132.407669,"cg_vv_v":123.169922,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.3916645,"dclink_p_w":-2517.00269,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1958.487671,"values":{"Elec_RPM":-2342.57666,"EncoderCos":14070,"EncoderSin":21989,"GapTicks":49532,"Mech_RPM":-468.51532,"cg_du":54.9705276,"cg_dv":47.4378281,"cg_dw":45.0294724,"cg_id_a":-5.91925716,"cg_id_raw_a":-0.287550777,"cg_iq_a":-197.435013,"cg_iq_raw_a":-198.017715,"cg_iu_a":166.579193,"cg_iv_a":3.0411377,"cg_iw_a":-169.620331,"cg_sample_age_us":24.0381813,"cg_sample_seq":11158467,"cg_sample_valid":1,"cg_theta_rad":3.67239237,"cg_vd_req_v":-1.76642525,"cg_vd_v":-1.76642525,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45764542,"cg_vq_v":-8.45764542,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2455.48901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1958.898638,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1958.898647,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1958.89865,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1958.983765,"values":{"Elec_RPM":-2337.57446,"EncoderCos":15947,"EncoderSin":46136,"GapTicks":49316,"Mech_RPM":-467.514893,"cg_du":55.1665573,"cg_dv":49.9605446,"cg_dw":44.8334427,"cg_id_a":-8.18069172,"cg_id_raw_a":-12.308362,"cg_iq_a":-197.834427,"cg_iq_raw_a":-194.495193,"cg_iu_a":130.915253,"cg_iv_a":61.6112061,"cg_iw_a":-192.526459,"cg_sample_age_us":23.9690914,"cg_sample_seq":11160917,"cg_sample_valid":1,"cg_theta_rad":2.47009897,"cg_vd_req_v":-1.75544226,"cg_vd_v":-1.75544226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42696476,"cg_vq_v":-8.42696476,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.1017132,"dclink_p_w":-2467.5166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1958.994978,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1958.994984,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1958.994988,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1959.339233,"values":{"Elec_RPM":-2345.97461,"EncoderCos":15313,"EncoderSin":45316,"GapTicks":49458,"Mech_RPM":-469.194946,"cg_du":55.0380402,"cg_dv":51.7351036,"cg_dw":44.9619598,"cg_id_a":8.73538876,"cg_id_raw_a":7.95210314,"cg_iq_a":-203.849442,"cg_iq_raw_a":-205.131866,"cg_iu_a":76.3320465,"cg_iv_a":125.98024,"cg_iw_a":-202.312286,"cg_sample_age_us":23.8454552,"cg_sample_seq":11162666,"cg_sample_valid":1,"cg_theta_rad":2.52358747,"cg_vd_req_v":-2.09229517,"cg_vd_v":-2.09229517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32517815,"cg_vq_v":-8.32517815,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1959.671265,"values":{"Elec_RPM":-2344.28516,"EncoderCos":23410,"EncoderSin":52166,"GapTicks":49447,"Mech_RPM":-468.857025,"cg_du":48.8222542,"cg_dv":44.9522057,"cg_dw":55.0477943,"cg_id_a":-19.8284492,"cg_id_raw_a":-17.2863064,"cg_iq_a":-201.753845,"cg_iq_raw_a":-204.364014,"cg_iu_a":17.1458664,"cg_iv_a":-179.736496,"cg_iw_a":170.962952,"cg_sample_age_us":23.812727,"cg_sample_seq":11164466,"cg_sample_valid":1,"cg_theta_rad":2.018924,"cg_vd_req_v":-1.49018908,"cg_vd_v":-1.49018908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38028145,"cg_vq_v":-8.38028145,"cg_vu_v":39.590332,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2468.5625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1960.003296,"values":{"Elec_RPM":-2346.15381,"EncoderCos":14032,"EncoderSin":22037,"GapTicks":49635,"Mech_RPM":-469.230774,"cg_du":54.8764076,"cg_dv":47.2739868,"cg_dw":45.1235924,"cg_id_a":-2.89720225,"cg_id_raw_a":2.248698,"cg_iq_a":-199.515213,"cg_iq_raw_a":-199.817673,"cg_iu_a":170.094849,"cg_iv_a":1.12020874,"cg_iw_a":-171.215057,"cg_sample_age_us":24.0200005,"cg_sample_seq":11166067,"cg_sample_valid":1,"cg_theta_rad":3.66764712,"cg_vd_req_v":-1.82356334,"cg_vd_v":-1.82356334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36664963,"cg_vq_v":-8.36664963,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2343.90527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1960.018854,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1960.018859,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1960.018863,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1960.358765,"values":{"Elec_RPM":-2340.69482,"EncoderCos":11243,"EncoderSin":32071,"GapTicks":49689,"Mech_RPM":-468.138977,"cg_du":45.1718864,"cg_dv":47.0013542,"cg_dw":54.8281136,"cg_id_a":9.4886694,"cg_id_raw_a":7.08897257,"cg_iq_a":-201.842194,"cg_iq_raw_a":-201.660065,"cg_iu_a":-36.893692,"cg_iv_a":-153.749649,"cg_iw_a":190.643341,"cg_sample_age_us":23.9618187,"cg_sample_seq":11167866,"cg_sample_valid":1,"cg_theta_rad":3.18763256,"cg_vd_req_v":-2.09155726,"cg_vd_v":-2.09155726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31237507,"cg_vq_v":-8.31237507,"cg_vu_v":104.254532,"cg_vv_v":93.2572174,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1960.68689,"values":{"Elec_RPM":-2343.65869,"EncoderCos":35036,"EncoderSin":11421,"GapTicks":49502,"Mech_RPM":-468.73175,"cg_du":54.9975357,"cg_dv":45.0024643,"cg_dw":47.809761,"cg_id_a":9.16098404,"cg_id_raw_a":5.52136803,"cg_iq_a":-199.353653,"cg_iq_raw_a":-198.771042,"cg_iu_a":198.038849,"cg_iv_a":-65.0247803,"cg_iw_a":-133.014069,"cg_sample_age_us":24.1000004,"cg_sample_seq":11169466,"cg_sample_valid":1,"cg_theta_rad":4.83461142,"cg_vd_req_v":-2.13465261,"cg_vd_v":-2.13465261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37313461,"cg_vq_v":-8.37313461,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1961.011432,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1961.011437,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1961.011443,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1961.042358,"values":{"Elec_RPM":-2346.11279,"EncoderCos":45523,"EncoderSin":15603,"GapTicks":49436,"Mech_RPM":-469.222565,"cg_du":44.942543,"cg_dv":55.057457,"cg_dw":48.3840027,"cg_id_a":-11.2752695,"cg_id_raw_a":-8.78871918,"cg_iq_a":-199.963013,"cg_iq_raw_a":-200.730042,"cg_iu_a":-195.38797,"cg_iv_a":123.406906,"cg_iw_a":71.9810638,"cg_sample_age_us":26.7909088,"cg_sample_seq":11171170,"cg_sample_valid":1,"cg_theta_rad":5.41326618,"cg_vd_req_v":-1.76057994,"cg_vd_v":-1.76057994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35866356,"cg_vq_v":-8.35866356,"cg_vu_v":37.830761,"cg_vv_v":46.6286087,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2445.55298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":1961.37439,"values":{"Elec_RPM":-2348.01563,"EncoderCos":46830,"EncoderSin":16704,"GapTicks":49409,"Mech_RPM":-469.603119,"cg_du":44.9177055,"cg_dv":55.0822945,"cg_dw":51.7267952,"cg_id_a":-0.0539864302,"cg_id_raw_a":-2.66658235,"cg_iq_a":-197.678085,"cg_iq_raw_a":-197.975311,"cg_iu_a":-198.106262,"cg_iv_a":82.1976776,"cg_iw_a":115.908585,"cg_sample_age_us":23.9181824,"cg_sample_seq":11172916,"cg_sample_valid":1,"cg_theta_rad":5.44874239,"cg_vd_req_v":-2.02997375,"cg_vd_v":-2.02997375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41365433,"cg_vq_v":-8.41365433,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1961.706421,"values":{"Elec_RPM":-2347.03418,"EncoderCos":53222,"EncoderSin":26975,"GapTicks":49303,"Mech_RPM":-469.40683,"cg_du":55.1786842,"cg_dv":44.8213158,"cg_dw":50.3707123,"cg_id_a":-15.2645874,"cg_id_raw_a":-17.4620686,"cg_iq_a":-195.185944,"cg_iq_raw_a":-194.816437,"cg_iu_a":186.54953,"cg_iv_a":-144.000061,"cg_iw_a":-42.5494614,"cg_sample_age_us":24.1000004,"cg_sample_seq":11174617,"cg_sample_valid":1,"cg_theta_rad":6.02009535,"cg_vd_req_v":-1.6697706,"cg_vd_v":-1.6697706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49920654,"cg_vq_v":-8.49920654,"cg_vu_v":106.893898,"cg_vv_v":95.4566803,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.3209877,"dclink_p_w":-2506.77393,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1962.003173,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1962.003178,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1962.003183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1962.057983,"values":{"Elec_RPM":-2348.86938,"EncoderCos":52910,"EncoderSin":39351,"GapTicks":49555,"Mech_RPM":-469.773895,"cg_du":45.0501785,"cg_dv":54.9498215,"cg_dw":47.5322533,"cg_id_a":-4.36768579,"cg_id_raw_a":2.55169916,"cg_iq_a":-198.945557,"cg_iq_raw_a":-201.094482,"cg_iu_a":-177.882202,"cg_iv_a":164.942352,"cg_iw_a":12.9398422,"cg_sample_age_us":23.5581818,"cg_sample_seq":11176316,"cg_sample_valid":1,"cg_theta_rad":0.326123625,"cg_vd_req_v":-1.87715375,"cg_vd_v":-1.87715375,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40049648,"cg_vq_v":-8.40049648,"cg_vu_v":38.2706528,"cg_vv_v":55.8663559,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2440.73511,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1962.390015,"values":{"Elec_RPM":-2356.21704,"EncoderCos":46239,"EncoderSin":49376,"GapTicks":49815,"Mech_RPM":-471.243408,"cg_du":53.5871696,"cg_dv":45.2866135,"cg_dw":54.7133865,"cg_id_a":18.3587151,"cg_id_raw_a":17.1586246,"cg_iq_a":-203.441284,"cg_iq_raw_a":-202.424667,"cg_iu_a":163.099792,"cg_iv_a":-187.963867,"cg_iw_a":24.8640671,"cg_sample_age_us":23.5799999,"cg_sample_seq":11178017,"cg_sample_valid":1,"cg_theta_rad":0.89329952,"cg_vd_req_v":-2.30214334,"cg_vd_v":-2.30214334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28983307,"cg_vq_v":-8.28983307,"cg_vu_v":106.014107,"cg_vv_v":86.6588287,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2428.35571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1962.745483,"values":{"Elec_RPM":-2354.90576,"EncoderCos":35669,"EncoderSin":53923,"GapTicks":49348,"Mech_RPM":-470.981171,"cg_du":49.5068054,"cg_dv":55.1379051,"cg_dw":44.8620949,"cg_id_a":-10.3923368,"cg_id_raw_a":-11.5208588,"cg_iq_a":-199.521713,"cg_iq_raw_a":-199.746658,"cg_iu_a":-127.720741,"cg_iv_a":200.715027,"cg_iw_a":-72.9942856,"cg_sample_age_us":23.7981815,"cg_sample_seq":11179720,"cg_sample_valid":1,"cg_theta_rad":1.47752988,"cg_vd_req_v":-1.70551395,"cg_vd_v":-1.70551395,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40182114,"cg_vq_v":-8.40182114,"cg_vu_v":40.0302238,"cg_vv_v":71.2625961,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2405.01392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1963.026767,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1963.026772,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1963.026777,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1963.077515,"values":{"Elec_RPM":-2358.64282,"EncoderCos":22969,"EncoderSin":51964,"GapTicks":49346,"Mech_RPM":-471.728546,"cg_du":49.80159,"cg_dv":44.8605843,"cg_dw":55.1394157,"cg_id_a":-19.6815262,"cg_id_raw_a":-21.9877701,"cg_iq_a":-197.250183,"cg_iq_raw_a":-199.122879,"cg_iu_a":42.9514771,"cg_iv_a":-187.456436,"cg_iw_a":155.196899,"cg_sample_age_us":23.7436371,"cg_sample_seq":11181417,"cg_sample_valid":1,"cg_theta_rad":2.04069567,"cg_vd_req_v":-1.50887692,"cg_vd_v":-1.50887692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4572506,"cg_vq_v":-8.4572506,"cg_vu_v":136.366699,"cg_vv_v":135.047012,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2426.78223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1963.409546,"values":{"Elec_RPM":-2353.53052,"EncoderCos":13912,"EncoderSin":43176,"GapTicks":49446,"Mech_RPM":-470.706116,"cg_du":51.8828354,"cg_dv":55.0483665,"cg_dw":44.9516335,"cg_id_a":-5.85823822,"cg_id_raw_a":-6.34656048,"cg_iq_a":-195.311615,"cg_iq_raw_a":-196.701706,"cg_iu_a":-18.7355289,"cg_iv_a":173.858353,"cg_iw_a":-163.495148,"cg_sample_age_us":23.7945461,"cg_sample_seq":11183116,"cg_sample_valid":1,"cg_theta_rad":2.63384795,"cg_vd_req_v":-1.74388683,"cg_vd_v":-1.74388683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45184231,"cg_vq_v":-8.45184231,"cg_vu_v":38.2706528,"cg_vv_v":46.1887207,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-18.3521252,"dclink_p_w":-2647.93188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1963.761108,"values":{"Elec_RPM":-2354.29785,"EncoderCos":11294,"EncoderSin":31496,"GapTicks":49959,"Mech_RPM":-470.859589,"cg_du":45.4174652,"cg_dv":46.0037994,"cg_dw":54.5825348,"cg_id_a":14.7288675,"cg_id_raw_a":16.0586491,"cg_iq_a":-205.574936,"cg_iq_raw_a":-204.422195,"cg_iu_a":-22.7223511,"cg_iv_a":-167.667297,"cg_iw_a":190.389648,"cg_sample_age_us":23.9254551,"cg_sample_seq":11184816,"cg_sample_valid":1,"cg_theta_rad":3.20216942,"cg_vd_req_v":-2.18518043,"cg_vd_v":-2.18518043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26380444,"cg_vq_v":-8.26380444,"cg_vu_v":38.2706528,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2774963,"dclink_p_w":-2492.87939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1964.019541,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1964.019547,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1964.019551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1964.09314,"values":{"Elec_RPM":-2355.59717,"EncoderCos":15304,"EncoderSin":20058,"GapTicks":49478,"Mech_RPM":-471.119415,"cg_du":55.0196037,"cg_dv":51.8488274,"cg_dw":44.9803963,"cg_id_a":6.89174747,"cg_id_raw_a":2.30146217,"cg_iq_a":-203.259872,"cg_iq_raw_a":-201.776505,"cg_iu_a":78.3616943,"cg_iv_a":113.331131,"cg_iw_a":-205.248032,"cg_sample_age_us":23.9727268,"cg_sample_seq":11186517,"cg_sample_valid":1,"cg_theta_rad":3.77462506,"cg_vd_req_v":-2.05210042,"cg_vd_v":-2.05210042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32687378,"cg_vq_v":-8.32687378,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2533.52563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1964.425171,"values":{"Elec_RPM":-2358.35742,"EncoderCos":36460,"EncoderSin":11621,"GapTicks":49940,"Mech_RPM":-471.671509,"cg_du":54.5999107,"cg_dv":46.1086807,"cg_dw":45.4000893,"cg_id_a":7.0498457,"cg_id_raw_a":13.2889166,"cg_iq_a":-201.811279,"cg_iq_raw_a":-203.335297,"cg_iu_a":179.192047,"cg_iv_a":-15.5881653,"cg_iw_a":-165.778503,"cg_sample_age_us":24.0963631,"cg_sample_seq":11188166,"cg_sample_valid":1,"cg_theta_rad":4.90162754,"cg_vd_req_v":-2.04346919,"cg_vd_v":-2.04346919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3073101,"cg_vq_v":-8.3073101,"cg_vu_v":44.8690414,"cg_vv_v":43.1094704,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.7139053,"dclink_p_w":-2411.56177,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1964.776733,"values":{"Elec_RPM":-2353.48096,"EncoderCos":25793,"EncoderSin":12410,"GapTicks":49406,"Mech_RPM":-470.696198,"cg_du":44.9150734,"cg_dv":48.4846039,"cg_dw":55.0849266,"cg_id_a":-1.60641503,"cg_id_raw_a":-6.57155657,"cg_iq_a":-196.656723,"cg_iq_raw_a":-197.042526,"cg_iu_a":-90.6432953,"cg_iv_a":-104.603043,"cg_iw_a":195.246338,"cg_sample_age_us":23.954546,"cg_sample_seq":11189967,"cg_sample_valid":1,"cg_theta_rad":4.39450216,"cg_vd_req_v":-1.91479599,"cg_vd_v":-1.91479599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40717697,"cg_vq_v":-8.40717697,"cg_vu_v":103.374756,"cg_vv_v":97.6561432,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1965.011005,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1965.011011,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1965.011017,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1965.112671,"values":{"Elec_RPM":-2349.88892,"EncoderCos":53381,"EncoderSin":27613,"GapTicks":49358,"Mech_RPM":-469.977783,"cg_du":55.1286964,"cg_dv":44.8713036,"cg_dw":49.1528206,"cg_id_a":-9.20811367,"cg_id_raw_a":-13.8540134,"cg_iq_a":-196.368118,"cg_iq_raw_a":-195.279449,"cg_iu_a":196.15416,"cg_iv_a":-114.860046,"cg_iw_a":-81.2941132,"cg_sample_age_us":24.1399994,"cg_sample_seq":11191567,"cg_sample_valid":1,"cg_theta_rad":6.05408955,"cg_vd_req_v":-1.8073808,"cg_vd_v":-1.8073808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44455624,"cg_vq_v":-8.44455624,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2471.51367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1965.440796,"values":{"Elec_RPM":-2350.29761,"EncoderCos":52686,"EncoderSin":40016,"GapTicks":49364,"Mech_RPM":-470.059509,"cg_du":44.8767662,"cg_dv":55.1232338,"cg_dw":49.0441208,"cg_id_a":-9.13162804,"cg_id_raw_a":-8.13056087,"cg_iq_a":-196.937897,"cg_iq_raw_a":-197.653381,"cg_iu_a":-187.088135,"cg_iv_a":144.573318,"cg_iw_a":42.5148163,"cg_sample_age_us":23.4454536,"cg_sample_seq":11193266,"cg_sample_valid":1,"cg_theta_rad":0.359281272,"cg_vd_req_v":-1.80013633,"cg_vd_v":-1.80013633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42089653,"cg_vq_v":-8.42089653,"cg_vu_v":39.1504402,"cg_vv_v":70.8227005,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0745316,"dclink_p_w":-2471.10571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1965.796265,"values":{"Elec_RPM":-2350.71899,"EncoderCos":45562,"EncoderSin":49859,"GapTicks":49802,"Mech_RPM":-470.143799,"cg_du":54.7250214,"cg_dv":45.2749786,"cg_dw":53.5334244,"cg_id_a":5.95813751,"cg_id_raw_a":13.0929041,"cg_iq_a":-201.86441,"cg_iq_raw_a":-201.762436,"cg_iu_a":171.943283,"cg_iv_a":-175.024811,"cg_iw_a":3.08152008,"cg_sample_age_us":24.0090904,"cg_sample_seq":11194966,"cg_sample_valid":1,"cg_theta_rad":0.93198365,"cg_vd_req_v":-2.03190136,"cg_vd_v":-2.03190136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35721588,"cg_vq_v":-8.35721588,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-17.7740364,"dclink_p_w":-2572.34131,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1966.03508,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1966.035086,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1966.03509,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1966.128296,"values":{"Elec_RPM":-2358.62256,"EncoderCos":34113,"EncoderSin":54065,"GapTicks":49684,"Mech_RPM":-471.724518,"cg_du":46.8486099,"cg_dv":54.832695,"cg_dw":45.167305,"cg_id_a":15.8340445,"cg_id_raw_a":16.4912682,"cg_iq_a":-203.370911,"cg_iq_raw_a":-201.82608,"cg_iu_a":-155.338531,"cg_iv_a":193.719955,"cg_iw_a":-38.381424,"cg_sample_age_us":23.8090916,"cg_sample_seq":11196666,"cg_sample_valid":1,"cg_theta_rad":1.51039779,"cg_vd_req_v":-2.22380376,"cg_vd_v":-2.22380376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33804417,"cg_vq_v":-8.33804417,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2447.04858,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1966.479858,"values":{"Elec_RPM":-2357.99561,"EncoderCos":34330,"EncoderSin":54095,"GapTicks":49607,"Mech_RPM":-471.599121,"cg_du":47.2351379,"cg_dv":54.9025459,"cg_dw":45.0974541,"cg_id_a":13.3454361,"cg_id_raw_a":9.83462715,"cg_iq_a":-202.078934,"cg_iq_raw_a":-200.196457,"cg_iu_a":-170.742172,"cg_iv_a":182.121933,"cg_iw_a":-11.3797607,"cg_sample_age_us":23.8054543,"cg_sample_seq":11198421,"cg_sample_valid":1,"cg_theta_rad":1.5403775,"cg_vd_req_v":-2.18140817,"cg_vd_v":-2.18140817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33546925,"cg_vq_v":-8.33546925,"cg_vu_v":124.049698,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6649742,"dclink_p_w":-2419.16357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1966.815796,"values":{"Elec_RPM":-2355.61304,"EncoderCos":21458,"EncoderSin":51068,"GapTicks":49615,"Mech_RPM":-471.12262,"cg_du":52.799118,"cg_dv":45.1048203,"cg_dw":54.8951797,"cg_id_a":7.67864227,"cg_id_raw_a":4.33293676,"cg_iq_a":-199.899597,"cg_iq_raw_a":-198.668655,"cg_iu_a":139.831238,"cg_iv_a":-194.523987,"cg_iw_a":54.6927414,"cg_sample_age_us":23.6454544,"cg_sample_seq":11200116,"cg_sample_valid":1,"cg_theta_rad":2.12374854,"cg_vd_req_v":-2.07982016,"cg_vd_v":-2.07982016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35995102,"cg_vq_v":-8.35995102,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4840851,"dclink_p_w":-2522.68701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1966.994913,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1966.994918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1966.994923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1967.143921,"values":{"Elec_RPM":-2354.63867,"EncoderCos":13284,"EncoderSin":41919,"GapTicks":49374,"Mech_RPM":-470.927734,"cg_du":49.034935,"cg_dv":55.1140366,"cg_dw":44.8859634,"cg_id_a":-5.59080315,"cg_id_raw_a":-8.26603127,"cg_iq_a":-199.830368,"cg_iq_raw_a":-199.182526,"cg_iu_a":-90.3895874,"cg_iv_a":200.425079,"cg_iw_a":-110.035484,"cg_sample_age_us":23.9690914,"cg_sample_seq":11201816,"cg_sample_valid":1,"cg_theta_rad":2.70399022,"cg_vd_req_v":-1.787848,"cg_vd_v":-1.787848,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38214684,"cg_vq_v":-8.38214684,"cg_vu_v":21.5547352,"cg_vv_v":24.1940918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2431.58008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1967.49939,"values":{"Elec_RPM":-2357.05518,"EncoderCos":11409,"EncoderSin":29968,"GapTicks":49425,"Mech_RPM":-471.411011,"cg_du":48.7437744,"cg_dv":44.9325714,"cg_dw":55.0674286,"cg_id_a":-18.1513805,"cg_id_raw_a":-16.137291,"cg_iq_a":-199.242111,"cg_iq_raw_a":-200.951004,"cg_iu_a":16.6746979,"cg_iv_a":-179.953964,"cg_iw_a":163.279266,"cg_sample_age_us":23.8672733,"cg_sample_seq":11203516,"cg_sample_valid":1,"cg_theta_rad":3.27612209,"cg_vd_req_v":-1.51018286,"cg_vd_v":-1.51018286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42031002,"cg_vq_v":-8.42031002,"cg_vu_v":40.0302238,"cg_vv_v":41.3499031,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.6471825,"dclink_p_w":-2553.98242,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1967.831421,"values":{"Elec_RPM":-2351.48462,"EncoderCos":16176,"EncoderSin":18783,"GapTicks":49985,"Mech_RPM":-470.296936,"cg_du":54.0885735,"cg_dv":54.5589142,"cg_dw":45.4410858,"cg_id_a":8.3101244,"cg_id_raw_a":11.8741579,"cg_iq_a":-201.513275,"cg_iq_raw_a":-201.846176,"cg_iu_a":13.1590452,"cg_iv_a":165.377304,"cg_iw_a":-178.536346,"cg_sample_age_us":23.9472733,"cg_sample_seq":11205217,"cg_sample_valid":1,"cg_theta_rad":3.85032535,"cg_vd_req_v":-2.04520702,"cg_vd_v":-2.04520702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33193016,"cg_vq_v":-8.33193016,"cg_vu_v":139.885834,"cg_vv_v":136.366699,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.2554207,"dclink_p_w":-2352.56006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1968.019147,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1968.019153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1968.019157,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1968.222046,"values":{"Elec_RPM":-2347.94556,"EncoderCos":11570,"EncoderSin":29110,"GapTicks":49362,"Mech_RPM":-469.589111,"cg_du":50.4303513,"cg_dv":44.8749084,"cg_dw":55.1250916,"cg_id_a":-13.9441252,"cg_id_raw_a":-17.7195835,"cg_iq_a":-196.617767,"cg_iq_raw_a":-196.14212,"cg_iu_a":107.537994,"cg_iv_a":-196.372421,"cg_iw_a":88.8344269,"cg_sample_age_us":23.6636372,"cg_sample_seq":11207020,"cg_sample_valid":1,"cg_theta_rad":3.3521874,"cg_vd_req_v":-1.63110626,"cg_vd_v":-1.63110626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44476891,"cg_vq_v":-8.44476891,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.8374634,"dclink_p_w":-2573.67407,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1968.745483,"values":{"Elec_RPM":-2351.33813,"EncoderCos":51060,"EncoderSin":43636,"GapTicks":49523,"Mech_RPM":-470.267639,"cg_du":45.0213928,"cg_dv":52.027668,"cg_dw":54.9786072,"cg_id_a":-7.76109648,"cg_id_raw_a":-4.87689304,"cg_iq_a":-202.143387,"cg_iq_raw_a":-201.767166,"cg_iu_a":-165.269348,"cg_iv_a":-16.6030121,"cg_iw_a":181.87236,"cg_sample_age_us":23.5400009,"cg_sample_seq":11209617,"cg_sample_valid":1,"cg_theta_rad":0.542948246,"cg_vd_req_v":-1.79907751,"cg_vd_v":-1.79907751,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32877827,"cg_vq_v":-8.32877827,"cg_vu_v":117.011421,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2377.04736,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1968.915171,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1968.91518,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1968.915182,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1969.011259,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1969.011265,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1969.011269,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1969.15564,"values":{"Elec_RPM":-2351.65723,"EncoderCos":34530,"EncoderSin":54051,"GapTicks":49526,"Mech_RPM":-470.331421,"cg_du":47.5739822,"cg_dv":54.9757233,"cg_dw":45.0242767,"cg_id_a":11.0993681,"cg_id_raw_a":7.38020611,"cg_iq_a":-200.800339,"cg_iq_raw_a":-199.96846,"cg_iu_a":-137.72403,"cg_iv_a":197.453079,"cg_iw_a":-59.7290497,"cg_sample_age_us":23.9436359,"cg_sample_seq":11211867,"cg_sample_valid":1,"cg_theta_rad":1.49008572,"cg_vd_req_v":-2.12973285,"cg_vd_v":-2.12973285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37163162,"cg_vq_v":-8.37163162,"cg_vu_v":131.087982,"cg_vv_v":135.486908,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.4656334,"dclink_p_w":-2382.98315,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1969.491577,"values":{"Elec_RPM":-2351.29565,"EncoderCos":14163,"EncoderSin":43568,"GapTicks":49650,"Mech_RPM":-470.259125,"cg_du":52.9051094,"cg_dv":54.8628807,"cg_dw":45.1371193,"cg_id_a":-1.47646642,"cg_id_raw_a":2.71731663,"cg_iq_a":-199.850418,"cg_iq_raw_a":-202.048035,"cg_iu_a":-1.30224442,"cg_iv_a":172.009903,"cg_iw_a":-170.707657,"cg_sample_age_us":23.7945461,"cg_sample_seq":11213516,"cg_sample_valid":1,"cg_theta_rad":2.61719298,"cg_vd_req_v":-1.83065295,"cg_vd_v":-1.83065295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37240982,"cg_vq_v":-8.37240982,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.0977592,"dclink_p_w":-2322.66138,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1969.84314,"values":{"Elec_RPM":-2349.26294,"EncoderCos":13891,"EncoderSin":43108,"GapTicks":49399,"Mech_RPM":-469.85257,"cg_du":51.7666931,"cg_dv":55.0912819,"cg_dw":44.9087181,"cg_id_a":-5.59915447,"cg_id_raw_a":-3.49575663,"cg_iq_a":-195.886719,"cg_iq_raw_a":-196.22998,"cg_iu_a":-26.0567818,"cg_iv_a":180.273483,"cg_iw_a":-154.216705,"cg_sample_age_us":23.9145451,"cg_sample_seq":11215267,"cg_sample_valid":1,"cg_theta_rad":2.64338779,"cg_vd_req_v":-1.76467013,"cg_vd_v":-1.76467013,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46902657,"cg_vq_v":-8.46902657,"cg_vu_v":116.571533,"cg_vv_v":142.965088,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-17.8030319,"dclink_p_w":-2568.7063,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2610,"hz_tim_isr":4999,"hz_vsense":2610,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1970.003642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1970.003647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1970.003652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1970.175171,"values":{"Elec_RPM":-2352.23779,"EncoderCos":14908,"EncoderSin":20556,"GapTicks":49377,"Mech_RPM":-470.447571,"cg_du":55.1113167,"cg_dv":50.7680206,"cg_dw":44.8886833,"cg_id_a":-3.58118868,"cg_id_raw_a":-5.74721813,"cg_iq_a":-199.615753,"cg_iq_raw_a":-199.905334,"cg_iu_a":100.289223,"cg_iv_a":101.986809,"cg_iw_a":-202.276031,"cg_sample_age_us":23.994545,"cg_sample_seq":11216918,"cg_sample_valid":1,"cg_theta_rad":3.76002073,"cg_vd_req_v":-1.84308016,"cg_vd_v":-1.84308016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37334824,"cg_vq_v":-8.37334824,"cg_vu_v":123.60981,"cg_vv_v":134.167236,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-16.5254364,"dclink_p_w":-2391.63818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1970.526733,"values":{"Elec_RPM":-2345.47534,"EncoderCos":23751,"EncoderSin":13235,"GapTicks":49722,"Mech_RPM":-469.095062,"cg_du":45.2018204,"cg_dv":52.9875603,"cg_dw":54.7981796,"cg_id_a":-0.775124311,"cg_id_raw_a":2.80205297,"cg_iq_a":-201.936646,"cg_iq_raw_a":-201.834396,"cg_iu_a":-152.51152,"cg_iv_a":-32.4415741,"cg_iw_a":184.953094,"cg_sample_age_us":23.8381824,"cg_sample_seq":11218621,"cg_sample_valid":1,"cg_theta_rad":4.33402634,"cg_vd_req_v":-1.88460004,"cg_vd_v":-1.88460004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3097477,"cg_vq_v":-8.3097477,"cg_vu_v":129.328415,"cg_vv_v":125.369385,"cg_vw_v":125.809273,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1970.858765,"values":{"Elec_RPM":-2349.98901,"EncoderCos":25579,"EncoderSin":12494,"GapTicks":49395,"Mech_RPM":-469.997803,"cg_du":44.9053574,"cg_dv":48.8533936,"cg_dw":55.0946426,"cg_id_a":-7.61530304,"cg_id_raw_a":-11.1280107,"cg_iq_a":-199.29126,"cg_iq_raw_a":-200.39978,"cg_iu_a":-109.272629,"cg_iv_a":-77.7463531,"cg_iw_a":196.76857,"cg_sample_age_us":23.9618187,"cg_sample_seq":11220366,"cg_sample_valid":1,"cg_theta_rad":4.38155603,"cg_vd_req_v":-1.79606938,"cg_vd_v":-1.79606938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36876106,"cg_vq_v":-8.36876106,"cg_vu_v":18.0355949,"cg_vv_v":6.1584959,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1971.027053,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1971.027056,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1971.027059,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1971.194702,"values":{"Elec_RPM":-2351.84839,"EncoderCos":37655,"EncoderSin":11863,"GapTicks":49373,"Mech_RPM":-470.36969,"cg_du":55.1151085,"cg_dv":48.9662094,"cg_dw":44.8848915,"cg_id_a":-15.8783703,"cg_id_raw_a":-13.960021,"cg_iq_a":-196.752106,"cg_iq_raw_a":-198.013397,"cg_iu_a":155.089905,"cg_iv_a":29.4628906,"cg_iw_a":-184.552795,"cg_sample_age_us":24.0127277,"cg_sample_seq":11222066,"cg_sample_valid":1,"cg_theta_rad":4.95934534,"cg_vd_req_v":-1.61490393,"cg_vd_v":-1.61490393,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45316792,"cg_vq_v":-8.45316792,"cg_vu_v":43.9892578,"cg_vv_v":45.3089333,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1971.546265,"values":{"Elec_RPM":-2352.14917,"EncoderCos":53518,"EncoderSin":28289,"GapTicks":49454,"Mech_RPM":-470.42984,"cg_du":55.0409393,"cg_dv":44.9590607,"cg_dw":48.0190735,"cg_id_a":4.51892233,"cg_id_raw_a":2.9488163,"cg_iq_a":-197.716339,"cg_iq_raw_a":-196.714111,"cg_iu_a":197.495178,"cg_iv_a":-73.3246155,"cg_iw_a":-109.201874,"cg_sample_age_us":24.1327267,"cg_sample_seq":11223716,"cg_sample_valid":1,"cg_theta_rad":6.08466482,"cg_vd_req_v":-2.08380604,"cg_vd_v":-2.08380604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38308048,"cg_vq_v":-8.38308048,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2390.06445,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1971.878296,"values":{"Elec_RPM":-2351.7229,"EncoderCos":52639,"EncoderSin":40088,"GapTicks":49317,"Mech_RPM":-470.344574,"cg_du":44.8340378,"cg_dv":55.1659622,"cg_dw":49.2738113,"cg_id_a":-12.2190704,"cg_id_raw_a":-9.52787399,"cg_iq_a":-196.95932,"cg_iq_raw_a":-198.748352,"cg_iu_a":-186.798187,"cg_iv_a":146.24054,"cg_iw_a":40.5576401,"cg_sample_age_us":23.5836372,"cg_sample_seq":11225417,"cg_sample_valid":1,"cg_theta_rad":0.361211807,"cg_vd_req_v":-1.7475841,"cg_vd_v":-1.7475841,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4563961,"cg_vq_v":-8.4563961,"cg_vu_v":121.410347,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1972.019169,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1972.019174,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1972.019179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1972.210327,"values":{"Elec_RPM":-2351.30225,"EncoderCos":52211,"EncoderSin":41137,"GapTicks":49332,"Mech_RPM":-470.260468,"cg_du":44.8477135,"cg_dv":55.1522865,"cg_dw":51.391201,"cg_id_a":-0.223528266,"cg_id_raw_a":-2.87745214,"cg_iq_a":-197.202637,"cg_iq_raw_a":-197.96051,"cg_iu_a":-197.997528,"cg_iv_a":91.9472656,"cg_iw_a":106.050262,"cg_sample_age_us":23.5618191,"cg_sample_seq":11227166,"cg_sample_valid":1,"cg_theta_rad":0.413266242,"cg_vd_req_v":-2.0050106,"cg_vd_v":-2.0050106,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45315456,"cg_vq_v":-8.45315456,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2446.3374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1972.56189,"values":{"Elec_RPM":-2351.89038,"EncoderCos":22604,"EncoderSin":51740,"GapTicks":49360,"Mech_RPM":-470.378082,"cg_du":50.4879112,"cg_dv":44.8734169,"cg_dw":55.1265831,"cg_id_a":-11.3032494,"cg_id_raw_a":-13.5227346,"cg_iq_a":-197.729004,"cg_iq_raw_a":-198.462189,"cg_iu_a":73.2513275,"cg_iv_a":-195.647552,"cg_iw_a":135.190308,"cg_sample_age_us":23.6890907,"cg_sample_seq":11228766,"cg_sample_valid":1,"cg_theta_rad":2.06310987,"cg_vd_req_v":-1.6946876,"cg_vd_v":-1.6946876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41111851,"cg_vq_v":-8.41111851,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1972.893921,"values":{"Elec_RPM":-2356.448,"EncoderCos":32765,"EncoderSin":54131,"GapTicks":49688,"Mech_RPM":-471.289612,"cg_du":45.1713257,"cg_dv":54.8286743,"cg_dw":47.1041451,"cg_id_a":1.23067296,"cg_id_raw_a":7.50632,"cg_iq_a":-201.806671,"cg_iq_raw_a":-203.056305,"cg_iu_a":-175.671326,"cg_iv_a":170.668884,"cg_iw_a":5.00244141,"cg_sample_age_us":23.8490906,"cg_sample_seq":11230566,"cg_sample_valid":1,"cg_theta_rad":1.57106423,"cg_vd_req_v":-1.88410139,"cg_vd_v":-1.88410139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32895279,"cg_vq_v":-8.32895279,"cg_vu_v":20.2350578,"cg_vv_v":29.0329094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2491.83325,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1973.010833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1973.010838,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1973.010843,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1973.225952,"values":{"Elec_RPM":-2361.61865,"EncoderCos":11280,"EncoderSin":31490,"GapTicks":49971,"Mech_RPM":-472.32373,"cg_du":45.4290543,"cg_dv":45.9171944,"cg_dw":54.5709457,"cg_id_a":12.4379253,"cg_id_raw_a":13.1218939,"cg_iq_a":-202.990601,"cg_iq_raw_a":-201.13588,"cg_iu_a":-23.9908848,"cg_iv_a":-163.100571,"cg_iw_a":187.091461,"cg_sample_age_us":23.9654541,"cg_sample_seq":11232167,"cg_sample_valid":1,"cg_theta_rad":3.20467377,"cg_vd_req_v":-2.12491751,"cg_vd_v":-2.12491751,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32775211,"cg_vq_v":-8.32775211,"cg_vu_v":144.28476,"cg_vv_v":139.006058,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.9099503,"dclink_p_w":-2592.01147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1973.581421,"values":{"Elec_RPM":-2356.86914,"EncoderCos":13191,"EncoderSin":41701,"GapTicks":49381,"Mech_RPM":-471.37381,"cg_du":48.5860519,"cg_dv":55.1077003,"cg_dw":44.8922997,"cg_id_a":-2.85191202,"cg_id_raw_a":-6.82916832,"cg_iq_a":-199.122253,"cg_iq_raw_a":-198.925323,"cg_iu_a":-100.392883,"cg_iv_a":198.649124,"cg_iw_a":-98.2562408,"cg_sample_age_us":23.9654541,"cg_sample_seq":11233967,"cg_sample_valid":1,"cg_theta_rad":2.71596551,"cg_vd_req_v":-1.84085166,"cg_vd_v":-1.84085166,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41880989,"cg_vq_v":-8.41880989,"cg_vu_v":142.525192,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-17.7305431,"dclink_p_w":-2566.04663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1973.909546,"values":{"Elec_RPM":-2358.35303,"EncoderCos":15933,"EncoderSin":19147,"GapTicks":49923,"Mech_RPM":-471.670624,"cg_du":54.6154518,"cg_dv":53.8482857,"cg_dw":45.3845482,"cg_id_a":15.4639254,"cg_id_raw_a":14.589879,"cg_iq_a":-205.082047,"cg_iq_raw_a":-205.803207,"cg_iu_a":22.8723927,"cg_iv_a":164.181244,"cg_iw_a":-187.053635,"cg_sample_age_us":23.9618187,"cg_sample_seq":11235617,"cg_sample_valid":1,"cg_theta_rad":3.82954264,"cg_vd_req_v":-2.19454718,"cg_vd_v":-2.19454718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24720001,"cg_vq_v":-8.24720001,"cg_vu_v":139.885834,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2426.46558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1974.034689,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1974.034694,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1974.034698,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1974.265015,"values":{"Elec_RPM":-2354.1521,"EncoderCos":25330,"EncoderSin":12642,"GapTicks":49352,"Mech_RPM":-470.830414,"cg_du":44.8658295,"cg_dv":49.323967,"cg_dw":55.1341705,"cg_id_a":-13.1433449,"cg_id_raw_a":-16.7128983,"cg_iq_a":-198.65007,"cg_iq_raw_a":-200.613449,"cg_iu_a":-69.3681641,"cg_iv_a":-130.299911,"cg_iw_a":199.668076,"cg_sample_age_us":23.8381824,"cg_sample_seq":11237320,"cg_sample_valid":1,"cg_theta_rad":4.41141939,"cg_vd_req_v":-1.68627143,"cg_vd_v":-1.68627143,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41113663,"cg_vq_v":-8.41113663,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.6544323,"dclink_p_w":-2555.03174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1974.597046,"values":{"Elec_RPM":-2356.15039,"EncoderCos":38351,"EncoderSin":12013,"GapTicks":49365,"Mech_RPM":-471.230072,"cg_du":55.1226196,"cg_dv":50.3378334,"cg_dw":44.8773804,"cg_id_a":-11.8787079,"cg_id_raw_a":-13.9587421,"cg_iq_a":-198.462051,"cg_iq_raw_a":-199.265305,"cg_iu_a":128.30571,"cg_iv_a":68.5337524,"cg_iw_a":-196.839462,"cg_sample_age_us":23.8527279,"cg_sample_seq":11239016,"cg_sample_valid":1,"cg_theta_rad":4.99277115,"cg_vd_req_v":-1.70896125,"cg_vd_v":-1.70896125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39461327,"cg_vq_v":-8.39461327,"cg_vu_v":32.1121559,"cg_vv_v":14.9563465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5888634,"dclink_p_w":-2400.81763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1974.929077,"values":{"Elec_RPM":-2360.63672,"EncoderCos":48540,"EncoderSin":18448,"GapTicks":49566,"Mech_RPM":-472.127319,"cg_du":45.0605888,"cg_dv":52.3082008,"cg_dw":54.9394112,"cg_id_a":-7.06762838,"cg_id_raw_a":-4.48239756,"cg_iq_a":-199.901123,"cg_iq_raw_a":-199.475342,"cg_iu_a":-164.109543,"cg_iv_a":-14.4283905,"cg_iw_a":178.537933,"cg_sample_age_us":23.9472733,"cg_sample_seq":11240717,"cg_sample_valid":1,"cg_theta_rad":5.56636477,"cg_vd_req_v":-1.84948647,"cg_vd_v":-1.84948647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34713364,"cg_vq_v":-8.34713364,"cg_vu_v":102.93486,"cg_vv_v":102.93486,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.7139034,"dclink_p_w":-2418.91382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1975.027298,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1975.027304,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1975.027308,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1975.28064,"values":{"Elec_RPM":-2360.34619,"EncoderCos":53759,"EncoderSin":29662,"GapTicks":50049,"Mech_RPM":-472.069244,"cg_du":54.5002975,"cg_dv":45.6373367,"cg_dw":45.4997025,"cg_id_a":10.2713289,"cg_id_raw_a":13.5302935,"cg_iq_a":-203.513412,"cg_iq_raw_a":-206.173737,"cg_iu_a":180.6418,"cg_iv_a":-12.4712067,"cg_iw_a":-168.170593,"cg_sample_age_us":24.1727276,"cg_sample_seq":11242416,"cg_sample_valid":1,"cg_theta_rad":6.14966536,"cg_vd_req_v":-2.16657305,"cg_vd_v":-2.16657305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31458664,"cg_vq_v":-8.31458664,"cg_vu_v":41.7897949,"cg_vv_v":40.9100075,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.3858986,"dclink_p_w":-2364.23535,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1975.612671,"values":{"Elec_RPM":-2348.00806,"EncoderCos":51976,"EncoderSin":41751,"GapTicks":49459,"Mech_RPM":-469.601593,"cg_du":44.9634285,"cg_dv":55.0365715,"cg_dw":52.5242157,"cg_id_a":12.0675364,"cg_id_raw_a":10.4716082,"cg_iq_a":-196.27536,"cg_iq_raw_a":-196.092728,"cg_iu_a":-191.473633,"cg_iv_a":52.7677002,"cg_iw_a":138.705933,"cg_sample_age_us":23.5290909,"cg_sample_seq":11244116,"cg_sample_valid":1,"cg_theta_rad":0.443955511,"cg_vd_req_v":-2.24668407,"cg_vd_v":-2.24668407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46913815,"cg_vq_v":-8.46913815,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2498.60962,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1975.96814,"values":{"Elec_RPM":-2356.53223,"EncoderCos":52083,"EncoderSin":41514,"GapTicks":49432,"Mech_RPM":-471.306427,"cg_du":44.9390488,"cg_dv":55.0609512,"cg_dw":52.0773811,"cg_id_a":7.01233292,"cg_id_raw_a":2.79933953,"cg_iq_a":-196.311737,"cg_iq_raw_a":-195.651077,"cg_iu_a":-183.5,"cg_iv_a":22.9390106,"cg_iw_a":160.560989,"cg_sample_age_us":23.4418182,"cg_sample_seq":11245871,"cg_sample_valid":1,"cg_theta_rad":0.480112016,"cg_vd_req_v":-2.13433743,"cg_vd_v":-2.13433743,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45292187,"cg_vq_v":-8.45292187,"cg_vu_v":105.134323,"cg_vv_v":105.134323,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1976.01907,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1976.019075,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1976.01908,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1976.300171,"values":{"Elec_RPM":-2357.00732,"EncoderCos":21398,"EncoderSin":51068,"GapTicks":49602,"Mech_RPM":-471.401459,"cg_du":52.8357162,"cg_dv":45.0933304,"cg_dw":54.9066696,"cg_id_a":11.2231226,"cg_id_raw_a":8.97793102,"cg_iq_a":-201.252731,"cg_iq_raw_a":-200.486023,"cg_iu_a":146.137665,"cg_iv_a":-194.270264,"cg_iw_a":48.1325989,"cg_sample_age_us":23.6381817,"cg_sample_seq":11247466,"cg_sample_valid":1,"cg_theta_rad":2.12818885,"cg_vd_req_v":-2.16003728,"cg_vd_v":-2.16003728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36989689,"cg_vq_v":-8.36989689,"cg_vu_v":26.8334465,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1976.632202,"values":{"Elec_RPM":-2355.70044,"EncoderCos":20649,"EncoderSin":50516,"GapTicks":50036,"Mech_RPM":-471.140076,"cg_du":54.5126305,"cg_dv":45.4873695,"cg_dw":54.3678894,"cg_id_a":13.0121107,"cg_id_raw_a":15.8379049,"cg_iq_a":-202.418549,"cg_iq_raw_a":-202.421295,"cg_iu_a":165.12944,"cg_iv_a":-184.194489,"cg_iw_a":19.0650482,"cg_sample_age_us":23.9618187,"cg_sample_seq":11249216,"cg_sample_valid":1,"cg_theta_rad":2.16223788,"cg_vd_req_v":-2.16510558,"cg_vd_v":-2.16510558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36316109,"cg_vq_v":-8.36316109,"cg_vu_v":35.1914063,"cg_vv_v":31.2323723,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1976.983765,"values":{"Elec_RPM":-2361.13037,"EncoderCos":13258,"EncoderSin":41925,"GapTicks":49391,"Mech_RPM":-472.226074,"cg_du":49.0662117,"cg_dv":55.0986328,"cg_dw":44.9013672,"cg_id_a":-3.1014359,"cg_id_raw_a":-7.24855947,"cg_iq_a":-198.61348,"cg_iq_raw_a":-198.090179,"cg_iu_a":-141.022217,"cg_iv_a":199.19278,"cg_iw_a":-58.1705627,"cg_sample_age_us":23.8709087,"cg_sample_seq":11250921,"cg_sample_valid":1,"cg_theta_rad":2.74998784,"cg_vd_req_v":-1.82895195,"cg_vd_v":-1.82895195,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39718246,"cg_vq_v":-8.39718246,"cg_vu_v":101.615181,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1977.011131,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1977.011136,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1977.01114,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1977.315796,"values":{"Elec_RPM":-2356.16968,"EncoderCos":12599,"EncoderSin":40290,"GapTicks":50015,"Mech_RPM":-471.233948,"cg_du":45.9019318,"cg_dv":54.5316162,"cg_dw":45.4683838,"cg_id_a":12.4080763,"cg_id_raw_a":13.2299204,"cg_iq_a":-203.994598,"cg_iq_raw_a":-203.910492,"cg_iu_a":-164.000809,"cg_iv_a":186.543686,"cg_iw_a":-22.5428772,"cg_sample_age_us":23.9727268,"cg_sample_seq":11252667,"cg_sample_valid":1,"cg_theta_rad":2.78696275,"cg_vd_req_v":-2.10691381,"cg_vd_v":-2.10691381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2791357,"cg_vq_v":-8.2791357,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1977.651733,"values":{"Elec_RPM":-2359.32202,"EncoderCos":26806,"EncoderSin":12106,"GapTicks":49710,"Mech_RPM":-471.86441,"cg_du":45.1913681,"cg_dv":46.6455879,"cg_dw":54.8086319,"cg_id_a":14.3673553,"cg_id_raw_a":12.5173082,"cg_iq_a":-200.502716,"cg_iq_raw_a":-200.436768,"cg_iu_a":-35.9875946,"cg_iv_a":-155.054459,"cg_iw_a":191.730682,"cg_sample_age_us":23.9363632,"cg_sample_seq":11254266,"cg_sample_valid":1,"cg_theta_rad":4.44251156,"cg_vd_req_v":-2.2216351,"cg_vd_v":-2.2216351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37342644,"cg_vq_v":-8.37342644,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.927742,"dclink_p_w":-2449.86157,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1978.003296,"values":{"Elec_RPM":-2354.75879,"EncoderCos":27467,"EncoderSin":11944,"GapTicks":50048,"Mech_RPM":-470.951752,"cg_du":45.7720299,"cg_dv":45.4987259,"cg_dw":54.5012741,"cg_id_a":10.9055958,"cg_id_raw_a":14.5141277,"cg_iq_a":-204.218353,"cg_iq_raw_a":-203.507004,"cg_iu_a":-10.2544718,"cg_iv_a":-171.00174,"cg_iw_a":181.25621,"cg_sample_age_us":23.8418179,"cg_sample_seq":11256017,"cg_sample_valid":1,"cg_theta_rad":4.47858429,"cg_vd_req_v":-2.13177919,"cg_vd_v":-2.13177919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28734779,"cg_vq_v":-8.28734779,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-16.6649742,"dclink_p_w":-2419.16357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1978.003601,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1978.003607,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1978.003612,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1978.46814,"values":{"Elec_RPM":-2351.37646,"EncoderCos":36451,"EncoderSin":11607,"GapTicks":49959,"Mech_RPM":-470.275269,"cg_du":54.58218,"cg_dv":46.0717354,"cg_dw":45.41782,"cg_id_a":7.4156847,"cg_id_raw_a":11.66152,"cg_iq_a":-202.156174,"cg_iq_raw_a":-205.323746,"cg_iu_a":179.699463,"cg_iv_a":-17.7265625,"cg_iw_a":-164.147522,"cg_sample_age_us":24.0854549,"cg_sample_seq":11258316,"cg_sample_valid":1,"cg_theta_rad":4.89852667,"cg_vd_req_v":-2.06429219,"cg_vd_v":-2.06429219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29096794,"cg_vq_v":-8.29096794,"cg_vu_v":39.1504402,"cg_vv_v":39.1504402,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2384.8916,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1978.899152,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1978.899162,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1978.899165,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1978.975952,"values":{"Elec_RPM":-2344.40894,"EncoderCos":11238,"EncoderSin":32745,"GapTicks":49407,"Mech_RPM":-468.881775,"cg_du":44.9161072,"cg_dv":48.0796089,"cg_dw":55.0838928,"cg_id_a":-1.1169225,"cg_id_raw_a":-5.55942965,"cg_iq_a":-194.94931,"cg_iq_raw_a":-192.919846,"cg_iu_a":-83.9381866,"cg_iv_a":-112.105515,"cg_iw_a":196.043701,"cg_sample_age_us":23.9218178,"cg_sample_seq":11260817,"cg_sample_valid":1,"cg_theta_rad":3.14659357,"cg_vd_req_v":-1.88670826,"cg_vd_v":-1.88670826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48842335,"cg_vq_v":-8.48842335,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2469.79419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2597,"hz_tim_isr":5001,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1979.027475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1979.02748,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1979.027485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1979.327515,"values":{"Elec_RPM":-2343.58179,"EncoderCos":13641,"EncoderSin":42687,"GapTicks":49286,"Mech_RPM":-468.71637,"cg_du":50.6438789,"cg_dv":55.1945419,"cg_dw":44.8054581,"cg_id_a":-10.5301056,"cg_id_raw_a":-8.27429771,"cg_iq_a":-193.074066,"cg_iq_raw_a":-193.118942,"cg_iu_a":-33.1243286,"cg_iv_a":181.324554,"cg_iw_a":-148.200226,"cg_sample_age_us":23.7945461,"cg_sample_seq":11262616,"cg_sample_valid":1,"cg_theta_rad":2.656775,"cg_vd_req_v":-1.67162371,"cg_vd_v":-1.67162371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54094028,"cg_vq_v":-8.54094028,"cg_vu_v":39.1504402,"cg_vv_v":54.1067848,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2413.90234,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1979.659546,"values":{"Elec_RPM":-2351.96191,"EncoderCos":13213,"EncoderSin":41802,"GapTicks":49409,"Mech_RPM":-470.392395,"cg_du":48.7722359,"cg_dv":55.0823364,"cg_dw":44.9176636,"cg_id_a":-4.1913352,"cg_id_raw_a":-9.59393215,"cg_iq_a":-198.347687,"cg_iq_raw_a":-197.235168,"cg_iu_a":-95.0287933,"cg_iv_a":199.011566,"cg_iw_a":-103.982773,"cg_sample_age_us":23.8890915,"cg_sample_seq":11264366,"cg_sample_valid":1,"cg_theta_rad":2.70744848,"cg_vd_req_v":-1.80889976,"cg_vd_v":-1.80889976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40919876,"cg_vq_v":-8.40919876,"cg_vu_v":27.2733402,"cg_vv_v":28.5930176,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2445.99634,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1979.991577,"values":{"Elec_RPM":-2356.34253,"EncoderCos":15785,"EncoderSin":19367,"GapTicks":49795,"Mech_RPM":-471.268494,"cg_du":54.7314339,"cg_dv":53.3662758,"cg_dw":45.2685661,"cg_id_a":13.358717,"cg_id_raw_a":12.0466557,"cg_iq_a":-206.382782,"cg_iq_raw_a":-207.389267,"cg_iu_a":38.6384583,"cg_iv_a":149.466248,"cg_iw_a":-197.999268,"cg_sample_age_us":23.8781815,"cg_sample_seq":11266016,"cg_sample_valid":1,"cg_theta_rad":3.81374121,"cg_vd_req_v":-2.17021894,"cg_vd_v":-2.17021894,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24099827,"cg_vq_v":-8.24099827,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":26.8334465,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2515.88892,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1980.018863,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1980.018869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1980.018874,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1980.34314,"values":{"Elec_RPM":-2356.59521,"EncoderCos":16111,"EncoderSin":18893,"GapTicks":50076,"Mech_RPM":-471.319031,"cg_du":54.368,"cg_dv":54.4757919,"cg_dw":45.5242081,"cg_id_a":9.98895454,"cg_id_raw_a":13.0450172,"cg_iq_a":-204.431351,"cg_iq_raw_a":-203.457336,"cg_iu_a":15.2611876,"cg_iv_a":167.116989,"cg_iw_a":-182.378174,"cg_sample_age_us":23.9654541,"cg_sample_seq":11267767,"cg_sample_valid":1,"cg_theta_rad":3.84480453,"cg_vd_req_v":-2.08947039,"cg_vd_v":-2.08947039,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30018616,"cg_vq_v":-8.30018616,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2475.56396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5815735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1980.679077,"values":{"Elec_RPM":-2352.25122,"EncoderCos":37999,"EncoderSin":11936,"GapTicks":49386,"Mech_RPM":-470.450256,"cg_du":55.1033592,"cg_dv":49.7502823,"cg_dw":44.8966408,"cg_id_a":-18.5510483,"cg_id_raw_a":-20.0573101,"cg_iq_a":-196.876877,"cg_iq_raw_a":-197.366394,"cg_iu_a":146.17392,"cg_iv_a":45.5189209,"cg_iw_a":-191.692841,"cg_sample_age_us":23.9218178,"cg_sample_seq":11269416,"cg_sample_valid":1,"cg_theta_rad":4.97563457,"cg_vd_req_v":-1.55788362,"cg_vd_v":-1.55788362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4147501,"cg_vq_v":-8.4147501,"cg_vu_v":37.830761,"cg_vv_v":38.2706528,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2448.95215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1981.011128,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1981.011134,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1981.01114,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1981.03064,"values":{"Elec_RPM":-2350.62158,"EncoderCos":27504,"EncoderSin":11937,"GapTicks":50060,"Mech_RPM":-470.124298,"cg_du":45.8987198,"cg_dv":45.5099602,"cg_dw":54.4900398,"cg_id_a":9.70475674,"cg_id_raw_a":14.0381107,"cg_iq_a":-205.846909,"cg_iq_raw_a":-206.271561,"cg_iu_a":-10.0732517,"cg_iv_a":-173.430069,"cg_iw_a":183.503326,"cg_sample_age_us":23.9181824,"cg_sample_seq":11271216,"cg_sample_valid":1,"cg_theta_rad":4.47894192,"cg_vd_req_v":-2.09732771,"cg_vd_v":-2.09732771,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24618626,"cg_vq_v":-8.24618626,"cg_vu_v":40.0302238,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.8374634,"dclink_p_w":-2589.36743,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1981.362671,"values":{"Elec_RPM":-2353.82861,"EncoderCos":53631,"EncoderSin":28994,"GapTicks":49672,"Mech_RPM":-470.765717,"cg_du":54.8429947,"cg_dv":45.1570053,"cg_dw":46.8489685,"cg_id_a":17.4895782,"cg_id_raw_a":15.7022753,"cg_iq_a":-204.491806,"cg_iq_raw_a":-202.406479,"cg_iu_a":192.928467,"cg_iv_a":-36.1022034,"cg_iw_a":-156.826263,"cg_sample_age_us":24.1436367,"cg_sample_seq":11272817,"cg_sample_valid":1,"cg_theta_rad":6.11846876,"cg_vd_req_v":-2.33213687,"cg_vd_v":-2.33213687,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29770756,"cg_vq_v":-8.29770756,"cg_vu_v":142.965088,"cg_vv_v":128.888519,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3083038,"dclink_p_w":-2504.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1981.694702,"values":{"Elec_RPM":-2349.67114,"EncoderCos":49374,"EncoderSin":19378,"GapTicks":49318,"Mech_RPM":-469.934235,"cg_du":44.8352623,"cg_dv":49.70364,"cg_dw":55.1647377,"cg_id_a":-10.1322079,"cg_id_raw_a":-13.9535093,"cg_iq_a":-198.461075,"cg_iq_raw_a":-196.033173,"cg_iu_a":-124.023865,"cg_iv_a":-71.2587128,"cg_iw_a":195.282578,"cg_sample_age_us":23.954546,"cg_sample_seq":11274617,"cg_sample_valid":1,"cg_theta_rad":5.62253714,"cg_vd_req_v":-1.82573199,"cg_vd_v":-1.82573199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41366005,"cg_vq_v":-8.41366005,"cg_vu_v":142.525192,"cg_vv_v":141.205521,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.6181889,"dclink_p_w":-2549.78638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1982.034899,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1982.034905,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1982.03491,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1982.046265,"values":{"Elec_RPM":-2343.44067,"EncoderCos":44295,"EncoderSin":50714,"GapTicks":49356,"Mech_RPM":-468.688141,"cg_du":55.1305428,"cg_dv":44.8694572,"cg_dw":50.0469856,"cg_id_a":-14.8588781,"cg_id_raw_a":-15.6027765,"cg_iq_a":-196.982574,"cg_iq_raw_a":-195.04982,"cg_iu_a":191.804901,"cg_iv_a":-137.403702,"cg_iw_a":-54.4011993,"cg_sample_age_us":23.9218178,"cg_sample_seq":11276216,"cg_sample_valid":1,"cg_theta_rad":1.00295067,"cg_vd_req_v":-1.63741493,"cg_vd_v":-1.63741493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41615009,"cg_vq_v":-8.41615009,"cg_vu_v":30.3525867,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1982.382202,"values":{"Elec_RPM":-2341.39258,"EncoderCos":51477,"EncoderSin":42788,"GapTicks":50035,"Mech_RPM":-468.278534,"cg_du":45.4869843,"cg_dv":54.2405968,"cg_dw":54.5130157,"cg_id_a":12.0705013,"cg_id_raw_a":13.2499685,"cg_iq_a":-202.620224,"cg_iq_raw_a":-200.877014,"cg_iu_a":-179.984344,"cg_iv_a":8.98513794,"cg_iw_a":168.607117,"cg_sample_age_us":23.5290909,"cg_sample_seq":11278017,"cg_sample_valid":1,"cg_theta_rad":0.496706575,"cg_vd_req_v":-2.20116234,"cg_vd_v":-2.20116234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29304695,"cg_vq_v":-8.29304695,"cg_vu_v":103.374756,"cg_vv_v":103.374756,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2493.13623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1982.714233,"values":{"Elec_RPM":-2342.66235,"EncoderCos":21145,"EncoderSin":50887,"GapTicks":49722,"Mech_RPM":-468.532471,"cg_du":53.4468842,"cg_dv":45.2024384,"cg_dw":54.7975616,"cg_id_a":13.2316532,"cg_id_raw_a":9.14256573,"cg_iq_a":-200.042816,"cg_iq_raw_a":-199.966766,"cg_iu_a":154.147552,"cg_iv_a":-189.196136,"cg_iw_a":35.048584,"cg_sample_age_us":23.550909,"cg_sample_seq":11279617,"cg_sample_valid":1,"cg_theta_rad":2.13975835,"cg_vd_req_v":-2.1811552,"cg_vd_v":-2.1811552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40125179,"cg_vq_v":-8.40125179,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-17.7305431,"dclink_p_w":-2573.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1982.995334,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1982.99534,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1982.995346,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1983.065796,"values":{"Elec_RPM":-2344.81372,"EncoderCos":30921,"EncoderSin":54096,"GapTicks":49317,"Mech_RPM":-468.962738,"cg_du":44.8341789,"cg_dv":55.1658211,"cg_dw":50.9695625,"cg_id_a":-3.49223042,"cg_id_raw_a":-3.94107485,"cg_iq_a":-195.721146,"cg_iq_raw_a":-195.652054,"cg_iu_a":-193.865738,"cg_iv_a":117.462929,"cg_iw_a":76.4028091,"cg_sample_age_us":23.7763634,"cg_sample_seq":11281416,"cg_sample_valid":1,"cg_theta_rad":1.64924681,"cg_vd_req_v":-1.83034897,"cg_vd_v":-1.83034897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48822689,"cg_vq_v":-8.48822689,"cg_vu_v":10.1175289,"cg_vv_v":25.0738773,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2477.66211,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1983.397827,"values":{"Elec_RPM":-2346.46704,"EncoderCos":11471,"EncoderSin":29632,"GapTicks":49369,"Mech_RPM":-469.293427,"cg_du":49.4765472,"cg_dv":44.8813553,"cg_dw":55.1186447,"cg_id_a":-20.9576321,"cg_id_raw_a":-19.5148048,"cg_iq_a":-198.768982,"cg_iq_raw_a":-199.806519,"cg_iu_a":33.0569077,"cg_iv_a":-185.897949,"cg_iw_a":152.841034,"cg_sample_age_us":23.8309097,"cg_sample_seq":11283017,"cg_sample_valid":1,"cg_theta_rad":3.29321027,"cg_vd_req_v":-1.48101115,"cg_vd_v":-1.48101115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41344738,"cg_vq_v":-8.41344738,"cg_vu_v":142.965088,"cg_vv_v":138.126266,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.4804611,"dclink_p_w":-2522.16406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1983.729858,"values":{"Elec_RPM":-2348.27075,"EncoderCos":16717,"EncoderSin":18197,"GapTicks":49477,"Mech_RPM":-469.654144,"cg_du":52.2442055,"cg_dv":55.0201759,"cg_dw":44.9798241,"cg_id_a":-7.59605598,"cg_id_raw_a":-1.5879941,"cg_iq_a":-196.086838,"cg_iq_raw_a":-198.381134,"cg_iu_a":-0.976050138,"cg_iv_a":169.799026,"cg_iw_a":-168.822983,"cg_sample_age_us":23.8709087,"cg_sample_seq":11284716,"cg_sample_valid":1,"cg_theta_rad":3.87809706,"cg_vd_req_v":-1.72951174,"cg_vd_v":-1.72951174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48994827,"cg_vq_v":-8.48994827,"cg_vu_v":104.694435,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2548.06616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1984.01916,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1984.019166,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1984.019171,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1984.085327,"values":{"Elec_RPM":-2345.84229,"EncoderCos":17407,"EncoderSin":17499,"GapTicks":49318,"Mech_RPM":-469.168457,"cg_du":50.1065063,"cg_dv":55.1650009,"cg_dw":44.8349991,"cg_id_a":-14.1762371,"cg_id_raw_a":-15.6588612,"cg_iq_a":-195.046783,"cg_iq_raw_a":-194.068481,"cg_iu_a":-39.8656845,"cg_iv_a":185.45636,"cg_iw_a":-145.590683,"cg_sample_age_us":23.8709087,"cg_sample_seq":11286466,"cg_sample_valid":1,"cg_theta_rad":3.9238236,"cg_vd_req_v":-1.61919427,"cg_vd_v":-1.61919427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4788065,"cg_vq_v":-8.4788065,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2432.58008,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120448619,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1984.417358,"values":{"Elec_RPM":-2343.18066,"EncoderCos":39342,"EncoderSin":12301,"GapTicks":49568,"Mech_RPM":-468.636108,"cg_du":54.9381332,"cg_dv":52.0822906,"cg_dw":45.0618668,"cg_id_a":2.68909574,"cg_id_raw_a":1.00341845,"cg_iq_a":-206.201538,"cg_iq_raw_a":-207.825623,"cg_iu_a":78.361702,"cg_iv_a":126.378899,"cg_iw_a":-204.740601,"cg_sample_age_us":23.9909096,"cg_sample_seq":11288116,"cg_sample_valid":1,"cg_theta_rad":5.04120111,"cg_vd_req_v":-2.02619433,"cg_vd_v":-2.02619433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22151947,"cg_vq_v":-8.22151947,"cg_vu_v":32.1121559,"cg_vv_v":23.3143044,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2470.13135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1984.768921,"values":{"Elec_RPM":-2347.22876,"EncoderCos":39895,"EncoderSin":12463,"GapTicks":49740,"Mech_RPM":-469.44577,"cg_du":54.7815094,"cg_dv":53.1541748,"cg_dw":45.2184906,"cg_id_a":7.55929661,"cg_id_raw_a":6.19157076,"cg_iq_a":-205.397644,"cg_iq_raw_a":-202.718002,"cg_iu_a":48.2430763,"cg_iv_a":147.980255,"cg_iw_a":-196.223328,"cg_sample_age_us":23.9836369,"cg_sample_seq":11289867,"cg_sample_valid":1,"cg_theta_rad":5.06724548,"cg_vd_req_v":-2.11519623,"cg_vd_v":-2.11519623,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25787163,"cg_vq_v":-8.25787163,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2438.23193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1985.011007,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1985.011013,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1985.011018,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1985.100952,"values":{"Elec_RPM":-2349.50024,"EncoderCos":53860,"EncoderSin":30782,"GapTicks":49427,"Mech_RPM":-469.900055,"cg_du":55.0660324,"cg_dv":48.3326569,"cg_dw":44.9339676,"cg_id_a":-13.6028805,"cg_id_raw_a":-9.88972759,"cg_iq_a":-195.806534,"cg_iq_raw_a":-198.484894,"cg_iu_a":162.048706,"cg_iv_a":16.0889435,"cg_iw_a":-178.13765,"cg_sample_age_us":23.9981823,"cg_sample_seq":11291516,"cg_sample_valid":1,"cg_theta_rad":6.20437956,"cg_vd_req_v":-1.67192388,"cg_vd_v":-1.67192388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45377541,"cg_vq_v":-8.45377541,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2463.0957,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1985.432983,"values":{"Elec_RPM":-2352.27246,"EncoderCos":53908,"EncoderSin":31614,"GapTicks":49321,"Mech_RPM":-470.454498,"cg_du":55.1624069,"cg_dv":49.6259766,"cg_dw":44.8375931,"cg_id_a":-10.6076574,"cg_id_raw_a":-12.5610628,"cg_iq_a":-196.123474,"cg_iq_raw_a":-195.068878,"cg_iu_a":140.193695,"cg_iv_a":47.9472504,"cg_iw_a":-188.140945,"cg_sample_age_us":23.9872723,"cg_sample_seq":11293266,"cg_sample_valid":1,"cg_theta_rad":6.2329421,"cg_vd_req_v":-1.69946218,"cg_vd_v":-1.75805736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46573544,"cg_vq_v":-8.46573544,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1985.784546,"values":{"Elec_RPM":-2354.5376,"EncoderCos":43092,"EncoderSin":51470,"GapTicks":49509,"Mech_RPM":-470.907532,"cg_du":54.9911232,"cg_dv":45.0088768,"cg_dw":47.7026863,"cg_id_a":12.0167341,"cg_id_raw_a":8.33852577,"cg_iq_a":-202.425232,"cg_iq_raw_a":-201.182846,"cg_iu_a":200.068497,"cg_iv_a":-59.5519562,"cg_iw_a":-140.516541,"cg_sample_age_us":23.8345451,"cg_sample_seq":11294916,"cg_sample_valid":1,"cg_theta_rad":1.06980896,"cg_vd_req_v":-2.19791985,"cg_vd_v":-2.19791985,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34576893,"cg_vq_v":-8.34576893,"cg_vu_v":125.369385,"cg_vv_v":117.451309,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.92626,"dclink_p_w":-2586.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1986.002838,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1986.002843,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1986.002848,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1986.116577,"values":{"Elec_RPM":-2350.11694,"EncoderCos":50708,"EncoderSin":44244,"GapTicks":49346,"Mech_RPM":-470.023407,"cg_du":44.8607941,"cg_dv":50.5358353,"cg_dw":55.1392059,"cg_id_a":-11.3786631,"cg_id_raw_a":-10.2267151,"cg_iq_a":-199.573486,"cg_iq_raw_a":-201.19397,"cg_iu_a":-144.82782,"cg_iv_a":-47.0840759,"cg_iw_a":191.911896,"cg_sample_age_us":23.5254555,"cg_sample_seq":11296716,"cg_sample_valid":1,"cg_theta_rad":0.575732946,"cg_vd_req_v":-1.74802649,"cg_vd_v":-1.74802649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39770412,"cg_vq_v":-8.39770412,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5746956,"dclink_p_w":-2535.76074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1986.448608,"values":{"Elec_RPM":-2352.48584,"EncoderCos":19702,"EncoderSin":49827,"GapTicks":49443,"Mech_RPM":-470.497162,"cg_du":55.0515175,"cg_dv":44.9484825,"cg_dw":51.5116806,"cg_id_a":-14.4271927,"cg_id_raw_a":-9.89309502,"cg_iq_a":-197.454987,"cg_iq_raw_a":-199.489105,"cg_iu_a":179.337021,"cg_iv_a":-161.070923,"cg_iw_a":-18.266098,"cg_sample_age_us":23.994545,"cg_sample_seq":11298316,"cg_sample_valid":1,"cg_theta_rad":2.22373223,"cg_vd_req_v":-1.60013282,"cg_vd_v":-1.60013282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41608047,"cg_vq_v":-8.41608047,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1986.804077,"values":{"Elec_RPM":-2351.84912,"EncoderCos":29551,"EncoderSin":53932,"GapTicks":49752,"Mech_RPM":-470.369843,"cg_du":45.2291832,"cg_dv":54.7708168,"cg_dw":53.4817924,"cg_id_a":10.4144497,"cg_id_raw_a":7.60698605,"cg_iq_a":-197.620941,"cg_iq_raw_a":-196.338013,"cg_iu_a":-185.674622,"cg_iv_a":27.6506958,"cg_iw_a":158.023926,"cg_sample_age_us":23.8527279,"cg_sample_seq":11300117,"cg_sample_valid":1,"cg_theta_rad":1.73109877,"cg_vd_req_v":-2.08538508,"cg_vd_v":-2.08538508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39643192,"cg_vq_v":-8.39643192,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-18.0150585,"dclink_p_w":-2607.22314,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1987.027078,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1987.027084,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1987.027089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1987.136108,"values":{"Elec_RPM":-2354.25439,"EncoderCos":11749,"EncoderSin":28109,"GapTicks":49413,"Mech_RPM":-470.850891,"cg_du":52.1170502,"cg_dv":44.9212608,"cg_dw":55.0787392,"cg_id_a":7.38579988,"cg_id_raw_a":2.65657544,"cg_iq_a":-196.4487,"cg_iq_raw_a":-196.770004,"cg_iu_a":122.977859,"cg_iv_a":-194.958908,"cg_iw_a":71.9810486,"cg_sample_age_us":23.6963634,"cg_sample_seq":11301717,"cg_sample_valid":1,"cg_theta_rad":3.36252022,"cg_vd_req_v":-2.07865596,"cg_vd_v":-2.07865596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47850704,"cg_vq_v":-8.47850704,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1987.46814,"values":{"Elec_RPM":-2348.35083,"EncoderCos":17822,"EncoderSin":17090,"GapTicks":49401,"Mech_RPM":-469.670166,"cg_du":48.9922638,"cg_dv":55.0894356,"cg_dw":44.9105644,"cg_id_a":-11.3017759,"cg_id_raw_a":-16.9466,"cg_iq_a":-198.337921,"cg_iq_raw_a":-197.840149,"cg_iu_a":-82.7783813,"cg_iv_a":198.032974,"cg_iw_a":-115.254593,"cg_sample_age_us":23.9581814,"cg_sample_seq":11303416,"cg_sample_valid":1,"cg_theta_rad":3.96045589,"cg_vd_req_v":-1.68813837,"cg_vd_v":-1.68813837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39243507,"cg_vq_v":-8.39243507,"cg_vu_v":6.1584959,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2423.63477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1987.819702,"values":{"Elec_RPM":-2353.68457,"EncoderCos":28456,"EncoderSin":11724,"GapTicks":49533,"Mech_RPM":-470.736908,"cg_du":48.2093086,"cg_dv":45.0304832,"cg_dw":54.9695168,"cg_id_a":-12.4007626,"cg_id_raw_a":-7.13011408,"cg_iq_a":-202.710144,"cg_iq_raw_a":-203.86026,"cg_iu_a":13.3765087,"cg_iv_a":-180.787582,"cg_iw_a":167.411072,"cg_sample_age_us":23.9254551,"cg_sample_seq":11305117,"cg_sample_valid":1,"cg_theta_rad":4.524014,"cg_vd_req_v":-1.66690874,"cg_vd_v":-1.66690874,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3171587,"cg_vq_v":-8.3171587,"cg_vu_v":106.453995,"cg_vv_v":98.0960464,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2486.604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1988.018629,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1988.018635,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1988.018639,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1988.18689,"values":{"Elec_RPM":-2353.47095,"EncoderCos":19090,"EncoderSin":16002,"GapTicks":49949,"Mech_RPM":-470.694183,"cg_du":46.2004395,"cg_dv":54.5916634,"cg_dw":45.4083366,"cg_id_a":12.2751627,"cg_id_raw_a":12.8665466,"cg_iq_a":-207.270554,"cg_iq_raw_a":-206.028946,"cg_iu_a":-164.834412,"cg_iv_a":192.233948,"cg_iw_a":-27.3995438,"cg_sample_age_us":23.954546,"cg_sample_seq":11306916,"cg_sample_valid":1,"cg_theta_rad":4.03850698,"cg_vd_req_v":-2.15166974,"cg_vd_v":-2.15166974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22732544,"cg_vq_v":-8.22732544,"cg_vu_v":0.87978512,"cg_vv_v":11.877099,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2445.2915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1988.725952,"values":{"Elec_RPM":-2351.30566,"EncoderCos":52350,"EncoderSin":24613,"GapTicks":49622,"Mech_RPM":-470.261108,"cg_du":52.9738846,"cg_dv":45.1110039,"cg_dw":54.8889961,"cg_id_a":17.5419807,"cg_id_raw_a":16.217947,"cg_iq_a":-200.860199,"cg_iq_raw_a":-200.165939,"cg_iu_a":152.62532,"cg_iv_a":-191.624481,"cg_iw_a":38.9991531,"cg_sample_age_us":23.7545452,"cg_sample_seq":11309666,"cg_sample_valid":1,"cg_theta_rad":5.90382338,"cg_vd_req_v":-2.34030056,"cg_vd_v":-2.34030056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33712578,"cg_vq_v":-8.33712578,"cg_vu_v":24.1940918,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1988.915239,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1988.91525,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1988.915253,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":1989.011329,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1989.011335,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1989.011341,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1989.147827,"values":{"Elec_RPM":-2347.40967,"EncoderCos":31484,"EncoderSin":54129,"GapTicks":49315,"Mech_RPM":-469.481934,"cg_du":44.8326759,"cg_dv":55.1673241,"cg_dw":49.9350548,"cg_id_a":-9.89756584,"cg_id_raw_a":-13.8293543,"cg_iq_a":-195.481964,"cg_iq_raw_a":-194.877457,"cg_iu_a":-189.552704,"cg_iv_a":134.388794,"cg_iw_a":47.1540146,"cg_sample_age_us":23.8563633,"cg_sample_seq":11311817,"cg_sample_valid":1,"cg_theta_rad":1.62887847,"cg_vd_req_v":-1.68037927,"cg_vd_v":-1.68037927,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47046375,"cg_vq_v":-8.47046375,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2546.90112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1989.479858,"values":{"Elec_RPM":-2345.70996,"EncoderCos":20083,"EncoderSin":50108,"GapTicks":49639,"Mech_RPM":-469.141968,"cg_du":54.8730164,"cg_dv":45.1269836,"cg_dw":52.6996422,"cg_id_a":-2.54289746,"cg_id_raw_a":3.27377248,"cg_iq_a":-200.742065,"cg_iq_raw_a":-202.379593,"cg_iu_a":172.160736,"cg_iv_a":-172.705185,"cg_iw_a":0.544448853,"cg_sample_age_us":23.8927269,"cg_sample_seq":11313517,"cg_sample_valid":1,"cg_theta_rad":2.20479083,"cg_vd_req_v":-1.83391392,"cg_vd_v":-1.83391392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35089302,"cg_vq_v":-8.35089302,"cg_vu_v":106.014107,"cg_vv_v":85.3391571,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-17.0908394,"dclink_p_w":-2465.94775,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1989.831421,"values":{"Elec_RPM":-2343.37842,"EncoderCos":12535,"EncoderSin":40148,"GapTicks":50101,"Mech_RPM":-468.67569,"cg_du":45.612648,"cg_dv":54.4532013,"cg_dw":45.5467987,"cg_id_a":12.1954899,"cg_id_raw_a":14.4174604,"cg_iq_a":-206.373947,"cg_iq_raw_a":-206.787094,"cg_iu_a":-169.401154,"cg_iv_a":191.472839,"cg_iw_a":-26.9283752,"cg_sample_age_us":23.8890915,"cg_sample_seq":11315216,"cg_sample_valid":1,"cg_theta_rad":2.79102397,"cg_vd_req_v":-2.11040568,"cg_vd_v":-2.11040568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27054596,"cg_vq_v":-8.27054596,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":27.2733402,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1990.003687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1990.003693,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1990.003698,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1990.163452,"values":{"Elec_RPM":-2340.39868,"EncoderCos":11817,"EncoderSin":28078,"GapTicks":49444,"Mech_RPM":-468.079742,"cg_du":52.199913,"cg_dv":44.9492683,"cg_dw":55.0507317,"cg_id_a":8.10949802,"cg_id_raw_a":7.02668142,"cg_iq_a":-196.679398,"cg_iq_raw_a":-196.599716,"cg_iu_a":126.638489,"cg_iv_a":-194.270264,"cg_iw_a":67.6317825,"cg_sample_age_us":23.6781826,"cg_sample_seq":11316916,"cg_sample_valid":1,"cg_theta_rad":3.36911631,"cg_vd_req_v":-2.07873178,"cg_vd_v":-2.07873178,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4513607,"cg_vq_v":-8.4513607,"cg_vu_v":143.404984,"cg_vv_v":137.686371,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2865562,"dclink_p_w":-2501.79077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1990.515015,"values":{"Elec_RPM":-2348.8269,"EncoderCos":17024,"EncoderSin":17904,"GapTicks":49389,"Mech_RPM":-469.765381,"cg_du":51.2252312,"cg_dv":55.1005249,"cg_dw":44.8994751,"cg_id_a":-14.9333687,"cg_id_raw_a":-13.611661,"cg_iq_a":-194.585495,"cg_iq_raw_a":-196.261139,"cg_iu_a":-69.4044037,"cg_iv_a":196.438248,"cg_iw_a":-127.033844,"cg_sample_age_us":25.2490902,"cg_sample_seq":11318620,"cg_sample_valid":1,"cg_theta_rad":3.95127797,"cg_vd_req_v":-1.57781363,"cg_vd_v":-1.57781363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45937252,"cg_vq_v":-8.45937252,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1990.850952,"values":{"Elec_RPM":-2345.25439,"EncoderCos":48930,"EncoderSin":18922,"GapTicks":49368,"Mech_RPM":-469.050873,"cg_du":44.8800812,"cg_dv":50.9809799,"cg_dw":55.1199188,"cg_id_a":-11.2546272,"cg_id_raw_a":-9.35259151,"cg_iq_a":-198.626801,"cg_iq_raw_a":-197.926819,"cg_iu_a":-147.727325,"cg_iv_a":-37.7331543,"cg_iw_a":185.46048,"cg_sample_age_us":23.9181824,"cg_sample_seq":11320217,"cg_sample_valid":1,"cg_theta_rad":5.59507132,"cg_vd_req_v":-1.7847172,"cg_vd_v":-1.7847172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42122936,"cg_vq_v":-8.42122936,"cg_vu_v":113.932175,"cg_vv_v":140.765625,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4043484,"dclink_p_w":-2526.49438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1991.026693,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1991.026699,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1991.026704,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1991.182983,"values":{"Elec_RPM":-2342.2146,"EncoderCos":40501,"EncoderSin":12760,"GapTicks":50053,"Mech_RPM":-468.442902,"cg_du":54.4968147,"cg_dv":54.4165115,"cg_dw":45.5031853,"cg_id_a":11.7891741,"cg_id_raw_a":13.2764101,"cg_iq_a":-201.929749,"cg_iq_raw_a":-203.625595,"cg_iu_a":15.297431,"cg_iv_a":166.500854,"cg_iw_a":-181.798279,"cg_sample_age_us":23.863636,"cg_sample_seq":11322016,"cg_sample_valid":1,"cg_theta_rad":5.10028791,"cg_vd_req_v":-2.18698716,"cg_vd_v":-2.18698716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35744667,"cg_vq_v":-8.35744667,"cg_vu_v":37.830761,"cg_vv_v":45.3089333,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1991.534546,"values":{"Elec_RPM":-2341.51416,"EncoderCos":53831,"EncoderSin":30267,"GapTicks":49679,"Mech_RPM":-468.302826,"cg_du":54.8367882,"cg_dv":47.0691452,"cg_dw":45.1632118,"cg_id_a":-1.71661925,"cg_id_raw_a":4.54484415,"cg_iq_a":-199.773239,"cg_iq_raw_a":-202.031754,"cg_iu_a":156.28595,"cg_iv_a":22.9752502,"cg_iw_a":-179.2612,"cg_sample_age_us":23.994545,"cg_sample_seq":11323670,"cg_sample_valid":1,"cg_theta_rad":6.21231079,"cg_vd_req_v":-1.90157473,"cg_vd_v":-1.90157473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3494978,"cg_vq_v":-8.3494978,"cg_vu_v":30.7924805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2460.71826,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1991.866577,"values":{"Elec_RPM":-2345.32642,"EncoderCos":53888,"EncoderSin":31698,"GapTicks":49340,"Mech_RPM":-469.065277,"cg_du":55.1447563,"cg_dv":50.1551132,"cg_dw":44.8552437,"cg_id_a":-12.4391508,"cg_id_raw_a":-15.415163,"cg_iq_a":-198.284943,"cg_iq_raw_a":-195.479324,"cg_iu_a":130.661545,"cg_iv_a":63.3871307,"cg_iw_a":-194.15741,"cg_sample_age_us":24.0200005,"cg_sample_seq":11325417,"cg_sample_valid":1,"cg_theta_rad":6.24632883,"cg_vd_req_v":-1.73971367,"cg_vd_v":-1.73971367,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39437771,"cg_vq_v":-8.39437771,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2375.11523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1991.987354,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1991.98736,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1991.987366,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1992.198608,"values":{"Elec_RPM":-2345.53857,"EncoderCos":50996,"EncoderSin":43659,"GapTicks":49490,"Mech_RPM":-469.107697,"cg_du":44.9916534,"cg_dv":51.9708481,"cg_dw":55.0083466,"cg_id_a":-5.45565605,"cg_id_raw_a":-4.49672937,"cg_iq_a":-201.082367,"cg_iq_raw_a":-201.012283,"cg_iu_a":-160.92009,"cg_iv_a":-21.6771393,"cg_iw_a":182.597229,"cg_sample_age_us":23.5072727,"cg_sample_seq":11327117,"cg_sample_valid":1,"cg_theta_rad":0.544863343,"cg_vd_req_v":-1.85285139,"cg_vd_v":-1.85285139,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38054276,"cg_vq_v":-8.38054276,"cg_vu_v":102.93486,"cg_vv_v":102.494972,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.422142,"dclink_p_w":-2383.91284,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1992.554077,"values":{"Elec_RPM":-2348.44678,"EncoderCos":30876,"EncoderSin":54128,"GapTicks":49362,"Mech_RPM":-469.689362,"cg_du":44.875248,"cg_dv":55.124752,"cg_dw":51.0300713,"cg_id_a":-2.59421849,"cg_id_raw_a":-6.16821003,"cg_iq_a":-196.654297,"cg_iq_raw_a":-195.099884,"cg_iu_a":-196.076599,"cg_iv_a":105.103775,"cg_iw_a":90.9728241,"cg_sample_age_us":23.8963642,"cg_sample_seq":11328767,"cg_sample_valid":1,"cg_theta_rad":1.66328287,"cg_vd_req_v":-1.83542466,"cg_vd_v":-1.83542466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42400169,"cg_vq_v":-8.42400169,"cg_vu_v":14.9563465,"cg_vv_v":26.3935547,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.6305428,"dclink_p_w":-2406.84961,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1992.882202,"values":{"Elec_RPM":-2355.3689,"EncoderCos":19597,"EncoderSin":49781,"GapTicks":49375,"Mech_RPM":-471.073761,"cg_du":55.1136131,"cg_dv":44.8863869,"cg_dw":51.2510033,"cg_id_a":-16.8949661,"cg_id_raw_a":-17.2822304,"cg_iq_a":-196.299118,"cg_iq_raw_a":-196.382629,"cg_iu_a":178.938339,"cg_iv_a":-159.077515,"cg_iw_a":-19.8608246,"cg_sample_age_us":24.7036362,"cg_sample_seq":11330467,"cg_sample_valid":1,"cg_theta_rad":2.23098946,"cg_vd_req_v":-1.56563842,"cg_vd_v":-1.56563842,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46048927,"cg_vq_v":-8.46048927,"cg_vu_v":142.965088,"cg_vv_v":131.527878,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.4076443,"dclink_p_w":-2367.37305,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1993.011141,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1993.011147,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1993.011152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1993.21814,"values":{"Elec_RPM":-2347.39307,"EncoderCos":11746,"EncoderSin":28233,"GapTicks":49442,"Mech_RPM":-469.478638,"cg_du":51.9319458,"cg_dv":44.947464,"cg_dw":55.052536,"cg_id_a":3.29394913,"cg_id_raw_a":0.200055182,"cg_iq_a":-196.818268,"cg_iq_raw_a":-196.412003,"cg_iu_a":116.127777,"cg_iv_a":-196.154953,"cg_iw_a":80.0271759,"cg_sample_age_us":23.6599998,"cg_sample_seq":11332116,"cg_sample_valid":1,"cg_theta_rad":3.35812497,"cg_vd_req_v":-1.98617935,"cg_vd_v":-1.98617935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44257832,"cg_vq_v":-8.44257832,"cg_vu_v":143.844864,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.4786491,"dclink_p_w":-2537.28027,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1993.569702,"values":{"Elec_RPM":-2351.10254,"EncoderCos":12061,"EncoderSin":38673,"GapTicks":49376,"Mech_RPM":-470.22049,"cg_du":44.8872986,"cg_dv":55.1127014,"cg_dw":48.9553375,"cg_id_a":-7.84059334,"cg_id_raw_a":-8.40983963,"cg_iq_a":-196.625732,"cg_iq_raw_a":-196.881378,"cg_iu_a":-185.638382,"cg_iv_a":147.944,"cg_iw_a":37.6943817,"cg_sample_age_us":23.9690914,"cg_sample_seq":11333916,"cg_sample_valid":1,"cg_theta_rad":2.86242867,"cg_vd_req_v":-1.69697893,"cg_vd_v":-1.69697893,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46091461,"cg_vq_v":-8.46091461,"cg_vu_v":1.31967759,"cg_vv_v":12.3169918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2426.52002,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6139221,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1993.901733,"values":{"Elec_RPM":-2359.9646,"EncoderCos":18116,"EncoderSin":16814,"GapTicks":49464,"Mech_RPM":-471.99292,"cg_du":48.3257179,"cg_dv":55.0319748,"cg_dw":44.9680252,"cg_id_a":-5.0217514,"cg_id_raw_a":-11.3530455,"cg_iq_a":-200.990662,"cg_iq_raw_a":-200.140915,"cg_iu_a":-122.719086,"cg_iv_a":202.418488,"cg_iw_a":-79.6994019,"cg_sample_age_us":23.9618187,"cg_sample_seq":11335566,"cg_sample_valid":1,"cg_theta_rad":3.98690772,"cg_vd_req_v":-1.83033752,"cg_vd_v":-1.83033752,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33831596,"cg_vq_v":-8.33831596,"cg_vu_v":120.970459,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1252728,"dclink_p_w":-2470.91577,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5851746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1994.002911,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1994.002918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1994.002923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1994.233765,"values":{"Elec_RPM":-2357.74438,"EncoderCos":29069,"EncoderSin":11571,"GapTicks":49332,"Mech_RPM":-471.548859,"cg_du":49.5522804,"cg_dv":44.8473778,"cg_dw":55.1526222,"cg_id_a":-15.3762217,"cg_id_raw_a":-16.6393967,"cg_iq_a":-196.884232,"cg_iq_raw_a":-199.003448,"cg_iu_a":47.1557617,"cg_iv_a":-188.83371,"cg_iw_a":141.677948,"cg_sample_age_us":23.7072735,"cg_sample_seq":11337266,"cg_sample_valid":1,"cg_theta_rad":4.55291891,"cg_vd_req_v":-1.63286138,"cg_vd_v":-1.63286138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46552372,"cg_vq_v":-8.46552372,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1994.585327,"values":{"Elec_RPM":-2352.57593,"EncoderCos":41125,"EncoderSin":13015,"GapTicks":49680,"Mech_RPM":-470.515198,"cg_du":52.9404068,"cg_dv":54.8354721,"cg_dw":45.1645279,"cg_id_a":-3.29213142,"cg_id_raw_a":3.21078777,"cg_iq_a":-199.253555,"cg_iq_raw_a":-201.963837,"cg_iu_a":0.872385502,"cg_iv_a":171.792435,"cg_iw_a":-172.664825,"cg_sample_age_us":23.9472733,"cg_sample_seq":11338966,"cg_sample_valid":1,"cg_theta_rad":5.13343239,"cg_vd_req_v":-1.87073851,"cg_vd_v":-1.87073851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38413048,"cg_vq_v":-8.38413048,"cg_vu_v":37.3908691,"cg_vv_v":43.9892578,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2409.69336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1994.917358,"values":{"Elec_RPM":-2354.86182,"EncoderCos":50487,"EncoderSin":21031,"GapTicks":49896,"Mech_RPM":-470.972382,"cg_du":45.3608475,"cg_dv":46.2604942,"cg_dw":54.6391525,"cg_id_a":17.0046749,"cg_id_raw_a":20.0488415,"cg_iq_a":-206.142151,"cg_iq_raw_a":-204.58728,"cg_iu_a":-20.8014259,"cg_iv_a":-169.443268,"cg_iw_a":191.875641,"cg_sample_age_us":23.9254551,"cg_sample_seq":11340666,"cg_sample_valid":1,"cg_theta_rad":5.71598053,"cg_vd_req_v":-2.3372457,"cg_vd_v":-2.3372457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22548389,"cg_vq_v":-8.22548389,"cg_vu_v":4.39892578,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2485.81958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2576,"hz_tim_isr":4998,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1995.027506,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1995.027512,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1995.027517,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1995.253296,"values":{"Elec_RPM":-2351.37012,"EncoderCos":51092,"EncoderSin":43492,"GapTicks":49546,"Mech_RPM":-470.274017,"cg_du":45.0426064,"cg_dv":52.4062691,"cg_dw":54.9573936,"cg_id_a":-2.91753697,"cg_id_raw_a":-2.81050062,"cg_iq_a":-200.953949,"cg_iq_raw_a":-201.315475,"cg_iu_a":-164.254517,"cg_iv_a":-14.2109222,"cg_iw_a":178.465439,"cg_sample_age_us":23.5618191,"cg_sample_seq":11342317,"cg_sample_valid":1,"cg_theta_rad":0.535589159,"cg_vd_req_v":-1.89708316,"cg_vd_v":-1.89708316,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39188385,"cg_vq_v":-8.39188385,"cg_vu_v":124.929489,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5018787,"dclink_p_w":-2388.22876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1995.604858,"values":{"Elec_RPM":-2352.21655,"EncoderCos":50513,"EncoderSin":44448,"GapTicks":49335,"Mech_RPM":-470.443329,"cg_du":44.8504181,"cg_dv":49.9871483,"cg_dw":55.1495819,"cg_id_a":-9.61538696,"cg_id_raw_a":-10.169858,"cg_iq_a":-196.851105,"cg_iq_raw_a":-197.790604,"cg_iu_a":-130.185318,"cg_iv_a":-64.9160309,"cg_iw_a":189.411072,"cg_sample_age_us":23.5618191,"cg_sample_seq":11344066,"cg_sample_valid":1,"cg_theta_rad":0.58904165,"cg_vd_req_v":-1.7837404,"cg_vd_v":-1.7837404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.445508,"cg_vq_v":-8.445508,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2497.33252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":1995.93689,"values":{"Elec_RPM":-2351.0127,"EncoderCos":30061,"EncoderSin":53991,"GapTicks":49524,"Mech_RPM":-470.202545,"cg_du":45.0225105,"cg_dv":54.9774895,"cg_dw":52.5100136,"cg_id_a":7.2107811,"cg_id_raw_a":4.68484545,"cg_iq_a":-199.045303,"cg_iq_raw_a":-199.573593,"cg_iu_a":-196.62027,"cg_iv_a":63.4233856,"cg_iw_a":133.196884,"cg_sample_age_us":23.8272724,"cg_sample_seq":11345716,"cg_sample_valid":1,"cg_theta_rad":1.69899905,"cg_vd_req_v":-2.04490352,"cg_vd_v":-2.04490352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39153099,"cg_vq_v":-8.39153099,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9766731,"dclink_p_w":-2456.94312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1996.018933,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1996.018938,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1996.018944,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1996.288452,"values":{"Elec_RPM":-2355.27148,"EncoderCos":29492,"EncoderSin":53923,"GapTicks":49754,"Mech_RPM":-471.054291,"cg_du":45.2317963,"cg_dv":54.7682037,"cg_dw":53.5685425,"cg_id_a":11.6845598,"cg_id_raw_a":9.16303158,"cg_iq_a":-199.782242,"cg_iq_raw_a":-198.045959,"cg_iu_a":-188.90033,"cg_iv_a":35.0444489,"cg_iw_a":153.855881,"cg_sample_age_us":23.7654552,"cg_sample_seq":11347467,"cg_sample_valid":1,"cg_theta_rad":1.72543693,"cg_vd_req_v":-2.12552691,"cg_vd_v":-2.12552691,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38888931,"cg_vq_v":-8.38888931,"cg_vu_v":14.5164547,"cg_vv_v":22.4345207,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":1996.620483,"values":{"Elec_RPM":-2354.50488,"EncoderCos":18445,"EncoderSin":48737,"GapTicks":49372,"Mech_RPM":-470.90097,"cg_du":55.1160851,"cg_dv":44.8839149,"cg_dw":48.454834,"cg_id_a":2.73497772,"cg_id_raw_a":-4.15642166,"cg_iq_a":-197.444626,"cg_iq_raw_a":-196.239395,"cg_iu_a":197.205231,"cg_iv_a":-84.5601959,"cg_iw_a":-112.645035,"cg_sample_age_us":23.994545,"cg_sample_seq":11349167,"cg_sample_valid":1,"cg_theta_rad":2.30410767,"cg_vd_req_v":-1.9974041,"cg_vd_v":-1.9974041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4457016,"cg_vq_v":-8.4457016,"cg_vu_v":143.404984,"cg_vv_v":131.527878,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2487.36621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1996.952515,"values":{"Elec_RPM":-2346.05737,"EncoderCos":11916,"EncoderSin":38058,"GapTicks":49319,"Mech_RPM":-469.211487,"cg_du":44.8362503,"cg_dv":55.1637497,"cg_dw":50.2585716,"cg_id_a":-8.1462326,"cg_id_raw_a":-9.75590801,"cg_iq_a":-195.361649,"cg_iq_raw_a":-195.502533,"cg_iu_a":-193.684509,"cg_iv_a":124.240524,"cg_iw_a":69.443985,"cg_sample_age_us":23.9400005,"cg_sample_seq":11350866,"cg_sample_valid":1,"cg_theta_rad":2.89422369,"cg_vd_req_v":-1.70650208,"cg_vd_v":-1.70650208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46258545,"cg_vq_v":-8.46258545,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.1938057,"dclink_p_w":-2343.64307,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1997.043484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1997.04349,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1997.043495,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1997.307983,"values":{"Elec_RPM":-2349.37354,"EncoderCos":12334,"EncoderSin":26057,"GapTicks":49579,"Mech_RPM":-469.874695,"cg_du":54.9279747,"cg_dv":45.0720253,"cg_dw":52.434166,"cg_id_a":-6.31511402,"cg_id_raw_a":2.14267731,"cg_iq_a":-199.78096,"cg_iq_raw_a":-200.582214,"cg_iu_a":175.168976,"cg_iv_a":-169.15329,"cg_iw_a":-6.01568604,"cg_sample_age_us":23.994545,"cg_sample_seq":11352566,"cg_sample_valid":1,"cg_theta_rad":3.46739578,"cg_vd_req_v":-1.75478017,"cg_vd_v":-1.75478017,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38194275,"cg_vq_v":-8.38194275,"cg_vu_v":25.5137672,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2457.31934,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1997.640015,"values":{"Elec_RPM":-2350.56177,"EncoderCos":19217,"EncoderSin":15908,"GapTicks":50028,"Mech_RPM":-470.112366,"cg_du":45.8739052,"cg_dv":54.5192566,"cg_dw":45.4807434,"cg_id_a":11.4889355,"cg_id_raw_a":12.2843704,"cg_iq_a":-207.228287,"cg_iq_raw_a":-207.449158,"cg_iu_a":-167.516464,"cg_iv_a":187.920959,"cg_iw_a":-33.2710495,"cg_sample_age_us":23.9690914,"cg_sample_seq":11354266,"cg_sample_valid":1,"cg_theta_rad":4.04258776,"cg_vd_req_v":-2.13908386,"cg_vd_v":-2.13908386,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26496696,"cg_vq_v":-8.26496696,"cg_vu_v":0.87978512,"cg_vv_v":7.47817326,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1997.991577,"values":{"Elec_RPM":-2356.99121,"EncoderCos":29775,"EncoderSin":11482,"GapTicks":49348,"Mech_RPM":-471.398224,"cg_du":50.8141518,"cg_dv":44.8624039,"cg_dw":55.1375961,"cg_id_a":-4.74684954,"cg_id_raw_a":-8.92578888,"cg_iq_a":-196.018524,"cg_iq_raw_a":-196.243866,"cg_iu_a":135.264526,"cg_iv_a":-194.741455,"cg_iw_a":59.4769211,"cg_sample_age_us":23.6454544,"cg_sample_seq":11355970,"cg_sample_valid":1,"cg_theta_rad":4.62866306,"cg_vd_req_v":-1.85306621,"cg_vd_v":-1.85306621,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44681168,"cg_vq_v":-8.44681168,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2485.55811,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":1998.002992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1998.002997,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1998.003002,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1998.452515,"values":{"Elec_RPM":-2354.86353,"EncoderCos":39214,"EncoderSin":12282,"GapTicks":49523,"Mech_RPM":-470.972687,"cg_du":54.9785919,"cg_dv":51.8660011,"cg_dw":45.0214081,"cg_id_a":1.44907379,"cg_id_raw_a":0.0349005982,"cg_iq_a":-204.308441,"cg_iq_raw_a":-205.755539,"cg_iu_a":82.8921814,"cg_iv_a":108.69191,"cg_iw_a":-202.855927,"cg_sample_age_us":23.863636,"cg_sample_seq":11358266,"cg_sample_valid":1,"cg_theta_rad":5.03504753,"cg_vd_req_v":-1.99392366,"cg_vd_v":-1.99392366,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24903679,"cg_vq_v":-8.24903679,"cg_vu_v":32.9919434,"cg_vv_v":25.953661,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":1998.899538,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":1998.89955,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":1998.899553,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":1998.964233,"values":{"Elec_RPM":-2351.41919,"EncoderCos":41663,"EncoderSin":52113,"GapTicks":49821,"Mech_RPM":-470.283844,"cg_du":54.7080879,"cg_dv":46.5360909,"cg_dw":45.2919121,"cg_id_a":5.6982522,"cg_id_raw_a":9.34656334,"cg_iq_a":-202.696716,"cg_iq_raw_a":-202.621643,"cg_iu_a":175.24147,"cg_iv_a":-3.44648743,"cg_iw_a":-171.794983,"cg_sample_age_us":24.0381813,"cg_sample_seq":11360967,"cg_sample_valid":1,"cg_theta_rad":1.14149094,"cg_vd_req_v":-2.00533366,"cg_vd_v":-2.00533366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30971432,"cg_vq_v":-8.30971432,"cg_vu_v":140.765625,"cg_vv_v":119.650772,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.1521244,"dclink_p_w":-2330.50537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1998.995062,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1998.995068,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1998.995073,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":1999.319702,"values":{"Elec_RPM":-2355.53369,"EncoderCos":19264,"EncoderSin":49442,"GapTicks":49324,"Mech_RPM":-471.10672,"cg_du":55.1591949,"cg_dv":44.8408051,"cg_dw":50.2854729,"cg_id_a":-16.5569057,"cg_id_raw_a":-19.451067,"cg_iq_a":-196.543274,"cg_iq_raw_a":-195.566696,"cg_iu_a":188.071777,"cg_iv_a":-145.087387,"cg_iw_a":-42.9843903,"cg_sample_age_us":23.994545,"cg_sample_seq":11362617,"cg_sample_valid":1,"cg_theta_rad":2.24973106,"cg_vd_req_v":-1.5816499,"cg_vd_v":-1.5816499,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47987461,"cg_vq_v":-8.47987461,"cg_vu_v":140.765625,"cg_vv_v":121.850235,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.6812859,"dclink_p_w":-2414.19336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":1999.647827,"values":{"Elec_RPM":-2354.32568,"EncoderCos":11858,"EncoderSin":27807,"GapTicks":49573,"Mech_RPM":-470.865143,"cg_du":52.6726913,"cg_dv":45.067112,"cg_dw":54.932888,"cg_id_a":9.90047741,"cg_id_raw_a":5.0839467,"cg_iq_a":-198.678207,"cg_iq_raw_a":-198.524597,"cg_iu_a":138.997635,"cg_iv_a":-194.08905,"cg_iw_a":55.091423,"cg_sample_age_us":23.6963634,"cg_sample_seq":11364266,"cg_sample_valid":1,"cg_theta_rad":3.37816501,"cg_vd_req_v":-2.11921048,"cg_vd_v":-2.11921048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37343311,"cg_vq_v":-8.37343311,"cg_vu_v":6.59838867,"cg_vv_v":1.75957024,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":1999.98761,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":1999.987616,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":1999.987622,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2000.003296,"values":{"Elec_RPM":-2354.12573,"EncoderCos":12200,"EncoderSin":39157,"GapTicks":49511,"Mech_RPM":-470.825134,"cg_du":45.010704,"cg_dv":54.989296,"cg_dw":47.8720627,"cg_id_a":-6.77753258,"cg_id_raw_a":-1.95288599,"cg_iq_a":-197.601151,"cg_iq_raw_a":-199.175812,"cg_iu_a":-192.778412,"cg_iv_a":127.067543,"cg_iw_a":65.7108688,"cg_sample_age_us":26.8054543,"cg_sample_seq":11366070,"cg_sample_valid":1,"cg_theta_rad":2.89604235,"cg_vd_req_v":-1.70592618,"cg_vd_v":-1.70592618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41569042,"cg_vq_v":-8.41569042,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2492.87402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2000.335327,"values":{"Elec_RPM":-2350.96167,"EncoderCos":18224,"EncoderSin":16747,"GapTicks":49467,"Mech_RPM":-470.192352,"cg_du":48.181942,"cg_dv":55.0295601,"cg_dw":44.9704399,"cg_id_a":0.842038155,"cg_id_raw_a":-4.68877792,"cg_iq_a":-201.367035,"cg_iq_raw_a":-200.68811,"cg_iu_a":-117.644951,"cg_iv_a":201.584869,"cg_iw_a":-83.9399261,"cg_sample_age_us":23.9472733,"cg_sample_seq":11367717,"cg_sample_valid":1,"cg_theta_rad":3.98482299,"cg_vd_req_v":-1.95327616,"cg_vd_v":-1.95327616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36104298,"cg_vq_v":-8.36104298,"cg_vu_v":134.167236,"cg_vv_v":136.366699,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2410.51587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2000.667358,"values":{"Elec_RPM":-2350.64111,"EncoderCos":29602,"EncoderSin":11548,"GapTicks":49331,"Mech_RPM":-470.128204,"cg_du":50.5071793,"cg_dv":44.8472481,"cg_dw":55.1527519,"cg_id_a":-7.57172489,"cg_id_raw_a":-10.4544277,"cg_iq_a":-195.338257,"cg_iq_raw_a":-195.743271,"cg_iu_a":77.3831177,"cg_iv_a":-194.306519,"cg_iw_a":116.923401,"cg_sample_age_us":23.7436371,"cg_sample_seq":11369416,"cg_sample_valid":1,"cg_theta_rad":4.58012486,"cg_vd_req_v":-1.78899217,"cg_vd_v":-1.78899217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46406364,"cg_vq_v":-8.46406364,"cg_vu_v":24.1940918,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4366398,"dclink_p_w":-2371.55664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2001.007253,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2001.007259,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2001.007263,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2001.018921,"values":{"Elec_RPM":-2355.72559,"EncoderCos":40751,"EncoderSin":12799,"GapTicks":49985,"Mech_RPM":-471.145142,"cg_du":53.9871979,"cg_dv":54.5583344,"cg_dw":45.4416656,"cg_id_a":5.73956442,"cg_id_raw_a":7.81061316,"cg_iq_a":-203.130341,"cg_iq_raw_a":-204.436798,"cg_iu_a":-10.9068604,"cg_iv_a":176.395416,"cg_iw_a":-165.488556,"cg_sample_age_us":26.823637,"cg_sample_seq":11371120,"cg_sample_valid":1,"cg_theta_rad":5.15240812,"cg_vd_req_v":-2.05583572,"cg_vd_v":-2.05583572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28254604,"cg_vq_v":-8.28254604,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6975937,"dclink_p_w":-2416.55347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2001.350952,"values":{"Elec_RPM":-2352.23926,"EncoderCos":42071,"EncoderSin":13444,"GapTicks":49355,"Mech_RPM":-470.447876,"cg_du":50.5533676,"cg_dv":55.1314354,"cg_dw":44.8685646,"cg_id_a":-18.9784546,"cg_id_raw_a":-18.9928741,"cg_iq_a":-197.449219,"cg_iq_raw_a":-195.886185,"cg_iu_a":-34.9002762,"cg_iv_a":188.39212,"cg_iw_a":-153.491852,"cg_sample_age_us":23.9872723,"cg_sample_seq":11372867,"cg_sample_valid":1,"cg_theta_rad":5.17662191,"cg_vd_req_v":-1.59198046,"cg_vd_v":-1.59198046,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41658306,"cg_vq_v":-8.41658306,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2384.63013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2001.68689,"values":{"Elec_RPM":-2352.09351,"EncoderCos":53927,"EncoderSin":32806,"GapTicks":49504,"Mech_RPM":-470.418701,"cg_du":54.9958076,"cg_dv":52.0801659,"cg_dw":45.0041924,"cg_id_a":4.67727041,"cg_id_raw_a":2.60747671,"cg_iq_a":-202.276306,"cg_iq_raw_a":-201.271774,"cg_iu_a":73.6862488,"cg_iv_a":125.871506,"cg_iw_a":-199.557755,"cg_sample_age_us":23.48909,"cg_sample_seq":11374517,"cg_sample_valid":1,"cg_theta_rad":0.0140594421,"cg_vd_req_v":-2.08021379,"cg_vd_v":-2.08021379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33073616,"cg_vq_v":-8.33073616,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8770008,"dclink_p_w":-2449.94214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2001.998944,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2001.998949,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2001.998953,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2002.038452,"values":{"Elec_RPM":-2350.8938,"EncoderCos":42300,"EncoderSin":51848,"GapTicks":49932,"Mech_RPM":-470.178741,"cg_du":54.6069832,"cg_dv":45.3930168,"cg_dw":46.0619926,"cg_id_a":15.2982512,"cg_id_raw_a":17.1827221,"cg_iq_a":-204.788559,"cg_iq_raw_a":-204.176605,"cg_iu_a":176.038834,"cg_iv_a":-2.32293701,"cg_iw_a":-173.715897,"cg_sample_age_us":24.0309086,"cg_sample_seq":11376169,"cg_sample_valid":1,"cg_theta_rad":1.14220405,"cg_vd_req_v":-2.2266767,"cg_vd_v":-2.2266767,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26461315,"cg_vq_v":-8.26461315,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2002.370483,"values":{"Elec_RPM":-2349.02734,"EncoderCos":40900,"EncoderSin":52466,"GapTicks":49372,"Mech_RPM":-469.80545,"cg_du":55.1155205,"cg_dv":48.5289307,"cg_dw":44.8844795,"cg_id_a":-11.5434122,"cg_id_raw_a":-8.66204548,"cg_iq_a":-195.558533,"cg_iq_raw_a":-198.784149,"cg_iu_a":157.192047,"cg_iv_a":24.062561,"cg_iw_a":-181.254608,"cg_sample_age_us":23.9290905,"cg_sample_seq":11377916,"cg_sample_valid":1,"cg_theta_rad":1.18047559,"cg_vd_req_v":-1.68266749,"cg_vd_v":-1.68266749,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47397137,"cg_vq_v":-8.47397137,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-17.2720604,"dclink_p_w":-2492.09497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2002.702515,"values":{"Elec_RPM":-2349.48364,"EncoderCos":18583,"EncoderSin":48815,"GapTicks":49385,"Mech_RPM":-469.896729,"cg_du":55.1037865,"cg_dv":44.8962135,"cg_dw":48.6535187,"cg_id_a":-3.35706425,"cg_id_raw_a":-8.19482231,"cg_iq_a":-196.493774,"cg_iq_raw_a":-196.744492,"cg_iu_a":197.966339,"cg_iv_a":-95.3246155,"cg_iw_a":-102.641724,"cg_sample_age_us":23.9981823,"cg_sample_seq":11379566,"cg_sample_valid":1,"cg_theta_rad":2.29645562,"cg_vd_req_v":-1.86819482,"cg_vd_v":-1.86819482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44965458,"cg_vq_v":-8.44965458,"cg_vu_v":44.8690414,"cg_vv_v":41.3499031,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-18.1256008,"dclink_p_w":-2631.19458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2003.022561,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2003.022567,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2003.022572,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2003.054077,"values":{"Elec_RPM":-2355.88672,"EncoderCos":17910,"EncoderSin":48224,"GapTicks":49615,"Mech_RPM":-471.177368,"cg_du":54.8953171,"cg_dv":45.1046829,"cg_dw":47.1908493,"cg_id_a":14.0909996,"cg_id_raw_a":11.2560835,"cg_iq_a":-201.440247,"cg_iq_raw_a":-200.631073,"cg_iu_a":196.081665,"cg_iv_a":-46.5766449,"cg_iw_a":-149.50502,"cg_sample_age_us":23.994545,"cg_sample_seq":11381316,"cg_sample_valid":1,"cg_theta_rad":2.33655739,"cg_vd_req_v":-2.19935822,"cg_vd_v":-2.19935822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33267212,"cg_vq_v":-8.33267212,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5344982,"dclink_p_w":-2392.94946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2003.390015,"values":{"Elec_RPM":-2357.34229,"EncoderCos":12233,"EncoderSin":26448,"GapTicks":49797,"Mech_RPM":-471.468445,"cg_du":54.7299347,"cg_dv":45.2700653,"cg_dw":53.4551659,"cg_id_a":4.99377155,"cg_id_raw_a":11.5483637,"cg_iq_a":-202.033936,"cg_iq_raw_a":-201.973907,"cg_iu_a":173.827957,"cg_iv_a":-179.990219,"cg_iw_a":10.185318,"cg_sample_age_us":24.0309086,"cg_sample_seq":11382966,"cg_sample_valid":1,"cg_theta_rad":3.44191742,"cg_vd_req_v":-1.98204398,"cg_vd_v":-1.98204398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34648037,"cg_vq_v":-8.34648037,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-15.8476772,"dclink_p_w":-2286.57837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2003.71814,"values":{"Elec_RPM":-2354.44678,"EncoderCos":12410,"EncoderSin":25827,"GapTicks":49456,"Mech_RPM":-470.889343,"cg_du":55.0391312,"cg_dv":44.9608688,"cg_dw":51.8590965,"cg_id_a":-11.1250591,"cg_id_raw_a":-8.0408268,"cg_iq_a":-197.836594,"cg_iq_raw_a":-198.765167,"cg_iu_a":177.524826,"cg_iv_a":-163.499268,"cg_iw_a":-14.0255661,"cg_sample_age_us":24.0745449,"cg_sample_seq":11384717,"cg_sample_valid":1,"cg_theta_rad":3.47730494,"cg_vd_req_v":-1.66803622,"cg_vd_v":-1.66803622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44686508,"cg_vq_v":-8.44686508,"cg_vu_v":129.768311,"cg_vv_v":117.891212,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.8461933,"dclink_p_w":-2445.46997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2004.015559,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2004.015564,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2004.015569,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2004.073608,"values":{"Elec_RPM":-2352.25,"EncoderCos":30238,"EncoderSin":11431,"GapTicks":49390,"Mech_RPM":-470.449982,"cg_du":51.6018562,"cg_dv":44.9002953,"cg_dw":55.0997047,"cg_id_a":4.4479084,"cg_id_raw_a":0.332889199,"cg_iq_a":-196.397339,"cg_iq_raw_a":-195.985397,"cg_iu_a":114.859238,"cg_iv_a":-195.756271,"cg_iw_a":80.8970337,"cg_sample_age_us":23.7363644,"cg_sample_seq":11386366,"cg_sample_valid":1,"cg_theta_rad":4.60783052,"cg_vd_req_v":-2.03530693,"cg_vd_v":-2.03530693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41877556,"cg_vq_v":-8.41877556,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2592,"hz_tim_isr":4997,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2004.40564,"values":{"Elec_RPM":-2358.0083,"EncoderCos":31063,"EncoderSin":11400,"GapTicks":49678,"Mech_RPM":-471.601654,"cg_du":53.0881195,"cg_dv":45.1626816,"cg_dw":54.8373184,"cg_id_a":12.7751017,"cg_id_raw_a":11.3253727,"cg_iq_a":-200.535858,"cg_iq_raw_a":-199.09256,"cg_iu_a":151.066833,"cg_iv_a":-192.530579,"cg_iw_a":41.4637375,"cg_sample_age_us":23.6890907,"cg_sample_seq":11388116,"cg_sample_valid":1,"cg_theta_rad":4.64691353,"cg_vd_req_v":-2.18917322,"cg_vd_v":-2.18917322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33265305,"cg_vq_v":-8.33265305,"cg_vu_v":13.6366701,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.7160473,"dclink_p_w":-2556.15552,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2004.737671,"values":{"Elec_RPM":-2353.20117,"EncoderCos":51057,"EncoderSin":21905,"GapTicks":49649,"Mech_RPM":-470.640259,"cg_du":47.2609062,"cg_dv":45.1361694,"cg_dw":54.8638306,"cg_id_a":-4.13380623,"cg_id_raw_a":1.94323707,"cg_iq_a":-203.479813,"cg_iq_raw_a":-205.708984,"cg_iu_a":4.31554985,"cg_iv_a":-177.380646,"cg_iw_a":173.065094,"cg_sample_age_us":23.8890915,"cg_sample_seq":11389766,"cg_sample_valid":1,"cg_theta_rad":5.76405096,"cg_vd_req_v":-1.89559913,"cg_vd_v":-1.89559913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33410263,"cg_vq_v":-8.33410263,"cg_vu_v":1.75957024,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4079742,"dclink_p_w":-2519.36304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2005.007146,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2005.007152,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2005.007156,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2005.089233,"values":{"Elec_RPM":-2351.54199,"EncoderCos":43588,"EncoderSin":14259,"GapTicks":49539,"Mech_RPM":-470.30838,"cg_du":47.5661354,"cg_dv":54.9641762,"cg_dw":45.0358238,"cg_id_a":6.32773685,"cg_id_raw_a":4.02677441,"cg_iq_a":-201.921478,"cg_iq_raw_a":-201.169556,"cg_iu_a":-134.860779,"cg_iv_a":198.322937,"cg_iw_a":-63.4621582,"cg_sample_age_us":23.9618187,"cg_sample_seq":11391566,"cg_sample_valid":1,"cg_theta_rad":5.26034927,"cg_vd_req_v":-2.14438367,"cg_vd_v":-2.14438367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35083771,"cg_vq_v":-8.35083771,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7537727,"dclink_p_w":-2424.68408,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2005.421265,"values":{"Elec_RPM":-2352.18164,"EncoderCos":50216,"EncoderSin":44960,"GapTicks":49387,"Mech_RPM":-470.43634,"cg_du":44.8974266,"cg_dv":48.918541,"cg_dw":55.1025734,"cg_id_a":-3.50899673,"cg_id_raw_a":-7.69981337,"cg_iq_a":-199.465698,"cg_iq_raw_a":-200.069427,"cg_iu_a":-84.4456024,"cg_iv_a":-114.026428,"cg_iw_a":198.472031,"cg_sample_age_us":23.4127274,"cg_sample_seq":11393168,"cg_sample_valid":1,"cg_theta_rad":0.629153788,"cg_vd_req_v":-1.919572,"cg_vd_v":-1.919572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37349319,"cg_vq_v":-8.37349319,"cg_vu_v":98.0960464,"cg_vv_v":88.4184036,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2492.87402,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2005.776733,"values":{"Elec_RPM":-2355.13428,"EncoderCos":41183,"EncoderSin":52342,"GapTicks":49469,"Mech_RPM":-471.026855,"cg_du":55.0281219,"cg_dv":47.8296928,"cg_dw":44.9718781,"cg_id_a":-8.07192421,"cg_id_raw_a":-3.94630408,"cg_iq_a":-197.848724,"cg_iq_raw_a":-200.844467,"cg_iu_a":137.076706,"cg_iv_a":58.240509,"cg_iw_a":-195.317215,"cg_sample_age_us":24.8854542,"cg_sample_seq":11394870,"cg_sample_valid":1,"cg_theta_rad":1.20862949,"cg_vd_req_v":-1.74180579,"cg_vd_v":-1.74180579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45580959,"cg_vq_v":-8.45580959,"cg_vu_v":17.5957031,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2006.019245,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2006.019252,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2006.019259,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2006.108765,"values":{"Elec_RPM":-2358.20435,"EncoderCos":39684,"EncoderSin":52892,"GapTicks":49348,"Mech_RPM":-471.640869,"cg_du":55.1374626,"cg_dv":50.9437256,"cg_dw":44.8625374,"cg_id_a":0.774542332,"cg_id_raw_a":-3.47808886,"cg_iq_a":-198.727264,"cg_iq_raw_a":-193.014206,"cg_iu_a":103.514923,"cg_iv_a":96.2240448,"cg_iw_a":-199.738968,"cg_sample_age_us":23.823637,"cg_sample_seq":11396617,"cg_sample_valid":1,"cg_theta_rad":1.23969638,"cg_vd_req_v":-1.93991864,"cg_vd_v":-1.93991864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41277885,"cg_vq_v":-8.41277885,"cg_vu_v":129.328415,"cg_vv_v":142.085297,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2431.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2006.440796,"values":{"Elec_RPM":-2356.26929,"EncoderCos":17635,"EncoderSin":47942,"GapTicks":49800,"Mech_RPM":-471.253876,"cg_du":54.7268524,"cg_dv":45.2731476,"cg_dw":46.4924011,"cg_id_a":16.3600216,"cg_id_raw_a":15.1545477,"cg_iq_a":-204.373322,"cg_iq_raw_a":-202.826614,"cg_iu_a":190.826324,"cg_iv_a":-31.6804504,"cg_iw_a":-159.145874,"cg_sample_age_us":24.0200005,"cg_sample_seq":11398267,"cg_sample_valid":1,"cg_theta_rad":2.35608959,"cg_vd_req_v":-2.2456975,"cg_vd_v":-2.2456975,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26796722,"cg_vq_v":-8.26796722,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":130.208206,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2376.26318,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2006.792358,"values":{"Elec_RPM":-2353.27051,"EncoderCos":17066,"EncoderSin":47406,"GapTicks":49852,"Mech_RPM":-470.654083,"cg_du":54.679718,"cg_dv":46.2680664,"cg_dw":45.320282,"cg_id_a":5.72990227,"cg_id_raw_a":9.11474609,"cg_iq_a":-202.225204,"cg_iq_raw_a":-201.429916,"cg_iu_a":176.365021,"cg_iv_a":-6.45472717,"cg_iw_a":-169.910294,"cg_sample_age_us":24.0200005,"cg_sample_seq":11400017,"cg_sample_valid":1,"cg_theta_rad":2.39512944,"cg_vd_req_v":-2.01420236,"cg_vd_v":-2.01420236,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34370804,"cg_vq_v":-8.34370804,"cg_vu_v":140.325729,"cg_vv_v":118.3311,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2490.26465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2007.043492,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2007.043498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2007.043503,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2007.12439,"values":{"Elec_RPM":-2347.94971,"EncoderCos":11595,"EncoderSin":36542,"GapTicks":49606,"Mech_RPM":-469.589935,"cg_du":45.0966072,"cg_dv":54.9033928,"cg_dw":53.0789223,"cg_id_a":9.6837225,"cg_id_raw_a":8.32753372,"cg_iq_a":-198.208405,"cg_iq_raw_a":-196.762939,"cg_iu_a":-190.893738,"cg_iv_a":48.853363,"cg_iw_a":142.040375,"cg_sample_age_us":23.8999996,"cg_sample_seq":11401717,"cg_sample_valid":1,"cg_theta_rad":2.9700799,"cg_vd_req_v":-2.07942963,"cg_vd_v":-2.07942963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43712616,"cg_vq_v":-8.43712616,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5977478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2007.456421,"values":{"Elec_RPM":-2348.31274,"EncoderCos":19956,"EncoderSin":15385,"GapTicks":49643,"Mech_RPM":-469.662567,"cg_du":45.1304703,"cg_dv":54.8695297,"cg_dw":47.2465057,"cg_id_a":-2.18277693,"cg_id_raw_a":3.3428123,"cg_iq_a":-201.61618,"cg_iq_raw_a":-203.465744,"cg_iu_a":-173.822906,"cg_iv_a":172.807281,"cg_iw_a":1.015625,"cg_sample_age_us":23.8418179,"cg_sample_seq":11403367,"cg_sample_valid":1,"cg_theta_rad":4.08859205,"cg_vd_req_v":-1.84525216,"cg_vd_v":-1.84525216,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33242989,"cg_vq_v":-8.33242989,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.4420757,"dclink_p_w":-2379.57373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2007.807983,"values":{"Elec_RPM":-2350.36401,"EncoderCos":42430,"EncoderSin":13606,"GapTicks":49348,"Mech_RPM":-470.072784,"cg_du":49.7522087,"cg_dv":55.1381187,"cg_dw":44.8618813,"cg_id_a":-19.1589622,"cg_id_raw_a":-18.0245037,"cg_iq_a":-199.304169,"cg_iq_raw_a":-196.386765,"cg_iu_a":-58.3862839,"cg_iv_a":194.771027,"cg_iw_a":-136.38475,"cg_sample_age_us":23.9581814,"cg_sample_seq":11405017,"cg_sample_valid":1,"cg_theta_rad":5.1974597,"cg_vd_req_v":-1.60836339,"cg_vd_v":-1.60836339,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41132545,"cg_vq_v":-8.41132545,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2449.59937,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2008.002744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2008.00275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2008.002755,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2008.175171,"values":{"Elec_RPM":-2348.17725,"EncoderCos":32538,"EncoderSin":11314,"GapTicks":49610,"Mech_RPM":-469.635468,"cg_du":54.8995171,"cg_dv":45.1004829,"cg_dw":52.6888618,"cg_id_a":-2.99768782,"cg_id_raw_a":1.77775717,"cg_iq_a":-200.137573,"cg_iq_raw_a":-201.939636,"cg_iu_a":171.508347,"cg_iv_a":-174.626114,"cg_iw_a":3.11776733,"cg_sample_age_us":23.9836369,"cg_sample_seq":11406816,"cg_sample_valid":1,"cg_theta_rad":4.71326542,"cg_vd_req_v":-1.85160315,"cg_vd_v":-1.85160315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38697529,"cg_vq_v":-8.38697529,"cg_vu_v":49.2679672,"cg_vv_v":42.6695786,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2008.690796,"values":{"Elec_RPM":-2339.19531,"EncoderCos":25808,"EncoderSin":53144,"GapTicks":49489,"Mech_RPM":-467.839081,"cg_du":44.9905586,"cg_dv":47.7841492,"cg_dw":55.0094414,"cg_id_a":6.49282265,"cg_id_raw_a":2.82389617,"cg_iq_a":-197.298981,"cg_iq_raw_a":-196.045242,"cg_iu_a":-68.6795349,"cg_iv_a":-128.052795,"cg_iw_a":196.73233,"cg_sample_age_us":23.8527279,"cg_sample_seq":11409416,"cg_sample_valid":1,"cg_theta_rad":1.9038856,"cg_vd_req_v":-2.03671813,"cg_vd_v":-2.03671813,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4236784,"cg_vq_v":-8.4236784,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2596,"hz_tim_isr":5001,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2008.899287,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2008.899303,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2008.899306,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2009.027186,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2009.027192,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2009.027198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2009.136108,"values":{"Elec_RPM":-2346.88306,"EncoderCos":28337,"EncoderSin":53740,"GapTicks":49698,"Mech_RPM":-469.376617,"cg_du":45.1804886,"cg_dv":52.9234924,"cg_dw":54.8195114,"cg_id_a":0.27680099,"cg_id_raw_a":7.85748386,"cg_iq_a":-200.618256,"cg_iq_raw_a":-202.324448,"cg_iu_a":-174.765228,"cg_iv_a":3.91101074,"cg_iw_a":170.854218,"cg_sample_age_us":23.7763634,"cg_sample_seq":11411766,"cg_sample_valid":1,"cg_theta_rad":1.77079248,"cg_vd_req_v":-1.85856175,"cg_vd_v":-1.85856175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35543251,"cg_vq_v":-8.35543251,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2009.46814,"values":{"Elec_RPM":-2347.72388,"EncoderCos":17786,"EncoderSin":48126,"GapTicks":49683,"Mech_RPM":-469.544769,"cg_du":54.8332367,"cg_dv":45.1667633,"cg_dw":46.9425888,"cg_id_a":15.3893394,"cg_id_raw_a":12.3101559,"cg_iq_a":-204.429596,"cg_iq_raw_a":-202.082901,"cg_iu_a":194.450714,"cg_iv_a":-41.3575592,"cg_iw_a":-153.093155,"cg_sample_age_us":23.9872723,"cg_sample_seq":11413467,"cg_sample_valid":1,"cg_theta_rad":2.34533334,"cg_vd_req_v":-2.24396133,"cg_vd_v":-2.24396133,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27378845,"cg_vq_v":-8.27378845,"cg_vu_v":142.965088,"cg_vv_v":126.689056,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2348.54712,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2009.819702,"values":{"Elec_RPM":-2350.55078,"EncoderCos":12294,"EncoderSin":26200,"GapTicks":49623,"Mech_RPM":-470.110168,"cg_du":54.8876495,"cg_dv":45.1123505,"cg_dw":52.8257561,"cg_id_a":-1.3312571,"cg_id_raw_a":4.97773981,"cg_iq_a":-198.369598,"cg_iq_raw_a":-200.025528,"cg_iu_a":170.457275,"cg_iv_a":-170.530548,"cg_iw_a":0.0732803345,"cg_sample_age_us":24.1290913,"cg_sample_seq":11415117,"cg_sample_valid":1,"cg_theta_rad":3.45750809,"cg_vd_req_v":-1.85108101,"cg_vd_v":-1.85108101,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43641567,"cg_vq_v":-8.43641567,"cg_vu_v":106.453995,"cg_vv_v":84.4593658,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2383.50781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2010.019207,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2010.019214,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2010.01922,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2010.15564,"values":{"Elec_RPM":-2354.89795,"EncoderCos":19101,"EncoderSin":15990,"GapTicks":49941,"Mech_RPM":-470.979584,"cg_du":46.1269188,"cg_dv":54.5986481,"cg_dw":45.4013519,"cg_id_a":11.3270226,"cg_id_raw_a":11.4223194,"cg_iq_a":-204.536942,"cg_iq_raw_a":-204.466507,"cg_iu_a":-160.92009,"cg_iv_a":189.914368,"cg_iw_a":-28.9942703,"cg_sample_age_us":23.9690914,"cg_sample_seq":11416817,"cg_sample_valid":1,"cg_theta_rad":4.03683424,"cg_vd_req_v":-2.13556767,"cg_vd_v":-2.13556767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27419662,"cg_vq_v":-8.27419662,"cg_vu_v":129.768311,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2449.07495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2010.483765,"values":{"Elec_RPM":-2354.80713,"EncoderCos":30612,"EncoderSin":11403,"GapTicks":49473,"Mech_RPM":-470.961426,"cg_du":52.2938461,"cg_dv":44.9758224,"cg_dw":55.0241776,"cg_id_a":7.87450314,"cg_id_raw_a":5.1438098,"cg_iq_a":-198.560394,"cg_iq_raw_a":-198.255829,"cg_iu_a":130.262878,"cg_iv_a":-196.336182,"cg_iw_a":66.0732956,"cg_sample_age_us":23.7072735,"cg_sample_seq":11418516,"cg_sample_valid":1,"cg_theta_rad":4.62437487,"cg_vd_req_v":-2.11443448,"cg_vd_v":-2.11443448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39428234,"cg_vq_v":-8.39428234,"cg_vu_v":13.1967773,"cg_vv_v":8.79785156,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.0274143,"dclink_p_w":-2456.79639,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2010.839233,"values":{"Elec_RPM":-2354.48999,"EncoderCos":42267,"EncoderSin":13527,"GapTicks":49323,"Mech_RPM":-470.89801,"cg_du":50.0949364,"cg_dv":55.1601334,"cg_dw":44.8398666,"cg_id_a":-19.6923561,"cg_id_raw_a":-19.138916,"cg_iq_a":-197.2901,"cg_iq_raw_a":-195.517731,"cg_iu_a":-47.1506958,"cg_iv_a":185.963776,"cg_iw_a":-152.187057,"cg_sample_age_us":23.9618187,"cg_sample_seq":11420217,"cg_sample_valid":1,"cg_theta_rad":5.18716526,"cg_vd_req_v":-1.58125246,"cg_vd_v":-1.58125246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45089722,"cg_vq_v":-8.45089722,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2011.010999,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2011.011005,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2011.011011,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2011.171265,"values":{"Elec_RPM":-2353.80225,"EncoderCos":51198,"EncoderSin":22199,"GapTicks":49537,"Mech_RPM":-470.760437,"cg_du":48.0263481,"cg_dv":45.0340881,"cg_dw":54.9659119,"cg_id_a":-9.78048325,"cg_id_raw_a":-6.58707047,"cg_iq_a":-202.260773,"cg_iq_raw_a":-203.646393,"cg_iu_a":15.0074806,"cg_iv_a":-180.678833,"cg_iw_a":165.671356,"cg_sample_age_us":23.8163643,"cg_sample_seq":11421917,"cg_sample_valid":1,"cg_theta_rad":5.78064728,"cg_vd_req_v":-1.78159285,"cg_vd_v":-1.78159285,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3259058,"cg_vq_v":-8.3259058,"cg_vu_v":104.254532,"cg_vv_v":81.380127,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.8537731,"dclink_p_w":-2583.8811,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2011.503296,"values":{"Elec_RPM":-2361.07959,"EncoderCos":53883,"EncoderSin":34114,"GapTicks":50104,"Mech_RPM":-472.215942,"cg_du":54.4500504,"cg_dv":54.439827,"cg_dw":45.5499496,"cg_id_a":13.6801395,"cg_id_raw_a":14.4459829,"cg_iq_a":-204.216644,"cg_iq_raw_a":-204.727448,"cg_iu_a":13.1228008,"cg_iv_a":170.56015,"cg_iw_a":-183.682953,"cg_sample_age_us":23.4781818,"cg_sample_seq":11423616,"cg_sample_valid":1,"cg_theta_rad":0.073809132,"cg_vd_req_v":-2.23712564,"cg_vd_v":-2.23712564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28545952,"cg_vq_v":-8.28545952,"cg_vu_v":0.43989256,"cg_vv_v":3.51914048,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2424.63525,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2011.854858,"values":{"Elec_RPM":-2361.36475,"EncoderCos":49734,"EncoderSin":45666,"GapTicks":49493,"Mech_RPM":-472.272949,"cg_du":44.9943581,"cg_dv":47.5743713,"cg_dw":55.0056419,"cg_id_a":17.469389,"cg_id_raw_a":14.7915888,"cg_iq_a":-202.797424,"cg_iq_raw_a":-201.047241,"cg_iu_a":-62.3731041,"cg_iv_a":-135.772736,"cg_iw_a":198.145844,"cg_sample_age_us":23.40909,"cg_sample_seq":11425316,"cg_sample_valid":1,"cg_theta_rad":0.646639287,"cg_vd_req_v":-2.33258629,"cg_vd_v":-2.33258629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33985901,"cg_vq_v":-8.33985901,"cg_vu_v":6.1584959,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2385.34351,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2012.003074,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2012.00308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2012.003086,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2012.18689,"values":{"Elec_RPM":-2361.79053,"EncoderCos":39818,"EncoderSin":52860,"GapTicks":49353,"Mech_RPM":-472.358124,"cg_du":55.1331177,"cg_dv":50.6954536,"cg_dw":44.8668823,"cg_id_a":-1.18277323,"cg_id_raw_a":-3.25482535,"cg_iq_a":-197.301422,"cg_iq_raw_a":-196.853973,"cg_iu_a":110.183792,"cg_iv_a":91.4760895,"cg_iw_a":-201.659882,"cg_sample_age_us":23.8963642,"cg_sample_seq":11427016,"cg_sample_valid":1,"cg_theta_rad":1.23616672,"cg_vd_req_v":-1.90088582,"cg_vd_v":-1.90088582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41855812,"cg_vq_v":-8.41855812,"cg_vu_v":40.4701157,"cg_vv_v":43.1094704,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.047348,"dclink_p_w":-2467.17163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2012.542358,"values":{"Elec_RPM":-2358.89111,"EncoderCos":28613,"EncoderSin":53786,"GapTicks":49861,"Mech_RPM":-471.778198,"cg_du":45.3285942,"cg_dv":53.5525856,"cg_dw":54.6714058,"cg_id_a":4.40174103,"cg_id_raw_a":9.90810585,"cg_iq_a":-202.274384,"cg_iq_raw_a":-201.923248,"cg_iu_a":-165.740509,"cg_iv_a":-14.6820984,"cg_iw_a":180.422607,"cg_sample_age_us":24.8345451,"cg_sample_seq":11428720,"cg_sample_valid":1,"cg_theta_rad":1.79889941,"cg_vd_req_v":-1.94445848,"cg_vd_v":-1.94445848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30121231,"cg_vq_v":-8.30121231,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2012.87439,"values":{"Elec_RPM":-2358.2522,"EncoderCos":11815,"EncoderSin":37541,"GapTicks":49354,"Mech_RPM":-471.650452,"cg_du":44.8676949,"cg_dv":55.1323051,"cg_dw":51.2464447,"cg_id_a":-3.59479237,"cg_id_raw_a":-3.03333902,"cg_iq_a":-197.027039,"cg_iq_raw_a":-197.168854,"cg_iu_a":-198.033768,"cg_iv_a":100.537064,"cg_iw_a":97.4967041,"cg_sample_age_us":23.9290905,"cg_sample_seq":11430366,"cg_sample_valid":1,"cg_theta_rad":2.92320299,"cg_vd_req_v":-1.81383348,"cg_vd_v":-1.81383348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46861362,"cg_vq_v":-8.46861362,"cg_vu_v":38.2706528,"cg_vv_v":51.4674301,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-17.1234589,"dclink_p_w":-2470.65405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2012.995641,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2012.995647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2012.995652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2013.206421,"values":{"Elec_RPM":-2364.79932,"EncoderCos":11611,"EncoderSin":36598,"GapTicks":49594,"Mech_RPM":-472.959839,"cg_du":45.0862389,"cg_dv":54.9137611,"cg_dw":52.9877129,"cg_id_a":8.87990284,"cg_id_raw_a":7.09551859,"cg_iq_a":-196.283707,"cg_iq_raw_a":-196.569885,"cg_iu_a":-191.836075,"cg_iv_a":50.7742767,"cg_iw_a":141.061798,"cg_sample_age_us":23.9327278,"cg_sample_seq":11432116,"cg_sample_valid":1,"cg_theta_rad":2.96297812,"cg_vd_req_v":-2.05005836,"cg_vd_v":-2.05005836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45793343,"cg_vq_v":-8.45793343,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2506.76465,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2013.557983,"values":{"Elec_RPM":-2365.00708,"EncoderCos":12827,"EncoderSin":24727,"GapTicks":49360,"Mech_RPM":-473.001434,"cg_du":55.1265488,"cg_dv":44.8734512,"cg_dw":49.4333763,"cg_id_a":-11.856472,"cg_id_raw_a":-15.536828,"cg_iq_a":-196.408783,"cg_iq_raw_a":-195.182968,"cg_iu_a":194.269485,"cg_iv_a":-132.583282,"cg_iw_a":-60.4901657,"cg_sample_age_us":24.0745449,"cg_sample_seq":11433817,"cg_sample_valid":1,"cg_theta_rad":3.53061485,"cg_vd_req_v":-1.67457354,"cg_vd_v":-1.67457354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41967297,"cg_vq_v":-8.41967297,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2013.890015,"values":{"Elec_RPM":-2360.35742,"EncoderCos":20450,"EncoderSin":15017,"GapTicks":49381,"Mech_RPM":-472.071472,"cg_du":44.892067,"cg_dv":55.107933,"cg_dw":48.6984367,"cg_id_a":-13.2624168,"cg_id_raw_a":-11.6240911,"cg_iq_a":-197.480118,"cg_iq_raw_a":-198.226944,"cg_iu_a":-182.195221,"cg_iv_a":157.186188,"cg_iw_a":25.0090408,"cg_sample_age_us":23.9618187,"cg_sample_seq":11435516,"cg_sample_valid":1,"cg_theta_rad":4.11605406,"cg_vd_req_v":-1.64060712,"cg_vd_v":-1.64060712,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44380379,"cg_vq_v":-8.44380379,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7501488,"dclink_p_w":-2431.52783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.448822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2014.01869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2014.018696,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2014.018702,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2014.225952,"values":{"Elec_RPM":-2358.1604,"EncoderCos":32051,"EncoderSin":11337,"GapTicks":49891,"Mech_RPM":-471.63208,"cg_du":54.6439438,"cg_dv":45.3560562,"cg_dw":53.9043694,"cg_id_a":10.3082142,"cg_id_raw_a":16.6888809,"cg_iq_a":-201.597412,"cg_iq_raw_a":-201.477081,"cg_iu_a":172.26947,"cg_iv_a":-175.858398,"cg_iw_a":3.58892822,"cg_sample_age_us":24.1218185,"cg_sample_seq":11437216,"cg_sample_valid":1,"cg_theta_rad":4.69526148,"cg_vd_req_v":-2.11415148,"cg_vd_v":-2.11415148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36354828,"cg_vq_v":-8.36354828,"cg_vu_v":49.707859,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2014.577515,"values":{"Elec_RPM":-2357.20557,"EncoderCos":43813,"EncoderSin":14400,"GapTicks":49600,"Mech_RPM":-471.441101,"cg_du":47.4344635,"cg_dv":54.9088287,"cg_dw":45.0911713,"cg_id_a":5.68279743,"cg_id_raw_a":4.58972406,"cg_iq_a":-203.085205,"cg_iq_raw_a":-201.442047,"cg_iu_a":-134.969498,"cg_iv_a":199.482727,"cg_iw_a":-64.5132294,"cg_sample_age_us":23.863636,"cg_sample_seq":11438916,"cg_sample_valid":1,"cg_theta_rad":5.2629323,"cg_vd_req_v":-2.11806226,"cg_vd_v":-2.11806226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31214714,"cg_vq_v":-8.29620552,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2389.27759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2014.909546,"values":{"Elec_RPM":-2359.05933,"EncoderCos":51894,"EncoderSin":23453,"GapTicks":49332,"Mech_RPM":-471.811859,"cg_du":50.8093987,"cg_dv":44.8478889,"cg_dw":55.1521111,"cg_id_a":-2.607337,"cg_id_raw_a":-6.48799515,"cg_iq_a":-198.938049,"cg_iq_raw_a":-198.406387,"cg_iu_a":92.2068481,"cg_iv_a":-199.018219,"cg_iw_a":106.811371,"cg_sample_age_us":23.7472725,"cg_sample_seq":11440617,"cg_sample_valid":1,"cg_theta_rad":5.84566593,"cg_vd_req_v":-1.96210778,"cg_vd_v":-1.96210778,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39263821,"cg_vq_v":-8.39263821,"cg_vu_v":139.445938,"cg_vv_v":131.967773,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.739275,"dclink_p_w":-2415.22217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2015.011235,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2015.011241,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2015.011246,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2015.261108,"values":{"Elec_RPM":-2354.47705,"EncoderCos":53868,"EncoderSin":34724,"GapTicks":49668,"Mech_RPM":-470.895386,"cg_du":53.0224228,"cg_dv":54.8467751,"cg_dw":45.1532249,"cg_id_a":-1.08832049,"cg_id_raw_a":4.92495871,"cg_iq_a":-200.862534,"cg_iq_raw_a":-202.493271,"cg_iu_a":-31.4208717,"cg_iv_a":183.64418,"cg_iw_a":-152.223312,"cg_sample_age_us":23.3872719,"cg_sample_seq":11442320,"cg_sample_valid":1,"cg_theta_rad":0.143179342,"cg_vd_req_v":-1.93940222,"cg_vd_v":-1.93940222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38727856,"cg_vq_v":-8.38727856,"cg_vu_v":7.47817326,"cg_vv_v":35.6312981,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2015.59314,"values":{"Elec_RPM":-2357.29688,"EncoderCos":48720,"EncoderSin":46899,"GapTicks":49765,"Mech_RPM":-471.459351,"cg_du":46.9013596,"cg_dv":45.2413292,"cg_dw":54.7586708,"cg_id_a":1.13020456,"cg_id_raw_a":6.91889572,"cg_iq_a":-204.070053,"cg_iq_raw_a":-206.303604,"cg_iu_a":-2.49829102,"cg_iv_a":-174.517395,"cg_iw_a":177.015686,"cg_sample_age_us":23.4127274,"cg_sample_seq":11444016,"cg_sample_valid":1,"cg_theta_rad":0.731027126,"cg_vd_req_v":-1.93619108,"cg_vd_v":-1.93619108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2987442,"cg_vq_v":-8.2987442,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2015.925171,"values":{"Elec_RPM":-2352.36353,"EncoderCos":38676,"EncoderSin":53244,"GapTicks":49663,"Mech_RPM":-470.472717,"cg_du":54.8510208,"cg_dv":52.8551712,"cg_dw":45.1489792,"cg_id_a":11.9735394,"cg_id_raw_a":9.66688347,"cg_iq_a":-203.698471,"cg_iq_raw_a":-201.754227,"cg_iu_a":48.0256119,"cg_iv_a":146.929169,"cg_iw_a":-194.954773,"cg_sample_age_us":23.9327278,"cg_sample_seq":11445717,"cg_sample_valid":1,"cg_theta_rad":1.29194617,"cg_vd_req_v":-2.1554482,"cg_vd_v":-2.1554482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28622627,"cg_vq_v":-8.28622627,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2410.51587,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121606775,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2016.035404,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2016.035409,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2016.035414,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2016.276733,"values":{"Elec_RPM":-2356.36328,"EncoderCos":26139,"EncoderSin":53176,"GapTicks":49388,"Mech_RPM":-471.272644,"cg_du":44.8990021,"cg_dv":48.6291084,"cg_dw":55.1009979,"cg_id_a":-3.08755851,"cg_id_raw_a":-7.31747437,"cg_iq_a":-197.831177,"cg_iq_raw_a":-198.549255,"cg_iu_a":-103.691071,"cg_iv_a":-94.5272522,"cg_iw_a":198.218323,"cg_sample_age_us":23.7763634,"cg_sample_seq":11447416,"cg_sample_valid":1,"cg_theta_rad":1.87613451,"cg_vd_req_v":-1.76490152,"cg_vd_v":-1.76490152,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4172039,"cg_vq_v":-8.4172039,"cg_vu_v":103.374756,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2404.24023,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2016.612671,"values":{"Elec_RPM":-2355.84326,"EncoderCos":16281,"EncoderSin":46510,"GapTicks":49345,"Mech_RPM":-471.168671,"cg_du":55.1407623,"cg_dv":48.9571915,"cg_dw":44.8592377,"cg_id_a":-9.18030357,"cg_id_raw_a":-8.89688587,"cg_iq_a":-195.156647,"cg_iq_raw_a":-194.299194,"cg_iu_a":146.282654,"cg_iv_a":37.0740967,"cg_iw_a":-183.35675,"cg_sample_age_us":23.9436359,"cg_sample_seq":11449117,"cg_sample_valid":1,"cg_theta_rad":2.44756508,"cg_vd_req_v":-1.71876907,"cg_vd_v":-1.71876907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47714043,"cg_vq_v":-8.47714043,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2016.940796,"values":{"Elec_RPM":-2356.92676,"EncoderCos":11397,"EncoderSin":35157,"GapTicks":49748,"Mech_RPM":-471.385376,"cg_du":45.2254944,"cg_dv":53.0813866,"cg_dw":54.7745056,"cg_id_a":2.90663433,"cg_id_raw_a":8.47448254,"cg_iq_a":-202.831818,"cg_iq_raw_a":-204.120728,"cg_iu_a":-177.483521,"cg_iv_a":4.96206665,"cg_iw_a":172.521454,"cg_sample_age_us":23.8418179,"cg_sample_seq":11450816,"cg_sample_valid":1,"cg_theta_rad":3.02468777,"cg_vd_req_v":-1.90192413,"cg_vd_v":-1.90192413,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29961109,"cg_vq_v":-8.29961109,"cg_vu_v":128.008743,"cg_vv_v":130.208206,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-17.1905117,"dclink_p_w":-2480.32886,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2017.027392,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2017.027399,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2017.027404,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2017.296265,"values":{"Elec_RPM":-2358.71851,"EncoderCos":20974,"EncoderSin":14703,"GapTicks":49319,"Mech_RPM":-471.743713,"cg_du":44.8361015,"cg_dv":55.1638985,"cg_dw":50.0158844,"cg_id_a":-15.9190464,"cg_id_raw_a":-14.4100466,"cg_iq_a":-196.371155,"cg_iq_raw_a":-196.592285,"cg_iu_a":-192.705933,"cg_iv_a":135.47612,"cg_iw_a":57.2298126,"cg_sample_age_us":23.9327278,"cg_sample_seq":11452466,"cg_sample_valid":1,"cg_theta_rad":4.14606571,"cg_vd_req_v":-1.60169852,"cg_vd_v":-1.60169852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47964668,"cg_vq_v":-8.47964668,"cg_vu_v":38.2706528,"cg_vv_v":52.7871094,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2479.49805,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2017.628296,"values":{"Elec_RPM":-2361.76416,"EncoderCos":21795,"EncoderSin":14221,"GapTicks":49373,"Mech_RPM":-472.352814,"cg_du":44.8848076,"cg_dv":55.1151924,"cg_dw":51.7462082,"cg_id_a":-3.09485316,"cg_id_raw_a":-6.13586807,"cg_iq_a":-195.731827,"cg_iq_raw_a":-195.960846,"cg_iu_a":-195.822906,"cg_iv_a":89.4464417,"cg_iw_a":106.376465,"cg_sample_age_us":23.9654541,"cg_sample_seq":11454216,"cg_sample_valid":1,"cg_theta_rad":4.18857908,"cg_vd_req_v":-1.86613142,"cg_vd_v":-1.86613142,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48332405,"cg_vq_v":-8.48332405,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2530.44043,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2017.960327,"values":{"Elec_RPM":-2355.18677,"EncoderCos":44153,"EncoderSin":14647,"GapTicks":49909,"Mech_RPM":-471.037354,"cg_du":46.3460197,"cg_dv":54.6276398,"cg_dw":45.3723602,"cg_id_a":8.70348644,"cg_id_raw_a":9.1086359,"cg_iq_a":-206.603851,"cg_iq_raw_a":-205.316849,"cg_iu_a":-161.137543,"cg_iv_a":193.864929,"cg_iw_a":-32.7273865,"cg_sample_age_us":24.0381813,"cg_sample_seq":11455867,"cg_sample_valid":1,"cg_theta_rad":5.29425716,"cg_vd_req_v":-2.17973185,"cg_vd_v":-2.17973185,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21483421,"cg_vq_v":-8.21483421,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-17.4695892,"dclink_p_w":-2520.59546,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2018.019502,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2018.019508,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2018.019513,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2018.43689,"values":{"Elec_RPM":-2353.80566,"EncoderCos":53945,"EncoderSin":31673,"GapTicks":49318,"Mech_RPM":-470.761108,"cg_du":55.164608,"cg_dv":50.0885696,"cg_dw":44.835392,"cg_id_a":-11.2859573,"cg_id_raw_a":-18.7715263,"cg_iq_a":-197.492935,"cg_iq_raw_a":-193.617508,"cg_iu_a":132.147552,"cg_iv_a":60.8863068,"cg_iw_a":-193.033859,"cg_sample_age_us":24.045454,"cg_sample_seq":11458117,"cg_sample_valid":1,"cg_theta_rad":6.24106312,"cg_vd_req_v":-1.76866353,"cg_vd_v":-1.76866353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44802856,"cg_vq_v":-8.44802856,"cg_vu_v":126.249161,"cg_vv_v":131.527878,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2473.88135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2018.883587,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2018.883597,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2018.8836,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2018.952515,"values":{"Elec_RPM":-2347.26758,"EncoderCos":11925,"EncoderSin":38082,"GapTicks":49298,"Mech_RPM":-469.453491,"cg_du":44.8170929,"cg_dv":55.1829071,"cg_dw":50.2244835,"cg_id_a":-8.90662956,"cg_id_raw_a":-12.6864681,"cg_iq_a":-194.88063,"cg_iq_raw_a":-194.865204,"cg_iu_a":-190.785004,"cg_iv_a":128.082367,"cg_iw_a":62.7026329,"cg_sample_age_us":23.8345451,"cg_sample_seq":11460767,"cg_sample_valid":1,"cg_theta_rad":2.89254498,"cg_vd_req_v":-1.695014,"cg_vd_v":-1.695014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49663162,"cg_vq_v":-8.49663162,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2609,"hz_tim_isr":4999,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5959473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2018.979752,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2018.979758,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2018.979764,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2019.307983,"values":{"Elec_RPM":-2350.73877,"EncoderCos":16864,"EncoderSin":47165,"GapTicks":49637,"Mech_RPM":-470.147736,"cg_du":54.8754311,"cg_dv":46.9894676,"cg_dw":45.1245689,"cg_id_a":0.200088978,"cg_id_raw_a":4.50959158,"cg_iq_a":-197.72258,"cg_iq_raw_a":-199.178543,"cg_iu_a":170.783478,"cg_iv_a":0.250366211,"cg_iw_a":-171.033844,"cg_sample_age_us":23.9727268,"cg_sample_seq":11462566,"cg_sample_valid":1,"cg_theta_rad":2.40595531,"cg_vd_req_v":-1.89816296,"cg_vd_v":-1.89816296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43895245,"cg_vq_v":-8.43895245,"cg_vu_v":21.1148415,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2019.640015,"values":{"Elec_RPM":-2353.93042,"EncoderCos":11552,"EncoderSin":36381,"GapTicks":49727,"Mech_RPM":-470.786072,"cg_du":45.2072487,"cg_dv":54.7927513,"cg_dw":53.3822289,"cg_id_a":9.84389591,"cg_id_raw_a":5.47961235,"cg_iq_a":-197.779495,"cg_iq_raw_a":-196.489838,"cg_iu_a":-188.719116,"cg_iv_a":43.8879547,"cg_iw_a":144.831161,"cg_sample_age_us":23.9290905,"cg_sample_seq":11464267,"cg_sample_valid":1,"cg_theta_rad":2.97309256,"cg_vd_req_v":-2.06502151,"cg_vd_v":-2.06502151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39846802,"cg_vq_v":-8.39846802,"cg_vu_v":113.492287,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2390.38257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2019.972046,"values":{"Elec_RPM":-2353.74756,"EncoderCos":13044,"EncoderSin":24219,"GapTicks":49385,"Mech_RPM":-470.749512,"cg_du":55.1044388,"cg_dv":44.8955612,"cg_dw":48.5279427,"cg_id_a":-1.30018258,"cg_id_raw_a":-7.8261919,"cg_iq_a":-198.248474,"cg_iq_raw_a":-198.026703,"cg_iu_a":197.567657,"cg_iv_a":-104.748009,"cg_iw_a":-92.8196487,"cg_sample_age_us":24.1000004,"cg_sample_seq":11465966,"cg_sample_valid":1,"cg_theta_rad":3.54800916,"cg_vd_req_v":-1.92101204,"cg_vd_v":-1.92101204,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40461445,"cg_vq_v":-8.40461445,"cg_vu_v":105.574219,"cg_vv_v":75.6615219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2387.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2020.0031,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2020.003118,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2020.003124,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2020.323608,"values":{"Elec_RPM":-2356.16479,"EncoderCos":31517,"EncoderSin":11409,"GapTicks":49874,"Mech_RPM":-471.232971,"cg_du":53.8833008,"cg_dv":45.3401146,"cg_dw":54.6598854,"cg_id_a":19.1452904,"cg_id_raw_a":17.9599686,"cg_iq_a":-200.607071,"cg_iq_raw_a":-200.094879,"cg_iu_a":164.114609,"cg_iv_a":-183.759552,"cg_iw_a":19.6449509,"cg_sample_age_us":24.0781822,"cg_sample_seq":11467617,"cg_sample_valid":1,"cg_theta_rad":4.66621876,"cg_vd_req_v":-2.29836702,"cg_vd_v":-2.29836702,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35776901,"cg_vq_v":-8.35776901,"cg_vu_v":141.205521,"cg_vv_v":109.973145,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2508.08545,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2020.65564,"values":{"Elec_RPM":-2355.73047,"EncoderCos":32618,"EncoderSin":11352,"GapTicks":49596,"Mech_RPM":-471.146088,"cg_du":54.9126129,"cg_dv":45.0873871,"cg_dw":52.4566803,"cg_id_a":-5.22286844,"cg_id_raw_a":1.83884895,"cg_iq_a":-198.753571,"cg_iq_raw_a":-200.315887,"cg_iu_a":173.103088,"cg_iv_a":-168.718384,"cg_iw_a":-4.38471222,"cg_sample_age_us":24.0963631,"cg_sample_seq":11469366,"cg_sample_valid":1,"cg_theta_rad":4.72139025,"cg_vd_req_v":-1.78741431,"cg_vd_v":-1.78741431,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38249588,"cg_vq_v":-8.38249588,"cg_vu_v":33.4318352,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.9099503,"dclink_p_w":-2592.01147,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2020.991577,"values":{"Elec_RPM":-2350.17041,"EncoderCos":51743,"EncoderSin":23235,"GapTicks":49277,"Mech_RPM":-470.034088,"cg_du":50.2860718,"cg_dv":44.79739,"cg_dw":55.20261,"cg_id_a":-2.87357378,"cg_id_raw_a":-4.80495787,"cg_iq_a":-196.651611,"cg_iq_raw_a":-196.626266,"cg_iu_a":82.4572601,"cg_iv_a":-196.952332,"cg_iw_a":114.495071,"cg_sample_age_us":23.6527271,"cg_sample_seq":11471016,"cg_sample_valid":1,"cg_theta_rad":5.83675098,"cg_vd_req_v":-1.95524693,"cg_vd_v":-1.95524693,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44892216,"cg_vq_v":-8.44892216,"cg_vu_v":41.3499031,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2738724,"dclink_p_w":-2492.35645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2020.995512,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2020.995518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2020.995523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2021.34314,"values":{"Elec_RPM":-2347.55762,"EncoderCos":52114,"EncoderSin":24010,"GapTicks":49401,"Mech_RPM":-469.511505,"cg_du":51.8423424,"cg_dv":44.9107628,"cg_dw":55.0892372,"cg_id_a":8.27536774,"cg_id_raw_a":5.5242219,"cg_iq_a":-199.588196,"cg_iq_raw_a":-199.206787,"cg_iu_a":112.24968,"cg_iv_a":-199.344406,"cg_iw_a":87.0947266,"cg_sample_age_us":23.5945454,"cg_sample_seq":11472766,"cg_sample_valid":1,"cg_theta_rad":5.86613464,"cg_vd_req_v":-2.18414927,"cg_vd_v":-2.18414927,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40957451,"cg_vq_v":-8.40957451,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.1267548,"dclink_p_w":-2333.93896,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2021.675171,"values":{"Elec_RPM":-2357.15137,"EncoderCos":48990,"EncoderSin":46589,"GapTicks":50031,"Mech_RPM":-471.430298,"cg_du":45.9241104,"cg_dv":45.4827957,"cg_dw":54.5172043,"cg_id_a":10.7042141,"cg_id_raw_a":15.1486874,"cg_iq_a":-205.797699,"cg_iq_raw_a":-206.454727,"cg_iu_a":-15.4735832,"cg_iv_a":-170.023148,"cg_iw_a":185.496735,"cg_sample_age_us":23.4200001,"cg_sample_seq":11474416,"cg_sample_valid":1,"cg_theta_rad":0.702413082,"cg_vd_req_v":-2.14100456,"cg_vd_v":-2.14100456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23810577,"cg_vq_v":-8.23810577,"cg_vu_v":12.3169918,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2021.987587,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2021.987593,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2021.987598,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2022.007202,"values":{"Elec_RPM":-2353.43091,"EncoderCos":38873,"EncoderSin":53151,"GapTicks":49541,"Mech_RPM":-470.686188,"cg_du":54.9622917,"cg_dv":52.4509239,"cg_dw":45.0377083,"cg_id_a":11.6657248,"cg_id_raw_a":7.6714077,"cg_iq_a":-202.842484,"cg_iq_raw_a":-202.634796,"cg_iu_a":57.6302299,"cg_iv_a":140.87645,"cg_iw_a":-198.506683,"cg_sample_age_us":23.8999996,"cg_sample_seq":11476116,"cg_sample_valid":1,"cg_theta_rad":1.28131056,"cg_vd_req_v":-2.15927196,"cg_vd_v":-2.15927196,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32144547,"cg_vq_v":-8.32144547,"cg_vu_v":31.6722641,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2479.28271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2022.358765,"values":{"Elec_RPM":-2357.87256,"EncoderCos":26755,"EncoderSin":53400,"GapTicks":49351,"Mech_RPM":-471.574493,"cg_du":44.8646812,"cg_dv":49.4034424,"cg_dw":55.1353188,"cg_id_a":-12.7336807,"cg_id_raw_a":-13.9878712,"cg_iq_a":-198.078445,"cg_iq_raw_a":-199.56752,"cg_iu_a":-125.437378,"cg_iv_a":-71.6573944,"cg_iw_a":197.094772,"cg_sample_age_us":23.8963642,"cg_sample_seq":11477816,"cg_sample_valid":1,"cg_theta_rad":1.85690188,"cg_vd_req_v":-1.63878512,"cg_vd_v":-1.63878512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4435339,"cg_vq_v":-8.4435339,"cg_vu_v":21.1148415,"cg_vv_v":13.6366701,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2436.66284,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2022.690796,"values":{"Elec_RPM":-2351.86865,"EncoderCos":16414,"EncoderSin":46655,"GapTicks":49405,"Mech_RPM":-470.373749,"cg_du":55.0856247,"cg_dv":48.6065102,"cg_dw":44.9143753,"cg_id_a":-11.0835152,"cg_id_raw_a":-8.93195152,"cg_iq_a":-194.857391,"cg_iq_raw_a":-196.750015,"cg_iu_a":155.597305,"cg_iv_a":26.4184113,"cg_iw_a":-182.015717,"cg_sample_age_us":23.9363632,"cg_sample_seq":11479516,"cg_sample_valid":1,"cg_theta_rad":2.44062567,"cg_vd_req_v":-1.66849315,"cg_vd_v":-1.66849315,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46779919,"cg_vq_v":-8.46779919,"cg_vu_v":41.3499031,"cg_vv_v":41.7897949,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2489.98877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2023.011446,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2023.011452,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2023.011457,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2023.042358,"values":{"Elec_RPM":-2351.67285,"EncoderCos":11648,"EncoderSin":36731,"GapTicks":49582,"Mech_RPM":-470.334595,"cg_du":45.0747528,"cg_dv":54.9252472,"cg_dw":52.7245865,"cg_id_a":6.07397175,"cg_id_raw_a":2.41934109,"cg_iq_a":-198.995163,"cg_iq_raw_a":-196.78244,"cg_iu_a":-183.427521,"cg_iv_a":18.9884338,"cg_iw_a":164.439087,"cg_sample_age_us":23.9290905,"cg_sample_seq":11481221,"cg_sample_valid":1,"cg_theta_rad":3.00145912,"cg_vd_req_v":-2.00177336,"cg_vd_v":-2.00177336,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37827682,"cg_vq_v":-8.37827682,"cg_vu_v":133.287445,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.2735424,"dclink_p_w":-2348.02417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2023.378296,"values":{"Elec_RPM":-2348.13672,"EncoderCos":11414,"EncoderSin":35003,"GapTicks":49615,"Mech_RPM":-469.62735,"cg_du":45.1053276,"cg_dv":52.6982002,"cg_dw":54.8946724,"cg_id_a":-2.56254339,"cg_id_raw_a":2.93386483,"cg_iq_a":-200.920639,"cg_iq_raw_a":-200.312393,"cg_iu_a":-171.503281,"cg_iv_a":-0.691970825,"cg_iw_a":172.195251,"cg_sample_age_us":23.9654541,"cg_sample_seq":11482967,"cg_sample_valid":1,"cg_theta_rad":3.03911757,"cg_vd_req_v":-1.80316758,"cg_vd_v":-1.80316758,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36573315,"cg_vq_v":-8.36573315,"cg_vu_v":118.3311,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.7849102,"dclink_p_w":-2566.09155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2023.710327,"values":{"Elec_RPM":-2355.43481,"EncoderCos":21280,"EncoderSin":14552,"GapTicks":49316,"Mech_RPM":-471.086975,"cg_du":44.8335381,"cg_dv":55.1664619,"cg_dw":50.568264,"cg_id_a":-8.08175182,"cg_id_raw_a":-14.0361109,"cg_iq_a":-195.741425,"cg_iq_raw_a":-194.59874,"cg_iu_a":-194.22818,"cg_iv_a":120.61615,"cg_iw_a":73.61203,"cg_sample_age_us":23.9472733,"cg_sample_seq":11484617,"cg_sample_valid":1,"cg_theta_rad":4.1585784,"cg_vd_req_v":-1.75734365,"cg_vd_v":-1.75734365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47088814,"cg_vq_v":-8.47088814,"cg_vu_v":117.891212,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2469.34692,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2024.002853,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2024.002859,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2024.002865,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2024.06189,"values":{"Elec_RPM":-2356.07617,"EncoderCos":33190,"EncoderSin":11357,"GapTicks":49410,"Mech_RPM":-471.21524,"cg_du":55.0809479,"cg_dv":44.9190521,"cg_dw":51.0858383,"cg_id_a":-16.2348328,"cg_id_raw_a":-12.6439371,"cg_iq_a":-196.921921,"cg_iq_raw_a":-198.019028,"cg_iu_a":182.635208,"cg_iv_a":-156.504211,"cg_iw_a":-15.4390717,"cg_sample_age_us":24.0636368,"cg_sample_seq":11486316,"cg_sample_valid":1,"cg_theta_rad":4.74729347,"cg_vd_req_v":-1.5848738,"cg_vd_v":-1.5848738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40726089,"cg_vq_v":-8.40726089,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.1901817,"dclink_p_w":-2335.99658,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2024.393921,"values":{"Elec_RPM":-2358.89917,"EncoderCos":33966,"EncoderSin":11362,"GapTicks":49358,"Mech_RPM":-471.779816,"cg_du":55.1282959,"cg_dv":44.8717041,"cg_dw":49.5777206,"cg_id_a":-12.7708673,"cg_id_raw_a":-14.5868263,"cg_iq_a":-198.584045,"cg_iq_raw_a":-198.733917,"cg_iu_a":192.747238,"cg_iv_a":-138.056091,"cg_iw_a":-54.6911545,"cg_sample_age_us":23.9872723,"cg_sample_seq":11488066,"cg_sample_valid":1,"cg_theta_rad":4.77541351,"cg_vd_req_v":-1.68411243,"cg_vd_v":-1.68411243,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38625526,"cg_vq_v":-8.38625526,"cg_vu_v":106.453995,"cg_vv_v":90.1779785,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-17.424284,"dclink_p_w":-2521.72339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2024.725952,"values":{"Elec_RPM":-2353.63232,"EncoderCos":45184,"EncoderSin":15343,"GapTicks":49578,"Mech_RPM":-470.72644,"cg_du":45.0709381,"cg_dv":54.9290619,"cg_dw":47.4571114,"cg_id_a":-5.86120892,"cg_id_raw_a":-0.212886915,"cg_iq_a":-201.293304,"cg_iq_raw_a":-201.564743,"cg_iu_a":-176.541168,"cg_iv_a":170.125214,"cg_iw_a":6.41594696,"cg_sample_age_us":23.954546,"cg_sample_seq":11489767,"cg_sample_valid":1,"cg_theta_rad":5.35261202,"cg_vd_req_v":-1.87752318,"cg_vd_v":-1.87752318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38717651,"cg_vq_v":-8.38717651,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.5997372,"dclink_p_w":-2409.69336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5001,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2024.995506,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2024.995511,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2024.995515,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2025.077515,"values":{"Elec_RPM":-2350.4646,"EncoderCos":52743,"EncoderSin":25573,"GapTicks":49891,"Mech_RPM":-470.092926,"cg_du":54.6440659,"cg_dv":45.3559341,"cg_dw":53.8456154,"cg_id_a":10.1415768,"cg_id_raw_a":15.7491789,"cg_iq_a":-201.999817,"cg_iq_raw_a":-201.882599,"cg_iu_a":172.196991,"cg_iv_a":-176.293335,"cg_iw_a":4.09634399,"cg_sample_age_us":24.1581821,"cg_sample_seq":11491466,"cg_sample_valid":1,"cg_theta_rad":5.95174837,"cg_vd_req_v":-2.1517179,"cg_vd_v":-2.1517179,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3287468,"cg_vq_v":-8.3287468,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2496.24194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2025.413452,"values":{"Elec_RPM":-2353.27832,"EncoderCos":53336,"EncoderSin":37551,"GapTicks":49601,"Mech_RPM":-470.65564,"cg_du":47.4152718,"cg_dv":54.9080811,"cg_dw":45.0919189,"cg_id_a":9.49723053,"cg_id_raw_a":7.32468748,"cg_iq_a":-203.471039,"cg_iq_raw_a":-201.960144,"cg_iu_a":-142.580719,"cg_iv_a":199.1203,"cg_iw_a":-56.5395813,"cg_sample_age_us":23.4963627,"cg_sample_seq":11493166,"cg_sample_valid":1,"cg_theta_rad":0.23965168,"cg_vd_req_v":-2.19847059,"cg_vd_v":-2.19847059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28612328,"cg_vq_v":-8.28612328,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2427.77271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2025.765015,"values":{"Elec_RPM":-2352.30933,"EncoderCos":48125,"EncoderSin":47591,"GapTicks":49381,"Mech_RPM":-470.461884,"cg_du":48.9967422,"cg_dv":44.8923149,"cg_dw":55.1076851,"cg_id_a":-14.231039,"cg_id_raw_a":-13.6249962,"cg_iq_a":-199.162735,"cg_iq_raw_a":-201.890701,"cg_iu_a":71.4028854,"cg_iv_a":-195.430084,"cg_iw_a":124.027191,"cg_sample_age_us":23.5545464,"cg_sample_seq":11494870,"cg_sample_valid":1,"cg_theta_rad":0.813136995,"cg_vd_req_v":-1.66212702,"cg_vd_v":-1.66212702,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42801666,"cg_vq_v":-8.42801666,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2026.019617,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2026.019623,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2026.019629,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2026.097046,"values":{"Elec_RPM":-2345.12085,"EncoderCos":16147,"EncoderSin":46318,"GapTicks":49357,"Mech_RPM":-469.02417,"cg_du":55.1294518,"cg_dv":49.4604912,"cg_dw":44.8705482,"cg_id_a":-10.4847612,"cg_id_raw_a":-12.2667208,"cg_iq_a":-196.627777,"cg_iq_raw_a":-194.511734,"cg_iu_a":141.317245,"cg_iv_a":47.9110107,"cg_iw_a":-189.228256,"cg_sample_age_us":23.9109097,"cg_sample_seq":11496467,"cg_sample_valid":1,"cg_theta_rad":2.45798492,"cg_vd_req_v":-1.69730365,"cg_vd_v":-1.69730365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41840458,"cg_vq_v":-8.41840458,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.3880405,"dclink_p_w":-2516.47827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2026.429077,"values":{"Elec_RPM":-2350.00122,"EncoderCos":24444,"EncoderSin":52627,"GapTicks":50013,"Mech_RPM":-470.000244,"cg_du":46.0588913,"cg_dv":45.4663773,"cg_dw":54.5336227,"cg_id_a":8.81466675,"cg_id_raw_a":13.871604,"cg_iq_a":-206.415314,"cg_iq_raw_a":-206.750046,"cg_iu_a":-9.78330135,"cg_iv_a":-173.828751,"cg_iw_a":183.612045,"cg_sample_age_us":23.8963642,"cg_sample_seq":11498266,"cg_sample_valid":1,"cg_theta_rad":1.96813393,"cg_vd_req_v":-2.04722714,"cg_vd_v":-2.04722714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22606945,"cg_vq_v":-8.22606945,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2026.761108,"values":{"Elec_RPM":-2353.98462,"EncoderCos":13619,"EncoderSin":22941,"GapTicks":49913,"Mech_RPM":-470.796936,"cg_du":54.624218,"cg_dv":45.375782,"cg_dw":46.050808,"cg_id_a":15.8799534,"cg_id_raw_a":20.4001732,"cg_iq_a":-202.512024,"cg_iq_raw_a":-204.336731,"cg_iu_a":184.556122,"cg_iv_a":-20.2273865,"cg_iw_a":-164.328735,"cg_sample_age_us":24.1072731,"cg_sample_seq":11499866,"cg_sample_valid":1,"cg_theta_rad":3.62317657,"cg_vd_req_v":-2.21225214,"cg_vd_v":-2.21225214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32716751,"cg_vq_v":-8.32716751,"cg_vu_v":31.2323723,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2027.042712,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2027.042718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2027.042723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2027.112671,"values":{"Elec_RPM":-2349.28223,"EncoderCos":11339,"EncoderSin":33286,"GapTicks":49370,"Mech_RPM":-469.856445,"cg_du":44.8821716,"cg_dv":48.9769096,"cg_dw":55.1178284,"cg_id_a":-12.8284931,"cg_id_raw_a":-15.4731083,"cg_iq_a":-197.147018,"cg_iq_raw_a":-198.364761,"cg_iu_a":-100.537857,"cg_iv_a":-92.3526306,"cg_iw_a":197.34848,"cg_sample_age_us":23.9363632,"cg_sample_seq":11501666,"cg_sample_valid":1,"cg_theta_rad":3.12972212,"cg_vd_req_v":-1.6389091,"cg_vd_v":-1.6389091,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45193195,"cg_vq_v":-8.45193195,"cg_vu_v":98.5359344,"cg_vv_v":89.7380829,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.802702,"dclink_p_w":-2431.76514,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2027.448608,"values":{"Elec_RPM":-2349.17578,"EncoderCos":22739,"EncoderSin":13751,"GapTicks":49787,"Mech_RPM":-469.835175,"cg_du":45.260994,"cg_dv":54.739006,"cg_dw":53.5492783,"cg_id_a":10.8914948,"cg_id_raw_a":10.1960392,"cg_iq_a":-199.734299,"cg_iq_raw_a":-200.220978,"cg_iu_a":-188.936569,"cg_iv_a":32.4711456,"cg_iw_a":156.465424,"cg_sample_age_us":23.9690914,"cg_sample_seq":11503316,"cg_sample_valid":1,"cg_theta_rad":4.23951864,"cg_vd_req_v":-2.13762069,"cg_vd_v":-2.13762069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35920906,"cg_vq_v":-8.35920906,"cg_vu_v":38.2706528,"cg_vv_v":47.0685043,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2368.82056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2027.800171,"values":{"Elec_RPM":-2346.93481,"EncoderCos":34635,"EncoderSin":11447,"GapTicks":49424,"Mech_RPM":-469.386963,"cg_du":55.0684586,"cg_dv":44.9315414,"cg_dw":48.4453773,"cg_id_a":-0.380508065,"cg_id_raw_a":-5.92142296,"cg_iq_a":-199.988434,"cg_iq_raw_a":-199.323792,"cg_iu_a":199.488586,"cg_iv_a":-77.9275665,"cg_iw_a":-121.56102,"cg_sample_age_us":23.9581814,"cg_sample_seq":11505016,"cg_sample_valid":1,"cg_theta_rad":4.82711172,"cg_vd_req_v":-1.95343423,"cg_vd_v":-1.95343423,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3771286,"cg_vq_v":-8.3771286,"cg_vu_v":106.014107,"cg_vv_v":84.0194778,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2495.49658,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2028.003143,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2028.003149,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2028.003154,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2028.163452,"values":{"Elec_RPM":-2351.81128,"EncoderCos":15333,"EncoderSin":19969,"GapTicks":49519,"Mech_RPM":-470.362274,"cg_du":54.9818764,"cg_dv":52.0184937,"cg_dw":45.0181236,"cg_id_a":6.2514658,"cg_id_raw_a":3.71684027,"cg_iq_a":-204.144485,"cg_iq_raw_a":-205.558014,"cg_iu_a":75.5346832,"cg_iv_a":128.698532,"cg_iw_a":-204.233215,"cg_sample_age_us":23.8709087,"cg_sample_seq":11506866,"cg_sample_valid":1,"cg_theta_rad":3.78420329,"cg_vd_req_v":-2.0445044,"cg_vd_v":-2.0445044,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27534103,"cg_vq_v":-8.27534103,"cg_vu_v":16.7159176,"cg_vv_v":35.6312981,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2457.46753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2028.682983,"values":{"Elec_RPM":-2348.46118,"EncoderCos":14550,"EncoderSin":44128,"GapTicks":50120,"Mech_RPM":-469.69223,"cg_du":54.4358559,"cg_dv":54.4185333,"cg_dw":45.5641441,"cg_id_a":12.3713503,"cg_id_raw_a":14.9746866,"cg_iq_a":-203.789871,"cg_iq_raw_a":-205.479935,"cg_iu_a":16.167284,"cg_iv_a":167.58815,"cg_iw_a":-183.755432,"cg_sample_age_us":23.8890915,"cg_sample_seq":11509316,"cg_sample_valid":1,"cg_theta_rad":2.58664846,"cg_vd_req_v":-2.11499596,"cg_vd_v":-2.11499596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28568268,"cg_vq_v":-8.28568268,"cg_vu_v":3.95903301,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2438.75464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5815735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121254295,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2028.89949,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2028.899501,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2028.899504,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2029.026785,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2029.026791,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2029.026796,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2029.128296,"values":{"Elec_RPM":-2346.1875,"EncoderCos":11549,"EncoderSin":36252,"GapTicks":49776,"Mech_RPM":-469.237518,"cg_du":45.2515068,"cg_dv":54.7484932,"cg_dw":53.612648,"cg_id_a":10.349782,"cg_id_raw_a":7.96471453,"cg_iq_a":-199.51886,"cg_iq_raw_a":-198.093903,"cg_iu_a":-188.102966,"cg_iv_a":34.8269958,"cg_iw_a":153.27597,"cg_sample_age_us":23.9254551,"cg_sample_seq":11511617,"cg_sample_valid":1,"cg_theta_rad":2.98258257,"cg_vd_req_v":-2.08870816,"cg_vd_v":-2.08870816,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38456821,"cg_vq_v":-8.38456821,"cg_vu_v":98.5359344,"cg_vv_v":101.175293,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2410.25439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2029.456421,"values":{"Elec_RPM":-2350.3335,"EncoderCos":11401,"EncoderSin":35256,"GapTicks":49759,"Mech_RPM":-470.066681,"cg_du":45.2355537,"cg_dv":53.2895393,"cg_dw":54.7644463,"cg_id_a":2.67136431,"cg_id_raw_a":10.1919336,"cg_iq_a":-202.28714,"cg_iq_raw_a":-203.393524,"cg_iu_a":-177.882202,"cg_iv_a":7.24542236,"cg_iw_a":170.63678,"cg_sample_age_us":23.8345451,"cg_sample_seq":11513366,"cg_sample_valid":1,"cg_theta_rad":3.02016973,"cg_vd_req_v":-1.9129262,"cg_vd_v":-1.9129262,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35512352,"cg_vq_v":-8.35512352,"cg_vu_v":99.4157181,"cg_vv_v":100.735397,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.9730473,"dclink_p_w":-2448.95215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2029.788452,"values":{"Elec_RPM":-2354.40454,"EncoderCos":21082,"EncoderSin":14643,"GapTicks":49320,"Mech_RPM":-470.88089,"cg_du":44.8369865,"cg_dv":55.1630135,"cg_dw":50.2047997,"cg_id_a":-12.3251152,"cg_id_raw_a":-12.9611263,"cg_iq_a":-195.009933,"cg_iq_raw_a":-195.027786,"cg_iu_a":-192.307251,"cg_iv_a":128.299835,"cg_iw_a":64.0074158,"cg_sample_age_us":23.9036369,"cg_sample_seq":11515016,"cg_sample_valid":1,"cg_theta_rad":4.15331841,"cg_vd_req_v":-1.66838586,"cg_vd_v":-1.66838586,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46756458,"cg_vq_v":-8.46756458,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2390.38257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2030.019292,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2030.019298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2030.019303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2030.143921,"values":{"Elec_RPM":-2356.94263,"EncoderCos":21563,"EncoderSin":14330,"GapTicks":49400,"Mech_RPM":-471.388519,"cg_du":44.9094925,"cg_dv":55.0905075,"cg_dw":51.2260513,"cg_id_a":-5.62304401,"cg_id_raw_a":-8.78844452,"cg_iq_a":-197.770081,"cg_iq_raw_a":-195.777435,"cg_iu_a":-198.686157,"cg_iv_a":104.560127,"cg_iw_a":94.12603,"cg_sample_age_us":23.9363632,"cg_sample_seq":11516767,"cg_sample_valid":1,"cg_theta_rad":4.17733431,"cg_vd_req_v":-1.81894946,"cg_vd_v":-1.81894946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39396191,"cg_vq_v":-8.39396191,"cg_vu_v":127.568848,"cg_vv_v":135.926804,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.5148926,"dclink_p_w":-2534.83667,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2030.475952,"values":{"Elec_RPM":-2358.34155,"EncoderCos":44142,"EncoderSin":14653,"GapTicks":49848,"Mech_RPM":-471.668304,"cg_du":46.3385468,"cg_dv":54.6829224,"cg_dw":45.3170776,"cg_id_a":10.5404301,"cg_id_raw_a":8.71196747,"cg_iq_a":-204.93927,"cg_iq_raw_a":-204.934738,"cg_iu_a":-160.412674,"cg_iv_a":190.78421,"cg_iw_a":-30.3715363,"cg_sample_age_us":23.9836369,"cg_sample_seq":11518417,"cg_sample_valid":1,"cg_theta_rad":5.29102182,"cg_vd_req_v":-2.22030807,"cg_vd_v":-2.22030807,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29417133,"cg_vq_v":-8.29417133,"cg_vu_v":95.4566803,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5977478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2030.827515,"values":{"Elec_RPM":-2356.47876,"EncoderCos":45072,"EncoderSin":15277,"GapTicks":49647,"Mech_RPM":-471.295746,"cg_du":45.1340218,"cg_dv":54.8659782,"cg_dw":47.1297798,"cg_id_a":-1.63522267,"cg_id_raw_a":5.53253078,"cg_iq_a":-201.239166,"cg_iq_raw_a":-202.356735,"cg_iu_a":-173.605438,"cg_iv_a":175.199371,"cg_iw_a":-1.59393311,"cg_sample_age_us":23.8272724,"cg_sample_seq":11520166,"cg_sample_valid":1,"cg_theta_rad":5.33456945,"cg_vd_req_v":-1.94733524,"cg_vd_v":-1.94733524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36669064,"cg_vq_v":-8.36669064,"cg_vu_v":2.63935518,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2435.73657,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2031.011229,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2031.011235,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2031.01124,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2031.159546,"values":{"Elec_RPM":-2356.55225,"EncoderCos":53605,"EncoderSin":36034,"GapTicks":49359,"Mech_RPM":-471.310425,"cg_du":50.0352058,"cg_dv":55.1280594,"cg_dw":44.8719406,"cg_id_a":-15.1563911,"cg_id_raw_a":-12.9859877,"cg_iq_a":-197.757874,"cg_iq_raw_a":-196.049149,"cg_iu_a":-56.3203812,"cg_iv_a":191.472839,"cg_iw_a":-135.152466,"cg_sample_age_us":23.4672718,"cg_sample_seq":11521817,"cg_sample_valid":1,"cg_theta_rad":0.168751374,"cg_vd_req_v":-1.68049884,"cg_vd_v":-1.68049884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40337181,"cg_vq_v":-8.40337181,"cg_vu_v":104.254532,"cg_vv_v":103.374756,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2537.72168,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2031.491577,"values":{"Elec_RPM":-2359.99463,"EncoderCos":53512,"EncoderSin":36791,"GapTicks":49404,"Mech_RPM":-471.998901,"cg_du":48.695858,"cg_dv":55.086441,"cg_dw":44.913559,"cg_id_a":-4.74962234,"cg_id_raw_a":-7.2015605,"cg_iq_a":-199.692566,"cg_iq_raw_a":-199.420731,"cg_iu_a":-101.588928,"cg_iv_a":200.642532,"cg_iw_a":-99.0536041,"cg_sample_age_us":23.4963627,"cg_sample_seq":11523567,"cg_sample_valid":1,"cg_theta_rad":0.202891901,"cg_vd_req_v":-1.91489387,"cg_vd_v":-1.91489387,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37667942,"cg_vq_v":-8.37667942,"cg_vu_v":102.055069,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2031.84314,"values":{"Elec_RPM":-2360.3855,"EncoderCos":37989,"EncoderSin":53420,"GapTicks":50013,"Mech_RPM":-472.077118,"cg_du":54.533287,"cg_dv":54.2388077,"cg_dw":45.466713,"cg_id_a":12.9230089,"cg_id_raw_a":16.6663532,"cg_iq_a":-202.352295,"cg_iq_raw_a":-201.682358,"cg_iu_a":17.2183552,"cg_iv_a":164.833633,"cg_iw_a":-182.051987,"cg_sample_age_us":23.8963642,"cg_sample_seq":11525217,"cg_sample_valid":1,"cg_theta_rad":1.32427013,"cg_vd_req_v":-2.15156698,"cg_vd_v":-2.15156698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33597565,"cg_vq_v":-8.33597565,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2443.36572,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2032.003411,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2032.003416,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2032.003422,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2032.179077,"values":{"Elec_RPM":-2360.41138,"EncoderCos":37111,"EncoderSin":53590,"GapTicks":49595,"Mech_RPM":-472.082275,"cg_du":52.6595802,"cg_dv":54.9135056,"cg_dw":45.0864944,"cg_id_a":-2.76423287,"cg_id_raw_a":3.54159856,"cg_iq_a":-198.301788,"cg_iq_raw_a":-199.682663,"cg_iu_a":-4.85414028,"cg_iv_a":172.227371,"cg_iw_a":-172.73732,"cg_sample_age_us":23.9400005,"cg_sample_seq":11526967,"cg_sample_valid":1,"cg_theta_rad":1.36452293,"cg_vd_req_v":-1.8142345,"cg_vd_v":-1.8142345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40927696,"cg_vq_v":-8.40927696,"cg_vu_v":121.850235,"cg_vv_v":143.404984,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2472.22314,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2032.53064,"values":{"Elec_RPM":-2360.81299,"EncoderCos":26192,"EncoderSin":53212,"GapTicks":49414,"Mech_RPM":-472.162598,"cg_du":44.9221802,"cg_dv":48.4504089,"cg_dw":55.0778198,"cg_id_a":-1.0222131,"cg_id_raw_a":-8.3389864,"cg_iq_a":-199.01915,"cg_iq_raw_a":-201.818298,"cg_iu_a":-33.088089,"cg_iv_a":-160.418533,"cg_iw_a":193.506622,"cg_sample_age_us":23.7763634,"cg_sample_seq":11528672,"cg_sample_valid":1,"cg_theta_rad":1.93483138,"cg_vd_req_v":-1.89396203,"cg_vd_v":-1.89396203,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3788538,"cg_vq_v":-8.3788538,"cg_vu_v":112.172607,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2471.17725,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2032.862671,"values":{"Elec_RPM":-2356.56177,"EncoderCos":15422,"EncoderSin":45390,"GapTicks":49437,"Mech_RPM":-471.312347,"cg_du":55.0569954,"cg_dv":51.5052681,"cg_dw":44.9430046,"cg_id_a":6.85966396,"cg_id_raw_a":4.04421282,"cg_iq_a":-203.429825,"cg_iq_raw_a":-201.885208,"cg_iu_a":82.4572601,"cg_iv_a":118.912674,"cg_iw_a":-201.369934,"cg_sample_age_us":23.9181824,"cg_sample_seq":11530367,"cg_sample_valid":1,"cg_theta_rad":2.51644325,"cg_vd_req_v":-2.06316566,"cg_vd_v":-2.06316566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3229084,"cg_vq_v":-8.3229084,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2032.995673,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2032.995679,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2032.995685,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2033.194702,"values":{"Elec_RPM":-2355.0769,"EncoderCos":11286,"EncoderSin":33690,"GapTicks":49354,"Mech_RPM":-471.015381,"cg_du":44.8675003,"cg_dv":49.7788696,"cg_dw":55.1324997,"cg_id_a":-13.9936495,"cg_id_raw_a":-14.9325361,"cg_iq_a":-197.171631,"cg_iq_raw_a":-198.418839,"cg_iu_a":-133.990906,"cg_iv_a":-60.4580688,"cg_iw_a":194.448975,"cg_sample_age_us":23.8345451,"cg_sample_seq":11532066,"cg_sample_valid":1,"cg_theta_rad":3.1061697,"cg_vd_req_v":-1.59839535,"cg_vd_v":-1.59839535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42955303,"cg_vq_v":-8.42955303,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2512.54395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2033.546265,"values":{"Elec_RPM":-2355.76465,"EncoderCos":14107,"EncoderSin":21980,"GapTicks":49591,"Mech_RPM":-471.152924,"cg_du":54.9165726,"cg_dv":47.5180511,"cg_dw":45.0834274,"cg_id_a":-6.57324791,"cg_id_raw_a":-0.109433047,"cg_iq_a":-198.494812,"cg_iq_raw_a":-198.661041,"cg_iu_a":169.514954,"cg_iv_a":3.72976685,"cg_iw_a":-173.24472,"cg_sample_age_us":24.0272732,"cg_sample_seq":11533767,"cg_sample_valid":1,"cg_theta_rad":3.67268014,"cg_vd_req_v":-1.75016594,"cg_vd_v":-1.75016594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37725163,"cg_vq_v":-8.37725163,"cg_vu_v":141.205521,"cg_vv_v":126.249161,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2445.81445,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2033.878296,"values":{"Elec_RPM":-2353.54712,"EncoderCos":23108,"EncoderSin":13607,"GapTicks":50019,"Mech_RPM":-470.709442,"cg_du":45.4723892,"cg_dv":54.5276108,"cg_dw":54.3327217,"cg_id_a":8.94013214,"cg_id_raw_a":8.29962063,"cg_iq_a":-201.213333,"cg_iq_raw_a":-200.919098,"cg_iu_a":-184.841019,"cg_iv_a":20.0032654,"cg_iw_a":164.837753,"cg_sample_age_us":23.8927269,"cg_sample_seq":11535466,"cg_sample_valid":1,"cg_theta_rad":4.25808525,"cg_vd_req_v":-2.10030532,"cg_vd_v":-2.10030532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35814857,"cg_vq_v":-8.35814857,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.733839,"dclink_p_w":-2421.79907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2034.019275,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2034.01928,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2034.019283,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2034.214233,"values":{"Elec_RPM":-2346.19897,"EncoderCos":35140,"EncoderSin":11482,"GapTicks":49540,"Mech_RPM":-469.239807,"cg_du":54.963192,"cg_dv":45.036808,"cg_dw":47.6056252,"cg_id_a":10.0111151,"cg_id_raw_a":5.08526134,"cg_iq_a":-199.908508,"cg_iq_raw_a":-199.282654,"cg_iu_a":197.89386,"cg_iv_a":-74.919342,"cg_iw_a":-122.503357,"cg_sample_age_us":24.0599995,"cg_sample_seq":11537166,"cg_sample_valid":1,"cg_theta_rad":4.83610487,"cg_vd_req_v":-2.15046144,"cg_vd_v":-2.15046144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36402702,"cg_vq_v":-8.36402702,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-15.7806263,"dclink_p_w":-2283.8457,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2034.565796,"values":{"Elec_RPM":-2348.4502,"EncoderCos":46251,"EncoderSin":16284,"GapTicks":49352,"Mech_RPM":-469.690063,"cg_du":44.86549,"cg_dv":55.13451,"cg_dw":50.469574,"cg_id_a":-10.7332516,"cg_id_raw_a":-11.3342524,"cg_iq_a":-197.090195,"cg_iq_raw_a":-196.644547,"cg_iu_a":-197.490112,"cg_iv_a":120.906082,"cg_iw_a":76.5840302,"cg_sample_age_us":23.9218178,"cg_sample_seq":11538866,"cg_sample_valid":1,"cg_theta_rad":5.41601563,"cg_vd_req_v":-1.7972616,"cg_vd_v":-1.7972616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40235043,"cg_vq_v":-8.40235043,"cg_vu_v":1.31967759,"cg_vv_v":9.23774433,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2509.61353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2034.897827,"values":{"Elec_RPM":-2348.49341,"EncoderCos":47996,"EncoderSin":47700,"GapTicks":49306,"Mech_RPM":-469.6987,"cg_du":49.3316498,"cg_dv":44.824028,"cg_dw":55.175972,"cg_id_a":-13.2161779,"cg_id_raw_a":-13.3569813,"cg_iq_a":-195.226059,"cg_iq_raw_a":-197.551865,"cg_iu_a":42.0091362,"cg_iv_a":-181.983612,"cg_iw_a":152.986008,"cg_sample_age_us":23.6636372,"cg_sample_seq":11540467,"cg_sample_valid":1,"cg_theta_rad":0.77832514,"cg_vd_req_v":-1.68406987,"cg_vd_v":-1.68406987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50869942,"cg_vq_v":-8.50869942,"cg_vu_v":124.929489,"cg_vv_v":125.369385,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2435.43677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2035.011519,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2035.011524,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2035.011528,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2035.229858,"values":{"Elec_RPM":-2350.90381,"EncoderCos":53072,"EncoderSin":38569,"GapTicks":50023,"Mech_RPM":-470.180786,"cg_du":45.4760399,"cg_dv":54.5239601,"cg_dw":45.6228218,"cg_id_a":13.4575987,"cg_id_raw_a":18.1718407,"cg_iq_a":-202.362961,"cg_iq_raw_a":-202.559494,"cg_iu_a":-170.99588,"cg_iv_a":178.787506,"cg_iw_a":-16.5263977,"cg_sample_age_us":23.5363636,"cg_sample_seq":11542266,"cg_sample_valid":1,"cg_theta_rad":0.285883486,"cg_vd_req_v":-2.25215912,"cg_vd_v":-2.25215912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36178207,"cg_vq_v":-8.36178207,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-15.8331795,"dclink_p_w":-2298.4165,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2035.581421,"values":{"Elec_RPM":-2354.37793,"EncoderCos":36317,"EncoderSin":53742,"GapTicks":49358,"Mech_RPM":-470.87561,"cg_du":50.8259621,"cg_dv":55.1288414,"cg_dw":44.8711586,"cg_id_a":-12.2324066,"cg_id_raw_a":-8.09194756,"cg_iq_a":-195.494843,"cg_iq_raw_a":-196.222473,"cg_iu_a":-34.3566208,"cg_iv_a":185.130188,"cg_iw_a":-150.77356,"cg_sample_age_us":23.9218178,"cg_sample_seq":11543916,"cg_sample_valid":1,"cg_theta_rad":1.40360165,"cg_vd_req_v":-1.64236951,"cg_vd_v":-1.64236951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44983101,"cg_vq_v":-8.44983101,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.4134102,"dclink_p_w":-2520.1499,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2035.913452,"values":{"Elec_RPM":-2354.03735,"EncoderCos":35507,"EncoderSin":53869,"GapTicks":49356,"Mech_RPM":-470.807465,"cg_du":49.2680473,"cg_dv":55.1306992,"cg_dw":44.8693008,"cg_id_a":-7.09423399,"cg_id_raw_a":-11.3331175,"cg_iq_a":-199.421082,"cg_iq_raw_a":-198.456528,"cg_iu_a":-96.3698196,"cg_iv_a":200.533798,"cg_iw_a":-104.163979,"cg_sample_age_us":23.8054543,"cg_sample_seq":11545666,"cg_sample_valid":1,"cg_theta_rad":1.45502973,"cg_vd_req_v":-1.78198838,"cg_vd_v":-1.78198838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38982582,"cg_vq_v":-8.38982582,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2481.63599,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2036.003022,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2036.003027,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2036.003033,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2036.24939,"values":{"Elec_RPM":-2355.44409,"EncoderCos":14941,"EncoderSin":44764,"GapTicks":49653,"Mech_RPM":-471.088837,"cg_du":54.8605042,"cg_dv":52.961113,"cg_dw":45.1394958,"cg_id_a":15.0671997,"cg_id_raw_a":13.21138,"cg_iq_a":-203.158127,"cg_iq_raw_a":-200.677155,"cg_iu_a":42.8064995,"cg_iv_a":151.060959,"cg_iw_a":-193.867462,"cg_sample_age_us":23.9036369,"cg_sample_seq":11547317,"cg_sample_valid":1,"cg_theta_rad":2.55105567,"cg_vd_req_v":-2.20687127,"cg_vd_v":-2.20687127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32274151,"cg_vq_v":-8.32274151,"cg_vu_v":105.574219,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2455.10718,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5869751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2036.600952,"values":{"Elec_RPM":-2355.49316,"EncoderCos":14554,"EncoderSin":44042,"GapTicks":50073,"Mech_RPM":-471.098633,"cg_du":54.3398132,"cg_dv":54.4790764,"cg_dw":45.5209236,"cg_id_a":13.3263435,"cg_id_raw_a":21.3610344,"cg_iq_a":-203.751907,"cg_iq_raw_a":-203.163956,"cg_iu_a":9.02724838,"cg_iv_a":169.762787,"cg_iw_a":-178.790039,"cg_sample_age_us":23.8818188,"cg_sample_seq":11549067,"cg_sample_valid":1,"cg_theta_rad":2.59215212,"cg_vd_req_v":-2.12967396,"cg_vd_v":-2.12967396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30809593,"cg_vq_v":-8.30809593,"cg_vu_v":133.287445,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.108963,"dclink_p_w":-2483.61499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2036.932983,"values":{"Elec_RPM":-2355.85303,"EncoderCos":14409,"EncoderSin":21499,"GapTicks":49372,"Mech_RPM":-471.170593,"cg_du":55.1154747,"cg_dv":48.7964096,"cg_dw":44.8845253,"cg_id_a":-13.6107025,"cg_id_raw_a":-12.9756012,"cg_iq_a":-196.199524,"cg_iq_raw_a":-195.324265,"cg_iu_a":155.488586,"cg_iv_a":25.3311005,"cg_iw_a":-178.898758,"cg_sample_age_us":24.0272732,"cg_sample_seq":11550717,"cg_sample_valid":1,"cg_theta_rad":3.69640446,"cg_vd_req_v":-1.62514675,"cg_vd_v":-1.62514675,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44601345,"cg_vq_v":-8.44601345,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6232948,"dclink_p_w":-2405.80054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2037.027022,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2037.027028,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2037.027033,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2037.284546,"values":{"Elec_RPM":-2353.49341,"EncoderCos":14838,"EncoderSin":20754,"GapTicks":49336,"Mech_RPM":-470.6987,"cg_du":55.1489677,"cg_dv":50.3949356,"cg_dw":44.8510323,"cg_id_a":-5.99224424,"cg_id_raw_a":-9.77578735,"cg_iq_a":-199.240967,"cg_iq_raw_a":-196.639053,"cg_iu_a":120.042114,"cg_iv_a":77.0148163,"cg_iw_a":-197.056931,"cg_sample_age_us":23.8709087,"cg_sample_seq":11552467,"cg_sample_valid":1,"cg_theta_rad":3.74085546,"cg_vd_req_v":-1.80271649,"cg_vd_v":-1.80271649,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3955183,"cg_vq_v":-8.3955183,"cg_vu_v":45.7488289,"cg_vv_v":34.7515144,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2037.616577,"values":{"Elec_RPM":-2353.6311,"EncoderCos":24313,"EncoderSin":12995,"GapTicks":49448,"Mech_RPM":-470.726227,"cg_du":44.9532318,"cg_dv":51.570507,"cg_dw":55.0467682,"cg_id_a":-10.7350874,"cg_id_raw_a":-9.30646133,"cg_iq_a":-198.898422,"cg_iq_raw_a":-198.132813,"cg_iu_a":-159.361603,"cg_iv_a":-21.6408997,"cg_iw_a":181.002502,"cg_sample_age_us":23.9327278,"cg_sample_seq":11554167,"cg_sample_valid":1,"cg_theta_rad":4.32192993,"cg_vd_req_v":-1.6922977,"cg_vd_v":-1.6922977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40011024,"cg_vq_v":-8.40011024,"cg_vu_v":34.7515144,"cg_vv_v":34.3116188,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2438.89355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2037.948608,"values":{"Elec_RPM":-2353.20996,"EncoderCos":36389,"EncoderSin":11625,"GapTicks":49973,"Mech_RPM":-470.641968,"cg_du":54.5697479,"cg_dv":45.9402084,"cg_dw":45.4302521,"cg_id_a":8.54869938,"cg_id_raw_a":8.63012123,"cg_iq_a":-200.564072,"cg_iq_raw_a":-199.198715,"cg_iu_a":177.379852,"cg_iv_a":-10.767746,"cg_iw_a":-166.430878,"cg_sample_age_us":23.9836369,"cg_sample_seq":11555867,"cg_sample_valid":1,"cg_theta_rad":4.89626074,"cg_vd_req_v":-2.07960868,"cg_vd_v":-2.07960868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32688141,"cg_vq_v":-8.32688141,"cg_vu_v":106.014107,"cg_vv_v":95.8965836,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.427578,"dclink_p_w":-2377.47559,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2038.01893,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2038.018937,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2038.018942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2038.425171,"values":{"Elec_RPM":-2347.54614,"EncoderCos":53832,"EncoderSin":34680,"GapTicks":49671,"Mech_RPM":-469.509247,"cg_du":53.0760269,"cg_dv":54.8439522,"cg_dw":45.1560478,"cg_id_a":-2.23697257,"cg_id_raw_a":3.10454631,"cg_iq_a":-199.457275,"cg_iq_raw_a":-200.598785,"cg_iu_a":3.22823477,"cg_iv_a":168.892944,"cg_iw_a":-176.83287,"cg_sample_age_us":23.5,"cg_sample_seq":11558067,"cg_sample_valid":1,"cg_theta_rad":0.0992572829,"cg_vd_req_v":-1.9139626,"cg_vd_v":-1.9139626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40668488,"cg_vq_v":-8.40668488,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2038.883596,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2038.883608,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2038.883611,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2038.940796,"values":{"Elec_RPM":-2341.35205,"EncoderCos":11422,"EncoderSin":35148,"GapTicks":49710,"Mech_RPM":-468.270416,"cg_du":45.1915665,"cg_dv":53.0071449,"cg_dw":54.8084335,"cg_id_a":-0.205169439,"cg_id_raw_a":5.65117168,"cg_iq_a":-201.575623,"cg_iq_raw_a":-201.633621,"cg_iu_a":-174.040359,"cg_iv_a":1.41017151,"cg_iw_a":172.630188,"cg_sample_age_us":23.9618187,"cg_sample_seq":11560717,"cg_sample_valid":1,"cg_theta_rad":3.03602195,"cg_vd_req_v":-1.83930516,"cg_vd_v":-1.83930516,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34296322,"cg_vq_v":-8.34296322,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.9172001,"dclink_p_w":-2593.06055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2039.010995,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2039.011001,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2039.011006,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2039.276733,"values":{"Elec_RPM":-2349.73486,"EncoderCos":11287,"EncoderSin":34267,"GapTicks":49425,"Mech_RPM":-469.946991,"cg_du":44.9325829,"cg_dv":50.921936,"cg_dw":55.0674171,"cg_id_a":-15.3863621,"cg_id_raw_a":-14.4181032,"cg_iq_a":-199.261368,"cg_iq_raw_a":-197.840485,"cg_iu_a":-155.664734,"cg_iv_a":-28.2735291,"cg_iw_a":183.938263,"cg_sample_age_us":23.9400005,"cg_sample_seq":11562467,"cg_sample_valid":1,"cg_theta_rad":3.07401466,"cg_vd_req_v":-1.54675627,"cg_vd_v":-1.54675627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37327099,"cg_vq_v":-8.37327099,"cg_vu_v":112.172607,"cg_vv_v":124.929489,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8933125,"dclink_p_w":-2444.87891,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2039.628296,"values":{"Elec_RPM":-2350.79883,"EncoderCos":11285,"EncoderSin":33437,"GapTicks":49403,"Mech_RPM":-470.15979,"cg_du":44.9125137,"cg_dv":49.268013,"cg_dw":55.0874863,"cg_id_a":-14.5320988,"cg_id_raw_a":-17.6885185,"cg_iq_a":-198.385925,"cg_iq_raw_a":-196.21254,"cg_iu_a":-115.07164,"cg_iv_a":-84.8863983,"cg_iw_a":199.958038,"cg_sample_age_us":23.8527279,"cg_sample_seq":11564217,"cg_sample_valid":1,"cg_theta_rad":3.12248755,"cg_vd_req_v":-1.59948564,"cg_vd_v":-1.59948564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37988663,"cg_vq_v":-8.37988663,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2039.960327,"values":{"Elec_RPM":-2354.6604,"EncoderCos":33620,"EncoderSin":11333,"GapTicks":49334,"Mech_RPM":-470.932098,"cg_du":55.1501122,"cg_dv":44.8498878,"cg_dw":50.1732445,"cg_id_a":-17.753952,"cg_id_raw_a":-19.624897,"cg_iq_a":-195.24118,"cg_iq_raw_a":-194.32579,"cg_iu_a":187.600616,"cg_iv_a":-142.40535,"cg_iw_a":-45.1952667,"cg_sample_age_us":24.0636368,"cg_sample_seq":11565817,"cg_sample_valid":1,"cg_theta_rad":4.76745367,"cg_vd_req_v":-1.57281911,"cg_vd_v":-1.57281911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46325779,"cg_vq_v":-8.46325779,"cg_vu_v":106.453995,"cg_vv_v":82.6998062,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-16.0923233,"dclink_p_w":-2328.95605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2040.003598,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2040.003604,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2040.00361,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2040.315796,"values":{"Elec_RPM":-2348.91699,"EncoderCos":33834,"EncoderSin":11329,"GapTicks":49371,"Mech_RPM":-469.783417,"cg_du":55.1164131,"cg_dv":44.8835869,"cg_dw":49.8129768,"cg_id_a":-14.0001144,"cg_id_raw_a":-15.9413395,"cg_iq_a":-196.782364,"cg_iq_raw_a":-195.464401,"cg_iu_a":199.742294,"cg_iv_a":-80.8270874,"cg_iw_a":-102.533005,"cg_sample_age_us":24.0636368,"cg_sample_seq":11567570,"cg_sample_valid":1,"cg_theta_rad":4.81977749,"cg_vd_req_v":-1.64930367,"cg_vd_v":-1.64930367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41807175,"cg_vq_v":-8.41807175,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2450.99463,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2040.647827,"values":{"Elec_RPM":-2354.72559,"EncoderCos":35375,"EncoderSin":11479,"GapTicks":49616,"Mech_RPM":-470.945129,"cg_du":54.8942261,"cg_dv":45.1057739,"cg_dw":47.2329445,"cg_id_a":14.5905209,"cg_id_raw_a":11.4167795,"cg_iq_a":-201.346344,"cg_iq_raw_a":-199.689789,"cg_iu_a":194.052017,"cg_iv_a":-47.80896,"cg_iw_a":-146.243057,"cg_sample_age_us":23.9763641,"cg_sample_seq":11569317,"cg_sample_valid":1,"cg_theta_rad":4.85160494,"cg_vd_req_v":-2.22983742,"cg_vd_v":-2.22983742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30963707,"cg_vq_v":-8.30963707,"cg_vu_v":106.893898,"cg_vv_v":102.055069,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2040.979858,"values":{"Elec_RPM":-2349.14331,"EncoderCos":46562,"EncoderSin":16525,"GapTicks":49312,"Mech_RPM":-469.828644,"cg_du":44.8292618,"cg_dv":55.1707382,"cg_dw":50.741848,"cg_id_a":-6.11853981,"cg_id_raw_a":-9.24233246,"cg_iq_a":-196.86879,"cg_iq_raw_a":-196.57959,"cg_iu_a":-195.38797,"cg_iv_a":115.940681,"cg_iw_a":79.4472885,"cg_sample_age_us":23.8381824,"cg_sample_seq":11571016,"cg_sample_valid":1,"cg_theta_rad":5.42540598,"cg_vd_req_v":-1.83704746,"cg_vd_v":-1.91590679,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44678879,"cg_vq_v":-8.44678879,"cg_vu_v":97.6561432,"cg_vv_v":102.494972,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-16.2590446,"dclink_p_w":-2338.78003,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2040.995668,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2040.995673,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2040.995679,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2041.331421,"values":{"Elec_RPM":-2350.05566,"EncoderCos":53142,"EncoderSin":26868,"GapTicks":49328,"Mech_RPM":-470.011108,"cg_du":55.1894112,"cg_dv":44.8105888,"cg_dw":51.1174889,"cg_id_a":-16.1391544,"cg_id_raw_a":-14.263258,"cg_iq_a":-193.440445,"cg_iq_raw_a":-194.031265,"cg_iu_a":179.228302,"cg_iv_a":-153.930893,"cg_iw_a":-25.2974091,"cg_sample_age_us":24.0418186,"cg_sample_seq":11572716,"cg_sample_valid":1,"cg_theta_rad":6.00736904,"cg_vd_req_v":-1.65502048,"cg_vd_v":-1.65502048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53331375,"cg_vq_v":-8.53331375,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2041.663452,"values":{"Elec_RPM":-2349.07007,"EncoderCos":53005,"EncoderSin":38866,"GapTicks":49845,"Mech_RPM":-469.813995,"cg_du":45.3145027,"cg_dv":54.6854973,"cg_dw":46.3607407,"cg_id_a":6.08253241,"cg_id_raw_a":9.83348083,"cg_iq_a":-202.562393,"cg_iq_raw_a":-203.645874,"cg_iu_a":-172.264404,"cg_iv_a":176.395416,"cg_iw_a":-8.26279449,"cg_sample_age_us":23.5290909,"cg_sample_seq":11574417,"cg_sample_valid":1,"cg_theta_rad":0.299666613,"cg_vd_req_v":-2.09302926,"cg_vd_v":-2.09302926,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32218647,"cg_vq_v":-8.32218647,"cg_vu_v":119.210884,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.1303787,"dclink_p_w":-2341.55908,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2041.995483,"values":{"Elec_RPM":-2350.6123,"EncoderCos":46264,"EncoderSin":49296,"GapTicks":49772,"Mech_RPM":-470.122437,"cg_du":53.4565353,"cg_dv":45.2481689,"cg_dw":54.7518311,"cg_id_a":18.0588284,"cg_id_raw_a":17.6277866,"cg_iq_a":-203.582825,"cg_iq_raw_a":-202.756226,"cg_iu_a":153.89386,"cg_iv_a":-193.581665,"cg_iw_a":39.6877975,"cg_sample_age_us":23.4599991,"cg_sample_seq":11576116,"cg_sample_valid":1,"cg_theta_rad":0.881148934,"cg_vd_req_v":-2.30713487,"cg_vd_v":-2.30713487,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.298069,"cg_vq_v":-8.298069,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-16.992981,"dclink_p_w":-2451.82813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2042.019491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2042.019498,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2042.019503,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2042.350952,"values":{"Elec_RPM":-2355.43506,"EncoderCos":24073,"EncoderSin":52430,"GapTicks":49705,"Mech_RPM":-471.087036,"cg_du":47.0105667,"cg_dv":45.1869507,"cg_dw":54.8130493,"cg_id_a":-0.115165949,"cg_id_raw_a":6.50729847,"cg_iq_a":-202.85704,"cg_iq_raw_a":-202.706451,"cg_iu_a":-0.722343206,"cg_iv_a":-174.299942,"cg_iw_a":175.022278,"cg_sample_age_us":23.8890915,"cg_sample_seq":11577767,"cg_sample_valid":1,"cg_theta_rad":1.98723078,"cg_vd_req_v":-1.86661386,"cg_vd_v":-1.86661386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33840179,"cg_vq_v":-8.33840179,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2461.51709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2042.679077,"values":{"Elec_RPM":-2351.10449,"EncoderCos":23283,"EncoderSin":52060,"GapTicks":49421,"Mech_RPM":-470.220917,"cg_du":49.1733589,"cg_dv":44.9290543,"cg_dw":55.0709457,"cg_id_a":-21.140564,"cg_id_raw_a":-18.8416595,"cg_iq_a":-200.073914,"cg_iq_raw_a":-201.599625,"cg_iu_a":25.1557541,"cg_iv_a":-184.122009,"cg_iw_a":158.966248,"cg_sample_age_us":23.7145462,"cg_sample_seq":11579517,"cg_sample_valid":1,"cg_theta_rad":2.02989054,"cg_vd_req_v":-1.46462965,"cg_vd_v":-1.46462965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38473415,"cg_vq_v":-8.38473415,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2414.45557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2043.011294,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2043.0113,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2043.011305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2043.015015,"values":{"Elec_RPM":-2346.9502,"EncoderCos":11296,"EncoderSin":32649,"GapTicks":49448,"Mech_RPM":-469.390015,"cg_du":44.9530602,"cg_dv":47.9369164,"cg_dw":55.0469398,"cg_id_a":0.66737926,"cg_id_raw_a":-3.72080398,"cg_iq_a":-197.704071,"cg_iq_raw_a":-198.633316,"cg_iu_a":-92.527977,"cg_iv_a":-103.189522,"cg_iw_a":195.717499,"cg_sample_age_us":23.8454552,"cg_sample_seq":11581166,"cg_sample_valid":1,"cg_theta_rad":3.14184546,"cg_vd_req_v":-1.91907513,"cg_vd_v":-1.91907513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42365456,"cg_vq_v":-8.42365456,"cg_vu_v":104.254532,"cg_vv_v":99.4157181,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2430.91064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2043.366577,"values":{"Elec_RPM":-2348.25098,"EncoderCos":11267,"EncoderSin":31792,"GapTicks":49794,"Mech_RPM":-469.650208,"cg_du":45.2679634,"cg_dv":46.5151978,"cg_dw":54.7320366,"cg_id_a":12.9813538,"cg_id_raw_a":11.1884451,"cg_iq_a":-203.474991,"cg_iq_raw_a":-202.302734,"cg_iu_a":-33.6317444,"cg_iv_a":-158.896301,"cg_iw_a":192.528046,"cg_sample_age_us":23.8345451,"cg_sample_seq":11582916,"cg_sample_valid":1,"cg_theta_rad":3.19305944,"cg_vd_req_v":-2.15732646,"cg_vd_v":-2.15732646,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31776237,"cg_vq_v":-8.31776237,"cg_vu_v":130.208206,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.2445469,"dclink_p_w":-2343.84058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2043.698608,"values":{"Elec_RPM":-2344.08643,"EncoderCos":24176,"EncoderSin":13121,"GapTicks":49529,"Mech_RPM":-468.817261,"cg_du":45.0267372,"cg_dv":51.9412956,"cg_dw":54.9732628,"cg_id_a":-9.71323967,"cg_id_raw_a":-4.59303045,"cg_iq_a":-199.789063,"cg_iq_raw_a":-202.443298,"cg_iu_a":-166.175446,"cg_iv_a":-14.8633118,"cg_iw_a":181.038757,"cg_sample_age_us":23.9290905,"cg_sample_seq":11584566,"cg_sample_valid":1,"cg_theta_rad":4.31065416,"cg_vd_req_v":-1.71231103,"cg_vd_v":-1.71231103,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3720274,"cg_vq_v":-8.3720274,"cg_vu_v":38.2706528,"cg_vv_v":43.549366,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2466888,"dclink_p_w":-2496.021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2044.002869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2044.002875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2044.002881,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2044.050171,"values":{"Elec_RPM":-2341.0166,"EncoderCos":35437,"EncoderSin":11516,"GapTicks":49585,"Mech_RPM":-468.203339,"cg_du":54.9224014,"cg_dv":45.0775986,"cg_dw":47.426075,"cg_id_a":13.3225594,"cg_id_raw_a":10.4220514,"cg_iq_a":-204.153778,"cg_iq_raw_a":-201.811371,"cg_iu_a":184.592377,"cg_iv_a":-17.5091095,"cg_iw_a":-167.083267,"cg_sample_age_us":24.0599995,"cg_sample_seq":11586269,"cg_sample_valid":1,"cg_theta_rad":4.88800144,"cg_vd_req_v":-2.21370029,"cg_vd_v":-2.21370029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28876495,"cg_vq_v":-8.26279354,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.6031494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2044.382202,"values":{"Elec_RPM":-2347.40454,"EncoderCos":53060,"EncoderSin":26516,"GapTicks":49354,"Mech_RPM":-469.480896,"cg_du":55.1320724,"cg_dv":44.8679276,"cg_dw":51.4104347,"cg_id_a":-12.7834873,"cg_id_raw_a":-11.6396303,"cg_iq_a":-194.080887,"cg_iq_raw_a":-195.103622,"cg_iu_a":176.002594,"cg_iv_a":-157.011612,"cg_iw_a":-18.9909821,"cg_sample_age_us":24.1399994,"cg_sample_seq":11587917,"cg_sample_valid":1,"cg_theta_rad":5.99640226,"cg_vd_req_v":-1.6966275,"cg_vd_v":-1.6966275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51632786,"cg_vq_v":-8.51632786,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-17.7758484,"dclink_p_w":-2572.60352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2044.714233,"values":{"Elec_RPM":-2345.83276,"EncoderCos":53322,"EncoderSin":27629,"GapTicks":49366,"Mech_RPM":-469.166565,"cg_du":55.1218185,"cg_dv":44.8781815,"cg_dw":49.1270332,"cg_id_a":-10.040432,"cg_id_raw_a":-13.76828,"cg_iq_a":-196.321655,"cg_iq_raw_a":-195.940765,"cg_iu_a":193.399628,"cg_iv_a":-126.530563,"cg_iw_a":-66.8690643,"cg_sample_age_us":24.0418186,"cg_sample_seq":11589666,"cg_sample_valid":1,"cg_theta_rad":6.04478836,"cg_vd_req_v":-1.78474545,"cg_vd_v":-1.78474545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44010067,"cg_vq_v":-8.44010067,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2404.95825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2045.026978,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2045.026984,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2045.026989,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2045.069702,"values":{"Elec_RPM":-2347.99536,"EncoderCos":47154,"EncoderSin":48559,"GapTicks":49368,"Mech_RPM":-469.59906,"cg_du":51.4277954,"cg_dv":44.8800888,"cg_dw":55.1199112,"cg_id_a":4.60676098,"cg_id_raw_a":1.08582425,"cg_iq_a":-199.783646,"cg_iq_raw_a":-199.304794,"cg_iu_a":144.361725,"cg_iv_a":-195.901245,"cg_iw_a":51.5395279,"cg_sample_age_us":23.6345463,"cg_sample_seq":11591320,"cg_sample_valid":1,"cg_theta_rad":0.869024158,"cg_vd_req_v":-2.05973339,"cg_vd_v":-2.05973339,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39081097,"cg_vq_v":-8.39081097,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4384518,"dclink_p_w":-2371.81812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2045.401733,"values":{"Elec_RPM":-2348.51563,"EncoderCos":52467,"EncoderSin":40450,"GapTicks":49289,"Mech_RPM":-469.703125,"cg_du":44.8086166,"cg_dv":55.1913834,"cg_dw":49.9777527,"cg_id_a":-6.18342495,"cg_id_raw_a":-6.37119532,"cg_iq_a":-196.90036,"cg_iq_raw_a":-197.552124,"cg_iu_a":-194.590607,"cg_iv_a":125.907745,"cg_iw_a":68.6828613,"cg_sample_age_us":23.5581818,"cg_sample_seq":11593116,"cg_sample_valid":1,"cg_theta_rad":0.380566418,"cg_vd_req_v":-1.87715709,"cg_vd_v":-1.87715709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44300556,"cg_vq_v":-8.44300556,"cg_vu_v":1.75957024,"cg_vv_v":7.91806602,"cg_vw_v":11.4372072,"control_outputs_enabled":1,"dclink_i_a":-17.8175297,"dclink_p_w":-2578.63574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2045.733765,"values":{"Elec_RPM":-2353.07886,"EncoderCos":34344,"EncoderSin":54038,"GapTicks":49605,"Mech_RPM":-470.615753,"cg_du":47.2823868,"cg_dv":54.9041138,"cg_dw":45.0958862,"cg_id_a":14.3706226,"cg_id_raw_a":10.9104939,"cg_iq_a":-201.508362,"cg_iq_raw_a":-200.098816,"cg_iu_a":-146.132599,"cg_iv_a":196.039551,"cg_iw_a":-49.9069595,"cg_sample_age_us":23.8709087,"cg_sample_seq":11594766,"cg_sample_valid":1,"cg_theta_rad":1.49831665,"cg_vd_req_v":-2.1928699,"cg_vd_v":-2.1928699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34759903,"cg_vq_v":-8.34759903,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2477.66211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2046.019359,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2046.019367,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2046.019374,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2046.085327,"values":{"Elec_RPM":-2357.99951,"EncoderCos":22466,"EncoderSin":51682,"GapTicks":49371,"Mech_RPM":-471.599884,"cg_du":50.723629,"cg_dv":44.8830414,"cg_dw":55.1169586,"cg_id_a":-7.28963709,"cg_id_raw_a":-9.41429138,"cg_iq_a":-196.956223,"cg_iq_raw_a":-195.707932,"cg_iu_a":66.7274323,"cg_iv_a":-193.907837,"cg_iw_a":127.180405,"cg_sample_age_us":23.5799999,"cg_sample_seq":11596466,"cg_sample_valid":1,"cg_theta_rad":2.061795,"cg_vd_req_v":-1.76635408,"cg_vd_v":-1.76635408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42243958,"cg_vq_v":-8.42243958,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2425.2085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2046.417358,"values":{"Elec_RPM":-2357.1416,"EncoderCos":21757,"EncoderSin":51222,"GapTicks":49501,"Mech_RPM":-471.428314,"cg_du":52.1775017,"cg_dv":45.0017471,"cg_dw":54.9982529,"cg_id_a":5.19056129,"cg_id_raw_a":2.36963129,"cg_iq_a":-199.789612,"cg_iq_raw_a":-199.984009,"cg_iu_a":125.768639,"cg_iv_a":-198.293335,"cg_iw_a":72.524704,"cg_sample_age_us":23.6490917,"cg_sample_seq":11598216,"cg_sample_valid":1,"cg_theta_rad":2.1089592,"cg_vd_req_v":-2.03110886,"cg_vd_v":-2.03110886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37001324,"cg_vq_v":-8.37001324,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2046.753296,"values":{"Elec_RPM":-2357.82324,"EncoderCos":11316,"EncoderSin":31361,"GapTicks":50053,"Mech_RPM":-471.564667,"cg_du":45.5027733,"cg_dv":45.6866684,"cg_dw":54.4972267,"cg_id_a":12.5387154,"cg_id_raw_a":14.6328268,"cg_iq_a":-203.894836,"cg_iq_raw_a":-200.440155,"cg_iu_a":-17.3945084,"cg_iv_a":-168.247223,"cg_iw_a":185.641724,"cg_sample_age_us":23.9472733,"cg_sample_seq":11599867,"cg_sample_valid":1,"cg_theta_rad":3.21009755,"cg_vd_req_v":-2.13291025,"cg_vd_v":-2.13291025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32179642,"cg_vq_v":-8.32179642,"cg_vu_v":115.69175,"cg_vv_v":121.410347,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2047.010629,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2047.010635,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2047.01064,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2047.104858,"values":{"Elec_RPM":-2356.11865,"EncoderCos":11403,"EncoderSin":30417,"GapTicks":49612,"Mech_RPM":-471.223755,"cg_du":47.6137772,"cg_dv":45.1018906,"cg_dw":54.8981094,"cg_id_a":-6.53555441,"cg_id_raw_a":-0.160351858,"cg_iq_a":-203.111862,"cg_iq_raw_a":-203.869965,"cg_iu_a":2.03218818,"cg_iv_a":-175.604691,"cg_iw_a":173.57251,"cg_sample_age_us":23.9254551,"cg_sample_seq":11601617,"cg_sample_valid":1,"cg_theta_rad":3.25413275,"cg_vd_req_v":-1.73301315,"cg_vd_v":-1.73301315,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32455063,"cg_vq_v":-8.32455063,"cg_vu_v":109.973145,"cg_vv_v":110.852921,"cg_vw_v":129.768311,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2454.84497,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2047.43689,"values":{"Elec_RPM":-2354.64624,"EncoderCos":25297,"EncoderSin":12613,"GapTicks":49349,"Mech_RPM":-470.92926,"cg_du":44.8631287,"cg_dv":49.3978348,"cg_dw":55.1368713,"cg_id_a":-11.278532,"cg_id_raw_a":-14.2849207,"cg_iq_a":-196.956268,"cg_iq_raw_a":-196.538803,"cg_iu_a":-120.834412,"cg_iv_a":-72.0923157,"cg_iw_a":192.926727,"cg_sample_age_us":23.9654541,"cg_sample_seq":11603267,"cg_sample_valid":1,"cg_theta_rad":4.36961174,"cg_vd_req_v":-1.7192688,"cg_vd_v":-1.7192688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43052483,"cg_vq_v":-8.43052483,"cg_vu_v":95.4566803,"cg_vv_v":87.53862,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2472.56616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2047.788452,"values":{"Elec_RPM":-2352.25781,"EncoderCos":26305,"EncoderSin":12281,"GapTicks":49511,"Mech_RPM":-470.451538,"cg_du":45.0102196,"cg_dv":47.6461182,"cg_dw":54.9897804,"cg_id_a":9.52942467,"cg_id_raw_a":5.62892485,"cg_iq_a":-201.375381,"cg_iq_raw_a":-200.973389,"cg_iu_a":-62.8805161,"cg_iv_a":-136.678833,"cg_iw_a":199.559341,"cg_sample_age_us":23.9363632,"cg_sample_seq":11605016,"cg_sample_valid":1,"cg_theta_rad":4.42139626,"cg_vd_req_v":-2.1493988,"cg_vd_v":-2.1493988,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34367371,"cg_vq_v":-8.34367371,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2048.002869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2048.003588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2048.004284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2048.143799,"values":{"Elec_RPM":-2350.69409,"EncoderCos":27149,"EncoderSin":12048,"GapTicks":49924,"Mech_RPM":-470.138824,"cg_du":45.3857841,"cg_dv":46.031517,"cg_dw":54.6142159,"cg_id_a":14.8100834,"cg_id_raw_a":16.1381378,"cg_iq_a":-204.920197,"cg_iq_raw_a":-203.496033,"cg_iu_a":-22.0337181,"cg_iv_a":-167.304855,"cg_iw_a":189.338577,"cg_sample_age_us":23.9363632,"cg_sample_seq":11606766,"cg_sample_valid":1,"cg_theta_rad":4.46114874,"cg_vd_req_v":-2.23011851,"cg_vd_v":-2.23011851,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28833675,"cg_vq_v":-8.28833675,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2503.08179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2048.66333,"values":{"Elec_RPM":-2346.54834,"EncoderCos":15402,"EncoderSin":19944,"GapTicks":49492,"Mech_RPM":-469.309662,"cg_du":55.0064354,"cg_dv":52.1248436,"cg_dw":44.9935646,"cg_id_a":8.53201962,"cg_id_raw_a":6.48631954,"cg_iq_a":-202.713135,"cg_iq_raw_a":-201.257248,"cg_iu_a":66.9448929,"cg_iv_a":131.924225,"cg_iw_a":-198.86911,"cg_sample_age_us":23.8672733,"cg_sample_seq":11609167,"cg_sample_valid":1,"cg_theta_rad":3.78982687,"cg_vd_req_v":-2.09222984,"cg_vd_v":-2.09222984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32901382,"cg_vq_v":-8.32901382,"cg_vu_v":18.0355949,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2048.899413,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2048.899425,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2048.899428,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2048.995101,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2048.995129,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2048.995135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2049.116455,"values":{"Elec_RPM":-2341.81616,"EncoderCos":22693,"EncoderSin":51764,"GapTicks":49373,"Mech_RPM":-468.363251,"cg_du":50.3359947,"cg_dv":44.8854294,"cg_dw":55.1145706,"cg_id_a":-12.9753618,"cg_id_raw_a":-15.6892118,"cg_iq_a":-198.635834,"cg_iq_raw_a":-198.851685,"cg_iu_a":68.8658142,"cg_iv_a":-196.372406,"cg_iw_a":127.506599,"cg_sample_age_us":23.7109089,"cg_sample_seq":11611666,"cg_sample_valid":1,"cg_theta_rad":2.05995035,"cg_vd_req_v":-1.65878844,"cg_vd_v":-1.65878844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39089775,"cg_vq_v":-8.39089775,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5834274,"dclink_p_w":-2392.73584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2049.448486,"values":{"Elec_RPM":-2353.54712,"EncoderCos":14459,"EncoderSin":21372,"GapTicks":49340,"Mech_RPM":-470.709412,"cg_du":55.144577,"cg_dv":49.1021271,"cg_dw":44.855423,"cg_id_a":-13.9958706,"cg_id_raw_a":-14.5952425,"cg_iq_a":-194.222443,"cg_iq_raw_a":-193.355179,"cg_iu_a":149.943268,"cg_iv_a":31.4200745,"cg_iw_a":-181.363342,"cg_sample_age_us":24.0309086,"cg_sample_seq":11613267,"cg_sample_valid":1,"cg_theta_rad":3.70406532,"cg_vd_req_v":-1.60620952,"cg_vd_v":-1.60620952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49022388,"cg_vq_v":-8.49022388,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2385.34351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2049.780518,"values":{"Elec_RPM":-2355.01123,"EncoderCos":23769,"EncoderSin":13282,"GapTicks":49725,"Mech_RPM":-471.002228,"cg_du":45.2054405,"cg_dv":53.0127831,"cg_dw":54.7945595,"cg_id_a":0.0200400352,"cg_id_raw_a":6.3105669,"cg_iq_a":-201.808685,"cg_iq_raw_a":-203.590958,"cg_iu_a":-174.62027,"cg_iv_a":-0.945678711,"cg_iw_a":175.565948,"cg_sample_age_us":23.9581814,"cg_sample_seq":11614966,"cg_sample_valid":1,"cg_theta_rad":4.29136419,"cg_vd_req_v":-1.90077496,"cg_vd_v":-1.90077496,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3087101,"cg_vq_v":-8.3087101,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2361.62036,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2050.018719,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2050.018725,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2050.01873,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2050.13208,"values":{"Elec_RPM":-2354.28394,"EncoderCos":35516,"EncoderSin":11520,"GapTicks":49663,"Mech_RPM":-470.856781,"cg_du":54.8517761,"cg_dv":45.1482239,"cg_dw":46.9698181,"cg_id_a":15.2386551,"cg_id_raw_a":10.5308971,"cg_iq_a":-203.586197,"cg_iq_raw_a":-201.424591,"cg_iu_a":194.450714,"cg_iv_a":-44.728241,"cg_iw_a":-149.722473,"cg_sample_age_us":23.9872723,"cg_sample_seq":11616667,"cg_sample_valid":1,"cg_theta_rad":4.85463762,"cg_vd_req_v":-2.25633073,"cg_vd_v":-2.25633073,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29125786,"cg_vq_v":-8.29125786,"cg_vu_v":106.014107,"cg_vv_v":90.6178665,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2395.61206,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2050.464111,"values":{"Elec_RPM":-2361.59888,"EncoderCos":36569,"EncoderSin":11651,"GapTicks":49825,"Mech_RPM":-472.319763,"cg_du":54.7045288,"cg_dv":46.3118591,"cg_dw":45.2954712,"cg_id_a":5.55930233,"cg_id_raw_a":10.4329596,"cg_iq_a":-201.501434,"cg_iq_raw_a":-203.177322,"cg_iu_a":176.981171,"cg_iv_a":-4.89624023,"cg_iw_a":-172.08493,"cg_sample_age_us":23.954546,"cg_sample_seq":11618416,"cg_sample_valid":1,"cg_theta_rad":4.91002321,"cg_vd_req_v":-2.02960253,"cg_vd_v":-2.02960253,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36066723,"cg_vq_v":-8.36066723,"cg_vu_v":142.965088,"cg_vv_v":136.806595,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3481712,"dclink_p_w":-2510.70801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2050.81958,"values":{"Elec_RPM":-2359.04663,"EncoderCos":46581,"EncoderSin":16507,"GapTicks":49340,"Mech_RPM":-471.809326,"cg_du":44.8554039,"cg_dv":55.1445961,"cg_dw":51.1688194,"cg_id_a":-4.22996712,"cg_id_raw_a":-8.61781979,"cg_iq_a":-196.455414,"cg_iq_raw_a":-195.538712,"cg_iu_a":-190.64003,"cg_iv_a":61.6474304,"cg_iw_a":132.616989,"cg_sample_age_us":23.9218178,"cg_sample_seq":11620121,"cg_sample_valid":1,"cg_theta_rad":5.4779439,"cg_vd_req_v":-1.93866265,"cg_vd_v":-1.93866265,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45146656,"cg_vq_v":-8.45146656,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2436.78906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2051.010846,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2051.010852,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2051.010858,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2051.151611,"values":{"Elec_RPM":-2361.27051,"EncoderCos":53364,"EncoderSin":27737,"GapTicks":49378,"Mech_RPM":-472.25412,"cg_du":55.1102867,"cg_dv":44.8897133,"cg_dw":48.9956779,"cg_id_a":-6.11317682,"cg_id_raw_a":-9.66412735,"cg_iq_a":-199.186066,"cg_iq_raw_a":-199.061417,"cg_iu_a":198.582489,"cg_iv_a":-106.958878,"cg_iw_a":-91.6236115,"cg_sample_age_us":24.1399994,"cg_sample_seq":11621817,"cg_sample_valid":1,"cg_theta_rad":6.05991697,"cg_vd_req_v":-1.86818278,"cg_vd_v":-1.86818278,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36252785,"cg_vq_v":-8.36252785,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2410.25439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2051.483643,"values":{"Elec_RPM":-2364.89404,"EncoderCos":52622,"EncoderSin":40030,"GapTicks":49342,"Mech_RPM":-472.97879,"cg_du":44.8563919,"cg_dv":55.1436081,"cg_dw":49.1282196,"cg_id_a":-10.1323366,"cg_id_raw_a":-9.33312988,"cg_iq_a":-197.618347,"cg_iq_raw_a":-197.856155,"cg_iu_a":-184.514832,"cg_iv_a":154.431656,"cg_iw_a":30.0831757,"cg_sample_age_us":23.4927273,"cg_sample_seq":11623516,"cg_sample_valid":1,"cg_theta_rad":0.35013175,"cg_vd_req_v":-1.7888608,"cg_vd_v":-1.7888608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44943619,"cg_vq_v":-8.44943619,"cg_vu_v":103.374756,"cg_vv_v":105.134323,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2462.71289,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2051.835205,"values":{"Elec_RPM":-2352.04541,"EncoderCos":35421,"EncoderSin":53921,"GapTicks":49388,"Mech_RPM":-470.409058,"cg_du":49.0579147,"cg_dv":55.1015396,"cg_dw":44.8984604,"cg_id_a":-5.9130888,"cg_id_raw_a":-9.75465488,"cg_iq_a":-197.748688,"cg_iq_raw_a":-196.961166,"cg_iu_a":-139.862427,"cg_iv_a":196.80069,"cg_iw_a":-56.9382629,"cg_sample_age_us":23.8090916,"cg_sample_seq":11625169,"cg_sample_valid":1,"cg_theta_rad":1.49146855,"cg_vd_req_v":-1.79139578,"cg_vd_v":-1.79139578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41109657,"cg_vq_v":-8.41109657,"cg_vu_v":97.6561432,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2502.81885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2052.003499,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2052.003505,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2052.00351,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2052.167236,"values":{"Elec_RPM":-2351.45654,"EncoderCos":34071,"EncoderSin":54022,"GapTicks":49738,"Mech_RPM":-470.29129,"cg_du":46.7693901,"cg_dv":54.7828064,"cg_dw":45.2171936,"cg_id_a":14.7951746,"cg_id_raw_a":13.4549828,"cg_iq_a":-202.840332,"cg_iq_raw_a":-201.348373,"cg_iu_a":-160.738861,"cg_iv_a":190.24054,"cg_iw_a":-41.9333191,"cg_sample_age_us":23.8890915,"cg_sample_seq":11626917,"cg_sample_valid":1,"cg_theta_rad":1.51749074,"cg_vd_req_v":-2.19096041,"cg_vd_v":-2.19096041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2945137,"cg_vq_v":-8.2945137,"cg_vu_v":11.877099,"cg_vv_v":23.7541981,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2450.38647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2052.499268,"values":{"Elec_RPM":-2347.35181,"EncoderCos":14027,"EncoderSin":43324,"GapTicks":49508,"Mech_RPM":-469.470367,"cg_du":52.2754135,"cg_dv":54.9923286,"cg_dw":45.0076714,"cg_id_a":-5.45700216,"cg_id_raw_a":-1.72103572,"cg_iq_a":-197.89006,"cg_iq_raw_a":-199.093384,"cg_iu_a":-13.5889044,"cg_iv_a":176.685364,"cg_iw_a":-163.096466,"cg_sample_age_us":23.8781815,"cg_sample_seq":11628566,"cg_sample_valid":1,"cg_theta_rad":2.62949705,"cg_vd_req_v":-1.76179719,"cg_vd_v":-1.76179719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44506836,"cg_vq_v":-8.44506836,"cg_vu_v":18.0355949,"cg_vv_v":11.877099,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2052.85083,"values":{"Elec_RPM":-2353.82104,"EncoderCos":13632,"EncoderSin":42550,"GapTicks":49304,"Mech_RPM":-470.764221,"cg_du":50.3573761,"cg_dv":55.1776581,"cg_dw":44.8223419,"cg_id_a":-11.824749,"cg_id_raw_a":-9.9506588,"cg_iq_a":-195.237396,"cg_iq_raw_a":-194.715118,"cg_iu_a":-47.005722,"cg_iv_a":188.827042,"cg_iw_a":-141.82132,"cg_sample_age_us":23.8818188,"cg_sample_seq":11630316,"cg_sample_valid":1,"cg_theta_rad":2.67070174,"cg_vd_req_v":-1.64024556,"cg_vd_v":-1.64024556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50267506,"cg_vq_v":-8.50267506,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2053.027101,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2053.027119,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2053.027126,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2053.186768,"values":{"Elec_RPM":-2359.48071,"EncoderCos":15283,"EncoderSin":20073,"GapTicks":49523,"Mech_RPM":-471.896149,"cg_du":54.978569,"cg_dv":51.8191223,"cg_dw":45.021431,"cg_id_a":4.48276424,"cg_id_raw_a":0.239977866,"cg_iq_a":-203.955582,"cg_iq_raw_a":-201.390121,"cg_iu_a":68.0684509,"cg_iv_a":133.337738,"cg_iw_a":-201.406189,"cg_sample_age_us":23.9690914,"cg_sample_seq":11631967,"cg_sample_valid":1,"cg_theta_rad":3.78697753,"cg_vd_req_v":-2.00014186,"cg_vd_v":-2.00014186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26439285,"cg_vq_v":-8.26439285,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2068195,"dclink_p_w":-2490.25098,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2053.514893,"values":{"Elec_RPM":-2354.56787,"EncoderCos":25104,"EncoderSin":12723,"GapTicks":49353,"Mech_RPM":-470.913574,"cg_du":44.8671989,"cg_dv":49.8310661,"cg_dw":55.1328011,"cg_id_a":-12.5683985,"cg_id_raw_a":-14.017519,"cg_iq_a":-198.676163,"cg_iq_raw_a":-199.183136,"cg_iu_a":-133.193542,"cg_iv_a":-63.2850647,"cg_iw_a":196.478607,"cg_sample_age_us":23.9654541,"cg_sample_seq":11633666,"cg_sample_valid":1,"cg_theta_rad":4.36027765,"cg_vd_req_v":-1.69016171,"cg_vd_v":-1.69016171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41102409,"cg_vq_v":-8.41102409,"cg_vu_v":37.830761,"cg_vv_v":40.0302238,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-16.5562439,"dclink_p_w":-2396.09668,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2053.870361,"values":{"Elec_RPM":-2351.65625,"EncoderCos":37015,"EncoderSin":11756,"GapTicks":49554,"Mech_RPM":-470.331268,"cg_du":54.9503441,"cg_dv":47.4857254,"cg_dw":45.0496559,"cg_id_a":-7.06907749,"cg_id_raw_a":-1.10212982,"cg_iq_a":-196.987183,"cg_iq_raw_a":-197.050201,"cg_iu_a":167.231583,"cg_iv_a":2.09880066,"cg_iw_a":-169.330383,"cg_sample_age_us":24.0090904,"cg_sample_seq":11635367,"cg_sample_valid":1,"cg_theta_rad":4.92917728,"cg_vd_req_v":-1.76359355,"cg_vd_v":-1.76359355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4387207,"cg_vq_v":-8.4387207,"cg_vu_v":106.014107,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2054.019328,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2054.019333,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2054.019339,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2054.202393,"values":{"Elec_RPM":-2352.4917,"EncoderCos":47939,"EncoderSin":17847,"GapTicks":50036,"Mech_RPM":-470.498352,"cg_du":45.4877243,"cg_dv":54.2886162,"cg_dw":54.5122757,"cg_id_a":9.53467369,"cg_id_raw_a":9.97336197,"cg_iq_a":-201.242188,"cg_iq_raw_a":-200.439926,"cg_iu_a":-182.630142,"cg_iv_a":13.008194,"cg_iw_a":169.621948,"cg_sample_age_us":23.9218178,"cg_sample_seq":11637066,"cg_sample_valid":1,"cg_theta_rad":5.51975727,"cg_vd_req_v":-2.19224,"cg_vd_v":-2.19224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31724167,"cg_vq_v":-8.31724167,"cg_vu_v":17.1558094,"cg_vv_v":22.8744144,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.4312019,"dclink_p_w":-2378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2054.553955,"values":{"Elec_RPM":-2350.28027,"EncoderCos":53242,"EncoderSin":27301,"GapTicks":49324,"Mech_RPM":-470.056061,"cg_du":55.1593475,"cg_dv":44.8406525,"cg_dw":49.7520409,"cg_id_a":-13.8529425,"cg_id_raw_a":-15.2620659,"cg_iq_a":-196.848892,"cg_iq_raw_a":-196.528473,"cg_iu_a":198.691223,"cg_iv_a":-70.7512894,"cg_iw_a":-117.139259,"cg_sample_age_us":24.136364,"cg_sample_seq":11638772,"cg_sample_valid":1,"cg_theta_rad":6.08592033,"cg_vd_req_v":-1.70508552,"cg_vd_v":-1.70508552,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42832947,"cg_vq_v":-8.42832947,"cg_vu_v":142.965088,"cg_vv_v":136.806595,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4858971,"dclink_p_w":-2522.94849,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2054.885986,"values":{"Elec_RPM":-2356.0625,"EncoderCos":52528,"EncoderSin":40226,"GapTicks":49276,"Mech_RPM":-471.212524,"cg_du":44.797123,"cg_dv":55.202877,"cg_dw":49.5597305,"cg_id_a":-8.64478493,"cg_id_raw_a":-8.0780983,"cg_iq_a":-196.142395,"cg_iq_raw_a":-195.815933,"cg_iu_a":-192.814667,"cg_iv_a":125.545303,"cg_iw_a":57.7009811,"cg_sample_age_us":23.5072727,"cg_sample_seq":11640468,"cg_sample_valid":1,"cg_theta_rad":0.380830735,"cg_vd_req_v":-1.81636345,"cg_vd_v":-1.81636345,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4864254,"cg_vq_v":-8.4864254,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2476.92944,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2055.011554,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2055.01156,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2055.011566,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2055.218018,"values":{"Elec_RPM":-2352.48218,"EncoderCos":44829,"EncoderSin":50337,"GapTicks":49402,"Mech_RPM":-470.496429,"cg_du":55.0883942,"cg_dv":44.9116058,"cg_dw":51.3935127,"cg_id_a":-13.2866764,"cg_id_raw_a":-11.4117975,"cg_iq_a":-194.809555,"cg_iq_raw_a":-195.540344,"cg_iu_a":178.9021,"cg_iv_a":-156.178009,"cg_iw_a":-22.7240906,"cg_sample_age_us":23.9327278,"cg_sample_seq":11642166,"cg_sample_valid":1,"cg_theta_rad":0.972717047,"cg_vd_req_v":-1.64045405,"cg_vd_v":-1.64045405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4779501,"cg_vq_v":-8.4779501,"cg_vu_v":44.4291458,"cg_vv_v":40.9100075,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2374.32837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2055.573486,"values":{"Elec_RPM":-2356.58887,"EncoderCos":33289,"EncoderSin":54104,"GapTicks":50042,"Mech_RPM":-471.317749,"cg_du":45.4930649,"cg_dv":54.5069351,"cg_dw":45.9003181,"cg_id_a":11.5878992,"cg_id_raw_a":14.4791069,"cg_iq_a":-206.897034,"cg_iq_raw_a":-207.473175,"cg_iu_a":-173.351715,"cg_iv_a":183.390472,"cg_iw_a":-10.0387497,"cg_sample_age_us":23.8709087,"cg_sample_seq":11643866,"cg_sample_valid":1,"cg_theta_rad":1.54565275,"cg_vd_req_v":-2.1054759,"cg_vd_v":-2.1054759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24254227,"cg_vq_v":-8.24254227,"cg_vu_v":1.31967759,"cg_vv_v":18.0355949,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2502.55371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2055.905518,"values":{"Elec_RPM":-2357.90259,"EncoderCos":21609,"EncoderSin":51120,"GapTicks":49527,"Mech_RPM":-471.580536,"cg_du":52.4938927,"cg_dv":45.0247803,"cg_dw":54.9752197,"cg_id_a":8.09460258,"cg_id_raw_a":6.43479586,"cg_iq_a":-200.474518,"cg_iq_raw_a":-199.904617,"cg_iu_a":134.82959,"cg_iv_a":-198.764511,"cg_iw_a":75.8591309,"cg_sample_age_us":23.6745453,"cg_sample_seq":11645566,"cg_sample_valid":1,"cg_theta_rad":2.11465359,"cg_vd_req_v":-2.09568334,"cg_vd_v":-2.09568334,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39791107,"cg_vq_v":-8.39791107,"cg_vu_v":7.03828096,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2056.034666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2056.034672,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2056.034677,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2056.237549,"values":{"Elec_RPM":-2352.2124,"EncoderCos":13304,"EncoderSin":41821,"GapTicks":49392,"Mech_RPM":-470.442505,"cg_du":48.9062843,"cg_dv":55.0978241,"cg_dw":44.9021759,"cg_id_a":-3.17168808,"cg_id_raw_a":-9.28262424,"cg_iq_a":-197.790207,"cg_iq_raw_a":-196.967911,"cg_iu_a":-80.5312653,"cg_iv_a":197.054398,"cg_iw_a":-116.523132,"cg_sample_age_us":23.8709087,"cg_sample_seq":11647266,"cg_sample_valid":1,"cg_theta_rad":2.69978118,"cg_vd_req_v":-1.82955158,"cg_vd_v":-1.82955158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41373825,"cg_vq_v":-8.41373825,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-17.1742001,"dclink_p_w":-2485.53027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2056.589111,"values":{"Elec_RPM":-2352.06274,"EncoderCos":12943,"EncoderSin":41070,"GapTicks":49566,"Mech_RPM":-470.412567,"cg_du":47.5218925,"cg_dv":54.9395332,"cg_dw":45.0604668,"cg_id_a":11.7707396,"cg_id_raw_a":8.13384438,"cg_iq_a":-201.388077,"cg_iq_raw_a":-200.300461,"cg_iu_a":-138.086472,"cg_iv_a":199.047806,"cg_iw_a":-71.7619934,"cg_sample_age_us":23.9327278,"cg_sample_seq":11649016,"cg_sample_valid":1,"cg_theta_rad":2.7435894,"cg_vd_req_v":-2.12523723,"cg_vd_v":-2.12523723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32700253,"cg_vq_v":-8.32700253,"cg_vu_v":13.1967773,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.2536068,"dclink_p_w":-2352.29761,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2056.921143,"values":{"Elec_RPM":-2349.57324,"EncoderCos":15979,"EncoderSin":19131,"GapTicks":49958,"Mech_RPM":-469.914642,"cg_du":54.5835762,"cg_dv":54.0137634,"cg_dw":45.4164238,"cg_id_a":11.2236261,"cg_id_raw_a":10.0017586,"cg_iq_a":-204.984894,"cg_iq_raw_a":-208.099564,"cg_iu_a":18.2694244,"cg_iv_a":166.355881,"cg_iw_a":-184.625305,"cg_sample_age_us":23.9618187,"cg_sample_seq":11650668,"cg_sample_valid":1,"cg_theta_rad":3.84232783,"cg_vd_req_v":-2.12154126,"cg_vd_v":-2.12154126,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28982544,"cg_vq_v":-8.28982544,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2395.61206,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2057.026709,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2057.026714,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2057.02672,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2057.253174,"values":{"Elec_RPM":-2349.77222,"EncoderCos":26402,"EncoderSin":12281,"GapTicks":49532,"Mech_RPM":-469.954437,"cg_du":45.0293999,"cg_dv":47.4336014,"cg_dw":54.9706001,"cg_id_a":10.4469652,"cg_id_raw_a":6.9265871,"cg_iq_a":-197.249756,"cg_iq_raw_a":-195.449387,"cg_iu_a":-55.450531,"cg_iv_a":-137.584915,"cg_iw_a":193.035446,"cg_sample_age_us":23.9509087,"cg_sample_seq":11652367,"cg_sample_valid":1,"cg_theta_rad":4.42474556,"cg_vd_req_v":-2.15239429,"cg_vd_v":-2.15239429,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4234581,"cg_vq_v":-8.4234581,"cg_vu_v":106.014107,"cg_vv_v":100.295509,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.3499832,"dclink_p_w":-2518.60254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2057.604736,"values":{"Elec_RPM":-2354.73633,"EncoderCos":38536,"EncoderSin":12120,"GapTicks":49392,"Mech_RPM":-470.947266,"cg_du":55.0975113,"cg_dv":50.6662025,"cg_dw":44.9024887,"cg_id_a":-7.43885803,"cg_id_raw_a":-12.9111996,"cg_iq_a":-199.106766,"cg_iq_raw_a":-196.525406,"cg_iu_a":117.106361,"cg_iv_a":80.9653854,"cg_iw_a":-198.071747,"cg_sample_age_us":23.9363632,"cg_sample_seq":11654067,"cg_sample_valid":1,"cg_theta_rad":5.00182867,"cg_vd_req_v":-1.79814625,"cg_vd_v":-1.79814625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35146427,"cg_vq_v":-8.35146427,"cg_vu_v":141.205521,"cg_vv_v":131.967773,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2403.9646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2057.940674,"values":{"Elec_RPM":-2347.98608,"EncoderCos":48882,"EncoderSin":18888,"GapTicks":49383,"Mech_RPM":-469.597198,"cg_du":44.8939819,"cg_dv":51.1204453,"cg_dw":55.1060181,"cg_id_a":-11.1454182,"cg_id_raw_a":-8.63228321,"cg_iq_a":-199.509811,"cg_iq_raw_a":-201.029114,"cg_iu_a":-151.750397,"cg_iv_a":-35.8122406,"cg_iw_a":187.562637,"cg_sample_age_us":23.954546,"cg_sample_seq":11655766,"cg_sample_valid":1,"cg_theta_rad":5.59299374,"cg_vd_req_v":-1.79795229,"cg_vd_v":-1.79795229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.384305,"cg_vq_v":-8.384305,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.7051735,"dclink_p_w":-2554.58667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2058.019406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2058.019412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2058.019417,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2058.389893,"values":{"Elec_RPM":-2343.85693,"EncoderCos":38067,"EncoderSin":53388,"GapTicks":49972,"Mech_RPM":-468.771393,"cg_du":54.5703735,"cg_dv":54.033329,"cg_dw":45.4296265,"cg_id_a":13.4925346,"cg_id_raw_a":14.0948439,"cg_iq_a":-204.868637,"cg_iq_raw_a":-205.084869,"cg_iu_a":20.734005,"cg_iv_a":165.159821,"cg_iw_a":-185.893829,"cg_sample_age_us":23.8890915,"cg_sample_seq":11657917,"cg_sample_valid":1,"cg_theta_rad":1.32107246,"cg_vd_req_v":-2.17493081,"cg_vd_v":-2.17493081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26450729,"cg_vq_v":-8.26450729,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2464.90186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2058.883654,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2058.883665,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2058.883668,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2058.928955,"values":{"Elec_RPM":-2345.24072,"EncoderCos":23154,"EncoderSin":13535,"GapTicks":50081,"Mech_RPM":-469.048126,"cg_du":45.528614,"cg_dv":54.471386,"cg_dw":54.4290771,"cg_id_a":10.1687889,"cg_id_raw_a":13.7905617,"cg_iq_a":-201.099655,"cg_iq_raw_a":-202.285202,"cg_iu_a":-183.210052,"cg_iv_a":17.5024414,"cg_iw_a":159.147476,"cg_sample_age_us":23.9254551,"cg_sample_seq":11660566,"cg_sample_valid":1,"cg_theta_rad":4.25926304,"cg_vd_req_v":-2.12089849,"cg_vd_v":-2.12089849,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34255123,"cg_vq_v":-8.34255123,"cg_vu_v":21.1148415,"cg_vv_v":25.0738773,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.6218128,"dclink_p_w":-2558.0625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2059.011508,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2059.011514,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2059.01152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2059.268799,"values":{"Elec_RPM":-2353.4231,"EncoderCos":13504,"EncoderSin":42278,"GapTicks":49361,"Mech_RPM":-470.684601,"cg_du":49.7945633,"cg_dv":55.1255417,"cg_dw":44.8744583,"cg_id_a":-9.91569424,"cg_id_raw_a":-11.1932936,"cg_iq_a":-198.094147,"cg_iq_raw_a":-197.86441,"cg_iu_a":-66.6136322,"cg_iv_a":195.242203,"cg_iw_a":-128.628571,"cg_sample_age_us":23.812727,"cg_sample_seq":11662467,"cg_sample_valid":1,"cg_theta_rad":2.68680215,"cg_vd_req_v":-1.68328559,"cg_vd_v":-1.68328559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40078926,"cg_vq_v":-8.40078926,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2541.75244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2059.620361,"values":{"Elec_RPM":-2352.31885,"EncoderCos":11439,"EncoderSin":30248,"GapTicks":49553,"Mech_RPM":-470.463745,"cg_du":48.0635567,"cg_dv":45.0488892,"cg_dw":54.9511108,"cg_id_a":-11.8989201,"cg_id_raw_a":-6.3778162,"cg_iq_a":-203.749939,"cg_iq_raw_a":-206.036179,"cg_iu_a":1.81472516,"cg_iv_a":-176.655792,"cg_iw_a":174.841064,"cg_sample_age_us":23.8745461,"cg_sample_seq":11664166,"cg_sample_valid":1,"cg_theta_rad":3.25429153,"cg_vd_req_v":-1.62606883,"cg_vd_v":-1.62606883,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29871559,"cg_vq_v":-8.29871559,"cg_vu_v":102.494972,"cg_vv_v":73.462059,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2446.3374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2059.952393,"values":{"Elec_RPM":-2352.1189,"EncoderCos":25313,"EncoderSin":12667,"GapTicks":49322,"Mech_RPM":-470.423798,"cg_du":44.8384857,"cg_dv":49.3871651,"cg_dw":55.1615143,"cg_id_a":-11.3254595,"cg_id_raw_a":-13.4569588,"cg_iq_a":-195.939438,"cg_iq_raw_a":-196.703278,"cg_iu_a":-120.109528,"cg_iv_a":-73.7957764,"cg_iw_a":193.905304,"cg_sample_age_us":23.9363632,"cg_sample_seq":11665817,"cg_sample_valid":1,"cg_theta_rad":4.36932755,"cg_vd_req_v":-1.71408951,"cg_vd_v":-1.71408951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47421646,"cg_vq_v":-8.47421646,"cg_vu_v":117.891212,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2554.37939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2060.003563,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2060.003569,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2060.003575,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2060.284424,"values":{"Elec_RPM":-2354.71582,"EncoderCos":37501,"EncoderSin":11843,"GapTicks":49402,"Mech_RPM":-470.943146,"cg_du":55.0884323,"cg_dv":48.6834793,"cg_dw":44.9115677,"cg_id_a":-17.0503979,"cg_id_raw_a":-15.3742943,"cg_iq_a":-194.727753,"cg_iq_raw_a":-193.265366,"cg_iu_a":157.626968,"cg_iv_a":18.9159393,"cg_iw_a":-176.542908,"cg_sample_age_us":24.0163631,"cg_sample_seq":11667517,"cg_sample_valid":1,"cg_theta_rad":4.95193529,"cg_vd_req_v":-1.57828391,"cg_vd_v":-1.57828391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45170689,"cg_vq_v":-8.45170689,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2442.78052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2060.635986,"values":{"Elec_RPM":-2355.47583,"EncoderCos":48179,"EncoderSin":18102,"GapTicks":49821,"Mech_RPM":-471.095154,"cg_du":45.2921066,"cg_dv":53.507576,"cg_dw":54.7078934,"cg_id_a":3.15273094,"cg_id_raw_a":8.00916576,"cg_iq_a":-202.929077,"cg_iq_raw_a":-203.85054,"cg_iu_a":-177.592255,"cg_iv_a":9.99995422,"cg_iw_a":169.911896,"cg_sample_age_us":23.9181824,"cg_sample_seq":11669216,"cg_sample_valid":1,"cg_theta_rad":5.53818941,"cg_vd_req_v":-2.06974959,"cg_vd_v":-2.06974959,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31066132,"cg_vq_v":-8.31066132,"cg_vu_v":38.2706528,"cg_vv_v":46.6286087,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2060.968018,"values":{"Elec_RPM":-2358.53296,"EncoderCos":48587,"EncoderSin":18555,"GapTicks":49510,"Mech_RPM":-471.706604,"cg_du":45.0096245,"cg_dv":52.072876,"cg_dw":54.9903755,"cg_id_a":-8.57775879,"cg_id_raw_a":-8.47740078,"cg_iq_a":-201.555328,"cg_iq_raw_a":-201.689026,"cg_iu_a":-165.124359,"cg_iv_a":-15.1170197,"cg_iw_a":180.241379,"cg_sample_age_us":23.954546,"cg_sample_seq":11670967,"cg_sample_valid":1,"cg_theta_rad":5.5666213,"cg_vd_req_v":-1.8325814,"cg_vd_v":-1.8325814,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35128784,"cg_vq_v":-8.35128784,"cg_vu_v":128.008743,"cg_vv_v":128.008743,"cg_vw_v":124.489601,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2060.995517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2060.995523,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2060.995528,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2061.31958,"values":{"Elec_RPM":-2355.11865,"EncoderCos":52622,"EncoderSin":40100,"GapTicks":49336,"Mech_RPM":-471.023712,"cg_du":44.8513031,"cg_dv":55.1486969,"cg_dw":49.2671623,"cg_id_a":-9.29572868,"cg_id_raw_a":-9.40898991,"cg_iq_a":-196.228729,"cg_iq_raw_a":-197.912445,"cg_iu_a":-196.185333,"cg_iv_a":103.364075,"cg_iw_a":92.8212585,"cg_sample_age_us":23.5218182,"cg_sample_seq":11672621,"cg_sample_valid":1,"cg_theta_rad":0.404260874,"cg_vd_req_v":-1.78895831,"cg_vd_v":-1.78895831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44578934,"cg_vq_v":-8.44578934,"cg_vu_v":119.210884,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2061.655518,"values":{"Elec_RPM":-2355.80005,"EncoderCos":51831,"EncoderSin":41981,"GapTicks":49629,"Mech_RPM":-471.160004,"cg_du":45.1174545,"cg_dv":54.8825455,"cg_dw":53.0393181,"cg_id_a":11.7566166,"cg_id_raw_a":12.5992947,"cg_iq_a":-198.465256,"cg_iq_raw_a":-198.756882,"cg_iu_a":-191.147446,"cg_iv_a":43.7792206,"cg_iw_a":147.368225,"cg_sample_age_us":23.5363636,"cg_sample_seq":11674366,"cg_sample_valid":1,"cg_theta_rad":0.458688378,"cg_vd_req_v":-2.21844745,"cg_vd_v":-2.21844745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38173294,"cg_vq_v":-8.38173294,"cg_vu_v":38.2706528,"cg_vv_v":50.5876465,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2472.48462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2061.983643,"values":{"Elec_RPM":-2350.49561,"EncoderCos":32866,"EncoderSin":54093,"GapTicks":49727,"Mech_RPM":-470.099121,"cg_du":45.2070084,"cg_dv":54.7929916,"cg_dw":46.845871,"cg_id_a":3.65947461,"cg_id_raw_a":9.29457569,"cg_iq_a":-203.1763,"cg_iq_raw_a":-203.738602,"cg_iu_a":-174.910217,"cg_iv_a":174.438248,"cg_iw_a":0.471969604,"cg_sample_age_us":23.8709087,"cg_sample_seq":11676016,"cg_sample_valid":1,"cg_theta_rad":1.56654775,"cg_vd_req_v":-1.94252741,"cg_vd_v":-1.94252741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34527779,"cg_vq_v":-8.34527779,"cg_vu_v":15.836132,"cg_vv_v":27.2733402,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6812859,"dclink_p_w":-2414.19336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2062.019417,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2062.019424,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2062.019431,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2062.339111,"values":{"Elec_RPM":-2354.29346,"EncoderCos":21163,"EncoderSin":50832,"GapTicks":49754,"Mech_RPM":-470.858704,"cg_du":53.4928055,"cg_dv":45.2310104,"cg_dw":54.7689896,"cg_id_a":11.5330706,"cg_id_raw_a":10.2885904,"cg_iq_a":-199.817123,"cg_iq_raw_a":-199.165573,"cg_iu_a":153.567657,"cg_iv_a":-188.000092,"cg_iw_a":34.4324341,"cg_sample_age_us":23.641819,"cg_sample_seq":11677716,"cg_sample_valid":1,"cg_theta_rad":2.14249849,"cg_vd_req_v":-2.14165235,"cg_vd_v":-2.14165235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38362026,"cg_vq_v":-8.38362026,"cg_vu_v":16.2760258,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2482.03638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2062.671143,"values":{"Elec_RPM":-2355.91235,"EncoderCos":13128,"EncoderSin":41514,"GapTicks":49488,"Mech_RPM":-471.182465,"cg_du":48.3260498,"cg_dv":55.0101891,"cg_dw":44.9898109,"cg_id_a":2.27927566,"cg_id_raw_a":-1.6750524,"cg_iq_a":-202.020325,"cg_iq_raw_a":-200.634232,"cg_iu_a":-101.878883,"cg_iv_a":202.273514,"cg_iw_a":-100.39463,"cg_sample_age_us":23.8709087,"cg_sample_seq":11679416,"cg_sample_valid":1,"cg_theta_rad":2.7160511,"cg_vd_req_v":-1.93585157,"cg_vd_v":-1.93585157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30440712,"cg_vq_v":-8.30440712,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2540.72876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2063.003174,"values":{"Elec_RPM":-2352.26465,"EncoderCos":11539,"EncoderSin":29614,"GapTicks":49354,"Mech_RPM":-470.452942,"cg_du":49.5059242,"cg_dv":44.8673668,"cg_dw":55.1326332,"cg_id_a":-19.5146141,"cg_id_raw_a":-20.0859833,"cg_iq_a":-198.529449,"cg_iq_raw_a":-200.731171,"cg_iu_a":35.0140762,"cg_iv_a":-186.477844,"cg_iw_a":151.463776,"cg_sample_age_us":23.8054543,"cg_sample_seq":11681116,"cg_sample_valid":1,"cg_theta_rad":3.29426455,"cg_vd_req_v":-1.50844133,"cg_vd_v":-1.50844133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43057156,"cg_vq_v":-8.43057156,"cg_vu_v":7.91806602,"cg_vv_v":8.35795879,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.7918282,"dclink_p_w":-2430.19165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2063.011741,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2063.011747,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2063.011753,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2063.354736,"values":{"Elec_RPM":-2359.73999,"EncoderCos":16489,"EncoderSin":18525,"GapTicks":49685,"Mech_RPM":-471.947998,"cg_du":53.2102699,"cg_dv":54.8313065,"cg_dw":45.1686935,"cg_id_a":0.95562005,"cg_id_raw_a":4.19723988,"cg_iq_a":-199.24173,"cg_iq_raw_a":-200.232468,"cg_iu_a":4.85920715,"cg_iv_a":168.602982,"cg_iw_a":-173.462189,"cg_sample_age_us":23.9727268,"cg_sample_seq":11682817,"cg_sample_valid":1,"cg_theta_rad":3.86470461,"cg_vd_req_v":-1.89851403,"cg_vd_v":-1.89851403,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40959358,"cg_vq_v":-8.40959358,"cg_vu_v":122.730026,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2449.59937,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2063.686768,"values":{"Elec_RPM":-2359.70825,"EncoderCos":27065,"EncoderSin":12098,"GapTicks":49891,"Mech_RPM":-471.94165,"cg_du":45.3556137,"cg_dv":46.2187195,"cg_dw":54.6443863,"cg_id_a":15.0030699,"cg_id_raw_a":16.2074604,"cg_iq_a":-202.768829,"cg_iq_raw_a":-201.217651,"cg_iu_a":-25.730587,"cg_iv_a":-163.354279,"cg_iw_a":189.084869,"cg_sample_age_us":23.8963642,"cg_sample_seq":11684516,"cg_sample_valid":1,"cg_theta_rad":4.45546389,"cg_vd_req_v":-2.22084522,"cg_vd_v":-2.22084522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28355598,"cg_vq_v":-8.28355598,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.1811199,"dclink_p_w":-2334.68896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2064.003318,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2064.003324,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2064.00333,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2064.022705,"values":{"Elec_RPM":-2355.80835,"EncoderCos":39076,"EncoderSin":12264,"GapTicks":49487,"Mech_RPM":-471.161682,"cg_du":55.0112038,"cg_dv":51.6648674,"cg_dw":44.9887962,"cg_id_a":-2.09497547,"cg_id_raw_a":-5.36508274,"cg_iq_a":-203.888382,"cg_iq_raw_a":-202.32486,"cg_iu_a":94.4902039,"cg_iv_a":111.518951,"cg_iw_a":-206.009155,"cg_sample_age_us":23.9836369,"cg_sample_seq":11686216,"cg_sample_valid":1,"cg_theta_rad":5.0274229,"cg_vd_req_v":-1.92716336,"cg_vd_v":-1.92716336,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27982903,"cg_vq_v":-8.27982903,"cg_vu_v":39.1504402,"cg_vv_v":43.1094704,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.5982533,"dclink_p_w":-2539.15967,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2064.374268,"values":{"Elec_RPM":-2352.03735,"EncoderCos":49018,"EncoderSin":19065,"GapTicks":49332,"Mech_RPM":-470.407471,"cg_du":44.8481369,"cg_dv":50.6427078,"cg_dw":55.1518631,"cg_id_a":-10.9531507,"cg_id_raw_a":-9.5004158,"cg_iq_a":-197.893143,"cg_iq_raw_a":-197.751053,"cg_iu_a":-142.326996,"cg_iv_a":-45.743042,"cg_iw_a":188.070038,"cg_sample_age_us":23.8381824,"cg_sample_seq":11687917,"cg_sample_valid":1,"cg_theta_rad":5.60212612,"cg_vd_req_v":-1.79327917,"cg_vd_v":-1.79327917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44343662,"cg_vq_v":-8.44343662,"cg_vu_v":128.888519,"cg_vv_v":124.049698,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-16.3405933,"dclink_p_w":-2364.88672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2064.706299,"values":{"Elec_RPM":-2350.06226,"EncoderCos":53804,"EncoderSin":30388,"GapTicks":49598,"Mech_RPM":-470.012451,"cg_du":54.910759,"cg_dv":47.3567467,"cg_dw":45.089241,"cg_id_a":-5.02421522,"cg_id_raw_a":-0.277589679,"cg_iq_a":-198.425629,"cg_iq_raw_a":-198.514359,"cg_iu_a":170.022354,"cg_iv_a":-0.655715942,"cg_iw_a":-169.366638,"cg_sample_age_us":24.1145458,"cg_sample_seq":11689617,"cg_sample_valid":1,"cg_theta_rad":6.18211889,"cg_vd_req_v":-1.84040511,"cg_vd_v":-1.84040511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39430237,"cg_vq_v":-8.39430237,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5145626,"dclink_p_w":-2390.06445,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2065.027488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2065.027494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2065.0275,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2065.057861,"values":{"Elec_RPM":-2344.34009,"EncoderCos":52082,"EncoderSin":41460,"GapTicks":49417,"Mech_RPM":-468.868011,"cg_du":44.9253426,"cg_dv":55.0746574,"cg_dw":51.9535828,"cg_id_a":7.08016109,"cg_id_raw_a":1.97678411,"cg_iq_a":-198.653778,"cg_iq_raw_a":-197.987976,"cg_iu_a":-187.523071,"cg_iv_a":28.4118347,"cg_iw_a":159.111237,"cg_sample_age_us":23.5290909,"cg_sample_seq":11691321,"cg_sample_valid":1,"cg_theta_rad":0.474955589,"cg_vd_req_v":-2.1455574,"cg_vd_v":-2.1455574,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39101791,"cg_vq_v":-8.39101791,"cg_vu_v":125.369385,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2065.389893,"values":{"Elec_RPM":-2347.02124,"EncoderCos":43462,"EncoderSin":51184,"GapTicks":49369,"Mech_RPM":-469.404236,"cg_du":55.1182137,"cg_dv":44.8817863,"cg_dw":48.4263649,"cg_id_a":2.51516318,"cg_id_raw_a":-3.69157648,"cg_iq_a":-198.937332,"cg_iq_raw_a":-197.907043,"cg_iu_a":198.546249,"cg_iv_a":-86.4811249,"cg_iw_a":-112.065125,"cg_sample_age_us":23.8963642,"cg_sample_seq":11693017,"cg_sample_valid":1,"cg_theta_rad":1.04607809,"cg_vd_req_v":-2.00692749,"cg_vd_v":-2.00692749,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42479706,"cg_vq_v":-8.42479706,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2392.1626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2065.721924,"values":{"Elec_RPM":-2346.17212,"EncoderCos":31299,"EncoderSin":54048,"GapTicks":49332,"Mech_RPM":-469.234436,"cg_du":44.8475189,"cg_dv":55.1524811,"cg_dw":50.2804794,"cg_id_a":-7.73918343,"cg_id_raw_a":-8.68314648,"cg_iq_a":-195.571899,"cg_iq_raw_a":-195.276947,"cg_iu_a":-193.829498,"cg_iv_a":124.131805,"cg_iw_a":69.6976929,"cg_sample_age_us":23.7399998,"cg_sample_seq":11694716,"cg_sample_valid":1,"cg_theta_rad":1.63869667,"cg_vd_req_v":-1.72914815,"cg_vd_v":-1.72914815,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46615601,"cg_vq_v":-8.46615601,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.4514656,"dclink_p_w":-2525.65723,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2066.01908,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2066.019086,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2066.019091,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2066.077393,"values":{"Elec_RPM":-2352.56934,"EncoderCos":20107,"EncoderSin":50131,"GapTicks":49635,"Mech_RPM":-470.513885,"cg_du":54.8772469,"cg_dv":45.1227531,"cg_dw":52.7591133,"cg_id_a":-3.39806581,"cg_id_raw_a":3.11802173,"cg_iq_a":-200.640686,"cg_iq_raw_a":-202.77771,"cg_iu_a":172.052017,"cg_iv_a":-173.140121,"cg_iw_a":1.08810425,"cg_sample_age_us":24.0345459,"cg_sample_seq":11696417,"cg_sample_valid":1,"cg_theta_rad":2.20291352,"cg_vd_req_v":-1.81907547,"cg_vd_v":-1.81907547,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35241318,"cg_vq_v":-8.35241318,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2066.409424,"values":{"Elec_RPM":-2352.64771,"EncoderCos":12589,"EncoderSin":40214,"GapTicks":50048,"Mech_RPM":-470.529541,"cg_du":45.8307076,"cg_dv":54.5014915,"cg_dw":45.4985085,"cg_id_a":14.7954102,"cg_id_raw_a":17.2584419,"cg_iq_a":-207.746063,"cg_iq_raw_a":-208.136505,"cg_iu_a":-172.083191,"cg_iv_a":192.958832,"cg_iw_a":-27.5082703,"cg_sample_age_us":24.0236359,"cg_sample_seq":11698116,"cg_sample_valid":1,"cg_theta_rad":2.78886437,"cg_vd_req_v":-2.16704369,"cg_vd_v":-2.16704369,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25078011,"cg_vq_v":-8.25078011,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2066.741455,"values":{"Elec_RPM":-2349.56689,"EncoderCos":11776,"EncoderSin":28303,"GapTicks":49400,"Mech_RPM":-469.913391,"cg_du":51.7915916,"cg_dv":44.9099007,"cg_dw":55.0900993,"cg_id_a":4.08145761,"cg_id_raw_a":-1.18738961,"cg_iq_a":-197.088028,"cg_iq_raw_a":-196.391464,"cg_iu_a":114.351822,"cg_iv_a":-196.843582,"cg_iw_a":93.4373932,"cg_sample_age_us":23.7436371,"cg_sample_seq":11699817,"cg_sample_valid":1,"cg_theta_rad":3.35212779,"cg_vd_req_v":-2.00611067,"cg_vd_v":-2.00611067,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44510937,"cg_vq_v":-8.44510937,"cg_vu_v":124.049698,"cg_vv_v":119.650772,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2422.32349,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2067.010702,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2067.010708,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2067.010714,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2067.093018,"values":{"Elec_RPM":-2351.26904,"EncoderCos":27624,"EncoderSin":11941,"GapTicks":50006,"Mech_RPM":-470.253784,"cg_du":46.1007156,"cg_dv":45.4600525,"cg_dw":54.5399475,"cg_id_a":9.17874336,"cg_id_raw_a":13.0058422,"cg_iq_a":-207.993301,"cg_iq_raw_a":-208.772964,"cg_iu_a":-8.55101204,"cg_iv_a":-172.378998,"cg_iw_a":186.04039,"cg_sample_age_us":23.8345451,"cg_sample_seq":11701466,"cg_sample_valid":1,"cg_theta_rad":4.48110199,"cg_vd_req_v":-2.10577297,"cg_vd_v":-2.10577297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.20244789,"cg_vq_v":-8.20244789,"cg_vu_v":40.4701157,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2381.23096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2067.425049,"values":{"Elec_RPM":-2356.9314,"EncoderCos":28475,"EncoderSin":11773,"GapTicks":49496,"Mech_RPM":-471.386292,"cg_du":48.2159424,"cg_dv":44.9969788,"cg_dw":55.0030212,"cg_id_a":-12.1337223,"cg_id_raw_a":-10.9396534,"cg_iq_a":-202.045181,"cg_iq_raw_a":-203.809586,"cg_iu_a":6.70764256,"cg_iv_a":-178.178009,"cg_iw_a":171.470367,"cg_sample_age_us":23.8090916,"cg_sample_seq":11703216,"cg_sample_valid":1,"cg_theta_rad":4.51577902,"cg_vd_req_v":-1.67232442,"cg_vd_v":-1.67232442,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34420967,"cg_vq_v":-8.34420967,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":9.23774433,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2448.89014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2067.776611,"values":{"Elec_RPM":-2351.54932,"EncoderCos":39646,"EncoderSin":12459,"GapTicks":49629,"Mech_RPM":-470.309875,"cg_du":54.8823471,"cg_dv":52.7646332,"cg_dw":45.1176529,"cg_id_a":5.30157471,"cg_id_raw_a":4.35412264,"cg_iq_a":-202.797134,"cg_iq_raw_a":-202.776306,"cg_iu_a":25.1557541,"cg_iv_a":160.339386,"cg_iw_a":-185.495148,"cg_sample_age_us":23.9909096,"cg_sample_seq":11704920,"cg_sample_valid":1,"cg_theta_rad":5.09014225,"cg_vd_req_v":-2.06863618,"cg_vd_v":-2.06863618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33103752,"cg_vq_v":-8.33103752,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2068.003292,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2068.003297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2068.003303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2068.13208,"values":{"Elec_RPM":-2355.24219,"EncoderCos":41309,"EncoderSin":13099,"GapTicks":49566,"Mech_RPM":-471.048462,"cg_du":52.4244156,"cg_dv":54.9398537,"cg_dw":45.0601463,"cg_id_a":-9.41283035,"cg_id_raw_a":-1.93374538,"cg_iq_a":-197.088348,"cg_iq_raw_a":-199.794296,"cg_iu_a":2.32213879,"cg_iv_a":169.110382,"cg_iw_a":-171.432526,"cg_sample_age_us":23.8745461,"cg_sample_seq":11706666,"cg_sample_valid":1,"cg_theta_rad":5.13092184,"cg_vd_req_v":-1.75408781,"cg_vd_v":-1.75408781,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42560768,"cg_vq_v":-8.42560768,"cg_vu_v":106.014107,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2438.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2068.651611,"values":{"Elec_RPM":-2340.20215,"EncoderCos":12152,"EncoderSin":38856,"GapTicks":49411,"Mech_RPM":-468.040405,"cg_du":44.9194145,"cg_dv":55.0805855,"cg_dw":48.5871201,"cg_id_a":-10.684763,"cg_id_raw_a":-8.87996101,"cg_iq_a":-198.690033,"cg_iq_raw_a":-199.97496,"cg_iu_a":-181.869019,"cg_iv_a":158.708405,"cg_iw_a":16.4554901,"cg_sample_age_us":23.9400005,"cg_sample_seq":11709217,"cg_sample_valid":1,"cg_theta_rad":2.85563445,"cg_vd_req_v":-1.64547563,"cg_vd_v":-1.64547563,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41355705,"cg_vq_v":-8.41355705,"cg_vu_v":103.814644,"cg_vv_v":105.134323,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2467.04175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2068.898644,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2068.898655,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2068.898659,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2068.994801,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2068.994805,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2068.994809,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2069.104736,"values":{"Elec_RPM":-2349.55249,"EncoderCos":13139,"EncoderSin":41544,"GapTicks":49432,"Mech_RPM":-469.910492,"cg_du":48.3953514,"cg_dv":55.0609894,"cg_dw":44.9390106,"cg_id_a":2.61492372,"cg_id_raw_a":-4.68754148,"cg_iq_a":-201.706604,"cg_iq_raw_a":-200.242493,"cg_iu_a":-138.630127,"cg_iv_a":200.35257,"cg_iw_a":-61.7224503,"cg_sample_age_us":23.9763641,"cg_sample_seq":11711568,"cg_sample_valid":1,"cg_theta_rad":2.74190068,"cg_vd_req_v":-1.96495044,"cg_vd_v":-1.96495044,"cg_vdc_v":142.965088,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34375572,"cg_vq_v":-8.34375572,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.4565735,"dclink_p_w":-2381.67188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2069.436768,"values":{"Elec_RPM":-2354.46899,"EncoderCos":11601,"EncoderSin":29168,"GapTicks":49326,"Mech_RPM":-470.893799,"cg_du":50.3349762,"cg_dv":44.8419037,"cg_dw":55.1580963,"cg_id_a":-14.1327477,"cg_id_raw_a":-17.8195724,"cg_iq_a":-195.163315,"cg_iq_raw_a":-195.860382,"cg_iu_a":65.2051849,"cg_iv_a":-192.929245,"cg_iw_a":127.72406,"cg_sample_age_us":23.7509098,"cg_sample_seq":11713266,"cg_sample_valid":1,"cg_theta_rad":3.31790614,"cg_vd_req_v":-1.62900567,"cg_vd_v":-1.62900567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49742222,"cg_vq_v":-8.49742222,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2472.8291,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2069.78833,"values":{"Elec_RPM":-2357.177,"EncoderCos":11626,"EncoderSin":29172,"GapTicks":49354,"Mech_RPM":-471.435394,"cg_du":50.3089333,"cg_dv":44.867382,"cg_dw":55.132618,"cg_id_a":-15.1405773,"cg_id_raw_a":-19.2500744,"cg_iq_a":-196.251282,"cg_iq_raw_a":-196.580154,"cg_iu_a":116.019043,"cg_iv_a":-195.9375,"cg_iw_a":79.9184494,"cg_sample_age_us":26.6236362,"cg_sample_seq":11715020,"cg_sample_valid":1,"cg_theta_rad":3.35834837,"cg_vd_req_v":-1.60374117,"cg_vd_v":-1.60374117,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45786381,"cg_vq_v":-8.45786381,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.1886978,"dclink_p_w":-2495.1897,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2070.018845,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2070.018851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2070.018856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2070.120361,"values":{"Elec_RPM":-2358.12134,"EncoderCos":38484,"EncoderSin":12111,"GapTicks":49375,"Mech_RPM":-471.624268,"cg_du":55.1136169,"cg_dv":50.6364288,"cg_dw":44.8863831,"cg_id_a":-11.7305155,"cg_id_raw_a":-15.5452147,"cg_iq_a":-200.02652,"cg_iq_raw_a":-197.409897,"cg_iu_a":123.195328,"cg_iv_a":74.1877899,"cg_iw_a":-197.383118,"cg_sample_age_us":23.9290905,"cg_sample_seq":11716617,"cg_sample_valid":1,"cg_theta_rad":5.00064611,"cg_vd_req_v":-1.72415411,"cg_vd_v":-1.72415411,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36571884,"cg_vq_v":-8.36571884,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":17.5957031,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2395.35059,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2070.456299,"values":{"Elec_RPM":-2355.18213,"EncoderCos":28021,"EncoderSin":11830,"GapTicks":49707,"Mech_RPM":-471.036438,"cg_du":47.1005936,"cg_dv":45.1885338,"cg_dw":54.8114662,"cg_id_a":-2.19823194,"cg_id_raw_a":4.36895704,"cg_iq_a":-205.474121,"cg_iq_raw_a":-205.668533,"cg_iu_a":0.00253343582,"cg_iv_a":-176.184601,"cg_iw_a":176.182068,"cg_sample_age_us":23.9327278,"cg_sample_seq":11718417,"cg_sample_valid":1,"cg_theta_rad":4.50505781,"cg_vd_req_v":-1.87208652,"cg_vd_v":-1.87208652,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27843857,"cg_vq_v":-8.27843857,"cg_vu_v":4.39892578,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2394.04297,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2070.78833,"values":{"Elec_RPM":-2350.6748,"EncoderCos":53735,"EncoderSin":29941,"GapTicks":49868,"Mech_RPM":-470.134949,"cg_du":54.6651421,"cg_dv":46.2352295,"cg_dw":45.3348579,"cg_id_a":6.42443657,"cg_id_raw_a":7.58564758,"cg_iq_a":-201.418976,"cg_iq_raw_a":-199.870926,"cg_iu_a":176.872437,"cg_iv_a":-12.2537537,"cg_iw_a":-169.402863,"cg_sample_age_us":24.0418186,"cg_sample_seq":11720017,"cg_sample_valid":1,"cg_theta_rad":6.15956879,"cg_vd_req_v":-2.07831979,"cg_vd_v":-2.07831979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31893539,"cg_vq_v":-8.31893539,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.1883678,"dclink_p_w":-2335.73486,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2071.011181,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2071.011186,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2071.011191,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2071.139893,"values":{"Elec_RPM":-2347.15332,"EncoderCos":49847,"EncoderSin":20171,"GapTicks":49407,"Mech_RPM":-469.430664,"cg_du":44.916172,"cg_dv":48.1880798,"cg_dw":55.083828,"cg_id_a":9.64778519,"cg_id_raw_a":4.39439869,"cg_iq_a":-197.327667,"cg_iq_raw_a":-193.932938,"cg_iu_a":-69.5493774,"cg_iv_a":-126.494324,"cg_iw_a":196.043701,"cg_sample_age_us":23.9145451,"cg_sample_seq":11721817,"cg_sample_valid":1,"cg_theta_rad":5.66459322,"cg_vd_req_v":-2.21899343,"cg_vd_v":-2.21899343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38512516,"cg_vq_v":-8.38512516,"cg_vu_v":130.208206,"cg_vv_v":110.852921,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2413.65332,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2071.471924,"values":{"Elec_RPM":-2347.91211,"EncoderCos":43555,"EncoderSin":51132,"GapTicks":49352,"Mech_RPM":-469.582428,"cg_du":55.1336746,"cg_dv":44.8663254,"cg_dw":48.6198883,"cg_id_a":1.60907602,"cg_id_raw_a":-4.36691618,"cg_iq_a":-196.81189,"cg_iq_raw_a":-196.563416,"cg_iu_a":198.546265,"cg_iv_a":-89.4893646,"cg_iw_a":-109.0569,"cg_sample_age_us":23.9218178,"cg_sample_seq":11723416,"cg_sample_valid":1,"cg_theta_rad":1.04237163,"cg_vd_req_v":-1.9851681,"cg_vd_v":-1.9851681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45178223,"cg_vq_v":-8.45178223,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2505.46289,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2071.823486,"values":{"Elec_RPM":-2338.52881,"EncoderCos":32588,"EncoderSin":54113,"GapTicks":49582,"Mech_RPM":-467.70575,"cg_du":45.0748978,"cg_dv":54.9251022,"cg_dw":47.5297852,"cg_id_a":-2.46608067,"cg_id_raw_a":3.11876178,"cg_iq_a":-199.621826,"cg_iq_raw_a":-201.782135,"cg_iu_a":-189.009064,"cg_iv_a":139.644165,"cg_iw_a":49.3648987,"cg_sample_age_us":23.7800007,"cg_sample_seq":11725120,"cg_sample_valid":1,"cg_theta_rad":1.62266326,"cg_vd_req_v":-1.81104529,"cg_vd_v":-1.81104529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37507153,"cg_vq_v":-8.37507153,"cg_vu_v":0.87978512,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.6435585,"dclink_p_w":-2553.45801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2072.003279,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2072.003285,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2072.00329,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2072.155518,"values":{"Elec_RPM":-2344.35693,"EncoderCos":20324,"EncoderSin":50246,"GapTicks":49776,"Mech_RPM":-468.871399,"cg_du":54.7489624,"cg_dv":45.2510376,"cg_dw":53.4289856,"cg_id_a":5.6164813,"cg_id_raw_a":13.5145264,"cg_iq_a":-202.912262,"cg_iq_raw_a":-203.260498,"cg_iu_a":173.936691,"cg_iv_a":-175.604706,"cg_iw_a":1.6680069,"cg_sample_age_us":23.9509087,"cg_sample_seq":11726816,"cg_sample_valid":1,"cg_theta_rad":2.19202971,"cg_vd_req_v":-2.01394606,"cg_vd_v":-2.01394606,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3320713,"cg_vq_v":-8.3320713,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2072.491455,"values":{"Elec_RPM":-2349.71631,"EncoderCos":12753,"EncoderSin":40555,"GapTicks":49795,"Mech_RPM":-469.943237,"cg_du":46.5077553,"cg_dv":54.7312088,"cg_dw":45.2687912,"cg_id_a":15.1465454,"cg_id_raw_a":15.1393194,"cg_iq_a":-206.136978,"cg_iq_raw_a":-205.701309,"cg_iu_a":-152.330292,"cg_iv_a":197.308105,"cg_iw_a":-44.9778061,"cg_sample_age_us":23.9436359,"cg_sample_seq":11728516,"cg_sample_valid":1,"cg_theta_rad":2.76395297,"cg_vd_req_v":-2.17880917,"cg_vd_v":-2.17880917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28674412,"cg_vq_v":-8.28674412,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2391.95117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2072.843018,"values":{"Elec_RPM":-2346.03979,"EncoderCos":12444,"EncoderSin":39704,"GapTicks":49816,"Mech_RPM":-469.207977,"cg_du":45.2878609,"cg_dv":54.7121391,"cg_dw":46.4485207,"cg_id_a":7.3754344,"cg_id_raw_a":13.1521025,"cg_iq_a":-202.317719,"cg_iq_raw_a":-202.422012,"cg_iu_a":-171.720749,"cg_iv_a":179.258667,"cg_iw_a":-7.53791809,"cg_sample_age_us":23.8345451,"cg_sample_seq":11730266,"cg_sample_valid":1,"cg_theta_rad":2.80659151,"cg_vd_req_v":-1.99768376,"cg_vd_v":-1.99768376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35227108,"cg_vq_v":-8.35227108,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2423.37256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2072.995146,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2072.995152,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2072.995157,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2073.175049,"values":{"Elec_RPM":-2355.27417,"EncoderCos":11875,"EncoderSin":27818,"GapTicks":49567,"Mech_RPM":-471.05484,"cg_du":52.7011108,"cg_dv":45.0611877,"cg_dw":54.9388123,"cg_id_a":8.86011887,"cg_id_raw_a":6.70913649,"cg_iq_a":-197.659912,"cg_iq_raw_a":-196.39444,"cg_iu_a":137.76535,"cg_iv_a":-193.291687,"cg_iw_a":55.5263443,"cg_sample_age_us":23.7290916,"cg_sample_seq":11731967,"cg_sample_valid":1,"cg_theta_rad":3.38030672,"cg_vd_req_v":-2.08745146,"cg_vd_v":-2.08745146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39961433,"cg_vq_v":-8.39961433,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2456.27319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2073.50708,"values":{"Elec_RPM":-2358.11084,"EncoderCos":17762,"EncoderSin":17215,"GapTicks":49369,"Mech_RPM":-471.622192,"cg_du":49.2966003,"cg_dv":55.1188545,"cg_dw":44.8811455,"cg_id_a":-10.1674232,"cg_id_raw_a":-11.5952988,"cg_iq_a":-199.543137,"cg_iq_raw_a":-198.835693,"cg_iu_a":-78.5016098,"cg_iv_a":198.902832,"cg_iw_a":-120.401222,"cg_sample_age_us":23.9618187,"cg_sample_seq":11733667,"cg_sample_valid":1,"cg_theta_rad":3.95502782,"cg_vd_req_v":-1.72170019,"cg_vd_v":-1.72170019,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38006592,"cg_vq_v":-8.38006592,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2378.26221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2073.858643,"values":{"Elec_RPM":-2357.64502,"EncoderCos":28871,"EncoderSin":11686,"GapTicks":49424,"Mech_RPM":-471.529022,"cg_du":48.6337013,"cg_dv":44.9314156,"cg_dw":55.0685844,"cg_id_a":-15.0051804,"cg_id_raw_a":-13.6475792,"cg_iq_a":-197.419373,"cg_iq_raw_a":-200.583435,"cg_iu_a":22.727417,"cg_iv_a":-180.932541,"cg_iw_a":158.205124,"cg_sample_age_us":23.7218189,"cg_sample_seq":11735366,"cg_sample_valid":1,"cg_theta_rad":4.5348258,"cg_vd_req_v":-1.6303761,"cg_vd_v":-1.6303761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45243931,"cg_vq_v":-8.45243931,"cg_vu_v":29.0329094,"cg_vv_v":1.31967759,"cg_vw_v":14.0765619,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2073.987097,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2073.987103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2073.987133,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2074.190674,"values":{"Elec_RPM":-2357.85229,"EncoderCos":40989,"EncoderSin":12941,"GapTicks":49763,"Mech_RPM":-471.570465,"cg_du":53.3174133,"cg_dv":54.7601471,"cg_dw":45.2398529,"cg_id_a":0.420598388,"cg_id_raw_a":3.82168889,"cg_iq_a":-200.374298,"cg_iq_raw_a":-203.089737,"cg_iu_a":10.9481707,"cg_iv_a":167.153244,"cg_iw_a":-178.10141,"cg_sample_age_us":23.8527279,"cg_sample_seq":11737066,"cg_sample_valid":1,"cg_theta_rad":5.11445189,"cg_vd_req_v":-1.94037592,"cg_vd_v":-1.94037592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.352211,"cg_vq_v":-8.352211,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-17.3971004,"dclink_p_w":-2517.78931,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2074.546143,"values":{"Elec_RPM":-2355.36523,"EncoderCos":49694,"EncoderSin":19903,"GapTicks":49354,"Mech_RPM":-471.073029,"cg_du":44.8679237,"cg_dv":48.6611137,"cg_dw":55.1320763,"cg_id_a":0.9672575,"cg_id_raw_a":-4.90851593,"cg_iq_a":-197.914627,"cg_iq_raw_a":-197.917557,"cg_iu_a":-40.9529991,"cg_iv_a":-153.133514,"cg_iw_a":194.086517,"cg_sample_age_us":23.8272724,"cg_sample_seq":11738771,"cg_sample_valid":1,"cg_theta_rad":5.69280005,"cg_vd_req_v":-2.0557127,"cg_vd_v":-2.0557127,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39885712,"cg_vq_v":-8.39885712,"cg_vu_v":97.2162552,"cg_vv_v":73.462059,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-16.8534431,"dclink_p_w":-2431.69507,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2074.874268,"values":{"Elec_RPM":-2359.79248,"EncoderCos":53901,"EncoderSin":32144,"GapTicks":49358,"Mech_RPM":-471.958496,"cg_du":55.1285324,"cg_dv":50.907692,"cg_dw":44.8714676,"cg_id_a":-4.81755972,"cg_id_raw_a":-10.1768332,"cg_iq_a":-201.032639,"cg_iq_raw_a":-198.057449,"cg_iu_a":111.488571,"cg_iv_a":90.2800446,"cg_iw_a":-201.768616,"cg_sample_age_us":24.0563641,"cg_sample_seq":11740467,"cg_sample_valid":1,"cg_theta_rad":6.2652297,"cg_vd_req_v":-1.90705037,"cg_vd_v":-1.90705037,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37452507,"cg_vq_v":-8.37452507,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2414.97998,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2075.010729,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2075.010735,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2075.01074,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2075.210205,"values":{"Elec_RPM":-2356.31641,"EncoderCos":42188,"EncoderSin":51826,"GapTicks":50010,"Mech_RPM":-471.263306,"cg_du":54.5362129,"cg_dv":45.4637871,"cg_dw":45.867981,"cg_id_a":13.8803415,"cg_id_raw_a":18.2888794,"cg_iq_a":-203.720978,"cg_iq_raw_a":-203.479645,"cg_iu_a":189.63028,"cg_iv_a":-28.9984131,"cg_iw_a":-160.631866,"cg_sample_age_us":23.8199997,"cg_sample_seq":11742116,"cg_sample_valid":1,"cg_theta_rad":1.1053803,"cg_vd_req_v":-2.18819141,"cg_vd_v":-2.18819141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.280797,"cg_vq_v":-8.280797,"cg_vu_v":35.6312981,"cg_vv_v":33.4318352,"cg_vw_v":25.0738773,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2399.2439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2075.561768,"values":{"Elec_RPM":-2354.17529,"EncoderCos":50248,"EncoderSin":44819,"GapTicks":49362,"Mech_RPM":-470.835052,"cg_du":44.8748932,"cg_dv":49.1185493,"cg_dw":55.1251068,"cg_id_a":-6.02007055,"cg_id_raw_a":-10.0152559,"cg_iq_a":-196.102249,"cg_iq_raw_a":-195.035172,"cg_iu_a":-106.228149,"cg_iv_a":-86.8797913,"cg_iw_a":193.107941,"cg_sample_age_us":23.5327282,"cg_sample_seq":11743917,"cg_sample_valid":1,"cg_theta_rad":0.609335959,"cg_vd_req_v":-1.85699916,"cg_vd_v":-1.85699916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43094063,"cg_vq_v":-8.43094063,"cg_vu_v":101.175293,"cg_vv_v":95.8965836,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.4620094,"dclink_p_w":-2382.45874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2075.893799,"values":{"Elec_RPM":-2358.91016,"EncoderCos":19291,"EncoderSin":49442,"GapTicks":49302,"Mech_RPM":-471.782013,"cg_du":55.1791,"cg_dv":44.8209,"cg_dw":50.3195801,"cg_id_a":-16.8918934,"cg_id_raw_a":-17.8413906,"cg_iq_a":-194.661057,"cg_iq_raw_a":-194.869095,"cg_iu_a":186.078369,"cg_iv_a":-142.985245,"cg_iw_a":-43.0931244,"cg_sample_age_us":24.0236359,"cg_sample_seq":11745517,"cg_sample_valid":1,"cg_theta_rad":2.25252771,"cg_vd_req_v":-1.57629395,"cg_vd_v":-1.57629395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51581478,"cg_vq_v":-8.51581478,"cg_vu_v":106.893898,"cg_vv_v":95.0167923,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2463.23755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2076.034983,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2076.034989,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2076.034995,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2076.22583,"values":{"Elec_RPM":-2357.61035,"EncoderCos":12296,"EncoderSin":39259,"GapTicks":49567,"Mech_RPM":-471.522064,"cg_du":45.061348,"cg_dv":54.938652,"cg_dw":47.6579247,"cg_id_a":-6.51001644,"cg_id_raw_a":-0.458929002,"cg_iq_a":-199.676117,"cg_iq_raw_a":-201.619614,"cg_iu_a":-174.620255,"cg_iv_a":169.001663,"cg_iw_a":5.61859131,"cg_sample_age_us":23.9509087,"cg_sample_seq":11747217,"cg_sample_valid":1,"cg_theta_rad":2.8358767,"cg_vd_req_v":-1.70649314,"cg_vd_v":-1.70649314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38503647,"cg_vq_v":-8.38503647,"cg_vu_v":99.4157181,"cg_vv_v":103.814644,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2467.25513,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2076.577393,"values":{"Elec_RPM":-2358.06616,"EncoderCos":12044,"EncoderSin":27071,"GapTicks":49962,"Mech_RPM":-471.613251,"cg_du":54.0466423,"cg_dv":45.4206619,"cg_dw":54.5793381,"cg_id_a":14.0592022,"cg_id_raw_a":14.0524988,"cg_iq_a":-203.371033,"cg_iq_raw_a":-202.453369,"cg_iu_a":159.83783,"cg_iv_a":-190.138474,"cg_iw_a":30.3006439,"cg_sample_age_us":24.136364,"cg_sample_seq":11748916,"cg_sample_valid":1,"cg_theta_rad":3.40645313,"cg_vd_req_v":-2.18375015,"cg_vd_v":-2.18375015,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30895519,"cg_vq_v":-8.30895519,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2448.4292,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2076.909424,"values":{"Elec_RPM":-2359.60156,"EncoderCos":18224,"EncoderSin":16769,"GapTicks":49443,"Mech_RPM":-471.920288,"cg_du":48.198761,"cg_dv":55.0514755,"cg_dw":44.9485245,"cg_id_a":0.718579173,"cg_id_raw_a":-5.13042831,"cg_iq_a":-201.332108,"cg_iq_raw_a":-200.719437,"cg_iu_a":-117.608704,"cg_iv_a":201.766083,"cg_iw_a":-84.1573792,"cg_sample_age_us":23.8381824,"cg_sample_seq":11750617,"cg_sample_valid":1,"cg_theta_rad":3.98227954,"cg_vd_req_v":-1.94651031,"cg_vd_v":-1.94651031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36916161,"cg_vq_v":-8.36916161,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8661289,"dclink_p_w":-2440.94458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2077.02657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2077.026576,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2077.026583,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2077.245361,"values":{"Elec_RPM":-2358.8999,"EncoderCos":29619,"EncoderSin":11562,"GapTicks":49340,"Mech_RPM":-471.779999,"cg_du":50.5104828,"cg_dv":44.8554344,"cg_dw":55.1445656,"cg_id_a":-6.37101078,"cg_id_raw_a":-9.23593903,"cg_iq_a":-196.117508,"cg_iq_raw_a":-196.605453,"cg_iu_a":78.7241364,"cg_iv_a":-196.336166,"cg_iw_a":117.61203,"cg_sample_age_us":23.7399998,"cg_sample_seq":11752316,"cg_sample_valid":1,"cg_theta_rad":4.57875347,"cg_vd_req_v":-1.80951369,"cg_vd_v":-1.80951369,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44587421,"cg_vq_v":-8.44587421,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2077.596924,"values":{"Elec_RPM":-2370.68311,"EncoderCos":41525,"EncoderSin":13175,"GapTicks":49489,"Mech_RPM":-474.136597,"cg_du":51.8792038,"cg_dv":55.0092926,"cg_dw":44.9907074,"cg_id_a":-14.3648319,"cg_id_raw_a":-7.74538469,"cg_iq_a":-197.2948,"cg_iq_raw_a":-199.045731,"cg_iu_a":-9.89203262,"cg_iv_a":175.706772,"cg_iw_a":-165.814743,"cg_sample_age_us":23.9509087,"cg_sample_seq":11754016,"cg_sample_valid":1,"cg_theta_rad":5.15484524,"cg_vd_req_v":-1.66192138,"cg_vd_v":-1.66192138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40253258,"cg_vq_v":-8.40253258,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2077.928955,"values":{"Elec_RPM":-2364.3186,"EncoderCos":42034,"EncoderSin":13435,"GapTicks":49347,"Mech_RPM":-472.863708,"cg_du":50.6403885,"cg_dv":55.1382523,"cg_dw":44.8617477,"cg_id_a":-18.4195518,"cg_id_raw_a":-17.9820709,"cg_iq_a":-196.858994,"cg_iq_raw_a":-196.161774,"cg_iu_a":-34.4653511,"cg_iv_a":186.616165,"cg_iw_a":-152.150818,"cg_sample_age_us":23.863636,"cg_sample_seq":11755767,"cg_sample_valid":1,"cg_theta_rad":5.17786121,"cg_vd_req_v":-1.60013545,"cg_vd_v":-1.60013545,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43227196,"cg_vq_v":-8.43227196,"cg_vu_v":104.694435,"cg_vv_v":103.814644,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2455.75024,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2078.019432,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2078.019439,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2078.019446,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2078.370361,"values":{"Elec_RPM":-2365.98657,"EncoderCos":23976,"EncoderSin":52365,"GapTicks":49663,"Mech_RPM":-473.197296,"cg_du":47.3049126,"cg_dv":45.1489868,"cg_dw":54.8510132,"cg_id_a":-3.69161844,"cg_id_raw_a":3.57362723,"cg_iq_a":-205.287628,"cg_iq_raw_a":-205.824905,"cg_iu_a":0.0750210285,"cg_iv_a":-177.489395,"cg_iw_a":177.414368,"cg_sample_age_us":23.8709087,"cg_sample_seq":11757817,"cg_sample_valid":1,"cg_theta_rad":1.99216437,"cg_vd_req_v":-1.79237247,"cg_vd_v":-1.79237247,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29624844,"cg_vq_v":-8.29624844,"cg_vu_v":120.530563,"cg_vv_v":124.489601,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6867218,"dclink_p_w":-2414.97998,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2078.88337,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2078.883382,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2078.883385,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2078.893799,"values":{"Elec_RPM":-2360.26709,"EncoderCos":47135,"EncoderSin":17102,"GapTicks":49508,"Mech_RPM":-472.053406,"cg_du":45.0075874,"cg_dv":54.9924126,"cg_dw":52.636158,"cg_id_a":6.53550053,"cg_id_raw_a":-0.122276351,"cg_iq_a":-196.377701,"cg_iq_raw_a":-194.971558,"cg_iu_a":-192.089783,"cg_iv_a":60.4513855,"cg_iw_a":131.638397,"cg_sample_age_us":23.9254551,"cg_sample_seq":11760417,"cg_sample_valid":1,"cg_theta_rad":5.47026205,"cg_vd_req_v":-2.15651989,"cg_vd_v":-2.15651989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45128632,"cg_vq_v":-8.45128632,"cg_vu_v":112.612495,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2079.010851,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2079.010857,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2079.010862,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2079.253174,"values":{"Elec_RPM":-2353.86279,"EncoderCos":12336,"EncoderSin":39490,"GapTicks":49682,"Mech_RPM":-470.772583,"cg_du":45.1655807,"cg_dv":54.8344193,"cg_dw":47.0582428,"cg_id_a":0.441129684,"cg_id_raw_a":5.94876385,"cg_iq_a":-200.455353,"cg_iq_raw_a":-202.038956,"cg_iu_a":-172.046936,"cg_iv_a":172.046143,"cg_iw_a":0.000793457031,"cg_sample_age_us":23.9472733,"cg_sample_seq":11762417,"cg_sample_valid":1,"cg_theta_rad":2.8288691,"cg_vd_req_v":-1.84667885,"cg_vd_v":-1.84667885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36155319,"cg_vq_v":-8.36155319,"cg_vu_v":104.254532,"cg_vv_v":105.574219,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-16.7809563,"dclink_p_w":-2428.61816,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2079.608643,"values":{"Elec_RPM":-2351.60864,"EncoderCos":17484,"EncoderSin":17493,"GapTicks":49351,"Mech_RPM":-470.321747,"cg_du":49.9622154,"cg_dv":55.1348114,"cg_dw":44.8651886,"cg_id_a":-16.2977066,"cg_id_raw_a":-14.9098911,"cg_iq_a":-197.71106,"cg_iq_raw_a":-195.40831,"cg_iu_a":-53.3846359,"cg_iv_a":193.321289,"cg_iw_a":-139.936646,"cg_sample_age_us":23.9363632,"cg_sample_seq":11764067,"cg_sample_valid":1,"cg_theta_rad":3.93720698,"cg_vd_req_v":-1.58713675,"cg_vd_v":-1.58713675,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43299007,"cg_vq_v":-8.43299007,"cg_vu_v":102.494972,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2435.35571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2079.940674,"values":{"Elec_RPM":-2347.08594,"EncoderCos":28566,"EncoderSin":11751,"GapTicks":49487,"Mech_RPM":-469.417175,"cg_du":48.4995651,"cg_dv":44.9886208,"cg_dw":55.0113792,"cg_id_a":-16.0202847,"cg_id_raw_a":-10.701848,"cg_iq_a":-200.279999,"cg_iq_raw_a":-202.666092,"cg_iu_a":15.8410892,"cg_iv_a":-181.11377,"cg_iw_a":165.272675,"cg_sample_age_us":23.8418179,"cg_sample_seq":11765766,"cg_sample_valid":1,"cg_theta_rad":4.52992105,"cg_vd_req_v":-1.59501958,"cg_vd_v":-1.59501958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37418747,"cg_vq_v":-8.37418747,"cg_vu_v":117.011421,"cg_vv_v":118.770996,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.2717304,"dclink_p_w":-2362.07837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2080.002903,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2080.002909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2080.002915,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2080.272705,"values":{"Elec_RPM":-2346.14502,"EncoderCos":40606,"EncoderSin":12848,"GapTicks":50059,"Mech_RPM":-469.229004,"cg_du":54.1880569,"cg_dv":54.4913368,"cg_dw":45.5086632,"cg_id_a":7.97504997,"cg_id_raw_a":8.72478199,"cg_iq_a":-203.937195,"cg_iq_raw_a":-205.140366,"cg_iu_a":15.1886997,"cg_iv_a":168.675461,"cg_iw_a":-183.864166,"cg_sample_age_us":23.994545,"cg_sample_seq":11767466,"cg_sample_valid":1,"cg_theta_rad":5.10322523,"cg_vd_req_v":-2.09890223,"cg_vd_v":-2.09890223,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26177788,"cg_vq_v":-8.26177788,"cg_vu_v":24.6339836,"cg_vv_v":15.836132,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6417465,"dclink_p_w":-2545.43506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119693294,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2080.624268,"values":{"Elec_RPM":-2342.60547,"EncoderCos":50132,"EncoderSin":20518,"GapTicks":49553,"Mech_RPM":-468.521088,"cg_du":45.0487213,"cg_dv":47.4026871,"cg_dw":54.9512787,"cg_id_a":14.9411497,"cg_id_raw_a":10.4237213,"cg_iq_a":-202.152237,"cg_iq_raw_a":-201.551773,"cg_iu_a":-51.4999542,"cg_iv_a":-146.790848,"cg_iw_a":198.290802,"cg_sample_age_us":23.9472733,"cg_sample_seq":11769166,"cg_sample_valid":1,"cg_theta_rad":5.68344688,"cg_vd_req_v":-2.32830048,"cg_vd_v":-2.32830048,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32600212,"cg_vq_v":-8.32600212,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2504.64575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2080.956299,"values":{"Elec_RPM":-2348.31641,"EncoderCos":53907,"EncoderSin":32015,"GapTicks":49330,"Mech_RPM":-469.663269,"cg_du":55.1543732,"cg_dv":50.6522369,"cg_dw":44.8456268,"cg_id_a":-3.97335267,"cg_id_raw_a":-7.66332579,"cg_iq_a":-197.360321,"cg_iq_raw_a":-198.092728,"cg_iu_a":112.720856,"cg_iv_a":87.7792206,"cg_iw_a":-200.500076,"cg_sample_age_us":24.0527267,"cg_sample_seq":11770866,"cg_sample_valid":1,"cg_theta_rad":6.26087284,"cg_vd_req_v":-1.91017532,"cg_vd_v":-1.91017532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4227314,"cg_vq_v":-8.4227314,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2596,"hz_tim_isr":4998,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2081.027351,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2081.027357,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2081.027362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2081.292236,"values":{"Elec_RPM":-2346.03516,"EncoderCos":50905,"EncoderSin":43740,"GapTicks":49474,"Mech_RPM":-469.207031,"cg_du":44.9766808,"cg_dv":51.674675,"cg_dw":55.0233192,"cg_id_a":-7.87889671,"cg_id_raw_a":-6.07435703,"cg_iq_a":-198.661438,"cg_iq_raw_a":-198.835007,"cg_iu_a":-151.750397,"cg_iv_a":-25.3740082,"cg_iw_a":181.872345,"cg_sample_age_us":23.5254555,"cg_sample_seq":11772567,"cg_sample_valid":1,"cg_theta_rad":0.559839904,"cg_vd_req_v":-1.79975414,"cg_vd_v":-1.79975414,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38371658,"cg_vq_v":-8.38371658,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-16.6486664,"dclink_p_w":-2416.79614,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2081.643799,"values":{"Elec_RPM":-2350.21143,"EncoderCos":42039,"EncoderSin":51926,"GapTicks":50086,"Mech_RPM":-470.042267,"cg_du":54.4672432,"cg_dv":45.5798035,"cg_dw":45.5327568,"cg_id_a":12.9206829,"cg_id_raw_a":14.2116966,"cg_iq_a":-204.256317,"cg_iq_raw_a":-204.894165,"cg_iu_a":180.967987,"cg_iv_a":-13.6672516,"cg_iw_a":-167.300735,"cg_sample_age_us":24.005455,"cg_sample_seq":11774267,"cg_sample_valid":1,"cg_theta_rad":1.12250447,"cg_vd_req_v":-2.1710906,"cg_vd_v":-2.1710906,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29201603,"cg_vq_v":-8.29201603,"cg_vu_v":106.453995,"cg_vv_v":97.2162552,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2504.1228,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2081.97583,"values":{"Elec_RPM":-2350.71899,"EncoderCos":29859,"EncoderSin":53940,"GapTicks":49577,"Mech_RPM":-470.143799,"cg_du":45.0707588,"cg_dv":54.9292412,"cg_dw":52.8956528,"cg_id_a":10.2598915,"cg_id_raw_a":10.8440008,"cg_iq_a":-198.056442,"cg_iq_raw_a":-198.393585,"cg_iu_a":-188.864075,"cg_iv_a":41.3508606,"cg_iw_a":147.513214,"cg_sample_age_us":23.8927269,"cg_sample_seq":11775966,"cg_sample_valid":1,"cg_theta_rad":1.71849406,"cg_vd_req_v":-2.09892297,"cg_vd_v":-2.09892297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44128418,"cg_vq_v":-8.44128418,"cg_vu_v":103.814644,"cg_vv_v":104.694435,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.7628345,"dclink_p_w":-2425.99536,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2082.018906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2082.018912,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2082.018917,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2082.327393,"values":{"Elec_RPM":-2353.17944,"EncoderCos":19421,"EncoderSin":49581,"GapTicks":49408,"Mech_RPM":-470.635895,"cg_du":55.0832138,"cg_dv":44.9167862,"cg_dw":51.1808434,"cg_id_a":-19.4822903,"cg_id_raw_a":-14.9205847,"cg_iq_a":-194.840485,"cg_iq_raw_a":-196.388077,"cg_iu_a":194.414459,"cg_iv_a":-119.064331,"cg_iw_a":-75.3501282,"cg_sample_age_us":23.8963642,"cg_sample_seq":11777671,"cg_sample_valid":1,"cg_theta_rad":2.27815056,"cg_vd_req_v":-1.55710685,"cg_vd_v":-1.55710685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45466232,"cg_vq_v":-8.45466232,"cg_vu_v":106.893898,"cg_vv_v":96.7763672,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-17.4949589,"dclink_p_w":-2531.9519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2082.659424,"values":{"Elec_RPM":-2358.68555,"EncoderCos":12129,"EncoderSin":38711,"GapTicks":49396,"Mech_RPM":-471.737122,"cg_du":44.905983,"cg_dv":55.094017,"cg_dw":48.8881989,"cg_id_a":-10.4271317,"cg_id_raw_a":-6.46976566,"cg_iq_a":-197.978104,"cg_iq_raw_a":-198.629562,"cg_iu_a":-181.397858,"cg_iv_a":159.795746,"cg_iw_a":21.6021194,"cg_sample_age_us":23.8927269,"cg_sample_seq":11779366,"cg_sample_valid":1,"cg_theta_rad":2.855443,"cg_vd_req_v":-1.64290333,"cg_vd_v":-1.64290333,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42136192,"cg_vq_v":-8.42136192,"cg_vu_v":10.9973145,"cg_vv_v":25.953661,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2511.44385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2082.991455,"values":{"Elec_RPM":-2358.2168,"EncoderCos":12208,"EncoderSin":26586,"GapTicks":49882,"Mech_RPM":-471.643341,"cg_du":54.6525917,"cg_dv":45.3474083,"cg_dw":53.8143654,"cg_id_a":9.35168648,"cg_id_raw_a":13.4348583,"cg_iq_a":-202.688507,"cg_iq_raw_a":-202.844742,"cg_iu_a":169.841125,"cg_iv_a":-181.512451,"cg_iw_a":11.6713181,"cg_sample_age_us":24.0345459,"cg_sample_seq":11781066,"cg_sample_valid":1,"cg_theta_rad":3.42988777,"cg_vd_req_v":-2.07341409,"cg_vd_v":-2.07341409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34849262,"cg_vq_v":-8.34849262,"cg_vu_v":32.1121559,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.5275784,"dclink_p_w":-2528.9624,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2083.011421,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2083.011427,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2083.011433,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2083.343018,"values":{"Elec_RPM":-2353.15894,"EncoderCos":28330,"EncoderSin":11811,"GapTicks":49571,"Mech_RPM":-470.631775,"cg_du":47.9044113,"cg_dv":45.0646057,"cg_dw":54.9353943,"cg_id_a":-10.7892094,"cg_id_raw_a":-5.00302219,"cg_iq_a":-201.987625,"cg_iq_raw_a":-204.688278,"cg_iu_a":52.9185295,"cg_iv_a":-189.41362,"cg_iw_a":136.495087,"cg_sample_age_us":23.9654541,"cg_sample_seq":11782720,"cg_sample_valid":1,"cg_theta_rad":4.55836535,"cg_vd_req_v":-1.6876049,"cg_vd_v":-1.6876049,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32255173,"cg_vq_v":-8.32255173,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.2934761,"dclink_p_w":-2350.90039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2083.678955,"values":{"Elec_RPM":-2348.74414,"EncoderCos":29808,"EncoderSin":11545,"GapTicks":49362,"Mech_RPM":-469.74881,"cg_du":50.878643,"cg_dv":44.8748474,"cg_dw":55.1251526,"cg_id_a":-6.09355736,"cg_id_raw_a":-10.6273899,"cg_iq_a":-196.826385,"cg_iq_raw_a":-196.023544,"cg_iu_a":88.5824585,"cg_iv_a":-196.734848,"cg_iw_a":108.15239,"cg_sample_age_us":23.772728,"cg_sample_seq":11784467,"cg_sample_valid":1,"cg_theta_rad":4.58885098,"cg_vd_req_v":-1.83223546,"cg_vd_v":-1.83223546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40939522,"cg_vq_v":-8.40939522,"cg_vu_v":105.574219,"cg_vv_v":87.53862,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2497.33228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2084.003526,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2084.003533,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2084.003538,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2084.010986,"values":{"Elec_RPM":-2349.72876,"EncoderCos":41846,"EncoderSin":13395,"GapTicks":49362,"Mech_RPM":-469.94574,"cg_du":50.9939194,"cg_dv":55.1250572,"cg_dw":44.8749428,"cg_id_a":-19.9556541,"cg_id_raw_a":-20.0526752,"cg_iq_a":-197.113602,"cg_iq_raw_a":-198.544617,"cg_iu_a":-14.2050495,"cg_iv_a":177.518967,"cg_iw_a":-163.313919,"cg_sample_age_us":23.863636,"cg_sample_seq":11786166,"cg_sample_valid":1,"cg_theta_rad":5.16018009,"cg_vd_req_v":-1.57204473,"cg_vd_v":-1.57204473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44695282,"cg_vq_v":-8.44695282,"cg_vu_v":39.590332,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121203929,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2084.362549,"values":{"Elec_RPM":-2352.04785,"EncoderCos":50984,"EncoderSin":21878,"GapTicks":49700,"Mech_RPM":-470.409576,"cg_du":47.0990524,"cg_dv":45.1826897,"cg_dw":54.8173103,"cg_id_a":-2.14073086,"cg_id_raw_a":3.74381018,"cg_iq_a":-204.341522,"cg_iq_raw_a":-206.03981,"cg_iu_a":0.473703146,"cg_iv_a":-175.6772,"cg_iw_a":175.203491,"cg_sample_age_us":23.9654541,"cg_sample_seq":11787866,"cg_sample_valid":1,"cg_theta_rad":5.76087046,"cg_vd_req_v":-1.94142628,"cg_vd_v":-1.94142628,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2990036,"cg_vq_v":-8.2990036,"cg_vu_v":39.1504402,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.0742016,"dclink_p_w":-2333.4043,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2084.69458,"values":{"Elec_RPM":-2349.43384,"EncoderCos":53873,"EncoderSin":33334,"GapTicks":49701,"Mech_RPM":-469.88678,"cg_du":54.8171387,"cg_dv":53.0219345,"cg_dw":45.1828613,"cg_id_a":9.76177216,"cg_id_raw_a":8.02871227,"cg_iq_a":-203.111664,"cg_iq_raw_a":-199.876862,"cg_iu_a":46.4671288,"cg_iv_a":148.270187,"cg_iw_a":-194.73732,"cg_sample_age_us":23.5254555,"cg_sample_seq":11789567,"cg_sample_valid":1,"cg_theta_rad":0.0400128365,"cg_vd_req_v":-2.17614484,"cg_vd_v":-2.17614484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28066635,"cg_vq_v":-8.28066635,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2085.027403,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2085.027408,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2085.027414,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2085.046143,"values":{"Elec_RPM":-2353.20117,"EncoderCos":50788,"EncoderSin":43945,"GapTicks":49392,"Mech_RPM":-470.640228,"cg_du":44.9022903,"cg_dv":51.2284164,"cg_dw":55.0977097,"cg_id_a":-8.57741165,"cg_id_raw_a":-4.51520395,"cg_iq_a":-198.656815,"cg_iq_raw_a":-201.167099,"cg_iu_a":-97.7470856,"cg_iv_a":-99.1302338,"cg_iw_a":196.877319,"cg_sample_age_us":26.40909,"cg_sample_seq":11791272,"cg_sample_valid":1,"cg_theta_rad":0.61720413,"cg_vd_req_v":-1.79049742,"cg_vd_v":-1.79049742,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41258717,"cg_vq_v":-8.41258717,"cg_vu_v":104.694435,"cg_vv_v":101.615181,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.8972664,"dclink_p_w":-2590.17578,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2085.38208,"values":{"Elec_RPM":-2358.21289,"EncoderCos":40461,"EncoderSin":52571,"GapTicks":49290,"Mech_RPM":-471.642578,"cg_du":55.1901436,"cg_dv":49.4323196,"cg_dw":44.8098564,"cg_id_a":-10.1039944,"cg_id_raw_a":-10.8869009,"cg_iq_a":-194.094391,"cg_iq_raw_a":-195.068695,"cg_iu_a":139.650024,"cg_iv_a":51.2092133,"cg_iw_a":-190.859238,"cg_sample_age_us":24.045454,"cg_sample_seq":11792966,"cg_sample_valid":1,"cg_theta_rad":1.20141864,"cg_vd_req_v":-1.7148968,"cg_vd_v":-1.7148968,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51983833,"cg_vq_v":-8.51983833,"cg_vu_v":38.7105446,"cg_vv_v":40.0302238,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-16.9947948,"dclink_p_w":-2452.08984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2085.710205,"values":{"Elec_RPM":-2363.81616,"EncoderCos":28484,"EncoderSin":53756,"GapTicks":49775,"Mech_RPM":-472.763245,"cg_du":45.2503967,"cg_dv":53.2759781,"cg_dw":54.7496033,"cg_id_a":3.40963912,"cg_id_raw_a":6.69563913,"cg_iq_a":-201.958969,"cg_iq_raw_a":-201.36937,"cg_iu_a":-175.200165,"cg_iv_a":3.47607422,"cg_iw_a":172.811401,"cg_sample_age_us":23.8709087,"cg_sample_seq":11794667,"cg_sample_valid":1,"cg_theta_rad":1.77025974,"cg_vd_req_v":-1.9149437,"cg_vd_v":-1.9149437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3260498,"cg_vq_v":-8.3260498,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.9295559,"dclink_p_w":-2450.12402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5869751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2086.019024,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2086.01903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2086.019035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2086.065674,"values":{"Elec_RPM":-2360.54785,"EncoderCos":27442,"EncoderSin":53540,"GapTicks":49433,"Mech_RPM":-472.109589,"cg_du":44.9393082,"cg_dv":50.8080978,"cg_dw":55.0606918,"cg_id_a":-14.0247269,"cg_id_raw_a":-10.8689585,"cg_iq_a":-200.336853,"cg_iq_raw_a":-201.522705,"cg_iu_a":-155.084839,"cg_iv_a":-33.275177,"cg_iw_a":188.360016,"cg_sample_age_us":23.8709087,"cg_sample_seq":11796416,"cg_sample_valid":1,"cg_theta_rad":1.82109165,"cg_vd_req_v":-1.58245802,"cg_vd_v":-1.58245802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34424305,"cg_vq_v":-8.34424305,"cg_vu_v":39.1504402,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2086.397705,"values":{"Elec_RPM":-2362.81982,"EncoderCos":17231,"EncoderSin":47476,"GapTicks":49961,"Mech_RPM":-472.563965,"cg_du":54.5803337,"cg_dv":45.8954468,"cg_dw":45.4196663,"cg_id_a":8.9513607,"cg_id_raw_a":10.4183683,"cg_iq_a":-202.432648,"cg_iq_raw_a":-200.933594,"cg_iu_a":179.337021,"cg_iv_a":-10.8402405,"cg_iw_a":-168.49678,"cg_sample_age_us":23.9981823,"cg_sample_seq":11798117,"cg_sample_valid":1,"cg_theta_rad":2.38522696,"cg_vd_req_v":-2.07650995,"cg_vd_v":-2.07650995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33724976,"cg_vq_v":-8.33724976,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.04883,"dclink_p_w":-2315.60156,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2086.729736,"values":{"Elec_RPM":-2356.24878,"EncoderCos":11611,"EncoderSin":36380,"GapTicks":49689,"Mech_RPM":-471.249756,"cg_du":45.1718407,"cg_dv":54.8281593,"cg_dw":53.3939667,"cg_id_a":10.0918322,"cg_id_raw_a":8.61501026,"cg_iq_a":-196.514526,"cg_iq_raw_a":-196.388687,"cg_iu_a":-189.226532,"cg_iv_a":40.8072357,"cg_iw_a":148.419296,"cg_sample_age_us":23.8345451,"cg_sample_seq":11799816,"cg_sample_valid":1,"cg_theta_rad":2.97796392,"cg_vd_req_v":-2.07170582,"cg_vd_v":-2.07170582,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45765877,"cg_vq_v":-8.45765877,"cg_vu_v":110.413033,"cg_vv_v":113.492287,"cg_vw_v":126.689056,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2421.00513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2087.01141,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2087.011417,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2087.011424,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2087.085205,"values":{"Elec_RPM":-2358.05396,"EncoderCos":30637,"EncoderSin":11463,"GapTicks":49491,"Mech_RPM":-471.610779,"cg_du":52.3608208,"cg_dv":44.9925461,"cg_dw":55.0074539,"cg_id_a":6.31895447,"cg_id_raw_a":5.10111237,"cg_iq_a":-198.837906,"cg_iq_raw_a":-198.557953,"cg_iu_a":131.31395,"cg_iv_a":-197.568466,"cg_iw_a":79.2660599,"cg_sample_age_us":23.7145462,"cg_sample_seq":11801416,"cg_sample_valid":1,"cg_theta_rad":4.62634039,"cg_vd_req_v":-2.0818069,"cg_vd_v":-2.0818069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39188004,"cg_vq_v":-8.39188004,"cg_vu_v":41.7897949,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.5529499,"dclink_p_w":-2532.62305,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2087.41333,"values":{"Elec_RPM":-2357.36963,"EncoderCos":31473,"EncoderSin":11379,"GapTicks":49846,"Mech_RPM":-471.473907,"cg_du":53.8664169,"cg_dv":45.3154221,"cg_dw":54.6845779,"cg_id_a":15.3947544,"cg_id_raw_a":17.1697788,"cg_iq_a":-201.70253,"cg_iq_raw_a":-200.594818,"cg_iu_a":163.534698,"cg_iv_a":-189.594833,"cg_iw_a":33.0914154,"cg_sample_age_us":24.0890903,"cg_sample_seq":11803166,"cg_sample_valid":1,"cg_theta_rad":4.66604757,"cg_vd_req_v":-2.24042773,"cg_vd_v":-2.24042773,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3502512,"cg_vq_v":-8.3502512,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-15.9147282,"dclink_p_w":-2303.25366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2087.745361,"values":{"Elec_RPM":-2354.72827,"EncoderCos":43306,"EncoderSin":14147,"GapTicks":49493,"Mech_RPM":-470.945648,"cg_du":48.0187035,"cg_dv":55.0056839,"cg_dw":44.9943161,"cg_id_a":-1.54748428,"cg_id_raw_a":-6.10646629,"cg_iq_a":-200.792572,"cg_iq_raw_a":-199.898788,"cg_iu_a":-117.608704,"cg_iv_a":200.787506,"cg_iw_a":-83.1788025,"cg_sample_age_us":23.9509087,"cg_sample_seq":11804866,"cg_sample_valid":1,"cg_theta_rad":5.24577427,"cg_vd_req_v":-1.97561371,"cg_vd_v":-1.97561371,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35030079,"cg_vq_v":-8.35030079,"cg_vu_v":38.7105446,"cg_vv_v":55.8663559,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2487.03467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2088.035202,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2088.035208,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2088.035214,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2088.112549,"values":{"Elec_RPM":-2352.70898,"EncoderCos":43820,"EncoderSin":14480,"GapTicks":49712,"Mech_RPM":-470.541809,"cg_du":46.9776802,"cg_dv":54.8067284,"cg_dw":45.1932716,"cg_id_a":6.76328039,"cg_id_raw_a":6.17902517,"cg_iq_a":-203.984421,"cg_iq_raw_a":-203.05426,"cg_iu_a":-146.096359,"cg_iv_a":197.598053,"cg_iw_a":-51.5016937,"cg_sample_age_us":23.9400005,"cg_sample_seq":11806617,"cg_sample_valid":1,"cg_theta_rad":5.27564764,"cg_vd_req_v":-2.13213539,"cg_vd_v":-2.13213539,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27535152,"cg_vq_v":-8.27535152,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2468.35693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2088.63208,"values":{"Elec_RPM":-2347.81299,"EncoderCos":15908,"EncoderSin":45992,"GapTicks":49353,"Mech_RPM":-469.562622,"cg_du":55.133316,"cg_dv":50.2283783,"cg_dw":44.866684,"cg_id_a":-7.95407248,"cg_id_raw_a":-9.54679775,"cg_iq_a":-199.24353,"cg_iq_raw_a":-200.551346,"cg_iu_a":136.967987,"cg_iv_a":55.594696,"cg_iw_a":-192.562683,"cg_sample_age_us":23.7909088,"cg_sample_seq":11809216,"cg_sample_valid":1,"cg_theta_rad":2.46936107,"cg_vd_req_v":-1.75762081,"cg_vd_v":-1.75762081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37272739,"cg_vq_v":-8.37272739,"cg_vu_v":46.6286087,"cg_vv_v":34.7515144,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2461.24121,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2088.899366,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2088.899374,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2088.899377,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2088.995483,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2088.995489,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2088.995495,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2089.093018,"values":{"Elec_RPM":-2353.36475,"EncoderCos":11761,"EncoderSin":28387,"GapTicks":49356,"Mech_RPM":-470.672974,"cg_du":51.6288414,"cg_dv":44.8693161,"cg_dw":55.1306839,"cg_id_a":4.12573433,"cg_id_raw_a":1.78040516,"cg_iq_a":-195.952271,"cg_iq_raw_a":-196.763779,"cg_iu_a":160.99765,"cg_iv_a":-183.832062,"cg_iw_a":22.834404,"cg_sample_age_us":23.6599998,"cg_sample_seq":11811472,"cg_sample_valid":1,"cg_theta_rad":3.40794659,"cg_vd_req_v":-2.00717759,"cg_vd_v":-2.00717759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4826746,"cg_vq_v":-8.4826746,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2089.425049,"values":{"Elec_RPM":-2352.0332,"EncoderCos":11872,"EncoderSin":37676,"GapTicks":49306,"Mech_RPM":-470.406616,"cg_du":44.8237228,"cg_dv":55.1762772,"cg_dw":50.9644966,"cg_id_a":-3.84689045,"cg_id_raw_a":-8.62525368,"cg_iq_a":-196.166351,"cg_iq_raw_a":-195.172424,"cg_iu_a":-195.098022,"cg_iv_a":110.322891,"cg_iw_a":84.7751312,"cg_sample_age_us":23.9254551,"cg_sample_seq":11813267,"cg_sample_valid":1,"cg_theta_rad":2.9112823,"cg_vd_req_v":-1.80450094,"cg_vd_v":-1.80450094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48395157,"cg_vq_v":-8.48395157,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.4656334,"dclink_p_w":-2375.73999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2089.760986,"values":{"Elec_RPM":-2355.25171,"EncoderCos":29377,"EncoderSin":11619,"GapTicks":49345,"Mech_RPM":-471.050323,"cg_du":50.0902557,"cg_dv":44.8597069,"cg_dw":55.1402931,"cg_id_a":-11.6783495,"cg_id_raw_a":-16.257494,"cg_iq_a":-197.514832,"cg_iq_raw_a":-197.128708,"cg_iu_a":61.5445633,"cg_iv_a":-193.654144,"cg_iw_a":132.109573,"cg_sample_age_us":23.7363644,"cg_sample_seq":11814867,"cg_sample_valid":1,"cg_theta_rad":4.56844568,"cg_vd_req_v":-1.70642185,"cg_vd_v":-1.70642185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.419384,"cg_vq_v":-8.419384,"cg_vu_v":105.134323,"cg_vv_v":82.2599106,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2449.99805,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2090.019104,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2090.019128,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2090.019133,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2090.112549,"values":{"Elec_RPM":-2358.67773,"EncoderCos":41546,"EncoderSin":13205,"GapTicks":49456,"Mech_RPM":-471.735535,"cg_du":51.808609,"cg_dv":55.0394821,"cg_dw":44.9605179,"cg_id_a":-14.5691166,"cg_id_raw_a":-8.50738144,"cg_iq_a":-197.784332,"cg_iq_raw_a":-199.699615,"cg_iu_a":-11.0880795,"cg_iv_a":177.011536,"cg_iw_a":-165.923462,"cg_sample_age_us":23.9472733,"cg_sample_seq":11816566,"cg_sample_valid":1,"cg_theta_rad":5.15391588,"cg_vd_req_v":-1.65847087,"cg_vd_v":-1.65847087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43912506,"cg_vq_v":-8.43912506,"cg_vu_v":41.7897949,"cg_vv_v":71.2625961,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.1832619,"dclink_p_w":-2486.84155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2090.44458,"values":{"Elec_RPM":-2365.92065,"EncoderCos":50660,"EncoderSin":21350,"GapTicks":50134,"Mech_RPM":-473.184113,"cg_du":45.690239,"cg_dv":45.5767555,"cg_dw":54.4232445,"cg_id_a":11.1359806,"cg_id_raw_a":13.3967371,"cg_iq_a":-207.039368,"cg_iq_raw_a":-205.816971,"cg_iu_a":-11.5954933,"cg_iv_a":-172.342773,"cg_iw_a":183.938263,"cg_sample_age_us":23.954546,"cg_sample_seq":11818267,"cg_sample_valid":1,"cg_theta_rad":5.73254681,"cg_vd_req_v":-2.2039001,"cg_vd_v":-2.2039001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21648788,"cg_vq_v":-8.21648788,"cg_vu_v":102.93486,"cg_vv_v":78.7407684,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.5692577,"dclink_p_w":-2542.70483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2090.776611,"values":{"Elec_RPM":-2359.5813,"EncoderCos":53886,"EncoderSin":32923,"GapTicks":49577,"Mech_RPM":-471.91626,"cg_du":54.9295959,"cg_dv":52.3050194,"cg_dw":45.0704041,"cg_id_a":3.68349171,"cg_id_raw_a":1.08274329,"cg_iq_a":-203.329376,"cg_iq_raw_a":-203.167694,"cg_iu_a":70.3518143,"cg_iv_a":129.024719,"cg_iw_a":-199.376526,"cg_sample_age_us":23.48909,"cg_sample_seq":11819967,"cg_sample_valid":1,"cg_theta_rad":0.0174219385,"cg_vd_req_v":-2.0626905,"cg_vd_v":-2.0626905,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2798748,"cg_vq_v":-8.2798748,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2439.6333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2091.010826,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2091.010832,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2091.010838,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2091.128174,"values":{"Elec_RPM":-2359.83032,"EncoderCos":53850,"EncoderSin":33914,"GapTicks":49995,"Mech_RPM":-471.966064,"cg_du":54.5495071,"cg_dv":54.1357002,"cg_dw":45.4504929,"cg_id_a":10.2153721,"cg_id_raw_a":10.8446312,"cg_iq_a":-204.689026,"cg_iq_raw_a":-207.986526,"cg_iu_a":20.4078121,"cg_iv_a":164.797394,"cg_iw_a":-185.2052,"cg_sample_age_us":23.5145454,"cg_sample_seq":11821716,"cg_sample_valid":1,"cg_theta_rad":0.0668722317,"cg_vd_req_v":-2.17448235,"cg_vd_v":-2.17448235,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27946568,"cg_vq_v":-8.27946568,"cg_vu_v":10.9973145,"cg_vv_v":35.1914063,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.4659634,"dclink_p_w":-2527.75562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2091.460205,"values":{"Elec_RPM":-2361.72314,"EncoderCos":40758,"EncoderSin":52521,"GapTicks":49365,"Mech_RPM":-472.344635,"cg_du":55.1222839,"cg_dv":48.8759346,"cg_dw":44.8777161,"cg_id_a":-12.2382936,"cg_id_raw_a":-10.8123379,"cg_iq_a":-194.46431,"cg_iq_raw_a":-195.833954,"cg_iu_a":151.719223,"cg_iv_a":30.6951904,"cg_iw_a":-182.414413,"cg_sample_age_us":23.9290905,"cg_sample_seq":11823366,"cg_sample_valid":1,"cg_theta_rad":1.18944311,"cg_vd_req_v":-1.65721595,"cg_vd_v":-1.65721595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49454498,"cg_vq_v":-8.49454498,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2493.34839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2091.811768,"values":{"Elec_RPM":-2359.71167,"EncoderCos":49342,"EncoderSin":46138,"GapTicks":49809,"Mech_RPM":-471.942352,"cg_du":45.2813377,"cg_dv":46.3837051,"cg_dw":54.7186623,"cg_id_a":18.3576221,"cg_id_raw_a":19.1047764,"cg_iq_a":-203.729919,"cg_iq_raw_a":-201.963989,"cg_iu_a":-26.8903923,"cg_iv_a":-164.042923,"cg_iw_a":190.933319,"cg_sample_age_us":23.51091,"cg_sample_seq":11825167,"cg_sample_valid":1,"cg_theta_rad":0.681779027,"cg_vd_req_v":-2.31293225,"cg_vd_v":-2.31293225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30697441,"cg_vq_v":-8.30697441,"cg_vu_v":115.251846,"cg_vv_v":123.60981,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2462.81006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2092.003447,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2092.003454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2092.003459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2092.147705,"values":{"Elec_RPM":-2357.9165,"EncoderCos":17930,"EncoderSin":48214,"GapTicks":49589,"Mech_RPM":-471.583313,"cg_du":54.9183731,"cg_dv":45.0816269,"cg_dw":47.2604752,"cg_id_a":15.8549519,"cg_id_raw_a":11.6136665,"cg_iq_a":-203.323364,"cg_iq_raw_a":-202.612381,"cg_iu_a":196.73407,"cg_iv_a":-45.8517914,"cg_iw_a":-150.882278,"cg_sample_age_us":23.9218178,"cg_sample_seq":11826766,"cg_sample_valid":1,"cg_theta_rad":2.33605719,"cg_vd_req_v":-2.25427461,"cg_vd_v":-2.25427461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3071394,"cg_vq_v":-8.3071394,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2402.93311,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2092.479736,"values":{"Elec_RPM":-2356.84839,"EncoderCos":27109,"EncoderSin":53436,"GapTicks":49364,"Mech_RPM":-471.369659,"cg_du":44.8771553,"cg_dv":50.0656929,"cg_dw":55.1228447,"cg_id_a":-16.0347576,"cg_id_raw_a":-14.5262928,"cg_iq_a":-199.086212,"cg_iq_raw_a":-202.919327,"cg_iu_a":-142.580719,"cg_iv_a":-51.0708923,"cg_iw_a":193.651611,"cg_sample_age_us":23.9181824,"cg_sample_seq":11828566,"cg_sample_valid":1,"cg_theta_rad":1.83936894,"cg_vd_req_v":-1.56390512,"cg_vd_v":-1.56390512,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39068222,"cg_vq_v":-8.39068222,"cg_vu_v":39.1504402,"cg_vv_v":48.8280716,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2393.78149,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2092.831299,"values":{"Elec_RPM":-2357.35449,"EncoderCos":12321,"EncoderSin":26353,"GapTicks":49731,"Mech_RPM":-471.470917,"cg_du":54.7898979,"cg_dv":45.2101021,"cg_dw":53.1789169,"cg_id_a":3.32649517,"cg_id_raw_a":11.065753,"cg_iq_a":-199.201279,"cg_iq_raw_a":-200.824402,"cg_iu_a":177.234879,"cg_iv_a":-159.693665,"cg_iw_a":-17.5412216,"cg_sample_age_us":24.0345459,"cg_sample_seq":11830170,"cg_sample_valid":1,"cg_theta_rad":3.48700333,"cg_vd_req_v":-1.93737388,"cg_vd_v":-1.93737388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37701321,"cg_vq_v":-8.37701321,"cg_vu_v":106.893898,"cg_vv_v":91.0577545,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-16.0977592,"dclink_p_w":-2322.66138,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2092.995481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2092.995487,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2092.995492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2093.16333,"values":{"Elec_RPM":-2354.87939,"EncoderCos":11531,"EncoderSin":35885,"GapTicks":50009,"Mech_RPM":-470.975891,"cg_du":45.4627266,"cg_dv":54.5372734,"cg_dw":54.2733307,"cg_id_a":11.8413296,"cg_id_raw_a":12.3310556,"cg_iq_a":-199.562546,"cg_iq_raw_a":-199.638565,"cg_iu_a":-183.355011,"cg_iv_a":19.3871155,"cg_iw_a":163.967896,"cg_sample_age_us":23.9436359,"cg_sample_seq":11831966,"cg_sample_valid":1,"cg_theta_rad":2.99936676,"cg_vd_req_v":-2.0937705,"cg_vd_v":-2.0937705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37308025,"cg_vq_v":-8.37308025,"cg_vu_v":38.2706528,"cg_vv_v":44.4291458,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2490.71777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2093.495361,"values":{"Elec_RPM":-2354.05908,"EncoderCos":31110,"EncoderSin":11459,"GapTicks":49643,"Mech_RPM":-470.811829,"cg_du":53.1621399,"cg_dv":45.1304169,"cg_dw":54.8695831,"cg_id_a":15.3509045,"cg_id_raw_a":11.6824398,"cg_iq_a":-199.920761,"cg_iq_raw_a":-199.536789,"cg_iu_a":152.262878,"cg_iv_a":-189.739807,"cg_iw_a":37.4769211,"cg_sample_age_us":23.6563644,"cg_sample_seq":11833566,"cg_sample_valid":1,"cg_theta_rad":4.65048313,"cg_vd_req_v":-2.24678326,"cg_vd_v":-2.24678326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39540863,"cg_vq_v":-8.39540863,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.5312023,"dclink_p_w":-2537.19727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2093.85083,"values":{"Elec_RPM":-2358.55688,"EncoderCos":20851,"EncoderSin":14779,"GapTicks":49316,"Mech_RPM":-471.711395,"cg_du":44.8333397,"cg_dv":55.1666603,"cg_dw":49.6958542,"cg_id_a":-14.6218643,"cg_id_raw_a":-16.4883499,"cg_iq_a":-196.512299,"cg_iq_raw_a":-196.786942,"cg_iu_a":-188.066711,"cg_iv_a":142.942352,"cg_iw_a":45.1243668,"cg_sample_age_us":23.954546,"cg_sample_seq":11835367,"cg_sample_valid":1,"cg_theta_rad":4.13760281,"cg_vd_req_v":-1.62005687,"cg_vd_v":-1.62005687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48591709,"cg_vq_v":-8.48591709,"cg_vu_v":98.9758301,"cg_vv_v":103.814644,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2403.45605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2094.018751,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2094.018757,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2094.018762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2094.178955,"values":{"Elec_RPM":-2351.26563,"EncoderCos":51399,"EncoderSin":22624,"GapTicks":49376,"Mech_RPM":-470.253113,"cg_du":49.0530052,"cg_dv":44.8880615,"cg_dw":55.1119385,"cg_id_a":-14.0542412,"cg_id_raw_a":-13.1316071,"cg_iq_a":-198.840485,"cg_iq_raw_a":-200.6866,"cg_iu_a":34.0717392,"cg_iv_a":-184.774384,"cg_iw_a":150.702652,"cg_sample_age_us":23.7690907,"cg_sample_seq":11836967,"cg_sample_valid":1,"cg_theta_rad":5.80145407,"cg_vd_req_v":-1.71586668,"cg_vd_v":-1.71586668,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39173126,"cg_vq_v":-8.39173126,"cg_vu_v":140.765625,"cg_vv_v":142.085297,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2094.514893,"values":{"Elec_RPM":-2352.7251,"EncoderCos":53816,"EncoderSin":34389,"GapTicks":49878,"Mech_RPM":-470.545044,"cg_du":53.8553047,"cg_dv":54.6557159,"cg_dw":45.3442841,"cg_id_a":7.97833061,"cg_id_raw_a":10.8359814,"cg_iq_a":-203.698456,"cg_iq_raw_a":-205.160492,"cg_iu_a":6.27271652,"cg_iv_a":172.408585,"cg_iw_a":-178.681305,"cg_sample_age_us":23.3872719,"cg_sample_seq":11838667,"cg_sample_valid":1,"cg_theta_rad":0.0884184763,"cg_vd_req_v":-2.13288474,"cg_vd_v":-2.13288474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.328825,"cg_vq_v":-8.328825,"cg_vu_v":20.2350578,"cg_vv_v":13.6366701,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8697529,"dclink_p_w":-2434.04834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2094.866455,"values":{"Elec_RPM":-2357.72974,"EncoderCos":49441,"EncoderSin":45960,"GapTicks":49705,"Mech_RPM":-471.545929,"cg_du":45.1866226,"cg_dv":46.7630577,"cg_dw":54.8133774,"cg_id_a":18.0997124,"cg_id_raw_a":17.6020756,"cg_iq_a":-202.598175,"cg_iq_raw_a":-200.142303,"cg_iu_a":-34.719059,"cg_iv_a":-156.685425,"cg_iw_a":191.40448,"cg_sample_age_us":23.51091,"cg_sample_seq":11840367,"cg_sample_valid":1,"cg_theta_rad":0.674847782,"cg_vd_req_v":-2.31082129,"cg_vd_v":-2.31082129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31364918,"cg_vq_v":-8.31364918,"cg_vu_v":113.492287,"cg_vv_v":120.530563,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.5834274,"dclink_p_w":-2407.32568,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2095.011225,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2095.011231,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2095.011236,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2095.198486,"values":{"Elec_RPM":-2355.38794,"EncoderCos":39593,"EncoderSin":52901,"GapTicks":49424,"Mech_RPM":-471.077606,"cg_du":55.0685349,"cg_dv":51.1090851,"cg_dw":44.9314651,"cg_id_a":0.0124826431,"cg_id_raw_a":-3.26011515,"cg_iq_a":-201.608765,"cg_iq_raw_a":-196.938248,"cg_iu_a":99.8180542,"cg_iv_a":102.095551,"cg_iw_a":-201.913605,"cg_sample_age_us":23.8672733,"cg_sample_seq":11842067,"cg_sample_valid":1,"cg_theta_rad":1.24639249,"cg_vd_req_v":-1.92548895,"cg_vd_v":-1.92548895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3175745,"cg_vq_v":-8.3175745,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.487381,"dclink_p_w":-2386.13062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2095.530518,"values":{"Elec_RPM":-2344.20532,"EncoderCos":27317,"EncoderSin":53512,"GapTicks":49386,"Mech_RPM":-468.841064,"cg_du":44.8970566,"cg_dv":50.5289764,"cg_dw":55.1029434,"cg_id_a":-15.5495148,"cg_id_raw_a":-10.8213625,"cg_iq_a":-201.205215,"cg_iq_raw_a":-203.503647,"cg_iu_a":-151.859131,"cg_iv_a":-39.8715363,"cg_iw_a":191.730667,"cg_sample_age_us":23.8781815,"cg_sample_seq":11843766,"cg_sample_valid":1,"cg_theta_rad":1.83094728,"cg_vd_req_v":-1.57189393,"cg_vd_v":-1.57189393,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37069511,"cg_vq_v":-8.37069511,"cg_vu_v":36.0711899,"cg_vv_v":35.6312981,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2476.15552,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2095.88208,"values":{"Elec_RPM":-2343.52051,"EncoderCos":17001,"EncoderSin":47226,"GapTicks":49730,"Mech_RPM":-468.704102,"cg_du":54.7908134,"cg_dv":46.659687,"cg_dw":45.2091866,"cg_id_a":3.17665219,"cg_id_raw_a":8.83469391,"cg_iq_a":-199.445679,"cg_iq_raw_a":-199.953125,"cg_iu_a":170.421036,"cg_iv_a":-1.74302673,"cg_iw_a":-168.678009,"cg_sample_age_us":23.9690914,"cg_sample_seq":11845467,"cg_sample_valid":1,"cg_theta_rad":2.40341544,"cg_vd_req_v":-1.96307015,"cg_vd_v":-1.96307015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40420723,"cg_vq_v":-8.40420723,"cg_vu_v":32.5520515,"cg_vv_v":7.91806602,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2429.66699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2096.002944,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2096.00295,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2096.002956,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2096.218018,"values":{"Elec_RPM":-2350.0127,"EncoderCos":25831,"EncoderSin":53066,"GapTicks":49457,"Mech_RPM":-470.002563,"cg_du":44.9610291,"cg_dv":47.7786293,"cg_dw":55.0389709,"cg_id_a":7.30240822,"cg_id_raw_a":3.53682137,"cg_iq_a":-198.37381,"cg_iq_raw_a":-195.262329,"cg_iu_a":-67.4834824,"cg_iv_a":-118.266968,"cg_iw_a":198.435791,"cg_sample_age_us":23.772728,"cg_sample_seq":11847267,"cg_sample_valid":1,"cg_theta_rad":1.90068233,"cg_vd_req_v":-2.05200505,"cg_vd_v":-2.05200505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41632652,"cg_vq_v":-8.41632652,"cg_vu_v":143.844864,"cg_vv_v":140.765625,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.3880405,"dclink_p_w":-2516.47827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2096.56958,"values":{"Elec_RPM":-2355.66626,"EncoderCos":12779,"EncoderSin":24995,"GapTicks":49333,"Mech_RPM":-471.13324,"cg_du":55.1516838,"cg_dv":44.8483162,"cg_dw":49.9015198,"cg_id_a":-15.9741859,"cg_id_raw_a":-17.9115887,"cg_iq_a":-197.108505,"cg_iq_raw_a":-196.900513,"cg_iu_a":198.981171,"cg_iv_a":-86.3361359,"cg_iw_a":-112.645035,"cg_sample_age_us":24.1000004,"cg_sample_seq":11848870,"cg_sample_valid":1,"cg_theta_rad":3.56027555,"cg_vd_req_v":-1.5934248,"cg_vd_v":-1.5934248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43432617,"cg_vq_v":-8.43432617,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2096.901611,"values":{"Elec_RPM":-2351.76953,"EncoderCos":11393,"EncoderSin":34732,"GapTicks":49512,"Mech_RPM":-470.353882,"cg_du":45.0116653,"cg_dv":52.0226784,"cg_dw":54.9883347,"cg_id_a":-8.79299736,"cg_id_raw_a":-5.8774848,"cg_iq_a":-200.716034,"cg_iq_raw_a":-200.484833,"cg_iu_a":-166.501648,"cg_iv_a":-12.5799408,"cg_iw_a":179.081589,"cg_sample_age_us":23.9290905,"cg_sample_seq":11850667,"cg_sample_valid":1,"cg_theta_rad":3.05222178,"cg_vd_req_v":-1.67550886,"cg_vd_v":-1.67550886,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36948395,"cg_vq_v":-8.36948395,"cg_vu_v":115.251846,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2437.53516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2096.994934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2096.99494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2096.994945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2097.233643,"values":{"Elec_RPM":-2350.74365,"EncoderCos":32694,"EncoderSin":11364,"GapTicks":49550,"Mech_RPM":-470.148712,"cg_du":54.9542236,"cg_dv":45.0457764,"cg_dw":52.2439079,"cg_id_a":-8.26253796,"cg_id_raw_a":-0.63831526,"cg_iq_a":-197.406616,"cg_iq_raw_a":-199.367783,"cg_iu_a":177.017426,"cg_iv_a":-159.947372,"cg_iw_a":-17.0700531,"cg_sample_age_us":24.0890903,"cg_sample_seq":11852266,"cg_sample_valid":1,"cg_theta_rad":4.73496389,"cg_vd_req_v":-1.72903609,"cg_vd_v":-1.72903609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40763569,"cg_vq_v":-8.40763569,"cg_vu_v":123.169922,"cg_vv_v":115.251846,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2477.82739,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2097.585205,"values":{"Elec_RPM":-2347.43188,"EncoderCos":22551,"EncoderSin":13893,"GapTicks":49694,"Mech_RPM":-469.486389,"cg_du":45.1772461,"cg_dv":54.8227539,"cg_dw":53.1986465,"cg_id_a":6.20985651,"cg_id_raw_a":3.75143862,"cg_iq_a":-197.333847,"cg_iq_raw_a":-197.994751,"cg_iu_a":-191.437393,"cg_iv_a":50.5568085,"cg_iw_a":140.880585,"cg_sample_age_us":23.9290905,"cg_sample_seq":11854066,"cg_sample_valid":1,"cg_theta_rad":4.22341347,"cg_vd_req_v":-2.04276037,"cg_vd_v":-2.04276037,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41190243,"cg_vq_v":-8.41190243,"cg_vu_v":38.2706528,"cg_vv_v":48.3881836,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2435.69946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2097.917236,"values":{"Elec_RPM":-2345.84497,"EncoderCos":52102,"EncoderSin":24116,"GapTicks":49428,"Mech_RPM":-469.169006,"cg_du":51.980442,"cg_dv":44.9354134,"cg_dw":55.0645866,"cg_id_a":10.9319286,"cg_id_raw_a":10.8438387,"cg_iq_a":-200.541748,"cg_iq_raw_a":-199.179001,"cg_iu_a":133.017395,"cg_iv_a":-199.851822,"cg_iw_a":80.13591,"cg_sample_age_us":23.6854553,"cg_sample_seq":11855666,"cg_sample_valid":1,"cg_theta_rad":5.87903738,"cg_vd_req_v":-2.22847939,"cg_vd_v":-2.22847939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38557053,"cg_vq_v":-8.38557053,"cg_vu_v":12.3169918,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2367.24707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2098.018999,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2098.019005,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2098.019011,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2098.354736,"values":{"Elec_RPM":-2346.70068,"EncoderCos":13536,"EncoderSin":42288,"GapTicks":49318,"Mech_RPM":-469.340118,"cg_du":49.8569527,"cg_dv":55.1651764,"cg_dw":44.8348236,"cg_id_a":-8.54941177,"cg_id_raw_a":-8.43485546,"cg_iq_a":-196.459824,"cg_iq_raw_a":-193.9785,"cg_iu_a":-64.2940216,"cg_iv_a":193.937424,"cg_iw_a":-129.643402,"cg_sample_age_us":23.8454552,"cg_sample_seq":11857717,"cg_sample_valid":1,"cg_theta_rad":2.68484139,"cg_vd_req_v":-1.71231115,"cg_vd_v":-1.71231115,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4612999,"cg_vq_v":-8.4612999,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.739275,"dclink_p_w":-2422.58569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2098.870361,"values":{"Elec_RPM":-2342.81641,"EncoderCos":49309,"EncoderSin":19405,"GapTicks":49328,"Mech_RPM":-468.563293,"cg_du":44.8441849,"cg_dv":49.7585182,"cg_dw":55.1558151,"cg_id_a":-9.32435703,"cg_id_raw_a":-10.9805126,"cg_iq_a":-197.297607,"cg_iq_raw_a":-197.154968,"cg_iu_a":-123.117767,"cg_iv_a":-69.1565857,"cg_iw_a":192.274353,"cg_sample_age_us":23.9181824,"cg_sample_seq":11860367,"cg_sample_valid":1,"cg_theta_rad":5.62068081,"cg_vd_req_v":-1.8427825,"cg_vd_v":-1.8427825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41991997,"cg_vq_v":-8.41991997,"cg_vu_v":130.648087,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2407.37427,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2098.882969,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2098.882983,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2098.882986,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2099.010808,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2099.010815,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2099.01082,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2099.245361,"values":{"Elec_RPM":-2347.04858,"EncoderCos":11644,"EncoderSin":36553,"GapTicks":49651,"Mech_RPM":-469.409729,"cg_du":45.1373367,"cg_dv":54.8626633,"cg_dw":53.0482712,"cg_id_a":7.52514172,"cg_id_raw_a":5.77348375,"cg_iq_a":-198.844406,"cg_iq_raw_a":-197.698425,"cg_iu_a":-192.37973,"cg_iv_a":62.1910858,"cg_iw_a":133.196884,"cg_sample_age_us":23.9472733,"cg_sample_seq":11862367,"cg_sample_valid":1,"cg_theta_rad":2.96591115,"cg_vd_req_v":-2.02816367,"cg_vd_v":-2.02816367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37364006,"cg_vq_v":-8.37364006,"cg_vu_v":109.973145,"cg_vv_v":112.172607,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2421.75903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2099.596924,"values":{"Elec_RPM":-2345.64063,"EncoderCos":13031,"EncoderSin":24311,"GapTicks":49394,"Mech_RPM":-469.128113,"cg_du":55.0956879,"cg_dv":44.9043121,"cg_dw":48.6412659,"cg_id_a":-4.65923023,"cg_id_raw_a":-10.0667725,"cg_iq_a":-198.038086,"cg_iq_raw_a":-197.893082,"cg_iu_a":199.742294,"cg_iv_a":-97.1730499,"cg_iw_a":-102.569244,"cg_sample_age_us":24.1072731,"cg_sample_seq":11864066,"cg_sample_valid":1,"cg_theta_rad":3.55171466,"cg_vd_req_v":-1.84818041,"cg_vd_v":-1.84818041,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41534901,"cg_vq_v":-8.41534901,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.5870514,"dclink_p_w":-2400.55518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2099.928955,"values":{"Elec_RPM":-2351.67578,"EncoderCos":20826,"EncoderSin":14907,"GapTicks":49319,"Mech_RPM":-470.335175,"cg_du":44.8357544,"cg_dv":55.1642456,"cg_dw":49.502079,"cg_id_a":-14.3830204,"cg_id_raw_a":-13.4321146,"cg_iq_a":-195.494202,"cg_iq_raw_a":-196.269348,"cg_iu_a":-187.776764,"cg_iv_a":142.362457,"cg_iw_a":45.4143066,"cg_sample_age_us":23.9363632,"cg_sample_seq":11865766,"cg_sample_valid":1,"cg_theta_rad":4.13483572,"cg_vd_req_v":-1.62483954,"cg_vd_v":-1.62483954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48942757,"cg_vq_v":-8.48942757,"cg_vu_v":1.75957024,"cg_vv_v":4.83881807,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2406.5874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2100.003609,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2100.003615,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2100.00362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2100.260986,"values":{"Elec_RPM":-2355.96313,"EncoderCos":32515,"EncoderSin":11415,"GapTicks":49640,"Mech_RPM":-471.192627,"cg_du":54.8723412,"cg_dv":45.1276588,"cg_dw":52.6970367,"cg_id_a":-3.49460459,"cg_id_raw_a":5.51196575,"cg_iq_a":-198.339905,"cg_iq_raw_a":-200.207458,"cg_iu_a":171.435867,"cg_iv_a":-168.645874,"cg_iw_a":-2.78998566,"cg_sample_age_us":24.1545448,"cg_sample_seq":11867466,"cg_sample_valid":1,"cg_theta_rad":4.71666718,"cg_vd_req_v":-1.82103121,"cg_vd_v":-1.82103121,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37841988,"cg_vq_v":-8.37841988,"cg_vu_v":7.03828096,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2100.616455,"values":{"Elec_RPM":-2353.55029,"EncoderCos":43823,"EncoderSin":14492,"GapTicks":49679,"Mech_RPM":-470.710052,"cg_du":46.9903069,"cg_dv":54.8364983,"cg_dw":45.1635017,"cg_id_a":8.50307846,"cg_id_raw_a":5.82078838,"cg_iq_a":-204.358398,"cg_iq_raw_a":-204.132813,"cg_iu_a":-147.183685,"cg_iv_a":198.250458,"cg_iw_a":-51.0667648,"cg_sample_age_us":23.9872723,"cg_sample_seq":11869167,"cg_sample_valid":1,"cg_theta_rad":5.27296495,"cg_vd_req_v":-2.18052197,"cg_vd_v":-2.18052197,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27985001,"cg_vq_v":-8.27985001,"cg_vu_v":134.167236,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-15.9908409,"dclink_p_w":-2314.26904,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2100.948486,"values":{"Elec_RPM":-2351.23999,"EncoderCos":51957,"EncoderSin":23777,"GapTicks":49315,"Mech_RPM":-470.248016,"cg_du":51.3415642,"cg_dv":44.8318901,"cg_dw":55.1681099,"cg_id_a":5.00141048,"cg_id_raw_a":-2.8232832,"cg_iq_a":-197.660461,"cg_iq_raw_a":-196.972488,"cg_iu_a":110.727448,"cg_iv_a":-197.822174,"cg_iw_a":87.0947266,"cg_sample_age_us":23.7472725,"cg_sample_seq":11870867,"cg_sample_valid":1,"cg_theta_rad":5.86033106,"cg_vd_req_v":-2.12431026,"cg_vd_v":-2.12431026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44339466,"cg_vq_v":-8.44339466,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2554.50708,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2100.995127,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2100.995133,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2100.995139,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2101.280518,"values":{"Elec_RPM":-2352.41113,"EncoderCos":53651,"EncoderSin":35804,"GapTicks":49331,"Mech_RPM":-470.482208,"cg_du":50.4873543,"cg_dv":55.1533279,"cg_dw":44.8466721,"cg_id_a":-16.257967,"cg_id_raw_a":-15.3490801,"cg_iq_a":-194.700806,"cg_iq_raw_a":-194.559128,"cg_iu_a":-39.5757332,"cg_iv_a":187.123581,"cg_iw_a":-147.547852,"cg_sample_age_us":23.3945446,"cg_sample_seq":11872567,"cg_sample_valid":1,"cg_theta_rad":0.156748891,"cg_vd_req_v":-1.65550947,"cg_vd_v":-1.65550947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4643631,"cg_vq_v":-8.4643631,"cg_vu_v":108.653458,"cg_vv_v":106.893898,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.2267551,"dclink_p_w":-2493.13623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2101.63208,"values":{"Elec_RPM":-2351.86499,"EncoderCos":27868,"EncoderSin":53616,"GapTicks":49484,"Mech_RPM":-470.372986,"cg_du":44.9855804,"cg_dv":51.7425499,"cg_dw":55.0144196,"cg_id_a":-10.8957806,"cg_id_raw_a":-7.96863604,"cg_iq_a":-200.730362,"cg_iq_raw_a":-200.075684,"cg_iu_a":-164.399506,"cg_iv_a":-16.3855438,"cg_iw_a":180.785049,"cg_sample_age_us":23.8600006,"cg_sample_seq":11874167,"cg_sample_valid":1,"cg_theta_rad":1.8021909,"cg_vd_req_v":-1.63874018,"cg_vd_v":-1.63874018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38819885,"cg_vq_v":-8.38819885,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.2064915,"dclink_p_w":-2345.479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2101.964111,"values":{"Elec_RPM":-2349.25562,"EncoderCos":38148,"EncoderSin":53318,"GapTicks":49897,"Mech_RPM":-469.851105,"cg_du":54.6388245,"cg_dv":53.8907814,"cg_dw":45.3611755,"cg_id_a":12.9245853,"cg_id_raw_a":12.3108301,"cg_iq_a":-204.806885,"cg_iq_raw_a":-206.531738,"cg_iu_a":26.6417503,"cg_iv_a":163.710068,"cg_iw_a":-190.351822,"cg_sample_age_us":23.9363632,"cg_sample_seq":11875966,"cg_sample_valid":1,"cg_theta_rad":1.31613886,"cg_vd_req_v":-2.16499519,"cg_vd_v":-2.16499519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30961704,"cg_vq_v":-8.30961704,"cg_vu_v":45.3089333,"cg_vv_v":71.2625961,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.7211533,"dclink_p_w":-2412.60767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2101.987409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2101.987415,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2101.98742,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2102.296143,"values":{"Elec_RPM":-2347.39429,"EncoderCos":11665,"EncoderSin":36777,"GapTicks":49567,"Mech_RPM":-469.478851,"cg_du":45.0617676,"cg_dv":54.9382324,"cg_dw":52.6179085,"cg_id_a":6.1174283,"cg_id_raw_a":2.50689912,"cg_iq_a":-199.663086,"cg_iq_raw_a":-198.259109,"cg_iu_a":-195.532944,"cg_iv_a":64.0395203,"cg_iw_a":131.493423,"cg_sample_age_us":23.9400005,"cg_sample_seq":11877567,"cg_sample_valid":1,"cg_theta_rad":2.95722747,"cg_vd_req_v":-2.00782871,"cg_vd_v":-2.00782871,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36657143,"cg_vq_v":-8.36657143,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2412.61963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2102.647705,"values":{"Elec_RPM":-2343.80493,"EncoderCos":11507,"EncoderSin":35722,"GapTicks":50041,"Mech_RPM":-468.760986,"cg_du":45.4919434,"cg_dv":54.3470383,"cg_dw":54.5080566,"cg_id_a":10.4331427,"cg_id_raw_a":13.5551672,"cg_iq_a":-200.653183,"cg_iq_raw_a":-202.134293,"cg_iu_a":-181.579071,"cg_iv_a":16.3063965,"cg_iw_a":165.272675,"cg_sample_age_us":23.8381824,"cg_sample_seq":11879316,"cg_sample_valid":1,"cg_theta_rad":3.00771284,"cg_vd_req_v":-2.07266283,"cg_vd_v":-2.07266283,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36957741,"cg_vq_v":-8.36957741,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2102.983643,"values":{"Elec_RPM":-2337.59912,"EncoderCos":13209,"EncoderSin":23885,"GapTicks":49440,"Mech_RPM":-467.519806,"cg_du":55.05373,"cg_dv":44.94627,"cg_dw":47.9445648,"cg_id_a":9.17535496,"cg_id_raw_a":3.05365014,"cg_iq_a":-198.831192,"cg_iq_raw_a":-197.423004,"cg_iu_a":196.987762,"cg_iv_a":-69.4465103,"cg_iw_a":-127.541252,"cg_sample_age_us":23.9981823,"cg_sample_seq":11881017,"cg_sample_valid":1,"cg_theta_rad":3.57410455,"cg_vd_req_v":-2.11943126,"cg_vd_v":-2.11943126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41230774,"cg_vq_v":-8.41230774,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.0437241,"dclink_p_w":-2466.64697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2103.010702,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2103.010707,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2103.010713,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2103.315674,"values":{"Elec_RPM":-2342.87256,"EncoderCos":32275,"EncoderSin":11433,"GapTicks":49787,"Mech_RPM":-468.574524,"cg_du":54.7384377,"cg_dv":45.2615623,"cg_dw":53.3087997,"cg_id_a":2.90643787,"cg_id_raw_a":10.3572578,"cg_iq_a":-201.754776,"cg_iq_raw_a":-202.698685,"cg_iu_a":172.668152,"cg_iv_a":-174.082458,"cg_iw_a":1.41430664,"cg_sample_age_us":24.1218185,"cg_sample_seq":11882666,"cg_sample_valid":1,"cg_theta_rad":4.70438337,"cg_vd_req_v":-1.9604454,"cg_vd_v":-1.9604454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30976105,"cg_vq_v":-8.30976105,"cg_vu_v":5.27871037,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.2140694,"dclink_p_w":-2483.72778,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2103.667236,"values":{"Elec_RPM":-2348.83057,"EncoderCos":33017,"EncoderSin":11386,"GapTicks":49437,"Mech_RPM":-469.766113,"cg_du":55.0568695,"cg_dv":44.9431305,"cg_dw":51.4957352,"cg_id_a":-13.4905834,"cg_id_raw_a":-9.25423813,"cg_iq_a":-197.460571,"cg_iq_raw_a":-198.737061,"cg_iu_a":179.409515,"cg_iv_a":-159.077515,"cg_iw_a":-20.3319931,"cg_sample_age_us":24.0490913,"cg_sample_seq":11884416,"cg_sample_valid":1,"cg_theta_rad":4.74134016,"cg_vd_req_v":-1.63870728,"cg_vd_v":-1.63870728,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41498375,"cg_vq_v":-8.41498375,"cg_vu_v":1.75957024,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2103.999268,"values":{"Elec_RPM":-2349.6189,"EncoderCos":52000,"EncoderSin":23821,"GapTicks":49342,"Mech_RPM":-469.923767,"cg_du":51.4182434,"cg_dv":44.857132,"cg_dw":55.142868,"cg_id_a":7.23732233,"cg_id_raw_a":1.82700682,"cg_iq_a":-197.24147,"cg_iq_raw_a":-195.979645,"cg_iu_a":115.402901,"cg_iv_a":-198.039642,"cg_iw_a":82.636734,"cg_sample_age_us":23.7000008,"cg_sample_seq":11886066,"cg_sample_valid":1,"cg_theta_rad":5.86490917,"cg_vd_req_v":-2.1609807,"cg_vd_v":-2.1609807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4301157,"cg_vq_v":-8.4301157,"cg_vu_v":39.590332,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2478.09033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2104.003354,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2104.00336,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2104.003365,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2104.35083,"values":{"Elec_RPM":-2353.94946,"EncoderCos":52351,"EncoderSin":24680,"GapTicks":49625,"Mech_RPM":-470.789886,"cg_du":53.0548363,"cg_dv":45.1136475,"cg_dw":54.8863525,"cg_id_a":20.5422192,"cg_id_raw_a":18.3935299,"cg_iq_a":-200.875183,"cg_iq_raw_a":-200.154877,"cg_iu_a":156.032242,"cg_iv_a":-190.500916,"cg_iw_a":34.4686737,"cg_sample_age_us":23.8018188,"cg_sample_seq":11887816,"cg_sample_valid":1,"cg_theta_rad":5.9048152,"cg_vd_req_v":-2.39504743,"cg_vd_v":-2.39504743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34449196,"cg_vq_v":-8.34449196,"cg_vu_v":41.7897949,"cg_vv_v":40.0302238,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6269188,"dclink_p_w":-2406.3252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2104.862549,"values":{"Elec_RPM":-2348.45679,"EncoderCos":13620,"EncoderSin":23001,"GapTicks":49871,"Mech_RPM":-469.691376,"cg_du":54.6618614,"cg_dv":45.3381386,"cg_dw":46.1981888,"cg_id_a":17.0200386,"cg_id_raw_a":19.0229607,"cg_iq_a":-204.479309,"cg_iq_raw_a":-205.582458,"cg_iu_a":191.478699,"cg_iv_a":-33.2389221,"cg_iw_a":-158.239777,"cg_sample_age_us":23.9727268,"cg_sample_seq":11890366,"cg_sample_valid":1,"cg_theta_rad":3.6112597,"cg_vd_req_v":-2.25243568,"cg_vd_v":-2.25243568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28401947,"cg_vq_v":-8.28401947,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2372.86377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4416504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2104.995286,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2104.995293,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2104.995299,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2105.190674,"values":{"Elec_RPM":-2346.0105,"EncoderCos":21750,"EncoderSin":14309,"GapTicks":49373,"Mech_RPM":-469.202118,"cg_du":44.8851929,"cg_dv":55.1148071,"cg_dw":51.5340195,"cg_id_a":-2.2353878,"cg_id_raw_a":-5.63680077,"cg_iq_a":-197.37265,"cg_iq_raw_a":-196.506424,"cg_iu_a":-197.018951,"cg_iv_a":95.7891235,"cg_iw_a":101.229828,"cg_sample_age_us":23.8927269,"cg_sample_seq":11892067,"cg_sample_valid":1,"cg_theta_rad":4.18613386,"cg_vd_req_v":-1.89812171,"cg_vd_v":-1.89812171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46452236,"cg_vq_v":-8.46452236,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2473.35522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2105.526611,"values":{"Elec_RPM":-2350.26465,"EncoderCos":33893,"EncoderSin":11399,"GapTicks":49366,"Mech_RPM":-470.052917,"cg_du":55.1211014,"cg_dv":44.8788986,"cg_dw":49.6616135,"cg_id_a":-14.8140965,"cg_id_raw_a":-16.7154465,"cg_iq_a":-195.861267,"cg_iq_raw_a":-194.632767,"cg_iu_a":189.267822,"cg_iv_a":-140.230713,"cg_iw_a":-49.0371094,"cg_sample_age_us":23.9799995,"cg_sample_seq":11893766,"cg_sample_valid":1,"cg_theta_rad":4.77270746,"cg_vd_req_v":-1.63275945,"cg_vd_v":-1.63275945,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43372154,"cg_vq_v":-8.43372154,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2441.52417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2105.878174,"values":{"Elec_RPM":-2351.0437,"EncoderCos":45059,"EncoderSin":15336,"GapTicks":49653,"Mech_RPM":-470.20874,"cg_du":45.1396141,"cg_dv":54.8603859,"cg_dw":47.2061653,"cg_id_a":-3.37793875,"cg_id_raw_a":0.646553874,"cg_iq_a":-202.573715,"cg_iq_raw_a":-203.714249,"cg_iu_a":-178.09967,"cg_iv_a":167.660645,"cg_iw_a":10.4390182,"cg_sample_age_us":23.8890915,"cg_sample_seq":11895467,"cg_sample_valid":1,"cg_theta_rad":5.35288954,"cg_vd_req_v":-1.9169935,"cg_vd_v":-1.9169935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31381702,"cg_vq_v":-8.31381702,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-15.9437237,"dclink_p_w":-2300.43628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2106.018875,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2106.018881,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2106.018886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2106.210205,"values":{"Elec_RPM":-2354.2085,"EncoderCos":52576,"EncoderSin":25265,"GapTicks":50006,"Mech_RPM":-470.841705,"cg_du":54.3447876,"cg_dv":45.4606209,"cg_dw":54.5393791,"cg_id_a":15.6316061,"cg_id_raw_a":18.6721306,"cg_iq_a":-203.335999,"cg_iq_raw_a":-203.065231,"cg_iu_a":169.333725,"cg_iv_a":-182.418549,"cg_iw_a":13.0848236,"cg_sample_age_us":24.1690903,"cg_sample_seq":11897166,"cg_sample_valid":1,"cg_theta_rad":5.93632507,"cg_vd_req_v":-2.2885623,"cg_vd_v":-2.2885623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33219719,"cg_vq_v":-8.33219719,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.4511356,"dclink_p_w":-2373.64819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2106.565674,"values":{"Elec_RPM":-2356.53174,"EncoderCos":53514,"EncoderSin":36457,"GapTicks":49379,"Mech_RPM":-471.306366,"cg_du":49.2354126,"cg_dv":55.1100006,"cg_dw":44.8899994,"cg_id_a":-11.3768263,"cg_id_raw_a":-14.3209181,"cg_iq_a":-198.04982,"cg_iq_raw_a":-198.327301,"cg_iu_a":-133.700958,"cg_iv_a":197.706787,"cg_iw_a":-64.0058212,"cg_sample_age_us":24.8272724,"cg_sample_seq":11898870,"cg_sample_valid":1,"cg_theta_rad":0.230509624,"cg_vd_req_v":-1.77802241,"cg_vd_v":-1.77802241,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41149712,"cg_vq_v":-8.41149712,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.6073151,"dclink_p_w":-2555.95801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2106.893799,"values":{"Elec_RPM":-2350.06445,"EncoderCos":47510,"EncoderSin":48147,"GapTicks":49334,"Mech_RPM":-470.012878,"cg_du":50.5178337,"cg_dv":44.8496971,"cg_dw":55.1503029,"cg_id_a":-5.07201672,"cg_id_raw_a":-8.38246536,"cg_iq_a":-197.277863,"cg_iq_raw_a":-197.230927,"cg_iu_a":82.1672974,"cg_iv_a":-197.314758,"cg_iw_a":115.147461,"cg_sample_age_us":23.6345463,"cg_sample_seq":11900566,"cg_sample_valid":1,"cg_theta_rad":0.812226653,"cg_vd_req_v":-1.85951865,"cg_vd_v":-1.85951865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41842175,"cg_vq_v":-8.41842175,"cg_vu_v":36.5110817,"cg_vv_v":37.830761,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-17.0038548,"dclink_p_w":-2460.87695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2107.011652,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2107.011658,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2107.011664,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2107.229736,"values":{"Elec_RPM":-2349.01221,"EncoderCos":36726,"EncoderSin":53650,"GapTicks":49424,"Mech_RPM":-469.802429,"cg_du":51.7556343,"cg_dv":55.0690079,"cg_dw":44.9309921,"cg_id_a":-9.5248785,"cg_id_raw_a":-8.68195057,"cg_iq_a":-197.703827,"cg_iq_raw_a":-199.375824,"cg_iu_a":-10.0007648,"cg_iv_a":175.561798,"cg_iw_a":-165.561035,"cg_sample_age_us":23.8672733,"cg_sample_seq":11902266,"cg_sample_valid":1,"cg_theta_rad":1.3754741,"cg_vd_req_v":-1.69887948,"cg_vd_v":-1.69887948,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44321918,"cg_vq_v":-8.44321918,"cg_vu_v":4.83881807,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2470.39282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2107.581299,"values":{"Elec_RPM":-2355.88428,"EncoderCos":16303,"EncoderSin":46465,"GapTicks":49349,"Mech_RPM":-471.176849,"cg_du":55.1371346,"cg_dv":49.0431519,"cg_dw":44.8628654,"cg_id_a":-10.7867899,"cg_id_raw_a":-13.2079115,"cg_iq_a":-194.980652,"cg_iq_raw_a":-193.647095,"cg_iu_a":110.582474,"cg_iv_a":89.5914154,"cg_iw_a":-200.173889,"cg_sample_age_us":23.9509087,"cg_sample_seq":11903921,"cg_sample_valid":1,"cg_theta_rad":2.49139357,"cg_vd_req_v":-1.67570007,"cg_vd_v":-1.67570007,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47018242,"cg_vq_v":-8.47018242,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.485569,"dclink_p_w":-2385.86841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2107.91333,"values":{"Elec_RPM":-2349.3125,"EncoderCos":15109,"EncoderSin":44909,"GapTicks":49607,"Mech_RPM":-469.862518,"cg_du":54.9021454,"cg_dv":52.5639267,"cg_dw":45.0978546,"cg_id_a":12.3252621,"cg_id_raw_a":11.8017607,"cg_iq_a":-203.304199,"cg_iq_raw_a":-203.499313,"cg_iu_a":54.6582336,"cg_iv_a":144.392105,"cg_iw_a":-199.050339,"cg_sample_age_us":23.9145451,"cg_sample_seq":11905666,"cg_sample_valid":1,"cg_theta_rad":2.54325581,"cg_vd_req_v":-2.15176105,"cg_vd_v":-2.15176105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28255558,"cg_vq_v":-8.28255558,"cg_vu_v":40.4701157,"cg_vv_v":35.1914063,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2600,"hz_tim_isr":5001,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2108.003233,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2108.003239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2108.003245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2108.354736,"values":{"Elec_RPM":-2342.59058,"EncoderCos":49422,"EncoderSin":19611,"GapTicks":49327,"Mech_RPM":-468.518097,"cg_du":44.8428497,"cg_dv":49.3394318,"cg_dw":55.1571503,"cg_id_a":-6.10248327,"cg_id_raw_a":-10.4489498,"cg_iq_a":-197.615234,"cg_iq_raw_a":-196.724426,"cg_iu_a":-110.432426,"cg_iv_a":-83.545372,"cg_iw_a":193.977798,"cg_sample_age_us":23.9218178,"cg_sample_seq":11907717,"cg_sample_valid":1,"cg_theta_rad":5.63014078,"cg_vd_req_v":-1.90584743,"cg_vd_v":-1.90584743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40212917,"cg_vq_v":-8.40212917,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.3862267,"dclink_p_w":-2516.21558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2108.867408,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2108.867419,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2108.867423,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2108.870361,"values":{"Elec_RPM":-2346.57617,"EncoderCos":18772,"EncoderSin":48976,"GapTicks":49354,"Mech_RPM":-469.315216,"cg_du":55.132103,"cg_dv":44.867897,"cg_dw":49.0795937,"cg_id_a":-8.53099251,"cg_id_raw_a":-13.7234468,"cg_iq_a":-198.290695,"cg_iq_raw_a":-197.752029,"cg_iu_a":198.944946,"cg_iv_a":-97.4992523,"cg_iw_a":-101.445694,"cg_sample_age_us":24.0236359,"cg_sample_seq":11910366,"cg_sample_valid":1,"cg_theta_rad":2.29374886,"cg_vd_req_v":-1.77173781,"cg_vd_v":-1.77173781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41152382,"cg_vq_v":-8.41152382,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2108.994958,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2108.994965,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2108.99497,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2109.241455,"values":{"Elec_RPM":-2344.23364,"EncoderCos":53615,"EncoderSin":36086,"GapTicks":49345,"Mech_RPM":-468.84671,"cg_du":49.9767418,"cg_dv":55.1400414,"cg_dw":44.8599586,"cg_id_a":-12.968442,"cg_id_raw_a":-12.6141787,"cg_iq_a":-197.024292,"cg_iq_raw_a":-194.044235,"cg_iu_a":-60.887104,"cg_iv_a":193.393753,"cg_iw_a":-132.506653,"cg_sample_age_us":23.4963627,"cg_sample_seq":11912317,"cg_sample_valid":1,"cg_theta_rad":0.167237744,"cg_vd_req_v":-1.73555684,"cg_vd_v":-1.73555684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43923283,"cg_vq_v":-8.43923283,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2387.33252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2109.56958,"values":{"Elec_RPM":-2343.77222,"EncoderCos":38794,"EncoderSin":53108,"GapTicks":49594,"Mech_RPM":-468.754425,"cg_du":54.9137955,"cg_dv":52.5690918,"cg_dw":45.0862045,"cg_id_a":11.1448689,"cg_id_raw_a":7.88886309,"cg_iq_a":-204.167236,"cg_iq_raw_a":-201.752914,"cg_iu_a":47.8081512,"cg_iv_a":150.698532,"cg_iw_a":-198.506683,"cg_sample_age_us":23.8709087,"cg_sample_seq":11913967,"cg_sample_valid":1,"cg_theta_rad":1.29401827,"cg_vd_req_v":-2.1454258,"cg_vd_v":-2.1454258,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27801323,"cg_vq_v":-8.27801323,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2109.925049,"values":{"Elec_RPM":-2349.21045,"EncoderCos":37988,"EncoderSin":53347,"GapTicks":50009,"Mech_RPM":-469.842072,"cg_du":54.5365944,"cg_dv":54.2309341,"cg_dw":45.4634056,"cg_id_a":10.9490633,"cg_id_raw_a":14.5899925,"cg_iq_a":-203.682007,"cg_iq_raw_a":-202.67189,"cg_iu_a":20.1541061,"cg_iv_a":160.593079,"cg_iw_a":-190.750488,"cg_sample_age_us":23.8090916,"cg_sample_seq":11915717,"cg_sample_valid":1,"cg_theta_rad":1.32294428,"cg_vd_req_v":-2.12351012,"cg_vd_v":-2.12351012,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31746292,"cg_vq_v":-8.31746292,"cg_vu_v":108.653458,"cg_vv_v":111.292824,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.9135761,"dclink_p_w":-2592.53613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2604,"hz_tim_isr":4998,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2109.987625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2109.987631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2109.987636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2110.25708,"values":{"Elec_RPM":-2352.03223,"EncoderCos":16267,"EncoderSin":46406,"GapTicks":49343,"Mech_RPM":-470.406433,"cg_du":55.1425018,"cg_dv":49.1833305,"cg_dw":44.8574982,"cg_id_a":-10.8134508,"cg_id_raw_a":-11.1273623,"cg_iq_a":-193.944656,"cg_iq_raw_a":-195.277237,"cg_iu_a":144.397964,"cg_iv_a":44.8302917,"cg_iw_a":-189.228256,"cg_sample_age_us":23.9472733,"cg_sample_seq":11917366,"cg_sample_valid":1,"cg_theta_rad":2.45367098,"cg_vd_req_v":-1.68324518,"cg_vd_v":-1.68324518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49086571,"cg_vq_v":-8.49086571,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2433.60107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2110.608643,"values":{"Elec_RPM":-2348.27979,"EncoderCos":11616,"EncoderSin":36219,"GapTicks":49788,"Mech_RPM":-469.655975,"cg_du":45.2624359,"cg_dv":54.7375641,"cg_dw":53.5440788,"cg_id_a":13.3435688,"cg_id_raw_a":12.5803976,"cg_iq_a":-199.862671,"cg_iq_raw_a":-200.289719,"cg_iu_a":-179.658142,"cg_iv_a":9.85498047,"cg_iw_a":169.803162,"cg_sample_age_us":26.7981815,"cg_sample_seq":11919070,"cg_sample_valid":1,"cg_theta_rad":3.01623368,"cg_vd_req_v":-2.13999629,"cg_vd_v":-2.13999629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35426331,"cg_vq_v":-8.35426331,"cg_vu_v":102.055069,"cg_vv_v":102.494972,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2386.65503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2110.940674,"values":{"Elec_RPM":-2352.16895,"EncoderCos":11379,"EncoderSin":34792,"GapTicks":49528,"Mech_RPM":-470.433807,"cg_du":45.026207,"cg_dv":52.130619,"cg_dw":54.973793,"cg_id_a":-9.43540382,"cg_id_raw_a":-4.44768238,"cg_iq_a":-200.450943,"cg_iq_raw_a":-199.792343,"cg_iu_a":-164.109543,"cg_iv_a":-19.8649445,"cg_iw_a":183.974487,"cg_sample_age_us":23.9472733,"cg_sample_seq":11920817,"cg_sample_valid":1,"cg_theta_rad":3.06020641,"cg_vd_req_v":-1.66604912,"cg_vd_v":-1.66604912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37213516,"cg_vq_v":-8.37213516,"cg_vu_v":16.7159176,"cg_vv_v":16.7159176,"cg_vw_v":14.0765619,"control_outputs_enabled":1,"dclink_i_a":-16.6178589,"dclink_p_w":-2397.70386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2111.010934,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2111.010939,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2111.010945,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2111.272705,"values":{"Elec_RPM":-2347.65649,"EncoderCos":13737,"EncoderSin":22773,"GapTicks":50039,"Mech_RPM":-469.531311,"cg_du":54.5096245,"cg_dv":45.4903755,"cg_dw":45.5987549,"cg_id_a":12.7382402,"cg_id_raw_a":15.2643404,"cg_iq_a":-202.447998,"cg_iq_raw_a":-202.934799,"cg_iu_a":182.091553,"cg_iv_a":-16.276825,"cg_iw_a":-165.814728,"cg_sample_age_us":23.9690914,"cg_sample_seq":11922517,"cg_sample_valid":1,"cg_theta_rad":3.63481784,"cg_vd_req_v":-2.1540544,"cg_vd_v":-2.1540544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3506012,"cg_vq_v":-8.3506012,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2365.28125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2111.628174,"values":{"Elec_RPM":-2350.87842,"EncoderCos":33538,"EncoderSin":11388,"GapTicks":49363,"Mech_RPM":-470.175659,"cg_du":55.1239433,"cg_dv":44.8760567,"cg_dw":50.3528328,"cg_id_a":-17.0880184,"cg_id_raw_a":-16.7972546,"cg_iq_a":-195.794525,"cg_iq_raw_a":-195.313217,"cg_iu_a":189.449051,"cg_iv_a":-145.957245,"cg_iw_a":-43.491806,"cg_sample_age_us":24.0309086,"cg_sample_seq":11924166,"cg_sample_valid":1,"cg_theta_rad":4.76612234,"cg_vd_req_v":-1.58073318,"cg_vd_v":-1.58073318,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42252159,"cg_vq_v":-8.42252159,"cg_vu_v":143.404984,"cg_vv_v":131.967773,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2475.30176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2111.960205,"values":{"Elec_RPM":-2357.71509,"EncoderCos":34058,"EncoderSin":11408,"GapTicks":49376,"Mech_RPM":-471.54303,"cg_du":55.11269,"cg_dv":44.88731,"cg_dw":49.387764,"cg_id_a":-12.2830715,"cg_id_raw_a":-15.9219151,"cg_iq_a":-197.288223,"cg_iq_raw_a":-195.999084,"cg_iu_a":195.248062,"cg_iv_a":-123.522324,"cg_iw_a":-71.7257385,"cg_sample_age_us":24.0599995,"cg_sample_seq":11925917,"cg_sample_valid":1,"cg_theta_rad":4.78761244,"cg_vd_req_v":-1.69301736,"cg_vd_v":-1.69301736,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39538956,"cg_vq_v":-8.39538956,"cg_vu_v":127.12896,"cg_vv_v":117.011421,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2489.21875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2112.003074,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2112.00308,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2112.003086,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2112.292236,"values":{"Elec_RPM":-2361.05908,"EncoderCos":52356,"EncoderSin":24706,"GapTicks":49627,"Mech_RPM":-472.211823,"cg_du":53.1513023,"cg_dv":45.1160355,"cg_dw":54.8839645,"cg_id_a":18.7068501,"cg_id_raw_a":15.5527172,"cg_iq_a":-200.864624,"cg_iq_raw_a":-200.738815,"cg_iu_a":156.503418,"cg_iv_a":-189.812286,"cg_iw_a":33.3088684,"cg_sample_age_us":23.7981815,"cg_sample_seq":11927567,"cg_sample_valid":1,"cg_theta_rad":5.90865564,"cg_vd_req_v":-2.3664341,"cg_vd_v":-2.3664341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38206291,"cg_vq_v":-8.38206291,"cg_vu_v":106.893898,"cg_vv_v":99.4157181,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2112.643799,"values":{"Elec_RPM":-2363.61743,"EncoderCos":48507,"EncoderSin":47056,"GapTicks":49603,"Mech_RPM":-472.72348,"cg_du":47.5991096,"cg_dv":45.0943375,"cg_dw":54.9056625,"cg_id_a":-9.48238182,"cg_id_raw_a":-0.954208612,"cg_iq_a":-202.63443,"cg_iq_raw_a":-203.182571,"cg_iu_a":4.49676895,"cg_iv_a":-176.655762,"cg_iw_a":172.158997,"cg_sample_age_us":23.5145454,"cg_sample_seq":11929217,"cg_sample_valid":1,"cg_theta_rad":0.743622124,"cg_vd_req_v":-1.73009229,"cg_vd_v":-1.73009229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31504345,"cg_vq_v":-8.31504345,"cg_vu_v":142.965088,"cg_vv_v":138.566162,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.239439,"dclink_p_w":-2494.97192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2112.97583,"values":{"Elec_RPM":-2359.66016,"EncoderCos":53266,"EncoderSin":37644,"GapTicks":49626,"Mech_RPM":-471.932007,"cg_du":47.2144699,"cg_dv":54.8853607,"cg_dw":45.1146393,"cg_id_a":10.0891161,"cg_id_raw_a":6.11681843,"cg_iq_a":-203.331146,"cg_iq_raw_a":-202.108643,"cg_iu_a":-145.588959,"cg_iv_a":198.141724,"cg_iw_a":-52.5527649,"cg_sample_age_us":23.4563637,"cg_sample_seq":11931017,"cg_sample_valid":1,"cg_theta_rad":0.244760558,"cg_vd_req_v":-2.21351647,"cg_vd_v":-2.21351647,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27813911,"cg_vq_v":-8.27813911,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.298912,"dclink_p_w":-2351.68457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2112.995137,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2112.995143,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2112.995148,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2113.331299,"values":{"Elec_RPM":-2358.93579,"EncoderCos":38043,"EncoderSin":53396,"GapTicks":49969,"Mech_RPM":-471.78714,"cg_du":54.5729561,"cg_dv":54.109642,"cg_dw":45.4270439,"cg_id_a":13.7965336,"cg_id_raw_a":14.8949709,"cg_iq_a":-203.831253,"cg_iq_raw_a":-204.145462,"cg_iu_a":-5.6152606,"cg_iv_a":174.003326,"cg_iw_a":-168.388062,"cg_sample_age_us":23.8090916,"cg_sample_seq":11932670,"cg_sample_valid":1,"cg_theta_rad":1.36557329,"cg_vd_req_v":-2.17486358,"cg_vd_v":-2.17486358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33022881,"cg_vq_v":-8.33022881,"cg_vu_v":123.169922,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2113.659424,"values":{"Elec_RPM":-2354.74146,"EncoderCos":24989,"EncoderSin":52769,"GapTicks":49904,"Mech_RPM":-470.948303,"cg_du":45.3677292,"cg_dv":46.1960983,"cg_dw":54.6322708,"cg_id_a":12.946806,"cg_id_raw_a":12.4682388,"cg_iq_a":-203.562744,"cg_iq_raw_a":-203.781891,"cg_iu_a":-22.3236694,"cg_iv_a":-164.840271,"cg_iw_a":187.16394,"cg_sample_age_us":23.8418179,"cg_sample_seq":11934366,"cg_sample_valid":1,"cg_theta_rad":1.95287097,"cg_vd_req_v":-2.14405894,"cg_vd_v":-2.14405894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29447651,"cg_vq_v":-8.29447651,"cg_vu_v":113.932175,"cg_vv_v":118.3311,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4728832,"dclink_p_w":-2384.03223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5851746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2113.995361,"values":{"Elec_RPM":-2363.4248,"EncoderCos":15461,"EncoderSin":45388,"GapTicks":49451,"Mech_RPM":-472.684967,"cg_du":55.0444641,"cg_dv":51.4751129,"cg_dw":44.9555359,"cg_id_a":5.91001177,"cg_id_raw_a":0.460228294,"cg_iq_a":-203.647888,"cg_iq_raw_a":-201.889587,"cg_iu_a":87.0602188,"cg_iv_a":115.107079,"cg_iw_a":-205.139297,"cg_sample_age_us":23.8818188,"cg_sample_seq":11936067,"cg_sample_valid":1,"cg_theta_rad":2.51097941,"cg_vd_req_v":-2.03179622,"cg_vd_v":-2.03179622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27758408,"cg_vq_v":-8.27758408,"cg_vu_v":123.60981,"cg_vv_v":136.806595,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2114.019234,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2114.01924,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2114.019245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2114.346924,"values":{"Elec_RPM":-2359.72754,"EncoderCos":11351,"EncoderSin":34102,"GapTicks":49387,"Mech_RPM":-471.945496,"cg_du":44.8979988,"cg_dv":50.6040688,"cg_dw":55.1020012,"cg_id_a":-15.4628735,"cg_id_raw_a":-15.0726662,"cg_iq_a":-199.593613,"cg_iq_raw_a":-198.620529,"cg_iu_a":-151.569183,"cg_iv_a":-34.072525,"cg_iw_a":185.641708,"cg_sample_age_us":23.9327278,"cg_sample_seq":11937767,"cg_sample_valid":1,"cg_theta_rad":3.07972884,"cg_vd_req_v":-1.55783081,"cg_vd_v":-1.55783081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40284824,"cg_vq_v":-8.40284824,"cg_vu_v":97.2162552,"cg_vv_v":93.2572174,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.4514656,"dclink_p_w":-2525.65723,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2114.678955,"values":{"Elec_RPM":-2357.4375,"EncoderCos":14176,"EncoderSin":21911,"GapTicks":49536,"Mech_RPM":-471.487488,"cg_du":54.9664764,"cg_dv":47.7497482,"cg_dw":45.0335236,"cg_id_a":-7.94289207,"cg_id_raw_a":-1.13461602,"cg_iq_a":-196.920959,"cg_iq_raw_a":-200.212524,"cg_iu_a":165.346893,"cg_iv_a":9.34757996,"cg_iw_a":-174.694473,"cg_sample_age_us":24.0200005,"cg_sample_seq":11939466,"cg_sample_valid":1,"cg_theta_rad":3.67817903,"cg_vd_req_v":-1.71131992,"cg_vd_v":-1.71131992,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43312073,"cg_vq_v":-8.43312073,"cg_vu_v":44.8690414,"cg_vv_v":44.4291458,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-17.1089611,"dclink_p_w":-2476.08838,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2115.010986,"values":{"Elec_RPM":-2359.70239,"EncoderCos":23001,"EncoderSin":13652,"GapTicks":49956,"Mech_RPM":-471.940491,"cg_du":45.4153175,"cg_dv":54.5846825,"cg_dw":54.0646591,"cg_id_a":10.8951206,"cg_id_raw_a":11.2960405,"cg_iq_a":-200.124344,"cg_iq_raw_a":-201.040176,"cg_iu_a":-185.420929,"cg_iv_a":33.5222168,"cg_iw_a":153.312225,"cg_sample_age_us":23.8418179,"cg_sample_seq":11941166,"cg_sample_valid":1,"cg_theta_rad":4.24896288,"cg_vd_req_v":-2.13323879,"cg_vd_v":-2.13323879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33844566,"cg_vq_v":-8.33844566,"cg_vu_v":20.6749516,"cg_vv_v":25.5137672,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2451.04395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2115.011326,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2115.011332,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2115.011337,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2115.362549,"values":{"Elec_RPM":-2360.19873,"EncoderCos":34929,"EncoderSin":11479,"GapTicks":49453,"Mech_RPM":-472.039734,"cg_du":55.0423813,"cg_dv":44.9576187,"cg_dw":48.0136032,"cg_id_a":8.48150539,"cg_id_raw_a":4.90710258,"cg_iq_a":-200.445251,"cg_iq_raw_a":-199.617966,"cg_iu_a":199.996002,"cg_iv_a":-70.6788025,"cg_iw_a":-129.3172,"cg_sample_age_us":24.0709095,"cg_sample_seq":11942866,"cg_sample_valid":1,"cg_theta_rad":4.82924509,"cg_vd_req_v":-2.1302011,"cg_vd_v":-2.1302011,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3479414,"cg_vq_v":-8.3479414,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2371.03345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2115.698486,"values":{"Elec_RPM":-2360.04346,"EncoderCos":35512,"EncoderSin":11546,"GapTicks":49652,"Mech_RPM":-472.008667,"cg_du":54.8613358,"cg_dv":45.1386642,"cg_dw":46.9465141,"cg_id_a":14.8106194,"cg_id_raw_a":12.4482336,"cg_iq_a":-203.331573,"cg_iq_raw_a":-201.238876,"cg_iu_a":193.290894,"cg_iv_a":-41.7562408,"cg_iw_a":-151.534653,"cg_sample_age_us":24.0599995,"cg_sample_seq":11944617,"cg_sample_valid":1,"cg_theta_rad":4.85684824,"cg_vd_req_v":-2.2448101,"cg_vd_v":-2.2448101,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31779575,"cg_vq_v":-8.31779575,"cg_vu_v":142.965088,"cg_vv_v":129.328415,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.6580563,"dclink_p_w":-2555.55615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2116.003459,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2116.003465,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2116.003469,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2116.050049,"values":{"Elec_RPM":-2364.59131,"EncoderCos":46146,"EncoderSin":16180,"GapTicks":49316,"Mech_RPM":-472.918243,"cg_du":44.8329163,"cg_dv":55.1670837,"cg_dw":50.1903496,"cg_id_a":-13.5618439,"cg_id_raw_a":-14.0819101,"cg_iq_a":-195.718323,"cg_iq_raw_a":-196.941483,"cg_iu_a":-195.098022,"cg_iv_a":94.8830261,"cg_iw_a":100.214996,"cg_sample_age_us":26.7909088,"cg_sample_seq":11946320,"cg_sample_valid":1,"cg_theta_rad":5.44266081,"cg_vd_req_v":-1.74045372,"cg_vd_v":-1.74045372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45967102,"cg_vq_v":-8.45967102,"cg_vu_v":8.79785156,"cg_vv_v":24.1940918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.2427349,"dclink_p_w":-2350.72412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2116.38208,"values":{"Elec_RPM":-2363.83301,"EncoderCos":47406,"EncoderSin":48295,"GapTicks":49321,"Mech_RPM":-472.766602,"cg_du":50.8211861,"cg_dv":44.8375015,"cg_dw":55.1624985,"cg_id_a":-2.60877275,"cg_id_raw_a":-5.42862558,"cg_iq_a":-198.720596,"cg_iq_raw_a":-197.647049,"cg_iu_a":93.2579193,"cg_iv_a":-200.540466,"cg_iw_a":107.282547,"cg_sample_age_us":23.5218182,"cg_sample_seq":11947916,"cg_sample_valid":1,"cg_theta_rad":0.819264054,"cg_vd_req_v":-1.91556621,"cg_vd_v":-1.91556621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42211723,"cg_vq_v":-8.42211723,"cg_vu_v":41.7897949,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2446.59888,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2116.714111,"values":{"Elec_RPM":-2362.56323,"EncoderCos":52855,"EncoderSin":39242,"GapTicks":49615,"Mech_RPM":-472.512665,"cg_du":45.1050224,"cg_dv":54.8949776,"cg_dw":47.2991028,"cg_id_a":-1.91541708,"cg_id_raw_a":4.01006413,"cg_iq_a":-201.968216,"cg_iq_raw_a":-203.45723,"cg_iu_a":-179.005768,"cg_iv_a":173.822098,"cg_iw_a":1.95796204,"cg_sample_age_us":23.5290909,"cg_sample_seq":11949716,"cg_sample_valid":1,"cg_theta_rad":0.320092022,"cg_vd_req_v":-1.93508065,"cg_vd_v":-1.93508065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36429691,"cg_vq_v":-8.36429691,"cg_vu_v":38.7105446,"cg_vv_v":67.743454,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2387.17944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2117.027358,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2117.027364,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2117.027369,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2117.046143,"values":{"Elec_RPM":-2358.91064,"EncoderCos":24537,"EncoderSin":52602,"GapTicks":50061,"Mech_RPM":-471.782135,"cg_du":45.8912582,"cg_dv":45.5103989,"cg_dw":54.4896011,"cg_id_a":9.948946,"cg_id_raw_a":9.75273037,"cg_iq_a":-206.091187,"cg_iq_raw_a":-204.817123,"cg_iu_a":-6.19516182,"cg_iv_a":-175.640945,"cg_iw_a":181.836105,"cg_sample_age_us":23.8709087,"cg_sample_seq":11951317,"cg_sample_valid":1,"cg_theta_rad":1.97028971,"cg_vd_req_v":-2.07268858,"cg_vd_v":-2.07268858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22862625,"cg_vq_v":-8.22862625,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3949585,"dclink_p_w":-2372.75464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2117.401611,"values":{"Elec_RPM":-2355.76196,"EncoderCos":34885,"EncoderSin":53923,"GapTicks":49470,"Mech_RPM":-471.152374,"cg_du":48.1773109,"cg_dv":55.0271606,"cg_dw":44.9728394,"cg_id_a":2.73629475,"cg_id_raw_a":-2.16310453,"cg_iq_a":-199.618561,"cg_iq_raw_a":-198.811432,"cg_iu_a":-118.732269,"cg_iv_a":199.736435,"cg_iw_a":-81.0041656,"cg_sample_age_us":23.8963642,"cg_sample_seq":11953117,"cg_sample_valid":1,"cg_theta_rad":1.46923125,"cg_vd_req_v":-1.9710896,"cg_vd_v":-1.9710896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3537674,"cg_vq_v":-8.3537674,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.60495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2117.729736,"values":{"Elec_RPM":-2351.17578,"EncoderCos":11296,"EncoderSin":33197,"GapTicks":49364,"Mech_RPM":-470.235168,"cg_du":44.8769722,"cg_dv":48.8222542,"cg_dw":55.1230278,"cg_id_a":-10.8565283,"cg_id_raw_a":-13.4050741,"cg_iq_a":-196.02594,"cg_iq_raw_a":-197.859985,"cg_iu_a":-111.918427,"cg_iv_a":-71.3674545,"cg_iw_a":192.564301,"cg_sample_age_us":23.9400005,"cg_sample_seq":11954716,"cg_sample_valid":1,"cg_theta_rad":3.12413836,"cg_vd_req_v":-1.67778563,"cg_vd_v":-1.67778563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47182178,"cg_vq_v":-8.47182178,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2470.84326,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2118.019339,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2118.019344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2118.019348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2118.096924,"values":{"Elec_RPM":-2351.72217,"EncoderCos":14169,"EncoderSin":43419,"GapTicks":49547,"Mech_RPM":-470.344452,"cg_du":52.6244354,"cg_dv":54.9565849,"cg_dw":45.0434151,"cg_id_a":-3.69297028,"cg_id_raw_a":2.23164439,"cg_iq_a":-197.996033,"cg_iq_raw_a":-199.116196,"cg_iu_a":-7.39120865,"cg_iv_a":173.242188,"cg_iw_a":-165.850983,"cg_sample_age_us":23.8818188,"cg_sample_seq":11956517,"cg_sample_valid":1,"cg_theta_rad":2.6236062,"cg_vd_req_v":-1.79226875,"cg_vd_v":-1.79226875,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44715214,"cg_vq_v":-8.44715214,"cg_vu_v":131.087982,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.8084679,"dclink_p_w":-2577.32446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2118.616455,"values":{"Elec_RPM":-2355.44312,"EncoderCos":36412,"EncoderSin":53740,"GapTicks":49378,"Mech_RPM":-471.088623,"cg_du":51.5275497,"cg_dv":55.1106682,"cg_dw":44.8893318,"cg_id_a":-10.5929337,"cg_id_raw_a":-8.1742754,"cg_iq_a":-196.16835,"cg_iq_raw_a":-195.341064,"cg_iu_a":-85.0254974,"cg_iv_a":199.120285,"cg_iw_a":-114.094788,"cg_sample_age_us":23.8090916,"cg_sample_seq":11958970,"cg_sample_valid":1,"cg_theta_rad":1.44367564,"cg_vd_req_v":-1.70797229,"cg_vd_v":-1.70797229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47002602,"cg_vq_v":-8.47002602,"cg_vu_v":127.568848,"cg_vv_v":142.525192,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2403.979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2118.882767,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2118.882775,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2118.882778,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2119.011524,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2119.011528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2119.011533,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2119.057861,"values":{"Elec_RPM":-2352.17139,"EncoderCos":48086,"EncoderSin":47599,"GapTicks":49357,"Mech_RPM":-470.434265,"cg_du":49.0454407,"cg_dv":44.8705482,"cg_dw":55.1294518,"cg_id_a":-13.1597147,"cg_id_raw_a":-13.5090103,"cg_iq_a":-198.368881,"cg_iq_raw_a":-200.634644,"cg_iu_a":32.4045219,"cg_iv_a":-185.390549,"cg_iw_a":152.986023,"cg_sample_age_us":23.6745453,"cg_sample_seq":11961366,"cg_sample_valid":1,"cg_theta_rad":0.771484494,"cg_vd_req_v":-1.67782116,"cg_vd_v":-1.67782116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42979336,"cg_vq_v":-8.42979336,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2519.10083,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2595,"hz_tim_isr":5001,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2119.409424,"values":{"Elec_RPM":-2348.98584,"EncoderCos":53122,"EncoderSin":38255,"GapTicks":49923,"Mech_RPM":-469.79715,"cg_du":46.074913,"cg_dv":54.6150856,"cg_dw":45.3849144,"cg_id_a":14.0091972,"cg_id_raw_a":13.5783873,"cg_iq_a":-206.57692,"cg_iq_raw_a":-205.969681,"cg_iu_a":-168.785004,"cg_iv_a":188.645844,"cg_iw_a":-19.8608322,"cg_sample_age_us":23.5145454,"cg_sample_seq":11963166,"cg_sample_valid":1,"cg_theta_rad":0.270927876,"cg_vd_req_v":-2.28864956,"cg_vd_v":-2.28864956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25453568,"cg_vq_v":-8.25453568,"cg_vu_v":38.2706528,"cg_vv_v":51.9073219,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2119.741455,"values":{"Elec_RPM":-2353.05615,"EncoderCos":36532,"EncoderSin":53729,"GapTicks":49378,"Mech_RPM":-470.611206,"cg_du":51.2751389,"cg_dv":55.1103134,"cg_dw":44.8896866,"cg_id_a":-11.5605145,"cg_id_raw_a":-9.478899,"cg_iq_a":-194.011932,"cg_iq_raw_a":-194.925308,"cg_iu_a":-27.3253174,"cg_iv_a":180.527206,"cg_iw_a":-158.747192,"cg_sample_age_us":23.9290905,"cg_sample_seq":11964816,"cg_sample_valid":1,"cg_theta_rad":1.39223075,"cg_vd_req_v":-1.65387356,"cg_vd_v":-1.65387356,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49492264,"cg_vq_v":-8.49492264,"cg_vu_v":1.75957024,"cg_vv_v":7.47817326,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2120.003449,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2120.003454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2120.003459,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2120.093018,"values":{"Elec_RPM":-2352.62256,"EncoderCos":25618,"EncoderSin":53012,"GapTicks":49587,"Mech_RPM":-470.524536,"cg_du":45.0794601,"cg_dv":47.4134827,"cg_dw":54.9205399,"cg_id_a":8.14068508,"cg_id_raw_a":5.48176527,"cg_iq_a":-201.775665,"cg_iq_raw_a":-199.948807,"cg_iu_a":-20.0403061,"cg_iv_a":-166.507507,"cg_iw_a":186.547806,"cg_sample_age_us":23.7690907,"cg_sample_seq":11966521,"cg_sample_valid":1,"cg_theta_rad":1.95224202,"cg_vd_req_v":-2.06921506,"cg_vd_v":-2.06921506,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3134737,"cg_vq_v":-8.3134737,"cg_vu_v":137.246475,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.2536068,"dclink_p_w":-2345.14771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2120.428955,"values":{"Elec_RPM":-2354.87085,"EncoderCos":15124,"EncoderSin":44874,"GapTicks":49584,"Mech_RPM":-470.974152,"cg_du":54.9228935,"cg_dv":52.6085587,"cg_dw":45.0771065,"cg_id_a":12.5776196,"cg_id_raw_a":13.0733786,"cg_iq_a":-204.400482,"cg_iq_raw_a":-205.317734,"cg_iu_a":54.9119415,"cg_iv_a":145.298203,"cg_iw_a":-200.210144,"cg_sample_age_us":23.7945461,"cg_sample_seq":11968216,"cg_sample_valid":1,"cg_theta_rad":2.54482388,"cg_vd_req_v":-2.16421437,"cg_vd_v":-2.16421437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29951286,"cg_vq_v":-8.29951286,"cg_vu_v":109.533249,"cg_vv_v":112.612495,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2431.95654,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2120.760986,"values":{"Elec_RPM":-2346.41479,"EncoderCos":11316,"EncoderSin":33609,"GapTicks":49368,"Mech_RPM":-469.282959,"cg_du":44.8802872,"cg_dv":49.5806313,"cg_dw":55.1197128,"cg_id_a":-16.1087399,"cg_id_raw_a":-17.1077442,"cg_iq_a":-197.932373,"cg_iq_raw_a":-197.496674,"cg_iu_a":-130.185303,"cg_iv_a":-63.2488403,"cg_iw_a":193.434143,"cg_sample_age_us":23.8345451,"cg_sample_seq":11969917,"cg_sample_valid":1,"cg_theta_rad":3.10961342,"cg_vd_req_v":-1.56600761,"cg_vd_v":-1.56600761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42092609,"cg_vq_v":-8.42092609,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2351.77319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2120.994871,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2120.994875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2120.99488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2121.112549,"values":{"Elec_RPM":-2347.61255,"EncoderCos":14453,"EncoderSin":21505,"GapTicks":49398,"Mech_RPM":-469.522522,"cg_du":55.0925407,"cg_dv":48.8364677,"cg_dw":44.9074593,"cg_id_a":-13.0347691,"cg_id_raw_a":-10.211236,"cg_iq_a":-195.778198,"cg_iq_raw_a":-197.038849,"cg_iu_a":154.111313,"cg_iv_a":30.9488983,"cg_iw_a":-185.060211,"cg_sample_age_us":24.0236359,"cg_sample_seq":11971616,"cg_sample_valid":1,"cg_theta_rad":3.70094347,"cg_vd_req_v":-1.62695539,"cg_vd_v":-1.62695539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42846584,"cg_vq_v":-8.42846584,"cg_vu_v":31.6722641,"cg_vv_v":7.91806602,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2434.57104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2121.44458,"values":{"Elec_RPM":-2349.76367,"EncoderCos":23213,"EncoderSin":13541,"GapTicks":50046,"Mech_RPM":-469.952759,"cg_du":45.4970932,"cg_dv":54.3822403,"cg_dw":54.5029068,"cg_id_a":7.99870586,"cg_id_raw_a":9.82406521,"cg_iq_a":-201.495651,"cg_iq_raw_a":-199.959839,"cg_iu_a":-183.862427,"cg_iv_a":16.7775574,"cg_iw_a":167.084869,"cg_sample_age_us":23.9254551,"cg_sample_seq":11973317,"cg_sample_valid":1,"cg_theta_rad":4.26219893,"cg_vd_req_v":-2.0855453,"cg_vd_v":-2.0855453,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34868526,"cg_vq_v":-8.34868526,"cg_vu_v":104.694435,"cg_vv_v":104.694435,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2121.776611,"values":{"Elec_RPM":-2351.81787,"EncoderCos":35406,"EncoderSin":11531,"GapTicks":49604,"Mech_RPM":-470.363586,"cg_du":54.9047165,"cg_dv":45.0952835,"cg_dw":47.1304016,"cg_id_a":14.2058163,"cg_id_raw_a":12.8242598,"cg_iq_a":-201.140305,"cg_iq_raw_a":-199.890747,"cg_iu_a":194.740662,"cg_iv_a":-43.9308624,"cg_iw_a":-150.809799,"cg_sample_age_us":24.0636368,"cg_sample_seq":11975016,"cg_sample_valid":1,"cg_theta_rad":4.85573053,"cg_vd_req_v":-2.23089385,"cg_vd_v":-2.23089385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3588562,"cg_vq_v":-8.3588562,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2480.19482,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2121.987629,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2121.987634,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2121.987638,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2122.13208,"values":{"Elec_RPM":-2350.10229,"EncoderCos":46328,"EncoderSin":16390,"GapTicks":49325,"Mech_RPM":-470.020447,"cg_du":44.8411369,"cg_dv":55.1588631,"cg_dw":50.7345123,"cg_id_a":-10.2020311,"cg_id_raw_a":-14.9458389,"cg_iq_a":-195.015808,"cg_iq_raw_a":-194.327316,"cg_iu_a":-193.104614,"cg_iv_a":115.542015,"cg_iw_a":77.5625992,"cg_sample_age_us":23.9290905,"cg_sample_seq":11976717,"cg_sample_valid":1,"cg_theta_rad":5.42298698,"cg_vd_req_v":-1.81374824,"cg_vd_v":-1.81374824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45795345,"cg_vq_v":-8.45795345,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2428.55737,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2122.464111,"values":{"Elec_RPM":-2350.33838,"EncoderCos":53036,"EncoderSin":26752,"GapTicks":49334,"Mech_RPM":-470.067688,"cg_du":55.1507759,"cg_dv":44.8492241,"cg_dw":50.9316521,"cg_id_a":-15.2169714,"cg_id_raw_a":-11.0672998,"cg_iq_a":-195.39415,"cg_iq_raw_a":-196.1297,"cg_iu_a":185.607208,"cg_iv_a":-149.690369,"cg_iw_a":-35.9168472,"cg_sample_age_us":24.1690903,"cg_sample_seq":11978416,"cg_sample_valid":1,"cg_theta_rad":6.01112223,"cg_vd_req_v":-1.66868126,"cg_vd_v":-1.66868126,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46524906,"cg_vq_v":-8.46524906,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.4167042,"dclink_p_w":-2368.68018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2122.796143,"values":{"Elec_RPM":-2348.35962,"EncoderCos":47295,"EncoderSin":48404,"GapTicks":49340,"Mech_RPM":-469.671936,"cg_du":51.0829163,"cg_dv":44.8552399,"cg_dw":55.1447601,"cg_id_a":1.2441957,"cg_id_raw_a":-3.03646541,"cg_iq_a":-196.551468,"cg_iq_raw_a":-195.78508,"cg_iu_a":112.575882,"cg_iv_a":-197.169769,"cg_iw_a":84.593895,"cg_sample_age_us":23.5945454,"cg_sample_seq":11980068,"cg_sample_valid":1,"cg_theta_rad":0.836972475,"cg_vd_req_v":-1.98835671,"cg_vd_v":-1.98835671,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45656204,"cg_vq_v":-8.45656204,"cg_vu_v":107.333786,"cg_vv_v":99.4157181,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2460.46509,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2123.011411,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2123.011416,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2123.01142,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2123.147705,"values":{"Elec_RPM":-2346.68091,"EncoderCos":46442,"EncoderSin":49108,"GapTicks":49629,"Mech_RPM":-469.336182,"cg_du":53.0214005,"cg_dv":45.1180916,"cg_dw":54.8819084,"cg_id_a":16.6397572,"cg_id_raw_a":13.1618443,"cg_iq_a":-200.748703,"cg_iq_raw_a":-199.872894,"cg_iu_a":152.516571,"cg_iv_a":-192.168121,"cg_iw_a":39.6515579,"cg_sample_age_us":23.550909,"cg_sample_seq":11981817,"cg_sample_valid":1,"cg_theta_rad":0.879674792,"cg_vd_req_v":-2.27586651,"cg_vd_v":-2.27586651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35924339,"cg_vq_v":-8.35924339,"cg_vu_v":16.7159176,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2455.89404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2123.479736,"values":{"Elec_RPM":-2349.03247,"EncoderCos":35119,"EncoderSin":53916,"GapTicks":49421,"Mech_RPM":-469.806488,"cg_du":48.5826912,"cg_dv":55.0712433,"cg_dw":44.9287567,"cg_id_a":-1.13026977,"cg_id_raw_a":-5.66000319,"cg_iq_a":-200.520477,"cg_iq_raw_a":-200.169952,"cg_iu_a":-93.2528534,"cg_iv_a":200.352585,"cg_iw_a":-107.099731,"cg_sample_age_us":23.8090916,"cg_sample_seq":11983516,"cg_sample_valid":1,"cg_theta_rad":1.45185316,"cg_vd_req_v":-1.89491475,"cg_vd_v":-1.89491475,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34584713,"cg_vq_v":-8.34584713,"cg_vu_v":13.1967773,"cg_vv_v":19.795166,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2465.16333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2123.811768,"values":{"Elec_RPM":-2351.05029,"EncoderCos":14831,"EncoderSin":44484,"GapTicks":49776,"Mech_RPM":-470.210052,"cg_du":54.7487183,"cg_dv":53.5195885,"cg_dw":45.2512817,"cg_id_a":16.9160461,"cg_id_raw_a":17.3280582,"cg_iq_a":-202.920685,"cg_iq_raw_a":-202.769058,"cg_iu_a":27.9465294,"cg_iv_a":159.759491,"cg_iw_a":-192.707672,"cg_sample_age_us":23.8818188,"cg_sample_seq":11985167,"cg_sample_valid":1,"cg_theta_rad":2.56565905,"cg_vd_req_v":-2.23451066,"cg_vd_v":-2.23451066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33754826,"cg_vq_v":-8.33754826,"cg_vu_v":105.134323,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6613503,"dclink_p_w":-2418.63745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2124.003171,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2124.003176,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2124.003181,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2124.167236,"values":{"Elec_RPM":-2346.49365,"EncoderCos":14309,"EncoderSin":43651,"GapTicks":49729,"Mech_RPM":-469.298737,"cg_du":53.2202301,"cg_dv":54.7911568,"cg_dw":45.2088432,"cg_id_a":0.569423079,"cg_id_raw_a":6.34084845,"cg_iq_a":-199.03653,"cg_iq_raw_a":-201.022308,"cg_iu_a":4.64174414,"cg_iv_a":167.551926,"cg_iw_a":-172.193665,"cg_sample_age_us":23.8709087,"cg_sample_seq":11986917,"cg_sample_valid":1,"cg_theta_rad":2.61194563,"cg_vd_req_v":-1.87426162,"cg_vd_v":-1.87426162,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40811348,"cg_vq_v":-8.40811348,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2459.14966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2124.495361,"values":{"Elec_RPM":-2345.34644,"EncoderCos":14764,"EncoderSin":20950,"GapTicks":49367,"Mech_RPM":-469.069275,"cg_du":55.1205368,"cg_dv":50.0357361,"cg_dw":44.8794632,"cg_id_a":-8.88286209,"cg_id_raw_a":-11.9409885,"cg_iq_a":-198.783188,"cg_iq_raw_a":-199.196579,"cg_iu_a":132.365021,"cg_iv_a":66.902771,"cg_iw_a":-199.267792,"cg_sample_age_us":24.0272732,"cg_sample_seq":11988566,"cg_sample_valid":1,"cg_theta_rad":3.72852111,"cg_vd_req_v":-1.7357769,"cg_vd_v":-1.7357769,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37928772,"cg_vq_v":-8.37928772,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-17.4587154,"dclink_p_w":-2526.70654,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2124.85083,"values":{"Elec_RPM":-2346.05005,"EncoderCos":15211,"EncoderSin":20293,"GapTicks":49442,"Mech_RPM":-469.210022,"cg_du":55.052597,"cg_dv":51.3994026,"cg_dw":44.947403,"cg_id_a":3.14074779,"cg_id_raw_a":0.430298388,"cg_iq_a":-203.932388,"cg_iq_raw_a":-204.138931,"cg_iu_a":91.8444061,"cg_iv_a":114.056,"cg_iw_a":-205.900406,"cg_sample_age_us":23.9690914,"cg_sample_seq":11990316,"cg_sample_valid":1,"cg_theta_rad":3.76888371,"cg_vd_req_v":-1.99017823,"cg_vd_v":-1.99017823,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2892971,"cg_vq_v":-8.2892971,"cg_vu_v":22.8744144,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2125.026831,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2125.026835,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2125.02684,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2125.182861,"values":{"Elec_RPM":-2348.03931,"EncoderCos":35952,"EncoderSin":11626,"GapTicks":49943,"Mech_RPM":-469.607849,"cg_du":54.5965958,"cg_dv":45.4034042,"cg_dw":46.0658684,"cg_id_a":13.2637281,"cg_id_raw_a":12.2556734,"cg_iq_a":-202.918091,"cg_iq_raw_a":-200.683151,"cg_iu_a":187.528137,"cg_iv_a":-27.5124207,"cg_iw_a":-158.819687,"cg_sample_age_us":23.9690914,"cg_sample_seq":11991967,"cg_sample_valid":1,"cg_theta_rad":4.87520599,"cg_vd_req_v":-2.18726134,"cg_vd_v":-2.18726134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28430939,"cg_vq_v":-8.28430939,"cg_vu_v":123.169922,"cg_vv_v":118.3311,"cg_vw_v":129.328415,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2452.48462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2125.514893,"values":{"Elec_RPM":-2348.96924,"EncoderCos":25752,"EncoderSin":12546,"GapTicks":49394,"Mech_RPM":-469.793854,"cg_du":44.9037094,"cg_dv":48.6098289,"cg_dw":55.0962906,"cg_id_a":-3.55833936,"cg_id_raw_a":-9.64357376,"cg_iq_a":-196.038071,"cg_iq_raw_a":-197.144409,"cg_iu_a":-96.8409882,"cg_iv_a":-100.579971,"cg_iw_a":197.420959,"cg_sample_age_us":23.9581814,"cg_sample_seq":11993766,"cg_sample_valid":1,"cg_theta_rad":4.38944578,"cg_vd_req_v":-1.87799466,"cg_vd_v":-1.87799466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44139099,"cg_vq_v":-8.44139099,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2462.9751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2125.870361,"values":{"Elec_RPM":-2349.79956,"EncoderCos":53220,"EncoderSin":27415,"GapTicks":49312,"Mech_RPM":-469.95993,"cg_du":55.1701508,"cg_dv":44.8298492,"cg_dw":49.5919037,"cg_id_a":-11.3400173,"cg_id_raw_a":-12.1632833,"cg_iq_a":-197.500717,"cg_iq_raw_a":-197.106766,"cg_iu_a":195.538025,"cg_iv_a":-125.334518,"cg_iw_a":-70.2035065,"cg_sample_age_us":24.1581821,"cg_sample_seq":11995366,"cg_sample_valid":1,"cg_theta_rad":6.04223824,"cg_vd_req_v":-1.76679063,"cg_vd_v":-1.76679063,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43975449,"cg_vq_v":-8.43975449,"cg_vu_v":7.03828096,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.1267548,"dclink_p_w":-2333.93896,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2612,"hz_tim_isr":4999,"hz_vsense":2612,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2126.018955,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2126.018959,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2126.018963,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2126.198486,"values":{"Elec_RPM":-2353.39038,"EncoderCos":48185,"EncoderSin":18157,"GapTicks":49789,"Mech_RPM":-470.67807,"cg_du":45.2631302,"cg_dv":53.3923111,"cg_dw":54.7368698,"cg_id_a":1.68586183,"cg_id_raw_a":8.64534473,"cg_iq_a":-203.01889,"cg_iq_raw_a":-202.810959,"cg_iu_a":-176.106262,"cg_iv_a":-0.184539795,"cg_iw_a":176.290802,"cg_sample_age_us":23.9181824,"cg_sample_seq":11997166,"cg_sample_valid":1,"cg_theta_rad":5.54327822,"cg_vd_req_v":-2.03935647,"cg_vd_v":-2.03935647,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3196106,"cg_vq_v":-8.3196106,"cg_vu_v":19.795166,"cg_vv_v":23.3143044,"cg_vw_v":16.7159176,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2423.85083,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2126.534424,"values":{"Elec_RPM":-2349.80493,"EncoderCos":45744,"EncoderSin":49644,"GapTicks":50021,"Mech_RPM":-469.960999,"cg_du":54.5262566,"cg_dv":45.4737434,"cg_dw":54.1920319,"cg_id_a":13.8208876,"cg_id_raw_a":16.7816162,"cg_iq_a":-203.38179,"cg_iq_raw_a":-203.58847,"cg_iu_a":172.92186,"cg_iv_a":-180.026459,"cg_iw_a":7.10459137,"cg_sample_age_us":23.9872723,"cg_sample_seq":11998766,"cg_sample_valid":1,"cg_theta_rad":0.917429447,"cg_vd_req_v":-2.18819237,"cg_vd_v":-2.18819237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29364586,"cg_vq_v":-8.29364586,"cg_vu_v":21.5547352,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.4297199,"dclink_p_w":-2514.84302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2126.885986,"values":{"Elec_RPM":-2348.2937,"EncoderCos":52208,"EncoderSin":41110,"GapTicks":49383,"Mech_RPM":-469.658752,"cg_du":44.893692,"cg_dv":55.106308,"cg_dw":51.3716202,"cg_id_a":-2.48536491,"cg_id_raw_a":-6.55907536,"cg_iq_a":-197.148895,"cg_iq_raw_a":-196.461807,"cg_iu_a":-196.982697,"cg_iv_a":96.8401794,"cg_iw_a":100.142517,"cg_sample_age_us":23.5290909,"cg_sample_seq":12000567,"cg_sample_valid":1,"cg_theta_rad":0.410883576,"cg_vd_req_v":-1.95396245,"cg_vd_v":-1.95396245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41137123,"cg_vq_v":-8.41137123,"cg_vu_v":102.055069,"cg_vv_v":104.694435,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2427.04443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2127.011006,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2127.011012,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2127.011016,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2127.218018,"values":{"Elec_RPM":-2350.92163,"EncoderCos":22585,"EncoderSin":51673,"GapTicks":49326,"Mech_RPM":-470.184326,"cg_du":50.5593987,"cg_dv":44.8420601,"cg_dw":55.1579399,"cg_id_a":-9.14414978,"cg_id_raw_a":-12.8190336,"cg_iq_a":-196.813553,"cg_iq_raw_a":-197.150436,"cg_iu_a":77.3106308,"cg_iv_a":-195.9375,"cg_iw_a":118.626862,"cg_sample_age_us":23.7218189,"cg_sample_seq":12002166,"cg_sample_valid":1,"cg_theta_rad":2.06900287,"cg_vd_req_v":-1.73595154,"cg_vd_v":-1.73595154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46023655,"cg_vq_v":-8.46023655,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-15.9835911,"dclink_p_w":-2313.21973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2127.550049,"values":{"Elec_RPM":-2344.95654,"EncoderCos":13862,"EncoderSin":42915,"GapTicks":49371,"Mech_RPM":-468.991302,"cg_du":51.2999077,"cg_dv":55.1169167,"cg_dw":44.8830833,"cg_id_a":-9.12460136,"cg_id_raw_a":-7.5318079,"cg_iq_a":-194.264084,"cg_iq_raw_a":-195.630966,"cg_iu_a":-29.6086788,"cg_iv_a":181.360809,"cg_iw_a":-156.210144,"cg_sample_age_us":23.8854542,"cg_sample_seq":12003866,"cg_sample_valid":1,"cg_theta_rad":2.65068746,"cg_vd_req_v":-1.68515432,"cg_vd_v":-1.68515432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47666931,"cg_vq_v":-8.47666931,"cg_vu_v":18.4754887,"cg_vv_v":17.1558094,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2127.901611,"values":{"Elec_RPM":-2347.78906,"EncoderCos":11326,"EncoderSin":31212,"GapTicks":50081,"Mech_RPM":-469.5578,"cg_du":45.747612,"cg_dv":45.5287704,"cg_dw":54.4712296,"cg_id_a":9.779006,"cg_id_raw_a":11.3347378,"cg_iq_a":-206.652573,"cg_iq_raw_a":-207.376999,"cg_iu_a":-14.3137808,"cg_iv_a":-171.835342,"cg_iw_a":186.149124,"cg_sample_age_us":23.9654541,"cg_sample_seq":12005566,"cg_sample_valid":1,"cg_theta_rad":3.2178793,"cg_vd_req_v":-2.07574177,"cg_vd_v":-2.07574177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24104214,"cg_vq_v":-8.24104214,"cg_vu_v":38.7105446,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2386.19897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2128.034642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2128.034647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2128.034652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2128.331299,"values":{"Elec_RPM":-2344.33911,"EncoderCos":51198,"EncoderSin":22227,"GapTicks":49508,"Mech_RPM":-468.867828,"cg_du":48.1149063,"cg_dv":45.0072861,"cg_dw":54.9927139,"cg_id_a":-12.1219816,"cg_id_raw_a":-7.64958668,"cg_iq_a":-202.17038,"cg_iq_raw_a":-203.211365,"cg_iu_a":17.3995743,"cg_iv_a":-181.983612,"cg_iw_a":164.584045,"cg_sample_age_us":23.9072723,"cg_sample_seq":12007667,"cg_sample_valid":1,"cg_theta_rad":5.78215742,"cg_vd_req_v":-1.74044466,"cg_vd_v":-1.74044466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33368587,"cg_vq_v":-8.33368587,"cg_vu_v":136.806595,"cg_vv_v":109.093361,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-18.3648109,"dclink_p_w":-2657.84082,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2128.85083,"values":{"Elec_RPM":-2340.79053,"EncoderCos":11653,"EncoderSin":36737,"GapTicks":49549,"Mech_RPM":-468.158081,"cg_du":45.0447006,"cg_dv":54.9552994,"cg_dw":52.6996956,"cg_id_a":7.43725204,"cg_id_raw_a":5.67128086,"cg_iq_a":-199.802597,"cg_iq_raw_a":-197.952698,"cg_iu_a":-194.554367,"cg_iv_a":59.5090485,"cg_iw_a":135.045319,"cg_sample_age_us":23.9363632,"cg_sample_seq":12010267,"cg_sample_valid":1,"cg_theta_rad":2.96160984,"cg_vd_req_v":-2.03754425,"cg_vd_v":-2.03754425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41132164,"cg_vq_v":-8.41132164,"cg_vu_v":131.087982,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2448.62695,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2128.898685,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2128.898694,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2128.898696,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2128.995135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2128.99514,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2128.995144,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2129.229736,"values":{"Elec_RPM":-2342.65283,"EncoderCos":52781,"EncoderSin":39462,"GapTicks":49511,"Mech_RPM":-468.530548,"cg_du":45.010498,"cg_dv":54.989502,"cg_dw":47.8880501,"cg_id_a":-7.37541437,"cg_id_raw_a":-4.0286665,"cg_iq_a":-198.347931,"cg_iq_raw_a":-200.400406,"cg_iu_a":-179.513184,"cg_iv_a":161.752899,"cg_iw_a":17.7602768,"cg_sample_age_us":23.5327282,"cg_sample_seq":12012266,"cg_sample_valid":1,"cg_theta_rad":0.332840025,"cg_vd_req_v":-1.82520008,"cg_vd_v":-1.82520008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41390705,"cg_vq_v":-8.41390705,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2445.7334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2129.561768,"values":{"Elec_RPM":-2350.84521,"EncoderCos":46111,"EncoderSin":49368,"GapTicks":49836,"Mech_RPM":-470.169037,"cg_du":53.7742462,"cg_dv":45.3061943,"cg_dw":54.6938057,"cg_id_a":19.2676945,"cg_id_raw_a":19.9429188,"cg_iq_a":-203.08017,"cg_iq_raw_a":-202.854218,"cg_iu_a":165.673096,"cg_iv_a":-185.752975,"cg_iw_a":20.0798798,"cg_sample_age_us":23.8563633,"cg_sample_seq":12013967,"cg_sample_valid":1,"cg_theta_rad":0.899523258,"cg_vd_req_v":-2.32012844,"cg_vd_v":-2.32012844,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30372143,"cg_vq_v":-8.30372143,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-16.108633,"dclink_p_w":-2324.23022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2129.91333,"values":{"Elec_RPM":-2347.62964,"EncoderCos":34849,"EncoderSin":53926,"GapTicks":49447,"Mech_RPM":-469.525909,"cg_du":48.1578369,"cg_dv":55.048027,"cg_dw":44.951973,"cg_id_a":5.47867966,"cg_id_raw_a":-0.157259256,"cg_iq_a":-200.440842,"cg_iq_raw_a":-199.581436,"cg_iu_a":-134.244629,"cg_iv_a":199.518982,"cg_iw_a":-65.2743454,"cg_sample_age_us":23.8927269,"cg_sample_seq":12015667,"cg_sample_valid":1,"cg_theta_rad":1.4845798,"cg_vd_req_v":-2.03941083,"cg_vd_v":-2.03941083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37645435,"cg_vq_v":-8.37645435,"cg_vu_v":37.830761,"cg_vv_v":47.0685043,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2129.98775,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2129.987757,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2129.987762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2130.245361,"values":{"Elec_RPM":-2351.61499,"EncoderCos":22721,"EncoderSin":51766,"GapTicks":49349,"Mech_RPM":-470.322998,"cg_du":50.305378,"cg_dv":44.8627396,"cg_dw":55.1372604,"cg_id_a":-13.6078777,"cg_id_raw_a":-18.6072712,"cg_iq_a":-196.643951,"cg_iq_raw_a":-196.894623,"cg_iu_a":50.4177055,"cg_iv_a":-189.776047,"cg_iw_a":139.358337,"cg_sample_age_us":23.6090908,"cg_sample_seq":12017366,"cg_sample_valid":1,"cg_theta_rad":2.04891849,"cg_vd_req_v":-1.648247,"cg_vd_v":-1.648247,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45710373,"cg_vq_v":-8.45710373,"cg_vu_v":106.893898,"cg_vv_v":99.4157181,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2130.60083,"values":{"Elec_RPM":-2352.54028,"EncoderCos":14547,"EncoderSin":44052,"GapTicks":50088,"Mech_RPM":-470.508057,"cg_du":54.33284,"cg_dv":54.4645805,"cg_dw":45.5354195,"cg_id_a":12.7803593,"cg_id_raw_a":16.5710068,"cg_iq_a":-203.604767,"cg_iq_raw_a":-202.44989,"cg_iu_a":-13.8788548,"cg_iv_a":174.873184,"cg_iw_a":-160.994324,"cg_sample_age_us":23.9218178,"cg_sample_seq":12019071,"cg_sample_valid":1,"cg_theta_rad":2.63236499,"cg_vd_req_v":-2.12103367,"cg_vd_v":-2.12103367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28509712,"cg_vq_v":-8.28509712,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2130.932861,"values":{"Elec_RPM":-2349.90674,"EncoderCos":14897,"EncoderSin":20757,"GapTicks":49354,"Mech_RPM":-469.981323,"cg_du":55.1319237,"cg_dv":50.479393,"cg_dw":44.8680763,"cg_id_a":-6.79760075,"cg_id_raw_a":-10.9252424,"cg_iq_a":-199.122772,"cg_iq_raw_a":-196.953552,"cg_iu_a":120.114594,"cg_iv_a":77.5584717,"cg_iw_a":-197.673065,"cg_sample_age_us":23.9981823,"cg_sample_seq":12020717,"cg_sample_valid":1,"cg_theta_rad":3.74051857,"cg_vd_req_v":-1.78286862,"cg_vd_v":-1.78286862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40152359,"cg_vq_v":-8.40152359,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2131.011168,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2131.011174,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2131.011179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2131.264893,"values":{"Elec_RPM":-2352.28174,"EncoderCos":24363,"EncoderSin":13039,"GapTicks":49472,"Mech_RPM":-470.456329,"cg_du":44.9749832,"cg_dv":51.4668579,"cg_dw":55.0250168,"cg_id_a":-12.4744997,"cg_id_raw_a":-10.2298622,"cg_iq_a":-199.34613,"cg_iq_raw_a":-198.705063,"cg_iu_a":-160.521408,"cg_iv_a":-21.0972443,"cg_iw_a":181.618652,"cg_sample_age_us":23.9618187,"cg_sample_seq":12022417,"cg_sample_valid":1,"cg_theta_rad":4.32335186,"cg_vd_req_v":-1.65373003,"cg_vd_v":-1.65373003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38018417,"cg_vq_v":-8.38018417,"cg_vu_v":97.6561432,"cg_vv_v":95.8965836,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-16.4167042,"dclink_p_w":-2375.90186,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2131.616455,"values":{"Elec_RPM":-2354.06958,"EncoderCos":35512,"EncoderSin":11567,"GapTicks":49725,"Mech_RPM":-470.813934,"cg_du":54.7951889,"cg_dv":45.2048111,"cg_dw":46.9445381,"cg_id_a":12.6417351,"cg_id_raw_a":9.54988956,"cg_iq_a":-203.98172,"cg_iq_raw_a":-201.897888,"cg_iu_a":178.720871,"cg_iv_a":-10.5140533,"cg_iw_a":-168.206818,"cg_sample_age_us":23.9872723,"cg_sample_seq":12024121,"cg_sample_valid":1,"cg_theta_rad":4.89804363,"cg_vd_req_v":-2.19358706,"cg_vd_v":-2.19358706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25189114,"cg_vq_v":-8.25189114,"cg_vu_v":128.888519,"cg_vv_v":122.730026,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.0850735,"dclink_p_w":-2327.90674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2131.948486,"values":{"Elec_RPM":-2352.99194,"EncoderCos":47287,"EncoderSin":17282,"GapTicks":49621,"Mech_RPM":-470.598389,"cg_du":45.1102791,"cg_dv":54.8897209,"cg_dw":53.06427,"cg_id_a":7.19164848,"cg_id_raw_a":7.48365164,"cg_iq_a":-199.828079,"cg_iq_raw_a":-200.349396,"cg_iu_a":-193.720764,"cg_iv_a":48.4184418,"cg_iw_a":145.302322,"cg_sample_age_us":23.9145451,"cg_sample_seq":12025816,"cg_sample_valid":1,"cg_theta_rad":5.48287678,"cg_vd_req_v":-2.17511201,"cg_vd_v":-2.17511201,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38588524,"cg_vq_v":-8.38588524,"cg_vu_v":1.31967759,"cg_vv_v":18.0355949,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2449.21338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2132.003116,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2132.003119,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2132.003121,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2132.280518,"values":{"Elec_RPM":-2359.37817,"EncoderCos":53311,"EncoderSin":27712,"GapTicks":49360,"Mech_RPM":-471.875641,"cg_du":55.1270981,"cg_dv":44.8729019,"cg_dw":49.0431252,"cg_id_a":-6.47022533,"cg_id_raw_a":-10.0435581,"cg_iq_a":-196.512817,"cg_iq_raw_a":-195.568237,"cg_iu_a":196.987762,"cg_iv_a":-104.421814,"cg_iw_a":-76.7636414,"cg_sample_age_us":24.1436367,"cg_sample_seq":12027517,"cg_sample_valid":1,"cg_theta_rad":6.05817699,"cg_vd_req_v":-1.86085761,"cg_vd_v":-1.86085761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44119263,"cg_vq_v":-8.44119263,"cg_vu_v":106.014107,"cg_vv_v":76.9812012,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2132.63208,"values":{"Elec_RPM":-2359.38013,"EncoderCos":52614,"EncoderSin":39943,"GapTicks":49403,"Mech_RPM":-471.876007,"cg_du":44.911911,"cg_dv":55.088089,"cg_dw":49.0089798,"cg_id_a":-11.5964031,"cg_id_raw_a":-12.7200069,"cg_iq_a":-197.716568,"cg_iq_raw_a":-198.379852,"cg_iu_a":-185.27594,"cg_iv_a":151.532135,"cg_iw_a":33.7438049,"cg_sample_age_us":23.5072727,"cg_sample_seq":12029217,"cg_sample_valid":1,"cg_theta_rad":0.35404247,"cg_vd_req_v":-1.74468017,"cg_vd_v":-1.74468017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40328503,"cg_vq_v":-8.40328503,"cg_vu_v":96.3364716,"cg_vv_v":102.055069,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.4605274,"dclink_p_w":-2534.64966,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2132.964111,"values":{"Elec_RPM":-2362.70654,"EncoderCos":45428,"EncoderSin":49909,"GapTicks":49713,"Mech_RPM":-472.54129,"cg_du":54.8062782,"cg_dv":45.1937218,"cg_dw":53.2316437,"cg_id_a":3.54934311,"cg_id_raw_a":8.72249508,"cg_iq_a":-201.795197,"cg_iq_raw_a":-203.48494,"cg_iu_a":173.248047,"cg_iv_a":-172.596466,"cg_iw_a":-0.65158844,"cg_sample_age_us":23.9581814,"cg_sample_seq":12030916,"cg_sample_valid":1,"cg_theta_rad":0.935614944,"cg_vd_req_v":-1.98329842,"cg_vd_v":-1.98329842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35762978,"cg_vq_v":-8.35762978,"cg_vu_v":18.0355949,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.0452061,"dclink_p_w":-2315.07861,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2133.026942,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2133.026947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2133.026952,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2133.31958,"values":{"Elec_RPM":-2355.5105,"EncoderCos":45743,"EncoderSin":49750,"GapTicks":49939,"Mech_RPM":-471.102081,"cg_du":54.6003151,"cg_dv":45.3996849,"cg_dw":54.0242958,"cg_id_a":10.5808067,"cg_id_raw_a":17.0075092,"cg_iq_a":-203.407928,"cg_iq_raw_a":-203.415619,"cg_iu_a":176.292542,"cg_iv_a":-162.158234,"cg_iw_a":-14.1343002,"cg_sample_age_us":23.8999996,"cg_sample_seq":12032671,"cg_sample_valid":1,"cg_theta_rad":0.964995205,"cg_vd_req_v":-2.12790489,"cg_vd_v":-2.12790489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34562588,"cg_vq_v":-8.34562588,"cg_vu_v":106.014107,"cg_vv_v":75.6615219,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2133.651611,"values":{"Elec_RPM":-2359.47534,"EncoderCos":22144,"EncoderSin":51440,"GapTicks":49413,"Mech_RPM":-471.89505,"cg_du":51.4319725,"cg_dv":44.9216576,"cg_dw":55.0783424,"cg_id_a":-2.12256145,"cg_id_raw_a":-4.42658424,"cg_iq_a":-198.534332,"cg_iq_raw_a":-197.888901,"cg_iu_a":104.964676,"cg_iv_a":-198.402069,"cg_iw_a":93.4373932,"cg_sample_age_us":23.7000008,"cg_sample_seq":12034316,"cg_sample_valid":1,"cg_theta_rad":2.09033346,"cg_vd_req_v":-1.87257361,"cg_vd_v":-1.87257361,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39194584,"cg_vq_v":-8.39194584,"cg_vu_v":41.3499031,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.6653042,"dclink_p_w":-2556.60498,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2133.983643,"values":{"Elec_RPM":-2361.71191,"EncoderCos":21546,"EncoderSin":51070,"GapTicks":49600,"Mech_RPM":-472.342377,"cg_du":52.6493988,"cg_dv":45.0914917,"cg_dw":54.9085083,"cg_id_a":7.37145615,"cg_id_raw_a":3.32245612,"cg_iq_a":-200.540894,"cg_iq_raw_a":-199.5578,"cg_iu_a":146.826294,"cg_iv_a":-196.698624,"cg_iw_a":60.2380524,"cg_sample_age_us":23.6127281,"cg_sample_seq":12036067,"cg_sample_valid":1,"cg_theta_rad":2.12953472,"cg_vd_req_v":-2.06440854,"cg_vd_v":-2.06440854,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34015656,"cg_vq_v":-8.34015656,"cg_vu_v":47.5083961,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2425.99512,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2134.019083,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2134.019088,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2134.019092,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2134.335205,"values":{"Elec_RPM":-2358.85791,"EncoderCos":13379,"EncoderSin":41976,"GapTicks":49365,"Mech_RPM":-471.771606,"cg_du":49.2157173,"cg_dv":55.1221771,"cg_dw":44.8778229,"cg_id_a":-6.11727285,"cg_id_raw_a":-9.33416557,"cg_iq_a":-200.239868,"cg_iq_raw_a":-200.146027,"cg_iu_a":-84.7355499,"cg_iv_a":199.953903,"cg_iw_a":-115.218353,"cg_sample_age_us":23.9654541,"cg_sample_seq":12037767,"cg_sample_valid":1,"cg_theta_rad":2.70066595,"cg_vd_req_v":-1.77565908,"cg_vd_v":-1.77565908,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38108063,"cg_vq_v":-8.38108063,"cg_vu_v":114.37207,"cg_vv_v":142.525192,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2134.667236,"values":{"Elec_RPM":-2359.45215,"EncoderCos":24995,"EncoderSin":12808,"GapTicks":49379,"Mech_RPM":-471.890411,"cg_du":44.8902245,"cg_dv":49.9726868,"cg_dw":55.1097755,"cg_id_a":-18.3773174,"cg_id_raw_a":-17.3961411,"cg_iq_a":-197.258484,"cg_iq_raw_a":-198.195755,"cg_iu_a":-139.137543,"cg_iv_a":-49.7661133,"cg_iw_a":188.903656,"cg_sample_age_us":23.9581814,"cg_sample_seq":12039367,"cg_sample_valid":1,"cg_theta_rad":4.35512924,"cg_vd_req_v":-1.5534718,"cg_vd_v":-1.5534718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39667511,"cg_vq_v":-8.39667511,"cg_vu_v":113.052383,"cg_vv_v":132.407669,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5891933,"dclink_p_w":-2537.85254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2135.003174,"values":{"Elec_RPM":-2360.85913,"EncoderCos":25712,"EncoderSin":12519,"GapTicks":49396,"Mech_RPM":-472.171844,"cg_du":44.9062042,"cg_dv":48.6584549,"cg_dw":55.0937958,"cg_id_a":-5.04892349,"cg_id_raw_a":-8.4227314,"cg_iq_a":-198.150101,"cg_iq_raw_a":-196.749939,"cg_iu_a":-97.3484039,"cg_iv_a":-98.2603607,"cg_iw_a":195.608765,"cg_sample_age_us":23.9327278,"cg_sample_seq":12041117,"cg_sample_valid":1,"cg_theta_rad":4.38963413,"cg_vd_req_v":-1.84819341,"cg_vd_v":-1.84819341,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38277721,"cg_vq_v":-8.38277721,"cg_vu_v":115.69175,"cg_vv_v":139.885834,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8914986,"dclink_p_w":-2437.18579,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2135.011444,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2135.011449,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2135.011454,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2135.354736,"values":{"Elec_RPM":-2362.71191,"EncoderCos":47172,"EncoderSin":17104,"GapTicks":49475,"Mech_RPM":-472.542389,"cg_du":44.9780807,"cg_dv":55.0219193,"cg_dw":52.6392899,"cg_id_a":7.97934055,"cg_id_raw_a":6.6739316,"cg_iq_a":-196.536713,"cg_iq_raw_a":-196.457764,"cg_iu_a":-183.246292,"cg_iv_a":21.199295,"cg_iw_a":162.046997,"cg_sample_age_us":26.7836361,"cg_sample_seq":12042770,"cg_sample_valid":1,"cg_theta_rad":5.50969028,"cg_vd_req_v":-2.19335222,"cg_vd_v":-2.19335222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46390533,"cg_vq_v":-8.46390533,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2485.79272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2135.686768,"values":{"Elec_RPM":-2359.01099,"EncoderCos":38651,"EncoderSin":12171,"GapTicks":49392,"Mech_RPM":-471.802216,"cg_du":55.0976677,"cg_dv":50.9199791,"cg_dw":44.9023323,"cg_id_a":-7.61064768,"cg_id_raw_a":-10.6846466,"cg_iq_a":-200.454681,"cg_iq_raw_a":-196.871017,"cg_iu_a":114.098122,"cg_iv_a":86.9093704,"cg_iw_a":-201.007492,"cg_sample_age_us":23.9872723,"cg_sample_seq":12044567,"cg_sample_valid":1,"cg_theta_rad":5.00791311,"cg_vd_req_v":-1.80772245,"cg_vd_v":-1.80772245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37207508,"cg_vq_v":-8.37207508,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2136.003428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2136.003435,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2136.00344,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2136.018799,"values":{"Elec_RPM":-2358.13916,"EncoderCos":53603,"EncoderSin":29235,"GapTicks":49856,"Mech_RPM":-471.627808,"cg_du":54.6759567,"cg_dv":45.3240433,"cg_dw":46.4041405,"cg_id_a":15.5206919,"cg_id_raw_a":14.0449381,"cg_iq_a":-205.504333,"cg_iq_raw_a":-203.004501,"cg_iu_a":190.536377,"cg_iv_a":-30.774353,"cg_iw_a":-159.762024,"cg_sample_age_us":24.1399994,"cg_sample_seq":12046217,"cg_sample_valid":1,"cg_theta_rad":6.12863064,"cg_vd_req_v":-2.27933478,"cg_vd_v":-2.27933478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2402935,"cg_vq_v":-8.2402935,"cg_vu_v":106.893898,"cg_vv_v":102.055069,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-16.3695889,"dclink_p_w":-2369.08301,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2136.370361,"values":{"Elec_RPM":-2354.16528,"EncoderCos":52080,"EncoderSin":41461,"GapTicks":49402,"Mech_RPM":-470.833069,"cg_du":44.9111786,"cg_dv":55.0888214,"cg_dw":51.9741211,"cg_id_a":6.60308743,"cg_id_raw_a":4.24107838,"cg_iq_a":-197.755188,"cg_iq_raw_a":-197.716507,"cg_iu_a":-197.055191,"cg_iv_a":70.4546814,"cg_iw_a":126.60051,"cg_sample_age_us":23.4381809,"cg_sample_seq":12047916,"cg_sample_valid":1,"cg_theta_rad":0.432125866,"cg_vd_req_v":-2.13939762,"cg_vd_v":-2.13939762,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42079926,"cg_vq_v":-8.42079926,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-16.7628326,"dclink_p_w":-2418.62134,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2136.706299,"values":{"Elec_RPM":-2358.56616,"EncoderCos":44088,"EncoderSin":50774,"GapTicks":49306,"Mech_RPM":-471.713226,"cg_du":55.1762924,"cg_dv":44.8237076,"cg_dw":49.654705,"cg_id_a":-12.6196051,"cg_id_raw_a":-15.3072042,"cg_iq_a":-195.171982,"cg_iq_raw_a":-194.159027,"cg_iu_a":188.905396,"cg_iv_a":-138.20108,"cg_iw_a":-50.7043228,"cg_sample_age_us":23.8309097,"cg_sample_seq":12049616,"cg_sample_valid":1,"cg_theta_rad":1.00367129,"cg_vd_req_v":-1.68640363,"cg_vd_v":-1.68640363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49085236,"cg_vq_v":-8.49085236,"cg_vu_v":107.333786,"cg_vv_v":103.814644,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2137.027269,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2137.027275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2137.027281,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2137.034424,"values":{"Elec_RPM":-2355.86816,"EncoderCos":32366,"EncoderSin":54077,"GapTicks":49478,"Mech_RPM":-471.173645,"cg_du":44.9808502,"cg_dv":55.0191498,"cg_dw":48.0812874,"cg_id_a":-7.82403517,"cg_id_raw_a":-2.8883605,"cg_iq_a":-197.089142,"cg_iq_raw_a":-198.453156,"cg_iu_a":-178.607086,"cg_iv_a":166.283386,"cg_iw_a":8.5905838,"cg_sample_age_us":23.8563633,"cg_sample_seq":12051316,"cg_sample_valid":1,"cg_theta_rad":1.58941174,"cg_vd_req_v":-1.70462799,"cg_vd_v":-1.70462799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41870022,"cg_vq_v":-8.41870022,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2938061,"dclink_p_w":-2502.84009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2137.389893,"values":{"Elec_RPM":-2359.41846,"EncoderCos":21089,"EncoderSin":50769,"GapTicks":49796,"Mech_RPM":-471.883667,"cg_du":53.6551552,"cg_dv":45.2698021,"cg_dw":54.7301979,"cg_id_a":11.9428072,"cg_id_raw_a":12.075182,"cg_iq_a":-201.686752,"cg_iq_raw_a":-201.105072,"cg_iu_a":157.300766,"cg_iv_a":-188.543762,"cg_iw_a":31.2429886,"cg_sample_age_us":23.641819,"cg_sample_seq":12053017,"cg_sample_valid":1,"cg_theta_rad":2.14733696,"cg_vd_req_v":-2.15917611,"cg_vd_v":-2.15917611,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35500336,"cg_vq_v":-8.35500336,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2137.721924,"values":{"Elec_RPM":-2358.13525,"EncoderCos":13107,"EncoderSin":41365,"GapTicks":49448,"Mech_RPM":-471.627075,"cg_du":48.1425247,"cg_dv":55.0472183,"cg_dw":44.9527817,"cg_id_a":8.60987568,"cg_id_raw_a":0.619071364,"cg_iq_a":-201.684357,"cg_iq_raw_a":-201.046738,"cg_iu_a":-136.310516,"cg_iv_a":199.591461,"cg_iw_a":-63.2809372,"cg_sample_age_us":23.9654541,"cg_sample_seq":12054717,"cg_sample_valid":1,"cg_theta_rad":2.7383287,"cg_vd_req_v":-2.08222008,"cg_vd_v":-2.08222008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36770058,"cg_vq_v":-8.36770058,"cg_vu_v":0.87978512,"cg_vv_v":12.3169918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2138.019271,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2138.019277,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2138.019282,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2138.077393,"values":{"Elec_RPM":-2354.73535,"EncoderCos":11431,"EncoderSin":30204,"GapTicks":49555,"Mech_RPM":-470.947052,"cg_du":48.1833344,"cg_dv":45.0504417,"cg_dw":54.9495583,"cg_id_a":-12.9157505,"cg_id_raw_a":-6.74713755,"cg_iq_a":-202.038986,"cg_iq_raw_a":-202.743744,"cg_iu_a":69.9893799,"cg_iv_a":-194.7052,"cg_iw_a":124.71582,"cg_sample_age_us":23.8745461,"cg_sample_seq":12056421,"cg_sample_valid":1,"cg_theta_rad":3.31770563,"cg_vd_req_v":-1.6029284,"cg_vd_v":-1.6029284,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32789993,"cg_vq_v":-8.32789993,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.8066559,"dclink_p_w":-2584.89526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2138.596924,"values":{"Elec_RPM":-2346.63477,"EncoderCos":33723,"EncoderSin":54058,"GapTicks":49923,"Mech_RPM":-469.326965,"cg_du":46.1133118,"cg_dv":54.615448,"cg_dw":45.384552,"cg_id_a":15.0377331,"cg_id_raw_a":15.7315369,"cg_iq_a":-206.949493,"cg_iq_raw_a":-206.385406,"cg_iu_a":-174.873962,"cg_iv_a":172.191132,"cg_iw_a":2.68283844,"cg_sample_age_us":23.8054543,"cg_sample_seq":12058921,"cg_sample_valid":1,"cg_theta_rad":1.5721252,"cg_vd_req_v":-2.1944778,"cg_vd_v":-2.1944778,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26385498,"cg_vq_v":-8.26385498,"cg_vu_v":0.87978512,"cg_vv_v":20.6749516,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.3967705,"dclink_p_w":-2380.22974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2138.88315,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2138.883161,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2138.883165,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2138.979657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2138.979663,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2138.979669,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2139.046143,"values":{"Elec_RPM":-2345.37305,"EncoderCos":53611,"EncoderSin":29221,"GapTicks":49843,"Mech_RPM":-469.074615,"cg_du":54.6879845,"cg_dv":45.3120155,"cg_dw":46.4563141,"cg_id_a":16.7133083,"cg_id_raw_a":19.0191345,"cg_iq_a":-205.81015,"cg_iq_raw_a":-206.19162,"cg_iu_a":192.457291,"cg_iv_a":-28.9259186,"cg_iw_a":-163.531372,"cg_sample_age_us":24.1727276,"cg_sample_seq":12061416,"cg_sample_valid":1,"cg_theta_rad":6.12945366,"cg_vd_req_v":-2.31012177,"cg_vd_v":-2.31012177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22975922,"cg_vq_v":-8.22975922,"cg_vu_v":40.0302238,"cg_vv_v":39.590332,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-16.5562439,"dclink_p_w":-2396.09668,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2139.397705,"values":{"Elec_RPM":-2347.30933,"EncoderCos":52188,"EncoderSin":41082,"GapTicks":49340,"Mech_RPM":-469.461853,"cg_du":44.8549538,"cg_dv":55.1450462,"cg_dw":51.2944336,"cg_id_a":-0.583844662,"cg_id_raw_a":-4.87038088,"cg_iq_a":-198.271088,"cg_iq_raw_a":-197.384598,"cg_iu_a":-198.39621,"cg_iv_a":95.8616028,"cg_iw_a":102.534607,"cg_sample_age_us":23.5581818,"cg_sample_seq":12063117,"cg_sample_valid":1,"cg_theta_rad":0.413056999,"cg_vd_req_v":-2.00594831,"cg_vd_v":-2.00594831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42642689,"cg_vq_v":-8.42642689,"cg_vu_v":124.489601,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.9984188,"dclink_p_w":-2460.09033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2139.733643,"values":{"Elec_RPM":-2351.30469,"EncoderCos":33605,"EncoderSin":54003,"GapTicks":50023,"Mech_RPM":-470.260925,"cg_du":45.8967209,"cg_dv":54.5236588,"cg_dw":45.4763412,"cg_id_a":14.567728,"cg_id_raw_a":14.4822645,"cg_iq_a":-204.621536,"cg_iq_raw_a":-205.339691,"cg_iu_a":-165.595551,"cg_iv_a":186.362473,"cg_iw_a":-20.766922,"cg_sample_age_us":23.9218178,"cg_sample_seq":12064767,"cg_sample_valid":1,"cg_theta_rad":1.53245652,"cg_vd_req_v":-2.17171812,"cg_vd_v":-2.17171812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2794199,"cg_vq_v":-8.2794199,"cg_vu_v":95.0167923,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2594,"hz_tim_isr":4997,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2140.002635,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2140.002641,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2140.002646,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2140.065674,"values":{"Elec_RPM":-2351.29932,"EncoderCos":21777,"EncoderSin":51184,"GapTicks":49505,"Mech_RPM":-470.259857,"cg_du":52.1823692,"cg_dv":45.0045738,"cg_dw":54.9954262,"cg_id_a":4.6662631,"cg_id_raw_a":4.73515177,"cg_iq_a":-200.441681,"cg_iq_raw_a":-200.149994,"cg_iu_a":114.750511,"cg_iv_a":-199.743103,"cg_iw_a":84.9925842,"cg_sample_age_us":23.5436363,"cg_sample_seq":12066466,"cg_sample_valid":1,"cg_theta_rad":2.10096574,"cg_vd_req_v":-2.03002024,"cg_vd_v":-2.03002024,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36674404,"cg_vq_v":-8.36674404,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-17.362669,"dclink_p_w":-2512.8064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2140.417236,"values":{"Elec_RPM":-2357.74219,"EncoderCos":13577,"EncoderSin":42276,"GapTicks":49327,"Mech_RPM":-471.548431,"cg_du":49.8198929,"cg_dv":55.1567001,"cg_dw":44.8432999,"cg_id_a":-12.0153437,"cg_id_raw_a":-13.7836189,"cg_iq_a":-198.511505,"cg_iq_raw_a":-195.199677,"cg_iu_a":-62.2281265,"cg_iv_a":195.6409,"cg_iw_a":-133.412766,"cg_sample_age_us":23.8818188,"cg_sample_seq":12068167,"cg_sample_valid":1,"cg_theta_rad":2.68047333,"cg_vd_req_v":-1.65121317,"cg_vd_v":-1.65121317,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43296623,"cg_vq_v":-8.43296623,"cg_vu_v":118.3311,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2365.28125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2140.749268,"values":{"Elec_RPM":-2358.70923,"EncoderCos":11469,"EncoderSin":30373,"GapTicks":49608,"Mech_RPM":-471.741852,"cg_du":47.800499,"cg_dv":45.0990334,"cg_dw":54.9009666,"cg_id_a":-10.4620304,"cg_id_raw_a":-1.74982822,"cg_iq_a":-202.567657,"cg_iq_raw_a":-203.196381,"cg_iu_a":3.51818514,"cg_iv_a":-176.474548,"cg_iw_a":172.95636,"cg_sample_age_us":23.954546,"cg_sample_seq":12069867,"cg_sample_valid":1,"cg_theta_rad":3.25803328,"cg_vd_req_v":-1.65607512,"cg_vd_v":-1.65607512,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32321072,"cg_vq_v":-8.32321072,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.7649746,"dclink_p_w":-2578.84448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2140.995234,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2140.995239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2140.995245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2141.10083,"values":{"Elec_RPM":-2357.91724,"EncoderCos":15589,"EncoderSin":19753,"GapTicks":49647,"Mech_RPM":-471.583435,"cg_du":54.8661613,"cg_dv":52.627121,"cg_dw":45.1338387,"cg_id_a":8.30057144,"cg_id_raw_a":4.73876095,"cg_iq_a":-204.258881,"cg_iq_raw_a":-201.961746,"cg_iu_a":19.4292278,"cg_iv_a":165.341034,"cg_iw_a":-184.770264,"cg_sample_age_us":23.9654541,"cg_sample_seq":12071571,"cg_sample_valid":1,"cg_theta_rad":3.83913231,"cg_vd_req_v":-2.07285666,"cg_vd_v":-2.07285666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26183128,"cg_vq_v":-8.26183128,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2426.98853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2141.436768,"values":{"Elec_RPM":-2355.66553,"EncoderCos":26395,"EncoderSin":12319,"GapTicks":49508,"Mech_RPM":-471.133087,"cg_du":45.0077133,"cg_dv":47.4742661,"cg_dw":54.9922867,"cg_id_a":10.0415936,"cg_id_raw_a":8.33463192,"cg_iq_a":-199.406357,"cg_iq_raw_a":-199.482162,"cg_iu_a":-56.6828232,"cg_iv_a":-139.070923,"cg_iw_a":195.753738,"cg_sample_age_us":23.9654541,"cg_sample_seq":12073266,"cg_sample_valid":1,"cg_theta_rad":4.42538929,"cg_vd_req_v":-2.15490532,"cg_vd_v":-2.15490532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39276886,"cg_vq_v":-8.39276886,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.9657993,"dclink_p_w":-2455.36938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2141.768799,"values":{"Elec_RPM":-2350.1748,"EncoderCos":38533,"EncoderSin":12120,"GapTicks":49376,"Mech_RPM":-470.034943,"cg_du":55.1118698,"cg_dv":50.672184,"cg_dw":44.8881302,"cg_id_a":-7.95224667,"cg_id_raw_a":-8.62380314,"cg_iq_a":-198.582352,"cg_iq_raw_a":-199.569992,"cg_iu_a":117.360062,"cg_iv_a":82.52388,"cg_iw_a":-199.883942,"cg_sample_age_us":23.9763641,"cg_sample_seq":12074966,"cg_sample_valid":1,"cg_theta_rad":5.00340605,"cg_vd_req_v":-1.79506576,"cg_vd_v":-1.79506576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37704849,"cg_vq_v":-8.37704849,"cg_vu_v":6.1584959,"cg_vv_v":2.19946289,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2396.62109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2141.987655,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2141.987661,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2141.987666,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2142.120361,"values":{"Elec_RPM":-2344.34009,"EncoderCos":48639,"EncoderSin":18707,"GapTicks":49479,"Mech_RPM":-468.868011,"cg_du":44.9812469,"cg_dv":51.731617,"cg_dw":55.0187531,"cg_id_a":-10.1111689,"cg_id_raw_a":-9.22114182,"cg_iq_a":-200.377686,"cg_iq_raw_a":-200.111084,"cg_iu_a":-160.340179,"cg_iv_a":-14.2471466,"cg_iw_a":181.437424,"cg_sample_age_us":23.9181824,"cg_sample_seq":12076667,"cg_sample_valid":1,"cg_theta_rad":5.5748682,"cg_vd_req_v":-1.79894888,"cg_vd_v":-1.79894888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33386707,"cg_vq_v":-8.33386707,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2473.61816,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2142.452393,"values":{"Elec_RPM":-2347.76978,"EncoderCos":53722,"EncoderSin":29908,"GapTicks":49892,"Mech_RPM":-469.553955,"cg_du":54.6428146,"cg_dv":46.1446915,"cg_dw":45.3571854,"cg_id_a":7.5449481,"cg_id_raw_a":12.4468031,"cg_iq_a":-202.835022,"cg_iq_raw_a":-204.764572,"cg_iu_a":178.24971,"cg_iv_a":-5.7298584,"cg_iw_a":-172.519852,"cg_sample_age_us":24.1545448,"cg_sample_seq":12078366,"cg_sample_valid":1,"cg_theta_rad":6.16130209,"cg_vd_req_v":-2.10465717,"cg_vd_v":-2.10465717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31600952,"cg_vq_v":-8.31600952,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6649742,"dclink_p_w":-2404.50171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2142.784424,"values":{"Elec_RPM":-2349.92651,"EncoderCos":44436,"EncoderSin":50608,"GapTicks":49325,"Mech_RPM":-469.985291,"cg_du":55.1582336,"cg_dv":44.8417664,"cg_dw":50.3931007,"cg_id_a":-14.8113823,"cg_id_raw_a":-12.4172182,"cg_iq_a":-193.795807,"cg_iq_raw_a":-193.81752,"cg_iu_a":187.78183,"cg_iv_a":-140.919342,"cg_iw_a":-46.8624802,"cg_sample_age_us":23.8199997,"cg_sample_seq":12080016,"cg_sample_valid":1,"cg_theta_rad":0.996511936,"cg_vd_req_v":-1.63144016,"cg_vd_v":-1.63144016,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49952412,"cg_vq_v":-8.49952412,"cg_vu_v":35.6312981,"cg_vv_v":32.9919434,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2143.010698,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2143.010704,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2143.01071,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2143.139893,"values":{"Elec_RPM":-2347.07397,"EncoderCos":51499,"EncoderSin":42579,"GapTicks":50031,"Mech_RPM":-469.414795,"cg_du":45.4833221,"cg_dv":54.5166779,"cg_dw":54.343647,"cg_id_a":11.288518,"cg_id_raw_a":15.8470173,"cg_iq_a":-201.057144,"cg_iq_raw_a":-199.492798,"cg_iu_a":-182.2677,"cg_iv_a":16.7413025,"cg_iw_a":165.526398,"cg_sample_age_us":23.4345455,"cg_sample_seq":12081817,"cg_sample_valid":1,"cg_theta_rad":0.490400493,"cg_vd_req_v":-2.19433212,"cg_vd_v":-2.19433212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34987831,"cg_vq_v":-8.34987831,"cg_vu_v":107.773682,"cg_vv_v":110.413033,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2432.84302,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2143.468018,"values":{"Elec_RPM":-2348.29688,"EncoderCos":21208,"EncoderSin":50841,"GapTicks":49740,"Mech_RPM":-469.659363,"cg_du":53.3798752,"cg_dv":45.2184715,"cg_dw":54.7815285,"cg_id_a":11.8287191,"cg_id_raw_a":8.95947075,"cg_iq_a":-202.068848,"cg_iq_raw_a":-201.666351,"cg_iu_a":154.292542,"cg_iv_a":-190.645905,"cg_iw_a":36.3533554,"cg_sample_age_us":23.5327282,"cg_sample_seq":12083416,"cg_sample_valid":1,"cg_theta_rad":2.14357638,"cg_vd_req_v":-2.15887713,"cg_vd_v":-2.15887713,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35600948,"cg_vq_v":-8.35600948,"cg_vu_v":38.2706528,"cg_vv_v":38.7105446,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2143.823486,"values":{"Elec_RPM":-2350.76953,"EncoderCos":32020,"EncoderSin":54118,"GapTicks":49380,"Mech_RPM":-470.1539,"cg_du":44.8911171,"cg_dv":55.1088829,"cg_dw":48.724968,"cg_id_a":-7.97691298,"cg_id_raw_a":-4.94852686,"cg_iq_a":-198.729843,"cg_iq_raw_a":-199.872131,"cg_iu_a":-194.481873,"cg_iv_a":126.813843,"cg_iw_a":67.6680298,"cg_sample_age_us":26.7290916,"cg_sample_seq":12085220,"cg_sample_valid":1,"cg_theta_rad":1.64198637,"cg_vd_req_v":-1.72696066,"cg_vd_v":-1.72696066,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42440796,"cg_vq_v":-8.42440796,"cg_vu_v":107.333786,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2439.53906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2144.003232,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2144.003238,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2144.003243,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2144.155518,"values":{"Elec_RPM":-2355.99756,"EncoderCos":11563,"EncoderSin":29672,"GapTicks":49406,"Mech_RPM":-471.199524,"cg_du":49.378685,"cg_dv":44.9146843,"cg_dw":55.0853157,"cg_id_a":-18.3780327,"cg_id_raw_a":-19.0967541,"cg_iq_a":-198.471527,"cg_iq_raw_a":-200.132736,"cg_iu_a":33.0931549,"cg_iv_a":-186.441605,"cg_iw_a":153.34845,"cg_sample_age_us":23.7218189,"cg_sample_seq":12086817,"cg_sample_valid":1,"cg_theta_rad":3.29138565,"cg_vd_req_v":-1.51850164,"cg_vd_v":-1.51850164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38295364,"cg_vq_v":-8.38295364,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2417.05273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2144.487549,"values":{"Elec_RPM":-2350.78955,"EncoderCos":12521,"EncoderSin":39792,"GapTicks":49912,"Mech_RPM":-470.157898,"cg_du":45.3749619,"cg_dv":54.6250381,"cg_dw":46.2037659,"cg_id_a":9.51070881,"cg_id_raw_a":13.1633606,"cg_iq_a":-202.555862,"cg_iq_raw_a":-202.949875,"cg_iu_a":-172.518112,"cg_iv_a":176.286682,"cg_iw_a":-3.76856995,"cg_sample_age_us":23.9327278,"cg_sample_seq":12088616,"cg_sample_valid":1,"cg_theta_rad":2.81102037,"cg_vd_req_v":-2.04409218,"cg_vd_v":-2.04409218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30516434,"cg_vq_v":-8.30516434,"cg_vu_v":114.811958,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2519.88745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2144.81958,"values":{"Elec_RPM":-2349.76636,"EncoderCos":27112,"EncoderSin":12141,"GapTicks":49887,"Mech_RPM":-469.953278,"cg_du":45.3524857,"cg_dv":46.1214943,"cg_dw":54.6475143,"cg_id_a":14.4204178,"cg_id_raw_a":14.3793535,"cg_iq_a":-202.532715,"cg_iq_raw_a":-202.119217,"cg_iu_a":-26.0930271,"cg_iv_a":-162.955612,"cg_iw_a":189.048645,"cg_sample_age_us":23.954546,"cg_sample_seq":12090216,"cg_sample_valid":1,"cg_theta_rad":4.45759678,"cg_vd_req_v":-2.22226739,"cg_vd_v":-2.22226739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32979298,"cg_vq_v":-8.32979298,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.3169918,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2144.994969,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2144.994975,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2144.99498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2145.171143,"values":{"Elec_RPM":-2347.81934,"EncoderCos":17886,"EncoderSin":17132,"GapTicks":49391,"Mech_RPM":-469.563873,"cg_du":49.0009727,"cg_dv":55.0984077,"cg_dw":44.9015923,"cg_id_a":-9.39280701,"cg_id_raw_a":-11.8378792,"cg_iq_a":-199.735291,"cg_iq_raw_a":-199.122086,"cg_iu_a":-85.0617447,"cg_iv_a":199.627716,"cg_iw_a":-114.565964,"cg_sample_age_us":23.9727268,"cg_sample_seq":12092016,"cg_sample_valid":1,"cg_theta_rad":3.9601655,"cg_vd_req_v":-1.73536563,"cg_vd_v":-1.73536563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39703846,"cg_vq_v":-8.39703846,"cg_vu_v":7.47817326,"cg_vv_v":14.9563465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2450.91089,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2145.503174,"values":{"Elec_RPM":-2348.29761,"EncoderCos":39834,"EncoderSin":12555,"GapTicks":49773,"Mech_RPM":-469.659515,"cg_du":54.7516441,"cg_dv":53.1070595,"cg_dw":45.2483559,"cg_id_a":6.19801569,"cg_id_raw_a":3.6671536,"cg_iq_a":-204.939026,"cg_iq_raw_a":-203.349228,"cg_iu_a":42.1903534,"cg_iv_a":154.431656,"cg_iw_a":-196.622009,"cg_sample_age_us":23.9763641,"cg_sample_seq":12093667,"cg_sample_valid":1,"cg_theta_rad":5.0755949,"cg_vd_req_v":-2.07964683,"cg_vd_v":-2.07964683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22895527,"cg_vq_v":-8.22895527,"cg_vu_v":11.4372072,"cg_vv_v":35.1914063,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2145.854736,"values":{"Elec_RPM":-2346.33887,"EncoderCos":49724,"EncoderSin":20098,"GapTicks":49367,"Mech_RPM":-469.267761,"cg_du":44.8790894,"cg_dv":48.7965164,"cg_dw":55.1209106,"cg_id_a":2.46697903,"cg_id_raw_a":-5.01665068,"cg_iq_a":-198.057144,"cg_iq_raw_a":-199.31723,"cg_iu_a":-95.8986511,"cg_iv_a":-100.072556,"cg_iw_a":195.971207,"cg_sample_age_us":23.8418179,"cg_sample_seq":12095366,"cg_sample_valid":1,"cg_theta_rad":5.64986515,"cg_vd_req_v":-1.97271299,"cg_vd_v":-2.09312463,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4078331,"cg_vq_v":-8.4078331,"cg_vu_v":101.175293,"cg_vv_v":95.4566803,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-16.3786488,"dclink_p_w":-2370.39429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2146.018635,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2146.018641,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2146.018647,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2146.190674,"values":{"Elec_RPM":-2342.35205,"EncoderCos":53836,"EncoderSin":31429,"GapTicks":49308,"Mech_RPM":-468.470428,"cg_du":55.1738052,"cg_dv":49.6515999,"cg_dw":44.8261948,"cg_id_a":-14.3694592,"cg_id_raw_a":-16.0520248,"cg_iq_a":-194.665009,"cg_iq_raw_a":-194.846085,"cg_iu_a":140.084946,"cg_iv_a":52.5864716,"cg_iw_a":-192.671417,"cg_sample_age_us":24.0090904,"cg_sample_seq":12097066,"cg_sample_valid":1,"cg_theta_rad":6.23486662,"cg_vd_req_v":-1.69497097,"cg_vd_v":-1.69497097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48502541,"cg_vq_v":-8.48502541,"cg_vu_v":41.7897949,"cg_vv_v":43.9892578,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.2826023,"dclink_p_w":-2356.4939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2146.522705,"values":{"Elec_RPM":-2346.78052,"EncoderCos":51135,"EncoderSin":43228,"GapTicks":49700,"Mech_RPM":-469.35611,"cg_du":45.1822319,"cg_dv":52.9639244,"cg_dw":54.8177681,"cg_id_a":0.708239555,"cg_id_raw_a":4.60629177,"cg_iq_a":-201.700165,"cg_iq_raw_a":-201.576462,"cg_iu_a":-169.908569,"cg_iv_a":-3.62771606,"cg_iw_a":173.536285,"cg_sample_age_us":23.4345455,"cg_sample_seq":12098767,"cg_sample_valid":1,"cg_theta_rad":0.525870621,"cg_vd_req_v":-1.96540701,"cg_vd_v":-1.96540701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31480408,"cg_vq_v":-8.31480408,"cg_vu_v":14.9563465,"cg_vv_v":17.5957031,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2523.29688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2146.874268,"values":{"Elec_RPM":-2350.4751,"EncoderCos":42341,"EncoderSin":51700,"GapTicks":49849,"Mech_RPM":-470.095032,"cg_du":54.6823311,"cg_dv":45.3176689,"cg_dw":46.3004646,"cg_id_a":17.9849911,"cg_id_raw_a":20.6502075,"cg_iq_a":-205.687302,"cg_iq_raw_a":-206.046219,"cg_iu_a":184.048706,"cg_iv_a":-19.1763153,"cg_iw_a":-164.872391,"cg_sample_age_us":24.0090904,"cg_sample_seq":12100466,"cg_sample_valid":1,"cg_theta_rad":1.11526835,"cg_vd_req_v":-2.28244591,"cg_vd_v":-2.28244591,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26498604,"cg_vq_v":-8.26498604,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.4330139,"dclink_p_w":-2371.03345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2147.010831,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2147.010837,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2147.010842,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2147.206299,"values":{"Elec_RPM":-2349.38745,"EncoderCos":30364,"EncoderSin":53957,"GapTicks":49423,"Mech_RPM":-469.877472,"cg_du":44.9305954,"cg_dv":55.0694046,"cg_dw":52.0090866,"cg_id_a":3.21553397,"cg_id_raw_a":-1.61809778,"cg_iq_a":-196.876724,"cg_iq_raw_a":-197.188705,"cg_iu_a":-196.040359,"cg_iv_a":77.3410034,"cg_iw_a":118.699356,"cg_sample_age_us":23.8600006,"cg_sample_seq":12102166,"cg_sample_valid":1,"cg_theta_rad":1.68267417,"cg_vd_req_v":-1.96364653,"cg_vd_v":-1.96364653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46585369,"cg_vq_v":-8.46585369,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2147.542236,"values":{"Elec_RPM":-2344.69287,"EncoderCos":12639,"EncoderSin":40200,"GapTicks":50041,"Mech_RPM":-468.938599,"cg_du":45.8187027,"cg_dv":54.5076752,"cg_dw":45.4923248,"cg_id_a":14.4497643,"cg_id_raw_a":17.1630707,"cg_iq_a":-205.869293,"cg_iq_raw_a":-206.230484,"cg_iu_a":-167.806427,"cg_iv_a":186.000031,"cg_iw_a":-18.1936035,"cg_sample_age_us":23.8927269,"cg_sample_seq":12103817,"cg_sample_valid":1,"cg_theta_rad":2.79219007,"cg_vd_req_v":-2.15215778,"cg_vd_v":-2.15215778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24289131,"cg_vq_v":-8.24289131,"cg_vu_v":0.87978512,"cg_vv_v":13.6366701,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2427.51147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2147.893799,"values":{"Elec_RPM":-2348.22363,"EncoderCos":11808,"EncoderSin":28215,"GapTicks":49442,"Mech_RPM":-469.644745,"cg_du":51.9559517,"cg_dv":44.9477806,"cg_dw":55.0522194,"cg_id_a":4.3386631,"cg_id_raw_a":-1.23733306,"cg_iq_a":-198.863632,"cg_iq_raw_a":-198.874191,"cg_iu_a":118.592361,"cg_iv_a":-199.090714,"cg_iw_a":80.4983521,"cg_sample_age_us":23.7218189,"cg_sample_seq":12105517,"cg_sample_valid":1,"cg_theta_rad":3.35925221,"cg_vd_req_v":-2.0192306,"cg_vd_v":-2.0192306,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4123373,"cg_vq_v":-8.4123373,"cg_vu_v":119.650772,"cg_vv_v":116.571533,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2228012,"dclink_p_w":-2354.97559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2148.003233,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2148.003239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2148.003245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2148.323486,"values":{"Elec_RPM":-2348.11597,"EncoderCos":35659,"EncoderSin":11595,"GapTicks":49778,"Mech_RPM":-469.623199,"cg_du":54.746685,"cg_dv":45.253315,"cg_dw":46.688118,"cg_id_a":15.1569824,"cg_id_raw_a":15.7946186,"cg_iq_a":-203.836884,"cg_iq_raw_a":-203.271667,"cg_iu_a":194.813141,"cg_iv_a":-46.3591919,"cg_iw_a":-148.453949,"cg_sample_age_us":24.0563641,"cg_sample_seq":12107716,"cg_sample_valid":1,"cg_theta_rad":4.8562541,"cg_vd_req_v":-2.23791504,"cg_vd_v":-2.23791504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25376511,"cg_vq_v":-8.25376511,"cg_vu_v":105.134323,"cg_vv_v":76.1014175,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.4185181,"dclink_p_w":-2354.49731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2148.839111,"values":{"Elec_RPM":-2336.69775,"EncoderCos":14723,"EncoderSin":44283,"GapTicks":49930,"Mech_RPM":-467.339569,"cg_du":54.6090355,"cg_dv":53.9655914,"cg_dw":45.3909645,"cg_id_a":15.0526037,"cg_id_raw_a":15.5238876,"cg_iq_a":-205.816818,"cg_iq_raw_a":-206.238983,"cg_iu_a":20.3715668,"cg_iv_a":165.449768,"cg_iw_a":-185.821335,"cg_sample_age_us":23.8563633,"cg_sample_seq":12110267,"cg_sample_valid":1,"cg_theta_rad":2.57629037,"cg_vd_req_v":-2.19450808,"cg_vd_v":-2.19450808,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28856468,"cg_vq_v":-8.28856468,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.8120918,"dclink_p_w":-2585.68433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2606,"hz_tim_isr":5000,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2148.866955,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2148.866965,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2148.866968,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2148.995483,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2148.995489,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2148.995494,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2149.218018,"values":{"Elec_RPM":-2337.84375,"EncoderCos":33157,"EncoderSin":54056,"GapTicks":49941,"Mech_RPM":-467.568726,"cg_du":45.4011307,"cg_dv":54.5988693,"cg_dw":46.1426888,"cg_id_a":10.9447594,"cg_id_raw_a":12.7452574,"cg_iq_a":-205.411133,"cg_iq_raw_a":-206.663513,"cg_iu_a":-174.54776,"cg_iv_a":178.714996,"cg_iw_a":-4.16724396,"cg_sample_age_us":23.8709087,"cg_sample_seq":12112116,"cg_sample_valid":1,"cg_theta_rad":1.55412149,"cg_vd_req_v":-2.10134172,"cg_vd_v":-2.10134172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27644062,"cg_vq_v":-8.27644062,"cg_vu_v":0.87978512,"cg_vv_v":7.03828096,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2425.4707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2149.550049,"values":{"Elec_RPM":-2335.45996,"EncoderCos":32271,"EncoderSin":54026,"GapTicks":49438,"Mech_RPM":-467.09198,"cg_du":44.9442101,"cg_dv":55.0557899,"cg_dw":48.2898445,"cg_id_a":-9.6892662,"cg_id_raw_a":-7.20296144,"cg_iq_a":-199.311493,"cg_iq_raw_a":-201.09111,"cg_iu_a":-180.890442,"cg_iv_a":160.520615,"cg_iw_a":20.3698273,"cg_sample_age_us":23.8709087,"cg_sample_seq":12113866,"cg_sample_valid":1,"cg_theta_rad":1.59259975,"cg_vd_req_v":-1.6924088,"cg_vd_v":-1.6924088,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41383553,"cg_vq_v":-8.41383553,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2437.70898,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2149.905518,"values":{"Elec_RPM":-2345.50977,"EncoderCos":20896,"EncoderSin":50578,"GapTicks":49938,"Mech_RPM":-469.101959,"cg_du":54.1232071,"cg_dv":45.3985596,"cg_dw":54.6014404,"cg_id_a":15.3884735,"cg_id_raw_a":14.8542452,"cg_iq_a":-199.68396,"cg_iq_raw_a":-198.877899,"cg_iu_a":168.826309,"cg_iv_a":-181.766144,"cg_iw_a":17.252861,"cg_sample_age_us":24.0200005,"cg_sample_seq":12115567,"cg_sample_valid":1,"cg_theta_rad":2.16755605,"cg_vd_req_v":-2.21349478,"cg_vd_v":-2.21349478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39721966,"cg_vq_v":-8.39721966,"cg_vu_v":35.1914063,"cg_vv_v":30.3525867,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2470.19849,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2150.018788,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2150.018794,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2150.018799,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2150.233643,"values":{"Elec_RPM":-2341.37817,"EncoderCos":12937,"EncoderSin":40932,"GapTicks":49635,"Mech_RPM":-468.275635,"cg_du":47.3285141,"cg_dv":54.8767242,"cg_dw":45.1232758,"cg_id_a":13.9041166,"cg_id_raw_a":12.5601416,"cg_iq_a":-204.000366,"cg_iq_raw_a":-202.806778,"cg_iu_a":-146.821228,"cg_iv_a":197.96048,"cg_iw_a":-51.1392517,"cg_sample_age_us":23.9909096,"cg_sample_seq":12117266,"cg_sample_valid":1,"cg_theta_rad":2.75241661,"cg_vd_req_v":-2.16482115,"cg_vd_v":-2.16482115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26887703,"cg_vq_v":-8.26887703,"cg_vu_v":38.7105446,"cg_vv_v":61.1450691,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2150.56958,"values":{"Elec_RPM":-2344.16138,"EncoderCos":11628,"EncoderSin":29288,"GapTicks":49334,"Mech_RPM":-468.832275,"cg_du":50.1070747,"cg_dv":44.84972,"cg_dw":55.15028,"cg_id_a":-14.9848623,"cg_id_raw_a":-19.5573692,"cg_iq_a":-196.665695,"cg_iq_raw_a":-196.734695,"cg_iu_a":57.6664734,"cg_iv_a":-191.805695,"cg_iw_a":134.139221,"cg_sample_age_us":23.772728,"cg_sample_seq":12118967,"cg_sample_valid":1,"cg_theta_rad":3.31126046,"cg_vd_req_v":-1.6125983,"cg_vd_v":-1.6125983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4550333,"cg_vq_v":-8.4550333,"cg_vu_v":103.814644,"cg_vv_v":73.0221634,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-15.9364738,"dclink_p_w":-2299.39038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2150.921143,"values":{"Elec_RPM":-2346.04785,"EncoderCos":16900,"EncoderSin":18147,"GapTicks":49424,"Mech_RPM":-469.209595,"cg_du":51.8045349,"cg_dv":55.068924,"cg_dw":44.931076,"cg_id_a":-12.7489548,"cg_id_raw_a":-9.95325565,"cg_iq_a":-195.142883,"cg_iq_raw_a":-195.93309,"cg_iu_a":-13.117734,"cg_iv_a":174.1483,"cg_iw_a":-161.030563,"cg_sample_age_us":23.8709087,"cg_sample_seq":12120667,"cg_sample_valid":1,"cg_theta_rad":3.89570165,"cg_vd_req_v":-1.6210413,"cg_vd_v":-1.6210413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49465084,"cg_vq_v":-8.49465084,"cg_vu_v":104.694435,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5544319,"dclink_p_w":-2395.83447,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2150.979056,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2150.979062,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2150.979067,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2151.253174,"values":{"Elec_RPM":-2345.62061,"EncoderCos":17681,"EncoderSin":17330,"GapTicks":49381,"Mech_RPM":-469.124146,"cg_du":49.4930534,"cg_dv":55.1077576,"cg_dw":44.8922424,"cg_id_a":-13.0411224,"cg_id_raw_a":-15.7574282,"cg_iq_a":-197.648209,"cg_iq_raw_a":-196.450958,"cg_iu_a":-56.2478943,"cg_iv_a":192.741364,"cg_iw_a":-136.493469,"cg_sample_age_us":23.9799995,"cg_sample_seq":12122416,"cg_sample_valid":1,"cg_theta_rad":3.93887973,"cg_vd_req_v":-1.64221156,"cg_vd_v":-1.64221156,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41703892,"cg_vq_v":-8.41703892,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2519.12866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2151.608643,"values":{"Elec_RPM":-2349.22144,"EncoderCos":28330,"EncoderSin":11843,"GapTicks":49579,"Mech_RPM":-469.844299,"cg_du":47.8708382,"cg_dv":45.0724602,"cg_dw":54.9275398,"cg_id_a":-10.3199425,"cg_id_raw_a":-5.05650902,"cg_iq_a":-203.023041,"cg_iq_raw_a":-203.103394,"cg_iu_a":5.25788927,"cg_iv_a":-177.888077,"cg_iw_a":177.631821,"cg_sample_age_us":24.0272732,"cg_sample_seq":12124117,"cg_sample_valid":1,"cg_theta_rad":4.51230192,"cg_vd_req_v":-1.7037313,"cg_vd_v":-1.7037313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28786373,"cg_vq_v":-8.28786373,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-16.8425694,"dclink_p_w":-2430.12598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2151.936768,"values":{"Elec_RPM":-2342.07788,"EncoderCos":40460,"EncoderSin":12770,"GapTicks":50061,"Mech_RPM":-468.415588,"cg_du":54.4894562,"cg_dv":54.3429451,"cg_dw":45.5105438,"cg_id_a":10.2446728,"cg_id_raw_a":9.42028141,"cg_iq_a":-204.057343,"cg_iq_raw_a":-206.84256,"cg_iu_a":20.5165443,"cg_iv_a":165.594757,"cg_iw_a":-186.111298,"cg_sample_age_us":23.9836369,"cg_sample_seq":12125816,"cg_sample_valid":1,"cg_theta_rad":5.09522057,"cg_vd_req_v":-2.1558032,"cg_vd_v":-2.1558032,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29153061,"cg_vq_v":-8.29153061,"cg_vu_v":38.2706528,"cg_vv_v":46.6286087,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2152.003172,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2152.003177,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2152.003182,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2152.272705,"values":{"Elec_RPM":-2348.64136,"EncoderCos":49933,"EncoderSin":20318,"GapTicks":49415,"Mech_RPM":-469.728271,"cg_du":44.9229279,"cg_dv":47.8666649,"cg_dw":55.0770721,"cg_id_a":12.0945139,"cg_id_raw_a":7.39956141,"cg_iq_a":-197.397736,"cg_iq_raw_a":-193.779404,"cg_iu_a":-60.5246696,"cg_iv_a":-134.61293,"cg_iw_a":195.137604,"cg_sample_age_us":23.9254551,"cg_sample_seq":12127517,"cg_sample_valid":1,"cg_theta_rad":5.67260933,"cg_vd_req_v":-2.27307057,"cg_vd_v":-2.27307057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42948437,"cg_vq_v":-8.42948437,"cg_vu_v":98.5359344,"cg_vv_v":84.0194778,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.0397682,"dclink_p_w":-2328.40576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2152.624268,"values":{"Elec_RPM":-2352.07959,"EncoderCos":53854,"EncoderSin":31808,"GapTicks":49346,"Mech_RPM":-470.415924,"cg_du":55.1392593,"cg_dv":50.3320808,"cg_dw":44.8607407,"cg_id_a":-9.34814167,"cg_id_raw_a":-13.4272213,"cg_iq_a":-196.479645,"cg_iq_raw_a":-194.258041,"cg_iu_a":123.847717,"cg_iv_a":71.1070557,"cg_iw_a":-194.954773,"cg_sample_age_us":24.0309086,"cg_sample_seq":12129217,"cg_sample_valid":1,"cg_theta_rad":6.24973822,"cg_vd_req_v":-1.78875113,"cg_vd_v":-1.78875113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40617371,"cg_vq_v":-8.40617371,"cg_vu_v":133.287445,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2152.956299,"values":{"Elec_RPM":-2356.16309,"EncoderCos":31832,"EncoderSin":54042,"GapTicks":49311,"Mech_RPM":-471.232605,"cg_du":44.8288383,"cg_dv":55.1711617,"cg_dw":49.1991119,"cg_id_a":-9.4500761,"cg_id_raw_a":-8.75854397,"cg_iq_a":-196.593246,"cg_iq_raw_a":-198.04097,"cg_iu_a":-185.638382,"cg_iv_a":147.182877,"cg_iw_a":38.4555054,"cg_sample_age_us":23.8600006,"cg_sample_seq":12130817,"cg_sample_valid":1,"cg_theta_rad":1.61384284,"cg_vd_req_v":-1.69347203,"cg_vd_v":-1.69347203,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48243046,"cg_vq_v":-8.48243046,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2152.994876,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2152.994882,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2152.994888,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2153.28833,"values":{"Elec_RPM":-2359.16406,"EncoderCos":41901,"EncoderSin":51950,"GapTicks":49974,"Mech_RPM":-471.832794,"cg_du":54.5688019,"cg_dv":45.8541489,"cg_dw":45.4311981,"cg_id_a":11.4807415,"cg_id_raw_a":15.791934,"cg_iq_a":-203.038986,"cg_iq_raw_a":-205.718277,"cg_iu_a":179.663208,"cg_iv_a":-7.94073486,"cg_iw_a":-171.722473,"cg_sample_age_us":24.0018177,"cg_sample_seq":12132616,"cg_sample_valid":1,"cg_theta_rad":1.12638009,"cg_vd_req_v":-2.13967395,"cg_vd_v":-2.13967395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34965897,"cg_vq_v":-8.34965897,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2376.95117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120549329,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2153.639893,"values":{"Elec_RPM":-2352.84204,"EncoderCos":19420,"EncoderSin":49501,"GapTicks":49363,"Mech_RPM":-470.56839,"cg_du":55.1245422,"cg_dv":44.8754578,"cg_dw":50.5662079,"cg_id_a":-18.8703938,"cg_id_raw_a":-18.2250767,"cg_iq_a":-195.802231,"cg_iq_raw_a":-196.926483,"cg_iu_a":179.264526,"cg_iv_a":-158.860046,"cg_iw_a":-20.4044876,"cg_sample_age_us":23.8890915,"cg_sample_seq":12134266,"cg_sample_valid":1,"cg_theta_rad":2.23596072,"cg_vd_req_v":-1.52896154,"cg_vd_v":-1.52896154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44390965,"cg_vq_v":-8.44390965,"cg_vu_v":141.205521,"cg_vv_v":109.533249,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2437.44727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2153.971924,"values":{"Elec_RPM":-2351.3999,"EncoderCos":12496,"EncoderSin":39763,"GapTicks":49889,"Mech_RPM":-470.279999,"cg_du":45.353672,"cg_dv":54.646328,"cg_dw":46.2924805,"cg_id_a":8.03595257,"cg_id_raw_a":11.0329218,"cg_iq_a":-204.62709,"cg_iq_raw_a":-206.077911,"cg_iu_a":-173.38797,"cg_iv_a":178.787506,"cg_iw_a":-5.3995285,"cg_sample_age_us":23.9327278,"cg_sample_seq":12135967,"cg_sample_valid":1,"cg_theta_rad":2.81014228,"cg_vd_req_v":-2.02254128,"cg_vd_v":-2.02254128,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30631733,"cg_vq_v":-8.30631733,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2474.31494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2153.987017,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2153.987022,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2153.987028,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2154.303955,"values":{"Elec_RPM":-2357.75757,"EncoderCos":12011,"EncoderSin":27473,"GapTicks":49678,"Mech_RPM":-471.551514,"cg_du":53.3447075,"cg_dv":45.1624527,"cg_dw":54.8375473,"cg_id_a":14.3705368,"cg_id_raw_a":12.5578127,"cg_iq_a":-198.432373,"cg_iq_raw_a":-198.049042,"cg_iu_a":153.205215,"cg_iv_a":-187.420197,"cg_iw_a":34.2149811,"cg_sample_age_us":23.7036362,"cg_sample_seq":12137666,"cg_sample_valid":1,"cg_theta_rad":3.39798665,"cg_vd_req_v":-2.20168591,"cg_vd_v":-2.20168591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42145348,"cg_vq_v":-8.42145348,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4470215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2154.659424,"values":{"Elec_RPM":-2357.20679,"EncoderCos":18180,"EncoderSin":16879,"GapTicks":49457,"Mech_RPM":-471.441376,"cg_du":48.3433151,"cg_dv":55.0387917,"cg_dw":44.9612083,"cg_id_a":-2.85688972,"cg_id_raw_a":-8.2326746,"cg_iq_a":-199.360321,"cg_iq_raw_a":-198.774506,"cg_iu_a":-108.547745,"cg_iv_a":199.19278,"cg_iw_a":-90.6450348,"cg_sample_age_us":23.9981823,"cg_sample_seq":12139366,"cg_sample_valid":1,"cg_theta_rad":3.97904015,"cg_vd_req_v":-1.86321354,"cg_vd_v":-1.86321354,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36590576,"cg_vq_v":-8.36590576,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2434.83252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2154.987549,"values":{"Elec_RPM":-2360.54663,"EncoderCos":29083,"EncoderSin":11713,"GapTicks":49341,"Mech_RPM":-472.109314,"cg_du":49.5241356,"cg_dv":44.8563042,"cg_dw":55.1436958,"cg_id_a":-15.1105213,"cg_id_raw_a":-17.2578602,"cg_iq_a":-197.519623,"cg_iq_raw_a":-199.691177,"cg_iu_a":45.5610352,"cg_iv_a":-189.486084,"cg_iw_a":143.925049,"cg_sample_age_us":23.8309097,"cg_sample_seq":12141066,"cg_sample_valid":1,"cg_theta_rad":4.55399704,"cg_vd_req_v":-1.6326052,"cg_vd_v":-1.6326052,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42518234,"cg_vq_v":-8.42518234,"cg_vu_v":39.590332,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2411.30005,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4703369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2155.011029,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2155.011034,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2155.011039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2155.343018,"values":{"Elec_RPM":-2361.75806,"EncoderCos":40262,"EncoderSin":12723,"GapTicks":49977,"Mech_RPM":-472.351593,"cg_du":54.5660667,"cg_dv":54.0016556,"cg_dw":45.4339333,"cg_id_a":6.46427774,"cg_id_raw_a":5.38502884,"cg_iq_a":-204.809387,"cg_iq_raw_a":-205.960678,"cg_iu_a":2.14091969,"cg_iv_a":172.408585,"cg_iw_a":-174.5495,"cg_sample_age_us":23.8600006,"cg_sample_seq":12142770,"cg_sample_valid":1,"cg_theta_rad":5.12954187,"cg_vd_req_v":-2.09439826,"cg_vd_v":-2.09439826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29126358,"cg_vq_v":-8.29126358,"cg_vu_v":28.1531239,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2506.51172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2155.675049,"values":{"Elec_RPM":-2355.3186,"EncoderCos":50342,"EncoderSin":20943,"GapTicks":49779,"Mech_RPM":-471.063721,"cg_du":45.2543259,"cg_dv":46.5245438,"cg_dw":54.7456741,"cg_id_a":17.4248543,"cg_id_raw_a":18.2830601,"cg_iq_a":-203.751022,"cg_iq_raw_a":-201.340317,"cg_iu_a":-29.101265,"cg_iv_a":-161.759552,"cg_iw_a":190.860825,"cg_sample_age_us":23.9181824,"cg_sample_seq":12144467,"cg_sample_valid":1,"cg_theta_rad":5.70709276,"cg_vd_req_v":-2.35032272,"cg_vd_v":-2.35032272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28345108,"cg_vq_v":-8.28345108,"cg_vu_v":117.891212,"cg_vv_v":130.208206,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7791443,"dclink_p_w":-2428.35596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2156.003162,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2156.003168,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2156.003174,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2156.00708,"values":{"Elec_RPM":-2352.25732,"EncoderCos":53895,"EncoderSin":32388,"GapTicks":49440,"Mech_RPM":-470.451477,"cg_du":55.053669,"cg_dv":51.3283272,"cg_dw":44.946331,"cg_id_a":-1.62922931,"cg_id_raw_a":-4.66217852,"cg_iq_a":-202.784607,"cg_iq_raw_a":-199.09906,"cg_iu_a":95.4325485,"cg_iv_a":106.481056,"cg_iw_a":-201.913605,"cg_sample_age_us":24.0200005,"cg_sample_seq":12146167,"cg_sample_valid":1,"cg_theta_rad":6.2783885,"cg_vd_req_v":-1.96162128,"cg_vd_v":-1.96162128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28709412,"cg_vq_v":-8.28709412,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.7957821,"dclink_p_w":-2567.66016,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2156.362549,"values":{"Elec_RPM":-2349.82446,"EncoderCos":53814,"EncoderSin":33444,"GapTicks":49742,"Mech_RPM":-469.964905,"cg_du":54.7796135,"cg_dv":53.2313919,"cg_dw":45.2203865,"cg_id_a":9.66872215,"cg_id_raw_a":8.96342278,"cg_iq_a":-205.665741,"cg_iq_raw_a":-205.855255,"cg_iu_a":53.75214,"cg_iv_a":144.210876,"cg_iw_a":-197.963013,"cg_sample_age_us":23.4636364,"cg_sample_seq":12147916,"cg_sample_valid":1,"cg_theta_rad":0.0356369093,"cg_vd_req_v":-2.1859982,"cg_vd_v":-2.1859982,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26400948,"cg_vq_v":-8.26400948,"cg_vu_v":12.7568836,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.0778255,"dclink_p_w":-2326.85767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2156.690674,"values":{"Elec_RPM":-2353.88574,"EncoderCos":49980,"EncoderSin":45188,"GapTicks":49348,"Mech_RPM":-470.777161,"cg_du":44.8618355,"cg_dv":48.3983231,"cg_dw":55.1381645,"cg_id_a":5.98408699,"cg_id_raw_a":-0.45903179,"cg_iq_a":-196.500916,"cg_iq_raw_a":-199.159332,"cg_iu_a":-80.8937073,"cg_iv_a":-118.303192,"cg_iw_a":199.196899,"cg_sample_age_us":23.4818172,"cg_sample_seq":12149616,"cg_sample_valid":1,"cg_theta_rad":0.631499052,"cg_vd_req_v":-2.10853815,"cg_vd_v":-2.10853815,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4658947,"cg_vq_v":-8.4658947,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":128.448624,"control_outputs_enabled":1,"dclink_i_a":-17.4405937,"dclink_p_w":-2524.08398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2156.995156,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2156.995162,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2156.995168,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2157.026611,"values":{"Elec_RPM":-2353.4248,"EncoderCos":40349,"EncoderSin":52569,"GapTicks":49318,"Mech_RPM":-470.684967,"cg_du":55.1646957,"cg_dv":49.6791191,"cg_dw":44.8353043,"cg_id_a":-11.0737286,"cg_id_raw_a":-12.5257692,"cg_iq_a":-193.37233,"cg_iq_raw_a":-194.755737,"cg_iu_a":138.236511,"cg_iv_a":36.7479095,"cg_iw_a":-180.964661,"cg_sample_age_us":23.9909096,"cg_sample_seq":12151316,"cg_sample_valid":1,"cg_theta_rad":1.20396662,"cg_vd_req_v":-1.68600297,"cg_vd_v":-1.68600297,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49705696,"cg_vq_v":-8.49705696,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2473.35522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2157.378174,"values":{"Elec_RPM":-2357.61768,"EncoderCos":12289,"EncoderSin":39152,"GapTicks":49483,"Mech_RPM":-471.523529,"cg_du":44.9845924,"cg_dv":55.0154076,"cg_dw":47.8334465,"cg_id_a":-6.07374382,"cg_id_raw_a":-2.20305848,"cg_iq_a":-199.36026,"cg_iq_raw_a":-200.663223,"cg_iu_a":-177.700989,"cg_iv_a":169.545319,"cg_iw_a":6.01728058,"cg_sample_age_us":23.9363632,"cg_sample_seq":12152917,"cg_sample_valid":1,"cg_theta_rad":2.84101939,"cg_vd_req_v":-1.72992098,"cg_vd_v":-1.72992098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43637753,"cg_vq_v":-8.43637753,"cg_vu_v":103.814644,"cg_vv_v":110.852921,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8353214,"dclink_p_w":-2436.48608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2157.710205,"values":{"Elec_RPM":-2344.38989,"EncoderCos":17893,"EncoderSin":48104,"GapTicks":49604,"Mech_RPM":-468.877991,"cg_du":54.9051857,"cg_dv":45.0948143,"cg_dw":47.0925255,"cg_id_a":18.9599171,"cg_id_raw_a":15.4671602,"cg_iq_a":-203.356461,"cg_iq_raw_a":-201.106903,"cg_iu_a":193.327148,"cg_iv_a":-40.9226379,"cg_iw_a":-152.40451,"cg_sample_age_us":24.0272732,"cg_sample_seq":12154717,"cg_sample_valid":1,"cg_theta_rad":2.34301877,"cg_vd_req_v":-2.31083822,"cg_vd_v":-2.31083822,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32275867,"cg_vq_v":-8.32275867,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2158.018683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2158.018689,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2158.018694,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2158.042236,"values":{"Elec_RPM":-2349.97437,"EncoderCos":18511,"EncoderSin":16567,"GapTicks":49575,"Mech_RPM":-469.994873,"cg_du":47.6100235,"cg_dv":54.931118,"cg_dw":45.068882,"cg_id_a":5.08335543,"cg_id_raw_a":-0.401039034,"cg_iq_a":-203.050781,"cg_iq_raw_a":-202.209793,"cg_iu_a":-132.903595,"cg_iv_a":201.222427,"cg_iw_a":-68.3188324,"cg_sample_age_us":23.9581814,"cg_sample_seq":12156317,"cg_sample_valid":1,"cg_theta_rad":4.00082302,"cg_vd_req_v":-2.0311203,"cg_vd_v":-2.0311203,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28579521,"cg_vq_v":-8.28579521,"cg_vu_v":141.205521,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.6649742,"dclink_p_w":-2404.50171,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2158.557861,"values":{"Elec_RPM":-2352.36743,"EncoderCos":11720,"EncoderSin":28799,"GapTicks":49367,"Mech_RPM":-470.47348,"cg_du":50.9614067,"cg_dv":44.8794785,"cg_dw":55.1205215,"cg_id_a":-6.98354006,"cg_id_raw_a":-12.6375294,"cg_iq_a":-198.200897,"cg_iq_raw_a":-198.056091,"cg_iu_a":87.0964661,"cg_iv_a":-197.604706,"cg_iw_a":110.50824,"cg_sample_age_us":23.6636372,"cg_sample_seq":12158717,"cg_sample_valid":1,"cg_theta_rad":3.33441114,"cg_vd_req_v":-1.78035665,"cg_vd_v":-1.78035665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39433575,"cg_vq_v":-8.39433575,"cg_vu_v":12.7568836,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9784851,"dclink_p_w":-2449.73657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2158.882959,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2158.882971,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2158.882975,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2158.9795,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2158.979506,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2158.979511,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2159.03833,"values":{"Elec_RPM":-2342.66553,"EncoderCos":51152,"EncoderSin":43224,"GapTicks":49685,"Mech_RPM":-468.533081,"cg_du":45.1689072,"cg_dv":53.00597,"cg_dw":54.8310928,"cg_id_a":0.343929648,"cg_id_raw_a":5.91328096,"cg_iq_a":-203.380981,"cg_iq_raw_a":-203.14917,"cg_iu_a":-172.844299,"cg_iv_a":0.612823486,"cg_iw_a":176.58075,"cg_sample_age_us":23.5363636,"cg_sample_seq":12161317,"cg_sample_valid":1,"cg_theta_rad":0.522311807,"cg_vd_req_v":-1.97522366,"cg_vd_v":-1.97522366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32125854,"cg_vq_v":-8.32125854,"cg_vu_v":114.37207,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0092907,"dclink_p_w":-2461.66382,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2159.389893,"values":{"Elec_RPM":-2344.26489,"EncoderCos":42141,"EncoderSin":51830,"GapTicks":50042,"Mech_RPM":-468.852997,"cg_du":54.5064888,"cg_dv":45.4935112,"cg_dw":45.7360535,"cg_id_a":11.6367512,"cg_id_raw_a":17.7764645,"cg_iq_a":-203.711395,"cg_iq_raw_a":-205.583511,"cg_iu_a":187.310669,"cg_iv_a":-27.8023529,"cg_iw_a":-159.508316,"cg_sample_age_us":23.9072723,"cg_sample_seq":12163016,"cg_sample_valid":1,"cg_theta_rad":1.10703671,"cg_vd_req_v":-2.14927411,"cg_vd_v":-2.14927411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30787754,"cg_vq_v":-8.30787754,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2159.721924,"values":{"Elec_RPM":-2347.50342,"EncoderCos":30362,"EncoderSin":53937,"GapTicks":49465,"Mech_RPM":-469.500671,"cg_du":44.9682922,"cg_dv":55.0317078,"cg_dw":51.9724464,"cg_id_a":4.20923901,"cg_id_raw_a":-1.07350397,"cg_iq_a":-197.686234,"cg_iq_raw_a":-196.37236,"cg_iu_a":-195.714172,"cg_iv_a":65.3442993,"cg_iw_a":130.369873,"cg_sample_age_us":23.863636,"cg_sample_seq":12164717,"cg_sample_valid":1,"cg_theta_rad":1.69454575,"cg_vd_req_v":-1.97626114,"cg_vd_v":-1.97626114,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39177322,"cg_vq_v":-8.39177322,"cg_vu_v":1.31967759,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.1684341,"dclink_p_w":-2339.97095,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2160.002534,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2160.00254,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2160.002545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2160.053955,"values":{"Elec_RPM":-2344.61084,"EncoderCos":19313,"EncoderSin":49382,"GapTicks":49322,"Mech_RPM":-468.92218,"cg_du":55.1617584,"cg_dv":44.8382416,"cg_dw":50.3003654,"cg_id_a":-16.3001156,"cg_id_raw_a":-16.145155,"cg_iq_a":-196.23465,"cg_iq_raw_a":-196.487885,"cg_iu_a":188.905396,"cg_iv_a":-143.130234,"cg_iw_a":-45.7751617,"cg_sample_age_us":23.9872723,"cg_sample_seq":12166417,"cg_sample_valid":1,"cg_theta_rad":2.25378585,"cg_vd_req_v":-1.59280562,"cg_vd_v":-1.59280562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45593166,"cg_vq_v":-8.45593166,"cg_vu_v":142.965088,"cg_vv_v":124.489601,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2398.98169,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2160.405518,"values":{"Elec_RPM":-2347.24585,"EncoderCos":12372,"EncoderSin":39288,"GapTicks":49538,"Mech_RPM":-469.449188,"cg_du":45.0347214,"cg_dv":54.9652786,"cg_dw":47.4853668,"cg_id_a":-4.11279774,"cg_id_raw_a":2.9271605,"cg_iq_a":-199.023697,"cg_iq_raw_a":-201.160522,"cg_iu_a":-174.439026,"cg_iv_a":167.660645,"cg_iw_a":6.77838135,"cg_sample_age_us":23.9690914,"cg_sample_seq":12168117,"cg_sample_valid":1,"cg_theta_rad":2.83803535,"cg_vd_req_v":-1.76594722,"cg_vd_v":-1.76594722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43595695,"cg_vq_v":-8.43595695,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2465.68628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2160.741455,"values":{"Elec_RPM":-2348.10132,"EncoderCos":12164,"EncoderSin":26923,"GapTicks":50067,"Mech_RPM":-469.62027,"cg_du":54.3789291,"cg_dv":45.5161514,"cg_dw":54.4838486,"cg_id_a":14.8650436,"cg_id_raw_a":15.33181,"cg_iq_a":-200.696381,"cg_iq_raw_a":-199.851105,"cg_iu_a":167.702759,"cg_iv_a":-180.388901,"cg_iw_a":12.686142,"cg_sample_age_us":24.1581821,"cg_sample_seq":12169816,"cg_sample_valid":1,"cg_theta_rad":3.42164373,"cg_vd_req_v":-2.19007826,"cg_vd_v":-2.19007826,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34571743,"cg_vq_v":-8.34571743,"cg_vu_v":27.7132301,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1597042,"dclink_p_w":-2483.43237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2160.994828,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2160.994834,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2160.994839,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2161.06958,"values":{"Elec_RPM":-2352.68677,"EncoderCos":28519,"EncoderSin":11811,"GapTicks":49476,"Mech_RPM":-470.537354,"cg_du":48.3263817,"cg_dv":44.9788895,"cg_dw":55.0211105,"cg_id_a":-14.1813927,"cg_id_raw_a":-9.75698376,"cg_iq_a":-201.638504,"cg_iq_raw_a":-202.786209,"cg_iu_a":15.8410892,"cg_iv_a":-181.476212,"cg_iw_a":165.635117,"cg_sample_age_us":23.9072723,"cg_sample_seq":12171467,"cg_sample_valid":1,"cg_theta_rad":4.52814102,"cg_vd_req_v":-1.6376698,"cg_vd_v":-1.6376698,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36005592,"cg_vq_v":-8.36005592,"cg_vu_v":115.69175,"cg_vv_v":118.3311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4130802,"dclink_p_w":-2375.37744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2161.425049,"values":{"Elec_RPM":-2349.69263,"EncoderCos":19145,"EncoderSin":16045,"GapTicks":49942,"Mech_RPM":-469.938538,"cg_du":46.1644096,"cg_dv":54.5981293,"cg_dw":45.4018707,"cg_id_a":12.5184736,"cg_id_raw_a":14.6656561,"cg_iq_a":-206.648026,"cg_iq_raw_a":-207.003021,"cg_iu_a":-165.305588,"cg_iv_a":189.805634,"cg_iw_a":-24.5000458,"cg_sample_age_us":23.9654541,"cg_sample_seq":12173266,"cg_sample_valid":1,"cg_theta_rad":4.04135084,"cg_vd_req_v":-2.16305232,"cg_vd_v":-2.16305232,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24995518,"cg_vq_v":-8.24995518,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2934761,"dclink_p_w":-2350.90039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2161.75708,"values":{"Elec_RPM":-2348.2085,"EncoderCos":50086,"EncoderSin":20626,"GapTicks":49588,"Mech_RPM":-469.641693,"cg_du":45.0804634,"cg_dv":47.2885628,"cg_dw":54.9195366,"cg_id_a":15.4297018,"cg_id_raw_a":13.8081665,"cg_iq_a":-201.431274,"cg_iq_raw_a":-198.993225,"cg_iu_a":-45.338501,"cg_iv_a":-148.603058,"cg_iw_a":193.941559,"cg_sample_age_us":23.9109097,"cg_sample_seq":12174867,"cg_sample_valid":1,"cg_theta_rad":5.68963003,"cg_vd_req_v":-2.32811308,"cg_vd_v":-2.32811308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30735397,"cg_vq_v":-8.30735397,"cg_vu_v":113.492287,"cg_vv_v":121.850235,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2162.019475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2162.019481,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2162.019486,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2162.089111,"values":{"Elec_RPM":-2352.67114,"EncoderCos":53910,"EncoderSin":32274,"GapTicks":49391,"Mech_RPM":-470.53421,"cg_du":55.098835,"cg_dv":51.1382332,"cg_dw":44.901165,"cg_id_a":-3.10475469,"cg_id_raw_a":-7.39314556,"cg_iq_a":-201.337036,"cg_iq_raw_a":-200.710495,"cg_iu_a":106.088234,"cg_iv_a":99.7396927,"cg_iw_a":-205.827927,"cg_sample_age_us":24.0309086,"cg_sample_seq":12176566,"cg_sample_valid":1,"cg_theta_rad":6.26947546,"cg_vd_req_v":-1.93787718,"cg_vd_v":-1.93787718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34311485,"cg_vq_v":-8.34311485,"cg_vu_v":32.5520515,"cg_vv_v":21.1148415,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2162.44458,"values":{"Elec_RPM":-2351.93335,"EncoderCos":53891,"EncoderSin":32863,"GapTicks":49504,"Mech_RPM":-470.386658,"cg_du":54.9960861,"cg_dv":52.1621513,"cg_dw":45.0039139,"cg_id_a":5.8258009,"cg_id_raw_a":4.30576229,"cg_iq_a":-203.406326,"cg_iq_raw_a":-203.828033,"cg_iu_a":70.8954697,"cg_iv_a":129.278412,"cg_iw_a":-200.173889,"cg_sample_age_us":23.4963627,"cg_sample_seq":12178317,"cg_sample_valid":1,"cg_theta_rad":0.0179355163,"cg_vd_req_v":-2.11569619,"cg_vd_v":-2.11569619,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3147068,"cg_vq_v":-8.3147068,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.4297199,"dclink_p_w":-2522.51025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2162.772705,"values":{"Elec_RPM":-2353.81982,"EncoderCos":41688,"EncoderSin":51985,"GapTicks":49826,"Mech_RPM":-470.763977,"cg_du":54.7028122,"cg_dv":46.3783875,"cg_dw":45.2971878,"cg_id_a":5.66027737,"cg_id_raw_a":8.43251801,"cg_iq_a":-200.204102,"cg_iq_raw_a":-199.815109,"cg_iu_a":175.024017,"cg_iv_a":-6.38226318,"cg_iw_a":-168.641754,"cg_sample_age_us":24.0090904,"cg_sample_seq":12179967,"cg_sample_valid":1,"cg_theta_rad":1.13849533,"cg_vd_req_v":-2.00607181,"cg_vd_v":-2.00607181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36360645,"cg_vq_v":-8.36360645,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2163.011095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2163.011101,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2163.011122,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2163.128174,"values":{"Elec_RPM":-2347.61279,"EncoderCos":40935,"EncoderSin":52329,"GapTicks":49419,"Mech_RPM":-469.522552,"cg_du":55.0731926,"cg_dv":48.3294525,"cg_dw":44.9268074,"cg_id_a":-9.84126759,"cg_id_raw_a":-9.76700974,"cg_iq_a":-195.955078,"cg_iq_raw_a":-195.017563,"cg_iu_a":156.684631,"cg_iv_a":12.7907257,"cg_iw_a":-177.304031,"cg_sample_age_us":23.9690914,"cg_sample_seq":12181717,"cg_sample_valid":1,"cg_theta_rad":1.17510974,"cg_vd_req_v":-1.70448208,"cg_vd_v":-1.70448208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43309116,"cg_vq_v":-8.43309116,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2421.00513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2163.460205,"values":{"Elec_RPM":-2354.28589,"EncoderCos":28757,"EncoderSin":53744,"GapTicks":49918,"Mech_RPM":-470.857178,"cg_du":45.3806839,"cg_dv":53.862709,"cg_dw":54.6193161,"cg_id_a":5.97017765,"cg_id_raw_a":10.3278179,"cg_iq_a":-202.618073,"cg_iq_raw_a":-202.153534,"cg_iu_a":-180.310547,"cg_iv_a":8.29650879,"cg_iw_a":172.014038,"cg_sample_age_us":23.8963642,"cg_sample_seq":12183416,"cg_sample_valid":1,"cg_theta_rad":1.76106751,"cg_vd_req_v":-1.99581432,"cg_vd_v":-1.99581432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33648491,"cg_vq_v":-8.33648491,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2163.792236,"values":{"Elec_RPM":-2357.63232,"EncoderCos":17882,"EncoderSin":48156,"GapTicks":49585,"Mech_RPM":-471.526459,"cg_du":54.9223595,"cg_dv":45.0776405,"cg_dw":47.1409378,"cg_id_a":19.4241486,"cg_id_raw_a":17.6597004,"cg_iq_a":-201.37326,"cg_iq_raw_a":-200.587616,"cg_iu_a":193.544617,"cg_iv_a":-38.0956116,"cg_iw_a":-155.449005,"cg_sample_age_us":23.994545,"cg_sample_seq":12185116,"cg_sample_valid":1,"cg_theta_rad":2.34157753,"cg_vd_req_v":-2.31456065,"cg_vd_v":-2.31456065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36170769,"cg_vq_v":-8.36170769,"cg_vu_v":15.836132,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5326843,"dclink_p_w":-2392.68701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2611,"hz_tim_isr":4998,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2164.003518,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2164.003524,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2164.003529,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2164.143799,"values":{"Elec_RPM":-2365.79663,"EncoderCos":11928,"EncoderSin":37743,"GapTicks":49330,"Mech_RPM":-473.159332,"cg_du":44.8456421,"cg_dv":55.1543579,"cg_dw":50.8561668,"cg_id_a":-6.93836212,"cg_id_raw_a":-11.8348532,"cg_iq_a":-195.762787,"cg_iq_raw_a":-195.205673,"cg_iu_a":-194.626862,"cg_iv_a":114.382217,"cg_iw_a":70.8937378,"cg_sample_age_us":23.9472733,"cg_sample_seq":12186817,"cg_sample_valid":1,"cg_theta_rad":2.90851927,"cg_vd_req_v":-1.7338177,"cg_vd_v":-1.7338177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45082474,"cg_vq_v":-8.45082474,"cg_vu_v":121.850235,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8933105,"dclink_p_w":-2444.87866,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2164.47583,"values":{"Elec_RPM":-2364.65161,"EncoderCos":12603,"EncoderSin":25580,"GapTicks":49398,"Mech_RPM":-472.930328,"cg_du":55.0925293,"cg_dv":44.9074707,"cg_dw":51.1749496,"cg_id_a":-15.1360922,"cg_id_raw_a":-10.98985,"cg_iq_a":-196.816055,"cg_iq_raw_a":-198.152908,"cg_iu_a":182.3815,"cg_iv_a":-156.178009,"cg_iw_a":-26.2034912,"cg_sample_age_us":23.9836369,"cg_sample_seq":12188516,"cg_sample_valid":1,"cg_theta_rad":3.49108624,"cg_vd_req_v":-1.59377027,"cg_vd_v":-1.59377027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4362545,"cg_vq_v":-8.4362545,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-16.795454,"dclink_p_w":-2423.32813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2164.827393,"values":{"Elec_RPM":-2365.6123,"EncoderCos":19008,"EncoderSin":16193,"GapTicks":49797,"Mech_RPM":-473.122437,"cg_du":46.5335083,"cg_dv":54.7299881,"cg_dw":45.2700119,"cg_id_a":11.2727232,"cg_id_raw_a":10.6967344,"cg_iq_a":-205.790619,"cg_iq_raw_a":-204.801514,"cg_iu_a":-172.989288,"cg_iv_a":176.359161,"cg_iw_a":-3.36987305,"cg_sample_age_us":26.8890915,"cg_sample_seq":12190220,"cg_sample_valid":1,"cg_theta_rad":4.07204485,"cg_vd_req_v":-2.14381289,"cg_vd_v":-2.14381289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28393555,"cg_vq_v":-8.28393555,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.5798016,"dclink_p_w":-2399.5061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2164.995272,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2164.995278,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2164.995284,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2165.16333,"values":{"Elec_RPM":-2358.27856,"EncoderCos":31012,"EncoderSin":11465,"GapTicks":49636,"Mech_RPM":-471.655701,"cg_du":52.9704895,"cg_dv":45.1244774,"cg_dw":54.8755226,"cg_id_a":13.9234791,"cg_id_raw_a":10.6085176,"cg_iq_a":-198.967194,"cg_iq_raw_a":-198.05069,"cg_iu_a":148.928436,"cg_iv_a":-191.443237,"cg_iw_a":42.5148087,"cg_sample_age_us":23.5872726,"cg_sample_seq":12191917,"cg_sample_valid":1,"cg_theta_rad":4.64617252,"cg_vd_req_v":-2.21600103,"cg_vd_v":-2.21600103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37508297,"cg_vq_v":-8.37508297,"cg_vu_v":141.205521,"cg_vv_v":109.973145,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2165.495361,"values":{"Elec_RPM":-2349.72119,"EncoderCos":42919,"EncoderSin":13951,"GapTicks":49461,"Mech_RPM":-469.944214,"cg_du":48.7675896,"cg_dv":55.0346107,"cg_dw":44.9653893,"cg_id_a":-9.41103935,"cg_id_raw_a":-13.6680155,"cg_iq_a":-202.159302,"cg_iq_raw_a":-201.864227,"cg_iu_a":-94.4126587,"cg_iv_a":201.729858,"cg_iw_a":-107.3172,"cg_sample_age_us":23.9836369,"cg_sample_seq":12193616,"cg_sample_valid":1,"cg_theta_rad":5.22611141,"cg_vd_req_v":-1.81508303,"cg_vd_v":-1.81508303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30100441,"cg_vq_v":-8.30100441,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2431.17212,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2165.846924,"values":{"Elec_RPM":-2351.20654,"EncoderCos":43484,"EncoderSin":14255,"GapTicks":49533,"Mech_RPM":-470.241333,"cg_du":47.7053566,"cg_dv":54.9699173,"cg_dw":45.0300827,"cg_id_a":3.38918066,"cg_id_raw_a":-4.95111847,"cg_iq_a":-202.752151,"cg_iq_raw_a":-201.924683,"cg_iu_a":-129.242981,"cg_iv_a":201.186203,"cg_iw_a":-71.943222,"cg_sample_age_us":23.9836369,"cg_sample_seq":12195367,"cg_sample_valid":1,"cg_theta_rad":5.25273705,"cg_vd_req_v":-2.08125687,"cg_vd_v":-2.08125687,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31271839,"cg_vq_v":-8.31271839,"cg_vu_v":137.246475,"cg_vv_v":142.525192,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.5961113,"dclink_p_w":-2394.56592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2166.018596,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2166.018601,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2166.018607,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2166.178955,"values":{"Elec_RPM":-2355.87915,"EncoderCos":49798,"EncoderSin":45451,"GapTicks":49443,"Mech_RPM":-471.175812,"cg_du":44.9485283,"cg_dv":47.9050751,"cg_dw":55.0514717,"cg_id_a":13.4252329,"cg_id_raw_a":8.20388222,"cg_iq_a":-198.2883,"cg_iq_raw_a":-197.94696,"cg_iu_a":-61.0320816,"cg_iv_a":-134.64917,"cg_iw_a":195.681244,"cg_sample_age_us":23.5472736,"cg_sample_seq":12196966,"cg_sample_valid":1,"cg_theta_rad":0.646223783,"cg_vd_req_v":-2.24551034,"cg_vd_v":-2.24551034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38483334,"cg_vq_v":-8.38483334,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2399.2439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2166.510986,"values":{"Elec_RPM":-2358.6084,"EncoderCos":40134,"EncoderSin":52668,"GapTicks":49321,"Mech_RPM":-471.72168,"cg_du":55.1621132,"cg_dv":50.0706558,"cg_dw":44.8378868,"cg_id_a":-7.82750177,"cg_id_raw_a":-9.87013149,"cg_iq_a":-198.039124,"cg_iq_raw_a":-199.17894,"cg_iu_a":128.958099,"cg_iv_a":67.4826813,"cg_iw_a":-196.440781,"cg_sample_age_us":23.9181824,"cg_sample_seq":12198666,"cg_sample_valid":1,"cg_theta_rad":1.21665049,"cg_vd_req_v":-1.77060473,"cg_vd_v":-1.77060473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41641235,"cg_vq_v":-8.41641235,"cg_vu_v":1.75957024,"cg_vv_v":2.63935518,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.1560802,"dclink_p_w":-2475.36084,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2166.862549,"values":{"Elec_RPM":-2357.36816,"EncoderCos":28054,"EncoderSin":53630,"GapTicks":49523,"Mech_RPM":-471.473633,"cg_du":45.0217209,"cg_dv":52.2305489,"cg_dw":54.9782791,"cg_id_a":-6.07729912,"cg_id_raw_a":0.540378273,"cg_iq_a":-201.147736,"cg_iq_raw_a":-203.372208,"cg_iu_a":-170.017303,"cg_iv_a":-10.1516113,"cg_iw_a":180.168915,"cg_sample_age_us":23.7763634,"cg_sample_seq":12200366,"cg_sample_valid":1,"cg_theta_rad":1.79341125,"cg_vd_req_v":-1.7418555,"cg_vd_v":-1.7418555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38817215,"cg_vq_v":-8.38817215,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2484.93018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2599,"hz_tim_isr":5001,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2167.010736,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2167.010742,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2167.010747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2167.198486,"values":{"Elec_RPM":-2355.6333,"EncoderCos":27198,"EncoderSin":53426,"GapTicks":49364,"Mech_RPM":-471.126678,"cg_du":44.8769073,"cg_dv":50.215374,"cg_dw":55.1230927,"cg_id_a":-16.3321781,"cg_id_raw_a":-14.5154209,"cg_iq_a":-198.098633,"cg_iq_raw_a":-200.423981,"cg_iu_a":-145.733917,"cg_iv_a":-44.0396118,"cg_iw_a":189.773529,"cg_sample_age_us":23.772728,"cg_sample_seq":12202116,"cg_sample_valid":1,"cg_theta_rad":1.83476365,"cg_vd_req_v":-1.54717469,"cg_vd_v":-1.54717469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42298889,"cg_vq_v":-8.42298889,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2586,"hz_tim_isr":4997,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2167.526611,"values":{"Elec_RPM":-2356.82764,"EncoderCos":12466,"EncoderSin":25926,"GapTicks":49500,"Mech_RPM":-471.365509,"cg_du":54.9994087,"cg_dv":45.0005913,"cg_dw":52.0389023,"cg_id_a":-9.68619919,"cg_id_raw_a":-5.9417243,"cg_iq_a":-199.682465,"cg_iq_raw_a":-201.51474,"cg_iu_a":175.205231,"cg_iv_a":-168.863358,"cg_iw_a":-6.34187317,"cg_sample_age_us":24.0745449,"cg_sample_seq":12203717,"cg_sample_valid":1,"cg_theta_rad":3.47010303,"cg_vd_req_v":-1.68708062,"cg_vd_v":-1.68708062,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38912106,"cg_vq_v":-8.38912106,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2462.18848,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2586,"hz_tim_isr":4997,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2167.88208,"values":{"Elec_RPM":-2351.09424,"EncoderCos":11601,"EncoderSin":36117,"GapTicks":49847,"Mech_RPM":-470.218872,"cg_du":45.31633,"cg_dv":54.68367,"cg_dw":53.8434181,"cg_id_a":11.0469131,"cg_id_raw_a":10.3276939,"cg_iq_a":-200.089935,"cg_iq_raw_a":-200.269562,"cg_iu_a":-187.124374,"cg_iv_a":28.1218872,"cg_iw_a":159.002487,"cg_sample_age_us":23.8963642,"cg_sample_seq":12205516,"cg_sample_valid":1,"cg_theta_rad":2.99025393,"cg_vd_req_v":-2.09074616,"cg_vd_v":-2.09074616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37778568,"cg_vq_v":-8.37778568,"cg_vu_v":38.7105446,"cg_vv_v":52.3472176,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2383.50781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2586,"hz_tim_isr":4997,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2168.003304,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2168.00331,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2168.003316,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2168.303955,"values":{"Elec_RPM":-2350.26611,"EncoderCos":46266,"EncoderSin":49225,"GapTicks":49737,"Mech_RPM":-470.053223,"cg_du":53.3740425,"cg_dv":45.2160263,"cg_dw":54.7839737,"cg_id_a":19.0325985,"cg_id_raw_a":18.3463497,"cg_iq_a":-202.038147,"cg_iq_raw_a":-200.660309,"cg_iu_a":159.946564,"cg_iv_a":-188.326279,"cg_iw_a":28.379715,"cg_sample_age_us":23.5763645,"cg_sample_seq":12207466,"cg_sample_valid":1,"cg_theta_rad":0.886520803,"cg_vd_req_v":-2.31969309,"cg_vd_v":-2.31969309,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34176159,"cg_vq_v":-8.34176159,"cg_vu_v":48.8280716,"cg_vv_v":43.549366,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-17.1723881,"dclink_p_w":-2485.26782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2168.823486,"values":{"Elec_RPM":-2351.23413,"EncoderCos":15810,"EncoderSin":19415,"GapTicks":49803,"Mech_RPM":-470.246826,"cg_du":54.7240219,"cg_dv":53.3595695,"cg_dw":45.2759781,"cg_id_a":12.1335106,"cg_id_raw_a":12.1028919,"cg_iq_a":-204.611801,"cg_iq_raw_a":-205.981247,"cg_iu_a":39.8345032,"cg_iv_a":147.472839,"cg_iw_a":-195.752151,"cg_sample_age_us":23.994545,"cg_sample_seq":12210116,"cg_sample_valid":1,"cg_theta_rad":3.81535172,"cg_vd_req_v":-2.13305688,"cg_vd_v":-2.13305688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26315594,"cg_vq_v":-8.26315594,"cg_vu_v":28.1531239,"cg_vv_v":17.1558094,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2168.89889,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2168.898899,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2168.898902,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2168.994984,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2168.994992,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2168.994999,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2169.206299,"values":{"Elec_RPM":-2354.04346,"EncoderCos":41110,"EncoderSin":52272,"GapTicks":49496,"Mech_RPM":-470.808685,"cg_du":55.0030251,"cg_dv":47.9337959,"cg_dw":44.9969749,"cg_id_a":-8.88026428,"cg_id_raw_a":-5.21789598,"cg_iq_a":-198.763412,"cg_iq_raw_a":-201.645462,"cg_iu_a":164.332077,"cg_iv_a":14.5666962,"cg_iw_a":-178.898773,"cg_sample_age_us":23.8672733,"cg_sample_seq":12212116,"cg_sample_valid":1,"cg_theta_rad":1.17023575,"cg_vd_req_v":-1.72246337,"cg_vd_v":-1.72246337,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39409637,"cg_vq_v":-8.39409637,"cg_vu_v":130.648087,"cg_vv_v":130.208206,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-17.2829323,"dclink_p_w":-2493.66382,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2169.53833,"values":{"Elec_RPM":-2354.00293,"EncoderCos":29091,"EncoderSin":53772,"GapTicks":49991,"Mech_RPM":-470.800568,"cg_du":45.4465866,"cg_dv":54.5534134,"cg_dw":54.3178062,"cg_id_a":14.1899776,"cg_id_raw_a":14.216115,"cg_iq_a":-201.225143,"cg_iq_raw_a":-200.507065,"cg_iu_a":-183.282532,"cg_iv_a":17.4299622,"cg_iw_a":165.85257,"cg_sample_age_us":23.7836361,"cg_sample_seq":12213816,"cg_sample_valid":1,"cg_theta_rad":1.74560833,"cg_vd_req_v":-2.15835261,"cg_vd_v":-2.15835261,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37511253,"cg_vq_v":-8.37511253,"cg_vu_v":39.1504402,"cg_vv_v":54.5466805,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2423.37256,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2169.889893,"values":{"Elec_RPM":-2354.7334,"EncoderCos":12498,"EncoderSin":39761,"GapTicks":49874,"Mech_RPM":-470.946655,"cg_du":45.3402901,"cg_dv":54.6597099,"cg_dw":46.2995033,"cg_id_a":8.03037167,"cg_id_raw_a":11.194397,"cg_iq_a":-202.058578,"cg_iq_raw_a":-203.004181,"cg_iu_a":-182.412689,"cg_iv_a":150.191132,"cg_iw_a":32.2215652,"cg_sample_age_us":23.8490906,"cg_sample_seq":12215471,"cg_sample_valid":1,"cg_theta_rad":2.86293483,"cg_vd_req_v":-2.01287723,"cg_vd_v":-2.01287723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32666492,"cg_vq_v":-8.32666492,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2507.03638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2169.987051,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2169.987057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2169.987063,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2170.22583,"values":{"Elec_RPM":-2354.26074,"EncoderCos":17547,"EncoderSin":47766,"GapTicks":49900,"Mech_RPM":-470.852142,"cg_du":54.6360435,"cg_dv":45.3639565,"cg_dw":46.1241226,"cg_id_a":16.8734379,"cg_id_raw_a":20.7717361,"cg_iq_a":-202.779587,"cg_iq_raw_a":-203.993927,"cg_iu_a":184.338684,"cg_iv_a":-19.6112671,"cg_iw_a":-164.727417,"cg_sample_age_us":23.954546,"cg_sample_seq":12217266,"cg_sample_valid":1,"cg_theta_rad":2.36479497,"cg_vd_req_v":-2.24494123,"cg_vd_v":-2.24494123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30468178,"cg_vq_v":-8.30468178,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2408.68555,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2170.557861,"values":{"Elec_RPM":-2352.24561,"EncoderCos":12411,"EncoderSin":26065,"GapTicks":49544,"Mech_RPM":-470.449127,"cg_du":54.9597321,"cg_dv":45.0402679,"cg_dw":52.4393959,"cg_id_a":-5.3042345,"cg_id_raw_a":-0.345715016,"cg_iq_a":-199.529343,"cg_iq_raw_a":-201.169662,"cg_iu_a":172.704407,"cg_iv_a":-170.421844,"cg_iw_a":-2.28256226,"cg_sample_age_us":24.0745449,"cg_sample_seq":12218917,"cg_sample_valid":1,"cg_theta_rad":3.46548939,"cg_vd_req_v":-1.78203619,"cg_vd_v":-1.78203619,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40301228,"cg_vq_v":-8.40301228,"cg_vu_v":42.2296829,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2170.909424,"values":{"Elec_RPM":-2348.89331,"EncoderCos":12789,"EncoderSin":25008,"GapTicks":49321,"Mech_RPM":-469.778656,"cg_du":55.162693,"cg_dv":44.837307,"cg_dw":49.9018135,"cg_id_a":-16.3417091,"cg_id_raw_a":-17.9247627,"cg_iq_a":-196.021729,"cg_iq_raw_a":-195.802948,"cg_iu_a":191.841156,"cg_iv_a":-137.947357,"cg_iw_a":-53.8937912,"cg_sample_age_us":24.0709095,"cg_sample_seq":12220666,"cg_sample_valid":1,"cg_theta_rad":3.51455784,"cg_vd_req_v":-1.58718431,"cg_vd_v":-1.58718431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48084259,"cg_vq_v":-8.48084259,"cg_vu_v":40.4701157,"cg_vv_v":39.1504402,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-17.4351559,"dclink_p_w":-2515.6272,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2171.010642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2171.010648,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2171.010654,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2171.241455,"values":{"Elec_RPM":-2347.01807,"EncoderCos":41847,"EncoderSin":13437,"GapTicks":49391,"Mech_RPM":-469.403625,"cg_du":50.9676323,"cg_dv":55.09832,"cg_dw":44.90168,"cg_id_a":-18.9139671,"cg_id_raw_a":-17.7239971,"cg_iq_a":-197.704056,"cg_iq_raw_a":-198.156204,"cg_iu_a":-25.5131264,"cg_iv_a":183.571686,"cg_iw_a":-158.058563,"cg_sample_age_us":23.9836369,"cg_sample_seq":12222266,"cg_sample_valid":1,"cg_theta_rad":5.1707058,"cg_vd_req_v":-1.5815258,"cg_vd_v":-1.5815258,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39730453,"cg_vq_v":-8.39730453,"cg_vu_v":40.0302238,"cg_vv_v":61.5849609,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-17.0654697,"dclink_p_w":-2462.28711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2171.577393,"values":{"Elec_RPM":-2354.55957,"EncoderCos":42349,"EncoderSin":13691,"GapTicks":49373,"Mech_RPM":-470.911896,"cg_du":49.8065033,"cg_dv":55.1150169,"cg_dw":44.8849831,"cg_id_a":-19.7191849,"cg_id_raw_a":-16.8854675,"cg_iq_a":-199.349564,"cg_iq_raw_a":-196.028931,"cg_iu_a":-54.6531677,"cg_iv_a":191.581573,"cg_iw_a":-151.099747,"cg_sample_age_us":23.9581814,"cg_sample_seq":12224017,"cg_sample_valid":1,"cg_theta_rad":5.19412994,"cg_vd_req_v":-1.58500361,"cg_vd_v":-1.58500361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37528038,"cg_vq_v":-8.37528038,"cg_vu_v":102.93486,"cg_vv_v":102.494972,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.3224716,"dclink_p_w":-2362.26416,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2171.928955,"values":{"Elec_RPM":-2353.77954,"EncoderCos":51290,"EncoderSin":22560,"GapTicks":49372,"Mech_RPM":-470.75592,"cg_du":48.8148232,"cg_dv":44.883934,"cg_dw":55.116066,"cg_id_a":-12.8490295,"cg_id_raw_a":-12.7352324,"cg_iq_a":-198.081848,"cg_iq_raw_a":-200.532883,"cg_iu_a":30.0849152,"cg_iv_a":-183.650833,"cg_iw_a":153.565918,"cg_sample_age_us":23.8527279,"cg_sample_seq":12225716,"cg_sample_valid":1,"cg_theta_rad":5.79438066,"cg_vd_req_v":-1.73647451,"cg_vd_v":-1.73647451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44918156,"cg_vq_v":-8.44918156,"cg_vu_v":38.7105446,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4297199,"dclink_p_w":-2522.51025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2172.003582,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2172.003588,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2172.003594,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2172.260986,"values":{"Elec_RPM":-2354.79126,"EncoderCos":53761,"EncoderSin":34350,"GapTicks":50054,"Mech_RPM":-470.958252,"cg_du":54.3112946,"cg_dv":54.4961243,"cg_dw":45.5038757,"cg_id_a":4.69234371,"cg_id_raw_a":9.56280518,"cg_iq_a":-201.514984,"cg_iq_raw_a":-203.474564,"cg_iu_a":13.6302147,"cg_iv_a":166.718292,"cg_iw_a":-180.348511,"cg_sample_age_us":23.4054546,"cg_sample_seq":12227416,"cg_sample_valid":1,"cg_theta_rad":0.0775904059,"cg_vd_req_v":-2.05093145,"cg_vd_v":-2.05093145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33574963,"cg_vq_v":-8.33574963,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2172.612549,"values":{"Elec_RPM":-2358.14648,"EncoderCos":50047,"EncoderSin":45024,"GapTicks":49365,"Mech_RPM":-471.629303,"cg_du":44.8779373,"cg_dv":48.6862984,"cg_dw":55.1220627,"cg_id_a":0.981385708,"cg_id_raw_a":-3.62058449,"cg_iq_a":-197.659027,"cg_iq_raw_a":-199.610931,"cg_iu_a":-38.4159317,"cg_iv_a":-156.576691,"cg_iw_a":195.826233,"cg_sample_age_us":23.4054546,"cg_sample_seq":12229120,"cg_sample_valid":1,"cg_theta_rad":0.664652228,"cg_vd_req_v":-2.01269746,"cg_vd_v":-2.01269746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41567135,"cg_vq_v":-8.41567135,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2405.80933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2172.94458,"values":{"Elec_RPM":-2360.37402,"EncoderCos":39700,"EncoderSin":52804,"GapTicks":49352,"Mech_RPM":-472.074829,"cg_du":55.1337204,"cg_dv":50.8867798,"cg_dw":44.8662796,"cg_id_a":-1.5119462,"cg_id_raw_a":-3.40562248,"cg_iq_a":-199.248978,"cg_iq_raw_a":-198.954987,"cg_iu_a":108.226624,"cg_iv_a":79.4431458,"cg_iw_a":-196.223312,"cg_sample_age_us":23.8963642,"cg_sample_seq":12230816,"cg_sample_valid":1,"cg_theta_rad":1.23749876,"cg_vd_req_v":-1.90204847,"cg_vd_v":-1.90204847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40927887,"cg_vq_v":-8.40927887,"cg_vu_v":39.590332,"cg_vv_v":42.6695786,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2433.63232,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2172.994714,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2172.994719,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2172.994724,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2173.280518,"values":{"Elec_RPM":-2353.65015,"EncoderCos":27512,"EncoderSin":53474,"GapTicks":49428,"Mech_RPM":-470.730042,"cg_du":44.9347343,"cg_dv":50.8727112,"cg_dw":55.0652657,"cg_id_a":-15.48843,"cg_id_raw_a":-12.2848644,"cg_iq_a":-198.789886,"cg_iq_raw_a":-200.100967,"cg_iu_a":-156.933258,"cg_iv_a":-29.6870422,"cg_iw_a":186.6203,"cg_sample_age_us":23.8963642,"cg_sample_seq":12232516,"cg_sample_valid":1,"cg_theta_rad":1.81924069,"cg_vd_req_v":-1.54992938,"cg_vd_v":-1.54992938,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39042473,"cg_vq_v":-8.39042473,"cg_vu_v":20.6749516,"cg_vv_v":18.4754887,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.2629986,"dclink_p_w":-2505.97534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121959254,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2173.63208,"values":{"Elec_RPM":-2357.35083,"EncoderCos":17055,"EncoderSin":47257,"GapTicks":49811,"Mech_RPM":-471.470184,"cg_du":54.716568,"cg_dv":46.5493164,"cg_dw":45.283432,"cg_id_a":4.05880976,"cg_id_raw_a":9.63504124,"cg_iq_a":-201.882065,"cg_iq_raw_a":-204.543808,"cg_iu_a":176.365021,"cg_iv_a":-3.37399292,"cg_iw_a":-172.991028,"cg_sample_age_us":23.8927269,"cg_sample_seq":12234216,"cg_sample_valid":1,"cg_theta_rad":2.39820457,"cg_vd_req_v":-1.96780503,"cg_vd_v":-1.96780503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32697773,"cg_vq_v":-8.32697773,"cg_vu_v":48.8280716,"cg_vv_v":46.6286087,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2402.41016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2173.964111,"values":{"Elec_RPM":-2360.16797,"EncoderCos":11701,"EncoderSin":36674,"GapTicks":49590,"Mech_RPM":-472.033569,"cg_du":45.0824242,"cg_dv":54.9175758,"cg_dw":52.8256721,"cg_id_a":5.91497135,"cg_id_raw_a":1.68772316,"cg_iq_a":-198.669052,"cg_iq_raw_a":-197.811905,"cg_iu_a":-194.300659,"cg_iv_a":59.8714905,"cg_iw_a":134.429169,"cg_sample_age_us":23.9218178,"cg_sample_seq":12235917,"cg_sample_valid":1,"cg_theta_rad":2.96180224,"cg_vd_req_v":-2.00629139,"cg_vd_v":-2.00629139,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4227066,"cg_vq_v":-8.4227066,"cg_vu_v":97.2162552,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-16.1321907,"dclink_p_w":-2334.72583,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2174.018578,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2174.018584,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2174.018589,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2174.296143,"values":{"Elec_RPM":-2358.62158,"EncoderCos":20043,"EncoderSin":15405,"GapTicks":49618,"Mech_RPM":-471.724304,"cg_du":45.107296,"cg_dv":54.892704,"cg_dw":47.3963585,"cg_id_a":-2.9708395,"cg_id_raw_a":3.86566567,"cg_iq_a":-199.506378,"cg_iq_raw_a":-201.253784,"cg_iu_a":-172.989288,"cg_iv_a":169.255386,"cg_iw_a":3.73390198,"cg_sample_age_us":23.9218178,"cg_sample_seq":12237566,"cg_sample_valid":1,"cg_theta_rad":4.08877611,"cg_vd_req_v":-1.8207556,"cg_vd_v":-1.8207556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38414383,"cg_vq_v":-8.38414383,"cg_vu_v":7.47817326,"cg_vv_v":24.1940918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2454.58252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2174.647705,"values":{"Elec_RPM":-2359.05835,"EncoderCos":13400,"EncoderSin":23524,"GapTicks":49624,"Mech_RPM":-471.811676,"cg_du":54.8872375,"cg_dv":45.1127625,"cg_dw":47.2607155,"cg_id_a":14.749896,"cg_id_raw_a":12.0811882,"cg_iq_a":-201.398514,"cg_iq_raw_a":-200.139572,"cg_iu_a":196.516602,"cg_iv_a":-61.0741882,"cg_iw_a":-135.442413,"cg_sample_age_us":23.9727268,"cg_sample_seq":12239366,"cg_sample_valid":1,"cg_theta_rad":3.58468962,"cg_vd_req_v":-2.20915556,"cg_vd_v":-2.20915556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32209492,"cg_vq_v":-8.32209492,"cg_vu_v":1.75957024,"cg_vv_v":1.75957024,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2486.57935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2174.979736,"values":{"Elec_RPM":-2356.84741,"EncoderCos":43163,"EncoderSin":14087,"GapTicks":49462,"Mech_RPM":-471.369476,"cg_du":48.3066635,"cg_dv":55.0336685,"cg_dw":44.9663315,"cg_id_a":-2.80698776,"cg_id_raw_a":-6.07524633,"cg_iq_a":-202.130219,"cg_iq_raw_a":-201.723999,"cg_iu_a":-114.817932,"cg_iv_a":201.874832,"cg_iw_a":-87.0569,"cg_sample_age_us":23.9836369,"cg_sample_seq":12240966,"cg_sample_valid":1,"cg_theta_rad":5.24192286,"cg_vd_req_v":-1.95104718,"cg_vd_v":-1.95104718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34407234,"cg_vq_v":-8.34407234,"cg_vu_v":38.7105446,"cg_vv_v":56.3062477,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2401.80127,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2175.011327,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2175.011334,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2175.011339,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2175.311768,"values":{"Elec_RPM":-2355.77344,"EncoderCos":43953,"EncoderSin":14583,"GapTicks":49749,"Mech_RPM":-471.154694,"cg_du":46.6711845,"cg_dv":54.7731972,"cg_dw":45.2268028,"cg_id_a":8.97639751,"cg_id_raw_a":8.68143749,"cg_iq_a":-203.098938,"cg_iq_raw_a":-201.807312,"cg_iu_a":-153.16391,"cg_iv_a":193.103821,"cg_iw_a":-39.9399185,"cg_sample_age_us":23.9509087,"cg_sample_seq":12242716,"cg_sample_valid":1,"cg_theta_rad":5.28580523,"cg_vd_req_v":-2.18347859,"cg_vd_v":-2.18347859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3171463,"cg_vq_v":-8.3171463,"cg_vu_v":13.6366701,"cg_vv_v":24.1940918,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2463.0957,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2175.66333,"values":{"Elec_RPM":-2353.15625,"EncoderCos":53715,"EncoderSin":35017,"GapTicks":49537,"Mech_RPM":-470.631256,"cg_du":52.2527313,"cg_dv":54.9657021,"cg_dw":45.0342979,"cg_id_a":-8.79488087,"cg_id_raw_a":-2.74723625,"cg_iq_a":-198.769333,"cg_iq_raw_a":-200.943756,"cg_iu_a":-7.31872082,"cg_iv_a":174.764435,"cg_iw_a":-167.445709,"cg_sample_age_us":23.4781818,"cg_sample_seq":12244366,"cg_sample_valid":1,"cg_theta_rad":0.115939774,"cg_vd_req_v":-1.78613019,"cg_vd_v":-1.78613019,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39027596,"cg_vq_v":-8.39027596,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2480.59033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2175.995361,"values":{"Elec_RPM":-2347.33496,"EncoderCos":53580,"EncoderSin":35805,"GapTicks":49324,"Mech_RPM":-469.46701,"cg_du":50.507679,"cg_dv":55.159668,"cg_dw":44.840332,"cg_id_a":-14.2658396,"cg_id_raw_a":-14.6573238,"cg_iq_a":-195.364532,"cg_iq_raw_a":-194.855896,"cg_iu_a":-40.155632,"cg_iv_a":186.978607,"cg_iw_a":-146.822983,"cg_sample_age_us":23.4636364,"cg_sample_seq":12246116,"cg_sample_valid":1,"cg_theta_rad":0.154969543,"cg_vd_req_v":-1.70054233,"cg_vd_v":-1.70054233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46733284,"cg_vq_v":-8.46733284,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2476.51221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2176.003399,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2176.003405,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2176.003411,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2176.331299,"values":{"Elec_RPM":-2348.15161,"EncoderCos":38933,"EncoderSin":53042,"GapTicks":49537,"Mech_RPM":-469.63031,"cg_du":54.9657974,"cg_dv":52.2645798,"cg_dw":45.0342026,"cg_id_a":11.8036213,"cg_id_raw_a":9.49775696,"cg_iq_a":-201.949066,"cg_iq_raw_a":-203.218826,"cg_iu_a":62.4506607,"cg_iv_a":137.397034,"cg_iw_a":-198.434189,"cg_sample_age_us":23.8963642,"cg_sample_seq":12247766,"cg_sample_valid":1,"cg_theta_rad":1.27581763,"cg_vd_req_v":-2.15778017,"cg_vd_v":-2.15778017,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3325758,"cg_vq_v":-8.3325758,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.4369698,"dclink_p_w":-2531.22998,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2176.682861,"values":{"Elec_RPM":-2351.6106,"EncoderCos":38329,"EncoderSin":53218,"GapTicks":49806,"Mech_RPM":-470.322113,"cg_du":54.7212334,"cg_dv":53.4495201,"cg_dw":45.2787666,"cg_id_a":14.5874853,"cg_id_raw_a":14.7496405,"cg_iq_a":-204.505981,"cg_iq_raw_a":-203.830078,"cg_iu_a":31.8971062,"cg_iv_a":158.128525,"cg_iw_a":-196.223328,"cg_sample_age_us":23.9036369,"cg_sample_seq":12249517,"cg_sample_valid":1,"cg_theta_rad":1.30577958,"cg_vd_req_v":-2.19656587,"cg_vd_v":-2.19656587,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27655411,"cg_vq_v":-8.27655411,"cg_vu_v":109.973145,"cg_vv_v":114.37207,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-17.2557487,"dclink_p_w":-2504.9231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2176.995636,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2176.995642,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2176.995648,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2177.014893,"values":{"Elec_RPM":-2356.63403,"EncoderCos":26294,"EncoderSin":53174,"GapTicks":49443,"Mech_RPM":-471.326813,"cg_du":44.9488869,"cg_dv":48.5297089,"cg_dw":55.0511131,"cg_id_a":-6.25072956,"cg_id_raw_a":-11.3921461,"cg_iq_a":-199.540039,"cg_iq_raw_a":-198.906815,"cg_iu_a":-98.9793701,"cg_iv_a":-97.7891998,"cg_iw_a":196.76857,"cg_sample_age_us":23.8600006,"cg_sample_seq":12251217,"cg_sample_valid":1,"cg_theta_rad":1.87685251,"cg_vd_req_v":-1.78633213,"cg_vd_v":-1.78633213,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37099361,"cg_vq_v":-8.37099361,"cg_vu_v":103.374756,"cg_vv_v":98.0960464,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2418.35986,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2177.366455,"values":{"Elec_RPM":-2359.71167,"EncoderCos":11656,"EncoderSin":36457,"GapTicks":49563,"Mech_RPM":-471.942352,"cg_du":45.0573425,"cg_dv":54.9426575,"cg_dw":52.8364716,"cg_id_a":9.15816021,"cg_id_raw_a":7.21879101,"cg_iq_a":-197.369965,"cg_iq_raw_a":-195.956055,"cg_iu_a":-181.397858,"cg_iv_a":17.0312805,"cg_iw_a":164.366577,"cg_sample_age_us":23.9654541,"cg_sample_seq":12252869,"cg_sample_valid":1,"cg_theta_rad":3.00596452,"cg_vd_req_v":-2.0598321,"cg_vd_v":-2.0598321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4439888,"cg_vq_v":-8.4439888,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5923462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2177.698486,"values":{"Elec_RPM":-2357.44238,"EncoderCos":11451,"EncoderSin":34876,"GapTicks":49570,"Mech_RPM":-471.488464,"cg_du":45.0638313,"cg_dv":52.3821831,"cg_dw":54.9361687,"cg_id_a":-5.41680241,"cg_id_raw_a":1.04643321,"cg_iq_a":-199.448303,"cg_iq_raw_a":-201.511459,"cg_iu_a":-172.010712,"cg_iv_a":1.08398438,"cg_iw_a":170.926727,"cg_sample_age_us":23.8418179,"cg_sample_seq":12254616,"cg_sample_valid":1,"cg_theta_rad":3.03718328,"cg_vd_req_v":-1.7370944,"cg_vd_v":-1.7370944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3851862,"cg_vq_v":-8.3851862,"cg_vu_v":95.8965836,"cg_vv_v":95.8965836,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.8208237,"dclink_p_w":-2434.38794,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2178.019251,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2178.019256,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2178.019262,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2178.034424,"values":{"Elec_RPM":-2362.40723,"EncoderCos":21094,"EncoderSin":14741,"GapTicks":49318,"Mech_RPM":-472.481445,"cg_du":44.834816,"cg_dv":55.165184,"cg_dw":50.0946655,"cg_id_a":-12.1541519,"cg_id_raw_a":-15.9950209,"cg_iq_a":-197.165054,"cg_iq_raw_a":-196.531158,"cg_iu_a":-192.705933,"cg_iv_a":133.881393,"cg_iw_a":58.8245392,"cg_sample_age_us":23.9472733,"cg_sample_seq":12256267,"cg_sample_valid":1,"cg_theta_rad":4.14847136,"cg_vd_req_v":-1.68114769,"cg_vd_v":-1.68114769,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44016838,"cg_vq_v":-8.44016838,"cg_vu_v":115.69175,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2486.86548,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2178.542236,"values":{"Elec_RPM":-2352.32446,"EncoderCos":16632,"EncoderSin":46817,"GapTicks":49491,"Mech_RPM":-470.464874,"cg_du":55.007309,"cg_dv":48.0549088,"cg_dw":44.992691,"cg_id_a":-10.7468281,"cg_id_raw_a":-6.05165958,"cg_iq_a":-196.222565,"cg_iq_raw_a":-198.162781,"cg_iu_a":162.411148,"cg_iv_a":15.8714752,"cg_iw_a":-178.282623,"cg_sample_age_us":23.9472733,"cg_sample_seq":12258766,"cg_sample_valid":1,"cg_theta_rad":2.42878079,"cg_vd_req_v":-1.67679286,"cg_vd_v":-1.67679286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43680954,"cg_vq_v":-8.43680954,"cg_vu_v":32.9919434,"cg_vv_v":14.0765619,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2470.58105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2178.882888,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2178.882899,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2178.882902,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2178.97888,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2178.978886,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2178.978891,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2179.026611,"values":{"Elec_RPM":-2349.30688,"EncoderCos":49343,"EncoderSin":46005,"GapTicks":49736,"Mech_RPM":-469.861359,"cg_du":45.2152367,"cg_dv":46.6237869,"cg_dw":54.7847633,"cg_id_a":19.3977776,"cg_id_raw_a":19.4322128,"cg_iq_a":-205.725037,"cg_iq_raw_a":-203.679123,"cg_iu_a":-30.2610683,"cg_iv_a":-163.136826,"cg_iw_a":193.397888,"cg_sample_age_us":23.51091,"cg_sample_seq":12261267,"cg_sample_valid":1,"cg_theta_rad":0.67802012,"cg_vd_req_v":-2.35624409,"cg_vd_v":-2.35624409,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27905273,"cg_vq_v":-8.27905273,"cg_vu_v":134.607132,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2179.378174,"values":{"Elec_RPM":-2349.15845,"EncoderCos":39955,"EncoderSin":52734,"GapTicks":49346,"Mech_RPM":-469.831696,"cg_du":55.1394081,"cg_dv":50.3804665,"cg_dw":44.8605919,"cg_id_a":-4.95300055,"cg_id_raw_a":-7.52041769,"cg_iq_a":-197.192688,"cg_iq_raw_a":-198.132339,"cg_iu_a":84.4506683,"cg_iv_a":114.237228,"cg_iw_a":-198.687897,"cg_sample_age_us":26.772728,"cg_sample_seq":12262970,"cg_sample_valid":1,"cg_theta_rad":1.26100719,"cg_vd_req_v":-1.82349074,"cg_vd_v":-1.82349074,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42760277,"cg_vq_v":-8.42760277,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2179.710205,"values":{"Elec_RPM":-2351.57983,"EncoderCos":38492,"EncoderSin":53191,"GapTicks":49713,"Mech_RPM":-470.315948,"cg_du":54.8059387,"cg_dv":53.1494179,"cg_dw":45.1940613,"cg_id_a":14.4038877,"cg_id_raw_a":13.3224783,"cg_iq_a":-202.703033,"cg_iq_raw_a":-201.773911,"cg_iu_a":38.6747055,"cg_iv_a":152.583221,"cg_iw_a":-191.257919,"cg_sample_age_us":23.9327278,"cg_sample_seq":12264717,"cg_sample_valid":1,"cg_theta_rad":1.29979885,"cg_vd_req_v":-2.19356704,"cg_vd_v":-2.19356704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3020916,"cg_vq_v":-8.3020916,"cg_vu_v":140.325729,"cg_vv_v":135.047012,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-17.2539368,"dclink_p_w":-2497.07007,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2180.002632,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2180.002638,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2180.002643,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2180.042236,"values":{"Elec_RPM":-2351.22827,"EncoderCos":11769,"EncoderSin":36998,"GapTicks":49441,"Mech_RPM":-470.245636,"cg_du":44.9468384,"cg_dv":55.0531616,"cg_dw":52.2150955,"cg_id_a":3.9788785,"cg_id_raw_a":-2.03690553,"cg_iq_a":-197.059601,"cg_iq_raw_a":-195.895721,"cg_iu_a":-194.445633,"cg_iv_a":74.115303,"cg_iw_a":120.33033,"cg_sample_age_us":23.9363632,"cg_sample_seq":12266317,"cg_sample_valid":1,"cg_theta_rad":2.94653916,"cg_vd_req_v":-1.9716568,"cg_vd_v":-1.9716568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45751762,"cg_vq_v":-8.45751762,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2180.397705,"values":{"Elec_RPM":-2342.87964,"EncoderCos":12643,"EncoderSin":25546,"GapTicks":49401,"Mech_RPM":-468.575928,"cg_du":55.0892258,"cg_dv":44.9107742,"cg_dw":51.1019135,"cg_id_a":-15.3657799,"cg_id_raw_a":-13.5996065,"cg_iq_a":-196.905579,"cg_iq_raw_a":-197.362198,"cg_iu_a":192.457291,"cg_iv_a":-130.481125,"cg_iw_a":-61.9761658,"cg_sample_age_us":26.9327278,"cg_sample_seq":12268020,"cg_sample_valid":1,"cg_theta_rad":3.52499914,"cg_vd_req_v":-1.58280265,"cg_vd_v":-1.58280265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42356968,"cg_vq_v":-8.42356968,"cg_vu_v":21.9946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.7849102,"dclink_p_w":-2573.91504,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2180.729736,"values":{"Elec_RPM":-2346.19727,"EncoderCos":20426,"EncoderSin":15162,"GapTicks":49438,"Mech_RPM":-469.239441,"cg_du":44.9441795,"cg_dv":55.0558205,"cg_dw":48.4904633,"cg_id_a":-13.2526302,"cg_id_raw_a":-9.48421097,"cg_iq_a":-199.513443,"cg_iq_raw_a":-200.954788,"cg_iu_a":-177.990936,"cg_iv_a":167.406952,"cg_iw_a":10.583992,"cg_sample_age_us":23.8345451,"cg_sample_seq":12269716,"cg_sample_valid":1,"cg_theta_rad":4.10236406,"cg_vd_req_v":-1.6400404,"cg_vd_v":-1.6400404,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38870239,"cg_vq_v":-8.38870239,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2478.76001,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2180.995143,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2180.995149,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2180.995154,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2181.061768,"values":{"Elec_RPM":-2346.84766,"EncoderCos":31724,"EncoderSin":11456,"GapTicks":49993,"Mech_RPM":-469.369537,"cg_du":54.3280182,"cg_dv":45.4488068,"cg_dw":54.5511932,"cg_id_a":16.422308,"cg_id_raw_a":17.3260002,"cg_iq_a":-202.052521,"cg_iq_raw_a":-202.73175,"cg_iu_a":168.065186,"cg_iv_a":-181.657425,"cg_iw_a":13.5922394,"cg_sample_age_us":24.1509094,"cg_sample_seq":12271417,"cg_sample_valid":1,"cg_theta_rad":4.67729759,"cg_vd_req_v":-2.25070095,"cg_vd_v":-2.25070095,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35229683,"cg_vq_v":-8.35229683,"cg_vu_v":143.404984,"cg_vv_v":140.765625,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2181.41333,"values":{"Elec_RPM":-2353.4751,"EncoderCos":43502,"EncoderSin":14337,"GapTicks":49555,"Mech_RPM":-470.695007,"cg_du":47.5600128,"cg_dv":54.9494553,"cg_dw":45.0505447,"cg_id_a":2.80897093,"cg_id_raw_a":-3.20992422,"cg_iq_a":-200.519623,"cg_iq_raw_a":-200.250183,"cg_iu_a":-130.112823,"cg_iv_a":199.011566,"cg_iw_a":-68.898735,"cg_sample_age_us":23.8527279,"cg_sample_seq":12273117,"cg_sample_valid":1,"cg_theta_rad":5.25793982,"cg_vd_req_v":-2.05997181,"cg_vd_v":-2.05997181,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34935284,"cg_vq_v":-8.34935284,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2181.745361,"values":{"Elec_RPM":-2355.25293,"EncoderCos":51835,"EncoderSin":23613,"GapTicks":49357,"Mech_RPM":-471.050568,"cg_du":50.9761314,"cg_dv":44.8708153,"cg_dw":55.1291847,"cg_id_a":1.20926321,"cg_id_raw_a":-2.18240905,"cg_iq_a":-198.354111,"cg_iq_raw_a":-197.967392,"cg_iu_a":101.195313,"cg_iv_a":-199.48938,"cg_iw_a":98.2940674,"cg_sample_age_us":23.7399998,"cg_sample_seq":12274816,"cg_sample_valid":1,"cg_theta_rad":5.85221958,"cg_vd_req_v":-2.03907466,"cg_vd_v":-2.03907466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37859917,"cg_vq_v":-8.37859917,"cg_vu_v":42.2296829,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2181.987391,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2181.987398,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2181.987403,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2182.077393,"values":{"Elec_RPM":-2356.12915,"EncoderCos":52109,"EncoderSin":24194,"GapTicks":49438,"Mech_RPM":-471.22583,"cg_du":52.0939293,"cg_dv":44.9442368,"cg_dw":55.0557632,"cg_id_a":12.1633043,"cg_id_raw_a":8.22202396,"cg_iq_a":-200.337387,"cg_iq_raw_a":-199.390472,"cg_iu_a":135.518219,"cg_iv_a":-196.807343,"cg_iw_a":61.2891235,"cg_sample_age_us":23.6636372,"cg_sample_seq":12276567,"cg_sample_valid":1,"cg_theta_rad":5.88297129,"cg_vd_req_v":-2.26098824,"cg_vd_v":-2.26098824,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36031246,"cg_vq_v":-8.36031246,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8316975,"dclink_p_w":-2435.96167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2182.428955,"values":{"Elec_RPM":-2361.95557,"EncoderCos":48708,"EncoderSin":46788,"GapTicks":49783,"Mech_RPM":-472.391113,"cg_du":46.7144852,"cg_dv":45.2575645,"cg_dw":54.7424355,"cg_id_a":2.01249337,"cg_id_raw_a":7.37905216,"cg_iq_a":-204.146606,"cg_iq_raw_a":-205.7155,"cg_iu_a":-4.70916462,"cg_iv_a":-173.466309,"cg_iw_a":178.175476,"cg_sample_age_us":23.5400009,"cg_sample_seq":12278216,"cg_sample_valid":1,"cg_theta_rad":0.725372016,"cg_vd_req_v":-1.96566105,"cg_vd_v":-1.96566105,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30629539,"cg_vq_v":-8.30629539,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-16.9440517,"dclink_p_w":-2452.22192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2182.764893,"values":{"Elec_RPM":-2359.61035,"EncoderCos":53348,"EncoderSin":37216,"GapTicks":49447,"Mech_RPM":-471.922058,"cg_du":47.9951172,"cg_dv":55.0473022,"cg_dw":44.9526978,"cg_id_a":7.14785624,"cg_id_raw_a":-1.05442297,"cg_iq_a":-199.926956,"cg_iq_raw_a":-199.011414,"cg_iu_a":-127.938202,"cg_iv_a":198.50415,"cg_iw_a":-70.5659485,"cg_sample_age_us":23.4854546,"cg_sample_seq":12280016,"cg_sample_valid":1,"cg_theta_rad":0.220912144,"cg_vd_req_v":-2.15458131,"cg_vd_v":-2.15458131,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38118649,"cg_vq_v":-8.38118649,"cg_vu_v":40.0302238,"cg_vv_v":71.7024918,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-16.4456997,"dclink_p_w":-2380.09814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2183.010696,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2183.010701,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2183.010707,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2183.096924,"values":{"Elec_RPM":-2352.99365,"EncoderCos":26451,"EncoderSin":53183,"GapTicks":49392,"Mech_RPM":-470.598755,"cg_du":44.9022141,"cg_dv":48.7838516,"cg_dw":55.0977859,"cg_id_a":-8.52639389,"cg_id_raw_a":-13.4832726,"cg_iq_a":-198.907242,"cg_iq_raw_a":-199.273834,"cg_iu_a":-109.925018,"cg_iv_a":-76.2241211,"cg_iw_a":196.551117,"cg_sample_age_us":23.8527279,"cg_sample_seq":12281616,"cg_sample_valid":1,"cg_theta_rad":1.86837423,"cg_vd_req_v":-1.73894215,"cg_vd_v":-1.73894215,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39517975,"cg_vq_v":-8.39517975,"cg_vu_v":39.1504402,"cg_vv_v":47.0685043,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.1651402,"dclink_p_w":-2484.21899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2183.448486,"values":{"Elec_RPM":-2352.88794,"EncoderCos":25842,"EncoderSin":53015,"GapTicks":49484,"Mech_RPM":-470.577606,"cg_du":44.9861832,"cg_dv":47.7439117,"cg_dw":55.0138168,"cg_id_a":4.54782581,"cg_id_raw_a":0.289521605,"cg_iq_a":-199.694321,"cg_iq_raw_a":-196.459335,"cg_iu_a":-71.2165985,"cg_iv_a":-125.914413,"cg_iw_a":197.131012,"cg_sample_age_us":23.8709087,"cg_sample_seq":12283367,"cg_sample_valid":1,"cg_theta_rad":1.89900613,"cg_vd_req_v":-2.00641251,"cg_vd_v":-2.00641251,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39413261,"cg_vq_v":-8.39413261,"cg_vu_v":114.811958,"cg_vv_v":129.328415,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2183.780518,"values":{"Elec_RPM":-2353.77319,"EncoderCos":11474,"EncoderSin":35416,"GapTicks":49854,"Mech_RPM":-470.754639,"cg_du":45.3224907,"cg_dv":53.7075005,"cg_dw":54.6775093,"cg_id_a":8.07184601,"cg_id_raw_a":10.0124607,"cg_iq_a":-201.30336,"cg_iq_raw_a":-200.33017,"cg_iu_a":-176.359955,"cg_iv_a":6.23059082,"cg_iw_a":170.129364,"cg_sample_age_us":23.9363632,"cg_sample_seq":12285017,"cg_sample_valid":1,"cg_theta_rad":3.02006745,"cg_vd_req_v":-2.00571847,"cg_vd_v":-2.00571847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3322258,"cg_vq_v":-8.3322258,"cg_vu_v":103.814644,"cg_vv_v":109.533249,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.1321907,"dclink_p_w":-2327.62915,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2184.00272,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2184.002726,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2184.002732,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2184.13208,"values":{"Elec_RPM":-2347.3186,"EncoderCos":15169,"EncoderSin":44918,"GapTicks":49586,"Mech_RPM":-469.463715,"cg_du":54.9214859,"cg_dv":52.4755211,"cg_dw":45.0785141,"cg_id_a":13.2493801,"cg_id_raw_a":10.403614,"cg_iq_a":-202.313965,"cg_iq_raw_a":-202.842331,"cg_iu_a":57.2677917,"cg_iv_a":142.108734,"cg_iw_a":-199.376526,"cg_sample_age_us":23.7945461,"cg_sample_seq":12286816,"cg_sample_valid":1,"cg_theta_rad":2.54096603,"cg_vd_req_v":-2.16744804,"cg_vd_v":-2.16744804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31236458,"cg_vq_v":-8.31236458,"cg_vu_v":110.413033,"cg_vv_v":113.492287,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2472.41699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2184.468018,"values":{"Elec_RPM":-2349.63599,"EncoderCos":21713,"EncoderSin":14373,"GapTicks":49381,"Mech_RPM":-469.927216,"cg_du":44.8926926,"cg_dv":55.1073074,"cg_dw":51.438385,"cg_id_a":-4.23732567,"cg_id_raw_a":-5.17378855,"cg_iq_a":-197.563965,"cg_iq_raw_a":-197.40625,"cg_iu_a":-198.541199,"cg_iv_a":98.2174606,"cg_iw_a":100.323738,"cg_sample_age_us":23.8999996,"cg_sample_seq":12288416,"cg_sample_valid":1,"cg_theta_rad":4.18350649,"cg_vd_req_v":-1.84987223,"cg_vd_v":-1.84987223,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44691372,"cg_vq_v":-8.44691372,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-16.362339,"dclink_p_w":-2368.03394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2184.800049,"values":{"Elec_RPM":-2355.79248,"EncoderCos":33570,"EncoderSin":11419,"GapTicks":49337,"Mech_RPM":-471.158478,"cg_du":55.1474876,"cg_dv":44.8525124,"cg_dw":50.2635155,"cg_id_a":-17.4727631,"cg_id_raw_a":-14.225214,"cg_iq_a":-194.307541,"cg_iq_raw_a":-194.340652,"cg_iu_a":187.600616,"cg_iv_a":-142.659058,"cg_iw_a":-44.9415588,"cg_sample_age_us":24.0527267,"cg_sample_seq":12290116,"cg_sample_valid":1,"cg_theta_rad":4.76821423,"cg_vd_req_v":-1.56613255,"cg_vd_v":-1.56613255,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46220303,"cg_vq_v":-8.46220303,"cg_vu_v":39.1504402,"cg_vv_v":38.7105446,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.0962772,"dclink_p_w":-2474.25293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2184.995147,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2184.995153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2184.995159,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2185.151611,"values":{"Elec_RPM":-2356.85767,"EncoderCos":44794,"EncoderSin":15157,"GapTicks":49851,"Mech_RPM":-471.371521,"cg_du":45.3197556,"cg_dv":54.6802444,"cg_dw":46.4360809,"cg_id_a":4.65800858,"cg_id_raw_a":6.55873251,"cg_iq_a":-203.67807,"cg_iq_raw_a":-204.433655,"cg_iu_a":-173.38797,"cg_iv_a":177.845169,"cg_iw_a":-4.4571991,"cg_sample_age_us":23.8272724,"cg_sample_seq":12291817,"cg_sample_valid":1,"cg_theta_rad":5.33033276,"cg_vd_req_v":-2.07394791,"cg_vd_v":-2.07394791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28828907,"cg_vq_v":-8.28828907,"cg_vu_v":102.93486,"cg_vv_v":104.694435,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-17.1198349,"dclink_p_w":-2470.13135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2185.483643,"values":{"Elec_RPM":-2356.95313,"EncoderCos":45488,"EncoderSin":15667,"GapTicks":49433,"Mech_RPM":-471.390625,"cg_du":44.9397316,"cg_dv":55.0602684,"cg_dw":48.4804611,"cg_id_a":-12.8731222,"cg_id_raw_a":-14.0277328,"cg_iq_a":-200.094452,"cg_iq_raw_a":-201.239243,"cg_iu_a":-182.231461,"cg_iv_a":162.151581,"cg_iw_a":12.4324265,"cg_sample_age_us":23.9181824,"cg_sample_seq":12293567,"cg_sample_valid":1,"cg_theta_rad":5.36572409,"cg_vd_req_v":-1.73926473,"cg_vd_v":-1.73926473,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37782764,"cg_vq_v":-8.37782764,"cg_vu_v":111.732712,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2348.68555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2185.815674,"values":{"Elec_RPM":-2352.0603,"EncoderCos":53375,"EncoderSin":37084,"GapTicks":49441,"Mech_RPM":-470.412048,"cg_du":48.1982498,"cg_dv":55.0531044,"cg_dw":44.9468956,"cg_id_a":2.98292351,"cg_id_raw_a":-2.58022308,"cg_iq_a":-199.922348,"cg_iq_raw_a":-198.610413,"cg_iu_a":-120.544456,"cg_iv_a":199.15654,"cg_iw_a":-78.6120834,"cg_sample_age_us":23.4927273,"cg_sample_seq":12295216,"cg_sample_valid":1,"cg_theta_rad":0.217855856,"cg_vd_req_v":-2.07160592,"cg_vd_v":-2.07160592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36891556,"cg_vq_v":-8.36891556,"cg_vu_v":118.770996,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2756844,"dclink_p_w":-2500.21753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2186.019248,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2186.019254,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2186.019259,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2186.167236,"values":{"Elec_RPM":-2350.62939,"EncoderCos":53268,"EncoderSin":37746,"GapTicks":49660,"Mech_RPM":-470.125854,"cg_du":47.0533104,"cg_dv":54.8540268,"cg_dw":45.1459732,"cg_id_a":12.88766,"cg_id_raw_a":9.45767307,"cg_iq_a":-203.177231,"cg_iq_raw_a":-202.810272,"cg_iu_a":-148.778412,"cg_iv_a":196.293274,"cg_iw_a":-47.5148697,"cg_sample_age_us":23.5218182,"cg_sample_seq":12296967,"cg_sample_valid":1,"cg_theta_rad":0.246218696,"cg_vd_req_v":-2.25646639,"cg_vd_v":-2.25646639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29407215,"cg_vq_v":-8.29407215,"cg_vu_v":128.008743,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.3405933,"dclink_p_w":-2364.88672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4613953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2186.503174,"values":{"Elec_RPM":-2349.94043,"EncoderCos":37230,"EncoderSin":53482,"GapTicks":49655,"Mech_RPM":-469.988098,"cg_du":53.0259819,"cg_dv":54.8586845,"cg_dw":45.1413155,"cg_id_a":0.460078716,"cg_id_raw_a":5.66108561,"cg_iq_a":-200.226624,"cg_iq_raw_a":-201.538269,"cg_iu_a":0.00253343582,"cg_iv_a":171.103821,"cg_iw_a":-176.216721,"cg_sample_age_us":23.8999996,"cg_sample_seq":12298617,"cg_sample_valid":1,"cg_theta_rad":1.35716176,"cg_vd_req_v":-1.89736128,"cg_vd_v":-1.89736128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39038849,"cg_vq_v":-8.39038849,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2186.854736,"values":{"Elec_RPM":-2351.49316,"EncoderCos":25819,"EncoderSin":53048,"GapTicks":49447,"Mech_RPM":-470.298645,"cg_du":44.9521294,"cg_dv":47.7513123,"cg_dw":55.0478706,"cg_id_a":7.55147648,"cg_id_raw_a":1.28913796,"cg_iq_a":-196.663956,"cg_iq_raw_a":-195.031555,"cg_iu_a":-24.6795177,"cg_iv_a":-164.260391,"cg_iw_a":188.939911,"cg_sample_age_us":23.772728,"cg_sample_seq":12300320,"cg_sample_valid":1,"cg_theta_rad":1.94469583,"cg_vd_req_v":-2.06853819,"cg_vd_v":-2.06853819,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46103191,"cg_vq_v":-8.46103191,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.2336731,"dclink_p_w":-2349.41284,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2187.011041,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2187.011048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2187.011053,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2187.186768,"values":{"Elec_RPM":-2355.04858,"EncoderCos":24162,"EncoderSin":52426,"GapTicks":49772,"Mech_RPM":-471.009735,"cg_du":46.8741531,"cg_dv":45.2476616,"cg_dw":54.7523384,"cg_id_a":-0.18702364,"cg_id_raw_a":7.44424152,"cg_iq_a":-203.279449,"cg_iq_raw_a":-205.073914,"cg_iu_a":-2.93321729,"cg_iv_a":-174.118698,"cg_iw_a":177.05191,"cg_sample_age_us":23.7763634,"cg_sample_seq":12302066,"cg_sample_valid":1,"cg_theta_rad":1.98830438,"cg_vd_req_v":-1.8609482,"cg_vd_v":-1.8609482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3153038,"cg_vq_v":-8.3153038,"cg_vu_v":115.251846,"cg_vv_v":117.451309,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-18.1582203,"dclink_p_w":-2627.94214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2187.518799,"values":{"Elec_RPM":-2357.42578,"EncoderCos":11361,"EncoderSin":33778,"GapTicks":49365,"Mech_RPM":-471.485168,"cg_du":44.8781586,"cg_dv":49.8797302,"cg_dw":55.1218414,"cg_id_a":-19.153347,"cg_id_raw_a":-18.7426205,"cg_iq_a":-198.931198,"cg_iq_raw_a":-201.71312,"cg_iu_a":-142.399475,"cg_iv_a":-50.5634918,"cg_iw_a":192.962967,"cg_sample_age_us":23.9254551,"cg_sample_seq":12303716,"cg_sample_valid":1,"cg_theta_rad":3.09805632,"cg_vd_req_v":-1.50409019,"cg_vd_v":-1.50409019,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40047264,"cg_vq_v":-8.40047264,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.9168701,"dclink_p_w":-2440.84644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2187.870361,"values":{"Elec_RPM":-2353.42822,"EncoderCos":11314,"EncoderSin":33148,"GapTicks":49384,"Mech_RPM":-470.685669,"cg_du":44.8950233,"cg_dv":48.7941017,"cg_dw":55.1049767,"cg_id_a":-8.88975906,"cg_id_raw_a":-12.0623693,"cg_iq_a":-199.096161,"cg_iq_raw_a":-198.697083,"cg_iu_a":-123.081528,"cg_iv_a":-76.0428925,"cg_iw_a":199.12442,"cg_sample_age_us":23.8418179,"cg_sample_seq":12305467,"cg_sample_valid":1,"cg_theta_rad":3.12416863,"cg_vd_req_v":-1.73235023,"cg_vd_v":-1.73235023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40729237,"cg_vq_v":-8.40729237,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2444.68091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2188.003285,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2188.00329,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2188.003296,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2188.284424,"values":{"Elec_RPM":-2350.15845,"EncoderCos":44417,"EncoderSin":50730,"GapTicks":49340,"Mech_RPM":-470.031708,"cg_du":55.1446457,"cg_dv":44.8553543,"cg_dw":50.3404274,"cg_id_a":-15.2181158,"cg_id_raw_a":-16.9626942,"cg_iq_a":-194.505524,"cg_iq_raw_a":-193.824966,"cg_iu_a":198.654984,"cg_iv_a":-94.853447,"cg_iw_a":-103.801537,"cg_sample_age_us":23.8345451,"cg_sample_seq":12307420,"cg_sample_valid":1,"cg_theta_rad":1.03874719,"cg_vd_req_v":-1.61854792,"cg_vd_v":-1.61854792,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47668552,"cg_vq_v":-8.47668552,"cg_vu_v":48.8280716,"cg_vv_v":42.6695786,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2188.807861,"values":{"Elec_RPM":-2344.60889,"EncoderCos":39241,"EncoderSin":12436,"GapTicks":49534,"Mech_RPM":-468.921783,"cg_du":54.9683533,"cg_dv":52.0212555,"cg_dw":45.0316467,"cg_id_a":1.02925682,"cg_id_raw_a":-0.996931136,"cg_iq_a":-204.485107,"cg_iq_raw_a":-205.737701,"cg_iu_a":81.6598892,"cg_iv_a":121.957176,"cg_iw_a":-203.617065,"cg_sample_age_us":23.9872723,"cg_sample_seq":12309966,"cg_sample_valid":1,"cg_theta_rad":5.03766441,"cg_vd_req_v":-1.99720454,"cg_vd_v":-1.99720454,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26493931,"cg_vq_v":-8.26493931,"cg_vu_v":32.9919434,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-15.9074783,"dclink_p_w":-2302.20435,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2188.866906,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2188.866917,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2188.86692,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2189.027376,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2189.027382,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2189.027388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2189.198486,"values":{"Elec_RPM":-2339.73315,"EncoderCos":47808,"EncoderSin":47850,"GapTicks":49318,"Mech_RPM":-467.946625,"cg_du":49.7760887,"cg_dv":44.8347054,"cg_dw":55.1652946,"cg_id_a":-11.4968214,"cg_id_raw_a":-16.329319,"cg_iq_a":-196.632675,"cg_iq_raw_a":-197.329071,"cg_iu_a":54.2233086,"cg_iv_a":-191.841934,"cg_iw_a":137.618622,"cg_sample_age_us":23.5581818,"cg_sample_seq":12312116,"cg_sample_valid":1,"cg_theta_rad":0.790209353,"cg_vd_req_v":-1.72539234,"cg_vd_v":-1.72539234,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4336834,"cg_vq_v":-8.4336834,"cg_vu_v":41.7897949,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2383.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2189.530518,"values":{"Elec_RPM":-2341.66724,"EncoderCos":25938,"EncoderSin":53064,"GapTicks":49439,"Mech_RPM":-468.333435,"cg_du":44.9445915,"cg_dv":47.9013863,"cg_dw":55.0554085,"cg_id_a":3.00628114,"cg_id_raw_a":-2.32583809,"cg_iq_a":-196.694763,"cg_iq_raw_a":-197.214249,"cg_iu_a":-76.0732727,"cg_iv_a":-122.14505,"cg_iw_a":198.218323,"cg_sample_age_us":23.8345451,"cg_sample_seq":12313766,"cg_sample_valid":1,"cg_theta_rad":1.89688003,"cg_vd_req_v":-1.97226107,"cg_vd_v":-1.97226107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46069717,"cg_vq_v":-8.46069717,"cg_vu_v":34.3116188,"cg_vv_v":32.1121559,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2363.8374,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2189.88208,"values":{"Elec_RPM":-2343.57349,"EncoderCos":16499,"EncoderSin":46656,"GapTicks":49500,"Mech_RPM":-468.714691,"cg_du":54.9992561,"cg_dv":47.8882523,"cg_dw":45.0007439,"cg_id_a":-8.01573181,"cg_id_raw_a":-8.66455078,"cg_iq_a":-197.06369,"cg_iq_raw_a":-198.175079,"cg_iu_a":130.806534,"cg_iv_a":59.4727936,"cg_iw_a":-190.279327,"cg_sample_age_us":23.8490906,"cg_sample_seq":12315471,"cg_sample_valid":1,"cg_theta_rad":2.46973205,"cg_vd_req_v":-1.72466362,"cg_vd_v":-1.72466362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42457771,"cg_vq_v":-8.42457771,"cg_vu_v":128.888519,"cg_vv_v":134.607132,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2189.986814,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2189.98682,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2189.986825,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2190.214111,"values":{"Elec_RPM":-2350.27954,"EncoderCos":11445,"EncoderSin":34984,"GapTicks":49638,"Mech_RPM":-470.055908,"cg_du":45.1254807,"cg_dv":52.6477356,"cg_dw":54.8745193,"cg_id_a":-2.90647388,"cg_id_raw_a":1.77379107,"cg_iq_a":-202.418182,"cg_iq_raw_a":-201.849945,"cg_iu_a":-173.822906,"cg_iv_a":0.975250244,"cg_iw_a":172.847656,"cg_sample_age_us":23.8345451,"cg_sample_seq":12317167,"cg_sample_valid":1,"cg_theta_rad":3.0404985,"cg_vd_req_v":-1.78775167,"cg_vd_v":-1.78775167,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32134056,"cg_vq_v":-8.32134056,"cg_vu_v":109.973145,"cg_vv_v":109.533249,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.110445,"dclink_p_w":-2331.57861,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2190.546143,"values":{"Elec_RPM":-2352.16016,"EncoderCos":13733,"EncoderSin":22815,"GapTicks":50051,"Mech_RPM":-470.432007,"cg_du":54.4985962,"cg_dv":45.5014038,"cg_dw":45.6964493,"cg_id_a":12.0483704,"cg_id_raw_a":16.9446697,"cg_iq_a":-203.65686,"cg_iq_raw_a":-206.08847,"cg_iu_a":184.519897,"cg_iv_a":-16.0231171,"cg_iw_a":-168.49678,"cg_sample_age_us":24.0745449,"cg_sample_seq":12318866,"cg_sample_valid":1,"cg_theta_rad":3.63215995,"cg_vd_req_v":-2.13867521,"cg_vd_v":-2.13867521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31767273,"cg_vq_v":-8.31767273,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2448.69067,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2190.897705,"values":{"Elec_RPM":-2355.44189,"EncoderCos":13942,"EncoderSin":22413,"GapTicks":49807,"Mech_RPM":-471.088379,"cg_du":54.7203522,"cg_dv":46.3619652,"cg_dw":45.2796478,"cg_id_a":6.22082567,"cg_id_raw_a":10.5292749,"cg_iq_a":-199.668259,"cg_iq_raw_a":-201.206299,"cg_iu_a":170.892212,"cg_iv_a":-1.34436035,"cg_iw_a":-169.547852,"cg_sample_age_us":24.0418186,"cg_sample_seq":12320618,"cg_sample_valid":1,"cg_theta_rad":3.66146183,"cg_vd_req_v":-2.00072384,"cg_vd_v":-2.00072384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39904308,"cg_vq_v":-8.39904308,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-16.3061619,"dclink_p_w":-2359.90356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2191.011205,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2191.011211,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2191.011216,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2191.233643,"values":{"Elec_RPM":-2355.07617,"EncoderCos":44451,"EncoderSin":14951,"GapTicks":50106,"Mech_RPM":-471.015259,"cg_du":45.577301,"cg_dv":54.4484978,"cg_dw":45.5515022,"cg_id_a":10.9226398,"cg_id_raw_a":10.773221,"cg_iq_a":-206.19957,"cg_iq_raw_a":-207.283615,"cg_iu_a":-169.654846,"cg_iv_a":185.347641,"cg_iw_a":-15.6927948,"cg_sample_age_us":23.9909096,"cg_sample_seq":12322217,"cg_sample_valid":1,"cg_theta_rad":5.31014824,"cg_vd_req_v":-2.22519994,"cg_vd_v":-2.22519994,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25082874,"cg_vq_v":-8.25082874,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":134.167236,"control_outputs_enabled":1,"dclink_i_a":-16.6015491,"dclink_p_w":-2395.35059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2191.565674,"values":{"Elec_RPM":-2357.3457,"EncoderCos":45128,"EncoderSin":15424,"GapTicks":49599,"Mech_RPM":-471.469116,"cg_du":45.0902863,"cg_dv":54.9097137,"cg_dw":47.4832802,"cg_id_a":-6.72083282,"cg_id_raw_a":0.685252428,"cg_iq_a":-202.202316,"cg_iq_raw_a":-204.137833,"cg_iu_a":-176.142502,"cg_iv_a":171.140045,"cg_iw_a":5.00244904,"cg_sample_age_us":23.9400005,"cg_sample_seq":12323967,"cg_sample_valid":1,"cg_theta_rad":5.35119104,"cg_vd_req_v":-1.85828412,"cg_vd_v":-1.85828412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35235119,"cg_vq_v":-8.35235119,"cg_vu_v":100.295509,"cg_vv_v":103.814644,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2518.76514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2191.917236,"values":{"Elec_RPM":-2362.11377,"EncoderCos":53413,"EncoderSin":36766,"GapTicks":49420,"Mech_RPM":-472.42276,"cg_du":48.6896782,"cg_dv":55.072197,"cg_dw":44.927803,"cg_id_a":-5.69963598,"cg_id_raw_a":-10.4933586,"cg_iq_a":-198.455536,"cg_iq_raw_a":-197.94986,"cg_iu_a":-115.10788,"cg_iv_a":199.917648,"cg_iw_a":-84.8097687,"cg_sample_age_us":23.5072727,"cg_sample_seq":12325616,"cg_sample_valid":1,"cg_theta_rad":0.212105364,"cg_vd_req_v":-1.89540076,"cg_vd_v":-1.89540076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38457489,"cg_vq_v":-8.38457489,"cg_vu_v":131.087982,"cg_vv_v":134.167236,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.8969364,"dclink_p_w":-2452.83618,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2192.00271,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2192.002716,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2192.002722,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2192.249268,"values":{"Elec_RPM":-2357.06543,"EncoderCos":53253,"EncoderSin":37634,"GapTicks":49629,"Mech_RPM":-471.413086,"cg_du":47.245842,"cg_dv":54.8819504,"cg_dw":45.1180496,"cg_id_a":11.3149061,"cg_id_raw_a":7.40277576,"cg_iq_a":-202.694122,"cg_iq_raw_a":-200.923538,"cg_iu_a":-135.476929,"cg_iv_a":198.830353,"cg_iw_a":-63.3534241,"cg_sample_age_us":23.449091,"cg_sample_seq":12327366,"cg_sample_valid":1,"cg_theta_rad":0.240046293,"cg_vd_req_v":-2.2304287,"cg_vd_v":-2.2304287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2852869,"cg_vq_v":-8.2852869,"cg_vu_v":21.5547352,"cg_vv_v":26.8334465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2545.17383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5851746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2192.581299,"values":{"Elec_RPM":-2353.64551,"EncoderCos":37362,"EncoderSin":53474,"GapTicks":49744,"Mech_RPM":-470.729126,"cg_du":53.3259392,"cg_dv":54.7778625,"cg_dw":45.2221375,"cg_id_a":3.13660312,"cg_id_raw_a":6.82748556,"cg_iq_a":-200.993408,"cg_iq_raw_a":-203.05043,"cg_iu_a":2.10467577,"cg_iv_a":172.29985,"cg_iw_a":-174.404526,"cg_sample_age_us":23.8963642,"cg_sample_seq":12329016,"cg_sample_valid":1,"cg_theta_rad":1.35334194,"cg_vd_req_v":-1.94983399,"cg_vd_v":-1.94983399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38136101,"cg_vq_v":-8.38136101,"cg_vu_v":31.6722641,"cg_vv_v":29.0329094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2411.0459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2192.936768,"values":{"Elec_RPM":-2356.30273,"EncoderCos":46928,"EncoderSin":48596,"GapTicks":49375,"Mech_RPM":-471.260529,"cg_du":51.7564735,"cg_dv":44.8870316,"cg_dw":55.1129684,"cg_id_a":8.2342329,"cg_id_raw_a":3.72168565,"cg_iq_a":-199.309143,"cg_iq_raw_a":-199.654144,"cg_iu_a":122.542938,"cg_iv_a":-198.29335,"cg_iw_a":75.750412,"cg_sample_age_us":23.5945454,"cg_sample_seq":12330817,"cg_sample_valid":1,"cg_theta_rad":0.846651256,"cg_vd_req_v":-2.14034891,"cg_vd_v":-2.14034891,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41654396,"cg_vq_v":-8.41654396,"cg_vu_v":130.648087,"cg_vv_v":123.60981,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2452.87427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2192.994786,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2192.994792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2192.994798,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2193.264893,"values":{"Elec_RPM":-2353.57104,"EncoderCos":24454,"EncoderSin":52468,"GapTicks":49948,"Mech_RPM":-470.714203,"cg_du":46.1665726,"cg_dv":45.4074249,"cg_dw":54.5925751,"cg_id_a":7.90965319,"cg_id_raw_a":11.9583006,"cg_iq_a":-204.267441,"cg_iq_raw_a":-205.558975,"cg_iu_a":-3.69433737,"cg_iv_a":-174.046219,"cg_iw_a":177.740555,"cg_sample_age_us":23.863636,"cg_sample_seq":12332466,"cg_sample_valid":1,"cg_theta_rad":1.98166358,"cg_vd_req_v":-2.02235961,"cg_vd_v":-2.02235961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27602577,"cg_vq_v":-8.27602577,"cg_vu_v":117.011421,"cg_vv_v":120.970459,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2394.26074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2193.620361,"values":{"Elec_RPM":-2354.78906,"EncoderCos":23652,"EncoderSin":52188,"GapTicks":49550,"Mech_RPM":-470.957825,"cg_du":48.304409,"cg_dv":45.0456161,"cg_dw":54.9543839,"cg_id_a":-16.2631378,"cg_id_raw_a":-9.74432659,"cg_iq_a":-203.1474,"cg_iq_raw_a":-204.290085,"cg_iu_a":7.79495811,"cg_iv_a":-180.860046,"cg_iw_a":173.065094,"cg_sample_age_us":23.8854542,"cg_sample_seq":12334216,"cg_sample_valid":1,"cg_theta_rad":2.00921297,"cg_vd_req_v":-1.54062307,"cg_vd_v":-1.54062307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29772091,"cg_vq_v":-8.29772091,"cg_vu_v":6.1584959,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2193.952393,"values":{"Elec_RPM":-2354.87134,"EncoderCos":11384,"EncoderSin":33297,"GapTicks":49368,"Mech_RPM":-470.974274,"cg_du":44.880764,"cg_dv":49.0826225,"cg_dw":55.119236,"cg_id_a":-9.67838001,"cg_id_raw_a":-13.2233152,"cg_iq_a":-198.71022,"cg_iq_raw_a":-200.731125,"cg_iu_a":-115.325348,"cg_iv_a":-82.5305481,"cg_iw_a":197.855896,"cg_sample_age_us":23.9654541,"cg_sample_seq":12335866,"cg_sample_valid":1,"cg_theta_rad":3.12387824,"cg_vd_req_v":-1.71084213,"cg_vd_v":-1.71084213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42873096,"cg_vq_v":-8.42873096,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.5997353,"dclink_p_w":-2402.39087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2194.019423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2194.019429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2194.019434,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2194.284424,"values":{"Elec_RPM":-2347.70898,"EncoderCos":14541,"EncoderSin":21391,"GapTicks":49371,"Mech_RPM":-469.541809,"cg_du":55.1167297,"cg_dv":49.1551933,"cg_dw":44.8832703,"cg_id_a":-14.1385145,"cg_id_raw_a":-13.7599573,"cg_iq_a":-194.5401,"cg_iq_raw_a":-196.951401,"cg_iu_a":148.602249,"cg_iv_a":35.2619171,"cg_iw_a":-183.864166,"cg_sample_age_us":24.0490913,"cg_sample_seq":12337566,"cg_sample_valid":1,"cg_theta_rad":3.70808864,"cg_vd_req_v":-1.61139536,"cg_vd_v":-1.61139536,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46358681,"cg_vq_v":-8.46358681,"cg_vu_v":42.2296829,"cg_vv_v":43.1094704,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2448.81274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2194.635986,"values":{"Elec_RPM":-2352.98169,"EncoderCos":23577,"EncoderSin":13395,"GapTicks":49843,"Mech_RPM":-470.596344,"cg_du":45.3119011,"cg_dv":53.5261765,"cg_dw":54.6880989,"cg_id_a":3.5841949,"cg_id_raw_a":9.48398018,"cg_iq_a":-203.772903,"cg_iq_raw_a":-204.093719,"cg_iu_a":-179.621918,"cg_iv_a":5.36076355,"cg_iw_a":174.261154,"cg_sample_age_us":23.9654541,"cg_sample_seq":12339266,"cg_sample_valid":1,"cg_theta_rad":4.28182125,"cg_vd_req_v":-1.97855341,"cg_vd_v":-1.97855341,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28226185,"cg_vq_v":-8.28226185,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":13.6366701,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2447.23901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2194.968018,"values":{"Elec_RPM":-2353.56958,"EncoderCos":35537,"EncoderSin":11539,"GapTicks":49676,"Mech_RPM":-470.713898,"cg_du":54.8396797,"cg_dv":45.1603203,"cg_dw":46.9267273,"cg_id_a":15.7288055,"cg_id_raw_a":15.2993679,"cg_iq_a":-203.216766,"cg_iq_raw_a":-202.199829,"cg_iu_a":194.813141,"cg_iv_a":-38.0956116,"cg_iw_a":-156.717529,"cg_sample_age_us":24.0381813,"cg_sample_seq":12340966,"cg_sample_valid":1,"cg_theta_rad":4.86094236,"cg_vd_req_v":-2.26355362,"cg_vd_v":-2.26355362,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31147385,"cg_vq_v":-8.31147385,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2195.011273,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2195.011279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2195.011285,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2195.303955,"values":{"Elec_RPM":-2357.70776,"EncoderCos":52792,"EncoderSin":26004,"GapTicks":49621,"Mech_RPM":-471.541534,"cg_du":54.8895798,"cg_dv":45.1104202,"cg_dw":52.7936897,"cg_id_a":-1.42271304,"cg_id_raw_a":3.50007653,"cg_iq_a":-198.793442,"cg_iq_raw_a":-200.88504,"cg_iu_a":170.928452,"cg_iv_a":-169.080811,"cg_iw_a":-1.84764099,"cg_sample_age_us":24.2236366,"cg_sample_seq":12342617,"cg_sample_valid":1,"cg_theta_rad":5.9730444,"cg_vd_req_v":-1.91488755,"cg_vd_v":-1.91488755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38846874,"cg_vq_v":-8.38846874,"cg_vu_v":143.404984,"cg_vv_v":140.325729,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2195.655518,"values":{"Elec_RPM":-2361.31738,"EncoderCos":53032,"EncoderSin":26793,"GapTicks":49333,"Mech_RPM":-472.263489,"cg_du":55.1509628,"cg_dv":44.8490372,"cg_dw":50.8362579,"cg_id_a":-15.6270189,"cg_id_raw_a":-14.6083965,"cg_iq_a":-194.38446,"cg_iq_raw_a":-194.087967,"cg_iu_a":182.925171,"cg_iv_a":-150.886414,"cg_iw_a":-24.1375961,"cg_sample_age_us":24.1690903,"cg_sample_seq":12344367,"cg_sample_valid":1,"cg_theta_rad":6.01127529,"cg_vd_req_v":-1.65048361,"cg_vd_v":-1.65048361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45991707,"cg_vq_v":-8.45991707,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.0723877,"dclink_p_w":-2319.00049,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2195.987549,"values":{"Elec_RPM":-2361.9375,"EncoderCos":52887,"EncoderSin":39023,"GapTicks":49723,"Mech_RPM":-472.387482,"cg_du":45.2029114,"cg_dv":54.7970886,"cg_dw":46.7924042,"cg_id_a":1.10117352,"cg_id_raw_a":7.48661709,"cg_iq_a":-203.39444,"cg_iq_raw_a":-204.818909,"cg_iu_a":-174.946442,"cg_iv_a":174.800674,"cg_iw_a":0.145767212,"cg_sample_age_us":23.5072727,"cg_sample_seq":12346066,"cg_sample_valid":1,"cg_theta_rad":0.311850905,"cg_vd_req_v":-2.00441909,"cg_vd_v":-2.00441909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32931519,"cg_vq_v":-8.32931519,"cg_vu_v":102.055069,"cg_vv_v":110.413033,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2489.74194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2196.002624,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2196.002629,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2196.002634,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2196.31958,"values":{"Elec_RPM":-2360.84814,"EncoderCos":35959,"EncoderSin":53763,"GapTicks":49357,"Mech_RPM":-472.169617,"cg_du":50.0692024,"cg_dv":55.1295547,"cg_dw":44.8704453,"cg_id_a":-13.0310192,"cg_id_raw_a":-10.5001202,"cg_iq_a":-195.985474,"cg_iq_raw_a":-195.259613,"cg_iu_a":-54.7256546,"cg_iv_a":191.726532,"cg_iw_a":-137.000885,"cg_sample_age_us":23.8890915,"cg_sample_seq":12347717,"cg_sample_valid":1,"cg_theta_rad":1.42292881,"cg_vd_req_v":-1.62796605,"cg_vd_v":-1.62796605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44298553,"cg_vq_v":-8.44298553,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2472.30298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2573,"hz_tim_isr":5000,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2196.671143,"values":{"Elec_RPM":-2355.10083,"EncoderCos":34849,"EncoderSin":53860,"GapTicks":49478,"Mech_RPM":-471.020172,"cg_du":48.1180878,"cg_dv":55.0193253,"cg_dw":44.9806747,"cg_id_a":2.9161191,"cg_id_raw_a":-2.62031245,"cg_iq_a":-199.5952,"cg_iq_raw_a":-198.766022,"cg_iu_a":-119.493385,"cg_iv_a":200.098877,"cg_iw_a":-80.6054916,"cg_sample_age_us":23.8999996,"cg_sample_seq":12349466,"cg_sample_valid":1,"cg_theta_rad":1.47311151,"cg_vd_req_v":-1.96831393,"cg_vd_v":-1.96831393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35348892,"cg_vq_v":-8.35348892,"cg_vu_v":40.0302238,"cg_vv_v":71.2625961,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-16.1865559,"dclink_p_w":-2335.47339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2573,"hz_tim_isr":5000,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2197.003174,"values":{"Elec_RPM":-2359.3418,"EncoderCos":14660,"EncoderSin":44156,"GapTicks":49998,"Mech_RPM":-471.868378,"cg_du":54.5467606,"cg_dv":54.2086372,"cg_dw":45.4532394,"cg_id_a":16.6406975,"cg_id_raw_a":18.9113579,"cg_iq_a":-205.136444,"cg_iq_raw_a":-205.811829,"cg_iu_a":16.7109413,"cg_iv_a":169.762787,"cg_iw_a":-186.473724,"cg_sample_age_us":23.8781815,"cg_sample_seq":12351116,"cg_sample_valid":1,"cg_theta_rad":2.58027554,"cg_vd_req_v":-2.21937346,"cg_vd_v":-2.21937346,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29735184,"cg_vq_v":-8.29735184,"cg_vu_v":26.8334465,"cg_vv_v":18.4754887,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2573,"hz_tim_isr":5000,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2197.026612,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2197.026618,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2197.026623,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2197.339111,"values":{"Elec_RPM":-2358.63721,"EncoderCos":11363,"EncoderSin":32723,"GapTicks":49422,"Mech_RPM":-471.727448,"cg_du":44.9293823,"cg_dv":48.0707703,"cg_dw":55.0706177,"cg_id_a":0.336725235,"cg_id_raw_a":-5.47935915,"cg_iq_a":-195.237762,"cg_iq_raw_a":-194.446442,"cg_iu_a":-80.5675049,"cg_iv_a":-114.896286,"cg_iw_a":195.463791,"cg_sample_age_us":23.9254551,"cg_sample_seq":12352817,"cg_sample_valid":1,"cg_theta_rad":3.14580607,"cg_vd_req_v":-1.90873539,"cg_vd_v":-1.90873539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4631567,"cg_vq_v":-8.4631567,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2495.23438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2197.690674,"values":{"Elec_RPM":-2355.74121,"EncoderCos":14898,"EncoderSin":20808,"GapTicks":49394,"Mech_RPM":-471.148254,"cg_du":55.0963097,"cg_dv":50.3800468,"cg_dw":44.9036903,"cg_id_a":-6.51084232,"cg_id_raw_a":-6.97777891,"cg_iq_a":-199.808212,"cg_iq_raw_a":-199.642639,"cg_iu_a":122.180496,"cg_iv_a":79.3344269,"cg_iw_a":-201.514923,"cg_sample_age_us":23.9654541,"cg_sample_seq":12354516,"cg_sample_valid":1,"cg_theta_rad":3.74027872,"cg_vd_req_v":-1.77700424,"cg_vd_v":-1.77700424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33724785,"cg_vq_v":-8.33724785,"cg_vu_v":43.549366,"cg_vv_v":47.5083961,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2408.94678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2198.018522,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2198.018528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2198.018533,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2198.022705,"values":{"Elec_RPM":-2349.76416,"EncoderCos":15368,"EncoderSin":20088,"GapTicks":49529,"Mech_RPM":-469.95282,"cg_du":54.9732437,"cg_dv":51.9038391,"cg_dw":45.0267563,"cg_id_a":3.79409218,"cg_id_raw_a":0.736233711,"cg_iq_a":-205.038208,"cg_iq_raw_a":-205.791367,"cg_iu_a":93.5478668,"cg_iv_a":110.467865,"cg_iw_a":-204.015732,"cg_sample_age_us":23.9327278,"cg_sample_seq":12356266,"cg_sample_valid":1,"cg_theta_rad":3.77007461,"cg_vd_req_v":-1.9920938,"cg_vd_v":-1.9920938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24852371,"cg_vq_v":-8.24852371,"cg_vu_v":31.2323723,"cg_vv_v":17.5957031,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2198.53833,"values":{"Elec_RPM":-2351.6604,"EncoderCos":23324,"EncoderSin":52013,"GapTicks":49408,"Mech_RPM":-470.332092,"cg_du":49.1153717,"cg_dv":44.9167976,"cg_dw":55.0832024,"cg_id_a":-19.552475,"cg_id_raw_a":-18.0336742,"cg_iq_a":-198.686478,"cg_iq_raw_a":-199.608627,"cg_iu_a":37.5511436,"cg_iv_a":-186.659073,"cg_iw_a":149.107925,"cg_sample_age_us":23.7109089,"cg_sample_seq":12358767,"cg_sample_valid":1,"cg_theta_rad":2.03856063,"cg_vd_req_v":-1.48961902,"cg_vd_v":-1.48961902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40653419,"cg_vq_v":-8.40653419,"cg_vu_v":42.2296829,"cg_vv_v":43.1094704,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2198.882524,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2198.882536,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2198.882539,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2199.011517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2199.011523,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2199.011529,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2199.014893,"values":{"Elec_RPM":-2349.87988,"EncoderCos":25803,"EncoderSin":53007,"GapTicks":49517,"Mech_RPM":-469.975983,"cg_du":45.0155716,"cg_dv":47.6698914,"cg_dw":54.9844284,"cg_id_a":5.22000504,"cg_id_raw_a":3.29103398,"cg_iq_a":-198.235229,"cg_iq_raw_a":-194.77887,"cg_iu_a":-66.5411377,"cg_iv_a":-128.995148,"cg_iw_a":195.536285,"cg_sample_age_us":23.8600006,"cg_sample_seq":12361117,"cg_sample_valid":1,"cg_theta_rad":1.90590334,"cg_vd_req_v":-2.00505185,"cg_vd_v":-2.00505185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39149761,"cg_vq_v":-8.39149761,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2199.346924,"values":{"Elec_RPM":-2345.48145,"EncoderCos":24765,"EncoderSin":52657,"GapTicks":50081,"Mech_RPM":-469.096283,"cg_du":45.5287895,"cg_dv":45.7843552,"cg_dw":54.4712105,"cg_id_a":13.2055416,"cg_id_raw_a":14.9299326,"cg_iq_a":-205.822586,"cg_iq_raw_a":-204.282806,"cg_iu_a":-17.9381638,"cg_iv_a":-170.31311,"cg_iw_a":188.251266,"cg_sample_age_us":23.863636,"cg_sample_seq":12362866,"cg_sample_valid":1,"cg_theta_rad":1.95310795,"cg_vd_req_v":-2.15090656,"cg_vd_v":-2.15090656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2309227,"cg_vq_v":-8.2309227,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2199.702393,"values":{"Elec_RPM":-2349.9165,"EncoderCos":24218,"EncoderSin":52396,"GapTicks":49826,"Mech_RPM":-469.983276,"cg_du":46.7356834,"cg_dv":45.2965889,"cg_dw":54.7034111,"cg_id_a":2.63111186,"cg_id_raw_a":7.92118979,"cg_iq_a":-206.096222,"cg_iq_raw_a":-205.756348,"cg_iu_a":-3.36814308,"cg_iv_a":-175.604691,"cg_iw_a":178.972839,"cg_sample_age_us":23.8927269,"cg_sample_seq":12364617,"cg_sample_valid":1,"cg_theta_rad":1.98162436,"cg_vd_req_v":-1.92391837,"cg_vd_v":-1.92391837,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24610424,"cg_vq_v":-8.24610424,"cg_vu_v":106.453995,"cg_vv_v":94.5769043,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2448.16772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2200.003255,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2200.003262,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2200.003267,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2200.030518,"values":{"Elec_RPM":-2346.60254,"EncoderCos":14737,"EncoderSin":44316,"GapTicks":49901,"Mech_RPM":-469.320526,"cg_du":54.6352615,"cg_dv":53.8834496,"cg_dw":45.3647385,"cg_id_a":15.9805737,"cg_id_raw_a":16.0133667,"cg_iq_a":-205.769135,"cg_iq_raw_a":-208.042297,"cg_iu_a":23.6697578,"cg_iv_a":165.159821,"cg_iw_a":-188.829575,"cg_sample_age_us":23.9145451,"cg_sample_seq":12366316,"cg_sample_valid":1,"cg_theta_rad":2.57505035,"cg_vd_req_v":-2.21172547,"cg_vd_v":-2.21172547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28859425,"cg_vq_v":-8.28859425,"cg_vu_v":32.5520515,"cg_vv_v":28.1531239,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2365.41113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2200.385986,"values":{"Elec_RPM":-2344.19897,"EncoderCos":11336,"EncoderSin":33780,"GapTicks":49375,"Mech_RPM":-468.839813,"cg_du":44.8866692,"cg_dv":49.9356194,"cg_dw":55.1133308,"cg_id_a":-15.7113247,"cg_id_raw_a":-15.463788,"cg_iq_a":-198.157501,"cg_iq_raw_a":-198.179031,"cg_iu_a":-91.1144638,"cg_iv_a":-104.63929,"cg_iw_a":195.753754,"cg_sample_age_us":23.8381824,"cg_sample_seq":12368021,"cg_sample_valid":1,"cg_theta_rad":3.14026976,"cg_vd_req_v":-1.56118369,"cg_vd_v":-1.56118369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40147781,"cg_vq_v":-8.40147781,"cg_vu_v":113.492287,"cg_vv_v":125.369385,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2200.718018,"values":{"Elec_RPM":-2351.25757,"EncoderCos":34346,"EncoderSin":11463,"GapTicks":49376,"Mech_RPM":-470.251526,"cg_du":55.1121216,"cg_dv":44.8878784,"cg_dw":48.906395,"cg_id_a":-6.70832157,"cg_id_raw_a":-10.380784,"cg_iq_a":-198.277283,"cg_iq_raw_a":-197.956192,"cg_iu_a":199.488586,"cg_iv_a":-105.690353,"cg_iw_a":-93.798233,"cg_sample_age_us":24.0309086,"cg_sample_seq":12369616,"cg_sample_valid":1,"cg_theta_rad":4.80327177,"cg_vd_req_v":-1.82717907,"cg_vd_v":-1.82717907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41180325,"cg_vq_v":-8.41180325,"cg_vu_v":142.965088,"cg_vv_v":123.60981,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.5435581,"dclink_p_w":-2401.53809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2200.994796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2200.994801,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2200.994805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2201.050049,"values":{"Elec_RPM":-2349.60425,"EncoderCos":23991,"EncoderSin":13224,"GapTicks":49598,"Mech_RPM":-469.920837,"cg_du":45.0895386,"cg_dv":52.4494095,"cg_dw":54.9104614,"cg_id_a":-6.57801533,"cg_id_raw_a":0.501088202,"cg_iq_a":-201.966629,"cg_iq_raw_a":-204.295029,"cg_iu_a":-171.177094,"cg_iv_a":-7.90447998,"cg_iw_a":179.081573,"cg_sample_age_us":23.9327278,"cg_sample_seq":12371416,"cg_sample_valid":1,"cg_theta_rad":4.3029809,"cg_vd_req_v":-1.78619087,"cg_vd_v":-1.78619087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35067558,"cg_vq_v":-8.35067558,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7519608,"dclink_p_w":-2424.42163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121405356,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2201.405518,"values":{"Elec_RPM":-2350.24414,"EncoderCos":45646,"EncoderSin":15835,"GapTicks":49399,"Mech_RPM":-470.048828,"cg_du":44.9086609,"cg_dv":55.0913391,"cg_dw":49.0079842,"cg_id_a":-14.7694302,"cg_id_raw_a":-11.4675646,"cg_iq_a":-197.326462,"cg_iq_raw_a":-198.372589,"cg_iu_a":-196.330322,"cg_iv_a":111.12027,"cg_iw_a":85.2100525,"cg_sample_age_us":23.9254551,"cg_sample_seq":12373070,"cg_sample_valid":1,"cg_theta_rad":5.42502785,"cg_vd_req_v":-1.69499803,"cg_vd_v":-1.69499803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41908169,"cg_vq_v":-8.41908169,"cg_vu_v":1.31967759,"cg_vv_v":4.83881807,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2518.84644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2201.733643,"values":{"Elec_RPM":-2343.47803,"EncoderCos":46807,"EncoderSin":16869,"GapTicks":49417,"Mech_RPM":-468.695618,"cg_du":44.9251785,"cg_dv":55.0748215,"cg_dw":51.849247,"cg_id_a":3.12032676,"cg_id_raw_a":-3.1724813,"cg_iq_a":-197.736023,"cg_iq_raw_a":-196.397385,"cg_iu_a":-196.00412,"cg_iv_a":76.6886139,"cg_iw_a":119.315506,"cg_sample_age_us":23.8272724,"cg_sample_seq":12374817,"cg_sample_valid":1,"cg_theta_rad":5.45614958,"cg_vd_req_v":-2.09581566,"cg_vd_v":-2.09581566,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38198853,"cg_vq_v":-8.38198853,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2396.39624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2201.986806,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2201.986811,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2201.986816,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2202.06958,"values":{"Elec_RPM":-2342.01392,"EncoderCos":52984,"EncoderSin":38724,"GapTicks":49936,"Mech_RPM":-468.402771,"cg_du":45.3971329,"cg_dv":54.6028671,"cg_dw":46.0242233,"cg_id_a":9.61093426,"cg_id_raw_a":15.1848507,"cg_iq_a":-204.803513,"cg_iq_raw_a":-206.777161,"cg_iu_a":-174.439026,"cg_iv_a":177.845154,"cg_iw_a":-3.40612793,"cg_sample_age_us":23.5290909,"cg_sample_seq":12376466,"cg_sample_valid":1,"cg_theta_rad":0.296699047,"cg_vd_req_v":-2.18648529,"cg_vd_v":-2.18648529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31269646,"cg_vq_v":-8.31269646,"cg_vu_v":34.3116188,"cg_vv_v":34.3116188,"cg_vw_v":23.7541981,"control_outputs_enabled":1,"dclink_i_a":-17.5728836,"dclink_p_w":-2535.49927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.6175232,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2202.421143,"values":{"Elec_RPM":-2349.10376,"EncoderCos":52686,"EncoderSin":39607,"GapTicks":49440,"Mech_RPM":-469.82074,"cg_du":44.9463196,"cg_dv":55.0536804,"cg_dw":48.1991043,"cg_id_a":-6.33519745,"cg_id_raw_a":-5.91772223,"cg_iq_a":-197.757446,"cg_iq_raw_a":-198.956009,"cg_iu_a":-181.905273,"cg_iv_a":156.533798,"cg_iw_a":13.1935425,"cg_sample_age_us":23.5363636,"cg_sample_seq":12378216,"cg_sample_valid":1,"cg_theta_rad":0.335804492,"cg_vd_req_v":-1.85391557,"cg_vd_v":-1.85391557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44744396,"cg_vq_v":-8.44744396,"cg_vu_v":38.7105446,"cg_vv_v":59.385498,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-17.0201645,"dclink_p_w":-2470.72461,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2202.753174,"values":{"Elec_RPM":-2355.98193,"EncoderCos":35541,"EncoderSin":53848,"GapTicks":49396,"Mech_RPM":-471.196411,"cg_du":49.2853203,"cg_dv":55.0941429,"cg_dw":44.9058571,"cg_id_a":-9.56638718,"cg_id_raw_a":-9.40302467,"cg_iq_a":-199.303162,"cg_iq_raw_a":-198.909698,"cg_iu_a":-80.2050705,"cg_iv_a":198.250443,"cg_iw_a":-118.045372,"cg_sample_age_us":23.9327278,"cg_sample_seq":12379867,"cg_sample_valid":1,"cg_theta_rad":1.44390738,"cg_vd_req_v":-1.71351695,"cg_vd_v":-1.71351695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36723328,"cg_vq_v":-8.36723328,"cg_vu_v":104.694435,"cg_vv_v":104.254532,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.425766,"dclink_p_w":-2369.98779,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2202.979294,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2202.9793,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2202.979305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2203.104736,"values":{"Elec_RPM":-2350.90088,"EncoderCos":35368,"EncoderSin":53857,"GapTicks":49383,"Mech_RPM":-470.180176,"cg_du":48.9819221,"cg_dv":55.1055603,"cg_dw":44.8944397,"cg_id_a":-7.11218214,"cg_id_raw_a":-11.5563307,"cg_iq_a":-199.751419,"cg_iq_raw_a":-199.174072,"cg_iu_a":-140.804764,"cg_iv_a":198.902832,"cg_iw_a":-58.0980606,"cg_sample_age_us":23.8054543,"cg_sample_seq":12381620,"cg_sample_valid":1,"cg_theta_rad":1.49048054,"cg_vd_req_v":-1.77538967,"cg_vd_v":-1.77538967,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37625313,"cg_vq_v":-8.37625313,"cg_vu_v":38.7105446,"cg_vv_v":59.385498,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2419.14453,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2203.436768,"values":{"Elec_RPM":-2348.99072,"EncoderCos":22871,"EncoderSin":51757,"GapTicks":49336,"Mech_RPM":-469.798157,"cg_du":50.1149712,"cg_dv":44.8515244,"cg_dw":55.1484756,"cg_id_a":-17.0258179,"cg_id_raw_a":-21.1527328,"cg_iq_a":-198.026688,"cg_iq_raw_a":-197.436859,"cg_iu_a":55.8542824,"cg_iv_a":-191.805695,"cg_iw_a":135.951416,"cg_sample_age_us":23.7800007,"cg_sample_seq":12383317,"cg_sample_valid":1,"cg_theta_rad":2.05134463,"cg_vd_req_v":-1.57247722,"cg_vd_v":-1.57247722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45961475,"cg_vq_v":-8.45961475,"cg_vu_v":105.134323,"cg_vv_v":82.2599106,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.4768372,"dclink_p_w":-2529.32935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2203.772705,"values":{"Elec_RPM":-2349.65747,"EncoderCos":13875,"EncoderSin":42882,"GapTicks":49375,"Mech_RPM":-469.931488,"cg_du":51.2390099,"cg_dv":55.113472,"cg_dw":44.886528,"cg_id_a":-9.62331772,"cg_id_raw_a":-8.77980232,"cg_iq_a":-193.838272,"cg_iq_raw_a":-195.376007,"cg_iu_a":-20.6564522,"cg_iv_a":177.08403,"cg_iw_a":-156.427582,"cg_sample_age_us":23.9181824,"cg_sample_seq":12385016,"cg_sample_valid":1,"cg_theta_rad":2.64343405,"cg_vd_req_v":-1.67447674,"cg_vd_v":-1.67447674,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49121475,"cg_vq_v":-8.49121475,"cg_vu_v":106.453995,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.3517952,"dclink_p_w":-2511.23267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2577,"hz_tim_isr":5000,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2204.002705,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2204.002711,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2204.002716,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2204.124268,"values":{"Elec_RPM":-2348.72168,"EncoderCos":11393,"EncoderSin":31147,"GapTicks":50053,"Mech_RPM":-469.744354,"cg_du":45.8800468,"cg_dv":45.5031624,"cg_dw":54.4968376,"cg_id_a":10.3733206,"cg_id_raw_a":10.6202774,"cg_iq_a":-205.399765,"cg_iq_raw_a":-205.458618,"cg_iu_a":-11.2692986,"cg_iv_a":-172.958893,"cg_iw_a":184.228195,"cg_sample_age_us":23.9654541,"cg_sample_seq":12386716,"cg_sample_valid":1,"cg_theta_rad":3.22015834,"cg_vd_req_v":-2.08184075,"cg_vd_v":-2.08184075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24255562,"cg_vq_v":-8.24255562,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118988328,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2204.456299,"values":{"Elec_RPM":-2349.7666,"EncoderCos":15621,"EncoderSin":19745,"GapTicks":49605,"Mech_RPM":-469.953339,"cg_du":54.9042511,"cg_dv":52.6134491,"cg_dw":45.0957489,"cg_id_a":12.634511,"cg_id_raw_a":10.3255978,"cg_iq_a":-204.364197,"cg_iq_raw_a":-204.731339,"cg_iu_a":55.0206757,"cg_iv_a":145.008255,"cg_iw_a":-200.028931,"cg_sample_age_us":23.9581814,"cg_sample_seq":12388416,"cg_sample_valid":1,"cg_theta_rad":3.79736257,"cg_vd_req_v":-2.16926599,"cg_vd_v":-2.16926599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29587173,"cg_vq_v":-8.29587173,"cg_vu_v":16.2760258,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2204.78833,"values":{"Elec_RPM":-2354.22705,"EncoderCos":25355,"EncoderSin":12717,"GapTicks":49368,"Mech_RPM":-470.845398,"cg_du":44.8802414,"cg_dv":49.3334198,"cg_dw":55.1197586,"cg_id_a":-12.2451229,"cg_id_raw_a":-15.2152109,"cg_iq_a":-196.387756,"cg_iq_raw_a":-195.956711,"cg_iu_a":-121.088112,"cg_iv_a":-72.0923233,"cg_iw_a":193.180435,"cg_sample_age_us":23.9472733,"cg_sample_seq":12390117,"cg_sample_valid":1,"cg_theta_rad":4.37109661,"cg_vd_req_v":-1.69595122,"cg_vd_v":-1.69595122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4372673,"cg_vq_v":-8.4372673,"cg_vu_v":128.008743,"cg_vv_v":117.451309,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2499.66187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2204.995282,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2204.995288,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2204.995293,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2205.139893,"values":{"Elec_RPM":-2352.13306,"EncoderCos":52889,"EncoderSin":26432,"GapTicks":49428,"Mech_RPM":-470.426605,"cg_du":55.0648651,"cg_dv":44.9351349,"cg_dw":51.6760941,"cg_id_a":-13.8012066,"cg_id_raw_a":-9.82124615,"cg_iq_a":-196.920212,"cg_iq_raw_a":-198.115021,"cg_iu_a":194.378204,"cg_iv_a":-132.220825,"cg_iw_a":-62.1573792,"cg_sample_age_us":24.1690903,"cg_sample_seq":12391720,"cg_sample_valid":1,"cg_theta_rad":6.03626728,"cg_vd_req_v":-1.6903019,"cg_vd_v":-1.6903019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44977283,"cg_vq_v":-8.44977283,"cg_vu_v":38.2706528,"cg_vv_v":38.2706528,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.6381226,"dclink_p_w":-2560.43018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2205.471924,"values":{"Elec_RPM":-2355.8457,"EncoderCos":47860,"EncoderSin":17858,"GapTicks":50064,"Mech_RPM":-471.169128,"cg_du":45.5128746,"cg_dv":54.4205704,"cg_dw":54.4871254,"cg_id_a":10.2948666,"cg_id_raw_a":13.3953247,"cg_iq_a":-203.449677,"cg_iq_raw_a":-202.500778,"cg_iu_a":-182.811371,"cg_iv_a":13.2981567,"cg_iw_a":169.513214,"cg_sample_age_us":23.9181824,"cg_sample_seq":12393517,"cg_sample_valid":1,"cg_theta_rad":5.52386999,"cg_vd_req_v":-2.22649097,"cg_vd_v":-2.22649097,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30729008,"cg_vq_v":-8.30729008,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3354855,"dclink_p_w":-2508.87207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2205.803955,"values":{"Elec_RPM":-2357.20898,"EncoderCos":45876,"EncoderSin":49535,"GapTicks":50072,"Mech_RPM":-471.441772,"cg_du":54.3576889,"cg_dv":45.5205154,"cg_dw":54.4794846,"cg_id_a":15.2201729,"cg_id_raw_a":16.7159672,"cg_iq_a":-203.199341,"cg_iq_raw_a":-202.861404,"cg_iu_a":170.312302,"cg_iv_a":-181.621185,"cg_iw_a":11.308876,"cg_sample_age_us":23.9872723,"cg_sample_seq":12395116,"cg_sample_valid":1,"cg_theta_rad":0.910155475,"cg_vd_req_v":-2.22561836,"cg_vd_v":-2.22561836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29225922,"cg_vq_v":-8.29225922,"cg_vu_v":38.7105446,"cg_vv_v":38.7105446,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2205.987179,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2205.987185,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2205.98719,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2206.159424,"values":{"Elec_RPM":-2353.48096,"EncoderCos":52238,"EncoderSin":40877,"GapTicks":49336,"Mech_RPM":-470.696167,"cg_du":44.8511238,"cg_dv":55.1488762,"cg_dw":50.916851,"cg_id_a":-2.5844183,"cg_id_raw_a":-5.90448046,"cg_iq_a":-196.147202,"cg_iq_raw_a":-195.02182,"cg_iu_a":-195.677917,"cg_iv_a":105.502457,"cg_iw_a":90.1754608,"cg_sample_age_us":23.5581818,"cg_sample_seq":12396917,"cg_sample_valid":1,"cg_theta_rad":0.402903974,"cg_vd_req_v":-1.94270825,"cg_vd_v":-1.94270825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42884541,"cg_vq_v":-8.42884541,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2504.41357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5851746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2206.491455,"values":{"Elec_RPM":-2354.49023,"EncoderCos":22764,"EncoderSin":51725,"GapTicks":49318,"Mech_RPM":-470.898071,"cg_du":50.3063431,"cg_dv":44.8350983,"cg_dw":55.1649017,"cg_id_a":-15.3323441,"cg_id_raw_a":-20.353693,"cg_iq_a":-196.146713,"cg_iq_raw_a":-196.769165,"cg_iu_a":62.37817,"cg_iv_a":-193.327942,"cg_iw_a":130.949768,"cg_sample_age_us":23.7218189,"cg_sample_seq":12398516,"cg_sample_valid":1,"cg_theta_rad":2.05803084,"cg_vd_req_v":-1.61342597,"cg_vd_v":-1.61342597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48426723,"cg_vq_v":-8.48426723,"cg_vu_v":9.67763615,"cg_vv_v":8.79785156,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2206.843018,"values":{"Elec_RPM":-2347.19873,"EncoderCos":33844,"EncoderSin":54020,"GapTicks":49820,"Mech_RPM":-469.439758,"cg_du":46.4159126,"cg_dv":54.70821,"cg_dw":45.29179,"cg_id_a":17.4857674,"cg_id_raw_a":18.6138859,"cg_iq_a":-205.371521,"cg_iq_raw_a":-204.179092,"cg_iu_a":-173.569183,"cg_iv_a":173.350922,"cg_iw_a":0.218261719,"cg_sample_age_us":26.7545452,"cg_sample_seq":12400320,"cg_sample_valid":1,"cg_theta_rad":1.56544948,"cg_vd_req_v":-2.24976897,"cg_vd_v":-2.24976897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29475689,"cg_vq_v":-8.29475689,"cg_vu_v":37.830761,"cg_vv_v":51.9073219,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.1941357,"dclink_p_w":-2488.41528,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2207.010704,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2207.010711,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2207.010716,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2207.175049,"values":{"Elec_RPM":-2351.15063,"EncoderCos":13685,"EncoderSin":42493,"GapTicks":49328,"Mech_RPM":-470.230133,"cg_du":50.3385735,"cg_dv":55.1560707,"cg_dw":44.8439293,"cg_id_a":-10.612421,"cg_id_raw_a":-9.86424351,"cg_iq_a":-196.017258,"cg_iq_raw_a":-195.064667,"cg_iu_a":-49.325325,"cg_iv_a":191.182892,"cg_iw_a":-141.857574,"cg_sample_age_us":23.8745461,"cg_sample_seq":12401967,"cg_sample_valid":1,"cg_theta_rad":2.6705687,"cg_vd_req_v":-1.66432822,"cg_vd_v":-1.66432822,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43383026,"cg_vq_v":-8.43383026,"cg_vu_v":129.328415,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2421.75903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2207.50708,"values":{"Elec_RPM":-2356.14697,"EncoderCos":13221,"EncoderSin":41531,"GapTicks":49447,"Mech_RPM":-471.229401,"cg_du":48.3730087,"cg_dv":55.0473976,"cg_dw":44.9526024,"cg_id_a":-0.712812901,"cg_id_raw_a":-7.97677755,"cg_iq_a":-201.381821,"cg_iq_raw_a":-200.496872,"cg_iu_a":-113.513153,"cg_iv_a":201.693604,"cg_iw_a":-88.1804504,"cg_sample_age_us":23.9909096,"cg_sample_seq":12403716,"cg_sample_valid":1,"cg_theta_rad":2.72202969,"cg_vd_req_v":-1.89099169,"cg_vd_v":-1.89099169,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34199429,"cg_vq_v":-8.34199429,"cg_vu_v":39.1504402,"cg_vv_v":62.9046364,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-17.1506424,"dclink_p_w":-2482.12085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2207.862549,"values":{"Elec_RPM":-2360.06543,"EncoderCos":15439,"EncoderSin":20036,"GapTicks":49495,"Mech_RPM":-472.013062,"cg_du":55.0044136,"cg_dv":52.039772,"cg_dw":44.9955864,"cg_id_a":7.43825293,"cg_id_raw_a":3.69506025,"cg_iq_a":-201.70282,"cg_iq_raw_a":-201.178253,"cg_iu_a":26.2793121,"cg_iv_a":160.991776,"cg_iw_a":-187.271088,"cg_sample_age_us":23.8709087,"cg_sample_seq":12405371,"cg_sample_valid":1,"cg_theta_rad":3.82491493,"cg_vd_req_v":-2.06467628,"cg_vd_v":-2.06467628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3397274,"cg_vq_v":-8.3397274,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.3043499,"dclink_p_w":-2352.46924,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2208.002867,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2208.002872,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2208.002878,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2208.249268,"values":{"Elec_RPM":-2352.16846,"EncoderCos":19249,"EncoderSin":49288,"GapTicks":49326,"Mech_RPM":-470.433716,"cg_du":55.1580658,"cg_dv":44.8419342,"cg_dw":50.60952,"cg_id_a":-17.2280922,"cg_id_raw_a":-17.3111763,"cg_iq_a":-195.815048,"cg_iq_raw_a":-196.049301,"cg_iu_a":184.411163,"cg_iv_a":-149.581635,"cg_iw_a":-34.8295212,"cg_sample_age_us":23.8854542,"cg_sample_seq":12407266,"cg_sample_valid":1,"cg_theta_rad":2.24832368,"cg_vd_req_v":-1.58251846,"cg_vd_v":-1.58251846,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46793938,"cg_vq_v":-8.46793938,"cg_vu_v":105.574219,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2208.792236,"values":{"Elec_RPM":-2344.06543,"EncoderCos":41056,"EncoderSin":13079,"GapTicks":49699,"Mech_RPM":-468.81308,"cg_du":53.0581245,"cg_dv":54.8188896,"cg_dw":45.1811104,"cg_id_a":-1.73223472,"cg_id_raw_a":3.11914873,"cg_iq_a":-201.171814,"cg_iq_raw_a":-203.56871,"cg_iu_a":-35.8426208,"cg_iv_a":188.029678,"cg_iw_a":-152.187057,"cg_sample_age_us":23.9581814,"cg_sample_seq":12409922,"cg_sample_valid":1,"cg_theta_rad":5.1782403,"cg_vd_req_v":-1.90904522,"cg_vd_v":-1.90904522,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36137676,"cg_vq_v":-8.36137676,"cg_vu_v":103.814644,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.5218124,"dclink_p_w":-2391.11353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":5000,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2208.866878,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2208.86689,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2208.866893,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2208.995197,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2208.995203,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2208.995209,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2209.186768,"values":{"Elec_RPM":-2346.03613,"EncoderCos":52366,"EncoderSin":40480,"GapTicks":49329,"Mech_RPM":-469.207214,"cg_du":44.8453903,"cg_dv":55.1546097,"cg_dw":50.1567688,"cg_id_a":-8.05978394,"cg_id_raw_a":-8.08057404,"cg_iq_a":-196.621841,"cg_iq_raw_a":-196.694183,"cg_iu_a":-195.895386,"cg_iv_a":116.266884,"cg_iw_a":79.6285019,"cg_sample_age_us":23.5654545,"cg_sample_seq":12412118,"cg_sample_valid":1,"cg_theta_rad":0.39539808,"cg_vd_req_v":-1.8300091,"cg_vd_v":-1.8300091,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41878128,"cg_vq_v":-8.41878128,"cg_vu_v":112.172607,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6069851,"dclink_p_w":-2403.44019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2209.518799,"values":{"Elec_RPM":-2348.30005,"EncoderCos":23131,"EncoderSin":51874,"GapTicks":49355,"Mech_RPM":-469.660004,"cg_du":49.5651093,"cg_dv":44.8688622,"cg_dw":55.1311378,"cg_id_a":-18.5235043,"cg_id_raw_a":-19.8676987,"cg_iq_a":-197.487274,"cg_iq_raw_a":-199.047333,"cg_iu_a":38.1310463,"cg_iv_a":-186.296631,"cg_iw_a":148.165588,"cg_sample_age_us":23.7254543,"cg_sample_seq":12413717,"cg_sample_valid":1,"cg_theta_rad":2.0382719,"cg_vd_req_v":-1.52865374,"cg_vd_v":-1.52865374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44789791,"cg_vq_v":-8.44789791,"cg_vu_v":114.811958,"cg_vv_v":116.131638,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2483.69458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118937977,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2209.870361,"values":{"Elec_RPM":-2348.82666,"EncoderCos":23162,"EncoderSin":51924,"GapTicks":49384,"Mech_RPM":-469.76532,"cg_du":49.4662285,"cg_dv":44.8953934,"cg_dw":55.1046066,"cg_id_a":-18.2226238,"cg_id_raw_a":-18.509325,"cg_iq_a":-197.470612,"cg_iq_raw_a":-199.35907,"cg_iu_a":91.6269455,"cg_iv_a":-197.459747,"cg_iw_a":105.832794,"cg_sample_age_us":23.7509098,"cg_sample_seq":12415471,"cg_sample_valid":1,"cg_theta_rad":2.07991266,"cg_vd_req_v":-1.52375531,"cg_vd_v":-1.52375531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43548298,"cg_vq_v":-8.43548298,"cg_vu_v":106.014107,"cg_vv_v":87.53862,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.4819431,"dclink_p_w":-2385.34351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2209.987238,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2209.987243,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2209.987249,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2210.206299,"values":{"Elec_RPM":-2344.91675,"EncoderCos":14964,"EncoderSin":20763,"GapTicks":49346,"Mech_RPM":-468.983368,"cg_du":55.1395721,"cg_dv":50.4980202,"cg_dw":44.8604279,"cg_id_a":-4.63561821,"cg_id_raw_a":-6.8754344,"cg_iq_a":-198.935745,"cg_iq_raw_a":-198.996109,"cg_iu_a":117.650017,"cg_iv_a":83.1762619,"cg_iw_a":-200.826279,"cg_sample_age_us":23.994545,"cg_sample_seq":12417066,"cg_sample_valid":1,"cg_theta_rad":3.74123693,"cg_vd_req_v":-1.83407116,"cg_vd_v":-1.83407116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40456295,"cg_vq_v":-8.40456295,"cg_vu_v":7.03828096,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2210.53833,"values":{"Elec_RPM":-2346.80322,"EncoderCos":11443,"EncoderSin":30761,"GapTicks":49794,"Mech_RPM":-469.360657,"cg_du":46.7862701,"cg_dv":45.2677307,"cg_dw":54.7322693,"cg_id_a":1.19169927,"cg_id_raw_a":8.88356781,"cg_iq_a":-206.016266,"cg_iq_raw_a":-207.772156,"cg_iu_a":-2.71575427,"cg_iv_a":-176.184601,"cg_iw_a":178.90036,"cg_sample_age_us":23.954546,"cg_sample_seq":12418866,"cg_sample_valid":1,"cg_theta_rad":3.24151778,"cg_vd_req_v":-1.90137196,"cg_vd_v":-1.90137196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2788763,"cg_vq_v":-8.2788763,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2210.866455,"values":{"Elec_RPM":-2350.34644,"EncoderCos":36183,"EncoderSin":11660,"GapTicks":50092,"Mech_RPM":-470.069275,"cg_du":54.4617348,"cg_dv":45.5382652,"cg_dw":45.6333275,"cg_id_a":13.0662012,"cg_id_raw_a":14.5295591,"cg_iq_a":-202.942047,"cg_iq_raw_a":-203.499786,"cg_iu_a":181.330429,"cg_iv_a":-16.0593414,"cg_iw_a":-165.271088,"cg_sample_age_us":24.0709095,"cg_sample_seq":12420467,"cg_sample_valid":1,"cg_theta_rad":4.89151049,"cg_vd_req_v":-2.18152857,"cg_vd_v":-2.18152857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2816391,"cg_vq_v":-8.2816391,"cg_vu_v":143.404984,"cg_vv_v":132.407669,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2210.979685,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2210.979691,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2210.979696,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2211.221924,"values":{"Elec_RPM":-2350.53442,"EncoderCos":26010,"EncoderSin":12483,"GapTicks":49428,"Mech_RPM":-470.106903,"cg_du":44.9353027,"cg_dv":48.1963043,"cg_dw":55.0646973,"cg_id_a":2.89043975,"cg_id_raw_a":-1.3991791,"cg_iq_a":-196.738525,"cg_iq_raw_a":-196.688126,"cg_iu_a":-92.4192429,"cg_iv_a":-102.573387,"cg_iw_a":194.99263,"cg_sample_age_us":23.9036369,"cg_sample_seq":12422266,"cg_sample_valid":1,"cg_theta_rad":4.39479065,"cg_vd_req_v":-2.00954318,"cg_vd_v":-2.00954318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40393543,"cg_vq_v":-8.40393543,"cg_vu_v":3.95903301,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2457.58081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2211.553955,"values":{"Elec_RPM":-2352.1499,"EncoderCos":53228,"EncoderSin":27584,"GapTicks":49341,"Mech_RPM":-470.429962,"cg_du":55.1437759,"cg_dv":44.8562241,"cg_dw":49.2653618,"cg_id_a":-10.4295902,"cg_id_raw_a":-13.4909296,"cg_iq_a":-196.672531,"cg_iq_raw_a":-195.844208,"cg_iu_a":195.103088,"cg_iv_a":-117.904526,"cg_iw_a":-77.1985626,"cg_sample_age_us":24.1690903,"cg_sample_seq":12423867,"cg_sample_valid":1,"cg_theta_rad":6.04908323,"cg_vd_req_v":-1.78522801,"cg_vd_v":-1.78522801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43834877,"cg_vq_v":-8.43834877,"cg_vu_v":140.765625,"cg_vv_v":122.290138,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-16.2898521,"dclink_p_w":-2357.54321,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2211.905518,"values":{"Elec_RPM":-2344.44727,"EncoderCos":53012,"EncoderSin":38642,"GapTicks":50006,"Mech_RPM":-468.889435,"cg_du":45.4606171,"cg_dv":54.5393829,"cg_dw":45.8744888,"cg_id_a":10.3199158,"cg_id_raw_a":13.6377773,"cg_iq_a":-203.400558,"cg_iq_raw_a":-204.171936,"cg_iu_a":-183.753693,"cg_iv_a":154.685349,"cg_iw_a":20.6597748,"cg_sample_age_us":23.4381809,"cg_sample_seq":12425572,"cg_sample_valid":1,"cg_theta_rad":0.343198895,"cg_vd_req_v":-2.18110371,"cg_vd_v":-2.18110371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28449726,"cg_vq_v":-8.28449726,"cg_vu_v":115.69175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2388.49097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2212.003307,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2212.003313,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2212.003319,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2212.241455,"values":{"Elec_RPM":-2348.41626,"EncoderCos":52280,"EncoderSin":40736,"GapTicks":49345,"Mech_RPM":-469.683258,"cg_du":44.8594666,"cg_dv":55.1405334,"cg_dw":50.6895905,"cg_id_a":-7.04660606,"cg_id_raw_a":-8.82546043,"cg_iq_a":-197.336609,"cg_iq_raw_a":-197.360001,"cg_iu_a":-197.526367,"cg_iv_a":114.635918,"cg_iw_a":82.8904495,"cg_sample_age_us":23.5618191,"cg_sample_seq":12427316,"cg_sample_valid":1,"cg_theta_rad":0.395771712,"cg_vd_req_v":-1.85936642,"cg_vd_v":-1.85936642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41324806,"cg_vq_v":-8.41324806,"cg_vu_v":6.59838867,"cg_vv_v":23.7541981,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2457.05786,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2212.56958,"values":{"Elec_RPM":-2349.67432,"EncoderCos":45026,"EncoderSin":50125,"GapTicks":49460,"Mech_RPM":-469.934875,"cg_du":55.0361023,"cg_dv":44.9638977,"cg_dw":52.0482903,"cg_id_a":-10.5305166,"cg_id_raw_a":-6.16419125,"cg_iq_a":-197.889572,"cg_iq_raw_a":-199.93866,"cg_iu_a":175.060242,"cg_iv_a":-165.565155,"cg_iw_a":-9.4950943,"cg_sample_age_us":23.9181824,"cg_sample_seq":12429017,"cg_sample_valid":1,"cg_theta_rad":0.960394144,"cg_vd_req_v":-1.70402408,"cg_vd_v":-1.70402408,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44852638,"cg_vq_v":-8.44852638,"cg_vu_v":142.965088,"cg_vv_v":122.730026,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2556.22095,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2212.925049,"values":{"Elec_RPM":-2353.50854,"EncoderCos":33216,"EncoderSin":54025,"GapTicks":49950,"Mech_RPM":-470.701691,"cg_du":45.4093819,"cg_dv":54.5906181,"cg_dw":45.9995766,"cg_id_a":11.9953842,"cg_id_raw_a":17.116394,"cg_iq_a":-203.13382,"cg_iq_raw_a":-203.475662,"cg_iu_a":-169.872314,"cg_iv_a":182.013214,"cg_iw_a":-12.140892,"cg_sample_age_us":23.8309097,"cg_sample_seq":12430716,"cg_sample_valid":1,"cg_theta_rad":1.5412643,"cg_vd_req_v":-2.11867619,"cg_vd_v":-2.11867619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32234669,"cg_vq_v":-8.32234669,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2444.68091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2212.995666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2212.995672,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2212.995678,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2213.25708,"values":{"Elec_RPM":-2357.55029,"EncoderCos":21544,"EncoderSin":51016,"GapTicks":49607,"Mech_RPM":-471.51004,"cg_du":52.7037735,"cg_dv":45.0974274,"cg_dw":54.9025726,"cg_id_a":7.56580448,"cg_id_raw_a":3.535007,"cg_iq_a":-200.522385,"cg_iq_raw_a":-200.967651,"cg_iu_a":139.650024,"cg_iv_a":-195.575058,"cg_iw_a":55.9250336,"cg_sample_age_us":23.5363636,"cg_sample_seq":12432416,"cg_sample_valid":1,"cg_theta_rad":2.12421179,"cg_vd_req_v":-2.07287621,"cg_vd_v":-2.07287621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34455109,"cg_vq_v":-8.34455109,"cg_vu_v":10.9973145,"cg_vv_v":1.75957024,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2506.73755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2213.589111,"values":{"Elec_RPM":-2351.56543,"EncoderCos":13387,"EncoderSin":41902,"GapTicks":49370,"Mech_RPM":-470.31311,"cg_du":49.0844078,"cg_dv":55.1180191,"cg_dw":44.8819809,"cg_id_a":-5.87387609,"cg_id_raw_a":-9.25428677,"cg_iq_a":-199.681488,"cg_iq_raw_a":-198.669235,"cg_iu_a":-87.2363739,"cg_iv_a":200.425079,"cg_iw_a":-113.188705,"cg_sample_age_us":23.8709087,"cg_sample_seq":12434116,"cg_sample_valid":1,"cg_theta_rad":2.70477748,"cg_vd_req_v":-1.7786212,"cg_vd_v":-1.7786212,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38572311,"cg_vq_v":-8.38572311,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2452.48462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2213.940674,"values":{"Elec_RPM":-2352.46143,"EncoderCos":11487,"EncoderSin":30213,"GapTicks":49499,"Mech_RPM":-470.49231,"cg_du":48.1908264,"cg_dv":44.9995956,"cg_dw":55.0004044,"cg_id_a":-14.1439552,"cg_id_raw_a":-7.55828238,"cg_iq_a":-200.682892,"cg_iq_raw_a":-202.010422,"cg_iu_a":7.1788125,"cg_iv_a":-176.32959,"cg_iw_a":169.150772,"cg_sample_age_us":23.9981823,"cg_sample_seq":12435817,"cg_sample_valid":1,"cg_theta_rad":3.26308012,"cg_vd_req_v":-1.58506703,"cg_vd_v":-1.58506703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38827991,"cg_vq_v":-8.38827991,"cg_vu_v":143.404984,"cg_vv_v":140.765625,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2478.09033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2213.987212,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2213.987217,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2213.987223,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2214.272705,"values":{"Elec_RPM":-2351.82104,"EncoderCos":11659,"EncoderSin":29122,"GapTicks":49346,"Mech_RPM":-470.364227,"cg_du":50.4086952,"cg_dv":44.8602257,"cg_dw":55.1397743,"cg_id_a":-12.3057299,"cg_id_raw_a":-16.1389465,"cg_iq_a":-195.84787,"cg_iq_raw_a":-196.08905,"cg_iu_a":68.8658218,"cg_iv_a":-193.944092,"cg_iw_a":125.078262,"cg_sample_age_us":23.7509098,"cg_sample_seq":12437566,"cg_sample_valid":1,"cg_theta_rad":3.31916499,"cg_vd_req_v":-1.66223836,"cg_vd_v":-1.66223836,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46274185,"cg_vq_v":-8.46274185,"cg_vu_v":40.0302238,"cg_vv_v":40.4701157,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2475.98584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2214.608643,"values":{"Elec_RPM":-2350.85645,"EncoderCos":37896,"EncoderSin":12042,"GapTicks":49348,"Mech_RPM":-470.171295,"cg_du":55.1373596,"cg_dv":49.5499954,"cg_dw":44.8626404,"cg_id_a":-17.0848713,"cg_id_raw_a":-18.5691719,"cg_iq_a":-197.769745,"cg_iq_raw_a":-198.199814,"cg_iu_a":149.363373,"cg_iv_a":42.6194153,"cg_iw_a":-191.982788,"cg_sample_age_us":24.0309086,"cg_sample_seq":12439166,"cg_sample_valid":1,"cg_theta_rad":4.96842384,"cg_vd_req_v":-1.60346127,"cg_vd_v":-1.60346127,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41873169,"cg_vq_v":-8.41873169,"cg_vu_v":16.2760258,"cg_vv_v":20.6749516,"cg_vw_v":19.795166,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.4542236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2214.960205,"values":{"Elec_RPM":-2352.53027,"EncoderCos":27216,"EncoderSin":12103,"GapTicks":49973,"Mech_RPM":-470.506073,"cg_du":45.4302177,"cg_dv":45.9407349,"cg_dw":54.5697823,"cg_id_a":14.3478794,"cg_id_raw_a":17.3965378,"cg_iq_a":-205.603638,"cg_iq_raw_a":-201.913757,"cg_iu_a":-20.4752331,"cg_iv_a":-166.833694,"cg_iw_a":192.962967,"cg_sample_age_us":23.9618187,"cg_sample_seq":12440967,"cg_sample_valid":1,"cg_theta_rad":4.46282101,"cg_vd_req_v":-2.21420145,"cg_vd_v":-2.21420145,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26491833,"cg_vq_v":-8.26491833,"cg_vu_v":124.489601,"cg_vv_v":141.645401,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0129166,"dclink_p_w":-2454.70459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2215.011496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2215.011502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2215.011508,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2215.292236,"values":{"Elec_RPM":-2350.93335,"EncoderCos":53509,"EncoderSin":29105,"GapTicks":49779,"Mech_RPM":-470.186676,"cg_du":54.7461662,"cg_dv":45.2538338,"cg_dw":46.666275,"cg_id_a":14.6303787,"cg_id_raw_a":12.8820295,"cg_iq_a":-204.065369,"cg_iq_raw_a":-201.318573,"cg_iu_a":192.421051,"cg_iv_a":-35.7397614,"cg_iw_a":-156.68129,"cg_sample_age_us":24.1727276,"cg_sample_seq":12442567,"cg_sample_valid":1,"cg_theta_rad":6.12382269,"cg_vd_req_v":-2.27389741,"cg_vd_v":-2.27389741,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25128555,"cg_vq_v":-8.25128555,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2215.643799,"values":{"Elec_RPM":-2353.85693,"EncoderCos":49329,"EncoderSin":19542,"GapTicks":49345,"Mech_RPM":-470.771393,"cg_du":44.8591881,"cg_dv":49.5262108,"cg_dw":55.1408119,"cg_id_a":-8.79302883,"cg_id_raw_a":-12.3607121,"cg_iq_a":-196.789307,"cg_iq_raw_a":-195.791885,"cg_iu_a":-117.898659,"cg_iv_a":-75.7166977,"cg_iw_a":193.615356,"cg_sample_age_us":23.9145451,"cg_sample_seq":12444367,"cg_sample_valid":1,"cg_theta_rad":5.62521935,"cg_vd_req_v":-1.85327494,"cg_vd_v":-1.85327494,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4011631,"cg_vq_v":-8.4011631,"cg_vu_v":117.451309,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2390.90552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2215.97583,"values":{"Elec_RPM":-2357.29346,"EncoderCos":44400,"EncoderSin":50532,"GapTicks":49286,"Mech_RPM":-471.45871,"cg_du":55.1938057,"cg_dv":44.8061943,"cg_dw":50.4364738,"cg_id_a":-14.0809088,"cg_id_raw_a":-16.163063,"cg_iq_a":-193.489685,"cg_iq_raw_a":-193.198486,"cg_iu_a":185.281006,"cg_iv_a":-142.477829,"cg_iw_a":-42.8031769,"cg_sample_age_us":23.8927269,"cg_sample_seq":12445967,"cg_sample_valid":1,"cg_theta_rad":0.991932571,"cg_vd_req_v":-1.65076065,"cg_vd_v":-1.65076065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53153229,"cg_vq_v":-8.53153229,"cg_vu_v":143.404984,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.616375,"dclink_p_w":-2557.27319,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2216.003739,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2216.003744,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2216.003747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2216.307861,"values":{"Elec_RPM":-2357.26904,"EncoderCos":32507,"EncoderSin":54048,"GapTicks":49540,"Mech_RPM":-471.453827,"cg_du":45.0368805,"cg_dv":54.9631195,"cg_dw":47.7428474,"cg_id_a":-4.93715286,"cg_id_raw_a":-0.491882175,"cg_iq_a":-198.795303,"cg_iq_raw_a":-200.360596,"cg_iu_a":-177.773468,"cg_iv_a":165.377289,"cg_iw_a":12.3961868,"cg_sample_age_us":23.7763634,"cg_sample_seq":12447666,"cg_sample_valid":1,"cg_theta_rad":1.58509362,"cg_vd_req_v":-1.75624955,"cg_vd_v":-1.75624955,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39342117,"cg_vq_v":-8.39342117,"cg_vu_v":0.87978512,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2216.659424,"values":{"Elec_RPM":-2354.79077,"EncoderCos":21049,"EncoderSin":50702,"GapTicks":49844,"Mech_RPM":-470.95816,"cg_du":53.7514,"cg_dv":45.3133087,"cg_dw":54.6866913,"cg_id_a":13.5553017,"cg_id_raw_a":13.6805639,"cg_iq_a":-201.681152,"cg_iq_raw_a":-201.216217,"cg_iu_a":160.091553,"cg_iv_a":-186.767822,"cg_iw_a":26.6762619,"cg_sample_age_us":23.5545464,"cg_sample_seq":12449366,"cg_sample_valid":1,"cg_theta_rad":2.1530776,"cg_vd_req_v":-2.1852839,"cg_vd_v":-2.1852839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3466692,"cg_vq_v":-8.3466692,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2395.61206,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2216.99479,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2216.994796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2216.994801,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2216.995361,"values":{"Elec_RPM":-2354.7373,"EncoderCos":13221,"EncoderSin":41516,"GapTicks":49398,"Mech_RPM":-470.947479,"cg_du":48.3953819,"cg_dv":55.0918999,"cg_dw":44.9081001,"cg_id_a":2.97726011,"cg_id_raw_a":-1.8936069,"cg_iq_a":-200.349106,"cg_iq_raw_a":-199.83783,"cg_iu_a":-116.485146,"cg_iv_a":200.787506,"cg_iw_a":-84.3023682,"cg_sample_age_us":23.9690914,"cg_sample_seq":12451067,"cg_sample_valid":1,"cg_theta_rad":2.72557378,"cg_vd_req_v":-1.96752465,"cg_vd_v":-1.96752465,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39518547,"cg_vq_v":-8.39518547,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-17.0636578,"dclink_p_w":-2469.53198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2217.346924,"values":{"Elec_RPM":-2352.40356,"EncoderCos":13323,"EncoderSin":41752,"GapTicks":49363,"Mech_RPM":-470.480713,"cg_du":48.8429184,"cg_dv":55.1238861,"cg_dw":44.8761139,"cg_id_a":-0.994231224,"cg_id_raw_a":-4.56255054,"cg_iq_a":-199.245651,"cg_iq_raw_a":-199.382767,"cg_iu_a":-155.121063,"cg_iv_a":194.444824,"cg_iw_a":-39.3237686,"cg_sample_age_us":23.863636,"cg_sample_seq":12452822,"cg_sample_valid":1,"cg_theta_rad":2.76537633,"cg_vd_req_v":-1.88224566,"cg_vd_v":-1.88224566,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40065193,"cg_vq_v":-8.40065193,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.5620098,"dclink_p_w":-2541.65576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2217.678955,"values":{"Elec_RPM":-2350.87451,"EncoderCos":11809,"EncoderSin":28392,"GapTicks":49432,"Mech_RPM":-470.174896,"cg_du":51.6600494,"cg_dv":44.9383698,"cg_dw":55.0616302,"cg_id_a":1.98408854,"cg_id_raw_a":-2.1585412,"cg_iq_a":-197.240082,"cg_iq_raw_a":-196.690079,"cg_iu_a":111.56105,"cg_iv_a":-197.423492,"cg_iw_a":85.862442,"cg_sample_age_us":23.7472725,"cg_sample_seq":12454516,"cg_sample_valid":1,"cg_theta_rad":3.35110092,"cg_vd_req_v":-1.95891857,"cg_vd_v":-1.95891857,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41001987,"cg_vq_v":-8.41001987,"cg_vu_v":25.953661,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2218.010986,"values":{"Elec_RPM":-2350.24707,"EncoderCos":17232,"EncoderSin":17773,"GapTicks":49343,"Mech_RPM":-470.049438,"cg_du":50.7316628,"cg_dv":55.1424637,"cg_dw":44.8575363,"cg_id_a":-16.2283325,"cg_id_raw_a":-14.69734,"cg_iq_a":-196.074539,"cg_iq_raw_a":-195.593018,"cg_iu_a":-33.1968155,"cg_iv_a":183.426697,"cg_iw_a":-150.229889,"cg_sample_age_us":23.9472733,"cg_sample_seq":12456217,"cg_sample_valid":1,"cg_theta_rad":3.91825962,"cg_vd_req_v":-1.57650924,"cg_vd_v":-1.57650924,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45069885,"cg_vq_v":-8.45069885,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2483.20508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2218.018834,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2218.01884,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2218.018846,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2218.514893,"values":{"Elec_RPM":-2350.54395,"EncoderCos":11496,"EncoderSin":30303,"GapTicks":49557,"Mech_RPM":-470.108795,"cg_du":47.9339142,"cg_dv":45.0520592,"cg_dw":54.9479408,"cg_id_a":-10.7714958,"cg_id_raw_a":-3.30037022,"cg_iq_a":-203.527634,"cg_iq_raw_a":-206.07901,"cg_iu_a":0.763653994,"cg_iv_a":-176.402054,"cg_iw_a":175.638397,"cg_sample_age_us":24.0018177,"cg_sample_seq":12458616,"cg_sample_valid":1,"cg_theta_rad":3.25235748,"cg_vd_req_v":-1.65774274,"cg_vd_v":-1.65774274,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31610775,"cg_vq_v":-8.31610775,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2452.35132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2218.882576,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2218.882588,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2218.882591,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2219.003174,"values":{"Elec_RPM":-2352.32202,"EncoderCos":44532,"EncoderSin":50450,"GapTicks":49319,"Mech_RPM":-470.464386,"cg_du":55.1640282,"cg_dv":44.8359718,"cg_dw":50.733963,"cg_id_a":-14.915535,"cg_id_raw_a":-14.0824814,"cg_iq_a":-194.233627,"cg_iq_raw_a":-194.950531,"cg_iu_a":182.345245,"cg_iv_a":-149.509125,"cg_iw_a":-32.836113,"cg_sample_age_us":23.9145451,"cg_sample_seq":12461167,"cg_sample_valid":1,"cg_theta_rad":0.985060871,"cg_vd_req_v":-1.62150693,"cg_vd_v":-1.62150693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50562096,"cg_vq_v":-8.50562096,"cg_vu_v":143.404984,"cg_vv_v":123.169922,"cg_vw_v":145.604446,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2219.011122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2219.011142,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2219.011147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2219.339111,"values":{"Elec_RPM":-2356.45752,"EncoderCos":32887,"EncoderSin":54048,"GapTicks":49748,"Mech_RPM":-471.291504,"cg_du":45.2258606,"cg_dv":54.7741394,"cg_dw":46.7793617,"cg_id_a":4.84550285,"cg_id_raw_a":10.0930729,"cg_iq_a":-202.340759,"cg_iq_raw_a":-204.131699,"cg_iu_a":-173.895386,"cg_iv_a":173.894592,"cg_iw_a":0.000793457031,"cg_sample_age_us":23.7690907,"cg_sample_seq":12462867,"cg_sample_valid":1,"cg_theta_rad":1.56569302,"cg_vd_req_v":-1.96052301,"cg_vd_v":-1.96052301,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30779648,"cg_vq_v":-8.30779648,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2437.27271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2219.690674,"values":{"Elec_RPM":-2354.37354,"EncoderCos":11360,"EncoderSin":32325,"GapTicks":49534,"Mech_RPM":-470.874725,"cg_du":45.0311584,"cg_dv":47.4232445,"cg_dw":54.9688416,"cg_id_a":8.33618832,"cg_id_raw_a":2.24811864,"cg_iq_a":-197.328217,"cg_iq_raw_a":-194.280182,"cg_iu_a":-20.6202087,"cg_iv_a":-164.550339,"cg_iw_a":185.170547,"cg_sample_age_us":23.8345451,"cg_sample_seq":12464471,"cg_sample_valid":1,"cg_theta_rad":3.20785522,"cg_vd_req_v":-2.07189488,"cg_vd_v":-2.07189488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44366932,"cg_vq_v":-8.44366932,"cg_vu_v":135.047012,"cg_vv_v":109.533249,"cg_vw_v":123.60981,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2220.002561,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2220.002567,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2220.002572,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2220.022705,"values":{"Elec_RPM":-2358.7373,"EncoderCos":13211,"EncoderSin":41412,"GapTicks":49424,"Mech_RPM":-471.747467,"cg_du":48.2577057,"cg_dv":55.0684929,"cg_dw":44.9315071,"cg_id_a":6.48046494,"cg_id_raw_a":1.40046132,"cg_iq_a":-200.23996,"cg_iq_raw_a":-199.140625,"cg_iu_a":-121.051865,"cg_iv_a":199.518967,"cg_iw_a":-78.4671021,"cg_sample_age_us":24.0090904,"cg_sample_seq":12466266,"cg_sample_valid":1,"cg_theta_rad":2.72994041,"cg_vd_req_v":-2.03002,"cg_vd_v":-2.03002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39334011,"cg_vq_v":-8.39334011,"cg_vu_v":109.973145,"cg_vv_v":111.292824,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2433.07642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2220.354736,"values":{"Elec_RPM":-2355.33423,"EncoderCos":16054,"EncoderSin":19157,"GapTicks":49995,"Mech_RPM":-471.066833,"cg_du":54.5492859,"cg_dv":54.0257072,"cg_dw":45.4507141,"cg_id_a":12.0249853,"cg_id_raw_a":12.3174143,"cg_iq_a":-204.421463,"cg_iq_raw_a":-204.066071,"cg_iu_a":16.4572334,"cg_iv_a":168.2043,"cg_iw_a":-184.66153,"cg_sample_age_us":23.8672733,"cg_sample_seq":12467917,"cg_sample_valid":1,"cg_theta_rad":3.84401894,"cg_vd_req_v":-2.1327796,"cg_vd_v":-2.1327796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26651955,"cg_vq_v":-8.26651955,"cg_vu_v":38.7105446,"cg_vv_v":49.2679672,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.5837555,"dclink_p_w":-2544.80298,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2220.706299,"values":{"Elec_RPM":-2355.21948,"EncoderCos":16423,"EncoderSin":18708,"GapTicks":49838,"Mech_RPM":-471.043884,"cg_du":53.6054039,"cg_dv":54.6918488,"cg_dw":45.3081512,"cg_id_a":3.78140259,"cg_id_raw_a":8.68125725,"cg_iq_a":-202.633392,"cg_iq_raw_a":-204.36673,"cg_iu_a":3.95311141,"cg_iv_a":169.36412,"cg_iw_a":-173.31723,"cg_sample_age_us":23.8781815,"cg_sample_seq":12469668,"cg_sample_valid":1,"cg_theta_rad":3.86780572,"cg_vd_req_v":-1.95859408,"cg_vd_v":-1.95859408,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32435226,"cg_vq_v":-8.32435226,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2401.88721,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2220.995625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2220.995631,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2220.995636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2221.03833,"values":{"Elec_RPM":-2353.68799,"EncoderCos":38189,"EncoderSin":12077,"GapTicks":49349,"Mech_RPM":-470.73761,"cg_du":55.1366348,"cg_dv":50.1183434,"cg_dw":44.8633652,"cg_id_a":-14.98242,"cg_id_raw_a":-20.524826,"cg_iq_a":-196.964828,"cg_iq_raw_a":-193.728424,"cg_iu_a":134.938324,"cg_iv_a":56.1383667,"cg_iw_a":-191.076691,"cg_sample_age_us":24.0309086,"cg_sample_seq":12471317,"cg_sample_valid":1,"cg_theta_rad":4.98423004,"cg_vd_req_v":-1.64650989,"cg_vd_v":-1.64650989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42539883,"cg_vq_v":-8.42539883,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2427.83105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2221.393799,"values":{"Elec_RPM":-2353.72021,"EncoderCos":47756,"EncoderSin":17759,"GapTicks":49992,"Mech_RPM":-470.744049,"cg_du":45.4478149,"cg_dv":54.5521851,"cg_dw":54.2608376,"cg_id_a":11.5952997,"cg_id_raw_a":11.7508698,"cg_iq_a":-200.703751,"cg_iq_raw_a":-201.375504,"cg_iu_a":-163.710861,"cg_iv_a":-15.2257538,"cg_iw_a":178.936615,"cg_sample_age_us":23.9290905,"cg_sample_seq":12473022,"cg_sample_valid":1,"cg_theta_rad":5.56774282,"cg_vd_req_v":-2.23942995,"cg_vd_v":-2.23942995,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32482147,"cg_vq_v":-8.32482147,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-18.2560787,"dclink_p_w":-2634.07397,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2221.72583,"values":{"Elec_RPM":-2352.74292,"EncoderCos":53616,"EncoderSin":29538,"GapTicks":50021,"Mech_RPM":-470.548584,"cg_du":54.525547,"cg_dv":45.474453,"cg_dw":45.748188,"cg_id_a":12.5071135,"cg_id_raw_a":14.7018223,"cg_iq_a":-204.407318,"cg_iq_raw_a":-204.860855,"cg_iu_a":182.164032,"cg_iv_a":-19.4300232,"cg_iw_a":-165.778503,"cg_sample_age_us":24.1436367,"cg_sample_seq":12474717,"cg_sample_valid":1,"cg_theta_rad":6.14208555,"cg_vd_req_v":-2.21814656,"cg_vd_v":-2.21814656,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2858448,"cg_vq_v":-8.2858448,"cg_vu_v":122.290138,"cg_vv_v":118.3311,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.1524544,"dclink_p_w":-2474.83765,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2221.987146,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2221.987152,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2221.987157,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2222.057861,"values":{"Elec_RPM":-2355.24951,"EncoderCos":51908,"EncoderSin":41598,"GapTicks":49447,"Mech_RPM":-471.049896,"cg_du":44.9523277,"cg_dv":55.0476723,"cg_dw":52.3674355,"cg_id_a":8.32680416,"cg_id_raw_a":4.31797314,"cg_iq_a":-196.373657,"cg_iq_raw_a":-195.475693,"cg_iu_a":-191.908569,"cg_iv_a":62.1548462,"cg_iw_a":129.753723,"cg_sample_age_us":23.5181828,"cg_sample_seq":12476417,"cg_sample_valid":1,"cg_theta_rad":0.442194968,"cg_vd_req_v":-2.16676283,"cg_vd_v":-2.16676283,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46626854,"cg_vq_v":-8.46626854,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2222.409424,"values":{"Elec_RPM":-2354.78418,"EncoderCos":53775,"EncoderSin":31189,"GapTicks":49337,"Mech_RPM":-470.956848,"cg_du":55.1477203,"cg_dv":49.1601868,"cg_dw":44.8522797,"cg_id_a":-15.0080652,"cg_id_raw_a":-14.7830763,"cg_iq_a":-195.662643,"cg_iq_raw_a":-194.059006,"cg_iu_a":149.508347,"cg_iv_a":25.7660217,"cg_iw_a":-182.450653,"cg_sample_age_us":24.0890903,"cg_sample_seq":12478217,"cg_sample_valid":1,"cg_theta_rad":6.22053051,"cg_vd_req_v":-1.67192745,"cg_vd_v":-1.67192745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47732258,"cg_vq_v":-8.47732258,"cg_vu_v":106.453995,"cg_vv_v":100.735397,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7175293,"dclink_p_w":-2419.43872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2222.741455,"values":{"Elec_RPM":-2354.80371,"EncoderCos":32105,"EncoderSin":54045,"GapTicks":49416,"Mech_RPM":-470.960724,"cg_du":44.924221,"cg_dv":55.075779,"cg_dw":48.6306686,"cg_id_a":-9.14268875,"cg_id_raw_a":-5.20633984,"cg_iq_a":-198.622803,"cg_iq_raw_a":-199.783295,"cg_iu_a":-183.753693,"cg_iv_a":155.265259,"cg_iw_a":28.4884415,"cg_sample_age_us":23.863636,"cg_sample_seq":12479816,"cg_sample_valid":1,"cg_theta_rad":1.60122824,"cg_vd_req_v":-1.69209814,"cg_vd_v":-1.69209814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41617584,"cg_vq_v":-8.41617584,"cg_vu_v":38.2706528,"cg_vv_v":54.1067848,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.6598682,"dclink_p_w":-2548.0498,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2222.97939,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2222.979396,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2222.979401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2223.077393,"values":{"Elec_RPM":-2353.67969,"EncoderCos":31220,"EncoderSin":53978,"GapTicks":49310,"Mech_RPM":-470.735931,"cg_du":44.8278618,"cg_dv":55.1721382,"cg_dw":50.4320602,"cg_id_a":-7.65495205,"cg_id_raw_a":-8.59411049,"cg_iq_a":-197.1315,"cg_iq_raw_a":-197.341644,"cg_iu_a":-192.198517,"cg_iv_a":132.794067,"cg_iw_a":59.4044418,"cg_sample_age_us":23.7690907,"cg_sample_seq":12481566,"cg_sample_valid":1,"cg_theta_rad":1.63528156,"cg_vd_req_v":-1.74780226,"cg_vd_v":-1.74780226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44818878,"cg_vq_v":-8.44818878,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2370.2334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2223.428955,"values":{"Elec_RPM":-2354.68384,"EncoderCos":11573,"EncoderSin":29799,"GapTicks":49424,"Mech_RPM":-470.936768,"cg_du":49.1584396,"cg_dv":44.9314308,"cg_dw":55.0685692,"cg_id_a":-19.4233971,"cg_id_raw_a":-17.3783627,"cg_iq_a":-198.97168,"cg_iq_raw_a":-199.46904,"cg_iu_a":24.8658028,"cg_iv_a":-182.527267,"cg_iw_a":157.661469,"cg_sample_age_us":23.7909088,"cg_sample_seq":12483167,"cg_sample_valid":1,"cg_theta_rad":3.28376555,"cg_vd_req_v":-1.48309565,"cg_vd_v":-1.48309565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37885475,"cg_vq_v":-8.37885475,"cg_vu_v":128.888519,"cg_vv_v":129.768311,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3191757,"dclink_p_w":-2498.89307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2223.760986,"values":{"Elec_RPM":-2355.80078,"EncoderCos":12581,"EncoderSin":39895,"GapTicks":49989,"Mech_RPM":-471.160156,"cg_du":45.4454155,"cg_dv":54.5545845,"cg_dw":45.9712715,"cg_id_a":10.9346695,"cg_id_raw_a":17.5208378,"cg_iq_a":-201.948547,"cg_iq_raw_a":-202.11824,"cg_iu_a":-170.560944,"cg_iv_a":182.520599,"cg_iw_a":-15.4753189,"cg_sample_age_us":23.8309097,"cg_sample_seq":12484966,"cg_sample_valid":1,"cg_theta_rad":2.80384636,"cg_vd_req_v":-2.06568766,"cg_vd_v":-2.06568766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31980419,"cg_vq_v":-8.31980419,"cg_vu_v":1.31967759,"cg_vv_v":7.47817326,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2472.94141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2224.00352,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2224.003526,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2224.003531,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2224.093018,"values":{"Elec_RPM":-2359.13477,"EncoderCos":26955,"EncoderSin":12211,"GapTicks":49771,"Mech_RPM":-471.826935,"cg_du":45.2463684,"cg_dv":46.4544983,"cg_dw":54.7536316,"cg_id_a":15.6106491,"cg_id_raw_a":14.8983231,"cg_iq_a":-201.572662,"cg_iq_raw_a":-200.712616,"cg_iu_a":-39.5394897,"cg_iv_a":-150.813919,"cg_iw_a":190.353409,"cg_sample_age_us":23.8381824,"cg_sample_seq":12486566,"cg_sample_valid":1,"cg_theta_rad":4.44141912,"cg_vd_req_v":-2.24634099,"cg_vd_v":-2.24634099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35239506,"cg_vq_v":-8.35239506,"cg_vu_v":105.574219,"cg_vv_v":97.2162552,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.3315315,"dclink_p_w":-2356.39111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2224.44458,"values":{"Elec_RPM":-2355.76831,"EncoderCos":17786,"EncoderSin":17240,"GapTicks":49375,"Mech_RPM":-471.153656,"cg_du":49.2186623,"cg_dv":55.1134071,"cg_dw":44.8865929,"cg_id_a":-13.6953058,"cg_id_raw_a":-17.4944344,"cg_iq_a":-198.815323,"cg_iq_raw_a":-198.263657,"cg_iu_a":-74.0073776,"cg_iv_a":197.41684,"cg_iw_a":-123.409454,"cg_sample_age_us":23.8709087,"cg_sample_seq":12488366,"cg_sample_valid":1,"cg_theta_rad":3.95501924,"cg_vd_req_v":-1.65289068,"cg_vd_v":-1.65289068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41764164,"cg_vq_v":-8.41764164,"cg_vu_v":4.83881807,"cg_vv_v":35.6312981,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2224.776611,"values":{"Elec_RPM":-2351.60303,"EncoderCos":48944,"EncoderSin":19095,"GapTicks":49360,"Mech_RPM":-470.320587,"cg_du":44.8735161,"cg_dv":50.7015915,"cg_dw":55.1264839,"cg_id_a":-11.8538094,"cg_id_raw_a":-11.0205965,"cg_iq_a":-199.193176,"cg_iq_raw_a":-198.792435,"cg_iu_a":-144.392899,"cg_iv_a":-44.6919708,"cg_iw_a":189.084869,"cg_sample_age_us":23.9218178,"cg_sample_seq":12489967,"cg_sample_valid":1,"cg_theta_rad":5.59883022,"cg_vd_req_v":-1.79058015,"cg_vd_v":-1.79058015,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37843704,"cg_vq_v":-8.37843704,"cg_vu_v":111.732712,"cg_vv_v":126.689056,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.6942997,"dclink_p_w":-2560.80151,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2224.99469,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2224.994696,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2224.994702,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2225.13208,"values":{"Elec_RPM":-2355.32251,"EncoderCos":40439,"EncoderSin":12817,"GapTicks":50071,"Mech_RPM":-471.064514,"cg_du":54.4808044,"cg_dv":54.3183899,"cg_dw":45.5191956,"cg_id_a":10.1369991,"cg_id_raw_a":12.4645491,"cg_iq_a":-204.192398,"cg_iq_raw_a":-203.118011,"cg_iu_a":11.2018776,"cg_iv_a":170.487671,"cg_iw_a":-184.009155,"cg_sample_age_us":23.8963642,"cg_sample_seq":12491767,"cg_sample_valid":1,"cg_theta_rad":5.10682487,"cg_vd_req_v":-2.15512013,"cg_vd_v":-2.15512013,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26681709,"cg_vq_v":-8.26681709,"cg_vu_v":3.07924795,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5891933,"dclink_p_w":-2537.85254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2225.460205,"values":{"Elec_RPM":-2356.69385,"EncoderCos":53804,"EncoderSin":31313,"GapTicks":49328,"Mech_RPM":-471.338745,"cg_du":55.1557503,"cg_dv":49.44804,"cg_dw":44.8442497,"cg_id_a":-16.1554279,"cg_id_raw_a":-17.3933849,"cg_iq_a":-194.021667,"cg_iq_raw_a":-194.114624,"cg_iu_a":145.412796,"cg_iv_a":44.3591156,"cg_iw_a":-189.771912,"cg_sample_age_us":24.0854549,"cg_sample_seq":12493416,"cg_sample_valid":1,"cg_theta_rad":6.2264061,"cg_vd_req_v":-1.65196443,"cg_vd_v":-1.65196443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49959278,"cg_vq_v":-8.49959278,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2225.796143,"values":{"Elec_RPM":-2353.81836,"EncoderCos":51204,"EncoderSin":43074,"GapTicks":49798,"Mech_RPM":-470.763672,"cg_du":45.2715759,"cg_dv":53.3455849,"cg_dw":54.7284241,"cg_id_a":3.60475087,"cg_id_raw_a":6.11990309,"cg_iq_a":-201.625275,"cg_iq_raw_a":-200.698578,"cg_iu_a":-173.569183,"cg_iv_a":2.24377441,"cg_iw_a":171.325409,"cg_sample_age_us":23.5072727,"cg_sample_seq":12495117,"cg_sample_valid":1,"cg_theta_rad":0.517284989,"cg_vd_req_v":-2.02728844,"cg_vd_v":-2.02728844,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31818962,"cg_vq_v":-8.31818962,"cg_vu_v":102.055069,"cg_vv_v":102.494972,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2225.987167,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2225.987173,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2225.987178,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2226.147705,"values":{"Elec_RPM":-2349.34033,"EncoderCos":42434,"EncoderSin":51652,"GapTicks":49806,"Mech_RPM":-469.868042,"cg_du":54.72118,"cg_dv":45.27882,"cg_dw":46.5027504,"cg_id_a":17.4124889,"cg_id_raw_a":19.151392,"cg_iq_a":-205.056519,"cg_iq_raw_a":-205.804138,"cg_iu_a":191.116272,"cg_iv_a":-28.9983978,"cg_iw_a":-162.117874,"cg_sample_age_us":24.0418186,"cg_sample_seq":12496816,"cg_sample_valid":1,"cg_theta_rad":1.0995903,"cg_vd_req_v":-2.27849627,"cg_vd_v":-2.27849627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27296638,"cg_vq_v":-8.27296638,"cg_vu_v":48.3881836,"cg_vv_v":44.4291458,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2445.03003,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2226.479736,"values":{"Elec_RPM":-2349.67334,"EncoderCos":30538,"EncoderSin":53951,"GapTicks":49396,"Mech_RPM":-469.934692,"cg_du":44.9056282,"cg_dv":55.0943718,"cg_dw":51.6775818,"cg_id_a":1.40201008,"cg_id_raw_a":-1.10026705,"cg_iq_a":-197.828537,"cg_iq_raw_a":-197.467422,"cg_iu_a":-198.93988,"cg_iv_a":87.3805542,"cg_iw_a":111.559326,"cg_sample_age_us":23.8745461,"cg_sample_seq":12498516,"cg_sample_valid":1,"cg_theta_rad":1.67465901,"cg_vd_req_v":-1.92920661,"cg_vd_v":-1.92920661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44841862,"cg_vq_v":-8.44841862,"cg_vu_v":1.31967759,"cg_vv_v":19.3552723,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5308723,"dclink_p_w":-2392.4248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2226.811768,"values":{"Elec_RPM":-2352.10376,"EncoderCos":19329,"EncoderSin":49393,"GapTicks":49358,"Mech_RPM":-470.420746,"cg_du":55.1283607,"cg_dv":44.8716393,"cg_dw":50.3161659,"cg_id_a":-17.1715145,"cg_id_raw_a":-17.0090199,"cg_iq_a":-195.455536,"cg_iq_raw_a":-195.635376,"cg_iu_a":188.651672,"cg_iv_a":-143.311432,"cg_iw_a":-45.3402328,"cg_sample_age_us":23.9690914,"cg_sample_seq":12500216,"cg_sample_valid":1,"cg_theta_rad":2.25334191,"cg_vd_req_v":-1.56856954,"cg_vd_v":-1.56856954,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45745659,"cg_vq_v":-8.45745659,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2418.1272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2580,"hz_tim_isr":5000,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2227.01144,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2227.011445,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2227.011451,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2227.16333,"values":{"Elec_RPM":-2354.66846,"EncoderCos":12383,"EncoderSin":39342,"GapTicks":49616,"Mech_RPM":-470.933685,"cg_du":45.1063385,"cg_dv":54.8936615,"cg_dw":47.3697891,"cg_id_a":-3.12949562,"cg_id_raw_a":5.25973797,"cg_iq_a":-201.284363,"cg_iq_raw_a":-203.254318,"cg_iu_a":-175.562592,"cg_iv_a":170.922592,"cg_iw_a":4.63999939,"cg_sample_age_us":23.8418179,"cg_sample_seq":12501916,"cg_sample_valid":1,"cg_theta_rad":2.83520293,"cg_vd_req_v":-1.77718866,"cg_vd_v":-1.77718866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34959793,"cg_vq_v":-8.34959793,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2425.1582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.6031494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2227.495361,"values":{"Elec_RPM":-2351.5188,"EncoderCos":12056,"EncoderSin":27300,"GapTicks":49802,"Mech_RPM":-470.303741,"cg_du":53.6398697,"cg_dv":45.2751274,"cg_dw":54.7248726,"cg_id_a":14.8187714,"cg_id_raw_a":14.0038052,"cg_iq_a":-202.076965,"cg_iq_raw_a":-201.060226,"cg_iu_a":160.888916,"cg_iv_a":-188.072586,"cg_iw_a":27.18367,"cg_sample_age_us":23.7000008,"cg_sample_seq":12503616,"cg_sample_valid":1,"cg_theta_rad":3.40347528,"cg_vd_req_v":-2.21532393,"cg_vd_v":-2.21532393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35289574,"cg_vq_v":-8.35289574,"cg_vu_v":25.5137672,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.6997375,"dclink_p_w":-2561.58838,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2227.831299,"values":{"Elec_RPM":-2353.50781,"EncoderCos":28323,"EncoderSin":11847,"GapTicks":49569,"Mech_RPM":-470.701569,"cg_du":47.8815956,"cg_dv":45.0635147,"cg_dw":54.9364853,"cg_id_a":-11.2755585,"cg_id_raw_a":-3.55532956,"cg_iq_a":-201.21814,"cg_iq_raw_a":-201.546188,"cg_iu_a":6.88886166,"cg_iv_a":-176.22084,"cg_iw_a":169.331985,"cg_sample_age_us":24.1290913,"cg_sample_seq":12505267,"cg_sample_valid":1,"cg_theta_rad":4.5178957,"cg_vd_req_v":-1.68193328,"cg_vd_v":-1.68193328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33088112,"cg_vq_v":-8.33088112,"cg_vu_v":120.970459,"cg_vv_v":124.929489,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2402.41016,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2228.003007,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2228.003014,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2228.003019,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2228.237549,"values":{"Elec_RPM":-2353.86206,"EncoderCos":12625,"EncoderSin":25619,"GapTicks":49442,"Mech_RPM":-470.7724,"cg_du":55.0522842,"cg_dv":44.9477158,"cg_dw":51.6976852,"cg_id_a":-15.4982643,"cg_id_raw_a":-11.9604149,"cg_iq_a":-196.27388,"cg_iq_raw_a":-196.490723,"cg_iu_a":176.256287,"cg_iv_a":-164.260376,"cg_iw_a":-11.9959106,"cg_sample_age_us":23.9872723,"cg_sample_seq":12507116,"cg_sample_valid":1,"cg_theta_rad":3.47896028,"cg_vd_req_v":-1.57545555,"cg_vd_v":-1.57545555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44597149,"cg_vq_v":-8.4553833,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2463.76196,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2228.75708,"values":{"Elec_RPM":-2345.271,"EncoderCos":45075,"EncoderSin":15424,"GapTicks":49615,"Mech_RPM":-469.054199,"cg_du":45.1049194,"cg_dv":54.8950806,"cg_dw":47.3216324,"cg_id_a":-3.11158466,"cg_id_raw_a":2.82107258,"cg_iq_a":-202.066833,"cg_iq_raw_a":-203.845459,"cg_iu_a":-176.142502,"cg_iv_a":171.683716,"cg_iw_a":4.45879364,"cg_sample_age_us":23.9400005,"cg_sample_seq":12509866,"cg_sample_valid":1,"cg_theta_rad":5.34618902,"cg_vd_req_v":-1.93427181,"cg_vd_v":-1.93427181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35791111,"cg_vq_v":-8.35791111,"cg_vu_v":5.27871037,"cg_vv_v":23.3143044,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2461.25415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2228.867731,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2228.867743,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2228.867746,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2229.026767,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2229.026773,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2229.026779,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2229.175049,"values":{"Elec_RPM":-2349.26489,"EncoderCos":21606,"EncoderSin":51050,"GapTicks":49512,"Mech_RPM":-469.852997,"cg_du":52.5047379,"cg_dv":45.0109215,"cg_dw":54.9890785,"cg_id_a":10.7456512,"cg_id_raw_a":7.46951675,"cg_iq_a":-198.060822,"cg_iq_raw_a":-197.619431,"cg_iu_a":166.434219,"cg_iv_a":-181.838654,"cg_iw_a":15.4044266,"cg_sample_age_us":26.5654545,"cg_sample_seq":12511920,"cg_sample_valid":1,"cg_theta_rad":2.16541624,"cg_vd_req_v":-2.14693236,"cg_vd_v":-2.14693236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43815231,"cg_vq_v":-8.43815231,"cg_vu_v":38.7105446,"cg_vv_v":38.2706528,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-16.2735424,"dclink_p_w":-2362.34155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2229.510986,"values":{"Elec_RPM":-2346.73535,"EncoderCos":30966,"EncoderSin":53973,"GapTicks":49312,"Mech_RPM":-469.347076,"cg_du":44.8295898,"cg_dv":55.1704102,"cg_dw":50.8575172,"cg_id_a":-1.57306957,"cg_id_raw_a":-3.34714842,"cg_iq_a":-196.12738,"cg_iq_raw_a":-194.821594,"cg_iu_a":-195.134277,"cg_iv_a":107.278419,"cg_iw_a":87.8558578,"cg_sample_age_us":23.8927269,"cg_sample_seq":12513717,"cg_sample_valid":1,"cg_theta_rad":1.65850902,"cg_vd_req_v":-1.8645916,"cg_vd_v":-1.8645916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47734356,"cg_vq_v":-8.47734356,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-16.8643169,"dclink_p_w":-2440.68237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2229.839111,"values":{"Elec_RPM":-2352.53589,"EncoderCos":11675,"EncoderSin":29210,"GapTicks":49355,"Mech_RPM":-470.507172,"cg_du":50.2584229,"cg_dv":44.8683128,"cg_dw":55.1316872,"cg_id_a":-14.1601982,"cg_id_raw_a":-19.6785984,"cg_iq_a":-198.165329,"cg_iq_raw_a":-198.768921,"cg_iu_a":48.3880539,"cg_iv_a":-190.899597,"cg_iw_a":142.511551,"cg_sample_age_us":23.7181816,"cg_sample_seq":12515316,"cg_sample_valid":1,"cg_theta_rad":3.3045547,"cg_vd_req_v":-1.62856686,"cg_vd_v":-1.62856686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42338467,"cg_vq_v":-8.42338467,"cg_vu_v":104.694435,"cg_vv_v":83.1396942,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2229.987666,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2229.987672,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2229.987678,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2230.19458,"values":{"Elec_RPM":-2354.68506,"EncoderCos":16962,"EncoderSin":18141,"GapTicks":49416,"Mech_RPM":-470.937012,"cg_du":51.7361374,"cg_dv":55.0763626,"cg_dw":44.9236374,"cg_id_a":-11.672596,"cg_id_raw_a":-8.60991001,"cg_iq_a":-195.957489,"cg_iq_raw_a":-198.141479,"cg_iu_a":-16.923336,"cg_iv_a":177.990143,"cg_iw_a":-164.727432,"cg_sample_age_us":23.9581814,"cg_sample_seq":12517016,"cg_sample_valid":1,"cg_theta_rad":3.89655352,"cg_vd_req_v":-1.64507627,"cg_vd_v":-1.64507627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48916435,"cg_vq_v":-8.48916435,"cg_vu_v":27.2733402,"cg_vv_v":25.5137672,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.1793079,"dclink_p_w":-2348.66187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2230.526611,"values":{"Elec_RPM":-2358.3103,"EncoderCos":17447,"EncoderSin":17595,"GapTicks":49323,"Mech_RPM":-471.662048,"cg_du":50.1584549,"cg_dv":55.160099,"cg_dw":44.839901,"cg_id_a":-15.6534624,"cg_id_raw_a":-15.1593513,"cg_iq_a":-195.061676,"cg_iq_raw_a":-194.02536,"cg_iu_a":-48.020546,"cg_iv_a":189.153229,"cg_iw_a":-141.13269,"cg_sample_age_us":23.8709087,"cg_sample_seq":12518767,"cg_sample_valid":1,"cg_theta_rad":3.93149948,"cg_vd_req_v":-1.58507574,"cg_vd_v":-1.58507574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47767639,"cg_vq_v":-8.47767639,"cg_vu_v":20.6749516,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2230.858643,"values":{"Elec_RPM":-2355.31152,"EncoderCos":39516,"EncoderSin":12488,"GapTicks":49618,"Mech_RPM":-471.062317,"cg_du":54.8926315,"cg_dv":52.5250893,"cg_dw":45.1073685,"cg_id_a":4.18197203,"cg_id_raw_a":2.18946052,"cg_iq_a":-204.151672,"cg_iq_raw_a":-204.744614,"cg_iu_a":66.292511,"cg_iv_a":136.998352,"cg_iw_a":-203.290863,"cg_sample_age_us":23.9618187,"cg_sample_seq":12520416,"cg_sample_valid":1,"cg_theta_rad":5.05024004,"cg_vd_req_v":-2.04712772,"cg_vd_v":-2.04712772,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25555229,"cg_vq_v":-8.25555229,"cg_vu_v":32.5520515,"cg_vv_v":25.0738773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2230.979385,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2230.979391,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2230.979397,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2231.210205,"values":{"Elec_RPM":-2356.35278,"EncoderCos":40302,"EncoderSin":12732,"GapTicks":49980,"Mech_RPM":-471.270538,"cg_du":54.5633736,"cg_dv":54.0673561,"cg_dw":45.4366264,"cg_id_a":8.14445877,"cg_id_raw_a":7.81273746,"cg_iq_a":-204.236038,"cg_iq_raw_a":-206.260483,"cg_iu_a":26.7504826,"cg_iv_a":162.115326,"cg_iw_a":-188.865814,"cg_sample_age_us":23.9654541,"cg_sample_seq":12522166,"cg_sample_valid":1,"cg_theta_rad":5.09047508,"cg_vd_req_v":-2.11779952,"cg_vd_v":-2.11779952,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28401184,"cg_vq_v":-8.28401184,"cg_vu_v":11.4372072,"cg_vv_v":35.1914063,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2449.99805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2231.542236,"values":{"Elec_RPM":-2361.09741,"EncoderCos":49824,"EncoderSin":20232,"GapTicks":49363,"Mech_RPM":-472.219482,"cg_du":44.8757706,"cg_dv":48.1021881,"cg_dw":55.1242294,"cg_id_a":9.67972565,"cg_id_raw_a":3.01205659,"cg_iq_a":-197.153336,"cg_iq_raw_a":-193.34494,"cg_iu_a":-68.2083588,"cg_iv_a":-128.777664,"cg_iw_a":197.276001,"cg_sample_age_us":23.9181824,"cg_sample_seq":12523867,"cg_sample_valid":1,"cg_theta_rad":5.66539001,"cg_vd_req_v":-2.23593736,"cg_vd_v":-2.23593736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43906689,"cg_vq_v":-8.43906689,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.4732132,"dclink_p_w":-2528.80469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2231.897705,"values":{"Elec_RPM":-2359.38013,"EncoderCos":53792,"EncoderSin":31019,"GapTicks":49382,"Mech_RPM":-471.876038,"cg_du":55.1065636,"cg_dv":48.8232193,"cg_dw":44.8934364,"cg_id_a":-15.4576855,"cg_id_raw_a":-13.3208752,"cg_iq_a":-195.151657,"cg_iq_raw_a":-196.806549,"cg_iu_a":109.712616,"cg_iv_a":90.3162994,"cg_iw_a":-200.028915,"cg_sample_age_us":25.8090916,"cg_sample_seq":12525570,"cg_sample_valid":1,"cg_theta_rad":6.26830626,"cg_vd_req_v":-1.65111005,"cg_vd_v":-1.65111005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44914818,"cg_vq_v":-8.44914818,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.0799675,"dclink_p_w":-2471.89233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2232.003493,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2232.0035,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2232.003505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2232.229736,"values":{"Elec_RPM":-2359.13403,"EncoderCos":50999,"EncoderSin":43480,"GapTicks":49553,"Mech_RPM":-471.826813,"cg_du":45.0488281,"cg_dv":52.2849312,"cg_dw":54.9511719,"cg_id_a":-5.69173241,"cg_id_raw_a":-4.05178261,"cg_iq_a":-202.122345,"cg_iq_raw_a":-202.018677,"cg_iu_a":-165.486816,"cg_iv_a":-14.0296936,"cg_iw_a":179.51651,"cg_sample_age_us":23.5363636,"cg_sample_seq":12527267,"cg_sample_valid":1,"cg_theta_rad":0.539005697,"cg_vd_req_v":-1.84484041,"cg_vd_v":-1.84484041,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33499241,"cg_vq_v":-8.33499241,"cg_vu_v":121.410347,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2344.62476,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2232.561768,"values":{"Elec_RPM":-2356.13794,"EncoderCos":42208,"EncoderSin":51754,"GapTicks":49949,"Mech_RPM":-471.22757,"cg_du":54.5914154,"cg_dv":45.4085846,"cg_dw":45.9875793,"cg_id_a":16.0747929,"cg_id_raw_a":17.4005833,"cg_iq_a":-205.195648,"cg_iq_raw_a":-204.612015,"cg_iu_a":185.317261,"cg_iv_a":-28.1647949,"cg_iw_a":-163.966309,"cg_sample_age_us":23.9109097,"cg_sample_seq":12528967,"cg_sample_valid":1,"cg_theta_rad":1.10855532,"cg_vd_req_v":-2.23836422,"cg_vd_v":-2.23836422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29757881,"cg_vq_v":-8.29757881,"cg_vu_v":125.369385,"cg_vv_v":119.650772,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-16.4692593,"dclink_p_w":-2390.75269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2232.91333,"values":{"Elec_RPM":-2358.64844,"EncoderCos":29951,"EncoderSin":53859,"GapTicks":49592,"Mech_RPM":-471.729675,"cg_du":45.0844345,"cg_dv":54.9155655,"cg_dw":52.7438354,"cg_id_a":8.62009239,"cg_id_raw_a":7.9020977,"cg_iq_a":-197.622528,"cg_iq_raw_a":-198.374619,"cg_iu_a":-193.974457,"cg_iv_a":68.5699921,"cg_iw_a":125.404465,"cg_sample_age_us":23.863636,"cg_sample_seq":12530666,"cg_sample_valid":1,"cg_theta_rad":1.69547439,"cg_vd_req_v":-2.05494976,"cg_vd_v":-2.05494976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40942192,"cg_vq_v":-8.40942192,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.0180225,"dclink_p_w":-2318.20288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2232.994902,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2232.994908,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2232.994914,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2233.245361,"values":{"Elec_RPM":-2357.72192,"EncoderCos":19087,"EncoderSin":49160,"GapTicks":49357,"Mech_RPM":-471.544403,"cg_du":55.1293907,"cg_dv":44.8706093,"cg_dw":49.6980591,"cg_id_a":-14.635994,"cg_id_raw_a":-18.3754845,"cg_iq_a":-198.238983,"cg_iq_raw_a":-197.396515,"cg_iu_a":193.870789,"cg_iv_a":-131.350967,"cg_iw_a":-62.5198212,"cg_sample_age_us":23.9654541,"cg_sample_seq":12532367,"cg_sample_valid":1,"cg_theta_rad":2.26673794,"cg_vd_req_v":-1.63294387,"cg_vd_v":-1.63294387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39342117,"cg_vq_v":-8.39342117,"cg_vu_v":143.404984,"cg_vv_v":138.566162,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2446.07593,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2233.577393,"values":{"Elec_RPM":-2356.12036,"EncoderCos":11959,"EncoderSin":27849,"GapTicks":49521,"Mech_RPM":-471.224091,"cg_du":52.689003,"cg_dv":45.0199699,"cg_dw":54.9800301,"cg_id_a":9.4134798,"cg_id_raw_a":6.26036882,"cg_iq_a":-197.31073,"cg_iq_raw_a":-197.217392,"cg_iu_a":137.22168,"cg_iv_a":-192.784271,"cg_iw_a":55.5625916,"cg_sample_age_us":23.7036362,"cg_sample_seq":12534017,"cg_sample_valid":1,"cg_theta_rad":3.37695456,"cg_vd_req_v":-2.11120653,"cg_vd_v":-2.11120653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45782089,"cg_vq_v":-8.45782089,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2233.928955,"values":{"Elec_RPM":-2353.01904,"EncoderCos":12180,"EncoderSin":26981,"GapTicks":50046,"Mech_RPM":-470.60379,"cg_du":54.3261452,"cg_dv":45.4970856,"cg_dw":54.5029144,"cg_id_a":12.8335342,"cg_id_raw_a":14.6026411,"cg_iq_a":-200.768921,"cg_iq_raw_a":-200.625992,"cg_iu_a":166.941635,"cg_iv_a":-182.27356,"cg_iw_a":15.3319321,"cg_sample_age_us":24.1254539,"cg_sample_seq":12535767,"cg_sample_valid":1,"cg_theta_rad":3.42225385,"cg_vd_req_v":-2.1468215,"cg_vd_v":-2.1468215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36000061,"cg_vq_v":-8.36000061,"cg_vu_v":129.768311,"cg_vv_v":119.650772,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3989124,"dclink_p_w":-2518.05151,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2233.987141,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2233.987148,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2233.987154,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2234.264893,"values":{"Elec_RPM":-2351.63892,"EncoderCos":28976,"EncoderSin":11770,"GapTicks":49387,"Mech_RPM":-470.327789,"cg_du":49.2902908,"cg_dv":44.8973007,"cg_dw":55.1026993,"cg_id_a":-15.5727024,"cg_id_raw_a":-16.8313217,"cg_iq_a":-198.777863,"cg_iq_raw_a":-200.945511,"cg_iu_a":24.8295593,"cg_iv_a":-183.469604,"cg_iw_a":158.640045,"cg_sample_age_us":23.6963634,"cg_sample_seq":12537416,"cg_sample_valid":1,"cg_theta_rad":4.53961802,"cg_vd_req_v":-1.62659717,"cg_vd_v":-1.62659717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39869213,"cg_vq_v":-8.39869213,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.2064915,"dclink_p_w":-2338.34961,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2234.596924,"values":{"Elec_RPM":-2349.93359,"EncoderCos":29861,"EncoderSin":11658,"GapTicks":49324,"Mech_RPM":-469.986694,"cg_du":50.8865776,"cg_dv":44.8404083,"cg_dw":55.1595917,"cg_id_a":-2.59810019,"cg_id_raw_a":-7.09392738,"cg_iq_a":-197.588028,"cg_iq_raw_a":-197.443878,"cg_iu_a":90.793335,"cg_iv_a":-197.785934,"cg_iw_a":106.992599,"cg_sample_age_us":23.7363644,"cg_sample_seq":12539166,"cg_sample_valid":1,"cg_theta_rad":4.58819294,"cg_vd_req_v":-1.91201401,"cg_vd_v":-1.91201401,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42411232,"cg_vq_v":-8.42411232,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2456.01172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2234.948486,"values":{"Elec_RPM":-2353.84717,"EncoderCos":50389,"EncoderSin":21067,"GapTicks":49881,"Mech_RPM":-470.76944,"cg_du":45.3471146,"cg_dv":46.3145332,"cg_dw":54.6528854,"cg_id_a":17.6050625,"cg_id_raw_a":17.3786449,"cg_iq_a":-205.229126,"cg_iq_raw_a":-205.074905,"cg_iu_a":-24.353323,"cg_iv_a":-166.906189,"cg_iw_a":191.259506,"cg_sample_age_us":23.8309097,"cg_sample_seq":12540816,"cg_sample_valid":1,"cg_theta_rad":5.71121693,"cg_vd_req_v":-2.35395479,"cg_vd_v":-2.35395479,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24670029,"cg_vq_v":-8.24670029,"cg_vu_v":38.7105446,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8081379,"dclink_p_w":-2432.552,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2235.010853,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2235.01086,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2235.010866,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2235.280518,"values":{"Elec_RPM":-2355.2876,"EncoderCos":42551,"EncoderSin":13835,"GapTicks":49375,"Mech_RPM":-471.057495,"cg_du":49.3828011,"cg_dv":55.1131744,"cg_dw":44.8868256,"cg_id_a":-15.3710213,"cg_id_raw_a":-17.9803677,"cg_iq_a":-197.58757,"cg_iq_raw_a":-196.001709,"cg_iu_a":-70.1292877,"cg_iv_a":196.583237,"cg_iw_a":-126.453949,"cg_sample_age_us":23.9872723,"cg_sample_seq":12542616,"cg_sample_valid":1,"cg_theta_rad":5.20919037,"cg_vd_req_v":-1.67627692,"cg_vd_v":-1.67627692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39991379,"cg_vq_v":-8.39991379,"cg_vu_v":5.27871037,"cg_vv_v":35.6312981,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2488.61304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2235.63208,"values":{"Elec_RPM":-2356.43848,"EncoderCos":53871,"EncoderSin":32457,"GapTicks":49453,"Mech_RPM":-471.28772,"cg_du":55.0424271,"cg_dv":51.4695091,"cg_dw":44.9575729,"cg_id_a":-2.06511092,"cg_id_raw_a":-5.2499094,"cg_iq_a":-203.574219,"cg_iq_raw_a":-201.665283,"cg_iu_a":58.1013985,"cg_iv_a":139.209244,"cg_iw_a":-197.310638,"cg_sample_age_us":23.9400005,"cg_sample_seq":12544270,"cg_sample_valid":1,"cg_theta_rad":0.0299142916,"cg_vd_req_v":-1.96185136,"cg_vd_v":-1.96185136,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29008389,"cg_vq_v":-8.29008389,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2235.964111,"values":{"Elec_RPM":-2352.58447,"EncoderCos":41260,"EncoderSin":52208,"GapTicks":49545,"Mech_RPM":-470.516876,"cg_du":54.9582977,"cg_dv":47.5572968,"cg_dw":45.0417023,"cg_id_a":-5.69911575,"cg_id_raw_a":1.44770348,"cg_iq_a":-197.43924,"cg_iq_raw_a":-200.800842,"cg_iu_a":170.276062,"cg_iv_a":-1.05441284,"cg_iw_a":-169.221649,"cg_sample_age_us":23.8600006,"cg_sample_seq":12545916,"cg_sample_valid":1,"cg_theta_rad":1.15208805,"cg_vd_req_v":-1.77285743,"cg_vd_v":-1.77285743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43024826,"cg_vq_v":-8.43024826,"cg_vu_v":32.1121559,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2236.003195,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2236.003201,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2236.003207,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2236.300049,"values":{"Elec_RPM":-2347.82227,"EncoderCos":40659,"EncoderSin":52409,"GapTicks":49376,"Mech_RPM":-469.564453,"cg_du":55.1121063,"cg_dv":48.9594612,"cg_dw":44.8878937,"cg_id_a":-11.3839989,"cg_id_raw_a":-11.8314829,"cg_iq_a":-195.082458,"cg_iq_raw_a":-194.293289,"cg_iu_a":149.03717,"cg_iv_a":32.6161194,"cg_iw_a":-181.65329,"cg_sample_age_us":23.8600006,"cg_sample_seq":12547667,"cg_sample_valid":1,"cg_theta_rad":1.19113064,"cg_vd_req_v":-1.67699909,"cg_vd_v":-1.67699909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46341515,"cg_vq_v":-8.46341515,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0727177,"dclink_p_w":-2463.33301,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2236.651611,"values":{"Elec_RPM":-2346.25098,"EncoderCos":28556,"EncoderSin":53666,"GapTicks":49800,"Mech_RPM":-469.250183,"cg_du":45.2730713,"cg_dv":53.4367943,"cg_dw":54.7269287,"cg_id_a":5.16721153,"cg_id_raw_a":12.6098976,"cg_iq_a":-202.486923,"cg_iq_raw_a":-202.822739,"cg_iu_a":-176.686157,"cg_iv_a":-0.873184204,"cg_iw_a":177.559341,"cg_sample_age_us":23.8527279,"cg_sample_seq":12549366,"cg_sample_valid":1,"cg_theta_rad":1.77216709,"cg_vd_req_v":-1.96836066,"cg_vd_v":-1.96836066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31114197,"cg_vq_v":-8.31114197,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-15.9292259,"dclink_p_w":-2298.34448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2236.983643,"values":{"Elec_RPM":-2346.13232,"EncoderCos":27681,"EncoderSin":53465,"GapTicks":49445,"Mech_RPM":-469.226471,"cg_du":44.9500046,"cg_dv":51.2744446,"cg_dw":55.0499954,"cg_id_a":-12.7082615,"cg_id_raw_a":-10.8742819,"cg_iq_a":-200.309875,"cg_iq_raw_a":-200.439484,"cg_iu_a":-160.956329,"cg_iv_a":-24.6853943,"cg_iw_a":185.641724,"cg_sample_age_us":23.7581825,"cg_sample_seq":12551116,"cg_sample_valid":1,"cg_theta_rad":1.81219792,"cg_vd_req_v":-1.61408043,"cg_vd_v":-1.61408043,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37420845,"cg_vq_v":-8.37420845,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-17.1578903,"dclink_p_w":-2490.71753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2236.994732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2236.994738,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2236.994743,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2237.315674,"values":{"Elec_RPM":-2352.62305,"EncoderCos":12412,"EncoderSin":26277,"GapTicks":49663,"Mech_RPM":-470.524597,"cg_du":54.8514023,"cg_dv":45.1485977,"cg_dw":52.9150352,"cg_id_a":-0.590471864,"cg_id_raw_a":4.04228687,"cg_iq_a":-199.189713,"cg_iq_raw_a":-200.788528,"cg_iu_a":170.819733,"cg_iv_a":-171.00174,"cg_iw_a":0.182014465,"cg_sample_age_us":24.1036358,"cg_sample_seq":12552717,"cg_sample_valid":1,"cg_theta_rad":3.45469642,"cg_vd_req_v":-1.86313283,"cg_vd_v":-1.86313283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37664223,"cg_vq_v":-8.37664223,"cg_vu_v":143.404984,"cg_vv_v":136.806595,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2046795,"dclink_p_w":-2345.21655,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2237.667236,"values":{"Elec_RPM":-2350.13062,"EncoderCos":11673,"EncoderSin":36445,"GapTicks":49665,"Mech_RPM":-470.026123,"cg_du":45.1503716,"cg_dv":54.8496284,"cg_dw":53.2102127,"cg_id_a":10.875659,"cg_id_raw_a":9.68737793,"cg_iq_a":-196.812637,"cg_iq_raw_a":-198.145935,"cg_iu_a":-188.82785,"cg_iv_a":56.8632355,"cg_iw_a":134.211716,"cg_sample_age_us":23.9327278,"cg_sample_seq":12554516,"cg_sample_valid":1,"cg_theta_rad":2.96815395,"cg_vd_req_v":-2.09096956,"cg_vd_v":-2.09096956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42035103,"cg_vq_v":-8.42035103,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2449.59937,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2237.999268,"values":{"Elec_RPM":-2352.21484,"EncoderCos":30265,"EncoderSin":11589,"GapTicks":49364,"Mech_RPM":-470.442963,"cg_du":51.6655846,"cg_dv":44.8769531,"cg_dw":55.1230469,"cg_id_a":2.16870499,"cg_id_raw_a":-2.37102938,"cg_iq_a":-197.26593,"cg_iq_raw_a":-196.226959,"cg_iu_a":112.793343,"cg_iv_a":-196.481155,"cg_iw_a":83.6878128,"cg_sample_age_us":23.6599998,"cg_sample_seq":12556117,"cg_sample_valid":1,"cg_theta_rad":4.61133051,"cg_vd_req_v":-2.00745106,"cg_vd_v":-2.00745106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44914722,"cg_vq_v":-8.44914722,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2607,"hz_tim_isr":5000,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2238.018644,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2238.018649,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2238.018655,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2238.495361,"values":{"Elec_RPM":-2352.98413,"EncoderCos":38066,"EncoderSin":12063,"GapTicks":49371,"Mech_RPM":-470.596832,"cg_du":55.1172409,"cg_dv":49.8391418,"cg_dw":44.8827591,"cg_id_a":-13.8606339,"cg_id_raw_a":-17.1937313,"cg_iq_a":-197.512085,"cg_iq_raw_a":-194.477325,"cg_iu_a":94.8164063,"cg_iv_a":96.9126816,"cg_iw_a":-205.248032,"cg_sample_age_us":23.9109097,"cg_sample_seq":12558421,"cg_sample_valid":1,"cg_theta_rad":5.02211809,"cg_vd_req_v":-1.66312408,"cg_vd_v":-1.66312408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38976097,"cg_vq_v":-8.38976097,"cg_vu_v":126.689056,"cg_vv_v":142.085297,"cg_vw_v":132.407669,"control_outputs_enabled":1,"dclink_i_a":-16.4746952,"dclink_p_w":-2377.04736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2238.8835,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2238.883512,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2238.883515,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2238.995361,"values":{"Elec_RPM":-2350.12476,"EncoderCos":30275,"EncoderSin":53950,"GapTicks":49480,"Mech_RPM":-470.024963,"cg_du":44.9821663,"cg_dv":55.0178337,"cg_dw":52.1279297,"cg_id_a":5.46083879,"cg_id_raw_a":4.93770361,"cg_iq_a":-197.61882,"cg_iq_raw_a":-197.510818,"cg_iu_a":-196.62027,"cg_iv_a":84.9884491,"cg_iw_a":111.631821,"cg_sample_age_us":23.7654552,"cg_sample_seq":12561066,"cg_sample_valid":1,"cg_theta_rad":1.67999625,"cg_vd_req_v":-1.99852049,"cg_vd_v":-1.99852049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39865875,"cg_vq_v":-8.39865875,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2530.0083,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2239.011318,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2239.011324,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2239.011329,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2239.327393,"values":{"Elec_RPM":-2352.29932,"EncoderCos":19229,"EncoderSin":49292,"GapTicks":49326,"Mech_RPM":-470.459839,"cg_du":55.1581573,"cg_dv":44.8418427,"cg_dw":50.571209,"cg_id_a":-16.6763802,"cg_id_raw_a":-18.3011951,"cg_iq_a":-196.125702,"cg_iq_raw_a":-195.583206,"cg_iu_a":185.643463,"cg_iv_a":-148.893005,"cg_iw_a":-36.7504578,"cg_sample_age_us":23.9072723,"cg_sample_seq":12562766,"cg_sample_valid":1,"cg_theta_rad":2.24891806,"cg_vd_req_v":-1.58998871,"cg_vd_v":-1.58998871,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46161556,"cg_vq_v":-8.46161556,"cg_vu_v":106.453995,"cg_vv_v":95.0167923,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2496.80127,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2239.678955,"values":{"Elec_RPM":-2353.95874,"EncoderCos":12640,"EncoderSin":39988,"GapTicks":50053,"Mech_RPM":-470.791748,"cg_du":45.5035172,"cg_dv":54.4964828,"cg_dw":45.7081299,"cg_id_a":13.1213856,"cg_id_raw_a":15.246891,"cg_iq_a":-205.022095,"cg_iq_raw_a":-205.877319,"cg_iu_a":-176.468689,"cg_iv_a":164.61615,"cg_iw_a":11.8525314,"cg_sample_age_us":23.8927269,"cg_sample_seq":12564470,"cg_sample_valid":1,"cg_theta_rad":2.84185719,"cg_vd_req_v":-2.12018156,"cg_vd_v":-2.12018156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31359386,"cg_vq_v":-8.31359386,"cg_vu_v":38.7105446,"cg_vv_v":67.743454,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2505.20044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2240.003373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2240.003379,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2240.003385,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2240.010986,"values":{"Elec_RPM":-2349.41846,"EncoderCos":12153,"EncoderSin":27054,"GapTicks":49998,"Mech_RPM":-469.883698,"cg_du":54.1579895,"cg_dv":45.4533691,"cg_dw":54.5466309,"cg_id_a":13.3685846,"cg_id_raw_a":14.9895439,"cg_iq_a":-201.10611,"cg_iq_raw_a":-200.613678,"cg_iu_a":165.419388,"cg_iv_a":-182.85347,"cg_iw_a":17.434082,"cg_sample_age_us":24.1327267,"cg_sample_seq":12566166,"cg_sample_valid":1,"cg_theta_rad":3.41753626,"cg_vd_req_v":-2.16448665,"cg_vd_v":-2.16448665,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34199524,"cg_vq_v":-8.34199524,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2607,"hz_tim_isr":4998,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2240.346924,"values":{"Elec_RPM":-2348.64771,"EncoderCos":18487,"EncoderSin":16671,"GapTicks":49565,"Mech_RPM":-469.729553,"cg_du":47.8010826,"cg_dv":54.9406776,"cg_dw":45.0593224,"cg_id_a":5.40342331,"cg_id_raw_a":0.931797683,"cg_iq_a":-203.783585,"cg_iq_raw_a":-202.349991,"cg_iu_a":-133.121063,"cg_iv_a":202.309753,"cg_iw_a":-69.1886902,"cg_sample_age_us":23.9690914,"cg_sample_seq":12567866,"cg_sample_valid":1,"cg_theta_rad":3.99651957,"cg_vd_req_v":-2.03863478,"cg_vd_v":-2.03863478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27741718,"cg_vq_v":-8.27741718,"cg_vu_v":3.95903301,"cg_vv_v":16.2760258,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.4695892,"dclink_p_w":-2520.59546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2240.698486,"values":{"Elec_RPM":-2351.74878,"EncoderCos":19114,"EncoderSin":16126,"GapTicks":49884,"Mech_RPM":-470.349762,"cg_du":46.3152122,"cg_dv":54.6503944,"cg_dw":45.3496056,"cg_id_a":12.9685879,"cg_id_raw_a":13.3286686,"cg_iq_a":-206.854568,"cg_iq_raw_a":-206.057816,"cg_iu_a":-162.877258,"cg_iv_a":193.24881,"cg_iw_a":-30.3715439,"cg_sample_age_us":23.9581814,"cg_sample_seq":12569616,"cg_sample_valid":1,"cg_theta_rad":4.03487635,"cg_vd_req_v":-2.17860413,"cg_vd_v":-2.17860413,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23681545,"cg_vq_v":-8.23681545,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2507.82324,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2240.994861,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2240.994867,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2240.994872,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2241.030518,"values":{"Elec_RPM":-2351.20581,"EncoderCos":30348,"EncoderSin":11549,"GapTicks":49368,"Mech_RPM":-470.24115,"cg_du":51.7773628,"cg_dv":44.8802147,"cg_dw":55.1197853,"cg_id_a":6.15711927,"cg_id_raw_a":2.26614165,"cg_iq_a":-195.795868,"cg_iq_raw_a":-195.411148,"cg_iu_a":118.302406,"cg_iv_a":-194.886414,"cg_iw_a":88.8344269,"cg_sample_age_us":23.7436371,"cg_sample_seq":12571316,"cg_sample_valid":1,"cg_theta_rad":4.61282921,"cg_vd_req_v":-2.08735061,"cg_vd_v":-2.08735061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47268677,"cg_vq_v":-8.47268677,"cg_vu_v":39.590332,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5816135,"dclink_p_w":-2399.76831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2241.362549,"values":{"Elec_RPM":-2349.98804,"EncoderCos":50596,"EncoderSin":21461,"GapTicks":50105,"Mech_RPM":-469.99762,"cg_du":45.7720032,"cg_dv":45.550293,"cg_dw":54.449707,"cg_id_a":12.0462666,"cg_id_raw_a":16.8984222,"cg_iq_a":-208.019669,"cg_iq_raw_a":-208.884659,"cg_iu_a":-9.78330231,"cg_iv_a":-175.495972,"cg_iw_a":185.279266,"cg_sample_age_us":23.9581814,"cg_sample_seq":12572966,"cg_sample_valid":1,"cg_theta_rad":5.73521662,"cg_vd_req_v":-2.23017406,"cg_vd_v":-2.23017406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.18303776,"cg_vq_v":-8.18303776,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2406.0708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2241.714111,"values":{"Elec_RPM":-2354.11035,"EncoderCos":53843,"EncoderSin":32799,"GapTicks":49514,"Mech_RPM":-470.822052,"cg_du":54.9866791,"cg_dv":52.0383873,"cg_dw":45.0133209,"cg_id_a":4.4150362,"cg_id_raw_a":0.735819221,"cg_iq_a":-205.154907,"cg_iq_raw_a":-204.162613,"cg_iu_a":76.4045334,"cg_iv_a":124.313011,"cg_iw_a":-200.717545,"cg_sample_age_us":23.4927273,"cg_sample_seq":12574667,"cg_sample_valid":1,"cg_theta_rad":0.0124635324,"cg_vd_req_v":-2.08936429,"cg_vd_v":-2.08936429,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27667809,"cg_vq_v":-8.27667809,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.3354855,"dclink_p_w":-2501.24634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2241.98733,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2241.987336,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2241.987341,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2242.046143,"values":{"Elec_RPM":-2356.28174,"EncoderCos":53784,"EncoderSin":33851,"GapTicks":49947,"Mech_RPM":-471.256348,"cg_du":54.5931244,"cg_dv":54.0472298,"cg_dw":45.4068756,"cg_id_a":9.64575386,"cg_id_raw_a":9.37320709,"cg_iq_a":-204.914459,"cg_iq_raw_a":-207.344406,"cg_iu_a":25.228241,"cg_iv_a":163.963776,"cg_iw_a":-189.192017,"cg_sample_age_us":23.4599991,"cg_sample_seq":12576416,"cg_sample_valid":1,"cg_theta_rad":0.0645809993,"cg_vd_req_v":-2.17219973,"cg_vd_v":-2.17219973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30641556,"cg_vq_v":-8.30641556,"cg_vu_v":39.590332,"cg_vv_v":52.3472176,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-17.4985828,"dclink_p_w":-2532.47632,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.6300964,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2242.397705,"values":{"Elec_RPM":-2352.06006,"EncoderCos":41864,"EncoderSin":51919,"GapTicks":49979,"Mech_RPM":-470.412018,"cg_du":54.5640182,"cg_dv":45.954998,"cg_dw":45.4359818,"cg_id_a":9.60417938,"cg_id_raw_a":10.9628305,"cg_iq_a":-202.216003,"cg_iq_raw_a":-202.218353,"cg_iu_a":159.874084,"cg_iv_a":16.7775574,"cg_iw_a":-176.651642,"cg_sample_age_us":23.9145451,"cg_sample_seq":12578071,"cg_sample_valid":1,"cg_theta_rad":1.17501438,"cg_vd_req_v":-2.08727264,"cg_vd_v":-2.08727264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30947113,"cg_vq_v":-8.30947113,"cg_vu_v":141.205521,"cg_vv_v":127.568848,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.5036907,"dclink_p_w":-2381.23096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2242.733643,"values":{"Elec_RPM":-2349.39063,"EncoderCos":40009,"EncoderSin":52684,"GapTicks":49358,"Mech_RPM":-469.878143,"cg_du":55.1285896,"cg_dv":50.2982521,"cg_dw":44.8714104,"cg_id_a":-6.71229887,"cg_id_raw_a":-9.13802433,"cg_iq_a":-199.513504,"cg_iq_raw_a":-199.878983,"cg_iu_a":134.575897,"cg_iv_a":59.0741119,"cg_iw_a":-193.650009,"cg_sample_age_us":23.8018188,"cg_sample_seq":12579816,"cg_sample_valid":1,"cg_theta_rad":1.21459687,"cg_vd_req_v":-1.78888988,"cg_vd_v":-1.78888988,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36008549,"cg_vq_v":-8.36008549,"cg_vu_v":30.3525867,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2506.24951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120801099,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2243.010816,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2243.010822,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2243.010827,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2243.065674,"values":{"Elec_RPM":-2353.12451,"EncoderCos":18187,"EncoderSin":48369,"GapTicks":49463,"Mech_RPM":-470.624878,"cg_du":55.0329437,"cg_dv":44.9670563,"cg_dw":47.7383919,"cg_id_a":12.161068,"cg_id_raw_a":7.19193983,"cg_iq_a":-198.93541,"cg_iq_raw_a":-196.35495,"cg_iu_a":195.393036,"cg_iv_a":-60.7117615,"cg_iw_a":-134.681274,"cg_sample_age_us":23.9909096,"cg_sample_seq":12581467,"cg_sample_valid":1,"cg_theta_rad":2.3228941,"cg_vd_req_v":-2.18015575,"cg_vd_v":-2.18015575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41123199,"cg_vq_v":-8.41123199,"cg_vu_v":143.404984,"cg_vv_v":132.847549,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9476776,"dclink_p_w":-2452.74683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2243.417236,"values":{"Elec_RPM":-2351.89185,"EncoderCos":11909,"EncoderSin":37627,"GapTicks":49355,"Mech_RPM":-470.378357,"cg_du":44.868351,"cg_dv":55.131649,"cg_dw":51.0753174,"cg_id_a":-5.68549395,"cg_id_raw_a":-5.84507465,"cg_iq_a":-195.317657,"cg_iq_raw_a":-195.856842,"cg_iu_a":-195.931625,"cg_iv_a":107.060951,"cg_iw_a":88.8706741,"cg_sample_age_us":23.8454552,"cg_sample_seq":12583166,"cg_sample_valid":1,"cg_theta_rad":2.91778803,"cg_vd_req_v":-1.76250064,"cg_vd_v":-1.76250064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45649719,"cg_vq_v":-8.45649719,"cg_vu_v":101.615181,"cg_vv_v":110.413033,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2502.55371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2243.749268,"values":{"Elec_RPM":-2353.91797,"EncoderCos":12506,"EncoderSin":25845,"GapTicks":49477,"Mech_RPM":-470.7836,"cg_du":55.0205879,"cg_dv":44.9794121,"cg_dw":51.8110199,"cg_id_a":-12.4418545,"cg_id_raw_a":-9.83733177,"cg_iq_a":-197.862122,"cg_iq_raw_a":-198.572205,"cg_iu_a":181.656616,"cg_iv_a":-157.736481,"cg_iw_a":-10.8723526,"cg_sample_age_us":23.994545,"cg_sample_seq":12584867,"cg_sample_valid":1,"cg_theta_rad":3.4832418,"cg_vd_req_v":-1.64942813,"cg_vd_v":-1.64942813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40987873,"cg_vq_v":-8.40987873,"cg_vu_v":4.39892578,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.3536091,"dclink_p_w":-2511.49512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2244.003152,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2244.003158,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2244.003163,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2244.081299,"values":{"Elec_RPM":-2351.82666,"EncoderCos":19648,"EncoderSin":15727,"GapTicks":49902,"Mech_RPM":-470.365356,"cg_du":45.3662758,"cg_dv":54.6337242,"cg_dw":46.1516418,"cg_id_a":8.41115093,"cg_id_raw_a":13.2504816,"cg_iq_a":-203.427399,"cg_iq_raw_a":-204.142258,"cg_iu_a":-172.880554,"cg_iv_a":177.990143,"cg_iw_a":-5.10958099,"cg_sample_age_us":23.9654541,"cg_sample_seq":12586566,"cg_sample_valid":1,"cg_theta_rad":4.06599998,"cg_vd_req_v":-2.07203507,"cg_vd_v":-2.07203507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33404446,"cg_vq_v":-8.33404446,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2492.55908,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2244.436768,"values":{"Elec_RPM":-2349.80591,"EncoderCos":31100,"EncoderSin":11513,"GapTicks":49660,"Mech_RPM":-469.961182,"cg_du":53.0773354,"cg_dv":45.1456947,"cg_dw":54.8543053,"cg_id_a":17.1419487,"cg_id_raw_a":17.8609829,"cg_iq_a":-199.613953,"cg_iq_raw_a":-198.705612,"cg_iu_a":153.458923,"cg_iv_a":-188.724976,"cg_iw_a":46.7190933,"cg_sample_age_us":23.692728,"cg_sample_seq":12588266,"cg_sample_valid":1,"cg_theta_rad":4.6503973,"cg_vd_req_v":-2.27958655,"cg_vd_v":-2.27958655,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3595047,"cg_vq_v":-8.3595047,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":9.67763615,"control_outputs_enabled":1,"dclink_i_a":-17.1651402,"dclink_p_w":-2476.66821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2244.764893,"values":{"Elec_RPM":-2349.14722,"EncoderCos":42847,"EncoderSin":14003,"GapTicks":49431,"Mech_RPM":-469.829437,"cg_du":48.798275,"cg_dv":55.0622139,"cg_dw":44.9377861,"cg_id_a":-11.3436251,"cg_id_raw_a":-15.8642817,"cg_iq_a":-200.8741,"cg_iq_raw_a":-200.930832,"cg_iu_a":-89.48349,"cg_iv_a":200.715012,"cg_iw_a":-111.231522,"cg_sample_age_us":23.9472733,"cg_sample_seq":12589966,"cg_sample_valid":1,"cg_theta_rad":5.2216177,"cg_vd_req_v":-1.77903938,"cg_vd_v":-1.77903938,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32481003,"cg_vq_v":-8.32481003,"cg_vu_v":1.31967759,"cg_vv_v":3.51914048,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2367.896,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2244.994884,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2244.99489,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2244.994896,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2245.10083,"values":{"Elec_RPM":-2352.65747,"EncoderCos":51280,"EncoderSin":22538,"GapTicks":49367,"Mech_RPM":-470.531494,"cg_du":48.7393532,"cg_dv":44.8797569,"cg_dw":55.1202431,"cg_id_a":-12.5522308,"cg_id_raw_a":-10.3243313,"cg_iq_a":-198.171036,"cg_iq_raw_a":-200.512527,"cg_iu_a":29.5050144,"cg_iv_a":-183.397141,"cg_iw_a":160.560974,"cg_sample_age_us":23.8381824,"cg_sample_seq":12591667,"cg_sample_valid":1,"cg_theta_rad":5.7939496,"cg_vd_req_v":-1.75701845,"cg_vd_v":-1.75701845,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43532944,"cg_vq_v":-8.43532944,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2245.452393,"values":{"Elec_RPM":-2355.22339,"EncoderCos":53748,"EncoderSin":34359,"GapTicks":49897,"Mech_RPM":-471.044678,"cg_du":53.8855591,"cg_dv":54.6385193,"cg_dw":45.3614807,"cg_id_a":7.78546715,"cg_id_raw_a":13.9407587,"cg_iq_a":-201.710953,"cg_iq_raw_a":-200.749908,"cg_iu_a":6.34520435,"cg_iv_a":169.690308,"cg_iw_a":-181.254608,"cg_sample_age_us":23.5,"cg_sample_seq":12593367,"cg_sample_valid":1,"cg_theta_rad":0.0869250372,"cg_vd_req_v":-2.1253593,"cg_vd_v":-2.1253593,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34412766,"cg_vq_v":-8.34412766,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-15.9545956,"dclink_p_w":-2302.00488,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2245.784424,"values":{"Elec_RPM":-2349.37866,"EncoderCos":49392,"EncoderSin":45899,"GapTicks":49716,"Mech_RPM":-469.875732,"cg_du":45.1964188,"cg_dv":46.8195915,"cg_dw":54.8035812,"cg_id_a":17.3784447,"cg_id_raw_a":16.4207115,"cg_iq_a":-203.417023,"cg_iq_raw_a":-202.391724,"cg_iu_a":-28.4488754,"cg_iv_a":-164.514099,"cg_iw_a":192.962967,"cg_sample_age_us":23.5254555,"cg_sample_seq":12595067,"cg_sample_valid":1,"cg_theta_rad":0.684017479,"cg_vd_req_v":-2.31282616,"cg_vd_v":-2.31282616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2768755,"cg_vq_v":-8.2768755,"cg_vu_v":35.6312981,"cg_vv_v":32.5520515,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2246.019297,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2246.019303,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2246.019308,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2246.139893,"values":{"Elec_RPM":-2346.78467,"EncoderCos":40275,"EncoderSin":52598,"GapTicks":49319,"Mech_RPM":-469.356934,"cg_du":55.1640205,"cg_dv":49.7601471,"cg_dw":44.8359795,"cg_id_a":-8.69216156,"cg_id_raw_a":-11.6343536,"cg_iq_a":-197.601685,"cg_iq_raw_a":-196.922104,"cg_iu_a":102.500092,"cg_iv_a":98.0724792,"cg_iw_a":-200.572571,"cg_sample_age_us":23.9836369,"cg_sample_seq":12596770,"cg_sample_valid":1,"cg_theta_rad":1.24410045,"cg_vd_req_v":-1.75776994,"cg_vd_v":-1.75776994,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42523766,"cg_vq_v":-8.42523766,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2411.03857,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2246.468018,"values":{"Elec_RPM":-2353.03833,"EncoderCos":27277,"EncoderSin":53428,"GapTicks":49358,"Mech_RPM":-470.607666,"cg_du":44.871788,"cg_dv":50.3734016,"cg_dw":55.128212,"cg_id_a":-16.1805496,"cg_id_raw_a":-12.2341576,"cg_iq_a":-197.690201,"cg_iq_raw_a":-200.424942,"cg_iu_a":-146.857483,"cg_iv_a":-42.0099487,"cg_iw_a":188.867432,"cg_sample_age_us":23.8927269,"cg_sample_seq":12598466,"cg_sample_valid":1,"cg_theta_rad":1.83283007,"cg_vd_req_v":-1.54816949,"cg_vd_v":-1.54816949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43663597,"cg_vq_v":-8.43663597,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2246.800049,"values":{"Elec_RPM":-2356.31738,"EncoderCos":16867,"EncoderSin":47000,"GapTicks":49606,"Mech_RPM":-471.263489,"cg_du":54.9036255,"cg_dv":47.2720833,"cg_dw":45.0963745,"cg_id_a":-1.39079773,"cg_id_raw_a":2.88763499,"cg_iq_a":-197.596069,"cg_iq_raw_a":-199.921799,"cg_iu_a":169.659912,"cg_iv_a":2.53373718,"cg_iw_a":-172.193649,"cg_sample_age_us":23.9363632,"cg_sample_seq":12600166,"cg_sample_valid":1,"cg_theta_rad":2.40854621,"cg_vd_req_v":-1.85667205,"cg_vd_v":-1.85667205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40428448,"cg_vq_v":-8.40428448,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2247.01056,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2247.010566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2247.010571,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2247.155518,"values":{"Elec_RPM":-2348.17358,"EncoderCos":11744,"EncoderSin":36588,"GapTicks":49582,"Mech_RPM":-469.634735,"cg_du":45.0751991,"cg_dv":54.9248009,"cg_dw":52.957756,"cg_id_a":8.16427994,"cg_id_raw_a":6.00284672,"cg_iq_a":-198.329987,"cg_iq_raw_a":-199.292587,"cg_iu_a":-190.023895,"cg_iv_a":43.9966888,"cg_iw_a":146.027206,"cg_sample_age_us":23.9654541,"cg_sample_seq":12601868,"cg_sample_valid":1,"cg_theta_rad":2.97205853,"cg_vd_req_v":-2.0470562,"cg_vd_v":-2.0470562,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4122982,"cg_vq_v":-8.4122982,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":118.770996,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2454.25879,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":2247.487549,"values":{"Elec_RPM":-2347.91553,"EncoderCos":13099,"EncoderSin":24372,"GapTicks":49369,"Mech_RPM":-469.58313,"cg_du":55.1186867,"cg_dv":44.8813133,"cg_dw":48.7296333,"cg_id_a":-2.39851546,"cg_id_raw_a":-9.10760403,"cg_iq_a":-197.069016,"cg_iq_raw_a":-196.071335,"cg_iu_a":197.205231,"cg_iv_a":-111.815567,"cg_iw_a":-85.0997162,"cg_sample_age_us":24.1036358,"cg_sample_seq":12603567,"cg_sample_valid":1,"cg_theta_rad":3.54741168,"cg_vd_req_v":-1.88858557,"cg_vd_v":-1.88858557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4594059,"cg_vq_v":-8.4594059,"cg_vu_v":106.453995,"cg_vv_v":89.7380829,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.2898521,"dclink_p_w":-2364.70898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2247.81958,"values":{"Elec_RPM":-2344.56812,"EncoderCos":21008,"EncoderSin":14809,"GapTicks":49356,"Mech_RPM":-468.913635,"cg_du":44.869442,"cg_dv":55.130558,"cg_dw":49.8972168,"cg_id_a":-13.1024837,"cg_id_raw_a":-12.5932827,"cg_iq_a":-196.078278,"cg_iq_raw_a":-196.072571,"cg_iu_a":-191.836075,"cg_iv_a":135.186172,"cg_iw_a":56.6499023,"cg_sample_age_us":23.9472733,"cg_sample_seq":12605266,"cg_sample_valid":1,"cg_theta_rad":4.14427185,"cg_vd_req_v":-1.65541446,"cg_vd_v":-1.65541446,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43967915,"cg_vq_v":-8.43967915,"cg_vu_v":7.91806602,"cg_vv_v":24.6339836,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2248.002605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2248.002611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2248.002617,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2248.22583,"values":{"Elec_RPM":-2341.50049,"EncoderCos":13857,"EncoderSin":22693,"GapTicks":50043,"Mech_RPM":-468.300079,"cg_du":54.5060501,"cg_dv":45.7279015,"cg_dw":45.4939499,"cg_id_a":11.0349159,"cg_id_raw_a":9.0059309,"cg_iq_a":-201.729797,"cg_iq_raw_a":-199.836472,"cg_iu_a":179.44574,"cg_iv_a":-12.0000305,"cg_iw_a":-167.445709,"cg_sample_age_us":24.0781822,"cg_sample_seq":12607067,"cg_sample_valid":1,"cg_theta_rad":3.63710022,"cg_vd_req_v":-2.11665988,"cg_vd_v":-2.11665988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31947994,"cg_vq_v":-8.31947994,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2480.02271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2248.745361,"values":{"Elec_RPM":-2343.06592,"EncoderCos":52999,"EncoderSin":38616,"GapTicks":50022,"Mech_RPM":-468.613159,"cg_du":45.4747581,"cg_dv":54.5252419,"cg_dw":45.8510971,"cg_id_a":9.27663898,"cg_id_raw_a":9.02318764,"cg_iq_a":-203.858246,"cg_iq_raw_a":-205.726654,"cg_iu_a":-170.560944,"cg_iv_a":180.237244,"cg_iw_a":-9.67630768,"cg_sample_age_us":23.5363636,"cg_sample_seq":12609717,"cg_sample_valid":1,"cg_theta_rad":0.290182054,"cg_vd_req_v":-2.16735792,"cg_vd_v":-2.16735792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27736855,"cg_vq_v":-8.27736855,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2429.66699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2248.867517,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2248.867528,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2248.867531,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2248.995323,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2248.995329,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2248.995335,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2249.143799,"values":{"Elec_RPM":-2348.78687,"EncoderCos":18257,"EncoderSin":48416,"GapTicks":49464,"Mech_RPM":-469.757385,"cg_du":55.0319748,"cg_dv":44.9680252,"cg_dw":47.9228401,"cg_id_a":12.0537891,"cg_id_raw_a":8.31634903,"cg_iq_a":-199.031952,"cg_iq_raw_a":-196.981247,"cg_iu_a":198.111328,"cg_iv_a":-64.5536041,"cg_iw_a":-133.557724,"cg_sample_age_us":23.9690914,"cg_sample_seq":12611866,"cg_sample_valid":1,"cg_theta_rad":2.31921721,"cg_vd_req_v":-2.17935085,"cg_vd_v":-2.17935085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39255905,"cg_vq_v":-8.39255905,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2249.499268,"values":{"Elec_RPM":-2349.32104,"EncoderCos":27458,"EncoderSin":53439,"GapTicks":49395,"Mech_RPM":-469.864197,"cg_du":44.9054184,"cg_dv":50.7543488,"cg_dw":55.0945816,"cg_id_a":-15.696764,"cg_id_raw_a":-12.3657846,"cg_iq_a":-198.804031,"cg_iq_raw_a":-200.752243,"cg_iu_a":-154.649902,"cg_iv_a":-32.9489746,"cg_iw_a":187.598877,"cg_sample_age_us":23.8963642,"cg_sample_seq":12613666,"cg_sample_valid":1,"cg_theta_rad":1.82318699,"cg_vd_req_v":-1.55619287,"cg_vd_v":-1.55619287,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40188789,"cg_vq_v":-8.40188789,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6450405,"dclink_p_w":-2408.94775,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2249.831299,"values":{"Elec_RPM":-2347.51392,"EncoderCos":12425,"EncoderSin":26173,"GapTicks":49593,"Mech_RPM":-469.502777,"cg_du":54.9153366,"cg_dv":45.0846634,"cg_dw":52.6501808,"cg_id_a":-4.32621288,"cg_id_raw_a":2.86832356,"cg_iq_a":-200.102814,"cg_iq_raw_a":-201.689957,"cg_iu_a":172.305725,"cg_iv_a":-171.944077,"cg_iw_a":0.435714722,"cg_sample_age_us":24.0636368,"cg_sample_seq":12615267,"cg_sample_valid":1,"cg_theta_rad":3.46014833,"cg_vd_req_v":-1.79716551,"cg_vd_v":-1.79716551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38642788,"cg_vq_v":-8.38642788,"cg_vu_v":142.965088,"cg_vv_v":123.169922,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.7229652,"dclink_p_w":-2412.8689,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2249.987135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2249.987141,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2249.987147,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2250.182861,"values":{"Elec_RPM":-2339.39648,"EncoderCos":11675,"EncoderSin":36338,"GapTicks":49713,"Mech_RPM":-467.879272,"cg_du":45.1944199,"cg_dv":54.8055801,"cg_dw":53.4019928,"cg_id_a":10.7156963,"cg_id_raw_a":10.3057528,"cg_iq_a":-199.460236,"cg_iq_raw_a":-199.854111,"cg_iu_a":-192.198517,"cg_iv_a":52.3690033,"cg_iw_a":139.829514,"cg_sample_age_us":23.8418179,"cg_sample_seq":12617066,"cg_sample_valid":1,"cg_theta_rad":2.96831298,"cg_vd_req_v":-2.10120201,"cg_vd_v":-2.10120201,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39019012,"cg_vq_v":-8.39019012,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2447.12158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2250.514893,"values":{"Elec_RPM":-2338.604,"EncoderCos":30580,"EncoderSin":11547,"GapTicks":49473,"Mech_RPM":-467.720795,"cg_du":52.2154846,"cg_dv":44.9755325,"cg_dw":55.0244675,"cg_id_a":7.48076344,"cg_id_raw_a":5.63965178,"cg_iq_a":-196.844788,"cg_iq_raw_a":-195.626373,"cg_iu_a":128.160736,"cg_iv_a":-194.451492,"cg_iw_a":66.2907562,"cg_sample_age_us":23.5981827,"cg_sample_seq":12618667,"cg_sample_valid":1,"cg_theta_rad":4.62610149,"cg_vd_req_v":-2.10171962,"cg_vd_v":-2.10171962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4056139,"cg_vq_v":-8.4056139,"cg_vu_v":106.453995,"cg_vv_v":91.4976578,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2492.87402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2250.846924,"values":{"Elec_RPM":-2345.59717,"EncoderCos":31590,"EncoderSin":11469,"GapTicks":49957,"Mech_RPM":-469.119446,"cg_du":54.0073853,"cg_dv":45.4158554,"cg_dw":54.5841446,"cg_id_a":16.7775917,"cg_id_raw_a":17.3699398,"cg_iq_a":-203.063538,"cg_iq_raw_a":-202.654953,"cg_iu_a":168.028946,"cg_iv_a":-183.614594,"cg_iw_a":15.58564,"cg_sample_age_us":24.0890903,"cg_sample_seq":12620416,"cg_sample_valid":1,"cg_theta_rad":4.67244005,"cg_vd_req_v":-2.25735354,"cg_vd_v":-2.25735354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27892399,"cg_vq_v":-8.27892399,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2251.010962,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2251.010968,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2251.010973,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2251.202393,"values":{"Elec_RPM":-2347.21704,"EncoderCos":43236,"EncoderSin":14214,"GapTicks":49501,"Mech_RPM":-469.44342,"cg_du":48.020256,"cg_dv":54.9982529,"cg_dw":45.0017471,"cg_id_a":-4.98970652,"cg_id_raw_a":-8.1468544,"cg_iq_a":-202.215179,"cg_iq_raw_a":-201.143875,"cg_iu_a":-117.246269,"cg_iv_a":203.324585,"cg_iw_a":-86.0783081,"cg_sample_age_us":23.9836369,"cg_sample_seq":12622116,"cg_sample_valid":1,"cg_theta_rad":5.24505615,"cg_vd_req_v":-1.91448689,"cg_vd_v":-1.91448689,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32504177,"cg_vq_v":-8.32504177,"cg_vu_v":17.5957031,"cg_vv_v":23.3143044,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2479.49805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2251.534424,"values":{"Elec_RPM":-2347.01465,"EncoderCos":43850,"EncoderSin":14559,"GapTicks":49697,"Mech_RPM":-469.402954,"cg_du":46.8407211,"cg_dv":54.8206367,"cg_dw":45.1793633,"cg_id_a":7.34425926,"cg_id_raw_a":6.47296,"cg_iq_a":-204.04364,"cg_iq_raw_a":-203.359772,"cg_iu_a":-147.546112,"cg_iv_a":197.126892,"cg_iw_a":-49.5807724,"cg_sample_age_us":23.8490906,"cg_sample_seq":12623867,"cg_sample_valid":1,"cg_theta_rad":5.27885342,"cg_vd_req_v":-2.16234922,"cg_vd_v":-2.16234922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31044388,"cg_vq_v":-8.31044388,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2251.866455,"values":{"Elec_RPM":-2343.32324,"EncoderCos":49400,"EncoderSin":45923,"GapTicks":49607,"Mech_RPM":-468.664673,"cg_du":45.0974045,"cg_dv":47.1588898,"cg_dw":54.9025955,"cg_id_a":19.2666092,"cg_id_raw_a":20.0095215,"cg_iq_a":-205.495422,"cg_iq_raw_a":-203.07692,"cg_iu_a":-42.3665085,"cg_iv_a":-154.112091,"cg_iw_a":196.478607,"cg_sample_age_us":23.4163628,"cg_sample_seq":12625466,"cg_sample_valid":1,"cg_theta_rad":0.6652897,"cg_vd_req_v":-2.35366368,"cg_vd_v":-2.35366368,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28522873,"cg_vq_v":-8.28522873,"cg_vu_v":39.590332,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.5000648,"dclink_p_w":-2380.70801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2591,"hz_tim_isr":5001,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2252.003368,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2252.003374,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2252.003379,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2252.218018,"values":{"Elec_RPM":-2349.74561,"EncoderCos":53526,"EncoderSin":35935,"GapTicks":49377,"Mech_RPM":-469.949097,"cg_du":50.2236748,"cg_dv":55.1112785,"cg_dw":44.8887215,"cg_id_a":-15.3411369,"cg_id_raw_a":-14.4962816,"cg_iq_a":-198.909515,"cg_iq_raw_a":-196.833572,"cg_iu_a":-50.267662,"cg_iv_a":193.140076,"cg_iw_a":-142.872406,"cg_sample_age_us":23.4927273,"cg_sample_seq":12627266,"cg_sample_valid":1,"cg_theta_rad":0.16468285,"cg_vd_req_v":-1.68729734,"cg_vd_v":-1.68729734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37611294,"cg_vq_v":-8.37611294,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2465.4248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2252.550049,"values":{"Elec_RPM":-2349.06714,"EncoderCos":39114,"EncoderSin":52952,"GapTicks":49463,"Mech_RPM":-469.813416,"cg_du":55.0334625,"cg_dv":51.9412613,"cg_dw":44.9665375,"cg_id_a":8.24642086,"cg_id_raw_a":5.00585413,"cg_iq_a":-201.357864,"cg_iq_raw_a":-200.523758,"cg_iu_a":72.2002487,"cg_iv_a":125.726524,"cg_iw_a":-197.926773,"cg_sample_age_us":23.8999996,"cg_sample_seq":12628917,"cg_sample_valid":1,"cg_theta_rad":1.26819384,"cg_vd_req_v":-2.08806276,"cg_vd_v":-2.08806276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36080551,"cg_vq_v":-8.36080551,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.670742,"dclink_p_w":-2565.16528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2252.88208,"values":{"Elec_RPM":-2355.37891,"EncoderCos":17136,"EncoderSin":47295,"GapTicks":49833,"Mech_RPM":-471.075775,"cg_du":54.6967239,"cg_dv":46.3409882,"cg_dw":45.3032761,"cg_id_a":5.52036142,"cg_id_raw_a":12.3521776,"cg_iq_a":-200.629929,"cg_iq_raw_a":-202.319885,"cg_iu_a":176.546234,"cg_iv_a":-4.7875061,"cg_iw_a":-171.758728,"cg_sample_age_us":24.0163631,"cg_sample_seq":12630566,"cg_sample_valid":1,"cg_theta_rad":2.39563537,"cg_vd_req_v":-2.00289607,"cg_vd_v":-2.00289607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34306622,"cg_vq_v":-8.34306622,"cg_vu_v":20.6749516,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8516312,"dclink_p_w":-2431.43359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2252.995279,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2252.995284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2252.99529,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2253.233643,"values":{"Elec_RPM":-2353.88574,"EncoderCos":16734,"EncoderSin":46840,"GapTicks":49494,"Mech_RPM":-470.777161,"cg_du":55.0047188,"cg_dv":47.8021164,"cg_dw":44.9952812,"cg_id_a":-7.52771759,"cg_id_raw_a":-2.02162838,"cg_iq_a":-197.767029,"cg_iq_raw_a":-198.746475,"cg_iu_a":164.259583,"cg_iv_a":9.05763245,"cg_iw_a":-173.317215,"cg_sample_age_us":23.9072723,"cg_sample_seq":12632317,"cg_sample_valid":1,"cg_theta_rad":2.42191625,"cg_vd_req_v":-1.74164414,"cg_vd_v":-1.74164414,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42383385,"cg_vq_v":-8.42383385,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2405.54785,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2253.56958,"values":{"Elec_RPM":-2356.38647,"EncoderCos":11592,"EncoderSin":35899,"GapTicks":49973,"Mech_RPM":-471.277283,"cg_du":45.4302711,"cg_dv":54.5697289,"cg_dw":54.2233658,"cg_id_a":12.459856,"cg_id_raw_a":11.0248461,"cg_iq_a":-200.563538,"cg_iq_raw_a":-199.344681,"cg_iu_a":-182.521408,"cg_iv_a":21.2717896,"cg_iw_a":161.249619,"cg_sample_age_us":23.8381824,"cg_sample_seq":12634017,"cg_sample_valid":1,"cg_theta_rad":2.99735665,"cg_vd_req_v":-2.12020111,"cg_vd_v":-2.12020111,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39209843,"cg_vq_v":-8.39209843,"cg_vu_v":128.008743,"cg_vv_v":131.967773,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2432.02759,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2253.921143,"values":{"Elec_RPM":-2362.78687,"EncoderCos":13321,"EncoderSin":23802,"GapTicks":49536,"Mech_RPM":-472.557373,"cg_du":54.9672546,"cg_dv":45.0327454,"cg_dw":47.7253304,"cg_id_a":9.31085968,"cg_id_raw_a":4.08193731,"cg_iq_a":-200.108078,"cg_iq_raw_a":-198.416641,"cg_iu_a":197.024017,"cg_iv_a":-63.7562408,"cg_iw_a":-133.267776,"cg_sample_age_us":24.0745449,"cg_sample_seq":12635717,"cg_sample_valid":1,"cg_theta_rad":3.58228064,"cg_vd_req_v":-2.10437846,"cg_vd_v":-2.10437846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3512249,"cg_vq_v":-8.3512249,"cg_vu_v":29.4728031,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2510.71069,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2582,"hz_tim_isr":4998,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6139221,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2253.987096,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2253.987102,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2253.987137,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2254.253174,"values":{"Elec_RPM":-2359.42554,"EncoderCos":42946,"EncoderSin":14027,"GapTicks":49420,"Mech_RPM":-471.885101,"cg_du":48.655571,"cg_dv":55.0723801,"cg_dw":44.9276199,"cg_id_a":-8.2771244,"cg_id_raw_a":-14.1203794,"cg_iq_a":-201.512238,"cg_iq_raw_a":-201.54039,"cg_iu_a":-95.4999695,"cg_iv_a":201.54863,"cg_iw_a":-106.04866,"cg_sample_age_us":23.9509087,"cg_sample_seq":12637317,"cg_sample_valid":1,"cg_theta_rad":5.22494125,"cg_vd_req_v":-1.84648836,"cg_vd_v":-1.84648836,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34746265,"cg_vq_v":-8.34746265,"cg_vu_v":116.131638,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.6704121,"dclink_p_w":-2405.28638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2254.585205,"values":{"Elec_RPM":-2352.927,"EncoderCos":33111,"EncoderSin":11459,"GapTicks":49382,"Mech_RPM":-470.585388,"cg_du":55.1064949,"cg_dv":44.8935051,"cg_dw":51.303566,"cg_id_a":-13.7757797,"cg_id_raw_a":-9.78048515,"cg_iq_a":-195.881363,"cg_iq_raw_a":-197.14093,"cg_iu_a":180.859268,"cg_iv_a":-162.411942,"cg_iw_a":-13.9168396,"cg_sample_age_us":24.0563641,"cg_sample_seq":12639116,"cg_sample_valid":1,"cg_theta_rad":4.74309206,"cg_vd_req_v":-1.6456145,"cg_vd_v":-1.6456145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46741009,"cg_vq_v":-8.46741009,"cg_vu_v":35.1914063,"cg_vv_v":30.7924805,"cg_vw_v":30.3525867,"control_outputs_enabled":1,"dclink_i_a":-16.6214828,"dclink_p_w":-2405.53833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2254.936768,"values":{"Elec_RPM":-2350.25293,"EncoderCos":44492,"EncoderSin":14997,"GapTicks":50061,"Mech_RPM":-470.050568,"cg_du":45.5101128,"cg_dv":54.4898872,"cg_dw":45.7125816,"cg_id_a":8.78814125,"cg_id_raw_a":8.75392532,"cg_iq_a":-204.092728,"cg_iq_raw_a":-204.623215,"cg_iu_a":-169.328659,"cg_iv_a":181.759491,"cg_iw_a":-20.6944351,"cg_sample_age_us":23.9799995,"cg_sample_seq":12640817,"cg_sample_valid":1,"cg_theta_rad":5.31163502,"cg_vd_req_v":-2.16432452,"cg_vd_v":-2.16432452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29009247,"cg_vq_v":-8.29009247,"cg_vu_v":112.612495,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0944653,"dclink_p_w":-2473.99048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2255.01149,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2255.011496,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2255.011502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2255.272705,"values":{"Elec_RPM":-2353.64307,"EncoderCos":52269,"EncoderSin":24743,"GapTicks":49673,"Mech_RPM":-470.728607,"cg_du":53.1012917,"cg_dv":45.1573944,"cg_dw":54.8426056,"cg_id_a":18.8260498,"cg_id_raw_a":17.9942265,"cg_iq_a":-202.338928,"cg_iq_raw_a":-201.402222,"cg_iu_a":157.771942,"cg_iv_a":-190.899597,"cg_iw_a":33.127655,"cg_sample_age_us":23.7290916,"cg_sample_seq":12642516,"cg_sample_valid":1,"cg_theta_rad":5.90833378,"cg_vd_req_v":-2.36996603,"cg_vd_v":-2.36996603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29624367,"cg_vq_v":-8.29624367,"cg_vu_v":42.2296829,"cg_vv_v":34.7515144,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-18.5569038,"dclink_p_w":-2685.6416,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2255.624268,"values":{"Elec_RPM":-2355.44653,"EncoderCos":53604,"EncoderSin":35730,"GapTicks":49347,"Mech_RPM":-471.089325,"cg_du":50.6210251,"cg_dv":55.1381874,"cg_dw":44.8618126,"cg_id_a":-16.9725342,"cg_id_raw_a":-15.0915804,"cg_iq_a":-196.511963,"cg_iq_raw_a":-196.421753,"cg_iu_a":-90.2446136,"cg_iv_a":199.663956,"cg_iw_a":-109.419342,"cg_sample_age_us":23.3836365,"cg_sample_seq":12644220,"cg_sample_valid":1,"cg_theta_rad":0.194069669,"cg_vd_req_v":-1.6475265,"cg_vd_v":-1.6475265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.448349,"cg_vq_v":-8.448349,"cg_vu_v":23.7541981,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2255.956299,"values":{"Elec_RPM":-2351.77148,"EncoderCos":47933,"EncoderSin":47628,"GapTicks":49348,"Mech_RPM":-470.354309,"cg_du":49.3103027,"cg_dv":44.8624115,"cg_dw":55.1375885,"cg_id_a":-12.8769531,"cg_id_raw_a":-13.5499134,"cg_iq_a":-196.668411,"cg_iq_raw_a":-198.205444,"cg_iu_a":44.3649864,"cg_iv_a":-187.710144,"cg_iw_a":143.345154,"cg_sample_age_us":23.6599998,"cg_sample_seq":12645916,"cg_sample_valid":1,"cg_theta_rad":0.780130565,"cg_vd_req_v":-1.686239,"cg_vd_v":-1.686239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47134209,"cg_vq_v":-8.47134209,"cg_vu_v":20.2350578,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2256.002966,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2256.002972,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2256.002977,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2256.28833,"values":{"Elec_RPM":-2353.27319,"EncoderCos":37315,"EncoderSin":53453,"GapTicks":49726,"Mech_RPM":-470.654633,"cg_du":53.2099762,"cg_dv":54.7938614,"cg_dw":45.2061386,"cg_id_a":1.86545241,"cg_id_raw_a":7.96513987,"cg_iq_a":-199.187546,"cg_iq_raw_a":-201.689682,"cg_iu_a":0.908629298,"cg_iv_a":170.632645,"cg_iw_a":-171.541275,"cg_sample_age_us":23.9400005,"cg_sample_seq":12647616,"cg_sample_valid":1,"cg_theta_rad":1.35699117,"cg_vd_req_v":-1.91629875,"cg_vd_v":-1.91629875,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37251759,"cg_vq_v":-8.37251759,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2460.45679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2256.639893,"values":{"Elec_RPM":-2350.71265,"EncoderCos":25563,"EncoderSin":52924,"GapTicks":49595,"Mech_RPM":-470.142548,"cg_du":45.086998,"cg_dv":47.2252426,"cg_dw":54.913002,"cg_id_a":8.21006107,"cg_id_raw_a":4.81392193,"cg_iq_a":-200.80011,"cg_iq_raw_a":-198.775757,"cg_iu_a":-56.5378494,"cg_iv_a":-138.672241,"cg_iw_a":195.210083,"cg_sample_age_us":23.8963642,"cg_sample_seq":12649317,"cg_sample_valid":1,"cg_theta_rad":1.91322827,"cg_vd_req_v":-2.06558061,"cg_vd_v":-2.06558061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35804749,"cg_vq_v":-8.35804749,"cg_vu_v":98.5359344,"cg_vv_v":80.0604477,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2434.65015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2256.971924,"values":{"Elec_RPM":-2347.20288,"EncoderCos":15713,"EncoderSin":45618,"GapTicks":49348,"Mech_RPM":-469.440582,"cg_du":55.1381302,"cg_dv":50.9351349,"cg_dw":44.8618698,"cg_id_a":0.462442696,"cg_id_raw_a":-3.73358464,"cg_iq_a":-198.79924,"cg_iq_raw_a":-194.675995,"cg_iu_a":103.732391,"cg_iv_a":96.2240295,"cg_iw_a":-199.956421,"cg_sample_age_us":23.7981815,"cg_sample_seq":12651017,"cg_sample_valid":1,"cg_theta_rad":2.49762225,"cg_vd_req_v":-1.92753232,"cg_vd_v":-1.92753232,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41587353,"cg_vq_v":-8.41587353,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.1938057,"dclink_p_w":-2343.64307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2256.995617,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2256.995623,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2256.995628,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2257.303955,"values":{"Elec_RPM":-2351.79883,"EncoderCos":11459,"EncoderSin":34262,"GapTicks":49428,"Mech_RPM":-470.359741,"cg_du":44.9348488,"cg_dv":50.9444695,"cg_dw":55.0651512,"cg_id_a":-15.1457987,"cg_id_raw_a":-13.9296713,"cg_iq_a":-199.701889,"cg_iq_raw_a":-197.818298,"cg_iu_a":-156.7883,"cg_iv_a":-28.2010345,"cg_iw_a":184.989334,"cg_sample_age_us":23.9618187,"cg_sample_seq":12652717,"cg_sample_valid":1,"cg_theta_rad":3.07341719,"cg_vd_req_v":-1.55193245,"cg_vd_v":-1.55193245,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37082005,"cg_vq_v":-8.37082005,"cg_vu_v":103.814644,"cg_vv_v":102.494972,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.7465229,"dclink_p_w":-2431.00146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2257.659424,"values":{"Elec_RPM":-2356.16235,"EncoderCos":14003,"EncoderSin":22447,"GapTicks":49856,"Mech_RPM":-471.232483,"cg_du":54.6760864,"cg_dv":46.3491859,"cg_dw":45.3239136,"cg_id_a":6.93572092,"cg_id_raw_a":10.5668354,"cg_iq_a":-201.767746,"cg_iq_raw_a":-202.344131,"cg_iu_a":176.002594,"cg_iv_a":-10.2240906,"cg_iw_a":-170.272736,"cg_sample_age_us":24.0672722,"cg_sample_seq":12654417,"cg_sample_valid":1,"cg_theta_rad":3.64713287,"cg_vd_req_v":-2.02528143,"cg_vd_v":-2.02528143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32887554,"cg_vq_v":-8.32887554,"cg_vu_v":143.404984,"cg_vv_v":135.047012,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2504.1228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2257.987549,"values":{"Elec_RPM":-2359.19678,"EncoderCos":22569,"EncoderSin":13999,"GapTicks":49631,"Mech_RPM":-471.839355,"cg_du":45.1198006,"cg_dv":54.8801994,"cg_dw":53.0681534,"cg_id_a":9.01511765,"cg_id_raw_a":5.41323614,"cg_iq_a":-198.789581,"cg_iq_raw_a":-197.669312,"cg_iu_a":-191.582367,"cg_iv_a":48.8896027,"cg_iw_a":142.692764,"cg_sample_age_us":23.9581814,"cg_sample_seq":12656117,"cg_sample_valid":1,"cg_theta_rad":4.22671795,"cg_vd_req_v":-2.12362099,"cg_vd_v":-2.12362099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41220474,"cg_vq_v":-8.41220474,"cg_vu_v":106.453995,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2470.39282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2258.019153,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2258.019159,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2258.019164,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2258.487549,"values":{"Elec_RPM":-2353.08984,"EncoderCos":41266,"EncoderSin":13173,"GapTicks":49587,"Mech_RPM":-470.61795,"cg_du":52.4617004,"cg_dv":54.9201279,"cg_dw":45.0798721,"cg_id_a":-8.37833786,"cg_id_raw_a":-2.56308484,"cg_iq_a":-198.913452,"cg_iq_raw_a":-199.302872,"cg_iu_a":-47.9480591,"cg_iv_a":190.16806,"cg_iw_a":-142.220001,"cg_sample_age_us":23.8600006,"cg_sample_seq":12658371,"cg_sample_valid":1,"cg_theta_rad":5.18980694,"cg_vd_req_v":-1.7691375,"cg_vd_v":-1.7691375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3735323,"cg_vq_v":-8.3735323,"cg_vu_v":1.31967759,"cg_vv_v":7.03828096,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.4786491,"dclink_p_w":-2529.59155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2258.883377,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2258.883389,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2258.883392,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2258.983643,"values":{"Elec_RPM":-2351.84155,"EncoderCos":27044,"EncoderSin":53392,"GapTicks":49393,"Mech_RPM":-470.368317,"cg_du":44.9034996,"cg_dv":49.9005318,"cg_dw":55.0965004,"cg_id_a":-16.8253403,"cg_id_raw_a":-16.2149792,"cg_iq_a":-199.889847,"cg_iq_raw_a":-202.139572,"cg_iu_a":-148.307236,"cg_iv_a":-41.2850647,"cg_iw_a":189.5923,"cg_sample_age_us":23.7800007,"cg_sample_seq":12661016,"cg_sample_valid":1,"cg_theta_rad":1.83298767,"cg_vd_req_v":-1.54605174,"cg_vd_v":-1.54605174,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34966755,"cg_vq_v":-8.34966755,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2363.8374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2259.010633,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2259.010639,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2259.010645,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2259.315674,"values":{"Elec_RPM":-2350.54517,"EncoderCos":26504,"EncoderSin":53208,"GapTicks":49414,"Mech_RPM":-470.109039,"cg_du":44.9221992,"cg_dv":48.858551,"cg_dw":55.0778008,"cg_id_a":-10.8539438,"cg_id_raw_a":-14.5652752,"cg_iq_a":-200.136856,"cg_iq_raw_a":-199.054764,"cg_iu_a":-111.990913,"cg_iv_a":-85.5387802,"cg_iw_a":197.529694,"cg_sample_age_us":23.8345451,"cg_sample_seq":12662767,"cg_sample_valid":1,"cg_theta_rad":1.86639023,"cg_vd_req_v":-1.68281436,"cg_vd_v":-1.68281436,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36322975,"cg_vq_v":-8.36322975,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.5761776,"dclink_p_w":-2391.6897,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2259.667236,"values":{"Elec_RPM":-2348.72656,"EncoderCos":16241,"EncoderSin":46261,"GapTicks":49324,"Mech_RPM":-469.745331,"cg_du":55.1592102,"cg_dv":49.4052391,"cg_dw":44.8407898,"cg_id_a":-9.24763489,"cg_id_raw_a":-9.50689697,"cg_iq_a":-196.587708,"cg_iq_raw_a":-197.03186,"cg_iu_a":148.638489,"cg_iv_a":34.4645386,"cg_iw_a":-183.103027,"cg_sample_age_us":23.8490906,"cg_sample_seq":12664466,"cg_sample_valid":1,"cg_theta_rad":2.44952822,"cg_vd_req_v":-1.72399426,"cg_vd_v":-1.72399426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4670887,"cg_vq_v":-8.4670887,"cg_vu_v":106.453995,"cg_vv_v":101.615181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2260.002542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2260.002548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2260.002554,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2260.003174,"values":{"Elec_RPM":-2349.99292,"EncoderCos":13228,"EncoderSin":24010,"GapTicks":49434,"Mech_RPM":-469.998596,"cg_du":55.0597534,"cg_dv":44.9402466,"cg_dw":48.1247559,"cg_id_a":6.96849155,"cg_id_raw_a":-0.884598374,"cg_iq_a":-196.848419,"cg_iq_raw_a":-195.403366,"cg_iu_a":196.444122,"cg_iv_a":-76.1153946,"cg_iw_a":-120.328728,"cg_sample_age_us":24.0709095,"cg_sample_seq":12666117,"cg_sample_valid":1,"cg_theta_rad":3.56654549,"cg_vd_req_v":-2.06687546,"cg_vd_v":-2.06687546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39629078,"cg_vq_v":-8.39629078,"cg_vu_v":139.006058,"cg_vv_v":122.730026,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-17.4115982,"dclink_p_w":-2512.22827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2260.335205,"values":{"Elec_RPM":-2350.427,"EncoderCos":21145,"EncoderSin":14765,"GapTicks":49309,"Mech_RPM":-470.085419,"cg_du":44.8265877,"cg_dv":55.1734123,"cg_dw":50.137764,"cg_id_a":-11.1380272,"cg_id_raw_a":-12.8445702,"cg_iq_a":-196.690338,"cg_iq_raw_a":-196.763031,"cg_iu_a":-189.588959,"cg_iv_a":140.550262,"cg_iw_a":49.0386963,"cg_sample_age_us":23.8418179,"cg_sample_seq":12667816,"cg_sample_valid":1,"cg_theta_rad":4.14120626,"cg_vd_req_v":-1.70591486,"cg_vd_v":-1.70591486,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44973564,"cg_vq_v":-8.44973564,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2260.686768,"values":{"Elec_RPM":-2355.19873,"EncoderCos":32814,"EncoderSin":11451,"GapTicks":49459,"Mech_RPM":-471.039734,"cg_du":55.0367355,"cg_dv":44.9632645,"cg_dw":51.9751129,"cg_id_a":-10.3864536,"cg_id_raw_a":-3.12178898,"cg_iq_a":-196.470901,"cg_iq_raw_a":-198.606445,"cg_iu_a":174.697815,"cg_iv_a":-163.318054,"cg_iw_a":-11.3797684,"cg_sample_age_us":24.0854549,"cg_sample_seq":12669516,"cg_sample_valid":1,"cg_theta_rad":4.72985411,"cg_vd_req_v":-1.69734716,"cg_vd_v":-1.69734716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46154022,"cg_vq_v":-8.46154022,"cg_vu_v":43.549366,"cg_vv_v":40.0302238,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-17.4097862,"dclink_p_w":-2519.62524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2260.995028,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2260.995034,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2260.995039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2261.018799,"values":{"Elec_RPM":-2354.09692,"EncoderCos":44381,"EncoderSin":14930,"GapTicks":50113,"Mech_RPM":-470.819366,"cg_du":45.7024994,"cg_dv":54.4423904,"cg_dw":45.5576096,"cg_id_a":9.65472984,"cg_id_raw_a":11.4974451,"cg_iq_a":-205.464157,"cg_iq_raw_a":-205.560852,"cg_iu_a":-163.058472,"cg_iv_a":190.892944,"cg_iw_a":-27.834465,"cg_sample_age_us":23.9727268,"cg_sample_seq":12671216,"cg_sample_valid":1,"cg_theta_rad":5.29931831,"cg_vd_req_v":-2.18262434,"cg_vd_v":-2.18262434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24512291,"cg_vq_v":-8.24512291,"cg_vu_v":4.39892578,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2435.87866,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2261.35083,"values":{"Elec_RPM":-2351.37305,"EncoderCos":52092,"EncoderSin":24235,"GapTicks":49459,"Mech_RPM":-470.274597,"cg_du":52.1443977,"cg_dv":44.9635544,"cg_dw":55.0364456,"cg_id_a":12.3243332,"cg_id_raw_a":8.57406235,"cg_iq_a":-201.141907,"cg_iq_raw_a":-200.186264,"cg_iu_a":135.300766,"cg_iv_a":-198.510803,"cg_iw_a":63.2100372,"cg_sample_age_us":23.7145462,"cg_sample_seq":12672917,"cg_sample_valid":1,"cg_theta_rad":5.88291788,"cg_vd_req_v":-2.26437116,"cg_vd_v":-2.26437116,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3388443,"cg_vq_v":-8.3388443,"cg_vu_v":142.525192,"cg_vv_v":139.006058,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2261.702393,"values":{"Elec_RPM":-2346.86084,"EncoderCos":53456,"EncoderSin":36299,"GapTicks":49349,"Mech_RPM":-469.372192,"cg_du":49.5307655,"cg_dv":55.1366577,"cg_dw":44.8633423,"cg_id_a":-12.0118542,"cg_id_raw_a":-14.2072754,"cg_iq_a":-199.441223,"cg_iq_raw_a":-199.530548,"cg_iu_a":-60.7783775,"cg_iv_a":194.589813,"cg_iw_a":-133.811432,"cg_sample_age_us":23.3909092,"cg_sample_seq":12674616,"cg_sample_valid":1,"cg_theta_rad":0.170579195,"cg_vd_req_v":-1.7770499,"cg_vd_v":-1.7770499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41029358,"cg_vq_v":-8.41029358,"cg_vu_v":100.735397,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.7559147,"dclink_p_w":-2577.5293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2261.987496,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2261.987502,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2261.987506,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2262.03833,"values":{"Elec_RPM":-2350.33105,"EncoderCos":48140,"EncoderSin":47416,"GapTicks":49414,"Mech_RPM":-470.066223,"cg_du":48.6645889,"cg_dv":44.9222832,"cg_dw":55.0777168,"cg_id_a":-11.3017588,"cg_id_raw_a":-9.99889851,"cg_iq_a":-198.629379,"cg_iq_raw_a":-200.310852,"cg_iu_a":41.2480164,"cg_iv_a":-182.128601,"cg_iw_a":153.420944,"cg_sample_age_us":23.7072735,"cg_sample_seq":12676316,"cg_sample_valid":1,"cg_theta_rad":0.774507344,"cg_vd_req_v":-1.71118641,"cg_vd_v":-1.71118641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41050529,"cg_vq_v":-8.41050529,"cg_vu_v":135.926804,"cg_vv_v":135.926804,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2466.12231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2262.370361,"values":{"Elec_RPM":-2351.35034,"EncoderCos":37646,"EncoderSin":53367,"GapTicks":49969,"Mech_RPM":-470.270081,"cg_du":54.0166054,"cg_dv":54.5733757,"cg_dw":45.4266243,"cg_id_a":9.2837553,"cg_id_raw_a":12.542738,"cg_iq_a":-202.583099,"cg_iq_raw_a":-203.843292,"cg_iu_a":9.13597965,"cg_iv_a":170.306458,"cg_iw_a":-179.442444,"cg_sample_age_us":23.8999996,"cg_sample_seq":12678016,"cg_sample_valid":1,"cg_theta_rad":1.33799314,"cg_vd_req_v":-2.078336,"cg_vd_v":-2.078336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31325531,"cg_vq_v":-8.31325531,"cg_vu_v":0.87978512,"cg_vv_v":5.71860361,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.609127,"dclink_p_w":-2540.72876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2262.721924,"values":{"Elec_RPM":-2352.11694,"EncoderCos":36795,"EncoderSin":53570,"GapTicks":49453,"Mech_RPM":-470.42337,"cg_du":51.9891968,"cg_dv":55.0426102,"cg_dw":44.9573898,"cg_id_a":-6.82927036,"cg_id_raw_a":-7.33258915,"cg_iq_a":-197.322876,"cg_iq_raw_a":-199.03804,"cg_iu_a":-16.5608978,"cg_iv_a":178.388824,"cg_iw_a":-161.827927,"cg_sample_age_us":23.9218178,"cg_sample_seq":12679766,"cg_sample_valid":1,"cg_theta_rad":1.37629235,"cg_vd_req_v":-1.75800478,"cg_vd_v":-1.75800478,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43516064,"cg_vq_v":-8.43516064,"cg_vu_v":40.9100075,"cg_vv_v":65.9838867,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-15.5450401,"dclink_p_w":-2236.07422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2262.979711,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2262.979717,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2262.979722,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2263.053955,"values":{"Elec_RPM":-2352.99902,"EncoderCos":25027,"EncoderSin":52676,"GapTicks":49871,"Mech_RPM":-470.599792,"cg_du":45.3376884,"cg_dv":46.1845665,"cg_dw":54.6623116,"cg_id_a":12.8012352,"cg_id_raw_a":11.7035122,"cg_iq_a":-204.11055,"cg_iq_raw_a":-202.539291,"cg_iu_a":-29.6086788,"cg_iv_a":-161.252151,"cg_iw_a":190.860825,"cg_sample_age_us":23.863636,"cg_sample_seq":12681467,"cg_sample_valid":1,"cg_theta_rad":1.94008923,"cg_vd_req_v":-2.156528,"cg_vd_v":-2.156528,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31598091,"cg_vq_v":-8.31598091,"cg_vu_v":116.131638,"cg_vv_v":126.249161,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8679409,"dclink_p_w":-2441.20703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2263.405518,"values":{"Elec_RPM":-2351.30859,"EncoderCos":15303,"EncoderSin":45064,"GapTicks":49521,"Mech_RPM":-470.261719,"cg_du":54.9800377,"cg_dv":52.1449203,"cg_dw":45.0199623,"cg_id_a":9.57785988,"cg_id_raw_a":4.97254467,"cg_iq_a":-202.412033,"cg_iq_raw_a":-202.223694,"cg_iu_a":67.8509903,"cg_iv_a":130.691956,"cg_iw_a":-198.542938,"cg_sample_age_us":23.8927269,"cg_sample_seq":12683167,"cg_sample_valid":1,"cg_theta_rad":2.52945638,"cg_vd_req_v":-2.1030848,"cg_vd_v":-2.1030848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31389713,"cg_vq_v":-8.31389713,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3699169,"dclink_p_w":-2513.85522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2263.737549,"values":{"Elec_RPM":-2353.3208,"EncoderCos":21746,"EncoderSin":14436,"GapTicks":49382,"Mech_RPM":-470.664185,"cg_du":44.8932037,"cg_dv":55.1067963,"cg_dw":51.4110756,"cg_id_a":-3.87672806,"cg_id_raw_a":-4.25490284,"cg_iq_a":-197.579803,"cg_iq_raw_a":-197.992401,"cg_iu_a":-196.257813,"cg_iv_a":111.555176,"cg_iw_a":84.7026367,"cg_sample_age_us":23.8527279,"cg_sample_seq":12684766,"cg_sample_valid":1,"cg_theta_rad":4.17351389,"cg_vd_req_v":-1.86538112,"cg_vd_v":-1.86538112,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43834782,"cg_vq_v":-8.43834782,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2263.971648,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2263.971654,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2263.971659,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2264.06958,"values":{"Elec_RPM":-2352.20996,"EncoderCos":14368,"EncoderSin":21754,"GapTicks":49494,"Mech_RPM":-470.442017,"cg_du":55.0683022,"cg_dv":47.7233124,"cg_dw":44.9954033,"cg_id_a":-11.5173149,"cg_id_raw_a":-8.07189941,"cg_iq_a":-195.846283,"cg_iq_raw_a":-197.897644,"cg_iu_a":165.238159,"cg_iv_a":7.02798462,"cg_iw_a":-172.266144,"cg_sample_age_us":23.9327278,"cg_sample_seq":12686566,"cg_sample_valid":1,"cg_theta_rad":3.67912531,"cg_vd_req_v":-1.6590277,"cg_vd_v":-1.6590277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47122955,"cg_vq_v":-8.47122955,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2509.92139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2264.421143,"values":{"Elec_RPM":-2361.18555,"EncoderCos":44043,"EncoderSin":14756,"GapTicks":49859,"Mech_RPM":-472.237091,"cg_du":46.4282227,"cg_dv":54.6731148,"cg_dw":45.3268852,"cg_id_a":10.4966688,"cg_id_raw_a":7.65831995,"cg_iq_a":-206.183304,"cg_iq_raw_a":-205.121201,"cg_iu_a":-174.439026,"cg_iv_a":178.135101,"cg_iw_a":-3.69608307,"cg_sample_age_us":23.8600006,"cg_sample_seq":12688171,"cg_sample_valid":1,"cg_theta_rad":5.33200073,"cg_vd_req_v":-2.21557236,"cg_vd_v":-2.21557236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21656609,"cg_vq_v":-8.21656609,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-16.4601974,"dclink_p_w":-2374.95557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2264.75708,"values":{"Elec_RPM":-2359.79102,"EncoderCos":35053,"EncoderSin":11561,"GapTicks":49527,"Mech_RPM":-471.958221,"cg_du":54.9745522,"cg_dv":45.0254478,"cg_dw":47.7711182,"cg_id_a":9.13661385,"cg_id_raw_a":3.89086676,"cg_iq_a":-200.695969,"cg_iq_raw_a":-198.876053,"cg_iu_a":197.821381,"cg_iv_a":-64.5536041,"cg_iw_a":-122.793304,"cg_sample_age_us":24.0709095,"cg_sample_seq":12689967,"cg_sample_valid":1,"cg_theta_rad":4.83469248,"cg_vd_req_v":-2.137362,"cg_vd_v":-2.137362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31654358,"cg_vq_v":-8.31654358,"cg_vu_v":132.407669,"cg_vv_v":120.090675,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.7649765,"dclink_p_w":-2563.21533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2264.995699,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2264.995705,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2264.99571,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2265.089111,"values":{"Elec_RPM":-2360.52515,"EncoderCos":53320,"EncoderSin":37108,"GapTicks":49448,"Mech_RPM":-472.105042,"cg_du":48.0721245,"cg_dv":55.0469055,"cg_dw":44.9530945,"cg_id_a":0.643075705,"cg_id_raw_a":-6.27669954,"cg_iq_a":-198.77179,"cg_iq_raw_a":-197.942749,"cg_iu_a":-119.275925,"cg_iv_a":198.069214,"cg_iw_a":-78.7932968,"cg_sample_age_us":23.5,"cg_sample_seq":12691566,"cg_sample_valid":1,"cg_theta_rad":0.217310086,"cg_vd_req_v":-2.02403474,"cg_vd_v":-2.02403474,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3962307,"cg_vq_v":-8.3962307,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-17.1778259,"dclink_p_w":-2486.05493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2265.440674,"values":{"Elec_RPM":-2354.0415,"EncoderCos":53143,"EncoderSin":37945,"GapTicks":49694,"Mech_RPM":-470.808289,"cg_du":47.0491943,"cg_dv":54.8231926,"cg_dw":45.1768074,"cg_id_a":12.6074562,"cg_id_raw_a":12.7792158,"cg_iq_a":-204.280624,"cg_iq_raw_a":-204.361755,"cg_iu_a":-158.672974,"cg_iv_a":193.067581,"cg_iw_a":-34.3946075,"cg_sample_age_us":23.4636364,"cg_sample_seq":12693317,"cg_sample_valid":1,"cg_theta_rad":0.258945495,"cg_vd_req_v":-2.24343109,"cg_vd_v":-2.24343109,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27553558,"cg_vq_v":-8.27553558,"cg_vu_v":38.2706528,"cg_vv_v":50.5876465,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2434.42139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2265.772705,"values":{"Elec_RPM":-2356.48096,"EncoderCos":47226,"EncoderSin":48344,"GapTicks":49373,"Mech_RPM":-471.296204,"cg_du":51.1098747,"cg_dv":44.884861,"cg_dw":55.115139,"cg_id_a":-0.472579956,"cg_id_raw_a":-5.18579197,"cg_iq_a":-198.798401,"cg_iq_raw_a":-197.928833,"cg_iu_a":99.6368332,"cg_iv_a":-199.48938,"cg_iw_a":99.8525543,"cg_sample_age_us":23.6054554,"cg_sample_seq":12695017,"cg_sample_valid":1,"cg_theta_rad":0.826159358,"cg_vd_req_v":-1.95723522,"cg_vd_v":-1.95723522,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3896265,"cg_vq_v":-8.3896265,"cg_vu_v":122.290138,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5022068,"dclink_p_w":-2525.30176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2266.018676,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2266.018682,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2266.018688,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2266.108643,"values":{"Elec_RPM":-2345.46094,"EncoderCos":36163,"EncoderSin":53722,"GapTicks":49321,"Mech_RPM":-469.092194,"cg_du":50.521595,"cg_dv":55.1622238,"cg_dw":44.8377762,"cg_id_a":-12.3806505,"cg_id_raw_a":-12.6117573,"cg_iq_a":-195.687881,"cg_iq_raw_a":-196.223602,"cg_iu_a":-43.8162613,"cg_iv_a":187.377289,"cg_iw_a":-143.561035,"cg_sample_age_us":23.8927269,"cg_sample_seq":12696716,"cg_sample_valid":1,"cg_theta_rad":1.41080487,"cg_vd_req_v":-1.65411425,"cg_vd_v":-1.65411425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48165417,"cg_vq_v":-8.48165417,"cg_vu_v":10.1175289,"cg_vv_v":10.9973145,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2266.460205,"values":{"Elec_RPM":-2356.21631,"EncoderCos":24326,"EncoderSin":52426,"GapTicks":49868,"Mech_RPM":-471.243256,"cg_du":46.4577026,"cg_dv":45.3348732,"cg_dw":54.6651268,"cg_id_a":5.73929977,"cg_id_raw_a":9.73135567,"cg_iq_a":-205.047287,"cg_iq_raw_a":-204.640549,"cg_iu_a":-3.62185001,"cg_iv_a":-173.32132,"cg_iw_a":176.943176,"cg_sample_age_us":23.8345451,"cg_sample_seq":12698417,"cg_sample_valid":1,"cg_theta_rad":1.97580302,"cg_vd_req_v":-1.98273325,"cg_vd_v":-1.98273325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27817154,"cg_vq_v":-8.27817154,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2443.10278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2266.792236,"values":{"Elec_RPM":-2358.01563,"EncoderCos":14856,"EncoderSin":44345,"GapTicks":49871,"Mech_RPM":-471.603119,"cg_du":54.6626167,"cg_dv":53.7039413,"cg_dw":45.3373833,"cg_id_a":15.864028,"cg_id_raw_a":15.9168463,"cg_iq_a":-203.264542,"cg_iq_raw_a":-204.461472,"cg_iu_a":34.9053459,"cg_iv_a":155.627686,"cg_iw_a":-190.533035,"cg_sample_age_us":23.7909088,"cg_sample_seq":12700116,"cg_sample_valid":1,"cg_theta_rad":2.56065536,"cg_vd_req_v":-2.2030766,"cg_vd_v":-2.2030766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28437042,"cg_vq_v":-8.28437042,"cg_vu_v":106.014107,"cg_vv_v":103.374756,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1361446,"dclink_p_w":-2472.48462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2267.011204,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2267.01121,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2267.011216,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2267.143799,"values":{"Elec_RPM":-2356.56055,"EncoderCos":11434,"EncoderSin":34010,"GapTicks":49379,"Mech_RPM":-471.312103,"cg_du":44.8901749,"cg_dv":50.4766541,"cg_dw":55.1098251,"cg_id_a":-15.9111185,"cg_id_raw_a":-15.9434528,"cg_iq_a":-200.16713,"cg_iq_raw_a":-198.403122,"cg_iu_a":-103.219902,"cg_iv_a":-91.8814468,"cg_iw_a":195.101349,"cg_sample_age_us":26.7981815,"cg_sample_seq":12701821,"cg_sample_valid":1,"cg_theta_rad":3.12952638,"cg_vd_req_v":-1.56398141,"cg_vd_v":-1.56398141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3809166,"cg_vq_v":-8.3809166,"cg_vu_v":99.8556061,"cg_vv_v":109.973145,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2518.50366,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2267.47583,"values":{"Elec_RPM":-2356.74097,"EncoderCos":23229,"EncoderSin":13632,"GapTicks":50084,"Mech_RPM":-471.348175,"cg_du":45.531456,"cg_dv":54.468544,"cg_dw":54.4196396,"cg_id_a":13.061738,"cg_id_raw_a":14.6757116,"cg_iq_a":-200.654785,"cg_iq_raw_a":-200.585144,"cg_iu_a":-182.014008,"cg_iv_a":14.240509,"cg_iw_a":167.773499,"cg_sample_age_us":23.9254551,"cg_sample_seq":12703466,"cg_sample_valid":1,"cg_theta_rad":4.25945616,"cg_vd_req_v":-2.17508078,"cg_vd_v":-2.17508078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34667015,"cg_vq_v":-8.34667015,"cg_vu_v":13.6366701,"cg_vv_v":20.6749516,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-18.0168705,"dclink_p_w":-2599.55981,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2267.807861,"values":{"Elec_RPM":-2352.28467,"EncoderCos":23760,"EncoderSin":13377,"GapTicks":49736,"Mech_RPM":-470.456909,"cg_du":45.2145462,"cg_dv":53.1087799,"cg_dw":54.7854538,"cg_id_a":-0.0065908432,"cg_id_raw_a":4.64868212,"cg_iq_a":-200.806396,"cg_iq_raw_a":-200.913223,"cg_iu_a":-173.279236,"cg_iv_a":2.06256104,"cg_iw_a":171.216675,"cg_sample_age_us":23.9327278,"cg_sample_seq":12705217,"cg_sample_valid":1,"cg_theta_rad":4.28891373,"cg_vd_req_v":-1.90193594,"cg_vd_v":-1.90193594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.326684,"cg_vq_v":-8.326684,"cg_vu_v":128.008743,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6541023,"dclink_p_w":-2410.25928,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2268.003189,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2268.003195,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2268.0032,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2268.206299,"values":{"Elec_RPM":-2346.77344,"EncoderCos":20666,"EncoderSin":50386,"GapTicks":50000,"Mech_RPM":-469.354675,"cg_du":54.5449142,"cg_dv":45.4550858,"cg_dw":54.2207565,"cg_id_a":11.1378784,"cg_id_raw_a":12.1399536,"cg_iq_a":-202.745743,"cg_iq_raw_a":-202.118378,"cg_iu_a":170.384796,"cg_iv_a":-181.222504,"cg_iw_a":10.8376999,"cg_sample_age_us":23.9727268,"cg_sample_seq":12707167,"cg_sample_valid":1,"cg_theta_rad":2.17526913,"cg_vd_req_v":-2.13056445,"cg_vd_v":-2.13056445,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35051727,"cg_vq_v":-8.35051727,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-17.3536072,"dclink_p_w":-2511.49487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5941467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2268.72583,"values":{"Elec_RPM":-2344.99585,"EncoderCos":53701,"EncoderSin":30593,"GapTicks":49525,"Mech_RPM":-468.999176,"cg_du":54.9770317,"cg_dv":47.8388977,"cg_dw":45.0229683,"cg_id_a":-9.59555149,"cg_id_raw_a":-3.01622677,"cg_iq_a":-197.000916,"cg_iq_raw_a":-198.06543,"cg_iu_a":164.404572,"cg_iv_a":7.93405151,"cg_iw_a":-172.338623,"cg_sample_age_us":24.1072731,"cg_sample_seq":12709717,"cg_sample_valid":1,"cg_theta_rad":6.19393826,"cg_vd_req_v":-1.75639808,"cg_vd_v":-1.75639808,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41948795,"cg_vq_v":-8.41948795,"cg_vu_v":141.205521,"cg_vv_v":124.049698,"cg_vw_v":109.533249,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2358.92139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2268.866917,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2268.866929,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2268.866931,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2268.994911,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2268.994917,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2268.994923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2269.135986,"values":{"Elec_RPM":-2346.62866,"EncoderCos":25304,"EncoderSin":52796,"GapTicks":49708,"Mech_RPM":-469.325745,"cg_du":45.1894722,"cg_dv":46.7629585,"cg_dw":54.8105278,"cg_id_a":13.3233528,"cg_id_raw_a":11.4591417,"cg_iq_a":-201.200851,"cg_iq_raw_a":-199.350449,"cg_iu_a":-39.6482201,"cg_iv_a":-152.191193,"cg_iw_a":191.839417,"cg_sample_age_us":23.8963642,"cg_sample_seq":12711867,"cg_sample_valid":1,"cg_theta_rad":1.92826068,"cg_vd_req_v":-2.16843152,"cg_vd_v":-2.16843152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34736729,"cg_vq_v":-8.34736729,"cg_vu_v":102.494972,"cg_vv_v":110.413033,"cg_vw_v":114.811958,"control_outputs_enabled":1,"dclink_i_a":-16.9694233,"dclink_p_w":-2463.35864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2269.487549,"values":{"Elec_RPM":-2348.24487,"EncoderCos":15370,"EncoderSin":45190,"GapTicks":49484,"Mech_RPM":-469.648956,"cg_du":55.0143738,"cg_dv":51.8614922,"cg_dw":44.9856262,"cg_id_a":9.42172337,"cg_id_raw_a":5.23936653,"cg_iq_a":-201.821381,"cg_iq_raw_a":-203.84462,"cg_iu_a":75.5346832,"cg_iv_a":112.823715,"cg_iw_a":-200.60881,"cg_sample_age_us":23.9036369,"cg_sample_seq":12713566,"cg_sample_valid":1,"cg_theta_rad":2.51747608,"cg_vd_req_v":-2.09750605,"cg_vd_v":-2.09750605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30936718,"cg_vq_v":-8.30936718,"cg_vu_v":40.0302238,"cg_vv_v":45.7488289,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.2300491,"dclink_p_w":-2348.88818,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2269.81958,"values":{"Elec_RPM":-2349.89893,"EncoderCos":11427,"EncoderSin":33958,"GapTicks":49372,"Mech_RPM":-469.979797,"cg_du":44.883831,"cg_dv":50.3003311,"cg_dw":55.116169,"cg_id_a":-16.6508636,"cg_id_raw_a":-13.374053,"cg_iq_a":-199.441559,"cg_iq_raw_a":-201.317566,"cg_iu_a":-146.132599,"cg_iv_a":-44.6919861,"cg_iw_a":190.824585,"cg_sample_age_us":23.8272724,"cg_sample_seq":12715266,"cg_sample_valid":1,"cg_theta_rad":3.09369087,"cg_vd_req_v":-1.54208612,"cg_vd_v":-1.54208612,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38815308,"cg_vq_v":-8.38815308,"cg_vu_v":3.51914048,"cg_vv_v":17.1558094,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.3101158,"dclink_p_w":-2497.58594,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2587,"hz_tim_isr":4998,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2269.987215,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2269.987221,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2269.987227,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2270.175049,"values":{"Elec_RPM":-2356.00098,"EncoderCos":13800,"EncoderSin":22871,"GapTicks":50011,"Mech_RPM":-471.200195,"cg_du":54.5347672,"cg_dv":45.4652328,"cg_dw":45.7459183,"cg_id_a":12.4230747,"cg_id_raw_a":18.5730724,"cg_iq_a":-202.178543,"cg_iq_raw_a":-203.801025,"cg_iu_a":166.869141,"cg_iv_a":6.48431396,"cg_iw_a":-173.353455,"cg_sample_age_us":26.9400005,"cg_sample_seq":12716970,"cg_sample_valid":1,"cg_theta_rad":3.67483354,"cg_vd_req_v":-2.13931894,"cg_vd_v":-2.13931894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34860992,"cg_vq_v":-8.34860992,"cg_vu_v":30.3525867,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0328503,"dclink_p_w":-2465.07349,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2270.503174,"values":{"Elec_RPM":-2354.33521,"EncoderCos":23039,"EncoderSin":13730,"GapTicks":49939,"Mech_RPM":-470.867035,"cg_du":45.3997536,"cg_dv":54.6002464,"cg_dw":54.0924225,"cg_id_a":10.8876591,"cg_id_raw_a":12.1657476,"cg_iq_a":-198.749161,"cg_iq_raw_a":-199.411957,"cg_iu_a":-185.203461,"cg_iv_a":31.8187561,"cg_iw_a":153.384705,"cg_sample_age_us":23.8454552,"cg_sample_seq":12718666,"cg_sample_valid":1,"cg_theta_rad":4.24300194,"cg_vd_req_v":-2.12907648,"cg_vd_v":-2.12907648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37600708,"cg_vq_v":-8.37600708,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2496.28345,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2270.839111,"values":{"Elec_RPM":-2360.21069,"EncoderCos":34887,"EncoderSin":11560,"GapTicks":49469,"Mech_RPM":-472.042145,"cg_du":55.0273552,"cg_dv":44.9726448,"cg_dw":48.0309639,"cg_id_a":5.6997757,"cg_id_raw_a":1.95952642,"cg_iq_a":-200.707291,"cg_iq_raw_a":-199.805359,"cg_iu_a":200.793365,"cg_iv_a":-74.194458,"cg_iw_a":-126.598907,"cg_sample_age_us":24.0927277,"cg_sample_seq":12720366,"cg_sample_valid":1,"cg_theta_rad":4.82838869,"cg_vd_req_v":-2.06899476,"cg_vd_v":-2.06899476,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33436203,"cg_vq_v":-8.33436203,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2271.010554,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2271.01056,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2271.010565,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2271.190674,"values":{"Elec_RPM":-2359.40625,"EncoderCos":46015,"EncoderSin":16211,"GapTicks":49300,"Mech_RPM":-471.881226,"cg_du":44.8186874,"cg_dv":55.1813126,"cg_dw":50.0219536,"cg_id_a":-12.3906832,"cg_id_raw_a":-13.9679365,"cg_iq_a":-196.625305,"cg_iq_raw_a":-197.330872,"cg_iu_a":-193.394562,"cg_iv_a":130.293243,"cg_iw_a":63.1013107,"cg_sample_age_us":23.9509087,"cg_sample_seq":12722066,"cg_sample_valid":1,"cg_theta_rad":5.40594053,"cg_vd_req_v":-1.7789228,"cg_vd_v":-1.7789228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47399998,"cg_vq_v":-8.47399998,"cg_vu_v":1.31967759,"cg_vv_v":6.59838867,"cg_vw_v":9.67763615,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2271.522705,"values":{"Elec_RPM":-2357.86035,"EncoderCos":52813,"EncoderSin":26233,"GapTicks":49516,"Mech_RPM":-471.572083,"cg_du":54.9846039,"cg_dv":45.0153961,"cg_dw":52.1925507,"cg_id_a":-8.87987614,"cg_id_raw_a":-3.73655438,"cg_iq_a":-196.540192,"cg_iq_raw_a":-197.920013,"cg_iu_a":173.682983,"cg_iv_a":-165.818863,"cg_iw_a":-2.64500427,"cg_sample_age_us":24.1327267,"cg_sample_seq":12723767,"cg_sample_valid":1,"cg_theta_rad":5.98171711,"cg_vd_req_v":-1.77332151,"cg_vd_v":-1.77332151,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43612766,"cg_vq_v":-8.43612766,"cg_vu_v":106.453995,"cg_vv_v":81.820015,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2271.854736,"values":{"Elec_RPM":-2358.9751,"EncoderCos":53012,"EncoderSin":38425,"GapTicks":50103,"Mech_RPM":-471.795013,"cg_du":45.7108231,"cg_dv":54.4511719,"cg_dw":45.5488281,"cg_id_a":12.0324183,"cg_id_raw_a":16.061718,"cg_iq_a":-207.15535,"cg_iq_raw_a":-207.276184,"cg_iu_a":-172.445618,"cg_iv_a":184.550262,"cg_iw_a":-12.1046448,"cg_sample_age_us":23.5690918,"cg_sample_seq":12725466,"cg_sample_valid":1,"cg_theta_rad":0.282771856,"cg_vd_req_v":-2.2236464,"cg_vd_v":-2.2236464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21661186,"cg_vq_v":-8.21661186,"cg_vu_v":14.5164547,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2418.35986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2272.002912,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2272.002918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2272.002923,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2272.206299,"values":{"Elec_RPM":-2355.84375,"EncoderCos":46687,"EncoderSin":48766,"GapTicks":49485,"Mech_RPM":-471.168732,"cg_du":52.2778091,"cg_dv":44.9865913,"cg_dw":55.0134087,"cg_id_a":11.5773869,"cg_id_raw_a":9.31727505,"cg_iq_a":-201.068604,"cg_iq_raw_a":-200.431534,"cg_iu_a":136.134369,"cg_iv_a":-197.677185,"cg_iw_a":61.5428238,"cg_sample_age_us":23.5799999,"cg_sample_seq":12727166,"cg_sample_valid":1,"cg_theta_rad":0.858348787,"cg_vd_req_v":-2.1999464,"cg_vd_v":-2.1999464,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37750053,"cg_vq_v":-8.37750053,"cg_vu_v":22.4345207,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2511.23682,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2272.53833,"values":{"Elec_RPM":-2352.56323,"EncoderCos":15521,"EncoderSin":45335,"GapTicks":49475,"Mech_RPM":-470.512634,"cg_du":55.0221176,"cg_dv":51.4912148,"cg_dw":44.9778824,"cg_id_a":5.35479832,"cg_id_raw_a":2.97139764,"cg_iq_a":-203.620682,"cg_iq_raw_a":-204.785507,"cg_iu_a":85.9004211,"cg_iv_a":117.644135,"cg_iw_a":-203.544556,"cg_sample_age_us":23.8854542,"cg_sample_seq":12728766,"cg_sample_valid":1,"cg_theta_rad":2.51646066,"cg_vd_req_v":-2.02492428,"cg_vd_v":-2.02492428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27080727,"cg_vq_v":-8.27080727,"cg_vu_v":32.5520515,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2443.72266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2272.889893,"values":{"Elec_RPM":-2354.27173,"EncoderCos":24635,"EncoderSin":52576,"GapTicks":50129,"Mech_RPM":-470.85434,"cg_du":45.6835823,"cg_dv":45.5723419,"cg_dw":54.4276581,"cg_id_a":11.4853563,"cg_id_raw_a":11.7139206,"cg_iq_a":-205.991089,"cg_iq_raw_a":-204.446121,"cg_iu_a":3.73564816,"cg_iv_a":-177.163177,"cg_iw_a":173.427536,"cg_sample_age_us":26.7327271,"cg_sample_seq":12730571,"cg_sample_valid":1,"cg_theta_rad":2.00481963,"cg_vd_req_v":-2.10182428,"cg_vd_v":-2.10182428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22646999,"cg_vq_v":-8.22646999,"cg_vu_v":103.814644,"cg_vv_v":75.6615219,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-17.0002308,"dclink_p_w":-2460.35254,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2272.99477,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2272.994775,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2272.99478,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2273.22583,"values":{"Elec_RPM":-2357.38477,"EncoderCos":11371,"EncoderSin":33216,"GapTicks":49376,"Mech_RPM":-471.476959,"cg_du":44.8873177,"cg_dv":48.9040642,"cg_dw":55.1126823,"cg_id_a":-9.90752029,"cg_id_raw_a":-13.3296814,"cg_iq_a":-198.064056,"cg_iq_raw_a":-199.276932,"cg_iu_a":-112.860764,"cg_iv_a":-86.1186829,"cg_iw_a":198.979446,"cg_sample_age_us":23.9072723,"cg_sample_seq":12732216,"cg_sample_valid":1,"cg_theta_rad":3.12521338,"cg_vd_req_v":-1.70388341,"cg_vd_v":-1.70388341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4388752,"cg_vq_v":-8.4388752,"cg_vu_v":37.830761,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2273.557861,"values":{"Elec_RPM":-2354.66455,"EncoderCos":11398,"EncoderSin":32330,"GapTicks":49523,"Mech_RPM":-470.932922,"cg_du":45.0211029,"cg_dv":47.4026566,"cg_dw":54.9788971,"cg_id_a":7.00698757,"cg_id_raw_a":2.75654054,"cg_iq_a":-196.980103,"cg_iq_raw_a":-195.927673,"cg_iu_a":-61.7569618,"cg_iv_a":-133.598114,"cg_iw_a":195.355072,"cg_sample_age_us":23.8418179,"cg_sample_seq":12733966,"cg_sample_valid":1,"cg_theta_rad":3.16695356,"cg_vd_req_v":-2.04831123,"cg_vd_v":-2.04831123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44474697,"cg_vq_v":-8.44474697,"cg_vu_v":37.3908691,"cg_vv_v":38.7105446,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-17.612751,"dclink_p_w":-2556.74707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2273.909424,"values":{"Elec_RPM":-2357.55273,"EncoderCos":22853,"EncoderSin":13855,"GapTicks":49814,"Mech_RPM":-471.510559,"cg_du":45.2863007,"cg_dv":54.7136993,"cg_dw":53.6311188,"cg_id_a":9.53974247,"cg_id_raw_a":10.9143209,"cg_iq_a":-199.471542,"cg_iq_raw_a":-199.521515,"cg_iu_a":-177.447266,"cg_iv_a":0.685302734,"cg_iw_a":176.761963,"cg_sample_age_us":26.0672722,"cg_sample_seq":12735620,"cg_sample_valid":1,"cg_theta_rad":4.28454113,"cg_vd_req_v":-2.11604881,"cg_vd_v":-2.11604881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35746002,"cg_vq_v":-8.35746002,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0183525,"dclink_p_w":-2462.9751,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2589,"hz_tim_isr":5001,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2273.987227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2273.987232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2273.987237,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2274.241455,"values":{"Elec_RPM":-2355.43213,"EncoderCos":24163,"EncoderSin":13184,"GapTicks":49508,"Mech_RPM":-471.086426,"cg_du":45.0075607,"cg_dv":52.0575752,"cg_dw":54.9924393,"cg_id_a":-8.93055725,"cg_id_raw_a":-5.70241261,"cg_iq_a":-200.223175,"cg_iq_raw_a":-200.185516,"cg_iu_a":-163.964569,"cg_iv_a":-13.8847351,"cg_iw_a":177.849304,"cg_sample_age_us":23.9327278,"cg_sample_seq":12737367,"cg_sample_valid":1,"cg_theta_rad":4.31048822,"cg_vd_req_v":-1.73744595,"cg_vd_v":-1.73744595,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37151909,"cg_vq_v":-8.37151909,"cg_vu_v":99.4157181,"cg_vv_v":98.9758301,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.3260956,"dclink_p_w":-2355.60669,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2274.573486,"values":{"Elec_RPM":-2352.16846,"EncoderCos":36229,"EncoderSin":11708,"GapTicks":50037,"Mech_RPM":-470.433716,"cg_du":54.5117836,"cg_dv":45.6106415,"cg_dw":45.4882164,"cg_id_a":10.0776358,"cg_id_raw_a":11.5537329,"cg_iq_a":-201.273743,"cg_iq_raw_a":-202.238098,"cg_iu_a":180.098145,"cg_iv_a":-15.08078,"cg_iw_a":-165.017365,"cg_sample_age_us":23.9654541,"cg_sample_seq":12739067,"cg_sample_valid":1,"cg_theta_rad":4.89355135,"cg_vd_req_v":-2.12425947,"cg_vd_v":-2.12425947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3556776,"cg_vq_v":-8.3556776,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2274.928955,"values":{"Elec_RPM":-2361.83618,"EncoderCos":47270,"EncoderSin":17312,"GapTicks":49648,"Mech_RPM":-472.367249,"cg_du":45.1352539,"cg_dv":54.8647461,"cg_dw":53.0538368,"cg_id_a":8.35113907,"cg_id_raw_a":8.9180584,"cg_iq_a":-198.224915,"cg_iq_raw_a":-197.852875,"cg_iu_a":-191.328659,"cg_iv_a":46.4975128,"cg_iw_a":144.831146,"cg_sample_age_us":23.8309097,"cg_sample_seq":12740766,"cg_sample_valid":1,"cg_theta_rad":5.48689222,"cg_vd_req_v":-2.18749475,"cg_vd_v":-2.18749475,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3930254,"cg_vq_v":-8.3930254,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2487.03467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2580,"hz_tim_isr":4998,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2275.011374,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2275.01138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2275.011386,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2275.25708,"values":{"Elec_RPM":-2362.802,"EncoderCos":53247,"EncoderSin":27842,"GapTicks":49402,"Mech_RPM":-472.560394,"cg_du":55.0884361,"cg_dv":44.9115639,"cg_dw":48.8858566,"cg_id_a":-4.92591333,"cg_id_raw_a":-8.36769485,"cg_iq_a":-199.510223,"cg_iq_raw_a":-198.833527,"cg_iu_a":200.285965,"cg_iv_a":-116.962189,"cg_iw_a":-81.547821,"cg_sample_age_us":24.1654549,"cg_sample_seq":12742466,"cg_sample_valid":1,"cg_theta_rad":6.06044579,"cg_vd_req_v":-1.90938461,"cg_vd_v":-1.90938461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35576439,"cg_vq_v":-8.35576439,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.7414169,"dclink_p_w":-2567.62036,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118686192,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2275.593018,"values":{"Elec_RPM":-2360.77051,"EncoderCos":52552,"EncoderSin":39924,"GapTicks":49359,"Mech_RPM":-472.154114,"cg_du":44.8725243,"cg_dv":55.1274757,"cg_dw":48.9638519,"cg_id_a":-10.0806417,"cg_id_raw_a":-8.00032616,"cg_iq_a":-198.396912,"cg_iq_raw_a":-199.881897,"cg_iu_a":-187.233109,"cg_iv_a":147.654053,"cg_iw_a":28.0172729,"cg_sample_age_us":23.5218182,"cg_sample_seq":12744166,"cg_sample_valid":1,"cg_theta_rad":0.355085552,"cg_vd_req_v":-1.79524601,"cg_vd_v":-1.79524601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43797016,"cg_vq_v":-8.43797016,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.6562443,"dclink_p_w":-2555.29395,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2275.94458,"values":{"Elec_RPM":-2359.16553,"EncoderCos":45406,"EncoderSin":49832,"GapTicks":49742,"Mech_RPM":-471.83313,"cg_du":54.7798195,"cg_dv":45.2201805,"cg_dw":53.233963,"cg_id_a":2.13837767,"cg_id_raw_a":11.6240473,"cg_iq_a":-200.269196,"cg_iq_raw_a":-201.84285,"cg_iu_a":171.327133,"cg_iv_a":-172.16153,"cg_iw_a":0.834403992,"cg_sample_age_us":23.8854542,"cg_sample_seq":12745866,"cg_sample_valid":1,"cg_theta_rad":0.93947798,"cg_vd_req_v":-1.94745827,"cg_vd_v":-1.94745827,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37823486,"cg_vq_v":-8.37823486,"cg_vu_v":36.9509773,"cg_vv_v":34.3116188,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2501.76953,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5905457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2276.002951,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2276.002957,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2276.002962,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2276.276611,"values":{"Elec_RPM":-2354.23975,"EncoderCos":34253,"EncoderSin":53938,"GapTicks":49654,"Mech_RPM":-470.847931,"cg_du":47.134552,"cg_dv":54.8599663,"cg_dw":45.1400337,"cg_id_a":13.5785236,"cg_id_raw_a":12.8019753,"cg_iq_a":-203.917633,"cg_iq_raw_a":-202.508545,"cg_iu_a":-149.213333,"cg_iv_a":197.090637,"cg_iw_a":-47.8773117,"cg_sample_age_us":23.9181824,"cg_sample_seq":12747567,"cg_sample_valid":1,"cg_theta_rad":1.50085688,"cg_vd_req_v":-2.18085456,"cg_vd_v":-2.18085456,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27054977,"cg_vq_v":-8.27054977,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2276.608643,"values":{"Elec_RPM":-2349.96875,"EncoderCos":14178,"EncoderSin":43333,"GapTicks":49530,"Mech_RPM":-469.993774,"cg_du":52.4642181,"cg_dv":54.9720001,"cg_dw":45.0279999,"cg_id_a":-4.44889545,"cg_id_raw_a":0.58964473,"cg_iq_a":-197.589935,"cg_iq_raw_a":-200.258118,"cg_iu_a":-7.75364685,"cg_iv_a":173.56839,"cg_iw_a":-165.814743,"cg_sample_age_us":23.7945461,"cg_sample_seq":12749216,"cg_sample_valid":1,"cg_theta_rad":2.62709808,"cg_vd_req_v":-1.78062391,"cg_vd_v":-1.78062391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45693588,"cg_vq_v":-8.45693588,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":38.7105446,"control_outputs_enabled":1,"dclink_i_a":-16.1412506,"dclink_p_w":-2336.03687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2276.960205,"values":{"Elec_RPM":-2352.84009,"EncoderCos":11400,"EncoderSin":31739,"GapTicks":49825,"Mech_RPM":-470.568024,"cg_du":45.2959862,"cg_dv":46.3844719,"cg_dw":54.7040138,"cg_id_a":12.4068508,"cg_id_raw_a":8.77429104,"cg_iq_a":-201.536087,"cg_iq_raw_a":-198.664871,"cg_iu_a":-33.0156021,"cg_iv_a":-156.64917,"cg_iw_a":193.977783,"cg_sample_age_us":23.9363632,"cg_sample_seq":12750917,"cg_sample_valid":1,"cg_theta_rad":3.18949795,"cg_vd_req_v":-2.14203334,"cg_vd_v":-2.14203334,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32925892,"cg_vq_v":-8.32925892,"cg_vu_v":117.011421,"cg_vv_v":128.448624,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2158813,"dclink_p_w":-2491.5625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2578,"hz_tim_isr":5000,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2276.995047,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2276.995053,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2276.995058,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2277.296143,"values":{"Elec_RPM":-2352.70044,"EncoderCos":11476,"EncoderSin":31133,"GapTicks":50033,"Mech_RPM":-470.54007,"cg_du":45.9725609,"cg_dv":45.4845695,"cg_dw":54.5154305,"cg_id_a":8.03120041,"cg_id_raw_a":9.50047207,"cg_iq_a":-205.120148,"cg_iq_raw_a":-204.875626,"cg_iu_a":-6.3763814,"cg_iv_a":-172.922653,"cg_iw_a":179.299042,"cg_sample_age_us":23.9218178,"cg_sample_seq":12752668,"cg_sample_valid":1,"cg_theta_rad":3.23033977,"cg_vd_req_v":-2.02575088,"cg_vd_v":-2.02575088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24235344,"cg_vq_v":-8.24235344,"cg_vu_v":119.210884,"cg_vv_v":125.809273,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2415.50464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2277.628174,"values":{"Elec_RPM":-2352.95532,"EncoderCos":36277,"EncoderSin":11741,"GapTicks":50009,"Mech_RPM":-470.591064,"cg_du":54.5366516,"cg_dv":45.7328491,"cg_dw":45.4633484,"cg_id_a":9.73589039,"cg_id_raw_a":15.7899342,"cg_iq_a":-200.711029,"cg_iq_raw_a":-204.452332,"cg_iu_a":179.337021,"cg_iv_a":-11.8188324,"cg_iw_a":-167.518188,"cg_sample_age_us":23.9763641,"cg_sample_seq":12754266,"cg_sample_valid":1,"cg_theta_rad":4.89657497,"cg_vd_req_v":-2.1103611,"cg_vd_v":-2.1103611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3650341,"cg_vq_v":-8.3650341,"cg_vu_v":143.404984,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2505.9873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2277.979736,"values":{"Elec_RPM":-2356.79053,"EncoderCos":36956,"EncoderSin":11824,"GapTicks":49595,"Mech_RPM":-471.358124,"cg_du":54.9132767,"cg_dv":47.348278,"cg_dw":45.0867233,"cg_id_a":-4.59251785,"cg_id_raw_a":1.21561635,"cg_iq_a":-197.643204,"cg_iq_raw_a":-198.505112,"cg_iu_a":169.116272,"cg_iv_a":0.359100342,"cg_iw_a":-169.475372,"cg_sample_age_us":24.0090904,"cg_sample_seq":12756017,"cg_sample_valid":1,"cg_theta_rad":4.92463112,"cg_vd_req_v":-1.8129878,"cg_vd_v":-1.8129878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40686417,"cg_vq_v":-8.40686417,"cg_vu_v":143.404984,"cg_vv_v":138.126266,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.2811203,"dclink_p_w":-2501.00415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2278.019468,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2278.019474,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2278.019479,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2278.468018,"values":{"Elec_RPM":-2347.50488,"EncoderCos":33734,"EncoderSin":11462,"GapTicks":49360,"Mech_RPM":-469.500977,"cg_du":55.1269684,"cg_dv":44.8730316,"cg_dw":49.9035873,"cg_id_a":-18.5519524,"cg_id_raw_a":-20.4528179,"cg_iq_a":-194.678177,"cg_iq_raw_a":-194.20845,"cg_iu_a":198.727478,"cg_iv_a":-88.5832748,"cg_iw_a":-110.144203,"cg_sample_age_us":24.0927277,"cg_sample_seq":12758370,"cg_sample_valid":1,"cg_theta_rad":4.81480551,"cg_vd_req_v":-1.55577981,"cg_vd_v":-1.55577981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45242405,"cg_vq_v":-8.45242405,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8552551,"dclink_p_w":-2439.37109,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2278.883149,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2278.883161,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2278.883164,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2278.971924,"values":{"Elec_RPM":-2340.93726,"EncoderCos":34990,"EncoderSin":53853,"GapTicks":49465,"Mech_RPM":-468.187439,"cg_du":48.3859558,"cg_dv":55.0314674,"cg_dw":44.9685326,"cg_id_a":1.28646135,"cg_id_raw_a":-3.1027441,"cg_iq_a":-200.851913,"cg_iq_raw_a":-199.568146,"cg_iu_a":-113.368179,"cg_iv_a":201.041214,"cg_iw_a":-101.989349,"cg_sample_age_us":23.8999996,"cg_sample_seq":12761016,"cg_sample_valid":1,"cg_theta_rad":1.46395659,"cg_vd_req_v":-1.9392699,"cg_vd_v":-1.9392699,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32846355,"cg_vq_v":-8.32846355,"cg_vu_v":0.87978512,"cg_vv_v":11.877099,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2487.65015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2279.010749,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2279.010755,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2279.01076,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2279.307861,"values":{"Elec_RPM":-2346.95581,"EncoderCos":23376,"EncoderSin":52049,"GapTicks":49436,"Mech_RPM":-469.391174,"cg_du":48.9819756,"cg_dv":44.9424057,"cg_dw":55.0575943,"cg_id_a":-19.5210934,"cg_id_raw_a":-19.3151798,"cg_iq_a":-200.57431,"cg_iq_raw_a":-201.503799,"cg_iu_a":21.2776642,"cg_iv_a":-181.838654,"cg_iw_a":160.560989,"cg_sample_age_us":23.8054543,"cg_sample_seq":12762717,"cg_sample_valid":1,"cg_theta_rad":2.02340698,"cg_vd_req_v":-1.49385142,"cg_vd_v":-1.49385142,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37665176,"cg_vq_v":-8.37665176,"cg_vu_v":103.374756,"cg_vv_v":73.0221634,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2401.88721,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2279.635986,"values":{"Elec_RPM":-2347.61279,"EncoderCos":11416,"EncoderSin":32581,"GapTicks":49481,"Mech_RPM":-469.522552,"cg_du":44.9833946,"cg_dv":47.8553085,"cg_dw":55.0166054,"cg_id_a":3.58919716,"cg_id_raw_a":-1.50815904,"cg_iq_a":-196.577759,"cg_iq_raw_a":-196.344666,"cg_iu_a":-74.8772278,"cg_iv_a":-121.927582,"cg_iw_a":196.80481,"cg_sample_age_us":23.9654541,"cg_sample_seq":12764366,"cg_sample_valid":1,"cg_theta_rad":3.15215969,"cg_vd_req_v":-1.97253025,"cg_vd_v":-1.97253025,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4336729,"cg_vq_v":-8.4336729,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2279.991455,"values":{"Elec_RPM":-2347.43994,"EncoderCos":14873,"EncoderSin":20866,"GapTicks":49373,"Mech_RPM":-469.488007,"cg_du":55.1149292,"cg_dv":50.3136864,"cg_dw":44.8850708,"cg_id_a":-9.23045826,"cg_id_raw_a":-11.2417946,"cg_iq_a":-198.085327,"cg_iq_raw_a":-199.371292,"cg_iu_a":125.514931,"cg_iv_a":71.9044266,"cg_iw_a":-197.419357,"cg_sample_age_us":23.8709087,"cg_sample_seq":12766066,"cg_sample_valid":1,"cg_theta_rad":3.73445654,"cg_vd_req_v":-1.7272886,"cg_vd_v":-1.7272886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37687111,"cg_vq_v":-8.37687111,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2465.16333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2280.002928,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2280.002934,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2280.002939,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2280.323486,"values":{"Elec_RPM":-2351.03687,"EncoderCos":23859,"EncoderSin":13321,"GapTicks":49680,"Mech_RPM":-470.207367,"cg_du":45.1639252,"cg_dv":52.854805,"cg_dw":54.8360748,"cg_id_a":-2.51957703,"cg_id_raw_a":3.63542438,"cg_iq_a":-204.010391,"cg_iq_raw_a":-204.116302,"cg_iu_a":-175.671326,"cg_iv_a":0.540313721,"cg_iw_a":175.131012,"cg_sample_age_us":23.9290905,"cg_sample_seq":12767767,"cg_sample_valid":1,"cg_theta_rad":4.29731417,"cg_vd_req_v":-1.86601925,"cg_vd_v":-1.86601925,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30522156,"cg_vq_v":-8.30522156,"cg_vu_v":115.251846,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.5058327,"dclink_p_w":-2525.82495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2280.675049,"values":{"Elec_RPM":-2352.95166,"EncoderCos":35306,"EncoderSin":11613,"GapTicks":49611,"Mech_RPM":-470.590332,"cg_du":54.8986092,"cg_dv":45.1013908,"cg_dw":47.263855,"cg_id_a":10.8689098,"cg_id_raw_a":7.15440035,"cg_iq_a":-200.641006,"cg_iq_raw_a":-199.636566,"cg_iu_a":182.562714,"cg_iv_a":-15.6968994,"cg_iw_a":-166.865814,"cg_sample_age_us":24.5218182,"cg_sample_seq":12769470,"cg_sample_valid":1,"cg_theta_rad":4.88775015,"cg_vd_req_v":-2.16440701,"cg_vd_v":-2.16440701,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35161781,"cg_vq_v":-8.35161781,"cg_vu_v":45.7488289,"cg_vv_v":43.1094704,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-16.2554207,"dclink_p_w":-2352.56006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2280.995079,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2280.995085,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2280.99509,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2281.00708,"values":{"Elec_RPM":-2351.72754,"EncoderCos":36762,"EncoderSin":11871,"GapTicks":49725,"Mech_RPM":-470.34552,"cg_du":54.7950668,"cg_dv":46.8866005,"cg_dw":45.2049332,"cg_id_a":0.869065285,"cg_id_raw_a":5.23740339,"cg_iq_a":-199.422195,"cg_iq_raw_a":-199.724228,"cg_iu_a":170.747238,"cg_iv_a":-0.728210449,"cg_iw_a":-170.019028,"cg_sample_age_us":23.9872723,"cg_sample_seq":12771217,"cg_sample_valid":1,"cg_theta_rad":4.91923714,"cg_vd_req_v":-1.92798316,"cg_vd_v":-1.92798316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36442947,"cg_vq_v":-8.36442947,"cg_vu_v":106.893898,"cg_vv_v":102.055069,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.050972,"dclink_p_w":-2467.69604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2281.339111,"values":{"Elec_RPM":-2348.59204,"EncoderCos":53181,"EncoderSin":27572,"GapTicks":49342,"Mech_RPM":-469.718414,"cg_du":55.1430206,"cg_dv":44.8569794,"cg_dw":49.2931709,"cg_id_a":-11.5090179,"cg_id_raw_a":-14.3023558,"cg_iq_a":-196.363464,"cg_iq_raw_a":-196.090652,"cg_iu_a":195.791718,"cg_iv_a":-119.7892,"cg_iw_a":-76.0025177,"cg_sample_age_us":24.1690903,"cg_sample_seq":12772866,"cg_sample_valid":1,"cg_theta_rad":6.04755735,"cg_vd_req_v":-1.76594305,"cg_vd_v":-1.76594305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43890762,"cg_vq_v":-8.43890762,"cg_vu_v":43.549366,"cg_vv_v":40.4701157,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-17.045536,"dclink_p_w":-2459.41113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4792786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2281.69458,"values":{"Elec_RPM":-2352.16577,"EncoderCos":53307,"EncoderSin":28136,"GapTicks":49383,"Mech_RPM":-470.433167,"cg_du":55.1060066,"cg_dv":44.8939934,"cg_dw":48.4082336,"cg_id_a":3.60307908,"cg_id_raw_a":-4.45845699,"cg_iq_a":-199.58786,"cg_iq_raw_a":-198.813583,"cg_iu_a":199.488586,"cg_iv_a":-83.9802856,"cg_iw_a":-115.508301,"cg_sample_age_us":24.1327267,"cg_sample_seq":12774617,"cg_sample_valid":1,"cg_theta_rad":6.07677889,"cg_vd_req_v":-2.08177471,"cg_vd_v":-2.08177471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38914967,"cg_vq_v":-8.38914967,"cg_vu_v":105.134323,"cg_vv_v":73.0221634,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.5254364,"dclink_p_w":-2391.63818,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2281.987038,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2281.987043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2281.987049,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2282.026611,"values":{"Elec_RPM":-2351.15796,"EncoderCos":35423,"EncoderSin":53794,"GapTicks":49389,"Mech_RPM":-470.231598,"cg_du":49.1105499,"cg_dv":55.1002083,"cg_dw":44.8997917,"cg_id_a":-7.04717541,"cg_id_raw_a":-9.68053818,"cg_iq_a":-198.511093,"cg_iq_raw_a":-198.215775,"cg_iu_a":-87.4900818,"cg_iv_a":198.069214,"cg_iw_a":-110.57914,"cg_sample_age_us":23.8054543,"cg_sample_seq":12776217,"cg_sample_valid":1,"cg_theta_rad":1.44794488,"cg_vd_req_v":-1.7723676,"cg_vd_v":-1.7723676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38088036,"cg_vq_v":-8.38088036,"cg_vu_v":106.453995,"cg_vv_v":105.574219,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2282.358643,"values":{"Elec_RPM":-2352.74878,"EncoderCos":34624,"EncoderSin":53900,"GapTicks":49514,"Mech_RPM":-470.549744,"cg_du":47.7800446,"cg_dv":54.9872513,"cg_dw":45.0127487,"cg_id_a":8.73395538,"cg_id_raw_a":3.26928186,"cg_iq_a":-202.319778,"cg_iq_raw_a":-201.37381,"cg_iu_a":-133.157318,"cg_iv_a":200.715027,"cg_iw_a":-67.5577164,"cg_sample_age_us":23.8963642,"cg_sample_seq":12777967,"cg_sample_valid":1,"cg_theta_rad":1.48229587,"cg_vd_req_v":-2.09569526,"cg_vd_v":-2.09569526,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31913757,"cg_vq_v":-8.31913757,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":110.852921,"control_outputs_enabled":1,"dclink_i_a":-16.9005604,"dclink_p_w":-2438.49341,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2282.710205,"values":{"Elec_RPM":-2353.54517,"EncoderCos":22553,"EncoderSin":51636,"GapTicks":49341,"Mech_RPM":-470.709015,"cg_du":50.6540222,"cg_dv":44.8562164,"cg_dw":55.1437836,"cg_id_a":-9.94612789,"cg_id_raw_a":-13.6579332,"cg_iq_a":-198.295288,"cg_iq_raw_a":-197.487305,"cg_iu_a":78.7966309,"cg_iv_a":-197.822174,"cg_iw_a":119.025543,"cg_sample_age_us":23.7254543,"cg_sample_seq":12779666,"cg_sample_valid":1,"cg_theta_rad":2.06607318,"cg_vd_req_v":-1.73080111,"cg_vd_v":-1.73080111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44352436,"cg_vq_v":-8.44352436,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":17.1558094,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2465.98926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2282.979533,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2282.97954,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2282.979545,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2283.042236,"values":{"Elec_RPM":-2355.04639,"EncoderCos":14001,"EncoderSin":42981,"GapTicks":49400,"Mech_RPM":-471.009277,"cg_du":51.5984993,"cg_dv":55.0908127,"cg_dw":44.9091873,"cg_id_a":-7.17707348,"cg_id_raw_a":-6.67544413,"cg_iq_a":-195.075928,"cg_iq_raw_a":-195.184433,"cg_iu_a":-25.3681488,"cg_iv_a":178.968719,"cg_iw_a":-153.600571,"cg_sample_age_us":23.9254551,"cg_sample_seq":12781367,"cg_sample_valid":1,"cg_theta_rad":2.64558482,"cg_vd_req_v":-1.7205627,"cg_vd_v":-1.7205627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47318935,"cg_vq_v":-8.47318935,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":133.727341,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2283.374268,"values":{"Elec_RPM":-2358.68213,"EncoderCos":11457,"EncoderSin":31073,"GapTicks":50014,"Mech_RPM":-471.73645,"cg_du":46.0585403,"cg_dv":45.4681358,"cg_dw":54.5318642,"cg_id_a":8.90846252,"cg_id_raw_a":11.3676386,"cg_iq_a":-206.498749,"cg_iq_raw_a":-207.457657,"cg_iu_a":-10.3269596,"cg_iv_a":-173.140106,"cg_iw_a":183.467072,"cg_sample_age_us":23.9400005,"cg_sample_seq":12783066,"cg_sample_valid":1,"cg_theta_rad":3.22363114,"cg_vd_req_v":-2.0502367,"cg_vd_v":-2.0502367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22276878,"cg_vq_v":-8.22276878,"cg_vu_v":7.91806602,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.2735424,"dclink_p_w":-2355.18286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2283.72583,"values":{"Elec_RPM":-2361.60864,"EncoderCos":15687,"EncoderSin":19703,"GapTicks":49648,"Mech_RPM":-472.321747,"cg_du":54.8647652,"cg_dv":52.7619095,"cg_dw":45.1352348,"cg_id_a":11.9541073,"cg_id_raw_a":10.1459064,"cg_iq_a":-205.324646,"cg_iq_raw_a":-205.154587,"cg_iu_a":53.1722374,"cg_iv_a":147.871521,"cg_iw_a":-201.043762,"cg_sample_age_us":23.9909096,"cg_sample_seq":12784766,"cg_sample_valid":1,"cg_theta_rad":3.80174971,"cg_vd_req_v":-2.15238094,"cg_vd_v":-2.15238094,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28010082,"cg_vq_v":-8.28010082,"cg_vu_v":45.7488289,"cg_vv_v":65.1041031,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-16.7555847,"dclink_p_w":-2417.57544,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2284.003398,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2284.003405,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2284.00341,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2284.061768,"values":{"Elec_RPM":-2354.48145,"EncoderCos":25621,"EncoderSin":12645,"GapTicks":49370,"Mech_RPM":-470.896271,"cg_du":44.8825302,"cg_dv":48.8734932,"cg_dw":55.1174698,"cg_id_a":-6.37643433,"cg_id_raw_a":-10.4635563,"cg_iq_a":-195.765778,"cg_iq_raw_a":-197.291321,"cg_iu_a":-103.618591,"cg_iv_a":-90.3954468,"cg_iw_a":194.014038,"cg_sample_age_us":23.9036369,"cg_sample_seq":12786466,"cg_sample_valid":1,"cg_theta_rad":4.38412666,"cg_vd_req_v":-1.81666648,"cg_vd_v":-1.81666648,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45399475,"cg_vq_v":-8.45399475,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.549324,"dclink_p_w":-2539.81982,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.6193237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2284.41333,"values":{"Elec_RPM":-2357.573,"EncoderCos":36613,"EncoderSin":11824,"GapTicks":49801,"Mech_RPM":-471.514618,"cg_du":54.7256699,"cg_dv":46.5363998,"cg_dw":45.2743301,"cg_id_a":2.73205256,"cg_id_raw_a":7.54021263,"cg_iq_a":-200.93663,"cg_iq_raw_a":-202.460892,"cg_iu_a":158.351837,"cg_iv_a":19.0246735,"cg_iw_a":-177.376511,"cg_sample_age_us":23.9727268,"cg_sample_seq":12788171,"cg_sample_valid":1,"cg_theta_rad":4.95161867,"cg_vd_req_v":-1.96020687,"cg_vd_v":-1.96020687,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32136726,"cg_vq_v":-8.32136726,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-17.0926533,"dclink_p_w":-2466.20947,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2284.745361,"values":{"Elec_RPM":-2359.33496,"EncoderCos":47904,"EncoderSin":18024,"GapTicks":49956,"Mech_RPM":-471.866974,"cg_du":45.4150429,"cg_dv":54.0925941,"cg_dw":54.5849571,"cg_id_a":7.86340714,"cg_id_raw_a":11.8388424,"cg_iq_a":-202.706299,"cg_iq_raw_a":-201.612076,"cg_iu_a":-179.87561,"cg_iv_a":9.81872559,"cg_iw_a":170.056885,"cg_sample_age_us":23.9581814,"cg_sample_seq":12789867,"cg_sample_valid":1,"cg_theta_rad":5.52955532,"cg_vd_req_v":-2.17422366,"cg_vd_v":-2.17422366,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31392097,"cg_vq_v":-8.31392097,"cg_vu_v":113.932175,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2379.92358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2284.995625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2284.99563,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2284.995636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2285.077393,"values":{"Elec_RPM":-2357.16724,"EncoderCos":53482,"EncoderSin":29057,"GapTicks":49703,"Mech_RPM":-471.433441,"cg_du":54.815094,"cg_dv":45.184906,"cg_dw":46.7462273,"cg_id_a":15.6689939,"cg_id_raw_a":16.6560764,"cg_iq_a":-202.614746,"cg_iq_raw_a":-202.24353,"cg_iu_a":191.87738,"cg_iv_a":-34.1450195,"cg_iw_a":-157.732361,"cg_sample_age_us":24.136364,"cg_sample_seq":12791566,"cg_sample_valid":1,"cg_theta_rad":6.12354326,"cg_vd_req_v":-2.3021071,"cg_vd_v":-2.3021071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32495022,"cg_vq_v":-8.32495022,"cg_vu_v":47.9482918,"cg_vv_v":43.549366,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.3209877,"dclink_p_w":-2506.77393,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2285.428955,"values":{"Elec_RPM":-2359.12866,"EncoderCos":52070,"EncoderSin":41185,"GapTicks":49382,"Mech_RPM":-471.825714,"cg_du":44.8930626,"cg_dv":55.1069374,"cg_dw":51.566906,"cg_id_a":1.48278356,"cg_id_raw_a":-1.52801502,"cg_iq_a":-195.087524,"cg_iq_raw_a":-194.973236,"cg_iu_a":-197.127686,"cg_iv_a":83.9373932,"cg_iw_a":113.190292,"cg_sample_age_us":23.5036373,"cg_sample_seq":12793266,"cg_sample_valid":1,"cg_theta_rad":0.419857889,"cg_vd_req_v":-2.02796054,"cg_vd_v":-2.02796054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45376205,"cg_vq_v":-8.45376205,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2285.764893,"values":{"Elec_RPM":-2354.58667,"EncoderCos":22955,"EncoderSin":51768,"GapTicks":49325,"Mech_RPM":-470.917328,"cg_du":49.9730873,"cg_dv":44.8414993,"cg_dw":55.1585007,"cg_id_a":-18.3123398,"cg_id_raw_a":-18.8083248,"cg_iq_a":-196.793732,"cg_iq_raw_a":-197.724533,"cg_iu_a":51.6862411,"cg_iv_a":-190.06601,"cg_iw_a":138.379761,"cg_sample_age_us":23.6527271,"cg_sample_seq":12794867,"cg_sample_valid":1,"cg_theta_rad":2.05114198,"cg_vd_req_v":-1.55043209,"cg_vd_v":-1.55043209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48002434,"cg_vq_v":-8.48002434,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.9567375,"dclink_p_w":-2461.51709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2285.986803,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2285.986809,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2285.986814,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2286.096924,"values":{"Elec_RPM":-2358.22266,"EncoderCos":32887,"EncoderSin":54010,"GapTicks":49724,"Mech_RPM":-471.644531,"cg_du":45.2040024,"cg_dv":54.7959976,"cg_dw":46.8053131,"cg_id_a":3.0859952,"cg_id_raw_a":9.84561348,"cg_iq_a":-202.302063,"cg_iq_raw_a":-203.525558,"cg_iu_a":-174.51152,"cg_iv_a":173.314697,"cg_iw_a":1.19683075,"cg_sample_age_us":23.9181824,"cg_sample_seq":12796666,"cg_sample_valid":1,"cg_theta_rad":1.56756067,"cg_vd_req_v":-1.93519163,"cg_vd_v":-1.93519163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36613655,"cg_vq_v":-8.36613655,"cg_vu_v":38.2706528,"cg_vv_v":56.7461433,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-16.7284012,"dclink_p_w":-2421.01221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121052869,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2286.448486,"values":{"Elec_RPM":-2357.4707,"EncoderCos":11392,"EncoderSin":32419,"GapTicks":49531,"Mech_RPM":-471.494141,"cg_du":45.0289803,"cg_dv":47.6248093,"cg_dw":54.9710197,"cg_id_a":6.94773865,"cg_id_raw_a":0.818529963,"cg_iq_a":-200.807083,"cg_iq_raw_a":-198.059937,"cg_iu_a":-24.2808342,"cg_iv_a":-165.130234,"cg_iw_a":189.411072,"cg_sample_age_us":23.9327278,"cg_sample_seq":12798271,"cg_sample_valid":1,"cg_theta_rad":3.20155501,"cg_vd_req_v":-2.04504228,"cg_vd_v":-2.04504228,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34440708,"cg_vq_v":-8.34440708,"cg_vu_v":135.926804,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.3369694,"dclink_p_w":-2364.3623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2286.780518,"values":{"Elec_RPM":-2358.47876,"EncoderCos":13235,"EncoderSin":41438,"GapTicks":49480,"Mech_RPM":-471.69577,"cg_du":48.30373,"cg_dv":55.0177612,"cg_dw":44.9822388,"cg_id_a":3.74128628,"cg_id_raw_a":-1.34764361,"cg_iq_a":-202.023575,"cg_iq_raw_a":-201.197067,"cg_iu_a":-118.659775,"cg_iv_a":202.273514,"cg_iw_a":-83.613739,"cg_sample_age_us":23.9690914,"cg_sample_seq":12800066,"cg_sample_valid":1,"cg_theta_rad":2.72532082,"cg_vd_req_v":-1.96944904,"cg_vd_v":-1.96944904,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31348705,"cg_vq_v":-8.31348705,"cg_vu_v":25.5137672,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2464.02417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2287.011124,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2287.01113,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2287.011135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2287.112549,"values":{"Elec_RPM":-2359.01147,"EncoderCos":16217,"EncoderSin":19097,"GapTicks":50032,"Mech_RPM":-471.802307,"cg_du":54.5163651,"cg_dv":54.3384666,"cg_dw":45.4836349,"cg_id_a":13.9008551,"cg_id_raw_a":15.4030161,"cg_iq_a":-201.878662,"cg_iq_raw_a":-203.689026,"cg_iu_a":17.6170368,"cg_iv_a":165.739716,"cg_iw_a":-183.35675,"cg_sample_age_us":23.9981823,"cg_sample_seq":12801716,"cg_sample_valid":1,"cg_theta_rad":3.84004641,"cg_vd_req_v":-2.16392827,"cg_vd_v":-2.16392827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35483646,"cg_vq_v":-8.35483646,"cg_vu_v":40.9100075,"cg_vv_v":59.385498,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-17.3554211,"dclink_p_w":-2504.1228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2287.468018,"values":{"Elec_RPM":-2359.57129,"EncoderCos":16756,"EncoderSin":18410,"GapTicks":49585,"Mech_RPM":-471.914246,"cg_du":52.5017624,"cg_dv":54.922142,"cg_dw":45.077858,"cg_id_a":-7.01300716,"cg_id_raw_a":-0.557230771,"cg_iq_a":-197.37973,"cg_iq_raw_a":-199.859375,"cg_iu_a":-4.1292634,"cg_iv_a":172.553558,"cg_iw_a":-168.424301,"cg_sample_age_us":23.9981823,"cg_sample_seq":12803466,"cg_sample_valid":1,"cg_theta_rad":3.8824687,"cg_vd_req_v":-1.73104024,"cg_vd_v":-1.73104024,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42242241,"cg_vq_v":-8.42242241,"cg_vu_v":29.4728031,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.0723877,"dclink_p_w":-2333.14087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2287.796143,"values":{"Elec_RPM":-2353.7959,"EncoderCos":26889,"EncoderSin":12262,"GapTicks":49773,"Mech_RPM":-470.759155,"cg_du":45.2484016,"cg_dv":46.6501808,"cg_dw":54.7515984,"cg_id_a":15.6773653,"cg_id_raw_a":15.5378275,"cg_iq_a":-203.104675,"cg_iq_raw_a":-200.835983,"cg_iu_a":-34.2841339,"cg_iv_a":-157.953949,"cg_iw_a":192.238083,"cg_sample_age_us":23.9436359,"cg_sample_seq":12805167,"cg_sample_valid":1,"cg_theta_rad":4.44784451,"cg_vd_req_v":-2.24308705,"cg_vd_v":-2.24308705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27448368,"cg_vq_v":-8.27448368,"cg_vu_v":113.052383,"cg_vv_v":119.650772,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0926514,"dclink_p_w":-2466.20898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2288.002992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2288.002997,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2288.003003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2288.186768,"values":{"Elec_RPM":-2357.90015,"EncoderCos":12251,"EncoderSin":38416,"GapTicks":49321,"Mech_RPM":-471.580017,"cg_du":44.8380013,"cg_dv":55.1619987,"cg_dw":49.4131088,"cg_id_a":-10.9681606,"cg_id_raw_a":-10.2512856,"cg_iq_a":-195.191467,"cg_iq_raw_a":-196.00502,"cg_iu_a":-186.109558,"cg_iv_a":142.507431,"cg_iw_a":43.6021271,"cg_sample_age_us":23.9290905,"cg_sample_seq":12807067,"cg_sample_valid":1,"cg_theta_rad":2.87551379,"cg_vd_req_v":-1.64519572,"cg_vd_v":-1.64519572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48697948,"cg_vq_v":-8.48697948,"cg_vu_v":126.689056,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7664585,"dclink_p_w":-2433.89551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2288.706299,"values":{"Elec_RPM":-2353.45361,"EncoderCos":20061,"EncoderSin":49914,"GapTicks":49530,"Mech_RPM":-470.690704,"cg_du":54.9721107,"cg_dv":45.0278893,"cg_dw":52.356308,"cg_id_a":-6.86602211,"cg_id_raw_a":-0.269726187,"cg_iq_a":-197.81813,"cg_iq_raw_a":-199.097473,"cg_iu_a":172.052002,"cg_iv_a":-168.283447,"cg_iw_a":-3.76856232,"cg_sample_age_us":23.9909096,"cg_sample_seq":12809467,"cg_sample_valid":1,"cg_theta_rad":2.20913267,"cg_vd_req_v":-1.74689794,"cg_vd_v":-1.74689794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43549538,"cg_vq_v":-8.43549538,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7646465,"dclink_p_w":-2418.88306,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2288.86764,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2288.867651,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2288.867654,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2288.995161,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2288.995167,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2288.995173,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2289.124268,"values":{"Elec_RPM":-2350.26123,"EncoderCos":32980,"EncoderSin":54008,"GapTicks":49756,"Mech_RPM":-470.052246,"cg_du":45.2331161,"cg_dv":54.7668839,"cg_dw":46.582531,"cg_id_a":5.14730215,"cg_id_raw_a":9.32877159,"cg_iq_a":-200.560135,"cg_iq_raw_a":-201.832748,"cg_iu_a":-171.938202,"cg_iv_a":173.133453,"cg_iw_a":-1.19525146,"cg_sample_age_us":23.8563633,"cg_sample_seq":12811866,"cg_sample_valid":1,"cg_theta_rad":1.56327498,"cg_vd_req_v":-1.97388506,"cg_vd_v":-1.97388506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39254189,"cg_vq_v":-8.39254189,"cg_vu_v":37.830761,"cg_vv_v":44.8690414,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.1666222,"dclink_p_w":-2339.70874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2289.47583,"values":{"Elec_RPM":-2352.54248,"EncoderCos":11450,"EncoderSin":31205,"GapTicks":50017,"Mech_RPM":-470.508514,"cg_du":45.4706879,"cg_dv":45.82724,"cg_dw":54.5293121,"cg_id_a":11.605135,"cg_id_raw_a":11.4070759,"cg_iq_a":-206.18277,"cg_iq_raw_a":-203.910614,"cg_iu_a":-21.4900589,"cg_iv_a":-168.392181,"cg_iw_a":189.882248,"cg_sample_age_us":23.8418179,"cg_sample_seq":12813466,"cg_sample_valid":1,"cg_theta_rad":3.20995784,"cg_vd_req_v":-2.13006759,"cg_vd_v":-2.13006759,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27748013,"cg_vq_v":-8.27748013,"cg_vu_v":109.533249,"cg_vv_v":110.413033,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2481.07178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2289.807861,"values":{"Elec_RPM":-2363.2312,"EncoderCos":11502,"EncoderSin":30847,"GapTicks":49838,"Mech_RPM":-472.64624,"cg_du":46.5917969,"cg_dv":45.3073997,"cg_dw":54.6926003,"cg_id_a":2.76639009,"cg_id_raw_a":9.33851433,"cg_iq_a":-206.919525,"cg_iq_raw_a":-206.345581,"cg_iu_a":-4.78165245,"cg_iv_a":-174.191193,"cg_iw_a":178.972839,"cg_sample_age_us":23.9072723,"cg_sample_seq":12815217,"cg_sample_valid":1,"cg_theta_rad":3.23589587,"cg_vd_req_v":-1.93052185,"cg_vd_v":-1.93052185,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25493145,"cg_vq_v":-8.25493145,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2290.019026,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2290.019032,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2290.019037,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2290.143799,"values":{"Elec_RPM":-2366.03882,"EncoderCos":25368,"EncoderSin":12724,"GapTicks":49383,"Mech_RPM":-473.207764,"cg_du":44.8938026,"cg_dv":49.3288689,"cg_dw":55.1061974,"cg_id_a":-12.0756235,"cg_id_raw_a":-15.1066742,"cg_iq_a":-197.118042,"cg_iq_raw_a":-199.115402,"cg_iu_a":-130.910187,"cg_iv_a":-60.1318665,"cg_iw_a":191.042053,"cg_sample_age_us":23.9400005,"cg_sample_seq":12816866,"cg_sample_valid":1,"cg_theta_rad":4.36297989,"cg_vd_req_v":-1.70054901,"cg_vd_v":-1.70054901,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41356087,"cg_vq_v":-8.41356087,"cg_vu_v":105.574219,"cg_vv_v":103.814644,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2470.0564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2290.495361,"values":{"Elec_RPM":-2360.29224,"EncoderCos":26144,"EncoderSin":12494,"GapTicks":49447,"Mech_RPM":-472.058441,"cg_du":44.9524765,"cg_dv":47.989933,"cg_dw":55.0475235,"cg_id_a":5.51285267,"cg_id_raw_a":0.0224853884,"cg_iq_a":-196.756409,"cg_iq_raw_a":-195.292862,"cg_iu_a":-73.2825012,"cg_iv_a":-124.464661,"cg_iw_a":197.747162,"cg_sample_age_us":23.9290905,"cg_sample_seq":12818616,"cg_sample_valid":1,"cg_theta_rad":4.40979862,"cg_vd_req_v":-2.06180549,"cg_vd_v":-2.06180549,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40601349,"cg_vq_v":-8.40601349,"cg_vu_v":7.47817326,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.237627,"dclink_p_w":-2487.12695,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2290.827393,"values":{"Elec_RPM":-2355.58398,"EncoderCos":53199,"EncoderSin":27694,"GapTicks":49321,"Mech_RPM":-471.116821,"cg_du":55.1620255,"cg_dv":44.8379745,"cg_dw":49.1116982,"cg_id_a":-7.34029818,"cg_id_raw_a":-12.1629324,"cg_iq_a":-195.569519,"cg_iq_raw_a":-194.978607,"cg_iu_a":195.646759,"cg_iv_a":-122.000076,"cg_iw_a":-71.6170197,"cg_sample_age_us":24.1472721,"cg_sample_seq":12820217,"cg_sample_valid":1,"cg_theta_rad":6.05272007,"cg_vd_req_v":-1.85059142,"cg_vd_v":-1.85059142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46908951,"cg_vq_v":-8.46908951,"cg_vu_v":143.404984,"cg_vv_v":138.566162,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.0672817,"dclink_p_w":-2477.56421,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2290.979781,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2290.979788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2290.979793,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2291.178955,"values":{"Elec_RPM":-2357.39746,"EncoderCos":47872,"EncoderSin":17907,"GapTicks":49998,"Mech_RPM":-471.479492,"cg_du":45.4529228,"cg_dv":54.2786713,"cg_dw":54.5470772,"cg_id_a":7.64843273,"cg_id_raw_a":11.2472878,"cg_iq_a":-200.646957,"cg_iq_raw_a":-199.463028,"cg_iu_a":-162.696045,"cg_iv_a":-19.1763153,"cg_iw_a":181.87236,"cg_sample_age_us":23.8309097,"cg_sample_seq":12822020,"cg_sample_valid":1,"cg_theta_rad":5.56763363,"cg_vd_req_v":-2.16080761,"cg_vd_v":-2.16080761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37343979,"cg_vq_v":-8.37343979,"cg_vu_v":1.31967759,"cg_vv_v":5.27871037,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2491.2439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120398253,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2291.510986,"values":{"Elec_RPM":-2353.36694,"EncoderCos":45377,"EncoderSin":49826,"GapTicks":49719,"Mech_RPM":-470.67337,"cg_du":54.8009109,"cg_dv":45.1990891,"cg_dw":53.2290802,"cg_id_a":2.67428756,"cg_id_raw_a":9.78078747,"cg_iq_a":-201.827759,"cg_iq_raw_a":-203.155548,"cg_iu_a":172.994354,"cg_iv_a":-173.285095,"cg_iw_a":0.290740967,"cg_sample_age_us":23.9799995,"cg_sample_seq":12823616,"cg_sample_valid":1,"cg_theta_rad":0.936069787,"cg_vd_req_v":-1.96588647,"cg_vd_v":-1.96588647,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3522625,"cg_vq_v":-8.3522625,"cg_vu_v":22.8744144,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5689297,"dclink_p_w":-2397.93262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2291.843018,"values":{"Elec_RPM":-2351.71826,"EncoderCos":44888,"EncoderSin":50155,"GapTicks":49424,"Mech_RPM":-470.343628,"cg_du":55.0689049,"cg_dv":44.9310951,"cg_dw":51.7762604,"cg_id_a":-10.8755207,"cg_id_raw_a":-9.75943184,"cg_iq_a":-197.509552,"cg_iq_raw_a":-198.702988,"cg_iu_a":177.12616,"cg_iv_a":-162.701904,"cg_iw_a":-14.4242554,"cg_sample_age_us":23.9218178,"cg_sample_seq":12825367,"cg_sample_valid":1,"cg_theta_rad":0.966049731,"cg_vd_req_v":-1.69776273,"cg_vd_v":-1.69776273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44726372,"cg_vq_v":-8.44726372,"cg_vu_v":35.6312981,"cg_vv_v":32.1121559,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.3300495,"dclink_p_w":-2500.46191,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.608551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2291.971195,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2291.971201,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2291.971206,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2292.198486,"values":{"Elec_RPM":-2357.1543,"EncoderCos":34014,"EncoderSin":53979,"GapTicks":49725,"Mech_RPM":-471.430878,"cg_du":46.7382851,"cg_dv":54.7949333,"cg_dw":45.2050667,"cg_id_a":17.1522808,"cg_id_raw_a":15.272481,"cg_iq_a":-203.511749,"cg_iq_raw_a":-202.64827,"cg_iu_a":-173.750412,"cg_iv_a":175.92424,"cg_iw_a":-2.17382813,"cg_sample_age_us":26.7690907,"cg_sample_seq":12827070,"cg_sample_valid":1,"cg_theta_rad":1.55620873,"cg_vd_req_v":-2.24135041,"cg_vd_v":-2.24135041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31191635,"cg_vq_v":-8.31191635,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-16.9676113,"dclink_p_w":-2455.63159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2292.530518,"values":{"Elec_RPM":-2356.58838,"EncoderCos":21659,"EncoderSin":51006,"GapTicks":49568,"Mech_RPM":-471.317688,"cg_du":52.5100136,"cg_dv":45.0618782,"cg_dw":54.9381218,"cg_id_a":7.83136559,"cg_id_raw_a":7.08949089,"cg_iq_a":-200.0914,"cg_iq_raw_a":-199.596146,"cg_iu_a":135.880676,"cg_iv_a":-197.242279,"cg_iw_a":61.3616028,"cg_sample_age_us":23.5436363,"cg_sample_seq":12828767,"cg_sample_valid":1,"cg_theta_rad":2.12140846,"cg_vd_req_v":-2.08149457,"cg_vd_v":-2.08149457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34459591,"cg_vq_v":-8.34459591,"cg_vu_v":140.765625,"cg_vv_v":109.533249,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2292.858643,"values":{"Elec_RPM":-2355.95483,"EncoderCos":13467,"EncoderSin":41956,"GapTicks":49359,"Mech_RPM":-471.190979,"cg_du":49.2650948,"cg_dv":55.1276321,"cg_dw":44.8723679,"cg_id_a":-5.52794075,"cg_id_raw_a":-8.93814182,"cg_iq_a":-199.506973,"cg_iq_raw_a":-198.816788,"cg_iu_a":-84.6993027,"cg_iv_a":199.1203,"cg_iw_a":-114.42099,"cg_sample_age_us":23.9690914,"cg_sample_seq":12830467,"cg_sample_valid":1,"cg_theta_rad":2.69861102,"cg_vd_req_v":-1.78443313,"cg_vd_v":-1.78443313,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38434124,"cg_vq_v":-8.38434124,"cg_vu_v":122.730026,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2606,"hz_tim_isr":4998,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2292.99548,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2292.995486,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2292.995492,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2293.214111,"values":{"Elec_RPM":-2357.8894,"EncoderCos":11621,"EncoderSin":29885,"GapTicks":49411,"Mech_RPM":-471.577881,"cg_du":48.9734344,"cg_dv":44.9199715,"cg_dw":55.0800285,"cg_id_a":-18.6844597,"cg_id_raw_a":-16.8362503,"cg_iq_a":-199.622406,"cg_iq_raw_a":-200.678268,"cg_iu_a":23.2710743,"cg_iv_a":-182.527267,"cg_iw_a":159.256195,"cg_sample_age_us":23.8781815,"cg_sample_seq":12832166,"cg_sample_valid":1,"cg_theta_rad":3.28218627,"cg_vd_req_v":-1.50615788,"cg_vd_v":-1.50615788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41325092,"cg_vq_v":-8.41325092,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.6432285,"dclink_p_w":-2408.68555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2293.546143,"values":{"Elec_RPM":-2356.3042,"EncoderCos":11682,"EncoderSin":29226,"GapTicks":49366,"Mech_RPM":-471.260834,"cg_du":49.8980064,"cg_dv":44.8786049,"cg_dw":55.1213951,"cg_id_a":-15.1464119,"cg_id_raw_a":-21.003334,"cg_iq_a":-196.534149,"cg_iq_raw_a":-195.735657,"cg_iu_a":60.8196869,"cg_iv_a":-192.603073,"cg_iw_a":131.783386,"cg_sample_age_us":23.7472725,"cg_sample_seq":12833917,"cg_sample_valid":1,"cg_theta_rad":3.31432796,"cg_vd_req_v":-1.60203612,"cg_vd_v":-1.60203612,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45253658,"cg_vq_v":-8.45216179,"cg_vu_v":104.694435,"cg_vv_v":74.7817383,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.2249432,"dclink_p_w":-2500.45117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2293.878174,"values":{"Elec_RPM":-2358.0874,"EncoderCos":26536,"EncoderSin":12359,"GapTicks":49571,"Mech_RPM":-471.617493,"cg_du":45.065361,"cg_dv":47.2975006,"cg_dw":54.934639,"cg_id_a":12.6014147,"cg_id_raw_a":9.45539379,"cg_iq_a":-200.958527,"cg_iq_raw_a":-198.97525,"cg_iu_a":-50.1226883,"cg_iv_a":-143.855103,"cg_iw_a":193.977783,"cg_sample_age_us":23.8345451,"cg_sample_seq":12835567,"cg_sample_valid":1,"cg_theta_rad":4.43141794,"cg_vd_req_v":-2.20264673,"cg_vd_v":-2.20264673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33649445,"cg_vq_v":-8.33649445,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-16.9549255,"dclink_p_w":-2446.3374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2609,"hz_tim_isr":5001,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2293.986739,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2293.986745,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2293.98675,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2294.233643,"values":{"Elec_RPM":-2351.22119,"EncoderCos":27608,"EncoderSin":12065,"GapTicks":49982,"Mech_RPM":-470.244263,"cg_du":45.9948769,"cg_dv":45.438858,"cg_dw":54.561142,"cg_id_a":8.98554611,"cg_id_raw_a":13.9363375,"cg_iq_a":-206.218826,"cg_iq_raw_a":-206.191086,"cg_iu_a":-9.60208225,"cg_iv_a":-173.285095,"cg_iw_a":182.887177,"cg_sample_age_us":23.9654541,"cg_sample_seq":12837316,"cg_sample_valid":1,"cg_theta_rad":4.48098612,"cg_vd_req_v":-2.10467386,"cg_vd_v":-2.10467386,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25583839,"cg_vq_v":-8.25583839,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2294.561768,"values":{"Elec_RPM":-2348.1936,"EncoderCos":48966,"EncoderSin":19213,"GapTicks":49360,"Mech_RPM":-469.638733,"cg_du":44.872818,"cg_dv":50.4497299,"cg_dw":55.127182,"cg_id_a":-12.7542925,"cg_id_raw_a":-13.3357067,"cg_iq_a":-198.167328,"cg_iq_raw_a":-200.190887,"cg_iu_a":-143.849243,"cg_iv_a":-47.5189972,"cg_iw_a":191.36824,"cg_sample_age_us":23.9254551,"cg_sample_seq":12838966,"cg_sample_valid":1,"cg_theta_rad":5.60234594,"cg_vd_req_v":-1.76425135,"cg_vd_v":-1.76425135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39583588,"cg_vq_v":-8.39583588,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.614563,"dclink_p_w":-2549.26147,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2294.917236,"values":{"Elec_RPM":-2358.05762,"EncoderCos":49362,"EncoderSin":19679,"GapTicks":49333,"Mech_RPM":-471.611511,"cg_du":44.8489723,"cg_dv":49.2450829,"cg_dw":55.1510277,"cg_id_a":-8.75980473,"cg_id_raw_a":-11.3719978,"cg_iq_a":-195.456467,"cg_iq_raw_a":-193.770309,"cg_iu_a":-110.142479,"cg_iv_a":-83.6540909,"cg_iw_a":193.79657,"cg_sample_age_us":23.8890915,"cg_sample_seq":12840717,"cg_sample_valid":1,"cg_theta_rad":5.63422489,"cg_vd_req_v":-1.85095274,"cg_vd_v":-1.85095274,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43820572,"cg_vq_v":-8.43820572,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2545.17383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2295.010893,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2295.010899,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2295.010904,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2295.249268,"values":{"Elec_RPM":-2359.26123,"EncoderCos":44111,"EncoderSin":50677,"GapTicks":49288,"Mech_RPM":-471.852264,"cg_du":55.1919785,"cg_dv":44.8080215,"cg_dw":49.8255005,"cg_id_a":-11.3466625,"cg_id_raw_a":-15.7103138,"cg_iq_a":-194.815125,"cg_iq_raw_a":-194.156967,"cg_iu_a":192.638519,"cg_iv_a":-128.378998,"cg_iw_a":-64.2595215,"cg_sample_age_us":23.9581814,"cg_sample_seq":12842316,"cg_sample_valid":1,"cg_theta_rad":1.01016378,"cg_vd_req_v":-1.71056223,"cg_vd_v":-1.71056223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50788021,"cg_vq_v":-8.50788021,"cg_vu_v":2.63935518,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-17.3246136,"dclink_p_w":-2507.29883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2295.581299,"values":{"Elec_RPM":-2353.15869,"EncoderCos":43295,"EncoderSin":51178,"GapTicks":49408,"Mech_RPM":-470.631744,"cg_du":55.0833893,"cg_dv":44.9166107,"cg_dw":48.2548599,"cg_id_a":8.32463074,"cg_id_raw_a":4.50609303,"cg_iq_a":-198.738693,"cg_iq_raw_a":-198.327972,"cg_iu_a":199.379852,"cg_iv_a":-75.4629822,"cg_iw_a":-123.91687,"cg_sample_age_us":23.9363632,"cg_sample_seq":12844066,"cg_sample_valid":1,"cg_theta_rad":1.0520314,"cg_vd_req_v":-2.11511445,"cg_vd_v":-2.11511445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39803886,"cg_vq_v":-8.39803886,"cg_vu_v":11.4372072,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.3514652,"dclink_p_w":-2366.46021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2295.932861,"values":{"Elec_RPM":-2359.33252,"EncoderCos":31720,"EncoderSin":54034,"GapTicks":49339,"Mech_RPM":-471.866486,"cg_du":44.8536758,"cg_dv":55.1463242,"cg_dw":49.4498329,"cg_id_a":-10.0121117,"cg_id_raw_a":-10.9399166,"cg_iq_a":-196.531372,"cg_iq_raw_a":-197.549774,"cg_iu_a":-187.957977,"cg_iv_a":143.304779,"cg_iw_a":44.6531906,"cg_sample_age_us":23.9036369,"cg_sample_seq":12845767,"cg_sample_valid":1,"cg_theta_rad":1.61993003,"cg_vd_req_v":-1.67078233,"cg_vd_v":-1.67078233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4263382,"cg_vq_v":-8.4263382,"cg_vu_v":142.085297,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2493.92505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2296.003423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2296.003442,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2296.003448,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2296.264893,"values":{"Elec_RPM":-2354.80664,"EncoderCos":20446,"EncoderSin":50231,"GapTicks":49824,"Mech_RPM":-470.961334,"cg_du":54.7046089,"cg_dv":45.2953911,"cg_dw":53.6140022,"cg_id_a":6.25121069,"cg_id_raw_a":11.6793776,"cg_iq_a":-202.886414,"cg_iq_raw_a":-202.99263,"cg_iu_a":172.160736,"cg_iv_a":-176.836975,"cg_iw_a":4.67624664,"cg_sample_age_us":24.0927277,"cg_sample_seq":12847467,"cg_sample_valid":1,"cg_theta_rad":2.18719149,"cg_vd_req_v":-2.02077675,"cg_vd_v":-2.02077675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33292961,"cg_vq_v":-8.33292961,"cg_vu_v":142.965088,"cg_vv_v":139.006058,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-17.8646469,"dclink_p_w":-2593.31348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2296.60083,"values":{"Elec_RPM":-2360.79028,"EncoderCos":12745,"EncoderSin":40258,"GapTicks":49964,"Mech_RPM":-472.158051,"cg_du":45.9651794,"cg_dv":54.5775261,"cg_dw":45.4224739,"cg_id_a":14.5983782,"cg_id_raw_a":16.3847275,"cg_iq_a":-204.086182,"cg_iq_raw_a":-204.182327,"cg_iu_a":-165.921722,"cg_iv_a":185.057678,"cg_iw_a":-19.1359558,"cg_sample_age_us":23.9981823,"cg_sample_seq":12849166,"cg_sample_valid":1,"cg_theta_rad":2.78564048,"cg_vd_req_v":-2.15957212,"cg_vd_v":-2.15957212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30713654,"cg_vq_v":-8.30713654,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2424.16211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2296.952393,"values":{"Elec_RPM":-2365.36401,"EncoderCos":11867,"EncoderSin":28229,"GapTicks":49455,"Mech_RPM":-473.072784,"cg_du":52.0124283,"cg_dv":44.9591103,"cg_dw":55.0408897,"cg_id_a":1.66412461,"cg_id_raw_a":-0.327397853,"cg_iq_a":-196.522491,"cg_iq_raw_a":-196.355576,"cg_iu_a":117.178848,"cg_iv_a":-195.140137,"cg_iw_a":77.9612808,"cg_sample_age_us":23.6127281,"cg_sample_seq":12850866,"cg_sample_valid":1,"cg_theta_rad":3.36123896,"cg_vd_req_v":-1.9546771,"cg_vd_v":-1.9546771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42100334,"cg_vq_v":-8.42100334,"cg_vu_v":43.9892578,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.052784,"dclink_p_w":-2467.95825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2296.995712,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2296.995718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2296.995723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2297.284424,"values":{"Elec_RPM":-2365.09814,"EncoderCos":12091,"EncoderSin":27457,"GapTicks":49760,"Mech_RPM":-473.019653,"cg_du":53.3667488,"cg_dv":45.2367897,"cg_dw":54.7632103,"cg_id_a":13.4902821,"cg_id_raw_a":12.3524609,"cg_iq_a":-201.85376,"cg_iq_raw_a":-200.588211,"cg_iu_a":146.246399,"cg_iv_a":-194.668945,"cg_iw_a":48.4225464,"cg_sample_age_us":23.6090908,"cg_sample_seq":12852616,"cg_sample_valid":1,"cg_theta_rad":3.38952541,"cg_vd_req_v":-2.17765403,"cg_vd_v":-2.17765403,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31689453,"cg_vq_v":-8.31689453,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2297.616455,"values":{"Elec_RPM":-2363.64966,"EncoderCos":28248,"EncoderSin":11938,"GapTicks":49587,"Mech_RPM":-472.72995,"cg_du":47.6262169,"cg_dv":45.0793915,"cg_dw":54.9206085,"cg_id_a":-8.27892399,"cg_id_raw_a":-1.02276027,"cg_iq_a":-202.397354,"cg_iq_raw_a":-204.269211,"cg_iu_a":4.24306202,"cg_iv_a":-177.271927,"cg_iw_a":173.02887,"cg_sample_age_us":23.954546,"cg_sample_seq":12854266,"cg_sample_valid":1,"cg_theta_rad":4.51466894,"cg_vd_req_v":-1.74545968,"cg_vd_v":-1.74545968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35564137,"cg_vq_v":-8.35564137,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.29743,"dclink_p_w":-2503.3645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2297.968018,"values":{"Elec_RPM":-2359.97461,"EncoderCos":40148,"EncoderSin":12765,"GapTicks":49938,"Mech_RPM":-471.994904,"cg_du":54.6012039,"cg_dv":53.8097572,"cg_dw":45.3987961,"cg_id_a":7.31688976,"cg_id_raw_a":5.82521963,"cg_iq_a":-204.711731,"cg_iq_raw_a":-204.13765,"cg_iu_a":31.2447186,"cg_iv_a":157.657349,"cg_iw_a":-188.902069,"cg_sample_age_us":23.9218178,"cg_sample_seq":12855967,"cg_sample_valid":1,"cg_theta_rad":5.08219433,"cg_vd_req_v":-2.0959022,"cg_vd_v":-2.0959022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26092911,"cg_vq_v":-8.26092911,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2298.018605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2298.018611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2298.018617,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2298.428955,"values":{"Elec_RPM":-2359.20801,"EncoderCos":53130,"EncoderSin":27301,"GapTicks":49320,"Mech_RPM":-471.841583,"cg_du":55.1635056,"cg_dv":44.8364944,"cg_dw":49.8201828,"cg_id_a":-14.0705681,"cg_id_raw_a":-17.2391663,"cg_iq_a":-196.968353,"cg_iq_raw_a":-194.833374,"cg_iu_a":193.435883,"cg_iv_a":-133.779327,"cg_iw_a":-59.6565552,"cg_sample_age_us":24.1618176,"cg_sample_seq":12858217,"cg_sample_valid":1,"cg_theta_rad":6.03646374,"cg_vd_req_v":-1.71206737,"cg_vd_v":-1.71206737,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43238449,"cg_vq_v":-8.43238449,"cg_vu_v":106.014107,"cg_vv_v":84.0194778,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2381.75391,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2298.883333,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2298.883343,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2298.883346,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2298.940674,"values":{"Elec_RPM":-2356.44922,"EncoderCos":11453,"EncoderSin":31264,"GapTicks":50078,"Mech_RPM":-471.289825,"cg_du":45.6355362,"cg_dv":45.5256195,"cg_dw":54.4743805,"cg_id_a":10.7075577,"cg_id_raw_a":11.5727615,"cg_iq_a":-203.577957,"cg_iq_raw_a":-202.439621,"cg_iu_a":-15.1473894,"cg_iv_a":-167.123642,"cg_iw_a":182.271027,"cg_sample_age_us":23.954546,"cg_sample_seq":12860817,"cg_sample_valid":1,"cg_theta_rad":3.2165339,"cg_vd_req_v":-2.09857559,"cg_vd_v":-2.09857559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32095337,"cg_vq_v":-8.32095337,"cg_vu_v":101.615181,"cg_vv_v":73.462059,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2299.010847,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2299.010853,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2299.010858,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2299.296143,"values":{"Elec_RPM":-2359.18652,"EncoderCos":13243,"EncoderSin":41498,"GapTicks":49414,"Mech_RPM":-471.83728,"cg_du":48.4237709,"cg_dv":55.0781593,"cg_dw":44.9218407,"cg_id_a":5.2390008,"cg_id_raw_a":1.3508625,"cg_iq_a":-200.225342,"cg_iq_raw_a":-198.983795,"cg_iu_a":-118.514801,"cg_iv_a":200.787506,"cg_iw_a":-82.2727127,"cg_sample_age_us":23.9836369,"cg_sample_seq":12862617,"cg_sample_valid":1,"cg_theta_rad":2.72424483,"cg_vd_req_v":-2.00252438,"cg_vd_v":-2.00252438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38569641,"cg_vq_v":-8.38569641,"cg_vu_v":101.615181,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2369.72632,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2299.628174,"values":{"Elec_RPM":-2354.68555,"EncoderCos":16351,"EncoderSin":18841,"GapTicks":49964,"Mech_RPM":-470.937103,"cg_du":53.9674339,"cg_dv":54.5779724,"cg_dw":45.4220276,"cg_id_a":9.04743385,"cg_id_raw_a":9.40189552,"cg_iq_a":-202.271408,"cg_iq_raw_a":-203.255997,"cg_iu_a":10.2957821,"cg_iv_a":170.850098,"cg_iw_a":-181.145874,"cg_sample_age_us":23.8527279,"cg_sample_seq":12864266,"cg_sample_valid":1,"cg_theta_rad":3.85209703,"cg_vd_req_v":-2.05734944,"cg_vd_v":-2.05734944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30355358,"cg_vq_v":-8.30355358,"cg_vu_v":35.1914063,"cg_vv_v":35.1914063,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2488.17285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6013489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2299.979736,"values":{"Elec_RPM":-2349.7583,"EncoderCos":11873,"EncoderSin":28410,"GapTicks":49439,"Mech_RPM":-469.95166,"cg_du":51.6584167,"cg_dv":44.9445572,"cg_dw":55.0554428,"cg_id_a":0.486417592,"cg_id_raw_a":-3.47305679,"cg_iq_a":-198.283615,"cg_iq_raw_a":-198.622375,"cg_iu_a":110.981155,"cg_iv_a":-198.075882,"cg_iw_a":87.0947266,"cg_sample_age_us":23.6527271,"cg_sample_seq":12866066,"cg_sample_valid":1,"cg_theta_rad":3.35309601,"cg_vd_req_v":-1.93126214,"cg_vd_v":-1.93126214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37883472,"cg_vq_v":-8.37883472,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2300.00283,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2300.002836,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2300.002841,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2300.311768,"values":{"Elec_RPM":-2341.62891,"EncoderCos":38328,"EncoderSin":12160,"GapTicks":49357,"Mech_RPM":-468.325806,"cg_du":55.1291809,"cg_dv":50.390316,"cg_dw":44.8708191,"cg_id_a":-12.7588463,"cg_id_raw_a":-15.7065248,"cg_iq_a":-197.513275,"cg_iq_raw_a":-195.919891,"cg_iu_a":126.674728,"cg_iv_a":66.1779022,"cg_iw_a":-192.852631,"cg_sample_age_us":23.8563633,"cg_sample_seq":12867667,"cg_sample_valid":1,"cg_theta_rad":4.99381161,"cg_vd_req_v":-1.70006561,"cg_vd_v":-1.70006561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40971279,"cg_vq_v":-8.40971279,"cg_vu_v":29.0329094,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.8827686,"dclink_p_w":-2595.94409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2609,"hz_tim_isr":4998,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2300.643799,"values":{"Elec_RPM":-2346.05029,"EncoderCos":39374,"EncoderSin":12503,"GapTicks":49589,"Mech_RPM":-469.210052,"cg_du":54.9186783,"cg_dv":52.3162117,"cg_dw":45.0813217,"cg_id_a":1.6239326,"cg_id_raw_a":0.348601401,"cg_iq_a":-203.170654,"cg_iq_raw_a":-205.467468,"cg_iu_a":62.1607056,"cg_iv_a":136.201019,"cg_iw_a":-198.361725,"cg_sample_age_us":23.9509087,"cg_sample_seq":12869416,"cg_sample_valid":1,"cg_theta_rad":5.05524254,"cg_vd_req_v":-2.00000119,"cg_vd_v":-2.00000119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28003311,"cg_vq_v":-8.28003311,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2609,"hz_tim_isr":4998,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2300.994994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2300.995,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2300.995005,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2300.999268,"values":{"Elec_RPM":-2349.55566,"EncoderCos":49171,"EncoderSin":19407,"GapTicks":49325,"Mech_RPM":-469.911133,"cg_du":44.8410645,"cg_dv":49.895134,"cg_dw":55.1589355,"cg_id_a":-11.6229334,"cg_id_raw_a":-13.2996664,"cg_iq_a":-197.154572,"cg_iq_raw_a":-196.676254,"cg_iu_a":-128.590576,"cg_iv_a":-64.4811096,"cg_iw_a":191.513214,"cg_sample_age_us":23.9218178,"cg_sample_seq":12871117,"cg_sample_valid":1,"cg_theta_rad":5.61690664,"cg_vd_req_v":-1.79786909,"cg_vd_v":-1.79786909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4055481,"cg_vq_v":-8.4055481,"cg_vu_v":118.770996,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2439.27759,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2609,"hz_tim_isr":4998,"hz_vsense":2609,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2301.331299,"values":{"Elec_RPM":-2348.02759,"EncoderCos":53763,"EncoderSin":30801,"GapTicks":49418,"Mech_RPM":-469.605499,"cg_du":55.0741272,"cg_dv":48.3528709,"cg_dw":44.9258728,"cg_id_a":-14.5784178,"cg_id_raw_a":-10.5767794,"cg_iq_a":-196.200546,"cg_iq_raw_a":-198.805023,"cg_iu_a":166.506714,"cg_iv_a":5.39698792,"cg_iw_a":-171.903702,"cg_sample_age_us":23.9872723,"cg_sample_seq":12872816,"cg_sample_valid":1,"cg_theta_rad":6.19481516,"cg_vd_req_v":-1.67354846,"cg_vd_v":-1.67354846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46331501,"cg_vq_v":-8.46331501,"cg_vu_v":108.653458,"cg_vv_v":106.014107,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.4094563,"dclink_p_w":-2374.85278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2301.66333,"values":{"Elec_RPM":-2350.58765,"EncoderCos":43750,"EncoderSin":50856,"GapTicks":49378,"Mech_RPM":-470.117523,"cg_du":55.110836,"cg_dv":44.889164,"cg_dw":49.118412,"cg_id_a":-6.11546659,"cg_id_raw_a":-11.0229721,"cg_iq_a":-197.36499,"cg_iq_raw_a":-196.572876,"cg_iu_a":197.132751,"cg_iv_a":-111.598106,"cg_iw_a":-85.5346451,"cg_sample_age_us":23.9290905,"cg_sample_seq":12874467,"cg_sample_valid":1,"cg_theta_rad":1.02541661,"cg_vd_req_v":-1.8189615,"cg_vd_v":-1.8189615,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4148941,"cg_vq_v":-8.4148941,"cg_vu_v":106.893898,"cg_vv_v":93.6971207,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-17.2684345,"dclink_p_w":-2499.16821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2301.987566,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2301.987572,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2301.987577,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2302.014893,"values":{"Elec_RPM":-2350.3938,"EncoderCos":43019,"EncoderSin":51316,"GapTicks":49517,"Mech_RPM":-470.078766,"cg_du":54.9842033,"cg_dv":45.0157967,"cg_dw":47.7547531,"cg_id_a":13.4276505,"cg_id_raw_a":6.64601183,"cg_iq_a":-201.439743,"cg_iq_raw_a":-199.844177,"cg_iu_a":197.676392,"cg_iv_a":-61.5091095,"cg_iw_a":-136.167282,"cg_sample_age_us":23.9072723,"cg_sample_seq":12876217,"cg_sample_valid":1,"cg_theta_rad":1.0656538,"cg_vd_req_v":-2.21502852,"cg_vd_v":-2.21502852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31645393,"cg_vq_v":-8.31645393,"cg_vu_v":123.60981,"cg_vv_v":116.571533,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.0582199,"dclink_p_w":-2468.74487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2604,"hz_tim_isr":4999,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2302.346924,"values":{"Elec_RPM":-2349.1377,"EncoderCos":20498,"EncoderSin":50240,"GapTicks":49865,"Mech_RPM":-469.827545,"cg_du":54.6680107,"cg_dv":45.3319893,"cg_dw":53.7447166,"cg_id_a":8.45413876,"cg_id_raw_a":14.2043638,"cg_iq_a":-202.964813,"cg_iq_raw_a":-202.600662,"cg_iu_a":173.574249,"cg_iv_a":-177.018219,"cg_iw_a":3.4439621,"cg_sample_age_us":24.0890903,"cg_sample_seq":12877866,"cg_sample_valid":1,"cg_theta_rad":2.18334508,"cg_vd_req_v":-2.06970692,"cg_vd_v":-2.06970692,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34410095,"cg_vq_v":-8.34410095,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5489941,"dclink_p_w":-2395.04736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2302.698486,"values":{"Elec_RPM":-2351.7688,"EncoderCos":19738,"EncoderSin":49664,"GapTicks":49377,"Mech_RPM":-470.35376,"cg_du":55.1110573,"cg_dv":44.8889427,"cg_dw":51.3747139,"cg_id_a":-14.4226799,"cg_id_raw_a":-11.8667316,"cg_iq_a":-195.687012,"cg_iq_raw_a":-196.212234,"cg_iu_a":178.684631,"cg_iv_a":-157.410294,"cg_iw_a":-21.2743378,"cg_sample_age_us":24.0018177,"cg_sample_seq":12879616,"cg_sample_valid":1,"cg_theta_rad":2.2293241,"cg_vd_req_v":-1.60788238,"cg_vd_v":-1.60788238,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49278164,"cg_vq_v":-8.49278164,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2437.052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2302.979078,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2302.979084,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2302.979089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2303.030518,"values":{"Elec_RPM":-2352.44849,"EncoderCos":12621,"EncoderSin":39928,"GapTicks":50007,"Mech_RPM":-470.489716,"cg_du":45.4612198,"cg_dv":54.5387802,"cg_dw":45.8852081,"cg_id_a":10.5163059,"cg_id_raw_a":11.3622265,"cg_iq_a":-202.959045,"cg_iq_raw_a":-202.76947,"cg_iu_a":-169.509888,"cg_iv_a":180.382233,"cg_iw_a":-10.8723526,"cg_sample_age_us":23.9036369,"cg_sample_seq":12881317,"cg_sample_valid":1,"cg_theta_rad":2.80335712,"cg_vd_req_v":-2.06026363,"cg_vd_v":-2.06026363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30950356,"cg_vq_v":-8.30950356,"cg_vu_v":34.7515144,"cg_vv_v":34.7515144,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.6468525,"dclink_p_w":-2409.20996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2303.366455,"values":{"Elec_RPM":-2348.59106,"EncoderCos":17316,"EncoderSin":17792,"GapTicks":49349,"Mech_RPM":-469.718201,"cg_du":50.6837234,"cg_dv":55.1367264,"cg_dw":44.8632736,"cg_id_a":-14.0517139,"cg_id_raw_a":-13.8906717,"cg_iq_a":-196.391281,"cg_iq_raw_a":-196.778625,"cg_iu_a":-36.3862762,"cg_iv_a":186.362473,"cg_iw_a":-149.976196,"cg_sample_age_us":23.9909096,"cg_sample_seq":12882966,"cg_sample_valid":1,"cg_theta_rad":3.91888237,"cg_vd_req_v":-1.62372136,"cg_vd_v":-1.62372136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45498085,"cg_vq_v":-8.45498085,"cg_vu_v":1.75957024,"cg_vv_v":7.03828096,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.9458656,"dclink_p_w":-2459.93896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2303.718018,"values":{"Elec_RPM":-2349.5022,"EncoderCos":17784,"EncoderSin":17371,"GapTicks":49382,"Mech_RPM":-469.900452,"cg_du":49.4331779,"cg_dv":55.1070938,"cg_dw":44.8929062,"cg_id_a":-13.0088596,"cg_id_raw_a":-14.181839,"cg_iq_a":-200.321228,"cg_iq_raw_a":-200.673065,"cg_iu_a":-72.3401566,"cg_iv_a":198.649124,"cg_iw_a":-126.308968,"cg_sample_age_us":23.9363632,"cg_sample_seq":12884717,"cg_sample_valid":1,"cg_theta_rad":3.95128703,"cg_vd_req_v":-1.66920877,"cg_vd_v":-1.66920877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38767529,"cg_vq_v":-8.38767529,"cg_vu_v":105.134323,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2468.48267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5923462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2304.003035,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2304.003041,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2304.003046,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2304.050049,"values":{"Elec_RPM":-2352.09814,"EncoderCos":39851,"EncoderSin":12645,"GapTicks":49766,"Mech_RPM":-470.419647,"cg_du":54.7578239,"cg_dv":53.1638908,"cg_dw":45.2421761,"cg_id_a":8.32339191,"cg_id_raw_a":7.03231382,"cg_iq_a":-204.445938,"cg_iq_raw_a":-202.088547,"cg_iu_a":45.3073273,"cg_iv_a":149.901169,"cg_iw_a":-195.208496,"cg_sample_age_us":23.9618187,"cg_sample_seq":12886367,"cg_sample_valid":1,"cg_theta_rad":5.06740808,"cg_vd_req_v":-2.12965941,"cg_vd_v":-2.12965941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24627495,"cg_vq_v":-8.24627495,"cg_vu_v":133.727341,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.927742,"dclink_p_w":-2449.86157,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2304.38208,"values":{"Elec_RPM":-2352.51172,"EncoderCos":49573,"EncoderSin":19928,"GapTicks":49338,"Mech_RPM":-470.502319,"cg_du":44.8534813,"cg_dv":48.7349396,"cg_dw":55.1465187,"cg_id_a":-0.755409598,"cg_id_raw_a":-6.85922003,"cg_iq_a":-195.961151,"cg_iq_raw_a":-196.3983,"cg_iu_a":-92.4554901,"cg_iv_a":-102.464645,"cg_iw_a":194.920135,"cg_sample_age_us":23.9181824,"cg_sample_seq":12888067,"cg_sample_valid":1,"cg_theta_rad":5.64959574,"cg_vd_req_v":-2.0338788,"cg_vd_v":-2.0338788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44525337,"cg_vq_v":-8.44525337,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2304.733643,"values":{"Elec_RPM":-2351.28613,"EncoderCos":53752,"EncoderSin":31504,"GapTicks":49300,"Mech_RPM":-470.257202,"cg_du":55.1812439,"cg_dv":49.8435173,"cg_dw":44.8187561,"cg_id_a":-16.8490257,"cg_id_raw_a":-18.472723,"cg_iq_a":-194.169876,"cg_iq_raw_a":-195.458252,"cg_iu_a":139.722504,"cg_iv_a":51.6441345,"cg_iw_a":-191.366638,"cg_sample_age_us":23.994545,"cg_sample_seq":12889766,"cg_sample_valid":1,"cg_theta_rad":6.23582697,"cg_vd_req_v":-1.65184951,"cg_vd_v":-1.65184951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50087929,"cg_vq_v":-8.50087929,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-15.6048431,"dclink_p_w":-2258.40552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2304.995617,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2304.995623,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2304.995629,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2305.06958,"values":{"Elec_RPM":-2352.01587,"EncoderCos":50975,"EncoderSin":43444,"GapTicks":49562,"Mech_RPM":-470.403168,"cg_du":45.0569954,"cg_dv":52.3186378,"cg_dw":54.9430046,"cg_id_a":-5.29477787,"cg_id_raw_a":0.374456406,"cg_iq_a":-199.747452,"cg_iq_raw_a":-202.159088,"cg_iu_a":-165.66803,"cg_iv_a":-15.3344727,"cg_iw_a":173.572525,"cg_sample_age_us":23.5072727,"cg_sample_seq":12891466,"cg_sample_valid":1,"cg_theta_rad":0.53566277,"cg_vd_req_v":-1.84858298,"cg_vd_v":-1.84858298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35596466,"cg_vq_v":-8.35596466,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.2028656,"dclink_p_w":-2337.82666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2305.397705,"values":{"Elec_RPM":-2354.70435,"EncoderCos":42467,"EncoderSin":51606,"GapTicks":49737,"Mech_RPM":-470.940857,"cg_du":54.784153,"cg_dv":45.215847,"cg_dw":46.6316643,"cg_id_a":20.0819473,"cg_id_raw_a":17.7853661,"cg_iq_a":-204.503052,"cg_iq_raw_a":-202.493027,"cg_iu_a":190.971283,"cg_iv_a":-31.2455139,"cg_iw_a":-159.725769,"cg_sample_age_us":24.0381813,"cg_sample_seq":12893167,"cg_sample_valid":1,"cg_theta_rad":1.09547472,"cg_vd_req_v":-2.33468056,"cg_vd_v":-2.33468056,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28121185,"cg_vq_v":-8.28121185,"cg_vu_v":107.773682,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2426.72705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2305.753174,"values":{"Elec_RPM":-2347.60547,"EncoderCos":41712,"EncoderSin":51938,"GapTicks":49844,"Mech_RPM":-469.521118,"cg_du":54.6865845,"cg_dv":46.2992554,"cg_dw":45.3134155,"cg_id_a":4.66644716,"cg_id_raw_a":8.66761398,"cg_iq_a":-202.28125,"cg_iq_raw_a":-201.773346,"cg_iu_a":176.654968,"cg_iv_a":-7.79574585,"cg_iw_a":-168.859222,"cg_sample_age_us":23.9327278,"cg_sample_seq":12894917,"cg_sample_valid":1,"cg_theta_rad":1.13777125,"cg_vd_req_v":-1.99953043,"cg_vd_v":-1.99953043,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34507656,"cg_vq_v":-8.34507656,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-17.0817795,"dclink_p_w":-2472.15454,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2305.98696,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2305.986966,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2305.986971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2306.085205,"values":{"Elec_RPM":-2347.86523,"EncoderCos":19177,"EncoderSin":49050,"GapTicks":49342,"Mech_RPM":-469.573029,"cg_du":55.1436195,"cg_dv":44.8563805,"cg_dw":49.8942146,"cg_id_a":-15.2259445,"cg_id_raw_a":-16.5650654,"cg_iq_a":-195.97641,"cg_iq_raw_a":-195.008698,"cg_iu_a":193.653336,"cg_iv_a":-133.634338,"cg_iw_a":-60.0189972,"cg_sample_age_us":23.9072723,"cg_sample_seq":12896566,"cg_sample_valid":1,"cg_theta_rad":2.2638998,"cg_vd_req_v":-1.61358571,"cg_vd_v":-1.61358571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4434967,"cg_vq_v":-8.4434967,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2526.34766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2306.436768,"values":{"Elec_RPM":-2348.68408,"EncoderCos":12723,"EncoderSin":40184,"GapTicks":50039,"Mech_RPM":-469.736816,"cg_du":45.9279327,"cg_dv":54.5096436,"cg_dw":45.4903564,"cg_id_a":14.385664,"cg_id_raw_a":15.603405,"cg_iq_a":-208.179749,"cg_iq_raw_a":-208.133163,"cg_iu_a":-173.677917,"cg_iv_a":172.299866,"cg_iw_a":1.37805939,"cg_sample_age_us":26.8600006,"cg_sample_seq":12898271,"cg_sample_valid":1,"cg_theta_rad":2.82912445,"cg_vd_req_v":-2.1562326,"cg_vd_v":-2.1562326,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.19407558,"cg_vq_v":-8.19407558,"cg_vu_v":103.374756,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-16.5942993,"dclink_p_w":-2394.30444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2306.768799,"values":{"Elec_RPM":-2349.27832,"EncoderCos":12176,"EncoderSin":27139,"GapTicks":49923,"Mech_RPM":-469.855652,"cg_du":54.0051956,"cg_dv":45.3849945,"cg_dw":54.6150055,"cg_id_a":14.5016651,"cg_id_raw_a":14.9734831,"cg_iq_a":-202.500336,"cg_iq_raw_a":-202.215836,"cg_iu_a":165.346909,"cg_iv_a":-184.738144,"cg_iw_a":19.3912354,"cg_sample_age_us":24.1218185,"cg_sample_seq":12899966,"cg_sample_valid":1,"cg_theta_rad":3.41437006,"cg_vd_req_v":-2.19503188,"cg_vd_v":-2.19503188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34233475,"cg_vq_v":-8.34233475,"cg_vu_v":39.590332,"cg_vv_v":39.1504402,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2307.011621,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2307.011626,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2307.011632,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2307.10083,"values":{"Elec_RPM":-2348.08813,"EncoderCos":12401,"EncoderSin":26253,"GapTicks":49640,"Mech_RPM":-469.617645,"cg_du":54.8720512,"cg_dv":45.1279488,"cg_dw":52.8875923,"cg_id_a":-0.780285001,"cg_id_raw_a":5.08243179,"cg_iq_a":-200.225174,"cg_iq_raw_a":-202.230331,"cg_iu_a":173.900452,"cg_iv_a":-170.566803,"cg_iw_a":-3.33364105,"cg_sample_age_us":24.1327267,"cg_sample_seq":12901716,"cg_sample_valid":1,"cg_theta_rad":3.45675397,"cg_vd_req_v":-1.87290561,"cg_vd_v":-1.87290561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39905739,"cg_vq_v":-8.39905739,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.9513016,"dclink_p_w":-2453.27124,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2307.456299,"values":{"Elec_RPM":-2346.33032,"EncoderCos":18966,"EncoderSin":16262,"GapTicks":49773,"Mech_RPM":-469.266052,"cg_du":46.7218666,"cg_dv":54.7514534,"cg_dw":45.2485466,"cg_id_a":14.7653408,"cg_id_raw_a":13.609477,"cg_iq_a":-204.961563,"cg_iq_raw_a":-204.132172,"cg_iu_a":-156.135895,"cg_iv_a":195.02475,"cg_iw_a":-38.8888474,"cg_sample_age_us":23.9909096,"cg_sample_seq":12903417,"cg_sample_valid":1,"cg_theta_rad":4.02452564,"cg_vd_req_v":-2.21097755,"cg_vd_v":-2.21097755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25614834,"cg_vq_v":-8.25614834,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2307.78833,"values":{"Elec_RPM":-2347.30664,"EncoderCos":30336,"EncoderSin":11587,"GapTicks":49403,"Mech_RPM":-469.461334,"cg_du":51.7484665,"cg_dv":44.9118652,"cg_dw":55.0881348,"cg_id_a":4.48655415,"cg_id_raw_a":1.69162035,"cg_iq_a":-198.119858,"cg_iq_raw_a":-196.18103,"cg_iu_a":115.874069,"cg_iv_a":-198.148376,"cg_iw_a":82.2742996,"cg_sample_age_us":23.7690907,"cg_sample_seq":12905116,"cg_sample_valid":1,"cg_theta_rad":4.61204195,"cg_vd_req_v":-2.05285978,"cg_vd_v":-2.05285978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39500046,"cg_vq_v":-8.39500046,"cg_vu_v":12.7568836,"cg_vv_v":9.23774433,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2461.50293,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2603,"hz_tim_isr":4998,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5941467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2308.002878,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2308.002882,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2308.002886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2308.178955,"values":{"Elec_RPM":-2348.53027,"EncoderCos":31237,"EncoderSin":11517,"GapTicks":49717,"Mech_RPM":-469.706055,"cg_du":53.3657608,"cg_dv":45.1973114,"cg_dw":54.8026886,"cg_id_a":16.3274536,"cg_id_raw_a":16.2576408,"cg_iq_a":-200.243729,"cg_iq_raw_a":-198.990448,"cg_iu_a":157.155792,"cg_iv_a":-188.290039,"cg_iw_a":31.1342392,"cg_sample_age_us":23.5945454,"cg_sample_seq":12906866,"cg_sample_valid":1,"cg_theta_rad":4.65688038,"cg_vd_req_v":-2.2674861,"cg_vd_v":-2.2674861,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35583019,"cg_vq_v":-8.35583019,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7700825,"dclink_p_w":-2419.66724,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2308.698486,"values":{"Elec_RPM":-2345.53613,"EncoderCos":48193,"EncoderSin":47329,"GapTicks":49432,"Mech_RPM":-469.107208,"cg_du":48.4642639,"cg_dv":44.9385605,"cg_dw":55.0614395,"cg_id_a":-12.4325933,"cg_id_raw_a":-12.5130167,"cg_iq_a":-200.087402,"cg_iq_raw_a":-201.620148,"cg_iu_a":20.915226,"cg_iv_a":-181.367462,"cg_iw_a":160.45224,"cg_sample_age_us":23.7109089,"cg_sample_seq":12909567,"cg_sample_valid":1,"cg_theta_rad":0.759120941,"cg_vd_req_v":-1.70344055,"cg_vd_v":-1.70344055,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38987637,"cg_vq_v":-8.38987637,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2415.48364,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2308.866975,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2308.866987,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2308.86699,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2308.995426,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2308.995432,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2308.995437,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2309.112549,"values":{"Elec_RPM":-2343.96875,"EncoderCos":19478,"EncoderSin":49447,"GapTicks":49361,"Mech_RPM":-468.793762,"cg_du":55.1255493,"cg_dv":44.8744507,"cg_dw":50.6099129,"cg_id_a":-17.4875793,"cg_id_raw_a":-17.2848454,"cg_iq_a":-194.883377,"cg_iq_raw_a":-195.04657,"cg_iu_a":183.432587,"cg_iv_a":-149.364166,"cg_iw_a":-34.0684128,"cg_sample_age_us":24.0236359,"cg_sample_seq":12911767,"cg_sample_valid":1,"cg_theta_rad":2.24488425,"cg_vd_req_v":-1.55337274,"cg_vd_v":-1.55337274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47052193,"cg_vq_v":-8.47052193,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.6921577,"dclink_p_w":-2415.76685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2309.464111,"values":{"Elec_RPM":-2342.34888,"EncoderCos":12427,"EncoderSin":39286,"GapTicks":49599,"Mech_RPM":-468.469757,"cg_du":45.0906067,"cg_dv":54.9093933,"cg_dw":47.4474106,"cg_id_a":-3.27313042,"cg_id_raw_a":4.47358179,"cg_iq_a":-201.424927,"cg_iq_raw_a":-203.401703,"cg_iu_a":-175.671326,"cg_iv_a":169.762787,"cg_iw_a":5.90854645,"cg_sample_age_us":23.9436359,"cg_sample_seq":12913466,"cg_sample_valid":1,"cg_theta_rad":2.83400249,"cg_vd_req_v":-1.78118694,"cg_vd_v":-1.78118694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35209274,"cg_vq_v":-8.35209274,"cg_vu_v":4.39892578,"cg_vv_v":22.8744144,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.3753548,"dclink_p_w":-2514.64233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2309.800049,"values":{"Elec_RPM":-2337.9812,"EncoderCos":17612,"EncoderSin":17486,"GapTicks":49349,"Mech_RPM":-467.596252,"cg_du":49.7415504,"cg_dv":55.1368217,"cg_dw":44.8631783,"cg_id_a":-16.9544353,"cg_id_raw_a":-17.6649914,"cg_iq_a":-196.569611,"cg_iq_raw_a":-195.177872,"cg_iu_a":-57.0815048,"cg_iv_a":193.031342,"cg_iw_a":-135.949829,"cg_sample_age_us":23.8600006,"cg_sample_seq":12915117,"cg_sample_valid":1,"cg_theta_rad":3.94052601,"cg_vd_req_v":-1.57171762,"cg_vd_v":-1.57171762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44290066,"cg_vq_v":-8.44290066,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8099499,"dclink_p_w":-2432.81421,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2310.019413,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2310.019419,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2310.019425,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2310.13208,"values":{"Elec_RPM":-2347.89648,"EncoderCos":28580,"EncoderSin":11840,"GapTicks":49505,"Mech_RPM":-469.579315,"cg_du":48.4783974,"cg_dv":45.0049706,"cg_dw":54.9950294,"cg_id_a":-15.3572273,"cg_id_raw_a":-10.8356562,"cg_iq_a":-200.070068,"cg_iq_raw_a":-201.964249,"cg_iu_a":15.8410892,"cg_iv_a":-177.163193,"cg_iw_a":168.78833,"cg_sample_age_us":23.772728,"cg_sample_seq":12916816,"cg_sample_valid":1,"cg_theta_rad":4.52769327,"cg_vd_req_v":-1.60882616,"cg_vd_v":-1.60882616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34763145,"cg_vq_v":-8.34763145,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-16.9440536,"dclink_p_w":-2444.7688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2310.483643,"values":{"Elec_RPM":-2347.78076,"EncoderCos":29363,"EncoderSin":11727,"GapTicks":49338,"Mech_RPM":-469.556152,"cg_du":50.0319138,"cg_dv":44.8532944,"cg_dw":55.1467056,"cg_id_a":-12.3175726,"cg_id_raw_a":-16.8405228,"cg_iq_a":-196.229004,"cg_iq_raw_a":-197.793259,"cg_iu_a":61.1458817,"cg_iv_a":-192.92926,"cg_iw_a":131.783371,"cg_sample_age_us":23.8018188,"cg_sample_seq":12918566,"cg_sample_valid":1,"cg_theta_rad":4.56559277,"cg_vd_req_v":-1.70555913,"cg_vd_v":-1.70555913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43010139,"cg_vq_v":-8.43010139,"cg_vu_v":40.0302238,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2372.49243,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2310.815674,"values":{"Elec_RPM":-2350.44312,"EncoderCos":50032,"EncoderSin":20602,"GapTicks":49507,"Mech_RPM":-470.088623,"cg_du":45.0064354,"cg_dv":47.4251747,"cg_dw":54.9935646,"cg_id_a":18.5234833,"cg_id_raw_a":13.6329632,"cg_iq_a":-200.647507,"cg_iq_raw_a":-200.6539,"cg_iu_a":-46.5707932,"cg_iv_a":-148.530548,"cg_iw_a":195.101349,"cg_sample_age_us":23.8309097,"cg_sample_seq":12920216,"cg_sample_valid":1,"cg_theta_rad":5.68594217,"cg_vd_req_v":-2.40628934,"cg_vd_v":-2.40628934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36774635,"cg_vq_v":-8.36774635,"cg_vu_v":39.1504402,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.3351555,"dclink_p_w":-2364.09985,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2310.979542,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2310.979548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2310.979553,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2311.167236,"values":{"Elec_RPM":-2350.59448,"EncoderCos":49909,"EncoderSin":20445,"GapTicks":49455,"Mech_RPM":-470.118896,"cg_du":44.959137,"cg_dv":47.7983437,"cg_dw":55.040863,"cg_id_a":14.4315968,"cg_id_raw_a":10.9733601,"cg_iq_a":-199.356934,"cg_iq_raw_a":-197.731781,"cg_iu_a":-19.2429428,"cg_iv_a":-168.319672,"cg_iw_a":187.562622,"cg_sample_age_us":26.7909088,"cg_sample_seq":12921971,"cg_sample_valid":1,"cg_theta_rad":5.72132015,"cg_vd_req_v":-2.31359649,"cg_vd_v":-2.31359649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37393665,"cg_vq_v":-8.37393665,"cg_vu_v":113.932175,"cg_vv_v":118.3311,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.5783195,"dclink_p_w":-2544.01611,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2311.503174,"values":{"Elec_RPM":-2351.57007,"EncoderCos":50696,"EncoderSin":43862,"GapTicks":49414,"Mech_RPM":-470.314026,"cg_du":44.9225464,"cg_dv":51.2176743,"cg_dw":55.0774536,"cg_id_a":-9.99218369,"cg_id_raw_a":-7.45608139,"cg_iq_a":-199.584167,"cg_iq_raw_a":-202.240875,"cg_iu_a":-154.033752,"cg_iv_a":-33.0939636,"cg_iw_a":187.127716,"cg_sample_age_us":23.5400009,"cg_sample_seq":12923616,"cg_sample_valid":1,"cg_theta_rad":0.55920434,"cg_vd_req_v":-1.77401185,"cg_vd_v":-1.77401185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38035774,"cg_vq_v":-8.38035774,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2311.835205,"values":{"Elec_RPM":-2354.22632,"EncoderCos":41986,"EncoderSin":51810,"GapTicks":50067,"Mech_RPM":-470.845276,"cg_du":54.4838829,"cg_dv":45.5719528,"cg_dw":45.5161171,"cg_id_a":12.2775879,"cg_id_raw_a":12.6628094,"cg_iq_a":-204.059174,"cg_iq_raw_a":-202.626556,"cg_iu_a":180.6418,"cg_iv_a":-14.1021881,"cg_iw_a":-166.539612,"cg_sample_age_us":23.9109097,"cg_sample_seq":12925317,"cg_sample_valid":1,"cg_theta_rad":1.12387037,"cg_vd_req_v":-2.16350842,"cg_vd_v":-2.16350842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32274628,"cg_vq_v":-8.32274628,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-17.0310383,"dclink_p_w":-2464.81104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2311.971188,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2311.971194,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2311.971199,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2312.186768,"values":{"Elec_RPM":-2358.47144,"EncoderCos":30639,"EncoderSin":53901,"GapTicks":49411,"Mech_RPM":-471.694305,"cg_du":44.9196434,"cg_dv":55.0803566,"cg_dw":51.497982,"cg_id_a":0.0593936443,"cg_id_raw_a":-2.58110976,"cg_iq_a":-196.849854,"cg_iq_raw_a":-197.416809,"cg_iu_a":-190.350082,"cg_iv_a":45.3014679,"cg_iw_a":134.392929,"cg_sample_age_us":23.7763634,"cg_sample_seq":12927020,"cg_sample_valid":1,"cg_theta_rad":1.71225321,"cg_vd_req_v":-1.89331758,"cg_vd_v":-1.89331758,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42824936,"cg_vq_v":-8.42824936,"cg_vu_v":39.590332,"cg_vv_v":70.8227005,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.5656338,"dclink_p_w":-2549.90723,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2312.518799,"values":{"Elec_RPM":-2360.94336,"EncoderCos":18912,"EncoderSin":49010,"GapTicks":49385,"Mech_RPM":-472.18869,"cg_du":55.1040077,"cg_dv":44.8959923,"cg_dw":49.2374153,"cg_id_a":-13.6223087,"cg_id_raw_a":-18.3940258,"cg_iq_a":-197.59877,"cg_iq_raw_a":-196.179459,"cg_iu_a":196.081665,"cg_iv_a":-121.891342,"cg_iw_a":-74.1903229,"cg_sample_age_us":24.0309086,"cg_sample_seq":12928717,"cg_sample_valid":1,"cg_theta_rad":2.2778976,"cg_vd_req_v":-1.65089846,"cg_vd_v":-1.65089846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40048409,"cg_vq_v":-8.40048409,"cg_vu_v":141.205521,"cg_vv_v":122.290138,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2312.85083,"values":{"Elec_RPM":-2356.70068,"EncoderCos":12239,"EncoderSin":38593,"GapTicks":49354,"Mech_RPM":-471.340149,"cg_du":44.8673325,"cg_dv":55.1326675,"cg_dw":49.0877838,"cg_id_a":-12.4962072,"cg_id_raw_a":-12.1081867,"cg_iq_a":-197.994568,"cg_iq_raw_a":-198.268066,"cg_iu_a":-184.587311,"cg_iv_a":152.075806,"cg_iw_a":32.5115128,"cg_sample_age_us":23.9109097,"cg_sample_seq":12930416,"cg_sample_valid":1,"cg_theta_rad":2.86772013,"cg_vd_req_v":-1.61454046,"cg_vd_v":-1.61454046,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44323158,"cg_vq_v":-8.44323158,"cg_vu_v":37.3908691,"cg_vv_v":41.7897949,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-17.4786491,"dclink_p_w":-2529.59155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2312.994962,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2312.994968,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2312.994973,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2313.206299,"values":{"Elec_RPM":-2354.39795,"EncoderCos":12354,"EncoderSin":26509,"GapTicks":49822,"Mech_RPM":-470.879578,"cg_du":54.7071877,"cg_dv":45.2928123,"cg_dw":53.5028915,"cg_id_a":5.68687582,"cg_id_raw_a":13.0790062,"cg_iq_a":-201.005859,"cg_iq_raw_a":-201.031082,"cg_iu_a":171.544601,"cg_iv_a":-175.13353,"cg_iw_a":3.58892822,"cg_sample_age_us":24.1327267,"cg_sample_seq":12932116,"cg_sample_valid":1,"cg_theta_rad":3.44460559,"cg_vd_req_v":-1.99523044,"cg_vd_v":-1.99523044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3526783,"cg_vq_v":-8.3526783,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2313.534424,"values":{"Elec_RPM":-2357.22607,"EncoderCos":19004,"EncoderSin":16327,"GapTicks":49797,"Mech_RPM":-471.445221,"cg_du":46.7015076,"cg_dv":54.7298813,"cg_dw":45.2701187,"cg_id_a":12.0533848,"cg_id_raw_a":10.1974068,"cg_iq_a":-204.381927,"cg_iq_raw_a":-203.180801,"cg_iu_a":-154.831116,"cg_iv_a":194.916,"cg_iw_a":-40.0848846,"cg_sample_age_us":23.8781815,"cg_sample_seq":12933816,"cg_sample_valid":1,"cg_theta_rad":4.02504349,"cg_vd_req_v":-2.14695311,"cg_vd_v":-2.14695311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.24599457,"cg_vq_v":-8.24599457,"cg_vu_v":37.830761,"cg_vv_v":43.549366,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2437.79736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2313.866455,"values":{"Elec_RPM":-2354.5459,"EncoderCos":30088,"EncoderSin":11626,"GapTicks":49355,"Mech_RPM":-470.90918,"cg_du":51.3194733,"cg_dv":44.8690147,"cg_dw":55.1309853,"cg_id_a":-0.143460751,"cg_id_raw_a":-3.67452002,"cg_iq_a":-197.638367,"cg_iq_raw_a":-197.674683,"cg_iu_a":105.508331,"cg_iv_a":-197.785919,"cg_iw_a":92.2775955,"cg_sample_age_us":23.772728,"cg_sample_seq":12935516,"cg_sample_valid":1,"cg_theta_rad":4.60216665,"cg_vd_req_v":-1.9597373,"cg_vd_v":-1.9597373,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41709042,"cg_vq_v":-8.41709042,"cg_vu_v":42.2296829,"cg_vv_v":41.3499031,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.6326847,"dclink_p_w":-2544.12769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.7134094,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2313.98726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2313.987266,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2313.987271,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2314.221924,"values":{"Elec_RPM":-2353.24854,"EncoderCos":41752,"EncoderSin":13432,"GapTicks":49358,"Mech_RPM":-470.649719,"cg_du":51.2076492,"cg_dv":55.1290245,"cg_dw":44.8709755,"cg_id_a":-15.736084,"cg_id_raw_a":-13.7896967,"cg_iq_a":-194.683929,"cg_iq_raw_a":-193.750916,"cg_iu_a":-25.0781994,"cg_iv_a":176.866577,"cg_iw_a":-162.117874,"cg_sample_age_us":23.9618187,"cg_sample_seq":12937217,"cg_sample_valid":1,"cg_theta_rad":5.16372347,"cg_vd_req_v":-1.6448344,"cg_vd_v":-1.6448344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49230862,"cg_vq_v":-8.49230862,"cg_vu_v":145.164551,"cg_vv_v":142.965088,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2451.4353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.7134094,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2314.553955,"values":{"Elec_RPM":-2355.61206,"EncoderCos":42549,"EncoderSin":13853,"GapTicks":49399,"Mech_RPM":-471.122406,"cg_du":49.3521538,"cg_dv":55.0917358,"cg_dw":44.9082642,"cg_id_a":-16.6337318,"cg_id_raw_a":-19.0491371,"cg_iq_a":-199.340393,"cg_iq_raw_a":-198.431992,"cg_iu_a":-70.3829956,"cg_iv_a":197.126892,"cg_iw_a":-126.743896,"cg_sample_age_us":23.8600006,"cg_sample_seq":12938967,"cg_sample_valid":1,"cg_theta_rad":5.20966911,"cg_vd_req_v":-1.65131176,"cg_vd_v":-1.65131176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37058544,"cg_vq_v":-8.37058544,"cg_vu_v":24.6339836,"cg_vv_v":26.8334465,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2484.93018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2314.885986,"values":{"Elec_RPM":-2357.91992,"EncoderCos":53783,"EncoderSin":33341,"GapTicks":49707,"Mech_RPM":-471.583984,"cg_du":54.8113022,"cg_dv":53.0684662,"cg_dw":45.1886978,"cg_id_a":7.48083162,"cg_id_raw_a":6.6303997,"cg_iq_a":-204.839462,"cg_iq_raw_a":-202.400589,"cg_iu_a":48.6055145,"cg_iv_a":148.233948,"cg_iw_a":-196.839462,"cg_sample_age_us":23.5145454,"cg_sample_seq":12940617,"cg_sample_valid":1,"cg_theta_rad":0.0406442061,"cg_vd_req_v":-2.14397788,"cg_vd_v":-2.14397788,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26859856,"cg_vq_v":-8.26859856,"cg_vu_v":106.893898,"cg_vv_v":105.574219,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2503.10229,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2315.010642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2315.010647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2315.010652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2315.237549,"values":{"Elec_RPM":-2355.26074,"EncoderCos":53701,"EncoderSin":34464,"GapTicks":49832,"Mech_RPM":-471.052155,"cg_du":53.629818,"cg_dv":54.6980019,"cg_dw":45.3019981,"cg_id_a":4.83985043,"cg_id_raw_a":7.59701061,"cg_iq_a":-203.538498,"cg_iq_raw_a":-205.755661,"cg_iu_a":10.9844151,"cg_iv_a":170.125214,"cg_iw_a":-181.109634,"cg_sample_age_us":23.4200001,"cg_sample_seq":12942366,"cg_sample_valid":1,"cg_theta_rad":0.0836638957,"cg_vd_req_v":-2.07092094,"cg_vd_v":-2.07092094,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31661129,"cg_vq_v":-8.31661129,"cg_vu_v":22.4345207,"cg_vv_v":14.9563465,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2461.50293,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2315.56958,"values":{"Elec_RPM":-2356.30933,"EncoderCos":40195,"EncoderSin":52560,"GapTicks":49360,"Mech_RPM":-471.261871,"cg_du":55.1270218,"cg_dv":49.9372292,"cg_dw":44.8729782,"cg_id_a":-10.2287931,"cg_id_raw_a":-11.7663164,"cg_iq_a":-196.93071,"cg_iq_raw_a":-196.333633,"cg_iu_a":134.1772,"cg_iv_a":61.5386963,"cg_iw_a":-195.715897,"cg_sample_age_us":23.8781815,"cg_sample_seq":12944016,"cg_sample_valid":1,"cg_theta_rad":1.21438897,"cg_vd_req_v":-1.70737815,"cg_vd_v":-1.70737815,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42290401,"cg_vq_v":-8.42290401,"cg_vu_v":110.413033,"cg_vv_v":111.292824,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2447.50146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2315.905518,"values":{"Elec_RPM":-2354.13721,"EncoderCos":18259,"EncoderSin":48377,"GapTicks":49458,"Mech_RPM":-470.827454,"cg_du":55.038002,"cg_dv":44.961998,"cg_dw":47.8362274,"cg_id_a":10.1956406,"cg_id_raw_a":5.15358067,"cg_iq_a":-199.885483,"cg_iq_raw_a":-199.131012,"cg_iu_a":199.271133,"cg_iv_a":-78.9061584,"cg_iw_a":-118.878967,"cg_sample_age_us":23.9981823,"cg_sample_seq":12945666,"cg_sample_valid":1,"cg_theta_rad":2.31712317,"cg_vd_req_v":-2.14476514,"cg_vd_v":-2.14476514,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37761402,"cg_vq_v":-8.37761402,"cg_vu_v":42.6695786,"cg_vv_v":40.0302238,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2486.604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2316.002695,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2316.0027,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2316.002705,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2316.25708,"values":{"Elec_RPM":-2354.08423,"EncoderCos":27464,"EncoderSin":53408,"GapTicks":49393,"Mech_RPM":-470.816864,"cg_du":44.9035645,"cg_dv":50.7872467,"cg_dw":55.0964355,"cg_id_a":-14.4451408,"cg_id_raw_a":-11.8263035,"cg_iq_a":-200.012512,"cg_iq_raw_a":-201.872513,"cg_iu_a":-155.266052,"cg_iv_a":-33.8913269,"cg_iw_a":189.157379,"cg_sample_age_us":23.8963642,"cg_sample_seq":12947466,"cg_sample_valid":1,"cg_theta_rad":1.82185924,"cg_vd_req_v":-1.58519745,"cg_vd_v":-1.58519745,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37596416,"cg_vq_v":-8.37596416,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.0890274,"dclink_p_w":-2473.20361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4792786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2316.589111,"values":{"Elec_RPM":-2353.61792,"EncoderCos":12585,"EncoderSin":25785,"GapTicks":49459,"Mech_RPM":-470.723572,"cg_du":55.0367432,"cg_dv":44.9632568,"cg_dw":51.5681992,"cg_id_a":-14.4280443,"cg_id_raw_a":-7.67024565,"cg_iq_a":-196.263062,"cg_iq_raw_a":-197.895676,"cg_iu_a":177.343613,"cg_iv_a":-167.921021,"cg_iw_a":-4.20348358,"cg_sample_age_us":24.0709095,"cg_sample_seq":12949066,"cg_sample_valid":1,"cg_theta_rad":3.47785926,"cg_vd_req_v":-1.58283007,"cg_vd_v":-1.58283007,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43069553,"cg_vq_v":-8.43069553,"cg_vu_v":32.9919434,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2470.19849,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2316.940674,"values":{"Elec_RPM":-2356.40894,"EncoderCos":11712,"EncoderSin":36388,"GapTicks":49712,"Mech_RPM":-471.281769,"cg_du":45.1933823,"cg_dv":54.8066177,"cg_dw":53.3260117,"cg_id_a":9.39395046,"cg_id_raw_a":7.78765202,"cg_iq_a":-197.972916,"cg_iq_raw_a":-196.65065,"cg_iu_a":-188.139206,"cg_iv_a":45.3739471,"cg_iw_a":139.249603,"cg_sample_age_us":23.8963642,"cg_sample_seq":12950867,"cg_sample_valid":1,"cg_theta_rad":2.97082853,"cg_vd_req_v":-2.05380964,"cg_vd_v":-2.05380964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40244198,"cg_vq_v":-8.40244198,"cg_vu_v":110.413033,"cg_vv_v":112.172607,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-17.0219765,"dclink_p_w":-2463.49976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2316.995622,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2316.995628,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2316.995633,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2317.272705,"values":{"Elec_RPM":-2359.87988,"EncoderCos":30786,"EncoderSin":11557,"GapTicks":49525,"Mech_RPM":-471.975952,"cg_du":52.6063805,"cg_dv":45.022747,"cg_dw":54.977253,"cg_id_a":9.1455555,"cg_id_raw_a":6.65392637,"cg_iq_a":-198.550003,"cg_iq_raw_a":-198.347122,"cg_iu_a":138.453979,"cg_iv_a":-193.871613,"cg_iw_a":55.4176254,"cg_sample_age_us":23.6890907,"cg_sample_seq":12952466,"cg_sample_valid":1,"cg_theta_rad":4.63282585,"cg_vd_req_v":-2.13564134,"cg_vd_v":-2.13564134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42296982,"cg_vq_v":-8.42296982,"cg_vu_v":44.8690414,"cg_vv_v":42.2296829,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.4946289,"dclink_p_w":-2387.17944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2317.604736,"values":{"Elec_RPM":-2359.5481,"EncoderCos":20852,"EncoderSin":14933,"GapTicks":49336,"Mech_RPM":-471.909607,"cg_du":44.8516426,"cg_dv":55.1483574,"cg_dw":49.4989319,"cg_id_a":-14.0349703,"cg_id_raw_a":-14.2092476,"cg_iq_a":-197.139664,"cg_iq_raw_a":-197.333344,"cg_iu_a":-188.574127,"cg_iv_a":143.304779,"cg_iw_a":45.2693405,"cg_sample_age_us":23.8381824,"cg_sample_seq":12954266,"cg_sample_valid":1,"cg_theta_rad":4.13297272,"cg_vd_req_v":-1.63680851,"cg_vd_v":-1.63680851,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46030045,"cg_vq_v":-8.46030045,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-17.114399,"dclink_p_w":-2476.87549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2317.956299,"values":{"Elec_RPM":-2356.86328,"EncoderCos":51115,"EncoderSin":22386,"GapTicks":49483,"Mech_RPM":-471.372681,"cg_du":48.2959099,"cg_dv":44.9851685,"cg_dw":55.0148315,"cg_id_a":-11.4744854,"cg_id_raw_a":-9.67711067,"cg_iq_a":-200.32695,"cg_iq_raw_a":-202.072922,"cg_iu_a":20.915226,"cg_iv_a":-181.258743,"cg_iw_a":160.343521,"cg_sample_age_us":23.9436359,"cg_sample_seq":12955867,"cg_sample_valid":1,"cg_theta_rad":5.78556967,"cg_vd_req_v":-1.76097512,"cg_vd_v":-1.76097512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3567009,"cg_vq_v":-8.3567009,"cg_vu_v":103.814644,"cg_vv_v":78.7407684,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-16.3569031,"dclink_p_w":-2367.24707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2318.018473,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2318.018479,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2318.018484,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2318.417236,"values":{"Elec_RPM":-2353.9646,"EncoderCos":44302,"EncoderSin":50558,"GapTicks":49320,"Mech_RPM":-470.792938,"cg_du":55.1627388,"cg_dv":44.8372612,"cg_dw":50.2280426,"cg_id_a":-14.5549679,"cg_id_raw_a":-15.2069159,"cg_iq_a":-194.216385,"cg_iq_raw_a":-193.927444,"cg_iu_a":189.304077,"cg_iv_a":-138.491028,"cg_iw_a":-50.8130569,"cg_sample_age_us":23.9290905,"cg_sample_seq":12958066,"cg_sample_valid":1,"cg_theta_rad":0.997028828,"cg_vd_req_v":-1.64163327,"cg_vd_v":-1.64163327,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4995985,"cg_vq_v":-8.4995985,"cg_vu_v":43.1094704,"cg_vv_v":40.0302238,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-16.8606911,"dclink_p_w":-2432.74072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2318.883442,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2318.883454,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2318.883457,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2318.932861,"values":{"Elec_RPM":-2351.55737,"EncoderCos":12287,"EncoderSin":38944,"GapTicks":49426,"Mech_RPM":-470.311493,"cg_du":44.933075,"cg_dv":55.066925,"cg_dw":48.2981186,"cg_id_a":-8.63696384,"cg_id_raw_a":-4.9726696,"cg_iq_a":-197.925323,"cg_iq_raw_a":-199.170776,"cg_iu_a":-180.238052,"cg_iv_a":158.853394,"cg_iw_a":21.3846588,"cg_sample_age_us":23.9618187,"cg_sample_seq":12960816,"cg_sample_valid":1,"cg_theta_rad":2.85172319,"cg_vd_req_v":-1.68130505,"cg_vd_v":-1.68130505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45981407,"cg_vq_v":-8.45981407,"cg_vu_v":38.7105446,"cg_vv_v":65.1041031,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2319.010938,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2319.010944,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2319.010949,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2319.284424,"values":{"Elec_RPM":-2351.28809,"EncoderCos":17755,"EncoderSin":47877,"GapTicks":49766,"Mech_RPM":-470.257599,"cg_du":54.7576561,"cg_dv":45.2423439,"cg_dw":46.5674706,"cg_id_a":17.1658592,"cg_id_raw_a":18.4905701,"cg_iq_a":-204.354492,"cg_iq_raw_a":-204.78624,"cg_iu_a":191.406219,"cg_iv_a":-41.3937988,"cg_iw_a":-152.911926,"cg_sample_age_us":23.9981823,"cg_sample_seq":12962616,"cg_sample_valid":1,"cg_theta_rad":2.35226536,"cg_vd_req_v":-2.26436353,"cg_vd_v":-2.26436353,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30988789,"cg_vq_v":-8.30988789,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2319.616455,"values":{"Elec_RPM":-2358.67065,"EncoderCos":18539,"EncoderSin":16639,"GapTicks":49581,"Mech_RPM":-471.734131,"cg_du":47.642765,"cg_dv":54.9261322,"cg_dw":45.0738678,"cg_id_a":3.52900362,"cg_id_raw_a":-1.15836048,"cg_iq_a":-203.698364,"cg_iq_raw_a":-203.344482,"cg_iu_a":-130.402771,"cg_iv_a":201.802338,"cg_iw_a":-71.399559,"cg_sample_age_us":23.994545,"cg_sample_seq":12964217,"cg_sample_valid":1,"cg_theta_rad":3.9980979,"cg_vd_req_v":-2.00125957,"cg_vd_v":-2.00125957,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27614021,"cg_vq_v":-8.27614021,"cg_vu_v":135.926804,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-17.2593746,"dclink_p_w":-2497.85693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2319.971924,"values":{"Elec_RPM":-2359.99902,"EncoderCos":19367,"EncoderSin":15991,"GapTicks":50050,"Mech_RPM":-471.999786,"cg_du":45.7555351,"cg_dv":54.4991608,"cg_dw":45.5008392,"cg_id_a":11.9947433,"cg_id_raw_a":10.9935808,"cg_iq_a":-206.135559,"cg_iq_raw_a":-206.147125,"cg_iu_a":-169.292419,"cg_iv_a":186.03627,"cg_iw_a":-16.7438507,"cg_sample_age_us":24.0127277,"cg_sample_seq":12965966,"cg_sample_valid":1,"cg_theta_rad":4.04652739,"cg_vd_req_v":-2.15046787,"cg_vd_v":-2.15046787,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26027298,"cg_vq_v":-8.26027298,"cg_vu_v":38.7105446,"cg_vv_v":62.9046364,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-17.2213173,"dclink_p_w":-2492.34912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2608,"hz_tim_isr":5000,"hz_vsense":2608,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2320.003183,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2320.003189,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2320.003194,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2320.300049,"values":{"Elec_RPM":-2359.64282,"EncoderCos":30397,"EncoderSin":11597,"GapTicks":49345,"Mech_RPM":-471.928558,"cg_du":51.8389397,"cg_dv":44.8596268,"cg_dw":55.1403732,"cg_id_a":7.7027092,"cg_id_raw_a":2.74179888,"cg_iq_a":-196.626404,"cg_iq_raw_a":-196.334991,"cg_iu_a":119.534698,"cg_iv_a":-195.430084,"cg_iw_a":75.8953781,"cg_sample_age_us":23.7472725,"cg_sample_seq":12967667,"cg_sample_valid":1,"cg_theta_rad":4.61583233,"cg_vd_req_v":-2.11096311,"cg_vd_v":-2.11096311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46048737,"cg_vq_v":-8.46048737,"cg_vu_v":134.607132,"cg_vv_v":125.809273,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3445473,"dclink_p_w":-2510.18359,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2320.635986,"values":{"Elec_RPM":-2360.27563,"EncoderCos":42294,"EncoderSin":13679,"GapTicks":49356,"Mech_RPM":-472.055145,"cg_du":49.9254761,"cg_dv":55.1308517,"cg_dw":44.8691483,"cg_id_a":-18.9227772,"cg_id_raw_a":-17.7482948,"cg_iq_a":-197.209854,"cg_iq_raw_a":-195.434875,"cg_iu_a":-51.9711227,"cg_iv_a":192.523926,"cg_iw_a":-140.552795,"cg_sample_age_us":23.863636,"cg_sample_seq":12969367,"cg_sample_valid":1,"cg_theta_rad":5.19476032,"cg_vd_req_v":-1.59353685,"cg_vd_v":-1.59353685,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39875412,"cg_vq_v":-8.39875412,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2320.987549,"values":{"Elec_RPM":-2356.48755,"EncoderCos":51079,"EncoderSin":22243,"GapTicks":49552,"Mech_RPM":-471.297516,"cg_du":47.9896164,"cg_dv":45.0478249,"cg_dw":54.9521751,"cg_id_a":-10.8129053,"cg_id_raw_a":-6.74382448,"cg_iq_a":-202.935791,"cg_iq_raw_a":-203.791519,"cg_iu_a":14.4275789,"cg_iv_a":-181.04129,"cg_iw_a":166.613708,"cg_sample_age_us":23.9690914,"cg_sample_seq":12971067,"cg_sample_valid":1,"cg_theta_rad":5.78009367,"cg_vd_req_v":-1.7773571,"cg_vd_v":-1.7773571,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31213093,"cg_vq_v":-8.31213093,"cg_vu_v":105.574219,"cg_vv_v":94.1370087,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2320.995013,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2320.995019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2320.995024,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2321.31958,"values":{"Elec_RPM":-2354.86304,"EncoderCos":51549,"EncoderSin":23198,"GapTicks":49285,"Mech_RPM":-470.972595,"cg_du":50.0833664,"cg_dv":44.8048248,"cg_dw":55.1951752,"cg_id_a":-6.49126768,"cg_id_raw_a":-10.9680901,"cg_iq_a":-196.883636,"cg_iq_raw_a":-196.704163,"cg_iu_a":70.678009,"cg_iv_a":-195.357605,"cg_iw_a":124.679588,"cg_sample_age_us":23.7290916,"cg_sample_seq":12972816,"cg_sample_valid":1,"cg_theta_rad":5.82859612,"cg_vd_req_v":-1.90340328,"cg_vd_v":-1.90340328,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44395542,"cg_vq_v":-8.44395542,"cg_vu_v":42.6695786,"cg_vv_v":42.6695786,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2482.42041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4524231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2321.651611,"values":{"Elec_RPM":-2355.27441,"EncoderCos":40753,"EncoderSin":52354,"GapTicks":49377,"Mech_RPM":-471.054871,"cg_du":55.1114197,"cg_dv":48.7565918,"cg_dw":44.8885803,"cg_id_a":-12.2134686,"cg_id_raw_a":-10.777566,"cg_iq_a":-194.332092,"cg_iq_raw_a":-192.354462,"cg_iu_a":146.645081,"cg_iv_a":43.1630707,"cg_iw_a":-189.808151,"cg_sample_age_us":23.9581814,"cg_sample_seq":12974417,"cg_sample_valid":1,"cg_theta_rad":1.1950388,"cg_vd_req_v":-1.65070021,"cg_vd_v":-1.65070021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46629524,"cg_vq_v":-8.46629524,"cg_vu_v":25.953661,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4366398,"dclink_p_w":-2378.78711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2321.986999,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2321.987006,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2321.987012,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2322.003174,"values":{"Elec_RPM":-2356.70801,"EncoderCos":48972,"EncoderSin":46385,"GapTicks":50134,"Mech_RPM":-471.341614,"cg_du":45.6266937,"cg_dv":45.5765076,"cg_dw":54.4234924,"cg_id_a":12.6123114,"cg_id_raw_a":16.9845791,"cg_iq_a":-206.485336,"cg_iq_raw_a":-206.739441,"cg_iu_a":-13.987586,"cg_iv_a":-171.835358,"cg_iw_a":185.822937,"cg_sample_age_us":23.5290909,"cg_sample_seq":12976216,"cg_sample_valid":1,"cg_theta_rad":0.704964519,"cg_vd_req_v":-2.17999339,"cg_vd_v":-2.17999339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22783947,"cg_vq_v":-8.22783947,"cg_vu_v":39.590332,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2475.30176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2322.339111,"values":{"Elec_RPM":-2359.19849,"EncoderCos":18029,"EncoderSin":48129,"GapTicks":49558,"Mech_RPM":-471.839691,"cg_du":54.9470863,"cg_dv":45.0529137,"cg_dw":47.2076149,"cg_id_a":14.190937,"cg_id_raw_a":9.44791889,"cg_iq_a":-200.978317,"cg_iq_raw_a":-199.28096,"cg_iu_a":194.233246,"cg_iv_a":-48.1351471,"cg_iw_a":-146.098099,"cg_sample_age_us":24.0163631,"cg_sample_seq":12977817,"cg_sample_valid":1,"cg_theta_rad":2.3374157,"cg_vd_req_v":-2.21049309,"cg_vd_v":-2.21049309,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38218212,"cg_vq_v":-8.38218212,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2386.39282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2322.671143,"values":{"Elec_RPM":-2353.62207,"EncoderCos":11893,"EncoderSin":37304,"GapTicks":49433,"Mech_RPM":-470.724426,"cg_du":44.9398804,"cg_dv":55.0601196,"cg_dw":51.6383858,"cg_id_a":-1.34943676,"cg_id_raw_a":-3.65912175,"cg_iq_a":-196.718063,"cg_iq_raw_a":-197.187378,"cg_iu_a":-197.453873,"cg_iv_a":91.1861496,"cg_iw_a":106.267723,"cg_sample_age_us":23.9327278,"cg_sample_seq":12979516,"cg_sample_valid":1,"cg_theta_rad":2.9283309,"cg_vd_req_v":-1.84676003,"cg_vd_v":-1.84676003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42883873,"cg_vq_v":-8.42883873,"cg_vu_v":1.31967759,"cg_vv_v":6.1584959,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2323.011171,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2323.011176,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2323.011181,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2323.022705,"values":{"Elec_RPM":-2355.41235,"EncoderCos":12755,"EncoderSin":25346,"GapTicks":49363,"Mech_RPM":-471.082458,"cg_du":55.1240921,"cg_dv":44.8759079,"cg_dw":50.5964127,"cg_id_a":-15.7617397,"cg_id_raw_a":-14.8125381,"cg_iq_a":-196.529266,"cg_iq_raw_a":-197.328506,"cg_iu_a":186.00589,"cg_iv_a":-149.074219,"cg_iw_a":-36.9316711,"cg_sample_age_us":24.0745449,"cg_sample_seq":12981216,"cg_sample_valid":1,"cg_theta_rad":3.49795651,"cg_vd_req_v":-1.5842098,"cg_vd_v":-1.5842098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43489075,"cg_vq_v":-8.43489075,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2466.99365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2323.354736,"values":{"Elec_RPM":-2355.70337,"EncoderCos":13035,"EncoderSin":24588,"GapTicks":49366,"Mech_RPM":-471.140686,"cg_du":55.1215363,"cg_dv":44.8784637,"cg_dw":49.1168213,"cg_id_a":-6.94943571,"cg_id_raw_a":-10.377697,"cg_iq_a":-197.956329,"cg_iq_raw_a":-197.62709,"cg_iu_a":197.89386,"cg_iv_a":-110.365799,"cg_iw_a":-87.5280609,"cg_sample_age_us":24.1000004,"cg_sample_seq":12982966,"cg_sample_valid":1,"cg_theta_rad":3.54057693,"cg_vd_req_v":-1.79097962,"cg_vd_v":-1.79097962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41256714,"cg_vq_v":-8.41256714,"cg_vu_v":32.9919434,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8878746,"dclink_p_w":-2444.0918,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2323.706299,"values":{"Elec_RPM":-2351.89551,"EncoderCos":20486,"EncoderSin":15207,"GapTicks":49396,"Mech_RPM":-470.37912,"cg_du":44.9055634,"cg_dv":55.0944366,"cg_dw":48.5123329,"cg_id_a":-11.3897429,"cg_id_raw_a":-11.2964144,"cg_iq_a":-196.397903,"cg_iq_raw_a":-197.258774,"cg_iu_a":-180.093079,"cg_iv_a":157.476135,"cg_iw_a":22.6169434,"cg_sample_age_us":23.9618187,"cg_sample_seq":12984667,"cg_sample_valid":1,"cg_theta_rad":4.11174631,"cg_vd_req_v":-1.67084277,"cg_vd_v":-1.67084277,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47042847,"cg_vq_v":-8.47042847,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2393.90942,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2324.003291,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2324.003298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2324.003303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2324.03833,"values":{"Elec_RPM":-2350.62939,"EncoderCos":32292,"EncoderSin":11493,"GapTicks":49766,"Mech_RPM":-470.125885,"cg_du":54.7573929,"cg_dv":45.2426071,"cg_dw":53.3230629,"cg_id_a":4.86964273,"cg_id_raw_a":10.8613138,"cg_iq_a":-200.659119,"cg_iq_raw_a":-201.51387,"cg_iu_a":172.26947,"cg_iv_a":-172.487732,"cg_iw_a":0.218261719,"cg_sample_age_us":24.1181812,"cg_sample_seq":12986366,"cg_sample_valid":1,"cg_theta_rad":4.70740318,"cg_vd_req_v":-1.99904561,"cg_vd_v":-1.99904561,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33606529,"cg_vq_v":-8.33606529,"cg_vu_v":29.4728031,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.9277439,"dclink_p_w":-2449.86182,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2324.370361,"values":{"Elec_RPM":-2357.97583,"EncoderCos":43788,"EncoderSin":14595,"GapTicks":49691,"Mech_RPM":-471.595184,"cg_du":46.9468613,"cg_dv":54.8261795,"cg_dw":45.1738205,"cg_id_a":8.34410477,"cg_id_raw_a":5.54866934,"cg_iq_a":-204.208527,"cg_iq_raw_a":-203.072372,"cg_iu_a":-148.742157,"cg_iv_a":196.619461,"cg_iw_a":-47.8773041,"cg_sample_age_us":23.9509087,"cg_sample_seq":12988066,"cg_sample_valid":1,"cg_theta_rad":5.27510166,"cg_vd_req_v":-2.18251181,"cg_vd_v":-2.18251181,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27733231,"cg_vq_v":-8.27733231,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.5200005,"dclink_p_w":-2383.58423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2324.72583,"values":{"Elec_RPM":-2355.92163,"EncoderCos":51740,"EncoderSin":23589,"GapTicks":49314,"Mech_RPM":-471.184326,"cg_du":50.8680649,"cg_dv":44.8309288,"cg_dw":55.1690712,"cg_id_a":0.73516494,"cg_id_raw_a":-2.84486842,"cg_iq_a":-198.096268,"cg_iq_raw_a":-196.149155,"cg_iu_a":98.6944885,"cg_iv_a":-197.967148,"cg_iw_a":112.755363,"cg_sample_age_us":23.7363644,"cg_sample_seq":12989767,"cg_sample_valid":1,"cg_theta_rad":5.84881592,"cg_vd_req_v":-2.0363524,"cg_vd_v":-2.0363524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43644524,"cg_vq_v":-8.43644524,"cg_vu_v":106.014107,"cg_vv_v":91.0577545,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2324.995343,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2324.995349,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2324.995354,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2325.057861,"values":{"Elec_RPM":-2359.26465,"EncoderCos":53530,"EncoderSin":35593,"GapTicks":49360,"Mech_RPM":-471.852905,"cg_du":50.9371948,"cg_dv":55.1269531,"cg_dw":44.8730469,"cg_id_a":-13.686286,"cg_id_raw_a":-12.6356659,"cg_iq_a":-195.592102,"cg_iq_raw_a":-195.084137,"cg_iu_a":-33.7404785,"cg_iv_a":185.238892,"cg_iw_a":-151.498413,"cg_sample_age_us":23.4927273,"cg_sample_seq":12991467,"cg_sample_valid":1,"cg_theta_rad":0.145028874,"cg_vd_req_v":-1.69878924,"cg_vd_v":-1.69878924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4462738,"cg_vq_v":-8.4462738,"cg_vu_v":123.60981,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2325.409424,"values":{"Elec_RPM":-2357.85449,"EncoderCos":49429,"EncoderSin":45871,"GapTicks":49689,"Mech_RPM":-471.570892,"cg_du":45.1725693,"cg_dv":46.9430084,"cg_dw":54.8274307,"cg_id_a":16.9566917,"cg_id_raw_a":15.7177687,"cg_iq_a":-203.744827,"cg_iq_raw_a":-203.066147,"cg_iu_a":-1.59219527,"cg_iv_a":-176.945724,"cg_iw_a":178.537918,"cg_sample_age_us":26.4054546,"cg_sample_seq":12993172,"cg_sample_valid":1,"cg_theta_rad":0.725525677,"cg_vd_req_v":-2.30824399,"cg_vd_v":-2.30824399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27361012,"cg_vq_v":-8.27361012,"cg_vu_v":107.333786,"cg_vv_v":99.4157181,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2457.99219,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2325.741455,"values":{"Elec_RPM":-2362.07495,"EncoderCos":38524,"EncoderSin":53119,"GapTicks":49662,"Mech_RPM":-472.414978,"cg_du":54.852562,"cg_dv":53.0635834,"cg_dw":45.147438,"cg_id_a":13.9647112,"cg_id_raw_a":12.3087702,"cg_iq_a":-204.238556,"cg_iq_raw_a":-202.571487,"cg_iu_a":42.6615257,"cg_iv_a":151.278442,"cg_iw_a":-193.939972,"cg_sample_age_us":23.8890915,"cg_sample_seq":12994867,"cg_sample_valid":1,"cg_theta_rad":1.29431999,"cg_vd_req_v":-2.19752908,"cg_vd_v":-2.19752908,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31963444,"cg_vq_v":-8.31963444,"cg_vu_v":136.366699,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2446.97681,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2326.018993,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2326.019,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2326.019005,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2326.073486,"values":{"Elec_RPM":-2365.90918,"EncoderCos":26197,"EncoderSin":53081,"GapTicks":49415,"Mech_RPM":-473.181854,"cg_du":44.9229927,"cg_dv":48.3247795,"cg_dw":55.0770073,"cg_id_a":-2.31810617,"cg_id_raw_a":-7.8567028,"cg_iq_a":-196.781891,"cg_iq_raw_a":-199.08638,"cg_iu_a":-90.6432953,"cg_iv_a":-105.871567,"cg_iw_a":196.514862,"cg_sample_age_us":23.8490906,"cg_sample_seq":12996566,"cg_sample_valid":1,"cg_theta_rad":1.88381851,"cg_vd_req_v":-1.85397792,"cg_vd_v":-1.85397792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43562603,"cg_vq_v":-8.43562603,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2473.35522,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2326.428955,"values":{"Elec_RPM":-2360.39404,"EncoderCos":16295,"EncoderSin":46290,"GapTicks":49346,"Mech_RPM":-472.078827,"cg_du":55.1392593,"cg_dv":49.3288422,"cg_dw":44.8607407,"cg_id_a":-11.3164806,"cg_id_raw_a":-11.7296801,"cg_iq_a":-196.044006,"cg_iq_raw_a":-194.513062,"cg_iu_a":143.854309,"cg_iv_a":44.6490784,"cg_iw_a":-188.503387,"cg_sample_age_us":23.954546,"cg_sample_seq":12998267,"cg_sample_valid":1,"cg_theta_rad":2.4575634,"cg_vd_req_v":-1.67141271,"cg_vd_v":-1.67141271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42235565,"cg_vq_v":-8.42235565,"cg_vu_v":111.732712,"cg_vv_v":106.453995,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2450.34863,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2326.75708,"values":{"Elec_RPM":-2360.46094,"EncoderCos":13235,"EncoderSin":24111,"GapTicks":49396,"Mech_RPM":-472.092163,"cg_du":55.0937195,"cg_dv":44.9062805,"cg_dw":48.3070679,"cg_id_a":6.74737024,"cg_id_raw_a":1.46715307,"cg_iq_a":-198.920242,"cg_iq_raw_a":-197.565033,"cg_iu_a":198.365036,"cg_iv_a":-91.0478363,"cg_iw_a":-108.150803,"cg_sample_age_us":24.0709095,"cg_sample_seq":12999917,"cg_sample_valid":1,"cg_theta_rad":3.56382513,"cg_vd_req_v":-2.07050705,"cg_vd_v":-2.07050705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41666317,"cg_vq_v":-8.41666317,"cg_vu_v":134.607132,"cg_vv_v":120.530563,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-18.301384,"dclink_p_w":-2648.66138,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2327.011423,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2327.011429,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2327.011435,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2327.093018,"values":{"Elec_RPM":-2357.28149,"EncoderCos":21319,"EncoderSin":14695,"GapTicks":49347,"Mech_RPM":-471.456299,"cg_du":44.8610077,"cg_dv":55.1389923,"cg_dw":50.4790115,"cg_id_a":-8.76502228,"cg_id_raw_a":-10.228878,"cg_iq_a":-195.953552,"cg_iq_raw_a":-196.734512,"cg_iu_a":-194.808075,"cg_iv_a":120.144974,"cg_iw_a":74.6631012,"cg_sample_age_us":23.8999996,"cg_sample_seq":13001616,"cg_sample_valid":1,"cg_theta_rad":4.16004181,"cg_vd_req_v":-1.74817646,"cg_vd_v":-1.74817646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44752884,"cg_vq_v":-8.44752884,"cg_vu_v":37.830761,"cg_vv_v":43.1094704,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.5417461,"dclink_p_w":-2386.72192,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4721375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2327.44458,"values":{"Elec_RPM":-2356.54883,"EncoderCos":32682,"EncoderSin":11466,"GapTicks":49562,"Mech_RPM":-471.309753,"cg_du":54.9435959,"cg_dv":45.0564041,"cg_dw":52.3043365,"cg_id_a":-7.0009141,"cg_id_raw_a":-2.11284757,"cg_iq_a":-200.333725,"cg_iq_raw_a":-202.254593,"cg_iu_a":174.081665,"cg_iv_a":-170.095642,"cg_iw_a":-3.98603058,"cg_sample_age_us":24.0563641,"cg_sample_seq":13003317,"cg_sample_valid":1,"cg_theta_rad":4.72082281,"cg_vd_req_v":-1.75294542,"cg_vd_v":-1.75294542,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34728146,"cg_vq_v":-8.34728146,"cg_vu_v":138.126266,"cg_vv_v":120.970459,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8280735,"dclink_p_w":-2428.03442,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2327.776611,"values":{"Elec_RPM":-2356.97144,"EncoderCos":44183,"EncoderSin":14832,"GapTicks":49934,"Mech_RPM":-471.394287,"cg_du":46.0866241,"cg_dv":54.6053505,"cg_dw":45.3946495,"cg_id_a":9.84156036,"cg_id_raw_a":9.75401688,"cg_iq_a":-206.438293,"cg_iq_raw_a":-205.897614,"cg_iu_a":-163.094727,"cg_iv_a":191.509094,"cg_iw_a":-28.4143753,"cg_sample_age_us":23.8563633,"cg_sample_seq":13005017,"cg_sample_valid":1,"cg_theta_rad":5.2974205,"cg_vd_req_v":-2.20017338,"cg_vd_v":-2.20017338,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25835705,"cg_vq_v":-8.25835705,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2516.23486,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2328.003491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2328.003497,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2328.003502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2328.159424,"values":{"Elec_RPM":-2353.86743,"EncoderCos":33472,"EncoderSin":11499,"GapTicks":49340,"Mech_RPM":-470.773468,"cg_du":55.1447372,"cg_dv":44.8552628,"cg_dw":50.4631386,"cg_id_a":-18.1024532,"cg_id_raw_a":-18.4377613,"cg_iq_a":-195.730804,"cg_iq_raw_a":-195.454803,"cg_iu_a":198.147583,"cg_iv_a":-103.479492,"cg_iw_a":-94.6680908,"cg_sample_age_us":23.9763641,"cg_sample_seq":13006821,"cg_sample_valid":1,"cg_theta_rad":4.80301905,"cg_vd_req_v":-1.56787872,"cg_vd_v":-1.56787872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46518612,"cg_vq_v":-8.46518612,"cg_vu_v":106.893898,"cg_vv_v":99.4157181,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.5221424,"dclink_p_w":-2528.17822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2328.678955,"values":{"Elec_RPM":-2350.99097,"EncoderCos":35911,"EncoderSin":53774,"GapTicks":49333,"Mech_RPM":-470.198181,"cg_du":50.0633583,"cg_dv":55.1510696,"cg_dw":44.8489304,"cg_id_a":-11.970768,"cg_id_raw_a":-11.8201275,"cg_iq_a":-199.183777,"cg_iq_raw_a":-198.275513,"cg_iu_a":-96.9134827,"cg_iv_a":199.77269,"cg_iw_a":-102.859207,"cg_sample_age_us":26.7690907,"cg_sample_seq":13009470,"cg_sample_valid":1,"cg_theta_rad":1.45416892,"cg_vd_req_v":-1.66815877,"cg_vd_v":-1.66815877,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41851044,"cg_vq_v":-8.41851044,"cg_vu_v":122.730026,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7573967,"dclink_p_w":-2432.58008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2328.867199,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2328.867208,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2328.867211,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2328.995188,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2328.995194,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2328.995199,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2329.104736,"values":{"Elec_RPM":-2346.61621,"EncoderCos":11853,"EncoderSin":37069,"GapTicks":49498,"Mech_RPM":-469.323242,"cg_du":44.9986229,"cg_dv":55.0013771,"cg_dw":52.0511513,"cg_id_a":0.905671,"cg_id_raw_a":-3.66300678,"cg_iq_a":-198.955597,"cg_iq_raw_a":-197.82431,"cg_iu_a":-196.982697,"cg_iv_a":81.8714752,"cg_iw_a":115.111221,"cg_sample_age_us":23.9654541,"cg_sample_seq":13011667,"cg_sample_valid":1,"cg_theta_rad":2.9424324,"cg_vd_req_v":-1.90932512,"cg_vd_v":-1.90932512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37417698,"cg_vq_v":-8.37417698,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.5634918,"dclink_p_w":-2389.85938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2329.456299,"values":{"Elec_RPM":-2346.24097,"EncoderCos":11648,"EncoderSin":35988,"GapTicks":49944,"Mech_RPM":-469.248199,"cg_du":45.4040833,"cg_dv":54.5959167,"cg_dw":54.0870819,"cg_id_a":9.36363697,"cg_id_raw_a":9.23387814,"cg_iq_a":-199.419357,"cg_iq_raw_a":-199.907867,"cg_iu_a":-185.928329,"cg_iv_a":26.9983215,"cg_iw_a":158.930008,"cg_sample_age_us":23.9400005,"cg_sample_seq":13013416,"cg_sample_valid":1,"cg_theta_rad":2.99045658,"cg_vd_req_v":-2.06021523,"cg_vd_v":-2.06021523,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38415432,"cg_vq_v":-8.38415432,"cg_vu_v":38.2706528,"cg_vv_v":45.3089333,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2329.78833,"values":{"Elec_RPM":-2344.6145,"EncoderCos":30899,"EncoderSin":11501,"GapTicks":49559,"Mech_RPM":-468.922882,"cg_du":52.7651482,"cg_dv":45.0540123,"cg_dw":54.9459877,"cg_id_a":13.7347908,"cg_id_raw_a":8.53469467,"cg_iq_a":-197.274292,"cg_iq_raw_a":-195.943985,"cg_iu_a":143.70932,"cg_iv_a":-192.748047,"cg_iw_a":58.5708389,"cg_sample_age_us":23.6854553,"cg_sample_seq":13015017,"cg_sample_valid":1,"cg_theta_rad":4.63751793,"cg_vd_req_v":-2.21536279,"cg_vd_v":-2.21536279,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39803886,"cg_vq_v":-8.39803886,"cg_vu_v":140.765625,"cg_vv_v":109.973145,"cg_vw_v":120.530563,"control_outputs_enabled":1,"dclink_i_a":-16.8860626,"dclink_p_w":-2443.82959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2329.987389,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2329.987395,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2329.987401,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2330.120361,"values":{"Elec_RPM":-2348.52026,"EncoderCos":21192,"EncoderSin":14794,"GapTicks":49349,"Mech_RPM":-469.704071,"cg_du":44.8634644,"cg_dv":55.1365356,"cg_dw":50.2052612,"cg_id_a":-11.500145,"cg_id_raw_a":-11.6080847,"cg_iq_a":-195.810806,"cg_iq_raw_a":-196.029678,"cg_iu_a":-193.503296,"cg_iv_a":128.33609,"cg_iw_a":65.1672134,"cg_sample_age_us":23.9218178,"cg_sample_seq":13016816,"cg_sample_valid":1,"cg_theta_rad":4.15068817,"cg_vd_req_v":-1.68787432,"cg_vd_v":-1.68787432,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44521332,"cg_vq_v":-8.44521332,"cg_vu_v":18.0355949,"cg_vv_v":28.1531239,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.4677753,"dclink_p_w":-2535.70166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2330.471924,"values":{"Elec_RPM":-2346.40747,"EncoderCos":43511,"EncoderSin":14371,"GapTicks":49552,"Mech_RPM":-469.281494,"cg_du":47.574791,"cg_dv":54.9526329,"cg_dw":45.0473671,"cg_id_a":4.63025427,"cg_id_raw_a":1.40451086,"cg_iq_a":-203.476135,"cg_iq_raw_a":-202.503464,"cg_iu_a":-145.190262,"cg_iv_a":199.482727,"cg_iw_a":-54.2924652,"cg_sample_age_us":23.9145451,"cg_sample_seq":13018466,"cg_sample_valid":1,"cg_theta_rad":5.26923132,"cg_vd_req_v":-2.1198895,"cg_vd_v":-2.1198895,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30861759,"cg_vq_v":-8.30861759,"cg_vu_v":112.172607,"cg_vv_v":142.965088,"cg_vw_v":131.087982,"control_outputs_enabled":1,"dclink_i_a":-17.3844147,"dclink_p_w":-2508.30615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2330.807861,"values":{"Elec_RPM":-2347.39771,"EncoderCos":51669,"EncoderSin":23416,"GapTicks":49284,"Mech_RPM":-469.479523,"cg_du":50.5488815,"cg_dv":44.8040581,"cg_dw":55.1959419,"cg_id_a":-2.60624433,"cg_id_raw_a":-7.15160847,"cg_iq_a":-195.289368,"cg_iq_raw_a":-194.807816,"cg_iu_a":85.3205185,"cg_iv_a":-195.285095,"cg_iw_a":120.765244,"cg_sample_age_us":23.7399998,"cg_sample_seq":13020167,"cg_sample_valid":1,"cg_theta_rad":5.83895159,"cg_vd_req_v":-1.97368109,"cg_vd_v":-1.97368109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47241116,"cg_vq_v":-8.47241116,"cg_vu_v":117.451309,"cg_vv_v":117.011421,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2613,"hz_tim_isr":4999,"hz_vsense":2613,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2330.978762,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2330.978767,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2330.978773,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2331.135986,"values":{"Elec_RPM":-2347.92627,"EncoderCos":53576,"EncoderSin":35514,"GapTicks":49384,"Mech_RPM":-469.585236,"cg_du":51.0726357,"cg_dv":55.1047821,"cg_dw":44.8952179,"cg_id_a":-15.5722008,"cg_id_raw_a":-14.5452356,"cg_iq_a":-195.548431,"cg_iq_raw_a":-196.221725,"cg_iu_a":-27.3978043,"cg_iv_a":182.411896,"cg_iw_a":-159.073395,"cg_sample_age_us":23.4927273,"cg_sample_seq":13021866,"cg_sample_valid":1,"cg_theta_rad":0.141054362,"cg_vd_req_v":-1.66089749,"cg_vd_v":-1.66089749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4312973,"cg_vq_v":-8.4312973,"cg_vu_v":24.6339836,"cg_vv_v":23.3143044,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2483.69458,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2331.491455,"values":{"Elec_RPM":-2350.65625,"EncoderCos":53458,"EncoderSin":36279,"GapTicks":49379,"Mech_RPM":-470.131226,"cg_du":49.5478592,"cg_dv":55.1096764,"cg_dw":44.8903236,"cg_id_a":-13.154562,"cg_id_raw_a":-16.1477394,"cg_iq_a":-199.186264,"cg_iq_raw_a":-199.131516,"cg_iu_a":-69.8393402,"cg_iv_a":196.691956,"cg_iw_a":-126.852615,"cg_sample_age_us":23.4854546,"cg_sample_seq":13023616,"cg_sample_valid":1,"cg_theta_rad":0.17873469,"cg_vd_req_v":-1.74076092,"cg_vd_v":-1.74076092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37101936,"cg_vq_v":-8.37101936,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2702465,"dclink_p_w":-2499.43042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2331.823486,"values":{"Elec_RPM":-2349.64429,"EncoderCos":38569,"EncoderSin":53087,"GapTicks":49652,"Mech_RPM":-469.928864,"cg_du":54.8610382,"cg_dv":52.962471,"cg_dw":45.1389618,"cg_id_a":13.7176304,"cg_id_raw_a":11.4418125,"cg_iq_a":-203.77832,"cg_iq_raw_a":-203.945206,"cg_iu_a":56.5791588,"cg_iv_a":140.658981,"cg_iw_a":-197.238144,"cg_sample_age_us":23.8054543,"cg_sample_seq":13025266,"cg_sample_valid":1,"cg_theta_rad":1.28555131,"cg_vd_req_v":-2.19357586,"cg_vd_v":-2.19357586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32758141,"cg_vq_v":-8.32758141,"cg_vu_v":27.7132301,"cg_vv_v":12.3169918,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2406.06274,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2331.971339,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2331.971344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2331.97135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2332.155518,"values":{"Elec_RPM":-2352.81909,"EncoderCos":26407,"EncoderSin":53136,"GapTicks":49421,"Mech_RPM":-470.563812,"cg_du":44.9284706,"cg_dv":48.6631966,"cg_dw":55.0715294,"cg_id_a":-7.76240778,"cg_id_raw_a":-13.3289967,"cg_iq_a":-196.530731,"cg_iq_raw_a":-197.974258,"cg_iu_a":-103.654831,"cg_iv_a":-92.4613495,"cg_iw_a":196.11618,"cg_sample_age_us":23.863636,"cg_sample_seq":13026966,"cg_sample_valid":1,"cg_theta_rad":1.87189305,"cg_vd_req_v":-1.7347939,"cg_vd_v":-1.7347939,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42204094,"cg_vq_v":-8.42204094,"cg_vu_v":39.590332,"cg_vv_v":47.0685043,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.1796379,"dclink_p_w":-2486.31714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2332.50708,"values":{"Elec_RPM":-2357.09546,"EncoderCos":25807,"EncoderSin":52927,"GapTicks":49552,"Mech_RPM":-471.419098,"cg_du":45.0475006,"cg_dv":47.6318855,"cg_dw":54.9524994,"cg_id_a":4.46546841,"cg_id_raw_a":-1.05402315,"cg_iq_a":-199.377304,"cg_iq_raw_a":-195.64769,"cg_iu_a":-57.9876022,"cg_iv_a":-139.940765,"cg_iw_a":197.928375,"cg_sample_age_us":23.8963642,"cg_sample_seq":13028717,"cg_sample_valid":1,"cg_theta_rad":1.91191506,"cg_vd_req_v":-1.98791099,"cg_vd_v":-1.98791099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35259342,"cg_vq_v":-8.35259342,"cg_vu_v":38.2706528,"cg_vv_v":40.0302238,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.2916641,"dclink_p_w":-2357.80542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2332.839111,"values":{"Elec_RPM":-2354.31055,"EncoderCos":15833,"EncoderSin":45714,"GapTicks":49327,"Mech_RPM":-470.862091,"cg_du":55.1570625,"cg_dv":50.2667999,"cg_dw":44.8429375,"cg_id_a":-2.41427422,"cg_id_raw_a":-5.19356823,"cg_iq_a":-200.096466,"cg_iq_raw_a":-200.531708,"cg_iu_a":122.687912,"cg_iv_a":73.0279846,"cg_iw_a":-195.715897,"cg_sample_age_us":23.8018188,"cg_sample_seq":13030416,"cg_sample_valid":1,"cg_theta_rad":2.4810791,"cg_vd_req_v":-1.8788451,"cg_vd_v":-1.8788451,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37874031,"cg_vq_v":-8.37874031,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2332.995188,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2332.995194,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2332.995199,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2333.19458,"values":{"Elec_RPM":-2348.26855,"EncoderCos":13147,"EncoderSin":24385,"GapTicks":49366,"Mech_RPM":-469.653717,"cg_du":55.1212082,"cg_dv":44.8787918,"cg_dw":48.7520523,"cg_id_a":-0.430131137,"cg_id_raw_a":-7.81054068,"cg_iq_a":-196.522873,"cg_iq_raw_a":-196.34671,"cg_iu_a":192.964691,"cg_iv_a":-45.4893341,"cg_iw_a":-147.475357,"cg_sample_age_us":24.0745449,"cg_sample_seq":13032071,"cg_sample_valid":1,"cg_theta_rad":3.5953846,"cg_vd_req_v":-1.91813529,"cg_vd_v":-1.91813529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42697525,"cg_vq_v":-8.42697525,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-16.8715649,"dclink_p_w":-2441.73145,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2333.526611,"values":{"Elec_RPM":-2346.15234,"EncoderCos":14002,"EncoderSin":22510,"GapTicks":49892,"Mech_RPM":-469.230469,"cg_du":54.643589,"cg_dv":46.2445068,"cg_dw":45.356411,"cg_id_a":7.57272243,"cg_id_raw_a":11.6324797,"cg_iq_a":-200.01825,"cg_iq_raw_a":-201.813995,"cg_iu_a":176.292542,"cg_iv_a":-5.29493713,"cg_iw_a":-165.923462,"cg_sample_age_us":24.0854549,"cg_sample_seq":13033816,"cg_sample_valid":1,"cg_theta_rad":3.64635253,"cg_vd_req_v":-2.03449678,"cg_vd_v":-2.03449678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34597015,"cg_vq_v":-8.34597015,"cg_vu_v":13.6366701,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2333.858643,"values":{"Elec_RPM":-2350.26904,"EncoderCos":22112,"EncoderSin":14217,"GapTicks":49474,"Mech_RPM":-470.053802,"cg_du":44.9768333,"cg_dv":55.0231667,"cg_dw":52.1865768,"cg_id_a":1.20542347,"cg_id_raw_a":-1.67509401,"cg_iq_a":-198.464233,"cg_iq_raw_a":-199.267136,"cg_iu_a":-195.242996,"cg_iv_a":66.105423,"cg_iw_a":129.137573,"cg_sample_age_us":23.9727268,"cg_sample_seq":13035518,"cg_sample_valid":1,"cg_theta_rad":4.21123838,"cg_vd_req_v":-1.96945357,"cg_vd_v":-1.96945357,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40137959,"cg_vq_v":-8.40137959,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4061623,"dclink_p_w":-2511.44385,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.608551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2333.987681,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2333.987686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2333.987692,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2334.210205,"values":{"Elec_RPM":-2349.93799,"EncoderCos":51693,"EncoderSin":23455,"GapTicks":49336,"Mech_RPM":-469.987579,"cg_du":50.6529198,"cg_dv":44.8509789,"cg_dw":55.1490211,"cg_id_a":-3.03799677,"cg_id_raw_a":-6.96244812,"cg_iq_a":-196.416138,"cg_iq_raw_a":-196.008438,"cg_iu_a":125.804886,"cg_iv_a":-197.6772,"cg_iw_a":71.8723145,"cg_sample_age_us":23.6527271,"cg_sample_seq":13037120,"cg_sample_valid":1,"cg_theta_rad":5.87791872,"cg_vd_req_v":-1.95051396,"cg_vd_v":-1.95051396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43129063,"cg_vq_v":-8.43129063,"cg_vu_v":17.5957031,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2501.52856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2334.542236,"values":{"Elec_RPM":-2347.56812,"EncoderCos":45617,"EncoderSin":15891,"GapTicks":49405,"Mech_RPM":-469.513611,"cg_du":44.914032,"cg_dv":55.085968,"cg_dw":49.0143623,"cg_id_a":-14.3604021,"cg_id_raw_a":-12.5919962,"cg_iq_a":-198.15358,"cg_iq_raw_a":-199.16861,"cg_iu_a":-184.804779,"cg_iv_a":152.220795,"cg_iw_a":32.583992,"cg_sample_age_us":23.9581814,"cg_sample_seq":13038916,"cg_sample_valid":1,"cg_theta_rad":5.3821187,"cg_vd_req_v":-1.71125925,"cg_vd_v":-1.71125925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40595818,"cg_vq_v":-8.40595818,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2334.874268,"values":{"Elec_RPM":-2350.92578,"EncoderCos":48332,"EncoderSin":47198,"GapTicks":49513,"Mech_RPM":-470.185181,"cg_du":48.0710106,"cg_dv":45.0124283,"cg_dw":54.9875717,"cg_id_a":-11.3107672,"cg_id_raw_a":-8.96383762,"cg_iq_a":-202.342468,"cg_iq_raw_a":-204.835464,"cg_iu_a":4.89545107,"cg_iv_a":-177.52562,"cg_iw_a":172.630173,"cg_sample_age_us":23.7327271,"cg_sample_seq":13040516,"cg_sample_valid":1,"cg_theta_rad":0.743809938,"cg_vd_req_v":-1.71256852,"cg_vd_v":-1.71256852,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36670589,"cg_vq_v":-8.36670589,"cg_vu_v":14.0765619,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1760139,"dclink_p_w":-2493.34839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2334.979549,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2334.979555,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2334.979561,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2335.229736,"values":{"Elec_RPM":-2350.19312,"EncoderCos":53190,"EncoderSin":37581,"GapTicks":49571,"Mech_RPM":-470.038605,"cg_du":47.3161583,"cg_dv":54.9346657,"cg_dw":45.0653343,"cg_id_a":11.7837992,"cg_id_raw_a":9.54500008,"cg_iq_a":-203.988373,"cg_iq_raw_a":-202.711014,"cg_iu_a":-146.168854,"cg_iv_a":197.996735,"cg_iw_a":-51.8278885,"cg_sample_age_us":23.4927273,"cg_sample_seq":13042317,"cg_sample_valid":1,"cg_theta_rad":0.241414413,"cg_vd_req_v":-2.25803185,"cg_vd_v":-2.25803185,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31612206,"cg_vq_v":-8.31612206,"cg_vu_v":117.891212,"cg_vv_v":142.525192,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2480.19482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2335.561768,"values":{"Elec_RPM":-2353.5708,"EncoderCos":36943,"EncoderSin":53528,"GapTicks":49516,"Mech_RPM":-470.714142,"cg_du":52.3082886,"cg_dv":54.9848289,"cg_dw":45.0151711,"cg_id_a":-5.25611639,"cg_id_raw_a":-1.2715528,"cg_iq_a":-196.248779,"cg_iq_raw_a":-198.65892,"cg_iu_a":-10.7618847,"cg_iv_a":174.293274,"cg_iw_a":-163.531387,"cg_sample_age_us":23.8927269,"cg_sample_seq":13043966,"cg_sample_valid":1,"cg_theta_rad":1.3733052,"cg_vd_req_v":-1.7692703,"cg_vd_v":-1.7692703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43943787,"cg_vq_v":-8.43943787,"cg_vu_v":30.3525867,"cg_vv_v":28.1531239,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2495.49414,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2335.893799,"values":{"Elec_RPM":-2356.34985,"EncoderCos":25045,"EncoderSin":52677,"GapTicks":49897,"Mech_RPM":-471.269989,"cg_du":45.3617249,"cg_dv":46.2539215,"cg_dw":54.6382751,"cg_id_a":13.5075846,"cg_id_raw_a":13.7343178,"cg_iq_a":-204.526672,"cg_iq_raw_a":-203.642136,"cg_iu_a":-31.0221882,"cg_iv_a":-162.846863,"cg_iw_a":192.383057,"cg_sample_age_us":23.8854542,"cg_sample_seq":13045666,"cg_sample_valid":1,"cg_theta_rad":1.93937337,"cg_vd_req_v":-2.15447235,"cg_vd_v":-2.15447235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27663231,"cg_vq_v":-8.27663231,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2429.86475,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2336.002903,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2336.002909,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2336.002914,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2336.245361,"values":{"Elec_RPM":-2351.58228,"EncoderCos":15375,"EncoderSin":45106,"GapTicks":49489,"Mech_RPM":-470.316437,"cg_du":55.0098419,"cg_dv":52.025013,"cg_dw":44.9901581,"cg_id_a":8.18725395,"cg_id_raw_a":2.86797857,"cg_iq_a":-202.503418,"cg_iq_raw_a":-204.441879,"cg_iu_a":73.360054,"cg_iv_a":128.408569,"cg_iw_a":-201.768616,"cg_sample_age_us":23.9254551,"cg_sample_seq":13047366,"cg_sample_valid":1,"cg_theta_rad":2.52385759,"cg_vd_req_v":-2.07949972,"cg_vd_v":-2.07949972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34179115,"cg_vq_v":-8.34179115,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2336.577393,"values":{"Elec_RPM":-2346.20874,"EncoderCos":11436,"EncoderSin":33936,"GapTicks":49398,"Mech_RPM":-469.24176,"cg_du":44.9074249,"cg_dv":50.2215309,"cg_dw":55.0925751,"cg_id_a":-17.8356857,"cg_id_raw_a":-17.0895176,"cg_iq_a":-197.911972,"cg_iq_raw_a":-198.290115,"cg_iu_a":-143.450562,"cg_iv_a":-44.8369446,"cg_iw_a":188.287506,"cg_sample_age_us":23.9618187,"cg_sample_seq":13049067,"cg_sample_valid":1,"cg_theta_rad":3.09329295,"cg_vd_req_v":-1.51354647,"cg_vd_v":-1.51354647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40373611,"cg_vq_v":-8.40373611,"cg_vu_v":126.689056,"cg_vv_v":120.090675,"cg_vw_v":122.290138,"control_outputs_enabled":1,"dclink_i_a":-17.3391113,"dclink_p_w":-2509.39697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2336.928955,"values":{"Elec_RPM":-2349.45361,"EncoderCos":13885,"EncoderSin":22750,"GapTicks":50079,"Mech_RPM":-469.890717,"cg_du":54.4734344,"cg_dv":45.7012901,"cg_dw":45.5265656,"cg_id_a":8.94853401,"cg_id_raw_a":15.2667093,"cg_iq_a":-203.992096,"cg_iq_raw_a":-206.930634,"cg_iu_a":166.542938,"cg_iv_a":1.48266602,"cg_iw_a":-172.374878,"cg_sample_age_us":23.9727268,"cg_sample_seq":13050770,"cg_sample_valid":1,"cg_theta_rad":3.67711163,"cg_vd_req_v":-2.07419229,"cg_vd_v":-2.07419229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26695251,"cg_vq_v":-8.26695251,"cg_vu_v":51.0275345,"cg_vv_v":50.5876465,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2454.96606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2336.995306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2336.995311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2336.995316,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2337.264893,"values":{"Elec_RPM":-2350.43506,"EncoderCos":23085,"EncoderSin":13749,"GapTicks":49935,"Mech_RPM":-470.087006,"cg_du":45.3960304,"cg_dv":54.6039696,"cg_dw":54.1379356,"cg_id_a":11.3073425,"cg_id_raw_a":12.6836576,"cg_iq_a":-200.812088,"cg_iq_raw_a":-200.559296,"cg_iu_a":-184.877258,"cg_iv_a":22.8302765,"cg_iw_a":162.046982,"cg_sample_age_us":23.9036369,"cg_sample_seq":13052466,"cg_sample_valid":1,"cg_theta_rad":4.25458193,"cg_vd_req_v":-2.1593616,"cg_vd_v":-2.1593616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3675499,"cg_vq_v":-8.3675499,"cg_vu_v":39.1504402,"cg_vv_v":59.385498,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2423.37256,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2337.593018,"values":{"Elec_RPM":-2351.30737,"EncoderCos":23677,"EncoderSin":13437,"GapTicks":49748,"Mech_RPM":-470.261475,"cg_du":45.2257271,"cg_dv":53.3679695,"cg_dw":54.7742729,"cg_id_a":2.17739916,"cg_id_raw_a":5.43950844,"cg_iq_a":-200.246628,"cg_iq_raw_a":-200.158905,"cg_iu_a":-174.040344,"cg_iv_a":4.38217163,"cg_iw_a":169.658173,"cg_sample_age_us":23.954546,"cg_sample_seq":13054217,"cg_sample_valid":1,"cg_theta_rad":4.28334236,"cg_vd_req_v":-1.95411265,"cg_vd_v":-1.95411265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39027023,"cg_vq_v":-8.39027023,"cg_vu_v":129.328415,"cg_vv_v":131.087982,"cg_vw_v":125.369385,"control_outputs_enabled":1,"dclink_i_a":-17.3463593,"dclink_p_w":-2510.4458,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2337.948486,"values":{"Elec_RPM":-2349.81836,"EncoderCos":52212,"EncoderSin":24613,"GapTicks":49579,"Mech_RPM":-469.963684,"cg_du":52.8280144,"cg_dv":45.0727005,"cg_dw":54.9272995,"cg_id_a":18.8784256,"cg_id_raw_a":15.2715874,"cg_iq_a":-202.622208,"cg_iq_raw_a":-202.601639,"cg_iu_a":170.022354,"cg_iv_a":-181.947372,"cg_iw_a":11.9250183,"cg_sample_age_us":23.6709099,"cg_sample_seq":13055821,"cg_sample_valid":1,"cg_theta_rad":5.94300842,"cg_vd_req_v":-2.38300252,"cg_vd_v":-2.38300252,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31333351,"cg_vq_v":-8.31333351,"cg_vu_v":106.014107,"cg_vv_v":86.2189407,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2435.61719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2337.987746,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2337.987752,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2337.987758,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2338.405518,"values":{"Elec_RPM":-2347.46802,"EncoderCos":30123,"EncoderSin":53809,"GapTicks":49549,"Mech_RPM":-469.493591,"cg_du":45.045372,"cg_dv":54.954628,"cg_dw":52.4668121,"cg_id_a":4.96897221,"cg_id_raw_a":3.59533286,"cg_iq_a":-198.142715,"cg_iq_raw_a":-198.036392,"cg_iu_a":-196.765228,"cg_iv_a":67.04776,"cg_iw_a":129.717468,"cg_sample_age_us":23.7763634,"cg_sample_seq":13057966,"cg_sample_valid":1,"cg_theta_rad":1.69701457,"cg_vd_req_v":-1.99017262,"cg_vd_v":-1.99017262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38212299,"cg_vq_v":-8.38212299,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6504784,"dclink_p_w":-2417.05933,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2338.851097,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2338.851123,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2338.851126,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2338.921143,"values":{"Elec_RPM":-2344.84668,"EncoderCos":30616,"EncoderSin":11574,"GapTicks":49500,"Mech_RPM":-468.96933,"cg_du":52.2177429,"cg_dv":45.0004845,"cg_dw":54.9995155,"cg_id_a":9.50742817,"cg_id_raw_a":8.01565838,"cg_iq_a":-199.649628,"cg_iq_raw_a":-198.80629,"cg_iu_a":132.365021,"cg_iv_a":-196.662384,"cg_iw_a":79.1573334,"cg_sample_age_us":23.6890907,"cg_sample_seq":13060616,"cg_sample_valid":1,"cg_theta_rad":4.62371635,"cg_vd_req_v":-2.14406991,"cg_vd_v":-2.14406991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35376549,"cg_vq_v":-8.35376549,"cg_vu_v":39.590332,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.681284,"dclink_p_w":-2414.19312,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2339.011214,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2339.01122,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2339.011225,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2339.272705,"values":{"Elec_RPM":-2349.48364,"EncoderCos":13520,"EncoderSin":23546,"GapTicks":49628,"Mech_RPM":-469.896729,"cg_du":54.8832855,"cg_dv":45.1167145,"cg_dw":47.2237473,"cg_id_a":16.0774937,"cg_id_raw_a":12.9881611,"cg_iq_a":-200.985474,"cg_iq_raw_a":-200.768036,"cg_iu_a":195.393036,"cg_iv_a":-58.6820984,"cg_iw_a":-136.710938,"cg_sample_age_us":23.9836369,"cg_sample_seq":13062466,"cg_sample_valid":1,"cg_theta_rad":3.58622479,"cg_vd_req_v":-2.24028301,"cg_vd_v":-2.24028301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31873035,"cg_vq_v":-8.31873035,"cg_vu_v":42.6695786,"cg_vv_v":40.4701157,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-16.924118,"dclink_p_w":-2449.33716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2339.604736,"values":{"Elec_RPM":-2348.01587,"EncoderCos":11447,"EncoderSin":33844,"GapTicks":49390,"Mech_RPM":-469.60318,"cg_du":44.9005127,"cg_dv":50.0874748,"cg_dw":55.0994873,"cg_id_a":-15.3833551,"cg_id_raw_a":-15.9314051,"cg_iq_a":-197.802979,"cg_iq_raw_a":-200.786026,"cg_iu_a":-140.877258,"cg_iv_a":-50.5634766,"cg_iw_a":191.440735,"cg_sample_age_us":23.954546,"cg_sample_seq":13064266,"cg_sample_valid":1,"cg_theta_rad":3.09434319,"cg_vd_req_v":-1.56714833,"cg_vd_v":-1.56714833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40337849,"cg_vq_v":-8.40337849,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2457.83447,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2339.940674,"values":{"Elec_RPM":-2350.9292,"EncoderCos":32943,"EncoderSin":11466,"GapTicks":49407,"Mech_RPM":-470.185822,"cg_du":55.0838356,"cg_dv":44.9161644,"cg_dw":51.7058868,"cg_id_a":-11.0375471,"cg_id_raw_a":-10.4809809,"cg_iq_a":-196.934143,"cg_iq_raw_a":-197.973251,"cg_iu_a":177.126144,"cg_iv_a":-161.868286,"cg_iw_a":-9.02391815,"cg_sample_age_us":24.0599995,"cg_sample_seq":13065867,"cg_sample_valid":1,"cg_theta_rad":4.73236227,"cg_vd_req_v":-1.69176412,"cg_vd_v":-1.69176412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45994377,"cg_vq_v":-8.45994377,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.7791424,"dclink_p_w":-2435.73657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2340.003489,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2340.003496,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2340.003501,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2340.292236,"values":{"Elec_RPM":-2351.3623,"EncoderCos":22761,"EncoderSin":13931,"GapTicks":49738,"Mech_RPM":-470.272461,"cg_du":45.2166672,"cg_dv":54.7833328,"cg_dw":53.4946899,"cg_id_a":8.17281532,"cg_id_raw_a":5.92271852,"cg_iq_a":-198.726517,"cg_iq_raw_a":-197.607605,"cg_iu_a":-188.972809,"cg_iv_a":40.4447632,"cg_iw_a":148.528046,"cg_sample_age_us":23.9400005,"cg_sample_seq":13067667,"cg_sample_valid":1,"cg_theta_rad":4.23550701,"cg_vd_req_v":-2.09745526,"cg_vd_v":-2.09745526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41827393,"cg_vq_v":-8.41827393,"cg_vu_v":105.574219,"cg_vv_v":105.574219,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2392.33081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2340.624268,"values":{"Elec_RPM":-2356.021,"EncoderCos":52244,"EncoderSin":24757,"GapTicks":49682,"Mech_RPM":-471.204224,"cg_du":53.0741119,"cg_dv":45.1658401,"cg_dw":54.8341599,"cg_id_a":19.3695507,"cg_id_raw_a":17.5717506,"cg_iq_a":-204.054535,"cg_iq_raw_a":-203.285645,"cg_iu_a":159.729111,"cg_iv_a":-195.865021,"cg_iw_a":45.0881271,"cg_sample_age_us":23.7581825,"cg_sample_seq":13069266,"cg_sample_valid":1,"cg_theta_rad":5.90647411,"cg_vd_req_v":-2.3894012,"cg_vd_v":-2.3894012,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26745129,"cg_vq_v":-8.26745129,"cg_vu_v":13.6366701,"cg_vv_v":7.91806602,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2407.1167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2340.963488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2340.963494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2340.963499,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2340.97583,"values":{"Elec_RPM":-2355.08398,"EncoderCos":53548,"EncoderSin":35772,"GapTicks":49324,"Mech_RPM":-471.016785,"cg_du":50.5679588,"cg_dv":55.1597672,"cg_dw":44.8402328,"cg_id_a":-14.8988152,"cg_id_raw_a":-14.7187424,"cg_iq_a":-196.182373,"cg_iq_raw_a":-195.933945,"cg_iu_a":-93.8689957,"cg_iv_a":200.461319,"cg_iw_a":-106.592323,"cg_sample_age_us":23.3945446,"cg_sample_seq":13070970,"cg_sample_valid":1,"cg_theta_rad":0.196188286,"cg_vd_req_v":-1.70044816,"cg_vd_v":-1.70044816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47108269,"cg_vq_v":-8.47108269,"cg_vu_v":16.7159176,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.550808,"dclink_p_w":-2395.31006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2341.307861,"values":{"Elec_RPM":-2351.87354,"EncoderCos":48020,"EncoderSin":47456,"GapTicks":49378,"Mech_RPM":-470.374695,"cg_du":48.9486084,"cg_dv":44.889637,"cg_dw":55.110363,"cg_id_a":-14.0823488,"cg_id_raw_a":-12.3469515,"cg_iq_a":-197.22496,"cg_iq_raw_a":-198.332779,"cg_iu_a":30.4111099,"cg_iv_a":-182.853455,"cg_iw_a":152.442352,"cg_sample_age_us":23.7436371,"cg_sample_seq":13072667,"cg_sample_valid":1,"cg_theta_rad":0.771030486,"cg_vd_req_v":-1.66045678,"cg_vd_v":-1.66045678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43833542,"cg_vq_v":-8.43833542,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.1669521,"dclink_p_w":-2484.4812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2341.643799,"values":{"Elec_RPM":-2344.73218,"EncoderCos":37540,"EncoderSin":53364,"GapTicks":49888,"Mech_RPM":-468.946442,"cg_du":53.7788849,"cg_dv":54.6466866,"cg_dw":45.3533134,"cg_id_a":6.93740225,"cg_id_raw_a":11.8732958,"cg_iq_a":-202.707748,"cg_iq_raw_a":-202.981918,"cg_iu_a":6.38144827,"cg_iv_a":169.799026,"cg_iw_a":-176.180481,"cg_sample_age_us":23.9254551,"cg_sample_seq":13074367,"cg_sample_valid":1,"cg_theta_rad":1.34330583,"cg_vd_req_v":-2.02451348,"cg_vd_v":-2.02451348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3094492,"cg_vq_v":-8.3094492,"cg_vu_v":103.814644,"cg_vv_v":100.735397,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2341.987367,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2341.987373,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2341.987379,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2341.995361,"values":{"Elec_RPM":-2351.91113,"EncoderCos":25328,"EncoderSin":52732,"GapTicks":49745,"Mech_RPM":-470.382202,"cg_du":45.2230988,"cg_dv":46.7662315,"cg_dw":54.7769012,"cg_id_a":11.5612354,"cg_id_raw_a":9.97102833,"cg_iq_a":-203.87854,"cg_iq_raw_a":-202.675064,"cg_iu_a":-42.6927032,"cg_iv_a":-143.130219,"cg_iw_a":197.457199,"cg_sample_age_us":23.8672733,"cg_sample_seq":13076066,"cg_sample_valid":1,"cg_theta_rad":1.92512906,"cg_vd_req_v":-2.13550901,"cg_vd_v":-2.13550901,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3006115,"cg_vq_v":-8.3006115,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2956181,"dclink_p_w":-2503.10229,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2342.327393,"values":{"Elec_RPM":-2349.06958,"EncoderCos":15535,"EncoderSin":45278,"GapTicks":49460,"Mech_RPM":-469.813904,"cg_du":55.0354729,"cg_dv":51.5814743,"cg_dw":44.9645271,"cg_id_a":5.85282421,"cg_id_raw_a":2.81282401,"cg_iq_a":-202.028229,"cg_iq_raw_a":-202.565323,"cg_iu_a":84.5956421,"cg_iv_a":117.934097,"cg_iw_a":-202.529739,"cg_sample_age_us":23.8890915,"cg_sample_seq":13077766,"cg_sample_valid":1,"cg_theta_rad":2.5152719,"cg_vd_req_v":-2.03416038,"cg_vd_v":-2.03416038,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33350182,"cg_vq_v":-8.33350182,"cg_vu_v":2.63935518,"cg_vv_v":2.63935518,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.0452061,"dclink_p_w":-2322.13696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2342.678955,"values":{"Elec_RPM":-2351.27661,"EncoderCos":24759,"EncoderSin":52580,"GapTicks":50077,"Mech_RPM":-470.25531,"cg_du":45.5253067,"cg_dv":45.6666946,"cg_dw":54.4746933,"cg_id_a":12.9122963,"cg_id_raw_a":14.6462622,"cg_iq_a":-204.476257,"cg_iq_raw_a":-204.498871,"cg_iu_a":1.30731142,"cg_iv_a":-175.314758,"cg_iw_a":174.007446,"cg_sample_age_us":23.7763634,"cg_sample_seq":13079571,"cg_sample_valid":1,"cg_theta_rad":1.9999336,"cg_vd_req_v":-2.13626719,"cg_vd_v":-2.13626719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29663944,"cg_vq_v":-8.29663944,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.5127506,"dclink_p_w":-2397.06592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2342.979491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2342.979497,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2342.979503,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2343.010986,"values":{"Elec_RPM":-2351.65259,"EncoderCos":14150,"EncoderSin":22239,"GapTicks":49659,"Mech_RPM":-470.330536,"cg_du":54.8546906,"cg_dv":46.9916611,"cg_dw":45.1453094,"cg_id_a":-1.4555583,"cg_id_raw_a":5.7690959,"cg_iq_a":-199.202087,"cg_iq_raw_a":-202.669998,"cg_iu_a":173.465515,"cg_iv_a":-2.14170837,"cg_iw_a":-171.323807,"cg_sample_age_us":24.0163631,"cg_sample_seq":13081166,"cg_sample_valid":1,"cg_theta_rad":3.66227317,"cg_vd_req_v":-1.86070681,"cg_vd_v":-1.86070681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38630772,"cg_vq_v":-8.38630772,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.0125866,"dclink_p_w":-2317.41602,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2343.346924,"values":{"Elec_RPM":-2351.86621,"EncoderCos":11407,"EncoderSin":32383,"GapTicks":49524,"Mech_RPM":-470.37323,"cg_du":45.0226173,"cg_dv":47.5041618,"cg_dw":54.9773827,"cg_id_a":5.12745237,"cg_id_raw_a":-0.780621052,"cg_iq_a":-198.728165,"cg_iq_raw_a":-197.773438,"cg_iu_a":-65.743782,"cg_iv_a":-132.039612,"cg_iw_a":197.783386,"cg_sample_age_us":23.9290905,"cg_sample_seq":13082966,"cg_sample_valid":1,"cg_theta_rad":3.16146541,"cg_vd_req_v":-2.0216887,"cg_vd_v":-2.0216887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39306831,"cg_vq_v":-8.39306831,"cg_vu_v":34.7515144,"cg_vv_v":32.1121559,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2354.56079,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2343.675049,"values":{"Elec_RPM":-2353.01538,"EncoderCos":34604,"EncoderSin":11549,"GapTicks":49426,"Mech_RPM":-470.603088,"cg_du":55.0665588,"cg_dv":44.9334412,"cg_dw":48.4391785,"cg_id_a":-2.48691845,"cg_id_raw_a":-10.4301014,"cg_iq_a":-197.524918,"cg_iq_raw_a":-196.619675,"cg_iu_a":197.85762,"cg_iv_a":-93.5124283,"cg_iw_a":-104.345192,"cg_sample_age_us":24.0854549,"cg_sample_seq":13084567,"cg_sample_valid":1,"cg_theta_rad":4.81382704,"cg_vd_req_v":-1.9030093,"cg_vd_v":-1.9030093,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38659286,"cg_vq_v":-8.38659286,"cg_vu_v":143.404984,"cg_vv_v":139.885834,"cg_vw_v":134.607132,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2343.971579,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2343.971585,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2343.97159,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2344.030518,"values":{"Elec_RPM":-2355.90234,"EncoderCos":24523,"EncoderSin":13120,"GapTicks":49458,"Mech_RPM":-471.180481,"cg_du":44.9618416,"cg_dv":51.1809425,"cg_dw":55.0381584,"cg_id_a":-15.0323811,"cg_id_raw_a":-11.6145935,"cg_iq_a":-199.442581,"cg_iq_raw_a":-201.247467,"cg_iu_a":-150.15567,"cg_iv_a":-34.4349823,"cg_iw_a":184.590652,"cg_sample_age_us":23.8999996,"cg_sample_seq":13086366,"cg_sample_valid":1,"cg_theta_rad":4.34016705,"cg_vd_req_v":-1.60790145,"cg_vd_v":-1.60790145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36896133,"cg_vq_v":-8.36896133,"cg_vu_v":102.494972,"cg_vv_v":100.295509,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2462.30664,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2344.362549,"values":{"Elec_RPM":-2353.66357,"EncoderCos":52670,"EncoderSin":25939,"GapTicks":49663,"Mech_RPM":-470.732697,"cg_du":54.851223,"cg_dv":45.148777,"cg_dw":53.019207,"cg_id_a":-1.07101214,"cg_id_raw_a":7.16727448,"cg_iq_a":-200.706512,"cg_iq_raw_a":-202.81517,"cg_iu_a":172.523193,"cg_iv_a":-171.58165,"cg_iw_a":-0.941543579,"cg_sample_age_us":24.2345448,"cg_sample_seq":13087967,"cg_sample_valid":1,"cg_theta_rad":5.97208023,"cg_vd_req_v":-1.94157231,"cg_vd_v":-1.94157231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39287376,"cg_vq_v":-8.39287376,"cg_vu_v":106.893898,"cg_vv_v":93.2572174,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.5653038,"dclink_p_w":-2397.40796,"enc_isr_hz":4997,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2344.714111,"values":{"Elec_RPM":-2349.08911,"EncoderCos":47135,"EncoderSin":17261,"GapTicks":49539,"Mech_RPM":-469.817841,"cg_du":45.0360641,"cg_dv":54.9639359,"cg_dw":52.7814064,"cg_id_a":9.04134369,"cg_id_raw_a":8.08949757,"cg_iq_a":-199.12236,"cg_iq_raw_a":-199.253342,"cg_iu_a":-193.829498,"cg_iv_a":51.8978424,"cg_iw_a":141.931656,"cg_sample_age_us":23.8163643,"cg_sample_seq":13089766,"cg_sample_valid":1,"cg_theta_rad":5.48005581,"cg_vd_req_v":-2.2247231,"cg_vd_v":-2.2247231,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40266514,"cg_vq_v":-8.40266514,"cg_vu_v":38.7105446,"cg_vv_v":55.4264603,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.2916641,"dclink_p_w":-2357.80542,"enc_isr_hz":4997,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2344.99521,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2344.995216,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2344.995221,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2345.046143,"values":{"Elec_RPM":-2355.42236,"EncoderCos":46935,"EncoderSin":48590,"GapTicks":49412,"Mech_RPM":-471.084473,"cg_du":51.7493515,"cg_dv":44.9200172,"cg_dw":55.0799828,"cg_id_a":7.11311245,"cg_id_raw_a":1.81151414,"cg_iq_a":-199.574554,"cg_iq_raw_a":-198.63797,"cg_iu_a":118.846069,"cg_iv_a":-198.800766,"cg_iw_a":79.9546967,"cg_sample_age_us":23.6381817,"cg_sample_seq":13091367,"cg_sample_valid":1,"cg_theta_rad":0.842982233,"cg_vd_req_v":-2.10518146,"cg_vd_v":-2.10518146,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36846161,"cg_vq_v":-8.36846161,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2392.99731,"enc_isr_hz":4997,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5744019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2345.378174,"values":{"Elec_RPM":-2355.24292,"EncoderCos":36231,"EncoderSin":53643,"GapTicks":49309,"Mech_RPM":-471.048584,"cg_du":50.7442398,"cg_dv":55.173542,"cg_dw":44.826458,"cg_id_a":-10.0097713,"cg_id_raw_a":-10.0866117,"cg_iq_a":-195.807022,"cg_iq_raw_a":-195.913528,"cg_iu_a":-52.1160965,"cg_iv_a":191.545319,"cg_iw_a":-147.511597,"cg_sample_age_us":23.8963642,"cg_sample_seq":13093068,"cg_sample_valid":1,"cg_theta_rad":1.41487896,"cg_vd_req_v":-1.70159841,"cg_vd_v":-1.70159841,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48005676,"cg_vq_v":-8.48005676,"cg_vu_v":117.451309,"cg_vv_v":142.965088,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-16.423954,"dclink_p_w":-2369.72632,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2345.733643,"values":{"Elec_RPM":-2359.99268,"EncoderCos":24032,"EncoderSin":52287,"GapTicks":49671,"Mech_RPM":-471.998535,"cg_du":47.2703133,"cg_dv":45.1563454,"cg_dw":54.8436546,"cg_id_a":-3.12522936,"cg_id_raw_a":4.85262775,"cg_iq_a":-202.994461,"cg_iq_raw_a":-203.377579,"cg_iu_a":0.292484045,"cg_iv_a":-174.589874,"cg_iw_a":174.297394,"cg_sample_age_us":23.8963642,"cg_sample_seq":13094767,"cg_sample_valid":1,"cg_theta_rad":1.99314439,"cg_vd_req_v":-1.79517317,"cg_vd_v":-1.79517317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32064152,"cg_vq_v":-8.32064152,"cg_vu_v":113.932175,"cg_vv_v":115.69175,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.3279076,"dclink_p_w":-2355.86816,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2345.98679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2345.986796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2345.986801,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2346.065674,"values":{"Elec_RPM":-2364.30371,"EncoderCos":14760,"EncoderSin":44192,"GapTicks":50006,"Mech_RPM":-472.860748,"cg_du":54.5390968,"cg_dv":54.069561,"cg_dw":45.4609032,"cg_id_a":13.7529917,"cg_id_raw_a":14.105257,"cg_iq_a":-204.319641,"cg_iq_raw_a":-205.1707,"cg_iu_a":20.1541061,"cg_iv_a":165.884705,"cg_iw_a":-186.038803,"cg_sample_age_us":23.8563633,"cg_sample_seq":13096467,"cg_sample_valid":1,"cg_theta_rad":2.57975197,"cg_vd_req_v":-2.15062118,"cg_vd_v":-2.15062118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26624584,"cg_vq_v":-8.26624584,"cg_vu_v":105.574219,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1053371,"dclink_p_w":-2468.03955,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2346.397705,"values":{"Elec_RPM":-2364.87646,"EncoderCos":11429,"EncoderSin":32763,"GapTicks":49426,"Mech_RPM":-472.975311,"cg_du":44.9336319,"cg_dv":48.1606979,"cg_dw":55.0663681,"cg_id_a":-0.790938854,"cg_id_raw_a":-5.90691948,"cg_iq_a":-198.189041,"cg_iq_raw_a":-198.047394,"cg_iu_a":-72.7750854,"cg_iv_a":-126.168121,"cg_iw_a":198.943207,"cg_sample_age_us":23.954546,"cg_sample_seq":13098167,"cg_sample_valid":1,"cg_theta_rad":3.15639591,"cg_vd_req_v":-1.89723766,"cg_vd_v":-1.89723766,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41300774,"cg_vq_v":-8.41300774,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.4783192,"dclink_p_w":-2377.57031,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2346.749268,"values":{"Elec_RPM":-2356.67529,"EncoderCos":14869,"EncoderSin":21018,"GapTicks":49312,"Mech_RPM":-471.335052,"cg_du":55.1703491,"cg_dv":50.0266571,"cg_dw":44.8296509,"cg_id_a":-7.41021729,"cg_id_raw_a":-12.3356333,"cg_iq_a":-195.850601,"cg_iq_raw_a":-192.609329,"cg_iu_a":127.508347,"cg_iv_a":64.9818573,"cg_iw_a":-192.490204,"cg_sample_age_us":24.0200005,"cg_sample_seq":13099867,"cg_sample_valid":1,"cg_theta_rad":3.73113847,"cg_vd_req_v":-1.76018929,"cg_vd_v":-1.76018929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45920944,"cg_vq_v":-8.45920944,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-15.6265888,"dclink_p_w":-2254.67871,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2347.010811,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2347.010817,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2347.010822,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2347.081299,"values":{"Elec_RPM":-2353.02905,"EncoderCos":24156,"EncoderSin":13260,"GapTicks":49552,"Mech_RPM":-470.605804,"cg_du":45.0475311,"cg_dv":52.1611252,"cg_dw":54.9524689,"cg_id_a":-6.38087082,"cg_id_raw_a":-5.00718117,"cg_iq_a":-199.815796,"cg_iq_raw_a":-198.81601,"cg_iu_a":-165.269348,"cg_iv_a":-12.5437012,"cg_iw_a":177.813049,"cg_sample_age_us":23.9654541,"cg_sample_seq":13101567,"cg_sample_valid":1,"cg_theta_rad":4.30747986,"cg_vd_req_v":-1.77279592,"cg_vd_v":-1.77279592,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34872437,"cg_vq_v":-8.34872437,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.050642,"dclink_p_w":-2322.92358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2347.432861,"values":{"Elec_RPM":-2350.31885,"EncoderCos":35320,"EncoderSin":11670,"GapTicks":49640,"Mech_RPM":-470.063751,"cg_du":54.8725624,"cg_dv":45.1274376,"cg_dw":47.2689056,"cg_id_a":11.5175686,"cg_id_raw_a":11.543004,"cg_iq_a":-203.880966,"cg_iq_raw_a":-204.21759,"cg_iu_a":182.707703,"cg_iv_a":-15.2982483,"cg_iw_a":-167.409454,"cg_sample_age_us":23.9581814,"cg_sample_seq":13103270,"cg_sample_valid":1,"cg_theta_rad":4.89022827,"cg_vd_req_v":-2.18187213,"cg_vd_v":-2.18187213,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27567291,"cg_vq_v":-8.27567291,"cg_vu_v":40.9100075,"cg_vv_v":40.0302238,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.3315315,"dclink_p_w":-2363.5752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5851746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2347.764893,"values":{"Elec_RPM":-2350.9624,"EncoderCos":36849,"EncoderSin":11869,"GapTicks":49645,"Mech_RPM":-470.192505,"cg_du":54.867939,"cg_dv":47.0881996,"cg_dw":45.132061,"cg_id_a":-1.98819947,"cg_id_raw_a":3.72554851,"cg_iq_a":-200.005615,"cg_iq_raw_a":-200.170609,"cg_iu_a":171.762054,"cg_iv_a":-0.691955566,"cg_iw_a":-171.070099,"cg_sample_age_us":23.9981823,"cg_sample_seq":13105017,"cg_sample_valid":1,"cg_theta_rad":4.92249584,"cg_vd_req_v":-1.87650347,"cg_vd_v":-1.87650347,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37256813,"cg_vq_v":-8.37256813,"cg_vu_v":106.014107,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0292263,"dclink_p_w":-2464.54883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2348.003491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2348.003497,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2348.003502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2348.120361,"values":{"Elec_RPM":-2347.29321,"EncoderCos":47580,"EncoderSin":17679,"GapTicks":49851,"Mech_RPM":-469.458649,"cg_du":45.3195381,"cg_dv":54.6804619,"cg_dw":53.9178696,"cg_id_a":12.6706381,"cg_id_raw_a":9.66164398,"cg_iq_a":-199.204712,"cg_iq_raw_a":-196.875366,"cg_iu_a":-183.789948,"cg_iv_a":21.3442841,"cg_iw_a":162.445663,"cg_sample_age_us":23.8381824,"cg_sample_seq":13106717,"cg_sample_valid":1,"cg_theta_rad":5.50649309,"cg_vd_req_v":-2.28094172,"cg_vd_v":-2.28094172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38243198,"cg_vq_v":-8.38243198,"cg_vu_v":113.932175,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.6508083,"dclink_p_w":-2554.50708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2348.66333,"values":{"Elec_RPM":-2348.97266,"EncoderCos":13938,"EncoderSin":42844,"GapTicks":49368,"Mech_RPM":-469.794556,"cg_du":51.2667236,"cg_dv":55.1197128,"cg_dw":44.8802872,"cg_id_a":-8.33425999,"cg_id_raw_a":-7.24448586,"cg_iq_a":-194.111725,"cg_iq_raw_a":-193.860474,"cg_iu_a":-93.8327484,"cg_iv_a":197.163132,"cg_iw_a":-117.682938,"cg_sample_age_us":23.8090916,"cg_sample_seq":13109321,"cg_sample_valid":1,"cg_theta_rad":2.70473862,"cg_vd_req_v":-1.70322049,"cg_vd_v":-1.70322049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47309971,"cg_vq_v":-8.47309971,"cg_vu_v":38.2706528,"cg_vv_v":51.9073219,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-16.9132462,"dclink_p_w":-2440.32373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5869751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2348.866695,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2348.866706,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2348.866709,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2348.994774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2348.99478,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2348.994785,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2349.093018,"values":{"Elec_RPM":-2344.95386,"EncoderCos":14745,"EncoderSin":44189,"GapTicks":49976,"Mech_RPM":-468.990784,"cg_du":54.5668335,"cg_dv":54.069973,"cg_dw":45.4331665,"cg_id_a":15.7173367,"cg_id_raw_a":18.4622726,"cg_iq_a":-204.474823,"cg_iq_raw_a":-204.521133,"cg_iu_a":13.3765087,"cg_iv_a":167.58815,"cg_iw_a":-180.964661,"cg_sample_age_us":23.8818188,"cg_sample_seq":13111666,"cg_sample_valid":1,"cg_theta_rad":2.58690858,"cg_vd_req_v":-2.2006669,"cg_vd_v":-2.2006669,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26888275,"cg_vq_v":-8.26888275,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2379.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2349.425049,"values":{"Elec_RPM":-2343.68506,"EncoderCos":14445,"EncoderSin":21702,"GapTicks":49382,"Mech_RPM":-468.73703,"cg_du":55.1063805,"cg_dv":48.4516411,"cg_dw":44.8936195,"cg_id_a":-12.1852551,"cg_id_raw_a":-9.07900429,"cg_iq_a":-195.635086,"cg_iq_raw_a":-197.953079,"cg_iu_a":163.462219,"cg_iv_a":9.67378235,"cg_iw_a":-173.136002,"cg_sample_age_us":23.9254551,"cg_sample_seq":13113316,"cg_sample_valid":1,"cg_theta_rad":3.68297672,"cg_vd_req_v":-1.65244317,"cg_vd_v":-1.65244317,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47735214,"cg_vq_v":-8.47735214,"cg_vu_v":29.4728031,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2455.99292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2349.776611,"values":{"Elec_RPM":-2344.71484,"EncoderCos":14918,"EncoderSin":20930,"GapTicks":49367,"Mech_RPM":-468.942993,"cg_du":55.1200256,"cg_dv":50.2322655,"cg_dw":44.8799744,"cg_id_a":-7.8918457,"cg_id_raw_a":-10.4824867,"cg_iq_a":-198.037201,"cg_iq_raw_a":-198.910156,"cg_iu_a":127.109657,"cg_iv_a":71.5782394,"cg_iw_a":-198.687897,"cg_sample_age_us":23.9690914,"cg_sample_seq":13115066,"cg_sample_valid":1,"cg_theta_rad":3.73416829,"cg_vd_req_v":-1.75582635,"cg_vd_v":-1.75582635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40374374,"cg_vq_v":-8.40374374,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2349.986743,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2349.986749,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2349.986754,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2350.108643,"values":{"Elec_RPM":-2351.85303,"EncoderCos":35210,"EncoderSin":11599,"GapTicks":49567,"Mech_RPM":-470.370605,"cg_du":54.9390411,"cg_dv":45.0609589,"cg_dw":47.5191727,"cg_id_a":12.4753904,"cg_id_raw_a":12.1416235,"cg_iq_a":-203.08313,"cg_iq_raw_a":-202.317307,"cg_iu_a":198.981171,"cg_iv_a":-53.7529297,"cg_iw_a":-145.228241,"cg_sample_age_us":24.0927277,"cg_sample_seq":13116716,"cg_sample_valid":1,"cg_theta_rad":4.84423685,"cg_vd_req_v":-2.2069993,"cg_vd_v":-2.2069993,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27861691,"cg_vq_v":-8.27861691,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2350.464111,"values":{"Elec_RPM":-2352.74927,"EncoderCos":45810,"EncoderSin":16058,"GapTicks":49327,"Mech_RPM":-470.549866,"cg_du":44.8432655,"cg_dv":55.1567345,"cg_dw":49.551651,"cg_id_a":-15.0030909,"cg_id_raw_a":-16.907114,"cg_iq_a":-196.920944,"cg_iq_raw_a":-198.604889,"cg_iu_a":-197.236404,"cg_iv_a":113.657326,"cg_iw_a":83.5790787,"cg_sample_age_us":23.9509087,"cg_sample_seq":13118419,"cg_sample_valid":1,"cg_theta_rad":5.42301989,"cg_vd_req_v":-1.71009028,"cg_vd_v":-1.71009028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45729351,"cg_vq_v":-8.45729351,"cg_vu_v":1.31967759,"cg_vv_v":13.6366701,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0763416,"dclink_p_w":-2471.36768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2350.796143,"values":{"Elec_RPM":-2360.09229,"EncoderCos":52918,"EncoderSin":26566,"GapTicks":49363,"Mech_RPM":-472.018433,"cg_du":55.1243248,"cg_dv":44.8756752,"cg_dw":51.3713036,"cg_id_a":-14.2397585,"cg_id_raw_a":-14.0044212,"cg_iq_a":-193.21376,"cg_iq_raw_a":-194.211594,"cg_iu_a":176.147552,"cg_iv_a":-159.838623,"cg_iw_a":-14.7142029,"cg_sample_age_us":24.1436367,"cg_sample_seq":13120117,"cg_sample_valid":1,"cg_theta_rad":5.99839163,"cg_vd_req_v":-1.66916275,"cg_vd_v":-1.66916275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50276661,"cg_vq_v":-8.50276661,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2526.18213,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2350.978668,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2350.978675,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2350.97868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2351.128174,"values":{"Elec_RPM":-2357.89453,"EncoderCos":52854,"EncoderSin":38775,"GapTicks":49919,"Mech_RPM":-471.578888,"cg_du":45.3814468,"cg_dv":54.6185532,"cg_dw":46.250721,"cg_id_a":7.52697325,"cg_id_raw_a":13.4882069,"cg_iq_a":-205.244919,"cg_iq_raw_a":-206.083298,"cg_iu_a":-173.098022,"cg_iv_a":182.55687,"cg_iw_a":-9.45884705,"cg_sample_age_us":23.4599991,"cg_sample_seq":13121816,"cg_sample_valid":1,"cg_theta_rad":0.291582972,"cg_vd_req_v":-2.13093257,"cg_vd_v":-2.13093257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25323677,"cg_vq_v":-8.25323677,"cg_vu_v":38.7105446,"cg_vv_v":59.825386,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2485.81958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2351.479736,"values":{"Elec_RPM":-2356.26367,"EncoderCos":52724,"EncoderSin":39372,"GapTicks":49533,"Mech_RPM":-471.252747,"cg_du":45.0302353,"cg_dv":54.9697647,"cg_dw":47.6689911,"cg_id_a":-4.65826035,"cg_id_raw_a":0.538034737,"cg_iq_a":-200.880264,"cg_iq_raw_a":-202.161011,"cg_iu_a":-179.730637,"cg_iv_a":166.355865,"cg_iw_a":13.3747635,"cg_sample_age_us":23.550909,"cg_sample_seq":13123567,"cg_sample_valid":1,"cg_theta_rad":0.32743299,"cg_vd_req_v":-1.89024901,"cg_vd_v":-1.89024901,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36727715,"cg_vq_v":-8.36727715,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2457.46753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2351.811768,"values":{"Elec_RPM":-2353.02759,"EncoderCos":45708,"EncoderSin":49558,"GapTicks":49998,"Mech_RPM":-470.60553,"cg_du":54.5463715,"cg_dv":45.4536285,"cg_dw":54.2198715,"cg_id_a":11.7248507,"cg_id_raw_a":16.5759239,"cg_iq_a":-203.285278,"cg_iq_raw_a":-203.286728,"cg_iu_a":171.979523,"cg_iv_a":-180.49762,"cg_iw_a":8.51809692,"cg_sample_age_us":23.9872723,"cg_sample_seq":13125266,"cg_sample_valid":1,"cg_theta_rad":0.918384075,"cg_vd_req_v":-2.15843201,"cg_vd_v":-2.15843201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34515858,"cg_vq_v":-8.34515858,"cg_vu_v":30.7924805,"cg_vv_v":1.31967759,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.4206581,"dclink_p_w":-2521.19873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2352.003174,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2352.003179,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2352.003185,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2352.143799,"values":{"Elec_RPM":-2351.87842,"EncoderCos":34516,"EncoderSin":53848,"GapTicks":49546,"Mech_RPM":-470.375671,"cg_du":47.6284409,"cg_dv":54.9576111,"cg_dw":45.0423889,"cg_id_a":12.1073847,"cg_id_raw_a":9.59294415,"cg_iq_a":-202.028702,"cg_iq_raw_a":-201.793884,"cg_iu_a":-139.137543,"cg_iv_a":198.721619,"cg_iw_a":-70.7471695,"cg_sample_age_us":23.8999996,"cg_sample_seq":13126967,"cg_sample_valid":1,"cg_theta_rad":1.48775113,"cg_vd_req_v":-2.15170193,"cg_vd_v":-2.15170193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3213253,"cg_vq_v":-8.3213253,"cg_vu_v":125.809273,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.4583855,"dclink_p_w":-2374.69409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2352.495361,"values":{"Elec_RPM":-2348.75244,"EncoderCos":11377,"EncoderSin":32821,"GapTicks":49426,"Mech_RPM":-469.750488,"cg_du":44.9333992,"cg_dv":48.2433434,"cg_dw":55.0666008,"cg_id_a":-2.56515408,"cg_id_raw_a":-8.68532658,"cg_iq_a":-198.255402,"cg_iq_raw_a":-199.824387,"cg_iu_a":-89.6284637,"cg_iv_a":-95.1434021,"cg_iw_a":196.442383,"cg_sample_age_us":23.9509087,"cg_sample_seq":13128566,"cg_sample_valid":1,"cg_theta_rad":3.14143038,"cg_vd_req_v":-1.86575818,"cg_vd_v":-1.86575818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43097305,"cg_vq_v":-8.43097305,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9603615,"dclink_p_w":-2462.04321,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2352.831299,"values":{"Elec_RPM":-2352.78589,"EncoderCos":13939,"EncoderSin":42900,"GapTicks":49345,"Mech_RPM":-470.55719,"cg_du":51.3809853,"cg_dv":55.1401978,"cg_dw":44.8598022,"cg_id_a":-8.42458153,"cg_id_raw_a":-6.7553277,"cg_iq_a":-195.08638,"cg_iq_raw_a":-196.62709,"cg_iu_a":-28.9925327,"cg_iv_a":182.339401,"cg_iw_a":-153.346863,"cg_sample_age_us":23.8490906,"cg_sample_seq":13130366,"cg_sample_valid":1,"cg_theta_rad":2.64909506,"cg_vd_req_v":-1.71004248,"cg_vd_v":-1.71004248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49588394,"cg_vq_v":-8.49588394,"cg_vu_v":1.31967759,"cg_vv_v":5.71860361,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.9349918,"dclink_p_w":-2443.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2352.994816,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2352.994822,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2352.994828,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2353.16333,"values":{"Elec_RPM":-2354.63574,"EncoderCos":24014,"EncoderSin":13284,"GapTicks":49631,"Mech_RPM":-470.927124,"cg_du":45.1199837,"cg_dv":52.4367332,"cg_dw":54.8800163,"cg_id_a":-6.42249823,"cg_id_raw_a":1.01307809,"cg_iq_a":-201.955566,"cg_iq_raw_a":-203.490906,"cg_iu_a":-171.575775,"cg_iv_a":-7.57829285,"cg_iw_a":179.154068,"cg_sample_age_us":23.954546,"cg_sample_seq":13131966,"cg_sample_valid":1,"cg_theta_rad":4.30177116,"cg_vd_req_v":-1.76982009,"cg_vd_v":-1.76982009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30072212,"cg_vq_v":-8.30072212,"cg_vu_v":13.1967773,"cg_vv_v":16.2760258,"cg_vw_v":9.67763615,"control_outputs_enabled":1,"dclink_i_a":-16.2372971,"dclink_p_w":-2349.93726,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5815735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2353.514893,"values":{"Elec_RPM":-2355.72925,"EncoderCos":15834,"EncoderSin":19588,"GapTicks":49755,"Mech_RPM":-471.145844,"cg_du":54.7677155,"cg_dv":53.1323547,"cg_dw":45.2322845,"cg_id_a":11.0082054,"cg_id_raw_a":7.9010191,"cg_iq_a":-204.213623,"cg_iq_raw_a":-204.499359,"cg_iu_a":48.134346,"cg_iv_a":150.118622,"cg_iw_a":-198.25296,"cg_sample_age_us":23.9690914,"cg_sample_seq":13133766,"cg_sample_valid":1,"cg_theta_rad":3.80991292,"cg_vd_req_v":-2.11764789,"cg_vd_v":-2.11764789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25411129,"cg_vq_v":-8.25411129,"cg_vu_v":1.75957024,"cg_vv_v":5.27871037,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5399342,"dclink_p_w":-2393.73633,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2353.846924,"values":{"Elec_RPM":-2355.87549,"EncoderCos":36785,"EncoderSin":11865,"GapTicks":49673,"Mech_RPM":-471.175079,"cg_du":54.8420525,"cg_dv":46.9583397,"cg_dw":45.1579475,"cg_id_a":-1.63962293,"cg_id_raw_a":3.6219306,"cg_iq_a":-199.431778,"cg_iq_raw_a":-202.023026,"cg_iu_a":174.081665,"cg_iv_a":-2.50415039,"cg_iw_a":-171.577515,"cg_sample_age_us":23.9799995,"cg_sample_seq":13135416,"cg_sample_valid":1,"cg_theta_rad":4.91903591,"cg_vd_req_v":-1.88450384,"cg_vd_v":-1.88450384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39863777,"cg_vq_v":-8.39863777,"cg_vu_v":50.5876465,"cg_vv_v":49.2679672,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-15.6592083,"dclink_p_w":-2266.27344,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2353.987224,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2353.98723,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2353.987235,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2354.182861,"values":{"Elec_RPM":-2353.63989,"EncoderCos":53144,"EncoderSin":27472,"GapTicks":49364,"Mech_RPM":-470.727997,"cg_du":55.1227341,"cg_dv":44.8772659,"cg_dw":49.4509506,"cg_id_a":-14.8906298,"cg_id_raw_a":-17.2471218,"cg_iq_a":-196.526672,"cg_iq_raw_a":-195.96225,"cg_iu_a":195.574265,"cg_iv_a":-124.392166,"cg_iw_a":-71.1820984,"cg_sample_age_us":24.0345459,"cg_sample_seq":13137066,"cg_sample_valid":1,"cg_theta_rad":6.04464912,"cg_vd_req_v":-1.6919924,"cg_vd_v":-1.6919924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40861511,"cg_vq_v":-8.40861511,"cg_vu_v":143.404984,"cg_vv_v":129.328415,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2546.63892,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2354.534424,"values":{"Elec_RPM":-2349.33301,"EncoderCos":53343,"EncoderSin":28445,"GapTicks":49443,"Mech_RPM":-469.866608,"cg_du":55.050972,"cg_dv":44.949028,"cg_dw":48.2600555,"cg_id_a":5.0367322,"cg_id_raw_a":4.39505434,"cg_iq_a":-199.625092,"cg_iq_raw_a":-198.796631,"cg_iu_a":200.467178,"cg_iv_a":-78.8699188,"cg_iw_a":-121.59726,"cg_sample_age_us":24.0345459,"cg_sample_seq":13138816,"cg_sample_valid":1,"cg_theta_rad":6.08192062,"cg_vd_req_v":-2.10527039,"cg_vd_v":-2.10527039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34471416,"cg_vq_v":-8.34471416,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-16.8298836,"dclink_p_w":-2435.69922,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2354.866455,"values":{"Elec_RPM":-2353.68726,"EncoderCos":52383,"EncoderSin":40293,"GapTicks":49298,"Mech_RPM":-470.737457,"cg_du":44.8169708,"cg_dv":55.1830292,"cg_dw":49.8076439,"cg_id_a":-9.81673813,"cg_id_raw_a":-10.6212883,"cg_iq_a":-197.435959,"cg_iq_raw_a":-198.0513,"cg_iu_a":-194.191925,"cg_iv_a":132.649094,"cg_iw_a":61.5428314,"cg_sample_age_us":23.5290909,"cg_sample_seq":13140516,"cg_sample_valid":1,"cg_theta_rad":0.373504788,"cg_vd_req_v":-1.80348349,"cg_vd_v":-1.80348349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44681549,"cg_vq_v":-8.44681549,"cg_vu_v":39.590332,"cg_vv_v":71.2625961,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.2883682,"dclink_p_w":-2502.05322,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2354.979383,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2354.97939,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2354.979396,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2355.218018,"values":{"Elec_RPM":-2355.29028,"EncoderCos":45275,"EncoderSin":49881,"GapTicks":49646,"Mech_RPM":-471.058044,"cg_du":54.8665581,"cg_dv":45.1334419,"cg_dw":52.9145699,"cg_id_a":-1.33115697,"cg_id_raw_a":6.09197903,"cg_iq_a":-199.498871,"cg_iq_raw_a":-201.466888,"cg_iu_a":170.747223,"cg_iv_a":-170.494324,"cg_iw_a":-0.252906799,"cg_sample_age_us":23.9763641,"cg_sample_seq":13142217,"cg_sample_valid":1,"cg_theta_rad":0.945835173,"cg_vd_req_v":-1.88176477,"cg_vd_v":-1.88176477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39685631,"cg_vq_v":-8.39685631,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0690937,"dclink_p_w":-2470.3186,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2355.550049,"values":{"Elec_RPM":-2352.47998,"EncoderCos":33838,"EncoderSin":53934,"GapTicks":49872,"Mech_RPM":-470.496002,"cg_du":46.3697433,"cg_dv":54.6615143,"cg_dw":45.3384857,"cg_id_a":15.2740908,"cg_id_raw_a":14.7383327,"cg_iq_a":-205.965469,"cg_iq_raw_a":-205.406448,"cg_iu_a":-163.384674,"cg_iv_a":192.125244,"cg_iw_a":-28.7405701,"cg_sample_age_us":23.8963642,"cg_sample_seq":13143917,"cg_sample_valid":1,"cg_theta_rad":1.52236557,"cg_vd_req_v":-2.1956501,"cg_vd_v":-2.1956501,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22733116,"cg_vq_v":-8.22733116,"cg_vu_v":105.574219,"cg_vv_v":110.413033,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.1488304,"dclink_p_w":-2481.85864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2355.88208,"values":{"Elec_RPM":-2348.65674,"EncoderCos":22211,"EncoderSin":51334,"GapTicks":49400,"Mech_RPM":-469.731323,"cg_du":51.4201279,"cg_dv":44.9099731,"cg_dw":55.0900269,"cg_id_a":-3.26411247,"cg_id_raw_a":-8.06549549,"cg_iq_a":-200.118347,"cg_iq_raw_a":-199.991974,"cg_iu_a":102.06517,"cg_iv_a":-200.10553,"cg_iw_a":98.0403671,"cg_sample_age_us":23.692728,"cg_sample_seq":13145617,"cg_sample_valid":1,"cg_theta_rad":2.08784032,"cg_vd_req_v":-1.87381756,"cg_vd_v":-1.87381756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38271332,"cg_vq_v":-8.38271332,"cg_vu_v":106.453995,"cg_vv_v":98.9758301,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2479.7605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2600,"hz_tim_isr":4999,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0037766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2356.003516,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2356.003521,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2356.003527,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2356.233643,"values":{"Elec_RPM":-2350.39868,"EncoderCos":13611,"EncoderSin":42152,"GapTicks":49335,"Mech_RPM":-470.079742,"cg_du":49.625679,"cg_dv":55.14925,"cg_dw":44.85075,"cg_id_a":-11.3433609,"cg_id_raw_a":-14.5645685,"cg_iq_a":-196.381073,"cg_iq_raw_a":-194.101898,"cg_iu_a":-54.1095123,"cg_iv_a":191.436615,"cg_iw_a":-137.327103,"cg_sample_age_us":23.7872734,"cg_sample_seq":13147316,"cg_sample_valid":1,"cg_theta_rad":2.67919755,"cg_vd_req_v":-1.6624254,"cg_vd_v":-1.6624254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4507103,"cg_vq_v":-8.4507103,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2401.07983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2356.56958,"values":{"Elec_RPM":-2351.03784,"EncoderCos":13233,"EncoderSin":41368,"GapTicks":49449,"Mech_RPM":-470.20755,"cg_du":48.2278099,"cg_dv":55.0457497,"cg_dw":44.9542503,"cg_id_a":7.44980288,"cg_id_raw_a":0.349428415,"cg_iq_a":-200.699829,"cg_iq_raw_a":-199.746826,"cg_iu_a":-122.21167,"cg_iv_a":200.678772,"cg_iw_a":-78.4671021,"cg_sample_age_us":23.9654541,"cg_sample_seq":13149066,"cg_sample_valid":1,"cg_theta_rad":2.72661066,"cg_vd_req_v":-2.05086231,"cg_vd_v":-2.05086231,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35574627,"cg_vq_v":-8.35574627,"cg_vu_v":40.0302238,"cg_vv_v":71.7024918,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.5819435,"dclink_p_w":-2544.54077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2356.897705,"values":{"Elec_RPM":-2348.95752,"EncoderCos":25208,"EncoderSin":12866,"GapTicks":49342,"Mech_RPM":-469.791504,"cg_du":44.8565369,"cg_dv":49.6952248,"cg_dw":55.1434631,"cg_id_a":-14.3398571,"cg_id_raw_a":-15.7146826,"cg_iq_a":-197.422211,"cg_iq_raw_a":-197.422897,"cg_iu_a":-129.532928,"cg_iv_a":-62.3427277,"cg_iw_a":191.875656,"cg_sample_age_us":23.9218178,"cg_sample_seq":13150667,"cg_sample_valid":1,"cg_theta_rad":4.36201239,"cg_vd_req_v":-1.6611985,"cg_vd_v":-1.6611985,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43850327,"cg_vq_v":-8.43850327,"cg_vu_v":93.6971207,"cg_vv_v":86.2189407,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2467.77808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2356.99497,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2356.994975,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2356.99498,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2357.253174,"values":{"Elec_RPM":-2346.42505,"EncoderCos":16580,"EncoderSin":18674,"GapTicks":49739,"Mech_RPM":-469.285004,"cg_du":53.3174057,"cg_dv":54.7826691,"cg_dw":45.2173309,"cg_id_a":1.18363774,"cg_id_raw_a":5.97601604,"cg_iq_a":-201.188202,"cg_iq_raw_a":-202.616638,"cg_iu_a":5.29413319,"cg_iv_a":168.566742,"cg_iw_a":-173.86087,"cg_sample_age_us":23.9909096,"cg_sample_seq":13152467,"cg_sample_valid":1,"cg_theta_rad":3.86566639,"cg_vd_req_v":-1.91334939,"cg_vd_v":-1.91334939,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36742115,"cg_vq_v":-8.36742115,"cg_vu_v":129.328415,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.6631622,"dclink_p_w":-2404.24023,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2357.585205,"values":{"Elec_RPM":-2350.93994,"EncoderCos":48020,"EncoderSin":18122,"GapTicks":49879,"Mech_RPM":-470.187988,"cg_du":45.3453064,"cg_dv":53.7134743,"cg_dw":54.6546936,"cg_id_a":4.68872786,"cg_id_raw_a":8.87200832,"cg_iq_a":-202.722137,"cg_iq_raw_a":-202.375427,"cg_iu_a":-179.803131,"cg_iv_a":5.36076355,"cg_iw_a":174.442368,"cg_sample_age_us":23.9218178,"cg_sample_seq":13154066,"cg_sample_valid":1,"cg_theta_rad":5.53727055,"cg_vd_req_v":-2.09115696,"cg_vd_v":-2.09115696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27803993,"cg_vq_v":-8.27803993,"cg_vu_v":118.770996,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2357.936768,"values":{"Elec_RPM":-2354.26953,"EncoderCos":48116,"EncoderSin":18292,"GapTicks":49790,"Mech_RPM":-470.853912,"cg_du":45.2637558,"cg_dv":53.2822609,"cg_dw":54.7362442,"cg_id_a":1.34497535,"cg_id_raw_a":3.09504914,"cg_iq_a":-203.572296,"cg_iq_raw_a":-203.881454,"cg_iu_a":-161.391266,"cg_iv_a":-24.322937,"cg_iw_a":185.714203,"cg_sample_age_us":23.9436359,"cg_sample_seq":13155819,"cg_sample_valid":1,"cg_theta_rad":5.57705498,"cg_vd_req_v":-2.03566337,"cg_vd_v":-2.03566337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27832699,"cg_vq_v":-8.27832699,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2369.27905,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2358.018976,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2358.018982,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2358.018987,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2358.385986,"values":{"Elec_RPM":-2349.1709,"EncoderCos":38302,"EncoderSin":53172,"GapTicks":49818,"Mech_RPM":-469.834198,"cg_du":54.7105446,"cg_dv":53.5039635,"cg_dw":45.2894554,"cg_id_a":13.3037071,"cg_id_raw_a":11.8738871,"cg_iq_a":-203.416931,"cg_iq_raw_a":-201.618591,"cg_iu_a":31.969595,"cg_iv_a":157.222427,"cg_iw_a":-189.192017,"cg_sample_age_us":23.9363632,"cg_sample_seq":13157967,"cg_sample_valid":1,"cg_theta_rad":1.3063978,"cg_vd_req_v":-2.17127848,"cg_vd_v":-2.17127848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28750515,"cg_vq_v":-8.28750515,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2375.11523,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2582,"hz_tim_isr":5002,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6390991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2358.882573,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2358.882584,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2358.882587,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2358.905518,"values":{"Elec_RPM":-2351.91016,"EncoderCos":33701,"EncoderSin":11541,"GapTicks":49337,"Mech_RPM":-470.382019,"cg_du":55.1477585,"cg_dv":44.8522415,"cg_dw":50.0257416,"cg_id_a":-16.7119827,"cg_id_raw_a":-19.0551109,"cg_iq_a":-196.757492,"cg_iq_raw_a":-195.197388,"cg_iu_a":191.007538,"cg_iv_a":-139.578339,"cg_iw_a":-51.4292068,"cg_sample_age_us":24.0890903,"cg_sample_seq":13160567,"cg_sample_valid":1,"cg_theta_rad":4.77117586,"cg_vd_req_v":-1.60952711,"cg_vd_v":-1.60952711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42411423,"cg_vq_v":-8.42411423,"cg_vu_v":140.765625,"cg_vv_v":121.850235,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.0995712,"dclink_p_w":-2322.92285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5002,"hz_app_loop":2582,"hz_tim_isr":5002,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5726013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2359.011243,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2359.011249,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2359.011254,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2359.264893,"values":{"Elec_RPM":-2355.01563,"EncoderCos":14997,"EncoderSin":20767,"GapTicks":49385,"Mech_RPM":-471.003113,"cg_du":55.1043968,"cg_dv":50.5338058,"cg_dw":44.8956032,"cg_id_a":-5.3969264,"cg_id_raw_a":-10.2321539,"cg_iq_a":-199.307587,"cg_iq_raw_a":-196.410828,"cg_iu_a":118.012451,"cg_iv_a":79.9143219,"cg_iw_a":-197.926773,"cg_sample_age_us":23.9618187,"cg_sample_seq":13162417,"cg_sample_valid":1,"cg_theta_rad":3.73962045,"cg_vd_req_v":-1.81247258,"cg_vd_v":-1.81247258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35125732,"cg_vq_v":-8.35125732,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":126.249161,"control_outputs_enabled":1,"dclink_i_a":-16.42033,"dclink_p_w":-2376.42651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2359.596924,"values":{"Elec_RPM":-2352.90479,"EncoderCos":15476,"EncoderSin":20104,"GapTicks":49523,"Mech_RPM":-470.580933,"cg_du":54.9788742,"cg_dv":51.9538918,"cg_dw":45.0211258,"cg_id_a":6.24731255,"cg_id_raw_a":1.3279295,"cg_iq_a":-204.925476,"cg_iq_raw_a":-204.230713,"cg_iu_a":76.6944885,"cg_iv_a":125.110382,"cg_iw_a":-201.804871,"cg_sample_age_us":23.9690914,"cg_sample_seq":13164167,"cg_sample_valid":1,"cg_theta_rad":3.77964783,"cg_vd_req_v":-2.05077195,"cg_vd_v":-2.05077195,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.25440216,"cg_vq_v":-8.25440216,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.2753544,"dclink_p_w":-2348.28564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2359.928955,"values":{"Elec_RPM":-2352.78174,"EncoderCos":25043,"EncoderSin":12892,"GapTicks":49361,"Mech_RPM":-470.556366,"cg_du":44.8740692,"cg_dv":50.0241737,"cg_dw":55.1259308,"cg_id_a":-15.0752058,"cg_id_raw_a":-14.4544897,"cg_iq_a":-199.187012,"cg_iq_raw_a":-199.096466,"cg_iu_a":-137.071655,"cg_iv_a":-54.8764954,"cg_iw_a":191.948151,"cg_sample_age_us":23.8999996,"cg_sample_seq":13165867,"cg_sample_valid":1,"cg_theta_rad":4.35669422,"cg_vd_req_v":-1.63832831,"cg_vd_v":-1.63832831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40802956,"cg_vq_v":-8.40802956,"cg_vu_v":98.0960464,"cg_vv_v":93.6971207,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2461.13916,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2360.00263,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2360.002636,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2360.002641,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2360.280518,"values":{"Elec_RPM":-2351.99854,"EncoderCos":37173,"EncoderSin":11919,"GapTicks":49503,"Mech_RPM":-470.399719,"cg_du":54.997261,"cg_dv":47.9626389,"cg_dw":45.002739,"cg_id_a":-11.8007927,"cg_id_raw_a":-6.73095703,"cg_iq_a":-196.736145,"cg_iq_raw_a":-196.676102,"cg_iu_a":165.999298,"cg_iv_a":5.94064331,"cg_iw_a":-171.251312,"cg_sample_age_us":24.0163631,"cg_sample_seq":13167567,"cg_sample_valid":1,"cg_theta_rad":4.93526459,"cg_vd_req_v":-1.67388046,"cg_vd_v":-1.67388046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41445541,"cg_vq_v":-8.41445541,"cg_vu_v":131.527878,"cg_vv_v":129.328415,"cg_vw_v":135.047012,"control_outputs_enabled":1,"dclink_i_a":-17.3681049,"dclink_p_w":-2513.59302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2360.612549,"values":{"Elec_RPM":-2355.66504,"EncoderCos":53200,"EncoderSin":27725,"GapTicks":49349,"Mech_RPM":-471.132996,"cg_du":55.1369705,"cg_dv":44.8630295,"cg_dw":49.0586662,"cg_id_a":-8.03634357,"cg_id_raw_a":-13.9185066,"cg_iq_a":-197.80069,"cg_iq_raw_a":-197.438248,"cg_iu_a":199.923523,"cg_iv_a":-96.6294022,"cg_iw_a":-103.294121,"cg_sample_age_us":24.045454,"cg_sample_seq":13169217,"cg_sample_valid":1,"cg_theta_rad":6.06693554,"cg_vd_req_v":-1.84366262,"cg_vd_v":-1.84366262,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40645218,"cg_vq_v":-8.40645218,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.487711,"dclink_p_w":-2523.21021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2360.964111,"values":{"Elec_RPM":-2352.29028,"EncoderCos":53205,"EncoderSin":27861,"GapTicks":49358,"Mech_RPM":-470.458038,"cg_du":55.1287079,"cg_dv":44.8712921,"cg_dw":48.8503227,"cg_id_a":-4.78939915,"cg_id_raw_a":-8.35898685,"cg_iq_a":-198.754105,"cg_iq_raw_a":-198.281662,"cg_iu_a":198.763718,"cg_iv_a":-48.8962708,"cg_iw_a":-149.867447,"cg_sample_age_us":24.0381813,"cg_sample_seq":13170970,"cg_sample_valid":1,"cg_theta_rad":6.10606527,"cg_vd_req_v":-1.91528034,"cg_vd_v":-1.91528034,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40040684,"cg_vq_v":-8.40040684,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2388.75317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2360.994876,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2360.994883,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2360.994888,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2361.300049,"values":{"Elec_RPM":-2360.63379,"EncoderCos":45477,"EncoderSin":49748,"GapTicks":49818,"Mech_RPM":-472.12674,"cg_du":54.7101402,"cg_dv":45.2898598,"cg_dw":53.5658379,"cg_id_a":8.21229458,"cg_id_raw_a":11.3645868,"cg_iq_a":-201.715668,"cg_iq_raw_a":-202.458633,"cg_iu_a":171.14592,"cg_iv_a":-175.314758,"cg_iw_a":4.16883087,"cg_sample_age_us":24.0163631,"cg_sample_seq":13172617,"cg_sample_valid":1,"cg_theta_rad":0.928509533,"cg_vd_req_v":-2.06631207,"cg_vd_v":-2.06631207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33810902,"cg_vq_v":-8.33810902,"cg_vu_v":143.404984,"cg_vv_v":139.006058,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1705761,"dclink_p_w":-2485.00562,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2361.63208,"values":{"Elec_RPM":-2360.9939,"EncoderCos":44805,"EncoderSin":50176,"GapTicks":49411,"Mech_RPM":-472.198761,"cg_du":55.0800171,"cg_dv":44.9199829,"cg_dw":51.5609741,"cg_id_a":-12.954771,"cg_id_raw_a":-10.502986,"cg_iq_a":-196.138016,"cg_iq_raw_a":-197.459793,"cg_iu_a":177.597321,"cg_iv_a":-160.092346,"cg_iw_a":-17.504982,"cg_sample_age_us":23.9145451,"cg_sample_seq":13174367,"cg_sample_valid":1,"cg_theta_rad":0.968099236,"cg_vd_req_v":-1.64718711,"cg_vd_v":-1.64718711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43645382,"cg_vq_v":-8.43645382,"cg_vu_v":143.404984,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2361.983643,"values":{"Elec_RPM":-2363.14355,"EncoderCos":23290,"EncoderSin":51912,"GapTicks":49408,"Mech_RPM":-472.628693,"cg_du":49.251564,"cg_dv":44.9169312,"cg_dw":55.0830688,"cg_id_a":-19.5480366,"cg_id_raw_a":-18.2949238,"cg_iq_a":-200.675522,"cg_iq_raw_a":-201.381927,"cg_iu_a":88.9811478,"cg_iv_a":-198.94574,"cg_iw_a":109.964584,"cg_sample_age_us":23.6527271,"cg_sample_seq":13176021,"cg_sample_valid":1,"cg_theta_rad":2.07436514,"cg_vd_req_v":-1.50171816,"cg_vd_v":-1.50171816,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39183235,"cg_vq_v":-8.39183235,"cg_vu_v":121.410347,"cg_vv_v":119.210884,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7012196,"dclink_p_w":-2409.73145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2594,"hz_tim_isr":5001,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2361.986896,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2361.986903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2361.986909,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2362.315674,"values":{"Elec_RPM":-2353.10156,"EncoderCos":32255,"EncoderSin":53958,"GapTicks":49548,"Mech_RPM":-470.6203,"cg_du":45.0436554,"cg_dv":54.9563446,"cg_dw":47.6245842,"cg_id_a":-7.20934105,"cg_id_raw_a":-2.84422588,"cg_iq_a":-199.947891,"cg_iq_raw_a":-202.165237,"cg_iu_a":-179.114487,"cg_iv_a":166.210892,"cg_iw_a":12.903595,"cg_sample_age_us":23.772728,"cg_sample_seq":13177816,"cg_sample_valid":1,"cg_theta_rad":1.58626568,"cg_vd_req_v":-1.72795296,"cg_vd_v":-1.72795296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37325287,"cg_vq_v":-8.4117775,"cg_vu_v":0.87978512,"cg_vv_v":21.9946289,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8461933,"dclink_p_w":-2430.64893,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2581,"hz_tim_isr":4997,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2362.647705,"values":{"Elec_RPM":-2354.78491,"EncoderCos":11532,"EncoderSin":30673,"GapTicks":49790,"Mech_RPM":-470.957001,"cg_du":47.0427551,"cg_dv":45.2638168,"cg_dw":54.7361832,"cg_id_a":-1.20874918,"cg_id_raw_a":6.43578672,"cg_iq_a":-207.196976,"cg_iq_raw_a":-208.45694,"cg_iu_a":-5.97769928,"cg_iv_a":-175.930908,"cg_iw_a":181.9086,"cg_sample_age_us":23.8381824,"cg_sample_seq":13179416,"cg_sample_valid":1,"cg_theta_rad":3.23488736,"cg_vd_req_v":-1.83925164,"cg_vd_v":-1.83925164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.20989132,"cg_vq_v":-8.20989132,"cg_vu_v":103.814644,"cg_vv_v":78.7407684,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2443.19971,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2581,"hz_tim_isr":4997,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2362.97943,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2362.979436,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2362.979441,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2363.003174,"values":{"Elec_RPM":-2355.98364,"EncoderCos":13016,"EncoderSin":40848,"GapTicks":49666,"Mech_RPM":-471.196747,"cg_du":47.2189102,"cg_dv":54.8482132,"cg_dw":45.1517868,"cg_id_a":12.7683601,"cg_id_raw_a":9.87741756,"cg_iq_a":-204.077988,"cg_iq_raw_a":-202.738495,"cg_iu_a":-147.074951,"cg_iv_a":198.57663,"cg_iw_a":-51.5016861,"cg_sample_age_us":23.9690914,"cg_sample_seq":13181216,"cg_sample_valid":1,"cg_theta_rad":2.75274634,"cg_vd_req_v":-2.13722539,"cg_vd_v":-2.13722539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26287651,"cg_vq_v":-8.26287651,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-17.6399345,"dclink_p_w":-2552.93335,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2581,"hz_tim_isr":4997,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2363.331299,"values":{"Elec_RPM":-2350.50684,"EncoderCos":25813,"EncoderSin":12514,"GapTicks":49352,"Mech_RPM":-470.101349,"cg_du":44.8659248,"cg_dv":48.5490723,"cg_dw":55.1340752,"cg_id_a":-2.10674191,"cg_id_raw_a":-2.4316299,"cg_iq_a":-194.425262,"cg_iq_raw_a":-195.084961,"cg_iu_a":-90.4620819,"cg_iv_a":-101.921005,"cg_iw_a":192.383087,"cg_sample_age_us":23.8927269,"cg_sample_seq":13182817,"cg_sample_valid":1,"cg_theta_rad":4.39604473,"cg_vd_req_v":-1.91113222,"cg_vd_v":-1.91113222,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48052216,"cg_vq_v":-8.48052216,"cg_vu_v":34.3116188,"cg_vv_v":32.1121559,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.2557507,"dclink_p_w":-2497.33252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2363.667236,"values":{"Elec_RPM":-2349.104,"EncoderCos":38121,"EncoderSin":12128,"GapTicks":49366,"Mech_RPM":-469.820801,"cg_du":55.1210976,"cg_dv":50.0085182,"cg_dw":44.8789024,"cg_id_a":-15.4832363,"cg_id_raw_a":-17.2215996,"cg_iq_a":-196.294861,"cg_iq_raw_a":-196.563416,"cg_iu_a":137.040466,"cg_iv_a":57.660614,"cg_iw_a":-194.70108,"cg_sample_age_us":24.0418186,"cg_sample_seq":13184516,"cg_sample_valid":1,"cg_theta_rad":4.98289108,"cg_vd_req_v":-1.64293802,"cg_vd_v":-1.64293802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39887333,"cg_vq_v":-8.39887333,"cg_vu_v":40.0302238,"cg_vv_v":41.3499031,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-16.5707417,"dclink_p_w":-2390.90552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.6175232,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2364.002751,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2364.002757,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2364.002762,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2364.018799,"values":{"Elec_RPM":-2352.98486,"EncoderCos":48189,"EncoderSin":18327,"GapTicks":49702,"Mech_RPM":-470.596985,"cg_du":45.1842842,"cg_dv":53.0878601,"cg_dw":54.8157158,"cg_id_a":-1.70402217,"cg_id_raw_a":3.52847362,"cg_iq_a":-202.393188,"cg_iq_raw_a":-202.234985,"cg_iu_a":-174.040344,"cg_iv_a":1.91757202,"cg_iw_a":172.122772,"cg_sample_age_us":23.954546,"cg_sample_seq":13186217,"cg_sample_valid":1,"cg_theta_rad":5.54987144,"cg_vd_req_v":-1.97417367,"cg_vd_v":-1.97417367,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32450485,"cg_vq_v":-8.32450485,"cg_vu_v":141.205521,"cg_vv_v":142.085297,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2425.68091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2364.35083,"values":{"Elec_RPM":-2352.4248,"EncoderCos":53524,"EncoderSin":29452,"GapTicks":49947,"Mech_RPM":-470.484985,"cg_du":54.5927658,"cg_dv":45.4072342,"cg_dw":45.9519043,"cg_id_a":14.0033951,"cg_id_raw_a":18.1130676,"cg_iq_a":-203.989563,"cg_iq_raw_a":-205.307007,"cg_iu_a":186.259598,"cg_iv_a":-20.5173492,"cg_iw_a":-165.742249,"cg_sample_age_us":24.0563641,"cg_sample_seq":13187916,"cg_sample_valid":1,"cg_theta_rad":6.13731766,"cg_vd_req_v":-2.2522409,"cg_vd_v":-2.2522409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31203175,"cg_vq_v":-8.31203175,"cg_vu_v":18.9153805,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.5348263,"dclink_p_w":-2545.43506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2364.702393,"values":{"Elec_RPM":-2353.46826,"EncoderCos":53601,"EncoderSin":30139,"GapTicks":49733,"Mech_RPM":-470.693634,"cg_du":54.7880821,"cg_dv":46.6691971,"cg_dw":45.2119179,"cg_id_a":2.28967333,"cg_id_raw_a":5.94772863,"cg_iq_a":-198.967651,"cg_iq_raw_a":-198.892258,"cg_iu_a":170.239822,"cg_iv_a":0.64906311,"cg_iw_a":-170.888885,"cg_sample_age_us":24.1618176,"cg_sample_seq":13189667,"cg_sample_valid":1,"cg_theta_rad":6.18159199,"cg_vd_req_v":-1.98995757,"cg_vd_v":-1.98995757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39001083,"cg_vq_v":-8.39001083,"cg_vu_v":27.7132301,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2493.92285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2364.994897,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2364.994903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2364.994908,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2365.034424,"values":{"Elec_RPM":-2352.97461,"EncoderCos":33250,"EncoderSin":53978,"GapTicks":49994,"Mech_RPM":-470.59494,"cg_du":45.4492531,"cg_dv":54.5507469,"cg_dw":45.9256439,"cg_id_a":12.3278484,"cg_id_raw_a":18.1075897,"cg_iq_a":-206.365585,"cg_iq_raw_a":-207.38678,"cg_iu_a":-174.475281,"cg_iv_a":180.853394,"cg_iw_a":-6.37812042,"cg_sample_age_us":23.8563633,"cg_sample_seq":13191266,"cg_sample_valid":1,"cg_theta_rad":1.54649615,"cg_vd_req_v":-2.12734985,"cg_vd_v":-2.12734985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.26544476,"cg_vq_v":-8.26544476,"cg_vu_v":3.51914048,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.616045,"dclink_p_w":-2404.75146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2584,"hz_tim_isr":4998,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2365.370361,"values":{"Elec_RPM":-2355.9353,"EncoderCos":43344,"EncoderSin":51098,"GapTicks":49399,"Mech_RPM":-471.187073,"cg_du":55.0913315,"cg_dv":44.9086685,"cg_dw":48.3627586,"cg_id_a":4.17070103,"cg_id_raw_a":-1.47899127,"cg_iq_a":-199.747528,"cg_iq_raw_a":-198.916641,"cg_iu_a":199.633575,"cg_iv_a":-96.5206757,"cg_iw_a":-103.1129,"cg_sample_age_us":23.8381824,"cg_sample_seq":13193066,"cg_sample_valid":1,"cg_theta_rad":1.04129243,"cg_vd_req_v":-2.04540038,"cg_vd_v":-2.04540038,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38143349,"cg_vq_v":-8.38143349,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.42066,"dclink_p_w":-2528.8623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2365.721924,"values":{"Elec_RPM":-2358.24707,"EncoderCos":13840,"EncoderSin":42604,"GapTicks":49340,"Mech_RPM":-471.649414,"cg_du":50.7073936,"cg_dv":55.1453056,"cg_dw":44.8546944,"cg_id_a":-9.56517982,"cg_id_raw_a":-9.17821407,"cg_iq_a":-194.35527,"cg_iq_raw_a":-194.424622,"cg_iu_a":-80.5312653,"cg_iv_a":198.612885,"cg_iw_a":-118.081612,"cg_sample_age_us":23.7909088,"cg_sample_seq":13194670,"cg_sample_valid":1,"cg_theta_rad":2.69978857,"cg_vd_req_v":-1.67965388,"cg_vd_v":-1.67965388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46043301,"cg_vq_v":-8.46043301,"cg_vu_v":101.615181,"cg_vv_v":102.055069,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2509.09058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2365.987015,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2365.98702,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2365.987026,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2366.053955,"values":{"Elec_RPM":-2357.73926,"EncoderCos":20144,"EncoderSin":49959,"GapTicks":49610,"Mech_RPM":-471.547852,"cg_du":54.8999519,"cg_dv":45.1000481,"cg_dw":52.5816193,"cg_id_a":-4.52907562,"cg_id_raw_a":3.75034022,"cg_iq_a":-199.340057,"cg_iq_raw_a":-201.037445,"cg_iu_a":172.88562,"cg_iv_a":-170.38559,"cg_iw_a":-2.50003052,"cg_sample_age_us":24.0272732,"cg_sample_seq":13196466,"cg_sample_valid":1,"cg_theta_rad":2.2047565,"cg_vd_req_v":-1.78704083,"cg_vd_v":-1.78704083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37030602,"cg_vq_v":-8.37030602,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2525.91992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2366.385986,"values":{"Elec_RPM":-2356.20532,"EncoderCos":11761,"EncoderSin":29180,"GapTicks":49349,"Mech_RPM":-471.241058,"cg_du":50.3383179,"cg_dv":44.8634109,"cg_dw":55.1365891,"cg_id_a":-14.1034355,"cg_id_raw_a":-19.7682114,"cg_iq_a":-198.385651,"cg_iq_raw_a":-199.78479,"cg_iu_a":51.0700951,"cg_iv_a":-191.370773,"cg_iw_a":140.300674,"cg_sample_age_us":23.6599998,"cg_sample_seq":13198116,"cg_sample_valid":1,"cg_theta_rad":3.30691075,"cg_vd_req_v":-1.64120579,"cg_vd_v":-1.64120579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43190861,"cg_vq_v":-8.43190861,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2446.18994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2366.737549,"values":{"Elec_RPM":-2357.29199,"EncoderCos":12501,"EncoderSin":39492,"GapTicks":49704,"Mech_RPM":-471.458374,"cg_du":45.1858559,"cg_dv":54.8141441,"cg_dw":46.8579903,"cg_id_a":3.46788931,"cg_id_raw_a":9.56444931,"cg_iq_a":-202.925247,"cg_iq_raw_a":-204.062561,"cg_iu_a":-174.294067,"cg_iv_a":173.423431,"cg_iw_a":0.870643616,"cg_sample_age_us":23.9072723,"cg_sample_seq":13199916,"cg_sample_valid":1,"cg_theta_rad":2.82394481,"cg_vd_req_v":-1.92869294,"cg_vd_v":-1.92869294,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35134888,"cg_vq_v":-8.35134888,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-18.4916649,"dclink_p_w":-2676.19971,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5923462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2366.979511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2366.979517,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2366.979523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2367.06958,"values":{"Elec_RPM":-2355.64136,"EncoderCos":27580,"EncoderSin":12153,"GapTicks":50050,"Mech_RPM":-471.128265,"cg_du":45.9283638,"cg_dv":45.5000572,"cg_dw":54.4999428,"cg_id_a":9.24761772,"cg_id_raw_a":12.4000044,"cg_iq_a":-206.088806,"cg_iq_raw_a":-206.681168,"cg_iu_a":-11.4867611,"cg_iv_a":-172.995148,"cg_iw_a":184.481903,"cg_sample_age_us":23.9036369,"cg_sample_seq":13201516,"cg_sample_valid":1,"cg_theta_rad":4.47744608,"cg_vd_req_v":-2.10141659,"cg_vd_v":-2.10141659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.21993637,"cg_vq_v":-8.21993637,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":18.9153805,"control_outputs_enabled":1,"dclink_i_a":-16.3260956,"dclink_p_w":-2355.60669,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2367.405518,"values":{"Elec_RPM":-2354.53394,"EncoderCos":39461,"EncoderSin":12551,"GapTicks":49592,"Mech_RPM":-470.906799,"cg_du":54.9158783,"cg_dv":52.4596519,"cg_dw":45.0841217,"cg_id_a":4.08065891,"cg_id_raw_a":2.21295118,"cg_iq_a":-204.59552,"cg_iq_raw_a":-206.863297,"cg_iu_a":67.6335297,"cg_iv_a":135.149918,"cg_iw_a":-202.783447,"cg_sample_age_us":23.9509087,"cg_sample_seq":13203216,"cg_sample_valid":1,"cg_theta_rad":5.05034924,"cg_vd_req_v":-2.05942941,"cg_vd_v":-2.05942941,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27252769,"cg_vq_v":-8.27252769,"cg_vu_v":43.1094704,"cg_vv_v":54.5466805,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.7845802,"dclink_p_w":-2429.14258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2367.75708,"values":{"Elec_RPM":-2357.35229,"EncoderCos":49244,"EncoderSin":19614,"GapTicks":49323,"Mech_RPM":-471.470459,"cg_du":44.8394165,"cg_dv":49.5380859,"cg_dw":55.1605835,"cg_id_a":-7.13038349,"cg_id_raw_a":-10.9522896,"cg_iq_a":-196.281937,"cg_iq_raw_a":-195.114487,"cg_iu_a":-116.883827,"cg_iv_a":-76.4053421,"cg_iw_a":193.289169,"cg_sample_age_us":23.8345451,"cg_sample_seq":13204917,"cg_sample_valid":1,"cg_theta_rad":5.62779045,"cg_vd_req_v":-1.88620281,"cg_vd_v":-1.88620281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4539299,"cg_vq_v":-8.4539299,"cg_vu_v":102.055069,"cg_vv_v":98.0960464,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5941467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2368.003002,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2368.003008,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2368.003014,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2368.108643,"values":{"Elec_RPM":-2357.40039,"EncoderCos":53663,"EncoderSin":30855,"GapTicks":49418,"Mech_RPM":-471.480072,"cg_du":55.0744476,"cg_dv":48.4212379,"cg_dw":44.9255524,"cg_id_a":-12.8364563,"cg_id_raw_a":-12.172596,"cg_iq_a":-195.121735,"cg_iq_raw_a":-194.647278,"cg_iu_a":157.481995,"cg_iv_a":18.8072205,"cg_iw_a":-176.289215,"cg_sample_age_us":24.1218185,"cg_sample_seq":13206617,"cg_sample_valid":1,"cg_theta_rad":6.20507383,"cg_vd_req_v":-1.69471955,"cg_vd_v":-1.69471955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44749641,"cg_vq_v":-8.44749641,"cg_vu_v":106.893898,"cg_vv_v":102.93486,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2575,"hz_tim_isr":4998,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2368.647705,"values":{"Elec_RPM":-2350.36011,"EncoderCos":28399,"EncoderSin":53588,"GapTicks":49685,"Mech_RPM":-470.072021,"cg_du":45.1689186,"cg_dv":52.9732704,"cg_dw":54.8310814,"cg_id_a":-0.759882748,"cg_id_raw_a":3.10384011,"cg_iq_a":-200.182892,"cg_iq_raw_a":-199.058792,"cg_iu_a":-173.206757,"cg_iv_a":2.3525238,"cg_iw_a":170.854233,"cg_sample_age_us":23.8890915,"cg_sample_seq":13209367,"cg_sample_valid":1,"cg_theta_rad":1.77845991,"cg_vd_req_v":-1.83732438,"cg_vd_v":-1.83732438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36859798,"cg_vq_v":-8.36859798,"cg_vu_v":112.172607,"cg_vv_v":132.847549,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1035252,"dclink_p_w":-2482.82544,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2575,"hz_tim_isr":4998,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2368.867373,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2368.867384,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2368.867387,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2368.994744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2368.99475,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2368.994755,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2369.085205,"values":{"Elec_RPM":-2346.69751,"EncoderCos":11556,"EncoderSin":30396,"GapTicks":49627,"Mech_RPM":-469.339508,"cg_du":47.7317963,"cg_dv":45.1156998,"cg_dw":54.8843002,"cg_id_a":-8.77747345,"cg_id_raw_a":-1.12476265,"cg_iq_a":-205.5289,"cg_iq_raw_a":-206.569931,"cg_iu_a":3.26447868,"cg_iv_a":-177.670609,"cg_iw_a":174.406128,"cg_sample_age_us":23.954546,"cg_sample_seq":13211567,"cg_sample_valid":1,"cg_theta_rad":3.25592661,"cg_vd_req_v":-1.69568241,"cg_vd_v":-1.69568241,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27873898,"cg_vq_v":-8.27873898,"cg_vu_v":102.93486,"cg_vv_v":73.0221634,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2369.41333,"values":{"Elec_RPM":-2347.18164,"EncoderCos":25817,"EncoderSin":12648,"GapTicks":49369,"Mech_RPM":-469.43631,"cg_du":44.8813782,"cg_dv":48.5605545,"cg_dw":55.1186218,"cg_id_a":-2.81017876,"cg_id_raw_a":-9.75677586,"cg_iq_a":-195.104919,"cg_iq_raw_a":-198.049194,"cg_iu_a":-94.4488983,"cg_iv_a":-101.232346,"cg_iw_a":195.681244,"cg_sample_age_us":23.9327278,"cg_sample_seq":13213216,"cg_sample_valid":1,"cg_theta_rad":4.39310598,"cg_vd_req_v":-1.89961874,"cg_vd_v":-1.89961874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45515823,"cg_vq_v":-8.45515823,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-17.3826027,"dclink_p_w":-2515.69116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2369.768799,"values":{"Elec_RPM":-2347.13281,"EncoderCos":16984,"EncoderSin":18190,"GapTicks":49452,"Mech_RPM":-469.426575,"cg_du":51.7947006,"cg_dv":55.0435791,"cg_dw":44.9564209,"cg_id_a":-10.4702702,"cg_id_raw_a":-9.2466135,"cg_iq_a":-194.96051,"cg_iq_raw_a":-197.135574,"cg_iu_a":-15.2561207,"cg_iv_a":176.322922,"cg_iw_a":-161.066803,"cg_sample_age_us":23.9363632,"cg_sample_seq":13215016,"cg_sample_valid":1,"cg_theta_rad":3.89648581,"cg_vd_req_v":-1.66736054,"cg_vd_v":-1.66736054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46810913,"cg_vq_v":-8.46810913,"cg_vu_v":37.3908691,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2453.62524,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2370.019172,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2370.019178,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2370.019183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2370.10083,"values":{"Elec_RPM":-2399.37915,"EncoderCos":38304,"EncoderSin":12200,"GapTicks":49360,"Mech_RPM":-479.875824,"cg_du":55.1268768,"cg_dv":50.3848228,"cg_dw":44.8731232,"cg_id_a":-14.864851,"cg_id_raw_a":-18.8805599,"cg_iq_a":-198.800613,"cg_iq_raw_a":-195.271393,"cg_iu_a":131.78511,"cg_iv_a":54.1087036,"cg_iw_a":-194.483612,"cg_sample_age_us":23.954546,"cg_sample_seq":13216667,"cg_sample_valid":1,"cg_theta_rad":4.99133539,"cg_vd_req_v":-1.65964198,"cg_vd_v":-1.65964198,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3870573,"cg_vq_v":-8.3870573,"cg_vu_v":136.366699,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.9603634,"dclink_p_w":-2447.12207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2370.452393,"values":{"Elec_RPM":-2759.10156,"EncoderCos":38465,"EncoderSin":12220,"GapTicks":49364,"Mech_RPM":-551.820313,"cg_du":55.1233101,"cg_dv":50.5299454,"cg_dw":44.8766899,"cg_id_a":-9.09191513,"cg_id_raw_a":-11.4412441,"cg_iq_a":-200.877869,"cg_iq_raw_a":-201.900024,"cg_iu_a":77.4556046,"cg_iv_a":126.596382,"cg_iw_a":-204.051987,"cg_sample_age_us":26.823637,"cg_sample_seq":13218420,"cg_sample_valid":1,"cg_theta_rad":5.0434289,"cg_vd_req_v":-1.69864666,"cg_vd_v":-1.69864666,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38051701,"cg_vq_v":-8.38051701,"cg_vu_v":31.2323723,"cg_vv_v":20.2350578,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2370.784424,"values":{"Elec_RPM":-2963.7334,"EncoderCos":52197,"EncoderSin":40786,"GapTicks":49356,"Mech_RPM":-592.746704,"cg_du":44.8695717,"cg_dv":55.1304283,"cg_dw":50.7807426,"cg_id_a":-4.99773502,"cg_id_raw_a":-5.50373507,"cg_iq_a":-198.127258,"cg_iq_raw_a":-198.944031,"cg_iu_a":-196.801483,"cg_iv_a":100.827011,"cg_iw_a":95.974472,"cg_sample_age_us":23.4309082,"cg_sample_seq":13220018,"cg_sample_valid":1,"cg_theta_rad":0.411217928,"cg_vd_req_v":-1.76152647,"cg_vd_v":-1.76152647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42447948,"cg_vq_v":-8.42447948,"cg_vu_v":112.172607,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.8461952,"dclink_p_w":-2438.05981,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2370.97954,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2370.979546,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2370.979551,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2371.116455,"values":{"Elec_RPM":-3135.47314,"EncoderCos":53726,"EncoderSin":30814,"GapTicks":49454,"Mech_RPM":-627.094604,"cg_du":55.0411682,"cg_dv":48.3586426,"cg_dw":44.9588318,"cg_id_a":-15.1327038,"cg_id_raw_a":-10.275404,"cg_iq_a":-197.198135,"cg_iq_raw_a":-199.70015,"cg_iu_a":167.412796,"cg_iv_a":5.21577454,"cg_iw_a":-172.628571,"cg_sample_age_us":24.0818176,"cg_sample_seq":13221816,"cg_sample_valid":1,"cg_theta_rad":6.19508982,"cg_vd_req_v":-1.47861755,"cg_vd_v":-1.47861755,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44354439,"cg_vq_v":-8.44354439,"cg_vu_v":29.4728031,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2538.89819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2371.448486,"values":{"Elec_RPM":-3234.14502,"EncoderCos":32972,"EncoderSin":53974,"GapTicks":49803,"Mech_RPM":-646.828979,"cg_du":45.2756882,"cg_dv":54.7243118,"cg_dw":46.5439835,"cg_id_a":6.88175678,"cg_id_raw_a":9.58566666,"cg_iq_a":-202.846466,"cg_iq_raw_a":-204.793976,"cg_iu_a":-172.663086,"cg_iv_a":175.34433,"cg_iw_a":-2.68125153,"cg_sample_age_us":23.8272724,"cg_sample_seq":13223417,"cg_sample_valid":1,"cg_theta_rad":1.56017637,"cg_vd_req_v":-1.80543232,"cg_vd_v":-1.80543232,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37792587,"cg_vq_v":-8.37792587,"cg_vu_v":117.891212,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2371.800049,"values":{"Elec_RPM":-3323.85034,"EncoderCos":43105,"EncoderSin":51253,"GapTicks":49441,"Mech_RPM":-664.770081,"cg_du":55.0536194,"cg_dv":44.9463806,"cg_dw":47.9148369,"cg_id_a":10.3528929,"cg_id_raw_a":5.51313162,"cg_iq_a":-198.774734,"cg_iq_raw_a":-196.742752,"cg_iu_a":196.625336,"cg_iv_a":-67.9967651,"cg_iw_a":-128.628571,"cg_sample_age_us":23.9472733,"cg_sample_seq":13225217,"cg_sample_valid":1,"cg_theta_rad":1.06237459,"cg_vd_req_v":-1.94124818,"cg_vd_v":-1.94124818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46178818,"cg_vq_v":-8.46178818,"cg_vu_v":143.404984,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2513.0686,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2372.002748,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2372.002754,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2372.00276,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2372.135986,"values":{"Elec_RPM":-3380.26074,"EncoderCos":13356,"EncoderSin":41608,"GapTicks":49407,"Mech_RPM":-676.052124,"cg_du":48.6500168,"cg_dv":55.0844727,"cg_dw":44.9155273,"cg_id_a":-1.19757605,"cg_id_raw_a":-6.65699053,"cg_iq_a":-200.435867,"cg_iq_raw_a":-199.723572,"cg_iu_a":-101.98761,"cg_iv_a":200.93248,"cg_iw_a":-98.94487,"cg_sample_age_us":23.994545,"cg_sample_seq":13226817,"cg_sample_valid":1,"cg_theta_rad":2.71365905,"cg_vd_req_v":-1.64479673,"cg_vd_v":-1.64479673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41065121,"cg_vq_v":-8.41065121,"cg_vu_v":133.287445,"cg_vv_v":135.047012,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2409.46997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2372.487549,"values":{"Elec_RPM":-3421.18286,"EncoderCos":11543,"EncoderSin":30734,"GapTicks":49780,"Mech_RPM":-684.236572,"cg_du":46.8315239,"cg_dv":45.2550812,"cg_dw":54.7449188,"cg_id_a":1.01878166,"cg_id_raw_a":7.53279161,"cg_iq_a":-204.622421,"cg_iq_raw_a":-204.388428,"cg_iu_a":26.4242897,"cg_iv_a":-182.672241,"cg_iw_a":156.247955,"cg_sample_age_us":23.8381824,"cg_sample_seq":13228521,"cg_sample_valid":1,"cg_theta_rad":3.28182745,"cg_vd_req_v":-1.65022719,"cg_vd_v":-1.65022719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36286449,"cg_vq_v":-8.36286449,"cg_vu_v":102.93486,"cg_vv_v":73.462059,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.5689297,"dclink_p_w":-2397.93262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2372.81958,"values":{"Elec_RPM":-3455.56299,"EncoderCos":12637,"EncoderSin":39876,"GapTicks":50021,"Mech_RPM":-691.11261,"cg_du":45.4741898,"cg_dv":54.5258102,"cg_dw":45.9045258,"cg_id_a":12.1067419,"cg_id_raw_a":14.6121292,"cg_iq_a":-206.178253,"cg_iq_raw_a":-206.95639,"cg_iu_a":-172.590607,"cg_iv_a":181.976959,"cg_iw_a":-9.38635254,"cg_sample_age_us":23.994545,"cg_sample_seq":13230316,"cg_sample_valid":1,"cg_theta_rad":2.80036855,"cg_vd_req_v":-1.84467411,"cg_vd_v":-1.84467411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33149052,"cg_vq_v":-8.33149052,"cg_vu_v":3.51914048,"cg_vv_v":35.6312981,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0980892,"dclink_p_w":-2474.51514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2372.994845,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2372.994851,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2372.994856,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2373.151611,"values":{"Elec_RPM":-3480.15625,"EncoderCos":27063,"EncoderSin":12263,"GapTicks":49849,"Mech_RPM":-696.03125,"cg_du":45.317379,"cg_dv":46.3994484,"cg_dw":54.682621,"cg_id_a":16.7044506,"cg_id_raw_a":15.877634,"cg_iq_a":-203.955399,"cg_iq_raw_a":-202.118515,"cg_iu_a":-28.9562893,"cg_iv_a":-164.187912,"cg_iw_a":193.144196,"cg_sample_age_us":23.954546,"cg_sample_seq":13231916,"cg_sample_valid":1,"cg_theta_rad":4.4532342,"cg_vd_req_v":-2.01739573,"cg_vd_v":-2.01739573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32067108,"cg_vq_v":-8.32067108,"cg_vu_v":23.7541981,"cg_vv_v":0.87978512,"cg_vw_v":14.9563465,"control_outputs_enabled":1,"dclink_i_a":-16.3224716,"dclink_p_w":-2362.26416,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2373.503174,"values":{"Elec_RPM":-3497.54053,"EncoderCos":17982,"EncoderSin":17204,"GapTicks":49429,"Mech_RPM":-699.508118,"cg_du":48.9984398,"cg_dv":55.064537,"cg_dw":44.935463,"cg_id_a":-10.0665226,"cg_id_raw_a":-15.863863,"cg_iq_a":-200.17897,"cg_iq_raw_a":-199.530975,"cg_iu_a":-81.4011154,"cg_iv_a":199.591461,"cg_iw_a":-118.190353,"cg_sample_age_us":23.9690914,"cg_sample_seq":13233716,"cg_sample_valid":1,"cg_theta_rad":3.95588493,"cg_vd_req_v":-1.45383525,"cg_vd_v":-1.45383525,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39354229,"cg_vq_v":-8.39354229,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.1013832,"dclink_p_w":-2323.18433,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2373.835205,"values":{"Elec_RPM":-3497.6333,"EncoderCos":39707,"EncoderSin":12623,"GapTicks":49677,"Mech_RPM":-699.526672,"cg_du":54.8384743,"cg_dv":52.9238052,"cg_dw":45.1615257,"cg_id_a":5.80734301,"cg_id_raw_a":4.68808174,"cg_iq_a":-202.687485,"cg_iq_raw_a":-200.188522,"cg_iu_a":56.252964,"cg_iv_a":140.224075,"cg_iw_a":-196.477036,"cg_sample_age_us":23.8600006,"cg_sample_seq":13235367,"cg_sample_valid":1,"cg_theta_rad":5.05818462,"cg_vd_req_v":-1.81928122,"cg_vd_v":-1.81928122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36824226,"cg_vq_v":-8.36824226,"cg_vu_v":109.093361,"cg_vv_v":111.292824,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2416.02905,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2373.987172,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2373.987177,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2373.987183,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2374.167236,"values":{"Elec_RPM":-3511.21851,"EncoderCos":49658,"EncoderSin":20113,"GapTicks":49382,"Mech_RPM":-702.243713,"cg_du":44.8934135,"cg_dv":48.7686539,"cg_dw":55.1065865,"cg_id_a":-3.59946442,"cg_id_raw_a":-4.42426682,"cg_iq_a":-196.183167,"cg_iq_raw_a":-197.819794,"cg_iu_a":-96.514801,"cg_iv_a":-97.3542633,"cg_iw_a":193.869064,"cg_sample_age_us":23.9218178,"cg_sample_seq":13237067,"cg_sample_valid":1,"cg_theta_rad":5.64827251,"cg_vd_req_v":-1.70008337,"cg_vd_v":-1.70008337,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47342491,"cg_vq_v":-8.47342491,"cg_vu_v":106.014107,"cg_vv_v":103.374756,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.1433945,"dclink_p_w":-2473.53052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2374.522705,"values":{"Elec_RPM":-3520.12012,"EncoderCos":51526,"EncoderSin":42236,"GapTicks":49765,"Mech_RPM":-704.024048,"cg_du":45.2413597,"cg_dv":54.7586403,"cg_dw":53.615448,"cg_id_a":16.9287224,"cg_id_raw_a":12.8616009,"cg_iq_a":-199.659622,"cg_iq_raw_a":-197.048904,"cg_iu_a":-185.493408,"cg_iv_a":27.4694824,"cg_iw_a":158.023926,"cg_sample_age_us":23.5290909,"cg_sample_seq":13238717,"cg_sample_valid":1,"cg_theta_rad":0.4716703,"cg_vd_req_v":-2.05691385,"cg_vd_v":-2.05691385,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4366436,"cg_vq_v":-8.4366436,"cg_vu_v":94.1370087,"cg_vv_v":98.0960464,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.7722244,"dclink_p_w":-2572.0791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2374.854736,"values":{"Elec_RPM":-3518.09814,"EncoderCos":53778,"EncoderSin":32030,"GapTicks":49351,"Mech_RPM":-703.619629,"cg_du":55.1347847,"cg_dv":50.6900558,"cg_dw":44.8652153,"cg_id_a":-7.29067993,"cg_id_raw_a":-12.5374804,"cg_iq_a":-199.188339,"cg_iq_raw_a":-196.651657,"cg_iu_a":110.763687,"cg_iv_a":93.9044495,"cg_iw_a":-204.668137,"cg_sample_age_us":24.0636368,"cg_sample_seq":13240517,"cg_sample_valid":1,"cg_theta_rad":6.26723242,"cg_vd_req_v":-1.57400167,"cg_vd_v":-1.57400167,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43495178,"cg_vq_v":-8.43495178,"cg_vu_v":21.9946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.3442173,"dclink_p_w":-2358.22144,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2374.979188,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2374.979193,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2374.979198,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2375.186768,"values":{"Elec_RPM":-3511.53076,"EncoderCos":31454,"EncoderSin":53938,"GapTicks":49338,"Mech_RPM":-702.306152,"cg_du":44.8528404,"cg_dv":55.1471596,"cg_dw":49.9558258,"cg_id_a":-9.27885151,"cg_id_raw_a":-11.5618925,"cg_iq_a":-196.05098,"cg_iq_raw_a":-196.226135,"cg_iu_a":-190.748764,"cg_iv_a":135.186157,"cg_iw_a":47.4802246,"cg_sample_age_us":23.8781815,"cg_sample_seq":13242117,"cg_sample_valid":1,"cg_theta_rad":1.62888479,"cg_vd_req_v":-1.42540967,"cg_vd_v":-1.42540967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48278618,"cg_vq_v":-8.48278618,"cg_vu_v":121.850235,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4837551,"dclink_p_w":-2378.35474,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.4864807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2375.53833,"values":{"Elec_RPM":-3517.8833,"EncoderCos":41711,"EncoderSin":51904,"GapTicks":49908,"Mech_RPM":-703.57666,"cg_du":54.6285095,"cg_dv":46.1743317,"cg_dw":45.3714905,"cg_id_a":9.15823555,"cg_id_raw_a":10.6676083,"cg_iq_a":-201.288864,"cg_iq_raw_a":-199.301895,"cg_iu_a":176.727478,"cg_iv_a":-8.77435303,"cg_iw_a":-167.953125,"cg_sample_age_us":23.9836369,"cg_sample_seq":13243917,"cg_sample_valid":1,"cg_theta_rad":1.13088632,"cg_vd_req_v":-1.81015909,"cg_vd_v":-1.81015909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37710953,"cg_vq_v":-8.37710953,"cg_vu_v":106.014107,"cg_vv_v":94.1370087,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.0651398,"dclink_p_w":-2317.95483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2375.870361,"values":{"Elec_RPM":-3525.91406,"EncoderCos":12773,"EncoderSin":40286,"GapTicks":49932,"Mech_RPM":-705.1828,"cg_du":46.0581474,"cg_dv":54.6069717,"cg_dw":45.3930283,"cg_id_a":14.1855488,"cg_id_raw_a":14.7966156,"cg_iq_a":-203.678345,"cg_iq_raw_a":-204.013214,"cg_iu_a":-161.355011,"cg_iv_a":187.594757,"cg_iw_a":-26.2397461,"cg_sample_age_us":23.9909096,"cg_sample_seq":13245517,"cg_sample_valid":1,"cg_theta_rad":2.7819283,"cg_vd_req_v":-1.88431633,"cg_vd_v":-1.88431633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37774372,"cg_vq_v":-8.37774372,"cg_vu_v":120.090675,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.4188461,"dclink_p_w":-2520.93652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2376.003494,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2376.0035,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2376.003505,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2376.22583,"values":{"Elec_RPM":-3530.61987,"EncoderCos":12448,"EncoderSin":39169,"GapTicks":49565,"Mech_RPM":-706.123962,"cg_du":45.0593567,"cg_dv":54.9406433,"cg_dw":47.6720009,"cg_id_a":-5.29582024,"cg_id_raw_a":1.87121844,"cg_iq_a":-198.670975,"cg_iq_raw_a":-200.705826,"cg_iu_a":-175.308884,"cg_iv_a":166.790802,"cg_iw_a":-0.216674805,"cg_sample_age_us":23.9363632,"cg_sample_seq":13247266,"cg_sample_valid":1,"cg_theta_rad":2.83583617,"cg_vd_req_v":-1.4643302,"cg_vd_v":-1.4643302,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45672321,"cg_vq_v":-8.45672321,"cg_vu_v":38.7105446,"cg_vv_v":59.385498,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-17.551136,"dclink_p_w":-2540.08203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2376.557861,"values":{"Elec_RPM":-3530.11572,"EncoderCos":17626,"EncoderSin":17548,"GapTicks":49360,"Mech_RPM":-706.023132,"cg_du":49.9014206,"cg_dv":55.1272049,"cg_dw":44.8727951,"cg_id_a":-15.1929302,"cg_id_raw_a":-12.6861696,"cg_iq_a":-199.010345,"cg_iq_raw_a":-196.043671,"cg_iu_a":-56.2478943,"cg_iv_a":194.517319,"cg_iw_a":-149.468781,"cg_sample_age_us":23.9581814,"cg_sample_seq":13248917,"cg_sample_valid":1,"cg_theta_rad":3.93543911,"cg_vd_req_v":-1.3343631,"cg_vd_v":-1.3343631,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43788815,"cg_vq_v":-8.43788815,"cg_vu_v":114.37207,"cg_vv_v":142.965088,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-17.1850739,"dclink_p_w":-2479.54419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2376.889893,"values":{"Elec_RPM":-3520.82373,"EncoderCos":18374,"EncoderSin":16836,"GapTicks":49499,"Mech_RPM":-704.164734,"cg_du":48.1084557,"cg_dv":55.0007973,"cg_dw":44.9992027,"cg_id_a":-0.381732225,"cg_id_raw_a":-3.9073391,"cg_iq_a":-202.610062,"cg_iq_raw_a":-200.962189,"cg_iu_a":-117.644951,"cg_iv_a":202.708435,"cg_iw_a":-100.358383,"cg_sample_age_us":23.9690914,"cg_sample_seq":13250666,"cg_sample_valid":1,"cg_theta_rad":3.98399019,"cg_vd_req_v":-1.65878844,"cg_vd_v":-1.65878844,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36508942,"cg_vq_v":-8.36508942,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2381.49243,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2376.994746,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2376.994752,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2376.994758,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2377.241455,"values":{"Elec_RPM":-3511.07324,"EncoderCos":40333,"EncoderSin":12864,"GapTicks":50014,"Mech_RPM":-702.214661,"cg_du":54.5325851,"cg_dv":54.1219673,"cg_dw":45.4674149,"cg_id_a":10.8481236,"cg_id_raw_a":10.2534056,"cg_iq_a":-202.846497,"cg_iq_raw_a":-202.310226,"cg_iu_a":21.5313721,"cg_iv_a":163.021439,"cg_iw_a":-184.552811,"cg_sample_age_us":23.9509087,"cg_sample_seq":13252317,"cg_sample_valid":1,"cg_theta_rad":5.09364223,"cg_vd_req_v":-1.89960027,"cg_vd_v":-1.89960027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3415947,"cg_vq_v":-8.3415947,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.9041843,"dclink_p_w":-2446.45215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2377.573486,"values":{"Elec_RPM":-3518.35669,"EncoderCos":41168,"EncoderSin":13188,"GapTicks":49629,"Mech_RPM":-703.671326,"cg_du":52.7527161,"cg_dv":54.882019,"cg_dw":45.117981,"cg_id_a":-4.29660988,"cg_id_raw_a":1.31644177,"cg_iq_a":-199.268784,"cg_iq_raw_a":-200.152695,"cg_iu_a":2.06843185,"cg_iv_a":169.400345,"cg_iw_a":-171.468781,"cg_sample_age_us":23.9181824,"cg_sample_seq":13254067,"cg_sample_valid":1,"cg_theta_rad":5.13290548,"cg_vd_req_v":-1.57870388,"cg_vd_v":-1.57870388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40690708,"cg_vq_v":-8.40690708,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.6852398,"dclink_p_w":-2551.71045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2377.928955,"values":{"Elec_RPM":-3515.21924,"EncoderCos":49881,"EncoderSin":20398,"GapTicks":49448,"Mech_RPM":-703.043823,"cg_du":44.953434,"cg_dv":47.8517876,"cg_dw":55.046566,"cg_id_a":8.38229847,"cg_id_raw_a":2.2312932,"cg_iq_a":-198.384338,"cg_iq_raw_a":-194.854401,"cg_iu_a":-24.0633736,"cg_iv_a":-166.761215,"cg_iw_a":190.824585,"cg_sample_age_us":26.7763634,"cg_sample_seq":13255771,"cg_sample_valid":1,"cg_theta_rad":5.71511316,"cg_vd_req_v":-1.93713856,"cg_vd_v":-1.93713856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43857479,"cg_vq_v":-8.43857479,"cg_vu_v":124.049698,"cg_vv_v":142.525192,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.2952881,"dclink_p_w":-2358.32983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2377.98755,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2377.987556,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2377.987561,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2378.370361,"values":{"Elec_RPM":-3519.75854,"EncoderCos":52324,"EncoderSin":40486,"GapTicks":49289,"Mech_RPM":-703.951721,"cg_du":44.8088531,"cg_dv":55.1911469,"cg_dw":50.1524925,"cg_id_a":-7.52999926,"cg_id_raw_a":-12.9600525,"cg_iq_a":-195.061295,"cg_iq_raw_a":-194.955795,"cg_iu_a":-191.038712,"cg_iv_a":126.523888,"cg_iw_a":64.5148239,"cg_sample_age_us":23.4309082,"cg_sample_seq":13258017,"cg_sample_valid":1,"cg_theta_rad":0.384761363,"cg_vd_req_v":-1.57574463,"cg_vd_v":-1.57574463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53207302,"cg_vq_v":-8.53207302,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.2122574,"dclink_p_w":-2491.03809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2378.883073,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2378.883085,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2378.883089,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2378.889893,"values":{"Elec_RPM":-3528.05908,"EncoderCos":52969,"EncoderSin":26935,"GapTicks":49338,"Mech_RPM":-705.611816,"cg_du":55.14674,"cg_dv":44.85326,"cg_dw":50.5985718,"cg_id_a":-16.8358765,"cg_id_raw_a":-14.2692366,"cg_iq_a":-194.238403,"cg_iq_raw_a":-194.66449,"cg_iu_a":183.468811,"cg_iv_a":-147.950653,"cg_iw_a":-35.518158,"cg_sample_age_us":24.1399994,"cg_sample_seq":13260416,"cg_sample_valid":1,"cg_theta_rad":6.01679897,"cg_vd_req_v":-1.35868812,"cg_vd_v":-1.35868812,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53905296,"cg_vq_v":-8.53905296,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2372971,"dclink_p_w":-2349.93726,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2379.010691,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2379.010696,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2379.010701,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2379.253174,"values":{"Elec_RPM":-3529.10938,"EncoderCos":12540,"EncoderSin":39578,"GapTicks":49801,"Mech_RPM":-705.821899,"cg_du":45.2742081,"cg_dv":54.7257919,"cg_dw":46.6278381,"cg_id_a":6.07324791,"cg_id_raw_a":12.8705912,"cg_iq_a":-202.651581,"cg_iq_raw_a":-203.888535,"cg_iu_a":-172.663086,"cg_iv_a":176.286682,"cg_iw_a":-7.32045746,"cg_sample_age_us":23.9618187,"cg_sample_seq":13262467,"cg_sample_valid":1,"cg_theta_rad":2.81488872,"cg_vd_req_v":-1.68549883,"cg_vd_v":-1.68549883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37343311,"cg_vq_v":-8.37343311,"cg_vu_v":109.973145,"cg_vv_v":112.612495,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.6522903,"dclink_p_w":-2409.99707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2379.585205,"values":{"Elec_RPM":-3527.39722,"EncoderCos":27266,"EncoderSin":12204,"GapTicks":49978,"Mech_RPM":-705.479431,"cg_du":45.4347496,"cg_dv":45.9385605,"cg_dw":54.5652504,"cg_id_a":14.3842278,"cg_id_raw_a":15.6059723,"cg_iq_a":-205.420074,"cg_iq_raw_a":-202.119949,"cg_iu_a":-23.2660065,"cg_iv_a":-166.326294,"cg_iw_a":193.035461,"cg_sample_age_us":23.9218178,"cg_sample_seq":13264067,"cg_sample_valid":1,"cg_theta_rad":4.45934725,"cg_vd_req_v":-1.94714785,"cg_vd_v":-1.94714785,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32596016,"cg_vq_v":-8.32596016,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":125.809273,"control_outputs_enabled":1,"dclink_i_a":-16.672224,"dclink_p_w":-2412.88184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2379.917236,"values":{"Elec_RPM":-3511.7998,"EncoderCos":28330,"EncoderSin":11974,"GapTicks":49560,"Mech_RPM":-702.359985,"cg_du":47.7349319,"cg_dv":45.0550461,"cg_dw":54.9449539,"cg_id_a":-8.12014771,"cg_id_raw_a":-7.904953,"cg_iq_a":-201.217911,"cg_iq_raw_a":-203.667877,"cg_iu_a":4.96793842,"cg_iv_a":-175.74968,"cg_iw_a":170.781738,"cg_sample_age_us":23.9363632,"cg_sample_seq":13265816,"cg_sample_valid":1,"cg_theta_rad":4.51742363,"cg_vd_req_v":-1.48100269,"cg_vd_v":-1.48100269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41850376,"cg_vq_v":-8.41850376,"cg_vu_v":37.830761,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2441.26123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2380.003361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2380.003368,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2380.003374,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2380.272705,"values":{"Elec_RPM":-3510.50269,"EncoderCos":49410,"EncoderSin":19802,"GapTicks":49339,"Mech_RPM":-702.100525,"cg_du":44.8542747,"cg_dv":49.1020508,"cg_dw":55.1457253,"cg_id_a":-5.26002932,"cg_id_raw_a":-10.1199989,"cg_iq_a":-196.599548,"cg_iq_raw_a":-199.552734,"cg_iu_a":-106.808044,"cg_iv_a":-88.4745331,"cg_iw_a":195.282578,"cg_sample_age_us":23.9145451,"cg_sample_seq":13267466,"cg_sample_valid":1,"cg_theta_rad":5.63821316,"cg_vd_req_v":-1.65882599,"cg_vd_v":-1.65882599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45528603,"cg_vq_v":-8.45528603,"cg_vu_v":3.51914048,"cg_vv_v":12.3169918,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2531.16528,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2380.604736,"values":{"Elec_RPM":-3510.93506,"EncoderCos":49892,"EncoderSin":20463,"GapTicks":49490,"Mech_RPM":-702.187012,"cg_du":44.9916611,"cg_dv":47.7580757,"cg_dw":55.0083389,"cg_id_a":11.3838253,"cg_id_raw_a":6.59922361,"cg_iq_a":-200.870621,"cg_iq_raw_a":-201.555634,"cg_iu_a":-49.5065422,"cg_iv_a":-136.026428,"cg_iw_a":198.761978,"cg_sample_age_us":23.9618187,"cg_sample_seq":13269216,"cg_sample_valid":1,"cg_theta_rad":5.68420601,"cg_vd_req_v":-2.00117135,"cg_vd_v":-2.00117135,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38278675,"cg_vq_v":-8.38278675,"cg_vu_v":115.69175,"cg_vv_v":130.208206,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2439.80054,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2380.956299,"values":{"Elec_RPM":-3514.17383,"EncoderCos":53732,"EncoderSin":30940,"GapTicks":49403,"Mech_RPM":-702.834778,"cg_du":55.0880165,"cg_dv":48.5595436,"cg_dw":44.9119835,"cg_id_a":-15.7495584,"cg_id_raw_a":-12.8523817,"cg_iq_a":-196.799988,"cg_iq_raw_a":-199.520401,"cg_iu_a":127.798286,"cg_iv_a":69.2948685,"cg_iw_a":-197.093155,"cg_sample_age_us":26.954546,"cg_sample_seq":13270920,"cg_sample_valid":1,"cg_theta_rad":6.24888849,"cg_vd_req_v":-1.38048911,"cg_vd_v":-1.38048911,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50428581,"cg_vq_v":-8.50428581,"cg_vu_v":25.953661,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.8570671,"dclink_p_w":-2432.21777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2380.994721,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2380.994726,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2380.994732,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2381.28833,"values":{"Elec_RPM":-3504.27612,"EncoderCos":50769,"EncoderSin":43704,"GapTicks":49475,"Mech_RPM":-700.855225,"cg_du":44.9779434,"cg_dv":51.6247253,"cg_dw":55.0220566,"cg_id_a":-8.20460129,"cg_id_raw_a":-5.72057676,"cg_iq_a":-199.504517,"cg_iq_raw_a":-201.281342,"cg_iu_a":-159.397858,"cg_iv_a":-24.3954163,"cg_iw_a":183.793274,"cg_sample_age_us":23.5618191,"cg_sample_seq":13272616,"cg_sample_valid":1,"cg_theta_rad":0.553780019,"cg_vd_req_v":-1.52362549,"cg_vd_v":-1.52362549,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42700291,"cg_vq_v":-8.42700291,"cg_vu_v":110.413033,"cg_vv_v":111.292824,"cg_vw_v":120.970459,"control_outputs_enabled":1,"dclink_i_a":-17.3354855,"dclink_p_w":-2516.49805,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2381.620361,"values":{"Elec_RPM":-3511.43848,"EncoderCos":41928,"EncoderSin":51772,"GapTicks":50022,"Mech_RPM":-702.28772,"cg_du":54.525444,"cg_dv":45.474556,"cg_dw":45.8625832,"cg_id_a":12.5809908,"cg_id_raw_a":16.6939526,"cg_iq_a":-203.927505,"cg_iq_raw_a":-206.767944,"cg_iu_a":185.860916,"cg_iv_a":-22.7644501,"cg_iw_a":-163.096466,"cg_sample_age_us":23.9109097,"cg_sample_seq":13274316,"cg_sample_valid":1,"cg_theta_rad":1.11458993,"cg_vd_req_v":-1.95302689,"cg_vd_v":-1.89548361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29882717,"cg_vq_v":-8.29882717,"cg_vu_v":35.6312981,"cg_vv_v":33.871727,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-16.8298836,"dclink_p_w":-2428.29565,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2381.971924,"values":{"Elec_RPM":-3511.71533,"EncoderCos":20800,"EncoderSin":50413,"GapTicks":50031,"Mech_RPM":-702.343079,"cg_du":54.3843651,"cg_dv":45.483242,"cg_dw":54.516758,"cg_id_a":15.759903,"cg_id_raw_a":17.7807121,"cg_iq_a":-201.207245,"cg_iq_raw_a":-200.254791,"cg_iu_a":176.365021,"cg_iv_a":-163.571747,"cg_iw_a":-12.7932739,"cg_sample_age_us":24.0527267,"cg_sample_seq":13275972,"cg_sample_valid":1,"cg_theta_rad":2.22201467,"cg_vd_req_v":-1.9554342,"cg_vd_v":-1.9554342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42880344,"cg_vq_v":-8.42880344,"cg_vu_v":109.973145,"cg_vv_v":110.413033,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-16.6251068,"dclink_p_w":-2406.06274,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2381.98683,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2381.986836,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2381.986841,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2382.307861,"values":{"Elec_RPM":-3506.44727,"EncoderCos":19129,"EncoderSin":49136,"GapTicks":49355,"Mech_RPM":-701.289429,"cg_du":55.1310463,"cg_dv":44.8689537,"cg_dw":49.7347984,"cg_id_a":-15.7674189,"cg_id_raw_a":-18.1354294,"cg_iq_a":-196.167282,"cg_iq_raw_a":-194.346817,"cg_iu_a":193.363388,"cg_iv_a":-132.945709,"cg_iw_a":-60.4176788,"cg_sample_age_us":24.0127277,"cg_sample_seq":13277717,"cg_sample_valid":1,"cg_theta_rad":2.26676536,"cg_vd_req_v":-1.33924055,"cg_vd_v":-1.33924055,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49971104,"cg_vq_v":-8.49971104,"cg_vu_v":106.453995,"cg_vv_v":87.9785156,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2573,"hz_tim_isr":4998,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2382.635986,"values":{"Elec_RPM":-3512.23169,"EncoderCos":12041,"EncoderSin":27696,"GapTicks":49649,"Mech_RPM":-702.44635,"cg_du":52.9229469,"cg_dv":45.1363564,"cg_dw":54.8636436,"cg_id_a":9.52923393,"cg_id_raw_a":9.06034946,"cg_iq_a":-200.49147,"cg_iq_raw_a":-199.097137,"cg_iu_a":145.159088,"cg_iv_a":-194.270279,"cg_iw_a":49.1111908,"cg_sample_age_us":23.7218189,"cg_sample_seq":13279366,"cg_sample_valid":1,"cg_theta_rad":3.38946581,"cg_vd_req_v":-1.84415603,"cg_vd_v":-1.84415603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40319157,"cg_vq_v":-8.40319157,"cg_vu_v":44.4291458,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-17.301054,"dclink_p_w":-2496.27832,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2573,"hz_tim_isr":4998,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2382.979719,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2382.979725,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2382.97973,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2382.991455,"values":{"Elec_RPM":-3500.448,"EncoderCos":12280,"EncoderSin":27109,"GapTicks":49935,"Mech_RPM":-700.0896,"cg_du":54.0371819,"cg_dv":45.3960838,"cg_dw":54.6039162,"cg_id_a":16.0526085,"cg_id_raw_a":14.7186852,"cg_iq_a":-201.543549,"cg_iq_raw_a":-200.698013,"cg_iu_a":164.62204,"cg_iv_a":-184.883133,"cg_iw_a":20.2610931,"cg_sample_age_us":24.0963631,"cg_sample_seq":13281117,"cg_sample_valid":1,"cg_theta_rad":3.41346145,"cg_vd_req_v":-1.96926522,"cg_vd_v":-1.96926522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39575768,"cg_vq_v":-8.39575768,"cg_vu_v":106.014107,"cg_vv_v":87.9785156,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-16.6595383,"dclink_p_w":-2403.71753,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2573,"hz_tim_isr":4998,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2383.323486,"values":{"Elec_RPM":-3495.94507,"EncoderCos":39989,"EncoderSin":12749,"GapTicks":49846,"Mech_RPM":-699.189026,"cg_du":54.6845512,"cg_dv":53.4444923,"cg_dw":45.3154488,"cg_id_a":8.42076111,"cg_id_raw_a":6.40323162,"cg_iq_a":-204.000687,"cg_iq_raw_a":-202.757919,"cg_iu_a":40.5956268,"cg_iv_a":152.257019,"cg_iw_a":-192.852646,"cg_sample_age_us":23.9836369,"cg_sample_seq":13282717,"cg_sample_valid":1,"cg_theta_rad":5.07603741,"cg_vd_req_v":-1.86399829,"cg_vd_v":-1.86399829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29794979,"cg_vq_v":-8.29794979,"cg_vu_v":106.893898,"cg_vv_v":106.014107,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-16.4964409,"dclink_p_w":-2387.44165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2383.655518,"values":{"Elec_RPM":-3495.63843,"EncoderCos":29683,"EncoderSin":11715,"GapTicks":49332,"Mech_RPM":-699.127686,"cg_du":50.6333847,"cg_dv":44.8473892,"cg_dw":55.1526108,"cg_id_a":-10.5573521,"cg_id_raw_a":-13.1020632,"cg_iq_a":-194.703888,"cg_iq_raw_a":-194.041962,"cg_iu_a":72.3452225,"cg_iv_a":-192.566818,"cg_iw_a":120.221596,"cg_sample_age_us":23.7181816,"cg_sample_seq":13284517,"cg_sample_valid":1,"cg_theta_rad":4.58291531,"cg_vd_req_v":-1.47526109,"cg_vd_v":-1.47526109,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50538063,"cg_vq_v":-8.50538063,"cg_vu_v":106.893898,"cg_vv_v":110.852921,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2384.003341,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2384.003347,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2384.003352,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2384.00708,"values":{"Elec_RPM":-3500.38965,"EncoderCos":50220,"EncoderSin":21008,"GapTicks":49745,"Mech_RPM":-700.077942,"cg_du":45.2227669,"cg_dv":46.5923347,"cg_dw":54.7772331,"cg_id_a":17.774065,"cg_id_raw_a":15.819356,"cg_iq_a":-203.784576,"cg_iq_raw_a":-202.162491,"cg_iu_a":-33.1243286,"cg_iv_a":-161.723312,"cg_iw_a":194.847641,"cg_sample_age_us":23.9472733,"cg_sample_seq":13286166,"cg_sample_valid":1,"cg_theta_rad":5.70627165,"cg_vd_req_v":-2.10339141,"cg_vd_v":-2.10339141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34672737,"cg_vq_v":-8.34672737,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-17.6073151,"dclink_p_w":-2548.21265,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2384.339111,"values":{"Elec_RPM":-3507.32642,"EncoderCos":50708,"EncoderSin":21721,"GapTicks":49900,"Mech_RPM":-701.465271,"cg_du":46.3454018,"cg_dv":45.3639412,"cg_dw":54.6360588,"cg_id_a":7.01558542,"cg_id_raw_a":8.11266804,"cg_iq_a":-207.016449,"cg_iq_raw_a":-208.671173,"cg_iu_a":-6.9200387,"cg_iv_a":-175.74968,"cg_iw_a":182.669724,"cg_sample_age_us":23.8999996,"cg_sample_seq":13287916,"cg_sample_valid":1,"cg_theta_rad":5.74690008,"cg_vd_req_v":-1.86734724,"cg_vd_v":-1.86734724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30480289,"cg_vq_v":-8.30480289,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2384.675049,"values":{"Elec_RPM":-3514.74658,"EncoderCos":50542,"EncoderSin":44081,"GapTicks":49405,"Mech_RPM":-702.949341,"cg_du":44.9143028,"cg_dv":50.6752701,"cg_dw":55.0856972,"cg_id_a":-11.3098259,"cg_id_raw_a":-8.92384052,"cg_iq_a":-199.614716,"cg_iq_raw_a":-199.279266,"cg_iu_a":-146.567535,"cg_iv_a":-42.1911621,"cg_iw_a":188.758698,"cg_sample_age_us":23.4345455,"cg_sample_seq":13289567,"cg_sample_valid":1,"cg_theta_rad":0.575407147,"cg_vd_req_v":-1.47378516,"cg_vd_v":-1.47378516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39545441,"cg_vq_v":-8.39545441,"cg_vu_v":94.5769043,"cg_vv_v":90.1779785,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5977478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2384.996076,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2384.996082,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2384.996088,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2385.026611,"values":{"Elec_RPM":-3517.97656,"EncoderCos":49992,"EncoderSin":45024,"GapTicks":49383,"Mech_RPM":-703.595337,"cg_du":44.8937111,"cg_dv":48.6637878,"cg_dw":55.1062889,"cg_id_a":0.591277719,"cg_id_raw_a":-8.0893383,"cg_iq_a":-197.598999,"cg_iq_raw_a":-199.69519,"cg_iu_a":-95.1375275,"cg_iv_a":-104.385574,"cg_iw_a":199.523102,"cg_sample_age_us":23.4127274,"cg_sample_seq":13291316,"cg_sample_valid":1,"cg_theta_rad":0.622065187,"cg_vd_req_v":-1.7385385,"cg_vd_v":-1.7385385,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4532156,"cg_vq_v":-8.4532156,"cg_vu_v":120.970459,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.8407574,"dclink_p_w":-2429.86475,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5618286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2385.358643,"values":{"Elec_RPM":-3520.39746,"EncoderCos":29402,"EncoderSin":53721,"GapTicks":49799,"Mech_RPM":-704.079468,"cg_du":45.2720795,"cg_dv":54.7279205,"cg_dw":53.7395782,"cg_id_a":13.4443207,"cg_id_raw_a":13.456398,"cg_iq_a":-199.366882,"cg_iq_raw_a":-200.151077,"cg_iu_a":-189.443985,"cg_iv_a":42.039505,"cg_iw_a":147.40448,"cg_sample_age_us":23.7763634,"cg_sample_seq":13292966,"cg_sample_valid":1,"cg_theta_rad":1.72120345,"cg_vd_req_v":-1.88168347,"cg_vd_v":-1.88168347,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.452528,"cg_vq_v":-8.452528,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.5743656,"dclink_p_w":-2398.71924,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2385.710205,"values":{"Elec_RPM":-3536.97412,"EncoderCos":19180,"EncoderSin":49143,"GapTicks":49342,"Mech_RPM":-707.394836,"cg_du":55.142849,"cg_dv":44.857151,"cg_dw":49.8226013,"cg_id_a":-15.8151665,"cg_id_raw_a":-17.7102699,"cg_iq_a":-195.649063,"cg_iq_raw_a":-195.001465,"cg_iu_a":198.147568,"cg_iv_a":-95.2521362,"cg_iw_a":-101.373199,"cg_sample_age_us":23.994545,"cg_sample_seq":13294670,"cg_sample_valid":1,"cg_theta_rad":2.30391026,"cg_vd_req_v":-1.32642555,"cg_vd_v":-1.32642555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49315071,"cg_vq_v":-8.49315071,"cg_vu_v":27.2733402,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.5055027,"dclink_p_w":-2396.01392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2385.987243,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2385.987249,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2385.987254,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2386.042236,"values":{"Elec_RPM":-3525.53345,"EncoderCos":18011,"EncoderSin":48095,"GapTicks":49633,"Mech_RPM":-705.106689,"cg_du":54.8781853,"cg_dv":45.1218147,"cg_dw":47.2572365,"cg_id_a":15.2512188,"cg_id_raw_a":10.982461,"cg_iq_a":-202.403641,"cg_iq_raw_a":-199.502411,"cg_iu_a":195.46553,"cg_iv_a":-49.0049896,"cg_iw_a":-146.460541,"cg_sample_age_us":23.9363632,"cg_sample_seq":13296417,"cg_sample_valid":1,"cg_theta_rad":2.33998871,"cg_vd_req_v":-1.96272635,"cg_vd_v":-1.96272635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34311199,"cg_vq_v":-8.34311199,"cg_vu_v":106.014107,"cg_vv_v":91.0577545,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2512.01953,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2386.374268,"values":{"Elec_RPM":-3534.38867,"EncoderCos":12499,"EncoderSin":26226,"GapTicks":49641,"Mech_RPM":-706.877747,"cg_du":54.8709869,"cg_dv":45.1290131,"cg_dw":52.81213,"cg_id_a":-0.578768134,"cg_id_raw_a":7.22091675,"cg_iq_a":-200.959076,"cg_iq_raw_a":-201.845688,"cg_iu_a":173.610504,"cg_iv_a":-171.54541,"cg_iw_a":-2.06510162,"cg_sample_age_us":24.1545448,"cg_sample_seq":13298066,"cg_sample_valid":1,"cg_theta_rad":3.45803618,"cg_vd_req_v":-1.59805548,"cg_vd_v":-1.59805548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43023109,"cg_vq_v":-8.43023109,"cg_vu_v":39.590332,"cg_vv_v":38.7105446,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2396.62109,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2386.72583,"values":{"Elec_RPM":-3537.05957,"EncoderCos":12730,"EncoderSin":25562,"GapTicks":49370,"Mech_RPM":-707.411926,"cg_du":55.1179695,"cg_dv":44.8820305,"cg_dw":51.0708122,"cg_id_a":-15.7057447,"cg_id_raw_a":-14.3543119,"cg_iq_a":-195.867096,"cg_iq_raw_a":-196.910202,"cg_iu_a":179.771942,"cg_iv_a":-158.642578,"cg_iw_a":-21.129364,"cg_sample_age_us":24.0636368,"cg_sample_seq":13299817,"cg_sample_valid":1,"cg_theta_rad":3.48941922,"cg_vd_req_v":-1.3028971,"cg_vd_v":-1.3028971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51590824,"cg_vq_v":-8.51590824,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.6414165,"dclink_p_w":-2408.42334,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2604,"hz_tim_isr":5000,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2387.011021,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2387.011027,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2387.011032,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2387.061768,"values":{"Elec_RPM":-3522.71265,"EncoderCos":41483,"EncoderSin":13346,"GapTicks":49464,"Mech_RPM":-704.542542,"cg_du":51.8889694,"cg_dv":55.0319061,"cg_dw":44.9680939,"cg_id_a":-12.7713833,"cg_id_raw_a":-7.68409395,"cg_iq_a":-198.061981,"cg_iq_raw_a":-199.898422,"cg_iu_a":-0.396148682,"cg_iv_a":171.321274,"cg_iw_a":-170.925125,"cg_sample_age_us":23.8600006,"cg_sample_seq":13301416,"cg_sample_valid":1,"cg_theta_rad":5.14288092,"cg_vd_req_v":-1.42679691,"cg_vd_v":-1.42679691,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45859337,"cg_vq_v":-8.45859337,"cg_vu_v":14.5164547,"cg_vv_v":10.9973145,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-15.9564075,"dclink_p_w":-2302.26636,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2387.393799,"values":{"Elec_RPM":-3522.0105,"EncoderCos":42186,"EncoderSin":13702,"GapTicks":49340,"Mech_RPM":-704.4021,"cg_du":50.5151749,"cg_dv":55.1453629,"cg_dw":44.8546371,"cg_id_a":-18.5761852,"cg_id_raw_a":-17.2656651,"cg_iq_a":-199.40181,"cg_iq_raw_a":-197.367416,"cg_iu_a":-35.4439354,"cg_iv_a":188.754578,"cg_iw_a":-153.310638,"cg_sample_age_us":23.8709087,"cg_sample_seq":13303166,"cg_sample_valid":1,"cg_theta_rad":5.17959976,"cg_vd_req_v":-1.34895599,"cg_vd_v":-1.34895599,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44743347,"cg_vq_v":-8.44743347,"cg_vu_v":12.7568836,"cg_vv_v":15.3962402,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7247772,"dclink_p_w":-2413.13037,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2387.745361,"values":{"Elec_RPM":-3525.15405,"EncoderCos":53727,"EncoderSin":33183,"GapTicks":49634,"Mech_RPM":-705.030823,"cg_du":54.8778954,"cg_dv":52.7027245,"cg_dw":45.1221046,"cg_id_a":8.969841,"cg_id_raw_a":8.03626728,"cg_iq_a":-202.590775,"cg_iq_raw_a":-203.147247,"cg_iu_a":56.5429153,"cg_iv_a":142.398682,"cg_iw_a":-198.941605,"cg_sample_age_us":23.48909,"cg_sample_seq":13304816,"cg_sample_valid":1,"cg_theta_rad":0.0305661615,"cg_vd_req_v":-1.89556348,"cg_vd_v":-1.89556348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34600639,"cg_vq_v":-8.34600639,"cg_vu_v":31.6722641,"cg_vv_v":22.8744144,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2417.34058,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5923462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2388.003306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2388.003312,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2388.003318,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2388.10083,"values":{"Elec_RPM":-3516.72095,"EncoderCos":51269,"EncoderSin":22716,"GapTicks":49377,"Mech_RPM":-703.344177,"cg_du":49.03545,"cg_dv":44.8883972,"cg_dw":55.1116028,"cg_id_a":-12.6828861,"cg_id_raw_a":-13.9245672,"cg_iq_a":-197.592865,"cg_iq_raw_a":-199.334183,"cg_iu_a":46.9382973,"cg_iv_a":-187.60141,"cg_iw_a":140.663116,"cg_sample_age_us":23.8054543,"cg_sample_seq":13306618,"cg_sample_valid":1,"cg_theta_rad":5.80799103,"cg_vd_req_v":-1.46939576,"cg_vd_v":-1.46939576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46615887,"cg_vq_v":-8.46615887,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9712353,"dclink_p_w":-2456.15625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2572,"hz_tim_isr":5000,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2388.620361,"values":{"Elec_RPM":-3520.44141,"EncoderCos":13057,"EncoderSin":24710,"GapTicks":49370,"Mech_RPM":-704.088257,"cg_du":55.1181755,"cg_dv":44.8818245,"cg_dw":49.2849998,"cg_id_a":-11.7663546,"cg_id_raw_a":-16.4187965,"cg_iq_a":-198.096039,"cg_iq_raw_a":-198.087662,"cg_iu_a":196.552841,"cg_iv_a":-121.927589,"cg_iw_a":-74.6252518,"cg_sample_age_us":24.1145458,"cg_sample_seq":13309166,"cg_sample_valid":1,"cg_theta_rad":3.5322361,"cg_vd_req_v":-1.42955387,"cg_vd_v":-1.42955387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46102428,"cg_vq_v":-8.46102428,"cg_vu_v":32.1121559,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0419121,"dclink_p_w":-2466.38477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2572,"hz_tim_isr":5000,"hz_vsense":2572,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2388.867472,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2388.867482,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2388.867485,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2388.995152,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2388.995158,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2388.995164,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2389.06958,"values":{"Elec_RPM":-3539.34595,"EncoderCos":12137,"EncoderSin":27481,"GapTicks":49694,"Mech_RPM":-707.869202,"cg_du":53.3250198,"cg_dv":45.176487,"cg_dw":54.823513,"cg_id_a":13.9894896,"cg_id_raw_a":11.2379827,"cg_iq_a":-200.664368,"cg_iq_raw_a":-199.615494,"cg_iu_a":153.241455,"cg_iv_a":-190.899597,"cg_iw_a":37.6581345,"cg_sample_age_us":23.6745453,"cg_sample_seq":13311517,"cg_sample_valid":1,"cg_theta_rad":3.39998317,"cg_vd_req_v":-1.93029392,"cg_vd_v":-1.93029392,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43116474,"cg_vq_v":-8.43116474,"cg_vu_v":44.4291458,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.2644806,"dclink_p_w":-2353.87134,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2389.405518,"values":{"Elec_RPM":-3534.07593,"EncoderCos":18313,"EncoderSin":16924,"GapTicks":49462,"Mech_RPM":-706.815186,"cg_du":48.2914467,"cg_dv":55.0344887,"cg_dw":44.9655113,"cg_id_a":-0.799041748,"cg_id_raw_a":-4.70427704,"cg_iq_a":-199.732727,"cg_iq_raw_a":-198.154953,"cg_iu_a":-112.462082,"cg_iv_a":200.678772,"cg_iw_a":-88.2166977,"cg_sample_age_us":23.9436359,"cg_sample_seq":13313217,"cg_sample_valid":1,"cg_theta_rad":3.98114848,"cg_vd_req_v":-1.63913524,"cg_vd_v":-1.63913524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41514301,"cg_vq_v":-8.41514301,"cg_vu_v":127.12896,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.2050076,"dclink_p_w":-2482.42041,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2389.75708,"values":{"Elec_RPM":-3521.75537,"EncoderCos":29496,"EncoderSin":11754,"GapTicks":49376,"Mech_RPM":-704.351074,"cg_du":50.3033104,"cg_dv":44.8875389,"cg_dw":55.1124611,"cg_id_a":-14.6034231,"cg_id_raw_a":-18.2238293,"cg_iq_a":-197.769928,"cg_iq_raw_a":-198.112106,"cg_iu_a":48.3880501,"cg_iv_a":-190.355942,"cg_iw_a":141.967896,"cg_sample_age_us":23.7472725,"cg_sample_seq":13314916,"cg_sample_valid":1,"cg_theta_rad":4.56374359,"cg_vd_req_v":-1.38156259,"cg_vd_v":-1.38156259,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43625164,"cg_vq_v":-8.43625164,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.8280716,"dclink_p_w":-2428.03418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2389.987517,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2389.987523,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2389.987528,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2390.089111,"values":{"Elec_RPM":-3514.30542,"EncoderCos":41075,"EncoderSin":13150,"GapTicks":49675,"Mech_RPM":-702.861084,"cg_du":53.0022774,"cg_dv":54.8406487,"cg_dw":45.1593513,"cg_id_a":-2.59028816,"cg_id_raw_a":3.91168356,"cg_iq_a":-200.57814,"cg_iq_raw_a":-202.027924,"cg_iu_a":2.82955241,"cg_iv_a":170.632629,"cg_iw_a":-173.462189,"cg_sample_age_us":23.9618187,"cg_sample_seq":13316617,"cg_sample_valid":1,"cg_theta_rad":5.12983751,"cg_vd_req_v":-1.62823224,"cg_vd_v":-1.62823224,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41009617,"cg_vq_v":-8.41009617,"cg_vu_v":132.407669,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.6577263,"dclink_p_w":-2410.78369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2390.421143,"values":{"Elec_RPM":-3510.94531,"EncoderCos":50510,"EncoderSin":21432,"GapTicks":50129,"Mech_RPM":-702.189087,"cg_du":45.5724487,"cg_dv":45.5945816,"cg_dw":54.4275513,"cg_id_a":13.6903896,"cg_id_raw_a":16.817522,"cg_iq_a":-206.660416,"cg_iq_raw_a":-207.316666,"cg_iu_a":-13.55266,"cg_iv_a":-172.306503,"cg_iw_a":185.859161,"cg_sample_age_us":23.954546,"cg_sample_seq":13318316,"cg_sample_valid":1,"cg_theta_rad":5.73070812,"cg_vd_req_v":-2.00426459,"cg_vd_v":-2.00426459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29429531,"cg_vq_v":-8.29429531,"cg_vu_v":39.1504402,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6396046,"dclink_p_w":-2408.16113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2390.772705,"values":{"Elec_RPM":-3524.73926,"EncoderCos":53716,"EncoderSin":33026,"GapTicks":49603,"Mech_RPM":-704.947876,"cg_du":54.9054794,"cg_dv":52.4570999,"cg_dw":45.0945206,"cg_id_a":4.7504921,"cg_id_raw_a":2.378479,"cg_iq_a":-202.157318,"cg_iq_raw_a":-203.498749,"cg_iu_a":68.4671326,"cg_iv_a":131.743011,"cg_iw_a":-200.210144,"cg_sample_age_us":23.5145454,"cg_sample_seq":13320016,"cg_sample_valid":1,"cg_theta_rad":0.0220332947,"cg_vd_req_v":-1.81615186,"cg_vd_v":-1.81615186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33813286,"cg_vq_v":-8.33813286,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6994076,"dclink_p_w":-2416.81592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2391.010687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2391.010692,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2391.010698,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2391.108643,"values":{"Elec_RPM":-3528.71191,"EncoderCos":50391,"EncoderSin":44362,"GapTicks":49342,"Mech_RPM":-705.742371,"cg_du":44.856781,"cg_dv":50.053112,"cg_dw":55.143219,"cg_id_a":-9.77854156,"cg_id_raw_a":-11.8001976,"cg_iq_a":-198.475952,"cg_iq_raw_a":-196.904007,"cg_iu_a":-133.700958,"cg_iv_a":-60.276825,"cg_iw_a":193.977783,"cg_sample_age_us":23.5327282,"cg_sample_seq":13321717,"cg_sample_valid":1,"cg_theta_rad":0.583098412,"cg_vd_req_v":-1.51720572,"cg_vd_v":-1.51720572,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46020508,"cg_vq_v":-8.46020508,"cg_vu_v":125.369385,"cg_vv_v":118.3311,"cg_vw_v":121.850235,"control_outputs_enabled":1,"dclink_i_a":-16.9313679,"dclink_p_w":-2442.93823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2391.440674,"values":{"Elec_RPM":-3530.47363,"EncoderCos":41194,"EncoderSin":52165,"GapTicks":49513,"Mech_RPM":-706.094727,"cg_du":54.9881363,"cg_dv":47.5900002,"cg_dw":45.0118637,"cg_id_a":-5.7927103,"cg_id_raw_a":0.360239238,"cg_iq_a":-196.658508,"cg_iq_raw_a":-197.346863,"cg_iu_a":165.056946,"cg_iv_a":5.61447144,"cg_iw_a":-170.671417,"cg_sample_age_us":23.9363632,"cg_sample_seq":13323417,"cg_sample_valid":1,"cg_theta_rad":1.16373944,"cg_vd_req_v":-1.50983715,"cg_vd_v":-1.50983715,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5213623,"cg_vq_v":-8.5213623,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-16.5906754,"dclink_p_w":-2408.37793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2391.792236,"values":{"Elec_RPM":-3532.2522,"EncoderCos":29316,"EncoderSin":53696,"GapTicks":49900,"Mech_RPM":-706.450439,"cg_du":45.3641624,"cg_dv":54.6358376,"cg_dw":53.916748,"cg_id_a":11.5074539,"cg_id_raw_a":10.2279835,"cg_iq_a":-198.710999,"cg_iq_raw_a":-199.033707,"cg_iu_a":-182.84761,"cg_iv_a":20.8006287,"cg_iw_a":162.046982,"cg_sample_age_us":23.8709087,"cg_sample_seq":13325118,"cg_sample_valid":1,"cg_theta_rad":1.74057126,"cg_vd_req_v":-1.8318404,"cg_vd_v":-1.8318404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42276573,"cg_vq_v":-8.42276573,"cg_vu_v":122.290138,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5834255,"dclink_p_w":-2400.03052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2605,"hz_tim_isr":5000,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2391.97122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2391.971226,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2391.971232,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2392.124268,"values":{"Elec_RPM":-3523.19214,"EncoderCos":12275,"EncoderSin":38634,"GapTicks":49385,"Mech_RPM":-704.638428,"cg_du":44.8956146,"cg_dv":55.1043854,"cg_dw":48.9349365,"cg_id_a":-11.936924,"cg_id_raw_a":-7.15837479,"cg_iq_a":-198.184158,"cg_iq_raw_a":-199.241989,"cg_iu_a":-184.551071,"cg_iv_a":154.177948,"cg_iw_a":30.3731308,"cg_sample_age_us":23.9218178,"cg_sample_seq":13326766,"cg_sample_valid":1,"cg_theta_rad":2.86472702,"cg_vd_req_v":-1.35468674,"cg_vd_v":-1.35468674,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48432732,"cg_vq_v":-8.48432732,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2104454,"dclink_p_w":-2490.77588,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2392.47583,"values":{"Elec_RPM":-3524.75195,"EncoderCos":17600,"EncoderSin":47656,"GapTicks":49783,"Mech_RPM":-704.950378,"cg_du":54.7425728,"cg_dv":45.2574272,"cg_dw":46.5262451,"cg_id_a":17.8289604,"cg_id_raw_a":21.0108852,"cg_iq_a":-204.853683,"cg_iq_raw_a":-205.895142,"cg_iu_a":191.007538,"cg_iv_a":-32.0791321,"cg_iw_a":-158.928406,"cg_sample_age_us":23.8999996,"cg_sample_seq":13328567,"cg_sample_valid":1,"cg_theta_rad":2.35682797,"cg_vd_req_v":-2.02748537,"cg_vd_v":-2.02748537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33584404,"cg_vq_v":-8.33584404,"cg_vu_v":19.3552723,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2392.807861,"values":{"Elec_RPM":-3524.34961,"EncoderCos":18804,"EncoderSin":16483,"GapTicks":49669,"Mech_RPM":-704.869934,"cg_du":47.1942558,"cg_dv":54.8460197,"cg_dw":45.1539803,"cg_id_a":10.233448,"cg_id_raw_a":7.82565594,"cg_iq_a":-202.499344,"cg_iq_raw_a":-201.334442,"cg_iu_a":-142.653198,"cg_iv_a":198.322937,"cg_iw_a":-55.6697311,"cg_sample_age_us":23.9581814,"cg_sample_seq":13330167,"cg_sample_valid":1,"cg_theta_rad":4.01126242,"cg_vd_req_v":-1.85286307,"cg_vd_v":-1.85286307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33537769,"cg_vq_v":-8.33537769,"cg_vu_v":97.2162552,"cg_vv_v":101.615181,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.2137394,"dclink_p_w":-2346.52783,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2392.963856,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2392.963862,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2392.963868,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2393.143799,"values":{"Elec_RPM":-3518.55322,"EncoderCos":19620,"EncoderSin":15815,"GapTicks":49984,"Mech_RPM":-703.710632,"cg_du":45.4402275,"cg_dv":54.5597725,"cg_dw":45.9624443,"cg_id_a":9.11827374,"cg_id_raw_a":11.9964752,"cg_iq_a":-204.629578,"cg_iq_raw_a":-206.038467,"cg_iu_a":-170.633438,"cg_iv_a":181.179596,"cg_iw_a":-10.5461578,"cg_sample_age_us":23.9690914,"cg_sample_seq":13331916,"cg_sample_valid":1,"cg_theta_rad":4.0596571,"cg_vd_req_v":-1.81345749,"cg_vd_v":-1.81345749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31044102,"cg_vq_v":-8.31044102,"cg_vu_v":37.830761,"cg_vv_v":46.1887207,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-17.1868858,"dclink_p_w":-2479.80566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":2393.495361,"values":{"Elec_RPM":-3510.86621,"EncoderCos":40864,"EncoderSin":13065,"GapTicks":49814,"Mech_RPM":-702.173218,"cg_du":53.5687943,"cg_dv":54.7138977,"cg_dw":45.2861023,"cg_id_a":3.19216442,"cg_id_raw_a":8.65852165,"cg_iq_a":-202.636414,"cg_iq_raw_a":-202.700027,"cg_iu_a":-16.5971413,"cg_iv_a":177.772675,"cg_iw_a":-161.175537,"cg_sample_age_us":23.9872723,"cg_sample_seq":13333571,"cg_sample_valid":1,"cg_theta_rad":5.16219807,"cg_vd_req_v":-1.75294518,"cg_vd_v":-1.75294518,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38992023,"cg_vq_v":-8.38992023,"cg_vu_v":135.926804,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.8733768,"dclink_p_w":-2441.99365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2393.827393,"values":{"Elec_RPM":-3520.0415,"EncoderCos":42704,"EncoderSin":13968,"GapTicks":49426,"Mech_RPM":-704.008301,"cg_du":49.0570374,"cg_dv":55.0670853,"cg_dw":44.9329147,"cg_id_a":-14.4119415,"cg_id_raw_a":-18.8192368,"cg_iq_a":-199.62706,"cg_iq_raw_a":-199.958771,"cg_iu_a":-77.8854675,"cg_iv_a":196.003326,"cg_iw_a":-130.766953,"cg_sample_age_us":23.9509087,"cg_sample_seq":13335316,"cg_sample_valid":1,"cg_theta_rad":5.2125349,"cg_vd_req_v":-1.44176245,"cg_vd_v":-1.44176245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41986752,"cg_vq_v":-8.41986752,"cg_vu_v":4.39892578,"cg_vv_v":35.6312981,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-16.4910049,"dclink_p_w":-2386.65503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2602,"hz_tim_isr":4998,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5654297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2393.98677,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2393.986776,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2393.986782,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2394.159424,"values":{"Elec_RPM":-3523.60596,"EncoderCos":51154,"EncoderSin":22546,"GapTicks":49458,"Mech_RPM":-704.721191,"cg_du":48.6066856,"cg_dv":44.9625854,"cg_dw":55.0374146,"cg_id_a":-12.5685425,"cg_id_raw_a":-12.997694,"cg_iq_a":-200.150513,"cg_iq_raw_a":-202.268799,"cg_iu_a":22.5099525,"cg_iv_a":-181.403702,"cg_iw_a":158.893753,"cg_sample_age_us":23.7581825,"cg_sample_seq":13337017,"cg_sample_valid":1,"cg_theta_rad":5.79287672,"cg_vd_req_v":-1.46940494,"cg_vd_v":-1.46940494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39727879,"cg_vq_v":-8.39727879,"cg_vu_v":106.453995,"cg_vv_v":98.5359344,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2394.510986,"values":{"Elec_RPM":-3533.54443,"EncoderCos":53693,"EncoderSin":34404,"GapTicks":49897,"Mech_RPM":-706.708862,"cg_du":53.7552795,"cg_dv":54.6382599,"cg_dw":45.3617401,"cg_id_a":4.54294538,"cg_id_raw_a":8.94875622,"cg_iq_a":-203.058289,"cg_iq_raw_a":-205.622498,"cg_iu_a":8.15739632,"cg_iv_a":171.357513,"cg_iw_a":-179.514908,"cg_sample_age_us":23.4854546,"cg_sample_seq":13338716,"cg_sample_valid":1,"cg_theta_rad":0.0881704912,"cg_vd_req_v":-1.7897054,"cg_vd_v":-1.7897054,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36690998,"cg_vq_v":-8.36690998,"cg_vu_v":35.1914063,"cg_vv_v":34.7515144,"cg_vw_v":22.4345207,"control_outputs_enabled":1,"dclink_i_a":-17.3735428,"dclink_p_w":-2514.37988,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2394.843018,"values":{"Elec_RPM":-3533.17432,"EncoderCos":49495,"EncoderSin":45672,"GapTicks":49548,"Mech_RPM":-706.634888,"cg_du":45.0443192,"cg_dv":47.3170052,"cg_dw":54.9556808,"cg_id_a":18.3218117,"cg_id_raw_a":15.9259338,"cg_iq_a":-200.245499,"cg_iq_raw_a":-198.021454,"cg_iu_a":-45.6284561,"cg_iv_a":-147.986908,"cg_iw_a":193.615356,"cg_sample_age_us":23.4163628,"cg_sample_seq":13340417,"cg_sample_valid":1,"cg_theta_rad":0.66260004,"cg_vd_req_v":-2.06839275,"cg_vd_v":-2.06839275,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42662239,"cg_vq_v":-8.42662239,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.5420761,"dclink_p_w":-2546.48755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2394.979367,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2394.979374,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2394.979379,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2395.175049,"values":{"Elec_RPM":-3537.64746,"EncoderCos":39472,"EncoderSin":52765,"GapTicks":49406,"Mech_RPM":-707.52948,"cg_du":55.0853271,"cg_dv":51.1913223,"cg_dw":44.9146729,"cg_id_a":1.7887044,"cg_id_raw_a":-1.59017992,"cg_iq_a":-199.557968,"cg_iq_raw_a":-198.407516,"cg_iu_a":84.0157471,"cg_iv_a":115.215805,"cg_iw_a":-199.231552,"cg_sample_age_us":23.9290905,"cg_sample_seq":13342116,"cg_sample_valid":1,"cg_theta_rad":1.25800979,"cg_vd_req_v":-1.68899453,"cg_vd_v":-1.68899453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40768623,"cg_vq_v":-8.40768623,"cg_vu_v":105.574219,"cg_vv_v":98.9758301,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.4511356,"dclink_p_w":-2380.88501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2395.530518,"values":{"Elec_RPM":-3531.04102,"EncoderCos":27757,"EncoderSin":53429,"GapTicks":49469,"Mech_RPM":-706.208191,"cg_du":44.9719124,"cg_dv":51.4404144,"cg_dw":55.0280876,"cg_id_a":-12.8422871,"cg_id_raw_a":-10.4433708,"cg_iq_a":-201.593384,"cg_iq_raw_a":-200.07811,"cg_iu_a":-164.399506,"cg_iv_a":-17.5815887,"cg_iw_a":181.981094,"cg_sample_age_us":23.8527279,"cg_sample_seq":13343817,"cg_sample_valid":1,"cg_theta_rad":1.80516565,"cg_vd_req_v":-1.32818902,"cg_vd_v":-1.32818902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38636017,"cg_vq_v":-8.38636017,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6903458,"dclink_p_w":-2408.1626,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2395.858643,"values":{"Elec_RPM":-3527.65503,"EncoderCos":17189,"EncoderSin":47212,"GapTicks":49812,"Mech_RPM":-705.531006,"cg_du":54.7160454,"cg_dv":46.363266,"cg_dw":45.2839546,"cg_id_a":4.86438894,"cg_id_raw_a":13.7022438,"cg_iq_a":-200.008606,"cg_iq_raw_a":-202.548889,"cg_iu_a":175.205231,"cg_iv_a":-4.75128174,"cg_iw_a":-170.453949,"cg_sample_age_us":24.0200005,"cg_sample_seq":13345516,"cg_sample_valid":1,"cg_theta_rad":2.39875674,"cg_vd_req_v":-1.72007859,"cg_vd_v":-1.72007859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4537468,"cg_vq_v":-8.4537468,"cg_vu_v":46.1887207,"cg_vv_v":44.4291458,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-16.7610207,"dclink_p_w":-2425.73291,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00337376958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2395.971028,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2395.971034,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2395.971039,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2396.214111,"values":{"Elec_RPM":-3520.20044,"EncoderCos":11896,"EncoderSin":37116,"GapTicks":49473,"Mech_RPM":-704.0401,"cg_du":44.9761276,"cg_dv":55.0238724,"cg_dw":51.9451675,"cg_id_a":-0.113601923,"cg_id_raw_a":-2.68469429,"cg_iq_a":-197.428345,"cg_iq_raw_a":-197.710556,"cg_iu_a":-189.552719,"cg_iv_a":37.2190857,"cg_iw_a":139.322098,"cg_sample_age_us":23.8309097,"cg_sample_seq":13347220,"cg_sample_valid":1,"cg_theta_rad":2.97649264,"cg_vd_req_v":-1.61051345,"cg_vd_v":-1.61051345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45068836,"cg_vq_v":-8.45068836,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-17.2213192,"dclink_p_w":-2484.77393,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2396.546143,"values":{"Elec_RPM":-3505.39697,"EncoderCos":30695,"EncoderSin":11615,"GapTicks":49474,"Mech_RPM":-701.079407,"cg_du":52.3098717,"cg_dv":44.9769783,"cg_dw":55.0230217,"cg_id_a":11.4181261,"cg_id_raw_a":10.2521524,"cg_iq_a":-199.308929,"cg_iq_raw_a":-199.001434,"cg_iu_a":134.82959,"cg_iv_a":-195.973724,"cg_iw_a":61.1441422,"cg_sample_age_us":23.681818,"cg_sample_seq":13348816,"cg_sample_valid":1,"cg_theta_rad":4.62808275,"cg_vd_req_v":-1.92162752,"cg_vd_v":-1.92162752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44263649,"cg_vq_v":-8.44263649,"cg_vu_v":13.1967773,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2460.61475,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2396.878174,"values":{"Elec_RPM":-3509.86206,"EncoderCos":20607,"EncoderSin":15191,"GapTicks":49380,"Mech_RPM":-701.972412,"cg_du":44.8912697,"cg_dv":55.1087303,"cg_dw":48.7227516,"cg_id_a":-13.536108,"cg_id_raw_a":-12.4221897,"cg_iq_a":-198.303513,"cg_iq_raw_a":-198.66658,"cg_iu_a":-181.289124,"cg_iv_a":159.21582,"cg_iw_a":22.0732956,"cg_sample_age_us":23.9327278,"cg_sample_seq":13350617,"cg_sample_valid":1,"cg_theta_rad":4.11829615,"cg_vd_req_v":-1.37363446,"cg_vd_v":-1.37363446,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48923397,"cg_vq_v":-8.48923397,"cg_vu_v":142.965088,"cg_vv_v":142.525192,"cg_vw_v":139.006058,"control_outputs_enabled":1,"dclink_i_a":-16.991169,"dclink_p_w":-2459.04102,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2396.995437,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2396.995441,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2396.995446,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2397.229736,"values":{"Elec_RPM":-3514.7561,"EncoderCos":42486,"EncoderSin":13843,"GapTicks":49394,"Mech_RPM":-702.951233,"cg_du":49.5059814,"cg_dv":55.0959167,"cg_dw":44.9040833,"cg_id_a":-17.4787159,"cg_id_raw_a":-19.5724754,"cg_iq_a":-198.385651,"cg_iq_raw_a":-197.499466,"cg_iu_a":-118.732262,"cg_iv_a":199.881409,"cg_iw_a":-81.1491547,"cg_sample_age_us":24.4200001,"cg_sample_seq":13352270,"cg_sample_valid":1,"cg_theta_rad":5.2487483,"cg_vd_req_v":-1.37081301,"cg_vd_v":-1.37081301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41842461,"cg_vq_v":-8.41842461,"cg_vu_v":18.9153805,"cg_vv_v":24.6339836,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-15.9545956,"dclink_p_w":-2309.02344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2397.561768,"values":{"Elec_RPM":-3515.30884,"EncoderCos":43831,"EncoderSin":14651,"GapTicks":49755,"Mech_RPM":-703.061768,"cg_du":46.8571739,"cg_dv":54.76754,"cg_dw":45.23246,"cg_id_a":7.33159924,"cg_id_raw_a":4.07727051,"cg_iq_a":-204.958893,"cg_iq_raw_a":-203.680557,"cg_iu_a":-147.691101,"cg_iv_a":197.888,"cg_iw_a":-50.196907,"cg_sample_age_us":23.9763641,"cg_sample_seq":13354017,"cg_sample_valid":1,"cg_theta_rad":5.27382326,"cg_vd_req_v":-1.88528264,"cg_vd_v":-1.88528264,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28708839,"cg_vq_v":-8.28708839,"cg_vu_v":127.568848,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2481.11328,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2397.897705,"values":{"Elec_RPM":-3513.98486,"EncoderCos":53579,"EncoderSin":35059,"GapTicks":49498,"Mech_RPM":-702.796997,"cg_du":52.1934853,"cg_dv":55.0009155,"cg_dw":44.9990845,"cg_id_a":-8.57846165,"cg_id_raw_a":-3.23672485,"cg_iq_a":-198.416534,"cg_iq_raw_a":-200.776566,"cg_iu_a":-0.939806223,"cg_iv_a":171.973648,"cg_iw_a":-171.033844,"cg_sample_age_us":23.4599991,"cg_sample_seq":13355666,"cg_sample_valid":1,"cg_theta_rad":0.11254552,"cg_vd_req_v":-1.53100097,"cg_vd_v":-1.53100097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48398304,"cg_vq_v":-8.48398304,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":16.7159176,"control_outputs_enabled":1,"dclink_i_a":-16.3351555,"dclink_p_w":-2356.91406,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2397.987291,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2397.987297,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2397.987302,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2398.354736,"values":{"Elec_RPM":-3519.69922,"EncoderCos":32901,"EncoderSin":53944,"GapTicks":49798,"Mech_RPM":-703.939819,"cg_du":45.2713127,"cg_dv":54.7286873,"cg_dw":46.7349319,"cg_id_a":4.74700356,"cg_id_raw_a":9.71625805,"cg_iq_a":-203.829483,"cg_iq_raw_a":-204.019287,"cg_iu_a":-182.122726,"cg_iv_a":162.079102,"cg_iw_a":20.0436325,"cg_sample_age_us":23.7690907,"cg_sample_seq":13357870,"cg_sample_valid":1,"cg_theta_rad":1.59797895,"cg_vd_req_v":-1.68692696,"cg_vd_v":-1.68692696,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33812618,"cg_vq_v":-8.33812618,"cg_vu_v":0.87978512,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-17.0165405,"dclink_p_w":-2455.22754,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2398.850746,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2398.850757,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2398.85076,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2398.874268,"values":{"Elec_RPM":-3519.09814,"EncoderCos":27931,"EncoderSin":12090,"GapTicks":49809,"Mech_RPM":-703.819641,"cg_du":46.6084595,"cg_dv":45.2815895,"cg_dw":54.7184105,"cg_id_a":2.98520756,"cg_id_raw_a":8.83040905,"cg_iq_a":-204.119888,"cg_iq_raw_a":-204.818405,"cg_iu_a":16.2760143,"cg_iv_a":-180.968796,"cg_iw_a":164.69278,"cg_sample_age_us":26.7981815,"cg_sample_seq":13360520,"cg_sample_valid":1,"cg_theta_rad":4.52553511,"cg_vd_req_v":-1.71153414,"cg_vd_v":-1.71153414,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33731842,"cg_vq_v":-8.33731842,"cg_vu_v":105.134323,"cg_vv_v":87.9785156,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-16.8661289,"dclink_p_w":-2433.52539,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2398.978967,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2398.978972,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2398.978978,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2399.241455,"values":{"Elec_RPM":-3524.5752,"EncoderCos":12504,"EncoderSin":26171,"GapTicks":49652,"Mech_RPM":-704.915039,"cg_du":54.861515,"cg_dv":45.138485,"cg_dw":52.663868,"cg_id_a":-2.02102423,"cg_id_raw_a":6.27186298,"cg_iq_a":-201.094269,"cg_iq_raw_a":-202.109238,"cg_iu_a":184.447388,"cg_iv_a":-158.135162,"cg_iw_a":-22.7965775,"cg_sample_age_us":24.0345459,"cg_sample_seq":13362370,"cg_sample_valid":1,"cg_theta_rad":3.50057125,"cg_vd_req_v":-1.56764615,"cg_vd_v":-1.56764615,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37566853,"cg_vq_v":-8.37566853,"cg_vu_v":2.19946289,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-17.2847443,"dclink_p_w":-2493.92505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2399.573486,"values":{"Elec_RPM":-3530.62378,"EncoderCos":19738,"EncoderSin":15755,"GapTicks":49902,"Mech_RPM":-706.124756,"cg_du":45.3655548,"cg_dv":54.6344452,"cg_dw":46.2343864,"cg_id_a":7.64278221,"cg_id_raw_a":8.51088905,"cg_iq_a":-205.103897,"cg_iq_raw_a":-205.905853,"cg_iu_a":-172.735565,"cg_iv_a":180.309738,"cg_iw_a":-12.7570343,"cg_sample_age_us":23.9400005,"cg_sample_seq":13364067,"cg_sample_valid":1,"cg_theta_rad":4.06370831,"cg_vd_req_v":-1.78736627,"cg_vd_v":-1.78736627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33923626,"cg_vq_v":-8.33923626,"cg_vu_v":130.208206,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.4532795,"dclink_p_w":-2533.59741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2399.905518,"values":{"Elec_RPM":-3522.99585,"EncoderCos":31158,"EncoderSin":11552,"GapTicks":49649,"Mech_RPM":-704.599182,"cg_du":53.1737404,"cg_dv":45.136013,"cg_dw":54.863987,"cg_id_a":16.6111736,"cg_id_raw_a":12.5956373,"cg_iq_a":-197.989746,"cg_iq_raw_a":-197.321396,"cg_iu_a":151.175568,"cg_iv_a":-188.507507,"cg_iw_a":37.3319473,"cg_sample_age_us":23.6745453,"cg_sample_seq":13365767,"cg_sample_valid":1,"cg_theta_rad":4.64987421,"cg_vd_req_v":-2.00640082,"cg_vd_v":-2.00640082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45113182,"cg_vq_v":-8.45113182,"cg_vu_v":143.404984,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.360857,"dclink_p_w":-2520.18091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2400.003459,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2400.003465,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2400.00347,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2400.241455,"values":{"Elec_RPM":-3527.07007,"EncoderCos":53760,"EncoderSin":32934,"GapTicks":49548,"Mech_RPM":-705.414001,"cg_du":54.9561996,"cg_dv":52.2839661,"cg_dw":45.0438004,"cg_id_a":4.3703537,"cg_id_raw_a":2.47113132,"cg_iq_a":-203.265488,"cg_iq_raw_a":-203.382584,"cg_iu_a":72.1277618,"cg_iv_a":126.632614,"cg_iw_a":-198.760376,"cg_sample_age_us":23.5254555,"cg_sample_seq":13367367,"cg_sample_valid":1,"cg_theta_rad":0.0181267355,"cg_vd_req_v":-1.81481087,"cg_vd_v":-1.81481087,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34962082,"cg_vq_v":-8.34962082,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2450.521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2400.593018,"values":{"Elec_RPM":-3516.44482,"EncoderCos":51480,"EncoderSin":23091,"GapTicks":49287,"Mech_RPM":-703.28894,"cg_du":49.8679466,"cg_dv":44.8066406,"cg_dw":55.1933594,"cg_id_a":-10.0577669,"cg_id_raw_a":-14.406992,"cg_iq_a":-195.997162,"cg_iq_raw_a":-196.205566,"cg_iu_a":58.5363235,"cg_iv_a":-191.443268,"cg_iw_a":132.906937,"cg_sample_age_us":23.823637,"cg_sample_seq":13369166,"cg_sample_valid":1,"cg_theta_rad":5.8208704,"cg_vd_req_v":-1.54400671,"cg_vd_v":-1.54400671,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51450634,"cg_vq_v":-8.51450634,"cg_vu_v":38.2706528,"cg_vv_v":39.1504402,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2448.02588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2400.925049,"values":{"Elec_RPM":-3514.09521,"EncoderCos":40654,"EncoderSin":52324,"GapTicks":49384,"Mech_RPM":-702.819031,"cg_du":55.1050911,"cg_dv":48.858223,"cg_dw":44.8949089,"cg_id_a":-11.1622486,"cg_id_raw_a":-10.3697062,"cg_iq_a":-194.649597,"cg_iq_raw_a":-196.044846,"cg_iu_a":157.626968,"cg_iv_a":18.6622467,"cg_iw_a":-176.289215,"cg_sample_age_us":23.863636,"cg_sample_seq":13370766,"cg_sample_valid":1,"cg_theta_rad":1.18038428,"cg_vd_req_v":-1.40861464,"cg_vd_v":-1.40861464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51251888,"cg_vq_v":-8.51251888,"cg_vu_v":13.6366701,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.6816139,"dclink_p_w":-2558.96558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2400.995442,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2400.995449,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2400.995454,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2401.276611,"values":{"Elec_RPM":-3514.2124,"EncoderCos":49044,"EncoderSin":46260,"GapTicks":50041,"Mech_RPM":-702.842468,"cg_du":45.4925461,"cg_dv":45.8818703,"cg_dw":54.5074539,"cg_id_a":14.7636461,"cg_id_raw_a":15.9671249,"cg_iq_a":-204.756317,"cg_iq_raw_a":-204.307648,"cg_iu_a":-20.4752312,"cg_iv_a":-167.196121,"cg_iw_a":187.671356,"cg_sample_age_us":23.51091,"cg_sample_seq":13372566,"cg_sample_valid":1,"cg_theta_rad":0.69437623,"cg_vd_req_v":-1.96862638,"cg_vd_v":-1.96862638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31220913,"cg_vq_v":-8.31220913,"cg_vu_v":3.51914048,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0999012,"dclink_p_w":-2474.77734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2401.608643,"values":{"Elec_RPM":-3520.67603,"EncoderCos":18011,"EncoderSin":48084,"GapTicks":49599,"Mech_RPM":-704.135193,"cg_du":54.9092178,"cg_dv":45.0907822,"cg_dw":47.2086296,"cg_id_a":14.9233789,"cg_id_raw_a":12.7777462,"cg_iq_a":-202.054214,"cg_iq_raw_a":-201.361694,"cg_iu_a":196.516602,"cg_iv_a":-47.0840759,"cg_iw_a":-135.913574,"cg_sample_age_us":24.0200005,"cg_sample_seq":13374166,"cg_sample_valid":1,"cg_theta_rad":2.33373785,"cg_vd_req_v":-1.96566296,"cg_vd_v":-1.96566296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40801144,"cg_vq_v":-8.40801144,"cg_vu_v":43.1094704,"cg_vv_v":40.9100075,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.5598679,"dclink_p_w":-2396.62109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2401.964111,"values":{"Elec_RPM":-3513.25806,"EncoderCos":27995,"EncoderSin":53518,"GapTicks":49536,"Mech_RPM":-702.651611,"cg_du":45.033535,"cg_dv":52.1327629,"cg_dw":54.966465,"cg_id_a":-7.00011635,"cg_id_raw_a":0.0480942465,"cg_iq_a":-201.103714,"cg_iq_raw_a":-202.977127,"cg_iu_a":-142.943146,"cg_iv_a":-49.3674316,"cg_iw_a":192.310577,"cg_sample_age_us":26.5945454,"cg_sample_seq":13375970,"cg_sample_valid":1,"cg_theta_rad":1.84230149,"cg_vd_req_v":-1.45474613,"cg_vd_v":-1.45474613,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42627239,"cg_vq_v":-8.42627239,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-16.7682705,"dclink_p_w":-2426.78223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2401.987215,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2401.987221,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2401.987226,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2402.296143,"values":{"Elec_RPM":-3513.90283,"EncoderCos":11771,"EncoderSin":36640,"GapTicks":49511,"Mech_RPM":-702.780579,"cg_du":45.0100403,"cg_dv":54.9899597,"cg_dw":52.3631973,"cg_id_a":7.7940073,"cg_id_raw_a":5.55772257,"cg_iq_a":-197.308594,"cg_iq_raw_a":-197.612625,"cg_iu_a":-194.663086,"cg_iv_a":71.4694977,"cg_iw_a":123.193588,"cg_sample_age_us":23.8418179,"cg_sample_seq":13377617,"cg_sample_valid":1,"cg_theta_rad":2.95234132,"cg_vd_req_v":-1.70299554,"cg_vd_v":-1.70299554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4488039,"cg_vq_v":-8.4488039,"cg_vu_v":36.5110817,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-17.0872154,"dclink_p_w":-2465.4248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2402.628174,"values":{"Elec_RPM":-3504.58789,"EncoderCos":12939,"EncoderSin":24967,"GapTicks":49330,"Mech_RPM":-700.917603,"cg_du":55.153759,"cg_dv":44.846241,"cg_dw":49.7248993,"cg_id_a":-17.9875221,"cg_id_raw_a":-19.6060619,"cg_iq_a":-196.136948,"cg_iq_raw_a":-195.72493,"cg_iu_a":191.478699,"cg_iv_a":-137.294952,"cg_iw_a":-54.1837387,"cg_sample_age_us":24.0672722,"cg_sample_seq":13379317,"cg_sample_valid":1,"cg_theta_rad":3.52064204,"cg_vd_req_v":-1.29047513,"cg_vd_v":-1.29047513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49304962,"cg_vq_v":-8.49304962,"cg_vu_v":142.965088,"cg_vv_v":130.208206,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8788128,"dclink_p_w":-2435.35547,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2402.979674,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2402.97968,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2402.979685,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2402.979736,"values":{"Elec_RPM":-3514.14209,"EncoderCos":19608,"EncoderSin":15866,"GapTicks":50021,"Mech_RPM":-702.82843,"cg_du":45.4738541,"cg_dv":54.5261459,"cg_dw":45.8580055,"cg_id_a":11.1270094,"cg_id_raw_a":9.37515736,"cg_iq_a":-205.076752,"cg_iq_raw_a":-206.086212,"cg_iu_a":-174.728989,"cg_iv_a":166.827026,"cg_iw_a":7.90195465,"cg_sample_age_us":23.8890915,"cg_sample_seq":13381021,"cg_sample_valid":1,"cg_theta_rad":4.09976292,"cg_vd_req_v":-1.85752273,"cg_vd_v":-1.85752273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35053539,"cg_vq_v":-8.35053539,"cg_vu_v":99.8556061,"cg_vv_v":103.814644,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-17.0545959,"dclink_p_w":-2475.72266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2403.311768,"values":{"Elec_RPM":-3510.70801,"EncoderCos":32092,"EncoderSin":11539,"GapTicks":49930,"Mech_RPM":-702.141602,"cg_du":54.6082611,"cg_dv":45.3917389,"cg_dw":53.8127785,"cg_id_a":9.18816185,"cg_id_raw_a":15.7945204,"cg_iq_a":-201.569611,"cg_iq_raw_a":-200.659454,"cg_iu_a":171.979523,"cg_iv_a":-177.960541,"cg_iw_a":12.0699844,"cg_sample_age_us":24.1181812,"cg_sample_seq":13382716,"cg_sample_valid":1,"cg_theta_rad":4.69364166,"cg_vd_req_v":-1.8162787,"cg_vd_v":-1.8162787,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36559582,"cg_vq_v":-8.36559582,"cg_vu_v":43.1094704,"cg_vv_v":40.4701157,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-16.6087971,"dclink_p_w":-2403.70239,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2403.643799,"values":{"Elec_RPM":-3509.31152,"EncoderCos":43625,"EncoderSin":14528,"GapTicks":49647,"Mech_RPM":-701.862305,"cg_du":47.2624817,"cg_dv":54.8657761,"cg_dw":45.1342239,"cg_id_a":4.37835026,"cg_id_raw_a":1.52773595,"cg_iq_a":-203.625717,"cg_iq_raw_a":-202.225128,"cg_iu_a":-137.72403,"cg_iv_a":200.823761,"cg_iw_a":-63.0997238,"cg_sample_age_us":23.9836369,"cg_sample_seq":13384416,"cg_sample_valid":1,"cg_theta_rad":5.2654295,"cg_vd_req_v":-1.83402836,"cg_vd_v":-1.83402836,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32394505,"cg_vq_v":-8.32394505,"cg_vu_v":37.830761,"cg_vv_v":47.9482918,"cg_vw_v":43.9892578,"control_outputs_enabled":1,"dclink_i_a":-16.8226357,"dclink_p_w":-2427.25,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5995483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2403.995361,"values":{"Elec_RPM":-3499.98096,"EncoderCos":51740,"EncoderSin":23621,"GapTicks":49323,"Mech_RPM":-699.996216,"cg_du":50.9103928,"cg_dv":44.8394012,"cg_dw":55.1605988,"cg_id_a":-0.763393044,"cg_id_raw_a":-3.19511771,"cg_iq_a":-197.680435,"cg_iq_raw_a":-197.103745,"cg_iu_a":96.0849304,"cg_iv_a":-198.474548,"cg_iw_a":102.389618,"cg_sample_age_us":23.6527271,"cg_sample_seq":13386116,"cg_sample_valid":1,"cg_theta_rad":5.85148144,"cg_vd_req_v":-1.74706137,"cg_vd_v":-1.74706137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49081039,"cg_vq_v":-8.49081039,"cg_vu_v":37.830761,"cg_vv_v":38.7105446,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-15.9545956,"dclink_p_w":-2309.02344,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2404.002786,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2404.002792,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2404.002797,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2404.331299,"values":{"Elec_RPM":-3507.93091,"EncoderCos":53565,"EncoderSin":35372,"GapTicks":49409,"Mech_RPM":-701.586182,"cg_du":51.4698486,"cg_dv":55.0821152,"cg_dw":44.9178848,"cg_id_a":-12.1810684,"cg_id_raw_a":-10.4820776,"cg_iq_a":-196.198364,"cg_iq_raw_a":-196.626236,"cg_iu_a":-21.7800102,"cg_iv_a":179.54863,"cg_iw_a":-157.768616,"cg_sample_age_us":23.4818172,"cg_sample_seq":13387817,"cg_sample_valid":1,"cg_theta_rad":0.134785682,"cg_vd_req_v":-1.4560262,"cg_vd_v":-1.4560262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48649788,"cg_vq_v":-8.48649788,"cg_vu_v":136.366699,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7863922,"dclink_p_w":-2429.40479,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2404.66333,"values":{"Elec_RPM":-3511.44678,"EncoderCos":48620,"EncoderSin":46758,"GapTicks":49820,"Mech_RPM":-702.289368,"cg_du":46.7255211,"cg_dv":45.2915497,"cg_dw":54.7084503,"cg_id_a":3.53747654,"cg_id_raw_a":6.53279448,"cg_iq_a":-206.853363,"cg_iq_raw_a":-207.896683,"cg_iu_a":0.0750212669,"cg_iv_a":-175.6772,"cg_iw_a":175.602173,"cg_sample_age_us":23.51091,"cg_sample_seq":13389516,"cg_sample_valid":1,"cg_theta_rad":0.732140541,"cg_vd_req_v":-1.72867203,"cg_vd_v":-1.72867203,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27462101,"cg_vq_v":-8.27462101,"cg_vu_v":102.494972,"cg_vv_v":73.0221634,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-16.3587151,"dclink_p_w":-2360.31323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2404.994885,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2404.994891,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2404.994897,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2405.014893,"values":{"Elec_RPM":-3512.10229,"EncoderCos":48131,"EncoderSin":47314,"GapTicks":49436,"Mech_RPM":-702.420471,"cg_du":48.5188293,"cg_dv":44.9419403,"cg_dw":55.0580597,"cg_id_a":-13.1522303,"cg_id_raw_a":-12.0920811,"cg_iq_a":-199.467575,"cg_iq_raw_a":-201.323639,"cg_iu_a":19.3929844,"cg_iv_a":-181.621185,"cg_iw_a":162.228195,"cg_sample_age_us":23.7436371,"cg_sample_seq":13391266,"cg_sample_valid":1,"cg_theta_rad":0.761455119,"cg_vd_req_v":-1.40967703,"cg_vd_v":-1.40967703,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.455966,"cg_vq_v":-8.455966,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2504.64575,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2405.346924,"values":{"Elec_RPM":-3509.30957,"EncoderCos":17057,"EncoderSin":47095,"GapTicks":49742,"Mech_RPM":-701.861938,"cg_du":54.7796059,"cg_dv":46.7446518,"cg_dw":45.2203941,"cg_id_a":3.82751012,"cg_id_raw_a":8.65995407,"cg_iq_a":-199.839447,"cg_iq_raw_a":-198.980591,"cg_iu_a":171.037186,"cg_iv_a":-1.77928162,"cg_iw_a":-169.257904,"cg_sample_age_us":23.9872723,"cg_sample_seq":13392867,"cg_sample_valid":1,"cg_theta_rad":2.40226269,"cg_vd_req_v":-1.69274378,"cg_vd_v":-1.69274378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41414165,"cg_vq_v":-8.41414165,"cg_vu_v":143.404984,"cg_vv_v":144.724655,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0147285,"dclink_p_w":-2462.45068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2405.698486,"values":{"Elec_RPM":-3514.74805,"EncoderCos":26460,"EncoderSin":53106,"GapTicks":49419,"Mech_RPM":-702.949585,"cg_du":44.9264183,"cg_dv":48.7747307,"cg_dw":55.0735817,"cg_id_a":-9.00702572,"cg_id_raw_a":-12.0813427,"cg_iq_a":-197.111069,"cg_iq_raw_a":-198.35997,"cg_iu_a":-69.2231903,"cg_iv_a":-127.400406,"cg_iw_a":196.623596,"cg_sample_age_us":23.7836361,"cg_sample_seq":13394670,"cg_sample_valid":1,"cg_theta_rad":1.90702987,"cg_vd_req_v":-1.44727552,"cg_vd_v":-1.44727552,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46383667,"cg_vq_v":-8.46383667,"cg_vu_v":98.5359344,"cg_vv_v":82.2599106,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-17.4569035,"dclink_p_w":-2526.44434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2405.987822,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2405.987827,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2405.987833,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2406.030518,"values":{"Elec_RPM":-3506.83643,"EncoderCos":13169,"EncoderSin":24309,"GapTicks":49378,"Mech_RPM":-701.36731,"cg_du":55.1104431,"cg_dv":44.8895569,"cg_dw":48.6005135,"cg_id_a":-2.68002748,"cg_id_raw_a":-8.86796951,"cg_iq_a":-198.433167,"cg_iq_raw_a":-198.132935,"cg_iu_a":198.908691,"cg_iv_a":-95.5058365,"cg_iw_a":-103.402855,"cg_sample_age_us":23.9799995,"cg_sample_seq":13396267,"cg_sample_valid":1,"cg_theta_rad":3.55375361,"cg_vd_req_v":-1.61922228,"cg_vd_v":-1.61922228,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46660328,"cg_vq_v":-8.46660328,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-17.0564079,"dclink_p_w":-2468.48267,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2406.366455,"values":{"Elec_RPM":-3508.55908,"EncoderCos":11552,"EncoderSin":34644,"GapTicks":49496,"Mech_RPM":-701.711792,"cg_du":44.9971771,"cg_dv":51.9240875,"cg_dw":55.0028229,"cg_id_a":-8.43544579,"cg_id_raw_a":-7.11034203,"cg_iq_a":-201.114517,"cg_iq_raw_a":-200.076401,"cg_iu_a":-166.936554,"cg_iv_a":-11.5288849,"cg_iw_a":178.465439,"cg_sample_age_us":23.8963642,"cg_sample_seq":13398067,"cg_sample_valid":1,"cg_theta_rad":3.05101633,"cg_vd_req_v":-1.41829276,"cg_vd_v":-1.41829276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41936874,"cg_vq_v":-8.41936874,"cg_vu_v":126.689056,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2383.77002,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2406.69458,"values":{"Elec_RPM":-3500.06714,"EncoderCos":32469,"EncoderSin":11513,"GapTicks":49692,"Mech_RPM":-700.013428,"cg_du":54.8246498,"cg_dv":45.1753502,"cg_dw":52.9297638,"cg_id_a":0.456441402,"cg_id_raw_a":5.94884968,"cg_iq_a":-201.750854,"cg_iq_raw_a":-203.043304,"cg_iu_a":172.414444,"cg_iv_a":-173.828751,"cg_iw_a":1.41430664,"cg_sample_age_us":24.0927277,"cg_sample_seq":13399667,"cg_sample_valid":1,"cg_theta_rad":4.71434593,"cg_vd_req_v":-1.65144968,"cg_vd_v":-1.65144968,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35621262,"cg_vq_v":-8.35621262,"cg_vu_v":31.2323723,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.5112686,"dclink_p_w":-2542.01538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2406.979091,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2406.979097,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2406.979102,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2407.050049,"values":{"Elec_RPM":-3504.20435,"EncoderCos":22567,"EncoderSin":14065,"GapTicks":49670,"Mech_RPM":-700.840881,"cg_du":45.1550217,"cg_dv":54.8449783,"cg_dw":52.9982224,"cg_id_a":5.55019569,"cg_id_raw_a":5.2629447,"cg_iq_a":-198.943237,"cg_iq_raw_a":-199.531464,"cg_iu_a":-194.336914,"cg_iv_a":55.4134979,"cg_iw_a":138.923416,"cg_sample_age_us":23.9618187,"cg_sample_seq":13401466,"cg_sample_valid":1,"cg_theta_rad":4.22344685,"cg_vd_req_v":-1.78124034,"cg_vd_v":-1.78124034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41134071,"cg_vq_v":-8.41134071,"cg_vu_v":20.6749516,"cg_vv_v":27.7132301,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-16.5779896,"dclink_p_w":-2399.2439,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2407.38208,"values":{"Elec_RPM":-3506.10889,"EncoderCos":44855,"EncoderSin":15392,"GapTicks":49735,"Mech_RPM":-701.221802,"cg_du":45.2144089,"cg_dv":54.7855911,"cg_dw":46.8004265,"cg_id_a":1.89213169,"cg_id_raw_a":8.66550541,"cg_iq_a":-203.123322,"cg_iq_raw_a":-204.129288,"cg_iu_a":-172.626846,"cg_iv_a":179.258667,"cg_iw_a":-6.63182068,"cg_sample_age_us":23.8272724,"cg_sample_seq":13403116,"cg_sample_valid":1,"cg_theta_rad":5.32957458,"cg_vd_req_v":-1.76110065,"cg_vd_v":-1.76110065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38965797,"cg_vq_v":-8.38965797,"cg_vu_v":103.814644,"cg_vv_v":105.134323,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-16.741087,"dclink_p_w":-2422.84814,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2407.733643,"values":{"Elec_RPM":-3515.05347,"EncoderCos":52310,"EncoderSin":24940,"GapTicks":49793,"Mech_RPM":-703.010681,"cg_du":53.4690323,"cg_dv":45.2667542,"cg_dw":54.7332458,"cg_id_a":17.7386627,"cg_id_raw_a":15.9976978,"cg_iq_a":-202.979797,"cg_iq_raw_a":-202.571564,"cg_iu_a":159.729095,"cg_iv_a":-189.087402,"cg_iw_a":29.3582993,"cg_sample_age_us":23.6672726,"cg_sample_seq":13404817,"cg_sample_valid":1,"cg_theta_rad":5.91740179,"cg_vd_req_v":-2.06224585,"cg_vd_v":-2.06224585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33764267,"cg_vq_v":-8.33764267,"cg_vu_v":14.9563465,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-16.4710712,"dclink_p_w":-2376.52466,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2408.002834,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2408.00284,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2408.002846,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2408.081299,"values":{"Elec_RPM":-3511.83594,"EncoderCos":53298,"EncoderSin":37002,"GapTicks":49464,"Mech_RPM":-702.367188,"cg_du":48.2877998,"cg_dv":55.0323944,"cg_dw":44.9676056,"cg_id_a":-2.64657021,"cg_id_raw_a":-7.82630587,"cg_iq_a":-201.34967,"cg_iq_raw_a":-201.039932,"cg_iu_a":-112.280861,"cg_iv_a":202.019806,"cg_iw_a":-89.7389374,"cg_sample_age_us":23.4018173,"cg_sample_seq":13406516,"cg_sample_valid":1,"cg_theta_rad":0.215767905,"cg_vd_req_v":-1.69826889,"cg_vd_v":-1.69826889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37401199,"cg_vq_v":-8.37401199,"cg_vu_v":121.850235,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.3318615,"dclink_p_w":-2500.72339,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2408.60083,"values":{"Elec_RPM":-3515.49561,"EncoderCos":14349,"EncoderSin":21885,"GapTicks":49474,"Mech_RPM":-703.099121,"cg_du":55.023632,"cg_dv":47.9306755,"cg_dw":44.976368,"cg_id_a":-9.20937824,"cg_id_raw_a":-2.37615967,"cg_iq_a":-197.336029,"cg_iq_raw_a":-200.124268,"cg_iu_a":159.402908,"cg_iv_a":18.118576,"cg_iw_a":-175.419357,"cg_sample_age_us":23.9290905,"cg_sample_seq":13409116,"cg_sample_valid":1,"cg_theta_rad":3.69083977,"cg_vd_req_v":-1.43394971,"cg_vd_v":-1.43394971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48274231,"cg_vq_v":-8.48274231,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":128.008743,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2423.06641,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2408.866914,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2408.866924,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2408.866927,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2408.995274,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2408.99528,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2408.995286,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2409.061768,"values":{"Elec_RPM":-3526.95947,"EncoderCos":20277,"EncoderSin":15424,"GapTicks":49551,"Mech_RPM":-705.391907,"cg_du":45.0465775,"cg_dv":54.9534225,"cg_dw":47.8226814,"cg_id_a":-8.10103512,"cg_id_raw_a":-0.608221054,"cg_iq_a":-199.125351,"cg_iq_raw_a":-200.998688,"cg_iu_a":-174.54776,"cg_iv_a":167.841858,"cg_iw_a":6.7059021,"cg_sample_age_us":23.9727268,"cg_sample_seq":13411416,"cg_sample_valid":1,"cg_theta_rad":4.09891844,"cg_vd_req_v":-1.44672251,"cg_vd_v":-1.44672251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44315434,"cg_vq_v":-8.44315434,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.8788147,"dclink_p_w":-2450.20557,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2409.393799,"values":{"Elec_RPM":-3530.58716,"EncoderCos":21135,"EncoderSin":14865,"GapTicks":49361,"Mech_RPM":-706.117432,"cg_du":44.8737717,"cg_dv":55.1262283,"cg_dw":49.6430511,"cg_id_a":-14.3152037,"cg_id_raw_a":-16.6371727,"cg_iq_a":-195.964462,"cg_iq_raw_a":-196.030975,"cg_iu_a":-187.849243,"cg_iv_a":143.703461,"cg_iw_a":44.1457748,"cg_sample_age_us":23.8272724,"cg_sample_seq":13413166,"cg_sample_valid":1,"cg_theta_rad":4.13709927,"cg_vd_req_v":-1.33038974,"cg_vd_v":-1.33038974,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49607182,"cg_vq_v":-8.49607182,"cg_vu_v":118.3311,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2409.745361,"values":{"Elec_RPM":-3529.05908,"EncoderCos":31562,"EncoderSin":11551,"GapTicks":49919,"Mech_RPM":-705.811829,"cg_du":53.9266815,"cg_dv":45.38134,"cg_dw":54.61866,"cg_id_a":15.9511385,"cg_id_raw_a":15.1730261,"cg_iq_a":-203.03598,"cg_iq_raw_a":-202.09671,"cg_iu_a":175.785126,"cg_iv_a":-172.886414,"cg_iw_a":-2.89871216,"cg_sample_age_us":23.9872723,"cg_sample_seq":13414870,"cg_sample_valid":1,"cg_theta_rad":4.71031427,"cg_vd_req_v":-1.97585344,"cg_vd_v":-1.97585344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34113503,"cg_vq_v":-8.34113503,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2500.20068,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2409.986936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2409.986942,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2409.986948,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2410.077393,"values":{"Elec_RPM":-3527.94922,"EncoderCos":43925,"EncoderSin":14751,"GapTicks":49787,"Mech_RPM":-705.589844,"cg_du":46.6167717,"cg_dv":54.7384338,"cg_dw":45.2615662,"cg_id_a":9.20248318,"cg_id_raw_a":8.86087036,"cg_iq_a":-205.755997,"cg_iq_raw_a":-203.977005,"cg_iu_a":-157.114487,"cg_iv_a":194.771027,"cg_iw_a":-37.6565475,"cg_sample_age_us":23.863636,"cg_sample_seq":13416566,"cg_sample_valid":1,"cg_theta_rad":5.28915834,"cg_vd_req_v":-1.92414474,"cg_vd_v":-1.92414474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31933784,"cg_vq_v":-8.31933784,"cg_vu_v":39.1504402,"cg_vv_v":68.1833496,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-17.3681049,"dclink_p_w":-2513.59302,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120247193,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2410.409424,"values":{"Elec_RPM":-3527.64844,"EncoderCos":53638,"EncoderSin":34739,"GapTicks":49686,"Mech_RPM":-705.529663,"cg_du":53.0085411,"cg_dv":54.8300591,"cg_dw":45.1699409,"cg_id_a":-0.000244498253,"cg_id_raw_a":6.83346558,"cg_iq_a":-199.743256,"cg_iq_raw_a":-202.018784,"cg_iu_a":-5.21657848,"cg_iv_a":172.372345,"cg_iw_a":-167.155762,"cg_sample_age_us":23.5072727,"cg_sample_seq":13418218,"cg_sample_valid":1,"cg_theta_rad":0.116120219,"cg_vd_req_v":-1.69346535,"cg_vd_v":-1.69346535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40893745,"cg_vq_v":-8.40893745,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.989357,"dclink_p_w":-2458.77881,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2410.760986,"values":{"Elec_RPM":-3538.09912,"EncoderCos":53470,"EncoderSin":35952,"GapTicks":49370,"Mech_RPM":-707.619812,"cg_du":50.1995544,"cg_dv":55.1173401,"cg_dw":44.8826599,"cg_id_a":-15.7875843,"cg_id_raw_a":-14.0463457,"cg_iq_a":-198.179733,"cg_iq_raw_a":-197.561234,"cg_iu_a":-48.7091789,"cg_iv_a":192.886353,"cg_iw_a":-144.17717,"cg_sample_age_us":23.4018173,"cg_sample_seq":13419966,"cg_sample_valid":1,"cg_theta_rad":0.164347962,"cg_vd_req_v":-1.40210557,"cg_vd_v":-1.40210557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43824768,"cg_vq_v":-8.43824768,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":23.3143044,"control_outputs_enabled":1,"dclink_i_a":-16.9839211,"dclink_p_w":-2465.46338,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2411.010896,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2411.010901,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2411.010907,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2411.096924,"values":{"Elec_RPM":-3527.65918,"EncoderCos":38833,"EncoderSin":52962,"GapTicks":49528,"Mech_RPM":-705.53186,"cg_du":54.9744492,"cg_dv":52.3896523,"cg_dw":45.0255508,"cg_id_a":11.595499,"cg_id_raw_a":7.84092808,"cg_iq_a":-201.259216,"cg_iq_raw_a":-200.710938,"cg_iu_a":63.7191925,"cg_iv_a":136.201004,"cg_iw_a":-199.920197,"cg_sample_age_us":23.9181824,"cg_sample_seq":13421616,"cg_sample_valid":1,"cg_theta_rad":1.27815819,"cg_vd_req_v":-1.88519573,"cg_vd_v":-1.88519573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41828537,"cg_vq_v":-8.41828537,"cg_vu_v":19.795166,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2411.428955,"values":{"Elec_RPM":-3538.11499,"EncoderCos":37958,"EncoderSin":53225,"GapTicks":50012,"Mech_RPM":-707.622986,"cg_du":54.5336838,"cg_dv":54.1559525,"cg_dw":45.4663162,"cg_id_a":12.6678934,"cg_id_raw_a":12.5241575,"cg_iq_a":-202.942627,"cg_iq_raw_a":-205.332077,"cg_iu_a":23.0173683,"cg_iv_a":158.056046,"cg_iw_a":-187.524811,"cg_sample_age_us":23.8927269,"cg_sample_seq":13423366,"cg_sample_valid":1,"cg_theta_rad":1.31930709,"cg_vd_req_v":-1.8667227,"cg_vd_v":-1.8667227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36634159,"cg_vq_v":-8.36634159,"cg_vu_v":29.0329094,"cg_vv_v":22.4345207,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.6888638,"dclink_p_w":-2560.01465,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2411.780518,"values":{"Elec_RPM":-3521.72656,"EncoderCos":16603,"EncoderSin":46604,"GapTicks":49444,"Mech_RPM":-704.345337,"cg_du":55.0503807,"cg_dv":48.3995094,"cg_dw":44.9496193,"cg_id_a":-11.8987827,"cg_id_raw_a":-7.54778481,"cg_iq_a":-196.985443,"cg_iq_raw_a":-199.523956,"cg_iu_a":161.03389,"cg_iv_a":19.8582916,"cg_iw_a":-180.892181,"cg_sample_age_us":23.9799995,"cg_sample_seq":13425016,"cg_sample_valid":1,"cg_theta_rad":2.4346993,"cg_vd_req_v":-1.3836292,"cg_vd_v":-1.3836292,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46768188,"cg_vq_v":-8.46768188,"cg_vu_v":43.549366,"cg_vv_v":43.9892578,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.9966068,"dclink_p_w":-2452.35132,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2411.971005,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2411.971012,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2411.971017,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2412.112549,"values":{"Elec_RPM":-3521.62646,"EncoderCos":16239,"EncoderSin":46132,"GapTicks":49310,"Mech_RPM":-704.325317,"cg_du":55.1721725,"cg_dv":49.5966225,"cg_dw":44.8278275,"cg_id_a":-10.5960751,"cg_id_raw_a":-13.4547968,"cg_iq_a":-195.83606,"cg_iq_raw_a":-193.224319,"cg_iu_a":139.178864,"cg_iv_a":50.5568085,"cg_iw_a":-186.654938,"cg_sample_age_us":23.8418179,"cg_sample_seq":13426767,"cg_sample_valid":1,"cg_theta_rad":2.45919251,"cg_vd_req_v":-1.42856252,"cg_vd_v":-1.42856252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50674438,"cg_vq_v":-8.50674438,"cg_vu_v":109.093361,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.0781555,"dclink_p_w":-2471.63013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2412.44458,"values":{"Elec_RPM":-3515.12964,"EncoderCos":11522,"EncoderSin":34783,"GapTicks":49539,"Mech_RPM":-703.02594,"cg_du":45.0359993,"cg_dv":52.1995583,"cg_dw":54.9640007,"cg_id_a":-7.82549191,"cg_id_raw_a":-0.912712753,"cg_iq_a":-199.665939,"cg_iq_raw_a":-201.45993,"cg_iu_a":-164.508224,"cg_iv_a":-4.28010559,"cg_iw_a":175.638412,"cg_sample_age_us":23.9400005,"cg_sample_seq":13428466,"cg_sample_valid":1,"cg_theta_rad":3.0546484,"cg_vd_req_v":-1.42116392,"cg_vd_v":-1.42116392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44391823,"cg_vq_v":-8.44391823,"cg_vu_v":112.172607,"cg_vv_v":130.208206,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.8157177,"dclink_p_w":-2578.37354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2412.800049,"values":{"Elec_RPM":-3516.87256,"EncoderCos":13896,"EncoderSin":22851,"GapTicks":50070,"Mech_RPM":-703.374512,"cg_du":54.4809647,"cg_dv":45.5190353,"cg_dw":45.6457024,"cg_id_a":12.1402149,"cg_id_raw_a":17.1597176,"cg_iq_a":-200.487534,"cg_iq_raw_a":-202.820648,"cg_iu_a":182.635208,"cg_iv_a":-18.523941,"cg_iw_a":-164.111267,"cg_sample_age_us":24.0854549,"cg_sample_seq":13430166,"cg_sample_valid":1,"cg_theta_rad":3.62845993,"cg_vd_req_v":-1.86389828,"cg_vd_v":-1.86389828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38154793,"cg_vq_v":-8.38154793,"cg_vu_v":2.63935518,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.3333435,"dclink_p_w":-2356.65259,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2412.995371,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2412.995377,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2412.995382,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2413.128174,"values":{"Elec_RPM":-3508.63257,"EncoderCos":32658,"EncoderSin":11572,"GapTicks":49571,"Mech_RPM":-701.726501,"cg_du":54.9347839,"cg_dv":45.0652161,"cg_dw":52.4364662,"cg_id_a":-5.42965603,"cg_id_raw_a":3.07277179,"cg_iq_a":-199.690277,"cg_iq_raw_a":-202.303543,"cg_iu_a":175.785126,"cg_iv_a":-165.420197,"cg_iw_a":-10.3649368,"cg_sample_age_us":24.0927277,"cg_sample_seq":13431818,"cg_sample_valid":1,"cg_theta_rad":4.73292351,"cg_vd_req_v":-1.53680217,"cg_vd_v":-1.53680217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43637466,"cg_vq_v":-8.43637466,"cg_vu_v":106.453995,"cg_vv_v":89.7380829,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2413.483643,"values":{"Elec_RPM":-3523.05811,"EncoderCos":33047,"EncoderSin":11526,"GapTicks":49412,"Mech_RPM":-704.611633,"cg_du":55.0797501,"cg_dv":44.9202499,"cg_dw":51.4964142,"cg_id_a":-12.8023643,"cg_id_raw_a":-9.74525356,"cg_iq_a":-197.232117,"cg_iq_raw_a":-198.221115,"cg_iu_a":195.50177,"cg_iv_a":-130.009949,"cg_iw_a":-65.4918213,"cg_sample_age_us":23.9909096,"cg_sample_seq":13433570,"cg_sample_valid":1,"cg_theta_rad":4.7816782,"cg_vd_req_v":-1.39453912,"cg_vd_v":-1.39453912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49718666,"cg_vq_v":-8.49718666,"cg_vu_v":27.2733402,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2519.65503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5977478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2413.815674,"values":{"Elec_RPM":-3518.97827,"EncoderCos":45282,"EncoderSin":15703,"GapTicks":49493,"Mech_RPM":-703.795654,"cg_du":44.9944267,"cg_dv":55.0055733,"cg_dw":48.1115646,"cg_id_a":-10.4343948,"cg_id_raw_a":-6.62003231,"cg_iq_a":-199.574722,"cg_iq_raw_a":-200.72937,"cg_iu_a":-175.16391,"cg_iv_a":170.451416,"cg_iw_a":4.7124939,"cg_sample_age_us":23.8890915,"cg_sample_seq":13435266,"cg_sample_valid":1,"cg_theta_rad":5.35393906,"cg_vd_req_v":-1.51116776,"cg_vd_v":-1.51116776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42670345,"cg_vq_v":-8.42670345,"cg_vu_v":105.574219,"cg_vv_v":106.014107,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-17.2340031,"dclink_p_w":-2494.18506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2413.987333,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2413.987339,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2413.987345,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2414.147705,"values":{"Elec_RPM":-3517.54102,"EncoderCos":52408,"EncoderSin":25302,"GapTicks":49838,"Mech_RPM":-703.508179,"cg_du":53.6678238,"cg_dv":45.307476,"cg_dw":54.692524,"cg_id_a":17.3739891,"cg_id_raw_a":18.8943501,"cg_iq_a":-204.202881,"cg_iq_raw_a":-204.773575,"cg_iu_a":168.971283,"cg_iv_a":-183.795807,"cg_iw_a":14.8245239,"cg_sample_age_us":24.1945457,"cg_sample_seq":13436968,"cg_sample_valid":1,"cg_theta_rad":5.93481874,"cg_vd_req_v":-2.1104219,"cg_vd_v":-2.1104219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31352711,"cg_vq_v":-8.31352711,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4967709,"dclink_p_w":-2524.51733,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2414.503174,"values":{"Elec_RPM":-3515.75952,"EncoderCos":53263,"EncoderSin":36992,"GapTicks":49420,"Mech_RPM":-703.151917,"cg_du":48.3509598,"cg_dv":55.0721893,"cg_dw":44.9278107,"cg_id_a":1.14887452,"cg_id_raw_a":-2.72793007,"cg_iq_a":-199.86911,"cg_iq_raw_a":-198.309998,"cg_iu_a":-127.104591,"cg_iv_a":201.077454,"cg_iw_a":-73.9728699,"cg_sample_age_us":23.3945446,"cg_sample_seq":13438668,"cg_sample_valid":1,"cg_theta_rad":0.224810019,"cg_vd_req_v":-1.77921617,"cg_vd_v":-1.77921617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43882847,"cg_vq_v":-8.43882847,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.357233,"dclink_p_w":-2512.01953,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2414.831299,"values":{"Elec_RPM":-3510.771,"EncoderCos":26354,"EncoderSin":53080,"GapTicks":49440,"Mech_RPM":-702.154175,"cg_du":44.9454651,"cg_dv":48.5695801,"cg_dw":55.0545349,"cg_id_a":-8.82344246,"cg_id_raw_a":-13.083684,"cg_iq_a":-198.991776,"cg_iq_raw_a":-198.951263,"cg_iu_a":-102.60376,"cg_iv_a":-92.8962708,"cg_iw_a":195.500031,"cg_sample_age_us":23.7836361,"cg_sample_seq":13440267,"cg_sample_valid":1,"cg_theta_rad":1.87729335,"cg_vd_req_v":-1.45755029,"cg_vd_v":-1.45755029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40739918,"cg_vq_v":-8.40739918,"cg_vu_v":118.3311,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2423.32788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2414.979292,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2414.979298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2414.979304,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2415.167236,"values":{"Elec_RPM":-3511.15991,"EncoderCos":36506,"EncoderSin":53579,"GapTicks":49409,"Mech_RPM":-702.231995,"cg_du":51.3276062,"cg_dv":55.0818405,"cg_dw":44.9181595,"cg_id_a":-11.0495014,"cg_id_raw_a":-8.38143253,"cg_iq_a":-195.729294,"cg_iq_raw_a":-197.195114,"cg_iu_a":-25.2594185,"cg_iv_a":180.527206,"cg_iw_a":-155.267792,"cg_sample_age_us":23.8999996,"cg_sample_seq":13442066,"cg_sample_valid":1,"cg_theta_rad":1.39370263,"cg_vd_req_v":-1.38696396,"cg_vd_v":-1.38696396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47577572,"cg_vq_v":-8.47577572,"cg_vu_v":1.75957024,"cg_vv_v":7.03828096,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.2662926,"dclink_p_w":-2346.97803,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2415.518799,"values":{"Elec_RPM":-3508.06128,"EncoderCos":15822,"EncoderSin":45614,"GapTicks":49349,"Mech_RPM":-701.612244,"cg_du":55.1368103,"cg_dv":50.7531853,"cg_dw":44.8631897,"cg_id_a":0.511789024,"cg_id_raw_a":-5.628088,"cg_iq_a":-199.610229,"cg_iq_raw_a":-197.673187,"cg_iu_a":111.053642,"cg_iv_a":90.2438126,"cg_iw_a":-201.297455,"cg_sample_age_us":23.8018188,"cg_sample_seq":13443717,"cg_sample_valid":1,"cg_theta_rad":2.49104738,"cg_vd_req_v":-1.6620878,"cg_vd_v":-1.6620878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45315742,"cg_vq_v":-8.45315742,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.0745296,"dclink_p_w":-2463.59448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2415.85083,"values":{"Elec_RPM":-3511.104,"EncoderCos":15268,"EncoderSin":44850,"GapTicks":49552,"Mech_RPM":-702.220825,"cg_du":54.9519768,"cg_dv":52.4824181,"cg_dw":45.0480232,"cg_id_a":11.7914705,"cg_id_raw_a":10.280736,"cg_iq_a":-201.126358,"cg_iq_raw_a":-198.807861,"cg_iu_a":48.2430725,"cg_iv_a":148.125214,"cg_iw_a":-196.368286,"cg_sample_age_us":23.8890915,"cg_sample_seq":13445467,"cg_sample_valid":1,"cg_theta_rad":2.54911757,"cg_vd_req_v":-1.8739022,"cg_vd_v":-1.8739022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40879345,"cg_vq_v":-8.40879345,"cg_vu_v":11.877099,"cg_vv_v":2.19946289,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.3804607,"dclink_p_w":-2370.65649,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2415.971863,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2415.971869,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2415.971874,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2416.182861,"values":{"Elec_RPM":-3510.5127,"EncoderCos":14161,"EncoderSin":22261,"GapTicks":49738,"Mech_RPM":-702.102539,"cg_du":54.7831459,"cg_dv":46.8808212,"cg_dw":45.2168541,"cg_id_a":2.12291622,"cg_id_raw_a":9.10832214,"cg_iq_a":-201.273727,"cg_iq_raw_a":-203.494278,"cg_iu_a":175.422684,"cg_iv_a":-0.836929321,"cg_iw_a":-174.585754,"cg_sample_age_us":24.1000004,"cg_sample_seq":13447116,"cg_sample_valid":1,"cg_theta_rad":3.6599741,"cg_vd_req_v":-1.65771961,"cg_vd_v":-1.65771961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37864017,"cg_vq_v":-8.37864017,"cg_vu_v":43.549366,"cg_vv_v":43.549366,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.3354855,"dclink_p_w":-2501.24634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2416.534424,"values":{"Elec_RPM":-3515.13428,"EncoderCos":14529,"EncoderSin":21595,"GapTicks":49390,"Mech_RPM":-703.026855,"cg_du":55.0993538,"cg_dv":48.6889153,"cg_dw":44.9006462,"cg_id_a":-12.0524883,"cg_id_raw_a":-8.22330475,"cg_iq_a":-196.811829,"cg_iq_raw_a":-198.696686,"cg_iu_a":156.793365,"cg_iv_a":27.3245087,"cg_iw_a":-184.117874,"cg_sample_age_us":24.0490913,"cg_sample_seq":13448866,"cg_sample_valid":1,"cg_theta_rad":3.69748354,"cg_vd_req_v":-1.38229644,"cg_vd_v":-1.38229644,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47694206,"cg_vq_v":-8.47694206,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6417465,"dclink_p_w":-2560.9563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2416.866455,"values":{"Elec_RPM":-3498.16772,"EncoderCos":34442,"EncoderSin":11592,"GapTicks":49387,"Mech_RPM":-699.633545,"cg_du":55.1022987,"cg_dv":44.8977013,"cg_dw":48.7832069,"cg_id_a":-3.60555983,"cg_id_raw_a":-12.2807159,"cg_iq_a":-197.491043,"cg_iq_raw_a":-196.222321,"cg_iu_a":196.842804,"cg_iv_a":-101.848518,"cg_iw_a":-94.9942856,"cg_sample_age_us":24.0563641,"cg_sample_seq":13450517,"cg_sample_valid":1,"cg_theta_rad":4.80419683,"cg_vd_req_v":-1.61899412,"cg_vd_v":-1.61899412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45344353,"cg_vq_v":-8.45344353,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.422472,"dclink_p_w":-2521.46118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2416.995043,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2416.995049,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2416.995055,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2417.221924,"values":{"Elec_RPM":-3504.03442,"EncoderCos":45103,"EncoderSin":15552,"GapTicks":49610,"Mech_RPM":-700.806885,"cg_du":45.1006012,"cg_dv":54.8993988,"cg_dw":47.5232391,"cg_id_a":-4.43762684,"cg_id_raw_a":2.45532894,"cg_iq_a":-201.433716,"cg_iq_raw_a":-202.801498,"cg_iu_a":-190.458801,"cg_iv_a":142.217468,"cg_iw_a":48.241333,"cg_sample_age_us":23.8309097,"cg_sample_seq":13452220,"cg_sample_valid":1,"cg_theta_rad":5.39619303,"cg_vd_req_v":-1.62909639,"cg_vd_v":-1.62909639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37213707,"cg_vq_v":-8.37213707,"cg_vu_v":38.2706528,"cg_vv_v":51.4674301,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-16.2499828,"dclink_p_w":-2351.77319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2417.553955,"values":{"Elec_RPM":-3500.62866,"EncoderCos":52652,"EncoderSin":25929,"GapTicks":49707,"Mech_RPM":-700.125732,"cg_du":54.8114128,"cg_dv":45.1885872,"cg_dw":53.1616402,"cg_id_a":2.63741946,"cg_id_raw_a":6.73923874,"cg_iq_a":-201.425613,"cg_iq_raw_a":-204.117401,"cg_iu_a":170.602264,"cg_iv_a":-173.937485,"cg_iw_a":3.33522034,"cg_sample_age_us":24.2309093,"cg_sample_seq":13453917,"cg_sample_valid":1,"cg_theta_rad":5.96436405,"cg_vd_req_v":-1.74939251,"cg_vd_v":-1.74939251,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39321518,"cg_vq_v":-8.39321518,"cg_vu_v":142.965088,"cg_vv_v":140.765625,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-17.6272488,"dclink_p_w":-2543.34326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2417.885986,"values":{"Elec_RPM":-3501.125,"EncoderCos":53068,"EncoderSin":37904,"GapTicks":49733,"Mech_RPM":-700.224976,"cg_du":46.7197723,"cg_dv":54.787899,"cg_dw":45.212101,"cg_id_a":13.9019527,"cg_id_raw_a":11.5393171,"cg_iq_a":-203.575333,"cg_iq_raw_a":-202.408844,"cg_iu_a":-155.193558,"cg_iv_a":194.481079,"cg_iw_a":-39.2875214,"cg_sample_age_us":23.4854546,"cg_sample_seq":13455617,"cg_sample_valid":1,"cg_theta_rad":0.254024863,"cg_vd_req_v":-2.02350235,"cg_vd_v":-2.02350235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36310768,"cg_vq_v":-8.36310768,"cg_vu_v":131.967773,"cg_vv_v":142.965088,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-17.0056667,"dclink_p_w":-2468.61987,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2417.987164,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2417.987169,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2417.987175,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2418.339111,"values":{"Elec_RPM":-3507.25952,"EncoderCos":19910,"EncoderSin":49780,"GapTicks":49483,"Mech_RPM":-701.451904,"cg_du":55.0145798,"cg_dv":44.9854202,"cg_dw":51.9835205,"cg_id_a":-10.4207764,"cg_id_raw_a":-1.18297839,"cg_iq_a":-199.762192,"cg_iq_raw_a":-200.960205,"cg_iu_a":196.045425,"cg_iv_a":-126.131882,"cg_iw_a":-69.9135437,"cg_sample_age_us":25.9690914,"cg_sample_seq":13457772,"cg_sample_valid":1,"cg_theta_rad":2.27363253,"cg_vd_req_v":-1.41915596,"cg_vd_v":-1.41915596,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45134163,"cg_vq_v":-8.45134163,"cg_vu_v":142.965088,"cg_vv_v":123.169922,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2418.839111,"values":{"Elec_RPM":-3512.71826,"EncoderCos":31577,"EncoderSin":53891,"GapTicks":49332,"Mech_RPM":-702.54364,"cg_du":44.8474617,"cg_dv":55.1525383,"cg_dw":49.733696,"cg_id_a":-11.1484156,"cg_id_raw_a":-10.0979519,"cg_iq_a":-197.341721,"cg_iq_raw_a":-197.958496,"cg_iu_a":-191.944809,"cg_iv_a":138.230652,"cg_iw_a":53.7141495,"cg_sample_age_us":23.863636,"cg_sample_seq":13460166,"cg_sample_valid":1,"cg_theta_rad":1.62634337,"cg_vd_req_v":-1.3972435,"cg_vd_v":-1.3972435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50035858,"cg_vq_v":-8.50035858,"cg_vu_v":7.91806602,"cg_vv_v":24.6339836,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2418.850722,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2418.850733,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2418.850736,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2418.979019,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2418.979025,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2418.979031,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2419.233643,"values":{"Elec_RPM":-3528.93774,"EncoderCos":13554,"EncoderSin":23522,"GapTicks":49653,"Mech_RPM":-705.787537,"cg_du":54.8606262,"cg_dv":45.1393738,"cg_dw":47.1594849,"cg_id_a":13.3243675,"cg_id_raw_a":11.7239857,"cg_iq_a":-203.263321,"cg_iq_raw_a":-201.060638,"cg_iu_a":180.315613,"cg_iv_a":-10.2603455,"cg_iw_a":-170.055267,"cg_sample_age_us":24.1072731,"cg_sample_seq":13462321,"cg_sample_valid":1,"cg_theta_rad":3.63922644,"cg_vd_req_v":-1.91926837,"cg_vd_v":-1.91926837,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32830715,"cg_vq_v":-8.32830715,"cg_vu_v":142.965088,"cg_vv_v":137.246475,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3228016,"dclink_p_w":-2499.41626,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2419.565674,"values":{"Elec_RPM":-3521.07568,"EncoderCos":22373,"EncoderSin":14173,"GapTicks":49534,"Mech_RPM":-704.215149,"cg_du":45.0317078,"cg_dv":54.9682922,"cg_dw":52.6026421,"cg_id_a":4.25055552,"cg_id_raw_a":1.8373431,"cg_iq_a":-198.82724,"cg_iq_raw_a":-197.915756,"cg_iu_a":-194.808075,"cg_iv_a":66.2141418,"cg_iw_a":128.593933,"cg_sample_age_us":23.8527279,"cg_sample_seq":13464017,"cg_sample_valid":1,"cg_theta_rad":4.21589947,"cg_vd_req_v":-1.76043904,"cg_vd_v":-1.76043904,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46667099,"cg_vq_v":-8.46667099,"cg_vu_v":16.7159176,"cg_vv_v":25.5137672,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.7102795,"dclink_p_w":-2418.3894,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2419.897705,"values":{"Elec_RPM":-3520.65918,"EncoderCos":51954,"EncoderSin":24177,"GapTicks":49465,"Mech_RPM":-704.131836,"cg_du":51.9404068,"cg_dv":44.9689865,"cg_dw":55.0310135,"cg_id_a":8.76462364,"cg_id_raw_a":6.04875135,"cg_iq_a":-200.121613,"cg_iq_raw_a":-199.040634,"cg_iu_a":126.348541,"cg_iv_a":-199.163193,"cg_iw_a":72.8146515,"cg_sample_age_us":23.7145462,"cg_sample_seq":13465617,"cg_sample_valid":1,"cg_theta_rad":5.87711,"cg_vd_req_v":-1.92139614,"cg_vd_v":-1.92139614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39639568,"cg_vq_v":-8.39639568,"cg_vu_v":105.574219,"cg_vv_v":82.2599106,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2498.63159,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2420.003178,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2420.003184,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2420.00319,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2420.249268,"values":{"Elec_RPM":-3516.69922,"EncoderCos":45489,"EncoderSin":15885,"GapTicks":49422,"Mech_RPM":-703.339844,"cg_du":44.9298477,"cg_dv":55.0701523,"cg_dw":48.7273483,"cg_id_a":-13.3846855,"cg_id_raw_a":-14.4689922,"cg_iq_a":-199.799896,"cg_iq_raw_a":-200.318878,"cg_iu_a":-184.696045,"cg_iv_a":159.179596,"cg_iw_a":17.252861,"cg_sample_age_us":23.9145451,"cg_sample_seq":13467417,"cg_sample_valid":1,"cg_theta_rad":5.3720994,"cg_vd_req_v":-1.46001697,"cg_vd_v":-1.46001697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40960503,"cg_vq_v":-8.40960503,"cg_vu_v":104.694435,"cg_vv_v":105.574219,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.3188457,"dclink_p_w":-2354.56079,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2420.581299,"values":{"Elec_RPM":-3511.55176,"EncoderCos":53298,"EncoderSin":36841,"GapTicks":49383,"Mech_RPM":-702.310364,"cg_du":48.5712852,"cg_dv":55.1057014,"cg_dw":44.8942986,"cg_id_a":-2.93402958,"cg_id_raw_a":-5.3929348,"cg_iq_a":-198.206894,"cg_iq_raw_a":-197.424759,"cg_iu_a":-103.618591,"cg_iv_a":198.794098,"cg_iw_a":-109.310608,"cg_sample_age_us":23.5,"cg_sample_seq":13469067,"cg_sample_valid":1,"cg_theta_rad":0.202982113,"cg_vd_req_v":-1.68871117,"cg_vd_v":-1.68871117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47637844,"cg_vq_v":-8.47637844,"cg_vu_v":105.574219,"cg_vv_v":105.134323,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2463.76196,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2420.91333,"values":{"Elec_RPM":-3515.18701,"EncoderCos":53048,"EncoderSin":37952,"GapTicks":49684,"Mech_RPM":-703.037415,"cg_du":46.9797516,"cg_dv":54.8321381,"cg_dw":45.1678619,"cg_id_a":13.3561306,"cg_id_raw_a":13.0034084,"cg_iq_a":-203.661774,"cg_iq_raw_a":-201.994461,"cg_iu_a":-148.597198,"cg_iv_a":195.930847,"cg_iw_a":-47.3336411,"cg_sample_age_us":23.3909092,"cg_sample_seq":13470816,"cg_sample_valid":1,"cg_theta_rad":0.250146419,"cg_vd_req_v":-1.99175668,"cg_vd_v":-1.99175668,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38139153,"cg_vq_v":-8.35190201,"cg_vu_v":103.374756,"cg_vv_v":104.694435,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.3387814,"dclink_p_w":-2371.81177,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2420.995406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2420.995412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2420.995418,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2421.268799,"values":{"Elec_RPM":-3529.04297,"EncoderCos":36906,"EncoderSin":53496,"GapTicks":49532,"Mech_RPM":-705.808594,"cg_du":52.2751617,"cg_dv":54.970665,"cg_dw":45.029335,"cg_id_a":-6.09263897,"cg_id_raw_a":-0.576912999,"cg_iq_a":-199.002045,"cg_iq_raw_a":-201.350677,"cg_iu_a":-7.17374563,"cg_iv_a":174.836929,"cg_iw_a":-167.663177,"cg_sample_age_us":23.9400005,"cg_sample_seq":13472466,"cg_sample_valid":1,"cg_theta_rad":1.37163377,"cg_vd_req_v":-1.48239875,"cg_vd_v":-1.48239875,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43644714,"cg_vq_v":-8.43644714,"cg_vu_v":37.830761,"cg_vv_v":45.7488289,"cg_vw_v":41.3499031,"control_outputs_enabled":1,"dclink_i_a":-16.5870514,"dclink_p_w":-2393.25879,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2421.596924,"values":{"Elec_RPM":-3527.74414,"EncoderCos":36066,"EncoderSin":53614,"GapTicks":49314,"Mech_RPM":-705.548828,"cg_du":50.4234276,"cg_dv":55.1687012,"cg_dw":44.8312988,"cg_id_a":-11.3770237,"cg_id_raw_a":-11.8483496,"cg_iq_a":-196.156479,"cg_iq_raw_a":-196.41452,"cg_iu_a":-44.8673325,"cg_iv_a":189.986847,"cg_iw_a":-145.119522,"cg_sample_age_us":23.8054543,"cg_sample_seq":13474216,"cg_sample_valid":1,"cg_theta_rad":1.41309524,"cg_vd_req_v":-1.39830554,"cg_vd_v":-1.39830554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50681782,"cg_vq_v":-8.50681782,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":24.1940918,"control_outputs_enabled":1,"dclink_i_a":-16.7084675,"dclink_p_w":-2410.7771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2421.932861,"values":{"Elec_RPM":-3533.32813,"EncoderCos":24132,"EncoderSin":52231,"GapTicks":49739,"Mech_RPM":-706.665649,"cg_du":46.9964027,"cg_dv":45.2173347,"cg_dw":54.7826653,"cg_id_a":1.88087404,"cg_id_raw_a":5.64746761,"cg_iq_a":-203.670242,"cg_iq_raw_a":-206.15477,"cg_iu_a":-4.99911594,"cg_iv_a":-172.777679,"cg_iw_a":177.776794,"cg_sample_age_us":23.7763634,"cg_sample_seq":13475916,"cg_sample_valid":1,"cg_theta_rad":1.98043811,"cg_vd_req_v":-1.63318896,"cg_vd_v":-1.63318896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36963272,"cg_vq_v":-8.36963272,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.0832615,"dclink_p_w":-2334.71948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2605,"hz_tim_isr":4998,"hz_vsense":2605,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5941467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2421.987367,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2421.987373,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2421.987378,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2422.284424,"values":{"Elec_RPM":-3506.89648,"EncoderCos":13865,"EncoderSin":22935,"GapTicks":50009,"Mech_RPM":-701.379272,"cg_du":54.5370178,"cg_dv":45.4629822,"cg_dw":45.8687973,"cg_id_a":13.4019966,"cg_id_raw_a":16.7579975,"cg_iq_a":-204.325043,"cg_iq_raw_a":-203.49614,"cg_iu_a":183.903748,"cg_iv_a":-21.7496338,"cg_iw_a":-162.154114,"cg_sample_age_us":24.0709095,"cg_sample_seq":13477517,"cg_sample_valid":1,"cg_theta_rad":3.62782478,"cg_vd_req_v":-1.90871811,"cg_vd_v":-1.90871811,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32377625,"cg_vq_v":-8.32377625,"cg_vu_v":142.965088,"cg_vv_v":130.648087,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.8664589,"dclink_p_w":-2577.85767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2422.616455,"values":{"Elec_RPM":-3515.97998,"EncoderCos":11461,"EncoderSin":32885,"GapTicks":49447,"Mech_RPM":-703.195984,"cg_du":44.9525566,"cg_dv":48.362587,"cg_dw":55.0474434,"cg_id_a":-5.91910744,"cg_id_raw_a":-10.2293377,"cg_iq_a":-198.306259,"cg_iq_raw_a":-199.525146,"cg_iu_a":-96.8047485,"cg_iv_a":-101.667282,"cg_iw_a":198.472031,"cg_sample_age_us":23.9436359,"cg_sample_seq":13479316,"cg_sample_valid":1,"cg_theta_rad":3.13664985,"cg_vd_req_v":-1.52253509,"cg_vd_v":-1.52253509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44549751,"cg_vq_v":-8.44549751,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.1176929,"dclink_p_w":-2339.71777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2422.948486,"values":{"Elec_RPM":-3523.97119,"EncoderCos":34312,"EncoderSin":11584,"GapTicks":49405,"Mech_RPM":-704.79425,"cg_du":55.0859375,"cg_dv":44.9140625,"cg_dw":49.0058708,"cg_id_a":-6.11880493,"cg_id_raw_a":-10.2344475,"cg_iq_a":-197.575012,"cg_iq_raw_a":-197.71402,"cg_iu_a":195.139343,"cg_iv_a":-122.579987,"cg_iw_a":-72.5593567,"cg_sample_age_us":23.9690914,"cg_sample_seq":13480916,"cg_sample_valid":1,"cg_theta_rad":4.79225922,"cg_vd_req_v":-1.55324566,"cg_vd_v":-1.55324566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43746948,"cg_vq_v":-8.43746948,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2508.60986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2422.97891,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2422.978916,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2422.978922,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2423.300049,"values":{"Elec_RPM":-3517.17041,"EncoderCos":24042,"EncoderSin":13339,"GapTicks":49617,"Mech_RPM":-703.434082,"cg_du":45.1067467,"cg_dv":52.4834366,"cg_dw":54.8932533,"cg_id_a":-5.74786949,"cg_id_raw_a":3.00309587,"cg_iq_a":-201.20816,"cg_iq_raw_a":-203.692368,"cg_iu_a":-166.139191,"cg_iv_a":-4.09890747,"cg_iw_a":176.327057,"cg_sample_age_us":23.9400005,"cg_sample_seq":13482716,"cg_sample_valid":1,"cg_theta_rad":4.31139088,"cg_vd_req_v":-1.51582623,"cg_vd_v":-1.51582623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38520813,"cg_vq_v":-8.38520813,"cg_vu_v":113.932175,"cg_vv_v":142.965088,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2467.43384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2423.635986,"values":{"Elec_RPM":-3527.71582,"EncoderCos":45910,"EncoderSin":16230,"GapTicks":49313,"Mech_RPM":-705.543152,"cg_du":44.8308487,"cg_dv":55.1691513,"cg_dw":49.8870239,"cg_id_a":-15.2986069,"cg_id_raw_a":-17.1001339,"cg_iq_a":-197.211517,"cg_iq_raw_a":-197.170029,"cg_iu_a":-190.386322,"cg_iv_a":138.411865,"cg_iw_a":51.9744492,"cg_sample_age_us":23.9181824,"cg_sample_seq":13484367,"cg_sample_valid":1,"cg_theta_rad":5.40143585,"cg_vd_req_v":-1.4483887,"cg_vd_v":-1.4483887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49012947,"cg_vq_v":-8.49012947,"cg_vu_v":94.1370087,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-17.3934765,"dclink_p_w":-2509.61353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2423.971608,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2423.971614,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2423.971619,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2423.987549,"values":{"Elec_RPM":-3529.3103,"EncoderCos":52568,"EncoderSin":25698,"GapTicks":49858,"Mech_RPM":-705.862061,"cg_du":54.6740532,"cg_dv":45.3259468,"cg_dw":53.7705841,"cg_id_a":9.36588478,"cg_id_raw_a":15.2370472,"cg_iq_a":-201.815964,"cg_iq_raw_a":-202.077927,"cg_iu_a":176.183807,"cg_iv_a":-157.700256,"cg_iw_a":-7.79163361,"cg_sample_age_us":24.1072731,"cg_sample_seq":13486070,"cg_sample_valid":1,"cg_theta_rad":5.99489069,"cg_vd_req_v":-1.87957239,"cg_vd_v":-1.87957239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.409132,"cg_vq_v":-8.409132,"cg_vu_v":33.4318352,"cg_vv_v":0.87978512,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2430.45386,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2424.31958,"values":{"Elec_RPM":-3527.05176,"EncoderCos":47087,"EncoderSin":48365,"GapTicks":49390,"Mech_RPM":-705.410339,"cg_du":51.236763,"cg_dv":44.9006805,"cg_dw":55.0993195,"cg_id_a":2.56737661,"cg_id_raw_a":-1.29836404,"cg_iq_a":-198.967911,"cg_iq_raw_a":-198.283585,"cg_iu_a":105.94326,"cg_iv_a":-199.779343,"cg_iw_a":93.8360825,"cg_sample_age_us":23.630909,"cg_sample_seq":13487716,"cg_sample_valid":1,"cg_theta_rad":0.830346406,"cg_vd_req_v":-1.7525996,"cg_vd_v":-1.7525996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42442513,"cg_vq_v":-8.42442513,"cg_vu_v":43.1094704,"cg_vv_v":41.7897949,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.9204941,"dclink_p_w":-2441.36938,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5887451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2424.651611,"values":{"Elec_RPM":-3516.23413,"EncoderCos":46446,"EncoderSin":48885,"GapTicks":49579,"Mech_RPM":-703.246826,"cg_du":52.6746368,"cg_dv":45.0719528,"cg_dw":54.9280472,"cg_id_a":15.5497894,"cg_id_raw_a":11.6753817,"cg_iq_a":-201.39183,"cg_iq_raw_a":-200.700485,"cg_iu_a":146.971283,"cg_iv_a":-195.248856,"cg_iw_a":63.1375427,"cg_sample_age_us":23.5472736,"cg_sample_seq":13489466,"cg_sample_valid":1,"cg_theta_rad":0.86522615,"cg_vd_req_v":-2.00276709,"cg_vd_v":-2.00276709,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39468479,"cg_vq_v":-8.39468479,"cg_vu_v":49.2679672,"cg_vv_v":44.4291458,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.8135757,"dclink_p_w":-2425.94263,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2424.994774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2424.99478,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2424.994785,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2425.003174,"values":{"Elec_RPM":-3522.33276,"EncoderCos":25374,"EncoderSin":52762,"GapTicks":49682,"Mech_RPM":-704.466553,"cg_du":45.1659851,"cg_dv":46.8826675,"cg_dw":54.8340149,"cg_id_a":12.255167,"cg_id_raw_a":10.2715282,"cg_iq_a":-200.337463,"cg_iq_raw_a":-198.051941,"cg_iu_a":-9.60208225,"cg_iv_a":-168.682129,"cg_iw_a":186.330338,"cg_sample_age_us":23.7654552,"cg_sample_seq":13491121,"cg_sample_valid":1,"cg_theta_rad":1.9637953,"cg_vd_req_v":-1.87067604,"cg_vd_v":-1.87067604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41461563,"cg_vq_v":-8.41461563,"cg_vu_v":136.366699,"cg_vv_v":109.533249,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-17.1216469,"dclink_p_w":-2477.92456,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5708008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2425.339111,"values":{"Elec_RPM":-3518.01147,"EncoderCos":23748,"EncoderSin":52062,"GapTicks":49569,"Mech_RPM":-703.602295,"cg_du":48.1504822,"cg_dv":45.0634842,"cg_dw":54.9365158,"cg_id_a":-13.7989559,"cg_id_raw_a":-4.60575962,"cg_iq_a":-203.039124,"cg_iq_raw_a":-202.871979,"cg_iu_a":14.5363102,"cg_iv_a":-182.237335,"cg_iw_a":167.701019,"cg_sample_age_us":24.0527267,"cg_sample_seq":13492867,"cg_sample_valid":1,"cg_theta_rad":2.01690435,"cg_vd_req_v":-1.32392907,"cg_vd_v":-1.32392907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3618803,"cg_vq_v":-8.3618803,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-16.8171997,"dclink_p_w":-2441.26123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2425.667236,"values":{"Elec_RPM":-3517.86011,"EncoderCos":11465,"EncoderSin":32973,"GapTicks":49442,"Mech_RPM":-703.572021,"cg_du":44.9479828,"cg_dv":48.4569588,"cg_dw":55.0520172,"cg_id_a":-10.1282701,"cg_id_raw_a":-16.6379795,"cg_iq_a":-198.566833,"cg_iq_raw_a":-199.233719,"cg_iu_a":-107.641647,"cg_iv_a":-91.1928253,"cg_iw_a":196.768585,"cg_sample_age_us":23.9290905,"cg_sample_seq":13494516,"cg_sample_valid":1,"cg_theta_rad":3.12867141,"cg_vd_req_v":-1.43463933,"cg_vd_v":-1.43463933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45197773,"cg_vq_v":-8.45197773,"cg_vu_v":37.830761,"cg_vv_v":39.1504402,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2425.987338,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2425.987344,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2425.987349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2426.022705,"values":{"Elec_RPM":-3517.72998,"EncoderCos":11475,"EncoderSin":32421,"GapTicks":49513,"Mech_RPM":-703.546021,"cg_du":45.01231,"cg_dv":47.6111336,"cg_dw":54.98769,"cg_id_a":4.78256226,"cg_id_raw_a":-2.78257394,"cg_iq_a":-199.502548,"cg_iq_raw_a":-196.714813,"cg_iu_a":-70.6367035,"cg_iv_a":-126.85675,"cg_iw_a":197.493454,"cg_sample_age_us":23.8381824,"cg_sample_seq":13496267,"cg_sample_valid":1,"cg_theta_rad":3.15609479,"cg_vd_req_v":-1.73883939,"cg_vd_v":-1.73883939,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44446182,"cg_vq_v":-8.44446182,"cg_vu_v":130.208206,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2414.69165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2426.354736,"values":{"Elec_RPM":-3521.94873,"EncoderCos":11513,"EncoderSin":31381,"GapTicks":50047,"Mech_RPM":-704.389771,"cg_du":45.4979782,"cg_dv":45.7331924,"cg_dw":54.5020218,"cg_id_a":11.9690475,"cg_id_raw_a":13.7908192,"cg_iq_a":-203.343826,"cg_iq_raw_a":-201.836456,"cg_iu_a":-19.3154297,"cg_iv_a":-167.159882,"cg_iw_a":186.475311,"cg_sample_age_us":23.9618187,"cg_sample_seq":13498016,"cg_sample_valid":1,"cg_theta_rad":3.20760679,"cg_vd_req_v":-1.8511169,"cg_vd_v":-1.8511169,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37400246,"cg_vq_v":-8.37400246,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-16.425766,"dclink_p_w":-2377.21338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2426.686768,"values":{"Elec_RPM":-3524.52368,"EncoderCos":24599,"EncoderSin":13105,"GapTicks":49442,"Mech_RPM":-704.904724,"cg_du":44.9475365,"cg_dv":51.0782242,"cg_dw":55.0524635,"cg_id_a":-15.0763044,"cg_id_raw_a":-10.7033663,"cg_iq_a":-200.850754,"cg_iq_raw_a":-202.565964,"cg_iu_a":-163.783356,"cg_iv_a":-17.7265625,"cg_iw_a":181.509918,"cg_sample_age_us":23.8272724,"cg_sample_seq":13499666,"cg_sample_valid":1,"cg_theta_rad":4.3214159,"cg_vd_req_v":-1.34531665,"cg_vd_v":-1.34531665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37396431,"cg_vq_v":-8.37396431,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-17.0419102,"dclink_p_w":-2466.38452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2426.979132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2426.979138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2426.979143,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2427.042236,"values":{"Elec_RPM":-3524.16504,"EncoderCos":25370,"EncoderSin":12820,"GapTicks":49383,"Mech_RPM":-704.833008,"cg_du":44.8937683,"cg_dv":49.386261,"cg_dw":55.1062317,"cg_id_a":-14.4434605,"cg_id_raw_a":-16.4417114,"cg_iq_a":-198.169998,"cg_iq_raw_a":-198.831604,"cg_iu_a":-127.213326,"cg_iv_a":-70.2801285,"cg_iw_a":197.493454,"cg_sample_age_us":23.8927269,"cg_sample_seq":13501416,"cg_sample_valid":1,"cg_theta_rad":4.3702445,"cg_vd_req_v":-1.38258529,"cg_vd_v":-1.38258529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44125557,"cg_vq_v":-8.44125557,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2458.36499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2427.370361,"values":{"Elec_RPM":-3524.77808,"EncoderCos":47126,"EncoderSin":17296,"GapTicks":49547,"Mech_RPM":-704.955627,"cg_du":45.0431099,"cg_dv":54.9568901,"cg_dw":52.8072929,"cg_id_a":8.59453011,"cg_id_raw_a":6.77397966,"cg_iq_a":-196.324326,"cg_iq_raw_a":-195.767029,"cg_iu_a":-190.350082,"cg_iv_a":53.4563141,"cg_iw_a":136.893768,"cg_sample_age_us":23.9254551,"cg_sample_seq":13503067,"cg_sample_valid":1,"cg_theta_rad":5.47725487,"cg_vd_req_v":-1.92729592,"cg_vd_v":-1.92729592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49944115,"cg_vq_v":-8.49944115,"cg_vu_v":113.052383,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2427.72583,"values":{"Elec_RPM":-3531.60986,"EncoderCos":47758,"EncoderSin":17951,"GapTicks":50081,"Mech_RPM":-706.32196,"cg_du":45.529026,"cg_dv":54.3949013,"cg_dw":54.470974,"cg_id_a":8.6475563,"cg_id_raw_a":10.5180283,"cg_iq_a":-199.972244,"cg_iq_raw_a":-198.502075,"cg_iu_a":-181.65155,"cg_iv_a":17.6836548,"cg_iw_a":163.967896,"cg_sample_age_us":23.8818188,"cg_sample_seq":13504817,"cg_sample_valid":1,"cg_theta_rad":5.52244997,"cg_vd_req_v":-1.90588486,"cg_vd_v":-1.90588486,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40370941,"cg_vq_v":-8.40370941,"cg_vu_v":104.254532,"cg_vv_v":104.694435,"cg_vw_v":101.615181,"control_outputs_enabled":1,"dclink_i_a":-16.3786488,"dclink_p_w":-2377.59912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2428.002657,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2428.002663,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2428.002669,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2428.057861,"values":{"Elec_RPM":-3534.02686,"EncoderCos":46193,"EncoderSin":49140,"GapTicks":49739,"Mech_RPM":-706.805359,"cg_du":53.3291054,"cg_dv":45.2174988,"cg_dw":54.7825012,"cg_id_a":17.956852,"cg_id_raw_a":16.967989,"cg_iq_a":-204.243073,"cg_iq_raw_a":-203.867996,"cg_iu_a":164.223343,"cg_iv_a":-193.944092,"cg_iw_a":35.229805,"cg_sample_age_us":23.5472736,"cg_sample_seq":13506417,"cg_sample_valid":1,"cg_theta_rad":0.89346391,"cg_vd_req_v":-2.03965688,"cg_vd_v":-2.03965688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36853504,"cg_vq_v":-8.36853504,"cg_vu_v":28.1531239,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0618458,"dclink_p_w":-2469.26978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2428.581299,"values":{"Elec_RPM":-3536.8457,"EncoderCos":52758,"EncoderSin":26283,"GapTicks":49512,"Mech_RPM":-707.369141,"cg_du":54.98843,"cg_dv":45.01157,"cg_dw":52.1760445,"cg_id_a":-9.35872269,"cg_id_raw_a":-0.817055404,"cg_iq_a":-199.239838,"cg_iq_raw_a":-201.53688,"cg_iu_a":175.386444,"cg_iv_a":-167.341095,"cg_iw_a":0.218254089,"cg_sample_age_us":24.1327267,"cg_sample_seq":13508866,"cg_sample_valid":1,"cg_theta_rad":5.9824729,"cg_vd_req_v":-1.49707627,"cg_vd_v":-1.49707627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43876934,"cg_vq_v":-8.43876934,"cg_vu_v":30.3525867,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9386158,"dclink_p_w":-2443.98413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2428.867342,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2428.867353,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2428.867356,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2428.994497,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2428.994503,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2428.994508,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2429.050049,"values":{"Elec_RPM":-3554.34937,"EncoderCos":11484,"EncoderSin":32402,"GapTicks":49515,"Mech_RPM":-710.869873,"cg_du":45.0141716,"cg_dv":47.5945892,"cg_dw":54.9858284,"cg_id_a":5.85030842,"cg_id_raw_a":1.58987772,"cg_iq_a":-198.241943,"cg_iq_raw_a":-197.944595,"cg_iu_a":-67.8821716,"cg_iv_a":-130.444885,"cg_iw_a":198.327057,"cg_sample_age_us":23.9363632,"cg_sample_seq":13511466,"cg_sample_valid":1,"cg_theta_rad":3.15936637,"cg_vd_req_v":-1.75719559,"cg_vd_v":-1.75719559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46880531,"cg_vq_v":-8.46880531,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.4765072,"dclink_p_w":-2391.80469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2429.38208,"values":{"Elec_RPM":-3546.97559,"EncoderCos":34734,"EncoderSin":11637,"GapTicks":49472,"Mech_RPM":-709.395142,"cg_du":55.0253487,"cg_dv":44.9746513,"cg_dw":48.2719421,"cg_id_a":0.207796097,"cg_id_raw_a":-5.75334263,"cg_iq_a":-199.677307,"cg_iq_raw_a":-199.521561,"cg_iu_a":199.017426,"cg_iv_a":-102.57338,"cg_iw_a":-96.444046,"cg_sample_age_us":23.9690914,"cg_sample_seq":13513066,"cg_sample_valid":1,"cg_theta_rad":4.81236219,"cg_vd_req_v":-1.68843222,"cg_vd_v":-1.68843222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39381409,"cg_vq_v":-8.39381409,"cg_vu_v":31.6722641,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0600338,"dclink_p_w":-2469.00757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2429.714111,"values":{"Elec_RPM":-3539.41846,"EncoderCos":45782,"EncoderSin":16111,"GapTicks":49341,"Mech_RPM":-707.883667,"cg_du":44.8562965,"cg_dv":55.1437035,"cg_dw":49.535881,"cg_id_a":-15.427412,"cg_id_raw_a":-13.6813107,"cg_iq_a":-197.874496,"cg_iq_raw_a":-199.610214,"cg_iu_a":-184.442337,"cg_iv_a":154.431641,"cg_iw_a":30.0106964,"cg_sample_age_us":23.8309097,"cg_sample_seq":13514766,"cg_sample_valid":1,"cg_theta_rad":5.38480091,"cg_vd_req_v":-1.42940903,"cg_vd_v":-1.42940903,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48796844,"cg_vq_v":-8.48796844,"cg_vu_v":15.3962402,"cg_vv_v":27.2733402,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.4402637,"dclink_p_w":-2379.31152,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2429.986823,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2429.986829,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2429.986834,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2430.06958,"values":{"Elec_RPM":-3526.40601,"EncoderCos":52742,"EncoderSin":26253,"GapTicks":49502,"Mech_RPM":-705.281189,"cg_du":54.9979668,"cg_dv":45.0020332,"cg_dw":52.2432594,"cg_id_a":-9.00723267,"cg_id_raw_a":1.19439852,"cg_iq_a":-196.748993,"cg_iq_raw_a":-199.58699,"cg_iu_a":174.262878,"cg_iv_a":-160.817215,"cg_iw_a":-13.4456635,"cg_sample_age_us":24.1181812,"cg_sample_seq":13516466,"cg_sample_valid":1,"cg_theta_rad":5.99432707,"cg_vd_req_v":-1.50138783,"cg_vd_v":-1.50138783,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49652386,"cg_vq_v":-8.49652386,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2483.16992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2430.401611,"values":{"Elec_RPM":-3530.97998,"EncoderCos":52988,"EncoderSin":27049,"GapTicks":49327,"Mech_RPM":-706.195984,"cg_du":55.1567764,"cg_dv":44.8432236,"cg_dw":50.3768501,"cg_id_a":-16.2140846,"cg_id_raw_a":-13.6915569,"cg_iq_a":-194.61734,"cg_iq_raw_a":-194.740494,"cg_iu_a":182.236526,"cg_iv_a":-151.720016,"cg_iw_a":-30.51651,"cg_sample_age_us":24.0345459,"cg_sample_seq":13518216,"cg_sample_valid":1,"cg_theta_rad":6.01340723,"cg_vd_req_v":-1.37340736,"cg_vd_v":-1.37340736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51530266,"cg_vq_v":-8.51530266,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.4112682,"dclink_p_w":-2367.896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2430.753174,"values":{"Elec_RPM":-3537.70752,"EncoderCos":53099,"EncoderSin":37912,"GapTicks":49769,"Mech_RPM":-707.541504,"cg_du":46.7176018,"cg_dv":54.7548141,"cg_dw":45.2451859,"cg_id_a":12.0392866,"cg_id_raw_a":11.5985632,"cg_iq_a":-206.006729,"cg_iq_raw_a":-204.786606,"cg_iu_a":-173.641663,"cg_iv_a":180.12851,"cg_iw_a":-10.8723526,"cg_sample_age_us":23.4781818,"cg_sample_seq":13519921,"cg_sample_valid":1,"cg_theta_rad":0.297723919,"cg_vd_req_v":-1.97460437,"cg_vd_v":-1.97460437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29605007,"cg_vq_v":-8.29605007,"cg_vu_v":128.888519,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-15.9799671,"dclink_p_w":-2312.69531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2430.979209,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2430.979215,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2430.97922,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2431.085205,"values":{"Elec_RPM":-3530.5835,"EncoderCos":46336,"EncoderSin":48996,"GapTicks":49629,"Mech_RPM":-706.116699,"cg_du":52.9582596,"cg_dv":45.1176834,"cg_dw":54.8823166,"cg_id_a":17.4713612,"cg_id_raw_a":15.8395147,"cg_iq_a":-202.225082,"cg_iq_raw_a":-200.807327,"cg_iu_a":152.806534,"cg_iv_a":-193.980316,"cg_iw_a":41.17379,"cg_sample_age_us":23.5799999,"cg_sample_seq":13521617,"cg_sample_valid":1,"cg_theta_rad":0.879106283,"cg_vd_req_v":-2.03295517,"cg_vd_v":-2.03295517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40137959,"cg_vq_v":-8.40137959,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2401.34204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4631653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2431.417236,"values":{"Elec_RPM":-3535.2981,"EncoderCos":35094,"EncoderSin":53767,"GapTicks":49421,"Mech_RPM":-707.059631,"cg_du":48.598381,"cg_dv":55.0713959,"cg_dw":44.9286041,"cg_id_a":-0.561030626,"cg_id_raw_a":-4.68268156,"cg_iq_a":-197.755737,"cg_iq_raw_a":-197.349167,"cg_iu_a":-103.981018,"cg_iv_a":198.141708,"cg_iw_a":-94.1606903,"cg_sample_age_us":23.9290905,"cg_sample_seq":13523317,"cg_sample_valid":1,"cg_theta_rad":1.45992291,"cg_vd_req_v":-1.62202573,"cg_vd_v":-1.62202573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45409584,"cg_vq_v":-8.45409584,"cg_vu_v":99.4157181,"cg_vv_v":101.175293,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-15.7153873,"dclink_p_w":-2274.40405,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5797729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2431.768799,"values":{"Elec_RPM":-3513.69336,"EncoderCos":23294,"EncoderSin":51891,"GapTicks":49419,"Mech_RPM":-702.738647,"cg_du":49.2532578,"cg_dv":44.9264336,"cg_dw":55.0735664,"cg_id_a":-20.7832413,"cg_id_raw_a":-20.3605194,"cg_iq_a":-200.622101,"cg_iq_raw_a":-201.689789,"cg_iu_a":24.720829,"cg_iv_a":-183.542084,"cg_iw_a":167.592285,"cg_sample_age_us":23.7399998,"cg_sample_seq":13525017,"cg_sample_valid":1,"cg_theta_rad":2.02624607,"cg_vd_req_v":-1.20343351,"cg_vd_v":-1.20343351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39752293,"cg_vq_v":-8.39752293,"cg_vu_v":119.210884,"cg_vv_v":120.090675,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-18.051302,"dclink_p_w":-2604.52783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2431.970874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2431.97088,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2431.970886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2432.104736,"values":{"Elec_RPM":-3522.44824,"EncoderCos":14442,"EncoderSin":43596,"GapTicks":49753,"Mech_RPM":-704.489624,"cg_du":53.3750496,"cg_dv":54.7694435,"cg_dw":45.2305565,"cg_id_a":3.03025031,"cg_id_raw_a":9.81655312,"cg_iq_a":-202.586929,"cg_iq_raw_a":-203.557922,"cg_iu_a":5.76530313,"cg_iv_a":170.56015,"cg_iw_a":-176.325455,"cg_sample_age_us":23.8818188,"cg_sample_seq":13526717,"cg_sample_valid":1,"cg_theta_rad":2.60826874,"cg_vd_req_v":-1.65989935,"cg_vd_v":-1.65989935,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39506435,"cg_vq_v":-8.39506435,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2423.32788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":2432.432861,"values":{"Elec_RPM":-3524.34766,"EncoderCos":14988,"EncoderSin":20877,"GapTicks":49388,"Mech_RPM":-704.869507,"cg_du":55.1010132,"cg_dv":50.3442039,"cg_dw":44.8989868,"cg_id_a":-7.05254126,"cg_id_raw_a":-9.21834946,"cg_iq_a":-198.021118,"cg_iq_raw_a":-199.144485,"cg_iu_a":124.790054,"cg_iv_a":73.5354004,"cg_iw_a":-198.325455,"cg_sample_age_us":23.9836369,"cg_sample_seq":13528366,"cg_sample_valid":1,"cg_theta_rad":3.73689413,"cg_vd_req_v":-1.49646282,"cg_vd_v":-1.49646282,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42501259,"cg_vq_v":-8.42501259,"cg_vu_v":5.71860361,"cg_vv_v":1.75957024,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.1470184,"dclink_p_w":-2474.05347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2432.78833,"values":{"Elec_RPM":-3513.26563,"EncoderCos":15483,"EncoderSin":20107,"GapTicks":49556,"Mech_RPM":-702.653137,"cg_du":54.9486694,"cg_dv":51.956955,"cg_dw":45.0513306,"cg_id_a":4.61898422,"cg_id_raw_a":1.38080573,"cg_iq_a":-203.369125,"cg_iq_raw_a":-203.496384,"cg_iu_a":92.6055298,"cg_iv_a":110.250412,"cg_iw_a":-202.855942,"cg_sample_age_us":23.8709087,"cg_sample_seq":13530116,"cg_sample_valid":1,"cg_theta_rad":3.77282119,"cg_vd_req_v":-1.73472798,"cg_vd_v":-1.73472798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30343628,"cg_vq_v":-8.30343628,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":18.4754887,"control_outputs_enabled":1,"dclink_i_a":-16.6939697,"dclink_p_w":-2408.6853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2432.995396,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2432.995401,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2432.995407,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2433.120361,"values":{"Elec_RPM":-3516.00439,"EncoderCos":36170,"EncoderSin":11817,"GapTicks":50096,"Mech_RPM":-703.200867,"cg_du":54.4575691,"cg_dv":45.5424309,"cg_dw":45.5766907,"cg_id_a":9.89844131,"cg_id_raw_a":15.2359819,"cg_iq_a":-202.465637,"cg_iq_raw_a":-206.411362,"cg_iu_a":183.287598,"cg_iv_a":-16.9654541,"cg_iw_a":-166.322144,"cg_sample_age_us":24.0963631,"cg_sample_seq":13531766,"cg_sample_valid":1,"cg_theta_rad":4.88960838,"cg_vd_req_v":-1.85938609,"cg_vd_v":-1.85938609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38134766,"cg_vq_v":-8.38134766,"cg_vu_v":43.549366,"cg_vv_v":41.7897949,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2397.67041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2433.471924,"values":{"Elec_RPM":-3527.62695,"EncoderCos":35676,"EncoderSin":11745,"GapTicks":49772,"Mech_RPM":-705.525391,"cg_du":54.7524414,"cg_dv":45.2475586,"cg_dw":46.611187,"cg_id_a":14.0974216,"cg_id_raw_a":15.2612696,"cg_iq_a":-202.919373,"cg_iq_raw_a":-203.178436,"cg_iu_a":170.710983,"cg_iv_a":-2.17796326,"cg_iw_a":-168.53302,"cg_sample_age_us":23.9799995,"cg_sample_seq":13533522,"cg_sample_valid":1,"cg_theta_rad":4.91617203,"cg_vd_req_v":-1.95280504,"cg_vd_v":-1.95280504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36373711,"cg_vq_v":-8.36373711,"cg_vu_v":106.453995,"cg_vv_v":99.4157181,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.9150581,"dclink_p_w":-2455.4668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2433.803955,"values":{"Elec_RPM":-3513.4353,"EncoderCos":53142,"EncoderSin":27606,"GapTicks":49375,"Mech_RPM":-702.687073,"cg_du":55.1127434,"cg_dv":44.8872566,"cg_dw":49.3113174,"cg_id_a":-10.963727,"cg_id_raw_a":-11.7849045,"cg_iq_a":-197.687317,"cg_iq_raw_a":-198.180878,"cg_iu_a":197.712646,"cg_iv_a":-120.731544,"cg_iw_a":-76.981102,"cg_sample_age_us":24.1654549,"cg_sample_seq":13535166,"cg_sample_valid":1,"cg_theta_rad":6.05096483,"cg_vd_req_v":-1.50858974,"cg_vd_v":-1.50858974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43606567,"cg_vq_v":-8.43606567,"cg_vu_v":18.0355949,"cg_vv_v":8.79785156,"cg_vw_v":37.3908691,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2515.10449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2433.98721,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2433.987216,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2433.987222,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2434.135986,"values":{"Elec_RPM":-3516.03638,"EncoderCos":53304,"EncoderSin":28437,"GapTicks":49465,"Mech_RPM":-703.207275,"cg_du":55.0310631,"cg_dv":44.9689369,"cg_dw":47.9469681,"cg_id_a":7.85012007,"cg_id_raw_a":3.51476765,"cg_iq_a":-200.312988,"cg_iq_raw_a":-199.307709,"cg_iu_a":199.307373,"cg_iv_a":-70.7875366,"cg_iw_a":-128.519836,"cg_sample_age_us":24.1690903,"cg_sample_seq":13536916,"cg_sample_valid":1,"cg_theta_rad":6.08809376,"cg_vd_req_v":-1.90236068,"cg_vd_v":-1.90236068,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39877701,"cg_vq_v":-8.39877701,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2528.43945,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2434.487549,"values":{"Elec_RPM":-3517.30444,"EncoderCos":52266,"EncoderSin":40450,"GapTicks":49287,"Mech_RPM":-703.460876,"cg_du":44.8069153,"cg_dv":55.1930847,"cg_dw":50.0948792,"cg_id_a":-6.32597637,"cg_id_raw_a":-7.31056356,"cg_iq_a":-196.381058,"cg_iq_raw_a":-196.755829,"cg_iu_a":-194.663086,"cg_iv_a":115.650726,"cg_iw_a":79.0123596,"cg_sample_age_us":23.5618191,"cg_sample_seq":13538616,"cg_sample_valid":1,"cg_theta_rad":0.392670959,"cg_vd_req_v":-1.60794175,"cg_vd_v":-1.60794175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52858353,"cg_vq_v":-8.52858353,"cg_vu_v":93.2572174,"cg_vv_v":101.175293,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-16.9494896,"dclink_p_w":-2453.00903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120650038,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2434.823486,"values":{"Elec_RPM":-3515.77295,"EncoderCos":45022,"EncoderSin":49968,"GapTicks":49560,"Mech_RPM":-703.154602,"cg_du":54.9454308,"cg_dv":45.0545692,"cg_dw":52.3171921,"cg_id_a":-6.50747299,"cg_id_raw_a":-0.661880791,"cg_iq_a":-198.087738,"cg_iq_raw_a":-199.388199,"cg_iu_a":171.580841,"cg_iv_a":-169.986908,"cg_iw_a":-1.59393311,"cg_sample_age_us":23.9581814,"cg_sample_seq":13540317,"cg_sample_valid":1,"cg_theta_rad":0.951515853,"cg_vd_req_v":-1.49855435,"cg_vd_v":-1.49855435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4558115,"cg_vq_v":-8.4558115,"cg_vu_v":106.893898,"cg_vv_v":91.4976578,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-16.7718945,"dclink_p_w":-2427.30664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2434.979123,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2434.979129,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2434.979135,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2435.155518,"values":{"Elec_RPM":-3511.56299,"EncoderCos":33701,"EncoderSin":53868,"GapTicks":49978,"Mech_RPM":-702.312622,"cg_du":46.1460457,"cg_dv":54.5653076,"cg_dw":45.4346924,"cg_id_a":13.6101017,"cg_id_raw_a":15.3769512,"cg_iq_a":-206.233093,"cg_iq_raw_a":-205.741089,"cg_iu_a":-164.145782,"cg_iv_a":191.980255,"cg_iw_a":-27.834465,"cg_sample_age_us":23.8963642,"cg_sample_seq":13542017,"cg_sample_valid":1,"cg_theta_rad":1.526443,"cg_vd_req_v":-1.89345193,"cg_vd_v":-1.89345193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2732687,"cg_vq_v":-8.2732687,"cg_vu_v":105.574219,"cg_vv_v":105.574219,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-17.4949589,"dclink_p_w":-2531.9519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2435.50708,"values":{"Elec_RPM":-3502.7627,"EncoderCos":22072,"EncoderSin":51161,"GapTicks":49400,"Mech_RPM":-700.552551,"cg_du":51.7313728,"cg_dv":44.9093819,"cg_dw":55.0906181,"cg_id_a":1.46102321,"cg_id_raw_a":-2.9541564,"cg_iq_a":-198.535736,"cg_iq_raw_a":-198.429993,"cg_iu_a":111.597298,"cg_iv_a":-198.764511,"cg_iw_a":87.1672134,"cg_sample_age_us":23.7181816,"cg_sample_seq":13543717,"cg_sample_valid":1,"cg_theta_rad":2.09525633,"cg_vd_req_v":-1.69966984,"cg_vd_v":-1.69966984,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47445965,"cg_vq_v":-8.47445965,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.7592087,"dclink_p_w":-2425.4707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2435.839111,"values":{"Elec_RPM":-3512.15308,"EncoderCos":11524,"EncoderSin":31010,"GapTicks":49963,"Mech_RPM":-702.430603,"cg_du":46.1791039,"cg_dv":45.421093,"cg_dw":54.578907,"cg_id_a":7.53979015,"cg_id_raw_a":12.82341,"cg_iq_a":-204.437653,"cg_iq_raw_a":-204.866364,"cg_iu_a":-8.73223114,"cg_iv_a":-168.609634,"cg_iw_a":184.880585,"cg_sample_age_us":23.8490906,"cg_sample_seq":13545366,"cg_sample_valid":1,"cg_theta_rad":3.22436619,"cg_vd_req_v":-1.75243413,"cg_vd_v":-1.75243413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31096649,"cg_vq_v":-8.31096649,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.7515144,"control_outputs_enabled":1,"dclink_i_a":-16.9114342,"dclink_p_w":-2440.06226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2436.003129,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2436.003135,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2436.00314,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2436.175049,"values":{"Elec_RPM":-3514.74609,"EncoderCos":15671,"EncoderSin":19844,"GapTicks":49613,"Mech_RPM":-702.949219,"cg_du":54.8971863,"cg_dv":52.5315895,"cg_dw":45.1028137,"cg_id_a":8.75521088,"cg_id_raw_a":4.73923302,"cg_iq_a":-204.723633,"cg_iq_raw_a":-204.724976,"cg_iu_a":63.3567543,"cg_iv_a":136.563431,"cg_iw_a":-199.920181,"cg_sample_age_us":23.9690914,"cg_sample_seq":13547067,"cg_sample_valid":1,"cg_theta_rad":3.79453015,"cg_vd_req_v":-1.82770169,"cg_vd_v":-1.82770169,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31615734,"cg_vq_v":-8.31615734,"cg_vu_v":143.404984,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.0237885,"dclink_p_w":-2463.76196,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2436.526611,"values":{"Elec_RPM":-3512.26416,"EncoderCos":16179,"EncoderSin":19227,"GapTicks":49963,"Mech_RPM":-702.45282,"cg_du":54.5786667,"cg_dv":54.0146065,"cg_dw":45.4213333,"cg_id_a":14.0857916,"cg_id_raw_a":16.2121716,"cg_iq_a":-204.867126,"cg_iq_raw_a":-203.912201,"cg_iu_a":22.1112709,"cg_iv_a":164.942352,"cg_iw_a":-187.053619,"cg_sample_age_us":23.8709087,"cg_sample_seq":13548817,"cg_sample_valid":1,"cg_theta_rad":3.83578944,"cg_vd_req_v":-1.91435087,"cg_vd_v":-1.91435087,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33299446,"cg_vq_v":-8.33299446,"cg_vu_v":7.47817326,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.7120914,"dclink_p_w":-2418.65161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2436.858643,"values":{"Elec_RPM":-3514.73193,"EncoderCos":26479,"EncoderSin":12459,"GapTicks":49534,"Mech_RPM":-702.946411,"cg_du":45.0317268,"cg_dv":47.4352913,"cg_dw":54.9682732,"cg_id_a":10.726018,"cg_id_raw_a":7.58305264,"cg_iq_a":-198.011826,"cg_iq_raw_a":-199.831467,"cg_iu_a":-56.9002838,"cg_iv_a":-137.729904,"cg_iw_a":194.630188,"cg_sample_age_us":23.9290905,"cg_sample_seq":13550516,"cg_sample_valid":1,"cg_theta_rad":4.42766428,"cg_vd_req_v":-1.89662445,"cg_vd_v":-1.89662445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45341492,"cg_vq_v":-8.45341492,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2436.994756,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2436.994762,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2436.994768,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2437.190674,"values":{"Elec_RPM":-3503.28149,"EncoderCos":48086,"EncoderSin":18291,"GapTicks":49832,"Mech_RPM":-700.656311,"cg_du":45.3023949,"cg_dv":53.4238701,"cg_dw":54.6976051,"cg_id_a":5.24426842,"cg_id_raw_a":9.9769516,"cg_iq_a":-204.055893,"cg_iq_raw_a":-205.249374,"cg_iu_a":-177.809723,"cg_iv_a":0.141647339,"cg_iw_a":177.668076,"cg_sample_age_us":23.823637,"cg_sample_seq":13552166,"cg_sample_valid":1,"cg_theta_rad":5.54280663,"cg_vd_req_v":-1.84034848,"cg_vd_v":-1.84034848,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31587505,"cg_vq_v":-8.31587505,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.6649742,"dclink_p_w":-2411.83276,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2437.542236,"values":{"Elec_RPM":-3511.01929,"EncoderCos":53388,"EncoderSin":28823,"GapTicks":49585,"Mech_RPM":-702.203857,"cg_du":54.922142,"cg_dv":45.077858,"cg_dw":47.2621536,"cg_id_a":14.1645107,"cg_id_raw_a":11.7855864,"cg_iq_a":-202.890686,"cg_iq_raw_a":-201.463303,"cg_iu_a":196.190399,"cg_iv_a":-50.0923157,"cg_iw_a":-146.098083,"cg_sample_age_us":24.1109085,"cg_sample_seq":13553867,"cg_sample_valid":1,"cg_theta_rad":6.1091857,"cg_vd_req_v":-2.01989675,"cg_vd_v":-2.01989675,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37286377,"cg_vq_v":-8.37286377,"cg_vu_v":108.21357,"cg_vv_v":109.533249,"cg_vw_v":111.292824,"control_outputs_enabled":1,"dclink_i_a":-17.0364742,"dclink_p_w":-2465.5979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2437.874268,"values":{"Elec_RPM":-3525.06226,"EncoderCos":52152,"EncoderSin":40959,"GapTicks":49338,"Mech_RPM":-705.012451,"cg_du":44.8536148,"cg_dv":55.1463852,"cg_dw":51.105526,"cg_id_a":-2.83443403,"cg_id_raw_a":-6.76632786,"cg_iq_a":-196.198334,"cg_iq_raw_a":-195.982727,"cg_iu_a":-195.279236,"cg_iv_a":104.523872,"cg_iw_a":90.7553635,"cg_sample_age_us":23.5327282,"cg_sample_seq":13555567,"cg_sample_valid":1,"cg_theta_rad":0.405960917,"cg_vd_req_v":-1.67303371,"cg_vd_v":-1.67303371,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50317955,"cg_vq_v":-8.50317955,"cg_vu_v":110.413033,"cg_vv_v":114.811958,"cg_vw_v":119.650772,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2456.51904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.6013489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2437.986894,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2437.986899,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2437.986905,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2438.307861,"values":{"Elec_RPM":-3525.4292,"EncoderCos":12901,"EncoderSin":25183,"GapTicks":49355,"Mech_RPM":-705.085815,"cg_du":55.1309547,"cg_dv":44.8690453,"cg_dw":50.1490746,"cg_id_a":-18.6985054,"cg_id_raw_a":-17.3383827,"cg_iq_a":-194.725311,"cg_iq_raw_a":-196.244934,"cg_iu_a":181.149216,"cg_iv_a":-151.973724,"cg_iw_a":-29.175499,"cg_sample_age_us":23.9836369,"cg_sample_seq":13557616,"cg_sample_valid":1,"cg_theta_rad":3.50292969,"cg_vd_req_v":-1.2587142,"cg_vd_v":-1.2587142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50920391,"cg_vq_v":-8.50920391,"cg_vu_v":27.7132301,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2454.15137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119743653,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2438.85083,"values":{"Elec_RPM":-3524.89868,"EncoderCos":51958,"EncoderSin":24108,"GapTicks":49432,"Mech_RPM":-704.979736,"cg_du":51.8862534,"cg_dv":44.9384537,"cg_dw":55.0615463,"cg_id_a":7.80898857,"cg_id_raw_a":2.01790237,"cg_iq_a":-198.582306,"cg_iq_raw_a":-198.364685,"cg_iu_a":154.401276,"cg_iv_a":-191.69696,"cg_iw_a":37.2956924,"cg_sample_age_us":23.7145462,"cg_sample_seq":13560320,"cg_sample_valid":1,"cg_theta_rad":5.90500498,"cg_vd_req_v":-1.90660119,"cg_vd_v":-1.90660119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43941879,"cg_vq_v":-8.43941879,"cg_vu_v":139.006058,"cg_vv_v":125.809273,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2427.51147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2438.851429,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2438.85144,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2438.851443,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2438.978897,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2438.978903,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2438.978908,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2439.202393,"values":{"Elec_RPM":-3520.76196,"EncoderCos":15698,"EncoderSin":19856,"GapTicks":49602,"Mech_RPM":-704.152405,"cg_du":54.9070892,"cg_dv":52.5535927,"cg_dw":45.0929108,"cg_id_a":9.33595276,"cg_id_raw_a":8.41452122,"cg_iq_a":-203.39859,"cg_iq_raw_a":-203.675385,"cg_iu_a":61.9432449,"cg_iv_a":139.317963,"cg_iw_a":-201.261215,"cg_sample_age_us":23.9872723,"cg_sample_seq":13562266,"cg_sample_valid":1,"cg_theta_rad":3.79484391,"cg_vd_req_v":-1.82852066,"cg_vd_v":-1.82852066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33837891,"cg_vq_v":-8.33837891,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.7882042,"dclink_p_w":-2422.28198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2439.553955,"values":{"Elec_RPM":-3521.52075,"EncoderCos":36638,"EncoderSin":11877,"GapTicks":49808,"Mech_RPM":-704.304138,"cg_du":54.7199326,"cg_dv":46.5456276,"cg_dw":45.2800674,"cg_id_a":4.76790857,"cg_id_raw_a":12.6905375,"cg_iq_a":-199.374939,"cg_iq_raw_a":-202.126038,"cg_iu_a":175.313965,"cg_iv_a":-3.77270508,"cg_iw_a":-171.54126,"cg_sample_age_us":23.9836369,"cg_sample_seq":13563916,"cg_sample_valid":1,"cg_theta_rad":4.91422176,"cg_vd_req_v":-1.72788,"cg_vd_v":-1.72788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41332054,"cg_vq_v":-8.41332054,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.367775,"dclink_p_w":-2368.82056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2439.885986,"values":{"Elec_RPM":-3532.5,"EncoderCos":37316,"EncoderSin":12012,"GapTicks":49456,"Mech_RPM":-706.5,"cg_du":55.039875,"cg_dv":48.2716026,"cg_dw":44.960125,"cg_id_a":-13.2536097,"cg_id_raw_a":-8.67104721,"cg_iq_a":-195.973694,"cg_iq_raw_a":-195.949707,"cg_iu_a":164.368317,"cg_iv_a":9.13011169,"cg_iw_a":-173.498428,"cg_sample_age_us":24.0418186,"cg_sample_seq":13565667,"cg_sample_valid":1,"cg_theta_rad":4.94374418,"cg_vd_req_v":-1.38043368,"cg_vd_v":-1.38043368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47412491,"cg_vq_v":-8.47412491,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.0763435,"dclink_p_w":-2463.8562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2597,"hz_tim_isr":4998,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2439.97109,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2439.971096,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2439.971101,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2440.241455,"values":{"Elec_RPM":-3537.48022,"EncoderCos":47113,"EncoderSin":17311,"GapTicks":49578,"Mech_RPM":-707.496033,"cg_du":45.0713348,"cg_dv":54.9286652,"cg_dw":52.747818,"cg_id_a":6.2477808,"cg_id_raw_a":3.4974122,"cg_iq_a":-199.511414,"cg_iq_raw_a":-197.992905,"cg_iu_a":-182.231476,"cg_iv_a":15.7627411,"cg_iw_a":166.468735,"cg_sample_age_us":26.7800007,"cg_sample_seq":13567371,"cg_sample_valid":1,"cg_theta_rad":5.52247763,"cg_vd_req_v":-1.8857758,"cg_vd_v":-1.8857758,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41769791,"cg_vq_v":-8.41769791,"cg_vu_v":101.615181,"cg_vv_v":109.093361,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-17.0382862,"dclink_p_w":-2465.86011,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2440.56958,"values":{"Elec_RPM":-3528.86499,"EncoderCos":45872,"EncoderSin":49392,"GapTicks":49992,"Mech_RPM":-705.77301,"cg_du":54.1139908,"cg_dv":45.4475937,"cg_dw":54.5524063,"cg_id_a":18.1358833,"cg_id_raw_a":18.4924755,"cg_iq_a":-202.432587,"cg_iq_raw_a":-202.003326,"cg_iu_a":167.702759,"cg_iv_a":-182.346069,"cg_iw_a":14.6433029,"cg_sample_age_us":24.005455,"cg_sample_seq":13568966,"cg_sample_valid":1,"cg_theta_rad":0.906295598,"cg_vd_req_v":-2.01610279,"cg_vd_v":-2.01610279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36755848,"cg_vq_v":-8.36755848,"cg_vu_v":31.6722641,"cg_vv_v":1.31967759,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2429.68628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2440.901611,"values":{"Elec_RPM":-3526.92773,"EncoderCos":52066,"EncoderSin":40944,"GapTicks":49344,"Mech_RPM":-705.385559,"cg_du":44.8584747,"cg_dv":55.1415253,"cg_dw":51.1102371,"cg_id_a":-1.43812871,"cg_id_raw_a":-1.98451388,"cg_iq_a":-196.402863,"cg_iq_raw_a":-196.584442,"cg_iu_a":-194.989288,"cg_iv_a":113.947281,"cg_iw_a":81.0420074,"cg_sample_age_us":23.4345455,"cg_sample_seq":13570766,"cg_sample_valid":1,"cg_theta_rad":0.399109334,"cg_vd_req_v":-1.70565486,"cg_vd_v":-1.70565486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48904419,"cg_vq_v":-8.48904419,"cg_vu_v":127.568848,"cg_vv_v":136.366699,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-16.0307083,"dclink_p_w":-2320.03882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2440.994815,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2440.994821,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2440.994826,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2441.25708,"values":{"Elec_RPM":-3532.34814,"EncoderCos":34766,"EncoderSin":53792,"GapTicks":49455,"Mech_RPM":-706.469604,"cg_du":48.0954704,"cg_dv":55.0400543,"cg_dw":44.9599457,"cg_id_a":4.51524448,"cg_id_raw_a":-0.739960611,"cg_iq_a":-200.17157,"cg_iq_raw_a":-198.784485,"cg_iu_a":-151.677917,"cg_iv_a":196.039581,"cg_iw_a":-44.3616638,"cg_sample_age_us":26.5,"cg_sample_seq":13572420,"cg_sample_valid":1,"cg_theta_rad":1.50954378,"cg_vd_req_v":-1.74293578,"cg_vd_v":-1.74293578,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41594791,"cg_vq_v":-8.41594791,"cg_vu_v":96.7763672,"cg_vv_v":101.175293,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-16.6287308,"dclink_p_w":-2391.95752,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2441.589111,"values":{"Elec_RPM":-3517.19116,"EncoderCos":33256,"EncoderSin":53888,"GapTicks":50001,"Mech_RPM":-703.438232,"cg_du":45.4559593,"cg_dv":54.5440407,"cg_dw":45.8834915,"cg_id_a":11.6777763,"cg_id_raw_a":12.2503042,"cg_iq_a":-205.257965,"cg_iq_raw_a":-207.049667,"cg_iu_a":-170.99588,"cg_iv_a":182.484375,"cg_iw_a":-11.4885025,"cg_sample_age_us":23.9109097,"cg_sample_seq":13574167,"cg_sample_valid":1,"cg_theta_rad":1.54585111,"cg_vd_req_v":-1.84988117,"cg_vd_v":-1.84988117,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34094143,"cg_vq_v":-8.34094143,"cg_vu_v":111.732712,"cg_vv_v":142.965088,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2444.24561,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2441.921143,"values":{"Elec_RPM":-3511.31348,"EncoderCos":13823,"EncoderSin":42478,"GapTicks":49329,"Mech_RPM":-702.262695,"cg_du":50.4674301,"cg_dv":55.1546631,"cg_dw":44.8453369,"cg_id_a":-11.0898418,"cg_id_raw_a":-11.5449266,"cg_iq_a":-194.575089,"cg_iq_raw_a":-193.849884,"cg_iu_a":-43.1638718,"cg_iv_a":186.978607,"cg_iw_a":-150.048676,"cg_sample_age_us":23.8818188,"cg_sample_seq":13575817,"cg_sample_valid":1,"cg_theta_rad":2.66358256,"cg_vd_req_v":-1.38366354,"cg_vd_v":-1.38366354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51424599,"cg_vq_v":-8.51424599,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":127.568848,"control_outputs_enabled":1,"dclink_i_a":-17.235815,"dclink_p_w":-2494.44751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2441.987072,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2441.987078,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2441.987084,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2442.272705,"values":{"Elec_RPM":-3516.55957,"EncoderCos":13356,"EncoderSin":41564,"GapTicks":49456,"Mech_RPM":-703.31189,"cg_du":48.613903,"cg_dv":55.0391769,"cg_dw":44.9608231,"cg_id_a":0.181550086,"cg_id_raw_a":-6.53654194,"cg_iq_a":-200.686142,"cg_iq_raw_a":-199.453995,"cg_iu_a":-104.053513,"cg_iv_a":201.222443,"cg_iw_a":-97.1689224,"cg_sample_age_us":23.994545,"cg_sample_seq":13577566,"cg_sample_valid":1,"cg_theta_rad":2.7153759,"cg_vd_req_v":-1.63428319,"cg_vd_v":-1.63428319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36859512,"cg_vq_v":-8.36859512,"cg_vu_v":23.3143044,"cg_vv_v":25.953661,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2303791,"dclink_p_w":-2493.66064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2442.604736,"values":{"Elec_RPM":-3516.33276,"EncoderCos":15946,"EncoderSin":19511,"GapTicks":49771,"Mech_RPM":-703.266541,"cg_du":54.7533951,"cg_dv":53.3605499,"cg_dw":45.2466049,"cg_id_a":11.7219915,"cg_id_raw_a":11.2738686,"cg_iq_a":-204.660095,"cg_iq_raw_a":-203.801056,"cg_iu_a":39.2908478,"cg_iv_a":152.220779,"cg_iw_a":-191.511627,"cg_sample_age_us":23.9654541,"cg_sample_seq":13579217,"cg_sample_valid":1,"cg_theta_rad":3.81585884,"cg_vd_req_v":-1.86949849,"cg_vd_v":-1.86949849,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34694195,"cg_vq_v":-8.34694195,"cg_vu_v":125.369385,"cg_vv_v":142.965088,"cg_vw_v":135.486908,"control_outputs_enabled":1,"dclink_i_a":-17.7595387,"dclink_p_w":-2570.24316,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2442.940674,"values":{"Elec_RPM":-3523.18262,"EncoderCos":16676,"EncoderSin":18625,"GapTicks":49694,"Mech_RPM":-704.636536,"cg_du":53.1495056,"cg_dv":54.8228531,"cg_dw":45.1771469,"cg_id_a":1.61573064,"cg_id_raw_a":7.39863682,"cg_iq_a":-198.958084,"cg_iq_raw_a":-201.438171,"cg_iu_a":1.66974974,"cg_iv_a":170.378922,"cg_iw_a":-172.048676,"cg_sample_age_us":23.9654541,"cg_sample_seq":13580966,"cg_sample_valid":1,"cg_theta_rad":3.86949468,"cg_vd_req_v":-1.63653791,"cg_vd_v":-1.63653791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45656872,"cg_vq_v":-8.45656872,"cg_vu_v":26.3935547,"cg_vv_v":21.9946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.6686001,"dclink_p_w":-2412.35742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2442.978834,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2442.97884,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2442.978845,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2443.292236,"values":{"Elec_RPM":-3507.93726,"EncoderCos":38078,"EncoderSin":12201,"GapTicks":49391,"Mech_RPM":-701.587463,"cg_du":55.098671,"cg_dv":49.913662,"cg_dw":44.901329,"cg_id_a":-15.5637341,"cg_id_raw_a":-16.3308697,"cg_iq_a":-199.626129,"cg_iq_raw_a":-200.14772,"cg_iu_a":140.592377,"cg_iv_a":54.869812,"cg_iw_a":-188.612106,"cg_sample_age_us":24.0090904,"cg_sample_seq":13582616,"cg_sample_valid":1,"cg_theta_rad":4.97961044,"cg_vd_req_v":-1.37261629,"cg_vd_v":-1.37261629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38345909,"cg_vq_v":-8.38345909,"cg_vu_v":46.1887207,"cg_vv_v":50.5876465,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-17.2485008,"dclink_p_w":-2488.6958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2443.624268,"values":{"Elec_RPM":-3491.69189,"EncoderCos":38850,"EncoderSin":12392,"GapTicks":49460,"Mech_RPM":-698.338379,"cg_du":55.0358429,"cg_dv":51.3027039,"cg_dw":44.9641571,"cg_id_a":-4.18191099,"cg_id_raw_a":-6.95946503,"cg_iq_a":-202.353043,"cg_iq_raw_a":-201.24678,"cg_iu_a":103.986092,"cg_iv_a":102.168022,"cg_iw_a":-206.154114,"cg_sample_age_us":23.9763641,"cg_sample_seq":13584366,"cg_sample_valid":1,"cg_theta_rad":5.02083826,"cg_vd_req_v":-1.62881112,"cg_vd_v":-1.62881112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35157204,"cg_vq_v":-8.35157204,"cg_vu_v":1.75957024,"cg_vv_v":3.95903301,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-17.299242,"dclink_p_w":-2503.62695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.6336975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2443.956299,"values":{"Elec_RPM":-3486.13232,"EncoderCos":53470,"EncoderSin":29584,"GapTicks":50040,"Mech_RPM":-697.22644,"cg_du":54.508194,"cg_dv":45.491806,"cg_dw":45.7581787,"cg_id_a":12.7851276,"cg_id_raw_a":11.2083511,"cg_iq_a":-204.033203,"cg_iq_raw_a":-204.007294,"cg_iu_a":183.323853,"cg_iv_a":-16.7842407,"cg_iw_a":-166.539612,"cg_sample_age_us":24.1436367,"cg_sample_seq":13586016,"cg_sample_valid":1,"cg_theta_rad":6.14714384,"cg_vd_req_v":-1.96349573,"cg_vd_v":-1.96349573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3458128,"cg_vq_v":-8.3458128,"cg_vu_v":36.9509773,"cg_vv_v":37.830761,"cg_vw_v":39.1504402,"control_outputs_enabled":1,"dclink_i_a":-16.4058323,"dclink_p_w":-2381.54517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2584,"hz_tim_isr":4997,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2443.971749,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2443.971755,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2443.971761,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2444.307861,"values":{"Elec_RPM":-3492.37769,"EncoderCos":51883,"EncoderSin":41389,"GapTicks":49452,"Mech_RPM":-698.475525,"cg_du":44.9566917,"cg_dv":55.0433083,"cg_dw":52.0170555,"cg_id_a":3.34417963,"cg_id_raw_a":-2.05149412,"cg_iq_a":-196.883026,"cg_iq_raw_a":-195.707672,"cg_iu_a":-194.663086,"cg_iv_a":76.3261719,"cg_iw_a":118.336914,"cg_sample_age_us":23.51091,"cg_sample_seq":13587717,"cg_sample_valid":1,"cg_theta_rad":0.431604505,"cg_vd_req_v":-1.80359364,"cg_vd_v":-1.80359364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45970058,"cg_vq_v":-8.45970058,"cg_vu_v":115.251846,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2469.86987,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2444.639893,"values":{"Elec_RPM":-3496.28857,"EncoderCos":44013,"EncoderSin":50704,"GapTicks":49342,"Mech_RPM":-699.25769,"cg_du":55.1433983,"cg_dv":44.8566017,"cg_dw":49.6482887,"cg_id_a":-13.1105013,"cg_id_raw_a":-16.0251617,"cg_iq_a":-196.940765,"cg_iq_raw_a":-195.131088,"cg_iu_a":195.356796,"cg_iv_a":-129.466309,"cg_iw_a":-50.994278,"cg_sample_age_us":23.8999996,"cg_sample_seq":13589416,"cg_sample_valid":1,"cg_theta_rad":1.01056433,"cg_vd_req_v":-1.4174931,"cg_vd_v":-1.4174931,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48441982,"cg_vq_v":-8.48441982,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8298855,"dclink_p_w":-2435.69946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2444.994794,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2444.9948,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2444.994806,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2444.995361,"values":{"Elec_RPM":-3506.18506,"EncoderCos":33275,"EncoderSin":53982,"GapTicks":49990,"Mech_RPM":-701.237,"cg_du":45.4455986,"cg_dv":54.5544014,"cg_dw":45.8259583,"cg_id_a":13.343708,"cg_id_raw_a":19.7387657,"cg_iq_a":-202.31575,"cg_iq_raw_a":-202.540298,"cg_iu_a":-179.005768,"cg_iv_a":160.955551,"cg_iw_a":18.0502167,"cg_sample_age_us":23.8272724,"cg_sample_seq":13591120,"cg_sample_valid":1,"cg_theta_rad":1.58871901,"cg_vd_req_v":-1.87536049,"cg_vd_v":-1.87536049,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40413189,"cg_vq_v":-8.40413189,"cg_vu_v":38.2706528,"cg_vv_v":56.7461433,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-16.6341686,"dclink_p_w":-2400.05713,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2445.327393,"values":{"Elec_RPM":-3512.92822,"EncoderCos":20841,"EncoderSin":50432,"GapTicks":50039,"Mech_RPM":-702.585632,"cg_du":54.3284416,"cg_dv":45.4908218,"cg_dw":54.5091782,"cg_id_a":13.8919487,"cg_id_raw_a":16.6711159,"cg_iq_a":-200.071381,"cg_iq_raw_a":-199.149643,"cg_iu_a":165.346893,"cg_iv_a":-181.149994,"cg_iw_a":15.8031082,"cg_sample_age_us":24.0781822,"cg_sample_seq":13592816,"cg_sample_valid":1,"cg_theta_rad":2.16433144,"cg_vd_req_v":-1.89795148,"cg_vd_v":-1.89795148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40366364,"cg_vq_v":-8.40366364,"cg_vu_v":15.836132,"cg_vv_v":1.75957024,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.9531136,"dclink_p_w":-2453.53345,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2445.659424,"values":{"Elec_RPM":-3510.53564,"EncoderCos":11698,"EncoderSin":30031,"GapTicks":49467,"Mech_RPM":-702.107117,"cg_du":48.6523781,"cg_dv":44.9706306,"cg_dw":55.0293694,"cg_id_a":-18.7370148,"cg_id_raw_a":-12.3842983,"cg_iq_a":-201.854401,"cg_iq_raw_a":-204.340897,"cg_iu_a":5.94652176,"cg_iv_a":-178.250488,"cg_iw_a":172.30397,"cg_sample_age_us":23.8163643,"cg_sample_seq":13594466,"cg_sample_valid":1,"cg_theta_rad":3.26608253,"cg_vd_req_v":-1.24169695,"cg_vd_v":-1.24169695,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4136095,"cg_vq_v":-8.4136095,"cg_vu_v":24.6339836,"cg_vv_v":1.31967759,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2504.64575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2445.987294,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2445.9873,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2445.987305,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2446.010986,"values":{"Elec_RPM":-3529.99951,"EncoderCos":12911,"EncoderSin":40415,"GapTicks":49827,"Mech_RPM":-705.999878,"cg_du":46.4341011,"cg_dv":54.7025871,"cg_dw":45.2974129,"cg_id_a":15.369112,"cg_id_raw_a":14.7957935,"cg_iq_a":-206.405655,"cg_iq_raw_a":-205.811646,"cg_iu_a":-161.028824,"cg_iv_a":194.154877,"cg_iw_a":-33.1260605,"cg_sample_age_us":23.9654541,"cg_sample_seq":13596267,"cg_sample_valid":1,"cg_theta_rad":2.77586174,"cg_vd_req_v":-1.92088151,"cg_vd_v":-1.92088151,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30745029,"cg_vq_v":-8.30745029,"cg_vu_v":109.973145,"cg_vv_v":113.932175,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.8751888,"dclink_p_w":-2449.6792,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":2446.343018,"values":{"Elec_RPM":-3520.62695,"EncoderCos":26536,"EncoderSin":12432,"GapTicks":49566,"Mech_RPM":-704.125366,"cg_du":45.0605392,"cg_dv":47.3741417,"cg_dw":54.9394608,"cg_id_a":12.182765,"cg_id_raw_a":9.17191601,"cg_iq_a":-199.431137,"cg_iq_raw_a":-196.679871,"cg_iu_a":-53.2034149,"cg_iv_a":-140.665649,"cg_iw_a":193.869064,"cg_sample_age_us":23.9327278,"cg_sample_seq":13597867,"cg_sample_valid":1,"cg_theta_rad":4.42660618,"cg_vd_req_v":-1.92433035,"cg_vd_v":-1.92433035,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39047432,"cg_vq_v":-8.39047432,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5000648,"dclink_p_w":-2380.70801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2446.675049,"values":{"Elec_RPM":-3523.04248,"EncoderCos":17537,"EncoderSin":17646,"GapTicks":49378,"Mech_RPM":-704.608521,"cg_du":50.1261787,"cg_dv":55.1105881,"cg_dw":44.8894119,"cg_id_a":-17.0756454,"cg_id_raw_a":-14.2165613,"cg_iq_a":-197.115036,"cg_iq_raw_a":-194.146988,"cg_iu_a":-46.3895721,"cg_iv_a":190.458023,"cg_iw_a":-144.068451,"cg_sample_age_us":23.9618187,"cg_sample_seq":13599667,"cg_sample_valid":1,"cg_theta_rad":3.93257546,"cg_vd_req_v":-1.28773117,"cg_vd_v":-1.28773117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44373131,"cg_vq_v":-8.44373131,"cg_vu_v":114.811958,"cg_vv_v":143.404984,"cg_vw_v":128.888519,"control_outputs_enabled":1,"dclink_i_a":-17.3119278,"dclink_p_w":-2497.84741,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2446.979016,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2446.979022,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2446.979027,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2447.026611,"values":{"Elec_RPM":-3530.43677,"EncoderCos":48795,"EncoderSin":19141,"GapTicks":49361,"Mech_RPM":-706.087341,"cg_du":44.8741722,"cg_dv":50.8678551,"cg_dw":55.1258278,"cg_id_a":-11.0047264,"cg_id_raw_a":-8.58859253,"cg_iq_a":-198.356415,"cg_iq_raw_a":-199.802231,"cg_iu_a":-148.92337,"cg_iv_a":-39.6903381,"cg_iw_a":188.613708,"cg_sample_age_us":23.8890915,"cg_sample_seq":13601266,"cg_sample_valid":1,"cg_theta_rad":5.59815502,"cg_vd_req_v":-1.52445853,"cg_vd_v":-1.52445853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47070313,"cg_vq_v":-8.47070313,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8480072,"dclink_p_w":-2438.32202,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2447.362549,"values":{"Elec_RPM":-3524.75244,"EncoderCos":40316,"EncoderSin":12911,"GapTicks":50020,"Mech_RPM":-704.9505,"cg_du":54.5270386,"cg_dv":54.2235298,"cg_dw":45.4729614,"cg_id_a":6.73591042,"cg_id_raw_a":6.80994129,"cg_iq_a":-201.992096,"cg_iq_raw_a":-203.973648,"cg_iu_a":26.5692635,"cg_iv_a":160.665588,"cg_iw_a":-187.234848,"cg_sample_age_us":23.9836369,"cg_sample_seq":13603066,"cg_sample_valid":1,"cg_theta_rad":5.09429836,"cg_vd_req_v":-1.81805193,"cg_vd_v":-1.81805193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3984499,"cg_vq_v":-8.3984499,"cg_vu_v":40.4701157,"cg_vv_v":56.3062477,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.1270847,"dclink_p_w":-2478.71143,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2447.69458,"values":{"Elec_RPM":-3535.97632,"EncoderCos":53676,"EncoderSin":30852,"GapTicks":49444,"Mech_RPM":-707.195251,"cg_du":55.0506248,"cg_dv":48.3905602,"cg_dw":44.9493752,"cg_id_a":-14.0653706,"cg_id_raw_a":-10.6066723,"cg_iq_a":-196.641159,"cg_iq_raw_a":-196.245941,"cg_iu_a":161.54129,"cg_iv_a":13.3344116,"cg_iw_a":-174.911942,"cg_sample_age_us":24.0781822,"cg_sample_seq":13604717,"cg_sample_valid":1,"cg_theta_rad":6.20010757,"cg_vd_req_v":-1.40844107,"cg_vd_v":-1.40844107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46557617,"cg_vq_v":-8.46557617,"cg_vu_v":109.533249,"cg_vv_v":109.973145,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-16.799078,"dclink_p_w":-2431.24072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2448.003488,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2448.003494,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2448.0035,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2448.050049,"values":{"Elec_RPM":-3533.64014,"EncoderCos":51384,"EncoderSin":42448,"GapTicks":49969,"Mech_RPM":-706.728027,"cg_du":45.4265633,"cg_dv":54.5734367,"cg_dw":54.1222229,"cg_id_a":13.5552235,"cg_id_raw_a":16.1117992,"cg_iq_a":-202.094925,"cg_iq_raw_a":-202.363434,"cg_iu_a":-181.10791,"cg_iv_a":7.28167725,"cg_iw_a":167.62854,"cg_sample_age_us":23.5290909,"cg_sample_seq":13606418,"cg_sample_valid":1,"cg_theta_rad":0.50369221,"cg_vd_req_v":-1.9808861,"cg_vd_v":-1.9808861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38495827,"cg_vq_v":-8.38495827,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.2771664,"dclink_p_w":-2355.70728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2448.56958,"values":{"Elec_RPM":-3530.396,"EncoderCos":48616,"EncoderSin":18888,"GapTicks":49474,"Mech_RPM":-706.079224,"cg_du":44.9771919,"cg_dv":51.5418358,"cg_dw":55.0228081,"cg_id_a":-9.70417404,"cg_id_raw_a":-8.23146534,"cg_iq_a":-202.089996,"cg_iq_raw_a":-200.93132,"cg_iu_a":-159.325348,"cg_iv_a":-25.6277466,"cg_iw_a":184.953094,"cg_sample_age_us":23.9181824,"cg_sample_seq":13608867,"cg_sample_valid":1,"cg_theta_rad":5.58326817,"cg_vd_req_v":-1.54603779,"cg_vd_v":-1.54603779,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35688591,"cg_vq_v":-8.35688591,"cg_vu_v":113.492287,"cg_vv_v":140.765625,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3427353,"dclink_p_w":-2502.29248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2448.86667,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2448.866682,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2448.866685,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2448.995026,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2448.995031,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2448.995036,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2449.03833,"values":{"Elec_RPM":-3534.46387,"EncoderCos":24935,"EncoderSin":12969,"GapTicks":49391,"Mech_RPM":-706.892761,"cg_du":44.9017982,"cg_dv":50.3268089,"cg_dw":55.0982018,"cg_id_a":-14.5895901,"cg_id_raw_a":-13.4361868,"cg_iq_a":-198.636002,"cg_iq_raw_a":-200.33168,"cg_iu_a":-98.0732803,"cg_iv_a":-97.5354843,"cg_iw_a":195.608765,"cg_sample_age_us":23.8345451,"cg_sample_seq":13611320,"cg_sample_valid":1,"cg_theta_rad":4.38669491,"cg_vd_req_v":-1.35234654,"cg_vd_v":-1.35234654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41768169,"cg_vq_v":-8.41768169,"cg_vu_v":19.795166,"cg_vv_v":7.91806602,"cg_vw_v":16.2760258,"control_outputs_enabled":1,"dclink_i_a":-17.0256004,"dclink_p_w":-2456.53467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2449.374268,"values":{"Elec_RPM":-3528.78052,"EncoderCos":37235,"EncoderSin":11968,"GapTicks":49482,"Mech_RPM":-705.756104,"cg_du":55.0162888,"cg_dv":48.066597,"cg_dw":44.9837112,"cg_id_a":-12.3796692,"cg_id_raw_a":-4.67600632,"cg_iq_a":-197.920319,"cg_iq_raw_a":-200.502365,"cg_iu_a":160.055298,"cg_iv_a":17.8286438,"cg_iw_a":-177.883942,"cg_sample_age_us":24.0018177,"cg_sample_seq":13613018,"cg_sample_valid":1,"cg_theta_rad":4.95069027,"cg_vd_req_v":-1.39894366,"cg_vd_v":-1.39894366,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44677925,"cg_vq_v":-8.44677925,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.3880386,"dclink_p_w":-2508.82886,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5600281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2449.702393,"values":{"Elec_RPM":-3521.57983,"EncoderCos":27344,"EncoderSin":12213,"GapTicks":50067,"Mech_RPM":-704.315979,"cg_du":45.5158653,"cg_dv":45.8029785,"cg_dw":54.4841347,"cg_id_a":12.4388876,"cg_id_raw_a":15.5600309,"cg_iq_a":-206.22789,"cg_iq_raw_a":-205.345047,"cg_iu_a":-19.2429428,"cg_iv_a":-169.15329,"cg_iw_a":188.39624,"cg_sample_age_us":23.954546,"cg_sample_seq":13614816,"cg_sample_valid":1,"cg_theta_rad":4.46719122,"cg_vd_req_v":-1.90575123,"cg_vd_v":-1.90575123,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27523518,"cg_vq_v":-8.27523518,"cg_vu_v":1.31967759,"cg_vv_v":2.19946289,"cg_vw_v":19.3552723,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2449.987291,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2449.987298,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2449.987303,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2450.057861,"values":{"Elec_RPM":-3516.55762,"EncoderCos":53410,"EncoderSin":29020,"GapTicks":49685,"Mech_RPM":-703.311523,"cg_du":54.8309746,"cg_dv":45.1690254,"cg_dw":46.9441185,"cg_id_a":18.1168213,"cg_id_raw_a":16.3469734,"cg_iq_a":-202.419235,"cg_iq_raw_a":-200.759781,"cg_iu_a":190.572601,"cg_iv_a":-37.3707275,"cg_iw_a":-153.201874,"cg_sample_age_us":24.136364,"cg_sample_seq":13616417,"cg_sample_valid":1,"cg_theta_rad":6.11901808,"cg_vd_req_v":-2.07486153,"cg_vd_v":-2.07486153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34055996,"cg_vq_v":-8.34055996,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-17.7812843,"dclink_p_w":-2573.39014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2450.389893,"values":{"Elec_RPM":-3525.07593,"EncoderCos":49113,"EncoderSin":19561,"GapTicks":49359,"Mech_RPM":-705.015198,"cg_du":44.8721161,"cg_dv":49.7891006,"cg_dw":55.1278839,"cg_id_a":-10.1359262,"cg_id_raw_a":-12.7887831,"cg_iq_a":-197.254639,"cg_iq_raw_a":-195.995422,"cg_iu_a":-126.959618,"cg_iv_a":-66.1120834,"cg_iw_a":193.071701,"cg_sample_age_us":23.9218178,"cg_sample_seq":13618217,"cg_sample_valid":1,"cg_theta_rad":5.61811256,"cg_vd_req_v":-1.55407333,"cg_vd_v":-1.55407333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45625019,"cg_vq_v":-8.45625019,"cg_vu_v":101.175293,"cg_vv_v":97.2162552,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2445.66553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5636292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2450.721924,"values":{"Elec_RPM":-3529.08301,"EncoderCos":44548,"EncoderSin":50342,"GapTicks":49338,"Mech_RPM":-705.816589,"cg_du":55.1465454,"cg_dv":44.8534546,"cg_dw":50.9387932,"cg_id_a":-14.8539639,"cg_id_raw_a":-14.5516262,"cg_iq_a":-195.761658,"cg_iq_raw_a":-195.802368,"cg_iu_a":181.475403,"cg_iv_a":-154.764496,"cg_iw_a":-26.7108994,"cg_sample_age_us":23.954546,"cg_sample_seq":13619817,"cg_sample_valid":1,"cg_theta_rad":0.981670201,"cg_vd_req_v":-1.35473371,"cg_vd_v":-1.35473371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.54137516,"cg_vq_v":-8.54137516,"cg_vu_v":105.574219,"cg_vv_v":74.3418427,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.3985825,"dclink_p_w":-2373.2793,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2451.010543,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2451.010548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2451.010555,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2451.077393,"values":{"Elec_RPM":-3529.10596,"EncoderCos":51280,"EncoderSin":42710,"GapTicks":50025,"Mech_RPM":-705.821167,"cg_du":45.4780731,"cg_dv":54.2386284,"cg_dw":54.5219269,"cg_id_a":11.226943,"cg_id_raw_a":12.5860157,"cg_iq_a":-202.924438,"cg_iq_raw_a":-202.826019,"cg_iu_a":-182.775116,"cg_iv_a":18.8434601,"cg_iw_a":164.946487,"cg_sample_age_us":23.5363636,"cg_sample_seq":13621616,"cg_sample_valid":1,"cg_theta_rad":0.494915903,"cg_vd_req_v":-1.93260479,"cg_vd_v":-1.93260479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37221909,"cg_vq_v":-8.37221909,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2427.77271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2451.405518,"values":{"Elec_RPM":-3524.66528,"EncoderCos":21328,"EncoderSin":50721,"GapTicks":49706,"Mech_RPM":-704.933044,"cg_du":53.236721,"cg_dv":45.1879845,"cg_dw":54.8120155,"cg_id_a":13.0236883,"cg_id_raw_a":7.73943567,"cg_iq_a":-200.774063,"cg_iq_raw_a":-200.011948,"cg_iu_a":150.92186,"cg_iv_a":-191.878189,"cg_iw_a":40.9563293,"cg_sample_age_us":23.6454544,"cg_sample_seq":13623217,"cg_sample_valid":1,"cg_theta_rad":2.13307667,"cg_vd_req_v":-1.91113448,"cg_vd_v":-1.91113448,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38537979,"cg_vq_v":-8.38537979,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.0419121,"dclink_p_w":-2466.38477,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2451.737549,"values":{"Elec_RPM":-3511.85205,"EncoderCos":13397,"EncoderSin":41575,"GapTicks":49412,"Mech_RPM":-702.370422,"cg_du":48.6307487,"cg_dv":55.0795403,"cg_dw":44.9204597,"cg_id_a":-0.874161422,"cg_id_raw_a":-4.18520975,"cg_iq_a":-200.827087,"cg_iq_raw_a":-200.173691,"cg_iu_a":-118.840996,"cg_iv_a":201.874817,"cg_iw_a":-83.0338287,"cg_sample_age_us":23.9909096,"cg_sample_seq":13624917,"cg_sample_valid":1,"cg_theta_rad":2.72683311,"cg_vd_req_v":-1.61512482,"cg_vd_v":-1.61512482,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41101265,"cg_vq_v":-8.41101265,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-17.1814499,"dclink_p_w":-2479.02148,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2451.971677,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2451.971683,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2451.971688,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2452.093018,"values":{"Elec_RPM":-3504.95947,"EncoderCos":11708,"EncoderSin":29679,"GapTicks":49407,"Mech_RPM":-700.991882,"cg_du":49.4438095,"cg_dv":44.9161148,"cg_dw":55.0838852,"cg_id_a":-21.7667198,"cg_id_raw_a":-19.9497719,"cg_iq_a":-198.906418,"cg_iq_raw_a":-200.486526,"cg_iu_a":29.3237953,"cg_iv_a":-184.158234,"cg_iw_a":154.834442,"cg_sample_age_us":23.8309097,"cg_sample_seq":13626617,"cg_sample_valid":1,"cg_theta_rad":3.2917223,"cg_vd_req_v":-1.183038,"cg_vd_v":-1.183038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45631599,"cg_vq_v":-8.45631599,"cg_vu_v":103.374756,"cg_vv_v":73.462059,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.5091267,"dclink_p_w":-2396.54004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2452.425049,"values":{"Elec_RPM":-3510.10474,"EncoderCos":16881,"EncoderSin":18368,"GapTicks":49558,"Mech_RPM":-702.020935,"cg_du":52.3004646,"cg_dv":54.9472618,"cg_dw":45.0527382,"cg_id_a":-8.00192261,"cg_id_raw_a":-3.25575614,"cg_iq_a":-197.819275,"cg_iq_raw_a":-199.978622,"cg_iu_a":-3.51311827,"cg_iv_a":172.807281,"cg_iw_a":-169.294159,"cg_sample_age_us":23.8709087,"cg_sample_seq":13628316,"cg_sample_valid":1,"cg_theta_rad":3.88618588,"cg_vd_req_v":-1.45241678,"cg_vd_v":-1.45241678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43619251,"cg_vq_v":-8.43619251,"cg_vu_v":7.03828096,"cg_vv_v":35.6312981,"cg_vw_v":20.6749516,"control_outputs_enabled":1,"dclink_i_a":-16.2010536,"dclink_p_w":-2344.69189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2452.776611,"values":{"Elec_RPM":-3516.41992,"EncoderCos":26321,"EncoderSin":12544,"GapTicks":49474,"Mech_RPM":-703.283997,"cg_du":44.9766464,"cg_dv":47.7378464,"cg_dw":55.0233536,"cg_id_a":8.12456417,"cg_id_raw_a":1.2257154,"cg_iq_a":-198.004303,"cg_iq_raw_a":-195.912827,"cg_iu_a":-33.0155983,"cg_iv_a":-156.576691,"cg_iw_a":189.592285,"cg_sample_age_us":23.8345451,"cg_sample_seq":13630020,"cg_sample_valid":1,"cg_theta_rad":4.45061302,"cg_vd_req_v":-1.86114693,"cg_vd_v":-1.86114693,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44478416,"cg_vq_v":-8.44478416,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":12.7568836,"control_outputs_enabled":1,"dclink_i_a":-17.6308727,"dclink_p_w":-2543.86621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2591,"hz_tim_isr":4997,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.556427,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2452.963608,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2452.963614,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2452.96362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2453.108643,"values":{"Elec_RPM":-3515.73706,"EncoderCos":39167,"EncoderSin":12517,"GapTicks":49505,"Mech_RPM":-703.1474,"cg_du":54.9952126,"cg_dv":51.884388,"cg_dw":45.0047874,"cg_id_a":2.29269314,"cg_id_raw_a":-0.984384239,"cg_iq_a":-202.888672,"cg_iq_raw_a":-204.671387,"cg_iu_a":83.109642,"cg_iv_a":119.0214,"cg_iw_a":-202.131042,"cg_sample_age_us":23.9836369,"cg_sample_seq":13631716,"cg_sample_valid":1,"cg_theta_rad":5.03497696,"cg_vd_req_v":-1.74775147,"cg_vd_v":-1.74775147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36269379,"cg_vq_v":-8.36269379,"cg_vu_v":29.912693,"cg_vv_v":12.7568836,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.9096203,"dclink_p_w":-2447.23901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5672302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2453.440674,"values":{"Elec_RPM":-3508.00781,"EncoderCos":40011,"EncoderSin":12797,"GapTicks":49740,"Mech_RPM":-701.601563,"cg_du":54.6909904,"cg_dv":53.5000992,"cg_dw":45.2188568,"cg_id_a":9.87783813,"cg_id_raw_a":8.50517845,"cg_iq_a":-204.25882,"cg_iq_raw_a":-206.147339,"cg_iu_a":49.0041962,"cg_iv_a":146.74794,"cg_iw_a":-195.752136,"cg_sample_age_us":23.863636,"cg_sample_seq":13633466,"cg_sample_valid":1,"cg_theta_rad":5.0684514,"cg_vd_req_v":-1.89721489,"cg_vd_v":-1.89721489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3222084,"cg_vq_v":-8.3222084,"cg_vu_v":26.8334465,"cg_vv_v":13.1967773,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2453.792236,"values":{"Elec_RPM":-3515.28784,"EncoderCos":49654,"EncoderSin":20225,"GapTicks":49409,"Mech_RPM":-703.057556,"cg_du":44.9180946,"cg_dv":48.3238831,"cg_dw":55.0819054,"cg_id_a":6.06617975,"cg_id_raw_a":-0.0416878052,"cg_iq_a":-197.15918,"cg_iq_raw_a":-195.66774,"cg_iu_a":-77.7042465,"cg_iv_a":-120.65905,"cg_iw_a":198.363297,"cg_sample_age_us":23.9181824,"cg_sample_seq":13635166,"cg_sample_valid":1,"cg_theta_rad":5.66176748,"cg_vd_req_v":-1.89023733,"cg_vd_v":-1.89023733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43598175,"cg_vq_v":-8.43598175,"cg_vu_v":36.0711899,"cg_vv_v":34.7515144,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.1956177,"dclink_p_w":-2336.78076,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2453.955477,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2453.955483,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2453.955488,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2454.128174,"values":{"Elec_RPM":-3520.91846,"EncoderCos":53686,"EncoderSin":31243,"GapTicks":49339,"Mech_RPM":-704.183716,"cg_du":55.1463432,"cg_dv":49.2117271,"cg_dw":44.8536568,"cg_id_a":-15.3270073,"cg_id_raw_a":-15.3439713,"cg_iq_a":-196.277924,"cg_iq_raw_a":-194.918579,"cg_iu_a":150.595657,"cg_iv_a":32.2536774,"cg_iw_a":-182.849335,"cg_sample_age_us":24.1181812,"cg_sample_seq":13636867,"cg_sample_valid":1,"cg_theta_rad":6.22301197,"cg_vd_req_v":-1.40268302,"cg_vd_v":-1.40268302,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49250507,"cg_vq_v":-8.49250507,"cg_vu_v":142.965088,"cg_vv_v":142.085297,"cg_vw_v":133.287445,"control_outputs_enabled":1,"dclink_i_a":-16.4493237,"dclink_p_w":-2380.6228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5402832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2454.479736,"values":{"Elec_RPM":-3522.35303,"EncoderCos":51284,"EncoderSin":42756,"GapTicks":49992,"Mech_RPM":-704.470581,"cg_du":45.4479446,"cg_dv":54.1964455,"cg_dw":54.5520554,"cg_id_a":12.8660593,"cg_id_raw_a":16.131567,"cg_iq_a":-201.99733,"cg_iq_raw_a":-201.274643,"cg_iu_a":-162.333588,"cg_iv_a":-19.4662781,"cg_iw_a":181.799866,"cg_sample_age_us":23.5618191,"cg_sample_seq":13638569,"cg_sample_valid":1,"cg_theta_rad":0.545618773,"cg_vd_req_v":-1.95795679,"cg_vd_v":-1.95795679,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39212418,"cg_vq_v":-8.39212418,"cg_vu_v":125.369385,"cg_vv_v":144.724655,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.5344963,"dclink_p_w":-2392.94922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2454.811768,"values":{"Elec_RPM":-3517.84668,"EncoderCos":42184,"EncoderSin":51688,"GapTicks":49939,"Mech_RPM":-703.569336,"cg_du":54.6001396,"cg_dv":45.3998604,"cg_dw":46.0964775,"cg_id_a":18.2442532,"cg_id_raw_a":21.3037643,"cg_iq_a":-203.91925,"cg_iq_raw_a":-204.358032,"cg_iu_a":187.093201,"cg_iv_a":-20.1911316,"cg_iw_a":-166.902069,"cg_sample_age_us":24.0090904,"cg_sample_seq":13640266,"cg_sample_valid":1,"cg_theta_rad":1.10660875,"cg_vd_req_v":-2.00897956,"cg_vd_v":-2.00897956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32139587,"cg_vq_v":-8.32139587,"cg_vu_v":26.3935547,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.112587,"dclink_p_w":-2469.08545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2454.979133,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2454.979139,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2454.979145,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2455.143799,"values":{"Elec_RPM":-3525.41211,"EncoderCos":30634,"EncoderSin":53833,"GapTicks":49392,"Mech_RPM":-705.082397,"cg_du":44.9026756,"cg_dv":55.0973244,"cg_dw":51.4845009,"cg_id_a":-0.54993391,"cg_id_raw_a":-3.05365872,"cg_iq_a":-198.14447,"cg_iq_raw_a":-197.288559,"cg_iu_a":-197.453873,"cg_iv_a":95.4991608,"cg_iw_a":101.954712,"cg_sample_age_us":23.863636,"cg_sample_seq":13641967,"cg_sample_valid":1,"cg_theta_rad":1.67220461,"cg_vd_req_v":-1.6190362,"cg_vd_v":-1.6190362,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45808029,"cg_vq_v":-8.45808029,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4695873,"dclink_p_w":-2520.59521,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2455.495361,"values":{"Elec_RPM":-3525.52515,"EncoderCos":19462,"EncoderSin":49400,"GapTicks":49328,"Mech_RPM":-705.105042,"cg_du":55.1558571,"cg_dv":44.8441429,"cg_dw":50.5634499,"cg_id_a":-18.226141,"cg_id_raw_a":-18.2175369,"cg_iq_a":-196.059265,"cg_iq_raw_a":-196.458145,"cg_iu_a":184.084961,"cg_iv_a":-150.63269,"cg_iw_a":-33.4522705,"cg_sample_age_us":23.9981823,"cg_sample_seq":13643667,"cg_sample_valid":1,"cg_theta_rad":2.24842143,"cg_vd_req_v":-1.27808058,"cg_vd_v":-1.27808058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53814507,"cg_vq_v":-8.53814507,"cg_vu_v":141.205521,"cg_vv_v":121.850235,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-17.3717308,"dclink_p_w":-2514.11768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2455.831299,"values":{"Elec_RPM":-3515.61865,"EncoderCos":11989,"EncoderSin":28173,"GapTicks":49481,"Mech_RPM":-703.123718,"cg_du":52.0861855,"cg_dv":44.9834366,"cg_dw":55.0165634,"cg_id_a":3.51982951,"cg_id_raw_a":-0.357631475,"cg_iq_a":-198.836212,"cg_iq_raw_a":-198.072769,"cg_iu_a":120.078354,"cg_iv_a":-197.495972,"cg_iw_a":77.4176254,"cg_sample_age_us":23.6709099,"cg_sample_seq":13645317,"cg_sample_valid":1,"cg_theta_rad":3.36342478,"cg_vd_req_v":-1.72311032,"cg_vd_v":-1.72311032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42091656,"cg_vq_v":-8.42091656,"cg_vu_v":143.404984,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.2195053,"dclink_p_w":-2492.08691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2455.971252,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2455.971257,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2455.971263,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2456.16333,"values":{"Elec_RPM":-3513.89893,"EncoderCos":17836,"EncoderSin":17371,"GapTicks":49369,"Mech_RPM":-702.779785,"cg_du":49.4355316,"cg_dv":55.1185989,"cg_dw":44.8814011,"cg_id_a":-11.0121784,"cg_id_raw_a":-15.371645,"cg_iq_a":-199.825592,"cg_iq_raw_a":-200.871155,"cg_iu_a":-72.7750854,"cg_iv_a":197.743027,"cg_iw_a":-124.967941,"cg_sample_age_us":23.9618187,"cg_sample_seq":13647016,"cg_sample_valid":1,"cg_theta_rad":3.95011425,"cg_vd_req_v":-1.43867767,"cg_vd_v":-1.43867767,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42316628,"cg_vq_v":-8.42316628,"cg_vu_v":1.31967759,"cg_vv_v":3.95903301,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.3064919,"dclink_p_w":-2504.67603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2456.514893,"values":{"Elec_RPM":-3510.17944,"EncoderCos":28429,"EncoderSin":11947,"GapTicks":49519,"Mech_RPM":-702.035889,"cg_du":48.0167618,"cg_dv":45.0181503,"cg_dw":54.9818497,"cg_id_a":-11.7682209,"cg_id_raw_a":-3.16781092,"cg_iq_a":-200.603851,"cg_iq_raw_a":-201.137161,"cg_iu_a":7.14256859,"cg_iv_a":-176.29332,"cg_iw_a":169.150757,"cg_sample_age_us":24.045454,"cg_sample_seq":13648717,"cg_sample_valid":1,"cg_theta_rad":4.52298594,"cg_vd_req_v":-1.41094279,"cg_vd_v":-1.41094279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4250927,"cg_vq_v":-8.4250927,"cg_vu_v":106.893898,"cg_vv_v":98.9758301,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-17.4895229,"dclink_p_w":-2531.16528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2456.846924,"values":{"Elec_RPM":-3512.89282,"EncoderCos":40680,"EncoderSin":13035,"GapTicks":49959,"Mech_RPM":-702.578552,"cg_du":53.9399185,"cg_dv":54.5821686,"cg_dw":45.4178314,"cg_id_a":5.99607468,"cg_id_raw_a":6.03337288,"cg_iq_a":-201.582932,"cg_iq_raw_a":-203.87262,"cg_iu_a":12.796607,"cg_iv_a":169.219147,"cg_iw_a":-182.015747,"cg_sample_age_us":23.9509087,"cg_sample_seq":13650416,"cg_sample_valid":1,"cg_theta_rad":5.11276865,"cg_vd_req_v":-1.79770672,"cg_vd_v":-1.79770672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35791492,"cg_vq_v":-8.35791492,"cg_vu_v":128.888519,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2496.80786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2611,"hz_tim_isr":4999,"hz_vsense":2611,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2456.994528,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2456.994533,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2456.994537,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2457.178955,"values":{"Elec_RPM":-3516.36621,"EncoderCos":49881,"EncoderSin":20524,"GapTicks":49496,"Mech_RPM":-703.273254,"cg_du":44.9964638,"cg_dv":47.699791,"cg_dw":55.0035362,"cg_id_a":13.4482174,"cg_id_raw_a":9.05809593,"cg_iq_a":-199.964661,"cg_iq_raw_a":-197.962708,"cg_iu_a":-56.7190666,"cg_iv_a":-139.288376,"cg_iw_a":196.007446,"cg_sample_age_us":23.8890915,"cg_sample_seq":13652117,"cg_sample_valid":1,"cg_theta_rad":5.67938375,"cg_vd_req_v":-2.03888798,"cg_vd_v":-2.03888798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40740967,"cg_vq_v":-8.40740967,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.7936401,"dclink_p_w":-2423.06641,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2457.530518,"values":{"Elec_RPM":-3521.60132,"EncoderCos":53694,"EncoderSin":31901,"GapTicks":49330,"Mech_RPM":-704.320251,"cg_du":55.1536636,"cg_dv":50.4648743,"cg_dw":44.8463364,"cg_id_a":-10.1667585,"cg_id_raw_a":-14.8086109,"cg_iq_a":-198.861359,"cg_iq_raw_a":-197.216125,"cg_iu_a":124.246399,"cg_iv_a":70.9983215,"cg_iw_a":-195.24472,"cg_sample_age_us":24.0309086,"cg_sample_seq":13653817,"cg_sample_valid":1,"cg_theta_rad":6.25331116,"cg_vd_req_v":-1.52835357,"cg_vd_v":-1.52835357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4610033,"cg_vq_v":-8.4610033,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-17.1578922,"dclink_p_w":-2483.16992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2457.862549,"values":{"Elec_RPM":-3512.60718,"EncoderCos":50669,"EncoderSin":43772,"GapTicks":49442,"Mech_RPM":-702.521423,"cg_du":44.9479561,"cg_dv":51.4308281,"cg_dw":55.0520439,"cg_id_a":-6.81830502,"cg_id_raw_a":-7.44592476,"cg_iq_a":-199.658752,"cg_iq_raw_a":-199.78038,"cg_iu_a":-153.562592,"cg_iv_a":-31.1730347,"cg_iw_a":183.865753,"cg_sample_age_us":23.5036373,"cg_sample_seq":13655517,"cg_sample_valid":1,"cg_theta_rad":0.55407548,"cg_vd_req_v":-1.54773223,"cg_vd_v":-1.54773223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41360474,"cg_vq_v":-8.41360474,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.4460297,"dclink_p_w":-2532.54517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2457.987549,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2457.987555,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2457.98756,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2458.284424,"values":{"Elec_RPM":-3526.45117,"EncoderCos":14075,"EncoderSin":22517,"GapTicks":49896,"Mech_RPM":-705.290222,"cg_du":54.6397476,"cg_dv":46.2557449,"cg_dw":45.3602524,"cg_id_a":8.01746655,"cg_id_raw_a":11.6081018,"cg_iq_a":-200.883209,"cg_iq_raw_a":-200.617172,"cg_iu_a":175.603912,"cg_iv_a":-11.0214539,"cg_iw_a":-169.656586,"cg_sample_age_us":24.0709095,"cg_sample_seq":13657567,"cg_sample_valid":1,"cg_theta_rad":3.64588809,"cg_vd_req_v":-1.76775777,"cg_vd_v":-1.76775777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36927414,"cg_vq_v":-8.36927414,"cg_vu_v":141.205521,"cg_vv_v":122.730026,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-16.1575623,"dclink_p_w":-2331.29004,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2458.803955,"values":{"Elec_RPM":-3539.50391,"EncoderCos":36699,"EncoderSin":53461,"GapTicks":49534,"Mech_RPM":-707.900757,"cg_du":52.3554039,"cg_dv":54.9687996,"cg_dw":45.0312004,"cg_id_a":-8.29469299,"cg_id_raw_a":-6.67022228,"cg_iq_a":-197.467651,"cg_iq_raw_a":-199.263412,"cg_iu_a":-8.11608505,"cg_iv_a":174.691956,"cg_iw_a":-166.575867,"cg_sample_age_us":23.8090916,"cg_sample_seq":13660117,"cg_sample_valid":1,"cg_theta_rad":1.3741039,"cg_vd_req_v":-1.49890876,"cg_vd_v":-1.49890876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47741699,"cg_vq_v":-8.47741699,"cg_vu_v":106.014107,"cg_vv_v":104.254532,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.5272484,"dclink_p_w":-2391.90039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2458.883384,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2458.883396,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2458.883399,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2458.979449,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2458.979454,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2458.97946,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2459.190674,"values":{"Elec_RPM":-3531.63843,"EncoderCos":27593,"EncoderSin":12139,"GapTicks":50016,"Mech_RPM":-706.327698,"cg_du":45.901577,"cg_dv":45.4698715,"cg_dw":54.5301285,"cg_id_a":9.46709347,"cg_id_raw_a":13.4357777,"cg_iq_a":-204.888504,"cg_iq_raw_a":-206.061127,"cg_iu_a":-10.6893978,"cg_iv_a":-171.907837,"cg_iw_a":185.532974,"cg_sample_age_us":23.9363632,"cg_sample_seq":13662166,"cg_sample_valid":1,"cg_theta_rad":4.47726965,"cg_vd_req_v":-1.8404845,"cg_vd_v":-1.8404845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34031963,"cg_vq_v":-8.34031963,"cg_vu_v":4.83881807,"cg_vv_v":1.31967759,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.2503128,"dclink_p_w":-2496.54565,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2459.542236,"values":{"Elec_RPM":-3514.55908,"EncoderCos":48474,"EncoderSin":18727,"GapTicks":49550,"Mech_RPM":-702.911804,"cg_du":45.046257,"cg_dv":52.0582237,"cg_dw":54.953743,"cg_id_a":-7.62546921,"cg_id_raw_a":-7.54541731,"cg_iq_a":-201.302948,"cg_iq_raw_a":-201.212585,"cg_iu_a":-147.074951,"cg_iv_a":-43.822113,"cg_iw_a":190.897064,"cg_sample_age_us":26.7836361,"cg_sample_seq":13663819,"cg_sample_valid":1,"cg_theta_rad":5.6041832,"cg_vd_req_v":-1.57654941,"cg_vd_v":-1.57654941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36597729,"cg_vq_v":-8.36597729,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2459.874268,"values":{"Elec_RPM":-3509.09375,"EncoderCos":49261,"EncoderSin":19698,"GapTicks":49343,"Mech_RPM":-701.818726,"cg_du":44.8578224,"cg_dv":49.4401093,"cg_dw":55.1421776,"cg_id_a":-6.93541288,"cg_id_raw_a":-9.37011242,"cg_iq_a":-198.545807,"cg_iq_raw_a":-196.653366,"cg_iu_a":-116.158951,"cg_iv_a":-79.8122559,"cg_iw_a":195.971207,"cg_sample_age_us":23.9581814,"cg_sample_seq":13665567,"cg_sample_valid":1,"cg_theta_rad":5.63081694,"cg_vd_req_v":-1.62469316,"cg_vd_v":-1.62469316,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42891693,"cg_vq_v":-8.42891693,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.9027023,"dclink_p_w":-2583.08716,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2606,"hz_tim_isr":4999,"hz_vsense":2606,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2459.970572,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2459.970578,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2459.970584,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2460.210205,"values":{"Elec_RPM":-3506.32861,"EncoderCos":53658,"EncoderSin":31084,"GapTicks":49363,"Mech_RPM":-701.265747,"cg_du":55.1242867,"cg_dv":48.8884811,"cg_dw":44.8757133,"cg_id_a":-15.1118755,"cg_id_raw_a":-13.0860834,"cg_iq_a":-196.1754,"cg_iq_raw_a":-198.0914,"cg_iu_a":161.396332,"cg_iv_a":15.1828308,"cg_iw_a":-176.579163,"cg_sample_age_us":23.9981823,"cg_sample_seq":13667266,"cg_sample_valid":1,"cg_theta_rad":6.20745611,"cg_vd_req_v":-1.39729321,"cg_vd_v":-1.39729321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51640797,"cg_vq_v":-8.51640797,"cg_vu_v":25.0738773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.7196712,"dclink_p_w":-2572.26807,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2460.561768,"values":{"Elec_RPM":-3508.3728,"EncoderCos":51186,"EncoderSin":42782,"GapTicks":49975,"Mech_RPM":-701.674561,"cg_du":45.4327087,"cg_dv":53.9889984,"cg_dw":54.5672913,"cg_id_a":10.5366955,"cg_id_raw_a":13.9725771,"cg_iq_a":-202.738281,"cg_iq_raw_a":-200.395447,"cg_iu_a":-178.13591,"cg_iv_a":6.73802185,"cg_iw_a":171.397888,"cg_sample_age_us":23.5581818,"cg_sample_seq":13668967,"cg_sample_valid":1,"cg_theta_rad":0.503874123,"cg_vd_req_v":-1.90391254,"cg_vd_v":-1.90391254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35994339,"cg_vq_v":-8.35994339,"cg_vu_v":127.568848,"cg_vv_v":130.648087,"cg_vw_v":122.730026,"control_outputs_enabled":1,"dclink_i_a":-16.9368038,"dclink_p_w":-2451.1731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2460.893799,"values":{"Elec_RPM":-3509.47363,"EncoderCos":42789,"EncoderSin":51332,"GapTicks":49584,"Mech_RPM":-701.894714,"cg_du":54.9228172,"cg_dv":45.0771828,"cg_dw":47.4252014,"cg_id_a":15.8220463,"cg_id_raw_a":12.2557297,"cg_iq_a":-201.683594,"cg_iq_raw_a":-199.764557,"cg_iu_a":195.646759,"cg_iv_a":-50.5997314,"cg_iw_a":-145.047028,"cg_sample_age_us":23.9581814,"cg_sample_seq":13670667,"cg_sample_valid":1,"cg_theta_rad":1.0781647,"cg_vd_req_v":-1.99482381,"cg_vd_v":-1.99482381,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35887337,"cg_vq_v":-8.35887337,"cg_vu_v":106.014107,"cg_vv_v":87.9785156,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.0020428,"dclink_p_w":-2453.13574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2460.994639,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2460.994645,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2460.99465,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2461.22583,"values":{"Elec_RPM":-3516.77783,"EncoderCos":31005,"EncoderSin":53890,"GapTicks":49329,"Mech_RPM":-703.355591,"cg_du":44.8453751,"cg_dv":55.1546249,"cg_dw":50.7823601,"cg_id_a":-3.98581553,"cg_id_raw_a":-6.87504196,"cg_iq_a":-197.769073,"cg_iq_raw_a":-196.844757,"cg_iu_a":-197.163925,"cg_iv_a":114.998352,"cg_iw_a":82.1655731,"cg_sample_age_us":23.7836361,"cg_sample_seq":13672367,"cg_sample_valid":1,"cg_theta_rad":1.65386319,"cg_vd_req_v":-1.5454818,"cg_vd_v":-1.5454818,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48114204,"cg_vq_v":-8.48114204,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-17.1415825,"dclink_p_w":-2480.80957,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2461.577393,"values":{"Elec_RPM":-3522.15283,"EncoderCos":19770,"EncoderSin":49570,"GapTicks":49409,"Mech_RPM":-704.430542,"cg_du":55.0818939,"cg_dv":44.9181061,"cg_dw":51.3336945,"cg_id_a":-14.9572039,"cg_id_raw_a":-11.0981016,"cg_iq_a":-197.238312,"cg_iq_raw_a":-198.179749,"cg_iu_a":178.467163,"cg_iv_a":-162.01326,"cg_iw_a":-16.4539032,"cg_sample_age_us":23.8963642,"cg_sample_seq":13674067,"cg_sample_valid":1,"cg_theta_rad":2.23026657,"cg_vd_req_v":-1.31892276,"cg_vd_v":-1.31892276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48760796,"cg_vq_v":-8.48760796,"cg_vu_v":18.0355949,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.9023724,"dclink_p_w":-2453.62524,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2461.909424,"values":{"Elec_RPM":-3515.68115,"EncoderCos":12592,"EncoderSin":39467,"GapTicks":49770,"Mech_RPM":-703.13623,"cg_du":45.2455368,"cg_dv":54.7544632,"cg_dw":46.8446236,"cg_id_a":3.54850221,"cg_id_raw_a":10.2484579,"cg_iq_a":-202.609039,"cg_iq_raw_a":-204.009659,"cg_iu_a":-172.77182,"cg_iv_a":174.329498,"cg_iw_a":-1.55768585,"cg_sample_age_us":23.9472733,"cg_sample_seq":13675766,"cg_sample_valid":1,"cg_theta_rad":2.81994534,"cg_vd_req_v":-1.64759541,"cg_vd_v":-1.64759541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34760761,"cg_vq_v":-8.34760761,"cg_vu_v":0.87978512,"cg_vv_v":14.0765619,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0709057,"dclink_p_w":-2470.58105,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.4506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2461.987373,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2461.987379,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2461.987384,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2462.264893,"values":{"Elec_RPM":-3519.94849,"EncoderCos":11981,"EncoderSin":28265,"GapTicks":49439,"Mech_RPM":-703.989685,"cg_du":51.924511,"cg_dv":44.9453545,"cg_dw":55.0546455,"cg_id_a":2.15434384,"cg_id_raw_a":-3.18300176,"cg_iq_a":-198.360901,"cg_iq_raw_a":-198.560379,"cg_iu_a":148.529755,"cg_iv_a":-191.950668,"cg_iw_a":43.4209137,"cg_sample_age_us":23.7872734,"cg_sample_seq":13677469,"cg_sample_valid":1,"cg_theta_rad":3.39258647,"cg_vd_req_v":-1.70740855,"cg_vd_v":-1.70740855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45164871,"cg_vq_v":-8.45164871,"cg_vu_v":27.2733402,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2444.50708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2462.596924,"values":{"Elec_RPM":-3514.43115,"EncoderCos":18068,"EncoderSin":17162,"GapTicks":49400,"Mech_RPM":-702.88623,"cg_du":48.8212013,"cg_dv":55.0908241,"cg_dw":44.9091759,"cg_id_a":-8.78509331,"cg_id_raw_a":-12.5386419,"cg_iq_a":-198.846725,"cg_iq_raw_a":-198.715591,"cg_iu_a":-89.1572952,"cg_iv_a":198.612885,"cg_iw_a":-109.455582,"cg_sample_age_us":23.9581814,"cg_sample_seq":13679167,"cg_sample_valid":1,"cg_theta_rad":3.96281767,"cg_vd_req_v":-1.47974658,"cg_vd_v":-1.47974658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45463276,"cg_vq_v":-8.45463276,"cg_vu_v":127.568848,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.675848,"dclink_p_w":-2413.40625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2462.925049,"values":{"Elec_RPM":-3505.67041,"EncoderCos":28993,"EncoderSin":11855,"GapTicks":49397,"Mech_RPM":-701.134094,"cg_du":49.3674011,"cg_dv":44.9071274,"cg_dw":55.0928726,"cg_id_a":-20.1606026,"cg_id_raw_a":-18.4561272,"cg_iq_a":-198.373871,"cg_iq_raw_a":-200.087479,"cg_iu_a":29.2150631,"cg_iv_a":-183.324631,"cg_iw_a":154.109573,"cg_sample_age_us":23.7109089,"cg_sample_seq":13680867,"cg_sample_valid":1,"cg_theta_rad":4.54887915,"cg_vd_req_v":-1.250561,"cg_vd_v":-1.250561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44060326,"cg_vq_v":-8.44060326,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":8.79785156,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2462.979382,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2462.979388,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2462.979393,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2463.280518,"values":{"Elec_RPM":-3501.96924,"EncoderCos":40958,"EncoderSin":13174,"GapTicks":49748,"Mech_RPM":-700.39386,"cg_du":53.2383232,"cg_dv":54.773941,"cg_dw":45.226059,"cg_id_a":-0.303896248,"cg_id_raw_a":6.16902447,"cg_iq_a":-201.851379,"cg_iq_raw_a":-204.1586,"cg_iu_a":4.89545107,"cg_iv_a":171.466248,"cg_iw_a":-176.361694,"cg_sample_age_us":23.9872723,"cg_sample_seq":13682566,"cg_sample_valid":1,"cg_theta_rad":5.12717628,"cg_vd_req_v":-1.67964494,"cg_vd_v":-1.67964494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37509823,"cg_vq_v":-8.37509823,"cg_vu_v":3.07924795,"cg_vv_v":2.19946289,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5492554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2463.612549,"values":{"Elec_RPM":-3513.30078,"EncoderCos":50273,"EncoderSin":21086,"GapTicks":49794,"Mech_RPM":-702.660156,"cg_du":45.2679977,"cg_dv":46.4508095,"cg_dw":54.7320023,"cg_id_a":19.2814598,"cg_id_raw_a":20.5588779,"cg_iq_a":-205.859131,"cg_iq_raw_a":-204.645096,"cg_iu_a":-19.5328922,"cg_iv_a":-169.262024,"cg_iw_a":188.794922,"cg_sample_age_us":23.9181824,"cg_sample_seq":13684266,"cg_sample_valid":1,"cg_theta_rad":5.72223282,"cg_vd_req_v":-2.1321454,"cg_vd_v":-2.1321454,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32244968,"cg_vq_v":-8.32244968,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-16.9748592,"dclink_p_w":-2449.21338,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2463.94458,"values":{"Elec_RPM":-3515.66919,"EncoderCos":50654,"EncoderSin":43848,"GapTicks":49515,"Mech_RPM":-703.13385,"cg_du":45.0140839,"cg_dv":51.9075928,"cg_dw":54.9859161,"cg_id_a":-7.45266533,"cg_id_raw_a":-7.6293478,"cg_iq_a":-200.437744,"cg_iq_raw_a":-199.064117,"cg_iu_a":-161.137543,"cg_iv_a":-24.2867126,"cg_iw_a":185.424255,"cg_sample_age_us":23.4345455,"cg_sample_seq":13685916,"cg_sample_valid":1,"cg_theta_rad":0.551190555,"cg_vd_req_v":-1.57136047,"cg_vd_v":-1.57136047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38706589,"cg_vq_v":-8.38706589,"cg_vu_v":113.492287,"cg_vv_v":137.246475,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.4801311,"dclink_p_w":-2385.0813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2463.971528,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2463.971534,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2463.971539,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2464.300049,"values":{"Elec_RPM":-3508.21802,"EncoderCos":50460,"EncoderSin":44134,"GapTicks":49367,"Mech_RPM":-701.643616,"cg_du":44.8792725,"cg_dv":50.5285988,"cg_dw":55.1207275,"cg_id_a":-9.82636833,"cg_id_raw_a":-10.0513105,"cg_iq_a":-199.266724,"cg_iq_raw_a":-198.753769,"cg_iu_a":-142.000809,"cg_iv_a":-48.5338287,"cg_iw_a":190.534637,"cg_sample_age_us":23.5836372,"cg_sample_seq":13687667,"cg_sample_valid":1,"cg_theta_rad":0.572163045,"cg_vd_req_v":-1.51216388,"cg_vd_v":-1.51216388,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41171932,"cg_vq_v":-8.41171932,"cg_vu_v":99.8556061,"cg_vv_v":97.2162552,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-17.2575626,"dclink_p_w":-2490.00317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2464.628174,"values":{"Elec_RPM":-3510.54004,"EncoderCos":30132,"EncoderSin":53783,"GapTicks":49481,"Mech_RPM":-702.108032,"cg_du":44.9835129,"cg_dv":55.0164871,"cg_dw":52.3716812,"cg_id_a":8.49000359,"cg_id_raw_a":7.96072102,"cg_iq_a":-197.031799,"cg_iq_raw_a":-197.70134,"cg_iu_a":-195.532944,"cg_iv_a":64.8368835,"cg_iw_a":130.69606,"cg_sample_age_us":23.8854542,"cg_sample_seq":13689316,"cg_sample_valid":1,"cg_theta_rad":1.69552386,"cg_vd_req_v":-1.80057287,"cg_vd_v":-1.80057287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50133705,"cg_vq_v":-8.50133705,"cg_vu_v":38.2706528,"cg_vv_v":50.1477547,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.6830978,"dclink_p_w":-2407.1167,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2464.964111,"values":{"Elec_RPM":-3514.78076,"EncoderCos":29241,"EncoderSin":53679,"GapTicks":49939,"Mech_RPM":-702.956177,"cg_du":45.3997574,"cg_dv":54.6002426,"cg_dw":54.029747,"cg_id_a":13.4106541,"cg_id_raw_a":13.4390945,"cg_iq_a":-199.025177,"cg_iq_raw_a":-199.69165,"cg_iu_a":-184.732285,"cg_iv_a":33.7034302,"cg_iw_a":152.406128,"cg_sample_age_us":23.8527279,"cg_sample_seq":13691066,"cg_sample_valid":1,"cg_theta_rad":1.73329246,"cg_vd_req_v":-1.87188971,"cg_vd_v":-1.87188971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43589592,"cg_vq_v":-8.43589592,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-17.1615162,"dclink_p_w":-2483.69458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2600,"hz_tim_isr":5000,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2464.99481,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2464.994816,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2464.994821,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2465.315674,"values":{"Elec_RPM":-3517.76978,"EncoderCos":12383,"EncoderSin":38868,"GapTicks":49435,"Mech_RPM":-703.553955,"cg_du":44.9412727,"cg_dv":55.0587273,"cg_dw":48.3942108,"cg_id_a":-10.8237553,"cg_id_raw_a":-5.92976093,"cg_iq_a":-199.635254,"cg_iq_raw_a":-200.764709,"cg_iu_a":-181.760284,"cg_iv_a":162.369049,"cg_iw_a":19.391243,"cg_sample_age_us":23.9254551,"cg_sample_seq":13692716,"cg_sample_valid":1,"cg_theta_rad":2.8526268,"cg_vd_req_v":-1.35900331,"cg_vd_v":-1.35900331,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4335804,"cg_vq_v":-8.4335804,"cg_vu_v":37.830761,"cg_vv_v":45.7488289,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"telemetry","t":2465.647705,"values":{"Elec_RPM":-3514.31299,"EncoderCos":17797,"EncoderSin":47821,"GapTicks":49781,"Mech_RPM":-702.86261,"cg_du":54.7438011,"cg_dv":45.2561989,"cg_dw":46.6276512,"cg_id_a":17.2930889,"cg_id_raw_a":17.7337036,"cg_iq_a":-205.057938,"cg_iq_raw_a":-205.17334,"cg_iu_a":193.798309,"cg_iv_a":-33.0214691,"cg_iw_a":-160.77684,"cg_sample_age_us":23.9981823,"cg_sample_seq":13694516,"cg_sample_valid":1,"cg_theta_rad":2.35191679,"cg_vd_req_v":-2.00579429,"cg_vd_v":-2.00579429,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30444717,"cg_vq_v":-8.30444717,"cg_vu_v":32.5520515,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7066555,"dclink_p_w":-2410.51587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2465.987408,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2465.987414,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2465.987419,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2465.999268,"values":{"Elec_RPM":-3520.39087,"EncoderCos":12319,"EncoderSin":26966,"GapTicks":50033,"Mech_RPM":-704.078186,"cg_du":54.3852997,"cg_dv":45.4851685,"cg_dw":54.5148315,"cg_id_a":14.1759243,"cg_id_raw_a":16.6157551,"cg_iq_a":-199.9431,"cg_iq_raw_a":-199.456177,"cg_iu_a":172.631912,"cg_iv_a":-167.449829,"cg_iw_a":-5.1820755,"cg_sample_age_us":24.136364,"cg_sample_seq":13696170,"cg_sample_valid":1,"cg_theta_rad":3.46519327,"cg_vd_req_v":-1.90790176,"cg_vd_v":-1.90790176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43726349,"cg_vq_v":-8.43726349,"cg_vu_v":45.3089333,"cg_vv_v":34.3116188,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-16.3949585,"dclink_p_w":-2372.75464,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4559937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2466.331299,"values":{"Elec_RPM":-3520.59082,"EncoderCos":19435,"EncoderSin":16039,"GapTicks":50072,"Mech_RPM":-704.118164,"cg_du":45.7709045,"cg_dv":54.4795113,"cg_dw":45.5204887,"cg_id_a":12.7425709,"cg_id_raw_a":14.4636621,"cg_iq_a":-204.371704,"cg_iq_raw_a":-204.836105,"cg_iu_a":-167.045288,"cg_iv_a":184.514023,"cg_iw_a":-17.4687347,"cg_sample_age_us":23.9036369,"cg_sample_seq":13697866,"cg_sample_valid":1,"cg_theta_rad":4.04955435,"cg_vd_req_v":-1.89028788,"cg_vd_v":-1.89028788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3135128,"cg_vq_v":-8.3135128,"cg_vu_v":117.011421,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.489193,"dclink_p_w":-2386.39282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2466.667236,"values":{"Elec_RPM":-3522.59009,"EncoderCos":30565,"EncoderSin":11657,"GapTicks":49477,"Mech_RPM":-704.518005,"cg_du":52.0994759,"cg_dv":44.979126,"cg_dw":55.020874,"cg_id_a":7.40154266,"cg_id_raw_a":7.32152796,"cg_iq_a":-198.597061,"cg_iq_raw_a":-197.875397,"cg_iu_a":137.366669,"cg_iv_a":-195.683792,"cg_iw_a":58.3171234,"cg_sample_age_us":23.7218189,"cg_sample_seq":13699566,"cg_sample_valid":1,"cg_theta_rad":4.63216782,"cg_vd_req_v":-1.83554268,"cg_vd_v":-1.83554268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43419456,"cg_vq_v":-8.43419456,"cg_vu_v":105.574219,"cg_vv_v":80.5003433,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-17.5964413,"dclink_p_w":-2546.63892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2466.979004,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2466.97901,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2466.979015,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2467.018799,"values":{"Elec_RPM":-3526.51245,"EncoderCos":42168,"EncoderSin":13711,"GapTicks":49336,"Mech_RPM":-705.30249,"cg_du":50.1878929,"cg_dv":55.1489296,"cg_dw":44.8510704,"cg_id_a":-18.2524357,"cg_id_raw_a":-18.8848934,"cg_iq_a":-196.967072,"cg_iq_raw_a":-195.654907,"cg_iu_a":-58.4950142,"cg_iv_a":194.481064,"cg_iw_a":-135.986053,"cg_sample_age_us":23.9654541,"cg_sample_seq":13701267,"cg_sample_valid":1,"cg_theta_rad":5.19910383,"cg_vd_req_v":-1.3493154,"cg_vd_v":-1.3493154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50004101,"cg_vq_v":-8.50004101,"cg_vu_v":1.31967759,"cg_vv_v":4.39892578,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.4928169,"dclink_p_w":-2386.91724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2467.35083,"values":{"Elec_RPM":-3533.98901,"EncoderCos":43144,"EncoderSin":14254,"GapTicks":49461,"Mech_RPM":-706.797791,"cg_du":48.2604218,"cg_dv":55.0353928,"cg_dw":44.9646072,"cg_id_a":-0.806270361,"cg_id_raw_a":-5.57087231,"cg_iq_a":-200.372711,"cg_iq_raw_a":-199.531525,"cg_iu_a":-115.07164,"cg_iv_a":201.004974,"cg_iw_a":-85.9333344,"cg_sample_age_us":23.9509087,"cg_sample_seq":13703016,"cg_sample_valid":1,"cg_theta_rad":5.24245882,"cg_vd_req_v":-1.72781444,"cg_vd_v":-1.72781444,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4048214,"cg_vq_v":-8.4048214,"cg_vu_v":10.1175289,"cg_vv_v":18.9153805,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2467.682861,"values":{"Elec_RPM":-3522.46802,"EncoderCos":50263,"EncoderSin":44451,"GapTicks":49318,"Mech_RPM":-704.493591,"cg_du":44.8348503,"cg_dv":49.7575874,"cg_dw":55.1651497,"cg_id_a":-9.0527029,"cg_id_raw_a":-11.5308523,"cg_iq_a":-197.926071,"cg_iq_raw_a":-198.729828,"cg_iu_a":-118.007385,"cg_iv_a":-78.8336792,"cg_iw_a":196.841064,"cg_sample_age_us":23.51091,"cg_sample_seq":13704618,"cg_sample_valid":1,"cg_theta_rad":0.603242278,"cg_vd_req_v":-1.52990198,"cg_vd_v":-1.52990198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4715538,"cg_vq_v":-8.4715538,"cg_vu_v":102.93486,"cg_vv_v":99.4157181,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-17.3336735,"dclink_p_w":-2500.98486,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2592,"hz_tim_isr":5000,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5690002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2467.97135,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2467.971356,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2467.971362,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2468.03833,"values":{"Elec_RPM":-3524.4248,"EncoderCos":53610,"EncoderSin":34679,"GapTicks":49711,"Mech_RPM":-704.884949,"cg_du":53.1072807,"cg_dv":54.807869,"cg_dw":45.192131,"cg_id_a":-0.696245193,"cg_id_raw_a":5.38463831,"cg_iq_a":-201.141235,"cg_iq_raw_a":-202.179733,"cg_iu_a":2.1771636,"cg_iv_a":170.777603,"cg_iw_a":-172.954773,"cg_sample_age_us":23.4927273,"cg_sample_seq":13706417,"cg_sample_valid":1,"cg_theta_rad":0.107155561,"cg_vd_req_v":-1.68092823,"cg_vd_v":-1.68092823,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4093647,"cg_vq_v":-8.4093647,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.3097858,"dclink_p_w":-2360.42822,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2468.557861,"values":{"Elec_RPM":-3531.13721,"EncoderCos":13488,"EncoderSin":23722,"GapTicks":49493,"Mech_RPM":-706.227417,"cg_du":55.0061874,"cg_dv":44.9938126,"cg_dw":47.8951416,"cg_id_a":10.4115009,"cg_id_raw_a":5.39585304,"cg_iq_a":-199.637878,"cg_iq_raw_a":-199.480774,"cg_iu_a":196.806549,"cg_iv_a":-73.8320236,"cg_iw_a":-122.974525,"cg_sample_age_us":23.9836369,"cg_sample_seq":13709016,"cg_sample_valid":1,"cg_theta_rad":3.57700849,"cg_vd_req_v":-1.76663482,"cg_vd_v":-1.76663482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45250702,"cg_vq_v":-8.45250702,"cg_vu_v":106.893898,"cg_vv_v":100.295509,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-17.359045,"dclink_p_w":-2512.28174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2468.834862,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2468.834874,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2468.834877,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2468.994955,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2468.994961,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2468.994966,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2469.030518,"values":{"Elec_RPM":-3528.27173,"EncoderCos":17939,"EncoderSin":17303,"GapTicks":49404,"Mech_RPM":-705.654358,"cg_du":49.1492233,"cg_dv":55.0870056,"cg_dw":44.9129944,"cg_id_a":-12.1411953,"cg_id_raw_a":-15.996973,"cg_iq_a":-197.488403,"cg_iq_raw_a":-196.740829,"cg_iu_a":-131.888779,"cg_iv_a":199.627716,"cg_iw_a":-80.5330048,"cg_sample_age_us":23.8709087,"cg_sample_seq":13711320,"cg_sample_valid":1,"cg_theta_rad":3.99571824,"cg_vd_req_v":-1.40367532,"cg_vd_v":-1.40367532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45079708,"cg_vq_v":-8.45079708,"cg_vu_v":3.95903301,"cg_vv_v":35.6312981,"cg_vw_v":21.5547352,"control_outputs_enabled":1,"dclink_i_a":-16.8824387,"dclink_p_w":-2443.30518,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2469.362549,"values":{"Elec_RPM":-3522.92676,"EncoderCos":29527,"EncoderSin":11741,"GapTicks":49329,"Mech_RPM":-704.585327,"cg_du":50.2874527,"cg_dv":44.845211,"cg_dw":55.154789,"cg_id_a":-10.4407921,"cg_id_raw_a":-12.8171196,"cg_iq_a":-197.318283,"cg_iq_raw_a":-197.654846,"cg_iu_a":68.7208405,"cg_iv_a":-195.067642,"cg_iw_a":126.346802,"cg_sample_age_us":23.772728,"cg_sample_seq":13713016,"cg_sample_valid":1,"cg_theta_rad":4.57418108,"cg_vd_req_v":-1.47148764,"cg_vd_v":-1.47148764,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46568489,"cg_vq_v":-8.46568489,"cg_vu_v":40.9100075,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.9078083,"dclink_p_w":-2439.53906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2469.69458,"values":{"Elec_RPM":-3530.65796,"EncoderCos":50030,"EncoderSin":20672,"GapTicks":49570,"Mech_RPM":-706.131592,"cg_du":45.0639954,"cg_dv":47.2305107,"cg_dw":54.9360046,"cg_id_a":11.8839407,"cg_id_raw_a":7.30156565,"cg_iq_a":-199.239655,"cg_iq_raw_a":-197.257858,"cg_iu_a":-50.9925385,"cg_iv_a":-142.477844,"cg_iw_a":193.470383,"cg_sample_age_us":23.9181824,"cg_sample_seq":13714667,"cg_sample_valid":1,"cg_theta_rad":5.68334723,"cg_vd_req_v":-1.99733233,"cg_vd_v":-1.99733233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43756008,"cg_vq_v":-8.43756008,"cg_vu_v":105.574219,"cg_vv_v":98.9758301,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-17.0763416,"dclink_p_w":-2478.87939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2469.987531,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2469.987537,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2469.987542,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2470.046143,"values":{"Elec_RPM":-3522.85791,"EncoderCos":53638,"EncoderSin":30961,"GapTicks":49412,"Mech_RPM":-704.571594,"cg_du":55.0796432,"cg_dv":48.6616974,"cg_dw":44.9203568,"cg_id_a":-16.0210075,"cg_id_raw_a":-12.1155024,"cg_iq_a":-194.344055,"cg_iq_raw_a":-196.667038,"cg_iu_a":114.098122,"cg_iv_a":84.0461044,"cg_iw_a":-196.585754,"cg_sample_age_us":23.9872723,"cg_sample_seq":13716372,"cg_sample_valid":1,"cg_theta_rad":6.25956345,"cg_vd_req_v":-1.36478841,"cg_vd_v":-1.36478841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50369358,"cg_vq_v":-8.50369358,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-16.3931465,"dclink_p_w":-2379.70386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2470.38208,"values":{"Elec_RPM":-3509.14844,"EncoderCos":50599,"EncoderSin":43932,"GapTicks":49377,"Mech_RPM":-701.829712,"cg_du":44.8884163,"cg_dv":51.0370789,"cg_dw":55.1115837,"cg_id_a":-9.70674419,"cg_id_raw_a":-6.03488636,"cg_iq_a":-199.213226,"cg_iq_raw_a":-201.783844,"cg_iu_a":-151.822876,"cg_iv_a":-35.1598663,"cg_iw_a":186.982742,"cg_sample_age_us":23.5254555,"cg_sample_seq":13718066,"cg_sample_valid":1,"cg_theta_rad":0.566379905,"cg_vd_req_v":-1.51190317,"cg_vd_v":-1.51190317,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4400692,"cg_vq_v":-8.4400692,"cg_vu_v":37.830761,"cg_vv_v":43.1094704,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.6544323,"dclink_p_w":-2547.26563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4685364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2470.710205,"values":{"Elec_RPM":-3509.5188,"EncoderCos":41786,"EncoderSin":51780,"GapTicks":49980,"Mech_RPM":-701.903748,"cg_du":54.5633392,"cg_dv":45.9086952,"cg_dw":45.4366608,"cg_id_a":10.3638744,"cg_id_raw_a":12.4630775,"cg_iq_a":-203.146881,"cg_iq_raw_a":-204.142075,"cg_iu_a":178.612152,"cg_iv_a":-16.1680908,"cg_iw_a":-168.569275,"cg_sample_age_us":24.0018177,"cg_sample_seq":13719767,"cg_sample_valid":1,"cg_theta_rad":1.12561321,"cg_vd_req_v":-1.8483963,"cg_vd_v":-1.8483963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38574982,"cg_vq_v":-8.38574982,"cg_vu_v":107.333786,"cg_vv_v":104.254532,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2399.43359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2471.01098,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2471.010986,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2471.010991,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2471.065674,"values":{"Elec_RPM":-3505.62305,"EncoderCos":29588,"EncoderSin":53720,"GapTicks":49740,"Mech_RPM":-701.124634,"cg_du":45.2182426,"cg_dv":54.7817574,"cg_dw":53.4004478,"cg_id_a":11.7010212,"cg_id_raw_a":12.2681856,"cg_iq_a":-198.31987,"cg_iq_raw_a":-199.656021,"cg_iu_a":-190.060135,"cg_iv_a":38.1976624,"cg_iw_a":151.862473,"cg_sample_age_us":23.8563633,"cg_sample_seq":13721466,"cg_sample_valid":1,"cg_theta_rad":1.72098374,"cg_vd_req_v":-1.84239268,"cg_vd_v":-1.84239268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43950462,"cg_vq_v":-8.43950462,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.3155518,"dclink_p_w":-2498.37012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2471.397705,"values":{"Elec_RPM":-3510.07422,"EncoderCos":18890,"EncoderSin":48842,"GapTicks":49374,"Mech_RPM":-702.014832,"cg_du":55.1137886,"cg_dv":44.8862114,"cg_dw":49.0678902,"cg_id_a":-11.3496189,"cg_id_raw_a":-16.2024918,"cg_iq_a":-198.193863,"cg_iq_raw_a":-197.709351,"cg_iu_a":200.249725,"cg_iv_a":-101.196129,"cg_iw_a":-99.0535965,"cg_sample_age_us":24.0200005,"cg_sample_seq":13723167,"cg_sample_valid":1,"cg_theta_rad":2.29090047,"cg_vd_req_v":-1.43907511,"cg_vd_v":-1.43907511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44517517,"cg_vq_v":-8.44517517,"cg_vu_v":27.7132301,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7030315,"dclink_p_w":-2409.99292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2471.749268,"values":{"Elec_RPM":-3521.21802,"EncoderCos":18821,"EncoderSin":48800,"GapTicks":49363,"Mech_RPM":-704.243591,"cg_du":55.1239204,"cg_dv":44.8760796,"cg_dw":49.0047035,"cg_id_a":-6.60622787,"cg_id_raw_a":-11.5737572,"cg_iq_a":-197.450806,"cg_iq_raw_a":-197.117188,"cg_iu_a":198.365021,"cg_iv_a":-52.7380981,"cg_iw_a":-145.626923,"cg_sample_age_us":23.8963642,"cg_sample_seq":13724920,"cg_sample_valid":1,"cg_theta_rad":2.33082151,"cg_vd_req_v":-1.54575479,"cg_vd_v":-1.54575479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47666168,"cg_vq_v":-8.47666168,"cg_vu_v":41.3499031,"cg_vv_v":39.590332,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-17.4550915,"dclink_p_w":-2518.50366,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2471.971077,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2471.971084,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2471.971089,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2472.081299,"values":{"Elec_RPM":-3518.30371,"EncoderCos":18300,"EncoderSin":16977,"GapTicks":49471,"Mech_RPM":-703.660767,"cg_du":48.3399849,"cg_dv":55.0260735,"cg_dw":44.9739265,"cg_id_a":-3.12216902,"cg_id_raw_a":-7.23283529,"cg_iq_a":-199.188385,"cg_iq_raw_a":-198.591324,"cg_iu_a":-105.322052,"cg_iv_a":199.953903,"cg_iw_a":-94.6318512,"cg_sample_age_us":23.9909096,"cg_sample_seq":13726517,"cg_sample_valid":1,"cg_theta_rad":3.97785234,"cg_vd_req_v":-1.5917809,"cg_vd_v":-1.5917809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40112782,"cg_vq_v":-8.40112782,"cg_vu_v":127.12896,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-16.9331799,"dclink_p_w":-2450.64868,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5582275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2472.41333,"values":{"Elec_RPM":-3526.29126,"EncoderCos":12779,"EncoderSin":25583,"GapTicks":49400,"Mech_RPM":-705.25824,"cg_du":55.0905418,"cg_dv":44.9094582,"cg_dw":51.0575409,"cg_id_a":-16.1841679,"cg_id_raw_a":-13.2851677,"cg_iq_a":-195.354843,"cg_iq_raw_a":-196.657135,"cg_iu_a":180.931763,"cg_iv_a":-155.960541,"cg_iw_a":-24.9712143,"cg_sample_age_us":24.0963631,"cg_sample_seq":13728316,"cg_sample_valid":1,"cg_theta_rad":3.49061561,"cg_vd_req_v":-1.28874075,"cg_vd_v":-1.28874075,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49682713,"cg_vq_v":-8.49682713,"cg_vu_v":40.9100075,"cg_vv_v":39.590332,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-17.5094566,"dclink_p_w":-2534.05005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5259399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2472.764893,"values":{"Elec_RPM":-3521.38818,"EncoderCos":29312,"EncoderSin":11823,"GapTicks":49324,"Mech_RPM":-704.277649,"cg_du":49.8684311,"cg_dv":44.8408775,"cg_dw":55.1591225,"cg_id_a":-12.6136961,"cg_id_raw_a":-15.6999874,"cg_iq_a":-197.746887,"cg_iq_raw_a":-198.044495,"cg_iu_a":93.5841064,"cg_iv_a":-198.112122,"cg_iw_a":104.528015,"cg_sample_age_us":23.6963634,"cg_sample_seq":13729970,"cg_sample_valid":1,"cg_theta_rad":4.59669542,"cg_vd_req_v":-1.41764843,"cg_vd_v":-1.41764843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47862053,"cg_vq_v":-8.47862053,"cg_vu_v":20.6749516,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2413.6687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2472.963769,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2472.963775,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2472.963781,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2473.10083,"values":{"Elec_RPM":-3525.09985,"EncoderCos":20423,"EncoderSin":15349,"GapTicks":49475,"Mech_RPM":-705.019958,"cg_du":44.9773369,"cg_dv":55.0226631,"cg_dw":48.1789742,"cg_id_a":-10.7779675,"cg_id_raw_a":-6.27622557,"cg_iq_a":-200.46582,"cg_iq_raw_a":-201.62001,"cg_iu_a":-180.419266,"cg_iv_a":164.906113,"cg_iw_a":15.5131531,"cg_sample_age_us":23.9436359,"cg_sample_seq":13731766,"cg_sample_valid":1,"cg_theta_rad":4.106071,"cg_vd_req_v":-1.41208458,"cg_vd_v":-1.41208458,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43198776,"cg_vq_v":-8.43198776,"cg_vu_v":38.2706528,"cg_vv_v":58.9456062,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-17.5239544,"dclink_p_w":-2536.14819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2473.432861,"values":{"Elec_RPM":-3526.6416,"EncoderCos":50758,"EncoderSin":21914,"GapTicks":49775,"Mech_RPM":-705.328308,"cg_du":46.8455849,"cg_dv":45.2506065,"cg_dw":54.7493935,"cg_id_a":0.592784762,"cg_id_raw_a":8.42716503,"cg_iq_a":-204.794479,"cg_iq_raw_a":-204.802444,"cg_iu_a":-1.08478141,"cg_iv_a":-174.771072,"cg_iw_a":181.147461,"cg_sample_age_us":23.954546,"cg_sample_seq":13733367,"cg_sample_valid":1,"cg_theta_rad":5.75481319,"cg_vd_req_v":-1.72395968,"cg_vd_v":-1.72395968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29736233,"cg_vq_v":-8.29736233,"cg_vu_v":119.210884,"cg_vv_v":124.049698,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1959476,"dclink_p_w":-2488.67749,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2473.784424,"values":{"Elec_RPM":-3514.14771,"EncoderCos":43392,"EncoderSin":14440,"GapTicks":49561,"Mech_RPM":-702.829529,"cg_du":47.6544991,"cg_dv":54.9444122,"cg_dw":45.0555878,"cg_id_a":0.294519663,"cg_id_raw_a":-5.98291111,"cg_iq_a":-200.981995,"cg_iq_raw_a":-200.529099,"cg_iu_a":-124.277573,"cg_iv_a":199.808929,"cg_iw_a":-75.5313568,"cg_sample_age_us":23.9363632,"cg_sample_seq":13735167,"cg_sample_valid":1,"cg_theta_rad":5.24927616,"cg_vd_req_v":-1.74385071,"cg_vd_v":-1.74385071,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36112499,"cg_vq_v":-8.36112499,"cg_vu_v":109.973145,"cg_vv_v":111.732712,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-17.6055031,"dclink_p_w":-2547.95044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.475708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2473.986591,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2473.986597,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2473.986602,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2474.116455,"values":{"Elec_RPM":-3522.97632,"EncoderCos":49733,"EncoderSin":45264,"GapTicks":49398,"Mech_RPM":-704.595276,"cg_du":44.9077339,"cg_dv":48.1045952,"cg_dw":55.0922661,"cg_id_a":10.1421776,"cg_id_raw_a":4.17621279,"cg_iq_a":-197.545364,"cg_iq_raw_a":-196.651886,"cg_iu_a":-70.1655273,"cg_iv_a":-127.074219,"cg_iw_a":197.239746,"cg_sample_age_us":23.5145454,"cg_sample_seq":13736766,"cg_sample_valid":1,"cg_theta_rad":0.637303948,"cg_vd_req_v":-1.91797101,"cg_vd_v":-1.91797101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49020481,"cg_vq_v":-8.49020481,"cg_vu_v":3.51914048,"cg_vv_v":11.4372072,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-16.6160469,"dclink_p_w":-2412.06104,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2474.448486,"values":{"Elec_RPM":-3521.79102,"EncoderCos":40280,"EncoderSin":52457,"GapTicks":49328,"Mech_RPM":-704.358215,"cg_du":55.1554794,"cg_dv":49.7108459,"cg_dw":44.8445206,"cg_id_a":-12.7795143,"cg_id_raw_a":-15.6800632,"cg_iq_a":-194.615341,"cg_iq_raw_a":-192.452209,"cg_iu_a":139.61377,"cg_iv_a":47.2586365,"cg_iw_a":-186.872406,"cg_sample_age_us":23.9909096,"cg_sample_seq":13738467,"cg_sample_valid":1,"cg_theta_rad":1.20483708,"cg_vd_req_v":-1.38498557,"cg_vd_v":-1.38498557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50803661,"cg_vq_v":-8.50803661,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.2448769,"dclink_p_w":-2495.75879,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2474.800049,"values":{"Elec_RPM":-3509.71484,"EncoderCos":28436,"EncoderSin":53520,"GapTicks":49737,"Mech_RPM":-701.942993,"cg_du":45.216217,"cg_dv":53.1204567,"cg_dw":54.783783,"cg_id_a":2.19318867,"cg_id_raw_a":5.04583454,"cg_iq_a":-202.692276,"cg_iq_raw_a":-201.09642,"cg_iu_a":-174.366547,"cg_iv_a":-3.22903442,"cg_iw_a":177.595581,"cg_sample_age_us":23.772728,"cg_sample_seq":13740167,"cg_sample_valid":1,"cg_theta_rad":1.78369904,"cg_vd_req_v":-1.63509905,"cg_vd_v":-1.63509905,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35808468,"cg_vq_v":-8.35808468,"cg_vu_v":38.2706528,"cg_vv_v":44.4291458,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.2412529,"dclink_p_w":-2487.65015,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4542236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2474.979251,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2474.979257,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2474.979262,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2475.135986,"values":{"Elec_RPM":-3520.9104,"EncoderCos":17645,"EncoderSin":47655,"GapTicks":49876,"Mech_RPM":-704.182068,"cg_du":54.6580925,"cg_dv":45.3419075,"cg_dw":46.1476898,"cg_id_a":17.4859276,"cg_id_raw_a":19.0835476,"cg_iq_a":-204.008621,"cg_iq_raw_a":-205.171539,"cg_iu_a":188.470459,"cg_iv_a":-23.1268921,"cg_iw_a":-165.343567,"cg_sample_age_us":23.9581814,"cg_sample_seq":13741866,"cg_sample_valid":1,"cg_theta_rad":2.36019659,"cg_vd_req_v":-1.9926523,"cg_vd_v":-1.9926523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36588097,"cg_vq_v":-8.36588097,"cg_vu_v":21.1148415,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.110775,"dclink_p_w":-2476.35107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2475.464111,"values":{"Elec_RPM":-3518.50049,"EncoderCos":11875,"EncoderSin":36882,"GapTicks":49513,"Mech_RPM":-703.700073,"cg_du":45.0125847,"cg_dv":54.9874153,"cg_dw":52.3938828,"cg_id_a":2.11923981,"cg_id_raw_a":0.399963558,"cg_iq_a":-195.938354,"cg_iq_raw_a":-196.593475,"cg_iu_a":-194.735596,"cg_iv_a":73.2817078,"cg_iw_a":121.453888,"cg_sample_age_us":23.9654541,"cg_sample_seq":13743566,"cg_sample_valid":1,"cg_theta_rad":2.9485898,"cg_vd_req_v":-1.64727437,"cg_vd_v":-1.64727437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49044132,"cg_vq_v":-8.49044132,"cg_vu_v":1.75957024,"cg_vv_v":6.1584959,"cg_vw_v":15.3962402,"control_outputs_enabled":1,"dclink_i_a":-16.6106091,"dclink_p_w":-2403.9646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5367126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2475.81958,"values":{"Elec_RPM":-3513.7041,"EncoderCos":12972,"EncoderSin":24998,"GapTicks":49368,"Mech_RPM":-702.740845,"cg_du":55.119503,"cg_dv":44.880497,"cg_dw":49.8112411,"cg_id_a":-16.1695023,"cg_id_raw_a":-18.0443802,"cg_iq_a":-197.303528,"cg_iq_raw_a":-196.642532,"cg_iu_a":195.791718,"cg_iv_a":-125.733185,"cg_iw_a":-70.0585327,"cg_sample_age_us":24.0745449,"cg_sample_seq":13745266,"cg_sample_valid":1,"cg_theta_rad":3.53027272,"cg_vd_req_v":-1.32996762,"cg_vd_v":-1.32996762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45334148,"cg_vq_v":-8.45334148,"cg_vu_v":135.486908,"cg_vv_v":120.090675,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.8951244,"dclink_p_w":-2445.14111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2475.971377,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2475.971383,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2475.971388,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2476.151611,"values":{"Elec_RPM":-3520.50513,"EncoderCos":20045,"EncoderSin":15598,"GapTicks":49695,"Mech_RPM":-704.101013,"cg_du":45.1780701,"cg_dv":54.8219299,"cg_dw":47.0371704,"cg_id_a":0.86581862,"cg_id_raw_a":7.34659481,"cg_iq_a":-202.881866,"cg_iq_raw_a":-203.873306,"cg_iu_a":-174.837723,"cg_iv_a":174.18454,"cg_iw_a":0.653190613,"cg_sample_age_us":23.8999996,"cg_sample_seq":13746967,"cg_sample_valid":1,"cg_theta_rad":4.08603811,"cg_vd_req_v":-1.64688885,"cg_vd_v":-1.64688885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.390028,"cg_vq_v":-8.390028,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-16.8190117,"dclink_p_w":-2441.52417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2476.503174,"values":{"Elec_RPM":-3517.61499,"EncoderCos":30842,"EncoderSin":11626,"GapTicks":49536,"Mech_RPM":-703.52301,"cg_du":52.5510788,"cg_dv":45.0330734,"cg_dw":54.9669266,"cg_id_a":11.9280825,"cg_id_raw_a":9.87852478,"cg_iq_a":-197.1595,"cg_iq_raw_a":-196.234573,"cg_iu_a":167.449036,"cg_iv_a":-181.802399,"cg_iw_a":14.3533554,"cg_sample_age_us":26.4345455,"cg_sample_seq":13748670,"cg_sample_valid":1,"cg_theta_rad":4.68069315,"cg_vd_req_v":-1.91741264,"cg_vd_v":-1.91741264,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46965408,"cg_vq_v":-8.46965408,"cg_vu_v":38.2706528,"cg_vv_v":30.7924805,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-17.0835915,"dclink_p_w":-2479.93188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2476.835205,"values":{"Elec_RPM":-3504.62354,"EncoderCos":32636,"EncoderSin":11541,"GapTicks":49577,"Mech_RPM":-700.924683,"cg_du":54.9295731,"cg_dv":45.0704269,"cg_dw":52.4803467,"cg_id_a":-4.84410763,"cg_id_raw_a":5.38210392,"cg_iq_a":-198.392258,"cg_iq_raw_a":-200.568054,"cg_iu_a":172.414459,"cg_iv_a":-169.407013,"cg_iw_a":-3.00744629,"cg_sample_age_us":24.1000004,"cg_sample_seq":13750416,"cg_sample_valid":1,"cg_theta_rad":4.7216382,"cg_vd_req_v":-1.53619826,"cg_vd_v":-1.53619826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43987942,"cg_vq_v":-8.43987942,"cg_vu_v":44.4291458,"cg_vv_v":33.871727,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.302536,"dclink_p_w":-2352.20752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.5528564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2476.99544,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2476.995446,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2476.995451,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2477.167236,"values":{"Elec_RPM":-3510.16211,"EncoderCos":51501,"EncoderSin":23171,"GapTicks":49306,"Mech_RPM":-702.03241,"cg_du":49.9849014,"cg_dv":44.8239975,"cg_dw":55.1760025,"cg_id_a":-7.8590579,"cg_id_raw_a":-11.9123497,"cg_iq_a":-196.452988,"cg_iq_raw_a":-195.589813,"cg_iu_a":80.7537994,"cg_iv_a":-197.459732,"cg_iw_a":116.705933,"cg_sample_age_us":23.7399998,"cg_sample_seq":13752067,"cg_sample_valid":1,"cg_theta_rad":5.83520412,"cg_vd_req_v":-1.59702051,"cg_vd_v":-1.59702051,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50110817,"cg_vq_v":-8.50110817,"cg_vu_v":13.1967773,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-16.5381222,"dclink_p_w":-2393.47412,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2477.522705,"values":{"Elec_RPM":-3510.30371,"EncoderCos":51811,"EncoderSin":23941,"GapTicks":49375,"Mech_RPM":-702.06073,"cg_du":51.4385643,"cg_dv":44.8868866,"cg_dw":55.1131134,"cg_id_a":5.92931557,"cg_id_raw_a":1.8582015,"cg_iq_a":-199.381424,"cg_iq_raw_a":-198.487457,"cg_iu_a":114.967972,"cg_iv_a":-199.924316,"cg_iw_a":84.9563446,"cg_sample_age_us":23.772728,"cg_sample_seq":13753817,"cg_sample_valid":1,"cg_theta_rad":5.86707211,"cg_vd_req_v":-1.87794793,"cg_vd_v":-1.87794793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45055389,"cg_vq_v":-8.45055389,"cg_vu_v":104.694435,"cg_vv_v":75.6615219,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-16.985733,"dclink_p_w":-2450.78247,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2477.854736,"values":{"Elec_RPM":-3506.61377,"EncoderCos":39533,"EncoderSin":52729,"GapTicks":49418,"Mech_RPM":-701.322754,"cg_du":55.0743942,"cg_dv":51.0781746,"cg_dw":44.9256058,"cg_id_a":-0.583533049,"cg_id_raw_a":-5.06752872,"cg_iq_a":-200.253952,"cg_iq_raw_a":-199.581665,"cg_iu_a":104.565994,"cg_iv_a":99.0510559,"cg_iw_a":-203.61705,"cg_sample_age_us":23.9327278,"cg_sample_seq":13755416,"cg_sample_valid":1,"cg_theta_rad":1.24270189,"cg_vd_req_v":-1.65708685,"cg_vd_v":-1.65708685,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38133049,"cg_vq_v":-8.38133049,"cg_vu_v":40.4701157,"cg_vv_v":44.4291458,"cg_vw_v":43.549366,"control_outputs_enabled":1,"dclink_i_a":-16.5453701,"dclink_p_w":-2379.96655,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2477.98732,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2477.987326,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2477.987332,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2478.272705,"values":{"Elec_RPM":-3515.83105,"EncoderCos":24827,"EncoderSin":13045,"GapTicks":49383,"Mech_RPM":-703.166199,"cg_du":44.8945007,"cg_dv":50.5922852,"cg_dw":55.1054993,"cg_id_a":-15.1817818,"cg_id_raw_a":-14.0133381,"cg_iq_a":-199.80545,"cg_iq_raw_a":-202.148361,"cg_iu_a":-151.967865,"cg_iv_a":-36.355896,"cg_iw_a":188.323761,"cg_sample_age_us":23.8999996,"cg_sample_seq":13757466,"cg_sample_valid":1,"cg_theta_rad":4.34071827,"cg_vd_req_v":-1.35259485,"cg_vd_v":-1.35259485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4171257,"cg_vq_v":-8.4171257,"cg_vu_v":34.3116188,"cg_vv_v":33.871727,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-16.3768368,"dclink_p_w":-2362.92798,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2478.792236,"values":{"Elec_RPM":-3519.78296,"EncoderCos":44359,"EncoderSin":50401,"GapTicks":49333,"Mech_RPM":-703.956604,"cg_du":55.1511765,"cg_dv":44.8488235,"cg_dw":50.5379372,"cg_id_a":-16.0285072,"cg_id_raw_a":-13.6118107,"cg_iq_a":-196.143372,"cg_iq_raw_a":-196.416855,"cg_iu_a":187.636856,"cg_iv_a":-147.189545,"cg_iw_a":-40.447319,"cg_sample_age_us":23.9181824,"cg_sample_seq":13760116,"cg_sample_valid":1,"cg_theta_rad":0.990719557,"cg_vd_req_v":-1.35255492,"cg_vd_v":-1.35255492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51722431,"cg_vq_v":-8.51722431,"cg_vu_v":40.0302238,"cg_vv_v":39.1504402,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-16.7447109,"dclink_p_w":-2430.73853,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2478.850533,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2478.850544,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2478.850548,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2478.978642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2478.978647,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2478.978652,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2479.178955,"values":{"Elec_RPM":-3524.4248,"EncoderCos":30477,"EncoderSin":11667,"GapTicks":49409,"Mech_RPM":-704.884949,"cg_du":51.953228,"cg_dv":44.9174156,"cg_dw":55.0825844,"cg_id_a":7.13186646,"cg_id_raw_a":1.65091753,"cg_iq_a":-195.67984,"cg_iq_raw_a":-194.90239,"cg_iu_a":119.09977,"cg_iv_a":-194.741455,"cg_iw_a":75.6416779,"cg_sample_age_us":23.6454544,"cg_sample_seq":13762117,"cg_sample_valid":1,"cg_theta_rad":4.61878252,"cg_vd_req_v":-1.82822049,"cg_vd_v":-1.82822049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50599194,"cg_vq_v":-8.50599194,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-17.6254368,"dclink_p_w":-2550.83521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2479.514893,"values":{"Elec_RPM":-3529.13525,"EncoderCos":50582,"EncoderSin":21604,"GapTicks":50035,"Mech_RPM":-705.827026,"cg_du":45.9901886,"cg_dv":45.486866,"cg_dw":54.513134,"cg_id_a":9.95522404,"cg_id_raw_a":12.8306046,"cg_iq_a":-208.148483,"cg_iq_raw_a":-208.044891,"cg_iu_a":-9.27588844,"cg_iv_a":-174.843582,"cg_iw_a":184.119476,"cg_sample_age_us":23.8272724,"cg_sample_seq":13763767,"cg_sample_valid":1,"cg_theta_rad":5.7391963,"cg_vd_req_v":-1.91209853,"cg_vd_v":-1.91209853,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.23152637,"cg_vq_v":-8.23152637,"cg_vu_v":36.0711899,"cg_vv_v":34.3116188,"cg_vw_v":34.3116188,"control_outputs_enabled":1,"dclink_i_a":-16.8153877,"dclink_p_w":-2426.2041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2479.866455,"values":{"Elec_RPM":-3522.27246,"EncoderCos":50974,"EncoderSin":22306,"GapTicks":49523,"Mech_RPM":-704.454468,"cg_du":47.9479675,"cg_dv":45.021244,"cg_dw":54.978756,"cg_id_a":-10.7365208,"cg_id_raw_a":-5.3455162,"cg_iq_a":-202.949997,"cg_iq_raw_a":-204.471176,"cg_iu_a":11.9629993,"cg_iv_a":-179.736496,"cg_iw_a":167.773499,"cg_sample_age_us":24.045454,"cg_sample_seq":13765517,"cg_sample_valid":1,"cg_theta_rad":5.77839422,"cg_vd_req_v":-1.5083251,"cg_vd_v":-1.5083251,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36562157,"cg_vq_v":-8.36562157,"cg_vu_v":107.773682,"cg_vv_v":109.973145,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-17.4333439,"dclink_p_w":-2523.03467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":143.844864}}
{"type":"state","t":2480.003435,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2480.003441,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2480.003446,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2480.198486,"values":{"Elec_RPM":-3518.99512,"EncoderCos":49929,"EncoderSin":44954,"GapTicks":49363,"Mech_RPM":-703.799011,"cg_du":44.8759766,"cg_dv":48.6851807,"cg_dw":55.1240234,"cg_id_a":0.539050341,"cg_id_raw_a":-4.66227484,"cg_iq_a":-195.4151,"cg_iq_raw_a":-196.883133,"cg_iu_a":-93.0353851,"cg_iv_a":-103.479492,"cg_iw_a":196.514877,"cg_sample_age_us":23.4200001,"cg_sample_seq":13767166,"cg_sample_valid":1,"cg_theta_rad":0.624325693,"cg_vd_req_v":-1.73196685,"cg_vd_v":-1.73196685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50821781,"cg_vq_v":-8.50821781,"cg_vu_v":37.3908691,"cg_vv_v":38.2706528,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-17.1288967,"dclink_p_w":-2478.97363,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2480.550049,"values":{"Elec_RPM":-3529.01489,"EncoderCos":49446,"EncoderSin":45644,"GapTicks":49605,"Mech_RPM":-705.802979,"cg_du":45.0962906,"cg_dv":47.2960815,"cg_dw":54.9037094,"cg_id_a":16.6625786,"cg_id_raw_a":15.1365557,"cg_iq_a":-200.671005,"cg_iq_raw_a":-199.14119,"cg_iu_a":-46.824501,"cg_iv_a":-148.748016,"cg_iw_a":195.572525,"cg_sample_age_us":23.4272728,"cg_sample_seq":13768916,"cg_sample_valid":1,"cg_theta_rad":0.664469957,"cg_vd_req_v":-2.0287447,"cg_vd_v":-2.0287447,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38419151,"cg_vq_v":-8.38419151,"cg_vu_v":37.3908691,"cg_vv_v":37.830761,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-16.8371334,"dclink_p_w":-2436.74829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2480.88208,"values":{"Elec_RPM":-3531.32202,"EncoderCos":28557,"EncoderSin":53576,"GapTicks":49812,"Mech_RPM":-706.264404,"cg_du":45.2838821,"cg_dv":53.4520874,"cg_dw":54.7161179,"cg_id_a":5.76885033,"cg_id_raw_a":9.15867043,"cg_iq_a":-203.249115,"cg_iq_raw_a":-202.062805,"cg_iu_a":-179.186981,"cg_iv_a":3.18612671,"cg_iw_a":176.000854,"cg_sample_age_us":23.863636,"cg_sample_seq":13770566,"cg_sample_valid":1,"cg_theta_rad":1.76986015,"cg_vd_req_v":-1.70840538,"cg_vd_v":-1.70840538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35732937,"cg_vq_v":-8.35732937,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-17.2611866,"dclink_p_w":-2490.52612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2480.995288,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2480.995294,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2480.9953,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2481.218018,"values":{"Elec_RPM":-3537.45093,"EncoderCos":27970,"EncoderSin":53432,"GapTicks":49510,"Mech_RPM":-707.490173,"cg_du":45.0098152,"cg_dv":51.9518127,"cg_dw":54.9901848,"cg_id_a":-9.07876205,"cg_id_raw_a":-5.9618125,"cg_iq_a":-200.631622,"cg_iq_raw_a":-199.940369,"cg_iu_a":-166.429153,"cg_iv_a":-12.2537537,"cg_iw_a":178.682907,"cg_sample_age_us":23.8672733,"cg_sample_seq":13772317,"cg_sample_valid":1,"cg_theta_rad":1.79587555,"cg_vd_req_v":-1.4125514,"cg_vd_v":-1.4125514,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4317646,"cg_vq_v":-8.4317646,"cg_vu_v":95.8965836,"cg_vv_v":95.0167923,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2419.17651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118585482,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2481.56958,"values":{"Elec_RPM":-3534.03369,"EncoderCos":12040,"EncoderSin":37478,"GapTicks":49364,"Mech_RPM":-706.806763,"cg_du":44.8771858,"cg_dv":55.1228142,"cg_dw":51.2721748,"cg_id_a":-5.86808681,"cg_id_raw_a":-9.65338039,"cg_iq_a":-195.250366,"cg_iq_raw_a":-194.574234,"cg_iu_a":-195.170502,"cg_iv_a":107.278404,"cg_iw_a":87.8920975,"cg_sample_age_us":23.9181824,"cg_sample_seq":13773967,"cg_sample_valid":1,"cg_theta_rad":2.91950512,"cg_vd_req_v":-1.48763418,"cg_vd_v":-1.48763418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49287224,"cg_vq_v":-8.49287224,"cg_vu_v":109.973145,"cg_vv_v":114.811958,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-16.7755184,"dclink_p_w":-2427.83105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2481.901611,"values":{"Elec_RPM":-3524.63647,"EncoderCos":11841,"EncoderSin":36526,"GapTicks":49646,"Mech_RPM":-704.927307,"cg_du":45.1329384,"cg_dv":54.8670616,"cg_dw":52.8965416,"cg_id_a":10.8707933,"cg_id_raw_a":8.50776291,"cg_iq_a":-199.591614,"cg_iq_raw_a":-199.401581,"cg_iu_a":-194.953049,"cg_iv_a":65.0543518,"cg_iw_a":129.898697,"cg_sample_age_us":23.8527279,"cg_sample_seq":13775716,"cg_sample_valid":1,"cg_theta_rad":2.95802927,"cg_vd_req_v":-1.83289003,"cg_vd_v":-1.83289003,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40267467,"cg_vq_v":-8.40267467,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-16.8045139,"dclink_p_w":-2424.63525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2598,"hz_tim_isr":5000,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2481.954889,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2481.954895,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2481.9549,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2482.233643,"values":{"Elec_RPM":-3523.30933,"EncoderCos":13033,"EncoderSin":24624,"GapTicks":49358,"Mech_RPM":-704.661865,"cg_du":55.128994,"cg_dv":44.871006,"cg_dw":49.5533905,"cg_id_a":-12.9473381,"cg_id_raw_a":-12.0471659,"cg_iq_a":-198.141464,"cg_iq_raw_a":-199.024826,"cg_iu_a":194.921875,"cg_iv_a":-128.016556,"cg_iw_a":-66.9053192,"cg_sample_age_us":24.0490913,"cg_sample_seq":13777417,"cg_sample_valid":1,"cg_theta_rad":3.53050399,"cg_vd_req_v":-1.40125632,"cg_vd_v":-1.40125632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46690178,"cg_vq_v":-8.46690178,"cg_vu_v":32.5520515,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2488.15308,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2482.585205,"values":{"Elec_RPM":-3522.91699,"EncoderCos":13449,"EncoderSin":23768,"GapTicks":49531,"Mech_RPM":-704.583374,"cg_du":54.9710312,"cg_dv":45.0289688,"cg_dw":47.6384201,"cg_id_a":11.2619705,"cg_id_raw_a":7.4840703,"cg_iq_a":-201.481094,"cg_iq_raw_a":-200.344986,"cg_iu_a":199.452347,"cg_iv_a":-60.4580536,"cg_iw_a":-123.880623,"cg_sample_age_us":24.0709095,"cg_sample_seq":13779166,"cg_sample_valid":1,"cg_theta_rad":3.57956004,"cg_vd_req_v":-1.89032757,"cg_vd_v":-1.89032757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40411091,"cg_vq_v":-8.40411091,"cg_vu_v":46.1887207,"cg_vv_v":41.7897949,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-16.5254364,"dclink_p_w":-2398.90747,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.608551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2482.917236,"values":{"Elec_RPM":-3532.83984,"EncoderCos":42807,"EncoderSin":14071,"GapTicks":49432,"Mech_RPM":-706.567993,"cg_du":48.8914948,"cg_dv":55.0612602,"cg_dw":44.9387398,"cg_id_a":-9.61142063,"cg_id_raw_a":-13.5629663,"cg_iq_a":-202.135315,"cg_iq_raw_a":-201.435089,"cg_iu_a":-89.48349,"cg_iv_a":202.563461,"cg_iw_a":-113.079971,"cg_sample_age_us":23.9581814,"cg_sample_seq":13780767,"cg_sample_valid":1,"cg_theta_rad":5.22217798,"cg_vd_req_v":-1.54983163,"cg_vd_v":-1.54983163,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35700035,"cg_vq_v":-8.35700035,"cg_vu_v":130.208206,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-17.364481,"dclink_p_w":-2505.42993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2482.978857,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2482.978863,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2482.978869,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2483.249268,"values":{"Elec_RPM":-3526.49219,"EncoderCos":51292,"EncoderSin":22834,"GapTicks":49317,"Mech_RPM":-705.298462,"cg_du":49.2186623,"cg_dv":44.8344574,"cg_dw":55.1655426,"cg_id_a":-10.6988401,"cg_id_raw_a":-10.2062187,"cg_iq_a":-197.154724,"cg_iq_raw_a":-199.186569,"cg_iu_a":44.1112785,"cg_iv_a":-187.673904,"cg_iw_a":143.562622,"cg_sample_age_us":23.7690907,"cg_sample_seq":13782467,"cg_sample_valid":1,"cg_theta_rad":5.80697536,"cg_vd_req_v":-1.52315187,"cg_vd_v":-1.52315187,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50350285,"cg_vq_v":-8.50350285,"cg_vu_v":108.21357,"cg_vv_v":110.413033,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-17.5040207,"dclink_p_w":-2533.26343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2483.60083,"values":{"Elec_RPM":-3518.71094,"EncoderCos":51795,"EncoderSin":23877,"GapTicks":49335,"Mech_RPM":-703.742188,"cg_du":51.3562775,"cg_dv":44.8506508,"cg_dw":55.1493492,"cg_id_a":4.60562515,"cg_id_raw_a":0.577131927,"cg_iq_a":-196.5215,"cg_iq_raw_a":-195.733109,"cg_iu_a":94.8888855,"cg_iv_a":-196.372421,"cg_iw_a":101.483536,"cg_sample_age_us":23.6490917,"cg_sample_seq":13784216,"cg_sample_valid":1,"cg_theta_rad":5.85359716,"cg_vd_req_v":-1.84180605,"cg_vd_v":-1.84180605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5070982,"cg_vq_v":-8.5070982,"cg_vu_v":29.912693,"cg_vv_v":1.31967759,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-17.7251072,"dclink_p_w":-2565.26001,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2483.932861,"values":{"Elec_RPM":-3516.71045,"EncoderCos":49182,"EncoderSin":46007,"GapTicks":49829,"Mech_RPM":-703.342102,"cg_du":45.2998924,"cg_dv":46.4401817,"cg_dw":54.7001076,"cg_id_a":17.0939159,"cg_id_raw_a":19.4005585,"cg_iq_a":-204.584106,"cg_iq_raw_a":-203.322266,"cg_iu_a":-30.1160927,"cg_iv_a":-162.122009,"cg_iw_a":192.238098,"cg_sample_age_us":23.5436363,"cg_sample_seq":13785867,"cg_sample_valid":1,"cg_theta_rad":0.682995558,"cg_vd_req_v":-2.02437758,"cg_vd_v":-2.02437758,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30337334,"cg_vq_v":-8.30337334,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8498192,"dclink_p_w":-2438.58423,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2483.970989,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2483.970995,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2483.971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2484.28833,"values":{"Elec_RPM":-3518.47437,"EncoderCos":48563,"EncoderSin":46776,"GapTicks":49778,"Mech_RPM":-703.694885,"cg_du":46.8645401,"cg_dv":45.2532768,"cg_dw":54.7467232,"cg_id_a":1.08921933,"cg_id_raw_a":7.26730156,"cg_iq_a":-206.681427,"cg_iq_raw_a":-208.349472,"cg_iu_a":-3.29565525,"cg_iv_a":-175.568451,"cg_iw_a":178.864105,"cg_sample_age_us":23.4200001,"cg_sample_seq":13787616,"cg_sample_valid":1,"cg_theta_rad":0.731821418,"cg_vd_req_v":-1.6832782,"cg_vd_v":-1.6832782,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29482651,"cg_vq_v":-8.29482651,"cg_vu_v":38.2706528,"cg_vv_v":39.590332,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-17.4315319,"dclink_p_w":-2515.10449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2484.620361,"values":{"Elec_RPM":-3511.2998,"EncoderCos":27098,"EncoderSin":53230,"GapTicks":49363,"Mech_RPM":-702.259949,"cg_du":44.8762207,"cg_dv":49.9620972,"cg_dw":55.1237793,"cg_id_a":-16.1668224,"cg_id_raw_a":-15.404973,"cg_iq_a":-198.108215,"cg_iq_raw_a":-200.600998,"cg_iu_a":-141.565887,"cg_iv_a":-50.5272369,"cg_iw_a":192.093124,"cg_sample_age_us":23.7836361,"cg_sample_seq":13789266,"cg_sample_valid":1,"cg_theta_rad":1.84289324,"cg_vd_req_v":-1.29113042,"cg_vd_v":-1.29113042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46471119,"cg_vq_v":-8.46471119,"cg_vu_v":131.087982,"cg_vv_v":1.31967759,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-16.9802971,"dclink_p_w":-2464.93726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2484.952393,"values":{"Elec_RPM":-3512.4126,"EncoderCos":26253,"EncoderSin":52996,"GapTicks":49466,"Mech_RPM":-702.482544,"cg_du":44.9693832,"cg_dv":48.3705215,"cg_dw":55.0306168,"cg_id_a":-5.89851999,"cg_id_raw_a":-11.5313959,"cg_iq_a":-198.113541,"cg_iq_raw_a":-198.595947,"cg_iu_a":-97.6745987,"cg_iv_a":-100.471245,"cg_iw_a":197.38472,"cg_sample_age_us":23.863636,"cg_sample_seq":13791016,"cg_sample_valid":1,"cg_theta_rad":1.87711287,"cg_vd_req_v":-1.5123682,"cg_vd_v":-1.5123682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44422531,"cg_vq_v":-8.44422531,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.9422398,"dclink_p_w":-2451.95972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2484.994687,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2484.994693,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2484.994699,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2485.303955,"values":{"Elec_RPM":-3510.08765,"EncoderCos":11728,"EncoderSin":35937,"GapTicks":49938,"Mech_RPM":-702.017517,"cg_du":45.3985748,"cg_dv":54.6014252,"cg_dw":54.0935287,"cg_id_a":10.9052477,"cg_id_raw_a":10.3477583,"cg_iq_a":-199.771927,"cg_iq_raw_a":-199.801788,"cg_iu_a":-185.819611,"cg_iv_a":25.548584,"cg_iw_a":160.271027,"cg_sample_age_us":23.8418179,"cg_sample_seq":13792666,"cg_sample_valid":1,"cg_theta_rad":2.99612403,"cg_vd_req_v":-1.82389474,"cg_vd_v":-1.82389474,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42312336,"cg_vq_v":-8.42312336,"cg_vu_v":37.830761,"cg_vv_v":43.9892578,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-17.5547619,"dclink_p_w":-2532.88452,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2485.635986,"values":{"Elec_RPM":-3509.53467,"EncoderCos":11663,"EncoderSin":35132,"GapTicks":49716,"Mech_RPM":-701.906921,"cg_du":45.1968842,"cg_dv":53.1724243,"cg_dw":54.8031158,"cg_id_a":3.43741989,"cg_id_raw_a":10.0405283,"cg_iq_a":-201.905579,"cg_iq_raw_a":-202.919495,"cg_iu_a":-175.888794,"cg_iv_a":-0.402008057,"cg_iw_a":176.290802,"cg_sample_age_us":23.9654541,"cg_sample_seq":13794416,"cg_sample_valid":1,"cg_theta_rad":3.03073454,"cg_vd_req_v":-1.66206622,"cg_vd_v":-1.66206622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4015274,"cg_vq_v":-8.4015274,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-17.1343327,"dclink_p_w":-2487.29761,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2485.971924,"values":{"Elec_RPM":-3513.85474,"EncoderCos":21106,"EncoderSin":14920,"GapTicks":49345,"Mech_RPM":-702.770935,"cg_du":44.8591309,"cg_dv":55.1408691,"cg_dw":49.9745483,"cg_id_a":-16.4409065,"cg_id_raw_a":-19.6235447,"cg_iq_a":-195.741409,"cg_iq_raw_a":-196.568359,"cg_iu_a":-187.595551,"cg_iv_a":141.637573,"cg_iw_a":45.9579773,"cg_sample_age_us":23.9472733,"cg_sample_seq":13796067,"cg_sample_valid":1,"cg_theta_rad":4.1415081,"cg_vd_req_v":-1.31347966,"cg_vd_v":-1.31347966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49012661,"cg_vq_v":-8.49012661,"cg_vu_v":97.6561432,"cg_vv_v":102.93486,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-16.8896866,"dclink_p_w":-2444.354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2485.987244,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2485.98725,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2485.987255,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2486.323486,"values":{"Elec_RPM":-3515.04883,"EncoderCos":21994,"EncoderSin":14431,"GapTicks":49454,"Mech_RPM":-703.009766,"cg_du":44.9588356,"cg_dv":55.0411644,"cg_dw":51.7623558,"cg_id_a":-1.45179725,"cg_id_raw_a":-3.39864469,"cg_iq_a":-197.485733,"cg_iq_raw_a":-198.032852,"cg_iu_a":-198.35997,"cg_iv_a":88.2141571,"cg_iw_a":110.145813,"cg_sample_age_us":23.8272724,"cg_sample_seq":13797816,"cg_sample_valid":1,"cg_theta_rad":4.19299316,"cg_vd_req_v":-1.63464999,"cg_vd_v":-1.63464999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43746948,"cg_vq_v":-8.43746948,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-17.0346622,"dclink_p_w":-2465.33569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5438538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2486.655518,"values":{"Elec_RPM":-3511.44971,"EncoderCos":51744,"EncoderSin":23716,"GapTicks":49344,"Mech_RPM":-702.289917,"cg_du":51.0510216,"cg_dv":44.8585777,"cg_dw":55.1414223,"cg_id_a":1.60095549,"cg_id_raw_a":-3.05378842,"cg_iq_a":-196.571915,"cg_iq_raw_a":-195.865128,"cg_iu_a":99.9267807,"cg_iv_a":-197.71344,"cg_iw_a":97.7866592,"cg_sample_age_us":23.7399998,"cg_sample_seq":13799416,"cg_sample_valid":1,"cg_theta_rad":5.85230207,"cg_vd_req_v":-1.78616405,"cg_vd_v":-1.78616405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49213886,"cg_vq_v":-8.49213886,"cg_vu_v":26.3935547,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.6200008,"dclink_p_w":-2550.04858,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2486.978994,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2486.979,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2486.979005,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2487.00708,"values":{"Elec_RPM":-3524.93408,"EncoderCos":51601,"EncoderSin":23490,"GapTicks":49319,"Mech_RPM":-704.986816,"cg_du":50.6339035,"cg_dv":44.8362274,"cg_dw":55.1637726,"cg_id_a":-5.06723499,"cg_id_raw_a":-9.38399696,"cg_iq_a":-194.886368,"cg_iq_raw_a":-193.985596,"cg_iu_a":133.706039,"cg_iv_a":-195.393829,"cg_iw_a":61.6877975,"cg_sample_age_us":23.7181816,"cg_sample_seq":13801171,"cg_sample_valid":1,"cg_theta_rad":5.88478851,"cg_vd_req_v":-1.64549172,"cg_vd_v":-1.64549172,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51986313,"cg_vq_v":-8.51986313,"cg_vu_v":106.453995,"cg_vv_v":92.3774414,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-17.8537731,"dclink_p_w":-2583.8811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2487.339111,"values":{"Elec_RPM":-3525.44727,"EncoderCos":53396,"EncoderSin":36095,"GapTicks":49342,"Mech_RPM":-705.089478,"cg_du":49.8694763,"cg_dv":55.1435356,"cg_dw":44.8564644,"cg_id_a":-16.2689972,"cg_id_raw_a":-14.1742191,"cg_iq_a":-197.291321,"cg_iq_raw_a":-195.013016,"cg_iu_a":-56.5016022,"cg_iv_a":193.574997,"cg_iw_a":-137.073395,"cg_sample_age_us":23.5145454,"cg_sample_seq":13802867,"cg_sample_valid":1,"cg_theta_rad":0.168799654,"cg_vd_req_v":-1.39959514,"cg_vd_v":-1.39959514,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45529079,"cg_vq_v":-8.45529079,"cg_vu_v":144.724655,"cg_vv_v":142.525192,"cg_vw_v":135.926804,"control_outputs_enabled":1,"dclink_i_a":-16.8987484,"dclink_p_w":-2438.23193,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2487.671143,"values":{"Elec_RPM":-3531.20068,"EncoderCos":48274,"EncoderSin":47104,"GapTicks":49523,"Mech_RPM":-706.240112,"cg_du":47.9303436,"cg_dv":45.0216866,"cg_dw":54.9783134,"cg_id_a":-9.56192589,"cg_id_raw_a":-3.01212621,"cg_iq_a":-202.693085,"cg_iq_raw_a":-204.216583,"cg_iu_a":8.99100494,"cg_iv_a":-178.72168,"cg_iw_a":169.730667,"cg_sample_age_us":23.8781815,"cg_sample_seq":13804567,"cg_sample_valid":1,"cg_theta_rad":0.748166502,"cg_vd_req_v":-1.47435033,"cg_vd_v":-1.47435033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40134621,"cg_vq_v":-8.40134621,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2400.31836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5384827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2488.002609,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2488.002615,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2488.00262,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2488.022705,"values":{"Elec_RPM":-3522.16089,"EncoderCos":37566,"EncoderSin":53230,"GapTicks":49938,"Mech_RPM":-704.43219,"cg_du":53.9444695,"cg_dv":54.6011429,"cg_dw":45.3988571,"cg_id_a":8.53015614,"cg_id_raw_a":10.7910185,"cg_iq_a":-201.73288,"cg_iq_raw_a":-204.293121,"cg_iu_a":16.6746979,"cg_iv_a":165.268555,"cg_iw_a":-181.943253,"cg_sample_age_us":23.8199997,"cg_sample_seq":13806266,"cg_sample_valid":1,"cg_theta_rad":1.33223999,"cg_vd_req_v":-1.78335977,"cg_vd_v":-1.78335977,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39203072,"cg_vq_v":-8.39203072,"cg_vu_v":13.1967773,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.8555851,"dclink_p_w":-2576.28882,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2488.514893,"values":{"Elec_RPM":-3521.12354,"EncoderCos":40115,"EncoderSin":52517,"GapTicks":49364,"Mech_RPM":-704.224731,"cg_du":55.1235237,"cg_dv":49.9840927,"cg_dw":44.8764763,"cg_id_a":-8.66664696,"cg_id_raw_a":-11.0600719,"cg_iq_a":-197.24884,"cg_iq_raw_a":-197.108505,"cg_iu_a":132.401245,"cg_iv_a":62.9159698,"cg_iw_a":-195.317215,"cg_sample_age_us":23.9872723,"cg_sample_seq":13808616,"cg_sample_valid":1,"cg_theta_rad":1.21373749,"cg_vd_req_v":-1.4719038,"cg_vd_v":-1.4719038,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46107292,"cg_vq_v":-8.46107292,"cg_vu_v":43.549366,"cg_vv_v":46.6286087,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-17.5692596,"dclink_p_w":-2542.70508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5349121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2488.867346,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2488.867357,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2488.86736,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2488.963337,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2488.963343,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2488.963349,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2489.018799,"values":{"Elec_RPM":-3524.11987,"EncoderCos":13710,"EncoderSin":23323,"GapTicks":49787,"Mech_RPM":-704.823975,"cg_du":54.7389297,"cg_dv":45.2610703,"cg_dw":46.7109871,"cg_id_a":15.4500027,"cg_id_raw_a":17.0999889,"cg_iq_a":-202.970428,"cg_iq_raw_a":-202.567993,"cg_iu_a":193.10968,"cg_iv_a":-36.3921509,"cg_iw_a":-156.717529,"cg_sample_age_us":24.0745449,"cg_sample_seq":13811316,"cg_sample_valid":1,"cg_theta_rad":3.60714865,"cg_vd_req_v":-1.94553268,"cg_vd_v":-1.94553268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33336449,"cg_vq_v":-8.33336449,"cg_vu_v":21.9946289,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7827682,"dclink_p_w":-2421.4978,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2489.35083,"values":{"Elec_RPM":-3526.51318,"EncoderCos":32612,"EncoderSin":11586,"GapTicks":49612,"Mech_RPM":-705.302612,"cg_du":54.8980103,"cg_dv":45.1019897,"cg_dw":52.5690308,"cg_id_a":-3.11062145,"cg_id_raw_a":3.83747983,"cg_iq_a":-200.458755,"cg_iq_raw_a":-202.084915,"cg_iu_a":174.407867,"cg_iv_a":-169.69696,"cg_iw_a":-4.71089935,"cg_sample_age_us":23.9690914,"cg_sample_seq":13812966,"cg_sample_valid":1,"cg_theta_rad":4.72057962,"cg_vd_req_v":-1.57333982,"cg_vd_v":-1.57333982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40634346,"cg_vq_v":-8.40634346,"cg_vu_v":128.448624,"cg_vv_v":117.451309,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.4601974,"dclink_p_w":-2382.19629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5474548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2489.682861,"values":{"Elec_RPM":-3534.15283,"EncoderCos":43923,"EncoderSin":14764,"GapTicks":49765,"Mech_RPM":-706.830566,"cg_du":46.6273041,"cg_dv":54.7588692,"cg_dw":45.2411308,"cg_id_a":11.3119907,"cg_id_raw_a":11.7412739,"cg_iq_a":-203.884537,"cg_iq_raw_a":-203.000931,"cg_iu_a":-155.012329,"cg_iv_a":193.285034,"cg_iw_a":-48.6021881,"cg_sample_age_us":23.9654541,"cg_sample_seq":13814667,"cg_sample_valid":1,"cg_theta_rad":5.28288221,"cg_vd_req_v":-1.9666574,"cg_vd_v":-1.9666574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36463261,"cg_vq_v":-8.36463261,"cg_vu_v":99.4157181,"cg_vv_v":102.93486,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2459.14966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2489.987473,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2489.987479,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2489.987484,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2490.03833,"values":{"Elec_RPM":-3527.32178,"EncoderCos":51924,"EncoderSin":24189,"GapTicks":49444,"Mech_RPM":-705.464355,"cg_du":51.91642,"cg_dv":44.9499435,"cg_dw":55.0500565,"cg_id_a":10.8763332,"cg_id_raw_a":2.95728922,"cg_iq_a":-198.11644,"cg_iq_raw_a":-197.186096,"cg_iu_a":123.666496,"cg_iv_a":-196.879837,"cg_iw_a":73.2133408,"cg_sample_age_us":23.7181816,"cg_sample_seq":13816367,"cg_sample_valid":1,"cg_theta_rad":5.87354803,"cg_vd_req_v":-1.95793688,"cg_vd_v":-1.95793688,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44169331,"cg_vq_v":-8.44169331,"cg_vu_v":105.134323,"cg_vv_v":73.462059,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-16.2463589,"dclink_p_w":-2351.24878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2490.366455,"values":{"Elec_RPM":-3519.87402,"EncoderCos":39486,"EncoderSin":52754,"GapTicks":49388,"Mech_RPM":-703.974792,"cg_du":55.1014938,"cg_dv":51.1612167,"cg_dw":44.8985062,"cg_id_a":1.41494167,"cg_id_raw_a":-3.2557795,"cg_iq_a":-200.421722,"cg_iq_raw_a":-199.006897,"cg_iu_a":101.376541,"cg_iv_a":102.276749,"cg_iw_a":-203.65329,"cg_sample_age_us":23.8999996,"cg_sample_seq":13817966,"cg_sample_valid":1,"cg_theta_rad":1.24174905,"cg_vd_req_v":-1.69639087,"cg_vd_v":-1.69639087,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4295969,"cg_vq_v":-8.4295969,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":18.0355949,"control_outputs_enabled":1,"dclink_i_a":-17.9135761,"dclink_p_w":-2592.53613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2490.702393,"values":{"Elec_RPM":-3518.99512,"EncoderCos":48398,"EncoderSin":46936,"GapTicks":49612,"Mech_RPM":-703.799011,"cg_du":47.4304276,"cg_dv":45.1027145,"cg_dw":54.8972855,"cg_id_a":-5.1520586,"cg_id_raw_a":1.17760253,"cg_iq_a":-203.875443,"cg_iq_raw_a":-205.904251,"cg_iu_a":2.46711397,"cg_iv_a":-176.619522,"cg_iw_a":174.152405,"cg_sample_age_us":23.5145454,"cg_sample_seq":13819767,"cg_sample_valid":1,"cg_theta_rad":0.737003446,"cg_vd_req_v":-1.559466,"cg_vd_v":-1.559466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38146782,"cg_vq_v":-8.38146782,"cg_vu_v":123.169922,"cg_vv_v":129.328415,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.2246132,"dclink_p_w":-2348.10156,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2491.010992,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2491.010997,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2491.011003,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2491.053955,"values":{"Elec_RPM":-3516.10596,"EncoderCos":18066,"EncoderSin":48055,"GapTicks":49617,"Mech_RPM":-703.221191,"cg_du":54.8931885,"cg_dv":45.1068115,"cg_dw":47.2715263,"cg_id_a":15.0310669,"cg_id_raw_a":12.3440866,"cg_iq_a":-201.772003,"cg_iq_raw_a":-200.486404,"cg_iu_a":177.488586,"cg_iv_a":-12.217514,"cg_iw_a":-170.091507,"cg_sample_age_us":23.8927269,"cg_sample_seq":13821372,"cg_sample_valid":1,"cg_theta_rad":2.3870306,"cg_vd_req_v":-1.96522093,"cg_vd_v":-1.96522093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36268044,"cg_vq_v":-8.36268044,"cg_vu_v":105.134323,"cg_vv_v":87.53862,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-18.2597046,"dclink_p_w":-2642.62939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2589,"hz_tim_isr":4998,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2491.385986,"values":{"Elec_RPM":-3519.59961,"EncoderCos":16709,"EncoderSin":46626,"GapTicks":49433,"Mech_RPM":-703.919922,"cg_du":55.0603027,"cg_dv":48.1805382,"cg_dw":44.9396973,"cg_id_a":-10.189311,"cg_id_raw_a":-6.69577694,"cg_iq_a":-196.336914,"cg_iq_raw_a":-196.335739,"cg_iu_a":160.3815,"cg_iv_a":15.0016174,"cg_iw_a":-174.404541,"cg_sample_age_us":23.9436359,"cg_sample_seq":13823117,"cg_sample_valid":1,"cg_theta_rad":2.42716026,"cg_vd_req_v":-1.41797543,"cg_vd_v":-1.41797543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49293041,"cg_vq_v":-8.49293041,"cg_vu_v":106.453995,"cg_vv_v":101.175293,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.2521248,"dclink_p_w":-2489.21875,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4775085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2491.718018,"values":{"Elec_RPM":-3512.7959,"EncoderCos":11712,"EncoderSin":35690,"GapTicks":50023,"Mech_RPM":-702.559204,"cg_du":45.4760284,"cg_dv":54.39151,"cg_dw":54.5239716,"cg_id_a":9.97518635,"cg_id_raw_a":10.7087383,"cg_iq_a":-199.517303,"cg_iq_raw_a":-198.070313,"cg_iu_a":-180.672974,"cg_iv_a":24.9324188,"cg_iw_a":160.162308,"cg_sample_age_us":23.8418179,"cg_sample_seq":13824817,"cg_sample_valid":1,"cg_theta_rad":3.00202703,"cg_vd_req_v":-1.79712439,"cg_vd_v":-1.79712439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45123959,"cg_vq_v":-8.45123959,"cg_vu_v":106.014107,"cg_vv_v":105.574219,"cg_vw_v":103.814644,"control_outputs_enabled":1,"dclink_i_a":-16.0742016,"dclink_p_w":-2326.33325,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2492.002744,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2492.002749,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2492.002755,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2492.06958,"values":{"Elec_RPM":-3514.57544,"EncoderCos":11565,"EncoderSin":34820,"GapTicks":49581,"Mech_RPM":-702.9151,"cg_du":45.0742455,"cg_dv":52.341114,"cg_dw":54.9257545,"cg_id_a":-5.00512409,"cg_id_raw_a":-1.49114299,"cg_iq_a":-200.465805,"cg_iq_raw_a":-199.991867,"cg_iu_a":-169.727341,"cg_iv_a":-4.93249512,"cg_iw_a":174.659836,"cg_sample_age_us":23.9254551,"cg_sample_seq":13826567,"cg_sample_valid":1,"cg_theta_rad":3.04627633,"cg_vd_req_v":-1.48109889,"cg_vd_v":-1.48109889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40641308,"cg_vq_v":-8.40641308,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-16.9621754,"dclink_p_w":-2454.84497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2492.405518,"values":{"Elec_RPM":-3512.5874,"EncoderCos":21583,"EncoderSin":14573,"GapTicks":49368,"Mech_RPM":-702.517456,"cg_du":44.8808289,"cg_dv":55.1191711,"cg_dw":51.0047112,"cg_id_a":-7.7334013,"cg_id_raw_a":-7.98103666,"cg_iq_a":-197.325195,"cg_iq_raw_a":-198.825165,"cg_iu_a":-193.938232,"cg_iv_a":122.35585,"cg_iw_a":71.5823822,"cg_sample_age_us":23.8527279,"cg_sample_seq":13828216,"cg_sample_valid":1,"cg_theta_rad":4.16302538,"cg_vd_req_v":-1.51606226,"cg_vd_v":-1.51606226,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47504902,"cg_vq_v":-8.47504902,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-16.987545,"dclink_p_w":-2458.5166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2492.737549,"values":{"Elec_RPM":-3518.56909,"EncoderCos":33090,"EncoderSin":11601,"GapTicks":49389,"Mech_RPM":-703.713806,"cg_du":55.1006622,"cg_dv":44.8993378,"cg_dw":51.346138,"cg_id_a":-15.6839447,"cg_id_raw_a":-13.1069183,"cg_iq_a":-197.23912,"cg_iq_raw_a":-197.865707,"cg_iu_a":177.778534,"cg_iv_a":-161.904541,"cg_iw_a":-15.8740005,"cg_sample_age_us":24.0927277,"cg_sample_seq":13829917,"cg_sample_valid":1,"cg_theta_rad":4.74161339,"cg_vd_req_v":-1.33676326,"cg_vd_v":-1.33676326,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49150467,"cg_vq_v":-8.49150467,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.8863926,"dclink_p_w":-2580.73389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2492.963532,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2492.963538,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2492.963543,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2493.089111,"values":{"Elec_RPM":-3517.7771,"EncoderCos":34126,"EncoderSin":11608,"GapTicks":49350,"Mech_RPM":-703.55542,"cg_du":55.1359482,"cg_dv":44.8640518,"cg_dw":49.2670403,"cg_id_a":-11.5208435,"cg_id_raw_a":-14.1647091,"cg_iq_a":-195.336807,"cg_iq_raw_a":-194.778992,"cg_iu_a":195.175568,"cg_iv_a":-118.810608,"cg_iw_a":-76.3649597,"cg_sample_age_us":24.0709095,"cg_sample_seq":13831666,"cg_sample_valid":1,"cg_theta_rad":4.79360914,"cg_vd_req_v":-1.45167112,"cg_vd_v":-1.45167112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51527405,"cg_vq_v":-8.51527405,"cg_vu_v":29.912693,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8842506,"dclink_p_w":-2443.56738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2493.421143,"values":{"Elec_RPM":-3514.33569,"EncoderCos":45236,"EncoderSin":15688,"GapTicks":49531,"Mech_RPM":-702.867126,"cg_du":45.0288811,"cg_dv":54.9711189,"cg_dw":48.0402679,"cg_id_a":-10.9117336,"cg_id_raw_a":-4.66427898,"cg_iq_a":-199.498108,"cg_iq_raw_a":-200.86824,"cg_iu_a":-177.157318,"cg_iv_a":167.225708,"cg_iw_a":9.93161011,"cg_sample_age_us":23.9218178,"cg_sample_seq":13833367,"cg_sample_valid":1,"cg_theta_rad":5.36188936,"cg_vd_req_v":-1.49666739,"cg_vd_v":-1.49666739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41369629,"cg_vq_v":-8.41369629,"cg_vu_v":106.014107,"cg_vv_v":106.014107,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2413.14404,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2493.772705,"values":{"Elec_RPM":-3517.46387,"EncoderCos":52391,"EncoderSin":25426,"GapTicks":50071,"Mech_RPM":-703.492798,"cg_du":54.4358559,"cg_dv":45.519146,"cg_dw":54.480854,"cg_id_a":16.0047646,"cg_id_raw_a":19.394125,"cg_iq_a":-203.281525,"cg_iq_raw_a":-203.757446,"cg_iu_a":170.747238,"cg_iv_a":-182.672241,"cg_iw_a":11.9250107,"cg_sample_age_us":24.2199993,"cg_sample_seq":13835067,"cg_sample_valid":1,"cg_theta_rad":5.94084215,"cg_vd_req_v":-2.02513123,"cg_vd_v":-2.02513123,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35681534,"cg_vq_v":-8.35681534,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.8443813,"dclink_p_w":-2430.38745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2493.986724,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2493.986729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2493.986735,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2494.104736,"values":{"Elec_RPM":-3519.66528,"EncoderCos":38173,"EncoderSin":53120,"GapTicks":49880,"Mech_RPM":-703.933044,"cg_du":54.6542587,"cg_dv":53.6703568,"cg_dw":45.3457413,"cg_id_a":13.6175423,"cg_id_raw_a":13.9771404,"cg_iq_a":-203.882614,"cg_iq_raw_a":-202.940918,"cg_iu_a":29.7949638,"cg_iv_a":158.672165,"cg_iw_a":-188.467133,"cg_sample_age_us":23.8927269,"cg_sample_seq":13836667,"cg_sample_valid":1,"cg_theta_rad":1.3091625,"cg_vd_req_v":-1.89912558,"cg_vd_v":-1.89912558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33244991,"cg_vq_v":-8.33244991,"cg_vu_v":121.850235,"cg_vv_v":143.404984,"cg_vw_v":131.527878,"control_outputs_enabled":1,"dclink_i_a":-17.3807907,"dclink_p_w":-2515.42896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2494.436768,"values":{"Elec_RPM":-3515.89087,"EncoderCos":37328,"EncoderSin":53328,"GapTicks":49795,"Mech_RPM":-703.178162,"cg_du":53.3707962,"cg_dv":54.7310677,"cg_dw":45.2689323,"cg_id_a":4.77407074,"cg_id_raw_a":7.13857603,"cg_iq_a":-200.958954,"cg_iq_raw_a":-201.33313,"cg_iu_a":4.93169498,"cg_iv_a":169.581573,"cg_iw_a":-179.986084,"cg_sample_age_us":23.9181824,"cg_sample_seq":13838417,"cg_sample_valid":1,"cg_theta_rad":1.3469137,"cg_vd_req_v":-1.70170534,"cg_vd_v":-1.70170534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37796307,"cg_vq_v":-8.37796307,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":127.12896,"control_outputs_enabled":1,"dclink_i_a":-17.0400982,"dclink_p_w":-2458.62646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2494.792236,"values":{"Elec_RPM":-3516.40649,"EncoderCos":16741,"EncoderSin":46641,"GapTicks":49446,"Mech_RPM":-703.281311,"cg_du":55.0483017,"cg_dv":48.0163994,"cg_dw":44.9516983,"cg_id_a":-9.24109077,"cg_id_raw_a":-6.03499317,"cg_iq_a":-196.977142,"cg_iq_raw_a":-200.17424,"cg_iu_a":131.712616,"cg_iv_a":65.2718201,"cg_iw_a":-196.984436,"cg_sample_age_us":26.8090916,"cg_sample_seq":13840070,"cg_sample_valid":1,"cg_theta_rad":2.47077274,"cg_vd_req_v":-1.44103777,"cg_vd_v":-1.44103777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50322342,"cg_vq_v":-8.50322342,"cg_vu_v":31.6722641,"cg_vv_v":10.5574207,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.1180229,"dclink_p_w":-2477.3999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2494.979365,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2494.97937,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2494.979376,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2495.124268,"values":{"Elec_RPM":-3515.53735,"EncoderCos":24680,"EncoderSin":52421,"GapTicks":50097,"Mech_RPM":-703.107483,"cg_du":45.6573524,"cg_dv":45.5432434,"cg_dw":54.4567566,"cg_id_a":12.733983,"cg_id_raw_a":14.2468405,"cg_iq_a":-206.477234,"cg_iq_raw_a":-204.866989,"cg_iu_a":-13.7701225,"cg_iv_a":-170.639297,"cg_iw_a":184.409424,"cg_sample_age_us":23.8454552,"cg_sample_seq":13841867,"cg_sample_valid":1,"cg_theta_rad":1.95748448,"cg_vd_req_v":-1.87284553,"cg_vd_v":-1.87284553,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.31113911,"cg_vq_v":-8.31113911,"cg_vu_v":139.445938,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.2430649,"dclink_p_w":-2487.91138,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2495.456299,"values":{"Elec_RPM":-3499.30151,"EncoderCos":13920,"EncoderSin":22921,"GapTicks":50059,"Mech_RPM":-699.860291,"cg_du":54.4910316,"cg_dv":45.5089684,"cg_dw":45.8177338,"cg_id_a":13.7895432,"cg_id_raw_a":19.4883747,"cg_iq_a":-204.05864,"cg_iq_raw_a":-206.302155,"cg_iu_a":184.882324,"cg_iv_a":-17.7265625,"cg_iw_a":-167.155762,"cg_sample_age_us":24.0636368,"cg_sample_seq":13843466,"cg_sample_valid":1,"cg_theta_rad":3.62760735,"cg_vd_req_v":-1.9034884,"cg_vd_v":-1.9034884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30579948,"cg_vq_v":-8.30579948,"cg_vu_v":28.5930176,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.2285671,"dclink_p_w":-2493.39844,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2495.807861,"values":{"Elec_RPM":-3506.31787,"EncoderCos":11505,"EncoderSin":33111,"GapTicks":49408,"Mech_RPM":-701.26355,"cg_du":44.9171219,"cg_dv":49.130867,"cg_dw":55.0828781,"cg_id_a":-7.19551182,"cg_id_raw_a":-10.5600214,"cg_iq_a":-197.898987,"cg_iq_raw_a":-199.729614,"cg_iu_a":-119.130951,"cg_iv_a":-76.5503082,"cg_iw_a":195.681259,"cg_sample_age_us":23.8381824,"cg_sample_seq":13845266,"cg_sample_valid":1,"cg_theta_rad":3.11918855,"cg_vd_req_v":-1.4031353,"cg_vd_v":-1.4031353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41935349,"cg_vq_v":-8.41935349,"cg_vu_v":103.814644,"cg_vv_v":99.4157181,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-16.4076443,"dclink_p_w":-2367.37305,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2495.971724,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2495.971729,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2495.971735,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2496.139893,"values":{"Elec_RPM":-3501.26196,"EncoderCos":33732,"EncoderSin":11605,"GapTicks":49326,"Mech_RPM":-700.25238,"cg_du":55.1578789,"cg_dv":44.8421211,"cg_dw":49.9854355,"cg_id_a":-16.1264687,"cg_id_raw_a":-15.9280987,"cg_iq_a":-194.877411,"cg_iq_raw_a":-194.110092,"cg_iu_a":190.318909,"cg_iv_a":-137.512451,"cg_iw_a":-52.8064651,"cg_sample_age_us":24.0890903,"cg_sample_seq":13846867,"cg_sample_valid":1,"cg_theta_rad":4.77652216,"cg_vd_req_v":-1.34292412,"cg_vd_v":-1.34292412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51427555,"cg_vq_v":-8.51427555,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.5924873,"dclink_p_w":-2401.34204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2496.471924,"values":{"Elec_RPM":-3509.51636,"EncoderCos":34645,"EncoderSin":11651,"GapTicks":49426,"Mech_RPM":-701.903259,"cg_du":55.0665436,"cg_dv":44.9334564,"cg_dw":48.4149742,"cg_id_a":-0.373438478,"cg_id_raw_a":-6.83268976,"cg_iq_a":-197.476303,"cg_iq_raw_a":-196.877533,"cg_iu_a":197.676392,"cg_iv_a":-90.5041809,"cg_iw_a":-107.172211,"cg_sample_age_us":24.0854549,"cg_sample_seq":13848617,"cg_sample_valid":1,"cg_theta_rad":4.81420898,"cg_vd_req_v":-1.67757976,"cg_vd_v":-1.67757976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43875313,"cg_vq_v":-8.43875313,"cg_vu_v":105.574219,"cg_vv_v":73.462059,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2438.10425,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2496.823486,"values":{"Elec_RPM":-3506.60791,"EncoderCos":52366,"EncoderSin":25258,"GapTicks":49933,"Mech_RPM":-701.321594,"cg_du":54.0949631,"cg_dv":45.3937263,"cg_dw":54.6062737,"cg_id_a":18.4289665,"cg_id_raw_a":19.6949825,"cg_iq_a":-202.511322,"cg_iq_raw_a":-202.346191,"cg_iu_a":167.992706,"cg_iv_a":-183.578339,"cg_iw_a":15.58564,"cg_sample_age_us":24.2163639,"cg_sample_seq":13850267,"cg_sample_valid":1,"cg_theta_rad":5.93000412,"cg_vd_req_v":-2.08235526,"cg_vd_v":-2.08235526,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37102795,"cg_vq_v":-8.37102795,"cg_vu_v":142.965088,"cg_vv_v":138.566162,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2411.82324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2496.99479,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2496.994796,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2496.994802,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2497.159424,"values":{"Elec_RPM":-3506.47656,"EncoderCos":52658,"EncoderSin":26082,"GapTicks":49622,"Mech_RPM":-701.295288,"cg_du":54.8887291,"cg_dv":45.1112709,"cg_dw":52.8098373,"cg_id_a":-0.440505266,"cg_id_raw_a":3.99386144,"cg_iq_a":-201.845383,"cg_iq_raw_a":-204.646896,"cg_iu_a":172.631927,"cg_iv_a":-174.843582,"cg_iw_a":0.254501343,"cg_sample_age_us":24.1981812,"cg_sample_seq":13852017,"cg_sample_valid":1,"cg_theta_rad":5.96822739,"cg_vd_req_v":-1.68689024,"cg_vd_v":-1.68689024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41420555,"cg_vq_v":-8.41420555,"cg_vu_v":143.404984,"cg_vv_v":127.568848,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.8244476,"dclink_p_w":-2434.91235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.529541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2497.491455,"values":{"Elec_RPM":-3509.92041,"EncoderCos":47257,"EncoderSin":48123,"GapTicks":49335,"Mech_RPM":-701.98407,"cg_du":50.775013,"cg_dv":44.8508606,"cg_dw":55.1491394,"cg_id_a":-2.93622279,"cg_id_raw_a":-6.6865449,"cg_iq_a":-195.34938,"cg_iq_raw_a":-195.136551,"cg_iu_a":87.9663162,"cg_iv_a":-192.9655,"cg_iw_a":120.837738,"cg_sample_age_us":23.6127281,"cg_sample_seq":13853666,"cg_sample_valid":1,"cg_theta_rad":0.813234687,"cg_vd_req_v":-1.63799214,"cg_vd_v":-1.63799214,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50734329,"cg_vq_v":-8.50734329,"cg_vu_v":40.4701157,"cg_vv_v":40.9100075,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.6975956,"dclink_p_w":-2416.55371,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2497.843018,"values":{"Elec_RPM":-3512.70288,"EncoderCos":46811,"EncoderSin":48544,"GapTicks":49441,"Mech_RPM":-702.540588,"cg_du":51.7999535,"cg_dv":44.9471245,"cg_dw":55.0528755,"cg_id_a":8.32394791,"cg_id_raw_a":4.34866858,"cg_iq_a":-199.081573,"cg_iq_raw_a":-197.750793,"cg_iu_a":121.600594,"cg_iv_a":-198.764511,"cg_iw_a":77.1639175,"cg_sample_age_us":23.5690918,"cg_sample_seq":13855417,"cg_sample_valid":1,"cg_theta_rad":0.848497629,"cg_vd_req_v":-1.86418402,"cg_vd_v":-1.86418402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41680717,"cg_vq_v":-8.41680717,"cg_vu_v":106.893898,"cg_vv_v":98.0960464,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.5616798,"dclink_p_w":-2396.8833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5241394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2497.986641,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2497.986648,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2497.986653,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2498.264893,"values":{"Elec_RPM":-3504.57178,"EncoderCos":12217,"EncoderSin":27336,"GapTicks":49832,"Mech_RPM":-700.914368,"cg_du":53.6105995,"cg_dv":45.3019714,"cg_dw":54.6980286,"cg_id_a":13.8618984,"cg_id_raw_a":10.5562019,"cg_iq_a":-200.578186,"cg_iq_raw_a":-200.277664,"cg_iu_a":156.575897,"cg_iv_a":-188.724976,"cg_iw_a":32.1490784,"cg_sample_age_us":23.7254543,"cg_sample_seq":13857517,"cg_sample_valid":1,"cg_theta_rad":3.40278125,"cg_vd_req_v":-1.91938591,"cg_vd_v":-1.91938591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37200356,"cg_vq_v":-8.37200356,"cg_vu_v":106.453995,"cg_vv_v":85.3391571,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-17.3282375,"dclink_p_w":-2500.20068,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2498.784424,"values":{"Elec_RPM":-3515.34668,"EncoderCos":30490,"EncoderSin":53764,"GapTicks":49412,"Mech_RPM":-703.069336,"cg_du":44.9203491,"cg_dv":55.0796509,"cg_dw":51.7596817,"cg_id_a":2.11578703,"cg_id_raw_a":-0.988242745,"cg_iq_a":-195.858063,"cg_iq_raw_a":-196.305283,"cg_iu_a":-195.822906,"cg_iv_a":85.1696777,"cg_iw_a":110.653229,"cg_sample_age_us":23.863636,"cg_sample_seq":13860016,"cg_sample_valid":1,"cg_theta_rad":1.67645848,"cg_vd_req_v":-1.67455971,"cg_vd_v":-1.67455971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.5202198,"cg_vq_v":-8.5202198,"cg_vu_v":1.31967759,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-16.6051731,"dclink_p_w":-2410.48242,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2498.851054,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2498.851064,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2498.851067,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2498.979467,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2498.979473,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2498.979478,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2499.171143,"values":{"Elec_RPM":-3533.48193,"EncoderCos":44413,"EncoderSin":15109,"GapTicks":50095,"Mech_RPM":-706.696411,"cg_du":45.5410767,"cg_dv":54.4589233,"cg_dw":45.672039,"cg_id_a":9.0544939,"cg_id_raw_a":8.84067059,"cg_iq_a":-203.497803,"cg_iq_raw_a":-204.864578,"cg_iu_a":-168.241333,"cg_iv_a":182.375641,"cg_iw_a":-14.1343002,"cg_sample_age_us":25.2418175,"cg_sample_seq":13862016,"cg_sample_valid":1,"cg_theta_rad":5.30920887,"cg_vd_req_v":-1.90141773,"cg_vd_v":-1.90141773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32742023,"cg_vq_v":-8.32742023,"cg_vu_v":1.31967759,"cg_vv_v":2.63935518,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-16.6033611,"dclink_p_w":-2395.61206,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.500824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00392767228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2499.499268,"values":{"Elec_RPM":-3523.75391,"EncoderCos":45090,"EncoderSin":15599,"GapTicks":49609,"Mech_RPM":-704.750793,"cg_du":45.0994644,"cg_dv":54.9005356,"cg_dw":47.5901833,"cg_id_a":-6.23399544,"cg_id_raw_a":1.6470598,"cg_iq_a":-201.990479,"cg_iq_raw_a":-203.291321,"cg_iu_a":-175.961273,"cg_iv_a":174.11203,"cg_iw_a":1.84923553,"cg_sample_age_us":23.9218178,"cg_sample_seq":13863766,"cg_sample_valid":1,"cg_theta_rad":5.34460974,"cg_vd_req_v":-1.59350312,"cg_vd_v":-1.59350312,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.36265564,"cg_vq_v":-8.36265564,"cg_vu_v":4.83881807,"cg_vv_v":23.3143044,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2387.5061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2499.854736,"values":{"Elec_RPM":-3524.54639,"EncoderCos":53370,"EncoderSin":36147,"GapTicks":49345,"Mech_RPM":-704.909302,"cg_du":49.7662926,"cg_dv":55.1402702,"cg_dw":44.8597298,"cg_id_a":-16.0781307,"cg_id_raw_a":-16.1525021,"cg_iq_a":-198.174393,"cg_iq_raw_a":-198.024002,"cg_iu_a":-73.1737671,"cg_iv_a":196.72821,"cg_iw_a":-123.554443,"cg_sample_age_us":23.5254555,"cg_sample_seq":13865417,"cg_sample_valid":1,"cg_theta_rad":0.183469296,"cg_vd_req_v":-1.41734242,"cg_vd_v":-1.41734242,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4753561,"cg_vq_v":-8.4753561,"cg_vu_v":39.590332,"cg_vv_v":65.5439911,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-17.7178593,"dclink_p_w":-2564.21118,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2593,"hz_tim_isr":4998,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2499.971491,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2499.971497,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2499.971502,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2500.186768,"values":{"Elec_RPM":-3517.10742,"EncoderCos":53249,"EncoderSin":36802,"GapTicks":49395,"Mech_RPM":-703.421509,"cg_du":48.6107483,"cg_dv":55.0951271,"cg_dw":44.9048729,"cg_id_a":-4.10648203,"cg_id_raw_a":-7.87767076,"cg_iq_a":-198.249542,"cg_iq_raw_a":-198.111343,"cg_iu_a":-117.499977,"cg_iv_a":199.518982,"cg_iw_a":-98.2562408,"cg_sample_age_us":23.48909,"cg_sample_seq":13867168,"cg_sample_valid":1,"cg_theta_rad":0.213600427,"cg_vd_req_v":-1.65993428,"cg_vd_v":-1.65993428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45816612,"cg_vq_v":-8.45816612,"cg_vu_v":144.724655,"cg_vv_v":142.965088,"cg_vw_v":132.847549,"control_outputs_enabled":1,"dclink_i_a":-16.9404278,"dclink_p_w":-2451.69751,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2500.518799,"values":{"Elec_RPM":-3513.854,"EncoderCos":37549,"EncoderSin":53246,"GapTicks":49934,"Mech_RPM":-702.770813,"cg_du":53.9029655,"cg_dv":54.6051979,"cg_dw":45.3948021,"cg_id_a":8.31662941,"cg_id_raw_a":10.5866318,"cg_iq_a":-202.922577,"cg_iq_raw_a":-205.669754,"cg_iu_a":8.19363976,"cg_iv_a":170.05275,"cg_iw_a":-178.246384,"cg_sample_age_us":23.9327278,"cg_sample_seq":13868816,"cg_sample_valid":1,"cg_theta_rad":1.34073341,"cg_vd_req_v":-1.77966833,"cg_vd_v":-1.77966833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35432911,"cg_vq_v":-8.35432911,"cg_vu_v":14.9563465,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.6885338,"dclink_p_w":-2407.90112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2500.874268,"values":{"Elec_RPM":-3501.29028,"EncoderCos":36694,"EncoderSin":53439,"GapTicks":49436,"Mech_RPM":-700.258057,"cg_du":51.8703651,"cg_dv":55.057476,"cg_dw":44.942524,"cg_id_a":-6.83633804,"cg_id_raw_a":-6.11660814,"cg_iq_a":-196.994415,"cg_iq_raw_a":-198.82045,"cg_iu_a":-17.79319,"cg_iv_a":179.149933,"cg_iw_a":-161.35675,"cg_sample_age_us":23.8672733,"cg_sample_seq":13870566,"cg_sample_valid":1,"cg_theta_rad":1.38344264,"cg_vd_req_v":-1.48557007,"cg_vd_v":-1.48557007,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48693562,"cg_vq_v":-8.48693562,"cg_vu_v":125.809273,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-17.304678,"dclink_p_w":-2496.80127,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2500.994874,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2500.99488,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2500.994886,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2501.202393,"values":{"Elec_RPM":-3503.9126,"EncoderCos":24993,"EncoderSin":52525,"GapTicks":49925,"Mech_RPM":-700.782532,"cg_du":45.3865051,"cg_dv":46.0728455,"cg_dw":54.6134949,"cg_id_a":13.7186403,"cg_id_raw_a":13.2293711,"cg_iq_a":-202.91864,"cg_iq_raw_a":-201.236191,"cg_iu_a":-27.8689747,"cg_iv_a":-155.634354,"cg_iw_a":191.730682,"cg_sample_age_us":23.8672733,"cg_sample_seq":13872267,"cg_sample_valid":1,"cg_theta_rad":1.94057393,"cg_vd_req_v":-1.89489377,"cg_vd_v":-1.89489377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37895679,"cg_vq_v":-8.37895679,"cg_vu_v":100.295509,"cg_vv_v":73.462059,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-17.1923237,"dclink_p_w":-2488.15308,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2501.557861,"values":{"Elec_RPM":-3505.00854,"EncoderCos":11641,"EncoderSin":35173,"GapTicks":49790,"Mech_RPM":-701.001709,"cg_du":45.2636719,"cg_dv":53.2219009,"cg_dw":54.7363281,"cg_id_a":4.29872561,"cg_id_raw_a":10.5957842,"cg_iq_a":-202.269684,"cg_iq_raw_a":-203.65332,"cg_iu_a":-161.608719,"cg_iv_a":-25.8089447,"cg_iw_a":187.417664,"cg_sample_age_us":23.8272724,"cg_sample_seq":13873920,"cg_sample_valid":1,"cg_theta_rad":3.06967306,"cg_vd_req_v":-1.65918696,"cg_vd_v":-1.65918696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34017277,"cg_vq_v":-8.34017277,"cg_vu_v":1.31967759,"cg_vv_v":3.07924795,"cg_vw_v":21.1148415,"control_outputs_enabled":1,"dclink_i_a":-17.3173637,"dclink_p_w":-2498.63159,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4739075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2501.889893,"values":{"Elec_RPM":-3506.60889,"EncoderCos":11509,"EncoderSin":33738,"GapTicks":49383,"Mech_RPM":-701.321777,"cg_du":44.8939362,"cg_dv":49.921711,"cg_dw":55.1060638,"cg_id_a":-15.4228697,"cg_id_raw_a":-15.1341972,"cg_iq_a":-200.148743,"cg_iq_raw_a":-200.698532,"cg_iu_a":-140.985977,"cg_iv_a":-51.6145477,"cg_iw_a":192.600525,"cg_sample_age_us":23.9290905,"cg_sample_seq":13875667,"cg_sample_valid":1,"cg_theta_rad":3.09887934,"cg_vd_req_v":-1.30037963,"cg_vd_v":-1.30037963,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40735626,"cg_vq_v":-8.40735626,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.7265892,"dclink_p_w":-2420.74976,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4882507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2501.987428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2501.987436,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2501.987441,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2502.221924,"values":{"Elec_RPM":-3501.43506,"EncoderCos":22499,"EncoderSin":14144,"GapTicks":49597,"Mech_RPM":-700.286987,"cg_du":45.0882797,"cg_dv":54.9117203,"cg_dw":52.8329086,"cg_id_a":6.35360146,"cg_id_raw_a":2.85560656,"cg_iq_a":-196.055023,"cg_iq_raw_a":-194.144623,"cg_iu_a":-190.458801,"cg_iv_a":58.5666962,"cg_iw_a":131.892105,"cg_sample_age_us":23.8345451,"cg_sample_seq":13877317,"cg_sample_valid":1,"cg_theta_rad":4.22184992,"cg_vd_req_v":-1.78616536,"cg_vd_v":-1.78616536,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49175262,"cg_vq_v":-8.49175262,"cg_vu_v":105.134323,"cg_vv_v":105.574219,"cg_vw_v":101.175293,"control_outputs_enabled":1,"dclink_i_a":-16.92593,"dclink_p_w":-2457.04492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2502.573486,"values":{"Elec_RPM":-3518.47412,"EncoderCos":34287,"EncoderSin":11639,"GapTicks":49390,"Mech_RPM":-703.694824,"cg_du":55.0998154,"cg_dv":44.9001846,"cg_dw":48.9825745,"cg_id_a":-9.2648344,"cg_id_raw_a":-13.7306986,"cg_iq_a":-196.434952,"cg_iq_raw_a":-196.222168,"cg_iu_a":195.030609,"cg_iv_a":-112.975372,"cg_iw_a":-82.0552368,"cg_sample_age_us":24.0963631,"cg_sample_seq":13879017,"cg_sample_valid":1,"cg_theta_rad":4.79901981,"cg_vd_req_v":-1.49378169,"cg_vd_v":-1.49378169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44778538,"cg_vq_v":-8.44778538,"cg_vu_v":143.404984,"cg_vv_v":139.885834,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-17.2321911,"dclink_p_w":-2486.34253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2502.905518,"values":{"Elec_RPM":-3518.00977,"EncoderCos":45586,"EncoderSin":15998,"GapTicks":49363,"Mech_RPM":-703.601929,"cg_du":44.8761063,"cg_dv":55.1238937,"cg_dw":49.0394974,"cg_id_a":-14.2034893,"cg_id_raw_a":-12.7647114,"cg_iq_a":-198.182098,"cg_iq_raw_a":-199.598221,"cg_iu_a":-183.789948,"cg_iv_a":152.909393,"cg_iw_a":30.8805466,"cg_sample_age_us":23.9290905,"cg_sample_seq":13880716,"cg_sample_valid":1,"cg_theta_rad":5.38083982,"cg_vd_req_v":-1.45487297,"cg_vd_v":-1.45487297,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46239662,"cg_vq_v":-8.46239662,"cg_vu_v":36.0711899,"cg_vv_v":35.1914063,"cg_vw_v":32.5520515,"control_outputs_enabled":1,"dclink_i_a":-16.674036,"dclink_p_w":-2398.47437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2502.978616,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2502.978622,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2502.978627,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2503.241455,"values":{"Elec_RPM":-3512.97144,"EncoderCos":46227,"EncoderSin":16536,"GapTicks":49307,"Mech_RPM":-702.594299,"cg_du":44.8248329,"cg_dv":55.1751671,"cg_dw":50.6556625,"cg_id_a":-7.51443577,"cg_id_raw_a":-10.8068705,"cg_iq_a":-197.438248,"cg_iq_raw_a":-197.663132,"cg_iu_a":-195.859146,"cg_iv_a":107.060944,"cg_iw_a":88.7982025,"cg_sample_age_us":23.9145451,"cg_sample_seq":13882466,"cg_sample_valid":1,"cg_theta_rad":5.43244505,"cg_vd_req_v":-1.61426663,"cg_vd_v":-1.61426663,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4931097,"cg_vq_v":-8.4931097,"cg_vu_v":129.768311,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.0669518,"dclink_p_w":-2318.21631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5456543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2503.593018,"values":{"Elec_RPM":-3506.56543,"EncoderCos":53095,"EncoderSin":37800,"GapTicks":49711,"Mech_RPM":-701.31311,"cg_du":46.9010696,"cg_dv":54.8075562,"cg_dw":45.1924438,"cg_id_a":11.8685446,"cg_id_raw_a":9.49588394,"cg_iq_a":-203.200974,"cg_iq_raw_a":-201.627731,"cg_iu_a":-149.793228,"cg_iv_a":196.003326,"cg_iw_a":-46.2100983,"cg_sample_age_us":23.4527264,"cg_sample_seq":13884117,"cg_sample_valid":1,"cg_theta_rad":0.252083182,"cg_vd_req_v":-1.97313106,"cg_vd_v":-1.97313106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34224319,"cg_vq_v":-8.34224319,"cg_vu_v":7.91806602,"cg_vv_v":21.5547352,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.735651,"dclink_p_w":-2422.06128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5043945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2503.925049,"values":{"Elec_RPM":-3504.14087,"EncoderCos":52764,"EncoderSin":38857,"GapTicks":49879,"Mech_RPM":-700.828186,"cg_du":45.3448486,"cg_dv":54.6551514,"cg_dw":46.4077301,"cg_id_a":8.17317581,"cg_id_raw_a":13.0809889,"cg_iq_a":-204.580856,"cg_iq_raw_a":-205.258514,"cg_iu_a":-174.51152,"cg_iv_a":177.410233,"cg_iw_a":-2.89871216,"cg_sample_age_us":23.4381809,"cg_sample_seq":13885866,"cg_sample_valid":1,"cg_theta_rad":0.301667809,"cg_vd_req_v":-1.8765204,"cg_vd_v":-1.8765204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30724716,"cg_vq_v":-8.30724716,"cg_vu_v":34.3116188,"cg_vv_v":34.7515144,"cg_vw_v":24.6339836,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2503.971337,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2503.971343,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2503.971348,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2504.25708,"values":{"Elec_RPM":-3502.39648,"EncoderCos":36299,"EncoderSin":53504,"GapTicks":49332,"Mech_RPM":-700.479309,"cg_du":50.9492149,"cg_dv":55.1526527,"cg_dw":44.8473473,"cg_id_a":-11.1976404,"cg_id_raw_a":-8.88546276,"cg_iq_a":-196.696014,"cg_iq_raw_a":-195.196732,"cg_iu_a":-33.9579391,"cg_iv_a":185.275146,"cg_iw_a":-157.623627,"cg_sample_age_us":23.9254551,"cg_sample_seq":13887517,"cg_sample_valid":1,"cg_theta_rad":1.39963222,"cg_vd_req_v":-1.40651238,"cg_vd_v":-1.40651238,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51768494,"cg_vq_v":-8.51768494,"cg_vu_v":126.249161,"cg_vv_v":142.965088,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-17.1995716,"dclink_p_w":-2481.63599,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2504.608643,"values":{"Elec_RPM":-3496.89087,"EncoderCos":35232,"EncoderSin":53683,"GapTicks":49362,"Mech_RPM":-699.378174,"cg_du":48.8528252,"cg_dv":55.1248894,"cg_dw":44.8751106,"cg_id_a":-2.74387407,"cg_id_raw_a":-7.04037714,"cg_iq_a":-197.258331,"cg_iq_raw_a":-196.778778,"cg_iu_a":-82.0897522,"cg_iv_a":196.402008,"cg_iw_a":-114.312256,"cg_sample_age_us":23.8054543,"cg_sample_seq":13889266,"cg_sample_valid":1,"cg_theta_rad":1.44476318,"cg_vd_req_v":-1.5945313,"cg_vd_v":-1.5945313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4871254,"cg_vq_v":-8.4871254,"cg_vu_v":104.254532,"cg_vv_v":103.814644,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-17.1542664,"dclink_p_w":-2482.64526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2504.940674,"values":{"Elec_RPM":-3507.9292,"EncoderCos":14892,"EncoderSin":44263,"GapTicks":49912,"Mech_RPM":-701.585815,"cg_du":54.6250038,"cg_dv":53.7157745,"cg_dw":45.3749962,"cg_id_a":16.5817509,"cg_id_raw_a":14.9486809,"cg_iq_a":-205.353027,"cg_iq_raw_a":-207.039276,"cg_iu_a":35.8839264,"cg_iv_a":156.93248,"cg_iw_a":-192.816406,"cg_sample_age_us":23.7836361,"cg_sample_seq":13890916,"cg_sample_valid":1,"cg_theta_rad":2.56290388,"cg_vd_req_v":-1.9515208,"cg_vd_v":-1.9515208,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.29349518,"cg_vq_v":-8.29349518,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":25.953661,"control_outputs_enabled":1,"dclink_i_a":-16.7483368,"dclink_p_w":-2423.89722,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2504.995089,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2504.995095,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2504.9951,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2505.292236,"values":{"Elec_RPM":-3498.06152,"EncoderCos":11563,"EncoderSin":33792,"GapTicks":49386,"Mech_RPM":-699.612305,"cg_du":44.896862,"cg_dv":50.030529,"cg_dw":55.103138,"cg_id_a":-16.2806816,"cg_id_raw_a":-15.327323,"cg_iq_a":-199.92131,"cg_iq_raw_a":-202.582733,"cg_iu_a":-94.84758,"cg_iv_a":-103.262009,"cg_iw_a":198.109589,"cg_sample_age_us":23.8418179,"cg_sample_seq":13892620,"cg_sample_valid":1,"cg_theta_rad":3.13888121,"cg_vd_req_v":-1.29655826,"cg_vd_v":-1.29655826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42895412,"cg_vq_v":-8.42895412,"cg_vu_v":18.9153805,"cg_vv_v":3.95903301,"cg_vw_v":14.5164547,"control_outputs_enabled":1,"dclink_i_a":-17.5910053,"dclink_p_w":-2545.85229,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5277405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2505.628174,"values":{"Elec_RPM":-3487.77246,"EncoderCos":14876,"EncoderSin":21097,"GapTicks":49363,"Mech_RPM":-697.554504,"cg_du":55.1239433,"cg_dv":49.9449692,"cg_dw":44.8760567,"cg_id_a":-11.9139786,"cg_id_raw_a":-14.5871916,"cg_iq_a":-196.536636,"cg_iq_raw_a":-197.545166,"cg_iu_a":136.967987,"cg_iv_a":57.2619171,"cg_iw_a":-185.386414,"cg_sample_age_us":24.0236359,"cg_sample_seq":13894316,"cg_sample_valid":1,"cg_theta_rad":3.72121072,"cg_vd_req_v":-1.40458989,"cg_vd_v":-1.40458989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47337341,"cg_vq_v":-8.47337341,"cg_vu_v":43.549366,"cg_vv_v":34.7515144,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-16.6377926,"dclink_p_w":-2415.21777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.6846008,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2505.960205,"values":{"Elec_RPM":-3495.25537,"EncoderCos":15323,"EncoderSin":20372,"GapTicks":49454,"Mech_RPM":-699.051086,"cg_du":55.0417175,"cg_dv":51.3881416,"cg_dw":44.9582825,"cg_id_a":2.39769602,"cg_id_raw_a":0.114971384,"cg_iq_a":-202.835587,"cg_iq_raw_a":-201.673035,"cg_iu_a":107.248039,"cg_iv_a":94.7018051,"cg_iw_a":-201.949844,"cg_sample_age_us":23.8709087,"cg_sample_seq":13896066,"cg_sample_valid":1,"cg_theta_rad":3.75829935,"cg_vd_req_v":-1.69571555,"cg_vd_v":-1.69571555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.33449841,"cg_vq_v":-8.33449841,"cg_vu_v":40.4701157,"cg_vv_v":105.134323,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-16.8117619,"dclink_p_w":-2433.07642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2505.987071,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2505.987077,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2505.987083,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2506.311768,"values":{"Elec_RPM":-3497.06299,"EncoderCos":24604,"EncoderSin":13137,"GapTicks":49435,"Mech_RPM":-699.412598,"cg_du":44.9414787,"cg_dv":51.1154137,"cg_dw":55.0585213,"cg_id_a":-14.1100378,"cg_id_raw_a":-13.4428177,"cg_iq_a":-200.553879,"cg_iq_raw_a":-199.568298,"cg_iu_a":-158.455505,"cg_iv_a":-18.1977539,"cg_iw_a":183.539581,"cg_sample_age_us":23.9472733,"cg_sample_seq":13897767,"cg_sample_valid":1,"cg_theta_rad":4.32604742,"cg_vd_req_v":-1.37374425,"cg_vd_v":-1.37374425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38400173,"cg_vq_v":-8.38400173,"cg_vu_v":127.12896,"cg_vv_v":124.049698,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-16.6559143,"dclink_p_w":-2403.19458,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2506.643799,"values":{"Elec_RPM":-3506.53784,"EncoderCos":36546,"EncoderSin":11897,"GapTicks":49847,"Mech_RPM":-701.307556,"cg_du":54.6841011,"cg_dv":46.3334045,"cg_dw":45.3158989,"cg_id_a":5.4503088,"cg_id_raw_a":8.09359741,"cg_iq_a":-200.998306,"cg_iq_raw_a":-201.239395,"cg_iu_a":175.785126,"cg_iv_a":-8.3394165,"cg_iw_a":-167.445709,"cg_sample_age_us":24.0636368,"cg_sample_seq":13899467,"cg_sample_valid":1,"cg_theta_rad":4.90705729,"cg_vd_req_v":-1.76731992,"cg_vd_v":-1.76731992,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40628052,"cg_vq_v":-8.40628052,"cg_vu_v":32.5520515,"cg_vv_v":7.03828096,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.0854034,"dclink_p_w":-2472.6792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.531311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2506.97953,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2506.979537,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2506.979544,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2506.995361,"values":{"Elec_RPM":-3517.75757,"EncoderCos":46784,"EncoderSin":17003,"GapTicks":49431,"Mech_RPM":-703.551514,"cg_du":44.9380188,"cg_dv":55.0619812,"cg_dw":51.9257813,"cg_id_a":2.13069487,"cg_id_raw_a":-1.16745079,"cg_iq_a":-196.102173,"cg_iq_raw_a":-196.832901,"cg_iu_a":-186.834427,"cg_iv_a":29.3179169,"cg_iw_a":157.51651,"cg_sample_age_us":26.7909088,"cg_sample_seq":13901170,"cg_sample_valid":1,"cg_theta_rad":5.4998703,"cg_vd_req_v":-1.81205404,"cg_vd_v":-1.81205404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49615097,"cg_vq_v":-8.49615097,"cg_vu_v":3.51914048,"cg_vv_v":17.5957031,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.4511375,"dclink_p_w":-2388.12207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2595,"hz_tim_isr":4999,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2507.331299,"values":{"Elec_RPM":-3507.2207,"EncoderCos":46638,"EncoderSin":48684,"GapTicks":49473,"Mech_RPM":-701.444153,"cg_du":52.2445755,"cg_dv":44.975563,"cg_dw":55.024437,"cg_id_a":9.74653244,"cg_id_raw_a":6.98885155,"cg_iq_a":-200.369736,"cg_iq_raw_a":-199.911514,"cg_iu_a":131.132721,"cg_iv_a":-197.930908,"cg_iw_a":66.7981796,"cg_sample_age_us":23.5799999,"cg_sample_seq":13902767,"cg_sample_valid":1,"cg_theta_rad":0.856170356,"cg_vd_req_v":-1.8929286,"cg_vd_v":-1.8929286,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4351635,"cg_vq_v":-8.4351635,"cg_vu_v":142.965088,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.3206596,"dclink_p_w":-2354.82251,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2507.659424,"values":{"Elec_RPM":-3513.52417,"EncoderCos":52340,"EncoderSin":40192,"GapTicks":49305,"Mech_RPM":-702.704834,"cg_du":44.8228073,"cg_dv":55.1771927,"cg_dw":49.6174736,"cg_id_a":-10.5730982,"cg_id_raw_a":-10.5459146,"cg_iq_a":-196.887833,"cg_iq_raw_a":-197.590576,"cg_iu_a":-191.546127,"cg_iv_a":138.121918,"cg_iw_a":53.4242096,"cg_sample_age_us":23.5581818,"cg_sample_seq":13904566,"cg_sample_valid":1,"cg_theta_rad":0.371366054,"cg_vd_req_v":-1.51564741,"cg_vd_v":-1.51564741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49925995,"cg_vq_v":-8.49925995,"cg_vu_v":38.2706528,"cg_vv_v":51.4674301,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-16.9639874,"dclink_p_w":-2447.64478,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2508.002513,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2508.002518,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2508.002523,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2508.014893,"values":{"Elec_RPM":-3516.03809,"EncoderCos":35362,"EncoderSin":53732,"GapTicks":49396,"Mech_RPM":-703.207642,"cg_du":49.0226746,"cg_dv":55.0942192,"cg_dw":44.9057808,"cg_id_a":-7.8777647,"cg_id_raw_a":-12.0900898,"cg_iq_a":-198.596954,"cg_iq_raw_a":-198.74942,"cg_iu_a":-136.672958,"cg_iv_a":198.250443,"cg_iw_a":-61.5774841,"cg_sample_age_us":23.812727,"cg_sample_seq":13906220,"cg_sample_valid":1,"cg_theta_rad":1.48730552,"cg_vd_req_v":-1.48530746,"cg_vd_v":-1.48530746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43542957,"cg_vq_v":-8.43542957,"cg_vu_v":1.31967759,"cg_vv_v":1.75957024,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-17.4641514,"dclink_p_w":-2519.81079,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2508.499268,"values":{"Elec_RPM":-3512.62793,"EncoderCos":16667,"EncoderSin":46559,"GapTicks":49421,"Mech_RPM":-702.525574,"cg_du":55.0710754,"cg_dv":48.3096809,"cg_dw":44.9289246,"cg_id_a":-9.05496597,"cg_id_raw_a":-7.09656858,"cg_iq_a":-197.202087,"cg_iq_raw_a":-199.164581,"cg_iu_a":160.888916,"cg_iv_a":19.894516,"cg_iw_a":-180.783432,"cg_sample_age_us":23.9690914,"cg_sample_seq":13908466,"cg_sample_valid":1,"cg_theta_rad":2.42899799,"cg_vd_req_v":-1.45133066,"cg_vd_v":-1.45133066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.48043537,"cg_vq_v":-8.48043537,"cg_vu_v":24.6339836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-16.2952881,"dclink_p_w":-2365.49829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.554657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2508.867098,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2508.867126,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2508.867129,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2508.987549,"values":{"Elec_RPM":-3514.50391,"EncoderCos":23674,"EncoderSin":13550,"GapTicks":49874,"Mech_RPM":-702.900757,"cg_du":45.3406677,"cg_dv":53.566761,"cg_dw":54.6593323,"cg_id_a":6.54834795,"cg_id_raw_a":7.8753376,"cg_iq_a":-202.821442,"cg_iq_raw_a":-200.404953,"cg_iu_a":-177.338531,"cg_iv_a":5.57821655,"cg_iw_a":171.760315,"cg_sample_age_us":23.954546,"cg_sample_seq":13911217,"cg_sample_valid":1,"cg_theta_rad":4.27943659,"cg_vd_req_v":-1.77294326,"cg_vd_v":-1.77294326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32628727,"cg_vq_v":-8.32628727,"cg_vu_v":105.134323,"cg_vv_v":104.254532,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-16.862505,"dclink_p_w":-2440.42017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2597,"hz_tim_isr":5000,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2508.99456,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2508.994566,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2508.994572,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2509.339111,"values":{"Elec_RPM":-3511.25977,"EncoderCos":45822,"EncoderSin":16211,"GapTicks":49304,"Mech_RPM":-702.251953,"cg_du":44.8226166,"cg_dv":55.1773834,"cg_dw":49.6976089,"cg_id_a":-14.040309,"cg_id_raw_a":-12.1309347,"cg_iq_a":-197.680878,"cg_iq_raw_a":-197.903091,"cg_iu_a":-189.37149,"cg_iv_a":143.19606,"cg_iw_a":46.1754303,"cg_sample_age_us":23.8854542,"cg_sample_seq":13912867,"cg_sample_valid":1,"cg_theta_rad":5.39817142,"cg_vd_req_v":-1.4731319,"cg_vd_v":-1.4731319,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50407028,"cg_vq_v":-8.50407028,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-16.6486664,"dclink_p_w":-2416.79614,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2509.671143,"values":{"Elec_RPM":-3517.09326,"EncoderCos":52774,"EncoderSin":26509,"GapTicks":49430,"Mech_RPM":-703.41864,"cg_du":55.0636139,"cg_dv":44.9363861,"cg_dw":51.682827,"cg_id_a":-11.140872,"cg_id_raw_a":-7.94261265,"cg_iq_a":-195.63649,"cg_iq_raw_a":-197.516907,"cg_iu_a":179.808197,"cg_iv_a":-154.981964,"cg_iw_a":-24.8262253,"cg_sample_age_us":24.1399994,"cg_sample_seq":13914566,"cg_sample_valid":1,"cg_theta_rad":6.00474262,"cg_vd_req_v":-1.46771049,"cg_vd_v":-1.46771049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.4904213,"cg_vq_v":-8.4904213,"cg_vu_v":143.404984,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-16.67766,"dclink_p_w":-2413.6687,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2509.98709,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2509.987096,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2509.987101,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2510.00708,"values":{"Elec_RPM":-3510.87207,"EncoderCos":52902,"EncoderSin":38379,"GapTicks":50077,"Mech_RPM":-702.174438,"cg_du":45.7937584,"cg_dv":54.4746399,"cg_dw":45.5253601,"cg_id_a":12.8229074,"cg_id_raw_a":15.7109575,"cg_iq_a":-207.093033,"cg_iq_raw_a":-207.161179,"cg_iu_a":-170.162262,"cg_iv_a":192.270203,"cg_iw_a":-27.0008545,"cg_sample_age_us":23.5400009,"cg_sample_seq":13916266,"cg_sample_valid":1,"cg_theta_rad":0.277501494,"cg_vd_req_v":-1.98206031,"cg_vd_v":-1.98206031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.27392387,"cg_vq_v":-8.27392387,"cg_vu_v":38.2706528,"cg_vv_v":52.3472176,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-16.5852394,"dclink_p_w":-2400.29297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2510.358643,"values":{"Elec_RPM":-3511.73096,"EncoderCos":52667,"EncoderSin":39182,"GapTicks":49617,"Mech_RPM":-702.346191,"cg_du":45.1071548,"cg_dv":54.8928452,"cg_dw":47.2392311,"cg_id_a":-1.44194663,"cg_id_raw_a":6.20810413,"cg_iq_a":-201.539413,"cg_iq_raw_a":-203.13736,"cg_iu_a":-174.656494,"cg_iv_a":174.438232,"cg_iw_a":0.218254089,"cg_sample_age_us":23.4309082,"cg_sample_seq":13918016,"cg_sample_valid":1,"cg_theta_rad":0.311504483,"cg_vd_req_v":-1.68609762,"cg_vd_v":-1.68609762,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40597153,"cg_vq_v":-8.40597153,"cg_vu_v":93.6971207,"cg_vv_v":101.175293,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-16.614233,"dclink_p_w":-2404.48926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5151672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2510.690674,"values":{"Elec_RPM":-3517.90161,"EncoderCos":35487,"EncoderSin":53640,"GapTicks":49376,"Mech_RPM":-703.580322,"cg_du":49.2708511,"cg_dv":55.1126823,"cg_dw":44.8873177,"cg_id_a":-8.85597801,"cg_id_raw_a":-13.7239246,"cg_iq_a":-196.97316,"cg_iq_raw_a":-197.27803,"cg_iu_a":-76.3269806,"cg_iv_a":195.604645,"cg_iw_a":-119.277664,"cg_sample_age_us":23.8054543,"cg_sample_seq":13919666,"cg_sample_valid":1,"cg_theta_rad":1.44159317,"cg_vd_req_v":-1.45621657,"cg_vd_v":-1.45621657,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47476006,"cg_vq_v":-8.47476006,"cg_vu_v":10.5574207,"cg_vv_v":15.836132,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.7193413,"dclink_p_w":-2427.05566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2510.97915,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2510.979156,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2510.979162,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2511.042236,"values":{"Elec_RPM":-3521.99707,"EncoderCos":24517,"EncoderSin":52370,"GapTicks":50010,"Mech_RPM":-704.399414,"cg_du":46.0504684,"cg_dv":45.4638214,"cg_dw":54.5361786,"cg_id_a":10.222477,"cg_id_raw_a":12.6554251,"cg_iq_a":-205.239426,"cg_iq_raw_a":-206.358841,"cg_iu_a":8.95476055,"cg_iv_a":-180.098923,"cg_iw_a":171.144165,"cg_sample_age_us":23.7763634,"cg_sample_seq":13921370,"cg_sample_valid":1,"cg_theta_rad":2.01116395,"cg_vd_req_v":-1.80889392,"cg_vd_v":-1.80889392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2893858,"cg_vq_v":-8.2893858,"cg_vu_v":0,"cg_vv_v":1.75957024,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-16.612421,"dclink_p_w":-2396.91919,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2511.374268,"values":{"Elec_RPM":-3537.32373,"EncoderCos":23196,"EncoderSin":51735,"GapTicks":49380,"Mech_RPM":-707.464722,"cg_du":49.5485497,"cg_dv":44.8912163,"cg_dw":55.1087837,"cg_id_a":-19.8360748,"cg_id_raw_a":-20.8919678,"cg_iq_a":-199.980774,"cg_iq_raw_a":-201.576889,"cg_iu_a":33.5280762,"cg_iv_a":-184.122009,"cg_iw_a":161.177124,"cg_sample_age_us":23.6527271,"cg_sample_seq":13923117,"cg_sample_valid":1,"cg_theta_rad":2.03299427,"cg_vd_req_v":-1.22791398,"cg_vd_v":-1.22791398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.433671,"cg_vq_v":-8.433671,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":120.090675,"control_outputs_enabled":1,"dclink_i_a":-16.797266,"dclink_p_w":-2430.97852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5187378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2511.710205,"values":{"Elec_RPM":-3525.04175,"EncoderCos":11501,"EncoderSin":32335,"GapTicks":49538,"Mech_RPM":-705.008362,"cg_du":45.035141,"cg_dv":47.4958305,"cg_dw":54.964859,"cg_id_a":8.03203964,"cg_id_raw_a":5.54714489,"cg_iq_a":-198.27153,"cg_iq_raw_a":-198.478836,"cg_iu_a":-63.7141266,"cg_iv_a":-133.489365,"cg_iw_a":197.203491,"cg_sample_age_us":23.9654541,"cg_sample_seq":13924766,"cg_sample_valid":1,"cg_theta_rad":3.16597366,"cg_vd_req_v":-1.79840302,"cg_vd_v":-1.79840302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45238304,"cg_vq_v":-8.45238304,"cg_vu_v":38.2706528,"cg_vv_v":40.9100075,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.8262596,"dclink_p_w":-2435.17456,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2599,"hz_tim_isr":4999,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2511.970625,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2511.97063,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2511.970636,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2512.061768,"values":{"Elec_RPM":-3523.67529,"EncoderCos":11513,"EncoderSin":31592,"GapTicks":49924,"Mech_RPM":-704.735046,"cg_du":45.3854637,"cg_dv":46.1486931,"cg_dw":54.6145363,"cg_id_a":12.4557056,"cg_id_raw_a":10.0997419,"cg_iq_a":-202.118134,"cg_iq_raw_a":-199.102753,"cg_iu_a":-31.1309185,"cg_iv_a":-159.186249,"cg_iw_a":190.317169,"cg_sample_age_us":23.9618187,"cg_sample_seq":13926517,"cg_sample_valid":1,"cg_theta_rad":3.1969831,"cg_vd_req_v":-1.86369598,"cg_vd_v":-1.86369598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35474491,"cg_vq_v":-8.35474491,"cg_vu_v":117.011421,"cg_vv_v":127.568848,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-17.3898525,"dclink_p_w":-2516.74048,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2512.393799,"values":{"Elec_RPM":-3521.84033,"EncoderCos":35353,"EncoderSin":11723,"GapTicks":49589,"Mech_RPM":-704.368042,"cg_du":54.9188042,"cg_dv":45.0811958,"cg_dw":47.2693863,"cg_id_a":15.0136099,"cg_id_raw_a":10.2833939,"cg_iq_a":-202.348145,"cg_iq_raw_a":-200.159164,"cg_iu_a":195.50177,"cg_iv_a":-51.0346375,"cg_iw_a":-144.467133,"cg_sample_age_us":24.0890903,"cg_sample_seq":13928117,"cg_sample_valid":1,"cg_theta_rad":4.84966516,"cg_vd_req_v":-1.98950112,"cg_vd_v":-1.98950112,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.37251186,"cg_vq_v":-8.37251186,"cg_vu_v":142.965088,"cg_vv_v":142.965088,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-16.5073147,"dclink_p_w":-2381.75391,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2512.72583,"values":{"Elec_RPM":-3538.97729,"EncoderCos":25016,"EncoderSin":13002,"GapTicks":49347,"Mech_RPM":-707.795471,"cg_du":44.861618,"cg_dv":50.2019768,"cg_dw":55.138382,"cg_id_a":-15.053256,"cg_id_raw_a":-15.442256,"cg_iq_a":-199.143127,"cg_iq_raw_a":-200.12471,"cg_iu_a":-143.450562,"cg_iv_a":-46.6853943,"cg_iw_a":190.135956,"cg_sample_age_us":23.9218178,"cg_sample_seq":13929917,"cg_sample_valid":1,"cg_theta_rad":4.34966707,"cg_vd_req_v":-1.36352956,"cg_vd_v":-1.36352956,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.45378304,"cg_vq_v":-8.45378304,"cg_vu_v":138.126266,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-17.1325207,"dclink_p_w":-2479.49805,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2512.994726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2512.994732,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2512.994738,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2513.077393,"values":{"Elec_RPM":-3539.32959,"EncoderCos":52866,"EncoderSin":26850,"GapTicks":49339,"Mech_RPM":-707.865906,"cg_du":55.1457176,"cg_dv":44.8542824,"cg_dw":50.9045258,"cg_id_a":-13.8422318,"cg_id_raw_a":-12.5019884,"cg_iq_a":-194.854919,"cg_iq_raw_a":-195.197159,"cg_iu_a":182.490234,"cg_iv_a":-151.176361,"cg_iw_a":-31.3138733,"cg_sample_age_us":24.1654549,"cg_sample_seq":13931517,"cg_sample_valid":1,"cg_theta_rad":6.00996733,"cg_vd_req_v":-1.42009664,"cg_vd_v":-1.42009664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49927425,"cg_vq_v":-8.49927425,"cg_vu_v":142.965088,"cg_vv_v":139.445938,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-17.1560783,"dclink_p_w":-2482.90747,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2513.409424,"values":{"Elec_RPM":-3515.16724,"EncoderCos":47781,"EncoderSin":18031,"GapTicks":50051,"Mech_RPM":-703.033447,"cg_du":45.5015831,"cg_dv":54.3134193,"cg_dw":54.4984169,"cg_id_a":10.593586,"cg_id_raw_a":11.9700985,"cg_iq_a":-202.02948,"cg_iq_raw_a":-201.620987,"cg_iu_a":-183.282532,"cg_iv_a":12.3558044,"cg_iw_a":170.926727,"cg_sample_age_us":23.8890915,"cg_sample_seq":13933316,"cg_sample_valid":1,"cg_theta_rad":5.52527094,"cg_vd_req_v":-1.95592403,"cg_vd_v":-1.95592403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.34016895,"cg_vq_v":-8.34016895,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-16.7157173,"dclink_p_w":-2411.82324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2513.741455,"values":{"Elec_RPM":-3508.93677,"EncoderCos":46175,"EncoderSin":49068,"GapTicks":49723,"Mech_RPM":-701.787354,"cg_du":53.316124,"cg_dv":45.203083,"cg_dw":54.796917,"cg_id_a":17.0205975,"cg_id_raw_a":16.3108501,"cg_iq_a":-200.589386,"cg_iq_raw_a":-199.760101,"cg_iu_a":153.89386,"cg_iv_a":-189.884781,"cg_iw_a":35.990921,"cg_sample_age_us":23.5763645,"cg_sample_seq":13934917,"cg_sample_valid":1,"cg_theta_rad":0.884667873,"cg_vd_req_v":-2.01337862,"cg_vd_v":-2.01337862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.42008209,"cg_vq_v":-8.42008209,"cg_vu_v":106.453995,"cg_vv_v":89.2981949,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-16.6957817,"dclink_p_w":-2416.29126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2593,"hz_tim_isr":5000,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2513.986889,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2513.986895,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2513.9869,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2514.096924,"values":{"Elec_RPM":-3509.42114,"EncoderCos":52255,"EncoderSin":40530,"GapTicks":49288,"Mech_RPM":-701.884216,"cg_du":44.8073502,"cg_dv":55.1926498,"cg_dw":50.303997,"cg_id_a":-7.89656925,"cg_id_raw_a":-12.0252314,"cg_iq_a":-195.074127,"cg_iq_raw_a":-194.833359,"cg_iu_a":-192.270996,"cg_iv_a":123.334427,"cg_iw_a":68.9365692,"cg_sample_age_us":23.5327282,"cg_sample_seq":13936717,"cg_sample_valid":1,"cg_theta_rad":0.387525469,"cg_vd_req_v":-1.56962228,"cg_vd_v":-1.56962228,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.53952694,"cg_vq_v":-8.53952694,"cg_vu_v":95.8965836,"cg_vv_v":102.055069,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-17.1687641,"dclink_p_w":-2484.74341,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2514.428955,"values":{"Elec_RPM":-3513.73535,"EncoderCos":34052,"EncoderSin":53780,"GapTicks":49720,"Mech_RPM":-702.74707,"cg_du":46.880291,"cg_dv":54.7993774,"cg_dw":45.2006226,"cg_id_a":17.8171539,"cg_id_raw_a":16.0437317,"cg_iq_a":-204.636444,"cg_iq_raw_a":-203.502853,"cg_iu_a":-156.607071,"cg_iv_a":195.387177,"cg_iw_a":-38.7801056,"cg_sample_age_us":23.8999996,"cg_sample_seq":13938366,"cg_sample_valid":1,"cg_theta_rad":1.5065273,"cg_vd_req_v":-1.99052155,"cg_vd_v":-1.99052155,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30539036,"cg_vq_v":-8.30539036,"cg_vu_v":18.4754887,"cg_vv_v":25.953661,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2420.19019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2514.780518,"values":{"Elec_RPM":-3522.94214,"EncoderCos":23230,"EncoderSin":51816,"GapTicks":49383,"Mech_RPM":-704.58844,"cg_du":49.4367294,"cg_dv":44.8938103,"cg_dw":55.1061897,"cg_id_a":-21.1825218,"cg_id_raw_a":-19.8661251,"cg_iq_a":-200.3134,"cg_iq_raw_a":-202.896286,"cg_iu_a":90.0684586,"cg_iv_a":-199.924316,"cg_iw_a":109.855858,"cg_sample_age_us":23.6636372,"cg_sample_seq":13940070,"cg_sample_valid":1,"cg_theta_rad":2.07742882,"cg_vd_req_v":-1.2066505,"cg_vd_v":-1.2066505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43860245,"cg_vq_v":-8.43860245,"cg_vu_v":10.5574207,"cg_vv_v":8.35795879,"cg_vw_v":36.0711899,"control_outputs_enabled":1,"dclink_i_a":-17.7468529,"dclink_p_w":-2568.40723,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2514.979484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2514.97949,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2514.979495,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2515.112549,"values":{"Elec_RPM":-3512.97754,"EncoderCos":13852,"EncoderSin":42475,"GapTicks":49343,"Mech_RPM":-702.59552,"cg_du":50.5071602,"cg_dv":55.1420784,"cg_dw":44.8579216,"cg_id_a":-10.2100258,"cg_id_raw_a":-9.49012756,"cg_iq_a":-195.453278,"cg_iq_raw_a":-194.856583,"cg_iu_a":-43.4175797,"cg_iv_a":188.283386,"cg_iw_a":-144.865814,"cg_sample_age_us":23.8818188,"cg_sample_seq":13941766,"cg_sample_valid":1,"cg_theta_rad":2.66534591,"cg_vd_req_v":-1.4017092,"cg_vd_v":-1.4017092,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.51864529,"cg_vq_v":-8.51864529,"cg_vu_v":29.4728031,"cg_vv_v":29.0329094,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-17.2539368,"dclink_p_w":-2497.07007,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2515.44458,"values":{"Elec_RPM":-3522.60522,"EncoderCos":11603,"EncoderSin":30992,"GapTicks":49971,"Mech_RPM":-704.521057,"cg_du":46.2352638,"cg_dv":45.4284286,"cg_dw":54.5715714,"cg_id_a":7.64925671,"cg_id_raw_a":11.0314617,"cg_iq_a":-205.633316,"cg_iq_raw_a":-204.576584,"cg_iu_a":-8.29730415,"cg_iv_a":-173.176361,"cg_iw_a":181.473663,"cg_sample_age_us":23.9327278,"cg_sample_seq":13943467,"cg_sample_valid":1,"cg_theta_rad":3.22911811,"cg_vd_req_v":-1.74725699,"cg_vd_v":-1.74725699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.2768507,"cg_vq_v":-8.2768507,"cg_vu_v":113.932175,"cg_vv_v":117.891212,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-16.9223061,"dclink_p_w":-2441.63086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2515.800049,"values":{"Elec_RPM":-3525.53955,"EncoderCos":15983,"EncoderSin":19512,"GapTicks":49793,"Mech_RPM":-705.10791,"cg_du":54.7334976,"cg_dv":53.3800201,"cg_dw":45.2665024,"cg_id_a":11.6980658,"cg_id_raw_a":10.3309889,"cg_iq_a":-204.955872,"cg_iq_raw_a":-205.925949,"cg_iu_a":50.5626831,"cg_iv_a":145.986816,"cg_iw_a":-196.5495,"cg_sample_age_us":23.8563633,"cg_sample_seq":13945166,"cg_sample_valid":1,"cg_theta_rad":3.80923438,"cg_vd_req_v":-1.87595892,"cg_vd_v":-1.87595892,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.32133961,"cg_vq_v":-8.32133961,"cg_vu_v":22.4345207,"cg_vv_v":0.87978512,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-18.0223064,"dclink_p_w":-2608.27197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2599,"hz_tim_isr":5000,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2515.962402,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2515.962407,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2515.962411,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2516.128174,"values":{"Elec_RPM":-3518.03467,"EncoderCos":25892,"EncoderSin":12688,"GapTicks":49361,"Mech_RPM":-703.606934,"cg_du":44.8736382,"cg_dv":48.5026169,"cg_dw":55.1263618,"cg_id_a":-1.48263907,"cg_id_raw_a":-6.37014246,"cg_iq_a":-194.584198,"cg_iq_raw_a":-195.968933,"cg_iu_a":-104.162247,"cg_iv_a":-89.4168701,"cg_iw_a":193.579117,"cg_sample_age_us":23.8490906,"cg_sample_seq":13946866,"cg_sample_valid":1,"cg_theta_rad":4.38602018,"cg_vd_req_v":-1.65865326,"cg_vd_v":-1.65865326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52801418,"cg_vq_v":-8.52801418,"cg_vu_v":0.87978512,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.7737064,"dclink_p_w":-2420.19019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2516.464111,"values":{"Elec_RPM":-3529.4502,"EncoderCos":37921,"EncoderSin":12224,"GapTicks":49359,"Mech_RPM":-705.890015,"cg_du":55.1273193,"cg_dv":49.64151,"cg_dw":44.8726807,"cg_id_a":-15.9811964,"cg_id_raw_a":-15.4157047,"cg_iq_a":-195.391388,"cg_iq_raw_a":-195.955185,"cg_iu_a":143.020691,"cg_iv_a":47.8747711,"cg_iw_a":-190.895462,"cg_sample_age_us":24.0418186,"cg_sample_seq":13948566,"cg_sample_valid":1,"cg_theta_rad":4.97648907,"cg_vd_req_v":-1.34622931,"cg_vd_v":-1.34622931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.46909618,"cg_vq_v":-8.46909618,"cg_vu_v":27.2733402,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-17.0074787,"dclink_p_w":-2461.40161,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2516.815674,"values":{"Elec_RPM":-3519.4209,"EncoderCos":48039,"EncoderSin":18300,"GapTicks":49808,"Mech_RPM":-703.884155,"cg_du":45.2803612,"cg_dv":53.4644012,"cg_dw":54.7196388,"cg_id_a":3.59071064,"cg_id_raw_a":6.29089546,"cg_iq_a":-203.453293,"cg_iq_raw_a":-203.13385,"cg_iu_a":-176.613678,"cg_iv_a":3.40359497,"cg_iw_a":173.210083,"cg_sample_age_us":23.9509087,"cg_sample_seq":13950267,"cg_sample_valid":1,"cg_theta_rad":5.54218197,"cg_vd_req_v":-1.81252801,"cg_vd_v":-1.81252801,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3456192,"cg_vq_v":-8.3456192,"cg_vu_v":138.566162,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-16.8063259,"dclink_p_w":-2432.28979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2516.975306,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2516.975311,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2516.975314,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2517.147705,"values":{"Elec_RPM":-3520.68164,"EncoderCos":48752,"EncoderSin":19108,"GapTicks":49387,"Mech_RPM":-704.136353,"cg_du":44.8973999,"cg_dv":50.9664803,"cg_dw":55.1026001,"cg_id_a":-12.2807074,"cg_id_raw_a":-9.70183849,"cg_iq_a":-200.971344,"cg_iq_raw_a":-204.252045,"cg_iu_a":-153.888794,"cg_iv_a":-34.7249146,"cg_iw_a":188.613708,"cg_sample_age_us":23.8854542,"cg_sample_seq":13952016,"cg_sample_valid":1,"cg_theta_rad":5.58967209,"cg_vd_req_v":-1.50812972,"cg_vd_v":-1.50812972,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.41787434,"cg_vq_v":-8.41787434,"cg_vu_v":38.2706528,"cg_vv_v":43.9892578,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-16.737463,"dclink_p_w":-2414.96094,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5133667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2517.479736,"values":{"Elec_RPM":-3520.05005,"EncoderCos":44766,"EncoderSin":50158,"GapTicks":49451,"Mech_RPM":-704.01001,"cg_du":55.0439491,"cg_dv":44.9560509,"cg_dw":51.523674,"cg_id_a":-14.1444254,"cg_id_raw_a":-10.0675192,"cg_iq_a":-197.449463,"cg_iq_raw_a":-199.086823,"cg_iu_a":173.103088,"cg_iv_a":-169.515747,"cg_iw_a":-3.58734131,"cg_sample_age_us":23.9145451,"cg_sample_seq":13953616,"cg_sample_valid":1,"cg_theta_rad":0.961205125,"cg_vd_req_v":-1.35160744,"cg_vd_v":-1.35160744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.44893265,"cg_vq_v":-8.44893265,"cg_vu_v":18.4754887,"cg_vv_v":1.31967759,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-16.6359806,"dclink_p_w":-2407.63647,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5223389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2517.831299,"values":{"Elec_RPM":-3512.77441,"EncoderCos":51487,"EncoderSin":42166,"GapTicks":49780,"Mech_RPM":-702.554871,"cg_du":45.2553368,"cg_dv":54.7446632,"cg_dw":53.5380211,"cg_id_a":14.82337,"cg_id_raw_a":14.5807171,"cg_iq_a":-199.506119,"cg_iq_raw_a":-198.754227,"cg_iu_a":-187.849258,"cg_iv_a":28.5205688,"cg_iw_a":159.32869,"cg_sample_age_us":23.5618191,"cg_sample_seq":13955416,"cg_sample_valid":1,"cg_theta_rad":0.472635418,"cg_vd_req_v":-2.01513147,"cg_vd_v":-2.01513147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.39408112,"cg_vq_v":-8.39408112,"cg_vu_v":40.0302238,"cg_vv_v":69.5030289,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-16.7048435,"dclink_p_w":-2410.25439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2517.998932,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2517.998938,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2517.998944,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2518.245361,"values":{"Elec_RPM":-3508.26367,"EncoderCos":41672,"EncoderSin":13523,"GapTicks":49362,"Mech_RPM":-701.65271,"cg_du":51.3057518,"cg_dv":55.1248093,"cg_dw":44.8751907,"cg_id_a":-16.6004601,"cg_id_raw_a":-13.9599123,"cg_iq_a":-195.383698,"cg_iq_raw_a":-195.623352,"cg_iu_a":-17.1770439,"cg_iv_a":177.15654,"cg_iw_a":-159.979492,"cg_sample_age_us":23.8563633,"cg_sample_seq":13957317,"cg_sample_valid":1,"cg_theta_rad":5.16397095,"cg_vd_req_v":-1.35981727,"cg_vd_v":-1.35981727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.52230644,"cg_vq_v":-8.52230644,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-16.5471821,"dclink_p_w":-2402.06421,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2518.764893,"values":{"Elec_RPM":-3522.58252,"EncoderCos":12320,"EncoderSin":27011,"GapTicks":50018,"Mech_RPM":-704.516479,"cg_du":54.2785797,"cg_dv":45.4711533,"cg_dw":54.5288467,"cg_id_a":13.8623056,"cg_id_raw_a":15.1396399,"cg_iq_a":-201.890411,"cg_iq_raw_a":-201.31366,"cg_iu_a":167.159088,"cg_iv_a":-182.418549,"cg_iw_a":15.2594604,"cg_sample_age_us":24.1327267,"cg_sample_seq":13959817,"cg_sample_valid":1,"cg_theta_rad":3.41955805,"cg_vd_req_v":-1.90803218,"cg_vd_v":-1.90803218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.38027573,"cg_vq_v":-8.38027573,"cg_vu_v":132.847549,"cg_vv_v":120.530563,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-16.80089,"dclink_p_w":-2424.1123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2518.863478,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2518.863486,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2518.863489,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2518.991231,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2518.991237,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2518.991242,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2519.159424,"values":{"Elec_RPM":-3526.13062,"EncoderCos":25790,"EncoderSin":12714,"GapTicks":49395,"Mech_RPM":-705.226135,"cg_du":44.904995,"cg_dv":48.6542778,"cg_dw":55.095005,"cg_id_a":-5.47609854,"cg_id_raw_a":-11.3815279,"cg_iq_a":-196.008545,"cg_iq_raw_a":-197.446106,"cg_iu_a":-114.129303,"cg_iv_a":-80.4283905,"cg_iw_a":194.557693,"cg_sample_age_us":23.8999996,"cg_sample_seq":13962066,"cg_sample_valid":1,"cg_theta_rad":4.38157892,"cg_vd_req_v":-1.56853032,"cg_vd_v":-1.56853032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.49546719,"cg_vq_v":-8.49546719,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":105.574219,"control_outputs_enabled":1,"dclink_i_a":-16.9059963,"dclink_p_w":-2454.15137,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2519.491455,"values":{"Elec_RPM":-3517.33618,"EncoderCos":52975,"EncoderSin":27286,"GapTicks":49340,"Mech_RPM":-703.467224,"cg_du":55.1454163,"cg_dv":44.8545837,"cg_dw":49.9722672,"cg_id_a":-14.5649214,"cg_id_raw_a":-17.0627861,"cg_iq_a":-197.161377,"cg_iq_raw_a":-195.432785,"cg_iu_a":192.638519,"cg_iv_a":-144.869934,"cg_iw_a":-44.6153641,"cg_sample_age_us":24.1399994,"cg_sample_seq":13963667,"cg_sample_valid":1,"cg_theta_rad":6.02950764,"cg_vd_req_v":-1.44060147,"cg_vd_v":-1.44060147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47719669,"cg_vq_v":-8.47719669,"cg_vu_v":106.014107,"cg_vv_v":84.4593658,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-17.4714012,"dclink_p_w":-2528.54248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2519.843018,"values":{"Elec_RPM":-3521.14404,"EncoderCos":53147,"EncoderSin":28076,"GapTicks":49363,"Mech_RPM":-704.228821,"cg_du":55.1240959,"cg_dv":44.8759041,"cg_dw":48.566925,"cg_id_a":-0.56905508,"cg_id_raw_a":-6.74183273,"cg_iq_a":-198.389755,"cg_iq_raw_a":-197.189087,"cg_iu_a":198.836212,"cg_iv_a":-91.591507,"cg_iw_a":-107.244705,"cg_sample_age_us":24.136364,"cg_sample_seq":13965417,"cg_sample_valid":1,"cg_theta_rad":6.07086086,"cg_vd_req_v":-1.74033976,"cg_vd_v":-1.74033976,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.47067642,"cg_vq_v":-8.47067642,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-16.7954521,"dclink_p_w":-2423.32788,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2598,"hz_tim_isr":4998,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2519.983341,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2519.983346,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2519.983352,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2520.178955,"values":{"Elec_RPM":-3520.2478,"EncoderCos":52327,"EncoderSin":40163,"GapTicks":49339,"Mech_RPM":-704.049561,"cg_du":44.8536568,"cg_dv":55.1463432,"cg_dw":49.5716248,"cg_id_a":-10.1386213,"cg_id_raw_a":-10.7356997,"cg_iq_a":-196.478043,"cg_iq_raw_a":-197.648529,"cg_iu_a":-188.646622,"cg_iv_a":140.369049,"cg_iw_a":48.2775803,"cg_sample_age_us":23.5545464,"cg_sample_seq":13967117,"cg_sample_valid":1,"cg_theta_rad":0.368747741,"cg_vd_req_v":-1.51490152,"cg_vd_v":-1.51490152,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50243568,"cg_vq_v":-8.50243568,"cg_vu_v":103.814644,"cg_vv_v":105.574219,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-17.04916,"dclink_p_w":-2474.93359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2520.50708,"values":{"Elec_RPM":-3515.96655,"EncoderCos":34443,"EncoderSin":53810,"GapTicks":49570,"Mech_RPM":-703.193298,"cg_du":47.5542412,"cg_dv":54.9363136,"cg_dw":45.0636864,"cg_id_a":12.296566,"cg_id_raw_a":8.38226509,"cg_iq_a":-202.59639,"cg_iq_raw_a":-200.885361,"cg_iu_a":-128.663071,"cg_iv_a":200.533798,"cg_iw_a":-71.8707275,"cg_sample_age_us":23.8054543,"cg_sample_seq":13968766,"cg_sample_valid":1,"cg_theta_rad":1.48292661,"cg_vd_req_v":-1.90475059,"cg_vd_v":-1.90475059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.3660326,"cg_vq_v":-8.3660326,"cg_vu_v":0.87978512,"cg_vv_v":10.9973145,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-16.8806267,"dclink_p_w":-2443.04297,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5061951,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2520.862549,"values":{"Elec_RPM":-3535.37012,"EncoderCos":33592,"EncoderSin":53806,"GapTicks":49997,"Mech_RPM":-707.074036,"cg_du":45.9660492,"cg_dv":54.5473557,"cg_dw":45.4526443,"cg_id_a":15.9016628,"cg_id_raw_a":16.2796822,"cg_iq_a":-207.482971,"cg_iq_raw_a":-206.912354,"cg_iu_a":-172.409393,"cg_iv_a":184.042877,"cg_iw_a":-19.3896561,"cg_sample_age_us":23.8672733,"cg_sample_seq":13970516,"cg_sample_valid":1,"cg_theta_rad":1.5387038,"cg_vd_req_v":-1.93604732,"cg_vd_v":-1.93604732,"cg_vdc_v":143.844864,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28891754,"cg_vq_v":-8.28891754,"cg_vu_v":109.973145,"cg_vv_v":113.492287,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-16.7428989,"dclink_p_w":-2415.74512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":43.6270142,"temp_inv2_c":43.5115662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2520.975358,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2520.975365,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2520.975371,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2521.19458,"values":{"Elec_RPM":-3531.48535,"EncoderCos":13994,"EncoderSin":42775,"GapTicks":49394,"Mech_RPM":-706.297058,"cg_du":51.2063141,"cg_dv":55.0956116,"cg_dw":44.9043884,"cg_id_a":-9.27556705,"cg_id_raw_a":-9.06001949,"cg_iq_a":-195.020737,"cg_iq_raw_a":-195.82132,"cg_iu_a":-28.3038998,"cg_iv_a":180.998383,"cg_iw_a":-152.694489,"cg_sample_age_us":23.8818188,"cg_sample_seq":13972166,"cg_sample_valid":1,"cg_theta_rad":2.64827514,"cg_vd_req_v":-1.40103638,"cg_vd_v":-1.40103638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.50614548,"cg_vq_v":-8.50614548,"cg_vu_v":40.4701157,"cg_vv_v":65.1041031,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-16.9186821,"dclink_p_w":-2448.55054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5205383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2521.526611,"values":{"Elec_RPM":-3520.95752,"EncoderCos":11568,"EncoderSin":31444,"GapTicks":50039,"Mech_RPM":-704.191528,"cg_du":45.490406,"cg_dv":45.8830986,"cg_dw":54.509594,"cg_id_a":11.4387693,"cg_id_raw_a":12.3360586,"cg_iq_a":-205.477844,"cg_iq_raw_a":-202.172836,"cg_iu_a":-23.8096657,"cg_iv_a":-165.492676,"cg_iw_a":189.302338,"cg_sample_age_us":23.9290905,"cg_sample_seq":13973867,"cg_sample_valid":1,"cg_theta_rad":3.20815969,"cg_vd_req_v":-1.8464005,"cg_vd_v":-1.8464005,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.28984261,"cg_vq_v":-8.28984261,"cg_vu_v":131.087982,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-17.1307087,"dclink_p_w":-2479.23584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2521.878174,"values":{"Elec_RPM":-3520.33936,"EncoderCos":15652,"EncoderSin":20024,"GapTicks":49540,"Mech_RPM":-704.067871,"cg_du":54.9629135,"cg_dv":52.2504616,"cg_dw":45.0370865,"cg_id_a":8.18577385,"cg_id_raw_a":5.8749938,"cg_iq_a":-203.820007,"cg_iq_raw_a":-203.697479,"cg_iu_a":68.8295746,"cg_iv_a":131.815491,"cg_iw_a":-200.645065,"cg_sample_age_us":23.9763641,"cg_sample_seq":13975567,"cg_sample_valid":1,"cg_theta_rad":3.78684139,"cg_vd_req_v":-1.81117845,"cg_vd_v":-1.81117845,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-8.35306072,"cg_vq_v":-8.35306072,"cg_vu_v":135.926804,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-16.5290604,"dclink_p_w":-2392.1626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2521.999381,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2521.999387,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2521.999392,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2522.210205,"values":{"Elec_RPM":-3519.50415,"EncoderCos":16317,"EncoderSin":19099,"GapTicks":50096,"Mech_RPM":-703.900818,"cg_du":54.4574471,"cg_dv":54.4521027,"cg_dw":45.5425529,"cg_id_a":10.6365376,"cg_id_raw_a":13.9874973,"cg_iq_a":-201.80246,"cg_iq_raw_a":-202.95639,"cg_iu_a":19.7916679,"cg_iv_a":164.543671,"cg_iw_a":-184.335342,"cg_sample_age_us":23.9654541,"cg_sample_seq":13977316,"cg_sample_valid":1,"cg_theta_rad":3.84447122,"cg_vd_req_v":-1.83487308,"cg_vd_v":-1.83487308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.40073967,"cg_vq_v":-8.40073967,"cg_vu_v":10.1175289,"cg_vv_v":35.6312981,"cg_vw_v":21.9946289,"control_outputs_enabled":1,"dclink_i_a":-17.5003948,"dclink_p_w":-2532.73853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4954529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"console","t":2522.368185,"sequence":1376,"text":"> var set IqVar 0"}
{"type":"command","t":2522.368286,"received_t":2522.478858,"source":"ui","text":"var set IqVar 0","sent":true}
{"type":"console","t":2522.368289,"sequence":1377,"text":"(sent)"}
{"type":"console","t":2522.478854,"sequence":1378,"text":"[SHELL] IqVar = 0.0000"}
{"type":"telemetry","t":2522.573486,"values":{"Elec_RPM":-3522.02441,"EncoderCos":16744,"EncoderSin":18580,"GapTicks":49674,"Mech_RPM":-704.404907,"cg_du":52.8646584,"cg_dv":54.8413048,"cg_dw":45.1586952,"cg_id_a":-3.69640303,"cg_id_raw_a":1.66706192,"cg_iq_a":-196.576859,"cg_iq_raw_a":-197.230576,"cg_iu_a":4.24306202,"cg_iv_a":166.029678,"cg_iw_a":-170.272736,"cg_sample_age_us":23.994545,"cg_sample_seq":13979067,"cg_sample_valid":1,"cg_theta_rad":3.87299657,"cg_vd_req_v":-1.52176332,"cg_vd_v":-1.52176332,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-8.43945122,"cg_vq_v":-8.43945122,"cg_vu_v":106.014107,"cg_vv_v":105.134323,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-16.5671177,"dclink_p_w":-2390.38257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4918518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2522.905518,"values":{"Elec_RPM":-3529.27148,"EncoderCos":27746,"EncoderSin":12163,"GapTicks":49974,"Mech_RPM":-705.854309,"cg_du":46.4055939,"cg_dv":45.4310532,"cg_dw":54.5689468,"cg_id_a":7.5124197,"cg_id_raw_a":10.2670679,"cg_iq_a":-184.055939,"cg_iq_raw_a":-185.682159,"cg_iu_a":-6.26764965,"cg_iv_a":-156.214249,"cg_iw_a":162.481903,"cg_sample_age_us":23.9654541,"cg_sample_seq":13980766,"cg_sample_valid":1,"cg_theta_rad":4.48547697,"cg_vd_req_v":-1.63527071,"cg_vd_v":-1.63527071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.22503376,"cg_vq_v":-8.22503376,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":11.877099,"control_outputs_enabled":1,"dclink_i_a":-15.5106087,"dclink_p_w":-2244.76758,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4998,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.5097656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2522.95916,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2522.959165,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2522.959171,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2523.237549,"values":{"Elec_RPM":-3521.46533,"EncoderCos":49468,"EncoderSin":19967,"GapTicks":49529,"Mech_RPM":-704.293091,"cg_du":45.0265427,"cg_dv":48.5661659,"cg_dw":54.9734573,"cg_id_a":-2.00175142,"cg_id_raw_a":-5.64207554,"cg_iq_a":-161.654465,"cg_iq_raw_a":-161.183044,"cg_iu_a":-79.1177521,"cg_iv_a":-81.8419037,"cg_iw_a":160.959656,"cg_sample_age_us":23.9218178,"cg_sample_seq":13982417,"cg_sample_valid":1,"cg_theta_rad":5.6469202,"cg_vd_req_v":-1.41043079,"cg_vd_v":-1.41043079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.30678272,"cg_vq_v":-8.30678272,"cg_vu_v":129.768311,"cg_vv_v":113.492287,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-14.2928162,"dclink_p_w":-2074.8103,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.5079651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2523.593018,"values":{"Elec_RPM":-3520.25415,"EncoderCos":51034,"EncoderSin":22413,"GapTicks":49646,"Mech_RPM":-704.050842,"cg_du":48.6978226,"cg_dv":45.1334991,"cg_dw":54.8665009,"cg_id_a":-9.91462708,"cg_id_raw_a":-6.92609406,"cg_iq_a":-145.689117,"cg_iq_raw_a":-146.107925,"cg_iu_a":11.2743664,"cg_iv_a":-132.039612,"cg_iw_a":120.765251,"cg_sample_age_us":23.9436359,"cg_sample_seq":13984167,"cg_sample_valid":1,"cg_theta_rad":5.7847476,"cg_vd_req_v":-1.04267943,"cg_vd_v":-1.04267943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-8.16274071,"cg_vq_v":-8.16274071,"cg_vu_v":108.21357,"cg_vv_v":109.973145,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-12.5766706,"dclink_p_w":-1820.1543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.6557922,"temp_inv2_c":43.4649658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2523.921143,"values":{"Elec_RPM":-3518.65942,"EncoderCos":48302,"EncoderSin":46987,"GapTicks":49816,"Mech_RPM":-703.731873,"cg_du":48.3504639,"cg_dv":45.2880669,"cg_dw":54.7119331,"cg_id_a":-5.28534508,"cg_id_raw_a":-1.57045305,"cg_iq_a":-132.684647,"cg_iq_raw_a":-132.922684,"cg_iu_a":2.21340728,"cg_iv_a":-116.056091,"cg_iw_a":113.842682,"cg_sample_age_us":23.5436363,"cg_sample_seq":13985816,"cg_sample_valid":1,"cg_theta_rad":0.745095372,"cg_vd_req_v":-0.908174276,"cg_vd_v":-0.908174276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.98201323,"cg_vq_v":-7.98201323,"cg_vu_v":25.0738773,"cg_vv_v":1.31967759,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-11.4440508,"dclink_p_w":-1656.23633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4990234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2523.983139,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2523.983146,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2523.983152,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2524.276611,"values":{"Elec_RPM":-3526.15332,"EncoderCos":45364,"EncoderSin":49624,"GapTicks":50015,"Mech_RPM":-705.230652,"cg_du":54.5311356,"cg_dv":45.4688644,"cg_dw":52.6371536,"cg_id_a":7.02927351,"cg_id_raw_a":9.6330204,"cg_iq_a":-113.368767,"cg_iq_raw_a":-113.452812,"cg_iu_a":98.8394623,"cg_iv_a":-98.477829,"cg_iw_a":0.580703735,"cg_sample_age_us":24.005455,"cg_sample_seq":13987567,"cg_sample_valid":1,"cg_theta_rad":0.929202795,"cg_vd_req_v":-0.974094033,"cg_vd_v":-0.974094033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.92859077,"cg_vq_v":-7.92859077,"cg_vu_v":106.453995,"cg_vv_v":89.2981949,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-9.58836651,"dclink_p_w":-1387.6731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4452515,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2524.608643,"values":{"Elec_RPM":-3521.26099,"EncoderCos":30090,"EncoderSin":53765,"GapTicks":50171,"Mech_RPM":-704.252197,"cg_du":45.610157,"cg_dv":54.389843,"cg_dw":53.1468544,"cg_id_a":4.95715666,"cg_id_raw_a":0.714866221,"cg_iq_a":-92.6382904,"cg_iq_raw_a":-92.2693253,"cg_iu_a":-90.8970032,"cg_iv_a":33.8484116,"cg_iw_a":58.0634232,"cg_sample_age_us":23.8890915,"cg_sample_seq":13989267,"cg_sample_valid":1,"cg_theta_rad":1.69322169,"cg_vd_req_v":-0.735804498,"cg_vd_v":-0.735804498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.90533352,"cg_vq_v":-7.90533352,"cg_vu_v":117.451309,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-7.91571331,"dclink_p_w":-1149.08093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.502594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2524.940674,"values":{"Elec_RPM":-3525.2063,"EncoderCos":15602,"EncoderSin":45229,"GapTicks":50223,"Mech_RPM":-705.04126,"cg_du":54.3424454,"cg_dv":52.5614548,"cg_dw":45.6575546,"cg_id_a":-1.32012773,"cg_id_raw_a":-5.27357864,"cg_iq_a":-78.8022766,"cg_iq_raw_a":-79.9594727,"cg_iu_a":34.832859,"cg_iv_a":44.57658,"cg_iw_a":-79.4094391,"cg_sample_age_us":23.8781815,"cg_sample_seq":13990966,"cg_sample_valid":1,"cg_theta_rad":2.51133513,"cg_vd_req_v":-0.410969257,"cg_vd_v":-0.410969257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-7.65507507,"cg_vq_v":-7.65507507,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-7.00418091,"dclink_p_w":-1013.67767,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4972229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2524.975227,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2524.975232,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2524.975238,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2525.292236,"values":{"Elec_RPM":-3524.87451,"EncoderCos":11904,"EncoderSin":28870,"GapTicks":50193,"Mech_RPM":-704.974915,"cg_du":51.9361572,"cg_dv":45.6302567,"cg_dw":54.3697433,"cg_id_a":-5.11486626,"cg_id_raw_a":-6.78533697,"cg_iq_a":-62.7759895,"cg_iq_raw_a":-63.3901596,"cg_iu_a":22.9448795,"cg_iv_a":-61.0379486,"cg_iw_a":38.093071,"cg_sample_age_us":23.7618179,"cg_sample_seq":13992667,"cg_sample_valid":1,"cg_theta_rad":3.3280375,"cg_vd_req_v":-0.159489736,"cg_vd_v":-0.159489736,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-7.53589869,"cg_vq_v":-7.53589869,"cg_vu_v":127.568848,"cg_vv_v":122.730026,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-6.23037624,"dclink_p_w":-901.689026,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2525.624268,"values":{"Elec_RPM":-3538.08789,"EncoderCos":22180,"EncoderSin":14349,"GapTicks":50507,"Mech_RPM":-707.617554,"cg_du":45.9156075,"cg_dv":54.0843925,"cg_dw":53.237484,"cg_id_a":-0.982808113,"cg_id_raw_a":-1.79831624,"cg_iq_a":-42.3929482,"cg_iq_raw_a":-42.3639259,"cg_iu_a":-41.2791939,"cg_iv_a":18.227314,"cg_iw_a":23.0518799,"cg_sample_age_us":23.9618187,"cg_sample_seq":13994367,"cg_sample_valid":1,"cg_theta_rad":4.20259476,"cg_vd_req_v":-0.064748928,"cg_vd_v":-0.064748928,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-7.50608778,"cg_vq_v":-7.50608778,"cg_vu_v":35.6312981,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-3.95969939,"dclink_p_w":-573.066101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4810791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2525.956299,"values":{"Elec_RPM":-3523.9458,"EncoderCos":40966,"EncoderSin":13269,"GapTicks":50314,"Mech_RPM":-704.789185,"cg_du":51.1535149,"cg_dv":54.2595673,"cg_dw":45.7404327,"cg_id_a":1.08508193,"cg_id_raw_a":1.8352468,"cg_iq_a":-27.4595394,"cg_iq_raw_a":-27.485836,"cg_iu_a":-1.22975683,"cg_iv_a":24.8599377,"cg_iw_a":-23.6301804,"cg_sample_age_us":23.9509087,"cg_sample_seq":13996066,"cg_sample_valid":1,"cg_theta_rad":5.12395763,"cg_vd_req_v":0.0747396052,"cg_vd_v":0.0747396052,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-7.22630692,"cg_vq_v":-7.22630692,"cg_vu_v":39.1504402,"cg_vv_v":55.8663559,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-3.37073731,"dclink_p_w":-487.828796,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2525.966999,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2525.967005,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2525.96701,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2526.311768,"values":{"Elec_RPM":-3520.18359,"EncoderCos":46899,"EncoderSin":48322,"GapTicks":50921,"Mech_RPM":-704.036743,"cg_du":52.7986794,"cg_dv":46.2923698,"cg_dw":53.7076302,"cg_id_a":0.429887295,"cg_id_raw_a":0.445946187,"cg_iq_a":-14.0207825,"cg_iq_raw_a":-14.5508289,"cg_iu_a":6.67139912,"cg_iv_a":-13.5947714,"cg_iw_a":6.92337227,"cg_sample_age_us":23.6490917,"cg_sample_seq":13997666,"cg_sample_valid":1,"cg_theta_rad":0.831217289,"cg_vd_req_v":0.276693195,"cg_vd_v":0.276693195,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-6.77368212,"cg_vq_v":-6.77368212,"cg_vu_v":31.6722641,"cg_vv_v":0.43989256,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-2.86513591,"dclink_p_w":-414.655792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5982361,"temp_inv2_c":43.4900513,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2526.643799,"values":{"Elec_RPM":-3516.77539,"EncoderCos":48108,"EncoderSin":47097,"GapTicks":51228,"Mech_RPM":-703.355103,"cg_du":50.2903519,"cg_dv":46.5715218,"cg_dw":53.4284782,"cg_id_a":0.440164506,"cg_id_raw_a":0.00245178374,"cg_iq_a":0.401299149,"cg_iq_raw_a":-0.00247053429,"cg_iu_a":0.727410316,"cg_iv_a":-0.25704062,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.7981815,"cg_sample_seq":13999466,"cg_sample_valid":1,"cg_theta_rad":0.754953921,"cg_vd_req_v":0.487420201,"cg_vd_v":0.487420201,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.7330513,"cg_vq_v":-5.7330513,"cg_vu_v":2.19946289,"cg_vv_v":0.43989256,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.781115294,"dclink_p_w":-113.046638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4542236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2526.97583,"values":{"Elec_RPM":-3528.58862,"EncoderCos":19309,"EncoderSin":49101,"GapTicks":51370,"Mech_RPM":-705.717712,"cg_du":53.2995186,"cg_dv":46.7004814,"cg_dw":48.5606651,"cg_id_a":1.10807717,"cg_id_raw_a":1.7798481,"cg_iq_a":-1.47886682,"cg_iq_raw_a":-1.46801198,"cg_iu_a":1.1260922,"cg_iv_a":-0.583235025,"cg_iw_a":-1.63017225,"cg_sample_age_us":23.9981823,"cg_sample_seq":14001116,"cg_sample_valid":1,"cg_theta_rad":2.25469899,"cg_vd_req_v":0.505537868,"cg_vd_v":0.505537868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.66361713,"cg_vq_v":-5.66361713,"cg_vu_v":35.6312981,"cg_vv_v":31.6722641,"cg_vw_v":25.5137672,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.3758564,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":43.5407715,"temp_inv2_c":43.4398804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2526.990774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2526.99078,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2526.990786,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2527.327393,"values":{"Elec_RPM":-3529.61401,"EncoderCos":13541,"EncoderSin":41779,"GapTicks":51522,"Mech_RPM":-705.922791,"cg_du":47.7996407,"cg_dv":53.1614761,"cg_dw":46.8385239,"cg_id_a":-1.64724016,"cg_id_raw_a":-0.880020916,"cg_iq_a":-2.18573833,"cg_iq_raw_a":-1.94750047,"cg_iu_a":1.0898484,"cg_iv_a":1.30144417,"cg_iw_a":-2.39129257,"cg_sample_age_us":23.9654541,"cg_sample_seq":14002866,"cg_sample_valid":1,"cg_theta_rad":2.70752716,"cg_vd_req_v":0.549076021,"cg_vd_v":0.549076021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.66730404,"cg_vq_v":-5.66730404,"cg_vu_v":115.69175,"cg_vv_v":144.28476,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.3843994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2527.659424,"values":{"Elec_RPM":-3522.47192,"EncoderCos":22145,"EncoderSin":14322,"GapTicks":51717,"Mech_RPM":-704.494385,"cg_du":47.0162849,"cg_dv":52.9598427,"cg_dw":52.9837151,"cg_id_a":-1.91143632,"cg_id_raw_a":-1.93809581,"cg_iq_a":1.62596822,"cg_iq_raw_a":0.76196003,"cg_iu_a":1.74223745,"cg_iv_a":0.322860837,"cg_iw_a":-2.06509829,"cg_sample_age_us":23.9254551,"cg_sample_seq":14004516,"cg_sample_valid":1,"cg_theta_rad":4.19888496,"cg_vd_req_v":0.534192383,"cg_vd_v":0.534192383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73873901,"cg_vq_v":-5.73873901,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":4.39892578,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.5784855,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.569519,"temp_inv2_c":43.4309387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2527.983418,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2527.983424,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2527.983428,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2528.010986,"values":{"Elec_RPM":-3523.47876,"EncoderCos":41155,"EncoderSin":13373,"GapTicks":51216,"Mech_RPM":-704.69574,"cg_du":50.2011833,"cg_dv":53.4395866,"cg_dw":46.5604134,"cg_id_a":0.68711859,"cg_id_raw_a":1.08084249,"cg_iq_a":1.94254363,"cg_iq_raw_a":2.5433929,"cg_iu_a":-1.70092678,"cg_iv_a":0.286616921,"cg_iw_a":1.41430986,"cg_sample_age_us":23.8454552,"cg_sample_seq":14006220,"cg_sample_valid":1,"cg_theta_rad":5.17549658,"cg_vd_req_v":0.463594526,"cg_vd_v":0.463594526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73258162,"cg_vq_v":-5.73258162,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":43.5120544,"temp_inv2_c":43.3915405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2528.503174,"values":{"Elec_RPM":-3517.17529,"EncoderCos":28663,"EncoderSin":11886,"GapTicks":51230,"Mech_RPM":-703.435059,"cg_du":50.4618378,"cg_dv":46.5728302,"cg_dw":53.4271698,"cg_id_a":1.4294697,"cg_id_raw_a":1.04273987,"cg_iq_a":0.877712667,"cg_iq_raw_a":1.43813074,"cg_iu_a":1.27106762,"cg_iv_a":-0.655722737,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.8490906,"cg_sample_seq":14008667,"cg_sample_valid":1,"cg_theta_rad":4.53267193,"cg_vd_req_v":0.463322848,"cg_vd_v":0.463322848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.72586012,"cg_vq_v":-5.72586012,"cg_vu_v":109.973145,"cg_vv_v":109.973145,"cg_vw_v":123.169922,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3575439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2528.847267,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2528.847277,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2528.84728,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2528.987549,"values":{"Elec_RPM":-3529.16724,"EncoderCos":17113,"EncoderSin":18255,"GapTicks":51223,"Mech_RPM":-705.833435,"cg_du":49.6823158,"cg_dv":53.4331322,"cg_dw":46.5668678,"cg_id_a":-0.410978317,"cg_id_raw_a":-0.11028304,"cg_iq_a":0.475142628,"cg_iq_raw_a":1.09489834,"cg_iu_a":0.654922485,"cg_iv_a":-0.402015924,"cg_iw_a":-0.252906561,"cg_sample_age_us":24.0018177,"cg_sample_seq":14011117,"cg_sample_valid":1,"cg_theta_rad":3.89580774,"cg_vd_req_v":0.511369348,"cg_vd_v":0.511369348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.7226119,"cg_vq_v":-5.7226119,"cg_vu_v":106.453995,"cg_vv_v":106.893898,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":43.4833374,"temp_inv2_c":43.3557739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2529.007041,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2529.007048,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2529.007054,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2529.339111,"values":{"Elec_RPM":-3528.81055,"EncoderCos":25071,"EncoderSin":12903,"GapTicks":51367,"Mech_RPM":-705.762085,"cg_du":46.6973114,"cg_dv":48.6104393,"cg_dw":53.3026886,"cg_id_a":1.7437979,"cg_id_raw_a":1.91065693,"cg_iq_a":-1.00866318,"cg_iq_raw_a":0.202150926,"cg_iu_a":0.256240129,"cg_iv_a":-2.46791458,"cg_iw_a":2.21167445,"cg_sample_age_us":23.9290905,"cg_sample_seq":14012866,"cg_sample_valid":1,"cg_theta_rad":4.35273743,"cg_vd_req_v":0.455964833,"cg_vd_v":0.455964833,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.67873144,"cg_vq_v":-5.67873144,"cg_vu_v":11.4372072,"cg_vv_v":0,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0904675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.4259949,"temp_inv2_c":43.2593384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2529.671143,"values":{"Elec_RPM":-3516.89575,"EncoderCos":34132,"EncoderSin":11595,"GapTicks":51476,"Mech_RPM":-703.37915,"cg_du":53.2028046,"cg_dv":46.7971954,"cg_dw":48.0310097,"cg_id_a":-0.882027507,"cg_id_raw_a":0.128532439,"cg_iq_a":-1.42347717,"cg_iq_raw_a":-1.78901148,"cg_iu_a":1.01736069,"cg_iv_a":-2.10547614,"cg_iw_a":1.08811545,"cg_sample_age_us":24.0672722,"cg_sample_seq":14014617,"cg_sample_valid":1,"cg_theta_rad":4.79134274,"cg_vd_req_v":0.505169153,"cg_vd_v":0.505169153,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.67429304,"cg_vq_v":-5.67429304,"cg_vu_v":107.333786,"cg_vv_v":95.4566803,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.3611984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3973694,"temp_inv2_c":43.2414856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2529.998927,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2529.998933,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2529.998939,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2530.003174,"values":{"Elec_RPM":-3514.49609,"EncoderCos":50898,"EncoderSin":43325,"GapTicks":51236,"Mech_RPM":-702.899231,"cg_du":46.578476,"cg_dv":50.088253,"cg_dw":53.421524,"cg_id_a":2.01646709,"cg_id_raw_a":1.35280359,"cg_iq_a":-0.119398527,"cg_iq_raw_a":-0.274059594,"cg_iu_a":0.5099473,"cg_iv_a":-1.96050072,"cg_iw_a":1.45055342,"cg_sample_age_us":23.4527264,"cg_sample_seq":14016217,"cg_sample_valid":1,"cg_theta_rad":0.533767402,"cg_vd_req_v":0.476517022,"cg_vd_v":0.476517022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.69858217,"cg_vq_v":-5.69858217,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":43.3401489,"temp_inv2_c":43.1791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2530.354736,"values":{"Elec_RPM":-3508.57202,"EncoderCos":51572,"EncoderSin":41983,"GapTicks":51476,"Mech_RPM":-701.714417,"cg_du":46.7970276,"cg_dv":52.1100998,"cg_dw":53.2029724,"cg_id_a":0.13699697,"cg_id_raw_a":0.607801437,"cg_iq_a":-0.0755046085,"cg_iq_raw_a":0.246070534,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333368778,"cg_iw_a":0.399482369,"cg_sample_age_us":23.5072727,"cg_sample_seq":14018016,"cg_sample_valid":1,"cg_theta_rad":0.460427761,"cg_vd_req_v":0.509647608,"cg_vd_v":0.509647608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.70398855,"cg_vq_v":-5.70398855,"cg_vu_v":37.830761,"cg_vv_v":47.5083961,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.962334394,"dclink_p_w":-139.696838,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2530.686768,"values":{"Elec_RPM":-3506.31982,"EncoderCos":16112,"EncoderSin":45900,"GapTicks":51405,"Mech_RPM":-701.263977,"cg_du":53.2678719,"cg_dv":51.5975609,"cg_dw":46.7321281,"cg_id_a":0.17000407,"cg_id_raw_a":0.71899277,"cg_iq_a":-2.51436043,"cg_iq_raw_a":-2.13164616,"cg_iu_a":1.74223745,"cg_iv_a":0.86651814,"cg_iw_a":-2.60875559,"cg_sample_age_us":23.9509087,"cg_sample_seq":14019617,"cg_sample_valid":1,"cg_theta_rad":2.47190928,"cg_vd_req_v":0.52043587,"cg_vd_v":0.52043587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-5.65050268,"cg_vq_v":-5.65050268,"cg_vu_v":144.724655,"cg_vv_v":144.28476,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2593,"hz_tim_isr":5001,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":43.282959,"temp_inv2_c":43.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2530.991167,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2530.991172,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2530.991179,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2531.042236,"values":{"Elec_RPM":-3507.42578,"EncoderCos":17248,"EncoderSin":47219,"GapTicks":51273,"Mech_RPM":-701.485168,"cg_du":53.3876228,"cg_dv":49.1925774,"cg_dw":46.6123772,"cg_id_a":0.085930869,"cg_id_raw_a":-0.816321731,"cg_iq_a":-0.471998692,"cg_iq_raw_a":-0.195341259,"cg_iu_a":0.00253343582,"cg_iv_a":0.866518319,"cg_iw_a":-0.869051754,"cg_sample_age_us":24.0090904,"cg_sample_seq":14021417,"cg_sample_valid":1,"cg_theta_rad":2.38957453,"cg_vd_req_v":0.521958053,"cg_vd_v":0.521958053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.69064331,"cg_vq_v":-5.69064331,"cg_vu_v":141.645401,"cg_vv_v":128.448624,"cg_vw_v":108.21357,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.2258606,"temp_inv2_c":43.063446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2531.374268,"values":{"Elec_RPM":-3505.8335,"EncoderCos":26401,"EncoderSin":12397,"GapTicks":51629,"Mech_RPM":-701.166687,"cg_du":47.3512878,"cg_dv":46.9361763,"cg_dw":53.0638237,"cg_id_a":-1.02811027,"cg_id_raw_a":-0.611923814,"cg_iq_a":0.317213416,"cg_iq_raw_a":0.199121818,"cg_iu_a":-1.33848834,"cg_iv_a":1.4101758,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9363632,"cg_sample_seq":14023016,"cg_sample_valid":1,"cg_theta_rad":4.42399931,"cg_vd_req_v":0.508882821,"cg_vd_v":0.508882821,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.71720266,"cg_vq_v":-5.71720266,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":121.410347,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1688232,"temp_inv2_c":43.0368042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2531.706299,"values":{"Elec_RPM":-3513.5647,"EncoderCos":24776,"EncoderSin":13039,"GapTicks":51283,"Mech_RPM":-702.712952,"cg_du":46.6213226,"cg_dv":49.0433502,"cg_dw":53.3786774,"cg_id_a":1.48423171,"cg_id_raw_a":1.17073035,"cg_iq_a":-0.316311359,"cg_iq_raw_a":0.923161209,"cg_iu_a":0.328727961,"cg_iv_a":-1.45308709,"cg_iw_a":1.12435913,"cg_sample_age_us":23.8563633,"cg_sample_seq":14024816,"cg_sample_valid":1,"cg_theta_rad":4.33082962,"cg_vd_req_v":0.4584378,"cg_vd_v":0.4584378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.70277691,"cg_vq_v":-5.70277691,"cg_vu_v":0,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.884410143,"dclink_p_w":-127.995956,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2603,"hz_tim_isr":5000,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":43.1403198,"temp_inv2_c":42.9959717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2532.015296,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2532.015301,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2532.015307,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2532.057861,"values":{"Elec_RPM":-3515.90796,"EncoderCos":53661,"EncoderSin":33229,"GapTicks":51535,"Mech_RPM":-703.18158,"cg_du":52.4223671,"cg_dv":53.1496849,"cg_dw":46.8503151,"cg_id_a":-0.235637635,"cg_id_raw_a":-0.745493829,"cg_iq_a":1.70354259,"cg_iq_raw_a":1.77889729,"cg_iu_a":-1.12102556,"cg_iv_a":-0.402015805,"cg_iw_a":1.41430974,"cg_sample_age_us":23.3945446,"cg_sample_seq":14026421,"cg_sample_valid":1,"cg_theta_rad":0.0722790807,"cg_vd_req_v":0.487794787,"cg_vd_v":0.487794787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73841476,"cg_vq_v":-5.73841476,"cg_vu_v":104.694435,"cg_vv_v":103.374756,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.1118469,"temp_inv2_c":42.9498596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2532.389893,"values":{"Elec_RPM":-3517.5354,"EncoderCos":53669,"EncoderSin":32386,"GapTicks":51577,"Mech_RPM":-703.50708,"cg_du":53.1113167,"cg_dv":52.465416,"cg_dw":46.8886833,"cg_id_a":0.26841104,"cg_id_raw_a":0.874646902,"cg_iq_a":-0.17613636,"cg_iq_raw_a":-0.523572266,"cg_iu_a":0.111264944,"cg_iv_a":-0.764454246,"cg_iw_a":0.653189301,"cg_sample_age_us":24.0272732,"cg_sample_seq":14028217,"cg_sample_valid":1,"cg_theta_rad":6.27342224,"cg_vd_req_v":0.47821489,"cg_vd_v":0.47821489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.69769192,"cg_vq_v":-5.69769192,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":43.0265198,"temp_inv2_c":42.9250488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2532.72583,"values":{"Elec_RPM":-3518.14575,"EncoderCos":34345,"EncoderSin":53844,"GapTicks":51561,"Mech_RPM":-703.62915,"cg_du":46.8743019,"cg_dv":53.1256981,"cg_dw":47.54105,"cg_id_a":-1.37550449,"cg_id_raw_a":-1.51906872,"cg_iq_a":1.16930115,"cg_iq_raw_a":0.476556063,"cg_iu_a":1.63350594,"cg_iv_a":-1.52557468,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.7872734,"cg_sample_seq":14029866,"cg_sample_valid":1,"cg_theta_rad":1.48775268,"cg_vd_req_v":0.544098973,"cg_vd_v":0.544098973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.72866535,"cg_vq_v":-5.72866535,"cg_vu_v":35.6312981,"cg_vv_v":35.6312981,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9413452,"temp_inv2_c":42.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2532.974762,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2532.974768,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2532.974773,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2533.077393,"values":{"Elec_RPM":-3506.01025,"EncoderCos":16461,"EncoderSin":46356,"GapTicks":51290,"Mech_RPM":-701.202026,"cg_du":53.3718796,"cg_dv":50.81147,"cg_dw":46.6281204,"cg_id_a":0.801848531,"cg_id_raw_a":0.43137303,"cg_iq_a":-1.27753758,"cg_iq_raw_a":-0.957754433,"cg_iu_a":1.05360472,"cg_iv_a":1.73637044,"cg_iw_a":-2.78997517,"cg_sample_age_us":23.9363632,"cg_sample_seq":14031568,"cg_sample_valid":1,"cg_theta_rad":2.45565391,"cg_vd_req_v":0.513112962,"cg_vd_v":0.513112962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.66581821,"cg_vq_v":-5.66581821,"cg_vu_v":133.287445,"cg_vv_v":144.28476,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.7722931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.9129639,"temp_inv2_c":42.8223877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2533.409424,"values":{"Elec_RPM":-3508.78149,"EncoderCos":12295,"EncoderSin":26938,"GapTicks":51337,"Mech_RPM":-701.756287,"cg_du":53.3298531,"cg_dv":46.6701469,"cg_dw":51.3009644,"cg_id_a":0.616894722,"cg_id_raw_a":-0.354730397,"cg_iq_a":-0.494091332,"cg_iq_raw_a":-0.843781292,"cg_iu_a":1.16233611,"cg_iv_a":-0.365772128,"cg_iw_a":-0.796563983,"cg_sample_age_us":24.1399994,"cg_sample_seq":14033267,"cg_sample_valid":1,"cg_theta_rad":3.42260957,"cg_vd_req_v":0.493612081,"cg_vd_v":0.493612081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.68305635,"cg_vq_v":-5.68305635,"cg_vu_v":122.290138,"cg_vv_v":117.891212,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.300884604,"dclink_p_w":-43.5454216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.8280029,"temp_inv2_c":42.7393494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2533.741455,"values":{"Elec_RPM":-3512.9458,"EncoderCos":25789,"EncoderSin":12650,"GapTicks":51575,"Mech_RPM":-702.589172,"cg_du":46.8869781,"cg_dv":47.5391083,"cg_dw":53.1130219,"cg_id_a":-0.654408514,"cg_id_raw_a":0.361159235,"cg_iq_a":0.19995074,"cg_iq_raw_a":-1.63738,"cg_iu_a":-0.468636513,"cg_iv_a":1.15646887,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9327278,"cg_sample_seq":14034967,"cg_sample_valid":1,"cg_theta_rad":4.38759232,"cg_vd_req_v":0.510573626,"cg_vd_v":0.510573626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.71311378,"cg_vq_v":-5.71311378,"cg_vu_v":134.167236,"cg_vv_v":109.093361,"cg_vw_v":117.451309,"control_outputs_enabled":1,"dclink_i_a":0.356940985,"dclink_p_w":51.6581612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7996826,"temp_inv2_c":42.7252197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2533.967606,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2533.967611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2533.967617,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2534.093018,"values":{"Elec_RPM":-3512.69995,"EncoderCos":45350,"EncoderSin":15869,"GapTicks":51245,"Mech_RPM":-702.539978,"cg_du":46.5872078,"cg_dv":53.4127922,"cg_dw":50.4620438,"cg_id_a":1.59566927,"cg_id_raw_a":2.28903747,"cg_iq_a":0.475131929,"cg_iq_raw_a":1.0404557,"cg_iu_a":-2.64326644,"cg_iv_a":-1.16313624,"cg_iw_a":3.80640268,"cg_sample_age_us":23.9109097,"cg_sample_seq":14036667,"cg_sample_valid":1,"cg_theta_rad":5.36965847,"cg_vd_req_v":0.447758079,"cg_vd_v":0.447758079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.70309019,"cg_vq_v":-5.70309019,"cg_vu_v":102.494972,"cg_vv_v":104.254532,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.833668947,"dclink_p_w":-120.285721,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.7149048,"temp_inv2_c":42.6511536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2534.428955,"values":{"Elec_RPM":-3512.27271,"EncoderCos":53659,"EncoderSin":33697,"GapTicks":51399,"Mech_RPM":-702.454529,"cg_du":51.7971916,"cg_dv":53.2731209,"cg_dw":46.7268791,"cg_id_a":-0.26289314,"cg_id_raw_a":-0.53846854,"cg_iq_a":1.1719209,"cg_iq_raw_a":1.1463629,"cg_iu_a":-0.214929581,"cg_iv_a":-0.800698042,"cg_iw_a":1.01562762,"cg_sample_age_us":23.5145454,"cg_sample_seq":14038367,"cg_sample_valid":1,"cg_theta_rad":0.0578096732,"cg_vd_req_v":0.486592054,"cg_vd_v":0.486592054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.7174263,"cg_vq_v":-5.7174263,"cg_vu_v":106.453995,"cg_vv_v":105.134323,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.6035767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2534.780518,"values":{"Elec_RPM":-3508.67432,"EncoderCos":51116,"EncoderSin":42864,"GapTicks":51287,"Mech_RPM":-701.734863,"cg_du":46.625164,"cg_dv":50.7820168,"cg_dw":53.374836,"cg_id_a":1.36327195,"cg_id_raw_a":0.405993551,"cg_iq_a":-0.474062651,"cg_iq_raw_a":-0.974945307,"cg_iu_a":1.08984852,"cg_iv_a":-1.70679402,"cg_iw_a":0.616945505,"cg_sample_age_us":23.5618191,"cg_sample_seq":14040116,"cg_sample_valid":1,"cg_theta_rad":0.517606139,"cg_vd_req_v":0.485431731,"cg_vd_v":0.485431731,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.68667126,"cg_vq_v":-5.68667126,"cg_vu_v":103.814644,"cg_vv_v":101.175293,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.8258209,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4998,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":42.5739441,"temp_inv2_c":42.5859985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2534.991417,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2534.991423,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2534.991429,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2535.112549,"values":{"Elec_RPM":-3506.85767,"EncoderCos":15423,"EncoderSin":44988,"GapTicks":51673,"Mech_RPM":-701.371521,"cg_du":52.8247185,"cg_dv":53.0236931,"cg_dw":46.9763069,"cg_id_a":-2.16165495,"cg_id_raw_a":-2.01163316,"cg_iq_a":-0.261580408,"cg_iq_raw_a":-0.725717962,"cg_iu_a":3.08325911,"cg_iv_a":-2.14171982,"cg_iw_a":-0.941539168,"cg_sample_age_us":23.9181824,"cg_sample_seq":14041716,"cg_sample_valid":1,"cg_theta_rad":2.53698087,"cg_vd_req_v":0.566627622,"cg_vd_v":0.566627622,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-5.69555855,"cg_vq_v":-5.69555855,"cg_vu_v":144.28476,"cg_vv_v":144.724655,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-1.43712878,"dclink_p_w":-207.355774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.5176392,"temp_inv2_c":42.5314636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2535.44458,"values":{"Elec_RPM":-3496.37549,"EncoderCos":16496,"EncoderSin":46372,"GapTicks":51271,"Mech_RPM":-699.275085,"cg_du":53.3895493,"cg_dv":50.7761459,"cg_dw":46.6104507,"cg_id_a":0.274441898,"cg_id_raw_a":-0.703134656,"cg_iq_a":-0.467095852,"cg_iq_raw_a":0.602175832,"cg_iu_a":1.34355521,"cg_iv_a":0.395348549,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.9363632,"cg_sample_seq":14043516,"cg_sample_valid":1,"cg_theta_rad":2.44608974,"cg_vd_req_v":0.522889733,"cg_vd_v":0.522889733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.6897068,"cg_vq_v":-5.6897068,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":22.8744144,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.4333496,"temp_inv2_c":42.4594421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2535.796143,"values":{"Elec_RPM":-3505.59839,"EncoderCos":26401,"EncoderSin":12458,"GapTicks":51635,"Mech_RPM":-701.11969,"cg_du":47.2803154,"cg_dv":46.9413834,"cg_dw":53.0586166,"cg_id_a":-1.21438992,"cg_id_raw_a":-0.935450912,"cg_iq_a":0.947307825,"cg_iq_raw_a":1.23050904,"cg_iu_a":0.219996452,"cg_iv_a":1.26520038,"cg_iw_a":-1.48519683,"cg_sample_age_us":26.8018188,"cg_sample_seq":14045120,"cg_sample_valid":1,"cg_theta_rad":4.46287727,"cg_vd_req_v":0.509579003,"cg_vd_v":0.509579003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.74046326,"cg_vq_v":-5.74046326,"cg_vu_v":39.1504402,"cg_vv_v":40.4701157,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":42.4052734,"temp_inv2_c":42.4208374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2535.983546,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2535.983552,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2535.983558,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2536.128174,"values":{"Elec_RPM":-3510.92896,"EncoderCos":25397,"EncoderSin":12788,"GapTicks":51453,"Mech_RPM":-702.185791,"cg_du":46.7756271,"cg_dv":48.1213112,"cg_dw":53.2243729,"cg_id_a":0.53196311,"cg_id_raw_a":0.804064214,"cg_iq_a":-1.53138196,"cg_iq_raw_a":-1.42118132,"cg_iu_a":-0.613611937,"cg_iv_a":-1.88801312,"cg_iw_a":2.50162506,"cg_sample_age_us":23.9218178,"cg_sample_seq":14046917,"cg_sample_valid":1,"cg_theta_rad":4.37178946,"cg_vd_req_v":0.477781653,"cg_vd_v":0.477781653,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.68230724,"cg_vq_v":-5.68230724,"cg_vu_v":17.5957031,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9859419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.2931824,"temp_inv2_c":42.3279724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2536.460205,"values":{"Elec_RPM":-3512.94556,"EncoderCos":53572,"EncoderSin":34986,"GapTicks":51226,"Mech_RPM":-702.589111,"cg_du":50.0537682,"cg_dv":53.4306679,"cg_dw":46.5693321,"cg_id_a":1.78212655,"cg_id_raw_a":1.54191232,"cg_iq_a":1.14520228,"cg_iq_raw_a":0.84462744,"cg_iu_a":-2.280828,"cg_iv_a":-0.112065315,"cg_iw_a":2.39289331,"cg_sample_age_us":23.5181828,"cg_sample_seq":14048517,"cg_sample_valid":1,"cg_theta_rad":0.123403221,"cg_vd_req_v":0.443010569,"cg_vd_v":0.443010569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.71620655,"cg_vq_v":-5.71620655,"cg_vu_v":0.43989256,"cg_vv_v":2.19946289,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.424113631,"dclink_p_w":-61.3796997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.1813049,"temp_inv2_c":42.3559875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2536.815674,"values":{"Elec_RPM":-3506.99365,"EncoderCos":53680,"EncoderSin":33483,"GapTicks":51451,"Mech_RPM":-701.398743,"cg_du":52.100708,"cg_dv":53.2261009,"cg_dw":46.7738991,"cg_id_a":-0.201807633,"cg_id_raw_a":0.00513852015,"cg_iq_a":1.68987608,"cg_iq_raw_a":1.17309093,"cg_iu_a":-0.613611698,"cg_iv_a":-1.05440485,"cg_iw_a":1.66801655,"cg_sample_age_us":23.5763645,"cg_sample_seq":14050316,"cg_sample_valid":1,"cg_theta_rad":0.044181563,"cg_vd_req_v":0.476898849,"cg_vd_v":0.476898849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73987961,"cg_vq_v":-5.73987961,"cg_vu_v":39.590332,"cg_vv_v":51.9073219,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.1533813,"temp_inv2_c":42.2667542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2536.975735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2536.975741,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2536.975746,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2537.147705,"values":{"Elec_RPM":-3506.34766,"EncoderCos":22719,"EncoderSin":51440,"GapTicks":51441,"Mech_RPM":-701.269531,"cg_du":51.8157616,"cg_dv":46.7647018,"cg_dw":53.2352982,"cg_id_a":1.43267274,"cg_id_raw_a":2.24952245,"cg_iq_a":-1.45381629,"cg_iq_raw_a":-1.08165348,"cg_iu_a":1.37979913,"cg_iv_a":-1.77928162,"cg_iw_a":0.399482489,"cg_sample_age_us":23.7218189,"cg_sample_seq":14051916,"cg_sample_valid":1,"cg_theta_rad":2.05867076,"cg_vd_req_v":0.493713379,"cg_vd_v":0.493713379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-5.66189146,"cg_vq_v":-5.66189146,"cg_vu_v":43.1094704,"cg_vv_v":41.7897949,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.2332993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.0697021,"temp_inv2_c":42.2038574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2537.479736,"values":{"Elec_RPM":-3503.83984,"EncoderCos":11687,"EncoderSin":35130,"GapTicks":51226,"Mech_RPM":-700.767944,"cg_du":46.5693779,"cg_dv":50.4911232,"cg_dw":53.4306221,"cg_id_a":-0.0702286065,"cg_id_raw_a":-0.191762298,"cg_iq_a":2.34459734,"cg_iq_raw_a":2.31613064,"cg_iu_a":2.14091969,"cg_iv_a":-0.546991348,"cg_iw_a":-1.59392834,"cg_sample_age_us":23.9618187,"cg_sample_seq":14053616,"cg_sample_valid":1,"cg_theta_rad":3.03074265,"cg_vd_req_v":0.496941388,"cg_vd_v":0.496941388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.73108292,"cg_vq_v":-5.73108292,"cg_vu_v":17.1558094,"cg_vv_v":7.03828096,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7115755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":42.0139771,"temp_inv2_c":42.1864014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2537.831299,"values":{"Elec_RPM":-3512.12598,"EncoderCos":14098,"EncoderSin":22599,"GapTicks":51403,"Mech_RPM":-702.425171,"cg_du":53.2698975,"cg_dv":49.1572456,"cg_dw":46.7301025,"cg_id_a":-0.495860964,"cg_id_raw_a":-0.473222524,"cg_iq_a":-0.71881634,"cg_iq_raw_a":-1.52771688,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":24.045454,"cg_sample_seq":14055366,"cg_sample_valid":1,"cg_theta_rad":3.64766669,"cg_vd_req_v":0.519180179,"cg_vd_v":0.519180179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-5.50016117,"cg_vq_v":-5.50016117,"cg_vu_v":110.413033,"cg_vv_v":110.852921,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2596,"hz_tim_isr":5000,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.9583435,"temp_inv2_c":42.1270752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2537.998833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2537.998839,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2537.998845,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2538.237549,"values":{"Elec_RPM":-3405.68457,"EncoderCos":12180,"EncoderSin":27343,"GapTicks":51875,"Mech_RPM":-681.136902,"cg_du":52.8400154,"cg_dv":47.1599846,"cg_dw":51.5048676,"cg_id_a":-0.547073305,"cg_id_raw_a":-1.80971408,"cg_iq_a":-0.0452410132,"cg_iq_raw_a":0.447995335,"cg_iu_a":0.872385502,"cg_iv_a":0.10539782,"cg_iw_a":-1.37646532,"cg_sample_age_us":23.6200008,"cg_sample_seq":14057366,"cg_sample_valid":1,"cg_theta_rad":3.40791416,"cg_vd_req_v":0.534852028,"cg_vd_v":0.534852028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-4.93427944,"cg_vq_v":-4.93427944,"cg_vu_v":119.650772,"cg_vv_v":117.451309,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2584,"hz_tim_isr":5001,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.9027405,"temp_inv2_c":42.0765381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2538.75708,"values":{"Elec_RPM":-2678.0166,"EncoderCos":45411,"EncoderSin":49525,"GapTicks":52176,"Mech_RPM":-535.603333,"cg_du":52.566658,"cg_dv":47.433342,"cg_dw":50.3372955,"cg_id_a":-1.55517793,"cg_id_raw_a":-1.38426423,"cg_iq_a":1.73038423,"cg_iq_raw_a":1.44352961,"cg_iu_a":-1.59219503,"cg_iv_a":1.4101758,"cg_iw_a":0.182019293,"cg_sample_age_us":23.9909096,"cg_sample_seq":14059866,"cg_sample_valid":1,"cg_theta_rad":0.921001792,"cg_vd_req_v":0.52603066,"cg_vd_v":0.52603066,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-4.26927757,"cg_vq_v":-4.26927757,"cg_vu_v":24.6339836,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2584,"hz_tim_isr":5001,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":41.8194885,"temp_inv2_c":42.0521545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2538.895035,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2538.895046,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2538.89505,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2538.991274,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2538.991279,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2538.991285,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2539.159424,"values":{"Elec_RPM":-1874.13623,"EncoderCos":11963,"EncoderSin":28393,"GapTicks":52856,"Mech_RPM":-374.82724,"cg_du":51.9483757,"cg_dv":48.0516243,"cg_dw":51.8838387,"cg_id_a":0.658072889,"cg_id_raw_a":0.778731227,"cg_iq_a":-0.763789654,"cg_iq_raw_a":-0.472684681,"cg_iu_a":0.98111701,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019472,"cg_sample_age_us":23.7545452,"cg_sample_seq":14062067,"cg_sample_valid":1,"cg_theta_rad":3.34889197,"cg_vd_req_v":0.376677394,"cg_vd_v":0.376677394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-3.7098875,"cg_vq_v":-3.7098875,"cg_vu_v":144.724655,"cg_vv_v":142.085297,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.4529953,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6809998,"temp_inv2_c":42.003418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2539.491455,"values":{"Elec_RPM":-1451.87756,"EncoderCos":43453,"EncoderSin":14537,"GapTicks":52888,"Mech_RPM":-290.375519,"cg_du":48.0805206,"cg_dv":51.9194794,"cg_dw":48.6052818,"cg_id_a":-0.147109956,"cg_id_raw_a":0.0282436181,"cg_iq_a":1.51907063,"cg_iq_raw_a":0.437349826,"cg_iu_a":1.05360472,"cg_iv_a":-1.99674463,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9872723,"cg_sample_seq":14063668,"cg_sample_valid":1,"cg_theta_rad":5.26332283,"cg_vd_req_v":0.306873858,"cg_vd_v":0.306873858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-3.46497726,"cg_vq_v":-3.46497726,"cg_vu_v":108.653458,"cg_vv_v":111.292824,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.09004545,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.6257324,"temp_inv2_c":41.9651794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2539.843018,"values":{"Elec_RPM":-1100.43921,"EncoderCos":44207,"EncoderSin":50428,"GapTicks":53020,"Mech_RPM":-220.087845,"cg_du":51.7995834,"cg_dv":48.2004166,"cg_dw":49.0324173,"cg_id_a":-0.366139114,"cg_id_raw_a":-0.170315444,"cg_iq_a":0.232568175,"cg_iq_raw_a":0.551680982,"cg_iu_a":0.654922485,"cg_iv_a":0.105397761,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9327278,"cg_sample_seq":14065417,"cg_sample_valid":1,"cg_theta_rad":0.993598342,"cg_vd_req_v":0.297034293,"cg_vd_v":0.297034293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-3.13487506,"cg_vq_v":-3.13487506,"cg_vu_v":107.333786,"cg_vv_v":102.055069,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":41.5704956,"temp_inv2_c":41.8887634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2539.983269,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2539.983275,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2539.983281,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2540.175049,"values":{"Elec_RPM":-839.526062,"EncoderCos":29570,"EncoderSin":11749,"GapTicks":53277,"Mech_RPM":-167.905212,"cg_du":51.1062241,"cg_dv":48.4340019,"cg_dw":51.5659981,"cg_id_a":-0.12788789,"cg_id_raw_a":0.06533999,"cg_iq_a":-1.42800426,"cg_iq_raw_a":-1.21216142,"cg_iu_a":0.401215792,"cg_iv_a":-0.90942955,"cg_iw_a":0.508213758,"cg_sample_age_us":23.772728,"cg_sample_seq":14067067,"cg_sample_valid":1,"cg_theta_rad":4.57221699,"cg_vd_req_v":0.251340866,"cg_vd_v":0.251340866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-2.81507659,"cg_vq_v":-2.81507659,"cg_vu_v":104.694435,"cg_vv_v":91.0577545,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":41.4602356,"temp_inv2_c":41.8731384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2540.526611,"values":{"Elec_RPM":-599.941589,"EncoderCos":19309,"EncoderSin":49116,"GapTicks":53435,"Mech_RPM":-119.988319,"cg_du":51.4218597,"cg_dv":48.5781403,"cg_dw":49.10709,"cg_id_a":0.305343032,"cg_id_raw_a":0.991654277,"cg_iq_a":-1.13598871,"cg_iq_raw_a":-1.34861362,"cg_iu_a":1.99594438,"cg_iv_a":0.0329099894,"cg_iw_a":-2.02885437,"cg_sample_age_us":25.4781818,"cg_sample_seq":14068821,"cg_sample_valid":1,"cg_theta_rad":2.27534366,"cg_vd_req_v":0.254319727,"cg_vd_v":0.254319727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-2.51464725,"cg_vq_v":-2.51464725,"cg_vu_v":27.7132301,"cg_vv_v":0.43989256,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":41.3776855,"temp_inv2_c":41.8176575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2540.858643,"values":{"Elec_RPM":-458.566864,"EncoderCos":38047,"EncoderSin":53180,"GapTicks":53470,"Mech_RPM":-91.7133713,"cg_du":50.442749,"cg_dv":51.3902969,"cg_dw":48.6097031,"cg_id_a":-0.525820971,"cg_id_raw_a":-0.216990829,"cg_iq_a":0.686306119,"cg_iq_raw_a":0.810874403,"cg_iu_a":0.582434893,"cg_iv_a":-1.05440497,"cg_iw_a":0.653189421,"cg_sample_age_us":23.8854542,"cg_sample_seq":14070466,"cg_sample_valid":1,"cg_theta_rad":1.31368041,"cg_vd_req_v":0.202201992,"cg_vd_v":0.202201992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-2.35365152,"cg_vq_v":-2.35365152,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.810110331,"dclink_p_w":-117.242935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2603,"hz_tim_isr":4999,"hz_vsense":2603,"pwm_moe":1,"temp_inv1_c":41.3227234,"temp_inv2_c":41.777832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2540.975037,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2540.975043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2540.975048,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2541.190674,"values":{"Elec_RPM":-331.124695,"EncoderCos":48610,"EncoderSin":46518,"GapTicks":53642,"Mech_RPM":-66.2249374,"cg_du":49.9823532,"cg_dv":48.7656555,"cg_dw":51.2343445,"cg_id_a":-0.129394934,"cg_id_raw_a":-0.265164942,"cg_iq_a":-1.22422123,"cg_iq_raw_a":-0.873965323,"cg_iu_a":0.0750212669,"cg_iv_a":-1.19938016,"cg_iw_a":1.12435889,"cg_sample_age_us":23.51091,"cg_sample_seq":14072217,"cg_sample_valid":1,"cg_theta_rad":0.71541369,"cg_vd_req_v":0.223939881,"cg_vd_v":0.223939881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-2.05063558,"cg_vq_v":-2.05063558,"cg_vu_v":121.410347,"cg_vv_v":137.246475,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.889846802,"dclink_p_w":-128.782776,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.2678528,"temp_inv2_c":41.7293701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2541.546143,"values":{"Elec_RPM":-242.177139,"EncoderCos":42939,"EncoderSin":51135,"GapTicks":53837,"Mech_RPM":-48.4354286,"cg_du":51.056385,"cg_dv":49.2787514,"cg_dw":48.943615,"cg_id_a":-0.552857339,"cg_id_raw_a":-0.533165336,"cg_iq_a":0.42912674,"cg_iq_raw_a":0.246035993,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148308992,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9618187,"cg_sample_seq":14073917,"cg_sample_valid":1,"cg_theta_rad":1.06296217,"cg_vd_req_v":0.180010766,"cg_vd_v":0.180010766,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-1.88321555,"cg_vq_v":-1.88321555,"cg_vu_v":144.724655,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.449362874,"dclink_p_w":65.0338898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.1856079,"temp_inv2_c":41.6895752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2541.878174,"values":{"Elec_RPM":-176.225861,"EncoderCos":21970,"EncoderSin":50986,"GapTicks":54030,"Mech_RPM":-35.2451706,"cg_du":50.8811951,"cg_dv":49.1188049,"cg_dw":50.6567154,"cg_id_a":0.813237429,"cg_id_raw_a":0.610857129,"cg_iq_a":-0.506359518,"cg_iq_raw_a":-1.02900314,"cg_iu_a":1.0898484,"cg_iv_a":-0.220796704,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.5327282,"cg_sample_seq":14075616,"cg_sample_valid":1,"cg_theta_rad":2.10245299,"cg_vd_req_v":0.165249422,"cg_vd_v":0.165249422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-1.5945859,"cg_vq_v":-1.5945859,"cg_vu_v":40.4701157,"cg_vv_v":44.4291458,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.987705231,"dclink_p_w":-142.945297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":41.1582336,"temp_inv2_c":41.6619568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2541.999058,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2541.999064,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2541.99907,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2542.210205,"values":{"Elec_RPM":-129.269119,"EncoderCos":15799,"EncoderSin":19967,"GapTicks":54098,"Mech_RPM":-25.8538227,"cg_du":50.4640617,"cg_dv":50.8195534,"cg_dw":49.1804466,"cg_id_a":-1.23271203,"cg_id_raw_a":-1.4136318,"cg_iq_a":-0.426961124,"cg_iq_raw_a":-1.00453353,"cg_iu_a":0.944873214,"cg_iv_a":-0.836941838,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.8709087,"cg_sample_seq":14077316,"cg_sample_valid":1,"cg_theta_rad":3.78745365,"cg_vd_req_v":0.177932143,"cg_vd_v":0.177932143,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-1.4298842,"cg_vq_v":-1.4298842,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0869245529,"dclink_p_w":12.5801258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":41.0761719,"temp_inv2_c":41.60672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2542.561768,"values":{"Elec_RPM":-95.7926636,"EncoderCos":53229,"EncoderSin":28609,"GapTicks":54223,"Mech_RPM":-19.1585331,"cg_du":50.7054825,"cg_dv":49.5185585,"cg_dw":49.2945175,"cg_id_a":-1.29231429,"cg_id_raw_a":-1.03579581,"cg_iq_a":1.00211513,"cg_iq_raw_a":1.31212151,"cg_iu_a":-0.831074715,"cg_iv_a":-0.546991229,"cg_iw_a":1.37806594,"cg_sample_age_us":24.1327267,"cg_sample_seq":14079016,"cg_sample_valid":1,"cg_theta_rad":6.09328461,"cg_vd_req_v":0.093977809,"cg_vd_v":0.093977809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-1.26367676,"cg_vq_v":-1.26367676,"cg_vu_v":29.912693,"cg_vv_v":15.836132,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.9942627,"temp_inv2_c":41.5756531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2542.893799,"values":{"Elec_RPM":-69.3345184,"EncoderCos":13025,"EncoderSin":40522,"GapTicks":54328,"Mech_RPM":-13.8669043,"cg_du":49.3895111,"cg_dv":50.6104889,"cg_dw":49.7498512,"cg_id_a":-1.57143581,"cg_id_raw_a":-2.01306772,"cg_iq_a":0.086504586,"cg_iq_raw_a":0.396225959,"cg_iu_a":0.872385383,"cg_iv_a":-0.220796704,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9799995,"cg_sample_seq":14080666,"cg_sample_valid":1,"cg_theta_rad":2.76069283,"cg_vd_req_v":0.104932502,"cg_vd_v":0.104932502,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-1.04630756,"cg_vq_v":-1.04630756,"cg_vu_v":37.3908691,"cg_vv_v":41.3499031,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4997,"hz_app_loop":2601,"hz_tim_isr":4997,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.9669495,"temp_inv2_c":41.5325623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2542.990837,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2542.990843,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2542.990849,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2543.22583,"values":{"Elec_RPM":-49.1804848,"EncoderCos":53470,"EncoderSin":30105,"GapTicks":54462,"Mech_RPM":-9.83609676,"cg_du":50.4888878,"cg_dv":49.9474602,"cg_dw":49.5111122,"cg_id_a":-0.887950897,"cg_id_raw_a":-0.987992406,"cg_iq_a":0.907466888,"cg_iq_raw_a":2.09682035,"cg_iu_a":-0.722343206,"cg_iv_a":-1.27186787,"cg_iw_a":1.99421108,"cg_sample_age_us":24.0890903,"cg_sample_seq":14082366,"cg_sample_valid":1,"cg_theta_rad":6.16152525,"cg_vd_req_v":0.0218644831,"cg_vd_v":0.0218644831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.820767939,"cg_vq_v":-0.820767939,"cg_vu_v":0.87978512,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.8852234,"temp_inv2_c":41.4860535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2543.577393,"values":{"Elec_RPM":-34.1870918,"EncoderCos":14107,"EncoderSin":22718,"GapTicks":54645,"Mech_RPM":-6.83741856,"cg_du":50.3220901,"cg_dv":50.0896378,"cg_dw":49.6779099,"cg_id_a":-0.195511311,"cg_id_raw_a":-0.361235112,"cg_iq_a":-0.931322753,"cg_iq_raw_a":-1.22293711,"cg_iu_a":1.23482382,"cg_iv_a":0.250373125,"cg_iw_a":-1.48519695,"cg_sample_age_us":24.0854549,"cg_sample_seq":14084166,"cg_sample_valid":1,"cg_theta_rad":3.63539648,"cg_vd_req_v":0.169989169,"cg_vd_v":0.169989169,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.519723773,"cg_vq_v":-0.519723773,"cg_vu_v":27.2733402,"cg_vv_v":10.5574207,"cg_vw_v":0.43989256,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.8035889,"temp_inv2_c":41.47229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2543.91333,"values":{"Elec_RPM":-24.7445393,"EncoderCos":27008,"EncoderSin":53105,"GapTicks":54814,"Mech_RPM":-4.94890785,"cg_du":49.8317375,"cg_dv":49.89151,"cg_dw":50.1682625,"cg_id_a":0.429872066,"cg_id_raw_a":0.382327199,"cg_iq_a":0.126661345,"cg_iq_raw_a":0.125932351,"cg_iu_a":0.219996452,"cg_iv_a":-0.438259721,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8999996,"cg_sample_seq":14085767,"cg_sample_valid":1,"cg_theta_rad":1.83897269,"cg_vd_req_v":0.019032862,"cg_vd_v":0.019032862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300348848,"cg_vq_v":-0.300348848,"cg_vu_v":143.844864,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":40.7764282,"temp_inv2_c":41.4103699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2543.983301,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2543.983307,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2543.983313,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2544.264893,"values":{"Elec_RPM":-17.2008057,"EncoderCos":52492,"EncoderSin":39600,"GapTicks":54989,"Mech_RPM":-3.44016099,"cg_du":50.0094604,"cg_dv":49.9905396,"cg_dw":50.0088348,"cg_id_a":1.22240639,"cg_id_raw_a":1.1718688,"cg_iq_a":-0.334046513,"cg_iq_raw_a":0.0537780225,"cg_iu_a":-0.903562307,"cg_iv_a":-0.619478941,"cg_iw_a":1.52304125,"cg_sample_age_us":23.5581818,"cg_sample_seq":14087567,"cg_sample_valid":1,"cg_theta_rad":0.335677385,"cg_vd_req_v":0.0100592338,"cg_vd_v":0.0100592338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":0.0148821156,"cg_vq_v":0.0148821156,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.7221069,"temp_inv2_c":41.3485413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2544.596924,"values":{"Elec_RPM":-12.4499035,"EncoderCos":50196,"EncoderSin":21147,"GapTicks":54798,"Mech_RPM":-2.4899807,"cg_du":50.1829338,"cg_dv":49.8170662,"cg_dw":50.088913,"cg_id_a":-0.508885026,"cg_id_raw_a":-1.59295249,"cg_iq_a":-1.40554726,"cg_iq_raw_a":-2.21480083,"cg_iu_a":-0.396148682,"cg_iv_a":-0.691966534,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8309097,"cg_sample_seq":14089167,"cg_sample_valid":1,"cg_theta_rad":5.70601559,"cg_vd_req_v":0.274528861,"cg_vd_v":0.274528861,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.157601506,"cg_vq_v":-0.157601506,"cg_vu_v":0,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.6407471,"temp_inv2_c":41.2713013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2544.928955,"values":{"Elec_RPM":-8.6543684,"EncoderCos":41232,"EncoderSin":13365,"GapTicks":54873,"Mech_RPM":-1.7308737,"cg_du":50.1146011,"cg_dv":49.9228973,"cg_dw":49.8853989,"cg_id_a":-0.241180077,"cg_id_raw_a":-0.909273207,"cg_iq_a":0.220252976,"cg_iq_raw_a":-0.0497606508,"cg_iu_a":0.401215672,"cg_iv_a":-0.148309052,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9836369,"cg_sample_seq":14090917,"cg_sample_valid":1,"cg_theta_rad":5.13609314,"cg_vd_req_v":-0.204019636,"cg_vd_v":-0.204019636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.0290796272,"cg_vq_v":-0.0290796272,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":40.6136475,"temp_inv2_c":41.2747498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2544.974791,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2544.974797,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2544.974803,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2545.280518,"values":{"Elec_RPM":-6.26401186,"EncoderCos":38578,"EncoderSin":12455,"GapTicks":54829,"Mech_RPM":-1.25280237,"cg_du":50.1548462,"cg_dv":50.1244049,"cg_dw":49.8451538,"cg_id_a":-0.247971117,"cg_id_raw_a":-0.0325906873,"cg_iq_a":-0.142903969,"cg_iq_raw_a":-0.259378403,"cg_iu_a":0.546190977,"cg_iv_a":-0.293284416,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8745461,"cg_sample_seq":14092570,"cg_sample_valid":1,"cg_theta_rad":4.99926901,"cg_vd_req_v":0.0118980054,"cg_vd_v":0.0118980054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.285003871,"cg_vq_v":-0.285003871,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.72462749,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":41.2319031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2545.616455,"values":{"Elec_RPM":-4.35433578,"EncoderCos":38701,"EncoderSin":12479,"GapTicks":54782,"Mech_RPM":-0.870867193,"cg_du":50.1545753,"cg_dv":50.1981201,"cg_dw":49.8018799,"cg_id_a":-0.210938156,"cg_id_raw_a":0.0480175056,"cg_iq_a":0.134793401,"cg_iq_raw_a":0.114971966,"cg_iu_a":0.038777113,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8600006,"cg_sample_seq":14094316,"cg_sample_valid":1,"cg_theta_rad":5.00663376,"cg_vd_req_v":0.0729536563,"cg_vd_v":0.0729536563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356847107,"cg_vq_v":-0.356847107,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.5324402,"temp_inv2_c":41.235321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2545.948486,"values":{"Elec_RPM":-3.15165806,"EncoderCos":38697,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-0.630331635,"cg_du":50.1636696,"cg_dv":50.202877,"cg_dw":49.797123,"cg_id_a":-0.0977906361,"cg_id_raw_a":-0.348612279,"cg_iq_a":0.22746785,"cg_iq_raw_a":-0.326360255,"cg_iu_a":-0.613611698,"cg_iv_a":-0.474503517,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9618187,"cg_sample_seq":14095967,"cg_sample_valid":1,"cg_theta_rad":5.00875616,"cg_vd_req_v":0.0705682933,"cg_vd_v":0.0705682933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367290318,"cg_vq_v":-0.367290318,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":40.4243469,"temp_inv2_c":41.1429138,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2545.99877,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2545.998776,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2545.998782,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2546.300049,"values":{"Elec_RPM":-2.23553991,"EncoderCos":38710,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-0.447107971,"cg_du":50.1660576,"cg_dv":50.2044792,"cg_dw":49.7955208,"cg_id_a":0.106827624,"cg_id_raw_a":-0.584074736,"cg_iq_a":-0.152077362,"cg_iq_raw_a":0.562764585,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.863636,"cg_sample_seq":14097667,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0685691461,"cg_vd_v":0.0685691461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371125579,"cg_vq_v":-0.371125579,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.328331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3703918,"temp_inv2_c":41.1326599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2546.63208,"values":{"Elec_RPM":-1.55400264,"EncoderCos":38710,"EncoderSin":12477,"GapTicks":54785,"Mech_RPM":-0.310800523,"cg_du":50.1528091,"cg_dv":50.1953506,"cg_dw":49.8046494,"cg_id_a":0.490175754,"cg_id_raw_a":0.362768382,"cg_iq_a":-0.778709412,"cg_iq_raw_a":-0.509410679,"cg_iu_a":0.0750210285,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9836369,"cg_sample_seq":14099417,"cg_sample_valid":1,"cg_theta_rad":5.0065589,"cg_vd_req_v":0.0707069635,"cg_vd_v":0.0707069635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351156116,"cg_vq_v":-0.351156116,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.5937996,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.3164978,"temp_inv2_c":41.0848083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2546.964111,"values":{"Elec_RPM":-1.10228777,"EncoderCos":38715,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-0.220457554,"cg_du":50.1626587,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":0.209392846,"cg_id_raw_a":0.29359144,"cg_iq_a":0.139603838,"cg_iq_raw_a":-0.662081838,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9327278,"cg_sample_seq":14101117,"cg_sample_valid":1,"cg_theta_rad":5.00718737,"cg_vd_req_v":0.0776157677,"cg_vd_v":0.0776157677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377303898,"cg_vq_v":-0.377303898,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.151638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":40.2357788,"temp_inv2_c":41.0284729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2546.991175,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2546.991181,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2546.991186,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2547.315674,"values":{"Elec_RPM":-0.781876802,"EncoderCos":38783,"EncoderSin":12541,"GapTicks":54759,"Mech_RPM":-0.156375363,"cg_du":50.1586838,"cg_dv":50.218502,"cg_dw":49.781498,"cg_id_a":-0.0719129145,"cg_id_raw_a":0.125869766,"cg_iq_a":0.102326274,"cg_iq_raw_a":1.02860963,"cg_iu_a":-0.251173496,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9581814,"cg_sample_seq":14102817,"cg_sample_valid":1,"cg_theta_rad":5.00732517,"cg_vd_req_v":0.0805281103,"cg_vd_v":0.0805281103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387670219,"cg_vq_v":-0.387670219,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.1327133,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2575,"hz_tim_isr":4998,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":40.2088928,"temp_inv2_c":41.0250549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2547.651611,"values":{"Elec_RPM":-0.554602206,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-0.110920444,"cg_du":50.1611404,"cg_dv":50.2033653,"cg_dw":49.7966347,"cg_id_a":0.00912291557,"cg_id_raw_a":-0.618027449,"cg_iq_a":-0.125268012,"cg_iq_raw_a":0.0491132103,"cg_iu_a":0.147508621,"cg_iv_a":0.75778687,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9290905,"cg_sample_seq":14104517,"cg_sample_valid":1,"cg_theta_rad":5.00593281,"cg_vd_req_v":0.071629867,"cg_vd_v":0.071629867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366793662,"cg_vq_v":-0.366793662,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2575,"hz_tim_isr":4998,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":40.1551514,"temp_inv2_c":40.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2547.979736,"values":{"Elec_RPM":-0.401419818,"EncoderCos":38709,"EncoderSin":12497,"GapTicks":54757,"Mech_RPM":-0.0802839622,"cg_du":50.1700783,"cg_dv":50.2203369,"cg_dw":49.7796631,"cg_id_a":0.0569553152,"cg_id_raw_a":0.537993968,"cg_iq_a":-0.33096379,"cg_iq_raw_a":0.0537585616,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.365772009,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9509087,"cg_sample_seq":14106167,"cg_sample_valid":1,"cg_theta_rad":5.00603676,"cg_vd_req_v":0.0810687169,"cg_vd_v":0.0810687169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394884884,"cg_vq_v":-0.394884884,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.74399996,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2575,"hz_tim_isr":4998,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":40.1014709,"temp_inv2_c":40.9585571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2547.983165,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2547.983171,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2547.983177,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2548.483643,"values":{"Elec_RPM":-0.242242724,"EncoderCos":38716,"EncoderSin":12477,"GapTicks":54756,"Mech_RPM":-0.048448544,"cg_du":50.167614,"cg_dv":50.2211571,"cg_dw":49.7788429,"cg_id_a":-0.094284445,"cg_id_raw_a":0.156926453,"cg_iq_a":-0.527168512,"cg_iq_raw_a":-0.347966045,"cg_iu_a":0.727410197,"cg_iv_a":0.250373065,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9763641,"cg_sample_seq":14108666,"cg_sample_valid":1,"cg_theta_rad":5.00711489,"cg_vd_req_v":0.0839667097,"cg_vd_v":0.0839667097,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395834684,"cg_vq_v":-0.395834684,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":40.0210571,"temp_inv2_c":40.8853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2548.879279,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2548.879287,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2548.879289,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2548.97583,"values":{"Elec_RPM":-0.149168283,"EncoderCos":38697,"EncoderSin":12481,"GapTicks":54749,"Mech_RPM":-0.0298336577,"cg_du":50.1697617,"cg_dv":50.2275314,"cg_dw":49.7724686,"cg_id_a":-0.315281928,"cg_id_raw_a":0.273480833,"cg_iq_a":0.0122372396,"cg_iq_raw_a":-0.444848716,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333374739,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9581814,"cg_sample_seq":14111016,"cg_sample_valid":1,"cg_theta_rad":5.00526857,"cg_vd_req_v":0.0898653716,"cg_vd_v":0.0898653716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404144019,"cg_vq_v":-0.404144019,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.634206355,"dclink_p_w":91.7852936,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2574,"hz_tim_isr":4999,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":39.9407654,"temp_inv2_c":40.8241272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2549.007484,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2549.007491,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2549.007496,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2549.331299,"values":{"Elec_RPM":-0.103692152,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-0.0207384303,"cg_du":50.1695366,"cg_dv":50.2174454,"cg_dw":49.7825546,"cg_id_a":0.228337437,"cg_id_raw_a":0.418335438,"cg_iq_a":-0.0587958172,"cg_iq_raw_a":0.407136589,"cg_iu_a":-0.468636513,"cg_iv_a":0.141641617,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9436359,"cg_sample_seq":14112866,"cg_sample_valid":1,"cg_theta_rad":5.00709772,"cg_vd_req_v":0.0797420815,"cg_vd_v":0.0797420815,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391675055,"cg_vq_v":-0.391675055,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2559,"hz_tim_isr":5000,"hz_vsense":2559,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":40.7884521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2549.659424,"values":{"Elec_RPM":-0.073551096,"EncoderCos":38695,"EncoderSin":12485,"GapTicks":54753,"Mech_RPM":-0.0147102186,"cg_du":50.1552429,"cg_dv":50.2242889,"cg_dw":49.7757111,"cg_id_a":-0.273211777,"cg_id_raw_a":-0.278120637,"cg_iq_a":-0.0442352444,"cg_iq_raw_a":0.628109574,"cg_iu_a":0.183752537,"cg_iv_a":0.322860718,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9872723,"cg_sample_seq":14114516,"cg_sample_valid":1,"cg_theta_rad":5.00716591,"cg_vd_req_v":0.0981182978,"cg_vd_v":0.0981182978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391531497,"cg_vq_v":-0.391531497,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0182705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2559,"hz_tim_isr":5000,"hz_vsense":2559,"pwm_moe":1,"temp_inv1_c":39.8872986,"temp_inv2_c":40.7511292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2549.991455,"values":{"Elec_RPM":-0.0521713831,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54747,"Mech_RPM":-0.0104342764,"cg_du":50.1592903,"cg_dv":50.2294846,"cg_dw":49.7705154,"cg_id_a":0.528118551,"cg_id_raw_a":0.409893543,"cg_iq_a":0.706078351,"cg_iq_raw_a":-0.141166314,"cg_iu_a":-1.41097593,"cg_iv_a":-0.00333380699,"cg_iw_a":1.41430974,"cg_sample_age_us":23.9254551,"cg_sample_seq":14116216,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0953682661,"cg_vd_v":0.0934796408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401991516,"cg_vq_v":-0.409478426,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2559,"hz_tim_isr":5000,"hz_vsense":2559,"pwm_moe":1,"temp_inv1_c":39.7805176,"temp_inv2_c":40.7052917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2549.998651,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2549.998658,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2549.998664,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2550.346924,"values":{"Elec_RPM":-0.0370062962,"EncoderCos":38708,"EncoderSin":12479,"GapTicks":54750,"Mech_RPM":-0.00740125962,"cg_du":50.1669807,"cg_dv":50.2267303,"cg_dw":49.7732697,"cg_id_a":0.00748821348,"cg_id_raw_a":0.525473952,"cg_iq_a":-0.262072861,"cg_iq_raw_a":-1.2943958,"cg_iu_a":-0.0337103605,"cg_iv_a":-0.257040501,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9181824,"cg_sample_seq":14117916,"cg_sample_valid":1,"cg_theta_rad":5.00719118,"cg_vd_req_v":0.0903040022,"cg_vd_v":0.0903040022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401699603,"cg_vq_v":-0.401699603,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.605211318,"dclink_p_w":87.5889969,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.7272339,"temp_inv2_c":40.6951294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2550.678955,"values":{"Elec_RPM":-0.0262493715,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54749,"Mech_RPM":-0.0052498742,"cg_du":50.1676674,"cg_dv":50.2278252,"cg_dw":49.7721748,"cg_id_a":-0.0453610197,"cg_id_raw_a":0.0832158402,"cg_iq_a":-0.221866056,"cg_iq_raw_a":-0.246097177,"cg_iu_a":0.147508621,"cg_iv_a":0.032910049,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.9836369,"cg_sample_seq":14119617,"cg_sample_valid":1,"cg_theta_rad":5.00810003,"cg_vd_req_v":0.0891593546,"cg_vd_v":0.0891593546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403944194,"cg_vq_v":-0.403944194,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-75.8355484,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.6739807,"temp_inv2_c":40.6697083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2550.991313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2550.991319,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2550.991324,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2551.010986,"values":{"Elec_RPM":-0.0186192561,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54740,"Mech_RPM":-0.00372385117,"cg_du":50.1926804,"cg_dv":50.2361946,"cg_dw":49.7638054,"cg_id_a":0.241915867,"cg_id_raw_a":-0.134930134,"cg_iq_a":0.233580291,"cg_iq_raw_a":-0.376490831,"cg_iu_a":0.0750210285,"cg_iv_a":0.467836082,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.9872723,"cg_sample_seq":14121316,"cg_sample_valid":1,"cg_theta_rad":5.00721216,"cg_vd_req_v":0.0785751417,"cg_vd_v":0.0785751417,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.430517852,"cg_vq_v":-0.430517852,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2590,"hz_tim_isr":4998,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":39.6207886,"temp_inv2_c":40.6188965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2551.362549,"values":{"Elec_RPM":-0.0134765767,"EncoderCos":38730,"EncoderSin":12492,"GapTicks":54740,"Mech_RPM":-0.00269531528,"cg_du":50.1945839,"cg_dv":50.2358856,"cg_dw":49.7641144,"cg_id_a":0.225044221,"cg_id_raw_a":0.259189516,"cg_iq_a":0.213168502,"cg_iq_raw_a":1.00804734,"cg_iu_a":0.111264944,"cg_iv_a":0.214129329,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8454552,"cg_sample_seq":14122966,"cg_sample_valid":1,"cg_theta_rad":5.00781345,"cg_vd_req_v":0.0748416185,"cg_vd_v":0.0748416185,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.428809732,"cg_vq_v":-0.428809732,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.308011889,"dclink_p_w":44.5769157,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2561,"hz_tim_isr":5000,"hz_vsense":2561,"pwm_moe":1,"temp_inv1_c":39.567627,"temp_inv2_c":40.5749207,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2551.69458,"values":{"Elec_RPM":-0.00936804526,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54754,"Mech_RPM":-0.00187360903,"cg_du":50.1758919,"cg_dv":50.2229691,"cg_dw":49.7770309,"cg_id_a":0.000583186746,"cg_id_raw_a":-0.434436649,"cg_iq_a":0.119165868,"cg_iq_raw_a":0.10252215,"cg_iu_a":-0.722343206,"cg_iv_a":0.467836082,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9436359,"cg_sample_seq":14124766,"cg_sample_valid":1,"cg_theta_rad":5.00764227,"cg_vd_req_v":0.0802015215,"cg_vd_v":0.0802015215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401507109,"cg_vq_v":-0.401507109,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-57.9702034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2561,"hz_tim_isr":5000,"hz_vsense":2561,"pwm_moe":1,"temp_inv1_c":39.5145264,"temp_inv2_c":40.4937744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2551.983361,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2551.983368,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2551.983373,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2552.030518,"values":{"Elec_RPM":-0.00678057037,"EncoderCos":38725,"EncoderSin":12490,"GapTicks":54757,"Mech_RPM":-0.00135611405,"cg_du":50.1682053,"cg_dv":50.2202225,"cg_dw":49.7797775,"cg_id_a":-0.272777051,"cg_id_raw_a":-0.384852409,"cg_iq_a":-0.244914457,"cg_iq_raw_a":0.473861694,"cg_iu_a":0.328727961,"cg_iv_a":-0.148308992,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9618187,"cg_sample_seq":14126366,"cg_sample_valid":1,"cg_theta_rad":5.00629425,"cg_vd_req_v":0.0814251527,"cg_vd_v":0.0814251527,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395136982,"cg_vq_v":-0.395136982,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.1377335,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2561,"hz_tim_isr":5000,"hz_vsense":2561,"pwm_moe":1,"temp_inv1_c":39.4880066,"temp_inv2_c":40.5242004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2552.38208,"values":{"Elec_RPM":-0.00471341377,"EncoderCos":38728,"EncoderSin":12492,"GapTicks":54752,"Mech_RPM":-0.000942682789,"cg_du":50.1774826,"cg_dv":50.2245483,"cg_dw":49.7754517,"cg_id_a":0.0432382971,"cg_id_raw_a":0.423820466,"cg_iq_a":0.168573663,"cg_iq_raw_a":0.15003103,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.438259721,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14128167,"cg_sample_valid":1,"cg_theta_rad":5.00646019,"cg_vd_req_v":0.0777438655,"cg_vd_v":0.0777438655,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405083627,"cg_vq_v":-0.405083627,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.514328,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.4085083,"temp_inv2_c":40.5106812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2552.714111,"values":{"Elec_RPM":-0.00341155822,"EncoderCos":38724,"EncoderSin":12515,"GapTicks":54769,"Mech_RPM":-0.000682311656,"cg_du":50.1444016,"cg_dv":50.20924,"cg_dw":49.79076,"cg_id_a":-0.215809196,"cg_id_raw_a":-0.4218871,"cg_iq_a":-0.293055385,"cg_iq_raw_a":0.652913332,"cg_iu_a":0.111264944,"cg_iv_a":0.359104633,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8781815,"cg_sample_seq":14129767,"cg_sample_valid":1,"cg_theta_rad":5.00705194,"cg_vd_req_v":0.0887004361,"cg_vd_v":0.0887004361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365805209,"cg_vq_v":-0.365805209,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2595,"hz_tim_isr":5000,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":40.4667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2552.974686,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2552.974692,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2552.974698,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2553.065674,"values":{"Elec_RPM":-0.00237149466,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54760,"Mech_RPM":-0.000474298955,"cg_du":50.1641617,"cg_dv":50.2176857,"cg_dw":49.7823143,"cg_id_a":0.0713997036,"cg_id_raw_a":0.528448701,"cg_iq_a":0.0980932415,"cg_iq_raw_a":-0.493782252,"cg_iu_a":0.256240129,"cg_iv_a":-0.583235145,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9581814,"cg_sample_seq":14131566,"cg_sample_valid":1,"cg_theta_rad":5.00783682,"cg_vd_req_v":0.0831216723,"cg_vd_v":0.0831216723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389193118,"cg_vq_v":-0.389193118,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":39.3291321,"temp_inv2_c":40.4212036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2553.397705,"values":{"Elec_RPM":-0.00171648245,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54757,"Mech_RPM":-0.000343296502,"cg_du":50.1642113,"cg_dv":50.2201042,"cg_dw":49.7798958,"cg_id_a":-0.306005746,"cg_id_raw_a":-0.980928898,"cg_iq_a":0.316005588,"cg_iq_raw_a":0.741450071,"cg_iu_a":0.691166401,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.9763641,"cg_sample_seq":14133166,"cg_sample_valid":1,"cg_theta_rad":5.00783253,"cg_vd_req_v":0.0858895704,"cg_vd_v":0.0858895704,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392424524,"cg_vq_v":-0.392424524,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":39.2762451,"temp_inv2_c":40.3942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2553.729736,"values":{"Elec_RPM":-0.00119318767,"EncoderCos":38719,"EncoderSin":12501,"GapTicks":54758,"Mech_RPM":-0.000238637542,"cg_du":50.1620865,"cg_dv":50.2199593,"cg_dw":49.7800407,"cg_id_a":-0.00337881595,"cg_id_raw_a":-0.25356999,"cg_iq_a":0.000554352999,"cg_iq_raw_a":-0.460419983,"cg_iu_a":-0.613611698,"cg_iv_a":0.105397701,"cg_iw_a":0.508213997,"cg_sample_age_us":23.863636,"cg_sample_seq":14134967,"cg_sample_valid":1,"cg_theta_rad":5.00889826,"cg_vd_req_v":0.0859684572,"cg_vd_v":0.0859684572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390103042,"cg_vq_v":-0.390103042,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-116.02092,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":39.2498474,"temp_inv2_c":40.2881775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2553.967234,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2553.96724,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2553.967246,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2554.085205,"values":{"Elec_RPM":-0.000863626541,"EncoderCos":38746,"EncoderSin":12511,"GapTicks":54746,"Mech_RPM":-0.000172725311,"cg_du":50.162281,"cg_dv":50.2308617,"cg_dw":49.7691383,"cg_id_a":-0.331593692,"cg_id_raw_a":-0.307971269,"cg_iq_a":0.00525864959,"cg_iq_raw_a":-0.82710433,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9509087,"cg_sample_seq":14136566,"cg_sample_valid":1,"cg_theta_rad":5.00677967,"cg_vd_req_v":0.0939038843,"cg_vd_v":0.0939038843,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406933814,"cg_vq_v":-0.406933814,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.626957595,"dclink_p_w":91.0120163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.1706848,"temp_inv2_c":40.2982483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2554.41333,"values":{"Elec_RPM":-0.000600337458,"EncoderCos":38709,"EncoderSin":12490,"GapTicks":54749,"Mech_RPM":-0.000120067489,"cg_du":50.1652336,"cg_dv":50.2280464,"cg_dw":49.7719536,"cg_id_a":0.119704753,"cg_id_raw_a":-0.076623559,"cg_iq_a":0.375582457,"cg_iq_raw_a":0.102487326,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0758213997,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9872723,"cg_sample_seq":14138366,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.0928437263,"cg_vd_v":0.0928437263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403816909,"cg_vq_v":-0.403816909,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.1443176,"temp_inv2_c":40.2478027,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2554.749268,"values":{"Elec_RPM":-0.000425832462,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54756,"Mech_RPM":-8.51664954e-05,"cg_du":50.1617622,"cg_dv":50.2217941,"cg_dw":49.7782059,"cg_id_a":0.0358492807,"cg_id_raw_a":0.00959105231,"cg_iq_a":0.350328386,"cg_iq_raw_a":0.730044901,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9618187,"cg_sample_seq":14140016,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0888741538,"cg_vd_v":0.0888741538,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393477947,"cg_vq_v":-0.393477947,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":39.0390015,"temp_inv2_c":40.2108459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2554.959665,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2554.959671,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2554.959676,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2555.10083,"values":{"Elec_RPM":-0.000302052242,"EncoderCos":38704,"EncoderSin":12488,"GapTicks":54749,"Mech_RPM":-6.04104498e-05,"cg_du":50.1704597,"cg_dv":50.2273064,"cg_dw":49.7726936,"cg_id_a":-0.112048358,"cg_id_raw_a":-0.0323586091,"cg_iq_a":0.371914834,"cg_iq_raw_a":0.288964391,"cg_iu_a":0.437459469,"cg_iv_a":-0.438259721,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14141716,"cg_sample_valid":1,"cg_theta_rad":5.00801229,"cg_vd_req_v":0.0885288417,"cg_vd_v":0.0885288417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405647039,"cg_vq_v":-0.405647039,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.2455177,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":39.0126953,"temp_inv2_c":40.1688538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2555.432861,"values":{"Elec_RPM":-0.000214252243,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54765,"Mech_RPM":-4.285045e-05,"cg_du":50.1535988,"cg_dv":50.2131081,"cg_dw":49.7868919,"cg_id_a":-0.212516785,"cg_id_raw_a":-0.610666931,"cg_iq_a":-0.512312531,"cg_iq_raw_a":-0.458908439,"cg_iu_a":0.401215553,"cg_iv_a":0.359104633,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9872723,"cg_sample_seq":14143418,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.0866429284,"cg_vd_v":0.0866429284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377083063,"cg_vq_v":-0.377083063,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":38.9864197,"temp_inv2_c":40.1604614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2555.784424,"values":{"Elec_RPM":-0.000151973785,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54762,"Mech_RPM":-3.03947563e-05,"cg_du":50.1537132,"cg_dv":50.2155418,"cg_dw":49.7844582,"cg_id_a":-0.42606169,"cg_id_raw_a":-0.491495728,"cg_iq_a":0.0164955556,"cg_iq_raw_a":0.937230468,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14145121,"cg_sample_valid":1,"cg_theta_rad":5.00890207,"cg_vd_req_v":0.0880916789,"cg_vd_v":0.0880916789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380662858,"cg_vq_v":-0.380662858,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04345465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":38.960144,"temp_inv2_c":40.1202393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2555.982578,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2555.982583,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2555.982589,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2556.116455,"values":{"Elec_RPM":-0.000107798303,"EncoderCos":38713,"EncoderSin":12486,"GapTicks":54752,"Mech_RPM":-2.1559661e-05,"cg_du":50.1842613,"cg_dv":50.2252197,"cg_dw":49.7747803,"cg_id_a":-0.466942102,"cg_id_raw_a":-0.758023143,"cg_iq_a":0.490380824,"cg_iq_raw_a":0.618264794,"cg_iu_a":-0.468636513,"cg_iv_a":0.0329101086,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9727268,"cg_sample_seq":14146817,"cg_sample_valid":1,"cg_theta_rad":5.00623465,"cg_vd_req_v":0.0746296421,"cg_vd_v":0.0746296421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409505337,"cg_vq_v":-0.409505337,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.708506227,"dclink_p_w":102.538322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":38.9076538,"temp_inv2_c":40.1051331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2556.452393,"values":{"Elec_RPM":-7.80241608e-05,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54757,"Mech_RPM":-1.56048318e-05,"cg_du":50.176281,"cg_dv":50.2202682,"cg_dw":49.7797318,"cg_id_a":-0.109059073,"cg_id_raw_a":-0.274157524,"cg_iq_a":0.163226247,"cg_iq_raw_a":0.192983717,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.8672733,"cg_sample_seq":14148466,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.0753483847,"cg_vd_v":0.0753483847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399686843,"cg_vq_v":-0.399686843,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":38.8551636,"temp_inv2_c":40.0699463,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2556.803955,"values":{"Elec_RPM":-5.42373455e-05,"EncoderCos":38728,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-1.08474687e-05,"cg_du":50.1748238,"cg_dv":50.2146454,"cg_dw":49.7853546,"cg_id_a":-0.0580424704,"cg_id_raw_a":0.513202012,"cg_iq_a":0.0764939636,"cg_iq_raw_a":-0.351167679,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14150266,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.0702798143,"cg_vd_v":0.0702798143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390102416,"cg_vq_v":-0.390102416,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.317853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2576,"hz_tim_isr":5001,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":38.8027649,"temp_inv2_c":40.0397949,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2556.975105,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2556.975129,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2556.975134,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2557.135986,"values":{"Elec_RPM":-3.92568691e-05,"EncoderCos":38763,"EncoderSin":12484,"GapTicks":54762,"Mech_RPM":-7.85137399e-06,"cg_du":50.153183,"cg_dv":50.2163315,"cg_dw":49.7836685,"cg_id_a":-0.343616039,"cg_id_raw_a":0.046787031,"cg_iq_a":-0.352088571,"cg_iq_raw_a":-0.577217758,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9472733,"cg_sample_seq":14151867,"cg_sample_valid":1,"cg_theta_rad":5.00667048,"cg_vd_req_v":0.0860889852,"cg_vd_v":0.0860889852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38095969,"cg_vq_v":-0.38095969,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.529099286,"dclink_p_w":76.8064575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.8027649,"temp_inv2_c":40.0130005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2557.487549,"values":{"Elec_RPM":-2.72888392e-05,"EncoderCos":38726,"EncoderSin":12511,"GapTicks":54738,"Mech_RPM":-5.45776766e-06,"cg_du":50.1715851,"cg_dv":50.2379265,"cg_dw":49.7620735,"cg_id_a":-0.513518393,"cg_id_raw_a":-0.16732797,"cg_iq_a":0.542954385,"cg_iq_raw_a":-0.269662738,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8563633,"cg_sample_seq":14153670,"cg_sample_valid":1,"cg_theta_rad":5.00779009,"cg_vd_req_v":0.094969973,"cg_vd_v":0.094969973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420092523,"cg_vq_v":-0.420092523,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.6719666,"temp_inv2_c":39.9862366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2557.81958,"values":{"Elec_RPM":-1.97515965e-05,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54725,"Mech_RPM":-3.9503193e-06,"cg_du":50.2114754,"cg_dv":50.2492561,"cg_dw":49.7507439,"cg_id_a":0.281994075,"cg_id_raw_a":0.00661082892,"cg_iq_a":0.460604936,"cg_iq_raw_a":-0.326234192,"cg_iu_a":-0.432392597,"cg_iv_a":-0.402015805,"cg_iw_a":0.834408402,"cg_sample_age_us":23.8600006,"cg_sample_seq":14155267,"cg_sample_valid":1,"cg_theta_rad":5.00998497,"cg_vd_req_v":0.0752509907,"cg_vd_v":0.0752509907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.457686394,"cg_vq_v":-0.457686394,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2586,"hz_tim_isr":4998,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.6197205,"temp_inv2_c":39.9360657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2557.967679,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2557.967685,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2557.96769,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2558.206299,"values":{"Elec_RPM":-1.37300322e-05,"EncoderCos":38702,"EncoderSin":12489,"GapTicks":54738,"Mech_RPM":-2.74600643e-06,"cg_du":50.2019005,"cg_dv":50.2377739,"cg_dw":49.7622261,"cg_id_a":0.0736780018,"cg_id_raw_a":0.228405654,"cg_iq_a":-0.00121331215,"cg_iq_raw_a":-0.631901979,"cg_iu_a":0.219996452,"cg_iv_a":0.467836082,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9509087,"cg_sample_seq":14157066,"cg_sample_valid":1,"cg_theta_rad":5.00629663,"cg_vd_req_v":0.0740124583,"cg_vd_v":0.0740124583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.436297387,"cg_vq_v":-0.436297387,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.6458435,"temp_inv2_c":39.9110107,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2558.749268,"values":{"Elec_RPM":-7.48951652e-06,"EncoderCos":38714,"EncoderSin":12476,"GapTicks":54751,"Mech_RPM":-1.49790333e-06,"cg_du":50.1854782,"cg_dv":50.2263336,"cg_dw":49.7736664,"cg_id_a":-0.0507141687,"cg_id_raw_a":0.0981950164,"cg_iq_a":0.0503093451,"cg_iq_raw_a":-0.390121251,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148308992,"cg_iw_a":0.326994658,"cg_sample_age_us":23.994545,"cg_sample_seq":14160016,"cg_sample_valid":1,"cg_theta_rad":5.00647831,"cg_vd_req_v":0.0751733407,"cg_vd_v":0.0751733407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41291526,"cg_vq_v":-0.41291526,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2590,"hz_tim_isr":5001,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":38.5414429,"temp_inv2_c":39.8425903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2558.863474,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2558.863572,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2558.863575,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"state","t":2558.991044,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2558.99105,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2558.991055,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2559.147705,"values":{"Elec_RPM":-5.10210248e-06,"EncoderCos":38708,"EncoderSin":12486,"GapTicks":54763,"Mech_RPM":-1.02042054e-06,"cg_du":50.1747742,"cg_dv":50.2151489,"cg_dw":49.7848511,"cg_id_a":0.0469746739,"cg_id_raw_a":0.502085149,"cg_iq_a":0.177702874,"cg_iq_raw_a":0.414945513,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.109531641,"cg_sample_age_us":23.954546,"cg_sample_seq":14161916,"cg_sample_valid":1,"cg_theta_rad":5.00550985,"cg_vd_req_v":0.0727161989,"cg_vd_v":0.0727161989,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390408993,"cg_vq_v":-0.390408993,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.5154114,"temp_inv2_c":39.815918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2559.479736,"values":{"Elec_RPM":-3.6190329e-06,"EncoderCos":38714,"EncoderSin":12518,"GapTicks":54754,"Mech_RPM":-7.23806579e-07,"cg_du":50.1649055,"cg_dv":50.2234268,"cg_dw":49.7765732,"cg_id_a":-0.244887903,"cg_id_raw_a":-0.409410208,"cg_iq_a":0.104084328,"cg_iq_raw_a":0.507724583,"cg_iu_a":0.0750210285,"cg_iv_a":0.685299098,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9436359,"cg_sample_seq":14163666,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.087368682,"cg_vd_v":0.087368682,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397608787,"cg_vq_v":-0.397608787,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.7646842,"dclink_p_w":110.668655,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.4632874,"temp_inv2_c":39.8009033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2559.831299,"values":{"Elec_RPM":-2.5670588e-06,"EncoderCos":38692,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-5.13411749e-07,"cg_du":50.1736984,"cg_dv":50.2149086,"cg_dw":49.7850914,"cg_id_a":-0.00627412647,"cg_id_raw_a":-0.0621626079,"cg_iq_a":0.0818208978,"cg_iq_raw_a":-0.0420673452,"cg_iu_a":-0.178685665,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9581814,"cg_sample_seq":14165367,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.0749030784,"cg_vd_v":0.0749030784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389177978,"cg_vq_v":-0.389177978,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.831735253,"dclink_p_w":120.372597,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2586,"hz_tim_isr":4999,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":38.4372864,"temp_inv2_c":39.7775879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2559.983402,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2559.983408,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2559.983413,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2560.167236,"values":{"Elec_RPM":-1.82087069e-06,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-3.64174127e-07,"cg_du":50.1689835,"cg_dv":50.2061424,"cg_dw":49.7938576,"cg_id_a":0.315014333,"cg_id_raw_a":1.00415111,"cg_iq_a":-0.350606799,"cg_iq_raw_a":-0.410322815,"cg_iu_a":0.14750886,"cg_iv_a":0.214129329,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9581814,"cg_sample_seq":14167016,"cg_sample_valid":1,"cg_theta_rad":5.00692987,"cg_vd_req_v":0.0680696592,"cg_vd_v":0.0680696592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374996096,"cg_vq_v":-0.374996096,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.4112549,"temp_inv2_c":39.7026672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2560.495361,"values":{"Elec_RPM":-1.29158343e-06,"EncoderCos":38744,"EncoderSin":12507,"GapTicks":54752,"Mech_RPM":-2.58316675e-07,"cg_du":50.1773109,"cg_dv":50.2249641,"cg_dw":49.7750359,"cg_id_a":0.0466380678,"cg_id_raw_a":0.298460662,"cg_iq_a":-0.0860724002,"cg_iq_raw_a":-0.554655969,"cg_iu_a":-0.178685665,"cg_iv_a":-0.691966653,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9763641,"cg_sample_seq":14168768,"cg_sample_valid":1,"cg_theta_rad":5.00800085,"cg_vd_req_v":0.0763856992,"cg_vd_v":0.0763856992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405915141,"cg_vq_v":-0.405915141,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.40043366,"dclink_p_w":57.9526215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.3332825,"temp_inv2_c":39.732605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.122160681,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2560.85083,"values":{"Elec_RPM":-9.16148167e-07,"EncoderCos":38710,"EncoderSin":12475,"GapTicks":54749,"Mech_RPM":-1.83229631e-07,"cg_du":50.1832047,"cg_dv":50.2276001,"cg_dw":49.7723999,"cg_id_a":-0.164111882,"cg_id_raw_a":-0.275081336,"cg_iq_a":0.34837985,"cg_iq_raw_a":1.24819863,"cg_iu_a":-0.287417173,"cg_iv_a":0.105397761,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9581814,"cg_sample_seq":14170467,"cg_sample_valid":1,"cg_theta_rad":5.00662422,"cg_vd_req_v":0.0783671737,"cg_vd_v":0.0783671737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412028968,"cg_vq_v":-0.412028968,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2599,"hz_tim_isr":4998,"hz_vsense":2599,"pwm_moe":1,"temp_inv1_c":38.307312,"temp_inv2_c":39.6860352,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2561.006594,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2561.0066,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2561.006605,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2561.182861,"values":{"Elec_RPM":-6.49843628e-07,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-1.29968726e-07,"cg_du":50.1692429,"cg_dv":50.2168236,"cg_dw":49.7831764,"cg_id_a":0.00195588544,"cg_id_raw_a":-0.0140519794,"cg_iq_a":0.0555425435,"cg_iq_raw_a":-0.109739877,"cg_iu_a":0.654922485,"cg_iv_a":0.177885413,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9581814,"cg_sample_seq":14172166,"cg_sample_valid":1,"cg_theta_rad":5.00739002,"cg_vd_req_v":0.0767779872,"cg_vd_v":0.0767779872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389948457,"cg_vq_v":-0.389948457,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.2813721,"temp_inv2_c":39.6560974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2561.534424,"values":{"Elec_RPM":-4.60948286e-07,"EncoderCos":38718,"EncoderSin":12527,"GapTicks":54761,"Mech_RPM":-9.21896586e-08,"cg_du":50.1642342,"cg_dv":50.2169456,"cg_dw":49.7830544,"cg_id_a":0.0488049388,"cg_id_raw_a":0.119853824,"cg_iq_a":-0.16745545,"cg_iq_raw_a":-0.861606181,"cg_iu_a":-0.722343206,"cg_iv_a":0.141641617,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14173870,"cg_sample_valid":1,"cg_theta_rad":5.00791788,"cg_vd_req_v":0.0807507411,"cg_vd_v":0.0807507411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387331784,"cg_vq_v":-0.387331784,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.2678413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.2554321,"temp_inv2_c":39.6394653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2561.866455,"values":{"Elec_RPM":-3.26960645e-07,"EncoderCos":38712,"EncoderSin":12496,"GapTicks":54764,"Mech_RPM":-6.5392129e-08,"cg_du":50.1597023,"cg_dv":50.2139015,"cg_dw":49.7860985,"cg_id_a":0.0877437964,"cg_id_raw_a":0.0452586897,"cg_iq_a":0.0915522724,"cg_iq_raw_a":-0.0676029176,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9218178,"cg_sample_seq":14175566,"cg_sample_valid":1,"cg_theta_rad":5.00704956,"cg_vd_req_v":0.0827050954,"cg_vd_v":0.0827050954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380364895,"cg_vq_v":-0.380364895,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":38.2035522,"temp_inv2_c":39.5780029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2561.999015,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2561.999021,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2561.999026,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2562.198486,"values":{"Elec_RPM":-2.31920311e-07,"EncoderCos":38701,"EncoderSin":12493,"GapTicks":54740,"Mech_RPM":-4.63840628e-08,"cg_du":50.1798363,"cg_dv":50.2355309,"cg_dw":49.7644691,"cg_id_a":0.121747084,"cg_id_raw_a":0.136799142,"cg_iq_a":0.340241909,"cg_iq_raw_a":0.48810342,"cg_iu_a":0.509947181,"cg_iv_a":0.177885473,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9763641,"cg_sample_seq":14177266,"cg_sample_valid":1,"cg_theta_rad":5.00725889,"cg_vd_req_v":0.0893520415,"cg_vd_v":0.0893520415,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.422107726,"cg_vq_v":-0.422107726,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.502037883,"dclink_p_w":-72.6572571,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":38.125885,"temp_inv2_c":39.576355,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2562.553955,"values":{"Elec_RPM":-1.64506162e-07,"EncoderCos":38705,"EncoderSin":12475,"GapTicks":54753,"Mech_RPM":-3.29012337e-08,"cg_du":50.1777382,"cg_dv":50.2236786,"cg_dw":49.7763214,"cg_id_a":-0.111197814,"cg_id_raw_a":-0.265204817,"cg_iq_a":0.0263141096,"cg_iq_raw_a":0.30190298,"cg_iu_a":-0.178685904,"cg_iv_a":-0.25704056,"cg_iw_a":0.435726464,"cg_sample_age_us":23.8527279,"cg_sample_seq":14178966,"cg_sample_valid":1,"cg_theta_rad":5.00644207,"cg_vd_req_v":0.0792874694,"cg_vd_v":0.0792874694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403542638,"cg_vq_v":-0.403542638,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.3500443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":38.125885,"temp_inv2_c":39.5498047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2562.88208,"values":{"Elec_RPM":-1.16687822e-07,"EncoderCos":38712,"EncoderSin":12451,"GapTicks":54767,"Mech_RPM":-2.33375648e-08,"cg_du":50.1713295,"cg_dv":50.2109337,"cg_dw":49.7890663,"cg_id_a":-0.0924038887,"cg_id_raw_a":-0.17262961,"cg_iq_a":-0.327135414,"cg_iq_raw_a":-0.198758721,"cg_iu_a":0.147508621,"cg_iv_a":0.214129269,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.8527279,"cg_sample_seq":14180667,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0721008107,"cg_vd_v":0.0721008107,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38380596,"cg_vq_v":-0.38380596,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":38.0741272,"temp_inv2_c":39.5365295,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2562.959716,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2562.959722,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2562.959727,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2563.218018,"values":{"Elec_RPM":-8.2769219e-08,"EncoderCos":38745,"EncoderSin":12459,"GapTicks":54740,"Mech_RPM":-1.65538445e-08,"cg_du":50.1869545,"cg_dv":50.2361488,"cg_dw":49.7638512,"cg_id_a":-0.477390736,"cg_id_raw_a":-0.585721493,"cg_iq_a":1.09147823,"cg_iq_raw_a":-0.745147645,"cg_iu_a":-1.33848834,"cg_iv_a":-0.112065315,"cg_iw_a":1.45055366,"cg_sample_age_us":24.0381813,"cg_sample_seq":14182367,"cg_sample_valid":1,"cg_theta_rad":5.00627279,"cg_vd_req_v":0.0808468238,"cg_vd_v":0.0808468238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.426308095,"cg_vq_v":-0.426308095,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":38.0224609,"temp_inv2_c":39.5033569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2563.56958,"values":{"Elec_RPM":-5.87100111e-08,"EncoderCos":38712,"EncoderSin":12489,"GapTicks":54771,"Mech_RPM":-1.1742002e-08,"cg_du":50.1583252,"cg_dv":50.2075996,"cg_dw":49.7924004,"cg_id_a":0.0281334314,"cg_id_raw_a":-0.00964528974,"cg_iq_a":-0.214983687,"cg_iq_raw_a":-0.364328861,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14184066,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0780741572,"cg_vd_v":0.0780741572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372119755,"cg_vq_v":-0.372119755,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.512789488,"dclink_p_w":74.2132797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":37.9966125,"temp_inv2_c":39.4984131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2563.901611,"values":{"Elec_RPM":-4.16442987e-08,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-8.32885938e-09,"cg_du":50.1743317,"cg_dv":50.2060127,"cg_dw":49.7939873,"cg_id_a":0.293867856,"cg_id_raw_a":0.288044721,"cg_iq_a":0.129739881,"cg_iq_raw_a":0.0296728257,"cg_iu_a":-0.50488019,"cg_iv_a":-0.329528213,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9218178,"cg_sample_seq":14185717,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.064459309,"cg_vd_v":0.064459309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377703756,"cg_vq_v":-0.377703756,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-63.1446495,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2587,"hz_tim_isr":5000,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":37.9966125,"temp_inv2_c":39.4437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2563.951266,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2563.951272,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2563.951277,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2564.233643,"values":{"Elec_RPM":-2.9539212e-08,"EncoderCos":38678,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-5.90784222e-09,"cg_du":50.1598969,"cg_dv":50.2030258,"cg_dw":49.7969742,"cg_id_a":0.221491337,"cg_id_raw_a":0.61237067,"cg_iq_a":0.0964773446,"cg_iq_raw_a":-1.02681053,"cg_iu_a":-0.251173496,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263388,"cg_sample_age_us":23.954546,"cg_sample_seq":14187417,"cg_sample_valid":1,"cg_theta_rad":5.00730848,"cg_vd_req_v":0.075579904,"cg_vd_v":0.075579904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364968538,"cg_vq_v":-0.364968538,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4271851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.425049,"values":{"Elec_RPM":-2.46282532e-08,"EncoderCos":38725,"EncoderSin":12468,"GapTicks":54786,"Mech_RPM":-4.92565055e-09,"cg_du":50.1493988,"cg_dv":50.1940041,"cg_dw":49.8059959,"cg_id_a":0.0016211383,"cg_id_raw_a":0.0902191028,"cg_iq_a":-0.554173648,"cg_iq_raw_a":0.118773393,"cg_iu_a":0.038777113,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9872723,"cg_sample_seq":14188367,"cg_sample_valid":1,"cg_theta_rad":5.0077014,"cg_vd_req_v":0.0710797682,"cg_vd_v":0.0710797682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347611725,"cg_vq_v":-0.347611725,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.428833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.436768,"values":{"Elec_RPM":-2.41356872e-08,"EncoderCos":38711,"EncoderSin":12492,"GapTicks":54780,"Mech_RPM":-4.82713736e-09,"cg_du":50.1652641,"cg_dv":50.1992035,"cg_dw":49.8007965,"cg_id_a":0.308047384,"cg_id_raw_a":-0.620203495,"cg_iq_a":0.172496334,"cg_iq_raw_a":-0.570029318,"cg_iu_a":-0.287417412,"cg_iv_a":-0.112065315,"cg_iw_a":0.399482727,"cg_sample_age_us":23.9836369,"cg_sample_seq":14188416,"cg_sample_valid":1,"cg_theta_rad":5.00501299,"cg_vd_req_v":0.0644252449,"cg_vd_v":0.0644252449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364585817,"cg_vq_v":-0.364585817,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4189148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.44458,"values":{"Elec_RPM":-2.41356872e-08,"EncoderCos":38681,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-4.82713736e-09,"cg_du":50.1523666,"cg_dv":50.201149,"cg_dw":49.798851,"cg_id_a":-0.458537489,"cg_id_raw_a":-0.720806241,"cg_iq_a":-0.0356922001,"cg_iq_raw_a":0.798011839,"cg_iu_a":0.292484283,"cg_iv_a":0.685299098,"cg_iw_a":-0.977783382,"cg_sample_age_us":23.8527279,"cg_sample_seq":14188466,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0795942545,"cg_vd_v":0.0795942545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35814786,"cg_vq_v":-0.35814786,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.471924,"values":{"Elec_RPM":-2.36529729e-08,"EncoderCos":38700,"EncoderSin":12491,"GapTicks":54791,"Mech_RPM":-4.73059458e-09,"cg_du":50.1555214,"cg_dv":50.1894913,"cg_dw":49.8105087,"cg_id_a":0.352628201,"cg_id_raw_a":0.0667007342,"cg_iq_a":-0.511492789,"cg_iq_raw_a":-0.903162122,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9872723,"cg_sample_seq":14188520,"cg_sample_valid":1,"cg_theta_rad":5.00778008,"cg_vd_req_v":0.063306272,"cg_vd_v":0.063306272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344650418,"cg_vq_v":-0.344650418,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.479736,"values":{"Elec_RPM":-2.36529729e-08,"EncoderCos":38685,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-4.73059458e-09,"cg_du":50.151001,"cg_dv":50.1974564,"cg_dw":49.8025436,"cg_id_a":-0.291837573,"cg_id_raw_a":-0.440725535,"cg_iq_a":-0.0928285271,"cg_iq_raw_a":-1.24796724,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.21826303,"cg_sample_age_us":23.9254551,"cg_sample_seq":14188566,"cg_sample_valid":1,"cg_theta_rad":5.00630188,"cg_vd_req_v":0.0759749115,"cg_vd_v":0.0759749115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352616847,"cg_vq_v":-0.352616847,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.71204376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4122925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.491455,"values":{"Elec_RPM":-2.31799131e-08,"EncoderCos":38701,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-4.63598271e-09,"cg_du":50.1582336,"cg_dv":50.1960182,"cg_dw":49.8039818,"cg_id_a":0.00193053856,"cg_id_raw_a":-0.160894871,"cg_iq_a":0.119099513,"cg_iq_raw_a":-0.525343955,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8672733,"cg_sample_seq":14188618,"cg_sample_valid":1,"cg_theta_rad":5.00700808,"cg_vd_req_v":0.0676333532,"cg_vd_v":0.0676333532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356136739,"cg_vq_v":-0.356136739,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.72462749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4189148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.499268,"values":{"Elec_RPM":-2.31799131e-08,"EncoderCos":38715,"EncoderSin":12512,"GapTicks":54780,"Mech_RPM":-4.63598271e-09,"cg_du":50.1591797,"cg_dv":50.1995659,"cg_dw":49.8004341,"cg_id_a":-0.0169104077,"cg_id_raw_a":0.0418182127,"cg_iq_a":0.362630963,"cg_iq_raw_a":0.623796642,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9872723,"cg_sample_seq":14188667,"cg_sample_valid":1,"cg_theta_rad":5.00664377,"cg_vd_req_v":0.0687389523,"cg_vd_v":0.0687389523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361813068,"cg_vq_v":-0.361813068,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4189148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.50708,"values":{"Elec_RPM":-2.27163159e-08,"EncoderCos":38680,"EncoderSin":12483,"GapTicks":54790,"Mech_RPM":-4.5432631e-09,"cg_du":50.1557007,"cg_dv":50.1907387,"cg_dw":49.8092613,"cg_id_a":0.116242915,"cg_id_raw_a":0.676020205,"cg_iq_a":-0.368524283,"cg_iq_raw_a":-0.255518228,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9472733,"cg_sample_seq":14188717,"cg_sample_valid":1,"cg_theta_rad":5.00785303,"cg_vd_req_v":0.0661487505,"cg_vd_v":0.0661487505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346111059,"cg_vq_v":-0.346111059,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4089661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.514893,"values":{"Elec_RPM":-2.27163159e-08,"EncoderCos":38706,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-4.5432631e-09,"cg_du":50.1655273,"cg_dv":50.1977844,"cg_dw":49.8022156,"cg_id_a":0.191066578,"cg_id_raw_a":0.075535357,"cg_iq_a":0.492635012,"cg_iq_raw_a":0.263282657,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14188767,"cg_sample_valid":1,"cg_theta_rad":5.00756502,"cg_vd_req_v":0.0630788356,"cg_vd_v":0.0630788356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36162591,"cg_vq_v":-0.36162591,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.8128624,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4089661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.522705,"values":{"Elec_RPM":-2.22619896e-08,"EncoderCos":38708,"EncoderSin":12466,"GapTicks":54783,"Mech_RPM":-4.45239801e-09,"cg_du":50.1563873,"cg_dv":50.1964798,"cg_dw":49.8035202,"cg_id_a":-0.0902385861,"cg_id_raw_a":0.0500865839,"cg_iq_a":0.0278215595,"cg_iq_raw_a":-0.321994334,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9799995,"cg_sample_seq":14188817,"cg_sample_valid":1,"cg_theta_rad":5.00568438,"cg_vd_req_v":0.0694201589,"cg_vd_v":0.0694201589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354626149,"cg_vq_v":-0.354626149,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.410614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.530518,"values":{"Elec_RPM":-2.22619896e-08,"EncoderCos":38717,"EncoderSin":12535,"GapTicks":54781,"Mech_RPM":-4.45239801e-09,"cg_du":50.1593552,"cg_dv":50.1987305,"cg_dw":49.8012695,"cg_id_a":0.0235187616,"cg_id_raw_a":0.00333225192,"cg_iq_a":0.367286623,"cg_iq_raw_a":-0.071689859,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8563633,"cg_sample_seq":14188867,"cg_sample_valid":1,"cg_theta_rad":5.00700808,"cg_vd_req_v":0.0670507625,"cg_vd_v":0.0670507625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360908777,"cg_vq_v":-0.360908777,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.53833,"values":{"Elec_RPM":-2.18167511e-08,"EncoderCos":38688,"EncoderSin":12467,"GapTicks":54791,"Mech_RPM":-4.36335013e-09,"cg_du":50.1508331,"cg_dv":50.1899414,"cg_dw":49.8100586,"cg_id_a":-0.136277556,"cg_id_raw_a":-0.290856123,"cg_iq_a":-0.358650833,"cg_iq_raw_a":-0.467164904,"cg_iu_a":-0.0337102413,"cg_iv_a":0.105397761,"cg_iw_a":-0.0716875196,"cg_sample_age_us":23.9836369,"cg_sample_seq":14188917,"cg_sample_valid":1,"cg_theta_rad":5.00767279,"cg_vd_req_v":0.0691267848,"cg_vd_v":0.0691267848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343361497,"cg_vq_v":-0.343361497,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.467484713,"dclink_p_w":67.8622055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.550049,"values":{"Elec_RPM":-2.18167511e-08,"EncoderCos":38685,"EncoderSin":12507,"GapTicks":54789,"Mech_RPM":-4.36335013e-09,"cg_du":50.1483192,"cg_dv":50.1910744,"cg_dw":49.8089256,"cg_id_a":-0.108853087,"cg_id_raw_a":0.0828474313,"cg_iq_a":-0.255900979,"cg_iq_raw_a":-0.427879453,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0758213997,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14188967,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0715026855,"cg_vd_v":0.0715026855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34361583,"cg_vq_v":-0.34361583,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.4189148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.577393,"values":{"Elec_RPM":-2.13804157e-08,"EncoderCos":38760,"EncoderSin":12506,"GapTicks":54784,"Mech_RPM":-4.27608304e-09,"cg_du":50.1406517,"cg_dv":50.1956062,"cg_dw":49.8043938,"cg_id_a":-0.289688587,"cg_id_raw_a":0.0214283243,"cg_iq_a":-0.145470619,"cg_iq_raw_a":-0.288375229,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.8563633,"cg_sample_seq":14189020,"cg_sample_valid":1,"cg_theta_rad":5.00715399,"cg_vd_req_v":0.0758549646,"cg_vd_v":0.0758549646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345711797,"cg_vq_v":-0.345711797,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.585205,"values":{"Elec_RPM":-2.13804157e-08,"EncoderCos":38697,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-4.27608304e-09,"cg_du":50.1503716,"cg_dv":50.1965103,"cg_dw":49.8034897,"cg_id_a":-0.254799396,"cg_id_raw_a":-0.336546838,"cg_iq_a":-0.00620928407,"cg_iq_raw_a":-0.0333422869,"cg_iu_a":0.401215553,"cg_iv_a":0.467836082,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9509087,"cg_sample_seq":14189066,"cg_sample_valid":1,"cg_theta_rad":5.00704098,"cg_vd_req_v":0.0743872821,"cg_vd_v":0.0743872821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351226687,"cg_vq_v":-0.351226687,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.91922,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.593018,"values":{"Elec_RPM":-2.09528057e-08,"EncoderCos":38715,"EncoderSin":12476,"GapTicks":54782,"Mech_RPM":-4.19056123e-09,"cg_du":50.1562614,"cg_dv":50.1981049,"cg_dw":49.8018951,"cg_id_a":-0.0131392526,"cg_id_raw_a":-0.00344951847,"cg_iq_a":0.263413548,"cg_iq_raw_a":0.000464331009,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065256,"cg_iw_a":0.47197032,"cg_sample_age_us":23.954546,"cg_sample_seq":14189116,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0702923611,"cg_vd_v":0.0702923611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356920272,"cg_vq_v":-0.356920272,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3907776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.604736,"values":{"Elec_RPM":-2.05337507e-08,"EncoderCos":38689,"EncoderSin":12491,"GapTicks":54780,"Mech_RPM":-4.10675005e-09,"cg_du":50.1517067,"cg_dv":50.1999435,"cg_dw":49.8000565,"cg_id_a":-0.324909955,"cg_id_raw_a":-0.113421202,"cg_iq_a":0.0138732716,"cg_iq_raw_a":-0.156676397,"cg_iu_a":0.473703384,"cg_iv_a":-0.365772128,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9509087,"cg_sample_seq":14189267,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.077629596,"cg_vd_v":0.077629596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357568026,"cg_vq_v":-0.357568026,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.135231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.612549,"values":{"Elec_RPM":-2.01230748e-08,"EncoderCos":38730,"EncoderSin":12521,"GapTicks":54772,"Mech_RPM":-4.02461486e-09,"cg_du":50.1491928,"cg_dv":50.2071762,"cg_dw":49.7928238,"cg_id_a":-0.492340922,"cg_id_raw_a":-0.150239199,"cg_iq_a":0.32612139,"cg_iq_raw_a":-0.231387928,"cg_iu_a":-0.214929581,"cg_iv_a":-1.27186787,"cg_iw_a":1.48679745,"cg_sample_age_us":23.954546,"cg_sample_seq":14189317,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0822830722,"cg_vd_v":0.0822830722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365809649,"cg_vq_v":-0.365809649,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.620361,"values":{"Elec_RPM":-2.01230748e-08,"EncoderCos":38733,"EncoderSin":12493,"GapTicks":54776,"Mech_RPM":-4.02461486e-09,"cg_du":50.1560707,"cg_dv":50.2032356,"cg_dw":49.7967644,"cg_id_a":-0.0382145122,"cg_id_raw_a":-0.197032452,"cg_iq_a":0.251991183,"cg_iq_raw_a":0.273648918,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14189367,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0735189393,"cg_vd_v":0.0735189393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364170671,"cg_vq_v":-0.364170671,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.628174,"values":{"Elec_RPM":-1.97206127e-08,"EncoderCos":38710,"EncoderSin":12505,"GapTicks":54764,"Mech_RPM":-3.94412236e-09,"cg_du":50.1583862,"cg_dv":50.2136765,"cg_dw":49.7863235,"cg_id_a":-0.477152586,"cg_id_raw_a":-0.0451018028,"cg_iq_a":1.000126,"cg_iq_raw_a":-0.00359936222,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14189416,"cg_sample_valid":1,"cg_theta_rad":5.00651932,"cg_vd_req_v":0.0834574923,"cg_vd_v":0.0834574923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379336476,"cg_vq_v":-0.379336476,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.4143867,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.635986,"values":{"Elec_RPM":-1.97206127e-08,"EncoderCos":38719,"EncoderSin":12506,"GapTicks":54786,"Mech_RPM":-3.94412236e-09,"cg_du":50.1443863,"cg_dv":50.194397,"cg_dw":49.805603,"cg_id_a":-0.0592353046,"cg_id_raw_a":0.0555981472,"cg_iq_a":-0.433080465,"cg_iq_raw_a":0.0425224677,"cg_iu_a":0.256240368,"cg_iv_a":-0.474503517,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9763641,"cg_sample_seq":14189467,"cg_sample_valid":1,"cg_theta_rad":5.00634861,"cg_vd_req_v":0.0751957074,"cg_vd_v":0.0751957074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346482247,"cg_vq_v":-0.346482247,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.667236,"values":{"Elec_RPM":-1.93262011e-08,"EncoderCos":38720,"EncoderSin":12496,"GapTicks":54782,"Mech_RPM":-3.86524013e-09,"cg_du":50.1657524,"cg_dv":50.1981697,"cg_dw":49.8018303,"cg_id_a":0.555160105,"cg_id_raw_a":0.055578474,"cg_iq_a":0.388767689,"cg_iq_raw_a":0.0425481834,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775676,"cg_sample_age_us":23.863636,"cg_sample_seq":14189520,"cg_sample_valid":1,"cg_theta_rad":5.00614691,"cg_vd_req_v":0.0621901043,"cg_vd_v":0.0621901043,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363600314,"cg_vq_v":-0.363600314,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.4634609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.4139099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.675049,"values":{"Elec_RPM":-1.93262011e-08,"EncoderCos":38713,"EncoderSin":12494,"GapTicks":54786,"Mech_RPM":-3.86524013e-09,"cg_du":50.1463699,"cg_dv":50.1940651,"cg_dw":49.8059349,"cg_id_a":0.0286466703,"cg_id_raw_a":0.247110173,"cg_iq_a":-0.370470136,"cg_iq_raw_a":-0.412046999,"cg_iu_a":0.727410078,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.954546,"cg_sample_seq":14189566,"cg_sample_valid":1,"cg_theta_rad":5.00764656,"cg_vd_req_v":0.0740703791,"cg_vd_v":0.0740703791,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346981972,"cg_vq_v":-0.346981972,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.4139099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.682861,"values":{"Elec_RPM":-1.89396765e-08,"EncoderCos":38706,"EncoderSin":12519,"GapTicks":54784,"Mech_RPM":-3.7879353e-09,"cg_du":50.1484032,"cg_dv":50.1956253,"cg_dw":49.8043747,"cg_id_a":0.119429559,"cg_id_raw_a":-0.259963483,"cg_iq_a":-0.170080408,"cg_iq_raw_a":-1.00868511,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8563633,"cg_sample_seq":14189617,"cg_sample_valid":1,"cg_theta_rad":5.00659847,"cg_vd_req_v":0.0739448667,"cg_vd_v":0.0739448667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350265622,"cg_vq_v":-0.350265622,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3907776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.690674,"values":{"Elec_RPM":-1.89396765e-08,"EncoderCos":38740,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-3.7879353e-09,"cg_du":50.1659012,"cg_dv":50.2023659,"cg_dw":49.7976341,"cg_id_a":0.551555634,"cg_id_raw_a":0.140956551,"cg_iq_a":0.799252927,"cg_iq_raw_a":0.486919105,"cg_iu_a":-0.722343206,"cg_iv_a":0.39534843,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14189667,"cg_sample_valid":1,"cg_theta_rad":5.00752354,"cg_vd_req_v":0.0644796267,"cg_vd_v":0.0644796267,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368548304,"cg_vq_v":-0.368548304,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4023438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.698486,"values":{"Elec_RPM":-1.85608826e-08,"EncoderCos":38719,"EncoderSin":12521,"GapTicks":54778,"Mech_RPM":-3.71217657e-09,"cg_du":50.1567764,"cg_dv":50.2015533,"cg_dw":49.7984467,"cg_id_a":0.206892312,"cg_id_raw_a":0.21851182,"cg_iq_a":0.26674062,"cg_iq_raw_a":-0.124177314,"cg_iu_a":-1.77341437,"cg_iv_a":-0.0758213997,"cg_iw_a":1.84923577,"cg_sample_age_us":23.9836369,"cg_sample_seq":14189717,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0717918798,"cg_vd_v":0.0717918798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362183124,"cg_vq_v":-0.362183124,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4023438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.706299,"values":{"Elec_RPM":-1.85608826e-08,"EncoderCos":38712,"EncoderSin":12491,"GapTicks":54778,"Mech_RPM":-3.71217657e-09,"cg_du":50.1568871,"cg_dv":50.2010498,"cg_dw":49.7989502,"cg_id_a":0.0898598954,"cg_id_raw_a":-0.153601214,"cg_iq_a":0.245868683,"cg_iq_raw_a":0.459161997,"cg_iu_a":-1.37473226,"cg_iv_a":-0.474503517,"cg_iw_a":1.84923577,"cg_sample_age_us":23.9618187,"cg_sample_seq":14189767,"cg_sample_valid":1,"cg_theta_rad":5.00693607,"cg_vd_req_v":0.0725396425,"cg_vd_v":0.0725396425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36129415,"cg_vq_v":-0.36129415,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3924255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.718018,"values":{"Elec_RPM":-1.81896649e-08,"EncoderCos":38740,"EncoderSin":12461,"GapTicks":54781,"Mech_RPM":-3.63793307e-09,"cg_du":50.1484489,"cg_dv":50.1986732,"cg_dw":49.8013268,"cg_id_a":-0.0498441905,"cg_id_raw_a":-0.24850376,"cg_iq_a":-0.195990264,"cg_iq_raw_a":0.596340775,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9400005,"cg_sample_seq":14189817,"cg_sample_valid":1,"cg_theta_rad":5.005404,"cg_vd_req_v":0.0755547285,"cg_vd_v":0.0755547285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354727566,"cg_vq_v":-0.354727566,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4023438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.72583,"values":{"Elec_RPM":-1.81896649e-08,"EncoderCos":38703,"EncoderSin":12485,"GapTicks":54795,"Mech_RPM":-3.63793307e-09,"cg_du":50.1401672,"cg_dv":50.1859055,"cg_dw":49.8140945,"cg_id_a":0.0754717141,"cg_id_raw_a":0.539019346,"cg_iq_a":-1.16599703,"cg_iq_raw_a":-1.00133049,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9799995,"cg_sample_seq":14189867,"cg_sample_valid":1,"cg_theta_rad":5.00685358,"cg_vd_req_v":0.0719567686,"cg_vd_v":0.0719567686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332158834,"cg_vq_v":-0.332158834,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4023438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.733643,"values":{"Elec_RPM":-1.78258723e-08,"EncoderCos":38695,"EncoderSin":12487,"GapTicks":54782,"Mech_RPM":-3.56517438e-09,"cg_du":50.1535416,"cg_dv":50.1981583,"cg_dw":49.8018417,"cg_id_a":-0.109544009,"cg_id_raw_a":0.452147931,"cg_iq_a":0.0100591108,"cg_iq_raw_a":-0.13508901,"cg_iu_a":-0.178685904,"cg_iv_a":-0.148309112,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9436359,"cg_sample_seq":14189917,"cg_sample_valid":1,"cg_theta_rad":5.008183,"cg_vd_req_v":0.0738226175,"cg_vd_v":0.0738226175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355184674,"cg_vq_v":-0.355184674,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.745361,"values":{"Elec_RPM":-1.78258723e-08,"EncoderCos":38726,"EncoderSin":12470,"GapTicks":54784,"Mech_RPM":-3.56517438e-09,"cg_du":50.1448669,"cg_dv":50.1959991,"cg_dw":49.8040009,"cg_id_a":-0.194843873,"cg_id_raw_a":0.104173273,"cg_iq_a":-0.400415391,"cg_iq_raw_a":-0.0255657788,"cg_iu_a":0.546190858,"cg_iv_a":-0.800698042,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14189967,"cg_sample_valid":1,"cg_theta_rad":5.00678492,"cg_vd_req_v":0.076449655,"cg_vd_v":0.076449655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34781459,"cg_vq_v":-0.34781459,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.377533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.772705,"values":{"Elec_RPM":-1.7469354e-08,"EncoderCos":38727,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-3.49387097e-09,"cg_du":50.1467171,"cg_dv":50.1964226,"cg_dw":49.8035774,"cg_id_a":-0.0223197564,"cg_id_raw_a":-0.260261685,"cg_iq_a":-0.237899423,"cg_iq_raw_a":0.0490018278,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":25.8890915,"cg_sample_seq":14190022,"cg_sample_valid":1,"cg_theta_rad":5.00632095,"cg_vd_req_v":0.0747734457,"cg_vd_v":0.0747734457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349561542,"cg_vq_v":-0.349561542,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3824768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.780518,"values":{"Elec_RPM":-1.71199677e-08,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-3.42399353e-09,"cg_du":50.1494522,"cg_dv":50.1954193,"cg_dw":49.8045807,"cg_id_a":0.0557867512,"cg_id_raw_a":-0.248293087,"cg_iq_a":-0.00176935643,"cg_iq_raw_a":0.339866459,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.148309112,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9472733,"cg_sample_seq":14190167,"cg_sample_valid":1,"cg_theta_rad":5.00507212,"cg_vd_req_v":0.0741102397,"cg_vd_v":0.0741102397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349211752,"cg_vq_v":-0.349211752,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3841553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.78833,"values":{"Elec_RPM":-1.67775678e-08,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-3.35551364e-09,"cg_du":50.1501999,"cg_dv":50.1980019,"cg_dw":49.8019981,"cg_id_a":0.145293742,"cg_id_raw_a":-0.449368864,"cg_iq_a":0.304716766,"cg_iq_raw_a":1.55935872,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14190217,"cg_sample_valid":1,"cg_theta_rad":5.00815916,"cg_vd_req_v":0.0745014399,"cg_vd_v":0.0745014399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35346511,"cg_vq_v":-0.35346511,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.796143,"values":{"Elec_RPM":-1.67775678e-08,"EncoderCos":38727,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-3.35551364e-09,"cg_du":50.1487732,"cg_dv":50.1955452,"cg_dw":49.8044548,"cg_id_a":0.196158677,"cg_id_raw_a":0.00409367774,"cg_iq_a":0.266562611,"cg_iq_raw_a":0.365246534,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333380699,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9436359,"cg_sample_seq":14190267,"cg_sample_valid":1,"cg_theta_rad":5.00641108,"cg_vd_req_v":0.0723096207,"cg_vd_v":0.0723096207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349520802,"cg_vq_v":-0.349520802,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4006958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.803955,"values":{"Elec_RPM":-1.64420157e-08,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54787,"Mech_RPM":-3.28840333e-09,"cg_du":50.1436615,"cg_dv":50.1929398,"cg_dw":49.8070602,"cg_id_a":0.0950537026,"cg_id_raw_a":0.531009853,"cg_iq_a":-0.0445207134,"cg_iq_raw_a":-0.312464178,"cg_iu_a":0.546190977,"cg_iv_a":-0.25704062,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9509087,"cg_sample_seq":14190316,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0741944984,"cg_vd_v":0.0741944984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343025506,"cg_vq_v":-0.343025506,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.811768,"values":{"Elec_RPM":-1.64420157e-08,"EncoderCos":38724,"EncoderSin":12512,"GapTicks":54791,"Mech_RPM":-3.28840333e-09,"cg_du":50.1489258,"cg_dv":50.1894302,"cg_dw":49.8105698,"cg_id_a":0.409345508,"cg_id_raw_a":0.0779866949,"cg_iq_a":0.0311498307,"cg_iq_raw_a":0.699793577,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14190366,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0662533343,"cg_vd_v":0.0662533343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342351586,"cg_vq_v":-0.342351586,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.823486,"values":{"Elec_RPM":-1.61131766e-08,"EncoderCos":38715,"EncoderSin":12475,"GapTicks":54789,"Mech_RPM":-3.22263527e-09,"cg_du":50.1412888,"cg_dv":50.1909409,"cg_dw":49.8090591,"cg_id_a":-0.0727403834,"cg_id_raw_a":-0.0166548323,"cg_iq_a":-0.042703703,"cg_iq_raw_a":-0.292193681,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9581814,"cg_sample_seq":14190416,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.075312227,"cg_vd_v":0.075312227,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339798123,"cg_vq_v":-0.339798123,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.831299,"values":{"Elec_RPM":-1.61131766e-08,"EncoderCos":38707,"EncoderSin":12472,"GapTicks":54793,"Mech_RPM":-3.22263527e-09,"cg_du":50.1371231,"cg_dv":50.1878128,"cg_dw":49.8121872,"cg_id_a":-0.0763439164,"cg_id_raw_a":-0.41415298,"cg_iq_a":-0.425789654,"cg_iq_raw_a":-1.35223317,"cg_iu_a":0.256240368,"cg_iv_a":0.757786751,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9509087,"cg_sample_seq":14190466,"cg_sample_valid":1,"cg_theta_rad":5.00725603,"cg_vd_req_v":0.0762070343,"cg_vd_v":0.0762070343,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333030462,"cg_vq_v":-0.333030462,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.839111,"values":{"Elec_RPM":-1.57909135e-08,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54794,"Mech_RPM":-3.1581826e-09,"cg_du":50.1387444,"cg_dv":50.1870308,"cg_dw":49.8129692,"cg_id_a":0.0939841717,"cg_id_raw_a":-0.572283745,"cg_iq_a":-0.336704254,"cg_iq_raw_a":-0.201370984,"cg_iu_a":0.546190977,"cg_iv_a":0.395348489,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.9181824,"cg_sample_seq":14190516,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.0733199269,"cg_vd_v":0.0733199269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332015365,"cg_vq_v":-0.332015365,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.866455,"values":{"Elec_RPM":-1.57909135e-08,"EncoderCos":38729,"EncoderSin":12490,"GapTicks":54795,"Mech_RPM":-3.1581826e-09,"cg_du":50.1302567,"cg_dv":50.1858597,"cg_dw":49.8141403,"cg_id_a":-0.0113179348,"cg_id_raw_a":0.513147116,"cg_iq_a":-0.53701663,"cg_iq_raw_a":-0.351247936,"cg_iu_a":0.00253343582,"cg_iv_a":1.12022519,"cg_iw_a":-1.12275863,"cg_sample_age_us":26.8163643,"cg_sample_seq":14190571,"cg_sample_valid":1,"cg_theta_rad":5.00642633,"cg_vd_req_v":0.0774108022,"cg_vd_v":0.0774108022,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325992137,"cg_vq_v":-0.325992137,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.8405533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.4172363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.874268,"values":{"Elec_RPM":-1.5475095e-08,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54793,"Mech_RPM":-3.09501891e-09,"cg_du":50.1251068,"cg_dv":50.1876907,"cg_dw":49.8123093,"cg_id_a":-0.309738904,"cg_id_raw_a":0.159966677,"cg_iq_a":-0.659097373,"cg_iq_raw_a":-0.165639505,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691540241,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.9836369,"cg_sample_seq":14190617,"cg_sample_valid":1,"cg_theta_rad":5.00631666,"cg_vd_req_v":0.0843485668,"cg_vd_v":0.0843485668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325327575,"cg_vq_v":-0.325327575,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.500104189,"dclink_p_w":72.1574097,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.885986,"values":{"Elec_RPM":-1.5475095e-08,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54793,"Mech_RPM":-3.09501891e-09,"cg_du":50.1325912,"cg_dv":50.1880035,"cg_dw":49.8119965,"cg_id_a":-0.0699488446,"cg_id_raw_a":0.179697365,"cg_iq_a":-0.324694663,"cg_iq_raw_a":-0.563906908,"cg_iu_a":0.799897671,"cg_iv_a":0.250373125,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9509087,"cg_sample_seq":14190667,"cg_sample_valid":1,"cg_theta_rad":5.00761223,"cg_vd_req_v":0.079813987,"cg_vd_v":0.079813987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32970494,"cg_vq_v":-0.32970494,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.407682419,"dclink_p_w":59.0016975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.893799,"values":{"Elec_RPM":-1.51655914e-08,"EncoderCos":38717,"EncoderSin":12498,"GapTicks":54795,"Mech_RPM":-3.03311842e-09,"cg_du":50.1365242,"cg_dv":50.1862755,"cg_dw":49.8137245,"cg_id_a":0.237318441,"cg_id_raw_a":-0.0345964879,"cg_iq_a":-0.302706063,"cg_iq_raw_a":-0.330245554,"cg_iu_a":-0.50488019,"cg_iv_a":0.467836082,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14190716,"cg_sample_valid":1,"cg_theta_rad":5.00625181,"cg_vd_req_v":0.0738271773,"cg_vd_v":0.0738271773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330904096,"cg_vq_v":-0.330904096,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.407682419,"dclink_p_w":59.0016975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.901611,"values":{"Elec_RPM":-1.51655914e-08,"EncoderCos":38727,"EncoderSin":12507,"GapTicks":54790,"Mech_RPM":-3.03311842e-09,"cg_du":50.1362419,"cg_dv":50.190155,"cg_dw":49.809845,"cg_id_a":-0.0342612341,"cg_id_raw_a":-0.00906389952,"cg_iq_a":0.197016478,"cg_iq_raw_a":0.509586751,"cg_iu_a":0.0750210285,"cg_iv_a":0.649055243,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8563633,"cg_sample_seq":14190766,"cg_sample_valid":1,"cg_theta_rad":5.00600481,"cg_vd_req_v":0.0768571198,"cg_vd_v":0.0768571198,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336264521,"cg_vq_v":-0.336264521,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.407682419,"dclink_p_w":59.0016975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.909424,"values":{"Elec_RPM":-1.48622803e-08,"EncoderCos":38709,"EncoderSin":12502,"GapTicks":54793,"Mech_RPM":-2.97245606e-09,"cg_du":50.132431,"cg_dv":50.1873131,"cg_dw":49.8126869,"cg_id_a":-0.0140068326,"cg_id_raw_a":0.0460788272,"cg_iq_a":-0.155375615,"cg_iq_raw_a":-0.504524767,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":24.0381813,"cg_sample_seq":14190816,"cg_sample_valid":1,"cg_theta_rad":5.00567245,"cg_vd_req_v":0.0785727352,"cg_vd_v":0.0785727352,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329897106,"cg_vq_v":-0.329897106,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.407682419,"dclink_p_w":59.0016975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.921143,"values":{"Elec_RPM":-1.48622803e-08,"EncoderCos":38701,"EncoderSin":12484,"GapTicks":54789,"Mech_RPM":-2.97245606e-09,"cg_du":50.1316452,"cg_dv":50.1910324,"cg_dw":49.8089676,"cg_id_a":-0.241344929,"cg_id_raw_a":-0.106477551,"cg_iq_a":0.0227845162,"cg_iq_raw_a":-0.22854045,"cg_iu_a":0.14750886,"cg_iv_a":-0.836941838,"cg_iw_a":0.689432979,"cg_sample_age_us":23.954546,"cg_sample_seq":14190866,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0835894793,"cg_vd_v":0.0835894793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333258092,"cg_vq_v":-0.333258092,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.423992157,"dclink_p_w":61.3621178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.928955,"values":{"Elec_RPM":-1.45650345e-08,"EncoderCos":38738,"EncoderSin":12509,"GapTicks":54788,"Mech_RPM":-2.91300695e-09,"cg_du":50.1347923,"cg_dv":50.1922913,"cg_dw":49.8077087,"cg_id_a":-0.0485685244,"cg_id_raw_a":0.781730354,"cg_iq_a":0.121634975,"cg_iq_raw_a":-0.546799362,"cg_iu_a":0.111264944,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9763641,"cg_sample_seq":14190916,"cg_sample_valid":1,"cg_theta_rad":5.00696468,"cg_vd_req_v":0.0789387748,"cg_vd_v":0.0789387748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337559164,"cg_vq_v":-0.337559164,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.3468323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.936768,"values":{"Elec_RPM":-1.45650345e-08,"EncoderCos":38713,"EncoderSin":12486,"GapTicks":54787,"Mech_RPM":-2.91300695e-09,"cg_du":50.1340981,"cg_dv":50.192894,"cg_dw":49.807106,"cg_id_a":-0.199968204,"cg_id_raw_a":-0.513442814,"cg_iq_a":0.0266815424,"cg_iq_raw_a":-0.158905953,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0758213997,"cg_iw_a":0.363238811,"cg_sample_age_us":23.954546,"cg_sample_seq":14190966,"cg_sample_valid":1,"cg_theta_rad":5.00738192,"cg_vd_req_v":0.0825203136,"cg_vd_v":0.0825203136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337401181,"cg_vq_v":-0.337401181,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.4056702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.94458,"values":{"Elec_RPM":-1.42737342e-08,"EncoderCos":38701,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-2.85474688e-09,"cg_du":50.1368065,"cg_dv":50.1948967,"cg_dw":49.8051033,"cg_id_a":-0.175201192,"cg_id_raw_a":-0.468751192,"cg_iq_a":0.146965638,"cg_iq_raw_a":0.0265287124,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14191016,"cg_sample_valid":1,"cg_theta_rad":5.0065074,"cg_vd_req_v":0.0833679661,"cg_vd_v":0.0833679661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342496693,"cg_vq_v":-0.342496693,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.971924,"values":{"Elec_RPM":-1.42737342e-08,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-2.85474688e-09,"cg_du":50.1331291,"cg_dv":50.1884232,"cg_dw":49.8115768,"cg_id_a":0.0540907085,"cg_id_raw_a":-0.222744942,"cg_iq_a":-0.477609575,"cg_iq_raw_a":-0.566509783,"cg_iu_a":0.292484045,"cg_iv_a":-0.474503517,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14191072,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.0779138952,"cg_vd_v":0.0779138952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331023872,"cg_vq_v":-0.331023872,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2564.975059,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2564.975065,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2564.97507,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2564.979736,"values":{"Elec_RPM":-1.39882594e-08,"EncoderCos":38726,"EncoderSin":12469,"GapTicks":54794,"Mech_RPM":-2.79765189e-09,"cg_du":50.1358261,"cg_dv":50.1870728,"cg_dw":49.8129272,"cg_id_a":0.13530612,"cg_id_raw_a":-0.374832332,"cg_iq_a":-0.504413962,"cg_iq_raw_a":-0.290239662,"cg_iu_a":0.473703146,"cg_iv_a":0.322860777,"cg_iw_a":-0.796563923,"cg_sample_age_us":23.9254551,"cg_sample_seq":14191116,"cg_sample_valid":1,"cg_theta_rad":5.00674105,"cg_vd_req_v":0.0751363561,"cg_vd_v":0.0751363561,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331602484,"cg_vq_v":-0.331602484,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.3953362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2564.987549,"values":{"Elec_RPM":-1.39882594e-08,"EncoderCos":38737,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-2.79765189e-09,"cg_du":50.1561775,"cg_dv":50.2016487,"cg_dw":49.7983513,"cg_id_a":0.236970767,"cg_id_raw_a":-0.315406352,"cg_iq_a":0.932470024,"cg_iq_raw_a":0.189675629,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9327278,"cg_sample_seq":14191166,"cg_sample_valid":1,"cg_theta_rad":5.00816488,"cg_vd_req_v":0.0720724016,"cg_vd_v":0.0720724016,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362033099,"cg_vq_v":-0.362033099,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.3953362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2564.999268,"values":{"Elec_RPM":-1.37084939e-08,"EncoderCos":38711,"EncoderSin":12443,"GapTicks":54786,"Mech_RPM":-2.74169887e-09,"cg_du":50.1437759,"cg_dv":50.1938362,"cg_dw":49.8061638,"cg_id_a":-0.0438680127,"cg_id_raw_a":-0.00841175392,"cg_iq_a":-0.0673832297,"cg_iq_raw_a":-0.364359468,"cg_iu_a":-0.0699541569,"cg_iv_a":0.032910049,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9872723,"cg_sample_seq":14191216,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.0770191625,"cg_vd_v":0.0770191625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343862444,"cg_vq_v":-0.343862444,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.3953362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3725586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.00708,"values":{"Elec_RPM":-1.37084939e-08,"EncoderCos":38720,"EncoderSin":12497,"GapTicks":54784,"Mech_RPM":-2.74169887e-09,"cg_du":50.1484032,"cg_dv":50.1957321,"cg_dw":49.8042679,"cg_id_a":0.0667813271,"cg_id_raw_a":-0.378526807,"cg_iq_a":0.262121201,"cg_iq_raw_a":-0.472417176,"cg_iu_a":-0.831074715,"cg_iv_a":0.177885473,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9763641,"cg_sample_seq":14191266,"cg_sample_valid":1,"cg_theta_rad":5.00850916,"cg_vd_req_v":0.0732403845,"cg_vd_v":0.0732403845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349465817,"cg_vq_v":-0.349465817,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.014893,"values":{"Elec_RPM":-1.34343248e-08,"EncoderCos":38694,"EncoderSin":12459,"GapTicks":54792,"Mech_RPM":-2.68686495e-09,"cg_du":50.1433029,"cg_dv":50.1888199,"cg_dw":49.8111801,"cg_id_a":-0.0706272721,"cg_id_raw_a":0.143654168,"cg_iq_a":-0.260851711,"cg_iq_raw_a":-1.00453663,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333380699,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14191316,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.0734161362,"cg_vd_v":0.0734161362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336593151,"cg_vq_v":-0.336593151,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.022705,"values":{"Elec_RPM":-1.34343248e-08,"EncoderCos":38711,"EncoderSin":12493,"GapTicks":54788,"Mech_RPM":-2.68686495e-09,"cg_du":50.1456413,"cg_dv":50.1921043,"cg_dw":49.8078957,"cg_id_a":-0.107530616,"cg_id_raw_a":-0.0278182831,"cg_iq_a":-0.0097364746,"cg_iq_raw_a":0.0344895124,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8745461,"cg_sample_seq":14191366,"cg_sample_valid":1,"cg_theta_rad":5.00703049,"cg_vd_req_v":0.0729111806,"cg_vd_v":0.0729111806,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34385851,"cg_vq_v":-0.34385851,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7733974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2576,"hz_tim_isr":4999,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3213196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.034424,"values":{"Elec_RPM":-1.31656384e-08,"EncoderCos":38706,"EncoderSin":12483,"GapTicks":54789,"Mech_RPM":-2.63312772e-09,"cg_du":50.1459846,"cg_dv":50.1914139,"cg_dw":49.8085861,"cg_id_a":-0.122286052,"cg_id_raw_a":0.350780457,"cg_iq_a":0.0255749971,"cg_iq_raw_a":0.87368542,"cg_iu_a":0.256240129,"cg_iv_a":0.141641557,"cg_iw_a":-0.397881687,"cg_sample_age_us":23.8563633,"cg_sample_seq":14191416,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0725909173,"cg_vd_v":0.0725909173,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342977732,"cg_vq_v":-0.342977732,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.042236,"values":{"Elec_RPM":-1.31656384e-08,"EncoderCos":38718,"EncoderSin":12496,"GapTicks":54790,"Mech_RPM":-2.63312772e-09,"cg_du":50.1533012,"cg_dv":50.1902962,"cg_dw":49.8097038,"cg_id_a":0.203952357,"cg_id_raw_a":0.801959932,"cg_iq_a":0.193298489,"cg_iq_raw_a":-0.067513153,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9472733,"cg_sample_seq":14191468,"cg_sample_valid":1,"cg_theta_rad":5.00699854,"cg_vd_req_v":0.0643025041,"cg_vd_v":0.0643025041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344783247,"cg_vq_v":-0.344783247,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.11773181,"dclink_p_w":17.0386963,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.050049,"values":{"Elec_RPM":-1.29023263e-08,"EncoderCos":38706,"EncoderSin":12472,"GapTicks":54791,"Mech_RPM":-2.58046517e-09,"cg_du":50.1477356,"cg_dv":50.1893044,"cg_dw":49.8106956,"cg_id_a":-0.0395188443,"cg_id_raw_a":-0.515671909,"cg_iq_a":-0.167525336,"cg_iq_raw_a":-0.342621118,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9872723,"cg_sample_seq":14191516,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.069199264,"cg_vd_v":0.069199264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340012103,"cg_vq_v":-0.340012103,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.11773181,"dclink_p_w":17.0386963,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3725586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.077393,"values":{"Elec_RPM":-1.29023263e-08,"EncoderCos":38717,"EncoderSin":12462,"GapTicks":54793,"Mech_RPM":-2.58046517e-09,"cg_du":50.1464043,"cg_dv":50.1879158,"cg_dw":49.8120842,"cg_id_a":0.0492522568,"cg_id_raw_a":0.0941298753,"cg_iq_a":-0.340411574,"cg_iq_raw_a":-0.135559484,"cg_iu_a":0.401215553,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9836369,"cg_sample_seq":14191570,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0682753772,"cg_vd_v":0.0682753772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337506264,"cg_vq_v":-0.337506264,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3725586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.089111,"values":{"Elec_RPM":-1.26442785e-08,"EncoderCos":38708,"EncoderSin":12492,"GapTicks":54787,"Mech_RPM":-2.52885579e-09,"cg_du":50.1501389,"cg_dv":50.1927605,"cg_dw":49.8072395,"cg_id_a":-0.0351308957,"cg_id_raw_a":-0.251564771,"cg_iq_a":0.106581599,"cg_iq_raw_a":0.595056117,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397701,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14191617,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0700599849,"cg_vd_v":0.0700599849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34618187,"cg_vq_v":-0.34618187,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.096924,"values":{"Elec_RPM":-1.26442785e-08,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54800,"Mech_RPM":-2.52885579e-09,"cg_du":50.1484108,"cg_dv":50.1812096,"cg_dw":49.8187904,"cg_id_a":0.42069602,"cg_id_raw_a":-0.166154727,"cg_iq_a":-0.42503196,"cg_iq_raw_a":-0.270387232,"cg_iu_a":-0.0337104797,"cg_iv_a":0.830274403,"cg_iw_a":-0.796563923,"cg_sample_age_us":23.9218178,"cg_sample_seq":14191667,"cg_sample_valid":1,"cg_theta_rad":5.00923491,"cg_vd_req_v":0.0599953383,"cg_vd_v":0.0599953383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330593824,"cg_vq_v":-0.330593824,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8990498,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3543701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.104736,"values":{"Elec_RPM":-1.23913937e-08,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54788,"Mech_RPM":-2.47827869e-09,"cg_du":50.1485901,"cg_dv":50.1925697,"cg_dw":49.8074303,"cg_id_a":-0.0640679672,"cg_id_raw_a":-0.0277506057,"cg_iq_a":0.304184347,"cg_iq_raw_a":0.0345439911,"cg_iu_a":0.582434893,"cg_iv_a":-0.112065196,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9509087,"cg_sample_seq":14191717,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0703685209,"cg_vd_v":0.0703685209,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346294641,"cg_vq_v":-0.346294641,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.5296984,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3543701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.112549,"values":{"Elec_RPM":-1.23913937e-08,"EncoderCos":38704,"EncoderSin":12493,"GapTicks":54795,"Mech_RPM":-2.47827869e-09,"cg_du":50.1387138,"cg_dv":50.1857719,"cg_dw":49.8142281,"cg_id_a":-0.178022385,"cg_id_raw_a":0.279283255,"cg_iq_a":-0.37974304,"cg_iq_raw_a":0.538628578,"cg_iu_a":-0.468636274,"cg_iv_a":0.39534843,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14191767,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0727077276,"cg_vd_v":0.0727077276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331211895,"cg_vq_v":-0.331211895,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3477478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.120361,"values":{"Elec_RPM":-1.21435662e-08,"EncoderCos":38712,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-2.42871323e-09,"cg_du":50.1490288,"cg_dv":50.201046,"cg_dw":49.798954,"cg_id_a":-0.403734982,"cg_id_raw_a":-0.417182624,"cg_iq_a":0.697685301,"cg_iq_raw_a":0.140948564,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333368778,"cg_iw_a":0.218263268,"cg_sample_age_us":23.994545,"cg_sample_seq":14191817,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.0795831755,"cg_vd_v":0.0795831755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356678784,"cg_vq_v":-0.356678784,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3907776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.128174,"values":{"Elec_RPM":-1.21435662e-08,"EncoderCos":38705,"EncoderSin":12489,"GapTicks":54781,"Mech_RPM":-2.42871323e-09,"cg_du":50.1597481,"cg_dv":50.1989326,"cg_dw":49.8010674,"cg_id_a":0.267640203,"cg_id_raw_a":0.18034257,"cg_iq_a":0.636344135,"cg_iq_raw_a":0.0552449413,"cg_iu_a":-0.577368021,"cg_iv_a":0.0691539049,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9836369,"cg_sample_seq":14191867,"cg_sample_valid":1,"cg_theta_rad":5.00814342,"cg_vd_req_v":0.0688591674,"cg_vd_v":0.0688591674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359909564,"cg_vq_v":-0.359909564,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8934326,"temp_inv2_c":39.3907776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.135986,"values":{"Elec_RPM":-1.19006947e-08,"EncoderCos":38688,"EncoderSin":12535,"GapTicks":54789,"Mech_RPM":-2.38013897e-09,"cg_du":50.1431313,"cg_dv":50.1915398,"cg_dw":49.8084602,"cg_id_a":0.0379917026,"cg_id_raw_a":0.0282546524,"cg_iq_a":-0.461366206,"cg_iq_raw_a":-0.105633363,"cg_iu_a":0.98111701,"cg_iv_a":-0.257040501,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9436359,"cg_sample_seq":14191917,"cg_sample_valid":1,"cg_theta_rad":5.00712776,"cg_vd_req_v":0.0749113485,"cg_vd_v":0.0749113485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340466708,"cg_vq_v":-0.340466708,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3560486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.147705,"values":{"Elec_RPM":-1.19006947e-08,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-2.38013897e-09,"cg_du":50.1489944,"cg_dv":50.193161,"cg_dw":49.806839,"cg_id_a":0.185501993,"cg_id_raw_a":0.389469534,"cg_iq_a":-0.108956411,"cg_iq_raw_a":-0.361621261,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9799995,"cg_sample_seq":14191967,"cg_sample_valid":1,"cg_theta_rad":5.00790977,"cg_vd_req_v":0.0712196976,"cg_vd_v":0.0712196976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347208947,"cg_vq_v":-0.347208947,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3560486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.155518,"values":{"Elec_RPM":-1.16626806e-08,"EncoderCos":38699,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-2.33253616e-09,"cg_du":50.150486,"cg_dv":50.2024193,"cg_dw":49.7975807,"cg_id_a":-0.268502682,"cg_id_raw_a":0.273094773,"cg_iq_a":0.44770655,"cg_iq_raw_a":-0.445085645,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14192017,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0803009272,"cg_vd_v":0.0803009272,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36039567,"cg_vq_v":-0.36039567,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.182861,"values":{"Elec_RPM":-1.16626806e-08,"EncoderCos":38720,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-2.33253616e-09,"cg_du":50.1453667,"cg_dv":50.2002487,"cg_dw":49.7997513,"cg_id_a":-0.25504297,"cg_id_raw_a":0.493109703,"cg_iq_a":-0.112860523,"cg_iq_raw_a":-0.570638239,"cg_iu_a":-0.251173258,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.8527279,"cg_sample_seq":14192071,"cg_sample_valid":1,"cg_theta_rad":5.00691175,"cg_vd_req_v":0.0802034512,"cg_vd_v":0.0802034512,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35386917,"cg_vq_v":-0.35386917,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.84467435,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3510742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.190674,"values":{"Elec_RPM":-1.14294272e-08,"EncoderCos":38726,"EncoderSin":12454,"GapTicks":54780,"Mech_RPM":-2.28588548e-09,"cg_du":50.1550827,"cg_dv":50.1995659,"cg_dw":49.8004341,"cg_id_a":0.188073054,"cg_id_raw_a":0.835540056,"cg_iq_a":-0.0174362957,"cg_iq_raw_a":0.883421063,"cg_iu_a":0.256240368,"cg_iv_a":0.322860718,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9254551,"cg_sample_seq":14192116,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0722846538,"cg_vd_v":0.0722846538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358312428,"cg_vq_v":-0.358312428,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3510742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.202393,"values":{"Elec_RPM":-1.14294272e-08,"EncoderCos":38715,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-2.28588548e-09,"cg_du":50.1721115,"cg_dv":50.2081451,"cg_dw":49.7918549,"cg_id_a":0.482021958,"cg_id_raw_a":0.183674544,"cg_iq_a":0.768501401,"cg_iq_raw_a":0.23724176,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284357,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9581814,"cg_sample_seq":14192166,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0673192069,"cg_vd_v":0.0673192069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379519731,"cg_vq_v":-0.379519731,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3361816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.210205,"values":{"Elec_RPM":-1.12008394e-08,"EncoderCos":38721,"EncoderSin":12509,"GapTicks":54766,"Mech_RPM":-2.24016783e-09,"cg_du":50.1603661,"cg_dv":50.2119217,"cg_dw":49.7880783,"cg_id_a":-0.051346764,"cg_id_raw_a":-0.712334752,"cg_iq_a":0.441904455,"cg_iq_raw_a":-0.503628135,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482608,"cg_sample_age_us":23.8563633,"cg_sample_seq":14192216,"cg_sample_valid":1,"cg_theta_rad":5.00763798,"cg_vd_req_v":0.0791471675,"cg_vd_v":0.0791471675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378286481,"cg_vq_v":-0.378286481,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3642883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.218018,"values":{"Elec_RPM":-1.0976823e-08,"EncoderCos":38703,"EncoderSin":12517,"GapTicks":54779,"Mech_RPM":-2.19536456e-09,"cg_du":50.1530685,"cg_dv":50.2007141,"cg_dw":49.7992859,"cg_id_a":0.0951587632,"cg_id_raw_a":-0.0157548096,"cg_iq_a":-0.463156641,"cg_iq_raw_a":-0.729124784,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14192367,"cg_sample_valid":1,"cg_theta_rad":5.00666714,"cg_vd_req_v":0.0753029287,"cg_vd_v":0.0753029287,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358677238,"cg_vq_v":-0.358677238,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3593445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.22583,"values":{"Elec_RPM":-1.07572866e-08,"EncoderCos":38722,"EncoderSin":12479,"GapTicks":54773,"Mech_RPM":-2.15145723e-09,"cg_du":50.1547928,"cg_dv":50.2057533,"cg_dw":49.7942467,"cg_id_a":-0.183255583,"cg_id_raw_a":0.256653458,"cg_iq_a":0.0649134889,"cg_iq_raw_a":0.571812451,"cg_iu_a":0.183752537,"cg_iv_a":0.10539782,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14192417,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0782294795,"cg_vd_v":0.0782294795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366625845,"cg_vq_v":-0.366625845,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.233643,"values":{"Elec_RPM":-1.07572866e-08,"EncoderCos":38726,"EncoderSin":12515,"GapTicks":54790,"Mech_RPM":-2.15145723e-09,"cg_du":50.1530571,"cg_dv":50.1906128,"cg_dw":49.8093872,"cg_id_a":0.514000297,"cg_id_raw_a":0.245290712,"cg_iq_a":-0.912532926,"cg_iq_raw_a":-0.413132697,"cg_iu_a":-0.432392597,"cg_iv_a":0.794030666,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9872723,"cg_sample_seq":14192467,"cg_sample_valid":1,"cg_theta_rad":5.00485849,"cg_vd_req_v":0.0637199879,"cg_vd_v":0.0637199879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345278263,"cg_vq_v":-0.345278263,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3609924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.241455,"values":{"Elec_RPM":-1.05421405e-08,"EncoderCos":38697,"EncoderSin":12477,"GapTicks":54780,"Mech_RPM":-2.1084281e-09,"cg_du":50.1494179,"cg_dv":50.1993256,"cg_dw":49.8006744,"cg_id_a":-0.238253638,"cg_id_raw_a":-0.118626624,"cg_iq_a":-0.232310399,"cg_iq_raw_a":0.097938776,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101682,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9909096,"cg_sample_seq":14192517,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0782738477,"cg_vd_v":0.0782738477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354418069,"cg_vq_v":-0.354418069,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3609924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.272705,"values":{"Elec_RPM":-1.05421405e-08,"EncoderCos":38702,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-2.1084281e-09,"cg_du":50.1508446,"cg_dv":50.2000198,"cg_dw":49.7999802,"cg_id_a":-0.209018767,"cg_id_raw_a":-0.190564737,"cg_iq_a":-0.082261011,"cg_iq_raw_a":-0.856217802,"cg_iu_a":0.111264944,"cg_iv_a":0.032910049,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8563633,"cg_sample_seq":14192570,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.077425167,"cg_vd_v":0.077425167,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357390314,"cg_vq_v":-0.357390314,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3477478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.280518,"values":{"Elec_RPM":-1.03312985e-08,"EncoderCos":38681,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-2.06625961e-09,"cg_du":50.1666603,"cg_dv":50.2076263,"cg_dw":49.7923737,"cg_id_a":-0.101588428,"cg_id_raw_a":-0.982174695,"cg_iq_a":0.863048196,"cg_iq_raw_a":1.28088832,"cg_iu_a":-1.7371707,"cg_iv_a":-0.220796824,"cg_iw_a":1.95796752,"cg_sample_age_us":23.9109097,"cg_sample_seq":14192617,"cg_sample_valid":1,"cg_theta_rad":5.00723982,"cg_vd_req_v":0.074764058,"cg_vd_v":0.074764058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376228929,"cg_vq_v":-0.376228929,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3510742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.28833,"values":{"Elec_RPM":-1.03312985e-08,"EncoderCos":38739,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-2.06625961e-09,"cg_du":50.1466866,"cg_dv":50.2007523,"cg_dw":49.7992477,"cg_id_a":-0.24440816,"cg_id_raw_a":-0.0585523397,"cg_iq_a":-0.220972523,"cg_iq_raw_a":0.140956372,"cg_iu_a":0.763653874,"cg_iv_a":-0.619478941,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8563633,"cg_sample_seq":14192667,"cg_sample_valid":1,"cg_theta_rad":5.00658894,"cg_vd_req_v":0.0784650445,"cg_vd_v":0.0784650445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355562091,"cg_vq_v":-0.355562091,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3510742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.296143,"values":{"Elec_RPM":-1.01246727e-08,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-2.02493444e-09,"cg_du":50.1587257,"cg_dv":50.2015038,"cg_dw":49.7984962,"cg_id_a":0.104732648,"cg_id_raw_a":0.288197458,"cg_iq_a":0.129235446,"cg_iq_raw_a":0.0281524044,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539645,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9509087,"cg_sample_seq":14192717,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0703660995,"cg_vd_v":0.0703660995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363173842,"cg_vq_v":-0.363173842,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3659668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.303955,"values":{"Elec_RPM":-1.01246727e-08,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-2.02493444e-09,"cg_du":50.1597824,"cg_dv":50.2012596,"cg_dw":49.7987404,"cg_id_a":-0.00259176316,"cg_id_raw_a":0.396029592,"cg_iq_a":0.201253891,"cg_iq_raw_a":0.623856843,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758214593,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9509087,"cg_sample_seq":14192767,"cg_sample_valid":1,"cg_theta_rad":5.00704622,"cg_vd_req_v":0.0716548637,"cg_vd_v":0.0716548637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362974405,"cg_vq_v":-0.362974405,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3659668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.315674,"values":{"Elec_RPM":-9.92217863e-09,"EncoderCos":38722,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-1.98443573e-09,"cg_du":50.1598396,"cg_dv":50.204277,"cg_dw":49.795723,"cg_id_a":-0.0319361761,"cg_id_raw_a":0.128517702,"cg_iq_a":0.289229631,"cg_iq_raw_a":-0.0595529079,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14192817,"cg_sample_valid":1,"cg_theta_rad":5.00703907,"cg_vd_req_v":0.0729586259,"cg_vd_v":0.0729586259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367419064,"cg_vq_v":-0.367419064,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.481982231,"dclink_p_w":69.754715,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3609924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.323486,"values":{"Elec_RPM":-9.92217863e-09,"EncoderCos":38734,"EncoderSin":12495,"GapTicks":54778,"Mech_RPM":-1.98443573e-09,"cg_du":50.1553535,"cg_dv":50.2013435,"cg_dw":49.7986565,"cg_id_a":0.00767451525,"cg_id_raw_a":0.0627440736,"cg_iq_a":-0.0898993388,"cg_iq_raw_a":1.09861684,"cg_iu_a":-0.359904766,"cg_iv_a":0.0691539049,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9872723,"cg_sample_seq":14192867,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.0721208528,"cg_vd_v":0.0721208528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361218095,"cg_vq_v":-0.361218095,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.646891713,"dclink_p_w":93.9057465,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3609924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.331299,"values":{"Elec_RPM":-9.72373471e-09,"EncoderCos":38716,"EncoderSin":12507,"GapTicks":54788,"Mech_RPM":-1.94474703e-09,"cg_du":50.1516914,"cg_dv":50.1925888,"cg_dw":49.8074112,"cg_id_a":0.18924728,"cg_id_raw_a":0.0207587201,"cg_iq_a":-0.536592305,"cg_iq_raw_a":-0.90747261,"cg_iu_a":-0.0337102413,"cg_iv_a":0.467836082,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9836369,"cg_sample_seq":14192917,"cg_sample_valid":1,"cg_theta_rad":5.00810432,"cg_vd_req_v":0.0678886995,"cg_vd_v":0.0678886995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348070979,"cg_vq_v":-0.348070979,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.597962558,"dclink_p_w":86.8029633,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3609924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.339111,"values":{"Elec_RPM":-9.72373471e-09,"EncoderCos":38720,"EncoderSin":12471,"GapTicks":54786,"Mech_RPM":-1.94474703e-09,"cg_du":50.156929,"cg_dv":50.1944923,"cg_dw":49.8055077,"cg_id_a":0.176641971,"cg_id_raw_a":0.174054265,"cg_iq_a":0.000330254436,"cg_iq_raw_a":-0.309937716,"cg_iu_a":-0.613611937,"cg_iv_a":-0.365772009,"cg_iw_a":0.979383945,"cg_sample_age_us":23.954546,"cg_sample_seq":14192966,"cg_sample_valid":1,"cg_theta_rad":5.00603342,"cg_vd_req_v":0.0661716983,"cg_vd_v":0.0661716983,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353506833,"cg_vq_v":-0.353506833,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.597962558,"dclink_p_w":86.8029633,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.346924,"values":{"Elec_RPM":-9.52926094e-09,"EncoderCos":38714,"EncoderSin":12443,"GapTicks":54786,"Mech_RPM":-1.90585214e-09,"cg_du":50.1565361,"cg_dv":50.1939812,"cg_dw":49.8060188,"cg_id_a":0.124549709,"cg_id_raw_a":-0.0060556056,"cg_iq_a":0.0865990445,"cg_iq_raw_a":-0.18194896,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9436359,"cg_sample_seq":14193016,"cg_sample_valid":1,"cg_theta_rad":5.00625896,"cg_vd_req_v":0.0669365972,"cg_vd_v":0.0669365972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35130474,"cg_vq_v":-0.35130474,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.628769815,"dclink_p_w":90.998497,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.378174,"values":{"Elec_RPM":-9.52926094e-09,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-1.90585214e-09,"cg_du":50.1494865,"cg_dv":50.1913757,"cg_dw":49.8086243,"cg_id_a":0.13464734,"cg_id_raw_a":0.329732567,"cg_iq_a":-0.350945026,"cg_iq_raw_a":-1.09694934,"cg_iu_a":-1.41097593,"cg_iv_a":-0.148309112,"cg_iw_a":1.55928504,"cg_sample_age_us":26.8199997,"cg_sample_seq":14193070,"cg_sample_valid":1,"cg_theta_rad":5.007514,"cg_vd_req_v":0.0669566616,"cg_vd_v":0.0669566616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343300313,"cg_vq_v":-0.343300313,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.532723606,"dclink_p_w":77.0982437,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.385986,"values":{"Elec_RPM":-9.33867561e-09,"EncoderCos":38698,"EncoderSin":12474,"GapTicks":54787,"Mech_RPM":-1.86773508e-09,"cg_du":50.1580963,"cg_dv":50.1935425,"cg_dw":49.8064575,"cg_id_a":0.140851766,"cg_id_raw_a":0.622959614,"cg_iq_a":0.233895451,"cg_iq_raw_a":0.866232693,"cg_iu_a":0.147508621,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9509087,"cg_sample_seq":14193117,"cg_sample_valid":1,"cg_theta_rad":5.00652695,"cg_vd_req_v":0.0658183023,"cg_vd_v":0.0658183023,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351492852,"cg_vq_v":-0.351492852,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.550845563,"dclink_p_w":79.720932,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.393799,"values":{"Elec_RPM":-9.33867561e-09,"EncoderCos":38720,"EncoderSin":12484,"GapTicks":54785,"Mech_RPM":-1.86773508e-09,"cg_du":50.1494293,"cg_dv":50.1949615,"cg_dw":49.8050385,"cg_id_a":-0.0792926699,"cg_id_raw_a":0.159808055,"cg_iq_a":0.0275247991,"cg_iq_raw_a":-0.165792644,"cg_iu_a":-0.577367783,"cg_iv_a":0.39534843,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14193167,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.0720010698,"cg_vd_v":0.0720010698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34893173,"cg_vq_v":-0.34893173,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.797303617,"dclink_p_w":115.389488,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.401611,"values":{"Elec_RPM":-9.15190235e-09,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54778,"Mech_RPM":-1.8303804e-09,"cg_du":50.1504631,"cg_dv":50.2016296,"cg_dw":49.7983704,"cg_id_a":-0.432722747,"cg_id_raw_a":0.288077742,"cg_iq_a":0.568285108,"cg_iq_raw_a":0.0293516535,"cg_iu_a":-0.178685665,"cg_iv_a":-1.01816106,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14193217,"cg_sample_valid":1,"cg_theta_rad":5.00699854,"cg_vd_req_v":0.0784780905,"cg_vd_v":0.0784780905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358402491,"cg_vq_v":-0.358402491,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.409424,"values":{"Elec_RPM":-9.15190235e-09,"EncoderCos":38746,"EncoderSin":12496,"GapTicks":54792,"Mech_RPM":-1.8303804e-09,"cg_du":50.1446419,"cg_dv":50.1888275,"cg_dw":49.8111725,"cg_id_a":0.067905508,"cg_id_raw_a":-0.28792873,"cg_iq_a":-0.309994996,"cg_iq_raw_a":0.593525231,"cg_iu_a":0.256240129,"cg_iv_a":-0.329528213,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9218178,"cg_sample_seq":14193267,"cg_sample_valid":1,"cg_theta_rad":5.00579691,"cg_vd_req_v":0.0675220117,"cg_vd_v":0.0675220117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338368416,"cg_vq_v":-0.338368416,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.6513977,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3444519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.417236,"values":{"Elec_RPM":-8.96886387e-09,"EncoderCos":38701,"EncoderSin":12504,"GapTicks":54785,"Mech_RPM":-1.7937728e-09,"cg_du":50.1444435,"cg_dv":50.1945877,"cg_dw":49.8054123,"cg_id_a":-0.255844235,"cg_id_raw_a":-0.0378971249,"cg_iq_a":-0.0515183248,"cg_iq_raw_a":-0.0758246034,"cg_iu_a":0.582434893,"cg_iv_a":-0.474503517,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9436359,"cg_sample_seq":14193317,"cg_sample_valid":1,"cg_theta_rad":5.00733328,"cg_vd_req_v":0.0763399377,"cg_vd_v":0.0763399377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344353765,"cg_vq_v":-0.344353765,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.6513977,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3444519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.428955,"values":{"Elec_RPM":-8.96886387e-09,"EncoderCos":38753,"EncoderSin":12520,"GapTicks":54789,"Mech_RPM":-1.7937728e-09,"cg_du":50.1414185,"cg_dv":50.1917381,"cg_dw":49.8082619,"cg_id_a":0.0217462778,"cg_id_raw_a":0.0976604223,"cg_iq_a":-0.36162895,"cg_iq_raw_a":0.0456525013,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9872723,"cg_sample_seq":14193367,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.0715388879,"cg_vd_v":0.0715388879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33975026,"cg_vq_v":-0.33975026,"cg_vu_v":141.645401,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.458423734,"dclink_p_w":66.3452148,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.436768,"values":{"Elec_RPM":-8.78948647e-09,"EncoderCos":38716,"EncoderSin":12450,"GapTicks":54787,"Mech_RPM":-1.75789738e-09,"cg_du":50.1511307,"cg_dv":50.1932716,"cg_dw":49.8067284,"cg_id_a":0.0731202736,"cg_id_raw_a":-0.208888665,"cg_iq_a":0.0798158944,"cg_iq_raw_a":0.162023231,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9181824,"cg_sample_seq":14193416,"cg_sample_valid":1,"cg_theta_rad":5.00848341,"cg_vd_req_v":0.0701504424,"cg_vd_v":0.0701504424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347362876,"cg_vq_v":-0.347362876,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.458423734,"dclink_p_w":66.3452148,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.44458,"values":{"Elec_RPM":-8.78948647e-09,"EncoderCos":38699,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-1.75789738e-09,"cg_du":50.1416817,"cg_dv":50.1952209,"cg_dw":49.8047791,"cg_id_a":-0.432740152,"cg_id_raw_a":-0.343911111,"cg_iq_a":-0.0498936474,"cg_iq_raw_a":-0.580685616,"cg_iu_a":0.763653874,"cg_iv_a":-0.257040501,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8600006,"cg_sample_seq":14193466,"cg_sample_valid":1,"cg_theta_rad":5.0082345,"cg_vd_req_v":0.0802947432,"cg_vd_v":0.0802947432,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345589817,"cg_vq_v":-0.345589817,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.452393,"values":{"Elec_RPM":-8.61369731e-09,"EncoderCos":38746,"EncoderSin":12497,"GapTicks":54785,"Mech_RPM":-1.7227394e-09,"cg_du":50.1515121,"cg_dv":50.195343,"cg_dw":49.804657,"cg_id_a":0.074701488,"cg_id_raw_a":0.191981673,"cg_iq_a":0.171522647,"cg_iq_raw_a":0.163629159,"cg_iu_a":-1.04853773,"cg_iv_a":0.39534843,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9181824,"cg_sample_seq":14193516,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0685530677,"cg_vd_v":0.0685530677,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352155685,"cg_vq_v":-0.352155685,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.409494638,"dclink_p_w":59.4441071,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3295898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.483643,"values":{"Elec_RPM":-8.61369731e-09,"EncoderCos":38716,"EncoderSin":12486,"GapTicks":54786,"Mech_RPM":-1.7227394e-09,"cg_du":50.1546555,"cg_dv":50.194519,"cg_dw":49.805481,"cg_id_a":0.0628552809,"cg_id_raw_a":-0.028382292,"cg_iq_a":0.12484628,"cg_iq_raw_a":0.471442133,"cg_iu_a":-0.903562546,"cg_iv_a":-0.510747433,"cg_iw_a":1.41430998,"cg_sample_age_us":26.823637,"cg_sample_seq":14193570,"cg_sample_valid":1,"cg_theta_rad":5.00726748,"cg_vd_req_v":0.0677356571,"cg_vd_v":0.0677356571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351206392,"cg_vq_v":-0.351206392,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.409494638,"dclink_p_w":59.4441071,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3295898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.491455,"values":{"Elec_RPM":-8.27259505e-09,"EncoderCos":38740,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-1.65451897e-09,"cg_du":50.1511116,"cg_dv":50.1985779,"cg_dw":49.8014221,"cg_id_a":-0.0832047611,"cg_id_raw_a":-0.179021508,"cg_iq_a":0.266325772,"cg_iq_raw_a":0.311987966,"cg_iu_a":-0.758587122,"cg_iv_a":-0.293284416,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9799995,"cg_sample_seq":14193717,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0720857158,"cg_vd_v":0.0720857158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354100555,"cg_vq_v":-0.354100555,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3345642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.499268,"values":{"Elec_RPM":-8.27259505e-09,"EncoderCos":38731,"EncoderSin":12505,"GapTicks":54789,"Mech_RPM":-1.65451897e-09,"cg_du":50.1390305,"cg_dv":50.1915894,"cg_dw":49.8084106,"cg_id_a":-0.162263364,"cg_id_raw_a":0.407706141,"cg_iq_a":-0.606393099,"cg_iq_raw_a":-0.580147743,"cg_iu_a":0.908629179,"cg_iv_a":0.322860718,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.954546,"cg_sample_seq":14193767,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.075320892,"cg_vd_v":0.075320892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337783158,"cg_vq_v":-0.337783158,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.8021927,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3295898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.50708,"values":{"Elec_RPM":-8.10714251e-09,"EncoderCos":38683,"EncoderSin":12490,"GapTicks":54789,"Mech_RPM":-1.62142855e-09,"cg_du":50.1528854,"cg_dv":50.1916885,"cg_dw":49.8083115,"cg_id_a":0.0889211521,"cg_id_raw_a":-0.0924173295,"cg_iq_a":-0.127319694,"cg_iq_raw_a":-0.555529058,"cg_iu_a":-0.178685665,"cg_iv_a":0.467836082,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14193817,"cg_sample_valid":1,"cg_theta_rad":5.00720358,"cg_vd_req_v":0.0688797906,"cg_vd_v":0.0688797906,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345874786,"cg_vq_v":-0.345874786,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":1.10900056,"dclink_p_w":160.987564,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.514893,"values":{"Elec_RPM":-8.10714251e-09,"EncoderCos":38725,"EncoderSin":12496,"GapTicks":54788,"Mech_RPM":-1.62142855e-09,"cg_du":50.1469574,"cg_dv":50.1918755,"cg_dw":49.8081245,"cg_id_a":0.00537059596,"cg_id_raw_a":-0.343601614,"cg_iq_a":-0.243958846,"cg_iq_raw_a":0.0410362855,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.8563633,"cg_sample_seq":14193867,"cg_sample_valid":1,"cg_theta_rad":5.00638819,"cg_vd_req_v":0.0704850182,"cg_vd_v":0.0704850182,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344531476,"cg_vq_v":-0.344531476,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":1.42975855,"dclink_p_w":207.550262,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.3395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.522705,"values":{"Elec_RPM":-7.94499933e-09,"EncoderCos":38702,"EncoderSin":12488,"GapTicks":54786,"Mech_RPM":-1.58899993e-09,"cg_du":50.1499977,"cg_dv":50.194088,"cg_dw":49.805912,"cg_id_a":-0.0203956254,"cg_id_raw_a":0.283442885,"cg_iq_a":0.1173715,"cg_iq_raw_a":0.284324348,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9218178,"cg_sample_seq":14193916,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0720350668,"cg_vd_v":0.0720350668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34779048,"cg_vq_v":-0.34779048,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":1.42975855,"dclink_p_w":207.550262,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.530518,"values":{"Elec_RPM":-7.94499933e-09,"EncoderCos":38721,"EncoderSin":12539,"GapTicks":54783,"Mech_RPM":-1.58899993e-09,"cg_du":50.1471214,"cg_dv":50.1968231,"cg_dw":49.8031769,"cg_id_a":-0.10030023,"cg_id_raw_a":-0.265356898,"cg_iq_a":0.291695744,"cg_iq_raw_a":0.558584332,"cg_iu_a":0.473703384,"cg_iv_a":-0.220796764,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9581814,"cg_sample_seq":14193967,"cg_sample_valid":1,"cg_theta_rad":5.00612831,"cg_vd_req_v":0.0742108673,"cg_vd_v":0.0742108673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350470424,"cg_vq_v":-0.350470424,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":1.42975855,"dclink_p_w":207.550262,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8676758,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.542236,"values":{"Elec_RPM":-7.78609976e-09,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54782,"Mech_RPM":-1.55721991e-09,"cg_du":50.153923,"cg_dv":50.1978035,"cg_dw":49.8021965,"cg_id_a":0.0616189092,"cg_id_raw_a":0.104509421,"cg_iq_a":0.298096836,"cg_iq_raw_a":0.411264986,"cg_iu_a":-0.649855614,"cg_iv_a":0.177885413,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9254551,"cg_sample_seq":14194016,"cg_sample_valid":1,"cg_theta_rad":5.00609207,"cg_vd_req_v":0.0707370862,"cg_vd_v":0.0707370862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355416,"cg_vq_v":-0.355416,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":1.42975855,"dclink_p_w":207.550262,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.56958,"values":{"Elec_RPM":-7.78609976e-09,"EncoderCos":38744,"EncoderSin":12491,"GapTicks":54784,"Mech_RPM":-1.55721991e-09,"cg_du":50.1503563,"cg_dv":50.1962204,"cg_dw":49.8037796,"cg_id_a":0.0726073831,"cg_id_raw_a":-0.19662638,"cg_iq_a":0.172119558,"cg_iq_raw_a":-0.417374402,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":25.5727272,"cg_sample_seq":14194071,"cg_sample_valid":1,"cg_theta_rad":5.00611544,"cg_vd_req_v":0.0704084262,"cg_vd_v":0.0704084262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351589322,"cg_vq_v":-0.351589322,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":1.29928076,"dclink_p_w":188.037964,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3312378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.577393,"values":{"Elec_RPM":-7.63037722e-09,"EncoderCos":38679,"EncoderSin":12491,"GapTicks":54799,"Mech_RPM":-1.52607549e-09,"cg_du":50.1556511,"cg_dv":50.1824493,"cg_dw":49.8175507,"cg_id_a":0.665306509,"cg_id_raw_a":0.206394196,"cg_iq_a":-0.542843699,"cg_iq_raw_a":0.204858914,"cg_iu_a":-0.106198072,"cg_iv_a":0.467836082,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9618187,"cg_sample_seq":14194117,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0581043772,"cg_vd_v":0.0581043772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335920423,"cg_vq_v":-0.335920423,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":1.26847351,"dclink_p_w":184.13739,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3312378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.585205,"values":{"Elec_RPM":-7.63037722e-09,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-1.52607549e-09,"cg_du":50.1464691,"cg_dv":50.1921234,"cg_dw":49.8078766,"cg_id_a":-0.0305848233,"cg_id_raw_a":0.178576365,"cg_iq_a":-0.0388027132,"cg_iq_raw_a":-0.564263046,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9836369,"cg_sample_seq":14194167,"cg_sample_valid":1,"cg_theta_rad":5.00658035,"cg_vd_req_v":0.0725054592,"cg_vd_v":0.0725054592,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344301403,"cg_vq_v":-0.344301403,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":1.26847351,"dclink_p_w":184.13739,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.596924,"values":{"Elec_RPM":-7.4777704e-09,"EncoderCos":38717,"EncoderSin":12482,"GapTicks":54791,"Mech_RPM":-1.49555401e-09,"cg_du":50.1401443,"cg_dv":50.1893997,"cg_dw":49.8106003,"cg_id_a":-0.0458283722,"cg_id_raw_a":0.298381388,"cg_iq_a":-0.359333515,"cg_iq_raw_a":0.139183059,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539645,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.954546,"cg_sample_seq":14194217,"cg_sample_valid":1,"cg_theta_rad":5.0061698,"cg_vd_req_v":0.0743895322,"cg_vd_v":0.0743895322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337123483,"cg_vq_v":-0.337123483,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":1.26847351,"dclink_p_w":184.13739,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3213196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.604736,"values":{"Elec_RPM":-7.4777704e-09,"EncoderCos":38733,"EncoderSin":12482,"GapTicks":54787,"Mech_RPM":-1.49555401e-09,"cg_du":50.1458893,"cg_dv":50.1932602,"cg_dw":49.8067398,"cg_id_a":0.0995600447,"cg_id_raw_a":-0.33482033,"cg_iq_a":0.0286136642,"cg_iq_raw_a":0.843028426,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885473,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.954546,"cg_sample_seq":14194267,"cg_sample_valid":1,"cg_theta_rad":5.00732374,"cg_vd_req_v":0.0721570775,"cg_vd_v":0.0721570775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344837278,"cg_vq_v":-0.344837278,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":1.26847351,"dclink_p_w":184.13739,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3213196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.612549,"values":{"Elec_RPM":-7.32821448e-09,"EncoderCos":38728,"EncoderSin":12492,"GapTicks":54790,"Mech_RPM":-1.46564294e-09,"cg_du":50.140522,"cg_dv":50.1900787,"cg_dw":49.8099213,"cg_id_a":0.0176051389,"cg_id_raw_a":0.326076537,"cg_iq_a":-0.41722393,"cg_iq_raw_a":-0.150436625,"cg_iu_a":0.5099473,"cg_iv_a":0.467836142,"cg_iw_a":-0.977783442,"cg_sample_age_us":23.9618187,"cg_sample_seq":14194316,"cg_sample_valid":1,"cg_theta_rad":5.00562334,"cg_vd_req_v":0.0734524429,"cg_vd_v":0.0734524429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337470025,"cg_vq_v":-0.337470025,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":0.971274018,"dclink_p_w":140.567291,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.620361,"values":{"Elec_RPM":-7.32821448e-09,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-1.46564294e-09,"cg_du":50.1585655,"cg_dv":50.1989479,"cg_dw":49.8010521,"cg_id_a":0.125397235,"cg_id_raw_a":-0.0378669463,"cg_iq_a":0.624996722,"cg_iq_raw_a":-0.0758399144,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9436359,"cg_sample_seq":14194367,"cg_sample_valid":1,"cg_theta_rad":5.00555944,"cg_vd_req_v":0.069899857,"cg_vd_v":0.069899857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359239608,"cg_vq_v":-0.359239608,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":1.03832507,"dclink_p_w":149.814484,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.628174,"values":{"Elec_RPM":-7.18165039e-09,"EncoderCos":38661,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-1.43633005e-09,"cg_du":50.1580734,"cg_dv":50.1969948,"cg_dw":49.8030052,"cg_id_a":0.0408868529,"cg_id_raw_a":0.165538087,"cg_iq_a":0.36944443,"cg_iq_raw_a":0.56609726,"cg_iu_a":-0.39614892,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14194417,"cg_sample_valid":1,"cg_theta_rad":5.00501299,"cg_vd_req_v":0.0722829327,"cg_vd_v":0.0722829327,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356666625,"cg_vq_v":-0.356666625,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":1.03832507,"dclink_p_w":149.814484,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.635986,"values":{"Elec_RPM":-7.18165039e-09,"EncoderCos":38725,"EncoderSin":12495,"GapTicks":54783,"Mech_RPM":-1.43633005e-09,"cg_du":50.151947,"cg_dv":50.1971779,"cg_dw":49.8028221,"cg_id_a":0.109454803,"cg_id_raw_a":0.0693188384,"cg_iq_a":0.092641525,"cg_iq_raw_a":-0.101838335,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539645,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9436359,"cg_sample_seq":14194466,"cg_sample_valid":1,"cg_theta_rad":5.00872278,"cg_vd_req_v":0.0717223585,"cg_vd_v":0.0717223585,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354566276,"cg_vq_v":-0.354566276,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":1.27934659,"dclink_p_w":185.715775,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3114014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.647705,"values":{"Elec_RPM":-7.03801728e-09,"EncoderCos":38724,"EncoderSin":12521,"GapTicks":54780,"Mech_RPM":-1.40760348e-09,"cg_du":50.1527519,"cg_dv":50.1996307,"cg_dw":49.8003693,"cg_id_a":0.0182653349,"cg_id_raw_a":0.54899323,"cg_iq_a":0.156351671,"cg_iq_raw_a":0.161232799,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065256,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9436359,"cg_sample_seq":14194516,"cg_sample_valid":1,"cg_theta_rad":5.00653601,"cg_vd_req_v":0.0729114562,"cg_vd_v":0.0729114562,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358486176,"cg_vq_v":-0.358486176,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":1.27934659,"dclink_p_w":185.715775,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.3114014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.675049,"values":{"Elec_RPM":-7.03801728e-09,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-1.40760348e-09,"cg_du":50.151226,"cg_dv":50.1992912,"cg_dw":49.8007088,"cg_id_a":-0.0936149508,"cg_id_raw_a":-0.18390131,"cg_iq_a":-0.0449214131,"cg_iq_raw_a":0.128841907,"cg_iu_a":0.691166162,"cg_iv_a":-0.583235025,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9763641,"cg_sample_seq":14194571,"cg_sample_valid":1,"cg_theta_rad":5.00698137,"cg_vd_req_v":0.0744081736,"cg_vd_v":0.0744081736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355909228,"cg_vq_v":-0.355909228,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.27934659,"dclink_p_w":185.715775,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.682861,"values":{"Elec_RPM":-6.89725699e-09,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-1.37945144e-09,"cg_du":50.1717491,"cg_dv":50.199646,"cg_dw":49.800354,"cg_id_a":0.472286493,"cg_id_raw_a":0.920642376,"cg_iq_a":0.493530005,"cg_iq_raw_a":-1.21642375,"cg_iu_a":-1.8459022,"cg_iv_a":-0.510747194,"cg_iw_a":2.3566494,"cg_sample_age_us":23.9509087,"cg_sample_seq":14194617,"cg_sample_valid":1,"cg_theta_rad":5.0065093,"cg_vd_req_v":0.0611100458,"cg_vd_v":0.0611100458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367476046,"cg_vq_v":-0.367476046,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.27572227,"dclink_p_w":184.628464,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.690674,"values":{"Elec_RPM":-6.89725699e-09,"EncoderCos":38714,"EncoderSin":12521,"GapTicks":54777,"Mech_RPM":-1.37945144e-09,"cg_du":50.157135,"cg_dv":50.2024384,"cg_dw":49.7975616,"cg_id_a":-0.095636256,"cg_id_raw_a":0.00398717681,"cg_iq_a":0.0821786299,"cg_iq_raw_a":0.802185178,"cg_iu_a":0.147508621,"cg_iv_a":0.214129329,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14194667,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0727792084,"cg_vd_v":0.0727792084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363506436,"cg_vq_v":-0.363506436,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":1.27572227,"dclink_p_w":184.628464,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8419189,"temp_inv2_c":39.324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.698486,"values":{"Elec_RPM":-6.75931222e-09,"EncoderCos":38711,"EncoderSin":12471,"GapTicks":54785,"Mech_RPM":-1.3518624e-09,"cg_du":50.1626511,"cg_dv":50.1948318,"cg_dw":49.8051682,"cg_id_a":0.384607375,"cg_id_raw_a":-0.0335318409,"cg_iq_a":-0.196170405,"cg_iq_raw_a":-0.330355316,"cg_iu_a":-0.0699543953,"cg_iv_a":0.685299158,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9436359,"cg_sample_seq":14194717,"cg_sample_valid":1,"cg_theta_rad":5.00584936,"cg_vd_req_v":0.062728025,"cg_vd_v":0.062728025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357066363,"cg_vq_v":-0.357066363,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":1.32283926,"dclink_p_w":190.86554,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.710205,"values":{"Elec_RPM":-6.75931222e-09,"EncoderCos":38710,"EncoderSin":12465,"GapTicks":54784,"Mech_RPM":-1.3518624e-09,"cg_du":50.1490479,"cg_dv":50.1962204,"cg_dw":49.8037796,"cg_id_a":-0.27154246,"cg_id_raw_a":0.0997454226,"cg_iq_a":-0.514297128,"cg_iq_raw_a":0.229377374,"cg_iu_a":0.473703384,"cg_iv_a":0.250373065,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.954546,"cg_sample_seq":14194767,"cg_sample_valid":1,"cg_theta_rad":5.00900173,"cg_vd_req_v":0.0750018656,"cg_vd_v":0.0750018656,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351226807,"cg_vq_v":-0.351226807,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":1.32283926,"dclink_p_w":190.86554,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.718018,"values":{"Elec_RPM":-6.62412569e-09,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54789,"Mech_RPM":-1.32482514e-09,"cg_du":50.1559334,"cg_dv":50.1917686,"cg_dw":49.8082314,"cg_id_a":0.21128279,"cg_id_raw_a":0.64082849,"cg_iq_a":-0.423712075,"cg_iq_raw_a":-0.773498595,"cg_iu_a":0.727410078,"cg_iv_a":-0.293284416,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9618187,"cg_sample_seq":14194817,"cg_sample_valid":1,"cg_theta_rad":5.00694895,"cg_vd_req_v":0.0647107139,"cg_vd_v":0.0647107139,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349162728,"cg_vq_v":-0.349162728,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.72583,"values":{"Elec_RPM":-6.62412569e-09,"EncoderCos":38726,"EncoderSin":12517,"GapTicks":54783,"Mech_RPM":-1.32482514e-09,"cg_du":50.1524696,"cg_dv":50.1966438,"cg_dw":49.8033562,"cg_id_a":-0.1113974,"cg_id_raw_a":0.262708545,"cg_iq_a":-0.192883626,"cg_iq_raw_a":-0.375138342,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.954546,"cg_sample_seq":14194866,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0699602365,"cg_vd_v":0.0699602365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353181928,"cg_vq_v":-0.353181928,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.733643,"values":{"Elec_RPM":-6.49164322e-09,"EncoderCos":38717,"EncoderSin":12498,"GapTicks":54784,"Mech_RPM":-1.29832867e-09,"cg_du":50.1537552,"cg_dv":50.1958008,"cg_dw":49.8041992,"cg_id_a":-0.0170302968,"cg_id_raw_a":-0.170077473,"cg_iq_a":-0.182897076,"cg_iq_raw_a":-0.0156115051,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14194916,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0693179369,"cg_vd_v":0.0693179369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352516532,"cg_vq_v":-0.352516532,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.745361,"values":{"Elec_RPM":-6.49164322e-09,"EncoderCos":38709,"EncoderSin":12489,"GapTicks":54785,"Mech_RPM":-1.29832867e-09,"cg_du":50.1566086,"cg_dv":50.1949997,"cg_dw":49.8050003,"cg_id_a":0.130593479,"cg_id_raw_a":0.727166057,"cg_iq_a":-0.140715748,"cg_iq_raw_a":-0.582797647,"cg_iu_a":1.01736093,"cg_iv_a":0.105397701,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9581814,"cg_sample_seq":14194966,"cg_sample_valid":1,"cg_theta_rad":5.00662756,"cg_vd_req_v":0.0671606585,"cg_vd_v":0.0671606585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352863967,"cg_vq_v":-0.352863967,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3163757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.753174,"values":{"Elec_RPM":-6.36181063e-09,"EncoderCos":38722,"EncoderSin":12484,"GapTicks":54795,"Mech_RPM":-1.2723621e-09,"cg_du":50.1502609,"cg_dv":50.1854744,"cg_dw":49.8145256,"cg_id_a":0.389987051,"cg_id_raw_a":-0.211636275,"cg_iq_a":-0.836120129,"cg_iq_raw_a":-0.893465042,"cg_iu_a":-0.613611937,"cg_iv_a":1.4464196,"cg_iw_a":-1.73890388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14195016,"cg_sample_valid":1,"cg_theta_rad":5.0077858,"cg_vd_req_v":0.0621707402,"cg_vd_v":0.0621707402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337545276,"cg_vq_v":-0.337545276,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.2998657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.780518,"values":{"Elec_RPM":-6.36181063e-09,"EncoderCos":38730,"EncoderSin":12474,"GapTicks":54789,"Mech_RPM":-1.2723621e-09,"cg_du":50.1536293,"cg_dv":50.1916847,"cg_dw":49.8083153,"cg_id_a":0.119166516,"cg_id_raw_a":-0.302397251,"cg_iq_a":-0.188986942,"cg_iq_raw_a":-0.392062336,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.863636,"cg_sample_seq":14195071,"cg_sample_valid":1,"cg_theta_rad":5.00732946,"cg_vd_req_v":0.0651666746,"cg_vd_v":0.0651666746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347984105,"cg_vq_v":-0.347984105,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.2998657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.78833,"values":{"Elec_RPM":-6.23457463e-09,"EncoderCos":38708,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-1.2469149e-09,"cg_du":50.1555634,"cg_dv":50.1944733,"cg_dw":49.8055267,"cg_id_a":-0.103574276,"cg_id_raw_a":-0.0322140604,"cg_iq_a":0.108599909,"cg_iq_raw_a":0.288980722,"cg_iu_a":0.219996452,"cg_iv_a":-0.836941957,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9145451,"cg_sample_seq":14195116,"cg_sample_valid":1,"cg_theta_rad":5.00544071,"cg_vd_req_v":0.0679250509,"cg_vd_v":0.0679250509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352581888,"cg_vq_v":-0.352581888,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":1.58560705,"dclink_p_w":229.47644,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3312378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.796143,"values":{"Elec_RPM":-6.23457463e-09,"EncoderCos":38708,"EncoderSin":12490,"GapTicks":54796,"Mech_RPM":-1.2469149e-09,"cg_du":50.1500778,"cg_dv":50.1845856,"cg_dw":49.8154144,"cg_id_a":0.139401972,"cg_id_raw_a":-0.0438338742,"cg_iq_a":-0.585626125,"cg_iq_raw_a":-0.44059971,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065315,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14195166,"cg_sample_valid":1,"cg_theta_rad":5.00635862,"cg_vd_req_v":0.0621915124,"cg_vd_v":0.0621915124,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335042715,"cg_vq_v":-0.335042715,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":1.52399254,"dclink_p_w":220.559296,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3312378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.803955,"values":{"Elec_RPM":-6.10988327e-09,"EncoderCos":38711,"EncoderSin":12487,"GapTicks":54791,"Mech_RPM":-1.22197663e-09,"cg_du":50.1565857,"cg_dv":50.1892624,"cg_dw":49.8107376,"cg_id_a":0.121633083,"cg_id_raw_a":-0.039959643,"cg_iq_a":0.030243665,"cg_iq_raw_a":-0.695114315,"cg_iu_a":0.836141586,"cg_iv_a":0.359104633,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.9436359,"cg_sample_seq":14195216,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.0614817254,"cg_vd_v":0.0614817254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345077395,"cg_vq_v":-0.345077395,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":1.5076828,"dclink_p_w":218.198868,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.815674,"values":{"Elec_RPM":-6.10988327e-09,"EncoderCos":38732,"EncoderSin":12506,"GapTicks":54796,"Mech_RPM":-1.22197663e-09,"cg_du":50.1488228,"cg_dv":50.1849251,"cg_dw":49.8150749,"cg_id_a":0.0791773126,"cg_id_raw_a":0.551655233,"cg_iq_a":-0.428910881,"cg_iq_raw_a":-0.0937544629,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8709087,"cg_sample_seq":14195266,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.0613058358,"cg_vd_v":0.0613058358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335205168,"cg_vq_v":-0.335205168,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":1.5076828,"dclink_p_w":218.198868,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.823486,"values":{"Elec_RPM":-5.98768546e-09,"EncoderCos":38714,"EncoderSin":12484,"GapTicks":54793,"Mech_RPM":-1.19753707e-09,"cg_du":50.1561356,"cg_dv":50.1880569,"cg_dw":49.8119431,"cg_id_a":0.0466333926,"cg_id_raw_a":-0.0796677321,"cg_iq_a":0.132345155,"cg_iq_raw_a":-0.0798537359,"cg_iu_a":-0.722343206,"cg_iv_a":0.359104574,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9618187,"cg_sample_seq":14195316,"cg_sample_valid":1,"cg_theta_rad":5.00628996,"cg_vd_req_v":0.0604970939,"cg_vd_v":0.0604970939,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343216062,"cg_vq_v":-0.343216062,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":1.5076828,"dclink_p_w":218.198868,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.8161621,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.831299,"values":{"Elec_RPM":-5.98768546e-09,"EncoderCos":38677,"EncoderSin":12471,"GapTicks":54795,"Mech_RPM":-1.19753707e-09,"cg_du":50.1548767,"cg_dv":50.185627,"cg_dw":49.814373,"cg_id_a":-0.0173353478,"cg_id_raw_a":0.0226490591,"cg_iq_a":0.0528865606,"cg_iq_raw_a":0.149053574,"cg_iu_a":0.763653874,"cg_iv_a":0.0329101682,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14195366,"cg_sample_valid":1,"cg_theta_rad":5.00811291,"cg_vd_req_v":0.062466003,"cg_vd_v":0.062466003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339676052,"cg_vq_v":-0.339676052,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":1.292032,"dclink_p_w":187.557251,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3114014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.839111,"values":{"Elec_RPM":-5.86793192e-09,"EncoderCos":38706,"EncoderSin":12494,"GapTicks":54803,"Mech_RPM":-1.17358634e-09,"cg_du":50.150135,"cg_dv":50.1786423,"cg_dw":49.8213577,"cg_id_a":0.143676698,"cg_id_raw_a":-0.220414504,"cg_iq_a":-0.422119379,"cg_iq_raw_a":-0.567420542,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8454552,"cg_sample_seq":14195416,"cg_sample_valid":1,"cg_theta_rad":5.00674868,"cg_vd_req_v":0.0565855801,"cg_vd_v":0.0565855801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327985644,"cg_vq_v":-0.327985644,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.866166949,"dclink_p_w":125.736732,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.846924,"values":{"Elec_RPM":-5.86793192e-09,"EncoderCos":38703,"EncoderSin":12484,"GapTicks":54794,"Mech_RPM":-1.17358634e-09,"cg_du":50.1537781,"cg_dv":50.1865578,"cg_dw":49.8134422,"cg_id_a":-0.0183509998,"cg_id_raw_a":-0.0305645205,"cg_iq_a":0.18978633,"cg_iq_raw_a":-0.147982255,"cg_iu_a":-0.142441988,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9436359,"cg_sample_seq":14195466,"cg_sample_valid":1,"cg_theta_rad":5.00675392,"cg_vd_req_v":0.0619259998,"cg_vd_v":0.0619259998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340734601,"cg_vq_v":-0.340734601,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.9702263,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.858643,"values":{"Elec_RPM":-5.75057291e-09,"EncoderCos":38696,"EncoderSin":12447,"GapTicks":54795,"Mech_RPM":-1.15011456e-09,"cg_du":50.1494026,"cg_dv":50.1889648,"cg_dw":49.8110352,"cg_id_a":-0.234312043,"cg_id_raw_a":0.251934677,"cg_iq_a":0.106449112,"cg_iq_raw_a":-0.227870926,"cg_iu_a":0.256240368,"cg_iv_a":-0.365772128,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14195516,"cg_sample_valid":1,"cg_theta_rad":5.00564861,"cg_vd_req_v":0.0687087923,"cg_vd_v":0.0687087923,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339185327,"cg_vq_v":-0.339185327,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.9702263,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3015137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.866455,"values":{"Elec_RPM":-5.75057291e-09,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54799,"Mech_RPM":-1.15011456e-09,"cg_du":50.1562119,"cg_dv":50.1825562,"cg_dw":49.8174438,"cg_id_a":0.440875322,"cg_id_raw_a":0.678659856,"cg_iq_a":-0.13731496,"cg_iq_raw_a":-0.9523682,"cg_iu_a":-0.939806223,"cg_iv_a":-0.510747433,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.9836369,"cg_sample_seq":14195566,"cg_sample_valid":1,"cg_theta_rad":5.00655127,"cg_vd_req_v":0.055027362,"cg_vd_v":0.055027362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335794836,"cg_vq_v":-0.335794836,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3015137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.893799,"values":{"Elec_RPM":-5.63556135e-09,"EncoderCos":38758,"EncoderSin":12466,"GapTicks":54786,"Mech_RPM":-1.12711229e-09,"cg_du":50.1513939,"cg_dv":50.1937561,"cg_dw":49.8062439,"cg_id_a":-0.19535552,"cg_id_raw_a":-0.730194628,"cg_iq_a":0.583977103,"cg_iq_raw_a":0.845267713,"cg_iu_a":0.14750886,"cg_iv_a":-0.148308992,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.8563633,"cg_sample_seq":14195621,"cg_sample_valid":1,"cg_theta_rad":5.00715399,"cg_vd_req_v":0.0665066242,"cg_vd_v":0.0665066242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347834051,"cg_vq_v":-0.347834051,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.2949219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2565.901611,"values":{"Elec_RPM":-5.63556135e-09,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54795,"Mech_RPM":-1.12711229e-09,"cg_du":50.1473274,"cg_dv":50.186058,"cg_dw":49.813942,"cg_id_a":-0.160992861,"cg_id_raw_a":-0.610978305,"cg_iq_a":0.0492704213,"cg_iq_raw_a":-0.0212276969,"cg_iu_a":0.908629417,"cg_iv_a":0.177885413,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.8563633,"cg_sample_seq":14195666,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0648173466,"cg_vd_v":0.0648173466,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336739659,"cg_vq_v":-0.336739659,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.91333,"values":{"Elec_RPM":-5.52285062e-09,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54794,"Mech_RPM":-1.1045701e-09,"cg_du":50.1471062,"cg_dv":50.1865158,"cg_dw":49.8134842,"cg_id_a":-0.157012403,"cg_id_raw_a":-0.0376739278,"cg_iq_a":-0.0963285565,"cg_iq_raw_a":-0.512661994,"cg_iu_a":0.401215672,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14195716,"cg_sample_valid":1,"cg_theta_rad":5.0069437,"cg_vd_req_v":0.06594944,"cg_vd_v":0.06594944,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337136775,"cg_vq_v":-0.337136775,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.921143,"values":{"Elec_RPM":-5.52285062e-09,"EncoderCos":38764,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-1.1045701e-09,"cg_du":50.1520462,"cg_dv":50.193985,"cg_dw":49.806015,"cg_id_a":-0.133021206,"cg_id_raw_a":0.118166991,"cg_iq_a":0.570382297,"cg_iq_raw_a":-0.680203736,"cg_iu_a":-0.39614892,"cg_iv_a":0.214129269,"cg_iw_a":0.182019651,"cg_sample_age_us":23.9836369,"cg_sample_seq":14195766,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.0654835105,"cg_vd_v":0.0654835105,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350847423,"cg_vq_v":-0.350847423,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.264519334,"dclink_p_w":38.3988304,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00357518881,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.928955,"values":{"Elec_RPM":-5.30414557e-09,"EncoderCos":38707,"EncoderSin":12467,"GapTicks":54790,"Mech_RPM":-1.06082909e-09,"cg_du":50.1455307,"cg_dv":50.1906586,"cg_dw":49.8093414,"cg_id_a":-0.300452411,"cg_id_raw_a":-0.492659539,"cg_iq_a":-0.0198659301,"cg_iq_raw_a":0.679624319,"cg_iu_a":0.654922485,"cg_iv_a":0.322860777,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9218178,"cg_sample_seq":14195917,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0722876489,"cg_vd_v":0.0722876489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340599269,"cg_vq_v":-0.340599269,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3180237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.936768,"values":{"Elec_RPM":-5.30414557e-09,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.06082909e-09,"cg_du":50.141571,"cg_dv":50.1940079,"cg_dw":49.8059921,"cg_id_a":-0.48611635,"cg_id_raw_a":-0.897988796,"cg_iq_a":0.31801483,"cg_iq_raw_a":0.571445227,"cg_iu_a":0.0750212669,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14195966,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.0766106322,"cg_vd_v":0.0766106322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344465941,"cg_vq_v":-0.344465941,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3180237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.94458,"values":{"Elec_RPM":-5.19806242e-09,"EncoderCos":38681,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-1.03961251e-09,"cg_du":50.1549416,"cg_dv":50.1916847,"cg_dw":49.8083153,"cg_id_a":-0.141382292,"cg_id_raw_a":0.0996584296,"cg_iq_a":0.44298479,"cg_iq_raw_a":0.41246739,"cg_iu_a":-0.396148682,"cg_iv_a":-0.619478822,"cg_iw_a":1.0156275,"cg_sample_age_us":23.8563633,"cg_sample_seq":14196016,"cg_sample_valid":1,"cg_theta_rad":5.00517225,"cg_vd_req_v":0.0682988614,"cg_vd_v":0.0682988614,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347929597,"cg_vq_v":-0.347929597,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2565.952393,"values":{"Elec_RPM":-5.19806242e-09,"EncoderCos":38721,"EncoderSin":12467,"GapTicks":54802,"Mech_RPM":-1.03961251e-09,"cg_du":50.1531792,"cg_dv":50.1846771,"cg_dw":49.8204575,"cg_id_a":0.260323286,"cg_id_raw_a":0.512467384,"cg_iq_a":-0.0555009693,"cg_iq_raw_a":-1.40576386,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860718,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8672733,"cg_sample_seq":14196066,"cg_sample_valid":1,"cg_theta_rad":5.00705957,"cg_vd_req_v":0.0595666692,"cg_vd_v":0.0595666692,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338014275,"cg_vq_v":-0.338014275,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2565.967521,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2565.967526,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2565.967531,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2565.979736,"values":{"Elec_RPM":-5.09410114e-09,"EncoderCos":38742,"EncoderSin":12487,"GapTicks":54801,"Mech_RPM":-1.01882025e-09,"cg_du":50.1376381,"cg_dv":50.1804504,"cg_dw":49.8195496,"cg_id_a":-0.0524068959,"cg_id_raw_a":0.113215901,"cg_iq_a":-0.678690195,"cg_iq_raw_a":-1.04429829,"cg_iu_a":-0.649855614,"cg_iv_a":0.504079938,"cg_iw_a":0.145775676,"cg_sample_age_us":26.823637,"cg_sample_seq":14196119,"cg_sample_valid":1,"cg_theta_rad":5.00670433,"cg_vd_req_v":0.0654862896,"cg_vd_v":0.0654862896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322929621,"cg_vq_v":-0.322929621,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.987549,"values":{"Elec_RPM":-5.09410114e-09,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54795,"Mech_RPM":-1.01882025e-09,"cg_du":50.1453934,"cg_dv":50.1859779,"cg_dw":49.8140221,"cg_id_a":-0.0875317752,"cg_id_raw_a":-0.0371664949,"cg_iq_a":0.0560572296,"cg_iq_raw_a":0.798225999,"cg_iu_a":0.364971638,"cg_iv_a":0.177885413,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9763641,"cg_sample_seq":14196166,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0658365637,"cg_vd_v":0.0658365637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3345716,"cg_vq_v":-0.3345716,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3081055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2565.999268,"values":{"Elec_RPM":-4.99221953e-09,"EncoderCos":38717,"EncoderSin":12493,"GapTicks":54796,"Mech_RPM":-9.98443883e-10,"cg_du":50.151825,"cg_dv":50.1854248,"cg_dw":49.8145752,"cg_id_a":0.123486333,"cg_id_raw_a":0.330074251,"cg_iq_a":0.195190489,"cg_iq_raw_a":-0.404185325,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.954546,"cg_sample_seq":14196216,"cg_sample_valid":1,"cg_theta_rad":5.00628185,"cg_vd_req_v":0.0608789995,"cg_vd_v":0.0608789995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337299734,"cg_vq_v":-0.337299734,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2915955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.00708,"values":{"Elec_RPM":-4.99221953e-09,"EncoderCos":38711,"EncoderSin":12487,"GapTicks":54787,"Mech_RPM":-9.98443883e-10,"cg_du":50.1516876,"cg_dv":50.1933823,"cg_dw":49.8066177,"cg_id_a":-0.249747187,"cg_id_raw_a":0.142847016,"cg_iq_a":0.550693333,"cg_iq_raw_a":-0.203621402,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796704,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14196266,"cg_sample_valid":1,"cg_theta_rad":5.0077076,"cg_vd_req_v":0.0693327039,"cg_vd_v":0.0693327039,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347919583,"cg_vq_v":-0.347919583,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2915955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.014893,"values":{"Elec_RPM":-4.89237495e-09,"EncoderCos":38721,"EncoderSin":12495,"GapTicks":54810,"Mech_RPM":-9.78474968e-10,"cg_du":50.1447525,"cg_dv":50.1721344,"cg_dw":49.8278656,"cg_id_a":0.488955051,"cg_id_raw_a":-0.305528849,"cg_iq_a":-0.913458288,"cg_iq_raw_a":-0.137696773,"cg_iu_a":0.654922485,"cg_iv_a":-0.25704062,"cg_iw_a":-1.66641605,"cg_sample_age_us":23.954546,"cg_sample_seq":14196316,"cg_sample_valid":1,"cg_theta_rad":5.00616884,"cg_vd_req_v":0.053356193,"cg_vd_v":0.053356193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316275984,"cg_vq_v":-0.316275984,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2850037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.026611,"values":{"Elec_RPM":-4.89237495e-09,"EncoderCos":38718,"EncoderSin":12494,"GapTicks":54800,"Mech_RPM":-9.78474968e-10,"cg_du":50.1484489,"cg_dv":50.1814423,"cg_dw":49.8185577,"cg_id_a":0.183332473,"cg_id_raw_a":0.375170559,"cg_iq_a":-0.200215369,"cg_iq_raw_a":-0.654802799,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397701,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9472733,"cg_sample_seq":14196366,"cg_sample_valid":1,"cg_theta_rad":5.00922108,"cg_vd_req_v":0.0597437359,"cg_vd_v":0.0597437359,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331011206,"cg_vq_v":-0.331011206,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.93717337,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2850037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.034424,"values":{"Elec_RPM":-4.79452744e-09,"EncoderCos":38724,"EncoderSin":12491,"GapTicks":54795,"Mech_RPM":-9.58905511e-10,"cg_du":50.1429214,"cg_dv":50.1863365,"cg_dw":49.8136635,"cg_id_a":-0.264639676,"cg_id_raw_a":0.191092297,"cg_iq_a":-0.163605511,"cg_iq_raw_a":0.164667308,"cg_iu_a":0.473703384,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9836369,"cg_sample_seq":14196416,"cg_sample_valid":1,"cg_theta_rad":5.00640202,"cg_vd_req_v":0.0682706833,"cg_vd_v":0.0682706833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333648026,"cg_vq_v":-0.333648026,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.85028124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.042236,"values":{"Elec_RPM":-4.79452744e-09,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54794,"Mech_RPM":-9.58905511e-10,"cg_du":50.1511345,"cg_dv":50.1867752,"cg_dw":49.8132248,"cg_id_a":-0.0117268562,"cg_id_raw_a":0.0696156174,"cg_iq_a":0.136167213,"cg_iq_raw_a":-0.101635866,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.510747433,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14196466,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.063058123,"cg_vd_v":0.063058123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33869046,"cg_vq_v":-0.33869046,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3081055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.050049,"values":{"Elec_RPM":-4.69863704e-09,"EncoderCos":38713,"EncoderSin":12504,"GapTicks":54795,"Mech_RPM":-9.39727407e-10,"cg_du":50.1451797,"cg_dv":50.1856766,"cg_dw":49.8143234,"cg_id_a":-0.182830811,"cg_id_raw_a":-0.0311045423,"cg_iq_a":-0.153451994,"cg_iq_raw_a":-0.147869691,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9436359,"cg_sample_seq":14196516,"cg_sample_valid":1,"cg_theta_rad":5.00707674,"cg_vd_req_v":0.0663929358,"cg_vd_v":0.0663929358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333909124,"cg_vq_v":-0.333909124,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3081055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.057861,"values":{"Elec_RPM":-4.69863704e-09,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54791,"Mech_RPM":-9.39727407e-10,"cg_du":50.1477814,"cg_dv":50.1899452,"cg_dw":49.8100548,"cg_id_a":-0.293133974,"cg_id_raw_a":-0.040627975,"cg_iq_a":0.281510323,"cg_iq_raw_a":-0.258241743,"cg_iu_a":0.183752537,"cg_iv_a":-0.510747433,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14196566,"cg_sample_valid":1,"cg_theta_rad":5.00771666,"cg_vd_req_v":0.0695586354,"cg_vd_v":0.0695586354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340954781,"cg_vq_v":-0.340954781,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2668457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.089111,"values":{"Elec_RPM":-4.60466421e-09,"EncoderCos":38730,"EncoderSin":12500,"GapTicks":54796,"Mech_RPM":-9.20932886e-10,"cg_du":50.1512489,"cg_dv":50.1849022,"cg_dw":49.8150978,"cg_id_a":0.130743757,"cg_id_raw_a":0.079891786,"cg_iq_a":0.140369296,"cg_iq_raw_a":0.00826539006,"cg_iu_a":-0.0699541569,"cg_iv_a":0.322860777,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.8527279,"cg_sample_seq":14196621,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0598504208,"cg_vd_v":0.0598504208,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337496936,"cg_vq_v":-0.337496936,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.096924,"values":{"Elec_RPM":-4.60466421e-09,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54797,"Mech_RPM":-9.20932886e-10,"cg_du":50.1464806,"cg_dv":50.1839561,"cg_dw":49.8160439,"cg_id_a":0.0297793485,"cg_id_raw_a":-0.138415918,"cg_iq_a":-0.123967923,"cg_iq_raw_a":-0.122269005,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14196666,"cg_sample_valid":1,"cg_theta_rad":5.00667048,"cg_vd_req_v":0.0638041496,"cg_vd_v":0.0638041496,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333324909,"cg_vq_v":-0.333324909,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.8274155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.3048096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.104736,"values":{"Elec_RPM":-4.51257121e-09,"EncoderCos":38728,"EncoderSin":12465,"GapTicks":54803,"Mech_RPM":-9.0251423e-10,"cg_du":50.1418381,"cg_dv":50.1789398,"cg_dw":49.8210602,"cg_id_a":0.0950242803,"cg_id_raw_a":0.531212807,"cg_iq_a":-0.681838632,"cg_iq_raw_a":-0.749099374,"cg_iu_a":0.763653994,"cg_iv_a":0.685299039,"cg_iw_a":-1.44895303,"cg_sample_age_us":23.9290905,"cg_sample_seq":14196716,"cg_sample_valid":1,"cg_theta_rad":5.00752354,"cg_vd_req_v":0.0622350499,"cg_vd_v":0.0622350499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322915614,"cg_vq_v":-0.322915614,"cg_vu_v":30.3525867,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2998657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.112549,"values":{"Elec_RPM":-4.51257121e-09,"EncoderCos":38722,"EncoderSin":12464,"GapTicks":54796,"Mech_RPM":-9.0251423e-10,"cg_du":50.14431,"cg_dv":50.1853905,"cg_dw":49.8146095,"cg_id_a":-0.10152173,"cg_id_raw_a":0.136262983,"cg_iq_a":-0.236233711,"cg_iq_raw_a":-0.568542659,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0395776033,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14196766,"cg_sample_valid":1,"cg_theta_rad":5.0077281,"cg_vd_req_v":0.06703192,"cg_vd_v":0.06703192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332981616,"cg_vq_v":-0.332981616,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2998657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.120361,"values":{"Elec_RPM":-4.42231984e-09,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54789,"Mech_RPM":-8.84463947e-10,"cg_du":50.1469955,"cg_dv":50.1915932,"cg_dw":49.8084068,"cg_id_a":-0.312820733,"cg_id_raw_a":0.336825132,"cg_iq_a":0.351014018,"cg_iq_raw_a":-0.0390688479,"cg_iu_a":0.14750886,"cg_iv_a":-0.293284297,"cg_iw_a":0.145775437,"cg_sample_age_us":23.954546,"cg_sample_seq":14196816,"cg_sample_valid":1,"cg_theta_rad":5.00616455,"cg_vd_req_v":0.0709997565,"cg_vd_v":0.0709997565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342913091,"cg_vq_v":-0.342913091,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.3279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.128174,"values":{"Elec_RPM":-4.42231984e-09,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54786,"Mech_RPM":-8.84463947e-10,"cg_du":50.1548691,"cg_dv":50.1939316,"cg_dw":49.8060684,"cg_id_a":-0.0685944557,"cg_id_raw_a":-0.3579638,"cg_iq_a":0.522887945,"cg_iq_raw_a":0.184053317,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9436359,"cg_sample_seq":14196866,"cg_sample_valid":1,"cg_theta_rad":5.00574207,"cg_vd_req_v":0.0673263595,"cg_vd_v":0.0673263595,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350465298,"cg_vq_v":-0.350465298,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.139893,"values":{"Elec_RPM":-4.33387326e-09,"EncoderCos":38716,"EncoderSin":12501,"GapTicks":54786,"Mech_RPM":-8.66774652e-10,"cg_du":50.152832,"cg_dv":50.1940536,"cg_dw":49.8059464,"cg_id_a":-0.0741448328,"cg_id_raw_a":-0.0728321746,"cg_iq_a":0.239449874,"cg_iq_raw_a":-0.151876405,"cg_iu_a":0.038777113,"cg_iv_a":0.359104633,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9654541,"cg_sample_seq":14196916,"cg_sample_valid":1,"cg_theta_rad":5.00751925,"cg_vd_req_v":0.0683549494,"cg_vd_v":0.0683549494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349623948,"cg_vq_v":-0.349623948,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3064575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.147705,"values":{"Elec_RPM":-4.33387326e-09,"EncoderCos":38742,"EncoderSin":12521,"GapTicks":54786,"Mech_RPM":-8.66774652e-10,"cg_du":50.153511,"cg_dv":50.1941757,"cg_dw":49.8058243,"cg_id_a":0.132263452,"cg_id_raw_a":0.787214398,"cg_iq_a":0.103119664,"cg_iq_raw_a":-0.620362639,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0758213997,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9836369,"cg_sample_seq":14196966,"cg_sample_valid":1,"cg_theta_rad":5.00691271,"cg_vd_req_v":0.065580748,"cg_vd_v":0.065580748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351717174,"cg_vq_v":-0.351717174,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.155518,"values":{"Elec_RPM":-4.24719593e-09,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-8.49439186e-10,"cg_du":50.1621284,"cg_dv":50.198925,"cg_dw":49.801075,"cg_id_a":0.125173926,"cg_id_raw_a":0.705817461,"cg_iq_a":0.569208324,"cg_iq_raw_a":1.31044638,"cg_iu_a":0.0387773514,"cg_iv_a":-0.257040501,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9254551,"cg_sample_seq":14197016,"cg_sample_valid":1,"cg_theta_rad":5.00797939,"cg_vd_req_v":0.0674981847,"cg_vd_v":0.0674981847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362279445,"cg_vq_v":-0.362279445,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2750854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.16333,"values":{"Elec_RPM":-4.24719593e-09,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-8.49439186e-10,"cg_du":50.1736946,"cg_dv":50.1946754,"cg_dw":49.8053246,"cg_id_a":0.921359658,"cg_id_raw_a":0.326019913,"cg_iq_a":0.481819868,"cg_iq_raw_a":-0.150559455,"cg_iu_a":-0.251173496,"cg_iv_a":0.649055243,"cg_iw_a":1.19684672,"cg_sample_age_us":23.954546,"cg_sample_seq":14197066,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0516732633,"cg_vd_v":0.0516732633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362288982,"cg_vq_v":-0.362288982,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2750854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.19458,"values":{"Elec_RPM":-4.16225188e-09,"EncoderCos":38683,"EncoderSin":12460,"GapTicks":54781,"Mech_RPM":-8.32450386e-10,"cg_du":50.1532478,"cg_dv":50.1982155,"cg_dw":49.8017845,"cg_id_a":-0.118752748,"cg_id_raw_a":0.0720635429,"cg_iq_a":0.0357393473,"cg_iq_raw_a":0.0814145803,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8600006,"cg_sample_seq":14197121,"cg_sample_valid":1,"cg_theta_rad":5.00854826,"cg_vd_req_v":0.0757353976,"cg_vd_v":0.0757353976,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354750931,"cg_vq_v":-0.354750931,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.89879036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2734375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.202393,"values":{"Elec_RPM":-4.07900691e-09,"EncoderCos":38711,"EncoderSin":12469,"GapTicks":54782,"Mech_RPM":-8.15801371e-10,"cg_du":50.1568336,"cg_dv":50.1976509,"cg_dw":49.8023491,"cg_id_a":0.0148523226,"cg_id_raw_a":-0.214473099,"cg_iq_a":0.101545796,"cg_iq_raw_a":-0.202745169,"cg_iu_a":0.509947062,"cg_iv_a":-0.0758213997,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9872723,"cg_sample_seq":14197266,"cg_sample_valid":1,"cg_theta_rad":5.00788641,"cg_vd_req_v":0.0701081678,"cg_vd_v":0.0701081678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357606262,"cg_vq_v":-0.357606262,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2783813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.210205,"values":{"Elec_RPM":-3.99742683e-09,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-7.99485367e-10,"cg_du":50.1697235,"cg_dv":50.1999321,"cg_dw":49.8000679,"cg_id_a":0.323096842,"cg_id_raw_a":0.190678999,"cg_iq_a":0.541665614,"cg_iq_raw_a":0.16514571,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129329,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9509087,"cg_sample_seq":14197316,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0614906959,"cg_vd_v":0.0614906959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368117779,"cg_vq_v":-0.368117779,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2783813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.218018,"values":{"Elec_RPM":-3.99742683e-09,"EncoderCos":38749,"EncoderSin":12507,"GapTicks":54790,"Mech_RPM":-7.99485367e-10,"cg_du":50.1484375,"cg_dv":50.1956215,"cg_dw":49.8043785,"cg_id_a":-0.00516549498,"cg_id_raw_a":0.167907238,"cg_iq_a":-0.41875574,"cg_iq_raw_a":-0.748427272,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8563633,"cg_sample_seq":14197366,"cg_sample_valid":1,"cg_theta_rad":5.00888491,"cg_vd_req_v":0.0703451037,"cg_vd_v":0.0703451037,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348798066,"cg_vq_v":-0.348798066,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2817078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.22583,"values":{"Elec_RPM":-3.91747834e-09,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-7.83495657e-10,"cg_du":50.16185,"cg_dv":50.204628,"cg_dw":49.795372,"cg_id_a":-0.118469387,"cg_id_raw_a":-0.786574781,"cg_iq_a":0.626755178,"cg_iq_raw_a":0.906655788,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0758213997,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9254551,"cg_sample_seq":14197417,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0720278397,"cg_vd_v":0.0720278397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367798537,"cg_vq_v":-0.367798537,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.233643,"values":{"Elec_RPM":-3.91747834e-09,"EncoderCos":38706,"EncoderSin":12471,"GapTicks":54782,"Mech_RPM":-7.83495657e-10,"cg_du":50.1602631,"cg_dv":50.1974297,"cg_dw":49.8025703,"cg_id_a":0.102667227,"cg_id_raw_a":0.212617978,"cg_iq_a":0.147608116,"cg_iq_raw_a":0.56867975,"cg_iu_a":-0.0337104797,"cg_iv_a":0.105397761,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9581814,"cg_sample_seq":14197467,"cg_sample_valid":1,"cg_theta_rad":5.00723028,"cg_vd_req_v":0.0671444014,"cg_vd_v":0.0671444014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357001662,"cg_vq_v":-0.357001662,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2982178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.241455,"values":{"Elec_RPM":-3.83912857e-09,"EncoderCos":38734,"EncoderSin":12477,"GapTicks":54778,"Mech_RPM":-7.67825747e-10,"cg_du":50.1507607,"cg_dv":50.2015762,"cg_dw":49.7984238,"cg_id_a":-0.328523338,"cg_id_raw_a":-0.498660177,"cg_iq_a":0.142163172,"cg_iq_raw_a":0.57275629,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9436359,"cg_sample_seq":14197517,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0764110312,"cg_vd_v":0.0764110312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358883083,"cg_vq_v":-0.358883083,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2750854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.253174,"values":{"Elec_RPM":-3.83912857e-09,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-7.67825747e-10,"cg_du":50.1582375,"cg_dv":50.202179,"cg_dw":49.797821,"cg_id_a":-0.0929703191,"cg_id_raw_a":-0.219841391,"cg_iq_a":0.218326464,"cg_iq_raw_a":0.488999605,"cg_iu_a":0.473703384,"cg_iv_a":-0.438259721,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9654541,"cg_sample_seq":14197567,"cg_sample_valid":1,"cg_theta_rad":5.00734997,"cg_vd_req_v":0.0727476701,"cg_vd_v":0.0727476701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363555312,"cg_vq_v":-0.363555312,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2750854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.280518,"values":{"Elec_RPM":-3.76234643e-09,"EncoderCos":38717,"EncoderSin":12507,"GapTicks":54785,"Mech_RPM":-7.52469254e-10,"cg_du":50.1372604,"cg_dv":50.1948357,"cg_dw":49.8051643,"cg_id_a":-0.473374963,"cg_id_raw_a":-0.337015748,"cg_iq_a":-0.820656776,"cg_iq_raw_a":-0.905354381,"cg_iu_a":0.183752775,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8527279,"cg_sample_seq":14197620,"cg_sample_valid":1,"cg_theta_rad":5.0069952,"cg_vd_req_v":0.0813704431,"cg_vd_v":0.0813704431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343051136,"cg_vq_v":-0.343051136,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.2126274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2536316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.28833,"values":{"Elec_RPM":-3.76234643e-09,"EncoderCos":38744,"EncoderSin":12494,"GapTicks":54778,"Mech_RPM":-7.52469254e-10,"cg_du":50.1572838,"cg_dv":50.2011261,"cg_dw":49.7988739,"cg_id_a":0.172433853,"cg_id_raw_a":0.0819662064,"cg_iq_a":-0.0283747222,"cg_iq_raw_a":-0.246516198,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.954546,"cg_sample_seq":14197667,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0693843216,"cg_vd_v":0.0693843216,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361052364,"cg_vq_v":-0.361052364,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-11.0575943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2767334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.296143,"values":{"Elec_RPM":-3.68709929e-09,"EncoderCos":38735,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-7.37419847e-10,"cg_du":50.1506386,"cg_dv":50.2054329,"cg_dw":49.7945671,"cg_id_a":-0.219162226,"cg_id_raw_a":-0.641814232,"cg_iq_a":-0.192776546,"cg_iq_raw_a":1.21511722,"cg_iu_a":0.038777113,"cg_iv_a":0.830274463,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.9581814,"cg_sample_seq":14197717,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.079611361,"cg_vd_v":0.079611361,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363046288,"cg_vq_v":-0.363046288,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2767334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.307861,"values":{"Elec_RPM":-3.68709929e-09,"EncoderCos":38704,"EncoderSin":12503,"GapTicks":54776,"Mech_RPM":-7.37419847e-10,"cg_du":50.1452942,"cg_dv":50.203331,"cg_dw":49.796669,"cg_id_a":-0.373829722,"cg_id_raw_a":-0.532223463,"cg_iq_a":-0.681317806,"cg_iq_raw_a":-0.816821694,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796764,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9872723,"cg_sample_seq":14197767,"cg_sample_valid":1,"cg_theta_rad":5.00760365,"cg_vd_req_v":0.0839529485,"cg_vd_v":0.0839529485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356712908,"cg_vq_v":-0.356712908,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7647095,"temp_inv2_c":39.2998657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.315674,"values":{"Elec_RPM":-3.61335739e-09,"EncoderCos":38707,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-7.22671478e-10,"cg_du":50.1603317,"cg_dv":50.2048454,"cg_dw":49.7951546,"cg_id_a":0.141912341,"cg_id_raw_a":0.143423572,"cg_iq_a":-0.139889017,"cg_iq_raw_a":-0.203215733,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9909096,"cg_sample_seq":14197817,"cg_sample_valid":1,"cg_theta_rad":5.00691462,"cg_vd_req_v":0.0747617185,"cg_vd_v":0.0747617185,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368141651,"cg_vq_v":-0.368141651,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2915955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.323486,"values":{"Elec_RPM":-3.61335739e-09,"EncoderCos":38714,"EncoderSin":12482,"GapTicks":54768,"Mech_RPM":-7.22671478e-10,"cg_du":50.1630287,"cg_dv":50.2104568,"cg_dw":49.7895432,"cg_id_a":-0.0888685286,"cg_id_raw_a":-0.112027466,"cg_iq_a":0.447495192,"cg_iq_raw_a":0.463231295,"cg_iu_a":0.0750210285,"cg_iv_a":-0.25704062,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9727268,"cg_sample_seq":14197867,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.077170752,"cg_vd_v":0.077170752,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378661036,"cg_vq_v":-0.378661036,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2915955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.331299,"values":{"Elec_RPM":-3.54109009e-09,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-7.0821804e-10,"cg_du":50.1580734,"cg_dv":50.2052383,"cg_dw":49.7947617,"cg_id_a":-0.01934053,"cg_id_raw_a":0.197007075,"cg_iq_a":0.0532062948,"cg_iq_raw_a":0.529937327,"cg_iu_a":0.256240368,"cg_iv_a":-0.619478822,"cg_iw_a":0.363238454,"cg_sample_age_us":23.8563633,"cg_sample_seq":14197917,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.0758319944,"cg_vd_v":0.0758319944,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368786901,"cg_vq_v":-0.368786901,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.9408302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2668457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.339111,"values":{"Elec_RPM":-3.54109009e-09,"EncoderCos":38701,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-7.0821804e-10,"cg_du":50.1665878,"cg_dv":50.2096519,"cg_dw":49.7903481,"cg_id_a":0.100255102,"cg_id_raw_a":0.313051164,"cg_iq_a":0.538763225,"cg_iq_raw_a":0.615258873,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14197967,"cg_sample_valid":1,"cg_theta_rad":5.00625229,"cg_vd_req_v":0.0743498057,"cg_vd_v":0.0743498057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378225207,"cg_vq_v":-0.378225207,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.9408302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2668457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.346924,"values":{"Elec_RPM":-3.47026852e-09,"EncoderCos":38725,"EncoderSin":12503,"GapTicks":54784,"Mech_RPM":-6.94053703e-10,"cg_du":50.1446266,"cg_dv":50.1954842,"cg_dw":49.8045158,"cg_id_a":0.0821575075,"cg_id_raw_a":0.29502064,"cg_iq_a":-0.792066574,"cg_iq_raw_a":-0.0441759378,"cg_iu_a":0.401215672,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9181824,"cg_sample_seq":14198017,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.075428918,"cg_vd_v":0.075428918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347130954,"cg_vq_v":-0.347130954,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.4271774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2882996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.354736,"values":{"Elec_RPM":-3.47026852e-09,"EncoderCos":38724,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-6.94053703e-10,"cg_du":50.15485,"cg_dv":50.1987495,"cg_dw":49.8012505,"cg_id_a":0.210744724,"cg_id_raw_a":-0.197394684,"cg_iq_a":-0.18809253,"cg_iq_raw_a":-0.600965738,"cg_iu_a":0.183752537,"cg_iv_a":0.359104633,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9254551,"cg_sample_seq":14198067,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0714927465,"cg_vd_v":0.0714927465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357110023,"cg_vq_v":-0.357110023,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.4271774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2833252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.385986,"values":{"Elec_RPM":-3.40086315e-09,"EncoderCos":38745,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-6.8017264e-10,"cg_du":50.1520805,"cg_dv":50.2053261,"cg_dw":49.7946739,"cg_id_a":-0.130456388,"cg_id_raw_a":-0.418159574,"cg_iq_a":0.180158541,"cg_iq_raw_a":-0.291880995,"cg_iu_a":0.256240129,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.8527279,"cg_sample_seq":14198120,"cg_sample_valid":1,"cg_theta_rad":5.0061698,"cg_vd_req_v":0.0777838081,"cg_vd_v":0.0777838081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364988565,"cg_vq_v":-0.364988565,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2833252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.393799,"values":{"Elec_RPM":-3.40086315e-09,"EncoderCos":38721,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-6.8017264e-10,"cg_du":50.154995,"cg_dv":50.2037239,"cg_dw":49.7962761,"cg_id_a":-0.0740516856,"cg_id_raw_a":-0.177907735,"cg_iq_a":0.130005717,"cg_iq_raw_a":0.493209541,"cg_iu_a":-0.50488019,"cg_iv_a":0.250373065,"cg_iw_a":0.254507124,"cg_sample_age_us":23.8454552,"cg_sample_seq":14198167,"cg_sample_valid":1,"cg_theta_rad":5.00591946,"cg_vd_req_v":0.0768139288,"cg_vd_v":0.0768139288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364979208,"cg_vq_v":-0.364979208,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2783813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.401611,"values":{"Elec_RPM":-3.332846e-09,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54774,"Mech_RPM":-6.66569189e-10,"cg_du":50.1595268,"cg_dv":50.2046204,"cg_dw":49.7953796,"cg_id_a":-0.0294718035,"cg_id_raw_a":0.0453035906,"cg_iq_a":0.271093547,"cg_iq_raw_a":-0.0675729215,"cg_iu_a":-0.178685904,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9763641,"cg_sample_seq":14198217,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.0742846727,"cg_vd_v":0.0742846727,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368721098,"cg_vq_v":-0.368721098,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.409424,"values":{"Elec_RPM":-3.332846e-09,"EncoderCos":38696,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-6.66569189e-10,"cg_du":50.1563187,"cg_dv":50.2007561,"cg_dw":49.7992439,"cg_id_a":-0.0698974878,"cg_id_raw_a":0.508137286,"cg_iq_a":-0.0149657633,"cg_iq_raw_a":-0.275795192,"cg_iu_a":0.219996452,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9436359,"cg_sample_seq":14198267,"cg_sample_valid":1,"cg_theta_rad":5.00713921,"cg_vd_req_v":0.0738908127,"cg_vd_v":0.0738908127,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361475021,"cg_vq_v":-0.361475021,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.604553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.421143,"values":{"Elec_RPM":-3.2661891e-09,"EncoderCos":38694,"EncoderSin":12501,"GapTicks":54784,"Mech_RPM":-6.53237797e-10,"cg_du":50.1587524,"cg_dv":50.1957054,"cg_dw":49.8042946,"cg_id_a":0.289702594,"cg_id_raw_a":-0.287579209,"cg_iq_a":-0.279695868,"cg_iq_raw_a":-0.10127347,"cg_iu_a":0.509947181,"cg_iv_a":1.66388261,"cg_iw_a":-2.17382979,"cg_sample_age_us":23.9472733,"cg_sample_seq":14198317,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0670895055,"cg_vd_v":0.0670895055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354856014,"cg_vq_v":-0.354856014,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.616205931,"dclink_p_w":-89.180191,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3130798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.428955,"values":{"Elec_RPM":-3.2661891e-09,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54781,"Mech_RPM":-6.53237797e-10,"cg_du":50.1566277,"cg_dv":50.1989517,"cg_dw":49.8010483,"cg_id_a":0.181750864,"cg_id_raw_a":0.574760139,"cg_iq_a":-0.0838868544,"cg_iq_raw_a":1.69226944,"cg_iu_a":-0.541124105,"cg_iv_a":0.540323794,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.8563633,"cg_sample_seq":14198367,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.068875581,"cg_vd_v":0.068875581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358656168,"cg_vq_v":-0.358656168,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.2710495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.3130798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.436768,"values":{"Elec_RPM":-3.20086513e-09,"EncoderCos":38713,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-6.40173026e-10,"cg_du":50.1623344,"cg_dv":50.2027512,"cg_dw":49.7972488,"cg_id_a":0.0919199064,"cg_id_raw_a":-0.106155857,"cg_iq_a":0.0381250046,"cg_iq_raw_a":-0.66518265,"cg_iu_a":0.0750212669,"cg_iv_a":-0.112065256,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9872723,"cg_sample_seq":14198417,"cg_sample_valid":1,"cg_theta_rad":5.00598717,"cg_vd_req_v":0.0700173303,"cg_vd_v":0.0700173303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366650611,"cg_vq_v":-0.366650611,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.4271774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7904358,"temp_inv2_c":39.2800293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.44458,"values":{"Elec_RPM":-3.20086513e-09,"EncoderCos":38725,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-6.40173026e-10,"cg_du":50.1600342,"cg_dv":50.2031136,"cg_dw":49.7968864,"cg_id_a":-0.0718204975,"cg_id_raw_a":-0.0763065144,"cg_iq_a":0.00292208791,"cg_iq_raw_a":0.102723598,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14198467,"cg_sample_valid":1,"cg_theta_rad":5.00679922,"cg_vd_req_v":0.0714379027,"cg_vd_v":0.0714379027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367145181,"cg_vq_v":-0.367145181,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2684631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.452393,"values":{"Elec_RPM":-3.13684767e-09,"EncoderCos":38744,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-6.27369545e-10,"cg_du":50.155117,"cg_dv":50.200592,"cg_dw":49.799408,"cg_id_a":-0.0357591063,"cg_id_raw_a":-0.460098952,"cg_iq_a":-0.310799956,"cg_iq_raw_a":-0.295257509,"cg_iu_a":-0.50488019,"cg_iv_a":0.032910049,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9472733,"cg_sample_seq":14198517,"cg_sample_valid":1,"cg_theta_rad":5.00611448,"cg_vd_req_v":0.0707288384,"cg_vd_v":0.0707288384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361366361,"cg_vq_v":-0.361366361,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2684631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.464111,"values":{"Elec_RPM":-3.13684767e-09,"EncoderCos":38697,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-6.27369545e-10,"cg_du":50.1671333,"cg_dv":50.2036476,"cg_dw":49.7963524,"cg_id_a":0.0890503079,"cg_id_raw_a":0.155712426,"cg_iq_a":0.182973266,"cg_iq_raw_a":0.0895877704,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14198567,"cg_sample_valid":1,"cg_theta_rad":5.00715733,"cg_vd_req_v":0.0687299594,"cg_vd_v":0.0687299594,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371431708,"cg_vq_v":-0.371431708,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.469418406,"dclink_p_w":-67.9364166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2025146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.491455,"values":{"Elec_RPM":-3.07411074e-09,"EncoderCos":38733,"EncoderSin":12519,"GapTicks":54768,"Mech_RPM":-6.14822138e-10,"cg_du":50.1658363,"cg_dv":50.2101402,"cg_dw":49.7898598,"cg_id_a":-0.00103341043,"cg_id_raw_a":-0.0145405661,"cg_iq_a":0.547047615,"cg_iq_raw_a":0.581792414,"cg_iu_a":0.582434654,"cg_iv_a":-0.655722737,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8563633,"cg_sample_seq":14198620,"cg_sample_valid":1,"cg_theta_rad":5.00605345,"cg_vd_req_v":0.071819447,"cg_vd_v":0.071819447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379161507,"cg_vq_v":-0.379161507,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.48092985,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2734375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.499268,"values":{"Elec_RPM":-3.07411074e-09,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54767,"Mech_RPM":-6.14822138e-10,"cg_du":50.1550522,"cg_dv":50.2110634,"cg_dw":49.7889366,"cg_id_a":-0.524277568,"cg_id_raw_a":-1.177701,"cg_iq_a":0.307307214,"cg_iq_raw_a":2.14458036,"cg_iu_a":1.34355533,"cg_iv_a":-0.293284416,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.954546,"cg_sample_seq":14198666,"cg_sample_valid":1,"cg_theta_rad":5.00718164,"cg_vd_req_v":0.08316122,"cg_vd_v":0.08316122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373994768,"cg_vq_v":-0.373994768,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36200142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2734375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.50708,"values":{"Elec_RPM":-3.01262837e-09,"EncoderCos":38719,"EncoderSin":12489,"GapTicks":54768,"Mech_RPM":-6.02525696e-10,"cg_du":50.1610069,"cg_dv":50.2109108,"cg_dw":49.7890892,"cg_id_a":-0.265178472,"cg_id_raw_a":0.357707232,"cg_iq_a":0.475690395,"cg_iq_raw_a":-0.255913913,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":1.12435925,"cg_sample_age_us":23.9909096,"cg_sample_seq":14198716,"cg_sample_valid":1,"cg_theta_rad":5.00716925,"cg_vd_req_v":0.0783564374,"cg_vd_v":0.0783564374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377124161,"cg_vq_v":-0.377124161,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2651672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.514893,"values":{"Elec_RPM":-3.01262837e-09,"EncoderCos":38730,"EncoderSin":12501,"GapTicks":54774,"Mech_RPM":-6.02525696e-10,"cg_du":50.156662,"cg_dv":50.2047806,"cg_dw":49.7952194,"cg_id_a":-0.0216337889,"cg_id_raw_a":-0.22252737,"cg_iq_a":-0.0375626534,"cg_iq_raw_a":-0.129167125,"cg_iu_a":-0.39614892,"cg_iv_a":-0.583235025,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9509087,"cg_sample_seq":14198766,"cg_sample_valid":1,"cg_theta_rad":5.00711155,"cg_vd_req_v":0.0745925009,"cg_vd_v":0.0745925009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366600245,"cg_vq_v":-0.366600245,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2651672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.522705,"values":{"Elec_RPM":-2.9523759e-09,"EncoderCos":38712,"EncoderSin":12511,"GapTicks":54774,"Mech_RPM":-5.90475169e-10,"cg_du":50.1647072,"cg_dv":50.2051964,"cg_dw":49.7948036,"cg_id_a":0.121654078,"cg_id_raw_a":-0.183803976,"cg_iq_a":0.184912175,"cg_iq_raw_a":-0.30828622,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333368778,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8600006,"cg_sample_seq":14198816,"cg_sample_valid":1,"cg_theta_rad":5.00725603,"cg_vd_req_v":0.0699274689,"cg_vd_v":0.0699274689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371418208,"cg_vq_v":-0.371418208,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.534424,"values":{"Elec_RPM":-2.9523759e-09,"EncoderCos":38724,"EncoderSin":12443,"GapTicks":54776,"Mech_RPM":-5.90475169e-10,"cg_du":50.1545181,"cg_dv":50.2029228,"cg_dw":49.7970772,"cg_id_a":-0.223782122,"cg_id_raw_a":-0.534736156,"cg_iq_a":-0.313049197,"cg_iq_raw_a":0.0572708771,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8600006,"cg_sample_seq":14198867,"cg_sample_valid":1,"cg_theta_rad":5.00622272,"cg_vd_req_v":0.0764248297,"cg_vd_v":0.0764248297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362465203,"cg_vq_v":-0.362465203,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2717896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.542236,"values":{"Elec_RPM":-2.89332824e-09,"EncoderCos":38713,"EncoderSin":12490,"GapTicks":54774,"Mech_RPM":-5.78665671e-10,"cg_du":50.1623154,"cg_dv":50.2050934,"cg_dw":49.7949066,"cg_id_a":0.0319097079,"cg_id_raw_a":-0.393214613,"cg_iq_a":0.01207757,"cg_iq_raw_a":0.544951022,"cg_iu_a":-0.287417412,"cg_iv_a":0.286616921,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.8490906,"cg_sample_seq":14198916,"cg_sample_valid":1,"cg_theta_rad":5.00701237,"cg_vd_req_v":0.0721589774,"cg_vd_v":0.0721589774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369848907,"cg_vq_v":-0.369848907,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2717896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.550049,"values":{"Elec_RPM":-2.89332824e-09,"EncoderCos":38710,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-5.78665671e-10,"cg_du":50.1640587,"cg_dv":50.2058067,"cg_dw":49.7941933,"cg_id_a":0.0872290209,"cg_id_raw_a":-0.127139851,"cg_iq_a":0.0912405849,"cg_iq_raw_a":0.607317507,"cg_iu_a":-0.178685904,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14198967,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.0721724778,"cg_vd_v":0.0721724778,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371666193,"cg_vq_v":-0.371666193,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2420959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.557861,"values":{"Elec_RPM":-2.83546187e-09,"EncoderCos":38710,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-5.67092373e-10,"cg_du":50.1669731,"cg_dv":50.2015114,"cg_dw":49.7984886,"cg_id_a":0.3094787,"cg_id_raw_a":0.214893892,"cg_iq_a":-0.0973069295,"cg_iq_raw_a":0.131348044,"cg_iu_a":0.0387773514,"cg_iv_a":0.57656759,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9509087,"cg_sample_seq":14199017,"cg_sample_valid":1,"cg_theta_rad":5.0073595,"cg_vd_req_v":0.0653961003,"cg_vd_v":0.0653961003,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367531836,"cg_vq_v":-0.367531836,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.56958,"values":{"Elec_RPM":-2.83546187e-09,"EncoderCos":38714,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-5.67092373e-10,"cg_du":50.167057,"cg_dv":50.2109871,"cg_dw":49.7890129,"cg_id_a":-0.153649822,"cg_id_raw_a":-0.451413095,"cg_iq_a":0.413737655,"cg_iq_raw_a":0.0656770244,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14199067,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.0742930621,"cg_vd_v":0.0742930621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380498916,"cg_vq_v":-0.380498916,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.596924,"values":{"Elec_RPM":-2.77875256e-09,"EncoderCos":38718,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-5.55750501e-10,"cg_du":50.1616669,"cg_dv":50.2033806,"cg_dw":49.7966194,"cg_id_a":-0.0576461107,"cg_id_raw_a":-0.204595298,"cg_iq_a":-0.314399987,"cg_iq_raw_a":-0.0921745822,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592345,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9436359,"cg_sample_seq":14199120,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0711645037,"cg_vd_v":0.0711645037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367127001,"cg_vq_v":-0.367127001,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2536316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.604736,"values":{"Elec_RPM":-2.77875256e-09,"EncoderCos":38720,"EncoderSin":12472,"GapTicks":54771,"Mech_RPM":-5.55750501e-10,"cg_du":50.1695709,"cg_dv":50.207756,"cg_dw":49.792244,"cg_id_a":0.0538659468,"cg_id_raw_a":0.584128261,"cg_iq_a":0.106251284,"cg_iq_raw_a":-0.634070098,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726166,"cg_sample_age_us":23.954546,"cg_sample_seq":14199166,"cg_sample_valid":1,"cg_theta_rad":5.00646353,"cg_vd_req_v":0.06913165,"cg_vd_v":0.06913165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378714472,"cg_vq_v":-0.378714472,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2536316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.612549,"values":{"Elec_RPM":-2.72317746e-09,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-5.44635503e-10,"cg_du":50.1738243,"cg_dv":50.2016449,"cg_dw":49.7983551,"cg_id_a":0.3836748,"cg_id_raw_a":0.390102804,"cg_iq_a":-0.198919713,"cg_iq_raw_a":-0.360937953,"cg_iu_a":-0.214929581,"cg_iv_a":0.504079938,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8745461,"cg_sample_seq":14199216,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0604258627,"cg_vd_v":0.0604258627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371521771,"cg_vq_v":-0.371521771,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.620361,"values":{"Elec_RPM":-2.72317746e-09,"EncoderCos":38726,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-5.44635503e-10,"cg_du":50.1673431,"cg_dv":50.2080345,"cg_dw":49.7919655,"cg_id_a":-0.0136339422,"cg_id_raw_a":0.0629457459,"cg_iq_a":0.108596042,"cg_iq_raw_a":0.407275885,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9763641,"cg_sample_seq":14199267,"cg_sample_valid":1,"cg_theta_rad":5.00588036,"cg_vd_req_v":0.0697991997,"cg_vd_v":0.0697991997,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375725925,"cg_vq_v":-0.375725925,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2420959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.628174,"values":{"Elec_RPM":-2.66871392e-09,"EncoderCos":38705,"EncoderSin":12500,"GapTicks":54784,"Mech_RPM":-5.33742772e-10,"cg_du":50.1558228,"cg_dv":50.1961479,"cg_dw":49.8038521,"cg_id_a":-0.0106580518,"cg_id_raw_a":-0.0556185059,"cg_iq_a":-0.938220143,"cg_iq_raw_a":-1.17019761,"cg_iu_a":-0.0337102413,"cg_iv_a":0.214129329,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.9509087,"cg_sample_seq":14199317,"cg_sample_valid":1,"cg_theta_rad":5.00685167,"cg_vd_req_v":0.0687412843,"cg_vd_v":0.0687412843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352896988,"cg_vq_v":-0.352896988,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7132874,"temp_inv2_c":39.2420959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.639893,"values":{"Elec_RPM":-2.6153395e-09,"EncoderCos":38704,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-5.23067922e-10,"cg_du":50.1820297,"cg_dv":50.2068138,"cg_dw":49.7931862,"cg_id_a":0.471954733,"cg_id_raw_a":0.0158048384,"cg_iq_a":0.486792207,"cg_iq_raw_a":-0.398310602,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9909096,"cg_sample_seq":14199467,"cg_sample_valid":1,"cg_theta_rad":5.00590467,"cg_vd_req_v":0.0595148206,"cg_vd_v":0.0595148206,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383080393,"cg_vq_v":-0.383080393,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.7389832,"temp_inv2_c":39.2569275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.647705,"values":{"Elec_RPM":-2.5630329e-09,"EncoderCos":38726,"EncoderSin":12493,"GapTicks":54776,"Mech_RPM":-5.12606568e-10,"cg_du":50.1667137,"cg_dv":50.2028427,"cg_dw":49.7971573,"cg_id_a":0.153469995,"cg_id_raw_a":-0.0245885011,"cg_iq_a":-0.247315779,"cg_iq_raw_a":-0.219964921,"cg_iu_a":-1.41097593,"cg_iv_a":0.359104633,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9290905,"cg_sample_seq":14199518,"cg_sample_valid":1,"cg_theta_rad":5.00675392,"cg_vd_req_v":0.0653461665,"cg_vd_v":0.0653461665,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369469076,"cg_vq_v":-0.369469076,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.2197046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2470398,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.655518,"values":{"Elec_RPM":-2.5630329e-09,"EncoderCos":38732,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-5.12606568e-10,"cg_du":50.1662674,"cg_dv":50.2041321,"cg_dw":49.7958679,"cg_id_a":-0.0281347651,"cg_id_raw_a":-0.00713691069,"cg_iq_a":-0.184041619,"cg_iq_raw_a":-0.181909695,"cg_iu_a":0.328727961,"cg_iv_a":0.21412921,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8454552,"cg_sample_seq":14199567,"cg_sample_valid":1,"cg_theta_rad":5.00620508,"cg_vd_req_v":0.0670312345,"cg_vd_v":0.0670312345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37096554,"cg_vq_v":-0.37096554,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2470398,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.682861,"values":{"Elec_RPM":-2.51177212e-09,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54785,"Mech_RPM":-5.02354436e-10,"cg_du":50.1672211,"cg_dv":50.1950607,"cg_dw":49.8049393,"cg_id_a":0.373643905,"cg_id_raw_a":-0.177297086,"cg_iq_a":-0.482383966,"cg_iq_raw_a":-0.380215973,"cg_iu_a":0.0750210285,"cg_iv_a":0.975249767,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.863636,"cg_sample_seq":14199620,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0576643385,"cg_vd_v":0.0576643385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359113485,"cg_vq_v":-0.359113485,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2321777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.690674,"values":{"Elec_RPM":-2.51177212e-09,"EncoderCos":38695,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-5.02354436e-10,"cg_du":50.1658325,"cg_dv":50.1997795,"cg_dw":49.8002205,"cg_id_a":-0.0816229433,"cg_id_raw_a":0.743696332,"cg_iq_a":-0.169359386,"cg_iq_raw_a":-0.10444852,"cg_iu_a":0.183752775,"cg_iv_a":-0.365772009,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9436359,"cg_sample_seq":14199666,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.06619744,"cg_vd_v":0.06619744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364252537,"cg_vq_v":-0.364252537,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2255859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.698486,"values":{"Elec_RPM":-2.46153675e-09,"EncoderCos":38715,"EncoderSin":12509,"GapTicks":54774,"Mech_RPM":-4.92307362e-10,"cg_du":50.1621971,"cg_dv":50.2051048,"cg_dw":49.7948952,"cg_id_a":-0.220194429,"cg_id_raw_a":0.218727991,"cg_iq_a":0.115630046,"cg_iq_raw_a":-0.123796239,"cg_iu_a":0.618678689,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9799995,"cg_sample_seq":14199716,"cg_sample_valid":1,"cg_theta_rad":5.00682497,"cg_vd_req_v":0.0718282536,"cg_vd_v":0.0718282536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371049523,"cg_vq_v":-0.371049523,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2255859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.710205,"values":{"Elec_RPM":-2.46153675e-09,"EncoderCos":38714,"EncoderSin":12501,"GapTicks":54780,"Mech_RPM":-4.92307362e-10,"cg_du":50.1639404,"cg_dv":50.1992035,"cg_dw":49.8007965,"cg_id_a":0.130421937,"cg_id_raw_a":-0.0754264966,"cg_iq_a":-0.295496464,"cg_iq_raw_a":-1.20817184,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528213,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14199766,"cg_sample_valid":1,"cg_theta_rad":5.00646353,"cg_vd_req_v":0.0649896041,"cg_vd_v":0.0649896041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363924682,"cg_vq_v":-0.363924682,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2453918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.718018,"values":{"Elec_RPM":-2.41230613e-09,"EncoderCos":38674,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-4.82461238e-10,"cg_du":50.1682014,"cg_dv":50.2059593,"cg_dw":49.7940407,"cg_id_a":-0.108210661,"cg_id_raw_a":-0.285542876,"cg_iq_a":0.098640576,"cg_iq_raw_a":0.0794811249,"cg_iu_a":-0.251173258,"cg_iv_a":0.141641557,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9836369,"cg_sample_seq":14199816,"cg_sample_valid":1,"cg_theta_rad":5.00514078,"cg_vd_req_v":0.0721014068,"cg_vd_v":0.0721014068,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374812424,"cg_vq_v":-0.374812424,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2354736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.72583,"values":{"Elec_RPM":-2.41230613e-09,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-4.82461238e-10,"cg_du":50.165905,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":-0.0993027017,"cg_id_raw_a":-0.0536777079,"cg_iq_a":0.00917104259,"cg_iq_raw_a":-0.550890088,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8600006,"cg_sample_seq":14199866,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0728747398,"cg_vd_v":0.0728747398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375849038,"cg_vq_v":-0.375849038,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2354736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.737549,"values":{"Elec_RPM":-2.36406006e-09,"EncoderCos":38748,"EncoderSin":12494,"GapTicks":54760,"Mech_RPM":-4.72812012e-10,"cg_du":50.1642647,"cg_dv":50.2176666,"cg_dw":49.7823334,"cg_id_a":-0.418905914,"cg_id_raw_a":-0.107278563,"cg_iq_a":0.590019345,"cg_iq_raw_a":-0.228165492,"cg_iu_a":-0.359905005,"cg_iv_a":-2.10547614,"cg_iw_a":2.46538115,"cg_sample_age_us":23.9290905,"cg_sample_seq":14199917,"cg_sample_valid":1,"cg_theta_rad":5.00708532,"cg_vd_req_v":0.079658404,"cg_vd_v":0.079658404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388699651,"cg_vq_v":-0.388699651,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.308914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2684631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.745361,"values":{"Elec_RPM":-2.36406006e-09,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-4.72812012e-10,"cg_du":50.1681328,"cg_dv":50.2088051,"cg_dw":49.7911949,"cg_id_a":-0.0515772663,"cg_id_raw_a":-0.230502397,"cg_iq_a":-0.150129497,"cg_iq_raw_a":-0.677684188,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8490906,"cg_sample_seq":14199966,"cg_sample_valid":1,"cg_theta_rad":5.00623798,"cg_vd_req_v":0.0716990158,"cg_vd_v":0.0716990158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378069431,"cg_vq_v":-0.378069431,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.820983648,"dclink_p_w":-118.816574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2684631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.753174,"values":{"Elec_RPM":-2.31677877e-09,"EncoderCos":38715,"EncoderSin":12503,"GapTicks":54768,"Mech_RPM":-4.6335577e-10,"cg_du":50.1742363,"cg_dv":50.2102089,"cg_dw":49.7897911,"cg_id_a":0.150039196,"cg_id_raw_a":0.288148582,"cg_iq_a":0.09732306,"cg_iq_raw_a":0.0286477525,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8490906,"cg_sample_seq":14200016,"cg_sample_valid":1,"cg_theta_rad":5.00728226,"cg_vd_req_v":0.0662494302,"cg_vd_v":0.0662494302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382166892,"cg_vq_v":-0.382166892,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.760986,"values":{"Elec_RPM":-2.31677877e-09,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-4.6335577e-10,"cg_du":50.1767998,"cg_dv":50.2117043,"cg_dw":49.7882957,"cg_id_a":0.00152811781,"cg_id_raw_a":0.617062688,"cg_iq_a":0.319158912,"cg_iq_raw_a":0.316889971,"cg_iu_a":-0.287417173,"cg_iv_a":-0.00333368778,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9509087,"cg_sample_seq":14200067,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.0678448379,"cg_vd_v":0.0678448379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388070107,"cg_vq_v":-0.388070107,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.78833,"values":{"Elec_RPM":-2.27044339e-09,"EncoderCos":38715,"EncoderSin":12467,"GapTicks":54757,"Mech_RPM":-4.54088656e-10,"cg_du":50.1744041,"cg_dv":50.220005,"cg_dw":49.779995,"cg_id_a":-0.488839865,"cg_id_raw_a":-0.186854839,"cg_iq_a":0.791815937,"cg_iq_raw_a":1.00208247,"cg_iu_a":-0.903562307,"cg_iv_a":0.322860837,"cg_iw_a":0.58070147,"cg_sample_age_us":26.8163643,"cg_sample_seq":14200121,"cg_sample_valid":1,"cg_theta_rad":5.00712681,"cg_vd_req_v":0.0778638124,"cg_vd_v":0.0778638124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398021877,"cg_vq_v":-0.398021877,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.796143,"values":{"Elec_RPM":-2.27044339e-09,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-4.54088656e-10,"cg_du":50.1673126,"cg_dv":50.2066536,"cg_dw":49.7933464,"cg_id_a":-0.068507567,"cg_id_raw_a":0.100906044,"cg_iq_a":-0.297413081,"cg_iq_raw_a":-0.20787254,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9836369,"cg_sample_seq":14200166,"cg_sample_valid":1,"cg_theta_rad":5.00617552,"cg_vd_req_v":0.069475159,"cg_vd_v":0.069475159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37482959,"cg_vq_v":-0.37482959,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2338562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.803955,"values":{"Elec_RPM":-2.22503438e-09,"EncoderCos":38742,"EncoderSin":12484,"GapTicks":54772,"Mech_RPM":-4.45006892e-10,"cg_du":50.1694489,"cg_dv":50.2065506,"cg_dw":49.7934494,"cg_id_a":0.0740200132,"cg_id_raw_a":-0.124194153,"cg_iq_a":-0.0276415125,"cg_iq_raw_a":0.171388373,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9254551,"cg_sample_seq":14200266,"cg_sample_valid":1,"cg_theta_rad":5.00596476,"cg_vd_req_v":0.0656566545,"cg_vd_v":0.0656566545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376249373,"cg_vq_v":-0.376249373,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.815674,"values":{"Elec_RPM":-2.18053375e-09,"EncoderCos":38727,"EncoderSin":12491,"GapTicks":54771,"Mech_RPM":-4.36106762e-10,"cg_du":50.1705894,"cg_dv":50.2079773,"cg_dw":49.7920227,"cg_id_a":-0.00795139,"cg_id_raw_a":0.412538052,"cg_iq_a":0.25443697,"cg_iq_raw_a":-0.396998197,"cg_iu_a":-0.178685665,"cg_iv_a":-0.619478941,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8600006,"cg_sample_seq":14200316,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0672400519,"cg_vd_v":0.0672400519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378638506,"cg_vq_v":-0.378638506,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2767334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.823486,"values":{"Elec_RPM":-2.18053375e-09,"EncoderCos":38697,"EncoderSin":12490,"GapTicks":54776,"Mech_RPM":-4.36106762e-10,"cg_du":50.1690369,"cg_dv":50.203476,"cg_dw":49.796524,"cg_id_a":-0.0436746776,"cg_id_raw_a":0.290357172,"cg_iq_a":0.0426214784,"cg_iq_raw_a":-0.406843543,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8672733,"cg_sample_seq":14200366,"cg_sample_valid":1,"cg_theta_rad":5.00628424,"cg_vd_req_v":0.0666627586,"cg_vd_v":0.0666627586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371188432,"cg_vq_v":-0.371188432,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2767334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.831299,"values":{"Elec_RPM":-2.13692308e-09,"EncoderCos":38717,"EncoderSin":12491,"GapTicks":54781,"Mech_RPM":-4.27384628e-10,"cg_du":50.1659889,"cg_dv":50.1988678,"cg_dw":49.8011322,"cg_id_a":0.0614929125,"cg_id_raw_a":0.493756503,"cg_iq_a":-0.293573231,"cg_iq_raw_a":-1.00730503,"cg_iu_a":0.00253343582,"cg_iv_a":-0.583235145,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9509087,"cg_sample_seq":14200417,"cg_sample_valid":1,"cg_theta_rad":5.0078764,"cg_vd_req_v":0.0628631786,"cg_vd_v":0.0628631786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363513529,"cg_vq_v":-0.363513529,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2717896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.839111,"values":{"Elec_RPM":-2.13692308e-09,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54776,"Mech_RPM":-4.27384628e-10,"cg_du":50.1734657,"cg_dv":50.2035255,"cg_dw":49.7964745,"cg_id_a":0.222208023,"cg_id_raw_a":-0.301922798,"cg_iq_a":0.0591062084,"cg_iq_raw_a":0.481549829,"cg_iu_a":-0.251173496,"cg_iv_a":-0.257040501,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14200467,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0611711368,"cg_vd_v":0.0611711368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374099523,"cg_vq_v":-0.374099523,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.846354246,"dclink_p_w":-122.860634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.85083,"values":{"Elec_RPM":-2.0941846e-09,"EncoderCos":38710,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-4.18836937e-10,"cg_du":50.1679916,"cg_dv":50.2012825,"cg_dw":49.7987175,"cg_id_a":0.0793386623,"cg_id_raw_a":-0.312185407,"cg_iq_a":-0.146578088,"cg_iq_raw_a":-0.0667512268,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.954546,"cg_sample_seq":14200517,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0646261126,"cg_vd_v":0.0646261126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36774987,"cg_vq_v":-0.36774987,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.723125219,"dclink_p_w":-104.654045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6875916,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.858643,"values":{"Elec_RPM":-2.0941846e-09,"EncoderCos":38703,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-4.18836937e-10,"cg_du":50.1668625,"cg_dv":50.2096634,"cg_dw":49.7903366,"cg_id_a":-0.468464643,"cg_id_raw_a":-0.265528351,"cg_iq_a":0.445874572,"cg_iq_raw_a":0.301618278,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14200567,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0745179206,"cg_vd_v":0.0745179206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37832287,"cg_vq_v":-0.37832287,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.1706009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2354736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.866455,"values":{"Elec_RPM":-2.052301e-09,"EncoderCos":38708,"EncoderSin":12493,"GapTicks":54782,"Mech_RPM":-4.10460194e-10,"cg_du":50.1624527,"cg_dv":50.1979218,"cg_dw":49.8020782,"cg_id_a":-0.0126596019,"cg_id_raw_a":0.324936897,"cg_iq_a":-0.455536127,"cg_iq_raw_a":-0.768305957,"cg_iu_a":-0.106198072,"cg_iv_a":-0.546991229,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.9581814,"cg_sample_seq":14200617,"cg_sample_valid":1,"cg_theta_rad":5.00761032,"cg_vd_req_v":0.0654082522,"cg_vd_v":0.0654082522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360118866,"cg_vq_v":-0.360118866,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.1706009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2420959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.893799,"values":{"Elec_RPM":-2.052301e-09,"EncoderCos":38715,"EncoderSin":12489,"GapTicks":54780,"Mech_RPM":-4.10460194e-10,"cg_du":50.1648712,"cg_dv":50.1992531,"cg_dw":49.8007469,"cg_id_a":0.132550687,"cg_id_raw_a":0.263773739,"cg_iq_a":-0.0502519608,"cg_iq_raw_a":0.0629649311,"cg_iu_a":0.437459469,"cg_iv_a":0.286616981,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.954546,"cg_sample_seq":14200670,"cg_sample_valid":1,"cg_theta_rad":5.00772381,"cg_vd_req_v":0.0645243526,"cg_vd_v":0.0645243526,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364477664,"cg_vq_v":-0.364477664,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-112.338005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2420959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2566.905518,"values":{"Elec_RPM":-2.01125494e-09,"EncoderCos":38729,"EncoderSin":12505,"GapTicks":54783,"Mech_RPM":-4.02250983e-10,"cg_du":50.149086,"cg_dv":50.1969223,"cg_dw":49.8030777,"cg_id_a":-0.285572618,"cg_id_raw_a":-0.824483156,"cg_iq_a":-0.681473255,"cg_iq_raw_a":-1.78695595,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8490906,"cg_sample_seq":14200716,"cg_sample_valid":1,"cg_theta_rad":5.00794697,"cg_vd_req_v":0.072944954,"cg_vd_v":0.072944954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351661414,"cg_vq_v":-0.351661414,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-93.1341705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2206421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.91333,"values":{"Elec_RPM":-2.01125494e-09,"EncoderCos":38732,"EncoderSin":12505,"GapTicks":54774,"Mech_RPM":-4.02250983e-10,"cg_du":50.1688271,"cg_dv":50.2049294,"cg_dw":49.7950706,"cg_id_a":0.183248281,"cg_id_raw_a":-0.207680047,"cg_iq_a":0.519335985,"cg_iq_raw_a":0.163569689,"cg_iu_a":-0.50488019,"cg_iv_a":0.0691539049,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8527279,"cg_sample_seq":14200766,"cg_sample_valid":1,"cg_theta_rad":5.00808382,"cg_vd_req_v":0.0648889318,"cg_vd_v":0.0648889318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373638153,"cg_vq_v":-0.373638153,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-93.1341705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2206421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.921143,"values":{"Elec_RPM":-1.97102978e-09,"EncoderCos":38711,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-3.94205973e-10,"cg_du":50.165535,"cg_dv":50.2029266,"cg_dw":49.7970734,"cg_id_a":-0.0124647915,"cg_id_raw_a":-0.0856944621,"cg_iq_a":0.199670836,"cg_iq_raw_a":0.611448407,"cg_iu_a":-1.08478141,"cg_iv_a":0.0329101086,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9472733,"cg_sample_seq":14200817,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0681150183,"cg_vd_v":0.0681150183,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367444277,"cg_vq_v":-0.367444277,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-93.1341705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.928955,"values":{"Elec_RPM":-1.97102978e-09,"EncoderCos":38713,"EncoderSin":12477,"GapTicks":54775,"Mech_RPM":-3.94205973e-10,"cg_du":50.1692047,"cg_dv":50.2040482,"cg_dw":49.7959518,"cg_id_a":0.0932793021,"cg_id_raw_a":0.144728646,"cg_iq_a":0.117778808,"cg_iq_raw_a":0.415743858,"cg_iu_a":0.582434893,"cg_iv_a":0.177885413,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9472733,"cg_sample_seq":14200867,"cg_sample_valid":1,"cg_theta_rad":5.00883484,"cg_vd_req_v":0.065866217,"cg_vd_v":0.065866217,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371107727,"cg_vq_v":-0.371107727,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.715876341,"dclink_p_w":-103.604958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2305298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2566.936768,"values":{"Elec_RPM":-1.93160932e-09,"EncoderCos":38722,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-3.86321863e-10,"cg_du":50.1660118,"cg_dv":50.2022781,"cg_dw":49.7977219,"cg_id_a":0.0361205302,"cg_id_raw_a":0.135300666,"cg_iq_a":-0.0231297761,"cg_iq_raw_a":-0.131925911,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9254551,"cg_sample_seq":14200917,"cg_sample_valid":1,"cg_theta_rad":5.00659323,"cg_vd_req_v":0.0655643493,"cg_vd_v":0.0655643493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368274122,"cg_vq_v":-0.368274122,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2305298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.94458,"values":{"Elec_RPM":-1.93160932e-09,"EncoderCos":38767,"EncoderSin":12521,"GapTicks":54773,"Mech_RPM":-3.86321863e-10,"cg_du":50.1545219,"cg_dv":50.2060127,"cg_dw":49.7939873,"cg_id_a":-0.308449864,"cg_id_raw_a":-0.00922612753,"cg_iq_a":-0.103044085,"cg_iq_raw_a":-0.181815773,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772009,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14200967,"cg_sample_valid":1,"cg_theta_rad":5.00628757,"cg_vd_req_v":0.0738663673,"cg_vd_v":0.0738663673,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3678267,"cg_vq_v":-0.3678267,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.952393,"values":{"Elec_RPM":-1.89297711e-09,"EncoderCos":38716,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-3.78595433e-10,"cg_du":50.1613693,"cg_dv":50.1979942,"cg_dw":49.8020058,"cg_id_a":0.0340480804,"cg_id_raw_a":-0.0202666763,"cg_iq_a":-0.424163818,"cg_iq_raw_a":-0.474567503,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616981,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9145451,"cg_sample_seq":14201017,"cg_sample_valid":1,"cg_theta_rad":5.00591373,"cg_vd_req_v":0.0657729059,"cg_vd_v":0.0657729059,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359713554,"cg_vq_v":-0.359713554,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.1827393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2566.959608,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2566.959613,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2566.959618,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2566.964111,"values":{"Elec_RPM":-1.89297711e-09,"EncoderCos":38739,"EncoderSin":12506,"GapTicks":54779,"Mech_RPM":-3.78595433e-10,"cg_du":50.1586952,"cg_dv":50.2006721,"cg_dw":49.7993279,"cg_id_a":-0.113862082,"cg_id_raw_a":0.494399011,"cg_iq_a":-0.0650792122,"cg_iq_raw_a":-0.390969604,"cg_iu_a":-0.396148682,"cg_iv_a":-1.4168433,"cg_iw_a":1.81299198,"cg_sample_age_us":23.8527279,"cg_sample_seq":14201067,"cg_sample_valid":1,"cg_theta_rad":5.00779104,"cg_vd_req_v":0.068157047,"cg_vd_v":0.068157047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362295985,"cg_vq_v":-0.362295985,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.1827393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.971924,"values":{"Elec_RPM":-1.85511762e-09,"EncoderCos":38716,"EncoderSin":12513,"GapTicks":54780,"Mech_RPM":-3.71023517e-10,"cg_du":50.1634865,"cg_dv":50.199379,"cg_dw":49.800621,"cg_id_a":0.0518209785,"cg_id_raw_a":0.132004887,"cg_iq_a":-0.0307759345,"cg_iq_raw_a":0.122665502,"cg_iu_a":0.0750210285,"cg_iv_a":0.322860837,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9836369,"cg_sample_seq":14201117,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0648547411,"cg_vd_v":0.0648547411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362890065,"cg_vq_v":-0.362890065,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2255859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2566.999268,"values":{"Elec_RPM":-1.81801518e-09,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54788,"Mech_RPM":-3.63603037e-10,"cg_du":50.1519623,"cg_dv":50.192112,"cg_dw":49.807888,"cg_id_a":-0.045587033,"cg_id_raw_a":0.954795718,"cg_iq_a":-0.640645862,"cg_iq_raw_a":-1.39809155,"cg_iu_a":1.16233611,"cg_iv_a":-0.402015924,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9618187,"cg_sample_seq":14201217,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.0681381226,"cg_vd_v":0.0681381226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347393543,"cg_vq_v":-0.347393543,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2338562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.00708,"values":{"Elec_RPM":-1.81801518e-09,"EncoderCos":38720,"EncoderSin":12458,"GapTicks":54785,"Mech_RPM":-3.63603037e-10,"cg_du":50.1535835,"cg_dv":50.194622,"cg_dw":49.805378,"cg_id_a":-0.0221292917,"cg_id_raw_a":-0.429059803,"cg_iq_a":-0.23776257,"cg_iq_raw_a":-0.587799132,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14201267,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.069244884,"cg_vd_v":0.069244884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351740688,"cg_vq_v":-0.351740688,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2206421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.018799,"values":{"Elec_RPM":-1.78165482e-09,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54791,"Mech_RPM":-3.56330965e-10,"cg_du":50.146347,"cg_dv":50.1894951,"cg_dw":49.8105049,"cg_id_a":-0.154444218,"cg_id_raw_a":-0.208703935,"cg_iq_a":-0.707789421,"cg_iq_raw_a":0.162261248,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055302,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9872723,"cg_sample_seq":14201317,"cg_sample_valid":1,"cg_theta_rad":5.00653744,"cg_vd_req_v":0.0700372607,"cg_vd_v":0.0700372607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340652794,"cg_vq_v":-0.340652794,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.7211342,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2206421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.026611,"values":{"Elec_RPM":-1.78165482e-09,"EncoderCos":38678,"EncoderSin":12468,"GapTicks":54785,"Mech_RPM":-3.56330965e-10,"cg_du":50.1583099,"cg_dv":50.1951752,"cg_dw":49.8048248,"cg_id_a":-0.0667811185,"cg_id_raw_a":-0.547872424,"cg_iq_a":0.00187789649,"cg_iq_raw_a":0.561572611,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9763641,"cg_sample_seq":14201367,"cg_sample_valid":1,"cg_theta_rad":5.01019049,"cg_vd_req_v":0.069001466,"cg_vd_v":0.069001466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353485346,"cg_vq_v":-0.353485346,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.2272339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.034424,"values":{"Elec_RPM":-1.74602166e-09,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-3.49204332e-10,"cg_du":50.1542358,"cg_dv":50.1968956,"cg_dw":49.8031044,"cg_id_a":-0.0596597306,"cg_id_raw_a":-0.15206854,"cg_iq_a":0.0952864885,"cg_iq_raw_a":0.459671736,"cg_iu_a":0.256240368,"cg_iv_a":0.105397701,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9799995,"cg_sample_seq":14201417,"cg_sample_valid":1,"cg_theta_rad":5.00802708,"cg_vd_req_v":0.0693965033,"cg_vd_v":0.0693965033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354392678,"cg_vq_v":-0.354392678,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.22229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.042236,"values":{"Elec_RPM":-1.74602166e-09,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54791,"Mech_RPM":-3.49204332e-10,"cg_du":50.151329,"cg_dv":50.1899681,"cg_dw":49.8100319,"cg_id_a":0.0316308476,"cg_id_raw_a":0.289366156,"cg_iq_a":-0.405758768,"cg_iq_raw_a":-0.407549024,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9509087,"cg_sample_seq":14201467,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0664761141,"cg_vd_v":0.0664761141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343047291,"cg_vq_v":-0.343047291,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.22229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.050049,"values":{"Elec_RPM":-1.71110126e-09,"EncoderCos":38709,"EncoderSin":12479,"GapTicks":54786,"Mech_RPM":-3.42220252e-10,"cg_du":50.1542358,"cg_dv":50.1938782,"cg_dw":49.8061218,"cg_id_a":-0.107622892,"cg_id_raw_a":-0.0307155047,"cg_iq_a":0.0995203853,"cg_iq_raw_a":-0.147950992,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726166,"cg_sample_age_us":23.954546,"cg_sample_seq":14201517,"cg_sample_valid":1,"cg_theta_rad":5.00710011,"cg_vd_req_v":0.0681679696,"cg_vd_v":0.0681679696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349959493,"cg_vq_v":-0.349959493,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2058105,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.057861,"values":{"Elec_RPM":-1.71110126e-09,"EncoderCos":38721,"EncoderSin":12484,"GapTicks":54792,"Mech_RPM":-3.42220252e-10,"cg_du":50.1510696,"cg_dv":50.1883011,"cg_dw":49.8116989,"cg_id_a":0.0406223573,"cg_id_raw_a":0.170446977,"cg_iq_a":-0.0773040876,"cg_iq_raw_a":-0.929459512,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.257040501,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9872723,"cg_sample_seq":14201567,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.0643626153,"cg_vd_v":0.0643626153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341843188,"cg_vq_v":-0.341843188,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2058105,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.065674,"values":{"Elec_RPM":-1.67687919e-09,"EncoderCos":38748,"EncoderSin":12499,"GapTicks":54791,"Mech_RPM":-3.35375838e-10,"cg_du":50.1468315,"cg_dv":50.1899071,"cg_dw":49.8100929,"cg_id_a":-0.0773537979,"cg_id_raw_a":-0.0391613282,"cg_iq_a":-0.079813987,"cg_iq_raw_a":0.870621026,"cg_iu_a":-0.178685665,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9581814,"cg_sample_seq":14201617,"cg_sample_valid":1,"cg_theta_rad":5.00676155,"cg_vd_req_v":0.0666108057,"cg_vd_v":0.0666108057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341103554,"cg_vq_v":-0.341103554,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.096924,"values":{"Elec_RPM":-1.67687919e-09,"EncoderCos":38737,"EncoderSin":12483,"GapTicks":54790,"Mech_RPM":-3.35375838e-10,"cg_du":50.1493225,"cg_dv":50.1902428,"cg_dw":49.8097572,"cg_id_a":-0.0313397236,"cg_id_raw_a":0.0436920077,"cg_iq_a":-0.0385990813,"cg_iq_raw_a":0.623668253,"cg_iu_a":0.364971757,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8563633,"cg_sample_seq":14201670,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.0662012249,"cg_vd_v":0.0662012249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342706025,"cg_vq_v":-0.342706025,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.104736,"values":{"Elec_RPM":-1.64334157e-09,"EncoderCos":38741,"EncoderSin":12502,"GapTicks":54785,"Mech_RPM":-3.28668315e-10,"cg_du":50.1444588,"cg_dv":50.195282,"cg_dw":49.804718,"cg_id_a":-0.375255227,"cg_id_raw_a":-0.201399267,"cg_iq_a":0.147449881,"cg_iq_raw_a":0.0905014947,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015805,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9181824,"cg_sample_seq":14201717,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.0741286427,"cg_vd_v":0.0741286427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347030669,"cg_vq_v":-0.347030669,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.112549,"values":{"Elec_RPM":-1.64334157e-09,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-3.28668315e-10,"cg_du":50.1484108,"cg_dv":50.1916084,"cg_dw":49.8083916,"cg_id_a":-0.0704590231,"cg_id_raw_a":-0.303117692,"cg_iq_a":0.0302375779,"cg_iq_raw_a":0.480798572,"cg_iu_a":-0.251173496,"cg_iv_a":-0.329528213,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9872723,"cg_sample_seq":14201767,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0701456666,"cg_vd_v":0.0701456666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343674809,"cg_vq_v":-0.343674809,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1893311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.120361,"values":{"Elec_RPM":-1.61047486e-09,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-3.22094962e-10,"cg_du":50.149559,"cg_dv":50.1950798,"cg_dw":49.8049202,"cg_id_a":-0.107424662,"cg_id_raw_a":0.117920652,"cg_iq_a":0.253686845,"cg_iq_raw_a":0.267102003,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333374739,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9509087,"cg_sample_seq":14201817,"cg_sample_valid":1,"cg_theta_rad":5.00632286,"cg_vd_req_v":0.071992062,"cg_vd_v":0.071992062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349170297,"cg_vq_v":-0.349170297,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.13208,"values":{"Elec_RPM":-1.61047486e-09,"EncoderCos":38713,"EncoderSin":12496,"GapTicks":54782,"Mech_RPM":-3.22094962e-10,"cg_du":50.1675377,"cg_dv":50.1977081,"cg_dw":49.8022919,"cg_id_a":0.506406009,"cg_id_raw_a":0.913806856,"cg_iq_a":0.877466619,"cg_iq_raw_a":2.02001452,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9254551,"cg_sample_seq":14201867,"cg_sample_valid":1,"cg_theta_rad":5.00786448,"cg_vd_req_v":0.0607279688,"cg_vd_v":0.0607279688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362774789,"cg_vq_v":-0.362774789,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.223938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.139893,"values":{"Elec_RPM":-1.5782653e-09,"EncoderCos":38744,"EncoderSin":12499,"GapTicks":54787,"Mech_RPM":-3.15653059e-10,"cg_du":50.1516571,"cg_dv":50.1927299,"cg_dw":49.8072701,"cg_id_a":0.25525564,"cg_id_raw_a":1.14470935,"cg_iq_a":0.0968468189,"cg_iq_raw_a":1.01389337,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9254551,"cg_sample_seq":14201916,"cg_sample_valid":1,"cg_theta_rad":5.00832701,"cg_vd_req_v":0.0658305436,"cg_vd_v":0.0658305436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347581059,"cg_vq_v":-0.347581059,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.2180901,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2091064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.147705,"values":{"Elec_RPM":-1.5782653e-09,"EncoderCos":38718,"EncoderSin":12469,"GapTicks":54783,"Mech_RPM":-3.15653059e-10,"cg_du":50.1474075,"cg_dv":50.1972084,"cg_dw":49.8027916,"cg_id_a":-0.21097444,"cg_id_raw_a":-0.10402865,"cg_iq_a":0.244372025,"cg_iq_raw_a":-0.0458408706,"cg_iu_a":-0.939806223,"cg_iv_a":-0.0758213997,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9509087,"cg_sample_seq":14201967,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0762937889,"cg_vd_v":0.0762937889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350741953,"cg_vq_v":-0.350741953,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2091064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.155518,"values":{"Elec_RPM":-1.54669999e-09,"EncoderCos":38740,"EncoderSin":12494,"GapTicks":54781,"Mech_RPM":-3.09339998e-10,"cg_du":50.1444092,"cg_dv":50.1985359,"cg_dw":49.8014641,"cg_id_a":-0.226890072,"cg_id_raw_a":-0.681446016,"cg_iq_a":0.143503264,"cg_iq_raw_a":0.520763576,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.954546,"cg_sample_seq":14202017,"cg_sample_valid":1,"cg_theta_rad":5.00801373,"cg_vd_req_v":0.0775743574,"cg_vd_v":0.0775743574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351390928,"cg_vq_v":-0.351390928,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2140503,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.16333,"values":{"Elec_RPM":-1.54669999e-09,"EncoderCos":38674,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-3.09339998e-10,"cg_du":50.1500206,"cg_dv":50.2001457,"cg_dw":49.7998543,"cg_id_a":-0.34429872,"cg_id_raw_a":-0.396084607,"cg_iq_a":0.321195781,"cg_iq_raw_a":-0.260874182,"cg_iu_a":0.691166162,"cg_iv_a":-0.655722737,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9436359,"cg_sample_seq":14202067,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0806601718,"cg_vd_v":0.0806601718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355407953,"cg_vq_v":-0.355407953,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.2288818,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.171143,"values":{"Elec_RPM":-1.51576596e-09,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54788,"Mech_RPM":-3.03153197e-10,"cg_du":50.1509514,"cg_dv":50.1925545,"cg_dw":49.8074455,"cg_id_a":0.232768744,"cg_id_raw_a":0.314568102,"cg_iq_a":-0.111548454,"cg_iq_raw_a":1.23435211,"cg_iu_a":0.473703384,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.954546,"cg_sample_seq":14202117,"cg_sample_valid":1,"cg_theta_rad":5.00691652,"cg_vd_req_v":0.0696265176,"cg_vd_v":0.0696265176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346277714,"cg_vq_v":-0.346277714,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.2288818,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.202393,"values":{"Elec_RPM":-1.51576596e-09,"EncoderCos":38663,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.03153197e-10,"cg_du":50.1476822,"cg_dv":50.2000427,"cg_dw":49.7999573,"cg_id_a":-0.505105793,"cg_id_raw_a":-0.772225916,"cg_iq_a":0.324953914,"cg_iq_raw_a":1.04549098,"cg_iu_a":0.401215553,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14202170,"cg_sample_valid":1,"cg_theta_rad":5.00599289,"cg_vd_req_v":0.0833162069,"cg_vd_v":0.0833162069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353720695,"cg_vq_v":-0.353720695,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56957746,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2173462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.210205,"values":{"Elec_RPM":-1.48545065e-09,"EncoderCos":38696,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-2.9709013e-10,"cg_du":50.1465416,"cg_dv":50.1909332,"cg_dw":49.8090668,"cg_id_a":0.0940719098,"cg_id_raw_a":-0.360803306,"cg_iq_a":-0.291511774,"cg_iq_raw_a":-0.619010985,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.863636,"cg_sample_seq":14202216,"cg_sample_valid":1,"cg_theta_rad":5.0061698,"cg_vd_req_v":0.0721986294,"cg_vd_v":0.0721986294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341450065,"cg_vq_v":-0.341450065,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2058105,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.218018,"values":{"Elec_RPM":-1.48545065e-09,"EncoderCos":38717,"EncoderSin":12452,"GapTicks":54788,"Mech_RPM":-2.9709013e-10,"cg_du":50.1514168,"cg_dv":50.1923866,"cg_dw":49.8076134,"cg_id_a":0.26170066,"cg_id_raw_a":0.324020922,"cg_iq_a":-0.0279257894,"cg_iq_raw_a":-0.331122518,"cg_iu_a":-0.649855614,"cg_iv_a":0.177885473,"cg_iw_a":0.471970141,"cg_sample_age_us":23.8672733,"cg_sample_seq":14202266,"cg_sample_valid":1,"cg_theta_rad":5.00667143,"cg_vd_req_v":0.0689378083,"cg_vd_v":0.0689378083,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346348256,"cg_vq_v":-0.346348256,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2058105,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.22583,"values":{"Elec_RPM":-1.45574164e-09,"EncoderCos":38706,"EncoderSin":12477,"GapTicks":54793,"Mech_RPM":-2.91148328e-10,"cg_du":50.1381493,"cg_dv":50.1881027,"cg_dw":49.8118973,"cg_id_a":-0.0349021479,"cg_id_raw_a":-0.300335079,"cg_iq_a":-0.558074772,"cg_iq_raw_a":-0.393644094,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397701,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9581814,"cg_sample_seq":14202316,"cg_sample_valid":1,"cg_theta_rad":5.00399446,"cg_vd_req_v":0.0754154027,"cg_vd_v":0.0754154027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333001733,"cg_vq_v":-0.333001733,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2025146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.233643,"values":{"Elec_RPM":-1.45574164e-09,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-2.91148328e-10,"cg_du":50.1399193,"cg_dv":50.196743,"cg_dw":49.803257,"cg_id_a":-0.300991386,"cg_id_raw_a":-0.259701461,"cg_iq_a":0.135570884,"cg_iq_raw_a":0.485852838,"cg_iu_a":0.364971638,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14202366,"cg_sample_valid":1,"cg_theta_rad":5.0066123,"cg_vd_req_v":0.0805456191,"cg_vd_v":0.0805456191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346175849,"cg_vq_v":-0.346175849,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2025146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.241455,"values":{"Elec_RPM":-1.42662682e-09,"EncoderCos":38734,"EncoderSin":12499,"GapTicks":54793,"Mech_RPM":-2.85325374e-10,"cg_du":50.1402054,"cg_dv":50.1879578,"cg_dw":49.8120422,"cg_id_a":0.0986750498,"cg_id_raw_a":0.372557342,"cg_iq_a":-0.47317946,"cg_iq_raw_a":-0.656293154,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8490906,"cg_sample_seq":14202416,"cg_sample_valid":1,"cg_theta_rad":5.00809193,"cg_vd_req_v":0.0710305423,"cg_vd_v":0.0710305423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334534824,"cg_vq_v":-0.334534824,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2519836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.253174,"values":{"Elec_RPM":-1.42662682e-09,"EncoderCos":38704,"EncoderSin":12498,"GapTicks":54792,"Mech_RPM":-2.85325374e-10,"cg_du":50.1356049,"cg_dv":50.1888618,"cg_dw":49.8111382,"cg_id_a":-0.190266192,"cg_id_raw_a":-0.570666194,"cg_iq_a":-0.518570542,"cg_iq_raw_a":0.41751802,"cg_iu_a":0.328727961,"cg_iv_a":0.504079938,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.8527279,"cg_sample_seq":14202466,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0780588016,"cg_vd_v":0.0780588016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33368963,"cg_vq_v":-0.33368963,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.260986,"values":{"Elec_RPM":-1.39809431e-09,"EncoderCos":38719,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-2.79618856e-10,"cg_du":50.1450233,"cg_dv":50.1934738,"cg_dw":49.8065262,"cg_id_a":-0.0201477632,"cg_id_raw_a":-0.0970129222,"cg_iq_a":0.0720952153,"cg_iq_raw_a":-0.117918141,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9472733,"cg_sample_seq":14202516,"cg_sample_valid":1,"cg_theta_rad":5.008111,"cg_vd_req_v":0.0743040219,"cg_vd_v":0.0743040219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344372809,"cg_vq_v":-0.344372809,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.268799,"values":{"Elec_RPM":-1.39809431e-09,"EncoderCos":38713,"EncoderSin":12489,"GapTicks":54790,"Mech_RPM":-2.79618856e-10,"cg_du":50.1422958,"cg_dv":50.1907501,"cg_dw":49.8092499,"cg_id_a":0.0438702703,"cg_id_raw_a":-0.03643585,"cg_iq_a":-0.268102318,"cg_iq_raw_a":-0.949628413,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8672733,"cg_sample_seq":14202566,"cg_sample_valid":1,"cg_theta_rad":5.00699854,"cg_vd_req_v":0.0739364401,"cg_vd_v":0.0739364401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339111596,"cg_vq_v":-0.339111596,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.192627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.280518,"values":{"Elec_RPM":-1.37013234e-09,"EncoderCos":38734,"EncoderSin":12503,"GapTicks":54784,"Mech_RPM":-2.74026468e-10,"cg_du":50.1495934,"cg_dv":50.1959991,"cg_dw":49.8040009,"cg_id_a":0.0849499106,"cg_id_raw_a":-0.145974636,"cg_iq_a":0.282182932,"cg_iq_raw_a":-0.0490628667,"cg_iu_a":-0.794831038,"cg_iv_a":0.0329101086,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9618187,"cg_sample_seq":14202617,"cg_sample_valid":1,"cg_theta_rad":5.00680017,"cg_vd_req_v":0.0713032112,"cg_vd_v":0.0713032112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350754529,"cg_vq_v":-0.350754529,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1975708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.307861,"values":{"Elec_RPM":-1.37013234e-09,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-2.74026468e-10,"cg_du":50.1509171,"cg_dv":50.1979828,"cg_dw":49.8020172,"cg_id_a":-0.0429761708,"cg_id_raw_a":0.10409271,"cg_iq_a":0.397040844,"cg_iq_raw_a":-0.0258916561,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9763641,"cg_sample_seq":14202669,"cg_sample_valid":1,"cg_theta_rad":5.00640202,"cg_vd_req_v":0.0727375373,"cg_vd_v":0.0727375373,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355209053,"cg_vq_v":-0.355209053,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1975708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.315674,"values":{"Elec_RPM":-1.34272971e-09,"EncoderCos":38714,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-2.68545935e-10,"cg_du":50.1522522,"cg_dv":50.1916924,"cg_dw":49.8083076,"cg_id_a":0.13558726,"cg_id_raw_a":0.14439331,"cg_iq_a":-0.112560958,"cg_iq_raw_a":0.415860713,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.220796704,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9436359,"cg_sample_seq":14202716,"cg_sample_valid":1,"cg_theta_rad":5.00588512,"cg_vd_req_v":0.0676044747,"cg_vd_v":0.0676044747,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345874339,"cg_vq_v":-0.345874339,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.323486,"values":{"Elec_RPM":-1.34272971e-09,"EncoderCos":38719,"EncoderSin":12486,"GapTicks":54786,"Mech_RPM":-2.68545935e-10,"cg_du":50.1492233,"cg_dv":50.1944427,"cg_dw":49.8055573,"cg_id_a":-0.0519121289,"cg_id_raw_a":-0.798546672,"cg_iq_a":0.0661986545,"cg_iq_raw_a":0.178326815,"cg_iu_a":-0.613611698,"cg_iv_a":0.649055302,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.994545,"cg_sample_seq":14202766,"cg_sample_valid":1,"cg_theta_rad":5.00824785,"cg_vd_req_v":0.0716898367,"cg_vd_v":0.0716898367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348102272,"cg_vq_v":-0.348102272,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.331299,"values":{"Elec_RPM":-1.31587508e-09,"EncoderCos":38736,"EncoderSin":12507,"GapTicks":54784,"Mech_RPM":-2.6317501e-10,"cg_du":50.1527557,"cg_dv":50.1960335,"cg_dw":49.8039665,"cg_id_a":0.0640598387,"cg_id_raw_a":-0.167865753,"cg_iq_a":0.170420766,"cg_iq_raw_a":-0.269328624,"cg_iu_a":-0.686099291,"cg_iv_a":0.214129269,"cg_iw_a":0.471970022,"cg_sample_age_us":23.8490906,"cg_sample_seq":14202816,"cg_sample_valid":1,"cg_theta_rad":5.00647497,"cg_vd_req_v":0.0685860664,"cg_vd_v":0.0685860664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352617115,"cg_vq_v":-0.352617115,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.339111,"values":{"Elec_RPM":-1.31587508e-09,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-2.6317501e-10,"cg_du":50.154789,"cg_dv":50.1928482,"cg_dw":49.8071518,"cg_id_a":0.143160492,"cg_id_raw_a":-0.0551799797,"cg_iq_a":-0.158766031,"cg_iq_raw_a":-0.550741374,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.8563633,"cg_sample_seq":14202866,"cg_sample_valid":1,"cg_theta_rad":5.00795841,"cg_vd_req_v":0.0657562762,"cg_vd_v":0.0657562762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349055946,"cg_vq_v":-0.349055946,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1514282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.346924,"values":{"Elec_RPM":-1.26376631e-09,"EncoderCos":38713,"EncoderSin":12466,"GapTicks":54778,"Mech_RPM":-2.52753263e-10,"cg_du":50.1628227,"cg_dv":50.2009544,"cg_dw":49.7990456,"cg_id_a":-0.155735135,"cg_id_raw_a":-0.519047558,"cg_iq_a":0.367457062,"cg_iq_raw_a":0.531849802,"cg_iu_a":0.14750886,"cg_iv_a":0.322860837,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9690914,"cg_sample_seq":14203016,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0685428455,"cg_vd_v":0.0685428455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365504235,"cg_vq_v":-0.365504235,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.2995377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.354736,"values":{"Elec_RPM":-1.26376631e-09,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-2.52753263e-10,"cg_du":50.1692505,"cg_dv":50.2009735,"cg_dw":49.7990265,"cg_id_a":0.0585823804,"cg_id_raw_a":-0.185565263,"cg_iq_a":0.225218222,"cg_iq_raw_a":0.565159559,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9836369,"cg_sample_seq":14203067,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0631042644,"cg_vd_v":0.0631042644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368076116,"cg_vq_v":-0.368076116,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.6671333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.366455,"values":{"Elec_RPM":-1.23849098e-09,"EncoderCos":38713,"EncoderSin":12492,"GapTicks":54780,"Mech_RPM":-2.47698195e-10,"cg_du":50.1606827,"cg_dv":50.1992416,"cg_dw":49.8007584,"cg_id_a":-0.132381395,"cg_id_raw_a":-0.357137829,"cg_iq_a":-0.239926547,"cg_iq_raw_a":-0.252644122,"cg_iu_a":0.183752537,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9763641,"cg_sample_seq":14203117,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.0676954687,"cg_vd_v":0.0676954687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360987455,"cg_vq_v":-0.360987455,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.17061329,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1662598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.393799,"values":{"Elec_RPM":-1.23849098e-09,"EncoderCos":38735,"EncoderSin":12473,"GapTicks":54776,"Mech_RPM":-2.47698195e-10,"cg_du":50.1661568,"cg_dv":50.2034454,"cg_dw":49.7965546,"cg_id_a":-0.11497695,"cg_id_raw_a":-0.294205308,"cg_iq_a":0.0809905827,"cg_iq_raw_a":0.409959584,"cg_iu_a":0.292484045,"cg_iv_a":0.141641557,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8600006,"cg_sample_seq":14203170,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0661236122,"cg_vd_v":0.0661236122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370021731,"cg_vq_v":-0.370021731,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1662598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.401611,"values":{"Elec_RPM":-1.21372123e-09,"EncoderCos":38687,"EncoderSin":12485,"GapTicks":54772,"Mech_RPM":-2.42744241e-10,"cg_du":50.1701546,"cg_dv":50.2065353,"cg_dw":49.7934647,"cg_id_a":-0.262436658,"cg_id_raw_a":-0.285295278,"cg_iq_a":0.401791394,"cg_iq_raw_a":0.0803651735,"cg_iu_a":-0.287417412,"cg_iv_a":-0.365772128,"cg_iw_a":0.65318954,"cg_sample_age_us":23.9763641,"cg_sample_seq":14203216,"cg_sample_valid":1,"cg_theta_rad":5.00576019,"cg_vd_req_v":0.0699770823,"cg_vd_v":0.0699770823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376926839,"cg_vq_v":-0.376926839,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.409424,"values":{"Elec_RPM":-1.21372123e-09,"EncoderCos":38683,"EncoderSin":12447,"GapTicks":54785,"Mech_RPM":-2.42744241e-10,"cg_du":50.1662827,"cg_dv":50.1948204,"cg_dw":49.8051796,"cg_id_a":-0.0221659746,"cg_id_raw_a":0.325311184,"cg_iq_a":-0.501137972,"cg_iq_raw_a":-0.510916471,"cg_iu_a":0.183752775,"cg_iv_a":0.177885413,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8563633,"cg_sample_seq":14203267,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0627374128,"cg_vd_v":0.0627374128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35861215,"cg_vq_v":-0.35861215,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.192627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.421143,"values":{"Elec_RPM":-1.18944676e-09,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-2.37889347e-10,"cg_du":50.1650658,"cg_dv":50.1999969,"cg_dw":49.8000031,"cg_id_a":-0.197145164,"cg_id_raw_a":-0.0653850585,"cg_iq_a":-0.00940795243,"cg_iq_raw_a":-0.224169523,"cg_iu_a":0.691166401,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.863636,"cg_sample_seq":14203317,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0653025061,"cg_vd_v":0.0653025061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364424258,"cg_vq_v":-0.364424258,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.192627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.428955,"values":{"Elec_RPM":-1.18944676e-09,"EncoderCos":38698,"EncoderSin":12488,"GapTicks":54786,"Mech_RPM":-2.37889347e-10,"cg_du":50.1688156,"cg_dv":50.1944771,"cg_dw":49.8055229,"cg_id_a":0.162943006,"cg_id_raw_a":0.0453234427,"cg_iq_a":-0.420366347,"cg_iq_raw_a":-0.686768174,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9872723,"cg_sample_seq":14203367,"cg_sample_valid":1,"cg_theta_rad":5.00845051,"cg_vd_req_v":0.0580042191,"cg_vd_v":0.0580042191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35887,"cg_vq_v":-0.35887,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2091064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.436768,"values":{"Elec_RPM":-1.16565779e-09,"EncoderCos":38705,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-2.3313157e-10,"cg_du":50.1791458,"cg_dv":50.1994858,"cg_dw":49.8005142,"cg_id_a":0.256853998,"cg_id_raw_a":0.540445983,"cg_iq_a":0.353743553,"cg_iq_raw_a":0.23757419,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.544457853,"cg_sample_age_us":23.954546,"cg_sample_seq":14203417,"cg_sample_valid":1,"cg_theta_rad":5.00753641,"cg_vd_req_v":0.0546338297,"cg_vd_v":0.0546338297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371515214,"cg_vq_v":-0.371515214,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.2025146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.44458,"values":{"Elec_RPM":-1.16565779e-09,"EncoderCos":38716,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-2.3313157e-10,"cg_du":50.1719704,"cg_dv":50.2054863,"cg_dw":49.7945137,"cg_id_a":-0.261548996,"cg_id_raw_a":0.295583218,"cg_iq_a":0.503618538,"cg_iq_raw_a":-0.480261713,"cg_iu_a":0.219996452,"cg_iv_a":-0.510747433,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14203467,"cg_sample_valid":1,"cg_theta_rad":5.00755024,"cg_vd_req_v":0.0646823868,"cg_vd_v":0.0646823868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375852555,"cg_vq_v":-0.375852555,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.2025146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.456299,"values":{"Elec_RPM":-1.14234466e-09,"EncoderCos":38710,"EncoderSin":12449,"GapTicks":54776,"Mech_RPM":-2.28468938e-10,"cg_du":50.1682968,"cg_dv":50.2034187,"cg_dw":49.7965813,"cg_id_a":-0.27648586,"cg_id_raw_a":-0.608330369,"cg_iq_a":0.255042017,"cg_iq_raw_a":0.15762417,"cg_iu_a":0.256240129,"cg_iv_a":-0.800698042,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9654541,"cg_sample_seq":14203517,"cg_sample_valid":1,"cg_theta_rad":5.00627232,"cg_vd_req_v":0.0671344548,"cg_vd_v":0.0671344548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370700479,"cg_vq_v":-0.370700479,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.3136597,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118837267,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.464111,"values":{"Elec_RPM":-1.14234466e-09,"EncoderCos":38716,"EncoderSin":12445,"GapTicks":54783,"Mech_RPM":-2.28468938e-10,"cg_du":50.1664848,"cg_dv":50.1966705,"cg_dw":49.8033295,"cg_id_a":-0.0646203086,"cg_id_raw_a":-0.307608426,"cg_iq_a":-0.287952393,"cg_iq_raw_a":-0.321496397,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0395776033,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14203567,"cg_sample_valid":1,"cg_theta_rad":5.00720501,"cg_vd_req_v":0.0615641437,"cg_vd_v":0.0615641437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360599637,"cg_vq_v":-0.360599637,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.3136597,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1959229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118837267,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.471924,"values":{"Elec_RPM":-1.11949783e-09,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-2.23899566e-10,"cg_du":50.1675491,"cg_dv":50.1983986,"cg_dw":49.8016014,"cg_id_a":-0.0802794248,"cg_id_raw_a":-0.454042733,"cg_iq_a":-0.0618521124,"cg_iq_raw_a":-0.553290308,"cg_iu_a":0.437459469,"cg_iv_a":0.431592286,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9436359,"cg_sample_seq":14203616,"cg_sample_valid":1,"cg_theta_rad":5.00810909,"cg_vd_req_v":0.0613680817,"cg_vd_v":0.0613680817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363722354,"cg_vq_v":-0.363722354,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.3136597,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.636261,"temp_inv2_c":39.1876526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.499268,"values":{"Elec_RPM":-1.11949783e-09,"EncoderCos":38739,"EncoderSin":12495,"GapTicks":54783,"Mech_RPM":-2.23899566e-10,"cg_du":50.1630402,"cg_dv":50.1968307,"cg_dw":49.8031693,"cg_id_a":-0.0368311778,"cg_id_raw_a":0.21352154,"cg_iq_a":-0.385799527,"cg_iq_raw_a":0.384336948,"cg_iu_a":0.473703146,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.8490906,"cg_sample_seq":14203669,"cg_sample_valid":1,"cg_theta_rad":5.0082798,"cg_vd_req_v":0.0613032505,"cg_vd_v":0.0613032505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359422445,"cg_vq_v":-0.359422445,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.50708,"values":{"Elec_RPM":-1.09710785e-09,"EncoderCos":38736,"EncoderSin":12492,"GapTicks":54787,"Mech_RPM":-2.19421578e-10,"cg_du":50.1597366,"cg_dv":50.1935959,"cg_dw":49.8064041,"cg_id_a":-0.0381562896,"cg_id_raw_a":-0.738253355,"cg_iq_a":-0.620466113,"cg_iq_raw_a":-1.59628797,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0395774841,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9290905,"cg_sample_seq":14203717,"cg_sample_valid":1,"cg_theta_rad":5.00627422,"cg_vd_req_v":0.0610999316,"cg_vd_v":0.0610999316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35311234,"cg_vq_v":-0.35311234,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.514893,"values":{"Elec_RPM":-1.07516573e-09,"EncoderCos":38720,"EncoderSin":12490,"GapTicks":54788,"Mech_RPM":-2.15033144e-10,"cg_du":50.1594315,"cg_dv":50.1925545,"cg_dw":49.8074455,"cg_id_a":0.0335798264,"cg_id_raw_a":-0.700890899,"cg_iq_a":-0.814736307,"cg_iq_raw_a":-2.14222193,"cg_iu_a":-0.396148682,"cg_iv_a":0.794030607,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8454552,"cg_sample_seq":14203816,"cg_sample_valid":1,"cg_theta_rad":5.00710583,"cg_vd_req_v":0.0616626628,"cg_vd_v":0.0616626628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351291597,"cg_vq_v":-0.351291597,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.1544075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.522705,"values":{"Elec_RPM":-1.07516573e-09,"EncoderCos":38738,"EncoderSin":12495,"GapTicks":54779,"Mech_RPM":-2.15033144e-10,"cg_du":50.1663017,"cg_dv":50.2004929,"cg_dw":49.7995071,"cg_id_a":0.0636931956,"cg_id_raw_a":-0.440612108,"cg_iq_a":-0.0481346399,"cg_iq_raw_a":0.870223045,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.954546,"cg_sample_seq":14203867,"cg_sample_valid":1,"cg_theta_rad":5.0084796,"cg_vd_req_v":0.062349312,"cg_vd_v":0.062349312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366221339,"cg_vq_v":-0.366221339,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1942749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.534424,"values":{"Elec_RPM":-1.05366249e-09,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-2.10732487e-10,"cg_du":50.1605377,"cg_dv":50.1954193,"cg_dw":49.8045807,"cg_id_a":-0.0512755737,"cg_id_raw_a":-0.479838163,"cg_iq_a":-0.585920811,"cg_iq_raw_a":0.35416317,"cg_iu_a":1.0536046,"cg_iv_a":0.359104514,"cg_iw_a":-1.41270912,"cg_sample_age_us":23.9181824,"cg_sample_seq":14203916,"cg_sample_valid":1,"cg_theta_rad":5.00600243,"cg_vd_req_v":0.0643095821,"cg_vd_v":0.0643095821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355674326,"cg_vq_v":-0.355674326,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.542236,"values":{"Elec_RPM":-1.05366249e-09,"EncoderCos":38711,"EncoderSin":12498,"GapTicks":54787,"Mech_RPM":-2.10732487e-10,"cg_du":50.1602631,"cg_dv":50.1930046,"cg_dw":49.8069954,"cg_id_a":0.00902350247,"cg_id_raw_a":-0.353233695,"cg_iq_a":-0.754671454,"cg_iq_raw_a":-0.507198274,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552848,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.954546,"cg_sample_seq":14203967,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.061974939,"cg_vd_v":0.061974939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35227403,"cg_vq_v":-0.35227403,"cg_vu_v":23.3143044,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.2156982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.550049,"values":{"Elec_RPM":-1.03258913e-09,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54787,"Mech_RPM":-2.06517831e-10,"cg_du":50.1639366,"cg_dv":50.1932182,"cg_dw":49.8067818,"cg_id_a":0.127497688,"cg_id_raw_a":-0.069967486,"cg_iq_a":-0.513491929,"cg_iq_raw_a":0.467387974,"cg_iu_a":-0.613611698,"cg_iv_a":0.21412921,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.954546,"cg_sample_seq":14204017,"cg_sample_valid":1,"cg_theta_rad":5.00843,"cg_vd_req_v":0.0591383204,"cg_vd_v":0.0591383204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3546561,"cg_vq_v":-0.3546561,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1794434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.561768,"values":{"Elec_RPM":-1.03258913e-09,"EncoderCos":38701,"EncoderSin":12484,"GapTicks":54779,"Mech_RPM":-2.06517831e-10,"cg_du":50.1834335,"cg_dv":50.2002411,"cg_dw":49.7997589,"cg_id_a":0.468677729,"cg_id_raw_a":0.67433238,"cg_iq_a":0.384390414,"cg_iq_raw_a":-0.878126204,"cg_iu_a":-1.15726924,"cg_iv_a":-0.184552908,"cg_iw_a":1.34182215,"cg_sample_age_us":23.954546,"cg_sample_seq":14204066,"cg_sample_valid":1,"cg_theta_rad":5.00705099,"cg_vd_req_v":0.0520461388,"cg_vd_v":0.0520461388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374953181,"cg_vq_v":-0.374953181,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1744995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.56958,"values":{"Elec_RPM":-1.01193731e-09,"EncoderCos":38716,"EncoderSin":12469,"GapTicks":54786,"Mech_RPM":-2.02387468e-10,"cg_du":50.1708488,"cg_dv":50.1943665,"cg_dw":49.8056335,"cg_id_a":0.280089289,"cg_id_raw_a":0.26781249,"cg_iq_a":-0.254232436,"cg_iq_raw_a":-0.191266909,"cg_iu_a":0.509947181,"cg_iv_a":0.322860777,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.954546,"cg_sample_seq":14204116,"cg_sample_valid":1,"cg_theta_rad":5.00716686,"cg_vd_req_v":0.0553045347,"cg_vd_v":0.0553045347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360025287,"cg_vq_v":-0.360025287,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1744995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.596924,"values":{"Elec_RPM":-1.01193731e-09,"EncoderCos":38735,"EncoderSin":12493,"GapTicks":54780,"Mech_RPM":-2.02387468e-10,"cg_du":50.1808014,"cg_dv":50.1992149,"cg_dw":49.8007851,"cg_id_a":0.492247313,"cg_id_raw_a":0.942278266,"cg_iq_a":0.429429084,"cg_iq_raw_a":0.277602643,"cg_iu_a":0.147508621,"cg_iv_a":-0.148309052,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.863636,"cg_sample_seq":14204171,"cg_sample_valid":1,"cg_theta_rad":5.0058012,"cg_vd_req_v":0.0499958247,"cg_vd_v":0.0499958247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372508228,"cg_vq_v":-0.372508228,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.604736,"values":{"Elec_RPM":-9.91698612e-10,"EncoderCos":38736,"EncoderSin":12479,"GapTicks":54781,"Mech_RPM":-1.9833972e-10,"cg_du":50.1660194,"cg_dv":50.1984215,"cg_dw":49.8015785,"cg_id_a":0.0243940577,"cg_id_raw_a":0.0195722263,"cg_iq_a":-0.0704866648,"cg_iq_raw_a":-0.470590681,"cg_iu_a":0.401215792,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9472733,"cg_sample_seq":14204217,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.061138995,"cg_vd_v":0.061138995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363142133,"cg_vq_v":-0.363142133,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1712036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.612549,"values":{"Elec_RPM":-9.91698612e-10,"EncoderCos":38755,"EncoderSin":12485,"GapTicks":54777,"Mech_RPM":-1.9833972e-10,"cg_du":50.1599846,"cg_dv":50.2024727,"cg_dw":49.7975273,"cg_id_a":-0.297796994,"cg_id_raw_a":0.102401212,"cg_iq_a":0.0713239014,"cg_iq_raw_a":0.228204191,"cg_iu_a":-0.142441988,"cg_iv_a":-0.691966534,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9509087,"cg_sample_seq":14204267,"cg_sample_valid":1,"cg_theta_rad":5.00661039,"cg_vd_req_v":0.0680716932,"cg_vd_v":0.0680716932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365620911,"cg_vq_v":-0.365620911,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1712036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.620361,"values":{"Elec_RPM":-9.71864589e-10,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-1.94372921e-10,"cg_du":50.1656075,"cg_dv":50.1982307,"cg_dw":49.8017693,"cg_id_a":-0.0627208874,"cg_id_raw_a":-0.0514133014,"cg_iq_a":0.0220725387,"cg_iq_raw_a":-0.368406177,"cg_iu_a":0.473703384,"cg_iv_a":0.504079878,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9509087,"cg_sample_seq":14204316,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.0628911853,"cg_vd_v":0.0628911853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362377942,"cg_vq_v":-0.362377942,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1744995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.63208,"values":{"Elec_RPM":-9.71864589e-10,"EncoderCos":38734,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-1.94372921e-10,"cg_du":50.17836,"cg_dv":50.1974831,"cg_dw":49.8025169,"cg_id_a":0.576291859,"cg_id_raw_a":0.393076271,"cg_iq_a":0.385101974,"cg_iq_raw_a":-0.872615337,"cg_iu_a":0.219996452,"cg_iv_a":0.214129329,"cg_iw_a":1.37806571,"cg_sample_age_us":23.9581814,"cg_sample_seq":14204367,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.0502270646,"cg_vd_v":0.0502270646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367644489,"cg_vq_v":-0.367644489,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1744995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2567.639893,"values":{"Elec_RPM":-9.52427248e-10,"EncoderCos":38703,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.90485461e-10,"cg_du":50.1790123,"cg_dv":50.1969261,"cg_dw":49.8030739,"cg_id_a":0.476492405,"cg_id_raw_a":-0.0887585804,"cg_iq_a":0.608177066,"cg_iq_raw_a":0.428982288,"cg_iu_a":-0.0337102413,"cg_iv_a":0.322860718,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9218178,"cg_sample_seq":14204416,"cg_sample_valid":1,"cg_theta_rad":5.0084753,"cg_vd_req_v":0.0521803014,"cg_vd_v":0.0521803014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367982,"cg_vq_v":-0.367982,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6619263,"temp_inv2_c":39.1365967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.647705,"values":{"Elec_RPM":-9.52427248e-10,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54787,"Mech_RPM":-1.90485461e-10,"cg_du":50.1747017,"cg_dv":50.1936302,"cg_dw":49.8063698,"cg_id_a":0.476470709,"cg_id_raw_a":0.538006723,"cg_iq_a":0.310720325,"cg_iq_raw_a":-0.384495884,"cg_iu_a":-1.77341437,"cg_iv_a":0.286616921,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9872723,"cg_sample_seq":14204466,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0507155731,"cg_vd_v":0.0507155731,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362430394,"cg_vq_v":-0.362430394,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1728516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.655518,"values":{"Elec_RPM":-9.33378819e-10,"EncoderCos":38712,"EncoderSin":12515,"GapTicks":54783,"Mech_RPM":-1.86675758e-10,"cg_du":50.1606255,"cg_dv":50.1968803,"cg_dw":49.8031197,"cg_id_a":-0.216561854,"cg_id_raw_a":-0.30201143,"cg_iq_a":0.23412326,"cg_iq_raw_a":0.0444893353,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8490906,"cg_sample_seq":14204516,"cg_sample_valid":1,"cg_theta_rad":5.00602388,"cg_vd_req_v":0.0651570037,"cg_vd_v":0.0651570037,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358928889,"cg_vq_v":-0.358928889,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.8903236,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1728516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.66333,"values":{"Elec_RPM":-9.33378819e-10,"EncoderCos":38684,"EncoderSin":12497,"GapTicks":54778,"Mech_RPM":-1.86675758e-10,"cg_du":50.1647568,"cg_dv":50.2011833,"cg_dw":49.7988167,"cg_id_a":-0.27900964,"cg_id_raw_a":0.216258392,"cg_iq_a":0.692081392,"cg_iq_raw_a":0.314852893,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065196,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14204566,"cg_sample_valid":1,"cg_theta_rad":5.00627422,"cg_vd_req_v":0.0688849986,"cg_vd_v":0.0688849986,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366603285,"cg_vq_v":-0.366603285,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.9495583,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1893311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.675049,"values":{"Elec_RPM":-9.14711196e-10,"EncoderCos":38720,"EncoderSin":12521,"GapTicks":54790,"Mech_RPM":-1.82942245e-10,"cg_du":50.1546097,"cg_dv":50.1901207,"cg_dw":49.8098793,"cg_id_a":0.0484366119,"cg_id_raw_a":0.0955861807,"cg_iq_a":-0.27660346,"cg_iq_raw_a":-0.827490032,"cg_iu_a":0.364971876,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9872723,"cg_sample_seq":14204616,"cg_sample_valid":1,"cg_theta_rad":5.00601625,"cg_vd_req_v":0.0625409931,"cg_vd_v":0.0625409931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346463531,"cg_vq_v":-0.346463531,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.15802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.702393,"values":{"Elec_RPM":-8.96416941e-10,"EncoderCos":38718,"EncoderSin":12453,"GapTicks":54785,"Mech_RPM":-1.79283394e-10,"cg_du":50.1537819,"cg_dv":50.1948929,"cg_dw":49.8051071,"cg_id_a":-0.167336792,"cg_id_raw_a":-0.40957725,"cg_iq_a":0.0122301728,"cg_iq_raw_a":0.45395422,"cg_iu_a":0.328727961,"cg_iv_a":0.21412921,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14204766,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.069635585,"cg_vd_v":0.069635585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352166116,"cg_vq_v":-0.352166116,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1695251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.710205,"values":{"Elec_RPM":-8.78488615e-10,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-1.7569772e-10,"cg_du":50.1556816,"cg_dv":50.198822,"cg_dw":49.801178,"cg_id_a":-0.154868677,"cg_id_raw_a":0.670088351,"cg_iq_a":0.258976281,"cg_iq_raw_a":-0.444389224,"cg_iu_a":0.256240368,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8672733,"cg_sample_seq":14204816,"cg_sample_valid":1,"cg_theta_rad":5.00729179,"cg_vd_req_v":0.0709010363,"cg_vd_v":0.0709010363,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358805269,"cg_vq_v":-0.358805269,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.6105957,"temp_inv2_c":39.1728516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.718018,"values":{"Elec_RPM":-8.78488615e-10,"EncoderCos":38719,"EncoderSin":12457,"GapTicks":54789,"Mech_RPM":-1.7569772e-10,"cg_du":50.1526947,"cg_dv":50.191803,"cg_dw":49.808197,"cg_id_a":0.00661852956,"cg_id_raw_a":0.326743454,"cg_iq_a":-0.389059722,"cg_iq_raw_a":-0.148982525,"cg_iu_a":1.4160428,"cg_iv_a":0.250373125,"cg_iw_a":-1.66641593,"cg_sample_age_us":23.823637,"cg_sample_seq":14204866,"cg_sample_valid":1,"cg_theta_rad":5.00606537,"cg_vd_req_v":0.0670901164,"cg_vd_v":0.0670901164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346325547,"cg_vq_v":-0.346325547,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1777954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.729736,"values":{"Elec_RPM":-8.60918836e-10,"EncoderCos":38699,"EncoderSin":12510,"GapTicks":54778,"Mech_RPM":-1.72183767e-10,"cg_du":50.167511,"cg_dv":50.2016487,"cg_dw":49.7983513,"cg_id_a":0.0582399517,"cg_id_raw_a":-0.184425592,"cg_iq_a":0.488063037,"cg_iq_raw_a":0.128090501,"cg_iu_a":0.183752537,"cg_iv_a":-0.945673347,"cg_iw_a":0.76192081,"cg_sample_age_us":23.8527279,"cg_sample_seq":14204916,"cg_sample_valid":1,"cg_theta_rad":5.00707674,"cg_vd_req_v":0.0653982833,"cg_vd_v":0.0653982833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367970556,"cg_vq_v":-0.367970556,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.8380432,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1777954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.737549,"values":{"Elec_RPM":-8.60918836e-10,"EncoderCos":38692,"EncoderSin":12483,"GapTicks":54781,"Mech_RPM":-1.72183767e-10,"cg_du":50.165905,"cg_dv":50.1987343,"cg_dw":49.8012657,"cg_id_a":0.0852046162,"cg_id_raw_a":0.500485063,"cg_iq_a":0.110011823,"cg_iq_raw_a":0.416874051,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9654541,"cg_sample_seq":14204966,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0650639236,"cg_vd_v":0.0650639236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362887084,"cg_vq_v":-0.362887084,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1646118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.745361,"values":{"Elec_RPM":-8.43700443e-10,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-1.68740091e-10,"cg_du":50.1599426,"cg_dv":50.1934166,"cg_dw":49.8065834,"cg_id_a":0.20229739,"cg_id_raw_a":0.302816153,"cg_iq_a":-0.334932119,"cg_iq_raw_a":-0.989411116,"cg_iu_a":-0.0699543953,"cg_iv_a":0.540323734,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9836369,"cg_sample_seq":14205016,"cg_sample_valid":1,"cg_theta_rad":5.00788546,"cg_vd_req_v":0.0623168051,"cg_vd_v":0.0623168051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352710456,"cg_vq_v":-0.352710456,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.753174,"values":{"Elec_RPM":-8.43700443e-10,"EncoderCos":38723,"EncoderSin":12488,"GapTicks":54780,"Mech_RPM":-1.68740091e-10,"cg_du":50.1632538,"cg_dv":50.1995468,"cg_dw":49.8004532,"cg_id_a":0.0329488888,"cg_id_raw_a":-0.159799173,"cg_iq_a":0.0585238338,"cg_iq_raw_a":-0.342199713,"cg_iu_a":-0.432392597,"cg_iv_a":0.39534843,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14205066,"cg_sample_valid":1,"cg_theta_rad":5.00730753,"cg_vd_req_v":0.0652486086,"cg_vd_v":0.0652486086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362978399,"cg_vq_v":-0.362978399,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.760986,"values":{"Elec_RPM":-8.26826441e-10,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-1.65365291e-10,"cg_du":50.1641884,"cg_dv":50.1998787,"cg_dw":49.8001213,"cg_id_a":0.0579979494,"cg_id_raw_a":0.242410451,"cg_iq_a":-0.0396778658,"cg_iq_raw_a":-0.595054448,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397761,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9327278,"cg_sample_seq":14205116,"cg_sample_valid":1,"cg_theta_rad":5.00655746,"cg_vd_req_v":0.0645986944,"cg_vd_v":0.0645986944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363998681,"cg_vq_v":-0.363998681,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.8833351,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1893311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.78833,"values":{"Elec_RPM":-8.26826441e-10,"EncoderCos":38716,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-1.65365291e-10,"cg_du":50.1685028,"cg_dv":50.2008896,"cg_dw":49.7991104,"cg_id_a":0.126158684,"cg_id_raw_a":0.0279154163,"cg_iq_a":0.0212461855,"cg_iq_raw_a":-0.10572353,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616981,"cg_iw_a":-0.0716874003,"cg_sample_age_us":26.823637,"cg_sample_seq":14205170,"cg_sample_valid":1,"cg_theta_rad":5.00551796,"cg_vd_req_v":0.0629899055,"cg_vd_v":0.0629899055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36765179,"cg_vq_v":-0.36765179,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1893311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.796143,"values":{"Elec_RPM":-8.10289946e-10,"EncoderCos":38700,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-1.62057992e-10,"cg_du":50.1676598,"cg_dv":50.2041168,"cg_dw":49.7958832,"cg_id_a":-0.0184432361,"cg_id_raw_a":0.0553606637,"cg_iq_a":0.381433785,"cg_iq_raw_a":0.0428311974,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9472733,"cg_sample_seq":14205217,"cg_sample_valid":1,"cg_theta_rad":5.00774717,"cg_vd_req_v":0.0683715716,"cg_vd_v":0.0683715716,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372440547,"cg_vq_v":-0.372440547,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1695251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.807861,"values":{"Elec_RPM":-8.10289946e-10,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-1.62057992e-10,"cg_du":50.1647415,"cg_dv":50.2008781,"cg_dw":49.7991219,"cg_id_a":0.14506191,"cg_id_raw_a":0.0279636458,"cg_iq_a":-0.0669569075,"cg_iq_raw_a":-0.105710849,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14205267,"cg_sample_valid":1,"cg_theta_rad":5.00706434,"cg_vd_req_v":0.0660953149,"cg_vd_v":0.0660953149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365492046,"cg_vq_v":-0.365492046,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1646118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.815674,"values":{"Elec_RPM":-7.94084187e-10,"EncoderCos":38743,"EncoderSin":12513,"GapTicks":54772,"Mech_RPM":-1.58816835e-10,"cg_du":50.1671486,"cg_dv":50.2071877,"cg_dw":49.7928123,"cg_id_a":0.167512804,"cg_id_raw_a":0.546685755,"cg_iq_a":0.47176367,"cg_iq_raw_a":-0.277764857,"cg_iu_a":0.509947062,"cg_iv_a":0.322860777,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.9799995,"cg_sample_seq":14205317,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0672413781,"cg_vd_v":0.0672413781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375988364,"cg_vq_v":-0.375988364,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1646118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.823486,"values":{"Elec_RPM":-7.94084187e-10,"EncoderCos":38713,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-1.58816835e-10,"cg_du":50.1644058,"cg_dv":50.2043953,"cg_dw":49.7956047,"cg_id_a":0.020841524,"cg_id_raw_a":0.308570325,"cg_iq_a":0.0117495954,"cg_iq_raw_a":0.249522701,"cg_iu_a":-0.577368021,"cg_iv_a":-0.691966534,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9836369,"cg_sample_seq":14205367,"cg_sample_valid":1,"cg_theta_rad":5.00654888,"cg_vd_req_v":0.0698137432,"cg_vd_v":0.0698137432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37008056,"cg_vq_v":-0.37008056,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.545530319,"dclink_p_w":-78.9516907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1777954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.831299,"values":{"Elec_RPM":-7.78202502e-10,"EncoderCos":38686,"EncoderSin":12504,"GapTicks":54769,"Mech_RPM":-1.556405e-10,"cg_du":50.1809921,"cg_dv":50.2095261,"cg_dw":49.7904739,"cg_id_a":0.354111254,"cg_id_raw_a":0.57771498,"cg_iq_a":0.74591887,"cg_iq_raw_a":1.29928041,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14205417,"cg_sample_valid":1,"cg_theta_rad":5.00763035,"cg_vd_req_v":0.0638197511,"cg_vd_v":0.0638197511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386039019,"cg_vq_v":-0.386039019,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.843018,"values":{"Elec_RPM":-7.78202502e-10,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-1.556405e-10,"cg_du":50.1667404,"cg_dv":50.2013435,"cg_dw":49.7986565,"cg_id_a":0.154879436,"cg_id_raw_a":-0.121020429,"cg_iq_a":-0.11149025,"cg_iq_raw_a":-0.0843714848,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14205467,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.066608578,"cg_vd_v":0.066608578,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368112564,"cg_vq_v":-0.368112564,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.85083,"values":{"Elec_RPM":-7.62638397e-10,"EncoderCos":38703,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-1.52527685e-10,"cg_du":50.1702232,"cg_dv":50.2001915,"cg_dw":49.7998085,"cg_id_a":0.227907911,"cg_id_raw_a":0.742538095,"cg_iq_a":-0.057240501,"cg_iq_raw_a":-0.725952506,"cg_iu_a":-1.15726924,"cg_iv_a":0.322860837,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9872723,"cg_sample_seq":14205517,"cg_sample_valid":1,"cg_theta_rad":5.00792789,"cg_vd_req_v":0.0622850694,"cg_vd_v":0.0622850694,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368591309,"cg_vq_v":-0.368591309,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1876526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.858643,"values":{"Elec_RPM":-7.62638397e-10,"EncoderCos":38696,"EncoderSin":12484,"GapTicks":54781,"Mech_RPM":-1.52527685e-10,"cg_du":50.1698647,"cg_dv":50.1987419,"cg_dw":49.8012581,"cg_id_a":0.228021234,"cg_id_raw_a":0.0334392563,"cg_iq_a":-0.103564024,"cg_iq_raw_a":-0.36010462,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9218178,"cg_sample_seq":14205567,"cg_sample_valid":1,"cg_theta_rad":5.00631952,"cg_vd_req_v":0.0618078113,"cg_vd_v":0.0618078113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366306514,"cg_vq_v":-0.366306514,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1876526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.866455,"values":{"Elec_RPM":-7.47385598e-10,"EncoderCos":38702,"EncoderSin":12476,"GapTicks":54785,"Mech_RPM":-1.49477125e-10,"cg_du":50.1673546,"cg_dv":50.1952057,"cg_dw":49.8047943,"cg_id_a":0.271721482,"cg_id_raw_a":-0.0695658848,"cg_iq_a":-0.510111988,"cg_iq_raw_a":0.0301740523,"cg_iu_a":-0.251173496,"cg_iv_a":1.12022519,"cg_iw_a":-1.37646556,"cg_sample_age_us":23.9618187,"cg_sample_seq":14205617,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0598317459,"cg_vd_v":0.0598317459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35904178,"cg_vq_v":-0.35904178,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.15802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.874268,"values":{"Elec_RPM":-7.47385598e-10,"EncoderCos":38709,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-1.49477125e-10,"cg_du":50.1555405,"cg_dv":50.1974144,"cg_dw":49.8025856,"cg_id_a":-0.242588267,"cg_id_raw_a":0.198791876,"cg_iq_a":-0.632347643,"cg_iq_raw_a":-0.34375146,"cg_iu_a":0.908629298,"cg_iv_a":-0.293284416,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9763641,"cg_sample_seq":14205666,"cg_sample_valid":1,"cg_theta_rad":5.00805044,"cg_vd_req_v":0.0703018159,"cg_vd_v":0.0703018159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355552852,"cg_vq_v":-0.355552852,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.905518,"values":{"Elec_RPM":-7.32437944e-10,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-1.46487586e-10,"cg_du":50.1645813,"cg_dv":50.1997681,"cg_dw":49.8002319,"cg_id_a":0.0189516637,"cg_id_raw_a":-0.201422378,"cg_iq_a":0.156553015,"cg_iq_raw_a":0.0904500186,"cg_iu_a":-0.432392597,"cg_iv_a":-0.365772009,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8563633,"cg_sample_seq":14205720,"cg_sample_valid":1,"cg_theta_rad":5.00580311,"cg_vd_req_v":0.0649501756,"cg_vd_v":0.0649501756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363929421,"cg_vq_v":-0.363929421,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.91333,"values":{"Elec_RPM":-7.32437944e-10,"EncoderCos":38714,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-1.46487586e-10,"cg_du":50.168602,"cg_dv":50.2017059,"cg_dw":49.7982941,"cg_id_a":-0.014538236,"cg_id_raw_a":-0.540962934,"cg_iq_a":0.433284044,"cg_iq_raw_a":-0.307194561,"cg_iu_a":0.618678808,"cg_iv_a":0.286616921,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.9872723,"cg_sample_seq":14205767,"cg_sample_valid":1,"cg_theta_rad":5.01004124,"cg_vd_req_v":0.064167507,"cg_vd_v":0.064167507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369891435,"cg_vq_v":-0.369891435,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1777954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.921143,"values":{"Elec_RPM":-7.17789161e-10,"EncoderCos":38662,"EncoderSin":12482,"GapTicks":54790,"Mech_RPM":-1.43557832e-10,"cg_du":50.165905,"cg_dv":50.1901665,"cg_dw":49.8098335,"cg_id_a":0.167950615,"cg_id_raw_a":0.209680349,"cg_iq_a":-0.456258953,"cg_iq_raw_a":-0.595951676,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14205817,"cg_sample_valid":1,"cg_theta_rad":5.00807524,"cg_vd_req_v":0.0590923354,"cg_vd_v":0.0590923354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350891888,"cg_vq_v":-0.350891888,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.928955,"values":{"Elec_RPM":-7.17789161e-10,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54786,"Mech_RPM":-1.43557832e-10,"cg_du":50.1622581,"cg_dv":50.1943245,"cg_dw":49.8056755,"cg_id_a":0.143602222,"cg_id_raw_a":0.402669966,"cg_iq_a":-0.222204611,"cg_iq_raw_a":-0.0699696168,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148309112,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9872723,"cg_sample_seq":14205867,"cg_sample_valid":1,"cg_theta_rad":5.00780106,"cg_vd_req_v":0.0608481131,"cg_vd_v":0.0608481131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355334669,"cg_vq_v":-0.355334669,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.936768,"values":{"Elec_RPM":-7.03433367e-10,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54787,"Mech_RPM":-1.40686671e-10,"cg_du":50.1604347,"cg_dv":50.1934814,"cg_dw":49.8065186,"cg_id_a":-0.0546933301,"cg_id_raw_a":-0.0622554123,"cg_iq_a":-0.223069116,"cg_iq_raw_a":-0.0419298895,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9363632,"cg_sample_seq":14205916,"cg_sample_valid":1,"cg_theta_rad":5.00660181,"cg_vd_req_v":0.0634844825,"cg_vd_v":0.0634844825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352809578,"cg_vq_v":-0.352809578,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.94458,"values":{"Elec_RPM":-7.03433367e-10,"EncoderCos":38703,"EncoderSin":12462,"GapTicks":54788,"Mech_RPM":-1.40686671e-10,"cg_du":50.1675835,"cg_dv":50.1922112,"cg_dw":49.8077888,"cg_id_a":0.239225134,"cg_id_raw_a":0.219674796,"cg_iq_a":-0.103462093,"cg_iq_raw_a":-0.741825283,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9472733,"cg_sample_seq":14205966,"cg_sample_valid":1,"cg_theta_rad":5.00756407,"cg_vd_req_v":0.0569842756,"cg_vd_v":0.0569842756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355068803,"cg_vq_v":-0.355068803,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.952393,"values":{"Elec_RPM":-6.89364676e-10,"EncoderCos":38709,"EncoderSin":12487,"GapTicks":54776,"Mech_RPM":-1.37872935e-10,"cg_du":50.1631088,"cg_dv":50.2033501,"cg_dw":49.7966499,"cg_id_a":-0.334313095,"cg_id_raw_a":-0.47586301,"cg_iq_a":0.560553432,"cg_iq_raw_a":0.099323675,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14206016,"cg_sample_valid":1,"cg_theta_rad":5.00797319,"cg_vd_req_v":0.0702490211,"cg_vd_v":0.0702490211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367849678,"cg_vq_v":-0.367849678,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1728516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.964111,"values":{"Elec_RPM":-6.89364676e-10,"EncoderCos":38716,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-1.37872935e-10,"cg_du":50.1636734,"cg_dv":50.2002373,"cg_dw":49.7997627,"cg_id_a":-0.105334967,"cg_id_raw_a":0.0208857916,"cg_iq_a":0.454991102,"cg_iq_raw_a":-0.0335798934,"cg_iu_a":-1.12102532,"cg_iv_a":-0.0758213997,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14206067,"cg_sample_valid":1,"cg_theta_rad":5.00810146,"cg_vd_req_v":0.0662963837,"cg_vd_v":0.0662963837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365168005,"cg_vq_v":-0.365168005,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.4129524,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1530762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2567.971924,"values":{"Elec_RPM":-6.75577372e-10,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54789,"Mech_RPM":-1.35115474e-10,"cg_du":50.1716461,"cg_dv":50.1917419,"cg_dw":49.8082581,"cg_id_a":0.508912921,"cg_id_raw_a":-0.0600737147,"cg_iq_a":0.0318204239,"cg_iq_raw_a":0.577596068,"cg_iu_a":-0.287417173,"cg_iv_a":0.794030607,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9581814,"cg_sample_seq":14206116,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.0518925264,"cg_vd_v":0.0518925264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356938809,"cg_vq_v":-0.356938809,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.151638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1530762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2567.979736,"values":{"Elec_RPM":-6.75577372e-10,"EncoderCos":38684,"EncoderSin":12532,"GapTicks":54786,"Mech_RPM":-1.35115474e-10,"cg_du":50.1592751,"cg_dv":50.1942406,"cg_dw":49.8057594,"cg_id_a":-0.157579124,"cg_id_raw_a":0.525528431,"cg_iq_a":-0.0329217538,"cg_iq_raw_a":-0.237173051,"cg_iu_a":-0.142441988,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9872723,"cg_sample_seq":14206166,"cg_sample_valid":1,"cg_theta_rad":5.00661039,"cg_vd_req_v":0.065297015,"cg_vd_v":0.065297015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353152633,"cg_vq_v":-0.353152633,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1695251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2567.982976,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2567.982982,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2567.982988,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2568.00708,"values":{"Elec_RPM":-6.62065847e-10,"EncoderCos":38718,"EncoderSin":12437,"GapTicks":54783,"Mech_RPM":-1.32413164e-10,"cg_du":50.1627884,"cg_dv":50.1965294,"cg_dw":49.8034706,"cg_id_a":-0.167334884,"cg_id_raw_a":-0.617282808,"cg_iq_a":0.185190052,"cg_iq_raw_a":0.667283952,"cg_iu_a":-0.178685665,"cg_iv_a":0.032910049,"cg_iw_a":0.145775616,"cg_sample_age_us":23.863636,"cg_sample_seq":14206221,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.064351365,"cg_vd_v":0.064351365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358317286,"cg_vq_v":-0.358317286,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.018799,"values":{"Elec_RPM":-6.62065847e-10,"EncoderCos":38742,"EncoderSin":12473,"GapTicks":54787,"Mech_RPM":-1.32413164e-10,"cg_du":50.1565552,"cg_dv":50.1934967,"cg_dw":49.8065033,"cg_id_a":-0.0270021707,"cg_id_raw_a":0.160707518,"cg_iq_a":-0.092067264,"cg_iq_raw_a":0.270462811,"cg_iu_a":0.79989779,"cg_iv_a":-0.112065196,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9509087,"cg_sample_seq":14206267,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.0634910092,"cg_vd_v":0.0634910092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351204216,"cg_vq_v":-0.351204216,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.5607071,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.026611,"values":{"Elec_RPM":-6.4882455e-10,"EncoderCos":38703,"EncoderSin":12458,"GapTicks":54790,"Mech_RPM":-1.29764907e-10,"cg_du":50.1712418,"cg_dv":50.1908073,"cg_dw":49.8091927,"cg_id_a":0.368120968,"cg_id_raw_a":0.611691058,"cg_iq_a":0.229557261,"cg_iq_raw_a":-0.665167332,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148309112,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14206317,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0530078113,"cg_vd_v":0.0530078113,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356295347,"cg_vq_v":-0.356295347,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.5607071,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1695251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.034424,"values":{"Elec_RPM":-6.4882455e-10,"EncoderCos":38732,"EncoderSin":12503,"GapTicks":54796,"Mech_RPM":-1.29764907e-10,"cg_du":50.1588898,"cg_dv":50.185051,"cg_dw":49.814949,"cg_id_a":0.320211351,"cg_id_raw_a":0.578445435,"cg_iq_a":-0.470144331,"cg_iq_raw_a":-0.382351756,"cg_iu_a":0.799897671,"cg_iv_a":0.612811387,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9836369,"cg_sample_seq":14206367,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0535687953,"cg_vd_v":0.0535687953,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340973139,"cg_vq_v":-0.340973139,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.5607071,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":37.5849609,"temp_inv2_c":39.1695251,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.046143,"values":{"Elec_RPM":-6.35848041e-10,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-1.27169608e-10,"cg_du":50.170063,"cg_dv":50.2001038,"cg_dw":49.7998962,"cg_id_a":-0.0339434966,"cg_id_raw_a":-0.267587841,"cg_iq_a":0.698692381,"cg_iq_raw_a":0.557519019,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9836369,"cg_sample_seq":14206417,"cg_sample_valid":1,"cg_theta_rad":5.00789595,"cg_vd_req_v":0.0607831106,"cg_vd_v":0.0607831106,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367494643,"cg_vq_v":-0.367494643,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5593262,"temp_inv2_c":39.1481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.057861,"values":{"Elec_RPM":-6.35848041e-10,"EncoderCos":38700,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-1.27169608e-10,"cg_du":50.1697083,"cg_dv":50.1953773,"cg_dw":49.8046227,"cg_id_a":0.0921331123,"cg_id_raw_a":0.484212697,"cg_iq_a":0.256316721,"cg_iq_raw_a":0.377625287,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14206466,"cg_sample_valid":1,"cg_theta_rad":5.00708914,"cg_vd_req_v":0.0580239967,"cg_vd_v":0.0580239967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360621333,"cg_vq_v":-0.360621333,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.073486,"values":{"Elec_RPM":-6.23131047e-10,"EncoderCos":38726,"EncoderSin":12531,"GapTicks":54783,"Mech_RPM":-1.24626212e-10,"cg_du":50.1587753,"cg_dv":50.1969719,"cg_dw":49.8030281,"cg_id_a":-0.203723162,"cg_id_raw_a":-0.379192591,"cg_iq_a":0.0175130777,"cg_iq_raw_a":0.657411754,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14206517,"cg_sample_valid":1,"cg_theta_rad":5.00640202,"cg_vd_req_v":0.064966172,"cg_vd_v":0.064966172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35720554,"cg_vq_v":-0.35720554,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.085205,"values":{"Elec_RPM":-6.23131047e-10,"EncoderCos":38723,"EncoderSin":12484,"GapTicks":54791,"Mech_RPM":-1.24626212e-10,"cg_du":50.1610909,"cg_dv":50.1898842,"cg_dw":49.8101158,"cg_id_a":0.244807363,"cg_id_raw_a":0.583168507,"cg_iq_a":-0.374592751,"cg_iq_raw_a":-0.634952903,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772009,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14206566,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0576743782,"cg_vd_v":0.0576743782,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348601967,"cg_vq_v":-0.348601967,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-55.9636879,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1629639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.10083,"values":{"Elec_RPM":-6.1066846e-10,"EncoderCos":38715,"EncoderSin":12493,"GapTicks":54788,"Mech_RPM":-1.22133692e-10,"cg_du":50.1617851,"cg_dv":50.1923676,"cg_dw":49.8076324,"cg_id_a":0.179263145,"cg_id_raw_a":0.468787938,"cg_iq_a":-0.236772597,"cg_iq_raw_a":-0.0992317945,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641557,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9509087,"cg_sample_seq":14206617,"cg_sample_valid":1,"cg_theta_rad":5.00550985,"cg_vd_req_v":0.0599619746,"cg_vd_v":0.0599619746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352301091,"cg_vq_v":-0.352301091,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.4024887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.112549,"values":{"Elec_RPM":-6.1066846e-10,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54784,"Mech_RPM":-1.22133692e-10,"cg_du":50.1650925,"cg_dv":50.1958656,"cg_dw":49.8041344,"cg_id_a":0.128395081,"cg_id_raw_a":0.190592587,"cg_iq_a":0.0502959564,"cg_iq_raw_a":0.165245041,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796824,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9763641,"cg_sample_seq":14206666,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0613549054,"cg_vd_v":0.0613549054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359933645,"cg_vq_v":-0.359933645,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.8205948,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.143799,"values":{"Elec_RPM":-5.98455119e-10,"EncoderCos":38697,"EncoderSin":12453,"GapTicks":54786,"Mech_RPM":-1.19691021e-10,"cg_du":50.1629677,"cg_dv":50.194149,"cg_dw":49.805851,"cg_id_a":0.109832264,"cg_id_raw_a":-0.43675971,"cg_iq_a":-0.0971441567,"cg_iq_raw_a":-0.0811614469,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14206720,"cg_sample_valid":1,"cg_theta_rad":5.00614071,"cg_vd_req_v":0.06338723,"cg_vd_v":0.06338723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356039613,"cg_vq_v":-0.356039613,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.7788086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1448364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.159424,"values":{"Elec_RPM":-5.6326116e-10,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-1.12652235e-10,"cg_du":50.1615143,"cg_dv":50.1881905,"cg_dw":49.8118095,"cg_id_a":0.15644069,"cg_id_raw_a":0.218946308,"cg_iq_a":0.0255493075,"cg_iq_raw_a":-0.123409741,"cg_iu_a":0.183752537,"cg_iv_a":0.214129269,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9618187,"cg_sample_seq":14207066,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.0565149561,"cg_vd_v":0.0565149561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34748435,"cg_vq_v":-0.34748435,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.41105056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5337219,"temp_inv2_c":39.1415405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.171143,"values":{"Elec_RPM":-5.51995949e-10,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54792,"Mech_RPM":-1.1039919e-10,"cg_du":50.158226,"cg_dv":50.1882324,"cg_dw":49.8117676,"cg_id_a":0.0264183544,"cg_id_raw_a":0.148659021,"cg_iq_a":-0.151232064,"cg_iq_raw_a":0.161406904,"cg_iu_a":0.799897909,"cg_iv_a":0.286616921,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14207118,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0595496893,"cg_vd_v":0.0595496893,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343462735,"cg_vq_v":-0.343462735,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.1565933,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1234436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2568.186768,"values":{"Elec_RPM":-5.51995949e-10,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-1.1039919e-10,"cg_du":50.1579781,"cg_dv":50.1915092,"cg_dw":49.8084908,"cg_id_a":-0.0157824736,"cg_id_raw_a":0.221893683,"cg_iq_a":0.235974386,"cg_iq_raw_a":0.495668977,"cg_iu_a":0.038777113,"cg_iv_a":-0.148309052,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9618187,"cg_sample_seq":14207166,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0619544052,"cg_vd_v":0.0619544052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349025875,"cg_vq_v":-0.349025875,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.101421952,"dclink_p_w":14.678257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1234436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.218018,"values":{"Elec_RPM":-5.40956058e-10,"EncoderCos":38727,"EncoderSin":12471,"GapTicks":54795,"Mech_RPM":-1.08191206e-10,"cg_du":50.1482735,"cg_dv":50.1855431,"cg_dw":49.8144569,"cg_id_a":-0.0998122394,"cg_id_raw_a":0.236022189,"cg_iq_a":-0.364422172,"cg_iq_raw_a":-0.522676408,"cg_iu_a":0.328727961,"cg_iv_a":0.721542954,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.8563633,"cg_sample_seq":14207220,"cg_sample_valid":1,"cg_theta_rad":5.00605249,"cg_vd_req_v":0.0635253862,"cg_vd_v":0.0635253862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335515589,"cg_vq_v":-0.335515589,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.101421952,"dclink_p_w":14.678257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.229736,"values":{"Elec_RPM":-5.40956058e-10,"EncoderCos":38698,"EncoderSin":12446,"GapTicks":54792,"Mech_RPM":-1.08191206e-10,"cg_du":50.1527672,"cg_dv":50.1889153,"cg_dw":49.8110847,"cg_id_a":-0.168281108,"cg_id_raw_a":-0.805419743,"cg_iq_a":0.0102626011,"cg_iq_raw_a":0.426822662,"cg_iu_a":0.546190977,"cg_iv_a":-0.148309052,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9618187,"cg_sample_seq":14207267,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0661149696,"cg_vd_v":0.0661149696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342085212,"cg_vq_v":-0.342085212,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0162489414,"dclink_p_w":2.35162234,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.245361,"values":{"Elec_RPM":-5.30136934e-10,"EncoderCos":38694,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-1.06027381e-10,"cg_du":50.1534576,"cg_dv":50.1909409,"cg_dw":49.8090591,"cg_id_a":-0.149259672,"cg_id_raw_a":-0.12905851,"cg_iq_a":0.250270903,"cg_iq_raw_a":0.606912851,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9618187,"cg_sample_seq":14207316,"cg_sample_valid":1,"cg_theta_rad":5.00751495,"cg_vd_req_v":0.0672756433,"cg_vd_v":0.0672756433,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346361816,"cg_vq_v":-0.346361816,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.0162489414,"dclink_p_w":2.35162234,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.25708,"values":{"Elec_RPM":-5.19534193e-10,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-1.03906835e-10,"cg_du":50.1531792,"cg_dv":50.1919785,"cg_dw":49.8080215,"cg_id_a":0.0362463221,"cg_id_raw_a":0.104165561,"cg_iq_a":0.0225320999,"cg_iq_raw_a":-0.0255974289,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9872723,"cg_sample_seq":14207417,"cg_sample_valid":1,"cg_theta_rad":5.00625086,"cg_vd_req_v":0.0659147799,"cg_vd_v":0.0659147799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347022623,"cg_vq_v":-0.347022623,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1349487,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.268799,"values":{"Elec_RPM":-5.19534193e-10,"EncoderCos":38753,"EncoderSin":12493,"GapTicks":54788,"Mech_RPM":-1.03906835e-10,"cg_du":50.1427383,"cg_dv":50.1919899,"cg_dw":49.8080101,"cg_id_a":-0.139477193,"cg_id_raw_a":-0.0532814525,"cg_iq_a":-0.404007763,"cg_iq_raw_a":-0.622476935,"cg_iu_a":0.473703265,"cg_iv_a":0.0691539049,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.863636,"cg_sample_seq":14207466,"cg_sample_valid":1,"cg_theta_rad":5.00887299,"cg_vd_req_v":0.0715927556,"cg_vd_v":0.0715927556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341728538,"cg_vq_v":-0.341728538,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1349487,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.284424,"values":{"Elec_RPM":-5.09143505e-10,"EncoderCos":38728,"EncoderSin":12509,"GapTicks":54790,"Mech_RPM":-1.01828698e-10,"cg_du":50.1510124,"cg_dv":50.1904526,"cg_dw":49.8095474,"cg_id_a":0.171809018,"cg_id_raw_a":-0.115000315,"cg_iq_a":-0.292049676,"cg_iq_raw_a":-0.15552108,"cg_iu_a":-0.214929581,"cg_iv_a":1.373932,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.863636,"cg_sample_seq":14207517,"cg_sample_valid":1,"cg_theta_rad":5.00717735,"cg_vd_req_v":0.0653563738,"cg_vd_v":0.0653563738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344962448,"cg_vq_v":-0.344962448,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.2038994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.296143,"values":{"Elec_RPM":-5.09143505e-10,"EncoderCos":38744,"EncoderSin":12487,"GapTicks":54786,"Mech_RPM":-1.01828698e-10,"cg_du":50.1525879,"cg_dv":50.1938744,"cg_dw":49.8061256,"cg_id_a":0.150567591,"cg_id_raw_a":-0.0253977347,"cg_iq_a":-0.16621837,"cg_iq_raw_a":-0.219873026,"cg_iu_a":0.111264944,"cg_iv_a":0.467836082,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9872723,"cg_sample_seq":14207566,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0666872561,"cg_vd_v":0.0666872561,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350668967,"cg_vq_v":-0.350668967,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.3121109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.307861,"values":{"Elec_RPM":-4.98960651e-10,"EncoderCos":38716,"EncoderSin":12488,"GapTicks":54787,"Mech_RPM":-9.9792126e-11,"cg_du":50.1559715,"cg_dv":50.1927338,"cg_dw":49.8072662,"cg_id_a":0.201076388,"cg_id_raw_a":0.455265969,"cg_iq_a":-0.271298647,"cg_iq_raw_a":-0.391820014,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503517,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9872723,"cg_sample_seq":14207617,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.0651183203,"cg_vd_v":0.0651183203,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350587577,"cg_vq_v":-0.350587577,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.62526679,"dclink_p_w":-90.766571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1365967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.31958,"values":{"Elec_RPM":-4.98960651e-10,"EncoderCos":38736,"EncoderSin":12515,"GapTicks":54781,"Mech_RPM":-9.9792126e-11,"cg_du":50.1559448,"cg_dv":50.1985245,"cg_dw":49.8014755,"cg_id_a":0.0462433621,"cg_id_raw_a":0.345263273,"cg_iq_a":0.0231040791,"cg_iq_raw_a":-0.368115962,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528213,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14207666,"cg_sample_valid":1,"cg_theta_rad":5.00686407,"cg_vd_req_v":0.0682777539,"cg_vd_v":0.0682777539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357828468,"cg_vq_v":-0.357828468,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1086121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.354736,"values":{"Elec_RPM":-4.69617734e-10,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54780,"Mech_RPM":-9.39235495e-11,"cg_du":50.1560059,"cg_dv":50.1998062,"cg_dw":49.8001938,"cg_id_a":-0.125979766,"cg_id_raw_a":-0.33656764,"cg_iq_a":0.015774399,"cg_iq_raw_a":0.405460954,"cg_iu_a":0.219996452,"cg_iv_a":0.286616981,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.8563633,"cg_sample_seq":14207968,"cg_sample_valid":1,"cg_theta_rad":5.00611305,"cg_vd_req_v":0.0712055266,"cg_vd_v":0.0712055266,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359271437,"cg_vq_v":-0.359271437,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.855377,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.366455,"values":{"Elec_RPM":-4.60225413e-10,"EncoderCos":38679,"EncoderSin":12494,"GapTicks":54784,"Mech_RPM":-9.20450799e-11,"cg_du":50.1509743,"cg_dv":50.1961555,"cg_dw":49.8038445,"cg_id_a":-0.230620384,"cg_id_raw_a":0.087394096,"cg_iq_a":-0.321377069,"cg_iq_raw_a":-0.0628625676,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528332,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9509087,"cg_sample_seq":14208017,"cg_sample_valid":1,"cg_theta_rad":5.00781775,"cg_vd_req_v":0.074980095,"cg_vd_v":0.074980095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350784481,"cg_vq_v":-0.350784481,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.859039545,"dclink_p_w":-124.324203,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1184998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.38208,"values":{"Elec_RPM":-4.60225413e-10,"EncoderCos":38705,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-9.20450799e-11,"cg_du":50.1521339,"cg_dv":50.1991539,"cg_dw":49.8008461,"cg_id_a":-0.183931097,"cg_id_raw_a":-0.542686224,"cg_iq_a":-0.0901249349,"cg_iq_raw_a":-0.491151094,"cg_iu_a":0.292484045,"cg_iv_a":-0.112065315,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9472733,"cg_sample_seq":14208066,"cg_sample_valid":1,"cg_theta_rad":5.00641489,"cg_vd_req_v":0.0754330009,"cg_vd_v":0.0754330009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355838746,"cg_vq_v":-0.355838746,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-1.16711211,"dclink_p_w":-168.909897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1415405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.393799,"values":{"Elec_RPM":-4.51020887e-10,"EncoderCos":38682,"EncoderSin":12497,"GapTicks":54782,"Mech_RPM":-9.02041775e-11,"cg_du":50.1482277,"cg_dv":50.1979027,"cg_dw":49.8020973,"cg_id_a":-0.214518636,"cg_id_raw_a":-0.673334718,"cg_iq_a":-0.203408912,"cg_iq_raw_a":-0.434066355,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148309112,"cg_iw_a":0.2907511,"cg_sample_age_us":23.8745461,"cg_sample_seq":14208117,"cg_sample_valid":1,"cg_theta_rad":5.00729036,"cg_vd_req_v":0.0785298124,"cg_vd_v":0.0785298124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351657838,"cg_vq_v":-0.351657838,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-1.24684858,"dclink_p_w":-180.449738,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1415405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.405518,"values":{"Elec_RPM":-4.51020887e-10,"EncoderCos":38719,"EncoderSin":12501,"GapTicks":54780,"Mech_RPM":-9.02041775e-11,"cg_du":50.1465149,"cg_dv":50.1993294,"cg_dw":49.8006706,"cg_id_a":-0.187260091,"cg_id_raw_a":0.159489155,"cg_iq_a":-0.0815101713,"cg_iq_raw_a":-0.602878034,"cg_iu_a":-0.214929581,"cg_iv_a":-0.800698161,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9254551,"cg_sample_seq":14208166,"cg_sample_valid":1,"cg_theta_rad":5.00580549,"cg_vd_req_v":0.0784340948,"cg_vd_v":0.0784340948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354385614,"cg_vq_v":-0.354385614,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-1.26859474,"dclink_p_w":-183.596939,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1316528,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.440674,"values":{"Elec_RPM":-4.33160452e-10,"EncoderCos":38702,"EncoderSin":12493,"GapTicks":54778,"Mech_RPM":-8.66320904e-11,"cg_du":50.1547165,"cg_dv":50.2012596,"cg_dw":49.7987404,"cg_id_a":-0.0986018106,"cg_id_raw_a":0.253635496,"cg_iq_a":0.382746994,"cg_iq_raw_a":-0.0466044284,"cg_iu_a":-0.251173496,"cg_iv_a":-0.583235025,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9763641,"cg_sample_seq":14208367,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0752159357,"cg_vd_v":0.0752159357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360202074,"cg_vq_v":-0.360202074,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.6424904,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1053162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.452393,"values":{"Elec_RPM":-4.24497243e-10,"EncoderCos":38716,"EncoderSin":12494,"GapTicks":54782,"Mech_RPM":-8.48994486e-11,"cg_du":50.1492882,"cg_dv":50.1977043,"cg_dw":49.8022957,"cg_id_a":-0.0276205391,"cg_id_raw_a":-0.291362047,"cg_iq_a":-0.183824569,"cg_iq_raw_a":-0.282363147,"cg_iu_a":0.473703384,"cg_iv_a":0.57656765,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9472733,"cg_sample_seq":14208416,"cg_sample_valid":1,"cg_theta_rad":5.00631809,"cg_vd_req_v":0.0748511255,"cg_vd_v":0.0748511255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352564901,"cg_vq_v":-0.352564901,"cg_vu_v":27.7132301,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.2815323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1349487,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.468018,"values":{"Elec_RPM":-4.24497243e-10,"EncoderCos":38708,"EncoderSin":12515,"GapTicks":54782,"Mech_RPM":-8.48994486e-11,"cg_du":50.151886,"cg_dv":50.1979599,"cg_dw":49.8020401,"cg_id_a":0.0593138672,"cg_id_raw_a":-0.000190055347,"cg_iq_a":0.00631629769,"cg_iq_raw_a":0.182862327,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.954546,"cg_sample_seq":14208468,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0734139532,"cg_vd_v":0.0734139532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355419517,"cg_vq_v":-0.355419517,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.322630763,"dclink_p_w":-46.834549,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.479736,"values":{"Elec_RPM":-4.16007284e-10,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-8.32014596e-11,"cg_du":50.1584969,"cg_dv":50.2125893,"cg_dw":49.7874107,"cg_id_a":-0.315350413,"cg_id_raw_a":0.499734163,"cg_iq_a":0.941954434,"cg_iq_raw_a":0.231374398,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8709087,"cg_sample_seq":14208516,"cg_sample_valid":1,"cg_theta_rad":5.00605488,"cg_vd_req_v":0.082340084,"cg_vd_v":0.082340084,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379116476,"cg_vq_v":-0.379116476,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1431885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.491455,"values":{"Elec_RPM":-4.16007284e-10,"EncoderCos":38696,"EncoderSin":12492,"GapTicks":54776,"Mech_RPM":-8.32014596e-11,"cg_du":50.160881,"cg_dv":50.2031784,"cg_dw":49.7968216,"cg_id_a":0.125732169,"cg_id_raw_a":-0.346347243,"cg_iq_a":0.286394,"cg_iq_raw_a":-0.143733233,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796764,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9218178,"cg_sample_seq":14208566,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0727851242,"cg_vd_v":0.0727851242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366173089,"cg_vq_v":-0.366173089,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.369747758,"dclink_p_w":-53.5116158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.11026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.50708,"values":{"Elec_RPM":-4.07687162e-10,"EncoderCos":38705,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-8.15374296e-11,"cg_du":50.1636353,"cg_dv":50.2005043,"cg_dw":49.7994957,"cg_id_a":0.347722918,"cg_id_raw_a":-0.00628295215,"cg_iq_a":0.179551721,"cg_iq_raw_a":-0.181941196,"cg_iu_a":-0.287417173,"cg_iv_a":0.322860718,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14208616,"cg_sample_valid":1,"cg_theta_rad":5.00770569,"cg_vd_req_v":0.0672964826,"cg_vd_v":0.0672964826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364236802,"cg_vq_v":-0.364236802,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.159668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.53833,"values":{"Elec_RPM":-3.91542743e-10,"EncoderCos":38734,"EncoderSin":12495,"GapTicks":54777,"Mech_RPM":-7.83085471e-11,"cg_du":50.153244,"cg_dv":50.2025795,"cg_dw":49.7974205,"cg_id_a":0.00342490524,"cg_id_raw_a":-0.214418247,"cg_iq_a":0.101239681,"cg_iq_raw_a":0.235698253,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9690914,"cg_sample_seq":14208820,"cg_sample_valid":1,"cg_theta_rad":5.00687265,"cg_vd_req_v":0.075203754,"cg_vd_v":0.075203754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362827688,"cg_vq_v":-0.362827688,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-53.1481438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1201477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.553955,"values":{"Elec_RPM":-3.91542743e-10,"EncoderCos":38735,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-7.83085471e-11,"cg_du":50.1522369,"cg_dv":50.1959877,"cg_dw":49.8040123,"cg_id_a":0.278726816,"cg_id_raw_a":0.312438786,"cg_iq_a":-0.299603403,"cg_iq_raw_a":-0.00666455179,"cg_iu_a":0.111264944,"cg_iv_a":0.57656759,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9836369,"cg_sample_seq":14208866,"cg_sample_valid":1,"cg_theta_rad":5.00594139,"cg_vd_req_v":0.069536075,"cg_vd_v":0.069536075,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353261203,"cg_vq_v":-0.353261203,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1152039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.565674,"values":{"Elec_RPM":-3.83711896e-10,"EncoderCos":38727,"EncoderSin":12507,"GapTicks":54779,"Mech_RPM":-7.67423763e-11,"cg_du":50.1589127,"cg_dv":50.2006874,"cg_dw":49.7993126,"cg_id_a":0.255122513,"cg_id_raw_a":0.229107901,"cg_iq_a":0.152907118,"cg_iq_raw_a":-0.0141549585,"cg_iu_a":-0.396148682,"cg_iv_a":0.214129329,"cg_iw_a":0.182019353,"cg_sample_age_us":23.863636,"cg_sample_seq":14208916,"cg_sample_valid":1,"cg_theta_rad":5.00788355,"cg_vd_req_v":0.0689630508,"cg_vd_v":0.0689630508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362254024,"cg_vq_v":-0.362254024,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1152039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.577393,"values":{"Elec_RPM":-3.83711896e-10,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-7.67423763e-11,"cg_du":50.156311,"cg_dv":50.2017822,"cg_dw":49.7982178,"cg_id_a":0.10366869,"cg_id_raw_a":0.313480079,"cg_iq_a":0.301907152,"cg_iq_raw_a":0.430654019,"cg_iu_a":0.111264944,"cg_iv_a":0.359104574,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9618187,"cg_sample_seq":14208966,"cg_sample_valid":1,"cg_theta_rad":5.00682163,"cg_vd_req_v":0.0721548647,"cg_vd_v":0.0721548647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362278819,"cg_vq_v":-0.362278819,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1086121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.593018,"values":{"Elec_RPM":-3.76037645e-10,"EncoderCos":38706,"EncoderSin":12450,"GapTicks":54785,"Mech_RPM":-7.52075277e-11,"cg_du":50.1582069,"cg_dv":50.1950684,"cg_dw":49.8049316,"cg_id_a":0.304670453,"cg_id_raw_a":-0.194192618,"cg_iq_a":-0.352545023,"cg_iq_raw_a":-0.602007747,"cg_iu_a":-0.0337102413,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9618187,"cg_sample_seq":14209017,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.0669581145,"cg_vd_v":0.0669581145,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352556705,"cg_vq_v":-0.352556705,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1086121,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2568.624268,"values":{"Elec_RPM":-3.61146529e-10,"EncoderCos":38738,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-7.22293059e-11,"cg_du":50.1537399,"cg_dv":50.1971779,"cg_dw":49.8028221,"cg_id_a":-0.0334385633,"cg_id_raw_a":-0.258394927,"cg_iq_a":-0.129142612,"cg_iq_raw_a":0.486548811,"cg_iu_a":0.944873095,"cg_iv_a":0.866518259,"cg_iw_a":-1.81139135,"cg_sample_age_us":26.8199997,"cg_sample_seq":14209220,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0691473037,"cg_vd_v":0.0691473037,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354682535,"cg_vq_v":-0.354682535,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.639893,"values":{"Elec_RPM":-3.61146529e-10,"EncoderCos":38760,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-7.22293059e-11,"cg_du":50.1754036,"cg_dv":50.2026443,"cg_dw":49.7973557,"cg_id_a":0.615291595,"cg_id_raw_a":0.0319395326,"cg_iq_a":0.7710976,"cg_iq_raw_a":0.0763571188,"cg_iu_a":-0.758587122,"cg_iv_a":-0.112065196,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9618187,"cg_sample_seq":14209267,"cg_sample_valid":1,"cg_theta_rad":5.0069828,"cg_vd_req_v":0.055392012,"cg_vd_v":0.055392012,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373342484,"cg_vq_v":-0.373342484,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1168518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2568.651611,"values":{"Elec_RPM":-3.53923585e-10,"EncoderCos":38706,"EncoderSin":12466,"GapTicks":54782,"Mech_RPM":-7.07847184e-11,"cg_du":50.1764221,"cg_dv":50.1980972,"cg_dw":49.8019028,"cg_id_a":0.518202424,"cg_id_raw_a":0.128765628,"cg_iq_a":0.769194484,"cg_iq_raw_a":-0.0590147786,"cg_iu_a":-0.0699543953,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9872723,"cg_sample_seq":14209316,"cg_sample_valid":1,"cg_theta_rad":5.00772476,"cg_vd_req_v":0.055477865,"cg_vd_v":0.055477865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368088067,"cg_vq_v":-0.368088067,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.605332613,"dclink_p_w":-87.6065521,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1168518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.66333,"values":{"Elec_RPM":-3.53923585e-10,"EncoderCos":38717,"EncoderSin":12458,"GapTicks":54787,"Mech_RPM":-7.07847184e-11,"cg_du":50.1447258,"cg_dv":50.1928864,"cg_dw":49.8071136,"cg_id_a":-0.326493442,"cg_id_raw_a":-0.480126649,"cg_iq_a":-0.451496273,"cg_iq_raw_a":0.353772104,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9654541,"cg_sample_seq":14209367,"cg_sample_valid":1,"cg_theta_rad":5.00662279,"cg_vd_req_v":0.0745260939,"cg_vd_v":0.0745260939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343284935,"cg_vq_v":-0.343284935,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.677820444,"dclink_p_w":-98.0973282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1168518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.678955,"values":{"Elec_RPM":-3.46845108e-10,"EncoderCos":38703,"EncoderSin":12467,"GapTicks":54788,"Mech_RPM":-6.93690244e-11,"cg_du":50.1550865,"cg_dv":50.1921463,"cg_dw":49.8078537,"cg_id_a":0.080406405,"cg_id_raw_a":0.400657445,"cg_iq_a":-0.0361825675,"cg_iq_raw_a":-0.869160473,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.438259721,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9799995,"cg_sample_seq":14209416,"cg_sample_valid":1,"cg_theta_rad":5.0066638,"cg_vd_req_v":0.0667795613,"cg_vd_v":0.0667795613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348997414,"cg_vq_v":-0.348997414,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-0.677820444,"dclink_p_w":-98.0973282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.11026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.710205,"values":{"Elec_RPM":-3.19918869e-10,"EncoderCos":38722,"EncoderSin":12497,"GapTicks":54789,"Mech_RPM":-6.39837766e-11,"cg_du":50.1600227,"cg_dv":50.1912994,"cg_dw":49.8087006,"cg_id_a":0.249941975,"cg_id_raw_a":0.437456578,"cg_iq_a":-0.0123870037,"cg_iq_raw_a":0.00488984119,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616981,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.863636,"cg_sample_seq":14209818,"cg_sample_valid":1,"cg_theta_rad":5.00734901,"cg_vd_req_v":0.0596506521,"cg_vd_v":0.0596506521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349970192,"cg_vq_v":-0.349970192,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-1.24684858,"dclink_p_w":-180.998215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.093811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.72583,"values":{"Elec_RPM":-3.19918869e-10,"EncoderCos":38678,"EncoderSin":12506,"GapTicks":54790,"Mech_RPM":-6.39837766e-11,"cg_du":50.1551132,"cg_dv":50.1905632,"cg_dw":49.8094368,"cg_id_a":-0.0573407039,"cg_id_raw_a":0.0665302277,"cg_iq_a":-0.232214004,"cg_iq_raw_a":-0.465970874,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9254551,"cg_sample_seq":14209866,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.0660504475,"cg_vd_v":0.0660504475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345612705,"cg_vq_v":-0.345612705,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-142.683029,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.093811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.737549,"values":{"Elec_RPM":-3.13520487e-10,"EncoderCos":38713,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-6.27040989e-11,"cg_du":50.1503716,"cg_dv":50.1928253,"cg_dw":49.8071747,"cg_id_a":-0.303853989,"cg_id_raw_a":-0.433055103,"cg_iq_a":-0.156023443,"cg_iq_raw_a":0.72246331,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482608,"cg_sample_age_us":23.863636,"cg_sample_seq":14209917,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0702351481,"cg_vd_v":0.0702351481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346341133,"cg_vq_v":-0.346341133,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.920654058,"dclink_p_w":-133.241348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1184998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.749268,"values":{"Elec_RPM":-3.13520487e-10,"EncoderCos":38722,"EncoderSin":12472,"GapTicks":54790,"Mech_RPM":-6.27040989e-11,"cg_du":50.1467514,"cg_dv":50.1907501,"cg_dw":49.8092499,"cg_id_a":-0.185273498,"cg_id_raw_a":0.204823881,"cg_iq_a":-0.39983952,"cg_iq_raw_a":0.0207086336,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885473,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9836369,"cg_sample_seq":14209966,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0701403096,"cg_vd_v":0.0701403096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341676503,"cg_vq_v":-0.341676503,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.5080872,"temp_inv2_c":39.1184998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.764893,"values":{"Elec_RPM":-3.07250086e-10,"EncoderCos":38674,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-6.14500187e-11,"cg_du":50.1565247,"cg_dv":50.1952705,"cg_dw":49.8047295,"cg_id_a":-0.174038976,"cg_id_raw_a":-0.108995929,"cg_iq_a":0.174812049,"cg_iq_raw_a":0.389979094,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263507,"cg_sample_age_us":23.8600006,"cg_sample_seq":14210017,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0711453706,"cg_vd_v":0.0711453706,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353582799,"cg_vq_v":-0.353582799,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.446007,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1184998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.776611,"values":{"Elec_RPM":-3.07250086e-10,"EncoderCos":38700,"EncoderSin":12496,"GapTicks":54794,"Mech_RPM":-6.14500187e-11,"cg_du":50.1483994,"cg_dv":50.1865044,"cg_dw":49.8134956,"cg_id_a":0.0556367338,"cg_id_raw_a":-0.200901911,"cg_iq_a":-0.456445247,"cg_iq_raw_a":0.709134042,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14210066,"cg_sample_valid":1,"cg_theta_rad":5.00410795,"cg_vd_req_v":0.0660503805,"cg_vd_v":0.0660503805,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337633282,"cg_vq_v":-0.337633282,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.982268572,"dclink_p_w":-142.590576,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1020203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.78833,"values":{"Elec_RPM":-3.01105085e-10,"EncoderCos":38733,"EncoderSin":12486,"GapTicks":54784,"Mech_RPM":-6.02210157e-11,"cg_du":50.1498413,"cg_dv":50.1956558,"cg_dw":49.8043442,"cg_id_a":-0.209797308,"cg_id_raw_a":-0.272638738,"cg_iq_a":0.289708704,"cg_iq_raw_a":0.630508244,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9763641,"cg_sample_seq":14210117,"cg_sample_valid":1,"cg_theta_rad":5.00619221,"cg_vd_req_v":0.071484834,"cg_vd_v":0.071484834,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35139212,"cg_vq_v":-0.35139212,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.1020203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.800049,"values":{"Elec_RPM":-3.01105085e-10,"EncoderCos":38726,"EncoderSin":12491,"GapTicks":54789,"Mech_RPM":-6.02210157e-11,"cg_du":50.1518059,"cg_dv":50.1916656,"cg_dw":49.8083344,"cg_id_a":0.0120567884,"cg_id_raw_a":0.719647527,"cg_iq_a":0.118967608,"cg_iq_raw_a":0.797261357,"cg_iu_a":-0.142441988,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9436359,"cg_sample_seq":14210166,"cg_sample_valid":1,"cg_theta_rad":5.006145,"cg_vd_req_v":0.0662958771,"cg_vd_v":0.0662958771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345903665,"cg_vq_v":-0.345903665,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1004028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.835205,"values":{"Elec_RPM":-2.95082986e-10,"EncoderCos":38738,"EncoderSin":12498,"GapTicks":54790,"Mech_RPM":-5.90165972e-11,"cg_du":50.161602,"cg_dv":50.1900024,"cg_dw":49.8099976,"cg_id_a":0.478479266,"cg_id_raw_a":0.832032144,"cg_iq_a":0.243666172,"cg_iq_raw_a":0.513851285,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":26.812727,"cg_sample_seq":14210221,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.0558620021,"cg_vd_v":0.0558620021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349297374,"cg_vq_v":-0.349297374,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1053162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.846924,"values":{"Elec_RPM":-2.95082986e-10,"EncoderCos":38711,"EncoderSin":12464,"GapTicks":54788,"Mech_RPM":-5.90165972e-11,"cg_du":50.1553497,"cg_dv":50.1924438,"cg_dw":49.8075562,"cg_id_a":-0.0351832584,"cg_id_raw_a":0.122473598,"cg_iq_a":0.216410249,"cg_iq_raw_a":0.632317126,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14210267,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0661021993,"cg_vd_v":0.0661021993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348602682,"cg_vq_v":-0.348602682,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.616205931,"dclink_p_w":-89.180191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1053162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2568.847508,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2568.84752,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2568.847613,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2568.862549,"values":{"Elec_RPM":-2.89181318e-10,"EncoderCos":38698,"EncoderSin":12487,"GapTicks":54798,"Mech_RPM":-5.78362636e-11,"cg_du":50.1521492,"cg_dv":50.1832161,"cg_dw":49.8167839,"cg_id_a":0.270439625,"cg_id_raw_a":0.432410955,"cg_iq_a":-0.536741197,"cg_iq_raw_a":-0.355978072,"cg_iu_a":0.14750886,"cg_iv_a":0.540323794,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.954546,"cg_sample_seq":14210316,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0600611866,"cg_vd_v":0.0600611866,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334196776,"cg_vq_v":-0.334196776,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.616205931,"dclink_p_w":-89.180191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0921631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.874268,"values":{"Elec_RPM":-2.77729756e-10,"EncoderCos":38713,"EncoderSin":12498,"GapTicks":54785,"Mech_RPM":-5.55459498e-11,"cg_du":50.1509361,"cg_dv":50.1949806,"cg_dw":49.8050194,"cg_id_a":-0.0294284597,"cg_id_raw_a":-0.409701884,"cg_iq_a":0.0522319376,"cg_iq_raw_a":0.0701308846,"cg_iu_a":-0.251173258,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9799995,"cg_sample_seq":14210566,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.0710561126,"cg_vd_v":0.0710561126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34975937,"cg_vq_v":-0.34975937,"cg_vu_v":38.2706528,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0905151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.885986,"values":{"Elec_RPM":-2.72175144e-10,"EncoderCos":38739,"EncoderSin":12507,"GapTicks":54790,"Mech_RPM":-5.44350294e-11,"cg_du":50.1320686,"cg_dv":50.1901283,"cg_dw":49.8098717,"cg_id_a":-0.392194986,"cg_id_raw_a":0.0801326036,"cg_iq_a":-0.775892735,"cg_iq_raw_a":0.699551105,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14210617,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0792104155,"cg_vd_v":0.0792104155,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334109157,"cg_vq_v":-0.334109157,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.7065697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.901611,"values":{"Elec_RPM":-2.72175144e-10,"EncoderCos":38748,"EncoderSin":12509,"GapTicks":54781,"Mech_RPM":-5.44350294e-11,"cg_du":50.1491013,"cg_dv":50.1988983,"cg_dw":49.8011017,"cg_id_a":-0.130045742,"cg_id_raw_a":0.330053777,"cg_iq_a":0.333101213,"cg_iq_raw_a":0.0300587323,"cg_iu_a":-0.432392597,"cg_iv_a":-0.365772069,"cg_iw_a":0.798164666,"cg_sample_age_us":23.9581814,"cg_sample_seq":14210666,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0734355673,"cg_vd_v":0.0734355673,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355785817,"cg_vq_v":-0.355785817,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.5714989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.1267395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.909424,"values":{"Elec_RPM":-2.66731637e-10,"EncoderCos":38720,"EncoderSin":12501,"GapTicks":54783,"Mech_RPM":-5.33463274e-11,"cg_du":50.160984,"cg_dv":50.1968193,"cg_dw":49.8031807,"cg_id_a":0.350084096,"cg_id_raw_a":-0.128430441,"cg_iq_a":0.426161289,"cg_iq_raw_a":-0.0114766909,"cg_iu_a":-1.22975683,"cg_iv_a":0.141641617,"cg_iw_a":1.08811522,"cg_sample_age_us":23.863636,"cg_sample_seq":14210716,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0645068437,"cg_vd_v":0.0645068437,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359098524,"cg_vq_v":-0.359098524,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.477829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.093811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.940674,"values":{"Elec_RPM":-2.66731637e-10,"EncoderCos":38734,"EncoderSin":12492,"GapTicks":54785,"Mech_RPM":-5.33463274e-11,"cg_du":50.1569519,"cg_dv":50.1949387,"cg_dw":49.8050613,"cg_id_a":0.228480548,"cg_id_raw_a":-0.168747693,"cg_iq_a":0.113412388,"cg_iq_raw_a":0.421908826,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860718,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14210771,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.0647513792,"cg_vd_v":0.0647513792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353359491,"cg_vq_v":-0.353359491,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.093811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.948486,"values":{"Elec_RPM":-2.61396987e-10,"EncoderCos":38696,"EncoderSin":12498,"GapTicks":54784,"Mech_RPM":-5.22793996e-11,"cg_du":50.154274,"cg_dv":50.1951637,"cg_dw":49.8045425,"cg_id_a":-0.00396772847,"cg_id_raw_a":0.0553511046,"cg_iq_a":-0.154524133,"cg_iq_raw_a":0.0428435504,"cg_iu_a":-0.214929581,"cg_iv_a":0.21412921,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9472733,"cg_sample_seq":14210817,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0699737072,"cg_vd_v":0.0699737072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351610571,"cg_vq_v":-0.351610571,"cg_vu_v":105.574219,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.369747758,"dclink_p_w":-53.5116158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.07901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.956299,"values":{"Elec_RPM":-2.51045684e-10,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-5.02091355e-11,"cg_du":50.1641273,"cg_dv":50.2052231,"cg_dw":49.7947769,"cg_id_a":-0.0994162261,"cg_id_raw_a":-0.409659445,"cg_iq_a":0.399911642,"cg_iq_raw_a":0.687867165,"cg_iu_a":-1.26600075,"cg_iv_a":-0.148308992,"cg_iw_a":1.41430974,"cg_sample_age_us":23.9618187,"cg_sample_seq":14211017,"cg_sample_valid":1,"cg_theta_rad":5.00745344,"cg_vd_req_v":0.0723230317,"cg_vd_v":0.0723230317,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371931732,"cg_vq_v":-0.371931732,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0757141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2568.964111,"values":{"Elec_RPM":-2.51045684e-10,"EncoderCos":38753,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-5.02091355e-11,"cg_du":50.1543846,"cg_dv":50.2043953,"cg_dw":49.7956047,"cg_id_a":-0.267971843,"cg_id_raw_a":-0.451608628,"cg_iq_a":0.121088028,"cg_iq_raw_a":-0.622121811,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9290905,"cg_sample_seq":14211067,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0748346671,"cg_vd_v":0.0748346671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36504662,"cg_vq_v":-0.36504662,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0757141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.971924,"values":{"Elec_RPM":-2.46024756e-10,"EncoderCos":38747,"EncoderSin":12497,"GapTicks":54779,"Mech_RPM":-4.92049526e-11,"cg_du":50.1597023,"cg_dv":50.20084,"cg_dw":49.79916,"cg_id_a":0.041639097,"cg_id_raw_a":-0.184957221,"cg_iq_a":0.0326226726,"cg_iq_raw_a":0.384495378,"cg_iu_a":-0.142441988,"cg_iv_a":0.286616921,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14211117,"cg_sample_valid":1,"cg_theta_rad":5.0067153,"cg_vd_req_v":0.0670887753,"cg_vd_v":0.0670887753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363168657,"cg_vq_v":-0.363168657,"cg_vu_v":104.254532,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.5606918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0888672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2568.974906,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2568.974912,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2568.974917,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2568.983643,"values":{"Elec_RPM":-2.46024756e-10,"EncoderCos":38734,"EncoderSin":12508,"GapTicks":54785,"Mech_RPM":-4.92049526e-11,"cg_du":50.1443558,"cg_dv":50.1945992,"cg_dw":49.8054008,"cg_id_a":-0.302172214,"cg_id_raw_a":-0.00106151763,"cg_iq_a":-0.720250726,"cg_iq_raw_a":-0.254070401,"cg_iu_a":0.401215553,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9763641,"cg_sample_seq":14211167,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0739599541,"cg_vd_v":0.0739599541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345954925,"cg_vq_v":-0.345954925,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.5606918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0888672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2568.991455,"values":{"Elec_RPM":-2.41104275e-10,"EncoderCos":38686,"EncoderSin":12465,"GapTicks":54782,"Mech_RPM":-4.82208544e-11,"cg_du":50.1623802,"cg_dv":50.1980438,"cg_dw":49.8019562,"cg_id_a":-0.0244662911,"cg_id_raw_a":0.047519885,"cg_iq_a":-0.110111415,"cg_iq_raw_a":0.11517857,"cg_iu_a":0.654922366,"cg_iv_a":-0.764454246,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9654541,"cg_sample_seq":14211217,"cg_sample_valid":1,"cg_theta_rad":5.007267,"cg_vd_req_v":0.0682858899,"cg_vd_v":0.0682858899,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360879898,"cg_vq_v":-0.360879898,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.5606918,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.095459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.018799,"values":{"Elec_RPM":-2.41104275e-10,"EncoderCos":38696,"EncoderSin":12504,"GapTicks":54778,"Mech_RPM":-4.82208544e-11,"cg_du":50.1622849,"cg_dv":50.2016563,"cg_dw":49.7983437,"cg_id_a":-0.101687543,"cg_id_raw_a":-0.240763083,"cg_iq_a":0.263977438,"cg_iq_raw_a":0.267928213,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8709087,"cg_sample_seq":14211272,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0701114759,"cg_vd_v":0.0701114759,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366066724,"cg_vq_v":-0.366066724,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.2474365,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0905151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.026611,"values":{"Elec_RPM":-2.36282188e-10,"EncoderCos":38722,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-4.72564383e-11,"cg_du":50.1537514,"cg_dv":50.1995621,"cg_dw":49.8004379,"cg_id_a":-0.21242027,"cg_id_raw_a":-0.399226218,"cg_iq_a":-0.102553383,"cg_iq_raw_a":-0.256040156,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8745461,"cg_sample_seq":14211316,"cg_sample_valid":1,"cg_theta_rad":5.00738049,"cg_vd_req_v":0.0730606392,"cg_vd_v":0.0730606392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358746111,"cg_vq_v":-0.358746111,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0905151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.03833,"values":{"Elec_RPM":-2.36282188e-10,"EncoderCos":38708,"EncoderSin":12486,"GapTicks":54783,"Mech_RPM":-4.72564383e-11,"cg_du":50.1552086,"cg_dv":50.1972198,"cg_dw":49.8027802,"cg_id_a":0.0666987598,"cg_id_raw_a":-0.160097122,"cg_iq_a":-0.438953042,"cg_iq_raw_a":-0.962097347,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641617,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.863636,"cg_sample_seq":14211366,"cg_sample_valid":1,"cg_theta_rad":5.00673008,"cg_vd_req_v":0.0687533244,"cg_vd_v":0.0680686533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356540084,"cg_vq_v":-0.356540084,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2591,"hz_tim_isr":5000,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0576477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.046143,"values":{"Elec_RPM":-2.31556552e-10,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-4.6311309e-11,"cg_du":50.1610146,"cg_dv":50.2036896,"cg_dw":49.7963104,"cg_id_a":-0.0763309449,"cg_id_raw_a":-0.479053378,"cg_iq_a":0.102658883,"cg_iq_raw_a":-0.0816726089,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860837,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.863636,"cg_sample_seq":14211417,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0711456314,"cg_vd_v":0.0711456314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367343247,"cg_vq_v":-0.367343247,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0674744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.053955,"values":{"Elec_RPM":-2.31556552e-10,"EncoderCos":38707,"EncoderSin":12507,"GapTicks":54773,"Mech_RPM":-4.6311309e-11,"cg_du":50.158638,"cg_dv":50.2055817,"cg_dw":49.7944183,"cg_id_a":-0.255565464,"cg_id_raw_a":0.247303456,"cg_iq_a":0.250721157,"cg_iq_raw_a":-0.411931038,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.728210449,"cg_iw_a":0.798164845,"cg_sample_age_us":23.8781815,"cg_sample_seq":14211466,"cg_sample_valid":1,"cg_theta_rad":5.00697327,"cg_vd_req_v":0.0755879208,"cg_vd_v":0.0755879208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368434429,"cg_vq_v":-0.368434429,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0674744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.061768,"values":{"Elec_RPM":-2.26925409e-10,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-4.53850811e-11,"cg_du":50.1586113,"cg_dv":50.2122536,"cg_dw":49.7877464,"cg_id_a":-0.475543141,"cg_id_raw_a":-0.222368851,"cg_iq_a":0.738189995,"cg_iq_raw_a":-0.129439384,"cg_iu_a":0.364971876,"cg_iv_a":-0.764454246,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8600006,"cg_sample_seq":14211517,"cg_sample_valid":1,"cg_theta_rad":5.00677013,"cg_vd_req_v":0.0807441548,"cg_vd_v":0.0807441548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37777546,"cg_vq_v":-0.37777546,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.6556473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.06958,"values":{"Elec_RPM":-2.26925409e-10,"EncoderCos":38704,"EncoderSin":12502,"GapTicks":54784,"Mech_RPM":-4.53850811e-11,"cg_du":50.1550789,"cg_dv":50.1957855,"cg_dw":49.8042145,"cg_id_a":0.121148929,"cg_id_raw_a":0.174521089,"cg_iq_a":-0.514949262,"cg_iq_raw_a":-0.309675068,"cg_iu_a":0.401215553,"cg_iv_a":-0.148309112,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9218178,"cg_sample_seq":14211567,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0694229677,"cg_vd_v":0.0694229677,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354124159,"cg_vq_v":-0.354124159,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.6556473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.077393,"values":{"Elec_RPM":-2.22386901e-10,"EncoderCos":38681,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-4.44773801e-11,"cg_du":50.1597748,"cg_dv":50.199852,"cg_dw":49.800148,"cg_id_a":-0.0731593817,"cg_id_raw_a":0.142458797,"cg_iq_a":-0.169308245,"cg_iq_raw_a":0.599417329,"cg_iu_a":0.147508621,"cg_iv_a":0.0691540241,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14211617,"cg_sample_valid":1,"cg_theta_rad":5.00772476,"cg_vd_req_v":0.072764948,"cg_vd_v":0.072764948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361712694,"cg_vq_v":-0.361712694,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.6556473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.089111,"values":{"Elec_RPM":-2.22386901e-10,"EncoderCos":38736,"EncoderSin":12455,"GapTicks":54783,"Mech_RPM":-4.44773801e-11,"cg_du":50.1523132,"cg_dv":50.1968384,"cg_dw":49.8031616,"cg_id_a":0.00735770911,"cg_id_raw_a":0.713082552,"cg_iq_a":-0.463703722,"cg_iq_raw_a":1.30650723,"cg_iu_a":0.292484045,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9254551,"cg_sample_seq":14211667,"cg_sample_valid":1,"cg_theta_rad":5.0065341,"cg_vd_req_v":0.0709806681,"cg_vd_v":0.0709806681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353215605,"cg_vq_v":-0.353215605,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0674744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.096924,"values":{"Elec_RPM":-2.17939153e-10,"EncoderCos":38745,"EncoderSin":12497,"GapTicks":54775,"Mech_RPM":-4.35878313e-11,"cg_du":50.1761284,"cg_dv":50.2039909,"cg_dw":49.7960091,"cg_id_a":0.697004616,"cg_id_raw_a":-0.450182915,"cg_iq_a":0.610824406,"cg_iq_raw_a":0.760812402,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9618187,"cg_sample_seq":14211717,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0573258139,"cg_vd_v":0.0573258139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376564771,"cg_vq_v":-0.376564771,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0674744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.124268,"values":{"Elec_RPM":-2.13580376e-10,"EncoderCos":38739,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-4.27160737e-11,"cg_du":50.1602135,"cg_dv":50.2065926,"cg_dw":49.7934074,"cg_id_a":-0.165897444,"cg_id_raw_a":0.0286518279,"cg_iq_a":0.338424325,"cg_iq_raw_a":1.02254713,"cg_iu_a":-0.432392597,"cg_iv_a":-0.546991229,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9509087,"cg_sample_seq":14211867,"cg_sample_valid":1,"cg_theta_rad":5.00569534,"cg_vd_req_v":0.0732691959,"cg_vd_v":0.0732691959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372277647,"cg_vq_v":-0.372277647,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.13208,"values":{"Elec_RPM":-2.09308765e-10,"EncoderCos":38734,"EncoderSin":12496,"GapTicks":54783,"Mech_RPM":-4.18617536e-11,"cg_du":50.1467552,"cg_dv":50.1967316,"cg_dw":49.8032684,"cg_id_a":-0.179479301,"cg_id_raw_a":0.619036078,"cg_iq_a":-0.563067615,"cg_iq_raw_a":0.313017398,"cg_iu_a":1.34355533,"cg_iv_a":0.286616921,"cg_iw_a":-1.63017225,"cg_sample_age_us":23.9872723,"cg_sample_seq":14211917,"cg_sample_valid":1,"cg_theta_rad":5.00784779,"cg_vd_req_v":0.0746411532,"cg_vd_v":0.0746411532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351207703,"cg_vq_v":-0.351207703,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0773621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.139893,"values":{"Elec_RPM":-2.09308765e-10,"EncoderCos":38746,"EncoderSin":12493,"GapTicks":54780,"Mech_RPM":-4.18617536e-11,"cg_du":50.147316,"cg_dv":50.199688,"cg_dw":49.800312,"cg_id_a":-0.264609337,"cg_id_raw_a":0.719467938,"cg_iq_a":-0.541614652,"cg_iq_raw_a":-1.02602303,"cg_iu_a":1.01736081,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9509087,"cg_sample_seq":14211967,"cg_sample_valid":1,"cg_theta_rad":5.00850534,"cg_vd_req_v":0.0759328455,"cg_vd_v":0.0759328455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354677141,"cg_vq_v":-0.354677141,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0773621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.151611,"values":{"Elec_RPM":-2.05122586e-10,"EncoderCos":38699,"EncoderSin":12507,"GapTicks":54778,"Mech_RPM":-4.10245171e-11,"cg_du":50.1591949,"cg_dv":50.2012444,"cg_dw":49.7987556,"cg_id_a":-0.0244132057,"cg_id_raw_a":0.379058659,"cg_iq_a":-0.00169159099,"cg_iq_raw_a":-1.09044504,"cg_iu_a":0.328727961,"cg_iv_a":-0.583235025,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9581814,"cg_sample_seq":14212017,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0715926662,"cg_vd_v":0.0715926662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36272493,"cg_vq_v":-0.36272493,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4824829,"temp_inv2_c":39.0855713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.159424,"values":{"Elec_RPM":-2.05122586e-10,"EncoderCos":38729,"EncoderSin":12501,"GapTicks":54767,"Mech_RPM":-4.10245171e-11,"cg_du":50.1526031,"cg_dv":50.2114105,"cg_dw":49.7885895,"cg_id_a":-0.518607438,"cg_id_raw_a":-0.89479351,"cg_iq_a":0.289248884,"cg_iq_raw_a":0.317517072,"cg_iu_a":0.183752775,"cg_iv_a":0.39534843,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9327278,"cg_sample_seq":14212067,"cg_sample_valid":1,"cg_theta_rad":5.00801468,"cg_vd_req_v":0.0840220302,"cg_vd_v":0.0840220302,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372218966,"cg_vq_v":-0.372218966,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.2797279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0707703,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2569.167236,"values":{"Elec_RPM":-2.01020145e-10,"EncoderCos":38678,"EncoderSin":12455,"GapTicks":54773,"Mech_RPM":-4.02040276e-11,"cg_du":50.1712074,"cg_dv":50.2057686,"cg_dw":49.7942314,"cg_id_a":0.0757022873,"cg_id_raw_a":0.477669716,"cg_iq_a":0.418703437,"cg_iq_raw_a":-0.16612342,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9581814,"cg_sample_seq":14212117,"cg_sample_valid":1,"cg_theta_rad":5.00656033,"cg_vd_req_v":0.0697279796,"cg_vd_v":0.0697279796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375057578,"cg_vq_v":-0.375057578,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.2797279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0707703,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.175049,"values":{"Elec_RPM":-2.01020145e-10,"EncoderCos":38757,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-4.02040276e-11,"cg_du":50.1635399,"cg_dv":50.2083817,"cg_dw":49.7916183,"cg_id_a":-0.0577565506,"cg_id_raw_a":0.169973239,"cg_iq_a":0.468244851,"cg_iq_raw_a":0.88910532,"cg_iu_a":0.256240129,"cg_iv_a":-0.112065315,"cg_iw_a":-0.144174814,"cg_sample_age_us":23.9254551,"cg_sample_seq":14212166,"cg_sample_valid":1,"cg_theta_rad":5.00712681,"cg_vd_req_v":0.0710881874,"cg_vd_v":0.0710881874,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376826882,"cg_vq_v":-0.376826882,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.74226189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0691528,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.186768,"values":{"Elec_RPM":-1.9699975e-10,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-3.93999486e-11,"cg_du":50.1654091,"cg_dv":50.2096062,"cg_dw":49.7903938,"cg_id_a":-0.184086427,"cg_id_raw_a":0.181569502,"cg_iq_a":0.411104202,"cg_iq_raw_a":-0.381860286,"cg_iu_a":0.219996452,"cg_iv_a":0.141641557,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9618187,"cg_sample_seq":14212216,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0747003257,"cg_vd_v":0.0747003257,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37879765,"cg_vq_v":-0.37879765,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.74226189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0148926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.214111,"values":{"Elec_RPM":-1.9699975e-10,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-3.93999486e-11,"cg_du":50.1594391,"cg_dv":50.1997604,"cg_dw":49.8002396,"cg_id_a":0.0899921656,"cg_id_raw_a":-0.0607266054,"cg_iq_a":-0.491468072,"cg_iq_raw_a":-0.732955754,"cg_iu_a":-0.396148682,"cg_iv_a":0.250373065,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9618187,"cg_sample_seq":14212270,"cg_sample_valid":1,"cg_theta_rad":5.00621557,"cg_vd_req_v":0.0677402467,"cg_vd_v":0.0677402467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361270756,"cg_vq_v":-0.361270756,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.74226189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0148926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.221924,"values":{"Elec_RPM":-1.93059749e-10,"EncoderCos":38725,"EncoderSin":12495,"GapTicks":54772,"Mech_RPM":-3.86119504e-11,"cg_du":50.1615982,"cg_dv":50.2066994,"cg_dw":49.7933006,"cg_id_a":-0.138264596,"cg_id_raw_a":0.263941944,"cg_iq_a":0.0330432951,"cg_iq_raw_a":0.0622559339,"cg_iu_a":-0.468636274,"cg_iv_a":-0.329528213,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9581814,"cg_sample_seq":14212317,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0729187801,"cg_vd_v":0.0729187801,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370727777,"cg_vq_v":-0.370727777,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2569.229736,"values":{"Elec_RPM":-1.93059749e-10,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-3.86119504e-11,"cg_du":50.1704712,"cg_dv":50.1994972,"cg_dw":49.8005028,"cg_id_a":0.529992521,"cg_id_raw_a":0.792078376,"cg_iq_a":-0.347203642,"cg_iq_raw_a":-0.175459862,"cg_iu_a":-1.04853773,"cg_iv_a":-0.0758213997,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9581814,"cg_sample_seq":14212367,"cg_sample_valid":1,"cg_theta_rad":5.00796509,"cg_vd_req_v":0.0606230944,"cg_vd_v":0.0606230944,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365632206,"cg_vq_v":-0.365632206,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2569.237549,"values":{"Elec_RPM":-1.89198546e-10,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.78397105e-11,"cg_du":50.1665802,"cg_dv":50.2075882,"cg_dw":49.7924118,"cg_id_a":-0.136971533,"cg_id_raw_a":0.277942657,"cg_iq_a":0.0812447816,"cg_iq_raw_a":-0.0810302272,"cg_iu_a":-0.287417412,"cg_iv_a":-0.474503636,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9872723,"cg_sample_seq":14212417,"cg_sample_valid":1,"cg_theta_rad":5.00923491,"cg_vd_req_v":0.0712717772,"cg_vd_v":0.0712717772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374444216,"cg_vq_v":-0.374444216,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0658569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2569.245361,"values":{"Elec_RPM":-1.89198546e-10,"EncoderCos":38705,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-3.78397105e-11,"cg_du":50.1723022,"cg_dv":50.2064896,"cg_dw":49.7935104,"cg_id_a":0.114234358,"cg_id_raw_a":-0.312173456,"cg_iq_a":0.0846819878,"cg_iq_raw_a":-0.0668063536,"cg_iu_a":-0.359904766,"cg_iv_a":0.467836082,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9618187,"cg_sample_seq":14212466,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0665935576,"cg_vd_v":0.0665935576,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378375918,"cg_vq_v":-0.378375918,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.253174,"values":{"Elec_RPM":-1.85414586e-10,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-3.70829166e-11,"cg_du":50.1667099,"cg_dv":50.2085419,"cg_dw":49.7914581,"cg_id_a":-0.143262148,"cg_id_raw_a":-0.111363389,"cg_iq_a":-0.13168025,"cg_iq_raw_a":-0.410326391,"cg_iu_a":-0.867318392,"cg_iv_a":-0.25704062,"cg_iw_a":1.12435901,"cg_sample_age_us":23.9290905,"cg_sample_seq":14212516,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.071130529,"cg_vd_v":0.071130529,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377182484,"cg_vq_v":-0.377182484,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.264893,"values":{"Elec_RPM":-1.85414586e-10,"EncoderCos":38687,"EncoderSin":12507,"GapTicks":54762,"Mech_RPM":-3.70829166e-11,"cg_du":50.1775665,"cg_dv":50.2158012,"cg_dw":49.7841988,"cg_id_a":-0.289232671,"cg_id_raw_a":-0.165405974,"cg_iq_a":0.381423891,"cg_iq_raw_a":0.348150432,"cg_iu_a":0.618678808,"cg_iv_a":-0.72821033,"cg_iw_a":0.109531522,"cg_sample_age_us":23.9909096,"cg_sample_seq":14212566,"cg_sample_valid":1,"cg_theta_rad":5.00639677,"cg_vd_req_v":0.0726952776,"cg_vd_v":0.0726952776,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393819481,"cg_vq_v":-0.393819481,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.272705,"values":{"Elec_RPM":-1.81706303e-10,"EncoderCos":38713,"EncoderSin":12491,"GapTicks":54771,"Mech_RPM":-3.63412599e-11,"cg_du":50.1779709,"cg_dv":50.2078323,"cg_dw":49.7921677,"cg_id_a":0.256609589,"cg_id_raw_a":0.0240736734,"cg_iq_a":-0.28338325,"cg_iq_raw_a":0.14883022,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9763641,"cg_sample_seq":14212616,"cg_sample_valid":1,"cg_theta_rad":5.00667477,"cg_vd_req_v":0.0625104383,"cg_vd_v":0.0625104383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382368028,"cg_vq_v":-0.382368028,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0543518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.280518,"values":{"Elec_RPM":-1.81706303e-10,"EncoderCos":38729,"EncoderSin":12530,"GapTicks":54753,"Mech_RPM":-3.63412599e-11,"cg_du":50.1762047,"cg_dv":50.2238426,"cg_dw":49.7761574,"cg_id_a":-0.351000607,"cg_id_raw_a":0.0534775853,"cg_iq_a":0.766898632,"cg_iq_raw_a":0.296861321,"cg_iu_a":-0.722343206,"cg_iv_a":-0.655722737,"cg_iw_a":1.37806594,"cg_sample_age_us":23.9618187,"cg_sample_seq":14212666,"cg_sample_valid":1,"cg_theta_rad":5.00666618,"cg_vd_req_v":0.0769176781,"cg_vd_v":0.0769176781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403630227,"cg_vq_v":-0.403630227,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0543518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.28833,"values":{"Elec_RPM":-1.78072168e-10,"EncoderCos":38704,"EncoderSin":12501,"GapTicks":54763,"Mech_RPM":-3.5614435e-11,"cg_du":50.1683884,"cg_dv":50.2148819,"cg_dw":49.7851181,"cg_id_a":-0.267772853,"cg_id_raw_a":0.171625808,"cg_iq_a":-0.143446952,"cg_iq_raw_a":-0.492062777,"cg_iu_a":0.183752775,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9654541,"cg_sample_seq":14212716,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0774142444,"cg_vd_v":0.0774142444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386459857,"cg_vq_v":-0.386459857,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.315674,"values":{"Elec_RPM":-1.78072168e-10,"EncoderCos":38744,"EncoderSin":12512,"GapTicks":54763,"Mech_RPM":-3.5614435e-11,"cg_du":50.1812935,"cg_dv":50.2148705,"cg_dw":49.7851295,"cg_id_a":0.383110672,"cg_id_raw_a":-0.0103824586,"cg_iq_a":0.319914788,"cg_iq_raw_a":1.01874518,"cg_iu_a":0.328727961,"cg_iv_a":0.177885473,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.954546,"cg_sample_seq":14212771,"cg_sample_valid":1,"cg_theta_rad":5.00723267,"cg_vd_req_v":0.0634014681,"cg_vd_v":0.0634014681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394353837,"cg_vq_v":-0.394353837,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.327393,"values":{"Elec_RPM":-1.74510739e-10,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-3.49021471e-11,"cg_du":50.1708984,"cg_dv":50.2100296,"cg_dw":49.7899704,"cg_id_a":0.101899862,"cg_id_raw_a":0.378380746,"cg_iq_a":-0.153045401,"cg_iq_raw_a":-0.036017254,"cg_iu_a":0.79989779,"cg_iv_a":0.649055243,"cg_iw_a":-1.44895303,"cg_sample_age_us":23.863636,"cg_sample_seq":14212816,"cg_sample_valid":1,"cg_theta_rad":5.00521326,"cg_vd_req_v":0.0693514049,"cg_vd_v":0.0693514049,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382736683,"cg_vq_v":-0.382736683,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0461426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.335205,"values":{"Elec_RPM":-1.74510739e-10,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-3.49021471e-11,"cg_du":50.1680832,"cg_dv":50.2088318,"cg_dw":49.7911682,"cg_id_a":0.00575377047,"cg_id_raw_a":-0.180787534,"cg_iq_a":-0.417250425,"cg_iq_raw_a":-0.125379443,"cg_iu_a":-0.214929581,"cg_iv_a":0.540323794,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9509087,"cg_sample_seq":14212866,"cg_sample_valid":1,"cg_theta_rad":5.00704956,"cg_vd_req_v":0.0699418187,"cg_vd_v":0.0699418187,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379604042,"cg_vq_v":-0.379604042,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.343018,"values":{"Elec_RPM":-1.71020531e-10,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-3.42041048e-11,"cg_du":50.1756783,"cg_dv":50.2112503,"cg_dw":49.7887497,"cg_id_a":0.0892398506,"cg_id_raw_a":-0.628175259,"cg_iq_a":-0.235736176,"cg_iq_raw_a":-0.0612011291,"cg_iu_a":-0.14244175,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945267,"cg_sample_age_us":23.9836369,"cg_sample_seq":14212916,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0679376572,"cg_vd_v":0.0679376572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385673285,"cg_vq_v":-0.385673285,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4313354,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.354736,"values":{"Elec_RPM":-1.71020531e-10,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54767,"Mech_RPM":-3.42041048e-11,"cg_du":50.1651649,"cg_dv":50.2111206,"cg_dw":49.7888794,"cg_id_a":-0.206904799,"cg_id_raw_a":-0.142988741,"cg_iq_a":-0.446538806,"cg_iq_raw_a":-0.303860933,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9763641,"cg_sample_seq":14212966,"cg_sample_valid":1,"cg_theta_rad":5.00718307,"cg_vd_req_v":0.074273102,"cg_vd_v":0.074273102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379940599,"cg_vq_v":-0.379940599,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0576477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.362549,"values":{"Elec_RPM":-1.67600114e-10,"EncoderCos":38738,"EncoderSin":12545,"GapTicks":54762,"Mech_RPM":-3.35200236e-11,"cg_du":50.1646996,"cg_dv":50.2157555,"cg_dw":49.7842445,"cg_id_a":-0.226486519,"cg_id_raw_a":0.378132701,"cg_iq_a":-0.278854191,"cg_iq_raw_a":-0.0385344513,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309112,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9654541,"cg_sample_seq":14213016,"cg_sample_valid":1,"cg_theta_rad":5.0062561,"cg_vd_req_v":0.0769944936,"cg_vd_v":0.0769944936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386426449,"cg_vq_v":-0.386426449,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.07901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.370361,"values":{"Elec_RPM":-1.67600114e-10,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-3.35200236e-11,"cg_du":50.1716728,"cg_dv":50.2198257,"cg_dw":49.7801743,"cg_id_a":-0.379290849,"cg_id_raw_a":-0.819024742,"cg_iq_a":0.0262481272,"cg_iq_raw_a":-0.045979932,"cg_iu_a":-0.468636513,"cg_iv_a":0.177885413,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14213066,"cg_sample_valid":1,"cg_theta_rad":5.00661135,"cg_vd_req_v":0.080556117,"cg_vd_v":0.080556117,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394837588,"cg_vq_v":-0.394837588,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.7387676,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.07901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.378174,"values":{"Elec_RPM":-1.64248115e-10,"EncoderCos":38717,"EncoderSin":12497,"GapTicks":54756,"Mech_RPM":-3.28496223e-11,"cg_du":50.1754036,"cg_dv":50.2215614,"cg_dw":49.7784386,"cg_id_a":-0.195802569,"cg_id_raw_a":0.0414578393,"cg_iq_a":0.299935907,"cg_iq_raw_a":0.62382102,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213116,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0775860995,"cg_vd_v":0.0775860995,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400899798,"cg_vq_v":-0.400899798,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1603642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.385986,"values":{"Elec_RPM":-1.64248115e-10,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54759,"Mech_RPM":-3.28496223e-11,"cg_du":50.173851,"cg_dv":50.2183304,"cg_dw":49.7816696,"cg_id_a":-0.0701100975,"cg_id_raw_a":-0.250863701,"cg_iq_a":0.00270017982,"cg_iq_raw_a":-1.58878112,"cg_iu_a":0.61867857,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9654541,"cg_sample_seq":14213166,"cg_sample_valid":1,"cg_theta_rad":5.00810146,"cg_vd_req_v":0.0752864778,"cg_vd_v":0.0752864778,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395689696,"cg_vq_v":-0.395689696,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1603642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.080658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.41333,"values":{"Elec_RPM":-1.60963159e-10,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-3.21926305e-11,"cg_du":50.1694603,"cg_dv":50.2180519,"cg_dw":49.7819481,"cg_id_a":-0.28031075,"cg_id_raw_a":-1.17838776,"cg_iq_a":-0.135211676,"cg_iq_raw_a":2.14420247,"cg_iu_a":-0.86731863,"cg_iv_a":-0.329528213,"cg_iw_a":1.19684684,"cg_sample_age_us":23.863636,"cg_sample_seq":14213271,"cg_sample_valid":1,"cg_theta_rad":5.00738716,"cg_vd_req_v":0.0787561387,"cg_vd_v":0.0787561387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391551226,"cg_vq_v":-0.391551226,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.062561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.421143,"values":{"Elec_RPM":-1.57743887e-10,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54753,"Mech_RPM":-3.15487775e-11,"cg_du":50.1788101,"cg_dv":50.2239265,"cg_dw":49.7760735,"cg_id_a":-0.259166628,"cg_id_raw_a":-0.419464409,"cg_iq_a":0.467015058,"cg_iq_raw_a":0.57761389,"cg_iu_a":0.038777113,"cg_iv_a":0.141641617,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9618187,"cg_sample_seq":14213317,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0788567588,"cg_vd_v":0.0788567588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40444845,"cg_vq_v":-0.40444845,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.062561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.428955,"values":{"Elec_RPM":-1.57743887e-10,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-3.15487775e-11,"cg_du":50.1748276,"cg_dv":50.2161751,"cg_dw":49.7838249,"cg_id_a":0.180544838,"cg_id_raw_a":0.236255452,"cg_iq_a":-0.100328594,"cg_iq_raw_a":-0.522570968,"cg_iu_a":0.256240129,"cg_iv_a":0.250373125,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9581814,"cg_sample_seq":14213367,"cg_sample_valid":1,"cg_theta_rad":5.00765371,"cg_vd_req_v":0.0725621358,"cg_vd_v":0.0725621358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392040849,"cg_vq_v":-0.392040849,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0658569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.440674,"values":{"Elec_RPM":-1.54589008e-10,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54764,"Mech_RPM":-3.0917803e-11,"cg_du":50.1738548,"cg_dv":50.2145233,"cg_dw":49.7854767,"cg_id_a":0.218385473,"cg_id_raw_a":0.233387232,"cg_iq_a":-0.232675225,"cg_iq_raw_a":-0.704782307,"cg_iu_a":0.111264944,"cg_iv_a":0.685299039,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213416,"cg_sample_valid":1,"cg_theta_rad":5.00647831,"cg_vd_req_v":0.0720230639,"cg_vd_v":0.0720230639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38919422,"cg_vq_v":-0.38919422,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.448486,"values":{"Elec_RPM":-1.54589008e-10,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54763,"Mech_RPM":-3.0917803e-11,"cg_du":50.1721497,"cg_dv":50.2151794,"cg_dw":49.7848206,"cg_id_a":-0.0102992058,"cg_id_raw_a":-0.343892902,"cg_iq_a":-0.19248566,"cg_iq_raw_a":0.0385200009,"cg_iu_a":0.582434893,"cg_iv_a":0.612811446,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213466,"cg_sample_valid":1,"cg_theta_rad":5.00982714,"cg_vd_req_v":0.0761063844,"cg_vd_v":0.0761063844,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389945745,"cg_vq_v":-0.389945745,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4569092,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.456299,"values":{"Elec_RPM":-1.51497231e-10,"EncoderCos":38704,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-3.0299447e-11,"cg_du":50.1760254,"cg_dv":50.2148743,"cg_dw":49.7851257,"cg_id_a":0.161857754,"cg_id_raw_a":0.162292033,"cg_iq_a":0.0174673647,"cg_iq_raw_a":-0.602129638,"cg_iu_a":0.147508621,"cg_iv_a":0.250373065,"cg_iw_a":-0.397881687,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213516,"cg_sample_valid":1,"cg_theta_rad":5.0058012,"cg_vd_req_v":0.0721209422,"cg_vd_v":0.0721209422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391846061,"cg_vq_v":-0.391846061,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0165405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.468018,"values":{"Elec_RPM":-1.51497231e-10,"EncoderCos":38748,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-3.0299447e-11,"cg_du":50.1711578,"cg_dv":50.215126,"cg_dw":49.784874,"cg_id_a":0.0831976831,"cg_id_raw_a":0.340291202,"cg_iq_a":0.126727879,"cg_iq_raw_a":-0.550826192,"cg_iu_a":-0.541124105,"cg_iv_a":0.286616981,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213566,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0718849674,"cg_vd_v":0.0718849674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389033705,"cg_vq_v":-0.389033705,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0165405,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.47583,"values":{"Elec_RPM":-1.48467294e-10,"EncoderCos":38712,"EncoderSin":12507,"GapTicks":54763,"Mech_RPM":-2.96934595e-11,"cg_du":50.1735687,"cg_dv":50.2152977,"cg_dw":49.7847023,"cg_id_a":0.0606664307,"cg_id_raw_a":0.506384313,"cg_iq_a":0.316166312,"cg_iq_raw_a":0.596155405,"cg_iu_a":-0.178685904,"cg_iv_a":-0.365772009,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9836369,"cg_sample_seq":14213616,"cg_sample_valid":1,"cg_theta_rad":5.00626135,"cg_vd_req_v":0.0728900284,"cg_vd_v":0.0728900284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390105724,"cg_vq_v":-0.390105724,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.483643,"values":{"Elec_RPM":-1.48467294e-10,"EncoderCos":38760,"EncoderSin":12528,"GapTicks":54769,"Mech_RPM":-2.96934595e-11,"cg_du":50.1692429,"cg_dv":50.2091141,"cg_dw":49.7908859,"cg_id_a":0.37804696,"cg_id_raw_a":0.257933348,"cg_iq_a":-0.191789985,"cg_iq_raw_a":0.38634488,"cg_iu_a":-0.287417173,"cg_iv_a":1.5551511,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9472733,"cg_sample_seq":14213666,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0655752048,"cg_vd_v":0.0655752048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38011083,"cg_vq_v":-0.38011083,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.491455,"values":{"Elec_RPM":-1.45497947e-10,"EncoderCos":38697,"EncoderSin":12500,"GapTicks":54774,"Mech_RPM":-2.90995908e-11,"cg_du":50.1683693,"cg_dv":50.2050972,"cg_dw":49.7949028,"cg_id_a":0.199668333,"cg_id_raw_a":0.0361316055,"cg_iq_a":-0.407324374,"cg_iq_raw_a":0.441590875,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9690914,"cg_sample_seq":14213716,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0685152709,"cg_vd_v":0.0685152709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37305665,"cg_vq_v":-0.37305665,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.518799,"values":{"Elec_RPM":-1.45497947e-10,"EncoderCos":38716,"EncoderSin":12477,"GapTicks":54758,"Mech_RPM":-2.90995908e-11,"cg_du":50.1756172,"cg_dv":50.2192459,"cg_dw":49.7807541,"cg_id_a":-0.163917452,"cg_id_raw_a":-1.1314404,"cg_iq_a":0.768333912,"cg_iq_raw_a":1.63776278,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.8527279,"cg_sample_seq":14213771,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0758013427,"cg_vd_v":0.0758013427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397738308,"cg_vq_v":-0.397738308,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.6777611,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0428467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.530518,"values":{"Elec_RPM":-1.42587997e-10,"EncoderCos":38723,"EncoderSin":12490,"GapTicks":54770,"Mech_RPM":-2.85175997e-11,"cg_du":50.1686134,"cg_dv":50.2088699,"cg_dw":49.7911301,"cg_id_a":0.132117033,"cg_id_raw_a":-0.0108119063,"cg_iq_a":-0.232533455,"cg_iq_raw_a":-0.801237822,"cg_iu_a":0.727410197,"cg_iv_a":0.685299158,"cg_iw_a":-1.41270936,"cg_sample_age_us":23.9254551,"cg_sample_seq":14213816,"cg_sample_valid":1,"cg_theta_rad":5.00773764,"cg_vd_req_v":0.0702409148,"cg_vd_v":0.0702409148,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379829913,"cg_vq_v":-0.379829913,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.53833,"values":{"Elec_RPM":-1.42587997e-10,"EncoderCos":38772,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-2.85175997e-11,"cg_du":50.1681557,"cg_dv":50.2136574,"cg_dw":49.7863426,"cg_id_a":0.0166262612,"cg_id_raw_a":0.449832171,"cg_iq_a":0.155466288,"cg_iq_raw_a":-0.142610744,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552848,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9909096,"cg_sample_seq":14213867,"cg_sample_valid":1,"cg_theta_rad":5.00615978,"cg_vd_req_v":0.071139209,"cg_vd_v":0.071139209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385674745,"cg_vq_v":-0.385674745,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.8833351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0510559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.546143,"values":{"Elec_RPM":-1.39736236e-10,"EncoderCos":38681,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-2.79472469e-11,"cg_du":50.1584244,"cg_dv":50.2090683,"cg_dw":49.7909317,"cg_id_a":-0.460602164,"cg_id_raw_a":-0.97938329,"cg_iq_a":-0.402954012,"cg_iq_raw_a":-1.30649495,"cg_iu_a":-0.287417173,"cg_iv_a":0.431592226,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9909096,"cg_sample_seq":14213916,"cg_sample_valid":1,"cg_theta_rad":5.00627041,"cg_vd_req_v":0.0822760165,"cg_vd_v":0.0822760165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372370362,"cg_vq_v":-0.372370362,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0609131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.553955,"values":{"Elec_RPM":-1.39736236e-10,"EncoderCos":38713,"EncoderSin":12493,"GapTicks":54774,"Mech_RPM":-2.79472469e-11,"cg_du":50.1627159,"cg_dv":50.2046013,"cg_dw":49.7953987,"cg_id_a":-0.00989500806,"cg_id_raw_a":0.247137636,"cg_iq_a":-0.427804261,"cg_iq_raw_a":-0.412030458,"cg_iu_a":0.618678689,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9509087,"cg_sample_seq":14213967,"cg_sample_valid":1,"cg_theta_rad":5.00653315,"cg_vd_req_v":0.0712859556,"cg_vd_v":0.0712859556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369420409,"cg_vq_v":-0.369420409,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0609131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.561768,"values":{"Elec_RPM":-1.36941514e-10,"EncoderCos":38716,"EncoderSin":12505,"GapTicks":54767,"Mech_RPM":-2.73883017e-11,"cg_du":50.160717,"cg_dv":50.2112427,"cg_dw":49.7887573,"cg_id_a":-0.375183463,"cg_id_raw_a":-0.982455909,"cg_iq_a":0.0375674665,"cg_iq_raw_a":0.998572469,"cg_iu_a":0.836141586,"cg_iv_a":0.322860718,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.8563633,"cg_sample_seq":14214016,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.0787454396,"cg_vd_v":0.0787454396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377440661,"cg_vq_v":-0.377440661,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.56958,"values":{"Elec_RPM":-1.36941514e-10,"EncoderCos":38730,"EncoderSin":12496,"GapTicks":54770,"Mech_RPM":-2.73883017e-11,"cg_du":50.1684875,"cg_dv":50.2082443,"cg_dw":49.7917557,"cg_id_a":0.0569641739,"cg_id_raw_a":0.191373393,"cg_iq_a":0.197995901,"cg_iq_raw_a":0.164340138,"cg_iu_a":-0.251173258,"cg_iv_a":0.214129329,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.863636,"cg_sample_seq":14214066,"cg_sample_valid":1,"cg_theta_rad":5.00813866,"cg_vd_req_v":0.0689711943,"cg_vd_v":0.0689711943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379041702,"cg_vq_v":-0.379041702,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.581299,"values":{"Elec_RPM":-1.34202677e-10,"EncoderCos":38696,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-2.6840535e-11,"cg_du":50.1796608,"cg_dv":50.2096481,"cg_dw":49.7903519,"cg_id_a":0.1498155,"cg_id_raw_a":0.0495648533,"cg_iq_a":0.56210345,"cg_iq_raw_a":1.53609216,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9072723,"cg_sample_seq":14214117,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0646858588,"cg_vd_v":0.0646858588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385498941,"cg_vq_v":-0.385498941,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.589111,"values":{"Elec_RPM":-1.34202677e-10,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54770,"Mech_RPM":-2.6840535e-11,"cg_du":50.1812363,"cg_dv":50.2084999,"cg_dw":49.7915001,"cg_id_a":0.309171081,"cg_id_raw_a":1.14775777,"cg_iq_a":0.495877504,"cg_iq_raw_a":0.696172655,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8600006,"cg_sample_seq":14214166,"cg_sample_valid":1,"cg_theta_rad":5.0065074,"cg_vd_req_v":0.0606966317,"cg_vd_v":0.0606966317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385092199,"cg_vq_v":-0.385092199,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0444641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.596924,"values":{"Elec_RPM":-1.31518629e-10,"EncoderCos":38719,"EncoderSin":12492,"GapTicks":54766,"Mech_RPM":-2.63037248e-11,"cg_du":50.1865273,"cg_dv":50.2122803,"cg_dw":49.7877197,"cg_id_a":0.382964283,"cg_id_raw_a":0.395776808,"cg_iq_a":0.732154012,"cg_iq_raw_a":0.00257458421,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9836369,"cg_sample_seq":14214216,"cg_sample_valid":1,"cg_theta_rad":5.00593233,"cg_vd_req_v":0.0595611259,"cg_vd_v":0.0595611259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393302053,"cg_vq_v":-0.393302053,"cg_vu_v":29.912693,"cg_vv_v":19.795166,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0379028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.624268,"values":{"Elec_RPM":-1.31518629e-10,"EncoderCos":38750,"EncoderSin":12505,"GapTicks":54771,"Mech_RPM":-2.63037248e-11,"cg_du":50.1693878,"cg_dv":50.2077484,"cg_dw":49.7922516,"cg_id_a":0.0403481573,"cg_id_raw_a":-0.316276371,"cg_iq_a":0.141978577,"cg_iq_raw_a":-0.500183225,"cg_iu_a":0.00253343582,"cg_iv_a":0.757786751,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.863636,"cg_sample_seq":14214270,"cg_sample_valid":1,"cg_theta_rad":5.00639677,"cg_vd_req_v":0.0656205788,"cg_vd_v":0.0656205788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378066599,"cg_vq_v":-0.378066599,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0379028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.635986,"values":{"Elec_RPM":-1.28888261e-10,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-2.57776508e-11,"cg_du":50.1663857,"cg_dv":50.2104225,"cg_dw":49.7895775,"cg_id_a":-0.322113186,"cg_id_raw_a":0.159052193,"cg_iq_a":0.306725413,"cg_iq_raw_a":0.271439552,"cg_iu_a":-0.178685904,"cg_iv_a":0.830274463,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9509087,"cg_sample_seq":14214317,"cg_sample_valid":1,"cg_theta_rad":5.00733614,"cg_vd_req_v":0.0746349692,"cg_vd_v":0.0746349692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380478084,"cg_vq_v":-0.380478084,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.643799,"values":{"Elec_RPM":-1.28888261e-10,"EncoderCos":38700,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-2.57776508e-11,"cg_du":50.1629066,"cg_dv":50.2027588,"cg_dw":49.7972412,"cg_id_a":-0.144297421,"cg_id_raw_a":-0.153178409,"cg_iq_a":-0.423870742,"cg_iq_raw_a":-0.597587228,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9763641,"cg_sample_seq":14214367,"cg_sample_valid":1,"cg_theta_rad":5.0059495,"cg_vd_req_v":0.0708489642,"cg_vd_v":0.0708489642,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36789459,"cg_vq_v":-0.36789459,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0740662,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.651611,"values":{"Elec_RPM":-1.2631049e-10,"EncoderCos":38741,"EncoderSin":12541,"GapTicks":54770,"Mech_RPM":-2.5262098e-11,"cg_du":50.158474,"cg_dv":50.2085838,"cg_dw":49.7914162,"cg_id_a":-0.279926479,"cg_id_raw_a":0.071416989,"cg_iq_a":-0.145432413,"cg_iq_raw_a":-0.611437976,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9581814,"cg_sample_seq":14214417,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.07510259,"cg_vd_v":0.07510259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374328792,"cg_vq_v":-0.374328792,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.6777611,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0461426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.659424,"values":{"Elec_RPM":-1.23784288e-10,"EncoderCos":38710,"EncoderSin":12496,"GapTicks":54775,"Mech_RPM":-2.47568563e-11,"cg_du":50.1682739,"cg_dv":50.2038918,"cg_dw":49.7961082,"cg_id_a":0.117383197,"cg_id_raw_a":-0.738975108,"cg_iq_a":-0.324921429,"cg_iq_raw_a":-0.217484072,"cg_iu_a":0.0750212669,"cg_iv_a":0.975249767,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9618187,"cg_sample_seq":14214566,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0664152578,"cg_vd_v":0.0664152578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371548682,"cg_vq_v":-0.371548682,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.667236,"values":{"Elec_RPM":-1.21308602e-10,"EncoderCos":38701,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-2.42617194e-11,"cg_du":50.1625214,"cg_dv":50.1969414,"cg_dw":49.8030586,"cg_id_a":0.107027888,"cg_id_raw_a":-0.287519842,"cg_iq_a":-0.763688207,"cg_iq_raw_a":-0.720702767,"cg_iu_a":0.256240368,"cg_iv_a":0.322860837,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9290905,"cg_sample_seq":14214616,"cg_sample_valid":1,"cg_theta_rad":5.00665951,"cg_vd_req_v":0.0654663667,"cg_vd_v":0.0654663667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358637631,"cg_vq_v":-0.358637631,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0921631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.675049,"values":{"Elec_RPM":-1.21308602e-10,"EncoderCos":38715,"EncoderSin":12494,"GapTicks":54778,"Mech_RPM":-2.42617194e-11,"cg_du":50.1620865,"cg_dv":50.2010422,"cg_dw":49.7989578,"cg_id_a":0.0663451999,"cg_id_raw_a":0.121959709,"cg_iq_a":-0.310627669,"cg_iq_raw_a":-0.424312681,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860718,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.954546,"cg_sample_seq":14214666,"cg_sample_valid":1,"cg_theta_rad":5.00555801,"cg_vd_req_v":0.0681288242,"cg_vd_v":0.0681288242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364265651,"cg_vq_v":-0.364265651,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.4057617,"temp_inv2_c":39.0921631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.682861,"values":{"Elec_RPM":-1.18882418e-10,"EncoderCos":38701,"EncoderSin":12523,"GapTicks":54785,"Mech_RPM":-2.37764843e-11,"cg_du":50.1475449,"cg_dv":50.1950417,"cg_dw":49.8049583,"cg_id_a":-0.21931088,"cg_id_raw_a":-0.337781161,"cg_iq_a":-0.850117445,"cg_iq_raw_a":-1.08860576,"cg_iu_a":0.872385502,"cg_iv_a":-0.148309112,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14214716,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0741300136,"cg_vd_v":0.0741300136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347862065,"cg_vq_v":-0.347862065,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.714111,"values":{"Elec_RPM":-1.18882418e-10,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-2.37764843e-11,"cg_du":50.1567955,"cg_dv":50.2023544,"cg_dw":49.7976456,"cg_id_a":-0.0994401276,"cg_id_raw_a":-0.0652935877,"cg_iq_a":0.0736694857,"cg_iq_raw_a":0.213124827,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8527279,"cg_sample_seq":14214771,"cg_sample_valid":1,"cg_theta_rad":5.00775528,"cg_vd_req_v":0.0720931962,"cg_vd_v":0.0720931962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36337623,"cg_vq_v":-0.36337623,"cg_vu_v":117.891212,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.721924,"values":{"Elec_RPM":-1.16504778e-10,"EncoderCos":38729,"EncoderSin":12497,"GapTicks":54774,"Mech_RPM":-2.33009549e-11,"cg_du":50.1621742,"cg_dv":50.2047386,"cg_dw":49.7952614,"cg_id_a":-0.0617052019,"cg_id_raw_a":0.381201684,"cg_iq_a":0.286166012,"cg_iq_raw_a":-0.291055143,"cg_iu_a":-0.468636274,"cg_iv_a":0.214129329,"cg_iw_a":0.254506946,"cg_sample_age_us":23.954546,"cg_sample_seq":14214816,"cg_sample_valid":1,"cg_theta_rad":5.00784922,"cg_vd_req_v":0.070400238,"cg_vd_v":0.070400238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369583011,"cg_vq_v":-0.369583011,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.049408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.729736,"values":{"Elec_RPM":-1.16504778e-10,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54780,"Mech_RPM":-2.33009549e-11,"cg_du":50.1579399,"cg_dv":50.1995544,"cg_dw":49.8004456,"cg_id_a":-0.0417047776,"cg_id_raw_a":-0.29571867,"cg_iq_a":-0.0396963693,"cg_iq_raw_a":0.408869267,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9581814,"cg_sample_seq":14214866,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.07015495,"cg_vd_v":0.07015495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359876961,"cg_vq_v":-0.359876961,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.5573578,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0444641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.737549,"values":{"Elec_RPM":-1.14174677e-10,"EncoderCos":38703,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-2.28349353e-11,"cg_du":50.1624908,"cg_dv":50.2040749,"cg_dw":49.7959251,"cg_id_a":-0.139579743,"cg_id_raw_a":0.172616437,"cg_iq_a":0.295947075,"cg_iq_raw_a":-0.491716385,"cg_iu_a":0.183752537,"cg_iv_a":0.322860718,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9690914,"cg_sample_seq":14214916,"cg_sample_valid":1,"cg_theta_rad":5.00577736,"cg_vd_req_v":0.0722468197,"cg_vd_v":0.0722468197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368328005,"cg_vq_v":-0.368328005,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.5573578,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0444641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.749268,"values":{"Elec_RPM":-1.14174677e-10,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-2.28349353e-11,"cg_du":50.1557808,"cg_dv":50.1955986,"cg_dw":49.8044014,"cg_id_a":0.0888135433,"cg_id_raw_a":0.365888923,"cg_iq_a":-0.472907901,"cg_iq_raw_a":-0.764518738,"cg_iu_a":0.582434893,"cg_iv_a":0.467836142,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9836369,"cg_sample_seq":14214966,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.068054162,"cg_vd_v":0.068054162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35327515,"cg_vq_v":-0.35327515,"cg_vu_v":21.5547352,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.032959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.75708,"values":{"Elec_RPM":-1.11891184e-10,"EncoderCos":38739,"EncoderSin":12486,"GapTicks":54778,"Mech_RPM":-2.23782364e-11,"cg_du":50.1546288,"cg_dv":50.2016563,"cg_dw":49.7983437,"cg_id_a":-0.0669263154,"cg_id_raw_a":0.113213271,"cg_iq_a":-0.115044981,"cg_iq_raw_a":-0.352725387,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215016,"cg_sample_valid":1,"cg_theta_rad":5.00623274,"cg_vd_req_v":0.0730318427,"cg_vd_v":0.0730318427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362378418,"cg_vq_v":-0.362378418,"cg_vu_v":19.3552723,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0379028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.764893,"values":{"Elec_RPM":-1.11891184e-10,"EncoderCos":38709,"EncoderSin":12477,"GapTicks":54781,"Mech_RPM":-2.23782364e-11,"cg_du":50.1603622,"cg_dv":50.198185,"cg_dw":49.801815,"cg_id_a":0.167493105,"cg_id_raw_a":0.346922725,"cg_iq_a":-0.0824223757,"cg_iq_raw_a":0.071856156,"cg_iu_a":0.256240368,"cg_iv_a":0.322860837,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9509087,"cg_sample_seq":14215066,"cg_sample_valid":1,"cg_theta_rad":5.00589466,"cg_vd_req_v":0.0676200315,"cg_vd_v":0.0676200315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359244734,"cg_vq_v":-0.359244734,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0379028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.772705,"values":{"Elec_RPM":-1.09653363e-10,"EncoderCos":38716,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-2.19306726e-11,"cg_du":50.1663857,"cg_dv":50.2045975,"cg_dw":49.7954025,"cg_id_a":0.0657182559,"cg_id_raw_a":-0.233333319,"cg_iq_a":0.52633673,"cg_iq_raw_a":0.633546412,"cg_iu_a":0.183752775,"cg_iv_a":-0.00333374739,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9618187,"cg_sample_seq":14215116,"cg_sample_valid":1,"cg_theta_rad":5.00681734,"cg_vd_req_v":0.068281129,"cg_vd_v":0.068281129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371500969,"cg_vq_v":-0.371500969,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0214539,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.780518,"values":{"Elec_RPM":-1.09653363e-10,"EncoderCos":38720,"EncoderSin":12497,"GapTicks":54786,"Mech_RPM":-2.19306726e-11,"cg_du":50.1441689,"cg_dv":50.1938515,"cg_dw":49.8061485,"cg_id_a":-0.259183168,"cg_id_raw_a":-0.0802730992,"cg_iq_a":-0.64197433,"cg_iq_raw_a":-1.39047801,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129269,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215166,"cg_sample_valid":1,"cg_theta_rad":5.00737858,"cg_vd_req_v":0.074745968,"cg_vd_v":0.074745968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34453994,"cg_vq_v":-0.34453994,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0214539,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.78833,"values":{"Elec_RPM":-1.07460298e-10,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-2.14920599e-11,"cg_du":50.1568489,"cg_dv":50.1953926,"cg_dw":49.8046074,"cg_id_a":0.0701345056,"cg_id_raw_a":-0.0648800805,"cg_iq_a":-0.102293365,"cg_iq_raw_a":-0.224316448,"cg_iu_a":0.546190977,"cg_iv_a":-0.329528213,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215216,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0682631582,"cg_vd_v":0.0682631582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354470491,"cg_vq_v":-0.354470491,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":38.9886169,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.81958,"values":{"Elec_RPM":-1.07460298e-10,"EncoderCos":38744,"EncoderSin":12495,"GapTicks":54787,"Mech_RPM":-2.14920599e-11,"cg_du":50.1501465,"cg_dv":50.1929398,"cg_dw":49.8070602,"cg_id_a":0.110192403,"cg_id_raw_a":-0.461929291,"cg_iq_a":-0.425227284,"cg_iq_raw_a":-0.041014839,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395776033,"cg_iw_a":0.689433038,"cg_sample_age_us":23.863636,"cg_sample_seq":14215271,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.0673150197,"cg_vd_v":0.0673150197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347007781,"cg_vq_v":-0.347007781,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.827393,"values":{"Elec_RPM":-1.05311093e-10,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-2.10622179e-11,"cg_du":50.1499939,"cg_dv":50.1935577,"cg_dw":49.8064423,"cg_id_a":-0.133332878,"cg_id_raw_a":-0.176085025,"cg_iq_a":-0.284624696,"cg_iq_raw_a":-0.38077867,"cg_iu_a":0.14750886,"cg_iv_a":0.431592226,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.954546,"cg_sample_seq":14215366,"cg_sample_valid":1,"cg_theta_rad":5.00809431,"cg_vd_req_v":0.0708526894,"cg_vd_v":0.0708526894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347205967,"cg_vq_v":-0.347205967,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.1799469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0066833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.835205,"values":{"Elec_RPM":-1.03204868e-10,"EncoderCos":38703,"EncoderSin":12454,"GapTicks":54787,"Mech_RPM":-2.06409733e-11,"cg_du":50.1535683,"cg_dv":50.1932678,"cg_dw":49.8067322,"cg_id_a":0.000316545367,"cg_id_raw_a":0.293645591,"cg_iq_a":-0.190068349,"cg_iq_raw_a":-0.843447626,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14215416,"cg_sample_valid":1,"cg_theta_rad":5.00811815,"cg_vd_req_v":0.0693796575,"cg_vd_v":0.0693796575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349601328,"cg_vq_v":-0.349601328,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.1799469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0247498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.843018,"values":{"Elec_RPM":-1.03204868e-10,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-2.06409733e-11,"cg_du":50.14571,"cg_dv":50.197197,"cg_dw":49.802803,"cg_id_a":-0.325120836,"cg_id_raw_a":0.0769139528,"cg_iq_a":-0.0930733755,"cg_iq_raw_a":-0.610770881,"cg_iu_a":0.256240368,"cg_iv_a":-0.546991229,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9836369,"cg_sample_seq":14215466,"cg_sample_valid":1,"cg_theta_rad":5.00804758,"cg_vd_req_v":0.0771875009,"cg_vd_v":0.0771875009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34986499,"cg_vq_v":-0.34986499,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.4111938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0247498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.85083,"values":{"Elec_RPM":-1.01140769e-10,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-2.02281542e-11,"cg_du":50.1572647,"cg_dv":50.1968575,"cg_dw":49.8031425,"cg_id_a":0.0132501572,"cg_id_raw_a":-0.211636305,"cg_iq_a":0.302812755,"cg_iq_raw_a":-0.0206649639,"cg_iu_a":0.509947062,"cg_iv_a":-0.0395775437,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9254551,"cg_sample_seq":14215516,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.0695357695,"cg_vd_v":0.0695357695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356667697,"cg_vq_v":-0.356667697,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.4111938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0526733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.862549,"values":{"Elec_RPM":-1.01140769e-10,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-2.02281542e-11,"cg_du":50.1532402,"cg_dv":50.1969452,"cg_dw":49.8030548,"cg_id_a":-0.0360220931,"cg_id_raw_a":-0.176924855,"cg_iq_a":0.0154879503,"cg_iq_raw_a":0.0569044799,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215566,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0701100528,"cg_vd_v":0.0701100528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353930235,"cg_vq_v":-0.353930235,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.6412773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3802185,"temp_inv2_c":39.0526733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.870361,"values":{"Elec_RPM":-9.911795e-11,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-1.98235907e-11,"cg_du":50.1528778,"cg_dv":50.1954918,"cg_dw":49.8045082,"cg_id_a":-0.129477248,"cg_id_raw_a":0.0839955658,"cg_iq_a":-0.211088687,"cg_iq_raw_a":-0.245832115,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.863636,"cg_sample_seq":14215616,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0705451667,"cg_vd_v":0.0705451667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351438642,"cg_vq_v":-0.351438642,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.6412773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.04776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.878174,"values":{"Elec_RPM":-9.911795e-11,"EncoderCos":38730,"EncoderSin":12482,"GapTicks":54778,"Mech_RPM":-1.98235907e-11,"cg_du":50.1600723,"cg_dv":50.2015533,"cg_dw":49.7984467,"cg_id_a":-0.0513773449,"cg_id_raw_a":-0.381501883,"cg_iq_a":0.269497842,"cg_iq_raw_a":0.219537362,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14215666,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.0692684501,"cg_vd_v":0.0692684501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364012629,"cg_vq_v":-0.364012629,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.885986,"values":{"Elec_RPM":-9.71355982e-11,"EncoderCos":38760,"EncoderSin":12548,"GapTicks":54780,"Mech_RPM":-1.94271196e-11,"cg_du":50.1519203,"cg_dv":50.1996994,"cg_dw":49.8003006,"cg_id_a":-0.0329409279,"cg_id_raw_a":-0.00327033643,"cg_iq_a":-0.0383392721,"cg_iq_raw_a":-0.254051447,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8527279,"cg_sample_seq":14215716,"cg_sample_valid":1,"cg_theta_rad":5.00786114,"cg_vd_req_v":0.0698094293,"cg_vd_v":0.0698094293,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357745051,"cg_vq_v":-0.357745051,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0411682,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.893799,"values":{"Elec_RPM":-9.71355982e-11,"EncoderCos":38718,"EncoderSin":12484,"GapTicks":54782,"Mech_RPM":-1.94271196e-11,"cg_du":50.1586952,"cg_dv":50.1976318,"cg_dw":49.8023682,"cg_id_a":0.0875649825,"cg_id_raw_a":-0.132144317,"cg_iq_a":-0.127413794,"cg_iq_raw_a":0.242855683,"cg_iu_a":0.111264944,"cg_iv_a":0.395348489,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.863636,"cg_sample_seq":14215767,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0674829334,"cg_vd_v":0.0674829334,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357727081,"cg_vq_v":-0.357727081,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0181885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.925049,"values":{"Elec_RPM":-9.51928883e-11,"EncoderCos":38717,"EncoderSin":12506,"GapTicks":54787,"Mech_RPM":-1.9038578e-11,"cg_du":50.1546745,"cg_dv":50.1931229,"cg_dw":49.8068771,"cg_id_a":0.175059408,"cg_id_raw_a":-0.0277401283,"cg_iq_a":-0.591965914,"cg_iq_raw_a":0.0345524065,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215820,"cg_sample_valid":1,"cg_theta_rad":5.00776577,"cg_vd_req_v":0.0660032034,"cg_vd_v":0.0660032034,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350488514,"cg_vq_v":-0.350488514,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0198364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.932861,"values":{"Elec_RPM":-9.51928883e-11,"EncoderCos":38700,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-1.9038578e-11,"cg_du":50.160614,"cg_dv":50.1994591,"cg_dw":49.8005409,"cg_id_a":5.26756048e-06,"cg_id_raw_a":0.466285139,"cg_iq_a":-0.0166728795,"cg_iq_raw_a":-0.899113297,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.619478941,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9581814,"cg_sample_seq":14215866,"cg_sample_valid":1,"cg_theta_rad":5.00814152,"cg_vd_req_v":0.0694155321,"cg_vd_v":0.0694155321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36210987,"cg_vq_v":-0.36210987,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0198364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.940674,"values":{"Elec_RPM":-9.32890293e-11,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54781,"Mech_RPM":-1.86578062e-11,"cg_du":50.1646233,"cg_dv":50.198288,"cg_dw":49.801712,"cg_id_a":0.301465034,"cg_id_raw_a":0.326444477,"cg_iq_a":-0.00468065962,"cg_iq_raw_a":-0.149636656,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9836369,"cg_sample_seq":14215916,"cg_sample_valid":1,"cg_theta_rad":5.0055213,"cg_vd_req_v":0.0635213703,"cg_vd_v":0.0635213703,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363067627,"cg_vq_v":-0.363067627,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0313416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.948486,"values":{"Elec_RPM":-9.32890293e-11,"EncoderCos":38716,"EncoderSin":12527,"GapTicks":54771,"Mech_RPM":-1.86578062e-11,"cg_du":50.1627235,"cg_dv":50.2074013,"cg_dw":49.7925987,"cg_id_a":-0.161325306,"cg_id_raw_a":0.13277261,"cg_iq_a":0.331332237,"cg_iq_raw_a":0.559472024,"cg_iu_a":-0.323661089,"cg_iv_a":-0.438259721,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9654541,"cg_sample_seq":14215966,"cg_sample_valid":1,"cg_theta_rad":5.00764608,"cg_vd_req_v":0.0730973333,"cg_vd_v":0.0730973333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374590665,"cg_vq_v":-0.374590665,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0313416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.956299,"values":{"Elec_RPM":-9.14232509e-11,"EncoderCos":38718,"EncoderSin":12519,"GapTicks":54779,"Mech_RPM":-1.82846498e-11,"cg_du":50.1524315,"cg_dv":50.2004967,"cg_dw":49.7995033,"cg_id_a":-0.208608314,"cg_id_raw_a":-0.587955654,"cg_iq_a":-0.383486629,"cg_iq_raw_a":-0.928702235,"cg_iu_a":0.256240129,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.8600006,"cg_sample_seq":14216016,"cg_sample_valid":1,"cg_theta_rad":5.00763988,"cg_vd_req_v":0.0743186995,"cg_vd_v":0.0743186995,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358288616,"cg_vq_v":-0.358288616,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0379028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.964111,"values":{"Elec_RPM":-9.14232509e-11,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54775,"Mech_RPM":-1.82846498e-11,"cg_du":50.1661224,"cg_dv":50.2041702,"cg_dw":49.7958298,"cg_id_a":0.207011089,"cg_id_raw_a":-0.124201186,"cg_iq_a":0.094747141,"cg_iq_raw_a":-0.703166366,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333368778,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8563633,"cg_sample_seq":14216067,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.0678154379,"cg_vd_v":0.0678154379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369653702,"cg_vq_v":-0.369653702,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.5331917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0050354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2569.970796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2569.970801,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2569.970805,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2569.97583,"values":{"Elec_RPM":-8.9594783e-11,"EncoderCos":38727,"EncoderSin":12549,"GapTicks":54773,"Mech_RPM":-1.79189562e-11,"cg_du":50.162941,"cg_dv":50.2056961,"cg_dw":49.7943039,"cg_id_a":-0.108232945,"cg_id_raw_a":-0.124008112,"cg_iq_a":0.00849227607,"cg_iq_raw_a":0.171523094,"cg_iu_a":0.328727961,"cg_iv_a":-0.148308992,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9218178,"cg_sample_seq":14216117,"cg_sample_valid":1,"cg_theta_rad":5.00846529,"cg_vd_req_v":0.0746647418,"cg_vd_v":0.0746647418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369371295,"cg_vq_v":-0.369371295,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.0422897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0050354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2569.983643,"values":{"Elec_RPM":-8.9594783e-11,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54773,"Mech_RPM":-1.79189562e-11,"cg_du":50.1664772,"cg_dv":50.205822,"cg_dw":49.794178,"cg_id_a":0.0962336808,"cg_id_raw_a":0.204595521,"cg_iq_a":0.219501406,"cg_iq_raw_a":0.457560837,"cg_iu_a":0.183752775,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.8600006,"cg_sample_seq":14216166,"cg_sample_valid":1,"cg_theta_rad":5.00726223,"cg_vd_req_v":0.0693610609,"cg_vd_v":0.0693610609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374395818,"cg_vq_v":-0.374395818,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2507505,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0313416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2569.991455,"values":{"Elec_RPM":-8.780289e-11,"EncoderCos":38706,"EncoderSin":12494,"GapTicks":54783,"Mech_RPM":-1.7560578e-11,"cg_du":50.1575584,"cg_dv":50.196682,"cg_dw":49.803318,"cg_id_a":0.0597787872,"cg_id_raw_a":-0.198691204,"cg_iq_a":-0.712732315,"cg_iq_raw_a":0.27244693,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14216217,"cg_sample_valid":1,"cg_theta_rad":5.00736237,"cg_vd_req_v":0.0681754425,"cg_vd_v":0.0681754425,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355660021,"cg_vq_v":-0.355660021,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0132446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2569.999268,"values":{"Elec_RPM":-8.780289e-11,"EncoderCos":38751,"EncoderSin":12511,"GapTicks":54778,"Mech_RPM":-1.7560578e-11,"cg_du":50.1534691,"cg_dv":50.2010612,"cg_dw":49.7989388,"cg_id_a":-0.143044338,"cg_id_raw_a":-0.181539938,"cg_iq_a":-0.45888406,"cg_iq_raw_a":-0.124287516,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14216267,"cg_sample_valid":1,"cg_theta_rad":5.00714636,"cg_vd_req_v":0.0715430826,"cg_vd_v":0.0715430826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36014235,"cg_vq_v":-0.36014235,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0132446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.026611,"values":{"Elec_RPM":-8.60468294e-11,"EncoderCos":38764,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-1.72093659e-11,"cg_du":50.1503334,"cg_dv":50.2087746,"cg_dw":49.7912254,"cg_id_a":-0.596615374,"cg_id_raw_a":-0.52946794,"cg_iq_a":0.082723096,"cg_iq_raw_a":-0.954775751,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104574,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9690914,"cg_sample_seq":14216320,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0811202005,"cg_vd_v":0.0811202005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369030178,"cg_vq_v":-0.369030178,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.03833,"values":{"Elec_RPM":-8.60468294e-11,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-1.72093659e-11,"cg_du":50.1656189,"cg_dv":50.2076988,"cg_dw":49.7923012,"cg_id_a":-0.0658061504,"cg_id_raw_a":0.238848001,"cg_iq_a":0.367497891,"cg_iq_raw_a":0.533931613,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14216366,"cg_sample_valid":1,"cg_theta_rad":5.00652313,"cg_vd_req_v":0.0719421953,"cg_vd_v":0.0719421953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375278026,"cg_vq_v":-0.375278026,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2560,"hz_tim_isr":4998,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.046143,"values":{"Elec_RPM":-8.43258935e-11,"EncoderCos":38758,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.68651794e-11,"cg_du":50.1545792,"cg_dv":50.2070656,"cg_dw":49.7929344,"cg_id_a":-0.308748424,"cg_id_raw_a":-0.935473919,"cg_iq_a":0.12680909,"cg_iq_raw_a":2.46509171,"cg_iu_a":1.37979925,"cg_iv_a":0.322860718,"cg_iw_a":-1.70265996,"cg_sample_age_us":23.8527279,"cg_sample_seq":14216416,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.0766280442,"cg_vd_v":0.0766280442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368930399,"cg_vq_v":-0.368930399,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.003418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.053955,"values":{"Elec_RPM":-8.43258935e-11,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-1.68651794e-11,"cg_du":50.1595802,"cg_dv":50.2039337,"cg_dw":49.7960663,"cg_id_a":-0.197648153,"cg_id_raw_a":-0.559158802,"cg_iq_a":0.0996997952,"cg_iq_raw_a":0.0910530239,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065196,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9218178,"cg_sample_seq":14216466,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0738186687,"cg_vd_v":0.0738186687,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367767513,"cg_vq_v":-0.367767513,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0181885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.061768,"values":{"Elec_RPM":-8.26393814e-11,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-1.65278763e-11,"cg_du":50.1548615,"cg_dv":50.1970215,"cg_dw":49.8029785,"cg_id_a":-0.0661416501,"cg_id_raw_a":0.135913819,"cg_iq_a":-0.378720343,"cg_iq_raw_a":-0.568626285,"cg_iu_a":0.582434654,"cg_iv_a":0.250373125,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9254551,"cg_sample_seq":14216516,"cg_sample_valid":1,"cg_theta_rad":5.00781775,"cg_vd_req_v":0.0700585321,"cg_vd_v":0.0700585321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355837137,"cg_vq_v":-0.355837137,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0181885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.06958,"values":{"Elec_RPM":-8.26393814e-11,"EncoderCos":38729,"EncoderSin":12485,"GapTicks":54790,"Mech_RPM":-1.65278763e-11,"cg_du":50.1564331,"cg_dv":50.1901855,"cg_dw":49.8098145,"cg_id_a":0.33870098,"cg_id_raw_a":0.347284704,"cg_iq_a":-0.758614361,"cg_iq_raw_a":0.0700858459,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373065,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9836369,"cg_sample_seq":14216566,"cg_sample_valid":1,"cg_theta_rad":5.00702095,"cg_vd_req_v":0.0613139234,"cg_vd_v":0.0613139234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347543955,"cg_vq_v":-0.347543955,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0116272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.081299,"values":{"Elec_RPM":-8.09865994e-11,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-1.61973195e-11,"cg_du":50.1650391,"cg_dv":50.2009125,"cg_dw":49.7990875,"cg_id_a":0.0628422648,"cg_id_raw_a":0.98244077,"cg_iq_a":0.125196636,"cg_iq_raw_a":0.864302695,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8963642,"cg_sample_seq":14216616,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0667955205,"cg_vd_v":0.0667955205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365545005,"cg_vq_v":-0.365545005,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0263977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.089111,"values":{"Elec_RPM":-8.09865994e-11,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-1.61973195e-11,"cg_du":50.1837502,"cg_dv":50.2037888,"cg_dw":49.7962112,"cg_id_a":0.755044699,"cg_id_raw_a":0.486634254,"cg_iq_a":0.901581705,"cg_iq_raw_a":0.37449953,"cg_iu_a":0.546190977,"cg_iv_a":0.540323734,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9872723,"cg_sample_seq":14216666,"cg_sample_valid":1,"cg_theta_rad":5.00737095,"cg_vd_req_v":0.052798856,"cg_vd_v":0.052798856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380292773,"cg_vq_v":-0.380292773,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0263977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.096924,"values":{"Elec_RPM":-7.93668672e-11,"EncoderCos":38750,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-1.58733738e-11,"cg_du":50.1630783,"cg_dv":50.1999092,"cg_dw":49.8000908,"cg_id_a":0.137499824,"cg_id_raw_a":0.0114469649,"cg_iq_a":0.113523006,"cg_iq_raw_a":-0.398459643,"cg_iu_a":-1.22975683,"cg_iv_a":0.57656759,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9836369,"cg_sample_seq":14216716,"cg_sample_valid":1,"cg_theta_rad":5.00660324,"cg_vd_req_v":0.0636331588,"cg_vd_v":0.0636331588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363747895,"cg_vq_v":-0.363747895,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9639893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.124268,"values":{"Elec_RPM":-7.77795259e-11,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-1.55559055e-11,"cg_du":50.165184,"cg_dv":50.2007446,"cg_dw":49.7992554,"cg_id_a":0.0236182678,"cg_id_raw_a":-0.10189046,"cg_iq_a":0.494446695,"cg_iq_raw_a":1.26536,"cg_iu_a":0.401215553,"cg_iv_a":-0.220796704,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8600006,"cg_sample_seq":14216821,"cg_sample_valid":1,"cg_theta_rad":5.00551414,"cg_vd_req_v":0.0645855144,"cg_vd_v":0.0645855144,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36689201,"cg_vq_v":-0.36689201,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.4234352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0099487,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.13208,"values":{"Elec_RPM":-7.77795259e-11,"EncoderCos":38710,"EncoderSin":12471,"GapTicks":54783,"Mech_RPM":-1.55559055e-11,"cg_du":50.164917,"cg_dv":50.1965446,"cg_dw":49.8034554,"cg_id_a":0.129408717,"cg_id_raw_a":0.398554683,"cg_iq_a":0.0955077484,"cg_iq_raw_a":0.18635878,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9654541,"cg_sample_seq":14216866,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0627062395,"cg_vd_v":0.0627062395,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360663086,"cg_vq_v":-0.360663086,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.139893,"values":{"Elec_RPM":-7.62239438e-11,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54781,"Mech_RPM":-1.52447881e-11,"cg_du":50.1627808,"cg_dv":50.199028,"cg_dw":49.800972,"cg_id_a":0.0775365159,"cg_id_raw_a":0.406112164,"cg_iq_a":0.135848314,"cg_iq_raw_a":0.112999618,"cg_iu_a":0.328727961,"cg_iv_a":0.105397761,"cg_iw_a":0.435726106,"cg_sample_age_us":23.9581814,"cg_sample_seq":14216917,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0655151606,"cg_vd_v":0.0655151606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36193943,"cg_vq_v":-0.36193943,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.151611,"values":{"Elec_RPM":-7.62239438e-11,"EncoderCos":38702,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-1.52447881e-11,"cg_du":50.1587563,"cg_dv":50.1912041,"cg_dw":49.8087959,"cg_id_a":0.226977527,"cg_id_raw_a":-0.483810365,"cg_iq_a":-0.632820249,"cg_iq_raw_a":-0.44884643,"cg_iu_a":0.292484045,"cg_iv_a":0.975249767,"cg_iw_a":-1.26773381,"cg_sample_age_us":23.9836369,"cg_sample_seq":14216966,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.062530905,"cg_vd_v":0.062530905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348785669,"cg_vq_v":-0.348785669,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0099487,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.159424,"values":{"Elec_RPM":-7.46994688e-11,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-1.49398931e-11,"cg_du":50.1571388,"cg_dv":50.2062416,"cg_dw":49.7937584,"cg_id_a":-0.459187239,"cg_id_raw_a":-0.15518935,"cg_iq_a":0.330693632,"cg_iq_raw_a":-0.597068489,"cg_iu_a":0.328727961,"cg_iv_a":-0.148309112,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9618187,"cg_sample_seq":14217016,"cg_sample_valid":1,"cg_theta_rad":5.00791359,"cg_vd_req_v":0.0773121938,"cg_vd_v":0.0773121938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368510932,"cg_vq_v":-0.368510932,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.167236,"values":{"Elec_RPM":-7.46994688e-11,"EncoderCos":38710,"EncoderSin":12504,"GapTicks":54777,"Mech_RPM":-1.49398931e-11,"cg_du":50.1576576,"cg_dv":50.2023849,"cg_dw":49.7976151,"cg_id_a":-0.214275643,"cg_id_raw_a":0.0939536765,"cg_iq_a":0.12569505,"cg_iq_raw_a":-0.135681584,"cg_iu_a":0.473703384,"cg_iv_a":0.612811446,"cg_iw_a":-1.08651483,"cg_sample_age_us":24.0381813,"cg_sample_seq":14217066,"cg_sample_valid":1,"cg_theta_rad":5.00714016,"cg_vd_req_v":0.0730747879,"cg_vd_v":0.0730747879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363571644,"cg_vq_v":-0.363571644,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0083313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.178955,"values":{"Elec_RPM":-7.32054764e-11,"EncoderCos":38735,"EncoderSin":12466,"GapTicks":54785,"Mech_RPM":-1.46410956e-11,"cg_du":50.1503906,"cg_dv":50.194912,"cg_dw":49.805088,"cg_id_a":-0.0537091643,"cg_id_raw_a":0.367073178,"cg_iq_a":-0.379738241,"cg_iq_raw_a":-0.583363354,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333374739,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9618187,"cg_sample_seq":14217116,"cg_sample_valid":1,"cg_theta_rad":5.00523138,"cg_vd_req_v":0.0704393014,"cg_vd_v":0.0704393014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349553257,"cg_vq_v":-0.349553257,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.186768,"values":{"Elec_RPM":-7.32054764e-11,"EncoderCos":38696,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-1.46410956e-11,"cg_du":50.1598625,"cg_dv":50.1918182,"cg_dw":49.8081818,"cg_id_a":0.255789697,"cg_id_raw_a":0.40083006,"cg_iq_a":-0.219156846,"cg_iq_raw_a":-0.249546215,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9763641,"cg_sample_seq":14217166,"cg_sample_valid":1,"cg_theta_rad":5.00607967,"cg_vd_req_v":0.0627639592,"cg_vd_v":0.0627639592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350149155,"cg_vq_v":-0.350149155,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.19458,"values":{"Elec_RPM":-7.17413698e-11,"EncoderCos":38699,"EncoderSin":12488,"GapTicks":54786,"Mech_RPM":-1.43482734e-11,"cg_du":50.1564293,"cg_dv":50.1938477,"cg_dw":49.8061523,"cg_id_a":0.0272087827,"cg_id_raw_a":0.197427541,"cg_iq_a":-0.0877060443,"cg_iq_raw_a":0.0936722904,"cg_iu_a":0.763653994,"cg_iv_a":0.250373125,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9618187,"cg_sample_seq":14217216,"cg_sample_valid":1,"cg_theta_rad":5.00713587,"cg_vd_req_v":0.0670032054,"cg_vd_v":0.0670032054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351042569,"cg_vq_v":-0.351042569,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3546753,"temp_inv2_c":39.0132446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.202393,"values":{"Elec_RPM":-7.17413698e-11,"EncoderCos":38719,"EncoderSin":12509,"GapTicks":54791,"Mech_RPM":-1.43482734e-11,"cg_du":50.1483803,"cg_dv":50.1896782,"cg_dw":49.8103218,"cg_id_a":0.0508261994,"cg_id_raw_a":0.068552874,"cg_iq_a":-0.494529992,"cg_iq_raw_a":-0.975680292,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373065,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8781815,"cg_sample_seq":14217266,"cg_sample_valid":1,"cg_theta_rad":5.0075469,"cg_vd_req_v":0.0671825781,"cg_vd_v":0.0671825781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341256469,"cg_vq_v":-0.341256469,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9968262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.229736,"values":{"Elec_RPM":-7.03065384e-11,"EncoderCos":38738,"EncoderSin":12530,"GapTicks":54787,"Mech_RPM":-1.40613077e-11,"cg_du":50.1459389,"cg_dv":50.1935081,"cg_dw":49.8064919,"cg_id_a":-0.175290927,"cg_id_raw_a":0.0705354661,"cg_iq_a":-0.352940917,"cg_iq_raw_a":-0.356772065,"cg_iu_a":0.219996452,"cg_iv_a":-0.800698042,"cg_iw_a":0.58070159,"cg_sample_age_us":23.863636,"cg_sample_seq":14217321,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.0708177686,"cg_vd_v":0.0708177686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345519513,"cg_vq_v":-0.345519513,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9968262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.237549,"values":{"Elec_RPM":-7.03065384e-11,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-1.40613077e-11,"cg_du":50.1529236,"cg_dv":50.1967506,"cg_dw":49.8032494,"cg_id_a":-0.28303498,"cg_id_raw_a":0.368128538,"cg_iq_a":0.282171667,"cg_iq_raw_a":-0.145529181,"cg_iu_a":0.546190977,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14217366,"cg_sample_valid":1,"cg_theta_rad":5.00698423,"cg_vd_req_v":0.0710916817,"cg_vd_v":0.0710916817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353302926,"cg_vq_v":-0.353302926,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.245361,"values":{"Elec_RPM":-6.89004062e-11,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-1.37800812e-11,"cg_du":50.1467171,"cg_dv":50.1925049,"cg_dw":49.8074951,"cg_id_a":-0.324588478,"cg_id_raw_a":-0.156024352,"cg_iq_a":-0.204558387,"cg_iq_raw_a":-0.160038278,"cg_iu_a":0.654922366,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14217416,"cg_sample_valid":1,"cg_theta_rad":5.00685358,"cg_vd_req_v":0.0719181895,"cg_vd_v":0.0719181895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344034523,"cg_vq_v":-0.344034523,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.1359062,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.253174,"values":{"Elec_RPM":-6.89004062e-11,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54790,"Mech_RPM":-1.37800812e-11,"cg_du":50.144249,"cg_dv":50.1903992,"cg_dw":49.8096008,"cg_id_a":-0.346370131,"cg_id_raw_a":-0.305458486,"cg_iq_a":-0.360789269,"cg_iq_raw_a":-0.137852818,"cg_iu_a":0.763653994,"cg_iv_a":0.0691539049,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9836369,"cg_sample_seq":14217466,"cg_sample_valid":1,"cg_theta_rad":5.00709057,"cg_vd_req_v":0.0714742318,"cg_vd_v":0.0714742318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339852393,"cg_vq_v":-0.339852393,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.1359062,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.264893,"values":{"Elec_RPM":-6.75223974e-11,"EncoderCos":38707,"EncoderSin":12469,"GapTicks":54785,"Mech_RPM":-1.35044797e-11,"cg_du":50.1602173,"cg_dv":50.1946907,"cg_dw":49.8053093,"cg_id_a":0.0641858354,"cg_id_raw_a":0.324385911,"cg_iq_a":0.280367851,"cg_iq_raw_a":-0.33076492,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9763641,"cg_sample_seq":14217516,"cg_sample_valid":1,"cg_theta_rad":5.00693607,"cg_vd_req_v":0.0646777302,"cg_vd_v":0.0646777302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354353696,"cg_vq_v":-0.354353696,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.7264137,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.272705,"values":{"Elec_RPM":-6.75223974e-11,"EncoderCos":38812,"EncoderSin":12506,"GapTicks":54782,"Mech_RPM":-1.35044797e-11,"cg_du":50.1516724,"cg_dv":50.1973495,"cg_dw":49.8026505,"cg_id_a":0.0610391907,"cg_id_raw_a":-0.386519015,"cg_iq_a":0.300344497,"cg_iq_raw_a":-0.209596545,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9654541,"cg_sample_seq":14217566,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0646117479,"cg_vd_v":0.0646117479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354975402,"cg_vq_v":-0.354975402,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.090670228,"dclink_p_w":-13.1222172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.280518,"values":{"Elec_RPM":-6.61719499e-11,"EncoderCos":38693,"EncoderSin":12480,"GapTicks":54790,"Mech_RPM":-1.32343901e-11,"cg_du":50.1582947,"cg_dv":50.190052,"cg_dw":49.809948,"cg_id_a":0.17070353,"cg_id_raw_a":0.126686499,"cg_iq_a":-0.118927732,"cg_iq_raw_a":-0.241167337,"cg_iu_a":-0.613611698,"cg_iv_a":0.177885413,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9799995,"cg_sample_seq":14217616,"cg_sample_valid":1,"cg_theta_rad":5.00786781,"cg_vd_req_v":0.0624972507,"cg_vd_v":0.0624972507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346829265,"cg_vq_v":-0.346829265,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0280457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.292236,"values":{"Elec_RPM":-6.61719499e-11,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54797,"Mech_RPM":-1.32343901e-11,"cg_du":50.1502953,"cg_dv":50.1841316,"cg_dw":49.8158684,"cg_id_a":0.12618196,"cg_id_raw_a":0.111454025,"cg_iq_a":-0.596258283,"cg_iq_raw_a":-0.0973477662,"cg_iu_a":-0.577367783,"cg_iv_a":0.0691539049,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9618187,"cg_sample_seq":14217667,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0617847294,"cg_vd_v":0.0617847294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334506601,"cg_vq_v":-0.334506601,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.4312897,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9443054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.300049,"values":{"Elec_RPM":-6.48485154e-11,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-1.29697026e-11,"cg_du":50.1564064,"cg_dv":50.1946983,"cg_dw":49.8053017,"cg_id_a":-0.103498727,"cg_id_raw_a":-0.478809774,"cg_iq_a":0.218069285,"cg_iq_raw_a":-0.0830883905,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9690914,"cg_sample_seq":14217716,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0670830533,"cg_vd_v":0.0670830533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35232988,"cg_vq_v":-0.35232988,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.11048305,"dclink_p_w":15.9896212,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9443054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.307861,"values":{"Elec_RPM":-6.48485154e-11,"EncoderCos":38728,"EncoderSin":12540,"GapTicks":54786,"Mech_RPM":-1.29697026e-11,"cg_du":50.1576614,"cg_dv":50.1940575,"cg_dw":49.8059425,"cg_id_a":0.176064447,"cg_id_raw_a":0.555924594,"cg_iq_a":0.280442566,"cg_iq_raw_a":0.0878203064,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9872723,"cg_sample_seq":14217766,"cg_sample_valid":1,"cg_theta_rad":5.00869513,"cg_vd_req_v":0.0626523718,"cg_vd_v":0.0626523718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352680594,"cg_vq_v":-0.352680594,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9935303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.335205,"values":{"Elec_RPM":-6.3551539e-11,"EncoderCos":38736,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-1.27103085e-11,"cg_du":50.1479378,"cg_dv":50.1961098,"cg_dw":49.8038902,"cg_id_a":-0.363747776,"cg_id_raw_a":-0.686518073,"cg_iq_a":0.113120697,"cg_iq_raw_a":0.336868197,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772069,"cg_iw_a":0.471970141,"cg_sample_age_us":23.8745461,"cg_sample_seq":14217821,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0732327551,"cg_vd_v":0.0732327551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349879235,"cg_vq_v":-0.349879235,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0148926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.346924,"values":{"Elec_RPM":-6.3551539e-11,"EncoderCos":38707,"EncoderSin":12459,"GapTicks":54787,"Mech_RPM":-1.27103085e-11,"cg_du":50.1546249,"cg_dv":50.1931801,"cg_dw":49.8068199,"cg_id_a":-0.0984490663,"cg_id_raw_a":-0.770070195,"cg_iq_a":-0.05467242,"cg_iq_raw_a":-0.113804229,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8600006,"cg_sample_seq":14217866,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.0678223819,"cg_vd_v":0.0678223819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349104404,"cg_vq_v":-0.349104404,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":39.0148926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.354736,"values":{"Elec_RPM":-6.22805141e-11,"EncoderCos":38723,"EncoderSin":12495,"GapTicks":54772,"Mech_RPM":-1.24561021e-11,"cg_du":50.1745949,"cg_dv":50.2071838,"cg_dw":49.7928162,"cg_id_a":0.116391644,"cg_id_raw_a":0.243272647,"cg_iq_a":1.4509393,"cg_iq_raw_a":0.278856725,"cg_iu_a":0.0750212669,"cg_iv_a":-0.764454246,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9654541,"cg_sample_seq":14217916,"cg_sample_valid":1,"cg_theta_rad":5.00681734,"cg_vd_req_v":0.0635647252,"cg_vd_v":0.0635647252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37975651,"cg_vq_v":-0.37975651,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.362549,"values":{"Elec_RPM":-6.22805141e-11,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54782,"Mech_RPM":-1.24561021e-11,"cg_du":50.1522331,"cg_dv":50.1974297,"cg_dw":49.8025703,"cg_id_a":-0.277053595,"cg_id_raw_a":-0.273331374,"cg_iq_a":0.10996522,"cg_iq_raw_a":-0.681346357,"cg_iu_a":0.836141706,"cg_iv_a":-0.148309112,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9472733,"cg_sample_seq":14217966,"cg_sample_valid":1,"cg_theta_rad":5.00888729,"cg_vd_req_v":0.0724565834,"cg_vd_v":0.0724565834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353804648,"cg_vq_v":-0.353804648,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.370361,"values":{"Elec_RPM":-5.98142022e-11,"EncoderCos":38714,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-1.19628404e-11,"cg_du":50.1585503,"cg_dv":50.1975479,"cg_dw":49.8024521,"cg_id_a":0.267984301,"cg_id_raw_a":0.243894428,"cg_iq_a":0.199036539,"cg_iq_raw_a":-0.594447553,"cg_iu_a":0.401215792,"cg_iv_a":0.105397761,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.954546,"cg_sample_seq":14218117,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.0678707063,"cg_vd_v":0.0678707063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358586311,"cg_vq_v":-0.358586311,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9984436,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.378174,"values":{"Elec_RPM":-5.98142022e-11,"EncoderCos":38708,"EncoderSin":12522,"GapTicks":54785,"Mech_RPM":-1.19628404e-11,"cg_du":50.1461601,"cg_dv":50.1947098,"cg_dw":49.8052902,"cg_id_a":-0.0773120224,"cg_id_raw_a":0.41005978,"cg_iq_a":-0.37962395,"cg_iq_raw_a":-0.578486681,"cg_iu_a":0.473703146,"cg_iv_a":-0.112065315,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.9763641,"cg_sample_seq":14218167,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0745883361,"cg_vd_v":0.0745883361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347798288,"cg_vq_v":-0.347798288,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.385986,"values":{"Elec_RPM":-5.86179161e-11,"EncoderCos":38711,"EncoderSin":12491,"GapTicks":54788,"Mech_RPM":-1.17235839e-11,"cg_du":50.1535645,"cg_dv":50.1920471,"cg_dw":49.8079529,"cg_id_a":0.272760302,"cg_id_raw_a":0.187522754,"cg_iq_a":-0.419406742,"cg_iq_raw_a":-0.0171657726,"cg_iu_a":0.14750886,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9618187,"cg_sample_seq":14218217,"cg_sample_valid":1,"cg_theta_rad":5.00791407,"cg_vd_req_v":0.0666684583,"cg_vd_v":0.0666684583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34823963,"cg_vq_v":-0.34823963,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.986969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.393799,"values":{"Elec_RPM":-5.86179161e-11,"EncoderCos":38696,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-1.17235839e-11,"cg_du":50.151329,"cg_dv":50.1975365,"cg_dw":49.8024635,"cg_id_a":-0.160469711,"cg_id_raw_a":-0.416662484,"cg_iq_a":-0.152051598,"cg_iq_raw_a":-1.0984931,"cg_iu_a":0.328727961,"cg_iv_a":0.322860777,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9290905,"cg_sample_seq":14218267,"cg_sample_valid":1,"cg_theta_rad":5.00712967,"cg_vd_req_v":0.0752398372,"cg_vd_v":0.0752398372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354152918,"cg_vq_v":-0.354152918,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.986969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.421143,"values":{"Elec_RPM":-5.74455622e-11,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-1.14891126e-11,"cg_du":50.1504669,"cg_dv":50.20298,"cg_dw":49.79702,"cg_id_a":-0.30005917,"cg_id_raw_a":-0.36578688,"cg_iq_a":0.354193509,"cg_iq_raw_a":-0.616079152,"cg_iu_a":0.473703146,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8563633,"cg_sample_seq":14218320,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0782431364,"cg_vd_v":0.0782431364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361721694,"cg_vq_v":-0.361721694,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-0.0363044739,"dclink_p_w":-5.2541523,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.432861,"values":{"Elec_RPM":-5.74455622e-11,"EncoderCos":38712,"EncoderSin":12508,"GapTicks":54778,"Mech_RPM":-1.14891126e-11,"cg_du":50.1542397,"cg_dv":50.201683,"cg_dw":49.798317,"cg_id_a":-0.190250412,"cg_id_raw_a":-0.806203902,"cg_iq_a":0.246377438,"cg_iq_raw_a":1.12428164,"cg_iu_a":0.00253343582,"cg_iv_a":0.032910049,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8600006,"cg_sample_seq":14218366,"cg_sample_valid":1,"cg_theta_rad":5.00721455,"cg_vd_req_v":0.0748093054,"cg_vd_v":0.0748093054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360755265,"cg_vq_v":-0.360755265,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.0363044739,"dclink_p_w":-5.2541523,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":39.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.440674,"values":{"Elec_RPM":-5.62966514e-11,"EncoderCos":38712,"EncoderSin":12495,"GapTicks":54780,"Mech_RPM":-1.12593303e-11,"cg_du":50.1459694,"cg_dv":50.1991081,"cg_dw":49.8008919,"cg_id_a":-0.345386446,"cg_id_raw_a":-0.291837722,"cg_iq_a":-0.206466228,"cg_iq_raw_a":0.15432626,"cg_iu_a":0.292484283,"cg_iv_a":0.0691539049,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8600006,"cg_sample_seq":14218417,"cg_sample_valid":1,"cg_theta_rad":5.00675392,"cg_vd_req_v":0.0793578923,"cg_vd_v":0.0793578923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353617728,"cg_vq_v":-0.353617728,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9837036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.448486,"values":{"Elec_RPM":-5.62966514e-11,"EncoderCos":38699,"EncoderSin":12502,"GapTicks":54776,"Mech_RPM":-1.12593303e-11,"cg_du":50.1589851,"cg_dv":50.2028313,"cg_dw":49.7971687,"cg_id_a":0.0454183258,"cg_id_raw_a":0.205683127,"cg_iq_a":0.460735261,"cg_iq_raw_a":0.640691102,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9363632,"cg_sample_seq":14218467,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0734317452,"cg_vd_v":0.0734317452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364735395,"cg_vq_v":-0.364735395,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9837036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.460205,"values":{"Elec_RPM":-5.51707222e-11,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-1.10341441e-11,"cg_du":50.1508904,"cg_dv":50.1994514,"cg_dw":49.8005486,"cg_id_a":-0.223453537,"cg_id_raw_a":-0.221644431,"cg_iq_a":0.106666498,"cg_iq_raw_a":-0.130676404,"cg_iu_a":0.0750212669,"cg_iv_a":-0.510747373,"cg_iw_a":0.435726106,"cg_sample_age_us":23.8563633,"cg_sample_seq":14218516,"cg_sample_valid":1,"cg_theta_rad":5.00657845,"cg_vd_req_v":0.0764025599,"cg_vd_v":0.0764025599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355600089,"cg_vq_v":-0.355600089,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3291626,"temp_inv2_c":38.9837036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.468018,"values":{"Elec_RPM":-5.51707222e-11,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54783,"Mech_RPM":-1.10341441e-11,"cg_du":50.1501427,"cg_dv":50.1970482,"cg_dw":49.8029518,"cg_id_a":-0.0977829918,"cg_id_raw_a":-0.231947049,"cg_iq_a":0.0368971601,"cg_iq_raw_a":0.815412462,"cg_iu_a":0.292484164,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9218178,"cg_sample_seq":14218567,"cg_sample_valid":1,"cg_theta_rad":5.00894785,"cg_vd_req_v":0.0747207701,"cg_vd_v":0.0747207701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353024393,"cg_vq_v":-0.353024393,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.231781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9525146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.47583,"values":{"Elec_RPM":-5.40673062e-11,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-1.08134612e-11,"cg_du":50.1546783,"cg_dv":50.199482,"cg_dw":49.800518,"cg_id_a":-0.0618792996,"cg_id_raw_a":0.0989752859,"cg_iq_a":0.158368096,"cg_iq_raw_a":-0.389924288,"cg_iu_a":-0.323660851,"cg_iv_a":-0.583235025,"cg_iw_a":0.906895876,"cg_sample_age_us":23.9836369,"cg_sample_seq":14218617,"cg_sample_valid":1,"cg_theta_rad":5.00587893,"cg_vd_req_v":0.0736679435,"cg_vd_v":0.0736679435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357733607,"cg_vq_v":-0.357733607,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.231781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9902344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.483643,"values":{"Elec_RPM":-5.40673062e-11,"EncoderCos":38703,"EncoderSin":12459,"GapTicks":54783,"Mech_RPM":-1.08134612e-11,"cg_du":50.1513329,"cg_dv":50.1965065,"cg_dw":49.8034935,"cg_id_a":-0.194102213,"cg_id_raw_a":-0.135737151,"cg_iq_a":-0.153875157,"cg_iq_raw_a":0.0597663485,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14218667,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.0739725977,"cg_vd_v":0.0739725977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351691902,"cg_vq_v":-0.351691902,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.231781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9902344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.491455,"values":{"Elec_RPM":-5.29859628e-11,"EncoderCos":38742,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-1.05971924e-11,"cg_du":50.1468315,"cg_dv":50.1990547,"cg_dw":49.8009453,"cg_id_a":-0.316991508,"cg_id_raw_a":-0.386756182,"cg_iq_a":-0.20129703,"cg_iq_raw_a":-1.09013522,"cg_iu_a":0.111264944,"cg_iv_a":-1.12689257,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9581814,"cg_sample_seq":14218717,"cg_sample_valid":1,"cg_theta_rad":5.00908327,"cg_vd_req_v":0.0762211904,"cg_vd_v":0.0762211904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353429824,"cg_vq_v":-0.353429824,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.231781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9754639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.499268,"values":{"Elec_RPM":-5.29859628e-11,"EncoderCos":38681,"EncoderSin":12465,"GapTicks":54780,"Mech_RPM":-1.05971924e-11,"cg_du":50.1612663,"cg_dv":50.1999359,"cg_dw":49.8000641,"cg_id_a":-0.0600260347,"cg_id_raw_a":-0.11603979,"cg_iq_a":0.185849085,"cg_iq_raw_a":0.462242514,"cg_iu_a":0.14750886,"cg_iv_a":0.21412921,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9872723,"cg_sample_seq":14218767,"cg_sample_valid":1,"cg_theta_rad":5.00636721,"cg_vd_req_v":0.0712188259,"cg_vd_v":0.0712188259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361628234,"cg_vq_v":-0.361628234,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9754639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.530518,"values":{"Elec_RPM":-5.19262411e-11,"EncoderCos":38742,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-1.03852482e-11,"cg_du":50.1471176,"cg_dv":50.2014046,"cg_dw":49.7985954,"cg_id_a":-0.306721002,"cg_id_raw_a":-0.185437873,"cg_iq_a":-0.0715352222,"cg_iq_raw_a":-0.307306111,"cg_iu_a":-0.758587122,"cg_iv_a":-0.112065196,"cg_iw_a":0.870652318,"cg_sample_age_us":23.8709087,"cg_sample_seq":14218820,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0781638026,"cg_vd_v":0.0781638026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356817812,"cg_vq_v":-0.356817812,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.53833,"values":{"Elec_RPM":-5.08877142e-11,"EncoderCos":38696,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-1.01775428e-11,"cg_du":50.1631317,"cg_dv":50.1951981,"cg_dw":49.8048019,"cg_id_a":0.328750044,"cg_id_raw_a":0.588165402,"cg_iq_a":-0.23999092,"cg_iq_raw_a":-2.05159211,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9799995,"cg_sample_seq":14218917,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.0641251951,"cg_vd_v":0.0641251951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357586235,"cg_vq_v":-0.357586235,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9738464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.546143,"values":{"Elec_RPM":-5.08877142e-11,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.01775428e-11,"cg_du":50.157238,"cg_dv":50.1966324,"cg_dw":49.8033676,"cg_id_a":0.227454081,"cg_id_raw_a":0.242858008,"cg_iq_a":-0.214338094,"cg_iq_raw_a":-0.158131197,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9581814,"cg_sample_seq":14218967,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0669003725,"cg_vd_v":0.0669003725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355693281,"cg_vq_v":-0.355693281,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9787598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.553955,"values":{"Elec_RPM":-4.98699623e-11,"EncoderCos":38697,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-9.97399212e-12,"cg_du":50.1573372,"cg_dv":50.1983376,"cg_dw":49.8016624,"cg_id_a":0.0286745261,"cg_id_raw_a":0.361083537,"cg_iq_a":-0.105287544,"cg_iq_raw_a":-0.69119817,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8709087,"cg_sample_seq":14219016,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0706734136,"cg_vd_v":0.0706734136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357644349,"cg_vq_v":-0.357644349,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9968262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.561768,"values":{"Elec_RPM":-4.98699623e-11,"EncoderCos":38700,"EncoderSin":12493,"GapTicks":54778,"Mech_RPM":-9.97399212e-12,"cg_du":50.1644974,"cg_dv":50.2015953,"cg_dw":49.7984047,"cg_id_a":0.178288847,"cg_id_raw_a":0.755382895,"cg_iq_a":0.383146614,"cg_iq_raw_a":1.86186814,"cg_iu_a":0.582434893,"cg_iv_a":0.612811446,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.8818188,"cg_sample_seq":14219066,"cg_sample_valid":1,"cg_theta_rad":5.00756693,"cg_vd_req_v":0.0680520386,"cg_vd_v":0.0680520386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366134614,"cg_vq_v":-0.366134614,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9968262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.573486,"values":{"Elec_RPM":-4.88725588e-11,"EncoderCos":38714,"EncoderSin":12472,"GapTicks":54781,"Mech_RPM":-9.77451193e-12,"cg_du":50.1670532,"cg_dv":50.1987152,"cg_dw":49.8012848,"cg_id_a":0.465895593,"cg_id_raw_a":-0.105756238,"cg_iq_a":0.228427753,"cg_iq_raw_a":-0.665246487,"cg_iu_a":0.14750886,"cg_iv_a":0.721542954,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9872723,"cg_sample_seq":14219116,"cg_sample_valid":1,"cg_theta_rad":5.00674105,"cg_vd_req_v":0.0626052171,"cg_vd_v":0.0626052171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363781303,"cg_vq_v":-0.363781303,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9754639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.581299,"values":{"Elec_RPM":-4.88725588e-11,"EncoderCos":38715,"EncoderSin":12474,"GapTicks":54781,"Mech_RPM":-9.77451193e-12,"cg_du":50.1574173,"cg_dv":50.1984177,"cg_dw":49.8015823,"cg_id_a":0.0581435412,"cg_id_raw_a":-0.481884569,"cg_iq_a":0.0698011518,"cg_iq_raw_a":-0.265250951,"cg_iu_a":-1.48346353,"cg_iv_a":0.141641617,"cg_iw_a":1.34182191,"cg_sample_age_us":23.9836369,"cg_sample_seq":14219166,"cg_sample_valid":1,"cg_theta_rad":5.00762987,"cg_vd_req_v":0.0697399601,"cg_vd_v":0.0697399601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357981741,"cg_vq_v":-0.357981741,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9754639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.589111,"values":{"Elec_RPM":-4.7895108e-11,"EncoderCos":38684,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-9.5790216e-12,"cg_du":50.1529388,"cg_dv":50.2002296,"cg_dw":49.7997704,"cg_id_a":-0.294701099,"cg_id_raw_a":-0.107381597,"cg_iq_a":0.105549924,"cg_iq_raw_a":-0.411386371,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104633,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14219216,"cg_sample_valid":1,"cg_theta_rad":5.00536633,"cg_vd_req_v":0.077365838,"cg_vd_v":0.077365838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357426018,"cg_vq_v":-0.357426018,"cg_vu_v":29.4728031,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9804077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.596924,"values":{"Elec_RPM":-4.7895108e-11,"EncoderCos":38734,"EncoderSin":12497,"GapTicks":54787,"Mech_RPM":-9.5790216e-12,"cg_du":50.1523743,"cg_dv":50.1935768,"cg_dw":49.8064232,"cg_id_a":0.133477896,"cg_id_raw_a":0.0906989798,"cg_iq_a":-0.114211209,"cg_iq_raw_a":0.118407689,"cg_iu_a":-0.106198072,"cg_iv_a":0.504079938,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9509087,"cg_sample_seq":14219266,"cg_sample_valid":1,"cg_theta_rad":5.00719547,"cg_vd_req_v":0.0671240389,"cg_vd_v":0.0671240389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350035518,"cg_vq_v":-0.350035518,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.3121109,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9771118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.624268,"values":{"Elec_RPM":-4.69372076e-11,"EncoderCos":38747,"EncoderSin":12504,"GapTicks":54783,"Mech_RPM":-9.38744135e-12,"cg_du":50.1469803,"cg_dv":50.1963882,"cg_dw":49.8036118,"cg_id_a":-0.050462354,"cg_id_raw_a":-0.00365924346,"cg_iq_a":-0.140345737,"cg_iq_raw_a":-0.508616149,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079878,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.8563633,"cg_sample_seq":14219321,"cg_sample_valid":1,"cg_theta_rad":5.00830936,"cg_vd_req_v":0.0726772472,"cg_vd_v":0.0726772472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3500534,"cg_vq_v":-0.3500534,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.3812943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9771118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.635986,"values":{"Elec_RPM":-4.69372076e-11,"EncoderCos":38698,"EncoderSin":12475,"GapTicks":54794,"Mech_RPM":-9.38744135e-12,"cg_du":50.1456833,"cg_dv":50.1868248,"cg_dw":49.8131752,"cg_id_a":0.0974715799,"cg_id_raw_a":-0.277396113,"cg_iq_a":-0.76459384,"cg_iq_raw_a":-0.610560834,"cg_iu_a":0.944873214,"cg_iv_a":0.830274463,"cg_iw_a":-1.77514768,"cg_sample_age_us":23.9836369,"cg_sample_seq":14219367,"cg_sample_valid":1,"cg_theta_rad":5.00814342,"cg_vd_req_v":0.0689238161,"cg_vd_v":0.0689238161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33537963,"cg_vq_v":-0.33537963,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.8310738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.643799,"values":{"Elec_RPM":-4.5998462e-11,"EncoderCos":38716,"EncoderSin":12501,"GapTicks":54788,"Mech_RPM":-9.19969222e-12,"cg_du":50.1525764,"cg_dv":50.192585,"cg_dw":49.807415,"cg_id_a":0.13874574,"cg_id_raw_a":0.142283708,"cg_iq_a":-0.0396508127,"cg_iq_raw_a":0.233013436,"cg_iu_a":0.038777113,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.863636,"cg_sample_seq":14219416,"cg_sample_valid":1,"cg_theta_rad":5.00730038,"cg_vd_req_v":0.0674440935,"cg_vd_v":0.0674440935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347421974,"cg_vq_v":-0.347421974,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9804077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.651611,"values":{"Elec_RPM":-4.5998462e-11,"EncoderCos":38720,"EncoderSin":12483,"GapTicks":54784,"Mech_RPM":-9.19969222e-12,"cg_du":50.1476707,"cg_dv":50.1958084,"cg_dw":49.8041916,"cg_id_a":-0.150246426,"cg_id_raw_a":-0.218996048,"cg_iq_a":0.0497097149,"cg_iq_raw_a":0.48937875,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14219467,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0742285699,"cg_vd_v":0.0742285699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349092185,"cg_vq_v":-0.349092185,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9804077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.659424,"values":{"Elec_RPM":-4.5078493e-11,"EncoderCos":38783,"EncoderSin":12497,"GapTicks":54792,"Mech_RPM":-9.01569878e-12,"cg_du":50.1417046,"cg_dv":50.1882591,"cg_dw":49.8117409,"cg_id_a":0.224234432,"cg_id_raw_a":0.0914982408,"cg_iq_a":-0.478583127,"cg_iq_raw_a":-0.391746074,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333374739,"cg_iw_a":0.218263328,"cg_sample_age_us":23.8600006,"cg_sample_seq":14219516,"cg_sample_valid":1,"cg_theta_rad":5.00767088,"cg_vd_req_v":0.0664451867,"cg_vd_v":0.0664451867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336535841,"cg_vq_v":-0.336535841,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9590454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.667236,"values":{"Elec_RPM":-4.5078493e-11,"EncoderCos":38695,"EncoderSin":12491,"GapTicks":54789,"Mech_RPM":-9.01569878e-12,"cg_du":50.1522636,"cg_dv":50.1915741,"cg_dw":49.8084259,"cg_id_a":0.0777536556,"cg_id_raw_a":0.116617464,"cg_iq_a":-0.0199881978,"cg_iq_raw_a":-0.351614475,"cg_iu_a":0.183752537,"cg_iv_a":-0.365772128,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8672733,"cg_sample_seq":14219566,"cg_sample_valid":1,"cg_theta_rad":5.00840044,"cg_vd_req_v":0.0684934556,"cg_vd_v":0.0684934556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346610665,"cg_vq_v":-0.346610665,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9590454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.675049,"values":{"Elec_RPM":-4.41769225e-11,"EncoderCos":38724,"EncoderSin":12472,"GapTicks":54788,"Mech_RPM":-8.83538468e-12,"cg_du":50.150547,"cg_dv":50.1922035,"cg_dw":49.8077965,"cg_id_a":0.048923064,"cg_id_raw_a":-0.0207876712,"cg_iq_a":0.00537861139,"cg_iq_raw_a":-0.0376193523,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14219617,"cg_sample_valid":1,"cg_theta_rad":5.00831747,"cg_vd_req_v":0.068620421,"cg_vd_v":0.068620421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34686166,"cg_vq_v":-0.34686166,"cg_vu_v":114.37207,"cg_vv_v":125.369385,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.686768,"values":{"Elec_RPM":-4.41769225e-11,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-8.83538468e-12,"cg_du":50.1446114,"cg_dv":50.1919937,"cg_dw":49.8080063,"cg_id_a":-0.128534555,"cg_id_raw_a":-0.182315364,"cg_iq_a":-0.293986559,"cg_iq_raw_a":-1.87336159,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9290905,"cg_sample_seq":14219667,"cg_sample_valid":1,"cg_theta_rad":5.00657463,"cg_vd_req_v":0.0725910887,"cg_vd_v":0.0725910887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343345404,"cg_vq_v":-0.343345404,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.69458,"values":{"Elec_RPM":-4.32933862e-11,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-8.65867707e-12,"cg_du":50.1549416,"cg_dv":50.1977386,"cg_dw":49.8022614,"cg_id_a":-0.038716469,"cg_id_raw_a":-0.231683299,"cg_iq_a":0.251713127,"cg_iq_raw_a":-0.240897894,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.863636,"cg_sample_seq":14219716,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0714738667,"cg_vd_v":0.0714738667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355575532,"cg_vq_v":-0.355575532,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.8744278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.702393,"values":{"Elec_RPM":-4.32933862e-11,"EncoderCos":38701,"EncoderSin":12465,"GapTicks":54786,"Mech_RPM":-8.65867707e-12,"cg_du":50.1560173,"cg_dv":50.1942635,"cg_dw":49.8057365,"cg_id_a":0.170483798,"cg_id_raw_a":-0.101864681,"cg_iq_a":-0.118335091,"cg_iq_raw_a":0.755472004,"cg_iu_a":0.437459469,"cg_iv_a":0.431592345,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9581814,"cg_sample_seq":14219766,"cg_sample_valid":1,"cg_theta_rad":5.00611544,"cg_vd_req_v":0.0681268573,"cg_vd_v":0.0681268573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351298183,"cg_vq_v":-0.351298183,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9656372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.729736,"values":{"Elec_RPM":-4.24275198e-11,"EncoderCos":38721,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-8.48550397e-12,"cg_du":50.1571121,"cg_dv":50.1995506,"cg_dw":49.8004494,"cg_id_a":0.0962170437,"cg_id_raw_a":0.0517480187,"cg_iq_a":0.109953761,"cg_iq_raw_a":0.297167689,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065315,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9254551,"cg_sample_seq":14219867,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0706377402,"cg_vd_v":0.0706377402,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359435081,"cg_vq_v":-0.359435081,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.2143831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.737549,"values":{"Elec_RPM":-4.15789694e-11,"EncoderCos":38700,"EncoderSin":12473,"GapTicks":54789,"Mech_RPM":-8.31579423e-12,"cg_du":50.148613,"cg_dv":50.1910858,"cg_dw":49.8089142,"cg_id_a":0.0961754918,"cg_id_raw_a":0.442523777,"cg_iq_a":-0.726948857,"cg_iq_raw_a":-0.864799857,"cg_iu_a":0.364971638,"cg_iv_a":0.359104574,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9509087,"cg_sample_seq":14219917,"cg_sample_valid":1,"cg_theta_rad":5.00673485,"cg_vd_req_v":0.0706975982,"cg_vd_v":0.0706975982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342832655,"cg_vq_v":-0.342832655,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9787598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.749268,"values":{"Elec_RPM":-4.15789694e-11,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54776,"Mech_RPM":-8.31579423e-12,"cg_du":50.1604919,"cg_dv":50.2033997,"cg_dw":49.7966003,"cg_id_a":-0.0176447202,"cg_id_raw_a":-0.128916726,"cg_iq_a":0.317568779,"cg_iq_raw_a":0.425232261,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9690914,"cg_sample_seq":14219967,"cg_sample_valid":1,"cg_theta_rad":5.00738192,"cg_vd_req_v":0.0717221275,"cg_vd_v":0.0717221275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366567075,"cg_vq_v":-0.366567075,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9787598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.75708,"values":{"Elec_RPM":-4.07473916e-11,"EncoderCos":38709,"EncoderSin":12500,"GapTicks":54782,"Mech_RPM":-8.14947849e-12,"cg_du":50.1634216,"cg_dv":50.1973305,"cg_dw":49.8026695,"cg_id_a":0.392798871,"cg_id_raw_a":0.691298306,"cg_iq_a":-0.0238430128,"cg_iq_raw_a":-0.222643882,"cg_iu_a":-0.867318392,"cg_iv_a":0.685299158,"cg_iw_a":0.182019234,"cg_sample_age_us":23.8600006,"cg_sample_seq":14220016,"cg_sample_valid":1,"cg_theta_rad":5.00851107,"cg_vd_req_v":0.0638192594,"cg_vd_v":0.0638192594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359908819,"cg_vq_v":-0.359908819,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9738464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.764893,"values":{"Elec_RPM":-4.07473916e-11,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-8.14947849e-12,"cg_du":50.1571617,"cg_dv":50.1962891,"cg_dw":49.8037109,"cg_id_a":0.189544633,"cg_id_raw_a":0.105611712,"cg_iq_a":-0.473063171,"cg_iq_raw_a":-0.462191135,"cg_iu_a":0.582434893,"cg_iv_a":0.322860777,"cg_iw_a":-0.90529567,"cg_sample_age_us":23.9836369,"cg_sample_seq":14220066,"cg_sample_valid":1,"cg_theta_rad":5.00801134,"cg_vd_req_v":0.0681221634,"cg_vd_v":0.0681221634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35489592,"cg_vq_v":-0.35489592,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9689331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.772705,"values":{"Elec_RPM":-3.99324462e-11,"EncoderCos":38800,"EncoderSin":12510,"GapTicks":54771,"Mech_RPM":-7.98648907e-12,"cg_du":50.1502838,"cg_dv":50.207756,"cg_dw":49.792244,"cg_id_a":-0.130337238,"cg_id_raw_a":0.287188798,"cg_iq_a":0.00500017405,"cg_iq_raw_a":-0.231631428,"cg_iu_a":-0.577367783,"cg_iv_a":-0.25704062,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9654541,"cg_sample_seq":14220117,"cg_sample_valid":1,"cg_theta_rad":5.00734138,"cg_vd_req_v":0.0764085576,"cg_vd_v":0.0764085576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368412822,"cg_vq_v":-0.368412822,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9689331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.780518,"values":{"Elec_RPM":-3.99324462e-11,"EncoderCos":38721,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-7.98648907e-12,"cg_du":50.1643906,"cg_dv":50.206501,"cg_dw":49.793499,"cg_id_a":0.169254243,"cg_id_raw_a":0.135412708,"cg_iq_a":0.22649008,"cg_iq_raw_a":0.305123925,"cg_iu_a":-0.14244175,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9618187,"cg_sample_seq":14220166,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.07146281,"cg_vd_v":0.07146281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374186397,"cg_vq_v":-0.374186397,"cg_vu_v":26.8334465,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.387748241,"dclink_p_w":56.2873001,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9771118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.78833,"values":{"Elec_RPM":-3.91337969e-11,"EncoderCos":38714,"EncoderSin":12470,"GapTicks":54778,"Mech_RPM":-7.82675921e-12,"cg_du":50.1640129,"cg_dv":50.2017441,"cg_dw":49.7982559,"cg_id_a":0.367245972,"cg_id_raw_a":-0.0438297503,"cg_iq_a":-0.299350142,"cg_iq_raw_a":-0.440600455,"cg_iu_a":0.292484045,"cg_iv_a":0.395348489,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9836369,"cg_sample_seq":14220216,"cg_sample_valid":1,"cg_theta_rad":5.00655127,"cg_vd_req_v":0.0681963041,"cg_vd_v":0.0681963041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367287695,"cg_vq_v":-0.367287695,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.387748241,"dclink_p_w":56.2873001,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.796143,"values":{"Elec_RPM":-3.91337969e-11,"EncoderCos":38716,"EncoderSin":12499,"GapTicks":54771,"Mech_RPM":-7.82675921e-12,"cg_du":50.1617165,"cg_dv":50.2081757,"cg_dw":49.7918243,"cg_id_a":0.0801985636,"cg_id_raw_a":0.0904254466,"cg_iq_a":-0.165211052,"cg_iq_raw_a":-0.318169266,"cg_iu_a":-0.14244175,"cg_iv_a":0.431592286,"cg_iw_a":-0.289150536,"cg_sample_age_us":23.9836369,"cg_sample_seq":14220266,"cg_sample_valid":1,"cg_theta_rad":5.0072031,"cg_vd_req_v":0.0753666162,"cg_vd_v":0.0753666162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374937862,"cg_vq_v":-0.374937862,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.387748241,"dclink_p_w":56.2873001,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.827393,"values":{"Elec_RPM":-3.83511209e-11,"EncoderCos":38730,"EncoderSin":12529,"GapTicks":54767,"Mech_RPM":-7.67022383e-12,"cg_du":50.1619339,"cg_dv":50.2111435,"cg_dw":49.7888565,"cg_id_a":0.0147104114,"cg_id_raw_a":-0.602220058,"cg_iq_a":0.0221642703,"cg_iq_raw_a":-0.34538129,"cg_iu_a":-0.359905005,"cg_iv_a":-0.00333380699,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9254551,"cg_sample_seq":14220367,"cg_sample_valid":1,"cg_theta_rad":5.0061779,"cg_vd_req_v":0.0758597031,"cg_vd_v":0.0758597031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378360391,"cg_vq_v":-0.378360391,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9754639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.835205,"values":{"Elec_RPM":-3.7584099e-11,"EncoderCos":38689,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-7.51681963e-12,"cg_du":50.1672516,"cg_dv":50.2169151,"cg_dw":49.7830849,"cg_id_a":-0.238022834,"cg_id_raw_a":-0.422464252,"cg_iq_a":0.387154698,"cg_iq_raw_a":1.19576585,"cg_iu_a":-0.577367783,"cg_iv_a":-0.112065196,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9581814,"cg_sample_seq":14220417,"cg_sample_valid":1,"cg_theta_rad":5.00739956,"cg_vd_req_v":0.082147941,"cg_vd_v":0.082147941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388195693,"cg_vq_v":-0.388195693,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.843018,"values":{"Elec_RPM":-3.7584099e-11,"EncoderCos":38753,"EncoderSin":12507,"GapTicks":54768,"Mech_RPM":-7.51681963e-12,"cg_du":50.1535187,"cg_dv":50.2105408,"cg_dw":49.7894592,"cg_id_a":-0.207105517,"cg_id_raw_a":-0.144897342,"cg_iq_a":-0.181798056,"cg_iq_raw_a":-0.302955866,"cg_iu_a":0.401215672,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.863636,"cg_sample_seq":14220466,"cg_sample_valid":1,"cg_theta_rad":5.00906706,"cg_vd_req_v":0.0821977928,"cg_vd_v":0.0821977928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373983443,"cg_vq_v":-0.373983443,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.95578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.85083,"values":{"Elec_RPM":-3.68324156e-11,"EncoderCos":38686,"EncoderSin":12456,"GapTicks":54764,"Mech_RPM":-7.36648329e-12,"cg_du":50.1766319,"cg_dv":50.2139435,"cg_dw":49.7860565,"cg_id_a":0.234392673,"cg_id_raw_a":0.335541964,"cg_iq_a":0.326020062,"cg_iq_raw_a":-0.218585148,"cg_iu_a":-0.14244175,"cg_iv_a":-0.583235085,"cg_iw_a":0.725676835,"cg_sample_age_us":23.9872723,"cg_sample_seq":14220517,"cg_sample_valid":1,"cg_theta_rad":5.00653458,"cg_vd_req_v":0.0728351623,"cg_vd_v":0.0728351623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389315546,"cg_vq_v":-0.389315546,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.95578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.862549,"values":{"Elec_RPM":-3.68324156e-11,"EncoderCos":38693,"EncoderSin":12468,"GapTicks":54757,"Mech_RPM":-7.36648329e-12,"cg_du":50.1786499,"cg_dv":50.220253,"cg_dw":49.779747,"cg_id_a":-0.00571275502,"cg_id_raw_a":-0.280504316,"cg_iq_a":0.655012429,"cg_iq_raw_a":1.24699128,"cg_iu_a":-0.577368021,"cg_iv_a":0.177885473,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14220567,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0765089616,"cg_vd_v":0.0765089616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399164289,"cg_vq_v":-0.399164289,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.870361,"values":{"Elec_RPM":-3.60957687e-11,"EncoderCos":38702,"EncoderSin":12511,"GapTicks":54765,"Mech_RPM":-7.21915366e-12,"cg_du":50.1753807,"cg_dv":50.212738,"cg_dw":49.787262,"cg_id_a":0.318430483,"cg_id_raw_a":0.098824963,"cg_iq_a":-0.0136260539,"cg_iq_raw_a":0.666176558,"cg_iu_a":-0.323661089,"cg_iv_a":1.01149368,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9618187,"cg_sample_seq":14220616,"cg_sample_valid":1,"cg_theta_rad":5.00793314,"cg_vd_req_v":0.069754906,"cg_vd_v":0.069754906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387499899,"cg_vq_v":-0.387499899,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.878174,"values":{"Elec_RPM":-3.60957687e-11,"EncoderCos":38731,"EncoderSin":12482,"GapTicks":54768,"Mech_RPM":-7.21915366e-12,"cg_du":50.1723442,"cg_dv":50.2103767,"cg_dw":49.7896233,"cg_id_a":0.381666481,"cg_id_raw_a":0.349533826,"cg_iq_a":-0.18173933,"cg_iq_raw_a":-0.621484876,"cg_iu_a":0.111264944,"cg_iv_a":0.540323734,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9763641,"cg_sample_seq":14220666,"cg_sample_valid":1,"cg_theta_rad":5.00785494,"cg_vd_req_v":0.068074353,"cg_vd_v":0.068074353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382906705,"cg_vq_v":-0.382906705,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.885986,"values":{"Elec_RPM":-3.53738532e-11,"EncoderCos":38713,"EncoderSin":12489,"GapTicks":54761,"Mech_RPM":-7.07477046e-12,"cg_du":50.1713905,"cg_dv":50.2168846,"cg_dw":49.7831154,"cg_id_a":0.0949109048,"cg_id_raw_a":0.17416361,"cg_iq_a":-0.0270947516,"cg_iq_raw_a":-0.309876233,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9654541,"cg_sample_seq":14220716,"cg_sample_valid":1,"cg_theta_rad":5.00889254,"cg_vd_req_v":0.0765365735,"cg_vd_v":0.0765365735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390965194,"cg_vq_v":-0.390965194,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9672546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.893799,"values":{"Elec_RPM":-3.53738532e-11,"EncoderCos":38697,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-7.07477046e-12,"cg_du":50.1635857,"cg_dv":50.2172279,"cg_dw":49.7827721,"cg_id_a":-0.283931106,"cg_id_raw_a":0.0478554033,"cg_iq_a":-0.245811462,"cg_iq_raw_a":0.115039535,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14220767,"cg_sample_valid":1,"cg_theta_rad":5.00628567,"cg_vd_req_v":0.0848758668,"cg_vd_v":0.0848758668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386637837,"cg_vq_v":-0.386637837,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9672546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.901611,"values":{"Elec_RPM":-3.46663739e-11,"EncoderCos":38730,"EncoderSin":12498,"GapTicks":54760,"Mech_RPM":-6.93327513e-12,"cg_du":50.1699409,"cg_dv":50.2178459,"cg_dw":49.7821541,"cg_id_a":0.112926081,"cg_id_raw_a":0.0950178653,"cg_iq_a":-0.0700728297,"cg_iq_raw_a":-0.827555716,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14220816,"cg_sample_valid":1,"cg_theta_rad":5.00701666,"cg_vd_req_v":0.0770832151,"cg_vd_v":0.0770832151,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392995387,"cg_vq_v":-0.392995387,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.932861,"values":{"Elec_RPM":-3.46663739e-11,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54755,"Mech_RPM":-6.93327513e-12,"cg_du":50.1759911,"cg_dv":50.2225456,"cg_dw":49.7774544,"cg_id_a":-0.0478707254,"cg_id_raw_a":0.0760891214,"cg_iq_a":0.250421584,"cg_iq_raw_a":-0.610874236,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8709087,"cg_sample_seq":14220871,"cg_sample_valid":1,"cg_theta_rad":5.00618792,"cg_vd_req_v":0.0774978995,"cg_vd_v":0.0774978995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401421279,"cg_vq_v":-0.401421279,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9508667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.940674,"values":{"Elec_RPM":-3.39730466e-11,"EncoderCos":38732,"EncoderSin":12504,"GapTicks":54759,"Mech_RPM":-6.79460958e-12,"cg_du":50.1731148,"cg_dv":50.2189445,"cg_dw":49.7810555,"cg_id_a":0.0478482172,"cg_id_raw_a":-0.110971443,"cg_iq_a":-0.258111089,"cg_iq_raw_a":0.0269205645,"cg_iu_a":-0.722343206,"cg_iv_a":0.504079878,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9654541,"cg_sample_seq":14220917,"cg_sample_valid":1,"cg_theta_rad":5.00721121,"cg_vd_req_v":0.0750695094,"cg_vd_v":0.0750695094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395138323,"cg_vq_v":-0.395138323,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.284574747,"dclink_p_w":-41.1849823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.3036194,"temp_inv2_c":38.9508667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.948486,"values":{"Elec_RPM":-3.39730466e-11,"EncoderCos":38711,"EncoderSin":12507,"GapTicks":54748,"Mech_RPM":-6.79460958e-12,"cg_du":50.1827888,"cg_dv":50.2286339,"cg_dw":49.7713661,"cg_id_a":-0.106357783,"cg_id_raw_a":0.648075283,"cg_iq_a":0.40952298,"cg_iq_raw_a":1.08346105,"cg_iu_a":-0.106198072,"cg_iv_a":-0.402015924,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14220967,"cg_sample_valid":1,"cg_theta_rad":5.00746441,"cg_vd_req_v":0.0786994994,"cg_vd_v":0.0786994994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413391769,"cg_vq_v":-0.413391769,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9492188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.956299,"values":{"Elec_RPM":-3.32935866e-11,"EncoderCos":38703,"EncoderSin":12458,"GapTicks":54763,"Mech_RPM":-6.65871741e-12,"cg_du":50.1835709,"cg_dv":50.2151604,"cg_dw":49.7848396,"cg_id_a":0.477266401,"cg_id_raw_a":-0.00149641675,"cg_iq_a":-0.575554848,"cg_iq_raw_a":0.80219388,"cg_iu_a":0.292484045,"cg_iv_a":0.141641557,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9618187,"cg_sample_seq":14221017,"cg_sample_valid":1,"cg_theta_rad":5.00887489,"cg_vd_req_v":0.0670420006,"cg_vd_v":0.0670420006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395171553,"cg_vq_v":-0.395171553,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.7749882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9492188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.964111,"values":{"Elec_RPM":-3.32935866e-11,"EncoderCos":38739,"EncoderSin":12503,"GapTicks":54758,"Mech_RPM":-6.65871741e-12,"cg_du":50.1646614,"cg_dv":50.2190971,"cg_dw":49.7809029,"cg_id_a":-0.240356326,"cg_id_raw_a":0.051416263,"cg_iq_a":-0.632655561,"cg_iq_raw_a":0.551398158,"cg_iu_a":0.14750886,"cg_iv_a":0.286616981,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9509087,"cg_sample_seq":14221067,"cg_sample_valid":1,"cg_theta_rad":5.0071454,"cg_vd_req_v":0.081276916,"cg_vd_v":0.081276916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39075923,"cg_vq_v":-0.39075923,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9492188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.97583,"values":{"Elec_RPM":-3.26277165e-11,"EncoderCos":38752,"EncoderSin":12500,"GapTicks":54761,"Mech_RPM":-6.52554313e-12,"cg_du":50.1673737,"cg_dv":50.2172241,"cg_dw":49.7827759,"cg_id_a":0.0396974981,"cg_id_raw_a":0.182446748,"cg_iq_a":-0.514456093,"cg_iq_raw_a":-0.201387733,"cg_iu_a":0.183752537,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14221117,"cg_sample_valid":1,"cg_theta_rad":5.00746441,"cg_vd_req_v":0.0764965639,"cg_vd_v":0.0764965639,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391105831,"cg_vq_v":-0.391105831,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.2108898,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.95578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2570.983643,"values":{"Elec_RPM":-3.26277165e-11,"EncoderCos":38740,"EncoderSin":12499,"GapTicks":54754,"Mech_RPM":-6.52554313e-12,"cg_du":50.1789284,"cg_dv":50.2230682,"cg_dw":49.7769318,"cg_id_a":0.125351533,"cg_id_raw_a":0.152298555,"cg_iq_a":0.022374481,"cg_iq_raw_a":-0.0944940522,"cg_iu_a":-0.39614892,"cg_iv_a":0.105397761,"cg_iw_a":0.290751159,"cg_sample_age_us":23.9581814,"cg_sample_seq":14221167,"cg_sample_valid":1,"cg_theta_rad":5.00646973,"cg_vd_req_v":0.0738776028,"cg_vd_v":0.0738776028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404111862,"cg_vq_v":-0.404111862,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.2108898,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.95578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2570.991455,"values":{"Elec_RPM":-3.19751586e-11,"EncoderCos":38716,"EncoderSin":12476,"GapTicks":54758,"Mech_RPM":-6.39503207e-12,"cg_du":50.1803474,"cg_dv":50.2195625,"cg_dw":49.7804375,"cg_id_a":0.208400905,"cg_id_raw_a":0.00585367018,"cg_iq_a":-0.170187518,"cg_iq_raw_a":0.54765594,"cg_iu_a":-0.251173258,"cg_iv_a":0.540323734,"cg_iw_a":-0.687832355,"cg_sample_age_us":23.9618187,"cg_sample_seq":14221217,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0721979067,"cg_vd_v":0.0721979067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399619371,"cg_vq_v":-0.399619371,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.6865044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.95578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2570.995098,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2570.995103,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2570.995119,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2570.999268,"values":{"Elec_RPM":-3.19751586e-11,"EncoderCos":38704,"EncoderSin":12482,"GapTicks":54754,"Mech_RPM":-6.39503207e-12,"cg_du":50.1815414,"cg_dv":50.2234154,"cg_dw":49.7765846,"cg_id_a":0.0165324956,"cg_id_raw_a":-0.320939302,"cg_iq_a":0.0836367011,"cg_iq_raw_a":-1.23357284,"cg_iu_a":0.14750886,"cg_iv_a":-0.800698042,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9690914,"cg_sample_seq":14221266,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.0759521201,"cg_vd_v":0.0759521201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405350029,"cg_vq_v":-0.405350029,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.00708,"values":{"Elec_RPM":-3.13356563e-11,"EncoderCos":38684,"EncoderSin":12460,"GapTicks":54767,"Mech_RPM":-6.26713135e-12,"cg_du":50.1811409,"cg_dv":50.2116737,"cg_dw":49.7883263,"cg_id_a":0.436624765,"cg_id_raw_a":1.62825024,"cg_iq_a":-0.836572349,"cg_iq_raw_a":-2.66847825,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397761,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9509087,"cg_sample_seq":14221317,"cg_sample_valid":1,"cg_theta_rad":5.00767422,"cg_vd_req_v":0.0671563074,"cg_vd_v":0.0671563074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388795733,"cg_vq_v":-0.388795733,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.03833,"values":{"Elec_RPM":-3.13356563e-11,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54750,"Mech_RPM":-6.26713135e-12,"cg_du":50.1954842,"cg_dv":50.2267303,"cg_dw":49.7732697,"cg_id_a":0.431237102,"cg_id_raw_a":-0.187188029,"cg_iq_a":0.570043743,"cg_iq_raw_a":0.38341406,"cg_iu_a":0.401215792,"cg_iv_a":0.177885413,"cg_iw_a":-0.579101205,"cg_sample_age_us":26.8163643,"cg_sample_seq":14221370,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.066175729,"cg_vd_v":0.066175729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41803804,"cg_vq_v":-0.41803804,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9590454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.046143,"values":{"Elec_RPM":-3.07089458e-11,"EncoderCos":38714,"EncoderSin":12451,"GapTicks":54755,"Mech_RPM":-6.1417889e-12,"cg_du":50.187233,"cg_dv":50.2224617,"cg_dw":49.7775383,"cg_id_a":0.240707457,"cg_id_raw_a":0.1459167,"cg_iq_a":-0.0754313767,"cg_iq_raw_a":-0.0209617969,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9581814,"cg_sample_seq":14221417,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0705022141,"cg_vd_v":0.0705022141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407274187,"cg_vq_v":-0.407274187,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9377441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.053955,"values":{"Elec_RPM":-3.07089458e-11,"EncoderCos":38724,"EncoderSin":12478,"GapTicks":54759,"Mech_RPM":-6.1417889e-12,"cg_du":50.1827507,"cg_dv":50.2184677,"cg_dw":49.7815323,"cg_id_a":0.318744183,"cg_id_raw_a":0.763653815,"cg_iq_a":-0.332796961,"cg_iq_raw_a":1.42156947,"cg_iu_a":-0.758587122,"cg_iv_a":-0.220796704,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8963642,"cg_sample_seq":14221467,"cg_sample_valid":1,"cg_theta_rad":5.00605202,"cg_vd_req_v":0.0684677139,"cg_vd_v":0.0684677139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39961639,"cg_vq_v":-0.39961639,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.25250626,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9377441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.061768,"values":{"Elec_RPM":-3.0094767e-11,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54750,"Mech_RPM":-6.01895313e-12,"cg_du":50.2002525,"cg_dv":50.2263794,"cg_dw":49.7736206,"cg_id_a":0.636481762,"cg_id_raw_a":0.322253168,"cg_iq_a":0.75507921,"cg_iq_raw_a":0.542000234,"cg_iu_a":-0.214929581,"cg_iv_a":0.431592226,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9327278,"cg_sample_seq":14221517,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.062845774,"cg_vd_v":0.062845774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420118243,"cg_vq_v":-0.420118243,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9426575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.073486,"values":{"Elec_RPM":-3.0094767e-11,"EncoderCos":38696,"EncoderSin":12490,"GapTicks":54751,"Mech_RPM":-6.01895313e-12,"cg_du":50.1956215,"cg_dv":50.225956,"cg_dw":49.774044,"cg_id_a":0.411272526,"cg_id_raw_a":0.221859708,"cg_iq_a":0.556957543,"cg_iq_raw_a":0.679179192,"cg_iu_a":-1.19351292,"cg_iv_a":0.649055243,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9836369,"cg_sample_seq":14221567,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0677257329,"cg_vd_v":0.0677257329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415377527,"cg_vq_v":-0.415377527,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9426575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.081299,"values":{"Elec_RPM":-2.949287e-11,"EncoderCos":38704,"EncoderSin":12482,"GapTicks":54762,"Mech_RPM":-5.89857416e-12,"cg_du":50.176651,"cg_dv":50.2159386,"cg_dw":49.7840614,"cg_id_a":0.130870998,"cg_id_raw_a":0.212008908,"cg_iq_a":-0.550882578,"cg_iq_raw_a":-0.0507177003,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9618187,"cg_sample_seq":14221617,"cg_sample_valid":1,"cg_theta_rad":5.00858259,"cg_vd_req_v":0.0722597241,"cg_vd_v":0.0722597241,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391256601,"cg_vq_v":-0.391256601,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9459534,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.089111,"values":{"Elec_RPM":-2.949287e-11,"EncoderCos":38732,"EncoderSin":12495,"GapTicks":54757,"Mech_RPM":-5.89857416e-12,"cg_du":50.1648026,"cg_dv":50.2205276,"cg_dw":49.7794724,"cg_id_a":-0.410277247,"cg_id_raw_a":-0.55061388,"cg_iq_a":-0.411641151,"cg_iq_raw_a":0.459057599,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860777,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9872723,"cg_sample_seq":14221666,"cg_sample_valid":1,"cg_theta_rad":5.00737858,"cg_vd_req_v":0.0833908468,"cg_vd_v":0.0833908468,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392615199,"cg_vq_v":-0.392615199,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9328308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.096924,"values":{"Elec_RPM":-2.89030119e-11,"EncoderCos":38718,"EncoderSin":12490,"GapTicks":54759,"Mech_RPM":-5.78060256e-12,"cg_du":50.1826477,"cg_dv":50.2186241,"cg_dw":49.7813759,"cg_id_a":0.281906098,"cg_id_raw_a":0.298221976,"cg_iq_a":0.0377587825,"cg_iq_raw_a":0.575885594,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9181824,"cg_sample_seq":14221716,"cg_sample_valid":1,"cg_theta_rad":5.00649691,"cg_vd_req_v":0.0691197291,"cg_vd_v":0.0691197291,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400948048,"cg_vq_v":-0.400948048,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.04169893,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9328308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.104736,"values":{"Elec_RPM":-2.89030119e-11,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54758,"Mech_RPM":-5.78060256e-12,"cg_du":50.1701202,"cg_dv":50.2198601,"cg_dw":49.7801399,"cg_id_a":-0.177378029,"cg_id_raw_a":0.0413003154,"cg_iq_a":-0.208279729,"cg_iq_raw_a":-0.250127047,"cg_iu_a":0.872385502,"cg_iv_a":-0.438259721,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.954546,"cg_sample_seq":14221766,"cg_sample_valid":1,"cg_theta_rad":5.00654697,"cg_vd_req_v":0.0793458968,"cg_vd_v":0.0793458968,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395759106,"cg_vq_v":-0.395759106,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35878754,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.927887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.116455,"values":{"Elec_RPM":-2.83249535e-11,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-5.66499061e-12,"cg_du":50.1659584,"cg_dv":50.2154846,"cg_dw":49.7845154,"cg_id_a":-0.191441417,"cg_id_raw_a":0.011812293,"cg_iq_a":-0.667076647,"cg_iq_raw_a":-0.58074522,"cg_iu_a":-0.0337104797,"cg_iv_a":0.286616921,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9836369,"cg_sample_seq":14221816,"cg_sample_valid":1,"cg_theta_rad":5.00516319,"cg_vd_req_v":0.0798842981,"cg_vd_v":0.0798842981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387138993,"cg_vq_v":-0.387138993,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9114685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.143799,"values":{"Elec_RPM":-2.83249535e-11,"EncoderCos":38748,"EncoderSin":12502,"GapTicks":54763,"Mech_RPM":-5.66499061e-12,"cg_du":50.1761284,"cg_dv":50.2149467,"cg_dw":49.7850533,"cg_id_a":0.373278618,"cg_id_raw_a":0.720043838,"cg_iq_a":-0.391941905,"cg_iq_raw_a":-1.28135884,"cg_iu_a":-0.251173496,"cg_iv_a":-0.257040501,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14221870,"cg_sample_valid":1,"cg_theta_rad":5.00533199,"cg_vd_req_v":0.0672623292,"cg_vd_v":0.0672623292,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390415162,"cg_vq_v":-0.390415162,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9114685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.151611,"values":{"Elec_RPM":-2.77584535e-11,"EncoderCos":38708,"EncoderSin":12535,"GapTicks":54753,"Mech_RPM":-5.55169062e-12,"cg_du":50.1816101,"cg_dv":50.2237167,"cg_dw":49.7762833,"cg_id_a":-0.0330308825,"cg_id_raw_a":-0.364525676,"cg_iq_a":0.398442924,"cg_iq_raw_a":-0.179836527,"cg_iu_a":-0.722343206,"cg_iv_a":-0.00333368778,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9581814,"cg_sample_seq":14221917,"cg_sample_valid":1,"cg_theta_rad":5.00635099,"cg_vd_req_v":0.0741136223,"cg_vd_v":0.0741136223,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404903114,"cg_vq_v":-0.404903114,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.30438745,"dclink_p_w":44.0523682,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120448619,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.159424,"values":{"Elec_RPM":-2.77584535e-11,"EncoderCos":38751,"EncoderSin":12472,"GapTicks":54753,"Mech_RPM":-5.55169062e-12,"cg_du":50.1764793,"cg_dv":50.224453,"cg_dw":49.775547,"cg_id_a":-0.186704099,"cg_id_raw_a":-0.156663507,"cg_iq_a":0.474494696,"cg_iq_raw_a":0.532501578,"cg_iu_a":-0.468636274,"cg_iv_a":-0.43825978,"cg_iw_a":0.906896055,"cg_sample_age_us":23.9836369,"cg_sample_seq":14221967,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.076885581,"cg_vd_v":0.076885581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404693723,"cg_vq_v":-0.404693723,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120448619,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.171143,"values":{"Elec_RPM":-2.7203283e-11,"EncoderCos":38708,"EncoderSin":12484,"GapTicks":54765,"Mech_RPM":-5.44065661e-12,"cg_du":50.1744881,"cg_dv":50.2128525,"cg_dw":49.7871475,"cg_id_a":0.145607531,"cg_id_raw_a":0.448904514,"cg_iq_a":-0.385443419,"cg_iq_raw_a":-0.318734616,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9509087,"cg_sample_seq":14222017,"cg_sample_valid":1,"cg_theta_rad":5.00964689,"cg_vd_req_v":0.0707534775,"cg_vd_v":0.0707534775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387119561,"cg_vq_v":-0.387119561,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7751522,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.178955,"values":{"Elec_RPM":-2.66592165e-11,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-5.33184347e-12,"cg_du":50.1716537,"cg_dv":50.2105598,"cg_dw":49.7894402,"cg_id_a":0.173507378,"cg_id_raw_a":0.154181942,"cg_iq_a":-0.137928516,"cg_iq_raw_a":-0.967375278,"cg_iu_a":0.0387773514,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14222117,"cg_sample_valid":1,"cg_theta_rad":5.00825405,"cg_vd_req_v":0.0700398833,"cg_vd_v":0.0700398833,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38254416,"cg_vq_v":-0.38254416,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.186768,"values":{"Elec_RPM":-2.66592165e-11,"EncoderCos":38728,"EncoderSin":12517,"GapTicks":54770,"Mech_RPM":-5.33184347e-12,"cg_du":50.1667519,"cg_dv":50.2085609,"cg_dw":49.7914391,"cg_id_a":0.106112368,"cg_id_raw_a":0.806850314,"cg_iq_a":-0.217035562,"cg_iq_raw_a":-0.579612076,"cg_iu_a":-0.251173258,"cg_iv_a":0.286616921,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8781815,"cg_sample_seq":14222166,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0702737048,"cg_vd_v":0.0702737048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37857759,"cg_vq_v":-0.37857759,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.53319263,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9426575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.19458,"values":{"Elec_RPM":-2.61260319e-11,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-5.22520655e-12,"cg_du":50.17062,"cg_dv":50.2110596,"cg_dw":49.7889404,"cg_id_a":-0.0325790942,"cg_id_raw_a":-0.271021783,"cg_iq_a":0.197757319,"cg_iq_raw_a":0.375082463,"cg_iu_a":-0.0699543953,"cg_iv_a":0.105397701,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.863636,"cg_sample_seq":14222216,"cg_sample_valid":1,"cg_theta_rad":5.0081892,"cg_vd_req_v":0.0710443333,"cg_vd_v":0.0710443333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382694006,"cg_vq_v":-0.382694006,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.202393,"values":{"Elec_RPM":-2.61260319e-11,"EncoderCos":38709,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-5.22520655e-12,"cg_du":50.1624565,"cg_dv":50.2072487,"cg_dw":49.7927513,"cg_id_a":-0.0800573379,"cg_id_raw_a":-0.0722975582,"cg_iq_a":-0.23503989,"cg_iq_raw_a":-0.152131632,"cg_iu_a":0.292484283,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9836369,"cg_sample_seq":14222266,"cg_sample_valid":1,"cg_theta_rad":5.00579929,"cg_vd_req_v":0.0746893287,"cg_vd_v":0.0746893287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371569723,"cg_vq_v":-0.371569723,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.210205,"values":{"Elec_RPM":-2.56035124e-11,"EncoderCos":38703,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-5.12070247e-12,"cg_du":50.1690407,"cg_dv":50.214859,"cg_dw":49.785141,"cg_id_a":-0.240102276,"cg_id_raw_a":0.378580987,"cg_iq_a":0.423272014,"cg_iq_raw_a":-0.0338471606,"cg_iu_a":0.364971638,"cg_iv_a":-0.184552908,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.954546,"cg_sample_seq":14222316,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0775020644,"cg_vd_v":0.0775020644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386676013,"cg_vq_v":-0.386676013,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9525146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.237549,"values":{"Elec_RPM":-2.56035124e-11,"EncoderCos":38731,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-5.12070247e-12,"cg_du":50.1663704,"cg_dv":50.2058792,"cg_dw":49.7941208,"cg_id_a":0.232042581,"cg_id_raw_a":0.476262212,"cg_iq_a":-0.313437492,"cg_iq_raw_a":-0.608331263,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309112,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14222371,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0681899264,"cg_vd_v":0.0681899264,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374656945,"cg_vq_v":-0.374656945,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9525146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.249268,"values":{"Elec_RPM":-2.50914411e-11,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54772,"Mech_RPM":-5.0182883e-12,"cg_du":50.1693993,"cg_dv":50.2063866,"cg_dw":49.7936134,"cg_id_a":0.148315832,"cg_id_raw_a":0.69730103,"cg_iq_a":-0.148537755,"cg_iq_raw_a":-0.474211752,"cg_iu_a":0.292484045,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9618187,"cg_sample_seq":14222417,"cg_sample_valid":1,"cg_theta_rad":5.00865555,"cg_vd_req_v":0.06975279,"cg_vd_v":0.06975279,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376418114,"cg_vq_v":-0.376418114,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9328308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.25708,"values":{"Elec_RPM":-2.45896116e-11,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-4.91792241e-12,"cg_du":50.160656,"cg_dv":50.2045326,"cg_dw":49.7954674,"cg_id_a":0.093808949,"cg_id_raw_a":-0.0556398705,"cg_iq_a":-0.4180969,"cg_iq_raw_a":-0.113714449,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14222517,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0718877092,"cg_vd_v":0.0718877092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368359536,"cg_vq_v":-0.368359536,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2781067,"temp_inv2_c":38.9328308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.264893,"values":{"Elec_RPM":-2.45896116e-11,"EncoderCos":38750,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-4.91792241e-12,"cg_du":50.1627045,"cg_dv":50.2097359,"cg_dw":49.7902641,"cg_id_a":0.012866579,"cg_id_raw_a":-0.187789306,"cg_iq_a":-0.0512521863,"cg_iq_raw_a":-0.0524058305,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14222566,"cg_sample_valid":1,"cg_theta_rad":5.00606966,"cg_vd_req_v":0.0732243434,"cg_vd_v":0.0732243434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377003253,"cg_vq_v":-0.377003253,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.542038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9328308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.272705,"values":{"Elec_RPM":-2.4097821e-11,"EncoderCos":38694,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-4.81956402e-12,"cg_du":50.1697121,"cg_dv":50.2064972,"cg_dw":49.7935028,"cg_id_a":0.197859526,"cg_id_raw_a":0.104337737,"cg_iq_a":-0.0161579475,"cg_iq_raw_a":-0.0248858482,"cg_iu_a":-0.106198072,"cg_iv_a":0.57656759,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9618187,"cg_sample_seq":14222616,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.069577828,"cg_vd_v":0.069577828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37557447,"cg_vq_v":-0.37557447,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.542038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.284424,"values":{"Elec_RPM":-2.4097821e-11,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54775,"Mech_RPM":-4.81956402e-12,"cg_du":50.1666412,"cg_dv":50.2043877,"cg_dw":49.7956123,"cg_id_a":0.186319962,"cg_id_raw_a":0.707836092,"cg_iq_a":-0.153988063,"cg_iq_raw_a":0.252075016,"cg_iu_a":0.618678808,"cg_iv_a":0.540323734,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9836369,"cg_sample_seq":14222666,"cg_sample_valid":1,"cg_theta_rad":5.00800323,"cg_vd_req_v":0.0681928843,"cg_vd_v":0.0681928843,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372463912,"cg_vq_v":-0.372463912,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.542038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.926239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.292236,"values":{"Elec_RPM":-2.36158645e-11,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-4.72317281e-12,"cg_du":50.1633377,"cg_dv":50.2012672,"cg_dw":49.7987328,"cg_id_a":0.0686277747,"cg_id_raw_a":0.0827002972,"cg_iq_a":-0.411576986,"cg_iq_raw_a":0.191157416,"cg_iu_a":-0.323661089,"cg_iv_a":0.431592345,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14222716,"cg_sample_valid":1,"cg_theta_rad":5.00687361,"cg_vd_req_v":0.0684227124,"cg_vd_v":0.0684227124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366223544,"cg_vq_v":-0.366223544,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.717804,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.8869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.300049,"values":{"Elec_RPM":-2.36158645e-11,"EncoderCos":38696,"EncoderSin":12484,"GapTicks":54763,"Mech_RPM":-4.72317281e-12,"cg_du":50.1771736,"cg_dv":50.2147102,"cg_dw":49.7852898,"cg_id_a":-0.108670756,"cg_id_raw_a":0.136205241,"cg_iq_a":0.755301356,"cg_iq_raw_a":-0.130991772,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9763641,"cg_sample_seq":14222766,"cg_sample_valid":1,"cg_theta_rad":5.00607824,"cg_vd_req_v":0.0715306252,"cg_vd_v":0.0715306252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390958518,"cg_vq_v":-0.390958518,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.8869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.307861,"values":{"Elec_RPM":-2.31435461e-11,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54767,"Mech_RPM":-4.62870931e-12,"cg_du":50.1650238,"cg_dv":50.2109489,"cg_dw":49.7890511,"cg_id_a":-0.263379574,"cg_id_raw_a":-0.121745847,"cg_iq_a":0.238763928,"cg_iq_raw_a":0.353135526,"cg_iu_a":0.038777113,"cg_iv_a":-0.510747433,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9618187,"cg_sample_seq":14222816,"cg_sample_valid":1,"cg_theta_rad":5.00663662,"cg_vd_req_v":0.0753509179,"cg_vd_v":0.0753509179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379405707,"cg_vq_v":-0.379405707,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.335205,"values":{"Elec_RPM":-2.31435461e-11,"EncoderCos":38738,"EncoderSin":12498,"GapTicks":54770,"Mech_RPM":-4.62870931e-12,"cg_du":50.1595116,"cg_dv":50.2088928,"cg_dw":49.7911072,"cg_id_a":-0.239843756,"cg_id_raw_a":-0.23168391,"cg_iq_a":-0.0576494932,"cg_iq_raw_a":0.197933614,"cg_iu_a":0.437459469,"cg_iv_a":0.649055243,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.8600006,"cg_sample_seq":14222871,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0757244378,"cg_vd_v":0.0757244378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373919815,"cg_vq_v":-0.373919815,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.346924,"values":{"Elec_RPM":-2.2680675e-11,"EncoderCos":38728,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-4.53613492e-12,"cg_du":50.162468,"cg_dv":50.2077675,"cg_dw":49.7922325,"cg_id_a":-0.135491863,"cg_id_raw_a":-0.207997888,"cg_iq_a":-0.0482750088,"cg_iq_raw_a":0.163165331,"cg_iu_a":0.401215553,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14222917,"cg_sample_valid":1,"cg_theta_rad":5.00582361,"cg_vd_req_v":0.0733641684,"cg_vd_v":0.0733641684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373820961,"cg_vq_v":-0.373820961,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9295349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.354736,"values":{"Elec_RPM":-2.2680675e-11,"EncoderCos":38719,"EncoderSin":12518,"GapTicks":54771,"Mech_RPM":-4.53613492e-12,"cg_du":50.1635818,"cg_dv":50.2080078,"cg_dw":49.7919922,"cg_id_a":-0.0930561274,"cg_id_raw_a":0.086036779,"cg_iq_a":-0.0632451922,"cg_iq_raw_a":-0.500733674,"cg_iu_a":0.509947062,"cg_iv_a":0.141641617,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14222966,"cg_sample_valid":1,"cg_theta_rad":5.00619602,"cg_vd_req_v":0.0729849413,"cg_vd_v":0.0729849413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375901222,"cg_vq_v":-0.375901222,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.891659021,"dclink_p_w":-129.045044,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9246216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.362549,"values":{"Elec_RPM":-2.22270622e-11,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-4.44541235e-12,"cg_du":50.1721039,"cg_dv":50.2092934,"cg_dw":49.7907066,"cg_id_a":-0.0405597128,"cg_id_raw_a":0.0120382225,"cg_iq_a":0.223913655,"cg_iq_raw_a":-0.580740571,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14223016,"cg_sample_valid":1,"cg_theta_rad":5.00712109,"cg_vd_req_v":0.0691560507,"cg_vd_v":0.0691560507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382144004,"cg_vq_v":-0.382144004,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.875349283,"dclink_p_w":-127.069687,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.370361,"values":{"Elec_RPM":-2.22270622e-11,"EncoderCos":38708,"EncoderSin":12476,"GapTicks":54778,"Mech_RPM":-4.44541235e-12,"cg_du":50.1658936,"cg_dv":50.2018204,"cg_dw":49.7981796,"cg_id_a":0.0445860997,"cg_id_raw_a":-0.26943025,"cg_iq_a":-0.376743853,"cg_iq_raw_a":0.556630909,"cg_iu_a":-0.0337102413,"cg_iv_a":0.830274463,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.8527279,"cg_sample_seq":14223066,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0669404268,"cg_vd_v":0.0669404268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367273986,"cg_vq_v":-0.367273986,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-1.19067073,"dclink_p_w":-172.843185,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.378174,"values":{"Elec_RPM":-2.1782522e-11,"EncoderCos":38722,"EncoderSin":12508,"GapTicks":54763,"Mech_RPM":-4.35650431e-12,"cg_du":50.1708221,"cg_dv":50.2151299,"cg_dw":49.7848701,"cg_id_a":-0.240937918,"cg_id_raw_a":-0.352164447,"cg_iq_a":0.61487633,"cg_iq_raw_a":1.24166965,"cg_iu_a":-0.50488019,"cg_iv_a":0.10539782,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9727268,"cg_sample_seq":14223116,"cg_sample_valid":1,"cg_theta_rad":5.0072732,"cg_vd_req_v":0.0739679858,"cg_vd_v":0.0739679858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388511658,"cg_vq_v":-0.388511658,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.978644133,"dclink_p_w":-141.633942,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.385986,"values":{"Elec_RPM":-2.1782522e-11,"EncoderCos":38735,"EncoderSin":12514,"GapTicks":54769,"Mech_RPM":-4.35650431e-12,"cg_du":50.1744728,"cg_dv":50.2095337,"cg_dw":49.7904663,"cg_id_a":0.181933522,"cg_id_raw_a":0.190491542,"cg_iq_a":0.209911242,"cg_iq_raw_a":0.165361911,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.954546,"cg_sample_seq":14223166,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0643860027,"cg_vd_v":0.0643860027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38314712,"cg_vq_v":-0.38314712,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-1.29396558,"dclink_p_w":-187.268723,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.397705,"values":{"Elec_RPM":-2.13468722e-11,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-4.26937435e-12,"cg_du":50.1727486,"cg_dv":50.209713,"cg_dw":49.790287,"cg_id_a":-0.00408818573,"cg_id_raw_a":0.0333685577,"cg_iq_a":0.0643541887,"cg_iq_raw_a":-0.614920199,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860837,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14223216,"cg_sample_valid":1,"cg_theta_rad":5.00772715,"cg_vd_req_v":0.066946432,"cg_vd_v":0.066946432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382258445,"cg_vq_v":-0.382258445,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-1.25590944,"dclink_p_w":-181.761063,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.405518,"values":{"Elec_RPM":-2.13468722e-11,"EncoderCos":38696,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-4.26937435e-12,"cg_du":50.1696472,"cg_dv":50.2047615,"cg_dw":49.7952385,"cg_id_a":-0.0682408065,"cg_id_raw_a":0.221223518,"cg_iq_a":-0.46984154,"cg_iq_raw_a":-0.559749186,"cg_iu_a":0.437459469,"cg_iv_a":0.177885413,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9836369,"cg_sample_seq":14223266,"cg_sample_valid":1,"cg_theta_rad":5.00709915,"cg_vd_req_v":0.0670899376,"cg_vd_v":0.0670899376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373336315,"cg_vq_v":-0.373336315,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-1.17798519,"dclink_p_w":-171.001694,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.41333,"values":{"Elec_RPM":-2.09199342e-11,"EncoderCos":38710,"EncoderSin":12478,"GapTicks":54765,"Mech_RPM":-4.18398692e-12,"cg_du":50.1805153,"cg_dv":50.2132416,"cg_dw":49.7867584,"cg_id_a":-0.0447796583,"cg_id_raw_a":-0.649629951,"cg_iq_a":0.260195494,"cg_iq_raw_a":1.21095669,"cg_iu_a":0.14750874,"cg_iv_a":0.431592226,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14223316,"cg_sample_valid":1,"cg_theta_rad":5.00732374,"cg_vd_req_v":0.0663946494,"cg_vd_v":0.0663946494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39104113,"cg_vq_v":-0.39104113,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-1.17798519,"dclink_p_w":-171.001694,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9311829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.440674,"values":{"Elec_RPM":-2.05015362e-11,"EncoderCos":38711,"EncoderSin":12486,"GapTicks":54773,"Mech_RPM":-4.10030733e-12,"cg_du":50.1701317,"cg_dv":50.2055321,"cg_dw":49.7944679,"cg_id_a":-0.0922883898,"cg_id_raw_a":-0.0981328115,"cg_iq_a":-0.372517407,"cg_iq_raw_a":-0.292196155,"cg_iu_a":0.038777113,"cg_iv_a":0.359104633,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.954546,"cg_sample_seq":14223416,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0667238012,"cg_vd_v":0.0667238012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374788284,"cg_vq_v":-0.374788284,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-1.05294418,"dclink_p_w":-152.386978,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.448486,"values":{"Elec_RPM":-2.05015362e-11,"EncoderCos":38704,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-4.10030733e-12,"cg_du":50.17099,"cg_dv":50.2045288,"cg_dw":49.7954712,"cg_id_a":-0.0333262905,"cg_id_raw_a":-0.226234615,"cg_iq_a":-0.239314631,"cg_iq_raw_a":0.123631366,"cg_iu_a":0.183752775,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9690914,"cg_sample_seq":14223467,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0659793317,"cg_vd_v":0.0659793317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373746961,"cg_vq_v":-0.373746961,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-124.848747,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2526245,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.460205,"values":{"Elec_RPM":-2.00915066e-11,"EncoderCos":38709,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-4.01830132e-12,"cg_du":50.1710815,"cg_dv":50.2028923,"cg_dw":49.7971077,"cg_id_a":-0.0626385063,"cg_id_raw_a":-0.410455346,"cg_iq_a":-0.196864337,"cg_iq_raw_a":-0.550675809,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397761,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.863636,"cg_sample_seq":14223516,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0642673448,"cg_vd_v":0.0642673448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371588707,"cg_vq_v":-0.371588707,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.918841839,"dclink_p_w":-132.979065,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.468018,"values":{"Elec_RPM":-2.00915066e-11,"EncoderCos":38745,"EncoderSin":12491,"GapTicks":54774,"Mech_RPM":-4.01830132e-12,"cg_du":50.1770821,"cg_dv":50.2054062,"cg_dw":49.7945938,"cg_id_a":0.216484547,"cg_id_raw_a":0.231111422,"cg_iq_a":0.331147015,"cg_iq_raw_a":-0.269400179,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148308992,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9581814,"cg_sample_seq":14223567,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0582689941,"cg_vd_v":0.0582689941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38015765,"cg_vq_v":-0.38015765,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.884410143,"dclink_p_w":-127.995956,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.47583,"values":{"Elec_RPM":-1.9689677e-11,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-3.93793548e-12,"cg_du":50.1633911,"cg_dv":50.2000275,"cg_dw":49.7999725,"cg_id_a":-0.148433238,"cg_id_raw_a":-0.132273674,"cg_iq_a":-0.577580988,"cg_iq_raw_a":-0.19368583,"cg_iu_a":0.727410078,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9618187,"cg_sample_seq":14223617,"cg_sample_valid":1,"cg_theta_rad":5.00774717,"cg_vd_req_v":0.0650392398,"cg_vd_v":0.0650392398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363817066,"cg_vq_v":-0.363817066,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-1.06019282,"dclink_p_w":-153.90242,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9213257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.483643,"values":{"Elec_RPM":-1.9689677e-11,"EncoderCos":38767,"EncoderSin":12492,"GapTicks":54776,"Mech_RPM":-3.93793548e-12,"cg_du":50.1702728,"cg_dv":50.2028694,"cg_dw":49.7971306,"cg_id_a":0.147025436,"cg_id_raw_a":0.342493087,"cg_iq_a":-0.167597443,"cg_iq_raw_a":-0.115426838,"cg_iu_a":-0.686099291,"cg_iv_a":-0.0395774841,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9618187,"cg_sample_seq":14223667,"cg_sample_valid":1,"cg_theta_rad":5.00834846,"cg_vd_req_v":0.0591382571,"cg_vd_v":0.0591382571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372059673,"cg_vq_v":-0.372059673,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.869912624,"dclink_p_w":-125.897804,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9180603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.491455,"values":{"Elec_RPM":-1.92958843e-11,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.85917687e-12,"cg_du":50.1804657,"cg_dv":50.2122803,"cg_dw":49.7877197,"cg_id_a":-0.172078028,"cg_id_raw_a":0.242432401,"cg_iq_a":0.549341559,"cg_iq_raw_a":0.279587835,"cg_iu_a":-0.649855614,"cg_iv_a":-0.112065315,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9618187,"cg_sample_seq":14223717,"cg_sample_valid":1,"cg_theta_rad":5.00764656,"cg_vd_req_v":0.0652591363,"cg_vd_v":0.0652591363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390971333,"cg_vq_v":-0.390971333,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.864476204,"dclink_p_w":-125.111023,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9180603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.499268,"values":{"Elec_RPM":-1.92958843e-11,"EncoderCos":38702,"EncoderSin":12508,"GapTicks":54774,"Mech_RPM":-3.85917687e-12,"cg_du":50.170681,"cg_dv":50.2047882,"cg_dw":49.7952118,"cg_id_a":-0.0620157123,"cg_id_raw_a":0.502146125,"cg_iq_a":-0.242674381,"cg_iq_raw_a":0.414871782,"cg_iu_a":0.546190858,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9509087,"cg_sample_seq":14223767,"cg_sample_valid":1,"cg_theta_rad":5.00649261,"cg_vd_req_v":0.065767765,"cg_vd_v":0.065767765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374049485,"cg_vq_v":-0.374049485,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9360962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.50708,"values":{"Elec_RPM":-1.89099673e-11,"EncoderCos":38707,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.78199338e-12,"cg_du":50.1749649,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":-0.0955341831,"cg_id_raw_a":0.138690814,"cg_iq_a":0.0827753916,"cg_iq_raw_a":0.0511070117,"cg_iu_a":0.183752537,"cg_iv_a":-0.365772128,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14223816,"cg_sample_valid":1,"cg_theta_rad":5.00663567,"cg_vd_req_v":0.0660262927,"cg_vd_v":0.0660262927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381022722,"cg_vq_v":-0.381022722,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9049377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.53833,"values":{"Elec_RPM":-1.85317664e-11,"EncoderCos":38725,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-3.70635337e-12,"cg_du":50.1871147,"cg_dv":50.2080421,"cg_dw":49.7919579,"cg_id_a":0.387289912,"cg_id_raw_a":0.648418963,"cg_iq_a":0.576211631,"cg_iq_raw_a":1.95691645,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9509087,"cg_sample_seq":14223917,"cg_sample_valid":1,"cg_theta_rad":5.00646591,"cg_vd_req_v":0.0550473966,"cg_vd_v":0.0550473966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387861609,"cg_vq_v":-0.387861609,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9082031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.546143,"values":{"Elec_RPM":-1.85317664e-11,"EncoderCos":38742,"EncoderSin":12514,"GapTicks":54772,"Mech_RPM":-3.70635337e-12,"cg_du":50.1873627,"cg_dv":50.2066994,"cg_dw":49.7933006,"cg_id_a":0.576987743,"cg_id_raw_a":0.116159186,"cg_iq_a":0.638018131,"cg_iq_raw_a":0.775392532,"cg_iu_a":-0.0699543953,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9872723,"cg_sample_seq":14223967,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.050880447,"cg_vd_v":0.050880447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386533022,"cg_vq_v":-0.386533022,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9082031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.553955,"values":{"Elec_RPM":-1.81611306e-11,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54768,"Mech_RPM":-3.63222625e-12,"cg_du":50.1900826,"cg_dv":50.2107124,"cg_dw":49.7892876,"cg_id_a":0.394553602,"cg_id_raw_a":0.826643467,"cg_iq_a":1.03189397,"cg_iq_raw_a":-0.538072944,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148308992,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14224016,"cg_sample_valid":1,"cg_theta_rad":5.00685167,"cg_vd_req_v":0.0554407164,"cg_vd_v":0.0554407164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393136501,"cg_vq_v":-0.393136501,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9180603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.561768,"values":{"Elec_RPM":-1.81611306e-11,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54777,"Mech_RPM":-3.63222625e-12,"cg_du":50.1779785,"cg_dv":50.2026634,"cg_dw":49.7973366,"cg_id_a":0.22721836,"cg_id_raw_a":-0.111097395,"cg_iq_a":0.269645959,"cg_iq_raw_a":0.026395537,"cg_iu_a":-1.08478165,"cg_iv_a":0.286616921,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9581814,"cg_sample_seq":14224066,"cg_sample_valid":1,"cg_theta_rad":5.00602865,"cg_vd_req_v":0.0572936051,"cg_vd_v":0.0572936051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375375181,"cg_vq_v":-0.375375181,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.01126361,"dclink_p_w":-146.354782,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.573486,"values":{"Elec_RPM":-1.7797909e-11,"EncoderCos":38720,"EncoderSin":12521,"GapTicks":54779,"Mech_RPM":-3.55958167e-12,"cg_du":50.1650963,"cg_dv":50.2008018,"cg_dw":49.7991982,"cg_id_a":-0.121752888,"cg_id_raw_a":0.381315559,"cg_iq_a":-0.194128558,"cg_iq_raw_a":-0.290905833,"cg_iu_a":0.256240249,"cg_iv_a":0.504079878,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.8563633,"cg_sample_seq":14224116,"cg_sample_valid":1,"cg_theta_rad":5.00660038,"cg_vd_req_v":0.0644355044,"cg_vd_v":0.0644355044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365825146,"cg_vq_v":-0.365825146,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.927902937,"dclink_p_w":-134.290436,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.581299,"values":{"Elec_RPM":-1.7797909e-11,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-3.55958167e-12,"cg_du":50.1583557,"cg_dv":50.2022324,"cg_dw":49.7977676,"cg_id_a":-0.434117079,"cg_id_raw_a":-0.0867622495,"cg_iq_a":-0.161037385,"cg_iq_raw_a":-0.00757877855,"cg_iu_a":0.401215792,"cg_iv_a":0.359104574,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.9509087,"cg_sample_seq":14224166,"cg_sample_valid":1,"cg_theta_rad":5.00655746,"cg_vd_req_v":0.0719878376,"cg_vd_v":0.0719878376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363838583,"cg_vq_v":-0.363838583,"cg_vu_v":19.795166,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.533081,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.589111,"values":{"Elec_RPM":-1.74419507e-11,"EncoderCos":38724,"EncoderSin":12498,"GapTicks":54781,"Mech_RPM":-3.48839013e-12,"cg_du":50.1692657,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":0.17168659,"cg_id_raw_a":0.224846587,"cg_iq_a":-0.182695746,"cg_iq_raw_a":-0.633176804,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9872723,"cg_sample_seq":14224216,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0594854541,"cg_vd_v":0.0594854541,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366264939,"cg_vq_v":-0.366264939,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.533081,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.596924,"values":{"Elec_RPM":-1.74419507e-11,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54777,"Mech_RPM":-3.48839013e-12,"cg_du":50.1649704,"cg_dv":50.2025719,"cg_dw":49.7974281,"cg_id_a":-0.255878568,"cg_id_raw_a":-0.131797448,"cg_iq_a":-0.114595845,"cg_iq_raw_a":-0.194010183,"cg_iu_a":0.799897909,"cg_iv_a":-0.257040501,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9618187,"cg_sample_seq":14224266,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0673658252,"cg_vd_v":0.0673658252,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369115323,"cg_vq_v":-0.369115323,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.533081,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.9164124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.604736,"values":{"Elec_RPM":-1.70931116e-11,"EncoderCos":38715,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-3.41862237e-12,"cg_du":50.1738472,"cg_dv":50.1968918,"cg_dw":49.8031082,"cg_id_a":0.31541428,"cg_id_raw_a":-0.0338789634,"cg_iq_a":-0.19516784,"cg_iq_raw_a":-0.330319941,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14224317,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0555615723,"cg_vd_v":0.0555615723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366252393,"cg_vq_v":-0.366252393,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.25047302,"dclink_p_w":-181.524353,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.913147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.635986,"values":{"Elec_RPM":-1.70931116e-11,"EncoderCos":38742,"EncoderSin":12489,"GapTicks":54784,"Mech_RPM":-3.41862237e-12,"cg_du":50.1621742,"cg_dv":50.1961555,"cg_dw":49.8038445,"cg_id_a":0.0645743608,"cg_id_raw_a":0.139124274,"cg_iq_a":-0.439184606,"cg_iq_raw_a":0.0499155335,"cg_iu_a":0.509947181,"cg_iv_a":0.431592286,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.9872723,"cg_sample_seq":14224370,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0612374432,"cg_vd_v":0.0612374432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358032793,"cg_vq_v":-0.358032793,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-1.15261459,"dclink_p_w":-166.811752,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.913147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.643799,"values":{"Elec_RPM":-1.67512497e-11,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-3.35024998e-12,"cg_du":50.1720772,"cg_dv":50.1971893,"cg_dw":49.8028107,"cg_id_a":0.154861704,"cg_id_raw_a":0.659026265,"cg_iq_a":-0.0477742478,"cg_iq_raw_a":-0.734528542,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14224417,"cg_sample_valid":1,"cg_theta_rad":5.00821829,"cg_vd_req_v":0.0576006658,"cg_vd_v":0.0576006658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364466995,"cg_vq_v":-0.364466995,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.20879245,"dclink_p_w":-174.942078,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.651611,"values":{"Elec_RPM":-1.67512497e-11,"EncoderCos":38742,"EncoderSin":12498,"GapTicks":54783,"Mech_RPM":-3.35024998e-12,"cg_du":50.1617393,"cg_dv":50.1969223,"cg_dw":49.8030777,"cg_id_a":-0.109124623,"cg_id_raw_a":0.240077004,"cg_iq_a":-0.273656487,"cg_iq_raw_a":0.0953835845,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.25704056,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14224467,"cg_sample_valid":1,"cg_theta_rad":5.00778294,"cg_vd_req_v":0.0620991699,"cg_vd_v":0.0620991699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358878762,"cg_vq_v":-0.358878762,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-1.42806768,"dclink_p_w":-206.676605,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.659424,"values":{"Elec_RPM":-1.64162243e-11,"EncoderCos":38686,"EncoderSin":12428,"GapTicks":54784,"Mech_RPM":-3.28324499e-12,"cg_du":50.1693878,"cg_dv":50.1960831,"cg_dw":49.8039169,"cg_id_a":-0.0617975183,"cg_id_raw_a":0.436066747,"cg_iq_a":-0.149859756,"cg_iq_raw_a":-0.170626625,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772128,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9581814,"cg_sample_seq":14224517,"cg_sample_valid":1,"cg_theta_rad":5.0070076,"cg_vd_req_v":0.061597161,"cg_vd_v":0.061597161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36095944,"cg_vq_v":-0.36095944,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.42806768,"dclink_p_w":-206.676605,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2271423,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.667236,"values":{"Elec_RPM":-1.64162243e-11,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-3.28324499e-12,"cg_du":50.1667023,"cg_dv":50.1985779,"cg_dw":49.8014221,"cg_id_a":-0.169519112,"cg_id_raw_a":0.0222287923,"cg_iq_a":0.203007981,"cg_iq_raw_a":-0.470472753,"cg_iu_a":0.038777113,"cg_iv_a":0.141641617,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.8563633,"cg_sample_seq":14224566,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0629961267,"cg_vd_v":0.0629961267,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364489406,"cg_vq_v":-0.364489406,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-1.11274648,"dclink_p_w":-161.531342,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8508301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.675049,"values":{"Elec_RPM":-1.60879001e-11,"EncoderCos":38703,"EncoderSin":12507,"GapTicks":54790,"Mech_RPM":-3.21758007e-12,"cg_du":50.1654968,"cg_dv":50.1908798,"cg_dw":49.8091202,"cg_id_a":0.126188502,"cg_id_raw_a":0.135788813,"cg_iq_a":-0.286896169,"cg_iq_raw_a":-0.131423399,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9509087,"cg_sample_seq":14224616,"cg_sample_valid":1,"cg_theta_rad":5.00632858,"cg_vd_req_v":0.056396395,"cg_vd_v":0.056396395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353334308,"cg_vq_v":-0.353334308,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.26497054,"dclink_p_w":-183.072418,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9049377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.686768,"values":{"Elec_RPM":-1.60879001e-11,"EncoderCos":38730,"EncoderSin":12499,"GapTicks":54774,"Mech_RPM":-3.21758007e-12,"cg_du":50.1820488,"cg_dv":50.2051888,"cg_dw":49.7948112,"cg_id_a":0.100774512,"cg_id_raw_a":-1.1280849,"cg_iq_a":1.10416734,"cg_iq_raw_a":2.58910155,"cg_iu_a":-1.80965829,"cg_iv_a":-0.0758213997,"cg_iw_a":1.88547969,"cg_sample_age_us":23.9618187,"cg_sample_seq":14224667,"cg_sample_valid":1,"cg_theta_rad":5.00750017,"cg_vd_req_v":0.0550558604,"cg_vd_v":0.0550558604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381312042,"cg_vq_v":-0.381312042,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.41175795,"dclink_p_w":-204.316177,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9049377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.69458,"values":{"Elec_RPM":-1.57661419e-11,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.15322855e-12,"cg_du":50.1668396,"cg_dv":50.2021484,"cg_dw":49.7978516,"cg_id_a":-0.450993121,"cg_id_raw_a":-0.809197366,"cg_iq_a":0.412747562,"cg_iq_raw_a":0.0643095747,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14224716,"cg_sample_valid":1,"cg_theta_rad":5.00836325,"cg_vd_req_v":0.0670608133,"cg_vd_v":0.0670608133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368151814,"cg_vq_v":-0.368151814,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.33383369,"dclink_p_w":-193.03862,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9049377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.702393,"values":{"Elec_RPM":-1.57661419e-11,"EncoderCos":38715,"EncoderSin":12465,"GapTicks":54786,"Mech_RPM":-3.15322855e-12,"cg_du":50.1703758,"cg_dv":50.1944389,"cg_dw":49.8055611,"cg_id_a":0.0722049028,"cg_id_raw_a":-0.128388122,"cg_iq_a":0.0813965499,"cg_iq_raw_a":-0.0119408192,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8563633,"cg_sample_seq":14224766,"cg_sample_valid":1,"cg_theta_rad":5.00621891,"cg_vd_req_v":0.0559250042,"cg_vd_v":0.0559250042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359825939,"cg_vq_v":-0.359825939,"cg_vu_v":143.844864,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.33383369,"dclink_p_w":-193.03862,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9049377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.710205,"values":{"Elec_RPM":-1.54508194e-11,"EncoderCos":38724,"EncoderSin":12530,"GapTicks":54770,"Mech_RPM":-3.09016398e-12,"cg_du":50.1666641,"cg_dv":50.2087212,"cg_dw":49.7912788,"cg_id_a":-0.595255435,"cg_id_raw_a":-0.355357617,"cg_iq_a":0.824152708,"cg_iq_raw_a":0.623054087,"cg_iu_a":-0.432392597,"cg_iv_a":-0.546991289,"cg_iw_a":0.979383886,"cg_sample_age_us":23.9872723,"cg_sample_seq":14224816,"cg_sample_valid":1,"cg_theta_rad":5.00614691,"cg_vd_req_v":0.0702868327,"cg_vd_v":0.0702868327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377596259,"cg_vq_v":-0.377596259,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-1.33383369,"dclink_p_w":-193.03862,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.741455,"values":{"Elec_RPM":-1.54508194e-11,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.09016398e-12,"cg_du":50.1665001,"cg_dv":50.1970596,"cg_dw":49.8029404,"cg_id_a":-0.00761613995,"cg_id_raw_a":0.23961556,"cg_iq_a":0.164443389,"cg_iq_raw_a":0.0965369195,"cg_iu_a":0.111264944,"cg_iv_a":0.57656759,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.954546,"cg_sample_seq":14224870,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0601383634,"cg_vd_v":0.0601383634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361315668,"cg_vq_v":-0.361315668,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-1.2957778,"dclink_p_w":-187.530991,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.749268,"values":{"Elec_RPM":-1.51418045e-11,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-3.02836077e-12,"cg_du":50.1669312,"cg_dv":50.2011604,"cg_dw":49.7988396,"cg_id_a":-0.235286534,"cg_id_raw_a":-0.275433391,"cg_iq_a":0.387290955,"cg_iq_raw_a":0.62929225,"cg_iu_a":-0.287417173,"cg_iv_a":0.032910049,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9763641,"cg_sample_seq":14224917,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0647718459,"cg_vd_v":0.0647718459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36708796,"cg_vq_v":-0.36708796,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-1.2957778,"dclink_p_w":-187.530991,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.75708,"values":{"Elec_RPM":-1.51418045e-11,"EncoderCos":38736,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-3.02836077e-12,"cg_du":50.1614151,"cg_dv":50.1936836,"cg_dw":49.8063164,"cg_id_a":0.108864218,"cg_id_raw_a":-0.0483431108,"cg_iq_a":-0.342851281,"cg_iq_raw_a":-0.877233982,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9509087,"cg_sample_seq":14224967,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0598381869,"cg_vd_v":0.0598381869,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354171157,"cg_vq_v":-0.354171157,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-1.2957778,"dclink_p_w":-187.530991,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.764893,"values":{"Elec_RPM":-1.48389669e-11,"EncoderCos":38692,"EncoderSin":12479,"GapTicks":54770,"Mech_RPM":-2.96779355e-12,"cg_du":50.1832924,"cg_dv":50.2082596,"cg_dw":49.7917404,"cg_id_a":0.0972450227,"cg_id_raw_a":0.409709424,"cg_iq_a":1.18580842,"cg_iq_raw_a":1.90156853,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796824,"cg_iw_a":0.544457912,"cg_sample_age_us":23.8563633,"cg_sample_seq":14225016,"cg_sample_valid":1,"cg_theta_rad":5.00740623,"cg_vd_req_v":0.0607315302,"cg_vd_v":0.0607315302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384429544,"cg_vq_v":-0.384429544,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-1.20879269,"dclink_p_w":-174.410355,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.837738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.772705,"values":{"Elec_RPM":-1.48389669e-11,"EncoderCos":38723,"EncoderSin":12412,"GapTicks":54787,"Mech_RPM":-2.96779355e-12,"cg_du":50.1611328,"cg_dv":50.1931648,"cg_dw":49.8068352,"cg_id_a":0.0434630439,"cg_id_raw_a":0.0793491974,"cg_iq_a":-0.313272506,"cg_iq_raw_a":-0.610459626,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14225066,"cg_sample_valid":1,"cg_theta_rad":5.00752783,"cg_vd_req_v":0.0625689253,"cg_vd_v":0.0625689253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352785587,"cg_vq_v":-0.352785587,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.06019282,"dclink_p_w":-153.436035,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.837738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.780518,"values":{"Elec_RPM":-1.45421878e-11,"EncoderCos":38722,"EncoderSin":12470,"GapTicks":54777,"Mech_RPM":-2.9084376e-12,"cg_du":50.1550369,"cg_dv":50.2022591,"cg_dw":49.7977409,"cg_id_a":-0.533795834,"cg_id_raw_a":-0.0624195188,"cg_iq_a":0.0606374629,"cg_iq_raw_a":-0.0416851938,"cg_iu_a":0.582434893,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8490906,"cg_sample_seq":14225117,"cg_sample_valid":1,"cg_theta_rad":5.00883532,"cg_vd_req_v":0.0746403039,"cg_vd_v":0.0746403039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360858083,"cg_vq_v":-0.360858083,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.78833,"values":{"Elec_RPM":-1.45421878e-11,"EncoderCos":38744,"EncoderSin":12506,"GapTicks":54775,"Mech_RPM":-2.9084376e-12,"cg_du":50.1631927,"cg_dv":50.2042313,"cg_dw":49.7957687,"cg_id_a":-0.0858686045,"cg_id_raw_a":0.204970583,"cg_iq_a":0.411049902,"cg_iq_raw_a":0.0192024428,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.728210449,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9436359,"cg_sample_seq":14225167,"cg_sample_valid":1,"cg_theta_rad":5.00633383,"cg_vd_req_v":0.0674133822,"cg_vd_v":0.0674133822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368612528,"cg_vq_v":-0.368612528,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2571.800049,"values":{"Elec_RPM":-1.4251344e-11,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-2.85026885e-12,"cg_du":50.1586838,"cg_dv":50.2061768,"cg_dw":49.7938232,"cg_id_a":-0.327160269,"cg_id_raw_a":0.333199143,"cg_iq_a":0.385890365,"cg_iq_raw_a":-0.222140059,"cg_iu_a":0.0750210285,"cg_iv_a":-0.546991229,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9363632,"cg_sample_seq":14225216,"cg_sample_valid":1,"cg_theta_rad":5.00584602,"cg_vd_req_v":0.0752655268,"cg_vd_v":0.0752655268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369448155,"cg_vq_v":-0.369448155,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.2016602,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.807861,"values":{"Elec_RPM":-1.4251344e-11,"EncoderCos":38722,"EncoderSin":12527,"GapTicks":54783,"Mech_RPM":-2.85026885e-12,"cg_du":50.1512642,"cg_dv":50.1970596,"cg_dw":49.8029404,"cg_id_a":-0.071557954,"cg_id_raw_a":-0.303371489,"cg_iq_a":-0.242392361,"cg_iq_raw_a":0.736914039,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9654541,"cg_sample_seq":14225266,"cg_sample_valid":1,"cg_theta_rad":5.00639677,"cg_vd_req_v":0.0713872612,"cg_vd_v":0.0713872612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353058457,"cg_vq_v":-0.353058457,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9082031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.815674,"values":{"Elec_RPM":-1.39663177e-11,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-2.79326345e-12,"cg_du":50.1389427,"cg_dv":50.1942596,"cg_dw":49.8057404,"cg_id_a":-0.491580635,"cg_id_raw_a":-0.876799762,"cg_iq_a":-0.703061223,"cg_iq_raw_a":-0.523121774,"cg_iu_a":0.981116891,"cg_iv_a":0.105397701,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.9799995,"cg_sample_seq":14225316,"cg_sample_valid":1,"cg_theta_rad":5.00718403,"cg_vd_req_v":0.0803231448,"cg_vd_v":0.0803231448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341915518,"cg_vq_v":-0.341915518,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9082031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.843018,"values":{"Elec_RPM":-1.39663177e-11,"EncoderCos":38702,"EncoderSin":12494,"GapTicks":54791,"Mech_RPM":-2.79326345e-12,"cg_du":50.1498909,"cg_dv":50.1898918,"cg_dw":49.8101082,"cg_id_a":0.242997721,"cg_id_raw_a":-0.0306322519,"cg_iq_a":-0.466897517,"cg_iq_raw_a":-0.147968248,"cg_iu_a":0.401215553,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370441675,"cg_sample_age_us":24.8745461,"cg_sample_seq":14225371,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.067878142,"cg_vd_v":0.067878142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342064172,"cg_vq_v":-0.342064172,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-1.12543178,"dclink_p_w":-162.877731,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.9065552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.854736,"values":{"Elec_RPM":-1.36869908e-11,"EncoderCos":38732,"EncoderSin":12492,"GapTicks":54787,"Mech_RPM":-2.7373982e-12,"cg_du":50.148201,"cg_dv":50.1935425,"cg_dw":49.8064575,"cg_id_a":0.0916808099,"cg_id_raw_a":-0.0947163403,"cg_iq_a":-0.117773481,"cg_iq_raw_a":-0.372070253,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9254551,"cg_sample_seq":14225417,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0704529956,"cg_vd_v":0.0704529956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346545577,"cg_vq_v":-0.346545577,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-1.12543178,"dclink_p_w":-162.877731,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8918152,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.862549,"values":{"Elec_RPM":-1.36869908e-11,"EncoderCos":38698,"EncoderSin":12454,"GapTicks":54789,"Mech_RPM":-2.7373982e-12,"cg_du":50.1509323,"cg_dv":50.1912842,"cg_dw":49.8087158,"cg_id_a":0.0940943062,"cg_id_raw_a":0.276281804,"cg_iq_a":-0.0713912547,"cg_iq_raw_a":-0.261992455,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9472733,"cg_sample_seq":14225467,"cg_sample_valid":1,"cg_theta_rad":5.00640917,"cg_vd_req_v":0.0698915124,"cg_vd_v":0.0698915124,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345334589,"cg_vq_v":-0.345334589,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-1.12543178,"dclink_p_w":-162.877731,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8918152,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.870361,"values":{"Elec_RPM":-1.34132514e-11,"EncoderCos":38721,"EncoderSin":12492,"GapTicks":54783,"Mech_RPM":-2.68265033e-12,"cg_du":50.1551781,"cg_dv":50.196682,"cg_dw":49.803318,"cg_id_a":0.105073586,"cg_id_raw_a":0.31596908,"cg_iq_a":0.456894815,"cg_iq_raw_a":0.176783904,"cg_iu_a":-0.541124105,"cg_iv_a":-0.583235025,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9436359,"cg_sample_seq":14225517,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0690894797,"cg_vd_v":0.0690894797,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355625212,"cg_vq_v":-0.355625212,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-1.14536595,"dclink_p_w":-166.266541,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.878174,"values":{"Elec_RPM":-1.34132514e-11,"EncoderCos":38726,"EncoderSin":12488,"GapTicks":54789,"Mech_RPM":-2.68265033e-12,"cg_du":50.1461334,"cg_dv":50.1916504,"cg_dw":49.8083496,"cg_id_a":0.0160814524,"cg_id_raw_a":0.378848255,"cg_iq_a":-0.0249670148,"cg_iq_raw_a":0.400925428,"cg_iu_a":-0.106198072,"cg_iv_a":-0.800698042,"cg_iw_a":0.906896114,"cg_sample_age_us":23.954546,"cg_sample_seq":14225567,"cg_sample_valid":1,"cg_theta_rad":5.00675297,"cg_vd_req_v":0.0710269064,"cg_vd_v":0.0710269064,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343737662,"cg_vq_v":-0.343737662,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-1.2740314,"dclink_p_w":-184.383759,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.885986,"values":{"Elec_RPM":-1.31449868e-11,"EncoderCos":38726,"EncoderSin":12523,"GapTicks":54791,"Mech_RPM":-2.62899728e-12,"cg_du":50.1421242,"cg_dv":50.1895561,"cg_dw":49.8104439,"cg_id_a":0.0593955815,"cg_id_raw_a":0.242478207,"cg_iq_a":-0.166500077,"cg_iq_raw_a":-0.158713013,"cg_iu_a":0.654922485,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9509087,"cg_sample_seq":14225667,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.0711169988,"cg_vd_v":0.0711169988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337773353,"cg_vq_v":-0.337773353,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-1.08737564,"dclink_p_w":-157.370071,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.893799,"values":{"Elec_RPM":-1.28820869e-11,"EncoderCos":38712,"EncoderSin":12497,"GapTicks":54793,"Mech_RPM":-2.57641738e-12,"cg_du":50.142395,"cg_dv":50.1880264,"cg_dw":49.8119736,"cg_id_a":0.105461538,"cg_id_raw_a":-0.0162429754,"cg_iq_a":-0.307693124,"cg_iq_raw_a":-0.729114115,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9436359,"cg_sample_seq":14225716,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.071097739,"cg_vd_v":0.071097739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335489035,"cg_vq_v":-0.335489035,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-1.09462452,"dclink_p_w":-158.419159,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.9032898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.901611,"values":{"Elec_RPM":-1.28820869e-11,"EncoderCos":38682,"EncoderSin":12521,"GapTicks":54794,"Mech_RPM":-2.57641738e-12,"cg_du":50.1407127,"cg_dv":50.1865463,"cg_dw":49.8134537,"cg_id_a":0.036572054,"cg_id_raw_a":0.00463858666,"cg_iq_a":-0.287209809,"cg_iq_raw_a":-0.690991759,"cg_iu_a":-0.50488019,"cg_iv_a":0.322860718,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9872723,"cg_sample_seq":14225766,"cg_sample_valid":1,"cg_theta_rad":5.00638437,"cg_vd_req_v":0.0727008581,"cg_vd_v":0.0727008581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332159251,"cg_vq_v":-0.332159251,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-1.09462452,"dclink_p_w":-158.419159,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8819885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.91333,"values":{"Elec_RPM":-1.26244449e-11,"EncoderCos":38747,"EncoderSin":12489,"GapTicks":54789,"Mech_RPM":-2.52488894e-12,"cg_du":50.1410027,"cg_dv":50.1911316,"cg_dw":49.8088684,"cg_id_a":-0.00752277672,"cg_id_raw_a":0.180862129,"cg_iq_a":0.254065573,"cg_iq_raw_a":0.0535194725,"cg_iu_a":-0.613611698,"cg_iv_a":0.0691539049,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9509087,"cg_sample_seq":14225816,"cg_sample_valid":1,"cg_theta_rad":5.00624275,"cg_vd_req_v":0.0729196668,"cg_vd_v":0.0729196668,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340506911,"cg_vq_v":-0.340506911,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-1.22872663,"dclink_p_w":-178.367554,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8918152,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2571.921143,"values":{"Elec_RPM":-1.26244449e-11,"EncoderCos":38708,"EncoderSin":12508,"GapTicks":54781,"Mech_RPM":-2.52488894e-12,"cg_du":50.1382713,"cg_dv":50.1989822,"cg_dw":49.8010178,"cg_id_a":-0.643795371,"cg_id_raw_a":0.0642881691,"cg_iq_a":0.78318429,"cg_iq_raw_a":1.02677548,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14225866,"cg_sample_valid":1,"cg_theta_rad":5.00657845,"cg_vd_req_v":0.0850434825,"cg_vd_v":0.0850434825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348051012,"cg_vq_v":-0.348051012,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-1.42806768,"dclink_p_w":-206.676605,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8918152,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.948486,"values":{"Elec_RPM":-1.23719559e-11,"EncoderCos":38715,"EncoderSin":12515,"GapTicks":54788,"Mech_RPM":-2.47439113e-12,"cg_du":50.130146,"cg_dv":50.1919212,"cg_dw":49.8080788,"cg_id_a":-0.514598012,"cg_id_raw_a":-1.08604765,"cg_iq_a":-0.0476533175,"cg_iq_raw_a":1.20752013,"cg_iu_a":-0.722343206,"cg_iv_a":0.431592286,"cg_iw_a":0.290750921,"cg_sample_age_us":26.823637,"cg_sample_seq":14225921,"cg_sample_valid":1,"cg_theta_rad":5.00677967,"cg_vd_req_v":0.0838569701,"cg_vd_v":0.0838569701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334069282,"cg_vq_v":-0.334069282,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-1.42806768,"dclink_p_w":-206.676605,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8803406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.956299,"values":{"Elec_RPM":-1.23719559e-11,"EncoderCos":38740,"EncoderSin":12495,"GapTicks":54787,"Mech_RPM":-2.47439113e-12,"cg_du":50.1342049,"cg_dv":50.1927605,"cg_dw":49.8072395,"cg_id_a":-0.275092781,"cg_id_raw_a":-0.192224294,"cg_iq_a":0.0559642836,"cg_iq_raw_a":0.456360728,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9836369,"cg_sample_seq":14225967,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0800272748,"cg_vd_v":0.0800272748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337830126,"cg_vq_v":-0.337830126,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-1.05656838,"dclink_p_w":-152.911499,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8803406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.968018,"values":{"Elec_RPM":-1.21245167e-11,"EncoderCos":38727,"EncoderSin":12496,"GapTicks":54792,"Mech_RPM":-2.42490338e-12,"cg_du":50.1386528,"cg_dv":50.1887779,"cg_dw":49.8112221,"cg_id_a":0.044464279,"cg_id_raw_a":0.187452912,"cg_iq_a":-0.00439083949,"cg_iq_raw_a":-0.0179128516,"cg_iu_a":0.292484045,"cg_iv_a":-0.148308992,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9836369,"cg_sample_seq":14226066,"cg_sample_valid":1,"cg_theta_rad":5.00731945,"cg_vd_req_v":0.0736490563,"cg_vd_v":0.0736490563,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334659934,"cg_vq_v":-0.334659934,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-1.02938557,"dclink_p_w":-148.977478,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8934631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.97583,"values":{"Elec_RPM":-1.18820266e-11,"EncoderCos":38688,"EncoderSin":12499,"GapTicks":54801,"Mech_RPM":-2.37640528e-12,"cg_du":50.1362114,"cg_dv":50.1800919,"cg_dw":49.8199081,"cg_id_a":0.201497659,"cg_id_raw_a":-0.00046987168,"cg_iq_a":-0.57966584,"cg_iq_raw_a":-0.436476201,"cg_iu_a":0.582434893,"cg_iv_a":0.431592226,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.8563633,"cg_sample_seq":14226116,"cg_sample_valid":1,"cg_theta_rad":5.00624371,"cg_vd_req_v":0.0699469522,"cg_vd_v":0.0699469522,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320865065,"cg_vq_v":-0.320865065,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.942400455,"dclink_p_w":-136.803146,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8934631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.983643,"values":{"Elec_RPM":-1.18820266e-11,"EncoderCos":38700,"EncoderSin":12499,"GapTicks":54791,"Mech_RPM":-2.37640528e-12,"cg_du":50.1395531,"cg_dv":50.1897583,"cg_dw":49.8102417,"cg_id_a":-0.0768051594,"cg_id_raw_a":0.162178308,"cg_iq_a":0.185326695,"cg_iq_raw_a":-0.602160215,"cg_iu_a":-0.0337104797,"cg_iv_a":0.39534843,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9872723,"cg_sample_seq":14226166,"cg_sample_valid":1,"cg_theta_rad":5.00796223,"cg_vd_req_v":0.0761173591,"cg_vd_v":0.0761173591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337075144,"cg_vq_v":-0.337075144,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.942400455,"dclink_p_w":-136.803146,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8967285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2571.986699,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2571.986704,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2571.986709,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2571.991455,"values":{"Elec_RPM":-1.16443851e-11,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54806,"Mech_RPM":-2.32887711e-12,"cg_du":50.1307564,"cg_dv":50.1757622,"cg_dw":49.8242378,"cg_id_a":0.33880198,"cg_id_raw_a":0.313107967,"cg_iq_a":-1.08623552,"cg_iq_raw_a":-0.879180312,"cg_iu_a":-0.359904766,"cg_iv_a":-0.00333368778,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9618187,"cg_sample_seq":14226216,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.0680688694,"cg_vd_v":0.0680688694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312341511,"cg_vq_v":-0.312341511,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.942400455,"dclink_p_w":-136.803146,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8819885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2571.999268,"values":{"Elec_RPM":-1.16443851e-11,"EncoderCos":38695,"EncoderSin":12535,"GapTicks":54788,"Mech_RPM":-2.32887711e-12,"cg_du":50.1331978,"cg_dv":50.1921272,"cg_dw":49.8078728,"cg_id_a":-0.354523242,"cg_id_raw_a":-0.0754310638,"cg_iq_a":0.295811951,"cg_iq_raw_a":-0.334452897,"cg_iu_a":0.292484164,"cg_iv_a":-0.981917143,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9436359,"cg_sample_seq":14226266,"cg_sample_valid":1,"cg_theta_rad":5.00977755,"cg_vd_req_v":0.0827258006,"cg_vd_v":0.0827258006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335796773,"cg_vq_v":-0.335796773,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.942400455,"dclink_p_w":-136.803146,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8819885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.00708,"values":{"Elec_RPM":-1.14114976e-11,"EncoderCos":38743,"EncoderSin":12508,"GapTicks":54792,"Mech_RPM":-2.28229957e-12,"cg_du":50.1296997,"cg_dv":50.1884232,"cg_dw":49.8115768,"cg_id_a":-0.17001906,"cg_id_raw_a":-0.0868111253,"cg_iq_a":-0.0154858157,"cg_iq_raw_a":-0.00699676992,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8563633,"cg_sample_seq":14226316,"cg_sample_valid":1,"cg_theta_rad":5.00862551,"cg_vd_req_v":0.0788761675,"cg_vd_v":0.0788761675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329527944,"cg_vq_v":-0.329527944,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.942400455,"dclink_p_w":-136.803146,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.014893,"values":{"Elec_RPM":-1.14114976e-11,"EncoderCos":38697,"EncoderSin":12472,"GapTicks":54789,"Mech_RPM":-2.28229957e-12,"cg_du":50.1438789,"cg_dv":50.1914673,"cg_dw":49.8085327,"cg_id_a":-0.0607629605,"cg_id_raw_a":0.812427282,"cg_iq_a":0.67003572,"cg_iq_raw_a":2.08835721,"cg_iu_a":0.111264944,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9254551,"cg_sample_seq":14226367,"cg_sample_valid":1,"cg_theta_rad":5.00740242,"cg_vd_req_v":0.0752585232,"cg_vd_v":0.0752585232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341655344,"cg_vq_v":-0.341655344,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.0583806,"dclink_p_w":-153.639343,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8999939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.046143,"values":{"Elec_RPM":-1.11832679e-11,"EncoderCos":38716,"EncoderSin":12497,"GapTicks":54793,"Mech_RPM":-2.23665357e-12,"cg_du":50.1377831,"cg_dv":50.1873474,"cg_dw":49.8126526,"cg_id_a":-0.10186094,"cg_id_raw_a":-0.152994066,"cg_iq_a":0.155408561,"cg_iq_raw_a":0.459364504,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0395776033,"cg_iw_a":0.870652318,"cg_sample_age_us":23.8527279,"cg_sample_seq":14226420,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0737535059,"cg_vd_v":0.0737535059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332043201,"cg_vq_v":-0.332043201,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.924278498,"dclink_p_w":-133.765884,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.176178,"temp_inv2_c":38.8934631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.053955,"values":{"Elec_RPM":-1.11832679e-11,"EncoderCos":38724,"EncoderSin":12479,"GapTicks":54789,"Mech_RPM":-2.23665357e-12,"cg_du":50.1542587,"cg_dv":50.1910133,"cg_dw":49.8089867,"cg_id_a":0.359687179,"cg_id_raw_a":-0.111062691,"cg_iq_a":0.796638668,"cg_iq_raw_a":-0.847342193,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8600006,"cg_sample_seq":14226466,"cg_sample_valid":1,"cg_theta_rad":5.00919151,"cg_vd_req_v":0.0641769692,"cg_vd_v":0.0641769692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346306562,"cg_vq_v":-0.346306562,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.922466278,"dclink_p_w":-133.909409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8901672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.061768,"values":{"Elec_RPM":-1.09596021e-11,"EncoderCos":38702,"EncoderSin":12468,"GapTicks":54792,"Mech_RPM":-2.19192047e-12,"cg_du":50.1385612,"cg_dv":50.1886864,"cg_dw":49.8113136,"cg_id_a":-0.273538709,"cg_id_raw_a":0.165701836,"cg_iq_a":0.147556633,"cg_iq_raw_a":-1.03881621,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772009,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9472733,"cg_sample_seq":14226517,"cg_sample_valid":1,"cg_theta_rad":5.00729609,"cg_vd_req_v":0.0761741847,"cg_vd_v":0.0761741847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333911359,"cg_vq_v":-0.333911359,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.848166466,"dclink_p_w":-123.123703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8901672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.073486,"values":{"Elec_RPM":-1.09596021e-11,"EncoderCos":38725,"EncoderSin":12498,"GapTicks":54799,"Mech_RPM":-2.19192047e-12,"cg_du":50.1275673,"cg_dv":50.1823692,"cg_dw":49.8176308,"cg_id_a":-0.263226628,"cg_id_raw_a":-0.27968806,"cg_iq_a":-0.617491543,"cg_iq_raw_a":-1.29988503,"cg_iu_a":-0.287417173,"cg_iv_a":-0.00333368778,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8454552,"cg_sample_seq":14226566,"cg_sample_valid":1,"cg_theta_rad":5.00617409,"cg_vd_req_v":0.076268591,"cg_vd_v":0.076268591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319709986,"cg_vq_v":-0.319709986,"cg_vu_v":131.087982,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.224457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8983765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.081299,"values":{"Elec_RPM":-1.07404103e-11,"EncoderCos":38698,"EncoderSin":12493,"GapTicks":54790,"Mech_RPM":-2.14808206e-12,"cg_du":50.1399994,"cg_dv":50.1902275,"cg_dw":49.8097725,"cg_id_a":-0.265836656,"cg_id_raw_a":-0.498373091,"cg_iq_a":0.366045356,"cg_iq_raw_a":-0.304649562,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14226616,"cg_sample_valid":1,"cg_theta_rad":5.00646162,"cg_vd_req_v":0.076285392,"cg_vd_v":0.076285392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33687067,"cg_vq_v":-0.33687067,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.239822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8901672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.089111,"values":{"Elec_RPM":-1.07404103e-11,"EncoderCos":38687,"EncoderSin":12521,"GapTicks":54785,"Mech_RPM":-2.14808206e-12,"cg_du":50.14254,"cg_dv":50.1951599,"cg_dw":49.8048401,"cg_id_a":-0.451031715,"cg_id_raw_a":0.410443038,"cg_iq_a":0.703447819,"cg_iq_raw_a":-0.139560446,"cg_iu_a":-0.0699543953,"cg_iv_a":-1.48933077,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9509087,"cg_sample_seq":14226667,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0793185979,"cg_vd_v":0.0793185979,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344949543,"cg_vq_v":-0.344949543,"cg_vu_v":128.448624,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8901672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.096924,"values":{"Elec_RPM":-1.05256012e-11,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54798,"Mech_RPM":-2.10512033e-12,"cg_du":50.1412163,"cg_dv":50.1830025,"cg_dw":49.8169975,"cg_id_a":0.119224027,"cg_id_raw_a":0.162688345,"cg_iq_a":-0.124911368,"cg_iq_raw_a":0.453619748,"cg_iu_a":-0.0699543953,"cg_iv_a":0.540323794,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9509087,"cg_sample_seq":14226716,"cg_sample_valid":1,"cg_theta_rad":5.00583839,"cg_vd_req_v":0.0672117248,"cg_vd_v":0.0672117248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32902208,"cg_vq_v":-0.32902208,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.108643,"values":{"Elec_RPM":-1.05256012e-11,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54800,"Mech_RPM":-2.10512033e-12,"cg_du":50.1388435,"cg_dv":50.18153,"cg_dw":49.81847,"cg_id_a":0.0856965035,"cg_id_raw_a":-0.0421158373,"cg_iq_a":-0.373493493,"cg_iq_raw_a":0.178741187,"cg_iu_a":0.14750886,"cg_iv_a":0.467836142,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9509087,"cg_sample_seq":14226766,"cg_sample_valid":1,"cg_theta_rad":5.00617123,"cg_vd_req_v":0.0681612268,"cg_vd_v":0.0681612268,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325571239,"cg_vq_v":-0.325571239,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.116455,"values":{"Elec_RPM":-1.03150899e-11,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54796,"Mech_RPM":-2.06301794e-12,"cg_du":50.1373558,"cg_dv":50.1847534,"cg_dw":49.8152466,"cg_id_a":-0.143581599,"cg_id_raw_a":0.0902954862,"cg_iq_a":-0.395639479,"cg_iq_raw_a":-0.318206072,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9472733,"cg_sample_seq":14226816,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0713936239,"cg_vd_v":0.0713936239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328315109,"cg_vq_v":-0.328315109,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8786926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.124268,"values":{"Elec_RPM":-1.03150899e-11,"EncoderCos":38688,"EncoderSin":12459,"GapTicks":54799,"Mech_RPM":-2.06301794e-12,"cg_du":50.148632,"cg_dv":50.1822433,"cg_dw":49.8177567,"cg_id_a":0.240659803,"cg_id_raw_a":0.45089215,"cg_iq_a":-0.184836194,"cg_iq_raw_a":-0.315916538,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14226866,"cg_sample_valid":1,"cg_theta_rad":5.00827169,"cg_vd_req_v":0.0632505193,"cg_vd_v":0.0632505193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33063212,"cg_vq_v":-0.33063212,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.151611,"values":{"Elec_RPM":-1.01087879e-11,"EncoderCos":38740,"EncoderSin":12472,"GapTicks":54785,"Mech_RPM":-2.02175754e-12,"cg_du":50.1401329,"cg_dv":50.1945953,"cg_dw":49.8054047,"cg_id_a":-0.382177442,"cg_id_raw_a":-0.139220834,"cg_iq_a":0.418968827,"cg_iq_raw_a":-0.121352077,"cg_iu_a":0.582434893,"cg_iv_a":-1.19938016,"cg_iw_a":0.616945267,"cg_sample_age_us":23.9872723,"cg_sample_seq":14226967,"cg_sample_valid":1,"cg_theta_rad":5.00614691,"cg_vd_req_v":0.0776657164,"cg_vd_v":0.0776657164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343509167,"cg_vq_v":-0.343509167,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.159424,"values":{"Elec_RPM":-9.90661199e-12,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54791,"Mech_RPM":-1.98132244e-12,"cg_du":50.1488037,"cg_dv":50.1894035,"cg_dw":49.8105965,"cg_id_a":0.0709695369,"cg_id_raw_a":-0.131728247,"cg_iq_a":0.299654245,"cg_iq_raw_a":-0.194057196,"cg_iu_a":-0.14244175,"cg_iv_a":0.177885473,"cg_iw_a":-0.0354437232,"cg_sample_age_us":23.8563633,"cg_sample_seq":14227016,"cg_sample_valid":1,"cg_theta_rad":5.00621557,"cg_vd_req_v":0.0673982874,"cg_vd_v":0.0673982874,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342038333,"cg_vq_v":-0.342038333,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.7405062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.171143,"values":{"Elec_RPM":-9.90661199e-12,"EncoderCos":38724,"EncoderSin":12513,"GapTicks":54784,"Mech_RPM":-1.98132244e-12,"cg_du":50.1417427,"cg_dv":50.1963463,"cg_dw":49.8036537,"cg_id_a":-0.415608555,"cg_id_raw_a":-0.514131725,"cg_iq_a":0.432889342,"cg_iq_raw_a":-0.156662792,"cg_iu_a":-0.251173496,"cg_iv_a":-0.438259721,"cg_iw_a":0.65318954,"cg_sample_age_us":23.9509087,"cg_sample_seq":14227067,"cg_sample_valid":1,"cg_theta_rad":5.00591516,"cg_vd_req_v":0.0783704221,"cg_vd_v":0.0783704221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346733868,"cg_vq_v":-0.346733868,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.17061329,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.178955,"values":{"Elec_RPM":-9.70847968e-12,"EncoderCos":38710,"EncoderSin":12497,"GapTicks":54791,"Mech_RPM":-1.94169594e-12,"cg_du":50.1450882,"cg_dv":50.1895256,"cg_dw":49.8104744,"cg_id_a":0.0155400001,"cg_id_raw_a":0.176466957,"cg_iq_a":0.129659384,"cg_iq_raw_a":0.309477866,"cg_iu_a":-0.178685904,"cg_iv_a":-0.112065196,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9872723,"cg_sample_seq":14227117,"cg_sample_valid":1,"cg_theta_rad":5.00621796,"cg_vd_req_v":0.0703825727,"cg_vd_v":0.0703825727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337973475,"cg_vq_v":-0.337973475,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.854126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2572.186768,"values":{"Elec_RPM":-9.70847968e-12,"EncoderCos":38713,"EncoderSin":12482,"GapTicks":54791,"Mech_RPM":-1.94169594e-12,"cg_du":50.1401901,"cg_dv":50.1893005,"cg_dw":49.8106995,"cg_id_a":-0.217192814,"cg_id_raw_a":-0.114178605,"cg_iq_a":0.143912911,"cg_iq_raw_a":-0.156125292,"cg_iu_a":-0.686099529,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14227167,"cg_sample_valid":1,"cg_theta_rad":5.00761461,"cg_vd_req_v":0.0741110444,"cg_vd_v":0.0741110444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334899396,"cg_vq_v":-0.334899396,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.854126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2572.19458,"values":{"Elec_RPM":-9.51430948e-12,"EncoderCos":38725,"EncoderSin":12499,"GapTicks":54794,"Mech_RPM":-1.90286198e-12,"cg_du":50.139576,"cg_dv":50.1866035,"cg_dw":49.8133965,"cg_id_a":-0.117003039,"cg_id_raw_a":0.0768175423,"cg_iq_a":0.0349569693,"cg_iq_raw_a":0.262911379,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716872215,"cg_sample_age_us":24.0418186,"cg_sample_seq":14227216,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0711158887,"cg_vd_v":0.0711158887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333205432,"cg_vq_v":-0.333205432,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-11.024086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8753967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.202393,"values":{"Elec_RPM":-9.51430948e-12,"EncoderCos":38716,"EncoderSin":12491,"GapTicks":54793,"Mech_RPM":-1.90286198e-12,"cg_du":50.1401939,"cg_dv":50.1881447,"cg_dw":49.8118553,"cg_id_a":-0.268968672,"cg_id_raw_a":-0.253374934,"cg_iq_a":0.0281655341,"cg_iq_raw_a":-0.0238325819,"cg_iu_a":0.0750210285,"cg_iv_a":-0.510747433,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14227266,"cg_sample_valid":1,"cg_theta_rad":5.00580025,"cg_vd_req_v":0.0727770478,"cg_vd_v":0.0727770478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334451437,"cg_vq_v":-0.334451437,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.210205,"values":{"Elec_RPM":-9.32402419e-12,"EncoderCos":38732,"EncoderSin":12508,"GapTicks":54797,"Mech_RPM":-1.86480475e-12,"cg_du":50.1362762,"cg_dv":50.1841736,"cg_dw":49.8158264,"cg_id_a":-0.0476288572,"cg_id_raw_a":-0.0184483472,"cg_iq_a":-0.249519542,"cg_iq_raw_a":-0.292085737,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9472733,"cg_sample_seq":14227316,"cg_sample_valid":1,"cg_theta_rad":5.00553703,"cg_vd_req_v":0.0704169199,"cg_vd_v":0.0704169199,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327192813,"cg_vq_v":-0.327192813,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8737793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.218018,"values":{"Elec_RPM":-9.32402419e-12,"EncoderCos":38718,"EncoderSin":12496,"GapTicks":54797,"Mech_RPM":-1.86480475e-12,"cg_du":50.132637,"cg_dv":50.1836662,"cg_dw":49.8163338,"cg_id_a":-0.247145936,"cg_id_raw_a":-0.468464166,"cg_iq_a":-0.404640913,"cg_iq_raw_a":-0.845431566,"cg_iu_a":0.364971638,"cg_iv_a":-0.43825978,"cg_iw_a":0.0732881427,"cg_sample_age_us":23.9654541,"cg_sample_seq":14227366,"cg_sample_valid":1,"cg_theta_rad":5.00641918,"cg_vd_req_v":0.0740988702,"cg_vd_v":0.0740988702,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32418254,"cg_vq_v":-0.32418254,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8753967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.249268,"values":{"Elec_RPM":-9.13754315e-12,"EncoderCos":38708,"EncoderSin":12470,"GapTicks":54796,"Mech_RPM":-1.82750863e-12,"cg_du":50.1455002,"cg_dv":50.1845779,"cg_dw":49.8154221,"cg_id_a":0.165311307,"cg_id_raw_a":-0.432497203,"cg_iq_a":-0.191148132,"cg_iq_raw_a":-0.334087282,"cg_iu_a":0.582434654,"cg_iv_a":0.322860777,"cg_iw_a":-0.905295432,"cg_sample_age_us":23.954546,"cg_sample_seq":14227467,"cg_sample_valid":1,"cg_theta_rad":5.00625229,"cg_vd_req_v":0.0662292391,"cg_vd_v":0.0662292391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332364827,"cg_vq_v":-0.332364827,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8770752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.25708,"values":{"Elec_RPM":-8.95479177e-12,"EncoderCos":38668,"EncoderSin":12442,"GapTicks":54793,"Mech_RPM":-1.79095844e-12,"cg_du":50.1449471,"cg_dv":50.1881599,"cg_dw":49.8118401,"cg_id_a":-0.233473957,"cg_id_raw_a":-0.599777102,"cg_iq_a":0.0212994963,"cg_iq_raw_a":0.626746297,"cg_iu_a":0.219996452,"cg_iv_a":0.177885413,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8563633,"cg_sample_seq":14227517,"cg_sample_valid":1,"cg_theta_rad":5.00638962,"cg_vd_req_v":0.0738613456,"cg_vd_v":0.0738613456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336118817,"cg_vq_v":-0.336118817,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.264893,"values":{"Elec_RPM":-8.95479177e-12,"EncoderCos":38708,"EncoderSin":12465,"GapTicks":54790,"Mech_RPM":-1.79095844e-12,"cg_du":50.1438828,"cg_dv":50.1903229,"cg_dw":49.8096771,"cg_id_a":-0.178538486,"cg_id_raw_a":-0.338578939,"cg_iq_a":0.0100927362,"cg_iq_raw_a":0.403783113,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14227567,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0734408796,"cg_vd_v":0.0734408796,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34024924,"cg_vq_v":-0.34024924,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.938015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.272705,"values":{"Elec_RPM":-8.77569632e-12,"EncoderCos":38726,"EncoderSin":12446,"GapTicks":54791,"Mech_RPM":-1.75513922e-12,"cg_du":50.1449432,"cg_dv":50.1893501,"cg_dw":49.8106499,"cg_id_a":0.0401758477,"cg_id_raw_a":-0.0175980609,"cg_iq_a":-0.0126013588,"cg_iq_raw_a":0.144749075,"cg_iu_a":0.401215553,"cg_iv_a":0.286616981,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8527279,"cg_sample_seq":14227617,"cg_sample_valid":1,"cg_theta_rad":5.00554132,"cg_vd_req_v":0.0704963207,"cg_vd_v":0.0704963207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338698685,"cg_vq_v":-0.338698685,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.938015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8639526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.284424,"values":{"Elec_RPM":-8.77569632e-12,"EncoderCos":38721,"EncoderSin":12491,"GapTicks":54788,"Mech_RPM":-1.75513922e-12,"cg_du":50.1441574,"cg_dv":50.1926842,"cg_dw":49.8073158,"cg_id_a":-0.146805823,"cg_id_raw_a":0.350682259,"cg_iq_a":0.23234567,"cg_iq_raw_a":0.252964437,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860718,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9763641,"cg_sample_seq":14227666,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0739091709,"cg_vd_v":0.0739091709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343973458,"cg_vq_v":-0.343973458,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.938015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8606873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.292236,"values":{"Elec_RPM":-8.6001822e-12,"EncoderCos":38755,"EncoderSin":12439,"GapTicks":54788,"Mech_RPM":-1.72003644e-12,"cg_du":50.1390114,"cg_dv":50.1924057,"cg_dw":49.8075943,"cg_id_a":-0.245677814,"cg_id_raw_a":0.213946536,"cg_iq_a":0.059120819,"cg_iq_raw_a":-0.307101637,"cg_iu_a":0.0750210285,"cg_iv_a":0.504079938,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8527279,"cg_sample_seq":14227716,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0760492831,"cg_vd_v":0.0760492831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339984924,"cg_vq_v":-0.339984924,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.938015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8606873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.300049,"values":{"Elec_RPM":-8.6001822e-12,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54796,"Mech_RPM":-1.72003644e-12,"cg_du":50.1398239,"cg_dv":50.1845703,"cg_dw":49.8154297,"cg_id_a":0.0747299939,"cg_id_raw_a":-0.340789199,"cg_iq_a":-0.445653141,"cg_iq_raw_a":-0.213026047,"cg_iu_a":0.473703146,"cg_iv_a":1.66388249,"cg_iw_a":-2.13758564,"cg_sample_age_us":23.9509087,"cg_sample_seq":14227766,"cg_sample_valid":1,"cg_theta_rad":5.00714445,"cg_vd_req_v":0.0683331564,"cg_vd_v":0.0683331564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329648435,"cg_vq_v":-0.329648435,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8623047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.307861,"values":{"Elec_RPM":-8.42817829e-12,"EncoderCos":38707,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-1.68563568e-12,"cg_du":50.1429329,"cg_dv":50.1939659,"cg_dw":49.8060341,"cg_id_a":-0.32038033,"cg_id_raw_a":0.104242973,"cg_iq_a":0.069413431,"cg_iq_raw_a":-0.0252803005,"cg_iu_a":0.147508621,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.9872723,"cg_sample_seq":14227816,"cg_sample_valid":1,"cg_theta_rad":5.00690937,"cg_vd_req_v":0.0769379437,"cg_vd_v":0.0769379437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343752295,"cg_vq_v":-0.343752295,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.867218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.315674,"values":{"Elec_RPM":-8.42817829e-12,"EncoderCos":38709,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-1.68563568e-12,"cg_du":50.1505356,"cg_dv":50.1944656,"cg_dw":49.8055344,"cg_id_a":-0.0727170706,"cg_id_raw_a":0.200696468,"cg_iq_a":0.240131408,"cg_iq_raw_a":0.275552839,"cg_iu_a":0.364971876,"cg_iv_a":1.01149356,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9872723,"cg_sample_seq":14227866,"cg_sample_valid":1,"cg_theta_rad":5.0076046,"cg_vd_req_v":0.0713064298,"cg_vd_v":0.0713064298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348741978,"cg_vq_v":-0.348741978,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.867218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.346924,"values":{"Elec_RPM":-8.25961521e-12,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54788,"Mech_RPM":-1.65192296e-12,"cg_du":50.1455536,"cg_dv":50.1924553,"cg_dw":49.8075447,"cg_id_a":-0.0354812145,"cg_id_raw_a":-0.168725953,"cg_iq_a":-0.0935483873,"cg_iq_raw_a":0.421917528,"cg_iu_a":0.0750210285,"cg_iv_a":-0.90942955,"cg_iw_a":0.834408522,"cg_sample_age_us":23.8563633,"cg_sample_seq":14227921,"cg_sample_valid":1,"cg_theta_rad":5.00809526,"cg_vd_req_v":0.07152839,"cg_vd_v":0.07152839,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344667345,"cg_vq_v":-0.344667345,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8721619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.354736,"values":{"Elec_RPM":-8.25961521e-12,"EncoderCos":38733,"EncoderSin":12513,"GapTicks":54784,"Mech_RPM":-1.65192296e-12,"cg_du":50.1445045,"cg_dv":50.1960335,"cg_dw":49.8039665,"cg_id_a":-0.204189122,"cg_id_raw_a":0.229082376,"cg_iq_a":0.0625905693,"cg_iq_raw_a":-0.0145632252,"cg_iu_a":0.256240368,"cg_iv_a":-1.05440497,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9436359,"cg_sample_seq":14227967,"cg_sample_valid":1,"cg_theta_rad":5.00738049,"cg_vd_req_v":0.0751841366,"cg_vd_v":0.0751841366,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348004669,"cg_vq_v":-0.348004669,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8721619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.362549,"values":{"Elec_RPM":-8.0944227e-12,"EncoderCos":38733,"EncoderSin":12502,"GapTicks":54790,"Mech_RPM":-1.6188845e-12,"cg_du":50.1474037,"cg_dv":50.1904221,"cg_dw":49.8095779,"cg_id_a":0.128346652,"cg_id_raw_a":-0.0991906002,"cg_iq_a":-0.386044383,"cg_iq_raw_a":-0.554359913,"cg_iu_a":-0.794830799,"cg_iv_a":0.975249827,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9145451,"cg_sample_seq":14228016,"cg_sample_valid":1,"cg_theta_rad":5.00712013,"cg_vd_req_v":0.0677486882,"cg_vd_v":0.0677486882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341907829,"cg_vq_v":-0.341907829,"cg_vu_v":42.2296829,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.370361,"values":{"Elec_RPM":-8.0944227e-12,"EncoderCos":38719,"EncoderSin":12507,"GapTicks":54781,"Mech_RPM":-1.6188845e-12,"cg_du":50.1579323,"cg_dv":50.1988068,"cg_dw":49.8011932,"cg_id_a":0.102708094,"cg_id_raw_a":0.489603132,"cg_iq_a":0.346961588,"cg_iq_raw_a":0.120345592,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9763641,"cg_sample_seq":14228066,"cg_sample_valid":1,"cg_theta_rad":5.00568676,"cg_vd_req_v":0.0685699061,"cg_vd_v":0.0685699061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359018832,"cg_vq_v":-0.359018832,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.378174,"values":{"Elec_RPM":-7.93253397e-12,"EncoderCos":38705,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-1.58650686e-12,"cg_du":50.1587753,"cg_dv":50.1958122,"cg_dw":49.8041878,"cg_id_a":0.182078004,"cg_id_raw_a":0.427467108,"cg_iq_a":0.0549595542,"cg_iq_raw_a":-0.720766962,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9218178,"cg_sample_seq":14228116,"cg_sample_valid":1,"cg_theta_rad":5.00785065,"cg_vd_req_v":0.0672147349,"cg_vd_v":0.0672147349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35500598,"cg_vq_v":-0.35500598,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.385986,"values":{"Elec_RPM":-7.93253397e-12,"EncoderCos":38713,"EncoderSin":12483,"GapTicks":54784,"Mech_RPM":-1.58650686e-12,"cg_du":50.1608353,"cg_dv":50.1956177,"cg_dw":49.8043823,"cg_id_a":0.284193426,"cg_id_raw_a":0.874250352,"cg_iq_a":-0.0895983204,"cg_iq_raw_a":0.268994302,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129269,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9836369,"cg_sample_seq":14228166,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0642739087,"cg_vd_v":0.0642739087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356113076,"cg_vq_v":-0.356113076,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8656006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.397705,"values":{"Elec_RPM":-7.77388397e-12,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-1.55477671e-12,"cg_du":50.153511,"cg_dv":50.1962738,"cg_dw":49.8037262,"cg_id_a":-0.0720848441,"cg_id_raw_a":-0.0481245257,"cg_iq_a":-0.215310663,"cg_iq_raw_a":-0.622896731,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.954546,"cg_sample_seq":14228216,"cg_sample_valid":1,"cg_theta_rad":5.00814772,"cg_vd_req_v":0.0703395903,"cg_vd_v":0.0703395903,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354064703,"cg_vq_v":-0.354064703,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8606873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.405518,"values":{"Elec_RPM":-7.77388397e-12,"EncoderCos":38719,"EncoderSin":12504,"GapTicks":54796,"Mech_RPM":-1.55477671e-12,"cg_du":50.15242,"cg_dv":50.1850853,"cg_dw":49.8149147,"cg_id_a":0.408311188,"cg_id_raw_a":0.138660118,"cg_iq_a":-1.06913972,"cg_iq_raw_a":-0.386435926,"cg_iu_a":0.473703146,"cg_iv_a":1.59139514,"cg_iw_a":-2.06509829,"cg_sample_age_us":23.9509087,"cg_sample_seq":14228266,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0598526523,"cg_vd_v":0.0598526523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338269114,"cg_vq_v":-0.338269114,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8606873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.41333,"values":{"Elec_RPM":-7.61840591e-12,"EncoderCos":38703,"EncoderSin":12494,"GapTicks":54770,"Mech_RPM":-1.52368114e-12,"cg_du":50.1670532,"cg_dv":50.2088776,"cg_dw":49.7911224,"cg_id_a":-0.193015411,"cg_id_raw_a":0.131479949,"cg_iq_a":0.76508826,"cg_iq_raw_a":0.123227619,"cg_iu_a":-0.541124105,"cg_iv_a":-0.764454246,"cg_iw_a":1.30557835,"cg_sample_age_us":23.8490906,"cg_sample_seq":14228316,"cg_sample_valid":1,"cg_theta_rad":5.0066123,"cg_vd_req_v":0.0728751644,"cg_vd_v":0.0728751644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377509326,"cg_vq_v":-0.377509326,"cg_vu_v":24.6339836,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.839386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.421143,"values":{"Elec_RPM":-7.61840591e-12,"EncoderCos":38760,"EncoderSin":12500,"GapTicks":54780,"Mech_RPM":-1.52368114e-12,"cg_du":50.1574287,"cg_dv":50.1996918,"cg_dw":49.8003082,"cg_id_a":0.116770849,"cg_id_raw_a":-0.102517217,"cg_iq_a":-0.169819161,"cg_iq_raw_a":-0.553754151,"cg_iu_a":-0.287417412,"cg_iv_a":0.359104574,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.8563633,"cg_sample_seq":14228366,"cg_sample_valid":1,"cg_theta_rad":5.00928831,"cg_vd_req_v":0.0666375607,"cg_vd_v":0.0666375607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360548884,"cg_vq_v":-0.360548884,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.839386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.452393,"values":{"Elec_RPM":-7.46603734e-12,"EncoderCos":38722,"EncoderSin":12482,"GapTicks":54779,"Mech_RPM":-1.49320747e-12,"cg_du":50.1580048,"cg_dv":50.2006149,"cg_dw":49.7993851,"cg_id_a":-0.071067825,"cg_id_raw_a":0.163290724,"cg_iq_a":-0.169247344,"cg_iq_raw_a":-0.420387298,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":24.4127274,"cg_sample_seq":14228420,"cg_sample_valid":1,"cg_theta_rad":5.0062542,"cg_vd_req_v":0.0706429929,"cg_vd_v":0.0706429929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361451983,"cg_vq_v":-0.361451983,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8623047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.460205,"values":{"Elec_RPM":-7.46603734e-12,"EncoderCos":38705,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-1.49320747e-12,"cg_du":50.1614647,"cg_dv":50.1999207,"cg_dw":49.8000793,"cg_id_a":0.00167419016,"cg_id_raw_a":0.357540905,"cg_iq_a":-0.20823656,"cg_iq_raw_a":-0.874010026,"cg_iu_a":0.038777113,"cg_iv_a":-0.691966534,"cg_iw_a":0.653189421,"cg_sample_age_us":23.954546,"cg_sample_seq":14228466,"cg_sample_valid":1,"cg_theta_rad":5.00723028,"cg_vd_req_v":0.0685765743,"cg_vd_v":0.0685765743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362194836,"cg_vq_v":-0.362194836,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-50.7342606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.468018,"values":{"Elec_RPM":-7.31671668e-12,"EncoderCos":38752,"EncoderSin":12503,"GapTicks":54776,"Mech_RPM":-1.46334334e-12,"cg_du":50.1688423,"cg_dv":50.2035561,"cg_dw":49.7964439,"cg_id_a":0.248286903,"cg_id_raw_a":0.0544766523,"cg_iq_a":0.27140516,"cg_iq_raw_a":0.296679616,"cg_iu_a":-0.432392597,"cg_iv_a":0.540323794,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9509087,"cg_sample_seq":14228516,"cg_sample_valid":1,"cg_theta_rad":5.00598764,"cg_vd_req_v":0.0619086623,"cg_vd_v":0.0619086623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372048616,"cg_vq_v":-0.372048616,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.3066902,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.47583,"values":{"Elec_RPM":-7.31671668e-12,"EncoderCos":38725,"EncoderSin":12512,"GapTicks":54777,"Mech_RPM":-1.46334334e-12,"cg_du":50.1633911,"cg_dv":50.2025528,"cg_dw":49.7974472,"cg_id_a":0.0699638575,"cg_id_raw_a":0.371566892,"cg_iq_a":0.116751879,"cg_iq_raw_a":0.0356210731,"cg_iu_a":-0.0337102413,"cg_iv_a":0.177885413,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9581814,"cg_sample_seq":14228566,"cg_sample_valid":1,"cg_theta_rad":5.00790787,"cg_vd_req_v":0.0674864799,"cg_vd_v":0.0674864799,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368409246,"cg_vq_v":-0.368409246,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8508301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.483643,"values":{"Elec_RPM":-7.17038234e-12,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54767,"Mech_RPM":-1.43407649e-12,"cg_du":50.1659355,"cg_dv":50.211544,"cg_dw":49.788456,"cg_id_a":-0.386783421,"cg_id_raw_a":0.339666754,"cg_iq_a":0.84531194,"cg_iq_raw_a":-0.294811845,"cg_iu_a":-0.0337104797,"cg_iv_a":0.39534843,"cg_iw_a":2.10294247,"cg_sample_age_us":23.9618187,"cg_sample_seq":14228616,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.074195765,"cg_vd_v":0.074195765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380923986,"cg_vq_v":-0.380923986,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8508301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.491455,"values":{"Elec_RPM":-7.17038234e-12,"EncoderCos":38723,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-1.43407649e-12,"cg_du":50.1587906,"cg_dv":50.1992531,"cg_dw":49.8007469,"cg_id_a":-0.0217811167,"cg_id_raw_a":-0.44432947,"cg_iq_a":-0.256489486,"cg_iq_raw_a":-0.00579854054,"cg_iu_a":0.0750212669,"cg_iv_a":-0.474503636,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9472733,"cg_sample_seq":14228668,"cg_sample_valid":1,"cg_theta_rad":5.00812817,"cg_vd_req_v":0.0686092526,"cg_vd_v":0.0686092526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3589212,"cg_vq_v":-0.3589212,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8508301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2572.499268,"values":{"Elec_RPM":-7.02697492e-12,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-1.40539501e-12,"cg_du":50.1582184,"cg_dv":50.2058525,"cg_dw":49.7941475,"cg_id_a":-0.226442277,"cg_id_raw_a":-0.0592047609,"cg_iq_a":0.188876152,"cg_iq_raw_a":-0.296120137,"cg_iu_a":0.364971876,"cg_iv_a":-0.402015924,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9436359,"cg_sample_seq":14228716,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0752002746,"cg_vd_v":0.0752002746,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368768871,"cg_vq_v":-0.368768871,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.510986,"values":{"Elec_RPM":-7.02697492e-12,"EncoderCos":38707,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-1.40539501e-12,"cg_du":50.165966,"cg_dv":50.205616,"cg_dw":49.794384,"cg_id_a":0.0796612725,"cg_id_raw_a":0.780000031,"cg_iq_a":0.427203596,"cg_iq_raw_a":1.20802462,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9799995,"cg_sample_seq":14228766,"cg_sample_valid":1,"cg_theta_rad":5.00563192,"cg_vd_req_v":0.0705643445,"cg_vd_v":0.0705643445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37246564,"cg_vq_v":-0.37246564,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.518799,"values":{"Elec_RPM":-6.88643543e-12,"EncoderCos":38704,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-1.37728706e-12,"cg_du":50.1688271,"cg_dv":50.2082367,"cg_dw":49.7917633,"cg_id_a":0.00869883597,"cg_id_raw_a":1.10367227,"cg_iq_a":0.731185555,"cg_iq_raw_a":1.75079238,"cg_iu_a":-0.468636274,"cg_iv_a":0.177885413,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9472733,"cg_sample_seq":14228817,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0712238401,"cg_vd_v":0.0712238401,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378758252,"cg_vq_v":-0.378758252,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8796787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.854126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.526611,"values":{"Elec_RPM":-6.88643543e-12,"EncoderCos":38729,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-1.37728706e-12,"cg_du":50.1541061,"cg_dv":50.206131,"cg_dw":49.793869,"cg_id_a":-0.360320628,"cg_id_raw_a":-0.232591748,"cg_iq_a":0.330647767,"cg_iq_raw_a":1.7627002,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8963642,"cg_sample_seq":14228866,"cg_sample_valid":1,"cg_theta_rad":5.0078187,"cg_vd_req_v":0.0784834176,"cg_vd_v":0.0784834176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368056178,"cg_vq_v":-0.368056178,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.6766605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.553955,"values":{"Elec_RPM":-6.74870663e-12,"EncoderCos":38721,"EncoderSin":12466,"GapTicks":54782,"Mech_RPM":-1.34974128e-12,"cg_du":50.1548882,"cg_dv":50.1980667,"cg_dw":49.8019333,"cg_id_a":0.0719541609,"cg_id_raw_a":-0.166182548,"cg_iq_a":-0.183942795,"cg_iq_raw_a":-0.270370156,"cg_iu_a":-1.37473226,"cg_iv_a":0.214129329,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9799995,"cg_sample_seq":14228920,"cg_sample_valid":1,"cg_theta_rad":5.00753212,"cg_vd_req_v":0.0710888803,"cg_vd_v":0.0710888803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356142372,"cg_vq_v":-0.356142372,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.2455177,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.565674,"values":{"Elec_RPM":-6.74870663e-12,"EncoderCos":38766,"EncoderSin":12500,"GapTicks":54785,"Mech_RPM":-1.34974128e-12,"cg_du":50.1544037,"cg_dv":50.1954498,"cg_dw":49.8045502,"cg_id_a":0.366932213,"cg_id_raw_a":0.449779481,"cg_iq_a":-0.282586992,"cg_iq_raw_a":-0.142776921,"cg_iu_a":-0.468636274,"cg_iv_a":-0.329528332,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9872723,"cg_sample_seq":14228967,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.0644899309,"cg_vd_v":0.0644899309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353152514,"cg_vq_v":-0.353152514,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.2455177,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8459167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.573486,"values":{"Elec_RPM":-6.61373257e-12,"EncoderCos":38719,"EncoderSin":12520,"GapTicks":54772,"Mech_RPM":-1.32274649e-12,"cg_du":50.1605072,"cg_dv":50.2065086,"cg_dw":49.7934914,"cg_id_a":-0.0824334621,"cg_id_raw_a":-0.0133114727,"cg_iq_a":0.48370719,"cg_iq_raw_a":0.327194095,"cg_iu_a":-0.976050138,"cg_iv_a":-0.220796824,"cg_iw_a":1.19684696,"cg_sample_age_us":23.9472733,"cg_sample_seq":14229017,"cg_sample_valid":1,"cg_theta_rad":5.00619173,"cg_vd_req_v":0.0734534562,"cg_vd_v":0.0734534562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369883507,"cg_vq_v":-0.369883507,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8525085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2572.581299,"values":{"Elec_RPM":-6.61373257e-12,"EncoderCos":38740,"EncoderSin":12498,"GapTicks":54776,"Mech_RPM":-1.32274649e-12,"cg_du":50.1529045,"cg_dv":50.2029648,"cg_dw":49.7970352,"cg_id_a":-0.106898144,"cg_id_raw_a":-0.448781759,"cg_iq_a":0.0996831134,"cg_iq_raw_a":0.50577271,"cg_iu_a":-0.323661089,"cg_iv_a":0.359104633,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14229067,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0748189688,"cg_vd_v":0.0748189688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361083657,"cg_vq_v":-0.361083657,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8525085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2572.589111,"values":{"Elec_RPM":-6.48145773e-12,"EncoderCos":38687,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-1.29629152e-12,"cg_du":50.1612816,"cg_dv":50.1963348,"cg_dw":49.8036652,"cg_id_a":0.295305431,"cg_id_raw_a":0.234755859,"cg_iq_a":-0.19771041,"cg_iq_raw_a":-0.266230464,"cg_iu_a":0.473703384,"cg_iv_a":0.649055243,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.8672733,"cg_sample_seq":14229117,"cg_sample_valid":1,"cg_theta_rad":5.00719786,"cg_vd_req_v":0.0666846931,"cg_vd_v":0.0666846931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35695982,"cg_vq_v":-0.35695982,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.186594963,"dclink_p_w":27.0048923,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8426514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.596924,"values":{"Elec_RPM":-6.35182835e-12,"EncoderCos":38709,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-1.27036565e-12,"cg_du":50.1642418,"cg_dv":50.2041168,"cg_dw":49.7958832,"cg_id_a":0.114001431,"cg_id_raw_a":-0.0721506923,"cg_iq_a":0.212165087,"cg_iq_raw_a":-0.15220134,"cg_iu_a":-0.214929581,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9872723,"cg_sample_seq":14229217,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.071034655,"cg_vd_v":0.071034655,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370516062,"cg_vq_v":-0.370516062,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.32240295,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1507263,"temp_inv2_c":38.8573914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.604736,"values":{"Elec_RPM":-6.35182835e-12,"EncoderCos":38729,"EncoderSin":12460,"GapTicks":54783,"Mech_RPM":-1.27036565e-12,"cg_du":50.1583557,"cg_dv":50.1970291,"cg_dw":49.8029709,"cg_id_a":0.297233522,"cg_id_raw_a":0.309101164,"cg_iq_a":-0.279248327,"cg_iq_raw_a":-0.624810517,"cg_iu_a":0.0750210285,"cg_iv_a":0.721542954,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.863636,"cg_sample_seq":14229266,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0668577999,"cg_vd_v":0.0668577999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356772572,"cg_vq_v":-0.356772572,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.854126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.612549,"values":{"Elec_RPM":-6.22479152e-12,"EncoderCos":38681,"EncoderSin":12539,"GapTicks":54772,"Mech_RPM":-1.24495835e-12,"cg_du":50.1631203,"cg_dv":50.2070122,"cg_dw":49.7929878,"cg_id_a":-0.128163785,"cg_id_raw_a":-0.0745313615,"cg_iq_a":0.452327609,"cg_iq_raw_a":0.903998554,"cg_iu_a":-0.251173496,"cg_iv_a":-0.329528272,"cg_iw_a":0.182019413,"cg_sample_age_us":23.954546,"cg_sample_seq":14229317,"cg_sample_valid":1,"cg_theta_rad":5.00642586,"cg_vd_req_v":0.0748512149,"cg_vd_v":0.0748512149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372616559,"cg_vq_v":-0.372616559,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.854126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.624268,"values":{"Elec_RPM":-6.22479152e-12,"EncoderCos":38670,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.24495835e-12,"cg_du":50.1678734,"cg_dv":50.2014275,"cg_dw":49.7985725,"cg_id_a":0.170405626,"cg_id_raw_a":-0.0165603161,"cg_iq_a":0.0717126131,"cg_iq_raw_a":-0.657174528,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14229366,"cg_sample_valid":1,"cg_theta_rad":5.00729465,"cg_vd_req_v":0.0679056272,"cg_vd_v":0.0679056272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367328614,"cg_vq_v":-0.367328614,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.8525085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.651611,"values":{"Elec_RPM":-6.10029605e-12,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-1.22005921e-12,"cg_du":50.1580429,"cg_dv":50.2036781,"cg_dw":49.7963219,"cg_id_a":-0.110716589,"cg_id_raw_a":-0.233409584,"cg_iq_a":-0.0366890505,"cg_iq_raw_a":-0.239225671,"cg_iu_a":0.618678689,"cg_iv_a":0.032910049,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.8490906,"cg_sample_seq":14229422,"cg_sample_valid":1,"cg_theta_rad":5.00659323,"cg_vd_req_v":0.073926948,"cg_vd_v":0.073926948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36557129,"cg_vq_v":-0.36557129,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8410339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.659424,"values":{"Elec_RPM":-6.10029605e-12,"EncoderCos":38733,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-1.22005921e-12,"cg_du":50.1572571,"cg_dv":50.1999321,"cg_dw":49.8000679,"cg_id_a":0.0119941607,"cg_id_raw_a":0.576080084,"cg_iq_a":-0.426397771,"cg_iq_raw_a":-0.562954783,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14229467,"cg_sample_valid":1,"cg_theta_rad":5.00684595,"cg_vd_req_v":0.0705503672,"cg_vd_v":0.0705503672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361241698,"cg_vq_v":-0.361241698,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.33894062,"dclink_p_w":-49.0530663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8410339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.667236,"values":{"Elec_RPM":-5.97829035e-12,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.19565805e-12,"cg_du":50.1603165,"cg_dv":50.19664,"cg_dw":49.80336,"cg_id_a":0.237221658,"cg_id_raw_a":-0.213580936,"cg_iq_a":-0.513554156,"cg_iq_raw_a":0.416425288,"cg_iu_a":-0.39614892,"cg_iv_a":0.504079998,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9836369,"cg_sample_seq":14229517,"cg_sample_valid":1,"cg_theta_rad":5.00829172,"cg_vd_req_v":0.0666547045,"cg_vd_v":0.0666547045,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358148634,"cg_vq_v":-0.358148634,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.33894062,"dclink_p_w":-49.0530663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8410339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.678955,"values":{"Elec_RPM":-5.85872453e-12,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-1.17174488e-12,"cg_du":50.1624184,"cg_dv":50.2053604,"cg_dw":49.7946396,"cg_id_a":-0.0530310199,"cg_id_raw_a":0.121524289,"cg_iq_a":0.196098685,"cg_iq_raw_a":0.012520154,"cg_iu_a":0.328727961,"cg_iv_a":-0.184552908,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14229666,"cg_sample_valid":1,"cg_theta_rad":5.00808287,"cg_vd_req_v":0.0717554465,"cg_vd_v":0.0717554465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370382816,"cg_vq_v":-0.370382816,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8525085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.686768,"values":{"Elec_RPM":-5.7415496e-12,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54776,"Mech_RPM":-1.14830996e-12,"cg_du":50.1670761,"cg_dv":50.2031708,"cg_dw":49.7968292,"cg_id_a":0.234445512,"cg_id_raw_a":0.537952244,"cg_iq_a":0.151269287,"cg_iq_raw_a":0.0541741922,"cg_iu_a":-0.577367783,"cg_iv_a":-0.148309052,"cg_iw_a":0.725676835,"cg_sample_age_us":23.9981823,"cg_sample_seq":14229716,"cg_sample_valid":1,"cg_theta_rad":5.00703621,"cg_vd_req_v":0.0669952855,"cg_vd_v":0.0669952855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369829446,"cg_vq_v":-0.369829446,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8525085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.69458,"values":{"Elec_RPM":-5.7415496e-12,"EncoderCos":38735,"EncoderSin":12515,"GapTicks":54768,"Mech_RPM":-1.14830996e-12,"cg_du":50.1615448,"cg_dv":50.2101212,"cg_dw":49.7898788,"cg_id_a":-0.231227294,"cg_id_raw_a":0.0755027756,"cg_iq_a":0.33097744,"cg_iq_raw_a":0.517208695,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104633,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9436359,"cg_sample_seq":14229766,"cg_sample_valid":1,"cg_theta_rad":5.00577021,"cg_vd_req_v":0.0751174316,"cg_vd_v":0.0751174316,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376763761,"cg_vq_v":-0.376763761,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8148193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.702393,"values":{"Elec_RPM":-5.62671871e-12,"EncoderCos":38699,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-1.12534374e-12,"cg_du":50.1737862,"cg_dv":50.2030754,"cg_dw":49.7969246,"cg_id_a":0.348865777,"cg_id_raw_a":0.315849215,"cg_iq_a":0.134974152,"cg_iq_raw_a":-0.440063179,"cg_iu_a":-0.722343206,"cg_iv_a":-0.510747433,"cg_iw_a":1.23309064,"cg_sample_age_us":23.954546,"cg_sample_seq":14229816,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.063408792,"cg_vd_v":0.063408792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373180211,"cg_vq_v":-0.373180211,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8492126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.710205,"values":{"Elec_RPM":-5.62671871e-12,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-1.12534374e-12,"cg_du":50.1624756,"cg_dv":50.2007713,"cg_dw":49.7992287,"cg_id_a":0.0978986993,"cg_id_raw_a":0.399204284,"cg_iq_a":-0.172027498,"cg_iq_raw_a":-0.689028919,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9799995,"cg_sample_seq":14229866,"cg_sample_valid":1,"cg_theta_rad":5.00724125,"cg_vd_req_v":0.0671693236,"cg_vd_v":0.0671693236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364190459,"cg_vq_v":-0.364190459,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8492126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.741455,"values":{"Elec_RPM":-5.5141846e-12,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-1.1028369e-12,"cg_du":50.1682358,"cg_dv":50.2021446,"cg_dw":49.7978554,"cg_id_a":0.120157138,"cg_id_raw_a":0.251429081,"cg_iq_a":0.156147152,"cg_iq_raw_a":0.390609026,"cg_iu_a":0.00253343582,"cg_iv_a":0.612811446,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.8527279,"cg_sample_seq":14229921,"cg_sample_valid":1,"cg_theta_rad":5.00665665,"cg_vd_req_v":0.065907225,"cg_vd_v":0.065907225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368945867,"cg_vq_v":-0.368945867,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.749268,"values":{"Elec_RPM":-5.5141846e-12,"EncoderCos":38734,"EncoderSin":12462,"GapTicks":54782,"Mech_RPM":-1.1028369e-12,"cg_du":50.1569328,"cg_dv":50.197998,"cg_dw":49.802002,"cg_id_a":-0.0108380578,"cg_id_raw_a":-0.6448313,"cg_iq_a":-0.345919967,"cg_iq_raw_a":0.776838362,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9909096,"cg_sample_seq":14229967,"cg_sample_valid":1,"cg_theta_rad":5.00699806,"cg_vd_req_v":0.0684611797,"cg_vd_v":0.0684611797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357380569,"cg_vq_v":-0.357380569,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.75708,"values":{"Elec_RPM":-5.40390128e-12,"EncoderCos":38704,"EncoderSin":12474,"GapTicks":54772,"Mech_RPM":-1.08078021e-12,"cg_du":50.1644287,"cg_dv":50.2066383,"cg_dw":49.7933617,"cg_id_a":-0.200839996,"cg_id_raw_a":-0.397067755,"cg_iq_a":0.509462953,"cg_iq_raw_a":0.98064059,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14230017,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0733992159,"cg_vd_v":0.0733992159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374044597,"cg_vq_v":-0.374044597,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.764893,"values":{"Elec_RPM":-5.40390128e-12,"EncoderCos":38715,"EncoderSin":12501,"GapTicks":54776,"Mech_RPM":-1.08078021e-12,"cg_du":50.1637115,"cg_dv":50.203125,"cg_dw":49.796875,"cg_id_a":0.0138308108,"cg_id_raw_a":0.128501639,"cg_iq_a":0.227708295,"cg_iq_raw_a":-0.059587419,"cg_iu_a":-0.939806223,"cg_iv_a":0.10539782,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9436359,"cg_sample_seq":14230067,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0689118579,"cg_vd_v":0.0689118579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369162053,"cg_vq_v":-0.369162053,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.192152977,"dclink_p_w":-27.8092728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.772705,"values":{"Elec_RPM":-5.29582281e-12,"EncoderCos":38716,"EncoderSin":12508,"GapTicks":54782,"Mech_RPM":-1.05916458e-12,"cg_du":50.1551094,"cg_dv":50.1980858,"cg_dw":49.8019142,"cg_id_a":-0.17150557,"cg_id_raw_a":0.118176013,"cg_iq_a":-0.262122244,"cg_iq_raw_a":0.703957379,"cg_iu_a":0.0750212669,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9509087,"cg_sample_seq":14230117,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.0705217049,"cg_vd_v":0.0705217049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357500464,"cg_vq_v":-0.357500464,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.780518,"values":{"Elec_RPM":-5.29582281e-12,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54780,"Mech_RPM":-1.05916458e-12,"cg_du":50.1581192,"cg_dv":50.1992569,"cg_dw":49.8007431,"cg_id_a":-0.116841875,"cg_id_raw_a":-0.38246128,"cg_iq_a":-0.13801375,"cg_iq_raw_a":0.217861637,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395775437,"cg_iw_a":0.182019293,"cg_sample_age_us":23.8745461,"cg_sample_seq":14230167,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.070158124,"cg_vd_v":0.070158124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359490514,"cg_vq_v":-0.359490514,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.792236,"values":{"Elec_RPM":-5.18990666e-12,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54784,"Mech_RPM":-1.03798133e-12,"cg_du":50.1507912,"cg_dv":50.1955185,"cg_dw":49.8044815,"cg_id_a":-0.181650341,"cg_id_raw_a":-0.514016509,"cg_iq_a":-0.545478046,"cg_iq_raw_a":0.278601587,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9509087,"cg_sample_seq":14230217,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.07158719,"cg_vd_v":0.07158719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350426346,"cg_vq_v":-0.350426346,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0869904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.839386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.800049,"values":{"Elec_RPM":-5.18990666e-12,"EncoderCos":38684,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-1.03798133e-12,"cg_du":50.160408,"cg_dv":50.1968956,"cg_dw":49.8031044,"cg_id_a":0.00669999421,"cg_id_raw_a":0.0797902346,"cg_iq_a":-0.326028287,"cg_iq_raw_a":0.00919444021,"cg_iu_a":0.183752775,"cg_iv_a":-0.655722737,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9836369,"cg_sample_seq":14230268,"cg_sample_valid":1,"cg_theta_rad":5.00604057,"cg_vd_req_v":0.0682108551,"cg_vd_v":0.0682108551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357168257,"cg_vq_v":-0.357168257,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.839386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.807861,"values":{"Elec_RPM":-5.08610862e-12,"EncoderCos":38731,"EncoderSin":12498,"GapTicks":54781,"Mech_RPM":-1.01722168e-12,"cg_du":50.1573105,"cg_dv":50.1989288,"cg_dw":49.8010712,"cg_id_a":0.0609689429,"cg_id_raw_a":0.526058257,"cg_iq_a":-0.21242252,"cg_iq_raw_a":0.63230598,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14230317,"cg_sample_valid":1,"cg_theta_rad":5.00641489,"cg_vd_req_v":0.0684203431,"cg_vd_v":0.0684203431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358987331,"cg_vq_v":-0.358987331,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.815674,"values":{"Elec_RPM":-5.08610862e-12,"EncoderCos":38704,"EncoderSin":12502,"GapTicks":54782,"Mech_RPM":-1.01722168e-12,"cg_du":50.1650848,"cg_dv":50.1977692,"cg_dw":49.8022308,"cg_id_a":0.202924535,"cg_id_raw_a":0.190466255,"cg_iq_a":0.0396414176,"cg_iq_raw_a":0.165391028,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9872723,"cg_sample_seq":14230367,"cg_sample_valid":1,"cg_theta_rad":5.00640631,"cg_vd_req_v":0.0633030161,"cg_vd_v":0.0633030161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361375004,"cg_vq_v":-0.361375004,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.179346323,"dclink_p_w":26.034729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8311768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.843018,"values":{"Elec_RPM":-4.98438617e-12,"EncoderCos":38744,"EncoderSin":12487,"GapTicks":54776,"Mech_RPM":-9.96877277e-13,"cg_du":50.1599007,"cg_dv":50.2029114,"cg_dw":49.7970886,"cg_id_a":-0.151065558,"cg_id_raw_a":-0.312745124,"cg_iq_a":0.460427642,"cg_iq_raw_a":-0.0640776381,"cg_iu_a":0.256240368,"cg_iv_a":0.359104574,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.8563633,"cg_sample_seq":14230422,"cg_sample_valid":1,"cg_theta_rad":5.00915623,"cg_vd_req_v":0.0694257319,"cg_vd_v":0.0694257319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366013885,"cg_vq_v":-0.366013885,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.179346323,"dclink_p_w":26.034729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8082886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.854736,"values":{"Elec_RPM":-4.98438617e-12,"EncoderCos":38721,"EncoderSin":12523,"GapTicks":54786,"Mech_RPM":-9.96877277e-13,"cg_du":50.1609001,"cg_dv":50.1944427,"cg_dw":49.8055573,"cg_id_a":0.195790231,"cg_id_raw_a":-0.108129002,"cg_iq_a":-0.0440309644,"cg_iq_raw_a":-0.227763757,"cg_iu_a":-0.541124105,"cg_iv_a":0.0691539645,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9618187,"cg_sample_seq":14230467,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0614544041,"cg_vd_v":0.0614544041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354837626,"cg_vq_v":-0.354837626,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.179346323,"dclink_p_w":26.034729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8017273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.862549,"values":{"Elec_RPM":-4.88469898e-12,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-9.76939775e-13,"cg_du":50.1647873,"cg_dv":50.1950264,"cg_dw":49.8049736,"cg_id_a":0.161796987,"cg_id_raw_a":0.0438574292,"cg_iq_a":-0.0288693532,"cg_iq_raw_a":0.369417548,"cg_iu_a":-0.359905005,"cg_iv_a":0.105397701,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8563633,"cg_sample_seq":14230517,"cg_sample_valid":1,"cg_theta_rad":5.00735283,"cg_vd_req_v":0.0610514171,"cg_vd_v":0.0610514171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357451439,"cg_vq_v":-0.357451439,"cg_vu_v":19.3552723,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.8017273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.870361,"values":{"Elec_RPM":-4.88469898e-12,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-9.76939775e-13,"cg_du":50.1632805,"cg_dv":50.1979218,"cg_dw":49.8020782,"cg_id_a":-0.0535659567,"cg_id_raw_a":0.0727283806,"cg_iq_a":0.195830926,"cg_iq_raw_a":0.0808212236,"cg_iu_a":-0.323661089,"cg_iv_a":-0.546991229,"cg_iw_a":0.870652318,"cg_sample_age_us":23.954546,"cg_sample_seq":14230567,"cg_sample_valid":1,"cg_theta_rad":5.00616074,"cg_vd_req_v":0.0646720082,"cg_vd_v":0.0646720082,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360600531,"cg_vq_v":-0.360600531,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8590393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.878174,"values":{"Elec_RPM":-4.78700456e-12,"EncoderCos":38717,"EncoderSin":12490,"GapTicks":54781,"Mech_RPM":-9.57400934e-13,"cg_du":50.1585464,"cg_dv":50.1987572,"cg_dw":49.8012428,"cg_id_a":-0.18601951,"cg_id_raw_a":-0.0108191697,"cg_iq_a":-0.00922284648,"cg_iq_raw_a":0.509552479,"cg_iu_a":0.038777113,"cg_iv_a":-0.220796764,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14230617,"cg_sample_valid":1,"cg_theta_rad":5.00621557,"cg_vd_req_v":0.0686246231,"cg_vd_v":0.0686246231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359186083,"cg_vq_v":-0.359186083,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.885986,"values":{"Elec_RPM":-4.78700456e-12,"EncoderCos":38709,"EncoderSin":12523,"GapTicks":54780,"Mech_RPM":-9.57400934e-13,"cg_du":50.1621895,"cg_dv":50.1999016,"cg_dw":49.8000984,"cg_id_a":-0.0741513968,"cg_id_raw_a":-0.183849335,"cg_iq_a":-0.0239660144,"cg_iq_raw_a":-0.30825913,"cg_iu_a":0.256240368,"cg_iv_a":-0.90942955,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9436359,"cg_sample_seq":14230667,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0667139143,"cg_vd_v":0.0667139143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362817138,"cg_vq_v":-0.362817138,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.893799,"values":{"Elec_RPM":-4.69126474e-12,"EncoderCos":38736,"EncoderSin":12500,"GapTicks":54788,"Mech_RPM":-9.38252948e-13,"cg_du":50.1563072,"cg_dv":50.1919708,"cg_dw":49.8080292,"cg_id_a":0.133106202,"cg_id_raw_a":0.226676151,"cg_iq_a":-0.596788347,"cg_iq_raw_a":0.240042612,"cg_iu_a":0.183752537,"cg_iv_a":0.866518259,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9509087,"cg_sample_seq":14230716,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.062227428,"cg_vd_v":0.062227428,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350075603,"cg_vq_v":-0.350075603,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.905518,"values":{"Elec_RPM":-4.69126474e-12,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-9.38252948e-13,"cg_du":50.1711502,"cg_dv":50.199894,"cg_dw":49.800106,"cg_id_a":0.23023735,"cg_id_raw_a":0.64939183,"cg_iq_a":0.16919972,"cg_iq_raw_a":-0.227466851,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9581814,"cg_sample_seq":14230766,"cg_sample_valid":1,"cg_theta_rad":5.00613928,"cg_vd_req_v":0.0598346852,"cg_vd_v":0.0598346852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367800236,"cg_vq_v":-0.367800236,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8262634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.91333,"values":{"Elec_RPM":-4.59743962e-12,"EncoderCos":38722,"EncoderSin":12503,"GapTicks":54782,"Mech_RPM":-9.19487902e-13,"cg_du":50.1637802,"cg_dv":50.1975403,"cg_dw":49.8024597,"cg_id_a":-0.00243306533,"cg_id_raw_a":0.0166022312,"cg_iq_a":-0.235929653,"cg_iq_raw_a":-0.652946234,"cg_iu_a":0.763653994,"cg_iv_a":0.250373125,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9436359,"cg_sample_seq":14230816,"cg_sample_valid":1,"cg_theta_rad":5.00713062,"cg_vd_req_v":0.0626025274,"cg_vd_v":0.0626025274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360596031,"cg_vq_v":-0.360596031,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8279419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.921143,"values":{"Elec_RPM":-4.59743962e-12,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-9.19487902e-13,"cg_du":50.1706467,"cg_dv":50.1969185,"cg_dw":49.8030815,"cg_id_a":0.185491651,"cg_id_raw_a":0.34745127,"cg_iq_a":-0.0449198633,"cg_iq_raw_a":-0.366051495,"cg_iu_a":0.437459469,"cg_iv_a":0.504079938,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9872723,"cg_sample_seq":14230866,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.05730718,"cg_vd_v":0.05730718,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363478065,"cg_vq_v":-0.363478065,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8213806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.928955,"values":{"Elec_RPM":-4.5054906e-12,"EncoderCos":38689,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-9.01098152e-13,"cg_du":50.1694298,"cg_dv":50.1974945,"cg_dw":49.8025055,"cg_id_a":-0.00306323916,"cg_id_raw_a":-0.41191119,"cg_iq_a":-0.0280115493,"cg_iq_raw_a":-1.53596437,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796824,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14230916,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.0612941645,"cg_vd_v":0.0612941645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363171846,"cg_vq_v":-0.363171846,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8213806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.956299,"values":{"Elec_RPM":-4.41538082e-12,"EncoderCos":38697,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-8.83076164e-13,"cg_du":50.1682396,"cg_dv":50.1963692,"cg_dw":49.8036308,"cg_id_a":0.0268539935,"cg_id_raw_a":-0.211807728,"cg_iq_a":-0.17952396,"cg_iq_raw_a":-0.64003253,"cg_iu_a":0.437459469,"cg_iv_a":0.39534843,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9872723,"cg_sample_seq":14231016,"cg_sample_valid":1,"cg_theta_rad":5.00850296,"cg_vd_req_v":0.060498517,"cg_vd_v":0.060498517,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362209588,"cg_vq_v":-0.362209588,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.809906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.968018,"values":{"Elec_RPM":-4.41538082e-12,"EncoderCos":38702,"EncoderSin":12510,"GapTicks":54786,"Mech_RPM":-8.83076164e-13,"cg_du":50.1583252,"cg_dv":50.1940041,"cg_dw":49.8059959,"cg_id_a":-0.182472214,"cg_id_raw_a":0.0440893061,"cg_iq_a":-0.44622159,"cg_iq_raw_a":0.369389832,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9872723,"cg_sample_seq":14231066,"cg_sample_valid":1,"cg_theta_rad":5.00579643,"cg_vd_req_v":0.0650952756,"cg_vd_v":0.0650952756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353537738,"cg_vq_v":-0.353537738,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.809906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2572.97583,"values":{"Elec_RPM":-4.32707299e-12,"EncoderCos":38729,"EncoderSin":12512,"GapTicks":54784,"Mech_RPM":-8.65414619e-13,"cg_du":50.1679344,"cg_dv":50.1955948,"cg_dw":49.8044052,"cg_id_a":0.208967596,"cg_id_raw_a":0.200818464,"cg_iq_a":0.0299569294,"cg_iq_raw_a":-0.162561059,"cg_iu_a":0.038777113,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.954546,"cg_sample_seq":14231116,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0568256564,"cg_vd_v":0.0568256564,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361492544,"cg_vq_v":-0.361492544,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.811554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2572.979465,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2572.97947,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2572.979475,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2572.983643,"values":{"Elec_RPM":-4.32707299e-12,"EncoderCos":38714,"EncoderSin":12509,"GapTicks":54784,"Mech_RPM":-8.65414619e-13,"cg_du":50.1688919,"cg_dv":50.1956291,"cg_dw":49.8043709,"cg_id_a":0.166788459,"cg_id_raw_a":-0.145863935,"cg_iq_a":-0.0191680733,"cg_iq_raw_a":0.387268752,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9436359,"cg_sample_seq":14231166,"cg_sample_valid":1,"cg_theta_rad":5.00724649,"cg_vd_req_v":0.0572381429,"cg_vd_v":0.0572381429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360771388,"cg_vq_v":-0.360771388,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.811554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.991455,"values":{"Elec_RPM":-4.24053154e-12,"EncoderCos":38723,"EncoderSin":12500,"GapTicks":54768,"Mech_RPM":-8.48106307e-13,"cg_du":50.1643524,"cg_dv":50.2107582,"cg_dw":49.7892418,"cg_id_a":-0.643655658,"cg_id_raw_a":-0.152696863,"cg_iq_a":0.855492592,"cg_iq_raw_a":0.0227046181,"cg_iu_a":0.256240368,"cg_iv_a":-1.74303782,"cg_iw_a":1.88547981,"cg_sample_age_us":23.8563633,"cg_sample_seq":14231216,"cg_sample_valid":1,"cg_theta_rad":5.00609207,"cg_vd_req_v":0.0749469548,"cg_vd_v":0.0749469548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378914803,"cg_vq_v":-0.378914803,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.1252747,"temp_inv2_c":38.824646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2572.999268,"values":{"Elec_RPM":-4.24053154e-12,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54785,"Mech_RPM":-8.48106307e-13,"cg_du":50.1659317,"cg_dv":50.195015,"cg_dw":49.804985,"cg_id_a":0.184932411,"cg_id_raw_a":1.17617595,"cg_iq_a":-0.1545261,"cg_iq_raw_a":1.27984762,"cg_iu_a":0.944873095,"cg_iv_a":0.39534843,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9290905,"cg_sample_seq":14231267,"cg_sample_valid":1,"cg_theta_rad":5.0077734,"cg_vd_req_v":0.0590858981,"cg_vd_v":0.0590858981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358259976,"cg_vq_v":-0.358259976,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.00708,"values":{"Elec_RPM":-4.15572091e-12,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-8.31144181e-13,"cg_du":50.1701965,"cg_dv":50.1961479,"cg_dw":49.8038521,"cg_id_a":0.178645194,"cg_id_raw_a":1.50806093,"cg_iq_a":0.0738209412,"cg_iq_raw_a":0.444516838,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8600006,"cg_sample_seq":14231316,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.058519531,"cg_vd_v":0.058519531,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363048464,"cg_vq_v":-0.363048464,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8164673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.018799,"values":{"Elec_RPM":-4.15572091e-12,"EncoderCos":38690,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-8.31144181e-13,"cg_du":50.1729622,"cg_dv":50.204586,"cg_dw":49.795414,"cg_id_a":-0.162771627,"cg_id_raw_a":-0.287102461,"cg_iq_a":0.767518997,"cg_iq_raw_a":1.31928706,"cg_iu_a":1.01736093,"cg_iv_a":-0.546991229,"cg_iw_a":1.41430986,"cg_sample_age_us":23.9836369,"cg_sample_seq":14231366,"cg_sample_valid":1,"cg_theta_rad":5.00759554,"cg_vd_req_v":0.0653242022,"cg_vd_v":0.0653242022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374791712,"cg_vq_v":-0.374791712,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8197327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.026611,"values":{"Elec_RPM":-4.0726064e-12,"EncoderCos":38704,"EncoderSin":12458,"GapTicks":54781,"Mech_RPM":-8.14521302e-13,"cg_du":50.1736946,"cg_dv":50.1985817,"cg_dw":49.8014183,"cg_id_a":0.140890449,"cg_id_raw_a":0.0284290425,"cg_iq_a":0.534963191,"cg_iq_raw_a":-0.105586417,"cg_iu_a":-1.37473226,"cg_iv_a":0.649055302,"cg_iw_a":0.725676954,"cg_sample_age_us":23.9799995,"cg_sample_seq":14231416,"cg_sample_valid":1,"cg_theta_rad":5.00839472,"cg_vd_req_v":0.0584547184,"cg_vd_v":0.0584547184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367147893,"cg_vq_v":-0.367147893,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.053955,"values":{"Elec_RPM":-4.0726064e-12,"EncoderCos":38733,"EncoderSin":12498,"GapTicks":54775,"Mech_RPM":-8.14521302e-13,"cg_du":50.1821709,"cg_dv":50.2041702,"cg_dw":49.7958298,"cg_id_a":0.343396574,"cg_id_raw_a":-0.426551253,"cg_iq_a":1.16582251,"cg_iq_raw_a":1.1623919,"cg_iu_a":-0.251173258,"cg_iv_a":-0.402015924,"cg_iw_a":0.653189182,"cg_sample_age_us":26.8199997,"cg_sample_seq":14231471,"cg_sample_valid":1,"cg_theta_rad":5.00614882,"cg_vd_req_v":0.0537458248,"cg_vd_v":0.0537458248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380027711,"cg_vq_v":-0.380027711,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.065674,"values":{"Elec_RPM":-3.99115463e-12,"EncoderCos":38726,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-7.98230893e-13,"cg_du":50.1617012,"cg_dv":50.195549,"cg_dw":49.804451,"cg_id_a":-0.0994357392,"cg_id_raw_a":0.00683500245,"cg_iq_a":-0.100466467,"cg_iq_raw_a":-0.763162911,"cg_iu_a":0.183752537,"cg_iv_a":-0.365772128,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9181824,"cg_sample_seq":14231517,"cg_sample_valid":1,"cg_theta_rad":5.00664473,"cg_vd_req_v":0.0626692772,"cg_vd_v":0.0626692772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356654823,"cg_vq_v":-0.356654823,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.073486,"values":{"Elec_RPM":-3.99115463e-12,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-7.98230893e-13,"cg_du":50.1632652,"cg_dv":50.1965408,"cg_dw":49.8034592,"cg_id_a":-0.0311119705,"cg_id_raw_a":0.444359779,"cg_iq_a":-0.0394424871,"cg_iq_raw_a":-0.0657981411,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9472733,"cg_sample_seq":14231567,"cg_sample_valid":1,"cg_theta_rad":5.00618601,"cg_vd_req_v":0.0623581894,"cg_vd_v":0.0623581894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358889192,"cg_vq_v":-0.358889192,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.081299,"values":{"Elec_RPM":-3.91133133e-12,"EncoderCos":38721,"EncoderSin":12494,"GapTicks":54781,"Mech_RPM":-7.82266287e-13,"cg_du":50.1604805,"cg_dv":50.198658,"cg_dw":49.801342,"cg_id_a":-0.272774667,"cg_id_raw_a":0.149505138,"cg_iq_a":0.019984901,"cg_iq_raw_a":0.59769839,"cg_iu_a":0.944873095,"cg_iv_a":0.10539782,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9509087,"cg_sample_seq":14231617,"cg_sample_valid":1,"cg_theta_rad":5.00749063,"cg_vd_req_v":0.0667854846,"cg_vd_v":0.0667854846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361310095,"cg_vq_v":-0.361310095,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.824646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.089111,"values":{"Elec_RPM":-3.91133133e-12,"EncoderCos":38717,"EncoderSin":12460,"GapTicks":54785,"Mech_RPM":-7.82266287e-13,"cg_du":50.1620407,"cg_dv":50.1954231,"cg_dw":49.8045769,"cg_id_a":-0.229571909,"cg_id_raw_a":-0.165420279,"cg_iq_a":-0.230273873,"cg_iq_raw_a":0.785676301,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.954546,"cg_sample_seq":14231667,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.0635683984,"cg_vd_v":0.0635683984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357564807,"cg_vq_v":-0.357564807,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.096924,"values":{"Elec_RPM":-3.83310484e-12,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-7.66620979e-13,"cg_du":50.1607246,"cg_dv":50.1931572,"cg_dw":49.8068428,"cg_id_a":-0.18941699,"cg_id_raw_a":-0.574267745,"cg_iq_a":-0.346134424,"cg_iq_raw_a":0.67264545,"cg_iu_a":0.836141586,"cg_iv_a":0.105397761,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9509087,"cg_sample_seq":14231717,"cg_sample_valid":1,"cg_theta_rad":5.00724649,"cg_vd_req_v":0.0621470436,"cg_vd_v":0.0621470436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353780895,"cg_vq_v":-0.353780895,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8295593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.108643,"values":{"Elec_RPM":-3.83310484e-12,"EncoderCos":38677,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-7.66620979e-13,"cg_du":50.1657753,"cg_dv":50.1972046,"cg_dw":49.8027954,"cg_id_a":-0.364147723,"cg_id_raw_a":-0.0511987098,"cg_iq_a":0.056029059,"cg_iq_raw_a":-0.733683109,"cg_iu_a":0.292484283,"cg_iv_a":0.0691539049,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9581814,"cg_sample_seq":14231767,"cg_sample_valid":1,"cg_theta_rad":5.00717497,"cg_vd_req_v":0.0649722964,"cg_vd_v":0.0649722964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360509366,"cg_vq_v":-0.360509366,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.7935486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.116455,"values":{"Elec_RPM":-3.75644307e-12,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-7.51288571e-13,"cg_du":50.1754227,"cg_dv":50.1952667,"cg_dw":49.8047333,"cg_id_a":0.251750231,"cg_id_raw_a":0.326489806,"cg_iq_a":0.344172955,"cg_iq_raw_a":-0.149537608,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9836369,"cg_sample_seq":14231816,"cg_sample_valid":1,"cg_theta_rad":5.00695515,"cg_vd_req_v":0.0520275347,"cg_vd_v":0.0520275347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363901049,"cg_vq_v":-0.363901049,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8180847,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119491868,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.124268,"values":{"Elec_RPM":-3.75644307e-12,"EncoderCos":38714,"EncoderSin":12495,"GapTicks":54790,"Mech_RPM":-7.51288571e-13,"cg_du":50.1671181,"cg_dv":50.1901283,"cg_dw":49.8098717,"cg_id_a":0.14861311,"cg_id_raw_a":0.421145022,"cg_iq_a":-0.257408708,"cg_iq_raw_a":-0.904970586,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.01816106,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9763641,"cg_sample_seq":14231866,"cg_sample_valid":1,"cg_theta_rad":5.00688457,"cg_vd_req_v":0.0536283478,"cg_vd_v":0.0536283478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352241248,"cg_vq_v":-0.352241248,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8180847,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119491868,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.13208,"values":{"Elec_RPM":-3.68131393e-12,"EncoderCos":38726,"EncoderSin":12470,"GapTicks":54785,"Mech_RPM":-7.36262776e-13,"cg_du":50.1709213,"cg_dv":50.1948242,"cg_dw":49.8051758,"cg_id_a":0.00985462964,"cg_id_raw_a":0.257043093,"cg_iq_a":0.138339803,"cg_iq_raw_a":-0.739066184,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.148309052,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14231916,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0548452288,"cg_vd_v":0.0548452288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360814452,"cg_vq_v":-0.360814452,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.809906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.16333,"values":{"Elec_RPM":-3.68131393e-12,"EncoderCos":38727,"EncoderSin":12525,"GapTicks":54792,"Mech_RPM":-7.36262776e-13,"cg_du":50.1573029,"cg_dv":50.1889076,"cg_dw":49.8110924,"cg_id_a":-0.126330107,"cg_id_raw_a":-0.00762086269,"cg_iq_a":-0.485058784,"cg_iq_raw_a":-0.181890115,"cg_iu_a":0.437459469,"cg_iv_a":-0.25704062,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8672733,"cg_sample_seq":14231969,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.0584103577,"cg_vd_v":0.0584103577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345371068,"cg_vq_v":-0.345371068,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.809906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.171143,"values":{"Elec_RPM":-3.6076875e-12,"EncoderCos":38702,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-7.21537522e-13,"cg_du":50.1672897,"cg_dv":50.195488,"cg_dw":49.804512,"cg_id_a":-0.177432895,"cg_id_raw_a":-0.189513668,"cg_iq_a":0.164918542,"cg_iq_raw_a":0.382270128,"cg_iu_a":0.61867857,"cg_iv_a":-0.220796704,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.954546,"cg_sample_seq":14232017,"cg_sample_valid":1,"cg_theta_rad":5.00681973,"cg_vd_req_v":0.060230501,"cg_vd_v":0.060230501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359375089,"cg_vq_v":-0.359375089,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0998535,"temp_inv2_c":38.7788391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.178955,"values":{"Elec_RPM":-3.6076875e-12,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54788,"Mech_RPM":-7.21537522e-13,"cg_du":50.1672935,"cg_dv":50.1920013,"cg_dw":49.8079987,"cg_id_a":-0.0670647919,"cg_id_raw_a":0.106373958,"cg_iq_a":-0.141921371,"cg_iq_raw_a":-0.462016493,"cg_iu_a":0.364971876,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9509087,"cg_sample_seq":14232067,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0565909408,"cg_vd_v":0.0565909408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354687899,"cg_vq_v":-0.354687899,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.186768,"values":{"Elec_RPM":-3.53553384e-12,"EncoderCos":38730,"EncoderSin":12479,"GapTicks":54791,"Mech_RPM":-7.07106791e-13,"cg_du":50.1675987,"cg_dv":50.189991,"cg_dw":49.810009,"cg_id_a":0.138425514,"cg_id_raw_a":0.117824569,"cg_iq_a":-0.259399295,"cg_iq_raw_a":-0.170052335,"cg_iu_a":0.5099473,"cg_iv_a":0.105397761,"cg_iw_a":-0.615345061,"cg_sample_age_us":23.9836369,"cg_sample_seq":14232117,"cg_sample_valid":1,"cg_theta_rad":5.00726271,"cg_vd_req_v":0.0522267856,"cg_vd_v":0.0522267856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352458775,"cg_vq_v":-0.352458775,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.19458,"values":{"Elec_RPM":-3.53553384e-12,"EncoderCos":38697,"EncoderSin":12484,"GapTicks":54784,"Mech_RPM":-7.07106791e-13,"cg_du":50.1691742,"cg_dv":50.1956177,"cg_dw":49.8043823,"cg_id_a":-0.216079801,"cg_id_raw_a":0.177809626,"cg_iq_a":0.234532014,"cg_iq_raw_a":-0.126772538,"cg_iu_a":-0.287417173,"cg_iv_a":-0.510747433,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9436359,"cg_sample_seq":14232167,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0590204522,"cg_vd_v":0.0590204522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360586703,"cg_vq_v":-0.360586703,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8213806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.202393,"values":{"Elec_RPM":-3.46482348e-12,"EncoderCos":38740,"EncoderSin":12506,"GapTicks":54792,"Mech_RPM":-6.92964674e-13,"cg_du":50.1585121,"cg_dv":50.1884384,"cg_dw":49.8115616,"cg_id_a":-0.0946264118,"cg_id_raw_a":-0.325863689,"cg_iq_a":-0.435516298,"cg_iq_raw_a":0.0804312527,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.9872723,"cg_sample_seq":14232217,"cg_sample_valid":1,"cg_theta_rad":5.00825453,"cg_vd_req_v":0.0564365648,"cg_vd_v":0.0564365648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345499605,"cg_vq_v":-0.345499605,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.822998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.210205,"values":{"Elec_RPM":-3.46482348e-12,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-6.92964674e-13,"cg_du":50.1726532,"cg_dv":50.1957054,"cg_dw":49.8042946,"cg_id_a":-0.0309463684,"cg_id_raw_a":-0.300521612,"cg_iq_a":0.425919205,"cg_iq_raw_a":0.662991762,"cg_iu_a":0.691166162,"cg_iv_a":0.322860837,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9581814,"cg_sample_seq":14232267,"cg_sample_valid":1,"cg_theta_rad":5.00664377,"cg_vd_req_v":0.0553675294,"cg_vd_v":0.0553675294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362828285,"cg_vq_v":-0.362828285,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.822998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.221924,"values":{"Elec_RPM":-3.39552692e-12,"EncoderCos":38699,"EncoderSin":12501,"GapTicks":54792,"Mech_RPM":-6.79105372e-13,"cg_du":50.1715431,"cg_dv":50.1889801,"cg_dw":49.8110199,"cg_id_a":0.26098612,"cg_id_raw_a":0.228315338,"cg_iq_a":-0.118771106,"cg_iq_raw_a":-0.631934404,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373065,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9181824,"cg_sample_seq":14232316,"cg_sample_valid":1,"cg_theta_rad":5.00671196,"cg_vd_req_v":0.0500999838,"cg_vd_v":0.0500999838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353015453,"cg_vq_v":-0.353015453,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8459167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.229736,"values":{"Elec_RPM":-3.39552692e-12,"EncoderCos":38698,"EncoderSin":12473,"GapTicks":54789,"Mech_RPM":-6.79105372e-13,"cg_du":50.1726494,"cg_dv":50.1917305,"cg_dw":49.8082695,"cg_id_a":0.046431832,"cg_id_raw_a":0.253741115,"cg_iq_a":0.19648093,"cg_iq_raw_a":-0.0460254885,"cg_iu_a":-0.359904766,"cg_iv_a":-0.112065196,"cg_iw_a":0.471969962,"cg_sample_age_us":23.954546,"cg_sample_seq":14232367,"cg_sample_valid":1,"cg_theta_rad":5.00654793,"cg_vd_req_v":0.0526912883,"cg_vd_v":0.0526912883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357258826,"cg_vq_v":-0.357258826,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8459167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.237549,"values":{"Elec_RPM":-3.32761618e-12,"EncoderCos":38701,"EncoderSin":12501,"GapTicks":54784,"Mech_RPM":-6.65523246e-13,"cg_du":50.1707039,"cg_dv":50.1958885,"cg_dw":49.8041115,"cg_id_a":-0.13238135,"cg_id_raw_a":0.043776352,"cg_iq_a":0.288130611,"cg_iq_raw_a":0.369426787,"cg_iu_a":0.509947062,"cg_iv_a":-0.25704062,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.863636,"cg_sample_seq":14232416,"cg_sample_valid":1,"cg_theta_rad":5.00644445,"cg_vd_req_v":0.0573388338,"cg_vd_v":0.0573388338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361939788,"cg_vq_v":-0.361939788,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.264893,"values":{"Elec_RPM":-3.32761618e-12,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-6.65523246e-13,"cg_du":50.1745567,"cg_dv":50.1989708,"cg_dw":49.8010292,"cg_id_a":-0.138293713,"cg_id_raw_a":-0.359150499,"cg_iq_a":0.488052487,"cg_iq_raw_a":-0.872164071,"cg_iu_a":-0.686099291,"cg_iv_a":-0.402015924,"cg_iw_a":1.08811522,"cg_sample_age_us":26.8199997,"cg_sample_seq":14232470,"cg_sample_valid":1,"cg_theta_rad":5.00694513,"cg_vd_req_v":0.0567400828,"cg_vd_v":0.0567400828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368381083,"cg_vq_v":-0.368381083,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7755432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.276611,"values":{"Elec_RPM":-3.26106373e-12,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-6.52212767e-13,"cg_du":50.1745262,"cg_dv":50.19627,"cg_dw":49.80373,"cg_id_a":-0.0400064886,"cg_id_raw_a":-0.118219949,"cg_iq_a":0.251844108,"cg_iq_raw_a":0.0984294936,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0395776033,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9109097,"cg_sample_seq":14232517,"cg_sample_valid":1,"cg_theta_rad":5.00555515,"cg_vd_req_v":0.0541367829,"cg_vd_v":0.0541367829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364695609,"cg_vq_v":-0.364695609,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7755432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.284424,"values":{"Elec_RPM":-3.26106373e-12,"EncoderCos":38697,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-6.52212767e-13,"cg_du":50.1690102,"cg_dv":50.1932297,"cg_dw":49.8067703,"cg_id_a":-0.227102578,"cg_id_raw_a":-0.335342377,"cg_iq_a":-0.048119124,"cg_iq_raw_a":0.767709732,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14232567,"cg_sample_valid":1,"cg_theta_rad":5.00818825,"cg_vd_req_v":0.0575021952,"cg_vd_v":0.0575021952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35826394,"cg_vq_v":-0.35826394,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0744324,"temp_inv2_c":38.8148193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.292236,"values":{"Elec_RPM":-3.19584246e-12,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54785,"Mech_RPM":-6.39168514e-13,"cg_du":50.1739731,"cg_dv":50.1950684,"cg_dw":49.8049316,"cg_id_a":-0.0860641971,"cg_id_raw_a":-0.324406534,"cg_iq_a":0.102343388,"cg_iq_raw_a":0.25906685,"cg_iu_a":0.14750886,"cg_iv_a":-0.800698042,"cg_iw_a":0.653189182,"cg_sample_age_us":23.8745461,"cg_sample_seq":14232617,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0548244864,"cg_vd_v":0.0548244864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362540185,"cg_vq_v":-0.362540185,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8000793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.300049,"values":{"Elec_RPM":-3.19584246e-12,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54790,"Mech_RPM":-6.39168514e-13,"cg_du":50.1724739,"cg_dv":50.1903572,"cg_dw":49.8096428,"cg_id_a":0.121306628,"cg_id_raw_a":0.588576317,"cg_iq_a":-0.205355883,"cg_iq_raw_a":-0.888199151,"cg_iu_a":-0.541124105,"cg_iv_a":0.105397701,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14232667,"cg_sample_valid":1,"cg_theta_rad":5.00643444,"cg_vd_req_v":0.0501277782,"cg_vd_v":0.0501277782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356594652,"cg_vq_v":-0.356594652,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8000793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.307861,"values":{"Elec_RPM":-3.13192571e-12,"EncoderCos":38732,"EncoderSin":12509,"GapTicks":54780,"Mech_RPM":-6.2638512e-13,"cg_du":50.1804848,"cg_dv":50.1995125,"cg_dw":49.8004875,"cg_id_a":0.0351916701,"cg_id_raw_a":0.171606734,"cg_iq_a":0.649918437,"cg_iq_raw_a":0.380623847,"cg_iu_a":0.183752775,"cg_iv_a":-0.800698161,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9254551,"cg_sample_seq":14232766,"cg_sample_valid":1,"cg_theta_rad":5.00780106,"cg_vd_req_v":0.050376121,"cg_vd_v":0.050376121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37276271,"cg_vq_v":-0.37276271,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8492126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.315674,"values":{"Elec_RPM":-3.06928723e-12,"EncoderCos":38713,"EncoderSin":12497,"GapTicks":54782,"Mech_RPM":-6.13857435e-13,"cg_du":50.17836,"cg_dv":50.1976891,"cg_dw":49.8023109,"cg_id_a":-0.0294593796,"cg_id_raw_a":0.110681735,"cg_iq_a":0.314960718,"cg_iq_raw_a":0.339337826,"cg_iu_a":-0.577368021,"cg_iv_a":0.214129269,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9509087,"cg_sample_seq":14232816,"cg_sample_valid":1,"cg_theta_rad":5.00568724,"cg_vd_req_v":0.0521872044,"cg_vd_v":0.0521872044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368824124,"cg_vq_v":-0.368824124,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8361206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.323486,"values":{"Elec_RPM":-3.06928723e-12,"EncoderCos":38747,"EncoderSin":12502,"GapTicks":54787,"Mech_RPM":-6.13857435e-13,"cg_du":50.1771812,"cg_dv":50.1935768,"cg_dw":49.8064232,"cg_id_a":0.26015842,"cg_id_raw_a":-0.242388159,"cg_iq_a":-0.0542211235,"cg_iq_raw_a":0.0883093998,"cg_iu_a":-0.649855375,"cg_iv_a":0.141641617,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9872723,"cg_sample_seq":14232866,"cg_sample_valid":1,"cg_theta_rad":5.00636816,"cg_vd_req_v":0.0463260934,"cg_vd_v":0.0463260934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364061981,"cg_vq_v":-0.364061981,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.8017273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.335205,"values":{"Elec_RPM":-3.00790165e-12,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-6.01580309e-13,"cg_du":50.1748505,"cg_dv":50.1996918,"cg_dw":49.8003082,"cg_id_a":-0.293584228,"cg_id_raw_a":0.250585556,"cg_iq_a":0.217703253,"cg_iq_raw_a":-0.229353681,"cg_iu_a":0.654922485,"cg_iv_a":0.0691539049,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9763641,"cg_sample_seq":14232916,"cg_sample_valid":1,"cg_theta_rad":5.00676346,"cg_vd_req_v":0.0574059561,"cg_vd_v":0.0574059561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369496524,"cg_vq_v":-0.369496524,"cg_vu_v":24.1940918,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.8017273,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.362549,"values":{"Elec_RPM":-3.00790165e-12,"EncoderCos":38723,"EncoderSin":12516,"GapTicks":54788,"Mech_RPM":-6.01580309e-13,"cg_du":50.1766968,"cg_dv":50.1925011,"cg_dw":49.8074989,"cg_id_a":0.13419351,"cg_id_raw_a":-0.105241843,"cg_iq_a":-0.351317883,"cg_iq_raw_a":-0.48231867,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8490906,"cg_sample_seq":14232971,"cg_sample_valid":1,"cg_theta_rad":5.00678778,"cg_vd_req_v":0.0471553579,"cg_vd_v":0.0471553579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361008376,"cg_vq_v":-0.361008376,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.370361,"values":{"Elec_RPM":-2.94774361e-12,"EncoderCos":38774,"EncoderSin":12486,"GapTicks":54782,"Mech_RPM":-5.89548701e-13,"cg_du":50.171505,"cg_dv":50.1976891,"cg_dw":49.8023109,"cg_id_a":-0.0882836357,"cg_id_raw_a":0.187721819,"cg_iq_a":0.00988075137,"cg_iq_raw_a":-0.274353057,"cg_iu_a":-0.468636513,"cg_iv_a":-0.619478822,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9400005,"cg_sample_seq":14233017,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0527800396,"cg_vd_v":0.0527800396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365699261,"cg_vq_v":-0.365699261,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":43.0032959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8180847,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.378174,"values":{"Elec_RPM":-2.94774361e-12,"EncoderCos":38737,"EncoderSin":12499,"GapTicks":54789,"Mech_RPM":-5.89548701e-13,"cg_du":50.1714745,"cg_dv":50.1915016,"cg_dw":49.8084984,"cg_id_a":0.125100911,"cg_id_raw_a":-0.181039393,"cg_iq_a":-0.460292041,"cg_iq_raw_a":-0.125015274,"cg_iu_a":-0.214929581,"cg_iv_a":0.902762055,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.954546,"cg_sample_seq":14233067,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0495824255,"cg_vd_v":0.0495824255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356834292,"cg_vq_v":-0.356834292,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.447550654,"dclink_p_w":64.7716141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.8180847,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.389893,"values":{"Elec_RPM":-2.83101277e-12,"EncoderCos":38730,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-5.66202575e-13,"cg_du":50.177784,"cg_dv":50.1981125,"cg_dw":49.8018875,"cg_id_a":0.163922653,"cg_id_raw_a":-0.107180506,"cg_iq_a":0.125424653,"cg_iq_raw_a":0.209130868,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129329,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9581814,"cg_sample_seq":14233216,"cg_sample_valid":1,"cg_theta_rad":5.0079236,"cg_vd_req_v":0.0518534407,"cg_vd_v":0.0518534407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36924684,"cg_vq_v":-0.36924684,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7902832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.397705,"values":{"Elec_RPM":-2.83101277e-12,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-5.66202575e-13,"cg_du":50.1801033,"cg_dv":50.1964264,"cg_dw":49.8035736,"cg_id_a":0.277064264,"cg_id_raw_a":0.0742395669,"cg_iq_a":-0.0175093785,"cg_iq_raw_a":-0.356019735,"cg_iu_a":0.437459469,"cg_iv_a":-0.329528213,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9363632,"cg_sample_seq":14233266,"cg_sample_valid":1,"cg_theta_rad":5.00705481,"cg_vd_req_v":0.0506416149,"cg_vd_v":0.0506416149,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36908561,"cg_vq_v":-0.36908561,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7788391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.405518,"values":{"Elec_RPM":-2.77439269e-12,"EncoderCos":38720,"EncoderSin":12507,"GapTicks":54791,"Mech_RPM":-5.54878517e-13,"cg_du":50.1767807,"cg_dv":50.1898918,"cg_dw":49.8101082,"cg_id_a":0.57957679,"cg_id_raw_a":0.325752228,"cg_iq_a":-0.534254432,"cg_iq_raw_a":-0.587114751,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14233316,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.0451740474,"cg_vd_v":0.0451740474,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35853073,"cg_vq_v":-0.35853073,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7788391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.41333,"values":{"Elec_RPM":-2.77439269e-12,"EncoderCos":38714,"EncoderSin":12461,"GapTicks":54780,"Mech_RPM":-5.54878517e-13,"cg_du":50.1793709,"cg_dv":50.1992683,"cg_dw":49.8007317,"cg_id_a":0.133405313,"cg_id_raw_a":0.705791116,"cg_iq_a":0.105119839,"cg_iq_raw_a":0.690429866,"cg_iu_a":0.147508621,"cg_iv_a":0.0329101086,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14233366,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0539278053,"cg_vd_v":0.0539278053,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37254563,"cg_vq_v":-0.37254563,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.8709335,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.8049927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.421143,"values":{"Elec_RPM":-2.71890475e-12,"EncoderCos":38743,"EncoderSin":12491,"GapTicks":54780,"Mech_RPM":-5.43780949e-13,"cg_du":50.1731911,"cg_dv":50.1999092,"cg_dw":49.8000908,"cg_id_a":-0.0318186134,"cg_id_raw_a":0.29262802,"cg_iq_a":-0.0834237635,"cg_iq_raw_a":-0.48206833,"cg_iu_a":0.328727961,"cg_iv_a":-0.728210449,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9836369,"cg_sample_seq":14233416,"cg_sample_valid":1,"cg_theta_rad":5.00445795,"cg_vd_req_v":0.0560391806,"cg_vd_v":0.0560391806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36930728,"cg_vq_v":-0.36930728,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.480170012,"dclink_p_w":69.4924393,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.452393,"values":{"Elec_RPM":-2.71890475e-12,"EncoderCos":38752,"EncoderSin":12503,"GapTicks":54776,"Mech_RPM":-5.43780949e-13,"cg_du":50.1751518,"cg_dv":50.2027702,"cg_dw":49.7972298,"cg_id_a":0.131854087,"cg_id_raw_a":-0.0289015882,"cg_iq_a":0.232359648,"cg_iq_raw_a":0.28933081,"cg_iu_a":0.0750212669,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8600006,"cg_sample_seq":14233471,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0561698377,"cg_vd_v":0.0561698377,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374467939,"cg_vq_v":-0.374467939,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.460205,"values":{"Elec_RPM":-2.66452659e-12,"EncoderCos":38713,"EncoderSin":12496,"GapTicks":54780,"Mech_RPM":-5.32905317e-13,"cg_du":50.173954,"cg_dv":50.1990967,"cg_dw":49.8009033,"cg_id_a":0.0927489847,"cg_id_raw_a":-0.346939892,"cg_iq_a":-0.181783274,"cg_iq_raw_a":-0.142296255,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.954546,"cg_sample_seq":14233517,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0568699613,"cg_vd_v":0.0568699613,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367142946,"cg_vq_v":-0.367142946,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.468018,"values":{"Elec_RPM":-2.66452659e-12,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54771,"Mech_RPM":-5.32905317e-13,"cg_du":50.1830254,"cg_dv":50.2080956,"cg_dw":49.7919044,"cg_id_a":-0.0575644523,"cg_id_raw_a":0.266593665,"cg_iq_a":0.5865978,"cg_iq_raw_a":0.2457975,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9763641,"cg_sample_seq":14233567,"cg_sample_valid":1,"cg_theta_rad":5.00644827,"cg_vd_req_v":0.0593142025,"cg_vd_v":0.0593142025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385487199,"cg_vq_v":-0.385487199,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.47583,"values":{"Elec_RPM":-2.6112361e-12,"EncoderCos":38722,"EncoderSin":12492,"GapTicks":54776,"Mech_RPM":-5.2224723e-13,"cg_du":50.1720085,"cg_dv":50.2028084,"cg_dw":49.7971916,"cg_id_a":-0.186808214,"cg_id_raw_a":-0.273763716,"cg_iq_a":-0.0537859872,"cg_iq_raw_a":1.06687307,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373065,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9799995,"cg_sample_seq":14233617,"cg_sample_valid":1,"cg_theta_rad":5.00704622,"cg_vd_req_v":0.0615149401,"cg_vd_v":0.0615149401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372323781,"cg_vq_v":-0.372323781,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7853394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.483643,"values":{"Elec_RPM":-2.6112361e-12,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54774,"Mech_RPM":-5.2224723e-13,"cg_du":50.1798706,"cg_dv":50.2052116,"cg_dw":49.7947884,"cg_id_a":-0.0447852388,"cg_id_raw_a":0.701083958,"cg_iq_a":0.415674597,"cg_iq_raw_a":1.38128638,"cg_iu_a":0.618678689,"cg_iv_a":0.322860777,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8818188,"cg_sample_seq":14233668,"cg_sample_valid":1,"cg_theta_rad":5.00783253,"cg_vd_req_v":0.0588409193,"cg_vd_v":0.0588409193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379817128,"cg_vq_v":-0.379817128,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.491455,"values":{"Elec_RPM":-2.5590116e-12,"EncoderCos":38699,"EncoderSin":12479,"GapTicks":54772,"Mech_RPM":-5.11802298e-13,"cg_du":50.189991,"cg_dv":50.2067032,"cg_dw":49.7932968,"cg_id_a":0.149565235,"cg_id_raw_a":0.451938897,"cg_iq_a":0.780318201,"cg_iq_raw_a":1.72275174,"cg_iu_a":0.0750210285,"cg_iv_a":-0.438259721,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9581814,"cg_sample_seq":14233717,"cg_sample_valid":1,"cg_theta_rad":5.00721645,"cg_vd_req_v":0.0533765666,"cg_vd_v":0.0533765666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386197269,"cg_vq_v":-0.386197269,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.503174,"values":{"Elec_RPM":-2.5590116e-12,"EncoderCos":38731,"EncoderSin":12474,"GapTicks":54781,"Mech_RPM":-5.11802298e-13,"cg_du":50.1775856,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":0.263910234,"cg_id_raw_a":-0.0836185887,"cg_iq_a":-0.027034536,"cg_iq_raw_a":-0.261986136,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":24.8490906,"cg_sample_seq":14233767,"cg_sample_valid":1,"cg_theta_rad":5.00667048,"cg_vd_req_v":0.0526264459,"cg_vd_v":0.0526264459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368680149,"cg_vq_v":-0.368680149,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7919006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.510986,"values":{"Elec_RPM":-2.50783118e-12,"EncoderCos":38715,"EncoderSin":12474,"GapTicks":54779,"Mech_RPM":-5.01566236e-13,"cg_du":50.1803703,"cg_dv":50.2001419,"cg_dw":49.7998581,"cg_id_a":0.195448577,"cg_id_raw_a":0.360189497,"cg_iq_a":0.329541326,"cg_iq_raw_a":0.364113599,"cg_iu_a":-1.04853773,"cg_iv_a":-0.0758213997,"cg_iw_a":1.12435913,"cg_sample_age_us":23.8527279,"cg_sample_seq":14233817,"cg_sample_valid":1,"cg_theta_rad":5.00795507,"cg_vd_req_v":0.0534168705,"cg_vd_v":0.0534168705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37322551,"cg_vq_v":-0.37322551,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7821045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.518799,"values":{"Elec_RPM":-2.50783118e-12,"EncoderCos":38740,"EncoderSin":12484,"GapTicks":54783,"Mech_RPM":-5.01566236e-13,"cg_du":50.1654587,"cg_dv":50.1967812,"cg_dw":49.8032188,"cg_id_a":-0.169638842,"cg_id_raw_a":-0.339297891,"cg_iq_a":-0.169582576,"cg_iq_raw_a":0.22429882,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772009,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9799995,"cg_sample_seq":14233867,"cg_sample_valid":1,"cg_theta_rad":5.00711441,"cg_vd_req_v":0.0597239956,"cg_vd_v":0.0597239956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361766279,"cg_vq_v":-0.361766279,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7821045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.526611,"values":{"Elec_RPM":-2.45767469e-12,"EncoderCos":38710,"EncoderSin":12488,"GapTicks":54781,"Mech_RPM":-4.91534927e-13,"cg_du":50.174305,"cg_dv":50.1990814,"cg_dw":49.8009186,"cg_id_a":-0.0349194631,"cg_id_raw_a":0.0472060181,"cg_iq_a":0.215981081,"cg_iq_raw_a":0.5517748,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539645,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9436359,"cg_sample_seq":14233917,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.0573803969,"cg_vd_v":0.0573803969,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369486302,"cg_vq_v":-0.369486302,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.0558395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.553955,"values":{"Elec_RPM":-2.45767469e-12,"EncoderCos":38744,"EncoderSin":12498,"GapTicks":54779,"Mech_RPM":-4.91534927e-13,"cg_du":50.1748466,"cg_dv":50.2004547,"cg_dw":49.7995453,"cg_id_a":-0.0147153586,"cg_id_raw_a":-0.264591962,"cg_iq_a":0.327351004,"cg_iq_raw_a":-0.132268548,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691540241,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14233970,"cg_sample_valid":1,"cg_theta_rad":5.00579548,"cg_vd_req_v":0.0549945459,"cg_vd_v":0.0549945459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371014744,"cg_vq_v":-0.371014744,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.0558395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.565674,"values":{"Elec_RPM":-2.4085213e-12,"EncoderCos":38710,"EncoderSin":12467,"GapTicks":54794,"Mech_RPM":-4.81704249e-13,"cg_du":50.1742783,"cg_dv":50.1867943,"cg_dw":49.8132057,"cg_id_a":0.380705565,"cg_id_raw_a":0.134955853,"cg_iq_a":-0.68847394,"cg_iq_raw_a":-0.750600278,"cg_iu_a":-0.323661089,"cg_iv_a":1.01149356,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8563633,"cg_sample_seq":14234016,"cg_sample_valid":1,"cg_theta_rad":5.00655937,"cg_vd_req_v":0.0457690097,"cg_vd_v":0.0457690097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351601511,"cg_vq_v":-0.351601511,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7984619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.573486,"values":{"Elec_RPM":-2.4085213e-12,"EncoderCos":38726,"EncoderSin":12478,"GapTicks":54784,"Mech_RPM":-4.81704249e-13,"cg_du":50.169632,"cg_dv":50.1954842,"cg_dw":49.8045158,"cg_id_a":-0.0462087169,"cg_id_raw_a":0.194227859,"cg_iq_a":-0.422823757,"cg_iq_raw_a":-0.526729763,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772009,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9872723,"cg_sample_seq":14234067,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.056298282,"cg_vd_v":0.056298282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361022145,"cg_vq_v":-0.361022145,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7804565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.581299,"values":{"Elec_RPM":-2.36035106e-12,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54777,"Mech_RPM":-4.72070191e-13,"cg_du":50.182766,"cg_dv":50.2026863,"cg_dw":49.7973137,"cg_id_a":-0.00460391352,"cg_id_raw_a":0.582306623,"cg_iq_a":0.373826325,"cg_iq_raw_a":0.861301959,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14234117,"cg_sample_valid":1,"cg_theta_rad":5.00642729,"cg_vd_req_v":0.0550461598,"cg_vd_v":0.0550461598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377878964,"cg_vq_v":-0.377878964,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7804565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.589111,"values":{"Elec_RPM":-2.36035106e-12,"EncoderCos":38707,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-4.72070191e-13,"cg_du":50.1764183,"cg_dv":50.201889,"cg_dw":49.798111,"cg_id_a":-0.171313748,"cg_id_raw_a":0.198809326,"cg_iq_a":0.00236749649,"cg_iq_raw_a":0.712714434,"cg_iu_a":-0.178685665,"cg_iv_a":-0.655722737,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9509087,"cg_sample_seq":14234167,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.0586644821,"cg_vd_v":0.0586644821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373306692,"cg_vq_v":-0.373306692,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.596924,"values":{"Elec_RPM":-2.31314403e-12,"EncoderCos":38726,"EncoderSin":12478,"GapTicks":54777,"Mech_RPM":-4.62628796e-13,"cg_du":50.1739502,"cg_dv":50.2021484,"cg_dw":49.7978516,"cg_id_a":-0.258408129,"cg_id_raw_a":-0.558524489,"cg_iq_a":0.0301276445,"cg_iq_raw_a":0.96675241,"cg_iu_a":0.944873214,"cg_iv_a":0.141641617,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14234216,"cg_sample_valid":1,"cg_theta_rad":5.00571394,"cg_vd_req_v":0.0595517568,"cg_vd_v":0.0595517568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373644114,"cg_vq_v":-0.373644114,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.604736,"values":{"Elec_RPM":-2.31314403e-12,"EncoderCos":38726,"EncoderSin":12502,"GapTicks":54783,"Mech_RPM":-4.62628796e-13,"cg_du":50.1749382,"cg_dv":50.1969719,"cg_dw":49.8030281,"cg_id_a":0.11584644,"cg_id_raw_a":-0.220560327,"cg_iq_a":-0.263356447,"cg_iq_raw_a":-0.510161877,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9290905,"cg_sample_seq":14234266,"cg_sample_valid":1,"cg_theta_rad":5.00493097,"cg_vd_req_v":0.0531300306,"cg_vd_v":0.0531300306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367220491,"cg_vq_v":-0.367220491,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7951965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.616455,"values":{"Elec_RPM":-2.26688113e-12,"EncoderCos":38718,"EncoderSin":12478,"GapTicks":54777,"Mech_RPM":-4.53376215e-13,"cg_du":50.1764603,"cg_dv":50.2026024,"cg_dw":49.7973976,"cg_id_a":-0.185304075,"cg_id_raw_a":0.0273190048,"cg_iq_a":0.145768702,"cg_iq_raw_a":0.331219405,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284357,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9145451,"cg_sample_seq":14234316,"cg_sample_valid":1,"cg_theta_rad":5.00591421,"cg_vd_req_v":0.058523003,"cg_vd_v":0.058523003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374428004,"cg_vq_v":-0.374428004,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7739258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.624268,"values":{"Elec_RPM":-2.26688113e-12,"EncoderCos":38715,"EncoderSin":12497,"GapTicks":54777,"Mech_RPM":-4.53376215e-13,"cg_du":50.1814003,"cg_dv":50.2020149,"cg_dw":49.7979851,"cg_id_a":0.12236543,"cg_id_raw_a":0.503311038,"cg_iq_a":0.25993377,"cg_iq_raw_a":0.188618764,"cg_iu_a":0.364971876,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9218178,"cg_sample_seq":14234366,"cg_sample_valid":1,"cg_theta_rad":5.0061717,"cg_vd_req_v":0.0538346954,"cg_vd_v":0.0538346954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376435429,"cg_vq_v":-0.376435429,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.5798406,"dclink_p_w":83.9172287,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7739258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.63208,"values":{"Elec_RPM":-2.22154348e-12,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-4.44308679e-13,"cg_du":50.1686287,"cg_dv":50.1985359,"cg_dw":49.8014641,"cg_id_a":-0.326053917,"cg_id_raw_a":-0.534125984,"cg_iq_a":-0.33858183,"cg_iq_raw_a":-0.378996849,"cg_iu_a":0.618678689,"cg_iv_a":0.431592226,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9836369,"cg_sample_seq":14234416,"cg_sample_valid":1,"cg_theta_rad":5.00927877,"cg_vd_req_v":0.0606374741,"cg_vd_v":0.0606374741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364518344,"cg_vq_v":-0.364518344,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":0.5798406,"dclink_p_w":83.9172287,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0236206,"temp_inv2_c":38.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.659424,"values":{"Elec_RPM":-2.17711244e-12,"EncoderCos":38729,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-4.35422504e-13,"cg_du":50.1928825,"cg_dv":50.2056808,"cg_dw":49.7943192,"cg_id_a":0.258040428,"cg_id_raw_a":-0.135922074,"cg_iq_a":0.898941457,"cg_iq_raw_a":-0.376133859,"cg_iu_a":0.147508621,"cg_iv_a":-0.148309052,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9218178,"cg_sample_seq":14234567,"cg_sample_valid":1,"cg_theta_rad":5.00761414,"cg_vd_req_v":0.0474960804,"cg_vd_v":0.0474960804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38796708,"cg_vq_v":-0.38796708,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7722778,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.667236,"values":{"Elec_RPM":-2.13357023e-12,"EncoderCos":38751,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-4.26714057e-13,"cg_du":50.1758041,"cg_dv":50.2019653,"cg_dw":49.7980347,"cg_id_a":-0.156467095,"cg_id_raw_a":-0.380419433,"cg_iq_a":0.186597273,"cg_iq_raw_a":0.221407712,"cg_iu_a":0.473703146,"cg_iv_a":0.504079938,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.9872723,"cg_sample_seq":14234616,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0554600954,"cg_vd_v":0.0554600954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373640865,"cg_vq_v":-0.373640865,"cg_vu_v":7.47817326,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.678955,"values":{"Elec_RPM":-2.13357023e-12,"EncoderCos":38732,"EncoderSin":12489,"GapTicks":54780,"Mech_RPM":-4.26714057e-13,"cg_du":50.1760712,"cg_dv":50.199852,"cg_dw":49.800148,"cg_id_a":-0.117090471,"cg_id_raw_a":0.20315294,"cg_iq_a":-0.011193499,"cg_iq_raw_a":0.711488545,"cg_iu_a":0.61867857,"cg_iv_a":-0.293284416,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14234667,"cg_sample_valid":1,"cg_theta_rad":5.00709772,"cg_vd_req_v":0.0546893403,"cg_vd_v":0.0546893403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370686501,"cg_vq_v":-0.370686501,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.686768,"values":{"Elec_RPM":-2.09089885e-12,"EncoderCos":38756,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-4.18179787e-13,"cg_du":50.170578,"cg_dv":50.1917801,"cg_dw":49.8082199,"cg_id_a":0.148943886,"cg_id_raw_a":0.166510999,"cg_iq_a":-0.667674184,"cg_iq_raw_a":-0.493817031,"cg_iu_a":0.401215553,"cg_iv_a":0.57656759,"cg_iw_a":-0.83280772,"cg_sample_age_us":23.9799995,"cg_sample_seq":14234717,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0494864173,"cg_vd_v":0.0494864173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356864363,"cg_vq_v":-0.356864363,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.69458,"values":{"Elec_RPM":-2.09089885e-12,"EncoderCos":38697,"EncoderSin":12486,"GapTicks":54789,"Mech_RPM":-4.18179787e-13,"cg_du":50.1814346,"cg_dv":50.1912003,"cg_dw":49.8087997,"cg_id_a":0.289377809,"cg_id_raw_a":0.253748626,"cg_iq_a":-0.298188984,"cg_iq_raw_a":-0.665528655,"cg_iu_a":-0.142441988,"cg_iv_a":0.467836022,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9509087,"cg_sample_seq":14234767,"cg_sample_valid":1,"cg_theta_rad":5.00635195,"cg_vd_req_v":0.0450580865,"cg_vd_v":0.0450580865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361533791,"cg_vq_v":-0.361533791,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.702393,"values":{"Elec_RPM":-2.04908096e-12,"EncoderCos":38685,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-4.09816197e-13,"cg_du":50.1809807,"cg_dv":50.1987076,"cg_dw":49.8012924,"cg_id_a":-0.0842224583,"cg_id_raw_a":-0.331005365,"cg_iq_a":0.283225983,"cg_iq_raw_a":0.512566507,"cg_iu_a":0.872385383,"cg_iv_a":-0.220796704,"cg_iw_a":0.834408402,"cg_sample_age_us":23.8563633,"cg_sample_seq":14234817,"cg_sample_valid":1,"cg_theta_rad":5.00721216,"cg_vd_req_v":0.0540521443,"cg_vd_v":0.0540521443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371265501,"cg_vq_v":-0.371265501,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6782742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7771912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.710205,"values":{"Elec_RPM":-2.04908096e-12,"EncoderCos":38719,"EncoderSin":12507,"GapTicks":54787,"Mech_RPM":-4.09816197e-13,"cg_du":50.1774445,"cg_dv":50.1935043,"cg_dw":49.8064957,"cg_id_a":0.19050844,"cg_id_raw_a":0.197972834,"cg_iq_a":-0.0992881134,"cg_iq_raw_a":0.0925142691,"cg_iu_a":-0.178685904,"cg_iv_a":0.431592226,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.9618187,"cg_sample_seq":14234866,"cg_sample_valid":1,"cg_theta_rad":5.00533581,"cg_vd_req_v":0.0480973385,"cg_vd_v":0.0480973385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362722903,"cg_vq_v":-0.362722903,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.139478087,"dclink_p_w":20.1859188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.718018,"values":{"Elec_RPM":-2.00809942e-12,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54785,"Mech_RPM":-4.01619872e-13,"cg_du":50.173893,"cg_dv":50.1949654,"cg_dw":49.8050346,"cg_id_a":0.112781271,"cg_id_raw_a":0.166978776,"cg_iq_a":-0.179222643,"cg_iq_raw_a":0.198626354,"cg_iu_a":-0.50488019,"cg_iv_a":0.21412921,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9581814,"cg_sample_seq":14234917,"cg_sample_valid":1,"cg_theta_rad":5.00790977,"cg_vd_req_v":0.0519979931,"cg_vd_v":0.0519979931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362766474,"cg_vq_v":-0.362766474,"cg_vu_v":117.891212,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.749268,"values":{"Elec_RPM":-2.00809942e-12,"EncoderCos":38763,"EncoderSin":12509,"GapTicks":54788,"Mech_RPM":-4.01619872e-13,"cg_du":50.1631851,"cg_dv":50.1924324,"cg_dw":49.8075676,"cg_id_a":-0.0800489113,"cg_id_raw_a":0.0724277496,"cg_iq_a":-0.498728037,"cg_iq_raw_a":0.588976085,"cg_iu_a":0.147508621,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732880831,"cg_sample_age_us":26.8163643,"cg_sample_seq":14234970,"cg_sample_valid":1,"cg_theta_rad":5.00544548,"cg_vd_req_v":0.0546766408,"cg_vd_v":0.0546766408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353856325,"cg_vq_v":-0.353856325,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7689819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.75708,"values":{"Elec_RPM":-1.96793731e-12,"EncoderCos":38701,"EncoderSin":12501,"GapTicks":54781,"Mech_RPM":-3.93587479e-13,"cg_du":50.1762085,"cg_dv":50.1983528,"cg_dw":49.8016472,"cg_id_a":-0.070674412,"cg_id_raw_a":0.414144397,"cg_iq_a":0.222927645,"cg_iq_raw_a":0.661431074,"cg_iu_a":0.00253343582,"cg_iv_a":-1.09064865,"cg_iw_a":1.08811522,"cg_sample_age_us":23.954546,"cg_sample_seq":14235017,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0554311648,"cg_vd_v":0.0554311648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368386239,"cg_vq_v":-0.368386239,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7673645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.764893,"values":{"Elec_RPM":-1.96793731e-12,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-3.93587479e-13,"cg_du":50.1890106,"cg_dv":50.2039452,"cg_dw":49.7960548,"cg_id_a":0.177891195,"cg_id_raw_a":-0.377683908,"cg_iq_a":0.773954928,"cg_iq_raw_a":-0.473091573,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528213,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9254551,"cg_sample_seq":14235067,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0499883108,"cg_vd_v":0.0499883108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383298039,"cg_vq_v":-0.383298039,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7673645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.772705,"values":{"Elec_RPM":-1.92857861e-12,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-3.85715738e-13,"cg_du":50.1676178,"cg_dv":50.1935921,"cg_dw":49.8064079,"cg_id_a":-0.157507658,"cg_id_raw_a":0.354349852,"cg_iq_a":-0.417825371,"cg_iq_raw_a":0.435215026,"cg_iu_a":0.364971638,"cg_iv_a":0.105397701,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9509087,"cg_sample_seq":14235117,"cg_sample_valid":1,"cg_theta_rad":5.00518656,"cg_vd_req_v":0.0559940673,"cg_vd_v":0.0559940673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357325792,"cg_vq_v":-0.357325792,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.780518,"values":{"Elec_RPM":-1.92857861e-12,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-3.85715738e-13,"cg_du":50.1629372,"cg_dv":50.1943398,"cg_dw":49.8056602,"cg_id_a":-0.49498111,"cg_id_raw_a":0.235518649,"cg_iq_a":-0.418607622,"cg_iq_raw_a":0.351604015,"cg_iu_a":0.509947062,"cg_iv_a":-0.148309112,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.954546,"cg_sample_seq":14235167,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0611636266,"cg_vd_v":0.0611636266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355595171,"cg_vq_v":-0.355595171,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.6008949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.792236,"values":{"Elec_RPM":-1.89000703e-12,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.78001422e-13,"cg_du":50.1840477,"cg_dv":50.1994667,"cg_dw":49.8005333,"cg_id_a":0.12260849,"cg_id_raw_a":0.148658067,"cg_iq_a":0.495463848,"cg_iq_raw_a":0.597909927,"cg_iu_a":-0.287417412,"cg_iv_a":-0.329528272,"cg_iw_a":0.616945684,"cg_sample_age_us":23.9509087,"cg_sample_seq":14235217,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.0493788458,"cg_vd_v":0.0493788458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374440223,"cg_vq_v":-0.374440223,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7673645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.800049,"values":{"Elec_RPM":-1.89000703e-12,"EncoderCos":38711,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-3.78001422e-13,"cg_du":50.1789246,"cg_dv":50.199501,"cg_dw":49.800499,"cg_id_a":-0.107587881,"cg_id_raw_a":-0.763066351,"cg_iq_a":0.253906965,"cg_iq_raw_a":0.871878147,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14235266,"cg_sample_valid":1,"cg_theta_rad":5.0076685,"cg_vd_req_v":0.0542398766,"cg_vd_v":0.0542398766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371500164,"cg_vq_v":-0.371500164,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7739258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.807861,"values":{"Elec_RPM":-1.85220697e-12,"EncoderCos":38749,"EncoderSin":12512,"GapTicks":54779,"Mech_RPM":-3.70441389e-13,"cg_du":50.1748619,"cg_dv":50.2002373,"cg_dw":49.7997627,"cg_id_a":-0.100189209,"cg_id_raw_a":-0.122143112,"cg_iq_a":0.0729157105,"cg_iq_raw_a":-0.0827382654,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8490906,"cg_sample_seq":14235316,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0539891124,"cg_vd_v":0.0539891124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370838314,"cg_vq_v":-0.370838314,"cg_vu_v":139.445938,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7739258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.815674,"values":{"Elec_RPM":-1.85220697e-12,"EncoderCos":38756,"EncoderSin":12498,"GapTicks":54781,"Mech_RPM":-3.70441389e-13,"cg_du":50.1677055,"cg_dv":50.1988564,"cg_dw":49.8011436,"cg_id_a":-0.233087927,"cg_id_raw_a":-0.400098473,"cg_iq_a":-0.0845721811,"cg_iq_raw_a":-0.507206738,"cg_iu_a":0.473703146,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9363632,"cg_sample_seq":14235366,"cg_sample_valid":1,"cg_theta_rad":5.00676584,"cg_vd_req_v":0.0580945984,"cg_vd_v":0.0580945984,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365024775,"cg_vq_v":-0.365024775,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.436677456,"dclink_p_w":63.1979942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":37.0490112,"temp_inv2_c":38.7755432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.823486,"values":{"Elec_RPM":-1.81516282e-12,"EncoderCos":38731,"EncoderSin":12486,"GapTicks":54780,"Mech_RPM":-3.63032575e-13,"cg_du":50.1768761,"cg_dv":50.199379,"cg_dw":49.800621,"cg_id_a":-0.0387053862,"cg_id_raw_a":-0.106257528,"cg_iq_a":0.269861758,"cg_iq_raw_a":0.646074235,"cg_iu_a":-0.794830799,"cg_iv_a":-0.365772128,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9799995,"cg_sample_seq":14235416,"cg_sample_valid":1,"cg_theta_rad":5.00621033,"cg_vd_req_v":0.0539221577,"cg_vd_v":0.0539221577,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371594697,"cg_vq_v":-0.371594697,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7493896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.854736,"values":{"Elec_RPM":-1.81516282e-12,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54784,"Mech_RPM":-3.63032575e-13,"cg_du":50.1721153,"cg_dv":50.1957054,"cg_dw":49.8042946,"cg_id_a":-0.0393397734,"cg_id_raw_a":-0.433375746,"cg_iq_a":-0.277033806,"cg_iq_raw_a":-0.332947016,"cg_iu_a":-0.468636274,"cg_iv_a":0.0329101086,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8454552,"cg_sample_seq":14235470,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.055462651,"cg_vd_v":0.055462651,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363708317,"cg_vq_v":-0.363708317,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.224650979,"dclink_p_w":32.6113586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7493896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.862549,"values":{"Elec_RPM":-1.77885961e-12,"EncoderCos":38719,"EncoderSin":12501,"GapTicks":54781,"Mech_RPM":-3.55771917e-13,"cg_du":50.180912,"cg_dv":50.1989861,"cg_dw":49.8010139,"cg_id_a":0.226415336,"cg_id_raw_a":0.121531211,"cg_iq_a":0.114267066,"cg_iq_raw_a":0.012452703,"cg_iu_a":-0.323661089,"cg_iv_a":0.902762115,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9618187,"cg_sample_seq":14235517,"cg_sample_valid":1,"cg_theta_rad":5.00622988,"cg_vd_req_v":0.0506825075,"cg_vd_v":0.0506825075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370974541,"cg_vq_v":-0.370974541,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7640991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.870361,"values":{"Elec_RPM":-1.77885961e-12,"EncoderCos":38718,"EncoderSin":12504,"GapTicks":54781,"Mech_RPM":-3.55771917e-13,"cg_du":50.1846085,"cg_dv":50.1988068,"cg_dw":49.8011932,"cg_id_a":0.300467223,"cg_id_raw_a":0.0764895752,"cg_iq_a":0.229633093,"cg_iq_raw_a":0.263006926,"cg_iu_a":-0.649855614,"cg_iv_a":0.685299039,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14235567,"cg_sample_valid":1,"cg_theta_rad":5.00751925,"cg_vd_req_v":0.0476196706,"cg_vd_v":0.0476196706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372792155,"cg_vq_v":-0.372792155,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7640991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.878174,"values":{"Elec_RPM":-1.74328238e-12,"EncoderCos":38712,"EncoderSin":12476,"GapTicks":54778,"Mech_RPM":-3.48656488e-13,"cg_du":50.1799965,"cg_dv":50.2010689,"cg_dw":49.7989311,"cg_id_a":-0.0402874872,"cg_id_raw_a":-0.0850914717,"cg_iq_a":0.269979894,"cg_iq_raw_a":0.611532629,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065315,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9836369,"cg_sample_seq":14235617,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0548150688,"cg_vd_v":0.0548150688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37424615,"cg_vq_v":-0.37424615,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.33473778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7624817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.885986,"values":{"Elec_RPM":-1.74328238e-12,"EncoderCos":38742,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-3.48656488e-13,"cg_du":50.169529,"cg_dv":50.2021332,"cg_dw":49.7978668,"cg_id_a":-0.312948108,"cg_id_raw_a":-0.288464397,"cg_iq_a":-0.173997998,"cg_iq_raw_a":-0.0987238735,"cg_iu_a":0.401215553,"cg_iv_a":-0.112065256,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9436359,"cg_sample_seq":14235667,"cg_sample_valid":1,"cg_theta_rad":5.00784159,"cg_vd_req_v":0.0616620779,"cg_vd_v":0.0616620779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370208383,"cg_vq_v":-0.370208383,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.33473778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7559204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.893799,"values":{"Elec_RPM":-1.70841683e-12,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.4168336e-13,"cg_du":50.1805305,"cg_dv":50.2152061,"cg_dw":49.7847939,"cg_id_a":-0.646134853,"cg_id_raw_a":-0.521402121,"cg_iq_a":0.929546297,"cg_iq_raw_a":0.35018912,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9872723,"cg_sample_seq":14235717,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0677967966,"cg_vd_v":0.0677967966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393804729,"cg_vq_v":-0.393804729,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.33473778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7559204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.905518,"values":{"Elec_RPM":-1.70841683e-12,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.4168336e-13,"cg_du":50.1843605,"cg_dv":50.2073326,"cg_dw":49.7926674,"cg_id_a":-0.125622407,"cg_id_raw_a":0.283471555,"cg_iq_a":0.427902162,"cg_iq_raw_a":0.28429535,"cg_iu_a":0.256240368,"cg_iv_a":-0.945673347,"cg_iw_a":0.689432979,"cg_sample_age_us":23.8563633,"cg_sample_seq":14235766,"cg_sample_valid":1,"cg_theta_rad":5.00868702,"cg_vd_req_v":0.0581957027,"cg_vd_v":0.0581957027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386296928,"cg_vq_v":-0.386296928,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2666464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.91333,"values":{"Elec_RPM":-1.67424841e-12,"EncoderCos":38709,"EncoderSin":12507,"GapTicks":54771,"Mech_RPM":-3.34849688e-13,"cg_du":50.1839943,"cg_dv":50.2075539,"cg_dw":49.7924461,"cg_id_a":-0.0506461225,"cg_id_raw_a":0.145859227,"cg_iq_a":0.332850277,"cg_iq_raw_a":-0.0213577058,"cg_iu_a":-0.649855614,"cg_iv_a":-0.148308992,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8600006,"cg_sample_seq":14235817,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0572694577,"cg_vd_v":0.0572694577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384212077,"cg_vq_v":-0.384212077,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.2390175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7689819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2573.921143,"values":{"Elec_RPM":-1.67424841e-12,"EncoderCos":38690,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-3.34849688e-13,"cg_du":50.176506,"cg_dv":50.1989212,"cg_dw":49.8010788,"cg_id_a":-0.14150919,"cg_id_raw_a":-0.311840951,"cg_iq_a":-0.350742936,"cg_iq_raw_a":-0.0683420822,"cg_iu_a":0.256240129,"cg_iv_a":0.0329101682,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.8490906,"cg_sample_seq":14235866,"cg_sample_valid":1,"cg_theta_rad":5.00646257,"cg_vd_req_v":0.0575359873,"cg_vd_v":0.0575359873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369046926,"cg_vq_v":-0.369046926,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7689819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.928955,"values":{"Elec_RPM":-1.64076348e-12,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54778,"Mech_RPM":-3.28152707e-13,"cg_du":50.1836586,"cg_dv":50.2009506,"cg_dw":49.7990494,"cg_id_a":0.161681771,"cg_id_raw_a":0.0798423886,"cg_iq_a":0.0980236381,"cg_iq_raw_a":0.00872839335,"cg_iu_a":-0.178685904,"cg_iv_a":0.431592226,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.9872723,"cg_sample_seq":14235916,"cg_sample_valid":1,"cg_theta_rad":5.00874853,"cg_vd_req_v":0.0520088635,"cg_vd_v":0.0520088635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377288282,"cg_vq_v":-0.377288282,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7706604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.940674,"values":{"Elec_RPM":-1.64076348e-12,"EncoderCos":38727,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-3.28152707e-13,"cg_du":50.177906,"cg_dv":50.2020836,"cg_dw":49.7979164,"cg_id_a":0.0650781393,"cg_id_raw_a":0.104137383,"cg_iq_a":0.107306108,"cg_iq_raw_a":-0.0257115997,"cg_iu_a":-0.541124105,"cg_iv_a":-0.184552908,"cg_iw_a":0.725677013,"cg_sample_age_us":23.8600006,"cg_sample_seq":14235966,"cg_sample_valid":1,"cg_theta_rad":5.00592852,"cg_vd_req_v":0.0558827184,"cg_vd_v":0.0558827184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374684125,"cg_vq_v":-0.374684125,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7706604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.968018,"values":{"Elec_RPM":-1.60794826e-12,"EncoderCos":38735,"EncoderSin":12501,"GapTicks":54767,"Mech_RPM":-3.21589652e-13,"cg_du":50.2028275,"cg_dv":50.2112656,"cg_dw":49.7887344,"cg_id_a":0.633994102,"cg_id_raw_a":0.072911948,"cg_iq_a":1.41879642,"cg_iq_raw_a":2.59174562,"cg_iu_a":0.219996452,"cg_iv_a":-1.27186799,"cg_iw_a":1.05187154,"cg_sample_age_us":25.6563644,"cg_sample_seq":14236021,"cg_sample_valid":1,"cg_theta_rad":5.00506783,"cg_vd_req_v":0.0440663956,"cg_vd_v":0.0440663956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401248634,"cg_vq_v":-0.401248634,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7689819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2573.971485,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2573.97149,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2573.971495,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2573.97583,"values":{"Elec_RPM":-1.60794826e-12,"EncoderCos":38722,"EncoderSin":12512,"GapTicks":54784,"Mech_RPM":-3.21589652e-13,"cg_du":50.1630516,"cg_dv":50.1962395,"cg_dw":49.8037605,"cg_id_a":-0.2265158,"cg_id_raw_a":0.114736781,"cg_iq_a":-0.668017864,"cg_iq_raw_a":0.0844445825,"cg_iu_a":0.0750210285,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8563633,"cg_sample_seq":14236067,"cg_sample_valid":1,"cg_theta_rad":5.00753641,"cg_vd_req_v":0.0618790947,"cg_vd_v":0.0618790947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359546334,"cg_vq_v":-0.359546334,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.754303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.983643,"values":{"Elec_RPM":-1.5757893e-12,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-3.15157866e-13,"cg_du":50.1723518,"cg_dv":50.1991005,"cg_dw":49.8008995,"cg_id_a":0.0492560901,"cg_id_raw_a":-0.157969087,"cg_iq_a":-0.103431784,"cg_iq_raw_a":0.532115638,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333368778,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9909096,"cg_sample_seq":14236117,"cg_sample_valid":1,"cg_theta_rad":5.00706911,"cg_vd_req_v":0.0568107888,"cg_vd_v":0.0568107888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368747383,"cg_vq_v":-0.368747383,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.754303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2573.991455,"values":{"Elec_RPM":-1.5757893e-12,"EncoderCos":38724,"EncoderSin":12507,"GapTicks":54776,"Mech_RPM":-3.15157866e-13,"cg_du":50.1782951,"cg_dv":50.2028999,"cg_dw":49.7971001,"cg_id_a":0.0365844294,"cg_id_raw_a":0.541573942,"cg_iq_a":0.149172544,"cg_iq_raw_a":1.79928446,"cg_iu_a":-0.287417173,"cg_iv_a":-0.00333374739,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9254551,"cg_sample_seq":14236167,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.0561065227,"cg_vd_v":0.0561065227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376052707,"cg_vq_v":-0.376052707,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.7559204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2573.999268,"values":{"Elec_RPM":-1.54427361e-12,"EncoderCos":38732,"EncoderSin":12486,"GapTicks":54772,"Mech_RPM":-3.08854721e-13,"cg_du":50.1908989,"cg_dv":50.2068367,"cg_dw":49.7931633,"cg_id_a":0.347962826,"cg_id_raw_a":1.08002949,"cg_iq_a":0.570376039,"cg_iq_raw_a":1.66756856,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373065,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8818188,"cg_sample_seq":14236216,"cg_sample_valid":1,"cg_theta_rad":5.00760794,"cg_vd_req_v":0.0498566292,"cg_vd_v":0.0498566292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388473779,"cg_vq_v":-0.388473779,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.00708,"values":{"Elec_RPM":-1.54427361e-12,"EncoderCos":38719,"EncoderSin":12516,"GapTicks":54770,"Mech_RPM":-3.08854721e-13,"cg_du":50.1842766,"cg_dv":50.2087402,"cg_dw":49.7912598,"cg_id_a":0.000485897064,"cg_id_raw_a":-0.341753155,"cg_iq_a":0.447598904,"cg_iq_raw_a":1.3518455,"cg_iu_a":-1.04853773,"cg_iv_a":0.141641557,"cg_iw_a":0.906896174,"cg_sample_age_us":23.9872723,"cg_sample_seq":14236267,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0572509728,"cg_vd_v":0.0572509728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387321681,"cg_vq_v":-0.387321681,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.728561878,"dclink_p_w":-105.440865,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.99823,"temp_inv2_c":38.7870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.018799,"values":{"Elec_RPM":-1.51338805e-12,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-3.02677615e-13,"cg_du":50.1705742,"cg_dv":50.2006416,"cg_dw":49.7993584,"cg_id_a":-0.122016475,"cg_id_raw_a":-0.326070696,"cg_iq_a":-0.456731588,"cg_iq_raw_a":0.0795882717,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9472733,"cg_sample_seq":14236317,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0596328676,"cg_vd_v":0.0596328676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368723005,"cg_vq_v":-0.368723005,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7493896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.026611,"values":{"Elec_RPM":-1.51338805e-12,"EncoderCos":38704,"EncoderSin":12504,"GapTicks":54775,"Mech_RPM":-3.02677615e-13,"cg_du":50.1738014,"cg_dv":50.2038574,"cg_dw":49.7961426,"cg_id_a":-0.226777032,"cg_id_raw_a":-0.128390312,"cg_iq_a":-0.18549104,"cg_iq_raw_a":-0.0119179366,"cg_iu_a":0.61867857,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9727268,"cg_sample_seq":14236367,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.0625398085,"cg_vd_v":0.0625398085,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375689536,"cg_vq_v":-0.375689536,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7493896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.034424,"values":{"Elec_RPM":-1.48312027e-12,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.96624053e-13,"cg_du":50.1752663,"cg_dv":50.2107506,"cg_dw":49.7892494,"cg_id_a":-0.259267539,"cg_id_raw_a":-0.139241189,"cg_iq_a":0.312904119,"cg_iq_raw_a":-0.121328704,"cg_iu_a":0.00253343582,"cg_iv_a":-0.800698042,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9799995,"cg_sample_seq":14236417,"cg_sample_valid":1,"cg_theta_rad":5.00801897,"cg_vd_req_v":0.0657485053,"cg_vd_v":0.0657485053,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386317313,"cg_vq_v":-0.386317313,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7673645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.046143,"values":{"Elec_RPM":-1.48312027e-12,"EncoderCos":38708,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-2.96624053e-13,"cg_du":50.1709099,"cg_dv":50.207222,"cg_dw":49.792778,"cg_id_a":-0.456637025,"cg_id_raw_a":-0.424664825,"cg_iq_a":-0.0984583944,"cg_iq_raw_a":0.212627262,"cg_iu_a":-0.323661089,"cg_iv_a":-0.438259721,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9472733,"cg_sample_seq":14236467,"cg_sample_valid":1,"cg_theta_rad":5.00727272,"cg_vd_req_v":0.0688733831,"cg_vd_v":0.0688733831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377316594,"cg_vq_v":-0.377316594,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.754303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.073486,"values":{"Elec_RPM":-1.4534578e-12,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-2.9069157e-13,"cg_du":50.1645088,"cg_dv":50.2146454,"cg_dw":49.7853546,"cg_id_a":-0.938117623,"cg_id_raw_a":-0.298208117,"cg_iq_a":0.267589301,"cg_iq_raw_a":-0.210432678,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539645,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.8490906,"cg_sample_seq":14236520,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0796387121,"cg_vd_v":0.0796387121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384077698,"cg_vq_v":-0.384077698,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.754303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.081299,"values":{"Elec_RPM":-1.4534578e-12,"EncoderCos":38710,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-2.9069157e-13,"cg_du":50.1893158,"cg_dv":50.2069931,"cg_dw":49.7930069,"cg_id_a":0.314577252,"cg_id_raw_a":-0.311896712,"cg_iq_a":0.429389417,"cg_iq_raw_a":0.989664733,"cg_iu_a":0.111264944,"cg_iv_a":0.39534843,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9327278,"cg_sample_seq":14236567,"cg_sample_valid":1,"cg_theta_rad":5.00864553,"cg_vd_req_v":0.053300824,"cg_vd_v":0.053300824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387531698,"cg_vq_v":-0.387531698,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7575684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.089111,"values":{"Elec_RPM":-1.39590076e-12,"EncoderCos":38717,"EncoderSin":12449,"GapTicks":54776,"Mech_RPM":-2.79180162e-13,"cg_du":50.1745758,"cg_dv":50.2035713,"cg_dw":49.7964287,"cg_id_a":-0.0786074772,"cg_id_raw_a":-0.0306793861,"cg_iq_a":-0.361886114,"cg_iq_raw_a":-0.147958472,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539645,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9436359,"cg_sample_seq":14236717,"cg_sample_valid":1,"cg_theta_rad":5.00714016,"cg_vd_req_v":0.0617741868,"cg_vd_v":0.0617741868,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374550909,"cg_vq_v":-0.374550909,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7559204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.10083,"values":{"Elec_RPM":-1.39590076e-12,"EncoderCos":38731,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-2.79180162e-13,"cg_du":50.1851196,"cg_dv":50.2093658,"cg_dw":49.7906342,"cg_id_a":0.207568735,"cg_id_raw_a":-0.0344861932,"cg_iq_a":0.312538147,"cg_iq_raw_a":0.106766306,"cg_iu_a":-1.01229382,"cg_iv_a":-0.474503517,"cg_iw_a":1.48679733,"cg_sample_age_us":23.9618187,"cg_sample_seq":14236767,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0569932982,"cg_vd_v":0.0569932982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388676018,"cg_vq_v":-0.388676018,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7559204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.108643,"values":{"Elec_RPM":-1.36798277e-12,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-2.73596548e-13,"cg_du":50.1715546,"cg_dv":50.2035522,"cg_dw":49.7964478,"cg_id_a":-0.00744996965,"cg_id_raw_a":0.485927194,"cg_iq_a":-0.383359432,"cg_iq_raw_a":-0.0625217706,"cg_iu_a":0.618678689,"cg_iv_a":0.250373125,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9836369,"cg_sample_seq":14236817,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0620979406,"cg_vd_v":0.0620979406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373165965,"cg_vq_v":-0.373165965,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7281494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.116455,"values":{"Elec_RPM":-1.36798277e-12,"EncoderCos":38716,"EncoderSin":12495,"GapTicks":54773,"Mech_RPM":-2.73596548e-13,"cg_du":50.1770248,"cg_dv":50.206295,"cg_dw":49.793705,"cg_id_a":0.00782888383,"cg_id_raw_a":-0.100434273,"cg_iq_a":-0.0619930886,"cg_iq_raw_a":-0.300243616,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373125,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14236866,"cg_sample_valid":1,"cg_theta_rad":5.00672531,"cg_vd_req_v":0.0613959022,"cg_vd_v":0.0613959022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379805118,"cg_vq_v":-0.379805118,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7313843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.124268,"values":{"Elec_RPM":-1.34062303e-12,"EncoderCos":38724,"EncoderSin":12505,"GapTicks":54773,"Mech_RPM":-2.68124607e-13,"cg_du":50.1735497,"cg_dv":50.2063332,"cg_dw":49.7936668,"cg_id_a":-0.00192613574,"cg_id_raw_a":0.322281629,"cg_iq_a":-0.0176877193,"cg_iq_raw_a":-0.332815766,"cg_iu_a":0.111264944,"cg_iv_a":0.105397761,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9509087,"cg_sample_seq":14236916,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0632125735,"cg_vd_v":0.0632125735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378071159,"cg_vq_v":-0.378071159,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7313843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.13208,"values":{"Elec_RPM":-1.34062303e-12,"EncoderCos":38698,"EncoderSin":12490,"GapTicks":54773,"Mech_RPM":-2.68124607e-13,"cg_du":50.1720963,"cg_dv":50.2056541,"cg_dw":49.7943459,"cg_id_a":-0.172981158,"cg_id_raw_a":-0.816229999,"cg_iq_a":0.0647662133,"cg_iq_raw_a":0.75589174,"cg_iu_a":-0.468636513,"cg_iv_a":0.685299158,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14236966,"cg_sample_valid":1,"cg_theta_rad":5.00608683,"cg_vd_req_v":0.0665163472,"cg_vd_v":0.0665163472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377023935,"cg_vq_v":-0.377023935,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7362976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.16333,"values":{"Elec_RPM":-1.31381061e-12,"EncoderCos":38712,"EncoderSin":12490,"GapTicks":54774,"Mech_RPM":-2.62762116e-13,"cg_du":50.1671982,"cg_dv":50.2048111,"cg_dw":49.7951889,"cg_id_a":-0.269344866,"cg_id_raw_a":0.0523726977,"cg_iq_a":-0.18827343,"cg_iq_raw_a":-0.139724746,"cg_iu_a":0.111264944,"cg_iv_a":-0.836941838,"cg_iw_a":0.725676894,"cg_sample_age_us":23.8563633,"cg_sample_seq":14237021,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0683476552,"cg_vd_v":0.0683476552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373326123,"cg_vq_v":-0.373326123,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.171143,"values":{"Elec_RPM":-1.31381061e-12,"EncoderCos":38750,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-2.62762116e-13,"cg_du":50.1838341,"cg_dv":50.2047806,"cg_dw":49.7952194,"cg_id_a":0.499699622,"cg_id_raw_a":0.165149882,"cg_iq_a":0.38628915,"cg_iq_raw_a":-0.239085913,"cg_iu_a":0.437459469,"cg_iv_a":-0.148308992,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9763641,"cg_sample_seq":14237067,"cg_sample_valid":1,"cg_theta_rad":5.00692129,"cg_vd_req_v":0.0520493686,"cg_vd_v":0.0520493686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383099973,"cg_vq_v":-0.383099973,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.517314553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7591858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.178955,"values":{"Elec_RPM":-1.28753442e-12,"EncoderCos":38741,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-2.57506879e-13,"cg_du":50.1772118,"cg_dv":50.1994934,"cg_dw":49.8005066,"cg_id_a":0.421091914,"cg_id_raw_a":0.114880167,"cg_iq_a":-0.159588903,"cg_iq_raw_a":0.0842494145,"cg_iu_a":-0.142441988,"cg_iv_a":1.01149368,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.954546,"cg_sample_seq":14237117,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.0530729964,"cg_vd_v":0.0530729964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370890975,"cg_vq_v":-0.370890975,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.186768,"values":{"Elec_RPM":-1.28753442e-12,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54780,"Mech_RPM":-2.57506879e-13,"cg_du":50.1737022,"cg_dv":50.1997147,"cg_dw":49.8002853,"cg_id_a":0.158487305,"cg_id_raw_a":-0.0245631523,"cg_iq_a":-0.211751282,"cg_iq_raw_a":0.21690321,"cg_iu_a":0.364971876,"cg_iv_a":0.685299158,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14237167,"cg_sample_valid":1,"cg_theta_rad":5.00776243,"cg_vd_req_v":0.0578324459,"cg_vd_v":0.0578324459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368961573,"cg_vq_v":-0.368961573,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.19458,"values":{"Elec_RPM":-1.26178365e-12,"EncoderCos":38744,"EncoderSin":12525,"GapTicks":54777,"Mech_RPM":-2.52356729e-13,"cg_du":50.1645699,"cg_dv":50.2018356,"cg_dw":49.7981644,"cg_id_a":-0.122812718,"cg_id_raw_a":0.329696625,"cg_iq_a":-0.303432703,"cg_iq_raw_a":-0.916056991,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0395775437,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9509087,"cg_sample_seq":14237216,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0637430027,"cg_vd_v":0.0637430027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367309213,"cg_vq_v":-0.367309213,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.202393,"values":{"Elec_RPM":-1.26178365e-12,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-2.52356729e-13,"cg_du":50.1716957,"cg_dv":50.200737,"cg_dw":49.799263,"cg_id_a":0.171992034,"cg_id_raw_a":-0.111493222,"cg_iq_a":-0.29153353,"cg_iq_raw_a":-0.410291225,"cg_iu_a":0.0750212669,"cg_iv_a":0.467836142,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9509087,"cg_sample_seq":14237266,"cg_sample_valid":1,"cg_theta_rad":5.00641632,"cg_vd_req_v":0.0597105734,"cg_vd_v":0.0597105734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370489568,"cg_vq_v":-0.370489568,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.340631247,"dclink_p_w":49.2977409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7362976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.214111,"values":{"Elec_RPM":-1.23654797e-12,"EncoderCos":38699,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-2.47309606e-13,"cg_du":50.1743736,"cg_dv":50.2008095,"cg_dw":49.7991905,"cg_id_a":0.135083586,"cg_id_raw_a":0.204759076,"cg_iq_a":-0.240605831,"cg_iq_raw_a":0.640987039,"cg_iu_a":0.292484045,"cg_iv_a":0.685299158,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.954546,"cg_sample_seq":14237316,"cg_sample_valid":1,"cg_theta_rad":5.00722027,"cg_vd_req_v":0.0599388182,"cg_vd_v":0.0599388182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370575428,"cg_vq_v":-0.370575428,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7362976,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.221924,"values":{"Elec_RPM":-1.23654797e-12,"EncoderCos":38724,"EncoderSin":12507,"GapTicks":54773,"Mech_RPM":-2.47309606e-13,"cg_du":50.1720924,"cg_dv":50.2060814,"cg_dw":49.7939186,"cg_id_a":-0.00563294441,"cg_id_raw_a":-0.300231814,"cg_iq_a":0.191473216,"cg_iq_raw_a":0.919016063,"cg_iu_a":0.582434773,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9145451,"cg_sample_seq":14237368,"cg_sample_valid":1,"cg_theta_rad":5.0073595,"cg_vd_req_v":0.0640648827,"cg_vd_v":0.0640648827,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376921475,"cg_vq_v":-0.376921475,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.229736,"values":{"Elec_RPM":-1.2118171e-12,"EncoderCos":38708,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-2.42363421e-13,"cg_du":50.1720161,"cg_dv":50.206028,"cg_dw":49.793972,"cg_id_a":-0.149307504,"cg_id_raw_a":-0.139877334,"cg_iq_a":0.295517802,"cg_iq_raw_a":0.314685583,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14237416,"cg_sample_valid":1,"cg_theta_rad":5.00579596,"cg_vd_req_v":0.0660374388,"cg_vd_v":0.0660374388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376464099,"cg_vq_v":-0.376464099,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.237549,"values":{"Elec_RPM":-1.2118171e-12,"EncoderCos":38703,"EncoderSin":12514,"GapTicks":54779,"Mech_RPM":-2.42363421e-13,"cg_du":50.1650467,"cg_dv":50.2008896,"cg_dw":49.7991104,"cg_id_a":-0.0711655617,"cg_id_raw_a":0.660928011,"cg_iq_a":-0.324973345,"cg_iq_raw_a":-0.553149164,"cg_iu_a":1.27106774,"cg_iv_a":-0.329528213,"cg_iw_a":-0.941539526,"cg_sample_age_us":23.9436359,"cg_sample_seq":14237466,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0661532581,"cg_vd_v":0.0661532581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365631938,"cg_vq_v":-0.365631938,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.264893,"values":{"Elec_RPM":-1.18758074e-12,"EncoderCos":38705,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-2.37516143e-13,"cg_du":50.170105,"cg_dv":50.2040291,"cg_dw":49.7959709,"cg_id_a":0.0340842679,"cg_id_raw_a":0.199862301,"cg_iq_a":0.0400277525,"cg_iq_raw_a":0.895510972,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860718,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9254551,"cg_sample_seq":14237566,"cg_sample_valid":1,"cg_theta_rad":5.00584793,"cg_vd_req_v":0.0664324686,"cg_vd_v":0.0664324686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372527421,"cg_vq_v":-0.372527421,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7461243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.276611,"values":{"Elec_RPM":-1.16382912e-12,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-2.32765819e-13,"cg_du":50.1686516,"cg_dv":50.2018852,"cg_dw":49.7981148,"cg_id_a":0.21346271,"cg_id_raw_a":0.715007842,"cg_iq_a":-0.224975929,"cg_iq_raw_a":0.179454088,"cg_iu_a":-0.359905005,"cg_iv_a":0.57656765,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14237616,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0639245063,"cg_vd_v":0.0639245063,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370228738,"cg_vq_v":-0.370228738,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7346497,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.284424,"values":{"Elec_RPM":-1.16382912e-12,"EncoderCos":38714,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-2.32765819e-13,"cg_du":50.1725388,"cg_dv":50.2090645,"cg_dw":49.7909355,"cg_id_a":0.0324626043,"cg_id_raw_a":-0.130447835,"cg_iq_a":0.276680171,"cg_iq_raw_a":0.862012565,"cg_iu_a":1.27106762,"cg_iv_a":-0.329528213,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14237667,"cg_sample_valid":1,"cg_theta_rad":5.00712776,"cg_vd_req_v":0.0684357136,"cg_vd_v":0.0684357136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382104874,"cg_vq_v":-0.382104874,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.517314553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7281494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.292236,"values":{"Elec_RPM":-1.1405525e-12,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-2.28110499e-13,"cg_du":50.1588249,"cg_dv":50.2106628,"cg_dw":49.7893372,"cg_id_a":-0.431681335,"cg_id_raw_a":-0.647403181,"cg_iq_a":0.0218193009,"cg_iq_raw_a":-0.718643308,"cg_iu_a":0.183752537,"cg_iv_a":-0.365772009,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14237716,"cg_sample_valid":1,"cg_theta_rad":5.0062604,"cg_vd_req_v":0.0808190852,"cg_vd_v":0.0808190852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376544416,"cg_vq_v":-0.376544416,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7281494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.300049,"values":{"Elec_RPM":-1.1405525e-12,"EncoderCos":38723,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-2.28110499e-13,"cg_du":50.1606827,"cg_dv":50.2098312,"cg_dw":49.7901688,"cg_id_a":-0.283342242,"cg_id_raw_a":-0.659547389,"cg_iq_a":0.0185089689,"cg_iq_raw_a":0.483533382,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14237766,"cg_sample_valid":1,"cg_theta_rad":5.00636244,"cg_vd_req_v":0.0773743317,"cg_vd_v":0.0773743317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37551102,"cg_vq_v":-0.37551102,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.51644278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7379456,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.307861,"values":{"Elec_RPM":-1.11774142e-12,"EncoderCos":38703,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-2.23548285e-13,"cg_du":50.1693802,"cg_dv":50.2060852,"cg_dw":49.7939148,"cg_id_a":0.151685745,"cg_id_raw_a":-0.0523188934,"cg_iq_a":-0.184751481,"cg_iq_raw_a":-0.551020503,"cg_iu_a":0.147508621,"cg_iv_a":0.250373065,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9436359,"cg_sample_seq":14237816,"cg_sample_valid":1,"cg_theta_rad":5.00698566,"cg_vd_req_v":0.0691037551,"cg_vd_v":0.0691037551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374891281,"cg_vq_v":-0.374891281,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.315674,"values":{"Elec_RPM":-1.11774142e-12,"EncoderCos":38731,"EncoderSin":12520,"GapTicks":54767,"Mech_RPM":-2.23548285e-13,"cg_du":50.1643829,"cg_dv":50.211277,"cg_dw":49.788723,"cg_id_a":-0.118761301,"cg_id_raw_a":0.0534079373,"cg_iq_a":0.00649683829,"cg_iq_raw_a":0.296873838,"cg_iu_a":0.292484045,"cg_iv_a":-0.365772128,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14237866,"cg_sample_valid":1,"cg_theta_rad":5.00549603,"cg_vd_req_v":0.0742084458,"cg_vd_v":0.0742084458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379881322,"cg_vq_v":-0.379881322,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.327393,"values":{"Elec_RPM":-1.09538659e-12,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-2.1907732e-13,"cg_du":50.1620674,"cg_dv":50.2095528,"cg_dw":49.7904472,"cg_id_a":-0.330245912,"cg_id_raw_a":-0.0505911037,"cg_iq_a":-0.260403603,"cg_iq_raw_a":-0.36852029,"cg_iu_a":0.473703384,"cg_iv_a":-0.546991229,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8781815,"cg_sample_seq":14237916,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0775199383,"cg_vd_v":0.0775199383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375600368,"cg_vq_v":-0.375600368,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.335205,"values":{"Elec_RPM":-1.09538659e-12,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-2.1907732e-13,"cg_du":50.1723289,"cg_dv":50.2086258,"cg_dw":49.7913742,"cg_id_a":0.099729754,"cg_id_raw_a":-0.246363983,"cg_iq_a":0.137726039,"cg_iq_raw_a":-0.0959692895,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14237966,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.067641601,"cg_vd_v":0.067641601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381483376,"cg_vq_v":-0.381483376,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7330322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.362549,"values":{"Elec_RPM":-1.07347887e-12,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-2.14695774e-13,"cg_du":50.1613846,"cg_dv":50.2008095,"cg_dw":49.7991905,"cg_id_a":-0.0688389093,"cg_id_raw_a":0.372604668,"cg_iq_a":-0.515407443,"cg_iq_raw_a":-0.399336129,"cg_iu_a":0.256240368,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638188,"cg_sample_age_us":26.8090916,"cg_sample_seq":14238019,"cg_sample_valid":1,"cg_theta_rad":5.00631189,"cg_vd_req_v":0.0693200901,"cg_vd_v":0.0693200901,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36454016,"cg_vq_v":-0.36454016,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.6688709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7297668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.370361,"values":{"Elec_RPM":-1.07347887e-12,"EncoderCos":38693,"EncoderSin":12511,"GapTicks":54778,"Mech_RPM":-2.14695774e-13,"cg_du":50.174572,"cg_dv":50.2015266,"cg_dw":49.7984734,"cg_id_a":0.265992701,"cg_id_raw_a":0.979159772,"cg_iq_a":-0.0178832188,"cg_iq_raw_a":0.682688475,"cg_iu_a":-0.0699541569,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14238066,"cg_sample_valid":1,"cg_theta_rad":5.00693083,"cg_vd_req_v":0.0602275841,"cg_vd_v":0.0602275841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371698052,"cg_vq_v":-0.371698052,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7281494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.378174,"values":{"Elec_RPM":-1.05200928e-12,"EncoderCos":38707,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-2.10401859e-13,"cg_du":50.1682396,"cg_dv":50.206646,"cg_dw":49.793354,"cg_id_a":-0.180065259,"cg_id_raw_a":0.0804782137,"cg_iq_a":0.137678146,"cg_iq_raw_a":0.628187776,"cg_iu_a":0.183752537,"cg_iv_a":0.032910049,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9872723,"cg_sample_seq":14238116,"cg_sample_valid":1,"cg_theta_rad":5.00674534,"cg_vd_req_v":0.0700700209,"cg_vd_v":0.0700700209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375090241,"cg_vq_v":-0.375090241,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7281494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.389893,"values":{"Elec_RPM":-1.05200928e-12,"EncoderCos":38722,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-2.10401859e-13,"cg_du":50.1659164,"cg_dv":50.2062874,"cg_dw":49.7937126,"cg_id_a":-0.13171272,"cg_id_raw_a":-0.125160113,"cg_iq_a":0.152032971,"cg_iq_raw_a":0.170684233,"cg_iu_a":0.509947062,"cg_iv_a":0.0329101086,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9472733,"cg_sample_seq":14238166,"cg_sample_valid":1,"cg_theta_rad":5.00881386,"cg_vd_req_v":0.0702928528,"cg_vd_v":0.0702928528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373532116,"cg_vq_v":-0.373532116,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7477417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.397705,"values":{"Elec_RPM":-1.03096915e-12,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-2.06193827e-13,"cg_du":50.1658211,"cg_dv":50.2002144,"cg_dw":49.7997856,"cg_id_a":0.0396428406,"cg_id_raw_a":0.272771269,"cg_iq_a":-0.0588090569,"cg_iq_raw_a":-0.445283979,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528213,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8709087,"cg_sample_seq":14238216,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0656346008,"cg_vd_v":0.0656346008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365016133,"cg_vq_v":-0.365016133,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7232361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.405518,"values":{"Elec_RPM":-1.03096915e-12,"EncoderCos":38720,"EncoderSin":12451,"GapTicks":54775,"Mech_RPM":-2.06193827e-13,"cg_du":50.1678009,"cg_dv":50.2040825,"cg_dw":49.7959175,"cg_id_a":0.0596023127,"cg_id_raw_a":-0.17594409,"cg_iq_a":0.350028932,"cg_iq_raw_a":-0.380844057,"cg_iu_a":-0.686099291,"cg_iv_a":0.0691539049,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8563633,"cg_sample_seq":14238266,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.0674797073,"cg_vd_v":0.0674797073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372616112,"cg_vq_v":-0.372616112,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7232361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.41333,"values":{"Elec_RPM":-1.01034979e-12,"EncoderCos":38682,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-2.02069955e-13,"cg_du":50.1670456,"cg_dv":50.2027702,"cg_dw":49.7972298,"cg_id_a":0.0246108472,"cg_id_raw_a":-0.306490541,"cg_iq_a":0.130361199,"cg_iq_raw_a":0.478655726,"cg_iu_a":0.219996452,"cg_iv_a":0.57656759,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.8563633,"cg_sample_seq":14238317,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0689914897,"cg_vd_v":0.0689914897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368836552,"cg_vq_v":-0.368836552,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7085266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.421143,"values":{"Elec_RPM":-1.01034979e-12,"EncoderCos":38710,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-2.02069955e-13,"cg_du":50.1595154,"cg_dv":50.2058334,"cg_dw":49.7941666,"cg_id_a":-0.256072104,"cg_id_raw_a":-0.49308908,"cg_iq_a":0.167143553,"cg_iq_raw_a":0.0613724142,"cg_iu_a":0.219996452,"cg_iv_a":-0.365772009,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14238367,"cg_sample_valid":1,"cg_theta_rad":5.00723267,"cg_vd_req_v":0.0753504485,"cg_vd_v":0.0753504485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369223833,"cg_vq_v":-0.369223833,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.1158142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7085266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.428955,"values":{"Elec_RPM":-9.90142755e-13,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-1.98028551e-13,"cg_du":50.1639023,"cg_dv":50.2042236,"cg_dw":49.7957764,"cg_id_a":0.0279018357,"cg_id_raw_a":-0.156660199,"cg_iq_a":0.00396041945,"cg_iq_raw_a":-0.159415886,"cg_iu_a":-0.178685904,"cg_iv_a":0.21412921,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.863636,"cg_sample_seq":14238416,"cg_sample_valid":1,"cg_theta_rad":5.00794411,"cg_vd_req_v":0.0681366771,"cg_vd_v":0.0681366771,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368756831,"cg_vq_v":-0.368756831,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.440674,"values":{"Elec_RPM":-9.90142755e-13,"EncoderCos":38706,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-1.98028551e-13,"cg_du":50.1545448,"cg_dv":50.2007179,"cg_dw":49.7992821,"cg_id_a":-0.173344284,"cg_id_raw_a":0.0554135405,"cg_iq_a":-0.462328315,"cg_iq_raw_a":-1.01352203,"cg_iu_a":0.219996452,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8454552,"cg_sample_seq":14238466,"cg_sample_valid":1,"cg_theta_rad":5.00670767,"cg_vd_req_v":0.0743178576,"cg_vd_v":0.0743178576,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358331501,"cg_vq_v":-0.358331501,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9581099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7265015,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2574.468018,"values":{"Elec_RPM":-9.70339911e-13,"EncoderCos":38687,"EncoderSin":12479,"GapTicks":54783,"Mech_RPM":-1.94067974e-13,"cg_du":50.1676521,"cg_dv":50.1972198,"cg_dw":49.8027802,"cg_id_a":0.389347076,"cg_id_raw_a":0.132646859,"cg_iq_a":-0.0826154649,"cg_iq_raw_a":-0.495491952,"cg_iu_a":0.401215553,"cg_iv_a":0.250373065,"cg_iw_a":0.94314003,"cg_sample_age_us":23.8600006,"cg_sample_seq":14238521,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0627284423,"cg_vd_v":0.0627284423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36173898,"cg_vq_v":-0.36173898,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7265015,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.47583,"values":{"Elec_RPM":-9.70339911e-13,"EncoderCos":38714,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-1.94067974e-13,"cg_du":50.1658516,"cg_dv":50.2022362,"cg_dw":49.7977638,"cg_id_a":0.133036748,"cg_id_raw_a":0.172469169,"cg_iq_a":0.386752129,"cg_iq_raw_a":0.564023972,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14238566,"cg_sample_valid":1,"cg_theta_rad":5.00778151,"cg_vd_req_v":0.0668984503,"cg_vd_v":0.0668984503,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369055271,"cg_vq_v":-0.369055271,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.7313843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.483643,"values":{"Elec_RPM":-9.50933017e-13,"EncoderCos":38740,"EncoderSin":12497,"GapTicks":54785,"Mech_RPM":-1.90186612e-13,"cg_du":50.1518021,"cg_dv":50.1954002,"cg_dw":49.8045998,"cg_id_a":-0.102458045,"cg_id_raw_a":-0.363027334,"cg_iq_a":-0.236212701,"cg_iq_raw_a":-1.12418234,"cg_iu_a":0.364971876,"cg_iv_a":0.032910049,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9836369,"cg_sample_seq":14238616,"cg_sample_valid":1,"cg_theta_rad":5.007658,"cg_vd_req_v":0.0688605681,"cg_vd_v":0.0688605681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352303952,"cg_vq_v":-0.352303952,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-57.0941277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7166748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.491455,"values":{"Elec_RPM":-9.50933017e-13,"EncoderCos":38721,"EncoderSin":12495,"GapTicks":54780,"Mech_RPM":-1.90186612e-13,"cg_du":50.1583366,"cg_dv":50.1991844,"cg_dw":49.8008156,"cg_id_a":-0.0890158787,"cg_id_raw_a":0.400052458,"cg_iq_a":0.401540577,"cg_iq_raw_a":1.93244004,"cg_iu_a":0.582434773,"cg_iv_a":-0.184552908,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8818188,"cg_sample_seq":14238666,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0689620301,"cg_vd_v":0.0689620301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360831708,"cg_vq_v":-0.360831708,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7166748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.503174,"values":{"Elec_RPM":-9.31914376e-13,"EncoderCos":38732,"EncoderSin":12468,"GapTicks":54778,"Mech_RPM":-1.86382878e-13,"cg_du":50.1667099,"cg_dv":50.2009697,"cg_dw":49.7990303,"cg_id_a":0.130899161,"cg_id_raw_a":0.0276838932,"cg_iq_a":0.788393974,"cg_iq_raw_a":-0.105784461,"cg_iu_a":0.219996452,"cg_iv_a":0.431592226,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9872723,"cg_sample_seq":14238716,"cg_sample_valid":1,"cg_theta_rad":5.00609589,"cg_vd_req_v":0.0638639778,"cg_vd_v":0.0638639778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36800912,"cg_vq_v":-0.36800912,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.192152977,"dclink_p_w":-27.8092728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.510986,"values":{"Elec_RPM":-9.31914376e-13,"EncoderCos":38704,"EncoderSin":12490,"GapTicks":54788,"Mech_RPM":-1.86382878e-13,"cg_du":50.1658554,"cg_dv":50.1920052,"cg_dw":49.8079948,"cg_id_a":0.358658075,"cg_id_raw_a":0.00542599661,"cg_iq_a":0.226550236,"cg_iq_raw_a":-0.508600056,"cg_iu_a":-1.48346376,"cg_iv_a":0.721542954,"cg_iw_a":0.76192081,"cg_sample_age_us":24.0309086,"cg_sample_seq":14238766,"cg_sample_valid":1,"cg_theta_rad":5.00688171,"cg_vd_req_v":0.0573744886,"cg_vd_v":0.0573744886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353935182,"cg_vq_v":-0.353935182,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.518799,"values":{"Elec_RPM":-9.13276074e-13,"EncoderCos":38717,"EncoderSin":12495,"GapTicks":54785,"Mech_RPM":-1.82655215e-13,"cg_du":50.1547737,"cg_dv":50.1947975,"cg_dw":49.8052025,"cg_id_a":-0.111712456,"cg_id_raw_a":-0.0277663507,"cg_iq_a":0.135500118,"cg_iq_raw_a":0.0345313363,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691540241,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14238816,"cg_sample_valid":1,"cg_theta_rad":5.00662518,"cg_vd_req_v":0.0678236634,"cg_vd_v":0.0678236634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352777153,"cg_vq_v":-0.352777153,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7346497,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.526611,"values":{"Elec_RPM":-9.13276074e-13,"EncoderCos":38707,"EncoderSin":12478,"GapTicks":54785,"Mech_RPM":-1.82655215e-13,"cg_du":50.1555519,"cg_dv":50.1947212,"cg_dw":49.8052788,"cg_id_a":-0.0748279095,"cg_id_raw_a":-0.333835065,"cg_iq_a":0.0845735371,"cg_iq_raw_a":0.149480119,"cg_iu_a":-0.359904766,"cg_iv_a":0.39534843,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9763641,"cg_sample_seq":14238866,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0683515817,"cg_vd_v":0.0683515817,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352880716,"cg_vq_v":-0.352880716,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.534424,"values":{"Elec_RPM":-8.9501052e-13,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-1.79002104e-13,"cg_du":50.1529961,"cg_dv":50.1976433,"cg_dw":49.8023567,"cg_id_a":-0.301324785,"cg_id_raw_a":-0.350775421,"cg_iq_a":0.15450795,"cg_iq_raw_a":0.549536288,"cg_iu_a":0.437459469,"cg_iv_a":0.141641617,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8527279,"cg_sample_seq":14238916,"cg_sample_valid":1,"cg_theta_rad":5.00816727,"cg_vd_req_v":0.0721497461,"cg_vd_v":0.0721497461,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356753141,"cg_vq_v":-0.356753141,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2574.565674,"values":{"Elec_RPM":-8.77110342e-13,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54781,"Mech_RPM":-1.75422068e-13,"cg_du":50.1540489,"cg_dv":50.1988182,"cg_dw":49.8011818,"cg_id_a":-0.2524257,"cg_id_raw_a":-0.676024973,"cg_iq_a":0.304783821,"cg_iq_raw_a":0.446789414,"cg_iu_a":-0.14244175,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8490906,"cg_sample_seq":14239019,"cg_sample_valid":1,"cg_theta_rad":5.00623798,"cg_vd_req_v":0.0711920932,"cg_vd_v":0.0711920932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3569493,"cg_vq_v":-0.3569493,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8814163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7134094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119794004,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.573486,"values":{"Elec_RPM":-8.77110342e-13,"EncoderCos":38712,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-1.75422068e-13,"cg_du":50.1720886,"cg_dv":50.1949539,"cg_dw":49.8050461,"cg_id_a":0.525736928,"cg_id_raw_a":0.0909562558,"cg_iq_a":0.553713739,"cg_iq_raw_a":-0.31801784,"cg_iu_a":-0.577367783,"cg_iv_a":0.431592226,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8272724,"cg_sample_seq":14239066,"cg_sample_valid":1,"cg_theta_rad":5.00704527,"cg_vd_req_v":0.0547600687,"cg_vd_v":0.0547600687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361543059,"cg_vq_v":-0.361543059,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8814163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7134094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119794004,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.581299,"values":{"Elec_RPM":-8.59568168e-13,"EncoderCos":38715,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-1.71913631e-13,"cg_du":50.1529617,"cg_dv":50.1963806,"cg_dw":49.8036194,"cg_id_a":-0.223899245,"cg_id_raw_a":-0.157268748,"cg_iq_a":0.106010184,"cg_iq_raw_a":0.713763237,"cg_iu_a":0.473703146,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144174933,"cg_sample_age_us":24.0381813,"cg_sample_seq":14239116,"cg_sample_valid":1,"cg_theta_rad":5.00713587,"cg_vd_req_v":0.0709333718,"cg_vd_v":0.0709333718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352778226,"cg_vq_v":-0.352778226,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.589111,"values":{"Elec_RPM":-8.59568168e-13,"EncoderCos":38706,"EncoderSin":12494,"GapTicks":54782,"Mech_RPM":-1.71913631e-13,"cg_du":50.1582832,"cg_dv":50.1976624,"cg_dw":49.8023376,"cg_id_a":-0.113164425,"cg_id_raw_a":-0.320946932,"cg_iq_a":0.289806604,"cg_iq_raw_a":-0.613827944,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.954546,"cg_sample_seq":14239166,"cg_sample_valid":1,"cg_theta_rad":5.00550461,"cg_vd_req_v":0.068563208,"cg_vd_v":0.068563208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357398987,"cg_vq_v":-0.357398987,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.596924,"values":{"Elec_RPM":-8.42376787e-13,"EncoderCos":38718,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-1.68475355e-13,"cg_du":50.1569595,"cg_dv":50.1972656,"cg_dw":49.8027344,"cg_id_a":-0.12438409,"cg_id_raw_a":0.183460355,"cg_iq_a":-0.00173621997,"cg_iq_raw_a":0.237407088,"cg_iu_a":0.401215792,"cg_iv_a":-0.220796824,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9727268,"cg_sample_seq":14239216,"cg_sample_valid":1,"cg_theta_rad":5.00717497,"cg_vd_req_v":0.0689505413,"cg_vd_v":0.0689505413,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356164038,"cg_vq_v":-0.356164038,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7232361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.604736,"values":{"Elec_RPM":-8.42376787e-13,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54775,"Mech_RPM":-1.68475355e-13,"cg_du":50.1712494,"cg_dv":50.2041512,"cg_dw":49.7958488,"cg_id_a":0.0712310597,"cg_id_raw_a":0.19499144,"cg_iq_a":0.735844254,"cg_iq_raw_a":0.346898496,"cg_iu_a":-0.722343206,"cg_iv_a":-0.257040501,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9181824,"cg_sample_seq":14239266,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.062970981,"cg_vd_v":0.062970981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373800784,"cg_vq_v":-0.373800784,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.616455,"values":{"Elec_RPM":-8.25529207e-13,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.65105844e-13,"cg_du":50.1610069,"cg_dv":50.1943207,"cg_dw":49.8056793,"cg_id_a":0.00811243802,"cg_id_raw_a":0.792384386,"cg_iq_a":-0.278570116,"cg_iq_raw_a":-1.23139775,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.438259721,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9218178,"cg_sample_seq":14239316,"cg_sample_valid":1,"cg_theta_rad":5.0095315,"cg_vd_req_v":0.063328594,"cg_vd_v":0.063328594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354368389,"cg_vq_v":-0.354368389,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.624268,"values":{"Elec_RPM":-8.25529207e-13,"EncoderCos":38694,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-1.65105844e-13,"cg_du":50.1616478,"cg_dv":50.1945648,"cg_dw":49.8054352,"cg_id_a":-0.0239696614,"cg_id_raw_a":-0.404453725,"cg_iq_a":-0.157061905,"cg_iq_raw_a":-0.805860162,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14239366,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0640980974,"cg_vd_v":0.0640980974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354872853,"cg_vq_v":-0.354872853,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.63208,"values":{"Elec_RPM":-8.09018651e-13,"EncoderCos":38677,"EncoderSin":12472,"GapTicks":54781,"Mech_RPM":-1.6180373e-13,"cg_du":50.1649475,"cg_dv":50.1982231,"cg_dw":49.8017769,"cg_id_a":-0.100031823,"cg_id_raw_a":-0.242504671,"cg_iq_a":0.117633998,"cg_iq_raw_a":0.266352952,"cg_iu_a":-0.214929581,"cg_iv_a":0.866518259,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.8527279,"cg_sample_seq":14239417,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.0668199658,"cg_vd_v":0.0668199658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361379862,"cg_vq_v":-0.361379862,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.4312897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7232361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.639893,"values":{"Elec_RPM":-8.09018651e-13,"EncoderCos":38692,"EncoderSin":12474,"GapTicks":54785,"Mech_RPM":-1.6180373e-13,"cg_du":50.1591454,"cg_dv":50.1948051,"cg_dw":49.8051949,"cg_id_a":-0.0878401697,"cg_id_raw_a":0.15889366,"cg_iq_a":-0.207940891,"cg_iq_raw_a":-0.347072363,"cg_iu_a":0.908629179,"cg_iv_a":-0.184552908,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9509087,"cg_sample_seq":14239466,"cg_sample_valid":1,"cg_theta_rad":5.00605631,"cg_vd_req_v":0.0667183176,"cg_vd_v":0.0667183176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353704542,"cg_vq_v":-0.353704542,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7232361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.671143,"values":{"Elec_RPM":-7.92838289e-13,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.58567658e-13,"cg_du":50.155941,"cg_dv":50.2024612,"cg_dw":49.7975388,"cg_id_a":-0.363713384,"cg_id_raw_a":-0.434118032,"cg_iq_a":0.192266792,"cg_iq_raw_a":0.10386394,"cg_iu_a":0.364971876,"cg_iv_a":0.214129329,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.8600006,"cg_sample_seq":14239521,"cg_sample_valid":1,"cg_theta_rad":5.00720453,"cg_vd_req_v":0.0746572986,"cg_vd_v":0.0746572986,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362680942,"cg_vq_v":-0.362680942,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.4528313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.7069092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.678955,"values":{"Elec_RPM":-7.92838289e-13,"EncoderCos":38714,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-1.58567658e-13,"cg_du":50.1564713,"cg_dv":50.1968002,"cg_dw":49.8031998,"cg_id_a":-0.0686037838,"cg_id_raw_a":0.0836972743,"cg_iq_a":-0.187681273,"cg_iq_raw_a":-0.245933846,"cg_iu_a":-0.142441988,"cg_iv_a":-0.619478941,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.954546,"cg_sample_seq":14239567,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.0687798634,"cg_vd_v":0.0687798634,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356401056,"cg_vq_v":-0.356401056,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.3468323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.7069092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.686768,"values":{"Elec_RPM":-7.76981506e-13,"EncoderCos":38732,"EncoderSin":12466,"GapTicks":54777,"Mech_RPM":-1.55396299e-13,"cg_du":50.1643906,"cg_dv":50.2025871,"cg_dw":49.7974129,"cg_id_a":0.0294781141,"cg_id_raw_a":-0.00264794868,"cg_iq_a":0.313401341,"cg_iq_raw_a":0.874345064,"cg_iu_a":0.038777113,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9799995,"cg_sample_seq":14239616,"cg_sample_valid":1,"cg_theta_rad":5.00661421,"cg_vd_req_v":0.0671130493,"cg_vd_v":0.0671130493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367792606,"cg_vq_v":-0.367792606,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.65839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7134094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.69458,"values":{"Elec_RPM":-7.76981506e-13,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.55396299e-13,"cg_du":50.1620407,"cg_dv":50.1970901,"cg_dw":49.8029099,"cg_id_a":0.163798645,"cg_id_raw_a":0.361967325,"cg_iq_a":-0.247345164,"cg_iq_raw_a":-0.947210968,"cg_iu_a":0.292484283,"cg_iv_a":0.359104574,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.8563633,"cg_sample_seq":14239666,"cg_sample_valid":1,"cg_theta_rad":5.00756931,"cg_vd_req_v":0.0643048063,"cg_vd_v":0.0643048063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358871549,"cg_vq_v":-0.358871549,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.559906542,"dclink_p_w":81.03228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.710144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.702393,"values":{"Elec_RPM":-7.61441908e-13,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54783,"Mech_RPM":-1.52288379e-13,"cg_du":50.1611748,"cg_dv":50.1971283,"cg_dw":49.8028717,"cg_id_a":0.0501020513,"cg_id_raw_a":0.595009506,"cg_iq_a":-0.276338518,"cg_iq_raw_a":-0.523114443,"cg_iu_a":0.582434893,"cg_iv_a":0.177885473,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.954546,"cg_sample_seq":14239717,"cg_sample_valid":1,"cg_theta_rad":5.00722742,"cg_vd_req_v":0.0656061769,"cg_vd_v":0.0656061769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35833171,"cg_vq_v":-0.35833171,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.534535825,"dclink_p_w":77.3605118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.710144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.710205,"values":{"Elec_RPM":-7.61441908e-13,"EncoderCos":38709,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-1.52288379e-13,"cg_du":50.1597633,"cg_dv":50.2040977,"cg_dw":49.7959023,"cg_id_a":-0.372384965,"cg_id_raw_a":-0.662454009,"cg_iq_a":0.175043076,"cg_iq_raw_a":0.918365419,"cg_iu_a":0.292484283,"cg_iv_a":0.21412921,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.8563633,"cg_sample_seq":14239766,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0737007111,"cg_vd_v":0.0737007111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36695987,"cg_vq_v":-0.36695987,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.534535825,"dclink_p_w":77.3605118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.718018,"values":{"Elec_RPM":-7.46213041e-13,"EncoderCos":38728,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-1.49242611e-13,"cg_du":50.1635513,"cg_dv":50.1999054,"cg_dw":49.8000946,"cg_id_a":0.0483390838,"cg_id_raw_a":0.375070095,"cg_iq_a":-0.0407015681,"cg_iq_raw_a":0.218730807,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616981,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9836369,"cg_sample_seq":14239816,"cg_sample_valid":1,"cg_theta_rad":5.00572395,"cg_vd_req_v":0.0653050691,"cg_vd_v":0.0653050691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363646626,"cg_vq_v":-0.363646626,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":62.0747528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.729736,"values":{"Elec_RPM":-7.46213041e-13,"EncoderCos":38714,"EncoderSin":12521,"GapTicks":54770,"Mech_RPM":-1.49242611e-13,"cg_du":50.1651726,"cg_dv":50.2081947,"cg_dw":49.7918053,"cg_id_a":-0.283942282,"cg_id_raw_a":0.229403988,"cg_iq_a":0.39054212,"cg_iq_raw_a":0.423236251,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373065,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9872723,"cg_sample_seq":14239866,"cg_sample_valid":1,"cg_theta_rad":5.00660276,"cg_vd_req_v":0.0720428973,"cg_vd_v":0.0720428973,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375839412,"cg_vq_v":-0.375839412,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":62.0747528,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.737549,"values":{"Elec_RPM":-7.31288836e-13,"EncoderCos":38736,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-1.46257762e-13,"cg_du":50.1625595,"cg_dv":50.1991043,"cg_dw":49.8008957,"cg_id_a":0.100337073,"cg_id_raw_a":0.122532576,"cg_iq_a":-0.253961653,"cg_iq_raw_a":0.449159443,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9763641,"cg_sample_seq":14239916,"cg_sample_valid":1,"cg_theta_rad":5.00649261,"cg_vd_req_v":0.0646975189,"cg_vd_v":0.0646975189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362111449,"cg_vq_v":-0.362111449,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.745361,"values":{"Elec_RPM":-7.31288836e-13,"EncoderCos":38709,"EncoderSin":12479,"GapTicks":54781,"Mech_RPM":-1.46257762e-13,"cg_du":50.1634827,"cg_dv":50.1989098,"cg_dw":49.8010902,"cg_id_a":-0.0216175839,"cg_id_raw_a":0.345576763,"cg_iq_a":-0.238196924,"cg_iq_raw_a":-0.547525644,"cg_iu_a":-0.359904766,"cg_iv_a":0.0691539049,"cg_iw_a":0.290750861,"cg_sample_age_us":23.954546,"cg_sample_seq":14239966,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0658304542,"cg_vd_v":0.0658304542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361992449,"cg_vq_v":-0.361992449,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.772705,"values":{"Elec_RPM":-7.16663057e-13,"EncoderCos":38731,"EncoderSin":12494,"GapTicks":54776,"Mech_RPM":-1.43332611e-13,"cg_du":50.1641922,"cg_dv":50.2030678,"cg_dw":49.7969322,"cg_id_a":-0.135391042,"cg_id_raw_a":-0.590127885,"cg_iq_a":0.233579412,"cg_iq_raw_a":1.32886255,"cg_iu_a":0.183752775,"cg_iv_a":-0.800698161,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9727268,"cg_sample_seq":14240021,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0671027601,"cg_vd_v":0.0671027601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368447959,"cg_vq_v":-0.368447959,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9221191,"temp_inv2_c":38.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.784424,"values":{"Elec_RPM":-7.16663057e-13,"EncoderCos":38720,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-1.43332611e-13,"cg_du":50.1703606,"cg_dv":50.2076149,"cg_dw":49.7923851,"cg_id_a":-0.150466353,"cg_id_raw_a":-0.11110656,"cg_iq_a":0.532288194,"cg_iq_raw_a":0.026357146,"cg_iu_a":0.473703146,"cg_iv_a":-0.90942955,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14240068,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.0682183132,"cg_vd_v":0.0682183132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377808571,"cg_vq_v":-0.377808571,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6938171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.792236,"values":{"Elec_RPM":-7.02329796e-13,"EncoderCos":38739,"EncoderSin":12490,"GapTicks":54776,"Mech_RPM":-1.40465954e-13,"cg_du":50.1611519,"cg_dv":50.2033081,"cg_dw":49.7966919,"cg_id_a":-0.167536676,"cg_id_raw_a":-0.0825652629,"cg_iq_a":0.120345041,"cg_iq_raw_a":0.175190523,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333368778,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14240117,"cg_sample_valid":1,"cg_theta_rad":5.00616932,"cg_vd_req_v":0.0693743825,"cg_vd_v":0.0693743825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368303001,"cg_vq_v":-0.368303001,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6938171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.800049,"values":{"Elec_RPM":-6.88283198e-13,"EncoderCos":38713,"EncoderSin":12466,"GapTicks":54775,"Mech_RPM":-1.37656637e-13,"cg_du":50.1606827,"cg_dv":50.2041588,"cg_dw":49.7958412,"cg_id_a":-0.217248127,"cg_id_raw_a":0.219149277,"cg_iq_a":0.0340727419,"cg_iq_raw_a":-0.123049013,"cg_iu_a":0.364971638,"cg_iv_a":0.214129269,"cg_iw_a":-0.579100907,"cg_sample_age_us":23.9763641,"cg_sample_seq":14240266,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0731358603,"cg_vd_v":0.0731358603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367541045,"cg_vq_v":-0.367541045,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7003479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.807861,"values":{"Elec_RPM":-6.74517516e-13,"EncoderCos":38700,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-1.34903509e-13,"cg_du":50.1673737,"cg_dv":50.2027588,"cg_dw":49.7972412,"cg_id_a":0.0215463787,"cg_id_raw_a":0.856602609,"cg_iq_a":-0.0330746174,"cg_iq_raw_a":-1.00455761,"cg_iu_a":0.038777113,"cg_iv_a":-0.546991229,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9872723,"cg_sample_seq":14240316,"cg_sample_valid":1,"cg_theta_rad":5.00610495,"cg_vd_req_v":0.0674912632,"cg_vd_v":0.0674912632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369233608,"cg_vq_v":-0.369233608,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6970825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.815674,"values":{"Elec_RPM":-6.74517516e-13,"EncoderCos":38729,"EncoderSin":12509,"GapTicks":54757,"Mech_RPM":-1.34903509e-13,"cg_du":50.1689529,"cg_dv":50.2200432,"cg_dw":49.7799568,"cg_id_a":-0.581910491,"cg_id_raw_a":-0.344785333,"cg_iq_a":0.937114656,"cg_iq_raw_a":0.733144641,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14240366,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0795416906,"cg_vd_v":0.0795416906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394291937,"cg_vq_v":-0.394291937,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6970825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.823486,"values":{"Elec_RPM":-6.61027223e-13,"EncoderCos":38693,"EncoderSin":12497,"GapTicks":54767,"Mech_RPM":-1.32205445e-13,"cg_du":50.1815529,"cg_dv":50.2111206,"cg_dw":49.7888794,"cg_id_a":0.0927001163,"cg_id_raw_a":0.79723984,"cg_iq_a":0.411734432,"cg_iq_raw_a":0.810850918,"cg_iu_a":0.0387773514,"cg_iv_a":-0.583235025,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9836369,"cg_sample_seq":14240416,"cg_sample_valid":1,"cg_theta_rad":5.00619793,"cg_vd_req_v":0.0645104572,"cg_vd_v":0.0645104572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388583988,"cg_vq_v":-0.388583988,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7036133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.831299,"values":{"Elec_RPM":-6.61027223e-13,"EncoderCos":38709,"EncoderSin":12444,"GapTicks":54777,"Mech_RPM":-1.32205445e-13,"cg_du":50.1800385,"cg_dv":50.2020874,"cg_dw":49.7979126,"cg_id_a":0.157751232,"cg_id_raw_a":0.422930092,"cg_iq_a":0.0892024785,"cg_iq_raw_a":-1.08541369,"cg_iu_a":-0.613611937,"cg_iv_a":-0.184552908,"cg_iw_a":0.798164845,"cg_sample_age_us":23.8745461,"cg_sample_seq":14240466,"cg_sample_valid":1,"cg_theta_rad":5.00619841,"cg_vd_req_v":0.0608885214,"cg_vd_v":0.0608885214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381071895,"cg_vq_v":-0.381071895,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.2108898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6987305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.862549,"values":{"Elec_RPM":-6.47806678e-13,"EncoderCos":38718,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-1.29561333e-13,"cg_du":50.1719589,"cg_dv":50.2031326,"cg_dw":49.7968674,"cg_id_a":0.118368044,"cg_id_raw_a":0.0243281964,"cg_iq_a":-0.188402474,"cg_iq_raw_a":0.585724056,"cg_iu_a":0.473703265,"cg_iv_a":0.141641617,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.8563633,"cg_sample_seq":14240521,"cg_sample_valid":1,"cg_theta_rad":5.00735331,"cg_vd_req_v":0.0620316193,"cg_vd_v":0.0620316193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372711331,"cg_vq_v":-0.372711331,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6987305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.870361,"values":{"Elec_RPM":-6.47806678e-13,"EncoderCos":38699,"EncoderSin":12499,"GapTicks":54772,"Mech_RPM":-1.29561333e-13,"cg_du":50.1724739,"cg_dv":50.2068596,"cg_dw":49.7931404,"cg_id_a":-0.122688532,"cg_id_raw_a":-0.00345046795,"cg_iq_a":0.0887302607,"cg_iq_raw_a":0.000457224407,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14240566,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0668745339,"cg_vd_v":0.0668745339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377783895,"cg_vq_v":-0.377783895,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6970825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119189747,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.878174,"values":{"Elec_RPM":-6.34850516e-13,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-1.26970103e-13,"cg_du":50.1777153,"cg_dv":50.202774,"cg_dw":49.797226,"cg_id_a":0.17711556,"cg_id_raw_a":0.139982373,"cg_iq_a":-0.0355042964,"cg_iq_raw_a":-0.385958999,"cg_iu_a":0.473703146,"cg_iv_a":0.286616981,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9763641,"cg_sample_seq":14240616,"cg_sample_valid":1,"cg_theta_rad":5.0060606,"cg_vd_req_v":0.0582305863,"cg_vd_v":0.0582305863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375286907,"cg_vq_v":-0.375286907,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6529846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.885986,"values":{"Elec_RPM":-6.34850516e-13,"EncoderCos":38724,"EncoderSin":12514,"GapTicks":54771,"Mech_RPM":-1.26970103e-13,"cg_du":50.1770439,"cg_dv":50.2078018,"cg_dw":49.7921982,"cg_id_a":0.0237348117,"cg_id_raw_a":0.22128807,"cg_iq_a":0.193986684,"cg_iq_raw_a":-0.37887302,"cg_iu_a":-0.359904766,"cg_iv_a":0.141641617,"cg_iw_a":0.218263149,"cg_sample_age_us":23.954546,"cg_sample_seq":14240666,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0616490617,"cg_vd_v":0.0616490617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382062733,"cg_vq_v":-0.382062733,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-81.0498352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6529846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.897705,"values":{"Elec_RPM":-6.22153479e-13,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-1.24430698e-13,"cg_du":50.1797867,"cg_dv":50.2099876,"cg_dw":49.7900124,"cg_id_a":-0.0673235208,"cg_id_raw_a":0.556443632,"cg_iq_a":0.322097659,"cg_iq_raw_a":-0.344699472,"cg_iu_a":0.364971876,"cg_iv_a":-0.184552908,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9509087,"cg_sample_seq":14240716,"cg_sample_valid":1,"cg_theta_rad":5.00665665,"cg_vd_req_v":0.063627772,"cg_vd_v":0.063627772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386245102,"cg_vq_v":-0.386245102,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-81.0498352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.6987305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.905518,"values":{"Elec_RPM":-6.22153479e-13,"EncoderCos":38706,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-1.24430698e-13,"cg_du":50.1657562,"cg_dv":50.2002525,"cg_dw":49.7997475,"cg_id_a":-0.0977235138,"cg_id_raw_a":-0.158546239,"cg_iq_a":-0.51913631,"cg_iq_raw_a":-0.342781991,"cg_iu_a":1.0536046,"cg_iv_a":0.431592226,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.954546,"cg_sample_seq":14240766,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0655048415,"cg_vd_v":0.0655048415,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366217017,"cg_vq_v":-0.366217017,"cg_vu_v":20.2350578,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.589022875,"dclink_p_w":-85.2461319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.9728394,"temp_inv2_c":38.6987305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.91333,"values":{"Elec_RPM":-6.09710416e-13,"EncoderCos":38697,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-1.21942089e-13,"cg_du":50.1829643,"cg_dv":50.2076111,"cg_dw":49.7923889,"cg_id_a":0.14618443,"cg_id_raw_a":0.445126116,"cg_iq_a":0.598825336,"cg_iq_raw_a":1.7947315,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14240816,"cg_sample_valid":1,"cg_theta_rad":5.00560331,"cg_vd_req_v":0.0599897876,"cg_vd_v":0.0599897876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385825068,"cg_vq_v":-0.385825068,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.589022875,"dclink_p_w":-85.2461319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.670929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2574.921143,"values":{"Elec_RPM":-6.09710416e-13,"EncoderCos":38716,"EncoderSin":12495,"GapTicks":54777,"Mech_RPM":-1.21942089e-13,"cg_du":50.1755524,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":0.132789224,"cg_id_raw_a":0.0871730968,"cg_iq_a":-0.159040868,"cg_iq_raw_a":-0.500537097,"cg_iu_a":0.00253343582,"cg_iv_a":0.540323794,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.8490906,"cg_sample_seq":14240867,"cg_sample_valid":1,"cg_theta_rad":5.00646114,"cg_vd_req_v":0.0588873327,"cg_vd_v":0.0588873327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373852044,"cg_vq_v":-0.373852044,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.589022875,"dclink_p_w":-85.2461319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7069092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.932861,"values":{"Elec_RPM":-5.97516231e-13,"EncoderCos":38709,"EncoderSin":12496,"GapTicks":54776,"Mech_RPM":-1.19503244e-13,"cg_du":50.1750298,"cg_dv":50.2028694,"cg_dw":49.7971306,"cg_id_a":-0.0415023454,"cg_id_raw_a":-0.354898065,"cg_iq_a":-0.0209060013,"cg_iq_raw_a":0.366459727,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772069,"cg_iw_a":0.471970141,"cg_sample_age_us":23.8527279,"cg_sample_seq":14240917,"cg_sample_valid":1,"cg_theta_rad":5.00613976,"cg_vd_req_v":0.0602042973,"cg_vd_v":0.0602042973,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373939514,"cg_vq_v":-0.373939514,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.589022875,"dclink_p_w":-85.2461319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.7069092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.940674,"values":{"Elec_RPM":-5.97516231e-13,"EncoderCos":38736,"EncoderSin":12498,"GapTicks":54775,"Mech_RPM":-1.19503244e-13,"cg_du":50.1761436,"cg_dv":50.2037849,"cg_dw":49.7962151,"cg_id_a":0.105807692,"cg_id_raw_a":0.114924021,"cg_iq_a":0.129001215,"cg_iq_raw_a":0.0841891691,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0395776033,"cg_iw_a":0.399482608,"cg_sample_age_us":23.954546,"cg_sample_seq":14240967,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0578591377,"cg_vd_v":0.0578591377,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376176417,"cg_vq_v":-0.376176417,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.761181116,"dclink_p_w":-110.161674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6872864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.948486,"values":{"Elec_RPM":-5.85565884e-13,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.17113174e-13,"cg_du":50.1737709,"cg_dv":50.2072105,"cg_dw":49.7927895,"cg_id_a":-0.176886439,"cg_id_raw_a":0.614860892,"cg_iq_a":0.209485084,"cg_iq_raw_a":0.130997896,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9836369,"cg_sample_seq":14241017,"cg_sample_valid":1,"cg_theta_rad":5.00639534,"cg_vd_req_v":0.0634813383,"cg_vd_v":0.0634813383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379458934,"cg_vq_v":-0.379458934,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6905518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2574.967331,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2574.967337,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2574.967342,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2574.97583,"values":{"Elec_RPM":-5.73854549e-13,"EncoderCos":38753,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-1.14770904e-13,"cg_du":50.1885338,"cg_dv":50.2077713,"cg_dw":49.7922287,"cg_id_a":0.51199162,"cg_id_raw_a":-0.0131423324,"cg_iq_a":0.605115831,"cg_iq_raw_a":0.581825614,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.954546,"cg_sample_seq":14241117,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0507155173,"cg_vd_v":0.0507155173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388682723,"cg_vq_v":-0.388682723,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6889038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.983643,"values":{"Elec_RPM":-5.73854549e-13,"EncoderCos":38708,"EncoderSin":12479,"GapTicks":54770,"Mech_RPM":-1.14770904e-13,"cg_du":50.1862183,"cg_dv":50.2090149,"cg_dw":49.7909851,"cg_id_a":0.177031696,"cg_id_raw_a":0.0926561207,"cg_iq_a":0.411727071,"cg_iq_raw_a":0.301454991,"cg_iu_a":-0.758587122,"cg_iv_a":-0.112065196,"cg_iw_a":0.870652318,"cg_sample_age_us":23.8709087,"cg_sample_seq":14241166,"cg_sample_valid":1,"cg_theta_rad":5.00663328,"cg_vd_req_v":0.0607297756,"cg_vd_v":0.0590727106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388066828,"cg_vq_v":-0.388242215,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6889038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2574.991455,"values":{"Elec_RPM":-5.62377402e-13,"EncoderCos":38734,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-1.12475486e-13,"cg_du":50.1718254,"cg_dv":50.210022,"cg_dw":49.789978,"cg_id_a":-0.227472991,"cg_id_raw_a":-0.711732686,"cg_iq_a":0.033740066,"cg_iq_raw_a":-0.0666975528,"cg_iu_a":0.0387773514,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14241217,"cg_sample_valid":1,"cg_theta_rad":5.00668001,"cg_vd_req_v":0.0680910349,"cg_vd_v":0.0680910349,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380941689,"cg_vq_v":-0.380941689,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.7019958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2574.999268,"values":{"Elec_RPM":-5.62377402e-13,"EncoderCos":38733,"EncoderSin":12488,"GapTicks":54768,"Mech_RPM":-1.12475486e-13,"cg_du":50.1763573,"cg_dv":50.2100449,"cg_dw":49.7899551,"cg_id_a":-0.00235895067,"cg_id_raw_a":0.261230797,"cg_iq_a":0.0911443979,"cg_iq_raw_a":0.31645599,"cg_iu_a":-0.323661089,"cg_iv_a":-0.691966534,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9436359,"cg_sample_seq":14241267,"cg_sample_valid":1,"cg_theta_rad":5.00711012,"cg_vd_req_v":0.0640643165,"cg_vd_v":0.0640643165,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383582771,"cg_vq_v":-0.383582771,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6889038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2575.010986,"values":{"Elec_RPM":-5.51129888e-13,"EncoderCos":38702,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-1.10225976e-13,"cg_du":50.1762848,"cg_dv":50.2085075,"cg_dw":49.7914925,"cg_id_a":-0.119687304,"cg_id_raw_a":0.348906338,"cg_iq_a":-0.194196805,"cg_iq_raw_a":-0.364664853,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.148309112,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9763641,"cg_sample_seq":14241317,"cg_sample_valid":1,"cg_theta_rad":5.00555563,"cg_vd_req_v":0.0654616505,"cg_vd_v":0.0654616505,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380980939,"cg_vq_v":-0.380980939,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6889038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2575.018799,"values":{"Elec_RPM":-5.51129888e-13,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54765,"Mech_RPM":-1.10225976e-13,"cg_du":50.1794128,"cg_dv":50.2135925,"cg_dw":49.7864075,"cg_id_a":-0.0440563783,"cg_id_raw_a":0.399114132,"cg_iq_a":0.178525925,"cg_iq_raw_a":0.185157597,"cg_iu_a":-0.214929581,"cg_iv_a":-0.583235025,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9509087,"cg_sample_seq":14241367,"cg_sample_valid":1,"cg_theta_rad":5.00844812,"cg_vd_req_v":0.0666105896,"cg_vd_v":0.0666105896,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391068935,"cg_vq_v":-0.391068935,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.7134094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.026611,"values":{"Elec_RPM":-5.40107293e-13,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-1.08021454e-13,"cg_du":50.1726761,"cg_dv":50.2118301,"cg_dw":49.7881699,"cg_id_a":-0.116808094,"cg_id_raw_a":-0.563016593,"cg_iq_a":-0.157972336,"cg_iq_raw_a":0.783680975,"cg_iu_a":0.582434773,"cg_iv_a":-0.329528213,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.954546,"cg_sample_seq":14241417,"cg_sample_valid":1,"cg_theta_rad":5.00916576,"cg_vd_req_v":0.0702267066,"cg_vd_v":0.0702267066,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384886712,"cg_vq_v":-0.384886712,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.6938171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.03833,"values":{"Elec_RPM":-5.40107293e-13,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-1.08021454e-13,"cg_du":50.1700134,"cg_dv":50.2102776,"cg_dw":49.7897224,"cg_id_a":-0.15449357,"cg_id_raw_a":-0.187369615,"cg_iq_a":-0.22402288,"cg_iq_raw_a":-0.0538872927,"cg_iu_a":0.473703384,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9618187,"cg_sample_seq":14241467,"cg_sample_valid":1,"cg_theta_rad":5.00632429,"cg_vd_req_v":0.0709891021,"cg_vd_v":0.0709891021,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38125214,"cg_vq_v":-0.38125214,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.9791336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.9474792,"temp_inv2_c":38.6938171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.046143,"values":{"Elec_RPM":-5.29305115e-13,"EncoderCos":38702,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-1.05861026e-13,"cg_du":50.1750145,"cg_dv":50.2104492,"cg_dw":49.7895508,"cg_id_a":-0.0212547034,"cg_id_raw_a":-0.0206330512,"cg_iq_a":-0.192148373,"cg_iq_raw_a":-0.0377046913,"cg_iu_a":-0.0337104797,"cg_iv_a":0.612811387,"cg_iw_a":-0.579100907,"cg_sample_age_us":23.9618187,"cg_sample_seq":14241516,"cg_sample_valid":1,"cg_theta_rad":5.00738478,"cg_vd_req_v":0.0684996769,"cg_vd_v":0.0684996769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38406688,"cg_vq_v":-0.38406688,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.9791336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.073486,"values":{"Elec_RPM":-5.29305115e-13,"EncoderCos":38746,"EncoderSin":12487,"GapTicks":54767,"Mech_RPM":-1.05861026e-13,"cg_du":50.1713943,"cg_dv":50.2115059,"cg_dw":49.7884941,"cg_id_a":0.024867937,"cg_id_raw_a":0.531485856,"cg_iq_a":-0.0243585035,"cg_iq_raw_a":-0.569699168,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148308992,"cg_iw_a":0.326994658,"cg_sample_age_us":26.8090916,"cg_sample_seq":14241570,"cg_sample_valid":1,"cg_theta_rad":5.00622845,"cg_vd_req_v":0.0682633892,"cg_vd_v":0.0682633892,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383004904,"cg_vq_v":-0.383004904,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.9791336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2575.081299,"values":{"Elec_RPM":-5.1871902e-13,"EncoderCos":38719,"EncoderSin":12490,"GapTicks":54777,"Mech_RPM":-1.03743803e-13,"cg_du":50.1701164,"cg_dv":50.2021751,"cg_dw":49.7978249,"cg_id_a":0.242822856,"cg_id_raw_a":-0.569301009,"cg_iq_a":-0.401507527,"cg_iq_raw_a":-0.0177859701,"cg_iu_a":-0.323661089,"cg_iv_a":1.48266351,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.9145451,"cg_sample_seq":14241617,"cg_sample_valid":1,"cg_theta_rad":5.00665236,"cg_vd_req_v":0.0626900271,"cg_vd_v":0.0626900271,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370350093,"cg_vq_v":-0.370350093,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6726074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.089111,"values":{"Elec_RPM":-5.1871902e-13,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.03743803e-13,"cg_du":50.1682968,"cg_dv":50.2070694,"cg_dw":49.7929306,"cg_id_a":-0.169591591,"cg_id_raw_a":-0.365793735,"cg_iq_a":-0.0161294714,"cg_iq_raw_a":0.255158663,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.220796704,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8527279,"cg_sample_seq":14241666,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.0708606318,"cg_vd_v":0.0708606318,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376800597,"cg_vq_v":-0.376800597,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6807556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.10083,"values":{"Elec_RPM":-5.08344614e-13,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54767,"Mech_RPM":-1.01668924e-13,"cg_du":50.1689529,"cg_dv":50.2114372,"cg_dw":49.7885628,"cg_id_a":-0.270014107,"cg_id_raw_a":0.197444513,"cg_iq_a":0.400974244,"cg_iq_raw_a":0.529774308,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.8709087,"cg_sample_seq":14241716,"cg_sample_valid":1,"cg_theta_rad":5.00611973,"cg_vd_req_v":0.0730020776,"cg_vd_v":0.0730020776,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383428335,"cg_vq_v":-0.383428335,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6807556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.108643,"values":{"Elec_RPM":-5.08344614e-13,"EncoderCos":38726,"EncoderSin":12489,"GapTicks":54771,"Mech_RPM":-1.01668924e-13,"cg_du":50.1703796,"cg_dv":50.2079124,"cg_dw":49.7920876,"cg_id_a":0.0830213726,"cg_id_raw_a":0.750659525,"cg_iq_a":0.144690469,"cg_iq_raw_a":0.69109875,"cg_iu_a":0.61867857,"cg_iv_a":0.250373125,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9836369,"cg_sample_seq":14241766,"cg_sample_valid":1,"cg_theta_rad":5.00671196,"cg_vd_req_v":0.0676849708,"cg_vd_v":0.0676849708,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37955302,"cg_vq_v":-0.37955302,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.393761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6970825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.116455,"values":{"Elec_RPM":-4.98177725e-13,"EncoderCos":38708,"EncoderSin":12504,"GapTicks":54769,"Mech_RPM":-9.96355437e-14,"cg_du":50.1750984,"cg_dv":50.2098656,"cg_dw":49.7901344,"cg_id_a":0.0248613097,"cg_id_raw_a":0.17419675,"cg_iq_a":0.349499822,"cg_iq_raw_a":-0.309857696,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14241816,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0668374971,"cg_vd_v":0.0668374971,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383501202,"cg_vq_v":-0.383501202,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.762993336,"dclink_p_w":-110.759583,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6726074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.124268,"values":{"Elec_RPM":-4.98177725e-13,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-9.96355437e-14,"cg_du":50.1676102,"cg_dv":50.2060318,"cg_dw":49.7939682,"cg_id_a":-0.0386804044,"cg_id_raw_a":-0.330175489,"cg_iq_a":-0.0753084123,"cg_iq_raw_a":-0.540439785,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539645,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.954546,"cg_sample_seq":14241866,"cg_sample_valid":1,"cg_theta_rad":5.00597334,"cg_vd_req_v":0.067981638,"cg_vd_v":0.067981638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374269366,"cg_vq_v":-0.374269366,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6726074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.13208,"values":{"Elec_RPM":-4.88214178e-13,"EncoderCos":38696,"EncoderSin":12468,"GapTicks":54774,"Mech_RPM":-9.76428343e-14,"cg_du":50.1705627,"cg_dv":50.2051353,"cg_dw":49.7948647,"cg_id_a":-0.114156619,"cg_id_raw_a":-0.0792519227,"cg_iq_a":-0.0469932593,"cg_iq_raw_a":-0.080266431,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9836369,"cg_sample_seq":14241916,"cg_sample_valid":1,"cg_theta_rad":5.00679398,"cg_vd_req_v":0.0677415803,"cg_vd_v":0.0677415803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374177933,"cg_vq_v":-0.374177933,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.139893,"values":{"Elec_RPM":-4.88214178e-13,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54769,"Mech_RPM":-9.76428343e-14,"cg_du":50.1694603,"cg_dv":50.2097473,"cg_dw":49.7902527,"cg_id_a":-0.375172049,"cg_id_raw_a":-0.288928628,"cg_iq_a":0.299998224,"cg_iq_raw_a":0.336494803,"cg_iu_a":0.111264944,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14241966,"cg_sample_valid":1,"cg_theta_rad":5.00591946,"cg_vd_req_v":0.0715474486,"cg_vd_v":0.0715474486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381293982,"cg_vq_v":-0.381293982,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.151611,"values":{"Elec_RPM":-4.78449854e-13,"EncoderCos":38714,"EncoderSin":12497,"GapTicks":54779,"Mech_RPM":-9.56899761e-14,"cg_du":50.17136,"cg_dv":50.2006454,"cg_dw":49.7993546,"cg_id_a":0.121515565,"cg_id_raw_a":0.275458813,"cg_iq_a":-0.205714568,"cg_iq_raw_a":-1.13767755,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641557,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9763641,"cg_sample_seq":14242016,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.0606582463,"cg_vd_v":0.0606582463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370050251,"cg_vq_v":-0.370050251,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6872864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.178955,"values":{"Elec_RPM":-4.78449854e-13,"EncoderCos":38696,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-9.56899761e-14,"cg_du":50.1736946,"cg_dv":50.201004,"cg_dw":49.798996,"cg_id_a":0.0244336948,"cg_id_raw_a":-0.402181357,"cg_iq_a":0.119849317,"cg_iq_raw_a":-0.623432994,"cg_iu_a":0.509947062,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8490906,"cg_sample_seq":14242071,"cg_sample_valid":1,"cg_theta_rad":5.00833941,"cg_vd_req_v":0.0611494519,"cg_vd_v":0.0611494519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371530414,"cg_vq_v":-0.371530414,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.9738846,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6905518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.186768,"values":{"Elec_RPM":-4.68880902e-13,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54778,"Mech_RPM":-9.37761763e-14,"cg_du":50.1707497,"cg_dv":50.2018089,"cg_dw":49.7981911,"cg_id_a":0.169130027,"cg_id_raw_a":-0.300279975,"cg_iq_a":0.205715105,"cg_iq_raw_a":1.28200471,"cg_iu_a":0.219996452,"cg_iv_a":0.685299098,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.863636,"cg_sample_seq":14242116,"cg_sample_valid":1,"cg_theta_rad":5.00654793,"cg_vd_req_v":0.0617478378,"cg_vd_v":0.0617478378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371380031,"cg_vq_v":-0.371380031,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-1.05113196,"dclink_p_w":-152.12471,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6905518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.19458,"values":{"Elec_RPM":-4.68880902e-13,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54785,"Mech_RPM":-9.37761763e-14,"cg_du":50.1628876,"cg_dv":50.1949005,"cg_dw":49.8050995,"cg_id_a":-0.0966531783,"cg_id_raw_a":-0.247839287,"cg_iq_a":-0.382369816,"cg_iq_raw_a":-0.715785146,"cg_iu_a":0.509947062,"cg_iv_a":0.286616981,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.8600006,"cg_sample_seq":14242166,"cg_sample_valid":1,"cg_theta_rad":5.0047946,"cg_vd_req_v":0.0622078404,"cg_vd_v":0.0622078404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356246173,"cg_vq_v":-0.356246173,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.824607849,"dclink_p_w":-119.341087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8967896,"temp_inv2_c":38.6889038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.202393,"values":{"Elec_RPM":-4.59503258e-13,"EncoderCos":38731,"EncoderSin":12502,"GapTicks":54782,"Mech_RPM":-9.19006557e-14,"cg_du":50.1628304,"cg_dv":50.1980476,"cg_dw":49.8019524,"cg_id_a":-0.156507283,"cg_id_raw_a":-0.266900629,"cg_iq_a":0.167563558,"cg_iq_raw_a":0.121576339,"cg_iu_a":-0.178685904,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150178,"cg_sample_age_us":23.863636,"cg_sample_seq":14242216,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.0631268024,"cg_vd_v":0.0631268024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360880703,"cg_vq_v":-0.360880703,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-0.895283461,"dclink_p_w":-129.569595,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.214111,"values":{"Elec_RPM":-4.59503258e-13,"EncoderCos":38719,"EncoderSin":12478,"GapTicks":54782,"Mech_RPM":-9.19006557e-14,"cg_du":50.16082,"cg_dv":50.1978149,"cg_dw":49.8021851,"cg_id_a":-0.27637291,"cg_id_raw_a":0.034424562,"cg_iq_a":-0.0733840764,"cg_iq_raw_a":0.259067208,"cg_iu_a":0.727410316,"cg_iv_a":-1.30811167,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9581814,"cg_sample_seq":14242267,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0658557415,"cg_vd_v":0.0658557415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358065933,"cg_vq_v":-0.358065933,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2575.221924,"values":{"Elec_RPM":-4.50313208e-13,"EncoderCos":38762,"EncoderSin":12523,"GapTicks":54783,"Mech_RPM":-9.00626416e-14,"cg_du":50.163784,"cg_dv":50.1964188,"cg_dw":49.8035812,"cg_id_a":0.0385407135,"cg_id_raw_a":0.286979347,"cg_iq_a":-0.0250676125,"cg_iq_raw_a":0.78886807,"cg_iu_a":-0.0337104797,"cg_iv_a":0.757786751,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8490906,"cg_sample_seq":14242316,"cg_sample_valid":1,"cg_theta_rad":5.00575542,"cg_vd_req_v":0.0577404872,"cg_vd_v":0.0577404872,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359695643,"cg_vq_v":-0.359695643,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6546326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.229736,"values":{"Elec_RPM":-4.50313208e-13,"EncoderCos":38724,"EncoderSin":12505,"GapTicks":54785,"Mech_RPM":-9.00626416e-14,"cg_du":50.1558228,"cg_dv":50.1948738,"cg_dw":49.8051262,"cg_id_a":-0.340699524,"cg_id_raw_a":-0.0382989086,"cg_iq_a":-0.507585227,"cg_iq_raw_a":-0.0756227598,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9145451,"cg_sample_seq":14242366,"cg_sample_valid":1,"cg_theta_rad":5.00614309,"cg_vd_req_v":0.0662639588,"cg_vd_v":0.0662639588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353624672,"cg_vq_v":-0.353624672,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6546326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.237549,"values":{"Elec_RPM":-4.4130693e-13,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-8.82613888e-14,"cg_du":50.1692619,"cg_dv":50.1992569,"cg_dw":49.8007431,"cg_id_a":-0.006724298,"cg_id_raw_a":-0.0315611623,"cg_iq_a":0.209874719,"cg_iq_raw_a":0.980675101,"cg_iu_a":-0.287417173,"cg_iv_a":0.57656759,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.954546,"cg_sample_seq":14242416,"cg_sample_valid":1,"cg_theta_rad":5.00687265,"cg_vd_req_v":0.0592215881,"cg_vd_v":0.0592215881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36611864,"cg_vq_v":-0.36611864,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.670929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.245361,"values":{"Elec_RPM":-4.4130693e-13,"EncoderCos":38711,"EncoderSin":12487,"GapTicks":54787,"Mech_RPM":-8.82613888e-14,"cg_du":50.1540489,"cg_dv":50.1931725,"cg_dw":49.8068275,"cg_id_a":-0.386173546,"cg_id_raw_a":-0.157788336,"cg_iq_a":-0.554960608,"cg_iq_raw_a":-0.779578745,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.954546,"cg_sample_seq":14242466,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.0672792792,"cg_vd_v":0.0672792792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348966062,"cg_vq_v":-0.348966062,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.554306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6644287,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.276611,"values":{"Elec_RPM":-4.32480793e-13,"EncoderCos":38721,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-8.64961585e-14,"cg_du":50.1708031,"cg_dv":50.204113,"cg_dw":49.795887,"cg_id_a":-0.137540311,"cg_id_raw_a":0.395656675,"cg_iq_a":0.425935686,"cg_iq_raw_a":0.439519942,"cg_iu_a":0.473703384,"cg_iv_a":-0.293284416,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8563633,"cg_sample_seq":14242571,"cg_sample_valid":1,"cg_theta_rad":5.00983095,"cg_vd_req_v":0.0639948398,"cg_vd_v":0.0639948398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373380989,"cg_vq_v":-0.373380989,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.284424,"values":{"Elec_RPM":-4.23831163e-13,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-8.47662327e-14,"cg_du":50.1622314,"cg_dv":50.197628,"cg_dw":49.802372,"cg_id_a":-0.173375517,"cg_id_raw_a":-0.726993442,"cg_iq_a":-0.244060755,"cg_iq_raw_a":-0.545372486,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14242616,"cg_sample_valid":1,"cg_theta_rad":5.00610161,"cg_vd_req_v":0.0656557903,"cg_vd_v":0.0656557903,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359529942,"cg_vq_v":-0.359529942,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.80467391,"dclink_p_w":-116.456154,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6660461,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.292236,"values":{"Elec_RPM":-4.23831163e-13,"EncoderCos":38711,"EncoderSin":12458,"GapTicks":54782,"Mech_RPM":-8.47662327e-14,"cg_du":50.1667709,"cg_dv":50.1974754,"cg_dw":49.8025246,"cg_id_a":-0.0273737572,"cg_id_raw_a":-0.456901312,"cg_iq_a":0.0798029453,"cg_iq_raw_a":-0.300181985,"cg_iu_a":0.219996452,"cg_iv_a":0.359104574,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9327278,"cg_sample_seq":14242666,"cg_sample_valid":1,"cg_theta_rad":5.00678253,"cg_vd_req_v":0.0624011531,"cg_vd_v":0.0624011531,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362936199,"cg_vq_v":-0.362936199,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.80467391,"dclink_p_w":-116.456154,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6660461,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.300049,"values":{"Elec_RPM":-4.15354545e-13,"EncoderCos":38692,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-8.30709064e-14,"cg_du":50.1657104,"cg_dv":50.1986427,"cg_dw":49.8013573,"cg_id_a":-0.081915915,"cg_id_raw_a":-0.101069696,"cg_iq_a":0.00171692669,"cg_iq_raw_a":-0.483210176,"cg_iu_a":0.256240368,"cg_iv_a":0.39534843,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9436359,"cg_sample_seq":14242716,"cg_sample_valid":1,"cg_theta_rad":5.00709009,"cg_vd_req_v":0.0650742054,"cg_vd_v":0.0650742054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363801688,"cg_vq_v":-0.363801688,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.90434432,"dclink_p_w":-131.278732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6872864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.307861,"values":{"Elec_RPM":-4.15354545e-13,"EncoderCos":38677,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-8.30709064e-14,"cg_du":50.1581612,"cg_dv":50.1964264,"cg_dw":49.8035736,"cg_id_a":-0.218921185,"cg_id_raw_a":-0.109497435,"cg_iq_a":-0.285505801,"cg_iq_raw_a":-0.776435554,"cg_iu_a":0.14750886,"cg_iv_a":0.214129329,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8563633,"cg_sample_seq":14242766,"cg_sample_valid":1,"cg_theta_rad":5.00708103,"cg_vd_req_v":0.0666505694,"cg_vd_v":0.0666505694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355802596,"cg_vq_v":-0.355802596,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.938776016,"dclink_p_w":-135.864029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6872864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.315674,"values":{"Elec_RPM":-4.07047443e-13,"EncoderCos":38760,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-8.14094885e-14,"cg_du":50.1644554,"cg_dv":50.1972847,"cg_dw":49.8027153,"cg_id_a":0.16506651,"cg_id_raw_a":0.187309057,"cg_iq_a":0.0607562065,"cg_iq_raw_a":-0.0193580445,"cg_iu_a":0.473703384,"cg_iv_a":0.105397701,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8563633,"cg_sample_seq":14242816,"cg_sample_valid":1,"cg_theta_rad":5.00860214,"cg_vd_req_v":0.0588026606,"cg_vd_v":0.0588026606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361128867,"cg_vq_v":-0.361128867,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.755744696,"dclink_p_w":-109.374893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.327393,"values":{"Elec_RPM":-4.07047443e-13,"EncoderCos":38725,"EncoderSin":12475,"GapTicks":54782,"Mech_RPM":-8.14094885e-14,"cg_du":50.1648369,"cg_dv":50.197731,"cg_dw":49.802269,"cg_id_a":-0.0399943814,"cg_id_raw_a":-0.256858736,"cg_iq_a":0.0516072065,"cg_iq_raw_a":-0.205983862,"cg_iu_a":-0.541124105,"cg_iv_a":-0.148309052,"cg_iw_a":0.689433157,"cg_sample_age_us":23.9836369,"cg_sample_seq":14242866,"cg_sample_valid":1,"cg_theta_rad":5.00611544,"cg_vd_req_v":0.0624068715,"cg_vd_v":0.0624068715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361368448,"cg_vq_v":-0.361368448,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.755744696,"dclink_p_w":-109.374893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6595459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.335205,"values":{"Elec_RPM":-3.98906494e-13,"EncoderCos":38731,"EncoderSin":12492,"GapTicks":54779,"Mech_RPM":-7.97813015e-14,"cg_du":50.1680984,"cg_dv":50.2004013,"cg_dw":49.7995987,"cg_id_a":0.0440266132,"cg_id_raw_a":0.0916613862,"cg_iq_a":0.414409369,"cg_iq_raw_a":0.555434287,"cg_iu_a":0.0750212669,"cg_iv_a":0.57656759,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.9836369,"cg_sample_seq":14242916,"cg_sample_valid":1,"cg_theta_rad":5.00632,"cg_vd_req_v":0.0616903082,"cg_vd_v":0.0616903082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368103474,"cg_vq_v":-0.368103474,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.755744696,"dclink_p_w":-109.374893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6595459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.343018,"values":{"Elec_RPM":-3.98906494e-13,"EncoderCos":38738,"EncoderSin":12451,"GapTicks":54785,"Mech_RPM":-7.97813015e-14,"cg_du":50.1636162,"cg_dv":50.194664,"cg_dw":49.805336,"cg_id_a":0.0366300419,"cg_id_raw_a":-0.0662154853,"cg_iq_a":-0.19567439,"cg_iq_raw_a":-0.223925903,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592226,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9509087,"cg_sample_seq":14242966,"cg_sample_valid":1,"cg_theta_rad":5.00776911,"cg_vd_req_v":0.060103178,"cg_vd_v":0.060103178,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357673675,"cg_vq_v":-0.357673675,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.82279563,"dclink_p_w":-119.078812,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6742249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.35083,"values":{"Elec_RPM":-3.90928365e-13,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-7.81856744e-14,"cg_du":50.1640244,"cg_dv":50.1989975,"cg_dw":49.8010025,"cg_id_a":-0.196623251,"cg_id_raw_a":-0.467927039,"cg_iq_a":0.100117229,"cg_iq_raw_a":-0.409211844,"cg_iu_a":-0.0699541569,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9290905,"cg_sample_seq":14243016,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0650762916,"cg_vd_v":0.0650762916,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363627583,"cg_vq_v":-0.363627583,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.9756241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.65625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.38208,"values":{"Elec_RPM":-3.90928365e-13,"EncoderCos":38748,"EncoderSin":12506,"GapTicks":54786,"Mech_RPM":-7.81856744e-14,"cg_du":50.1549911,"cg_dv":50.1938705,"cg_dw":49.8061295,"cg_id_a":-0.0654570013,"cg_id_raw_a":-0.176583156,"cg_iq_a":-0.696912169,"cg_iq_raw_a":-0.888164043,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.873185754,"cg_iw_a":0.943139911,"cg_sample_age_us":26.8199997,"cg_sample_seq":14243070,"cg_sample_valid":1,"cg_theta_rad":5.00820875,"cg_vd_req_v":0.0638076216,"cg_vd_v":0.0638076216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351078302,"cg_vq_v":-0.351078302,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.65625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.389893,"values":{"Elec_RPM":-3.83109831e-13,"EncoderCos":38698,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-7.66219634e-14,"cg_du":50.1576424,"cg_dv":50.1949539,"cg_dw":49.8050461,"cg_id_a":-0.228654727,"cg_id_raw_a":-0.200008094,"cg_iq_a":-0.568728149,"cg_iq_raw_a":-0.966598272,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015924,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14243117,"cg_sample_valid":1,"cg_theta_rad":5.00588703,"cg_vd_req_v":0.0670943111,"cg_vd_v":0.0670943111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35323444,"cg_vq_v":-0.35323444,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.397705,"values":{"Elec_RPM":-3.83109831e-13,"EncoderCos":38724,"EncoderSin":12496,"GapTicks":54782,"Mech_RPM":-7.66219634e-14,"cg_du":50.1662521,"cg_dv":50.1973991,"cg_dw":49.8026009,"cg_id_a":0.138525903,"cg_id_raw_a":0.239671126,"cg_iq_a":-0.213575259,"cg_iq_raw_a":0.0963988751,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14243167,"cg_sample_valid":1,"cg_theta_rad":5.0065484,"cg_vd_req_v":0.0605286695,"cg_vd_v":0.0605286695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361783147,"cg_vq_v":-0.361783147,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.405518,"values":{"Elec_RPM":-3.75447611e-13,"EncoderCos":38706,"EncoderSin":12502,"GapTicks":54774,"Mech_RPM":-7.5089525e-14,"cg_du":50.169117,"cg_dv":50.2046242,"cg_dw":49.7953758,"cg_id_a":-0.127242804,"cg_id_raw_a":-0.491177887,"cg_iq_a":0.297951519,"cg_iq_raw_a":0.680695713,"cg_iu_a":-0.142441988,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213997,"cg_sample_age_us":23.954546,"cg_sample_seq":14243217,"cg_sample_valid":1,"cg_theta_rad":5.00641489,"cg_vd_req_v":0.0668520331,"cg_vd_v":0.0668520331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37411499,"cg_vq_v":-0.37411499,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.41333,"values":{"Elec_RPM":-3.75447611e-13,"EncoderCos":38710,"EncoderSin":12466,"GapTicks":54774,"Mech_RPM":-7.5089525e-14,"cg_du":50.1724091,"cg_dv":50.2050934,"cg_dw":49.7949066,"cg_id_a":-0.056539055,"cg_id_raw_a":0.350553989,"cg_iq_a":0.323373258,"cg_iq_raw_a":0.873776555,"cg_iu_a":0.00253343582,"cg_iv_a":0.032910049,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.954546,"cg_sample_seq":14243267,"cg_sample_valid":1,"cg_theta_rad":5.00718307,"cg_vd_req_v":0.0653112903,"cg_vd_v":0.0653112903,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376507789,"cg_vq_v":-0.376507789,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-42.0993767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.421143,"values":{"Elec_RPM":-3.67938671e-13,"EncoderCos":38716,"EncoderSin":12506,"GapTicks":54775,"Mech_RPM":-7.35877356e-14,"cg_du":50.1704712,"cg_dv":50.2045097,"cg_dw":49.7954903,"cg_id_a":-0.134735405,"cg_id_raw_a":-0.0867804587,"cg_iq_a":-0.00325359404,"cg_iq_raw_a":-0.444476962,"cg_iu_a":0.256240368,"cg_iv_a":-0.800698042,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9472733,"cg_sample_seq":14243317,"cg_sample_valid":1,"cg_theta_rad":5.00678921,"cg_vd_req_v":0.0647197366,"cg_vd_v":0.0647197366,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374889553,"cg_vq_v":-0.374889553,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.428955,"values":{"Elec_RPM":-3.67938671e-13,"EncoderCos":38732,"EncoderSin":12488,"GapTicks":54776,"Mech_RPM":-7.35877356e-14,"cg_du":50.1781616,"cg_dv":50.202877,"cg_dw":49.797123,"cg_id_a":0.316089779,"cg_id_raw_a":0.147562966,"cg_iq_a":0.0505493879,"cg_iq_raw_a":-0.713415802,"cg_iu_a":-0.86731863,"cg_iv_a":-0.220796704,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9436359,"cg_sample_seq":14243367,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0559947938,"cg_vd_v":0.0559947938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375974596,"cg_vq_v":-0.375974596,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.1568699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6726074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.440674,"values":{"Elec_RPM":-3.60579893e-13,"EncoderCos":38710,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-7.21159786e-14,"cg_du":50.1763573,"cg_dv":50.2056427,"cg_dw":49.7943573,"cg_id_a":0.0222782698,"cg_id_raw_a":0.0340188406,"cg_iq_a":0.166979194,"cg_iq_raw_a":0.259120792,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14243417,"cg_sample_valid":1,"cg_theta_rad":5.0085187,"cg_vd_req_v":0.062064454,"cg_vd_v":0.062064454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378420413,"cg_vq_v":-0.378420413,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.448486,"values":{"Elec_RPM":-3.60579893e-13,"EncoderCos":38680,"EncoderSin":12455,"GapTicks":54777,"Mech_RPM":-7.21159786e-14,"cg_du":50.1714439,"cg_dv":50.2025642,"cg_dw":49.7974358,"cg_id_a":-0.0264568347,"cg_id_raw_a":0.0432477854,"cg_iq_a":-0.402207017,"cg_iq_raw_a":-0.431979477,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9436359,"cg_sample_seq":14243467,"cg_sample_valid":1,"cg_theta_rad":5.0073967,"cg_vd_req_v":0.0662129372,"cg_vd_v":0.0662129372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370900869,"cg_vq_v":-0.370900869,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.444047689,"dclink_p_w":-64.2646484,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.456299,"values":{"Elec_RPM":-3.53368295e-13,"EncoderCos":38718,"EncoderSin":12490,"GapTicks":54772,"Mech_RPM":-7.06736576e-14,"cg_du":50.1818047,"cg_dv":50.2064857,"cg_dw":49.7935143,"cg_id_a":0.34471947,"cg_id_raw_a":0.988235414,"cg_iq_a":0.307390094,"cg_iq_raw_a":1.91717756,"cg_iu_a":0.292484045,"cg_iv_a":-0.438259721,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.863636,"cg_sample_seq":14243517,"cg_sample_valid":1,"cg_theta_rad":5.00797653,"cg_vd_req_v":0.0577879921,"cg_vd_v":0.0577879921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382754952,"cg_vq_v":-0.382754952,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6546326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.483643,"values":{"Elec_RPM":-3.53368295e-13,"EncoderCos":38767,"EncoderSin":12534,"GapTicks":54778,"Mech_RPM":-7.06736576e-14,"cg_du":50.156662,"cg_dv":50.201252,"cg_dw":49.798748,"cg_id_a":-0.055263143,"cg_id_raw_a":0.103825338,"cg_iq_a":-0.678265512,"cg_iq_raw_a":-0.281564415,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":1.0518713,"cg_sample_age_us":23.8527279,"cg_sample_seq":14243570,"cg_sample_valid":1,"cg_theta_rad":5.00734568,"cg_vd_req_v":0.0675121844,"cg_vd_v":0.0675121844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363633871,"cg_vq_v":-0.363633871,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6546326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.495361,"values":{"Elec_RPM":-3.46300923e-13,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-6.92601833e-14,"cg_du":50.1762428,"cg_dv":50.2047768,"cg_dw":49.7952232,"cg_id_a":0.171751067,"cg_id_raw_a":0.207934797,"cg_iq_a":0.191120535,"cg_iq_raw_a":0.203294605,"cg_iu_a":-1.22975683,"cg_iv_a":0.286616921,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9509087,"cg_sample_seq":14243617,"cg_sample_valid":1,"cg_theta_rad":5.00780582,"cg_vd_req_v":0.0609685481,"cg_vd_v":0.0609685481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377234846,"cg_vq_v":-0.377234846,"cg_vu_v":118.3311,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6644287,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.503174,"values":{"Elec_RPM":-3.46300923e-13,"EncoderCos":38725,"EncoderSin":12496,"GapTicks":54778,"Mech_RPM":-6.92601833e-14,"cg_du":50.1623154,"cg_dv":50.2013931,"cg_dw":49.7986069,"cg_id_a":-0.0471698493,"cg_id_raw_a":0.0935651436,"cg_iq_a":-0.35929817,"cg_iq_raw_a":-0.13594988,"cg_iu_a":-1.44721985,"cg_iv_a":-0.0395774841,"cg_iw_a":1.48679733,"cg_sample_age_us":23.954546,"cg_sample_seq":14243667,"cg_sample_valid":1,"cg_theta_rad":5.00814152,"cg_vd_req_v":0.0674118325,"cg_vd_v":0.0674118325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365033746,"cg_vq_v":-0.365033746,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6693115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.510986,"values":{"Elec_RPM":-3.32587392e-13,"EncoderCos":38740,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-6.6517477e-14,"cg_du":50.1698341,"cg_dv":50.2042122,"cg_dw":49.7957878,"cg_id_a":0.0564071238,"cg_id_raw_a":-0.108044714,"cg_iq_a":-0.129936993,"cg_iq_raw_a":-0.227803737,"cg_iu_a":-0.541124105,"cg_iv_a":0.721542954,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.954546,"cg_sample_seq":14243816,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.064011544,"cg_vd_v":0.064011544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373117357,"cg_vq_v":-0.373117357,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.518799,"values":{"Elec_RPM":-3.32587392e-13,"EncoderCos":38707,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-6.6517477e-14,"cg_du":50.1679039,"cg_dv":50.2001381,"cg_dw":49.7998619,"cg_id_a":0.0486847237,"cg_id_raw_a":0.386992246,"cg_iq_a":-0.476836264,"cg_iq_raw_a":0.0311806016,"cg_iu_a":0.0750212669,"cg_iv_a":0.431592226,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9254551,"cg_sample_seq":14243866,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.063481085,"cg_vd_v":0.063481085,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366165668,"cg_vq_v":-0.366165668,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.526611,"values":{"Elec_RPM":-3.25935622e-13,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-6.51871271e-14,"cg_du":50.1718254,"cg_dv":50.2050323,"cg_dw":49.7949677,"cg_id_a":0.0583075546,"cg_id_raw_a":0.204446897,"cg_iq_a":0.0885116085,"cg_iq_raw_a":-0.416614592,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8563633,"cg_sample_seq":14243916,"cg_sample_valid":1,"cg_theta_rad":5.00919151,"cg_vd_req_v":0.0636246428,"cg_vd_v":0.0636246428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375280708,"cg_vq_v":-0.375280708,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.534424,"values":{"Elec_RPM":-3.25935622e-13,"EncoderCos":38724,"EncoderSin":12486,"GapTicks":54765,"Mech_RPM":-6.51871271e-14,"cg_du":50.1693192,"cg_dv":50.2133636,"cg_dw":49.7866364,"cg_id_a":-0.434941202,"cg_id_raw_a":-0.114403404,"cg_iq_a":0.651112676,"cg_iq_raw_a":0.281127036,"cg_iu_a":0.328727961,"cg_iv_a":-1.92425692,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9509087,"cg_sample_seq":14243967,"cg_sample_valid":1,"cg_theta_rad":5.00583696,"cg_vd_req_v":0.0738496408,"cg_vd_v":0.0738496408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385188997,"cg_vq_v":-0.385188997,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6791077,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.542236,"values":{"Elec_RPM":-3.19416938e-13,"EncoderCos":38692,"EncoderSin":12523,"GapTicks":54772,"Mech_RPM":-6.38833875e-14,"cg_du":50.1651497,"cg_dv":50.2071266,"cg_dw":49.7928734,"cg_id_a":-0.285080165,"cg_id_raw_a":-0.0179513954,"cg_iq_a":0.146422073,"cg_iq_raw_a":0.144705683,"cg_iu_a":0.364971876,"cg_iv_a":0.177885473,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.863636,"cg_sample_seq":14244016,"cg_sample_valid":1,"cg_theta_rad":5.00750971,"cg_vd_req_v":0.0730715021,"cg_vd_v":0.0730715021,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375160694,"cg_vq_v":-0.375160694,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6366577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.573486,"values":{"Elec_RPM":-3.19416938e-13,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-6.38833875e-14,"cg_du":50.1595917,"cg_dv":50.2035599,"cg_dw":49.7964401,"cg_id_a":-0.244550481,"cg_id_raw_a":-0.312368095,"cg_iq_a":-0.285862267,"cg_iq_raw_a":-0.0658903122,"cg_iu_a":-1.01229382,"cg_iv_a":0.0691539049,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9836369,"cg_sample_seq":14244070,"cg_sample_valid":1,"cg_theta_rad":5.00713253,"cg_vd_req_v":0.0724199414,"cg_vd_v":0.0724199414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366314411,"cg_vq_v":-0.366314411,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.65625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.581299,"values":{"Elec_RPM":-3.13028629e-13,"EncoderCos":38720,"EncoderSin":12493,"GapTicks":54771,"Mech_RPM":-6.2605723e-14,"cg_du":50.1651649,"cg_dv":50.2077827,"cg_dw":49.7922173,"cg_id_a":-0.10366486,"cg_id_raw_a":-0.513749599,"cg_iq_a":0.10944657,"cg_iq_raw_a":0.279093713,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14244117,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0718630329,"cg_vd_v":0.0718630329,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375232309,"cg_vq_v":-0.375232309,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.65625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.589111,"values":{"Elec_RPM":-3.13028629e-13,"EncoderCos":38745,"EncoderSin":12487,"GapTicks":54775,"Mech_RPM":-6.2605723e-14,"cg_du":50.1573944,"cg_dv":50.2040138,"cg_dw":49.7959862,"cg_id_a":-0.00795215741,"cg_id_raw_a":-0.091037944,"cg_iq_a":-0.318709224,"cg_iq_raw_a":0.502035916,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333368778,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9618187,"cg_sample_seq":14244167,"cg_sample_valid":1,"cg_theta_rad":5.00709772,"cg_vd_req_v":0.0723800957,"cg_vd_v":0.0723800957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366138309,"cg_vq_v":-0.366138309,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.596924,"values":{"Elec_RPM":-3.06768066e-13,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-6.13536118e-14,"cg_du":50.1707649,"cg_dv":50.2106934,"cg_dw":49.7893066,"cg_id_a":0.140575811,"cg_id_raw_a":0.302503943,"cg_iq_a":0.422309637,"cg_iq_raw_a":0.320726842,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641617,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9836369,"cg_sample_seq":14244217,"cg_sample_valid":1,"cg_theta_rad":5.00848722,"cg_vd_req_v":0.0697613135,"cg_vd_v":0.0697613135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382429689,"cg_vq_v":-0.382429689,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9581099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.608643,"values":{"Elec_RPM":-3.06768066e-13,"EncoderCos":38718,"EncoderSin":12495,"GapTicks":54771,"Mech_RPM":-6.13536118e-14,"cg_du":50.166523,"cg_dv":50.208065,"cg_dw":49.791935,"cg_id_a":-0.0289783329,"cg_id_raw_a":0.680415213,"cg_iq_a":0.251254678,"cg_iq_raw_a":0.102873817,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104574,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9618187,"cg_sample_seq":14244267,"cg_sample_valid":1,"cg_theta_rad":5.0067935,"cg_vd_req_v":0.0714060366,"cg_vd_v":0.0714060366,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377503723,"cg_vq_v":-0.377503723,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4774361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.616455,"values":{"Elec_RPM":-3.00632701e-13,"EncoderCos":38700,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-6.01265389e-14,"cg_du":50.171566,"cg_dv":50.2063103,"cg_dw":49.7936897,"cg_id_a":0.120780259,"cg_id_raw_a":-0.388350308,"cg_iq_a":0.121012263,"cg_iq_raw_a":0.47099942,"cg_iu_a":-0.287417412,"cg_iv_a":0.286616921,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9618187,"cg_sample_seq":14244316,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0678410158,"cg_vd_v":0.0678410158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376385331,"cg_vq_v":-0.376385331,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4774361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.624268,"values":{"Elec_RPM":-3.00632701e-13,"EncoderCos":38719,"EncoderSin":12489,"GapTicks":54771,"Mech_RPM":-6.01265389e-14,"cg_du":50.1659584,"cg_dv":50.2073784,"cg_dw":49.7926216,"cg_id_a":-0.0483699329,"cg_id_raw_a":-0.0592563264,"cg_iq_a":0.0325185061,"cg_iq_raw_a":0.57768029,"cg_iu_a":-0.287417412,"cg_iv_a":-0.43825978,"cg_iw_a":0.725677192,"cg_sample_age_us":23.9581814,"cg_sample_seq":14244367,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0710372031,"cg_vd_v":0.0710372031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375093788,"cg_vq_v":-0.375093788,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.63208,"values":{"Elec_RPM":-2.94620041e-13,"EncoderCos":38732,"EncoderSin":12446,"GapTicks":54771,"Mech_RPM":-5.89240096e-14,"cg_du":50.1676064,"cg_dv":50.2077789,"cg_dw":49.7922211,"cg_id_a":0.0215041544,"cg_id_raw_a":0.215398595,"cg_iq_a":0.0572798625,"cg_iq_raw_a":-0.30608505,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14244416,"cg_sample_valid":1,"cg_theta_rad":5.00534534,"cg_vd_req_v":0.0703448355,"cg_vd_v":0.0703448355,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37770772,"cg_vq_v":-0.37770772,"cg_vu_v":36.5110817,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6882429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6235962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.639893,"values":{"Elec_RPM":-2.94620041e-13,"EncoderCos":38715,"EncoderSin":12478,"GapTicks":54764,"Mech_RPM":-5.89240096e-14,"cg_du":50.1800079,"cg_dv":50.2145462,"cg_dw":49.7854538,"cg_id_a":0.0425330102,"cg_id_raw_a":0.325737178,"cg_iq_a":0.678685009,"cg_iq_raw_a":0.287776977,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065315,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9436359,"cg_sample_seq":14244466,"cg_sample_valid":1,"cg_theta_rad":5.00577831,"cg_vd_req_v":0.0678238049,"cg_vd_v":0.0678238049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393802762,"cg_vq_v":-0.393802762,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6464844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.647705,"values":{"Elec_RPM":-2.88727646e-13,"EncoderCos":38781,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-5.77455293e-14,"cg_du":50.1616516,"cg_dv":50.201992,"cg_dw":49.798008,"cg_id_a":0.245694816,"cg_id_raw_a":-0.0808788091,"cg_iq_a":-0.528237045,"cg_iq_raw_a":-0.333177418,"cg_iu_a":-0.0337104797,"cg_iv_a":0.467836082,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9799995,"cg_sample_seq":14244516,"cg_sample_valid":1,"cg_theta_rad":5.00509071,"cg_vd_req_v":0.0642534569,"cg_vd_v":0.0642534569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36740157,"cg_vq_v":-0.36740157,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6464844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.678955,"values":{"Elec_RPM":-2.88727646e-13,"EncoderCos":38726,"EncoderSin":12488,"GapTicks":54769,"Mech_RPM":-5.77455293e-14,"cg_du":50.1785889,"cg_dv":50.2093391,"cg_dw":49.7906609,"cg_id_a":0.312422097,"cg_id_raw_a":-0.197562367,"cg_iq_a":0.478000492,"cg_iq_raw_a":0.273266584,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148309052,"cg_iw_a":0.109531701,"cg_sample_age_us":26.8199997,"cg_sample_seq":14244571,"cg_sample_valid":1,"cg_theta_rad":5.00832081,"cg_vd_req_v":0.0624339022,"cg_vd_v":0.0624339022,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384936571,"cg_vq_v":-0.384936571,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6676941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.686768,"values":{"Elec_RPM":-2.82953104e-13,"EncoderCos":38710,"EncoderSin":12492,"GapTicks":54775,"Mech_RPM":-5.65906202e-14,"cg_du":50.1676865,"cg_dv":50.2040253,"cg_dw":49.7959747,"cg_id_a":0.122874886,"cg_id_raw_a":0.120494224,"cg_iq_a":-0.314676106,"cg_iq_raw_a":0.449710816,"cg_iu_a":0.473703384,"cg_iv_a":0.540323734,"cg_iw_a":-1.01402712,"cg_sample_age_us":24.9763641,"cg_sample_seq":14244666,"cg_sample_valid":1,"cg_theta_rad":5.00595331,"cg_vd_req_v":0.0671087056,"cg_vd_v":0.0671087056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371378988,"cg_vq_v":-0.371378988,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6448364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.69458,"values":{"Elec_RPM":-2.7729403e-13,"EncoderCos":38690,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-5.5458808e-14,"cg_du":50.1724548,"cg_dv":50.2112694,"cg_dw":49.7887306,"cg_id_a":-0.00475331768,"cg_id_raw_a":0.281537414,"cg_iq_a":0.173466086,"cg_iq_raw_a":-0.516589999,"cg_iu_a":-0.106198072,"cg_iv_a":-0.402015805,"cg_iw_a":0.508213878,"cg_sample_age_us":23.994545,"cg_sample_seq":14244716,"cg_sample_valid":1,"cg_theta_rad":5.00660181,"cg_vd_req_v":0.0723494515,"cg_vd_v":0.0723494515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38354075,"cg_vq_v":-0.38354075,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.353316665,"dclink_p_w":51.1336327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.702393,"values":{"Elec_RPM":-2.7729403e-13,"EncoderCos":38681,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-5.5458808e-14,"cg_du":50.166378,"cg_dv":50.2048149,"cg_dw":49.7951851,"cg_id_a":0.0241267122,"cg_id_raw_a":-0.556928933,"cg_iq_a":-0.445356011,"cg_iq_raw_a":-0.532400668,"cg_iu_a":0.401215672,"cg_iv_a":0.540323734,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8563633,"cg_sample_seq":14244767,"cg_sample_valid":1,"cg_theta_rad":5.00821829,"cg_vd_req_v":0.0718646124,"cg_vd_v":0.0718646124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371156812,"cg_vq_v":-0.371156812,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.710205,"values":{"Elec_RPM":-2.71748173e-13,"EncoderCos":38726,"EncoderSin":12529,"GapTicks":54771,"Mech_RPM":-5.43496319e-14,"cg_du":50.1658592,"cg_dv":50.2076454,"cg_dw":49.7923546,"cg_id_a":0.0423441343,"cg_id_raw_a":0.168205306,"cg_iq_a":-0.20528084,"cg_iq_raw_a":-0.4932428,"cg_iu_a":-0.323661089,"cg_iv_a":0.359104574,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9472733,"cg_sample_seq":14244816,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0697364137,"cg_vd_v":0.0697364137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375706196,"cg_vq_v":-0.375706196,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6089478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.721924,"values":{"Elec_RPM":-2.71748173e-13,"EncoderCos":38707,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-5.43496319e-14,"cg_du":50.1702461,"cg_dv":50.2056999,"cg_dw":49.7943001,"cg_id_a":0.228920728,"cg_id_raw_a":0.463722199,"cg_iq_a":-0.386070609,"cg_iq_raw_a":-0.462540448,"cg_iu_a":-0.0337102413,"cg_iv_a":0.431592286,"cg_iw_a":-0.397882044,"cg_sample_age_us":23.9654541,"cg_sample_seq":14244866,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0674754232,"cg_vd_v":0.0674754232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374959588,"cg_vq_v":-0.374959588,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6513672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.729736,"values":{"Elec_RPM":-2.66313176e-13,"EncoderCos":38725,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-5.32626379e-14,"cg_du":50.1617508,"cg_dv":50.2089043,"cg_dw":49.7910957,"cg_id_a":-0.201562315,"cg_id_raw_a":-0.45167771,"cg_iq_a":-0.346425653,"cg_iq_raw_a":-0.807031453,"cg_iu_a":0.183752537,"cg_iv_a":-0.293284416,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9472733,"cg_sample_seq":14244916,"cg_sample_valid":1,"cg_theta_rad":5.00745058,"cg_vd_req_v":0.0756948292,"cg_vd_v":0.0756948292,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376021445,"cg_vq_v":-0.376021445,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6513672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.737549,"values":{"Elec_RPM":-2.66313176e-13,"EncoderCos":38712,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-5.32626379e-14,"cg_du":50.1713524,"cg_dv":50.2102356,"cg_dw":49.7897644,"cg_id_a":-0.0656993985,"cg_id_raw_a":0.451810032,"cg_iq_a":-0.114518777,"cg_iq_raw_a":-0.136214897,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129269,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9872723,"cg_sample_seq":14244966,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.070761323,"cg_vd_v":0.070761323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38178277,"cg_vq_v":-0.38178277,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.436677456,"dclink_p_w":63.3900871,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.745361,"values":{"Elec_RPM":-2.60986924e-13,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-5.21973855e-14,"cg_du":50.1736488,"cg_dv":50.2078972,"cg_dw":49.7921028,"cg_id_a":0.103170753,"cg_id_raw_a":0.300057411,"cg_iq_a":-0.225965947,"cg_iq_raw_a":-0.734497726,"cg_iu_a":0.292484045,"cg_iv_a":0.39534843,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9836369,"cg_sample_seq":14245016,"cg_sample_valid":1,"cg_theta_rad":5.00905228,"cg_vd_req_v":0.0660961643,"cg_vd_v":0.0660961643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380007237,"cg_vq_v":-0.380007237,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.436677456,"dclink_p_w":63.3900871,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.772705,"values":{"Elec_RPM":-2.60986924e-13,"EncoderCos":38736,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-5.21973855e-14,"cg_du":50.1687851,"cg_dv":50.2042351,"cg_dw":49.7957649,"cg_id_a":0.178543776,"cg_id_raw_a":0.705037296,"cg_iq_a":-0.410625279,"cg_iq_raw_a":0.0655310154,"cg_iu_a":-0.831074715,"cg_iv_a":0.0329101086,"cg_iw_a":0.798164606,"cg_sample_age_us":23.954546,"cg_sample_seq":14245070,"cg_sample_valid":1,"cg_theta_rad":5.00626993,"cg_vd_req_v":0.0639637634,"cg_vd_v":0.0639637634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37271893,"cg_vq_v":-0.37271893,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.784424,"values":{"Elec_RPM":-2.55767196e-13,"EncoderCos":38702,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-5.11534378e-14,"cg_du":50.1675911,"cg_dv":50.2029343,"cg_dw":49.7970657,"cg_id_a":-0.0589139014,"cg_id_raw_a":0.105278023,"cg_iq_a":-0.451161385,"cg_iq_raw_a":-1.70068967,"cg_iu_a":-0.106198072,"cg_iv_a":-0.691966534,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9509087,"cg_sample_seq":14245117,"cg_sample_valid":1,"cg_theta_rad":5.00795412,"cg_vd_req_v":0.0670193732,"cg_vd_v":0.0670193732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369679034,"cg_vq_v":-0.369679034,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.2076378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.792236,"values":{"Elec_RPM":-2.55767196e-13,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-5.11534378e-14,"cg_du":50.1857414,"cg_dv":50.2093773,"cg_dw":49.7906227,"cg_id_a":0.23168382,"cg_id_raw_a":-0.0575060472,"cg_iq_a":0.422504306,"cg_iq_raw_a":-0.296454847,"cg_iu_a":-0.0699541569,"cg_iv_a":0.214129269,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9654541,"cg_sample_seq":14245167,"cg_sample_valid":1,"cg_theta_rad":5.00817728,"cg_vd_req_v":0.0592178889,"cg_vd_v":0.0592178889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388638198,"cg_vq_v":-0.388638198,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.534535825,"dclink_p_w":77.1253738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.800049,"values":{"Elec_RPM":-2.50651848e-13,"EncoderCos":38700,"EncoderSin":12447,"GapTicks":54766,"Mech_RPM":-5.01303677e-14,"cg_du":50.1776123,"cg_dv":50.2118721,"cg_dw":49.7881279,"cg_id_a":-0.199392065,"cg_id_raw_a":-0.0579944663,"cg_iq_a":0.427088439,"cg_iq_raw_a":0.322728008,"cg_iu_a":-0.359905005,"cg_iv_a":-1.3805995,"cg_iw_a":1.7405045,"cg_sample_age_us":23.9581814,"cg_sample_seq":14245217,"cg_sample_valid":1,"cg_theta_rad":5.0082202,"cg_vd_req_v":0.0692504346,"cg_vd_v":0.0692504346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388427913,"cg_vq_v":-0.388427913,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.534535825,"dclink_p_w":77.1253738,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6578979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.807861,"values":{"Elec_RPM":-2.50651848e-13,"EncoderCos":38739,"EncoderSin":12487,"GapTicks":54774,"Mech_RPM":-5.01303677e-14,"cg_du":50.1702957,"cg_dv":50.2053604,"cg_dw":49.7946396,"cg_id_a":-0.0889258832,"cg_id_raw_a":-0.0584356412,"cg_iq_a":-0.0348465815,"cg_iq_raw_a":0.141004786,"cg_iu_a":0.183752537,"cg_iv_a":0.214129269,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9254551,"cg_sample_seq":14245266,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0642115995,"cg_vd_v":0.0642115995,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376208752,"cg_vq_v":-0.376208752,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.815674,"values":{"Elec_RPM":-2.45638796e-13,"EncoderCos":38702,"EncoderSin":12467,"GapTicks":54774,"Mech_RPM":-4.91277619e-14,"cg_du":50.1756706,"cg_dv":50.2049866,"cg_dw":49.7950134,"cg_id_a":-0.0944578499,"cg_id_raw_a":-0.0488181375,"cg_iq_a":0.127998397,"cg_iq_raw_a":-0.160779253,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9218178,"cg_sample_seq":14245316,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0631141886,"cg_vd_v":0.0631141886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376949936,"cg_vq_v":-0.376949936,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6481018,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.823486,"values":{"Elec_RPM":-2.45638796e-13,"EncoderCos":38720,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-4.91277619e-14,"cg_du":50.1689796,"cg_dv":50.2063713,"cg_dw":49.7936287,"cg_id_a":-0.352326542,"cg_id_raw_a":-0.322987556,"cg_iq_a":0.0677671731,"cg_iq_raw_a":0.697891355,"cg_iu_a":0.763653874,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.9872723,"cg_sample_seq":14245366,"cg_sample_valid":1,"cg_theta_rad":5.00762606,"cg_vd_req_v":0.0676019639,"cg_vd_v":0.0676019639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375432938,"cg_vq_v":-0.375432938,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6399231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.835205,"values":{"Elec_RPM":-2.40726032e-13,"EncoderCos":38733,"EncoderSin":12510,"GapTicks":54778,"Mech_RPM":-4.8145207e-14,"cg_du":50.1690178,"cg_dv":50.201107,"cg_dw":49.798893,"cg_id_a":0.0127480887,"cg_id_raw_a":-0.257146925,"cg_iq_a":-0.179461747,"cg_iq_raw_a":-0.896382391,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9509087,"cg_sample_seq":14245416,"cg_sample_valid":1,"cg_theta_rad":5.00673056,"cg_vd_req_v":0.0608378947,"cg_vd_v":0.0608378947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368564785,"cg_vq_v":-0.368564785,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.735689104,"dclink_p_w":106.472351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.843018,"values":{"Elec_RPM":-2.40726032e-13,"EncoderCos":38721,"EncoderSin":12504,"GapTicks":54779,"Mech_RPM":-4.8145207e-14,"cg_du":50.1677513,"cg_dv":50.2000809,"cg_dw":49.7999191,"cg_id_a":0.00616788119,"cg_id_raw_a":0.104142494,"cg_iq_a":-0.216990694,"cg_iq_raw_a":-0.025691079,"cg_iu_a":-0.251173496,"cg_iv_a":0.431592286,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9618187,"cg_sample_seq":14245466,"cg_sample_valid":1,"cg_theta_rad":5.00810003,"cg_vd_req_v":0.0619956739,"cg_vd_v":0.0619956739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366264015,"cg_vq_v":-0.366264015,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":1.02201533,"dclink_p_w":147.910812,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.85083,"values":{"Elec_RPM":-2.35911524e-13,"EncoderCos":38716,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-4.71823034e-14,"cg_du":50.1701813,"cg_dv":50.2006989,"cg_dw":49.7993011,"cg_id_a":0.0452341922,"cg_id_raw_a":0.239288107,"cg_iq_a":-0.0675849617,"cg_iq_raw_a":0.0973457769,"cg_iu_a":0.328727961,"cg_iv_a":0.322860837,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9763641,"cg_sample_seq":14245516,"cg_sample_valid":1,"cg_theta_rad":5.00656796,"cg_vd_req_v":0.0620914884,"cg_vd_v":0.0620914884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368230402,"cg_vq_v":-0.368230402,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":0.960400879,"dclink_p_w":138.993683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.878174,"values":{"Elec_RPM":-2.31193293e-13,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-4.62386578e-14,"cg_du":50.1617546,"cg_dv":50.2014389,"cg_dw":49.7985611,"cg_id_a":-0.210066319,"cg_id_raw_a":-0.531321287,"cg_iq_a":0.071435906,"cg_iq_raw_a":0.240544826,"cg_iu_a":0.292484045,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14245617,"cg_sample_valid":1,"cg_theta_rad":5.00714445,"cg_vd_req_v":0.068918094,"cg_vd_v":0.068918094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365740269,"cg_vq_v":-0.365740269,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2575.885986,"values":{"Elec_RPM":-2.31193293e-13,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-4.62386578e-14,"cg_du":50.160675,"cg_dv":50.1963425,"cg_dw":49.8036575,"cg_id_a":0.0456002504,"cg_id_raw_a":-0.495808721,"cg_iq_a":-0.413995862,"cg_iq_raw_a":-0.557251751,"cg_iu_a":-0.142441988,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9618187,"cg_sample_seq":14245667,"cg_sample_valid":1,"cg_theta_rad":5.00837851,"cg_vd_req_v":0.0646904632,"cg_vd_v":0.0646904632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357082129,"cg_vq_v":-0.357082129,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.897705,"values":{"Elec_RPM":-2.26569414e-13,"EncoderCos":38724,"EncoderSin":12492,"GapTicks":54778,"Mech_RPM":-4.53138842e-14,"cg_du":50.1596603,"cg_dv":50.2017899,"cg_dw":49.7982101,"cg_id_a":-0.248274475,"cg_id_raw_a":-0.534540355,"cg_iq_a":-0.0780517906,"cg_iq_raw_a":0.0590715222,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9654541,"cg_sample_seq":14245717,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0700682998,"cg_vd_v":0.0700682998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364057422,"cg_vq_v":-0.364057422,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.905518,"values":{"Elec_RPM":-2.26569414e-13,"EncoderCos":38724,"EncoderSin":12486,"GapTicks":54780,"Mech_RPM":-4.53138842e-14,"cg_du":50.164505,"cg_dv":50.1999626,"cg_dw":49.8000374,"cg_id_a":-0.015636187,"cg_id_raw_a":0.295290679,"cg_iq_a":-0.0916927084,"cg_iq_raw_a":0.393172026,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14245766,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.0646381825,"cg_vd_v":0.0646381825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364255369,"cg_vq_v":-0.364255369,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6089478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.91333,"values":{"Elec_RPM":-2.22038032e-13,"EncoderCos":38718,"EncoderSin":12468,"GapTicks":54778,"Mech_RPM":-4.44076064e-14,"cg_du":50.1552277,"cg_dv":50.2014732,"cg_dw":49.7985268,"cg_id_a":-0.451053292,"cg_id_raw_a":-0.91759032,"cg_iq_a":-0.169710323,"cg_iq_raw_a":0.529656708,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9618187,"cg_sample_seq":14245816,"cg_sample_valid":1,"cg_theta_rad":5.00812626,"cg_vd_req_v":0.0743321553,"cg_vd_v":0.0743321553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360919446,"cg_vq_v":-0.360919446,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.921143,"values":{"Elec_RPM":-2.22038032e-13,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-4.44076064e-14,"cg_du":50.1702461,"cg_dv":50.200016,"cg_dw":49.799984,"cg_id_a":0.122104771,"cg_id_raw_a":0.494200617,"cg_iq_a":0.013380982,"cg_iq_raw_a":-0.569693625,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14245866,"cg_sample_valid":1,"cg_theta_rad":5.00840616,"cg_vd_req_v":0.0611402653,"cg_vd_v":0.0611402653,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367379844,"cg_vq_v":-0.367379844,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.932861,"values":{"Elec_RPM":-2.17597275e-13,"EncoderCos":38711,"EncoderSin":12458,"GapTicks":54770,"Mech_RPM":-4.35194551e-14,"cg_du":50.1745834,"cg_dv":50.2090607,"cg_dw":49.7909393,"cg_id_a":-0.156327352,"cg_id_raw_a":-0.933314741,"cg_iq_a":0.811594963,"cg_iq_raw_a":0.671813488,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.25704062,"cg_iw_a":1.08811533,"cg_sample_age_us":23.8600006,"cg_sample_seq":14245916,"cg_sample_valid":1,"cg_theta_rad":5.0091753,"cg_vd_req_v":0.0674040094,"cg_vd_v":0.0674040094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38195312,"cg_vq_v":-0.38195312,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":1.01839101,"dclink_p_w":147.386292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.940674,"values":{"Elec_RPM":-2.17597275e-13,"EncoderCos":38729,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-4.35194551e-14,"cg_du":50.1655388,"cg_dv":50.1972961,"cg_dw":49.8027039,"cg_id_a":0.075001426,"cg_id_raw_a":0.177054793,"cg_iq_a":-0.0647710264,"cg_iq_raw_a":-0.564742446,"cg_iu_a":0.364971876,"cg_iv_a":0.649055243,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9581814,"cg_sample_seq":14245966,"cg_sample_valid":1,"cg_theta_rad":5.00634193,"cg_vd_req_v":0.0614013039,"cg_vd_v":0.0614013039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361176878,"cg_vq_v":-0.361176878,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":1.08906651,"dclink_p_w":157.614777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.641571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.948486,"values":{"Elec_RPM":-2.13245329e-13,"EncoderCos":38700,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-4.26490643e-14,"cg_du":50.1710815,"cg_dv":50.198822,"cg_dw":49.801178,"cg_id_a":0.0654540211,"cg_id_raw_a":0.559787691,"cg_iq_a":0.153521806,"cg_iq_raw_a":0.458665967,"cg_iu_a":0.219996452,"cg_iv_a":0.105397701,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8963642,"cg_sample_seq":14246016,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0606422126,"cg_vd_v":0.0606422126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366013259,"cg_vq_v":-0.366013259,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.09993958,"dclink_p_w":159.672241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.956299,"values":{"Elec_RPM":-2.13245329e-13,"EncoderCos":38711,"EncoderSin":12505,"GapTicks":54775,"Mech_RPM":-4.26490643e-14,"cg_du":50.1896973,"cg_dv":50.2044067,"cg_dw":49.7955933,"cg_id_a":0.626450896,"cg_id_raw_a":0.159907788,"cg_iq_a":0.967942059,"cg_iq_raw_a":-0.165696502,"cg_iu_a":-0.359904766,"cg_iv_a":-0.00333380699,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9618187,"cg_sample_seq":14246066,"cg_sample_valid":1,"cg_theta_rad":5.00555515,"cg_vd_req_v":0.0497862697,"cg_vd_v":0.0497862697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384322464,"cg_vq_v":-0.384322464,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.00933003,"dclink_p_w":146.074936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119894713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.983643,"values":{"Elec_RPM":-2.08980402e-13,"EncoderCos":38734,"EncoderSin":12476,"GapTicks":54784,"Mech_RPM":-4.17960818e-14,"cg_du":50.15868,"cg_dv":50.1959572,"cg_dw":49.8040428,"cg_id_a":-0.143244117,"cg_id_raw_a":0.201037854,"cg_iq_a":-0.413133562,"cg_iq_raw_a":-0.162289783,"cg_iu_a":0.219996452,"cg_iv_a":0.649055302,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.863636,"cg_sample_seq":14246121,"cg_sample_valid":1,"cg_theta_rad":5.0082736,"cg_vd_req_v":0.0647700131,"cg_vd_v":0.0647700131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355645299,"cg_vq_v":-0.355645299,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.00933003,"dclink_p_w":146.074936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119894713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2575.990833,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2575.990839,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2575.990845,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2575.991455,"values":{"Elec_RPM":-2.08980402e-13,"EncoderCos":38679,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-4.17960818e-14,"cg_du":50.1751938,"cg_dv":50.1968956,"cg_dw":49.8031044,"cg_id_a":0.193424851,"cg_id_raw_a":1.01995957,"cg_iq_a":-0.0327253006,"cg_iq_raw_a":-2.07656646,"cg_iu_a":-2.06336522,"cg_iv_a":0.540323734,"cg_iw_a":1.52304149,"cg_sample_age_us":23.9327278,"cg_sample_seq":14246166,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0575872548,"cg_vd_v":0.0575872548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365408927,"cg_vq_v":-0.365408927,"cg_vu_v":118.770996,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.09993958,"dclink_p_w":159.18837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6170959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2575.999268,"values":{"Elec_RPM":-2.04800789e-13,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-4.09601586e-14,"cg_du":50.1649742,"cg_dv":50.1949463,"cg_dw":49.8050537,"cg_id_a":0.0418051332,"cg_id_raw_a":0.398358762,"cg_iq_a":-0.450284272,"cg_iq_raw_a":-1.48911238,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14246216,"cg_sample_valid":1,"cg_theta_rad":5.00622845,"cg_vd_req_v":0.0610269867,"cg_vd_v":0.0610269867,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357411981,"cg_vq_v":-0.357411981,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.09993958,"dclink_p_w":159.18837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.010986,"values":{"Elec_RPM":-2.04800789e-13,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-4.09601586e-14,"cg_du":50.1629791,"cg_dv":50.2012558,"cg_dw":49.7987442,"cg_id_a":-0.204515398,"cg_id_raw_a":-0.111150652,"cg_iq_a":0.0171983242,"cg_iq_raw_a":0.463442624,"cg_iu_a":0.727410078,"cg_iv_a":0.250373125,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9654541,"cg_sample_seq":14246266,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.0675354749,"cg_vd_v":0.0675354749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366223097,"cg_vq_v":-0.366223097,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.09993958,"dclink_p_w":159.18837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.018799,"values":{"Elec_RPM":-2.00704782e-13,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-4.01409557e-14,"cg_du":50.1786079,"cg_dv":50.1946716,"cg_dw":49.8053284,"cg_id_a":0.6622805,"cg_id_raw_a":0.323614627,"cg_iq_a":-0.133510321,"cg_iq_raw_a":-0.331519723,"cg_iu_a":-0.686099529,"cg_iv_a":0.250373125,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9581814,"cg_sample_seq":14246316,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.0495619588,"cg_vd_v":0.0495619588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365921497,"cg_vq_v":-0.365921497,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.06369579,"dclink_p_w":153.943008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6366577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.026611,"values":{"Elec_RPM":-2.00704782e-13,"EncoderCos":38714,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-4.01409557e-14,"cg_du":50.1686707,"cg_dv":50.2139702,"cg_dw":49.7860298,"cg_id_a":-0.573653102,"cg_id_raw_a":-0.359740764,"cg_iq_a":0.763255715,"cg_iq_raw_a":1.05799234,"cg_iu_a":0.256240368,"cg_iv_a":-0.402015865,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9581814,"cg_sample_seq":14246366,"cg_sample_valid":1,"cg_theta_rad":5.00648832,"cg_vd_req_v":0.0759321675,"cg_vd_v":0.0759321675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385458589,"cg_vq_v":-0.385458589,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.15249324,"dclink_p_w":166.794189,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6366577,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.03833,"values":{"Elec_RPM":-1.96690686e-13,"EncoderCos":38711,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-3.93381379e-14,"cg_du":50.171051,"cg_dv":50.2002678,"cg_dw":49.7997322,"cg_id_a":0.0971266031,"cg_id_raw_a":-1.01446009,"cg_iq_a":-0.108315557,"cg_iq_raw_a":-0.828580797,"cg_iu_a":-0.142441988,"cg_iv_a":0.830274403,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.863636,"cg_sample_seq":14246416,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.0611565411,"cg_vd_v":0.0611565411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368111283,"cg_vq_v":-0.368111283,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.00026917,"dclink_p_w":144.763611,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6187134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.046143,"values":{"Elec_RPM":-1.96690686e-13,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-3.93381379e-14,"cg_du":50.172863,"cg_dv":50.2027512,"cg_dw":49.7972488,"cg_id_a":0.0978907943,"cg_id_raw_a":0.0141287195,"cg_iq_a":-0.0167177022,"cg_iq_raw_a":-0.398373514,"cg_iu_a":0.147508621,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9581814,"cg_sample_seq":14246466,"cg_sample_valid":1,"cg_theta_rad":5.00665569,"cg_vd_req_v":0.0611587949,"cg_vd_v":0.0611587949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372665942,"cg_vq_v":-0.372665942,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.688572109,"dclink_p_w":99.6533585,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.053955,"values":{"Elec_RPM":-1.92756889e-13,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54778,"Mech_RPM":-3.85513764e-14,"cg_du":50.175663,"cg_dv":50.2010994,"cg_dw":49.7989006,"cg_id_a":0.337113738,"cg_id_raw_a":0.16317606,"cg_iq_a":0.0687806532,"cg_iq_raw_a":0.0165948793,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9836369,"cg_sample_seq":14246516,"cg_sample_valid":1,"cg_theta_rad":5.0079689,"cg_vd_req_v":0.0573492795,"cg_vd_v":0.0573492795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371987671,"cg_vq_v":-0.371987671,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.6581764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.061768,"values":{"Elec_RPM":-1.92756889e-13,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.85513764e-14,"cg_du":50.1713028,"cg_dv":50.2009087,"cg_dw":49.7990913,"cg_id_a":0.0915616229,"cg_id_raw_a":0.595546186,"cg_iq_a":-0.0991764665,"cg_iq_raw_a":-0.96041584,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14246566,"cg_sample_valid":1,"cg_theta_rad":5.00787258,"cg_vd_req_v":0.0613036826,"cg_vd_v":0.0613036826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370320082,"cg_vq_v":-0.370320082,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.648703933,"dclink_p_w":94.1688156,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6219788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.093018,"values":{"Elec_RPM":-1.88901751e-13,"EncoderCos":38703,"EncoderSin":12461,"GapTicks":54776,"Mech_RPM":-3.77803495e-14,"cg_du":50.1733971,"cg_dv":50.2033081,"cg_dw":49.7966919,"cg_id_a":0.0779373497,"cg_id_raw_a":0.405250967,"cg_iq_a":0.245631129,"cg_iq_raw_a":0.734489143,"cg_iu_a":-0.251173377,"cg_iv_a":-0.402015924,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8527279,"cg_sample_seq":14246621,"cg_sample_valid":1,"cg_theta_rad":5.00521326,"cg_vd_req_v":0.0633215457,"cg_vd_v":0.0633215457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373379886,"cg_vq_v":-0.373379886,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.648703933,"dclink_p_w":94.1688156,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6122131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.10083,"values":{"Elec_RPM":-1.88901751e-13,"EncoderCos":38689,"EncoderSin":12457,"GapTicks":54780,"Mech_RPM":-3.77803495e-14,"cg_du":50.1735611,"cg_dv":50.1994286,"cg_dw":49.8005714,"cg_id_a":0.258408189,"cg_id_raw_a":0.509477973,"cg_iq_a":-0.036802873,"cg_iq_raw_a":-0.273310483,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14246667,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.0606667772,"cg_vd_v":0.0606667772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3680076,"cg_vq_v":-0.3680076,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.58165282,"dclink_p_w":84.1795044,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6122131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.108643,"values":{"Elec_RPM":-1.85123713e-13,"EncoderCos":38732,"EncoderSin":12473,"GapTicks":54770,"Mech_RPM":-3.70247419e-14,"cg_du":50.166893,"cg_dv":50.2088928,"cg_dw":49.7911072,"cg_id_a":-0.152140379,"cg_id_raw_a":-0.260273576,"cg_iq_a":0.305716813,"cg_iq_raw_a":0.0489385985,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309052,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9327278,"cg_sample_seq":14246717,"cg_sample_valid":1,"cg_theta_rad":5.00928545,"cg_vd_req_v":0.0710744187,"cg_vd_v":0.0710744187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377808511,"cg_vq_v":-0.377808511,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.510977387,"dclink_p_w":73.9510269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.116455,"values":{"Elec_RPM":-1.85123713e-13,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-3.70247419e-14,"cg_du":50.1582909,"cg_dv":50.1983681,"cg_dw":49.8016319,"cg_id_a":0.0167042464,"cg_id_raw_a":-0.120527066,"cg_iq_a":-0.744123161,"cg_iq_raw_a":-0.520864606,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14246767,"cg_sample_valid":1,"cg_theta_rad":5.007092,"cg_vd_req_v":0.068803139,"cg_vd_v":0.068803139,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358446628,"cg_vq_v":-0.358446628,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.510977387,"dclink_p_w":73.9510269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.124268,"values":{"Elec_RPM":-1.81421244e-13,"EncoderCos":38712,"EncoderSin":12431,"GapTicks":54779,"Mech_RPM":-3.62842487e-14,"cg_du":50.1667595,"cg_dv":50.200592,"cg_dw":49.799408,"cg_id_a":0.121926561,"cg_id_raw_a":-0.162607148,"cg_iq_a":-0.205898717,"cg_iq_raw_a":-0.0886981711,"cg_iu_a":-0.106198072,"cg_iv_a":0.467836082,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9290905,"cg_sample_seq":14246816,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0660574958,"cg_vd_v":0.0660574958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367061347,"cg_vq_v":-0.367061347,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.418555617,"dclink_p_w":60.5753174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.13208,"values":{"Elec_RPM":-1.81421244e-13,"EncoderCos":38711,"EncoderSin":12466,"GapTicks":54776,"Mech_RPM":-3.62842487e-14,"cg_du":50.1702652,"cg_dv":50.2033615,"cg_dw":49.7966385,"cg_id_a":0.155811906,"cg_id_raw_a":0.34581697,"cg_iq_a":0.152667761,"cg_iq_raw_a":-0.54737407,"cg_iu_a":0.691166401,"cg_iv_a":-0.148308992,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9581814,"cg_sample_seq":14246866,"cg_sample_valid":1,"cg_theta_rad":5.00732374,"cg_vd_req_v":0.0650203824,"cg_vd_v":0.0650203824,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371826082,"cg_vq_v":-0.371826082,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.39680934,"dclink_p_w":57.428093,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.139893,"values":{"Elec_RPM":-1.77792825e-13,"EncoderCos":38690,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-3.55585651e-14,"cg_du":50.1678276,"cg_dv":50.2010307,"cg_dw":49.7989693,"cg_id_a":0.081521064,"cg_id_raw_a":0.204695001,"cg_iq_a":-0.0729189217,"cg_iq_raw_a":0.0219452046,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065256,"cg_iw_a":0.47197026,"cg_sample_age_us":23.8563633,"cg_sample_seq":14246916,"cg_sample_valid":1,"cg_theta_rad":5.00854492,"cg_vd_req_v":0.0658024251,"cg_vd_v":0.0658024251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36708349,"cg_vq_v":-0.36708349,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.9220467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.151611,"values":{"Elec_RPM":-1.77792825e-13,"EncoderCos":38713,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-3.55585651e-14,"cg_du":50.1687279,"cg_dv":50.2021942,"cg_dw":49.7978058,"cg_id_a":0.0875744671,"cg_id_raw_a":-0.139535338,"cg_iq_a":-0.0177210122,"cg_iq_raw_a":-0.741641998,"cg_iu_a":-0.432392597,"cg_iv_a":0.757786751,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14246966,"cg_sample_valid":1,"cg_theta_rad":5.00644541,"cg_vd_req_v":0.0650413781,"cg_vd_v":0.0650413781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369382232,"cg_vq_v":-0.369382232,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6187134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.159424,"values":{"Elec_RPM":-1.74236968e-13,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-3.48473928e-14,"cg_du":50.1654549,"cg_dv":50.1964111,"cg_dw":49.8035889,"cg_id_a":0.174785018,"cg_id_raw_a":-0.102892898,"cg_iq_a":-0.264295369,"cg_iq_raw_a":-0.482825309,"cg_iu_a":0.0387773514,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9509087,"cg_sample_seq":14247016,"cg_sample_valid":1,"cg_theta_rad":5.00673532,"cg_vd_req_v":0.0617227927,"cg_vd_v":0.0617227927,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360857844,"cg_vq_v":-0.360857844,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.167236,"values":{"Elec_RPM":-1.74236968e-13,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54788,"Mech_RPM":-3.48473928e-14,"cg_du":50.166481,"cg_dv":50.1920586,"cg_dw":49.8079414,"cg_id_a":0.232263446,"cg_id_raw_a":0.490398794,"cg_iq_a":-0.422528327,"cg_iq_raw_a":-0.314823329,"cg_iu_a":0.364971876,"cg_iv_a":0.322860837,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.8781815,"cg_sample_seq":14247066,"cg_sample_valid":1,"cg_theta_rad":5.00726748,"cg_vd_req_v":0.0567613505,"cg_vd_v":0.0567613505,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355492651,"cg_vq_v":-0.355492651,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.19458,"values":{"Elec_RPM":-1.7075222e-13,"EncoderCos":38742,"EncoderSin":12513,"GapTicks":54780,"Mech_RPM":-3.4150444e-14,"cg_du":50.1570625,"cg_dv":50.1995201,"cg_dw":49.8004799,"cg_id_a":-0.325429827,"cg_id_raw_a":-0.698124707,"cg_iq_a":-0.155953184,"cg_iq_raw_a":0.484001219,"cg_iu_a":-1.19351292,"cg_iv_a":0.21412921,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9690914,"cg_sample_seq":14247120,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0679148659,"cg_vd_v":0.0679148659,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359895527,"cg_vq_v":-0.359895527,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.206299,"values":{"Elec_RPM":-1.7075222e-13,"EncoderCos":38727,"EncoderSin":12493,"GapTicks":54775,"Mech_RPM":-3.4150444e-14,"cg_du":50.1750755,"cg_dv":50.204113,"cg_dw":49.795887,"cg_id_a":0.0248635411,"cg_id_raw_a":-0.982213974,"cg_iq_a":0.694993496,"cg_iq_raw_a":0.126349106,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885413,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14247167,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0597390682,"cg_vd_v":0.0597390682,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374747783,"cg_vq_v":-0.374747783,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2576.214111,"values":{"Elec_RPM":-1.67337173e-13,"EncoderCos":38724,"EncoderSin":12491,"GapTicks":54787,"Mech_RPM":-3.34674339e-14,"cg_du":50.1603088,"cg_dv":50.1930504,"cg_dw":49.8069496,"cg_id_a":-0.0192336142,"cg_id_raw_a":-0.00380643876,"cg_iq_a":-0.210535675,"cg_iq_raw_a":-0.43645978,"cg_iu_a":0.799897909,"cg_iv_a":0.39534843,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9618187,"cg_sample_seq":14247216,"cg_sample_valid":1,"cg_theta_rad":5.00780487,"cg_vd_req_v":0.061295215,"cg_vd_v":0.061295215,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353587955,"cg_vq_v":-0.353587955,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.87146,"temp_inv2_c":38.615448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.221924,"values":{"Elec_RPM":-1.6399043e-13,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54782,"Mech_RPM":-3.27980847e-14,"cg_du":50.1633606,"cg_dv":50.1978188,"cg_dw":49.8021812,"cg_id_a":-0.224496707,"cg_id_raw_a":-0.197074652,"cg_iq_a":0.0609554611,"cg_iq_raw_a":-0.601070523,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991229,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8745461,"cg_sample_seq":14247366,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.0642933995,"cg_vd_v":0.0642933995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361676157,"cg_vq_v":-0.361676157,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6301575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.229736,"values":{"Elec_RPM":-1.6071061e-13,"EncoderCos":38688,"EncoderSin":12473,"GapTicks":54781,"Mech_RPM":-3.21421221e-14,"cg_du":50.167057,"cg_dv":50.1988106,"cg_dw":49.8011894,"cg_id_a":-0.187239945,"cg_id_raw_a":0.0968215987,"cg_iq_a":0.0558457971,"cg_iq_raw_a":0.0474055819,"cg_iu_a":0.219996452,"cg_iv_a":-0.764454246,"cg_iw_a":0.544457793,"cg_sample_age_us":23.954546,"cg_sample_seq":14247417,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0646230057,"cg_vd_v":0.0646230057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36243546,"cg_vq_v":-0.36243546,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6187134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2576.237549,"values":{"Elec_RPM":-1.6071061e-13,"EncoderCos":38748,"EncoderSin":12474,"GapTicks":54785,"Mech_RPM":-3.21421221e-14,"cg_du":50.1606216,"cg_dv":50.1953087,"cg_dw":49.8046913,"cg_id_a":0.0374727659,"cg_id_raw_a":-0.218468815,"cg_iq_a":-0.459084928,"cg_iq_raw_a":-0.637789547,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14247467,"cg_sample_valid":1,"cg_theta_rad":5.00558662,"cg_vd_req_v":0.0613437966,"cg_vd_v":0.0613437966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354952633,"cg_vq_v":-0.354952633,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6187134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2576.245361,"values":{"Elec_RPM":-1.57496385e-13,"EncoderCos":38731,"EncoderSin":12500,"GapTicks":54781,"Mech_RPM":-3.14992783e-14,"cg_du":50.1669998,"cg_dv":50.1988068,"cg_dw":49.8011932,"cg_id_a":0.0379186757,"cg_id_raw_a":-0.167478114,"cg_iq_a":0.131969035,"cg_iq_raw_a":0.858819664,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9799995,"cg_sample_seq":14247517,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.060624443,"cg_vd_v":0.060624443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364233702,"cg_vq_v":-0.364233702,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.253174,"values":{"Elec_RPM":-1.57496385e-13,"EncoderCos":38704,"EncoderSin":12511,"GapTicks":54787,"Mech_RPM":-3.14992783e-14,"cg_du":50.151432,"cg_dv":50.1930809,"cg_dw":49.8069191,"cg_id_a":-0.29193005,"cg_id_raw_a":0.291134208,"cg_iq_a":-0.513065755,"cg_iq_raw_a":0.211608157,"cg_iu_a":0.256240368,"cg_iv_a":0.177885473,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9145451,"cg_sample_seq":14247567,"cg_sample_valid":1,"cg_theta_rad":5.00566006,"cg_vd_req_v":0.069219768,"cg_vd_v":0.069219768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347371191,"cg_vq_v":-0.347371191,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6285095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.284424,"values":{"Elec_RPM":-1.54346466e-13,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-3.08692924e-14,"cg_du":50.1599464,"cg_dv":50.1991463,"cg_dw":49.8008537,"cg_id_a":-0.114841096,"cg_id_raw_a":0.0624310039,"cg_iq_a":0.171455383,"cg_iq_raw_a":-0.0297595803,"cg_iu_a":-0.106198072,"cg_iv_a":0.395348489,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8672733,"cg_sample_seq":14247620,"cg_sample_valid":1,"cg_theta_rad":5.00895023,"cg_vd_req_v":0.0666324198,"cg_vd_v":0.0666324198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360737026,"cg_vq_v":-0.360737026,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6187134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.292236,"values":{"Elec_RPM":-1.54346466e-13,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54784,"Mech_RPM":-3.08692924e-14,"cg_du":50.1619377,"cg_dv":50.1957283,"cg_dw":49.8042717,"cg_id_a":-0.0161746759,"cg_id_raw_a":0.571687222,"cg_iq_a":-0.0726463199,"cg_iq_raw_a":-0.926076889,"cg_iu_a":-0.0699541569,"cg_iv_a":0.032910049,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9654541,"cg_sample_seq":14247666,"cg_sample_valid":1,"cg_theta_rad":5.00814533,"cg_vd_req_v":0.0636164844,"cg_vd_v":0.0636164844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356861413,"cg_vq_v":-0.356861413,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.0290557146,"dclink_p_w":-4.20507813,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.300049,"values":{"Elec_RPM":-1.51259539e-13,"EncoderCos":38725,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-3.02519071e-14,"cg_du":50.1642647,"cg_dv":50.1958504,"cg_dw":49.8041496,"cg_id_a":0.0675765425,"cg_id_raw_a":0.0661631152,"cg_iq_a":0.154667735,"cg_iq_raw_a":0.152719885,"cg_iu_a":0.00253343582,"cg_iv_a":-0.873185754,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9836369,"cg_sample_seq":14247716,"cg_sample_valid":1,"cg_theta_rad":5.00618029,"cg_vd_req_v":0.0605851151,"cg_vd_v":0.0605851151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358562142,"cg_vq_v":-0.358562142,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7955017,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.307861,"values":{"Elec_RPM":-1.51259539e-13,"EncoderCos":38711,"EncoderSin":12467,"GapTicks":54793,"Mech_RPM":-3.02519071e-14,"cg_du":50.1639938,"cg_dv":50.1880035,"cg_dw":49.8119965,"cg_id_a":0.304558605,"cg_id_raw_a":0.541217208,"cg_iq_a":-0.243211418,"cg_iq_raw_a":-0.819241941,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14247766,"cg_sample_valid":1,"cg_theta_rad":5.0085206,"cg_vd_req_v":0.0549224541,"cg_vd_v":0.0549224541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347457588,"cg_vq_v":-0.347457588,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.31958,"values":{"Elec_RPM":-1.48234344e-13,"EncoderCos":38738,"EncoderSin":12498,"GapTicks":54789,"Mech_RPM":-2.9646868e-14,"cg_du":50.1631508,"cg_dv":50.1916313,"cg_dw":49.8083687,"cg_id_a":0.188770622,"cg_id_raw_a":-0.0715994611,"cg_iq_a":0.228927076,"cg_iq_raw_a":0.285405219,"cg_iu_a":-0.106198072,"cg_iv_a":0.359104574,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9872723,"cg_sample_seq":14247816,"cg_sample_valid":1,"cg_theta_rad":5.00614691,"cg_vd_req_v":0.0562119596,"cg_vd_v":0.0562119596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352385759,"cg_vq_v":-0.352385759,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.327393,"values":{"Elec_RPM":-1.48234344e-13,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-2.9646868e-14,"cg_du":50.1662788,"cg_dv":50.1929626,"cg_dw":49.8070374,"cg_id_a":-0.00738392025,"cg_id_raw_a":0.0494471341,"cg_iq_a":0.318766594,"cg_iq_raw_a":-0.322093129,"cg_iu_a":0.0750210285,"cg_iv_a":0.504079938,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9581814,"cg_sample_seq":14247866,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0575332493,"cg_vd_v":0.0575332493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355547458,"cg_vq_v":-0.355547458,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.335205,"values":{"Elec_RPM":-1.45269661e-13,"EncoderCos":38759,"EncoderSin":12496,"GapTicks":54795,"Mech_RPM":-2.90539314e-14,"cg_du":50.1560936,"cg_dv":50.1857567,"cg_dw":49.8142433,"cg_id_a":0.134520859,"cg_id_raw_a":0.471196145,"cg_iq_a":-0.478610903,"cg_iq_raw_a":-0.867711782,"cg_iu_a":-0.251173496,"cg_iv_a":0.286616862,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9618187,"cg_sample_seq":14247916,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.0546930097,"cg_vd_v":0.0546930097,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341731101,"cg_vq_v":-0.341731101,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.34618938,"dclink_p_w":-50.254425,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.343018,"values":{"Elec_RPM":-1.45269661e-13,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54788,"Mech_RPM":-2.90539314e-14,"cg_du":50.1595917,"cg_dv":50.1922951,"cg_dw":49.8077049,"cg_id_a":-0.236199617,"cg_id_raw_a":0.117552638,"cg_iq_a":0.16839689,"cg_iq_raw_a":-0.606924891,"cg_iu_a":0.256240368,"cg_iv_a":-0.981917262,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9763641,"cg_sample_seq":14247966,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0611274131,"cg_vd_v":0.0611274131,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352157027,"cg_vq_v":-0.352157027,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.35083,"values":{"Elec_RPM":-1.4236427e-13,"EncoderCos":38709,"EncoderSin":12482,"GapTicks":54796,"Mech_RPM":-2.84728533e-14,"cg_du":50.1583405,"cg_dv":50.1848564,"cg_dw":49.8151436,"cg_id_a":0.0163055733,"cg_id_raw_a":0.0367106795,"cg_iq_a":-0.353112936,"cg_iq_raw_a":-0.614729881,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14248016,"cg_sample_valid":1,"cg_theta_rad":5.00734568,"cg_vd_req_v":0.0560847782,"cg_vd_v":0.0560847782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340035677,"cg_vq_v":-0.340035677,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.358643,"values":{"Elec_RPM":-1.4236427e-13,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54794,"Mech_RPM":-2.84728533e-14,"cg_du":50.16185,"cg_dv":50.1869087,"cg_dw":49.8130913,"cg_id_a":0.061580807,"cg_id_raw_a":-0.0938131511,"cg_iq_a":0.0342080854,"cg_iq_raw_a":0.0644569024,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129269,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.954546,"cg_sample_seq":14248067,"cg_sample_valid":1,"cg_theta_rad":5.00625181,"cg_vd_req_v":0.0547893159,"cg_vd_v":0.0547893159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344883651,"cg_vq_v":-0.344883651,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00372625305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.389893,"values":{"Elec_RPM":-1.39516979e-13,"EncoderCos":38690,"EncoderSin":12486,"GapTicks":54795,"Mech_RPM":-2.79033964e-14,"cg_du":50.1556053,"cg_dv":50.1856613,"cg_dw":49.8143387,"cg_id_a":-0.138812348,"cg_id_raw_a":-0.105936289,"cg_iq_a":-0.120723039,"cg_iq_raw_a":-0.228791833,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.863636,"cg_sample_seq":14248121,"cg_sample_valid":1,"cg_theta_rad":5.00594187,"cg_vd_req_v":0.0603892952,"cg_vd_v":0.0603892952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339347243,"cg_vq_v":-0.339347243,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8461304,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00372625305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.397705,"values":{"Elec_RPM":-1.36726649e-13,"EncoderCos":38713,"EncoderSin":12463,"GapTicks":54792,"Mech_RPM":-2.73453288e-14,"cg_du":50.1590881,"cg_dv":50.1886101,"cg_dw":49.8113899,"cg_id_a":-0.119041011,"cg_id_raw_a":-0.027873639,"cg_iq_a":0.316712648,"cg_iq_raw_a":0.0344447941,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9872723,"cg_sample_seq":14248266,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0592970662,"cg_vd_v":0.0592970662,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345529437,"cg_vq_v":-0.345529437,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.405518,"values":{"Elec_RPM":-1.33992101e-13,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-2.67984216e-14,"cg_du":50.1640244,"cg_dv":50.192543,"cg_dw":49.807457,"cg_id_a":-0.00220395625,"cg_id_raw_a":-0.166827247,"cg_iq_a":0.584215522,"cg_iq_raw_a":0.166611493,"cg_iu_a":-0.722343206,"cg_iv_a":-0.220796824,"cg_iw_a":0.94314003,"cg_sample_age_us":23.8600006,"cg_sample_seq":14248316,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.058448188,"cg_vd_v":0.058448188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353781521,"cg_vq_v":-0.353781521,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.41333,"values":{"Elec_RPM":-1.33992101e-13,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54791,"Mech_RPM":-2.67984216e-14,"cg_du":50.156189,"cg_dv":50.1897697,"cg_dw":49.8102303,"cg_id_a":-0.177779213,"cg_id_raw_a":-0.793565094,"cg_iq_a":0.181195766,"cg_iq_raw_a":0.540594459,"cg_iu_a":0.836141586,"cg_iv_a":-0.438259721,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9690914,"cg_sample_seq":14248366,"cg_sample_valid":1,"cg_theta_rad":5.00863171,"cg_vd_req_v":0.0627771094,"cg_vd_v":0.0627771094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345456153,"cg_vq_v":-0.345456153,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6252747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.421143,"values":{"Elec_RPM":-1.31312265e-13,"EncoderCos":38714,"EncoderSin":12485,"GapTicks":54799,"Mech_RPM":-2.6262453e-14,"cg_du":50.1534386,"cg_dv":50.1824188,"cg_dw":49.8175812,"cg_id_a":-0.0593325794,"cg_id_raw_a":0.123950638,"cg_iq_a":-0.606119931,"cg_iq_raw_a":-1.29807758,"cg_iu_a":0.5099473,"cg_iv_a":-0.112065196,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.8709087,"cg_sample_seq":14248417,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0575425178,"cg_vd_v":0.0575425178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333972812,"cg_vq_v":-0.333972812,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6089478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.432861,"values":{"Elec_RPM":-1.31312265e-13,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54798,"Mech_RPM":-2.6262453e-14,"cg_du":50.1695862,"cg_dv":50.1833725,"cg_dw":49.8166275,"cg_id_a":0.662796319,"cg_id_raw_a":0.176852271,"cg_iq_a":0.34529388,"cg_iq_raw_a":0.309257835,"cg_iu_a":-0.106198072,"cg_iv_a":0.504079938,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9618187,"cg_sample_seq":14248467,"cg_sample_valid":1,"cg_theta_rad":5.00783253,"cg_vd_req_v":0.0449635535,"cg_vd_v":0.0449635535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344464242,"cg_vq_v":-0.344464242,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6073303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.440674,"values":{"Elec_RPM":-1.28686016e-13,"EncoderCos":38721,"EncoderSin":12503,"GapTicks":54789,"Mech_RPM":-2.57372045e-14,"cg_du":50.1687431,"cg_dv":50.1914482,"cg_dw":49.8085518,"cg_id_a":0.269206166,"cg_id_raw_a":0.292256624,"cg_iq_a":0.892508626,"cg_iq_raw_a":0.647575557,"cg_iu_a":-0.976050138,"cg_iv_a":-0.365772009,"cg_iw_a":1.34182215,"cg_sample_age_us":23.863636,"cg_sample_seq":14248516,"cg_sample_valid":1,"cg_theta_rad":5.00755548,"cg_vd_req_v":0.0530381128,"cg_vd_v":0.0530381128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356140524,"cg_vq_v":-0.356140524,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-77.9026337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6073303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.448486,"values":{"Elec_RPM":-1.28686016e-13,"EncoderCos":38722,"EncoderSin":12467,"GapTicks":54797,"Mech_RPM":-2.57372045e-14,"cg_du":50.1572952,"cg_dv":50.184433,"cg_dw":49.815567,"cg_id_a":0.0763187557,"cg_id_raw_a":0.163726032,"cg_iq_a":-0.0648693666,"cg_iq_raw_a":-0.420217991,"cg_iu_a":-0.142441988,"cg_iv_a":-0.293284416,"cg_iw_a":0.435726404,"cg_sample_age_us":23.863636,"cg_sample_seq":14248567,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0560145378,"cg_vd_v":0.0560145378,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340013534,"cg_vq_v":-0.340013534,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.5052719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.47583,"values":{"Elec_RPM":-1.2611231e-13,"EncoderCos":38754,"EncoderSin":12486,"GapTicks":54797,"Mech_RPM":-2.52224609e-14,"cg_du":50.1488075,"cg_dv":50.1837502,"cg_dw":49.8162498,"cg_id_a":0.0128877498,"cg_id_raw_a":-0.136493027,"cg_iq_a":-0.44360742,"cg_iq_raw_a":-0.629900098,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.863636,"cg_sample_seq":14248620,"cg_sample_valid":1,"cg_theta_rad":5.00730419,"cg_vd_req_v":0.0589755252,"cg_vd_v":0.0589755252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33380717,"cg_vq_v":-0.33380717,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.5052719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.483643,"values":{"Elec_RPM":-1.2611231e-13,"EncoderCos":38688,"EncoderSin":12491,"GapTicks":54795,"Mech_RPM":-2.52224609e-14,"cg_du":50.1577835,"cg_dv":50.185463,"cg_dw":49.814537,"cg_id_a":0.081611827,"cg_id_raw_a":0.169500858,"cg_iq_a":-0.318865985,"cg_iq_raw_a":-0.856136858,"cg_iu_a":0.256240368,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9509087,"cg_sample_seq":14248666,"cg_sample_valid":1,"cg_theta_rad":5.00715923,"cg_vd_req_v":0.0585318245,"cg_vd_v":0.0585318245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340305656,"cg_vq_v":-0.340305656,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.574525595,"dclink_p_w":-83.1480179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.495361,"values":{"Elec_RPM":-1.23590062e-13,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-2.47180121e-14,"cg_du":50.1580925,"cg_dv":50.1944733,"cg_dw":49.8055267,"cg_id_a":-0.164116472,"cg_id_raw_a":-0.126655281,"cg_iq_a":0.276805997,"cg_iq_raw_a":0.425911278,"cg_iu_a":-0.287417412,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9581814,"cg_sample_seq":14248716,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.0630529895,"cg_vd_v":0.0630529895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353424072,"cg_vq_v":-0.353424072,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.574525595,"dclink_p_w":-83.1480179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.503174,"values":{"Elec_RPM":-1.23590062e-13,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-2.47180121e-14,"cg_du":50.1560745,"cg_dv":50.193737,"cg_dw":49.806263,"cg_id_a":-0.339931518,"cg_id_raw_a":0.158638865,"cg_iq_a":0.24866198,"cg_iq_raw_a":0.271681339,"cg_iu_a":0.654922485,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9581814,"cg_sample_seq":14248766,"cg_sample_valid":1,"cg_theta_rad":5.00603247,"cg_vd_req_v":0.0667826235,"cg_vd_v":0.0667826235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350766748,"cg_vq_v":-0.350766748,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.834568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6056824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.510986,"values":{"Elec_RPM":-1.21118258e-13,"EncoderCos":38720,"EncoderSin":12467,"GapTicks":54803,"Mech_RPM":-2.42236515e-14,"cg_du":50.149971,"cg_dv":50.1789474,"cg_dw":49.8210526,"cg_id_a":0.193662092,"cg_id_raw_a":-0.00192930503,"cg_iq_a":-0.836154938,"cg_iq_raw_a":-0.873402417,"cg_iu_a":-0.0699543953,"cg_iv_a":0.866518259,"cg_iw_a":-1.30397761,"cg_sample_age_us":23.9581814,"cg_sample_seq":14248816,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0564064682,"cg_vd_v":0.0564064682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327389181,"cg_vq_v":-0.327389181,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.518799,"values":{"Elec_RPM":-1.21118258e-13,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54792,"Mech_RPM":-2.42236515e-14,"cg_du":50.1504021,"cg_dv":50.1887589,"cg_dw":49.8112411,"cg_id_a":-0.26472342,"cg_id_raw_a":-0.21089454,"cg_iq_a":-0.178669661,"cg_iq_raw_a":-0.456896961,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14248866,"cg_sample_valid":1,"cg_theta_rad":5.008183,"cg_vd_req_v":0.0656470507,"cg_vd_v":0.0656470507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34095484,"cg_vq_v":-0.34095484,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.9443245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.526611,"values":{"Elec_RPM":-1.18695892e-13,"EncoderCos":38699,"EncoderSin":12484,"GapTicks":54789,"Mech_RPM":-2.37391792e-14,"cg_du":50.1635666,"cg_dv":50.1917076,"cg_dw":49.8082924,"cg_id_a":0.0787020251,"cg_id_raw_a":0.363947004,"cg_iq_a":0.336445004,"cg_iq_raw_a":0.11065165,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.474503517,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9581814,"cg_sample_seq":14248916,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.0594231486,"cg_vd_v":0.0594231486,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352152973,"cg_vq_v":-0.352152973,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.9443245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.534424,"values":{"Elec_RPM":-1.18695892e-13,"EncoderCos":38706,"EncoderSin":12471,"GapTicks":54791,"Mech_RPM":-2.37391792e-14,"cg_du":50.1590919,"cg_dv":50.1899033,"cg_dw":49.8100967,"cg_id_a":-0.0210456476,"cg_id_raw_a":-0.197090536,"cg_iq_a":0.226963997,"cg_iq_raw_a":-0.164796844,"cg_iu_a":-0.649855614,"cg_iv_a":0.0329101086,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9799995,"cg_sample_seq":14248966,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.0610987693,"cg_vd_v":0.0610987693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34827745,"cg_vq_v":-0.34827745,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.15409708,"dclink_p_w":-22.3016472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7702332,"temp_inv2_c":38.615448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.546143,"values":{"Elec_RPM":-1.16321978e-13,"EncoderCos":38722,"EncoderSin":12516,"GapTicks":54794,"Mech_RPM":-2.32643952e-14,"cg_du":50.1499939,"cg_dv":50.1864853,"cg_dw":49.8135147,"cg_id_a":-0.170551628,"cg_id_raw_a":0.253344506,"cg_iq_a":-0.217494756,"cg_iq_raw_a":-0.0481605157,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8672733,"cg_sample_seq":14249016,"cg_sample_valid":1,"cg_theta_rad":5.00778055,"cg_vd_req_v":0.0624266081,"cg_vd_v":0.0624266081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337888777,"cg_vq_v":-0.337888777,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.420489192,"dclink_p_w":-60.8551521,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.553955,"values":{"Elec_RPM":-1.16321978e-13,"EncoderCos":38720,"EncoderSin":12511,"GapTicks":54796,"Mech_RPM":-2.32643952e-14,"cg_du":50.1483727,"cg_dv":50.1850128,"cg_dw":49.8149872,"cg_id_a":-0.1367708,"cg_id_raw_a":-0.0519611239,"cg_iq_a":-0.312115759,"cg_iq_raw_a":0.0686852261,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9727268,"cg_sample_seq":14249066,"cg_sample_valid":1,"cg_theta_rad":5.00762081,"cg_vd_req_v":0.0625456274,"cg_vd_v":0.0625456274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334925741,"cg_vq_v":-0.334925741,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.5607071,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.581299,"values":{"Elec_RPM":-1.13995537e-13,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54795,"Mech_RPM":-2.27991081e-14,"cg_du":50.1496086,"cg_dv":50.1857033,"cg_dw":49.8142967,"cg_id_a":-0.11996489,"cg_id_raw_a":-0.388802171,"cg_iq_a":-0.165479571,"cg_iq_raw_a":0.291075319,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373125,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.8600006,"cg_sample_seq":14249121,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0626908466,"cg_vd_v":0.0626908466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3364712,"cg_vq_v":-0.3364712,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.5507202,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.589111,"values":{"Elec_RPM":-1.13995537e-13,"EncoderCos":38668,"EncoderSin":12485,"GapTicks":54798,"Mech_RPM":-2.27991081e-14,"cg_du":50.1531677,"cg_dv":50.1827965,"cg_dw":49.8172035,"cg_id_a":0.00318435207,"cg_id_raw_a":0.045984447,"cg_iq_a":-0.226377308,"cg_iq_raw_a":-0.067111358,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9618187,"cg_sample_seq":14249167,"cg_sample_valid":1,"cg_theta_rad":5.00703573,"cg_vd_req_v":0.0611826442,"cg_vd_v":0.0611826442,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333786219,"cg_vq_v":-0.333786219,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.596924,"values":{"Elec_RPM":-1.11715636e-13,"EncoderCos":38724,"EncoderSin":12510,"GapTicks":54801,"Mech_RPM":-2.23431266e-14,"cg_du":50.140522,"cg_dv":50.1801796,"cg_dw":49.8198204,"cg_id_a":-0.0661685318,"cg_id_raw_a":-0.0489751361,"cg_iq_a":-0.597327173,"cg_iq_raw_a":-0.185822681,"cg_iu_a":0.437459469,"cg_iv_a":0.141641617,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.954546,"cg_sample_seq":14249216,"cg_sample_valid":1,"cg_theta_rad":5.0069952,"cg_vd_req_v":0.0639560521,"cg_vd_v":0.0639560521,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324992716,"cg_vq_v":-0.324992716,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.608643,"values":{"Elec_RPM":-1.11715636e-13,"EncoderCos":38693,"EncoderSin":12489,"GapTicks":54793,"Mech_RPM":-2.23431266e-14,"cg_du":50.153904,"cg_dv":50.1880951,"cg_dw":49.8119049,"cg_id_a":-0.0285143927,"cg_id_raw_a":0.300468087,"cg_iq_a":0.316896558,"cg_iq_raw_a":-0.296258539,"cg_iu_a":-0.14244175,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189182,"cg_sample_age_us":24.0418186,"cg_sample_seq":14249266,"cg_sample_valid":1,"cg_theta_rad":5.00755978,"cg_vd_req_v":0.0639947876,"cg_vd_v":0.0639947876,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342772335,"cg_vq_v":-0.342772335,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.616455,"values":{"Elec_RPM":-1.09481319e-13,"EncoderCos":38726,"EncoderSin":12478,"GapTicks":54795,"Mech_RPM":-2.18962642e-14,"cg_du":50.1495361,"cg_dv":50.1862068,"cg_dw":49.8137932,"cg_id_a":0.0509234443,"cg_id_raw_a":-0.0938502923,"cg_iq_a":0.205949321,"cg_iq_raw_a":-0.372289628,"cg_iu_a":0.292484045,"cg_iv_a":0.431592345,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14249316,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0630922094,"cg_vd_v":0.0630922094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337142617,"cg_vq_v":-0.337142617,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.624268,"values":{"Elec_RPM":-1.09481319e-13,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54797,"Mech_RPM":-2.18962642e-14,"cg_du":50.1530533,"cg_dv":50.1836395,"cg_dw":49.8163605,"cg_id_a":0.281844765,"cg_id_raw_a":0.283974856,"cg_iq_a":0.192297786,"cg_iq_raw_a":0.283792645,"cg_iu_a":-0.0337104797,"cg_iv_a":0.286616921,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8527279,"cg_sample_seq":14249366,"cg_sample_valid":1,"cg_theta_rad":5.00669718,"cg_vd_req_v":0.0588105842,"cg_vd_v":0.0588105842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335450709,"cg_vq_v":-0.335450709,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.63208,"values":{"Elec_RPM":-1.07291698e-13,"EncoderCos":38708,"EncoderSin":12482,"GapTicks":54793,"Mech_RPM":-2.14583397e-14,"cg_du":50.1512108,"cg_dv":50.1880836,"cg_dw":49.8119164,"cg_id_a":-0.0377299748,"cg_id_raw_a":-0.405511349,"cg_iq_a":0.297694117,"cg_iq_raw_a":-0.185317114,"cg_iu_a":-0.432392597,"cg_iv_a":0.0329101086,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9909096,"cg_sample_seq":14249416,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0649002567,"cg_vd_v":0.0649002567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340392262,"cg_vq_v":-0.340392262,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.5600128,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6334229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.639893,"values":{"Elec_RPM":-1.07291698e-13,"EncoderCos":38724,"EncoderSin":12489,"GapTicks":54793,"Mech_RPM":-2.14583397e-14,"cg_du":50.1439323,"cg_dv":50.1877213,"cg_dw":49.8122787,"cg_id_a":-0.233730108,"cg_id_raw_a":-0.201562703,"cg_iq_a":-0.067598775,"cg_iq_raw_a":-0.346131653,"cg_iu_a":0.401215553,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9254551,"cg_sample_seq":14249466,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.06886179,"cg_vd_v":0.06886179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336088479,"cg_vq_v":-0.336088479,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6334229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.647705,"values":{"Elec_RPM":-1.05145866e-13,"EncoderCos":38738,"EncoderSin":12516,"GapTicks":54791,"Mech_RPM":-2.10291735e-14,"cg_du":50.1501656,"cg_dv":50.1893272,"cg_dw":49.8106728,"cg_id_a":0.0728594512,"cg_id_raw_a":0.0909620821,"cg_iq_a":0.235662103,"cg_iq_raw_a":0.118205689,"cg_iu_a":-0.649855614,"cg_iv_a":-0.0758213997,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9836369,"cg_sample_seq":14249516,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0639898777,"cg_vd_v":0.0639898777,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343128651,"cg_vq_v":-0.343128651,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.659424,"values":{"Elec_RPM":-1.05145866e-13,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54789,"Mech_RPM":-2.10291735e-14,"cg_du":50.1492538,"cg_dv":50.1916542,"cg_dw":49.8083458,"cg_id_a":-0.156801045,"cg_id_raw_a":0.167028099,"cg_iq_a":0.276812106,"cg_iq_raw_a":-0.237777576,"cg_iu_a":-0.359905005,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14249566,"cg_sample_valid":1,"cg_theta_rad":5.00699615,"cg_vd_req_v":0.0692674071,"cg_vd_v":0.0692674071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344262958,"cg_vq_v":-0.344262958,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.8208008,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.686768,"values":{"Elec_RPM":-1.03042947e-13,"EncoderCos":38704,"EncoderSin":12496,"GapTicks":54803,"Mech_RPM":-2.06085894e-14,"cg_du":50.1432571,"cg_dv":50.1783791,"cg_dw":49.8216209,"cg_id_a":0.150523901,"cg_id_raw_a":0.589719296,"cg_iq_a":-0.603304684,"cg_iq_raw_a":-0.887440681,"cg_iu_a":-0.14244175,"cg_iv_a":0.10539782,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9618187,"cg_sample_seq":14249668,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.0616521351,"cg_vd_v":0.0616521351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322747678,"cg_vq_v":-0.322747678,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.69458,"values":{"Elec_RPM":-1.00982089e-13,"EncoderCos":38728,"EncoderSin":12508,"GapTicks":54785,"Mech_RPM":-2.01964181e-14,"cg_du":50.1535492,"cg_dv":50.1948891,"cg_dw":49.8051109,"cg_id_a":-0.169692457,"cg_id_raw_a":-0.718763351,"cg_iq_a":0.804695666,"cg_iq_raw_a":1.13498652,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0758213997,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8709087,"cg_sample_seq":14249716,"cg_sample_valid":1,"cg_theta_rad":5.00486279,"cg_vd_req_v":0.0674755573,"cg_vd_v":0.0674755573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351381093,"cg_vq_v":-0.351381093,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.702393,"values":{"Elec_RPM":-1.00982089e-13,"EncoderCos":38726,"EncoderSin":12445,"GapTicks":54789,"Mech_RPM":-2.01964181e-14,"cg_du":50.1481895,"cg_dv":50.1917877,"cg_dw":49.8082123,"cg_id_a":-0.254711062,"cg_id_raw_a":-0.238370001,"cg_iq_a":0.258277059,"cg_iq_raw_a":-0.605274081,"cg_iu_a":0.038777113,"cg_iv_a":-0.72821033,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9872723,"cg_sample_seq":14249766,"cg_sample_valid":1,"cg_theta_rad":5.00667238,"cg_vd_req_v":0.0703445971,"cg_vd_v":0.0703445971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343828291,"cg_vq_v":-0.343828291,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.710205,"values":{"Elec_RPM":-9.89624506e-14,"EncoderCos":38709,"EncoderSin":12493,"GapTicks":54791,"Mech_RPM":-1.97924901e-14,"cg_du":50.1527977,"cg_dv":50.189209,"cg_dw":49.810791,"cg_id_a":0.0262534656,"cg_id_raw_a":-0.358877689,"cg_iq_a":0.102523565,"cg_iq_raw_a":-0.872276366,"cg_iu_a":0.61867857,"cg_iv_a":0.39534843,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9509087,"cg_sample_seq":14249816,"cg_sample_valid":1,"cg_theta_rad":5.00808382,"cg_vd_req_v":0.0644141436,"cg_vd_v":0.0644141436,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342873693,"cg_vq_v":-0.342873693,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.248209476,"dclink_p_w":36.0312157,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.721924,"values":{"Elec_RPM":-9.89624506e-14,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54792,"Mech_RPM":-1.97924901e-14,"cg_du":50.1488609,"cg_dv":50.1890755,"cg_dw":49.8109245,"cg_id_a":-0.126669869,"cg_id_raw_a":-0.239809617,"cg_iq_a":-0.0302600041,"cg_iq_raw_a":-0.167463303,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373065,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.954546,"cg_sample_seq":14249866,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0659312829,"cg_vd_v":0.0659312829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340759933,"cg_vq_v":-0.340759933,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.729736,"values":{"Elec_RPM":-9.69832057e-14,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54792,"Mech_RPM":-1.93966411e-14,"cg_du":50.1524391,"cg_dv":50.188633,"cg_dw":49.811367,"cg_id_a":0.0185583048,"cg_id_raw_a":0.101398475,"cg_iq_a":-0.0254516006,"cg_iq_raw_a":-0.207632959,"cg_iu_a":0.908629298,"cg_iv_a":0.359104633,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9872723,"cg_sample_seq":14249916,"cg_sample_valid":1,"cg_theta_rad":5.00864172,"cg_vd_req_v":0.0644491389,"cg_vd_v":0.0644491389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341834038,"cg_vq_v":-0.341834038,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.420367718,"dclink_p_w":60.837574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.737549,"values":{"Elec_RPM":-9.69832057e-14,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54785,"Mech_RPM":-1.93966411e-14,"cg_du":50.1530609,"cg_dv":50.1954002,"cg_dw":49.8045998,"cg_id_a":-0.254057229,"cg_id_raw_a":-0.0896748006,"cg_iq_a":0.367658138,"cg_iq_raw_a":-0.190201104,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747433,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9872723,"cg_sample_seq":14249966,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0704130158,"cg_vd_v":0.0704130158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351394027,"cg_vq_v":-0.351394027,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.514179289,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.749268,"values":{"Elec_RPM":-9.50435409e-14,"EncoderCos":38731,"EncoderSin":12488,"GapTicks":54788,"Mech_RPM":-1.90087085e-14,"cg_du":50.1582069,"cg_dv":50.1922569,"cg_dw":49.8077431,"cg_id_a":0.12756367,"cg_id_raw_a":0.0779425204,"cg_iq_a":0.331243545,"cg_iq_raw_a":0.699798226,"cg_iu_a":-0.432392597,"cg_iv_a":0.504079938,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14250016,"cg_sample_valid":1,"cg_theta_rad":5.00685167,"cg_vd_req_v":0.0615083352,"cg_vd_v":0.0615083352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350347519,"cg_vq_v":-0.350347519,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.514179289,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.75708,"values":{"Elec_RPM":-9.50435409e-14,"EncoderCos":38705,"EncoderSin":12480,"GapTicks":54794,"Mech_RPM":-1.90087085e-14,"cg_du":50.1575851,"cg_dv":50.1870155,"cg_dw":49.8129845,"cg_id_a":0.224544257,"cg_id_raw_a":-0.0740920678,"cg_iq_a":-0.132973671,"cg_iq_raw_a":0.284768313,"cg_iu_a":0.111264944,"cg_iv_a":1.01149368,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14250066,"cg_sample_valid":1,"cg_theta_rad":5.00834513,"cg_vd_req_v":0.0593212508,"cg_vd_v":0.0593212508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343523949,"cg_vq_v":-0.343523949,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.784424,"values":{"Elec_RPM":-9.31426702e-14,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54785,"Mech_RPM":-1.86285347e-14,"cg_du":50.154789,"cg_dv":50.1949387,"cg_dw":49.8050613,"cg_id_a":-0.266126573,"cg_id_raw_a":-0.103940845,"cg_iq_a":0.294031143,"cg_iq_raw_a":-0.0460396074,"cg_iu_a":-0.287417173,"cg_iv_a":0.21412921,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14250121,"cg_sample_valid":1,"cg_theta_rad":5.00632954,"cg_vd_req_v":0.0691768304,"cg_vd_v":0.0691768304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35274291,"cg_vq_v":-0.35274291,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.792236,"values":{"Elec_RPM":-9.31426702e-14,"EncoderCos":38736,"EncoderSin":12485,"GapTicks":54796,"Mech_RPM":-1.86285347e-14,"cg_du":50.150116,"cg_dv":50.1852379,"cg_dw":49.8147621,"cg_id_a":0.133314595,"cg_id_raw_a":-0.00886054896,"cg_iq_a":-0.549244761,"cg_iq_raw_a":-0.618828416,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14250166,"cg_sample_valid":1,"cg_theta_rad":5.00641632,"cg_vd_req_v":0.0607708506,"cg_vd_v":0.0607708506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336317867,"cg_vq_v":-0.336317867,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6203613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.800049,"values":{"Elec_RPM":-9.12798212e-14,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-1.82559639e-14,"cg_du":50.1595459,"cg_dv":50.1888657,"cg_dw":49.8111343,"cg_id_a":0.237683401,"cg_id_raw_a":0.109062582,"cg_iq_a":0.0522402972,"cg_iq_raw_a":-0.716848254,"cg_iu_a":-0.0699543953,"cg_iv_a":0.105397761,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9799995,"cg_sample_seq":14250216,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.0586243384,"cg_vd_v":0.0586243384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346228957,"cg_vq_v":-0.346228957,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.807861,"values":{"Elec_RPM":-9.12798212e-14,"EncoderCos":38731,"EncoderSin":12493,"GapTicks":54787,"Mech_RPM":-1.82559639e-14,"cg_du":50.164711,"cg_dv":50.1934662,"cg_dw":49.8065338,"cg_id_a":0.332793772,"cg_id_raw_a":-0.124515638,"cg_iq_a":0.479329944,"cg_iq_raw_a":0.171155035,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9654541,"cg_sample_seq":14250266,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0574377216,"cg_vd_v":0.0574377216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355646789,"cg_vq_v":-0.355646789,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.815674,"values":{"Elec_RPM":-8.9454228e-14,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54789,"Mech_RPM":-1.78908453e-14,"cg_du":50.1528664,"cg_dv":50.1917,"cg_dw":49.8083,"cg_id_a":-0.181793213,"cg_id_raw_a":0.149448857,"cg_iq_a":0.110614046,"cg_iq_raw_a":-0.276038557,"cg_iu_a":0.364971638,"cg_iv_a":-0.365772069,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9581814,"cg_sample_seq":14250316,"cg_sample_valid":1,"cg_theta_rad":5.00775146,"cg_vd_req_v":0.0661238357,"cg_vd_v":0.0661238357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346423477,"cg_vq_v":-0.346423477,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.823486,"values":{"Elec_RPM":-8.9454228e-14,"EncoderCos":38725,"EncoderSin":12495,"GapTicks":54787,"Mech_RPM":-1.78908453e-14,"cg_du":50.1451302,"cg_dv":50.1932564,"cg_dw":49.8067436,"cg_id_a":-0.471698016,"cg_id_raw_a":0.0133818118,"cg_iq_a":0.0197891444,"cg_iq_raw_a":-0.398399353,"cg_iu_a":0.473703384,"cg_iv_a":0.177885473,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.9654541,"cg_sample_seq":14250366,"cg_sample_valid":1,"cg_theta_rad":5.00776911,"cg_vd_req_v":0.0730687454,"cg_vd_v":0.0730687454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344341308,"cg_vq_v":-0.344341308,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.2935829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.835205,"values":{"Elec_RPM":-8.76651385e-14,"EncoderCos":38721,"EncoderSin":12515,"GapTicks":54789,"Mech_RPM":-1.7533028e-14,"cg_du":50.1592331,"cg_dv":50.1911926,"cg_dw":49.8088074,"cg_id_a":0.161087215,"cg_id_raw_a":0.183654979,"cg_iq_a":0.162101939,"cg_iq_raw_a":-0.200286582,"cg_iu_a":-0.14244175,"cg_iv_a":0.504079938,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9509087,"cg_sample_seq":14250416,"cg_sample_valid":1,"cg_theta_rad":5.0081358,"cg_vd_req_v":0.0598150119,"cg_vd_v":0.0598150119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349443465,"cg_vq_v":-0.349443465,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.843018,"values":{"Elec_RPM":-8.76651385e-14,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54792,"Mech_RPM":-1.7533028e-14,"cg_du":50.1498299,"cg_dv":50.188427,"cg_dw":49.811573,"cg_id_a":-0.165805697,"cg_id_raw_a":-0.277421087,"cg_iq_a":-0.115547508,"cg_iq_raw_a":-0.426622152,"cg_iu_a":0.473703384,"cg_iv_a":0.10539782,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9654541,"cg_sample_seq":14250466,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.0655666962,"cg_vd_v":0.0655666962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341300219,"cg_vq_v":-0.341300219,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.85083,"values":{"Elec_RPM":-8.59118413e-14,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54795,"Mech_RPM":-1.71823683e-14,"cg_du":50.1540871,"cg_dv":50.1854668,"cg_dw":49.8145332,"cg_id_a":0.233798906,"cg_id_raw_a":0.265872687,"cg_iq_a":-0.176875502,"cg_iq_raw_a":-0.629492402,"cg_iu_a":-0.50488019,"cg_iv_a":0.359104633,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14250516,"cg_sample_valid":1,"cg_theta_rad":5.0076232,"cg_vd_req_v":0.0581437051,"cg_vd_v":0.0581437051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338800877,"cg_vq_v":-0.338800877,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.862549,"values":{"Elec_RPM":-8.59118413e-14,"EncoderCos":38744,"EncoderSin":12479,"GapTicks":54789,"Mech_RPM":-1.71823683e-14,"cg_du":50.1517029,"cg_dv":50.1918144,"cg_dw":49.8081856,"cg_id_a":-0.235368192,"cg_id_raw_a":-0.439721316,"cg_iq_a":0.214979216,"cg_iq_raw_a":-0.512639225,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.800697982,"cg_iw_a":0.870652139,"cg_sample_age_us":23.9836369,"cg_sample_seq":14250566,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.0653903335,"cg_vd_v":0.0653903335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346261919,"cg_vq_v":-0.346261919,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.889893,"values":{"Elec_RPM":-8.41935977e-14,"EncoderCos":38716,"EncoderSin":12469,"GapTicks":54794,"Mech_RPM":-1.68387202e-14,"cg_du":50.1472702,"cg_dv":50.1864471,"cg_dw":49.8135529,"cg_id_a":-0.243334562,"cg_id_raw_a":-0.283750862,"cg_iq_a":-0.241928518,"cg_iq_raw_a":-0.35500139,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.8672733,"cg_sample_seq":14250621,"cg_sample_valid":1,"cg_theta_rad":5.00702763,"cg_vd_req_v":0.0660800263,"cg_vd_v":0.0660800263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336012989,"cg_vq_v":-0.336012989,"cg_vu_v":19.3552723,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.897705,"values":{"Elec_RPM":-8.41935977e-14,"EncoderCos":38730,"EncoderSin":12503,"GapTicks":54794,"Mech_RPM":-1.68387202e-14,"cg_du":50.1517258,"cg_dv":50.1865921,"cg_dw":49.8134079,"cg_id_a":-0.0383236706,"cg_id_raw_a":0.397170752,"cg_iq_a":0.0332195163,"cg_iq_raw_a":-0.690203071,"cg_iu_a":0.981116891,"cg_iv_a":0.467836142,"cg_iw_a":-1.44895303,"cg_sample_age_us":23.9836369,"cg_sample_seq":14250667,"cg_sample_valid":1,"cg_theta_rad":5.00738049,"cg_vd_req_v":0.0608552843,"cg_vd_v":0.0608552843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339057356,"cg_vq_v":-0.339057356,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.905518,"values":{"Elec_RPM":-8.25097233e-14,"EncoderCos":38702,"EncoderSin":12501,"GapTicks":54792,"Mech_RPM":-1.6501945e-14,"cg_du":50.152626,"cg_dv":50.1884727,"cg_dw":49.8115273,"cg_id_a":-0.0474985018,"cg_id_raw_a":0.31531167,"cg_iq_a":0.0785785168,"cg_iq_raw_a":0.177953795,"cg_iu_a":0.111264944,"cg_iv_a":-0.510747433,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14250717,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0641905144,"cg_vd_v":0.0641905144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341712892,"cg_vq_v":-0.341712892,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.51557636,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.91333,"values":{"Elec_RPM":-8.25097233e-14,"EncoderCos":38696,"EncoderSin":12468,"GapTicks":54793,"Mech_RPM":-1.6501945e-14,"cg_du":50.1472015,"cg_dv":50.1877365,"cg_dw":49.8122635,"cg_id_a":-0.308023453,"cg_id_raw_a":-0.313165486,"cg_iq_a":0.00637511723,"cg_iq_raw_a":-0.869639695,"cg_iu_a":1.0536046,"cg_iv_a":-0.402015924,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9654541,"cg_sample_seq":14250767,"cg_sample_valid":1,"cg_theta_rad":5.00918722,"cg_vd_req_v":0.0691552758,"cg_vd_v":0.0691552758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33843556,"cg_vq_v":-0.33843556,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.14798045,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.925049,"values":{"Elec_RPM":-8.0859527e-14,"EncoderCos":38691,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-1.61719054e-14,"cg_du":50.1476746,"cg_dv":50.1885071,"cg_dw":49.8114929,"cg_id_a":-0.325132579,"cg_id_raw_a":-0.158234537,"cg_iq_a":0.0607637018,"cg_iq_raw_a":0.275904834,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9618187,"cg_sample_seq":14250817,"cg_sample_valid":1,"cg_theta_rad":5.00763559,"cg_vd_req_v":0.0694154352,"cg_vd_v":0.0694154352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338701695,"cg_vq_v":-0.338701695,"cg_vu_v":127.568848,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.932861,"values":{"Elec_RPM":-8.0859527e-14,"EncoderCos":38732,"EncoderSin":12513,"GapTicks":54783,"Mech_RPM":-1.61719054e-14,"cg_du":50.1501312,"cg_dv":50.1966667,"cg_dw":49.8033333,"cg_id_a":-0.374551296,"cg_id_raw_a":0.0575616881,"cg_iq_a":0.738096356,"cg_iq_raw_a":0.479261875,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14250866,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0714399964,"cg_vd_v":0.0714399964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35198465,"cg_vq_v":-0.35198465,"cg_vu_v":139.445938,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.940674,"values":{"Elec_RPM":-7.92423378e-14,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54790,"Mech_RPM":-1.58484676e-14,"cg_du":50.1499138,"cg_dv":50.1900787,"cg_dw":49.8099213,"cg_id_a":-0.0625724569,"cg_id_raw_a":0.829527438,"cg_iq_a":0.285058975,"cg_iq_raw_a":0.954679608,"cg_iu_a":0.256240368,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9872723,"cg_sample_seq":14250916,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0667497739,"cg_vd_v":0.0667497739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3425861,"cg_vq_v":-0.3425861,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2576.948486,"values":{"Elec_RPM":-7.92423378e-14,"EncoderCos":38722,"EncoderSin":12497,"GapTicks":54791,"Mech_RPM":-1.58484676e-14,"cg_du":50.1670914,"cg_dv":50.1894836,"cg_dw":49.8105164,"cg_id_a":0.710083604,"cg_id_raw_a":0.809802651,"cg_iq_a":0.732281744,"cg_iq_raw_a":1.17034519,"cg_iu_a":-0.214929581,"cg_iv_a":0.612811387,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9872723,"cg_sample_seq":14250966,"cg_sample_valid":1,"cg_theta_rad":5.00775003,"cg_vd_req_v":0.052493766,"cg_vd_v":0.052493766,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352521598,"cg_vq_v":-0.352521598,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.956299,"values":{"Elec_RPM":-7.76574849e-14,"EncoderCos":38722,"EncoderSin":12490,"GapTicks":54797,"Mech_RPM":-1.55314977e-14,"cg_du":50.148716,"cg_dv":50.1840477,"cg_dw":49.8159523,"cg_id_a":0.227254212,"cg_id_raw_a":-0.0208171923,"cg_iq_a":-0.167144835,"cg_iq_raw_a":-0.0376029871,"cg_iu_a":-1.26600075,"cg_iv_a":0.975249767,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14251016,"cg_sample_valid":1,"cg_theta_rad":5.00788021,"cg_vd_req_v":0.0618586913,"cg_vd_v":0.0618586913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334754944,"cg_vq_v":-0.334754944,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.964111,"values":{"Elec_RPM":-7.76574849e-14,"EncoderCos":38707,"EncoderSin":12493,"GapTicks":54793,"Mech_RPM":-1.55314977e-14,"cg_du":50.1484795,"cg_dv":50.1878204,"cg_dw":49.8121796,"cg_id_a":-0.00628562272,"cg_id_raw_a":-0.0493083075,"cg_iq_a":0.0362571776,"cg_iq_raw_a":0.250865906,"cg_iu_a":-0.613611698,"cg_iv_a":-0.00333380699,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14251066,"cg_sample_valid":1,"cg_theta_rad":5.00610161,"cg_vd_req_v":0.0668032467,"cg_vd_v":0.0668032467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339558005,"cg_vq_v":-0.339558005,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2576.97583,"values":{"Elec_RPM":-7.61043382e-14,"EncoderCos":38714,"EncoderSin":12482,"GapTicks":54792,"Mech_RPM":-1.5220867e-14,"cg_du":50.1472168,"cg_dv":50.1886024,"cg_dw":49.8113976,"cg_id_a":-0.0121141523,"cg_id_raw_a":-0.152770624,"cg_iq_a":0.199511915,"cg_iq_raw_a":0.0222022831,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9763641,"cg_sample_seq":14251116,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0680726171,"cg_vd_v":0.0680726171,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338939905,"cg_vq_v":-0.338939905,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2576.982659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2576.982662,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2576.982666,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2577.003174,"values":{"Elec_RPM":-7.61043382e-14,"EncoderCos":38726,"EncoderSin":12469,"GapTicks":54793,"Mech_RPM":-1.5220867e-14,"cg_du":50.1450119,"cg_dv":50.1875687,"cg_dw":49.8124313,"cg_id_a":-0.0498687401,"cg_id_raw_a":-0.80179435,"cg_iq_a":-0.0136250705,"cg_iq_raw_a":-0.440663934,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528213,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14251170,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.0681761205,"cg_vd_v":0.0681761205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336420625,"cg_vq_v":-0.336420625,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.010986,"values":{"Elec_RPM":-7.45822539e-14,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54795,"Mech_RPM":-1.49164501e-14,"cg_du":50.1434021,"cg_dv":50.1855278,"cg_dw":49.8144722,"cg_id_a":-0.181051672,"cg_id_raw_a":0.00874301139,"cg_iq_a":-0.254153997,"cg_iq_raw_a":0.293153614,"cg_iu_a":0.473703146,"cg_iv_a":-0.619478941,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9581814,"cg_sample_seq":14251217,"cg_sample_valid":1,"cg_theta_rad":5.00834846,"cg_vd_req_v":0.0693037435,"cg_vd_v":0.0693037435,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332362622,"cg_vq_v":-0.332362622,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.018799,"values":{"Elec_RPM":-7.45822539e-14,"EncoderCos":38704,"EncoderSin":12491,"GapTicks":54802,"Mech_RPM":-1.49164501e-14,"cg_du":50.144104,"cg_dv":50.1791306,"cg_dw":49.8208694,"cg_id_a":0.168780178,"cg_id_raw_a":-0.148386598,"cg_iq_a":-0.693398058,"cg_iq_raw_a":-0.232580304,"cg_iu_a":0.0750210285,"cg_iv_a":0.504079938,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.9618187,"cg_sample_seq":14251267,"cg_sample_valid":1,"cg_theta_rad":5.00696135,"cg_vd_req_v":0.0618340001,"cg_vd_v":0.0618340001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324222118,"cg_vq_v":-0.324222118,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.030518,"values":{"Elec_RPM":-7.30906085e-14,"EncoderCos":38693,"EncoderSin":12479,"GapTicks":54799,"Mech_RPM":-1.46181217e-14,"cg_du":50.1447945,"cg_dv":50.182415,"cg_dw":49.817585,"cg_id_a":-0.0444663763,"cg_id_raw_a":0.265595615,"cg_iq_a":-0.594338834,"cg_iq_raw_a":0.246875197,"cg_iu_a":0.509947062,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9581814,"cg_sample_seq":14251317,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.0655872151,"cg_vd_v":0.0655872151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328848898,"cg_vq_v":-0.328848898,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.03833,"values":{"Elec_RPM":-7.16287991e-14,"EncoderCos":38694,"EncoderSin":12453,"GapTicks":54796,"Mech_RPM":-1.43257598e-14,"cg_du":50.1530495,"cg_dv":50.1847916,"cg_dw":49.8152084,"cg_id_a":0.0612404048,"cg_id_raw_a":-0.0337479115,"cg_iq_a":-0.0397301465,"cg_iq_raw_a":-0.51293534,"cg_iu_a":0.79989779,"cg_iv_a":0.250373006,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.8309097,"cg_sample_seq":14251416,"cg_sample_valid":1,"cg_theta_rad":5.00795174,"cg_vd_req_v":0.0619913712,"cg_vd_v":0.0619913712,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336641759,"cg_vq_v":-0.336641759,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.046143,"values":{"Elec_RPM":-7.16287991e-14,"EncoderCos":38724,"EncoderSin":12497,"GapTicks":54793,"Mech_RPM":-1.43257598e-14,"cg_du":50.1561813,"cg_dv":50.1876068,"cg_dw":49.8123932,"cg_id_a":0.224194527,"cg_id_raw_a":-0.152696311,"cg_iq_a":0.0408277661,"cg_iq_raw_a":0.0227080584,"cg_iu_a":-0.794830799,"cg_iv_a":0.105397701,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14251466,"cg_sample_valid":1,"cg_theta_rad":5.00704956,"cg_vd_req_v":0.0589374416,"cg_vd_v":0.0589374416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34281978,"cg_vq_v":-0.34281978,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.053955,"values":{"Elec_RPM":-7.01962224e-14,"EncoderCos":38716,"EncoderSin":12497,"GapTicks":54795,"Mech_RPM":-1.4039245e-14,"cg_du":50.1446724,"cg_dv":50.1863213,"cg_dw":49.8136787,"cg_id_a":-0.166216999,"cg_id_raw_a":0.361105263,"cg_iq_a":-0.317135364,"cg_iq_raw_a":-0.0734745115,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065256,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9836369,"cg_sample_seq":14251517,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0673501566,"cg_vd_v":0.0673501566,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334513098,"cg_vq_v":-0.334513098,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.061768,"values":{"Elec_RPM":-7.01962224e-14,"EncoderCos":38700,"EncoderSin":12485,"GapTicks":54795,"Mech_RPM":-1.4039245e-14,"cg_du":50.1485672,"cg_dv":50.1860542,"cg_dw":49.8139458,"cg_id_a":-0.14474456,"cg_id_raw_a":-0.162693635,"cg_iq_a":-0.114109218,"cg_iq_raw_a":-0.0885398984,"cg_iu_a":0.0387773514,"cg_iv_a":0.57656765,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9654541,"cg_sample_seq":14251566,"cg_sample_valid":1,"cg_theta_rad":5.00653744,"cg_vd_req_v":0.0657335669,"cg_vd_v":0.0657335669,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337066621,"cg_vq_v":-0.337066621,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8796787,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.06958,"values":{"Elec_RPM":-6.87923026e-14,"EncoderCos":38701,"EncoderSin":12464,"GapTicks":54794,"Mech_RPM":-1.37584603e-14,"cg_du":50.1480865,"cg_dv":50.1867943,"cg_dw":49.8132057,"cg_id_a":-0.145625412,"cg_id_raw_a":-0.10849154,"cg_iq_a":-0.205864429,"cg_iq_raw_a":-0.411095023,"cg_iu_a":0.473703384,"cg_iv_a":0.322860777,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9836369,"cg_sample_seq":14251616,"cg_sample_valid":1,"cg_theta_rad":5.00528574,"cg_vd_req_v":0.0670408159,"cg_vd_v":0.0670408159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336691529,"cg_vq_v":-0.336691529,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.10083,"values":{"Elec_RPM":-6.87923026e-14,"EncoderCos":38726,"EncoderSin":12501,"GapTicks":54792,"Mech_RPM":-1.37584603e-14,"cg_du":50.148922,"cg_dv":50.188755,"cg_dw":49.811245,"cg_id_a":-0.0808923542,"cg_id_raw_a":0.00249524671,"cg_iq_a":-0.124946259,"cg_iq_raw_a":-0.508623242,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503517,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14251671,"cg_sample_valid":1,"cg_theta_rad":5.00622416,"cg_vd_req_v":0.0655087084,"cg_vd_v":0.0655087084,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340375662,"cg_vq_v":-0.340375662,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.108643,"values":{"Elec_RPM":-6.74164568e-14,"EncoderCos":38736,"EncoderSin":12513,"GapTicks":54782,"Mech_RPM":-1.34832915e-14,"cg_du":50.156002,"cg_dv":50.1981506,"cg_dw":49.8018494,"cg_id_a":-0.183525324,"cg_id_raw_a":0.0799456686,"cg_iq_a":0.502002835,"cg_iq_raw_a":0.699572265,"cg_iu_a":-0.831074715,"cg_iv_a":-0.691966653,"cg_iw_a":1.52304137,"cg_sample_age_us":23.9909096,"cg_sample_seq":14251717,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0679185912,"cg_vd_v":0.0679185912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35734117,"cg_vq_v":-0.35734117,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.8238831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.116455,"values":{"Elec_RPM":-6.60681294e-14,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-1.32136259e-14,"cg_du":50.1483192,"cg_dv":50.1892776,"cg_dw":49.8107224,"cg_id_a":-0.0852907747,"cg_id_raw_a":-0.326290399,"cg_iq_a":-0.508127809,"cg_iq_raw_a":0.0786823332,"cg_iu_a":0.509947062,"cg_iv_a":0.431592286,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9763641,"cg_sample_seq":14251816,"cg_sample_valid":1,"cg_theta_rad":5.00701237,"cg_vd_req_v":0.0671114251,"cg_vd_v":0.0671114251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340625793,"cg_vq_v":-0.340625793,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.774807,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.124268,"values":{"Elec_RPM":-6.60681294e-14,"EncoderCos":38703,"EncoderSin":12483,"GapTicks":54791,"Mech_RPM":-1.32136259e-14,"cg_du":50.1594734,"cg_dv":50.1897202,"cg_dw":49.8102798,"cg_id_a":0.271305054,"cg_id_raw_a":0.246388718,"cg_iq_a":-0.117566653,"cg_iq_raw_a":0.0256338511,"cg_iu_a":-0.39614892,"cg_iv_a":0.177885473,"cg_iw_a":0.218263447,"cg_sample_age_us":23.8745461,"cg_sample_seq":14251866,"cg_sample_valid":1,"cg_theta_rad":5.00648403,"cg_vd_req_v":0.060389407,"cg_vd_v":0.060389407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347201049,"cg_vq_v":-0.347201049,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.13208,"values":{"Elec_RPM":-6.47467648e-14,"EncoderCos":38728,"EncoderSin":12483,"GapTicks":54787,"Mech_RPM":-1.29493533e-14,"cg_du":50.1487656,"cg_dv":50.1933708,"cg_dw":49.8066292,"cg_id_a":-0.273692608,"cg_id_raw_a":-1.09937131,"cg_iq_a":-0.0077593606,"cg_iq_raw_a":0.915726423,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14251916,"cg_sample_valid":1,"cg_theta_rad":5.00563622,"cg_vd_req_v":0.0703693554,"cg_vd_v":0.0703693554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346521199,"cg_vq_v":-0.346521199,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.143799,"values":{"Elec_RPM":-6.47467648e-14,"EncoderCos":38714,"EncoderSin":12456,"GapTicks":54787,"Mech_RPM":-1.29493533e-14,"cg_du":50.1497498,"cg_dv":50.192791,"cg_dw":49.807209,"cg_id_a":-0.207825348,"cg_id_raw_a":-0.237175867,"cg_iq_a":-0.0564590544,"cg_iq_raw_a":-0.60574317,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.90942955,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9836369,"cg_sample_seq":14251966,"cg_sample_valid":1,"cg_theta_rad":5.00621223,"cg_vd_req_v":0.0707802773,"cg_vd_v":0.0707802773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345926821,"cg_vq_v":-0.345926821,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.151611,"values":{"Elec_RPM":-6.34518344e-14,"EncoderCos":38706,"EncoderSin":12468,"GapTicks":54793,"Mech_RPM":-1.26903662e-14,"cg_du":50.1503983,"cg_dv":50.1879501,"cg_dw":49.8120499,"cg_id_a":-0.00322959572,"cg_id_raw_a":0.12875779,"cg_iq_a":-0.218160316,"cg_iq_raw_a":-0.0590320267,"cg_iu_a":0.654922485,"cg_iv_a":0.0691539049,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9690914,"cg_sample_seq":14252016,"cg_sample_valid":1,"cg_theta_rad":5.0088377,"cg_vd_req_v":0.0658870712,"cg_vd_v":0.0658870712,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339657038,"cg_vq_v":-0.339657038,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.159424,"values":{"Elec_RPM":-6.34518344e-14,"EncoderCos":38729,"EncoderSin":12504,"GapTicks":54782,"Mech_RPM":-1.26903662e-14,"cg_du":50.1616783,"cg_dv":50.1980247,"cg_dw":49.8019753,"cg_id_a":0.12353617,"cg_id_raw_a":-0.0398780145,"cg_iq_a":0.787824869,"cg_iq_raw_a":0.615904987,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9909096,"cg_sample_seq":14252066,"cg_sample_valid":1,"cg_theta_rad":5.0065608,"cg_vd_req_v":0.0641242787,"cg_vd_v":0.0641242787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360185593,"cg_vq_v":-0.360185593,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.167236,"values":{"Elec_RPM":-6.21827961e-14,"EncoderCos":38715,"EncoderSin":12476,"GapTicks":54796,"Mech_RPM":-1.24365587e-14,"cg_du":50.1453934,"cg_dv":50.1854286,"cg_dw":49.8145714,"cg_id_a":-0.00529170781,"cg_id_raw_a":0.544009864,"cg_iq_a":-0.316577286,"cg_iq_raw_a":-1.07460499,"cg_iu_a":0.219996452,"cg_iv_a":0.794030666,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9618187,"cg_sample_seq":14252116,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.066475369,"cg_vd_v":0.066475369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333590418,"cg_vq_v":-0.333590418,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.19458,"values":{"Elec_RPM":-6.21827961e-14,"EncoderCos":38752,"EncoderSin":12509,"GapTicks":54795,"Mech_RPM":-1.24365587e-14,"cg_du":50.1426163,"cg_dv":50.1860962,"cg_dw":49.8139038,"cg_id_a":-0.0163437463,"cg_id_raw_a":0.0078993123,"cg_iq_a":-0.073511526,"cg_iq_raw_a":0.110645317,"cg_iu_a":0.0750210285,"cg_iv_a":-0.546991229,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8600006,"cg_sample_seq":14252171,"cg_sample_valid":1,"cg_theta_rad":5.00793171,"cg_vd_req_v":0.0659370646,"cg_vd_v":0.0659370646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334671319,"cg_vq_v":-0.334671319,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.206299,"values":{"Elec_RPM":-6.09391349e-14,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54793,"Mech_RPM":-1.21878275e-14,"cg_du":50.1624374,"cg_dv":50.187851,"cg_dw":49.812149,"cg_id_a":0.456743002,"cg_id_raw_a":-0.0493441038,"cg_iq_a":0.681617141,"cg_iq_raw_a":0.250858754,"cg_iu_a":-0.359904766,"cg_iv_a":0.105397761,"cg_iw_a":0.254507005,"cg_sample_age_us":23.8600006,"cg_sample_seq":14252216,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0559095889,"cg_vd_v":0.0559095889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34746778,"cg_vq_v":-0.34746778,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.6865044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5616455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.214111,"values":{"Elec_RPM":-6.09391349e-14,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54797,"Mech_RPM":-1.21878275e-14,"cg_du":50.1383858,"cg_dv":50.1839828,"cg_dw":49.8160172,"cg_id_a":-0.189809233,"cg_id_raw_a":-0.510356069,"cg_iq_a":-0.300412059,"cg_iq_raw_a":0.0231463239,"cg_iu_a":0.691166282,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9581814,"cg_sample_seq":14252267,"cg_sample_valid":1,"cg_theta_rad":5.00762844,"cg_vd_req_v":0.0707078353,"cg_vd_v":0.0707078353,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327660024,"cg_vq_v":-0.327660024,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5616455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.221924,"values":{"Elec_RPM":-5.97203561e-14,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54794,"Mech_RPM":-1.19440709e-14,"cg_du":50.1396408,"cg_dv":50.1872597,"cg_dw":49.8127403,"cg_id_a":-0.243934274,"cg_id_raw_a":-0.548986733,"cg_iq_a":0.0415697359,"cg_iq_raw_a":-0.232835501,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9581814,"cg_sample_seq":14252316,"cg_sample_valid":1,"cg_theta_rad":5.00771952,"cg_vd_req_v":0.0715104416,"cg_vd_v":0.0715104416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334178001,"cg_vq_v":-0.334178001,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.589386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.229736,"values":{"Elec_RPM":-5.97203561e-14,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54793,"Mech_RPM":-1.19440709e-14,"cg_du":50.1404037,"cg_dv":50.1876488,"cg_dw":49.8123512,"cg_id_a":-0.275039732,"cg_id_raw_a":0.262717277,"cg_iq_a":-0.0709385946,"cg_iq_raw_a":-0.555624545,"cg_iu_a":0.872385502,"cg_iv_a":-0.474503517,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9872723,"cg_sample_seq":14252366,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0731907338,"cg_vd_v":0.0731907338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333662361,"cg_vq_v":-0.333662361,"cg_vu_v":26.3935547,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.589386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.237549,"values":{"Elec_RPM":-5.85259516e-14,"EncoderCos":38705,"EncoderSin":12502,"GapTicks":54793,"Mech_RPM":-1.17051898e-14,"cg_du":50.1357803,"cg_dv":50.1874352,"cg_dw":49.8125648,"cg_id_a":-0.281805247,"cg_id_raw_a":0.204786122,"cg_iq_a":-0.109042071,"cg_iq_raw_a":0.0210775398,"cg_iu_a":1.0536046,"cg_iv_a":-1.01816106,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14252416,"cg_sample_valid":1,"cg_theta_rad":5.00699759,"cg_vd_req_v":0.0761271045,"cg_vd_v":0.0761271045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330875009,"cg_vq_v":-0.330875009,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.245361,"values":{"Elec_RPM":-5.85259516e-14,"EncoderCos":38735,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-1.17051898e-14,"cg_du":50.1400986,"cg_dv":50.1930695,"cg_dw":49.8069305,"cg_id_a":-0.209056795,"cg_id_raw_a":0.0393413752,"cg_iq_a":0.245442986,"cg_iq_raw_a":0.441316485,"cg_iu_a":0.473703265,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9363632,"cg_sample_seq":14252466,"cg_sample_valid":1,"cg_theta_rad":5.00886345,"cg_vd_req_v":0.0764174983,"cg_vd_v":0.0764174983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341367215,"cg_vq_v":-0.341367215,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.25708,"values":{"Elec_RPM":-5.73554333e-14,"EncoderCos":38706,"EncoderSin":12462,"GapTicks":54784,"Mech_RPM":-1.1471086e-14,"cg_du":50.1449432,"cg_dv":50.1959419,"cg_dw":49.8040581,"cg_id_a":-0.294770062,"cg_id_raw_a":-0.258292943,"cg_iq_a":0.29999277,"cg_iq_raw_a":-0.389725447,"cg_iu_a":0.473703384,"cg_iv_a":-0.474503636,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14252516,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0781080499,"cg_vd_v":0.0781080499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347387075,"cg_vq_v":-0.347387075,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.264893,"values":{"Elec_RPM":-5.73554333e-14,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54794,"Mech_RPM":-1.1471086e-14,"cg_du":50.1319313,"cg_dv":50.1866417,"cg_dw":49.8133583,"cg_id_a":-0.264466703,"cg_id_raw_a":-0.0867555961,"cg_iq_a":-0.520656705,"cg_iq_raw_a":-0.00765570765,"cg_iu_a":0.473703384,"cg_iv_a":0.612811446,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14252566,"cg_sample_valid":1,"cg_theta_rad":5.00450325,"cg_vd_req_v":0.0778917745,"cg_vd_v":0.0778917745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327749312,"cg_vq_v":-0.327749312,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5975037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.272705,"values":{"Elec_RPM":-5.62083237e-14,"EncoderCos":38716,"EncoderSin":12511,"GapTicks":54794,"Mech_RPM":-1.12416646e-14,"cg_du":50.142765,"cg_dv":50.186779,"cg_dw":49.813221,"cg_id_a":0.173675224,"cg_id_raw_a":0.41973269,"cg_iq_a":-0.200985789,"cg_iq_raw_a":-0.905626357,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8781815,"cg_sample_seq":14252616,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0691771209,"cg_vd_v":0.0691771209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335146904,"cg_vq_v":-0.335146904,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.300049,"values":{"Elec_RPM":-5.50841585e-14,"EncoderCos":38742,"EncoderSin":12486,"GapTicks":54772,"Mech_RPM":-1.10168315e-14,"cg_du":50.1592522,"cg_dv":50.2064247,"cg_dw":49.7935753,"cg_id_a":0.0389191583,"cg_id_raw_a":-0.0629654005,"cg_iq_a":1.29705667,"cg_iq_raw_a":0.6501562,"cg_iu_a":-0.0699541569,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9618187,"cg_sample_seq":14252716,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0735174865,"cg_vd_v":0.0735174865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370411903,"cg_vq_v":-0.370411903,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.307861,"values":{"Elec_RPM":-5.50841585e-14,"EncoderCos":38704,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-1.10168315e-14,"cg_du":50.1494713,"cg_dv":50.1967278,"cg_dw":49.8032722,"cg_id_a":0.00367942825,"cg_id_raw_a":-0.383047104,"cg_iq_a":0.20975697,"cg_iq_raw_a":-0.402557492,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9581814,"cg_sample_seq":14252766,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0756946504,"cg_vd_v":0.0756946504,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352044433,"cg_vq_v":-0.352044433,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.31958,"values":{"Elec_RPM":-5.39824736e-14,"EncoderCos":38740,"EncoderSin":12490,"GapTicks":54783,"Mech_RPM":-1.07964946e-14,"cg_du":50.1503296,"cg_dv":50.1969223,"cg_dw":49.8030777,"cg_id_a":0.233545214,"cg_id_raw_a":-0.0541020557,"cg_iq_a":0.214977607,"cg_iq_raw_a":0.32340312,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14252816,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0714486092,"cg_vd_v":0.0714486092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352459759,"cg_vq_v":-0.352459759,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.327393,"values":{"Elec_RPM":-5.39824736e-14,"EncoderCos":38714,"EncoderSin":12495,"GapTicks":54788,"Mech_RPM":-1.07964946e-14,"cg_du":50.1360054,"cg_dv":50.192318,"cg_dw":49.807682,"cg_id_a":-0.0849213451,"cg_id_raw_a":-0.0792131647,"cg_iq_a":-0.634884834,"cg_iq_raw_a":-0.516728103,"cg_iu_a":0.654922485,"cg_iv_a":0.540323853,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9654541,"cg_sample_seq":14252867,"cg_sample_valid":1,"cg_theta_rad":5.00868177,"cg_vd_req_v":0.0801812261,"cg_vd_v":0.0801812261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337761492,"cg_vq_v":-0.337761492,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.335205,"values":{"Elec_RPM":-5.29028251e-14,"EncoderCos":38732,"EncoderSin":12535,"GapTicks":54784,"Mech_RPM":-1.05805647e-14,"cg_du":50.1327972,"cg_dv":50.1955376,"cg_dw":49.8044624,"cg_id_a":-0.130063981,"cg_id_raw_a":-0.358971059,"cg_iq_a":-0.630909026,"cg_iq_raw_a":-0.250032514,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129329,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9509087,"cg_sample_seq":14252917,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0834894031,"cg_vd_v":0.0834894031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340916574,"cg_vq_v":-0.340916574,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.343018,"values":{"Elec_RPM":-5.29028251e-14,"EncoderCos":38748,"EncoderSin":12502,"GapTicks":54779,"Mech_RPM":-1.05805647e-14,"cg_du":50.1378899,"cg_dv":50.2004776,"cg_dw":49.7995224,"cg_id_a":-0.132772639,"cg_id_raw_a":-0.625368237,"cg_iq_a":-0.192751467,"cg_iq_raw_a":-0.564358354,"cg_iu_a":-0.106198072,"cg_iv_a":0.830274463,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14252967,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0837502629,"cg_vd_v":0.0837502629,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350609392,"cg_vq_v":-0.350609392,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.35083,"values":{"Elec_RPM":-5.18447657e-14,"EncoderCos":38721,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-1.0368953e-14,"cg_du":50.1475258,"cg_dv":50.2076569,"cg_dw":49.7923431,"cg_id_a":-0.202008665,"cg_id_raw_a":-0.0756606832,"cg_iq_a":0.43659088,"cg_iq_raw_a":-0.334401011,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616862,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9581814,"cg_sample_seq":14253016,"cg_sample_valid":1,"cg_theta_rad":5.00776243,"cg_vd_req_v":0.0863705873,"cg_vd_v":0.0863705873,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3650015,"cg_vq_v":-0.3650015,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.358643,"values":{"Elec_RPM":-5.18447657e-14,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-1.0368953e-14,"cg_du":50.1408195,"cg_dv":50.1966362,"cg_dw":49.8033638,"cg_id_a":0.0845181867,"cg_id_raw_a":-0.128364101,"cg_iq_a":-0.528232098,"cg_iq_raw_a":-0.0121962056,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.863636,"cg_sample_seq":14253066,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.0821713954,"cg_vd_v":0.0821713954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347073972,"cg_vq_v":-0.347073972,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.370361,"values":{"Elec_RPM":-5.08078687e-14,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-1.01615739e-14,"cg_du":50.1387291,"cg_dv":50.1991234,"cg_dw":49.8008766,"cg_id_a":-0.146958917,"cg_id_raw_a":-0.221802697,"cg_iq_a":-0.358994484,"cg_iq_raw_a":-0.750272691,"cg_iu_a":1.2710675,"cg_iv_a":-0.619478822,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9872723,"cg_sample_seq":14253116,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.086283423,"cg_vd_v":0.086283423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349263728,"cg_vq_v":-0.349263728,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.3853531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.397705,"values":{"Elec_RPM":-4.97917137e-14,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-9.95834274e-15,"cg_du":50.1437302,"cg_dv":50.2012138,"cg_dw":49.7987862,"cg_id_a":-0.021033477,"cg_id_raw_a":0.424290955,"cg_iq_a":0.0712909698,"cg_iq_raw_a":-0.285040736,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":26.1327267,"cg_sample_seq":14253218,"cg_sample_valid":1,"cg_theta_rad":5.00623274,"cg_vd_req_v":0.0832626075,"cg_vd_v":0.0832626075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354070634,"cg_vq_v":-0.354070634,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1100407,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5812378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.405518,"values":{"Elec_RPM":-4.97917137e-14,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-9.95834274e-15,"cg_du":50.1422577,"cg_dv":50.1976242,"cg_dw":49.8023758,"cg_id_a":0.0144039392,"cg_id_raw_a":0.194509685,"cg_iq_a":-0.216435224,"cg_iq_raw_a":-0.0895449519,"cg_iu_a":-0.178685904,"cg_iv_a":-0.619478941,"cg_iw_a":0.798164845,"cg_sample_age_us":23.9618187,"cg_sample_seq":14253266,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0805801526,"cg_vd_v":0.0805801526,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349565268,"cg_vq_v":-0.349565268,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.41333,"values":{"Elec_RPM":-4.87958774e-14,"EncoderCos":38743,"EncoderSin":12491,"GapTicks":54777,"Mech_RPM":-9.75917565e-15,"cg_du":50.143383,"cg_dv":50.2024117,"cg_dw":49.7975883,"cg_id_a":-0.14743194,"cg_id_raw_a":0.365087777,"cg_iq_a":0.0757865757,"cg_iq_raw_a":0.106827609,"cg_iu_a":-0.287417412,"cg_iv_a":0.21412921,"cg_iw_a":0.0732882023,"cg_sample_age_us":23.9581814,"cg_sample_seq":14253316,"cg_sample_valid":1,"cg_theta_rad":5.00655222,"cg_vd_req_v":0.081949763,"cg_vd_v":0.081949763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356147915,"cg_vq_v":-0.356147915,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.421143,"values":{"Elec_RPM":-4.87958774e-14,"EncoderCos":38708,"EncoderSin":12484,"GapTicks":54784,"Mech_RPM":-9.75917565e-15,"cg_du":50.1524773,"cg_dv":50.195713,"cg_dw":49.804287,"cg_id_a":0.406120569,"cg_id_raw_a":0.701629877,"cg_iq_a":-0.233369648,"cg_iq_raw_a":0.944808304,"cg_iu_a":0.328727961,"cg_iv_a":0.250373125,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8600006,"cg_sample_seq":14253366,"cg_sample_valid":1,"cg_theta_rad":5.00817442,"cg_vd_req_v":0.0712957382,"cg_vd_v":0.0712957382,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351470113,"cg_vq_v":-0.351470113,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5926208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.432861,"values":{"Elec_RPM":-4.78199599e-14,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-9.56399216e-15,"cg_du":50.1581535,"cg_dv":50.2058945,"cg_dw":49.7941055,"cg_id_a":0.217079133,"cg_id_raw_a":-0.0138201658,"cg_iq_a":0.671272457,"cg_iq_raw_a":-0.109768994,"cg_iu_a":0.473703384,"cg_iv_a":-0.474503517,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9618187,"cg_sample_seq":14253416,"cg_sample_valid":1,"cg_theta_rad":5.00618029,"cg_vd_req_v":0.0757030398,"cg_vd_v":0.0757030398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36870569,"cg_vq_v":-0.36870569,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.492976904,"dclink_p_w":-71.3459091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5926208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.440674,"values":{"Elec_RPM":-4.78199599e-14,"EncoderCos":38715,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-9.56399216e-15,"cg_du":50.1617126,"cg_dv":50.2081985,"cg_dw":49.7918015,"cg_id_a":0.21729511,"cg_id_raw_a":-0.0838803798,"cg_iq_a":1.00464082,"cg_iq_raw_a":0.174564525,"cg_iu_a":-1.41097593,"cg_iv_a":0.0691540241,"cg_iw_a":1.34182191,"cg_sample_age_us":23.9836369,"cg_sample_seq":14253466,"cg_sample_valid":1,"cg_theta_rad":5.00831795,"cg_vd_req_v":0.0764849707,"cg_vd_v":0.0764849707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374746263,"cg_vq_v":-0.374746263,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5926208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.448486,"values":{"Elec_RPM":-4.68635615e-14,"EncoderCos":38726,"EncoderSin":12503,"GapTicks":54771,"Mech_RPM":-9.37271263e-15,"cg_du":50.1476212,"cg_dv":50.2078819,"cg_dw":49.7921181,"cg_id_a":-0.184892118,"cg_id_raw_a":0.30951184,"cg_iq_a":0.410550505,"cg_iq_raw_a":0.248353899,"cg_iu_a":0.0387773514,"cg_iv_a":-0.800697982,"cg_iw_a":0.761920631,"cg_sample_age_us":23.9836369,"cg_sample_seq":14253516,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.0849915966,"cg_vd_v":0.0849915966,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365718842,"cg_vq_v":-0.365718842,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.53646946,"dclink_p_w":-77.640358,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.456299,"values":{"Elec_RPM":-4.68635615e-14,"EncoderCos":38722,"EncoderSin":12470,"GapTicks":54778,"Mech_RPM":-9.37271263e-15,"cg_du":50.1489944,"cg_dv":50.2017021,"cg_dw":49.7982979,"cg_id_a":0.0204309449,"cg_id_raw_a":0.507166386,"cg_iq_a":-0.18831104,"cg_iq_raw_a":-0.277576476,"cg_iu_a":0.61867857,"cg_iv_a":0.10539782,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9763641,"cg_sample_seq":14253566,"cg_sample_valid":1,"cg_theta_rad":5.00763273,"cg_vd_req_v":0.0790677145,"cg_vd_v":0.0790677145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357811511,"cg_vq_v":-0.357811511,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.6040649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.464111,"values":{"Elec_RPM":-4.59262924e-14,"EncoderCos":38729,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-9.18525831e-15,"cg_du":50.1517029,"cg_dv":50.2064934,"cg_dw":49.7935066,"cg_id_a":-0.0703693777,"cg_id_raw_a":0.609361649,"cg_iq_a":0.220629752,"cg_iq_raw_a":1.51498318,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.112065315,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9763641,"cg_sample_seq":14253616,"cg_sample_valid":1,"cg_theta_rad":5.00666618,"cg_vd_req_v":0.0807667971,"cg_vd_v":0.0807667971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366032153,"cg_vq_v":-0.366032153,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.495361,"values":{"Elec_RPM":-4.59262924e-14,"EncoderCos":38729,"EncoderSin":12493,"GapTicks":54772,"Mech_RPM":-9.18525831e-15,"cg_du":50.1421471,"cg_dv":50.2064362,"cg_dw":49.7935638,"cg_id_a":-0.440798461,"cg_id_raw_a":0.0130740274,"cg_iq_a":0.0675707906,"cg_iq_raw_a":-0.398409545,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.8672733,"cg_sample_seq":14253671,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0879012868,"cg_vd_v":0.0879012868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360688895,"cg_vq_v":-0.360688895,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5828552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.503174,"values":{"Elec_RPM":-4.50077665e-14,"EncoderCos":38700,"EncoderSin":12515,"GapTicks":54781,"Mech_RPM":-9.00155296e-15,"cg_du":50.154583,"cg_dv":50.1988564,"cg_dw":49.8011436,"cg_id_a":0.228261262,"cg_id_raw_a":0.313782603,"cg_iq_a":-0.105092399,"cg_iq_raw_a":-0.441539139,"cg_iu_a":-0.50488019,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9618187,"cg_sample_seq":14253717,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0725997165,"cg_vd_v":0.0725997165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356943697,"cg_vq_v":-0.356943697,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5828552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.510986,"values":{"Elec_RPM":-4.50077665e-14,"EncoderCos":38695,"EncoderSin":12472,"GapTicks":54783,"Mech_RPM":-9.00155296e-15,"cg_du":50.1488266,"cg_dv":50.1972618,"cg_dw":49.8027382,"cg_id_a":-0.0205544867,"cg_id_raw_a":0.195972413,"cg_iq_a":-0.300871044,"cg_iq_raw_a":-0.707676351,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9872723,"cg_sample_seq":14253766,"cg_sample_valid":1,"cg_theta_rad":5.00821257,"cg_vd_req_v":0.0769947246,"cg_vd_v":0.0769947246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351227641,"cg_vq_v":-0.351227641,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.518799,"values":{"Elec_RPM":-4.4107611e-14,"EncoderCos":38684,"EncoderSin":12500,"GapTicks":54783,"Mech_RPM":-8.82152204e-15,"cg_du":50.1503601,"cg_dv":50.1969681,"cg_dw":49.8030319,"cg_id_a":0.0290310867,"cg_id_raw_a":0.293355495,"cg_iq_a":-0.16880624,"cg_iq_raw_a":-0.223770306,"cg_iu_a":0.401215553,"cg_iv_a":0.10539782,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9909096,"cg_sample_seq":14253816,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0759436563,"cg_vd_v":0.0759436563,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35272029,"cg_vq_v":-0.35272029,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.781115294,"dclink_p_w":-113.046638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5828552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.526611,"values":{"Elec_RPM":-4.4107611e-14,"EncoderCos":38694,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-8.82152204e-15,"cg_du":50.1444168,"cg_dv":50.198494,"cg_dw":49.801506,"cg_id_a":-0.284623921,"cg_id_raw_a":-0.0301698539,"cg_iq_a":-0.337067306,"cg_iq_raw_a":-0.148063183,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9327278,"cg_sample_seq":14253866,"cg_sample_valid":1,"cg_theta_rad":5.00661659,"cg_vd_req_v":0.081658259,"cg_vd_v":0.081658259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350398183,"cg_vq_v":-0.350398183,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5828552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.534424,"values":{"Elec_RPM":-4.32254601e-14,"EncoderCos":38719,"EncoderSin":12507,"GapTicks":54776,"Mech_RPM":-8.64509185e-15,"cg_du":50.1502228,"cg_dv":50.203331,"cg_dw":49.796669,"cg_id_a":-0.167175204,"cg_id_raw_a":0.579812706,"cg_iq_a":0.384441853,"cg_iq_raw_a":0.0561376289,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9509087,"cg_sample_seq":14253916,"cg_sample_valid":1,"cg_theta_rad":5.00696325,"cg_vd_req_v":0.0790173262,"cg_vd_v":0.0790173262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360865474,"cg_vq_v":-0.360865474,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.587738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.546143,"values":{"Elec_RPM":-4.32254601e-14,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54784,"Mech_RPM":-8.64509185e-15,"cg_du":50.1459846,"cg_dv":50.195797,"cg_dw":49.804203,"cg_id_a":0.0241037644,"cg_id_raw_a":-0.215415135,"cg_iq_a":-0.224306077,"cg_iq_raw_a":0.234787673,"cg_iu_a":0.328727961,"cg_iv_a":0.322860837,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.863636,"cg_sample_seq":14253966,"cg_sample_valid":1,"cg_theta_rad":5.00664377,"cg_vd_req_v":0.0756192654,"cg_vd_v":0.0756192654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348113954,"cg_vq_v":-0.348113954,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7449341,"temp_inv2_c":38.587738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.553955,"values":{"Elec_RPM":-4.23609512e-14,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54790,"Mech_RPM":-8.4721904e-15,"cg_du":50.1379166,"cg_dv":50.1904106,"cg_dw":49.8095894,"cg_id_a":-0.0557777621,"cg_id_raw_a":-0.261802822,"cg_iq_a":-0.550451279,"cg_iq_raw_a":-0.387376368,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14254016,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0753887817,"cg_vd_v":0.0753887817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33763665,"cg_vq_v":-0.33763665,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5730591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.561768,"values":{"Elec_RPM":-4.23609512e-14,"EncoderCos":38712,"EncoderSin":12492,"GapTicks":54788,"Mech_RPM":-8.4721904e-15,"cg_du":50.1440659,"cg_dv":50.1919899,"cg_dw":49.8080101,"cg_id_a":0.00614265539,"cg_id_raw_a":0.151334226,"cg_iq_a":-0.262678623,"cg_iq_raw_a":0.780420423,"cg_iu_a":0.14750886,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14254066,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0739821494,"cg_vd_v":0.0739821494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342828155,"cg_vq_v":-0.342828155,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.9843674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5339661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.573486,"values":{"Elec_RPM":-4.15137319e-14,"EncoderCos":38715,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-8.30274655e-15,"cg_du":50.146698,"cg_dv":50.2010422,"cg_dw":49.7989578,"cg_id_a":-0.349988759,"cg_id_raw_a":0.0493973829,"cg_iq_a":0.50497973,"cg_iq_raw_a":-0.322100759,"cg_iu_a":0.473703384,"cg_iv_a":0.39534843,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9872723,"cg_sample_seq":14254116,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.0809445083,"cg_vd_v":0.0809445083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356601506,"cg_vq_v":-0.356601506,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.9843674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5339661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.60083,"values":{"Elec_RPM":-4.15137319e-14,"EncoderCos":38756,"EncoderSin":12502,"GapTicks":54780,"Mech_RPM":-8.30274655e-15,"cg_du":50.1460915,"cg_dv":50.1994705,"cg_dw":49.8005295,"cg_id_a":-0.163254589,"cg_id_raw_a":0.181239039,"cg_iq_a":0.385248274,"cg_iq_raw_a":1.25360072,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.863636,"cg_sample_seq":14254171,"cg_sample_valid":1,"cg_theta_rad":5.00697327,"cg_vd_req_v":0.0756683052,"cg_vd_v":0.0756683052,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353922009,"cg_vq_v":-0.353922009,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.6725273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5795898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.608643,"values":{"Elec_RPM":-4.068346e-14,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54788,"Mech_RPM":-8.13669166e-15,"cg_du":50.1387444,"cg_dv":50.1919098,"cg_dw":49.8080902,"cg_id_a":-0.276428938,"cg_id_raw_a":-0.455115765,"cg_iq_a":-0.300825268,"cg_iq_raw_a":0.320636004,"cg_iu_a":0.61867857,"cg_iv_a":0.10539782,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.863636,"cg_sample_seq":14254216,"cg_sample_valid":1,"cg_theta_rad":5.00499058,"cg_vd_req_v":0.0776215494,"cg_vd_v":0.0776215494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338743776,"cg_vq_v":-0.338743776,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.7722931,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.574707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.616455,"values":{"Elec_RPM":-4.068346e-14,"EncoderCos":38732,"EncoderSin":12492,"GapTicks":54787,"Mech_RPM":-8.13669166e-15,"cg_du":50.1525421,"cg_dv":50.1936378,"cg_dw":49.8063622,"cg_id_a":0.204743147,"cg_id_raw_a":0.323157698,"cg_iq_a":0.256888449,"cg_iq_raw_a":0.103820309,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9654541,"cg_sample_seq":14254267,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0671263859,"cg_vd_v":0.0671263859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349099547,"cg_vq_v":-0.349099547,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.574707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.624268,"values":{"Elec_RPM":-3.986979e-14,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54794,"Mech_RPM":-7.973958e-15,"cg_du":50.1426239,"cg_dv":50.1870117,"cg_dw":49.8129883,"cg_id_a":0.0417153388,"cg_id_raw_a":-0.138716325,"cg_iq_a":-0.313725471,"cg_iq_raw_a":-0.121928066,"cg_iu_a":0.292484045,"cg_iv_a":0.395348489,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9218178,"cg_sample_seq":14254316,"cg_sample_valid":1,"cg_theta_rad":5.00716257,"cg_vd_req_v":0.0704749078,"cg_vd_v":0.0704749078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334126174,"cg_vq_v":-0.334126174,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.4364014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5453796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.63208,"values":{"Elec_RPM":-3.986979e-14,"EncoderCos":38699,"EncoderSin":12472,"GapTicks":54798,"Mech_RPM":-7.973958e-15,"cg_du":50.1432266,"cg_dv":50.1833229,"cg_dw":49.8166771,"cg_id_a":0.166579619,"cg_id_raw_a":-0.348944157,"cg_iq_a":-0.483165562,"cg_iq_raw_a":0.292955071,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528213,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9581814,"cg_sample_seq":14254367,"cg_sample_valid":1,"cg_theta_rad":5.00651598,"cg_vd_req_v":0.0674108341,"cg_vd_v":0.0674108341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329250485,"cg_vq_v":-0.329250485,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5453796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.639893,"values":{"Elec_RPM":-3.90723932e-14,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54790,"Mech_RPM":-7.81447864e-15,"cg_du":50.150753,"cg_dv":50.1906548,"cg_dw":49.8093452,"cg_id_a":0.0857051387,"cg_id_raw_a":-0.414406657,"cg_iq_a":0.327271998,"cg_iq_raw_a":0.323485941,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333380699,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9581814,"cg_sample_seq":14254416,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0679777786,"cg_vd_v":0.0679777786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343579978,"cg_vq_v":-0.343579978,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5502625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.651611,"values":{"Elec_RPM":-3.90723932e-14,"EncoderCos":38709,"EncoderSin":12512,"GapTicks":54799,"Mech_RPM":-7.81447864e-15,"cg_du":50.1393585,"cg_dv":50.1822968,"cg_dw":49.8177032,"cg_id_a":0.093050167,"cg_id_raw_a":0.0213916451,"cg_iq_a":-0.509354234,"cg_iq_raw_a":-0.470511287,"cg_iu_a":0.183752537,"cg_iv_a":0.612811446,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9872723,"cg_sample_seq":14254466,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0680027753,"cg_vd_v":0.0680027753,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32701537,"cg_vq_v":-0.32701537,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.659424,"values":{"Elec_RPM":-3.82909443e-14,"EncoderCos":38713,"EncoderSin":12483,"GapTicks":54789,"Mech_RPM":-7.6581892e-15,"cg_du":50.1503525,"cg_dv":50.1910172,"cg_dw":49.8089828,"cg_id_a":0.0262589827,"cg_id_raw_a":0.444524258,"cg_iq_a":0.175255403,"cg_iq_raw_a":-0.0646774694,"cg_iu_a":-0.39614892,"cg_iv_a":0.39534843,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9909096,"cg_sample_seq":14254516,"cg_sample_valid":1,"cg_theta_rad":5.00652981,"cg_vd_req_v":0.0682213157,"cg_vd_v":0.0682213157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345017791,"cg_vq_v":-0.345017791,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.667236,"values":{"Elec_RPM":-3.82909443e-14,"EncoderCos":38708,"EncoderSin":12503,"GapTicks":54790,"Mech_RPM":-7.6581892e-15,"cg_du":50.1480217,"cg_dv":50.1901512,"cg_dw":49.8098488,"cg_id_a":-0.0784141719,"cg_id_raw_a":0.0554824173,"cg_iq_a":0.184833691,"cg_iq_raw_a":0.0426729657,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14254566,"cg_sample_valid":1,"cg_theta_rad":5.00759411,"cg_vd_req_v":0.0691304803,"cg_vd_v":0.0691304803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342541248,"cg_vq_v":-0.342541248,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.675049,"values":{"Elec_RPM":-3.75251249e-14,"EncoderCos":38717,"EncoderSin":12491,"GapTicks":54797,"Mech_RPM":-7.50502531e-15,"cg_du":50.1482697,"cg_dv":50.184494,"cg_dw":49.815506,"cg_id_a":0.195009559,"cg_id_raw_a":0.208831802,"cg_iq_a":-0.198293716,"cg_iq_raw_a":-0.670803845,"cg_iu_a":-0.251173258,"cg_iv_a":0.504079938,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8600006,"cg_sample_seq":14254616,"cg_sample_valid":1,"cg_theta_rad":5.00836468,"cg_vd_req_v":0.0628107265,"cg_vd_v":0.0628107265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334029347,"cg_vq_v":-0.334029347,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5795898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.702393,"values":{"Elec_RPM":-3.75251249e-14,"EncoderCos":38736,"EncoderSin":12489,"GapTicks":54794,"Mech_RPM":-7.50502531e-15,"cg_du":50.1429253,"cg_dv":50.1870537,"cg_dw":49.8129463,"cg_id_a":-0.0172063466,"cg_id_raw_a":-0.0183315519,"cg_iq_a":-0.24658303,"cg_iq_raw_a":-0.292093217,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772128,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8563633,"cg_sample_seq":14254670,"cg_sample_valid":1,"cg_theta_rad":5.00696135,"cg_vd_req_v":0.0680947527,"cg_vd_v":0.0680947527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334803075,"cg_vq_v":-0.334803075,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.7196655,"temp_inv2_c":38.5795898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.714111,"values":{"Elec_RPM":-3.67746266e-14,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54793,"Mech_RPM":-7.35492515e-15,"cg_du":50.1435242,"cg_dv":50.1879005,"cg_dw":49.8120995,"cg_id_a":-0.101977244,"cg_id_raw_a":-0.0175007582,"cg_iq_a":-0.171739295,"cg_iq_raw_a":0.1447611,"cg_iu_a":-0.0699541569,"cg_iv_a":0.57656759,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.863636,"cg_sample_seq":14254717,"cg_sample_valid":1,"cg_theta_rad":5.00789213,"cg_vd_req_v":0.0699732676,"cg_vd_v":0.0699732676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335974097,"cg_vq_v":-0.335974097,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.721924,"values":{"Elec_RPM":-3.67746266e-14,"EncoderCos":38720,"EncoderSin":12500,"GapTicks":54791,"Mech_RPM":-7.35492515e-15,"cg_du":50.1419373,"cg_dv":50.1895638,"cg_dw":49.8104362,"cg_id_a":-0.197298244,"cg_id_raw_a":-0.583126366,"cg_iq_a":-0.0726671219,"cg_iq_raw_a":0.127052695,"cg_iu_a":0.401215553,"cg_iv_a":0.286616921,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9836369,"cg_sample_seq":14254767,"cg_sample_valid":1,"cg_theta_rad":5.00710869,"cg_vd_req_v":0.0724887177,"cg_vd_v":0.0724887177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338493675,"cg_vq_v":-0.338493675,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.729736,"values":{"Elec_RPM":-3.60391343e-14,"EncoderCos":38671,"EncoderSin":12457,"GapTicks":54797,"Mech_RPM":-7.20782686e-15,"cg_du":50.1455879,"cg_dv":50.1843338,"cg_dw":49.8156662,"cg_id_a":-0.0325359926,"cg_id_raw_a":0.217397049,"cg_iq_a":-0.375543743,"cg_iq_raw_a":-0.668077052,"cg_iu_a":0.401215672,"cg_iv_a":0.177885413,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9290905,"cg_sample_seq":14254817,"cg_sample_valid":1,"cg_theta_rad":5.0062604,"cg_vd_req_v":0.0690071285,"cg_vd_v":0.0690071285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331453681,"cg_vq_v":-0.331453681,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.741455,"values":{"Elec_RPM":-3.60391343e-14,"EncoderCos":38736,"EncoderSin":12506,"GapTicks":54788,"Mech_RPM":-7.20782686e-15,"cg_du":50.1441307,"cg_dv":50.192646,"cg_dw":49.807354,"cg_id_a":-0.188284352,"cg_id_raw_a":-0.490337938,"cg_iq_a":0.292866886,"cg_iq_raw_a":-0.189692229,"cg_iu_a":-0.14244175,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9654541,"cg_sample_seq":14254867,"cg_sample_valid":1,"cg_theta_rad":5.0080409,"cg_vd_req_v":0.0721422732,"cg_vd_v":0.0721422732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343188822,"cg_vq_v":-0.343188822,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5926208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.749268,"values":{"Elec_RPM":-3.53183533e-14,"EncoderCos":38719,"EncoderSin":12476,"GapTicks":54786,"Mech_RPM":-7.06367033e-15,"cg_du":50.1470337,"cg_dv":50.1940918,"cg_dw":49.8059082,"cg_id_a":-0.267192632,"cg_id_raw_a":-0.236060351,"cg_iq_a":0.274986356,"cg_iq_raw_a":0.014184108,"cg_iu_a":0.183752537,"cg_iv_a":0.467836142,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9218178,"cg_sample_seq":14254966,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0733041093,"cg_vd_v":0.0733041093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346346438,"cg_vq_v":-0.346346438,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5844727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.75708,"values":{"Elec_RPM":-3.46119855e-14,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54784,"Mech_RPM":-6.92239709e-15,"cg_du":50.1530418,"cg_dv":50.1963272,"cg_dw":49.8036728,"cg_id_a":-0.128144652,"cg_id_raw_a":0.235287875,"cg_iq_a":0.580153346,"cg_iq_raw_a":0.35175848,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860718,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9763641,"cg_sample_seq":14255016,"cg_sample_valid":1,"cg_theta_rad":5.0072422,"cg_vd_req_v":0.0710892156,"cg_vd_v":0.0710892156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352691442,"cg_vq_v":-0.352691442,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5632935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.764893,"values":{"Elec_RPM":-3.46119855e-14,"EncoderCos":38694,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-6.92239709e-15,"cg_du":50.1468735,"cg_dv":50.2000732,"cg_dw":49.7999268,"cg_id_a":-0.59013617,"cg_id_raw_a":0.185348302,"cg_iq_a":0.596355498,"cg_iq_raw_a":-0.198720559,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9254551,"cg_sample_seq":14255066,"cg_sample_valid":1,"cg_theta_rad":5.00612831,"cg_vd_req_v":0.0811401904,"cg_vd_v":0.0811401904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353960305,"cg_vq_v":-0.353960305,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5632935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.772705,"values":{"Elec_RPM":-3.39197461e-14,"EncoderCos":38731,"EncoderSin":12497,"GapTicks":54793,"Mech_RPM":-6.78394913e-15,"cg_du":50.1522217,"cg_dv":50.1876335,"cg_dw":49.8123665,"cg_id_a":0.344341308,"cg_id_raw_a":0.159243926,"cg_iq_a":-0.0649038181,"cg_iq_raw_a":-0.16633454,"cg_iu_a":0.147508621,"cg_iv_a":0.431592345,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9836369,"cg_sample_seq":14255116,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.0615341067,"cg_vd_v":0.0615341067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340739965,"cg_vq_v":-0.340739965,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.5314541,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5421143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.800049,"values":{"Elec_RPM":-3.39197461e-14,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-6.78394913e-15,"cg_du":50.1587639,"cg_dv":50.1954651,"cg_dw":49.8045349,"cg_id_a":0.147007465,"cg_id_raw_a":-0.442043871,"cg_iq_a":0.587496758,"cg_iq_raw_a":0.869496465,"cg_iu_a":-0.396148682,"cg_iv_a":-0.112065196,"cg_iw_a":0.508213878,"cg_sample_age_us":26.8199997,"cg_sample_seq":14255170,"cg_sample_valid":1,"cg_theta_rad":5.00564671,"cg_vd_req_v":0.0642137378,"cg_vd_v":0.0642137378,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356133968,"cg_vq_v":-0.356133968,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.5314541,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5421143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.807861,"values":{"Elec_RPM":-3.32413506e-14,"EncoderCos":38697,"EncoderSin":12460,"GapTicks":54794,"Mech_RPM":-6.64827012e-15,"cg_du":50.1500168,"cg_dv":50.1872368,"cg_dw":49.8127632,"cg_id_a":-0.0376735553,"cg_id_raw_a":-0.0418248847,"cg_iq_a":-0.230758786,"cg_iq_raw_a":-0.440795034,"cg_iu_a":0.727410078,"cg_iv_a":0.177885473,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9872723,"cg_sample_seq":14255217,"cg_sample_valid":1,"cg_theta_rad":5.00934029,"cg_vd_req_v":0.0663628653,"cg_vd_v":0.0663628653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33830443,"cg_vq_v":-0.33830443,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5730591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.815674,"values":{"Elec_RPM":-3.32413506e-14,"EncoderCos":38735,"EncoderSin":12487,"GapTicks":54799,"Mech_RPM":-6.64827012e-15,"cg_du":50.1477013,"cg_dv":50.1818542,"cg_dw":49.8181458,"cg_id_a":0.237609833,"cg_id_raw_a":0.0274727475,"cg_iq_a":-0.457722336,"cg_iq_raw_a":-0.105839416,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9436359,"cg_sample_seq":14255267,"cg_sample_valid":1,"cg_theta_rad":5.00606537,"cg_vd_req_v":0.0596137643,"cg_vd_v":0.0596137643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331359267,"cg_vq_v":-0.331359267,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.576355,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.827393,"values":{"Elec_RPM":-3.25765212e-14,"EncoderCos":38704,"EncoderSin":12497,"GapTicks":54794,"Mech_RPM":-6.51530459e-15,"cg_du":50.1534195,"cg_dv":50.1866646,"cg_dw":49.8133354,"cg_id_a":0.127300158,"cg_id_raw_a":0.489105642,"cg_iq_a":0.00454714149,"cg_iq_raw_a":0.122352578,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14255367,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.0619312972,"cg_vd_v":0.0619312972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340751112,"cg_vq_v":-0.340751112,"cg_vu_v":102.494972,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5290833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2577.835205,"values":{"Elec_RPM":-3.19249903e-14,"EncoderCos":38704,"EncoderSin":12487,"GapTicks":54792,"Mech_RPM":-6.38499831e-15,"cg_du":50.1589279,"cg_dv":50.1882439,"cg_dw":49.8117561,"cg_id_a":0.236316741,"cg_id_raw_a":-0.185473129,"cg_iq_a":0.0867427289,"cg_iq_raw_a":-0.491325408,"cg_iu_a":-0.903562546,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14255417,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.0592032224,"cg_vd_v":0.0592032224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344919384,"cg_vq_v":-0.344919384,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5437317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.843018,"values":{"Elec_RPM":-3.19249903e-14,"EncoderCos":38714,"EncoderSin":12471,"GapTicks":54792,"Mech_RPM":-6.38499831e-15,"cg_du":50.1566734,"cg_dv":50.1884651,"cg_dw":49.8115349,"cg_id_a":0.176967949,"cg_id_raw_a":0.0970935598,"cg_iq_a":0.0454701334,"cg_iq_raw_a":0.0468460321,"cg_iu_a":0.0750210285,"cg_iv_a":0.504079938,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9836369,"cg_sample_seq":14255467,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0607808866,"cg_vd_v":0.0607808866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344022721,"cg_vq_v":-0.344022721,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5437317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.854736,"values":{"Elec_RPM":-3.12864901e-14,"EncoderCos":38717,"EncoderSin":12491,"GapTicks":54799,"Mech_RPM":-6.25729835e-15,"cg_du":50.1540031,"cg_dv":50.182476,"cg_dw":49.817524,"cg_id_a":0.409901172,"cg_id_raw_a":0.010211776,"cg_iq_a":-0.360168636,"cg_iq_raw_a":0.293106139,"cg_iu_a":0.256240368,"cg_iv_a":0.467836082,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.863636,"cg_sample_seq":14255516,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0563505888,"cg_vd_v":0.0563505888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334505022,"cg_vq_v":-0.334505022,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.862549,"values":{"Elec_RPM":-3.12864901e-14,"EncoderCos":38724,"EncoderSin":12478,"GapTicks":54788,"Mech_RPM":-6.25729835e-15,"cg_du":50.1467094,"cg_dv":50.1923485,"cg_dw":49.8076515,"cg_id_a":-0.293375939,"cg_id_raw_a":0.236093476,"cg_iq_a":0.128175184,"cg_iq_raw_a":-0.0856946111,"cg_iu_a":0.292484045,"cg_iv_a":0.649055302,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.954546,"cg_sample_seq":14255566,"cg_sample_valid":1,"cg_theta_rad":5.00779963,"cg_vd_req_v":0.0714269355,"cg_vd_v":0.0714269355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343886852,"cg_vq_v":-0.343886852,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.870361,"values":{"Elec_RPM":-3.06607597e-14,"EncoderCos":38733,"EncoderSin":12503,"GapTicks":54800,"Mech_RPM":-6.1321522e-15,"cg_du":50.1482353,"cg_dv":50.1814461,"cg_dw":49.8185539,"cg_id_a":0.189348131,"cg_id_raw_a":0.380816221,"cg_iq_a":-0.536388636,"cg_iq_raw_a":-0.291559279,"cg_iu_a":-0.0337104797,"cg_iv_a":0.21412921,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9472733,"cg_sample_seq":14255617,"cg_sample_valid":1,"cg_theta_rad":5.0077424,"cg_vd_req_v":0.0584050789,"cg_vd_v":0.0584050789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330132604,"cg_vq_v":-0.330132604,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.8762589,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5714417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.897705,"values":{"Elec_RPM":-3.06607597e-14,"EncoderCos":38726,"EncoderSin":12500,"GapTicks":54794,"Mech_RPM":-6.1321522e-15,"cg_du":50.1695824,"cg_dv":50.1869583,"cg_dw":49.8130417,"cg_id_a":0.710433841,"cg_id_raw_a":0.499531478,"cg_iq_a":0.373700947,"cg_iq_raw_a":-0.206918046,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885473,"cg_iw_a":0.145775616,"cg_sample_age_us":26.8309097,"cg_sample_seq":14255670,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0475403294,"cg_vd_v":0.0475403294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349465251,"cg_vq_v":-0.349465251,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5714417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.905518,"values":{"Elec_RPM":-3.00475451e-14,"EncoderCos":38708,"EncoderSin":12505,"GapTicks":54793,"Mech_RPM":-6.00950903e-15,"cg_du":50.1543121,"cg_dv":50.1880875,"cg_dw":49.8119125,"cg_id_a":0.0823405832,"cg_id_raw_a":-0.31542477,"cg_iq_a":-0.00955919921,"cg_iq_raw_a":-0.248645961,"cg_iu_a":-0.468636274,"cg_iv_a":-0.00333368778,"cg_iw_a":0.471969962,"cg_sample_age_us":23.8600006,"cg_sample_seq":14255716,"cg_sample_valid":1,"cg_theta_rad":5.00699091,"cg_vd_req_v":0.0593678355,"cg_vd_v":0.0593678355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338480711,"cg_vq_v":-0.338480711,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.6795158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5714417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.917236,"values":{"Elec_RPM":-3.00475451e-14,"EncoderCos":38712,"EncoderSin":12459,"GapTicks":54793,"Mech_RPM":-6.00950903e-15,"cg_du":50.1694641,"cg_dv":50.1880646,"cg_dw":49.8119354,"cg_id_a":0.543094695,"cg_id_raw_a":0.791442156,"cg_iq_a":0.636269569,"cg_iq_raw_a":2.55721068,"cg_iu_a":-0.178685904,"cg_iv_a":0.830274463,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.8600006,"cg_sample_seq":14255767,"cg_sample_valid":1,"cg_theta_rad":5.00800896,"cg_vd_req_v":0.050810013,"cg_vd_v":0.050810013,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350605726,"cg_vq_v":-0.350605726,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.942585,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5486145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.925049,"values":{"Elec_RPM":-2.94465956e-14,"EncoderCos":38745,"EncoderSin":12496,"GapTicks":54785,"Mech_RPM":-5.88931886e-15,"cg_du":50.1649055,"cg_dv":50.1949577,"cg_dw":49.8050423,"cg_id_a":0.139627546,"cg_id_raw_a":0.376242429,"cg_iq_a":0.905927181,"cg_iq_raw_a":0.216708109,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14255817,"cg_sample_valid":1,"cg_theta_rad":5.00705481,"cg_vd_req_v":0.0575146638,"cg_vd_v":0.0575146638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357987344,"cg_vq_v":-0.357987344,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5567627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.932861,"values":{"Elec_RPM":-2.94465956e-14,"EncoderCos":38700,"EncoderSin":12488,"GapTicks":54778,"Mech_RPM":-5.88931886e-15,"cg_du":50.1732483,"cg_dv":50.2016106,"cg_dw":49.7983894,"cg_id_a":-0.0525808632,"cg_id_raw_a":-0.47300142,"cg_iq_a":1.36071384,"cg_iq_raw_a":0.900120258,"cg_iu_a":-1.48346376,"cg_iv_a":-0.329528213,"cg_iw_a":1.81299198,"cg_sample_age_us":23.9581814,"cg_sample_seq":14255867,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0613409504,"cg_vd_v":0.0613409504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371066242,"cg_vq_v":-0.371066242,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5567627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.940674,"values":{"Elec_RPM":-2.88576637e-14,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54794,"Mech_RPM":-5.77153258e-15,"cg_du":50.1606293,"cg_dv":50.1868172,"cg_dw":49.8131828,"cg_id_a":0.256827593,"cg_id_raw_a":0.0728629678,"cg_iq_a":-0.0213865265,"cg_iq_raw_a":0.0806999281,"cg_iu_a":-1.8459022,"cg_iv_a":0.214129329,"cg_iw_a":1.63177288,"cg_sample_age_us":23.9618187,"cg_sample_seq":14255917,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0553652346,"cg_vd_v":0.0553652346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344121367,"cg_vq_v":-0.344121367,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.948486,"values":{"Elec_RPM":-2.88576637e-14,"EncoderCos":38718,"EncoderSin":12490,"GapTicks":54794,"Mech_RPM":-5.77153258e-15,"cg_du":50.1546822,"cg_dv":50.1870079,"cg_dw":49.8129921,"cg_id_a":0.0377212688,"cg_id_raw_a":0.256833762,"cg_iq_a":-0.0860132053,"cg_iq_raw_a":0.134916976,"cg_iu_a":0.14750886,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9763641,"cg_sample_seq":14255967,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.0601635128,"cg_vd_v":0.0601635128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341055781,"cg_vq_v":-0.341055781,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6943665,"temp_inv2_c":38.5698242,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.956299,"values":{"Elec_RPM":-2.8280509e-14,"EncoderCos":38704,"EncoderSin":12479,"GapTicks":54801,"Mech_RPM":-5.65610189e-15,"cg_du":50.1536217,"cg_dv":50.1805763,"cg_dw":49.8194237,"cg_id_a":0.198022857,"cg_id_raw_a":-0.376217455,"cg_iq_a":-0.608490229,"cg_iq_raw_a":-0.474258244,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796764,"cg_iw_a":0.254507244,"cg_sample_age_us":23.9763641,"cg_sample_seq":14256017,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0560592264,"cg_vd_v":0.0560592264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331497639,"cg_vq_v":-0.331497639,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5535278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.968018,"values":{"Elec_RPM":-2.8280509e-14,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54800,"Mech_RPM":-5.65610189e-15,"cg_du":50.1533661,"cg_dv":50.1817284,"cg_dw":49.8182716,"cg_id_a":0.209619224,"cg_id_raw_a":-0.241987348,"cg_iq_a":-0.271354795,"cg_iq_raw_a":0.705137312,"cg_iu_a":0.872385502,"cg_iv_a":0.975249767,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9690914,"cg_sample_seq":14256067,"cg_sample_valid":1,"cg_theta_rad":5.0080862,"cg_vd_req_v":0.057037089,"cg_vd_v":0.057037089,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332977146,"cg_vq_v":-0.332977146,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2577.975309,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2577.975314,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2577.975319,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2577.97583,"values":{"Elec_RPM":-2.77148994e-14,"EncoderCos":38739,"EncoderSin":12463,"GapTicks":54789,"Mech_RPM":-5.5429798e-15,"cg_du":50.1495171,"cg_dv":50.191761,"cg_dw":49.808239,"cg_id_a":-0.221896693,"cg_id_raw_a":0.202004001,"cg_iq_a":0.198041499,"cg_iq_raw_a":0.274595708,"cg_iu_a":-0.287417412,"cg_iv_a":-0.25704056,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14256117,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0678317547,"cg_vd_v":0.0678317547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344820797,"cg_vq_v":-0.344820797,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2577.983643,"values":{"Elec_RPM":-2.77148994e-14,"EncoderCos":38694,"EncoderSin":12482,"GapTicks":54787,"Mech_RPM":-5.5429798e-15,"cg_du":50.1608162,"cg_dv":50.1928749,"cg_dw":49.8071251,"cg_id_a":0.0812595114,"cg_id_raw_a":0.0746531188,"cg_iq_a":0.554548621,"cg_iq_raw_a":0.263534158,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9618187,"cg_sample_seq":14256167,"cg_sample_valid":1,"cg_theta_rad":5.00811911,"cg_vd_req_v":0.0629719272,"cg_vd_v":0.0629719272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351029962,"cg_vq_v":-0.351029962,"cg_vu_v":141.645401,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5567627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2578.010986,"values":{"Elec_RPM":-2.7160601e-14,"EncoderCos":38723,"EncoderSin":12473,"GapTicks":54793,"Mech_RPM":-5.43212012e-15,"cg_du":50.1475067,"cg_dv":50.1874657,"cg_dw":49.8125343,"cg_id_a":0.000129112974,"cg_id_raw_a":0.358039916,"cg_iq_a":0.0285676569,"cg_iq_raw_a":-0.69277966,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333374739,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9872723,"cg_sample_seq":14256267,"cg_sample_valid":1,"cg_theta_rad":5.0083251,"cg_vd_req_v":0.0662553459,"cg_vd_v":0.0662553459,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33765468,"cg_vq_v":-0.33765468,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5535278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119340807,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.018799,"values":{"Elec_RPM":-2.6617387e-14,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54797,"Mech_RPM":-5.32347756e-15,"cg_du":50.1421356,"cg_dv":50.1842957,"cg_dw":49.8157043,"cg_id_a":-0.180092439,"cg_id_raw_a":-0.0372478142,"cg_iq_a":-0.143629313,"cg_iq_raw_a":0.543465137,"cg_iu_a":0.401215792,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9218178,"cg_sample_seq":14256317,"cg_sample_valid":1,"cg_theta_rad":5.00791788,"cg_vd_req_v":0.068733871,"cg_vd_v":0.068733871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33005771,"cg_vq_v":-0.33005771,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.030518,"values":{"Elec_RPM":-2.6617387e-14,"EncoderCos":38758,"EncoderSin":12460,"GapTicks":54798,"Mech_RPM":-5.32347756e-15,"cg_du":50.1420288,"cg_dv":50.1828728,"cg_dw":49.8171272,"cg_id_a":0.159744263,"cg_id_raw_a":-0.119214974,"cg_iq_a":-0.303065777,"cg_iq_raw_a":0.353998035,"cg_iu_a":-0.722343445,"cg_iv_a":0.250373125,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9690914,"cg_sample_seq":14256367,"cg_sample_valid":1,"cg_theta_rad":5.00685453,"cg_vd_req_v":0.0637801066,"cg_vd_v":0.0637801066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328792691,"cg_vq_v":-0.328792691,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2574,"hz_tim_isr":5001,"hz_vsense":2574,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.042236,"values":{"Elec_RPM":-2.60850403e-14,"EncoderCos":38729,"EncoderSin":12485,"GapTicks":54804,"Mech_RPM":-5.21700806e-15,"cg_du":50.1363411,"cg_dv":50.1781044,"cg_dw":49.8218956,"cg_id_a":0.0573996082,"cg_id_raw_a":-0.333010375,"cg_iq_a":-0.575209677,"cg_iq_raw_a":0.151308477,"cg_iu_a":0.654922366,"cg_iv_a":-0.148308992,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8709087,"cg_sample_seq":14256417,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.0652303323,"cg_vd_v":0.0652303323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318804204,"cg_vq_v":-0.318804204,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5535278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.053955,"values":{"Elec_RPM":-2.60850403e-14,"EncoderCos":38756,"EncoderSin":12495,"GapTicks":54804,"Mech_RPM":-5.21700806e-15,"cg_du":50.1343651,"cg_dv":50.1780205,"cg_dw":49.8219795,"cg_id_a":0.176585704,"cg_id_raw_a":0.243039861,"cg_iq_a":-0.410534024,"cg_iq_raw_a":-0.414460659,"cg_iu_a":0.509947181,"cg_iv_a":-0.691966534,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9618187,"cg_sample_seq":14256466,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.0645335019,"cg_vd_v":0.0645335019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318034559,"cg_vq_v":-0.318034559,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.217402339,"dclink_p_w":31.4634781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5502625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.065674,"values":{"Elec_RPM":-2.55633392e-14,"EncoderCos":38694,"EncoderSin":12457,"GapTicks":54794,"Mech_RPM":-5.112668e-15,"cg_du":50.1356277,"cg_dv":50.1872139,"cg_dw":49.8127861,"cg_id_a":-0.441678017,"cg_id_raw_a":-0.0699201897,"cg_iq_a":0.149322331,"cg_iq_raw_a":-0.771788478,"cg_iu_a":0.14750886,"cg_iv_a":-0.438259721,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14256517,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0776412934,"cg_vd_v":0.0776412934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329059392,"cg_vq_v":-0.329059392,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5502625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2578.081299,"values":{"Elec_RPM":-2.55633392e-14,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-5.112668e-15,"cg_du":50.1388855,"cg_dv":50.1913452,"cg_dw":49.8086548,"cg_id_a":-0.377684891,"cg_id_raw_a":-0.031079445,"cg_iq_a":0.402100861,"cg_iq_raw_a":-0.147874966,"cg_iu_a":0.473703146,"cg_iv_a":-0.402015865,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.863636,"cg_sample_seq":14256566,"cg_sample_valid":1,"cg_theta_rad":5.00768089,"cg_vd_req_v":0.0768970847,"cg_vd_v":0.0768970847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338068932,"cg_vq_v":-0.338068932,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":0.266331434,"dclink_p_w":38.5447235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6691589,"temp_inv2_c":38.5779724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.093018,"values":{"Elec_RPM":-2.50520735e-14,"EncoderCos":38731,"EncoderSin":12502,"GapTicks":54793,"Mech_RPM":-5.01041461e-15,"cg_du":50.1362953,"cg_dv":50.1874542,"cg_dw":49.8125458,"cg_id_a":-0.199218497,"cg_id_raw_a":-0.690323532,"cg_iq_a":-0.0360619389,"cg_iq_raw_a":0.154987052,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8527279,"cg_sample_seq":14256617,"cg_sample_valid":1,"cg_theta_rad":5.00699615,"cg_vd_req_v":0.0737838075,"cg_vd_v":0.0737838075,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331637383,"cg_vq_v":-0.331637383,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.8674583,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.128174,"values":{"Elec_RPM":-2.45510314e-14,"EncoderCos":38730,"EncoderSin":12489,"GapTicks":54792,"Mech_RPM":-4.91020637e-15,"cg_du":50.1440659,"cg_dv":50.1883202,"cg_dw":49.8116798,"cg_id_a":-0.0354740992,"cg_id_raw_a":-0.301013023,"cg_iq_a":0.170347184,"cg_iq_raw_a":0.482119173,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":26.8272724,"cg_sample_seq":14256769,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0688789785,"cg_vd_v":0.0688789785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337072313,"cg_vq_v":-0.337072313,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.5905991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5551453,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.139893,"values":{"Elec_RPM":-2.40600115e-14,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54796,"Mech_RPM":-4.81200222e-15,"cg_du":50.1387024,"cg_dv":50.1849174,"cg_dw":49.8150826,"cg_id_a":-0.106149316,"cg_id_raw_a":0.330472946,"cg_iq_a":-0.33756882,"cg_iq_raw_a":-0.841072202,"cg_iu_a":0.61867857,"cg_iv_a":0.10539782,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14256816,"cg_sample_valid":1,"cg_theta_rad":5.00736046,"cg_vd_req_v":0.0707373768,"cg_vd_v":0.0707373768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329242587,"cg_vq_v":-0.329242587,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.5905991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5795898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.151611,"values":{"Elec_RPM":-2.40600115e-14,"EncoderCos":38711,"EncoderSin":12488,"GapTicks":54790,"Mech_RPM":-4.81200222e-15,"cg_du":50.1517944,"cg_dv":50.190506,"cg_dw":49.809494,"cg_id_a":0.0358990431,"cg_id_raw_a":0.248463169,"cg_iq_a":0.367707193,"cg_iq_raw_a":0.644432902,"cg_iu_a":0.618678808,"cg_iv_a":-0.293284297,"cg_iw_a":-0.325394511,"cg_sample_age_us":23.9400005,"cg_sample_seq":14256867,"cg_sample_valid":1,"cg_theta_rad":5.00824785,"cg_vd_req_v":0.066426754,"cg_vd_v":0.066426754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344081163,"cg_vq_v":-0.344081163,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.5905991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.4981384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.167236,"values":{"Elec_RPM":-2.35788121e-14,"EncoderCos":38722,"EncoderSin":12503,"GapTicks":54792,"Mech_RPM":-4.71576234e-15,"cg_du":50.14748,"cg_dv":50.1885223,"cg_dw":49.8114777,"cg_id_a":-0.000254942104,"cg_id_raw_a":0.476459056,"cg_iq_a":0.136852115,"cg_iq_raw_a":0.701405525,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796824,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9836369,"cg_sample_seq":14256916,"cg_sample_valid":1,"cg_theta_rad":5.00677299,"cg_vd_req_v":0.0668826923,"cg_vd_v":0.0668826923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340227813,"cg_vq_v":-0.340227813,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.590713799,"dclink_p_w":85.7507019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.4981384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.178955,"values":{"Elec_RPM":-2.35788121e-14,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54791,"Mech_RPM":-4.71576234e-15,"cg_du":50.1432877,"cg_dv":50.1892776,"cg_dw":49.8107224,"cg_id_a":-0.155801907,"cg_id_raw_a":0.0146391885,"cg_iq_a":-0.0508416817,"cg_iq_raw_a":0.475466549,"cg_iu_a":0.473703384,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9836369,"cg_sample_seq":14256967,"cg_sample_valid":1,"cg_theta_rad":5.00710964,"cg_vd_req_v":0.0708080754,"cg_vd_v":0.0708080754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338933676,"cg_vq_v":-0.338933676,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.590713799,"dclink_p_w":85.7507019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6438904,"temp_inv2_c":38.5469971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.210205,"values":{"Elec_RPM":-2.2192187e-14,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54786,"Mech_RPM":-4.4384374e-15,"cg_du":50.1466522,"cg_dv":50.1939354,"cg_dw":49.8060646,"cg_id_a":-0.369034231,"cg_id_raw_a":0.222620755,"cg_iq_a":0.0939621702,"cg_iq_raw_a":-0.815158665,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.945673347,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8600006,"cg_sample_seq":14257220,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0731630921,"cg_vd_v":0.0731630921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34597978,"cg_vq_v":-0.34597978,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.692196488,"dclink_p_w":100.177895,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5372314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.22583,"values":{"Elec_RPM":-2.2192187e-14,"EncoderCos":38718,"EncoderSin":12500,"GapTicks":54782,"Mech_RPM":-4.4384374e-15,"cg_du":50.15839,"cg_dv":50.1976967,"cg_dw":49.8023033,"cg_id_a":-0.127481371,"cg_id_raw_a":0.513815939,"cg_iq_a":0.608219087,"cg_iq_raw_a":0.0866172612,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9327278,"cg_sample_seq":14257266,"cg_sample_valid":1,"cg_theta_rad":5.00735712,"cg_vd_req_v":0.0675931945,"cg_vd_v":0.0675931945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358807564,"cg_vq_v":-0.358807564,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":0.998456895,"dclink_p_w":144.940552,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.237549,"values":{"Elec_RPM":-2.17483434e-14,"EncoderCos":38727,"EncoderSin":12513,"GapTicks":54782,"Mech_RPM":-4.34966877e-15,"cg_du":50.1520004,"cg_dv":50.1973038,"cg_dw":49.8026962,"cg_id_a":-0.302054971,"cg_id_raw_a":-0.440324455,"cg_iq_a":0.398565829,"cg_iq_raw_a":0.178181648,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9581814,"cg_sample_seq":14257316,"cg_sample_valid":1,"cg_theta_rad":5.0053277,"cg_vd_req_v":0.0712026358,"cg_vd_v":0.0712026358,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354891866,"cg_vq_v":-0.354891866,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.86073035,"dclink_p_w":124.947533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5584106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.253174,"values":{"Elec_RPM":-2.17483434e-14,"EncoderCos":38711,"EncoderSin":12433,"GapTicks":54791,"Mech_RPM":-4.34966877e-15,"cg_du":50.1531105,"cg_dv":50.1892052,"cg_dw":49.8107948,"cg_id_a":-0.105003677,"cg_id_raw_a":0.0656819195,"cg_iq_a":-0.182829827,"cg_iq_raw_a":-1.0854708,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0758213997,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9763641,"cg_sample_seq":14257367,"cg_sample_valid":1,"cg_theta_rad":5.00670767,"cg_vd_req_v":0.0656195059,"cg_vd_v":0.0656195059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343848944,"cg_vq_v":-0.343848944,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5518799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.264893,"values":{"Elec_RPM":-2.13133784e-14,"EncoderCos":38743,"EncoderSin":12470,"GapTicks":54789,"Mech_RPM":-4.26267552e-15,"cg_du":50.1538887,"cg_dv":50.1917419,"cg_dw":49.8082581,"cg_id_a":0.0197210945,"cg_id_raw_a":-0.10175842,"cg_iq_a":-0.0791072324,"cg_iq_raw_a":-0.299797475,"cg_iu_a":0.147508621,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9509087,"cg_sample_seq":14257416,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0638909936,"cg_vd_v":0.0638909936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347326845,"cg_vq_v":-0.347326845,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5551453,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.280518,"values":{"Elec_RPM":-2.04693677e-14,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54788,"Mech_RPM":-4.09387371e-15,"cg_du":50.1580467,"cg_dv":50.1925964,"cg_dw":49.8074036,"cg_id_a":0.113651969,"cg_id_raw_a":-0.0950204134,"cg_iq_a":0.147385344,"cg_iq_raw_a":0.501297414,"cg_iu_a":0.437459469,"cg_iv_a":0.395348489,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.954546,"cg_sample_seq":14257617,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0636524558,"cg_vd_v":0.0636524558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350416332,"cg_vq_v":-0.350416332,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5355835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.292236,"values":{"Elec_RPM":-2.04693677e-14,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-4.09387371e-15,"cg_du":50.1481476,"cg_dv":50.1896095,"cg_dw":49.8103905,"cg_id_a":-0.0908946097,"cg_id_raw_a":-0.441215664,"cg_iq_a":-0.281232059,"cg_iq_raw_a":-1.31739342,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9290905,"cg_sample_seq":14257666,"cg_sample_valid":1,"cg_theta_rad":5.00597286,"cg_vd_req_v":0.0684217438,"cg_vd_v":0.0684217438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340810061,"cg_vq_v":-0.340810061,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5355835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.323486,"values":{"Elec_RPM":-2.00599797e-14,"EncoderCos":38695,"EncoderSin":12460,"GapTicks":54792,"Mech_RPM":-4.01199612e-15,"cg_du":50.1545219,"cg_dv":50.188343,"cg_dw":49.811657,"cg_id_a":0.0950017273,"cg_id_raw_a":-0.187614158,"cg_iq_a":-0.245714247,"cg_iq_raw_a":-0.856868982,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150357,"cg_sample_age_us":26.8199997,"cg_sample_seq":14257720,"cg_sample_valid":1,"cg_theta_rad":5.00687885,"cg_vd_req_v":0.0640894473,"cg_vd_v":0.0640894473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342325211,"cg_vq_v":-0.342325211,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5355835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.339111,"values":{"Elec_RPM":-2.00599797e-14,"EncoderCos":38707,"EncoderSin":12446,"GapTicks":54782,"Mech_RPM":-4.01199612e-15,"cg_du":50.1507225,"cg_dv":50.1981316,"cg_dw":49.8018684,"cg_id_a":-0.504745126,"cg_id_raw_a":-0.900230825,"cg_iq_a":0.21469833,"cg_iq_raw_a":0.746569097,"cg_iu_a":0.111264944,"cg_iv_a":-0.764454246,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9618187,"cg_sample_seq":14257767,"cg_sample_valid":1,"cg_theta_rad":5.00791311,"cg_vd_req_v":0.0760338828,"cg_vd_v":0.0760338828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353548408,"cg_vq_v":-0.353548408,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5453796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.35083,"values":{"Elec_RPM":-1.96587809e-14,"EncoderCos":38716,"EncoderSin":12458,"GapTicks":54792,"Mech_RPM":-3.93175626e-15,"cg_du":50.1520462,"cg_dv":50.1884422,"cg_dw":49.8115578,"cg_id_a":0.0775632337,"cg_id_raw_a":0.309601903,"cg_iq_a":-0.283030808,"cg_iq_raw_a":-0.186919674,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8600006,"cg_sample_seq":14257816,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0645382255,"cg_vd_v":0.0645382255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341360331,"cg_vq_v":-0.341360331,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5258179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.362549,"values":{"Elec_RPM":-1.88802949e-14,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-3.7760589e-15,"cg_du":50.1554642,"cg_dv":50.1974869,"cg_dw":49.8025131,"cg_id_a":-0.167881876,"cg_id_raw_a":0.26068151,"cg_iq_a":0.120644264,"cg_iq_raw_a":-0.119144507,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9872723,"cg_sample_seq":14258016,"cg_sample_valid":1,"cg_theta_rad":5.00672626,"cg_vd_req_v":0.0703874603,"cg_vd_v":0.0703874603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355617195,"cg_vq_v":-0.355617195,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5388489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.378174,"values":{"Elec_RPM":-1.88802949e-14,"EncoderCos":38729,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-3.7760589e-15,"cg_du":50.1573639,"cg_dv":50.2014275,"cg_dw":49.7985725,"cg_id_a":-0.202042639,"cg_id_raw_a":0.191211596,"cg_iq_a":0.308683991,"cg_iq_raw_a":0.164528772,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0395776033,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9763641,"cg_sample_seq":14258067,"cg_sample_valid":1,"cg_theta_rad":5.00698137,"cg_vd_req_v":0.0712826401,"cg_vd_v":0.0712826401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362327844,"cg_vq_v":-0.362327844,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5404968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.389893,"values":{"Elec_RPM":-1.85026893e-14,"EncoderCos":38712,"EncoderSin":12487,"GapTicks":54784,"Mech_RPM":-3.70053787e-15,"cg_du":50.1597481,"cg_dv":50.1959915,"cg_dw":49.8040085,"cg_id_a":0.0575546101,"cg_id_raw_a":0.211898491,"cg_iq_a":0.0242342465,"cg_iq_raw_a":-0.0511767939,"cg_iu_a":0.256240129,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14258116,"cg_sample_valid":1,"cg_theta_rad":5.0077281,"cg_vd_req_v":0.0654716566,"cg_vd_v":0.0654716566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356008649,"cg_vq_v":-0.356008649,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5404968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.401611,"values":{"Elec_RPM":-1.85026893e-14,"EncoderCos":38686,"EncoderSin":12445,"GapTicks":54793,"Mech_RPM":-3.70053787e-15,"cg_du":50.1599884,"cg_dv":50.1875381,"cg_dw":49.8124619,"cg_id_a":0.270823479,"cg_id_raw_a":0.110708348,"cg_iq_a":-0.446666777,"cg_iq_raw_a":-0.278930008,"cg_iu_a":0.872385502,"cg_iv_a":0.721542954,"cg_iw_a":-1.59392846,"cg_sample_age_us":23.9581814,"cg_sample_seq":14258167,"cg_sample_valid":1,"cg_theta_rad":5.00775814,"cg_vd_req_v":0.0600850806,"cg_vd_v":0.0600850806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344148904,"cg_vq_v":-0.344148904,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5502625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.436768,"values":{"Elec_RPM":-1.81326359e-14,"EncoderCos":38716,"EncoderSin":12506,"GapTicks":54775,"Mech_RPM":-3.62652709e-15,"cg_du":50.160244,"cg_dv":50.2045097,"cg_dw":49.7954903,"cg_id_a":-0.345330954,"cg_id_raw_a":-0.0624809451,"cg_iq_a":0.688224852,"cg_iq_raw_a":-0.478550673,"cg_iu_a":-0.541124105,"cg_iv_a":0.105397701,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14258221,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0725585744,"cg_vd_v":0.0725585744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368021369,"cg_vq_v":-0.368021369,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.448486,"values":{"Elec_RPM":-1.81326359e-14,"EncoderCos":38728,"EncoderSin":12500,"GapTicks":54781,"Mech_RPM":-3.62652709e-15,"cg_du":50.161087,"cg_dv":50.1984406,"cg_dw":49.8015594,"cg_id_a":0.00973653793,"cg_id_raw_a":0.708802938,"cg_iq_a":0.400780618,"cg_iq_raw_a":0.249343321,"cg_iu_a":0.401215672,"cg_iv_a":-0.510747433,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9254551,"cg_sample_seq":14258266,"cg_sample_valid":1,"cg_theta_rad":5.00690937,"cg_vd_req_v":0.0651732758,"cg_vd_v":0.0651732758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360388905,"cg_vq_v":-0.360388905,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5649109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.460205,"values":{"Elec_RPM":-1.70662926e-14,"EncoderCos":38698,"EncoderSin":12486,"GapTicks":54786,"Mech_RPM":-3.41325839e-15,"cg_du":50.1414413,"cg_dv":50.1940346,"cg_dw":49.8059654,"cg_id_a":-0.525875449,"cg_id_raw_a":-0.875533521,"cg_iq_a":-0.168653116,"cg_iq_raw_a":-1.14474595,"cg_iu_a":0.219996452,"cg_iv_a":-0.691966534,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14258516,"cg_sample_valid":1,"cg_theta_rad":5.0062747,"cg_vd_req_v":0.0790390894,"cg_vd_v":0.0790390894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342808753,"cg_vq_v":-0.342808753,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.5404968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.47583,"values":{"Elec_RPM":-1.70662926e-14,"EncoderCos":38703,"EncoderSin":12488,"GapTicks":54796,"Mech_RPM":-3.41325839e-15,"cg_du":50.1505051,"cg_dv":50.184639,"cg_dw":49.815361,"cg_id_a":0.125189006,"cg_id_raw_a":0.541523576,"cg_iq_a":-0.0687662885,"cg_iq_raw_a":-0.819039404,"cg_iu_a":0.292484283,"cg_iv_a":-0.112065196,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.863636,"cg_sample_seq":14258566,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0593030155,"cg_vd_v":0.0593030155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335823238,"cg_vq_v":-0.335823238,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5209351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.487549,"values":{"Elec_RPM":-1.67249671e-14,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54782,"Mech_RPM":-3.34499325e-15,"cg_du":50.147892,"cg_dv":50.1974525,"cg_dw":49.8025475,"cg_id_a":-0.397258461,"cg_id_raw_a":-0.312203556,"cg_iq_a":0.516895592,"cg_iq_raw_a":0.371442974,"cg_iu_a":0.328727961,"cg_iv_a":-0.619478941,"cg_iw_a":0.29075098,"cg_sample_age_us":23.863636,"cg_sample_seq":14258617,"cg_sample_valid":1,"cg_theta_rad":5.00603914,"cg_vd_req_v":0.075225994,"cg_vd_v":0.075225994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351542503,"cg_vq_v":-0.351542503,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5421143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.499268,"values":{"Elec_RPM":-1.67249671e-14,"EncoderCos":38728,"EncoderSin":12529,"GapTicks":54786,"Mech_RPM":-3.34499325e-15,"cg_du":50.1472397,"cg_dv":50.1940651,"cg_dw":49.8059349,"cg_id_a":-0.158989102,"cg_id_raw_a":-0.136019573,"cg_iq_a":0.221387118,"cg_iq_raw_a":1.44416618,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.148309112,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9581814,"cg_sample_seq":14258667,"cg_sample_valid":1,"cg_theta_rad":5.00620985,"cg_vd_req_v":0.0711412802,"cg_vd_v":0.0711412802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346840799,"cg_vq_v":-0.346840799,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5421143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.534424,"values":{"Elec_RPM":-1.6390467e-14,"EncoderCos":38744,"EncoderSin":12506,"GapTicks":54794,"Mech_RPM":-3.27809332e-15,"cg_du":50.1416931,"cg_dv":50.1863785,"cg_dw":49.8136215,"cg_id_a":0.0322308131,"cg_id_raw_a":-0.011766619,"cg_iq_a":-0.470002592,"cg_iq_raw_a":0.327253491,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":0.76192081,"cg_sample_age_us":26.8163643,"cg_sample_seq":14258719,"cg_sample_valid":1,"cg_theta_rad":5.00721455,"cg_vd_req_v":0.0674144775,"cg_vd_v":0.0674144775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333396077,"cg_vq_v":-0.333396077,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5616455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.546143,"values":{"Elec_RPM":-1.57414043e-14,"EncoderCos":38733,"EncoderSin":12507,"GapTicks":54795,"Mech_RPM":-3.14828086e-15,"cg_du":50.1454315,"cg_dv":50.1857872,"cg_dw":49.8142128,"cg_id_a":-0.0363907292,"cg_id_raw_a":0.0907534957,"cg_iq_a":-0.0937217474,"cg_iq_raw_a":0.118365563,"cg_iu_a":0.401215553,"cg_iv_a":0.0691540241,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9581814,"cg_sample_seq":14258966,"cg_sample_valid":1,"cg_theta_rad":5.00802851,"cg_vd_req_v":0.0649068207,"cg_vd_v":0.0649068207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335525036,"cg_vq_v":-0.335525036,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5176697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.557861,"values":{"Elec_RPM":-1.54265757e-14,"EncoderCos":38721,"EncoderSin":12475,"GapTicks":54796,"Mech_RPM":-3.08531518e-15,"cg_du":50.1482925,"cg_dv":50.1850624,"cg_dw":49.8149376,"cg_id_a":-0.0434290767,"cg_id_raw_a":0.131822646,"cg_iq_a":-0.0855816528,"cg_iq_raw_a":0.122860946,"cg_iu_a":0.292484283,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9581814,"cg_sample_seq":14259017,"cg_sample_valid":1,"cg_theta_rad":5.00875616,"cg_vd_req_v":0.0634098947,"cg_vd_v":0.0634098947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334804654,"cg_vq_v":-0.334804654,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5307007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.573486,"values":{"Elec_RPM":-1.54265757e-14,"EncoderCos":38721,"EncoderSin":12488,"GapTicks":54797,"Mech_RPM":-3.08531518e-15,"cg_du":50.1458511,"cg_dv":50.1844063,"cg_dw":49.8155937,"cg_id_a":-0.0844966993,"cg_id_raw_a":-0.0312108677,"cg_iq_a":-0.135413632,"cg_iq_raw_a":-0.147847295,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9290905,"cg_sample_seq":14259066,"cg_sample_valid":1,"cg_theta_rad":5.0058403,"cg_vd_req_v":0.064587757,"cg_vd_v":0.064587757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333615154,"cg_vq_v":-0.333615154,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.2824516,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5307007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.585205,"values":{"Elec_RPM":-1.51180439e-14,"EncoderCos":38713,"EncoderSin":12507,"GapTicks":54797,"Mech_RPM":-3.02360883e-15,"cg_du":50.1523743,"cg_dv":50.1842918,"cg_dw":49.8157082,"cg_id_a":0.147214606,"cg_id_raw_a":0.128504172,"cg_iq_a":-0.149178445,"cg_iq_raw_a":-0.0595820881,"cg_iu_a":0.14750886,"cg_iv_a":-0.148308992,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9763641,"cg_sample_seq":14259117,"cg_sample_valid":1,"cg_theta_rad":5.00790024,"cg_vd_req_v":0.0593306497,"cg_vd_v":0.0593306497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336071908,"cg_vq_v":-0.336071908,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.95480704,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5339661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.60083,"values":{"Elec_RPM":-1.51180439e-14,"EncoderCos":38726,"EncoderSin":12524,"GapTicks":54793,"Mech_RPM":-3.02360883e-15,"cg_du":50.1520119,"cg_dv":50.188118,"cg_dw":49.811882,"cg_id_a":0.071532324,"cg_id_raw_a":0.529040694,"cg_iq_a":0.0979435071,"cg_iq_raw_a":0.377404213,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8672733,"cg_sample_seq":14259166,"cg_sample_valid":1,"cg_theta_rad":5.00647974,"cg_vd_req_v":0.0621069148,"cg_vd_v":0.0621069148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342365414,"cg_vq_v":-0.342365414,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.92524242,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5339661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.63208,"values":{"Elec_RPM":-1.45193695e-14,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54798,"Mech_RPM":-2.90387395e-15,"cg_du":50.1516953,"cg_dv":50.1834145,"cg_dw":49.8165855,"cg_id_a":-0.0500556603,"cg_id_raw_a":0.319229454,"cg_iq_a":-0.0128908902,"cg_iq_raw_a":-0.0784082785,"cg_iu_a":0.364971876,"cg_iv_a":-0.148309112,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.863636,"cg_sample_seq":14259366,"cg_sample_valid":1,"cg_theta_rad":5.00780916,"cg_vd_req_v":0.0593387261,"cg_vd_v":0.0611881018,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335488647,"cg_vq_v":-0.335488647,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-69.1951752,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5079041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.643799,"values":{"Elec_RPM":-1.42289829e-14,"EncoderCos":38722,"EncoderSin":12457,"GapTicks":54804,"Mech_RPM":-2.8457965e-15,"cg_du":50.1486816,"cg_dv":50.1776009,"cg_dw":49.8223991,"cg_id_a":0.257169217,"cg_id_raw_a":0.593826592,"cg_iq_a":-0.4748649,"cg_iq_raw_a":-0.0865444019,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539645,"cg_iw_a":-0.252906501,"cg_sample_age_us":24.0381813,"cg_sample_seq":14259416,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0561841615,"cg_vd_v":0.0561841615,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324823707,"cg_vq_v":-0.324823707,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.9843674,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5209351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.659424,"values":{"Elec_RPM":-1.42289829e-14,"EncoderCos":38679,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-2.8457965e-15,"cg_du":50.1479988,"cg_dv":50.1889992,"cg_dw":49.8110008,"cg_id_a":-0.35063827,"cg_id_raw_a":-0.419607311,"cg_iq_a":0.111260027,"cg_iq_raw_a":-0.0438849591,"cg_iu_a":0.437459469,"cg_iv_a":-0.583235025,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14259466,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0705937594,"cg_vd_v":0.0705937594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339355737,"cg_vq_v":-0.339355737,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.6080322,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5209351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.671143,"values":{"Elec_RPM":-1.39444027e-14,"EncoderCos":38731,"EncoderSin":12474,"GapTicks":54797,"Mech_RPM":-2.78888054e-15,"cg_du":50.1489449,"cg_dv":50.1842842,"cg_dw":49.8157158,"cg_id_a":0.126348212,"cg_id_raw_a":0.30505836,"cg_iq_a":-0.260253191,"cg_iq_raw_a":-0.370699674,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9763641,"cg_sample_seq":14259517,"cg_sample_valid":1,"cg_theta_rad":5.00769567,"cg_vd_req_v":0.0614035316,"cg_vd_v":0.0614035316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334248304,"cg_vq_v":-0.334248304,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5144348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00443121977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.686768,"values":{"Elec_RPM":-1.39444027e-14,"EncoderCos":38727,"EncoderSin":12486,"GapTicks":54793,"Mech_RPM":-2.78888054e-15,"cg_du":50.1447372,"cg_dv":50.1877441,"cg_dw":49.8122559,"cg_id_a":-0.201068074,"cg_id_raw_a":-0.21176292,"cg_iq_a":-0.0824903771,"cg_iq_raw_a":-0.0193253309,"cg_iu_a":-0.142441988,"cg_iv_a":-0.257040501,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9690914,"cg_sample_seq":14259566,"cg_sample_valid":1,"cg_theta_rad":5.00714493,"cg_vd_req_v":0.0680915266,"cg_vd_v":0.0680915266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336599946,"cg_vq_v":-0.336599946,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-90.229248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5144348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00443121977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.698486,"values":{"Elec_RPM":-1.36655146e-14,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54803,"Mech_RPM":-2.733103e-15,"cg_du":50.1343269,"cg_dv":50.1784897,"cg_dw":49.8215103,"cg_id_a":-0.190122873,"cg_id_raw_a":-0.475722909,"cg_iq_a":-0.909873486,"cg_iq_raw_a":0.0999925211,"cg_iu_a":0.727410197,"cg_iv_a":0.286617041,"cg_iw_a":-1.01402724,"cg_sample_age_us":23.9363632,"cg_sample_seq":14259617,"cg_sample_valid":1,"cg_theta_rad":5.00845718,"cg_vd_req_v":0.0681439266,"cg_vd_v":0.0681439266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317998677,"cg_vq_v":-0.317998677,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-1.11093426,"dclink_p_w":-160.779572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5307007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.729736,"values":{"Elec_RPM":-1.31243605e-14,"EncoderCos":38738,"EncoderSin":12493,"GapTicks":54797,"Mech_RPM":-2.62487209e-15,"cg_du":50.1399231,"cg_dv":50.1838188,"cg_dw":49.8161812,"cg_id_a":-0.128973961,"cg_id_raw_a":-0.354358613,"cg_iq_a":0.115671374,"cg_iq_raw_a":-0.0682105124,"cg_iu_a":0.0750210285,"cg_iv_a":0.939005971,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9654541,"cg_sample_seq":14259818,"cg_sample_valid":1,"cg_theta_rad":5.00833559,"cg_vd_req_v":0.0670939013,"cg_vd_v":0.0670939013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328767657,"cg_vq_v":-0.328767657,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-1.2359755,"dclink_p_w":-178.876129,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5127869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.745361,"values":{"Elec_RPM":-1.31243605e-14,"EncoderCos":38746,"EncoderSin":12474,"GapTicks":54795,"Mech_RPM":-2.62487209e-15,"cg_du":50.1429176,"cg_dv":50.1861839,"cg_dw":49.8138161,"cg_id_a":-0.0480952226,"cg_id_raw_a":0.0405180715,"cg_iq_a":0.341946423,"cg_iq_raw_a":-0.250254989,"cg_iu_a":-0.323661089,"cg_iv_a":-0.293284416,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8672733,"cg_sample_seq":14259866,"cg_sample_valid":1,"cg_theta_rad":5.0082922,"cg_vd_req_v":0.0668475628,"cg_vd_v":0.0668475628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33369872,"cg_vq_v":-0.33369872,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-1.20516825,"dclink_p_w":-174.417557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.5127869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.75708,"values":{"Elec_RPM":-1.28618734e-14,"EncoderCos":38708,"EncoderSin":12503,"GapTicks":54791,"Mech_RPM":-2.57237469e-15,"cg_du":50.1460953,"cg_dv":50.1895981,"cg_dw":49.8104019,"cg_id_a":-0.21466288,"cg_id_raw_a":-0.0490789972,"cg_iq_a":0.608326018,"cg_iq_raw_a":0.250910759,"cg_iu_a":-0.323661089,"cg_iv_a":-0.655722797,"cg_iw_a":0.798164785,"cg_sample_age_us":23.9654541,"cg_sample_seq":14259917,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.069892846,"cg_vd_v":0.069892846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339665681,"cg_vq_v":-0.339665681,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-1.13268042,"dclink_p_w":-163.926788,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5014038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.772705,"values":{"Elec_RPM":-1.28618734e-14,"EncoderCos":38737,"EncoderSin":12489,"GapTicks":54802,"Mech_RPM":-2.57237469e-15,"cg_du":50.1340294,"cg_dv":50.1791191,"cg_dw":49.8208809,"cg_id_a":-0.0247636605,"cg_id_raw_a":0.403417856,"cg_iq_a":-0.329739124,"cg_iq_raw_a":-0.762631476,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9799995,"cg_sample_seq":14259966,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0675698146,"cg_vd_v":0.0675698146,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320006788,"cg_vq_v":-0.320006788,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.99132967,"dclink_p_w":-143.90593,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5014038,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.784424,"values":{"Elec_RPM":-1.26046363e-14,"EncoderCos":38684,"EncoderSin":12480,"GapTicks":54799,"Mech_RPM":-2.52092718e-15,"cg_du":50.1471596,"cg_dv":50.1822433,"cg_dw":49.8177567,"cg_id_a":0.0620851293,"cg_id_raw_a":-0.292972386,"cg_iq_a":0.223410785,"cg_iq_raw_a":0.152161181,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9618187,"cg_sample_seq":14260017,"cg_sample_valid":1,"cg_theta_rad":5.0098362,"cg_vd_req_v":0.0644206852,"cg_vd_v":0.0644206852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330831587,"cg_vq_v":-0.330831587,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.855415106,"dclink_p_w":-124.175949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5176697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.796143,"values":{"Elec_RPM":-1.26046363e-14,"EncoderCos":38740,"EncoderSin":12479,"GapTicks":54793,"Mech_RPM":-2.52092718e-15,"cg_du":50.1364021,"cg_dv":50.1873245,"cg_dw":49.8126755,"cg_id_a":-0.294068724,"cg_id_raw_a":-0.60435921,"cg_iq_a":0.146775991,"cg_iq_raw_a":-0.0915375873,"cg_iu_a":0.292484045,"cg_iv_a":-0.72821033,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9654541,"cg_sample_seq":14260066,"cg_sample_valid":1,"cg_theta_rad":5.0080781,"cg_vd_req_v":0.0734222457,"cg_vd_v":0.0734222457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331550688,"cg_vq_v":-0.331550688,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5144348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.831299,"values":{"Elec_RPM":-1.18633825e-14,"EncoderCos":38729,"EncoderSin":12499,"GapTicks":54791,"Mech_RPM":-2.3726765e-15,"cg_du":50.1481133,"cg_dv":50.1897125,"cg_dw":49.8102875,"cg_id_a":-0.0547606274,"cg_id_raw_a":-0.300790578,"cg_iq_a":0.305442482,"cg_iq_raw_a":0.482257813,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395774841,"cg_iw_a":0.182019234,"cg_sample_age_us":26.823637,"cg_sample_seq":14260368,"cg_sample_valid":1,"cg_theta_rad":5.00581408,"cg_vd_req_v":0.0670900643,"cg_vd_v":0.0670900643,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342300475,"cg_vq_v":-0.342300475,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-1.06381726,"dclink_p_w":-153.960587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5144348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.843018,"values":{"Elec_RPM":-1.1626115e-14,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54794,"Mech_RPM":-2.32522297e-15,"cg_du":50.1475067,"cg_dv":50.1867867,"cg_dw":49.8132133,"cg_id_a":0.0136436187,"cg_id_raw_a":-0.00982452184,"cg_iq_a":-0.0531083457,"cg_iq_raw_a":-0.801250279,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9618187,"cg_sample_seq":14260416,"cg_sample_valid":1,"cg_theta_rad":5.00833702,"cg_vd_req_v":0.0656192973,"cg_vd_v":0.0656192973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336726695,"cg_vq_v":-0.336726695,"cg_vu_v":6.59838867,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-1.00763941,"dclink_p_w":-145.830261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5934448,"temp_inv2_c":38.4981384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.858643,"values":{"Elec_RPM":-1.1626115e-14,"EncoderCos":38699,"EncoderSin":12476,"GapTicks":54794,"Mech_RPM":-2.32522297e-15,"cg_du":50.1446762,"cg_dv":50.1864052,"cg_dw":49.8135948,"cg_id_a":-0.134988382,"cg_id_raw_a":-0.0154321147,"cg_iq_a":-0.203944743,"cg_iq_raw_a":-0.911586046,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8527279,"cg_sample_seq":14260467,"cg_sample_valid":1,"cg_theta_rad":5.00659323,"cg_vd_req_v":0.0692014992,"cg_vd_v":0.0692014992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334264368,"cg_vq_v":-0.334264368,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.779303074,"dclink_p_w":-112.78437,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.496521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.870361,"values":{"Elec_RPM":-1.13935926e-14,"EncoderCos":38725,"EncoderSin":12544,"GapTicks":54797,"Mech_RPM":-2.27871853e-15,"cg_du":50.1406212,"cg_dv":50.1840363,"cg_dw":49.8159637,"cg_id_a":0.0395850912,"cg_id_raw_a":0.325637192,"cg_iq_a":-0.339907706,"cg_iq_raw_a":-0.151385337,"cg_iu_a":0.546190977,"cg_iv_a":-0.293284416,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14260517,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0665649697,"cg_vd_v":0.0665649697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329489142,"cg_vq_v":-0.329489142,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.489922,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.496521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2578.871543,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2578.871555,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2578.871558,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2578.88208,"values":{"Elec_RPM":-1.13935926e-14,"EncoderCos":38702,"EncoderSin":12505,"GapTicks":54792,"Mech_RPM":-2.27871853e-15,"cg_du":50.1424713,"cg_dv":50.1883507,"cg_dw":49.8116493,"cg_id_a":-0.310413033,"cg_id_raw_a":-0.177206472,"cg_iq_a":-0.0209387541,"cg_iq_raw_a":0.0560213178,"cg_iu_a":1.16233611,"cg_iv_a":0.177885413,"cg_iw_a":-1.34022152,"cg_sample_age_us":23.9509087,"cg_sample_seq":14260566,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.0719346702,"cg_vd_v":0.0719346702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335848808,"cg_vq_v":-0.335848808,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5030212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.893799,"values":{"Elec_RPM":-1.11657204e-14,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54795,"Mech_RPM":-2.23314413e-15,"cg_du":50.1497574,"cg_dv":50.1860924,"cg_dw":49.8139076,"cg_id_a":0.0325888805,"cg_id_raw_a":-0.614492476,"cg_iq_a":0.168246537,"cg_iq_raw_a":-0.203800038,"cg_iu_a":-0.323661089,"cg_iv_a":0.10539782,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9218178,"cg_sample_seq":14260616,"cg_sample_valid":1,"cg_theta_rad":5.00739574,"cg_vd_req_v":0.0630390644,"cg_vd_v":0.0630390644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338132143,"cg_vq_v":-0.338132143,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.6186829,"temp_inv2_c":38.496521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.925049,"values":{"Elec_RPM":-1.0942407e-14,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54809,"Mech_RPM":-2.18848136e-15,"cg_du":50.1516685,"cg_dv":50.1732941,"cg_dw":49.8267059,"cg_id_a":0.724241972,"cg_id_raw_a":-0.0949264467,"cg_iq_a":-0.957727611,"cg_iq_raw_a":-0.372017026,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":26.812727,"cg_sample_seq":14260721,"cg_sample_valid":1,"cg_theta_rad":5.00634718,"cg_vd_req_v":0.0479670167,"cg_vd_v":0.0479670167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320903659,"cg_vq_v":-0.320903659,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5030212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.936768,"values":{"Elec_RPM":-1.0942407e-14,"EncoderCos":38740,"EncoderSin":12474,"GapTicks":54796,"Mech_RPM":-2.18848136e-15,"cg_du":50.1570663,"cg_dv":50.1852379,"cg_dw":49.8147621,"cg_id_a":0.278790027,"cg_id_raw_a":0.254487246,"cg_iq_a":0.0563015938,"cg_iq_raw_a":-0.73995018,"cg_iu_a":0.328727961,"cg_iv_a":0.540323734,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9618187,"cg_sample_seq":14260766,"cg_sample_valid":1,"cg_theta_rad":5.00615597,"cg_vd_req_v":0.055251047,"cg_vd_v":0.055251047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340204269,"cg_vq_v":-0.340204269,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5030212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.94458,"values":{"Elec_RPM":-1.07235591e-14,"EncoderCos":38764,"EncoderSin":12512,"GapTicks":54797,"Mech_RPM":-2.14471177e-15,"cg_du":50.1561508,"cg_dv":50.1836853,"cg_dw":49.8163147,"cg_id_a":0.293147832,"cg_id_raw_a":0.176761106,"cg_iq_a":0.640571535,"cg_iq_raw_a":-0.638942659,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284357,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8745461,"cg_sample_seq":14260816,"cg_sample_valid":1,"cg_theta_rad":5.0096364,"cg_vd_req_v":0.0593698882,"cg_vd_v":0.0593698882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33675012,"cg_vq_v":-0.33675012,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5160522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.952393,"values":{"Elec_RPM":-1.07235591e-14,"EncoderCos":38705,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-2.14471177e-15,"cg_du":50.162384,"cg_dv":50.1925507,"cg_dw":49.8074493,"cg_id_a":0.0519403219,"cg_id_raw_a":0.246395022,"cg_iq_a":0.34202072,"cg_iq_raw_a":0.0255728178,"cg_iu_a":-0.686099291,"cg_iv_a":0.214129329,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9763641,"cg_sample_seq":14260867,"cg_sample_valid":1,"cg_theta_rad":5.00618601,"cg_vd_req_v":0.0607870333,"cg_vd_v":0.0607870333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352696329,"cg_vq_v":-0.352696329,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5388489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.960205,"values":{"Elec_RPM":-1.05090878e-14,"EncoderCos":38708,"EncoderSin":12451,"GapTicks":54794,"Mech_RPM":-2.1018176e-15,"cg_du":50.1528549,"cg_dv":50.1867561,"cg_dw":49.8132439,"cg_id_a":-0.00773400068,"cg_id_raw_a":0.265939265,"cg_iq_a":-0.382046819,"cg_iq_raw_a":-0.372854978,"cg_iu_a":-0.106198072,"cg_iv_a":1.15646899,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9799995,"cg_sample_seq":14260917,"cg_sample_valid":1,"cg_theta_rad":5.00710583,"cg_vd_req_v":0.0630357191,"cg_vd_v":0.0630357191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339380175,"cg_vq_v":-0.339380175,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5388489,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2578.967233,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2578.967239,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2578.967245,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2578.968018,"values":{"Elec_RPM":-1.05090878e-14,"EncoderCos":38737,"EncoderSin":12501,"GapTicks":54787,"Mech_RPM":-2.1018176e-15,"cg_du":50.1544037,"cg_dv":50.193325,"cg_dw":49.806675,"cg_id_a":-0.0160574317,"cg_id_raw_a":0.479136318,"cg_iq_a":0.228683904,"cg_iq_raw_a":0.00835356023,"cg_iu_a":0.00253343582,"cg_iv_a":-1.16313648,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9836369,"cg_sample_seq":14260967,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.0649380684,"cg_vd_v":0.0649380684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350886136,"cg_vq_v":-0.350886136,"cg_vu_v":116.131638,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5062866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2578.97583,"values":{"Elec_RPM":-1.02989059e-14,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54788,"Mech_RPM":-2.05978126e-15,"cg_du":50.1588669,"cg_dv":50.1926308,"cg_dw":49.8073692,"cg_id_a":0.0433248021,"cg_id_raw_a":0.224416867,"cg_iq_a":-0.0493670776,"cg_iq_raw_a":0.24215655,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14261017,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.0639492795,"cg_vd_v":0.0639492795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350757658,"cg_vq_v":-0.350757658,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.5111694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120297544,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2578.983643,"values":{"Elec_RPM":-9.89106969e-15,"EncoderCos":38740,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-1.9782139e-15,"cg_du":50.1581421,"cg_dv":50.195919,"cg_dw":49.804081,"cg_id_a":0.113521591,"cg_id_raw_a":-0.200283051,"cg_iq_a":0.239844978,"cg_iq_raw_a":-0.600009084,"cg_iu_a":0.147508621,"cg_iv_a":0.322860718,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9654541,"cg_sample_seq":14261216,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0646438003,"cg_vd_v":0.0646438003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356497824,"cg_vq_v":-0.356497824,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4997864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.014893,"values":{"Elec_RPM":-9.89106969e-15,"EncoderCos":38741,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-1.9782139e-15,"cg_du":50.1515236,"cg_dv":50.1949005,"cg_dw":49.8050995,"cg_id_a":-0.115043268,"cg_id_raw_a":-0.128847495,"cg_iq_a":0.0805843845,"cg_iq_raw_a":0.680510044,"cg_iu_a":0.14750886,"cg_iv_a":0.57656759,"cg_iw_a":-0.72407645,"cg_sample_age_us":26.8199997,"cg_sample_seq":14261271,"cg_sample_valid":1,"cg_theta_rad":5.00700283,"cg_vd_req_v":0.0685264617,"cg_vd_v":0.0685264617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350371182,"cg_vq_v":-0.350371182,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4883728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.022705,"values":{"Elec_RPM":-9.69324854e-15,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-1.93864962e-15,"cg_du":50.1597099,"cg_dv":50.2010193,"cg_dw":49.7989807,"cg_id_a":-0.20364292,"cg_id_raw_a":0.509846449,"cg_iq_a":0.744878888,"cg_iq_raw_a":1.39891195,"cg_iu_a":-0.287417412,"cg_iv_a":-0.25704056,"cg_iw_a":0.544457972,"cg_sample_age_us":23.9581814,"cg_sample_seq":14261317,"cg_sample_valid":1,"cg_theta_rad":5.00640106,"cg_vd_req_v":0.0706301481,"cg_vd_v":0.0706301481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362773955,"cg_vq_v":-0.362773955,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4883728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.030518,"values":{"Elec_RPM":-9.69324854e-15,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.93864962e-15,"cg_du":50.1571274,"cg_dv":50.1968079,"cg_dw":49.8031921,"cg_id_a":0.00482736528,"cg_id_raw_a":-0.312010109,"cg_iq_a":0.284208953,"cg_iq_raw_a":0.371605486,"cg_iu_a":-1.15726924,"cg_iv_a":-0.148308992,"cg_iw_a":1.30557823,"cg_sample_age_us":23.9581814,"cg_sample_seq":14261367,"cg_sample_valid":1,"cg_theta_rad":5.00646162,"cg_vd_req_v":0.0671575814,"cg_vd_v":0.0671575814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3558667,"cg_vq_v":-0.3558667,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.492976904,"dclink_p_w":-71.3459091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.03833,"values":{"Elec_RPM":-9.49938302e-15,"EncoderCos":38724,"EncoderSin":12494,"GapTicks":54786,"Mech_RPM":-1.89987669e-15,"cg_du":50.1548195,"cg_dv":50.1943436,"cg_dw":49.8056564,"cg_id_a":-0.00864563882,"cg_id_raw_a":-0.0341333747,"cg_iq_a":0.0545195118,"cg_iq_raw_a":0.543669641,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309052,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9618187,"cg_sample_seq":14261417,"cg_sample_valid":1,"cg_theta_rad":5.00672626,"cg_vd_req_v":0.066608429,"cg_vd_v":0.066608429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351219982,"cg_vq_v":-0.351219982,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.492976904,"dclink_p_w":-71.3459091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.050049,"values":{"Elec_RPM":-9.49938302e-15,"EncoderCos":38716,"EncoderSin":12494,"GapTicks":54787,"Mech_RPM":-1.89987669e-15,"cg_du":50.147274,"cg_dv":50.1933365,"cg_dw":49.8066635,"cg_id_a":-0.232533127,"cg_id_raw_a":-0.0701232851,"cg_iq_a":-0.17821604,"cg_iq_raw_a":0.904351115,"cg_iu_a":-0.323661089,"cg_iv_a":0.467836142,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14261467,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0721929818,"cg_vd_v":0.0721929818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345497876,"cg_vq_v":-0.345497876,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.5879059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.057861,"values":{"Elec_RPM":-9.30939607e-15,"EncoderCos":38699,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-1.86187921e-15,"cg_du":50.1645584,"cg_dv":50.1927948,"cg_dw":49.8072052,"cg_id_a":0.330597758,"cg_id_raw_a":0.197854921,"cg_iq_a":0.0240957439,"cg_iq_raw_a":-0.525378227,"cg_iu_a":0.256240129,"cg_iv_a":0.612811446,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.954546,"cg_sample_seq":14261517,"cg_sample_valid":1,"cg_theta_rad":5.00780392,"cg_vd_req_v":0.0601212196,"cg_vd_v":0.0601212196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354114354,"cg_vq_v":-0.354114354,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.065674,"values":{"Elec_RPM":-9.30939607e-15,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54789,"Mech_RPM":-1.86187921e-15,"cg_du":50.1471405,"cg_dv":50.1915894,"cg_dw":49.8084106,"cg_id_a":-0.154120922,"cg_id_raw_a":-0.000134256348,"cg_iq_a":-0.460291803,"cg_iq_raw_a":0.182862386,"cg_iu_a":-0.142441988,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14261567,"cg_sample_valid":1,"cg_theta_rad":5.00730228,"cg_vd_req_v":0.0706238896,"cg_vd_v":0.0706238896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343042523,"cg_vq_v":-0.343042523,"cg_vu_v":128.888519,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.373372197,"dclink_p_w":-54.0361633,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.073486,"values":{"Elec_RPM":-9.12320722e-15,"EncoderCos":38719,"EncoderSin":12477,"GapTicks":54784,"Mech_RPM":-1.82464153e-15,"cg_du":50.1615257,"cg_dv":50.1959801,"cg_dw":49.8040199,"cg_id_a":0.16421178,"cg_id_raw_a":0.347085178,"cg_iq_a":0.234522268,"cg_iq_raw_a":0.0710672289,"cg_iu_a":-0.831074715,"cg_iv_a":0.0691539049,"cg_iw_a":0.76192081,"cg_sample_age_us":23.954546,"cg_sample_seq":14261617,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0637440905,"cg_vd_v":0.0637440905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357052207,"cg_vq_v":-0.357052207,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5079041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.081299,"values":{"Elec_RPM":-9.12320722e-15,"EncoderCos":38707,"EncoderSin":12437,"GapTicks":54787,"Mech_RPM":-1.82464153e-15,"cg_du":50.1574173,"cg_dv":50.193573,"cg_dw":49.806427,"cg_id_a":0.0830710977,"cg_id_raw_a":0.180169865,"cg_iq_a":-0.13647145,"cg_iq_raw_a":0.0558056384,"cg_iu_a":0.364971638,"cg_iv_a":-0.112065196,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9836369,"cg_sample_seq":14261667,"cg_sample_valid":1,"cg_theta_rad":5.00749159,"cg_vd_req_v":0.0665505901,"cg_vd_v":0.0665505901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35111323,"cg_vq_v":-0.35111323,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4949036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.089111,"values":{"Elec_RPM":-8.94074277e-15,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54787,"Mech_RPM":-1.7881486e-15,"cg_du":50.1486053,"cg_dv":50.1930428,"cg_dw":49.8069572,"cg_id_a":-0.00139385462,"cg_id_raw_a":0.590526164,"cg_iq_a":-0.408537626,"cg_iq_raw_a":0.60342747,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14261717,"cg_sample_valid":1,"cg_theta_rad":5.00771093,"cg_vd_req_v":0.0701768026,"cg_vd_v":0.0701768026,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344890893,"cg_vq_v":-0.344890893,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4949036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.120361,"values":{"Elec_RPM":-8.94074277e-15,"EncoderCos":38738,"EncoderSin":12461,"GapTicks":54783,"Mech_RPM":-1.7881486e-15,"cg_du":50.1514206,"cg_dv":50.197258,"cg_dw":49.802742,"cg_id_a":-0.0770655721,"cg_id_raw_a":-0.210931823,"cg_iq_a":0.0116225556,"cg_iq_raw_a":0.417773545,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.252906442,"cg_sample_age_us":26.7945461,"cg_sample_seq":14261770,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0715628713,"cg_vd_v":0.0715628713,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352276295,"cg_vq_v":-0.352276295,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4883728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.128174,"values":{"Elec_RPM":-8.76192819e-15,"EncoderCos":38752,"EncoderSin":12513,"GapTicks":54791,"Mech_RPM":-1.7523856e-15,"cg_du":50.1438942,"cg_dv":50.1899261,"cg_dw":49.8100739,"cg_id_a":0.0297033042,"cg_id_raw_a":0.405905038,"cg_iq_a":-0.589258194,"cg_iq_raw_a":0.363734245,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":24.0381813,"cg_sample_seq":14261817,"cg_sample_valid":1,"cg_theta_rad":5.00673914,"cg_vd_req_v":0.0683031753,"cg_vd_v":0.0683031753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339626193,"cg_vq_v":-0.339626193,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5372314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.135986,"values":{"Elec_RPM":-8.76192819e-15,"EncoderCos":38716,"EncoderSin":12449,"GapTicks":54785,"Mech_RPM":-1.7523856e-15,"cg_du":50.1588631,"cg_dv":50.1953278,"cg_dw":49.8046722,"cg_id_a":0.116593555,"cg_id_raw_a":0.206460327,"cg_iq_a":0.112480938,"cg_iq_raw_a":-0.415620595,"cg_iu_a":-0.0699543953,"cg_iv_a":0.75778681,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9618187,"cg_sample_seq":14261867,"cg_sample_valid":1,"cg_theta_rad":5.00662613,"cg_vd_req_v":0.0661227405,"cg_vd_v":0.0661227405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354499966,"cg_vq_v":-0.354499966,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.299072266,"dclink_p_w":-43.4146919,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.5372314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.143799,"values":{"Elec_RPM":-8.58668978e-15,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54791,"Mech_RPM":-1.71733791e-15,"cg_du":50.1499939,"cg_dv":50.1897621,"cg_dw":49.8102379,"cg_id_a":0.048695676,"cg_id_raw_a":0.117456794,"cg_iq_a":-0.38579306,"cg_iq_raw_a":0.267306387,"cg_iu_a":0.219996452,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9436359,"cg_sample_seq":14261917,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.067280978,"cg_vd_v":0.067280978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343103498,"cg_vq_v":-0.343103498,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.8415375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4591064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.151611,"values":{"Elec_RPM":-8.58668978e-15,"EncoderCos":38702,"EncoderSin":12476,"GapTicks":54787,"Mech_RPM":-1.71733791e-15,"cg_du":50.1506882,"cg_dv":50.1932297,"cg_dw":49.8067703,"cg_id_a":-0.0772207081,"cg_id_raw_a":-0.211877227,"cg_iq_a":-0.0337952375,"cg_iq_raw_a":-0.640009344,"cg_iu_a":-0.142441988,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9509087,"cg_sample_seq":14261967,"cg_sample_valid":1,"cg_theta_rad":5.00605059,"cg_vd_req_v":0.0709396675,"cg_vd_v":0.0709396675,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34695372,"cg_vq_v":-0.34695372,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.8415375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4591064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.16333,"values":{"Elec_RPM":-8.41495554e-15,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54788,"Mech_RPM":-1.68299115e-15,"cg_du":50.1525116,"cg_dv":50.1924782,"cg_dw":49.8075218,"cg_id_a":0.05906602,"cg_id_raw_a":0.535617173,"cg_iq_a":-0.0393241495,"cg_iq_raw_a":-0.56581682,"cg_iu_a":-0.359904766,"cg_iv_a":-0.365772009,"cg_iw_a":0.725676775,"cg_sample_age_us":23.8600006,"cg_sample_seq":14262017,"cg_sample_valid":1,"cg_theta_rad":5.00579453,"cg_vd_req_v":0.0673655495,"cg_vd_v":0.0673655495,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346151263,"cg_vq_v":-0.346151263,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.8415375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.171143,"values":{"Elec_RPM":-8.41495554e-15,"EncoderCos":38748,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-1.68299115e-15,"cg_du":50.1533508,"cg_dv":50.2006493,"cg_dw":49.7993507,"cg_id_a":-0.134081855,"cg_id_raw_a":0.0405944511,"cg_iq_a":0.460760117,"cg_iq_raw_a":-0.250242621,"cg_iu_a":0.0387773514,"cg_iv_a":-1.5255748,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9581814,"cg_sample_seq":14262067,"cg_sample_valid":1,"cg_theta_rad":5.00673485,"cg_vd_req_v":0.0724551305,"cg_vd_v":0.0724551305,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358132899,"cg_vq_v":-0.358132899,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4949036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.178955,"values":{"Elec_RPM":-8.24665687e-15,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-1.64933133e-15,"cg_du":50.1440315,"cg_dv":50.1932945,"cg_dw":49.8067055,"cg_id_a":-0.217726648,"cg_id_raw_a":0.315621376,"cg_iq_a":-0.292336583,"cg_iq_raw_a":0.177403525,"cg_iu_a":0.582434893,"cg_iv_a":-0.148309112,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9872723,"cg_sample_seq":14262117,"cg_sample_valid":1,"cg_theta_rad":5.00825453,"cg_vd_req_v":0.0750283301,"cg_vd_v":0.0750283301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343550533,"cg_vq_v":-0.343550533,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.2251625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4949036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.186768,"values":{"Elec_RPM":-8.24665687e-15,"EncoderCos":38686,"EncoderSin":12516,"GapTicks":54787,"Mech_RPM":-1.64933133e-15,"cg_du":50.1436996,"cg_dv":50.1933975,"cg_dw":49.8066025,"cg_id_a":-0.308825016,"cg_id_raw_a":-0.449630827,"cg_iq_a":-0.120131478,"cg_iq_raw_a":0.865597606,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9581814,"cg_sample_seq":14262167,"cg_sample_valid":1,"cg_theta_rad":5.00750017,"cg_vd_req_v":0.0768835694,"cg_vd_v":0.0768835694,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343171954,"cg_vq_v":-0.343171954,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.2251625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4949036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.198486,"values":{"Elec_RPM":-8.08172346e-15,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54784,"Mech_RPM":-1.61634469e-15,"cg_du":50.1454124,"cg_dv":50.1960449,"cg_dw":49.8039551,"cg_id_a":-0.277248353,"cg_id_raw_a":0.160180598,"cg_iq_a":0.166561931,"cg_iq_raw_a":-0.165432706,"cg_iu_a":-0.468636513,"cg_iv_a":-0.764454246,"cg_iw_a":1.23309076,"cg_sample_age_us":23.9727268,"cg_sample_seq":14262217,"cg_sample_valid":1,"cg_theta_rad":5.00829744,"cg_vd_req_v":0.0769906715,"cg_vd_v":0.0769906715,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347981602,"cg_vq_v":-0.347981602,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.9930954,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.22583,"values":{"Elec_RPM":-8.08172346e-15,"EncoderCos":38764,"EncoderSin":12498,"GapTicks":54786,"Mech_RPM":-1.61634469e-15,"cg_du":50.1410675,"cg_dv":50.194046,"cg_dw":49.805954,"cg_id_a":-0.126630485,"cg_id_raw_a":-0.0356512107,"cg_iq_a":-0.00232407451,"cg_iq_raw_a":-1.09355772,"cg_iu_a":0.256240129,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.863636,"cg_sample_seq":14262270,"cg_sample_valid":1,"cg_theta_rad":5.0064249,"cg_vd_req_v":0.0739108324,"cg_vd_v":0.0739108324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34383145,"cg_vq_v":-0.34383145,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.233643,"values":{"Elec_RPM":-7.92008925e-15,"EncoderCos":38705,"EncoderSin":12460,"GapTicks":54791,"Mech_RPM":-1.58401779e-15,"cg_du":50.1414223,"cg_dv":50.1893044,"cg_dw":49.8106956,"cg_id_a":-0.0846625492,"cg_id_raw_a":-0.0818323418,"cg_iq_a":-0.290132314,"cg_iq_raw_a":0.356780261,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.863636,"cg_sample_seq":14262317,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0744964257,"cg_vd_v":0.0744964257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336375475,"cg_vq_v":-0.336375475,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5430298,"temp_inv2_c":38.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.241455,"values":{"Elec_RPM":-7.76168731e-15,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54798,"Mech_RPM":-1.55233748e-15,"cg_du":50.1436501,"cg_dv":50.183075,"cg_dw":49.816925,"cg_id_a":0.169916272,"cg_id_raw_a":0.304641485,"cg_iq_a":-0.255325079,"cg_iq_raw_a":-0.551285267,"cg_iu_a":-0.178685665,"cg_iv_a":0.250373065,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9327278,"cg_sample_seq":14262467,"cg_sample_valid":1,"cg_theta_rad":5.00576401,"cg_vd_req_v":0.0665557832,"cg_vd_v":0.0665557832,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330252051,"cg_vq_v":-0.330252051,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.249268,"values":{"Elec_RPM":-7.60645412e-15,"EncoderCos":38722,"EncoderSin":12482,"GapTicks":54799,"Mech_RPM":-1.52129076e-15,"cg_du":50.1470528,"cg_dv":50.1825829,"cg_dw":49.8174171,"cg_id_a":0.333855867,"cg_id_raw_a":0.333345801,"cg_iq_a":-0.177290425,"cg_iq_raw_a":-0.22191985,"cg_iu_a":0.256240368,"cg_iv_a":-0.329528213,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14262517,"cg_sample_valid":1,"cg_theta_rad":5.0078187,"cg_vd_req_v":0.0619276203,"cg_vd_v":0.0619276203,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331789345,"cg_vq_v":-0.331789345,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.25708,"values":{"Elec_RPM":-7.60645412e-15,"EncoderCos":38687,"EncoderSin":12472,"GapTicks":54792,"Mech_RPM":-1.52129076e-15,"cg_du":50.1531067,"cg_dv":50.1888809,"cg_dw":49.8111191,"cg_id_a":0.136083871,"cg_id_raw_a":-0.0848470703,"cg_iq_a":0.131203711,"cg_iq_raw_a":0.174096867,"cg_iu_a":0.292484283,"cg_iv_a":0.39534843,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14262567,"cg_sample_valid":1,"cg_theta_rad":5.00789261,"cg_vd_req_v":0.0660587326,"cg_vd_v":0.0660587326,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342183352,"cg_vq_v":-0.342183352,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.470459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.264893,"values":{"Elec_RPM":-7.45432446e-15,"EncoderCos":38712,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-1.49086491e-15,"cg_du":50.1472778,"cg_dv":50.2020531,"cg_dw":49.7979469,"cg_id_a":-0.58814311,"cg_id_raw_a":0.187510565,"cg_iq_a":0.663056791,"cg_iq_raw_a":-0.01729846,"cg_iu_a":0.00253343582,"cg_iv_a":-1.38059938,"cg_iw_a":1.37806594,"cg_sample_age_us":23.954546,"cg_sample_seq":14262616,"cg_sample_valid":1,"cg_theta_rad":5.00741482,"cg_vd_req_v":0.0808853954,"cg_vd_v":0.0808853954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357300639,"cg_vq_v":-0.357300639,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4899902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.276611,"values":{"Elec_RPM":-7.45432446e-15,"EncoderCos":38686,"EncoderSin":12459,"GapTicks":54784,"Mech_RPM":-1.49086491e-15,"cg_du":50.1585121,"cg_dv":50.1961937,"cg_dw":49.8038063,"cg_id_a":0.0101961941,"cg_id_raw_a":0.204627499,"cg_iq_a":0.511409283,"cg_iq_raw_a":0.0225658715,"cg_iu_a":0.618678689,"cg_iv_a":-0.474503517,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9654541,"cg_sample_seq":14262667,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.0694229901,"cg_vd_v":0.0694229901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355059177,"cg_vq_v":-0.355059177,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.7851524,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4899902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.284424,"values":{"Elec_RPM":-7.30523819e-15,"EncoderCos":38713,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-1.46104766e-15,"cg_du":50.1607552,"cg_dv":50.1968384,"cg_dw":49.8031616,"cg_id_a":0.237958431,"cg_id_raw_a":0.362060666,"cg_iq_a":0.551877797,"cg_iq_raw_a":-0.509913921,"cg_iu_a":-0.396148682,"cg_iv_a":0.286616981,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9654541,"cg_sample_seq":14262716,"cg_sample_valid":1,"cg_theta_rad":5.00733185,"cg_vd_req_v":0.0654277131,"cg_vd_v":0.0654277131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357744068,"cg_vq_v":-0.357744068,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.8921337,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.311768,"values":{"Elec_RPM":-7.30523819e-15,"EncoderCos":38741,"EncoderSin":12501,"GapTicks":54792,"Mech_RPM":-1.46104766e-15,"cg_du":50.1343536,"cg_dv":50.1885681,"cg_dw":49.8114319,"cg_id_a":-0.249541044,"cg_id_raw_a":0.0227740519,"cg_iq_a":-0.515179634,"cg_iq_raw_a":-0.288272113,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":24.4163628,"cg_sample_seq":14262770,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0758832917,"cg_vd_v":0.0758832917,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333249986,"cg_vq_v":-0.333249986,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.31958,"values":{"Elec_RPM":-7.15913348e-15,"EncoderCos":38714,"EncoderSin":12495,"GapTicks":54789,"Mech_RPM":-1.43182672e-15,"cg_du":50.1483841,"cg_dv":50.1917496,"cg_dw":49.8082504,"cg_id_a":0.0546863005,"cg_id_raw_a":0.496394187,"cg_iq_a":-0.00326062553,"cg_iq_raw_a":0.0491602458,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9290905,"cg_sample_seq":14262817,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0701228976,"cg_vd_v":0.0701228976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344976366,"cg_vq_v":-0.344976366,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.9878616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4314575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.327393,"values":{"Elec_RPM":-7.15913348e-15,"EncoderCos":38728,"EncoderSin":12439,"GapTicks":54793,"Mech_RPM":-1.43182672e-15,"cg_du":50.1434212,"cg_dv":50.1873436,"cg_dw":49.8126564,"cg_id_a":0.0255388338,"cg_id_raw_a":-0.419958204,"cg_iq_a":-0.288557887,"cg_iq_raw_a":-0.0403898954,"cg_iu_a":0.582434893,"cg_iv_a":0.504079938,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9618187,"cg_sample_seq":14262867,"cg_sample_valid":1,"cg_theta_rad":5.00786352,"cg_vd_req_v":0.0699581429,"cg_vd_v":0.0699581429,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336129785,"cg_vq_v":-0.336129785,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.9878616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4818726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.339111,"values":{"Elec_RPM":-7.01595103e-15,"EncoderCos":38729,"EncoderSin":12516,"GapTicks":54791,"Mech_RPM":-1.40319023e-15,"cg_du":50.1442299,"cg_dv":50.1894188,"cg_dw":49.8105812,"cg_id_a":-0.0656303987,"cg_id_raw_a":-0.102680884,"cg_iq_a":-0.178556353,"cg_iq_raw_a":0.39168942,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14262917,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0692575723,"cg_vd_v":0.0692575723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338774532,"cg_vq_v":-0.338774532,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.9878616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4818726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.346924,"values":{"Elec_RPM":-7.01595103e-15,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54794,"Mech_RPM":-1.40319023e-15,"cg_du":50.1474228,"cg_dv":50.1870422,"cg_dw":49.8129578,"cg_id_a":0.0954765677,"cg_id_raw_a":0.150127664,"cg_iq_a":-0.262811154,"cg_iq_raw_a":-0.275669724,"cg_iu_a":0.038777113,"cg_iv_a":0.322860837,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14262967,"cg_sample_valid":1,"cg_theta_rad":5.00845718,"cg_vd_req_v":0.0667067841,"cg_vd_v":0.0667067841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336876035,"cg_vq_v":-0.336876035,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.9878616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4672241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.354736,"values":{"Elec_RPM":-6.8756324e-15,"EncoderCos":38740,"EncoderSin":12487,"GapTicks":54791,"Mech_RPM":-1.37512644e-15,"cg_du":50.1434288,"cg_dv":50.1896439,"cg_dw":49.8103561,"cg_id_a":-0.0269670188,"cg_id_raw_a":0.262290508,"cg_iq_a":-0.00114047527,"cg_iq_raw_a":-0.375430703,"cg_iu_a":-0.50488019,"cg_iv_a":-0.546991229,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9618187,"cg_sample_seq":14263017,"cg_sample_valid":1,"cg_theta_rad":5.00971127,"cg_vd_req_v":0.0699352473,"cg_vd_v":0.0699352473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338669479,"cg_vq_v":-0.338669479,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119038686,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.362549,"values":{"Elec_RPM":-6.8756324e-15,"EncoderCos":38729,"EncoderSin":12493,"GapTicks":54790,"Mech_RPM":-1.37512644e-15,"cg_du":50.1461868,"cg_dv":50.1901779,"cg_dw":49.8098221,"cg_id_a":0.00293189287,"cg_id_raw_a":-0.252531499,"cg_iq_a":0.101200633,"cg_iq_raw_a":0.413885862,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885413,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9836369,"cg_sample_seq":14263067,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0692003071,"cg_vd_v":0.0692003071,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341828763,"cg_vq_v":-0.341828763,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119038686,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.374268,"values":{"Elec_RPM":-6.73811957e-15,"EncoderCos":38754,"EncoderSin":12469,"GapTicks":54798,"Mech_RPM":-1.34762391e-15,"cg_du":50.1420403,"cg_dv":50.1834831,"cg_dw":49.8165169,"cg_id_a":0.222167015,"cg_id_raw_a":1.29787552,"cg_iq_a":-0.381230623,"cg_iq_raw_a":0.481583655,"cg_iu_a":0.256240249,"cg_iv_a":-0.402015865,"cg_iw_a":0.145775616,"cg_sample_age_us":23.8709087,"cg_sample_seq":14263117,"cg_sample_valid":1,"cg_theta_rad":5.00756264,"cg_vd_req_v":0.0646467134,"cg_vd_v":0.0646467134,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33061555,"cg_vq_v":-0.33061555,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4932556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.38208,"values":{"Elec_RPM":-6.73811957e-15,"EncoderCos":38728,"EncoderSin":12490,"GapTicks":54792,"Mech_RPM":-1.34762391e-15,"cg_du":50.1537895,"cg_dv":50.1884613,"cg_dw":49.8115387,"cg_id_a":0.415790498,"cg_id_raw_a":0.100351684,"cg_iq_a":0.378648698,"cg_iq_raw_a":-0.20814091,"cg_iu_a":0.473703146,"cg_iv_a":0.141641617,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9618187,"cg_sample_seq":14263167,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0616834685,"cg_vd_v":0.0616834685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343712628,"cg_vq_v":-0.343712628,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4932556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.389893,"values":{"Elec_RPM":-6.60335705e-15,"EncoderCos":38694,"EncoderSin":12466,"GapTicks":54782,"Mech_RPM":-1.32067143e-15,"cg_du":50.1606598,"cg_dv":50.1980286,"cg_dw":49.8019714,"cg_id_a":0.0838142782,"cg_id_raw_a":-0.47371915,"cg_iq_a":1.05641985,"cg_iq_raw_a":-1.14165533,"cg_iu_a":0.328727961,"cg_iv_a":0.286616921,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9363632,"cg_sample_seq":14263216,"cg_sample_valid":1,"cg_theta_rad":5.00626087,"cg_vd_req_v":0.068728514,"cg_vd_v":0.068728514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358916491,"cg_vq_v":-0.358916491,"cg_vu_v":40.4701157,"cg_vv_v":47.5083961,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.417236,"values":{"Elec_RPM":-6.47128979e-15,"EncoderCos":38712,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-1.29425798e-15,"cg_du":50.1414108,"cg_dv":50.1950607,"cg_dw":49.8049393,"cg_id_a":-0.249585837,"cg_id_raw_a":-0.369966298,"cg_iq_a":0.2294624,"cg_iq_raw_a":0.947719574,"cg_iu_a":0.219996452,"cg_iv_a":0.214129329,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9690914,"cg_sample_seq":14263367,"cg_sample_valid":1,"cg_theta_rad":5.0081296,"cg_vd_req_v":0.0791637078,"cg_vd_v":0.0791637078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345495373,"cg_vq_v":-0.345495373,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.2156677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4591064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.425049,"values":{"Elec_RPM":-6.34186443e-15,"EncoderCos":38708,"EncoderSin":12472,"GapTicks":54795,"Mech_RPM":-1.26837286e-15,"cg_du":50.1405907,"cg_dv":50.1860161,"cg_dw":49.8139839,"cg_id_a":0.0349107347,"cg_id_raw_a":0.265400678,"cg_iq_a":-0.468506962,"cg_iq_raw_a":-0.373238534,"cg_iu_a":0.183752775,"cg_iv_a":0.431592345,"cg_iw_a":-0.61534512,"cg_sample_age_us":23.9799995,"cg_sample_seq":14263416,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.0716458559,"cg_vd_v":0.0716458559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332564116,"cg_vq_v":-0.332564116,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.3136597,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.470459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.432861,"values":{"Elec_RPM":-6.34186443e-15,"EncoderCos":38730,"EncoderSin":12503,"GapTicks":54784,"Mech_RPM":-1.26837286e-15,"cg_du":50.1476669,"cg_dv":50.1959724,"cg_dw":49.8040276,"cg_id_a":-0.0172286704,"cg_id_raw_a":0.502004862,"cg_iq_a":0.298943341,"cg_iq_raw_a":-0.462029159,"cg_iu_a":-0.577368021,"cg_iv_a":0.10539782,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14263466,"cg_sample_valid":1,"cg_theta_rad":5.00709295,"cg_vd_req_v":0.0733348355,"cg_vd_v":0.0733348355,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350644082,"cg_vq_v":-0.350644082,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.83090925,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.470459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.440674,"values":{"Elec_RPM":-6.21502717e-15,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54786,"Mech_RPM":-1.24300539e-15,"cg_du":50.1453171,"cg_dv":50.1937866,"cg_dw":49.8062134,"cg_id_a":0.014647752,"cg_id_raw_a":0.264812291,"cg_iq_a":-0.0247168094,"cg_iq_raw_a":-0.373656213,"cg_iu_a":0.582434654,"cg_iv_a":-0.220796704,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14263516,"cg_sample_valid":1,"cg_theta_rad":5.00705385,"cg_vd_req_v":0.0747683868,"cg_vd_v":0.0747683868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344877958,"cg_vq_v":-0.344877958,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.452393,"values":{"Elec_RPM":-6.21502717e-15,"EncoderCos":38680,"EncoderSin":12507,"GapTicks":54787,"Mech_RPM":-1.24300539e-15,"cg_du":50.1507835,"cg_dv":50.1934547,"cg_dw":49.8065453,"cg_id_a":0.131649792,"cg_id_raw_a":-0.0982177034,"cg_iq_a":0.158785179,"cg_iq_raw_a":-0.300976306,"cg_iu_a":0.111264944,"cg_iv_a":0.540323794,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9799995,"cg_sample_seq":14263566,"cg_sample_valid":1,"cg_theta_rad":5.00817728,"cg_vd_req_v":0.0720893517,"cg_vd_v":0.0720893517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347108424,"cg_vq_v":-0.347108424,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.460205,"values":{"Elec_RPM":-6.09072636e-15,"EncoderCos":38721,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-1.21814529e-15,"cg_du":50.1437035,"cg_dv":50.1955338,"cg_dw":49.8044662,"cg_id_a":-0.0465850495,"cg_id_raw_a":0.11780265,"cg_iq_a":0.169044361,"cg_iq_raw_a":-0.606876373,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14263616,"cg_sample_valid":1,"cg_theta_rad":5.00673151,"cg_vd_req_v":0.0767110959,"cg_vd_v":0.0767110959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346575499,"cg_vq_v":-0.346575499,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4851074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.468018,"values":{"Elec_RPM":-6.09072636e-15,"EncoderCos":38732,"EncoderSin":12474,"GapTicks":54788,"Mech_RPM":-1.21814529e-15,"cg_du":50.1449814,"cg_dv":50.1919327,"cg_dw":49.8080673,"cg_id_a":0.0924933925,"cg_id_raw_a":-0.36229375,"cg_iq_a":-0.00837700069,"cg_iq_raw_a":-0.870862782,"cg_iu_a":-0.0699541569,"cg_iv_a":0.685299098,"cg_iw_a":0.689433038,"cg_sample_age_us":23.954546,"cg_sample_seq":14263666,"cg_sample_valid":1,"cg_theta_rad":5.00771952,"cg_vd_req_v":0.072072573,"cg_vd_v":0.072072573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343508869,"cg_vq_v":-0.343508869,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.479736,"values":{"Elec_RPM":-5.96891201e-15,"EncoderCos":38719,"EncoderSin":12478,"GapTicks":54789,"Mech_RPM":-1.1937824e-15,"cg_du":50.1389465,"cg_dv":50.1911697,"cg_dw":49.8088303,"cg_id_a":-0.00831977278,"cg_id_raw_a":-0.0726952031,"cg_iq_a":-0.163952276,"cg_iq_raw_a":-0.151941955,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14263716,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0769982263,"cg_vd_v":0.0769982263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33887288,"cg_vq_v":-0.33887288,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.3694153,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4916382,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.50708,"values":{"Elec_RPM":-5.96891201e-15,"EncoderCos":38706,"EncoderSin":12483,"GapTicks":54791,"Mech_RPM":-1.1937824e-15,"cg_du":50.1434555,"cg_dv":50.1896591,"cg_dw":49.8103409,"cg_id_a":0.137306988,"cg_id_raw_a":0.520693243,"cg_iq_a":-0.0576753914,"cg_iq_raw_a":0.0164935831,"cg_iu_a":0.14750886,"cg_iv_a":0.032910049,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.8454552,"cg_sample_seq":14263771,"cg_sample_valid":1,"cg_theta_rad":5.00660801,"cg_vd_req_v":0.0728633031,"cg_vd_v":0.0728633031,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339163363,"cg_vq_v":-0.339163363,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.951313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4525757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.514893,"values":{"Elec_RPM":-5.84953372e-15,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54792,"Mech_RPM":-1.16990677e-15,"cg_du":50.1517258,"cg_dv":50.1889343,"cg_dw":49.8110657,"cg_id_a":0.476674557,"cg_id_raw_a":0.462180138,"cg_iq_a":0.155001059,"cg_iq_raw_a":-0.464081377,"cg_iu_a":-0.142441988,"cg_iv_a":0.214129269,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9509087,"cg_sample_seq":14263816,"cg_sample_valid":1,"cg_theta_rad":5.00800991,"cg_vd_req_v":0.0644726455,"cg_vd_v":0.0644726455,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341994852,"cg_vq_v":-0.341994852,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.951313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4721069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.123822384,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.522705,"values":{"Elec_RPM":-5.84953372e-15,"EncoderCos":38752,"EncoderSin":12509,"GapTicks":54792,"Mech_RPM":-1.16990677e-15,"cg_du":50.1432953,"cg_dv":50.1890907,"cg_dw":49.8109093,"cg_id_a":0.357958853,"cg_id_raw_a":0.784703374,"cg_iq_a":-0.0216541737,"cg_iq_raw_a":0.833681822,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885413,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14263866,"cg_sample_valid":1,"cg_theta_rad":5.00734758,"cg_vd_req_v":0.0680713132,"cg_vd_v":0.0680713132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338131607,"cg_vq_v":-0.338131607,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.951313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4721069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.123822384,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.530518,"values":{"Elec_RPM":-5.73254323e-15,"EncoderCos":38725,"EncoderSin":12488,"GapTicks":54788,"Mech_RPM":-1.14650865e-15,"cg_du":50.1369781,"cg_dv":50.1919022,"cg_dw":49.8080978,"cg_id_a":-0.190872848,"cg_id_raw_a":-0.759506166,"cg_iq_a":0.00889471173,"cg_iq_raw_a":0.874981105,"cg_iu_a":0.328727961,"cg_iv_a":0.794030666,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9799995,"cg_sample_seq":14263916,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.0783303604,"cg_vd_v":0.0783303604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337899387,"cg_vq_v":-0.337899387,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4460754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.53833,"values":{"Elec_RPM":-5.73254323e-15,"EncoderCos":38722,"EncoderSin":12465,"GapTicks":54791,"Mech_RPM":-1.14650865e-15,"cg_du":50.1404495,"cg_dv":50.1899719,"cg_dw":49.8100281,"cg_id_a":-0.0181245841,"cg_id_raw_a":0.174041867,"cg_iq_a":-0.119350091,"cg_iq_raw_a":-0.309944719,"cg_iu_a":-0.0699541569,"cg_iv_a":0.286616981,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9509087,"cg_sample_seq":14263966,"cg_sample_valid":1,"cg_theta_rad":5.00719738,"cg_vd_req_v":0.074494876,"cg_vd_v":0.074494876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337046742,"cg_vq_v":-0.337046742,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.114228725,"dclink_p_w":-16.5317135,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4460754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.550049,"values":{"Elec_RPM":-5.61789266e-15,"EncoderCos":38717,"EncoderSin":12473,"GapTicks":54794,"Mech_RPM":-1.12357851e-15,"cg_du":50.1402016,"cg_dv":50.1865578,"cg_dw":49.8134422,"cg_id_a":0.143631592,"cg_id_raw_a":-0.0247141067,"cg_iq_a":-0.395441532,"cg_iq_raw_a":0.216885999,"cg_iu_a":0.328727961,"cg_iv_a":1.5913949,"cg_iw_a":-1.92012286,"cg_sample_age_us":23.954546,"cg_sample_seq":14264016,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0717827454,"cg_vd_v":0.0717827454,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333235592,"cg_vq_v":-0.333235592,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.48349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.557861,"values":{"Elec_RPM":-5.61789266e-15,"EncoderCos":38702,"EncoderSin":12489,"GapTicks":54800,"Mech_RPM":-1.12357851e-15,"cg_du":50.1280708,"cg_dv":50.1814117,"cg_dw":49.8185883,"cg_id_a":-0.0636026859,"cg_id_raw_a":0.671148241,"cg_iq_a":-0.988642454,"cg_iq_raw_a":-1.06091416,"cg_iu_a":-0.541124105,"cg_iv_a":0.359104574,"cg_iw_a":-1.48519695,"cg_sample_age_us":23.8672733,"cg_sample_seq":14264066,"cg_sample_valid":1,"cg_theta_rad":5.00708532,"cg_vd_req_v":0.0770420507,"cg_vd_v":0.0770420507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319210261,"cg_vq_v":-0.319210261,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.565674,"values":{"Elec_RPM":-5.50553459e-15,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-1.10110694e-15,"cg_du":50.1355972,"cg_dv":50.1921234,"cg_dw":49.8078766,"cg_id_a":-0.105259761,"cg_id_raw_a":-0.0311967582,"cg_iq_a":0.0361254513,"cg_iq_raw_a":-0.14785026,"cg_iu_a":0.654922366,"cg_iv_a":0.250373125,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.954546,"cg_sample_seq":14264116,"cg_sample_valid":1,"cg_theta_rad":5.00792217,"cg_vd_req_v":0.0802085847,"cg_vd_v":0.0802085847,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338371456,"cg_vq_v":-0.338371456,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.573486,"values":{"Elec_RPM":-5.50553459e-15,"EncoderCos":38707,"EncoderSin":12493,"GapTicks":54794,"Mech_RPM":-1.10110694e-15,"cg_du":50.1335068,"cg_dv":50.1864204,"cg_dw":49.8135796,"cg_id_a":0.0775586143,"cg_id_raw_a":0.139608264,"cg_iq_a":-0.392104417,"cg_iq_raw_a":-1.44221556,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14264166,"cg_sample_valid":1,"cg_theta_rad":5.00678062,"cg_vd_req_v":0.0769734308,"cg_vd_v":0.0769734308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328208208,"cg_vq_v":-0.328208208,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5682373,"temp_inv2_c":38.4639893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.581299,"values":{"Elec_RPM":-5.39542411e-15,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54791,"Mech_RPM":-1.07908482e-15,"cg_du":50.1375351,"cg_dv":50.189537,"cg_dw":49.810463,"cg_id_a":0.0787785649,"cg_id_raw_a":-0.536190808,"cg_iq_a":0.0892516822,"cg_iq_raw_a":0.493801445,"cg_iu_a":0.401215553,"cg_iv_a":0.39534843,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9654541,"cg_sample_seq":14264217,"cg_sample_valid":1,"cg_theta_rad":5.00799751,"cg_vd_req_v":0.0767256916,"cg_vd_v":0.0767256916,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333662808,"cg_vq_v":-0.333662808,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4672241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.608643,"values":{"Elec_RPM":-5.39542411e-15,"EncoderCos":38778,"EncoderSin":12509,"GapTicks":54786,"Mech_RPM":-1.07908482e-15,"cg_du":50.130249,"cg_dv":50.1940384,"cg_dw":49.8059616,"cg_id_a":-0.00937041827,"cg_id_raw_a":-0.140390739,"cg_iq_a":0.182256848,"cg_iq_raw_a":0.134782851,"cg_iu_a":-0.106198072,"cg_iv_a":-0.583235145,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.8563633,"cg_sample_seq":14264271,"cg_sample_valid":1,"cg_theta_rad":5.00771809,"cg_vd_req_v":0.0811298937,"cg_vd_v":0.0811298937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33817035,"cg_vq_v":-0.33817035,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.217402339,"dclink_p_w":31.4634781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4672241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.620361,"values":{"Elec_RPM":-5.28751593e-15,"EncoderCos":38732,"EncoderSin":12521,"GapTicks":54792,"Mech_RPM":-1.05750316e-15,"cg_du":50.1286545,"cg_dv":50.1884384,"cg_dw":49.8115616,"cg_id_a":0.0570473708,"cg_id_raw_a":0.152326956,"cg_iq_a":-0.130386859,"cg_iq_raw_a":-0.0944481716,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9799995,"cg_sample_seq":14264316,"cg_sample_valid":1,"cg_theta_rad":5.00674677,"cg_vd_req_v":0.0804859102,"cg_vd_v":0.0804859102,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329842418,"cg_vq_v":-0.329842418,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.6636391,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4525757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119542226,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.628174,"values":{"Elec_RPM":-5.28751593e-15,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54793,"Mech_RPM":-1.05750316e-15,"cg_du":50.1255531,"cg_dv":50.1875648,"cg_dw":49.8124352,"cg_id_a":-0.12748076,"cg_id_raw_a":-0.147736549,"cg_iq_a":-0.339637935,"cg_iq_raw_a":-0.669296622,"cg_iu_a":0.61867857,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.954546,"cg_sample_seq":14264366,"cg_sample_valid":1,"cg_theta_rad":5.00599718,"cg_vd_req_v":0.0843712464,"cg_vd_v":0.0843712464,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32633248,"cg_vq_v":-0.32633248,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.226463318,"dclink_p_w":32.774826,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4525757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119542226,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.635986,"values":{"Elec_RPM":-5.18176556e-15,"EncoderCos":38735,"EncoderSin":12489,"GapTicks":54787,"Mech_RPM":-1.03635307e-15,"cg_du":50.1264267,"cg_dv":50.193367,"cg_dw":49.806633,"cg_id_a":-0.252575874,"cg_id_raw_a":-0.156704247,"cg_iq_a":0.131579146,"cg_iq_raw_a":-0.159372613,"cg_iu_a":-0.106198072,"cg_iv_a":0.721542954,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9400005,"cg_sample_seq":14264416,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.0872591287,"cg_vd_v":0.0872591287,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334194034,"cg_vq_v":-0.334194034,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.329758167,"dclink_p_w":47.7241364,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.647705,"values":{"Elec_RPM":-5.18176556e-15,"EncoderCos":38716,"EncoderSin":12501,"GapTicks":54798,"Mech_RPM":-1.03635307e-15,"cg_du":50.114212,"cg_dv":50.1833191,"cg_dw":49.8166809,"cg_id_a":-0.318414748,"cg_id_raw_a":-0.193848386,"cg_iq_a":-0.804961085,"cg_iq_raw_a":-1.7292887,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.8672733,"cg_sample_seq":14264467,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0882622898,"cg_vd_v":0.0882622898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313373446,"cg_vq_v":-0.313373446,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.655518,"values":{"Elec_RPM":-5.07812981e-15,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54804,"Mech_RPM":-1.01562596e-15,"cg_du":50.1298332,"cg_dv":50.1781502,"cg_dw":49.8218498,"cg_id_a":0.519545496,"cg_id_raw_a":0.036910411,"cg_iq_a":-0.622924149,"cg_iq_raw_a":-1.48866189,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373065,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8672733,"cg_sample_seq":14264516,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0713428035,"cg_vd_v":0.0713428035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315017462,"cg_vq_v":-0.315017462,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.66333,"values":{"Elec_RPM":-5.07812981e-15,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54793,"Mech_RPM":-1.01562596e-15,"cg_du":50.1186028,"cg_dv":50.1872864,"cg_dw":49.8127136,"cg_id_a":-0.29867813,"cg_id_raw_a":-0.289826095,"cg_iq_a":-0.210474715,"cg_iq_raw_a":-0.535754502,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9181824,"cg_sample_seq":14264566,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0875404105,"cg_vd_v":0.0875404105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321537524,"cg_vq_v":-0.321537524,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4591064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.671143,"values":{"Elec_RPM":-4.97656759e-15,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-9.95313476e-16,"cg_du":50.1204033,"cg_dv":50.1855087,"cg_dw":49.8144913,"cg_id_a":-0.196768597,"cg_id_raw_a":0.135121003,"cg_iq_a":-0.382751614,"cg_iq_raw_a":-1.00572002,"cg_iu_a":0.763653994,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8563633,"cg_sample_seq":14264616,"cg_sample_valid":1,"cg_theta_rad":5.00869513,"cg_vd_req_v":0.0855933055,"cg_vd_v":0.0855933055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320844501,"cg_vq_v":-0.320844501,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.678955,"values":{"Elec_RPM":-4.97656759e-15,"EncoderCos":38723,"EncoderSin":12486,"GapTicks":54794,"Mech_RPM":-9.95313476e-16,"cg_du":50.1261177,"cg_dv":50.1866913,"cg_dw":49.8133087,"cg_id_a":0.00487339497,"cg_id_raw_a":0.218698472,"cg_iq_a":-0.11933922,"cg_iq_raw_a":-0.123848386,"cg_iu_a":0.872385502,"cg_iv_a":-0.257040501,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9509087,"cg_sample_seq":14264666,"cg_sample_valid":1,"cg_theta_rad":5.00815248,"cg_vd_req_v":0.082255438,"cg_vd_v":0.082255438,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325665683,"cg_vq_v":-0.325665683,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1621199,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4737244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.686768,"values":{"Elec_RPM":-4.87703614e-15,"EncoderCos":38706,"EncoderSin":12484,"GapTicks":54789,"Mech_RPM":-9.75407249e-16,"cg_du":50.127285,"cg_dv":50.1913719,"cg_dw":49.8086281,"cg_id_a":-0.219346374,"cg_id_raw_a":-0.223306715,"cg_iq_a":0.270520121,"cg_iq_raw_a":0.306291819,"cg_iu_a":0.0750211477,"cg_iv_a":-0.474503517,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8418179,"cg_sample_seq":14264716,"cg_sample_valid":1,"cg_theta_rad":5.00661135,"cg_vd_req_v":0.087223202,"cg_vd_v":0.087223202,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332363993,"cg_vq_v":-0.332363993,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4656067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.714111,"values":{"Elec_RPM":-4.87703614e-15,"EncoderCos":38752,"EncoderSin":12483,"GapTicks":54788,"Mech_RPM":-9.75407249e-16,"cg_du":50.1265106,"cg_dv":50.192585,"cg_dw":49.807415,"cg_id_a":-0.148413122,"cg_id_raw_a":0.141448006,"cg_iq_a":0.222403407,"cg_iq_raw_a":1.43263161,"cg_iu_a":0.14750886,"cg_iv_a":-0.148308992,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9509087,"cg_sample_seq":14264771,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0852900818,"cg_vd_v":0.0852900818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333472133,"cg_vq_v":-0.333472133,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4656067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.72583,"values":{"Elec_RPM":-4.77949564e-15,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-9.55899127e-16,"cg_du":50.1274643,"cg_dv":50.1895828,"cg_dw":49.8104172,"cg_id_a":-0.107759111,"cg_id_raw_a":0.274257392,"cg_iq_a":-0.00991497934,"cg_iq_raw_a":0.172867179,"cg_iu_a":-0.323661089,"cg_iv_a":-0.257040501,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9727268,"cg_sample_seq":14264816,"cg_sample_valid":1,"cg_theta_rad":5.00694942,"cg_vd_req_v":0.0838680193,"cg_vd_v":0.0838680193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329342008,"cg_vq_v":-0.329342008,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4639893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.733643,"values":{"Elec_RPM":-4.77949564e-15,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54793,"Mech_RPM":-9.55899127e-16,"cg_du":50.1272049,"cg_dv":50.1879768,"cg_dw":49.8120232,"cg_id_a":-0.159921482,"cg_id_raw_a":-0.0471038893,"cg_iq_a":-0.233997911,"cg_iq_raw_a":-0.622974813,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9218178,"cg_sample_seq":14264866,"cg_sample_valid":1,"cg_theta_rad":5.00755978,"cg_vd_req_v":0.0832563862,"cg_vd_v":0.0832563862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32682234,"cg_vq_v":-0.32682234,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4395752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.741455,"values":{"Elec_RPM":-4.68390585e-15,"EncoderCos":38693,"EncoderSin":12482,"GapTicks":54788,"Mech_RPM":-9.3678117e-16,"cg_du":50.133522,"cg_dv":50.1921844,"cg_dw":49.8078156,"cg_id_a":-0.137189776,"cg_id_raw_a":0.0158669148,"cg_iq_a":0.233002141,"cg_iq_raw_a":0.221057609,"cg_iu_a":0.183752537,"cg_iv_a":-0.438259721,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14264916,"cg_sample_valid":1,"cg_theta_rad":5.00676155,"cg_vd_req_v":0.083905533,"cg_vd_v":0.083905533,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335716039,"cg_vq_v":-0.335716039,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4395752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.749268,"values":{"Elec_RPM":-4.68390585e-15,"EncoderCos":38752,"EncoderSin":12474,"GapTicks":54789,"Mech_RPM":-9.3678117e-16,"cg_du":50.1421356,"cg_dv":50.1909599,"cg_dw":49.8090401,"cg_id_a":0.356333941,"cg_id_raw_a":0.277933806,"cg_iq_a":0.559976637,"cg_iq_raw_a":0.608116567,"cg_iu_a":-0.287417412,"cg_iv_a":-0.00333368778,"cg_iw_a":0.616945624,"cg_sample_age_us":23.954546,"cg_sample_seq":14264966,"cg_sample_valid":1,"cg_theta_rad":5.00916767,"cg_vd_req_v":0.0718206763,"cg_vd_v":0.0718206763,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340909004,"cg_vq_v":-0.340909004,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4688721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.760986,"values":{"Elec_RPM":-4.59022782e-15,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54789,"Mech_RPM":-9.18045543e-16,"cg_du":50.1321182,"cg_dv":50.1914749,"cg_dw":49.8085251,"cg_id_a":0.100905761,"cg_id_raw_a":-0.433993101,"cg_iq_a":-0.162320182,"cg_iq_raw_a":0.104384013,"cg_iu_a":0.183752775,"cg_iv_a":0.214129329,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.8527279,"cg_sample_seq":14265016,"cg_sample_valid":1,"cg_theta_rad":5.00721884,"cg_vd_req_v":0.0771183521,"cg_vd_v":0.0771183521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328075111,"cg_vq_v":-0.328075111,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.768799,"values":{"Elec_RPM":-4.59022782e-15,"EncoderCos":38724,"EncoderSin":12496,"GapTicks":54794,"Mech_RPM":-9.18045543e-16,"cg_du":50.1272583,"cg_dv":50.1864128,"cg_dw":49.8135872,"cg_id_a":-0.0875357315,"cg_id_raw_a":0.00658576284,"cg_iq_a":-0.317331672,"cg_iq_raw_a":-0.326234907,"cg_iu_a":-0.758587122,"cg_iv_a":-0.365772009,"cg_iw_a":1.12435913,"cg_sample_age_us":23.8490906,"cg_sample_seq":14265067,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0805447027,"cg_vd_v":0.0805447027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325014114,"cg_vq_v":-0.325014114,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.776611,"values":{"Elec_RPM":-4.498423e-15,"EncoderCos":38702,"EncoderSin":12485,"GapTicks":54792,"Mech_RPM":-8.99684621e-16,"cg_du":50.1362495,"cg_dv":50.1886253,"cg_dw":49.8113747,"cg_id_a":0.0483476184,"cg_id_raw_a":0.0507297404,"cg_iq_a":0.114857212,"cg_iq_raw_a":0.297343224,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213401,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9472733,"cg_sample_seq":14265117,"cg_sample_valid":1,"cg_theta_rad":5.00671196,"cg_vd_req_v":0.0772991106,"cg_vd_v":0.0772991106,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331605554,"cg_vq_v":-0.331605554,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.284574747,"dclink_p_w":-41.1849823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.784424,"values":{"Elec_RPM":-4.498423e-15,"EncoderCos":38702,"EncoderSin":12461,"GapTicks":54799,"Mech_RPM":-8.99684621e-16,"cg_du":50.1264954,"cg_dv":50.1823273,"cg_dw":49.8176727,"cg_id_a":-0.0763580352,"cg_id_raw_a":-0.228336215,"cg_iq_a":-0.489689648,"cg_iq_raw_a":-0.678417087,"cg_iu_a":-0.214929581,"cg_iv_a":-0.691966534,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9218178,"cg_sample_seq":14265167,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0793054029,"cg_vd_v":0.0793054029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317473978,"cg_vq_v":-0.317473978,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.284574747,"dclink_p_w":-41.1849823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4623413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.792236,"values":{"Elec_RPM":-4.40845455e-15,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54794,"Mech_RPM":-8.81690941e-16,"cg_du":50.1355553,"cg_dv":50.1865616,"cg_dw":49.8134384,"cg_id_a":0.104036927,"cg_id_raw_a":0.170282215,"cg_iq_a":0.129278526,"cg_iq_raw_a":-0.0551743023,"cg_iu_a":-0.251173258,"cg_iv_a":-0.365772128,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9509087,"cg_sample_seq":14265217,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0752354562,"cg_vd_v":0.0752354562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328558862,"cg_vq_v":-0.328558862,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.284574747,"dclink_p_w":-41.1849823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4509583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.823486,"values":{"Elec_RPM":-4.40845455e-15,"EncoderCos":38743,"EncoderSin":12466,"GapTicks":54796,"Mech_RPM":-8.81690941e-16,"cg_du":50.1240387,"cg_dv":50.184845,"cg_dw":49.815155,"cg_id_a":-0.0764656812,"cg_id_raw_a":0.574754536,"cg_iq_a":-0.133290514,"cg_iq_raw_a":0.563721597,"cg_iu_a":-0.251173258,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019293,"cg_sample_age_us":23.8600006,"cg_sample_seq":14265270,"cg_sample_valid":1,"cg_theta_rad":5.00719118,"cg_vd_req_v":0.0810754597,"cg_vd_v":0.0810754597,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322235525,"cg_vq_v":-0.322235525,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.17061329,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4476929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.831299,"values":{"Elec_RPM":-4.32028562e-15,"EncoderCos":38721,"EncoderSin":12504,"GapTicks":54795,"Mech_RPM":-8.64057145e-16,"cg_du":50.1257668,"cg_dv":50.1855316,"cg_dw":49.8144684,"cg_id_a":-0.100957021,"cg_id_raw_a":-0.00665639807,"cg_iq_a":-0.190834388,"cg_iq_raw_a":0.255023986,"cg_iu_a":0.546190858,"cg_iv_a":0.141641617,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9654541,"cg_sample_seq":14265316,"cg_sample_valid":1,"cg_theta_rad":5.00743008,"cg_vd_req_v":0.0811524838,"cg_vd_v":0.0811524838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323951393,"cg_vq_v":-0.323951393,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4476929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.839111,"values":{"Elec_RPM":-4.32028562e-15,"EncoderCos":38723,"EncoderSin":12469,"GapTicks":54788,"Mech_RPM":-8.64057145e-16,"cg_du":50.1308365,"cg_dv":50.192524,"cg_dw":49.807476,"cg_id_a":-0.197872579,"cg_id_raw_a":0.0765571222,"cg_iq_a":0.419281036,"cg_iq_raw_a":-0.17383039,"cg_iu_a":-0.39614892,"cg_iv_a":-0.800698042,"cg_iw_a":1.19684696,"cg_sample_age_us":23.9363632,"cg_sample_seq":14265366,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0846062899,"cg_vd_v":0.0846062899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336181104,"cg_vq_v":-0.336181104,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.1586266,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4200439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.846924,"values":{"Elec_RPM":-4.23387979e-15,"EncoderCos":38727,"EncoderSin":12443,"GapTicks":54798,"Mech_RPM":-8.46775979e-16,"cg_du":50.1282921,"cg_dv":50.1833954,"cg_dw":49.8166046,"cg_id_a":0.135320902,"cg_id_raw_a":0.227598265,"cg_iq_a":-0.288045079,"cg_iq_raw_a":-1.06940985,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.8600006,"cg_sample_seq":14265416,"cg_sample_valid":1,"cg_theta_rad":5.00700235,"cg_vd_req_v":0.0777596533,"cg_vd_v":0.0777596533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321251482,"cg_vq_v":-0.321251482,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4574585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2579.854736,"values":{"Elec_RPM":-4.23387979e-15,"EncoderCos":38666,"EncoderSin":12456,"GapTicks":54795,"Mech_RPM":-8.46775979e-16,"cg_du":50.1376152,"cg_dv":50.1856346,"cg_dw":49.8143654,"cg_id_a":0.0748502761,"cg_id_raw_a":0.246112496,"cg_iq_a":0.10917376,"cg_iq_raw_a":0.0281622615,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9799995,"cg_sample_seq":14265466,"cg_sample_valid":1,"cg_theta_rad":5.00626564,"cg_vd_req_v":0.076891385,"cg_vd_v":0.076891385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328562289,"cg_vq_v":-0.328562289,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.5178528,"temp_inv2_c":38.4574585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.862549,"values":{"Elec_RPM":-4.14920233e-15,"EncoderCos":38704,"EncoderSin":12467,"GapTicks":54814,"Mech_RPM":-8.29840455e-16,"cg_du":50.1226692,"cg_dv":50.1688652,"cg_dw":49.8311348,"cg_id_a":0.352317959,"cg_id_raw_a":-0.395470917,"cg_iq_a":-1.42029154,"cg_iq_raw_a":-0.695148051,"cg_iu_a":0.61867857,"cg_iv_a":1.73637033,"cg_iw_a":-2.35504889,"cg_sample_age_us":23.9218178,"cg_sample_seq":14265516,"cg_sample_valid":1,"cg_theta_rad":5.0062871,"cg_vd_req_v":0.0691044852,"cg_vd_v":0.0691044852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.298107386,"cg_vq_v":-0.298107386,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4509583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.874268,"values":{"Elec_RPM":-4.14920233e-15,"EncoderCos":38687,"EncoderSin":12485,"GapTicks":54802,"Mech_RPM":-8.29840455e-16,"cg_du":50.1250458,"cg_dv":50.1796913,"cg_dw":49.8203087,"cg_id_a":0.144859374,"cg_id_raw_a":-0.168982357,"cg_iq_a":-0.822119117,"cg_iq_raw_a":-1.43800259,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323794,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.8563633,"cg_sample_seq":14265566,"cg_sample_valid":1,"cg_theta_rad":5.00576019,"cg_vd_req_v":0.0732792914,"cg_vd_v":0.0732792914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.306506544,"cg_vq_v":-0.306506544,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4509583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.88208,"values":{"Elec_RPM":-4.06621809e-15,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54794,"Mech_RPM":-8.13243638e-16,"cg_du":50.1462212,"cg_dv":50.1867981,"cg_dw":49.8132019,"cg_id_a":0.415356636,"cg_id_raw_a":-0.248677403,"cg_iq_a":0.815753341,"cg_iq_raw_a":-0.27924189,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9836369,"cg_sample_seq":14265617,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.0681117773,"cg_vd_v":0.0681117773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33678773,"cg_vq_v":-0.33678773,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4460754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.889893,"values":{"Elec_RPM":-4.06621809e-15,"EncoderCos":38712,"EncoderSin":12506,"GapTicks":54795,"Mech_RPM":-8.13243638e-16,"cg_du":50.133007,"cg_dv":50.1856575,"cg_dw":49.8143425,"cg_id_a":0.0623714849,"cg_id_raw_a":-0.193248644,"cg_iq_a":0.197535366,"cg_iq_raw_a":-1.2924639,"cg_iu_a":-1.37473202,"cg_iv_a":-1.09064889,"cg_iw_a":2.46538091,"cg_sample_age_us":23.954546,"cg_sample_seq":14265667,"cg_sample_valid":1,"cg_theta_rad":5.00837708,"cg_vd_req_v":0.0761886165,"cg_vd_v":0.0761886165,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328038096,"cg_vq_v":-0.328038096,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.5784855,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4493408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.897705,"values":{"Elec_RPM":-3.98489361e-15,"EncoderCos":38706,"EncoderSin":12504,"GapTicks":54797,"Mech_RPM":-7.96978753e-16,"cg_du":50.1271935,"cg_dv":50.1842117,"cg_dw":49.8157883,"cg_id_a":0.143204898,"cg_id_raw_a":0.200716481,"cg_iq_a":0.106160387,"cg_iq_raw_a":0.275538266,"cg_iu_a":0.364971638,"cg_iv_a":0.214129269,"cg_iw_a":-0.579100907,"cg_sample_age_us":23.8563633,"cg_sample_seq":14265716,"cg_sample_valid":1,"cg_theta_rad":5.00688648,"cg_vd_req_v":0.0793755651,"cg_vd_v":0.0755837485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321754456,"cg_vq_v":-0.321754456,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4493408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.925049,"values":{"Elec_RPM":-3.98489361e-15,"EncoderCos":38742,"EncoderSin":12464,"GapTicks":54796,"Mech_RPM":-7.96978753e-16,"cg_du":50.1199341,"cg_dv":50.1852341,"cg_dw":49.8147659,"cg_id_a":-0.313933939,"cg_id_raw_a":-0.65269959,"cg_iq_a":-0.156480461,"cg_iq_raw_a":-0.0235930327,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065315,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9872723,"cg_sample_seq":14265772,"cg_sample_valid":1,"cg_theta_rad":5.00592613,"cg_vd_req_v":0.0845561549,"cg_vd_v":0.0845561549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319472283,"cg_vq_v":-0.319472283,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.433075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.936768,"values":{"Elec_RPM":-3.90519585e-15,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54800,"Mech_RPM":-7.81039181e-16,"cg_du":50.1289177,"cg_dv":50.1812134,"cg_dw":49.8187866,"cg_id_a":0.188722134,"cg_id_raw_a":0.378429085,"cg_iq_a":-0.190245301,"cg_iq_raw_a":-0.0355054699,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641557,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9436359,"cg_sample_seq":14265816,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0746574625,"cg_vd_v":0.0746574625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318756253,"cg_vq_v":-0.318756253,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4509583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.94458,"values":{"Elec_RPM":-3.90519585e-15,"EncoderCos":38754,"EncoderSin":12495,"GapTicks":54801,"Mech_RPM":-7.81039181e-16,"cg_du":50.1192322,"cg_dv":50.1801453,"cg_dw":49.8198547,"cg_id_a":0.0783496723,"cg_id_raw_a":-0.495882422,"cg_iq_a":-0.608617783,"cg_iq_raw_a":-0.3704153,"cg_iu_a":0.61867857,"cg_iv_a":0.141641617,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9872723,"cg_sample_seq":14265866,"cg_sample_valid":1,"cg_theta_rad":5.00620508,"cg_vd_req_v":0.078670904,"cg_vd_v":0.078670904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312525868,"cg_vq_v":-0.312525868,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4509583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.952393,"values":{"Elec_RPM":-3.75055008e-15,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54790,"Mech_RPM":-7.50110038e-16,"cg_du":50.1302071,"cg_dv":50.1905518,"cg_dw":49.8094482,"cg_id_a":-0.0469275787,"cg_id_raw_a":-0.418026,"cg_iq_a":0.497178346,"cg_iq_raw_a":2.07191658,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9290905,"cg_sample_seq":14266017,"cg_sample_valid":1,"cg_theta_rad":5.00575113,"cg_vd_req_v":0.0836677626,"cg_vd_v":0.0836677626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333016485,"cg_vq_v":-0.333016485,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4542236,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2579.960205,"values":{"Elec_RPM":-3.75055008e-15,"EncoderCos":38723,"EncoderSin":12497,"GapTicks":54788,"Mech_RPM":-7.50110038e-16,"cg_du":50.1366768,"cg_dv":50.1919327,"cg_dw":49.8080673,"cg_id_a":0.15605469,"cg_id_raw_a":0.253837317,"cg_iq_a":0.617060184,"cg_iq_raw_a":0.389047951,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9872723,"cg_sample_seq":14266067,"cg_sample_valid":1,"cg_theta_rad":5.00659752,"cg_vd_req_v":0.0785381347,"cg_vd_v":0.0785381347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337785125,"cg_vq_v":-0.337785125,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.968018,"values":{"Elec_RPM":-3.67553896e-15,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54790,"Mech_RPM":-7.35107814e-16,"cg_du":50.1322174,"cg_dv":50.1901588,"cg_dw":49.8098412,"cg_id_a":0.0799282193,"cg_id_raw_a":0.489667445,"cg_iq_a":0.181547672,"cg_iq_raw_a":0.120084323,"cg_iu_a":0.509947062,"cg_iv_a":-0.25704062,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9763641,"cg_sample_seq":14266117,"cg_sample_valid":1,"cg_theta_rad":5.00861168,"cg_vd_req_v":0.0802228749,"cg_vd_v":0.0802228749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33290115,"cg_vq_v":-0.33290115,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.97583,"values":{"Elec_RPM":-3.67553896e-15,"EncoderCos":38709,"EncoderSin":12521,"GapTicks":54793,"Mech_RPM":-7.35107814e-16,"cg_du":50.1238289,"cg_dv":50.1873055,"cg_dw":49.8126945,"cg_id_a":-0.246418715,"cg_id_raw_a":-0.076862894,"cg_iq_a":-0.188214183,"cg_iq_raw_a":0.976520538,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9799995,"cg_sample_seq":14266167,"cg_sample_valid":1,"cg_theta_rad":5.00638008,"cg_vd_req_v":0.0846506953,"cg_vd_v":0.0846506953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324169427,"cg_vq_v":-0.324169427,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4428101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2579.987549,"values":{"Elec_RPM":-3.60202836e-15,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54806,"Mech_RPM":-7.20405651e-16,"cg_du":50.1334114,"cg_dv":50.1760712,"cg_dw":49.8239288,"cg_id_a":0.579153895,"cg_id_raw_a":-0.201375604,"cg_iq_a":-0.688999593,"cg_iq_raw_a":0.0905541256,"cg_iu_a":-0.0337102413,"cg_iv_a":0.214129269,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9509087,"cg_sample_seq":14266217,"cg_sample_valid":1,"cg_theta_rad":5.00714493,"cg_vd_req_v":0.0664272681,"cg_vd_v":0.0664272681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315217823,"cg_vq_v":-0.315217823,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4346924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2579.990904,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2579.99091,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2579.990915,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2579.995361,"values":{"Elec_RPM":-3.60202836e-15,"EncoderCos":38711,"EncoderSin":12465,"GapTicks":54790,"Mech_RPM":-7.20405651e-16,"cg_du":50.145153,"cg_dv":50.190609,"cg_dw":49.809391,"cg_id_a":0.298738211,"cg_id_raw_a":-0.0757127255,"cg_iq_a":0.465700358,"cg_iq_raw_a":0.721724331,"cg_iu_a":0.0387773514,"cg_iv_a":0.032910049,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9836369,"cg_sample_seq":14266267,"cg_sample_valid":1,"cg_theta_rad":5.00780916,"cg_vd_req_v":0.0724937096,"cg_vd_v":0.0724937096,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341408968,"cg_vq_v":-0.341408968,"cg_vu_v":104.694435,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.9408302,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4346924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.022705,"values":{"Elec_RPM":-3.52998757e-15,"EncoderCos":38712,"EncoderSin":12490,"GapTicks":54790,"Mech_RPM":-7.05997515e-16,"cg_du":50.1370049,"cg_dv":50.1901741,"cg_dw":49.8098259,"cg_id_a":0.0580513626,"cg_id_raw_a":-0.142572224,"cg_iq_a":0.0695202798,"cg_iq_raw_a":0.132473052,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8527279,"cg_sample_seq":14266320,"cg_sample_valid":1,"cg_theta_rad":5.00711346,"cg_vd_req_v":0.0778141841,"cg_vd_v":0.0778141841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336361825,"cg_vq_v":-0.336361825,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2666464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.030518,"values":{"Elec_RPM":-3.52998757e-15,"EncoderCos":38717,"EncoderSin":12486,"GapTicks":54786,"Mech_RPM":-7.05997515e-16,"cg_du":50.1589699,"cg_dv":50.1942177,"cg_dw":49.8057823,"cg_id_a":0.771809518,"cg_id_raw_a":0.660719752,"cg_iq_a":0.784226954,"cg_iq_raw_a":-0.990914285,"cg_iu_a":-0.758587122,"cg_iv_a":0.504079998,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9581814,"cg_sample_seq":14266366,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.0639784783,"cg_vd_v":0.0639784783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353230625,"cg_vq_v":-0.353230625,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2666464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2563,"hz_tim_isr":5000,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.03833,"values":{"Elec_RPM":-3.45938801e-15,"EncoderCos":38702,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-6.91877581e-16,"cg_du":50.1431847,"cg_dv":50.1965408,"cg_dw":49.8034592,"cg_id_a":-0.0540606305,"cg_id_raw_a":-0.312026262,"cg_iq_a":0.322493404,"cg_iq_raw_a":-0.0674903765,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065196,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14266416,"cg_sample_valid":1,"cg_theta_rad":5.00811386,"cg_vd_req_v":0.0802662075,"cg_vd_v":0.0802662075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347159564,"cg_vq_v":-0.347159564,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.444458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.050049,"values":{"Elec_RPM":-3.45938801e-15,"EncoderCos":38750,"EncoderSin":12494,"GapTicks":54791,"Mech_RPM":-6.91877581e-16,"cg_du":50.139061,"cg_dv":50.1898727,"cg_dw":49.8101273,"cg_id_a":0.315515161,"cg_id_raw_a":0.443912357,"cg_iq_a":-0.197805807,"cg_iq_raw_a":-0.0687521175,"cg_iu_a":0.61867857,"cg_iv_a":0.032910049,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9836369,"cg_sample_seq":14266466,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.0726703033,"cg_vd_v":0.0726703033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33675015,"cg_vq_v":-0.33675015,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4314575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.057861,"values":{"Elec_RPM":-3.39020024e-15,"EncoderCos":38710,"EncoderSin":12494,"GapTicks":54786,"Mech_RPM":-6.78040028e-16,"cg_du":50.1360817,"cg_dv":50.1938858,"cg_dw":49.8061142,"cg_id_a":-0.198310345,"cg_id_raw_a":-0.541816413,"cg_iq_a":-0.100888297,"cg_iq_raw_a":0.129582301,"cg_iu_a":0.364971638,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9436359,"cg_sample_seq":14266516,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0819758326,"cg_vd_v":0.0819758326,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339856982,"cg_vq_v":-0.339856982,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4314575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.065674,"values":{"Elec_RPM":-3.39020024e-15,"EncoderCos":38720,"EncoderSin":12493,"GapTicks":54793,"Mech_RPM":-6.78040028e-16,"cg_du":50.1389198,"cg_dv":50.1876259,"cg_dw":49.8123741,"cg_id_a":0.198726058,"cg_id_raw_a":-0.215221763,"cg_iq_a":-0.189917222,"cg_iq_raw_a":-0.201950282,"cg_iu_a":0.219996452,"cg_iv_a":0.359104633,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9872723,"cg_sample_seq":14266566,"cg_sample_valid":1,"cg_theta_rad":5.00779629,"cg_vd_req_v":0.0731435865,"cg_vd_v":0.0731435865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334117234,"cg_vq_v":-0.334117234,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4298096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.073486,"values":{"Elec_RPM":-3.3223961e-15,"EncoderCos":38709,"EncoderSin":12488,"GapTicks":54794,"Mech_RPM":-6.64479242e-16,"cg_du":50.1374397,"cg_dv":50.1869049,"cg_dw":49.8130951,"cg_id_a":0.176474541,"cg_id_raw_a":-0.0152931502,"cg_iq_a":-0.437025905,"cg_iq_raw_a":-0.729134619,"cg_iu_a":-0.214929581,"cg_iv_a":0.649055243,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8563633,"cg_sample_seq":14266617,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.0745520294,"cg_vd_v":0.0745520294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332092315,"cg_vq_v":-0.332092315,"cg_vu_v":138.126266,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.444458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.081299,"values":{"Elec_RPM":-3.3223961e-15,"EncoderCos":38721,"EncoderSin":12457,"GapTicks":54788,"Mech_RPM":-6.64479242e-16,"cg_du":50.1397285,"cg_dv":50.1923065,"cg_dw":49.8076935,"cg_id_a":-0.0699286312,"cg_id_raw_a":0.11343433,"cg_iq_a":0.0299990103,"cg_iq_raw_a":0.521838486,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528213,"cg_iw_a":0.363238692,"cg_sample_age_us":23.863636,"cg_sample_seq":14266667,"cg_sample_valid":1,"cg_theta_rad":5.00678062,"cg_vd_req_v":0.0775914788,"cg_vd_v":0.0775914788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339752257,"cg_vq_v":-0.339752257,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.444458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.089111,"values":{"Elec_RPM":-3.25594827e-15,"EncoderCos":38726,"EncoderSin":12475,"GapTicks":54792,"Mech_RPM":-6.51189665e-16,"cg_du":50.140625,"cg_dv":50.1883163,"cg_dw":49.8116837,"cg_id_a":0.195583954,"cg_id_raw_a":0.479170978,"cg_iq_a":0.0651673526,"cg_iq_raw_a":0.44734627,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14266717,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.07221172,"cg_vd_v":0.07221172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335010439,"cg_vq_v":-0.335010439,"cg_vu_v":114.37207,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.10083,"values":{"Elec_RPM":-3.25594827e-15,"EncoderCos":38716,"EncoderSin":12520,"GapTicks":54796,"Mech_RPM":-6.51189665e-16,"cg_du":50.1395454,"cg_dv":50.184845,"cg_dw":49.815155,"cg_id_a":0.314517677,"cg_id_raw_a":0.357333928,"cg_iq_a":-0.415021181,"cg_iq_raw_a":-0.256434917,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9290905,"cg_sample_seq":14266767,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0694195628,"cg_vd_v":0.0694195628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329740435,"cg_vq_v":-0.329740435,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6052837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105442896,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.128174,"values":{"Elec_RPM":-3.12701292e-15,"EncoderCos":38715,"EncoderSin":12519,"GapTicks":54796,"Mech_RPM":-6.25402594e-16,"cg_du":50.1444397,"cg_dv":50.1857147,"cg_dw":49.8142853,"cg_id_a":0.243845209,"cg_id_raw_a":0.155996054,"cg_iq_a":0.011073702,"cg_iq_raw_a":-0.348384112,"cg_iu_a":-0.541124105,"cg_iv_a":0.359104574,"cg_iw_a":0.182019532,"cg_sample_age_us":23.8709087,"cg_sample_seq":14266916,"cg_sample_valid":1,"cg_theta_rad":5.00750351,"cg_vd_req_v":0.0667154193,"cg_vd_v":0.0667154193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334655017,"cg_vq_v":-0.334655017,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4135742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.135986,"values":{"Elec_RPM":-3.12701292e-15,"EncoderCos":38695,"EncoderSin":12473,"GapTicks":54800,"Mech_RPM":-6.25402594e-16,"cg_du":50.1358681,"cg_dv":50.181057,"cg_dw":49.818943,"cg_id_a":0.0152543839,"cg_id_raw_a":0.198116541,"cg_iq_a":-0.662189424,"cg_iq_raw_a":-0.525279462,"cg_iu_a":0.183752537,"cg_iv_a":0.105397761,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9836369,"cg_sample_seq":14266967,"cg_sample_valid":1,"cg_theta_rad":5.0067091,"cg_vd_req_v":0.0712188035,"cg_vd_v":0.0712188035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321964651,"cg_vq_v":-0.321964651,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4151917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.143799,"values":{"Elec_RPM":-3.06447288e-15,"EncoderCos":38712,"EncoderSin":12473,"GapTicks":54798,"Mech_RPM":-6.12894565e-16,"cg_du":50.1326218,"cg_dv":50.1836052,"cg_dw":49.8163948,"cg_id_a":-0.128440559,"cg_id_raw_a":0.0683991164,"cg_iq_a":-0.522340655,"cg_iq_raw_a":0.335405231,"cg_iu_a":0.763653874,"cg_iv_a":-0.184552908,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9836369,"cg_sample_seq":14267018,"cg_sample_valid":1,"cg_theta_rad":5.00647974,"cg_vd_req_v":0.0750015005,"cg_vd_v":0.0750015005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323869199,"cg_vq_v":-0.323869199,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.7264137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4346924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.151611,"values":{"Elec_RPM":-3.06447288e-15,"EncoderCos":38724,"EncoderSin":12491,"GapTicks":54803,"Mech_RPM":-6.12894565e-16,"cg_du":50.1270676,"cg_dv":50.1789169,"cg_dw":49.8210831,"cg_id_a":-0.115683593,"cg_id_raw_a":0.856603146,"cg_iq_a":-0.857010663,"cg_iq_raw_a":-1.08254659,"cg_iu_a":0.763653874,"cg_iv_a":0.141641617,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9836369,"cg_sample_seq":14267067,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.0735409707,"cg_vd_v":0.0735409707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314673603,"cg_vq_v":-0.314673603,"cg_vu_v":117.011421,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.192152977,"dclink_p_w":-27.8092728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4346924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.16333,"values":{"Elec_RPM":-3.00318327e-15,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54797,"Mech_RPM":-6.00636674e-16,"cg_du":50.1465874,"cg_dv":50.1837578,"cg_dw":49.8162422,"cg_id_a":0.351018429,"cg_id_raw_a":0.114556171,"cg_iq_a":-0.0739819556,"cg_iq_raw_a":0.0846890286,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860777,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.954546,"cg_sample_seq":14267117,"cg_sample_valid":1,"cg_theta_rad":5.00674438,"cg_vd_req_v":0.0632682294,"cg_vd_v":0.0632682294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332112461,"cg_vq_v":-0.332112461,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.171143,"values":{"Elec_RPM":-3.00318327e-15,"EncoderCos":38742,"EncoderSin":12491,"GapTicks":54790,"Mech_RPM":-6.00636674e-16,"cg_du":50.1362305,"cg_dv":50.1907349,"cg_dw":49.8092651,"cg_id_a":-0.263397545,"cg_id_raw_a":-0.413633168,"cg_iq_a":0.239869282,"cg_iq_raw_a":-0.109736912,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9436359,"cg_sample_seq":14267167,"cg_sample_valid":1,"cg_theta_rad":5.00713825,"cg_vd_req_v":0.0766475573,"cg_vd_v":0.0766475573,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337228954,"cg_vq_v":-0.337228954,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-82.0854034,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.178955,"values":{"Elec_RPM":-2.94311974e-15,"EncoderCos":38721,"EncoderSin":12473,"GapTicks":54794,"Mech_RPM":-5.88623947e-16,"cg_du":50.1346512,"cg_dv":50.1866226,"cg_dw":49.8133774,"cg_id_a":-0.153412044,"cg_id_raw_a":-0.14996019,"cg_iq_a":-0.132606745,"cg_iq_raw_a":0.641679704,"cg_iu_a":0.111264944,"cg_iv_a":0.21412921,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9509087,"cg_sample_seq":14267217,"cg_sample_valid":1,"cg_theta_rad":5.00700617,"cg_vd_req_v":0.0759092197,"cg_vd_v":0.0759092197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33026281,"cg_vq_v":-0.33026281,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.7648315,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.190674,"values":{"Elec_RPM":-2.94311974e-15,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-5.88623947e-16,"cg_du":50.1427193,"cg_dv":50.1921921,"cg_dw":49.8078079,"cg_id_a":-0.0971541181,"cg_id_raw_a":-0.181928784,"cg_iq_a":0.273136139,"cg_iq_raw_a":0.747724771,"cg_iu_a":0.61867857,"cg_iv_a":0.105397761,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9509087,"cg_sample_seq":14267267,"cg_sample_valid":1,"cg_theta_rad":5.00746298,"cg_vd_req_v":0.0750385821,"cg_vd_v":0.0750385821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341303885,"cg_vq_v":-0.341303885,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.599896193,"dclink_p_w":-86.8197708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.3989563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.218018,"values":{"Elec_RPM":-2.8842573e-15,"EncoderCos":38733,"EncoderSin":12519,"GapTicks":54785,"Mech_RPM":-5.7685146e-16,"cg_du":50.138298,"cg_dv":50.1948166,"cg_dw":49.8051834,"cg_id_a":-0.264451385,"cg_id_raw_a":-0.720625877,"cg_iq_a":0.410678059,"cg_iq_raw_a":0.438073397,"cg_iu_a":0.691166282,"cg_iv_a":1.01149356,"cg_iw_a":-1.70265985,"cg_sample_age_us":23.8490906,"cg_sample_seq":14267321,"cg_sample_valid":1,"cg_theta_rad":5.0071764,"cg_vd_req_v":0.078755714,"cg_vd_v":0.078755714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342920184,"cg_vq_v":-0.342920184,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.3989563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.22583,"values":{"Elec_RPM":-2.8842573e-15,"EncoderCos":38725,"EncoderSin":12504,"GapTicks":54783,"Mech_RPM":-5.7685146e-16,"cg_du":50.1413422,"cg_dv":50.1969337,"cg_dw":49.8030663,"cg_id_a":-0.251464814,"cg_id_raw_a":-0.0412872843,"cg_iq_a":0.48575297,"cg_iq_raw_a":0.178934395,"cg_iu_a":-0.251173496,"cg_iv_a":-0.72821033,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9509087,"cg_sample_seq":14267366,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0793899596,"cg_vd_v":0.0793899596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347277939,"cg_vq_v":-0.347277939,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.1310959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3973083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.233643,"values":{"Elec_RPM":-2.82657224e-15,"EncoderCos":38746,"EncoderSin":12483,"GapTicks":54785,"Mech_RPM":-5.65314448e-16,"cg_du":50.1346779,"cg_dv":50.1953468,"cg_dw":49.8046532,"cg_id_a":-0.236733571,"cg_id_raw_a":-0.185417756,"cg_iq_a":0.2513403,"cg_iq_raw_a":0.384273291,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9327278,"cg_sample_seq":14267416,"cg_sample_valid":1,"cg_theta_rad":5.00841618,"cg_vd_req_v":0.0822123215,"cg_vd_v":0.0822123215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342705429,"cg_vq_v":-0.342705429,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.726749659,"dclink_p_w":-105.498291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.241455,"values":{"Elec_RPM":-2.82657224e-15,"EncoderCos":38739,"EncoderSin":12511,"GapTicks":54794,"Mech_RPM":-5.65314448e-16,"cg_du":50.1308975,"cg_dv":50.1868286,"cg_dw":49.8131714,"cg_id_a":0.0806927681,"cg_id_raw_a":-0.253527075,"cg_iq_a":-0.210034132,"cg_iq_raw_a":-0.0221555959,"cg_iu_a":-0.359905005,"cg_iv_a":0.939005971,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9509087,"cg_sample_seq":14267466,"cg_sample_valid":1,"cg_theta_rad":5.00540447,"cg_vd_req_v":0.0768575743,"cg_vd_v":0.0768575743,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328956276,"cg_vq_v":-0.328956276,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.554306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.249268,"values":{"Elec_RPM":-2.77004084e-15,"EncoderCos":38728,"EncoderSin":12498,"GapTicks":54783,"Mech_RPM":-5.54008146e-16,"cg_du":50.1365433,"cg_dv":50.1963806,"cg_dw":49.8036194,"cg_id_a":-0.152558818,"cg_id_raw_a":-0.124573737,"cg_iq_a":0.50475353,"cg_iq_raw_a":0.171112731,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503636,"cg_iw_a":0.616945624,"cg_sample_age_us":23.8454552,"cg_sample_seq":14267516,"cg_sample_valid":1,"cg_theta_rad":5.00780487,"cg_vd_req_v":0.0827923194,"cg_vd_v":0.0827923194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344911993,"cg_vq_v":-0.344911993,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.6062927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4233093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.25708,"values":{"Elec_RPM":-2.77004084e-15,"EncoderCos":38742,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-5.54008146e-16,"cg_du":50.1315079,"cg_dv":50.200119,"cg_dw":49.799881,"cg_id_a":-0.407176197,"cg_id_raw_a":-0.371461987,"cg_iq_a":0.554173827,"cg_iq_raw_a":0.585915387,"cg_iu_a":-0.142441988,"cg_iv_a":-0.293284416,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9436359,"cg_sample_seq":14267566,"cg_sample_valid":1,"cg_theta_rad":5.00762844,"cg_vd_req_v":0.0888484344,"cg_vd_v":0.0888484344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346477509,"cg_vq_v":-0.346477509,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4233093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.264893,"values":{"Elec_RPM":-2.71464001e-15,"EncoderCos":38710,"EncoderSin":12505,"GapTicks":54789,"Mech_RPM":-5.42928002e-16,"cg_du":50.1429291,"cg_dv":50.1915169,"cg_dw":49.8084831,"cg_id_a":0.385917962,"cg_id_raw_a":0.464379132,"cg_iq_a":0.375038743,"cg_iq_raw_a":0.592387915,"cg_iu_a":-0.686099291,"cg_iv_a":0.322860718,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8563633,"cg_sample_seq":14267616,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0740410313,"cg_vd_v":0.0740410313,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340537876,"cg_vq_v":-0.340537876,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4281921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.276611,"values":{"Elec_RPM":-2.71464001e-15,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54794,"Mech_RPM":-5.42928002e-16,"cg_du":50.1301842,"cg_dv":50.1867828,"cg_dw":49.8132172,"cg_id_a":0.0865122601,"cg_id_raw_a":-0.177758932,"cg_iq_a":-0.23692362,"cg_iq_raw_a":0.493263304,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333374739,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.8563633,"cg_sample_seq":14267667,"cg_sample_valid":1,"cg_theta_rad":5.00788069,"cg_vd_req_v":0.0794670954,"cg_vd_v":0.0794670954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326942325,"cg_vq_v":-0.326942325,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.284424,"values":{"Elec_RPM":-2.66034732e-15,"EncoderCos":38734,"EncoderSin":12464,"GapTicks":54791,"Mech_RPM":-5.32069463e-16,"cg_du":50.1311607,"cg_dv":50.1896858,"cg_dw":49.8103142,"cg_id_a":0.0875644013,"cg_id_raw_a":-0.298787087,"cg_iq_a":0.199756607,"cg_iq_raw_a":-0.209610254,"cg_iu_a":-0.613611698,"cg_iv_a":0.286616981,"cg_iw_a":0.326994717,"cg_sample_age_us":23.8563633,"cg_sample_seq":14267716,"cg_sample_valid":1,"cg_theta_rad":5.00760889,"cg_vd_req_v":0.0806230977,"cg_vd_v":0.0806230977,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331655353,"cg_vq_v":-0.331655353,"cg_vu_v":21.5547352,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.292236,"values":{"Elec_RPM":-2.66034732e-15,"EncoderCos":38734,"EncoderSin":12498,"GapTicks":54794,"Mech_RPM":-5.32069463e-16,"cg_du":50.1227417,"cg_dv":50.1866646,"cg_dw":49.8133354,"cg_id_a":-0.0309534222,"cg_id_raw_a":-0.19431518,"cg_iq_a":-0.147891045,"cg_iq_raw_a":0.019206088,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885413,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14267767,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0835560709,"cg_vd_v":0.0835560709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323031753,"cg_vq_v":-0.323031753,"cg_vu_v":121.410347,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.31958,"values":{"Elec_RPM":-2.60714031e-15,"EncoderCos":38709,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-5.21428082e-16,"cg_du":50.1340027,"cg_dv":50.1940117,"cg_dw":49.8059883,"cg_id_a":0.035292387,"cg_id_raw_a":-0.329516858,"cg_iq_a":0.666546702,"cg_iq_raw_a":-0.104559377,"cg_iu_a":-0.287417412,"cg_iv_a":-0.90942955,"cg_iw_a":1.19684696,"cg_sample_age_us":23.8563633,"cg_sample_seq":14267820,"cg_sample_valid":1,"cg_theta_rad":5.00637293,"cg_vd_req_v":0.0840830207,"cg_vd_v":0.0840830207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339864761,"cg_vq_v":-0.339864761,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-125.228233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4249268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.331299,"values":{"Elec_RPM":-2.60714031e-15,"EncoderCos":38674,"EncoderSin":12465,"GapTicks":54792,"Mech_RPM":-5.21428082e-16,"cg_du":50.1254959,"cg_dv":50.1885147,"cg_dw":49.8114853,"cg_id_a":-0.163508981,"cg_id_raw_a":-0.0281733405,"cg_iq_a":0.0223390106,"cg_iq_raw_a":0.0342000946,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.293284416,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9654541,"cg_sample_seq":14267868,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.0883703977,"cg_vd_v":0.0883703977,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325723469,"cg_vq_v":-0.325723469,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4249268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.339111,"values":{"Elec_RPM":-2.55499759e-15,"EncoderCos":38751,"EncoderSin":12487,"GapTicks":54795,"Mech_RPM":-5.10999519e-16,"cg_du":50.1194115,"cg_dv":50.1857185,"cg_dw":49.8142815,"cg_id_a":0.0173143558,"cg_id_raw_a":0.0241677146,"cg_iq_a":-0.279866606,"cg_iq_raw_a":-0.542863667,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9181824,"cg_sample_seq":14267916,"cg_sample_valid":1,"cg_theta_rad":5.00869894,"cg_vd_req_v":0.0842740461,"cg_vd_v":0.0842740461,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320149988,"cg_vq_v":-0.320149988,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.433075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.346924,"values":{"Elec_RPM":-2.55499759e-15,"EncoderCos":38721,"EncoderSin":12523,"GapTicks":54785,"Mech_RPM":-5.10999519e-16,"cg_du":50.1156273,"cg_dv":50.1948967,"cg_dw":49.8051033,"cg_id_a":-0.516912341,"cg_id_raw_a":-0.362034321,"cg_iq_a":0.141993716,"cg_iq_raw_a":-0.43361038,"cg_iu_a":0.437459469,"cg_iv_a":-1.05440497,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9654541,"cg_sample_seq":14267966,"cg_sample_valid":1,"cg_theta_rad":5.00783157,"cg_vd_req_v":0.0975177065,"cg_vd_v":0.0975177065,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330175847,"cg_vq_v":-0.330175847,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.433075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.354736,"values":{"Elec_RPM":-2.50389758e-15,"EncoderCos":38725,"EncoderSin":12507,"GapTicks":54789,"Mech_RPM":-5.00779537e-16,"cg_du":50.1271935,"cg_dv":50.1916733,"cg_dw":49.8083267,"cg_id_a":0.0960931852,"cg_id_raw_a":0.580725372,"cg_iq_a":0.282790869,"cg_iq_raw_a":2.05763173,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8818188,"cg_sample_seq":14268017,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0853619128,"cg_vd_v":0.0853619128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332226843,"cg_vq_v":-0.332226843,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.366455,"values":{"Elec_RPM":-2.50389758e-15,"EncoderCos":38738,"EncoderSin":12471,"GapTicks":54788,"Mech_RPM":-5.00779537e-16,"cg_du":50.1375465,"cg_dv":50.1921005,"cg_dw":49.8078995,"cg_id_a":0.466085017,"cg_id_raw_a":0.147428244,"cg_iq_a":0.608498693,"cg_iq_raw_a":-0.713443637,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14268067,"cg_sample_valid":1,"cg_theta_rad":5.00794697,"cg_vd_req_v":0.0777075887,"cg_vd_v":0.0777075887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339656293,"cg_vq_v":-0.339656293,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.374268,"values":{"Elec_RPM":-2.45381972e-15,"EncoderCos":38699,"EncoderSin":12502,"GapTicks":54791,"Mech_RPM":-4.90763955e-16,"cg_du":50.1439667,"cg_dv":50.1899223,"cg_dw":49.8100777,"cg_id_a":0.58870405,"cg_id_raw_a":0.907275379,"cg_iq_a":0.604432344,"cg_iq_raw_a":1.40320659,"cg_iu_a":-1.04853749,"cg_iv_a":0.685299098,"cg_iw_a":0.363238394,"cg_sample_age_us":23.9509087,"cg_sample_seq":14268117,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0728185028,"cg_vd_v":0.0728185028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339790583,"cg_vq_v":-0.339790583,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4674988,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.38208,"values":{"Elec_RPM":-2.45381972e-15,"EncoderCos":38736,"EncoderSin":12489,"GapTicks":54788,"Mech_RPM":-4.90763955e-16,"cg_du":50.1181221,"cg_dv":50.192009,"cg_dw":49.807991,"cg_id_a":-0.323276132,"cg_id_raw_a":0.0475247353,"cg_iq_a":-0.067750223,"cg_iq_raw_a":-0.322382152,"cg_iu_a":0.111264944,"cg_iv_a":-0.510747313,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14268167,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.0924102142,"cg_vd_v":0.0924102142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327730179,"cg_vq_v":-0.327730179,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.184904337,"dclink_p_w":-26.8415546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4103088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.389893,"values":{"Elec_RPM":-2.40474348e-15,"EncoderCos":38725,"EncoderSin":12499,"GapTicks":54783,"Mech_RPM":-4.80948696e-16,"cg_du":50.1215935,"cg_dv":50.1971931,"cg_dw":49.8028069,"cg_id_a":-0.460014731,"cg_id_raw_a":-0.264726281,"cg_iq_a":0.156278402,"cg_iq_raw_a":-0.570327222,"cg_iu_a":-0.142441988,"cg_iv_a":-1.05440497,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9436359,"cg_sample_seq":14268217,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0952926949,"cg_vd_v":0.0952926949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336563468,"cg_vq_v":-0.336563468,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4021912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.397705,"values":{"Elec_RPM":-2.40474348e-15,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54792,"Mech_RPM":-4.80948696e-16,"cg_du":50.1339722,"cg_dv":50.1882133,"cg_dw":49.8117867,"cg_id_a":0.299534172,"cg_id_raw_a":-0.187324032,"cg_iq_a":-0.143937826,"cg_iq_raw_a":-0.054046195,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323794,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9618187,"cg_sample_seq":14268267,"cg_sample_valid":1,"cg_theta_rad":5.0078187,"cg_vd_req_v":0.0778692961,"cg_vd_v":0.0778692961,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329959214,"cg_vq_v":-0.329959214,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.4450951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4021912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2580.425049,"values":{"Elec_RPM":-2.35664874e-15,"EncoderCos":38740,"EncoderSin":12486,"GapTicks":54791,"Mech_RPM":-4.71329736e-16,"cg_du":50.1195412,"cg_dv":50.1893044,"cg_dw":49.8106956,"cg_id_a":-0.155191451,"cg_id_raw_a":-0.321126729,"cg_iq_a":-0.441627204,"cg_iq_raw_a":-0.429131716,"cg_iu_a":0.654922485,"cg_iv_a":-0.873185754,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9509087,"cg_sample_seq":14268320,"cg_sample_valid":1,"cg_theta_rad":5.00602484,"cg_vd_req_v":0.0884511545,"cg_vd_v":0.0884511545,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324895531,"cg_vq_v":-0.324895531,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.433075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.432861,"values":{"Elec_RPM":-2.35664874e-15,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54786,"Mech_RPM":-4.71329736e-16,"cg_du":50.1294518,"cg_dv":50.1939049,"cg_dw":49.8060951,"cg_id_a":-0.0936640203,"cg_id_raw_a":0.0868687928,"cg_iq_a":0.0827886015,"cg_iq_raw_a":-0.0635864139,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9509087,"cg_sample_seq":14268366,"cg_sample_valid":1,"cg_theta_rad":5.0085187,"cg_vd_req_v":0.0870389193,"cg_vd_v":0.0870389193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337287366,"cg_vq_v":-0.337287366,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.433075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.44458,"values":{"Elec_RPM":-2.3095158e-15,"EncoderCos":38707,"EncoderSin":12548,"GapTicks":54784,"Mech_RPM":-4.6190316e-16,"cg_du":50.134491,"cg_dv":50.1962814,"cg_dw":49.8037186,"cg_id_a":-0.10243398,"cg_id_raw_a":0.00304428977,"cg_iq_a":0.226863459,"cg_iq_raw_a":-0.508620143,"cg_iu_a":-0.142441988,"cg_iv_a":-0.329528332,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8672733,"cg_sample_seq":14268416,"cg_sample_valid":1,"cg_theta_rad":5.00753927,"cg_vd_req_v":0.084768489,"cg_vd_v":0.084768489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343515664,"cg_vq_v":-0.343515664,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4216919,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.452393,"values":{"Elec_RPM":-2.3095158e-15,"EncoderCos":38718,"EncoderSin":12484,"GapTicks":54787,"Mech_RPM":-4.6190316e-16,"cg_du":50.1366348,"cg_dv":50.1930046,"cg_dw":49.8069954,"cg_id_a":0.158116058,"cg_id_raw_a":0.323216021,"cg_iq_a":0.00749664754,"cg_iq_raw_a":-0.331908315,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9872723,"cg_sample_seq":14268466,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0803005397,"cg_vd_v":0.0803005397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339058161,"cg_vq_v":-0.339058161,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.460205,"values":{"Elec_RPM":-2.2633254e-15,"EncoderCos":38715,"EncoderSin":12513,"GapTicks":54787,"Mech_RPM":-4.52665101e-16,"cg_du":50.1331329,"cg_dv":50.1927834,"cg_dw":49.8072166,"cg_id_a":0.00152696297,"cg_id_raw_a":0.211898044,"cg_iq_a":-0.345520139,"cg_iq_raw_a":0.385234088,"cg_iu_a":0.183752537,"cg_iv_a":0.395348489,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9472733,"cg_sample_seq":14268517,"cg_sample_valid":1,"cg_theta_rad":5.00606155,"cg_vd_req_v":0.0821401253,"cg_vd_v":0.0821401253,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335877478,"cg_vq_v":-0.335877478,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4168396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2580.471924,"values":{"Elec_RPM":-2.2633254e-15,"EncoderCos":38718,"EncoderSin":12494,"GapTicks":54781,"Mech_RPM":-4.52665101e-16,"cg_du":50.1402206,"cg_dv":50.1990662,"cg_dw":49.8009338,"cg_id_a":-0.0837744847,"cg_id_raw_a":0.107438959,"cg_iq_a":0.219729573,"cg_iq_raw_a":0.593778074,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9763641,"cg_sample_seq":14268567,"cg_sample_valid":1,"cg_theta_rad":5.00649071,"cg_vd_req_v":0.0828811452,"cg_vd_v":0.0828811452,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348305613,"cg_vq_v":-0.348305613,"cg_vu_v":137.686371,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.3875732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2580.479736,"values":{"Elec_RPM":-2.21805911e-15,"EncoderCos":38696,"EncoderSin":12495,"GapTicks":54783,"Mech_RPM":-4.43611801e-16,"cg_du":50.1395836,"cg_dv":50.1968689,"cg_dw":49.8031311,"cg_id_a":-0.14039129,"cg_id_raw_a":0.0649709553,"cg_iq_a":0.00470744446,"cg_iq_raw_a":-0.466190815,"cg_iu_a":-0.178685904,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14268618,"cg_sample_valid":1,"cg_theta_rad":5.00636053,"cg_vd_req_v":0.0829550028,"cg_vd_v":0.0829550028,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344565332,"cg_vq_v":-0.344565332,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-37.922142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.405426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2580.487549,"values":{"Elec_RPM":-2.21805911e-15,"EncoderCos":38701,"EncoderSin":12459,"GapTicks":54787,"Mech_RPM":-4.43611801e-16,"cg_du":50.1379471,"cg_dv":50.1928673,"cg_dw":49.8071327,"cg_id_a":-0.074665755,"cg_id_raw_a":-0.296512693,"cg_iq_a":-0.271434337,"cg_iq_raw_a":-0.831281006,"cg_iu_a":-0.359904766,"cg_iv_a":0.032910049,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14268667,"cg_sample_valid":1,"cg_theta_rad":5.00545502,"cg_vd_req_v":0.0810306296,"cg_vd_v":0.0810306296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3391608,"cg_vq_v":-0.3391608,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.405426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.495361,"values":{"Elec_RPM":-2.17369788e-15,"EncoderCos":38804,"EncoderSin":12514,"GapTicks":54782,"Mech_RPM":-4.34739554e-16,"cg_du":50.1339836,"cg_dv":50.1980858,"cg_dw":49.8019142,"cg_id_a":-0.0513983145,"cg_id_raw_a":0.187220827,"cg_iq_a":0.0589759499,"cg_iq_raw_a":-0.857393444,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148309052,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9436359,"cg_sample_seq":14268717,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.0798478872,"cg_vd_v":0.0798478872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346288621,"cg_vq_v":-0.346288621,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4135742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.503174,"values":{"Elec_RPM":-2.17369788e-15,"EncoderCos":38725,"EncoderSin":12491,"GapTicks":54787,"Mech_RPM":-4.34739554e-16,"cg_du":50.1373329,"cg_dv":50.1930695,"cg_dw":49.8069305,"cg_id_a":0.0204524957,"cg_id_raw_a":-0.502940834,"cg_iq_a":-0.124527238,"cg_iq_raw_a":0.389830768,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397761,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9581814,"cg_sample_seq":14268767,"cg_sample_valid":1,"cg_theta_rad":5.00658321,"cg_vd_req_v":0.0791126639,"cg_vd_v":0.0791126639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339704365,"cg_vq_v":-0.339704365,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-63.1446495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4135742,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.530518,"values":{"Elec_RPM":-2.13022391e-15,"EncoderCos":38728,"EncoderSin":12455,"GapTicks":54786,"Mech_RPM":-4.26044761e-16,"cg_du":50.1337318,"cg_dv":50.1938324,"cg_dw":49.8061676,"cg_id_a":-0.116206281,"cg_id_raw_a":0.225492269,"cg_iq_a":-0.0293482952,"cg_iq_raw_a":0.241155416,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":26.8090916,"cg_sample_seq":14268820,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0832890645,"cg_vd_v":0.0832890645,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338579267,"cg_vq_v":-0.338579267,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.6725273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4233093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.53833,"values":{"Elec_RPM":-2.13022391e-15,"EncoderCos":38728,"EncoderSin":12505,"GapTicks":54784,"Mech_RPM":-4.26044761e-16,"cg_du":50.1398277,"cg_dv":50.1962547,"cg_dw":49.8037453,"cg_id_a":0.0574384853,"cg_id_raw_a":0.748201668,"cg_iq_a":0.242728293,"cg_iq_raw_a":-0.620873094,"cg_iu_a":-0.214929581,"cg_iv_a":-0.546991229,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9254551,"cg_sample_seq":14268866,"cg_sample_valid":1,"cg_theta_rad":5.00641108,"cg_vd_req_v":0.0796651468,"cg_vd_v":0.0796651468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345567942,"cg_vq_v":-0.345567942,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3940735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.550049,"values":{"Elec_RPM":-2.08761942e-15,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54789,"Mech_RPM":-4.17523874e-16,"cg_du":50.1333046,"cg_dv":50.1909409,"cg_dw":49.8090591,"cg_id_a":0.0160639584,"cg_id_raw_a":-0.573360264,"cg_iq_a":-0.198036209,"cg_iq_raw_a":0.235569268,"cg_iu_a":0.292484283,"cg_iv_a":-0.293284297,"cg_iw_a":0.000800013542,"cg_sample_age_us":23.9181824,"cg_sample_seq":14268916,"cg_sample_valid":1,"cg_theta_rad":5.00692892,"cg_vd_req_v":0.081385456,"cg_vd_v":0.081385456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334267139,"cg_vq_v":-0.334267139,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3940735,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.557861,"values":{"Elec_RPM":-2.08761942e-15,"EncoderCos":38689,"EncoderSin":12483,"GapTicks":54781,"Mech_RPM":-4.17523874e-16,"cg_du":50.1341896,"cg_dv":50.1987152,"cg_dw":49.8012848,"cg_id_a":-0.371629059,"cg_id_raw_a":-0.0218076222,"cg_iq_a":0.373986781,"cg_iq_raw_a":0.58156532,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14268966,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0903419033,"cg_vd_v":0.0903419033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345904768,"cg_vq_v":-0.345904768,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4265747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.565674,"values":{"Elec_RPM":-2.04586705e-15,"EncoderCos":38726,"EncoderSin":12507,"GapTicks":54783,"Mech_RPM":-4.091734e-16,"cg_du":50.1368179,"cg_dv":50.197094,"cg_dw":49.802906,"cg_id_a":0.0204638056,"cg_id_raw_a":0.00436397782,"cg_iq_a":0.312449068,"cg_iq_raw_a":0.365243405,"cg_iu_a":-0.722343206,"cg_iv_a":-0.800698042,"cg_iw_a":1.52304125,"cg_sample_age_us":23.8600006,"cg_sample_seq":14269017,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.0829548091,"cg_vd_v":0.0829548091,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345006466,"cg_vq_v":-0.345006466,"cg_vu_v":108.21357,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4216919,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.123268478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.573486,"values":{"Elec_RPM":-2.04586705e-15,"EncoderCos":38702,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-4.091734e-16,"cg_du":50.1422501,"cg_dv":50.2014618,"cg_dw":49.7985382,"cg_id_a":-0.0618360266,"cg_id_raw_a":-0.578504205,"cg_iq_a":0.686683536,"cg_iq_raw_a":0.488868952,"cg_iu_a":-0.396148682,"cg_iv_a":-0.220796704,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8672733,"cg_sample_seq":14269066,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0856319219,"cg_vd_v":0.0856319219,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354480386,"cg_vq_v":-0.354480386,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4423523,"temp_inv2_c":38.4216919,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.123268478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.585205,"values":{"Elec_RPM":-2.00494964e-15,"EncoderCos":38703,"EncoderSin":12466,"GapTicks":54794,"Mech_RPM":-4.00989924e-16,"cg_du":50.1277351,"cg_dv":50.1866035,"cg_dw":49.8133965,"cg_id_a":-0.0233757347,"cg_id_raw_a":-0.143060461,"cg_iq_a":-0.703269005,"cg_iq_raw_a":0.131945744,"cg_iu_a":0.5099473,"cg_iv_a":1.26520038,"cg_iw_a":-1.77514768,"cg_sample_age_us":23.9799995,"cg_sample_seq":14269117,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0825775638,"cg_vd_v":0.0825775638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324981719,"cg_vq_v":-0.324981719,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.3119202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4005432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.593018,"values":{"Elec_RPM":-2.00494964e-15,"EncoderCos":38756,"EncoderSin":12482,"GapTicks":54784,"Mech_RPM":-4.00989924e-16,"cg_du":50.1348877,"cg_dv":50.1955948,"cg_dw":49.8044052,"cg_id_a":0.0320382826,"cg_id_raw_a":-0.101195686,"cg_iq_a":0.186265171,"cg_iq_raw_a":0.392075747,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14269166,"cg_sample_valid":1,"cg_theta_rad":5.00690508,"cg_vd_req_v":0.0812815651,"cg_vd_v":0.0812815651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342303514,"cg_vq_v":-0.342303514,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4005432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.60083,"values":{"Elec_RPM":-1.96485068e-15,"EncoderCos":38745,"EncoderSin":12494,"GapTicks":54784,"Mech_RPM":-3.92970136e-16,"cg_du":50.137928,"cg_dv":50.1956749,"cg_dw":49.8043251,"cg_id_a":0.0723001361,"cg_id_raw_a":-0.490027368,"cg_iq_a":0.380561829,"cg_iq_raw_a":0.502391517,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8563633,"cg_sample_seq":14269216,"cg_sample_valid":1,"cg_theta_rad":5.00852299,"cg_vd_req_v":0.0795338526,"cg_vd_v":0.0795338526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34396857,"cg_vq_v":-0.34396857,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4005432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.608643,"values":{"Elec_RPM":-1.96485068e-15,"EncoderCos":38736,"EncoderSin":12472,"GapTicks":54788,"Mech_RPM":-3.92970136e-16,"cg_du":50.1366158,"cg_dv":50.1923256,"cg_dw":49.8076744,"cg_id_a":0.130689889,"cg_id_raw_a":-0.209860563,"cg_iq_a":0.123334624,"cg_iq_raw_a":-0.710582197,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8490906,"cg_sample_seq":14269266,"cg_sample_valid":1,"cg_theta_rad":5.00781012,"cg_vd_req_v":0.0785505697,"cg_vd_v":0.0785505697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338382334,"cg_vq_v":-0.338382334,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4119568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.635986,"values":{"Elec_RPM":-1.92555365e-15,"EncoderCos":38735,"EncoderSin":12482,"GapTicks":54789,"Mech_RPM":-3.85110729e-16,"cg_du":50.1365662,"cg_dv":50.1917114,"cg_dw":49.8082886,"cg_id_a":0.176436394,"cg_id_raw_a":-0.0721077248,"cg_iq_a":0.153384238,"cg_iq_raw_a":0.285277158,"cg_iu_a":-0.613611698,"cg_iv_a":0.359104633,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14269321,"cg_sample_valid":1,"cg_theta_rad":5.00645256,"cg_vd_req_v":0.0780763701,"cg_vd_v":0.0780763701,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338582814,"cg_vq_v":-0.338582814,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4119568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.647705,"values":{"Elec_RPM":-1.92555365e-15,"EncoderCos":38709,"EncoderSin":12488,"GapTicks":54788,"Mech_RPM":-3.85110729e-16,"cg_du":50.1363716,"cg_dv":50.1921234,"cg_dw":49.8078766,"cg_id_a":0.0340841748,"cg_id_raw_a":0.184573159,"cg_iq_a":0.0585748851,"cg_iq_raw_a":-0.199440792,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9763641,"cg_sample_seq":14269366,"cg_sample_valid":1,"cg_theta_rad":5.00827789,"cg_vd_req_v":0.0804941952,"cg_vd_v":0.0804941952,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338597447,"cg_vq_v":-0.338597447,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.00900018215,"dclink_p_w":1.30650735,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.407074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.655518,"values":{"Elec_RPM":-1.88704266e-15,"EncoderCos":38724,"EncoderSin":12517,"GapTicks":54788,"Mech_RPM":-3.77408526e-16,"cg_du":50.1274147,"cg_dv":50.1923828,"cg_dw":49.8076172,"cg_id_a":-0.304098904,"cg_id_raw_a":-0.537243247,"cg_iq_a":0.0626611859,"cg_iq_raw_a":0.314547211,"cg_iu_a":0.872385383,"cg_iv_a":-0.293284416,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9472733,"cg_sample_seq":14269416,"cg_sample_valid":1,"cg_theta_rad":5.00627422,"cg_vd_req_v":0.0859804526,"cg_vd_v":0.0859804526,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334366024,"cg_vq_v":-0.334366024,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.4021912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.66333,"values":{"Elec_RPM":-1.84930183e-15,"EncoderCos":38724,"EncoderSin":12534,"GapTicks":54789,"Mech_RPM":-3.69860351e-16,"cg_du":50.1357231,"cg_dv":50.1913757,"cg_dw":49.8086243,"cg_id_a":0.081291154,"cg_id_raw_a":0.545824468,"cg_iq_a":0.0356598161,"cg_iq_raw_a":-0.713125229,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9509087,"cg_sample_seq":14269566,"cg_sample_valid":1,"cg_theta_rad":5.00691414,"cg_vd_req_v":0.0778119043,"cg_vd_v":0.0778119043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336712211,"cg_vq_v":-0.336712211,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.4038086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.671143,"values":{"Elec_RPM":-1.81231572e-15,"EncoderCos":38697,"EncoderSin":12456,"GapTicks":54788,"Mech_RPM":-3.62463133e-16,"cg_du":50.1358757,"cg_dv":50.1918602,"cg_dw":49.8081398,"cg_id_a":-0.139285564,"cg_id_raw_a":0.221741706,"cg_iq_a":0.159246609,"cg_iq_raw_a":0.0603111908,"cg_iu_a":0.799897671,"cg_iv_a":-0.365772128,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9872723,"cg_sample_seq":14269616,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.082290493,"cg_vd_v":0.082290493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337559849,"cg_vq_v":-0.337559849,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3875732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.678955,"values":{"Elec_RPM":-1.81231572e-15,"EncoderCos":38696,"EncoderSin":12507,"GapTicks":54788,"Mech_RPM":-3.62463133e-16,"cg_du":50.1306419,"cg_dv":50.1918449,"cg_dw":49.8081551,"cg_id_a":-0.275142044,"cg_id_raw_a":-0.111182958,"cg_iq_a":-0.00774605572,"cg_iq_raw_a":0.0260330103,"cg_iu_a":0.473703384,"cg_iv_a":0.0691539645,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9145451,"cg_sample_seq":14269666,"cg_sample_valid":1,"cg_theta_rad":5.00752115,"cg_vd_req_v":0.0852806419,"cg_vd_v":0.0852806419,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334844381,"cg_vq_v":-0.334844381,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.4199409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3973083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.686768,"values":{"Elec_RPM":-1.77606938e-15,"EncoderCos":38692,"EncoderSin":12473,"GapTicks":54785,"Mech_RPM":-3.55213881e-16,"cg_du":50.13311,"cg_dv":50.1948624,"cg_dw":49.8051376,"cg_id_a":-0.330329239,"cg_id_raw_a":-0.101700649,"cg_iq_a":0.222972959,"cg_iq_raw_a":0.135985345,"cg_iu_a":0.256240368,"cg_iv_a":-0.365772009,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8563633,"cg_sample_seq":14269716,"cg_sample_valid":1,"cg_theta_rad":5.00582361,"cg_vd_req_v":0.0874012485,"cg_vd_v":0.0874012485,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340065092,"cg_vq_v":-0.340065092,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.4199409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3973083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.698486,"values":{"Elec_RPM":-1.77606938e-15,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54789,"Mech_RPM":-3.55213881e-16,"cg_du":50.1306076,"cg_dv":50.1914787,"cg_dw":49.8085213,"cg_id_a":-0.101262219,"cg_id_raw_a":0.181212887,"cg_iq_a":-0.126814127,"cg_iq_raw_a":-0.819133878,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333374739,"cg_iw_a":0.0732881427,"cg_sample_age_us":23.9436359,"cg_sample_seq":14269767,"cg_sample_valid":1,"cg_theta_rad":5.00790834,"cg_vd_req_v":0.0834764317,"cg_vd_v":0.0834764317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333618701,"cg_vq_v":-0.333618701,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3973083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.72583,"values":{"Elec_RPM":-1.74054799e-15,"EncoderCos":38720,"EncoderSin":12495,"GapTicks":54788,"Mech_RPM":-3.48109604e-16,"cg_du":50.1311874,"cg_dv":50.1926537,"cg_dw":49.8073463,"cg_id_a":-0.0849817768,"cg_id_raw_a":0.0173403341,"cg_iq_a":-0.0894608349,"cg_iq_raw_a":-0.215994298,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8490906,"cg_sample_seq":14269819,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0838303939,"cg_vd_v":0.0838303939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335628599,"cg_vq_v":-0.335628599,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.4086914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.733643,"values":{"Elec_RPM":-1.74054799e-15,"EncoderCos":38721,"EncoderSin":12468,"GapTicks":54787,"Mech_RPM":-3.48109604e-16,"cg_du":50.130806,"cg_dv":50.1931877,"cg_dw":49.8068123,"cg_id_a":-0.128007308,"cg_id_raw_a":0.236210942,"cg_iq_a":-0.294254661,"cg_iq_raw_a":-0.0853703171,"cg_iu_a":0.582434893,"cg_iv_a":-0.800698042,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9872723,"cg_sample_seq":14269866,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0851962343,"cg_vd_v":0.0851962343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336003035,"cg_vq_v":-0.336003035,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.4086914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.741455,"values":{"Elec_RPM":-1.70573706e-15,"EncoderCos":38724,"EncoderSin":12487,"GapTicks":54784,"Mech_RPM":-3.41147416e-16,"cg_du":50.1367989,"cg_dv":50.1961746,"cg_dw":49.8038254,"cg_id_a":-0.0716041923,"cg_id_raw_a":0.291508228,"cg_iq_a":-0.0153027177,"cg_iq_raw_a":-0.226171508,"cg_iu_a":0.727410078,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14269916,"cg_sample_valid":1,"cg_theta_rad":5.0063796,"cg_vd_req_v":0.0829612836,"cg_vd_v":0.0829612836,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344635457,"cg_vq_v":-0.344635457,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.697754622,"dclink_p_w":-100.9823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4086914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.749268,"values":{"Elec_RPM":-1.70573706e-15,"EncoderCos":38732,"EncoderSin":12512,"GapTicks":54785,"Mech_RPM":-3.41147416e-16,"cg_du":50.1422348,"cg_dv":50.1946831,"cg_dw":49.8053169,"cg_id_a":0.182967931,"cg_id_raw_a":0.19341749,"cg_iq_a":-0.00870487839,"cg_iq_raw_a":0.600972414,"cg_iu_a":-0.359904766,"cg_iv_a":0.322860777,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9836369,"cg_sample_seq":14269966,"cg_sample_valid":1,"cg_theta_rad":5.00623178,"cg_vd_req_v":0.0760003254,"cg_vd_v":0.0760003254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34592241,"cg_vq_v":-0.34592241,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.801049471,"dclink_p_w":-116.283989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4927063,"temp_inv2_c":38.4086914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.760986,"values":{"Elec_RPM":-1.67162227e-15,"EncoderCos":38711,"EncoderSin":12477,"GapTicks":54786,"Mech_RPM":-3.3432446e-16,"cg_du":50.1454163,"cg_dv":50.1940231,"cg_dw":49.8059769,"cg_id_a":0.129293188,"cg_id_raw_a":0.0310291629,"cg_iq_a":-0.0590959974,"cg_iq_raw_a":0.0767319053,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14270016,"cg_sample_valid":1,"cg_theta_rad":5.00602055,"cg_vd_req_v":0.0753409937,"cg_vd_v":0.0753409937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346265048,"cg_vq_v":-0.346265048,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-112.338005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3551025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.768799,"values":{"Elec_RPM":-1.67162227e-15,"EncoderCos":38696,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-3.3432446e-16,"cg_du":50.150898,"cg_dv":50.1978035,"cg_dw":49.8021965,"cg_id_a":0.0593041256,"cg_id_raw_a":-0.0108045563,"cg_iq_a":0.397819817,"cg_iq_raw_a":0.0725661442,"cg_iu_a":-0.649855614,"cg_iv_a":-0.619478941,"cg_iw_a":1.26933455,"cg_sample_age_us":23.8527279,"cg_sample_seq":14270066,"cg_sample_valid":1,"cg_theta_rad":5.00622463,"cg_vd_req_v":0.0754154623,"cg_vd_v":0.0754154623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353235781,"cg_vq_v":-0.353235781,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-112.338005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.776611,"values":{"Elec_RPM":-1.63818988e-15,"EncoderCos":38752,"EncoderSin":12507,"GapTicks":54791,"Mech_RPM":-3.27637982e-16,"cg_du":50.135025,"cg_dv":50.189827,"cg_dw":49.810173,"cg_id_a":0.0758716762,"cg_id_raw_a":0.0890000984,"cg_iq_a":-0.520034134,"cg_iq_raw_a":-0.573512435,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8563633,"cg_sample_seq":14270116,"cg_sample_valid":1,"cg_theta_rad":5.0079155,"cg_vd_req_v":0.0753613412,"cg_vd_v":0.0753613412,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334550768,"cg_vq_v":-0.334550768,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-112.338005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.784424,"values":{"Elec_RPM":-1.63818988e-15,"EncoderCos":38692,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.27637982e-16,"cg_du":50.1483803,"cg_dv":50.1991806,"cg_dw":49.8008194,"cg_id_a":0.0953037143,"cg_id_raw_a":-0.448592752,"cg_iq_a":0.127547786,"cg_iq_raw_a":-0.373567045,"cg_iu_a":-0.649855614,"cg_iv_a":0.105397701,"cg_iw_a":0.544457912,"cg_sample_age_us":23.8563633,"cg_sample_seq":14270166,"cg_sample_valid":1,"cg_theta_rad":5.00591946,"cg_vd_req_v":0.0746078938,"cg_vd_v":0.0746078938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347123057,"cg_vq_v":-0.347123057,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-101.982704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3859558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.792236,"values":{"Elec_RPM":-1.60542612e-15,"EncoderCos":38728,"EncoderSin":12504,"GapTicks":54785,"Mech_RPM":-3.21085229e-16,"cg_du":50.1434746,"cg_dv":50.1948395,"cg_dw":49.8051605,"cg_id_a":0.00535592996,"cg_id_raw_a":0.215600729,"cg_iq_a":0.174017787,"cg_iq_raw_a":0.130184531,"cg_iu_a":-0.613611698,"cg_iv_a":-0.402015924,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8745461,"cg_sample_seq":14270217,"cg_sample_valid":1,"cg_theta_rad":5.00657082,"cg_vd_req_v":0.0756819025,"cg_vd_v":0.0756819025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346722931,"cg_vq_v":-0.346722931,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.866288424,"dclink_p_w":-124.992218,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.800049,"values":{"Elec_RPM":-1.60542612e-15,"EncoderCos":38710,"EncoderSin":12485,"GapTicks":54777,"Mech_RPM":-3.21085229e-16,"cg_du":50.1409569,"cg_dv":50.2023506,"cg_dw":49.7976494,"cg_id_a":-0.601874232,"cg_id_raw_a":-0.727488279,"cg_iq_a":0.690151513,"cg_iq_raw_a":-0.544712365,"cg_iu_a":-0.39614892,"cg_iv_a":-1.16313648,"cg_iw_a":1.5592854,"cg_sample_age_us":23.8563633,"cg_sample_seq":14270266,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.0868723616,"cg_vd_v":0.0868723616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355116308,"cg_vq_v":-0.355116308,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.00582719,"dclink_p_w":-146.010452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.831299,"values":{"Elec_RPM":-1.57331764e-15,"EncoderCos":38714,"EncoderSin":12483,"GapTicks":54794,"Mech_RPM":-3.14663528e-16,"cg_du":50.1455765,"cg_dv":50.1869621,"cg_dw":49.8130379,"cg_id_a":0.344914913,"cg_id_raw_a":0.366066694,"cg_iq_a":-0.348793685,"cg_iq_raw_a":-0.76443392,"cg_iu_a":0.5099473,"cg_iv_a":-0.220796704,"cg_iw_a":-0.289150596,"cg_sample_age_us":26.8018188,"cg_sample_seq":14270319,"cg_sample_valid":1,"cg_theta_rad":5.00835466,"cg_vd_req_v":0.0679425746,"cg_vd_v":0.0679425746,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336812466,"cg_vq_v":-0.336812466,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.849978685,"dclink_p_w":-123.386772,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.839111,"values":{"Elec_RPM":-1.54185132e-15,"EncoderCos":38723,"EncoderSin":12502,"GapTicks":54790,"Mech_RPM":-3.08370259e-16,"cg_du":50.1532135,"cg_dv":50.1906662,"cg_dw":49.8093338,"cg_id_a":0.487940788,"cg_id_raw_a":0.446653187,"cg_iq_a":0.069198519,"cg_iq_raw_a":1.68146753,"cg_iu_a":0.147508621,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8709087,"cg_sample_seq":14270467,"cg_sample_valid":1,"cg_theta_rad":5.00805044,"cg_vd_req_v":0.0641928464,"cg_vd_v":0.0641928464,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345336765,"cg_vq_v":-0.345336765,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.308914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.846924,"values":{"Elec_RPM":-1.51101424e-15,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-3.02202853e-16,"cg_du":50.1462402,"cg_dv":50.1912804,"cg_dw":49.8087196,"cg_id_a":0.0569018051,"cg_id_raw_a":0.591556251,"cg_iq_a":-0.0843766481,"cg_iq_raw_a":0.787733436,"cg_iu_a":0.79989779,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9472733,"cg_sample_seq":14270516,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0716461241,"cg_vd_v":0.0716461241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341985017,"cg_vq_v":-0.341985017,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.854736,"values":{"Elec_RPM":-1.51101424e-15,"EncoderCos":38768,"EncoderSin":12506,"GapTicks":54780,"Mech_RPM":-3.02202853e-16,"cg_du":50.1544647,"cg_dv":50.1996078,"cg_dw":49.8003922,"cg_id_a":0.278715938,"cg_id_raw_a":-0.289728463,"cg_iq_a":0.867450178,"cg_iq_raw_a":0.15825057,"cg_iu_a":-1.41097593,"cg_iv_a":-0.0395774841,"cg_iw_a":1.45055342,"cg_sample_age_us":23.8600006,"cg_sample_seq":14270566,"cg_sample_valid":1,"cg_theta_rad":5.00973511,"cg_vd_req_v":0.0683063865,"cg_vd_v":0.0683063865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360039115,"cg_vq_v":-0.360039115,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.5017624,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3908081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.862549,"values":{"Elec_RPM":-1.48079401e-15,"EncoderCos":38708,"EncoderSin":12488,"GapTicks":54788,"Mech_RPM":-2.96158797e-16,"cg_du":50.1461792,"cg_dv":50.1919441,"cg_dw":49.8080559,"cg_id_a":-0.0317980312,"cg_id_raw_a":-0.478798717,"cg_iq_a":0.0515867621,"cg_iq_raw_a":-0.0831524581,"cg_iu_a":-0.396148682,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9327278,"cg_sample_seq":14270617,"cg_sample_valid":1,"cg_theta_rad":5.00869131,"cg_vd_req_v":0.0726822689,"cg_vd_v":0.0726822689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343867958,"cg_vq_v":-0.343867958,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.6234741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3875732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.874268,"values":{"Elec_RPM":-1.48079401e-15,"EncoderCos":38729,"EncoderSin":12506,"GapTicks":54790,"Mech_RPM":-2.96158797e-16,"cg_du":50.1427231,"cg_dv":50.1904831,"cg_dw":49.8095169,"cg_id_a":-0.048615288,"cg_id_raw_a":-0.301865339,"cg_iq_a":0.0968468785,"cg_iq_raw_a":0.045470085,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8454552,"cg_sample_seq":14270666,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.071926713,"cg_vd_v":0.071926713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340369284,"cg_vq_v":-0.340369284,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3875732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.88208,"values":{"Elec_RPM":-1.45117814e-15,"EncoderCos":38748,"EncoderSin":12492,"GapTicks":54787,"Mech_RPM":-2.90235628e-16,"cg_du":50.149189,"cg_dv":50.1932335,"cg_dw":49.8067665,"cg_id_a":0.054660812,"cg_id_raw_a":0.341132432,"cg_iq_a":0.461745739,"cg_iq_raw_a":0.140614197,"cg_iu_a":-0.50488019,"cg_iv_a":-0.00333368778,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8600006,"cg_sample_seq":14270716,"cg_sample_valid":1,"cg_theta_rad":5.00863171,"cg_vd_req_v":0.0681148618,"cg_vd_v":0.0681148618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346926123,"cg_vq_v":-0.346926123,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.889893,"values":{"Elec_RPM":-1.45117814e-15,"EncoderCos":38715,"EncoderSin":12488,"GapTicks":54795,"Mech_RPM":-2.90235628e-16,"cg_du":50.1402473,"cg_dv":50.1862411,"cg_dw":49.8137589,"cg_id_a":-0.142648697,"cg_id_raw_a":-0.0406397469,"cg_iq_a":-0.131688833,"cg_iq_raw_a":-0.695074975,"cg_iu_a":0.401215792,"cg_iv_a":-0.148309112,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9654541,"cg_sample_seq":14270766,"cg_sample_valid":1,"cg_theta_rad":5.00754595,"cg_vd_req_v":0.0710265562,"cg_vd_v":0.0710265562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331858873,"cg_vq_v":-0.331858873,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.3611984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.917236,"values":{"Elec_RPM":-1.42215455e-15,"EncoderCos":38738,"EncoderSin":12473,"GapTicks":54793,"Mech_RPM":-2.84430911e-16,"cg_du":50.1393051,"cg_dv":50.1879654,"cg_dw":49.8120346,"cg_id_a":-0.189581349,"cg_id_raw_a":0.0612218492,"cg_iq_a":0.0737634003,"cg_iq_raw_a":-0.466697991,"cg_iu_a":0.292484045,"cg_iv_a":-0.583235145,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14270821,"cg_sample_valid":1,"cg_theta_rad":5.00799131,"cg_vd_req_v":0.0720416531,"cg_vd_v":0.0720416531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333980709,"cg_vq_v":-0.333980709,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3989563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.928955,"values":{"Elec_RPM":-1.42215455e-15,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54796,"Mech_RPM":-2.84430911e-16,"cg_du":50.1373901,"cg_dv":50.1849976,"cg_dw":49.8150024,"cg_id_a":-0.218159288,"cg_id_raw_a":-0.112752758,"cg_iq_a":-0.165904537,"cg_iq_raw_a":-0.59313935,"cg_iu_a":-0.214929461,"cg_iv_a":0.141641557,"cg_iw_a":0.0732879043,"cg_sample_age_us":25.0309086,"cg_sample_seq":14270867,"cg_sample_valid":1,"cg_theta_rad":5.0076685,"cg_vd_req_v":0.0727992505,"cg_vd_v":0.0727992505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329453021,"cg_vq_v":-0.329453021,"cg_vu_v":130.208206,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.936768,"values":{"Elec_RPM":-1.3937114e-15,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54789,"Mech_RPM":-2.7874229e-16,"cg_du":50.1433144,"cg_dv":50.191761,"cg_dw":49.808239,"cg_id_a":-0.107734889,"cg_id_raw_a":0.135316089,"cg_iq_a":0.317499369,"cg_iq_raw_a":0.305166781,"cg_iu_a":0.111264944,"cg_iv_a":-0.546991229,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9509087,"cg_sample_seq":14270917,"cg_sample_valid":1,"cg_theta_rad":5.00829315,"cg_vd_req_v":0.073607251,"cg_vd_v":0.073607251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341169447,"cg_vq_v":-0.341169447,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.94458,"values":{"Elec_RPM":-1.3937114e-15,"EncoderCos":38696,"EncoderSin":12474,"GapTicks":54797,"Mech_RPM":-2.7874229e-16,"cg_du":50.1377029,"cg_dv":50.1842766,"cg_dw":49.8157234,"cg_id_a":-0.0856588483,"cg_id_raw_a":0.183794022,"cg_iq_a":-0.271529824,"cg_iq_raw_a":-1.00046039,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8563633,"cg_sample_seq":14270966,"cg_sample_valid":1,"cg_theta_rad":5.00709391,"cg_vd_req_v":0.0730652735,"cg_vd_v":0.0730652735,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328374535,"cg_vq_v":-0.328374535,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-1.0583806,"dclink_p_w":-153.639343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3794556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.952393,"values":{"Elec_RPM":-1.36583724e-15,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-2.73167437e-16,"cg_du":50.1346703,"cg_dv":50.1857338,"cg_dw":49.8142662,"cg_id_a":-0.115154214,"cg_id_raw_a":-0.503319144,"cg_iq_a":-0.183198333,"cg_iq_raw_a":-0.0479427986,"cg_iu_a":0.437459469,"cg_iv_a":0.467836142,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9581814,"cg_sample_seq":14271016,"cg_sample_valid":1,"cg_theta_rad":5.00855255,"cg_vd_req_v":0.0746433511,"cg_vd_v":0.0746433511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328100234,"cg_vq_v":-0.328100234,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.01126361,"dclink_p_w":-146.354782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3843384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.960205,"values":{"Elec_RPM":-1.36583724e-15,"EncoderCos":38696,"EncoderSin":12450,"GapTicks":54792,"Mech_RPM":-2.73167437e-16,"cg_du":50.1386604,"cg_dv":50.1883354,"cg_dw":49.8116646,"cg_id_a":-0.089649573,"cg_id_raw_a":0.0929404199,"cg_iq_a":0.137862027,"cg_iq_raw_a":-0.317443669,"cg_iu_a":0.147508621,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14271067,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.0763886794,"cg_vd_v":0.0763886794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332283527,"cg_vq_v":-0.332283527,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.224457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3843384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2580.968018,"values":{"Elec_RPM":-1.33852053e-15,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54802,"Mech_RPM":-2.67704101e-16,"cg_du":50.1336441,"cg_dv":50.179924,"cg_dw":49.820076,"cg_id_a":0.269853324,"cg_id_raw_a":-0.0999405831,"cg_iq_a":-0.383262753,"cg_iq_raw_a":-0.300408632,"cg_iu_a":0.437459469,"cg_iv_a":0.0329101086,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8600006,"cg_sample_seq":14271117,"cg_sample_valid":1,"cg_theta_rad":5.0064559,"cg_vd_req_v":0.0703650191,"cg_vd_v":0.0703650191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319503963,"cg_vq_v":-0.319503963,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.933339357,"dclink_p_w":-135.077209,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2580.97583,"values":{"Elec_RPM":-1.33852053e-15,"EncoderCos":38693,"EncoderSin":12553,"GapTicks":54792,"Mech_RPM":-2.67704101e-16,"cg_du":50.1340523,"cg_dv":50.1886215,"cg_dw":49.8113785,"cg_id_a":-0.0801064074,"cg_id_raw_a":0.431195021,"cg_iq_a":0.292848349,"cg_iq_raw_a":-0.357450068,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.863636,"cg_sample_seq":14271166,"cg_sample_valid":1,"cg_theta_rad":5.00655413,"cg_vd_req_v":0.0786141008,"cg_vd_v":0.0786141008,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33258456,"cg_vq_v":-0.33258456,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.99676609,"dclink_p_w":-144.256622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2580.983062,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2580.983067,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2580.983073,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2580.987549,"values":{"Elec_RPM":-1.31175016e-15,"EncoderCos":38733,"EncoderSin":12471,"GapTicks":54794,"Mech_RPM":-2.62350032e-16,"cg_du":50.129612,"cg_dv":50.1870193,"cg_dw":49.8129807,"cg_id_a":-0.0867305771,"cg_id_raw_a":-0.292004883,"cg_iq_a":0.0378050432,"cg_iq_raw_a":-0.281698287,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9436359,"cg_sample_seq":14271216,"cg_sample_valid":1,"cg_theta_rad":5.00878954,"cg_vd_req_v":0.0794149861,"cg_vd_v":0.0794149861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328178734,"cg_vq_v":-0.328178734,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-1.02938557,"dclink_p_w":-149.430298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3697205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2580.995361,"values":{"Elec_RPM":-1.31175016e-15,"EncoderCos":38685,"EncoderSin":12441,"GapTicks":54800,"Mech_RPM":-2.62350032e-16,"cg_du":50.1180687,"cg_dv":50.1810379,"cg_dw":49.8189621,"cg_id_a":-0.426788509,"cg_id_raw_a":-0.361521095,"cg_iq_a":-0.772929847,"cg_iq_raw_a":-1.1682446,"cg_iu_a":1.05360472,"cg_iv_a":-0.583235085,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.8745461,"cg_sample_seq":14271266,"cg_sample_valid":1,"cg_theta_rad":5.00579739,"cg_vd_req_v":0.0867654756,"cg_vd_v":0.0867654756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312431782,"cg_vq_v":-0.312431782,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.846354246,"dclink_p_w":-122.860634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3713074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.003174,"values":{"Elec_RPM":-1.28551522e-15,"EncoderCos":38744,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-2.57103034e-16,"cg_du":50.1306763,"cg_dv":50.1862831,"cg_dw":49.8137169,"cg_id_a":0.0938883722,"cg_id_raw_a":0.358705252,"cg_iq_a":0.0185916014,"cg_iq_raw_a":-0.512279809,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9981823,"cg_sample_seq":14271316,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.0766040459,"cg_vd_v":0.0766040459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327012241,"cg_vq_v":-0.327012241,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.820983648,"dclink_p_w":-118.816574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3713074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.030518,"values":{"Elec_RPM":-1.28551522e-15,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54800,"Mech_RPM":-2.57103034e-16,"cg_du":50.1322937,"cg_dv":50.1816216,"cg_dw":49.8183784,"cg_id_a":0.23734355,"cg_id_raw_a":0.281915903,"cg_iq_a":-0.104398668,"cg_iq_raw_a":-0.335662514,"cg_iu_a":-0.142441988,"cg_iv_a":-0.329528213,"cg_iw_a":0.471970201,"cg_sample_age_us":23.954546,"cg_sample_seq":14271371,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.072761789,"cg_vd_v":0.072761789,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320092052,"cg_vq_v":-0.320092052,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.820983648,"dclink_p_w":-118.816574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3891907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.042236,"values":{"Elec_RPM":-1.25980481e-15,"EncoderCos":38703,"EncoderSin":12454,"GapTicks":54795,"Mech_RPM":-2.51960962e-16,"cg_du":50.1327934,"cg_dv":50.1858902,"cg_dw":49.8141098,"cg_id_a":-0.0189069584,"cg_id_raw_a":-0.466522217,"cg_iq_a":0.163026243,"cg_iq_raw_a":0.207896203,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9181824,"cg_sample_seq":14271417,"cg_sample_valid":1,"cg_theta_rad":5.00777483,"cg_vd_req_v":0.0779506266,"cg_vd_v":0.0779506266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325814039,"cg_vq_v":-0.325814039,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.820983648,"dclink_p_w":-118.816574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3956909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.050049,"values":{"Elec_RPM":-1.25980481e-15,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54797,"Mech_RPM":-2.51960962e-16,"cg_du":50.1214867,"cg_dv":50.1842499,"cg_dw":49.8157501,"cg_id_a":-0.188381001,"cg_id_raw_a":-0.0360984951,"cg_iq_a":-0.100136101,"cg_iq_raw_a":-0.512775302,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8672733,"cg_sample_seq":14271467,"cg_sample_valid":1,"cg_theta_rad":5.00682592,"cg_vd_req_v":0.0848992616,"cg_vd_v":0.0848992616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319374979,"cg_vq_v":-0.319374979,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3956909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.057861,"values":{"Elec_RPM":-1.23460875e-15,"EncoderCos":38729,"EncoderSin":12492,"GapTicks":54794,"Mech_RPM":-2.46921751e-16,"cg_du":50.1211395,"cg_dv":50.1868896,"cg_dw":49.8131104,"cg_id_a":-0.210872561,"cg_id_raw_a":-0.147952229,"cg_iq_a":0.0267976001,"cg_iq_raw_a":0.642145634,"cg_iu_a":0.727410078,"cg_iv_a":-0.474503636,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8563633,"cg_sample_seq":14271517,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0857975185,"cg_vd_v":0.0857975185,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323293537,"cg_vq_v":-0.323293537,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.01126361,"dclink_p_w":-146.799622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.065674,"values":{"Elec_RPM":-1.23460875e-15,"EncoderCos":38713,"EncoderSin":12507,"GapTicks":54796,"Mech_RPM":-2.46921751e-16,"cg_du":50.128727,"cg_dv":50.1845665,"cg_dw":49.8154335,"cg_id_a":0.169083595,"cg_id_raw_a":0.875453532,"cg_iq_a":-0.145932034,"cg_iq_raw_a":-1.04325473,"cg_iu_a":-0.178685904,"cg_iv_a":0.214129269,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9872723,"cg_sample_seq":14271567,"cg_sample_valid":1,"cg_theta_rad":5.00825024,"cg_vd_req_v":0.0784002692,"cg_vd_v":0.0784002692,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324167013,"cg_vq_v":-0.324167013,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.566162,"control_outputs_enabled":1,"dclink_i_a":-1.01126361,"dclink_p_w":-146.799622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.073486,"values":{"Elec_RPM":-1.20991658e-15,"EncoderCos":38719,"EncoderSin":12498,"GapTicks":54788,"Mech_RPM":-2.41983311e-16,"cg_du":50.1183739,"cg_dv":50.19244,"cg_dw":49.80756,"cg_id_a":-0.509647965,"cg_id_raw_a":-0.295134932,"cg_iq_a":-0.0402820706,"cg_iq_raw_a":-0.464473218,"cg_iu_a":0.219996333,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9472733,"cg_sample_seq":14271616,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0936953947,"cg_vd_v":0.0936953947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328160614,"cg_vq_v":-0.328160614,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-1.01126361,"dclink_p_w":-146.799622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.081299,"values":{"Elec_RPM":-1.20991658e-15,"EncoderCos":38749,"EncoderSin":12509,"GapTicks":54788,"Mech_RPM":-2.41983311e-16,"cg_du":50.1298447,"cg_dv":50.1923103,"cg_dw":49.8076897,"cg_id_a":0.0155011564,"cg_id_raw_a":0.0480137244,"cg_iq_a":0.19333446,"cg_iq_raw_a":0.36890009,"cg_iu_a":0.0387773514,"cg_iv_a":0.21412921,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9218178,"cg_sample_seq":14271666,"cg_sample_valid":1,"cg_theta_rad":5.007236,"cg_vd_req_v":0.0820172876,"cg_vd_v":0.0820172876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335038275,"cg_vq_v":-0.335038275,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.772054434,"dclink_p_w":-111.735313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3274841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.093018,"values":{"Elec_RPM":-1.18571822e-15,"EncoderCos":38709,"EncoderSin":12488,"GapTicks":54790,"Mech_RPM":-2.37143655e-16,"cg_du":50.1298027,"cg_dv":50.1907349,"cg_dw":49.8092651,"cg_id_a":-0.102018118,"cg_id_raw_a":-0.0403985083,"cg_iq_a":-0.0180825442,"cg_iq_raw_a":0.798069119,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.8527279,"cg_sample_seq":14271717,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0840464681,"cg_vd_v":0.0840464681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331990033,"cg_vq_v":-0.331990033,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.71406436,"dclink_p_w":-103.028603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3274841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.10083,"values":{"Elec_RPM":-1.18571822e-15,"EncoderCos":38725,"EncoderSin":12509,"GapTicks":54787,"Mech_RPM":-2.37143655e-16,"cg_du":50.1346512,"cg_dv":50.1936378,"cg_dw":49.8063622,"cg_id_a":-0.0254383571,"cg_id_raw_a":0.292113483,"cg_iq_a":0.126210183,"cg_iq_raw_a":0.210254222,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395774841,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8490906,"cg_sample_seq":14271766,"cg_sample_valid":1,"cg_theta_rad":5.00872898,"cg_vd_req_v":0.0813488215,"cg_vd_v":0.0813488215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3390764,"cg_vq_v":-0.3390764,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.4172058,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.108643,"values":{"Elec_RPM":-1.16200384e-15,"EncoderCos":38729,"EncoderSin":12485,"GapTicks":54788,"Mech_RPM":-2.32400774e-16,"cg_du":50.1360016,"cg_dv":50.1922302,"cg_dw":49.8077698,"cg_id_a":0.114593431,"cg_id_raw_a":0.949732363,"cg_iq_a":0.201892301,"cg_iq_raw_a":-0.965059161,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9872723,"cg_sample_seq":14271816,"cg_sample_valid":1,"cg_theta_rad":5.00553274,"cg_vd_req_v":0.0794174671,"cg_vd_v":0.0794174671,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338880777,"cg_vq_v":-0.338880777,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.779303074,"dclink_p_w":-113.127182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3664551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.135986,"values":{"Elec_RPM":-1.16200384e-15,"EncoderCos":38706,"EncoderSin":12471,"GapTicks":54795,"Mech_RPM":-2.32400774e-16,"cg_du":50.1285782,"cg_dv":50.1863594,"cg_dw":49.8136406,"cg_id_a":-0.0337369442,"cg_id_raw_a":-0.1970907,"cg_iq_a":-0.330225438,"cg_iq_raw_a":-0.164797038,"cg_iu_a":-0.359904766,"cg_iv_a":-0.583235145,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9909096,"cg_sample_seq":14271870,"cg_sample_valid":1,"cg_theta_rad":5.00746298,"cg_vd_req_v":0.0815908685,"cg_vd_v":0.0815908685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326198548,"cg_vq_v":-0.326198548,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-0.779303074,"dclink_p_w":-113.127182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3664551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.143799,"values":{"Elec_RPM":-1.1387638e-15,"EncoderCos":38703,"EncoderSin":12497,"GapTicks":54790,"Mech_RPM":-2.2775276e-16,"cg_du":50.139328,"cg_dv":50.1905022,"cg_dw":49.8094978,"cg_id_a":0.140215829,"cg_id_raw_a":0.269285202,"cg_iq_a":0.314597815,"cg_iq_raw_a":0.428342968,"cg_iu_a":0.437459469,"cg_iv_a":0.0691539049,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9509087,"cg_sample_seq":14271917,"cg_sample_valid":1,"cg_theta_rad":5.00796223,"cg_vd_req_v":0.0766017139,"cg_vd_v":0.0766017139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33697477,"cg_vq_v":-0.33697477,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.155518,"values":{"Elec_RPM":-1.1387638e-15,"EncoderCos":38721,"EncoderSin":12490,"GapTicks":54791,"Mech_RPM":-2.2775276e-16,"cg_du":50.1315308,"cg_dv":50.1895905,"cg_dw":49.8104095,"cg_id_a":-0.0642862767,"cg_id_raw_a":-0.794902384,"cg_iq_a":0.0405607298,"cg_iq_raw_a":0.798233807,"cg_iu_a":-0.359905005,"cg_iv_a":0.467836082,"cg_iw_a":-0.107931077,"cg_sample_age_us":24.0345459,"cg_sample_seq":14271967,"cg_sample_valid":1,"cg_theta_rad":5.00637007,"cg_vd_req_v":0.0806261972,"cg_vd_v":0.0806261972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331645608,"cg_vq_v":-0.331645608,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.16333,"values":{"Elec_RPM":-1.11598857e-15,"EncoderCos":38708,"EncoderSin":12468,"GapTicks":54796,"Mech_RPM":-2.23197708e-16,"cg_du":50.1307335,"cg_dv":50.1846161,"cg_dw":49.8153839,"cg_id_a":0.107586645,"cg_id_raw_a":0.652865112,"cg_iq_a":-0.388935983,"cg_iq_raw_a":-0.042752929,"cg_iu_a":0.401215553,"cg_iv_a":0.431592345,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9472733,"cg_sample_seq":14272017,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0778754056,"cg_vd_v":0.0778754056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324083626,"cg_vq_v":-0.324083626,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3713074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.171143,"values":{"Elec_RPM":-1.11598857e-15,"EncoderCos":38708,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-2.23197708e-16,"cg_du":50.1319695,"cg_dv":50.1964035,"cg_dw":49.8035965,"cg_id_a":-0.380160689,"cg_id_raw_a":-0.440072536,"cg_iq_a":0.26415351,"cg_iq_raw_a":-0.261417985,"cg_iu_a":0.473703146,"cg_iv_a":-0.220796704,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9436359,"cg_sample_seq":14272067,"cg_sample_valid":1,"cg_theta_rad":5.00757742,"cg_vd_req_v":0.0879481435,"cg_vd_v":0.0879481435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340888381,"cg_vq_v":-0.340888381,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.616205931,"dclink_p_w":-89.180191,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3745728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.178955,"values":{"Elec_RPM":-1.09366872e-15,"EncoderCos":38703,"EncoderSin":12477,"GapTicks":54789,"Mech_RPM":-2.18733752e-16,"cg_du":50.1235313,"cg_dv":50.1914406,"cg_dw":49.8085594,"cg_id_a":-0.453159153,"cg_id_raw_a":-0.346427947,"cg_iq_a":-0.289103746,"cg_iq_raw_a":-0.143538073,"cg_iu_a":0.328727961,"cg_iv_a":0.10539782,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14272117,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0906210765,"cg_vd_v":0.0906210765,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330232859,"cg_vq_v":-0.330232859,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.714325,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3745728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.190674,"values":{"Elec_RPM":-1.09366872e-15,"EncoderCos":38738,"EncoderSin":12517,"GapTicks":54784,"Mech_RPM":-2.18733752e-16,"cg_du":50.1396255,"cg_dv":50.195652,"cg_dw":49.804348,"cg_id_a":0.152795479,"cg_id_raw_a":0.206953347,"cg_iq_a":0.342812389,"cg_iq_raw_a":-0.235234484,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14272167,"cg_sample_valid":1,"cg_theta_rad":5.00751495,"cg_vd_req_v":0.0784113109,"cg_vd_v":0.0784113109,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345927656,"cg_vq_v":-0.345927656,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3161316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.198486,"values":{"Elec_RPM":-1.07179536e-15,"EncoderCos":38720,"EncoderSin":12493,"GapTicks":54780,"Mech_RPM":-2.14359078e-16,"cg_du":50.1489639,"cg_dv":50.1998863,"cg_dw":49.8001137,"cg_id_a":0.234831765,"cg_id_raw_a":0.53811276,"cg_iq_a":0.696763575,"cg_iq_raw_a":0.0525571071,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14272216,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0769279897,"cg_vd_v":0.0769279897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355416805,"cg_vq_v":-0.355416805,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3989563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.206299,"values":{"Elec_RPM":-1.07179536e-15,"EncoderCos":38740,"EncoderSin":12496,"GapTicks":54778,"Mech_RPM":-2.14359078e-16,"cg_du":50.1298523,"cg_dv":50.2011185,"cg_dw":49.7988815,"cg_id_a":-0.468775243,"cg_id_raw_a":-0.892007768,"cg_iq_a":0.155461997,"cg_iq_raw_a":0.756374896,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14272266,"cg_sample_valid":1,"cg_theta_rad":5.00633478,"cg_vd_req_v":0.0914871022,"cg_vd_v":0.0914871022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346822768,"cg_vq_v":-0.346822768,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3989563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.214111,"values":{"Elec_RPM":-1.0503595e-15,"EncoderCos":38705,"EncoderSin":12533,"GapTicks":54781,"Mech_RPM":-2.100719e-16,"cg_du":50.1356735,"cg_dv":50.198307,"cg_dw":49.801693,"cg_id_a":-0.12140514,"cg_id_raw_a":0.21853888,"cg_iq_a":0.134974033,"cg_iq_raw_a":0.313274324,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796764,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9872723,"cg_sample_seq":14272316,"cg_sample_valid":1,"cg_theta_rad":5.00774574,"cg_vd_req_v":0.0860634446,"cg_vd_v":0.0860634446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3457672,"cg_vq_v":-0.3457672,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.241455,"values":{"Elec_RPM":-1.0503595e-15,"EncoderCos":38715,"EncoderSin":12490,"GapTicks":54790,"Mech_RPM":-2.100719e-16,"cg_du":50.1301041,"cg_dv":50.190155,"cg_dw":49.809845,"cg_id_a":0.114665717,"cg_id_raw_a":-0.225788012,"cg_iq_a":-0.634650767,"cg_iq_raw_a":0.124445342,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":26.8163643,"cg_sample_seq":14272371,"cg_sample_valid":1,"cg_theta_rad":5.00657225,"cg_vd_req_v":0.0827474669,"cg_vd_v":0.0827474669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331499279,"cg_vq_v":-0.331499279,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3920593,"temp_inv2_c":38.3648376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.249268,"values":{"Elec_RPM":-1.02935234e-15,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-2.05870458e-16,"cg_du":50.1422615,"cg_dv":50.2006607,"cg_dw":49.7993393,"cg_id_a":0.011234872,"cg_id_raw_a":0.0441252403,"cg_iq_a":0.429210722,"cg_iq_raw_a":0.36938557,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.691966653,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9436359,"cg_sample_seq":14272417,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0841981918,"cg_vd_v":0.0841981918,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353549331,"cg_vq_v":-0.353549331,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3112793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.25708,"values":{"Elec_RPM":-1.02935234e-15,"EncoderCos":38701,"EncoderSin":12479,"GapTicks":54781,"Mech_RPM":-2.05870458e-16,"cg_du":50.1453094,"cg_dv":50.1984673,"cg_dw":49.8015327,"cg_id_a":0.274647623,"cg_id_raw_a":0.19992888,"cg_iq_a":0.3740336,"cg_iq_raw_a":0.276110291,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641617,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9872723,"cg_sample_seq":14272467,"cg_sample_valid":1,"cg_theta_rad":5.00753927,"cg_vd_req_v":0.0805226192,"cg_vd_v":0.0805226192,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352087677,"cg_vq_v":-0.352087677,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3339844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.268799,"values":{"Elec_RPM":-1.00876521e-15,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54785,"Mech_RPM":-2.01753044e-16,"cg_du":50.1407967,"cg_dv":50.1951141,"cg_dw":49.8048859,"cg_id_a":0.333549827,"cg_id_raw_a":0.11375276,"cg_iq_a":-0.156980157,"cg_iq_raw_a":0.521769047,"cg_iu_a":-0.396148682,"cg_iv_a":0.214129269,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9509087,"cg_sample_seq":14272517,"cg_sample_valid":1,"cg_theta_rad":5.00631142,"cg_vd_req_v":0.0795204118,"cg_vd_v":0.0795204118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345263451,"cg_vq_v":-0.345263451,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3339844,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.276611,"values":{"Elec_RPM":-1.00876521e-15,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54785,"Mech_RPM":-2.01753044e-16,"cg_du":50.1322517,"cg_dv":50.1953468,"cg_dw":49.8046532,"cg_id_a":-0.115925476,"cg_id_raw_a":0.807483554,"cg_iq_a":-0.35708493,"cg_iq_raw_a":-1.19469452,"cg_iu_a":0.437459469,"cg_iv_a":0.105397761,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9836369,"cg_sample_seq":14272566,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.0862539336,"cg_vd_v":0.0862539336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3397246,"cg_vq_v":-0.3397246,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.284424,"values":{"Elec_RPM":-9.8858994e-16,"EncoderCos":38707,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-1.97717977e-16,"cg_du":50.1398659,"cg_dv":50.1956062,"cg_dw":49.8043938,"cg_id_a":0.16435121,"cg_id_raw_a":-0.0161229856,"cg_iq_a":-0.155539379,"cg_iq_raw_a":-0.292223305,"cg_iu_a":0.509947181,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9509087,"cg_sample_seq":14272616,"cg_sample_valid":1,"cg_theta_rad":5.00644398,"cg_vd_req_v":0.0811212212,"cg_vd_v":0.0811212212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343112767,"cg_vq_v":-0.343112767,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.296143,"values":{"Elec_RPM":-9.8858994e-16,"EncoderCos":38700,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-1.97717977e-16,"cg_du":50.1435928,"cg_dv":50.1990814,"cg_dw":49.8009186,"cg_id_a":0.0768507421,"cg_id_raw_a":-0.162559703,"cg_iq_a":0.19964388,"cg_iq_raw_a":-0.0887855664,"cg_iu_a":0.183752775,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9581814,"cg_sample_seq":14272666,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0826894119,"cg_vd_v":0.0826894119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350772589,"cg_vq_v":-0.350772589,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.303955,"values":{"Elec_RPM":-9.68818074e-16,"EncoderCos":38729,"EncoderSin":12496,"GapTicks":54784,"Mech_RPM":-1.93763617e-16,"cg_du":50.1365852,"cg_dv":50.1957512,"cg_dw":49.8042488,"cg_id_a":0.0562883057,"cg_id_raw_a":0.223342031,"cg_iq_a":-0.0665198788,"cg_iq_raw_a":0.495018005,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0354434252,"cg_sample_age_us":24.0418186,"cg_sample_seq":14272716,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0821149424,"cg_vd_v":0.0821149424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344082892,"cg_vq_v":-0.344082892,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-111.022652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3323669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.311768,"values":{"Elec_RPM":-9.68818074e-16,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54786,"Mech_RPM":-1.93763617e-16,"cg_du":50.1377449,"cg_dv":50.1938095,"cg_dw":49.8061905,"cg_id_a":0.0891005173,"cg_id_raw_a":0.183794394,"cg_iq_a":-0.0813486427,"cg_iq_raw_a":0.237148538,"cg_iu_a":0.111264944,"cg_iv_a":0.612811446,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14272766,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0804217532,"cg_vd_v":0.0804217532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341820419,"cg_vq_v":-0.341820419,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-111.022652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3323669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.31958,"values":{"Elec_RPM":-9.49441772e-16,"EncoderCos":38759,"EncoderSin":12486,"GapTicks":54780,"Mech_RPM":-1.89888349e-16,"cg_du":50.1360092,"cg_dv":50.199398,"cg_dw":49.800602,"cg_id_a":-0.0472413972,"cg_id_raw_a":-0.287911952,"cg_iq_a":0.251666158,"cg_iq_raw_a":0.848739445,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9436359,"cg_sample_seq":14272816,"cg_sample_valid":1,"cg_theta_rad":5.00541353,"cg_vd_req_v":0.083968699,"cg_vd_v":0.083968699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34926492,"cg_vq_v":-0.34926492,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-111.022652,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.346924,"values":{"Elec_RPM":-9.49441772e-16,"EncoderCos":38711,"EncoderSin":12497,"GapTicks":54778,"Mech_RPM":-1.89888349e-16,"cg_du":50.1423683,"cg_dv":50.2018166,"cg_dw":49.7981834,"cg_id_a":-0.256232768,"cg_id_raw_a":0.162402809,"cg_iq_a":0.495148003,"cg_iq_raw_a":0.45372206,"cg_iu_a":0.691166162,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9436359,"cg_sample_seq":14272872,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0846118033,"cg_vd_v":0.0846118033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354197413,"cg_vq_v":-0.354197413,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.830044508,"dclink_p_w":-120.127907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.354736,"values":{"Elec_RPM":-9.30452881e-16,"EncoderCos":38725,"EncoderSin":12520,"GapTicks":54785,"Mech_RPM":-1.86090584e-16,"cg_du":50.1464005,"cg_dv":50.1946373,"cg_dw":49.8053627,"cg_id_a":0.21419476,"cg_id_raw_a":0.739866912,"cg_iq_a":0.038970042,"cg_iq_raw_a":1.27094471,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8963642,"cg_sample_seq":14272917,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0728069022,"cg_vd_v":0.0728069022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347057879,"cg_vq_v":-0.347057879,"cg_vu_v":103.814644,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.784739733,"dclink_p_w":-113.57119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.366455,"values":{"Elec_RPM":-9.30452881e-16,"EncoderCos":38722,"EncoderSin":12501,"GapTicks":54778,"Mech_RPM":-1.86090584e-16,"cg_du":50.1574364,"cg_dv":50.2017746,"cg_dw":49.7982254,"cg_id_a":0.229876652,"cg_id_raw_a":0.671405077,"cg_iq_a":0.760007799,"cg_iq_raw_a":1.30255115,"cg_iu_a":-0.649855614,"cg_iv_a":0.10539782,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8600006,"cg_sample_seq":14272966,"cg_sample_valid":1,"cg_theta_rad":5.0046401,"cg_vd_req_v":0.071740441,"cg_vd_v":0.071740441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36280489,"cg_vq_v":-0.36280489,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.784739733,"dclink_p_w":-113.57119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3713074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.374268,"values":{"Elec_RPM":-8.93606948e-16,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.78721398e-16,"cg_du":50.1444969,"cg_dv":50.1965981,"cg_dw":49.8034019,"cg_id_a":-0.0663771257,"cg_id_raw_a":-0.287696272,"cg_iq_a":0.0393796861,"cg_iq_raw_a":-0.536901236,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8490906,"cg_sample_seq":14273116,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0777703077,"cg_vd_v":0.0777703077,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349436134,"cg_vq_v":-0.349436134,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-101.026169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3485718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.38208,"values":{"Elec_RPM":-8.93606948e-16,"EncoderCos":38719,"EncoderSin":12479,"GapTicks":54782,"Mech_RPM":-1.78721398e-16,"cg_du":50.1430206,"cg_dv":50.1978912,"cg_dw":49.8021088,"cg_id_a":-0.054005228,"cg_id_raw_a":-0.32312727,"cg_iq_a":-0.132142708,"cg_iq_raw_a":0.260660678,"cg_iu_a":0.364971876,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9436359,"cg_sample_seq":14273166,"cg_sample_valid":1,"cg_theta_rad":5.00768661,"cg_vd_req_v":0.080077976,"cg_vd_v":0.080077976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349276215,"cg_vq_v":-0.349276215,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3485718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.389893,"values":{"Elec_RPM":-8.7573487e-16,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.75146971e-16,"cg_du":50.1462479,"cg_dv":50.1970673,"cg_dw":49.8029327,"cg_id_a":0.168439969,"cg_id_raw_a":-0.0698307753,"cg_iq_a":-0.0184295475,"cg_iq_raw_a":-0.406325787,"cg_iu_a":0.00253343582,"cg_iv_a":1.04773736,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.8563633,"cg_sample_seq":14273217,"cg_sample_valid":1,"cg_theta_rad":5.00754881,"cg_vd_req_v":0.0759789869,"cg_vd_v":0.0759789869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350135475,"cg_vq_v":-0.350135475,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3599548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.397705,"values":{"Elec_RPM":-8.7573487e-16,"EncoderCos":38742,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-1.75146971e-16,"cg_du":50.1479187,"cg_dv":50.1986771,"cg_dw":49.8013229,"cg_id_a":0.0756627992,"cg_id_raw_a":-0.553050101,"cg_iq_a":0.128003255,"cg_iq_raw_a":0.713838398,"cg_iu_a":-0.432392597,"cg_iv_a":-0.583235025,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9836369,"cg_sample_seq":14273267,"cg_sample_valid":1,"cg_theta_rad":5.00631666,"cg_vd_req_v":0.0754152462,"cg_vd_v":0.0754152462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353431523,"cg_vq_v":-0.353431523,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3908081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.409424,"values":{"Elec_RPM":-8.58220135e-16,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-1.71644027e-16,"cg_du":50.1528893,"cg_dv":50.1963997,"cg_dw":49.8036003,"cg_id_a":0.127780959,"cg_id_raw_a":-0.282552719,"cg_iq_a":0.00410550646,"cg_iq_raw_a":-0.791970491,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9872723,"cg_sample_seq":14273317,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0716265291,"cg_vd_v":0.0716265291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35375005,"cg_vq_v":-0.35375005,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3908081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.436768,"values":{"Elec_RPM":-8.58220135e-16,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54785,"Mech_RPM":-1.71644027e-16,"cg_du":50.1486282,"cg_dv":50.1947136,"cg_dw":49.8052864,"cg_id_a":0.0392527282,"cg_id_raw_a":0.420071781,"cg_iq_a":-0.277770251,"cg_iq_raw_a":-0.0316805616,"cg_iu_a":0.00253343582,"cg_iv_a":0.57656759,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.8709087,"cg_sample_seq":14273370,"cg_sample_valid":1,"cg_theta_rad":5.00709486,"cg_vd_req_v":0.07233762,"cg_vd_v":0.07233762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349256396,"cg_vq_v":-0.349256396,"cg_vu_v":27.7132301,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.6080322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3669434,"temp_inv2_c":38.3631897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.44458,"values":{"Elec_RPM":-8.41055753e-16,"EncoderCos":38693,"EncoderSin":12497,"GapTicks":54783,"Mech_RPM":-1.68211148e-16,"cg_du":50.1462059,"cg_dv":50.1971359,"cg_dw":49.8028641,"cg_id_a":-0.287921846,"cg_id_raw_a":-0.0156336203,"cg_iq_a":-0.20894362,"cg_iq_raw_a":-0.292249829,"cg_iu_a":0.546190977,"cg_iv_a":-0.148309112,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9218178,"cg_sample_seq":14273416,"cg_sample_valid":1,"cg_theta_rad":5.00619793,"cg_vd_req_v":0.0787170008,"cg_vd_v":0.0787170008,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350733668,"cg_vq_v":-0.350733668,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.452393,"values":{"Elec_RPM":-8.41055753e-16,"EncoderCos":38694,"EncoderSin":12461,"GapTicks":54785,"Mech_RPM":-1.68211148e-16,"cg_du":50.1550903,"cg_dv":50.1948318,"cg_dw":49.8051682,"cg_id_a":0.0522195287,"cg_id_raw_a":-0.0164997168,"cg_iq_a":-0.158866048,"cg_iq_raw_a":0.327048689,"cg_iu_a":0.219996452,"cg_iv_a":0.395348489,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.954546,"cg_sample_seq":14273466,"cg_sample_valid":1,"cg_theta_rad":5.00830555,"cg_vd_req_v":0.0700632483,"cg_vd_v":0.0700632483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351412058,"cg_vq_v":-0.351412058,"cg_vu_v":26.3935547,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.460205,"values":{"Elec_RPM":-8.24234632e-16,"EncoderCos":38736,"EncoderSin":12445,"GapTicks":54775,"Mech_RPM":-1.64846932e-16,"cg_du":50.14851,"cg_dv":50.2040024,"cg_dw":49.7959976,"cg_id_a":-0.372312695,"cg_id_raw_a":-0.426796019,"cg_iq_a":0.174136639,"cg_iq_raw_a":0.469638318,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503517,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9218178,"cg_sample_seq":14273517,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0811584517,"cg_vd_v":0.0811584517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360790342,"cg_vq_v":-0.360790342,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.471924,"values":{"Elec_RPM":-8.24234632e-16,"EncoderCos":38721,"EncoderSin":12485,"GapTicks":54791,"Mech_RPM":-1.64846932e-16,"cg_du":50.1484833,"cg_dv":50.1899376,"cg_dw":49.8100624,"cg_id_a":0.257375389,"cg_id_raw_a":-0.0415644273,"cg_iq_a":-0.74800849,"cg_iq_raw_a":-0.258092374,"cg_iu_a":-0.432392597,"cg_iv_a":0.504079938,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8781815,"cg_sample_seq":14273567,"cg_sample_valid":1,"cg_theta_rad":5.00595045,"cg_vd_req_v":0.0675545782,"cg_vd_v":0.0675545782,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340548307,"cg_vq_v":-0.340548307,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.479736,"values":{"Elec_RPM":-8.07749941e-16,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-1.61549988e-16,"cg_du":50.1524887,"cg_dv":50.1946449,"cg_dw":49.8053551,"cg_id_a":0.263438284,"cg_id_raw_a":-0.374480963,"cg_iq_a":-0.266947806,"cg_iq_raw_a":0.147856519,"cg_iu_a":0.401215792,"cg_iv_a":0.504079938,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14273617,"cg_sample_valid":1,"cg_theta_rad":5.0086832,"cg_vd_req_v":0.0680878237,"cg_vd_v":0.0680878237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350447804,"cg_vq_v":-0.350447804,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3745728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.487549,"values":{"Elec_RPM":-8.07749941e-16,"EncoderCos":38750,"EncoderSin":12515,"GapTicks":54787,"Mech_RPM":-1.61549988e-16,"cg_du":50.1503448,"cg_dv":50.1930389,"cg_dw":49.8069611,"cg_id_a":0.25677532,"cg_id_raw_a":-0.187883466,"cg_iq_a":-0.430296361,"cg_iq_raw_a":-0.0520681255,"cg_iu_a":-0.251173258,"cg_iv_a":0.57656759,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9618187,"cg_sample_seq":14273667,"cg_sample_valid":1,"cg_theta_rad":5.00823116,"cg_vd_req_v":0.0665027872,"cg_vd_v":0.0665027872,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348493904,"cg_vq_v":-0.348493904,"cg_vu_v":120.090675,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.495361,"values":{"Elec_RPM":-7.91594958e-16,"EncoderCos":38704,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-1.58318994e-16,"cg_du":50.1446228,"cg_dv":50.198761,"cg_dw":49.801239,"cg_id_a":-0.455383569,"cg_id_raw_a":-0.260514498,"cg_iq_a":-0.208950043,"cg_iq_raw_a":0.0476392657,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14273717,"cg_sample_valid":1,"cg_theta_rad":5.00629663,"cg_vd_req_v":0.0807692856,"cg_vd_v":0.0807692856,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352229536,"cg_vq_v":-0.352229536,"cg_vu_v":120.970459,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-82.0854034,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3615723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.503174,"values":{"Elec_RPM":-7.91594958e-16,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-1.58318994e-16,"cg_du":50.1529617,"cg_dv":50.195961,"cg_dw":49.804039,"cg_id_a":0.0555958822,"cg_id_raw_a":0.0310951937,"cg_iq_a":-0.0665850788,"cg_iq_raw_a":0.0767051354,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9436359,"cg_sample_seq":14273767,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0707836077,"cg_vd_v":0.0707836077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352153927,"cg_vq_v":-0.352153927,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3551025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.510986,"values":{"Elec_RPM":-7.75763066e-16,"EncoderCos":38680,"EncoderSin":12483,"GapTicks":54787,"Mech_RPM":-1.55152613e-16,"cg_du":50.1537018,"cg_dv":50.1933174,"cg_dw":49.8066826,"cg_id_a":0.0787466019,"cg_id_raw_a":0.0627958104,"cg_iq_a":-0.19161661,"cg_iq_raw_a":-0.0289818756,"cg_iu_a":0.147508621,"cg_iv_a":0.322860837,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.954546,"cg_sample_seq":14273816,"cg_sample_valid":1,"cg_theta_rad":5.00758266,"cg_vd_req_v":0.070245944,"cg_vd_v":0.070245944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348460466,"cg_vq_v":-0.348460466,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3388367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.542236,"values":{"Elec_RPM":-7.75763066e-16,"EncoderCos":38730,"EncoderSin":12492,"GapTicks":54782,"Mech_RPM":-1.55152613e-16,"cg_du":50.1535301,"cg_dv":50.1976776,"cg_dw":49.8023224,"cg_id_a":-0.0137862042,"cg_id_raw_a":0.148675844,"cg_iq_a":0.154055476,"cg_iq_raw_a":-0.276455581,"cg_iu_a":0.0387773514,"cg_iv_a":0.939005911,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.954546,"cg_sample_seq":14273870,"cg_sample_valid":1,"cg_theta_rad":5.0062871,"cg_vd_req_v":0.0702012181,"cg_vd_v":0.0702012181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354046017,"cg_vq_v":-0.354046017,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3388367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.550049,"values":{"Elec_RPM":-7.45042822e-16,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54792,"Mech_RPM":-1.49008567e-16,"cg_du":50.1559982,"cg_dv":50.1888924,"cg_dw":49.8111076,"cg_id_a":0.188807592,"cg_id_raw_a":0.488901824,"cg_iq_a":0.154857934,"cg_iq_raw_a":0.123163745,"cg_iu_a":0.5099473,"cg_iv_a":0.0329101086,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.954546,"cg_sample_seq":14274017,"cg_sample_valid":1,"cg_theta_rad":5.00901413,"cg_vd_req_v":0.0626539588,"cg_vd_v":0.0626539588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345131963,"cg_vq_v":-0.345131963,"cg_vu_v":127.12896,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.7735596,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3388367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.557861,"values":{"Elec_RPM":-7.45042822e-16,"EncoderCos":38738,"EncoderSin":12501,"GapTicks":54787,"Mech_RPM":-1.49008567e-16,"cg_du":50.1490707,"cg_dv":50.1934967,"cg_dw":49.8065033,"cg_id_a":-0.149447769,"cg_id_raw_a":0.0491624288,"cg_iq_a":0.358829319,"cg_iq_raw_a":0.114487067,"cg_iu_a":-0.178685665,"cg_iv_a":-0.583235025,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9509087,"cg_sample_seq":14274067,"cg_sample_valid":1,"cg_theta_rad":5.00649881,"cg_vd_req_v":0.0690352991,"cg_vd_v":0.0690352991,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347107589,"cg_vq_v":-0.347107589,"cg_vu_v":128.448624,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.565674,"values":{"Elec_RPM":-7.30141977e-16,"EncoderCos":38705,"EncoderSin":12486,"GapTicks":54790,"Mech_RPM":-1.46028401e-16,"cg_du":50.1592216,"cg_dv":50.1902809,"cg_dw":49.8097191,"cg_id_a":0.210803702,"cg_id_raw_a":0.280827671,"cg_iq_a":0.294115186,"cg_iq_raw_a":0.101767115,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.954546,"cg_sample_seq":14274117,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0607194081,"cg_vd_v":0.0607194081,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346797019,"cg_vq_v":-0.346797019,"cg_vu_v":130.208206,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3583374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.573486,"values":{"Elec_RPM":-7.30141977e-16,"EncoderCos":38732,"EncoderSin":12506,"GapTicks":54790,"Mech_RPM":-1.46028401e-16,"cg_du":50.1491127,"cg_dv":50.1908302,"cg_dw":49.8091698,"cg_id_a":-0.142492026,"cg_id_raw_a":0.100609958,"cg_iq_a":0.0702742636,"cg_iq_raw_a":0.920076847,"cg_iu_a":-0.903562307,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.760320425,"cg_sample_age_us":23.9472733,"cg_sample_seq":14274167,"cg_sample_valid":1,"cg_theta_rad":5.00828743,"cg_vd_req_v":0.0665778741,"cg_vd_v":0.0665778741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342378169,"cg_vq_v":-0.342378169,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.0530472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3258667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.585205,"values":{"Elec_RPM":-7.15539129e-16,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54791,"Mech_RPM":-1.43107831e-16,"cg_du":50.1513481,"cg_dv":50.1898651,"cg_dw":49.8101349,"cg_id_a":-0.161304399,"cg_id_raw_a":0.227976277,"cg_iq_a":0.202904269,"cg_iq_raw_a":0.424006999,"cg_iu_a":-0.106198072,"cg_iv_a":-1.23562419,"cg_iw_a":1.34182227,"cg_sample_age_us":23.9436359,"cg_sample_seq":14274216,"cg_sample_valid":1,"cg_theta_rad":5.00693893,"cg_vd_req_v":0.0662926659,"cg_vd_v":0.0662926659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342928827,"cg_vq_v":-0.342928827,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.7738914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.593018,"values":{"Elec_RPM":-7.15539129e-16,"EncoderCos":38710,"EncoderSin":12467,"GapTicks":54798,"Mech_RPM":-1.43107831e-16,"cg_du":50.1573486,"cg_dv":50.1835899,"cg_dw":49.8164101,"cg_id_a":0.28354013,"cg_id_raw_a":0.510665655,"cg_iq_a":-0.134617344,"cg_iq_raw_a":-0.0939702913,"cg_iu_a":0.256240129,"cg_iv_a":-0.438259721,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9654541,"cg_sample_seq":14274266,"cg_sample_valid":1,"cg_theta_rad":5.00667143,"cg_vd_req_v":0.0560732782,"cg_vd_v":0.0560732782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338741273,"cg_vq_v":-0.338741273,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.381073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.60083,"values":{"Elec_RPM":-7.01228401e-16,"EncoderCos":38711,"EncoderSin":12501,"GapTicks":54793,"Mech_RPM":-1.4024568e-16,"cg_du":50.1527519,"cg_dv":50.1878357,"cg_dw":49.8121643,"cg_id_a":0.102486484,"cg_id_raw_a":-0.0559897907,"cg_iq_a":-0.00722670555,"cg_iq_raw_a":0.323081911,"cg_iu_a":0.183752537,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9254551,"cg_sample_seq":14274316,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.0629628673,"cg_vd_v":0.0629628673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342083722,"cg_vq_v":-0.342083722,"cg_vu_v":1.31967759,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3388367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.628174,"values":{"Elec_RPM":-7.01228401e-16,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54791,"Mech_RPM":-1.4024568e-16,"cg_du":50.14645,"cg_dv":50.1899185,"cg_dw":49.8100815,"cg_id_a":-0.120137662,"cg_id_raw_a":-0.23456201,"cg_iq_a":-0.0826072842,"cg_iq_raw_a":0.452207297,"cg_iu_a":-0.106197953,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238573,"cg_sample_age_us":26.8199997,"cg_sample_seq":14274370,"cg_sample_valid":1,"cg_theta_rad":5.0069232,"cg_vd_req_v":0.0681329519,"cg_vd_v":0.0681329519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340663761,"cg_vq_v":-0.340663761,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3388367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.639893,"values":{"Elec_RPM":-6.87203865e-16,"EncoderCos":38707,"EncoderSin":12521,"GapTicks":54789,"Mech_RPM":-1.3744077e-16,"cg_du":50.1474304,"cg_dv":50.1909752,"cg_dw":49.8090248,"cg_id_a":-0.0909853652,"cg_id_raw_a":-0.301186919,"cg_iq_a":-0.126254275,"cg_iq_raw_a":-0.829599082,"cg_iu_a":-0.794831038,"cg_iv_a":0.10539782,"cg_iw_a":0.689433217,"cg_sample_age_us":23.954546,"cg_sample_seq":14274417,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.0696257353,"cg_vd_v":0.0696257353,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341316193,"cg_vq_v":-0.341316193,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3518372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.647705,"values":{"Elec_RPM":-6.87203865e-16,"EncoderCos":38711,"EncoderSin":12479,"GapTicks":54806,"Mech_RPM":-1.3744077e-16,"cg_du":50.1482697,"cg_dv":50.1760864,"cg_dw":49.8239136,"cg_id_a":0.614860892,"cg_id_raw_a":-0.273504257,"cg_iq_a":-1.20406604,"cg_iq_raw_a":-0.244861811,"cg_iu_a":-0.359905005,"cg_iv_a":-0.25704062,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9472733,"cg_sample_seq":14274467,"cg_sample_valid":1,"cg_theta_rad":5.00685024,"cg_vd_req_v":0.055182483,"cg_vd_v":0.055182483,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321495652,"cg_vq_v":-0.321495652,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.655518,"values":{"Elec_RPM":-6.7345975e-16,"EncoderCos":38702,"EncoderSin":12507,"GapTicks":54786,"Mech_RPM":-1.3469195e-16,"cg_du":50.1502037,"cg_dv":50.1937103,"cg_dw":49.8062897,"cg_id_a":-0.226872489,"cg_id_raw_a":0.0252129026,"cg_iq_a":0.0794745833,"cg_iq_raw_a":-0.288068742,"cg_iu_a":-0.39614892,"cg_iv_a":-0.220796704,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9727268,"cg_sample_seq":14274517,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0708357766,"cg_vd_v":0.0708357766,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346432626,"cg_vq_v":-0.346432626,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.4771233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2581.66333,"values":{"Elec_RPM":-6.7345975e-16,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-1.3469195e-16,"cg_du":50.1604843,"cg_dv":50.1964798,"cg_dw":49.8035202,"cg_id_a":0.0320346244,"cg_id_raw_a":0.520608246,"cg_iq_a":0.386810243,"cg_iq_raw_a":1.07252491,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14274567,"cg_sample_valid":1,"cg_theta_rad":5.007936,"cg_vd_req_v":0.0657933429,"cg_vd_v":0.0657933429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35700807,"cg_vq_v":-0.35700807,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3826904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.671143,"values":{"Elec_RPM":-6.5999055e-16,"EncoderCos":38732,"EncoderSin":12493,"GapTicks":54793,"Mech_RPM":-1.31998107e-16,"cg_du":50.1517448,"cg_dv":50.1876907,"cg_dw":49.8123093,"cg_id_a":0.242636085,"cg_id_raw_a":0.143002123,"cg_iq_a":-0.466925859,"cg_iq_raw_a":0.232573241,"cg_iu_a":0.328727961,"cg_iv_a":0.57656759,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9581814,"cg_sample_seq":14274617,"cg_sample_valid":1,"cg_theta_rad":5.00644541,"cg_vd_req_v":0.0619823411,"cg_vd_v":0.0619823411,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340550601,"cg_vq_v":-0.340550601,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.678955,"values":{"Elec_RPM":-6.5999055e-16,"EncoderCos":38726,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-1.31998107e-16,"cg_du":50.1662025,"cg_dv":50.1994705,"cg_dw":49.8005295,"cg_id_a":0.25583908,"cg_id_raw_a":-0.165505722,"cg_iq_a":0.686334252,"cg_iq_raw_a":0.604066789,"cg_iu_a":0.473703265,"cg_iv_a":-0.257040501,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14274667,"cg_sample_valid":1,"cg_theta_rad":5.00890112,"cg_vd_req_v":0.0623325258,"cg_vd_v":0.0623325258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364618599,"cg_vq_v":-0.364618599,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.686768,"values":{"Elec_RPM":-6.46790706e-16,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.29358144e-16,"cg_du":50.1553497,"cg_dv":50.1945038,"cg_dw":49.8054962,"cg_id_a":0.0704259127,"cg_id_raw_a":-0.0443642065,"cg_iq_a":-0.0560499616,"cg_iq_raw_a":-0.44054696,"cg_iu_a":0.256240129,"cg_iv_a":-0.148308992,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9799995,"cg_sample_seq":14274716,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.0672987178,"cg_vd_v":0.0672987178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351550937,"cg_vq_v":-0.351550937,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.698486,"values":{"Elec_RPM":-6.46790706e-16,"EncoderCos":38688,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-1.29358144e-16,"cg_du":50.1526604,"cg_dv":50.1932411,"cg_dw":49.8067589,"cg_id_a":0.00427696109,"cg_id_raw_a":-0.132304385,"cg_iq_a":-0.226614475,"cg_iq_raw_a":-0.377421588,"cg_iu_a":-0.287417173,"cg_iv_a":0.105397761,"cg_iw_a":0.182019413,"cg_sample_age_us":23.8672733,"cg_sample_seq":14274766,"cg_sample_valid":1,"cg_theta_rad":5.0057373,"cg_vd_req_v":0.0693920776,"cg_vd_v":0.0693920776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348085076,"cg_vq_v":-0.348085076,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.706299,"values":{"Elec_RPM":-6.33854924e-16,"EncoderCos":38691,"EncoderSin":12550,"GapTicks":54785,"Mech_RPM":-1.26770988e-16,"cg_du":50.1556435,"cg_dv":50.1953773,"cg_dw":49.8046227,"cg_id_a":0.0214003101,"cg_id_raw_a":0.035206113,"cg_iq_a":0.102327377,"cg_iq_raw_a":-0.177817777,"cg_iu_a":-0.106198072,"cg_iv_a":0.612811446,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9509087,"cg_sample_seq":14274816,"cg_sample_valid":1,"cg_theta_rad":5.00577354,"cg_vd_req_v":0.0682542622,"cg_vd_v":0.0682542622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352841854,"cg_vq_v":-0.352841854,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.733643,"values":{"Elec_RPM":-6.33854924e-16,"EncoderCos":38742,"EncoderSin":12500,"GapTicks":54791,"Mech_RPM":-1.26770988e-16,"cg_du":50.1386185,"cg_dv":50.1892433,"cg_dw":49.8107567,"cg_id_a":-0.157094046,"cg_id_raw_a":-0.211845443,"cg_iq_a":-0.769122124,"cg_iq_raw_a":-0.0183985885,"cg_iu_a":-0.432392597,"cg_iv_a":0.0691539645,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9872723,"cg_sample_seq":14274871,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0728855133,"cg_vd_v":0.0728855133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335542858,"cg_vq_v":-0.335542858,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3372498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.741455,"values":{"Elec_RPM":-6.21177859e-16,"EncoderCos":38683,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-1.24235566e-16,"cg_du":50.1452827,"cg_dv":50.1909714,"cg_dw":49.8090286,"cg_id_a":-0.152857751,"cg_id_raw_a":0.293268323,"cg_iq_a":-0.477560252,"cg_iq_raw_a":0.578424215,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9836369,"cg_sample_seq":14274917,"cg_sample_valid":1,"cg_theta_rad":5.00749063,"cg_vd_req_v":0.0743225589,"cg_vd_v":0.0743225589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340552241,"cg_vq_v":-0.340552241,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.72462749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3372498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.753174,"values":{"Elec_RPM":-6.21177859e-16,"EncoderCos":38687,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-1.24235566e-16,"cg_du":50.157692,"cg_dv":50.2014694,"cg_dw":49.7985306,"cg_id_a":-0.167451024,"cg_id_raw_a":-0.339951485,"cg_iq_a":0.429300606,"cg_iq_raw_a":0.402628183,"cg_iu_a":-0.287417173,"cg_iv_a":-1.05440497,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9836369,"cg_sample_seq":14274967,"cg_sample_valid":1,"cg_theta_rad":5.00899363,"cg_vd_req_v":0.0745262653,"cg_vd_v":0.0745262653,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361872137,"cg_vq_v":-0.361872137,"cg_vu_v":144.28476,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.249012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3323669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.760986,"values":{"Elec_RPM":-6.08754321e-16,"EncoderCos":38705,"EncoderSin":12483,"GapTicks":54790,"Mech_RPM":-1.21750861e-16,"cg_du":50.1438751,"cg_dv":50.1907425,"cg_dw":49.8092575,"cg_id_a":-0.132285491,"cg_id_raw_a":-0.0568301417,"cg_iq_a":-0.613505542,"cg_iq_raw_a":0.322935134,"cg_iu_a":0.401215553,"cg_iv_a":-0.148308992,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14275017,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0734487921,"cg_vd_v":0.0734487921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339826345,"cg_vq_v":-0.339826345,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.249012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.768799,"values":{"Elec_RPM":-6.08754321e-16,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-1.21750861e-16,"cg_du":50.1416702,"cg_dv":50.1922379,"cg_dw":49.8077621,"cg_id_a":-0.242423728,"cg_id_raw_a":-0.130356938,"cg_iq_a":-0.459812611,"cg_iq_raw_a":-0.631198466,"cg_iu_a":0.654922366,"cg_iv_a":-0.546991229,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8709087,"cg_sample_seq":14275067,"cg_sample_valid":1,"cg_theta_rad":5.00726604,"cg_vd_req_v":0.07608217,"cg_vd_v":0.07608217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340733379,"cg_vq_v":-0.340733379,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.249012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.776611,"values":{"Elec_RPM":-5.96579175e-16,"EncoderCos":38742,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-1.1931584e-16,"cg_du":50.149044,"cg_dv":50.1956444,"cg_dw":49.8043556,"cg_id_a":-0.0658801347,"cg_id_raw_a":-0.168592349,"cg_iq_a":0.103719607,"cg_iq_raw_a":0.421970904,"cg_iu_a":0.14750886,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9690914,"cg_sample_seq":14275117,"cg_sample_valid":1,"cg_theta_rad":5.00709105,"cg_vd_req_v":0.0715311691,"cg_vd_v":0.0715311691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349939674,"cg_vq_v":-0.349939674,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.344255686,"dclink_p_w":49.6708488,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3404846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.784424,"values":{"Elec_RPM":-5.96579175e-16,"EncoderCos":38707,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-1.1931584e-16,"cg_du":50.1517715,"cg_dv":50.1947937,"cg_dw":49.8052063,"cg_id_a":-0.0254271831,"cg_id_raw_a":0.330808371,"cg_iq_a":0.390422881,"cg_iq_raw_a":0.653128803,"cg_iu_a":-0.0337102413,"cg_iv_a":0.10539782,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9618187,"cg_sample_seq":14275167,"cg_sample_valid":1,"cg_theta_rad":5.00752354,"cg_vd_req_v":0.0711284876,"cg_vd_v":0.0711284876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349786669,"cg_vq_v":-0.349786669,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3404846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.792236,"values":{"Elec_RPM":-5.84647604e-16,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54793,"Mech_RPM":-1.16929523e-16,"cg_du":50.146656,"cg_dv":50.1876526,"cg_dw":49.8123474,"cg_id_a":0.184047937,"cg_id_raw_a":0.142716929,"cg_iq_a":-0.309183568,"cg_iq_raw_a":-0.203712717,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.863636,"cg_sample_seq":14275217,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0676916465,"cg_vd_v":0.0676916465,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338381171,"cg_vq_v":-0.338381171,"cg_vu_v":143.844864,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.286265492,"dclink_p_w":41.4296761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3469543,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.800049,"values":{"Elec_RPM":-5.84647604e-16,"EncoderCos":38726,"EncoderSin":12501,"GapTicks":54778,"Mech_RPM":-1.16929523e-16,"cg_du":50.1451263,"cg_dv":50.2009163,"cg_dw":49.7990837,"cg_id_a":-0.387820065,"cg_id_raw_a":-0.592716515,"cg_iq_a":0.510364652,"cg_iq_raw_a":0.454606622,"cg_iu_a":-0.504880428,"cg_iv_a":-0.438259721,"cg_iw_a":0.943140149,"cg_sample_age_us":23.9763641,"cg_sample_seq":14275266,"cg_sample_valid":1,"cg_theta_rad":5.0077939,"cg_vd_req_v":0.0805064514,"cg_vd_v":0.0805064514,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35590288,"cg_vq_v":-0.35590288,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.286265492,"dclink_p_w":41.4296761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3502197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.811768,"values":{"Elec_RPM":-5.72954685e-16,"EncoderCos":38710,"EncoderSin":12490,"GapTicks":54786,"Mech_RPM":-1.14590932e-16,"cg_du":50.1476517,"cg_dv":50.1944466,"cg_dw":49.8055534,"cg_id_a":-0.0449463204,"cg_id_raw_a":-0.123241991,"cg_iq_a":-0.00361777842,"cg_iq_raw_a":-0.703334868,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8563633,"cg_sample_seq":14275316,"cg_sample_valid":1,"cg_theta_rad":5.00772619,"cg_vd_req_v":0.0737631619,"cg_vd_v":0.0737631619,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348150283,"cg_vq_v":-0.348150283,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.286265492,"dclink_p_w":41.4296761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3502197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.839111,"values":{"Elec_RPM":-5.61495547e-16,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-1.12299112e-16,"cg_du":50.1602097,"cg_dv":50.2009201,"cg_dw":49.7990799,"cg_id_a":0.159958512,"cg_id_raw_a":-0.0173197277,"cg_iq_a":0.616657853,"cg_iq_raw_a":0.144782647,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0758213997,"cg_iw_a":0.363238811,"cg_sample_age_us":23.8527279,"cg_sample_seq":14275418,"cg_sample_valid":1,"cg_theta_rad":5.00739574,"cg_vd_req_v":0.0690761507,"cg_vd_v":0.0690761507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363125861,"cg_vq_v":-0.363125861,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.262706995,"dclink_p_w":38.0201797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3437195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.846924,"values":{"Elec_RPM":-5.61495547e-16,"EncoderCos":38712,"EncoderSin":12440,"GapTicks":54780,"Mech_RPM":-1.12299112e-16,"cg_du":50.1699867,"cg_dv":50.1991997,"cg_dw":49.8008003,"cg_id_a":0.44883424,"cg_id_raw_a":-0.292419225,"cg_iq_a":0.800323069,"cg_iq_raw_a":0.153221771,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641557,"cg_iw_a":0.145775855,"cg_sample_age_us":23.9218178,"cg_sample_seq":14275466,"cg_sample_valid":1,"cg_theta_rad":5.00701761,"cg_vd_req_v":0.0617467985,"cg_vd_v":0.0617467985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365925819,"cg_vq_v":-0.365925819,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.7410202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3437195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.854736,"values":{"Elec_RPM":-5.50265637e-16,"EncoderCos":38675,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-1.10053131e-16,"cg_du":50.1637344,"cg_dv":50.1963692,"cg_dw":49.8036308,"cg_id_a":0.226699352,"cg_id_raw_a":0.159879491,"cg_iq_a":0.425396085,"cg_iq_raw_a":-0.346619129,"cg_iu_a":-1.22975683,"cg_iv_a":0.141641617,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9836369,"cg_sample_seq":14275516,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0658841506,"cg_vd_v":0.0658841506,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359320223,"cg_vq_v":-0.359320223,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3404846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.866455,"values":{"Elec_RPM":-5.50265637e-16,"EncoderCos":38731,"EncoderSin":12484,"GapTicks":54782,"Mech_RPM":-1.10053131e-16,"cg_du":50.1494904,"cg_dv":50.1978836,"cg_dw":49.8021164,"cg_id_a":-0.173729286,"cg_id_raw_a":-0.156504095,"cg_iq_a":0.111651197,"cg_iq_raw_a":-0.159569144,"cg_iu_a":0.509947062,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.8527279,"cg_sample_seq":14275566,"cg_sample_valid":1,"cg_theta_rad":5.00639534,"cg_vd_req_v":0.0741304681,"cg_vd_v":0.0741304681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354199111,"cg_vq_v":-0.354199111,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3404846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.874268,"values":{"Elec_RPM":-5.39260349e-16,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-1.0785207e-16,"cg_du":50.14785,"cg_dv":50.196701,"cg_dw":49.803299,"cg_id_a":-0.177179545,"cg_id_raw_a":-0.395662218,"cg_iq_a":-0.0528228544,"cg_iq_raw_a":-0.510674953,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9763641,"cg_sample_seq":14275616,"cg_sample_valid":1,"cg_theta_rad":5.00699139,"cg_vd_req_v":0.0750045031,"cg_vd_v":0.0750045031,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351508468,"cg_vq_v":-0.351508468,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3534546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.88208,"values":{"Elec_RPM":-5.39260349e-16,"EncoderCos":38694,"EncoderSin":12481,"GapTicks":54790,"Mech_RPM":-1.0785207e-16,"cg_du":50.1512527,"cg_dv":50.1906891,"cg_dw":49.8093109,"cg_id_a":0.211621493,"cg_id_raw_a":0.302814186,"cg_iq_a":-0.533579946,"cg_iq_raw_a":-0.113752507,"cg_iu_a":0.364971638,"cg_iv_a":0.39534843,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.954546,"cg_sample_seq":14275666,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0685264245,"cg_vd_v":0.0685264245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343730241,"cg_vq_v":-0.343730241,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3664551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.889893,"values":{"Elec_RPM":-5.28475132e-16,"EncoderCos":38748,"EncoderSin":12455,"GapTicks":54784,"Mech_RPM":-1.05695028e-16,"cg_du":50.140976,"cg_dv":50.1957588,"cg_dw":49.8042412,"cg_id_a":-0.223017693,"cg_id_raw_a":-0.285983711,"cg_iq_a":-0.284611136,"cg_iq_raw_a":-0.353205115,"cg_iu_a":1.81472516,"cg_iv_a":-0.365772128,"cg_iw_a":-1.44895303,"cg_sample_age_us":23.9218178,"cg_sample_seq":14275716,"cg_sample_valid":1,"cg_theta_rad":5.00734138,"cg_vd_req_v":0.0779033229,"cg_vd_v":0.0779033229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345616877,"cg_vq_v":-0.345616877,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3664551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.897705,"values":{"Elec_RPM":-5.28475132e-16,"EncoderCos":38714,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-1.05695028e-16,"cg_du":50.1594238,"cg_dv":50.2008324,"cg_dw":49.7991676,"cg_id_a":0.207074642,"cg_id_raw_a":0.374414682,"cg_iq_a":0.331461191,"cg_iq_raw_a":1.09299231,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.954546,"cg_sample_seq":14275766,"cg_sample_valid":1,"cg_theta_rad":5.00561428,"cg_vd_req_v":0.0698234439,"cg_vd_v":0.0698234439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36252287,"cg_vq_v":-0.36252287,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3193665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.905518,"values":{"Elec_RPM":-5.17905643e-16,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-1.03581125e-16,"cg_du":50.1497536,"cg_dv":50.1972084,"cg_dw":49.8027916,"cg_id_a":0.0720479041,"cg_id_raw_a":0.138846174,"cg_iq_a":-0.228941709,"cg_iq_raw_a":0.0506838821,"cg_iu_a":0.183752537,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8709087,"cg_sample_seq":14275816,"cg_sample_valid":1,"cg_theta_rad":5.00721216,"cg_vd_req_v":0.0742147714,"cg_vd_v":0.0742147714,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35322392,"cg_vq_v":-0.35322392,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":32.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.936768,"values":{"Elec_RPM":-5.17905643e-16,"EncoderCos":38739,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-1.03581125e-16,"cg_du":50.1396713,"cg_dv":50.1980019,"cg_dw":49.8019981,"cg_id_a":-0.165306255,"cg_id_raw_a":-0.393510252,"cg_iq_a":-0.414712042,"cg_iq_raw_a":-0.326730907,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8600006,"cg_sample_seq":14275871,"cg_sample_valid":1,"cg_theta_rad":5.00627995,"cg_vd_req_v":0.0813328698,"cg_vd_v":0.0813328698,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349009037,"cg_vq_v":-0.349009037,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.94458,"values":{"Elec_RPM":-5.07547489e-16,"EncoderCos":38726,"EncoderSin":12458,"GapTicks":54790,"Mech_RPM":-1.015095e-16,"cg_du":50.1534729,"cg_dv":50.1902657,"cg_dw":49.8097343,"cg_id_a":0.652648509,"cg_id_raw_a":0.212272689,"cg_iq_a":-0.681180835,"cg_iq_raw_a":-0.488363206,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616981,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14275916,"cg_sample_valid":1,"cg_theta_rad":5.00674105,"cg_vd_req_v":0.0646084771,"cg_vd_v":0.0646084771,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345831782,"cg_vq_v":-0.345831782,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.6166077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3631897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.952393,"values":{"Elec_RPM":-5.07547489e-16,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.015095e-16,"cg_du":50.1664047,"cg_dv":50.2065887,"cg_dw":49.7934113,"cg_id_a":0.244270697,"cg_id_raw_a":-0.231529787,"cg_iq_a":0.607038081,"cg_iq_raw_a":1.07098758,"cg_iu_a":-0.396148682,"cg_iv_a":1.41017568,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9654541,"cg_sample_seq":14275967,"cg_sample_valid":1,"cg_theta_rad":5.00764179,"cg_vd_req_v":0.0693827644,"cg_vd_v":0.0693827644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374368072,"cg_vq_v":-0.374368072,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3631897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118635841,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.960205,"values":{"Elec_RPM":-4.9739654e-16,"EncoderCos":38715,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-9.9479308e-17,"cg_du":50.1503258,"cg_dv":50.2003098,"cg_dw":49.7996902,"cg_id_a":-0.168178052,"cg_id_raw_a":-0.353242427,"cg_iq_a":-0.298074245,"cg_iq_raw_a":-0.507192194,"cg_iu_a":0.219996452,"cg_iv_a":0.286616981,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9581814,"cg_sample_seq":14276017,"cg_sample_valid":1,"cg_theta_rad":5.00646591,"cg_vd_req_v":0.0768693835,"cg_vd_v":0.0768693835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356624931,"cg_vq_v":-0.356624931,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3274841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2581.968018,"values":{"Elec_RPM":-4.9739654e-16,"EncoderCos":38696,"EncoderSin":12501,"GapTicks":54784,"Mech_RPM":-9.9479308e-17,"cg_du":50.1585464,"cg_dv":50.1956406,"cg_dw":49.8043594,"cg_id_a":0.316650331,"cg_id_raw_a":0.300021321,"cg_iq_a":-0.43267414,"cg_iq_raw_a":-0.296710938,"cg_iu_a":-0.178685665,"cg_iv_a":1.26520038,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9836369,"cg_sample_seq":14276066,"cg_sample_valid":1,"cg_theta_rad":5.00821638,"cg_vd_req_v":0.067022495,"cg_vd_v":0.067022495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354681849,"cg_vq_v":-0.354681849,"cg_vu_v":41.3499031,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0778634548,"dclink_p_w":11.2687616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3193665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2581.979704,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2581.979707,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2581.97971,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2581.979736,"values":{"Elec_RPM":-4.87448615e-16,"EncoderCos":38719,"EncoderSin":12462,"GapTicks":54779,"Mech_RPM":-9.74897203e-17,"cg_du":50.1590004,"cg_dv":50.2006531,"cg_dw":49.7993469,"cg_id_a":0.155992538,"cg_id_raw_a":-0.0979172885,"cg_iq_a":-0.0207694173,"cg_iq_raw_a":0.31892851,"cg_iu_a":0.0750210285,"cg_iv_a":0.467836082,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.954546,"cg_sample_seq":14276117,"cg_sample_valid":1,"cg_theta_rad":5.00752878,"cg_vd_req_v":0.0708583072,"cg_vd_v":0.0708583072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363017648,"cg_vq_v":-0.363017648,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3193665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.987549,"values":{"Elec_RPM":-4.87448615e-16,"EncoderCos":38708,"EncoderSin":12445,"GapTicks":54778,"Mech_RPM":-9.74897203e-17,"cg_du":50.160881,"cg_dv":50.2016716,"cg_dw":49.7983284,"cg_id_a":0.00129199773,"cg_id_raw_a":0.150947139,"cg_iq_a":0.0102671832,"cg_iq_raw_a":-0.275222033,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":-0.144174933,"cg_sample_age_us":26.8018188,"cg_sample_seq":14276167,"cg_sample_valid":1,"cg_theta_rad":5.0080862,"cg_vd_req_v":0.0717110261,"cg_vd_v":0.0717110261,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365201503,"cg_vq_v":-0.365201503,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.6307487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3258667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2581.995361,"values":{"Elec_RPM":-4.77699636e-16,"EncoderCos":38726,"EncoderSin":12478,"GapTicks":54780,"Mech_RPM":-9.55399232e-17,"cg_du":50.159771,"cg_dv":50.1999741,"cg_dw":49.8000259,"cg_id_a":0.155180022,"cg_id_raw_a":0.392237276,"cg_iq_a":-0.111701384,"cg_iq_raw_a":-0.180063516,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9218178,"cg_sample_seq":14276216,"cg_sample_valid":1,"cg_theta_rad":5.00584602,"cg_vd_req_v":0.0693042725,"cg_vd_v":0.0693042725,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362582058,"cg_vq_v":-0.362582058,"cg_vu_v":115.69175,"cg_vv_v":128.008743,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.003174,"values":{"Elec_RPM":-4.77699636e-16,"EncoderCos":38712,"EncoderSin":12500,"GapTicks":54781,"Mech_RPM":-9.55399232e-17,"cg_du":50.1584969,"cg_dv":50.1988754,"cg_dw":49.8011246,"cg_id_a":0.0881274045,"cg_id_raw_a":-0.30965662,"cg_iq_a":-0.172044739,"cg_iq_raw_a":0.553257227,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9436359,"cg_sample_seq":14276267,"cg_sample_valid":1,"cg_theta_rad":5.00626087,"cg_vd_req_v":0.0689396262,"cg_vd_v":0.0689396262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359290332,"cg_vq_v":-0.359290332,"cg_vu_v":102.494972,"cg_vv_v":91.4976578,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8990498,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.010986,"values":{"Elec_RPM":-4.68145634e-16,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-9.36291228e-17,"cg_du":50.1606827,"cg_dv":50.2069283,"cg_dw":49.7930717,"cg_id_a":-0.338855982,"cg_id_raw_a":0.269144744,"cg_iq_a":0.35756743,"cg_iq_raw_a":0.4284316,"cg_iu_a":-0.14244175,"cg_iv_a":-0.293284416,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9727268,"cg_sample_seq":14276316,"cg_sample_valid":1,"cg_theta_rad":5.00604296,"cg_vd_req_v":0.0760114789,"cg_vd_v":0.0760114789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371267319,"cg_vq_v":-0.371267319,"cg_vu_v":116.571533,"cg_vv_v":132.847549,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3242493,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.018799,"values":{"Elec_RPM":-4.68145634e-16,"EncoderCos":38733,"EncoderSin":12497,"GapTicks":54772,"Mech_RPM":-9.36291228e-17,"cg_du":50.1600494,"cg_dv":50.2064438,"cg_dw":49.7935562,"cg_id_a":-0.157014981,"cg_id_raw_a":-0.280299336,"cg_iq_a":0.386429667,"cg_iq_raw_a":0.265959918,"cg_iu_a":-0.613611698,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8563633,"cg_sample_seq":14276367,"cg_sample_valid":1,"cg_theta_rad":5.00699425,"cg_vd_req_v":0.0733829811,"cg_vd_v":0.0733829811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370783567,"cg_vq_v":-0.370783567,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2570,"hz_tim_isr":5000,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3242493,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.050049,"values":{"Elec_RPM":-4.5878269e-16,"EncoderCos":38743,"EncoderSin":12486,"GapTicks":54782,"Mech_RPM":-9.17565381e-17,"cg_du":50.1461525,"cg_dv":50.1977959,"cg_dw":49.8022041,"cg_id_a":-0.193133563,"cg_id_raw_a":0.551704347,"cg_iq_a":-0.626382887,"cg_iq_raw_a":-0.785860181,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860837,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8454552,"cg_sample_seq":14276420,"cg_sample_valid":1,"cg_theta_rad":5.00688457,"cg_vd_req_v":0.0754393786,"cg_vd_v":0.0754393786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351355731,"cg_vq_v":-0.351355731,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3031616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.057861,"values":{"Elec_RPM":-4.5878269e-16,"EncoderCos":38708,"EncoderSin":12498,"GapTicks":54779,"Mech_RPM":-9.17565381e-17,"cg_du":50.1544304,"cg_dv":50.2003288,"cg_dw":49.7996712,"cg_id_a":-0.109040238,"cg_id_raw_a":0.0300859325,"cg_iq_a":-0.319509089,"cg_iq_raw_a":-0.979557395,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528332,"cg_iw_a":0.182019711,"cg_sample_age_us":23.8709087,"cg_sample_seq":14276466,"cg_sample_valid":1,"cg_theta_rad":5.00689459,"cg_vd_req_v":0.0741450563,"cg_vd_v":0.0741450563,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359994173,"cg_vq_v":-0.359994173,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.6324863,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3258667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.065674,"values":{"Elec_RPM":-4.49607047e-16,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54779,"Mech_RPM":-8.99214081e-17,"cg_du":50.15662,"cg_dv":50.2008553,"cg_dw":49.7991447,"cg_id_a":-0.0640076473,"cg_id_raw_a":0.0946227834,"cg_iq_a":-0.24245736,"cg_iq_raw_a":-1.00960803,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.8709087,"cg_sample_seq":14276516,"cg_sample_valid":1,"cg_theta_rad":5.00719023,"cg_vd_req_v":0.0723999515,"cg_vd_v":0.0723999515,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3620525,"cg_vq_v":-0.3620525,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.48092985,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3258667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.073486,"values":{"Elec_RPM":-4.49607047e-16,"EncoderCos":38707,"EncoderSin":12498,"GapTicks":54776,"Mech_RPM":-8.99214081e-17,"cg_du":50.1556969,"cg_dv":50.2033501,"cg_dw":49.7966499,"cg_id_a":-0.165303886,"cg_id_raw_a":-0.0248340666,"cg_iq_a":-0.179722413,"cg_iq_raw_a":0.216872305,"cg_iu_a":0.473703146,"cg_iv_a":-0.474503636,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9290905,"cg_sample_seq":14276567,"cg_sample_valid":1,"cg_theta_rad":5.00769997,"cg_vd_req_v":0.0759498402,"cg_vd_v":0.0759498402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363701046,"cg_vq_v":-0.363701046,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3080139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.085205,"values":{"Elec_RPM":-4.40614892e-16,"EncoderCos":38732,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-8.81229785e-17,"cg_du":50.1605148,"cg_dv":50.2071419,"cg_dw":49.7928581,"cg_id_a":0.0250339508,"cg_id_raw_a":0.101794183,"cg_iq_a":0.130613148,"cg_iq_raw_a":-0.899725318,"cg_iu_a":-0.758587122,"cg_iv_a":-0.148309052,"cg_iw_a":0.906896174,"cg_sample_age_us":23.9763641,"cg_sample_seq":14276617,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0739288703,"cg_vd_v":0.0739288703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371948421,"cg_vq_v":-0.371948421,"cg_vu_v":118.3311,"cg_vv_v":137.246475,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.093018,"values":{"Elec_RPM":-4.40614892e-16,"EncoderCos":38674,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-8.81229785e-17,"cg_du":50.1589127,"cg_dv":50.2105103,"cg_dw":49.7894897,"cg_id_a":-0.385972798,"cg_id_raw_a":0.309888065,"cg_iq_a":0.208983749,"cg_iq_raw_a":-0.366671801,"cg_iu_a":0.0750210285,"cg_iv_a":-0.438259721,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9872723,"cg_sample_seq":14276667,"cg_sample_valid":1,"cg_theta_rad":5.00678444,"cg_vd_req_v":0.0838874429,"cg_vd_v":0.0838874429,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374470234,"cg_vq_v":-0.374470234,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3128967,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.10083,"values":{"Elec_RPM":-4.318026e-16,"EncoderCos":38719,"EncoderSin":12497,"GapTicks":54772,"Mech_RPM":-8.63605213e-17,"cg_du":50.1446381,"cg_dv":50.2065048,"cg_dw":49.7934952,"cg_id_a":-0.478202343,"cg_id_raw_a":-0.892281651,"cg_iq_a":-0.519622386,"cg_iq_raw_a":-1.2501173,"cg_iu_a":0.509947062,"cg_iv_a":0.0691540241,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9509087,"cg_sample_seq":14276717,"cg_sample_valid":1,"cg_theta_rad":5.00659752,"cg_vd_req_v":0.0867283642,"cg_vd_v":0.0867283642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361998975,"cg_vq_v":-0.361998975,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3047791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.108643,"values":{"Elec_RPM":-4.318026e-16,"EncoderCos":38717,"EncoderSin":12479,"GapTicks":54771,"Mech_RPM":-8.63605213e-17,"cg_du":50.1595955,"cg_dv":50.2077789,"cg_dw":49.7922211,"cg_id_a":0.0767451227,"cg_id_raw_a":-0.257238925,"cg_iq_a":-0.0189373791,"cg_iq_raw_a":0.230554536,"cg_iu_a":-0.86731863,"cg_iv_a":-0.365772009,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9509087,"cg_sample_seq":14276767,"cg_sample_valid":1,"cg_theta_rad":5.00712776,"cg_vd_req_v":0.0770814866,"cg_vd_v":0.0770814866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373114496,"cg_vq_v":-0.373114496,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3047791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.120361,"values":{"Elec_RPM":-4.23166543e-16,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-8.46333086e-17,"cg_du":50.1450577,"cg_dv":50.2080574,"cg_dw":49.7919426,"cg_id_a":-0.381896079,"cg_id_raw_a":-0.433402449,"cg_iq_a":-0.372393429,"cg_iq_raw_a":0.542042613,"cg_iu_a":0.111264944,"cg_iv_a":0.794030607,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9509087,"cg_sample_seq":14276816,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0878623426,"cg_vd_v":0.0878623426,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365530849,"cg_vq_v":-0.365530849,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3307495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.128174,"values":{"Elec_RPM":-4.23166543e-16,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-8.46333086e-17,"cg_du":50.1558075,"cg_dv":50.2093353,"cg_dw":49.7906647,"cg_id_a":-0.0206668954,"cg_id_raw_a":0.0347902998,"cg_iq_a":-0.0197465122,"cg_iq_raw_a":0.2590186,"cg_iu_a":0.654922485,"cg_iv_a":0.322860777,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9218178,"cg_sample_seq":14276866,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0809111074,"cg_vd_v":0.0809111074,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373249561,"cg_vq_v":-0.373249561,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3193665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.155518,"values":{"Elec_RPM":-4.14703228e-16,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54768,"Mech_RPM":-8.29406456e-17,"cg_du":50.1594734,"cg_dv":50.2106781,"cg_dw":49.7893219,"cg_id_a":0.211249098,"cg_id_raw_a":0.133772224,"cg_iq_a":0.120126501,"cg_iq_raw_a":0.559233963,"cg_iu_a":0.582434893,"cg_iv_a":-0.25704062,"cg_iw_a":-0.325394273,"cg_sample_age_us":26.823637,"cg_sample_seq":14276920,"cg_sample_valid":1,"cg_theta_rad":5.00578642,"cg_vd_req_v":0.0779314563,"cg_vd_v":0.0779314563,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376238704,"cg_vq_v":-0.376238704,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.7248154,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3193665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.16333,"values":{"Elec_RPM":-4.14703228e-16,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54757,"Mech_RPM":-8.29406456e-17,"cg_du":50.1589165,"cg_dv":50.2205544,"cg_dw":49.7794456,"cg_id_a":-0.394537866,"cg_id_raw_a":0.291998446,"cg_iq_a":0.518320441,"cg_iq_raw_a":-0.225538254,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9763641,"cg_sample_seq":14276967,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0895415843,"cg_vd_v":0.0895415843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387777179,"cg_vq_v":-0.387777179,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.1420727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2950439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.171143,"values":{"Elec_RPM":-4.06409161e-16,"EncoderCos":38727,"EncoderSin":12510,"GapTicks":54772,"Mech_RPM":-8.12818309e-17,"cg_du":50.1373634,"cg_dv":50.2069626,"cg_dw":49.7930374,"cg_id_a":-0.456020564,"cg_id_raw_a":-0.0610551871,"cg_iq_a":-0.891940475,"cg_iq_raw_a":-0.732928634,"cg_iu_a":-0.178685904,"cg_iv_a":-0.293284416,"cg_iw_a":-1.55768454,"cg_sample_age_us":23.9181824,"cg_sample_seq":14277017,"cg_sample_valid":1,"cg_theta_rad":5.00641203,"cg_vd_req_v":0.0919134691,"cg_vd_v":0.0919134691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358797938,"cg_vq_v":-0.358797938,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2901611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.182861,"values":{"Elec_RPM":-3.9828098e-16,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-7.9656196e-17,"cg_du":50.1748772,"cg_dv":50.2114525,"cg_dw":49.7885475,"cg_id_a":0.519495249,"cg_id_raw_a":0.648431301,"cg_iq_a":0.579122126,"cg_iq_raw_a":0.211289316,"cg_iu_a":-0.649855375,"cg_iv_a":0.214129329,"cg_iw_a":0.435726047,"cg_sample_age_us":23.9436359,"cg_sample_seq":14277166,"cg_sample_valid":1,"cg_theta_rad":5.00801706,"cg_vd_req_v":0.0694325641,"cg_vd_v":0.0694325641,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386587054,"cg_vq_v":-0.386587054,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3080139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.190674,"values":{"Elec_RPM":-3.90315376e-16,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-7.80630726e-17,"cg_du":50.1644173,"cg_dv":50.2078133,"cg_dw":49.7921867,"cg_id_a":0.208764881,"cg_id_raw_a":-0.114355646,"cg_iq_a":-0.123556927,"cg_iq_raw_a":-0.775735021,"cg_iu_a":0.219996452,"cg_iv_a":0.685299098,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.954546,"cg_sample_seq":14277216,"cg_sample_valid":1,"cg_theta_rad":5.00618601,"cg_vd_req_v":0.0742627606,"cg_vd_v":0.0742627606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374505579,"cg_vq_v":-0.374505579,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.3080139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.198486,"values":{"Elec_RPM":-3.90315376e-16,"EncoderCos":38726,"EncoderSin":12450,"GapTicks":54774,"Mech_RPM":-7.80630726e-17,"cg_du":50.1510773,"cg_dv":50.2049866,"cg_dw":49.7950134,"cg_id_a":-0.109715454,"cg_id_raw_a":0.358662188,"cg_iq_a":-0.549529612,"cg_iq_raw_a":-0.692457855,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9472733,"cg_sample_seq":14277266,"cg_sample_valid":1,"cg_theta_rad":5.00518608,"cg_vd_req_v":0.0807954967,"cg_vd_v":0.0807954967,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363410771,"cg_vq_v":-0.363410771,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3242493,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.206299,"values":{"Elec_RPM":-3.82509068e-16,"EncoderCos":38712,"EncoderSin":12491,"GapTicks":54754,"Mech_RPM":-7.65018122e-17,"cg_du":50.1668282,"cg_dv":50.2233086,"cg_dw":49.7766914,"cg_id_a":-0.336119354,"cg_id_raw_a":-0.214825809,"cg_iq_a":0.978461564,"cg_iq_raw_a":-0.202371433,"cg_iu_a":-0.577368021,"cg_iv_a":-0.981917143,"cg_iw_a":1.55928516,"cg_sample_age_us":23.954546,"cg_sample_seq":14277316,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0863975585,"cg_vd_v":0.0863975585,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397122085,"cg_vq_v":-0.397122085,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3242493,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.214111,"values":{"Elec_RPM":-3.82509068e-16,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-7.65018122e-17,"cg_du":50.1582184,"cg_dv":50.2103577,"cg_dw":49.7896423,"cg_id_a":0.0552750044,"cg_id_raw_a":0.356445372,"cg_iq_a":-0.176008984,"cg_iq_raw_a":-0.69360137,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9218178,"cg_sample_seq":14277367,"cg_sample_valid":1,"cg_theta_rad":5.00615168,"cg_vd_req_v":0.0792172328,"cg_vd_v":0.0792172328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374971896,"cg_vq_v":-0.374971896,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.400555015,"dclink_p_w":-57.9701881,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.3161316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.241455,"values":{"Elec_RPM":-3.74858878e-16,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54765,"Mech_RPM":-7.49717729e-17,"cg_du":50.1551552,"cg_dv":50.2127571,"cg_dw":49.7872429,"cg_id_a":-0.242220014,"cg_id_raw_a":0.0108177708,"cg_iq_a":-0.0860820264,"cg_iq_raw_a":0.293084413,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9872723,"cg_sample_seq":14277419,"cg_sample_valid":1,"cg_theta_rad":5.00769472,"cg_vd_req_v":0.0843369812,"cg_vd_v":0.0843369812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377646387,"cg_vq_v":-0.377646387,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.249268,"values":{"Elec_RPM":-3.74858878e-16,"EncoderCos":38713,"EncoderSin":12503,"GapTicks":54764,"Mech_RPM":-7.49717729e-17,"cg_du":50.1547089,"cg_dv":50.2137794,"cg_dw":49.7862206,"cg_id_a":-0.305349112,"cg_id_raw_a":-0.409303635,"cg_iq_a":0.0153439939,"cg_iq_raw_a":-0.366663337,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14277466,"cg_sample_valid":1,"cg_theta_rad":5.00577354,"cg_vd_req_v":0.0864963159,"cg_vd_v":0.0864963159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378604144,"cg_vq_v":-0.378604144,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.317749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.25708,"values":{"Elec_RPM":-3.67361683e-16,"EncoderCos":38704,"EncoderSin":12479,"GapTicks":54757,"Mech_RPM":-7.34723393e-17,"cg_du":50.1630135,"cg_dv":50.2201233,"cg_dw":49.7798767,"cg_id_a":-0.354034424,"cg_id_raw_a":-0.248007029,"cg_iq_a":0.675987303,"cg_iq_raw_a":0.340075076,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.220796764,"cg_iw_a":0.290750921,"cg_sample_age_us":23.954546,"cg_sample_seq":14277516,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0873256549,"cg_vd_v":0.0873256549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390420973,"cg_vq_v":-0.390420973,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3063965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.268799,"values":{"Elec_RPM":-3.67361683e-16,"EncoderCos":38701,"EncoderSin":12471,"GapTicks":54765,"Mech_RPM":-7.34723393e-17,"cg_du":50.1689949,"cg_dv":50.2130432,"cg_dw":49.7869568,"cg_id_a":0.219170585,"cg_id_raw_a":0.246355593,"cg_iq_a":0.249934703,"cg_iq_raw_a":0.0259496979,"cg_iu_a":-0.359904766,"cg_iv_a":0.177885473,"cg_iw_a":0.182019293,"cg_sample_age_us":23.9872723,"cg_sample_seq":14277566,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0762006119,"cg_vd_v":0.0762006119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384101778,"cg_vq_v":-0.384101778,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.3063965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.276611,"values":{"Elec_RPM":-3.6001444e-16,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54756,"Mech_RPM":-7.20028893e-17,"cg_du":50.1625938,"cg_dv":50.2209282,"cg_dw":49.7790718,"cg_id_a":-0.380259454,"cg_id_raw_a":0.231401801,"cg_iq_a":0.483296275,"cg_iq_raw_a":-0.449337125,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772128,"cg_iw_a":0.399482608,"cg_sample_age_us":23.863636,"cg_sample_seq":14277616,"cg_sample_valid":1,"cg_theta_rad":5.00635862,"cg_vd_req_v":0.088620156,"cg_vd_v":0.088620156,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391235888,"cg_vq_v":-0.391235888,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2706909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.284424,"values":{"Elec_RPM":-3.6001444e-16,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-7.20028893e-17,"cg_du":50.166275,"cg_dv":50.2122803,"cg_dw":49.7877197,"cg_id_a":0.225243449,"cg_id_raw_a":0.2811158,"cg_iq_a":-0.196105808,"cg_iq_raw_a":0.10096854,"cg_iu_a":0.509947062,"cg_iv_a":0.431592286,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9618187,"cg_sample_seq":14277668,"cg_sample_valid":1,"cg_theta_rad":5.00742149,"cg_vd_req_v":0.0757585913,"cg_vd_v":0.0757585913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38189894,"cg_vq_v":-0.38189894,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.3291016,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.296143,"values":{"Elec_RPM":-3.52814157e-16,"EncoderCos":38716,"EncoderSin":12492,"GapTicks":54757,"Mech_RPM":-7.05628341e-17,"cg_du":50.1663094,"cg_dv":50.2209053,"cg_dw":49.7790947,"cg_id_a":-0.210247114,"cg_id_raw_a":-0.0834562853,"cg_iq_a":0.35431084,"cg_iq_raw_a":0.174767688,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065315,"cg_iw_a":0.508213937,"cg_sample_age_us":23.9436359,"cg_sample_seq":14277716,"cg_sample_valid":1,"cg_theta_rad":5.00798607,"cg_vd_req_v":0.0843376368,"cg_vd_v":0.0843376368,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394847453,"cg_vq_v":-0.394847453,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.3291016,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.303955,"values":{"Elec_RPM":-3.52814157e-16,"EncoderCos":38717,"EncoderSin":12499,"GapTicks":54757,"Mech_RPM":-7.05628341e-17,"cg_du":50.1715355,"cg_dv":50.2203064,"cg_dw":49.7796936,"cg_id_a":0.0738399625,"cg_id_raw_a":0.0415435247,"cg_iq_a":0.280806392,"cg_iq_raw_a":0.623815238,"cg_iu_a":-0.287417173,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8600006,"cg_sample_seq":14277767,"cg_sample_valid":1,"cg_theta_rad":5.00775528,"cg_vd_req_v":0.0791178122,"cg_vd_v":0.0791178122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395822108,"cg_vq_v":-0.395822108,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2658386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.311768,"values":{"Elec_RPM":-3.45757896e-16,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-6.91515779e-17,"cg_du":50.1716957,"cg_dv":50.2170639,"cg_dw":49.7829361,"cg_id_a":0.161851779,"cg_id_raw_a":0.249366626,"cg_iq_a":-0.0750330165,"cg_iq_raw_a":0.20764415,"cg_iu_a":-0.468636513,"cg_iv_a":0.504079938,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9836369,"cg_sample_seq":14277817,"cg_sample_valid":1,"cg_theta_rad":5.0065341,"cg_vd_req_v":0.0769033954,"cg_vd_v":0.0769033954,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391297013,"cg_vq_v":-0.391297013,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.280426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.31958,"values":{"Elec_RPM":-3.45757896e-16,"EncoderCos":38699,"EncoderSin":12490,"GapTicks":54751,"Mech_RPM":-6.91515779e-17,"cg_du":50.191227,"cg_dv":50.2262688,"cg_dw":49.7737312,"cg_id_a":0.472470045,"cg_id_raw_a":-0.382506788,"cg_iq_a":0.891999722,"cg_iq_raw_a":0.836386979,"cg_iu_a":-0.758586884,"cg_iv_a":0.214129269,"cg_iw_a":0.544457614,"cg_sample_age_us":23.9836369,"cg_sample_seq":14277867,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0711767673,"cg_vd_v":0.0711767673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413374484,"cg_vq_v":-0.413374484,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.280426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.346924,"values":{"Elec_RPM":-3.38842719e-16,"EncoderCos":38723,"EncoderSin":12495,"GapTicks":54760,"Mech_RPM":-6.77685452e-17,"cg_du":50.1791115,"cg_dv":50.2179718,"cg_dw":49.7820282,"cg_id_a":0.491343141,"cg_id_raw_a":0.493243784,"cg_iq_a":-0.00832275301,"cg_iq_raw_a":0.302690983,"cg_iu_a":-1.30224466,"cg_iv_a":0.322860718,"cg_iw_a":0.979383945,"cg_sample_age_us":23.9509087,"cg_sample_seq":14277922,"cg_sample_valid":1,"cg_theta_rad":5.00686646,"cg_vd_req_v":0.070254229,"cg_vd_v":0.070254229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395761162,"cg_vq_v":-0.395761162,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.3307877,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.358643,"values":{"Elec_RPM":-3.32065873e-16,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54750,"Mech_RPM":-6.64131733e-17,"cg_du":50.1758347,"cg_dv":50.2268524,"cg_dw":49.7731476,"cg_id_a":-0.189966321,"cg_id_raw_a":-0.774176657,"cg_iq_a":0.338351905,"cg_iq_raw_a":1.0186137,"cg_iu_a":-0.722343445,"cg_iv_a":-0.0395774841,"cg_iw_a":0.761920929,"cg_sample_age_us":24.9290905,"cg_sample_seq":14278017,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.0822716057,"cg_vd_v":0.0822716057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408385545,"cg_vq_v":-0.408385545,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.3015442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.366455,"values":{"Elec_RPM":-3.32065873e-16,"EncoderCos":38721,"EncoderSin":12492,"GapTicks":54753,"Mech_RPM":-6.64131733e-17,"cg_du":50.1775017,"cg_dv":50.2244682,"cg_dw":49.7755318,"cg_id_a":0.0558308698,"cg_id_raw_a":-0.100532062,"cg_iq_a":0.0428714976,"cg_iq_raw_a":0.573719442,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14278067,"cg_sample_valid":1,"cg_theta_rad":5.00674248,"cg_vd_req_v":0.0785345733,"cg_vd_v":0.0785345733,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406089455,"cg_vq_v":-0.406089455,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.3096313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.374268,"values":{"Elec_RPM":-3.25424553e-16,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54751,"Mech_RPM":-6.50849132e-17,"cg_du":50.1831207,"cg_dv":50.2260742,"cg_dw":49.7739258,"cg_id_a":0.123100162,"cg_id_raw_a":0.266805977,"cg_iq_a":0.104176648,"cg_iq_raw_a":0.245566979,"cg_iu_a":0.14750886,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9254551,"cg_sample_seq":14278117,"cg_sample_valid":1,"cg_theta_rad":5.00674772,"cg_vd_req_v":0.0764027908,"cg_vd_v":0.0764027908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410014093,"cg_vq_v":-0.410014093,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.3096313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.38208,"values":{"Elec_RPM":-3.25424553e-16,"EncoderCos":38713,"EncoderSin":12469,"GapTicks":54751,"Mech_RPM":-6.50849132e-17,"cg_du":50.1820641,"cg_dv":50.2256508,"cg_dw":49.7743492,"cg_id_a":0.124708846,"cg_id_raw_a":-0.119719535,"cg_iq_a":0.0210023839,"cg_iq_raw_a":0.535237432,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14278167,"cg_sample_valid":1,"cg_theta_rad":5.00864553,"cg_vd_req_v":0.0772500858,"cg_vd_v":0.0772500858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408761978,"cg_vq_v":-0.408761978,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3145142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.389893,"values":{"Elec_RPM":-3.18916084e-16,"EncoderCos":38708,"EncoderSin":12495,"GapTicks":54748,"Mech_RPM":-6.37832154e-17,"cg_du":50.1799622,"cg_dv":50.2284508,"cg_dw":49.7715492,"cg_id_a":-0.093536526,"cg_id_raw_a":-0.139639497,"cg_iq_a":0.0642878935,"cg_iq_raw_a":0.314791411,"cg_iu_a":-0.50488019,"cg_iv_a":-0.112065196,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9472733,"cg_sample_seq":14278217,"cg_sample_valid":1,"cg_theta_rad":5.00686979,"cg_vd_req_v":0.0813582242,"cg_vd_v":0.0813582242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411433309,"cg_vq_v":-0.411433309,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3047791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.397705,"values":{"Elec_RPM":-3.18916084e-16,"EncoderCos":38702,"EncoderSin":12474,"GapTicks":54746,"Mech_RPM":-6.37832154e-17,"cg_du":50.1891098,"cg_dv":50.2300491,"cg_dw":49.7699509,"cg_id_a":0.0369068831,"cg_id_raw_a":-0.174986884,"cg_iq_a":0.349524885,"cg_iq_raw_a":-0.381284803,"cg_iu_a":-0.432392597,"cg_iv_a":-0.438259721,"cg_iw_a":0.870652318,"cg_sample_age_us":24.0381813,"cg_sample_seq":14278267,"cg_sample_valid":1,"cg_theta_rad":5.00807905,"cg_vd_req_v":0.0769203752,"cg_vd_v":0.0769203752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418535173,"cg_vq_v":-0.418535173,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.3047791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.409424,"values":{"Elec_RPM":-3.1253774e-16,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54756,"Mech_RPM":-6.25075507e-17,"cg_du":50.1686401,"cg_dv":50.2217178,"cg_dw":49.7782822,"cg_id_a":-0.206147015,"cg_id_raw_a":-0.625030875,"cg_iq_a":-0.728768229,"cg_iq_raw_a":-0.313846052,"cg_iu_a":0.944873095,"cg_iv_a":-0.25704062,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9836369,"cg_sample_seq":14278317,"cg_sample_valid":1,"cg_theta_rad":5.00712204,"cg_vd_req_v":0.0826990604,"cg_vd_v":0.0826990604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397390157,"cg_vq_v":-0.397390157,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.417236,"values":{"Elec_RPM":-3.1253774e-16,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54752,"Mech_RPM":-6.25075507e-17,"cg_du":50.1779251,"cg_dv":50.2252121,"cg_dw":49.7747879,"cg_id_a":0.0437647253,"cg_id_raw_a":-0.0898977965,"cg_iq_a":0.0597524457,"cg_iq_raw_a":0.247123301,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885473,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9763641,"cg_sample_seq":14278367,"cg_sample_valid":1,"cg_theta_rad":5.00558472,"cg_vd_req_v":0.0784485638,"cg_vd_v":0.0784485638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407435119,"cg_vq_v":-0.407435119,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.63613987,"dclink_p_w":-92.0651245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.44458,"values":{"Elec_RPM":-3.06287008e-16,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54752,"Mech_RPM":-6.12574029e-17,"cg_du":50.1791878,"cg_dv":50.2253342,"cg_dw":49.7746658,"cg_id_a":0.114030652,"cg_id_raw_a":0.0435154885,"cg_iq_a":0.0205655843,"cg_iq_raw_a":-0.504752517,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309052,"cg_iw_a":0.471970141,"cg_sample_age_us":23.863636,"cg_sample_seq":14278420,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0768086985,"cg_vd_v":0.0768086985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408453226,"cg_vq_v":-0.408453226,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.63613987,"dclink_p_w":-92.0651245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2885437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.452393,"values":{"Elec_RPM":-3.06287008e-16,"EncoderCos":38748,"EncoderSin":12496,"GapTicks":54752,"Mech_RPM":-6.12574029e-17,"cg_du":50.1810226,"cg_dv":50.2246437,"cg_dw":49.7753563,"cg_id_a":0.307397187,"cg_id_raw_a":0.230834976,"cg_iq_a":0.12330547,"cg_iq_raw_a":-0.269636929,"cg_iu_a":0.401215553,"cg_iv_a":0.21412921,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14278466,"cg_sample_valid":1,"cg_theta_rad":5.00595856,"cg_vd_req_v":0.0730870962,"cg_vd_v":0.0730870962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407546878,"cg_vq_v":-0.407546878,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.464111,"values":{"Elec_RPM":-3.00161266e-16,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-6.00322558e-17,"cg_du":50.1696854,"cg_dv":50.2197113,"cg_dw":49.7802887,"cg_id_a":0.011155,"cg_id_raw_a":0.520770431,"cg_iq_a":-0.362579793,"cg_iq_raw_a":0.0138426712,"cg_iu_a":1.16233623,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507303,"cg_sample_age_us":23.863636,"cg_sample_seq":14278516,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0794067755,"cg_vd_v":0.0794067755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3940956,"cg_vq_v":-0.3940956,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.471924,"values":{"Elec_RPM":-3.00161266e-16,"EncoderCos":38709,"EncoderSin":12486,"GapTicks":54748,"Mech_RPM":-6.00322558e-17,"cg_du":50.1832619,"cg_dv":50.2289734,"cg_dw":49.7710266,"cg_id_a":-0.0455228686,"cg_id_raw_a":-0.926454663,"cg_iq_a":0.542532682,"cg_iq_raw_a":1.03798306,"cg_iu_a":-0.903562307,"cg_iv_a":0.504079938,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14278567,"cg_sample_valid":1,"cg_theta_rad":5.00820351,"cg_vd_req_v":0.0794442296,"cg_vd_v":0.0794442296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413971186,"cg_vq_v":-0.413971186,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.479736,"values":{"Elec_RPM":-2.94158078e-16,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54746,"Mech_RPM":-5.8831613e-17,"cg_du":50.1689568,"cg_dv":50.2304344,"cg_dw":49.7695656,"cg_id_a":-0.504953086,"cg_id_raw_a":-0.455955893,"cg_iq_a":0.363204241,"cg_iq_raw_a":1.01365864,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772009,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14278617,"cg_sample_valid":1,"cg_theta_rad":5.0079031,"cg_vd_req_v":0.0902461112,"cg_vd_v":0.0902461112,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409619361,"cg_vq_v":-0.409619361,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2982788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.487549,"values":{"Elec_RPM":-2.94158078e-16,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-5.8831613e-17,"cg_du":50.1669083,"cg_dv":50.2213058,"cg_dw":49.7786942,"cg_id_a":-0.286449075,"cg_id_raw_a":0.0035293675,"cg_iq_a":-0.474466681,"cg_iq_raw_a":-1.31033242,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14278667,"cg_sample_valid":1,"cg_theta_rad":5.00634336,"cg_vd_req_v":0.0859947503,"cg_vd_v":0.0859947503,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395354152,"cg_vq_v":-0.395354152,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2982788,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.495361,"values":{"Elec_RPM":-2.88274905e-16,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54747,"Mech_RPM":-5.76549784e-17,"cg_du":50.1803589,"cg_dv":50.229126,"cg_dw":49.770874,"cg_id_a":-0.114269361,"cg_id_raw_a":-0.142826587,"cg_iq_a":0.417805761,"cg_iq_raw_a":0.132199019,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9436359,"cg_sample_seq":14278717,"cg_sample_valid":1,"cg_theta_rad":5.0060997,"cg_vd_req_v":0.0825154483,"cg_vd_v":0.0825154483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413716793,"cg_vq_v":-0.413716793,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.242773056,"dclink_p_w":35.2420425,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2642212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.503174,"values":{"Elec_RPM":-2.88274905e-16,"EncoderCos":38695,"EncoderSin":12481,"GapTicks":54747,"Mech_RPM":-5.76549784e-17,"cg_du":50.1801529,"cg_dv":50.2293549,"cg_dw":49.7706451,"cg_id_a":-0.160633177,"cg_id_raw_a":-0.226959646,"cg_iq_a":0.422091961,"cg_iq_raw_a":0.742611647,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065256,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9836369,"cg_sample_seq":14278767,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0837070644,"cg_vd_v":0.0837070644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412445456,"cg_vq_v":-0.412445456,"cg_vu_v":102.494972,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2642212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.510986,"values":{"Elec_RPM":-2.82509417e-16,"EncoderCos":38710,"EncoderSin":12489,"GapTicks":54754,"Mech_RPM":-5.6501882e-17,"cg_du":50.1750946,"cg_dv":50.2230721,"cg_dw":49.7769279,"cg_id_a":0.0116392318,"cg_id_raw_a":-0.214706153,"cg_iq_a":-0.207609728,"cg_iq_raw_a":-0.202498347,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333374739,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9218178,"cg_sample_seq":14278817,"cg_sample_valid":1,"cg_theta_rad":5.00723028,"cg_vd_req_v":0.0799226984,"cg_vd_v":0.0799226984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401397556,"cg_vq_v":-0.401397556,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.148539066,"dclink_p_w":21.4972649,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.280426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.522705,"values":{"Elec_RPM":-2.82509417e-16,"EncoderCos":38712,"EncoderSin":12469,"GapTicks":54747,"Mech_RPM":-5.6501882e-17,"cg_du":50.1810684,"cg_dv":50.2294312,"cg_dw":49.7705688,"cg_id_a":0.0245459881,"cg_id_raw_a":0.138710275,"cg_iq_a":0.303940564,"cg_iq_raw_a":0.0510546751,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263268,"cg_sample_age_us":23.954546,"cg_sample_seq":14278868,"cg_sample_valid":1,"cg_theta_rad":5.00945854,"cg_vd_req_v":0.0818123072,"cg_vd_v":0.0818123072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413316339,"cg_vq_v":-0.413316339,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2885437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.550049,"values":{"Elec_RPM":-2.7685923e-16,"EncoderCos":38730,"EncoderSin":12508,"GapTicks":54751,"Mech_RPM":-5.53718441e-17,"cg_du":50.1735992,"cg_dv":50.2257271,"cg_dw":49.7742729,"cg_id_a":-0.0252837241,"cg_id_raw_a":0.165856421,"cg_iq_a":-0.173272416,"cg_iq_raw_a":-0.238596261,"cg_iu_a":0.473703384,"cg_iv_a":0.794030666,"cg_iw_a":-1.26773405,"cg_sample_age_us":26.8090916,"cg_sample_seq":14278968,"cg_sample_valid":1,"cg_theta_rad":5.00655222,"cg_vd_req_v":0.0815555006,"cg_vd_v":0.0815555006,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405873954,"cg_vq_v":-0.405873954,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.557861,"values":{"Elec_RPM":-2.71322044e-16,"EncoderCos":38695,"EncoderSin":12501,"GapTicks":54752,"Mech_RPM":-5.42644081e-17,"cg_du":50.1748505,"cg_dv":50.2247734,"cg_dw":49.7752266,"cg_id_a":-0.0812608749,"cg_id_raw_a":0.202193499,"cg_iq_a":-0.215890571,"cg_iq_raw_a":-0.160847709,"cg_iu_a":0.256240368,"cg_iv_a":0.902762175,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9509087,"cg_sample_seq":14279016,"cg_sample_valid":1,"cg_theta_rad":5.0072937,"cg_vd_req_v":0.0830673501,"cg_vd_v":0.0830673501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404583275,"cg_vq_v":-0.404583275,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.565674,"values":{"Elec_RPM":-2.71322044e-16,"EncoderCos":38726,"EncoderSin":12523,"GapTicks":54744,"Mech_RPM":-5.42644081e-17,"cg_du":50.1813278,"cg_dv":50.2323723,"cg_dw":49.7676277,"cg_id_a":-0.0256657787,"cg_id_raw_a":-0.0708240867,"cg_iq_a":0.435490161,"cg_iq_raw_a":-0.406153888,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9872723,"cg_sample_seq":14279066,"cg_sample_valid":1,"cg_theta_rad":5.00698137,"cg_vd_req_v":0.0815869644,"cg_vd_v":0.0815869644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418028533,"cg_vq_v":-0.418028533,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.577393,"values":{"Elec_RPM":-2.65895606e-16,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54757,"Mech_RPM":-5.31791206e-17,"cg_du":50.1836815,"cg_dv":50.2207642,"cg_dw":49.7792358,"cg_id_a":0.398941338,"cg_id_raw_a":1.12333679,"cg_iq_a":-0.233430371,"cg_iq_raw_a":-1.38004756,"cg_iu_a":-0.142441988,"cg_iv_a":0.214129329,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8672733,"cg_sample_seq":14279116,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0715317205,"cg_vd_v":0.0715317205,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402987838,"cg_vq_v":-0.402987838,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.585205,"values":{"Elec_RPM":-2.65895606e-16,"EncoderCos":38726,"EncoderSin":12489,"GapTicks":54749,"Mech_RPM":-5.31791206e-17,"cg_du":50.1772499,"cg_dv":50.2277679,"cg_dw":49.7722321,"cg_id_a":-0.0945278108,"cg_id_raw_a":-0.37791726,"cg_iq_a":0.237600535,"cg_iq_raw_a":0.401759505,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8709087,"cg_sample_seq":14279166,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0813157856,"cg_vd_v":0.0813157856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409288794,"cg_vq_v":-0.409288794,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3418274,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.593018,"values":{"Elec_RPM":-2.60577695e-16,"EncoderCos":38752,"EncoderSin":12497,"GapTicks":54761,"Mech_RPM":-5.21155384e-17,"cg_du":50.1623459,"cg_dv":50.2167587,"cg_dw":49.7832413,"cg_id_a":-0.00718101114,"cg_id_raw_a":0.950263262,"cg_iq_a":-0.684831142,"cg_iq_raw_a":-1.04299963,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14279217,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0798689201,"cg_vd_v":0.0798689201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386481941,"cg_vq_v":-0.386481941,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.3015442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.60083,"values":{"Elec_RPM":-2.60577695e-16,"EncoderCos":38758,"EncoderSin":12490,"GapTicks":54755,"Mech_RPM":-5.21155384e-17,"cg_du":50.1685066,"cg_dv":50.2220306,"cg_dw":49.7779694,"cg_id_a":-0.0364117101,"cg_id_raw_a":-0.156232953,"cg_iq_a":-0.0484687537,"cg_iq_raw_a":-0.413105428,"cg_iu_a":0.292484045,"cg_iv_a":-0.293284416,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14279267,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0797158405,"cg_vd_v":0.0797158405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397180498,"cg_vq_v":-0.397180498,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.00549721718,"dclink_p_w":-0.798001051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.608643,"values":{"Elec_RPM":-2.5536614e-16,"EncoderCos":38704,"EncoderSin":12507,"GapTicks":54756,"Mech_RPM":-5.1073228e-17,"cg_du":50.1689606,"cg_dv":50.2214546,"cg_dw":49.7785454,"cg_id_a":-0.148728654,"cg_id_raw_a":0.142334685,"cg_iq_a":0.0313469842,"cg_iq_raw_a":-0.20397988,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9290905,"cg_sample_seq":14279317,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0835088566,"cg_vd_v":0.0835088566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395679951,"cg_vq_v":-0.395679951,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.616455,"values":{"Elec_RPM":-2.5536614e-16,"EncoderCos":38707,"EncoderSin":12489,"GapTicks":54756,"Mech_RPM":-5.1073228e-17,"cg_du":50.1760216,"cg_dv":50.2212601,"cg_dw":49.7787399,"cg_id_a":0.192896545,"cg_id_raw_a":-0.0249685049,"cg_iq_a":0.102550067,"cg_iq_raw_a":0.216856867,"cg_iu_a":0.618678689,"cg_iv_a":0.250373065,"cg_iw_a":-0.869051754,"cg_sample_age_us":24.0381813,"cg_sample_seq":14279366,"cg_sample_valid":1,"cg_theta_rad":5.00869513,"cg_vd_req_v":0.0774699673,"cg_vd_v":0.0774699673,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398191601,"cg_vq_v":-0.398191601,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.7990074,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.280426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.647705,"values":{"Elec_RPM":-2.50258822e-16,"EncoderCos":38695,"EncoderSin":12463,"GapTicks":54754,"Mech_RPM":-5.00517625e-17,"cg_du":50.1747284,"cg_dv":50.2228279,"cg_dw":49.7771721,"cg_id_a":-0.0260532051,"cg_id_raw_a":-0.0388760157,"cg_iq_a":0.217027828,"cg_iq_raw_a":0.543351412,"cg_iu_a":-0.287417412,"cg_iv_a":-0.112065196,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9836369,"cg_sample_seq":14279419,"cg_sample_valid":1,"cg_theta_rad":5.00606394,"cg_vd_req_v":0.0820529759,"cg_vd_v":0.0820529759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400436729,"cg_vq_v":-0.400436729,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2674866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.655518,"values":{"Elec_RPM":-2.50258822e-16,"EncoderCos":38721,"EncoderSin":12474,"GapTicks":54755,"Mech_RPM":-5.00517625e-17,"cg_du":50.1680794,"cg_dv":50.2218857,"cg_dw":49.7781143,"cg_id_a":-0.137788728,"cg_id_raw_a":0.243643671,"cg_iq_a":0.0970020145,"cg_iq_raw_a":-0.59455049,"cg_iu_a":0.364971876,"cg_iv_a":-0.184552908,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9763641,"cg_sample_seq":14279466,"cg_sample_valid":1,"cg_theta_rad":5.00792217,"cg_vd_req_v":0.0836850628,"cg_vd_v":0.0836850628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395968288,"cg_vq_v":-0.395968288,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2674866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.66333,"values":{"Elec_RPM":-2.45253652e-16,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54759,"Mech_RPM":-4.90507284e-17,"cg_du":50.1664505,"cg_dv":50.2190056,"cg_dw":49.7809944,"cg_id_a":-0.00509954989,"cg_id_raw_a":-0.151364461,"cg_iq_a":-0.000261753798,"cg_iq_raw_a":0.459903866,"cg_iu_a":0.292484045,"cg_iv_a":0.830274463,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.9654541,"cg_sample_seq":14279516,"cg_sample_valid":1,"cg_theta_rad":5.00564623,"cg_vd_req_v":0.0808474049,"cg_vd_v":0.0808474049,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392651737,"cg_vq_v":-0.392651737,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.671143,"values":{"Elec_RPM":-2.45253652e-16,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-4.90507284e-17,"cg_du":50.1701164,"cg_dv":50.214283,"cg_dw":49.785717,"cg_id_a":0.323069066,"cg_id_raw_a":0.125217766,"cg_iq_a":-0.269014835,"cg_iq_raw_a":-0.241933241,"cg_iu_a":0.256240368,"cg_iv_a":0.177885473,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9509087,"cg_sample_seq":14279566,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0748742893,"cg_vd_v":0.0748742893,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387955666,"cg_vq_v":-0.387955666,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.678955,"values":{"Elec_RPM":-2.40348563e-16,"EncoderCos":38698,"EncoderSin":12489,"GapTicks":54761,"Mech_RPM":-4.80697153e-17,"cg_du":50.1683159,"cg_dv":50.2168045,"cg_dw":49.7831955,"cg_id_a":-0.0424518734,"cg_id_raw_a":0.160809457,"cg_iq_a":-0.084811233,"cg_iq_raw_a":0.454289228,"cg_iu_a":0.183752537,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8563633,"cg_sample_seq":14279616,"cg_sample_valid":1,"cg_theta_rad":5.00631571,"cg_vd_req_v":0.0801967978,"cg_vd_v":0.0801967978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388858974,"cg_vq_v":-0.388858974,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.3167114,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.690674,"values":{"Elec_RPM":-2.40348563e-16,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54759,"Mech_RPM":-4.80697153e-17,"cg_du":50.1682053,"cg_dv":50.2183456,"cg_dw":49.7816544,"cg_id_a":-0.0909662098,"cg_id_raw_a":0.242972568,"cg_iq_a":0.0288235843,"cg_iq_raw_a":-0.15795514,"cg_iu_a":-0.178685904,"cg_iv_a":-0.43825984,"cg_iw_a":0.616945744,"cg_sample_age_us":23.9254551,"cg_sample_seq":14279667,"cg_sample_valid":1,"cg_theta_rad":5.00824451,"cg_vd_req_v":0.0796004161,"cg_vd_v":0.0796004161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391337663,"cg_vq_v":-0.391337663,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.698486,"values":{"Elec_RPM":-2.35541598e-16,"EncoderCos":38713,"EncoderSin":12479,"GapTicks":54762,"Mech_RPM":-4.71083197e-17,"cg_du":50.1656265,"cg_dv":50.2159309,"cg_dw":49.7840691,"cg_id_a":-0.0734979063,"cg_id_raw_a":-0.0226312466,"cg_iq_a":-0.151429817,"cg_iq_raw_a":-0.656993449,"cg_iu_a":1.0536046,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945267,"cg_sample_age_us":23.8527279,"cg_sample_seq":14279716,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0803955942,"cg_vd_v":0.0803955942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386375785,"cg_vq_v":-0.386375785,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.706299,"values":{"Elec_RPM":-2.35541598e-16,"EncoderCos":38662,"EncoderSin":12488,"GapTicks":54753,"Mech_RPM":-4.71083197e-17,"cg_du":50.1716576,"cg_dv":50.223877,"cg_dw":49.776123,"cg_id_a":-0.371648252,"cg_id_raw_a":-0.522373378,"cg_iq_a":0.464515775,"cg_iq_raw_a":0.891422689,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9799995,"cg_sample_seq":14279767,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.0875339657,"cg_vd_v":0.0875339657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398400784,"cg_vq_v":-0.398400784,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.714111,"values":{"Elec_RPM":-2.30830772e-16,"EncoderCos":38705,"EncoderSin":12477,"GapTicks":54758,"Mech_RPM":-4.61661544e-17,"cg_du":50.1649666,"cg_dv":50.2192192,"cg_dw":49.7807808,"cg_id_a":-0.156348661,"cg_id_raw_a":-0.46875608,"cg_iq_a":0.167251498,"cg_iq_raw_a":0.0264404677,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065315,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8563633,"cg_sample_seq":14279817,"cg_sample_valid":1,"cg_theta_rad":5.00709391,"cg_vd_req_v":0.084877044,"cg_vd_v":0.084877044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390302896,"cg_vq_v":-0.390302896,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.721924,"values":{"Elec_RPM":-2.30830772e-16,"EncoderCos":38725,"EncoderSin":12493,"GapTicks":54765,"Mech_RPM":-4.61661544e-17,"cg_du":50.15382,"cg_dv":50.2130928,"cg_dw":49.7869072,"cg_id_a":-0.20055297,"cg_id_raw_a":0.0656455159,"cg_iq_a":-0.410959721,"cg_iq_raw_a":-0.284214795,"cg_iu_a":0.401215553,"cg_iv_a":0.359104574,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.8672733,"cg_sample_seq":14279867,"cg_sample_valid":1,"cg_theta_rad":5.00649405,"cg_vd_req_v":0.0857589915,"cg_vd_v":0.0857589915,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377344072,"cg_vq_v":-0.377344072,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.753174,"values":{"Elec_RPM":-2.26214151e-16,"EncoderCos":38706,"EncoderSin":12487,"GapTicks":54760,"Mech_RPM":-4.52428322e-17,"cg_du":50.1631393,"cg_dv":50.2175484,"cg_dw":49.7824516,"cg_id_a":-0.106354803,"cg_id_raw_a":-0.299054474,"cg_iq_a":0.208809271,"cg_iq_raw_a":-0.830370009,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528332,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8490906,"cg_sample_seq":14279920,"cg_sample_valid":1,"cg_theta_rad":5.00634193,"cg_vd_req_v":0.0845798403,"cg_vd_v":0.0845798403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388263434,"cg_vq_v":-0.388263434,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.760986,"values":{"Elec_RPM":-2.26214151e-16,"EncoderCos":38726,"EncoderSin":12504,"GapTicks":54764,"Mech_RPM":-4.52428322e-17,"cg_du":50.1593971,"cg_dv":50.2137413,"cg_dw":49.7862587,"cg_id_a":0.0470226221,"cg_id_raw_a":-0.0984554812,"cg_iq_a":-0.0217907056,"cg_iq_raw_a":1.01084983,"cg_iu_a":0.401215553,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14279966,"cg_sample_valid":1,"cg_theta_rad":5.00694561,"cg_vd_req_v":0.0816153884,"cg_vd_v":0.0816153884,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38143906,"cg_vq_v":-0.38143906,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.768799,"values":{"Elec_RPM":-2.21689883e-16,"EncoderCos":38726,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-4.4337976e-17,"cg_du":50.1614876,"cg_dv":50.2114868,"cg_dw":49.7885132,"cg_id_a":0.223831713,"cg_id_raw_a":0.212070569,"cg_iq_a":-0.068261534,"cg_iq_raw_a":-0.925443947,"cg_iu_a":-0.359904766,"cg_iv_a":0.359104633,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9872723,"cg_sample_seq":14280016,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0784806386,"cg_vd_v":0.0784806386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378186792,"cg_vq_v":-0.378186792,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.776611,"values":{"Elec_RPM":-2.21689883e-16,"EncoderCos":38696,"EncoderSin":12499,"GapTicks":54772,"Mech_RPM":-4.4337976e-17,"cg_du":50.1520233,"cg_dv":50.2063942,"cg_dw":49.7936058,"cg_id_a":0.0380302593,"cg_id_raw_a":-0.0626310781,"cg_iq_a":-0.587263644,"cg_iq_raw_a":-0.661264479,"cg_iu_a":0.292484283,"cg_iv_a":0.214129329,"cg_iw_a":-0.506613612,"cg_sample_age_us":23.8600006,"cg_sample_seq":14280066,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.0826861039,"cg_vd_v":0.0826861039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365570784,"cg_vq_v":-0.365570784,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.3323669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.784424,"values":{"Elec_RPM":-2.17256076e-16,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-4.34512152e-17,"cg_du":50.1638794,"cg_dv":50.2120628,"cg_dw":49.7879372,"cg_id_a":0.189448893,"cg_id_raw_a":-0.0565393679,"cg_iq_a":0.401277304,"cg_iq_raw_a":0.322986186,"cg_iu_a":-0.178685904,"cg_iv_a":0.431592226,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9436359,"cg_sample_seq":14280166,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0784812346,"cg_vd_v":0.0784812346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381247222,"cg_vq_v":-0.381247222,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.280426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.792236,"values":{"Elec_RPM":-2.12910969e-16,"EncoderCos":38740,"EncoderSin":12465,"GapTicks":54772,"Mech_RPM":-4.25821925e-17,"cg_du":50.1538544,"cg_dv":50.2070885,"cg_dw":49.7929115,"cg_id_a":0.178768516,"cg_id_raw_a":0.141811371,"cg_iq_a":-0.146034777,"cg_iq_raw_a":-0.204344139,"cg_iu_a":-0.251173258,"cg_iv_a":-0.257040501,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9436359,"cg_sample_seq":14280217,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0793497935,"cg_vd_v":0.0793497935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369280279,"cg_vq_v":-0.369280279,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.803955,"values":{"Elec_RPM":-2.12910969e-16,"EncoderCos":38736,"EncoderSin":12476,"GapTicks":54773,"Mech_RPM":-4.25821925e-17,"cg_du":50.1563644,"cg_dv":50.2060242,"cg_dw":49.7939758,"cg_id_a":0.417241126,"cg_id_raw_a":1.16766238,"cg_iq_a":-0.0873114318,"cg_iq_raw_a":1.85752034,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14280267,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0763934925,"cg_vd_v":0.0763934925,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369220197,"cg_vq_v":-0.369220197,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.811768,"values":{"Elec_RPM":-2.08652736e-16,"EncoderCos":38700,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-4.17305472e-17,"cg_du":50.1598053,"cg_dv":50.2091484,"cg_dw":49.7908516,"cg_id_a":0.189364478,"cg_id_raw_a":0.222558483,"cg_iq_a":0.137708679,"cg_iq_raw_a":-0.559219778,"cg_iu_a":0.14750886,"cg_iv_a":0.105397701,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9909096,"cg_sample_seq":14280317,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0799755976,"cg_vd_v":0.0799755976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373550296,"cg_vq_v":-0.373550296,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.81958,"values":{"Elec_RPM":-2.08652736e-16,"EncoderCos":38688,"EncoderSin":12462,"GapTicks":54769,"Mech_RPM":-4.17305472e-17,"cg_du":50.1649055,"cg_dv":50.209446,"cg_dw":49.790554,"cg_id_a":0.324471802,"cg_id_raw_a":0.363500476,"cg_iq_a":0.351514339,"cg_iq_raw_a":0.11210984,"cg_iu_a":-1.37473226,"cg_iv_a":-0.25704062,"cg_iw_a":1.63177288,"cg_sample_age_us":23.9836369,"cg_sample_seq":14280367,"cg_sample_valid":1,"cg_theta_rad":5.00775146,"cg_vd_req_v":0.0772260725,"cg_vd_v":0.0772260725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37664184,"cg_vq_v":-0.37664184,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.846924,"values":{"Elec_RPM":-2.04479683e-16,"EncoderCos":38767,"EncoderSin":12541,"GapTicks":54773,"Mech_RPM":-4.08959352e-17,"cg_du":50.1410675,"cg_dv":50.2055626,"cg_dw":49.7944374,"cg_id_a":0.0350035131,"cg_id_raw_a":0.270751864,"cg_iq_a":-0.333690137,"cg_iq_raw_a":0.241209075,"cg_iu_a":-1.26600075,"cg_iv_a":0.685299098,"cg_iw_a":0.580701649,"cg_sample_age_us":23.8600006,"cg_sample_seq":14280420,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0835974813,"cg_vd_v":0.0835974813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359921515,"cg_vq_v":-0.359921515,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.514328,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2869263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.858643,"values":{"Elec_RPM":-2.04479683e-16,"EncoderCos":38736,"EncoderSin":12504,"GapTicks":54768,"Mech_RPM":-4.08959352e-17,"cg_du":50.1502495,"cg_dv":50.2103729,"cg_dw":49.7896271,"cg_id_a":-0.0692450851,"cg_id_raw_a":-0.161583856,"cg_iq_a":0.139438733,"cg_iq_raw_a":0.349940747,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8454552,"cg_sample_seq":14280466,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.084719047,"cg_vd_v":0.084719047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371903926,"cg_vq_v":-0.371903926,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.866455,"values":{"Elec_RPM":-2.00390075e-16,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54765,"Mech_RPM":-4.00780157e-17,"cg_du":50.1593018,"cg_dv":50.2130394,"cg_dw":49.7869606,"cg_id_a":0.0313629843,"cg_id_raw_a":0.0106802462,"cg_iq_a":0.469022453,"cg_iq_raw_a":0.293089449,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395775437,"cg_iw_a":0.435726225,"cg_sample_age_us":23.8527279,"cg_sample_seq":14280516,"cg_sample_valid":1,"cg_theta_rad":5.00635195,"cg_vd_req_v":0.0815209895,"cg_vd_v":0.0815209895,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380316347,"cg_vq_v":-0.380316347,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2772217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.874268,"values":{"Elec_RPM":-2.00390075e-16,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54769,"Mech_RPM":-4.00780157e-17,"cg_du":50.1513863,"cg_dv":50.2094765,"cg_dw":49.7905235,"cg_id_a":-0.0366750509,"cg_id_raw_a":0.246510565,"cg_iq_a":-0.0934332237,"cg_iq_raw_a":0.0244338419,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8563633,"cg_sample_seq":14280567,"cg_sample_valid":1,"cg_theta_rad":5.00722837,"cg_vd_req_v":0.0844675452,"cg_vd_v":0.0844675452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370970994,"cg_vq_v":-0.370970994,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2755737,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.88208,"values":{"Elec_RPM":-1.96382273e-16,"EncoderCos":38699,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-3.92764545e-17,"cg_du":50.1515388,"cg_dv":50.2044601,"cg_dw":49.7955399,"cg_id_a":0.10778027,"cg_id_raw_a":0.300479949,"cg_iq_a":-0.498146236,"cg_iq_raw_a":0.322624207,"cg_iu_a":0.0750210285,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9836369,"cg_sample_seq":14280617,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0811234191,"cg_vd_v":0.0811234191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362685323,"cg_vq_v":-0.362685323,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2934265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.889893,"values":{"Elec_RPM":-1.96382273e-16,"EncoderCos":38738,"EncoderSin":12499,"GapTicks":54766,"Mech_RPM":-3.92764545e-17,"cg_du":50.1601982,"cg_dv":50.2123795,"cg_dw":49.7876205,"cg_id_a":0.186736837,"cg_id_raw_a":0.158635244,"cg_iq_a":0.419264197,"cg_iq_raw_a":0.524878383,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616981,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9836369,"cg_sample_seq":14280667,"cg_sample_valid":1,"cg_theta_rad":5.00627708,"cg_vd_req_v":0.0782780573,"cg_vd_v":0.0782780573,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377910763,"cg_vq_v":-0.377910763,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2934265,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.897705,"values":{"Elec_RPM":-1.92454621e-16,"EncoderCos":38698,"EncoderSin":12465,"GapTicks":54778,"Mech_RPM":-3.84909241e-17,"cg_du":50.1488571,"cg_dv":50.2017632,"cg_dw":49.7982368,"cg_id_a":0.0217751376,"cg_id_raw_a":0.481227726,"cg_iq_a":-0.596901894,"cg_iq_raw_a":0.196198478,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.474503517,"cg_iw_a":0.508213997,"cg_sample_age_us":23.954546,"cg_sample_seq":14280716,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0813107863,"cg_vd_v":0.0813107863,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357355714,"cg_vq_v":-0.357355714,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.666947126,"dclink_p_w":-96.5236893,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2674866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.905518,"values":{"Elec_RPM":-1.92454621e-16,"EncoderCos":38710,"EncoderSin":12504,"GapTicks":54769,"Mech_RPM":-3.84909241e-17,"cg_du":50.1561279,"cg_dv":50.2091866,"cg_dw":49.7908134,"cg_id_a":0.0911183879,"cg_id_raw_a":-0.0380526334,"cg_iq_a":0.0550385565,"cg_iq_raw_a":-0.0757469907,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14280767,"cg_sample_valid":1,"cg_theta_rad":5.00761366,"cg_vd_req_v":0.0808903351,"cg_vd_v":0.0808903351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371962339,"cg_vq_v":-0.371962339,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.817359209,"dclink_p_w":-118.29203,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2674866,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.917236,"values":{"Elec_RPM":-1.88605531e-16,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-3.77211068e-17,"cg_du":50.1525764,"cg_dv":50.2077827,"cg_dw":49.7922173,"cg_id_a":0.0947794467,"cg_id_raw_a":0.0765710399,"cg_iq_a":-0.0900863782,"cg_iq_raw_a":-0.173824266,"cg_iu_a":-0.142441988,"cg_iv_a":0.214129269,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9436359,"cg_sample_seq":14280817,"cg_sample_valid":1,"cg_theta_rad":5.00675917,"cg_vd_req_v":0.0823879838,"cg_vd_v":0.0823879838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369215965,"cg_vq_v":-0.369215965,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.444047689,"dclink_p_w":-64.4599838,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.282074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.925049,"values":{"Elec_RPM":-1.88605531e-16,"EncoderCos":38714,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-3.77211068e-17,"cg_du":50.1577454,"cg_dv":50.2080498,"cg_dw":49.7919502,"cg_id_a":0.197590917,"cg_id_raw_a":0.120315783,"cg_iq_a":0.20193553,"cg_iq_raw_a":0.449758589,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397701,"cg_iw_a":0.145775795,"cg_sample_age_us":23.954546,"cg_sample_seq":14280867,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.079208456,"cg_vd_v":0.079208456,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372352391,"cg_vq_v":-0.372352391,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2582.952393,"values":{"Elec_RPM":-1.84833428e-16,"EncoderCos":38732,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-3.6966685e-17,"cg_du":50.1462212,"cg_dv":50.2071991,"cg_dw":49.7928009,"cg_id_a":-0.172592983,"cg_id_raw_a":0.293186039,"cg_iq_a":-0.170278147,"cg_iq_raw_a":-0.918106496,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373065,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9836369,"cg_sample_seq":14280921,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0854364857,"cg_vd_v":0.0854364857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364002883,"cg_vq_v":-0.364002883,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.960205,"values":{"Elec_RPM":-1.84833428e-16,"EncoderCos":38754,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-3.6966685e-17,"cg_du":50.1482124,"cg_dv":50.2055855,"cg_dw":49.7944145,"cg_id_a":0.166580245,"cg_id_raw_a":0.434073597,"cg_iq_a":-0.302792251,"cg_iq_raw_a":-0.433840066,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885473,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9836369,"cg_sample_seq":14280966,"cg_sample_valid":1,"cg_theta_rad":5.00759935,"cg_vd_req_v":0.079995662,"cg_vd_v":0.079995662,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362276077,"cg_vq_v":-0.362276077,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.8347111,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2658386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2582.968018,"values":{"Elec_RPM":-1.77514018e-16,"EncoderCos":38698,"EncoderSin":12457,"GapTicks":54759,"Mech_RPM":-3.55028036e-17,"cg_du":50.159462,"cg_dv":50.2182465,"cg_dw":49.7817535,"cg_id_a":-0.115873463,"cg_id_raw_a":-0.125088125,"cg_iq_a":0.298744887,"cg_iq_raw_a":-0.449430019,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14281117,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0896508247,"cg_vd_v":0.0896508247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386790872,"cg_vq_v":-0.386790872,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.1827736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.256134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2582.974758,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2582.974764,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2582.974768,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2582.979736,"values":{"Elec_RPM":-1.77514018e-16,"EncoderCos":38717,"EncoderSin":12447,"GapTicks":54760,"Mech_RPM":-3.55028036e-17,"cg_du":50.1554146,"cg_dv":50.2177544,"cg_dw":49.7822456,"cg_id_a":-0.187280551,"cg_id_raw_a":-0.379894346,"cg_iq_a":-0.0713974833,"cg_iq_raw_a":0.399890691,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8527279,"cg_sample_seq":14281167,"cg_sample_valid":1,"cg_theta_rad":5.00837469,"cg_vd_req_v":0.0906716287,"cg_vd_v":0.0906716287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382997155,"cg_vq_v":-0.382997155,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.256134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.987549,"values":{"Elec_RPM":-1.73963746e-16,"EncoderCos":38729,"EncoderSin":12483,"GapTicks":54759,"Mech_RPM":-3.47927485e-17,"cg_du":50.1697273,"cg_dv":50.2185974,"cg_dw":49.7814026,"cg_id_a":0.349188864,"cg_id_raw_a":0.120928943,"cg_iq_a":0.379840493,"cg_iq_raw_a":-0.424607724,"cg_iu_a":-0.939806223,"cg_iv_a":0.21412921,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9400005,"cg_sample_seq":14281217,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.0782406777,"cg_vd_v":0.0782406777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392611474,"cg_vq_v":-0.392611474,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2582.995361,"values":{"Elec_RPM":-1.73963746e-16,"EncoderCos":38712,"EncoderSin":12495,"GapTicks":54756,"Mech_RPM":-3.47927485e-17,"cg_du":50.1657028,"cg_dv":50.2212029,"cg_dw":49.7787971,"cg_id_a":-0.0128972474,"cg_id_raw_a":0.0791408345,"cg_iq_a":0.263533354,"cg_iq_raw_a":0.445554137,"cg_iu_a":0.0387773514,"cg_iv_a":0.794030607,"cg_iw_a":0.689432979,"cg_sample_age_us":23.954546,"cg_sample_seq":14281267,"cg_sample_valid":1,"cg_theta_rad":5.00765753,"cg_vd_req_v":0.0851213261,"cg_vd_v":0.0851213261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393651515,"cg_vq_v":-0.393651515,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2723389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.003174,"values":{"Elec_RPM":-1.70484465e-16,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54758,"Mech_RPM":-3.40968944e-17,"cg_du":50.1605148,"cg_dv":50.2193413,"cg_dw":49.7806587,"cg_id_a":0.0385968834,"cg_id_raw_a":-0.169361189,"cg_iq_a":-0.278245658,"cg_iq_raw_a":-0.452767491,"cg_iu_a":0.256240249,"cg_iv_a":-0.293284416,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14281317,"cg_sample_valid":1,"cg_theta_rad":5.00815868,"cg_vd_req_v":0.0871044174,"cg_vd_v":0.0871044174,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387035251,"cg_vq_v":-0.387035251,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2723389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.010986,"values":{"Elec_RPM":-1.70484465e-16,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-3.40968944e-17,"cg_du":50.1687889,"cg_dv":50.2229576,"cg_dw":49.7770424,"cg_id_a":0.197040856,"cg_id_raw_a":-0.260719329,"cg_iq_a":0.202993482,"cg_iq_raw_a":0.485307425,"cg_iu_a":-0.686099291,"cg_iv_a":0.032910049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.954546,"cg_sample_seq":14281367,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0840664506,"cg_vd_v":0.0840664506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397841036,"cg_vq_v":-0.397841036,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2966614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.022705,"values":{"Elec_RPM":-1.67074787e-16,"EncoderCos":38729,"EncoderSin":12488,"GapTicks":54759,"Mech_RPM":-3.34149568e-17,"cg_du":50.1602325,"cg_dv":50.2182236,"cg_dw":49.7817764,"cg_id_a":0.070220001,"cg_id_raw_a":-0.232989386,"cg_iq_a":-0.338513076,"cg_iq_raw_a":-0.239634931,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9290905,"cg_sample_seq":14281417,"cg_sample_valid":1,"cg_theta_rad":5.00811291,"cg_vd_req_v":0.0852119774,"cg_vd_v":0.0852119774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386823148,"cg_vq_v":-0.386823148,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2960434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.050049,"values":{"Elec_RPM":-1.67074787e-16,"EncoderCos":38748,"EncoderSin":12513,"GapTicks":54762,"Mech_RPM":-3.34149568e-17,"cg_du":50.1496582,"cg_dv":50.2155724,"cg_dw":49.7844276,"cg_id_a":-0.204521343,"cg_id_raw_a":-0.433525383,"cg_iq_a":-0.627273917,"cg_iq_raw_a":-0.837972701,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14281470,"cg_sample_valid":1,"cg_theta_rad":5.007339,"cg_vd_req_v":0.0889454484,"cg_vd_v":0.0889454484,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378996104,"cg_vq_v":-0.378996104,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2960434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.057861,"values":{"Elec_RPM":-1.63733295e-16,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54757,"Mech_RPM":-3.27466577e-17,"cg_du":50.1572533,"cg_dv":50.2205124,"cg_dw":49.7794876,"cg_id_a":-0.245513111,"cg_id_raw_a":-1.17187119,"cg_iq_a":0.0776010603,"cg_iq_raw_a":1.01835501,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.8454552,"cg_sample_seq":14281516,"cg_sample_valid":1,"cg_theta_rad":5.00765371,"cg_vd_req_v":0.0901542529,"cg_vd_v":0.0901542529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389430076,"cg_vq_v":-0.389430076,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.6026306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.256134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.065674,"values":{"Elec_RPM":-1.63733295e-16,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-3.27466577e-17,"cg_du":50.1612625,"cg_dv":50.222744,"cg_dw":49.777256,"cg_id_a":-0.220079347,"cg_id_raw_a":-0.378329515,"cg_iq_a":0.243040517,"cg_iq_raw_a":-0.0360712595,"cg_iu_a":0.256240368,"cg_iv_a":-0.25704056,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9436359,"cg_sample_seq":14281566,"cg_sample_valid":1,"cg_theta_rad":5.0084753,"cg_vd_req_v":0.0899485722,"cg_vd_v":0.0899485722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393292397,"cg_vq_v":-0.393292397,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.256134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.073486,"values":{"Elec_RPM":-1.60458626e-16,"EncoderCos":38733,"EncoderSin":12529,"GapTicks":54754,"Mech_RPM":-3.20917259e-17,"cg_du":50.150547,"cg_dv":50.2230415,"cg_dw":49.7769585,"cg_id_a":-0.476722419,"cg_id_raw_a":-0.0737125278,"cg_iq_a":-0.0543027967,"cg_iq_raw_a":-0.151451021,"cg_iu_a":0.292484045,"cg_iv_a":-0.402015924,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8600006,"cg_sample_seq":14281617,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0957464352,"cg_vd_v":0.0957464352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387157887,"cg_vq_v":-0.387157887,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2447815,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.085205,"values":{"Elec_RPM":-1.60458626e-16,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-3.20917259e-17,"cg_du":50.1605644,"cg_dv":50.2171478,"cg_dw":49.7828522,"cg_id_a":0.0131186768,"cg_id_raw_a":-0.284020364,"cg_iq_a":-0.0521509722,"cg_iq_raw_a":0.700824976,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9763641,"cg_sample_seq":14281667,"cg_sample_valid":1,"cg_theta_rad":5.00579643,"cg_vd_req_v":0.0858860463,"cg_vd_v":0.0858860463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383876652,"cg_vq_v":-0.383876652,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2755737,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.093018,"values":{"Elec_RPM":-1.57249443e-16,"EncoderCos":38743,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.144989e-17,"cg_du":50.1495209,"cg_dv":50.2151985,"cg_dw":49.7848015,"cg_id_a":-0.217750862,"cg_id_raw_a":-0.200926676,"cg_iq_a":-0.338756084,"cg_iq_raw_a":0.0915459022,"cg_iu_a":0.437459469,"cg_iv_a":0.141641617,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9836369,"cg_sample_seq":14281717,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0897166878,"cg_vd_v":0.0897166878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37695238,"cg_vq_v":-0.37695238,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2755737,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.10083,"values":{"Elec_RPM":-1.57249443e-16,"EncoderCos":38748,"EncoderSin":12463,"GapTicks":54762,"Mech_RPM":-3.144989e-17,"cg_du":50.1671677,"cg_dv":50.2156334,"cg_dw":49.7843666,"cg_id_a":0.433061481,"cg_id_raw_a":0.325225592,"cg_iq_a":0.217784256,"cg_iq_raw_a":0.54022193,"cg_iu_a":-0.396148682,"cg_iv_a":0.286616921,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8527279,"cg_sample_seq":14281767,"cg_sample_valid":1,"cg_theta_rad":5.00581694,"cg_vd_req_v":0.0764725953,"cg_vd_v":0.0764725953,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388545573,"cg_vq_v":-0.388545573,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.108643,"values":{"Elec_RPM":-1.54104463e-16,"EncoderCos":38722,"EncoderSin":12502,"GapTicks":54760,"Mech_RPM":-3.08208919e-17,"cg_du":50.1574173,"cg_dv":50.2175903,"cg_dw":49.7824097,"cg_id_a":-0.160535857,"cg_id_raw_a":0.0904161781,"cg_iq_a":0.00257492065,"cg_iq_raw_a":0.118623771,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148308992,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8527279,"cg_sample_seq":14281817,"cg_sample_valid":1,"cg_theta_rad":5.00624084,"cg_vd_req_v":0.0870515928,"cg_vd_v":0.0870515928,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384330183,"cg_vq_v":-0.384330183,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.120361,"values":{"Elec_RPM":-1.54104463e-16,"EncoderCos":38723,"EncoderSin":12514,"GapTicks":54762,"Mech_RPM":-3.08208919e-17,"cg_du":50.1512299,"cg_dv":50.2156906,"cg_dw":49.7843094,"cg_id_a":-0.252626061,"cg_id_raw_a":-0.51696682,"cg_iq_a":-0.260352284,"cg_iq_raw_a":-1.46754682,"cg_iu_a":-0.14244175,"cg_iv_a":-0.764454246,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9436359,"cg_sample_seq":14281867,"cg_sample_valid":1,"cg_theta_rad":5.00600338,"cg_vd_req_v":0.0896736085,"cg_vd_v":0.0896736085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378377825,"cg_vq_v":-0.378377825,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.128174,"values":{"Elec_RPM":-1.51022375e-16,"EncoderCos":38689,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-3.02044736e-17,"cg_du":50.1575089,"cg_dv":50.2143822,"cg_dw":49.7856178,"cg_id_a":-0.166880131,"cg_id_raw_a":-0.426825672,"cg_iq_a":-0.144018814,"cg_iq_raw_a":-0.77313292,"cg_iu_a":0.364971876,"cg_iv_a":0.214129269,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9763641,"cg_sample_seq":14281916,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0877886266,"cg_vd_v":0.0877886266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379129469,"cg_vq_v":-0.379129469,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2512512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.155518,"values":{"Elec_RPM":-1.51022375e-16,"EncoderCos":38734,"EncoderSin":12446,"GapTicks":54752,"Mech_RPM":-3.02044736e-17,"cg_du":50.1592903,"cg_dv":50.2250786,"cg_dw":49.7749214,"cg_id_a":-0.365034789,"cg_id_raw_a":-1.07268202,"cg_iq_a":0.575939953,"cg_iq_raw_a":0.625806212,"cg_iu_a":0.0750212669,"cg_iv_a":-0.402015805,"cg_iw_a":0.326994538,"cg_sample_age_us":23.8563633,"cg_sample_seq":14281970,"cg_sample_valid":1,"cg_theta_rad":5.00690174,"cg_vd_req_v":0.0932812914,"cg_vd_v":0.0932812914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395473063,"cg_vq_v":-0.395473063,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2512512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.16333,"values":{"Elec_RPM":-1.48001921e-16,"EncoderCos":38709,"EncoderSin":12499,"GapTicks":54758,"Mech_RPM":-2.96003836e-17,"cg_du":50.1629868,"cg_dv":50.219593,"cg_dw":49.780407,"cg_id_a":0.0470992774,"cg_id_raw_a":0.0457150936,"cg_iq_a":0.287797272,"cg_iq_raw_a":1.42561769,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14282017,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0861089602,"cg_vd_v":0.0861089602,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391092092,"cg_vq_v":-0.391092092,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.256134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.175049,"values":{"Elec_RPM":-1.48001921e-16,"EncoderCos":38725,"EncoderSin":12447,"GapTicks":54767,"Mech_RPM":-2.96003836e-17,"cg_du":50.1580963,"cg_dv":50.2117424,"cg_dw":49.7882576,"cg_id_a":0.149666011,"cg_id_raw_a":0.498084724,"cg_iq_a":-0.321449369,"cg_iq_raw_a":-0.824310124,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.954546,"cg_sample_seq":14282067,"cg_sample_valid":1,"cg_theta_rad":5.0060463,"cg_vd_req_v":0.0822712705,"cg_vd_v":0.0822712705,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377642095,"cg_vq_v":-0.377642095,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.182861,"values":{"Elec_RPM":-1.45041885e-16,"EncoderCos":38701,"EncoderSin":12479,"GapTicks":54760,"Mech_RPM":-2.9008377e-17,"cg_du":50.1627769,"cg_dv":50.2176323,"cg_dw":49.7823677,"cg_id_a":-0.167963043,"cg_id_raw_a":-0.29719612,"cg_iq_a":0.165841341,"cg_iq_raw_a":0.407796592,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14282117,"cg_sample_valid":1,"cg_theta_rad":5.00663853,"cg_vd_req_v":0.0856018439,"cg_vd_v":0.0856018439,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388027668,"cg_vq_v":-0.388027668,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.190674,"values":{"Elec_RPM":-1.45041885e-16,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54760,"Mech_RPM":-2.9008377e-17,"cg_du":50.159729,"cg_dv":50.2177773,"cg_dw":49.7822227,"cg_id_a":-0.200872287,"cg_id_raw_a":-0.675130248,"cg_iq_a":-0.128942728,"cg_iq_raw_a":-1.05117178,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953182,"cg_sample_age_us":23.954546,"cg_sample_seq":14282167,"cg_sample_valid":1,"cg_theta_rad":5.00566864,"cg_vd_req_v":0.0877853781,"cg_vd_v":0.0877853781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385348797,"cg_vq_v":-0.385348797,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2723389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.198486,"values":{"Elec_RPM":-1.42141049e-16,"EncoderCos":38700,"EncoderSin":12483,"GapTicks":54754,"Mech_RPM":-2.84282091e-17,"cg_du":50.1697464,"cg_dv":50.2232475,"cg_dw":49.7767525,"cg_id_a":-0.0450945012,"cg_id_raw_a":-0.463725418,"cg_iq_a":0.478530616,"cg_iq_raw_a":0.390911549,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9436359,"cg_sample_seq":14282217,"cg_sample_valid":1,"cg_theta_rad":5.00712967,"cg_vd_req_v":0.0853562504,"cg_vd_v":0.0853562504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398401797,"cg_vq_v":-0.398401797,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.512789547,"dclink_p_w":74.2132874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.206299,"values":{"Elec_RPM":-1.42141049e-16,"EncoderCos":38700,"EncoderSin":12476,"GapTicks":54760,"Mech_RPM":-2.84282091e-17,"cg_du":50.1603432,"cg_dv":50.2181778,"cg_dw":49.7818222,"cg_id_a":-0.0297851861,"cg_id_raw_a":-0.275316775,"cg_iq_a":-0.21239379,"cg_iq_raw_a":0.191326246,"cg_iu_a":0.473703146,"cg_iv_a":-0.438259721,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9654541,"cg_sample_seq":14282267,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0879475027,"cg_vd_v":0.0879475027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386181384,"cg_vq_v":-0.386181384,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.5885773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2414551,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.214111,"values":{"Elec_RPM":-1.39298221e-16,"EncoderCos":38757,"EncoderSin":12498,"GapTicks":54757,"Mech_RPM":-2.78596449e-17,"cg_du":50.1564369,"cg_dv":50.2203941,"cg_dw":49.7796059,"cg_id_a":-0.0427079722,"cg_id_raw_a":-0.292830914,"cg_iq_a":-0.0388316289,"cg_iq_raw_a":-0.534118116,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323734,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9218178,"cg_sample_seq":14282316,"cg_sample_valid":1,"cg_theta_rad":5.00725603,"cg_vd_req_v":0.0875579864,"cg_vd_v":0.0875579864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388288885,"cg_vq_v":-0.388288885,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.221924,"values":{"Elec_RPM":-1.39298221e-16,"EncoderCos":38682,"EncoderSin":12463,"GapTicks":54752,"Mech_RPM":-2.78596449e-17,"cg_du":50.1732178,"cg_dv":50.2252197,"cg_dw":49.7747803,"cg_id_a":0.0716058314,"cg_id_raw_a":0.14452073,"cg_iq_a":0.627255857,"cg_iq_raw_a":-0.202436939,"cg_iu_a":-0.251173496,"cg_iv_a":-0.402015805,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14282367,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.0870305076,"cg_vd_v":0.0870305076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403787643,"cg_vq_v":-0.403787643,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2836914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.233643,"values":{"Elec_RPM":-1.36512263e-16,"EncoderCos":38711,"EncoderSin":12516,"GapTicks":54752,"Mech_RPM":-2.73024527e-17,"cg_du":50.1629791,"cg_dv":50.2252426,"cg_dw":49.7747574,"cg_id_a":-0.208350614,"cg_id_raw_a":-0.0939148739,"cg_iq_a":0.0708216578,"cg_iq_raw_a":0.501505673,"cg_iu_a":-0.287417173,"cg_iv_a":-0.945673466,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9581814,"cg_sample_seq":14282417,"cg_sample_valid":1,"cg_theta_rad":5.00591612,"cg_vd_req_v":0.0909788236,"cg_vd_v":0.0909788236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398930758,"cg_vq_v":-0.398930758,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0145583153,"dclink_p_w":-2.11335135,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2172546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.260986,"values":{"Elec_RPM":-1.33782025e-16,"EncoderCos":38718,"EncoderSin":12495,"GapTicks":54752,"Mech_RPM":-2.67564043e-17,"cg_du":50.162899,"cg_dv":50.2253456,"cg_dw":49.7746544,"cg_id_a":-0.196764469,"cg_id_raw_a":0.14937298,"cg_iq_a":0.144992784,"cg_iq_raw_a":-0.276079535,"cg_iu_a":0.292484045,"cg_iv_a":-0.510747433,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8527279,"cg_sample_seq":14282518,"cg_sample_valid":1,"cg_theta_rad":5.00712776,"cg_vd_req_v":0.0908109099,"cg_vd_v":0.0908109099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397833765,"cg_vq_v":-0.397833765,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.270077348,"dclink_p_w":-39.0868492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.268799,"values":{"Elec_RPM":-1.33782025e-16,"EncoderCos":38704,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-2.67564043e-17,"cg_du":50.1698952,"cg_dv":50.2194633,"cg_dw":49.7805367,"cg_id_a":0.224681601,"cg_id_raw_a":0.105057411,"cg_iq_a":-0.0673152804,"cg_iq_raw_a":0.594204128,"cg_iu_a":-0.504880428,"cg_iv_a":0.0329101086,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9763641,"cg_sample_seq":14282568,"cg_sample_valid":1,"cg_theta_rad":5.00571489,"cg_vd_req_v":0.0812127963,"cg_vd_v":0.0812127963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393424958,"cg_vq_v":-0.393424958,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2723389,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.276611,"values":{"Elec_RPM":-1.3110638e-16,"EncoderCos":38697,"EncoderSin":12463,"GapTicks":54753,"Mech_RPM":-2.62212763e-17,"cg_du":50.1688118,"cg_dv":50.2239151,"cg_dw":49.7760849,"cg_id_a":-0.137420788,"cg_id_raw_a":0.691326857,"cg_iq_a":-0.0119492114,"cg_iq_raw_a":-1.02074218,"cg_iu_a":0.219996452,"cg_iv_a":-0.764454246,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9436359,"cg_sample_seq":14282616,"cg_sample_valid":1,"cg_theta_rad":5.00696468,"cg_vd_req_v":0.087562114,"cg_vd_v":0.087562114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398600131,"cg_vq_v":-0.398600131,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.28833,"values":{"Elec_RPM":-1.3110638e-16,"EncoderCos":38719,"EncoderSin":12524,"GapTicks":54753,"Mech_RPM":-2.62212763e-17,"cg_du":50.1676521,"cg_dv":50.223999,"cg_dw":49.776001,"cg_id_a":-0.010039486,"cg_id_raw_a":0.136011332,"cg_iq_a":0.0725191757,"cg_iq_raw_a":0.30485791,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691540241,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.954546,"cg_sample_seq":14282666,"cg_sample_valid":1,"cg_theta_rad":5.00691175,"cg_vd_req_v":0.0851381272,"cg_vd_v":0.0851381272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400068492,"cg_vq_v":-0.400068492,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.296143,"values":{"Elec_RPM":-1.28484257e-16,"EncoderCos":38709,"EncoderSin":12535,"GapTicks":54749,"Mech_RPM":-2.56968505e-17,"cg_du":50.170536,"cg_dv":50.2279282,"cg_dw":49.7720718,"cg_id_a":-0.202195168,"cg_id_raw_a":-0.847306371,"cg_iq_a":0.372015059,"cg_iq_raw_a":-0.626496851,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238811,"cg_sample_age_us":23.8672733,"cg_sample_seq":14282716,"cg_sample_valid":1,"cg_theta_rad":5.00745058,"cg_vd_req_v":0.0872947872,"cg_vd_v":0.0872947872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40691945,"cg_vq_v":-0.40691945,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.1969147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2318115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.303955,"values":{"Elec_RPM":-1.28484257e-16,"EncoderCos":38674,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-2.56968505e-17,"cg_du":50.1823883,"cg_dv":50.2149849,"cg_dw":49.7850151,"cg_id_a":0.624101937,"cg_id_raw_a":0.811859071,"cg_iq_a":-0.281383216,"cg_iq_raw_a":0.0512503907,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104633,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9072723,"cg_sample_seq":14282766,"cg_sample_valid":1,"cg_theta_rad":5.00669813,"cg_vd_req_v":0.0695593953,"cg_vd_v":0.0695593953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393957108,"cg_vq_v":-0.393957108,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2318115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.311768,"values":{"Elec_RPM":-1.25914571e-16,"EncoderCos":38713,"EncoderSin":12490,"GapTicks":54752,"Mech_RPM":-2.51829132e-17,"cg_du":50.1857529,"cg_dv":50.2252617,"cg_dw":49.7747383,"cg_id_a":0.416768551,"cg_id_raw_a":0.195350587,"cg_iq_a":0.57395494,"cg_iq_raw_a":-0.526314318,"cg_iu_a":-1.66468287,"cg_iv_a":-0.0395776033,"cg_iw_a":1.70426047,"cg_sample_age_us":23.9254551,"cg_sample_seq":14282816,"cg_sample_valid":1,"cg_theta_rad":5.00701237,"cg_vd_req_v":0.0733893365,"cg_vd_v":0.0733893365,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410417199,"cg_vq_v":-0.410417199,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.17478704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2658386,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.31958,"values":{"Elec_RPM":-1.25914571e-16,"EncoderCos":38718,"EncoderSin":12531,"GapTicks":54763,"Mech_RPM":-2.51829132e-17,"cg_du":50.1681709,"cg_dv":50.2154121,"cg_dw":49.7845879,"cg_id_a":0.208044648,"cg_id_raw_a":0.0895773172,"cg_iq_a":-0.497901797,"cg_iq_raw_a":-0.318409026,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8454552,"cg_sample_seq":14282867,"cg_sample_valid":1,"cg_theta_rad":5.00708389,"cg_vd_req_v":0.075831145,"cg_vd_v":0.075831145,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386287153,"cg_vq_v":-0.386287153,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2463989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.327393,"values":{"Elec_RPM":-1.23396276e-16,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54754,"Mech_RPM":-2.46792545e-17,"cg_du":50.1771545,"cg_dv":50.2232895,"cg_dw":49.7767105,"cg_id_a":0.137571126,"cg_id_raw_a":0.0696211606,"cg_iq_a":0.332931459,"cg_iq_raw_a":-0.101631902,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0758213997,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9290905,"cg_sample_seq":14282916,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.0779370517,"cg_vd_v":0.0779370517,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401691318,"cg_vq_v":-0.401691318,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2463989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.358643,"values":{"Elec_RPM":-1.23396276e-16,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-2.46792545e-17,"cg_du":50.1704445,"cg_dv":50.2209473,"cg_dw":49.7790527,"cg_id_a":-0.031084599,"cg_id_raw_a":-0.34017235,"cg_iq_a":0.179802626,"cg_iq_raw_a":0.222970426,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991289,"cg_iw_a":0.254507244,"cg_sample_age_us":24.7290916,"cg_sample_seq":14282970,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.08072754,"cg_vd_v":0.08072754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397308648,"cg_vq_v":-0.397308648,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.366455,"values":{"Elec_RPM":-1.20928353e-16,"EncoderCos":38727,"EncoderSin":12475,"GapTicks":54755,"Mech_RPM":-2.41856692e-17,"cg_du":50.1647491,"cg_dv":50.2220154,"cg_dw":49.7779846,"cg_id_a":-0.2643466,"cg_id_raw_a":-0.479080766,"cg_iq_a":0.120744593,"cg_iq_raw_a":-0.0815117732,"cg_iu_a":0.509947181,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8563633,"cg_sample_seq":14283016,"cg_sample_valid":1,"cg_theta_rad":5.00940084,"cg_vd_req_v":0.0861240402,"cg_vd_v":0.0861240402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395597905,"cg_vq_v":-0.395597905,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.374268,"values":{"Elec_RPM":-1.20928353e-16,"EncoderCos":38699,"EncoderSin":12483,"GapTicks":54757,"Mech_RPM":-2.41856692e-17,"cg_du":50.1706696,"cg_dv":50.220562,"cg_dw":49.779438,"cg_id_a":-0.0363383144,"cg_id_raw_a":-0.223815307,"cg_iq_a":0.188991606,"cg_iq_raw_a":0.305920511,"cg_iu_a":-0.178685665,"cg_iv_a":-0.981917381,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9509087,"cg_sample_seq":14283066,"cg_sample_valid":1,"cg_theta_rad":5.00680161,"cg_vd_req_v":0.0823491812,"cg_vd_v":0.0823491812,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396462798,"cg_vq_v":-0.396462798,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.473042727,"dclink_p_w":-68.6690369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2528992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118887618,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.38208,"values":{"Elec_RPM":-1.18509783e-16,"EncoderCos":38704,"EncoderSin":12491,"GapTicks":54766,"Mech_RPM":-2.37019555e-17,"cg_du":50.157486,"cg_dv":50.2121315,"cg_dw":49.7878685,"cg_id_a":-0.130100414,"cg_id_raw_a":-0.0134537686,"cg_iq_a":-0.740368485,"cg_iq_raw_a":-0.109814823,"cg_iu_a":0.509947062,"cg_iv_a":0.39534843,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9836369,"cg_sample_seq":14283116,"cg_sample_valid":1,"cg_theta_rad":5.00661659,"cg_vd_req_v":0.083534725,"cg_vd_v":0.083534725,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376536191,"cg_vq_v":-0.376536191,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.449484229,"dclink_p_w":-65.0514526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.389893,"values":{"Elec_RPM":-1.18509783e-16,"EncoderCos":38687,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-2.37019555e-17,"cg_du":50.1677017,"cg_dv":50.2133713,"cg_dw":49.7866287,"cg_id_a":0.180376813,"cg_id_raw_a":-0.512237549,"cg_iq_a":-0.537507415,"cg_iq_raw_a":-0.162749171,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9654541,"cg_sample_seq":14283166,"cg_sample_valid":1,"cg_theta_rad":5.00680161,"cg_vd_req_v":0.0789643899,"cg_vd_v":0.0789643899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383522779,"cg_vq_v":-0.383522779,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.401611,"values":{"Elec_RPM":-1.16139586e-16,"EncoderCos":38688,"EncoderSin":12460,"GapTicks":54756,"Mech_RPM":-2.32279165e-17,"cg_du":50.1799469,"cg_dv":50.221199,"cg_dw":49.778801,"cg_id_a":0.249472961,"cg_id_raw_a":-0.0526990592,"cg_iq_a":0.304537714,"cg_iq_raw_a":0.0681206807,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":0.76192081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14283216,"cg_sample_valid":1,"cg_theta_rad":5.00920105,"cg_vd_req_v":0.0770999044,"cg_vd_v":0.0770999044,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40105018,"cg_vq_v":-0.40105018,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.409424,"values":{"Elec_RPM":-1.16139586e-16,"EncoderCos":38708,"EncoderSin":12476,"GapTicks":54762,"Mech_RPM":-2.32279165e-17,"cg_du":50.1612053,"cg_dv":50.2156944,"cg_dw":49.7843056,"cg_id_a":-0.12804395,"cg_id_raw_a":-0.178328097,"cg_iq_a":-0.275795281,"cg_iq_raw_a":-0.563423693,"cg_iu_a":-0.287417173,"cg_iv_a":-0.365772009,"cg_iw_a":0.653189182,"cg_sample_age_us":23.8600006,"cg_sample_seq":14283267,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0841454491,"cg_vd_v":0.0841454491,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38345778,"cg_vq_v":-0.38345778,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.417236,"values":{"Elec_RPM":-1.13816797e-16,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-2.27633586e-17,"cg_du":50.1594582,"cg_dv":50.2094231,"cg_dw":49.7905769,"cg_id_a":0.129269928,"cg_id_raw_a":0.221624315,"cg_iq_a":-0.624099553,"cg_iq_raw_a":0.495789707,"cg_iu_a":0.0387773514,"cg_iv_a":-0.655722737,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9799995,"cg_sample_seq":14283317,"cg_sample_valid":1,"cg_theta_rad":5.0074892,"cg_vd_req_v":0.0783935711,"cg_vd_v":0.0783935711,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374176145,"cg_vq_v":-0.374176145,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.425049,"values":{"Elec_RPM":-1.13816797e-16,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-2.27633586e-17,"cg_du":50.1685715,"cg_dv":50.220459,"cg_dw":49.779541,"cg_id_a":0.0131380437,"cg_id_raw_a":0.0278003737,"cg_iq_a":0.366238862,"cg_iq_raw_a":-0.105753615,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9872723,"cg_sample_seq":14283367,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.0815251172,"cg_vd_v":0.0815251172,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394381464,"cg_vq_v":-0.394381464,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.5680046,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.432861,"values":{"Elec_RPM":-1.11540462e-16,"EncoderCos":38719,"EncoderSin":12490,"GapTicks":54764,"Mech_RPM":-2.23080917e-17,"cg_du":50.1611099,"cg_dv":50.213932,"cg_dw":49.786068,"cg_id_a":-0.00874432176,"cg_id_raw_a":-0.13862291,"cg_iq_a":-0.209168211,"cg_iq_raw_a":-0.558777869,"cg_iu_a":-0.14244175,"cg_iv_a":-0.728210449,"cg_iw_a":0.870652199,"cg_sample_age_us":23.863636,"cg_sample_seq":14283417,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0811775103,"cg_vd_v":0.0811775103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381293744,"cg_vq_v":-0.381293744,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2415466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.464111,"values":{"Elec_RPM":-1.11540462e-16,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-2.23080917e-17,"cg_du":50.1606789,"cg_dv":50.2108917,"cg_dw":49.7891083,"cg_id_a":0.0725093633,"cg_id_raw_a":0.184232935,"cg_iq_a":-0.402134478,"cg_iq_raw_a":-0.199754983,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":26.8163643,"cg_sample_seq":14283471,"cg_sample_valid":1,"cg_theta_rad":5.00836325,"cg_vd_req_v":0.0788336843,"cg_vd_v":0.0788336843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376863033,"cg_vq_v":-0.376863033,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2415466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.471924,"values":{"Elec_RPM":-1.09309655e-16,"EncoderCos":38699,"EncoderSin":12505,"GapTicks":54765,"Mech_RPM":-2.18619303e-17,"cg_du":50.1699486,"cg_dv":50.2130852,"cg_dw":49.7869148,"cg_id_a":0.176281512,"cg_id_raw_a":0.0099470811,"cg_iq_a":0.0527406335,"cg_iq_raw_a":-0.763128757,"cg_iu_a":0.61867857,"cg_iv_a":0.939005971,"cg_iw_a":-1.55768454,"cg_sample_age_us":23.9327278,"cg_sample_seq":14283516,"cg_sample_valid":1,"cg_theta_rad":5.00917196,"cg_vd_req_v":0.0747723728,"cg_vd_v":0.0747723728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384833068,"cg_vq_v":-0.384833068,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.8921337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2496338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.479736,"values":{"Elec_RPM":-1.09309655e-16,"EncoderCos":38705,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-2.18619303e-17,"cg_du":50.1700592,"cg_dv":50.21175,"cg_dw":49.78825,"cg_id_a":0.210805252,"cg_id_raw_a":0.840490758,"cg_iq_a":0.0127340071,"cg_iq_raw_a":1.43341172,"cg_iu_a":-0.14244175,"cg_iv_a":0.359104574,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9909096,"cg_sample_seq":14283566,"cg_sample_valid":1,"cg_theta_rad":5.00639296,"cg_vd_req_v":0.073650308,"cg_vd_v":0.073650308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383038104,"cg_vq_v":-0.383038104,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.74362373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2496338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.487549,"values":{"Elec_RPM":-1.07123456e-16,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-2.14246909e-17,"cg_du":50.1627274,"cg_dv":50.2128067,"cg_dw":49.7871933,"cg_id_a":-0.145217597,"cg_id_raw_a":0.00664604781,"cg_iq_a":-0.00480171293,"cg_iq_raw_a":0.110727862,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9981823,"cg_sample_seq":14283616,"cg_sample_valid":1,"cg_theta_rad":5.00636005,"cg_vd_req_v":0.0800116509,"cg_vd_v":0.0800116509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381627202,"cg_vq_v":-0.381627202,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2463989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.495361,"values":{"Elec_RPM":-1.04980986e-16,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-2.09961964e-17,"cg_du":50.169651,"cg_dv":50.2110138,"cg_dw":49.7889862,"cg_id_a":0.195687056,"cg_id_raw_a":0.350557745,"cg_iq_a":-0.0438901484,"cg_iq_raw_a":-0.184093401,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9654541,"cg_sample_seq":14283716,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.071307607,"cg_vd_v":0.071307607,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382177353,"cg_vq_v":-0.382177353,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.69173694,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2431641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.503174,"values":{"Elec_RPM":-1.04980986e-16,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-2.09961964e-17,"cg_du":50.161396,"cg_dv":50.2169952,"cg_dw":49.7830048,"cg_id_a":-0.401819974,"cg_id_raw_a":-0.640372157,"cg_iq_a":0.0431030281,"cg_iq_raw_a":0.70249176,"cg_iu_a":0.61867857,"cg_iv_a":-0.293284416,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14283766,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0846739337,"cg_vd_v":0.0846739337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38545683,"cg_vq_v":-0.38545683,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.514893,"values":{"Elec_RPM":-1.02881363e-16,"EncoderCos":38698,"EncoderSin":12447,"GapTicks":54771,"Mech_RPM":-2.05762732e-17,"cg_du":50.1607742,"cg_dv":50.2077827,"cg_dw":49.7922173,"cg_id_a":0.00129803643,"cg_id_raw_a":-0.166404873,"cg_iq_a":-0.600307584,"cg_iq_raw_a":-0.453862041,"cg_iu_a":0.401215553,"cg_iv_a":0.467836082,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.863636,"cg_sample_seq":14283816,"cg_sample_valid":1,"cg_theta_rad":5.00573969,"cg_vd_req_v":0.0783553049,"cg_vd_v":0.0783553049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372149438,"cg_vq_v":-0.372149438,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0007439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2788086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.522705,"values":{"Elec_RPM":-1.02881363e-16,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54758,"Mech_RPM":-2.05762732e-17,"cg_du":50.1689186,"cg_dv":50.2197266,"cg_dw":49.7802734,"cg_id_a":-0.0902595222,"cg_id_raw_a":-0.23762311,"cg_iq_a":0.329079658,"cg_iq_raw_a":0.887950063,"cg_iu_a":0.364971876,"cg_iv_a":0.431592286,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9618187,"cg_sample_seq":14283866,"cg_sample_valid":1,"cg_theta_rad":5.00815725,"cg_vd_req_v":0.0812236741,"cg_vd_v":0.0812236741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393440098,"cg_vq_v":-0.393440098,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":0.418555617,"dclink_p_w":60.5753174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2788086,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.530518,"values":{"Elec_RPM":-1.00823735e-16,"EncoderCos":38748,"EncoderSin":12516,"GapTicks":54763,"Mech_RPM":-2.01647476e-17,"cg_du":50.156971,"cg_dv":50.2147675,"cg_dw":49.7852325,"cg_id_a":-0.0570922829,"cg_id_raw_a":0.0729349405,"cg_iq_a":-0.395774186,"cg_iq_raw_a":-0.865992546,"cg_iu_a":-0.323661089,"cg_iv_a":-0.474503636,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9763641,"cg_sample_seq":14283918,"cg_sample_valid":1,"cg_theta_rad":5.00880432,"cg_vd_req_v":0.0822977424,"cg_vd_v":0.0822977424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38196978,"cg_vq_v":-0.38196978,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.703069687,"dclink_p_w":102.060799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.557861,"values":{"Elec_RPM":-1.00823735e-16,"EncoderCos":38722,"EncoderSin":12517,"GapTicks":54760,"Mech_RPM":-2.01647476e-17,"cg_du":50.1656952,"cg_dv":50.2179108,"cg_dw":49.7820892,"cg_id_a":0.0111882538,"cg_id_raw_a":0.285299003,"cg_iq_a":-0.0989055037,"cg_iq_raw_a":0.282461435,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":26.8272724,"cg_sample_seq":14283971,"cg_sample_valid":1,"cg_theta_rad":5.00694036,"cg_vd_req_v":0.0806948692,"cg_vd_v":0.0806948692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390664041,"cg_vq_v":-0.390664041,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.552657723,"dclink_p_w":80.2263107,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.56958,"values":{"Elec_RPM":-9.88072602e-17,"EncoderCos":38730,"EncoderSin":12487,"GapTicks":54757,"Mech_RPM":-1.97614524e-17,"cg_du":50.1691475,"cg_dv":50.2205276,"cg_dw":49.7794724,"cg_id_a":0.110148393,"cg_id_raw_a":-0.0753201023,"cg_iq_a":0.184501708,"cg_iq_raw_a":0.539770603,"cg_iu_a":-0.831074715,"cg_iv_a":0.105397761,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9654541,"cg_sample_seq":14284017,"cg_sample_valid":1,"cg_theta_rad":5.0075922,"cg_vd_req_v":0.08036571,"cg_vd_v":0.08036571,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394955844,"cg_vq_v":-0.394955844,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.529099286,"dclink_p_w":76.5737152,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2916565,"temp_inv2_c":38.2253418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.577393,"values":{"Elec_RPM":-9.88072602e-17,"EncoderCos":38712,"EncoderSin":12456,"GapTicks":54757,"Mech_RPM":-1.97614524e-17,"cg_du":50.1711197,"cg_dv":50.2204323,"cg_dw":49.7795677,"cg_id_a":0.140652597,"cg_id_raw_a":0.0970240608,"cg_iq_a":0.0330883227,"cg_iq_raw_a":0.0469898172,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836082,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.8600006,"cg_sample_seq":14284066,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0811856315,"cg_vd_v":0.0811856315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395432472,"cg_vq_v":-0.395432472,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.442113996,"dclink_p_w":64.1792831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.585205,"values":{"Elec_RPM":-9.68311191e-17,"EncoderCos":38724,"EncoderSin":12489,"GapTicks":54759,"Mech_RPM":-1.93662238e-17,"cg_du":50.1416473,"cg_dv":50.2182198,"cg_dw":49.7817802,"cg_id_a":-0.655207455,"cg_id_raw_a":-0.423356265,"cg_iq_a":-0.829768777,"cg_iq_raw_a":0.215220898,"cg_iu_a":0.872385502,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.23149002,"cg_sample_age_us":23.9836369,"cg_sample_seq":14284117,"cg_sample_valid":1,"cg_theta_rad":5.00667143,"cg_vd_req_v":0.100222513,"cg_vd_v":0.100222513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376324326,"cg_vq_v":-0.376324326,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.429428697,"dclink_p_w":62.1489182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.593018,"values":{"Elec_RPM":-9.68311191e-17,"EncoderCos":38724,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-1.93662238e-17,"cg_du":50.1582794,"cg_dv":50.2140961,"cg_dw":49.7859039,"cg_id_a":0.0689093322,"cg_id_raw_a":0.152809635,"cg_iq_a":-0.565919995,"cg_iq_raw_a":-0.0936654136,"cg_iu_a":0.582434893,"cg_iv_a":0.286616921,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9581814,"cg_sample_seq":14284166,"cg_sample_valid":1,"cg_theta_rad":5.00614309,"cg_vd_req_v":0.0835751444,"cg_vd_v":0.0835751444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379926145,"cg_vq_v":-0.379926145,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.60083,"values":{"Elec_RPM":-9.48944974e-17,"EncoderCos":38724,"EncoderSin":12490,"GapTicks":54766,"Mech_RPM":-1.89788998e-17,"cg_du":50.1561661,"cg_dv":50.2123413,"cg_dw":49.7876587,"cg_id_a":0.129689768,"cg_id_raw_a":-0.607044041,"cg_iq_a":-0.677137017,"cg_iq_raw_a":0.598207831,"cg_iu_a":0.654922485,"cg_iv_a":-0.474503517,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9581814,"cg_sample_seq":14284217,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.0833433867,"cg_vd_v":0.0833433867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377598405,"cg_vq_v":-0.377598405,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.21015358,"dclink_p_w":30.5068493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2415466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.608643,"values":{"Elec_RPM":-9.48944974e-17,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54758,"Mech_RPM":-1.89788998e-17,"cg_du":50.1596298,"cg_dv":50.2196541,"cg_dw":49.7803459,"cg_id_a":-0.123870745,"cg_id_raw_a":-0.0967809483,"cg_iq_a":-0.15727511,"cg_iq_raw_a":0.319275171,"cg_iu_a":0.219996452,"cg_iv_a":0.10539782,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9290905,"cg_sample_seq":14284266,"cg_sample_valid":1,"cg_theta_rad":5.00646544,"cg_vd_req_v":0.0875294954,"cg_vd_v":0.0875294954,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389570296,"cg_vq_v":-0.389570296,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.4040623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2415466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.616455,"values":{"Elec_RPM":-9.29966075e-17,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54754,"Mech_RPM":-1.85993215e-17,"cg_du":50.1596184,"cg_dv":50.2228737,"cg_dw":49.7771263,"cg_id_a":-0.306219339,"cg_id_raw_a":-0.617254019,"cg_iq_a":-0.0747001767,"cg_iq_raw_a":-0.387401462,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8563633,"cg_sample_seq":14284317,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0915445313,"cg_vd_v":0.0915445313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392500013,"cg_vq_v":-0.392500013,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2139893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.628174,"values":{"Elec_RPM":-9.29966075e-17,"EncoderCos":38709,"EncoderSin":12498,"GapTicks":54754,"Mech_RPM":-1.85993215e-17,"cg_du":50.1686974,"cg_dv":50.2231903,"cg_dw":49.7768097,"cg_id_a":0.00752672832,"cg_id_raw_a":-0.0176399034,"cg_iq_a":0.311082751,"cg_iq_raw_a":0.144744217,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14284366,"cg_sample_valid":1,"cg_theta_rad":5.00624657,"cg_vd_req_v":0.0848981887,"cg_vd_v":0.0848981887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397996366,"cg_vq_v":-0.397996366,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2665405,"temp_inv2_c":38.2139893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.635986,"values":{"Elec_RPM":-9.11366754e-17,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54760,"Mech_RPM":-1.82273351e-17,"cg_du":50.1620216,"cg_dv":50.2181435,"cg_dw":49.7818565,"cg_id_a":-0.0193181336,"cg_id_raw_a":-0.0126451859,"cg_iq_a":-0.210964218,"cg_iq_raw_a":-0.546728134,"cg_iu_a":-1.33848834,"cg_iv_a":0.359104633,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9618187,"cg_sample_seq":14284416,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0850063637,"cg_vd_v":0.0850063637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386197895,"cg_vq_v":-0.386197895,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.66333,"values":{"Elec_RPM":-9.11366754e-17,"EncoderCos":38728,"EncoderSin":12499,"GapTicks":54757,"Mech_RPM":-1.82273351e-17,"cg_du":50.176403,"cg_dv":50.2208595,"cg_dw":49.7791405,"cg_id_a":0.42526722,"cg_id_raw_a":0.487789303,"cg_iq_a":0.350751936,"cg_iq_raw_a":-0.754255176,"cg_iu_a":-0.142441988,"cg_iv_a":1.01149368,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9509087,"cg_sample_seq":14284471,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.0746010244,"cg_vd_v":0.0746010244,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398275286,"cg_vq_v":-0.398275286,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2221069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2583.671143,"values":{"Elec_RPM":-8.93139399e-17,"EncoderCos":38708,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-1.78627883e-17,"cg_du":50.1683311,"cg_dv":50.2161369,"cg_dw":49.7838631,"cg_id_a":0.153447121,"cg_id_raw_a":0.199526101,"cg_iq_a":-0.466621339,"cg_iq_raw_a":-0.962547958,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323794,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9618187,"cg_sample_seq":14284517,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0795544982,"cg_vd_v":0.0795544982,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387957484,"cg_vq_v":-0.387957484,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2221069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.678955,"values":{"Elec_RPM":-8.75276599e-17,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54754,"Mech_RPM":-1.75055323e-17,"cg_du":50.1747169,"cg_dv":50.2228928,"cg_dw":49.7771072,"cg_id_a":0.0257713608,"cg_id_raw_a":0.0276411213,"cg_iq_a":0.240235507,"cg_iq_raw_a":-0.105795644,"cg_iu_a":-0.468636274,"cg_iv_a":-0.00333380699,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8527279,"cg_sample_seq":14284666,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.078453958,"cg_vd_v":0.078453958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401254356,"cg_vq_v":-0.401254356,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2188721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.690674,"values":{"Elec_RPM":-8.57771075e-17,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-1.71554215e-17,"cg_du":50.1785927,"cg_dv":50.2117157,"cg_dw":49.7882843,"cg_id_a":0.653984785,"cg_id_raw_a":1.08945239,"cg_iq_a":-0.325750083,"cg_iq_raw_a":0.218107313,"cg_iu_a":0.0750212669,"cg_iv_a":1.73637033,"cg_iw_a":-1.81139159,"cg_sample_age_us":23.9727268,"cg_sample_seq":14284716,"cg_sample_valid":1,"cg_theta_rad":5.00614834,"cg_vd_req_v":0.0662793145,"cg_vd_v":0.0662793145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387913495,"cg_vq_v":-0.387913495,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.5749893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2350464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.698486,"values":{"Elec_RPM":-8.57771075e-17,"EncoderCos":38759,"EncoderSin":12488,"GapTicks":54762,"Mech_RPM":-1.71554215e-17,"cg_du":50.1653404,"cg_dv":50.2162361,"cg_dw":49.7837639,"cg_id_a":0.0209757835,"cg_id_raw_a":0.301043034,"cg_iq_a":-0.407653511,"cg_iq_raw_a":-0.118360192,"cg_iu_a":0.401215553,"cg_iv_a":0.0691539645,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9872723,"cg_sample_seq":14284766,"cg_sample_valid":1,"cg_theta_rad":5.00645685,"cg_vd_req_v":0.076628603,"cg_vd_v":0.076628603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3874982,"cg_vq_v":-0.3874982,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.5749893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2350464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.706299,"values":{"Elec_RPM":-8.4061568e-17,"EncoderCos":38741,"EncoderSin":12485,"GapTicks":54751,"Mech_RPM":-1.68123136e-17,"cg_du":50.1731834,"cg_dv":50.2257004,"cg_dw":49.7742996,"cg_id_a":-0.195769027,"cg_id_raw_a":0.180774033,"cg_iq_a":0.454321742,"cg_iq_raw_a":0.053816352,"cg_iu_a":0.183752537,"cg_iv_a":-0.945673347,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14284816,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.0812410787,"cg_vd_v":0.0812410787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404450655,"cg_vq_v":-0.404450655,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.0503006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2139893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.714111,"values":{"Elec_RPM":-8.4061568e-17,"EncoderCos":38705,"EncoderSin":12490,"GapTicks":54765,"Mech_RPM":-1.68123136e-17,"cg_du":50.1707802,"cg_dv":50.2131996,"cg_dw":49.7868004,"cg_id_a":0.165534407,"cg_id_raw_a":0.293996632,"cg_iq_a":-0.328593016,"cg_iq_raw_a":-0.661901891,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9836369,"cg_sample_seq":14284866,"cg_sample_valid":1,"cg_theta_rad":5.00701761,"cg_vd_req_v":0.0741049722,"cg_vd_v":0.0741049722,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385486066,"cg_vq_v":-0.385486066,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.0526143312,"dclink_p_w":-7.61459112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2107544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.721924,"values":{"Elec_RPM":-8.238034e-17,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54757,"Mech_RPM":-1.6476068e-17,"cg_du":50.1708527,"cg_dv":50.2206917,"cg_dw":49.7793083,"cg_id_a":-0.116876677,"cg_id_raw_a":-0.244467095,"cg_iq_a":0.189459518,"cg_iq_raw_a":0.522900701,"cg_iu_a":0.111264944,"cg_iv_a":-0.148308992,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14284916,"cg_sample_valid":1,"cg_theta_rad":5.00658607,"cg_vd_req_v":0.0813082755,"cg_vd_v":0.0813082755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39695549,"cg_vq_v":-0.39695549,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.0526143312,"dclink_p_w":-7.61459112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.2107544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.753174,"values":{"Elec_RPM":-8.238034e-17,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54751,"Mech_RPM":-1.6476068e-17,"cg_du":50.1738205,"cg_dv":50.2260742,"cg_dw":49.7739258,"cg_id_a":-0.0654083192,"cg_id_raw_a":0.484162301,"cg_iq_a":0.540514171,"cg_iq_raw_a":1.06602991,"cg_iu_a":-0.50488019,"cg_iv_a":-0.220796704,"cg_iw_a":0.725676894,"cg_sample_age_us":23.8381824,"cg_sample_seq":14284971,"cg_sample_valid":1,"cg_theta_rad":5.00599241,"cg_vd_req_v":0.0824756473,"cg_vd_v":0.0824756473,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406323433,"cg_vq_v":-0.406323433,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2124023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.760986,"values":{"Elec_RPM":-8.07327351e-17,"EncoderCos":38733,"EncoderSin":12449,"GapTicks":54755,"Mech_RPM":-1.61465474e-17,"cg_du":50.1704521,"cg_dv":50.2219696,"cg_dw":49.7780304,"cg_id_a":-0.0365014896,"cg_id_raw_a":0.173596621,"cg_iq_a":0.233867317,"cg_iq_raw_a":0.126746327,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9363632,"cg_sample_seq":14285016,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.0815053657,"cg_vd_v":0.0815053657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39749369,"cg_vq_v":-0.39749369,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2059021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.768799,"values":{"Elec_RPM":-8.07327351e-17,"EncoderCos":38726,"EncoderSin":12491,"GapTicks":54760,"Mech_RPM":-1.61465474e-17,"cg_du":50.1663132,"cg_dv":50.2175446,"cg_dw":49.7824554,"cg_id_a":-0.0814296156,"cg_id_raw_a":-0.461188048,"cg_iq_a":-0.171184897,"cg_iq_raw_a":0.393901646,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079938,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9181824,"cg_sample_seq":14285066,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0799533725,"cg_vd_v":0.0799533725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389258653,"cg_vq_v":-0.389258653,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2059021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.776611,"values":{"Elec_RPM":-7.91180786e-17,"EncoderCos":38705,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-1.5823616e-17,"cg_du":50.171402,"cg_dv":50.2164307,"cg_dw":49.7835693,"cg_id_a":-0.0499825627,"cg_id_raw_a":-0.00345097249,"cg_iq_a":-0.167914271,"cg_iq_raw_a":0.000453400426,"cg_iu_a":-0.251173496,"cg_iv_a":0.612811446,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14285116,"cg_sample_valid":1,"cg_theta_rad":5.00701237,"cg_vd_req_v":0.0774893016,"cg_vd_v":0.0774893016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390077114,"cg_vq_v":-0.390077114,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.784424,"values":{"Elec_RPM":-7.91180786e-17,"EncoderCos":38764,"EncoderSin":12497,"GapTicks":54756,"Mech_RPM":-1.5823616e-17,"cg_du":50.1676407,"cg_dv":50.2210922,"cg_dw":49.7789078,"cg_id_a":-0.132190913,"cg_id_raw_a":0.318584144,"cg_iq_a":0.132805541,"cg_iq_raw_a":-0.080990389,"cg_iu_a":-0.0337102413,"cg_iv_a":0.214129269,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9836369,"cg_sample_seq":14285166,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.0790071264,"cg_vd_v":0.0790071264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396762371,"cg_vq_v":-0.396762371,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.792236,"values":{"Elec_RPM":-7.75357152e-17,"EncoderCos":38717,"EncoderSin":12497,"GapTicks":54761,"Mech_RPM":-1.55071434e-17,"cg_du":50.1753464,"cg_dv":50.2166595,"cg_dw":49.7833405,"cg_id_a":0.16732581,"cg_id_raw_a":0.596622169,"cg_iq_a":0.135201022,"cg_iq_raw_a":1.40569222,"cg_iu_a":0.292484045,"cg_iv_a":0.504079938,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9472733,"cg_sample_seq":14285216,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0728578642,"cg_vd_v":0.0728578642,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394177884,"cg_vq_v":-0.394177884,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.84467435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2221069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.803955,"values":{"Elec_RPM":-7.75357152e-17,"EncoderCos":38694,"EncoderSin":12472,"GapTicks":54761,"Mech_RPM":-1.55071434e-17,"cg_du":50.1736641,"cg_dv":50.2170982,"cg_dw":49.7829018,"cg_id_a":-0.139252424,"cg_id_raw_a":-0.257496268,"cg_iq_a":0.141565159,"cg_iq_raw_a":-0.390252262,"cg_iu_a":-1.70092654,"cg_iv_a":-0.0395776033,"cg_iw_a":1.74050415,"cg_sample_age_us":23.9836369,"cg_sample_seq":14285268,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0773475543,"cg_vd_v":0.0773475543,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39330554,"cg_vq_v":-0.39330554,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.7716579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.811768,"values":{"Elec_RPM":-7.5985003e-17,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54755,"Mech_RPM":-1.51970003e-17,"cg_du":50.1849709,"cg_dv":50.222187,"cg_dw":49.777813,"cg_id_a":0.0848448873,"cg_id_raw_a":0.135415226,"cg_iq_a":0.755772114,"cg_iq_raw_a":-0.131808192,"cg_iu_a":-1.41097593,"cg_iv_a":0.250373125,"cg_iw_a":1.16060281,"cg_sample_age_us":23.9509087,"cg_sample_seq":14285316,"cg_sample_valid":1,"cg_theta_rad":5.00855064,"cg_vd_req_v":0.0703078508,"cg_vd_v":0.0703078508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405926138,"cg_vq_v":-0.405926138,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.7716579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.81958,"values":{"Elec_RPM":-7.5985003e-17,"EncoderCos":38736,"EncoderSin":12517,"GapTicks":54762,"Mech_RPM":-1.51970003e-17,"cg_du":50.1712189,"cg_dv":50.2160339,"cg_dw":49.7839661,"cg_id_a":-0.0340170711,"cg_id_raw_a":-0.3544406,"cg_iq_a":0.0875759125,"cg_iq_raw_a":-0.0677833036,"cg_iu_a":-0.287417173,"cg_iv_a":0.75778681,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9618187,"cg_sample_seq":14285366,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0730471164,"cg_vd_v":0.0730471164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390246391,"cg_vq_v":-0.390246391,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2139893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.827393,"values":{"Elec_RPM":-7.44653068e-17,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54765,"Mech_RPM":-1.4893061e-17,"cg_du":50.1736526,"cg_dv":50.2129211,"cg_dw":49.7870789,"cg_id_a":0.107954532,"cg_id_raw_a":-0.32722649,"cg_iq_a":-0.216684312,"cg_iq_raw_a":-0.542230129,"cg_iu_a":-0.323661089,"cg_iv_a":0.359104633,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14285416,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.072018303,"cg_vd_v":0.072018303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386641532,"cg_vq_v":-0.386641532,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.1479149,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.858643,"values":{"Elec_RPM":-7.29759978e-17,"EncoderCos":38717,"EncoderSin":12528,"GapTicks":54765,"Mech_RPM":-1.45951999e-17,"cg_du":50.180172,"cg_dv":50.2135887,"cg_dw":49.7864113,"cg_id_a":0.428497434,"cg_id_raw_a":0.413206607,"cg_iq_a":0.0984628126,"cg_iq_raw_a":0.0398217663,"cg_iu_a":-0.323661089,"cg_iv_a":0.105397761,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9836369,"cg_sample_seq":14285566,"cg_sample_valid":1,"cg_theta_rad":5.00595808,"cg_vd_req_v":0.0652260929,"cg_vd_v":0.0652260929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392843813,"cg_vq_v":-0.392843813,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.9336796,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.866455,"values":{"Elec_RPM":-7.15164807e-17,"EncoderCos":38690,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-1.43032961e-17,"cg_du":50.1795387,"cg_dv":50.2140579,"cg_dw":49.7859421,"cg_id_a":0.189820468,"cg_id_raw_a":-0.0320450887,"cg_iq_a":-0.0356964096,"cg_iq_raw_a":-0.330502838,"cg_iu_a":-0.251173496,"cg_iv_a":0.57656759,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.9836369,"cg_sample_seq":14285616,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.0698149726,"cg_vd_v":0.0698149726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391275257,"cg_vq_v":-0.391275257,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2026672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.874268,"values":{"Elec_RPM":-7.15164807e-17,"EncoderCos":38710,"EncoderSin":12497,"GapTicks":54760,"Mech_RPM":-1.43032961e-17,"cg_du":50.1810799,"cg_dv":50.2180939,"cg_dw":49.7819061,"cg_id_a":0.148832709,"cg_id_raw_a":0.156068444,"cg_iq_a":0.42527768,"cg_iq_raw_a":0.0889660865,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8745461,"cg_sample_seq":14285666,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0701622516,"cg_vd_v":0.0701622516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398037791,"cg_vq_v":-0.398037791,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.88208,"values":{"Elec_RPM":-7.0086153e-17,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54764,"Mech_RPM":-1.40172306e-17,"cg_du":50.1683655,"cg_dv":50.2143631,"cg_dw":49.7856369,"cg_id_a":-0.109079145,"cg_id_raw_a":0.0562354438,"cg_iq_a":-0.0556266308,"cg_iq_raw_a":-0.39427802,"cg_iu_a":0.944873095,"cg_iv_a":0.286616921,"cg_iw_a":-1.23149002,"cg_sample_age_us":23.9836369,"cg_sample_seq":14285716,"cg_sample_valid":1,"cg_theta_rad":5.00635338,"cg_vd_req_v":0.076406531,"cg_vd_v":0.076406531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385851234,"cg_vq_v":-0.385851234,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.889893,"values":{"Elec_RPM":-7.0086153e-17,"EncoderCos":38732,"EncoderSin":12437,"GapTicks":54765,"Mech_RPM":-1.40172306e-17,"cg_du":50.1747093,"cg_dv":50.2128906,"cg_dw":49.7871094,"cg_id_a":0.127992377,"cg_id_raw_a":0.0414795391,"cg_iq_a":0.11286258,"cg_iq_raw_a":0.186915755,"cg_iu_a":0.183752775,"cg_iv_a":0.10539782,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.9509087,"cg_sample_seq":14285766,"cg_sample_valid":1,"cg_theta_rad":5.0079546,"cg_vd_req_v":0.0697577745,"cg_vd_v":0.0697577745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387449682,"cg_vq_v":-0.387449682,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2059021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.897705,"values":{"Elec_RPM":-6.86844326e-17,"EncoderCos":38713,"EncoderSin":12520,"GapTicks":54761,"Mech_RPM":-1.37368859e-17,"cg_du":50.1644325,"cg_dv":50.2168388,"cg_dw":49.7831612,"cg_id_a":-0.421962112,"cg_id_raw_a":-0.413124323,"cg_iq_a":0.196837485,"cg_iq_raw_a":-0.111637153,"cg_iu_a":0.256240368,"cg_iv_a":-0.365772009,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8745461,"cg_sample_seq":14285816,"cg_sample_valid":1,"cg_theta_rad":5.00742579,"cg_vd_req_v":0.0813671499,"cg_vd_v":0.0813671499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388343364,"cg_vq_v":-0.388343364,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2026672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.905518,"values":{"Elec_RPM":-6.86844326e-17,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-1.37368859e-17,"cg_du":50.1597519,"cg_dv":50.2082253,"cg_dw":49.7917747,"cg_id_a":-0.228720814,"cg_id_raw_a":-0.194392696,"cg_iq_a":-0.276551783,"cg_iq_raw_a":0.0184037276,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.8672733,"cg_sample_seq":14285866,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0769987032,"cg_vd_v":0.0769987032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373889685,"cg_vq_v":-0.373889685,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2026672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.917236,"values":{"Elec_RPM":-6.73107371e-17,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54773,"Mech_RPM":-1.34621477e-17,"cg_du":50.1621704,"cg_dv":50.2060928,"cg_dw":49.7939072,"cg_id_a":0.0157129914,"cg_id_raw_a":-0.603425801,"cg_iq_a":-0.399107933,"cg_iq_raw_a":0.344254524,"cg_iu_a":0.00253343582,"cg_iv_a":0.975249767,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9654541,"cg_sample_seq":14285917,"cg_sample_valid":1,"cg_theta_rad":5.00491285,"cg_vd_req_v":0.0719500408,"cg_vd_v":0.0719500408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371380925,"cg_vq_v":-0.371380925,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2172546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.94458,"values":{"Elec_RPM":-6.73107371e-17,"EncoderCos":38740,"EncoderSin":12493,"GapTicks":54763,"Mech_RPM":-1.34621477e-17,"cg_du":50.1733551,"cg_dv":50.2153473,"cg_dw":49.7846527,"cg_id_a":0.0751838759,"cg_id_raw_a":0.557596505,"cg_iq_a":0.453342944,"cg_iq_raw_a":1.2165283,"cg_iu_a":0.61867857,"cg_iv_a":0.504079938,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.863636,"cg_sample_seq":14285971,"cg_sample_valid":1,"cg_theta_rad":5.00734901,"cg_vd_req_v":0.0709952116,"cg_vd_v":0.0709952116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390443653,"cg_vq_v":-0.390443653,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2172546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.952393,"values":{"Elec_RPM":-6.59645238e-17,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-1.31929046e-17,"cg_du":50.1635895,"cg_dv":50.208046,"cg_dw":49.791954,"cg_id_a":-0.218751699,"cg_id_raw_a":-0.370873749,"cg_iq_a":-0.166350514,"cg_iq_raw_a":-0.109660976,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796824,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.994545,"cg_sample_seq":14286016,"cg_sample_valid":1,"cg_theta_rad":5.00794029,"cg_vd_req_v":0.0752933323,"cg_vd_v":0.0752933323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374323636,"cg_vq_v":-0.374323636,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2583.960205,"values":{"Elec_RPM":-6.59645238e-17,"EncoderCos":38738,"EncoderSin":12503,"GapTicks":54770,"Mech_RPM":-1.31929046e-17,"cg_du":50.1645813,"cg_dv":50.2088547,"cg_dw":49.7911453,"cg_id_a":-0.0601313412,"cg_id_raw_a":0.30570668,"cg_iq_a":-0.0598811731,"cg_iq_raw_a":0.756624639,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8309097,"cg_sample_seq":14286066,"cg_sample_valid":1,"cg_theta_rad":5.00728846,"cg_vd_req_v":0.0713410005,"cg_vd_v":0.0713410005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375567555,"cg_vq_v":-0.375567555,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2075195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12049897,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2583.967509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2583.967514,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2583.967519,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2583.971924,"values":{"Elec_RPM":-6.46452303e-17,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54772,"Mech_RPM":-1.29290464e-17,"cg_du":50.1639748,"cg_dv":50.2067337,"cg_dw":49.7932663,"cg_id_a":-0.0917290673,"cg_id_raw_a":-0.352885365,"cg_iq_a":-0.108410977,"cg_iq_raw_a":-1.38078678,"cg_iu_a":0.256240129,"cg_iv_a":0.105397761,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.8563633,"cg_sample_seq":14286116,"cg_sample_valid":1,"cg_theta_rad":5.0075717,"cg_vd_req_v":0.0723413229,"cg_vd_v":0.0723413229,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374210656,"cg_vq_v":-0.374210656,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2075195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12049897,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.979736,"values":{"Elec_RPM":-6.46452303e-17,"EncoderCos":38716,"EncoderSin":12514,"GapTicks":54770,"Mech_RPM":-1.29290464e-17,"cg_du":50.1706772,"cg_dv":50.209034,"cg_dw":49.790966,"cg_id_a":0.0648900121,"cg_id_raw_a":0.00064587954,"cg_iq_a":0.326032788,"cg_iq_raw_a":1.05673194,"cg_iu_a":0.0750212669,"cg_iv_a":-0.148308992,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9618187,"cg_sample_seq":14286166,"cg_sample_valid":1,"cg_theta_rad":5.00616455,"cg_vd_req_v":0.0687511638,"cg_vd_v":0.0687511638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381219774,"cg_vq_v":-0.381219774,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.1929626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.987549,"values":{"Elec_RPM":-6.33523271e-17,"EncoderCos":38666,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-1.26704656e-17,"cg_du":50.1660728,"cg_dv":50.2041168,"cg_dw":49.7958832,"cg_id_a":-0.0582389534,"cg_id_raw_a":-0.0988977328,"cg_iq_a":-0.123547971,"cg_iq_raw_a":-0.666300714,"cg_iu_a":-0.649855614,"cg_iv_a":0.21412921,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.8781815,"cg_sample_seq":14286216,"cg_sample_valid":1,"cg_theta_rad":5.00821447,"cg_vd_req_v":0.0726678967,"cg_vd_v":0.0726678967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370960414,"cg_vq_v":-0.370960414,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.420489192,"dclink_p_w":-61.040123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2583.995361,"values":{"Elec_RPM":-6.33523271e-17,"EncoderCos":38710,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-1.26704656e-17,"cg_du":50.1637421,"cg_dv":50.2016754,"cg_dw":49.7983246,"cg_id_a":0.162903652,"cg_id_raw_a":-0.329941571,"cg_iq_a":-0.357621193,"cg_iq_raw_a":-0.724588931,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373065,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9509087,"cg_sample_seq":14286266,"cg_sample_valid":1,"cg_theta_rad":5.00791788,"cg_vd_req_v":0.0687426552,"cg_vd_v":0.0687426552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365813613,"cg_vq_v":-0.365813613,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.003174,"values":{"Elec_RPM":-6.20852783e-17,"EncoderCos":38688,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-1.24170563e-17,"cg_du":50.1659775,"cg_dv":50.2088852,"cg_dw":49.7911148,"cg_id_a":-0.182225481,"cg_id_raw_a":0.165061966,"cg_iq_a":0.22081165,"cg_iq_raw_a":0.200221762,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.691966534,"cg_iw_a":0.508213758,"cg_sample_age_us":23.863636,"cg_sample_seq":14286316,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.075327076,"cg_vd_v":0.075327076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376597673,"cg_vq_v":-0.376597673,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2059021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.010986,"values":{"Elec_RPM":-6.20852783e-17,"EncoderCos":38728,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-1.24170563e-17,"cg_du":50.1588326,"cg_dv":50.2042046,"cg_dw":49.7957954,"cg_id_a":0.0369162373,"cg_id_raw_a":0.100466564,"cg_iq_a":-0.195973709,"cg_iq_raw_a":-0.208085373,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539645,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9872723,"cg_sample_seq":14286366,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0729770586,"cg_vd_v":0.0729770586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366894782,"cg_vq_v":-0.366894782,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2598,"hz_tim_isr":4999,"hz_vsense":2598,"pwm_moe":1,"temp_inv1_c":36.2164307,"temp_inv2_c":38.2059021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.022705,"values":{"Elec_RPM":-6.08435744e-17,"EncoderCos":38729,"EncoderSin":12511,"GapTicks":54769,"Mech_RPM":-1.21687152e-17,"cg_du":50.1628647,"cg_dv":50.2094154,"cg_dw":49.7905846,"cg_id_a":0.0217784476,"cg_id_raw_a":0.217152581,"cg_iq_a":0.184971929,"cg_iq_raw_a":0.566963732,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14286416,"cg_sample_valid":1,"cg_theta_rad":5.00878954,"cg_vd_req_v":0.07401748,"cg_vd_v":0.07401748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376413524,"cg_vq_v":-0.376413524,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.1327133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2139893,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.030518,"values":{"Elec_RPM":-6.08435744e-17,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54771,"Mech_RPM":-1.21687152e-17,"cg_du":50.1631126,"cg_dv":50.2076111,"cg_dw":49.7923889,"cg_id_a":0.0605018213,"cg_id_raw_a":0.298538029,"cg_iq_a":0.0975269824,"cg_iq_raw_a":0.138846725,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.148308992,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9727268,"cg_sample_seq":14286466,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0736480504,"cg_vd_v":0.0736480504,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374964893,"cg_vq_v":-0.374964893,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-92.0819244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.057861,"values":{"Elec_RPM":-5.96267057e-17,"EncoderCos":38738,"EncoderSin":12500,"GapTicks":54774,"Mech_RPM":-1.19253413e-17,"cg_du":50.1543465,"cg_dv":50.205101,"cg_dw":49.794899,"cg_id_a":-0.134341538,"cg_id_raw_a":-0.0934084356,"cg_iq_a":-0.239129484,"cg_iq_raw_a":0.0650420114,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8563633,"cg_sample_seq":14286521,"cg_sample_valid":1,"cg_theta_rad":5.00623369,"cg_vd_req_v":0.0763163492,"cg_vd_v":0.0763163492,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36698848,"cg_vq_v":-0.36698848,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-56.0418625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1913452,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.065674,"values":{"Elec_RPM":-5.96267057e-17,"EncoderCos":38773,"EncoderSin":12497,"GapTicks":54775,"Mech_RPM":-1.19253413e-17,"cg_du":50.1524391,"cg_dv":50.2039871,"cg_dw":49.7960129,"cg_id_a":-0.0170851871,"cg_id_raw_a":-0.0390976667,"cg_iq_a":-0.356024623,"cg_iq_raw_a":-0.0752125233,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9836369,"cg_sample_seq":14286567,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0736938715,"cg_vd_v":0.0736938715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363876432,"cg_vq_v":-0.363876432,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2447815,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.077393,"values":{"Elec_RPM":-5.84341693e-17,"EncoderCos":38733,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-1.16868345e-17,"cg_du":50.1611099,"cg_dv":50.2053375,"cg_dw":49.7946625,"cg_id_a":0.11971207,"cg_id_raw_a":0.616036415,"cg_iq_a":-0.0151964277,"cg_iq_raw_a":0.568010747,"cg_iu_a":-0.0337104797,"cg_iv_a":0.721542954,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9836369,"cg_sample_seq":14286616,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0716845989,"cg_vd_v":0.0716845989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369827777,"cg_vq_v":-0.369827777,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.085205,"values":{"Elec_RPM":-5.84341693e-17,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54785,"Mech_RPM":-1.16868345e-17,"cg_du":50.1379089,"cg_dv":50.1948357,"cg_dw":49.8051643,"cg_id_a":-0.220457062,"cg_id_raw_a":-0.0560687408,"cg_iq_a":-1.22988033,"cg_iq_raw_a":-0.113503568,"cg_iu_a":0.908629179,"cg_iv_a":0.322860718,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.9872723,"cg_sample_seq":14286666,"cg_sample_valid":1,"cg_theta_rad":5.00848913,"cg_vd_req_v":0.0790779367,"cg_vd_v":0.0790779367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342731178,"cg_vq_v":-0.342731178,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.093018,"values":{"Elec_RPM":-5.72654888e-17,"EncoderCos":38740,"EncoderSin":12502,"GapTicks":54766,"Mech_RPM":-1.14530981e-17,"cg_du":50.1640587,"cg_dv":50.2120628,"cg_dw":49.7879372,"cg_id_a":-0.0323074609,"cg_id_raw_a":0.356249392,"cg_iq_a":0.72649312,"cg_iq_raw_a":-0.257939249,"cg_iu_a":0.0750210285,"cg_iv_a":-0.873185754,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9836369,"cg_sample_seq":14286716,"cg_sample_valid":1,"cg_theta_rad":5.00678158,"cg_vd_req_v":0.0749163181,"cg_vd_v":0.0749163181,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380829483,"cg_vq_v":-0.380829483,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.10083,"values":{"Elec_RPM":-5.72654888e-17,"EncoderCos":38726,"EncoderSin":12508,"GapTicks":54777,"Mech_RPM":-1.14530981e-17,"cg_du":50.1631927,"cg_dv":50.2022591,"cg_dw":49.7977409,"cg_id_a":0.368050486,"cg_id_raw_a":0.0325244926,"cg_iq_a":-0.0378812328,"cg_iq_raw_a":0.513491988,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079998,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9327278,"cg_sample_seq":14286766,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.067375958,"cg_vd_v":0.067375958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367889047,"cg_vq_v":-0.367889047,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.209137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.112549,"values":{"Elec_RPM":-5.61201812e-17,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-1.12240361e-17,"cg_du":50.1586418,"cg_dv":50.1992607,"cg_dw":49.8007393,"cg_id_a":0.251782894,"cg_id_raw_a":0.609312117,"cg_iq_a":-0.336895525,"cg_iq_raw_a":-0.667347133,"cg_iu_a":-0.287417173,"cg_iv_a":1.15646899,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9763641,"cg_sample_seq":14286816,"cg_sample_valid":1,"cg_theta_rad":5.00806427,"cg_vd_req_v":0.0699030906,"cg_vd_v":0.0699030906,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360894948,"cg_vq_v":-0.360894948,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.6620483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.120361,"values":{"Elec_RPM":-5.61201812e-17,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-1.12240361e-17,"cg_du":50.1589584,"cg_dv":50.2070274,"cg_dw":49.7929726,"cg_id_a":-0.0751759261,"cg_id_raw_a":-0.177096933,"cg_iq_a":0.0387607627,"cg_iq_raw_a":0.0563666448,"cg_iu_a":0.328727961,"cg_iv_a":-0.148308992,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9799995,"cg_sample_seq":14286866,"cg_sample_valid":1,"cg_theta_rad":5.00790024,"cg_vd_req_v":0.0764948428,"cg_vd_v":0.0764948428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370628148,"cg_vq_v":-0.370628148,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.8815804,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.128174,"values":{"Elec_RPM":-5.49977765e-17,"EncoderCos":38690,"EncoderSin":12453,"GapTicks":54767,"Mech_RPM":-1.0999555e-17,"cg_du":50.1682549,"cg_dv":50.2112579,"cg_dw":49.7887421,"cg_id_a":-0.0174085349,"cg_id_raw_a":0.581626713,"cg_iq_a":0.382819176,"cg_iq_raw_a":-0.557222426,"cg_iu_a":0.328727961,"cg_iv_a":0.359104574,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9581814,"cg_sample_seq":14286916,"cg_sample_valid":1,"cg_theta_rad":5.0075922,"cg_vd_req_v":0.0764575154,"cg_vd_v":0.0764575154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380980343,"cg_vq_v":-0.380980343,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2204895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.135986,"values":{"Elec_RPM":-5.49977765e-17,"EncoderCos":38667,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-1.0999555e-17,"cg_du":50.16185,"cg_dv":50.2064743,"cg_dw":49.7935257,"cg_id_a":-0.13754034,"cg_id_raw_a":-0.0380009264,"cg_iq_a":-0.122161984,"cg_iq_raw_a":-0.258641154,"cg_iu_a":0.256240368,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9836369,"cg_sample_seq":14286966,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0784347281,"cg_vd_v":0.0784347281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370523691,"cg_vq_v":-0.370523691,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.689415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.1945496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.16333,"values":{"Elec_RPM":-5.38978182e-17,"EncoderCos":38732,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-1.07795638e-17,"cg_du":50.1586952,"cg_dv":50.2067871,"cg_dw":49.7932129,"cg_id_a":-0.00529080629,"cg_id_raw_a":-0.51589787,"cg_iq_a":-0.154539406,"cg_iq_raw_a":0.534905493,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8709087,"cg_sample_seq":14287021,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0750688761,"cg_vd_v":0.0750688761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370438397,"cg_vq_v":-0.370438397,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.175049,"values":{"Elec_RPM":-5.38978182e-17,"EncoderCos":38728,"EncoderSin":12441,"GapTicks":54760,"Mech_RPM":-1.07795638e-17,"cg_du":50.156002,"cg_dv":50.2173615,"cg_dw":49.7826385,"cg_id_a":-0.758934557,"cg_id_raw_a":-0.44673571,"cg_iq_a":0.484334469,"cg_iq_raw_a":-0.625630319,"cg_iu_a":-0.396148682,"cg_iv_a":-0.873185754,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14287067,"cg_sample_valid":1,"cg_theta_rad":5.00802612,"cg_vd_req_v":0.0892981514,"cg_vd_v":0.0892981514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384142667,"cg_vq_v":-0.384142667,"cg_vu_v":121.410347,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.810110331,"dclink_p_w":-117.242935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.182861,"values":{"Elec_RPM":-5.28198629e-17,"EncoderCos":38745,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-1.05639724e-17,"cg_du":50.1658516,"cg_dv":50.2088242,"cg_dw":49.7911758,"cg_id_a":0.127615511,"cg_id_raw_a":-0.110988371,"cg_iq_a":0.130841076,"cg_iq_raw_a":0.0268502645,"cg_iu_a":0.654922485,"cg_iv_a":0.359104633,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9509087,"cg_sample_seq":14287117,"cg_sample_valid":1,"cg_theta_rad":5.00787115,"cg_vd_req_v":0.0714717135,"cg_vd_v":0.0714717135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378385991,"cg_vq_v":-0.378385991,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.784739733,"dclink_p_w":-113.916389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.2010498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.190674,"values":{"Elec_RPM":-5.28198629e-17,"EncoderCos":38713,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-1.05639724e-17,"cg_du":50.1673355,"cg_dv":50.2108231,"cg_dw":49.7891769,"cg_id_a":-0.0448375493,"cg_id_raw_a":0.0908889472,"cg_iq_a":0.041907236,"cg_iq_raw_a":0.738408625,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.365772009,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9254551,"cg_sample_seq":14287167,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0746021792,"cg_vd_v":0.0746021792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380295455,"cg_vq_v":-0.380295455,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.2010498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.198486,"values":{"Elec_RPM":-5.17634672e-17,"EncoderCos":38698,"EncoderSin":12497,"GapTicks":54774,"Mech_RPM":-1.03526931e-17,"cg_du":50.1667252,"cg_dv":50.2045517,"cg_dw":49.7954483,"cg_id_a":0.221727341,"cg_id_raw_a":-0.121087201,"cg_iq_a":-0.442870587,"cg_iq_raw_a":-0.0842760205,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885413,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14287217,"cg_sample_valid":1,"cg_theta_rad":5.00801325,"cg_vd_req_v":0.069259122,"cg_vd_v":0.069259122,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37138772,"cg_vq_v":-0.37138772,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.206299,"values":{"Elec_RPM":-5.17634672e-17,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-1.03526931e-17,"cg_du":50.1680183,"cg_dv":50.2118874,"cg_dw":49.7881126,"cg_id_a":-0.0299275666,"cg_id_raw_a":0.38730067,"cg_iq_a":0.0530154631,"cg_iq_raw_a":0.512727857,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9581814,"cg_sample_seq":14287267,"cg_sample_valid":1,"cg_theta_rad":5.00748968,"cg_vd_req_v":0.0745417401,"cg_vd_v":0.0745417401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381031305,"cg_vq_v":-0.381031305,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.214111,"values":{"Elec_RPM":-5.07281944e-17,"EncoderCos":38724,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-1.0145639e-17,"cg_du":50.1676216,"cg_dv":50.2058144,"cg_dw":49.7941856,"cg_id_a":0.368956059,"cg_id_raw_a":0.207485452,"cg_iq_a":-0.209290281,"cg_iq_raw_a":-0.671221375,"cg_iu_a":-0.359905005,"cg_iv_a":1.30144417,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9618187,"cg_sample_seq":14287317,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0673729926,"cg_vd_v":0.0673729926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372874528,"cg_vq_v":-0.372874528,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.22583,"values":{"Elec_RPM":-5.07281944e-17,"EncoderCos":38719,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-1.0145639e-17,"cg_du":50.1566544,"cg_dv":50.2085228,"cg_dw":49.7914772,"cg_id_a":-0.273231208,"cg_id_raw_a":-0.0272617377,"cg_iq_a":-0.176859945,"cg_iq_raw_a":-0.402423024,"cg_iu_a":0.401215553,"cg_iv_a":0.0329101086,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9618187,"cg_sample_seq":14287366,"cg_sample_valid":1,"cg_theta_rad":5.01089287,"cg_vd_req_v":0.0799762681,"cg_vd_v":0.0799762681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372501045,"cg_vq_v":-0.372501045,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-66.0383682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.233643,"values":{"Elec_RPM":-4.97136342e-17,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-9.94272668e-18,"cg_du":50.1577721,"cg_dv":50.205513,"cg_dw":49.794487,"cg_id_a":-0.11718221,"cg_id_raw_a":-0.195986375,"cg_iq_a":-0.229471579,"cg_iq_raw_a":-0.601426303,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9290905,"cg_sample_seq":14287416,"cg_sample_valid":1,"cg_theta_rad":5.00622797,"cg_vd_req_v":0.0768640786,"cg_vd_v":0.0768640786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368883342,"cg_vq_v":-0.368883342,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.4024887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.241455,"values":{"Elec_RPM":-4.97136342e-17,"EncoderCos":38700,"EncoderSin":12466,"GapTicks":54767,"Mech_RPM":-9.94272668e-18,"cg_du":50.1741142,"cg_dv":50.2114792,"cg_dw":49.7885208,"cg_id_a":0.1258187,"cg_id_raw_a":0.444787055,"cg_iq_a":0.559229314,"cg_iq_raw_a":-0.0628447086,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8527279,"cg_sample_seq":14287466,"cg_sample_valid":1,"cg_theta_rad":5.00884151,"cg_vd_req_v":0.0710994974,"cg_vd_v":0.0710994974,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3859981,"cg_vq_v":-0.3859981,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.268799,"values":{"Elec_RPM":-4.87193631e-17,"EncoderCos":38752,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-9.74387246e-18,"cg_du":50.1692238,"cg_dv":50.2105408,"cg_dw":49.7894592,"cg_id_a":0.30675143,"cg_id_raw_a":0.00292962557,"cg_iq_a":0.238533244,"cg_iq_raw_a":-0.0717076287,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":24.8818188,"cg_sample_seq":14287520,"cg_sample_valid":1,"cg_theta_rad":5.00726604,"cg_vd_req_v":0.0681536421,"cg_vd_v":0.0681536421,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380645156,"cg_vq_v":-0.380645156,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2010498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.280518,"values":{"Elec_RPM":-4.87193631e-17,"EncoderCos":38714,"EncoderSin":12501,"GapTicks":54773,"Mech_RPM":-9.74387246e-18,"cg_du":50.1567345,"cg_dv":50.2059669,"cg_dw":49.7940331,"cg_id_a":0.0412668437,"cg_id_raw_a":-0.0174454153,"cg_iq_a":-0.34135887,"cg_iq_raw_a":0.144767627,"cg_iu_a":0.582434773,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8672733,"cg_sample_seq":14287567,"cg_sample_valid":1,"cg_theta_rad":5.00683546,"cg_vd_req_v":0.0767894909,"cg_vd_v":0.0767894909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366863489,"cg_vq_v":-0.366863489,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1663208,"temp_inv2_c":38.2010498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.28833,"values":{"Elec_RPM":-4.77449775e-17,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-9.54899533e-18,"cg_du":50.167305,"cg_dv":50.2059708,"cg_dw":49.7940292,"cg_id_a":0.330487967,"cg_id_raw_a":1.09013462,"cg_iq_a":0.0332333893,"cg_iq_raw_a":1.27412522,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0395775437,"cg_iw_a":0.508213818,"cg_sample_age_us":23.9254551,"cg_sample_seq":14287617,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0692339689,"cg_vd_v":0.0692339689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372643322,"cg_vq_v":-0.372643322,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119340807,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.296143,"values":{"Elec_RPM":-4.77449775e-17,"EncoderCos":38717,"EncoderSin":12458,"GapTicks":54765,"Mech_RPM":-9.54899533e-18,"cg_du":50.1804504,"cg_dv":50.2135773,"cg_dw":49.7864227,"cg_id_a":0.500561714,"cg_id_raw_a":0.107421003,"cg_iq_a":0.947951794,"cg_iq_raw_a":1.21339905,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333374739,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9799995,"cg_sample_seq":14287667,"cg_sample_valid":1,"cg_theta_rad":5.00850058,"cg_vd_req_v":0.0666898638,"cg_vd_v":0.0666898638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391478807,"cg_vq_v":-0.391478807,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1929626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.303955,"values":{"Elec_RPM":-4.67900735e-17,"EncoderCos":38726,"EncoderSin":12440,"GapTicks":54766,"Mech_RPM":-9.35801504e-18,"cg_du":50.1675644,"cg_dv":50.2123146,"cg_dw":49.7876854,"cg_id_a":0.0830646753,"cg_id_raw_a":-0.142605871,"cg_iq_a":0.500669956,"cg_iq_raw_a":0.132436946,"cg_iu_a":-1.84590197,"cg_iv_a":-1.05440497,"cg_iw_a":2.90030694,"cg_sample_age_us":23.863636,"cg_sample_seq":14287717,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0752486214,"cg_vd_v":0.0752486214,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382573038,"cg_vq_v":-0.382573038,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1929626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.311768,"values":{"Elec_RPM":-4.67900735e-17,"EncoderCos":38692,"EncoderSin":12474,"GapTicks":54767,"Mech_RPM":-9.35801504e-18,"cg_du":50.1572723,"cg_dv":50.2115707,"cg_dw":49.7884293,"cg_id_a":-0.369862676,"cg_id_raw_a":-0.154971868,"cg_iq_a":0.317474067,"cg_iq_raw_a":-0.161057651,"cg_iu_a":0.364971876,"cg_iv_a":0.177885413,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.8527279,"cg_sample_seq":14287767,"cg_sample_valid":1,"cg_theta_rad":5.00551367,"cg_vd_req_v":0.0848782808,"cg_vd_v":0.0848782808,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376467943,"cg_vq_v":-0.376467943,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.3659401,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1816406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.31958,"values":{"Elec_RPM":-4.58542742e-17,"EncoderCos":38721,"EncoderSin":12502,"GapTicks":54773,"Mech_RPM":-9.17085467e-18,"cg_du":50.1567421,"cg_dv":50.2063293,"cg_dw":49.7936707,"cg_id_a":0.0479800925,"cg_id_raw_a":-0.492094457,"cg_iq_a":-0.148488015,"cg_iq_raw_a":0.93691653,"cg_iu_a":-0.613611698,"cg_iv_a":0.250373125,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9363632,"cg_sample_seq":14287817,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0767552704,"cg_vd_v":0.0767552704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368602365,"cg_vq_v":-0.368602365,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.48092985,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1913452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.327393,"values":{"Elec_RPM":-4.58542742e-17,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54768,"Mech_RPM":-9.17085467e-18,"cg_du":50.1572113,"cg_dv":50.2101784,"cg_dw":49.7898216,"cg_id_a":-0.243145332,"cg_id_raw_a":0.0069311019,"cg_iq_a":-0.0236548632,"cg_iq_raw_a":0.110710442,"cg_iu_a":0.183752537,"cg_iv_a":-0.728210449,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9799995,"cg_sample_seq":14287867,"cg_sample_valid":1,"cg_theta_rad":5.00677252,"cg_vd_req_v":0.080571346,"cg_vd_v":0.080571346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374006987,"cg_vq_v":-0.374006987,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1913452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.339111,"values":{"Elec_RPM":-4.49371857e-17,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-8.9874373e-18,"cg_du":50.1533127,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.310964406,"cg_id_raw_a":-0.0391841009,"cg_iq_a":-0.301832169,"cg_iq_raw_a":0.361134797,"cg_iu_a":0.582434654,"cg_iv_a":0.0691540241,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9290905,"cg_sample_seq":14287917,"cg_sample_valid":1,"cg_theta_rad":5.0077939,"cg_vd_req_v":0.081750676,"cg_vd_v":0.081750676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367690206,"cg_vq_v":-0.367690206,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.5877562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.346924,"values":{"Elec_RPM":-4.49371857e-17,"EncoderCos":38710,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-8.9874373e-18,"cg_du":50.1720009,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":0.236789674,"cg_id_raw_a":-0.0178760439,"cg_iq_a":0.286559045,"cg_iq_raw_a":0.144715011,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14287967,"cg_sample_valid":1,"cg_theta_rad":5.00815344,"cg_vd_req_v":0.0685322881,"cg_vd_v":0.0685322881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38051185,"cg_vq_v":-0.38051185,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.5877562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.2285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.374268,"values":{"Elec_RPM":-4.40384407e-17,"EncoderCos":38722,"EncoderSin":12511,"GapTicks":54776,"Mech_RPM":-8.80768847e-18,"cg_du":50.1589851,"cg_dv":50.2035217,"cg_dw":49.7964783,"cg_id_a":0.0785218924,"cg_id_raw_a":0.0533564128,"cg_iq_a":-0.364729434,"cg_iq_raw_a":-1.26833737,"cg_iu_a":0.292484045,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8600006,"cg_sample_seq":14288020,"cg_sample_valid":1,"cg_theta_rad":5.00771666,"cg_vd_req_v":0.0721834153,"cg_vd_v":0.0721834153,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367212802,"cg_vq_v":-0.367212802,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1702881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.38208,"values":{"Elec_RPM":-4.40384407e-17,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-8.80768847e-18,"cg_du":50.1650696,"cg_dv":50.2080345,"cg_dw":49.7919655,"cg_id_a":0.119977705,"cg_id_raw_a":-0.158166945,"cg_iq_a":0.0481856763,"cg_iq_raw_a":0.532057166,"cg_iu_a":-0.686099291,"cg_iv_a":-0.0758214593,"cg_iw_a":0.76192075,"cg_sample_age_us":23.863636,"cg_sample_seq":14288067,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0713542849,"cg_vd_v":0.0713542849,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37686339,"cg_vq_v":-0.37686339,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1896973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.389893,"values":{"Elec_RPM":-4.2294519e-17,"EncoderCos":38712,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-8.45890363e-18,"cg_du":50.1550903,"cg_dv":50.2052345,"cg_dw":49.7947655,"cg_id_a":-0.261927575,"cg_id_raw_a":-0.00927005522,"cg_iq_a":-0.417144656,"cg_iq_raw_a":-0.364338607,"cg_iu_a":0.654922485,"cg_iv_a":0.0329101086,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9218178,"cg_sample_seq":14288216,"cg_sample_valid":1,"cg_theta_rad":5.00592327,"cg_vd_req_v":0.0784495547,"cg_vd_v":0.0784495547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365878701,"cg_vq_v":-0.365878701,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.186594963,"dclink_p_w":26.9228096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.401611,"values":{"Elec_RPM":-4.2294519e-17,"EncoderCos":38723,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-8.45890363e-18,"cg_du":50.1618385,"cg_dv":50.2082214,"cg_dw":49.7917786,"cg_id_a":-0.0498954467,"cg_id_raw_a":0.0485659949,"cg_iq_a":0.0957475752,"cg_iq_raw_a":-0.32222715,"cg_iu_a":0.00253343582,"cg_iv_a":-0.583235145,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9836369,"cg_sample_seq":14288267,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0748519972,"cg_vd_v":0.0748519972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373979598,"cg_vq_v":-0.373979598,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118031591,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.409424,"values":{"Elec_RPM":-4.14486275e-17,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-8.28972534e-18,"cg_du":50.1634102,"cg_dv":50.2106628,"cg_dw":49.7893372,"cg_id_a":-0.0811795965,"cg_id_raw_a":0.169271886,"cg_iq_a":0.356818795,"cg_iq_raw_a":-0.492877513,"cg_iu_a":0.0750210285,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9836369,"cg_sample_seq":14288316,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0756261572,"cg_vd_v":0.0756261572,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379447013,"cg_vq_v":-0.379447013,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1767883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.417236,"values":{"Elec_RPM":-4.14486275e-17,"EncoderCos":38708,"EncoderSin":12462,"GapTicks":54778,"Mech_RPM":-8.28972534e-18,"cg_du":50.1559486,"cg_dv":50.2013016,"cg_dw":49.7986984,"cg_id_a":-0.0109426342,"cg_id_raw_a":-0.541035295,"cg_iq_a":-0.547502756,"cg_iq_raw_a":-1.54745698,"cg_iu_a":0.546190977,"cg_iv_a":0.286616921,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9509087,"cg_sample_seq":14288366,"cg_sample_valid":1,"cg_theta_rad":5.00745583,"cg_vd_req_v":0.0747975782,"cg_vd_v":0.0747975782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361994117,"cg_vq_v":-0.361994117,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1767883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.425049,"values":{"Elec_RPM":-4.06196569e-17,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-8.12393105e-18,"cg_du":50.1463661,"cg_dv":50.2073517,"cg_dw":49.7926483,"cg_id_a":-0.512963414,"cg_id_raw_a":-0.544927537,"cg_iq_a":-0.204958588,"cg_iq_raw_a":-0.0524717644,"cg_iu_a":0.292484045,"cg_iv_a":0.467836082,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9872723,"cg_sample_seq":14288416,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0867833421,"cg_vd_v":0.0867833421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363979161,"cg_vq_v":-0.363979161,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1961975,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.432861,"values":{"Elec_RPM":-4.06196569e-17,"EncoderCos":38724,"EncoderSin":12498,"GapTicks":54768,"Mech_RPM":-8.12393105e-18,"cg_du":50.1518707,"cg_dv":50.210701,"cg_dw":49.789299,"cg_id_a":-0.353816599,"cg_id_raw_a":0.176904276,"cg_iq_a":0.0837212056,"cg_iq_raw_a":-0.128033087,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397701,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14288466,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0846715495,"cg_vd_v":0.0846715495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371866524,"cg_vq_v":-0.371866524,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.447550654,"dclink_p_w":64.7716141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1751404,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.464111,"values":{"Elec_RPM":-3.98072597e-17,"EncoderCos":38790,"EncoderSin":12497,"GapTicks":54776,"Mech_RPM":-7.9614521e-18,"cg_du":50.1375275,"cg_dv":50.2032433,"cg_dw":49.7967567,"cg_id_a":-0.232426226,"cg_id_raw_a":0.15188998,"cg_iq_a":-0.712058544,"cg_iq_raw_a":0.158370167,"cg_iu_a":0.038777113,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.863636,"cg_sample_seq":14288520,"cg_sample_valid":1,"cg_theta_rad":5.00731802,"cg_vd_req_v":0.0834331736,"cg_vd_v":0.0834331736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35497281,"cg_vq_v":-0.35497281,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.657764852,"dclink_p_w":95.1947937,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1751404,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.471924,"values":{"Elec_RPM":-3.98072597e-17,"EncoderCos":38739,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-7.9614521e-18,"cg_du":50.1578331,"cg_dv":50.2072601,"cg_dw":49.7927399,"cg_id_a":0.127672747,"cg_id_raw_a":-0.0990948975,"cg_iq_a":-0.104974754,"cg_iq_raw_a":0.573969722,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9872723,"cg_sample_seq":14288567,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.076128304,"cg_vd_v":0.076128304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370622158,"cg_vq_v":-0.370622158,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.657764852,"dclink_p_w":95.1947937,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.479736,"values":{"Elec_RPM":-3.90111149e-17,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-7.80222314e-18,"cg_du":50.1571693,"cg_dv":50.2070732,"cg_dw":49.7929268,"cg_id_a":-0.00767443702,"cg_id_raw_a":0.356822073,"cg_iq_a":-0.164596498,"cg_iq_raw_a":0.618237317,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9618187,"cg_sample_seq":14288616,"cg_sample_valid":1,"cg_theta_rad":5.00638533,"cg_vd_req_v":0.0781698301,"cg_vd_v":0.0781698301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370814413,"cg_vq_v":-0.370814413,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.657764852,"dclink_p_w":95.1947937,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.487549,"values":{"Elec_RPM":-3.90111149e-17,"EncoderCos":38689,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-7.80222314e-18,"cg_du":50.1575851,"cg_dv":50.19944,"cg_dw":49.80056,"cg_id_a":0.350181013,"cg_id_raw_a":0.266116232,"cg_iq_a":-0.628041625,"cg_iq_raw_a":-1.17399776,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9581814,"cg_sample_seq":14288666,"cg_sample_valid":1,"cg_theta_rad":5.00571394,"cg_vd_req_v":0.072773248,"cg_vd_v":0.072773248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36016652,"cg_vq_v":-0.36016652,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.657764852,"dclink_p_w":95.1947937,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.495361,"values":{"Elec_RPM":-3.82308949e-17,"EncoderCos":38748,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-7.64617882e-18,"cg_du":50.1451225,"cg_dv":50.2154388,"cg_dw":49.7845612,"cg_id_a":-0.472581893,"cg_id_raw_a":-0.436999768,"cg_iq_a":0.0821767822,"cg_iq_raw_a":0.616539717,"cg_iu_a":0.691166401,"cg_iv_a":-0.474503636,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9618187,"cg_sample_seq":14288717,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.0927017555,"cg_vd_v":0.0927017555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375010788,"cg_vq_v":-0.375010788,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.7106514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1864929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.503174,"values":{"Elec_RPM":-3.82308949e-17,"EncoderCos":38718,"EncoderSin":12499,"GapTicks":54767,"Mech_RPM":-7.64617882e-18,"cg_du":50.1512985,"cg_dv":50.2112541,"cg_dw":49.7887459,"cg_id_a":-0.129176319,"cg_id_raw_a":-0.423498631,"cg_iq_a":0.00611823797,"cg_iq_raw_a":0.651868999,"cg_iu_a":0.582434893,"cg_iv_a":0.10539782,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.863636,"cg_sample_seq":14288767,"cg_sample_valid":1,"cg_theta_rad":5.00812483,"cg_vd_req_v":0.0861404464,"cg_vd_v":0.0861404464,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372188151,"cg_vq_v":-0.372188151,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":26.9228268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1864929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.514893,"values":{"Elec_RPM":-3.7466279e-17,"EncoderCos":38690,"EncoderSin":12492,"GapTicks":54763,"Mech_RPM":-7.49325546e-18,"cg_du":50.1591263,"cg_dv":50.2149506,"cg_dw":49.7850494,"cg_id_a":-0.124092132,"cg_id_raw_a":-0.442061841,"cg_iq_a":0.388421655,"cg_iq_raw_a":0.17382656,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9654541,"cg_sample_seq":14288817,"cg_sample_valid":1,"cg_theta_rad":5.00790405,"cg_vd_req_v":0.0859305412,"cg_vd_v":0.0859305412,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379861951,"cg_vq_v":-0.379861951,"cg_vu_v":129.768311,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.8583641,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1767883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.522705,"values":{"Elec_RPM":-3.7466279e-17,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-7.49325546e-18,"cg_du":50.1559792,"cg_dv":50.2084465,"cg_dw":49.7915535,"cg_id_a":0.177481174,"cg_id_raw_a":0.321078718,"cg_iq_a":-0.0186243653,"cg_iq_raw_a":-0.76992631,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9436359,"cg_sample_seq":14288867,"cg_sample_valid":1,"cg_theta_rad":5.00815725,"cg_vd_req_v":0.0788761824,"cg_vd_v":0.0788761824,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371175319,"cg_vq_v":-0.371175319,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1735229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.530518,"values":{"Elec_RPM":-3.67169526e-17,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-7.34339019e-18,"cg_du":50.155838,"cg_dv":50.207756,"cg_dw":49.792244,"cg_id_a":0.0966735631,"cg_id_raw_a":0.028004935,"cg_iq_a":-0.217535168,"cg_iq_raw_a":-0.105699845,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9654541,"cg_sample_seq":14288917,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0799153224,"cg_vd_v":0.0799153224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36981073,"cg_vq_v":-0.36981073,"cg_vu_v":139.006058,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1735229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.53833,"values":{"Elec_RPM":-3.67169526e-17,"EncoderCos":38701,"EncoderSin":12461,"GapTicks":54759,"Mech_RPM":-7.34339019e-18,"cg_du":50.1554871,"cg_dv":50.2185555,"cg_dw":49.7814445,"cg_id_a":-0.507448316,"cg_id_raw_a":-0.226429105,"cg_iq_a":0.424872518,"cg_iq_raw_a":0.123274788,"cg_iu_a":-0.106198072,"cg_iv_a":-0.474503517,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8745461,"cg_sample_seq":14288967,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.0924216062,"cg_vd_v":0.0924216062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383875728,"cg_vq_v":-0.383875728,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":26.0347118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1832275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.56958,"values":{"Elec_RPM":-3.5262961e-17,"EncoderCos":38737,"EncoderSin":12493,"GapTicks":54763,"Mech_RPM":-7.05259236e-18,"cg_du":50.1654968,"cg_dv":50.2151642,"cg_dw":49.7848358,"cg_id_a":0.115124702,"cg_id_raw_a":0.343264401,"cg_iq_a":0.238967389,"cg_iq_raw_a":-0.113112368,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395775437,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9836369,"cg_sample_seq":14289117,"cg_sample_valid":1,"cg_theta_rad":5.00661039,"cg_vd_req_v":0.0770389438,"cg_vd_v":0.0770389438,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384590715,"cg_vq_v":-0.384590715,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.184845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.577393,"values":{"Elec_RPM":-3.5262961e-17,"EncoderCos":38715,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-7.05259236e-18,"cg_du":50.1637459,"cg_dv":50.2154541,"cg_dw":49.7845459,"cg_id_a":-0.0384277701,"cg_id_raw_a":-0.280501097,"cg_iq_a":0.297714949,"cg_iq_raw_a":1.32070649,"cg_iu_a":0.799897909,"cg_iv_a":-1.3805995,"cg_iw_a":0.58070159,"cg_sample_age_us":24.0381813,"cg_sample_seq":14289166,"cg_sample_valid":1,"cg_theta_rad":5.00770044,"cg_vd_req_v":0.0810090676,"cg_vd_v":0.0810090676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383530438,"cg_vq_v":-0.383530438,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.2805634,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.184845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.585205,"values":{"Elec_RPM":-3.45577035e-17,"EncoderCos":38700,"EncoderSin":12479,"GapTicks":54767,"Mech_RPM":-6.9115407e-18,"cg_du":50.1666412,"cg_dv":50.211525,"cg_dw":49.788475,"cg_id_a":0.196640402,"cg_id_raw_a":0.283049554,"cg_iq_a":-0.107210591,"cg_iq_raw_a":-0.334707052,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9763641,"cg_sample_seq":14289217,"cg_sample_valid":1,"cg_theta_rad":5.00708628,"cg_vd_req_v":0.0764347389,"cg_vd_v":0.0764347389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380737692,"cg_vq_v":-0.380737692,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-94.9229584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1670532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.593018,"values":{"Elec_RPM":-3.45577035e-17,"EncoderCos":38696,"EncoderSin":12460,"GapTicks":54764,"Mech_RPM":-6.9115407e-18,"cg_du":50.1619377,"cg_dv":50.2144356,"cg_dw":49.7855644,"cg_id_a":-0.239640325,"cg_id_raw_a":-0.31397295,"cg_iq_a":-0.105792858,"cg_iq_raw_a":-0.250476688,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9872723,"cg_sample_seq":14289267,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0838044509,"cg_vd_v":0.0838044509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381844938,"cg_vq_v":-0.381844938,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-94.9229584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1201477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.60083,"values":{"Elec_RPM":-3.38665478e-17,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-6.77330972e-18,"cg_du":50.1621208,"cg_dv":50.2105293,"cg_dw":49.7894707,"cg_id_a":0.18404524,"cg_id_raw_a":-0.347469747,"cg_iq_a":-0.198585004,"cg_iq_raw_a":-0.140997484,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9727268,"cg_sample_seq":14289318,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0762593672,"cg_vd_v":0.0762593672,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378592163,"cg_vq_v":-0.378592163,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-86.0313797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1201477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.608643,"values":{"Elec_RPM":-3.38665478e-17,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-6.77330972e-18,"cg_du":50.1602097,"cg_dv":50.214695,"cg_dw":49.785305,"cg_id_a":-0.0785290152,"cg_id_raw_a":0.378466517,"cg_iq_a":-0.0800606757,"cg_iq_raw_a":-0.035104122,"cg_iu_a":-0.142441988,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9872723,"cg_sample_seq":14289367,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.083238095,"cg_vd_v":0.083238095,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38291049,"cg_vq_v":-0.38291049,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.4059677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1702881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.616455,"values":{"Elec_RPM":-3.31892192e-17,"EncoderCos":38702,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-6.63784359e-18,"cg_du":50.1594543,"cg_dv":50.2144699,"cg_dw":49.7855301,"cg_id_a":-0.196694806,"cg_id_raw_a":-0.260991484,"cg_iq_a":-0.245701686,"cg_iq_raw_a":0.666300535,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0691539645,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.8563633,"cg_sample_seq":14289417,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0852106437,"cg_vd_v":0.0852106437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380612582,"cg_vq_v":-0.380612582,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.4059677,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1670532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.628174,"values":{"Elec_RPM":-3.31892192e-17,"EncoderCos":38748,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-6.63784359e-18,"cg_du":50.1542511,"cg_dv":50.2143135,"cg_dw":49.7856865,"cg_id_a":-0.14606674,"cg_id_raw_a":0.338419914,"cg_iq_a":-0.470197797,"cg_iq_raw_a":-0.296242297,"cg_iu_a":-0.14244175,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9290905,"cg_sample_seq":14289467,"cg_sample_valid":1,"cg_theta_rad":5.00648785,"cg_vd_req_v":0.0844677612,"cg_vd_v":0.0844677612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378527045,"cg_vq_v":-0.378527045,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.5784111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1670532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.655518,"values":{"Elec_RPM":-3.25254332e-17,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-6.50508689e-18,"cg_du":50.1598091,"cg_dv":50.2231865,"cg_dw":49.7768135,"cg_id_a":-0.472151071,"cg_id_raw_a":0.138219282,"cg_iq_a":0.39215067,"cg_iq_raw_a":-0.386593908,"cg_iu_a":0.473703265,"cg_iv_a":0.359104633,"cg_iw_a":-0.832807899,"cg_sample_age_us":26.8272724,"cg_sample_seq":14289520,"cg_sample_valid":1,"cg_theta_rad":5.00595474,"cg_vd_req_v":0.0903563946,"cg_vd_v":0.0903563946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393343091,"cg_vq_v":-0.393343091,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.5912628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.171936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.66333,"values":{"Elec_RPM":-3.25254332e-17,"EncoderCos":38767,"EncoderSin":12482,"GapTicks":54762,"Mech_RPM":-6.50508689e-18,"cg_du":50.1600189,"cg_dv":50.2156487,"cg_dw":49.7843513,"cg_id_a":0.0569529049,"cg_id_raw_a":0.182943389,"cg_iq_a":-0.039500609,"cg_iq_raw_a":-0.456348598,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.863636,"cg_sample_seq":14289566,"cg_sample_valid":1,"cg_theta_rad":5.00935698,"cg_vd_req_v":0.0799746588,"cg_vd_v":0.0799746588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385033965,"cg_vq_v":-0.385033965,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-101.026169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.171936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.671143,"values":{"Elec_RPM":-3.18749251e-17,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54757,"Mech_RPM":-6.37498503e-18,"cg_du":50.1671638,"cg_dv":50.2206459,"cg_dw":49.7793541,"cg_id_a":-0.248639897,"cg_id_raw_a":-0.191534743,"cg_iq_a":0.404004633,"cg_iq_raw_a":0.200306356,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14289617,"cg_sample_valid":1,"cg_theta_rad":5.0066638,"cg_vd_req_v":0.0842692405,"cg_vd_v":0.0842692405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394787729,"cg_vq_v":-0.394787729,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.853602886,"dclink_p_w":-123.91288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1816406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.682861,"values":{"Elec_RPM":-3.18749251e-17,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-6.37498503e-18,"cg_du":50.1663055,"cg_dv":50.2125092,"cg_dw":49.7874908,"cg_id_a":0.0869661123,"cg_id_raw_a":0.00374605763,"cg_iq_a":-0.172841653,"cg_iq_raw_a":-0.0716693699,"cg_iu_a":0.14750886,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9836369,"cg_sample_seq":14289667,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0769106746,"cg_vd_v":0.0769106746,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382032663,"cg_vq_v":-0.382032663,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.815546989,"dclink_p_w":-118.388512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1444092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.690674,"values":{"Elec_RPM":-3.1237427e-17,"EncoderCos":38730,"EncoderSin":12495,"GapTicks":54762,"Mech_RPM":-6.24748548e-18,"cg_du":50.1612587,"cg_dv":50.2155609,"cg_dw":49.7844391,"cg_id_a":-0.107119419,"cg_id_raw_a":-0.361008793,"cg_iq_a":-0.118640095,"cg_iq_raw_a":0.00336543075,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539645,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9836369,"cg_sample_seq":14289717,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.081554383,"cg_vd_v":0.081554383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383827925,"cg_vq_v":-0.383827925,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.815546989,"dclink_p_w":-118.388512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1444092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.698486,"values":{"Elec_RPM":-3.1237427e-17,"EncoderCos":38739,"EncoderSin":12491,"GapTicks":54758,"Mech_RPM":-6.24748548e-18,"cg_du":50.1667709,"cg_dv":50.2198067,"cg_dw":49.7801933,"cg_id_a":-0.0952180028,"cg_id_raw_a":0.0799034163,"cg_iq_a":0.237092897,"cg_iq_raw_a":0.00815110188,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772009,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14289767,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0806252658,"cg_vd_v":0.0806252658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392837942,"cg_vq_v":-0.392837942,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.706299,"values":{"Elec_RPM":-3.06126773e-17,"EncoderCos":38696,"EncoderSin":12484,"GapTicks":54763,"Mech_RPM":-6.12253571e-18,"cg_du":50.1763878,"cg_dv":50.2149849,"cg_dw":49.7850151,"cg_id_a":0.139642149,"cg_id_raw_a":-0.0940962732,"cg_iq_a":0.096116282,"cg_iq_raw_a":0.0640430003,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9690914,"cg_sample_seq":14289817,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0724135488,"cg_vd_v":0.0724135488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390888214,"cg_vq_v":-0.390888214,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.714111,"values":{"Elec_RPM":-3.06126773e-17,"EncoderCos":38726,"EncoderSin":12503,"GapTicks":54763,"Mech_RPM":-6.12253571e-18,"cg_du":50.1674538,"cg_dv":50.2151909,"cg_dw":49.7848091,"cg_id_a":-0.095696263,"cg_id_raw_a":-0.229218602,"cg_iq_a":-0.13550359,"cg_iq_raw_a":-0.0571705475,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14289867,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.076689437,"cg_vd_v":0.076689437,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387928486,"cg_vq_v":-0.387928486,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.721924,"values":{"Elec_RPM":-3.00004247e-17,"EncoderCos":38724,"EncoderSin":12487,"GapTicks":54761,"Mech_RPM":-6.00008485e-18,"cg_du":50.1762238,"cg_dv":50.217247,"cg_dw":49.782753,"cg_id_a":0.0789890736,"cg_id_raw_a":-0.371012658,"cg_iq_a":0.290811032,"cg_iq_raw_a":0.766313016,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14289917,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.0723834559,"cg_vd_v":0.0723834559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395540297,"cg_vq_v":-0.395540297,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1605835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.729736,"values":{"Elec_RPM":-3.00004247e-17,"EncoderCos":38719,"EncoderSin":12484,"GapTicks":54760,"Mech_RPM":-6.00008485e-18,"cg_du":50.1761131,"cg_dv":50.2177811,"cg_dw":49.7822189,"cg_id_a":0.0480578691,"cg_id_raw_a":-0.253728062,"cg_iq_a":0.224331111,"cg_iq_raw_a":0.413153559,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9799995,"cg_sample_seq":14289967,"cg_sample_valid":1,"cg_theta_rad":5.00648785,"cg_vd_req_v":0.0732968301,"cg_vd_v":0.0732968301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394910783,"cg_vq_v":-0.394910783,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.578149796,"dclink_p_w":-83.6725311,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1605835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.760986,"values":{"Elec_RPM":-2.94004176e-17,"EncoderCos":38727,"EncoderSin":12514,"GapTicks":54756,"Mech_RPM":-5.88008328e-18,"cg_du":50.188694,"cg_dv":50.2217674,"cg_dw":49.7782326,"cg_id_a":0.367427111,"cg_id_raw_a":0.0960184336,"cg_iq_a":0.808468938,"cg_iq_raw_a":-0.390662968,"cg_iu_a":-0.0337102413,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8600006,"cg_sample_seq":14290020,"cg_sample_valid":1,"cg_theta_rad":5.00798607,"cg_vd_req_v":0.0657068267,"cg_vd_v":0.0657068267,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407645524,"cg_vq_v":-0.407645524,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.632515669,"dclink_p_w":-91.5406113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1654358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.768799,"values":{"Elec_RPM":-2.94004176e-17,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-5.88008328e-18,"cg_du":50.1870995,"cg_dv":50.2095871,"cg_dw":49.7904129,"cg_id_a":0.738748789,"cg_id_raw_a":0.913566709,"cg_iq_a":-0.0725788921,"cg_iq_raw_a":1.14726818,"cg_iu_a":0.256240368,"cg_iv_a":0.721542895,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9254551,"cg_sample_seq":14290067,"cg_sample_valid":1,"cg_theta_rad":5.00786686,"cg_vd_req_v":0.0574003942,"cg_vd_v":0.0574003942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389826626,"cg_vq_v":-0.389826626,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.531032801,"dclink_p_w":-76.8535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.171936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.776611,"values":{"Elec_RPM":-2.8812408e-17,"EncoderCos":38740,"EncoderSin":12500,"GapTicks":54759,"Mech_RPM":-5.76248177e-18,"cg_du":50.1845665,"cg_dv":50.2183228,"cg_dw":49.7816772,"cg_id_a":0.313977182,"cg_id_raw_a":1.24916172,"cg_iq_a":0.629563868,"cg_iq_raw_a":1.24281263,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9254551,"cg_sample_seq":14290116,"cg_sample_valid":1,"cg_theta_rad":5.00636148,"cg_vd_req_v":0.0648327693,"cg_vd_v":0.0648327693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400774747,"cg_vq_v":-0.400774747,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.171936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.784424,"values":{"Elec_RPM":-2.8812408e-17,"EncoderCos":38729,"EncoderSin":12470,"GapTicks":54759,"Mech_RPM":-5.76248177e-18,"cg_du":50.189106,"cg_dv":50.2188797,"cg_dw":49.7811203,"cg_id_a":0.37490803,"cg_id_raw_a":-0.419828862,"cg_iq_a":0.748359799,"cg_iq_raw_a":0.39753595,"cg_iu_a":-1.59219527,"cg_iv_a":0.286616921,"cg_iw_a":1.30557835,"cg_sample_age_us":23.8600006,"cg_sample_seq":14290166,"cg_sample_valid":1,"cg_theta_rad":5.00746441,"cg_vd_req_v":0.0638311356,"cg_vd_v":0.0638311356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405003846,"cg_vq_v":-0.405003846,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1654358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.796143,"values":{"Elec_RPM":-2.82361609e-17,"EncoderCos":38718,"EncoderSin":12501,"GapTicks":54755,"Mech_RPM":-5.64723194e-18,"cg_du":50.1806412,"cg_dv":50.2225761,"cg_dw":49.7774239,"cg_id_a":-0.127458438,"cg_id_raw_a":0.385600597,"cg_iq_a":0.536310792,"cg_iq_raw_a":1.63992429,"cg_iu_a":0.437459469,"cg_iv_a":-0.945673466,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8527279,"cg_sample_seq":14290217,"cg_sample_valid":1,"cg_theta_rad":5.00789022,"cg_vd_req_v":0.0742466897,"cg_vd_v":0.0742466897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405269265,"cg_vq_v":-0.405269265,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.4762344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.803955,"values":{"Elec_RPM":-2.82361609e-17,"EncoderCos":38734,"EncoderSin":12520,"GapTicks":54752,"Mech_RPM":-5.64723194e-18,"cg_du":50.172863,"cg_dv":50.2252541,"cg_dw":49.7747459,"cg_id_a":-0.410565764,"cg_id_raw_a":-0.0868025199,"cg_iq_a":0.287768424,"cg_iq_raw_a":-0.00710229343,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.655722618,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9181824,"cg_sample_seq":14290267,"cg_sample_valid":1,"cg_theta_rad":5.00655365,"cg_vd_req_v":0.0807305798,"cg_vd_v":0.0807305798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403731048,"cg_vq_v":-0.403731048,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.4762344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.811768,"values":{"Elec_RPM":-2.76714381e-17,"EncoderCos":38724,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-5.53428746e-18,"cg_du":50.1732941,"cg_dv":50.2119751,"cg_dw":49.7880249,"cg_id_a":0.100184046,"cg_id_raw_a":-0.190861121,"cg_iq_a":-0.36232394,"cg_iq_raw_a":-0.672982931,"cg_iu_a":0.183752775,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9654541,"cg_sample_seq":14290317,"cg_sample_valid":1,"cg_theta_rad":5.0069561,"cg_vd_req_v":0.0695942044,"cg_vd_v":0.0695942044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385486096,"cg_vq_v":-0.385486096,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.06200504,"dclink_p_w":-153.698318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.81958,"values":{"Elec_RPM":-2.76714381e-17,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-5.53428746e-18,"cg_du":50.1742783,"cg_dv":50.2173462,"cg_dw":49.7826538,"cg_id_a":-0.159582451,"cg_id_raw_a":0.20980145,"cg_iq_a":-0.0597884059,"cg_iq_raw_a":0.0262899622,"cg_iu_a":-0.14244175,"cg_iv_a":0.612811446,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.8672733,"cg_sample_seq":14290367,"cg_sample_valid":1,"cg_theta_rad":5.00752878,"cg_vd_req_v":0.0748444945,"cg_vd_v":0.0748444945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393186897,"cg_vq_v":-0.393186897,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.44437742,"dclink_p_w":-209.037018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.116272,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.827393,"values":{"Elec_RPM":-2.7118008e-17,"EncoderCos":38724,"EncoderSin":12465,"GapTicks":54759,"Mech_RPM":-5.42360159e-18,"cg_du":50.1761894,"cg_dv":50.2181969,"cg_dw":49.7818031,"cg_id_a":-0.0966795757,"cg_id_raw_a":-0.330519825,"cg_iq_a":0.163852319,"cg_iq_raw_a":0.769798398,"cg_iu_a":0.401215553,"cg_iv_a":0.0691540241,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9581814,"cg_sample_seq":14290417,"cg_sample_valid":1,"cg_theta_rad":5.00962019,"cg_vd_req_v":0.0737127662,"cg_vd_v":0.0737127662,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39550513,"cg_vq_v":-0.39550513,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.38276291,"dclink_p_w":-200.119888,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1654358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.835205,"values":{"Elec_RPM":-2.7118008e-17,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54766,"Mech_RPM":-5.42360159e-18,"cg_du":50.1706276,"cg_dv":50.212368,"cg_dw":49.787632,"cg_id_a":-0.0259360261,"cg_id_raw_a":-0.571930885,"cg_iq_a":-0.311393231,"cg_iq_raw_a":-0.637653649,"cg_iu_a":-0.178685904,"cg_iv_a":0.177885413,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9618187,"cg_sample_seq":14290467,"cg_sample_valid":1,"cg_theta_rad":5.00752783,"cg_vd_req_v":0.0725518018,"cg_vd_v":0.0725518018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384431839,"cg_vq_v":-0.384431839,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.33564591,"dclink_p_w":-193.300888,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.866455,"values":{"Elec_RPM":-2.65756488e-17,"EncoderCos":38716,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-5.31512968e-18,"cg_du":50.1739426,"cg_dv":50.2147903,"cg_dw":49.7852097,"cg_id_a":-0.0186908673,"cg_id_raw_a":0.204822749,"cg_iq_a":-0.0100411177,"cg_iq_raw_a":0.0207199603,"cg_iu_a":0.0387773514,"cg_iv_a":0.612811446,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9763641,"cg_sample_seq":14290519,"cg_sample_valid":1,"cg_theta_rad":5.00621891,"cg_vd_req_v":0.0723931789,"cg_vd_v":0.0723931789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390794426,"cg_vq_v":-0.390794426,"cg_vu_v":144.28476,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.52773833,"dclink_p_w":-221.10141,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.874268,"values":{"Elec_RPM":-2.65756488e-17,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-5.31512968e-18,"cg_du":50.1855049,"cg_dv":50.2179146,"cg_dw":49.7820854,"cg_id_a":0.256520927,"cg_id_raw_a":-0.0945881754,"cg_iq_a":0.479660839,"cg_iq_raw_a":0.501379132,"cg_iu_a":0.147508621,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9581814,"cg_sample_seq":14290566,"cg_sample_valid":1,"cg_theta_rad":5.00796366,"cg_vd_req_v":0.0666397288,"cg_vd_v":0.0666397288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40151301,"cg_vq_v":-0.40151301,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.43712878,"dclink_p_w":-208.620148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1654358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.88208,"values":{"Elec_RPM":-2.60441356e-17,"EncoderCos":38727,"EncoderSin":12491,"GapTicks":54760,"Mech_RPM":-5.20882704e-18,"cg_du":50.1681557,"cg_dv":50.2175598,"cg_dw":49.7824402,"cg_id_a":-0.278872848,"cg_id_raw_a":0.262638092,"cg_iq_a":0.0740778297,"cg_iq_raw_a":-0.811661065,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9618187,"cg_sample_seq":14290616,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0784338042,"cg_vd_v":0.0784338042,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390329003,"cg_vq_v":-0.390329003,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.44981408,"dclink_p_w":-209.823837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.889893,"values":{"Elec_RPM":-2.60441356e-17,"EncoderCos":38745,"EncoderSin":12520,"GapTicks":54761,"Mech_RPM":-5.20882704e-18,"cg_du":50.1745033,"cg_dv":50.2165794,"cg_dw":49.7834206,"cg_id_a":0.162778646,"cg_id_raw_a":0.34616676,"cg_iq_a":0.298017591,"cg_iq_raw_a":0.322544545,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333380699,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9727268,"cg_sample_seq":14290666,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.070097886,"cg_vd_v":0.070097886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392977297,"cg_vq_v":-0.392977297,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.38276291,"dclink_p_w":-200.119888,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.1412659,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.897705,"values":{"Elec_RPM":-2.55232534e-17,"EncoderCos":38705,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-5.10465067e-18,"cg_du":50.1731606,"cg_dv":50.2072983,"cg_dw":49.7927017,"cg_id_a":0.341472626,"cg_id_raw_a":0.405786961,"cg_iq_a":-0.292992681,"cg_iq_raw_a":0.114161856,"cg_iu_a":0.0387773514,"cg_iv_a":0.830274463,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9654541,"cg_sample_seq":14290716,"cg_sample_valid":1,"cg_theta_rad":5.00799274,"cg_vd_req_v":0.0664839894,"cg_vd_v":0.0664839894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378814459,"cg_vq_v":-0.378814459,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.19067073,"dclink_p_w":-172.319412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1589661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.909424,"values":{"Elec_RPM":-2.55232534e-17,"EncoderCos":38693,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-5.10465067e-18,"cg_du":50.1720161,"cg_dv":50.2156029,"cg_dw":49.7843971,"cg_id_a":-0.18088001,"cg_id_raw_a":0.178765208,"cg_iq_a":0.310635149,"cg_iq_raw_a":-0.745908499,"cg_iu_a":-0.214929581,"cg_iv_a":-0.546991229,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14290766,"cg_sample_valid":1,"cg_theta_rad":5.0064764,"cg_vd_req_v":0.0767829493,"cg_vd_v":0.0767829493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389190495,"cg_vq_v":-0.389190495,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-1.17254877,"dclink_p_w":-169.696716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1589661,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.917236,"values":{"Elec_RPM":-2.5012787e-17,"EncoderCos":38717,"EncoderSin":12512,"GapTicks":54767,"Mech_RPM":-5.00255756e-18,"cg_du":50.1641235,"cg_dv":50.2110443,"cg_dw":49.7889557,"cg_id_a":-0.0635608435,"cg_id_raw_a":0.149111733,"cg_iq_a":-0.0880476534,"cg_iq_raw_a":-0.276220739,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9509087,"cg_sample_seq":14290816,"cg_sample_valid":1,"cg_theta_rad":5.0061698,"cg_vd_req_v":0.0758366883,"cg_vd_v":0.0758366883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38028729,"cg_vq_v":-0.38028729,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-1.33745813,"dclink_p_w":-193.563171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1524963,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.925049,"values":{"Elec_RPM":-2.5012787e-17,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-5.00255756e-18,"cg_du":50.1719818,"cg_dv":50.2106209,"cg_dw":49.7893791,"cg_id_a":0.0822456107,"cg_id_raw_a":-0.0694935769,"cg_iq_a":0.243813649,"cg_iq_raw_a":0.0303402208,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065315,"cg_iw_a":0.616945744,"cg_sample_age_us":23.863636,"cg_sample_seq":14290866,"cg_sample_valid":1,"cg_theta_rad":5.00999784,"cg_vd_req_v":0.0705749467,"cg_vd_v":0.0705749467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383875757,"cg_vq_v":-0.383875757,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-1.33745813,"dclink_p_w":-193.563171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1233826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.932861,"values":{"Elec_RPM":-2.45125313e-17,"EncoderCos":38732,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-4.90250634e-18,"cg_du":50.1580124,"cg_dv":50.2084885,"cg_dw":49.7915115,"cg_id_a":-0.27870667,"cg_id_raw_a":-0.385239601,"cg_iq_a":-0.362888992,"cg_iq_raw_a":0.0373537987,"cg_iu_a":0.727410197,"cg_iv_a":0.177885473,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.9581814,"cg_sample_seq":14290916,"cg_sample_valid":1,"cg_theta_rad":5.00762415,"cg_vd_req_v":0.0776453018,"cg_vd_v":0.0776453018,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373479933,"cg_vq_v":-0.373479933,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-1.33745813,"dclink_p_w":-193.563171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1233826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2584.940674,"values":{"Elec_RPM":-2.45125313e-17,"EncoderCos":38750,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-4.90250634e-18,"cg_du":50.1697998,"cg_dv":50.2105789,"cg_dw":49.7894211,"cg_id_a":0.0463126227,"cg_id_raw_a":0.0666935816,"cg_iq_a":0.086655885,"cg_iq_raw_a":0.152488708,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8563633,"cg_sample_seq":14290966,"cg_sample_valid":1,"cg_theta_rad":5.00829458,"cg_vd_req_v":0.0710697025,"cg_vd_v":0.0710697025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384645611,"cg_vq_v":-0.384645611,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-1.46612382,"dclink_p_w":-212.184265,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1524963,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2584.971924,"values":{"Elec_RPM":-2.40222812e-17,"EncoderCos":38716,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-4.80445608e-18,"cg_du":50.1708908,"cg_dv":50.2076187,"cg_dw":49.7923813,"cg_id_a":0.212620467,"cg_id_raw_a":-0.142996326,"cg_iq_a":-0.00604058057,"cg_iq_raw_a":0.569518268,"cg_iu_a":0.509947062,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.470369458,"cg_sample_age_us":26.8199997,"cg_sample_seq":14291021,"cg_sample_valid":1,"cg_theta_rad":5.00748968,"cg_vd_req_v":0.0676815733,"cg_vd_v":0.0676815733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378137052,"cg_vq_v":-0.378137052,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-1.12180734,"dclink_p_w":-162.35318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.979736,"values":{"Elec_RPM":-2.40222812e-17,"EncoderCos":38704,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-4.80445608e-18,"cg_du":50.1630592,"cg_dv":50.2125816,"cg_dw":49.7874184,"cg_id_a":-0.341972113,"cg_id_raw_a":-0.713832378,"cg_iq_a":0.111863062,"cg_iq_raw_a":-1.49267447,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9581814,"cg_sample_seq":14291066,"cg_sample_valid":1,"cg_theta_rad":5.00603724,"cg_vd_req_v":0.0802883804,"cg_vd_v":0.0802883804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380144298,"cg_vq_v":-0.380144298,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-1.17073655,"dclink_p_w":-168.919449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2584.987549,"values":{"Elec_RPM":-2.35418349e-17,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-4.70836705e-18,"cg_du":50.1736526,"cg_dv":50.2107773,"cg_dw":49.7892227,"cg_id_a":0.121796407,"cg_id_raw_a":0.476106197,"cg_iq_a":0.277279347,"cg_iq_raw_a":-0.170552462,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284357,"cg_iw_a":0.471970022,"cg_sample_age_us":23.9836369,"cg_sample_seq":14291116,"cg_sample_valid":1,"cg_theta_rad":5.0059638,"cg_vd_req_v":0.0694151148,"cg_vd_v":0.0694151148,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385036558,"cg_vq_v":-0.385036558,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-1.17073655,"dclink_p_w":-168.919449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2584.990966,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2584.990971,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2584.990976,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2584.995361,"values":{"Elec_RPM":-2.35418349e-17,"EncoderCos":38712,"EncoderSin":12479,"GapTicks":54768,"Mech_RPM":-4.70836705e-18,"cg_du":50.1700745,"cg_dv":50.2106018,"cg_dw":49.7893982,"cg_id_a":-0.0822899416,"cg_id_raw_a":0.300584108,"cg_iq_a":0.0469376892,"cg_iq_raw_a":-0.734282315,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.01816094,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9836369,"cg_sample_seq":14291166,"cg_sample_valid":1,"cg_theta_rad":5.00585127,"cg_vd_req_v":0.0720226616,"cg_vd_v":0.0720226616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38278079,"cg_vq_v":-0.38278079,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-1.17073655,"dclink_p_w":-168.919449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.003174,"values":{"Elec_RPM":-2.3070997e-17,"EncoderCos":38758,"EncoderSin":12486,"GapTicks":54775,"Mech_RPM":-4.61419957e-18,"cg_du":50.1611977,"cg_dv":50.2043915,"cg_dw":49.7956085,"cg_id_a":0.0165020078,"cg_id_raw_a":0.197270453,"cg_iq_a":-0.726874352,"cg_iq_raw_a":0.345607251,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9690914,"cg_sample_seq":14291216,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0688912049,"cg_vd_v":0.0688912049,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370094597,"cg_vq_v":-0.370094597,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-1.13811707,"dclink_p_w":-165.214249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.010986,"values":{"Elec_RPM":-2.3070997e-17,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-4.61419957e-18,"cg_du":50.1738739,"cg_dv":50.2085381,"cg_dw":49.7914619,"cg_id_a":-0.0369362831,"cg_id_raw_a":-0.211645812,"cg_iq_a":-0.139643252,"cg_iq_raw_a":-0.0205682106,"cg_iu_a":-1.12102532,"cg_iv_a":-0.0395776033,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9727268,"cg_sample_seq":14291268,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0675677955,"cg_vd_v":0.0675677955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380825818,"cg_vq_v":-0.380825818,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.022705,"values":{"Elec_RPM":-2.26095775e-17,"EncoderCos":38732,"EncoderSin":12502,"GapTicks":54771,"Mech_RPM":-4.52191558e-18,"cg_du":50.1670113,"cg_dv":50.2080154,"cg_dw":49.7919846,"cg_id_a":-0.0975465178,"cg_id_raw_a":-0.186499521,"cg_iq_a":-0.227117464,"cg_iq_raw_a":-0.744493484,"cg_iu_a":0.0387773514,"cg_iv_a":-0.257040501,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9836369,"cg_sample_seq":14291316,"cg_sample_valid":1,"cg_theta_rad":5.00622034,"cg_vd_req_v":0.0693769529,"cg_vd_v":0.0693769529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376823515,"cg_vq_v":-0.376823515,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1638184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.030518,"values":{"Elec_RPM":-2.26095775e-17,"EncoderCos":38719,"EncoderSin":12470,"GapTicks":54776,"Mech_RPM":-4.52191558e-18,"cg_du":50.1737556,"cg_dv":50.2032509,"cg_dw":49.7967491,"cg_id_a":0.257285565,"cg_id_raw_a":-0.00582932727,"cg_iq_a":-0.192391217,"cg_iq_raw_a":-0.618864059,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9763641,"cg_sample_seq":14291366,"cg_sample_valid":1,"cg_theta_rad":5.00697184,"cg_vd_req_v":0.0613934882,"cg_vd_v":0.0613934882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373772204,"cg_vq_v":-0.373772204,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1605835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.03833,"values":{"Elec_RPM":-2.21573876e-17,"EncoderCos":38700,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-4.43147744e-18,"cg_du":50.1721153,"cg_dv":50.2071152,"cg_dw":49.7928848,"cg_id_a":-0.0752619207,"cg_id_raw_a":-0.135740802,"cg_iq_a":0.0844327062,"cg_iq_raw_a":0.0597580709,"cg_iu_a":0.618678689,"cg_iv_a":-0.25704062,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14291416,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0683313087,"cg_vd_v":0.0683313087,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378951281,"cg_vq_v":-0.378951281,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1622009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.050049,"values":{"Elec_RPM":-2.21573876e-17,"EncoderCos":38726,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-4.43147744e-18,"cg_du":50.1546516,"cg_dv":50.198761,"cg_dw":49.801239,"cg_id_a":-0.220774606,"cg_id_raw_a":-0.274909586,"cg_iq_a":-0.940403223,"cg_iq_raw_a":-0.680710971,"cg_iu_a":0.654922485,"cg_iv_a":0.0691539049,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9290905,"cg_sample_seq":14291466,"cg_sample_valid":1,"cg_theta_rad":5.00756264,"cg_vd_req_v":0.0712448508,"cg_vd_v":0.0712448508,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358225942,"cg_vq_v":-0.358225942,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1622009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.057861,"values":{"Elec_RPM":-2.17142389e-17,"EncoderCos":38691,"EncoderSin":12479,"GapTicks":54775,"Mech_RPM":-4.34284794e-18,"cg_du":50.165432,"cg_dv":50.2044334,"cg_dw":49.7955666,"cg_id_a":-0.200188339,"cg_id_raw_a":-0.0792211443,"cg_iq_a":-0.162501812,"cg_iq_raw_a":-0.080296807,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9218178,"cg_sample_seq":14291516,"cg_sample_valid":1,"cg_theta_rad":5.00585985,"cg_vd_req_v":0.0714236423,"cg_vd_v":0.0714236423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371424824,"cg_vq_v":-0.371424824,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.30476904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1444092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.085205,"values":{"Elec_RPM":-2.17142389e-17,"EncoderCos":38761,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-4.34284794e-18,"cg_du":50.1584702,"cg_dv":50.2056961,"cg_dw":49.7943039,"cg_id_a":-0.159513682,"cg_id_raw_a":-0.252369314,"cg_iq_a":-0.122656599,"cg_iq_raw_a":-0.27590996,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8781815,"cg_sample_seq":14291571,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0718623847,"cg_vd_v":0.0718623847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369288087,"cg_vq_v":-0.369288087,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1444092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.093018,"values":{"Elec_RPM":-2.12799558e-17,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-4.25599108e-18,"cg_du":50.1658859,"cg_dv":50.2049637,"cg_dw":49.7950363,"cg_id_a":-0.0609689541,"cg_id_raw_a":-0.240148574,"cg_iq_a":0.0494175106,"cg_iq_raw_a":0.268479288,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9290905,"cg_sample_seq":14291616,"cg_sample_valid":1,"cg_theta_rad":5.00572777,"cg_vd_req_v":0.0694602504,"cg_vd_v":0.0694602504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371639371,"cg_vq_v":-0.371639371,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.10083,"values":{"Elec_RPM":-2.08543565e-17,"EncoderCos":38709,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-4.1708713e-18,"cg_du":50.16436,"cg_dv":50.2148094,"cg_dw":49.7851906,"cg_id_a":-0.554695427,"cg_id_raw_a":-1.27862775,"cg_iq_a":0.674783587,"cg_iq_raw_a":2.45956373,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14291766,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0808341727,"cg_vd_v":0.0808341727,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385243505,"cg_vq_v":-0.385243505,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.112549,"values":{"Elec_RPM":-2.04372689e-17,"EncoderCos":38728,"EncoderSin":12493,"GapTicks":54779,"Mech_RPM":-4.08745385e-18,"cg_du":50.164753,"cg_dv":50.2003365,"cg_dw":49.7996635,"cg_id_a":0.234409332,"cg_id_raw_a":0.397913367,"cg_iq_a":-0.202694118,"cg_iq_raw_a":-0.6132465,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9181824,"cg_sample_seq":14291817,"cg_sample_valid":1,"cg_theta_rad":5.00553894,"cg_vd_req_v":0.0644929633,"cg_vd_v":0.0644929633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366099864,"cg_vq_v":-0.366099864,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.120361,"values":{"Elec_RPM":-2.04372689e-17,"EncoderCos":38712,"EncoderSin":12477,"GapTicks":54784,"Mech_RPM":-4.08745385e-18,"cg_du":50.1531181,"cg_dv":50.1963463,"cg_dw":49.8036537,"cg_id_a":-0.0397131145,"cg_id_raw_a":0.107189722,"cg_iq_a":-0.776570141,"cg_iq_raw_a":0.15711534,"cg_iu_a":1.30731153,"cg_iv_a":0.649055362,"cg_iw_a":-1.9563669,"cg_sample_age_us":23.8600006,"cg_sample_seq":14291866,"cg_sample_valid":1,"cg_theta_rad":5.00678778,"cg_vd_req_v":0.0712608993,"cg_vd_v":0.0712608993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3527188,"cg_vq_v":-0.3527188,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.128174,"values":{"Elec_RPM":-2.00285242e-17,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54788,"Mech_RPM":-4.00570483e-18,"cg_du":50.1590347,"cg_dv":50.1924477,"cg_dw":49.8075523,"cg_id_a":0.420688808,"cg_id_raw_a":-0.0521121845,"cg_iq_a":-0.667584181,"cg_iq_raw_a":0.0685706958,"cg_iu_a":-0.106198072,"cg_iv_a":0.975249767,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9581814,"cg_sample_seq":14291917,"cg_sample_valid":1,"cg_theta_rad":5.00655127,"cg_vd_req_v":0.0621354058,"cg_vd_v":0.0621354058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350875437,"cg_vq_v":-0.350875437,"cg_vu_v":116.571533,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.135986,"values":{"Elec_RPM":-2.00285242e-17,"EncoderCos":38709,"EncoderSin":12508,"GapTicks":54770,"Mech_RPM":-4.00570483e-18,"cg_du":50.1655426,"cg_dv":50.2089996,"cg_dw":49.7910004,"cg_id_a":-0.138552412,"cg_id_raw_a":0.221496657,"cg_iq_a":0.559646845,"cg_iq_raw_a":0.495846748,"cg_iu_a":-0.903562307,"cg_iv_a":-1.27186799,"cg_iw_a":2.1754303,"cg_sample_age_us":23.8527279,"cg_sample_seq":14291967,"cg_sample_valid":1,"cg_theta_rad":5.00514078,"cg_vd_req_v":0.0733009502,"cg_vd_v":0.0733009502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37699312,"cg_vq_v":-0.37699312,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1573486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.143799,"values":{"Elec_RPM":-1.96279537e-17,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-3.92559074e-18,"cg_du":50.1612282,"cg_dv":50.2050705,"cg_dw":49.7949295,"cg_id_a":-0.144083694,"cg_id_raw_a":-0.307375938,"cg_iq_a":0.0410689563,"cg_iq_raw_a":-0.321718663,"cg_iu_a":0.14750886,"cg_iv_a":0.214129329,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9763641,"cg_sample_seq":14292017,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.0741444305,"cg_vd_v":0.0741444305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368981212,"cg_vq_v":-0.368981212,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.171936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.175049,"values":{"Elec_RPM":-1.96279537e-17,"EncoderCos":38735,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-3.92559074e-18,"cg_du":50.1612968,"cg_dv":50.2068176,"cg_dw":49.7931824,"cg_id_a":-0.11724437,"cg_id_raw_a":-0.435019672,"cg_iq_a":0.381238788,"cg_iq_raw_a":-0.330796033,"cg_iu_a":0.79989779,"cg_iv_a":-0.365772009,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.863636,"cg_sample_seq":14292070,"cg_sample_valid":1,"cg_theta_rad":5.00639534,"cg_vd_req_v":0.072967425,"cg_vd_v":0.072967425,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373123854,"cg_vq_v":-0.373123854,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.98943615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.182861,"values":{"Elec_RPM":-1.92353936e-17,"EncoderCos":38725,"EncoderSin":12497,"GapTicks":54777,"Mech_RPM":-3.84707889e-18,"cg_du":50.1607475,"cg_dv":50.2023621,"cg_dw":49.7976379,"cg_id_a":-0.032290902,"cg_id_raw_a":0.340441227,"cg_iq_a":0.133817196,"cg_iq_raw_a":0.142279476,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14292116,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.069771491,"cg_vd_v":0.069771491,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366595179,"cg_vq_v":-0.366595179,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.40929508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.190674,"values":{"Elec_RPM":-1.92353936e-17,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.84707889e-18,"cg_du":50.1530075,"cg_dv":50.1972618,"cg_dw":49.8027382,"cg_id_a":-0.198233545,"cg_id_raw_a":-0.416277409,"cg_iq_a":-0.236938715,"cg_iq_raw_a":0.76036489,"cg_iu_a":0.5099473,"cg_iv_a":0.467836142,"cg_iw_a":-0.977783442,"cg_sample_age_us":23.9254551,"cg_sample_seq":14292166,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0727039129,"cg_vd_v":0.0727039129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353803337,"cg_vq_v":-0.353803337,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1379395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.198486,"values":{"Elec_RPM":-1.88506868e-17,"EncoderCos":38720,"EncoderSin":12499,"GapTicks":54777,"Mech_RPM":-3.77013744e-18,"cg_du":50.1543198,"cg_dv":50.2027283,"cg_dw":49.7972717,"cg_id_a":-0.351760596,"cg_id_raw_a":-0.763595641,"cg_iq_a":0.176426172,"cg_iq_raw_a":0.255369425,"cg_iu_a":0.111264944,"cg_iv_a":0.395348489,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9836369,"cg_sample_seq":14292216,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0753292069,"cg_vd_v":0.0753292069,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362313479,"cg_vq_v":-0.362313479,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7104473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.136322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.206299,"values":{"Elec_RPM":-1.88506868e-17,"EncoderCos":38714,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-3.77013744e-18,"cg_du":50.1551895,"cg_dv":50.1974144,"cg_dw":49.8025856,"cg_id_a":-0.121007673,"cg_id_raw_a":-0.316264153,"cg_iq_a":-0.147268906,"cg_iq_raw_a":0.188241541,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9654541,"cg_sample_seq":14292266,"cg_sample_valid":1,"cg_theta_rad":5.0086832,"cg_vd_req_v":0.0703685433,"cg_vd_v":0.0703685433,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355396003,"cg_vq_v":-0.355396003,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.8576698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.136322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.214111,"values":{"Elec_RPM":-1.84736728e-17,"EncoderCos":38727,"EncoderSin":12514,"GapTicks":54778,"Mech_RPM":-3.69473455e-18,"cg_du":50.1590538,"cg_dv":50.2009354,"cg_dw":49.7990646,"cg_id_a":-0.0573107302,"cg_id_raw_a":-0.163391829,"cg_iq_a":0.295735866,"cg_iq_raw_a":1.04120815,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14292316,"cg_sample_valid":1,"cg_theta_rad":5.00798082,"cg_vd_req_v":0.0689151138,"cg_vd_v":0.0689151138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36270383,"cg_vq_v":-0.36270383,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.50984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1605835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.22583,"values":{"Elec_RPM":-1.84736728e-17,"EncoderCos":38785,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-3.69473455e-18,"cg_du":50.1618843,"cg_dv":50.2047997,"cg_dw":49.7952003,"cg_id_a":0.0907658413,"cg_id_raw_a":-0.0272438321,"cg_iq_a":0.554988623,"cg_iq_raw_a":0.0349450596,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9254551,"cg_sample_seq":14292368,"cg_sample_valid":1,"cg_theta_rad":5.00840044,"cg_vd_req_v":0.0661832616,"cg_vd_v":0.0661832616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370338261,"cg_vq_v":-0.370338261,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.4819603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1605835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.233643,"values":{"Elec_RPM":-1.8104201e-17,"EncoderCos":38718,"EncoderSin":12504,"GapTicks":54780,"Mech_RPM":-3.62084003e-18,"cg_du":50.1591606,"cg_dv":50.1999779,"cg_dw":49.8000221,"cg_id_a":-0.048075594,"cg_id_raw_a":0.18425189,"cg_iq_a":0.141174823,"cg_iq_raw_a":0.673848271,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065315,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14292416,"cg_sample_valid":1,"cg_theta_rad":5.00617266,"cg_vd_req_v":0.0691076517,"cg_vd_v":0.0691076517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36237216,"cg_vq_v":-0.36237216,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.3483047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0912476,"temp_inv2_c":38.1379395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.241455,"values":{"Elec_RPM":-1.8104201e-17,"EncoderCos":38713,"EncoderSin":12466,"GapTicks":54780,"Mech_RPM":-3.62084003e-18,"cg_du":50.1505585,"cg_dv":50.1994476,"cg_dw":49.8005524,"cg_id_a":-0.38952297,"cg_id_raw_a":-0.0148537029,"cg_iq_a":-0.0821540207,"cg_iq_raw_a":-0.729143679,"cg_iu_a":0.364971638,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.8600006,"cg_sample_seq":14292466,"cg_sample_valid":1,"cg_theta_rad":5.00668192,"cg_vd_req_v":0.0767071247,"cg_vd_v":0.0767071247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356529444,"cg_vq_v":-0.356529444,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1395569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.249268,"values":{"Elec_RPM":-1.77421159e-17,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54781,"Mech_RPM":-3.54842326e-18,"cg_du":50.1603394,"cg_dv":50.1990891,"cg_dw":49.8009109,"cg_id_a":0.0916962475,"cg_id_raw_a":0.173357219,"cg_iq_a":-0.00813213736,"cg_iq_raw_a":-0.928920805,"cg_iu_a":0.0387773514,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9327278,"cg_sample_seq":14292516,"cg_sample_valid":1,"cg_theta_rad":5.00634336,"cg_vd_req_v":0.0684883296,"cg_vd_v":0.0684883296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360464901,"cg_vq_v":-0.360464901,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1395569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.280518,"values":{"Elec_RPM":-1.73872736e-17,"EncoderCos":38735,"EncoderSin":12466,"GapTicks":54770,"Mech_RPM":-3.47745489e-18,"cg_du":50.1652565,"cg_dv":50.2088928,"cg_dw":49.7911072,"cg_id_a":0.0473454967,"cg_id_raw_a":0.379060775,"cg_iq_a":0.681595266,"cg_iq_raw_a":0.40072459,"cg_iu_a":-1.55595136,"cg_iv_a":-0.112065315,"cg_iw_a":1.66801667,"cg_sample_age_us":23.9909096,"cg_sample_seq":14292666,"cg_sample_valid":1,"cg_theta_rad":5.00953817,"cg_vd_req_v":0.0722866505,"cg_vd_v":0.0722866505,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376909971,"cg_vq_v":-0.376909971,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1427917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.28833,"values":{"Elec_RPM":-1.70395285e-17,"EncoderCos":38757,"EncoderSin":12507,"GapTicks":54778,"Mech_RPM":-3.40790575e-18,"cg_du":50.1540985,"cg_dv":50.2017784,"cg_dw":49.7982216,"cg_id_a":0.0285086446,"cg_id_raw_a":0.0622287467,"cg_iq_a":-0.0604391471,"cg_iq_raw_a":-0.0301803723,"cg_iu_a":0.582434773,"cg_iv_a":0.0691539645,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9872723,"cg_sample_seq":14292716,"cg_sample_valid":1,"cg_theta_rad":5.00840855,"cg_vd_req_v":0.0715590194,"cg_vd_v":0.0715590194,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362648934,"cg_vq_v":-0.362648934,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1379395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.296143,"values":{"Elec_RPM":-1.70395285e-17,"EncoderCos":38707,"EncoderSin":12513,"GapTicks":54771,"Mech_RPM":-3.40790575e-18,"cg_du":50.146862,"cg_dv":50.2081032,"cg_dw":49.7918968,"cg_id_a":-0.795221686,"cg_id_raw_a":-0.138651803,"cg_iq_a":0.141321927,"cg_iq_raw_a":-0.122001797,"cg_iu_a":0.0387773514,"cg_iv_a":-0.655722737,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8709087,"cg_sample_seq":14292766,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.0873955041,"cg_vd_v":0.0873955041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366391778,"cg_vq_v":-0.366391778,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1379395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.303955,"values":{"Elec_RPM":-1.66987384e-17,"EncoderCos":38710,"EncoderSin":12511,"GapTicks":54789,"Mech_RPM":-3.33974772e-18,"cg_du":50.1564217,"cg_dv":50.191349,"cg_dw":49.808651,"cg_id_a":0.454650581,"cg_id_raw_a":-0.0549773909,"cg_iq_a":-0.740394413,"cg_iq_raw_a":-0.550761819,"cg_iu_a":-0.287417412,"cg_iv_a":1.37393188,"cg_iw_a":-1.08651447,"cg_sample_age_us":23.863636,"cg_sample_seq":14292816,"cg_sample_valid":1,"cg_theta_rad":5.00716496,"cg_vd_req_v":0.0631473884,"cg_vd_v":0.0631473884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347911596,"cg_vq_v":-0.347911596,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1427917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.311768,"values":{"Elec_RPM":-1.66987384e-17,"EncoderCos":38738,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-3.33974772e-18,"cg_du":50.1655846,"cg_dv":50.2082481,"cg_dw":49.7917519,"cg_id_a":0.0531093217,"cg_id_raw_a":0.0497690775,"cg_iq_a":0.533726573,"cg_iq_raw_a":0.551549315,"cg_iu_a":-0.613611937,"cg_iv_a":-0.583235145,"cg_iw_a":1.19684708,"cg_sample_age_us":23.8600006,"cg_sample_seq":14292867,"cg_sample_valid":1,"cg_theta_rad":5.00750971,"cg_vd_req_v":0.0712212995,"cg_vd_v":0.0712212995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376246393,"cg_vq_v":-0.376246393,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.113678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.31958,"values":{"Elec_RPM":-1.63647626e-17,"EncoderCos":38702,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-3.27295268e-18,"cg_du":50.1671562,"cg_dv":50.2074852,"cg_dw":49.7925148,"cg_id_a":0.0930540264,"cg_id_raw_a":0.1656719,"cg_iq_a":0.364739805,"cg_iq_raw_a":0.199717715,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.508213818,"cg_sample_age_us":23.9581814,"cg_sample_seq":14292916,"cg_sample_valid":1,"cg_theta_rad":5.00771046,"cg_vd_req_v":0.0718838647,"cg_vd_v":0.0718838647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375591934,"cg_vq_v":-0.375591934,"cg_vu_v":37.3908691,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.113678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.327393,"values":{"Elec_RPM":-1.63647626e-17,"EncoderCos":38740,"EncoderSin":12472,"GapTicks":54771,"Mech_RPM":-3.27295268e-18,"cg_du":50.1573105,"cg_dv":50.2075615,"cg_dw":49.7924385,"cg_id_a":-0.129461035,"cg_id_raw_a":-0.221187174,"cg_iq_a":0.115740284,"cg_iq_raw_a":0.307825923,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.148308992,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14292966,"cg_sample_valid":1,"cg_theta_rad":5.00799179,"cg_vd_req_v":0.0766690224,"cg_vd_v":0.0766690224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37077105,"cg_vq_v":-0.37077105,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1460266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.339111,"values":{"Elec_RPM":-1.60374671e-17,"EncoderCos":38748,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-3.20749353e-18,"cg_du":50.1542091,"cg_dv":50.2044449,"cg_dw":49.7955551,"cg_id_a":-0.0777253434,"cg_id_raw_a":-0.292794555,"cg_iq_a":-0.407028675,"cg_iq_raw_a":0.410968423,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397761,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9836369,"cg_sample_seq":14293017,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0754627362,"cg_vd_v":0.0754627362,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366081655,"cg_vq_v":-0.366081655,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1347046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.366455,"values":{"Elec_RPM":-1.60374671e-17,"EncoderCos":38749,"EncoderSin":12501,"GapTicks":54774,"Mech_RPM":-3.20749353e-18,"cg_du":50.1597824,"cg_dv":50.2049179,"cg_dw":49.7950821,"cg_id_a":0.121358216,"cg_id_raw_a":0.227401331,"cg_iq_a":-0.161112085,"cg_iq_raw_a":0.239356115,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796824,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8745461,"cg_sample_seq":14293070,"cg_sample_valid":1,"cg_theta_rad":5.00530386,"cg_vd_req_v":0.0708927289,"cg_vd_v":0.0708927289,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369957596,"cg_vq_v":-0.369957596,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1347046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.374268,"values":{"Elec_RPM":-1.57167178e-17,"EncoderCos":38719,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-3.14334361e-18,"cg_du":50.1598625,"cg_dv":50.214222,"cg_dw":49.785778,"cg_id_a":-0.411999702,"cg_id_raw_a":-0.197746396,"cg_iq_a":0.332121491,"cg_iq_raw_a":-0.600849867,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9472733,"cg_sample_seq":14293116,"cg_sample_valid":1,"cg_theta_rad":5.00584269,"cg_vd_req_v":0.0823652446,"cg_vd_v":0.0823652446,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381007284,"cg_vq_v":-0.381007284,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1266174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.38208,"values":{"Elec_RPM":-1.57167178e-17,"EncoderCos":38714,"EncoderSin":12495,"GapTicks":54770,"Mech_RPM":-3.14334361e-18,"cg_du":50.1644783,"cg_dv":50.2087402,"cg_dw":49.7912598,"cg_id_a":-0.039539244,"cg_id_raw_a":-0.267426908,"cg_iq_a":-0.0120997131,"cg_iq_raw_a":0.120414265,"cg_iu_a":0.437459469,"cg_iv_a":0.395348489,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9618187,"cg_sample_seq":14293166,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.0737947971,"cg_vd_v":0.0737947971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376064688,"cg_vq_v":-0.376064688,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1266174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.393799,"values":{"Elec_RPM":-1.54023826e-17,"EncoderCos":38716,"EncoderSin":12523,"GapTicks":54770,"Mech_RPM":-3.08047664e-18,"cg_du":50.1682281,"cg_dv":50.2087364,"cg_dw":49.7912636,"cg_id_a":0.285147339,"cg_id_raw_a":0.551356435,"cg_iq_a":-0.10773316,"cg_iq_raw_a":-0.529327214,"cg_iu_a":-0.0699543953,"cg_iv_a":0.105397761,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.863636,"cg_sample_seq":14293216,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.0699421018,"cg_vd_v":0.0699421018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37832886,"cg_vq_v":-0.37832886,"cg_vu_v":39.590332,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1282349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.401611,"values":{"Elec_RPM":-1.54023826e-17,"EncoderCos":38712,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.08047664e-18,"cg_du":50.1643753,"cg_dv":50.2072983,"cg_dw":49.7927017,"cg_id_a":0.109648079,"cg_id_raw_a":-0.103959627,"cg_iq_a":-0.343391657,"cg_iq_raw_a":-0.0459971726,"cg_iu_a":0.111264944,"cg_iv_a":0.322860837,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.863636,"cg_sample_seq":14293266,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.0733635053,"cg_vd_v":0.0733635053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373867959,"cg_vq_v":-0.373867959,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1169128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.409424,"values":{"Elec_RPM":-1.50943356e-17,"EncoderCos":38735,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-3.0188672e-18,"cg_du":50.1637344,"cg_dv":50.2102928,"cg_dw":49.7897072,"cg_id_a":0.101302274,"cg_id_raw_a":-0.357998759,"cg_iq_a":-0.0526638925,"cg_iq_raw_a":-0.251422703,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9654541,"cg_sample_seq":14293316,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0749864429,"cg_vd_v":0.0749864429,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379129916,"cg_vq_v":-0.379129916,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.9408302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1169128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.417236,"values":{"Elec_RPM":-1.50943356e-17,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.0188672e-18,"cg_du":50.1696625,"cg_dv":50.2131805,"cg_dw":49.7868195,"cg_id_a":0.103272371,"cg_id_raw_a":0.619032621,"cg_iq_a":0.330175668,"cg_iq_raw_a":1.80916142,"cg_iu_a":1.16233623,"cg_iv_a":0.39534843,"cg_iw_a":-1.55768466,"cg_sample_age_us":23.863636,"cg_sample_seq":14293367,"cg_sample_valid":1,"cg_theta_rad":5.00562763,"cg_vd_req_v":0.0743198469,"cg_vd_v":0.0743198469,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386168987,"cg_vq_v":-0.386168987,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6882429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1120605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.425049,"values":{"Elec_RPM":-1.47924494e-17,"EncoderCos":38747,"EncoderSin":12483,"GapTicks":54762,"Mech_RPM":-2.95848984e-18,"cg_du":50.1702538,"cg_dv":50.2159996,"cg_dw":49.7840004,"cg_id_a":0.116878644,"cg_id_raw_a":0.182912216,"cg_iq_a":0.447288096,"cg_iq_raw_a":-0.200965121,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14293417,"cg_sample_valid":1,"cg_theta_rad":5.01021194,"cg_vd_req_v":0.0739383548,"cg_vd_v":0.0739383548,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390857369,"cg_vq_v":-0.390857369,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.432861,"values":{"Elec_RPM":-1.47924494e-17,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-2.95848984e-18,"cg_du":50.1696777,"cg_dv":50.2079048,"cg_dw":49.7920952,"cg_id_a":0.347423494,"cg_id_raw_a":-0.0607855469,"cg_iq_a":-0.346145153,"cg_iq_raw_a":-0.478769004,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397701,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9181824,"cg_sample_seq":14293467,"cg_sample_valid":1,"cg_theta_rad":5.00607824,"cg_vd_req_v":0.0697824061,"cg_vd_v":0.0697824061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377684057,"cg_vq_v":-0.377684057,"cg_vu_v":137.686371,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.440674,"values":{"Elec_RPM":-1.44966e-17,"EncoderCos":38733,"EncoderSin":12517,"GapTicks":54759,"Mech_RPM":-2.89931995e-18,"cg_du":50.1722183,"cg_dv":50.218689,"cg_dw":49.781311,"cg_id_a":0.073513031,"cg_id_raw_a":0.209259108,"cg_iq_a":0.253327161,"cg_iq_raw_a":0.201931223,"cg_iu_a":-0.323661089,"cg_iv_a":-0.257040501,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9581814,"cg_sample_seq":14293517,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0750848949,"cg_vd_v":0.0750848949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394374549,"cg_vq_v":-0.394374549,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1330872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.471924,"values":{"Elec_RPM":-1.44966e-17,"EncoderCos":38720,"EncoderSin":12514,"GapTicks":54759,"Mech_RPM":-2.89931995e-18,"cg_du":50.1680679,"cg_dv":50.2183838,"cg_dw":49.7816162,"cg_id_a":-0.0693758428,"cg_id_raw_a":-0.00522750383,"cg_iq_a":0.093951121,"cg_iq_raw_a":1.12889564,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":26.8272724,"cg_sample_seq":14293570,"cg_sample_valid":1,"cg_theta_rad":5.00619459,"cg_vd_req_v":0.0793020949,"cg_vd_v":0.0793020949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391402274,"cg_vq_v":-0.391402274,"cg_vu_v":27.2733402,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1330872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.479736,"values":{"Elec_RPM":-1.42066682e-17,"EncoderCos":38701,"EncoderSin":12472,"GapTicks":54766,"Mech_RPM":-2.84133356e-18,"cg_du":50.1700249,"cg_dv":50.2127151,"cg_dw":49.7872849,"cg_id_a":0.108402163,"cg_id_raw_a":0.577006817,"cg_iq_a":-0.170478493,"cg_iq_raw_a":-0.122500628,"cg_iu_a":0.14750886,"cg_iv_a":0.467836082,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9581814,"cg_sample_seq":14293616,"cg_sample_valid":1,"cg_theta_rad":5.0059762,"cg_vd_req_v":0.0752759799,"cg_vd_v":0.0752759799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385411382,"cg_vq_v":-0.385411382,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.208462834,"dclink_p_w":-30.1697121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.487549,"values":{"Elec_RPM":-1.42066682e-17,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54768,"Mech_RPM":-2.84133356e-18,"cg_du":50.1697578,"cg_dv":50.2102661,"cg_dw":49.7897339,"cg_id_a":0.265790671,"cg_id_raw_a":0.180755526,"cg_iq_a":-0.327822745,"cg_iq_raw_a":-0.382246286,"cg_iu_a":0.00253343582,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9400005,"cg_sample_seq":14293666,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0711109191,"cg_vd_v":0.0711109191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382304162,"cg_vq_v":-0.382304162,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.113678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.495361,"values":{"Elec_RPM":-1.3922535e-17,"EncoderCos":38718,"EncoderSin":12534,"GapTicks":54762,"Mech_RPM":-2.78450687e-18,"cg_du":50.1683884,"cg_dv":50.2154884,"cg_dw":49.7845116,"cg_id_a":0.0276340693,"cg_id_raw_a":-0.0946105495,"cg_iq_a":-0.105479285,"cg_iq_raw_a":-0.372097224,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14293716,"cg_sample_valid":1,"cg_theta_rad":5.00784731,"cg_vd_req_v":0.0761200041,"cg_vd_v":0.0761200041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388886005,"cg_vq_v":-0.388886005,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.113678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.50708,"values":{"Elec_RPM":-1.3922535e-17,"EncoderCos":38682,"EncoderSin":12452,"GapTicks":54762,"Mech_RPM":-2.78450687e-18,"cg_du":50.1757774,"cg_dv":50.2159843,"cg_dw":49.7840157,"cg_id_a":0.0854465365,"cg_id_raw_a":-0.3956756,"cg_iq_a":-0.0188063979,"cg_iq_raw_a":0.90596509,"cg_iu_a":0.038777113,"cg_iv_a":0.504079998,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.8563633,"cg_sample_seq":14293767,"cg_sample_valid":1,"cg_theta_rad":5.00640678,"cg_vd_req_v":0.0759738684,"cg_vd_v":0.0759738684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391496539,"cg_vq_v":-0.391496539,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.7823029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.0651855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.514893,"values":{"Elec_RPM":-1.36440836e-17,"EncoderCos":38725,"EncoderSin":12488,"GapTicks":54759,"Mech_RPM":-2.72881673e-18,"cg_du":50.174118,"cg_dv":50.2190895,"cg_dw":49.7809105,"cg_id_a":0.102198049,"cg_id_raw_a":0.13892664,"cg_iq_a":-0.0531203002,"cg_iq_raw_a":0.0504623875,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0758213997,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9872723,"cg_sample_seq":14293817,"cg_sample_valid":1,"cg_theta_rad":5.00688457,"cg_vd_req_v":0.0752582401,"cg_vd_v":0.0752582401,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394494534,"cg_vq_v":-0.394494534,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1298523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.522705,"values":{"Elec_RPM":-1.36440836e-17,"EncoderCos":38724,"EncoderSin":12487,"GapTicks":54757,"Mech_RPM":-2.72881673e-18,"cg_du":50.1764793,"cg_dv":50.2201233,"cg_dw":49.7798767,"cg_id_a":0.0671111047,"cg_id_raw_a":-0.0172556192,"cg_iq_a":0.0889721364,"cg_iq_raw_a":0.144790232,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8600006,"cg_sample_seq":14293866,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0747522339,"cg_vd_v":0.0747522339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398402482,"cg_vq_v":-0.398402482,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1298523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.530518,"values":{"Elec_RPM":-1.33712017e-17,"EncoderCos":38717,"EncoderSin":12497,"GapTicks":54755,"Mech_RPM":-2.67424039e-18,"cg_du":50.1795845,"cg_dv":50.2226334,"cg_dw":49.7773666,"cg_id_a":-0.05001105,"cg_id_raw_a":-0.284985363,"cg_iq_a":0.314758956,"cg_iq_raw_a":0.956415713,"cg_iu_a":-0.39614892,"cg_iv_a":-0.0395774841,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9581814,"cg_sample_seq":14293917,"cg_sample_valid":1,"cg_theta_rad":5.00623798,"cg_vd_req_v":0.0751081482,"cg_vd_v":0.0751081482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403485835,"cg_vq_v":-0.403485835,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8254967,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.53833,"values":{"Elec_RPM":-1.33712017e-17,"EncoderCos":38706,"EncoderSin":12507,"GapTicks":54756,"Mech_RPM":-2.67424039e-18,"cg_du":50.1744881,"cg_dv":50.2213593,"cg_dw":49.7786407,"cg_id_a":-0.199024543,"cg_id_raw_a":-0.090773508,"cg_iq_a":0.00939281657,"cg_iq_raw_a":0.246803045,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14293966,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.0785985813,"cg_vd_v":0.0785985813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398757577,"cg_vq_v":-0.398757577,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.546143,"values":{"Elec_RPM":-1.31037775e-17,"EncoderCos":38678,"EncoderSin":12460,"GapTicks":54753,"Mech_RPM":-2.62075551e-18,"cg_du":50.18787,"cg_dv":50.2244568,"cg_dw":49.7755432,"cg_id_a":-0.00635588169,"cg_id_raw_a":-0.0332956091,"cg_iq_a":0.500947237,"cg_iq_raw_a":0.471120834,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14294017,"cg_sample_valid":1,"cg_theta_rad":5.00702095,"cg_vd_req_v":0.0750527084,"cg_vd_v":0.0750527084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409780651,"cg_vq_v":-0.409780651,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0922232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1185303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.577393,"values":{"Elec_RPM":-1.31037775e-17,"EncoderCos":38741,"EncoderSin":12507,"GapTicks":54750,"Mech_RPM":-2.62075551e-18,"cg_du":50.1751175,"cg_dv":50.2268333,"cg_dw":49.7731667,"cg_id_a":-0.183417246,"cg_id_raw_a":0.143702358,"cg_iq_a":0.237728983,"cg_iq_raw_a":0.232141241,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":26.823637,"cg_sample_seq":14294070,"cg_sample_valid":1,"cg_theta_rad":5.00850105,"cg_vd_req_v":0.0801905468,"cg_vd_v":0.0801905468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407195449,"cg_vq_v":-0.407195449,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0922232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0942688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.585205,"values":{"Elec_RPM":-1.28417019e-17,"EncoderCos":38710,"EncoderSin":12460,"GapTicks":54758,"Mech_RPM":-2.56834038e-18,"cg_du":50.1808815,"cg_dv":50.2199783,"cg_dw":49.7800217,"cg_id_a":0.0393429436,"cg_id_raw_a":0.464507729,"cg_iq_a":-0.0589768067,"cg_iq_raw_a":0.156891435,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14294116,"cg_sample_valid":1,"cg_theta_rad":5.00650883,"cg_vd_req_v":0.0731688589,"cg_vd_v":0.0731688589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400303602,"cg_vq_v":-0.400303602,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0922232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0942688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.593018,"values":{"Elec_RPM":-1.28417019e-17,"EncoderCos":38726,"EncoderSin":12493,"GapTicks":54757,"Mech_RPM":-2.56834038e-18,"cg_du":50.1766205,"cg_dv":50.220005,"cg_dw":49.779995,"cg_id_a":-0.0340404809,"cg_id_raw_a":0.505855143,"cg_iq_a":-0.284331441,"cg_iq_raw_a":-0.715774536,"cg_iu_a":0.618678689,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9509087,"cg_sample_seq":14294166,"cg_sample_valid":1,"cg_theta_rad":5.00832558,"cg_vd_req_v":0.0741807148,"cg_vd_v":0.0741807148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398384184,"cg_vq_v":-0.398384184,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1104431,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.60083,"values":{"Elec_RPM":-1.25848673e-17,"EncoderCos":38713,"EncoderSin":12494,"GapTicks":54754,"Mech_RPM":-2.5169735e-18,"cg_du":50.1793518,"cg_dv":50.2230949,"cg_dw":49.7769051,"cg_id_a":-0.125318676,"cg_id_raw_a":-0.440476775,"cg_iq_a":-0.0486282073,"cg_iq_raw_a":-0.26073584,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14294216,"cg_sample_valid":1,"cg_theta_rad":5.00815916,"cg_vd_req_v":0.0764211714,"cg_vd_v":0.0764211714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405127585,"cg_vq_v":-0.405127585,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1217651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.608643,"values":{"Elec_RPM":-1.25848673e-17,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54754,"Mech_RPM":-2.5169735e-18,"cg_du":50.1951218,"cg_dv":50.2235565,"cg_dw":49.7764435,"cg_id_a":0.394222915,"cg_id_raw_a":0.482263744,"cg_iq_a":0.348136127,"cg_iq_raw_a":0.193637431,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14294266,"cg_sample_valid":1,"cg_theta_rad":5.00753927,"cg_vd_req_v":0.0644974411,"cg_vd_v":0.0644974411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414634943,"cg_vq_v":-0.414634943,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1217651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.620361,"values":{"Elec_RPM":-1.23331703e-17,"EncoderCos":38703,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-2.46663398e-18,"cg_du":50.1850128,"cg_dv":50.2129326,"cg_dw":49.7870674,"cg_id_a":0.417087674,"cg_id_raw_a":-0.145479783,"cg_iq_a":-0.869397044,"cg_iq_raw_a":-0.0505112894,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9654541,"cg_sample_seq":14294317,"cg_sample_valid":1,"cg_theta_rad":5.00731134,"cg_vd_req_v":0.0636533126,"cg_vd_v":0.0636533126,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392980307,"cg_vq_v":-0.392980307,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1185303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.628174,"values":{"Elec_RPM":-1.23331703e-17,"EncoderCos":38739,"EncoderSin":12513,"GapTicks":54751,"Mech_RPM":-2.46663398e-18,"cg_du":50.1847687,"cg_dv":50.2261009,"cg_dw":49.7738991,"cg_id_a":0.0605621338,"cg_id_raw_a":0.771420717,"cg_iq_a":0.243104771,"cg_iq_raw_a":0.725604594,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.655722737,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9581814,"cg_sample_seq":14294367,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0716709644,"cg_vd_v":0.0716709644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410309851,"cg_vq_v":-0.410309851,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1185303,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.635986,"values":{"Elec_RPM":-1.20865067e-17,"EncoderCos":38749,"EncoderSin":12483,"GapTicks":54753,"Mech_RPM":-2.41730134e-18,"cg_du":50.1858215,"cg_dv":50.2242508,"cg_dw":49.7757492,"cg_id_a":0.0685589239,"cg_id_raw_a":0.119642183,"cg_iq_a":0.135057926,"cg_iq_raw_a":0.266335338,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9836369,"cg_sample_seq":14294417,"cg_sample_valid":1,"cg_theta_rad":5.00663948,"cg_vd_req_v":0.068987377,"cg_vd_v":0.068987377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408385456,"cg_vq_v":-0.408385456,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1039734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.643799,"values":{"Elec_RPM":-1.20865067e-17,"EncoderCos":38723,"EncoderSin":12483,"GapTicks":54754,"Mech_RPM":-2.41730134e-18,"cg_du":50.181179,"cg_dv":50.2235069,"cg_dw":49.7764931,"cg_id_a":-0.22460942,"cg_id_raw_a":0.0277907718,"cg_iq_a":0.14222689,"cg_iq_raw_a":-0.105756357,"cg_iu_a":0.872385383,"cg_iv_a":-0.25704062,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9836369,"cg_sample_seq":14294466,"cg_sample_valid":1,"cg_theta_rad":5.00833273,"cg_vd_req_v":0.0745398849,"cg_vd_v":0.0745398849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405598253,"cg_vq_v":-0.405598253,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.102356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.651611,"values":{"Elec_RPM":-1.18447764e-17,"EncoderCos":38733,"EncoderSin":12487,"GapTicks":54750,"Mech_RPM":-2.36895532e-18,"cg_du":50.1832275,"cg_dv":50.2270927,"cg_dw":49.7729073,"cg_id_a":-0.304366678,"cg_id_raw_a":-0.230925813,"cg_iq_a":0.389621347,"cg_iq_raw_a":0.634428024,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9690914,"cg_sample_seq":14294516,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0753639191,"cg_vd_v":0.0753639191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411820889,"cg_vq_v":-0.411820889,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.102356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.682861,"values":{"Elec_RPM":-1.18447764e-17,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-2.36895532e-18,"cg_du":50.1831551,"cg_dv":50.2177658,"cg_dw":49.7822342,"cg_id_a":0.0588558465,"cg_id_raw_a":0.458896041,"cg_iq_a":-0.212565973,"cg_iq_raw_a":0.225677922,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732882023,"cg_sample_age_us":23.8490906,"cg_sample_seq":14294571,"cg_sample_valid":1,"cg_theta_rad":5.00689554,"cg_vd_req_v":0.0665256679,"cg_vd_v":0.0665256679,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.4002904,"cg_vq_v":-0.4002904,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1088257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.690674,"values":{"Elec_RPM":-1.16078818e-17,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-2.32157627e-18,"cg_du":50.1870308,"cg_dv":50.2180061,"cg_dw":49.7819939,"cg_id_a":0.144279242,"cg_id_raw_a":0.343861908,"cg_iq_a":-0.130176499,"cg_iq_raw_a":-0.111282781,"cg_iu_a":0.401215553,"cg_iv_a":0.250373065,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.863636,"cg_sample_seq":14294616,"cg_sample_valid":1,"cg_theta_rad":5.00595045,"cg_vd_req_v":0.0653906986,"cg_vd_v":0.0653906986,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402521372,"cg_vq_v":-0.402521372,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1347046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.698486,"values":{"Elec_RPM":-1.16078818e-17,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54764,"Mech_RPM":-2.32157627e-18,"cg_du":50.192318,"cg_dv":50.2142334,"cg_dw":49.7857666,"cg_id_a":0.435213149,"cg_id_raw_a":0.458122373,"cg_iq_a":-0.284178853,"cg_iq_raw_a":0.227244288,"cg_iu_a":-0.396148682,"cg_iv_a":0.0691539049,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14294667,"cg_sample_valid":1,"cg_theta_rad":5.00672483,"cg_vd_req_v":0.0572359525,"cg_vd_v":0.0572359525,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400396377,"cg_vq_v":-0.400396377,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1347046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.706299,"values":{"Elec_RPM":-1.13757236e-17,"EncoderCos":38736,"EncoderSin":12504,"GapTicks":54753,"Mech_RPM":-2.27514477e-18,"cg_du":50.194458,"cg_dv":50.2242317,"cg_dw":49.7757683,"cg_id_a":0.120479599,"cg_id_raw_a":0.264135212,"cg_iq_a":0.403195143,"cg_iq_raw_a":0.061430905,"cg_iu_a":-0.577367783,"cg_iv_a":0.21412921,"cg_iw_a":0.363238573,"cg_sample_age_us":23.863636,"cg_sample_seq":14294716,"cg_sample_valid":1,"cg_theta_rad":5.00701571,"cg_vd_req_v":0.0629885197,"cg_vd_v":0.0629885197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414305985,"cg_vq_v":-0.414305985,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0942688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.714111,"values":{"Elec_RPM":-1.13757236e-17,"EncoderCos":38715,"EncoderSin":12486,"GapTicks":54748,"Mech_RPM":-2.27514477e-18,"cg_du":50.1931572,"cg_dv":50.2285843,"cg_dw":49.7714157,"cg_id_a":-0.253946841,"cg_id_raw_a":-0.0510784164,"cg_iq_a":0.494677842,"cg_iq_raw_a":0.486542493,"cg_iu_a":0.256240368,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9327278,"cg_sample_seq":14294766,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0707364976,"cg_vd_v":0.0707364976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.419104695,"cg_vq_v":-0.419104695,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0942688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.721924,"values":{"Elec_RPM":-1.11482101e-17,"EncoderCos":38719,"EncoderSin":12493,"GapTicks":54754,"Mech_RPM":-2.22964197e-18,"cg_du":50.192276,"cg_dv":50.2231102,"cg_dw":49.7768898,"cg_id_a":0.0759730786,"cg_id_raw_a":-0.725696862,"cg_iq_a":0.0637273043,"cg_iq_raw_a":0.950374961,"cg_iu_a":-0.50488019,"cg_iv_a":0.504079938,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9872723,"cg_sample_seq":14294816,"cg_sample_valid":1,"cg_theta_rad":5.00589228,"cg_vd_req_v":0.0655333847,"cg_vd_v":0.0655333847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411262155,"cg_vq_v":-0.411262155,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1347046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.733643,"values":{"Elec_RPM":-1.11482101e-17,"EncoderCos":38696,"EncoderSin":12443,"GapTicks":54751,"Mech_RPM":-2.22964197e-18,"cg_du":50.1923561,"cg_dv":50.2255402,"cg_dw":49.7744598,"cg_id_a":-0.234775305,"cg_id_raw_a":-0.018613888,"cg_iq_a":0.104188524,"cg_iq_raw_a":0.144621953,"cg_iu_a":-0.359904766,"cg_iv_a":0.286616921,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9509087,"cg_sample_seq":14294866,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0716340393,"cg_vd_v":0.0716340393,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415270478,"cg_vq_v":-0.415270478,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1233826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.741455,"values":{"Elec_RPM":-1.09252452e-17,"EncoderCos":38713,"EncoderSin":12474,"GapTicks":54754,"Mech_RPM":-2.18504908e-18,"cg_du":50.1880646,"cg_dv":50.2228775,"cg_dw":49.7771225,"cg_id_a":-0.0594215393,"cg_id_raw_a":-0.118289679,"cg_iq_a":-0.0774894506,"cg_iq_raw_a":0.0983454734,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9690914,"cg_sample_seq":14294916,"cg_sample_valid":1,"cg_theta_rad":5.008214,"cg_vd_req_v":0.0699163899,"cg_vd_v":0.0699163899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409640551,"cg_vq_v":-0.409640551,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1233826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.749268,"values":{"Elec_RPM":-1.09252452e-17,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-2.18504908e-18,"cg_du":50.189415,"cg_dv":50.2221069,"cg_dw":49.7778931,"cg_id_a":0.0958174318,"cg_id_raw_a":-0.0440640897,"cg_iq_a":-0.0447175689,"cg_iq_raw_a":-0.440576822,"cg_iu_a":-0.287417173,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9254551,"cg_sample_seq":14294966,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0679045841,"cg_vd_v":0.0679045841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409390032,"cg_vq_v":-0.409390032,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.0748901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.75708,"values":{"Elec_RPM":-1.07067405e-17,"EncoderCos":38758,"EncoderSin":12497,"GapTicks":54747,"Mech_RPM":-2.14134809e-18,"cg_du":50.2006493,"cg_dv":50.22929,"cg_dw":49.77071,"cg_id_a":0.334158331,"cg_id_raw_a":1.22250175,"cg_iq_a":0.622970819,"cg_iq_raw_a":1.59901869,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8563633,"cg_sample_seq":14295016,"cg_sample_valid":1,"cg_theta_rad":5.00915575,"cg_vd_req_v":0.0610703118,"cg_vd_v":0.0610703118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.424938023,"cg_vq_v":-0.424938023,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1104431,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.78833,"values":{"Elec_RPM":-1.07067405e-17,"EncoderCos":38748,"EncoderSin":12507,"GapTicks":54751,"Mech_RPM":-2.14134809e-18,"cg_du":50.1885681,"cg_dv":50.2259026,"cg_dw":49.7740974,"cg_id_a":0.0432535261,"cg_id_raw_a":0.302817047,"cg_iq_a":0.077571772,"cg_iq_raw_a":0.57348299,"cg_iu_a":-2.42580342,"cg_iv_a":-0.00333380699,"cg_iw_a":2.42913723,"cg_sample_age_us":23.8672733,"cg_sample_seq":14295071,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0680279732,"cg_vd_v":0.0680279732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413507998,"cg_vq_v":-0.413507998,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1104431,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.796143,"values":{"Elec_RPM":-1.04926057e-17,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54747,"Mech_RPM":-2.09852123e-18,"cg_du":50.2022095,"cg_dv":50.2298813,"cg_dw":49.7701187,"cg_id_a":0.248690158,"cg_id_raw_a":-0.254282594,"cg_iq_a":0.581468344,"cg_iq_raw_a":0.412812471,"cg_iu_a":-1.26600075,"cg_iv_a":0.431592226,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9836369,"cg_sample_seq":14295116,"cg_sample_valid":1,"cg_theta_rad":5.00672483,"cg_vd_req_v":0.0651344582,"cg_vd_v":0.0651344582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.425912112,"cg_vq_v":-0.425912112,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1104431,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.803955,"values":{"Elec_RPM":-1.04926057e-17,"EncoderCos":38743,"EncoderSin":12494,"GapTicks":54753,"Mech_RPM":-2.09852123e-18,"cg_du":50.187767,"cg_dv":50.223877,"cg_dw":49.776123,"cg_id_a":0.301635385,"cg_id_raw_a":-0.249301881,"cg_iq_a":-0.303173333,"cg_iq_raw_a":-0.531342268,"cg_iu_a":-0.39614892,"cg_iv_a":0.0691539049,"cg_iw_a":0.326995015,"cg_sample_age_us":23.8527279,"cg_sample_seq":14295166,"cg_sample_valid":1,"cg_theta_rad":5.00843239,"cg_vd_req_v":0.0704142451,"cg_vd_v":0.0704142451,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409677058,"cg_vq_v":-0.409677058,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1104431,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.811768,"values":{"Elec_RPM":-1.00770989e-17,"EncoderCos":38730,"EncoderSin":12495,"GapTicks":54749,"Mech_RPM":-2.01541977e-18,"cg_du":50.1967278,"cg_dv":50.2281151,"cg_dw":49.7718849,"cg_id_a":0.290027529,"cg_id_raw_a":1.13796663,"cg_iq_a":0.00920117646,"cg_iq_raw_a":-0.292952806,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14295316,"cg_sample_valid":1,"cg_theta_rad":5.00619459,"cg_vd_req_v":0.0657807812,"cg_vd_v":0.0657807812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420741349,"cg_vq_v":-0.420741349,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1007385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.81958,"values":{"Elec_RPM":-1.00770989e-17,"EncoderCos":38727,"EncoderSin":12496,"GapTicks":54753,"Mech_RPM":-2.01541977e-18,"cg_du":50.1878204,"cg_dv":50.2238693,"cg_dw":49.7761307,"cg_id_a":0.158124134,"cg_id_raw_a":0.116933331,"cg_iq_a":-0.585171163,"cg_iq_raw_a":-0.60704422,"cg_iu_a":-0.14244175,"cg_iv_a":0.431592286,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9581814,"cg_sample_seq":14295366,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0689369142,"cg_vd_v":0.0689369142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409938037,"cg_vq_v":-0.409938037,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-57.0941277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1201477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.827393,"values":{"Elec_RPM":-9.87555713e-18,"EncoderCos":38749,"EncoderSin":12489,"GapTicks":54750,"Mech_RPM":-1.97511147e-18,"cg_du":50.1868095,"cg_dv":50.2270966,"cg_dw":49.7729034,"cg_id_a":0.0680025294,"cg_id_raw_a":-0.27484414,"cg_iq_a":-0.347959906,"cg_iq_raw_a":0.449188054,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14295417,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0709827915,"cg_vd_v":0.0709827915,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414092928,"cg_vq_v":-0.414092928,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-57.0941277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1007385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.835205,"values":{"Elec_RPM":-9.87555713e-18,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54745,"Mech_RPM":-1.97511147e-18,"cg_du":50.1932144,"cg_dv":50.2314796,"cg_dw":49.7685204,"cg_id_a":-0.115701705,"cg_id_raw_a":-0.152773708,"cg_iq_a":0.0654430091,"cg_iq_raw_a":0.0221816972,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9654541,"cg_sample_seq":14295467,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0737495497,"cg_vd_v":0.0737495497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.423027664,"cg_vq_v":-0.423027664,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-57.0941277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1007385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.846924,"values":{"Elec_RPM":-9.67804625e-18,"EncoderCos":38715,"EncoderSin":12494,"GapTicks":54746,"Mech_RPM":-1.93560925e-18,"cg_du":50.1906128,"cg_dv":50.2304153,"cg_dw":49.7695847,"cg_id_a":-0.121282294,"cg_id_raw_a":-0.0343552642,"cg_iq_a":-0.0842890739,"cg_iq_raw_a":-0.330270708,"cg_iu_a":0.00253343582,"cg_iv_a":0.395348489,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9618187,"cg_sample_seq":14295516,"cg_sample_valid":1,"cg_theta_rad":5.00621414,"cg_vd_req_v":0.0745057762,"cg_vd_v":0.0745057762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.421482056,"cg_vq_v":-0.421482056,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0894165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.874268,"values":{"Elec_RPM":-9.67804625e-18,"EncoderCos":38696,"EncoderSin":12522,"GapTicks":54744,"Mech_RPM":-1.93560925e-18,"cg_du":50.1989365,"cg_dv":50.2320442,"cg_dw":49.7679558,"cg_id_a":0.00407266617,"cg_id_raw_a":0.15878652,"cg_iq_a":0.256302476,"cg_iq_raw_a":0.271595061,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14295571,"cg_sample_valid":1,"cg_theta_rad":5.00797606,"cg_vd_req_v":0.0705702826,"cg_vd_v":0.0705702826,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.428221077,"cg_vq_v":-0.428221077,"cg_vu_v":120.090675,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0894165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.88208,"values":{"Elec_RPM":-9.48448516e-18,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54746,"Mech_RPM":-1.89689699e-18,"cg_du":50.1978493,"cg_dv":50.2303619,"cg_dw":49.7696381,"cg_id_a":0.0475595705,"cg_id_raw_a":0.225230277,"cg_iq_a":0.17831713,"cg_iq_raw_a":0.678068876,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9654541,"cg_sample_seq":14295616,"cg_sample_valid":1,"cg_theta_rad":5.00619745,"cg_vd_req_v":0.0683936402,"cg_vd_v":0.0683936402,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.424217194,"cg_vq_v":-0.424217194,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.1088257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.889893,"values":{"Elec_RPM":-9.48448516e-18,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54749,"Mech_RPM":-1.89689699e-18,"cg_du":50.1962051,"cg_dv":50.2277794,"cg_dw":49.7722206,"cg_id_a":0.0428934321,"cg_id_raw_a":-0.0199351236,"cg_iq_a":-0.0667519867,"cg_iq_raw_a":-0.911498547,"cg_iu_a":0.618678689,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9581814,"cg_sample_seq":14295666,"cg_sample_valid":1,"cg_theta_rad":5.00564003,"cg_vd_req_v":0.0673031956,"cg_vd_v":0.0673031956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.419763982,"cg_vq_v":-0.419763982,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.192152977,"dclink_p_w":-27.8092728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0975037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.901611,"values":{"Elec_RPM":-9.29479528e-18,"EncoderCos":38712,"EncoderSin":12489,"GapTicks":54746,"Mech_RPM":-1.85895897e-18,"cg_du":50.2023239,"cg_dv":50.2306671,"cg_dw":49.7693329,"cg_id_a":0.0853507072,"cg_id_raw_a":-0.128399596,"cg_iq_a":0.282351077,"cg_iq_raw_a":-0.0118166618,"cg_iu_a":-0.39614892,"cg_iv_a":0.177885413,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9581814,"cg_sample_seq":14295716,"cg_sample_valid":1,"cg_theta_rad":5.00793743,"cg_vd_req_v":0.0657747537,"cg_vd_v":0.0657747537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.427053005,"cg_vq_v":-0.427053005,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.7749882,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0975037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.909424,"values":{"Elec_RPM":-9.29479528e-18,"EncoderCos":38711,"EncoderSin":12487,"GapTicks":54745,"Mech_RPM":-1.85895897e-18,"cg_du":50.197403,"cg_dv":50.2317619,"cg_dw":49.7682381,"cg_id_a":-0.192148983,"cg_id_raw_a":0.264761001,"cg_iq_a":0.0446516126,"cg_iq_raw_a":-0.373692572,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9618187,"cg_sample_seq":14295766,"cg_sample_valid":1,"cg_theta_rad":5.00554132,"cg_vd_req_v":0.0706362128,"cg_vd_v":0.0706362128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.424455106,"cg_vq_v":-0.424455106,"cg_vu_v":137.246475,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0813599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.917236,"values":{"Elec_RPM":-9.10889967e-18,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54746,"Mech_RPM":-1.82177989e-18,"cg_du":50.2011566,"cg_dv":50.230381,"cg_dw":49.769619,"cg_id_a":0.015012987,"cg_id_raw_a":0.382826835,"cg_iq_a":0.193720013,"cg_iq_raw_a":-0.288914174,"cg_iu_a":-0.142441988,"cg_iv_a":-0.655722737,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9581814,"cg_sample_seq":14295816,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0671151876,"cg_vd_v":0.0671151876,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.427220166,"cg_vq_v":-0.427220166,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1072083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.925049,"values":{"Elec_RPM":-9.10889967e-18,"EncoderCos":38719,"EncoderSin":12530,"GapTicks":54754,"Mech_RPM":-1.82177989e-18,"cg_du":50.1839409,"cg_dv":50.2236176,"cg_dw":49.7763824,"cg_id_a":-0.0934613943,"cg_id_raw_a":0.119480714,"cg_iq_a":-0.728551984,"cg_iq_raw_a":-0.861658216,"cg_iu_a":0.582434773,"cg_iv_a":0.322860718,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9836369,"cg_sample_seq":14295866,"cg_sample_valid":1,"cg_theta_rad":5.00588703,"cg_vd_req_v":0.0717469826,"cg_vd_v":0.0717469826,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408701479,"cg_vq_v":-0.408701479,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0412292,"temp_inv2_c":38.1072083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2585.932861,"values":{"Elec_RPM":-8.92672141e-18,"EncoderCos":38734,"EncoderSin":12511,"GapTicks":54740,"Mech_RPM":-1.78534424e-18,"cg_du":50.19133,"cg_dv":50.2357101,"cg_dw":49.7642899,"cg_id_a":-0.29070127,"cg_id_raw_a":-0.426447898,"cg_iq_a":0.291680276,"cg_iq_raw_a":-0.657037079,"cg_iu_a":-0.178685904,"cg_iv_a":1.15646899,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.9581814,"cg_sample_seq":14295918,"cg_sample_valid":1,"cg_theta_rad":5.00692129,"cg_vd_req_v":0.0765114501,"cg_vd_v":0.0765114501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.428229868,"cg_vq_v":-0.428229868,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1217651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.940674,"values":{"Elec_RPM":-8.92672141e-18,"EncoderCos":38697,"EncoderSin":12486,"GapTicks":54742,"Mech_RPM":-1.78534424e-18,"cg_du":50.188961,"cg_dv":50.2337761,"cg_dw":49.7662239,"cg_id_a":-0.464068919,"cg_id_raw_a":-0.544705749,"cg_iq_a":0.0804875717,"cg_iq_raw_a":-0.05472707,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395775437,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14295966,"cg_sample_valid":1,"cg_theta_rad":5.00586605,"cg_vd_req_v":0.0808134824,"cg_vd_v":0.0808134824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.423475534,"cg_vq_v":-0.423475534,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1217651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2585.951351,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2585.951356,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2585.951361,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2585.952393,"values":{"Elec_RPM":-8.74818688e-18,"EncoderCos":38733,"EncoderSin":12493,"GapTicks":54744,"Mech_RPM":-1.74963734e-18,"cg_du":50.1967964,"cg_dv":50.231987,"cg_dw":49.768013,"cg_id_a":0.154402629,"cg_id_raw_a":0.231808588,"cg_iq_a":0.152143419,"cg_iq_raw_a":-0.268800467,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065315,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9254551,"cg_sample_seq":14296016,"cg_sample_valid":1,"cg_theta_rad":5.00796366,"cg_vd_req_v":0.0690303743,"cg_vd_v":0.0690303743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.424800575,"cg_vq_v":-0.424800575,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0662231,"temp_inv2_c":38.1039734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.979736,"values":{"Elec_RPM":-8.74818688e-18,"EncoderCos":38728,"EncoderSin":12507,"GapTicks":54744,"Mech_RPM":-1.74963734e-18,"cg_du":50.1840401,"cg_dv":50.2321739,"cg_dw":49.7678261,"cg_id_a":-0.326585054,"cg_id_raw_a":-0.133955896,"cg_iq_a":-0.201344728,"cg_iq_raw_a":0.497917295,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284297,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8600006,"cg_sample_seq":14296071,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0792935565,"cg_vd_v":0.0792935565,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417945832,"cg_vq_v":-0.417945832,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0991516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2585.987549,"values":{"Elec_RPM":-8.40175868e-18,"EncoderCos":38745,"EncoderSin":12473,"GapTicks":54738,"Mech_RPM":-1.68035176e-18,"cg_du":50.1869125,"cg_dv":50.2375641,"cg_dw":49.7624359,"cg_id_a":-0.28877002,"cg_id_raw_a":0.0292365272,"cg_iq_a":0.554991901,"cg_iq_raw_a":0.331055671,"cg_iu_a":0.147508621,"cg_iv_a":-1.12689257,"cg_iw_a":0.979383945,"cg_sample_age_us":23.9509087,"cg_sample_seq":14296217,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0818346366,"cg_vd_v":0.0818346366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.428294331,"cg_vq_v":-0.428294331,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0668335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2585.995361,"values":{"Elec_RPM":-8.40175868e-18,"EncoderCos":38669,"EncoderSin":12506,"GapTicks":54745,"Mech_RPM":-1.68035176e-18,"cg_du":50.1815758,"cg_dv":50.2312546,"cg_dw":49.7687454,"cg_id_a":-0.151920199,"cg_id_raw_a":-0.353309184,"cg_iq_a":-0.214576066,"cg_iq_raw_a":-0.0734525472,"cg_iu_a":0.183752537,"cg_iv_a":0.032910049,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.863636,"cg_sample_seq":14296266,"cg_sample_valid":1,"cg_theta_rad":5.00522804,"cg_vd_req_v":0.0833484381,"cg_vd_v":0.0811353177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414729178,"cg_vq_v":-0.414729178,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0668335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.003174,"values":{"Elec_RPM":-8.23372356e-18,"EncoderCos":38689,"EncoderSin":12481,"GapTicks":54745,"Mech_RPM":-1.64674475e-18,"cg_du":50.1918182,"cg_dv":50.2314911,"cg_dw":49.7685089,"cg_id_a":-0.0730402321,"cg_id_raw_a":-0.741785765,"cg_iq_a":0.410954326,"cg_iq_raw_a":-0.586597383,"cg_iu_a":-0.359905005,"cg_iv_a":0.0691539645,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9727268,"cg_sample_seq":14296317,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.0770206004,"cg_vd_v":0.0770206004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420549303,"cg_vq_v":-0.420549303,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.010986,"values":{"Elec_RPM":-8.23372356e-18,"EncoderCos":38721,"EncoderSin":12463,"GapTicks":54756,"Mech_RPM":-1.64674475e-18,"cg_du":50.1797638,"cg_dv":50.2211418,"cg_dw":49.7788582,"cg_id_a":0.107877381,"cg_id_raw_a":0.187516674,"cg_iq_a":-0.280094177,"cg_iq_raw_a":-0.0172311161,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14296367,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0738680065,"cg_vd_v":0.0738680065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400231808,"cg_vq_v":-0.400231808,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2577,"hz_tim_isr":4999,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.022705,"values":{"Elec_RPM":-8.06904927e-18,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54756,"Mech_RPM":-1.61380983e-18,"cg_du":50.1693306,"cg_dv":50.2215614,"cg_dw":49.7784386,"cg_id_a":-0.379026443,"cg_id_raw_a":0.226547271,"cg_iq_a":-0.361626297,"cg_iq_raw_a":-0.632570505,"cg_iu_a":0.691166282,"cg_iv_a":-0.438259721,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.863636,"cg_sample_seq":14296416,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0827777535,"cg_vd_v":0.0827777535,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397403389,"cg_vq_v":-0.397403389,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7892742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.030518,"values":{"Elec_RPM":-8.06904927e-18,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54754,"Mech_RPM":-1.61380983e-18,"cg_du":50.1740952,"cg_dv":50.2231369,"cg_dw":49.7768631,"cg_id_a":-0.259478837,"cg_id_raw_a":-0.145676851,"cg_iq_a":-0.123959117,"cg_iq_raw_a":-0.0499408208,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14296467,"cg_sample_valid":1,"cg_theta_rad":5.00791311,"cg_vd_req_v":0.0808502883,"cg_vd_v":0.0808502883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40217489,"cg_vq_v":-0.40217489,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.7247925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.03833,"values":{"Elec_RPM":-7.90766798e-18,"EncoderCos":38721,"EncoderSin":12512,"GapTicks":54750,"Mech_RPM":-1.58153366e-18,"cg_du":50.183033,"cg_dv":50.2266808,"cg_dw":49.7733192,"cg_id_a":-0.0598338991,"cg_id_raw_a":-0.162584513,"cg_iq_a":0.422934711,"cg_iq_raw_a":0.349476755,"cg_iu_a":-0.14244175,"cg_iv_a":-0.112065196,"cg_iw_a":0.254506946,"cg_sample_age_us":23.8563633,"cg_sample_seq":14296517,"cg_sample_valid":1,"cg_theta_rad":5.00730753,"cg_vd_req_v":0.0757611841,"cg_vd_v":0.0757611841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412326276,"cg_vq_v":-0.412326276,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.7247925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.050049,"values":{"Elec_RPM":-7.90766798e-18,"EncoderCos":38764,"EncoderSin":12474,"GapTicks":54755,"Mech_RPM":-1.58153366e-18,"cg_du":50.1752319,"cg_dv":50.2222366,"cg_dw":49.7777634,"cg_id_a":0.00523525476,"cg_id_raw_a":0.193637341,"cg_iq_a":-0.136306882,"cg_iq_raw_a":-0.091416195,"cg_iu_a":-0.468636274,"cg_iv_a":0.10539782,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9763641,"cg_sample_seq":14296567,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.0744958147,"cg_vd_v":0.0744958147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401200742,"cg_vq_v":-0.401200742,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.077393,"values":{"Elec_RPM":-7.74951519e-18,"EncoderCos":38768,"EncoderSin":12507,"GapTicks":54750,"Mech_RPM":-1.549903e-18,"cg_du":50.1669922,"cg_dv":50.2270699,"cg_dw":49.7729301,"cg_id_a":-0.531048357,"cg_id_raw_a":-0.240630716,"cg_iq_a":0.115097046,"cg_iq_raw_a":-0.674154282,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263507,"cg_sample_age_us":23.863636,"cg_sample_seq":14296620,"cg_sample_valid":1,"cg_theta_rad":5.00724506,"cg_vd_req_v":0.0843505859,"cg_vd_v":0.0843505859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403530747,"cg_vq_v":-0.403530747,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.085205,"values":{"Elec_RPM":-7.74951519e-18,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54754,"Mech_RPM":-1.549903e-18,"cg_du":50.1826591,"cg_dv":50.2235565,"cg_dw":49.7764435,"cg_id_a":-0.035030663,"cg_id_raw_a":-0.242921203,"cg_iq_a":0.434538394,"cg_iq_raw_a":0.086832568,"cg_iu_a":-0.178685904,"cg_iv_a":-0.474503517,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9218178,"cg_sample_seq":14296666,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0731497929,"cg_vd_v":0.0731497929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406548351,"cg_vq_v":-0.406548351,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1314697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.093018,"values":{"Elec_RPM":-7.5945247e-18,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-1.51890492e-18,"cg_du":50.1807899,"cg_dv":50.2110252,"cg_dw":49.7889748,"cg_id_a":0.233111933,"cg_id_raw_a":0.21223174,"cg_iq_a":-0.331343681,"cg_iq_raw_a":0.568824053,"cg_iu_a":0.582434654,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.579100847,"cg_sample_age_us":23.863636,"cg_sample_seq":14296717,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0650182888,"cg_vd_v":0.0650182888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389237374,"cg_vq_v":-0.389237374,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1120605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.104736,"values":{"Elec_RPM":-7.5945247e-18,"EncoderCos":38703,"EncoderSin":12471,"GapTicks":54767,"Mech_RPM":-1.51890492e-18,"cg_du":50.1763954,"cg_dv":50.2115669,"cg_dw":49.7884331,"cg_id_a":0.0544133857,"cg_id_raw_a":-0.392833501,"cg_iq_a":-0.286635816,"cg_iq_raw_a":0.106611609,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.863636,"cg_sample_seq":14296766,"cg_sample_valid":1,"cg_theta_rad":5.00629663,"cg_vd_req_v":0.068997927,"cg_vd_v":0.068997927,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387484133,"cg_vq_v":-0.387484133,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.1120605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.112549,"values":{"Elec_RPM":-7.44263366e-18,"EncoderCos":38702,"EncoderSin":12474,"GapTicks":54759,"Mech_RPM":-1.48852682e-18,"cg_du":50.1791,"cg_dv":50.2182274,"cg_dw":49.7817726,"cg_id_a":-0.0778363869,"cg_id_raw_a":0.128943995,"cg_iq_a":0.166793436,"cg_iq_raw_a":0.560366809,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8600006,"cg_sample_seq":14296817,"cg_sample_valid":1,"cg_theta_rad":5.0077939,"cg_vd_req_v":0.0734166205,"cg_vd_v":0.0734166205,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398065835,"cg_vq_v":-0.398065835,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.8328133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0861816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.120361,"values":{"Elec_RPM":-7.44263366e-18,"EncoderCos":38714,"EncoderSin":12517,"GapTicks":54752,"Mech_RPM":-1.48852682e-18,"cg_du":50.1801758,"cg_dv":50.2253075,"cg_dw":49.7746925,"cg_id_a":-0.256972015,"cg_id_raw_a":0.128597736,"cg_iq_a":0.494636506,"cg_iq_raw_a":0.377234817,"cg_iu_a":-0.287417173,"cg_iv_a":-0.981917262,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14296867,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0769560114,"cg_vd_v":0.0769560114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40751183,"cg_vq_v":-0.40751183,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.373372197,"dclink_p_w":-54.0361633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.128174,"values":{"Elec_RPM":-7.29378168e-18,"EncoderCos":38728,"EncoderSin":12497,"GapTicks":54754,"Mech_RPM":-1.45875627e-18,"cg_du":50.1732903,"cg_dv":50.2233887,"cg_dw":49.7766113,"cg_id_a":-0.352871925,"cg_id_raw_a":-0.794180989,"cg_iq_a":0.131035268,"cg_iq_raw_a":0.362947494,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333374739,"cg_iw_a":0.254507244,"cg_sample_age_us":26.449091,"cg_sample_seq":14296918,"cg_sample_valid":1,"cg_theta_rad":5.00736475,"cg_vd_req_v":0.079780139,"cg_vd_v":0.079780139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401187778,"cg_vq_v":-0.401187778,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.135986,"values":{"Elec_RPM":-7.29378168e-18,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-1.45875627e-18,"cg_du":50.1734009,"cg_dv":50.2166023,"cg_dw":49.7833977,"cg_id_a":-0.0388513729,"cg_id_raw_a":-0.359654456,"cg_iq_a":-0.384730726,"cg_iq_raw_a":-0.871956468,"cg_iu_a":-0.14244175,"cg_iv_a":0.177885473,"cg_iw_a":-0.0354437232,"cg_sample_age_us":23.9654541,"cg_sample_seq":14296967,"cg_sample_valid":1,"cg_theta_rad":5.0065732,"cg_vd_req_v":0.0745802075,"cg_vd_v":0.0745802075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391727477,"cg_vq_v":-0.391727477,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":36.0162659,"temp_inv2_c":38.0894165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.143799,"values":{"Elec_RPM":-7.1479059e-18,"EncoderCos":38716,"EncoderSin":12513,"GapTicks":54765,"Mech_RPM":-1.4295812e-18,"cg_du":50.1658287,"cg_dv":50.2131233,"cg_dw":49.7868767,"cg_id_a":-0.2264532,"cg_id_raw_a":0.239608675,"cg_iq_a":-0.58779043,"cg_iq_raw_a":0.0965535343,"cg_iu_a":2.43087029,"cg_iv_a":0.0329101086,"cg_iw_a":-2.4637804,"cg_sample_age_us":23.9836369,"cg_sample_seq":14297017,"cg_sample_valid":1,"cg_theta_rad":5.00674438,"cg_vd_req_v":0.0765764564,"cg_vd_v":0.0765764564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384073943,"cg_vq_v":-0.384073943,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.151611,"values":{"Elec_RPM":-7.1479059e-18,"EncoderCos":38677,"EncoderSin":12451,"GapTicks":54760,"Mech_RPM":-1.4295812e-18,"cg_du":50.1819611,"cg_dv":50.2172852,"cg_dw":49.7827148,"cg_id_a":-0.0448476598,"cg_id_raw_a":0.219101518,"cg_iq_a":-0.0036136657,"cg_iq_raw_a":-0.303445488,"cg_iu_a":0.219996452,"cg_iv_a":-0.836941838,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14297067,"cg_sample_valid":1,"cg_theta_rad":5.00872087,"cg_vd_req_v":0.0731398687,"cg_vd_v":0.0731398687,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397888035,"cg_vq_v":-0.397888035,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.182861,"values":{"Elec_RPM":-7.00494758e-18,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54755,"Mech_RPM":-1.4009896e-18,"cg_du":50.1807289,"cg_dv":50.2220383,"cg_dw":49.7779617,"cg_id_a":-0.0140854083,"cg_id_raw_a":0.0063076918,"cg_iq_a":0.390473664,"cg_iq_raw_a":-0.32624048,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8600006,"cg_sample_seq":14297120,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0728934929,"cg_vd_v":0.0728934929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40471971,"cg_vq_v":-0.40471971,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-100.720024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.190674,"values":{"Elec_RPM":-7.00494758e-18,"EncoderCos":38689,"EncoderSin":12477,"GapTicks":54763,"Mech_RPM":-1.4009896e-18,"cg_du":50.1833839,"cg_dv":50.2154465,"cg_dw":49.7845535,"cg_id_a":0.293852329,"cg_id_raw_a":0.0532275438,"cg_iq_a":-0.243827552,"cg_iq_raw_a":-0.139401078,"cg_iu_a":0.00253343582,"cg_iv_a":0.57656765,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9618187,"cg_sample_seq":14297166,"cg_sample_valid":1,"cg_theta_rad":5.00740242,"cg_vd_req_v":0.0682142898,"cg_vd_v":0.0682142898,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395327002,"cg_vq_v":-0.395327002,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.198486,"values":{"Elec_RPM":-6.86484883e-18,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54755,"Mech_RPM":-1.37296979e-18,"cg_du":50.1766624,"cg_dv":50.2222328,"cg_dw":49.7777672,"cg_id_a":-0.0722620264,"cg_id_raw_a":0.0312514566,"cg_iq_a":-0.0252688974,"cg_iq_raw_a":0.076641269,"cg_iu_a":1.0898484,"cg_iv_a":-0.0758214593,"cg_iw_a":0.435726464,"cg_sample_age_us":23.8563633,"cg_sample_seq":14297216,"cg_sample_valid":1,"cg_theta_rad":5.00932598,"cg_vd_req_v":0.0769521967,"cg_vd_v":0.0769521967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401316822,"cg_vq_v":-0.401316822,"cg_vu_v":41.7897949,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0813599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.206299,"values":{"Elec_RPM":-6.86484883e-18,"EncoderCos":38710,"EncoderSin":12490,"GapTicks":54752,"Mech_RPM":-1.37296979e-18,"cg_du":50.1841621,"cg_dv":50.2248497,"cg_dw":49.7751503,"cg_id_a":0.198707342,"cg_id_raw_a":-0.115220644,"cg_iq_a":0.138690382,"cg_iq_raw_a":0.280793071,"cg_iu_a":-0.359905005,"cg_iv_a":0.21412921,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8527279,"cg_sample_seq":14297266,"cg_sample_valid":1,"cg_theta_rad":5.00687599,"cg_vd_req_v":0.0745163411,"cg_vd_v":0.0745163411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408915669,"cg_vq_v":-0.408915669,"cg_vu_v":102.494972,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.632515669,"dclink_p_w":-91.2623749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.218018,"values":{"Elec_RPM":-6.72755174e-18,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54756,"Mech_RPM":-1.34551039e-18,"cg_du":50.1743965,"cg_dv":50.2214508,"cg_dw":49.7785492,"cg_id_a":-0.00444200635,"cg_id_raw_a":0.336005092,"cg_iq_a":-0.264820337,"cg_iq_raw_a":-0.913761616,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373125,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9509087,"cg_sample_seq":14297316,"cg_sample_valid":1,"cg_theta_rad":5.00680161,"cg_vd_req_v":0.0777972192,"cg_vd_v":0.0777972192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400273085,"cg_vq_v":-0.400273085,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.916321,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.22583,"values":{"Elec_RPM":-6.72755174e-18,"EncoderCos":38708,"EncoderSin":12478,"GapTicks":54752,"Mech_RPM":-1.34551039e-18,"cg_du":50.1751823,"cg_dv":50.2249985,"cg_dw":49.7750015,"cg_id_a":-0.14928697,"cg_id_raw_a":-0.115131006,"cg_iq_a":-0.168725103,"cg_iq_raw_a":-0.775620162,"cg_iu_a":-0.14244175,"cg_iv_a":-0.112065315,"cg_iw_a":0.254507065,"cg_sample_age_us":23.863636,"cg_sample_seq":14297366,"cg_sample_valid":1,"cg_theta_rad":5.00661993,"cg_vd_req_v":0.0824666768,"cg_vd_v":0.0824666768,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405188859,"cg_vq_v":-0.405188859,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.775678635,"dclink_p_w":-112.601044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.233643,"values":{"Elec_RPM":-6.59300089e-18,"EncoderCos":38718,"EncoderSin":12464,"GapTicks":54757,"Mech_RPM":-1.31860014e-18,"cg_du":50.1813431,"cg_dv":50.2205162,"cg_dw":49.7794838,"cg_id_a":0.424564004,"cg_id_raw_a":0.855888128,"cg_iq_a":-0.213663056,"cg_iq_raw_a":0.667954862,"cg_iu_a":-0.613611698,"cg_iv_a":0.105397701,"cg_iw_a":0.508213997,"cg_sample_age_us":23.863636,"cg_sample_seq":14297417,"cg_sample_valid":1,"cg_theta_rad":5.00846529,"cg_vd_req_v":0.0727129728,"cg_vd_v":0.0727129728,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402663827,"cg_vq_v":-0.402663827,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.241455,"values":{"Elec_RPM":-6.59300089e-18,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54751,"Mech_RPM":-1.31860014e-18,"cg_du":50.1931381,"cg_dv":50.2263527,"cg_dw":49.7736473,"cg_id_a":0.0826903731,"cg_id_raw_a":1.04938757,"cg_iq_a":0.144623682,"cg_iq_raw_a":1.33586538,"cg_iu_a":0.364971638,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8600006,"cg_sample_seq":14297466,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0782330111,"cg_vd_v":0.0782330111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410184264,"cg_vq_v":-0.410184264,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.249268,"values":{"Elec_RPM":-6.46114085e-18,"EncoderCos":38708,"EncoderSin":12484,"GapTicks":54751,"Mech_RPM":-1.29222817e-18,"cg_du":50.186718,"cg_dv":50.2258835,"cg_dw":49.7741165,"cg_id_a":0.250541449,"cg_id_raw_a":-0.172913089,"cg_iq_a":0.362330794,"cg_iq_raw_a":0.857741892,"cg_iu_a":-1.51970768,"cg_iv_a":0.105397701,"cg_iw_a":1.41430998,"cg_sample_age_us":23.9581814,"cg_sample_seq":14297517,"cg_sample_valid":1,"cg_theta_rad":5.00648403,"cg_vd_req_v":0.0738762021,"cg_vd_v":0.0738762021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411693364,"cg_vq_v":-0.411693364,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.554306,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0813599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.25708,"values":{"Elec_RPM":-6.46114085e-18,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54760,"Mech_RPM":-1.29222817e-18,"cg_du":50.1703606,"cg_dv":50.2179871,"cg_dw":49.7820129,"cg_id_a":0.00233629718,"cg_id_raw_a":0.298392326,"cg_iq_a":-0.736922264,"cg_iq_raw_a":0.575797677,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9654541,"cg_sample_seq":14297567,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0778271407,"cg_vd_v":0.0778271407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392002016,"cg_vq_v":-0.392002016,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.917029619,"dclink_p_w":-132.716797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0813599,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.28833,"values":{"Elec_RPM":-6.33191828e-18,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54751,"Mech_RPM":-1.26638364e-18,"cg_du":50.1768265,"cg_dv":50.2262955,"cg_dw":49.7737045,"cg_id_a":-0.0207822919,"cg_id_raw_a":0.345001012,"cg_iq_a":-0.0833553225,"cg_iq_raw_a":0.323790789,"cg_iu_a":-1.77341437,"cg_iv_a":0.141641617,"cg_iw_a":1.63177276,"cg_sample_age_us":23.863636,"cg_sample_seq":14297619,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.0790567994,"cg_vd_v":0.0790567994,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407272309,"cg_vq_v":-0.407272309,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0910339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.296143,"values":{"Elec_RPM":-6.33191828e-18,"EncoderCos":38702,"EncoderSin":12533,"GapTicks":54749,"Mech_RPM":-1.26638364e-18,"cg_du":50.1828728,"cg_dv":50.2276955,"cg_dw":49.7723045,"cg_id_a":0.0959343091,"cg_id_raw_a":0.102096237,"cg_iq_a":0.173784927,"cg_iq_raw_a":-1.08171248,"cg_iu_a":-0.396148682,"cg_iv_a":-0.329528332,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9763641,"cg_sample_seq":14297666,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.0780642405,"cg_vd_v":0.0780642405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413395673,"cg_vq_v":-0.413395673,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.303955,"values":{"Elec_RPM":-6.20527983e-18,"EncoderCos":38727,"EncoderSin":12495,"GapTicks":54745,"Mech_RPM":-1.24105599e-18,"cg_du":50.1803513,"cg_dv":50.231205,"cg_dw":49.768795,"cg_id_a":-0.0926492438,"cg_id_raw_a":-0.126890436,"cg_iq_a":0.328578532,"cg_iq_raw_a":0.862543106,"cg_iu_a":-0.14244175,"cg_iv_a":-0.329528213,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9581814,"cg_sample_seq":14297716,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.0821880773,"cg_vd_v":0.0821880773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417016476,"cg_vq_v":-0.417016476,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-110.233482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.311768,"values":{"Elec_RPM":-6.20527983e-18,"EncoderCos":38710,"EncoderSin":12527,"GapTicks":54743,"Mech_RPM":-1.24105599e-18,"cg_du":50.1741447,"cg_dv":50.2335587,"cg_dw":49.7664413,"cg_id_a":-0.411702484,"cg_id_raw_a":0.0624055006,"cg_iq_a":0.268197984,"cg_iq_raw_a":-0.903469145,"cg_iu_a":0.364971876,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9290905,"cg_sample_seq":14297766,"cg_sample_valid":1,"cg_theta_rad":5.00596476,"cg_vd_req_v":0.0897932053,"cg_vd_v":0.0897932053,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415342778,"cg_vq_v":-0.415342778,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.31958,"values":{"Elec_RPM":-6.08117461e-18,"EncoderCos":38704,"EncoderSin":12487,"GapTicks":54753,"Mech_RPM":-1.21623488e-18,"cg_du":50.1846733,"cg_dv":50.2240944,"cg_dw":49.7759056,"cg_id_a":0.292595387,"cg_id_raw_a":0.0164955128,"cg_iq_a":-0.180092841,"cg_iq_raw_a":0.221011594,"cg_iu_a":-0.178685904,"cg_iv_a":0.504079938,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.8672733,"cg_sample_seq":14297816,"cg_sample_valid":1,"cg_theta_rad":5.00656128,"cg_vd_req_v":0.0740222111,"cg_vd_v":0.0740222111,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408062428,"cg_vq_v":-0.408062428,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0619812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.331299,"values":{"Elec_RPM":-6.08117461e-18,"EncoderCos":38726,"EncoderSin":12494,"GapTicks":54755,"Mech_RPM":-1.21623488e-18,"cg_du":50.1804657,"cg_dv":50.2225304,"cg_dw":49.7774696,"cg_id_a":0.281187087,"cg_id_raw_a":0.155076504,"cg_iq_a":-0.225721925,"cg_iq_raw_a":-0.785440028,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9872723,"cg_sample_seq":14297866,"cg_sample_valid":1,"cg_theta_rad":5.00590038,"cg_vd_req_v":0.0735740662,"cg_vd_v":0.0735740662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403980941,"cg_vq_v":-0.403980941,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.6234741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0619812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.339111,"values":{"Elec_RPM":-5.95955094e-18,"EncoderCos":38712,"EncoderSin":12505,"GapTicks":54755,"Mech_RPM":-1.19191019e-18,"cg_du":50.1741333,"cg_dv":50.221981,"cg_dw":49.778019,"cg_id_a":0.00459761545,"cg_id_raw_a":0.541772485,"cg_iq_a":-0.319194227,"cg_iq_raw_a":-0.201448515,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0395776033,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8745461,"cg_sample_seq":14297916,"cg_sample_valid":1,"cg_theta_rad":5.00560427,"cg_vd_req_v":0.0789929256,"cg_vd_v":0.0789929256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399498552,"cg_vq_v":-0.399498552,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.080444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.346924,"values":{"Elec_RPM":-5.95955094e-18,"EncoderCos":38692,"EncoderSin":12474,"GapTicks":54760,"Mech_RPM":-1.19191019e-18,"cg_du":50.1778717,"cg_dv":50.2174988,"cg_dw":49.7825012,"cg_id_a":0.154836044,"cg_id_raw_a":0.317906797,"cg_iq_a":-0.156030476,"cg_iq_raw_a":-0.257668048,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309112,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14297966,"cg_sample_valid":1,"cg_theta_rad":5.00588751,"cg_vd_req_v":0.0745703951,"cg_vd_v":0.0745703951,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396216393,"cg_vq_v":-0.396216393,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.636140108,"dclink_p_w":-92.3449936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.354736,"values":{"Elec_RPM":-5.84036e-18,"EncoderCos":38703,"EncoderSin":12460,"GapTicks":54762,"Mech_RPM":-1.16807198e-18,"cg_du":50.1746025,"cg_dv":50.2155838,"cg_dw":49.7844162,"cg_id_a":0.0319579989,"cg_id_raw_a":0.699590087,"cg_iq_a":-0.141081214,"cg_iq_raw_a":-0.291910142,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503517,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14298016,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.07464353,"cg_vd_v":0.07464353,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391875118,"cg_vq_v":-0.391875118,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.737622738,"dclink_p_w":-107.076675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0829773,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.362549,"values":{"Elec_RPM":-5.84036e-18,"EncoderCos":38700,"EncoderSin":12453,"GapTicks":54762,"Mech_RPM":-1.16807198e-18,"cg_du":50.1667709,"cg_dv":50.2157402,"cg_dw":49.7842598,"cg_id_a":-0.256704986,"cg_id_raw_a":0.0199629571,"cg_iq_a":0.0112037659,"cg_iq_raw_a":-0.835193515,"cg_iu_a":0.546190977,"cg_iv_a":0.214129329,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9618187,"cg_sample_seq":14298066,"cg_sample_valid":1,"cg_theta_rad":5.00632381,"cg_vd_req_v":0.0813914612,"cg_vd_v":0.0813914612,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387555271,"cg_vq_v":-0.387555271,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.813606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0748901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.393799,"values":{"Elec_RPM":-5.72355259e-18,"EncoderCos":38725,"EncoderSin":12523,"GapTicks":54772,"Mech_RPM":-1.14471054e-18,"cg_du":50.1504326,"cg_dv":50.20681,"cg_dw":49.79319,"cg_id_a":-0.207492694,"cg_id_raw_a":0.151040748,"cg_iq_a":-0.993224025,"cg_iq_raw_a":-0.531159103,"cg_iu_a":-0.214929461,"cg_iv_a":-0.220796824,"cg_iw_a":0.435726285,"cg_sample_age_us":23.863636,"cg_sample_seq":14298121,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0810691044,"cg_vd_v":0.0810691044,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364807636,"cg_vq_v":-0.364807636,"cg_vu_v":133.287445,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.813606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0748901,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.401611,"values":{"Elec_RPM":-5.72355259e-18,"EncoderCos":38720,"EncoderSin":12488,"GapTicks":54769,"Mech_RPM":-1.14471054e-18,"cg_du":50.1632576,"cg_dv":50.2096481,"cg_dw":49.7903519,"cg_id_a":0.0196661279,"cg_id_raw_a":0.399323493,"cg_iq_a":-0.407004625,"cg_iq_raw_a":-0.251949936,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14298166,"cg_sample_valid":1,"cg_theta_rad":5.00780296,"cg_vd_req_v":0.0753023773,"cg_vd_v":0.0753023773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376680076,"cg_vq_v":-0.376680076,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.813606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0635681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.409424,"values":{"Elec_RPM":-5.60908196e-18,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.12181635e-18,"cg_du":50.1610222,"cg_dv":50.2091751,"cg_dw":49.7908249,"cg_id_a":-0.124391988,"cg_id_raw_a":-0.230918601,"cg_iq_a":-0.402210057,"cg_iq_raw_a":-0.67754221,"cg_iu_a":0.691166282,"cg_iv_a":0.794030666,"cg_iw_a":-1.48519695,"cg_sample_age_us":23.9872723,"cg_sample_seq":14298216,"cg_sample_valid":1,"cg_theta_rad":5.00823212,"cg_vd_req_v":0.0774013028,"cg_vd_v":0.0774013028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374619454,"cg_vq_v":-0.374619454,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.813606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.417236,"values":{"Elec_RPM":-5.60908196e-18,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54765,"Mech_RPM":-1.12181635e-18,"cg_du":50.1668358,"cg_dv":50.2132759,"cg_dw":49.7867241,"cg_id_a":-0.171861947,"cg_id_raw_a":-0.188310504,"cg_iq_a":0.112024941,"cg_iq_raw_a":0.382864028,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14298266,"cg_sample_valid":1,"cg_theta_rad":5.00806141,"cg_vd_req_v":0.0770041421,"cg_vd_v":0.0770041421,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384633929,"cg_vq_v":-0.384633929,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.425049,"values":{"Elec_RPM":-5.49690013e-18,"EncoderCos":38727,"EncoderSin":12479,"GapTicks":54767,"Mech_RPM":-1.09938001e-18,"cg_du":50.1731262,"cg_dv":50.2118187,"cg_dw":49.7881813,"cg_id_a":0.107350297,"cg_id_raw_a":0.232729778,"cg_iq_a":0.220410466,"cg_iq_raw_a":0.168674767,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.954546,"cg_sample_seq":14298316,"cg_sample_valid":1,"cg_theta_rad":5.00756407,"cg_vd_req_v":0.0694945455,"cg_vd_v":0.0694945455,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386400849,"cg_vq_v":-0.386400849,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.871724844,"dclink_p_w":-126.543549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.432861,"values":{"Elec_RPM":-5.49690013e-18,"EncoderCos":38711,"EncoderSin":12486,"GapTicks":54765,"Mech_RPM":-1.09938001e-18,"cg_du":50.1749344,"cg_dv":50.212841,"cg_dw":49.787159,"cg_id_a":0.0377621464,"cg_id_raw_a":0.160124213,"cg_iq_a":0.223076925,"cg_iq_raw_a":-0.165487126,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9763641,"cg_sample_seq":14298366,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0702876225,"cg_vd_v":0.0702876225,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388592005,"cg_vq_v":-0.388592005,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.871724844,"dclink_p_w":-126.543549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0797119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.44458,"values":{"Elec_RPM":-5.38696204e-18,"EncoderCos":38706,"EncoderSin":12494,"GapTicks":54764,"Mech_RPM":-1.07739241e-18,"cg_du":50.1759605,"cg_dv":50.2138786,"cg_dw":49.7861214,"cg_id_a":0.0725952238,"cg_id_raw_a":-0.504541039,"cg_iq_a":0.298744678,"cg_iq_raw_a":0.387757599,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885473,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14298416,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0705141127,"cg_vd_v":0.0705141127,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389359653,"cg_vq_v":-0.389359653,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.871724844,"dclink_p_w":-126.543549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0732727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.452393,"values":{"Elec_RPM":-5.38696204e-18,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54763,"Mech_RPM":-1.07739241e-18,"cg_du":50.1783218,"cg_dv":50.2147903,"cg_dw":49.7852097,"cg_id_a":0.102175936,"cg_id_raw_a":-0.00926064234,"cg_iq_a":0.320822716,"cg_iq_raw_a":-0.801257193,"cg_iu_a":-0.468636274,"cg_iv_a":0.105397701,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8672733,"cg_sample_seq":14298466,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0688977316,"cg_vd_v":0.0688977316,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392036915,"cg_vq_v":-0.392036915,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0668335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.460205,"values":{"Elec_RPM":-5.27922301e-18,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-1.05584456e-18,"cg_du":50.1703033,"cg_dv":50.211586,"cg_dw":49.788414,"cg_id_a":0.053420186,"cg_id_raw_a":-0.48383984,"cg_iq_a":-0.157483265,"cg_iq_raw_a":-0.700118542,"cg_iu_a":0.183752775,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9581814,"cg_sample_seq":14298516,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0708109513,"cg_vd_v":0.0708109513,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38341707,"cg_vq_v":-0.38341707,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0668335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.468018,"values":{"Elec_RPM":-5.27922301e-18,"EncoderCos":38719,"EncoderSin":12492,"GapTicks":54751,"Mech_RPM":-1.05584456e-18,"cg_du":50.1778259,"cg_dv":50.2259254,"cg_dw":49.7740746,"cg_id_a":-0.337479651,"cg_id_raw_a":-0.052175153,"cg_iq_a":1.03333831,"cg_iq_raw_a":0.505540013,"cg_iu_a":-0.359905005,"cg_iv_a":-1.30811179,"cg_iw_a":1.66801679,"cg_sample_age_us":23.863636,"cg_sample_seq":14298566,"cg_sample_valid":1,"cg_theta_rad":5.00731277,"cg_vd_req_v":0.0798836574,"cg_vd_v":0.0798836574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40822503,"cg_vq_v":-0.40822503,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0635681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.499268,"values":{"Elec_RPM":-5.17363836e-18,"EncoderCos":38741,"EncoderSin":12503,"GapTicks":54764,"Mech_RPM":-1.03472767e-18,"cg_du":50.1681404,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.0426917523,"cg_id_raw_a":-0.00137795764,"cg_iq_a":-0.0848932415,"cg_iq_raw_a":-0.254068881,"cg_iu_a":0.328727961,"cg_iv_a":0.141641617,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9763641,"cg_sample_seq":14298619,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0738373175,"cg_vd_v":0.0738373175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38717401,"cg_vq_v":-0.38717401,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-110.233482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0700378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.50708,"values":{"Elec_RPM":-5.17363836e-18,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54761,"Mech_RPM":-1.03472767e-18,"cg_du":50.177494,"cg_dv":50.2170258,"cg_dw":49.7829742,"cg_id_a":0.0187501907,"cg_id_raw_a":-0.573586345,"cg_iq_a":0.248534918,"cg_iq_raw_a":0.853443444,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373065,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9836369,"cg_sample_seq":14298666,"cg_sample_valid":1,"cg_theta_rad":5.00643444,"cg_vd_req_v":0.073363319,"cg_vd_v":0.073363319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395552933,"cg_vq_v":-0.395552933,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0700378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.514893,"values":{"Elec_RPM":-5.07016593e-18,"EncoderCos":38727,"EncoderSin":12461,"GapTicks":54762,"Mech_RPM":-1.01403316e-18,"cg_du":50.1781578,"cg_dv":50.215847,"cg_dw":49.784153,"cg_id_a":0.244105488,"cg_id_raw_a":-0.250016332,"cg_iq_a":0.0577623248,"cg_iq_raw_a":0.158670202,"cg_iu_a":-0.178685904,"cg_iv_a":1.15646887,"cg_iw_a":-0.977783024,"cg_sample_age_us":23.8527279,"cg_sample_seq":14298716,"cg_sample_valid":1,"cg_theta_rad":5.00973225,"cg_vd_req_v":0.0699325055,"cg_vd_v":0.0699325055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394640535,"cg_vq_v":-0.394640535,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0926819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12075074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.522705,"values":{"Elec_RPM":-4.96876227e-18,"EncoderCos":38708,"EncoderSin":12468,"GapTicks":54760,"Mech_RPM":-9.93752454e-19,"cg_du":50.1660538,"cg_dv":50.2179604,"cg_dw":49.7820396,"cg_id_a":-0.423197657,"cg_id_raw_a":-0.0443456843,"cg_iq_a":-0.00620088354,"cg_iq_raw_a":0.615599513,"cg_iu_a":0.546190977,"cg_iv_a":-0.438259721,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.863636,"cg_sample_seq":14298867,"cg_sample_valid":1,"cg_theta_rad":5.00622225,"cg_vd_req_v":0.0830265731,"cg_vd_v":0.0830265731,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39039883,"cg_vq_v":-0.39039883,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0651855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.530518,"values":{"Elec_RPM":-4.86938686e-18,"EncoderCos":38702,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-9.73877372e-19,"cg_du":50.1687431,"cg_dv":50.2140656,"cg_dw":49.7859344,"cg_id_a":-0.174956366,"cg_id_raw_a":-0.400442988,"cg_iq_a":-0.180423886,"cg_iq_raw_a":-0.440505862,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14298916,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.0773578435,"cg_vd_v":0.0773578435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386567354,"cg_vq_v":-0.386567354,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-142.683029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0651855,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.53833,"values":{"Elec_RPM":-4.86938686e-18,"EncoderCos":38678,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-9.73877372e-19,"cg_du":50.1764832,"cg_dv":50.224369,"cg_dw":49.775631,"cg_id_a":-0.509474874,"cg_id_raw_a":-0.14508009,"cg_iq_a":0.643915415,"cg_iq_raw_a":0.933012009,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9799995,"cg_sample_seq":14298967,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.083536014,"cg_vd_v":0.083536014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404519379,"cg_vq_v":-0.404519379,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-142.683029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.546143,"values":{"Elec_RPM":-4.77199916e-18,"EncoderCos":38714,"EncoderSin":12513,"GapTicks":54763,"Mech_RPM":-9.54399853e-19,"cg_du":50.1801109,"cg_dv":50.2150192,"cg_dw":49.7849808,"cg_id_a":0.257786751,"cg_id_raw_a":0.135432616,"cg_iq_a":0.182228744,"cg_iq_raw_a":0.305115402,"cg_iu_a":-0.39614892,"cg_iv_a":0.57656765,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9218178,"cg_sample_seq":14299017,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0671378747,"cg_vd_v":0.0671378747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39345336,"cg_vq_v":-0.39345336,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-142.683029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.557861,"values":{"Elec_RPM":-4.77199916e-18,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54766,"Mech_RPM":-9.54399853e-19,"cg_du":50.171669,"cg_dv":50.2125359,"cg_dw":49.7874641,"cg_id_a":0.114988297,"cg_id_raw_a":-0.350589871,"cg_iq_a":0.0212932453,"cg_iq_raw_a":0.112748489,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9254551,"cg_sample_seq":14299067,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.0713439137,"cg_vd_v":0.0713439137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38534987,"cg_vq_v":-0.38534987,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.931527138,"dclink_p_w":-134.814941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.585205,"values":{"Elec_RPM":-4.67655906e-18,"EncoderCos":38729,"EncoderSin":12499,"GapTicks":54764,"Mech_RPM":-9.35311834e-19,"cg_du":50.1691589,"cg_dv":50.2139931,"cg_dw":49.7860069,"cg_id_a":0.0174791701,"cg_id_raw_a":0.0652686879,"cg_iq_a":-0.0615835115,"cg_iq_raw_a":-0.284301549,"cg_iu_a":0.546190977,"cg_iv_a":0.540323734,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.863636,"cg_sample_seq":14299120,"cg_sample_valid":1,"cg_theta_rad":5.00973225,"cg_vd_req_v":0.0738000721,"cg_vd_v":0.0738000721,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386102438,"cg_vq_v":-0.386102438,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.980456352,"dclink_p_w":-141.89621,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.593018,"values":{"Elec_RPM":-4.67655906e-18,"EncoderCos":38715,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-9.35311834e-19,"cg_du":50.180378,"cg_dv":50.2147102,"cg_dw":49.7852898,"cg_id_a":0.302917659,"cg_id_raw_a":-0.10671854,"cg_iq_a":0.366914332,"cg_iq_raw_a":-0.228428006,"cg_iu_a":0.183752775,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9581814,"cg_sample_seq":14299166,"cg_sample_valid":1,"cg_theta_rad":5.00711679,"cg_vd_req_v":0.0681601241,"cg_vd_v":0.0681601241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392921001,"cg_vq_v":-0.392921001,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.973207712,"dclink_p_w":-140.847153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.60083,"values":{"Elec_RPM":-4.58302768e-18,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-9.16605558e-19,"cg_du":50.1661224,"cg_dv":50.2081985,"cg_dw":49.7918015,"cg_id_a":0.121420026,"cg_id_raw_a":-0.110990807,"cg_iq_a":-0.533563375,"cg_iq_raw_a":-0.410427302,"cg_iu_a":0.14750886,"cg_iv_a":0.830274463,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9581814,"cg_sample_seq":14299216,"cg_sample_valid":1,"cg_theta_rad":5.00783539,"cg_vd_req_v":0.0718180761,"cg_vd_v":0.0718180761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377463222,"cg_vq_v":-0.377463222,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.973207712,"dclink_p_w":-140.847153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.612549,"values":{"Elec_RPM":-4.58302768e-18,"EncoderCos":38690,"EncoderSin":12469,"GapTicks":54757,"Mech_RPM":-9.16605558e-19,"cg_du":50.1754341,"cg_dv":50.2201576,"cg_dw":49.7798424,"cg_id_a":-0.308567673,"cg_id_raw_a":-0.551259339,"cg_iq_a":0.490373552,"cg_iq_raw_a":0.458282322,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9327278,"cg_sample_seq":14299267,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0794095322,"cg_vd_v":0.0794095322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398373544,"cg_vq_v":-0.398373544,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.973207712,"dclink_p_w":-140.847153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0716553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.620361,"values":{"Elec_RPM":-4.49136739e-18,"EncoderCos":38710,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-8.98273477e-19,"cg_du":50.1712532,"cg_dv":50.2126274,"cg_dw":49.7873726,"cg_id_a":-0.0664019063,"cg_id_raw_a":0.0726620257,"cg_iq_a":-0.0517461784,"cg_iq_raw_a":0.0808809027,"cg_iu_a":0.14750886,"cg_iv_a":0.0329101086,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9290905,"cg_sample_seq":14299317,"cg_sample_valid":1,"cg_theta_rad":5.00571442,"cg_vd_req_v":0.0732749328,"cg_vd_v":0.0732749328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386165261,"cg_vq_v":-0.386165261,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.973207712,"dclink_p_w":-140.847153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0716553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.628174,"values":{"Elec_RPM":-4.49136739e-18,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54770,"Mech_RPM":-8.98273477e-19,"cg_du":50.1699524,"cg_dv":50.2084351,"cg_dw":49.7915649,"cg_id_a":0.0502453856,"cg_id_raw_a":0.265729427,"cg_iq_a":-0.46673438,"cg_iq_raw_a":-0.373004526,"cg_iu_a":-0.649855614,"cg_iv_a":-0.583235025,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9254551,"cg_sample_seq":14299368,"cg_sample_valid":1,"cg_theta_rad":5.00530434,"cg_vd_req_v":0.0706477612,"cg_vd_v":0.0706477612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378453135,"cg_vq_v":-0.378453135,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-120.914726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0635681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.635986,"values":{"Elec_RPM":-4.40154012e-18,"EncoderCos":38749,"EncoderSin":12495,"GapTicks":54767,"Mech_RPM":-8.80308045e-19,"cg_du":50.1689796,"cg_dv":50.2118111,"cg_dw":49.7881889,"cg_id_a":0.0315527283,"cg_id_raw_a":0.275439858,"cg_iq_a":-0.187782794,"cg_iq_raw_a":0.170976788,"cg_iu_a":-0.14244175,"cg_iv_a":-0.402015865,"cg_iw_a":0.544457614,"cg_sample_age_us":23.9763641,"cg_sample_seq":14299417,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0701950118,"cg_vd_v":0.0701950118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383334905,"cg_vq_v":-0.383334905,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.750308037,"dclink_p_w":-108.588074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0619812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.643799,"values":{"Elec_RPM":-4.40154012e-18,"EncoderCos":38705,"EncoderSin":12489,"GapTicks":54758,"Mech_RPM":-8.80308045e-19,"cg_du":50.1767616,"cg_dv":50.2199364,"cg_dw":49.7800636,"cg_id_a":-0.256877303,"cg_id_raw_a":-0.2288865,"cg_iq_a":0.539734364,"cg_iq_raw_a":-0.0584860072,"cg_iu_a":0.364971638,"cg_iv_a":-0.691966653,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9290905,"cg_sample_seq":14299467,"cg_sample_valid":1,"cg_theta_rad":5.00672245,"cg_vd_req_v":0.0760126859,"cg_vd_v":0.0760126859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397987485,"cg_vq_v":-0.397987485,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.750308037,"dclink_p_w":-108.588074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.0619812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.651611,"values":{"Elec_RPM":-4.31350949e-18,"EncoderCos":38720,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-8.62701868e-19,"cg_du":50.1754684,"cg_dv":50.2079697,"cg_dw":49.7920303,"cg_id_a":0.283557892,"cg_id_raw_a":-0.162925288,"cg_iq_a":-0.200122401,"cg_iq_raw_a":-0.0881129131,"cg_iu_a":-0.287417173,"cg_iv_a":0.322860718,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14299517,"cg_sample_valid":1,"cg_theta_rad":5.00771809,"cg_vd_req_v":0.0650912672,"cg_vd_v":0.0650912672,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382259071,"cg_vq_v":-0.382259071,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.8693619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0555115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.659424,"values":{"Elec_RPM":-4.31350949e-18,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54762,"Mech_RPM":-8.62701868e-19,"cg_du":50.1720047,"cg_dv":50.2157631,"cg_dw":49.7842369,"cg_id_a":-0.189974859,"cg_id_raw_a":-0.524220943,"cg_iq_a":0.264902264,"cg_iq_raw_a":-0.268018693,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14299567,"cg_sample_valid":1,"cg_theta_rad":5.0084362,"cg_vd_req_v":0.0744162574,"cg_vd_v":0.0744162574,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391120404,"cg_vq_v":-0.391120404,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.931527138,"dclink_p_w":-135.224716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0555115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.690674,"values":{"Elec_RPM":-4.22723911e-18,"EncoderCos":38780,"EncoderSin":12507,"GapTicks":54767,"Mech_RPM":-8.45447811e-19,"cg_du":50.1556206,"cg_dv":50.2116432,"cg_dw":49.7883568,"cg_id_a":-0.259722501,"cg_id_raw_a":-0.33125779,"cg_iq_a":-0.341771185,"cg_iq_raw_a":-0.0989054143,"cg_iu_a":0.509947062,"cg_iv_a":-0.112065196,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9690914,"cg_sample_seq":14299620,"cg_sample_valid":1,"cg_theta_rad":5.00722313,"cg_vd_req_v":0.07761731,"cg_vd_v":0.07761731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376315862,"cg_vq_v":-0.376315862,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.864113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9913025,"temp_inv2_c":38.04422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.698486,"values":{"Elec_RPM":-4.14269422e-18,"EncoderCos":38700,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-8.28538843e-19,"cg_du":50.1645775,"cg_dv":50.2136383,"cg_dw":49.7863617,"cg_id_a":-0.284915984,"cg_id_raw_a":-0.577004552,"cg_iq_a":0.209834754,"cg_iq_raw_a":0.670298994,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8672733,"cg_sample_seq":14299766,"cg_sample_valid":1,"cg_theta_rad":5.00610495,"cg_vd_req_v":0.0804292113,"cg_vd_v":0.0804292113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382369787,"cg_vq_v":-0.382369787,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.706299,"values":{"Elec_RPM":-4.0598405e-18,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-8.11968089e-19,"cg_du":50.1669502,"cg_dv":50.2084694,"cg_dw":49.7915306,"cg_id_a":0.1102833,"cg_id_raw_a":-0.412668735,"cg_iq_a":-0.144134238,"cg_iq_raw_a":-0.113309786,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14299817,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0727735683,"cg_vd_v":0.0727735683,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3780424,"cg_vq_v":-0.3780424,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.714111,"values":{"Elec_RPM":-4.0598405e-18,"EncoderCos":38708,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-8.11968089e-19,"cg_du":50.1718521,"cg_dv":50.2159309,"cg_dw":49.7840691,"cg_id_a":0.0406477377,"cg_id_raw_a":1.0521009,"cg_iq_a":0.497453213,"cg_iq_raw_a":1.63631558,"cg_iu_a":-0.287417173,"cg_iv_a":-0.873185754,"cg_iw_a":1.16060293,"cg_sample_age_us":23.8600006,"cg_sample_seq":14299867,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0763754174,"cg_vd_v":0.0763754174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390937388,"cg_vq_v":-0.390937388,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-56.0418625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.721924,"values":{"Elec_RPM":-3.97864362e-18,"EncoderCos":38729,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-7.95728724e-19,"cg_du":50.1798172,"cg_dv":50.215683,"cg_dw":49.784317,"cg_id_a":0.434851915,"cg_id_raw_a":0.0382086821,"cg_iq_a":0.60574609,"cg_iq_raw_a":0.00449004211,"cg_iu_a":0.038777113,"cg_iv_a":0.177885413,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9872723,"cg_sample_seq":14299917,"cg_sample_valid":1,"cg_theta_rad":5.00800419,"cg_vd_req_v":0.0683420748,"cg_vd_v":0.0683420748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39536956,"cg_vq_v":-0.39536956,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-56.0418625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0700378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.733643,"values":{"Elec_RPM":-3.97864362e-18,"EncoderCos":38714,"EncoderSin":12474,"GapTicks":54767,"Mech_RPM":-7.95728724e-19,"cg_du":50.1733627,"cg_dv":50.2118034,"cg_dw":49.7881966,"cg_id_a":0.206468433,"cg_id_raw_a":0.0149539281,"cg_iq_a":0.111935139,"cg_iq_raw_a":-0.398343474,"cg_iu_a":-1.66468287,"cg_iv_a":0.39534843,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14299967,"cg_sample_valid":1,"cg_theta_rad":5.00771904,"cg_vd_req_v":0.0703531429,"cg_vd_v":0.0703531429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385109782,"cg_vq_v":-0.385109782,"cg_vu_v":103.374756,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-56.0418625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0700378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.741455,"values":{"Elec_RPM":-3.8990705e-18,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54759,"Mech_RPM":-7.79814131e-19,"cg_du":50.1685333,"cg_dv":50.2187233,"cg_dw":49.7812767,"cg_id_a":-0.260130405,"cg_id_raw_a":-0.864196241,"cg_iq_a":0.447287261,"cg_iq_raw_a":-0.228742167,"cg_iu_a":-0.613611698,"cg_iv_a":0.250373125,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9654541,"cg_sample_seq":14300017,"cg_sample_valid":1,"cg_theta_rad":5.00550508,"cg_vd_req_v":0.0801817179,"cg_vd_v":0.0801817179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391935885,"cg_vq_v":-0.391935885,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0603638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.749268,"values":{"Elec_RPM":-3.8990705e-18,"EncoderCos":38756,"EncoderSin":12486,"GapTicks":54767,"Mech_RPM":-7.79814131e-19,"cg_du":50.153656,"cg_dv":50.2115593,"cg_dw":49.7884407,"cg_id_a":-0.250310481,"cg_id_raw_a":-0.149546593,"cg_iq_a":-0.450624585,"cg_iq_raw_a":-0.4854258,"cg_iu_a":0.147508621,"cg_iv_a":-0.583235025,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14300067,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.081686981,"cg_vd_v":0.081686981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374565542,"cg_vq_v":-0.374565542,"cg_vu_v":102.494972,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.697876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.776611,"values":{"Elec_RPM":-3.82108929e-18,"EncoderCos":38732,"EncoderSin":12506,"GapTicks":54769,"Mech_RPM":-7.64217847e-19,"cg_du":50.1509705,"cg_dv":50.2091255,"cg_dw":49.7908745,"cg_id_a":-0.24765031,"cg_id_raw_a":0.00415965216,"cg_iq_a":-0.360317469,"cg_iq_raw_a":-0.763182342,"cg_iu_a":0.763653994,"cg_iv_a":0.177885473,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.8745461,"cg_sample_seq":14300120,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.0832298547,"cg_vd_v":0.0832298547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370536059,"cg_vq_v":-0.370536059,"cg_vu_v":30.3525867,"cg_vv_v":19.795166,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.5087509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.78833,"values":{"Elec_RPM":-3.82108929e-18,"EncoderCos":38721,"EncoderSin":12496,"GapTicks":54771,"Mech_RPM":-7.64217847e-19,"cg_du":50.153923,"cg_dv":50.2080231,"cg_dw":49.7919769,"cg_id_a":-0.133641824,"cg_id_raw_a":-0.576436043,"cg_iq_a":-0.284973383,"cg_iq_raw_a":-0.3820678,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14300166,"cg_sample_valid":1,"cg_theta_rad":5.00745916,"cg_vd_req_v":0.0810124651,"cg_vd_v":0.0810124651,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370420277,"cg_vq_v":-0.370420277,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.1649017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.04422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.796143,"values":{"Elec_RPM":-3.74466773e-18,"EncoderCos":38716,"EncoderSin":12501,"GapTicks":54769,"Mech_RPM":-7.48933514e-19,"cg_du":50.1541023,"cg_dv":50.2097664,"cg_dw":49.7902336,"cg_id_a":-0.326905549,"cg_id_raw_a":-0.423164994,"cg_iq_a":-0.102436781,"cg_iq_raw_a":-1.09600437,"cg_iu_a":0.00253343582,"cg_iv_a":-0.836941838,"cg_iw_a":0.834408402,"cg_sample_age_us":23.863636,"cg_sample_seq":14300216,"cg_sample_valid":1,"cg_theta_rad":5.00730038,"cg_vd_req_v":0.0828594938,"cg_vd_v":0.0828594938,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372834802,"cg_vq_v":-0.372834802,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0409546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.803955,"values":{"Elec_RPM":-3.74466773e-18,"EncoderCos":38704,"EncoderSin":12444,"GapTicks":54774,"Mech_RPM":-7.48933514e-19,"cg_du":50.163414,"cg_dv":50.2045479,"cg_dw":49.7954521,"cg_id_a":0.159218431,"cg_id_raw_a":0.166104719,"cg_iq_a":-0.211102039,"cg_iq_raw_a":-0.419283509,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.954546,"cg_sample_seq":14300266,"cg_sample_valid":1,"cg_theta_rad":5.00845718,"cg_vd_req_v":0.0726856813,"cg_vd_v":0.0726856813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369351447,"cg_vq_v":-0.369351447,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0409546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.811768,"values":{"Elec_RPM":-3.66977397e-18,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-7.33954824e-19,"cg_du":50.1674042,"cg_dv":50.2128334,"cg_dw":49.7871666,"cg_id_a":0.0137633421,"cg_id_raw_a":0.309768707,"cg_iq_a":0.320688009,"cg_iq_raw_a":0.685587287,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9254551,"cg_sample_seq":14300317,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0754336417,"cg_vd_v":0.0754336417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383277476,"cg_vq_v":-0.383277476,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.81958,"values":{"Elec_RPM":-3.66977397e-18,"EncoderCos":38744,"EncoderSin":12490,"GapTicks":54761,"Mech_RPM":-7.33954824e-19,"cg_du":50.1614647,"cg_dv":50.2164612,"cg_dw":49.7835388,"cg_id_a":-0.215424955,"cg_id_raw_a":0.202826917,"cg_iq_a":0.517225206,"cg_iq_raw_a":0.273988456,"cg_iu_a":0.0750210285,"cg_iv_a":-0.836941957,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9509087,"cg_sample_seq":14300366,"cg_sample_valid":1,"cg_theta_rad":5.00842237,"cg_vd_req_v":0.0809183791,"cg_vd_v":0.0809183791,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384228051,"cg_vq_v":-0.384228051,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.053894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.827393,"values":{"Elec_RPM":-3.59637864e-18,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-7.19275729e-19,"cg_du":50.1586266,"cg_dv":50.2093964,"cg_dw":49.7906036,"cg_id_a":-0.130068094,"cg_id_raw_a":-0.231457144,"cg_iq_a":-0.0122174732,"cg_iq_raw_a":0.815551758,"cg_iu_a":0.14750886,"cg_iv_a":-0.402015865,"cg_iw_a":0.254507005,"cg_sample_age_us":23.8709087,"cg_sample_seq":14300417,"cg_sample_valid":1,"cg_theta_rad":5.00791883,"cg_vd_req_v":0.0796627551,"cg_vd_v":0.0796627551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373535842,"cg_vq_v":-0.373535842,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.835205,"values":{"Elec_RPM":-3.59637864e-18,"EncoderCos":38730,"EncoderSin":12504,"GapTicks":54769,"Mech_RPM":-7.19275729e-19,"cg_du":50.1586952,"cg_dv":50.2091217,"cg_dw":49.7908783,"cg_id_a":-0.0593859777,"cg_id_raw_a":0.0247822255,"cg_iq_a":-0.123509593,"cg_iq_raw_a":0.148713872,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9872723,"cg_sample_seq":14300467,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.0773442462,"cg_vd_v":0.0773442462,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37480399,"cg_vq_v":-0.37480399,"cg_vu_v":119.650772,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0490417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.846924,"values":{"Elec_RPM":-3.52445115e-18,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-7.04890231e-19,"cg_du":50.1655388,"cg_dv":50.2090187,"cg_dw":49.7909813,"cg_id_a":-0.00796347298,"cg_id_raw_a":0.0650977269,"cg_iq_a":-0.00897836778,"cg_iq_raw_a":0.153177038,"cg_iu_a":0.038777113,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14300517,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0749671832,"cg_vd_v":0.0749671832,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376695454,"cg_vq_v":-0.376695454,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0490417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.854736,"values":{"Elec_RPM":-3.52445115e-18,"EncoderCos":38731,"EncoderSin":12494,"GapTicks":54768,"Mech_RPM":-7.04890231e-19,"cg_du":50.1622238,"cg_dv":50.2101631,"cg_dw":49.7898369,"cg_id_a":-0.019666113,"cg_id_raw_a":-0.246705547,"cg_iq_a":0.00854042172,"cg_iq_raw_a":-0.0950873122,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.619478941,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9581814,"cg_sample_seq":14300567,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0755126849,"cg_vd_v":0.0755126849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377022654,"cg_vq_v":-0.377022654,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9663391,"temp_inv2_c":38.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.88208,"values":{"Elec_RPM":-3.45396213e-18,"EncoderCos":38733,"EncoderSin":12514,"GapTicks":54765,"Mech_RPM":-6.90792437e-19,"cg_du":50.1602898,"cg_dv":50.2134514,"cg_dw":49.7865486,"cg_id_a":-0.159861267,"cg_id_raw_a":-0.604435146,"cg_iq_a":0.204520613,"cg_iq_raw_a":-0.0910348967,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9509087,"cg_sample_seq":14300620,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0795124397,"cg_vd_v":0.0795124397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380569875,"cg_vq_v":-0.380569875,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0474243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.889893,"values":{"Elec_RPM":-3.45396213e-18,"EncoderCos":38690,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-6.90792437e-19,"cg_du":50.160717,"cg_dv":50.2059593,"cg_dw":49.7940407,"cg_id_a":0.0331255645,"cg_id_raw_a":-0.241953924,"cg_iq_a":-0.36073035,"cg_iq_raw_a":-1.15369475,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397761,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.863636,"cg_sample_seq":14300666,"cg_sample_valid":1,"cg_theta_rad":5.00597906,"cg_vd_req_v":0.0759301931,"cg_vd_v":0.0759301931,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368615448,"cg_vq_v":-0.368615448,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0474243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.901611,"values":{"Elec_RPM":-3.38488304e-18,"EncoderCos":38733,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-6.76976607e-19,"cg_du":50.1569366,"cg_dv":50.212719,"cg_dw":49.787281,"cg_id_a":-0.239174023,"cg_id_raw_a":-0.00641795853,"cg_iq_a":0.0341406912,"cg_iq_raw_a":0.255029976,"cg_iu_a":-0.251173496,"cg_iv_a":-0.365772009,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14300717,"cg_sample_valid":1,"cg_theta_rad":5.00893402,"cg_vd_req_v":0.0823912546,"cg_vd_v":0.0823912546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377498657,"cg_vq_v":-0.377498657,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.114228845,"dclink_p_w":-16.5317307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0587158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.909424,"values":{"Elec_RPM":-3.38488304e-18,"EncoderCos":38716,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-6.76976607e-19,"cg_du":50.1578026,"cg_dv":50.2048836,"cg_dw":49.7951164,"cg_id_a":0.225219712,"cg_id_raw_a":0.284627557,"cg_iq_a":-0.505160749,"cg_iq_raw_a":-0.59082222,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9218178,"cg_sample_seq":14300767,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0748125464,"cg_vd_v":0.0748125464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367168993,"cg_vq_v":-0.367168993,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0587158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.917236,"values":{"Elec_RPM":-3.31718534e-18,"EncoderCos":38728,"EncoderSin":12471,"GapTicks":54773,"Mech_RPM":-6.63437057e-19,"cg_du":50.161499,"cg_dv":50.2062187,"cg_dw":49.7937813,"cg_id_a":0.286034763,"cg_id_raw_a":0.100315541,"cg_iq_a":-0.236205071,"cg_iq_raw_a":-1.08187914,"cg_iu_a":-0.432392597,"cg_iv_a":-0.25704062,"cg_iw_a":0.689433217,"cg_sample_age_us":23.954546,"cg_sample_seq":14300817,"cg_sample_valid":1,"cg_theta_rad":5.0079155,"cg_vd_req_v":0.0731125325,"cg_vd_v":0.0731125325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371076465,"cg_vq_v":-0.371076465,"cg_vu_v":131.087982,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0878296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.925049,"values":{"Elec_RPM":-3.31718534e-18,"EncoderCos":38721,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-6.63437057e-19,"cg_du":50.1596756,"cg_dv":50.2148781,"cg_dw":49.7851219,"cg_id_a":-0.174186349,"cg_id_raw_a":-0.145781159,"cg_iq_a":0.475427002,"cg_iq_raw_a":0.824234903,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9581814,"cg_sample_seq":14300867,"cg_sample_valid":1,"cg_theta_rad":5.00818443,"cg_vd_req_v":0.0830775052,"cg_vd_v":0.0830775052,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381808698,"cg_vq_v":-0.381808698,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.04422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.932861,"values":{"Elec_RPM":-3.25084152e-18,"EncoderCos":38704,"EncoderSin":12495,"GapTicks":54771,"Mech_RPM":-6.50168304e-19,"cg_du":50.1560249,"cg_dv":50.2080536,"cg_dw":49.7919464,"cg_id_a":0.0190118589,"cg_id_raw_a":0.71604538,"cg_iq_a":-0.27931574,"cg_iq_raw_a":-0.255609214,"cg_iu_a":0.0750212669,"cg_iv_a":0.286616981,"cg_iw_a":-0.361638248,"cg_sample_age_us":23.954546,"cg_sample_seq":14300917,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0803565532,"cg_vd_v":0.0803565532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369075626,"cg_vq_v":-0.369075626,"cg_vu_v":133.727341,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.04422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.94458,"values":{"Elec_RPM":-3.25084152e-18,"EncoderCos":38700,"EncoderSin":12497,"GapTicks":54759,"Mech_RPM":-6.50168304e-19,"cg_du":50.1622429,"cg_dv":50.2184067,"cg_dw":49.7815933,"cg_id_a":-0.270947278,"cg_id_raw_a":0.249950275,"cg_iq_a":0.575145006,"cg_iq_raw_a":0.827303052,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9618187,"cg_sample_seq":14300967,"cg_sample_valid":1,"cg_theta_rad":5.00682068,"cg_vd_req_v":0.0858618617,"cg_vd_v":0.0858618617,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386508733,"cg_vq_v":-0.386508733,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0522766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.952393,"values":{"Elec_RPM":-3.1858245e-18,"EncoderCos":38696,"EncoderSin":12491,"GapTicks":54766,"Mech_RPM":-6.37164922e-19,"cg_du":50.1645775,"cg_dv":50.2121353,"cg_dw":49.7878647,"cg_id_a":0.114468157,"cg_id_raw_a":0.268426031,"cg_iq_a":0.130803719,"cg_iq_raw_a":0.428881943,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14301017,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.078441523,"cg_vd_v":0.078441523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379238218,"cg_vq_v":-0.379238218,"cg_vu_v":138.126266,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2586.960205,"values":{"Elec_RPM":-3.1858245e-18,"EncoderCos":38712,"EncoderSin":12471,"GapTicks":54766,"Mech_RPM":-6.37164922e-19,"cg_du":50.1619568,"cg_dv":50.212265,"cg_dw":49.787735,"cg_id_a":0.00444799662,"cg_id_raw_a":0.0539932773,"cg_iq_a":0.0192741752,"cg_iq_raw_a":0.479676992,"cg_iu_a":-0.106198072,"cg_iv_a":-0.510747433,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14301067,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0799962506,"cg_vd_v":0.0799962506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379269898,"cg_vq_v":-0.379269898,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2586.987549,"values":{"Elec_RPM":-3.12210823e-18,"EncoderCos":38730,"EncoderSin":12511,"GapTicks":54759,"Mech_RPM":-6.24421636e-19,"cg_du":50.1513405,"cg_dv":50.218483,"cg_dw":49.781517,"cg_id_a":-0.416634381,"cg_id_raw_a":0.274888337,"cg_iq_a":0.206890047,"cg_iq_raw_a":0.171862125,"cg_iu_a":1.48853064,"cg_iv_a":0.250373125,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.863636,"cg_sample_seq":14301120,"cg_sample_valid":1,"cg_theta_rad":5.00851107,"cg_vd_req_v":0.0920395404,"cg_vd_v":0.0920395404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383535177,"cg_vq_v":-0.383535177,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2586.995361,"values":{"Elec_RPM":-3.12210823e-18,"EncoderCos":38712,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-6.24421636e-19,"cg_du":50.1607361,"cg_dv":50.2143593,"cg_dw":49.7856407,"cg_id_a":0.0817366615,"cg_id_raw_a":-0.0796587393,"cg_iq_a":-0.118338153,"cg_iq_raw_a":-0.0798626989,"cg_iu_a":-0.251173258,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019293,"cg_sample_age_us":23.8672733,"cg_sample_seq":14301166,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0825220048,"cg_vd_v":0.0825220048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381528378,"cg_vq_v":-0.381528378,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0506592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.003174,"values":{"Elec_RPM":-3.05966623e-18,"EncoderCos":38746,"EncoderSin":12533,"GapTicks":54757,"Mech_RPM":-6.11933225e-19,"cg_du":50.1620522,"cg_dv":50.2208405,"cg_dw":49.7791595,"cg_id_a":-0.0165335163,"cg_id_raw_a":0.0394962765,"cg_iq_a":0.344732672,"cg_iq_raw_a":-0.250418305,"cg_iu_a":-1.08478165,"cg_iv_a":-0.329528213,"cg_iw_a":1.41430986,"cg_sample_age_us":23.863636,"cg_sample_seq":14301217,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.0833240151,"cg_vd_v":0.0833240151,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390807241,"cg_vq_v":-0.390807241,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0232239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.014893,"values":{"Elec_RPM":-3.05966623e-18,"EncoderCos":38738,"EncoderSin":12475,"GapTicks":54762,"Mech_RPM":-6.11933225e-19,"cg_du":50.165657,"cg_dv":50.2161064,"cg_dw":49.7838936,"cg_id_a":0.172554553,"cg_id_raw_a":-0.0884535462,"cg_iq_a":0.298973352,"cg_iq_raw_a":1.81261313,"cg_iu_a":-0.794830799,"cg_iv_a":-0.329528332,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9836369,"cg_sample_seq":14301267,"cg_sample_valid":1,"cg_theta_rad":5.00820446,"cg_vd_req_v":0.0782089904,"cg_vd_v":0.0782089904,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385883778,"cg_vq_v":-0.385883778,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0377502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.022705,"values":{"Elec_RPM":-2.99847285e-18,"EncoderCos":38725,"EncoderSin":12506,"GapTicks":54768,"Mech_RPM":-5.9969457e-19,"cg_du":50.1551399,"cg_dv":50.2107773,"cg_dw":49.7892227,"cg_id_a":-0.124825485,"cg_id_raw_a":-0.0829295665,"cg_iq_a":-0.266084194,"cg_iq_raw_a":0.175018236,"cg_iu_a":0.546190977,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14301317,"cg_sample_valid":1,"cg_theta_rad":5.00737858,"cg_vd_req_v":0.0816345513,"cg_vd_v":0.0816345513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372725338,"cg_vq_v":-0.372725338,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0377502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.030518,"values":{"Elec_RPM":-2.99847285e-18,"EncoderCos":38702,"EncoderSin":12454,"GapTicks":54768,"Mech_RPM":-5.9969457e-19,"cg_du":50.1661415,"cg_dv":50.2107048,"cg_dw":49.7892952,"cg_id_a":0.24356699,"cg_id_raw_a":-0.0361027382,"cg_iq_a":0.320554674,"cg_iq_raw_a":0.72579813,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14301367,"cg_sample_valid":1,"cg_theta_rad":5.009552,"cg_vd_req_v":0.0765014663,"cg_vd_v":0.0765014663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37925005,"cg_vq_v":-0.37925005,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0474243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.042236,"values":{"Elec_RPM":-2.93850329e-18,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54765,"Mech_RPM":-5.87700658e-19,"cg_du":50.1551208,"cg_dv":50.2134094,"cg_dw":49.7865906,"cg_id_a":-0.195249081,"cg_id_raw_a":0.429498851,"cg_iq_a":0.191896901,"cg_iq_raw_a":-0.795767605,"cg_iu_a":-0.432392597,"cg_iv_a":-0.365772128,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9618187,"cg_sample_seq":14301417,"cg_sample_valid":1,"cg_theta_rad":5.00781202,"cg_vd_req_v":0.0847573578,"cg_vd_v":0.0847573578,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377364606,"cg_vq_v":-0.377364606,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0054626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.050049,"values":{"Elec_RPM":-2.93850329e-18,"EncoderCos":38713,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-5.87700658e-19,"cg_du":50.1577835,"cg_dv":50.2092438,"cg_dw":49.7907562,"cg_id_a":-0.0260592028,"cg_id_raw_a":-0.563756287,"cg_iq_a":-0.0926699117,"cg_iq_raw_a":0.34495008,"cg_iu_a":-0.468636513,"cg_iv_a":0.0691539645,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9763641,"cg_sample_seq":14301467,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0805943385,"cg_vd_v":0.0805943385,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372761905,"cg_vq_v":-0.372761905,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.139478087,"dclink_p_w":20.1859188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0054626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.057861,"values":{"Elec_RPM":-2.87973314e-18,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-5.75946629e-19,"cg_du":50.1520691,"cg_dv":50.2070427,"cg_dw":49.7929573,"cg_id_a":-0.0424810238,"cg_id_raw_a":0.000680149882,"cg_iq_a":-0.458461136,"cg_iq_raw_a":-1.31033695,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9654541,"cg_sample_seq":14301517,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0823542103,"cg_vd_v":0.0823542103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365513891,"cg_vq_v":-0.365513891,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.065674,"values":{"Elec_RPM":-2.87973314e-18,"EncoderCos":38706,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-5.75946629e-19,"cg_du":50.1468353,"cg_dv":50.2067413,"cg_dw":49.7932587,"cg_id_a":-0.268400639,"cg_id_raw_a":0.307489604,"cg_iq_a":-0.608928382,"cg_iq_raw_a":-0.368685335,"cg_iu_a":0.582434893,"cg_iv_a":-0.184552908,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8781815,"cg_sample_seq":14301567,"cg_sample_valid":1,"cg_theta_rad":5.00706244,"cg_vd_req_v":0.0872079507,"cg_vd_v":0.0872079507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363085777,"cg_vq_v":-0.363085777,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.073486,"values":{"Elec_RPM":-2.82213842e-18,"EncoderCos":38748,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-5.64427673e-19,"cg_du":50.1534157,"cg_dv":50.2149506,"cg_dw":49.7850494,"cg_id_a":-0.170362771,"cg_id_raw_a":0.373572469,"cg_iq_a":0.138687328,"cg_iq_raw_a":-0.220344648,"cg_iu_a":0.401215553,"cg_iv_a":-0.25704062,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14301616,"cg_sample_valid":1,"cg_theta_rad":5.0068655,"cg_vd_req_v":0.0856877789,"cg_vd_v":0.0856877789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378945351,"cg_vq_v":-0.378945351,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2587.080604,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2587.080607,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2587.08061,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2587.104736,"values":{"Elec_RPM":-2.82213842e-18,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-5.64427673e-19,"cg_du":50.1589699,"cg_dv":50.2007332,"cg_dw":49.7992668,"cg_id_a":0.528035879,"cg_id_raw_a":0.0287475213,"cg_iq_a":-0.559557498,"cg_iq_raw_a":-0.542640328,"cg_iu_a":0.763653994,"cg_iv_a":0.322860718,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.8600006,"cg_sample_seq":14301670,"cg_sample_valid":1,"cg_theta_rad":5.00864172,"cg_vd_req_v":0.0707563162,"cg_vd_v":0.0707563162,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363146961,"cg_vq_v":-0.363146961,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.112549,"values":{"Elec_RPM":-2.76569575e-18,"EncoderCos":38740,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-5.53139139e-19,"cg_du":50.1537552,"cg_dv":50.1993637,"cg_dw":49.8006363,"cg_id_a":0.465437353,"cg_id_raw_a":0.188775778,"cg_iq_a":-0.681165576,"cg_iq_raw_a":0.418789208,"cg_iu_a":0.183752537,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9290905,"cg_sample_seq":14301717,"cg_sample_valid":1,"cg_theta_rad":5.00649214,"cg_vd_req_v":0.0717916265,"cg_vd_v":0.0717916265,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358693659,"cg_vq_v":-0.358693659,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.120361,"values":{"Elec_RPM":-2.76569575e-18,"EncoderCos":38724,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-5.53139139e-19,"cg_du":50.1481514,"cg_dv":50.2074738,"cg_dw":49.7925262,"cg_id_a":-0.195354283,"cg_id_raw_a":-0.0588868968,"cg_iq_a":-0.227866933,"cg_iq_raw_a":0.140816927,"cg_iu_a":0.473703384,"cg_iv_a":-0.365772128,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14301767,"cg_sample_valid":1,"cg_theta_rad":5.00590277,"cg_vd_req_v":0.0849282518,"cg_vd_v":0.0849282518,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366452843,"cg_vq_v":-0.366452843,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4756985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0280457,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.128174,"values":{"Elec_RPM":-2.71038177e-18,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-5.42076374e-19,"cg_du":50.158802,"cg_dv":50.2137527,"cg_dw":49.7862473,"cg_id_a":-0.0387189239,"cg_id_raw_a":-0.201169744,"cg_iq_a":0.406709671,"cg_iq_raw_a":1.14634824,"cg_iu_a":-0.323661089,"cg_iv_a":-0.293284357,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9763641,"cg_sample_seq":14301817,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.083768554,"cg_vd_v":0.083768554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379546702,"cg_vq_v":-0.379546702,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2648907,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.042572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.135986,"values":{"Elec_RPM":-2.71038177e-18,"EncoderCos":38708,"EncoderSin":12488,"GapTicks":54756,"Mech_RPM":-5.42076374e-19,"cg_du":50.1626358,"cg_dv":50.2210007,"cg_dw":49.7789993,"cg_id_a":-0.251844168,"cg_id_raw_a":0.236621544,"cg_iq_a":0.903318524,"cg_iq_raw_a":0.971268117,"cg_iu_a":-0.541124105,"cg_iv_a":-0.184552848,"cg_iw_a":0.725676954,"cg_sample_age_us":23.863636,"cg_sample_seq":14301867,"cg_sample_valid":1,"cg_theta_rad":5.00606012,"cg_vd_req_v":0.0878772736,"cg_vd_v":0.0878772736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391535133,"cg_vq_v":-0.391535133,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.042572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.143799,"values":{"Elec_RPM":-2.65617414e-18,"EncoderCos":38711,"EncoderSin":12495,"GapTicks":54764,"Mech_RPM":-5.31234828e-19,"cg_du":50.1614723,"cg_dv":50.2140465,"cg_dw":49.7859535,"cg_id_a":0.0453511626,"cg_id_raw_a":0.353307903,"cg_iq_a":0.150192574,"cg_iq_raw_a":0.436061323,"cg_iu_a":-0.39614892,"cg_iv_a":0.0691539049,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9836369,"cg_sample_seq":14301917,"cg_sample_valid":1,"cg_theta_rad":5.00596762,"cg_vd_req_v":0.0815720558,"cg_vd_v":0.0815720558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381535083,"cg_vq_v":-0.381535083,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":37.986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.155518,"values":{"Elec_RPM":-2.65617414e-18,"EncoderCos":38711,"EncoderSin":12477,"GapTicks":54760,"Mech_RPM":-5.31234828e-19,"cg_du":50.1687546,"cg_dv":50.2178154,"cg_dw":49.7821846,"cg_id_a":0.106327504,"cg_id_raw_a":-0.271918088,"cg_iq_a":0.610891402,"cg_iq_raw_a":0.37443316,"cg_iu_a":-0.613611698,"cg_iv_a":0.0691539049,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9581814,"cg_sample_seq":14301967,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0802489892,"cg_vd_v":0.0802489892,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391831428,"cg_vq_v":-0.391831428,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":37.986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.16333,"values":{"Elec_RPM":-2.60305053e-18,"EncoderCos":38715,"EncoderSin":12487,"GapTicks":54767,"Mech_RPM":-5.20610107e-19,"cg_du":50.1610718,"cg_dv":50.2114563,"cg_dw":49.7885437,"cg_id_a":0.151074842,"cg_id_raw_a":0.329769135,"cg_iq_a":-0.075475648,"cg_iq_raw_a":0.0330366455,"cg_iu_a":-0.323661089,"cg_iv_a":0.10539782,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9618187,"cg_sample_seq":14302017,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0794688314,"cg_vd_v":0.0794688314,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378967345,"cg_vq_v":-0.378967345,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.042572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.171143,"values":{"Elec_RPM":-2.60305053e-18,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54764,"Mech_RPM":-5.20610107e-19,"cg_du":50.1594963,"cg_dv":50.2136726,"cg_dw":49.7863274,"cg_id_a":0.0250687171,"cg_id_raw_a":-0.409704804,"cg_iq_a":-0.00563076138,"cg_iq_raw_a":1.20019698,"cg_iu_a":0.292484045,"cg_iv_a":0.322860777,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9618187,"cg_sample_seq":14302067,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0812231451,"cg_vd_v":0.0812231451,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381453514,"cg_vq_v":-0.381453514,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.3502045,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.178955,"values":{"Elec_RPM":-2.55098965e-18,"EncoderCos":38697,"EncoderSin":12473,"GapTicks":54768,"Mech_RPM":-5.10197919e-19,"cg_du":50.1613541,"cg_dv":50.2102699,"cg_dw":49.7897301,"cg_id_a":0.0647652149,"cg_id_raw_a":-0.059914995,"cg_iq_a":-0.156621501,"cg_iq_raw_a":0.140382424,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065315,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9872723,"cg_sample_seq":14302117,"cg_sample_valid":1,"cg_theta_rad":5.00657845,"cg_vd_req_v":0.0797580332,"cg_vd_v":0.0797580332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375967175,"cg_vq_v":-0.375967175,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-91.802887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.210205,"values":{"Elec_RPM":-2.55098965e-18,"EncoderCos":38738,"EncoderSin":12479,"GapTicks":54766,"Mech_RPM":-5.10197919e-19,"cg_du":50.1691246,"cg_dv":50.2119026,"cg_dw":49.7880974,"cg_id_a":0.412944347,"cg_id_raw_a":0.998153687,"cg_iq_a":0.275369257,"cg_iq_raw_a":1.65886581,"cg_iu_a":-0.178685665,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8600006,"cg_sample_seq":14302170,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.0715521201,"cg_vd_v":0.0715521201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383283526,"cg_vq_v":-0.383283526,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.0926666,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":38.0474243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.218018,"values":{"Elec_RPM":-2.49996977e-18,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-4.99993974e-19,"cg_du":50.1558914,"cg_dv":50.2076607,"cg_dw":49.7923393,"cg_id_a":0.0280472487,"cg_id_raw_a":0.263909936,"cg_iq_a":-0.232118696,"cg_iq_raw_a":-0.374294013,"cg_iu_a":0.546190977,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.863636,"cg_sample_seq":14302216,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0790963098,"cg_vd_v":0.0790963098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369860739,"cg_vq_v":-0.369860739,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.0926666,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.22583,"values":{"Elec_RPM":-2.49996977e-18,"EncoderCos":38712,"EncoderSin":12464,"GapTicks":54767,"Mech_RPM":-4.99993974e-19,"cg_du":50.1625252,"cg_dv":50.2116508,"cg_dw":49.7883492,"cg_id_a":-0.0319965929,"cg_id_raw_a":0.047053434,"cg_iq_a":0.261786729,"cg_iq_raw_a":-0.504435003,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9690914,"cg_sample_seq":14302266,"cg_sample_valid":1,"cg_theta_rad":5.00660896,"cg_vd_req_v":0.0791358501,"cg_vd_v":0.0791358501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378718734,"cg_vq_v":-0.378718734,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.129501,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.233643,"values":{"Elec_RPM":-2.40097114e-18,"EncoderCos":38721,"EncoderSin":12495,"GapTicks":54773,"Mech_RPM":-4.80194217e-19,"cg_du":50.1659317,"cg_dv":50.2055397,"cg_dw":49.7944603,"cg_id_a":0.3519243,"cg_id_raw_a":0.4858298,"cg_iq_a":0.235335544,"cg_iq_raw_a":-0.498797715,"cg_iu_a":-1.44721985,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9872723,"cg_sample_seq":14302417,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0689493418,"cg_vd_v":0.0689493418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372639954,"cg_vq_v":-0.372639954,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.129501,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.241455,"values":{"Elec_RPM":-2.40097114e-18,"EncoderCos":38718,"EncoderSin":12519,"GapTicks":54768,"Mech_RPM":-4.80194217e-19,"cg_du":50.1672935,"cg_dv":50.2106514,"cg_dw":49.7893486,"cg_id_a":0.163581952,"cg_id_raw_a":0.191185936,"cg_iq_a":0.717248559,"cg_iq_raw_a":0.164558575,"cg_iu_a":-1.51970744,"cg_iv_a":0.322860718,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14302466,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0724644437,"cg_vd_v":0.0724644437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380426675,"cg_vq_v":-0.380426675,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0248108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.249268,"values":{"Elec_RPM":-2.35295165e-18,"EncoderCos":38761,"EncoderSin":12512,"GapTicks":54768,"Mech_RPM":-4.7059034e-19,"cg_du":50.1572189,"cg_dv":50.210434,"cg_dw":49.789566,"cg_id_a":-0.0868324637,"cg_id_raw_a":-0.224280253,"cg_iq_a":0.429978698,"cg_iq_raw_a":0.127142593,"cg_iu_a":-0.178685665,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.863636,"cg_sample_seq":14302516,"cg_sample_valid":1,"cg_theta_rad":5.00680447,"cg_vd_req_v":0.0766919106,"cg_vd_v":0.0766919106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375229239,"cg_vq_v":-0.375229239,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0248108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.25708,"values":{"Elec_RPM":-2.35295165e-18,"EncoderCos":38734,"EncoderSin":12507,"GapTicks":54771,"Mech_RPM":-4.7059034e-19,"cg_du":50.1588516,"cg_dv":50.2080002,"cg_dw":49.7919998,"cg_id_a":0.0835338384,"cg_id_raw_a":-0.154462606,"cg_iq_a":0.190400004,"cg_iq_raw_a":-0.413770616,"cg_iu_a":-0.794830799,"cg_iv_a":0.177885473,"cg_iw_a":0.616945326,"cg_sample_age_us":23.9763641,"cg_sample_seq":14302566,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0754874796,"cg_vd_v":0.0754874796,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372311056,"cg_vq_v":-0.372311056,"cg_vu_v":29.912693,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0232239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.268799,"values":{"Elec_RPM":-2.30589252e-18,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54774,"Mech_RPM":-4.61178524e-19,"cg_du":50.1517372,"cg_dv":50.2054291,"cg_dw":49.7945709,"cg_id_a":-0.0887623653,"cg_id_raw_a":-0.309182882,"cg_iq_a":-0.317541361,"cg_iq_raw_a":-0.757051051,"cg_iu_a":0.546190977,"cg_iv_a":-0.329528213,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9109097,"cg_sample_seq":14302616,"cg_sample_valid":1,"cg_theta_rad":5.00801468,"cg_vd_req_v":0.0802752525,"cg_vd_v":0.0802752525,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365640819,"cg_vq_v":-0.365640819,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0393677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.296143,"values":{"Elec_RPM":-2.30589252e-18,"EncoderCos":38772,"EncoderSin":12514,"GapTicks":54767,"Mech_RPM":-4.61178524e-19,"cg_du":50.1512337,"cg_dv":50.211174,"cg_dw":49.788826,"cg_id_a":-0.140168175,"cg_id_raw_a":0.0680914,"cg_iq_a":-0.058240138,"cg_iq_raw_a":-0.102663264,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772009,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8490906,"cg_sample_seq":14302671,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0813961998,"cg_vd_v":0.0813961998,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37429294,"cg_vq_v":-0.37429294,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.866288424,"dclink_p_w":-125.754372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0393677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.303955,"values":{"Elec_RPM":-2.25977472e-18,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-4.51954943e-19,"cg_du":50.1567192,"cg_dv":50.2110176,"cg_dw":49.7889824,"cg_id_a":-0.131625548,"cg_id_raw_a":-0.471962065,"cg_iq_a":-0.0844658762,"cg_iq_raw_a":-0.154295534,"cg_iu_a":-0.142441988,"cg_iv_a":0.540323794,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9581814,"cg_sample_seq":14302717,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0820018947,"cg_vd_v":0.0820018947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374822587,"cg_vq_v":-0.374822587,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.790176392,"dclink_p_w":-114.705605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.311768,"values":{"Elec_RPM":-2.25977472e-18,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-4.51954943e-19,"cg_du":50.1551323,"cg_dv":50.2135735,"cg_dw":49.7864265,"cg_id_a":-0.383989811,"cg_id_raw_a":-1.18968034,"cg_iq_a":0.0172129497,"cg_iq_raw_a":0.720003605,"cg_iu_a":0.0750212669,"cg_iv_a":-0.257040501,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9509087,"cg_sample_seq":14302767,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0866581053,"cg_vd_v":0.0866581053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377200514,"cg_vq_v":-0.377200514,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.367981,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.323486,"values":{"Elec_RPM":-2.21457922e-18,"EncoderCos":38713,"EncoderSin":12454,"GapTicks":54770,"Mech_RPM":-4.42915824e-19,"cg_du":50.1537247,"cg_dv":50.2090645,"cg_dw":49.7909355,"cg_id_a":-0.117684409,"cg_id_raw_a":0.0752847493,"cg_iq_a":-0.383966535,"cg_iq_raw_a":0.263354421,"cg_iu_a":0.473703146,"cg_iv_a":0.286616921,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9618187,"cg_sample_seq":14302817,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0836767852,"cg_vd_v":0.0836767852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370214462,"cg_vq_v":-0.370214462,"cg_vu_v":115.69175,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.367981,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.331299,"values":{"Elec_RPM":-2.21457922e-18,"EncoderCos":38716,"EncoderSin":12454,"GapTicks":54767,"Mech_RPM":-4.42915824e-19,"cg_du":50.160553,"cg_dv":50.2117996,"cg_dw":49.7882004,"cg_id_a":0.0309756398,"cg_id_raw_a":0.423012584,"cg_iq_a":0.0774613768,"cg_iq_raw_a":0.152293921,"cg_iu_a":0.944873095,"cg_iv_a":-0.184552908,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.954546,"cg_sample_seq":14302866,"cg_sample_valid":1,"cg_theta_rad":5.00802708,"cg_vd_req_v":0.0807404518,"cg_vd_v":0.0807404518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377827883,"cg_vq_v":-0.377827883,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.367981,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0264282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.339111,"values":{"Elec_RPM":-2.17028742e-18,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-4.34057495e-19,"cg_du":50.1536407,"cg_dv":50.2085991,"cg_dw":49.7914009,"cg_id_a":-0.07303413,"cg_id_raw_a":-0.219508931,"cg_iq_a":-0.369906813,"cg_iq_raw_a":-1.25807726,"cg_iu_a":-0.178685904,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9690914,"cg_sample_seq":14302916,"cg_sample_valid":1,"cg_theta_rad":5.00781345,"cg_vd_req_v":0.0817305297,"cg_vd_v":0.0817305297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371065378,"cg_vq_v":-0.371065378,"cg_vu_v":24.6339836,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.367981,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0264282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.346924,"values":{"Elec_RPM":-2.17028742e-18,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54774,"Mech_RPM":-4.34057495e-19,"cg_du":50.161232,"cg_dv":50.2045898,"cg_dw":49.7954102,"cg_id_a":0.33485955,"cg_id_raw_a":0.635436177,"cg_iq_a":-0.375275195,"cg_iq_raw_a":-0.0827673599,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14302966,"cg_sample_valid":1,"cg_theta_rad":5.00583839,"cg_vd_req_v":0.0726362392,"cg_vd_v":0.0726362392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369697005,"cg_vq_v":-0.369697005,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.6585693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.354736,"values":{"Elec_RPM":-2.12688174e-18,"EncoderCos":38698,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-4.25376338e-19,"cg_du":50.1654472,"cg_dv":50.2113571,"cg_dw":49.7886429,"cg_id_a":-0.00550331594,"cg_id_raw_a":0.018623231,"cg_iq_a":0.0821688473,"cg_iq_raw_a":-0.83522445,"cg_iu_a":-0.86731863,"cg_iv_a":-0.655722737,"cg_iw_a":1.52304137,"cg_sample_age_us":23.9218178,"cg_sample_seq":14303016,"cg_sample_valid":1,"cg_theta_rad":5.00773478,"cg_vd_req_v":0.0775075853,"cg_vd_v":0.0775075853,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38097623,"cg_vq_v":-0.38097623,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.753932476,"dclink_p_w":-109.444267,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.362549,"values":{"Elec_RPM":-2.12688174e-18,"EncoderCos":38709,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-4.25376338e-19,"cg_du":50.1655045,"cg_dv":50.2083206,"cg_dw":49.7916794,"cg_id_a":0.180462956,"cg_id_raw_a":0.340733677,"cg_iq_a":-0.118032902,"cg_iq_raw_a":0.763434589,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9763641,"cg_sample_seq":14303066,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0736007467,"cg_vd_v":0.0736007467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375871509,"cg_vq_v":-0.375871509,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.370361,"values":{"Elec_RPM":-2.08434398e-18,"EncoderCos":38751,"EncoderSin":12504,"GapTicks":54770,"Mech_RPM":-4.16868811e-19,"cg_du":50.1571236,"cg_dv":50.2090149,"cg_dw":49.7909851,"cg_id_a":0.0345816426,"cg_id_raw_a":0.22559692,"cg_iq_a":-0.242252201,"cg_iq_raw_a":-0.452279478,"cg_iu_a":0.219996452,"cg_iv_a":0.359104633,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.954546,"cg_sample_seq":14303116,"cg_sample_valid":1,"cg_theta_rad":5.00649643,"cg_vd_req_v":0.0762313902,"cg_vd_v":0.0762313902,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371881306,"cg_vq_v":-0.371881306,"cg_vu_v":131.967773,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.1428909,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0151367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.401611,"values":{"Elec_RPM":-2.08434398e-18,"EncoderCos":38761,"EncoderSin":12502,"GapTicks":54771,"Mech_RPM":-4.16868811e-19,"cg_du":50.1580315,"cg_dv":50.2080116,"cg_dw":49.7919884,"cg_id_a":0.0776265562,"cg_id_raw_a":0.384266526,"cg_iq_a":-0.147735819,"cg_iq_raw_a":-0.111605644,"cg_iu_a":-0.178685665,"cg_iv_a":0.214129269,"cg_iw_a":-0.035443604,"cg_sample_age_us":26.812727,"cg_sample_seq":14303171,"cg_sample_valid":1,"cg_theta_rad":5.00654364,"cg_vd_req_v":0.0739890486,"cg_vd_v":0.0739890486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372305602,"cg_vq_v":-0.372305602,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0151367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.409424,"values":{"Elec_RPM":-2.00180397e-18,"EncoderCos":38693,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-4.00360793e-19,"cg_du":50.1654434,"cg_dv":50.2108917,"cg_dw":49.7891083,"cg_id_a":-0.188651651,"cg_id_raw_a":0.0359441675,"cg_iq_a":0.0737484545,"cg_iq_raw_a":-0.177669853,"cg_iu_a":0.509947062,"cg_iv_a":-0.329528213,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9799995,"cg_sample_seq":14303316,"cg_sample_valid":1,"cg_theta_rad":5.00759697,"cg_vd_req_v":0.0774854496,"cg_vd_v":0.0774854496,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380254954,"cg_vq_v":-0.380254954,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.3589516,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0312805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.417236,"values":{"Elec_RPM":-2.00180397e-18,"EncoderCos":38708,"EncoderSin":12493,"GapTicks":54767,"Mech_RPM":-4.00360793e-19,"cg_du":50.1722908,"cg_dv":50.2116432,"cg_dw":49.7883568,"cg_id_a":0.0303639118,"cg_id_raw_a":0.0738804862,"cg_iq_a":0.295981228,"cg_iq_raw_a":-0.356094241,"cg_iu_a":0.292484283,"cg_iv_a":0.141641617,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14303366,"cg_sample_valid":1,"cg_theta_rad":5.00423002,"cg_vd_req_v":0.0708470494,"cg_vd_v":0.0708470494,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383119047,"cg_vq_v":-0.383119047,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.3992081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.425049,"values":{"Elec_RPM":-1.96176801e-18,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-3.92353581e-19,"cg_du":50.1610832,"cg_dv":50.206852,"cg_dw":49.793148,"cg_id_a":-0.0384500548,"cg_id_raw_a":0.433190733,"cg_iq_a":-0.230580449,"cg_iq_raw_a":0.262311727,"cg_iu_a":1.01736069,"cg_iv_a":0.0329101086,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.954546,"cg_sample_seq":14303417,"cg_sample_valid":1,"cg_theta_rad":5.00689554,"cg_vd_req_v":0.0752839893,"cg_vd_v":0.0752839893,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371455759,"cg_vq_v":-0.371455759,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.9412079,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0135193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.432861,"values":{"Elec_RPM":-1.96176801e-18,"EncoderCos":38755,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-3.92353581e-19,"cg_du":50.1652184,"cg_dv":50.2105789,"cg_dw":49.7894211,"cg_id_a":0.0994027406,"cg_id_raw_a":0.386703432,"cg_iq_a":0.182516888,"cg_iq_raw_a":-0.364577621,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14303466,"cg_sample_valid":1,"cg_theta_rad":5.00722075,"cg_vd_req_v":0.0723275244,"cg_vd_v":0.0723275244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379495949,"cg_vq_v":-0.379495949,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0135193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.44458,"values":{"Elec_RPM":-1.92253256e-18,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.84506507e-19,"cg_du":50.1627045,"cg_dv":50.2126808,"cg_dw":49.7873192,"cg_id_a":-0.161313951,"cg_id_raw_a":-0.90934217,"cg_iq_a":0.22201854,"cg_iq_raw_a":1.33344388,"cg_iu_a":-0.0699543953,"cg_iv_a":0.214129329,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9690914,"cg_sample_seq":14303518,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.0785170123,"cg_vd_v":0.0785170123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380529106,"cg_vq_v":-0.380529106,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.452393,"values":{"Elec_RPM":-1.92253256e-18,"EncoderCos":38730,"EncoderSin":12444,"GapTicks":54763,"Mech_RPM":-3.84506507e-19,"cg_du":50.1665077,"cg_dv":50.2154503,"cg_dw":49.7845497,"cg_id_a":-0.144533932,"cg_id_raw_a":0.0929786265,"cg_iq_a":0.542678535,"cg_iq_raw_a":0.738148391,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.836941838,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9654541,"cg_sample_seq":14303566,"cg_sample_valid":1,"cg_theta_rad":5.00667238,"cg_vd_req_v":0.0789132118,"cg_vd_v":0.0789132118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387509674,"cg_vq_v":-0.387509674,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.460205,"values":{"Elec_RPM":-1.8840819e-18,"EncoderCos":38744,"EncoderSin":12495,"GapTicks":54763,"Mech_RPM":-3.76816389e-19,"cg_du":50.162281,"cg_dv":50.2151794,"cg_dw":49.7848206,"cg_id_a":-0.17231302,"cg_id_raw_a":0.193919063,"cg_iq_a":0.548137844,"cg_iq_raw_a":-0.0908170789,"cg_iu_a":-0.178685665,"cg_iv_a":-0.800698042,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9654541,"cg_sample_seq":14303616,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0793964192,"cg_vd_v":0.0793964192,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385301769,"cg_vq_v":-0.385301769,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0151367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.487549,"values":{"Elec_RPM":-1.8840819e-18,"EncoderCos":38730,"EncoderSin":12489,"GapTicks":54771,"Mech_RPM":-3.76816389e-19,"cg_du":50.1520309,"cg_dv":50.2078552,"cg_dw":49.7921448,"cg_id_a":-0.323007911,"cg_id_raw_a":-0.312548548,"cg_iq_a":-0.302300453,"cg_iq_raw_a":-0.0650294796,"cg_iu_a":-0.323661089,"cg_iv_a":-0.546991289,"cg_iw_a":0.870652378,"cg_sample_age_us":23.8490906,"cg_sample_seq":14303671,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0812673941,"cg_vd_v":0.0812673941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367022604,"cg_vq_v":-0.367022604,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0022278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.499268,"values":{"Elec_RPM":-1.8464003e-18,"EncoderCos":38681,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.6928005e-19,"cg_du":50.1652756,"cg_dv":50.208416,"cg_dw":49.791584,"cg_id_a":0.0121744843,"cg_id_raw_a":-0.357600808,"cg_iq_a":-0.00787668303,"cg_iq_raw_a":0.363822728,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065196,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8600006,"cg_sample_seq":14303717,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0760357827,"cg_vd_v":0.0760357827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375439525,"cg_vq_v":-0.375439525,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.4771233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0022278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.50708,"values":{"Elec_RPM":-1.8464003e-18,"EncoderCos":38696,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.6928005e-19,"cg_du":50.1649055,"cg_dv":50.2004356,"cg_dw":49.7995644,"cg_id_a":0.386164278,"cg_id_raw_a":0.426772296,"cg_iq_a":-0.588500977,"cg_iq_raw_a":0.518658221,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8563633,"cg_sample_seq":14303766,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0675806999,"cg_vd_v":0.0675806999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36461103,"cg_vq_v":-0.36461103,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0135193,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.514893,"values":{"Elec_RPM":-1.80947227e-18,"EncoderCos":38696,"EncoderSin":12405,"GapTicks":54773,"Mech_RPM":-3.61894439e-19,"cg_du":50.1563263,"cg_dv":50.2060127,"cg_dw":49.7939873,"cg_id_a":-0.291891098,"cg_id_raw_a":-0.0450635254,"cg_iq_a":-0.326752514,"cg_iq_raw_a":-0.00405200152,"cg_iu_a":1.01736081,"cg_iv_a":0.0329101086,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.8563633,"cg_sample_seq":14303816,"cg_sample_valid":1,"cg_theta_rad":5.00922632,"cg_vd_req_v":0.0815548301,"cg_vd_v":0.0815548301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368078321,"cg_vq_v":-0.368078321,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.522705,"values":{"Elec_RPM":-1.80947227e-18,"EncoderCos":38731,"EncoderSin":12510,"GapTicks":54769,"Mech_RPM":-3.61894439e-19,"cg_du":50.1601334,"cg_dv":50.2095146,"cg_dw":49.7904854,"cg_id_a":-0.0452439673,"cg_id_raw_a":0.144119114,"cg_iq_a":0.26062265,"cg_iq_raw_a":-0.459049731,"cg_iu_a":0.0387773514,"cg_iv_a":-0.329528213,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14303867,"cg_sample_valid":1,"cg_theta_rad":5.00677299,"cg_vd_req_v":0.0763511136,"cg_vd_v":0.0763511136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376197129,"cg_vq_v":-0.376197129,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.3970757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0216064,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.530518,"values":{"Elec_RPM":-1.77328271e-18,"EncoderCos":38720,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-3.54656557e-19,"cg_du":50.1592865,"cg_dv":50.2070236,"cg_dw":49.7929764,"cg_id_a":-0.00243888795,"cg_id_raw_a":0.239635751,"cg_iq_a":0.0915296301,"cg_iq_raw_a":-0.340202481,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796764,"cg_iw_a":0.363238752,"cg_sample_age_us":23.8527279,"cg_sample_seq":14303917,"cg_sample_valid":1,"cg_theta_rad":5.00652885,"cg_vd_req_v":0.0760762841,"cg_vd_v":0.0760762841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372014731,"cg_vq_v":-0.372014731,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.5573578,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0183716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.53833,"values":{"Elec_RPM":-1.77328271e-18,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-3.54656557e-19,"cg_du":50.1552086,"cg_dv":50.1998711,"cg_dw":49.8001289,"cg_id_a":0.202822864,"cg_id_raw_a":-0.189729393,"cg_iq_a":-0.342723906,"cg_iq_raw_a":0.638188362,"cg_iu_a":-0.50488019,"cg_iv_a":0.141641557,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9618187,"cg_sample_seq":14303967,"cg_sample_valid":1,"cg_theta_rad":5.0057683,"cg_vd_req_v":0.0713596046,"cg_vd_v":0.0713596046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359018564,"cg_vq_v":-0.359018564,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.630581975,"dclink_p_w":91.2607574,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0183716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.546143,"values":{"Elec_RPM":-1.73781713e-18,"EncoderCos":38709,"EncoderSin":12525,"GapTicks":54782,"Mech_RPM":-3.47563431e-19,"cg_du":50.1572075,"cg_dv":50.1977882,"cg_dw":49.8022118,"cg_id_a":0.273999155,"cg_id_raw_a":1.63907838,"cg_iq_a":-0.355768204,"cg_iq_raw_a":-1.98937988,"cg_iu_a":-0.613611698,"cg_iv_a":-0.365772009,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9509087,"cg_sample_seq":14304017,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0685225502,"cg_vd_v":0.0685225502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357159257,"cg_vq_v":-0.357159257,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.557861,"values":{"Elec_RPM":-1.73781713e-18,"EncoderCos":38705,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-3.47563431e-19,"cg_du":50.1622581,"cg_dv":50.1990547,"cg_dw":49.8009453,"cg_id_a":0.328445911,"cg_id_raw_a":-0.0889163688,"cg_iq_a":-0.104302168,"cg_iq_raw_a":0.428949833,"cg_iu_a":-0.649855614,"cg_iv_a":0.939005971,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14304067,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0675098971,"cg_vd_v":0.0675098971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361395478,"cg_vq_v":-0.361395478,"cg_vu_v":105.574219,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.48741889,"dclink_p_w":70.5415344,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.565674,"values":{"Elec_RPM":-1.70306086e-18,"EncoderCos":38744,"EncoderSin":12469,"GapTicks":54778,"Mech_RPM":-3.40612167e-19,"cg_du":50.1520691,"cg_dv":50.2011871,"cg_dw":49.7988129,"cg_id_a":-0.0214720145,"cg_id_raw_a":-0.0234424658,"cg_iq_a":-0.0828215554,"cg_iq_raw_a":0.217027143,"cg_iu_a":-0.577368021,"cg_iv_a":0.250373065,"cg_iw_a":0.326994956,"cg_sample_age_us":23.954546,"cg_sample_seq":14304117,"cg_sample_valid":1,"cg_theta_rad":5.00688267,"cg_vd_req_v":0.0746135116,"cg_vd_v":0.0746135116,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360303968,"cg_vq_v":-0.360303968,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.449362874,"dclink_p_w":65.2315598,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.593018,"values":{"Elec_RPM":-1.70306086e-18,"EncoderCos":38715,"EncoderSin":12470,"GapTicks":54769,"Mech_RPM":-3.40612167e-19,"cg_du":50.1543312,"cg_dv":50.2094841,"cg_dw":49.7905159,"cg_id_a":-0.373330772,"cg_id_raw_a":-0.533579648,"cg_iq_a":0.437050045,"cg_iq_raw_a":-0.37976563,"cg_iu_a":0.292484045,"cg_iv_a":-0.728210449,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8563633,"cg_sample_seq":14304170,"cg_sample_valid":1,"cg_theta_rad":5.00799131,"cg_vd_req_v":0.0832884237,"cg_vd_v":0.0832884237,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372385949,"cg_vq_v":-0.372385949,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":0.512789547,"dclink_p_w":74.4388657,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9989929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.60083,"values":{"Elec_RPM":-1.66899963e-18,"EncoderCos":38687,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-3.33799922e-19,"cg_du":50.159832,"cg_dv":50.2014656,"cg_dw":49.7985344,"cg_id_a":0.10778366,"cg_id_raw_a":-0.120794609,"cg_iq_a":0.00129005313,"cg_iq_raw_a":-0.0846948773,"cg_iu_a":1.0898484,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9290905,"cg_sample_seq":14304217,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0731196627,"cg_vd_v":0.0731196627,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364169538,"cg_vq_v":-0.364169538,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.6702576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.612549,"values":{"Elec_RPM":-1.66899963e-18,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54770,"Mech_RPM":-3.33799922e-19,"cg_du":50.1505661,"cg_dv":50.2085266,"cg_dw":49.7914734,"cg_id_a":-0.47214219,"cg_id_raw_a":-0.625033259,"cg_iq_a":0.237811834,"cg_iq_raw_a":0.121808775,"cg_iu_a":0.14750886,"cg_iv_a":-0.836941957,"cg_iw_a":0.689433098,"cg_sample_age_us":23.8490906,"cg_sample_seq":14304266,"cg_sample_valid":1,"cg_theta_rad":5.00706625,"cg_vd_req_v":0.084872663,"cg_vd_v":0.084872663,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369060218,"cg_vq_v":-0.369060218,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.958588719,"dclink_p_w":139.153107,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.620361,"values":{"Elec_RPM":-1.63561959e-18,"EncoderCos":38692,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-3.27123928e-19,"cg_du":50.1594963,"cg_dv":50.2050056,"cg_dw":49.7949944,"cg_id_a":-0.143260762,"cg_id_raw_a":0.488556743,"cg_iq_a":0.0250615031,"cg_iq_raw_a":0.124525614,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9472733,"cg_sample_seq":14304317,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.076494582,"cg_vd_v":0.076494582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367695421,"cg_vq_v":-0.367695421,"cg_vu_v":103.814644,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":0.947715521,"dclink_p_w":136.740906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9989929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.628174,"values":{"Elec_RPM":-1.63561959e-18,"EncoderCos":38709,"EncoderSin":12507,"GapTicks":54782,"Mech_RPM":-3.27123928e-19,"cg_du":50.1523247,"cg_dv":50.1977005,"cg_dw":49.8022995,"cg_id_a":0.0855616182,"cg_id_raw_a":0.275317907,"cg_iq_a":-0.619438767,"cg_iq_raw_a":-0.7006194,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8563633,"cg_sample_seq":14304367,"cg_sample_valid":1,"cg_theta_rad":5.0057683,"cg_vd_req_v":0.0727112964,"cg_vd_v":0.0727112964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354213744,"cg_vq_v":-0.354213744,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.947715521,"dclink_p_w":136.740906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9989929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.635986,"values":{"Elec_RPM":-1.60290728e-18,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-3.20581446e-19,"cg_du":50.1488152,"cg_dv":50.2040443,"cg_dw":49.7959557,"cg_id_a":-0.224526078,"cg_id_raw_a":0.256242394,"cg_iq_a":-0.312183201,"cg_iq_raw_a":-0.302746892,"cg_iu_a":0.691166162,"cg_iv_a":-0.800698161,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9836369,"cg_sample_seq":14304417,"cg_sample_valid":1,"cg_theta_rad":5.00633383,"cg_vd_req_v":0.0802927762,"cg_vd_v":0.0802927762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361162722,"cg_vq_v":-0.361162722,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.947715521,"dclink_p_w":136.740906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0345154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.643799,"values":{"Elec_RPM":-1.60290728e-18,"EncoderCos":38740,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-3.20581446e-19,"cg_du":50.1487236,"cg_dv":50.2040062,"cg_dw":49.7959938,"cg_id_a":-0.158203125,"cg_id_raw_a":0.207317486,"cg_iq_a":-0.342308551,"cg_iq_raw_a":-0.234913766,"cg_iu_a":-0.613611698,"cg_iv_a":-0.438259721,"cg_iw_a":1.05187142,"cg_sample_age_us":23.954546,"cg_sample_seq":14304467,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0798380375,"cg_vd_v":0.0798380375,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362324208,"cg_vq_v":-0.362324208,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.690384328,"dclink_p_w":100.21933,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.651611,"values":{"Elec_RPM":-1.57084907e-18,"EncoderCos":38695,"EncoderSin":12498,"GapTicks":54770,"Mech_RPM":-3.14169814e-19,"cg_du":50.1566849,"cg_dv":50.2084122,"cg_dw":49.7915878,"cg_id_a":-0.143324316,"cg_id_raw_a":0.29050976,"cg_iq_a":0.0868147165,"cg_iq_raw_a":0.212464601,"cg_iu_a":0.473703384,"cg_iv_a":0.032910049,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9909096,"cg_sample_seq":14304517,"cg_sample_valid":1,"cg_theta_rad":5.00677156,"cg_vd_req_v":0.0813649744,"cg_vd_v":0.0813649744,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372039676,"cg_vq_v":-0.372039676,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.730252564,"dclink_p_w":106.006783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.659424,"values":{"Elec_RPM":-1.57084907e-18,"EncoderCos":38730,"EncoderSin":12488,"GapTicks":54772,"Mech_RPM":-3.14169814e-19,"cg_du":50.1536255,"cg_dv":50.2065659,"cg_dw":49.7934341,"cg_id_a":0.00788883306,"cg_id_raw_a":-0.225378931,"cg_iq_a":-0.06193088,"cg_iq_raw_a":0.125184447,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14304567,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.07927607,"cg_vd_v":0.07927607,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368383497,"cg_vq_v":-0.368383497,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.817237735,"dclink_p_w":118.633949,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0054626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.671143,"values":{"Elec_RPM":-1.53943213e-18,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-3.07886421e-19,"cg_du":50.162384,"cg_dv":50.2056656,"cg_dw":49.7943344,"cg_id_a":0.357912719,"cg_id_raw_a":-0.282800853,"cg_iq_a":-0.101618737,"cg_iq_raw_a":0.701317966,"cg_iu_a":-0.323661089,"cg_iv_a":0.57656765,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8490906,"cg_sample_seq":14304617,"cg_sample_valid":1,"cg_theta_rad":5.00793743,"cg_vd_req_v":0.0728711933,"cg_vd_v":0.0728711933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370625079,"cg_vq_v":-0.370625079,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.817237735,"dclink_p_w":118.633949,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":38.008667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.698486,"values":{"Elec_RPM":-1.50864343e-18,"EncoderCos":38721,"EncoderSin":12499,"GapTicks":54758,"Mech_RPM":-3.01728682e-19,"cg_du":50.1577835,"cg_dv":50.2198067,"cg_dw":49.7801933,"cg_id_a":-0.278862238,"cg_id_raw_a":0.105655581,"cg_iq_a":0.513121963,"cg_iq_raw_a":2.15901852,"cg_iu_a":0.364971638,"cg_iv_a":0.286616921,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.8600006,"cg_sample_seq":14304718,"cg_sample_valid":1,"cg_theta_rad":5.00979567,"cg_vd_req_v":0.0890770555,"cg_vd_v":0.0890770555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387515008,"cg_vq_v":-0.387515008,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.706299,"values":{"Elec_RPM":-1.50864343e-18,"EncoderCos":38715,"EncoderSin":12527,"GapTicks":54777,"Mech_RPM":-3.01728682e-19,"cg_du":50.1478424,"cg_dv":50.2024994,"cg_dw":49.7975006,"cg_id_a":0.240518183,"cg_id_raw_a":0.697976947,"cg_iq_a":-0.94119072,"cg_iq_raw_a":0.139895156,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.438259721,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9509087,"cg_sample_seq":14304766,"cg_sample_valid":1,"cg_theta_rad":5.00818443,"cg_vd_req_v":0.0801549777,"cg_vd_v":0.0801549777,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359526813,"cg_vq_v":-0.359526813,"cg_vu_v":24.1940918,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":38.0167542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.714111,"values":{"Elec_RPM":-1.47847057e-18,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54755,"Mech_RPM":-2.95694115e-19,"cg_du":50.1756592,"cg_dv":50.2225952,"cg_dw":49.7774048,"cg_id_a":0.337600559,"cg_id_raw_a":0.613780975,"cg_iq_a":1.05262709,"cg_iq_raw_a":2.1342454,"cg_iu_a":-0.287417412,"cg_iv_a":0.0691539049,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8963642,"cg_sample_seq":14304816,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0777254179,"cg_vd_v":0.0777254179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402584016,"cg_vq_v":-0.402584016,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.008667,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.72583,"values":{"Elec_RPM":-1.47847057e-18,"EncoderCos":38706,"EncoderSin":12501,"GapTicks":54763,"Mech_RPM":-2.95694115e-19,"cg_du":50.1686249,"cg_dv":50.2150383,"cg_dw":49.7849617,"cg_id_a":0.277887493,"cg_id_raw_a":-0.0357078388,"cg_iq_a":0.321963161,"cg_iq_raw_a":-0.949656129,"cg_iu_a":-1.01229382,"cg_iv_a":0.141641557,"cg_iw_a":0.870652258,"cg_sample_age_us":23.8600006,"cg_sample_seq":14304866,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.0772046298,"cg_vd_v":0.0772046298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386841714,"cg_vq_v":-0.386841714,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.822674334,"dclink_p_w":119.423149,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0022278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.733643,"values":{"Elec_RPM":-1.44890114e-18,"EncoderCos":38718,"EncoderSin":12537,"GapTicks":54758,"Mech_RPM":-2.89780239e-19,"cg_du":50.1734962,"cg_dv":50.2199173,"cg_dw":49.7800827,"cg_id_a":0.299344182,"cg_id_raw_a":0.364314765,"cg_iq_a":0.903114915,"cg_iq_raw_a":1.23616421,"cg_iu_a":-0.251173496,"cg_iv_a":-0.25704062,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8563633,"cg_sample_seq":14304916,"cg_sample_valid":1,"cg_theta_rad":5.00788832,"cg_vd_req_v":0.0760702714,"cg_vd_v":0.0760702714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396610677,"cg_vq_v":-0.396610677,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.822674334,"dclink_p_w":119.423149,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0022278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.741455,"values":{"Elec_RPM":-1.44890114e-18,"EncoderCos":38740,"EncoderSin":12492,"GapTicks":54767,"Mech_RPM":-2.89780239e-19,"cg_du":50.1453438,"cg_dv":50.2111626,"cg_dw":49.7888374,"cg_id_a":-0.200740874,"cg_id_raw_a":0.053441342,"cg_iq_a":-0.563583434,"cg_iq_raw_a":0.296867847,"cg_iu_a":1.0898484,"cg_iv_a":-0.510747433,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9436359,"cg_sample_seq":14304967,"cg_sample_valid":1,"cg_theta_rad":5.00686646,"cg_vd_req_v":0.0887904316,"cg_vd_v":0.0887904316,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368012428,"cg_vq_v":-0.368012428,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.628769815,"dclink_p_w":90.998497,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9941711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.749268,"values":{"Elec_RPM":-1.41992314e-18,"EncoderCos":38753,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-2.83984624e-19,"cg_du":50.1549416,"cg_dv":50.2142525,"cg_dw":49.7857475,"cg_id_a":0.0211607888,"cg_id_raw_a":0.101313092,"cg_iq_a":-0.143560052,"cg_iq_raw_a":-0.463152379,"cg_iu_a":0.509947181,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.954546,"cg_sample_seq":14305017,"cg_sample_valid":1,"cg_theta_rad":5.00768661,"cg_vd_req_v":0.0835995078,"cg_vd_v":0.0835995078,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377682775,"cg_vq_v":-0.377682775,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9973755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.760986,"values":{"Elec_RPM":-1.41992314e-18,"EncoderCos":38712,"EncoderSin":12488,"GapTicks":54760,"Mech_RPM":-2.83984624e-19,"cg_du":50.166069,"cg_dv":50.217907,"cg_dw":49.782093,"cg_id_a":0.114089988,"cg_id_raw_a":0.515474975,"cg_iq_a":0.348810375,"cg_iq_raw_a":-0.786123514,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539645,"cg_iw_a":0.145775616,"cg_sample_age_us":23.8709087,"cg_sample_seq":14305066,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0818212554,"cg_vd_v":0.0818212554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389340043,"cg_vq_v":-0.389340043,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9973755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.768799,"values":{"Elec_RPM":-1.39152469e-18,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54761,"Mech_RPM":-2.78304943e-19,"cg_du":50.1634598,"cg_dv":50.2171669,"cg_dw":49.7828331,"cg_id_a":0.149387062,"cg_id_raw_a":-0.256490529,"cg_iq_a":0.116653368,"cg_iq_raw_a":0.668046117,"cg_iu_a":-0.287417173,"cg_iv_a":-0.00333374739,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9836369,"cg_sample_seq":14305117,"cg_sample_valid":1,"cg_theta_rad":5.00585127,"cg_vd_req_v":0.0821040198,"cg_vd_v":0.0821040198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387088299,"cg_vq_v":-0.387088299,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.434865236,"dclink_p_w":62.9357224,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.796143,"values":{"Elec_RPM":-1.39152469e-18,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-2.78304943e-19,"cg_du":50.1564789,"cg_dv":50.2160797,"cg_dw":49.7839203,"cg_id_a":0.0633194298,"cg_id_raw_a":0.17336531,"cg_iq_a":-0.156811833,"cg_iq_raw_a":-1.00232029,"cg_iu_a":-0.0337104797,"cg_iv_a":0.504079998,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9436359,"cg_sample_seq":14305170,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0856001675,"cg_vd_v":0.0856001675,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383131713,"cg_vq_v":-0.383131713,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.434865236,"dclink_p_w":62.9357224,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0070801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.803955,"values":{"Elec_RPM":-1.3636942e-18,"EncoderCos":38725,"EncoderSin":12488,"GapTicks":54767,"Mech_RPM":-2.72738845e-19,"cg_du":50.1568756,"cg_dv":50.2110863,"cg_dw":49.7889137,"cg_id_a":0.322041422,"cg_id_raw_a":-0.250528514,"cg_iq_a":-0.334197432,"cg_iq_raw_a":-0.714848459,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.8709087,"cg_sample_seq":14305216,"cg_sample_valid":1,"cg_theta_rad":5.00854111,"cg_vd_req_v":0.0815311894,"cg_vd_v":0.0815311894,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376291513,"cg_vq_v":-0.376291513,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.5451355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9941711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.811768,"values":{"Elec_RPM":-1.3636942e-18,"EncoderCos":38695,"EncoderSin":12483,"GapTicks":54757,"Mech_RPM":-2.72738845e-19,"cg_du":50.1629906,"cg_dv":50.2207222,"cg_dw":49.7792778,"cg_id_a":0.0476144403,"cg_id_raw_a":-0.226411313,"cg_iq_a":0.305214614,"cg_iq_raw_a":0.123307712,"cg_iu_a":-0.541124105,"cg_iv_a":-0.184552908,"cg_iw_a":0.725677013,"cg_sample_age_us":23.8672733,"cg_sample_seq":14305266,"cg_sample_valid":1,"cg_theta_rad":5.00609684,"cg_vd_req_v":0.0886206999,"cg_vd_v":0.0886206999,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391064256,"cg_vq_v":-0.391064256,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.5451355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.81958,"values":{"Elec_RPM":-1.3364204e-18,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-2.6728408e-19,"cg_du":50.1497078,"cg_dv":50.2092781,"cg_dw":49.7907219,"cg_id_a":0.143476322,"cg_id_raw_a":-0.57387948,"cg_iq_a":-0.641033888,"cg_iq_raw_a":-0.820944667,"cg_iu_a":0.183752775,"cg_iv_a":0.685299098,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.954546,"cg_sample_seq":14305316,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0865405947,"cg_vd_v":0.0865405947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368359894,"cg_vq_v":-0.368359894,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.5451355,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":38.0296631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.827393,"values":{"Elec_RPM":-1.3364204e-18,"EncoderCos":38706,"EncoderSin":12504,"GapTicks":54759,"Mech_RPM":-2.6728408e-19,"cg_du":50.1607323,"cg_dv":50.2189255,"cg_dw":49.7810745,"cg_id_a":0.197022259,"cg_id_raw_a":0.071692951,"cg_iq_a":0.546746492,"cg_iq_raw_a":0.517750859,"cg_iu_a":-0.686099529,"cg_iv_a":0.0691539645,"cg_iw_a":0.616945565,"cg_sample_age_us":23.8527279,"cg_sample_seq":14305366,"cg_sample_valid":1,"cg_theta_rad":5.00688648,"cg_vd_req_v":0.0871831551,"cg_vd_v":0.0866993591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387682348,"cg_vq_v":-0.387682348,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.514601707,"dclink_p_w":74.4755554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9413757,"temp_inv2_c":37.9715881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.839111,"values":{"Elec_RPM":-1.30969202e-18,"EncoderCos":38750,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-2.61938399e-19,"cg_du":50.1406479,"cg_dv":50.2151527,"cg_dw":49.7848473,"cg_id_a":-0.265283257,"cg_id_raw_a":-0.450855553,"cg_iq_a":-0.224345982,"cg_iq_raw_a":0.0694011748,"cg_iu_a":0.691166401,"cg_iv_a":-0.148309112,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9509087,"cg_sample_seq":14305417,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.0959938169,"cg_vd_v":0.0959938169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37212646,"cg_vq_v":-0.37212646,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.39862144,"dclink_p_w":57.6903496,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.846924,"values":{"Elec_RPM":-1.30969202e-18,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-2.61938399e-19,"cg_du":50.148632,"cg_dv":50.2129707,"cg_dw":49.7870293,"cg_id_a":0.0119203683,"cg_id_raw_a":0.0210039839,"cg_iq_a":-0.162018031,"cg_iq_raw_a":-0.470528811,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397761,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.8563633,"cg_sample_seq":14305466,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0900202915,"cg_vd_v":0.0900202915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372997284,"cg_vq_v":-0.372997284,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":51.0259857,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.854736,"values":{"Elec_RPM":-1.28349811e-18,"EncoderCos":38726,"EncoderSin":12468,"GapTicks":54758,"Mech_RPM":-2.56699632e-19,"cg_du":50.1599731,"cg_dv":50.2193985,"cg_dw":49.7806015,"cg_id_a":0.177398503,"cg_id_raw_a":-0.0487895198,"cg_iq_a":0.401374221,"cg_iq_raw_a":0.687928259,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9218178,"cg_sample_seq":14305517,"cg_sample_valid":1,"cg_theta_rad":5.00620508,"cg_vd_req_v":0.0870823115,"cg_vd_v":0.0870823115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386918724,"cg_vq_v":-0.386918724,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2587.866455,"values":{"Elec_RPM":-1.28349811e-18,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54765,"Mech_RPM":-2.56699632e-19,"cg_du":50.1585846,"cg_dv":50.2133865,"cg_dw":49.7866135,"cg_id_a":0.36191836,"cg_id_raw_a":0.0491701029,"cg_iq_a":-0.13819021,"cg_iq_raw_a":-0.322135627,"cg_iu_a":0.14750886,"cg_iv_a":0.431592286,"cg_iw_a":0.109531939,"cg_sample_age_us":23.863636,"cg_sample_seq":14305566,"cg_sample_valid":1,"cg_theta_rad":5.00786972,"cg_vd_req_v":0.0831288323,"cg_vd_v":0.0831288323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379026711,"cg_vq_v":-0.379026711,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.874268,"values":{"Elec_RPM":-1.25782821e-18,"EncoderCos":38738,"EncoderSin":12500,"GapTicks":54756,"Mech_RPM":-2.51565632e-19,"cg_du":50.1511192,"cg_dv":50.2212105,"cg_dw":49.7787895,"cg_id_a":-0.204200059,"cg_id_raw_a":0.136822477,"cg_iq_a":0.259111762,"cg_iq_raw_a":0.304494411,"cg_iu_a":-0.251173258,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.8490906,"cg_sample_seq":14305617,"cg_sample_valid":1,"cg_theta_rad":5.00519514,"cg_vd_req_v":0.0941603109,"cg_vd_v":0.0941603109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386072695,"cg_vq_v":-0.386072695,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":38.0151367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.901611,"values":{"Elec_RPM":-1.25782821e-18,"EncoderCos":38739,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-2.51565632e-19,"cg_du":50.1525078,"cg_dv":50.2092361,"cg_dw":49.7907639,"cg_id_a":0.357348084,"cg_id_raw_a":0.391053468,"cg_iq_a":-0.493969381,"cg_iq_raw_a":-1.30974817,"cg_iu_a":0.364971638,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019591,"cg_sample_age_us":26.8163643,"cg_sample_seq":14305670,"cg_sample_valid":1,"cg_theta_rad":5.00782919,"cg_vd_req_v":0.0818980634,"cg_vd_v":0.0818980634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370416164,"cg_vq_v":-0.370416164,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9747925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.909424,"values":{"Elec_RPM":-1.23267168e-18,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-2.46534331e-19,"cg_du":50.1590729,"cg_dv":50.2152939,"cg_dw":49.7847061,"cg_id_a":0.216034517,"cg_id_raw_a":-0.263834596,"cg_iq_a":0.290493011,"cg_iq_raw_a":-0.13377288,"cg_iu_a":0.364971876,"cg_iv_a":0.250373125,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9436359,"cg_sample_seq":14305716,"cg_sample_valid":1,"cg_theta_rad":5.00994062,"cg_vd_req_v":0.0841462463,"cg_vd_v":0.0841462463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383211702,"cg_vq_v":-0.383211702,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9747925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.917236,"values":{"Elec_RPM":-1.23267168e-18,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-2.46534331e-19,"cg_du":50.1522522,"cg_dv":50.2131577,"cg_dw":49.7868423,"cg_id_a":0.0460755192,"cg_id_raw_a":0.0730272532,"cg_iq_a":-0.0220501721,"cg_iq_raw_a":0.0805512816,"cg_iu_a":0.292484283,"cg_iv_a":0.467836082,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.9799995,"cg_sample_seq":14305766,"cg_sample_valid":1,"cg_theta_rad":5.00689125,"cg_vd_req_v":0.0870292485,"cg_vd_v":0.0870292485,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376563162,"cg_vq_v":-0.376563162,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9957886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.925049,"values":{"Elec_RPM":-1.20801819e-18,"EncoderCos":38719,"EncoderSin":12445,"GapTicks":54763,"Mech_RPM":-2.41603637e-19,"cg_du":50.1556282,"cg_dv":50.2152519,"cg_dw":49.7847481,"cg_id_a":0.00212009251,"cg_id_raw_a":0.102940463,"cg_iq_a":-0.0281872153,"cg_iq_raw_a":-0.644554496,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.45308697,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9836369,"cg_sample_seq":14305816,"cg_sample_valid":1,"cg_theta_rad":5.00811386,"cg_vd_req_v":0.0879435241,"cg_vd_v":0.0879435241,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379746407,"cg_vq_v":-0.379746407,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.936768,"values":{"Elec_RPM":-1.18385779e-18,"EncoderCos":38711,"EncoderSin":12505,"GapTicks":54769,"Mech_RPM":-2.36771558e-19,"cg_du":50.1564064,"cg_dv":50.2099075,"cg_dw":49.7900925,"cg_id_a":0.177499741,"cg_id_raw_a":0.430400133,"cg_iq_a":-0.364116877,"cg_iq_raw_a":0.0791443065,"cg_iu_a":0.00253343582,"cg_iv_a":0.467836082,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.954546,"cg_sample_seq":14305916,"cg_sample_valid":1,"cg_theta_rad":5.0083313,"cg_vd_req_v":0.0812606141,"cg_vd_v":0.0812606141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373117536,"cg_vq_v":-0.373117536,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9989929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.94458,"values":{"Elec_RPM":-1.18385779e-18,"EncoderCos":38749,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-2.36771558e-19,"cg_du":50.1596527,"cg_dv":50.2138939,"cg_dw":49.7861061,"cg_id_a":0.196373343,"cg_id_raw_a":0.257806063,"cg_iq_a":-2.86166323e-06,"cg_iq_raw_a":0.133049175,"cg_iu_a":-0.359905005,"cg_iv_a":0.395348489,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9836369,"cg_sample_seq":14305966,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0796090066,"cg_vd_v":0.0796090066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380994201,"cg_vq_v":-0.380994201,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9989929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2587.952393,"values":{"Elec_RPM":-1.16018068e-18,"EncoderCos":38700,"EncoderSin":12491,"GapTicks":54765,"Mech_RPM":-2.3203613e-19,"cg_du":50.1587524,"cg_dv":50.2133713,"cg_dw":49.7866287,"cg_id_a":-0.125416964,"cg_id_raw_a":-0.242784709,"cg_iq_a":-0.00290824473,"cg_iq_raw_a":0.704863191,"cg_iu_a":0.183752775,"cg_iv_a":0.794030666,"cg_iw_a":-0.977783442,"cg_sample_age_us":23.9509087,"cg_sample_seq":14306016,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0843539163,"cg_vd_v":0.0843539163,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380006731,"cg_vq_v":-0.380006731,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.4632874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9925537,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.960205,"values":{"Elec_RPM":-1.16018068e-18,"EncoderCos":38706,"EncoderSin":12489,"GapTicks":54757,"Mech_RPM":-2.3203613e-19,"cg_du":50.1602173,"cg_dv":50.2201653,"cg_dw":49.7798347,"cg_id_a":-0.224977046,"cg_id_raw_a":0.572382808,"cg_iq_a":0.434142679,"cg_iq_raw_a":0.130700484,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9436359,"cg_sample_seq":14306066,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.0893809199,"cg_vd_v":0.0893809199,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390186727,"cg_vq_v":-0.390186727,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2587.968018,"values":{"Elec_RPM":-1.13697712e-18,"EncoderCos":38733,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-2.27395414e-19,"cg_du":50.1589279,"cg_dv":50.2126274,"cg_dw":49.7873726,"cg_id_a":0.129284561,"cg_id_raw_a":-0.125128537,"cg_iq_a":-0.0589964688,"cg_iq_raw_a":-0.266015112,"cg_iu_a":-0.178685665,"cg_iv_a":0.721542954,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.954546,"cg_sample_seq":14306116,"cg_sample_valid":1,"cg_theta_rad":5.00779247,"cg_vd_req_v":0.0814770237,"cg_vd_v":0.0814770237,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379532516,"cg_vq_v":-0.379532516,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0119324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2587.9774,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2587.977405,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2587.97741,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2587.995361,"values":{"Elec_RPM":-1.13697712e-18,"EncoderCos":38744,"EncoderSin":12507,"GapTicks":54767,"Mech_RPM":-2.27395414e-19,"cg_du":50.1542282,"cg_dv":50.211689,"cg_dw":49.788311,"cg_id_a":0.0814573988,"cg_id_raw_a":0.339327157,"cg_iq_a":-0.165145725,"cg_iq_raw_a":0.395132214,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9436359,"cg_sample_seq":14306171,"cg_sample_valid":1,"cg_theta_rad":5.00776863,"cg_vd_req_v":0.0818350837,"cg_vd_v":0.0818350837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374953985,"cg_vq_v":-0.374953985,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.00708,"values":{"Elec_RPM":-1.11423751e-18,"EncoderCos":38732,"EncoderSin":12494,"GapTicks":54773,"Mech_RPM":-2.22847498e-19,"cg_du":50.1436119,"cg_dv":50.2061768,"cg_dw":49.7938232,"cg_id_a":-0.129810363,"cg_id_raw_a":0.1819406,"cg_iq_a":-0.679410517,"cg_iq_raw_a":0.491007149,"cg_iu_a":0.908629298,"cg_iv_a":-0.402015924,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.954546,"cg_sample_seq":14306217,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0862235427,"cg_vd_v":0.0862235427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361217558,"cg_vq_v":-0.361217558,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9925537,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.014893,"values":{"Elec_RPM":-1.11423751e-18,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-2.22847498e-19,"cg_du":50.1519623,"cg_dv":50.2093544,"cg_dw":49.7906456,"cg_id_a":-0.165180236,"cg_id_raw_a":-0.326438248,"cg_iq_a":-0.0703871697,"cg_iq_raw_a":0.0780666992,"cg_iu_a":0.183752775,"cg_iv_a":-0.365772009,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9218178,"cg_sample_seq":14306267,"cg_sample_valid":1,"cg_theta_rad":5.00739002,"cg_vd_req_v":0.0844282806,"cg_vd_v":0.0844282806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369825691,"cg_vq_v":-0.369825691,"cg_vu_v":103.374756,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9925537,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.022705,"values":{"Elec_RPM":-1.09195275e-18,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-2.18390545e-19,"cg_du":50.1576233,"cg_dv":50.211319,"cg_dw":49.788681,"cg_id_a":-0.110333741,"cg_id_raw_a":-0.21894908,"cg_iq_a":0.180946141,"cg_iq_raw_a":0.0514656864,"cg_iu_a":0.147508621,"cg_iv_a":-0.0395775437,"cg_iw_a":0.218263209,"cg_sample_age_us":23.954546,"cg_sample_seq":14306317,"cg_sample_valid":1,"cg_theta_rad":5.00739002,"cg_vd_req_v":0.0834090859,"cg_vd_v":0.0834090859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376541197,"cg_vq_v":-0.376541197,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0248108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.034424,"values":{"Elec_RPM":-1.09195275e-18,"EncoderCos":38713,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-2.18390545e-19,"cg_du":50.1489029,"cg_dv":50.2059441,"cg_dw":49.7940559,"cg_id_a":-0.142006069,"cg_id_raw_a":0.480664343,"cg_iq_a":-0.303599447,"cg_iq_raw_a":-0.862503052,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9436359,"cg_sample_seq":14306367,"cg_sample_valid":1,"cg_theta_rad":5.00758696,"cg_vd_req_v":0.0837856159,"cg_vd_v":0.0837856159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364571571,"cg_vq_v":-0.364571571,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":38.0248108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.046143,"values":{"Elec_RPM":-1.07011363e-18,"EncoderCos":38717,"EncoderSin":12474,"GapTicks":54777,"Mech_RPM":-2.14022734e-19,"cg_du":50.1503296,"cg_dv":50.2019768,"cg_dw":49.7980232,"cg_id_a":0.130801618,"cg_id_raw_a":-0.0348995291,"cg_iq_a":-0.497281402,"cg_iq_raw_a":0.106631912,"cg_iu_a":0.5099473,"cg_iv_a":0.141641617,"cg_iw_a":-0.651588917,"cg_sample_age_us":23.8563633,"cg_sample_seq":14306417,"cg_sample_valid":1,"cg_theta_rad":5.00612259,"cg_vd_req_v":0.0788382962,"cg_vd_v":0.0788382962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359957814,"cg_vq_v":-0.359957814,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9909363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.057861,"values":{"Elec_RPM":-1.07011363e-18,"EncoderCos":38735,"EncoderSin":12488,"GapTicks":54770,"Mech_RPM":-2.14022734e-19,"cg_du":50.146904,"cg_dv":50.2084312,"cg_dw":49.7915688,"cg_id_a":-0.149343356,"cg_id_raw_a":-0.33009395,"cg_iq_a":-0.122237176,"cg_iq_raw_a":-0.102722533,"cg_iu_a":0.364971876,"cg_iv_a":-0.438259721,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14306466,"cg_sample_valid":1,"cg_theta_rad":5.00741911,"cg_vd_req_v":0.0857136846,"cg_vd_v":0.0857136846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366153926,"cg_vq_v":-0.366153926,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8430767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.06958,"values":{"Elec_RPM":-1.04871137e-18,"EncoderCos":38715,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-2.09742281e-19,"cg_du":50.155777,"cg_dv":50.2027206,"cg_dw":49.7972794,"cg_id_a":0.319246322,"cg_id_raw_a":0.692482948,"cg_iq_a":-0.125259817,"cg_iq_raw_a":-0.659239769,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14306517,"cg_sample_valid":1,"cg_theta_rad":5.00904703,"cg_vd_req_v":0.0752348974,"cg_vd_v":0.0752348974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362899661,"cg_vq_v":-0.362899661,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8430767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.081299,"values":{"Elec_RPM":-1.04871137e-18,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-2.09742281e-19,"cg_du":50.1515923,"cg_dv":50.2018929,"cg_dw":49.7981071,"cg_id_a":0.180578575,"cg_id_raw_a":-0.0247537717,"cg_iq_a":-0.382394701,"cg_iq_raw_a":-0.656916738,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14306566,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0765683576,"cg_vd_v":0.0765683576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359672338,"cg_vq_v":-0.359672338,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9581099,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.986084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00563973421,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.096924,"values":{"Elec_RPM":-1.02773717e-18,"EncoderCos":38704,"EncoderSin":12512,"GapTicks":54772,"Mech_RPM":-2.05547442e-19,"cg_du":50.1539268,"cg_dv":50.2072563,"cg_dw":49.7927437,"cg_id_a":-0.0167302676,"cg_id_raw_a":-0.230963916,"cg_iq_a":0.190366641,"cg_iq_raw_a":0.815691471,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":24.0381813,"cg_sample_seq":14306617,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.081037946,"cg_vd_v":0.081037946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368033558,"cg_vq_v":-0.368033558,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9732056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.108643,"values":{"Elec_RPM":-1.02773717e-18,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-2.05547442e-19,"cg_du":50.1439781,"cg_dv":50.2004509,"cg_dw":49.7995491,"cg_id_a":-0.0886525661,"cg_id_raw_a":-0.121021688,"cg_iq_a":-0.362861991,"cg_iq_raw_a":-0.520749569,"cg_iu_a":0.799897909,"cg_iv_a":-0.112065196,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.9509087,"cg_sample_seq":14306666,"cg_sample_valid":1,"cg_theta_rad":5.00656223,"cg_vd_req_v":0.0819677934,"cg_vd_v":0.0819677934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354386896,"cg_vq_v":-0.354386896,"cg_vu_v":19.3552723,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9732056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.143799,"values":{"Elec_RPM":-9.87038849e-19,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-1.97407765e-19,"cg_du":50.1498222,"cg_dv":50.1966209,"cg_dw":49.8033791,"cg_id_a":0.320356518,"cg_id_raw_a":0.430551231,"cg_iq_a":-0.469335526,"cg_iq_raw_a":0.0783182681,"cg_iu_a":0.183752537,"cg_iv_a":0.685299158,"cg_iw_a":1.52304125,"cg_sample_age_us":23.9581814,"cg_sample_seq":14306868,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0728418082,"cg_vd_v":0.0728418082,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351504356,"cg_vq_v":-0.351504356,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9425354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.155518,"values":{"Elec_RPM":-9.67297977e-19,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-1.93459606e-19,"cg_du":50.1514702,"cg_dv":50.2084541,"cg_dw":49.7915459,"cg_id_a":-0.234085768,"cg_id_raw_a":0.506391883,"cg_iq_a":0.432959914,"cg_iq_raw_a":0.160317421,"cg_iu_a":-0.178685665,"cg_iv_a":-0.945673347,"cg_iw_a":1.12435901,"cg_sample_age_us":23.9472733,"cg_sample_seq":14306917,"cg_sample_valid":1,"cg_theta_rad":5.00614071,"cg_vd_req_v":0.0843865424,"cg_vd_v":0.0843865424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368225843,"cg_vq_v":-0.368225843,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9425354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.167236,"values":{"Elec_RPM":-9.67297977e-19,"EncoderCos":38700,"EncoderSin":12478,"GapTicks":54780,"Mech_RPM":-1.93459606e-19,"cg_du":50.1479759,"cg_dv":50.1994705,"cg_dw":49.8005295,"cg_id_a":0.00470746681,"cg_id_raw_a":0.0773115754,"cg_iq_a":-0.290084928,"cg_iq_raw_a":-0.792810559,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9872723,"cg_sample_seq":14306966,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.079516612,"cg_vd_v":0.079516612,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354932606,"cg_vq_v":-0.354932606,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.182861,"values":{"Elec_RPM":-9.47952084e-19,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-1.89590417e-19,"cg_du":50.1546669,"cg_dv":50.2075615,"cg_dw":49.7924385,"cg_id_a":-0.122275896,"cg_id_raw_a":-0.0867433622,"cg_iq_a":0.324992388,"cg_iq_raw_a":-0.0077916286,"cg_iu_a":0.654922485,"cg_iv_a":-0.329528332,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9872723,"cg_sample_seq":14307017,"cg_sample_valid":1,"cg_theta_rad":5.00804663,"cg_vd_req_v":0.0809643716,"cg_vd_v":0.0809643716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368820786,"cg_vq_v":-0.368820786,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.19458,"values":{"Elec_RPM":-9.47952084e-19,"EncoderCos":38710,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-1.89590417e-19,"cg_du":50.1472282,"cg_dv":50.2028618,"cg_dw":49.7971382,"cg_id_a":-0.13097091,"cg_id_raw_a":0.551180303,"cg_iq_a":-0.0835779905,"cg_iq_raw_a":-0.708993733,"cg_iu_a":0.509947062,"cg_iv_a":0.322860718,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9254551,"cg_sample_seq":14307066,"cg_sample_valid":1,"cg_theta_rad":5.00782299,"cg_vd_req_v":0.0825369582,"cg_vd_v":0.0825369582,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35817951,"cg_vq_v":-0.35817951,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.210205,"values":{"Elec_RPM":-9.28993001e-19,"EncoderCos":38702,"EncoderSin":12470,"GapTicks":54777,"Mech_RPM":-1.85798608e-19,"cg_du":50.152153,"cg_dv":50.2020798,"cg_dw":49.7979202,"cg_id_a":-0.0056328848,"cg_id_raw_a":-0.258165717,"cg_iq_a":0.0180274062,"cg_iq_raw_a":0.229516193,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8527279,"cg_sample_seq":14307116,"cg_sample_valid":1,"cg_theta_rad":5.00623703,"cg_vd_req_v":0.0783563331,"cg_vd_v":0.0783563331,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358653963,"cg_vq_v":-0.358653963,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9538269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2588.241455,"values":{"Elec_RPM":-8.74360823e-19,"EncoderCos":38727,"EncoderSin":12539,"GapTicks":54775,"Mech_RPM":-1.74872172e-19,"cg_du":50.1528397,"cg_dv":50.2037392,"cg_dw":49.7962608,"cg_id_a":0.016356498,"cg_id_raw_a":0.292781562,"cg_iq_a":-0.152639538,"cg_iq_raw_a":-0.481975138,"cg_iu_a":-0.613611698,"cg_iv_a":0.57656759,"cg_iw_a":0.0370441079,"cg_sample_age_us":26.8709087,"cg_sample_seq":14307419,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.075888522,"cg_vd_v":0.075888522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36319232,"cg_vq_v":-0.36319232,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.454799414,"dclink_p_w":65.8206863,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9619141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.253174,"values":{"Elec_RPM":-8.74360823e-19,"EncoderCos":38705,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-1.74872172e-19,"cg_du":50.1580048,"cg_dv":50.2042122,"cg_dw":49.7957878,"cg_id_a":-0.0455026776,"cg_id_raw_a":0.437399,"cg_iq_a":-0.0314137787,"cg_iq_raw_a":0.00861765165,"cg_iu_a":1.16233611,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726523,"cg_sample_age_us":23.9472733,"cg_sample_seq":14307466,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.0758248195,"cg_vd_v":0.0758248195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36599648,"cg_vq_v":-0.36599648,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.40043366,"dclink_p_w":57.776474,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9619141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.268799,"values":{"Elec_RPM":-8.56873605e-19,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-1.71374724e-19,"cg_du":50.1626816,"cg_dv":50.2058029,"cg_dw":49.7941971,"cg_id_a":0.0798511356,"cg_id_raw_a":0.610623419,"cg_iq_a":0.226354718,"cg_iq_raw_a":0.387912601,"cg_iu_a":0.364971876,"cg_iv_a":-0.257040501,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9472733,"cg_sample_seq":14307517,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0722824335,"cg_vd_v":0.0722824335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371072143,"cg_vq_v":-0.371072143,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.0699806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.280518,"values":{"Elec_RPM":-8.56873605e-19,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.71374724e-19,"cg_du":50.1519127,"cg_dv":50.19701,"cg_dw":49.80299,"cg_id_a":0.0198077038,"cg_id_raw_a":0.108622447,"cg_iq_a":-0.57133007,"cg_iq_raw_a":-0.279748917,"cg_iu_a":0.328727961,"cg_iv_a":0.359104633,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9581814,"cg_sample_seq":14307566,"cg_sample_valid":1,"cg_theta_rad":5.00523138,"cg_vd_req_v":0.0732980371,"cg_vd_v":0.0732980371,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353966445,"cg_vq_v":-0.353966445,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.0699806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.296143,"values":{"Elec_RPM":-8.39736129e-19,"EncoderCos":38715,"EncoderSin":12527,"GapTicks":54773,"Mech_RPM":-1.67947223e-19,"cg_du":50.1670418,"cg_dv":50.206089,"cg_dw":49.793911,"cg_id_a":0.237967744,"cg_id_raw_a":0.296146542,"cg_iq_a":0.551368296,"cg_iq_raw_a":0.829876244,"cg_iu_a":-0.468636513,"cg_iv_a":-0.184552908,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9872723,"cg_sample_seq":14307617,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0685015917,"cg_vd_v":0.0685015917,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375201881,"cg_vq_v":-0.375201881,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.307861,"values":{"Elec_RPM":-8.39736129e-19,"EncoderCos":38705,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-1.67947223e-19,"cg_du":50.1625748,"cg_dv":50.2038116,"cg_dw":49.7961884,"cg_id_a":0.114508227,"cg_id_raw_a":-0.162776157,"cg_iq_a":0.348972857,"cg_iq_raw_a":-0.0883881152,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0395775437,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9618187,"cg_sample_seq":14307666,"cg_sample_valid":1,"cg_theta_rad":5.00693893,"cg_vd_req_v":0.071797207,"cg_vd_v":0.071797207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369203836,"cg_vq_v":-0.369203836,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.365921,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.339111,"values":{"Elec_RPM":-8.22941364e-19,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-1.64588275e-19,"cg_du":50.1524696,"cg_dv":50.2043266,"cg_dw":49.7956734,"cg_id_a":0.0122079104,"cg_id_raw_a":0.104141071,"cg_iq_a":0.0560591295,"cg_iq_raw_a":-0.0256968439,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14307769,"cg_sample_valid":1,"cg_theta_rad":5.0057559,"cg_vd_req_v":0.0781048313,"cg_vd_v":0.0781048313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363502443,"cg_vq_v":-0.363502443,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.8303719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9651184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12049897,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.354736,"values":{"Elec_RPM":-8.06482537e-19,"EncoderCos":38697,"EncoderSin":12499,"GapTicks":54777,"Mech_RPM":-1.6129651e-19,"cg_du":50.1471405,"cg_dv":50.2022324,"cg_dw":49.7977676,"cg_id_a":-0.093015939,"cg_id_raw_a":-0.00865292549,"cg_iq_a":-0.217571273,"cg_iq_raw_a":-0.364353776,"cg_iu_a":0.401215792,"cg_iv_a":0.105397761,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.9763641,"cg_sample_seq":14307816,"cg_sample_valid":1,"cg_theta_rad":5.00640774,"cg_vd_req_v":0.0823607072,"cg_vd_v":0.0823607072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357191771,"cg_vq_v":-0.357191771,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9199829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.366455,"values":{"Elec_RPM":-8.06482537e-19,"EncoderCos":38714,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-1.6129651e-19,"cg_du":50.1423836,"cg_dv":50.1951714,"cg_dw":49.8048286,"cg_id_a":0.119417846,"cg_id_raw_a":-0.158212021,"cg_iq_a":-0.487230361,"cg_iq_raw_a":-0.779492676,"cg_iu_a":-1.08478165,"cg_iv_a":-0.293284416,"cg_iw_a":1.37806606,"cg_sample_age_us":23.954546,"cg_sample_seq":14307867,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0781847388,"cg_vd_v":0.0781847388,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345164239,"cg_vq_v":-0.345164239,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9199829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.378174,"values":{"Elec_RPM":-7.90352929e-19,"EncoderCos":38701,"EncoderSin":12439,"GapTicks":54782,"Mech_RPM":-1.58070583e-19,"cg_du":50.1510773,"cg_dv":50.1978531,"cg_dw":49.8021469,"cg_id_a":0.12565732,"cg_id_raw_a":0.0115844961,"cg_iq_a":0.0225200951,"cg_iq_raw_a":-0.143748924,"cg_iu_a":-0.50488019,"cg_iv_a":0.141641557,"cg_iw_a":0.363238633,"cg_sample_age_us":23.8563633,"cg_sample_seq":14307916,"cg_sample_valid":1,"cg_theta_rad":5.00576687,"cg_vd_req_v":0.0763659626,"cg_vd_v":0.0763659626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354307711,"cg_vq_v":-0.354307711,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9747925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.393799,"values":{"Elec_RPM":-7.90352929e-19,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-1.58070583e-19,"cg_du":50.1497192,"cg_dv":50.200676,"cg_dw":49.799324,"cg_id_a":0.0285257399,"cg_id_raw_a":-1.02121437,"cg_iq_a":0.202970922,"cg_iq_raw_a":1.35631824,"cg_iu_a":-0.106198072,"cg_iv_a":0.975249767,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9618187,"cg_sample_seq":14307967,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.0784289762,"cg_vd_v":0.0784289762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357759804,"cg_vq_v":-0.357759804,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9747925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.425049,"values":{"Elec_RPM":-7.28996393e-19,"EncoderCos":38738,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-1.45799281e-19,"cg_du":50.1398239,"cg_dv":50.1965294,"cg_dw":49.8034706,"cg_id_a":-0.0176894292,"cg_id_raw_a":-0.0776194483,"cg_iq_a":0.14477627,"cg_iq_raw_a":-0.333951741,"cg_iu_a":-0.432392597,"cg_iv_a":0.250373065,"cg_iw_a":0.182019532,"cg_sample_age_us":26.8163643,"cg_sample_seq":14308320,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0795515627,"cg_vd_v":0.0795515627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346027195,"cg_vq_v":-0.346027195,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.8868294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.440674,"values":{"Elec_RPM":-7.28996393e-19,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54788,"Mech_RPM":-1.45799281e-19,"cg_du":50.1337166,"cg_dv":50.1919556,"cg_dw":49.8080444,"cg_id_a":-0.0396579802,"cg_id_raw_a":-0.0625319928,"cg_iq_a":-0.0376927108,"cg_iq_raw_a":-0.0415167101,"cg_iu_a":-0.0699541569,"cg_iv_a":0.75778681,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.863636,"cg_sample_seq":14308366,"cg_sample_valid":1,"cg_theta_rad":5.00813103,"cg_vd_req_v":0.0806796849,"cg_vd_v":0.0806796849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336208105,"cg_vq_v":-0.336208105,"cg_vu_v":119.650772,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8416443,"temp_inv2_c":37.9699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.452393,"values":{"Elec_RPM":-7.14416508e-19,"EncoderCos":38708,"EncoderSin":12507,"GapTicks":54784,"Mech_RPM":-1.42883302e-19,"cg_du":50.1383667,"cg_dv":50.1956024,"cg_dw":49.8043976,"cg_id_a":-0.0981485844,"cg_id_raw_a":-0.214864463,"cg_iq_a":0.319122463,"cg_iq_raw_a":-0.202330753,"cg_iu_a":0.0750212669,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9581814,"cg_sample_seq":14308417,"cg_sample_valid":1,"cg_theta_rad":5.00672674,"cg_vd_req_v":0.0817032605,"cg_vd_v":0.0817032605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343506217,"cg_vq_v":-0.343506217,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9538269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.464111,"values":{"Elec_RPM":-7.14416508e-19,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-1.42883302e-19,"cg_du":50.1412392,"cg_dv":50.1888237,"cg_dw":49.8111763,"cg_id_a":0.379407048,"cg_id_raw_a":0.31571418,"cg_iq_a":-0.0537636802,"cg_iq_raw_a":0.177238747,"cg_iu_a":-0.541124105,"cg_iv_a":0.250373125,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14308466,"cg_sample_valid":1,"cg_theta_rad":5.00788069,"cg_vd_req_v":0.0726918802,"cg_vd_v":0.0726918802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335944176,"cg_vq_v":-0.335944176,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.479736,"values":{"Elec_RPM":-7.00128204e-19,"EncoderCos":38769,"EncoderSin":12473,"GapTicks":54790,"Mech_RPM":-1.40025638e-19,"cg_du":50.1389542,"cg_dv":50.1907463,"cg_dw":49.8092537,"cg_id_a":0.291584015,"cg_id_raw_a":0.270695746,"cg_iq_a":0.100631215,"cg_iq_raw_a":-0.0122031523,"cg_iu_a":-0.613611698,"cg_iv_a":0.504079938,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14308517,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0726281554,"cg_vd_v":0.0726281554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338092715,"cg_vq_v":-0.338092715,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.491455,"values":{"Elec_RPM":-7.00128204e-19,"EncoderCos":38734,"EncoderSin":12488,"GapTicks":54790,"Mech_RPM":-1.40025638e-19,"cg_du":50.1311111,"cg_dv":50.1907349,"cg_dw":49.8092651,"cg_id_a":-0.170154154,"cg_id_raw_a":-0.57335484,"cg_iq_a":-0.124182649,"cg_iq_raw_a":-0.198300883,"cg_iu_a":-0.178685904,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150178,"cg_sample_age_us":23.9181824,"cg_sample_seq":14308566,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0813734233,"cg_vd_v":0.0813734233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334209502,"cg_vq_v":-0.334209502,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.5017624,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9747925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.503174,"values":{"Elec_RPM":-6.86125639e-19,"EncoderCos":38692,"EncoderSin":12496,"GapTicks":54787,"Mech_RPM":-1.37225128e-19,"cg_du":50.1390228,"cg_dv":50.1928864,"cg_dw":49.8071136,"cg_id_a":-0.0178691018,"cg_id_raw_a":0.131505728,"cg_iq_a":-0.0100143179,"cg_iq_raw_a":-0.495795906,"cg_iu_a":0.727410078,"cg_iv_a":-0.90942955,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9290905,"cg_sample_seq":14308668,"cg_sample_valid":1,"cg_theta_rad":5.00646019,"cg_vd_req_v":0.0800441131,"cg_vd_v":0.0800441131,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339836866,"cg_vq_v":-0.339836866,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9619141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.53833,"values":{"Elec_RPM":-6.72403126e-19,"EncoderCos":38737,"EncoderSin":12529,"GapTicks":54781,"Mech_RPM":-1.3448062e-19,"cg_du":50.1385765,"cg_dv":50.1983833,"cg_dw":49.8016167,"cg_id_a":-0.0440570079,"cg_id_raw_a":-0.0784905106,"cg_iq_a":0.215214789,"cg_iq_raw_a":-0.333748132,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8709087,"cg_sample_seq":14308721,"cg_sample_valid":1,"cg_theta_rad":5.00844049,"cg_vd_req_v":0.0811690241,"cg_vd_v":0.0811690241,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347019017,"cg_vq_v":-0.347019017,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.3169327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9651184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2588.550049,"values":{"Elec_RPM":-6.72403126e-19,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-1.3448062e-19,"cg_du":50.1412811,"cg_dv":50.1979599,"cg_dw":49.8020401,"cg_id_a":0.00127707422,"cg_id_raw_a":-0.368050784,"cg_iq_a":0.273670018,"cg_iq_raw_a":0.0741772428,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055302,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9509087,"cg_sample_seq":14308766,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0815413371,"cg_vd_v":0.0815413371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348386049,"cg_vq_v":-0.348386049,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9651184,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.561768,"values":{"Elec_RPM":-6.5895503e-19,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-1.31791003e-19,"cg_du":50.1416512,"cg_dv":50.2016144,"cg_dw":49.7983856,"cg_id_a":-0.0311217178,"cg_id_raw_a":0.207888573,"cg_iq_a":0.380314082,"cg_iq_raw_a":0.203341916,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9436359,"cg_sample_seq":14308817,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.08511132,"cg_vd_v":0.08511132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353489369,"cg_vq_v":-0.353489369,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8665466,"temp_inv2_c":37.9506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.577393,"values":{"Elec_RPM":-6.20203169e-19,"EncoderCos":38707,"EncoderSin":12505,"GapTicks":54778,"Mech_RPM":-1.24040631e-19,"cg_du":50.1456413,"cg_dv":50.2010117,"cg_dw":49.7989883,"cg_id_a":0.11353562,"cg_id_raw_a":0.6243909,"cg_iq_a":0.0397660062,"cg_iq_raw_a":0.244292155,"cg_iu_a":0.328727961,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9436359,"cg_sample_seq":14309167,"cg_sample_valid":1,"cg_theta_rad":5.00568771,"cg_vd_req_v":0.0816360787,"cg_vd_v":0.0816360787,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355992854,"cg_vq_v":-0.355992854,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9506226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.608643,"values":{"Elec_RPM":-6.07799079e-19,"EncoderCos":38736,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-1.21559813e-19,"cg_du":50.1426735,"cg_dv":50.2015877,"cg_dw":49.7984123,"cg_id_a":-0.122462615,"cg_id_raw_a":-0.213296726,"cg_iq_a":0.0255936086,"cg_iq_raw_a":-0.455780536,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9654541,"cg_sample_seq":14309221,"cg_sample_valid":1,"cg_theta_rad":5.00701571,"cg_vd_req_v":0.0825795382,"cg_vd_v":0.0825795382,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355564773,"cg_vq_v":-0.355564773,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.6237602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.624268,"values":{"Elec_RPM":-6.07799079e-19,"EncoderCos":38710,"EncoderSin":12507,"GapTicks":54779,"Mech_RPM":-1.21559813e-19,"cg_du":50.1470337,"cg_dv":50.2005844,"cg_dw":49.7994156,"cg_id_a":0.0710736215,"cg_id_raw_a":0.523975015,"cg_iq_a":-0.0104437321,"cg_iq_raw_a":0.197554246,"cg_iu_a":-1.01229382,"cg_iv_a":-0.402015805,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9181824,"cg_sample_seq":14309268,"cg_sample_valid":1,"cg_theta_rad":5.00705957,"cg_vd_req_v":0.079589285,"cg_vd_v":0.079589285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355180413,"cg_vq_v":-0.355180413,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121052869,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.635986,"values":{"Elec_RPM":-5.9564304e-19,"EncoderCos":38730,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-1.19128613e-19,"cg_du":50.1426315,"cg_dv":50.1989403,"cg_dw":49.8010597,"cg_id_a":-0.0409764238,"cg_id_raw_a":-0.277672619,"cg_iq_a":-0.103193209,"cg_iq_raw_a":0.0111772958,"cg_iu_a":0.219996452,"cg_iv_a":0.504079938,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14309317,"cg_sample_valid":1,"cg_theta_rad":5.00603342,"cg_vd_req_v":0.0801365897,"cg_vd_v":0.0801365897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350774407,"cg_vq_v":-0.350774407,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.00508261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9667664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.121052869,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.647705,"values":{"Elec_RPM":-5.9564304e-19,"EncoderCos":38695,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-1.19128613e-19,"cg_du":50.1484947,"cg_dv":50.2009048,"cg_dw":49.7990952,"cg_id_a":-0.0987266675,"cg_id_raw_a":-0.542317212,"cg_iq_a":0.11845503,"cg_iq_raw_a":0.127470002,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14309366,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0804595649,"cg_vd_v":0.0804595649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356051415,"cg_vq_v":-0.356051415,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9699707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.66333,"values":{"Elec_RPM":-5.83730191e-19,"EncoderCos":38741,"EncoderSin":12469,"GapTicks":54774,"Mech_RPM":-1.16746036e-19,"cg_du":50.151329,"cg_dv":50.2049675,"cg_dw":49.7950325,"cg_id_a":-0.0903214812,"cg_id_raw_a":-0.135174006,"cg_iq_a":0.538240671,"cg_iq_raw_a":0.0610291809,"cg_iu_a":-0.251173258,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238454,"cg_sample_age_us":23.954546,"cg_sample_seq":14309417,"cg_sample_valid":1,"cg_theta_rad":5.00579309,"cg_vd_req_v":0.0791033506,"cg_vd_v":0.0791033506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365006685,"cg_vq_v":-0.365006685,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9264526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.675049,"values":{"Elec_RPM":-5.72055571e-19,"EncoderCos":38699,"EncoderSin":12509,"GapTicks":54785,"Mech_RPM":-1.14411112e-19,"cg_du":50.1476212,"cg_dv":50.1947021,"cg_dw":49.8052979,"cg_id_a":0.0248615146,"cg_id_raw_a":-0.17002435,"cg_iq_a":-0.288682193,"cg_iq_raw_a":-0.0161797591,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8490906,"cg_sample_seq":14309516,"cg_sample_valid":1,"cg_theta_rad":5.00663614,"cg_vd_req_v":0.0744573846,"cg_vd_v":0.0744573846,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348393172,"cg_vq_v":-0.348393172,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.690674,"values":{"Elec_RPM":-5.72055571e-19,"EncoderCos":38754,"EncoderSin":12504,"GapTicks":54778,"Mech_RPM":-1.14411112e-19,"cg_du":50.1445885,"cg_dv":50.2015839,"cg_dw":49.7984161,"cg_id_a":-0.319271296,"cg_id_raw_a":0.327489585,"cg_iq_a":0.0216145925,"cg_iq_raw_a":0.538852453,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.954546,"cg_sample_seq":14309567,"cg_sample_valid":1,"cg_theta_rad":5.00622892,"cg_vd_req_v":0.0789943635,"cg_vd_v":0.0789943635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355959535,"cg_vq_v":-0.355959535,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9796448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.702393,"values":{"Elec_RPM":-5.60614422e-19,"EncoderCos":38736,"EncoderSin":12458,"GapTicks":54783,"Mech_RPM":-1.12122884e-19,"cg_du":50.1576424,"cg_dv":50.1970291,"cg_dw":49.8029709,"cg_id_a":0.284596175,"cg_id_raw_a":0.392075956,"cg_iq_a":-0.0441220254,"cg_iq_raw_a":-0.180414185,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9436359,"cg_sample_seq":14309616,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0669001564,"cg_vd_v":0.0669001564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356472433,"cg_vq_v":-0.356472433,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.9164124,"temp_inv2_c":37.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.714111,"values":{"Elec_RPM":-5.60614422e-19,"EncoderCos":38720,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-1.12122884e-19,"cg_du":50.1624222,"cg_dv":50.1996803,"cg_dw":49.8003197,"cg_id_a":0.2365444,"cg_id_raw_a":0.482177019,"cg_iq_a":0.132674679,"cg_iq_raw_a":1.06692922,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9254551,"cg_sample_seq":14309667,"cg_sample_valid":1,"cg_theta_rad":5.00661564,"cg_vd_req_v":0.0663043484,"cg_vd_v":0.0663043484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362647384,"cg_vq_v":-0.362647384,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.7204056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9409485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.749268,"values":{"Elec_RPM":-5.49402093e-19,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.09880424e-19,"cg_du":50.1591644,"cg_dv":50.2027283,"cg_dw":49.7972717,"cg_id_a":-0.00197710097,"cg_id_raw_a":-0.139929235,"cg_iq_a":0.35553956,"cg_iq_raw_a":-0.55845207,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.8527279,"cg_sample_seq":14309720,"cg_sample_valid":1,"cg_theta_rad":5.00768948,"cg_vd_req_v":0.0709771514,"cg_vd_v":0.0709771514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365132719,"cg_vq_v":-0.365132719,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9409485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.760986,"values":{"Elec_RPM":-5.17092883e-19,"EncoderCos":38712,"EncoderSin":12501,"GapTicks":54776,"Mech_RPM":-1.03418579e-19,"cg_du":50.1531219,"cg_dv":50.2034149,"cg_dw":49.7965851,"cg_id_a":0.092326805,"cg_id_raw_a":0.332493812,"cg_iq_a":0.0362580568,"cg_iq_raw_a":0.652272105,"cg_iu_a":0.328727961,"cg_iv_a":-0.546991229,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14310066,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0775443017,"cg_vd_v":0.0775443017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362445205,"cg_vq_v":-0.362445205,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.9412079,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.776611,"values":{"Elec_RPM":-5.06751057e-19,"EncoderCos":38715,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-1.01350208e-19,"cg_du":50.1534996,"cg_dv":50.2048035,"cg_dw":49.7951965,"cg_id_a":-0.0785983056,"cg_id_raw_a":0.199219987,"cg_iq_a":0.075451985,"cg_iq_raw_a":-0.343503326,"cg_iu_a":0.691166282,"cg_iv_a":0.10539782,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9836369,"cg_sample_seq":14310116,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.0795540661,"cg_vd_v":0.0795540661,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364340782,"cg_vq_v":-0.364340782,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.78833,"values":{"Elec_RPM":-5.06751057e-19,"EncoderCos":38711,"EncoderSin":12515,"GapTicks":54770,"Mech_RPM":-1.01350208e-19,"cg_du":50.1518211,"cg_dv":50.2083206,"cg_dw":49.7916794,"cg_id_a":-0.363144279,"cg_id_raw_a":0.00352894654,"cg_iq_a":0.327976614,"cg_iq_raw_a":-0.0716805756,"cg_iu_a":0.0750212669,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9799995,"cg_sample_seq":14310166,"cg_sample_valid":1,"cg_theta_rad":5.00599003,"cg_vd_req_v":0.0833149478,"cg_vd_v":0.0833149478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369567066,"cg_vq_v":-0.369567066,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8914795,"temp_inv2_c":37.9473877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.81958,"values":{"Elec_RPM":-4.96616027e-19,"EncoderCos":38755,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-9.93232015e-20,"cg_du":50.1566925,"cg_dv":50.2032967,"cg_dw":49.7967033,"cg_id_a":0.27367872,"cg_id_raw_a":0.695802689,"cg_iq_a":0.0333655477,"cg_iq_raw_a":-0.300826281,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662526,"cg_sample_age_us":26.8163643,"cg_sample_seq":14310220,"cg_sample_valid":1,"cg_theta_rad":5.00594616,"cg_vd_req_v":0.0719602257,"cg_vd_v":0.0719602257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365976483,"cg_vq_v":-0.365976483,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.47919178,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9570618,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12049897,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.835205,"values":{"Elec_RPM":-4.96616027e-19,"EncoderCos":38683,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-9.93232015e-20,"cg_du":50.1574669,"cg_dv":50.206871,"cg_dw":49.793129,"cg_id_a":-0.191413909,"cg_id_raw_a":-0.622168243,"cg_iq_a":-0.0824233666,"cg_iq_raw_a":0.482067078,"cg_iu_a":0.364971638,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9799995,"cg_sample_seq":14310267,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0800439715,"cg_vd_v":0.0800439715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367866069,"cg_vq_v":-0.367866069,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.8576698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9570618,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12049897,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2588.843281,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2588.843291,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2588.843293,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2588.846924,"values":{"Elec_RPM":-4.86683708e-19,"EncoderCos":38753,"EncoderSin":12491,"GapTicks":54768,"Mech_RPM":-9.73367402e-20,"cg_du":50.156826,"cg_dv":50.2109108,"cg_dw":49.7890892,"cg_id_a":-0.0310407318,"cg_id_raw_a":-0.195823804,"cg_iq_a":0.180157632,"cg_iq_raw_a":0.274515152,"cg_iu_a":0.0387773514,"cg_iv_a":-0.764454246,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9254551,"cg_sample_seq":14310317,"cg_sample_valid":1,"cg_theta_rad":5.00691175,"cg_vd_req_v":0.0786841214,"cg_vd_v":0.0786841214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375408798,"cg_vq_v":-0.375408798,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.858643,"values":{"Elec_RPM":-4.76950015e-19,"EncoderCos":38708,"EncoderSin":12439,"GapTicks":54772,"Mech_RPM":-9.5390003e-20,"cg_du":50.1634483,"cg_dv":50.2072182,"cg_dw":49.7927818,"cg_id_a":0.108378321,"cg_id_raw_a":0.34902373,"cg_iq_a":-0.0154248476,"cg_iq_raw_a":0.255247921,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9836369,"cg_sample_seq":14310417,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.0752949938,"cg_vd_v":0.0752949938,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374162585,"cg_vq_v":-0.374162585,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.8909912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.874268,"values":{"Elec_RPM":-4.76950015e-19,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-9.5390003e-20,"cg_du":50.1532249,"cg_dv":50.2082443,"cg_dw":49.7917557,"cg_id_a":-0.156089336,"cg_id_raw_a":0.215663031,"cg_iq_a":-0.0509419069,"cg_iq_raw_a":-0.305898875,"cg_iu_a":0.183752537,"cg_iv_a":-0.510747313,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14310466,"cg_sample_valid":1,"cg_theta_rad":5.00691462,"cg_vd_req_v":0.0824443847,"cg_vd_v":0.0824443847,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370183229,"cg_vq_v":-0.370183229,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.6566505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9022522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.885986,"values":{"Elec_RPM":-4.6741102e-19,"EncoderCos":38709,"EncoderSin":12449,"GapTicks":54769,"Mech_RPM":-9.34822013e-20,"cg_du":50.1554794,"cg_dv":50.2093353,"cg_dw":49.7906647,"cg_id_a":-0.147041902,"cg_id_raw_a":-0.209237322,"cg_iq_a":0.0324613899,"cg_iq_raw_a":-0.457658291,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8563633,"cg_sample_seq":14310516,"cg_sample_valid":1,"cg_theta_rad":5.00626707,"cg_vd_req_v":0.0830281824,"cg_vd_v":0.0830281824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371466815,"cg_vq_v":-0.371466815,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.7611771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9022522,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.897705,"values":{"Elec_RPM":-4.6741102e-19,"EncoderCos":38712,"EncoderSin":12502,"GapTicks":54763,"Mech_RPM":-9.34822013e-20,"cg_du":50.1534042,"cg_dv":50.214695,"cg_dw":49.785305,"cg_id_a":-0.351222843,"cg_id_raw_a":-0.277711213,"cg_iq_a":0.33071813,"cg_iq_raw_a":0.0101730619,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9400005,"cg_sample_seq":14310566,"cg_sample_valid":1,"cg_theta_rad":5.0070796,"cg_vd_req_v":0.0882649198,"cg_vd_v":0.0882649198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37794736,"cg_vq_v":-0.37794736,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9441833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.909424,"values":{"Elec_RPM":-4.58062793e-19,"EncoderCos":38740,"EncoderSin":12501,"GapTicks":54767,"Mech_RPM":-9.16125599e-20,"cg_du":50.1586342,"cg_dv":50.21138,"cg_dw":49.78862,"cg_id_a":0.107108921,"cg_id_raw_a":-0.130731568,"cg_iq_a":0.139963314,"cg_iq_raw_a":-0.44782123,"cg_iu_a":-0.541124105,"cg_iv_a":0.0691540241,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8527279,"cg_sample_seq":14310616,"cg_sample_valid":1,"cg_theta_rad":5.00839233,"cg_vd_req_v":0.0785618201,"cg_vd_v":0.0785618201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376877576,"cg_vq_v":-0.376877576,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9683533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.917236,"values":{"Elec_RPM":-4.58062793e-19,"EncoderCos":38725,"EncoderSin":12507,"GapTicks":54769,"Mech_RPM":-9.16125599e-20,"cg_du":50.1524315,"cg_dv":50.2098198,"cg_dw":49.7901802,"cg_id_a":-0.11900188,"cg_id_raw_a":0.159356207,"cg_iq_a":-0.165688157,"cg_iq_raw_a":-0.166227013,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14310667,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.0830596611,"cg_vd_v":0.0830596611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371047765,"cg_vq_v":-0.371047765,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9683533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.948486,"values":{"Elec_RPM":-4.22502557e-19,"EncoderCos":38740,"EncoderSin":12497,"GapTicks":54769,"Mech_RPM":-8.45005127e-20,"cg_du":50.1518784,"cg_dv":50.209259,"cg_dw":49.790741,"cg_id_a":-0.179454237,"cg_id_raw_a":-0.503473222,"cg_iq_a":-0.252651393,"cg_iq_raw_a":-0.736665487,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14311018,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0821981728,"cg_vd_v":0.0821981728,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37132436,"cg_vq_v":-0.37132436,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.465672612,"dclink_p_w":67.39431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9538269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.956299,"values":{"Elec_RPM":-4.22502557e-19,"EncoderCos":38732,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-8.45005127e-20,"cg_du":50.1487923,"cg_dv":50.2039413,"cg_dw":49.7960587,"cg_id_a":-0.181112707,"cg_id_raw_a":-0.312470227,"cg_iq_a":-0.636277437,"cg_iq_raw_a":-0.0654042885,"cg_iu_a":1.12609231,"cg_iv_a":0.504079938,"cg_iw_a":-1.63017225,"cg_sample_age_us":23.8600006,"cg_sample_seq":14311066,"cg_sample_valid":1,"cg_theta_rad":5.00662708,"cg_vd_req_v":0.0809519589,"cg_vd_v":0.0809519589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361997247,"cg_vq_v":-0.361997247,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.465672612,"dclink_p_w":67.39431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9538269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2588.964111,"values":{"Elec_RPM":-4.14052519e-19,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-8.28105052e-20,"cg_du":50.1567307,"cg_dv":50.2058868,"cg_dw":49.7941132,"cg_id_a":-0.0597744472,"cg_id_raw_a":0.323192596,"cg_iq_a":-0.278675795,"cg_iq_raw_a":-0.331931144,"cg_iu_a":-0.106198072,"cg_iv_a":0.032910049,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9509087,"cg_sample_seq":14311116,"cg_sample_valid":1,"cg_theta_rad":5.00645256,"cg_vd_req_v":0.077251859,"cg_vd_v":0.077251859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368971109,"cg_vq_v":-0.368971109,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.525474906,"dclink_p_w":76.2803268,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9458008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2588.971349,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2588.971354,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2588.971359,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2588.971924,"values":{"Elec_RPM":-4.14052519e-19,"EncoderCos":38743,"EncoderSin":12476,"GapTicks":54769,"Mech_RPM":-8.28105052e-20,"cg_du":50.1572876,"cg_dv":50.2095985,"cg_dw":49.7904015,"cg_id_a":-0.0790243149,"cg_id_raw_a":-0.106102794,"cg_iq_a":-0.143353164,"cg_iq_raw_a":-0.482129991,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14311166,"cg_sample_valid":1,"cg_theta_rad":5.00836039,"cg_vd_req_v":0.0782971606,"cg_vd_v":0.0782971606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373614013,"cg_vq_v":-0.373614013,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.525474906,"dclink_p_w":76.2803268,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9458008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2588.999268,"values":{"Elec_RPM":-4.05771485e-19,"EncoderCos":38705,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-8.11542957e-20,"cg_du":50.1630478,"cg_dv":50.2066803,"cg_dw":49.7933197,"cg_id_a":0.0911453292,"cg_id_raw_a":0.461869031,"cg_iq_a":-0.0536442026,"cg_iq_raw_a":-0.0252729896,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397761,"cg_iw_a":-0.180418789,"cg_sample_age_us":25.8163643,"cg_sample_seq":14311221,"cg_sample_valid":1,"cg_theta_rad":5.00595713,"cg_vd_req_v":0.0743424222,"cg_vd_v":0.0743424222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372177631,"cg_vq_v":-0.372177631,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.478357911,"dclink_p_w":69.2301865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.010986,"values":{"Elec_RPM":-4.05771485e-19,"EncoderCos":38745,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-8.11542957e-20,"cg_du":50.1543694,"cg_dv":50.1976891,"cg_dw":49.8023109,"cg_id_a":0.222544983,"cg_id_raw_a":0.0996474028,"cg_iq_a":-0.769853354,"cg_iq_raw_a":-0.208478898,"cg_iu_a":0.364971638,"cg_iv_a":1.48266339,"cg_iw_a":-1.84763503,"cg_sample_age_us":23.9436359,"cg_sample_seq":14311267,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0687743276,"cg_vd_v":0.0687743276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355804563,"cg_vq_v":-0.355804563,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.018799,"values":{"Elec_RPM":-3.97656068e-19,"EncoderCos":38702,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-7.95312122e-20,"cg_du":50.1518822,"cg_dv":50.2021904,"cg_dw":49.7978096,"cg_id_a":-0.232218623,"cg_id_raw_a":0.0500829481,"cg_iq_a":-0.550625563,"cg_iq_raw_a":-0.32199496,"cg_iu_a":-0.287417173,"cg_iv_a":-0.402015924,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14311317,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.0785196945,"cg_vd_v":0.0785196945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359830379,"cg_vq_v":-0.359830379,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0127459764,"dclink_p_w":-1.84465706,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.026611,"values":{"Elec_RPM":-3.97656068e-19,"EncoderCos":38678,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-7.95312122e-20,"cg_du":50.1554985,"cg_dv":50.2027168,"cg_dw":49.7972832,"cg_id_a":-0.157114834,"cg_id_raw_a":-0.501984596,"cg_iq_a":-0.435844034,"cg_iq_raw_a":-1.83866608,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14311366,"cg_sample_valid":1,"cg_theta_rad":5.00504065,"cg_vd_req_v":0.0784947649,"cg_vd_v":0.0784947649,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363246709,"cg_vq_v":-0.363246709,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0127459764,"dclink_p_w":-1.84465706,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2579,"hz_tim_isr":5000,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.034424,"values":{"Elec_RPM":-3.89702933e-19,"EncoderCos":38702,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-7.79405892e-20,"cg_du":50.1619186,"cg_dv":50.2088089,"cg_dw":49.7911911,"cg_id_a":-0.120007135,"cg_id_raw_a":0.49879232,"cg_iq_a":0.315913975,"cg_iq_raw_a":0.233397916,"cg_iu_a":0.473703384,"cg_iv_a":-0.220796704,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8600006,"cg_sample_seq":14311416,"cg_sample_valid":1,"cg_theta_rad":5.00595665,"cg_vd_req_v":0.0774845704,"cg_vd_v":0.0774845704,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375573754,"cg_vq_v":-0.375573754,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.0127459764,"dclink_p_w":-1.84465706,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9360962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.042236,"values":{"Elec_RPM":-3.89702933e-19,"EncoderCos":38719,"EncoderSin":12501,"GapTicks":54774,"Mech_RPM":-7.79405892e-20,"cg_du":50.1629181,"cg_dv":50.2053375,"cg_dw":49.7946625,"cg_id_a":0.188468069,"cg_id_raw_a":0.475233525,"cg_iq_a":-0.0814894512,"cg_iq_raw_a":-1.04594326,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8672733,"cg_sample_seq":14311466,"cg_sample_valid":1,"cg_theta_rad":5.00775528,"cg_vd_req_v":0.0711340085,"cg_vd_v":0.0711340085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370671898,"cg_vq_v":-0.370671898,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9360962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.050049,"values":{"Elec_RPM":-3.81908901e-19,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-7.63817802e-20,"cg_du":50.163311,"cg_dv":50.2112083,"cg_dw":49.7887917,"cg_id_a":0.01876821,"cg_id_raw_a":0.433505535,"cg_iq_a":0.128575593,"cg_iq_raw_a":0.261790723,"cg_iu_a":-0.577367783,"cg_iv_a":-0.220796704,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9254551,"cg_sample_seq":14311517,"cg_sample_valid":1,"cg_theta_rad":5.00571823,"cg_vd_req_v":0.07709153,"cg_vd_v":0.07709153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377566248,"cg_vq_v":-0.377566248,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.86742592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2589.061768,"values":{"Elec_RPM":-3.81908901e-19,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54773,"Mech_RPM":-7.63817802e-20,"cg_du":50.1657982,"cg_dv":50.2062798,"cg_dw":49.7937202,"cg_id_a":0.186174676,"cg_id_raw_a":0.111489818,"cg_iq_a":-0.108180687,"cg_iq_raw_a":-0.0973067433,"cg_iu_a":0.111264944,"cg_iv_a":0.141641676,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9836369,"cg_sample_seq":14311566,"cg_sample_valid":1,"cg_theta_rad":5.00678253,"cg_vd_req_v":0.0713709667,"cg_vd_v":0.0713709667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373268127,"cg_vq_v":-0.373268127,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.86742592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.06958,"values":{"Elec_RPM":-3.74270741e-19,"EncoderCos":38706,"EncoderSin":12494,"GapTicks":54773,"Mech_RPM":-7.48541456e-20,"cg_du":50.1628456,"cg_dv":50.2060432,"cg_dw":49.7939568,"cg_id_a":0.202472687,"cg_id_raw_a":-0.145628214,"cg_iq_a":-0.159929007,"cg_iq_raw_a":-0.0500823408,"cg_iu_a":0.292484045,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8454552,"cg_sample_seq":14311616,"cg_sample_valid":1,"cg_theta_rad":5.00585556,"cg_vd_req_v":0.0733797401,"cg_vd_v":0.0733797401,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372471452,"cg_vq_v":-0.372471452,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.86742592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9264526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00276951236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.077393,"values":{"Elec_RPM":-3.74270741e-19,"EncoderCos":38728,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-7.48541456e-20,"cg_du":50.1579094,"cg_dv":50.2091179,"cg_dw":49.7908821,"cg_id_a":-0.0833715051,"cg_id_raw_a":-0.128420278,"cg_iq_a":-0.0894163251,"cg_iq_raw_a":0.425382435,"cg_iu_a":0.328727961,"cg_iv_a":0.504079938,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9436359,"cg_sample_seq":14311666,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.0791131854,"cg_vd_v":0.0791131854,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374116242,"cg_vq_v":-0.374116242,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.211965799,"dclink_p_w":30.7699203,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.085205,"values":{"Elec_RPM":-3.66785325e-19,"EncoderCos":38698,"EncoderSin":12490,"GapTicks":54766,"Mech_RPM":-7.33570651e-20,"cg_du":50.1686554,"cg_dv":50.2120895,"cg_dw":49.7879105,"cg_id_a":0.0802353472,"cg_id_raw_a":0.0086510079,"cg_iq_a":0.318208128,"cg_iq_raw_a":-0.326186478,"cg_iu_a":0.256240129,"cg_iv_a":-0.220796824,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.9436359,"cg_sample_seq":14311716,"cg_sample_valid":1,"cg_theta_rad":5.0064292,"cg_vd_req_v":0.075523138,"cg_vd_v":0.075523138,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383823395,"cg_vq_v":-0.383823395,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":0.179346323,"dclink_p_w":26.034729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.116455,"values":{"Elec_RPM":-3.66785325e-19,"EncoderCos":38738,"EncoderSin":12516,"GapTicks":54768,"Mech_RPM":-7.33570651e-20,"cg_du":50.168354,"cg_dv":50.2104111,"cg_dw":49.7895889,"cg_id_a":0.128519431,"cg_id_raw_a":0.397797108,"cg_iq_a":-0.12340083,"cg_iq_raw_a":-0.254353195,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8490906,"cg_sample_seq":14311770,"cg_sample_valid":1,"cg_theta_rad":5.00721645,"cg_vd_req_v":0.0724011138,"cg_vd_v":0.0735746324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380505562,"cg_vq_v":-0.380505562,"cg_vu_v":35.1914063,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.124268,"values":{"Elec_RPM":-3.59449629e-19,"EncoderCos":38752,"EncoderSin":12478,"GapTicks":54765,"Mech_RPM":-7.18899245e-20,"cg_du":50.1614838,"cg_dv":50.2132568,"cg_dw":49.7867432,"cg_id_a":-0.124534309,"cg_id_raw_a":0.0474734344,"cg_iq_a":-0.0480163246,"cg_iq_raw_a":0.368970275,"cg_iu_a":0.256240368,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9618187,"cg_sample_seq":14311817,"cg_sample_valid":1,"cg_theta_rad":5.00678444,"cg_vd_req_v":0.07769081,"cg_vd_v":0.07769081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381115854,"cg_vq_v":-0.381115854,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.13208,"values":{"Elec_RPM":-3.59449629e-19,"EncoderCos":38688,"EncoderSin":12467,"GapTicks":54764,"Mech_RPM":-7.18899245e-20,"cg_du":50.1721344,"cg_dv":50.2141953,"cg_dw":49.7858047,"cg_id_a":-0.131664932,"cg_id_raw_a":0.0816150531,"cg_iq_a":0.179463655,"cg_iq_raw_a":0.191623241,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.994545,"cg_sample_seq":14311867,"cg_sample_valid":1,"cg_theta_rad":5.00713825,"cg_vd_req_v":0.0761215761,"cg_vd_v":0.0761215761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387188971,"cg_vq_v":-0.387188971,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6336594,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.139893,"values":{"Elec_RPM":-3.52260602e-19,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-7.04521231e-20,"cg_du":50.1663933,"cg_dv":50.2126465,"cg_dw":49.7873535,"cg_id_a":-0.0584239885,"cg_id_raw_a":-0.100527696,"cg_iq_a":-0.0143119767,"cg_iq_raw_a":-0.300212651,"cg_iu_a":0.401215792,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.954546,"cg_sample_seq":14311917,"cg_sample_valid":1,"cg_theta_rad":5.0086751,"cg_vd_req_v":0.0757944584,"cg_vd_v":0.0757944584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382506281,"cg_vq_v":-0.382506281,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.7141457,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.147705,"values":{"Elec_RPM":-3.52260602e-19,"EncoderCos":38732,"EncoderSin":12492,"GapTicks":54765,"Mech_RPM":-7.04521231e-20,"cg_du":50.1737061,"cg_dv":50.2134247,"cg_dw":49.7865753,"cg_id_a":0.122280568,"cg_id_raw_a":-0.0653591454,"cg_iq_a":0.276836455,"cg_iq_raw_a":0.213104516,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641557,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9436359,"cg_sample_seq":14311967,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.0698072985,"cg_vd_v":0.0698072985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389058858,"cg_vq_v":-0.389058858,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.155518,"values":{"Elec_RPM":-3.45215402e-19,"EncoderCos":38755,"EncoderSin":12489,"GapTicks":54766,"Mech_RPM":-6.90430791e-20,"cg_du":50.1710396,"cg_dv":50.2123108,"cg_dw":49.7876892,"cg_id_a":0.141847268,"cg_id_raw_a":-0.102599539,"cg_iq_a":0.141491622,"cg_iq_raw_a":0.646665454,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9763641,"cg_sample_seq":14312017,"cg_sample_valid":1,"cg_theta_rad":5.00786781,"cg_vd_req_v":0.0688927919,"cg_vd_v":0.0688927919,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386393577,"cg_vq_v":-0.386393577,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7945242,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9828796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.16333,"values":{"Elec_RPM":-3.45215402e-19,"EncoderCos":38714,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-6.90430791e-20,"cg_du":50.1719208,"cg_dv":50.2090988,"cg_dw":49.7909012,"cg_id_a":0.0426947176,"cg_id_raw_a":0.354122341,"cg_iq_a":-0.0504384786,"cg_iq_raw_a":-0.000140806253,"cg_iu_a":-0.0337104797,"cg_iv_a":0.649055243,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9509087,"cg_sample_seq":14312067,"cg_sample_valid":1,"cg_theta_rad":5.0059824,"cg_vd_req_v":0.0695574582,"cg_vd_v":0.0695574582,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381696105,"cg_vq_v":-0.381696105,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.446007,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9377136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.175049,"values":{"Elec_RPM":-3.3831108e-19,"EncoderCos":38705,"EncoderSin":12469,"GapTicks":54763,"Mech_RPM":-6.76622173e-20,"cg_du":50.1811523,"cg_dv":50.2154198,"cg_dw":49.7845802,"cg_id_a":-0.0426122285,"cg_id_raw_a":0.205839366,"cg_iq_a":0.333688587,"cg_iq_raw_a":1.87954593,"cg_iu_a":0.691166162,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9218178,"cg_sample_seq":14312117,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0687083006,"cg_vd_v":0.0687083006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394237041,"cg_vq_v":-0.394237041,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.801049471,"dclink_p_w":-115.93161,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9377136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.182861,"values":{"Elec_RPM":-3.3831108e-19,"EncoderCos":38707,"EncoderSin":12536,"GapTicks":54768,"Mech_RPM":-6.76622173e-20,"cg_du":50.1891747,"cg_dv":50.2102509,"cg_dw":49.7897491,"cg_id_a":0.586290717,"cg_id_raw_a":0.47215566,"cg_iq_a":0.311177164,"cg_iq_raw_a":0.0826219171,"cg_iu_a":-0.396148682,"cg_iv_a":0.359104574,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9872723,"cg_sample_seq":14312167,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.0553921014,"cg_vd_v":0.0553921014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392040938,"cg_vq_v":-0.392040938,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9328918,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.190674,"values":{"Elec_RPM":-3.31544872e-19,"EncoderCos":38708,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-6.63089757e-20,"cg_du":50.1629143,"cg_dv":50.2103119,"cg_dw":49.7896881,"cg_id_a":-0.462500602,"cg_id_raw_a":-0.383662403,"cg_iq_a":-0.463184267,"cg_iq_raw_a":-0.401971161,"cg_iu_a":-1.77341437,"cg_iv_a":0.0691539049,"cg_iw_a":1.70426047,"cg_sample_age_us":23.9872723,"cg_sample_seq":14312218,"cg_sample_valid":1,"cg_theta_rad":5.00754261,"cg_vd_req_v":0.0776603073,"cg_vd_v":0.0776603073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377093136,"cg_vq_v":-0.377093136,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9586792,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.218018,"values":{"Elec_RPM":-3.31544872e-19,"EncoderCos":38738,"EncoderSin":12501,"GapTicks":54770,"Mech_RPM":-6.63089757e-20,"cg_du":50.1757088,"cg_dv":50.2088127,"cg_dw":49.7911873,"cg_id_a":0.30422169,"cg_id_raw_a":0.0641962066,"cg_iq_a":-0.243382409,"cg_iq_raw_a":1.09853303,"cg_iu_a":-1.59219527,"cg_iv_a":-0.112065315,"cg_iw_a":1.70426059,"cg_sample_age_us":23.863636,"cg_sample_seq":14312270,"cg_sample_valid":1,"cg_theta_rad":5.00678444,"cg_vd_req_v":0.0629911497,"cg_vd_v":0.0629911497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384002477,"cg_vq_v":-0.384002477,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.639764309,"dclink_p_w":-92.5896683,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9586792,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.229736,"values":{"Elec_RPM":-3.24913986e-19,"EncoderCos":38751,"EncoderSin":12484,"GapTicks":54765,"Mech_RPM":-6.49827984e-20,"cg_du":50.1740417,"cg_dv":50.2130966,"cg_dw":49.7869034,"cg_id_a":0.0244773403,"cg_id_raw_a":0.0105122076,"cg_iq_a":-0.00597030669,"cg_iq_raw_a":0.547586322,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8527279,"cg_sample_seq":14312316,"cg_sample_valid":1,"cg_theta_rad":5.00865746,"cg_vd_req_v":0.0677592456,"cg_vd_v":0.0677592456,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389060915,"cg_vq_v":-0.389060915,"cg_vu_v":102.494972,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.95224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.237549,"values":{"Elec_RPM":-3.24913986e-19,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-6.49827984e-20,"cg_du":50.1714783,"cg_dv":50.2148933,"cg_dw":49.7851067,"cg_id_a":-0.253177017,"cg_id_raw_a":-0.174015164,"cg_iq_a":0.0862993374,"cg_iq_raw_a":-0.19754678,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.546991229,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9472733,"cg_sample_seq":14312366,"cg_sample_valid":1,"cg_theta_rad":5.00784779,"cg_vd_req_v":0.0731362253,"cg_vd_v":0.0731362253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389794379,"cg_vq_v":-0.389794379,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.95224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.245361,"values":{"Elec_RPM":-3.18415706e-19,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-6.36831426e-20,"cg_du":50.1769485,"cg_dv":50.1975136,"cg_dw":49.8024864,"cg_id_a":0.665175915,"cg_id_raw_a":0.247894034,"cg_iq_a":-0.845463037,"cg_iq_raw_a":-0.411575913,"cg_iu_a":-0.468636274,"cg_iv_a":0.830274343,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8563633,"cg_sample_seq":14312417,"cg_sample_valid":1,"cg_theta_rad":5.00797892,"cg_vd_req_v":0.0539022759,"cg_vd_v":0.0539022759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367678106,"cg_vq_v":-0.367678106,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.253174,"values":{"Elec_RPM":-3.18415706e-19,"EncoderCos":38701,"EncoderSin":12460,"GapTicks":54765,"Mech_RPM":-6.36831426e-20,"cg_du":50.1681366,"cg_dv":50.213047,"cg_dw":49.786953,"cg_id_a":-0.402276129,"cg_id_raw_a":0.14368704,"cg_iq_a":0.107916988,"cg_iq_raw_a":-0.203029528,"cg_iu_a":0.328727961,"cg_iv_a":-0.474503636,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14312467,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0771644786,"cg_vd_v":0.0771644786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383561462,"cg_vq_v":-0.383561462,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9280701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.260986,"values":{"Elec_RPM":-3.12047398e-19,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-6.24094783e-20,"cg_du":50.1703453,"cg_dv":50.2043533,"cg_dw":49.7956467,"cg_id_a":0.160798624,"cg_id_raw_a":-0.356044054,"cg_iq_a":-0.27522245,"cg_iq_raw_a":-0.254183233,"cg_iu_a":-0.0337102413,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9618187,"cg_sample_seq":14312517,"cg_sample_valid":1,"cg_theta_rad":5.00786972,"cg_vd_req_v":0.0666995496,"cg_vd_v":0.0666995496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373079836,"cg_vq_v":-0.373079836,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9280701,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.268799,"values":{"Elec_RPM":-3.12047398e-19,"EncoderCos":38724,"EncoderSin":12496,"GapTicks":54779,"Mech_RPM":-6.24094783e-20,"cg_du":50.1588326,"cg_dv":50.2008133,"cg_dw":49.7991867,"cg_id_a":-0.0187583789,"cg_id_raw_a":-0.0350771621,"cg_iq_a":-0.428796798,"cg_iq_raw_a":-0.330194741,"cg_iu_a":0.5099473,"cg_iv_a":0.540323734,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9872723,"cg_sample_seq":14312566,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0696693361,"cg_vd_v":0.0696693361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362279922,"cg_vq_v":-0.362279922,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.940588236,"dclink_p_w":-136.126312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9264526,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.276611,"values":{"Elec_RPM":-3.05806449e-19,"EncoderCos":38719,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-6.11612886e-20,"cg_du":50.1619415,"cg_dv":50.2101364,"cg_dw":49.7898636,"cg_id_a":-0.387739241,"cg_id_raw_a":-0.242173627,"cg_iq_a":0.317567706,"cg_iq_raw_a":-0.350839019,"cg_iu_a":-0.178685904,"cg_iv_a":-0.691966534,"cg_iw_a":0.870652437,"cg_sample_age_us":23.9618187,"cg_sample_seq":14312617,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0778036118,"cg_vd_v":0.0778036118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37759468,"cg_vq_v":-0.37759468,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.28833,"values":{"Elec_RPM":-3.05806449e-19,"EncoderCos":38747,"EncoderSin":12488,"GapTicks":54779,"Mech_RPM":-6.11612886e-20,"cg_du":50.1564445,"cg_dv":50.2000237,"cg_dw":49.7999763,"cg_id_a":0.0760499313,"cg_id_raw_a":0.347582787,"cg_iq_a":-0.484042287,"cg_iq_raw_a":0.0685921609,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482608,"cg_sample_age_us":23.8672733,"cg_sample_seq":14312667,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0690996349,"cg_vd_v":0.0690996349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360200018,"cg_vq_v":-0.360200018,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.07287812,"dclink_p_w":-155.743866,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.296143,"values":{"Elec_RPM":-2.99690328e-19,"EncoderCos":38722,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-5.99380629e-20,"cg_du":50.1615944,"cg_dv":50.2074203,"cg_dw":49.7925797,"cg_id_a":-0.132502303,"cg_id_raw_a":-0.357527703,"cg_iq_a":0.088136971,"cg_iq_raw_a":0.1848993,"cg_iu_a":0.256240368,"cg_iv_a":0.141641676,"cg_iw_a":-0.397882044,"cg_sample_age_us":23.9181824,"cg_sample_seq":14312717,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0743004233,"cg_vd_v":0.0743004233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372742087,"cg_vq_v":-0.372742087,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.29940224,"dclink_p_w":-188.055542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.323486,"values":{"Elec_RPM":-2.99690328e-19,"EncoderCos":38743,"EncoderSin":12508,"GapTicks":54767,"Mech_RPM":-5.99380629e-20,"cg_du":50.167038,"cg_dv":50.2109261,"cg_dw":49.7890739,"cg_id_a":-0.0119304024,"cg_id_raw_a":-0.558296919,"cg_iq_a":0.419234335,"cg_iq_raw_a":0.0961968899,"cg_iu_a":-0.14244175,"cg_iv_a":-1.45308709,"cg_iw_a":1.59552884,"cg_sample_age_us":23.9509087,"cg_sample_seq":14312770,"cg_sample_valid":1,"cg_theta_rad":5.00654125,"cg_vd_req_v":0.0710542202,"cg_vd_v":0.0710542202,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381014705,"cg_vq_v":-0.381014705,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.29940224,"dclink_p_w":-188.055542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.331299,"values":{"Elec_RPM":-2.93696525e-19,"EncoderCos":38731,"EncoderSin":12501,"GapTicks":54772,"Mech_RPM":-5.87393038e-20,"cg_du":50.1610641,"cg_dv":50.2067604,"cg_dw":49.7932396,"cg_id_a":-0.0371569619,"cg_id_raw_a":0.117527567,"cg_iq_a":-0.0297922865,"cg_iq_raw_a":-0.170257658,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14312816,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.0729594529,"cg_vd_v":0.0729594529,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371771842,"cg_vq_v":-0.371771842,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.24141192,"dclink_p_w":-179.116821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9071045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.343018,"values":{"Elec_RPM":-2.93696525e-19,"EncoderCos":38718,"EncoderSin":12500,"GapTicks":54766,"Mech_RPM":-5.87393038e-20,"cg_du":50.1682777,"cg_dv":50.2125587,"cg_dw":49.7874413,"cg_id_a":-0.14494507,"cg_id_raw_a":0.0868063346,"cg_iq_a":0.523554504,"cg_iq_raw_a":-0.0636718497,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14312867,"cg_sample_valid":1,"cg_theta_rad":5.00678539,"cg_vd_req_v":0.0740391016,"cg_vd_v":0.0740391016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383477032,"cg_vq_v":-0.383477032,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.24141192,"dclink_p_w":-179.116821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.35083,"values":{"Elec_RPM":-2.87822612e-19,"EncoderCos":38730,"EncoderSin":12418,"GapTicks":54778,"Mech_RPM":-5.75645199e-20,"cg_du":50.1589699,"cg_dv":50.2015915,"cg_dw":49.7984085,"cg_id_a":-0.0549777187,"cg_id_raw_a":0.183341652,"cg_iq_a":-0.33238104,"cg_iq_raw_a":0.237498775,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8672733,"cg_sample_seq":14312917,"cg_sample_valid":1,"cg_theta_rad":5.00721884,"cg_vd_req_v":0.0717717633,"cg_vd_v":0.0717717633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363136381,"cg_vq_v":-0.363136381,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.24141192,"dclink_p_w":-179.116821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.358643,"values":{"Elec_RPM":-2.82066133e-19,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-5.64132266e-20,"cg_du":50.1674194,"cg_dv":50.2103043,"cg_dw":49.7896957,"cg_id_a":-0.144305244,"cg_id_raw_a":-0.0177584197,"cg_iq_a":0.504920304,"cg_iq_raw_a":0.581703067,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.863636,"cg_sample_seq":14313066,"cg_sample_valid":1,"cg_theta_rad":5.00642729,"cg_vd_req_v":0.0728337988,"cg_vd_v":0.0728337988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379872262,"cg_vq_v":-0.379872262,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-1.2867167,"dclink_p_w":-185.65361,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7918396,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.366455,"values":{"Elec_RPM":-2.76424839e-19,"EncoderCos":38724,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-5.52849652e-20,"cg_du":50.1591835,"cg_dv":50.2118645,"cg_dw":49.7881355,"cg_id_a":-0.432384312,"cg_id_raw_a":-0.547865808,"cg_iq_a":0.47589016,"cg_iq_raw_a":0.640364885,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":0.508213997,"cg_sample_age_us":23.954546,"cg_sample_seq":14313116,"cg_sample_valid":1,"cg_theta_rad":5.00630093,"cg_vd_req_v":0.0801798031,"cg_vd_v":0.0801798031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377512604,"cg_vq_v":-0.377512604,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-1.21241689,"dclink_p_w":-175.466614,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.9167786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.374268,"values":{"Elec_RPM":-2.76424839e-19,"EncoderCos":38736,"EncoderSin":12493,"GapTicks":54772,"Mech_RPM":-5.52849652e-20,"cg_du":50.1596832,"cg_dv":50.2067108,"cg_dw":49.7932892,"cg_id_a":-0.15731138,"cg_id_raw_a":0.165777251,"cg_iq_a":0.101445623,"cg_iq_raw_a":-0.238651335,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8672733,"cg_sample_seq":14313166,"cg_sample_valid":1,"cg_theta_rad":5.00514078,"cg_vd_req_v":0.0740031004,"cg_vd_v":0.0740031004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372103304,"cg_vq_v":-0.372103304,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-1.21241689,"dclink_p_w":-175.466614,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.9167786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.38208,"values":{"Elec_RPM":-2.70896326e-19,"EncoderCos":38718,"EncoderSin":12502,"GapTicks":54770,"Mech_RPM":-5.41792671e-20,"cg_du":50.1701546,"cg_dv":50.2085114,"cg_dw":49.7914886,"cg_id_a":0.0250041634,"cg_id_raw_a":-0.499661684,"cg_iq_a":0.413378149,"cg_iq_raw_a":1.00873637,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9836369,"cg_sample_seq":14313216,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0687975287,"cg_vd_v":0.0687975287,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380184859,"cg_vq_v":-0.380184859,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-1.21241689,"dclink_p_w":-175.466614,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9312744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.41333,"values":{"Elec_RPM":-2.70896326e-19,"EncoderCos":38732,"EncoderSin":12441,"GapTicks":54774,"Mech_RPM":-5.41792671e-20,"cg_du":50.1656189,"cg_dv":50.2045593,"cg_dw":49.7954407,"cg_id_a":-0.00804393925,"cg_id_raw_a":-0.276657641,"cg_iq_a":-0.0547771305,"cg_iq_raw_a":-1.30053306,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8600006,"cg_sample_seq":14313271,"cg_sample_valid":1,"cg_theta_rad":5.00752974,"cg_vd_req_v":0.0689024031,"cg_vd_v":0.0689024031,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372171372,"cg_vq_v":-0.372171372,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.16892433,"dclink_p_w":-169.686371,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.421143,"values":{"Elec_RPM":-2.65478422e-19,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54772,"Mech_RPM":-5.30956831e-20,"cg_du":50.1639366,"cg_dv":50.2071037,"cg_dw":49.7928963,"cg_id_a":-0.12208727,"cg_id_raw_a":-0.115347639,"cg_iq_a":0.134516373,"cg_iq_raw_a":0.280741096,"cg_iu_a":-0.50488019,"cg_iv_a":-0.365772128,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9472733,"cg_sample_seq":14313317,"cg_sample_valid":1,"cg_theta_rad":5.00702143,"cg_vd_req_v":0.0734868199,"cg_vd_v":0.0734868199,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374544263,"cg_vq_v":-0.374544263,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-143.116714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.428955,"values":{"Elec_RPM":-2.65478422e-19,"EncoderCos":38720,"EncoderSin":12488,"GapTicks":54770,"Mech_RPM":-5.30956831e-20,"cg_du":50.147934,"cg_dv":50.209034,"cg_dw":49.790966,"cg_id_a":-0.76102525,"cg_id_raw_a":-0.336447716,"cg_iq_a":-0.37405619,"cg_iq_raw_a":-0.905565917,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9436359,"cg_sample_seq":14313367,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0867394954,"cg_vd_v":0.0867394954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367255449,"cg_vq_v":-0.367255449,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-143.116714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9167786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.436768,"values":{"Elec_RPM":-2.60168853e-19,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54774,"Mech_RPM":-5.20337706e-20,"cg_du":50.1658363,"cg_dv":50.2053795,"cg_dw":49.7946205,"cg_id_a":0.0419163853,"cg_id_raw_a":-0.20455651,"cg_iq_a":0.0136776119,"cg_iq_raw_a":-0.0922607034,"cg_iu_a":-0.178685665,"cg_iv_a":0.866518259,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9763641,"cg_sample_seq":14313416,"cg_sample_valid":1,"cg_theta_rad":5.00653601,"cg_vd_req_v":0.0699978322,"cg_vd_v":0.0699978322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372155398,"cg_vq_v":-0.372155398,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-143.116714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.44458,"values":{"Elec_RPM":-2.60168853e-19,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54768,"Mech_RPM":-5.20337706e-20,"cg_du":50.1553078,"cg_dv":50.2102699,"cg_dw":49.7897301,"cg_id_a":-0.476922691,"cg_id_raw_a":0.0859995559,"cg_iq_a":0.0544250607,"cg_iq_raw_a":-0.500740111,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14313466,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0814339891,"cg_vd_v":0.0814339891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373226076,"cg_vq_v":-0.373226076,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.985893011,"dclink_p_w":-143.116714,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.452393,"values":{"Elec_RPM":-2.54965473e-19,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-5.09930966e-20,"cg_du":50.159317,"cg_dv":50.2055244,"cg_dw":49.7944756,"cg_id_a":-0.162641287,"cg_id_raw_a":-0.242171913,"cg_iq_a":-0.133325532,"cg_iq_raw_a":-0.970682323,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9509087,"cg_sample_seq":14313516,"cg_sample_valid":1,"cg_theta_rad":5.00779963,"cg_vd_req_v":0.0761433542,"cg_vd_v":0.0761433542,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369673759,"cg_vq_v":-0.369673759,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-1.05656838,"dclink_p_w":-152.911499,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8604126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.464111,"values":{"Elec_RPM":-2.54965473e-19,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-5.09930966e-20,"cg_du":50.1558075,"cg_dv":50.2074928,"cg_dw":49.7925072,"cg_id_a":-0.37688148,"cg_id_raw_a":0.082539551,"cg_iq_a":-0.209701955,"cg_iq_raw_a":0.191227227,"cg_iu_a":-0.359904766,"cg_iv_a":0.141641617,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9436359,"cg_sample_seq":14313566,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0807430297,"cg_vd_v":0.0807430297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370381147,"cg_vq_v":-0.370381147,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9983444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8604126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.471924,"values":{"Elec_RPM":-2.49866163e-19,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-4.99732346e-20,"cg_du":50.137619,"cg_dv":50.1968193,"cg_dw":49.8031807,"cg_id_a":-0.527617812,"cg_id_raw_a":0.462770194,"cg_iq_a":-1.29505491,"cg_iq_raw_a":-0.46349299,"cg_iu_a":0.473703384,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9872723,"cg_sample_seq":14313616,"cg_sample_valid":1,"cg_theta_rad":5.00791979,"cg_vd_req_v":0.0839028135,"cg_vd_v":0.0839028135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345743358,"cg_vq_v":-0.345743358,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9216309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.479736,"values":{"Elec_RPM":-2.49866163e-19,"EncoderCos":38707,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-4.99732346e-20,"cg_du":50.1656265,"cg_dv":50.2104607,"cg_dw":49.7895393,"cg_id_a":-0.146218479,"cg_id_raw_a":-0.175707996,"cg_iq_a":0.259662062,"cg_iq_raw_a":-0.380953044,"cg_iu_a":-0.50488019,"cg_iv_a":-0.148309112,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14313666,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0754262209,"cg_vd_v":0.0754262209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378872961,"cg_vq_v":-0.378872961,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.491455,"values":{"Elec_RPM":-2.44868855e-19,"EncoderCos":38738,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-4.8973771e-20,"cg_du":50.1623993,"cg_dv":50.2066422,"cg_dw":49.7933578,"cg_id_a":-0.0336699896,"cg_id_raw_a":0.180647865,"cg_iq_a":-0.175437003,"cg_iq_raw_a":0.0542382933,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.8527279,"cg_sample_seq":14313718,"cg_sample_valid":1,"cg_theta_rad":5.00693512,"cg_vd_req_v":0.0722248778,"cg_vd_v":0.0722248778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372270256,"cg_vq_v":-0.372270256,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.518799,"values":{"Elec_RPM":-2.44868855e-19,"EncoderCos":38741,"EncoderSin":12486,"GapTicks":54771,"Mech_RPM":-4.8973771e-20,"cg_du":50.1628609,"cg_dv":50.2081757,"cg_dw":49.7918243,"cg_id_a":-0.117481932,"cg_id_raw_a":-0.124209218,"cg_iq_a":0.035583403,"cg_iq_raw_a":0.171377525,"cg_iu_a":0.691166162,"cg_iv_a":0.10539782,"cg_iw_a":-0.796563983,"cg_sample_age_us":26.8309097,"cg_sample_seq":14313770,"cg_sample_valid":1,"cg_theta_rad":5.0057683,"cg_vd_req_v":0.0724477172,"cg_vd_v":0.0724477172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374793082,"cg_vq_v":-0.374793082,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.8167419,"temp_inv2_c":37.9039001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.526611,"values":{"Elec_RPM":-2.39971481e-19,"EncoderCos":38717,"EncoderSin":12468,"GapTicks":54774,"Mech_RPM":-4.79942955e-20,"cg_du":50.163559,"cg_dv":50.2051239,"cg_dw":49.7948761,"cg_id_a":-0.0890163332,"cg_id_raw_a":0.361234754,"cg_iq_a":-0.034583196,"cg_iq_raw_a":-0.0728357211,"cg_iu_a":0.0750210285,"cg_iv_a":0.830274463,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9836369,"cg_sample_seq":14313818,"cg_sample_valid":1,"cg_theta_rad":5.00692892,"cg_vd_req_v":0.0716519952,"cg_vd_v":0.0716519952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371671736,"cg_vq_v":-0.371671736,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.62184024,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.534424,"values":{"Elec_RPM":-2.35172049e-19,"EncoderCos":38698,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-4.70344105e-20,"cg_du":50.1659546,"cg_dv":50.2104378,"cg_dw":49.7895622,"cg_id_a":-0.245438352,"cg_id_raw_a":0.470831692,"cg_iq_a":0.25927484,"cg_iq_raw_a":0.705195367,"cg_iu_a":0.0387773514,"cg_iv_a":0.359104574,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.954546,"cg_sample_seq":14313917,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.0766492113,"cg_vd_v":0.0766492113,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379925668,"cg_vq_v":-0.379925668,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.542236,"values":{"Elec_RPM":-2.35172049e-19,"EncoderCos":38702,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-4.70344105e-20,"cg_du":50.1662979,"cg_dv":50.2109985,"cg_dw":49.7890015,"cg_id_a":-0.126299128,"cg_id_raw_a":0.0705452785,"cg_iq_a":0.124836773,"cg_iq_raw_a":0.517908514,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9436359,"cg_sample_seq":14313967,"cg_sample_valid":1,"cg_theta_rad":5.00751686,"cg_vd_req_v":0.0758581609,"cg_vd_v":0.0758581609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379897267,"cg_vq_v":-0.379897267,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.550049,"values":{"Elec_RPM":-2.30468597e-19,"EncoderCos":38706,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-4.6093722e-20,"cg_du":50.1574631,"cg_dv":50.2074013,"cg_dw":49.7925987,"cg_id_a":-0.0178667828,"cg_id_raw_a":0.0576434806,"cg_iq_a":-0.11933466,"cg_iq_raw_a":-0.394074768,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8563633,"cg_sample_seq":14314016,"cg_sample_valid":1,"cg_theta_rad":5.00630903,"cg_vd_req_v":0.0746204033,"cg_vd_v":0.0746204033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370998353,"cg_vq_v":-0.370998353,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9071045,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.557861,"values":{"Elec_RPM":-2.30468597e-19,"EncoderCos":38745,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-4.6093722e-20,"cg_du":50.1476402,"cg_dv":50.2006645,"cg_dw":49.7993355,"cg_id_a":-0.0949528962,"cg_id_raw_a":0.137014508,"cg_iq_a":-1.05572295,"cg_iq_raw_a":-0.387022525,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.8454552,"cg_sample_seq":14314066,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0770159513,"cg_vd_v":0.0770159513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356103718,"cg_vq_v":-0.356103718,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.56958,"values":{"Elec_RPM":-2.25859236e-19,"EncoderCos":38741,"EncoderSin":12507,"GapTicks":54763,"Mech_RPM":-4.51718486e-20,"cg_du":50.1665268,"cg_dv":50.2149086,"cg_dw":49.7850914,"cg_id_a":0.0384905413,"cg_id_raw_a":-0.32330966,"cg_iq_a":0.332514703,"cg_iq_raw_a":0.51745522,"cg_iu_a":0.0750212669,"cg_iv_a":-0.619478822,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9436359,"cg_sample_seq":14314117,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0754911825,"cg_vd_v":0.0754911825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386131853,"cg_vq_v":-0.386131853,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.577393,"values":{"Elec_RPM":-2.25859236e-19,"EncoderCos":38708,"EncoderSin":12492,"GapTicks":54770,"Mech_RPM":-4.51718486e-20,"cg_du":50.168499,"cg_dv":50.2086029,"cg_dw":49.7913971,"cg_id_a":0.327592134,"cg_id_raw_a":0.288080454,"cg_iq_a":0.051161956,"cg_iq_raw_a":0.0293247793,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9872723,"cg_sample_seq":14314166,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0713142008,"cg_vd_v":0.0713142008,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379169583,"cg_vq_v":-0.379169583,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9409485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.585205,"values":{"Elec_RPM":-2.21342055e-19,"EncoderCos":38702,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-4.42684123e-20,"cg_du":50.1618385,"cg_dv":50.2100677,"cg_dw":49.7899323,"cg_id_a":-0.0185407177,"cg_id_raw_a":-0.148152635,"cg_iq_a":0.00836016238,"cg_iq_raw_a":-0.23272945,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9509087,"cg_sample_seq":14314216,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.0787297338,"cg_vd_v":0.0787297338,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377252758,"cg_vq_v":-0.377252758,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.612549,"values":{"Elec_RPM":-2.21342055e-19,"EncoderCos":38726,"EncoderSin":12506,"GapTicks":54761,"Mech_RPM":-4.42684123e-20,"cg_du":50.1641083,"cg_dv":50.2170258,"cg_dw":49.7829742,"cg_id_a":-0.103112303,"cg_id_raw_a":-0.0500170924,"cg_iq_a":0.437281013,"cg_iq_raw_a":-0.622747838,"cg_iu_a":-0.468636513,"cg_iv_a":0.322860718,"cg_iw_a":0.145775795,"cg_sample_age_us":24.7181816,"cg_sample_seq":14314271,"cg_sample_valid":1,"cg_theta_rad":5.00682497,"cg_vd_req_v":0.0807864591,"cg_vd_v":0.0807864591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387405038,"cg_vq_v":-0.387405038,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.620361,"values":{"Elec_RPM":-2.16915217e-19,"EncoderCos":38701,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-4.33830447e-20,"cg_du":50.1672287,"cg_dv":50.212986,"cg_dw":49.787014,"cg_id_a":0.0577342696,"cg_id_raw_a":-0.167087778,"cg_iq_a":-0.0222583525,"cg_iq_raw_a":-0.453611404,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9618187,"cg_sample_seq":14314317,"cg_sample_valid":1,"cg_theta_rad":5.00864983,"cg_vd_req_v":0.0776050314,"cg_vd_v":0.0776050314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381794304,"cg_vq_v":-0.381794304,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.7595215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8893738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2589.63208,"values":{"Elec_RPM":-2.16915217e-19,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-4.33830447e-20,"cg_du":50.163166,"cg_dv":50.2107239,"cg_dw":49.7892761,"cg_id_a":0.108281508,"cg_id_raw_a":-0.042156484,"cg_iq_a":-0.279685944,"cg_iq_raw_a":0.17873174,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065196,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14314367,"cg_sample_valid":1,"cg_theta_rad":5.00667763,"cg_vd_req_v":0.077171348,"cg_vd_v":0.077171348,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376738489,"cg_vq_v":-0.376738489,"cg_vu_v":134.167236,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8893738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2589.639893,"values":{"Elec_RPM":-2.12576913e-19,"EncoderCos":38704,"EncoderSin":12460,"GapTicks":54765,"Mech_RPM":-4.25153839e-20,"cg_du":50.1623917,"cg_dv":50.2130966,"cg_dw":49.7869034,"cg_id_a":-0.130348384,"cg_id_raw_a":0.251316279,"cg_iq_a":-0.148843393,"cg_iq_raw_a":-0.228552714,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309112,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14314417,"cg_sample_valid":1,"cg_theta_rad":5.00657082,"cg_vd_req_v":0.0811976567,"cg_vd_v":0.0811976567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379278421,"cg_vq_v":-0.379278421,"cg_vu_v":139.445938,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9345093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2589.647705,"values":{"Elec_RPM":-2.12576913e-19,"EncoderCos":38741,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-4.25153839e-20,"cg_du":50.1440163,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":-0.469848752,"cg_id_raw_a":-0.728680432,"cg_iq_a":-0.903134286,"cg_iq_raw_a":-1.92315185,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758213401,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9145451,"cg_sample_seq":14314466,"cg_sample_valid":1,"cg_theta_rad":5.00519037,"cg_vd_req_v":0.0878262743,"cg_vd_v":0.0878262743,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365240037,"cg_vq_v":-0.365240037,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9039001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.659424,"values":{"Elec_RPM":-2.08325386e-19,"EncoderCos":38746,"EncoderSin":12504,"GapTicks":54768,"Mech_RPM":-4.16650778e-20,"cg_du":50.1593208,"cg_dv":50.2106972,"cg_dw":49.7893028,"cg_id_a":0.0908461511,"cg_id_raw_a":0.235505462,"cg_iq_a":-0.163391113,"cg_iq_raw_a":-0.0872974768,"cg_iu_a":-0.359904766,"cg_iv_a":0.286616981,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9436359,"cg_sample_seq":14314516,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0770037919,"cg_vd_v":0.0770037919,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377592564,"cg_vq_v":-0.377592564,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9039001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.667236,"values":{"Elec_RPM":-2.08325386e-19,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-4.16650778e-20,"cg_du":50.1622887,"cg_dv":50.2109756,"cg_dw":49.7890244,"cg_id_a":0.0145147294,"cg_id_raw_a":0.283223033,"cg_iq_a":-0.179693401,"cg_iq_raw_a":-0.772450566,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9836369,"cg_sample_seq":14314566,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0784560367,"cg_vd_v":0.0784560367,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378908932,"cg_vq_v":-0.378908932,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.675049,"values":{"Elec_RPM":-2.0415889e-19,"EncoderCos":38682,"EncoderSin":12453,"GapTicks":54765,"Mech_RPM":-4.08317773e-20,"cg_du":50.1771927,"cg_dv":50.2132378,"cg_dw":49.7867622,"cg_id_a":0.193979502,"cg_id_raw_a":0.763116002,"cg_iq_a":0.20426923,"cg_iq_raw_a":1.28593814,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9509087,"cg_sample_seq":14314616,"cg_sample_valid":1,"cg_theta_rad":5.00790167,"cg_vd_req_v":0.0721368417,"cg_vd_v":0.0721368417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388597518,"cg_vq_v":-0.388597518,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.682861,"values":{"Elec_RPM":-2.0415889e-19,"EncoderCos":38729,"EncoderSin":12476,"GapTicks":54767,"Mech_RPM":-4.08317773e-20,"cg_du":50.1830902,"cg_dv":50.2113876,"cg_dw":49.7886124,"cg_id_a":0.579859018,"cg_id_raw_a":0.103741921,"cg_iq_a":0.198028579,"cg_iq_raw_a":-0.462614387,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641617,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9872723,"cg_sample_seq":14314666,"cg_sample_valid":1,"cg_theta_rad":5.00546694,"cg_vd_req_v":0.0609368756,"cg_vd_v":0.0609368756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390233368,"cg_vq_v":-0.390233368,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9055176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.690674,"values":{"Elec_RPM":-2.00075719e-19,"EncoderCos":38720,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-4.00151432e-20,"cg_du":50.1699448,"cg_dv":50.2035217,"cg_dw":49.7964783,"cg_id_a":0.368769407,"cg_id_raw_a":0.489356041,"cg_iq_a":-0.537033379,"cg_iq_raw_a":0.121346414,"cg_iu_a":-1.37473226,"cg_iv_a":0.359104633,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9472733,"cg_sample_seq":14314717,"cg_sample_valid":1,"cg_theta_rad":5.00861788,"cg_vd_req_v":0.0646555126,"cg_vd_v":0.0646555126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373159677,"cg_vq_v":-0.373159677,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.6636391,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8942261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.718018,"values":{"Elec_RPM":-1.96074194e-19,"EncoderCos":38752,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.92148395e-20,"cg_du":50.167778,"cg_dv":50.213089,"cg_dw":49.786911,"cg_id_a":0.0380364731,"cg_id_raw_a":-0.13496162,"cg_iq_a":0.0499811992,"cg_iq_raw_a":0.061497584,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9509087,"cg_sample_seq":14314866,"cg_sample_valid":1,"cg_theta_rad":5.00602913,"cg_vd_req_v":0.0724299774,"cg_vd_v":0.0724299774,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384402812,"cg_vq_v":-0.384402812,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.6090851,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8926392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.72583,"values":{"Elec_RPM":-1.92152712e-19,"EncoderCos":38683,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-3.84305431e-20,"cg_du":50.1695366,"cg_dv":50.200882,"cg_dw":49.799118,"cg_id_a":0.432751626,"cg_id_raw_a":0.439414948,"cg_iq_a":-0.749129534,"cg_iq_raw_a":-0.608943701,"cg_iu_a":0.256240129,"cg_iv_a":0.504079938,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.9763641,"cg_sample_seq":14314916,"cg_sample_valid":1,"cg_theta_rad":5.00801134,"cg_vd_req_v":0.0650338605,"cg_vd_v":0.0650338605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367727578,"cg_vq_v":-0.367727578,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8926392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.733643,"values":{"Elec_RPM":-1.92152712e-19,"EncoderCos":38713,"EncoderSin":12495,"GapTicks":54763,"Mech_RPM":-3.84305431e-20,"cg_du":50.1779747,"cg_dv":50.2153397,"cg_dw":49.7846603,"cg_id_a":0.103794932,"cg_id_raw_a":-0.22197181,"cg_iq_a":0.457041502,"cg_iq_raw_a":-0.1301191,"cg_iu_a":0.437459469,"cg_iv_a":-0.438259721,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9181824,"cg_sample_seq":14314966,"cg_sample_valid":1,"cg_theta_rad":5.00682592,"cg_vd_req_v":0.0697032064,"cg_vd_v":0.0697032064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392590195,"cg_vq_v":-0.392590195,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11873655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.745361,"values":{"Elec_RPM":-1.88309657e-19,"EncoderCos":38700,"EncoderSin":12487,"GapTicks":54765,"Mech_RPM":-3.76619307e-20,"cg_du":50.1678352,"cg_dv":50.2136383,"cg_dw":49.7863617,"cg_id_a":-0.230207503,"cg_id_raw_a":-0.15798375,"cg_iq_a":-0.0203556716,"cg_iq_raw_a":-0.343041599,"cg_iu_a":0.328727961,"cg_iv_a":0.359104633,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9872723,"cg_sample_seq":14315016,"cg_sample_valid":1,"cg_theta_rad":5.00864172,"cg_vd_req_v":0.077356562,"cg_vd_v":0.077356562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384319782,"cg_vq_v":-0.384319782,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8942261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.753174,"values":{"Elec_RPM":-1.88309657e-19,"EncoderCos":38716,"EncoderSin":12488,"GapTicks":54770,"Mech_RPM":-3.76619307e-20,"cg_du":50.1654282,"cg_dv":50.2085304,"cg_dw":49.7914696,"cg_id_a":-0.0381439961,"cg_id_raw_a":-0.0786725953,"cg_iq_a":-0.184753552,"cg_iq_raw_a":-0.95366466,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9290905,"cg_sample_seq":14315066,"cg_sample_valid":1,"cg_theta_rad":5.00698805,"cg_vd_req_v":0.0730742216,"cg_vd_v":0.0730742216,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377453446,"cg_vq_v":-0.377453446,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8942261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.760986,"values":{"Elec_RPM":-1.84543465e-19,"EncoderCos":38714,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-3.69086923e-20,"cg_du":50.1618538,"cg_dv":50.2012062,"cg_dw":49.7987938,"cg_id_a":0.172412932,"cg_id_raw_a":0.0493588373,"cg_iq_a":-0.702795386,"cg_iq_raw_a":-0.32210651,"cg_iu_a":0.691166401,"cg_iv_a":0.177885473,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.954546,"cg_sample_seq":14315116,"cg_sample_valid":1,"cg_theta_rad":5.00854492,"cg_vd_req_v":0.0691420808,"cg_vd_v":0.0691420808,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36538139,"cg_vq_v":-0.36538139,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.522728,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.772705,"values":{"Elec_RPM":-1.84543465e-19,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-3.69086923e-20,"cg_du":50.1577415,"cg_dv":50.2073288,"cg_dw":49.7926712,"cg_id_a":-0.173993289,"cg_id_raw_a":-0.357871205,"cg_iq_a":-0.35283637,"cg_iq_raw_a":-0.251604199,"cg_iu_a":0.364971638,"cg_iv_a":0.105397701,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9436359,"cg_sample_seq":14315166,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.0770223066,"cg_vd_v":0.0770223066,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371679693,"cg_vq_v":-0.371679693,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.522728,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.780518,"values":{"Elec_RPM":-1.80852585e-19,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-3.61705176e-20,"cg_du":50.1698723,"cg_dv":50.2094536,"cg_dw":49.7905464,"cg_id_a":0.0567946061,"cg_id_raw_a":0.363481194,"cg_iq_a":0.15259558,"cg_iq_raw_a":-0.508902311,"cg_iu_a":-0.396148682,"cg_iv_a":0.359104633,"cg_iw_a":0.544458032,"cg_sample_age_us":23.954546,"cg_sample_seq":14315216,"cg_sample_valid":1,"cg_theta_rad":5.00784492,"cg_vd_req_v":0.0716080666,"cg_vd_v":0.0716080666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379805863,"cg_vq_v":-0.379805863,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.8921509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.807861,"values":{"Elec_RPM":-1.80852585e-19,"EncoderCos":38779,"EncoderSin":12519,"GapTicks":54768,"Mech_RPM":-3.61705176e-20,"cg_du":50.1562729,"cg_dv":50.2106056,"cg_dw":49.7893944,"cg_id_a":-0.143546551,"cg_id_raw_a":0.324020892,"cg_iq_a":0.0416129827,"cg_iq_raw_a":-0.15481469,"cg_iu_a":0.0750212669,"cg_iv_a":-0.619479001,"cg_iw_a":0.544457734,"cg_sample_age_us":26.823637,"cg_sample_seq":14315269,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.0758856758,"cg_vd_v":0.0758856758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375292748,"cg_vq_v":-0.375292748,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.8921509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8877869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.815674,"values":{"Elec_RPM":-1.77235531e-19,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-3.54471062e-20,"cg_du":50.1701698,"cg_dv":50.2058868,"cg_dw":49.7941132,"cg_id_a":0.239780277,"cg_id_raw_a":-0.261240453,"cg_iq_a":-0.0109800324,"cg_iq_raw_a":0.485027015,"cg_iu_a":0.111264944,"cg_iv_a":0.322860837,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9836369,"cg_sample_seq":14315316,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0668053254,"cg_vd_v":0.0668053254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37533018,"cg_vq_v":-0.37533018,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.8921509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8877869,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.823486,"values":{"Elec_RPM":-1.77235531e-19,"EncoderCos":38703,"EncoderSin":12470,"GapTicks":54779,"Mech_RPM":-3.54471062e-20,"cg_du":50.1536026,"cg_dv":50.2005005,"cg_dw":49.7994995,"cg_id_a":-0.202023625,"cg_id_raw_a":-0.0230897609,"cg_iq_a":-0.892023683,"cg_iq_raw_a":-0.220127225,"cg_iu_a":0.401215792,"cg_iv_a":0.467836082,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.954546,"cg_sample_seq":14315366,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.0758348405,"cg_vd_v":0.0758348405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358443528,"cg_vq_v":-0.358443528,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.8921509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8797302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.835205,"values":{"Elec_RPM":-1.73690816e-19,"EncoderCos":38732,"EncoderSin":12505,"GapTicks":54771,"Mech_RPM":-3.47381639e-20,"cg_du":50.1632042,"cg_dv":50.2077293,"cg_dw":49.7922707,"cg_id_a":-0.0143950079,"cg_id_raw_a":0.311461121,"cg_iq_a":0.0350195989,"cg_iq_raw_a":0.684819698,"cg_iu_a":-0.178685904,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9872723,"cg_sample_seq":14315416,"cg_sample_valid":1,"cg_theta_rad":5.00618744,"cg_vd_req_v":0.0722375438,"cg_vd_v":0.0722375438,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375460535,"cg_vq_v":-0.375460535,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6706095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9039001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.843018,"values":{"Elec_RPM":-1.73690816e-19,"EncoderCos":38708,"EncoderSin":12439,"GapTicks":54777,"Mech_RPM":-3.47381639e-20,"cg_du":50.16008,"cg_dv":50.2025261,"cg_dw":49.7974739,"cg_id_a":-0.0445971936,"cg_id_raw_a":-0.571975768,"cg_iq_a":-0.550249279,"cg_iq_raw_a":0.415722251,"cg_iu_a":0.546190977,"cg_iv_a":0.939005971,"cg_iw_a":-1.48519695,"cg_sample_age_us":23.9981823,"cg_sample_seq":14315466,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0733321458,"cg_vd_v":0.0733321458,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365881234,"cg_vq_v":-0.365881234,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9039001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.85083,"values":{"Elec_RPM":-1.70216994e-19,"EncoderCos":38704,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-3.40434001e-20,"cg_du":50.1721306,"cg_dv":50.2147789,"cg_dw":49.7852211,"cg_id_a":-0.16294761,"cg_id_raw_a":-0.174476594,"cg_iq_a":0.349291563,"cg_iq_raw_a":0.238309443,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9436359,"cg_sample_seq":14315516,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0747035369,"cg_vd_v":0.0747035369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388367921,"cg_vq_v":-0.388367921,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8636475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.858643,"values":{"Elec_RPM":-1.70216994e-19,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54764,"Mech_RPM":-3.40434001e-20,"cg_du":50.1765442,"cg_dv":50.2140579,"cg_dw":49.7859421,"cg_id_a":0.105569571,"cg_id_raw_a":-0.0410491936,"cg_iq_a":0.393681675,"cg_iq_raw_a":0.615828156,"cg_iu_a":-0.214929581,"cg_iv_a":0.612811387,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.954546,"cg_sample_seq":14315566,"cg_sample_valid":1,"cg_theta_rad":5.00690651,"cg_vd_req_v":0.0686609372,"cg_vd_v":0.0686609372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390212238,"cg_vq_v":-0.390212238,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8636475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.866455,"values":{"Elec_RPM":-1.66812667e-19,"EncoderCos":38684,"EncoderSin":12509,"GapTicks":54775,"Mech_RPM":-3.33625335e-20,"cg_du":50.1752853,"cg_dv":50.2038994,"cg_dw":49.7961006,"cg_id_a":0.339432538,"cg_id_raw_a":0.263411522,"cg_iq_a":-0.165716872,"cg_iq_raw_a":0.0644632801,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14315616,"cg_sample_valid":1,"cg_theta_rad":5.00595284,"cg_vd_req_v":0.0628073141,"cg_vd_v":0.0628073141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375181884,"cg_vq_v":-0.375181884,"cg_vu_v":29.0329094,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.8974304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.874268,"values":{"Elec_RPM":-1.66812667e-19,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54766,"Mech_RPM":-3.33625335e-20,"cg_du":50.1648865,"cg_dv":50.2123032,"cg_dw":49.7876968,"cg_id_a":-0.382427186,"cg_id_raw_a":-0.569579542,"cg_iq_a":0.107891858,"cg_iq_raw_a":0.598216832,"cg_iu_a":0.219996452,"cg_iv_a":-0.365772009,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9654541,"cg_sample_seq":14315667,"cg_sample_valid":1,"cg_theta_rad":5.0062604,"cg_vd_req_v":0.0791045651,"cg_vd_v":0.0791045651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38189894,"cg_vq_v":-0.38189894,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8814163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.9006653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.885986,"values":{"Elec_RPM":-1.63476415e-19,"EncoderCos":38715,"EncoderSin":12509,"GapTicks":54767,"Mech_RPM":-3.26952831e-20,"cg_du":50.1654549,"cg_dv":50.2112885,"cg_dw":49.7887115,"cg_id_a":-0.100338817,"cg_id_raw_a":-0.107597046,"cg_iq_a":0.0276025757,"cg_iq_raw_a":-0.228015438,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772009,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9327278,"cg_sample_seq":14315716,"cg_sample_valid":1,"cg_theta_rad":5.00736475,"cg_vd_req_v":0.0752776638,"cg_vd_v":0.0752776638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381318331,"cg_vq_v":-0.381318331,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.93717337,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.9006653,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.91333,"values":{"Elec_RPM":-1.63476415e-19,"EncoderCos":38721,"EncoderSin":12455,"GapTicks":54765,"Mech_RPM":-3.26952831e-20,"cg_du":50.1713448,"cg_dv":50.2128448,"cg_dw":49.7871552,"cg_id_a":0.0629571974,"cg_id_raw_a":-0.20660542,"cg_iq_a":0.0795132816,"cg_iq_raw_a":-0.711535275,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373125,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14315769,"cg_sample_valid":1,"cg_theta_rad":5.00718117,"cg_vd_req_v":0.0728431046,"cg_vd_v":0.0728431046,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385413289,"cg_vq_v":-0.385413289,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8636475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.921143,"values":{"Elec_RPM":-1.60206893e-19,"EncoderCos":38731,"EncoderSin":12493,"GapTicks":54769,"Mech_RPM":-3.20413774e-20,"cg_du":50.1584587,"cg_dv":50.2095642,"cg_dw":49.7904358,"cg_id_a":-0.101178385,"cg_id_raw_a":0.233045623,"cg_iq_a":-0.190227851,"cg_iq_raw_a":0.168238133,"cg_iu_a":1.0536046,"cg_iv_a":-0.329528332,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14315816,"cg_sample_valid":1,"cg_theta_rad":5.00632286,"cg_vd_req_v":0.0779218227,"cg_vd_v":0.0779218227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374097228,"cg_vq_v":-0.374097228,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8781128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.928955,"values":{"Elec_RPM":-1.60206893e-19,"EncoderCos":38732,"EncoderSin":12503,"GapTicks":54767,"Mech_RPM":-3.20413774e-20,"cg_du":50.1573296,"cg_dv":50.2109528,"cg_dw":49.7890472,"cg_id_a":-0.152180865,"cg_id_raw_a":-0.0291451607,"cg_iq_a":-0.105774991,"cg_iq_raw_a":-0.402291268,"cg_iu_a":-0.0337104797,"cg_iv_a":0.939005971,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9363632,"cg_sample_seq":14315866,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0798101574,"cg_vd_v":0.0798101574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375435561,"cg_vq_v":-0.375435561,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8781128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.940674,"values":{"Elec_RPM":-1.57002745e-19,"EncoderCos":38728,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-3.14005483e-20,"cg_du":50.1607704,"cg_dv":50.2122726,"cg_dw":49.7877274,"cg_id_a":-0.0524240918,"cg_id_raw_a":-0.0867792368,"cg_iq_a":0.0230146497,"cg_iq_raw_a":-0.00738296984,"cg_iu_a":-0.758586884,"cg_iv_a":-0.293284416,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9618187,"cg_sample_seq":14315916,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0789827332,"cg_vd_v":0.0789827332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379027426,"cg_vq_v":-0.379027426,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.774807,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9119568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.948486,"values":{"Elec_RPM":-1.57002745e-19,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54765,"Mech_RPM":-3.14005483e-20,"cg_du":50.1620331,"cg_dv":50.2133484,"cg_dw":49.7866516,"cg_id_a":-0.0135005936,"cg_id_raw_a":-0.461529911,"cg_iq_a":0.000178087503,"cg_iq_raw_a":0.393501133,"cg_iu_a":-0.396148682,"cg_iv_a":0.250373065,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9254551,"cg_sample_seq":14315966,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0798264965,"cg_vd_v":0.0798264965,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382237613,"cg_vq_v":-0.382237613,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.774807,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.9119568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.956299,"values":{"Elec_RPM":-1.5386269e-19,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.07725373e-20,"cg_du":50.1513824,"cg_dv":50.2129097,"cg_dw":49.7870903,"cg_id_a":-0.434452444,"cg_id_raw_a":-0.543358386,"cg_iq_a":-0.269497991,"cg_iq_raw_a":-0.490407318,"cg_iu_a":-0.359904766,"cg_iv_a":-0.257040501,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14316016,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0892162994,"cg_vd_v":0.0892162994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375326753,"cg_vq_v":-0.375326753,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.297781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8893738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.964111,"values":{"Elec_RPM":-1.5386269e-19,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54755,"Mech_RPM":-3.07725373e-20,"cg_du":50.1644211,"cg_dv":50.2224426,"cg_dw":49.7775574,"cg_id_a":-0.284724623,"cg_id_raw_a":-0.318404526,"cg_iq_a":0.591268897,"cg_iq_raw_a":0.62453264,"cg_iu_a":-0.541123867,"cg_iv_a":-0.293284357,"cg_iw_a":0.834408224,"cg_sample_age_us":23.8563633,"cg_sample_seq":14316066,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0885477141,"cg_vd_v":0.0885477141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3956047,"cg_vq_v":-0.3956047,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.318884969,"dclink_p_w":46.1505165,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2589.971924,"values":{"Elec_RPM":-1.50785436e-19,"EncoderCos":38709,"EncoderSin":12521,"GapTicks":54761,"Mech_RPM":-3.01570858e-20,"cg_du":50.1623802,"cg_dv":50.216713,"cg_dw":49.783287,"cg_id_a":-0.0229106545,"cg_id_raw_a":0.100806534,"cg_iq_a":0.134896129,"cg_iq_raw_a":-0.207920805,"cg_iu_a":-0.359904766,"cg_iv_a":0.467836082,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9509087,"cg_sample_seq":14316116,"cg_sample_valid":1,"cg_theta_rad":5.00601864,"cg_vd_req_v":0.0829367936,"cg_vd_v":0.0829367936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385778934,"cg_vq_v":-0.385778934,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.6766605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2589.975475,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2589.97548,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2589.975485,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2589.979736,"values":{"Elec_RPM":-1.50785436e-19,"EncoderCos":38714,"EncoderSin":12471,"GapTicks":54758,"Mech_RPM":-3.01570858e-20,"cg_du":50.1732483,"cg_dv":50.2196541,"cg_dw":49.7803459,"cg_id_a":0.106301703,"cg_id_raw_a":-0.103993207,"cg_iq_a":0.484626293,"cg_iq_raw_a":-0.0459212177,"cg_iu_a":-0.686099529,"cg_iv_a":-0.25704056,"cg_iw_a":0.94314009,"cg_sample_age_us":23.9799995,"cg_sample_seq":14316166,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.0781699046,"cg_vd_v":0.0781699046,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395691276,"cg_vq_v":-0.395691276,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2589.987549,"values":{"Elec_RPM":-1.47769729e-19,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-2.95539451e-20,"cg_du":50.1593094,"cg_dv":50.2133522,"cg_dw":49.7866478,"cg_id_a":-0.161141455,"cg_id_raw_a":0.159934744,"cg_iq_a":-0.353374481,"cg_iq_raw_a":-0.165670261,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.954546,"cg_sample_seq":14316217,"cg_sample_valid":1,"cg_theta_rad":5.00570822,"cg_vd_req_v":0.0823906735,"cg_vd_v":0.0823906735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379418582,"cg_vq_v":-0.379418582,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.018799,"values":{"Elec_RPM":-1.47769729e-19,"EncoderCos":38730,"EncoderSin":12469,"GapTicks":54764,"Mech_RPM":-2.95539451e-20,"cg_du":50.1676559,"cg_dv":50.2143135,"cg_dw":49.7856865,"cg_id_a":0.119658299,"cg_id_raw_a":0.350816429,"cg_iq_a":-0.187994167,"cg_iq_raw_a":0.252778351,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015805,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14316271,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0760048479,"cg_vd_v":0.0760048479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385565549,"cg_vq_v":-0.385565549,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8861694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.026611,"values":{"Elec_RPM":-1.44814329e-19,"EncoderCos":38718,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-2.89628664e-20,"cg_du":50.1698189,"cg_dv":50.2065315,"cg_dw":49.7934685,"cg_id_a":0.520239174,"cg_id_raw_a":-0.0216560755,"cg_iq_a":-0.602184772,"cg_iq_raw_a":0.399280429,"cg_iu_a":0.256240368,"cg_iv_a":0.685299098,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.9836369,"cg_sample_seq":14316317,"cg_sample_valid":1,"cg_theta_rad":5.00571442,"cg_vd_req_v":0.068017751,"cg_vd_v":0.068017751,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377137333,"cg_vq_v":-0.377137333,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.552657723,"dclink_p_w":80.2263107,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.034424,"values":{"Elec_RPM":-1.44814329e-19,"EncoderCos":38703,"EncoderSin":12460,"GapTicks":54761,"Mech_RPM":-2.89628664e-20,"cg_du":50.1674385,"cg_dv":50.2169304,"cg_dw":49.7830696,"cg_id_a":-0.139125004,"cg_id_raw_a":0.280896872,"cg_iq_a":-0.0583346412,"cg_iq_raw_a":-0.516938448,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333380699,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14316366,"cg_sample_valid":1,"cg_theta_rad":5.00678062,"cg_vd_req_v":0.0815863237,"cg_vd_v":0.0815863237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389645696,"cg_vq_v":-0.389645696,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":82.0677719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2560,"hz_tim_isr":4999,"hz_vsense":2560,"pwm_moe":1,"temp_inv1_c":35.7669678,"temp_inv2_c":37.9151611,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.042236,"values":{"Elec_RPM":-1.41918059e-19,"EncoderCos":38683,"EncoderSin":12490,"GapTicks":54759,"Mech_RPM":-2.83836106e-20,"cg_du":50.1711044,"cg_dv":50.2189369,"cg_dw":49.7810631,"cg_id_a":-0.197080731,"cg_id_raw_a":0.0797923952,"cg_iq_a":0.100417376,"cg_iq_raw_a":0.00917415135,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8709087,"cg_sample_seq":14316416,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.0814112797,"cg_vd_v":0.0814112797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39304921,"cg_vq_v":-0.39304921,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":0.447550654,"dclink_p_w":64.7716141,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8684692,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.053955,"values":{"Elec_RPM":-1.41918059e-19,"EncoderCos":38688,"EncoderSin":12469,"GapTicks":54758,"Mech_RPM":-2.83836106e-20,"cg_du":50.1732483,"cg_dv":50.2192307,"cg_dw":49.7807693,"cg_id_a":-0.0989745334,"cg_id_raw_a":-0.55008328,"cg_iq_a":-0.0194985941,"cg_iq_raw_a":-0.603717864,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9509087,"cg_sample_seq":14316466,"cg_sample_valid":1,"cg_theta_rad":5.00835657,"cg_vd_req_v":0.0801483393,"cg_vd_v":0.0801483393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39463827,"cg_vq_v":-0.39463827,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.447550654,"dclink_p_w":64.7716141,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.061768,"values":{"Elec_RPM":-1.39079693e-19,"EncoderCos":38719,"EncoderSin":12499,"GapTicks":54759,"Mech_RPM":-2.78159385e-20,"cg_du":50.1680107,"cg_dv":50.2189941,"cg_dw":49.7810059,"cg_id_a":-0.0780391097,"cg_id_raw_a":0.121631198,"cg_iq_a":-0.190668404,"cg_iq_raw_a":0.449404627,"cg_iu_a":0.111264944,"cg_iv_a":0.612811446,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9472733,"cg_sample_seq":14316516,"cg_sample_valid":1,"cg_theta_rad":5.00537729,"cg_vd_req_v":0.0804340541,"cg_vd_v":0.0804340541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392097294,"cg_vq_v":-0.392097294,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.39499712,"dclink_p_w":57.1658211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.06958,"values":{"Elec_RPM":-1.39079693e-19,"EncoderCos":38738,"EncoderSin":12489,"GapTicks":54755,"Mech_RPM":-2.78159385e-20,"cg_du":50.175705,"cg_dv":50.2224236,"cg_dw":49.7775764,"cg_id_a":0.0207936317,"cg_id_raw_a":-0.247620806,"cg_iq_a":0.293578267,"cg_iq_raw_a":0.59670794,"cg_iu_a":-0.396148682,"cg_iv_a":0.721542954,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9763641,"cg_sample_seq":14316566,"cg_sample_valid":1,"cg_theta_rad":5.00698233,"cg_vd_req_v":0.0762562007,"cg_vd_v":0.0762562007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401356101,"cg_vq_v":-0.401356101,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8749084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.077393,"values":{"Elec_RPM":-1.36298104e-19,"EncoderCos":38697,"EncoderSin":12454,"GapTicks":54766,"Mech_RPM":-2.72596208e-20,"cg_du":50.1652832,"cg_dv":50.2121429,"cg_dw":49.7878571,"cg_id_a":-0.102539241,"cg_id_raw_a":-0.49405241,"cg_iq_a":-0.638322949,"cg_iq_raw_a":-0.743016601,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9654541,"cg_sample_seq":14316616,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.0792531967,"cg_vd_v":0.0792531967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381776065,"cg_vq_v":-0.381776065,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.539972425,"dclink_p_w":78.1473236,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8942261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.085205,"values":{"Elec_RPM":-1.36298104e-19,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-2.72596208e-20,"cg_du":50.1702271,"cg_dv":50.2146721,"cg_dw":49.7853279,"cg_id_a":0.162228867,"cg_id_raw_a":0.666876018,"cg_iq_a":-0.292986691,"cg_iq_raw_a":-0.188811094,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14316666,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.0754705667,"cg_vd_v":0.0754705667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388488799,"cg_vq_v":-0.388488799,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8942261,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.093018,"values":{"Elec_RPM":-1.33572143e-19,"EncoderCos":38717,"EncoderSin":12484,"GapTicks":54760,"Mech_RPM":-2.6714428e-20,"cg_du":50.1736183,"cg_dv":50.2179565,"cg_dw":49.7820435,"cg_id_a":0.0407187007,"cg_id_raw_a":0.222127214,"cg_iq_a":0.0322112292,"cg_iq_raw_a":0.0588753968,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8709087,"cg_sample_seq":14316716,"cg_sample_valid":1,"cg_theta_rad":5.00756264,"cg_vd_req_v":0.0758381262,"cg_vd_v":0.0758381262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39490965,"cg_vq_v":-0.39490965,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.11773181,"dclink_p_w":17.0386963,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.873291,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.10083,"values":{"Elec_RPM":-1.33572143e-19,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54744,"Mech_RPM":-2.6714428e-20,"cg_du":50.1769562,"cg_dv":50.2320099,"cg_dw":49.7679901,"cg_id_a":-0.449421048,"cg_id_raw_a":-0.174473882,"cg_iq_a":0.759638906,"cg_iq_raw_a":-0.817826092,"cg_iu_a":0.256240368,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9872723,"cg_sample_seq":14316766,"cg_sample_valid":1,"cg_theta_rad":5.00809097,"cg_vd_req_v":0.087423116,"cg_vd_v":0.087423116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414529651,"cg_vq_v":-0.414529651,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.873291,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.13208,"values":{"Elec_RPM":-1.30900699e-19,"EncoderCos":38736,"EncoderSin":12511,"GapTicks":54755,"Mech_RPM":-2.61801388e-20,"cg_du":50.1758156,"cg_dv":50.2220192,"cg_dw":49.7779808,"cg_id_a":0.210753381,"cg_id_raw_a":1.23795426,"cg_iq_a":0.137824327,"cg_iq_raw_a":1.82430601,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641557,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.8563633,"cg_sample_seq":14316821,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0753523558,"cg_vd_v":0.0753523558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400943905,"cg_vq_v":-0.400943905,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8619995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.139893,"values":{"Elec_RPM":-1.30900699e-19,"EncoderCos":38738,"EncoderSin":12491,"GapTicks":54751,"Mech_RPM":-2.61801388e-20,"cg_du":50.173172,"cg_dv":50.225544,"cg_dw":49.774456,"cg_id_a":-0.0951663181,"cg_id_raw_a":-0.091698572,"cg_iq_a":0.145153344,"cg_iq_raw_a":0.501915634,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8600006,"cg_sample_seq":14316866,"cg_sample_valid":1,"cg_theta_rad":5.00646019,"cg_vd_req_v":0.0812057853,"cg_vd_v":0.0812057853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404211074,"cg_vq_v":-0.404211074,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8716736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.147705,"values":{"Elec_RPM":-1.28282685e-19,"EncoderCos":38695,"EncoderSin":12525,"GapTicks":54756,"Mech_RPM":-2.56565367e-20,"cg_du":50.1682892,"cg_dv":50.2215843,"cg_dw":49.7784157,"cg_id_a":-0.246940106,"cg_id_raw_a":-0.223050252,"cg_iq_a":-0.396306276,"cg_iq_raw_a":-0.749902844,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885413,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9618187,"cg_sample_seq":14316917,"cg_sample_valid":1,"cg_theta_rad":5.00803375,"cg_vd_req_v":0.0841789246,"cg_vd_v":0.0841789246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395470083,"cg_vq_v":-0.395470083,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8716736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.155518,"values":{"Elec_RPM":-1.28282685e-19,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54743,"Mech_RPM":-2.56565367e-20,"cg_du":50.1787453,"cg_dv":50.2334328,"cg_dw":49.7665672,"cg_id_a":-0.316958666,"cg_id_raw_a":-0.117470205,"cg_iq_a":0.579612911,"cg_iq_raw_a":-0.338440329,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.954546,"cg_sample_seq":14316966,"cg_sample_valid":1,"cg_theta_rad":5.00710535,"cg_vd_req_v":0.0867672339,"cg_vd_v":0.0867672339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417600989,"cg_vq_v":-0.417600989,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.16333,"values":{"Elec_RPM":-1.25717029e-19,"EncoderCos":38709,"EncoderSin":12487,"GapTicks":54751,"Mech_RPM":-2.51434052e-20,"cg_du":50.1855087,"cg_dv":50.2257462,"cg_dw":49.7742538,"cg_id_a":0.37255314,"cg_id_raw_a":0.306577355,"cg_iq_a":0.23740457,"cg_iq_raw_a":-0.3694444,"cg_iu_a":-0.649855375,"cg_iv_a":-0.329528213,"cg_iw_a":0.979383588,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317016,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0745083317,"cg_vd_v":0.0745083317,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410855472,"cg_vq_v":-0.410855472,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8813477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.175049,"values":{"Elec_RPM":-1.25717029e-19,"EncoderCos":38710,"EncoderSin":12428,"GapTicks":54744,"Mech_RPM":-2.51434052e-20,"cg_du":50.1878662,"cg_dv":50.2323685,"cg_dw":49.7676315,"cg_id_a":0.109220788,"cg_id_raw_a":0.839749694,"cg_iq_a":0.495279133,"cg_iq_raw_a":1.61757171,"cg_iu_a":-0.468636513,"cg_iv_a":0.141641617,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8963642,"cg_sample_seq":14317066,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0807187557,"cg_vd_v":0.0807187557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420868009,"cg_vq_v":-0.420868009,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8813477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.182861,"values":{"Elec_RPM":-1.23202684e-19,"EncoderCos":38733,"EncoderSin":12477,"GapTicks":54744,"Mech_RPM":-2.46405375e-20,"cg_du":50.1896172,"cg_dv":50.2319603,"cg_dw":49.7680397,"cg_id_a":0.406927198,"cg_id_raw_a":0.326891631,"cg_iq_a":0.588664472,"cg_iq_raw_a":0.286464989,"cg_iu_a":0.509947062,"cg_iv_a":0.0691539049,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.954546,"cg_sample_seq":14317116,"cg_sample_valid":1,"cg_theta_rad":5.01016808,"cg_vd_req_v":0.0753327459,"cg_vd_v":0.0753327459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.421966195,"cg_vq_v":-0.421966195,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.884552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.190674,"values":{"Elec_RPM":-1.23202684e-19,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54742,"Mech_RPM":-2.46405375e-20,"cg_du":50.195591,"cg_dv":50.2340508,"cg_dw":49.7659492,"cg_id_a":0.399852157,"cg_id_raw_a":0.330181509,"cg_iq_a":0.875445068,"cg_iq_raw_a":-1.27817023,"cg_iu_a":-1.41097593,"cg_iv_a":-0.0395774841,"cg_iw_a":1.45055342,"cg_sample_age_us":23.9836369,"cg_sample_seq":14317166,"cg_sample_valid":1,"cg_theta_rad":5.00815725,"cg_vd_req_v":0.0735947117,"cg_vd_v":0.0735947117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.427996725,"cg_vq_v":-0.427996725,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.8583469,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.884552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.198486,"values":{"Elec_RPM":-1.2073863e-19,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54746,"Mech_RPM":-2.41477269e-20,"cg_du":50.1871796,"cg_dv":50.2300491,"cg_dw":49.7699509,"cg_id_a":0.219238862,"cg_id_raw_a":0.194414362,"cg_iq_a":0.420713365,"cg_iq_raw_a":-0.0897520259,"cg_iu_a":-1.08478141,"cg_iv_a":0.39534843,"cg_iw_a":0.689432979,"cg_sample_age_us":23.954546,"cg_sample_seq":14317216,"cg_sample_valid":1,"cg_theta_rad":5.00657749,"cg_vd_req_v":0.0761302114,"cg_vd_v":0.0761302114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417872787,"cg_vq_v":-0.417872787,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.210205,"values":{"Elec_RPM":-1.2073863e-19,"EncoderCos":38703,"EncoderSin":12470,"GapTicks":54752,"Mech_RPM":-2.41477269e-20,"cg_du":50.1713371,"cg_dv":50.2250595,"cg_dw":49.7749405,"cg_id_a":-0.249578208,"cg_id_raw_a":-0.431989968,"cg_iq_a":-0.168995321,"cg_iq_raw_a":0.284757853,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9436359,"cg_sample_seq":14317266,"cg_sample_valid":1,"cg_theta_rad":5.00763369,"cg_vd_req_v":0.0859668106,"cg_vd_v":0.0859668106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401738018,"cg_vq_v":-0.401738018,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8797302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.237549,"values":{"Elec_RPM":-1.1832387e-19,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54751,"Mech_RPM":-2.3664773e-20,"cg_du":50.1772156,"cg_dv":50.2257767,"cg_dw":49.7742233,"cg_id_a":-0.0145688355,"cg_id_raw_a":0.317859799,"cg_iq_a":-0.0460495315,"cg_iq_raw_a":0.360606462,"cg_iu_a":-0.39614892,"cg_iv_a":0.286616921,"cg_iw_a":0.109531999,"cg_sample_age_us":26.8199997,"cg_sample_seq":14317321,"cg_sample_valid":1,"cg_theta_rad":5.00635529,"cg_vd_req_v":0.0816194639,"cg_vd_v":0.0816194639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406118512,"cg_vq_v":-0.406118512,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8797302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.245361,"values":{"Elec_RPM":-1.1832387e-19,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-2.3664773e-20,"cg_du":50.1798859,"cg_dv":50.2241936,"cg_dw":49.7758064,"cg_id_a":0.223761976,"cg_id_raw_a":0.134390682,"cg_iq_a":-0.0698521137,"cg_iq_raw_a":0.305575728,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079938,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317367,"cg_sample_valid":1,"cg_theta_rad":5.0104661,"cg_vd_req_v":0.077600345,"cg_vd_v":0.077600345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405548722,"cg_vq_v":-0.405548722,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.145035982,"dclink_p_w":-21.0540829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.253174,"values":{"Elec_RPM":-1.13638228e-19,"EncoderCos":38710,"EncoderSin":12486,"GapTicks":54748,"Mech_RPM":-2.27276468e-20,"cg_du":50.1713524,"cg_dv":50.2287788,"cg_dw":49.7712212,"cg_id_a":-0.195751995,"cg_id_raw_a":-0.95954448,"cg_iq_a":0.190846145,"cg_iq_raw_a":0.525003195,"cg_iu_a":-0.287417412,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9836369,"cg_sample_seq":14317517,"cg_sample_valid":1,"cg_theta_rad":5.00759554,"cg_vd_req_v":0.0884942561,"cg_vd_v":0.0884942561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407024682,"cg_vq_v":-0.407024682,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.260986,"values":{"Elec_RPM":-1.13638228e-19,"EncoderCos":38738,"EncoderSin":12466,"GapTicks":54753,"Mech_RPM":-2.27276468e-20,"cg_du":50.1639175,"cg_dv":50.2244835,"cg_dw":49.7755165,"cg_id_a":-0.140238702,"cg_id_raw_a":-0.188557282,"cg_iq_a":-0.256784588,"cg_iq_raw_a":-0.490150064,"cg_iu_a":0.0387773514,"cg_iv_a":1.12022507,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.9581814,"cg_sample_seq":14317566,"cg_sample_valid":1,"cg_theta_rad":5.00811386,"cg_vd_req_v":0.0884267613,"cg_vd_v":0.0884267613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398664713,"cg_vq_v":-0.398664713,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.268799,"values":{"Elec_RPM":-1.11365471e-19,"EncoderCos":38723,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-2.22730933e-20,"cg_du":50.1673584,"cg_dv":50.2204247,"cg_dw":49.7795753,"cg_id_a":0.185858458,"cg_id_raw_a":-0.100705728,"cg_iq_a":-0.371239722,"cg_iq_raw_a":-0.300153047,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9436359,"cg_sample_seq":14317616,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0823564306,"cg_vd_v":0.0823564306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393676013,"cg_vq_v":-0.393676013,"cg_vu_v":22.4345207,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.1533775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.873291,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.276611,"values":{"Elec_RPM":-1.11365471e-19,"EncoderCos":38723,"EncoderSin":12491,"GapTicks":54752,"Mech_RPM":-2.22730933e-20,"cg_du":50.1724739,"cg_dv":50.2251396,"cg_dw":49.7748604,"cg_id_a":0.0871990845,"cg_id_raw_a":0.125113666,"cg_iq_a":0.20069772,"cg_iq_raw_a":0.194814026,"cg_iu_a":-0.758587122,"cg_iv_a":0.177885413,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9181824,"cg_sample_seq":14317666,"cg_sample_valid":1,"cg_theta_rad":5.00712013,"cg_vd_req_v":0.0827448219,"cg_vd_v":0.0827448219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40299049,"cg_vq_v":-0.40299049,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.4456596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8700562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.28833,"values":{"Elec_RPM":-1.09138158e-19,"EncoderCos":38673,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-2.18276307e-20,"cg_du":50.1716118,"cg_dv":50.2176628,"cg_dw":49.7823372,"cg_id_a":0.115501978,"cg_id_raw_a":-0.00120010099,"cg_iq_a":-0.2253782,"cg_iq_raw_a":-0.801309645,"cg_iu_a":0.183752775,"cg_iv_a":0.10539782,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317716,"cg_sample_valid":1,"cg_theta_rad":5.00792742,"cg_vd_req_v":0.0808992833,"cg_vd_v":0.0808992833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391384631,"cg_vq_v":-0.391384631,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8700562,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.296143,"values":{"Elec_RPM":-1.09138158e-19,"EncoderCos":38703,"EncoderSin":12498,"GapTicks":54760,"Mech_RPM":-2.18276307e-20,"cg_du":50.1702042,"cg_dv":50.2173729,"cg_dw":49.7826271,"cg_id_a":0.139696449,"cg_id_raw_a":0.071325317,"cg_iq_a":-0.27677685,"cg_iq_raw_a":-0.538436711,"cg_iu_a":0.364971638,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317766,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0785844326,"cg_vd_v":0.0785844326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3908301,"cg_vq_v":-0.3908301,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8781128,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.323486,"values":{"Elec_RPM":-1.0695539e-19,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54752,"Mech_RPM":-2.1391078e-20,"cg_du":50.1712112,"cg_dv":50.2250824,"cg_dw":49.7749176,"cg_id_a":-0.0924499929,"cg_id_raw_a":-0.0726365671,"cg_iq_a":0.155496165,"cg_iq_raw_a":-0.588818848,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885473,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317821,"cg_sample_valid":1,"cg_theta_rad":5.00615358,"cg_vd_req_v":0.084085077,"cg_vd_v":0.084085077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402123153,"cg_vq_v":-0.402123153,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8813477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.331299,"values":{"Elec_RPM":-1.0695539e-19,"EncoderCos":38719,"EncoderSin":12475,"GapTicks":54754,"Mech_RPM":-2.1391078e-20,"cg_du":50.1706085,"cg_dv":50.2233734,"cg_dw":49.7766266,"cg_id_a":-0.084324941,"cg_id_raw_a":-0.0662372485,"cg_iq_a":0.0378340632,"cg_iq_raw_a":0.212833434,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14317866,"cg_sample_valid":1,"cg_theta_rad":5.00574017,"cg_vd_req_v":0.0835502893,"cg_vd_v":0.0835502893,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400588155,"cg_vq_v":-0.400588155,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8813477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.343018,"values":{"Elec_RPM":-1.04816282e-19,"EncoderCos":38705,"EncoderSin":12474,"GapTicks":54759,"Mech_RPM":-2.0963256e-20,"cg_du":50.1753426,"cg_dv":50.2187195,"cg_dw":49.7812805,"cg_id_a":0.300645649,"cg_id_raw_a":-0.150207832,"cg_iq_a":-0.231348082,"cg_iq_raw_a":0.20421046,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9981823,"cg_sample_seq":14317916,"cg_sample_valid":1,"cg_theta_rad":5.00542688,"cg_vd_req_v":0.0763446391,"cg_vd_v":0.0763446391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395458549,"cg_vq_v":-0.395458549,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8572083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.35083,"values":{"Elec_RPM":-1.04816282e-19,"EncoderCos":38702,"EncoderSin":12499,"GapTicks":54750,"Mech_RPM":-2.0963256e-20,"cg_du":50.1791534,"cg_dv":50.226944,"cg_dw":49.773056,"cg_id_a":0.0675872639,"cg_id_raw_a":0.201958895,"cg_iq_a":0.370620012,"cg_iq_raw_a":-0.161142185,"cg_iu_a":0.364971638,"cg_iv_a":-0.402015924,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9763641,"cg_sample_seq":14317966,"cg_sample_valid":1,"cg_theta_rad":5.00806618,"cg_vd_req_v":0.0809722692,"cg_vd_v":0.0809722692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408844948,"cg_vq_v":-0.408844948,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8572083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.358643,"values":{"Elec_RPM":-1.02719948e-19,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54749,"Mech_RPM":-2.05439902e-20,"cg_du":50.1709099,"cg_dv":50.2274399,"cg_dw":49.7725601,"cg_id_a":-0.298671186,"cg_id_raw_a":-0.264072925,"cg_iq_a":0.164118782,"cg_iq_raw_a":0.739961982,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.954546,"cg_sample_seq":14318016,"cg_sample_valid":1,"cg_theta_rad":5.00800323,"cg_vd_req_v":0.0865836665,"cg_vd_v":0.0865836665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405164838,"cg_vq_v":-0.405164838,"cg_vu_v":0,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.850769,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.366455,"values":{"Elec_RPM":-1.02719948e-19,"EncoderCos":38689,"EncoderSin":12487,"GapTicks":54747,"Mech_RPM":-2.05439902e-20,"cg_du":50.185215,"cg_dv":50.2294235,"cg_dw":49.7705765,"cg_id_a":-0.0149440914,"cg_id_raw_a":-0.204111159,"cg_iq_a":0.517529488,"cg_iq_raw_a":-0.0932417735,"cg_iu_a":-0.758587122,"cg_iv_a":-0.365772128,"cg_iw_a":1.12435925,"cg_sample_age_us":23.8563633,"cg_sample_seq":14318066,"cg_sample_valid":1,"cg_theta_rad":5.00587893,"cg_vd_req_v":0.0802158117,"cg_vd_v":0.0802158117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415325493,"cg_vq_v":-0.415325493,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8668518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.374268,"values":{"Elec_RPM":-1.00665554e-19,"EncoderCos":38717,"EncoderSin":12469,"GapTicks":54754,"Mech_RPM":-2.01331108e-20,"cg_du":50.180275,"cg_dv":50.2233429,"cg_dw":49.7766571,"cg_id_a":0.218929499,"cg_id_raw_a":-0.273669064,"cg_iq_a":0.15879637,"cg_iq_raw_a":-0.244677603,"cg_iu_a":0.219996452,"cg_iv_a":0.830274463,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9509087,"cg_sample_seq":14318116,"cg_sample_valid":1,"cg_theta_rad":5.00724506,"cg_vd_req_v":0.0762677491,"cg_vd_v":0.0762677491,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405925691,"cg_vq_v":-0.405925691,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.4234352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8668518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.385986,"values":{"Elec_RPM":-1.00665554e-19,"EncoderCos":38717,"EncoderSin":12496,"GapTicks":54755,"Mech_RPM":-2.01331108e-20,"cg_du":50.1807976,"cg_dv":50.2224617,"cg_dw":49.7775383,"cg_id_a":0.32264939,"cg_id_raw_a":0.287961096,"cg_iq_a":0.102978356,"cg_iq_raw_a":0.465590149,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9363632,"cg_sample_seq":14318166,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0742416009,"cg_vd_v":0.0742416009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405157626,"cg_vq_v":-0.405157626,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.1533775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.393799,"values":{"Elec_RPM":-9.86522417e-20,"EncoderCos":38696,"EncoderSin":12507,"GapTicks":54744,"Mech_RPM":-1.97304483e-20,"cg_du":50.1909599,"cg_dv":50.2323494,"cg_dw":49.7676506,"cg_id_a":0.12254107,"cg_id_raw_a":0.160450324,"cg_iq_a":0.794748068,"cg_iq_raw_a":-0.165171057,"cg_iu_a":0.401215553,"cg_iv_a":-0.148308992,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.954546,"cg_sample_seq":14318217,"cg_sample_valid":1,"cg_theta_rad":5.00788546,"cg_vd_req_v":0.0773413554,"cg_vd_v":0.0773413554,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.422769338,"cg_vq_v":-0.422769338,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.1533775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8668518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.401611,"values":{"Elec_RPM":-9.86522417e-20,"EncoderCos":38694,"EncoderSin":12491,"GapTicks":54755,"Mech_RPM":-1.97304483e-20,"cg_du":50.1777534,"cg_dv":50.2224274,"cg_dw":49.7775726,"cg_id_a":0.0345605239,"cg_id_raw_a":0.0358062275,"cg_iq_a":-0.114356175,"cg_iq_raw_a":-0.177697897,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.0716875196,"cg_sample_age_us":23.9436359,"cg_sample_seq":14318267,"cg_sample_valid":1,"cg_theta_rad":5.0066123,"cg_vd_req_v":0.0786183551,"cg_vd_v":0.0786183551,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401743114,"cg_vq_v":-0.401743114,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.1533775,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8668518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.428955,"values":{"Elec_RPM":-9.47456163e-20,"EncoderCos":38726,"EncoderSin":12501,"GapTicks":54764,"Mech_RPM":-1.89491229e-20,"cg_du":50.1619263,"cg_dv":50.2144089,"cg_dw":49.7855911,"cg_id_a":-0.0503356606,"cg_id_raw_a":-0.389074147,"cg_iq_a":-0.43134433,"cg_iq_raw_a":-0.14507699,"cg_iu_a":1.12609243,"cg_iv_a":0.359104574,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.8600006,"cg_sample_seq":14318416,"cg_sample_valid":1,"cg_theta_rad":5.00657272,"cg_vd_req_v":0.0803466886,"cg_vd_v":0.0803466886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383752137,"cg_vq_v":-0.383752137,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.3641853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8619995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.436768,"values":{"Elec_RPM":-9.47456163e-20,"EncoderCos":38704,"EncoderSin":12491,"GapTicks":54761,"Mech_RPM":-1.89491229e-20,"cg_du":50.1632919,"cg_dv":50.2166672,"cg_dw":49.7833328,"cg_id_a":-0.294197261,"cg_id_raw_a":-0.517591834,"cg_iq_a":-0.245700046,"cg_iq_raw_a":0.094748579,"cg_iu_a":0.256240368,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14318466,"cg_sample_valid":1,"cg_theta_rad":5.00661659,"cg_vd_req_v":0.083411485,"cg_vd_v":0.083411485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385958672,"cg_vq_v":-0.385958672,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8684692,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.44458,"values":{"Elec_RPM":-9.28507006e-20,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-1.85701401e-20,"cg_du":50.1618233,"cg_dv":50.2152977,"cg_dw":49.7847023,"cg_id_a":-0.305781007,"cg_id_raw_a":-0.194440037,"cg_iq_a":-0.339649379,"cg_iq_raw_a":0.0178981051,"cg_iu_a":1.34355533,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14318516,"cg_sample_valid":1,"cg_theta_rad":5.00554132,"cg_vd_req_v":0.0830091834,"cg_vd_v":0.0830091834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383325219,"cg_vq_v":-0.383325219,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8684692,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.456299,"values":{"Elec_RPM":-9.28507006e-20,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54764,"Mech_RPM":-1.85701401e-20,"cg_du":50.1723671,"cg_dv":50.2144203,"cg_dw":49.7855797,"cg_id_a":0.216360211,"cg_id_raw_a":-0.0514884889,"cg_iq_a":-0.151064083,"cg_iq_raw_a":-0.368395656,"cg_iu_a":-0.432392597,"cg_iv_a":0.612811446,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8527279,"cg_sample_seq":14318566,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.073978141,"cg_vd_v":0.073978141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388013244,"cg_vq_v":-0.390539616,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8491211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.464111,"values":{"Elec_RPM":-9.09936866e-20,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54762,"Mech_RPM":-1.81987376e-20,"cg_du":50.1639977,"cg_dv":50.2154808,"cg_dw":49.7845192,"cg_id_a":-0.133444458,"cg_id_raw_a":-0.529880106,"cg_iq_a":-0.221848547,"cg_iq_raw_a":-1.07043302,"cg_iu_a":-0.251173258,"cg_iv_a":-0.0758213401,"cg_iw_a":0.326994598,"cg_sample_age_us":23.9436359,"cg_sample_seq":14318617,"cg_sample_valid":1,"cg_theta_rad":5.00672913,"cg_vd_req_v":0.0809613541,"cg_vd_v":0.0809613541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386128962,"cg_vq_v":-0.386128962,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.471924,"values":{"Elec_RPM":-9.09936866e-20,"EncoderCos":38715,"EncoderSin":12497,"GapTicks":54764,"Mech_RPM":-1.81987376e-20,"cg_du":50.1612434,"cg_dv":50.2138176,"cg_dw":49.7861824,"cg_id_a":-0.240026042,"cg_id_raw_a":0.132196471,"cg_iq_a":-0.323197663,"cg_iq_raw_a":-0.314093769,"cg_iu_a":0.799897671,"cg_iv_a":-0.365772128,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9181824,"cg_sample_seq":14318666,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.0813753381,"cg_vd_v":0.0813753381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382340699,"cg_vq_v":-0.382340699,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.7611771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.483643,"values":{"Elec_RPM":-8.91738182e-20,"EncoderCos":38715,"EncoderSin":12487,"GapTicks":54762,"Mech_RPM":-1.78347636e-20,"cg_du":50.1768723,"cg_dv":50.2160301,"cg_dw":49.7839699,"cg_id_a":0.0636531264,"cg_id_raw_a":0.249005288,"cg_iq_a":0.0167327523,"cg_iq_raw_a":0.644223869,"cg_iu_a":0.0387773514,"cg_iv_a":0.21412921,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8527279,"cg_sample_seq":14318717,"cg_sample_valid":1,"cg_theta_rad":5.00706196,"cg_vd_req_v":0.0729566962,"cg_vd_v":0.0729566962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392594993,"cg_vq_v":-0.392594993,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.48741889,"dclink_p_w":70.7559433,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.841095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.491455,"values":{"Elec_RPM":-8.91738182e-20,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-1.78347636e-20,"cg_du":50.1624374,"cg_dv":50.214653,"cg_dw":49.785347,"cg_id_a":-0.23564738,"cg_id_raw_a":0.194742218,"cg_iq_a":-0.250780225,"cg_iq_raw_a":-0.0890382901,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9509087,"cg_sample_seq":14318766,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.0820346102,"cg_vd_v":0.0820346102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382767946,"cg_vq_v":-0.382767946,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.841095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.518799,"values":{"Elec_RPM":-8.73903392e-20,"EncoderCos":38727,"EncoderSin":12492,"GapTicks":54757,"Mech_RPM":-1.74780678e-20,"cg_du":50.1641922,"cg_dv":50.22015,"cg_dw":49.77985,"cg_id_a":-0.385150641,"cg_id_raw_a":-0.148930103,"cg_iq_a":0.147385985,"cg_iq_raw_a":0.205144182,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8527279,"cg_sample_seq":14318821,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0840298086,"cg_vd_v":0.0840298086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391645849,"cg_vq_v":-0.391645849,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.850769,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.526611,"values":{"Elec_RPM":-8.73903392e-20,"EncoderCos":38722,"EncoderSin":12465,"GapTicks":54762,"Mech_RPM":-1.74780678e-20,"cg_du":50.1686172,"cg_dv":50.2155838,"cg_dw":49.7844162,"cg_id_a":-0.00358260423,"cg_id_raw_a":0.316302955,"cg_iq_a":-0.154895931,"cg_iq_raw_a":-0.259634346,"cg_iu_a":0.401215553,"cg_iv_a":-0.148309112,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9254551,"cg_sample_seq":14318867,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.0772924423,"cg_vd_v":0.0772924423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38767004,"cg_vq_v":-0.38767004,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8587952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.534424,"values":{"Elec_RPM":-8.56425325e-20,"EncoderCos":38760,"EncoderSin":12493,"GapTicks":54757,"Mech_RPM":-1.71285065e-20,"cg_du":50.1687317,"cg_dv":50.2204857,"cg_dw":49.7795143,"cg_id_a":0.00294316188,"cg_id_raw_a":0.0108308718,"cg_iq_a":0.337815732,"cg_iq_raw_a":0.802121997,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.293284297,"cg_iw_a":0.326994538,"cg_sample_age_us":23.8563633,"cg_sample_seq":14318916,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0780297592,"cg_vd_v":0.0780297592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396440744,"cg_vq_v":-0.396440744,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8587952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.542236,"values":{"Elec_RPM":-8.56425325e-20,"EncoderCos":38715,"EncoderSin":12477,"GapTicks":54759,"Mech_RPM":-1.71285065e-20,"cg_du":50.1706238,"cg_dv":50.2186699,"cg_dw":49.7813301,"cg_id_a":-0.0237308741,"cg_id_raw_a":-0.327428818,"cg_iq_a":0.262618005,"cg_iq_raw_a":0.514858663,"cg_iu_a":-0.359904766,"cg_iv_a":0.57656765,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9836369,"cg_sample_seq":14318966,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0790171921,"cg_vd_v":0.0790171921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392931342,"cg_vq_v":-0.392931342,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.1880226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.550049,"values":{"Elec_RPM":-8.39296805e-20,"EncoderCos":38702,"EncoderSin":12436,"GapTicks":54770,"Mech_RPM":-1.67859358e-20,"cg_du":50.1720963,"cg_dv":50.2086792,"cg_dw":49.7913208,"cg_id_a":0.379586577,"cg_id_raw_a":0.268849343,"cg_iq_a":-0.390867621,"cg_iq_raw_a":-0.18980673,"cg_iu_a":0.509947062,"cg_iv_a":0.540323734,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9436359,"cg_sample_seq":14319016,"cg_sample_valid":1,"cg_theta_rad":5.00806284,"cg_vd_req_v":0.0703311861,"cg_vd_v":0.0703311861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379788607,"cg_vq_v":-0.379788607,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.1880226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.561768,"values":{"Elec_RPM":-8.39296805e-20,"EncoderCos":38726,"EncoderSin":12477,"GapTicks":54760,"Mech_RPM":-1.67859358e-20,"cg_du":50.1639404,"cg_dv":50.2178154,"cg_dw":49.7821846,"cg_id_a":-0.132506728,"cg_id_raw_a":0.0867916346,"cg_iq_a":0.0886100531,"cg_iq_raw_a":-0.0636917949,"cg_iu_a":0.61867857,"cg_iv_a":-0.873185754,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9690914,"cg_sample_seq":14319066,"cg_sample_valid":1,"cg_theta_rad":5.00782585,"cg_vd_req_v":0.0824574009,"cg_vd_v":0.0824574009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388222337,"cg_vq_v":-0.388222337,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.1880226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.56958,"values":{"Elec_RPM":-8.22510855e-20,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-1.64502168e-20,"cg_du":50.1603851,"cg_dv":50.2123756,"cg_dw":49.7876244,"cg_id_a":-0.018569313,"cg_id_raw_a":0.0589535721,"cg_iq_a":-0.492780268,"cg_iq_raw_a":-0.648925066,"cg_iu_a":0.292484164,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9218178,"cg_sample_seq":14319116,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0800443292,"cg_vd_v":0.0800443292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378812432,"cg_vq_v":-0.378812432,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.1880226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.577393,"values":{"Elec_RPM":-8.22510855e-20,"EncoderCos":38707,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-1.64502168e-20,"cg_du":50.1700821,"cg_dv":50.2153587,"cg_dw":49.7846413,"cg_id_a":0.12650916,"cg_id_raw_a":0.414558291,"cg_iq_a":0.131893188,"cg_iq_raw_a":-0.394888282,"cg_iu_a":-0.251173258,"cg_iv_a":0.431592286,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9509087,"cg_sample_seq":14319166,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0767652094,"cg_vd_v":0.0767652094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388021231,"cg_vq_v":-0.388021231,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.465672493,"dclink_p_w":67.3942947,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.585205,"values":{"Elec_RPM":-8.06060624e-20,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-1.61212121e-20,"cg_du":50.1667633,"cg_dv":50.2137527,"cg_dw":49.7862473,"cg_id_a":0.112299316,"cg_id_raw_a":0.0905873403,"cg_iq_a":-0.189639509,"cg_iq_raw_a":-0.937177479,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14319216,"cg_sample_valid":1,"cg_theta_rad":5.00889254,"cg_vd_req_v":0.0779644474,"cg_vd_v":0.0779644474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383938283,"cg_vq_v":-0.383938283,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.456611514,"dclink_p_w":66.0829468,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8765259,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.596924,"values":{"Elec_RPM":-8.06060624e-20,"EncoderCos":38694,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-1.61212121e-20,"cg_du":50.172924,"cg_dv":50.21735,"cg_dw":49.78265,"cg_id_a":0.0777974501,"cg_id_raw_a":-0.304369718,"cg_iq_a":0.196724772,"cg_iq_raw_a":-0.140240312,"cg_iu_a":-0.50488019,"cg_iv_a":0.286616921,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14319266,"cg_sample_valid":1,"cg_theta_rad":5.00577736,"cg_vd_req_v":0.0781794488,"cg_vd_v":0.0781794488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391985893,"cg_vq_v":-0.391985893,"cg_vu_v":26.8334465,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.394997001,"dclink_p_w":57.1658058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.624268,"values":{"Elec_RPM":-7.8993939e-20,"EncoderCos":38740,"EncoderSin":12489,"GapTicks":54762,"Mech_RPM":-1.57987878e-20,"cg_du":50.1581955,"cg_dv":50.2159805,"cg_dw":49.7840195,"cg_id_a":-0.155103683,"cg_id_raw_a":-0.385155141,"cg_iq_a":-0.0686283782,"cg_iq_raw_a":0.0382144339,"cg_iu_a":-0.541124105,"cg_iv_a":0.830274463,"cg_iw_a":-0.289150357,"cg_sample_age_us":26.823637,"cg_sample_seq":14319319,"cg_sample_valid":1,"cg_theta_rad":5.00697517,"cg_vd_req_v":0.0839111358,"cg_vd_v":0.0839111358,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384011954,"cg_vq_v":-0.384011954,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.262706995,"dclink_p_w":38.1357422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.63208,"values":{"Elec_RPM":-7.8993939e-20,"EncoderCos":38729,"EncoderSin":12491,"GapTicks":54762,"Mech_RPM":-1.57987878e-20,"cg_du":50.15802,"cg_dv":50.2160416,"cg_dw":49.7839584,"cg_id_a":-0.181621939,"cg_id_raw_a":-0.868214011,"cg_iq_a":0.0658379048,"cg_iq_raw_a":1.59357953,"cg_iu_a":0.654922485,"cg_iv_a":0.250373125,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9436359,"cg_sample_seq":14319366,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.085016638,"cg_vd_v":0.085016638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383792162,"cg_vq_v":-0.383792162,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8427124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.639893,"values":{"Elec_RPM":-7.74140564e-20,"EncoderCos":38716,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-1.54828113e-20,"cg_du":50.1581802,"cg_dv":50.2149048,"cg_dw":49.7850952,"cg_id_a":-0.191928834,"cg_id_raw_a":0.58539933,"cg_iq_a":-0.199715942,"cg_iq_raw_a":-0.632896781,"cg_iu_a":0.908629298,"cg_iv_a":0.0691539049,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9872723,"cg_sample_seq":14319416,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0855731219,"cg_vd_v":0.0855731219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380717069,"cg_vq_v":-0.380717069,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8475342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.651611,"values":{"Elec_RPM":-7.74140564e-20,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-1.54828113e-20,"cg_du":50.1640205,"cg_dv":50.2097321,"cg_dw":49.7902679,"cg_id_a":0.346842289,"cg_id_raw_a":0.45122394,"cg_iq_a":-0.237491176,"cg_iq_raw_a":-0.138144016,"cg_iu_a":-0.0699543953,"cg_iv_a":0.250373065,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.9509087,"cg_sample_seq":14319466,"cg_sample_valid":1,"cg_theta_rad":5.00592327,"cg_vd_req_v":0.0744032189,"cg_vd_v":0.0744032189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377292633,"cg_vq_v":-0.377292633,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8475342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.659424,"values":{"Elec_RPM":-7.58657746e-20,"EncoderCos":38715,"EncoderSin":12484,"GapTicks":54760,"Mech_RPM":-1.51731549e-20,"cg_du":50.172493,"cg_dv":50.2180214,"cg_dw":49.7819786,"cg_id_a":0.271386772,"cg_id_raw_a":0.841474652,"cg_iq_a":0.473130137,"cg_iq_raw_a":1.24857795,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14319516,"cg_sample_valid":1,"cg_theta_rad":5.00817156,"cg_vd_req_v":0.0767313614,"cg_vd_v":0.0767313614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393139064,"cg_vq_v":-0.393139064,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.667236,"values":{"Elec_RPM":-7.58657746e-20,"EncoderCos":38725,"EncoderSin":12470,"GapTicks":54757,"Mech_RPM":-1.51731549e-20,"cg_du":50.1815338,"cg_dv":50.2207069,"cg_dw":49.7792931,"cg_id_a":0.536613107,"cg_id_raw_a":0.312637031,"cg_iq_a":0.742741585,"cg_iq_raw_a":-0.442350984,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552848,"cg_iw_a":0.326994598,"cg_sample_age_us":23.9218178,"cg_sample_seq":14319566,"cg_sample_valid":1,"cg_theta_rad":5.00791979,"cg_vd_req_v":0.0717249587,"cg_vd_v":0.0717249587,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401959002,"cg_vq_v":-0.401959002,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.675049,"values":{"Elec_RPM":-7.43484539e-20,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54745,"Mech_RPM":-1.48696911e-20,"cg_du":50.1758423,"cg_dv":50.2317123,"cg_dw":49.7682877,"cg_id_a":-0.20379898,"cg_id_raw_a":-0.194443509,"cg_iq_a":1.35578108,"cg_iq_raw_a":0.0178598296,"cg_iu_a":-0.758587122,"cg_iv_a":-1.23562407,"cg_iw_a":1.9942112,"cg_sample_age_us":23.9327278,"cg_sample_seq":14319616,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0880989432,"cg_vd_v":0.0880989432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413479954,"cg_vq_v":-0.413479954,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.682861,"values":{"Elec_RPM":-7.43484539e-20,"EncoderCos":38720,"EncoderSin":12514,"GapTicks":54752,"Mech_RPM":-1.48696911e-20,"cg_du":50.1670914,"cg_dv":50.2253799,"cg_dw":49.7746201,"cg_id_a":-0.0640463158,"cg_id_raw_a":-0.39453131,"cg_iq_a":0.741077483,"cg_iq_raw_a":0.800775826,"cg_iu_a":-0.541124105,"cg_iv_a":-0.438259721,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8600006,"cg_sample_seq":14319666,"cg_sample_valid":1,"cg_theta_rad":5.0076623,"cg_vd_req_v":0.086843811,"cg_vd_v":0.086843811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400385231,"cg_vq_v":-0.400385231,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8604126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.690674,"values":{"Elec_RPM":-7.28614869e-20,"EncoderCos":38715,"EncoderSin":12495,"GapTicks":54760,"Mech_RPM":-1.45722971e-20,"cg_du":50.1590881,"cg_dv":50.2175179,"cg_dw":49.7824821,"cg_id_a":-0.0300388113,"cg_id_raw_a":-0.0966517776,"cg_iq_a":-0.102475271,"cg_iq_raw_a":-0.554807961,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333380699,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8527279,"cg_sample_seq":14319716,"cg_sample_valid":1,"cg_theta_rad":5.00717211,"cg_vd_req_v":0.0864664763,"cg_vd_v":0.0864664763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384987772,"cg_vq_v":-0.384987772,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7420959,"temp_inv2_c":37.8604126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.698486,"values":{"Elec_RPM":-7.28614869e-20,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-1.45722971e-20,"cg_du":50.1575851,"cg_dv":50.2148743,"cg_dw":49.7851257,"cg_id_a":0.0559750274,"cg_id_raw_a":0.0393724665,"cg_iq_a":-0.176695019,"cg_iq_raw_a":0.441313356,"cg_iu_a":-0.359905005,"cg_iv_a":0.504079938,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.954546,"cg_sample_seq":14319767,"cg_sample_valid":1,"cg_theta_rad":5.00717354,"cg_vd_req_v":0.0837137178,"cg_vd_v":0.0837137178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380855888,"cg_vq_v":-0.380855888,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8604126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.72583,"values":{"Elec_RPM":-7.14042597e-20,"EncoderCos":38724,"EncoderSin":12478,"GapTicks":54760,"Mech_RPM":-1.42808516e-20,"cg_du":50.1604195,"cg_dv":50.2176857,"cg_dw":49.7823143,"cg_id_a":0.0139322877,"cg_id_raw_a":0.21877107,"cg_iq_a":-0.052300103,"cg_iq_raw_a":-0.560712516,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641557,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9581814,"cg_sample_seq":14319820,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0852460861,"cg_vd_v":0.0852460861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386039644,"cg_vq_v":-0.386039644,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.737549,"values":{"Elec_RPM":-7.14042597e-20,"EncoderCos":38719,"EncoderSin":12451,"GapTicks":54755,"Mech_RPM":-1.42808516e-20,"cg_du":50.1678543,"cg_dv":50.2218552,"cg_dw":49.7781448,"cg_id_a":0.0427178405,"cg_id_raw_a":0.312476158,"cg_iq_a":0.323729485,"cg_iq_raw_a":-0.00458248612,"cg_iu_a":-0.287417173,"cg_iv_a":-0.00333368778,"cg_iw_a":0.508214235,"cg_sample_age_us":23.9509087,"cg_sample_seq":14319866,"cg_sample_valid":1,"cg_theta_rad":5.00638819,"cg_vd_req_v":0.0848955661,"cg_vd_v":0.0848955661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396832377,"cg_vq_v":-0.396832377,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.745361,"values":{"Elec_RPM":-6.99761776e-20,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54757,"Mech_RPM":-1.39952352e-20,"cg_du":50.1580238,"cg_dv":50.2201385,"cg_dw":49.7798615,"cg_id_a":-0.226452708,"cg_id_raw_a":-0.263765186,"cg_iq_a":-0.030810222,"cg_iq_raw_a":-1.19086015,"cg_iu_a":-0.0337104797,"cg_iv_a":0.359104574,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9581814,"cg_sample_seq":14319916,"cg_sample_valid":1,"cg_theta_rad":5.00678921,"cg_vd_req_v":0.0909021497,"cg_vd_v":0.0909021497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388954163,"cg_vq_v":-0.388954163,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.829834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.753174,"values":{"Elec_RPM":-6.99761776e-20,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54755,"Mech_RPM":-1.39952352e-20,"cg_du":50.1505318,"cg_dv":50.2219505,"cg_dw":49.7780495,"cg_id_a":-0.500620008,"cg_id_raw_a":0.000265802693,"cg_iq_a":-0.0209355801,"cg_iq_raw_a":-0.254072487,"cg_iu_a":0.292484045,"cg_iv_a":-0.655722797,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9254551,"cg_sample_seq":14319966,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.097789675,"cg_vd_v":0.097789675,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387390703,"cg_vq_v":-0.387390703,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.829834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.764893,"values":{"Elec_RPM":-6.85766461e-20,"EncoderCos":38714,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-1.37153299e-20,"cg_du":50.1455765,"cg_dv":50.2125969,"cg_dw":49.7874031,"cg_id_a":-0.216547891,"cg_id_raw_a":-0.153768107,"cg_iq_a":-0.804117262,"cg_iq_raw_a":-1.0341047,"cg_iu_a":0.582434654,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.8454552,"cg_sample_seq":14320016,"cg_sample_valid":1,"cg_theta_rad":5.00689268,"cg_vd_req_v":0.0930906087,"cg_vd_v":0.0930906087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371714413,"cg_vq_v":-0.371714413,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.852356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.772705,"values":{"Elec_RPM":-6.85766461e-20,"EncoderCos":38691,"EncoderSin":12459,"GapTicks":54753,"Mech_RPM":-1.37153299e-20,"cg_du":50.1682205,"cg_dv":50.2237701,"cg_dw":49.7762299,"cg_id_a":0.0455698408,"cg_id_raw_a":0.130845979,"cg_iq_a":0.369488716,"cg_iq_raw_a":0.123900585,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9581814,"cg_sample_seq":14320067,"cg_sample_valid":1,"cg_theta_rad":5.0077486,"cg_vd_req_v":0.0885313749,"cg_vd_v":0.0885313749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397924453,"cg_vq_v":-0.397924453,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.780518,"values":{"Elec_RPM":-6.7205116e-20,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54752,"Mech_RPM":-1.34410234e-20,"cg_du":50.1584625,"cg_dv":50.2246323,"cg_dw":49.7753677,"cg_id_a":-0.200418204,"cg_id_raw_a":0.18398194,"cg_iq_a":0.245294303,"cg_iq_raw_a":0.673922002,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8563633,"cg_sample_seq":14320117,"cg_sample_valid":1,"cg_theta_rad":5.00721884,"cg_vd_req_v":0.0935172588,"cg_vd_v":0.0935172588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394397587,"cg_vq_v":-0.394397587,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.78833,"values":{"Elec_RPM":-6.7205116e-20,"EncoderCos":38704,"EncoderSin":12477,"GapTicks":54758,"Mech_RPM":-1.34410234e-20,"cg_du":50.1580963,"cg_dv":50.2195129,"cg_dw":49.7804871,"cg_id_a":-0.055449605,"cg_id_raw_a":0.0745953992,"cg_iq_a":-0.140748441,"cg_iq_raw_a":-0.355945408,"cg_iu_a":0.509947062,"cg_iv_a":0.540323734,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9872723,"cg_sample_seq":14320167,"cg_sample_valid":1,"cg_theta_rad":5.00793743,"cg_vd_req_v":0.0906310752,"cg_vd_v":0.0906310752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386811465,"cg_vq_v":-0.386811465,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-66.0383835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.850769,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.796143,"values":{"Elec_RPM":-6.58610122e-20,"EncoderCos":38716,"EncoderSin":12502,"GapTicks":54760,"Mech_RPM":-1.31722026e-20,"cg_du":50.1579475,"cg_dv":50.2175446,"cg_dw":49.7824554,"cg_id_a":0.103317581,"cg_id_raw_a":0.104280107,"cg_iq_a":-0.290172875,"cg_iq_raw_a":-0.46249336,"cg_iu_a":-0.214929581,"cg_iv_a":0.504079938,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9290905,"cg_sample_seq":14320217,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0871167853,"cg_vd_v":0.0871167853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384447455,"cg_vq_v":-0.384447455,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8427124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.803955,"values":{"Elec_RPM":-6.58610122e-20,"EncoderCos":38771,"EncoderSin":12492,"GapTicks":54744,"Mech_RPM":-1.31722026e-20,"cg_du":50.1693039,"cg_dv":50.2321358,"cg_dw":49.7678642,"cg_id_a":0.0348316133,"cg_id_raw_a":0.716129541,"cg_iq_a":1.00254023,"cg_iq_raw_a":0.679700315,"cg_iu_a":-0.831074715,"cg_iv_a":-0.220796704,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9509087,"cg_sample_seq":14320267,"cg_sample_valid":1,"cg_theta_rad":5.00625181,"cg_vd_req_v":0.0875016972,"cg_vd_v":0.0875016972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411725372,"cg_vq_v":-0.411725372,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8427124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.835205,"values":{"Elec_RPM":-6.45437917e-20,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54760,"Mech_RPM":-1.29087585e-20,"cg_du":50.1590347,"cg_dv":50.2177505,"cg_dw":49.7822495,"cg_id_a":0.0208748356,"cg_id_raw_a":0.314792663,"cg_iq_a":-0.452781409,"cg_iq_raw_a":-1.3157897,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8563633,"cg_sample_seq":14320320,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0870519131,"cg_vd_v":0.0870519131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385207355,"cg_vq_v":-0.385207355,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.841095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.843018,"values":{"Elec_RPM":-6.45437917e-20,"EncoderCos":38716,"EncoderSin":12505,"GapTicks":54753,"Mech_RPM":-1.29087585e-20,"cg_du":50.156395,"cg_dv":50.2243309,"cg_dw":49.7756691,"cg_id_a":-0.516159654,"cg_id_raw_a":0.00696206931,"cg_iq_a":-0.0788034648,"cg_iq_raw_a":0.110708185,"cg_iu_a":0.908629179,"cg_iv_a":-0.873185754,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9400005,"cg_sample_seq":14320366,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0948415399,"cg_vd_v":0.0948415399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392828226,"cg_vq_v":-0.392828226,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.841095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.85083,"values":{"Elec_RPM":-6.32529182e-20,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54755,"Mech_RPM":-1.26505836e-20,"cg_du":50.1691055,"cg_dv":50.2221413,"cg_dw":49.7778587,"cg_id_a":0.0502683781,"cg_id_raw_a":0.284866035,"cg_iq_a":0.0508843362,"cg_iq_raw_a":0.282898068,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148308992,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8490906,"cg_sample_seq":14320416,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0824720412,"cg_vd_v":0.0824720412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397027016,"cg_vq_v":-0.397027016,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.7172241,"temp_inv2_c":37.8572083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.858643,"values":{"Elec_RPM":-6.32529182e-20,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-1.26505836e-20,"cg_du":50.180233,"cg_dv":50.2173729,"cg_dw":49.7826271,"cg_id_a":0.563808441,"cg_id_raw_a":0.242889583,"cg_iq_a":0.0646089092,"cg_iq_raw_a":0.279190779,"cg_iu_a":-0.0337102413,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9436359,"cg_sample_seq":14320467,"cg_sample_valid":1,"cg_theta_rad":5.00736475,"cg_vd_req_v":0.0695513189,"cg_vd_v":0.0695513189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396687508,"cg_vq_v":-0.396687508,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.866455,"values":{"Elec_RPM":-6.19878617e-20,"EncoderCos":38740,"EncoderSin":12493,"GapTicks":54762,"Mech_RPM":-1.23975722e-20,"cg_du":50.1750679,"cg_dv":50.2160797,"cg_dw":49.7839203,"cg_id_a":0.474498272,"cg_id_raw_a":0.786686659,"cg_iq_a":-0.280867547,"cg_iq_raw_a":-1.05540812,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14320516,"cg_sample_valid":1,"cg_theta_rad":5.00828218,"cg_vd_req_v":0.0703479648,"cg_vd_v":0.0703479648,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392395347,"cg_vq_v":-0.392395347,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.6218719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.874268,"values":{"Elec_RPM":-6.19878617e-20,"EncoderCos":38690,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-1.23975722e-20,"cg_du":50.1705513,"cg_dv":50.2210541,"cg_dw":49.7789459,"cg_id_a":-0.243330598,"cg_id_raw_a":0.528606296,"cg_iq_a":0.0329210311,"cg_iq_raw_a":-1.47468209,"cg_iu_a":0.727410078,"cg_iv_a":-0.148309112,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14320567,"cg_sample_valid":1,"cg_theta_rad":5.00791407,"cg_vd_req_v":0.0838196501,"cg_vd_v":0.0838196501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396878719,"cg_vq_v":-0.396878719,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.6218719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.885986,"values":{"Elec_RPM":-6.07481054e-20,"EncoderCos":38704,"EncoderSin":12504,"GapTicks":54762,"Mech_RPM":-1.21496208e-20,"cg_du":50.16436,"cg_dv":50.2157135,"cg_dw":49.7842865,"cg_id_a":-0.127187893,"cg_id_raw_a":-0.1872866,"cg_iq_a":-0.685168147,"cg_iq_raw_a":-0.0541756414,"cg_iu_a":0.509947062,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9509087,"cg_sample_seq":14320617,"cg_sample_valid":1,"cg_theta_rad":5.00809336,"cg_vd_req_v":0.0813040063,"cg_vd_v":0.0813040063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385342151,"cg_vq_v":-0.385342151,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.6218719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.893799,"values":{"Elec_RPM":-6.07481054e-20,"EncoderCos":38685,"EncoderSin":12463,"GapTicks":54751,"Mech_RPM":-1.21496208e-20,"cg_du":50.185257,"cg_dv":50.2262268,"cg_dw":49.7737732,"cg_id_a":-0.025437519,"cg_id_raw_a":0.313099682,"cg_iq_a":0.527200818,"cg_iq_raw_a":0.981736362,"cg_iu_a":-0.396148682,"cg_iv_a":0.177885413,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14320667,"cg_sample_valid":1,"cg_theta_rad":5.00703144,"cg_vd_req_v":0.078099139,"cg_vd_v":0.078099139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410824686,"cg_vq_v":-0.410824686,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.6218719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8378601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.901611,"values":{"Elec_RPM":-5.95331451e-20,"EncoderCos":38723,"EncoderSin":12505,"GapTicks":54754,"Mech_RPM":-1.19066284e-20,"cg_du":50.1806335,"cg_dv":50.2229691,"cg_dw":49.7770309,"cg_id_a":0.177903026,"cg_id_raw_a":0.371533275,"cg_iq_a":-0.0188113078,"cg_iq_raw_a":0.0359697305,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0395775437,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9763641,"cg_sample_seq":14320717,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.0738344565,"cg_vd_v":0.0738344565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404672503,"cg_vq_v":-0.404672503,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.909424,"values":{"Elec_RPM":-5.95331451e-20,"EncoderCos":38719,"EncoderSin":12470,"GapTicks":54764,"Mech_RPM":-1.19066284e-20,"cg_du":50.1715889,"cg_dv":50.2138901,"cg_dw":49.7861099,"cg_id_a":0.146891832,"cg_id_raw_a":0.249608144,"cg_iq_a":-0.895915091,"cg_iq_raw_a":0.207354113,"cg_iu_a":-0.468636513,"cg_iv_a":1.01149368,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9763641,"cg_sample_seq":14320767,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.0736636892,"cg_vd_v":0.0736636892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388185769,"cg_vq_v":-0.388185769,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.940674,"values":{"Elec_RPM":-5.83424768e-20,"EncoderCos":38734,"EncoderSin":12486,"GapTicks":54754,"Mech_RPM":-1.16684957e-20,"cg_du":50.1794815,"cg_dv":50.2227783,"cg_dw":49.7772217,"cg_id_a":0.0536898226,"cg_id_raw_a":-0.0181382243,"cg_iq_a":0.0146368816,"cg_iq_raw_a":-0.292105287,"cg_iu_a":0.256240368,"cg_iv_a":0.685299098,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.8563633,"cg_sample_seq":14320820,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0740758851,"cg_vd_v":0.0740758851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403859168,"cg_vq_v":-0.403859168,"cg_vu_v":42.2296829,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.407066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8282471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.948486,"values":{"Elec_RPM":-5.83424768e-20,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-1.16684957e-20,"cg_du":50.1666374,"cg_dv":50.2214165,"cg_dw":49.7785835,"cg_id_a":-0.367821515,"cg_id_raw_a":-0.587178171,"cg_iq_a":-0.253353834,"cg_iq_raw_a":-0.491971403,"cg_iu_a":0.61867857,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8600006,"cg_sample_seq":14320866,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.083543323,"cg_vd_v":0.083543323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394691706,"cg_vq_v":-0.394691706,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.539017,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2590.956299,"values":{"Elec_RPM":-5.71756287e-20,"EncoderCos":38736,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-1.14351257e-20,"cg_du":50.165184,"cg_dv":50.2176476,"cg_dw":49.7823524,"cg_id_a":-0.124192804,"cg_id_raw_a":0.110804975,"cg_iq_a":-0.502387166,"cg_iq_raw_a":-0.0980857834,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9509087,"cg_sample_seq":14320916,"cg_sample_valid":1,"cg_theta_rad":5.00774717,"cg_vd_req_v":0.0802192688,"cg_vd_v":0.0802192688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388916284,"cg_vq_v":-0.388916284,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.964111,"values":{"Elec_RPM":-5.60321161e-20,"EncoderCos":38693,"EncoderSin":12455,"GapTicks":54765,"Mech_RPM":-1.12064232e-20,"cg_du":50.1713409,"cg_dv":50.2135239,"cg_dw":49.7864761,"cg_id_a":0.00417378545,"cg_id_raw_a":-0.0148239592,"cg_iq_a":-0.199071616,"cg_iq_raw_a":0.509451687,"cg_iu_a":-0.214929581,"cg_iv_a":0.794030607,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9763641,"cg_sample_seq":14321067,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0759616345,"cg_vd_v":0.0759616345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385857373,"cg_vq_v":-0.385857373,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.689415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.7848206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.971924,"values":{"Elec_RPM":-5.49114738e-20,"EncoderCos":38714,"EncoderSin":12514,"GapTicks":54764,"Mech_RPM":-1.09822944e-20,"cg_du":50.1664276,"cg_dv":50.214283,"cg_dw":49.785717,"cg_id_a":-0.0310490355,"cg_id_raw_a":-0.284516484,"cg_iq_a":-0.0558791608,"cg_iq_raw_a":0.956555247,"cg_iu_a":-0.468636513,"cg_iv_a":0.214129269,"cg_iw_a":0.254507244,"cg_sample_age_us":23.9618187,"cg_sample_seq":14321117,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0771465749,"cg_vd_v":0.0771465749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384790808,"cg_vq_v":-0.384790808,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.431362271,"dclink_p_w":-62.6185112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.7912598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.979736,"values":{"Elec_RPM":-5.49114738e-20,"EncoderCos":38718,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-1.09822944e-20,"cg_du":50.1691856,"cg_dv":50.2167282,"cg_dw":49.7832718,"cg_id_a":-0.0652310252,"cg_id_raw_a":0.438557416,"cg_iq_a":0.194186196,"cg_iq_raw_a":-0.429307014,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14321167,"cg_sample_valid":1,"cg_theta_rad":5.00636816,"cg_vd_req_v":0.0784191564,"cg_vd_v":0.0784191564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389451176,"cg_vq_v":-0.389451176,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.431362271,"dclink_p_w":-62.6185112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.7912598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2590.987549,"values":{"Elec_RPM":-5.38132429e-20,"EncoderCos":38678,"EncoderSin":12487,"GapTicks":54761,"Mech_RPM":-1.07626489e-20,"cg_du":50.1717262,"cg_dv":50.2168999,"cg_dw":49.7831001,"cg_id_a":-0.126963943,"cg_id_raw_a":0.625780165,"cg_iq_a":0.018829681,"cg_iq_raw_a":0.614010811,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9509087,"cg_sample_seq":14321216,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.07945057,"cg_vd_v":0.07945057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390541673,"cg_vq_v":-0.390541673,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.431362271,"dclink_p_w":-62.6185112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8330688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2590.998713,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2590.998718,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2590.998723,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2590.999268,"values":{"Elec_RPM":-5.38132429e-20,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54764,"Mech_RPM":-1.07626489e-20,"cg_du":50.1695404,"cg_dv":50.2141571,"cg_dw":49.7858429,"cg_id_a":0.106638633,"cg_id_raw_a":-0.0112196058,"cg_iq_a":-0.262070239,"cg_iq_raw_a":-0.983667374,"cg_iu_a":-0.39614892,"cg_iv_a":0.431592286,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9509087,"cg_sample_seq":14321266,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0756687447,"cg_vd_v":0.0756687447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386153609,"cg_vq_v":-0.386153609,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0598629713,"dclink_p_w":-8.66364765,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.026611,"values":{"Elec_RPM":-5.27369807e-20,"EncoderCos":38723,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-1.05473961e-20,"cg_du":50.1708641,"cg_dv":50.2191277,"cg_dw":49.7808723,"cg_id_a":-0.0299010277,"cg_id_raw_a":-0.732462049,"cg_iq_a":0.115769185,"cg_iq_raw_a":-0.288165003,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.27186787,"cg_iw_a":1.34182203,"cg_sample_age_us":23.8563633,"cg_sample_seq":14321322,"cg_sample_valid":1,"cg_theta_rad":5.00684404,"cg_vd_req_v":0.0784252137,"cg_vd_v":0.0784252137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393859744,"cg_vq_v":-0.393859744,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.0877705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.034424,"values":{"Elec_RPM":-5.27369807e-20,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-1.05473961e-20,"cg_du":50.1671906,"cg_dv":50.2167511,"cg_dw":49.7832489,"cg_id_a":-0.0155881643,"cg_id_raw_a":0.0835250244,"cg_iq_a":0.017842399,"cg_iq_raw_a":0.190798461,"cg_iu_a":-0.323661089,"cg_iv_a":0.359104574,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9581814,"cg_sample_seq":14321367,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0786157474,"cg_vd_v":0.0786157474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388642669,"cg_vq_v":-0.388642669,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.0877705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2589,"hz_tim_isr":4999,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.042236,"values":{"Elec_RPM":-5.16822414e-20,"EncoderCos":38726,"EncoderSin":12472,"GapTicks":54763,"Mech_RPM":-1.03364481e-20,"cg_du":50.1683998,"cg_dv":50.2148933,"cg_dw":49.7851067,"cg_id_a":0.0473737642,"cg_id_raw_a":0.16656974,"cg_iq_a":-0.0397449881,"cg_iq_raw_a":-0.238098904,"cg_iu_a":-0.939806223,"cg_iv_a":0.286616921,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8563633,"cg_sample_seq":14321418,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.0762519836,"cg_vd_v":0.0762519836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386713952,"cg_vq_v":-0.386713952,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8914557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8105469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.053955,"values":{"Elec_RPM":-5.16822414e-20,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54765,"Mech_RPM":-1.03364481e-20,"cg_du":50.1719894,"cg_dv":50.2132759,"cg_dw":49.7867241,"cg_id_a":0.212751508,"cg_id_raw_a":-0.041424118,"cg_iq_a":-0.00621724129,"cg_iq_raw_a":-0.258114934,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641617,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9654541,"cg_sample_seq":14321467,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.0721662417,"cg_vd_v":0.0721662417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38646841,"cg_vq_v":-0.38646841,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8105469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.061768,"values":{"Elec_RPM":-5.06485953e-20,"EncoderCos":38706,"EncoderSin":12501,"GapTicks":54760,"Mech_RPM":-1.01297192e-20,"cg_du":50.1644058,"cg_dv":50.2178078,"cg_dw":49.7821922,"cg_id_a":-0.234180287,"cg_id_raw_a":0.106104538,"cg_iq_a":0.152014047,"cg_iq_raw_a":0.594017982,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284357,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9836369,"cg_sample_seq":14321517,"cg_sample_valid":1,"cg_theta_rad":5.00812292,"cg_vd_req_v":0.0832112432,"cg_vd_v":0.0832112432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388231993,"cg_vq_v":-0.388231993,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.06958,"values":{"Elec_RPM":-5.06485953e-20,"EncoderCos":38708,"EncoderSin":12490,"GapTicks":54769,"Mech_RPM":-1.01297192e-20,"cg_du":50.1615753,"cg_dv":50.2091141,"cg_dw":49.7908859,"cg_id_a":0.141752273,"cg_id_raw_a":0.818123639,"cg_iq_a":-0.467435747,"cg_iq_raw_a":0.409708679,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14321567,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0770766065,"cg_vd_v":0.0770766065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374810487,"cg_vq_v":-0.374810487,"cg_vu_v":139.445938,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.077393,"values":{"Elec_RPM":-4.96356221e-20,"EncoderCos":38730,"EncoderSin":12476,"GapTicks":54767,"Mech_RPM":-9.92712459e-21,"cg_du":50.1546288,"cg_dv":50.2116776,"cg_dw":49.7883224,"cg_id_a":-0.0955841392,"cg_id_raw_a":-0.649474263,"cg_iq_a":-0.354122728,"cg_iq_raw_a":-0.279382825,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9581814,"cg_sample_seq":14321617,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.083506152,"cg_vd_v":0.083506152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374723732,"cg_vq_v":-0.374723732,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8395081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.085205,"values":{"Elec_RPM":-4.96356221e-20,"EncoderCos":38740,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-9.92712459e-21,"cg_du":50.156044,"cg_dv":50.2149506,"cg_dw":49.7850494,"cg_id_a":-0.153820217,"cg_id_raw_a":-0.0740546286,"cg_iq_a":-0.0690850019,"cg_iq_raw_a":0.539945781,"cg_iu_a":0.183752537,"cg_iv_a":0.286616981,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9618187,"cg_sample_seq":14321666,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0843835995,"cg_vd_v":0.0843835995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380236,"cg_vq_v":-0.380236,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.326133847,"dclink_p_w":47.1996078,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.093018,"values":{"Elec_RPM":-4.86429085e-20,"EncoderCos":38691,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-9.72858185e-21,"cg_du":50.1545601,"cg_dv":50.2069359,"cg_dw":49.7930641,"cg_id_a":-0.107146062,"cg_id_raw_a":-0.249806479,"cg_iq_a":-0.584588528,"cg_iq_raw_a":-0.462472737,"cg_iu_a":0.219996452,"cg_iv_a":0.830274463,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9618187,"cg_sample_seq":14321716,"cg_sample_valid":1,"cg_theta_rad":5.00596428,"cg_vd_req_v":0.0820054486,"cg_vd_v":0.0820054486,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366393685,"cg_vq_v":-0.366393685,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.3037643,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2591.10083,"values":{"Elec_RPM":-4.86429085e-20,"EncoderCos":38766,"EncoderSin":12499,"GapTicks":54763,"Mech_RPM":-9.72858185e-21,"cg_du":50.1647606,"cg_dv":50.2152328,"cg_dw":49.7847672,"cg_id_a":0.316479027,"cg_id_raw_a":0.209828794,"cg_iq_a":0.395392239,"cg_iq_raw_a":0.455184728,"cg_iu_a":-0.50488019,"cg_iv_a":0.141641617,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9436359,"cg_sample_seq":14321767,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0752158761,"cg_vd_v":0.0752158761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385983855,"cg_vq_v":-0.385983855,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8169556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.112549,"values":{"Elec_RPM":-4.76700503e-20,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-9.53401023e-21,"cg_du":50.1651382,"cg_dv":50.2164268,"cg_dw":49.7835732,"cg_id_a":0.00934209675,"cg_id_raw_a":-0.259736329,"cg_iq_a":0.42027235,"cg_iq_raw_a":0.922615528,"cg_iu_a":-0.903562307,"cg_iv_a":-0.184552908,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9218178,"cg_sample_seq":14321817,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.080037266,"cg_vd_v":0.080037266,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387031794,"cg_vq_v":-0.387031794,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8201904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.139893,"values":{"Elec_RPM":-4.67166471e-20,"EncoderCos":38703,"EncoderSin":12462,"GapTicks":54758,"Mech_RPM":-9.34332975e-21,"cg_du":50.1805611,"cg_dv":50.2194252,"cg_dw":49.7805748,"cg_id_a":0.504424453,"cg_id_raw_a":-0.0207948796,"cg_iq_a":1.06717718,"cg_iq_raw_a":0.581602395,"cg_iu_a":-0.323661089,"cg_iv_a":-0.25704056,"cg_iw_a":0.580701649,"cg_sample_age_us":23.8563633,"cg_sample_seq":14321967,"cg_sample_valid":1,"cg_theta_rad":5.00796223,"cg_vd_req_v":0.0734606534,"cg_vd_v":0.0734606534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399269193,"cg_vq_v":-0.399269193,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8250122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.147705,"values":{"Elec_RPM":-4.57823143e-20,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-9.15646287e-21,"cg_du":50.1646423,"cg_dv":50.2136726,"cg_dw":49.7863274,"cg_id_a":0.213423401,"cg_id_raw_a":0.117099285,"cg_iq_a":0.258466303,"cg_iq_raw_a":0.267463207,"cg_iu_a":-1.62843895,"cg_iv_a":0.21412921,"cg_iw_a":1.41430974,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322017,"cg_sample_valid":1,"cg_theta_rad":5.00610495,"cg_vd_req_v":0.0796165094,"cg_vd_v":0.0796165094,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3838346,"cg_vq_v":-0.3838346,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.155518,"values":{"Elec_RPM":-4.57823143e-20,"EncoderCos":38734,"EncoderSin":12497,"GapTicks":54768,"Mech_RPM":-9.15646287e-21,"cg_du":50.1367531,"cg_dv":50.2105713,"cg_dw":49.7894287,"cg_id_a":-0.53559655,"cg_id_raw_a":-0.170135438,"cg_iq_a":-0.670975447,"cg_iq_raw_a":-0.01496494,"cg_iu_a":-0.178685665,"cg_iv_a":-0.764454246,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9581814,"cg_sample_seq":14322067,"cg_sample_valid":1,"cg_theta_rad":5.00678539,"cg_vd_req_v":0.0959225297,"cg_vd_v":0.0959225297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364552975,"cg_vq_v":-0.364552975,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.264519334,"dclink_p_w":38.3988304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8250122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.167236,"values":{"Elec_RPM":-4.48666674e-20,"EncoderCos":38689,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-8.97333364e-21,"cg_du":50.1549187,"cg_dv":50.2120323,"cg_dw":49.7879677,"cg_id_a":-0.124807455,"cg_id_raw_a":0.225568458,"cg_iq_a":-0.0932997316,"cg_iq_raw_a":-0.376340389,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333380699,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9218178,"cg_sample_seq":14322117,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0876647681,"cg_vd_v":0.0876647681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375648528,"cg_vq_v":-0.375648528,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.264519334,"dclink_p_w":38.3988304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8250122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.175049,"values":{"Elec_RPM":-4.48666674e-20,"EncoderCos":38720,"EncoderSin":12465,"GapTicks":54763,"Mech_RPM":-8.97333364e-21,"cg_du":50.1587906,"cg_dv":50.2146568,"cg_dw":49.7853432,"cg_id_a":0.0415908247,"cg_id_raw_a":-0.205445334,"cg_iq_a":0.186859429,"cg_iq_raw_a":0.344824523,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9654541,"cg_sample_seq":14322167,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0842766091,"cg_vd_v":0.0842766091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380856127,"cg_vq_v":-0.380856127,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.233712077,"dclink_p_w":33.8238983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8346558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.182861,"values":{"Elec_RPM":-4.39693348e-20,"EncoderCos":38685,"EncoderSin":12447,"GapTicks":54760,"Mech_RPM":-8.79386695e-21,"cg_du":50.1641159,"cg_dv":50.2178841,"cg_dw":49.7821159,"cg_id_a":0.0164796561,"cg_id_raw_a":0.25976944,"cg_iq_a":0.376617938,"cg_iq_raw_a":0.684846222,"cg_iu_a":-0.613611698,"cg_iv_a":0.359104574,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9581814,"cg_sample_seq":14322217,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.0867993236,"cg_vd_v":0.0867993236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387452304,"cg_vq_v":-0.387452304,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.34449172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8282471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.190674,"values":{"Elec_RPM":-4.39693348e-20,"EncoderCos":38712,"EncoderSin":12442,"GapTicks":54761,"Mech_RPM":-8.79386695e-21,"cg_du":50.1538391,"cg_dv":50.2166901,"cg_dw":49.7833099,"cg_id_a":-0.176952869,"cg_id_raw_a":-0.231300265,"cg_iq_a":-0.00781482458,"cg_iq_raw_a":-0.241265714,"cg_iu_a":0.0387773514,"cg_iv_a":-0.583235025,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14322267,"cg_sample_valid":1,"cg_theta_rad":5.00851917,"cg_vd_req_v":0.0914282575,"cg_vd_v":0.0914282575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380527228,"cg_vq_v":-0.380527228,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8282471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.202393,"values":{"Elec_RPM":-4.30899448e-20,"EncoderCos":38692,"EncoderSin":12515,"GapTicks":54763,"Mech_RPM":-8.61798929e-21,"cg_du":50.156559,"cg_dv":50.2151527,"cg_dw":49.7848473,"cg_id_a":0.040160805,"cg_id_raw_a":-0.111142173,"cg_iq_a":-0.0130461343,"cg_iq_raw_a":0.0262068044,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14322316,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0876217261,"cg_vd_v":0.0876217261,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380019456,"cg_vq_v":-0.380019456,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8169556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.229736,"values":{"Elec_RPM":-4.30899448e-20,"EncoderCos":38735,"EncoderSin":12489,"GapTicks":54766,"Mech_RPM":-8.61798929e-21,"cg_du":50.1432037,"cg_dv":50.2123451,"cg_dw":49.7876549,"cg_id_a":-0.143856511,"cg_id_raw_a":-0.10439045,"cg_iq_a":-0.522140861,"cg_iq_raw_a":-1.17371428,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.218263268,"cg_sample_age_us":23.863636,"cg_sample_seq":14322370,"cg_sample_valid":1,"cg_theta_rad":5.00638962,"cg_vd_req_v":0.0926644132,"cg_vd_v":0.0926644132,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370556951,"cg_vq_v":-0.370556951,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8169556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.237549,"values":{"Elec_RPM":-4.22281487e-20,"EncoderCos":38717,"EncoderSin":12514,"GapTicks":54759,"Mech_RPM":-8.44562957e-21,"cg_du":50.1528091,"cg_dv":50.2190514,"cg_dw":49.7809486,"cg_id_a":-0.146012619,"cg_id_raw_a":0.111745514,"cg_iq_a":0.185849592,"cg_iq_raw_a":0.776040971,"cg_iu_a":-0.50488019,"cg_iv_a":-0.112065196,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322417,"cg_sample_valid":1,"cg_theta_rad":5.00661755,"cg_vd_req_v":0.0924876034,"cg_vd_v":0.0924876034,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384880662,"cg_vq_v":-0.384880662,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6923828,"temp_inv2_c":37.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.245361,"values":{"Elec_RPM":-4.22281487e-20,"EncoderCos":38718,"EncoderSin":12530,"GapTicks":54767,"Mech_RPM":-8.44562957e-21,"cg_du":50.1509628,"cg_dv":50.2112389,"cg_dw":49.7887611,"cg_id_a":0.126382813,"cg_id_raw_a":0.3676911,"cg_iq_a":-0.315754831,"cg_iq_raw_a":-0.146630898,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9763641,"cg_sample_seq":14322467,"cg_sample_valid":1,"cg_theta_rad":5.00350237,"cg_vd_req_v":0.0855930001,"cg_vd_v":0.0855930001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372163832,"cg_vq_v":-0.372163832,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8089294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.253174,"values":{"Elec_RPM":-4.13835843e-20,"EncoderCos":38699,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-8.2767167e-21,"cg_du":50.1512032,"cg_dv":50.2071991,"cg_dw":49.7928009,"cg_id_a":0.124086127,"cg_id_raw_a":0.422673017,"cg_iq_a":-0.487408161,"cg_iq_raw_a":-0.466191828,"cg_iu_a":0.364971876,"cg_iv_a":-1.12689257,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9618187,"cg_sample_seq":14322518,"cg_sample_valid":1,"cg_theta_rad":5.00682497,"cg_vd_req_v":0.0843148455,"cg_vd_v":0.0843148455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366151005,"cg_vq_v":-0.366151005,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8089294,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.260986,"values":{"Elec_RPM":-4.13835843e-20,"EncoderCos":38714,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-8.2767167e-21,"cg_du":50.1501617,"cg_dv":50.2110291,"cg_dw":49.7889709,"cg_id_a":-0.12927784,"cg_id_raw_a":-0.138408899,"cg_iq_a":-0.293651223,"cg_iq_raw_a":-0.122276932,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322567,"cg_sample_valid":1,"cg_theta_rad":5.00810671,"cg_vd_req_v":0.0881204084,"cg_vd_v":0.0881204084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37093243,"cg_vq_v":-0.37093243,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8024902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.268799,"values":{"Elec_RPM":-4.05559093e-20,"EncoderCos":38736,"EncoderSin":12476,"GapTicks":54765,"Mech_RPM":-8.11118203e-21,"cg_du":50.1552811,"cg_dv":50.2129021,"cg_dw":49.7870979,"cg_id_a":0.0658944547,"cg_id_raw_a":-0.229874939,"cg_iq_a":-0.0205885023,"cg_iq_raw_a":1.07134378,"cg_iu_a":0.256240368,"cg_iv_a":0.57656759,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322617,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0836622119,"cg_vd_v":0.0836622119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376869142,"cg_vq_v":-0.376869142,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8121338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.280518,"values":{"Elec_RPM":-4.05559093e-20,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54769,"Mech_RPM":-8.11118203e-21,"cg_du":50.1557121,"cg_dv":50.2093811,"cg_dw":49.7906189,"cg_id_a":0.197843075,"cg_id_raw_a":0.279855132,"cg_iq_a":-0.235582381,"cg_iq_raw_a":-0.517503202,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14322667,"cg_sample_valid":1,"cg_theta_rad":5.00883198,"cg_vd_req_v":0.0826225057,"cg_vd_v":0.0826225057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372907519,"cg_vq_v":-0.372907519,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8121338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.28833,"values":{"Elec_RPM":-3.97447941e-20,"EncoderCos":38708,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-7.9489585e-21,"cg_du":50.1461792,"cg_dv":50.205677,"cg_dw":49.794323,"cg_id_a":0.0130745517,"cg_id_raw_a":-0.207060039,"cg_iq_a":-0.735528708,"cg_iq_raw_a":-0.27502957,"cg_iu_a":0.183752537,"cg_iv_a":0.576567531,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322717,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0866053626,"cg_vd_v":0.0866053626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362449259,"cg_vq_v":-0.362449259,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8201904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.296143,"values":{"Elec_RPM":-3.97447941e-20,"EncoderCos":38730,"EncoderSin":12498,"GapTicks":54768,"Mech_RPM":-7.9489585e-21,"cg_du":50.1531944,"cg_dv":50.2108002,"cg_dw":49.7891998,"cg_id_a":0.150065914,"cg_id_raw_a":0.166020662,"cg_iq_a":-0.166134223,"cg_iq_raw_a":-0.238481998,"cg_iu_a":-0.106198072,"cg_iv_a":0.21412921,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14322767,"cg_sample_valid":1,"cg_theta_rad":5.00551367,"cg_vd_req_v":0.0832176134,"cg_vd_v":0.0832176134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372853756,"cg_vq_v":-0.372853756,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.5714989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.8201904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.307861,"values":{"Elec_RPM":-3.89498962e-20,"EncoderCos":38744,"EncoderSin":12475,"GapTicks":54760,"Mech_RPM":-7.78997907e-21,"cg_du":50.1571388,"cg_dv":50.2174988,"cg_dw":49.7825012,"cg_id_a":-0.00326236431,"cg_id_raw_a":-0.0541432686,"cg_iq_a":0.483090937,"cg_iq_raw_a":0.323396474,"cg_iu_a":-0.396148682,"cg_iv_a":-0.25704056,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9509087,"cg_sample_seq":14322817,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.085977532,"cg_vd_v":0.085977532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384325296,"cg_vq_v":-0.384325296,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.335205,"values":{"Elec_RPM":-3.89498962e-20,"EncoderCos":38780,"EncoderSin":12496,"GapTicks":54768,"Mech_RPM":-7.78997907e-21,"cg_du":50.1470909,"cg_dv":50.2103386,"cg_dw":49.7896614,"cg_id_a":0.0995424688,"cg_id_raw_a":0.526843548,"cg_iq_a":-0.364865035,"cg_iq_raw_a":-0.0649788156,"cg_iu_a":-0.432392597,"cg_iv_a":-0.402015924,"cg_iw_a":0.834408522,"cg_sample_age_us":26.812727,"cg_sample_seq":14322870,"cg_sample_valid":1,"cg_theta_rad":5.0077014,"cg_vd_req_v":0.0834281221,"cg_vd_v":0.0834281221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369776309,"cg_vq_v":-0.369776309,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.343018,"values":{"Elec_RPM":-3.81708956e-20,"EncoderCos":38712,"EncoderSin":12431,"GapTicks":54771,"Mech_RPM":-7.63417912e-21,"cg_du":50.154232,"cg_dv":50.2081451,"cg_dw":49.7918549,"cg_id_a":0.21380648,"cg_id_raw_a":0.187588021,"cg_iq_a":-0.378953397,"cg_iq_raw_a":-0.0164362509,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9581814,"cg_sample_seq":14322917,"cg_sample_valid":1,"cg_theta_rad":5.00620413,"cg_vd_req_v":0.0830464065,"cg_vd_v":0.0830464065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369104862,"cg_vq_v":-0.369104862,"cg_vu_v":117.451309,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.818573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.35083,"values":{"Elec_RPM":-3.81708956e-20,"EncoderCos":38814,"EncoderSin":12485,"GapTicks":54755,"Mech_RPM":-7.63417912e-21,"cg_du":50.1501045,"cg_dv":50.2227135,"cg_dw":49.7772865,"cg_id_a":-0.0868124738,"cg_id_raw_a":-0.173830003,"cg_iq_a":0.584017873,"cg_iq_raw_a":1.9867692,"cg_iu_a":-0.359905005,"cg_iv_a":-0.728210449,"cg_iw_a":1.08811545,"cg_sample_age_us":23.9581814,"cg_sample_seq":14322967,"cg_sample_valid":1,"cg_theta_rad":5.00780296,"cg_vd_req_v":0.0901059434,"cg_vd_v":0.0901059434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389071316,"cg_vq_v":-0.389071316,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.796051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.358643,"values":{"Elec_RPM":-3.7407479e-20,"EncoderCos":38714,"EncoderSin":12485,"GapTicks":54771,"Mech_RPM":-7.48149563e-21,"cg_du":50.1493454,"cg_dv":50.2075768,"cg_dw":49.7924232,"cg_id_a":0.138286427,"cg_id_raw_a":0.2819359,"cg_iq_a":-0.586485445,"cg_iq_raw_a":-0.335645646,"cg_iu_a":0.509947062,"cg_iv_a":-0.184552848,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.863636,"cg_sample_seq":14323016,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0850486532,"cg_vd_v":0.0850486532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367043912,"cg_vq_v":-0.367043912,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.366455,"values":{"Elec_RPM":-3.7407479e-20,"EncoderCos":38690,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-7.48149563e-21,"cg_du":50.1568489,"cg_dv":50.2122231,"cg_dw":49.7877769,"cg_id_a":0.0930808783,"cg_id_raw_a":0.548662484,"cg_iq_a":-0.135194033,"cg_iq_raw_a":-0.452161461,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9581814,"cg_sample_seq":14323067,"cg_sample_valid":1,"cg_theta_rad":5.00847387,"cg_vd_req_v":0.0857106,"cg_vd_v":0.0857106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37594384,"cg_vq_v":-0.37594384,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.378174,"values":{"Elec_RPM":-3.66593264e-20,"EncoderCos":38712,"EncoderSin":12498,"GapTicks":54756,"Mech_RPM":-7.33186561e-21,"cg_du":50.1560669,"cg_dv":50.2211838,"cg_dw":49.7788162,"cg_id_a":-0.207387179,"cg_id_raw_a":-0.295641452,"cg_iq_a":0.381534368,"cg_iq_raw_a":0.408925086,"cg_iu_a":-0.142441988,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189421,"cg_sample_age_us":23.8709087,"cg_sample_seq":14323116,"cg_sample_valid":1,"cg_theta_rad":5.00613689,"cg_vd_req_v":0.0925842598,"cg_vd_v":0.0925842598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388233691,"cg_vq_v":-0.388233691,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.385986,"values":{"Elec_RPM":-3.66593264e-20,"EncoderCos":38720,"EncoderSin":12470,"GapTicks":54762,"Mech_RPM":-7.33186561e-21,"cg_du":50.1506462,"cg_dv":50.2159462,"cg_dw":49.7840538,"cg_id_a":-0.233487293,"cg_id_raw_a":-0.125214174,"cg_iq_a":-0.0669653639,"cg_iq_raw_a":0.170644641,"cg_iu_a":0.908629179,"cg_iv_a":-0.257040501,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9509087,"cg_sample_seq":14323167,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0917861685,"cg_vd_v":0.0917861685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378062218,"cg_vq_v":-0.378062218,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.1974716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.393799,"values":{"Elec_RPM":-3.59261407e-20,"EncoderCos":38711,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-7.18522846e-21,"cg_du":50.1325951,"cg_dv":50.2054863,"cg_dw":49.7945137,"cg_id_a":-0.414233923,"cg_id_raw_a":-0.127525926,"cg_iq_a":-1.15144849,"cg_iq_raw_a":-0.448744357,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9509087,"cg_sample_seq":14323216,"cg_sample_valid":1,"cg_theta_rad":5.00660801,"cg_vd_req_v":0.0959442407,"cg_vd_v":0.0959442407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35366568,"cg_vq_v":-0.35366568,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.1343117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8442993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.401611,"values":{"Elec_RPM":-3.59261407e-20,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54765,"Mech_RPM":-7.18522846e-21,"cg_du":50.1583176,"cg_dv":50.2130775,"cg_dw":49.7869225,"cg_id_a":0.176090539,"cg_id_raw_a":0.218135029,"cg_iq_a":0.125894785,"cg_iq_raw_a":-0.742279351,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14323266,"cg_sample_valid":1,"cg_theta_rad":5.00821304,"cg_vd_req_v":0.0841185823,"cg_vd_v":0.0841185823,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379429519,"cg_vq_v":-0.379429519,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.1343117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.409424,"values":{"Elec_RPM":-3.5207618e-20,"EncoderCos":38730,"EncoderSin":12509,"GapTicks":54758,"Mech_RPM":-7.0415236e-21,"cg_du":50.1621475,"cg_dv":50.2197151,"cg_dw":49.7802849,"cg_id_a":0.119120844,"cg_id_raw_a":-0.473731995,"cg_iq_a":0.605548382,"cg_iq_raw_a":0.539247513,"cg_iu_a":-0.50488019,"cg_iv_a":0.39534843,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14323316,"cg_sample_valid":1,"cg_theta_rad":5.00561237,"cg_vd_req_v":0.084749952,"cg_vd_v":0.084749952,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391250342,"cg_vq_v":-0.391250342,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.1343117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8137512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.436768,"values":{"Elec_RPM":-3.5207618e-20,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-7.0415236e-21,"cg_du":50.1556168,"cg_dv":50.2117195,"cg_dw":49.7882805,"cg_id_a":0.169406235,"cg_id_raw_a":0.46530509,"cg_iq_a":-0.338300526,"cg_iq_raw_a":0.154510558,"cg_iu_a":0.727410078,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.724076331,"cg_sample_age_us":26.8163643,"cg_sample_seq":14323371,"cg_sample_valid":1,"cg_theta_rad":5.00602293,"cg_vd_req_v":0.0829679519,"cg_vd_v":0.0829679519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375292033,"cg_vq_v":-0.375292033,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7462158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.448486,"values":{"Elec_RPM":-3.45034643e-20,"EncoderCos":38722,"EncoderSin":12440,"GapTicks":54758,"Mech_RPM":-6.90069287e-21,"cg_du":50.1615295,"cg_dv":50.2191696,"cg_dw":49.7808304,"cg_id_a":-0.0191063732,"cg_id_raw_a":0.471889287,"cg_iq_a":0.271907628,"cg_iq_raw_a":0.0841299295,"cg_iu_a":0.364971638,"cg_iv_a":-0.691966653,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9618187,"cg_sample_seq":14323416,"cg_sample_valid":1,"cg_theta_rad":5.00761414,"cg_vd_req_v":0.0870053694,"cg_vd_v":0.0870053694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388413459,"cg_vq_v":-0.388413459,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8056946,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.456299,"values":{"Elec_RPM":-3.45034643e-20,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54763,"Mech_RPM":-6.90069287e-21,"cg_du":50.1628227,"cg_dv":50.2151947,"cg_dw":49.7848053,"cg_id_a":0.191025302,"cg_id_raw_a":0.10472028,"cg_iq_a":-0.0334397256,"cg_iq_raw_a":-0.462393939,"cg_iu_a":-0.432392597,"cg_iv_a":0.467836142,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9618187,"cg_sample_seq":14323467,"cg_sample_valid":1,"cg_theta_rad":5.00514507,"cg_vd_req_v":0.0813695937,"cg_vd_v":0.0813695937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383907497,"cg_vq_v":-0.383907497,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8056946,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.464111,"values":{"Elec_RPM":-3.38133954e-20,"EncoderCos":38737,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-6.76267891e-21,"cg_du":50.1529808,"cg_dv":50.2119522,"cg_dw":49.7880478,"cg_id_a":0.0515214354,"cg_id_raw_a":0.304500729,"cg_iq_a":-0.404473662,"cg_iq_raw_a":-0.371157974,"cg_iu_a":0.0750212669,"cg_iv_a":0.359104633,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9618187,"cg_sample_seq":14323516,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.0844693258,"cg_vd_v":0.0844693258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374310523,"cg_vq_v":-0.374310523,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.796051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.47583,"values":{"Elec_RPM":-3.38133954e-20,"EncoderCos":38717,"EncoderSin":12438,"GapTicks":54751,"Mech_RPM":-6.76267891e-21,"cg_du":50.1747704,"cg_dv":50.2256508,"cg_dw":49.7743492,"cg_id_a":0.0503810346,"cg_id_raw_a":0.772739112,"cg_iq_a":0.889381111,"cg_iq_raw_a":1.89995813,"cg_iu_a":-0.287417412,"cg_iv_a":-0.546991229,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9618187,"cg_sample_seq":14323567,"cg_sample_valid":1,"cg_theta_rad":5.00580549,"cg_vd_req_v":0.083457835,"cg_vd_v":0.083457835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404557526,"cg_vq_v":-0.404557526,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.796051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.483643,"values":{"Elec_RPM":-3.31371268e-20,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54763,"Mech_RPM":-6.62742519e-21,"cg_du":50.1569481,"cg_dv":50.2146873,"cg_dw":49.7853127,"cg_id_a":-0.0953668803,"cg_id_raw_a":-0.104758732,"cg_iq_a":-0.199792922,"cg_iq_raw_a":-0.482423723,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9654541,"cg_sample_seq":14323616,"cg_sample_valid":1,"cg_theta_rad":5.00700474,"cg_vd_req_v":0.084790647,"cg_vd_v":0.084790647,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381286711,"cg_vq_v":-0.381286711,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.667511,"temp_inv2_c":37.8105469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.491455,"values":{"Elec_RPM":-3.31371268e-20,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-6.62742519e-21,"cg_du":50.1623154,"cg_dv":50.2148438,"cg_dw":49.7851563,"cg_id_a":0.104658686,"cg_id_raw_a":-0.0903162658,"cg_iq_a":-0.1793603,"cg_iq_raw_a":0.246970728,"cg_iu_a":-0.50488019,"cg_iv_a":0.214129269,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9254551,"cg_sample_seq":14323667,"cg_sample_valid":1,"cg_theta_rad":5.00724411,"cg_vd_req_v":0.0813389048,"cg_vd_v":0.0813389048,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38437891,"cg_vq_v":-0.38437891,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7976685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.499268,"values":{"Elec_RPM":-3.24743838e-20,"EncoderCos":38706,"EncoderSin":12490,"GapTicks":54759,"Mech_RPM":-6.49487677e-21,"cg_du":50.1632233,"cg_dv":50.2182198,"cg_dw":49.7817802,"cg_id_a":-0.0674888194,"cg_id_raw_a":-0.224581808,"cg_iq_a":0.0578556508,"cg_iq_raw_a":-0.312948942,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14323716,"cg_sample_valid":1,"cg_theta_rad":5.00591516,"cg_vd_req_v":0.0850910321,"cg_vd_v":0.0850910321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389242262,"cg_vq_v":-0.389242262,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8796787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7976685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.50708,"values":{"Elec_RPM":-3.24743838e-20,"EncoderCos":38730,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-6.49487677e-21,"cg_du":50.1512947,"cg_dv":50.2086334,"cg_dw":49.7913666,"cg_id_a":-0.0213847309,"cg_id_raw_a":0.0648528486,"cg_iq_a":-0.703210294,"cg_iq_raw_a":-0.721174121,"cg_iu_a":-0.251173258,"cg_iv_a":0.214129329,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.954546,"cg_sample_seq":14323766,"cg_sample_valid":1,"cg_theta_rad":5.00584698,"cg_vd_req_v":0.0832789764,"cg_vd_v":0.0832789764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369871765,"cg_vq_v":-0.369871765,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7976685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.514893,"values":{"Elec_RPM":-3.18248952e-20,"EncoderCos":38725,"EncoderSin":12476,"GapTicks":54758,"Mech_RPM":-6.36497912e-21,"cg_du":50.166214,"cg_dv":50.2195015,"cg_dw":49.7804985,"cg_id_a":0.0321196094,"cg_id_raw_a":0.343713164,"cg_iq_a":0.468420446,"cg_iq_raw_a":0.762097836,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9872723,"cg_sample_seq":14323816,"cg_sample_valid":1,"cg_theta_rad":5.00855875,"cg_vd_req_v":0.0824251473,"cg_vd_v":0.0824251473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39176622,"cg_vq_v":-0.39176622,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.6090851,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8169556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.542236,"values":{"Elec_RPM":-3.18248952e-20,"EncoderCos":38740,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-6.36497912e-21,"cg_du":50.1621246,"cg_dv":50.2149658,"cg_dw":49.7850342,"cg_id_a":0.0693861097,"cg_id_raw_a":0.0639614314,"cg_iq_a":-0.0378221571,"cg_iq_raw_a":0.407117456,"cg_iu_a":0.799897671,"cg_iv_a":-0.148309112,"cg_iw_a":-0.651588559,"cg_sample_age_us":26.8199997,"cg_sample_seq":14323871,"cg_sample_valid":1,"cg_theta_rad":5.00581503,"cg_vd_req_v":0.0796297938,"cg_vd_v":0.0796297938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382419467,"cg_vq_v":-0.382419467,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.20290482,"dclink_p_w":29.2760735,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8169556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2591.553955,"values":{"Elec_RPM":-3.11883991e-20,"EncoderCos":38704,"EncoderSin":12513,"GapTicks":54754,"Mech_RPM":-6.23767974e-21,"cg_du":50.1632309,"cg_dv":50.2230759,"cg_dw":49.7769241,"cg_id_a":-0.408926725,"cg_id_raw_a":-0.177149966,"cg_iq_a":0.534489334,"cg_iq_raw_a":0.0561997481,"cg_iu_a":-0.251173496,"cg_iv_a":-0.510747313,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9799995,"cg_sample_seq":14323917,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0891156867,"cg_vd_v":0.0891156867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394759089,"cg_vq_v":-0.394759089,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8121338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.561768,"values":{"Elec_RPM":-3.11883991e-20,"EncoderCos":38712,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-6.23767974e-21,"cg_du":50.1633492,"cg_dv":50.2036629,"cg_dw":49.7963371,"cg_id_a":0.467235357,"cg_id_raw_a":0.700920761,"cg_iq_a":-0.56340456,"cg_iq_raw_a":0.32392332,"cg_iu_a":0.038777113,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.8781815,"cg_sample_seq":14323967,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0699206889,"cg_vd_v":0.0699206889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369654506,"cg_vq_v":-0.369654506,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.8121338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.56958,"values":{"Elec_RPM":-3.05646306e-20,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-6.11292612e-21,"cg_du":50.154911,"cg_dv":50.2097397,"cg_dw":49.7902603,"cg_id_a":-0.196303487,"cg_id_raw_a":-0.586547315,"cg_iq_a":-0.227995753,"cg_iq_raw_a":-0.056878686,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9799995,"cg_sample_seq":14324017,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0828682482,"cg_vd_v":0.0828682482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37310943,"cg_vq_v":-0.37310943,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8056946,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.577393,"values":{"Elec_RPM":-3.05646306e-20,"EncoderCos":38712,"EncoderSin":12486,"GapTicks":54766,"Mech_RPM":-6.11292612e-21,"cg_du":50.1668205,"cg_dv":50.2125053,"cg_dw":49.7874947,"cg_id_a":0.154121593,"cg_id_raw_a":-0.367142081,"cg_iq_a":0.278921217,"cg_iq_raw_a":-0.36313206,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148309112,"cg_iw_a":0.544457912,"cg_sample_age_us":23.863636,"cg_sample_seq":14324067,"cg_sample_valid":1,"cg_theta_rad":5.00769186,"cg_vd_req_v":0.0760251731,"cg_vd_v":0.0760251731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382416874,"cg_vq_v":-0.382416874,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.752655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.585205,"values":{"Elec_RPM":-2.99533377e-20,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-5.99066777e-21,"cg_du":50.1588821,"cg_dv":50.2048111,"cg_dw":49.7951889,"cg_id_a":0.169712484,"cg_id_raw_a":0.411590219,"cg_iq_a":-0.382514924,"cg_iq_raw_a":0.47882542,"cg_iu_a":0.654922485,"cg_iv_a":0.214129329,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9290905,"cg_sample_seq":14324117,"cg_sample_valid":1,"cg_theta_rad":5.00675821,"cg_vd_req_v":0.0751217306,"cg_vd_v":0.0751217306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367428869,"cg_vq_v":-0.367428869,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.752655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.596924,"values":{"Elec_RPM":-2.93542747e-20,"EncoderCos":38700,"EncoderSin":12491,"GapTicks":54770,"Mech_RPM":-5.87085462e-21,"cg_du":50.1654778,"cg_dv":50.2088432,"cg_dw":49.7911568,"cg_id_a":0.314403623,"cg_id_raw_a":-0.0992579088,"cg_iq_a":-0.0890635699,"cg_iq_raw_a":-0.300634891,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9654541,"cg_sample_seq":14324216,"cg_sample_valid":1,"cg_theta_rad":5.00822687,"cg_vd_req_v":0.0744133741,"cg_vd_v":0.0744133741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376509339,"cg_vq_v":-0.376509339,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8282471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.604736,"values":{"Elec_RPM":-2.93542747e-20,"EncoderCos":38741,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-5.87085462e-21,"cg_du":50.1594543,"cg_dv":50.2153168,"cg_dw":49.7846832,"cg_id_a":-0.0620598719,"cg_id_raw_a":0.498149544,"cg_iq_a":0.339022934,"cg_iq_raw_a":-0.644279838,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9509087,"cg_sample_seq":14324266,"cg_sample_valid":1,"cg_theta_rad":5.0051589,"cg_vd_req_v":0.0828756541,"cg_vd_v":0.0828756541,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383672386,"cg_vq_v":-0.383672386,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8282471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.612549,"values":{"Elec_RPM":-2.87671865e-20,"EncoderCos":38717,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-5.75343738e-21,"cg_du":50.1643143,"cg_dv":50.2119598,"cg_dw":49.7880402,"cg_id_a":0.147892594,"cg_id_raw_a":0.348623157,"cg_iq_a":0.00643391162,"cg_iq_raw_a":-0.802620649,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9618187,"cg_sample_seq":14324316,"cg_sample_valid":1,"cg_theta_rad":5.0064559,"cg_vd_req_v":0.077521883,"cg_vd_v":0.077521883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381454498,"cg_vq_v":-0.381454498,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58721125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.639893,"values":{"Elec_RPM":-2.87671865e-20,"EncoderCos":38729,"EncoderSin":12500,"GapTicks":54771,"Mech_RPM":-5.75343738e-21,"cg_du":50.1500015,"cg_dv":50.2073784,"cg_dw":49.7926216,"cg_id_a":-0.0489398874,"cg_id_raw_a":-0.321593374,"cg_iq_a":-0.640961051,"cg_iq_raw_a":-0.866558313,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":26.812727,"cg_sample_seq":14324371,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0827043131,"cg_vd_v":0.0827043131,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367512435,"cg_vq_v":-0.367512435,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.651611,"values":{"Elec_RPM":-2.81918436e-20,"EncoderCos":38736,"EncoderSin":12508,"GapTicks":54757,"Mech_RPM":-5.63836881e-21,"cg_du":50.1715965,"cg_dv":50.220089,"cg_dw":49.779911,"cg_id_a":0.29738605,"cg_id_raw_a":-0.339336038,"cg_iq_a":0.721002519,"cg_iq_raw_a":0.916040659,"cg_iu_a":-0.14244175,"cg_iv_a":0.21412921,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9654541,"cg_sample_seq":14324417,"cg_sample_valid":1,"cg_theta_rad":5.00780821,"cg_vd_req_v":0.0769024417,"cg_vd_v":0.0769024417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395945519,"cg_vq_v":-0.395945519,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7896118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.659424,"values":{"Elec_RPM":-2.81918436e-20,"EncoderCos":38723,"EncoderSin":12486,"GapTicks":54763,"Mech_RPM":-5.63836881e-21,"cg_du":50.1732445,"cg_dv":50.2151566,"cg_dw":49.7848434,"cg_id_a":0.47617054,"cg_id_raw_a":0.170114115,"cg_iq_a":0.339133531,"cg_iq_raw_a":-0.0556904636,"cg_iu_a":-1.59219527,"cg_iv_a":0.359104633,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9581814,"cg_sample_seq":14324467,"cg_sample_valid":1,"cg_theta_rad":5.00878,"cg_vd_req_v":0.0725931823,"cg_vd_v":0.0725931823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389810115,"cg_vq_v":-0.389810115,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.077863574,"dclink_p_w":11.2687788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.667236,"values":{"Elec_RPM":-2.76280069e-20,"EncoderCos":38687,"EncoderSin":12447,"GapTicks":54759,"Mech_RPM":-5.52560163e-21,"cg_du":50.1680908,"cg_dv":50.2182045,"cg_dw":49.7817955,"cg_id_a":-0.155618906,"cg_id_raw_a":-0.379511148,"cg_iq_a":0.385447234,"cg_iq_raw_a":-0.222033679,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14324517,"cg_sample_valid":1,"cg_theta_rad":5.00754595,"cg_vd_req_v":0.0838386342,"cg_vd_v":0.0838386342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390179276,"cg_vq_v":-0.390179276,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":0.077863574,"dclink_p_w":11.2687788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.675049,"values":{"Elec_RPM":-2.70754471e-20,"EncoderCos":38761,"EncoderSin":12471,"GapTicks":54768,"Mech_RPM":-5.41508941e-21,"cg_du":50.1424942,"cg_dv":50.210289,"cg_dw":49.789711,"cg_id_a":-0.530406952,"cg_id_raw_a":-0.67389065,"cg_iq_a":-0.649712086,"cg_iq_raw_a":-0.495326042,"cg_iu_a":1.66974986,"cg_iv_a":-0.00333368778,"cg_iw_a":-1.66641617,"cg_sample_age_us":23.9509087,"cg_sample_seq":14324616,"cg_sample_valid":1,"cg_theta_rad":5.00714874,"cg_vd_req_v":0.0895178691,"cg_vd_v":0.0895178691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367763937,"cg_vq_v":-0.367763937,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":0.077863574,"dclink_p_w":11.2687788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7944336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.682861,"values":{"Elec_RPM":-2.70754471e-20,"EncoderCos":38710,"EncoderSin":12458,"GapTicks":54773,"Mech_RPM":-5.41508941e-21,"cg_du":50.1577568,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":0.0632939041,"cg_id_raw_a":0.0137304626,"cg_iq_a":-0.421030879,"cg_iq_raw_a":0.0386177152,"cg_iu_a":0.364971876,"cg_iv_a":0.359104574,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14324666,"cg_sample_valid":1,"cg_theta_rad":5.00857687,"cg_vd_req_v":0.0778529719,"cg_vd_v":0.0778529719,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369334459,"cg_vq_v":-0.369334459,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7944336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.690674,"values":{"Elec_RPM":-2.65339378e-20,"EncoderCos":38722,"EncoderSin":12487,"GapTicks":54767,"Mech_RPM":-5.30678772e-21,"cg_du":50.1632805,"cg_dv":50.2117271,"cg_dw":49.7882729,"cg_id_a":0.0850864574,"cg_id_raw_a":0.35071066,"cg_iq_a":-0.0909838527,"cg_iq_raw_a":0.68991524,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9290905,"cg_sample_seq":14324716,"cg_sample_valid":1,"cg_theta_rad":5.00676441,"cg_vd_req_v":0.0771534666,"cg_vd_v":0.0771534666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379549474,"cg_vq_v":-0.379549474,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7976685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.698486,"values":{"Elec_RPM":-2.65339378e-20,"EncoderCos":38728,"EncoderSin":12492,"GapTicks":54766,"Mech_RPM":-5.30678772e-21,"cg_du":50.1657982,"cg_dv":50.2118721,"cg_dw":49.7881279,"cg_id_a":0.164683491,"cg_id_raw_a":0.135175169,"cg_iq_a":-0.00126409065,"cg_iq_raw_a":-0.132054374,"cg_iu_a":-0.14244175,"cg_iv_a":0.214129329,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9836369,"cg_sample_seq":14324766,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.074667044,"cg_vd_v":0.074667044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381284416,"cg_vq_v":-0.381284416,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.270077348,"dclink_p_w":-39.0868492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7976685,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.710205,"values":{"Elec_RPM":-2.6003261e-20,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-5.20065213e-21,"cg_du":50.1644058,"cg_dv":50.2131081,"cg_dw":49.7868919,"cg_id_a":0.0406115279,"cg_id_raw_a":0.00366925285,"cg_iq_a":-0.0135395676,"cg_iq_raw_a":-0.071673587,"cg_iu_a":0.219996452,"cg_iv_a":0.359104633,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.954546,"cg_sample_seq":14324816,"cg_sample_valid":1,"cg_theta_rad":5.00801706,"cg_vd_req_v":0.0785741732,"cg_vd_v":0.0785741732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381859243,"cg_vq_v":-0.381859243,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-58.8398857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7703247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.737549,"values":{"Elec_RPM":-2.6003261e-20,"EncoderCos":38750,"EncoderSin":12506,"GapTicks":54761,"Mech_RPM":-5.20065213e-21,"cg_du":50.1578331,"cg_dv":50.2171059,"cg_dw":49.7828941,"cg_id_a":-0.150121853,"cg_id_raw_a":-0.376329005,"cg_iq_a":0.0691306293,"cg_iq_raw_a":1.60487139,"cg_iu_a":0.836141586,"cg_iv_a":0.250373125,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.863636,"cg_sample_seq":14324871,"cg_sample_valid":1,"cg_theta_rad":5.007689,"cg_vd_req_v":0.0837011561,"cg_vd_v":0.0837011561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384468645,"cg_vq_v":-0.384468645,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-58.8398857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.745361,"values":{"Elec_RPM":-2.54831955e-20,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54766,"Mech_RPM":-5.09663901e-21,"cg_du":50.1555939,"cg_dv":50.211998,"cg_dw":49.788002,"cg_id_a":-0.0878520757,"cg_id_raw_a":-0.295075089,"cg_iq_a":-0.162239566,"cg_iq_raw_a":-0.0273943208,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397761,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.9509087,"cg_sample_seq":14324917,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0834993348,"cg_vd_v":0.0834993348,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376802266,"cg_vq_v":-0.376802266,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-58.8398857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.753174,"values":{"Elec_RPM":-2.54831955e-20,"EncoderCos":38662,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-5.09663901e-21,"cg_du":50.1568298,"cg_dv":50.2097206,"cg_dw":49.7902794,"cg_id_a":-0.215112045,"cg_id_raw_a":0.405696064,"cg_iq_a":-0.171752647,"cg_iq_raw_a":0.483829141,"cg_iu_a":0.473703384,"cg_iv_a":-0.293284416,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14324967,"cg_sample_valid":1,"cg_theta_rad":5.0083909,"cg_vd_req_v":0.086337544,"cg_vd_v":0.086337544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373043656,"cg_vq_v":-0.373043656,"cg_vu_v":137.686371,"cg_vv_v":124.929489,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.1327133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.764893,"values":{"Elec_RPM":-2.49735327e-20,"EncoderCos":38740,"EncoderSin":12503,"GapTicks":54774,"Mech_RPM":-4.99470637e-21,"cg_du":50.1550369,"cg_dv":50.2052155,"cg_dw":49.7947845,"cg_id_a":0.334249467,"cg_id_raw_a":0.755647004,"cg_iq_a":-0.423142433,"cg_iq_raw_a":0.433417708,"cg_iu_a":0.292484045,"cg_iv_a":0.467836082,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9290905,"cg_sample_seq":14325017,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.075408861,"cg_vd_v":0.075408861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366467953,"cg_vq_v":-0.366467953,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.772705,"values":{"Elec_RPM":-2.49735327e-20,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54758,"Mech_RPM":-4.99470637e-21,"cg_du":50.1616859,"cg_dv":50.2198868,"cg_dw":49.7801132,"cg_id_a":-0.238134027,"cg_id_raw_a":-0.163235247,"cg_iq_a":0.669306874,"cg_iq_raw_a":0.967948616,"cg_iu_a":0.0750210285,"cg_iv_a":-0.510747433,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9327278,"cg_sample_seq":14325066,"cg_sample_valid":1,"cg_theta_rad":5.00662518,"cg_vd_req_v":0.0861971527,"cg_vd_v":0.0861971527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389784217,"cg_vq_v":-0.389784217,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.224457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.780518,"values":{"Elec_RPM":-2.4474061e-20,"EncoderCos":38702,"EncoderSin":12466,"GapTicks":54784,"Mech_RPM":-4.89481219e-21,"cg_du":50.1526375,"cg_dv":50.1957169,"cg_dw":49.8042831,"cg_id_a":0.513659,"cg_id_raw_a":0.0212346502,"cg_iq_a":-1.11541951,"cg_iq_raw_a":-0.652812064,"cg_iu_a":0.183752537,"cg_iv_a":0.830274463,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9618187,"cg_sample_seq":14325117,"cg_sample_valid":1,"cg_theta_rad":5.0073638,"cg_vd_req_v":0.0720905811,"cg_vd_v":0.0720905811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351379216,"cg_vq_v":-0.351379216,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.82279563,"dclink_p_w":-119.078812,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8105469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.78833,"values":{"Elec_RPM":-2.4474061e-20,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-4.89481219e-21,"cg_du":50.1547394,"cg_dv":50.2078896,"cg_dw":49.7921104,"cg_id_a":0.110289454,"cg_id_raw_a":0.322416574,"cg_iq_a":0.0749393553,"cg_iq_raw_a":0.541903377,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9799995,"cg_sample_seq":14325167,"cg_sample_valid":1,"cg_theta_rad":5.00767469,"cg_vd_req_v":0.0804873556,"cg_vd_v":0.0804873556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3694686,"cg_vq_v":-0.3694686,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.82279563,"dclink_p_w":-119.078812,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8105469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.796143,"values":{"Elec_RPM":-2.39845801e-20,"EncoderCos":38695,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-4.7969161e-21,"cg_du":50.1594162,"cg_dv":50.2069511,"cg_dw":49.7930489,"cg_id_a":0.198723361,"cg_id_raw_a":0.221734986,"cg_iq_a":0.154234841,"cg_iq_raw_a":0.060335774,"cg_iu_a":0.654922485,"cg_iv_a":0.322860718,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14325217,"cg_sample_valid":1,"cg_theta_rad":5.00832558,"cg_vd_req_v":0.0784959346,"cg_vd_v":0.0784959346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370277286,"cg_vq_v":-0.370277286,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-90.7537918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.803955,"values":{"Elec_RPM":-2.39845801e-20,"EncoderCos":38707,"EncoderSin":12475,"GapTicks":54773,"Mech_RPM":-4.7969161e-21,"cg_du":50.1463661,"cg_dv":50.2054787,"cg_dw":49.7945213,"cg_id_a":-0.185616165,"cg_id_raw_a":-0.40899846,"cg_iq_a":-0.318431795,"cg_iq_raw_a":-0.987342238,"cg_iu_a":1.0898484,"cg_iv_a":0.39534831,"cg_iw_a":-1.48519671,"cg_sample_age_us":23.9618187,"cg_sample_seq":14325266,"cg_sample_valid":1,"cg_theta_rad":5.00731134,"cg_vd_req_v":0.0861731321,"cg_vd_v":0.0861731321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362310886,"cg_vq_v":-0.362310886,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7719421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.811768,"values":{"Elec_RPM":-2.3504888e-20,"EncoderCos":38741,"EncoderSin":12505,"GapTicks":54760,"Mech_RPM":-4.70097768e-21,"cg_du":50.1552887,"cg_dv":50.2176743,"cg_dw":49.7823257,"cg_id_a":-0.274428636,"cg_id_raw_a":-0.437918037,"cg_iq_a":0.611133218,"cg_iq_raw_a":0.201977208,"cg_iu_a":-0.14244175,"cg_iv_a":-0.148309112,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8563633,"cg_sample_seq":14325316,"cg_sample_valid":1,"cg_theta_rad":5.00654411,"cg_vd_req_v":0.0870693401,"cg_vd_v":0.0870693401,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383654952,"cg_vq_v":-0.383654952,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.557518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7719421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.843018,"values":{"Elec_RPM":-2.3504888e-20,"EncoderCos":38788,"EncoderSin":12504,"GapTicks":54773,"Mech_RPM":-4.70097768e-21,"cg_du":50.1423569,"cg_dv":50.2059135,"cg_dw":49.7940865,"cg_id_a":-0.0225576013,"cg_id_raw_a":-0.506067336,"cg_iq_a":-0.600038767,"cg_iq_raw_a":-0.803137779,"cg_iu_a":-0.903562307,"cg_iv_a":0.105397761,"cg_iw_a":0.798164546,"cg_sample_age_us":26.8199997,"cg_sample_seq":14325370,"cg_sample_valid":1,"cg_theta_rad":5.00820065,"cg_vd_req_v":0.082116887,"cg_vd_v":0.082116887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361294419,"cg_vq_v":-0.361294419,"cg_vu_v":20.2350578,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.697754622,"dclink_p_w":-100.9823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7928467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.85083,"values":{"Elec_RPM":-2.2574095e-20,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-4.51481883e-21,"cg_du":50.1705093,"cg_dv":50.2165642,"cg_dw":49.7834358,"cg_id_a":0.158593893,"cg_id_raw_a":-0.25643447,"cg_iq_a":0.563795328,"cg_iq_raw_a":0.231449187,"cg_iu_a":0.038777113,"cg_iv_a":0.359104574,"cg_iw_a":-0.397881687,"cg_sample_age_us":23.9618187,"cg_sample_seq":14325516,"cg_sample_valid":1,"cg_theta_rad":5.00592279,"cg_vd_req_v":0.0754672885,"cg_vd_v":0.0754672885,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390313089,"cg_vq_v":-0.390313089,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7896118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.858643,"values":{"Elec_RPM":-2.2574095e-20,"EncoderCos":38684,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-4.51481883e-21,"cg_du":50.1663399,"cg_dv":50.2119598,"cg_dw":49.7880402,"cg_id_a":-0.0287584811,"cg_id_raw_a":-0.275868118,"cg_iq_a":0.207063377,"cg_iq_raw_a":0.190530404,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9581814,"cg_sample_seq":14325566,"cg_sample_valid":1,"cg_theta_rad":5.00785494,"cg_vd_req_v":0.078509897,"cg_vd_v":0.078509897,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382074296,"cg_vq_v":-0.382074296,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7896118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.866455,"values":{"Elec_RPM":-2.21226127e-20,"EncoderCos":38713,"EncoderSin":12484,"GapTicks":54767,"Mech_RPM":-4.42452245e-21,"cg_du":50.1581993,"cg_dv":50.2116814,"cg_dw":49.7883186,"cg_id_a":-0.218561977,"cg_id_raw_a":-0.0746823922,"cg_iq_a":0.0529739559,"cg_iq_raw_a":-0.771342278,"cg_iu_a":0.799897909,"cg_iv_a":-0.257040501,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9618187,"cg_sample_seq":14325616,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.082197167,"cg_vd_v":0.082197167,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377600282,"cg_vq_v":-0.377600282,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7864075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.878174,"values":{"Elec_RPM":-2.21226127e-20,"EncoderCos":38715,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-4.42452245e-21,"cg_du":50.1548386,"cg_dv":50.2019653,"cg_dw":49.7980347,"cg_id_a":0.123226725,"cg_id_raw_a":0.306118071,"cg_iq_a":-0.48814711,"cg_iq_raw_a":-0.807028592,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373065,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.863636,"cg_sample_seq":14325666,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.074615486,"cg_vd_v":0.074615486,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361473441,"cg_vq_v":-0.361473441,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8024902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.885986,"values":{"Elec_RPM":-2.16801599e-20,"EncoderCos":38712,"EncoderSin":12507,"GapTicks":54777,"Mech_RPM":-4.3360319e-21,"cg_du":50.1535645,"cg_dv":50.2027168,"cg_dw":49.7972832,"cg_id_a":0.00350281596,"cg_id_raw_a":-0.0864057019,"cg_iq_a":-0.290735453,"cg_iq_raw_a":-0.444549978,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592286,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.8600006,"cg_sample_seq":14325716,"cg_sample_valid":1,"cg_theta_rad":5.00720072,"cg_vd_req_v":0.0763714537,"cg_vd_v":0.0763714537,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361777365,"cg_vq_v":-0.361777365,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.8024902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.893799,"values":{"Elec_RPM":-2.16801599e-20,"EncoderCos":38702,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-4.3360319e-21,"cg_du":50.1650658,"cg_dv":50.2093544,"cg_dw":49.7906456,"cg_id_a":0.12003471,"cg_id_raw_a":-0.202186659,"cg_iq_a":0.576170802,"cg_iq_raw_a":0.708768666,"cg_iu_a":0.0387773514,"cg_iv_a":0.395348489,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.954546,"cg_sample_seq":14325767,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.0757856295,"cg_vd_v":0.0757856295,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376856208,"cg_vq_v":-0.376856208,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.6427002,"temp_inv2_c":37.7864075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.901611,"values":{"Elec_RPM":-2.12465557e-20,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54769,"Mech_RPM":-4.24931122e-21,"cg_du":50.1550713,"cg_dv":50.2097549,"cg_dw":49.7902451,"cg_id_a":-0.280180514,"cg_id_raw_a":-0.0079585081,"cg_iq_a":0.35588634,"cg_iq_raw_a":0.254986405,"cg_iu_a":0.437459469,"cg_iv_a":-0.257040501,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14325817,"cg_sample_valid":1,"cg_theta_rad":5.007061,"cg_vd_req_v":0.0832407624,"cg_vd_v":0.0832407624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371926188,"cg_vq_v":-0.371926188,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.5912628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.932861,"values":{"Elec_RPM":-2.12465557e-20,"EncoderCos":38765,"EncoderSin":12484,"GapTicks":54772,"Mech_RPM":-4.24931122e-21,"cg_du":50.1437187,"cg_dv":50.2065697,"cg_dw":49.7934303,"cg_id_a":-0.235950306,"cg_id_raw_a":-0.0680956841,"cg_iq_a":0.0605114847,"cg_iq_raw_a":-0.223361045,"cg_iu_a":0.546190977,"cg_iv_a":-0.438259721,"cg_iw_a":-0.107931256,"cg_sample_age_us":26.8090916,"cg_sample_seq":14325869,"cg_sample_valid":1,"cg_theta_rad":5.0069952,"cg_vd_req_v":0.0843116865,"cg_vd_v":0.0843116865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363497317,"cg_vq_v":-0.363497317,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.9843674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.940674,"values":{"Elec_RPM":-2.0821624e-20,"EncoderCos":38748,"EncoderSin":12458,"GapTicks":54771,"Mech_RPM":-4.16432488e-21,"cg_du":50.1423073,"cg_dv":50.2078552,"cg_dw":49.7921448,"cg_id_a":-0.336500525,"cg_id_raw_a":-0.0202520266,"cg_iq_a":0.104078457,"cg_iq_raw_a":-0.729013681,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14325916,"cg_sample_valid":1,"cg_theta_rad":5.00629187,"cg_vd_req_v":0.0887224078,"cg_vd_v":0.0887224078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363984138,"cg_vq_v":-0.363984138,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.948486,"values":{"Elec_RPM":-2.0821624e-20,"EncoderCos":38723,"EncoderSin":12489,"GapTicks":54776,"Mech_RPM":-4.16432488e-21,"cg_du":50.1488304,"cg_dv":50.2036285,"cg_dw":49.7963715,"cg_id_a":0.0259380862,"cg_id_raw_a":-0.250053972,"cg_iq_a":0.129601419,"cg_iq_raw_a":-0.278010011,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14325966,"cg_sample_valid":1,"cg_theta_rad":5.00823402,"cg_vd_req_v":0.0805191472,"cg_vd_v":0.0805191472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360466152,"cg_vq_v":-0.360466152,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119139388,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.956299,"values":{"Elec_RPM":-2.04051918e-20,"EncoderCos":38721,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-4.08103853e-21,"cg_du":50.1421814,"cg_dv":50.1977119,"cg_dw":49.8022881,"cg_id_a":0.087609902,"cg_id_raw_a":0.802009165,"cg_iq_a":-0.454836965,"cg_iq_raw_a":-0.941489935,"cg_iu_a":0.509947062,"cg_iv_a":0.322860777,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.9763641,"cg_sample_seq":14326016,"cg_sample_valid":1,"cg_theta_rad":5.00764513,"cg_vd_req_v":0.0801840201,"cg_vd_v":0.0801840201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348647594,"cg_vq_v":-0.348647594,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.964111,"values":{"Elec_RPM":-2.04051918e-20,"EncoderCos":38717,"EncoderSin":12447,"GapTicks":54774,"Mech_RPM":-4.08103853e-21,"cg_du":50.1486435,"cg_dv":50.204567,"cg_dw":49.795433,"cg_id_a":0.0258913822,"cg_id_raw_a":0.233093858,"cg_iq_a":0.176525742,"cg_iq_raw_a":0.789048076,"cg_iu_a":0.219996452,"cg_iv_a":0.0691540241,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9690914,"cg_sample_seq":14326066,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.0831096247,"cg_vd_v":0.0831096247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361288726,"cg_vq_v":-0.361288726,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.971924,"values":{"Elec_RPM":-1.99970897e-20,"EncoderCos":38738,"EncoderSin":12501,"GapTicks":54777,"Mech_RPM":-3.99941786e-21,"cg_du":50.1448326,"cg_dv":50.2023277,"cg_dw":49.7976723,"cg_id_a":0.0666283444,"cg_id_raw_a":-0.319323659,"cg_iq_a":-0.0201326534,"cg_iq_raw_a":0.00798417442,"cg_iu_a":0.14750886,"cg_iv_a":0.214129269,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9618187,"cg_sample_seq":14326116,"cg_sample_valid":1,"cg_theta_rad":5.00790977,"cg_vd_req_v":0.0811315179,"cg_vd_v":0.0811315179,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357885927,"cg_vq_v":-0.357885927,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2591.979736,"values":{"Elec_RPM":-1.99970897e-20,"EncoderCos":38720,"EncoderSin":12503,"GapTicks":54782,"Mech_RPM":-3.99941786e-21,"cg_du":50.142189,"cg_dv":50.1972885,"cg_dw":49.8027115,"cg_id_a":0.0816407427,"cg_id_raw_a":-0.100872375,"cg_iq_a":-0.401158988,"cg_iq_raw_a":-0.300096989,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129329,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8745461,"cg_sample_seq":14326166,"cg_sample_valid":1,"cg_theta_rad":5.00750971,"cg_vd_req_v":0.0797301307,"cg_vd_v":0.0797301307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349197954,"cg_vq_v":-0.349197954,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.6080322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7558899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2591.99122,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2591.991226,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2591.991232,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2591.991455,"values":{"Elec_RPM":-1.95971463e-20,"EncoderCos":38706,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-3.91942933e-21,"cg_du":50.1494217,"cg_dv":50.204155,"cg_dw":49.795845,"cg_id_a":-0.0357858911,"cg_id_raw_a":0.196802363,"cg_iq_a":0.124769174,"cg_iq_raw_a":-0.525773406,"cg_iu_a":0.328727841,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.9290905,"cg_sample_seq":14326217,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0823582262,"cg_vd_v":0.0823582262,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361109763,"cg_vq_v":-0.361109763,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.6948547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2591.999268,"values":{"Elec_RPM":-1.95971463e-20,"EncoderCos":38716,"EncoderSin":12470,"GapTicks":54779,"Mech_RPM":-3.91942933e-21,"cg_du":50.1517448,"cg_dv":50.2000504,"cg_dw":49.7999496,"cg_id_a":0.296486318,"cg_id_raw_a":-0.0856790021,"cg_iq_a":-0.0610761493,"cg_iq_raw_a":-0.444690526,"cg_iu_a":-0.722343206,"cg_iv_a":0.431592226,"cg_iw_a":0.29075098,"cg_sample_age_us":23.863636,"cg_sample_seq":14326266,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0757913068,"cg_vd_v":0.0757913068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357009172,"cg_vq_v":-0.357009172,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.6948547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.00708,"values":{"Elec_RPM":-1.92052032e-20,"EncoderCos":38732,"EncoderSin":12505,"GapTicks":54775,"Mech_RPM":-3.84104064e-21,"cg_du":50.1487236,"cg_dv":50.204422,"cg_dw":49.795578,"cg_id_a":0.142928272,"cg_id_raw_a":-0.0111069474,"cg_iq_a":0.23333919,"cg_iq_raw_a":0.764151096,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9727268,"cg_sample_seq":14326317,"cg_sample_valid":1,"cg_theta_rad":5.00620365,"cg_vd_req_v":0.079986982,"cg_vd_v":0.079986982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36063695,"cg_vq_v":-0.36063695,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2592.034424,"values":{"Elec_RPM":-1.92052032e-20,"EncoderCos":38722,"EncoderSin":12531,"GapTicks":54767,"Mech_RPM":-3.84104064e-21,"cg_du":50.1443329,"cg_dv":50.2115669,"cg_dw":49.7884331,"cg_id_a":-0.376582086,"cg_id_raw_a":-0.266847491,"cg_iq_a":0.336974263,"cg_iq_raw_a":1.24998474,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":26.8272724,"cg_sample_seq":14326371,"cg_sample_valid":1,"cg_theta_rad":5.00565815,"cg_vd_req_v":0.0907626823,"cg_vd_v":0.0907626823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368993342,"cg_vq_v":-0.368993342,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.046143,"values":{"Elec_RPM":-1.8821099e-20,"EncoderCos":38703,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-3.76421988e-21,"cg_du":50.1450653,"cg_dv":50.2027817,"cg_dw":49.7972183,"cg_id_a":0.0360797569,"cg_id_raw_a":-0.0794623122,"cg_iq_a":-0.378141403,"cg_iq_raw_a":-0.08005815,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9254551,"cg_sample_seq":14326416,"cg_sample_valid":1,"cg_theta_rad":5.00585461,"cg_vd_req_v":0.0846822187,"cg_vd_v":0.0846822187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357876211,"cg_vq_v":-0.357876211,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7607117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.053955,"values":{"Elec_RPM":-1.8821099e-20,"EncoderCos":38706,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-3.76421988e-21,"cg_du":50.1461601,"cg_dv":50.2059517,"cg_dw":49.7940483,"cg_id_a":-0.0295053199,"cg_id_raw_a":-0.197339088,"cg_iq_a":-0.119959064,"cg_iq_raw_a":-0.164499491,"cg_iu_a":0.691166401,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9581814,"cg_sample_seq":14326466,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0864319503,"cg_vd_v":0.0864319503,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362923354,"cg_vq_v":-0.362923354,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.4251728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.061768,"values":{"Elec_RPM":-1.84446769e-20,"EncoderCos":38732,"EncoderSin":12490,"GapTicks":54769,"Mech_RPM":-3.68893553e-21,"cg_du":50.1510353,"cg_dv":50.209259,"cg_dw":49.790741,"cg_id_a":0.00952209532,"cg_id_raw_a":0.0691917464,"cg_iq_a":0.309981197,"cg_iq_raw_a":-0.101924732,"cg_iu_a":0.401215553,"cg_iv_a":-0.583235025,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14326516,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.0837177932,"cg_vd_v":0.0837177932,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370665342,"cg_vq_v":-0.370665342,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.4251728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.06958,"values":{"Elec_RPM":-1.84446769e-20,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-3.68893553e-21,"cg_du":50.1488152,"cg_dv":50.2099571,"cg_dw":49.7900429,"cg_id_a":-0.118714154,"cg_id_raw_a":0.281813473,"cg_iq_a":0.226648405,"cg_iq_raw_a":-0.335748583,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704056,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9618187,"cg_sample_seq":14326566,"cg_sample_valid":1,"cg_theta_rad":5.00837278,"cg_vd_req_v":0.0874889866,"cg_vd_v":0.0874889866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368871778,"cg_vq_v":-0.368871778,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.4251728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7912598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.077393,"values":{"Elec_RPM":-1.8075785e-20,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54779,"Mech_RPM":-3.61515692e-21,"cg_du":50.1403008,"cg_dv":50.2008095,"cg_dw":49.7991905,"cg_id_a":0.00692246482,"cg_id_raw_a":-0.125280246,"cg_iq_a":-0.727101922,"cg_iq_raw_a":0.170596138,"cg_iu_a":0.582434654,"cg_iv_a":0.431592226,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.8600006,"cg_sample_seq":14326616,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0853234753,"cg_vd_v":0.0853234753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351649553,"cg_vq_v":-0.351649553,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.4251728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.085205,"values":{"Elec_RPM":-1.8075785e-20,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54781,"Mech_RPM":-3.61515692e-21,"cg_du":50.1321831,"cg_dv":50.1987801,"cg_dw":49.8012199,"cg_id_a":-0.166971862,"cg_id_raw_a":-0.702511013,"cg_iq_a":-0.907737494,"cg_iq_raw_a":-1.45169306,"cg_iu_a":0.509947062,"cg_iv_a":0.359104633,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8527279,"cg_sample_seq":14326666,"cg_sample_valid":1,"cg_theta_rad":5.007061,"cg_vd_req_v":0.0895711184,"cg_vd_v":0.0895711184,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344368964,"cg_vq_v":-0.344368964,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.4251728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5930786,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.093018,"values":{"Elec_RPM":-1.77142683e-20,"EncoderCos":38719,"EncoderSin":12439,"GapTicks":54778,"Mech_RPM":-3.54285374e-21,"cg_du":50.1358147,"cg_dv":50.2016716,"cg_dw":49.7983284,"cg_id_a":-0.239210054,"cg_id_raw_a":0.0192826204,"cg_iq_a":-0.421503544,"cg_iq_raw_a":0.403412133,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8600006,"cg_sample_seq":14326717,"cg_sample_valid":1,"cg_theta_rad":5.00841618,"cg_vd_req_v":0.0903680101,"cg_vd_v":0.0903680101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350122839,"cg_vq_v":-0.350122839,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.104736,"values":{"Elec_RPM":-1.77142683e-20,"EncoderCos":38714,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-3.54285374e-21,"cg_du":50.1429253,"cg_dv":50.2054024,"cg_dw":49.7945976,"cg_id_a":-0.140990362,"cg_id_raw_a":-0.18131195,"cg_iq_a":0.178610206,"cg_iq_raw_a":0.310662299,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8600006,"cg_sample_seq":14326766,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0882485658,"cg_vd_v":0.0882485658,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360395402,"cg_vq_v":-0.360395402,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.5262222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.112549,"values":{"Elec_RPM":-1.7359983e-20,"EncoderCos":38710,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-3.47199651e-21,"cg_du":50.1535454,"cg_dv":50.2099571,"cg_dw":49.7900429,"cg_id_a":0.129359797,"cg_id_raw_a":0.832722366,"cg_iq_a":0.733059287,"cg_iq_raw_a":1.32178402,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.8563633,"cg_sample_seq":14326817,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0844819248,"cg_vd_v":0.0844819248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372556537,"cg_vq_v":-0.372556537,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.6324863,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7655029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.120361,"values":{"Elec_RPM":-1.7359983e-20,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54786,"Mech_RPM":-3.47199651e-21,"cg_du":50.1319847,"cg_dv":50.1945381,"cg_dw":49.8054619,"cg_id_a":0.0930023417,"cg_id_raw_a":0.762432933,"cg_iq_a":-0.946234882,"cg_iq_raw_a":0.549488425,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9472733,"cg_sample_seq":14326866,"cg_sample_valid":1,"cg_theta_rad":5.00805235,"cg_vd_req_v":0.0861739218,"cg_vd_v":0.0861739218,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339443445,"cg_vq_v":-0.339443445,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.147705,"values":{"Elec_RPM":-1.7012782e-20,"EncoderCos":38712,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-3.40255656e-21,"cg_du":50.134964,"cg_dv":50.2041588,"cg_dw":49.7958412,"cg_id_a":-0.159507394,"cg_id_raw_a":0.11823938,"cg_iq_a":-0.359124362,"cg_iq_raw_a":-0.169764176,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":26.8199997,"cg_sample_seq":14326920,"cg_sample_valid":1,"cg_theta_rad":5.0072031,"cg_vd_req_v":0.0924730971,"cg_vd_v":0.0924730971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353283137,"cg_vq_v":-0.353283137,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-36.048851,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11672236,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.159424,"values":{"Elec_RPM":-1.7012782e-20,"EncoderCos":38708,"EncoderSin":12511,"GapTicks":54768,"Mech_RPM":-3.40255656e-21,"cg_du":50.154953,"cg_dv":50.2104111,"cg_dw":49.7895889,"cg_id_a":0.188993901,"cg_id_raw_a":-0.0938014165,"cg_iq_a":0.666044831,"cg_iq_raw_a":0.0644742027,"cg_iu_a":-1.62843895,"cg_iv_a":0.141641617,"cg_iw_a":1.48679733,"cg_sample_age_us":23.9581814,"cg_sample_seq":14326966,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0829904079,"cg_vd_v":0.0829904079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372963697,"cg_vq_v":-0.372963697,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.167236,"values":{"Elec_RPM":-1.66725264e-20,"EncoderCos":38735,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-3.3345054e-21,"cg_du":50.1374092,"cg_dv":50.2023773,"cg_dw":49.7976227,"cg_id_a":-0.0299256742,"cg_id_raw_a":-0.191613019,"cg_iq_a":-0.165692851,"cg_iq_raw_a":-0.23546432,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8527279,"cg_sample_seq":14327016,"cg_sample_valid":1,"cg_theta_rad":5.00811005,"cg_vd_req_v":0.0873901248,"cg_vd_v":0.0873901248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352587223,"cg_vq_v":-0.352587223,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7462158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.175049,"values":{"Elec_RPM":-1.66725264e-20,"EncoderCos":38688,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-3.3345054e-21,"cg_du":50.1440163,"cg_dv":50.1978111,"cg_dw":49.8021889,"cg_id_a":0.283627719,"cg_id_raw_a":-0.461320728,"cg_iq_a":-0.265665114,"cg_iq_raw_a":-0.0473720022,"cg_iu_a":-0.287417173,"cg_iv_a":0.975249767,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9509087,"cg_sample_seq":14327066,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.0819071531,"cg_vd_v":0.0819071531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350225687,"cg_vq_v":-0.350225687,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7462158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.182861,"values":{"Elec_RPM":-1.63390773e-20,"EncoderCos":38735,"EncoderSin":12495,"GapTicks":54777,"Mech_RPM":-3.26781538e-21,"cg_du":50.1447258,"cg_dv":50.2025452,"cg_dw":49.7974548,"cg_id_a":0.352483749,"cg_id_raw_a":0.179753706,"cg_iq_a":-0.0476996899,"cg_iq_raw_a":0.745425522,"cg_iu_a":-0.541124105,"cg_iv_a":0.57656765,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.863636,"cg_sample_seq":14327117,"cg_sample_valid":1,"cg_theta_rad":5.00854111,"cg_vd_req_v":0.0818175077,"cg_vd_v":0.0818175077,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358033568,"cg_vq_v":-0.358033568,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.190674,"values":{"Elec_RPM":-1.63390773e-20,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.26781538e-21,"cg_du":50.1365166,"cg_dv":50.2024689,"cg_dw":49.7975311,"cg_id_a":0.103664778,"cg_id_raw_a":-6.80156227e-05,"cg_iq_a":-0.4638502,"cg_iq_raw_a":-0.691007614,"cg_iu_a":-0.0699541569,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8709087,"cg_sample_seq":14327167,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0886082053,"cg_vd_v":0.0886082053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353244483,"cg_vq_v":-0.353244483,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.6178894,"temp_inv2_c":37.7735596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.202393,"values":{"Elec_RPM":-1.60122957e-20,"EncoderCos":38727,"EncoderSin":12502,"GapTicks":54771,"Mech_RPM":-3.20245902e-21,"cg_du":50.1335144,"cg_dv":50.207695,"cg_dw":49.792305,"cg_id_a":-0.414868355,"cg_id_raw_a":0.0731072575,"cg_iq_a":0.017901402,"cg_iq_raw_a":0.0804786682,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.863636,"cg_sample_seq":14327217,"cg_sample_valid":1,"cg_theta_rad":5.00858641,"cg_vd_req_v":0.0958494172,"cg_vd_v":0.0958494172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357598454,"cg_vq_v":-0.357598454,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7719421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.210205,"values":{"Elec_RPM":-1.60122957e-20,"EncoderCos":38706,"EncoderSin":12482,"GapTicks":54784,"Mech_RPM":-3.20245902e-21,"cg_du":50.1403122,"cg_dv":50.1956291,"cg_dw":49.8043709,"cg_id_a":0.391010344,"cg_id_raw_a":0.360284328,"cg_iq_a":-0.553419828,"cg_iq_raw_a":-0.691615105,"cg_iu_a":0.256240368,"cg_iv_a":-0.72821033,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9618187,"cg_sample_seq":14327266,"cg_sample_valid":1,"cg_theta_rad":5.00821829,"cg_vd_req_v":0.0809503719,"cg_vd_v":0.0809503719,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344460338,"cg_vq_v":-0.344460338,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.4803638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.218018,"values":{"Elec_RPM":-1.56920492e-20,"EncoderCos":38656,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-3.13840988e-21,"cg_du":50.1426506,"cg_dv":50.2040482,"cg_dw":49.7959518,"cg_id_a":-0.279414028,"cg_id_raw_a":-0.710486233,"cg_iq_a":-0.0837851465,"cg_iq_raw_a":-0.0788750499,"cg_iu_a":0.111264944,"cg_iv_a":0.540323794,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9654541,"cg_sample_seq":14327317,"cg_sample_valid":1,"cg_theta_rad":5.00713539,"cg_vd_req_v":0.0915667266,"cg_vd_v":0.0915667266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356140316,"cg_vq_v":-0.356140316,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":25.9558182,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.22583,"values":{"Elec_RPM":-1.56920492e-20,"EncoderCos":38734,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-3.13840988e-21,"cg_du":50.146347,"cg_dv":50.2112465,"cg_dw":49.7887535,"cg_id_a":-0.129086792,"cg_id_raw_a":-0.373458087,"cg_iq_a":0.507527292,"cg_iq_raw_a":0.584645271,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9509087,"cg_sample_seq":14327367,"cg_sample_valid":1,"cg_theta_rad":5.0082798,"cg_vd_req_v":0.0891134739,"cg_vd_v":0.0891134739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369624108,"cg_vq_v":-0.369624108,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6291828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7703247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.253174,"values":{"Elec_RPM":-1.53782085e-20,"EncoderCos":38791,"EncoderSin":12506,"GapTicks":54769,"Mech_RPM":-3.07564169e-21,"cg_du":50.1273422,"cg_dv":50.2091141,"cg_dw":49.7908859,"cg_id_a":-0.529028714,"cg_id_raw_a":-0.367508918,"cg_iq_a":-0.0564513132,"cg_iq_raw_a":-0.173658684,"cg_iu_a":0.401215553,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.863636,"cg_sample_seq":14327420,"cg_sample_valid":1,"cg_theta_rad":5.00798702,"cg_vd_req_v":0.0970803127,"cg_vd_v":0.0970803127,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358646482,"cg_vq_v":-0.358646482,"cg_vu_v":24.1940918,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.7595215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.260986,"values":{"Elec_RPM":-1.53782085e-20,"EncoderCos":38704,"EncoderSin":12519,"GapTicks":54773,"Mech_RPM":-3.07564169e-21,"cg_du":50.1401672,"cg_dv":50.206131,"cg_dw":49.793869,"cg_id_a":-0.151596025,"cg_id_raw_a":-0.210917175,"cg_iq_a":0.0496855006,"cg_iq_raw_a":-0.4568865,"cg_iu_a":-0.432392597,"cg_iv_a":-0.25704062,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9690914,"cg_sample_seq":14327466,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0908361226,"cg_vd_v":0.0908361226,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359907359,"cg_vq_v":-0.359907359,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7671509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.272705,"values":{"Elec_RPM":-1.50706443e-20,"EncoderCos":38712,"EncoderSin":12486,"GapTicks":54778,"Mech_RPM":-3.01412882e-21,"cg_du":50.1501007,"cg_dv":50.2017746,"cg_dw":49.7982254,"cg_id_a":0.376812369,"cg_id_raw_a":-0.32953769,"cg_iq_a":-0.0673218817,"cg_iq_raw_a":-0.104493491,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9654541,"cg_sample_seq":14327518,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0786916539,"cg_vd_v":0.0786916539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358439773,"cg_vq_v":-0.358439773,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.763916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.280518,"values":{"Elec_RPM":-1.50706443e-20,"EncoderCos":38713,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-3.01412882e-21,"cg_du":50.1397858,"cg_dv":50.2041435,"cg_dw":49.7958565,"cg_id_a":-0.097025834,"cg_id_raw_a":0.366872966,"cg_iq_a":-0.0530991629,"cg_iq_raw_a":-0.764047086,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397701,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9581814,"cg_sample_seq":14327566,"cg_sample_valid":1,"cg_theta_rad":5.00805616,"cg_vd_req_v":0.0893734694,"cg_vd_v":0.0893734694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355788916,"cg_vq_v":-0.355788916,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.763916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.28833,"values":{"Elec_RPM":-1.47692307e-20,"EncoderCos":38713,"EncoderSin":12508,"GapTicks":54777,"Mech_RPM":-2.95384622e-21,"cg_du":50.1400185,"cg_dv":50.2021446,"cg_dw":49.7978554,"cg_id_a":0.109554902,"cg_id_raw_a":0.0312276557,"cg_iq_a":-0.0343799442,"cg_iq_raw_a":0.0766513348,"cg_iu_a":0.292484045,"cg_iv_a":0.395348489,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9618187,"cg_sample_seq":14327616,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.0863428041,"cg_vd_v":0.0863428041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353429765,"cg_vq_v":-0.353429765,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.1158676,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7799988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.296143,"values":{"Elec_RPM":-1.47692307e-20,"EncoderCos":38716,"EncoderSin":12454,"GapTicks":54784,"Mech_RPM":-2.95384622e-21,"cg_du":50.1389008,"cg_dv":50.1959267,"cg_dw":49.8040733,"cg_id_a":0.159926787,"cg_id_raw_a":0.0541395135,"cg_iq_a":-0.429625154,"cg_iq_raw_a":-0.576574922,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9581814,"cg_sample_seq":14327666,"cg_sample_valid":1,"cg_theta_rad":5.00700617,"cg_vd_req_v":0.0824775472,"cg_vd_v":0.0824775472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345143408,"cg_vq_v":-0.345143408,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.387748241,"dclink_p_w":56.1167297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7590942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.307861,"values":{"Elec_RPM":-1.44738464e-20,"EncoderCos":38740,"EncoderSin":12511,"GapTicks":54786,"Mech_RPM":-2.89476924e-21,"cg_du":50.1341171,"cg_dv":50.1938972,"cg_dw":49.8061028,"cg_id_a":0.0797629431,"cg_id_raw_a":0.188794047,"cg_iq_a":-0.446688503,"cg_iq_raw_a":-0.964710355,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8563633,"cg_sample_seq":14327766,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0829310417,"cg_vd_v":0.0829310417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342426062,"cg_vq_v":-0.342426062,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.387748241,"dclink_p_w":56.1167297,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7607117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.315674,"values":{"Elec_RPM":-1.41843687e-20,"EncoderCos":38708,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-2.83687387e-21,"cg_du":50.1374435,"cg_dv":50.1945267,"cg_dw":49.8054733,"cg_id_a":0.0880265459,"cg_id_raw_a":-0.210515276,"cg_iq_a":-0.39207086,"cg_iq_raw_a":-0.4570719,"cg_iu_a":-0.251173496,"cg_iv_a":0.322860837,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14327817,"cg_sample_valid":1,"cg_theta_rad":5.00661135,"cg_vd_req_v":0.0817104802,"cg_vd_v":0.0817104802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341446251,"cg_vq_v":-0.341446251,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.5503693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7462158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.323486,"values":{"Elec_RPM":-1.41843687e-20,"EncoderCos":38728,"EncoderSin":12465,"GapTicks":54780,"Mech_RPM":-2.83687387e-21,"cg_du":50.1362343,"cg_dv":50.1995773,"cg_dw":49.8004227,"cg_id_a":-0.161642835,"cg_id_raw_a":-0.364449948,"cg_iq_a":-0.0605401769,"cg_iq_raw_a":-0.616870999,"cg_iu_a":0.292484283,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.8600006,"cg_sample_seq":14327867,"cg_sample_valid":1,"cg_theta_rad":5.00621319,"cg_vd_req_v":0.0864032209,"cg_vd_v":0.0864032209,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346799463,"cg_vq_v":-0.346799463,"cg_vu_v":138.126266,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.5503693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7462158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2592.35083,"values":{"Elec_RPM":-1.3900683e-20,"EncoderCos":38749,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-2.78013647e-21,"cg_du":50.1389618,"cg_dv":50.2008514,"cg_dw":49.7991486,"cg_id_a":-0.0191027373,"cg_id_raw_a":0.14495486,"cg_iq_a":0.100681044,"cg_iq_raw_a":-0.713950276,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662645,"cg_sample_age_us":25.449091,"cg_sample_seq":14327920,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0836004317,"cg_vd_v":0.0836004317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351638854,"cg_vq_v":-0.351638854,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7574768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.358643,"values":{"Elec_RPM":-1.3900683e-20,"EncoderCos":38716,"EncoderSin":12486,"GapTicks":54780,"Mech_RPM":-2.78013647e-21,"cg_du":50.1417961,"cg_dv":50.1994209,"cg_dw":49.8005791,"cg_id_a":-0.0170522705,"cg_id_raw_a":-0.176514223,"cg_iq_a":0.217869282,"cg_iq_raw_a":-0.380580068,"cg_iu_a":0.183752775,"cg_iv_a":0.322860837,"cg_iw_a":-0.506613612,"cg_sample_age_us":23.9327278,"cg_sample_seq":14327966,"cg_sample_valid":1,"cg_theta_rad":5.0058136,"cg_vd_req_v":0.0825949833,"cg_vd_v":0.0825949833,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350651026,"cg_vq_v":-0.350651026,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9089718,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7574768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.366455,"values":{"Elec_RPM":-1.36226695e-20,"EncoderCos":38725,"EncoderSin":12477,"GapTicks":54776,"Mech_RPM":-2.72453382e-21,"cg_du":50.1340179,"cg_dv":50.2027588,"cg_dw":49.7972412,"cg_id_a":-0.392546326,"cg_id_raw_a":0.00348875043,"cg_iq_a":0.261839539,"cg_iq_raw_a":-0.0716825426,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14328016,"cg_sample_valid":1,"cg_theta_rad":5.00655127,"cg_vd_req_v":0.0917212963,"cg_vd_v":0.0917212963,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352021277,"cg_vq_v":-0.352021277,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.35703182,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7703247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.378174,"values":{"Elec_RPM":-1.36226695e-20,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-2.72453382e-21,"cg_du":50.1425667,"cg_dv":50.2010498,"cg_dw":49.7989502,"cg_id_a":-0.0782715082,"cg_id_raw_a":-0.0889093727,"cg_iq_a":0.320727289,"cg_iq_raw_a":-0.809801698,"cg_iu_a":-0.541123867,"cg_iv_a":-0.510747313,"cg_iw_a":1.05187118,"cg_sample_age_us":23.8527279,"cg_sample_seq":14328066,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.0854494423,"cg_vd_v":0.0854494423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353983462,"cg_vq_v":-0.353983462,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.35703182,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7687378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.385986,"values":{"Elec_RPM":-1.33502153e-20,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-2.67004309e-21,"cg_du":50.1435165,"cg_dv":50.1932182,"cg_dw":49.8067818,"cg_id_a":0.464549124,"cg_id_raw_a":-0.229039982,"cg_iq_a":-0.198325232,"cg_iq_raw_a":-0.0578820221,"cg_iu_a":0.111264944,"cg_iv_a":0.830274463,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9472733,"cg_sample_seq":14328167,"cg_sample_valid":1,"cg_theta_rad":5.00683546,"cg_vd_req_v":0.0748682171,"cg_vd_v":0.0748682171,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342166275,"cg_vq_v":-0.342166275,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0470561981,"dclink_p_w":6.81019211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7574768,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2592.393799,"values":{"Elec_RPM":-1.30832112e-20,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-2.61664228e-21,"cg_du":50.1336021,"cg_dv":50.1946182,"cg_dw":49.8053818,"cg_id_a":-0.0433582701,"cg_id_raw_a":0.059511777,"cg_iq_a":-0.394858718,"cg_iq_raw_a":-0.831034541,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.954546,"cg_sample_seq":14328217,"cg_sample_valid":1,"cg_theta_rad":5.0073638,"cg_vd_req_v":0.0852512717,"cg_vd_v":0.0852512717,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338206738,"cg_vq_v":-0.338206738,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0470561981,"dclink_p_w":6.81019211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.763916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2592.401611,"values":{"Elec_RPM":-1.30832112e-20,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54776,"Mech_RPM":-2.61664228e-21,"cg_du":50.1327209,"cg_dv":50.2032661,"cg_dw":49.7967339,"cg_id_a":-0.454048872,"cg_id_raw_a":0.131643906,"cg_iq_a":0.14786011,"cg_iq_raw_a":0.123052463,"cg_iu_a":0.509947062,"cg_iv_a":-0.148309112,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9872723,"cg_sample_seq":14328267,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0935454667,"cg_vd_v":0.0935454667,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349615961,"cg_vq_v":-0.349615961,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9264984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.763916,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2592.409424,"values":{"Elec_RPM":-1.28215467e-20,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-2.56430938e-21,"cg_du":50.1418953,"cg_dv":50.1899605,"cg_dw":49.8100395,"cg_id_a":0.446872175,"cg_id_raw_a":0.191662878,"cg_iq_a":-0.411938488,"cg_iq_raw_a":-0.271614432,"cg_iu_a":0.582434893,"cg_iv_a":0.794030666,"cg_iw_a":-1.37646556,"cg_sample_age_us":23.9581814,"cg_sample_seq":14328317,"cg_sample_valid":1,"cg_theta_rad":5.0078187,"cg_vd_req_v":0.0737405866,"cg_vd_v":0.0737405866,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337754816,"cg_vq_v":-0.337754816,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.362499118,"dclink_p_w":-52.4625587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7687378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.421143,"values":{"Elec_RPM":-1.28215467e-20,"EncoderCos":38707,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-2.56430938e-21,"cg_du":50.1441536,"cg_dv":50.2033463,"cg_dw":49.7966537,"cg_id_a":-0.0994492099,"cg_id_raw_a":0.158513397,"cg_iq_a":0.401458263,"cg_iq_raw_a":0.271754593,"cg_iu_a":-0.39614892,"cg_iv_a":-0.112065196,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9836369,"cg_sample_seq":14328367,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0856587291,"cg_vd_v":0.0856587291,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357046932,"cg_vq_v":-0.357046932,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.4147072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7687378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.448486,"values":{"Elec_RPM":-1.25651158e-20,"EncoderCos":38735,"EncoderSin":12460,"GapTicks":54782,"Mech_RPM":-2.51302317e-21,"cg_du":50.1400528,"cg_dv":50.1973381,"cg_dw":49.8026619,"cg_id_a":0.0625600815,"cg_id_raw_a":-0.177475378,"cg_iq_a":-0.13889572,"cg_iq_raw_a":-0.380132884,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482608,"cg_sample_age_us":23.863636,"cg_sample_seq":14328422,"cg_sample_valid":1,"cg_theta_rad":5.00768328,"cg_vd_req_v":0.0810591727,"cg_vd_v":0.0810591727,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347047895,"cg_vq_v":-0.347047895,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.456299,"values":{"Elec_RPM":-1.25651158e-20,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-2.51302317e-21,"cg_du":50.1397018,"cg_dv":50.2003059,"cg_dw":49.7996941,"cg_id_a":-0.189700216,"cg_id_raw_a":0.112397946,"cg_iq_a":0.16266045,"cg_iq_raw_a":-0.971459985,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641557,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9727268,"cg_sample_seq":14328466,"cg_sample_valid":1,"cg_theta_rad":5.00585938,"cg_vd_req_v":0.0850907043,"cg_vd_v":0.0850907043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350682199,"cg_vq_v":-0.350682199,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.752120256,"dclink_p_w":-108.850342,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.464111,"values":{"Elec_RPM":-1.23138129e-20,"EncoderCos":38724,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-2.46276266e-21,"cg_du":50.1332817,"cg_dv":50.1975784,"cg_dw":49.8024216,"cg_id_a":-0.222566813,"cg_id_raw_a":0.0382080227,"cg_iq_a":-0.112673566,"cg_iq_raw_a":0.00449685054,"cg_iu_a":-0.287417173,"cg_iv_a":-0.220796704,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9799995,"cg_sample_seq":14328516,"cg_sample_valid":1,"cg_theta_rad":5.00656652,"cg_vd_req_v":0.0871689096,"cg_vd_v":0.0871689096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343447238,"cg_vq_v":-0.343447238,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7622986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.47583,"values":{"Elec_RPM":-1.23138129e-20,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-2.46276266e-21,"cg_du":50.1363945,"cg_dv":50.2037201,"cg_dw":49.7962799,"cg_id_a":-0.207081139,"cg_id_raw_a":-0.89954114,"cg_iq_a":0.536446273,"cg_iq_raw_a":1.26333523,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772069,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8818188,"cg_sample_seq":14328566,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0896890163,"cg_vd_v":0.0896890163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353801876,"cg_vq_v":-0.353801876,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-1.13086843,"dclink_p_w":-163.664551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.483643,"values":{"Elec_RPM":-1.20675376e-20,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-2.41350744e-21,"cg_du":50.131218,"cg_dv":50.1941261,"cg_dw":49.8058739,"cg_id_a":0.114914097,"cg_id_raw_a":0.0490746275,"cg_iq_a":-0.37052229,"cg_iq_raw_a":0.114524737,"cg_iu_a":0.437459469,"cg_iv_a":0.322860718,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9836369,"cg_sample_seq":14328616,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0839691237,"cg_vd_v":0.0839691237,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337967932,"cg_vq_v":-0.337967932,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-1.13086843,"dclink_p_w":-163.664551,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.491455,"values":{"Elec_RPM":-1.20675376e-20,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54783,"Mech_RPM":-2.41350744e-21,"cg_du":50.1414108,"cg_dv":50.1970558,"cg_dw":49.8029442,"cg_id_a":0.248255327,"cg_id_raw_a":-0.0766464993,"cg_iq_a":0.0707985461,"cg_iq_raw_a":0.102470338,"cg_iu_a":-0.106198072,"cg_iv_a":0.757786751,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9836369,"cg_sample_seq":14328666,"cg_sample_valid":1,"cg_theta_rad":5.00746965,"cg_vd_req_v":0.081379123,"cg_vd_v":0.081379123,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348151714,"cg_vq_v":-0.348151714,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-1.42806768,"dclink_p_w":-207.30481,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.499268,"values":{"Elec_RPM":-1.18261867e-20,"EncoderCos":38697,"EncoderSin":12476,"GapTicks":54782,"Mech_RPM":-2.36523734e-21,"cg_du":50.1311035,"cg_dv":50.197464,"cg_dw":49.802536,"cg_id_a":-0.207911849,"cg_id_raw_a":-0.154715061,"cg_iq_a":-0.210494339,"cg_iq_raw_a":-0.780194402,"cg_iu_a":0.219996452,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14328716,"cg_sample_valid":1,"cg_theta_rad":5.00764418,"cg_vd_req_v":0.0910721123,"cg_vd_v":0.0910721123,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342576534,"cg_vq_v":-0.342576534,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-1.36826539,"dclink_p_w":-198.021744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7494507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.50708,"values":{"Elec_RPM":-1.18261867e-20,"EncoderCos":38722,"EncoderSin":12501,"GapTicks":54774,"Mech_RPM":-2.36523734e-21,"cg_du":50.1363335,"cg_dv":50.2049522,"cg_dw":49.7950478,"cg_id_a":-0.309270024,"cg_id_raw_a":0.32985267,"cg_iq_a":0.424746275,"cg_iq_raw_a":0.0321923904,"cg_iu_a":0.43745935,"cg_iv_a":0.0691539645,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9836369,"cg_sample_seq":14328766,"cg_sample_valid":1,"cg_theta_rad":5.00651932,"cg_vd_req_v":0.0914090127,"cg_vd_v":0.0914090127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35532701,"cg_vq_v":-0.35532701,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-1.37913847,"dclink_p_w":-199.595337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7494507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.514893,"values":{"Elec_RPM":-1.15896631e-20,"EncoderCos":38729,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-2.31793254e-21,"cg_du":50.1331673,"cg_dv":50.1982574,"cg_dw":49.8017426,"cg_id_a":-0.301288038,"cg_id_raw_a":-0.234440893,"cg_iq_a":-0.0187002085,"cg_iq_raw_a":-1.11351991,"cg_iu_a":0.038777113,"cg_iv_a":-0.148308992,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9763641,"cg_sample_seq":14328816,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0871926025,"cg_vd_v":0.0871926025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344491124,"cg_vq_v":-0.344491124,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-1.38276291,"dclink_p_w":-199.511612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7398071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.522705,"values":{"Elec_RPM":-1.15896631e-20,"EncoderCos":38743,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-2.31793254e-21,"cg_du":50.1420898,"cg_dv":50.2044525,"cg_dw":49.7955475,"cg_id_a":-0.169404447,"cg_id_raw_a":-0.778607488,"cg_iq_a":0.611782134,"cg_iq_raw_a":0.656801939,"cg_iu_a":0.038777113,"cg_iv_a":-0.510747433,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9618187,"cg_sample_seq":14328866,"cg_sample_valid":1,"cg_theta_rad":5.00910616,"cg_vd_req_v":0.0854279548,"cg_vd_v":0.0854279548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35809657,"cg_vq_v":-0.35809657,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-1.2613461,"dclink_p_w":-182.547882,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.553955,"values":{"Elec_RPM":-1.13578692e-20,"EncoderCos":38761,"EncoderSin":12492,"GapTicks":54781,"Mech_RPM":-2.27157387e-21,"cg_du":50.1267891,"cg_dv":50.1989212,"cg_dw":49.8010788,"cg_id_a":-0.43646428,"cg_id_raw_a":-0.283513904,"cg_iq_a":-0.330425084,"cg_iq_raw_a":-1.36988723,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528213,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14328921,"cg_sample_valid":1,"cg_theta_rad":5.00820065,"cg_vd_req_v":0.0902436078,"cg_vd_v":0.0902436078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342527717,"cg_vq_v":-0.342527717,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-1.2613461,"dclink_p_w":-182.547882,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.561768,"values":{"Elec_RPM":-1.1130712e-20,"EncoderCos":38701,"EncoderSin":12476,"GapTicks":54787,"Mech_RPM":-2.22614235e-21,"cg_du":50.1373787,"cg_dv":50.1927299,"cg_dw":49.8072701,"cg_id_a":-0.0080833286,"cg_id_raw_a":-0.0279367287,"cg_iq_a":-0.801495314,"cg_iq_raw_a":0.0343936458,"cg_iu_a":0.147508621,"cg_iv_a":1.26520038,"cg_iw_a":-1.412709,"cg_sample_age_us":23.9872723,"cg_sample_seq":14329066,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.080947049,"cg_vd_v":0.080947049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338749081,"cg_vq_v":-0.338749081,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.946024656,"dclink_p_w":-137.329239,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7655029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.56958,"values":{"Elec_RPM":-1.09080978e-20,"EncoderCos":38718,"EncoderSin":12524,"GapTicks":54765,"Mech_RPM":-2.1816196e-21,"cg_du":50.1527367,"cg_dv":50.2132683,"cg_dw":49.7867317,"cg_id_a":-0.277751625,"cg_id_raw_a":0.0147334915,"cg_iq_a":0.683996201,"cg_iq_raw_a":0.475463659,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9727268,"cg_sample_seq":14329118,"cg_sample_valid":1,"cg_theta_rad":5.00895357,"cg_vd_req_v":0.0863168314,"cg_vd_v":0.0863168314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375884533,"cg_vq_v":-0.375884533,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7590942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.577393,"values":{"Elec_RPM":-1.09080978e-20,"EncoderCos":38693,"EncoderSin":12494,"GapTicks":54769,"Mech_RPM":-2.1816196e-21,"cg_du":50.1575012,"cg_dv":50.2091484,"cg_dw":49.7908516,"cg_id_a":-0.0109941512,"cg_id_raw_a":-0.0819738209,"cg_iq_a":0.582875013,"cg_iq_raw_a":0.356748134,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14329166,"cg_sample_valid":1,"cg_theta_rad":5.00584698,"cg_vd_req_v":0.0814700723,"cg_vd_v":0.0814700723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372312099,"cg_vq_v":-0.372312099,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7590942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.589111,"values":{"Elec_RPM":-1.06899362e-20,"EncoderCos":38713,"EncoderSin":12484,"GapTicks":54775,"Mech_RPM":-2.13798723e-21,"cg_du":50.1498222,"cg_dv":50.2038269,"cg_dw":49.7961731,"cg_id_a":-0.0906119943,"cg_id_raw_a":0.369264811,"cg_iq_a":0.0275619142,"cg_iq_raw_a":-0.581978619,"cg_iu_a":0.183752775,"cg_iv_a":-0.474503517,"cg_iw_a":0.290750742,"cg_sample_age_us":23.9799995,"cg_sample_seq":14329216,"cg_sample_valid":1,"cg_theta_rad":5.00692987,"cg_vd_req_v":0.0808766931,"cg_vd_v":0.0808766931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361078739,"cg_vq_v":-0.361078739,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7478638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119290456,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.596924,"values":{"Elec_RPM":-1.06899362e-20,"EncoderCos":38702,"EncoderSin":12506,"GapTicks":54775,"Mech_RPM":-2.13798723e-21,"cg_du":50.153759,"cg_dv":50.2044334,"cg_dw":49.7955666,"cg_id_a":0.0849447697,"cg_id_raw_a":0.849732935,"cg_iq_a":0.0638615787,"cg_iq_raw_a":1.36006284,"cg_iu_a":0.61867857,"cg_iv_a":0.0691539049,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8563633,"cg_sample_seq":14329267,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0789796039,"cg_vd_v":0.0789796039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365142524,"cg_vq_v":-0.365142524,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.604736,"values":{"Elec_RPM":-1.04761374e-20,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54754,"Mech_RPM":-2.09522749e-21,"cg_du":50.1748657,"cg_dv":50.2230034,"cg_dw":49.7769966,"cg_id_a":0.0788600221,"cg_id_raw_a":-0.093017146,"cg_iq_a":1.72855878,"cg_iq_raw_a":0.68356204,"cg_iu_a":-0.251173496,"cg_iv_a":-0.836941957,"cg_iw_a":1.08811545,"cg_sample_age_us":23.863636,"cg_sample_seq":14329317,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.0809075087,"cg_vd_v":0.0809075087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402270705,"cg_vq_v":-0.402270705,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.612549,"values":{"Elec_RPM":-1.04761374e-20,"EncoderCos":38741,"EncoderSin":12490,"GapTicks":54769,"Mech_RPM":-2.09522749e-21,"cg_du":50.1595306,"cg_dv":50.2099113,"cg_dw":49.7900887,"cg_id_a":0.250530154,"cg_id_raw_a":-0.0936872959,"cg_iq_a":0.44278419,"cg_iq_raw_a":0.756529689,"cg_iu_a":-1.62843895,"cg_iv_a":0.0691539049,"cg_iw_a":1.55928504,"cg_sample_age_us":23.9909096,"cg_sample_seq":14329367,"cg_sample_valid":1,"cg_theta_rad":5.00740385,"cg_vd_req_v":0.0768758282,"cg_vd_v":0.0768758282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376471311,"cg_vq_v":-0.376471311,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.643799,"values":{"Elec_RPM":-1.02666152e-20,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-2.053323e-21,"cg_du":50.148037,"cg_dv":50.1956978,"cg_dw":49.8043022,"cg_id_a":0.252084464,"cg_id_raw_a":0.131397903,"cg_iq_a":-0.885332465,"cg_iq_raw_a":0.123315111,"cg_iu_a":-1.62843895,"cg_iv_a":0.866518319,"cg_iw_a":0.761920631,"cg_sample_age_us":23.863636,"cg_sample_seq":14329420,"cg_sample_valid":1,"cg_theta_rad":5.00688457,"cg_vd_req_v":0.075149402,"cg_vd_v":0.075149402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348862708,"cg_vq_v":-0.348862708,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.574379,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7478638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.651611,"values":{"Elec_RPM":-1.02666152e-20,"EncoderCos":38704,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-2.053323e-21,"cg_du":50.1544647,"cg_dv":50.2009926,"cg_dw":49.7990074,"cg_id_a":0.123922251,"cg_id_raw_a":0.329692364,"cg_iq_a":-0.178027004,"cg_iq_raw_a":0.0337929763,"cg_iu_a":0.147508621,"cg_iv_a":0.032910049,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.9836369,"cg_sample_seq":14329466,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0750627443,"cg_vd_v":0.0750627443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359714448,"cg_vq_v":-0.359714448,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.574379,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7478638,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.659424,"values":{"Elec_RPM":-1.00612829e-20,"EncoderCos":38683,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-2.01225659e-21,"cg_du":50.1585999,"cg_dv":50.1946907,"cg_dw":49.8053093,"cg_id_a":0.367483824,"cg_id_raw_a":0.312498659,"cg_iq_a":-0.428291857,"cg_iq_raw_a":-0.00264517101,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9509087,"cg_sample_seq":14329516,"cg_sample_valid":1,"cg_theta_rad":5.00811291,"cg_vd_req_v":0.0676065534,"cg_vd_v":0.0676065534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353127748,"cg_vq_v":-0.353127748,"cg_vu_v":25.953661,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.743042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.667236,"values":{"Elec_RPM":-1.00612829e-20,"EncoderCos":38726,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-2.01225659e-21,"cg_du":50.1423798,"cg_dv":50.1992531,"cg_dw":49.8007469,"cg_id_a":-0.336948544,"cg_id_raw_a":-0.0172595363,"cg_iq_a":-0.498839557,"cg_iq_raw_a":-0.72909075,"cg_iu_a":0.292484283,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9618187,"cg_sample_seq":14329566,"cg_sample_valid":1,"cg_theta_rad":5.00549984,"cg_vd_req_v":0.0817866996,"cg_vd_v":0.0817866996,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351916254,"cg_vq_v":-0.351916254,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.743042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.675049,"values":{"Elec_RPM":-9.86005753e-21,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-1.97201151e-21,"cg_du":50.1509819,"cg_dv":50.199585,"cg_dw":49.800415,"cg_id_a":-0.0173535869,"cg_id_raw_a":0.600287855,"cg_iq_a":-0.183273152,"cg_iq_raw_a":-0.597117484,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14329616,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.075110577,"cg_vd_v":0.075110577,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357255727,"cg_vq_v":-0.357255727,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.24651885,"dclink_p_w":-35.6773567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.743042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.682861,"values":{"Elec_RPM":-9.86005753e-21,"EncoderCos":38717,"EncoderSin":12496,"GapTicks":54780,"Mech_RPM":-1.97201151e-21,"cg_du":50.1531258,"cg_dv":50.1998291,"cg_dw":49.8001709,"cg_id_a":0.0801145434,"cg_id_raw_a":-0.0518925041,"cg_iq_a":-0.101597443,"cg_iq_raw_a":-0.368338972,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.863636,"cg_sample_seq":14329666,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0739979744,"cg_vd_v":0.0739979744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358723104,"cg_vq_v":-0.358723104,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.690674,"values":{"Elec_RPM":-9.66285573e-21,"EncoderCos":38680,"EncoderSin":12522,"GapTicks":54780,"Mech_RPM":-1.93257119e-21,"cg_du":50.1628113,"cg_dv":50.1993484,"cg_dw":49.8006516,"cg_id_a":0.384594798,"cg_id_raw_a":0.568813682,"cg_iq_a":0.00311881304,"cg_iq_raw_a":0.5697155,"cg_iu_a":-0.178685904,"cg_iv_a":0.685299098,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9618187,"cg_sample_seq":14329716,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0681041852,"cg_vd_v":0.0681041852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361964792,"cg_vq_v":-0.361964792,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.702393,"values":{"Elec_RPM":-9.66285573e-21,"EncoderCos":38728,"EncoderSin":12493,"GapTicks":54772,"Mech_RPM":-1.93257119e-21,"cg_du":50.1505127,"cg_dv":50.2066078,"cg_dw":49.7933922,"cg_id_a":-0.30766049,"cg_id_raw_a":-0.222397178,"cg_iq_a":0.361970484,"cg_iq_raw_a":-0.129391178,"cg_iu_a":0.183752775,"cg_iv_a":-0.546991229,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9872723,"cg_sample_seq":14329766,"cg_sample_valid":1,"cg_theta_rad":5.00676441,"cg_vd_req_v":0.0815677047,"cg_vd_v":0.0815677047,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365578026,"cg_vq_v":-0.365578026,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.710205,"values":{"Elec_RPM":-9.46959839e-21,"EncoderCos":38705,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-1.89391968e-21,"cg_du":50.1580925,"cg_dv":50.2025566,"cg_dw":49.7974434,"cg_id_a":0.0029451102,"cg_id_raw_a":0.497213483,"cg_iq_a":0.257288337,"cg_iq_raw_a":0.669920206,"cg_iu_a":-0.323661089,"cg_iv_a":-0.293284297,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9181824,"cg_sample_seq":14329817,"cg_sample_valid":1,"cg_theta_rad":5.00867128,"cg_vd_req_v":0.073841922,"cg_vd_v":0.073841922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363863975,"cg_vq_v":-0.363863975,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.718018,"values":{"Elec_RPM":-9.46959839e-21,"EncoderCos":38745,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-1.89391968e-21,"cg_du":50.1560593,"cg_dv":50.20298,"cg_dw":49.79702,"cg_id_a":-0.0795546472,"cg_id_raw_a":0.19453606,"cg_iq_a":0.312265992,"cg_iq_raw_a":-0.0894879177,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528213,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9218178,"cg_sample_seq":14329867,"cg_sample_valid":1,"cg_theta_rad":5.00712299,"cg_vd_req_v":0.0729911849,"cg_vd_v":0.0729911849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3638722,"cg_vq_v":-0.3638722,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7446289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.745361,"values":{"Elec_RPM":-9.28020634e-21,"EncoderCos":38778,"EncoderSin":12505,"GapTicks":54778,"Mech_RPM":-1.85604123e-21,"cg_du":50.1444588,"cg_dv":50.201149,"cg_dw":49.798851,"cg_id_a":-0.256181955,"cg_id_raw_a":0.61629039,"cg_iq_a":-0.270900488,"cg_iq_raw_a":0.124098718,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9836369,"cg_sample_seq":14329966,"cg_sample_valid":1,"cg_theta_rad":5.0077734,"cg_vd_req_v":0.0769492164,"cg_vd_v":0.0769492164,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356802464,"cg_vq_v":-0.356802464,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7398071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.75708,"values":{"Elec_RPM":-9.09460203e-21,"EncoderCos":38707,"EncoderSin":12484,"GapTicks":54786,"Mech_RPM":-1.81892049e-21,"cg_du":50.1534653,"cg_dv":50.1939926,"cg_dw":49.8060074,"cg_id_a":0.0797981471,"cg_id_raw_a":0.22790426,"cg_iq_a":-0.66410172,"cg_iq_raw_a":-0.63208276,"cg_iu_a":-0.359904766,"cg_iv_a":0.359104633,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14330016,"cg_sample_valid":1,"cg_theta_rad":5.00826597,"cg_vd_req_v":0.0689229816,"cg_vd_v":0.0689229816,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349673152,"cg_vq_v":-0.349673152,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.764893,"values":{"Elec_RPM":-9.09460203e-21,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-1.81892049e-21,"cg_du":50.1604805,"cg_dv":50.205101,"cg_dw":49.794899,"cg_id_a":-0.167670906,"cg_id_raw_a":-0.418473274,"cg_iq_a":0.275494337,"cg_iq_raw_a":0.578332186,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9618187,"cg_sample_seq":14330066,"cg_sample_valid":1,"cg_theta_rad":5.00717926,"cg_vd_req_v":0.074179247,"cg_vd_v":0.074179247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368717223,"cg_vq_v":-0.368717223,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7494507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.772705,"values":{"Elec_RPM":-8.91271035e-21,"EncoderCos":38706,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-1.78254211e-21,"cg_du":50.1597061,"cg_dv":50.2023773,"cg_dw":49.7976227,"cg_id_a":-0.0802588388,"cg_id_raw_a":0.0306528099,"cg_iq_a":-0.0615352541,"cg_iq_raw_a":-0.54253608,"cg_iu_a":0.473703146,"cg_iv_a":0.286616921,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.954546,"cg_sample_seq":14330116,"cg_sample_valid":1,"cg_theta_rad":5.00760937,"cg_vd_req_v":0.0728440881,"cg_vd_v":0.0728440881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364442587,"cg_vq_v":-0.364442587,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7494507,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.780518,"values":{"Elec_RPM":-8.91271035e-21,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-1.78254211e-21,"cg_du":50.1578979,"cg_dv":50.1983833,"cg_dw":49.8016167,"cg_id_a":-0.00698199496,"cg_id_raw_a":-0.0151401646,"cg_iq_a":-0.31834963,"cg_iq_raw_a":-0.729137778,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772009,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8527279,"cg_sample_seq":14330166,"cg_sample_valid":1,"cg_theta_rad":5.00543928,"cg_vd_req_v":0.0697571561,"cg_vd_v":0.0697571561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359252483,"cg_vq_v":-0.359252483,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7237549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.78833,"values":{"Elec_RPM":-8.73445697e-21,"EncoderCos":38716,"EncoderSin":12505,"GapTicks":54776,"Mech_RPM":-1.74689135e-21,"cg_du":50.1584625,"cg_dv":50.2031517,"cg_dw":49.7968483,"cg_id_a":-0.0528261252,"cg_id_raw_a":-0.395712912,"cg_iq_a":-0.0859256163,"cg_iq_raw_a":-0.510635793,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14330216,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0728874803,"cg_vd_v":0.0728874803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366283417,"cg_vq_v":-0.366283417,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.62010193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.796143,"values":{"Elec_RPM":-8.73445697e-21,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-1.74689135e-21,"cg_du":50.1691704,"cg_dv":50.1998177,"cg_dw":49.8001823,"cg_id_a":0.405207008,"cg_id_raw_a":0.955267847,"cg_iq_a":-0.196189195,"cg_iq_raw_a":-1.39776897,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9763641,"cg_sample_seq":14330266,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0622560754,"cg_vd_v":0.0622560754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367574811,"cg_vq_v":-0.367574811,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.62010193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.803955,"values":{"Elec_RPM":-8.55976757e-21,"EncoderCos":38730,"EncoderSin":12483,"GapTicks":54760,"Mech_RPM":-1.71195347e-21,"cg_du":50.1648827,"cg_dv":50.2175026,"cg_dw":49.7824974,"cg_id_a":-0.393296123,"cg_id_raw_a":-0.421725154,"cg_iq_a":0.7186867,"cg_iq_raw_a":1.08949101,"cg_iu_a":0.111264944,"cg_iv_a":-1.85176921,"cg_iw_a":1.74050426,"cg_sample_age_us":23.8672733,"cg_sample_seq":14330317,"cg_sample_valid":1,"cg_theta_rad":5.00591946,"cg_vd_req_v":0.0808981955,"cg_vd_v":0.0808981955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388429135,"cg_vq_v":-0.388429135,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.62010193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7333679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.815674,"values":{"Elec_RPM":-8.55976757e-21,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-1.71195347e-21,"cg_du":50.1600914,"cg_dv":50.2049713,"cg_dw":49.7950287,"cg_id_a":0.0552482903,"cg_id_raw_a":-0.0242863167,"cg_iq_a":-0.221165687,"cg_iq_raw_a":0.216934338,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.8672733,"cg_sample_seq":14330367,"cg_sample_valid":1,"cg_theta_rad":5.006814,"cg_vd_req_v":0.0731546506,"cg_vd_v":0.0731546506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368563145,"cg_vq_v":-0.368563145,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7333679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.843018,"values":{"Elec_RPM":-8.38857188e-21,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.67771444e-21,"cg_du":50.1686287,"cg_dv":50.2093201,"cg_dw":49.7906799,"cg_id_a":0.0523238443,"cg_id_raw_a":-0.0645966753,"cg_iq_a":0.187735245,"cg_iq_raw_a":0.394974142,"cg_iu_a":0.437459469,"cg_iv_a":0.177885413,"cg_iw_a":-0.615344882,"cg_sample_age_us":26.8272724,"cg_sample_seq":14330420,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0726958886,"cg_vd_v":0.0726958886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378876477,"cg_vq_v":-0.378876477,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.20834136,"dclink_p_w":30.0604839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7398071,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.85083,"values":{"Elec_RPM":-8.38857188e-21,"EncoderCos":38717,"EncoderSin":12486,"GapTicks":54773,"Mech_RPM":-1.67771444e-21,"cg_du":50.1592712,"cg_dv":50.2055702,"cg_dw":49.7944298,"cg_id_a":-0.100903839,"cg_id_raw_a":0.386945277,"cg_iq_a":-0.23523733,"cg_iq_raw_a":-1.41813338,"cg_iu_a":0.256240368,"cg_iv_a":-0.72821033,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9472733,"cg_sample_seq":14330468,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0750036985,"cg_vd_v":0.0750036985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369956195,"cg_vq_v":-0.369956195,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.858643,"values":{"Elec_RPM":-8.22080042e-21,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-1.64416011e-21,"cg_du":50.1660118,"cg_dv":50.2098732,"cg_dw":49.7901268,"cg_id_a":0.0274649486,"cg_id_raw_a":-0.0935031325,"cg_iq_a":0.0671354681,"cg_iq_raw_a":-0.372377276,"cg_iu_a":-0.251173258,"cg_iv_a":0.141641557,"cg_iw_a":0.109531701,"cg_sample_age_us":23.8672733,"cg_sample_seq":14330516,"cg_sample_valid":1,"cg_theta_rad":5.00814533,"cg_vd_req_v":0.0736755803,"cg_vd_v":0.0736755803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379657477,"cg_vq_v":-0.379657477,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.870361,"values":{"Elec_RPM":-8.22080042e-21,"EncoderCos":38712,"EncoderSin":12488,"GapTicks":54762,"Mech_RPM":-1.64416011e-21,"cg_du":50.1635704,"cg_dv":50.2155266,"cg_dw":49.7844734,"cg_id_a":-0.339888334,"cg_id_raw_a":0.0656585395,"cg_iq_a":0.332042158,"cg_iq_raw_a":0.152937487,"cg_iu_a":0.401215553,"cg_iv_a":-0.655722618,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8672733,"cg_sample_seq":14330566,"cg_sample_valid":1,"cg_theta_rad":5.00764179,"cg_vd_req_v":0.0817109048,"cg_vd_v":0.0817109048,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385873705,"cg_vq_v":-0.385873705,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7333679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.878174,"values":{"Elec_RPM":-8.05638454e-21,"EncoderCos":38711,"EncoderSin":12503,"GapTicks":54764,"Mech_RPM":-1.61127695e-21,"cg_du":50.1741943,"cg_dv":50.2137756,"cg_dw":49.7862244,"cg_id_a":0.233996585,"cg_id_raw_a":0.0241285432,"cg_iq_a":0.369438231,"cg_iq_raw_a":0.148821235,"cg_iu_a":-0.86731863,"cg_iv_a":0.359104633,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14330617,"cg_sample_valid":1,"cg_theta_rad":5.00712395,"cg_vd_req_v":0.0711139366,"cg_vd_v":0.0711139366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388353288,"cg_vq_v":-0.388353288,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.743042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.885986,"values":{"Elec_RPM":-8.05638454e-21,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-1.61127695e-21,"cg_du":50.1600723,"cg_dv":50.2095146,"cg_dw":49.7904854,"cg_id_a":-0.102422215,"cg_id_raw_a":0.670642197,"cg_iq_a":-0.390557945,"cg_iq_raw_a":-0.443553001,"cg_iu_a":0.364971638,"cg_iv_a":0.286616921,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.863636,"cg_sample_seq":14330667,"cg_sample_valid":1,"cg_theta_rad":5.00778151,"cg_vd_req_v":0.078083016,"cg_vd_v":0.078083016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374628365,"cg_vq_v":-0.374628365,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.743042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.893799,"values":{"Elec_RPM":-7.89525719e-21,"EncoderCos":38748,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-1.57905144e-21,"cg_du":50.1622887,"cg_dv":50.2167282,"cg_dw":49.7832718,"cg_id_a":-0.095157586,"cg_id_raw_a":0.00365711167,"cg_iq_a":0.256286144,"cg_iq_raw_a":0.619786561,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9872723,"cg_sample_seq":14330717,"cg_sample_valid":1,"cg_theta_rad":5.00767136,"cg_vd_req_v":0.0805580914,"cg_vd_v":0.0805580914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386267781,"cg_vq_v":-0.386267781,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7350159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.901611,"values":{"Elec_RPM":-7.89525719e-21,"EncoderCos":38732,"EncoderSin":12489,"GapTicks":54759,"Mech_RPM":-1.57905144e-21,"cg_du":50.1639023,"cg_dv":50.2185287,"cg_dw":49.7814713,"cg_id_a":-0.12627618,"cg_id_raw_a":-0.35141176,"cg_iq_a":0.453390837,"cg_iq_raw_a":-0.32334432,"cg_iu_a":0.256240129,"cg_iv_a":-0.546991229,"cg_iw_a":0.2907511,"cg_sample_age_us":23.863636,"cg_sample_seq":14330767,"cg_sample_valid":1,"cg_theta_rad":5.00759649,"cg_vd_req_v":0.0823247433,"cg_vd_v":0.0823247433,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38934949,"cg_vq_v":-0.38934949,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.2815323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5682678,"temp_inv2_c":37.7350159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.909424,"values":{"Elec_RPM":-7.73735213e-21,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-1.54747045e-21,"cg_du":50.1604042,"cg_dv":50.2093582,"cg_dw":49.7906418,"cg_id_a":0.153420225,"cg_id_raw_a":0.0486034863,"cg_iq_a":-0.131561369,"cg_iq_raw_a":0.114725478,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284357,"cg_iw_a":0.471970022,"cg_sample_age_us":23.9618187,"cg_sample_seq":14330817,"cg_sample_valid":1,"cg_theta_rad":5.00943375,"cg_vd_req_v":0.0774519369,"cg_vd_v":0.0774519369,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375833929,"cg_vq_v":-0.375833929,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.3136597,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.731781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.917236,"values":{"Elec_RPM":-7.73735213e-21,"EncoderCos":38693,"EncoderSin":12472,"GapTicks":54763,"Mech_RPM":-1.54747045e-21,"cg_du":50.1697464,"cg_dv":50.2145615,"cg_dw":49.7854385,"cg_id_a":0.140194342,"cg_id_raw_a":0.357413232,"cg_iq_a":0.643015385,"cg_iq_raw_a":-0.43578589,"cg_iu_a":-0.758587122,"cg_iv_a":-0.25704062,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9763641,"cg_sample_seq":14330867,"cg_sample_valid":1,"cg_theta_rad":5.00720072,"cg_vd_req_v":0.0780122727,"cg_vd_v":0.0780122727,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387623161,"cg_vq_v":-0.387623161,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2592.948486,"values":{"Elec_RPM":-7.58260554e-21,"EncoderCos":38729,"EncoderSin":12514,"GapTicks":54767,"Mech_RPM":-1.51652105e-21,"cg_du":50.1464882,"cg_dv":50.2111397,"cg_dw":49.7888603,"cg_id_a":-0.360155642,"cg_id_raw_a":-0.514319897,"cg_iq_a":-0.169529647,"cg_iq_raw_a":-0.156043887,"cg_iu_a":0.582434893,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.506613493,"cg_sample_age_us":24.40909,"cg_sample_seq":14330920,"cg_sample_valid":1,"cg_theta_rad":5.00712013,"cg_vd_req_v":0.0884992629,"cg_vd_v":0.0884992629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369652301,"cg_vq_v":-0.369652301,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.956299,"values":{"Elec_RPM":-7.58260554e-21,"EncoderCos":38711,"EncoderSin":12476,"GapTicks":54770,"Mech_RPM":-1.51652105e-21,"cg_du":50.1599464,"cg_dv":50.209053,"cg_dw":49.790947,"cg_id_a":0.0412845016,"cg_id_raw_a":0.031024117,"cg_iq_a":0.032400161,"cg_iq_raw_a":0.0767338648,"cg_iu_a":-0.0699543953,"cg_iv_a":1.33768809,"cg_iw_a":-1.26773369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14330966,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0783957988,"cg_vd_v":0.0783957988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373789132,"cg_vq_v":-0.373789132,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7253418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.964111,"values":{"Elec_RPM":-7.4309528e-21,"EncoderCos":38728,"EncoderSin":12499,"GapTicks":54773,"Mech_RPM":-1.48619062e-21,"cg_du":50.1565742,"cg_dv":50.2036781,"cg_dw":49.7941475,"cg_id_a":0.172806635,"cg_id_raw_a":-0.319342077,"cg_iq_a":-0.199673548,"cg_iq_raw_a":0.00721338298,"cg_iu_a":-0.396148682,"cg_iv_a":0.431592226,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14331016,"cg_sample_valid":1,"cg_theta_rad":5.0078187,"cg_vd_req_v":0.073812969,"cg_vd_v":0.073812969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365003735,"cg_vq_v":-0.365003735,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.971924,"values":{"Elec_RPM":-7.4309528e-21,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.48619062e-21,"cg_du":50.1654053,"cg_dv":50.2072563,"cg_dw":49.7927437,"cg_id_a":0.240277231,"cg_id_raw_a":0.110154927,"cg_iq_a":0.316194147,"cg_iq_raw_a":-0.716681182,"cg_iu_a":-0.686099529,"cg_iv_a":0.359104633,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9254551,"cg_sample_seq":14331066,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0724948645,"cg_vd_v":0.0724948645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374395996,"cg_vq_v":-0.374395996,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2592.983026,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2592.983032,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2592.983037,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2592.983643,"values":{"Elec_RPM":-7.28233413e-21,"EncoderCos":38690,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-1.45646685e-21,"cg_du":50.1550522,"cg_dv":50.1990395,"cg_dw":49.8009605,"cg_id_a":0.109282777,"cg_id_raw_a":-0.2174505,"cg_iq_a":-0.525410295,"cg_iq_raw_a":-0.568562984,"cg_iu_a":0.0750212669,"cg_iv_a":0.359104633,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9581814,"cg_sample_seq":14331117,"cg_sample_valid":1,"cg_theta_rad":5.00502682,"cg_vd_req_v":0.0743017048,"cg_vd_v":0.0743017048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3570683,"cg_vq_v":-0.3570683,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.991455,"values":{"Elec_RPM":-7.28233413e-21,"EncoderCos":38740,"EncoderSin":12508,"GapTicks":54772,"Mech_RPM":-1.45646685e-21,"cg_du":50.1463165,"cg_dv":50.2069473,"cg_dw":49.7930527,"cg_id_a":-0.319346339,"cg_id_raw_a":-0.919987381,"cg_iq_a":-0.14724189,"cg_iq_raw_a":0.608956277,"cg_iu_a":-0.178685665,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8527279,"cg_sample_seq":14331167,"cg_sample_valid":1,"cg_theta_rad":5.00704002,"cg_vd_req_v":0.0838277191,"cg_vd_v":0.0838277191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364012778,"cg_vq_v":-0.364012778,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2592.999268,"values":{"Elec_RPM":-7.13668734e-21,"EncoderCos":38696,"EncoderSin":12491,"GapTicks":54777,"Mech_RPM":-1.42733751e-21,"cg_du":50.1535339,"cg_dv":50.2026291,"cg_dw":49.7973709,"cg_id_a":0.0872236341,"cg_id_raw_a":0.349237859,"cg_iq_a":-0.236031532,"cg_iq_raw_a":0.254954875,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14331217,"cg_sample_valid":1,"cg_theta_rad":5.00743294,"cg_vd_req_v":0.0780234784,"cg_vd_v":0.0780234784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361275107,"cg_vq_v":-0.361275107,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7366028,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.00708,"values":{"Elec_RPM":-7.13668734e-21,"EncoderCos":38762,"EncoderSin":12489,"GapTicks":54767,"Mech_RPM":-1.42733751e-21,"cg_du":50.1405907,"cg_dv":50.2109184,"cg_dw":49.7890816,"cg_id_a":-0.522578835,"cg_id_raw_a":-1.27746904,"cg_iq_a":0.125039876,"cg_iq_raw_a":1.12681031,"cg_iu_a":0.292484045,"cg_iv_a":0.322860777,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9690914,"cg_sample_seq":14331267,"cg_sample_valid":1,"cg_theta_rad":5.00631523,"cg_vd_req_v":0.0908153206,"cg_vd_v":0.0908153206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366592944,"cg_vq_v":-0.366592944,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.37466574,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7189331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.014893,"values":{"Elec_RPM":-6.99395425e-21,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-1.39879079e-21,"cg_du":50.1597939,"cg_dv":50.2050323,"cg_dw":49.7949677,"cg_id_a":0.244018823,"cg_id_raw_a":-0.287623495,"cg_iq_a":0.231545672,"cg_iq_raw_a":-0.101147726,"cg_iu_a":-1.26600075,"cg_iv_a":-0.293284297,"cg_iw_a":1.55928504,"cg_sample_age_us":23.9618187,"cg_sample_seq":14331317,"cg_sample_valid":1,"cg_theta_rad":5.00826836,"cg_vd_req_v":0.0752295405,"cg_vd_v":0.0752295405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368117929,"cg_vq_v":-0.368117929,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7189331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.022705,"values":{"Elec_RPM":-6.99395425e-21,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54771,"Mech_RPM":-1.39879079e-21,"cg_du":50.146347,"cg_dv":50.2081299,"cg_dw":49.7918701,"cg_id_a":-0.429249495,"cg_id_raw_a":-0.866528809,"cg_iq_a":0.0485962778,"cg_iq_raw_a":-0.413208872,"cg_iu_a":0.038777113,"cg_iv_a":0.141641617,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14331367,"cg_sample_valid":1,"cg_theta_rad":5.00612211,"cg_vd_req_v":0.0881806239,"cg_vd_v":0.0881806239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364879251,"cg_vq_v":-0.364879251,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2594,"hz_tim_isr":4999,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7350159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12100251,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.053955,"values":{"Elec_RPM":-6.8540751e-21,"EncoderCos":38739,"EncoderSin":12486,"GapTicks":54771,"Mech_RPM":-1.37081498e-21,"cg_du":50.1472282,"cg_dv":50.2080498,"cg_dw":49.7919502,"cg_id_a":-0.199057937,"cg_id_raw_a":-0.255970359,"cg_iq_a":0.0734097511,"cg_iq_raw_a":0.231962144,"cg_iu_a":0.256240129,"cg_iv_a":0.250373125,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9690914,"cg_sample_seq":14331421,"cg_sample_valid":1,"cg_theta_rad":5.00630379,"cg_vd_req_v":0.0848074332,"cg_vd_v":0.0848074332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365878224,"cg_vq_v":-0.365878224,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.2815323,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.061768,"values":{"Elec_RPM":-6.8540751e-21,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-1.37081498e-21,"cg_du":50.158165,"cg_dv":50.2081146,"cg_dw":49.7918854,"cg_id_a":0.175613165,"cg_id_raw_a":0.270806283,"cg_iq_a":0.309441417,"cg_iq_raw_a":-0.00943771098,"cg_iu_a":-0.50488019,"cg_iv_a":0.10539782,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9872723,"cg_sample_seq":14331466,"cg_sample_valid":1,"cg_theta_rad":5.00603676,"cg_vd_req_v":0.0780919939,"cg_vd_v":0.0780919939,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372858495,"cg_vq_v":-0.372858495,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.643388748,"dclink_p_w":-93.114212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.06958,"values":{"Elec_RPM":-6.71699334e-21,"EncoderCos":38728,"EncoderSin":12490,"GapTicks":54775,"Mech_RPM":-1.34339867e-21,"cg_du":50.1476936,"cg_dv":50.2044106,"cg_dw":49.7955894,"cg_id_a":0.000244705006,"cg_id_raw_a":0.457915545,"cg_iq_a":-0.190458253,"cg_iq_raw_a":-0.210739076,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9872723,"cg_sample_seq":14331516,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.0819823146,"cg_vd_v":0.0819823146,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362086684,"cg_vq_v":-0.362086684,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.643388748,"dclink_p_w":-93.114212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7157288,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.077393,"values":{"Elec_RPM":-6.71699334e-21,"EncoderCos":38736,"EncoderSin":12479,"GapTicks":54776,"Mech_RPM":-1.34339867e-21,"cg_du":50.1549339,"cg_dv":50.2028618,"cg_dw":49.7971382,"cg_id_a":0.320622921,"cg_id_raw_a":-0.375690013,"cg_iq_a":-0.183951765,"cg_iq_raw_a":-0.289129049,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9836369,"cg_sample_seq":14331566,"cg_sample_valid":1,"cg_theta_rad":5.00610495,"cg_vd_req_v":0.074379459,"cg_vd_v":0.074379459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364109159,"cg_vq_v":-0.364109159,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.643388748,"dclink_p_w":-93.114212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7157288,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.085205,"values":{"Elec_RPM":-6.45099984e-21,"EncoderCos":38712,"EncoderSin":12478,"GapTicks":54767,"Mech_RPM":-1.29020001e-21,"cg_du":50.1650124,"cg_dv":50.211235,"cg_dw":49.788765,"cg_id_a":0.344603688,"cg_id_raw_a":1.06314003,"cg_iq_a":0.462662995,"cg_iq_raw_a":2.18212342,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.365772128,"cg_iw_a":0.435726523,"cg_sample_age_us":23.9254551,"cg_sample_seq":14331717,"cg_sample_valid":1,"cg_theta_rad":5.00711346,"cg_vd_req_v":0.0764164254,"cg_vd_v":0.0764164254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379630029,"cg_vq_v":-0.379630029,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7173462,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.096924,"values":{"Elec_RPM":-6.45099984e-21,"EncoderCos":38741,"EncoderSin":12468,"GapTicks":54759,"Mech_RPM":-1.29020001e-21,"cg_du":50.1695595,"cg_dv":50.2182999,"cg_dw":49.7817001,"cg_id_a":0.320143908,"cg_id_raw_a":-0.406688124,"cg_iq_a":0.980849266,"cg_iq_raw_a":0.94575721,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9872723,"cg_sample_seq":14331767,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.0774186626,"cg_vd_v":0.0774186626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392240644,"cg_vq_v":-0.392240644,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.104736,"values":{"Elec_RPM":-6.32198027e-21,"EncoderCos":38732,"EncoderSin":12502,"GapTicks":54764,"Mech_RPM":-1.26439605e-21,"cg_du":50.1511078,"cg_dv":50.2141418,"cg_dw":49.7858582,"cg_id_a":-0.0640637875,"cg_id_raw_a":-0.218503401,"cg_iq_a":0.177178174,"cg_iq_raw_a":0.0533265881,"cg_iu_a":-1.7371707,"cg_iv_a":-0.365772009,"cg_iw_a":2.10294271,"cg_sample_age_us":23.9654541,"cg_sample_seq":14331818,"cg_sample_valid":1,"cg_theta_rad":5.00887489,"cg_vd_req_v":0.0878173858,"cg_vd_v":0.0878173858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376310706,"cg_vq_v":-0.376310706,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.112549,"values":{"Elec_RPM":-6.32198027e-21,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54767,"Mech_RPM":-1.26439605e-21,"cg_du":50.14925,"cg_dv":50.2114143,"cg_dw":49.7885857,"cg_id_a":0.0314582661,"cg_id_raw_a":0.298426241,"cg_iq_a":-0.159660533,"cg_iq_raw_a":0.139086857,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14331867,"cg_sample_valid":1,"cg_theta_rad":5.00870085,"cg_vd_req_v":0.0880347863,"cg_vd_v":0.0880347863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370031029,"cg_vq_v":-0.370031029,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.502037883,"dclink_p_w":-72.8781052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.120361,"values":{"Elec_RPM":-6.19554078e-21,"EncoderCos":38687,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-1.23910818e-21,"cg_du":50.1489639,"cg_dv":50.2124443,"cg_dw":49.7875557,"cg_id_a":-0.19622536,"cg_id_raw_a":-0.150986522,"cg_iq_a":-0.0910891518,"cg_iq_raw_a":1.00536001,"cg_iu_a":0.509947062,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9799995,"cg_sample_seq":14331917,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0920599177,"cg_vd_v":0.0920599177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370587319,"cg_vq_v":-0.370587319,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.147705,"values":{"Elec_RPM":-6.19554078e-21,"EncoderCos":38719,"EncoderSin":12494,"GapTicks":54769,"Mech_RPM":-1.23910818e-21,"cg_du":50.1490288,"cg_dv":50.209774,"cg_dw":49.790226,"cg_id_a":0.0211795084,"cg_id_raw_a":-0.215189502,"cg_iq_a":-0.143544093,"cg_iq_raw_a":-0.201984823,"cg_iu_a":0.038777113,"cg_iv_a":0.757786751,"cg_iw_a":-0.796563864,"cg_sample_age_us":23.863636,"cg_sample_seq":14331970,"cg_sample_valid":1,"cg_theta_rad":5.00661421,"cg_vd_req_v":0.0865295529,"cg_vd_v":0.0865295529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368889809,"cg_vq_v":-0.368889809,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.331691861,"dclink_p_w":-48.0039902,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7221375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.159424,"values":{"Elec_RPM":-6.0716301e-21,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-1.21432598e-21,"cg_du":50.1598434,"cg_dv":50.213913,"cg_dw":49.786087,"cg_id_a":0.136218399,"cg_id_raw_a":0.0222252179,"cg_iq_a":0.425075501,"cg_iq_raw_a":-0.470472902,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9254551,"cg_sample_seq":14332016,"cg_sample_valid":1,"cg_theta_rad":5.00589037,"cg_vd_req_v":0.0833724365,"cg_vd_v":0.0833724365,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381503761,"cg_vq_v":-0.381503761,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.8328133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.543457,"temp_inv2_c":37.7125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.167236,"values":{"Elec_RPM":-6.0716301e-21,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-1.21432598e-21,"cg_du":50.1416473,"cg_dv":50.2081833,"cg_dw":49.7918167,"cg_id_a":-0.168127254,"cg_id_raw_a":-0.180046394,"cg_iq_a":-0.470689327,"cg_iq_raw_a":-0.816617191,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14332066,"cg_sample_valid":1,"cg_theta_rad":5.00614643,"cg_vd_req_v":0.0896705613,"cg_vd_v":0.0896705613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364035636,"cg_vq_v":-0.364035636,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.393306375,"dclink_p_w":-57.0941429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7253418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.175049,"values":{"Elec_RPM":-5.95019732e-21,"EncoderCos":38700,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-1.19003946e-21,"cg_du":50.1455307,"cg_dv":50.2100601,"cg_dw":49.7899399,"cg_id_a":-0.325262964,"cg_id_raw_a":-0.182469577,"cg_iq_a":-0.250657141,"cg_iq_raw_a":0.309983939,"cg_iu_a":0.183752537,"cg_iv_a":0.830274463,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9836369,"cg_sample_seq":14332117,"cg_sample_valid":1,"cg_theta_rad":5.0061245,"cg_vd_req_v":0.0921250209,"cg_vd_v":0.0921250209,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367868781,"cg_vq_v":-0.367868781,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-52.0958824,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.7253418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.182861,"values":{"Elec_RPM":-5.95019732e-21,"EncoderCos":38708,"EncoderSin":12471,"GapTicks":54766,"Mech_RPM":-1.19003946e-21,"cg_du":50.156868,"cg_dv":50.2119064,"cg_dw":49.7880936,"cg_id_a":0.103647903,"cg_id_raw_a":-0.0233543776,"cg_iq_a":0.147132188,"cg_iq_raw_a":-0.220099583,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9872723,"cg_sample_seq":14332166,"cg_sample_valid":1,"cg_theta_rad":5.00755262,"cg_vd_req_v":0.0839808136,"cg_vd_v":0.0839808136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375846028,"cg_vq_v":-0.375846028,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-91.802887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7189331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.19458,"values":{"Elec_RPM":-5.83119317e-21,"EncoderCos":38739,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-1.16623863e-21,"cg_du":50.1497459,"cg_dv":50.2092094,"cg_dw":49.7907906,"cg_id_a":0.078317523,"cg_id_raw_a":0.211573198,"cg_iq_a":-0.0376923382,"cg_iq_raw_a":-0.0525056347,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055243,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9727268,"cg_sample_seq":14332218,"cg_sample_valid":1,"cg_theta_rad":5.00579834,"cg_vd_req_v":0.0838687941,"cg_vd_v":0.0838687941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368881762,"cg_vq_v":-0.368881762,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7189331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.202393,"values":{"Elec_RPM":-5.83119317e-21,"EncoderCos":38743,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-1.16623863e-21,"cg_du":50.1542473,"cg_dv":50.2144775,"cg_dw":49.7855225,"cg_id_a":-0.054986015,"cg_id_raw_a":-0.205928937,"cg_iq_a":0.432552516,"cg_iq_raw_a":0.600561738,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395774841,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14332266,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0854781419,"cg_vd_v":0.0854781419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378556877,"cg_vq_v":-0.378556877,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7189331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.210205,"values":{"Elec_RPM":-5.71456959e-21,"EncoderCos":38709,"EncoderSin":12500,"GapTicks":54772,"Mech_RPM":-1.1429139e-21,"cg_du":50.1546288,"cg_dv":50.2066498,"cg_dw":49.7933502,"cg_id_a":0.155585706,"cg_id_raw_a":0.638588428,"cg_iq_a":-0.0226358771,"cg_iq_raw_a":0.0999429598,"cg_iu_a":-0.468636513,"cg_iv_a":0.939005971,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9763641,"cg_sample_seq":14332316,"cg_sample_valid":1,"cg_theta_rad":5.00536346,"cg_vd_req_v":0.079784736,"cg_vd_v":0.079784736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367631465,"cg_vq_v":-0.367631465,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.409616113,"dclink_p_w":-59.2815514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.218018,"values":{"Elec_RPM":-5.71456959e-21,"EncoderCos":38712,"EncoderSin":12500,"GapTicks":54778,"Mech_RPM":-1.1429139e-21,"cg_du":50.1488609,"cg_dv":50.2014084,"cg_dw":49.7985916,"cg_id_a":0.0793246329,"cg_id_raw_a":-0.170061782,"cg_iq_a":-0.583367944,"cg_iq_raw_a":-0.0157814808,"cg_iu_a":-0.0699543953,"cg_iv_a":0.685299039,"cg_iw_a":-0.615344644,"cg_sample_age_us":23.9763641,"cg_sample_seq":14332366,"cg_sample_valid":1,"cg_theta_rad":5.00719738,"cg_vd_req_v":0.0792046785,"cg_vd_v":0.0792046785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358407497,"cg_vq_v":-0.358407497,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-0.409616113,"dclink_p_w":-59.2815514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7382202,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.22583,"values":{"Elec_RPM":-5.60027851e-21,"EncoderCos":38705,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-1.12005566e-21,"cg_du":50.1511421,"cg_dv":50.2085648,"cg_dw":49.7914352,"cg_id_a":-0.263202727,"cg_id_raw_a":-0.08915364,"cg_iq_a":0.0206944048,"cg_iq_raw_a":0.428900242,"cg_iu_a":1.63350594,"cg_iv_a":-0.293284416,"cg_iw_a":-1.34022152,"cg_sample_age_us":23.9618187,"cg_sample_seq":14332416,"cg_sample_valid":1,"cg_theta_rad":5.0073967,"cg_vd_req_v":0.0859676227,"cg_vd_v":0.0859676227,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369087487,"cg_vq_v":-0.369087487,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.409616113,"dclink_p_w":-59.2815514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.253174,"values":{"Elec_RPM":-5.60027851e-21,"EncoderCos":38727,"EncoderSin":12435,"GapTicks":54769,"Mech_RPM":-1.12005566e-21,"cg_du":50.1535873,"cg_dv":50.2096939,"cg_dw":49.7903061,"cg_id_a":-0.18578583,"cg_id_raw_a":0.0686665252,"cg_iq_a":0.147710949,"cg_iq_raw_a":0.335350543,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397761,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.8745461,"cg_sample_seq":14332471,"cg_sample_valid":1,"cg_theta_rad":5.00841999,"cg_vd_req_v":0.0837034211,"cg_vd_v":0.0837034211,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371149451,"cg_vq_v":-0.371149451,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.752655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.260986,"values":{"Elec_RPM":-5.48827268e-21,"EncoderCos":38726,"EncoderSin":12477,"GapTicks":54771,"Mech_RPM":-1.09765454e-21,"cg_du":50.1598816,"cg_dv":50.2075462,"cg_dw":49.7924538,"cg_id_a":0.171438217,"cg_id_raw_a":-0.104271993,"cg_iq_a":0.0529183894,"cg_iq_raw_a":-0.482529312,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9327278,"cg_sample_seq":14332516,"cg_sample_valid":1,"cg_theta_rad":5.00854683,"cg_vd_req_v":0.0756895691,"cg_vd_v":0.0756895691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371974319,"cg_vq_v":-0.371974319,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.752655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.272705,"values":{"Elec_RPM":-5.48827268e-21,"EncoderCos":38692,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-1.09765454e-21,"cg_du":50.1536827,"cg_dv":50.2053757,"cg_dw":49.7946243,"cg_id_a":-0.0803056955,"cg_id_raw_a":0.0952629298,"cg_iq_a":-0.342966795,"cg_iq_raw_a":-0.754532397,"cg_iu_a":0.183752775,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9290905,"cg_sample_seq":14332566,"cg_sample_valid":1,"cg_theta_rad":5.00870895,"cg_vd_req_v":0.0809729323,"cg_vd_v":0.0809729323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364996165,"cg_vq_v":-0.364996165,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6643677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.280518,"values":{"Elec_RPM":-5.37850727e-21,"EncoderCos":38720,"EncoderSin":12484,"GapTicks":54774,"Mech_RPM":-1.07570143e-21,"cg_du":50.1582527,"cg_dv":50.2049751,"cg_dw":49.7950249,"cg_id_a":0.125865847,"cg_id_raw_a":0.000168002778,"cg_iq_a":-0.196534902,"cg_iq_raw_a":-0.254072279,"cg_iu_a":0.256240129,"cg_iv_a":0.250373125,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9581814,"cg_sample_seq":14332616,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0747940838,"cg_vd_v":0.0747940838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367495358,"cg_vq_v":-0.367495358,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.710907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.28833,"values":{"Elec_RPM":-5.37850727e-21,"EncoderCos":38702,"EncoderSin":12493,"GapTicks":54768,"Mech_RPM":-1.07570143e-21,"cg_du":50.1645508,"cg_dv":50.2105026,"cg_dw":49.7894974,"cg_id_a":0.0459104031,"cg_id_raw_a":0.428402513,"cg_iq_a":0.30639717,"cg_iq_raw_a":0.517312527,"cg_iu_a":0.0750210285,"cg_iv_a":-0.583235145,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9472733,"cg_sample_seq":14332666,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.0767656341,"cg_vd_v":0.0767656341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379428953,"cg_vq_v":-0.379428953,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.710907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.300049,"values":{"Elec_RPM":-5.27093703e-21,"EncoderCos":38714,"EncoderSin":12470,"GapTicks":54769,"Mech_RPM":-1.05418737e-21,"cg_du":50.1612282,"cg_dv":50.2095261,"cg_dw":49.7904739,"cg_id_a":0.0242421962,"cg_id_raw_a":-0.349250853,"cg_iq_a":0.148607805,"cg_iq_raw_a":0.731027901,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9690914,"cg_sample_seq":14332716,"cg_sample_valid":1,"cg_theta_rad":5.0060811,"cg_vd_req_v":0.077990666,"cg_vd_v":0.077990666,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376312524,"cg_vq_v":-0.376312524,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.307861,"values":{"Elec_RPM":-5.27093703e-21,"EncoderCos":38731,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-1.05418737e-21,"cg_du":50.1564178,"cg_dv":50.2085381,"cg_dw":49.7914619,"cg_id_a":-0.0049591586,"cg_id_raw_a":-0.209592089,"cg_iq_a":-0.0449161679,"cg_iq_raw_a":-0.710661292,"cg_iu_a":0.328727961,"cg_iv_a":0.032910049,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9581814,"cg_sample_seq":14332766,"cg_sample_valid":1,"cg_theta_rad":5.0068717,"cg_vd_req_v":0.079034321,"cg_vd_v":0.079034321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372637689,"cg_vq_v":-0.372637689,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.315674,"values":{"Elec_RPM":-5.16551836e-21,"EncoderCos":38734,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-1.03310365e-21,"cg_du":50.1588554,"cg_dv":50.208828,"cg_dw":49.791172,"cg_id_a":0.089493528,"cg_id_raw_a":0.232904628,"cg_iq_a":-0.08173462,"cg_iq_raw_a":0.168433264,"cg_iu_a":-0.178685904,"cg_iv_a":-0.112065196,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14332816,"cg_sample_valid":1,"cg_theta_rad":5.00678921,"cg_vd_req_v":0.0772127435,"cg_vd_v":0.0772127435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373254418,"cg_vq_v":-0.373254418,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.710907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.323486,"values":{"Elec_RPM":-5.16551836e-21,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54768,"Mech_RPM":-1.03310365e-21,"cg_du":50.1607018,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":0.0871443301,"cg_id_raw_a":-0.0105963694,"cg_iq_a":-0.0632481351,"cg_iq_raw_a":0.0725970641,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065256,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9400005,"cg_sample_seq":14332866,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0790901929,"cg_vd_v":0.0790901929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376214832,"cg_vq_v":-0.376214832,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.331299,"values":{"Elec_RPM":-5.06220802e-21,"EncoderCos":38742,"EncoderSin":12464,"GapTicks":54772,"Mech_RPM":-1.0124416e-21,"cg_du":50.156868,"cg_dv":50.2065239,"cg_dw":49.7934761,"cg_id_a":0.114819005,"cg_id_raw_a":0.270801902,"cg_iq_a":-0.416293025,"cg_iq_raw_a":-1.13879478,"cg_iu_a":-0.214929581,"cg_iv_a":0.685299098,"cg_iw_a":-0.470369518,"cg_sample_age_us":24.0381813,"cg_sample_seq":14332916,"cg_sample_valid":1,"cg_theta_rad":5.0066185,"cg_vd_req_v":0.0760529786,"cg_vd_v":0.0760529786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369103432,"cg_vq_v":-0.369103432,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.358643,"values":{"Elec_RPM":-5.06220802e-21,"EncoderCos":38724,"EncoderSin":12494,"GapTicks":54776,"Mech_RPM":-1.0124416e-21,"cg_du":50.1556206,"cg_dv":50.2027855,"cg_dw":49.7972145,"cg_id_a":0.165064648,"cg_id_raw_a":0.503308177,"cg_iq_a":-0.393509597,"cg_iq_raw_a":-0.0253612213,"cg_iu_a":0.61867857,"cg_iv_a":-0.148308992,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8600006,"cg_sample_seq":14332971,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.0743836015,"cg_vd_v":0.0743836015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364265233,"cg_vq_v":-0.364265233,"cg_vu_v":2.63935518,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.6636391,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7077026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.370361,"values":{"Elec_RPM":-4.86174436e-21,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-9.72348892e-22,"cg_du":50.1580353,"cg_dv":50.2051964,"cg_dw":49.7948036,"cg_id_a":0.0167382881,"cg_id_raw_a":-0.402258486,"cg_iq_a":0.100869201,"cg_iq_raw_a":-1.24258888,"cg_iu_a":0.256240129,"cg_iv_a":-0.402015924,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8600006,"cg_sample_seq":14333116,"cg_sample_valid":1,"cg_theta_rad":5.00828838,"cg_vd_req_v":0.0771510005,"cg_vd_v":0.0771510005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367269605,"cg_vq_v":-0.367269605,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7077026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.378174,"values":{"Elec_RPM":-4.86174436e-21,"EncoderCos":38750,"EncoderSin":12475,"GapTicks":54782,"Mech_RPM":-9.72348892e-22,"cg_du":50.1418839,"cg_dv":50.1975365,"cg_dw":49.8024635,"cg_id_a":-0.067055352,"cg_id_raw_a":0.0905301273,"cg_iq_a":-0.6609869,"cg_iq_raw_a":-0.573272943,"cg_iu_a":0.256240368,"cg_iv_a":0.830274463,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14333166,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0782670155,"cg_vd_v":0.0782670155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348693162,"cg_vq_v":-0.348693162,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7077026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.385986,"values":{"Elec_RPM":-4.76450944e-21,"EncoderCos":38733,"EncoderSin":12503,"GapTicks":54777,"Mech_RPM":-9.52901867e-22,"cg_du":50.1465492,"cg_dv":50.2019501,"cg_dw":49.7980499,"cg_id_a":-0.134540632,"cg_id_raw_a":-0.218487471,"cg_iq_a":-0.221153334,"cg_iq_raw_a":0.0533915311,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065315,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9909096,"cg_sample_seq":14333216,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.079525277,"cg_vd_v":0.079525277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357164085,"cg_vq_v":-0.357164085,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7253418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.393799,"values":{"Elec_RPM":-4.76450944e-21,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54786,"Mech_RPM":-9.52901867e-22,"cg_du":50.1382027,"cg_dv":50.1939507,"cg_dw":49.8060493,"cg_id_a":-0.248284146,"cg_id_raw_a":0.0558549017,"cg_iq_a":-0.762406349,"cg_iq_raw_a":-0.394332081,"cg_iu_a":0.944873095,"cg_iv_a":0.359104633,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.9581814,"cg_sample_seq":14333266,"cg_sample_valid":1,"cg_theta_rad":5.00562239,"cg_vd_req_v":0.0801306292,"cg_vd_v":0.0801306292,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342289448,"cg_vq_v":-0.342289448,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7012634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.401611,"values":{"Elec_RPM":-4.66921888e-21,"EncoderCos":38711,"EncoderSin":12506,"GapTicks":54780,"Mech_RPM":-9.33843796e-22,"cg_du":50.1537247,"cg_dv":50.1991806,"cg_dw":49.8008194,"cg_id_a":0.178770438,"cg_id_raw_a":0.444933653,"cg_iq_a":0.136209458,"cg_iq_raw_a":-0.502113044,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8527279,"cg_sample_seq":14333316,"cg_sample_valid":1,"cg_theta_rad":5.00831366,"cg_vd_req_v":0.0731368139,"cg_vd_v":0.0731368139,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358126253,"cg_vq_v":-0.358126253,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7012634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.41333,"values":{"Elec_RPM":-4.66921888e-21,"EncoderCos":38735,"EncoderSin":12504,"GapTicks":54780,"Mech_RPM":-9.33843796e-22,"cg_du":50.1384201,"cg_dv":50.1994324,"cg_dw":49.8005676,"cg_id_a":-0.313540816,"cg_id_raw_a":-0.418351978,"cg_iq_a":-0.248347312,"cg_iq_raw_a":0.399089873,"cg_iu_a":-0.396148682,"cg_iv_a":-0.25704062,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.9509087,"cg_sample_seq":14333366,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0835704058,"cg_vd_v":0.0835704058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350303829,"cg_vq_v":-0.350303829,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.8221664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6980896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.421143,"values":{"Elec_RPM":-4.57583471e-21,"EncoderCos":38746,"EncoderSin":12489,"GapTicks":54785,"Mech_RPM":-9.15166902e-22,"cg_du":50.142437,"cg_dv":50.1950989,"cg_dw":49.8049011,"cg_id_a":0.0681707412,"cg_id_raw_a":0.242128581,"cg_iq_a":-0.411661327,"cg_iq_raw_a":-0.159245864,"cg_iu_a":0.292484283,"cg_iv_a":0.250373125,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.863636,"cg_sample_seq":14333416,"cg_sample_valid":1,"cg_theta_rad":5.00849962,"cg_vd_req_v":0.0754649341,"cg_vd_v":0.0754649341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345676839,"cg_vq_v":-0.345676839,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.39862144,"dclink_p_w":57.6903496,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.448486,"values":{"Elec_RPM":-4.57583471e-21,"EncoderCos":38724,"EncoderSin":12476,"GapTicks":54777,"Mech_RPM":-9.15166902e-22,"cg_du":50.1482887,"cg_dv":50.2022324,"cg_dw":49.7977676,"cg_id_a":-0.164992467,"cg_id_raw_a":0.19110854,"cg_iq_a":0.276784599,"cg_iq_raw_a":-0.709005296,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.863636,"cg_sample_seq":14333471,"cg_sample_valid":1,"cg_theta_rad":5.00634336,"cg_vd_req_v":0.0798282102,"cg_vd_v":0.0798282102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358207852,"cg_vq_v":-0.358207852,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.472921371,"dclink_p_w":68.2353439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.456299,"values":{"Elec_RPM":-4.48431816e-21,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54787,"Mech_RPM":-8.96863612e-22,"cg_du":50.1481895,"cg_dv":50.1928864,"cg_dw":49.8071136,"cg_id_a":0.221119642,"cg_id_raw_a":0.149896711,"cg_iq_a":-0.314908803,"cg_iq_raw_a":-0.275795609,"cg_iu_a":-0.0337104797,"cg_iv_a":0.431592226,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9581814,"cg_sample_seq":14333516,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0715074688,"cg_vd_v":0.0715074688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345297247,"cg_vq_v":-0.345297247,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.472921371,"dclink_p_w":68.2353439,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.468018,"values":{"Elec_RPM":-4.48431816e-21,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-8.96863612e-22,"cg_du":50.1408997,"cg_dv":50.1942329,"cg_dw":49.8057671,"cg_id_a":-0.0764745772,"cg_id_raw_a":0.368498474,"cg_iq_a":-0.443752527,"cg_iq_raw_a":-0.58246398,"cg_iu_a":0.219996452,"cg_iv_a":-0.546991229,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14333567,"cg_sample_valid":1,"cg_theta_rad":5.00738049,"cg_vd_req_v":0.0780829713,"cg_vd_v":0.0780829713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343135506,"cg_vq_v":-0.343135506,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.47583,"values":{"Elec_RPM":-4.39463167e-21,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54785,"Mech_RPM":-8.78926354e-22,"cg_du":50.1429329,"cg_dv":50.1950989,"cg_dw":49.8049011,"cg_id_a":-0.0652756989,"cg_id_raw_a":-0.0124199335,"cg_iq_a":-0.224766374,"cg_iq_raw_a":-0.54673326,"cg_iu_a":0.256240129,"cg_iv_a":-0.293284416,"cg_iw_a":0.0370442867,"cg_sample_age_us":24.0381813,"cg_sample_seq":14333616,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0781838521,"cg_vd_v":0.0781838521,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346363246,"cg_vq_v":-0.346363246,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6996765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.483643,"values":{"Elec_RPM":-4.39463167e-21,"EncoderCos":38722,"EncoderSin":12533,"GapTicks":54779,"Mech_RPM":-8.78926354e-22,"cg_du":50.1400719,"cg_dv":50.2007408,"cg_dw":49.7992592,"cg_id_a":-0.438113511,"cg_id_raw_a":0.339270622,"cg_iq_a":0.181530401,"cg_iq_raw_a":-0.295267701,"cg_iu_a":-0.577368021,"cg_iv_a":0.431592286,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9836369,"cg_sample_seq":14333666,"cg_sample_valid":1,"cg_theta_rad":5.0060215,"cg_vd_req_v":0.0838661045,"cg_vd_v":0.0838661045,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352937609,"cg_vq_v":-0.352937609,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.3935814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.491455,"values":{"Elec_RPM":-4.30673929e-21,"EncoderCos":38699,"EncoderSin":12476,"GapTicks":54776,"Mech_RPM":-8.61347857e-22,"cg_du":50.1473618,"cg_dv":50.2031403,"cg_dw":49.7968597,"cg_id_a":-0.378427148,"cg_id_raw_a":-0.934315681,"cg_iq_a":0.426929951,"cg_iq_raw_a":0.670420647,"cg_iu_a":0.292484045,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9763641,"cg_sample_seq":14333716,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0834771022,"cg_vd_v":0.0834771022,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358454764,"cg_vq_v":-0.358454764,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.3935814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.499268,"values":{"Elec_RPM":-4.30673929e-21,"EncoderCos":38704,"EncoderSin":12484,"GapTicks":54784,"Mech_RPM":-8.61347857e-22,"cg_du":50.1475029,"cg_dv":50.1962166,"cg_dw":49.8037834,"cg_id_a":-0.0174920037,"cg_id_raw_a":0.221952215,"cg_iq_a":-0.00993086398,"cg_iq_raw_a":0.0595317744,"cg_iu_a":0.582434654,"cg_iv_a":-0.148309112,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9872723,"cg_sample_seq":14333766,"cg_sample_valid":1,"cg_theta_rad":5.00924873,"cg_vd_req_v":0.0760030001,"cg_vd_v":0.0760030001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349284828,"cg_vq_v":-0.349284828,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.3935814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.72052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.50708,"values":{"Elec_RPM":-4.22060466e-21,"EncoderCos":38727,"EncoderSin":12503,"GapTicks":54784,"Mech_RPM":-8.44120902e-22,"cg_du":50.147728,"cg_dv":50.1962471,"cg_dw":49.8037529,"cg_id_a":0.0511191376,"cg_id_raw_a":0.34056443,"cg_iq_a":0.0330409408,"cg_iq_raw_a":0.141983777,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9581814,"cg_sample_seq":14333816,"cg_sample_valid":1,"cg_theta_rad":5.00625753,"cg_vd_req_v":0.0735697225,"cg_vd_v":0.0735697225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349937618,"cg_vq_v":-0.349937618,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.514893,"values":{"Elec_RPM":-4.22060466e-21,"EncoderCos":38706,"EncoderSin":12443,"GapTicks":54783,"Mech_RPM":-8.44120902e-22,"cg_du":50.1547699,"cg_dv":50.1965523,"cg_dw":49.8034477,"cg_id_a":0.16458419,"cg_id_raw_a":0.175633341,"cg_iq_a":0.108524144,"cg_iq_raw_a":-0.309045583,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14333866,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0714736134,"cg_vd_v":0.0714736134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353662491,"cg_vq_v":-0.353662491,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0997313261,"dclink_p_w":-14.4335814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.526611,"values":{"Elec_RPM":-4.13619225e-21,"EncoderCos":38696,"EncoderSin":12503,"GapTicks":54777,"Mech_RPM":-8.27238471e-22,"cg_du":50.1550674,"cg_dv":50.2026062,"cg_dw":49.7973938,"cg_id_a":-0.0397164561,"cg_id_raw_a":0.457187176,"cg_iq_a":0.66216135,"cg_iq_raw_a":0.229120046,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":1.30557847,"cg_sample_age_us":23.9618187,"cg_sample_seq":14333916,"cg_sample_valid":1,"cg_theta_rad":5.00776434,"cg_vd_req_v":0.0767323524,"cg_vd_v":0.0767323524,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363272965,"cg_vq_v":-0.363272965,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.553955,"values":{"Elec_RPM":-4.13619225e-21,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-8.27238471e-22,"cg_du":50.1535416,"cg_dv":50.1920853,"cg_dw":49.8079147,"cg_id_a":0.581676245,"cg_id_raw_a":0.867958426,"cg_iq_a":-0.162071407,"cg_iq_raw_a":1.46552968,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8600006,"cg_sample_seq":14333971,"cg_sample_valid":1,"cg_theta_rad":5.00561428,"cg_vd_req_v":0.0651408136,"cg_vd_v":0.0651408136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348574579,"cg_vq_v":-0.348574579,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.561768,"values":{"Elec_RPM":-4.05346854e-21,"EncoderCos":38695,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-8.10693697e-22,"cg_du":50.1480141,"cg_dv":50.1964569,"cg_dw":49.8035431,"cg_id_a":-0.0336101837,"cg_id_raw_a":-0.355663568,"cg_iq_a":-0.00355835259,"cg_iq_raw_a":-0.254715383,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334016,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.077194646,"cg_vd_v":0.077194646,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350711644,"cg_vq_v":-0.350711644,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.56958,"values":{"Elec_RPM":-4.05346854e-21,"EncoderCos":38724,"EncoderSin":12497,"GapTicks":54778,"Mech_RPM":-8.10693697e-22,"cg_du":50.1494789,"cg_dv":50.2011642,"cg_dw":49.7988358,"cg_id_a":-0.00123570487,"cg_id_raw_a":0.545028627,"cg_iq_a":0.291107476,"cg_iq_raw_a":-0.0202443916,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0395774841,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9509087,"cg_sample_seq":14334066,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.077336356,"cg_vd_v":0.077336356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357532948,"cg_vq_v":-0.357532948,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.72052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.581299,"values":{"Elec_RPM":-3.97239918e-21,"EncoderCos":38715,"EncoderSin":12460,"GapTicks":54783,"Mech_RPM":-7.94479816e-22,"cg_du":50.1497383,"cg_dv":50.1969452,"cg_dw":49.8030548,"cg_id_a":0.221777529,"cg_id_raw_a":-0.0838041902,"cg_iq_a":-0.0956782997,"cg_iq_raw_a":-0.881701052,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334116,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.0746631026,"cg_vd_v":0.0746631026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351594895,"cg_vq_v":-0.351594895,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.72052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.589111,"values":{"Elec_RPM":-3.97239918e-21,"EncoderCos":38719,"EncoderSin":12503,"GapTicks":54779,"Mech_RPM":-7.94479816e-22,"cg_du":50.1365356,"cg_dv":50.2003326,"cg_dw":49.7996674,"cg_id_a":-0.288530946,"cg_id_raw_a":-0.0455553941,"cg_iq_a":-0.208579138,"cg_iq_raw_a":-0.877383113,"cg_iu_a":0.872385502,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9581814,"cg_sample_seq":14334166,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0869638175,"cg_vd_v":0.0869638175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349101603,"cg_vq_v":-0.349101603,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6964722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.596924,"values":{"Elec_RPM":-3.89295107e-21,"EncoderCos":38710,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-7.78590214e-22,"cg_du":50.1491508,"cg_dv":50.1969604,"cg_dw":49.8030396,"cg_id_a":0.37430805,"cg_id_raw_a":1.10069919,"cg_iq_a":0.0196042508,"cg_iq_raw_a":1.38403428,"cg_iu_a":0.509947062,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9254551,"cg_sample_seq":14334216,"cg_sample_valid":1,"cg_theta_rad":5.00648832,"cg_vd_req_v":0.0750169456,"cg_vd_v":0.0750169456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3524279,"cg_vq_v":-0.3524279,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.604736,"values":{"Elec_RPM":-3.89295107e-21,"EncoderCos":38716,"EncoderSin":12464,"GapTicks":54783,"Mech_RPM":-7.78590214e-22,"cg_du":50.1551361,"cg_dv":50.1964111,"cg_dw":49.8035889,"cg_id_a":0.621168494,"cg_id_raw_a":-0.156986699,"cg_iq_a":0.232138097,"cg_iq_raw_a":0.276616573,"cg_iu_a":0.79989779,"cg_iv_a":0.721542895,"cg_iw_a":0.94313997,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334266,"cg_sample_valid":1,"cg_theta_rad":5.00774002,"cg_vd_req_v":0.0699494332,"cg_vd_v":0.0699494332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355019242,"cg_vq_v":-0.355019242,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7028809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.612549,"values":{"Elec_RPM":-3.81509229e-21,"EncoderCos":38702,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-7.63018428e-22,"cg_du":50.1529236,"cg_dv":50.1993904,"cg_dw":49.8006096,"cg_id_a":0.388525188,"cg_id_raw_a":0.322418809,"cg_iq_a":0.166806936,"cg_iq_raw_a":0.725778222,"cg_iu_a":0.219996452,"cg_iv_a":0.504079998,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9290905,"cg_sample_seq":14334316,"cg_sample_valid":1,"cg_theta_rad":5.00627851,"cg_vd_req_v":0.0752847567,"cg_vd_v":0.0752847567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356550574,"cg_vq_v":-0.356550574,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.37466574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6964722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.620361,"values":{"Elec_RPM":-3.81509229e-21,"EncoderCos":38713,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-7.63018428e-22,"cg_du":50.1552658,"cg_dv":50.2030029,"cg_dw":49.7969971,"cg_id_a":0.241006181,"cg_id_raw_a":-0.148446336,"cg_iq_a":0.469431996,"cg_iq_raw_a":-0.232542083,"cg_iu_a":-0.251173258,"cg_iv_a":-0.0395776033,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334366,"cg_sample_valid":1,"cg_theta_rad":5.00748348,"cg_vd_req_v":0.0762772635,"cg_vd_v":0.0762772635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362917811,"cg_vq_v":-0.362917811,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6964722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.628174,"values":{"Elec_RPM":-3.73879013e-21,"EncoderCos":38688,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-7.47758046e-22,"cg_du":50.1396637,"cg_dv":50.1969147,"cg_dw":49.8030853,"cg_id_a":-0.110595323,"cg_id_raw_a":-0.116709866,"cg_iq_a":-0.529792905,"cg_iq_raw_a":-0.521732926,"cg_iu_a":0.437459469,"cg_iv_a":0.250373065,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.863636,"cg_sample_seq":14334416,"cg_sample_valid":1,"cg_theta_rad":5.00553179,"cg_vd_req_v":0.0842752755,"cg_vd_v":0.0842752755,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344346583,"cg_vq_v":-0.344346583,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6964722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.659424,"values":{"Elec_RPM":-3.73879013e-21,"EncoderCos":38732,"EncoderSin":12474,"GapTicks":54781,"Mech_RPM":-7.47758046e-22,"cg_du":50.1397324,"cg_dv":50.1986885,"cg_dw":49.8013115,"cg_id_a":0.0388343856,"cg_id_raw_a":0.263950795,"cg_iq_a":-0.368930578,"cg_iq_raw_a":0.0622178093,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370442867,"cg_sample_age_us":25.812727,"cg_sample_seq":14334470,"cg_sample_valid":1,"cg_theta_rad":5.00803089,"cg_vd_req_v":0.0825246423,"cg_vd_v":0.0825246423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348731875,"cg_vq_v":-0.348731875,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6852417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.667236,"values":{"Elec_RPM":-3.6640147e-21,"EncoderCos":38777,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-7.32802909e-22,"cg_du":50.1425056,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":0.0725021064,"cg_id_raw_a":0.00304393447,"cg_iq_a":0.0626248568,"cg_iq_raw_a":-0.580857337,"cg_iu_a":-0.722343206,"cg_iv_a":-0.148309052,"cg_iw_a":0.870652258,"cg_sample_age_us":23.9581814,"cg_sample_seq":14334516,"cg_sample_valid":1,"cg_theta_rad":5.00794554,"cg_vd_req_v":0.0833006129,"cg_vd_v":0.0833006129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361114234,"cg_vq_v":-0.361114234,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6852417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.675049,"values":{"Elec_RPM":-3.6640147e-21,"EncoderCos":38735,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-7.32802909e-22,"cg_du":50.1317978,"cg_dv":50.1984406,"cg_dw":49.8015594,"cg_id_a":-0.110981762,"cg_id_raw_a":0.170910776,"cg_iq_a":-0.638916969,"cg_iq_raw_a":-0.747747242,"cg_iu_a":-0.831074715,"cg_iv_a":-0.691966534,"cg_iw_a":1.52304125,"cg_sample_age_us":23.9509087,"cg_sample_seq":14334566,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0880578533,"cg_vd_v":0.0880578533,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345190883,"cg_vq_v":-0.345190883,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7733974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6980896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.682861,"values":{"Elec_RPM":-3.59073449e-21,"EncoderCos":38719,"EncoderSin":12475,"GapTicks":54763,"Mech_RPM":-7.18146858e-22,"cg_du":50.1569672,"cg_dv":50.214695,"cg_dw":49.785305,"cg_id_a":0.0919234231,"cg_id_raw_a":-0.456438124,"cg_iq_a":0.992059231,"cg_iq_raw_a":1.19438326,"cg_iu_a":-0.178685904,"cg_iv_a":-0.293284416,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334616,"cg_sample_valid":1,"cg_theta_rad":5.00796413,"cg_vd_req_v":0.0858237073,"cg_vd_v":0.0858237073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381075382,"cg_vq_v":-0.381075382,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.69458,"values":{"Elec_RPM":-3.59073449e-21,"EncoderCos":38708,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-7.18146858e-22,"cg_du":50.1438293,"cg_dv":50.2069893,"cg_dw":49.7930107,"cg_id_a":-0.129795566,"cg_id_raw_a":0.200330526,"cg_iq_a":-0.0567406267,"cg_iq_raw_a":0.275818974,"cg_iu_a":0.872385383,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9581814,"cg_sample_seq":14334666,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.089238137,"cg_vd_v":0.089238137,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361862659,"cg_vq_v":-0.361862659,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.702393,"values":{"Elec_RPM":-3.51891963e-21,"EncoderCos":38702,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-7.03783935e-22,"cg_du":50.1491089,"cg_dv":50.207962,"cg_dw":49.792038,"cg_id_a":-0.048697859,"cg_id_raw_a":-0.201929465,"cg_iq_a":0.0960236192,"cg_iq_raw_a":-0.529761851,"cg_iu_a":-0.359904766,"cg_iv_a":-0.402015805,"cg_iw_a":0.761920571,"cg_sample_age_us":23.8527279,"cg_sample_seq":14334716,"cg_sample_valid":1,"cg_theta_rad":5.00627851,"cg_vd_req_v":0.0866527781,"cg_vd_v":0.0866527781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366018951,"cg_vq_v":-0.366018951,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.5937996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.710205,"values":{"Elec_RPM":-3.51891963e-21,"EncoderCos":38768,"EncoderSin":12492,"GapTicks":54773,"Mech_RPM":-7.03783935e-22,"cg_du":50.1539307,"cg_dv":50.2057724,"cg_dw":49.7942276,"cg_id_a":0.481993854,"cg_id_raw_a":1.71029758,"cg_iq_a":0.270221651,"cg_iq_raw_a":0.837726891,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8600006,"cg_sample_seq":14334766,"cg_sample_valid":1,"cg_theta_rad":5.00954056,"cg_vd_req_v":0.0749904066,"cg_vd_v":0.0749904066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368156046,"cg_vq_v":-0.368156046,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.5937996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.718018,"values":{"Elec_RPM":-3.44854102e-21,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-6.89708233e-22,"cg_du":50.1437798,"cg_dv":50.203373,"cg_dw":49.796627,"cg_id_a":-0.184204698,"cg_id_raw_a":0.111397527,"cg_iq_a":-0.182572514,"cg_iq_raw_a":-0.0974123925,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.863636,"cg_sample_seq":14334817,"cg_sample_valid":1,"cg_theta_rad":5.00625896,"cg_vd_req_v":0.0857066736,"cg_vd_v":0.0857066736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358089894,"cg_vq_v":-0.358089894,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6996765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.72583,"values":{"Elec_RPM":-3.44854102e-21,"EncoderCos":38704,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-6.89708233e-22,"cg_du":50.1445122,"cg_dv":50.2035332,"cg_dw":49.7964668,"cg_id_a":-0.240099788,"cg_id_raw_a":0.258620471,"cg_iq_a":-0.103173502,"cg_iq_raw_a":-0.300718099,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14334866,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0862625912,"cg_vd_v":0.0862625912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358484983,"cg_vq_v":-0.358484983,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.733643,"values":{"Elec_RPM":-3.37957019e-21,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-6.75914047e-22,"cg_du":50.144558,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":0.0717667043,"cg_id_raw_a":0.244079694,"cg_iq_a":-0.511312068,"cg_iq_raw_a":0.278150916,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.863636,"cg_sample_seq":14334917,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0781018883,"cg_vd_v":0.0781018883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352598727,"cg_vq_v":-0.352598727,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.764893,"values":{"Elec_RPM":-3.37957019e-21,"EncoderCos":38711,"EncoderSin":12468,"GapTicks":54782,"Mech_RPM":-6.75914047e-22,"cg_du":50.1503029,"cg_dv":50.1976013,"cg_dw":49.8023987,"cg_id_a":0.163439274,"cg_id_raw_a":0.180338278,"cg_iq_a":-0.484256566,"cg_iq_raw_a":0.0552589819,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373065,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9654541,"cg_sample_seq":14334970,"cg_sample_valid":1,"cg_theta_rad":5.00606394,"cg_vd_req_v":0.0749878958,"cg_vd_v":0.0749878958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352773041,"cg_vq_v":-0.352773041,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.4563255,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.772705,"values":{"Elec_RPM":-3.31197887e-21,"EncoderCos":38703,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-6.62395774e-22,"cg_du":50.1571426,"cg_dv":50.2005081,"cg_dw":49.7994919,"cg_id_a":0.200224996,"cg_id_raw_a":0.289941847,"cg_iq_a":-0.0347639769,"cg_iq_raw_a":-0.407139659,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758214593,"cg_iw_a":0.508214056,"cg_sample_age_us":23.954546,"cg_sample_seq":14335016,"cg_sample_valid":1,"cg_theta_rad":5.00816917,"cg_vd_req_v":0.0726991594,"cg_vd_v":0.0726991594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360527009,"cg_vq_v":-0.360527009,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.51557636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7157288,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.780518,"values":{"Elec_RPM":-3.31197887e-21,"EncoderCos":38713,"EncoderSin":12491,"GapTicks":54776,"Mech_RPM":-6.62395774e-22,"cg_du":50.1570129,"cg_dv":50.2031975,"cg_dw":49.7968025,"cg_id_a":0.110780686,"cg_id_raw_a":-0.19831264,"cg_iq_a":0.183955625,"cg_iq_raw_a":0.272722483,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885413,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9981823,"cg_sample_seq":14335066,"cg_sample_valid":1,"cg_theta_rad":5.00840616,"cg_vd_req_v":0.0744460225,"cg_vd_v":0.0744460225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364298671,"cg_vq_v":-0.364298671,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.7157288,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.78833,"values":{"Elec_RPM":-3.24573919e-21,"EncoderCos":38694,"EncoderSin":12507,"GapTicks":54785,"Mech_RPM":-6.49147858e-22,"cg_du":50.1530838,"cg_dv":50.1951904,"cg_dw":49.8048096,"cg_id_a":0.259233505,"cg_id_raw_a":0.679064274,"cg_iq_a":-0.429145038,"cg_iq_raw_a":-1.13264191,"cg_iu_a":0.0387773514,"cg_iv_a":0.649055243,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9509087,"cg_sample_seq":14335116,"cg_sample_valid":1,"cg_theta_rad":5.00660324,"cg_vd_req_v":0.0708737373,"cg_vd_v":0.0708737373,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350986004,"cg_vq_v":-0.350986004,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.690033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.796143,"values":{"Elec_RPM":-3.18082449e-21,"EncoderCos":38711,"EncoderSin":12504,"GapTicks":54783,"Mech_RPM":-6.36164899e-22,"cg_du":50.1492119,"cg_dv":50.1972084,"cg_dw":49.8027916,"cg_id_a":0.0919169933,"cg_id_raw_a":0.29785949,"cg_iq_a":-0.273117095,"cg_iq_raw_a":0.57607311,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14335267,"cg_sample_valid":1,"cg_theta_rad":5.00693798,"cg_vd_req_v":0.0748164058,"cg_vd_v":0.0748164058,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352883905,"cg_vq_v":-0.352883905,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.3552933,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.807861,"values":{"Elec_RPM":-3.11720792e-21,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-6.23441595e-22,"cg_du":50.1499977,"cg_dv":50.201973,"cg_dw":49.798027,"cg_id_a":-0.120639428,"cg_id_raw_a":0.0897293016,"cg_iq_a":0.026162073,"cg_iq_raw_a":0.119144216,"cg_iu_a":0.401215553,"cg_iv_a":0.21412921,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9618187,"cg_sample_seq":14335316,"cg_sample_valid":1,"cg_theta_rad":5.00820971,"cg_vd_req_v":0.0798280239,"cg_vd_v":0.0798280239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358465046,"cg_vq_v":-0.358465046,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.815674,"values":{"Elec_RPM":-3.11720792e-21,"EncoderCos":38728,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-6.23441595e-22,"cg_du":50.1525574,"cg_dv":50.2000771,"cg_dw":49.7999229,"cg_id_a":0.0854059383,"cg_id_raw_a":0.489484608,"cg_iq_a":-0.0450439416,"cg_iq_raw_a":-0.316242814,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8600006,"cg_sample_seq":14335366,"cg_sample_valid":1,"cg_theta_rad":5.00868893,"cg_vd_req_v":0.0742823631,"cg_vd_v":0.0742823631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357691348,"cg_vq_v":-0.357691348,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.5186768,"temp_inv2_c":37.6772156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.823486,"values":{"Elec_RPM":-3.05486363e-21,"EncoderCos":38727,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-6.10972746e-22,"cg_du":50.1549339,"cg_dv":50.2034073,"cg_dw":49.7965927,"cg_id_a":-0.188812315,"cg_id_raw_a":-0.179733008,"cg_iq_a":-0.0887892768,"cg_iq_raw_a":0.748255849,"cg_iu_a":0.546190858,"cg_iv_a":0.177885413,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9836369,"cg_sample_seq":14335417,"cg_sample_valid":1,"cg_theta_rad":5.00756645,"cg_vd_req_v":0.0752515569,"cg_vd_v":0.0752515569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363635689,"cg_vq_v":-0.363635689,"cg_vu_v":28.5930176,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.690033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.85083,"values":{"Elec_RPM":-3.05486363e-21,"EncoderCos":38745,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-6.10972746e-22,"cg_du":50.1518364,"cg_dv":50.2038879,"cg_dw":49.7961121,"cg_id_a":-0.251203895,"cg_id_raw_a":-0.199767038,"cg_iq_a":0.177696943,"cg_iq_raw_a":0.783444405,"cg_iu_a":0.473703265,"cg_iv_a":0.105397761,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.8600006,"cg_sample_seq":14335471,"cg_sample_valid":1,"cg_theta_rad":5.00886345,"cg_vd_req_v":0.0764725804,"cg_vd_v":0.0764725804,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364062607,"cg_vq_v":-0.364062607,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.8857422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.690033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.858643,"values":{"Elec_RPM":-2.99376657e-21,"EncoderCos":38715,"EncoderSin":12472,"GapTicks":54784,"Mech_RPM":-5.98753303e-22,"cg_du":50.1610413,"cg_dv":50.1961288,"cg_dw":49.8038712,"cg_id_a":0.275867999,"cg_id_raw_a":-0.0278365519,"cg_iq_a":-0.172713608,"cg_iq_raw_a":0.0344745927,"cg_iu_a":-0.287417173,"cg_iv_a":-0.474503517,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8600006,"cg_sample_seq":14335516,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.0649136603,"cg_vd_v":0.0649136603,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357985258,"cg_vq_v":-0.357985258,"cg_vu_v":121.410347,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.697754622,"dclink_p_w":-101.289238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.870361,"values":{"Elec_RPM":-2.99376657e-21,"EncoderCos":38730,"EncoderSin":12497,"GapTicks":54783,"Mech_RPM":-5.98753303e-22,"cg_du":50.1489601,"cg_dv":50.1967354,"cg_dw":49.8032646,"cg_id_a":-0.181909636,"cg_id_raw_a":-0.00625744462,"cg_iq_a":-0.570676029,"cg_iq_raw_a":0.255034,"cg_iu_a":0.111264944,"cg_iv_a":0.757786751,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9581814,"cg_sample_seq":14335567,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.072975494,"cg_vd_v":0.072975494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351312071,"cg_vq_v":-0.351312071,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.574525356,"dclink_p_w":-83.4007187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.878174,"values":{"Elec_RPM":-2.93389109e-21,"EncoderCos":38709,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-5.86778218e-22,"cg_du":50.155262,"cg_dv":50.2038155,"cg_dw":49.7961845,"cg_id_a":-0.433663607,"cg_id_raw_a":0.0546808541,"cg_iq_a":0.0381264761,"cg_iq_raw_a":-1.19582677,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9581814,"cg_sample_seq":14335616,"cg_sample_valid":1,"cg_theta_rad":5.00601006,"cg_vd_req_v":0.0776556134,"cg_vd_v":0.0776556134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363895863,"cg_vq_v":-0.363895863,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6852417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.885986,"values":{"Elec_RPM":-2.93389109e-21,"EncoderCos":38722,"EncoderSin":12433,"GapTicks":54781,"Mech_RPM":-5.86778218e-22,"cg_du":50.1554489,"cg_dv":50.198307,"cg_dw":49.801693,"cg_id_a":-0.224953353,"cg_id_raw_a":0.371341914,"cg_iq_a":-0.15653041,"cg_iq_raw_a":0.0378946401,"cg_iu_a":1.19858003,"cg_iv_a":-0.800698042,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9872723,"cg_sample_seq":14335666,"cg_sample_valid":1,"cg_theta_rad":5.00675917,"cg_vd_req_v":0.0716106743,"cg_vd_v":0.0716106743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356638312,"cg_vq_v":-0.356638312,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6804199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.893799,"values":{"Elec_RPM":-2.87521317e-21,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54782,"Mech_RPM":-5.75042643e-22,"cg_du":50.1556244,"cg_dv":50.1974869,"cg_dw":49.8025131,"cg_id_a":-0.116085932,"cg_id_raw_a":-0.394856125,"cg_iq_a":-0.138698161,"cg_iq_raw_a":-0.511298478,"cg_iu_a":0.437459469,"cg_iv_a":0.214129329,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9618187,"cg_sample_seq":14335717,"cg_sample_valid":1,"cg_theta_rad":5.00835705,"cg_vd_req_v":0.0699933544,"cg_vd_v":0.0699933544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355756015,"cg_vq_v":-0.355756015,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.590835094,"dclink_p_w":-85.5084076,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6804199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.901611,"values":{"Elec_RPM":-2.87521317e-21,"EncoderCos":38756,"EncoderSin":12497,"GapTicks":54786,"Mech_RPM":-5.75042643e-22,"cg_du":50.1540794,"cg_dv":50.1942444,"cg_dw":49.8057556,"cg_id_a":0.165533721,"cg_id_raw_a":0.0509040467,"cg_iq_a":-0.310685813,"cg_iq_raw_a":-0.140266418,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8709087,"cg_sample_seq":14335767,"cg_sample_valid":1,"cg_theta_rad":5.00549984,"cg_vd_req_v":0.0644661114,"cg_vd_v":0.0644661114,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351162851,"cg_vq_v":-0.351162851,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.1649017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6852417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.909424,"values":{"Elec_RPM":-2.81770897e-21,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-5.63541783e-22,"cg_du":50.1512566,"cg_dv":50.1949387,"cg_dw":49.8050613,"cg_id_a":-0.142628983,"cg_id_raw_a":0.0681822971,"cg_iq_a":-0.240477636,"cg_iq_raw_a":-0.720867097,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9509087,"cg_sample_seq":14335816,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0716274977,"cg_vd_v":0.0716274977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350807488,"cg_vq_v":-0.350807488,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.1649017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6820068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.917236,"values":{"Elec_RPM":-2.81770897e-21,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-5.63541783e-22,"cg_du":50.1645012,"cg_dv":50.2003899,"cg_dw":49.7996101,"cg_id_a":0.126526624,"cg_id_raw_a":-0.020660188,"cg_iq_a":0.522185922,"cg_iq_raw_a":-0.0376895145,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14335866,"cg_sample_valid":1,"cg_theta_rad":5.00792933,"cg_vd_req_v":0.0668445751,"cg_vd_v":0.0668445751,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365653068,"cg_vq_v":-0.365653068,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.721313,"dclink_p_w":-104.709076,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6820068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.928955,"values":{"Elec_RPM":-2.76135466e-21,"EncoderCos":38748,"EncoderSin":12490,"GapTicks":54774,"Mech_RPM":-5.52270943e-22,"cg_du":50.156395,"cg_dv":50.2048149,"cg_dw":49.7951851,"cg_id_a":-0.223038673,"cg_id_raw_a":-0.143373802,"cg_iq_a":0.43474853,"cg_iq_raw_a":0.388197362,"cg_iu_a":0.111264944,"cg_iv_a":0.504079878,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9581814,"cg_sample_seq":14335917,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0736131817,"cg_vd_v":0.0736131817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366743654,"cg_vq_v":-0.366743654,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.956299,"values":{"Elec_RPM":-2.76135466e-21,"EncoderCos":38776,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-5.52270943e-22,"cg_du":50.1517715,"cg_dv":50.2054291,"cg_dw":49.7945709,"cg_id_a":-0.307459325,"cg_id_raw_a":-0.355205595,"cg_iq_a":0.228083119,"cg_iq_raw_a":0.189321756,"cg_iu_a":0.546190858,"cg_iv_a":0.39534843,"cg_iw_a":-0.941539288,"cg_sample_age_us":26.8163643,"cg_sample_seq":14335970,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.0753235295,"cg_vd_v":0.0753235295,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364387482,"cg_vq_v":-0.364387482,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6836243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.964111,"values":{"Elec_RPM":-2.70612763e-21,"EncoderCos":38749,"EncoderSin":12490,"GapTicks":54783,"Mech_RPM":-5.41225527e-22,"cg_du":50.1584244,"cg_dv":50.1971016,"cg_dw":49.8028984,"cg_id_a":0.315514207,"cg_id_raw_a":-0.084979102,"cg_iq_a":-0.0589670688,"cg_iq_raw_a":-0.261548042,"cg_iu_a":0.038777113,"cg_iv_a":0.649055243,"cg_iw_a":-0.687832355,"cg_sample_age_us":23.9872723,"cg_sample_seq":14336017,"cg_sample_valid":1,"cg_theta_rad":5.00639248,"cg_vd_req_v":0.0643188357,"cg_vd_v":0.0643188357,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356261253,"cg_vq_v":-0.356261253,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6852417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2593.971924,"values":{"Elec_RPM":-2.70612763e-21,"EncoderCos":38744,"EncoderSin":12488,"GapTicks":54781,"Mech_RPM":-5.41225527e-22,"cg_du":50.1476173,"cg_dv":50.198452,"cg_dw":49.801548,"cg_id_a":-0.203713477,"cg_id_raw_a":-0.00776141556,"cg_iq_a":-0.201044127,"cg_iq_raw_a":0.509608209,"cg_iu_a":0.401215792,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9327278,"cg_sample_seq":14336066,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.0750177279,"cg_vd_v":0.0750177279,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3541677,"cg_vq_v":-0.3541677,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6868286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2593.975044,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2593.975051,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2593.975056,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2593.983643,"values":{"Elec_RPM":-2.65200486e-21,"EncoderCos":38720,"EncoderSin":12490,"GapTicks":54784,"Mech_RPM":-5.30400992e-22,"cg_du":50.1472855,"cg_dv":50.195816,"cg_dw":49.804184,"cg_id_a":-0.119873755,"cg_id_raw_a":0.0939122364,"cg_iq_a":-0.475115418,"cg_iq_raw_a":-1.00967491,"cg_iu_a":0.473703384,"cg_iv_a":-0.583235025,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9763641,"cg_sample_seq":14336117,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.0743689761,"cg_vd_v":0.0743689761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34892109,"cg_vq_v":-0.34892109,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.2021446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6868286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2593.991455,"values":{"Elec_RPM":-2.65200486e-21,"EncoderCos":38758,"EncoderSin":12484,"GapTicks":54780,"Mech_RPM":-5.30400992e-22,"cg_du":50.1436501,"cg_dv":50.1992378,"cg_dw":49.8007622,"cg_id_a":-0.31647712,"cg_id_raw_a":-0.0309940614,"cg_iq_a":-0.403760552,"cg_iq_raw_a":-0.402153015,"cg_iu_a":0.61867857,"cg_iv_a":0.0329101682,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9472733,"cg_sample_seq":14336166,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0778873339,"cg_vd_v":0.0778873339,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353257775,"cg_vq_v":-0.353257775,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6820068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2593.999268,"values":{"Elec_RPM":-2.59896493e-21,"EncoderCos":38733,"EncoderSin":12484,"GapTicks":54780,"Mech_RPM":-5.19792996e-22,"cg_du":50.1515579,"cg_dv":50.1995888,"cg_dw":49.8004112,"cg_id_a":-0.0140366331,"cg_id_raw_a":0.427814275,"cg_iq_a":-0.109625213,"cg_iq_raw_a":0.332164794,"cg_iu_a":0.473703146,"cg_iv_a":0.177885413,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9763641,"cg_sample_seq":14336216,"cg_sample_valid":1,"cg_theta_rad":5.00810671,"cg_vd_req_v":0.0739931241,"cg_vd_v":0.0739931241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357723266,"cg_vq_v":-0.357723266,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6772156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.00708,"values":{"Elec_RPM":-2.59896493e-21,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54780,"Mech_RPM":-5.19792996e-22,"cg_du":50.1595573,"cg_dv":50.1993027,"cg_dw":49.8006973,"cg_id_a":0.180878192,"cg_id_raw_a":0.475569576,"cg_iq_a":0.100584872,"cg_iq_raw_a":0.26513347,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9581814,"cg_sample_seq":14336266,"cg_sample_valid":1,"cg_theta_rad":5.00611973,"cg_vd_req_v":0.0681305602,"cg_vd_v":0.0681305602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360540897,"cg_vq_v":-0.360540897,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4691162,"temp_inv2_c":37.6772156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.014893,"values":{"Elec_RPM":-2.54698564e-21,"EncoderCos":38721,"EncoderSin":12461,"GapTicks":54783,"Mech_RPM":-5.09397148e-22,"cg_du":50.1411133,"cg_dv":50.1965714,"cg_dw":49.8034286,"cg_id_a":-0.384838372,"cg_id_raw_a":-0.0640676171,"cg_iq_a":-0.464043766,"cg_iq_raw_a":0.832130075,"cg_iu_a":1.01736093,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.941539526,"cg_sample_age_us":23.9836369,"cg_sample_seq":14336316,"cg_sample_valid":1,"cg_theta_rad":5.00773764,"cg_vd_req_v":0.0805628523,"cg_vd_v":0.0805628523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346346021,"cg_vq_v":-0.346346021,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6772156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.022705,"values":{"Elec_RPM":-2.54698564e-21,"EncoderCos":38703,"EncoderSin":12504,"GapTicks":54777,"Mech_RPM":-5.09397148e-22,"cg_du":50.1601601,"cg_dv":50.2020912,"cg_dw":49.7979088,"cg_id_a":0.0338543952,"cg_id_raw_a":-0.158382192,"cg_iq_a":0.368158042,"cg_iq_raw_a":0.71351701,"cg_iu_a":-0.758586884,"cg_iv_a":0.250373125,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9254551,"cg_sample_seq":14336366,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.0714057162,"cg_vd_v":0.0714057162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364465505,"cg_vq_v":-0.364465505,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.6970539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6772156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.034424,"values":{"Elec_RPM":-2.49604597e-21,"EncoderCos":38722,"EncoderSin":12504,"GapTicks":54773,"Mech_RPM":-4.99209205e-22,"cg_du":50.1575356,"cg_dv":50.2063408,"cg_dw":49.7936592,"cg_id_a":-0.245757774,"cg_id_raw_a":-0.373428404,"cg_iq_a":0.650326192,"cg_iq_raw_a":0.765138507,"cg_iu_a":0.256240129,"cg_iv_a":0.467836142,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8563633,"cg_sample_seq":14336417,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.0770305619,"cg_vd_v":0.0770305619,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370050967,"cg_vq_v":-0.370050967,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6964722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.061768,"values":{"Elec_RPM":-2.49604597e-21,"EncoderCos":38752,"EncoderSin":12533,"GapTicks":54781,"Mech_RPM":-4.99209205e-22,"cg_du":50.1656227,"cg_dv":50.1982841,"cg_dw":49.8017159,"cg_id_a":0.586022615,"cg_id_raw_a":0.969717562,"cg_iq_a":0.281917036,"cg_iq_raw_a":1.1391958,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0395776033,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14336470,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0588191189,"cg_vd_v":0.0588191189,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364278346,"cg_vq_v":-0.364278346,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.06958,"values":{"Elec_RPM":-2.44612514e-21,"EncoderCos":38726,"EncoderSin":12512,"GapTicks":54785,"Mech_RPM":-4.89225028e-22,"cg_du":50.1504784,"cg_dv":50.1947289,"cg_dw":49.8052711,"cg_id_a":-0.0721572265,"cg_id_raw_a":0.112036698,"cg_iq_a":-0.3074736,"cg_iq_raw_a":0.338892579,"cg_iu_a":-0.359904766,"cg_iv_a":0.359104574,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9763641,"cg_sample_seq":14336517,"cg_sample_valid":1,"cg_theta_rad":5.00668764,"cg_vd_req_v":0.0700106323,"cg_vd_v":0.0700106323,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350500017,"cg_vq_v":-0.350500017,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.077393,"values":{"Elec_RPM":-2.39720253e-21,"EncoderCos":38694,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-4.79440527e-22,"cg_du":50.1800957,"cg_dv":50.2071648,"cg_dw":49.7928352,"cg_id_a":0.358663708,"cg_id_raw_a":0.406190395,"cg_iq_a":1.24839067,"cg_iq_raw_a":0.917533696,"cg_iu_a":0.038777113,"cg_iv_a":-0.583235025,"cg_iw_a":2.21167397,"cg_sample_age_us":23.863636,"cg_sample_seq":14336667,"cg_sample_valid":1,"cg_theta_rad":5.00644827,"cg_vd_req_v":0.0624528117,"cg_vd_v":0.0624528117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382290542,"cg_vq_v":-0.382290542,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.03713059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.085205,"values":{"Elec_RPM":-2.34925857e-21,"EncoderCos":38726,"EncoderSin":12450,"GapTicks":54777,"Mech_RPM":-4.69851715e-22,"cg_du":50.1763992,"cg_dv":50.2025261,"cg_dw":49.7974739,"cg_id_a":0.626376212,"cg_id_raw_a":0.180458024,"cg_iq_a":0.926550031,"cg_iq_raw_a":0.0548673309,"cg_iu_a":-0.468636274,"cg_iv_a":0.540323734,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9618187,"cg_sample_seq":14336716,"cg_sample_valid":1,"cg_theta_rad":5.00712109,"cg_vd_req_v":0.0587121621,"cg_vd_v":0.0587121621,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375420421,"cg_vq_v":-0.375420421,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.72462749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6531372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.096924,"values":{"Elec_RPM":-2.34925857e-21,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-4.69851715e-22,"cg_du":50.1488876,"cg_dv":50.1981812,"cg_dw":49.8018188,"cg_id_a":-0.184953094,"cg_id_raw_a":0.268771082,"cg_iq_a":-0.225629747,"cg_iq_raw_a":0.428665787,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747313,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9618187,"cg_sample_seq":14336767,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0772586614,"cg_vd_v":0.0772586614,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353758931,"cg_vq_v":-0.353758931,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.9301853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6531372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.104736,"values":{"Elec_RPM":-2.30227346e-21,"EncoderCos":38710,"EncoderSin":12479,"GapTicks":54781,"Mech_RPM":-4.60454702e-22,"cg_du":50.1595917,"cg_dv":50.1988373,"cg_dw":49.8011627,"cg_id_a":0.245586693,"cg_id_raw_a":0.0612119995,"cg_iq_a":0.0893962979,"cg_iq_raw_a":0.407539785,"cg_iu_a":0.147508621,"cg_iv_a":-0.438259721,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14336816,"cg_sample_valid":1,"cg_theta_rad":5.0066123,"cg_vd_req_v":0.0689354613,"cg_vd_v":0.0689354613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360814184,"cg_vq_v":-0.360814184,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.18819332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.112549,"values":{"Elec_RPM":-2.30227346e-21,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-4.60454702e-22,"cg_du":50.1449509,"cg_dv":50.199131,"cg_dw":49.800869,"cg_id_a":-0.190034509,"cg_id_raw_a":0.155734226,"cg_iq_a":-0.283439636,"cg_iq_raw_a":-0.348501265,"cg_iu_a":-0.504880428,"cg_iv_a":0.322860777,"cg_iw_a":0.182019651,"cg_sample_age_us":23.9290905,"cg_sample_seq":14336868,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.078851983,"cg_vd_v":0.078851983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352251112,"cg_vq_v":-0.352251112,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6740112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.124268,"values":{"Elec_RPM":-2.25622802e-21,"EncoderCos":38740,"EncoderSin":12521,"GapTicks":54776,"Mech_RPM":-4.51245603e-22,"cg_du":50.1481171,"cg_dv":50.2028046,"cg_dw":49.7971954,"cg_id_a":-0.199905425,"cg_id_raw_a":0.0716423467,"cg_iq_a":0.245385692,"cg_iq_raw_a":0.334727257,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9799995,"cg_sample_seq":14336916,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0780931264,"cg_vd_v":0.0780931264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359424889,"cg_vq_v":-0.359424889,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6740112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.13208,"values":{"Elec_RPM":-2.25622802e-21,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-4.51245603e-22,"cg_du":50.1561203,"cg_dv":50.1950531,"cg_dw":49.8049469,"cg_id_a":0.386285186,"cg_id_raw_a":0.510346949,"cg_iq_a":-0.107911587,"cg_iq_raw_a":-0.095685184,"cg_iu_a":0.364971876,"cg_iv_a":0.359104574,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14336966,"cg_sample_valid":1,"cg_theta_rad":5.00756264,"cg_vd_req_v":0.0666667521,"cg_vd_v":0.0666667521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352839202,"cg_vq_v":-0.352839202,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.159424,"values":{"Elec_RPM":-2.21110346e-21,"EncoderCos":38741,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-4.42220681e-22,"cg_du":50.1411438,"cg_dv":50.2006454,"cg_dw":49.7993546,"cg_id_a":-0.353343159,"cg_id_raw_a":-0.365556687,"cg_iq_a":-0.104563385,"cg_iq_raw_a":0.51328522,"cg_iu_a":0.292484045,"cg_iv_a":-0.402015805,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8600006,"cg_sample_seq":14337021,"cg_sample_valid":1,"cg_theta_rad":5.00621033,"cg_vd_req_v":0.082424514,"cg_vd_v":0.082424514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353526056,"cg_vq_v":-0.353526056,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6820068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.167236,"values":{"Elec_RPM":-2.21110346e-21,"EncoderCos":38704,"EncoderSin":12472,"GapTicks":54783,"Mech_RPM":-4.42220681e-22,"cg_du":50.1462059,"cg_dv":50.1965942,"cg_dw":49.8034058,"cg_id_a":-0.116642877,"cg_id_raw_a":-0.157941893,"cg_iq_a":-0.292898029,"cg_iq_raw_a":-0.343060881,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9581814,"cg_sample_seq":14337067,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.0779134929,"cg_vd_v":0.0779134929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350062907,"cg_vq_v":-0.350062907,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.88491035,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6820068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.175049,"values":{"Elec_RPM":-2.1668812e-21,"EncoderCos":38721,"EncoderSin":12494,"GapTicks":54781,"Mech_RPM":-4.3337625e-22,"cg_du":50.1519928,"cg_dv":50.1988983,"cg_dw":49.8011017,"cg_id_a":0.0699670911,"cg_id_raw_a":0.135819674,"cg_iq_a":0.00760217756,"cg_iq_raw_a":1.17894697,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9327278,"cg_sample_seq":14337116,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0737079158,"cg_vd_v":0.0737079158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356872916,"cg_vq_v":-0.356872916,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.186768,"values":{"Elec_RPM":-2.1668812e-21,"EncoderCos":38705,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-4.3337625e-22,"cg_du":50.1543045,"cg_dv":50.2016296,"cg_dw":49.7983704,"cg_id_a":0.000215172768,"cg_id_raw_a":0.517479479,"cg_iq_a":0.228161395,"cg_iq_raw_a":-0.784805417,"cg_iu_a":0.654922485,"cg_iv_a":-0.0758213997,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14337167,"cg_sample_valid":1,"cg_theta_rad":5.00666952,"cg_vd_req_v":0.0761225224,"cg_vd_v":0.0761225224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36042282,"cg_vq_v":-0.36042282,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.19458,"values":{"Elec_RPM":-2.12354368e-21,"EncoderCos":38708,"EncoderSin":12506,"GapTicks":54780,"Mech_RPM":-4.24708726e-22,"cg_du":50.1512833,"cg_dv":50.1998672,"cg_dw":49.8001328,"cg_id_a":0.0418369398,"cg_id_raw_a":0.0484191738,"cg_iq_a":0.0776094496,"cg_iq_raw_a":0.114803381,"cg_iu_a":0.00253343582,"cg_iv_a":0.612811387,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9763641,"cg_sample_seq":14337216,"cg_sample_valid":1,"cg_theta_rad":5.00797176,"cg_vd_req_v":0.0757414773,"cg_vd_v":0.0757414773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356550813,"cg_vq_v":-0.356550813,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6740112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.202393,"values":{"Elec_RPM":-2.12354368e-21,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-4.24708726e-22,"cg_du":50.1436043,"cg_dv":50.1946564,"cg_dw":49.8053436,"cg_id_a":0.0752597153,"cg_id_raw_a":-0.118111014,"cg_iq_a":-0.483424962,"cg_iq_raw_a":-0.775172055,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14337267,"cg_sample_valid":1,"cg_theta_rad":5.00829554,"cg_vd_req_v":0.0760340318,"cg_vd_v":0.0760340318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345300674,"cg_vq_v":-0.345300674,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.210205,"values":{"Elec_RPM":-2.08107272e-21,"EncoderCos":38763,"EncoderSin":12495,"GapTicks":54777,"Mech_RPM":-4.1621455e-22,"cg_du":50.1422234,"cg_dv":50.2024117,"cg_dw":49.7975883,"cg_id_a":-0.155643865,"cg_id_raw_a":-0.228725925,"cg_iq_a":-0.0689720064,"cg_iq_raw_a":-0.309933364,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9581814,"cg_sample_seq":14337316,"cg_sample_valid":1,"cg_theta_rad":5.00558996,"cg_vd_req_v":0.0811492875,"cg_vd_v":0.0811492875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355896831,"cg_vq_v":-0.355896831,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.218018,"values":{"Elec_RPM":-2.08107272e-21,"EncoderCos":38698,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-4.1621455e-22,"cg_du":50.1639328,"cg_dv":50.2006149,"cg_dw":49.7993851,"cg_id_a":0.383543402,"cg_id_raw_a":0.475511312,"cg_iq_a":0.33047086,"cg_iq_raw_a":1.06991696,"cg_iu_a":-0.287417173,"cg_iv_a":0.794030607,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9581814,"cg_sample_seq":14337366,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0685088411,"cg_vd_v":0.0685088411,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365453511,"cg_vq_v":-0.365453511,"cg_vu_v":24.6339836,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6691589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.22583,"values":{"Elec_RPM":-2.03945136e-21,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-4.07890262e-22,"cg_du":50.1454391,"cg_dv":50.1980209,"cg_dw":49.8019791,"cg_id_a":-0.150688797,"cg_id_raw_a":-0.260335326,"cg_iq_a":-0.323055238,"cg_iq_raw_a":0.0486091115,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.402015805,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9654541,"cg_sample_seq":14337416,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0780928358,"cg_vd_v":0.0780928358,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351974875,"cg_vq_v":-0.351974875,"cg_vu_v":23.3143044,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.237549,"values":{"Elec_RPM":-2.03945136e-21,"EncoderCos":38708,"EncoderSin":12469,"GapTicks":54778,"Mech_RPM":-4.07890262e-22,"cg_du":50.1553917,"cg_dv":50.2012444,"cg_dw":49.7987556,"cg_id_a":-0.00896134228,"cg_id_raw_a":-0.0424093045,"cg_iq_a":-0.227369651,"cg_iq_raw_a":0.178671792,"cg_iu_a":0.256240368,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9581814,"cg_sample_seq":14337466,"cg_sample_valid":1,"cg_theta_rad":5.00901985,"cg_vd_req_v":0.0747748911,"cg_vd_v":0.0747748911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360537976,"cg_vq_v":-0.360537976,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.9930954,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.264893,"values":{"Elec_RPM":-1.99866223e-21,"EncoderCos":38750,"EncoderSin":12500,"GapTicks":54770,"Mech_RPM":-3.99732456e-22,"cg_du":50.1587219,"cg_dv":50.2088089,"cg_dw":49.7911911,"cg_id_a":0.082759425,"cg_id_raw_a":0.450310916,"cg_iq_a":0.289984852,"cg_iq_raw_a":0.804910302,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14337521,"cg_sample_valid":1,"cg_theta_rad":5.00654793,"cg_vd_req_v":0.0751926526,"cg_vd_v":0.0751926526,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37358129,"cg_vq_v":-0.37358129,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.272705,"values":{"Elec_RPM":-1.99866223e-21,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-3.99732456e-22,"cg_du":50.1440582,"cg_dv":50.2012978,"cg_dw":49.7987022,"cg_id_a":-0.274062008,"cg_id_raw_a":-0.111179866,"cg_iq_a":-0.773320735,"cg_iq_raw_a":0.0260459799,"cg_iu_a":0.799897909,"cg_iv_a":0.250373125,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9690914,"cg_sample_seq":14337567,"cg_sample_valid":1,"cg_theta_rad":5.00595045,"cg_vd_req_v":0.0834513679,"cg_vd_v":0.0834513679,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353149831,"cg_vq_v":-0.353149831,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.7060852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2594.280518,"values":{"Elec_RPM":-1.95868897e-21,"EncoderCos":38710,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-3.91737799e-22,"cg_du":50.1586037,"cg_dv":50.2077942,"cg_dw":49.7922058,"cg_id_a":0.013350267,"cg_id_raw_a":0.211967513,"cg_iq_a":0.0384092554,"cg_iq_raw_a":-0.0508908667,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616981,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8745461,"cg_sample_seq":14337616,"cg_sample_valid":1,"cg_theta_rad":5.0066185,"cg_vd_req_v":0.0783559605,"cg_vd_v":0.0783559605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371295959,"cg_vq_v":-0.371295959,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6563416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.292236,"values":{"Elec_RPM":-1.95868897e-21,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-3.91737799e-22,"cg_du":50.1541862,"cg_dv":50.2064743,"cg_dw":49.7935257,"cg_id_a":-0.0152097568,"cg_id_raw_a":0.316264927,"cg_iq_a":-0.0462355912,"cg_iq_raw_a":0.176253676,"cg_iu_a":1.0898484,"cg_iv_a":0.250373125,"cg_iw_a":-1.34022152,"cg_sample_age_us":23.9836369,"cg_sample_seq":14337666,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0787810311,"cg_vd_v":0.0787810311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368566692,"cg_vq_v":-0.368566692,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6643677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.300049,"values":{"Elec_RPM":-1.91951522e-21,"EncoderCos":38703,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-3.83903034e-22,"cg_du":50.1610107,"cg_dv":50.210659,"cg_dw":49.789341,"cg_id_a":-0.128548384,"cg_id_raw_a":-0.1261262,"cg_iq_a":0.252586782,"cg_iq_raw_a":0.789433658,"cg_iu_a":0.473703146,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9618187,"cg_sample_seq":14337717,"cg_sample_valid":1,"cg_theta_rad":5.00790977,"cg_vd_req_v":0.080151394,"cg_vd_v":0.080151394,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376354784,"cg_vq_v":-0.376354784,"cg_vu_v":139.445938,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.5732346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6643677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.307861,"values":{"Elec_RPM":-1.91951522e-21,"EncoderCos":38690,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-3.83903034e-22,"cg_du":50.161747,"cg_dv":50.2093315,"cg_dw":49.7906685,"cg_id_a":-0.0966846868,"cg_id_raw_a":-0.734412551,"cg_iq_a":0.235719264,"cg_iq_raw_a":0.943656087,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065196,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9363632,"cg_sample_seq":14337766,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0798313841,"cg_vd_v":0.0798313841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375833869,"cg_vq_v":-0.375833869,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.5732346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6611633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.315674,"values":{"Elec_RPM":-1.88112483e-21,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54766,"Mech_RPM":-3.76224982e-22,"cg_du":50.1557503,"cg_dv":50.2126198,"cg_dw":49.7873802,"cg_id_a":-0.290657222,"cg_id_raw_a":0.433000535,"cg_iq_a":0.343400717,"cg_iq_raw_a":0.262625545,"cg_iu_a":0.836141586,"cg_iv_a":-0.365772128,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14337816,"cg_sample_valid":1,"cg_theta_rad":5.00416231,"cg_vd_req_v":0.0853540003,"cg_vd_v":0.0853540003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376226097,"cg_vq_v":-0.376226097,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.5732346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.323486,"values":{"Elec_RPM":-1.88112483e-21,"EncoderCos":38720,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-3.76224982e-22,"cg_du":50.1447678,"cg_dv":50.2021675,"cg_dw":49.7978325,"cg_id_a":-0.279267788,"cg_id_raw_a":-0.544891059,"cg_iq_a":-0.718698621,"cg_iq_raw_a":-0.0528504066,"cg_iu_a":0.872385502,"cg_iv_a":0.359104633,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9327278,"cg_sample_seq":14337866,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.0832455233,"cg_vd_v":0.0832455233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355981946,"cg_vq_v":-0.355981946,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.5732346,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4938965,"temp_inv2_c":37.6627502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.331299,"values":{"Elec_RPM":-1.84350245e-21,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54772,"Mech_RPM":-3.68700486e-22,"cg_du":50.1574326,"cg_dv":50.2066574,"cg_dw":49.7933426,"cg_id_a":0.0337619595,"cg_id_raw_a":-0.0428429507,"cg_iq_a":0.104267329,"cg_iq_raw_a":-0.694942534,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14337916,"cg_sample_valid":1,"cg_theta_rad":5.00772333,"cg_vd_req_v":0.0764534622,"cg_vd_v":0.0764534622,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370627791,"cg_vq_v":-0.370627791,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.339111,"values":{"Elec_RPM":-1.84350245e-21,"EncoderCos":38715,"EncoderSin":12452,"GapTicks":54781,"Mech_RPM":-3.68700486e-22,"cg_du":50.1567383,"cg_dv":50.1985855,"cg_dw":49.8014145,"cg_id_a":0.233075678,"cg_id_raw_a":-0.256063282,"cg_iq_a":-0.223224029,"cg_iq_raw_a":-0.206971839,"cg_iu_a":0.654922485,"cg_iv_a":0.504079938,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.954546,"cg_sample_seq":14337966,"cg_sample_valid":1,"cg_theta_rad":5.00767279,"cg_vd_req_v":0.0711887404,"cg_vd_v":0.0711887404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358809948,"cg_vq_v":-0.358809948,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.370361,"values":{"Elec_RPM":-1.80663233e-21,"EncoderCos":38695,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-3.61326466e-22,"cg_du":50.1558075,"cg_dv":50.2063293,"cg_dw":49.7936707,"cg_id_a":-0.115577303,"cg_id_raw_a":0.030733848,"cg_iq_a":0.344962239,"cg_iq_raw_a":0.0768502951,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552848,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9509087,"cg_sample_seq":14338021,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.080377087,"cg_vd_v":0.080377087,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367462844,"cg_vq_v":-0.367462844,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.41105056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.378174,"values":{"Elec_RPM":-1.80663233e-21,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-3.61326466e-22,"cg_du":50.1485405,"cg_dv":50.1998787,"cg_dw":49.8001213,"cg_id_a":-0.0395751297,"cg_id_raw_a":0.656329215,"cg_iq_a":-0.167565286,"cg_iq_raw_a":0.13586399,"cg_iu_a":0.618678808,"cg_iv_a":-0.619478941,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.9618187,"cg_sample_seq":14338067,"cg_sample_valid":1,"cg_theta_rad":5.00710487,"cg_vd_req_v":0.0767829493,"cg_vd_v":0.0767829493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355269194,"cg_vq_v":-0.355269194,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.385986,"values":{"Elec_RPM":-1.77049973e-21,"EncoderCos":38692,"EncoderSin":12466,"GapTicks":54780,"Mech_RPM":-3.54099945e-22,"cg_du":50.1574326,"cg_dv":50.1997452,"cg_dw":49.8002548,"cg_id_a":0.0741832554,"cg_id_raw_a":0.310514688,"cg_iq_a":0.0622253865,"cg_iq_raw_a":-0.185399488,"cg_iu_a":-0.323661089,"cg_iv_a":0.540323794,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9472733,"cg_sample_seq":14338117,"cg_sample_valid":1,"cg_theta_rad":5.0063839,"cg_vd_req_v":0.0728704631,"cg_vd_v":0.0728704631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358284861,"cg_vq_v":-0.358284861,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4355783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2594.393799,"values":{"Elec_RPM":-1.77049973e-21,"EncoderCos":38731,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-3.54099945e-22,"cg_du":50.1539688,"cg_dv":50.2030144,"cg_dw":49.7969856,"cg_id_a":-0.111440286,"cg_id_raw_a":-0.0937347263,"cg_iq_a":0.308549047,"cg_iq_raw_a":0.0645712093,"cg_iu_a":0.401215553,"cg_iv_a":-0.00333374739,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8527279,"cg_sample_seq":14338167,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0761968046,"cg_vd_v":0.0761968046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362441003,"cg_vq_v":-0.362441003,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.657959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.405518,"values":{"Elec_RPM":-1.73508969e-21,"EncoderCos":38720,"EncoderSin":12474,"GapTicks":54782,"Mech_RPM":-3.47017943e-22,"cg_du":50.1551476,"cg_dv":50.1981659,"cg_dw":49.8018341,"cg_id_a":0.135430709,"cg_id_raw_a":0.0349624828,"cg_iq_a":-0.132036313,"cg_iq_raw_a":-0.177865684,"cg_iu_a":-0.0699541569,"cg_iv_a":0.39534843,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9509087,"cg_sample_seq":14338217,"cg_sample_valid":1,"cg_theta_rad":5.0083766,"cg_vd_req_v":0.0708660111,"cg_vd_v":0.0708660111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356445819,"cg_vq_v":-0.356445819,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.667572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.41333,"values":{"Elec_RPM":-1.73508969e-21,"EncoderCos":38699,"EncoderSin":12472,"GapTicks":54782,"Mech_RPM":-3.47017943e-22,"cg_du":50.1527824,"cg_dv":50.1979523,"cg_dw":49.8020477,"cg_id_a":-0.0988009572,"cg_id_raw_a":-0.0645526722,"cg_iq_a":-0.209134951,"cg_iq_raw_a":-0.224410906,"cg_iu_a":0.256240129,"cg_iv_a":-0.112065315,"cg_iw_a":-0.144174814,"cg_sample_age_us":23.9254551,"cg_sample_seq":14338267,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.074483715,"cg_vd_v":0.074483715,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355545223,"cg_vq_v":-0.355545223,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.2613964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.667572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.421143,"values":{"Elec_RPM":-1.70038789e-21,"EncoderCos":38721,"EncoderSin":12497,"GapTicks":54785,"Mech_RPM":-3.40077583e-22,"cg_du":50.1472435,"cg_dv":50.1952095,"cg_dw":49.8047905,"cg_id_a":-0.0927328989,"cg_id_raw_a":-0.0627283379,"cg_iq_a":-0.573129773,"cg_iq_raw_a":-0.478518277,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.9290905,"cg_sample_seq":14338317,"cg_sample_valid":1,"cg_theta_rad":5.00610495,"cg_vd_req_v":0.0737894699,"cg_vd_v":0.0737894699,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349180996,"cg_vq_v":-0.349180996,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.6795158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.428955,"values":{"Elec_RPM":-1.70038789e-21,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-3.40077583e-22,"cg_du":50.1624565,"cg_dv":50.2037048,"cg_dw":49.7962952,"cg_id_a":0.0614939667,"cg_id_raw_a":-0.337127537,"cg_iq_a":0.361609042,"cg_iq_raw_a":1.27909982,"cg_iu_a":-0.142441988,"cg_iv_a":0.540323794,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9909096,"cg_sample_seq":14338367,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0703847483,"cg_vd_v":0.0703847483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369262159,"cg_vq_v":-0.369262159,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.436768,"values":{"Elec_RPM":-1.66638018e-21,"EncoderCos":38709,"EncoderSin":12438,"GapTicks":54786,"Mech_RPM":-3.33276037e-22,"cg_du":50.1608353,"cg_dv":50.1944618,"cg_dw":49.8055382,"cg_id_a":0.195065111,"cg_id_raw_a":-0.211614221,"cg_iq_a":-0.308054119,"cg_iq_raw_a":-0.0208892748,"cg_iu_a":-0.0337104797,"cg_iv_a":1.04773736,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.9872723,"cg_sample_seq":14338417,"cg_sample_valid":1,"cg_theta_rad":5.00730848,"cg_vd_req_v":0.0645657778,"cg_vd_v":0.0645657778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354289293,"cg_vq_v":-0.354289293,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6595459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.44458,"values":{"Elec_RPM":-1.66638018e-21,"EncoderCos":38694,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-3.33276037e-22,"cg_du":50.1576881,"cg_dv":50.1993713,"cg_dw":49.8006287,"cg_id_a":-0.0810530931,"cg_id_raw_a":0.286888659,"cg_iq_a":-0.0162084326,"cg_iq_raw_a":0.649971485,"cg_iu_a":0.691166401,"cg_iv_a":-0.184552908,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9581814,"cg_sample_seq":14338467,"cg_sample_valid":1,"cg_theta_rad":5.00733709,"cg_vd_req_v":0.0722161606,"cg_vd_v":0.0722161606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359079361,"cg_vq_v":-0.359079361,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6547546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.47583,"values":{"Elec_RPM":-1.63305264e-21,"EncoderCos":38705,"EncoderSin":12525,"GapTicks":54784,"Mech_RPM":-3.26610528e-22,"cg_du":50.1483345,"cg_dv":50.1960144,"cg_dw":49.8039856,"cg_id_a":-0.226388574,"cg_id_raw_a":-0.339938641,"cg_iq_a":-0.403715521,"cg_iq_raw_a":-0.214381173,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796764,"cg_iw_a":0.326994836,"cg_sample_age_us":23.863636,"cg_sample_seq":14338520,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0740863383,"cg_vd_v":0.0740863383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349704027,"cg_vq_v":-0.349704027,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6547546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.483643,"values":{"Elec_RPM":-1.63305264e-21,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-3.26610528e-22,"cg_du":50.152813,"cg_dv":50.1985397,"cg_dw":49.8014603,"cg_id_a":-0.0695488229,"cg_id_raw_a":-0.256023884,"cg_iq_a":-0.0150957219,"cg_iq_raw_a":-0.643241882,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8527279,"cg_sample_seq":14338566,"cg_sample_valid":1,"cg_theta_rad":5.00709915,"cg_vd_req_v":0.0733057559,"cg_vd_v":0.0733057559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356720477,"cg_vq_v":-0.356720477,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6499329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.491455,"values":{"Elec_RPM":-1.60039153e-21,"EncoderCos":38713,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-3.20078305e-22,"cg_du":50.1558189,"cg_dv":50.1959686,"cg_dw":49.8040314,"cg_id_a":0.18935518,"cg_id_raw_a":0.184910387,"cg_iq_a":-0.190815359,"cg_iq_raw_a":-0.636631966,"cg_iu_a":0.256240249,"cg_iv_a":0.0691539049,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14338617,"cg_sample_valid":1,"cg_theta_rad":5.00772238,"cg_vd_req_v":0.0684634596,"cg_vd_v":0.0684634596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354898572,"cg_vq_v":-0.354898572,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.499268,"values":{"Elec_RPM":-1.60039153e-21,"EncoderCos":38736,"EncoderSin":12503,"GapTicks":54780,"Mech_RPM":-3.20078305e-22,"cg_du":50.1509972,"cg_dv":50.199482,"cg_dw":49.800518,"cg_id_a":-0.0621874034,"cg_id_raw_a":0.448357195,"cg_iq_a":-0.0430777147,"cg_iq_raw_a":0.114758581,"cg_iu_a":-0.432392597,"cg_iv_a":0.57656759,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9581814,"cg_sample_seq":14338667,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.0733953342,"cg_vd_v":0.0733953342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356324881,"cg_vq_v":-0.356324881,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.50708,"values":{"Elec_RPM":-1.53701608e-21,"EncoderCos":38719,"EncoderSin":12504,"GapTicks":54779,"Mech_RPM":-3.07403217e-22,"cg_du":50.1563034,"cg_dv":50.2007523,"cg_dw":49.7992477,"cg_id_a":-0.0646379963,"cg_id_raw_a":-0.173414886,"cg_iq_a":-0.178657442,"cg_iq_raw_a":0.239083141,"cg_iu_a":-0.251173258,"cg_iv_a":0.322860777,"cg_iw_a":-0.0716875196,"cg_sample_age_us":23.863636,"cg_sample_seq":14338816,"cg_sample_valid":1,"cg_theta_rad":5.00700712,"cg_vd_req_v":0.071809344,"cg_vd_v":0.071809344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360741794,"cg_vq_v":-0.360741794,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.4639549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.518799,"values":{"Elec_RPM":-1.53701608e-21,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-3.07403217e-22,"cg_du":50.1665955,"cg_dv":50.2027245,"cg_dw":49.7972755,"cg_id_a":0.156439498,"cg_id_raw_a":-0.125798956,"cg_iq_a":-0.0217877328,"cg_iq_raw_a":0.170213938,"cg_iu_a":0.401215792,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369697,"cg_sample_age_us":24.0418186,"cg_sample_seq":14338866,"cg_sample_valid":1,"cg_theta_rad":5.00826836,"cg_vd_req_v":0.0676817819,"cg_vd_v":0.0676817819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368816435,"cg_vq_v":-0.368816435,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.526611,"values":{"Elec_RPM":-1.5062757e-21,"EncoderCos":38667,"EncoderSin":12458,"GapTicks":54778,"Mech_RPM":-3.0125515e-22,"cg_du":50.1678734,"cg_dv":50.2012711,"cg_dw":49.7987289,"cg_id_a":0.0909000188,"cg_id_raw_a":0.632236242,"cg_iq_a":-0.234730989,"cg_iq_raw_a":-0.986652493,"cg_iu_a":0.111264944,"cg_iv_a":0.322860777,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9618187,"cg_sample_seq":14338916,"cg_sample_valid":1,"cg_theta_rad":5.00636148,"cg_vd_req_v":0.0689356849,"cg_vd_v":0.0689356849,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368051201,"cg_vq_v":-0.368051201,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.534424,"values":{"Elec_RPM":-1.5062757e-21,"EncoderCos":38727,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-3.0125515e-22,"cg_du":50.1560211,"cg_dv":50.2054939,"cg_dw":49.7945061,"cg_id_a":-0.273454159,"cg_id_raw_a":-0.322671086,"cg_iq_a":-0.307606786,"cg_iq_raw_a":-1.04982376,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065315,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14338966,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.0771305338,"cg_vd_v":0.0771305338,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368096262,"cg_vq_v":-0.368096262,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.561768,"values":{"Elec_RPM":-1.47615025e-21,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-2.95230045e-22,"cg_du":50.1596527,"cg_dv":50.2042999,"cg_dw":49.7957001,"cg_id_a":0.0318534225,"cg_id_raw_a":-0.376012355,"cg_iq_a":-0.251631856,"cg_iq_raw_a":-0.2887097,"cg_iu_a":-0.0699541569,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14339021,"cg_sample_valid":1,"cg_theta_rad":5.00646448,"cg_vd_req_v":0.0714229867,"cg_vd_v":0.0714229867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367681265,"cg_vq_v":-0.367681265,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.56958,"values":{"Elec_RPM":-1.47615025e-21,"EncoderCos":38712,"EncoderSin":12457,"GapTicks":54781,"Mech_RPM":-2.95230045e-22,"cg_du":50.1681023,"cg_dv":50.1987,"cg_dw":49.8013,"cg_id_a":0.501744986,"cg_id_raw_a":0.889889538,"cg_iq_a":-0.240987062,"cg_iq_raw_a":1.36517441,"cg_iu_a":0.43745935,"cg_iv_a":1.04773748,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.9581814,"cg_sample_seq":14339067,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.0623071827,"cg_vd_v":0.0623071827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364254951,"cg_vq_v":-0.364254951,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.581299,"values":{"Elec_RPM":-1.44662721e-21,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54778,"Mech_RPM":-2.89325453e-22,"cg_du":50.1738205,"cg_dv":50.2011681,"cg_dw":49.7988319,"cg_id_a":0.545316994,"cg_id_raw_a":1.04961383,"cg_iq_a":0.200004876,"cg_iq_raw_a":1.70552421,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14339116,"cg_sample_valid":1,"cg_theta_rad":5.00661421,"cg_vd_req_v":0.0591609776,"cg_vd_v":0.0591609776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37100029,"cg_vq_v":-0.37100029,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.589111,"values":{"Elec_RPM":-1.44662721e-21,"EncoderCos":38722,"EncoderSin":12487,"GapTicks":54775,"Mech_RPM":-2.89325453e-22,"cg_du":50.1747513,"cg_dv":50.2042313,"cg_dw":49.7957687,"cg_id_a":0.399024814,"cg_id_raw_a":0.513737202,"cg_iq_a":0.403395176,"cg_iq_raw_a":-0.787260294,"cg_iu_a":-1.55595136,"cg_iv_a":-0.0758213997,"cg_iw_a":1.63177276,"cg_sample_age_us":23.9581814,"cg_sample_seq":14339167,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0608699694,"cg_vd_v":0.0608699694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37577346,"cg_vq_v":-0.37577346,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.596924,"values":{"Elec_RPM":-1.41769477e-21,"EncoderCos":38671,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-2.8353895e-22,"cg_du":50.1676025,"cg_dv":50.2018356,"cg_dw":49.7981644,"cg_id_a":0.0993888751,"cg_id_raw_a":0.0155161899,"cg_iq_a":-0.0351914428,"cg_iq_raw_a":0.403574526,"cg_iu_a":-0.359905005,"cg_iv_a":0.214129329,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14339217,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0690641254,"cg_vd_v":0.0690641254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367624104,"cg_vq_v":-0.367624104,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.71204376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6531372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.604736,"values":{"Elec_RPM":-1.41769477e-21,"EncoderCos":38701,"EncoderSin":12459,"GapTicks":54777,"Mech_RPM":-2.8353895e-22,"cg_du":50.1630554,"cg_dv":50.2026062,"cg_dw":49.7973938,"cg_id_a":0.0747194886,"cg_id_raw_a":0.270859569,"cg_iq_a":0.172454715,"cg_iq_raw_a":-0.00775936944,"cg_iu_a":0.5099473,"cg_iv_a":-0.329528272,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9509087,"cg_sample_seq":14339267,"cg_sample_valid":1,"cg_theta_rad":5.00750971,"cg_vd_req_v":0.0709414557,"cg_vd_v":0.0709414557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366547823,"cg_vq_v":-0.366547823,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.14622498,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.612549,"values":{"Elec_RPM":-1.38934082e-21,"EncoderCos":38705,"EncoderSin":12440,"GapTicks":54774,"Mech_RPM":-2.77868163e-22,"cg_du":50.1524391,"cg_dv":50.2045822,"cg_dw":49.7954178,"cg_id_a":-0.452081203,"cg_id_raw_a":-0.184864968,"cg_iq_a":0.174365163,"cg_iq_raw_a":0.127455473,"cg_iu_a":-0.178685665,"cg_iv_a":-0.619478941,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9618187,"cg_sample_seq":14339317,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0813175738,"cg_vd_v":0.0813175738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363188475,"cg_vq_v":-0.363188475,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.620361,"values":{"Elec_RPM":-1.38934082e-21,"EncoderCos":38720,"EncoderSin":12447,"GapTicks":54770,"Mech_RPM":-2.77868163e-22,"cg_du":50.1544571,"cg_dv":50.2088318,"cg_dw":49.7911682,"cg_id_a":-0.521460712,"cg_id_raw_a":-0.692643702,"cg_iq_a":0.626743138,"cg_iq_raw_a":0.587579787,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395775437,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9581814,"cg_sample_seq":14339367,"cg_sample_valid":1,"cg_theta_rad":5.00941277,"cg_vd_req_v":0.082464315,"cg_vd_v":0.082464315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370407283,"cg_vq_v":-0.370407283,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6499329,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.628174,"values":{"Elec_RPM":-1.36155403e-21,"EncoderCos":38717,"EncoderSin":12495,"GapTicks":54786,"Mech_RPM":-2.72310796e-22,"cg_du":50.1546631,"cg_dv":50.193943,"cg_dw":49.806057,"cg_id_a":0.23758781,"cg_id_raw_a":0.409950465,"cg_iq_a":-0.367248207,"cg_iq_raw_a":-0.578563988,"cg_iu_a":-0.0699541569,"cg_iv_a":0.866518259,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.863636,"cg_sample_seq":14339416,"cg_sample_valid":1,"cg_theta_rad":5.00755978,"cg_vd_req_v":0.0668761358,"cg_vd_v":0.0668761358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350483775,"cg_vq_v":-0.350483775,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6515503,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.639893,"values":{"Elec_RPM":-1.36155403e-21,"EncoderCos":38717,"EncoderSin":12507,"GapTicks":54778,"Mech_RPM":-2.72310796e-22,"cg_du":50.1688385,"cg_dv":50.2013359,"cg_dw":49.7986641,"cg_id_a":0.353313744,"cg_id_raw_a":0.194543853,"cg_iq_a":0.561931133,"cg_iq_raw_a":0.347149402,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552848,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9654541,"cg_sample_seq":14339467,"cg_sample_valid":1,"cg_theta_rad":5.00774717,"cg_vd_req_v":0.0626188144,"cg_vd_v":0.0626188144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368538409,"cg_vq_v":-0.368538409,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6515503,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.667236,"values":{"Elec_RPM":-1.33432291e-21,"EncoderCos":38730,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-2.66864576e-22,"cg_du":50.1533051,"cg_dv":50.1998901,"cg_dw":49.8001099,"cg_id_a":-0.210741058,"cg_id_raw_a":-0.284408569,"cg_iq_a":-0.0832966045,"cg_iq_raw_a":-0.791306019,"cg_iu_a":0.0750212669,"cg_iv_a":-0.365772009,"cg_iw_a":0.943139791,"cg_sample_age_us":23.863636,"cg_sample_seq":14339520,"cg_sample_valid":1,"cg_theta_rad":5.00995874,"cg_vd_req_v":0.0738699064,"cg_vd_v":0.0738699064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358915597,"cg_vq_v":-0.358915597,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.675049,"values":{"Elec_RPM":-1.33432291e-21,"EncoderCos":38728,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-2.66864576e-22,"cg_du":50.1584625,"cg_dv":50.1936111,"cg_dw":49.8063889,"cg_id_a":0.219846591,"cg_id_raw_a":0.170090377,"cg_iq_a":-0.451775223,"cg_iq_raw_a":-0.492595911,"cg_iu_a":-0.0337104797,"cg_iv_a":0.431592286,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.8600006,"cg_sample_seq":14339566,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0633674115,"cg_vd_v":0.0633674115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352197528,"cg_vq_v":-0.352197528,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6434937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.682861,"values":{"Elec_RPM":-1.30763644e-21,"EncoderCos":38712,"EncoderSin":12492,"GapTicks":54777,"Mech_RPM":-2.61527282e-22,"cg_du":50.1601982,"cg_dv":50.2019234,"cg_dw":49.7980766,"cg_id_a":-0.00452531129,"cg_id_raw_a":-0.147297964,"cg_iq_a":-0.0266542323,"cg_iq_raw_a":0.823965192,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9618187,"cg_sample_seq":14339667,"cg_sample_valid":1,"cg_theta_rad":5.00607824,"cg_vd_req_v":0.0705506355,"cg_vd_v":0.0705506355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363238901,"cg_vq_v":-0.363238901,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.317853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2594.69458,"values":{"Elec_RPM":-1.28148371e-21,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-2.56296743e-22,"cg_du":50.1603775,"cg_dv":50.1994095,"cg_dw":49.8005905,"cg_id_a":0.189944625,"cg_id_raw_a":0.0486190133,"cg_iq_a":-0.0993422419,"cg_iq_raw_a":0.114718892,"cg_iu_a":0.437459469,"cg_iv_a":-0.220796704,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9872723,"cg_sample_seq":14339717,"cg_sample_valid":1,"cg_theta_rad":5.00753212,"cg_vd_req_v":0.0675314441,"cg_vd_v":0.0675314441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361151844,"cg_vq_v":-0.361151844,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.702393,"values":{"Elec_RPM":-1.28148371e-21,"EncoderCos":38708,"EncoderSin":12429,"GapTicks":54780,"Mech_RPM":-2.56296743e-22,"cg_du":50.1577034,"cg_dv":50.1994476,"cg_dw":49.8005524,"cg_id_a":0.0211197156,"cg_id_raw_a":-0.165604502,"cg_iq_a":-0.206992567,"cg_iq_raw_a":0.348056048,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14339767,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0721969977,"cg_vd_v":0.0721969977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359211981,"cg_vq_v":-0.359211981,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6916504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.710205,"values":{"Elec_RPM":-1.25585404e-21,"EncoderCos":38688,"EncoderSin":12505,"GapTicks":54775,"Mech_RPM":-2.51170813e-22,"cg_du":50.1546974,"cg_dv":50.203701,"cg_dw":49.796299,"cg_id_a":-0.270201325,"cg_id_raw_a":-0.76533258,"cg_iq_a":0.027259104,"cg_iq_raw_a":0.250115633,"cg_iu_a":0.111264944,"cg_iv_a":-0.655722737,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.863636,"cg_sample_seq":14339817,"cg_sample_valid":1,"cg_theta_rad":5.00687265,"cg_vd_req_v":0.0784729347,"cg_vd_v":0.0784729347,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363318205,"cg_vq_v":-0.363318205,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6339111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.718018,"values":{"Elec_RPM":-1.25585404e-21,"EncoderCos":38702,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-2.51170813e-22,"cg_du":50.1595459,"cg_dv":50.2052917,"cg_dw":49.7947083,"cg_id_a":-0.138274163,"cg_id_raw_a":-0.0668556616,"cg_iq_a":0.187688753,"cg_iq_raw_a":0.21263963,"cg_iu_a":-0.214929581,"cg_iv_a":-0.510747433,"cg_iw_a":0.725677013,"cg_sample_age_us":23.8600006,"cg_sample_seq":14339867,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0754704028,"cg_vd_v":0.0754704028,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368373543,"cg_vq_v":-0.368373543,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6339111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.72583,"values":{"Elec_RPM":-1.23073701e-21,"EncoderCos":38711,"EncoderSin":12496,"GapTicks":54773,"Mech_RPM":-2.46147397e-22,"cg_du":50.1667175,"cg_dv":50.2058868,"cg_dw":49.7941132,"cg_id_a":0.103663653,"cg_id_raw_a":0.171805307,"cg_iq_a":0.502299011,"cg_iq_raw_a":1.00092173,"cg_iu_a":-0.359904766,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8490906,"cg_sample_seq":14339917,"cg_sample_valid":1,"cg_theta_rad":5.00613022,"cg_vd_req_v":0.0694913119,"cg_vd_v":0.0694913119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373396128,"cg_vq_v":-0.373396128,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.733643,"values":{"Elec_RPM":-1.23073701e-21,"EncoderCos":38730,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-2.46147397e-22,"cg_du":50.1679993,"cg_dv":50.2043877,"cg_dw":49.7956123,"cg_id_a":0.314371079,"cg_id_raw_a":0.304912567,"cg_iq_a":0.412977427,"cg_iq_raw_a":-0.370819747,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065196,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9509087,"cg_sample_seq":14339967,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0657541007,"cg_vd_v":0.0657541007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372307897,"cg_vq_v":-0.372307897,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.764893,"values":{"Elec_RPM":-1.20612223e-21,"EncoderCos":38698,"EncoderSin":12443,"GapTicks":54779,"Mech_RPM":-2.41224451e-22,"cg_du":50.1603165,"cg_dv":50.2008018,"cg_dw":49.7991982,"cg_id_a":-0.0127564911,"cg_id_raw_a":0.0910074711,"cg_iq_a":-0.109635293,"cg_iq_raw_a":-0.499854237,"cg_iu_a":-0.0337102413,"cg_iv_a":0.10539782,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.8563633,"cg_sample_seq":14340022,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0719581917,"cg_vd_v":0.0719581917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362423599,"cg_vq_v":-0.362423599,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.772705,"values":{"Elec_RPM":-1.20612223e-21,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-2.41224451e-22,"cg_du":50.1541939,"cg_dv":50.1970177,"cg_dw":49.8029823,"cg_id_a":0.0721138194,"cg_id_raw_a":0.64870131,"cg_iq_a":-0.402029186,"cg_iq_raw_a":-0.229429111,"cg_iu_a":0.219996452,"cg_iv_a":0.250373125,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9836369,"cg_sample_seq":14340067,"cg_sample_valid":1,"cg_theta_rad":5.00763655,"cg_vd_req_v":0.0694905892,"cg_vd_v":0.0694905892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355667531,"cg_vq_v":-0.355667531,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0922232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.780518,"values":{"Elec_RPM":-1.1819998e-21,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-2.36399954e-22,"cg_du":50.158699,"cg_dv":50.2020912,"cg_dw":49.7979088,"cg_id_a":-0.190258756,"cg_id_raw_a":-0.0121717062,"cg_iq_a":0.117613234,"cg_iq_raw_a":-0.546738923,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528213,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8672733,"cg_sample_seq":14340116,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0727843568,"cg_vd_v":0.0727843568,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364748716,"cg_vq_v":-0.364748716,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.78833,"values":{"Elec_RPM":-1.1819998e-21,"EncoderCos":38730,"EncoderSin":12498,"GapTicks":54775,"Mech_RPM":-2.36399954e-22,"cg_du":50.1558456,"cg_dv":50.2039185,"cg_dw":49.7960815,"cg_id_a":-0.306108654,"cg_id_raw_a":-0.317007393,"cg_iq_a":0.251724452,"cg_iq_raw_a":0.881204009,"cg_iu_a":-0.142441988,"cg_iv_a":0.21412921,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9654541,"cg_sample_seq":14340167,"cg_sample_valid":1,"cg_theta_rad":5.00619221,"cg_vd_req_v":0.0744765103,"cg_vd_v":0.0744765103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364951611,"cg_vq_v":-0.364951611,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8254967,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6451416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.796143,"values":{"Elec_RPM":-1.15835982e-21,"EncoderCos":38702,"EncoderSin":12435,"GapTicks":54783,"Mech_RPM":-2.31671964e-22,"cg_du":50.1700897,"cg_dv":50.1965179,"cg_dw":49.8034821,"cg_id_a":0.310048997,"cg_id_raw_a":0.318009496,"cg_iq_a":0.186406612,"cg_iq_raw_a":-0.257541299,"cg_iu_a":-0.758587122,"cg_iv_a":0.141641557,"cg_iw_a":0.616945565,"cg_sample_age_us":24.0381813,"cg_sample_seq":14340217,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0599917956,"cg_vd_v":0.0599917956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362193018,"cg_vq_v":-0.362193018,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8254967,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.807861,"values":{"Elec_RPM":-1.15835982e-21,"EncoderCos":38721,"EncoderSin":12507,"GapTicks":54779,"Mech_RPM":-2.31671964e-22,"cg_du":50.1613464,"cg_dv":50.2004089,"cg_dw":49.7995911,"cg_id_a":-0.115234233,"cg_id_raw_a":-0.106793568,"cg_iq_a":0.125726521,"cg_iq_raw_a":0.645985842,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14340267,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0672756657,"cg_vd_v":0.0672756657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363141567,"cg_vq_v":-0.363141567,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8254967,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.815674,"values":{"Elec_RPM":-1.1351927e-21,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54786,"Mech_RPM":-2.27038536e-22,"cg_du":50.1642494,"cg_dv":50.1943359,"cg_dw":49.8056641,"cg_id_a":0.133928776,"cg_id_raw_a":0.116847806,"cg_iq_a":-0.113268785,"cg_iq_raw_a":0.267573088,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397701,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14340317,"cg_sample_valid":1,"cg_theta_rad":5.00779772,"cg_vd_req_v":0.0611637942,"cg_vd_v":0.0611637942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356152713,"cg_vq_v":-0.356152713,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.326133728,"dclink_p_w":47.1995926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6322937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.823486,"values":{"Elec_RPM":-1.1351927e-21,"EncoderCos":38700,"EncoderSin":12497,"GapTicks":54786,"Mech_RPM":-2.27038536e-22,"cg_du":50.1625595,"cg_dv":50.1942902,"cg_dw":49.8057098,"cg_id_a":0.0102179889,"cg_id_raw_a":0.097881943,"cg_iq_a":-0.0344592333,"cg_iq_raw_a":0.666315496,"cg_iu_a":-0.359904766,"cg_iv_a":-0.365772128,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9799995,"cg_sample_seq":14340367,"cg_sample_valid":1,"cg_theta_rad":5.00730753,"cg_vd_req_v":0.0625251532,"cg_vd_v":0.0625251532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356230378,"cg_vq_v":-0.356230378,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.326133728,"dclink_p_w":47.1995926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.4443665,"temp_inv2_c":37.6322937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.831299,"values":{"Elec_RPM":-1.11248886e-21,"EncoderCos":38690,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-2.22497777e-22,"cg_du":50.1528854,"cg_dv":50.1942215,"cg_dw":49.8057785,"cg_id_a":-0.30530411,"cg_id_raw_a":-0.387658417,"cg_iq_a":-0.138332739,"cg_iq_raw_a":-0.148818538,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.954546,"cg_sample_seq":14340417,"cg_sample_valid":1,"cg_theta_rad":5.00760078,"cg_vd_req_v":0.071265623,"cg_vd_v":0.071265623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350427866,"cg_vq_v":-0.350427866,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.302575231,"dclink_p_w":43.7900963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.839111,"values":{"Elec_RPM":-1.11248886e-21,"EncoderCos":38747,"EncoderSin":12497,"GapTicks":54789,"Mech_RPM":-2.22497777e-22,"cg_du":50.1450539,"cg_dv":50.1909981,"cg_dw":49.8090019,"cg_id_a":-0.192389011,"cg_id_raw_a":0.294814825,"cg_iq_a":-0.328041166,"cg_iq_raw_a":-0.0455293469,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14340467,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0693955645,"cg_vd_v":0.0693955645,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342618853,"cg_vq_v":-0.342618853,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.870361,"values":{"Elec_RPM":-1.06843432e-21,"EncoderCos":38719,"EncoderSin":12468,"GapTicks":54785,"Mech_RPM":-2.13686869e-22,"cg_du":50.1617203,"cg_dv":50.1951103,"cg_dw":49.8048897,"cg_id_a":0.0970854238,"cg_id_raw_a":-0.203792647,"cg_iq_a":0.474914461,"cg_iq_raw_a":-0.529048204,"cg_iu_a":-0.287417173,"cg_iv_a":0.540323734,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14340617,"cg_sample_valid":1,"cg_theta_rad":5.00842237,"cg_vd_req_v":0.062964946,"cg_vd_v":0.062964946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355940282,"cg_vq_v":-0.355940282,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0162489414,"dclink_p_w":2.35162234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.878174,"values":{"Elec_RPM":-1.06843432e-21,"EncoderCos":38715,"EncoderSin":12461,"GapTicks":54789,"Mech_RPM":-2.13686869e-22,"cg_du":50.1553993,"cg_dv":50.1909523,"cg_dw":49.8090477,"cg_id_a":-0.0110385939,"cg_id_raw_a":-0.228907004,"cg_iq_a":-0.282059193,"cg_iq_raw_a":-0.058405675,"cg_iu_a":0.183752537,"cg_iv_a":0.830274343,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.9763641,"cg_sample_seq":14340667,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0643628091,"cg_vd_v":0.0643628091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34665212,"cg_vq_v":-0.34665212,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.4481735,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.885986,"values":{"Elec_RPM":-1.04706566e-21,"EncoderCos":38710,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-2.09413136e-22,"cg_du":50.1596909,"cg_dv":50.1971283,"cg_dw":49.8028717,"cg_id_a":-0.143229946,"cg_id_raw_a":-0.525690973,"cg_iq_a":0.288363218,"cg_iq_raw_a":0.604454875,"cg_iu_a":0.727410078,"cg_iv_a":-0.329528272,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9690914,"cg_sample_seq":14340717,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.0669401214,"cg_vd_v":0.0669401214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358588487,"cg_vq_v":-0.358588487,"cg_vu_v":137.246475,"cg_vv_v":124.049698,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.893799,"values":{"Elec_RPM":-1.04706566e-21,"EncoderCos":38720,"EncoderSin":12493,"GapTicks":54792,"Mech_RPM":-2.09413136e-22,"cg_du":50.1507835,"cg_dv":50.1889153,"cg_dw":49.8110847,"cg_id_a":-0.0853723586,"cg_id_raw_a":-0.180502728,"cg_iq_a":-0.525545478,"cg_iq_raw_a":-0.125789121,"cg_iu_a":1.27106762,"cg_iv_a":-0.184552908,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9290905,"cg_sample_seq":14340767,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.0650510788,"cg_vd_v":0.0650510788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342544556,"cg_vq_v":-0.342544556,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.901611,"values":{"Elec_RPM":-1.02612442e-21,"EncoderCos":38688,"EncoderSin":12488,"GapTicks":54786,"Mech_RPM":-2.05224878e-22,"cg_du":50.1581039,"cg_dv":50.1945343,"cg_dw":49.8054657,"cg_id_a":-0.105707765,"cg_id_raw_a":-0.169959217,"cg_iq_a":-0.0279029254,"cg_iq_raw_a":-0.0168502722,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14340817,"cg_sample_valid":1,"cg_theta_rad":5.00747252,"cg_vd_req_v":0.0674526542,"cg_vd_v":0.0674526542,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353824496,"cg_vq_v":-0.353824496,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6339111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2594.909424,"values":{"Elec_RPM":-1.02612442e-21,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54787,"Mech_RPM":-2.05224878e-22,"cg_du":50.1626892,"cg_dv":50.193161,"cg_dw":49.806839,"cg_id_a":0.191962659,"cg_id_raw_a":0.371284604,"cg_iq_a":0.00975333154,"cg_iq_raw_a":0.0384519883,"cg_iu_a":0.836141586,"cg_iv_a":0.0691539049,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9581814,"cg_sample_seq":14340866,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0614511967,"cg_vd_v":0.0614511967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35364148,"cg_vq_v":-0.35364148,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.8238831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.921143,"values":{"Elec_RPM":-1.00560192e-21,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-2.01120378e-22,"cg_du":50.1604233,"cg_dv":50.1950989,"cg_dw":49.8049011,"cg_id_a":0.123171352,"cg_id_raw_a":-0.117788702,"cg_iq_a":0.104194567,"cg_iq_raw_a":0.0989450514,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9581814,"cg_sample_seq":14340917,"cg_sample_valid":1,"cg_theta_rad":5.00690079,"cg_vd_req_v":0.0625065789,"cg_vd_v":0.0625065789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355457187,"cg_vq_v":-0.355457187,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6467285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.928955,"values":{"Elec_RPM":-1.00560192e-21,"EncoderCos":38751,"EncoderSin":12457,"GapTicks":54786,"Mech_RPM":-2.01120378e-22,"cg_du":50.1566124,"cg_dv":50.194519,"cg_dw":49.805481,"cg_id_a":0.0119166765,"cg_id_raw_a":-0.275634617,"cg_iq_a":0.120782539,"cg_iq_raw_a":0.448703259,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8600006,"cg_sample_seq":14340966,"cg_sample_valid":1,"cg_theta_rad":5.00631094,"cg_vd_req_v":0.0641039535,"cg_vd_v":0.0641039535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352692902,"cg_vq_v":-0.352692902,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.956299,"values":{"Elec_RPM":-9.85489875e-22,"EncoderCos":38750,"EncoderSin":12488,"GapTicks":54792,"Mech_RPM":-1.9709797e-22,"cg_du":50.148407,"cg_dv":50.1886444,"cg_dw":49.8113556,"cg_id_a":-0.0547995195,"cg_id_raw_a":0.487435639,"cg_iq_a":-0.719981551,"cg_iq_raw_a":-0.319391757,"cg_iu_a":0.473703384,"cg_iv_a":-0.402015924,"cg_iw_a":-0.0716874599,"cg_sample_age_us":26.8309097,"cg_sample_seq":14341021,"cg_sample_valid":1,"cg_theta_rad":5.00783777,"cg_vd_req_v":0.0642532408,"cg_vd_v":0.0642532408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340228856,"cg_vq_v":-0.340228856,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6322937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.964111,"values":{"Elec_RPM":-9.85489875e-22,"EncoderCos":38709,"EncoderSin":12438,"GapTicks":54787,"Mech_RPM":-1.9709797e-22,"cg_du":50.1668015,"cg_dv":50.1933136,"cg_dw":49.8066864,"cg_id_a":0.256848782,"cg_id_raw_a":-0.473859221,"cg_iq_a":0.0725116804,"cg_iq_raw_a":0.280130416,"cg_iu_a":-0.722343206,"cg_iv_a":0.431592226,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9690914,"cg_sample_seq":14341067,"cg_sample_valid":1,"cg_theta_rad":5.00669718,"cg_vd_req_v":0.0587737262,"cg_vd_v":0.0587737262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35610041,"cg_vq_v":-0.35610041,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6322937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2594.966796,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2594.966802,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2594.966808,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2594.97583,"values":{"Elec_RPM":-9.65780015e-22,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.93156013e-22,"cg_du":50.1638031,"cg_dv":50.1940918,"cg_dw":49.8059082,"cg_id_a":0.175476998,"cg_id_raw_a":0.708076596,"cg_iq_a":-0.0466681905,"cg_iq_raw_a":0.251398504,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860837,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14341117,"cg_sample_valid":1,"cg_theta_rad":5.00576687,"cg_vd_req_v":0.0598600097,"cg_vd_v":0.0598600097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355807751,"cg_vq_v":-0.355807751,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.983643,"values":{"Elec_RPM":-9.65780015e-22,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54790,"Mech_RPM":-1.93156013e-22,"cg_du":50.1551971,"cg_dv":50.1906776,"cg_dw":49.8093224,"cg_id_a":0.00102023408,"cg_id_raw_a":-0.124677159,"cg_iq_a":-0.38163802,"cg_iq_raw_a":-0.703081846,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14341167,"cg_sample_valid":1,"cg_theta_rad":5.00788593,"cg_vd_req_v":0.0632489771,"cg_vd_v":0.0632489771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346348941,"cg_vq_v":-0.346348941,"cg_vu_v":126.689056,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.991455,"values":{"Elec_RPM":-9.46464459e-22,"EncoderCos":38749,"EncoderSin":12464,"GapTicks":54786,"Mech_RPM":-1.89292892e-22,"cg_du":50.15448,"cg_dv":50.1942368,"cg_dw":49.8057632,"cg_id_a":-0.0852400586,"cg_id_raw_a":-0.225309178,"cg_iq_a":-0.208614036,"cg_iq_raw_a":0.817271709,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9581814,"cg_sample_seq":14341217,"cg_sample_valid":1,"cg_theta_rad":5.00613689,"cg_vd_req_v":0.0655000582,"cg_vd_v":0.0655000582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351121962,"cg_vq_v":-0.351121962,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6339111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2594.999268,"values":{"Elec_RPM":-9.46464459e-22,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54790,"Mech_RPM":-1.89292892e-22,"cg_du":50.147789,"cg_dv":50.1907654,"cg_dw":49.8092346,"cg_id_a":-0.354347348,"cg_id_raw_a":-0.629852772,"cg_iq_a":-0.524290323,"cg_iq_raw_a":0.374720365,"cg_iu_a":0.256240368,"cg_iv_a":0.322860837,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9690914,"cg_sample_seq":14341267,"cg_sample_valid":1,"cg_theta_rad":5.008214,"cg_vd_req_v":0.0704074204,"cg_vd_v":0.0704074204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342057586,"cg_vq_v":-0.342057586,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.6613503,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.667572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.00708,"values":{"Elec_RPM":-9.2753513e-22,"EncoderCos":38702,"EncoderSin":12472,"GapTicks":54784,"Mech_RPM":-1.85507028e-22,"cg_du":50.1575317,"cg_dv":50.1954575,"cg_dw":49.8045425,"cg_id_a":-0.224429667,"cg_id_raw_a":0.116515584,"cg_iq_a":-0.0313513875,"cg_iq_raw_a":-0.35164839,"cg_iu_a":-0.396148682,"cg_iv_a":-0.510747433,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9836369,"cg_sample_seq":14341317,"cg_sample_valid":1,"cg_theta_rad":5.00598526,"cg_vd_req_v":0.0678600743,"cg_vd_v":0.0678600743,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353817374,"cg_vq_v":-0.353817374,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":37.9046326,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.667572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.014893,"values":{"Elec_RPM":-9.2753513e-22,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-1.85507028e-22,"cg_du":50.1638565,"cg_dv":50.1996689,"cg_dw":49.8003311,"cg_id_a":-0.107494928,"cg_id_raw_a":-0.424660474,"cg_iq_a":0.472642303,"cg_iq_raw_a":0.651112735,"cg_iu_a":-0.287417173,"cg_iv_a":-0.365772069,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9509087,"cg_sample_seq":14341367,"cg_sample_valid":1,"cg_theta_rad":5.00764227,"cg_vd_req_v":0.0656786263,"cg_vd_v":0.0656786263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363341242,"cg_vq_v":-0.363341242,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7733974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2576,"hz_tim_isr":5000,"hz_vsense":2576,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6194763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.026611,"values":{"Elec_RPM":-9.08984453e-22,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54784,"Mech_RPM":-1.81796883e-22,"cg_du":50.1591644,"cg_dv":50.1957893,"cg_dw":49.8042107,"cg_id_a":-0.0523025692,"cg_id_raw_a":-0.0655522123,"cg_iq_a":0.176437542,"cg_iq_raw_a":-0.224120691,"cg_iu_a":-0.649855614,"cg_iv_a":0.504079878,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9654541,"cg_sample_seq":14341417,"cg_sample_valid":1,"cg_theta_rad":5.0067153,"cg_vd_req_v":0.0655660108,"cg_vd_v":0.0655660108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355442762,"cg_vq_v":-0.355442762,"cg_vu_v":139.006058,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7733974,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6290894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.034424,"values":{"Elec_RPM":-9.08984453e-22,"EncoderCos":38716,"EncoderSin":12459,"GapTicks":54786,"Mech_RPM":-1.81796883e-22,"cg_du":50.1546669,"cg_dv":50.1937599,"cg_dw":49.8062401,"cg_id_a":-0.141311467,"cg_id_raw_a":0.140211016,"cg_iq_a":-0.149549857,"cg_iq_raw_a":0.670356631,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9618187,"cg_sample_seq":14341467,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0676392391,"cg_vd_v":0.0676392391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350055397,"cg_vq_v":-0.350055397,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6290894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.061768,"values":{"Elec_RPM":-8.90804655e-22,"EncoderCos":38741,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-1.78160941e-22,"cg_du":50.1574554,"cg_dv":50.1984406,"cg_dw":49.8015594,"cg_id_a":-0.0497746766,"cg_id_raw_a":-0.141222954,"cg_iq_a":0.269783825,"cg_iq_raw_a":-0.55812639,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14341520,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.0673411116,"cg_vd_v":0.0673411116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358489633,"cg_vq_v":-0.358489633,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6194763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.06958,"values":{"Elec_RPM":-8.90804655e-22,"EncoderCos":38752,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-1.78160941e-22,"cg_du":50.1685219,"cg_dv":50.1988983,"cg_dw":49.8011017,"cg_id_a":0.113678619,"cg_id_raw_a":0.963692427,"cg_iq_a":-0.335612655,"cg_iq_raw_a":1.3973105,"cg_iu_a":0.691166162,"cg_iv_a":0.39534843,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.8563633,"cg_sample_seq":14341566,"cg_sample_valid":1,"cg_theta_rad":5.00864744,"cg_vd_req_v":0.0643682256,"cg_vd_v":0.0643682256,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364398122,"cg_vq_v":-0.345285982,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6194763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2595.077393,"values":{"Elec_RPM":-8.72988667e-22,"EncoderCos":38743,"EncoderSin":12468,"GapTicks":54776,"Mech_RPM":-1.74597726e-22,"cg_du":50.1616211,"cg_dv":50.2032814,"cg_dw":49.7967186,"cg_id_a":-0.097851187,"cg_id_raw_a":-1.29420853,"cg_iq_a":0.764525056,"cg_iq_raw_a":2.13764954,"cg_iu_a":-1.41097617,"cg_iv_a":0.0691540241,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14341617,"cg_sample_valid":1,"cg_theta_rad":5.00628328,"cg_vd_req_v":0.0689931437,"cg_vd_v":0.0689931437,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36736995,"cg_vq_v":-0.36736995,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6306763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.089111,"values":{"Elec_RPM":-8.72988667e-22,"EncoderCos":38711,"EncoderSin":12452,"GapTicks":54785,"Mech_RPM":-1.74597726e-22,"cg_du":50.1560135,"cg_dv":50.1952553,"cg_dw":49.8047447,"cg_id_a":-0.0618078485,"cg_id_raw_a":-0.135656893,"cg_iq_a":0.0498771369,"cg_iq_raw_a":0.0599483065,"cg_iu_a":-1.19351292,"cg_iv_a":-0.474503636,"cg_iw_a":1.66801655,"cg_sample_age_us":23.9799995,"cg_sample_seq":14341667,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0688225403,"cg_vd_v":0.0688225403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353808075,"cg_vq_v":-0.353808075,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4756985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.096924,"values":{"Elec_RPM":-8.55528916e-22,"EncoderCos":38722,"EncoderSin":12460,"GapTicks":54785,"Mech_RPM":-1.71105773e-22,"cg_du":50.1535339,"cg_dv":50.1951752,"cg_dw":49.8048248,"cg_id_a":-0.0719870329,"cg_id_raw_a":-0.302078456,"cg_iq_a":0.00287196785,"cg_iq_raw_a":0.0440319106,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395774841,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9690914,"cg_sample_seq":14341717,"cg_sample_valid":1,"cg_theta_rad":5.00689697,"cg_vd_req_v":0.0694066212,"cg_vd_v":0.0694066212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351440161,"cg_vq_v":-0.351440161,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4756985,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.104736,"values":{"Elec_RPM":-8.55528916e-22,"EncoderCos":38743,"EncoderSin":12483,"GapTicks":54790,"Mech_RPM":-1.71105773e-22,"cg_du":50.1479912,"cg_dv":50.1908875,"cg_dw":49.8091125,"cg_id_a":-0.0616205633,"cg_id_raw_a":0.242602974,"cg_iq_a":-0.278622508,"cg_iq_raw_a":-0.85046792,"cg_iu_a":0.691166162,"cg_iv_a":-0.25704056,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9836369,"cg_sample_seq":14341767,"cg_sample_valid":1,"cg_theta_rad":5.0068717,"cg_vd_req_v":0.0674040839,"cg_vd_v":0.0674040839,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342933565,"cg_vq_v":-0.342933565,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.4216785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.4196167,"temp_inv2_c":37.6226807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.116455,"values":{"Elec_RPM":-8.38418283e-22,"EncoderCos":38700,"EncoderSin":12507,"GapTicks":54788,"Mech_RPM":-1.67683657e-22,"cg_du":50.1567001,"cg_dv":50.1920662,"cg_dw":49.8079338,"cg_id_a":0.0701253414,"cg_id_raw_a":0.543840051,"cg_iq_a":-0.10106498,"cg_iq_raw_a":-0.636974514,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.954546,"cg_sample_seq":14341817,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0643195808,"cg_vd_v":0.0643195808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347819209,"cg_vq_v":-0.347819209,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.4216785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2595.124268,"values":{"Elec_RPM":-8.38418283e-22,"EncoderCos":38684,"EncoderSin":12437,"GapTicks":54788,"Mech_RPM":-1.67683657e-22,"cg_du":50.1416702,"cg_dv":50.1922836,"cg_dw":49.8077164,"cg_id_a":-0.614429712,"cg_id_raw_a":-0.855075479,"cg_iq_a":-0.471522897,"cg_iq_raw_a":-0.492837161,"cg_iu_a":1.01736081,"cg_iv_a":-1.16313636,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14341867,"cg_sample_valid":1,"cg_theta_rad":5.00768232,"cg_vd_req_v":0.0791346058,"cg_vd_v":0.0791346058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339024335,"cg_vq_v":-0.339024335,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.4216785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2595.13208,"values":{"Elec_RPM":-8.21649953e-22,"EncoderCos":38713,"EncoderSin":12470,"GapTicks":54784,"Mech_RPM":-1.64329988e-22,"cg_du":50.1595268,"cg_dv":50.1957436,"cg_dw":49.8042564,"cg_id_a":0.0652354658,"cg_id_raw_a":-0.00635159342,"cg_iq_a":0.30794549,"cg_iq_raw_a":-0.181938916,"cg_iu_a":0.038777113,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.8563633,"cg_sample_seq":14341916,"cg_sample_valid":1,"cg_theta_rad":5.00636721,"cg_vd_req_v":0.0657378882,"cg_vd_v":0.0657378882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355489075,"cg_vq_v":-0.355489075,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.139893,"values":{"Elec_RPM":-8.21649953e-22,"EncoderCos":38758,"EncoderSin":12501,"GapTicks":54788,"Mech_RPM":-1.64329988e-22,"cg_du":50.1538963,"cg_dv":50.1919403,"cg_dw":49.8080597,"cg_id_a":0.192346305,"cg_id_raw_a":0.736290932,"cg_iq_a":-0.0367028229,"cg_iq_raw_a":1.15620339,"cg_iu_a":-0.649855375,"cg_iv_a":0.649055302,"cg_iw_a":0.000800073147,"cg_sample_age_us":23.9763641,"cg_sample_seq":14341967,"cg_sample_valid":1,"cg_theta_rad":5.00705385,"cg_vd_req_v":0.0623355545,"cg_vd_v":0.0623355545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349009216,"cg_vq_v":-0.349009216,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.628994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.625885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.147705,"values":{"Elec_RPM":-8.05216958e-22,"EncoderCos":38747,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-1.61043392e-22,"cg_du":50.1543159,"cg_dv":50.1949196,"cg_dw":49.8050804,"cg_id_a":0.0982357785,"cg_id_raw_a":0.525071323,"cg_iq_a":0.0733138025,"cg_iq_raw_a":-0.497372091,"cg_iu_a":-0.287417173,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9799995,"cg_sample_seq":14342017,"cg_sample_valid":1,"cg_theta_rad":5.0064106,"cg_vd_req_v":0.0662597567,"cg_vd_v":0.0662597567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3530747,"cg_vq_v":-0.3530747,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.628994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.175049,"values":{"Elec_RPM":-8.05216958e-22,"EncoderCos":38736,"EncoderSin":12486,"GapTicks":54783,"Mech_RPM":-1.61043392e-22,"cg_du":50.1572456,"cg_dv":50.1964264,"cg_dw":49.8035736,"cg_id_a":0.16503343,"cg_id_raw_a":0.0288563501,"cg_iq_a":0.10866791,"cg_iq_raw_a":0.33108905,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796704,"cg_iw_a":0.182019353,"cg_sample_age_us":26.812727,"cg_sample_seq":14342070,"cg_sample_valid":1,"cg_theta_rad":5.0084796,"cg_vd_req_v":0.0661428496,"cg_vd_v":0.0661428496,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356635392,"cg_vq_v":-0.356635392,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.1046085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6387024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.186768,"values":{"Elec_RPM":-7.89112634e-22,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-1.57822529e-22,"cg_du":50.1540718,"cg_dv":50.1974106,"cg_dw":49.8025894,"cg_id_a":-0.0113383569,"cg_id_raw_a":-0.0999536887,"cg_iq_a":-0.0828118771,"cg_iq_raw_a":-0.300403953,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8527279,"cg_sample_seq":14342116,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0713544115,"cg_vd_v":0.0713544115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354741395,"cg_vq_v":-0.354741395,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.9460812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6387024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.19458,"values":{"Elec_RPM":-7.89112634e-22,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.57822529e-22,"cg_du":50.1518745,"cg_dv":50.2026825,"cg_dw":49.7973175,"cg_id_a":-0.337412357,"cg_id_raw_a":-0.24167417,"cg_iq_a":0.0763437673,"cg_iq_raw_a":-0.351183265,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14342167,"cg_sample_valid":1,"cg_theta_rad":5.00651503,"cg_vd_req_v":0.0787187666,"cg_vd_v":0.0787187666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360554874,"cg_vq_v":-0.360554874,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.9460812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.202393,"values":{"Elec_RPM":-7.73330367e-22,"EncoderCos":38729,"EncoderSin":12486,"GapTicks":54780,"Mech_RPM":-1.54666076e-22,"cg_du":50.1575546,"cg_dv":50.1999283,"cg_dw":49.8000717,"cg_id_a":0.000616207719,"cg_id_raw_a":0.187457085,"cg_iq_a":0.118862666,"cg_iq_raw_a":-0.017868828,"cg_iu_a":-0.504880428,"cg_iv_a":0.57656759,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.9181824,"cg_sample_seq":14342217,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0696576163,"cg_vd_v":0.0696576163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360393822,"cg_vq_v":-0.360393822,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.9460812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.210205,"values":{"Elec_RPM":-7.73330367e-22,"EncoderCos":38712,"EncoderSin":12512,"GapTicks":54781,"Mech_RPM":-1.54666076e-22,"cg_du":50.1643219,"cg_dv":50.1989288,"cg_dw":49.8010712,"cg_id_a":0.262141347,"cg_id_raw_a":0.322626412,"cg_iq_a":0.189330816,"cg_iq_raw_a":0.541778505,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9218178,"cg_sample_seq":14342267,"cg_sample_valid":1,"cg_theta_rad":5.0082407,"cg_vd_req_v":0.0643164665,"cg_vd_v":0.0643164665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363787323,"cg_vq_v":-0.363787323,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.9460812,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.218018,"values":{"Elec_RPM":-7.57863796e-22,"EncoderCos":38713,"EncoderSin":12478,"GapTicks":54786,"Mech_RPM":-1.51572757e-22,"cg_du":50.1475983,"cg_dv":50.1944427,"cg_dw":49.8055573,"cg_id_a":-0.184089601,"cg_id_raw_a":-0.058230225,"cg_iq_a":-0.492176175,"cg_iq_raw_a":-0.296313465,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14342317,"cg_sample_valid":1,"cg_theta_rad":5.00590038,"cg_vd_req_v":0.0738538951,"cg_vd_v":0.0738538951,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348106325,"cg_vq_v":-0.348106325,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6194763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.229736,"values":{"Elec_RPM":-7.57863796e-22,"EncoderCos":38713,"EncoderSin":12468,"GapTicks":54774,"Mech_RPM":-1.51572757e-22,"cg_du":50.1564026,"cg_dv":50.2046928,"cg_dw":49.7953072,"cg_id_a":-0.282223374,"cg_id_raw_a":0.219132245,"cg_iq_a":0.34698087,"cg_iq_raw_a":-0.123079255,"cg_iu_a":0.364971638,"cg_iv_a":-0.619478822,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14342367,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0771925226,"cg_vd_v":0.0771925226,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366979927,"cg_vq_v":-0.366979927,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6194763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.237549,"values":{"Elec_RPM":-7.42706509e-22,"EncoderCos":38771,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-1.48541297e-22,"cg_du":50.1544609,"cg_dv":50.2048187,"cg_dw":49.7951813,"cg_id_a":-0.100270659,"cg_id_raw_a":-0.54148519,"cg_iq_a":0.311231166,"cg_iq_raw_a":0.645769238,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101682,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9436359,"cg_sample_seq":14342417,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0734352842,"cg_vd_v":0.0734352842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366024375,"cg_vq_v":-0.366024375,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.245361,"values":{"Elec_RPM":-7.42706509e-22,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-1.48541297e-22,"cg_du":50.1506004,"cg_dv":50.1966972,"cg_dw":49.8033028,"cg_id_a":-0.0267291293,"cg_id_raw_a":-0.00719234953,"cg_iq_a":-0.339084566,"cg_iq_raw_a":-0.181907624,"cg_iu_a":-0.323661089,"cg_iv_a":0.105397701,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9145451,"cg_sample_seq":14342466,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0720380917,"cg_vd_v":0.0720380917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35209617,"cg_vq_v":-0.35209617,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6098328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.253174,"values":{"Elec_RPM":-7.27852347e-22,"EncoderCos":38708,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-1.45570472e-22,"cg_du":50.1499329,"cg_dv":50.198925,"cg_dw":49.801075,"cg_id_a":-0.259702235,"cg_id_raw_a":-0.380881876,"cg_iq_a":-0.279174268,"cg_iq_raw_a":-0.219673976,"cg_iu_a":0.183752537,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9145451,"cg_sample_seq":14342516,"cg_sample_valid":1,"cg_theta_rad":5.00762272,"cg_vd_req_v":0.0768115669,"cg_vd_v":0.0768115669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354309648,"cg_vq_v":-0.354309648,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.6098328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.280518,"values":{"Elec_RPM":-7.27852347e-22,"EncoderCos":38749,"EncoderSin":12506,"GapTicks":54784,"Mech_RPM":-1.45570472e-22,"cg_du":50.1627998,"cg_dv":50.195549,"cg_dw":49.804451,"cg_id_a":0.653535903,"cg_id_raw_a":1.16205788,"cg_iq_a":0.0432648771,"cg_iq_raw_a":-0.587549984,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931376,"cg_sample_age_us":26.8163643,"cg_sample_seq":14342570,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0591717809,"cg_vd_v":0.0591717809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35771656,"cg_vq_v":-0.35771656,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0049095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6226807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.292236,"values":{"Elec_RPM":-7.13295301e-22,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54784,"Mech_RPM":-1.42659058e-22,"cg_du":50.1502991,"cg_dv":50.1957779,"cg_dw":49.8042221,"cg_id_a":-0.029461246,"cg_id_raw_a":-0.0290484745,"cg_iq_a":-0.184154183,"cg_iq_raw_a":0.471401781,"cg_iu_a":-0.323661089,"cg_iv_a":-0.438259721,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9799995,"cg_sample_seq":14342617,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0730981454,"cg_vd_v":0.0730981454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351437807,"cg_vq_v":-0.351437807,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.300049,"values":{"Elec_RPM":-7.13295301e-22,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-1.42659058e-22,"cg_du":50.1498756,"cg_dv":50.1976471,"cg_dw":49.8023529,"cg_id_a":-0.0223710984,"cg_id_raw_a":-0.0199996717,"cg_iq_a":-0.00197046995,"cg_iq_raw_a":-0.474578798,"cg_iu_a":0.437459469,"cg_iv_a":-0.112065196,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9799995,"cg_sample_seq":14342667,"cg_sample_valid":1,"cg_theta_rad":5.0090394,"cg_vd_req_v":0.0748824775,"cg_vd_v":0.0748824775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353819549,"cg_vq_v":-0.353819549,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6242676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.307861,"values":{"Elec_RPM":-6.99029414e-22,"EncoderCos":38736,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-1.3980588e-22,"cg_du":50.1531181,"cg_dv":50.1960182,"cg_dw":49.8039818,"cg_id_a":0.288847744,"cg_id_raw_a":0.152618423,"cg_iq_a":0.0117839426,"cg_iq_raw_a":-0.0939764753,"cg_iu_a":-0.686099291,"cg_iv_a":0.214129269,"cg_iw_a":0.471970022,"cg_sample_age_us":23.9254551,"cg_sample_seq":14342717,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0693604127,"cg_vd_v":0.0693604127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352589965,"cg_vq_v":-0.352589965,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6002197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.315674,"values":{"Elec_RPM":-6.8504883e-22,"EncoderCos":38702,"EncoderSin":12486,"GapTicks":54785,"Mech_RPM":-1.37009766e-22,"cg_du":50.1570511,"cg_dv":50.1947021,"cg_dw":49.8052979,"cg_id_a":0.356243849,"cg_id_raw_a":0.27084282,"cg_iq_a":-0.0651515871,"cg_iq_raw_a":-0.00832298491,"cg_iu_a":0.14750886,"cg_iv_a":0.721542954,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9436359,"cg_sample_seq":14342816,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.06715969,"cg_vd_v":0.06715969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352585793,"cg_vq_v":-0.352585793,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.323486,"values":{"Elec_RPM":-6.8504883e-22,"EncoderCos":38701,"EncoderSin":12510,"GapTicks":54781,"Mech_RPM":-1.37009766e-22,"cg_du":50.1522522,"cg_dv":50.1988678,"cg_dw":49.8011322,"cg_id_a":0.0202562418,"cg_id_raw_a":-0.0838364214,"cg_iq_a":0.184773609,"cg_iq_raw_a":0.17458564,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691540241,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9654541,"cg_sample_seq":14342866,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.0744794682,"cg_vd_v":0.0744794682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355638981,"cg_vq_v":-0.355638981,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.331299,"values":{"Elec_RPM":-6.71347843e-22,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-1.34269566e-22,"cg_du":50.1373405,"cg_dv":50.1986046,"cg_dw":49.8013954,"cg_id_a":-0.472482949,"cg_id_raw_a":-0.433480591,"cg_iq_a":-0.183894321,"cg_iq_raw_a":-0.332810491,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.873185754,"cg_iw_a":0.906896234,"cg_sample_age_us":23.8600006,"cg_sample_seq":14342916,"cg_sample_valid":1,"cg_theta_rad":5.0056262,"cg_vd_req_v":0.0852864906,"cg_vd_v":0.0852864906,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347041726,"cg_vq_v":-0.347041726,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.339111,"values":{"Elec_RPM":-6.71347843e-22,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54785,"Mech_RPM":-1.34269566e-22,"cg_du":50.1353416,"cg_dv":50.194725,"cg_dw":49.805275,"cg_id_a":-0.398359418,"cg_id_raw_a":0.358547926,"cg_iq_a":-0.489174575,"cg_iq_raw_a":-0.254734725,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14342966,"cg_sample_valid":1,"cg_theta_rad":5.00521278,"cg_vd_req_v":0.084169589,"cg_vd_v":0.084169589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341480017,"cg_vq_v":-0.341480017,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6130676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.35083,"values":{"Elec_RPM":-6.5792085e-22,"EncoderCos":38731,"EncoderSin":12490,"GapTicks":54785,"Mech_RPM":-1.3158417e-22,"cg_du":50.1392632,"cg_dv":50.19487,"cg_dw":49.80513,"cg_id_a":-0.0771987215,"cg_id_raw_a":0.0527928807,"cg_iq_a":-0.252188981,"cg_iq_raw_a":0.296983868,"cg_iu_a":0.328727961,"cg_iv_a":-0.655722737,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14343016,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.0788936391,"cg_vd_v":0.0788936391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34333694,"cg_vq_v":-0.34333694,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5970154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.378174,"values":{"Elec_RPM":-6.5792085e-22,"EncoderCos":38704,"EncoderSin":12499,"GapTicks":54790,"Mech_RPM":-1.3158417e-22,"cg_du":50.1384964,"cg_dv":50.1907005,"cg_dw":49.8092995,"cg_id_a":0.0111955479,"cg_id_raw_a":0.173195422,"cg_iq_a":-0.380218089,"cg_iq_raw_a":0.127294019,"cg_iu_a":-0.0337104797,"cg_iv_a":0.10539782,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14343070,"cg_sample_valid":1,"cg_theta_rad":5.00788069,"cg_vd_req_v":0.0770909414,"cg_vd_v":0.0770909414,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33578375,"cg_vq_v":-0.33578375,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.31611598,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5970154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2595.385986,"values":{"Elec_RPM":-6.44762448e-22,"EncoderCos":38705,"EncoderSin":12482,"GapTicks":54788,"Mech_RPM":-1.28952492e-22,"cg_du":50.1343651,"cg_dv":50.1926193,"cg_dw":49.8073807,"cg_id_a":-0.272780299,"cg_id_raw_a":-0.0369316339,"cg_iq_a":-0.372118175,"cg_iq_raw_a":0.543486714,"cg_iu_a":0.727410078,"cg_iv_a":-0.257040501,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9436359,"cg_sample_seq":14343117,"cg_sample_valid":1,"cg_theta_rad":5.0077734,"cg_vd_req_v":0.0827497691,"cg_vd_v":0.0827497691,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337003946,"cg_vq_v":-0.337003946,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.393799,"values":{"Elec_RPM":-6.44762448e-22,"EncoderCos":38713,"EncoderSin":12521,"GapTicks":54785,"Mech_RPM":-1.28952492e-22,"cg_du":50.1379967,"cg_dv":50.1952705,"cg_dw":49.8047295,"cg_id_a":-0.127433077,"cg_id_raw_a":-0.0415663943,"cg_iq_a":-0.121059269,"cg_iq_raw_a":0.178869933,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148309112,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9763641,"cg_sample_seq":14343167,"cg_sample_valid":1,"cg_theta_rad":5.00710583,"cg_vd_req_v":0.0809488147,"cg_vd_v":0.0809488147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343020499,"cg_vq_v":-0.343020499,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6483154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.405518,"values":{"Elec_RPM":-6.31867235e-22,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-1.26373447e-22,"cg_du":50.1368256,"cg_dv":50.1980705,"cg_dw":49.8019295,"cg_id_a":-0.275483131,"cg_id_raw_a":-0.0365640558,"cg_iq_a":-0.00761144608,"cg_iq_raw_a":-0.512742281,"cg_iu_a":0.219996333,"cg_iv_a":-0.293284416,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14343217,"cg_sample_valid":1,"cg_theta_rad":5.00694466,"cg_vd_req_v":0.0857990831,"cg_vd_v":0.0857990831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345873177,"cg_vq_v":-0.345873177,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.41333,"values":{"Elec_RPM":-6.31867235e-22,"EncoderCos":38713,"EncoderSin":12485,"GapTicks":54786,"Mech_RPM":-1.26373447e-22,"cg_du":50.1355019,"cg_dv":50.1942978,"cg_dw":49.8057022,"cg_id_a":-0.0648064166,"cg_id_raw_a":0.138777956,"cg_iq_a":-0.0695016012,"cg_iq_raw_a":0.0508699156,"cg_iu_a":0.0750210285,"cg_iv_a":0.359104633,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9509087,"cg_sample_seq":14343266,"cg_sample_valid":1,"cg_theta_rad":5.00659227,"cg_vd_req_v":0.0830595121,"cg_vd_v":0.0830595121,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341127425,"cg_vq_v":-0.341127425,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9983444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6162415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.421143,"values":{"Elec_RPM":-6.1922986e-22,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-1.23845975e-22,"cg_du":50.1382713,"cg_dv":50.193428,"cg_dw":49.806572,"cg_id_a":0.128431156,"cg_id_raw_a":-0.0325835533,"cg_iq_a":-0.0887205899,"cg_iq_raw_a":0.615693748,"cg_iu_a":-0.541124105,"cg_iv_a":0.540323734,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9290905,"cg_sample_seq":14343316,"cg_sample_valid":1,"cg_theta_rad":5.00518608,"cg_vd_req_v":0.0798418149,"cg_vd_v":0.0798418149,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340457082,"cg_vq_v":-0.340457082,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.220005,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6162415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.428955,"values":{"Elec_RPM":-6.1922986e-22,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-1.23845975e-22,"cg_du":50.1396065,"cg_dv":50.2035065,"cg_dw":49.7964935,"cg_id_a":-0.244666129,"cg_id_raw_a":-0.112932026,"cg_iq_a":0.522253156,"cg_iq_raw_a":0.463011563,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8563633,"cg_sample_seq":14343366,"cg_sample_valid":1,"cg_theta_rad":5.00655699,"cg_vd_req_v":0.0892379731,"cg_vd_v":0.0892379731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354736745,"cg_vq_v":-0.354736745,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.5778198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.436768,"values":{"Elec_RPM":-6.06845274e-22,"EncoderCos":38715,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-1.21369052e-22,"cg_du":50.1268311,"cg_dv":50.1987572,"cg_dw":49.8012428,"cg_id_a":-0.404592603,"cg_id_raw_a":-0.298299581,"cg_iq_a":-0.139024004,"cg_iq_raw_a":-0.210302994,"cg_iu_a":0.691166162,"cg_iv_a":-0.184552908,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9909096,"cg_sample_seq":14343416,"cg_sample_valid":1,"cg_theta_rad":5.00728273,"cg_vd_req_v":0.0936093256,"cg_vd_v":0.0936093256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341375619,"cg_vq_v":-0.341375619,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6146545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.44458,"values":{"Elec_RPM":-6.06845274e-22,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-1.21369052e-22,"cg_du":50.1432762,"cg_dv":50.2026596,"cg_dw":49.7973404,"cg_id_a":-0.0124065056,"cg_id_raw_a":-0.174970135,"cg_iq_a":0.435919374,"cg_iq_raw_a":-0.381292492,"cg_iu_a":-0.468636274,"cg_iv_a":-0.546991229,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9581814,"cg_sample_seq":14343466,"cg_sample_valid":1,"cg_theta_rad":5.00808191,"cg_vd_req_v":0.0862853155,"cg_vd_v":0.0862853155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3566176,"cg_vq_v":-0.3566176,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6146545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.452393,"values":{"Elec_RPM":-5.94708327e-22,"EncoderCos":38698,"EncoderSin":12479,"GapTicks":54779,"Mech_RPM":-1.1894167e-22,"cg_du":50.1323776,"cg_dv":50.200695,"cg_dw":49.799305,"cg_id_a":-0.203748703,"cg_id_raw_a":0.26348412,"cg_iq_a":-0.0456153676,"cg_iq_raw_a":0.0641661957,"cg_iu_a":0.5099473,"cg_iv_a":-0.148309112,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9763641,"cg_sample_seq":14343516,"cg_sample_valid":1,"cg_theta_rad":5.00769472,"cg_vd_req_v":0.0930952802,"cg_vd_v":0.0930952802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347728163,"cg_vq_v":-0.347728163,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5986328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.483643,"values":{"Elec_RPM":-5.94708327e-22,"EncoderCos":38749,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-1.1894167e-22,"cg_du":50.1395035,"cg_dv":50.1996117,"cg_dw":49.8003883,"cg_id_a":0.389935583,"cg_id_raw_a":-0.204029754,"cg_iq_a":0.185194835,"cg_iq_raw_a":0.601209819,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772009,"cg_iw_a":0.363238573,"cg_sample_age_us":26.1981812,"cg_sample_seq":14343571,"cg_sample_valid":1,"cg_theta_rad":5.00790024,"cg_vd_req_v":0.0816390887,"cg_vd_v":0.0816390887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350324541,"cg_vq_v":-0.350324541,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5986328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.491455,"values":{"Elec_RPM":-5.82814173e-22,"EncoderCos":38702,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-1.16562832e-22,"cg_du":50.1345787,"cg_dv":50.1978607,"cg_dw":49.8021393,"cg_id_a":0.0331407227,"cg_id_raw_a":-0.0501453765,"cg_iq_a":-0.114230454,"cg_iq_raw_a":0.250699937,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9181824,"cg_sample_seq":14343617,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0884290785,"cg_vd_v":0.0884290785,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344049603,"cg_vq_v":-0.344049603,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6002197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.499268,"values":{"Elec_RPM":-5.71157914e-22,"EncoderCos":38724,"EncoderSin":12460,"GapTicks":54778,"Mech_RPM":-1.14231578e-22,"cg_du":50.1397972,"cg_dv":50.2012939,"cg_dw":49.7987061,"cg_id_a":0.0449898839,"cg_id_raw_a":-0.441667438,"cg_iq_a":0.276993245,"cg_iq_raw_a":0.613204598,"cg_iu_a":-1.01229382,"cg_iv_a":0.141641617,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9327278,"cg_sample_seq":14343766,"cg_sample_valid":1,"cg_theta_rad":5.00687742,"cg_vd_req_v":0.0859746635,"cg_vd_v":0.0859746635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35207817,"cg_vq_v":-0.35207817,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5842285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.50708,"values":{"Elec_RPM":-5.59734753e-22,"EncoderCos":38732,"EncoderSin":12478,"GapTicks":54781,"Mech_RPM":-1.11946948e-22,"cg_du":50.1369743,"cg_dv":50.1983337,"cg_dw":49.8016663,"cg_id_a":0.0443172455,"cg_id_raw_a":0.146551207,"cg_iq_a":-0.113457337,"cg_iq_raw_a":0.415105164,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14343816,"cg_sample_valid":1,"cg_theta_rad":5.00746441,"cg_vd_req_v":0.0845057219,"cg_vd_v":0.0845057219,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347782344,"cg_vq_v":-0.347782344,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5938416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.518799,"values":{"Elec_RPM":-5.59734753e-22,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-1.11946948e-22,"cg_du":50.1403732,"cg_dv":50.2045937,"cg_dw":49.7954063,"cg_id_a":-0.0961596668,"cg_id_raw_a":0.0731779411,"cg_iq_a":0.31891036,"cg_iq_raw_a":0.517543018,"cg_iu_a":-0.649855614,"cg_iv_a":-0.510747313,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9436359,"cg_sample_seq":14343866,"cg_sample_valid":1,"cg_theta_rad":5.00689125,"cg_vd_req_v":0.0880857483,"cg_vd_v":0.0880857483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357045829,"cg_vq_v":-0.357045829,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5938416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.526611,"values":{"Elec_RPM":-5.48540047e-22,"EncoderCos":38709,"EncoderSin":12464,"GapTicks":54788,"Mech_RPM":-1.09708009e-22,"cg_du":50.139122,"cg_dv":50.1921921,"cg_dw":49.8078079,"cg_id_a":0.313459456,"cg_id_raw_a":0.235749125,"cg_iq_a":-0.532896161,"cg_iq_raw_a":-0.703995764,"cg_iu_a":-0.39614892,"cg_iv_a":0.612811387,"cg_iw_a":-0.216662467,"cg_sample_age_us":23.8563633,"cg_sample_seq":14343916,"cg_sample_valid":1,"cg_theta_rad":5.00647259,"cg_vd_req_v":0.0789579451,"cg_vd_v":0.0789579451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340111881,"cg_vq_v":-0.340111881,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.534424,"values":{"Elec_RPM":-5.48540047e-22,"EncoderCos":38715,"EncoderSin":12485,"GapTicks":54777,"Mech_RPM":-1.09708009e-22,"cg_du":50.1444702,"cg_dv":50.2020454,"cg_dw":49.7979546,"cg_id_a":0.028660953,"cg_id_raw_a":0.323419124,"cg_iq_a":0.285373509,"cg_iq_raw_a":-0.331710339,"cg_iu_a":-0.577367783,"cg_iv_a":-0.438259721,"cg_iw_a":1.0156275,"cg_sample_age_us":23.8781815,"cg_sample_seq":14343966,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0831506178,"cg_vd_v":0.0831506178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355694205,"cg_vq_v":-0.355694205,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.542236,"values":{"Elec_RPM":-5.37569251e-22,"EncoderCos":38704,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-1.07513853e-22,"cg_du":50.160881,"cg_dv":50.2031403,"cg_dw":49.7968597,"cg_id_a":0.445615768,"cg_id_raw_a":-0.13569048,"cg_iq_a":0.870446742,"cg_iq_raw_a":0.0598722212,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9290905,"cg_sample_seq":14344017,"cg_sample_valid":1,"cg_theta_rad":5.00786543,"cg_vd_req_v":0.0727097392,"cg_vd_v":0.0727097392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366130412,"cg_vq_v":-0.366130412,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.6050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.573486,"values":{"Elec_RPM":-5.37569251e-22,"EncoderCos":38738,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-1.07513853e-22,"cg_du":50.1461143,"cg_dv":50.204216,"cg_dw":49.795784,"cg_id_a":0.262792408,"cg_id_raw_a":-0.348419696,"cg_iq_a":0.0810505003,"cg_iq_raw_a":0.987354815,"cg_iu_a":-1.99087739,"cg_iv_a":0.0329101086,"cg_iw_a":1.95796728,"cg_sample_age_us":23.9872723,"cg_sample_seq":14344071,"cg_sample_valid":1,"cg_theta_rad":5.00684738,"cg_vd_req_v":0.0757088885,"cg_vd_v":0.0757088885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351943225,"cg_vq_v":-0.351943225,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.407066,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.581299,"values":{"Elec_RPM":-5.26817872e-22,"EncoderCos":38717,"EncoderSin":12496,"GapTicks":54778,"Mech_RPM":-1.05363576e-22,"cg_du":50.1507187,"cg_dv":50.2010536,"cg_dw":49.7989464,"cg_id_a":0.161464259,"cg_id_raw_a":0.187306508,"cg_iq_a":0.408269674,"cg_iq_raw_a":0.419448793,"cg_iu_a":-1.73717046,"cg_iv_a":0.21412921,"cg_iw_a":1.52304125,"cg_sample_age_us":23.9836369,"cg_sample_seq":14344116,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0770860314,"cg_vd_v":0.0770860314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359034985,"cg_vq_v":-0.359034985,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.793800592,"dclink_p_w":-114.882515,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6403198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.589111,"values":{"Elec_RPM":-5.26817872e-22,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-1.05363576e-22,"cg_du":50.1397018,"cg_dv":50.1980019,"cg_dw":49.8019981,"cg_id_a":-0.0855951682,"cg_id_raw_a":0.136254758,"cg_iq_a":-0.244422913,"cg_iq_raw_a":-0.823729873,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9836369,"cg_sample_seq":14344166,"cg_sample_valid":1,"cg_theta_rad":5.00690842,"cg_vd_req_v":0.0812794268,"cg_vd_v":0.0812794268,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347919047,"cg_vq_v":-0.347919047,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5986328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.596924,"values":{"Elec_RPM":-5.16281518e-22,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.03256307e-22,"cg_du":50.1538696,"cg_dv":50.2026711,"cg_dw":49.7973289,"cg_id_a":0.106162265,"cg_id_raw_a":0.202404186,"cg_iq_a":0.393495262,"cg_iq_raw_a":0.458534181,"cg_iu_a":-0.686099291,"cg_iv_a":-0.25704062,"cg_iw_a":0.943139911,"cg_sample_age_us":23.863636,"cg_sample_seq":14344216,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0779578239,"cg_vd_v":0.0779578239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362640351,"cg_vq_v":-0.362640351,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.604736,"values":{"Elec_RPM":-5.16281518e-22,"EncoderCos":38725,"EncoderSin":12468,"GapTicks":54774,"Mech_RPM":-1.03256307e-22,"cg_du":50.1494675,"cg_dv":50.2052155,"cg_dw":49.7947845,"cg_id_a":-0.128487021,"cg_id_raw_a":-0.145988807,"cg_iq_a":0.379836351,"cg_iq_raw_a":0.387221545,"cg_iu_a":-0.287417412,"cg_iv_a":-0.365772128,"cg_iw_a":0.65318954,"cg_sample_age_us":23.9218178,"cg_sample_seq":14344266,"cg_sample_valid":1,"cg_theta_rad":5.00725508,"cg_vd_req_v":0.0819163993,"cg_vd_v":0.0819163993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362902671,"cg_vq_v":-0.362902671,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.6018372,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.612549,"values":{"Elec_RPM":-5.05955897e-22,"EncoderCos":38700,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-1.01191183e-22,"cg_du":50.1497078,"cg_dv":50.199913,"cg_dw":49.800087,"cg_id_a":0.0401684754,"cg_id_raw_a":0.792784452,"cg_iq_a":-0.167102635,"cg_iq_raw_a":-0.792537034,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9799995,"cg_sample_seq":14344317,"cg_sample_valid":1,"cg_theta_rad":5.00762606,"cg_vd_req_v":0.0784999728,"cg_vd_v":0.0784999728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355401576,"cg_vq_v":-0.355401576,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.620361,"values":{"Elec_RPM":-5.05955897e-22,"EncoderCos":38710,"EncoderSin":12452,"GapTicks":54778,"Mech_RPM":-1.01191183e-22,"cg_du":50.1458206,"cg_dv":50.2010117,"cg_dw":49.7989883,"cg_id_a":-0.168033451,"cg_id_raw_a":0.0356349573,"cg_iq_a":-0.252385736,"cg_iq_raw_a":-0.177732185,"cg_iu_a":1.0536046,"cg_iv_a":-0.365772009,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8563633,"cg_sample_seq":14344366,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0822951794,"cg_vd_v":0.0822951794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354767919,"cg_vq_v":-0.354767919,"cg_vu_v":29.912693,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.63208,"values":{"Elec_RPM":-4.95836768e-22,"EncoderCos":38714,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-9.91673573e-23,"cg_du":50.1417236,"cg_dv":50.2019348,"cg_dw":49.7980652,"cg_id_a":-0.264648587,"cg_id_raw_a":-0.906455159,"cg_iq_a":-0.271395952,"cg_iq_raw_a":0.203092813,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14344417,"cg_sample_valid":1,"cg_theta_rad":5.0062542,"cg_vd_req_v":0.0853277445,"cg_vd_v":0.0853277445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353969872,"cg_vq_v":-0.353969872,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5681763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.639893,"values":{"Elec_RPM":-4.95836768e-22,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54779,"Mech_RPM":-9.91673573e-23,"cg_du":50.14217,"cg_dv":50.2008896,"cg_dw":49.7991104,"cg_id_a":-0.0828458816,"cg_id_raw_a":-0.458848596,"cg_iq_a":-0.306676,"cg_iq_raw_a":-0.297196925,"cg_iu_a":0.292484164,"cg_iv_a":-0.510747433,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9290905,"cg_sample_seq":14344467,"cg_sample_valid":1,"cg_theta_rad":5.00628138,"cg_vd_req_v":0.0825095475,"cg_vd_v":0.0825095475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353144497,"cg_vq_v":-0.353144497,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.014473,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6210632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.647705,"values":{"Elec_RPM":-4.85920041e-22,"EncoderCos":38713,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-9.71840095e-23,"cg_du":50.1509094,"cg_dv":50.2062759,"cg_dw":49.7937241,"cg_id_a":-0.130731687,"cg_id_raw_a":-0.198350683,"cg_iq_a":0.488743156,"cg_iq_raw_a":0.272694945,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8490906,"cg_sample_seq":14344516,"cg_sample_valid":1,"cg_theta_rad":5.00674438,"cg_vd_req_v":0.082283698,"cg_vd_v":0.082283698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365046144,"cg_vq_v":-0.365046144,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.362499118,"dclink_p_w":-52.4625587,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6210632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.675049,"values":{"Elec_RPM":-4.76201679e-22,"EncoderCos":38745,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-9.5240332e-23,"cg_du":50.1383743,"cg_dv":50.1985817,"cg_dw":49.8014183,"cg_id_a":-0.0969578698,"cg_id_raw_a":0.433177054,"cg_iq_a":-0.400859892,"cg_iq_raw_a":-0.869519591,"cg_iu_a":0.219996452,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14344666,"cg_sample_valid":1,"cg_theta_rad":5.00695181,"cg_vd_req_v":0.0822909251,"cg_vd_v":0.0822909251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348113239,"cg_vq_v":-0.348113239,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6066589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.686768,"values":{"Elec_RPM":-4.66677591e-22,"EncoderCos":38696,"EncoderSin":12496,"GapTicks":54785,"Mech_RPM":-9.33355232e-23,"cg_du":50.1344261,"cg_dv":50.1950836,"cg_dw":49.8049164,"cg_id_a":-0.244631678,"cg_id_raw_a":-0.368342608,"cg_iq_a":-0.706438065,"cg_iq_raw_a":0.0727139562,"cg_iu_a":1.30731142,"cg_iv_a":-0.148309112,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9509087,"cg_sample_seq":14344716,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0854763463,"cg_vd_v":0.0854763463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340289682,"cg_vq_v":-0.340289682,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6002197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.69458,"values":{"Elec_RPM":-4.66677591e-22,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-9.33355232e-23,"cg_du":50.1474571,"cg_dv":50.1973534,"cg_dw":49.8026466,"cg_id_a":0.155766159,"cg_id_raw_a":-0.126863047,"cg_iq_a":-0.157611459,"cg_iq_raw_a":-1.06842315,"cg_iu_a":-0.0699541569,"cg_iv_a":0.431592286,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9581814,"cg_sample_seq":14344766,"cg_sample_valid":1,"cg_theta_rad":5.00800323,"cg_vd_req_v":0.0773244873,"cg_vd_v":0.0773244873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350761235,"cg_vq_v":-0.350761235,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6002197,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.702393,"values":{"Elec_RPM":-4.57344041e-22,"EncoderCos":38705,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-9.14688132e-23,"cg_du":50.1406059,"cg_dv":50.1993904,"cg_dw":49.8006096,"cg_id_a":-0.212641954,"cg_id_raw_a":0.28248468,"cg_iq_a":-0.2665326,"cg_iq_raw_a":-0.335184067,"cg_iu_a":0.111264944,"cg_iv_a":-0.655722737,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9509087,"cg_sample_seq":14344816,"cg_sample_valid":1,"cg_theta_rad":5.0062542,"cg_vd_req_v":0.0846052244,"cg_vd_v":0.0846052244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350799084,"cg_vq_v":-0.350799084,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6050415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.710205,"values":{"Elec_RPM":-4.57344041e-22,"EncoderCos":38707,"EncoderSin":12421,"GapTicks":54780,"Mech_RPM":-9.14688132e-23,"cg_du":50.1464577,"cg_dv":50.1998978,"cg_dw":49.8001022,"cg_id_a":-0.0413933694,"cg_id_raw_a":-0.190441385,"cg_iq_a":-0.149194777,"cg_iq_raw_a":0.381808579,"cg_iu_a":0.183752775,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8490906,"cg_sample_seq":14344866,"cg_sample_valid":1,"cg_theta_rad":5.00646544,"cg_vd_req_v":0.0817022175,"cg_vd_v":0.0817022175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35339281,"cg_vq_v":-0.35339281,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-57.9702034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5970154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.718018,"values":{"Elec_RPM":-4.48197192e-22,"EncoderCos":38710,"EncoderSin":12439,"GapTicks":54781,"Mech_RPM":-8.96394385e-23,"cg_du":50.1517372,"cg_dv":50.1983681,"cg_dw":49.8016319,"cg_id_a":0.192442149,"cg_id_raw_a":0.265872419,"cg_iq_a":-0.0260768533,"cg_iq_raw_a":0.246577471,"cg_iu_a":-0.142441988,"cg_iv_a":1.04773748,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9436359,"cg_sample_seq":14344916,"cg_sample_valid":1,"cg_theta_rad":5.00600958,"cg_vd_req_v":0.0753995255,"cg_vd_v":0.0753995255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354457796,"cg_vq_v":-0.354457796,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.177655578,"dclink_p_w":-25.7892914,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5970154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.72583,"values":{"Elec_RPM":-4.48197192e-22,"EncoderCos":38712,"EncoderSin":12477,"GapTicks":54777,"Mech_RPM":-8.96394385e-23,"cg_du":50.1493988,"cg_dv":50.2022514,"cg_dw":49.7977486,"cg_id_a":-0.036270991,"cg_id_raw_a":-0.0724425688,"cg_iq_a":0.170298189,"cg_iq_raw_a":-0.152062267,"cg_iu_a":-0.106198072,"cg_iv_a":-0.546991229,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8709087,"cg_sample_seq":14344966,"cg_sample_valid":1,"cg_theta_rad":5.00678778,"cg_vd_req_v":0.0799264833,"cg_vd_v":0.0799264833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358644068,"cg_vq_v":-0.358644068,"cg_vu_v":1.75957024,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5778198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.733643,"values":{"Elec_RPM":-4.39233259e-22,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-8.78466479e-23,"cg_du":50.1507645,"cg_dv":50.1995125,"cg_dw":49.8004875,"cg_id_a":0.277705729,"cg_id_raw_a":0.543846905,"cg_iq_a":-0.0809084475,"cg_iq_raw_a":0.855067611,"cg_iu_a":-0.142441988,"cg_iv_a":0.939005971,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.863636,"cg_sample_seq":14345016,"cg_sample_valid":1,"cg_theta_rad":5.00786686,"cg_vd_req_v":0.0756708756,"cg_vd_v":0.0756708756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355805516,"cg_vq_v":-0.355805516,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.764893,"values":{"Elec_RPM":-4.39233259e-22,"EncoderCos":38749,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-8.78466479e-23,"cg_du":50.1406174,"cg_dv":50.2026596,"cg_dw":49.7973404,"cg_id_a":-0.178523377,"cg_id_raw_a":-0.00538492948,"cg_iq_a":-0.222521007,"cg_iq_raw_a":0.255053759,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9581814,"cg_sample_seq":14345071,"cg_sample_valid":1,"cg_theta_rad":5.00600529,"cg_vd_req_v":0.0840569884,"cg_vd_v":0.0840569884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355023444,"cg_vq_v":-0.355023444,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.6082458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.772705,"values":{"Elec_RPM":-4.30448554e-22,"EncoderCos":38715,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-8.60897159e-23,"cg_du":50.1463394,"cg_dv":50.1996956,"cg_dw":49.8003044,"cg_id_a":0.0501122735,"cg_id_raw_a":0.461771816,"cg_iq_a":-0.0582113191,"cg_iq_raw_a":-0.0269891452,"cg_iu_a":0.473703384,"cg_iv_a":0.141641617,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9509087,"cg_sample_seq":14345116,"cg_sample_valid":1,"cg_theta_rad":5.00706625,"cg_vd_req_v":0.0792809352,"cg_vd_v":0.0792809352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353582442,"cg_vq_v":-0.353582442,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6034241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.780518,"values":{"Elec_RPM":-4.30448554e-22,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-8.60897159e-23,"cg_du":50.144516,"cg_dv":50.2037735,"cg_dw":49.7962265,"cg_id_a":-0.282384783,"cg_id_raw_a":0.106900506,"cg_iq_a":0.108840734,"cg_iq_raw_a":0.157311961,"cg_iu_a":0.0387773514,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8563633,"cg_sample_seq":14345166,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.0861596242,"cg_vd_v":0.0861596242,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358897388,"cg_vq_v":-0.358897388,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.6034241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.78833,"values":{"Elec_RPM":-4.2183962e-22,"EncoderCos":38731,"EncoderSin":12477,"GapTicks":54771,"Mech_RPM":-8.43679228e-23,"cg_du":50.1467476,"cg_dv":50.2076035,"cg_dw":49.7923965,"cg_id_a":-0.195109338,"cg_id_raw_a":0.212343171,"cg_iq_a":0.480386615,"cg_iq_raw_a":0.384988904,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0758213401,"cg_iw_a":0.326994836,"cg_sample_age_us":23.9872723,"cg_sample_seq":14345216,"cg_sample_valid":1,"cg_theta_rad":5.00536346,"cg_vd_req_v":0.0859059021,"cg_vd_v":0.0859059021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365901023,"cg_vq_v":-0.365901023,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5970154,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.800049,"values":{"Elec_RPM":-4.2183962e-22,"EncoderCos":38717,"EncoderSin":12487,"GapTicks":54784,"Mech_RPM":-8.43679228e-23,"cg_du":50.1508865,"cg_dv":50.1962738,"cg_dw":49.8037262,"cg_id_a":0.422319561,"cg_id_raw_a":0.211840183,"cg_iq_a":-0.222343117,"cg_iq_raw_a":-0.0514176562,"cg_iu_a":0.401215672,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9763641,"cg_sample_seq":14345266,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.0725190192,"cg_vd_v":0.0725190192,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352567762,"cg_vq_v":-0.352567762,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.807861,"values":{"Elec_RPM":-4.13402797e-22,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54779,"Mech_RPM":-8.2680562e-23,"cg_du":50.1511879,"cg_dv":50.2000504,"cg_dw":49.7999496,"cg_id_a":0.236750901,"cg_id_raw_a":0.408900321,"cg_iq_a":0.115071952,"cg_iq_raw_a":-0.579306543,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333380699,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8527279,"cg_sample_seq":14345316,"cg_sample_valid":1,"cg_theta_rad":5.00641203,"cg_vd_req_v":0.0748874545,"cg_vd_v":0.0748874545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35698092,"cg_vq_v":-0.35698092,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.815674,"values":{"Elec_RPM":-4.13402797e-22,"EncoderCos":38706,"EncoderSin":12487,"GapTicks":54785,"Mech_RPM":-8.2680562e-23,"cg_du":50.1413269,"cg_dv":50.1945686,"cg_dw":49.8054314,"cg_id_a":0.00257607177,"cg_id_raw_a":-0.303429484,"cg_iq_a":-0.427115649,"cg_iq_raw_a":-0.575839162,"cg_iu_a":0.111264944,"cg_iv_a":0.39534843,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9763641,"cg_sample_seq":14345366,"cg_sample_valid":1,"cg_theta_rad":5.00551701,"cg_vd_req_v":0.0790038705,"cg_vd_v":0.0790038705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343616068,"cg_vq_v":-0.343616068,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.823486,"values":{"Elec_RPM":-4.05134752e-22,"EncoderCos":38707,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-8.10269517e-23,"cg_du":50.1346169,"cg_dv":50.196907,"cg_dw":49.803093,"cg_id_a":-0.402686596,"cg_id_raw_a":-0.15805833,"cg_iq_a":-0.610552371,"cg_iq_raw_a":-0.343007237,"cg_iu_a":0.364971638,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.9836369,"cg_sample_seq":14345416,"cg_sample_valid":1,"cg_theta_rad":5.00799608,"cg_vd_req_v":0.0869334787,"cg_vd_v":0.0869334787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34291321,"cg_vq_v":-0.34291321,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.553772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.831299,"values":{"Elec_RPM":-4.05134752e-22,"EncoderCos":38710,"EncoderSin":12466,"GapTicks":54784,"Mech_RPM":-8.10269517e-23,"cg_du":50.1464081,"cg_dv":50.1955185,"cg_dw":49.8044815,"cg_id_a":0.137810811,"cg_id_raw_a":0.909838438,"cg_iq_a":-0.304035962,"cg_iq_raw_a":-1.76561391,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9836369,"cg_sample_seq":14345466,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.0761370361,"cg_vd_v":0.0761370361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347730756,"cg_vq_v":-0.347730756,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.553772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.839111,"values":{"Elec_RPM":-3.97032053e-22,"EncoderCos":38716,"EncoderSin":12468,"GapTicks":54777,"Mech_RPM":-7.94064106e-23,"cg_du":50.1470642,"cg_dv":50.2026749,"cg_dw":49.7973251,"cg_id_a":-0.182704061,"cg_id_raw_a":-0.204559639,"cg_iq_a":0.264891177,"cg_iq_raw_a":-0.0922537223,"cg_iu_a":-0.251173496,"cg_iv_a":-0.365772009,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9509087,"cg_sample_seq":14345516,"cg_sample_valid":1,"cg_theta_rad":5.00672913,"cg_vd_req_v":0.0820667893,"cg_vd_v":0.0820667893,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357928306,"cg_vq_v":-0.357928306,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.6114502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.870361,"values":{"Elec_RPM":-3.97032053e-22,"EncoderCos":38712,"EncoderSin":12511,"GapTicks":54776,"Mech_RPM":-7.94064106e-23,"cg_du":50.1431618,"cg_dv":50.2030869,"cg_dw":49.7969131,"cg_id_a":-0.216496319,"cg_id_raw_a":0.152587697,"cg_iq_a":0.0997167975,"cg_iq_raw_a":0.343286783,"cg_iu_a":0.038777113,"cg_iv_a":0.21412921,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.954546,"cg_sample_seq":14345571,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.0847984478,"cg_vd_v":0.0847984478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356470734,"cg_vq_v":-0.356470734,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.6114502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.878174,"values":{"Elec_RPM":-3.89091417e-22,"EncoderCos":38729,"EncoderSin":12503,"GapTicks":54788,"Mech_RPM":-7.78182821e-23,"cg_du":50.123127,"cg_dv":50.1923599,"cg_dw":49.8076401,"cg_id_a":-0.325952828,"cg_id_raw_a":0.312771112,"cg_iq_a":-1.07727015,"cg_iq_raw_a":-1.13483107,"cg_iu_a":0.691166162,"cg_iv_a":0.141641557,"cg_iw_a":-0.83280772,"cg_sample_age_us":23.8672733,"cg_sample_seq":14345616,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0890164971,"cg_vd_v":0.0890164971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330945164,"cg_vq_v":-0.330945164,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5778198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.885986,"values":{"Elec_RPM":-3.89091417e-22,"EncoderCos":38716,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-7.78182821e-23,"cg_du":50.1310768,"cg_dv":50.2032661,"cg_dw":49.7967339,"cg_id_a":-0.540497541,"cg_id_raw_a":-0.059056066,"cg_iq_a":-0.0885002017,"cg_iq_raw_a":0.140746072,"cg_iu_a":0.401215553,"cg_iv_a":0.105397701,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.954546,"cg_sample_seq":14345666,"cg_sample_valid":1,"cg_theta_rad":5.00714731,"cg_vd_req_v":0.0944343954,"cg_vd_v":0.0944343954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349947989,"cg_vq_v":-0.349947989,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.893799,"values":{"Elec_RPM":-3.81309588e-22,"EncoderCos":38735,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-7.62619163e-23,"cg_du":50.1411018,"cg_dv":50.1951218,"cg_dw":49.8048782,"cg_id_a":0.251429617,"cg_id_raw_a":0.4779993,"cg_iq_a":-0.248293415,"cg_iq_raw_a":-0.427668244,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656759,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.863636,"cg_sample_seq":14345716,"cg_sample_valid":1,"cg_theta_rad":5.00764608,"cg_vd_req_v":0.0776134655,"cg_vd_v":0.0776134655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344722778,"cg_vq_v":-0.344722778,"cg_vu_v":40.9100075,"cg_vv_v":48.8280716,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3948669,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.901611,"values":{"Elec_RPM":-3.81309588e-22,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54789,"Mech_RPM":-7.62619163e-23,"cg_du":50.1323929,"cg_dv":50.1912613,"cg_dw":49.8087387,"cg_id_a":0.0882255211,"cg_id_raw_a":-0.330287635,"cg_iq_a":-0.62817055,"cg_iq_raw_a":-1.41443527,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104633,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14345766,"cg_sample_valid":1,"cg_theta_rad":5.00713158,"cg_vd_req_v":0.0814710483,"cg_vd_v":0.0814710483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334425539,"cg_vq_v":-0.334425539,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5890198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.91333,"values":{"Elec_RPM":-3.73683386e-22,"EncoderCos":38684,"EncoderSin":12453,"GapTicks":54782,"Mech_RPM":-7.47366758e-23,"cg_du":50.1386871,"cg_dv":50.1980934,"cg_dw":49.8019066,"cg_id_a":-0.171329305,"cg_id_raw_a":0.0212166235,"cg_iq_a":-0.107052915,"cg_iq_raw_a":-0.0333717652,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9872723,"cg_sample_seq":14345816,"cg_sample_valid":1,"cg_theta_rad":5.00697708,"cg_vd_req_v":0.087050423,"cg_vd_v":0.087050423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346287757,"cg_vq_v":-0.346287757,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5874023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.921143,"values":{"Elec_RPM":-3.73683386e-22,"EncoderCos":38712,"EncoderSin":12470,"GapTicks":54780,"Mech_RPM":-7.47366758e-23,"cg_du":50.1361313,"cg_dv":50.1992989,"cg_dw":49.8007011,"cg_id_a":-0.204535753,"cg_id_raw_a":-0.182933018,"cg_iq_a":-0.0919026136,"cg_iq_raw_a":-0.308803797,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14345866,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0876187608,"cg_vd_v":0.0876187608,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347129613,"cg_vq_v":-0.347129613,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5874023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.928955,"values":{"Elec_RPM":-3.66209705e-22,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-7.32419422e-23,"cg_du":50.1363144,"cg_dv":50.1921234,"cg_dw":49.8078766,"cg_id_a":0.0788343102,"cg_id_raw_a":0.434669286,"cg_iq_a":-0.319756687,"cg_iq_raw_a":-0.174155846,"cg_iu_a":-0.359904766,"cg_iv_a":1.01149368,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9872723,"cg_sample_seq":14345916,"cg_sample_valid":1,"cg_theta_rad":5.00773048,"cg_vd_req_v":0.0809549242,"cg_vd_v":0.0809549242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338468462,"cg_vq_v":-0.338468462,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5794067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.936768,"values":{"Elec_RPM":-3.66209705e-22,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54790,"Mech_RPM":-7.32419422e-23,"cg_du":50.1357384,"cg_dv":50.1902962,"cg_dw":49.8097038,"cg_id_a":0.235969603,"cg_id_raw_a":0.322943956,"cg_iq_a":-0.349508286,"cg_iq_raw_a":0.104483299,"cg_iu_a":0.14750886,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9727268,"cg_sample_seq":14345966,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0778090656,"cg_vd_v":0.0778090656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33500576,"cg_vq_v":-0.33500576,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5794067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.94458,"values":{"Elec_RPM":-3.58885516e-22,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-7.17771032e-23,"cg_du":50.1366653,"cg_dv":50.1918182,"cg_dw":49.8081818,"cg_id_a":0.238336965,"cg_id_raw_a":0.0419180654,"cg_iq_a":-0.23219046,"cg_iq_raw_a":0.186818182,"cg_iu_a":0.328727961,"cg_iv_a":0.431592226,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9581814,"cg_sample_seq":14346016,"cg_sample_valid":1,"cg_theta_rad":5.00839663,"cg_vd_req_v":0.0783477128,"cg_vd_v":0.0783477128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337643504,"cg_vq_v":-0.337643504,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5890198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2595.959207,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2595.959212,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2595.959217,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2595.97583,"values":{"Elec_RPM":-3.58885516e-22,"EncoderCos":38704,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-7.17771032e-23,"cg_du":50.1362038,"cg_dv":50.1948166,"cg_dw":49.8051834,"cg_id_a":0.0179772303,"cg_id_raw_a":-0.0296050217,"cg_iq_a":-0.0794296786,"cg_iq_raw_a":0.471367151,"cg_iu_a":0.691166401,"cg_iv_a":0.032910049,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.8527279,"cg_sample_seq":14346071,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.0833953917,"cg_vd_v":0.0833953917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341040641,"cg_vq_v":-0.341040641,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5874023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.983643,"values":{"Elec_RPM":-3.51707791e-22,"EncoderCos":38689,"EncoderSin":12496,"GapTicks":54785,"Mech_RPM":-7.03415594e-23,"cg_du":50.1393204,"cg_dv":50.1948814,"cg_dw":49.8051186,"cg_id_a":0.0928127766,"cg_id_raw_a":0.282757074,"cg_iq_a":0.0376667976,"cg_iq_raw_a":0.285006016,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148308992,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14346117,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.0819945261,"cg_vd_v":0.0819945261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342648894,"cg_vq_v":-0.342648894,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.5874023,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2595.991455,"values":{"Elec_RPM":-3.51707791e-22,"EncoderCos":38724,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-7.03415594e-23,"cg_du":50.1292992,"cg_dv":50.1913986,"cg_dw":49.8086014,"cg_id_a":0.0073781535,"cg_id_raw_a":0.75437057,"cg_iq_a":-0.373254776,"cg_iq_raw_a":-0.872511923,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373065,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14346166,"cg_sample_valid":1,"cg_theta_rad":5.00620413,"cg_vd_req_v":0.0848069414,"cg_vd_v":0.0848069414,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333760381,"cg_vq_v":-0.333760381,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5809937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2595.999268,"values":{"Elec_RPM":-3.44673651e-22,"EncoderCos":38724,"EncoderSin":12505,"GapTicks":54781,"Mech_RPM":-6.89347301e-23,"cg_du":50.1348228,"cg_dv":50.1982994,"cg_dw":49.8017006,"cg_id_a":0.0290841348,"cg_id_raw_a":-0.0663358122,"cg_iq_a":0.157996327,"cg_iq_raw_a":-0.223890021,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9909096,"cg_sample_seq":14346216,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0861581191,"cg_vd_v":0.0861581191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346536845,"cg_vq_v":-0.346536845,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5746155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.00708,"values":{"Elec_RPM":-3.44673651e-22,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-6.89347301e-23,"cg_du":50.1358719,"cg_dv":50.1966133,"cg_dw":49.8033867,"cg_id_a":0.116824135,"cg_id_raw_a":-0.269766748,"cg_iq_a":0.112553671,"cg_iq_raw_a":-0.499131888,"cg_iu_a":0.0750212669,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.0716875196,"cg_sample_age_us":23.9836369,"cg_sample_seq":14346266,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0847339183,"cg_vd_v":0.0847339183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343456447,"cg_vq_v":-0.343456447,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5746155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.014893,"values":{"Elec_RPM":-3.37780167e-22,"EncoderCos":38726,"EncoderSin":12490,"GapTicks":54781,"Mech_RPM":-6.75560348e-23,"cg_du":50.1357346,"cg_dv":50.1985893,"cg_dw":49.8014107,"cg_id_a":0.0435302928,"cg_id_raw_a":0.0113175688,"cg_iq_a":0.277832955,"cg_iq_raw_a":0.730019867,"cg_iu_a":-0.287417412,"cg_iv_a":-0.293284416,"cg_iw_a":0.580701828,"cg_sample_age_us":23.8672733,"cg_sample_seq":14346316,"cg_sample_valid":1,"cg_theta_rad":5.00823069,"cg_vd_req_v":0.085661754,"cg_vd_v":0.085661754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346340448,"cg_vq_v":-0.346340448,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.03713059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.026611,"values":{"Elec_RPM":-3.37780167e-22,"EncoderCos":38701,"EncoderSin":12461,"GapTicks":54780,"Mech_RPM":-6.75560348e-23,"cg_du":50.1366959,"cg_dv":50.1994858,"cg_dw":49.8005142,"cg_id_a":-0.0616251081,"cg_id_raw_a":0.0581192859,"cg_iq_a":0.222587153,"cg_iq_raw_a":-0.394004583,"cg_iu_a":-0.468636513,"cg_iv_a":-0.257040501,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9181824,"cg_sample_seq":14346366,"cg_sample_valid":1,"cg_theta_rad":5.00672913,"cg_vd_req_v":0.0881768614,"cg_vd_v":0.0881768614,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346374124,"cg_vq_v":-0.346374124,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.17478704,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2596.034424,"values":{"Elec_RPM":-3.31024565e-22,"EncoderCos":38738,"EncoderSin":12489,"GapTicks":54784,"Mech_RPM":-6.62049117e-23,"cg_du":50.1270523,"cg_dv":50.1956749,"cg_dw":49.8043251,"cg_id_a":-0.0680122077,"cg_id_raw_a":-0.272682875,"cg_iq_a":-0.251886606,"cg_iq_raw_a":-0.497544616,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9218178,"cg_sample_seq":14346416,"cg_sample_valid":1,"cg_theta_rad":5.00564146,"cg_vd_req_v":0.0887665972,"cg_vd_v":0.0887665972,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337752163,"cg_vq_v":-0.337752163,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.17478704,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5906067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.042236,"values":{"Elec_RPM":-3.31024565e-22,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-6.62049117e-23,"cg_du":50.1322746,"cg_dv":50.1965866,"cg_dw":49.8034134,"cg_id_a":0.0198529996,"cg_id_raw_a":0.747836053,"cg_iq_a":0.0928254277,"cg_iq_raw_a":1.56679571,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9509087,"cg_sample_seq":14346466,"cg_sample_valid":1,"cg_theta_rad":5.00602388,"cg_vd_req_v":0.0875646546,"cg_vd_v":0.0875646546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342496961,"cg_vq_v":-0.342496961,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.572998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.050049,"values":{"Elec_RPM":-3.24404065e-22,"EncoderCos":38717,"EncoderSin":12487,"GapTicks":54782,"Mech_RPM":-6.48808118e-23,"cg_du":50.1484566,"cg_dv":50.1975555,"cg_dw":49.8024445,"cg_id_a":0.635059118,"cg_id_raw_a":0.205279112,"cg_iq_a":0.572035313,"cg_iq_raw_a":-0.416205287,"cg_iu_a":-1.01229405,"cg_iv_a":0.359104633,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9872723,"cg_sample_seq":14346516,"cg_sample_valid":1,"cg_theta_rad":5.00719786,"cg_vd_req_v":0.0756784156,"cg_vd_v":0.0756784156,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352946669,"cg_vq_v":-0.352946669,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3454285,"temp_inv2_c":37.572998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.077393,"values":{"Elec_RPM":-3.24404065e-22,"EncoderCos":38789,"EncoderSin":12506,"GapTicks":54776,"Mech_RPM":-6.48808118e-23,"cg_du":50.143013,"cg_dv":50.202858,"cg_dw":49.797142,"cg_id_a":0.38618511,"cg_id_raw_a":0.184478894,"cg_iq_a":0.692175508,"cg_iq_raw_a":1.06984556,"cg_iu_a":-0.976050138,"cg_iv_a":0.250373125,"cg_iw_a":0.725677013,"cg_sample_age_us":26.8163643,"cg_sample_seq":14346571,"cg_sample_valid":1,"cg_theta_rad":5.00776243,"cg_vd_req_v":0.0788043663,"cg_vd_v":0.0788043663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358562112,"cg_vq_v":-0.358562112,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5954285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.089111,"values":{"Elec_RPM":-3.17915994e-22,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-6.35831987e-23,"cg_du":50.1350746,"cg_dv":50.1986046,"cg_dw":49.8013954,"cg_id_a":-0.0252951607,"cg_id_raw_a":0.0275886077,"cg_iq_a":-0.092358619,"cg_iq_raw_a":-0.105809279,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.873185754,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9436359,"cg_sample_seq":14346617,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0856757686,"cg_vd_v":0.0856757686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345003217,"cg_vq_v":-0.345003217,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.572998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2596.096924,"values":{"Elec_RPM":-3.17915994e-22,"EncoderCos":38707,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-6.35831987e-23,"cg_du":50.1335449,"cg_dv":50.1995125,"cg_dw":49.8004875,"cg_id_a":-0.26112023,"cg_id_raw_a":-0.152808756,"cg_iq_a":-0.106784247,"cg_iq_raw_a":0.0219382513,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.8563633,"cg_sample_seq":14346667,"cg_sample_valid":1,"cg_theta_rad":5.00696325,"cg_vd_req_v":0.0900102034,"cg_vd_v":0.0900102034,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345925719,"cg_vq_v":-0.345925719,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8914557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.572998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.104736,"values":{"Elec_RPM":-3.11557674e-22,"EncoderCos":38663,"EncoderSin":12439,"GapTicks":54792,"Mech_RPM":-6.2311536e-23,"cg_du":50.1360474,"cg_dv":50.1884727,"cg_dw":49.8115273,"cg_id_a":0.25907439,"cg_id_raw_a":-0.128655002,"cg_iq_a":-0.739106715,"cg_iq_raw_a":-0.196108222,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-1.37646556,"cg_sample_age_us":23.8600006,"cg_sample_seq":14346767,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.0815295428,"cg_vd_v":0.0815295428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331337303,"cg_vq_v":-0.331337303,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5778198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.116455,"values":{"Elec_RPM":-3.05326531e-22,"EncoderCos":38702,"EncoderSin":12454,"GapTicks":54784,"Mech_RPM":-6.10653062e-23,"cg_du":50.1382141,"cg_dv":50.1962509,"cg_dw":49.8037491,"cg_id_a":0.0977320671,"cg_id_raw_a":0.124378204,"cg_iq_a":-0.0800091997,"cg_iq_raw_a":-0.423610181,"cg_iu_a":0.364971638,"cg_iv_a":0.431592286,"cg_iw_a":-0.796563923,"cg_sample_age_us":23.9509087,"cg_sample_seq":14346816,"cg_sample_valid":1,"cg_theta_rad":5.00520468,"cg_vd_req_v":0.0841734111,"cg_vd_v":0.0841734111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343882948,"cg_vq_v":-0.343882948,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5778198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.124268,"values":{"Elec_RPM":-3.05326531e-22,"EncoderCos":38692,"EncoderSin":12484,"GapTicks":54785,"Mech_RPM":-6.10653062e-23,"cg_du":50.1331062,"cg_dv":50.1952934,"cg_dw":49.8047066,"cg_id_a":-0.0467256531,"cg_id_raw_a":-0.299269497,"cg_iq_a":-0.204449832,"cg_iq_raw_a":-0.394455135,"cg_iu_a":0.364971876,"cg_iv_a":0.214129329,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9254551,"cg_sample_seq":14346866,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0873023644,"cg_vd_v":0.0873023644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339680403,"cg_vq_v":-0.339680403,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5665894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.13208,"values":{"Elec_RPM":-2.9921999e-22,"EncoderCos":38697,"EncoderSin":12475,"GapTicks":54770,"Mech_RPM":-5.9843998e-23,"cg_du":50.1398354,"cg_dv":50.2088432,"cg_dw":49.7911568,"cg_id_a":-0.393131673,"cg_id_raw_a":-0.00805249438,"cg_iq_a":0.944837332,"cg_iq_raw_a":-0.364367545,"cg_iu_a":0.00253343582,"cg_iv_a":-1.09064877,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9836369,"cg_sample_seq":14346916,"cg_sample_valid":1,"cg_theta_rad":5.00629759,"cg_vd_req_v":0.0954203233,"cg_vd_v":0.0954203233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362979174,"cg_vq_v":-0.362979174,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5665894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.139893,"values":{"Elec_RPM":-2.9921999e-22,"EncoderCos":38707,"EncoderSin":12493,"GapTicks":54778,"Mech_RPM":-5.9843998e-23,"cg_du":50.1304626,"cg_dv":50.2011871,"cg_dw":49.7988129,"cg_id_a":-0.338067174,"cg_id_raw_a":0.0840549991,"cg_iq_a":0.205524385,"cg_iq_raw_a":-0.245812044,"cg_iu_a":0.473703384,"cg_iv_a":-0.800698042,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9872723,"cg_sample_seq":14346966,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.09403532,"cg_vd_v":0.09403532,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347598344,"cg_vq_v":-0.347598344,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.8380623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5681763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.147705,"values":{"Elec_RPM":-2.93235603e-22,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54790,"Mech_RPM":-5.86471193e-23,"cg_du":50.1319923,"cg_dv":50.1903725,"cg_dw":49.8096275,"cg_id_a":0.218597248,"cg_id_raw_a":0.397067487,"cg_iq_a":-0.478065193,"cg_iq_raw_a":-0.433279723,"cg_iu_a":0.401215553,"cg_iv_a":0.902762175,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.9763641,"cg_sample_seq":14347016,"cg_sample_valid":1,"cg_theta_rad":5.00663519,"cg_vd_req_v":0.0820349902,"cg_vd_v":0.0820349902,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332714349,"cg_vq_v":-0.332714349,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.8380623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5746155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.155518,"values":{"Elec_RPM":-2.93235603e-22,"EncoderCos":38707,"EncoderSin":12506,"GapTicks":54781,"Mech_RPM":-5.86471193e-23,"cg_du":50.1441917,"cg_dv":50.1981926,"cg_dw":49.8018074,"cg_id_a":0.252054751,"cg_id_raw_a":0.49014461,"cg_iq_a":0.344139576,"cg_iq_raw_a":-0.315218866,"cg_iu_a":-0.9760499,"cg_iv_a":-0.293284416,"cg_iw_a":1.26933432,"cg_sample_age_us":23.9763641,"cg_sample_seq":14347066,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0797557756,"cg_vd_v":0.0797557756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350271612,"cg_vq_v":-0.350271612,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.8380623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5746155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.186768,"values":{"Elec_RPM":-2.87370895e-22,"EncoderCos":38732,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-5.74741778e-23,"cg_du":50.1334763,"cg_dv":50.2004395,"cg_dw":49.7995605,"cg_id_a":-0.16840978,"cg_id_raw_a":0.00724313268,"cg_iq_a":0.0757670328,"cg_iq_raw_a":0.110690102,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8527279,"cg_sample_seq":14347121,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0887777656,"cg_vd_v":0.0887777656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347712606,"cg_vq_v":-0.347712606,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.19458,"values":{"Elec_RPM":-2.87370895e-22,"EncoderCos":38726,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-5.74741778e-23,"cg_du":50.1353302,"cg_dv":50.197979,"cg_dw":49.802021,"cg_id_a":-0.00360420626,"cg_id_raw_a":0.671735346,"cg_iq_a":0.064429462,"cg_iq_raw_a":-1.13700378,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.954546,"cg_sample_seq":14347167,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.0852683187,"cg_vd_v":0.0852683187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34531185,"cg_vq_v":-0.34531185,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.5762024,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.202393,"values":{"Elec_RPM":-2.81623469e-22,"EncoderCos":38708,"EncoderSin":12426,"GapTicks":54784,"Mech_RPM":-5.63246939e-23,"cg_du":50.1266289,"cg_dv":50.1963158,"cg_dw":49.8036842,"cg_id_a":-0.333196402,"cg_id_raw_a":-0.141128272,"cg_iq_a":-0.240732118,"cg_iq_raw_a":0.314126581,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9509087,"cg_sample_seq":14347217,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0937676355,"cg_vd_v":0.0937676355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338397592,"cg_vq_v":-0.338397592,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.3641853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.210205,"values":{"Elec_RPM":-2.81623469e-22,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-5.63246939e-23,"cg_du":50.1352158,"cg_dv":50.1989822,"cg_dw":49.8010178,"cg_id_a":-0.115762755,"cg_id_raw_a":-0.816212296,"cg_iq_a":0.0164425224,"cg_iq_raw_a":0.138281971,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.954546,"cg_sample_seq":14347267,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.0881913006,"cg_vd_v":0.0881913006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347267538,"cg_vq_v":-0.347267538,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-70.8213654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.218018,"values":{"Elec_RPM":-2.75991003e-22,"EncoderCos":38714,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-5.51982005e-23,"cg_du":50.1348877,"cg_dv":50.1992874,"cg_dw":49.8007126,"cg_id_a":-0.122742742,"cg_id_raw_a":-0.393897891,"cg_iq_a":-0.00214099884,"cg_iq_raw_a":-0.512037218,"cg_iu_a":-0.14244175,"cg_iv_a":-0.365772128,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9436359,"cg_sample_seq":14347317,"cg_sample_valid":1,"cg_theta_rad":5.00803661,"cg_vd_req_v":0.0889336616,"cg_vd_v":0.0889336616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347445518,"cg_vq_v":-0.347445518,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-70.8213654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.229736,"values":{"Elec_RPM":-2.75991003e-22,"EncoderCos":38693,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-5.51982005e-23,"cg_du":50.1297569,"cg_dv":50.1980057,"cg_dw":49.8019943,"cg_id_a":-0.29444623,"cg_id_raw_a":-0.236529022,"cg_iq_a":-0.247861028,"cg_iq_raw_a":-1.59097838,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14347367,"cg_sample_valid":1,"cg_theta_rad":5.0075531,"cg_vd_req_v":0.0930870622,"cg_vd_v":0.0930870622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341318816,"cg_vq_v":-0.341318816,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5826111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.237549,"values":{"Elec_RPM":-2.70471198e-22,"EncoderCos":38703,"EncoderSin":12503,"GapTicks":54785,"Mech_RPM":-5.4094237e-23,"cg_du":50.1349373,"cg_dv":50.1953049,"cg_dw":49.8046951,"cg_id_a":0.0954554603,"cg_id_raw_a":-0.152793989,"cg_iq_a":-0.218164504,"cg_iq_raw_a":0.022040844,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14347417,"cg_sample_valid":1,"cg_theta_rad":5.0080471,"cg_vd_req_v":0.084584415,"cg_vd_v":0.084584415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341054589,"cg_vq_v":-0.341054589,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5665894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.245361,"values":{"Elec_RPM":-2.70471198e-22,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-5.4094237e-23,"cg_du":50.1354256,"cg_dv":50.1964798,"cg_dw":49.8035202,"cg_id_a":-0.0211817436,"cg_id_raw_a":-0.326606482,"cg_iq_a":-0.192629397,"cg_iq_raw_a":0.0773598105,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641557,"cg_iw_a":0.145775616,"cg_sample_age_us":23.954546,"cg_sample_seq":14347467,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.085616149,"cg_vd_v":0.085616149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342858166,"cg_vq_v":-0.342858166,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.0503006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5665894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.253174,"values":{"Elec_RPM":-2.65061783e-22,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54774,"Mech_RPM":-5.30123553e-23,"cg_du":50.1314659,"cg_dv":50.204731,"cg_dw":49.795269,"cg_id_a":-0.407888949,"cg_id_raw_a":-0.334113359,"cg_iq_a":0.380842745,"cg_iq_raw_a":0.587234735,"cg_iu_a":0.14750886,"cg_iv_a":-0.981917262,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9218178,"cg_sample_seq":14347516,"cg_sample_valid":1,"cg_theta_rad":5.00830126,"cg_vd_req_v":0.0959119052,"cg_vd_v":0.0959119052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352059692,"cg_vq_v":-0.352059692,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.260986,"values":{"Elec_RPM":-2.65061783e-22,"EncoderCos":38700,"EncoderSin":12492,"GapTicks":54773,"Mech_RPM":-5.30123553e-23,"cg_du":50.1390419,"cg_dv":50.2060318,"cg_dw":49.7939682,"cg_id_a":-0.151259288,"cg_id_raw_a":-0.392752469,"cg_iq_a":0.60490787,"cg_iq_raw_a":0.106909782,"cg_iu_a":0.14750886,"cg_iv_a":0.21412921,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9290905,"cg_sample_seq":14347566,"cg_sample_valid":1,"cg_theta_rad":5.0087862,"cg_vd_req_v":0.0926170871,"cg_vd_v":0.0926170871,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358881205,"cg_vq_v":-0.358881205,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.292236,"values":{"Elec_RPM":-2.54565313e-22,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-5.09130639e-23,"cg_du":50.1523552,"cg_dv":50.2016945,"cg_dw":49.7983055,"cg_id_a":0.419157386,"cg_id_raw_a":0.382200986,"cg_iq_a":0.295660526,"cg_iq_raw_a":-0.289741695,"cg_iu_a":-0.178685665,"cg_iv_a":-0.583235085,"cg_iw_a":0.76192075,"cg_sample_age_us":23.954546,"cg_sample_seq":14347717,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0764218718,"cg_vd_v":0.0764218718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359689772,"cg_vq_v":-0.359689772,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5714111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.300049,"values":{"Elec_RPM":-2.54565313e-22,"EncoderCos":38720,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-5.09130639e-23,"cg_du":50.1427078,"cg_dv":50.2037354,"cg_dw":49.7962646,"cg_id_a":-0.0785239041,"cg_id_raw_a":0.209237546,"cg_iq_a":0.0575899482,"cg_iq_raw_a":0.38668555,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9181824,"cg_sample_seq":14347766,"cg_sample_valid":1,"cg_theta_rad":5.00604153,"cg_vd_req_v":0.0856243894,"cg_vd_v":0.0856243894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357134074,"cg_vq_v":-0.357134074,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5681763,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.307861,"values":{"Elec_RPM":-2.49474017e-22,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-4.98948022e-23,"cg_du":50.1427612,"cg_dv":50.1960754,"cg_dw":49.8039246,"cg_id_a":0.226226449,"cg_id_raw_a":0.124851257,"cg_iq_a":-0.366248876,"cg_iq_raw_a":-1.11593306,"cg_iu_a":0.582434654,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.8600006,"cg_sample_seq":14347816,"cg_sample_valid":1,"cg_theta_rad":5.00543165,"cg_vd_req_v":0.0780758336,"cg_vd_v":0.0780758336,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346763819,"cg_vq_v":-0.346763819,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.315674,"values":{"Elec_RPM":-2.49474017e-22,"EncoderCos":38740,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-4.98948022e-23,"cg_du":50.1358147,"cg_dv":50.1970596,"cg_dw":49.8029404,"cg_id_a":-0.148491517,"cg_id_raw_a":0.0249462407,"cg_iq_a":-0.451199979,"cg_iq_raw_a":0.148686349,"cg_iu_a":-0.613611937,"cg_iv_a":0.540323794,"cg_iw_a":0.0732881427,"cg_sample_age_us":23.9509087,"cg_sample_seq":14347866,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0833428353,"cg_vd_v":0.0833428353,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34559986,"cg_vq_v":-0.34559986,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3207092,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.323486,"values":{"Elec_RPM":-2.44484529e-22,"EncoderCos":38715,"EncoderSin":12482,"GapTicks":54784,"Mech_RPM":-4.88969058e-23,"cg_du":50.1413765,"cg_dv":50.1955338,"cg_dw":49.8044662,"cg_id_a":0.00406067725,"cg_id_raw_a":-0.260430932,"cg_iq_a":-0.463237733,"cg_iq_raw_a":0.0480942689,"cg_iu_a":0.364971876,"cg_iv_a":0.250373125,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.8563633,"cg_sample_seq":14347916,"cg_sample_valid":1,"cg_theta_rad":5.00763369,"cg_vd_req_v":0.0795627162,"cg_vd_v":0.0795627162,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346142411,"cg_vq_v":-0.346142411,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5986328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.331299,"values":{"Elec_RPM":-2.44484529e-22,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54777,"Mech_RPM":-4.88969058e-23,"cg_du":50.1542358,"cg_dv":50.2019806,"cg_dw":49.7980194,"cg_id_a":0.253438294,"cg_id_raw_a":0.170227617,"cg_iq_a":0.23412694,"cg_iq_raw_a":-0.0553425103,"cg_iu_a":0.111264944,"cg_iv_a":0.57656765,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.8527279,"cg_sample_seq":14347966,"cg_sample_valid":1,"cg_theta_rad":5.00786543,"cg_vd_req_v":0.0757146478,"cg_vd_v":0.0757146478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362176985,"cg_vq_v":-0.362176985,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5986328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.343018,"values":{"Elec_RPM":-2.39594828e-22,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54781,"Mech_RPM":-4.79189676e-23,"cg_du":50.1477547,"cg_dv":50.1986656,"cg_dw":49.8013344,"cg_id_a":0.0592766106,"cg_id_raw_a":0.328948349,"cg_iq_a":-0.084755227,"cg_iq_raw_a":0.47008577,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9472733,"cg_sample_seq":14348016,"cg_sample_valid":1,"cg_theta_rad":5.00630188,"cg_vd_req_v":0.0773650259,"cg_vd_v":0.0773650259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352931201,"cg_vq_v":-0.352931201,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5938416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.35083,"values":{"Elec_RPM":-2.39594828e-22,"EncoderCos":38745,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-4.79189676e-23,"cg_du":50.1404037,"cg_dv":50.1981583,"cg_dw":49.8018417,"cg_id_a":-0.126726031,"cg_id_raw_a":-0.290577352,"cg_iq_a":-0.265765488,"cg_iq_raw_a":-1.22676611,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9763641,"cg_sample_seq":14348066,"cg_sample_valid":1,"cg_theta_rad":5.0057478,"cg_vd_req_v":0.0803057626,"cg_vd_v":0.0803057626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348655701,"cg_vq_v":-0.348655701,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5521851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.378174,"values":{"Elec_RPM":-2.34802921e-22,"EncoderCos":38726,"EncoderSin":12489,"GapTicks":54780,"Mech_RPM":-4.69605868e-23,"cg_du":50.1495247,"cg_dv":50.199131,"cg_dw":49.800869,"cg_id_a":0.139023408,"cg_id_raw_a":-0.0772272125,"cg_iq_a":0.00400996953,"cg_iq_raw_a":-0.77109158,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14348120,"cg_sample_valid":1,"cg_theta_rad":5.00403833,"cg_vd_req_v":0.0753692463,"cg_vd_v":0.0753692463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354786336,"cg_vq_v":-0.354786336,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5521851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.385986,"values":{"Elec_RPM":-2.34802921e-22,"EncoderCos":38718,"EncoderSin":12497,"GapTicks":54784,"Mech_RPM":-4.69605868e-23,"cg_du":50.1468925,"cg_dv":50.1959763,"cg_dw":49.8040237,"cg_id_a":0.140688315,"cg_id_raw_a":0.440939933,"cg_iq_a":-0.186014026,"cg_iq_raw_a":-0.248001605,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14348167,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.0748243108,"cg_vd_v":0.0748243108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348920166,"cg_vq_v":-0.348920166,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.397705,"values":{"Elec_RPM":-2.30106864e-22,"EncoderCos":38746,"EncoderSin":12497,"GapTicks":54777,"Mech_RPM":-4.60213753e-23,"cg_du":50.1496124,"cg_dv":50.2026558,"cg_dw":49.7973442,"cg_id_a":-0.0099580735,"cg_id_raw_a":-0.390731245,"cg_iq_a":0.401388407,"cg_iq_raw_a":0.802636683,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14348216,"cg_sample_valid":1,"cg_theta_rad":5.00653172,"cg_vd_req_v":0.0771141574,"cg_vd_v":0.0771141574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361123741,"cg_vq_v":-0.361123741,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.405518,"values":{"Elec_RPM":-2.30106864e-22,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54770,"Mech_RPM":-4.60213753e-23,"cg_du":50.147625,"cg_dv":50.2088509,"cg_dw":49.7911491,"cg_id_a":-0.568805337,"cg_id_raw_a":-0.783716261,"cg_iq_a":0.553627968,"cg_iq_raw_a":0.650697589,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528332,"cg_iw_a":0.798164845,"cg_sample_age_us":23.8563633,"cg_sample_seq":14348267,"cg_sample_valid":1,"cg_theta_rad":5.00668526,"cg_vd_req_v":0.0881849825,"cg_vd_v":0.0881849825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366504788,"cg_vq_v":-0.366504788,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.41333,"values":{"Elec_RPM":-2.25504738e-22,"EncoderCos":38722,"EncoderSin":12472,"GapTicks":54793,"Mech_RPM":-4.51009482e-23,"cg_du":50.1470528,"cg_dv":50.187706,"cg_dw":49.812294,"cg_id_a":0.461113006,"cg_id_raw_a":0.479909003,"cg_iq_a":-1.00086856,"cg_iq_raw_a":-0.862923443,"cg_iu_a":-0.432392597,"cg_iv_a":0.21412921,"cg_iw_a":0.218263388,"cg_sample_age_us":24.0309086,"cg_sample_seq":14348316,"cg_sample_valid":1,"cg_theta_rad":5.00617599,"cg_vd_req_v":0.0669435337,"cg_vd_v":0.0669435337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337704957,"cg_vq_v":-0.337704957,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5697937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.421143,"values":{"Elec_RPM":-2.25504738e-22,"EncoderCos":38709,"EncoderSin":12494,"GapTicks":54775,"Mech_RPM":-4.51009482e-23,"cg_du":50.1565285,"cg_dv":50.2042046,"cg_dw":49.7957954,"cg_id_a":-0.0446695685,"cg_id_raw_a":-0.0765952766,"cg_iq_a":0.30592379,"cg_iq_raw_a":0.102508627,"cg_iu_a":0.292484045,"cg_iv_a":0.032910049,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.9509087,"cg_sample_seq":14348366,"cg_sample_valid":1,"cg_theta_rad":5.00640249,"cg_vd_req_v":0.0760649368,"cg_vd_v":0.0760649368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3653467,"cg_vq_v":-0.3653467,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5697937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.428955,"values":{"Elec_RPM":-2.20994649e-22,"EncoderCos":38697,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-4.41989299e-23,"cg_du":50.1568718,"cg_dv":50.2037582,"cg_dw":49.7962418,"cg_id_a":-0.0521613918,"cg_id_raw_a":0.253757834,"cg_iq_a":0.241590574,"cg_iq_raw_a":-0.0459329933,"cg_iu_a":0.292484283,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9436359,"cg_sample_seq":14348416,"cg_sample_valid":1,"cg_theta_rad":5.00780106,"cg_vd_req_v":0.0769336596,"cg_vd_v":0.0769336596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364602208,"cg_vq_v":-0.364602208,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5954285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.436768,"values":{"Elec_RPM":-2.20994649e-22,"EncoderCos":38704,"EncoderSin":12490,"GapTicks":54777,"Mech_RPM":-4.41989299e-23,"cg_du":50.1535416,"cg_dv":50.2026596,"cg_dw":49.7973404,"cg_id_a":-0.12472976,"cg_id_raw_a":0.365777463,"cg_iq_a":0.0611700229,"cg_iq_raw_a":-0.326844484,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14348466,"cg_sample_valid":1,"cg_theta_rad":5.00609589,"cg_vd_req_v":0.0774134919,"cg_vd_v":0.0774134919,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361459911,"cg_vq_v":-0.361459911,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.44458,"values":{"Elec_RPM":-2.16574756e-22,"EncoderCos":38700,"EncoderSin":12519,"GapTicks":54776,"Mech_RPM":-4.33149513e-23,"cg_du":50.157692,"cg_dv":50.2035713,"cg_dw":49.7964287,"cg_id_a":0.0387300029,"cg_id_raw_a":0.247619241,"cg_iq_a":0.159560606,"cg_iq_raw_a":-0.411741287,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9836369,"cg_sample_seq":14348516,"cg_sample_valid":1,"cg_theta_rad":5.00685358,"cg_vd_req_v":0.0748818591,"cg_vd_v":0.0748818591,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36622557,"cg_vq_v":-0.36622557,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.62526679,"dclink_p_w":-90.766571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.456299,"values":{"Elec_RPM":-2.16574756e-22,"EncoderCos":38733,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-4.33149513e-23,"cg_du":50.1496353,"cg_dv":50.2051964,"cg_dw":49.7948036,"cg_id_a":-0.228595674,"cg_id_raw_a":-0.0451176949,"cg_iq_a":-0.0577457584,"cg_iq_raw_a":-0.00339432713,"cg_iu_a":0.183752775,"cg_iv_a":-0.402015924,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9509087,"cg_sample_seq":14348566,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0806729943,"cg_vd_v":0.0806729943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364370465,"cg_vq_v":-0.364370465,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.483643,"values":{"Elec_RPM":-2.12243266e-22,"EncoderCos":38702,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-4.24486526e-23,"cg_du":50.1628647,"cg_dv":50.2098885,"cg_dw":49.7901115,"cg_id_a":-0.19982256,"cg_id_raw_a":-0.22884661,"cg_iq_a":0.271595955,"cg_iq_raw_a":-0.0586418435,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8563633,"cg_sample_seq":14348621,"cg_sample_valid":1,"cg_theta_rad":5.00895119,"cg_vd_req_v":0.0773594007,"cg_vd_v":0.0773594007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376478463,"cg_vq_v":-0.376478463,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.491455,"values":{"Elec_RPM":-2.12243266e-22,"EncoderCos":38724,"EncoderSin":12502,"GapTicks":54769,"Mech_RPM":-4.24486526e-23,"cg_du":50.1619225,"cg_dv":50.2095795,"cg_dw":49.7904205,"cg_id_a":-0.0109336227,"cg_id_raw_a":0.163210854,"cg_iq_a":0.290942669,"cg_iq_raw_a":0.0162488054,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775676,"cg_sample_age_us":23.863636,"cg_sample_seq":14348666,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0755782053,"cg_vd_v":0.0755782053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375980556,"cg_vq_v":-0.375980556,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.3701172,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.499268,"values":{"Elec_RPM":-2.079984e-22,"EncoderCos":38734,"EncoderSin":12466,"GapTicks":54770,"Mech_RPM":-4.15996805e-23,"cg_du":50.1541367,"cg_dv":50.2089577,"cg_dw":49.7910423,"cg_id_a":-0.157196388,"cg_id_raw_a":0.18998456,"cg_iq_a":-0.0519323908,"cg_iq_raw_a":-0.709307373,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9872723,"cg_sample_seq":14348716,"cg_sample_valid":1,"cg_theta_rad":5.00615978,"cg_vd_req_v":0.0811772346,"cg_vd_v":0.0811772346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370764107,"cg_vq_v":-0.370764107,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.510986,"values":{"Elec_RPM":-2.079984e-22,"EncoderCos":38736,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-4.15996805e-23,"cg_du":50.1583099,"cg_dv":50.20924,"cg_dw":49.79076,"cg_id_a":-0.0348126441,"cg_id_raw_a":-0.426958203,"cg_iq_a":0.106692947,"cg_iq_raw_a":0.0327622928,"cg_iu_a":-0.178685665,"cg_iv_a":0.540323794,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.8527279,"cg_sample_seq":14348766,"cg_sample_valid":1,"cg_theta_rad":5.00725508,"cg_vd_req_v":0.0784840435,"cg_vd_v":0.0784840435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373413771,"cg_vq_v":-0.373413771,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.518799,"values":{"Elec_RPM":-2.03838439e-22,"EncoderCos":38728,"EncoderSin":12498,"GapTicks":54772,"Mech_RPM":-4.07676879e-23,"cg_du":50.1532478,"cg_dv":50.2067528,"cg_dw":49.7932472,"cg_id_a":-0.0177942738,"cg_id_raw_a":0.114770554,"cg_iq_a":-0.22871913,"cg_iq_raw_a":0.084398672,"cg_iu_a":0.00253343582,"cg_iv_a":0.467836082,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9872723,"cg_sample_seq":14348816,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0794317424,"cg_vd_v":0.0794317424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367332637,"cg_vq_v":-0.367332637,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5809937,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.526611,"values":{"Elec_RPM":-2.03838439e-22,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54769,"Mech_RPM":-4.07676879e-23,"cg_du":50.1572723,"cg_dv":50.2095299,"cg_dw":49.7904701,"cg_id_a":-0.0557207726,"cg_id_raw_a":0.0657809898,"cg_iq_a":0.213983387,"cg_iq_raw_a":0.152884901,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9509087,"cg_sample_seq":14348866,"cg_sample_valid":1,"cg_theta_rad":5.00696135,"cg_vd_req_v":0.0805124044,"cg_vd_v":0.0805124044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374213755,"cg_vq_v":-0.374213755,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5601807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.534424,"values":{"Elec_RPM":-1.99761669e-22,"EncoderCos":38720,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-3.99523339e-23,"cg_du":50.156765,"cg_dv":50.204731,"cg_dw":49.795269,"cg_id_a":0.127599746,"cg_id_raw_a":0.998820126,"cg_iq_a":-0.196793407,"cg_iq_raw_a":0.71740222,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9254551,"cg_sample_seq":14348916,"cg_sample_valid":1,"cg_theta_rad":5.00624943,"cg_vd_req_v":0.0760307238,"cg_vd_v":0.0760307238,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366266817,"cg_vq_v":-0.366266817,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5601807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.542236,"values":{"Elec_RPM":-1.99761669e-22,"EncoderCos":38717,"EncoderSin":12445,"GapTicks":54773,"Mech_RPM":-3.99523339e-23,"cg_du":50.175663,"cg_dv":50.2058296,"cg_dw":49.7941704,"cg_id_a":0.687761605,"cg_id_raw_a":0.260856897,"cg_iq_a":0.468577027,"cg_iq_raw_a":-0.118760034,"cg_iu_a":-0.142441988,"cg_iv_a":0.794030607,"cg_iw_a":1.19684696,"cg_sample_age_us":23.954546,"cg_sample_seq":14348966,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0632257387,"cg_vd_v":0.0632257387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378207684,"cg_vq_v":-0.378207684,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.647013187,"dclink_p_w":-93.6387634,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.550049,"values":{"Elec_RPM":-1.95766436e-22,"EncoderCos":38713,"EncoderSin":12441,"GapTicks":54768,"Mech_RPM":-3.91532872e-23,"cg_du":50.1675453,"cg_dv":50.2106438,"cg_dw":49.7893562,"cg_id_a":0.133920014,"cg_id_raw_a":0.349045366,"cg_iq_a":0.541698158,"cg_iq_raw_a":-0.364531696,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":0.76192081,"cg_sample_age_us":23.8563633,"cg_sample_seq":14349016,"cg_sample_valid":1,"cg_theta_rad":5.00633907,"cg_vd_req_v":0.0747313723,"cg_vd_v":0.0747313723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380080372,"cg_vq_v":-0.380080372,"cg_vu_v":24.6339836,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-73.1411591,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.557861,"values":{"Elec_RPM":-1.95766436e-22,"EncoderCos":38709,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-3.91532872e-23,"cg_du":50.1607819,"cg_dv":50.2098389,"cg_dw":49.7901611,"cg_id_a":-0.0361598246,"cg_id_raw_a":-0.0561372563,"cg_iq_a":0.233538985,"cg_iq_raw_a":-0.733321667,"cg_iu_a":-0.178685665,"cg_iv_a":-0.329528213,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9581814,"cg_sample_seq":14349066,"cg_sample_valid":1,"cg_theta_rad":5.00790167,"cg_vd_req_v":0.0787823722,"cg_vd_v":0.0787823722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375271082,"cg_vq_v":-0.375271082,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.589111,"values":{"Elec_RPM":-1.91851111e-22,"EncoderCos":38740,"EncoderSin":12491,"GapTicks":54778,"Mech_RPM":-3.83702228e-23,"cg_du":50.1519852,"cg_dv":50.2017708,"cg_dw":49.7982292,"cg_id_a":0.108014286,"cg_id_raw_a":0.113010757,"cg_iq_a":-0.58054173,"cg_iq_raw_a":-0.352790326,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507065,"cg_sample_age_us":26.8163643,"cg_sample_seq":14349119,"cg_sample_valid":1,"cg_theta_rad":5.01027536,"cg_vd_req_v":0.0750196278,"cg_vd_v":0.0750196278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361098528,"cg_vq_v":-0.361098528,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.596924,"values":{"Elec_RPM":-1.91851111e-22,"EncoderCos":38735,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-3.83702228e-23,"cg_du":50.1608543,"cg_dv":50.2072067,"cg_dw":49.7927933,"cg_id_a":0.0962910205,"cg_id_raw_a":-0.142777979,"cg_iq_a":-0.217229515,"cg_iq_raw_a":-1.61494303,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14349166,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0745993257,"cg_vd_v":0.0745993257,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372053474,"cg_vq_v":-0.372053474,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.604736,"values":{"Elec_RPM":-1.88014092e-22,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.76028189e-23,"cg_du":50.1634598,"cg_dv":50.210083,"cg_dw":49.789917,"cg_id_a":0.00274342299,"cg_id_raw_a":-0.0377601087,"cg_iq_a":0.0368570089,"cg_iq_raw_a":-0.0758929253,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14349216,"cg_sample_valid":1,"cg_theta_rad":5.00785875,"cg_vd_req_v":0.0774613842,"cg_vd_v":0.0774613842,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37700063,"cg_vq_v":-0.37700063,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5521851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.612549,"values":{"Elec_RPM":-1.88014092e-22,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54776,"Mech_RPM":-3.76028189e-23,"cg_du":50.1552849,"cg_dv":50.2027588,"cg_dw":49.7972412,"cg_id_a":0.0340314172,"cg_id_raw_a":-0.151493728,"cg_iq_a":-0.5786587,"cg_iq_raw_a":-0.414867133,"cg_iu_a":0.292484283,"cg_iv_a":0.540323734,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.9509087,"cg_sample_seq":14349266,"cg_sample_valid":1,"cg_theta_rad":5.00584173,"cg_vd_req_v":0.0758430362,"cg_vd_v":0.0758430362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362637758,"cg_vq_v":-0.362637758,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.08918786,"dclink_p_w":-158.111465,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.624268,"values":{"Elec_RPM":-1.84253812e-22,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-3.68507631e-23,"cg_du":50.1674232,"cg_dv":50.2057076,"cg_dw":49.7942924,"cg_id_a":0.366991401,"cg_id_raw_a":0.0695556179,"cg_iq_a":-0.0175521672,"cg_iq_raw_a":-0.101676762,"cg_iu_a":0.0750210285,"cg_iv_a":0.322860718,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9872723,"cg_sample_seq":14349316,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.0684673637,"cg_vd_v":0.0684673637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373604268,"cg_vq_v":-0.373604268,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.947836876,"dclink_p_w":-137.175369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.563385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.63208,"values":{"Elec_RPM":-1.84253812e-22,"EncoderCos":38705,"EncoderSin":12466,"GapTicks":54777,"Mech_RPM":-3.68507631e-23,"cg_du":50.1644783,"cg_dv":50.2018585,"cg_dw":49.7981415,"cg_id_a":0.261941344,"cg_id_raw_a":0.36600551,"cg_iq_a":-0.22970359,"cg_iq_raw_a":-0.945657969,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14349366,"cg_sample_valid":1,"cg_theta_rad":5.00845575,"cg_vd_req_v":0.0685858205,"cg_vd_v":0.0685858205,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36643219,"cg_vq_v":-0.36643219,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.947836876,"dclink_p_w":-137.175369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5665894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.639893,"values":{"Elec_RPM":-1.80568747e-22,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.61137493e-23,"cg_du":50.1626434,"cg_dv":50.2067719,"cg_dw":49.7932281,"cg_id_a":0.19365862,"cg_id_raw_a":-0.341039211,"cg_iq_a":-0.134803146,"cg_iq_raw_a":-0.212625563,"cg_iu_a":-0.50488019,"cg_iv_a":0.467836082,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9290905,"cg_sample_seq":14349416,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0713926926,"cg_vd_v":0.0713926926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372729421,"cg_vq_v":-0.372729421,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.947836876,"dclink_p_w":-137.175369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.647705,"values":{"Elec_RPM":-1.80568747e-22,"EncoderCos":38692,"EncoderSin":12499,"GapTicks":54768,"Mech_RPM":-3.61137493e-23,"cg_du":50.1548424,"cg_dv":50.2102661,"cg_dw":49.7897339,"cg_id_a":-0.390422612,"cg_id_raw_a":-0.444103092,"cg_iq_a":-0.173994899,"cg_iq_raw_a":-0.627501905,"cg_iu_a":0.292484283,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.8490906,"cg_sample_seq":14349466,"cg_sample_valid":1,"cg_theta_rad":5.00618029,"cg_vd_req_v":0.08485917,"cg_vd_v":0.08485917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37346527,"cg_vq_v":-0.37346527,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.947836876,"dclink_p_w":-137.175369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5553894,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.655518,"values":{"Elec_RPM":-1.76957379e-22,"EncoderCos":38713,"EncoderSin":12469,"GapTicks":54761,"Mech_RPM":-3.53914746e-23,"cg_du":50.1718979,"cg_dv":50.2167854,"cg_dw":49.7832146,"cg_id_a":-0.00218679197,"cg_id_raw_a":-0.125497177,"cg_iq_a":0.46472618,"cg_iq_raw_a":0.170436621,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8563633,"cg_sample_seq":14349517,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0765787512,"cg_vd_v":0.0765787512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3910124,"cg_vq_v":-0.3910124,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.755744696,"dclink_p_w":-109.374893,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5441895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.66333,"values":{"Elec_RPM":-1.76957379e-22,"EncoderCos":38728,"EncoderSin":12497,"GapTicks":54765,"Mech_RPM":-3.53914746e-23,"cg_du":50.1582794,"cg_dv":50.2132607,"cg_dw":49.7867393,"cg_id_a":-0.214073583,"cg_id_raw_a":-0.347433239,"cg_iq_a":-0.328609198,"cg_iq_raw_a":-0.141087919,"cg_iu_a":0.473703146,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8600006,"cg_sample_seq":14349566,"cg_sample_valid":1,"cg_theta_rad":5.00779104,"cg_vd_req_v":0.0815424919,"cg_vd_v":0.0815424919,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377849877,"cg_vq_v":-0.377849877,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5441895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.69458,"values":{"Elec_RPM":-1.73418234e-22,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54762,"Mech_RPM":-3.46836455e-23,"cg_du":50.1582336,"cg_dv":50.216095,"cg_dw":49.783905,"cg_id_a":-0.386072636,"cg_id_raw_a":-0.722182512,"cg_iq_a":-0.0714597702,"cg_iq_raw_a":0.695828199,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8563633,"cg_sample_seq":14349621,"cg_sample_valid":1,"cg_theta_rad":5.0100379,"cg_vd_req_v":0.0854620486,"cg_vd_v":0.0854620486,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382640004,"cg_vq_v":-0.382640004,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.702393,"values":{"Elec_RPM":-1.73418234e-22,"EncoderCos":38724,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-3.46836455e-23,"cg_du":50.1750221,"cg_dv":50.2158356,"cg_dw":49.7841644,"cg_id_a":0.196731478,"cg_id_raw_a":-0.447925836,"cg_iq_a":0.392070234,"cg_iq_raw_a":0.248785272,"cg_iu_a":-0.468636513,"cg_iv_a":0.359104574,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9836369,"cg_sample_seq":14349666,"cg_sample_valid":1,"cg_theta_rad":5.00845003,"cg_vd_req_v":0.0721459314,"cg_vd_v":0.0721459314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391675204,"cg_vq_v":-0.391675204,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.1359062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.710205,"values":{"Elec_RPM":-1.69949858e-22,"EncoderCos":38724,"EncoderSin":12454,"GapTicks":54764,"Mech_RPM":-3.39899717e-23,"cg_du":50.1649475,"cg_dv":50.214283,"cg_dw":49.785717,"cg_id_a":-0.0747029707,"cg_id_raw_a":0.504943192,"cg_iq_a":0.0845509842,"cg_iq_raw_a":-0.896578908,"cg_iu_a":0.437459469,"cg_iv_a":-0.510747433,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14349716,"cg_sample_valid":1,"cg_theta_rad":5.00705481,"cg_vd_req_v":0.0790230185,"cg_vd_v":0.0790230185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383817554,"cg_vq_v":-0.383817554,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.718018,"values":{"Elec_RPM":-1.69949858e-22,"EncoderCos":38710,"EncoderSin":12459,"GapTicks":54764,"Mech_RPM":-3.39899717e-23,"cg_du":50.1678696,"cg_dv":50.2142639,"cg_dw":49.7857361,"cg_id_a":-0.129432976,"cg_id_raw_a":-0.0371719785,"cg_iq_a":0.271032006,"cg_iq_raw_a":0.543470562,"cg_iu_a":-0.14244175,"cg_iv_a":0.286616921,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9909096,"cg_sample_seq":14349766,"cg_sample_valid":1,"cg_theta_rad":5.00796032,"cg_vd_req_v":0.07804057,"cg_vd_v":0.07804057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38638705,"cg_vq_v":-0.38638705,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5377808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.72583,"values":{"Elec_RPM":-1.66550865e-22,"EncoderCos":38740,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-3.33101724e-23,"cg_du":50.1565628,"cg_dv":50.2097435,"cg_dw":49.7902565,"cg_id_a":-0.0819006786,"cg_id_raw_a":-0.0769557059,"cg_iq_a":-0.343844205,"cg_iq_raw_a":-1.02542579,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8490906,"cg_sample_seq":14349816,"cg_sample_valid":1,"cg_theta_rad":5.00689459,"cg_vd_req_v":0.079297021,"cg_vd_v":0.079297021,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374529302,"cg_vq_v":-0.374529302,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5505981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.737549,"values":{"Elec_RPM":-1.63219853e-22,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54767,"Mech_RPM":-3.26439699e-23,"cg_du":50.1619453,"cg_dv":50.21175,"cg_dw":49.78825,"cg_id_a":-0.0231585875,"cg_id_raw_a":0.614590466,"cg_iq_a":0.0441045575,"cg_iq_raw_a":-0.303963989,"cg_iu_a":0.292484283,"cg_iv_a":-0.402015924,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9836369,"cg_sample_seq":14349967,"cg_sample_valid":1,"cg_theta_rad":5.00786829,"cg_vd_req_v":0.0783936158,"cg_vd_v":0.0783936158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378797203,"cg_vq_v":-0.378797203,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5457764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.745361,"values":{"Elec_RPM":-1.59955445e-22,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-3.19910897e-23,"cg_du":50.1606827,"cg_dv":50.2068977,"cg_dw":49.7931023,"cg_id_a":0.135218963,"cg_id_raw_a":0.236215845,"cg_iq_a":-0.177133739,"cg_iq_raw_a":-0.085356541,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885473,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9436359,"cg_sample_seq":14350017,"cg_sample_valid":1,"cg_theta_rad":5.00623798,"cg_vd_req_v":0.0751002431,"cg_vd_v":0.0751002431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371402502,"cg_vq_v":-0.371402502,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.753174,"values":{"Elec_RPM":-1.59955445e-22,"EncoderCos":38731,"EncoderSin":12469,"GapTicks":54771,"Mech_RPM":-3.19910897e-23,"cg_du":50.1604919,"cg_dv":50.2075043,"cg_dw":49.7924957,"cg_id_a":0.18167606,"cg_id_raw_a":0.600454092,"cg_iq_a":-0.118191801,"cg_iq_raw_a":-0.160409316,"cg_iu_a":0.292484045,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.954546,"cg_sample_seq":14350067,"cg_sample_valid":1,"cg_theta_rad":5.00633049,"cg_vd_req_v":0.0749487132,"cg_vd_v":0.0749487132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372304022,"cg_vq_v":-0.372304022,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.780518,"values":{"Elec_RPM":-1.5675633e-22,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.13512667e-23,"cg_du":50.1589355,"cg_dv":50.2081528,"cg_dw":49.7918472,"cg_id_a":0.0444991104,"cg_id_raw_a":0.233216375,"cg_iq_a":-0.11316739,"cg_iq_raw_a":-0.267580062,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8563633,"cg_sample_seq":14350120,"cg_sample_valid":1,"cg_theta_rad":5.00674438,"cg_vd_req_v":0.0782051086,"cg_vd_v":0.0782051086,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373200953,"cg_vq_v":-0.373200953,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.78833,"values":{"Elec_RPM":-1.5675633e-22,"EncoderCos":38723,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-3.13512667e-23,"cg_du":50.1525955,"cg_dv":50.2057991,"cg_dw":49.7942009,"cg_id_a":-0.142670006,"cg_id_raw_a":0.0459255986,"cg_iq_a":-0.440746993,"cg_iq_raw_a":-1.12376821,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.954546,"cg_sample_seq":14350167,"cg_sample_valid":1,"cg_theta_rad":5.00660706,"cg_vd_req_v":0.0797015801,"cg_vd_v":0.0797015801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36668098,"cg_vq_v":-0.36668098,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5457764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.800049,"values":{"Elec_RPM":-1.53621208e-22,"EncoderCos":38703,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.07242421e-23,"cg_du":50.1614189,"cg_dv":50.211422,"cg_dw":49.788578,"cg_id_a":-0.227396369,"cg_id_raw_a":-0.0180068742,"cg_iq_a":0.1415883,"cg_iq_raw_a":0.144698784,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0395776033,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14350217,"cg_sample_valid":1,"cg_theta_rad":5.00649643,"cg_vd_req_v":0.080109559,"cg_vd_v":0.080109559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377715617,"cg_vq_v":-0.377715617,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.807861,"values":{"Elec_RPM":-1.53621208e-22,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-3.07242421e-23,"cg_du":50.1547089,"cg_dv":50.2072868,"cg_dw":49.7927132,"cg_id_a":-0.237898618,"cg_id_raw_a":-0.257720888,"cg_iq_a":-0.295313925,"cg_iq_raw_a":0.230015576,"cg_iu_a":-0.359905005,"cg_iv_a":0.10539782,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9181824,"cg_sample_seq":14350267,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0809734836,"cg_vd_v":0.0809734836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368403077,"cg_vq_v":-0.368403077,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.4953194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.815674,"values":{"Elec_RPM":-1.5054879e-22,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54769,"Mech_RPM":-3.01097574e-23,"cg_du":50.1601944,"cg_dv":50.2099342,"cg_dw":49.7900658,"cg_id_a":-0.135882288,"cg_id_raw_a":-0.102269396,"cg_iq_a":0.169299275,"cg_iq_raw_a":0.573412418,"cg_iu_a":0.437459469,"cg_iv_a":-0.655722737,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14350317,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.0789313987,"cg_vd_v":0.0789313987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375149935,"cg_vq_v":-0.375149935,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5377808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.823486,"values":{"Elec_RPM":-1.5054879e-22,"EncoderCos":38704,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-3.01097574e-23,"cg_du":50.1561775,"cg_dv":50.2039795,"cg_dw":49.7960205,"cg_id_a":-0.0425209403,"cg_id_raw_a":-0.539399266,"cg_iq_a":-0.258195639,"cg_iq_raw_a":0.310835421,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323794,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9872723,"cg_sample_seq":14350367,"cg_sample_valid":1,"cg_theta_rad":5.00838089,"cg_vd_req_v":0.0768125579,"cg_vd_v":0.0768125579,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364697278,"cg_vq_v":-0.364697278,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5377808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.831299,"values":{"Elec_RPM":-1.47537815e-22,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-2.9507563e-23,"cg_du":50.1559067,"cg_dv":50.2110634,"cg_dw":49.7889366,"cg_id_a":-0.336273134,"cg_id_raw_a":0.0617957041,"cg_iq_a":0.341593981,"cg_iq_raw_a":0.407451719,"cg_iu_a":-0.359904766,"cg_iv_a":-0.510747313,"cg_iw_a":0.87065208,"cg_sample_age_us":23.9872723,"cg_sample_seq":14350417,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0832457915,"cg_vd_v":0.0832457915,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375501841,"cg_vq_v":-0.375501841,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.839111,"values":{"Elec_RPM":-1.47537815e-22,"EncoderCos":38719,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-2.9507563e-23,"cg_du":50.1607895,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":-0.0381648391,"cg_id_raw_a":-0.249705508,"cg_iq_a":0.406964809,"cg_iq_raw_a":0.595838547,"cg_iu_a":0.038777113,"cg_iv_a":0.10539782,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9472733,"cg_sample_seq":14350466,"cg_sample_valid":1,"cg_theta_rad":5.00662708,"cg_vd_req_v":0.0780580342,"cg_vd_v":0.0780580342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377657712,"cg_vq_v":-0.377657712,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5313721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.85083,"values":{"Elec_RPM":-1.44587072e-22,"EncoderCos":38720,"EncoderSin":12499,"GapTicks":54768,"Mech_RPM":-2.8917413e-23,"cg_du":50.1630211,"cg_dv":50.2108192,"cg_dw":49.7891808,"cg_id_a":0.0493191108,"cg_id_raw_a":-0.166533381,"cg_iq_a":0.379126012,"cg_iq_raw_a":0.166904882,"cg_iu_a":-0.359905005,"cg_iv_a":-0.148308992,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9436359,"cg_sample_seq":14350516,"cg_sample_valid":1,"cg_theta_rad":5.00594187,"cg_vd_req_v":0.0763370544,"cg_vd_v":0.0763370544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378196478,"cg_vq_v":-0.378196478,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5313721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.858643,"values":{"Elec_RPM":-1.44587072e-22,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-2.8917413e-23,"cg_du":50.1597443,"cg_dv":50.2116928,"cg_dw":49.7883072,"cg_id_a":-0.212723687,"cg_id_raw_a":0.00824464671,"cg_iq_a":0.217056811,"cg_iq_raw_a":-0.326197267,"cg_iu_a":0.147508621,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9872723,"cg_sample_seq":14350566,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.0814120322,"cg_vd_v":0.0814120322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377195776,"cg_vq_v":-0.377195776,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5489807,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.885986,"values":{"Elec_RPM":-1.41695322e-22,"EncoderCos":38730,"EncoderSin":12502,"GapTicks":54766,"Mech_RPM":-2.83390644e-23,"cg_du":50.1575317,"cg_dv":50.2124138,"cg_dw":49.7875862,"cg_id_a":-0.241659641,"cg_id_raw_a":0.101371273,"cg_iq_a":0.241698474,"cg_iq_raw_a":0.228663489,"cg_iu_a":-0.468636274,"cg_iv_a":0.177885413,"cg_iw_a":0.290750861,"cg_sample_age_us":26.8199997,"cg_sample_seq":14350621,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0812582225,"cg_vd_v":0.0812582225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37749505,"cg_vq_v":-0.37749505,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3256302,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.893799,"values":{"Elec_RPM":-1.41695322e-22,"EncoderCos":38695,"EncoderSin":12498,"GapTicks":54768,"Mech_RPM":-2.83390644e-23,"cg_du":50.1677399,"cg_dv":50.2106171,"cg_dw":49.7893829,"cg_id_a":0.0177198276,"cg_id_raw_a":-0.0327520967,"cg_iq_a":0.376069248,"cg_iq_raw_a":0.288920045,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14350667,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.0746247321,"cg_vd_v":0.0746247321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380140752,"cg_vq_v":-0.380140752,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5473633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.901611,"values":{"Elec_RPM":-1.38861418e-22,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-2.77722836e-23,"cg_du":50.1502876,"cg_dv":50.2004471,"cg_dw":49.7995529,"cg_id_a":0.0537960157,"cg_id_raw_a":0.734064639,"cg_iq_a":-0.774034619,"cg_iq_raw_a":-0.913028121,"cg_iu_a":-0.287417173,"cg_iv_a":0.322860777,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9509087,"cg_sample_seq":14350717,"cg_sample_valid":1,"cg_theta_rad":5.00973988,"cg_vd_req_v":0.075698778,"cg_vd_v":0.075698778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357076198,"cg_vq_v":-0.357076198,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.6725273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5345764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.91333,"values":{"Elec_RPM":-1.38861418e-22,"EncoderCos":38726,"EncoderSin":12479,"GapTicks":54767,"Mech_RPM":-2.77722836e-23,"cg_du":50.1503868,"cg_dv":50.2112694,"cg_dw":49.7887306,"cg_id_a":-0.526305258,"cg_id_raw_a":-0.0970361605,"cg_iq_a":-0.296548069,"cg_iq_raw_a":0.319197863,"cg_iu_a":0.111264944,"cg_iv_a":-0.691966534,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14350767,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0867059976,"cg_vd_v":0.0867059976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371736765,"cg_vq_v":-0.371736765,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5345764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.921143,"values":{"Elec_RPM":-1.36084186e-22,"EncoderCos":38703,"EncoderSin":12471,"GapTicks":54763,"Mech_RPM":-2.72168372e-23,"cg_du":50.1720505,"cg_dv":50.2150116,"cg_dw":49.7849884,"cg_id_a":0.0442603528,"cg_id_raw_a":-0.243442371,"cg_iq_a":0.369236529,"cg_iq_raw_a":0.0853603035,"cg_iu_a":0.727410078,"cg_iv_a":-0.257040501,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9763641,"cg_sample_seq":14350817,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0755576864,"cg_vd_v":0.0755576864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388525993,"cg_vq_v":-0.388525993,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5457764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.928955,"values":{"Elec_RPM":-1.36084186e-22,"EncoderCos":38720,"EncoderSin":12484,"GapTicks":54762,"Mech_RPM":-2.72168372e-23,"cg_du":50.1735268,"cg_dv":50.2161751,"cg_dw":49.7838249,"cg_id_a":0.123653501,"cg_id_raw_a":0.169910491,"cg_iq_a":0.558850586,"cg_iq_raw_a":0.381383777,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14350867,"cg_sample_valid":1,"cg_theta_rad":5.00846815,"cg_vd_req_v":0.0736825392,"cg_vd_v":0.0736825392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391293526,"cg_vq_v":-0.391293526,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5393677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.936768,"values":{"Elec_RPM":-1.33362502e-22,"EncoderCos":38692,"EncoderSin":12439,"GapTicks":54769,"Mech_RPM":-2.66725011e-23,"cg_du":50.1683197,"cg_dv":50.2096214,"cg_dw":49.7903786,"cg_id_a":0.061304301,"cg_id_raw_a":0.278550327,"cg_iq_a":-0.101351984,"cg_iq_raw_a":-0.0789157897,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14350917,"cg_sample_valid":1,"cg_theta_rad":5.00505877,"cg_vd_req_v":0.074990049,"cg_vd_v":0.074990049,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378768891,"cg_vq_v":-0.378768891,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.4961395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5393677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.94458,"values":{"Elec_RPM":-1.33362502e-22,"EncoderCos":38697,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-2.66725011e-23,"cg_du":50.1590919,"cg_dv":50.2099419,"cg_dw":49.7900581,"cg_id_a":-0.206993118,"cg_id_raw_a":0.310596377,"cg_iq_a":-0.337181747,"cg_iq_raw_a":-0.185262695,"cg_iu_a":-0.0699543953,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9509087,"cg_sample_seq":14350967,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0819727331,"cg_vd_v":0.0819727331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37407732,"cg_vq_v":-0.37407732,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5233765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2596.951878,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2596.951883,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2596.951889,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2596.956299,"values":{"Elec_RPM":-1.30695256e-22,"EncoderCos":38719,"EncoderSin":12457,"GapTicks":54764,"Mech_RPM":-2.61390512e-23,"cg_du":50.1671562,"cg_dv":50.2143402,"cg_dw":49.7856598,"cg_id_a":0.03107135,"cg_id_raw_a":0.249422908,"cg_iq_a":0.0769614726,"cg_iq_raw_a":0.207576901,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14351017,"cg_sample_valid":1,"cg_theta_rad":5.0077014,"cg_vd_req_v":0.077702634,"cg_vd_v":0.077702634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385064572,"cg_vq_v":-0.385064572,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.5237274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5297852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.964111,"values":{"Elec_RPM":-1.30695256e-22,"EncoderCos":38693,"EncoderSin":12474,"GapTicks":54766,"Mech_RPM":-2.61390512e-23,"cg_du":50.1694145,"cg_dv":50.2123451,"cg_dw":49.7876549,"cg_id_a":0.119391814,"cg_id_raw_a":0.130019456,"cg_iq_a":-0.169858396,"cg_iq_raw_a":-0.678038001,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9254551,"cg_sample_seq":14351067,"cg_sample_valid":1,"cg_theta_rad":5.00767231,"cg_vd_req_v":0.0758065805,"cg_vd_v":0.0758065805,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383268416,"cg_vq_v":-0.383268416,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-105.235214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5297852,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2596.991455,"values":{"Elec_RPM":-1.2808135e-22,"EncoderCos":38724,"EncoderSin":12507,"GapTicks":54761,"Mech_RPM":-2.561627e-23,"cg_du":50.1551819,"cg_dv":50.2171021,"cg_dw":49.7828979,"cg_id_a":-0.477646291,"cg_id_raw_a":-0.73386395,"cg_iq_a":-0.208763018,"cg_iq_raw_a":-0.72366941,"cg_iu_a":0.691166162,"cg_iv_a":0.939005852,"cg_iw_a":-1.63017201,"cg_sample_age_us":23.9509087,"cg_sample_seq":14351120,"cg_sample_valid":1,"cg_theta_rad":5.00773048,"cg_vd_req_v":0.0882990807,"cg_vd_v":0.0882990807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383653104,"cg_vq_v":-0.383653104,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-105.235214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2596.999268,"values":{"Elec_RPM":-1.25519723e-22,"EncoderCos":38715,"EncoderSin":12487,"GapTicks":54767,"Mech_RPM":-2.51039443e-23,"cg_du":50.1700554,"cg_dv":50.2114105,"cg_dw":49.7885895,"cg_id_a":0.319479346,"cg_id_raw_a":-0.500735819,"cg_iq_a":-0.360498726,"cg_iq_raw_a":0.570942461,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14351266,"cg_sample_valid":1,"cg_theta_rad":5.0075922,"cg_vd_req_v":0.072135523,"cg_vd_v":0.072135523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382801741,"cg_vq_v":-0.382801741,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-105.235214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.00708,"values":{"Elec_RPM":-1.23009328e-22,"EncoderCos":38736,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-2.46018658e-23,"cg_du":50.1611061,"cg_dv":50.2134171,"cg_dw":49.7865829,"cg_id_a":-0.106139451,"cg_id_raw_a":-0.049135562,"cg_iq_a":-0.292002082,"cg_iq_raw_a":-0.185780033,"cg_iu_a":0.219996452,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9472733,"cg_sample_seq":14351316,"cg_sample_valid":1,"cg_theta_rad":5.00661421,"cg_vd_req_v":0.0796385482,"cg_vd_v":0.0796385482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382020622,"cg_vq_v":-0.382020622,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-105.235214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.542572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.014893,"values":{"Elec_RPM":-1.23009328e-22,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54762,"Mech_RPM":-2.46018658e-23,"cg_du":50.1753197,"cg_dv":50.2160149,"cg_dw":49.7839851,"cg_id_a":0.199121282,"cg_id_raw_a":1.00514507,"cg_iq_a":0.184368938,"cg_iq_raw_a":1.51879299,"cg_iu_a":0.183752537,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9509087,"cg_sample_seq":14351366,"cg_sample_valid":1,"cg_theta_rad":5.00790358,"cg_vd_req_v":0.0725325197,"cg_vd_v":0.0725325197,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393237054,"cg_vq_v":-0.393237054,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-125.228233,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5233765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.026611,"values":{"Elec_RPM":-1.20549142e-22,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54752,"Mech_RPM":-2.41098281e-23,"cg_du":50.1966171,"cg_dv":50.2254181,"cg_dw":49.7745819,"cg_id_a":0.394834846,"cg_id_raw_a":-1.22214091,"cg_iq_a":1.15797293,"cg_iq_raw_a":1.70149672,"cg_iu_a":-0.577368021,"cg_iv_a":0.685299098,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9872723,"cg_sample_seq":14351416,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.0653807595,"cg_vd_v":0.0653807595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417971164,"cg_vq_v":-0.417971164,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-125.228233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5570068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.034424,"values":{"Elec_RPM":-1.20549142e-22,"EncoderCos":38709,"EncoderSin":12467,"GapTicks":54759,"Mech_RPM":-2.41098281e-23,"cg_du":50.1822319,"cg_dv":50.2185707,"cg_dw":49.7814293,"cg_id_a":0.134546697,"cg_id_raw_a":0.19935748,"cg_iq_a":0.150727823,"cg_iq_raw_a":-0.343423814,"cg_iu_a":-1.48346376,"cg_iv_a":0.431592226,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9509087,"cg_sample_seq":14351466,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0708508939,"cg_vd_v":0.0708508939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400388956,"cg_vq_v":-0.400388956,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-125.228233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5570068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.042236,"values":{"Elec_RPM":-1.18138156e-22,"EncoderCos":38706,"EncoderSin":12473,"GapTicks":54768,"Mech_RPM":-2.36276321e-23,"cg_du":50.1769447,"cg_dv":50.2102776,"cg_dw":49.7897224,"cg_id_a":0.315013856,"cg_id_raw_a":0.12079113,"cg_iq_a":-0.440941542,"cg_iq_raw_a":-0.606288671,"cg_iu_a":-1.55595136,"cg_iv_a":-0.510747433,"cg_iw_a":2.06669879,"cg_sample_age_us":23.823637,"cg_sample_seq":14351516,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.0667852983,"cg_vd_v":0.0667852983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384925365,"cg_vq_v":-0.384925365,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.63613987,"dclink_p_w":-92.0651245,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.053955,"values":{"Elec_RPM":-1.18138156e-22,"EncoderCos":38689,"EncoderSin":12511,"GapTicks":54766,"Mech_RPM":-2.36276321e-23,"cg_du":50.1740112,"cg_dv":50.2125664,"cg_dw":49.7874336,"cg_id_a":0.12118648,"cg_id_raw_a":0.900517523,"cg_iq_a":-0.497352123,"cg_iq_raw_a":-1.43744218,"cg_iu_a":-0.359905005,"cg_iv_a":0.214129329,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9436359,"cg_sample_seq":14351566,"cg_sample_valid":1,"cg_theta_rad":5.00618601,"cg_vd_req_v":0.0718054324,"cg_vd_v":0.0718054324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386290729,"cg_vq_v":-0.386290729,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.081299,"values":{"Elec_RPM":-1.15775397e-22,"EncoderCos":38734,"EncoderSin":12472,"GapTicks":54754,"Mech_RPM":-2.31550792e-23,"cg_du":50.17799,"cg_dv":50.2235756,"cg_dw":49.7764244,"cg_id_a":-0.12172319,"cg_id_raw_a":-0.598833978,"cg_iq_a":0.417210013,"cg_iq_raw_a":0.963600338,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":0.544457793,"cg_sample_age_us":23.954546,"cg_sample_seq":14351621,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.0766439438,"cg_vd_v":0.0766439438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405271024,"cg_vq_v":-0.405271024,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.089111,"values":{"Elec_RPM":-1.15775397e-22,"EncoderCos":38790,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-2.31550792e-23,"cg_du":50.1716576,"cg_dv":50.2133141,"cg_dw":49.7866859,"cg_id_a":0.387180835,"cg_id_raw_a":0.210985139,"cg_iq_a":-0.389718175,"cg_iq_raw_a":-0.054821305,"cg_iu_a":0.401215553,"cg_iv_a":0.214129329,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9836369,"cg_sample_seq":14351668,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.0665269494,"cg_vd_v":0.0665269494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388614684,"cg_vq_v":-0.388614684,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-86.0313797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5025635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.096924,"values":{"Elec_RPM":-1.13459895e-22,"EncoderCos":38730,"EncoderSin":12496,"GapTicks":54763,"Mech_RPM":-2.26919784e-23,"cg_du":50.1657333,"cg_dv":50.2151794,"cg_dw":49.7848206,"cg_id_a":-0.119202651,"cg_id_raw_a":-0.261323035,"cg_iq_a":-0.274426013,"cg_iq_raw_a":-0.387700021,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9218178,"cg_sample_seq":14351717,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0778732449,"cg_vd_v":0.0778732449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386985242,"cg_vq_v":-0.386985242,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.714325,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5025635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.108643,"values":{"Elec_RPM":-1.13459895e-22,"EncoderCos":38734,"EncoderSin":12475,"GapTicks":54761,"Mech_RPM":-2.26919784e-23,"cg_du":50.1725464,"cg_dv":50.2169685,"cg_dw":49.7830315,"cg_id_a":0.102905989,"cg_id_raw_a":-0.00641219923,"cg_iq_a":-0.00765513256,"cg_iq_raw_a":0.255030245,"cg_iu_a":-0.541124105,"cg_iv_a":0.431592226,"cg_iw_a":0.109531879,"cg_sample_age_us":23.954546,"cg_sample_seq":14351767,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.074216269,"cg_vd_v":0.074216269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392016083,"cg_vq_v":-0.392016083,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.116455,"values":{"Elec_RPM":-1.11190689e-22,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54748,"Mech_RPM":-2.22381388e-23,"cg_du":50.1784935,"cg_dv":50.2286835,"cg_dw":49.7713165,"cg_id_a":-0.242868245,"cg_id_raw_a":0.0337400995,"cg_iq_a":0.787355304,"cg_iq_raw_a":1.13292539,"cg_iu_a":-0.14244175,"cg_iv_a":-0.945673466,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9618187,"cg_sample_seq":14351817,"cg_sample_valid":1,"cg_theta_rad":5.00763655,"cg_vd_req_v":0.0820560455,"cg_vd_v":0.0820560455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411064327,"cg_vq_v":-0.411064327,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5233765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.124268,"values":{"Elec_RPM":-1.11190689e-22,"EncoderCos":38672,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-2.22381388e-23,"cg_du":50.1665077,"cg_dv":50.2070732,"cg_dw":49.7929268,"cg_id_a":0.0551377907,"cg_id_raw_a":-1.12785864,"cg_iq_a":-1.0253036,"cg_iq_raw_a":-1.4704113,"cg_iu_a":-0.0699541569,"cg_iv_a":0.431592286,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9763641,"cg_sample_seq":14351867,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.0746744946,"cg_vd_v":0.0746744946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374139458,"cg_vq_v":-0.374139458,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5233765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.13208,"values":{"Elec_RPM":-1.08966884e-22,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54757,"Mech_RPM":-2.17933759e-23,"cg_du":50.1702766,"cg_dv":50.220562,"cg_dw":49.779438,"cg_id_a":-0.143878162,"cg_id_raw_a":-0.0442602858,"cg_iq_a":0.0860931426,"cg_iq_raw_a":0.433485836,"cg_iu_a":0.111264944,"cg_iv_a":0.939005852,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.954546,"cg_sample_seq":14351917,"cg_sample_valid":1,"cg_theta_rad":5.00658894,"cg_vd_req_v":0.0794943869,"cg_vd_v":0.0794943869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395637006,"cg_vq_v":-0.395637006,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5249634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.139893,"values":{"Elec_RPM":-1.08966884e-22,"EncoderCos":38742,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-2.17933759e-23,"cg_du":50.1673851,"cg_dv":50.2138939,"cg_dw":49.7861061,"cg_id_a":0.118131854,"cg_id_raw_a":0.369471312,"cg_iq_a":-0.389090657,"cg_iq_raw_a":0.289231032,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14351967,"cg_sample_valid":1,"cg_theta_rad":5.00762415,"cg_vd_req_v":0.0741217062,"cg_vd_v":0.0741217062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38517043,"cg_vq_v":-0.38517043,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5249634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.147705,"values":{"Elec_RPM":-1.06787545e-22,"EncoderCos":38737,"EncoderSin":12497,"GapTicks":54764,"Mech_RPM":-2.13575081e-23,"cg_du":50.1730804,"cg_dv":50.2136765,"cg_dw":49.7863235,"cg_id_a":0.242503047,"cg_id_raw_a":0.61377573,"cg_iq_a":-0.13248083,"cg_iq_raw_a":-0.998241067,"cg_iu_a":-0.432392597,"cg_iv_a":0.939005971,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9436359,"cg_sample_seq":14352016,"cg_sample_valid":1,"cg_theta_rad":5.00577736,"cg_vd_req_v":0.06975618,"cg_vd_v":0.06975618,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387979388,"cg_vq_v":-0.387979388,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2713318,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.155518,"values":{"Elec_RPM":-1.06787545e-22,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-2.13575081e-23,"cg_du":50.1692734,"cg_dv":50.212101,"cg_dw":49.787899,"cg_id_a":0.0660125688,"cg_id_raw_a":-0.0172517262,"cg_iq_a":-0.0657759979,"cg_iq_raw_a":-0.292158991,"cg_iu_a":-0.468636513,"cg_iv_a":0.0329101086,"cg_iw_a":0.435726404,"cg_sample_age_us":23.954546,"cg_sample_seq":14352067,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0729518309,"cg_vd_v":0.0729518309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383384615,"cg_vq_v":-0.383384615,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.167236,"values":{"Elec_RPM":-1.0465179e-22,"EncoderCos":38719,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-2.09303573e-23,"cg_du":50.171257,"cg_dv":50.2172661,"cg_dw":49.7827339,"cg_id_a":-0.190634042,"cg_id_raw_a":-0.0141687831,"cg_iq_a":0.419709504,"cg_iq_raw_a":0.327158302,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14352117,"cg_sample_valid":1,"cg_theta_rad":5.0078516,"cg_vd_req_v":0.0766611919,"cg_vd_v":0.0766611919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391474485,"cg_vq_v":-0.391474485,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.19458,"values":{"Elec_RPM":-1.0465179e-22,"EncoderCos":38741,"EncoderSin":12501,"GapTicks":54769,"Mech_RPM":-2.09303573e-23,"cg_du":50.1540947,"cg_dv":50.2096252,"cg_dw":49.7903748,"cg_id_a":-0.283775628,"cg_id_raw_a":-0.0868044794,"cg_iq_a":-0.417901695,"cg_iq_raw_a":-0.00707828533,"cg_iu_a":0.43745935,"cg_iv_a":-0.220796704,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14352170,"cg_sample_valid":1,"cg_theta_rad":5.00805521,"cg_vd_req_v":0.0803645849,"cg_vd_v":0.0803645849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371972382,"cg_vq_v":-0.371972382,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.411306739,"dclink_p_w":59.345295,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.202393,"values":{"Elec_RPM":-1.02558746e-22,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-2.05117498e-23,"cg_du":50.1586075,"cg_dv":50.2028351,"cg_dw":49.7971649,"cg_id_a":0.0910614356,"cg_id_raw_a":0.333527595,"cg_iq_a":-0.582560956,"cg_iq_raw_a":-0.221646637,"cg_iu_a":0.836141706,"cg_iv_a":0.105397701,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9727268,"cg_sample_seq":14352217,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0728443637,"cg_vd_v":0.0728443637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365858316,"cg_vq_v":-0.365858316,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.210205,"values":{"Elec_RPM":-1.02558746e-22,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54763,"Mech_RPM":-2.05117498e-23,"cg_du":50.1724358,"cg_dv":50.2147255,"cg_dw":49.7852745,"cg_id_a":0.0487271994,"cg_id_raw_a":-0.312957406,"cg_iq_a":0.596803248,"cg_iq_raw_a":0.989329815,"cg_iu_a":-0.359904766,"cg_iv_a":0.105397701,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9181824,"cg_sample_seq":14352267,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0747104958,"cg_vd_v":0.0747104958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389632583,"cg_vq_v":-0.389632583,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.221924,"values":{"Elec_RPM":-1.00507575e-22,"EncoderCos":38737,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-2.01015154e-23,"cg_du":50.161171,"cg_dv":50.2055893,"cg_dw":49.7944107,"cg_id_a":0.157265425,"cg_id_raw_a":-0.154345125,"cg_iq_a":-0.301967353,"cg_iq_raw_a":-0.413814753,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397761,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9218178,"cg_sample_seq":14352317,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.071658954,"cg_vd_v":0.071658954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371418357,"cg_vq_v":-0.371418357,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.7211342,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5249634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.229736,"values":{"Elec_RPM":-1.00507575e-22,"EncoderCos":38705,"EncoderSin":12501,"GapTicks":54770,"Mech_RPM":-2.01015154e-23,"cg_du":50.1690941,"cg_dv":50.2084198,"cg_dw":49.7915802,"cg_id_a":0.144901514,"cg_id_raw_a":-0.424106956,"cg_iq_a":0.214225993,"cg_iq_raw_a":0.213737875,"cg_iu_a":-0.613611698,"cg_iv_a":0.177885473,"cg_iw_a":0.435726225,"cg_sample_age_us":23.8745461,"cg_sample_seq":14352366,"cg_sample_valid":1,"cg_theta_rad":5.00679922,"cg_vd_req_v":0.0706908852,"cg_vd_v":0.0706908852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379250735,"cg_vq_v":-0.379250735,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.8709335,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5249634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.237549,"values":{"Elec_RPM":-9.84974251e-23,"EncoderCos":38732,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-1.9699485e-23,"cg_du":50.1606636,"cg_dv":50.2005234,"cg_dw":49.7994766,"cg_id_a":0.259107262,"cg_id_raw_a":-0.0936356708,"cg_iq_a":-0.584270835,"cg_iq_raw_a":0.0647145659,"cg_iu_a":-0.251173496,"cg_iv_a":0.57656759,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.8563633,"cg_sample_seq":14352417,"cg_sample_valid":1,"cg_theta_rad":5.00677156,"cg_vd_req_v":0.0679658502,"cg_vd_v":0.0679658502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362910151,"cg_vq_v":-0.362910151,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2960205,"temp_inv2_c":37.5313721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.245361,"values":{"Elec_RPM":-9.84974251e-23,"EncoderCos":38780,"EncoderSin":12494,"GapTicks":54762,"Mech_RPM":-1.9699485e-23,"cg_du":50.1564255,"cg_dv":50.2156601,"cg_dw":49.7843399,"cg_id_a":-0.349620849,"cg_id_raw_a":-0.0152810924,"cg_iq_a":0.549225867,"cg_iq_raw_a":0.654142439,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14352467,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.0811422244,"cg_vd_v":0.0811422244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382205367,"cg_vq_v":-0.382205367,"cg_vu_v":25.0738773,"cg_vv_v":5.27871037,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5137634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.253174,"values":{"Elec_RPM":-9.65274753e-23,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-1.93054947e-23,"cg_du":50.1647949,"cg_dv":50.2052574,"cg_dw":49.7947426,"cg_id_a":0.145404562,"cg_id_raw_a":0.053575404,"cg_iq_a":-0.0661970526,"cg_iq_raw_a":-0.576627314,"cg_iu_a":-0.251173496,"cg_iv_a":0.39534843,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8563633,"cg_sample_seq":14352516,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.0706737563,"cg_vd_v":0.0706737563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371405512,"cg_vq_v":-0.371405512,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5137634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.260986,"values":{"Elec_RPM":-9.65274753e-23,"EncoderCos":38682,"EncoderSin":12499,"GapTicks":54765,"Mech_RPM":-1.93054947e-23,"cg_du":50.1580772,"cg_dv":50.2127914,"cg_dw":49.7872086,"cg_id_a":-0.513229251,"cg_id_raw_a":-0.431559324,"cg_iq_a":0.276399463,"cg_iq_raw_a":-1.1375277,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641557,"cg_iw_a":0.145775855,"cg_sample_age_us":23.8527279,"cg_sample_seq":14352567,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.0854023397,"cg_vd_v":0.0854023397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377385199,"cg_vq_v":-0.377385199,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5121765,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.268799,"values":{"Elec_RPM":-9.45969244e-23,"EncoderCos":38693,"EncoderSin":12465,"GapTicks":54778,"Mech_RPM":-1.89193852e-23,"cg_du":50.1518669,"cg_dv":50.2012482,"cg_dw":49.7987518,"cg_id_a":-0.101966746,"cg_id_raw_a":-0.183501765,"cg_iq_a":-0.610119641,"cg_iq_raw_a":-0.492065072,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9872723,"cg_sample_seq":14352617,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0788605586,"cg_vd_v":0.0788605586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358270556,"cg_vq_v":-0.358270556,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5217896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.300049,"values":{"Elec_RPM":-9.45969244e-23,"EncoderCos":38730,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-1.89193852e-23,"cg_du":50.1515312,"cg_dv":50.2072105,"cg_dw":49.7927895,"cg_id_a":-0.159449667,"cg_id_raw_a":-0.0935668647,"cg_iq_a":-0.233216673,"cg_iq_raw_a":0.0648140088,"cg_iu_a":0.509947062,"cg_iv_a":-0.293284416,"cg_iw_a":-0.216662645,"cg_sample_age_us":26.8163643,"cg_sample_seq":14352669,"cg_sample_valid":1,"cg_theta_rad":5.00539494,"cg_vd_req_v":0.0814785883,"cg_vd_v":0.0814785883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368106604,"cg_vq_v":-0.368106604,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.9948502,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5217896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.307861,"values":{"Elec_RPM":-9.27049835e-23,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-1.8540997e-23,"cg_du":50.1534348,"cg_dv":50.2046928,"cg_dw":49.7953072,"cg_id_a":0.0964573696,"cg_id_raw_a":0.0803895518,"cg_iq_a":-0.435925245,"cg_iq_raw_a":-1.12014067,"cg_iu_a":1.1260922,"cg_iv_a":0.322860837,"cg_iw_a":-1.44895303,"cg_sample_age_us":23.9254551,"cg_sample_seq":14352716,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0771379471,"cg_vd_v":0.0771379471,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36466071,"cg_vq_v":-0.36466071,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.3571968,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.315674,"values":{"Elec_RPM":-9.27049835e-23,"EncoderCos":38708,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-1.8540997e-23,"cg_du":50.1556816,"cg_dv":50.2100258,"cg_dw":49.7899742,"cg_id_a":-0.158455878,"cg_id_raw_a":-0.174701959,"cg_iq_a":-0.0790065899,"cg_iq_raw_a":0.238144293,"cg_iu_a":0.79989779,"cg_iv_a":0.359104633,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.8563633,"cg_sample_seq":14352768,"cg_sample_valid":1,"cg_theta_rad":5.00613308,"cg_vd_req_v":0.0833039358,"cg_vd_v":0.0833039358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372574985,"cg_vq_v":-0.372574985,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5281677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.323486,"values":{"Elec_RPM":-9.0850889e-23,"EncoderCos":38723,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-1.81701772e-23,"cg_du":50.1510582,"cg_dv":50.2097816,"cg_dw":49.7902184,"cg_id_a":-0.230375484,"cg_id_raw_a":0.201387748,"cg_iq_a":-0.10530515,"cg_iq_raw_a":-0.598804653,"cg_iu_a":0.364971876,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9472733,"cg_sample_seq":14352816,"cg_sample_valid":1,"cg_theta_rad":5.00576973,"cg_vd_req_v":0.0849125162,"cg_vd_v":0.0849125162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370047241,"cg_vq_v":-0.370047241,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.335205,"values":{"Elec_RPM":-9.0850889e-23,"EncoderCos":38715,"EncoderSin":12466,"GapTicks":54773,"Mech_RPM":-1.81701772e-23,"cg_du":50.1573143,"cg_dv":50.2057152,"cg_dw":49.7942848,"cg_id_a":0.0619862452,"cg_id_raw_a":0.354122132,"cg_iq_a":-0.183755264,"cg_iq_raw_a":-0.000488403195,"cg_iu_a":-0.50488019,"cg_iv_a":0.721542954,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9872723,"cg_sample_seq":14352866,"cg_sample_valid":1,"cg_theta_rad":5.00708675,"cg_vd_req_v":0.077123858,"cg_vd_v":0.077123858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367793977,"cg_vq_v":-0.367793977,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5073853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.343018,"values":{"Elec_RPM":-8.9033871e-23,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-1.78067742e-23,"cg_du":50.1623764,"cg_dv":50.206955,"cg_dw":49.793045,"cg_id_a":0.12745288,"cg_id_raw_a":0.584443808,"cg_iq_a":0.114161015,"cg_iq_raw_a":0.859853566,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9472733,"cg_sample_seq":14352916,"cg_sample_valid":1,"cg_theta_rad":5.00695753,"cg_vd_req_v":0.0744788274,"cg_vd_v":0.0744788274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373481333,"cg_vq_v":-0.373481333,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5073853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.35083,"values":{"Elec_RPM":-8.9033871e-23,"EncoderCos":38712,"EncoderSin":12498,"GapTicks":54766,"Mech_RPM":-1.78067742e-23,"cg_du":50.1587563,"cg_dv":50.212162,"cg_dw":49.787838,"cg_id_a":-0.306501299,"cg_id_raw_a":-0.197619841,"cg_iq_a":0.253296793,"cg_iq_raw_a":-0.164161935,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065256,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9763641,"cg_sample_seq":14352966,"cg_sample_valid":1,"cg_theta_rad":5.00722075,"cg_vd_req_v":0.0819519907,"cg_vd_v":0.0819519907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378631771,"cg_vq_v":-0.378631771,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.4625854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.358643,"values":{"Elec_RPM":-8.7253191e-23,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-1.74506382e-23,"cg_du":50.1574135,"cg_dv":50.2025757,"cg_dw":49.7974243,"cg_id_a":0.0837589577,"cg_id_raw_a":0.400212795,"cg_iq_a":-0.383318275,"cg_iq_raw_a":-0.250534981,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373065,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.954546,"cg_sample_seq":14353016,"cg_sample_valid":1,"cg_theta_rad":5.00572109,"cg_vd_req_v":0.0745385811,"cg_vd_v":0.0745385811,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364625007,"cg_vq_v":-0.364625007,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5313721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.366455,"values":{"Elec_RPM":-8.7253191e-23,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-1.74506382e-23,"cg_du":50.1644516,"cg_dv":50.2048492,"cg_dw":49.7951508,"cg_id_a":0.174306169,"cg_id_raw_a":0.573717237,"cg_iq_a":0.0821281448,"cg_iq_raw_a":-0.924820781,"cg_iu_a":0.61867857,"cg_iv_a":-0.0395776033,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14353066,"cg_sample_valid":1,"cg_theta_rad":5.00783062,"cg_vd_req_v":0.0715599135,"cg_vd_v":0.0715599135,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371636033,"cg_vq_v":-0.371636033,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5313721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.374268,"values":{"Elec_RPM":-8.55081297e-23,"EncoderCos":38744,"EncoderSin":12505,"GapTicks":54770,"Mech_RPM":-1.71016256e-23,"cg_du":50.1594772,"cg_dv":50.2088013,"cg_dw":49.7911987,"cg_id_a":0.00716650113,"cg_id_raw_a":0.247561991,"cg_iq_a":0.237649396,"cg_iq_raw_a":0.714448869,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8563633,"cg_sample_seq":14353117,"cg_sample_valid":1,"cg_theta_rad":5.00609016,"cg_vd_req_v":0.074740082,"cg_vd_v":0.074740082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372777194,"cg_vq_v":-0.372777194,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2597.405518,"values":{"Elec_RPM":-8.55081297e-23,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54774,"Mech_RPM":-1.71016256e-23,"cg_du":50.1571884,"cg_dv":50.2048836,"cg_dw":49.7951164,"cg_id_a":-0.0827097222,"cg_id_raw_a":-0.216691762,"cg_iq_a":-0.107715502,"cg_iq_raw_a":-0.821813941,"cg_iu_a":0.328727961,"cg_iv_a":0.322860777,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9436359,"cg_sample_seq":14353169,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0762227252,"cg_vd_v":0.0762227252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366635382,"cg_vq_v":-0.366635382,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5169678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.41333,"values":{"Elec_RPM":-8.37979677e-23,"EncoderCos":38713,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-1.67595929e-23,"cg_du":50.1630173,"cg_dv":50.201973,"cg_dw":49.798027,"cg_id_a":0.281545073,"cg_id_raw_a":0.135941595,"cg_iq_a":-0.182038814,"cg_iq_raw_a":-0.131265253,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772009,"cg_iw_a":0.399482489,"cg_sample_age_us":23.994545,"cg_sample_seq":14353216,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.0694032609,"cg_vd_v":0.0694032609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365847558,"cg_vq_v":-0.365847558,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.339745,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.5105591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.421143,"values":{"Elec_RPM":-8.37979677e-23,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54777,"Mech_RPM":-1.67595929e-23,"cg_du":50.1563988,"cg_dv":50.2021828,"cg_dw":49.7978172,"cg_id_a":-0.0248272866,"cg_id_raw_a":-0.790831268,"cg_iq_a":-0.356972218,"cg_iq_raw_a":-0.952999651,"cg_iu_a":0.292484045,"cg_iv_a":1.26520038,"cg_iw_a":-1.55768442,"cg_sample_age_us":23.9290905,"cg_sample_seq":14353266,"cg_sample_valid":1,"cg_theta_rad":5.0070281,"cg_vd_req_v":0.0751338005,"cg_vd_v":0.0751338005,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363478929,"cg_vq_v":-0.363478929,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.714325,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.428955,"values":{"Elec_RPM":-8.21220043e-23,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-1.64244012e-23,"cg_du":50.159359,"cg_dv":50.2044754,"cg_dw":49.7955246,"cg_id_a":0.0782270655,"cg_id_raw_a":0.0662515834,"cg_iq_a":0.0266384073,"cg_iq_raw_a":0.152681604,"cg_iu_a":0.038777113,"cg_iv_a":0.10539782,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9436359,"cg_sample_seq":14353316,"cg_sample_valid":1,"cg_theta_rad":5.0069108,"cg_vd_req_v":0.0728029758,"cg_vd_v":0.0728029758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36872378,"cg_vq_v":-0.36872378,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.932106,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.436768,"values":{"Elec_RPM":-8.21220043e-23,"EncoderCos":38728,"EncoderSin":12477,"GapTicks":54769,"Mech_RPM":-1.64244012e-23,"cg_du":50.1589928,"cg_dv":50.2099915,"cg_dw":49.7900085,"cg_id_a":-0.209466115,"cg_id_raw_a":0.0208265781,"cg_iq_a":0.0715468228,"cg_iq_raw_a":-0.0336166471,"cg_iu_a":-0.287417173,"cg_iv_a":-0.25704056,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9581814,"cg_sample_seq":14353366,"cg_sample_valid":1,"cg_theta_rad":5.00726032,"cg_vd_req_v":0.0785876587,"cg_vd_v":0.0785876587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37483865,"cg_vq_v":-0.37483865,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.932106,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5025635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.448486,"values":{"Elec_RPM":-7.88699725e-23,"EncoderCos":38752,"EncoderSin":12501,"GapTicks":54770,"Mech_RPM":-1.57739948e-23,"cg_du":50.1498871,"cg_dv":50.2083359,"cg_dw":49.7916641,"cg_id_a":-0.371623755,"cg_id_raw_a":-0.539022863,"cg_iq_a":-0.153780729,"cg_iq_raw_a":-0.119550593,"cg_iu_a":0.183752537,"cg_iv_a":-0.510747433,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9618187,"cg_sample_seq":14353517,"cg_sample_valid":1,"cg_theta_rad":5.00600863,"cg_vd_req_v":0.081520699,"cg_vd_v":0.081520699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368080139,"cg_vq_v":-0.368080139,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.932106,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5105591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.456299,"values":{"Elec_RPM":-7.88699725e-23,"EncoderCos":38702,"EncoderSin":12462,"GapTicks":54776,"Mech_RPM":-1.57739948e-23,"cg_du":50.1591454,"cg_dv":50.2032547,"cg_dw":49.7967453,"cg_id_a":-0.0365776718,"cg_id_raw_a":0.256078809,"cg_iq_a":-0.0938189924,"cg_iq_raw_a":0.136344016,"cg_iu_a":0.256240129,"cg_iv_a":-0.583235145,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9836369,"cg_sample_seq":14353567,"cg_sample_valid":1,"cg_theta_rad":5.00700855,"cg_vd_req_v":0.0746996924,"cg_vd_v":0.0746996924,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366356581,"cg_vq_v":-0.366356581,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.90078831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5105591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.464111,"values":{"Elec_RPM":-7.72925789e-23,"EncoderCos":38735,"EncoderSin":12493,"GapTicks":54776,"Mech_RPM":-1.54585151e-23,"cg_du":50.1521416,"cg_dv":50.2031898,"cg_dw":49.7968102,"cg_id_a":-0.129275888,"cg_id_raw_a":0.0773063153,"cg_iq_a":-0.103602402,"cg_iq_raw_a":0.26276812,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9436359,"cg_sample_seq":14353617,"cg_sample_valid":1,"cg_theta_rad":5.00657749,"cg_vd_req_v":0.076402314,"cg_vd_v":0.076402314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361952305,"cg_vq_v":-0.361952305,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.0145583153,"dclink_p_w":-2.10694718,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5105591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.491455,"values":{"Elec_RPM":-7.72925789e-23,"EncoderCos":38738,"EncoderSin":12503,"GapTicks":54774,"Mech_RPM":-1.54585151e-23,"cg_du":50.1644554,"cg_dv":50.2047348,"cg_dw":49.7952652,"cg_id_a":0.217887878,"cg_id_raw_a":0.000777455396,"cg_iq_a":0.521160781,"cg_iq_raw_a":0.874348342,"cg_iu_a":0.292484045,"cg_iv_a":-0.402015805,"cg_iw_a":0.10953176,"cg_sample_age_us":23.863636,"cg_sample_seq":14353670,"cg_sample_valid":1,"cg_theta_rad":5.00662136,"cg_vd_req_v":0.0676895306,"cg_vd_v":0.0676895306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371020943,"cg_vq_v":-0.371020943,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5057678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.499268,"values":{"Elec_RPM":-7.5746727e-23,"EncoderCos":38709,"EncoderSin":12464,"GapTicks":54777,"Mech_RPM":-1.51493448e-23,"cg_du":50.1550751,"cg_dv":50.2020493,"cg_dw":49.7979507,"cg_id_a":-0.193944067,"cg_id_raw_a":-0.0298460703,"cg_iq_a":0.173294097,"cg_iq_raw_a":0.471351683,"cg_iu_a":0.256240368,"cg_iv_a":-0.510747433,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8527279,"cg_sample_seq":14353716,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0758509859,"cg_vd_v":0.0758509859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36144489,"cg_vq_v":-0.36144489,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5057678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.510986,"values":{"Elec_RPM":-7.5746727e-23,"EncoderCos":38699,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-1.51493448e-23,"cg_du":50.1676979,"cg_dv":50.1961975,"cg_dw":49.8038025,"cg_id_a":0.48190248,"cg_id_raw_a":0.865419209,"cg_iq_a":0.285944492,"cg_iq_raw_a":1.58303845,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8781815,"cg_sample_seq":14353767,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0607997477,"cg_vd_v":0.0607997477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360529363,"cg_vq_v":-0.360529363,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.4833679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.518799,"values":{"Elec_RPM":-7.42317859e-23,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54778,"Mech_RPM":-1.48463575e-23,"cg_du":50.170845,"cg_dv":50.2013664,"cg_dw":49.7986336,"cg_id_a":0.434226245,"cg_id_raw_a":0.159068778,"cg_iq_a":0.835994601,"cg_iq_raw_a":0.271429867,"cg_iu_a":-0.178685904,"cg_iv_a":0.10539782,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14353817,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0620713755,"cg_vd_v":0.0620713755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369536281,"cg_vq_v":-0.369536281,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.526611,"values":{"Elec_RPM":-7.42317859e-23,"EncoderCos":38717,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-1.48463575e-23,"cg_du":50.1666946,"cg_dv":50.1964874,"cg_dw":49.8035126,"cg_id_a":0.494207025,"cg_id_raw_a":0.153009698,"cg_iq_a":0.286020041,"cg_iq_raw_a":-0.0933381096,"cg_iu_a":-1.62843895,"cg_iv_a":0.866518259,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9836369,"cg_sample_seq":14353867,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0608245432,"cg_vd_v":0.0608245432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361661077,"cg_vq_v":-0.361661077,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.534424,"values":{"Elec_RPM":-7.27471497e-23,"EncoderCos":38699,"EncoderSin":12505,"GapTicks":54785,"Mech_RPM":-1.45494303e-23,"cg_du":50.1505241,"cg_dv":50.1949997,"cg_dw":49.8050003,"cg_id_a":-0.0503534675,"cg_id_raw_a":-0.301517367,"cg_iq_a":-0.368518293,"cg_iq_raw_a":-1.01287901,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9472733,"cg_sample_seq":14353917,"cg_sample_valid":1,"cg_theta_rad":5.00600529,"cg_vd_req_v":0.0725618526,"cg_vd_v":0.0725618526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350420117,"cg_vq_v":-0.350420117,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.481781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.542236,"values":{"Elec_RPM":-7.27471497e-23,"EncoderCos":38710,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-1.45494303e-23,"cg_du":50.1592827,"cg_dv":50.1977119,"cg_dw":49.8022881,"cg_id_a":0.260868251,"cg_id_raw_a":0.265553117,"cg_iq_a":0.0360002406,"cg_iq_raw_a":-0.810711682,"cg_iu_a":-1.22975683,"cg_iv_a":-0.0758213997,"cg_iw_a":1.30557823,"cg_sample_age_us":23.954546,"cg_sample_seq":14353966,"cg_sample_valid":1,"cg_theta_rad":5.00622225,"cg_vd_req_v":0.0674802214,"cg_vd_v":0.0674802214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358094722,"cg_vq_v":-0.358094722,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.481781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.550049,"values":{"Elec_RPM":-7.12922062e-23,"EncoderCos":38731,"EncoderSin":12493,"GapTicks":54782,"Mech_RPM":-1.42584416e-23,"cg_du":50.1595497,"cg_dv":50.1974182,"cg_dw":49.8025818,"cg_id_a":0.32818681,"cg_id_raw_a":0.156467706,"cg_iq_a":-0.0763424039,"cg_iq_raw_a":0.0882620215,"cg_iu_a":-0.649855614,"cg_iv_a":-0.0758213997,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9799995,"cg_sample_seq":14354017,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.0653225332,"cg_vd_v":0.0653225332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358153164,"cg_vq_v":-0.358153164,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5073853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.561768,"values":{"Elec_RPM":-7.12922062e-23,"EncoderCos":38724,"EncoderSin":12501,"GapTicks":54783,"Mech_RPM":-1.42584416e-23,"cg_du":50.1508942,"cg_dv":50.196701,"cg_dw":49.803299,"cg_id_a":0.0663079023,"cg_id_raw_a":0.433698267,"cg_iq_a":-0.393191546,"cg_iq_raw_a":-0.176559925,"cg_iu_a":0.292484164,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9509087,"cg_sample_seq":14354067,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0718069077,"cg_vd_v":0.0718069077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352268934,"cg_vq_v":-0.352268934,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.56958,"values":{"Elec_RPM":-6.98663685e-23,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-1.39732731e-23,"cg_du":50.1579475,"cg_dv":50.2004967,"cg_dw":49.7995033,"cg_id_a":-0.0106837973,"cg_id_raw_a":-0.726660192,"cg_iq_a":0.027147904,"cg_iq_raw_a":0.511964619,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333380699,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9509087,"cg_sample_seq":14354117,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0712801218,"cg_vd_v":0.0712801218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361121029,"cg_vq_v":-0.361121029,"cg_vu_v":118.3311,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4769897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.596924,"values":{"Elec_RPM":-6.98663685e-23,"EncoderCos":38748,"EncoderSin":12482,"GapTicks":54771,"Mech_RPM":-1.39732731e-23,"cg_du":50.1585159,"cg_dv":50.2076492,"cg_dw":49.7923508,"cg_id_a":-0.164518297,"cg_id_raw_a":-0.075329639,"cg_iq_a":0.494843483,"cg_iq_raw_a":0.794609129,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":26.8199997,"cg_sample_seq":14354171,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0748738125,"cg_vd_v":0.0748738125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371755868,"cg_vq_v":-0.371755868,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5025635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.604736,"values":{"Elec_RPM":-6.84690371e-23,"EncoderCos":38774,"EncoderSin":12475,"GapTicks":54776,"Mech_RPM":-1.36938081e-23,"cg_du":50.1548386,"cg_dv":50.202816,"cg_dw":49.797184,"cg_id_a":0.102147542,"cg_id_raw_a":-0.109460324,"cg_iq_a":0.0381001681,"cg_iq_raw_a":-0.481378913,"cg_iu_a":-1.08478165,"cg_iv_a":-0.148309112,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.954546,"cg_sample_seq":14354216,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0711512715,"cg_vd_v":0.0711512715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363496453,"cg_vq_v":-0.363496453,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.4143867,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4945984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.612549,"values":{"Elec_RPM":-6.84690371e-23,"EncoderCos":38711,"EncoderSin":12476,"GapTicks":54771,"Mech_RPM":-1.36938081e-23,"cg_du":50.1542778,"cg_dv":50.2074242,"cg_dw":49.7925758,"cg_id_a":-0.382120848,"cg_id_raw_a":-0.419904411,"cg_iq_a":0.282615125,"cg_iq_raw_a":-0.0409432203,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9509087,"cg_sample_seq":14354266,"cg_sample_valid":1,"cg_theta_rad":5.00762606,"cg_vd_req_v":0.0812524408,"cg_vd_v":0.0812524408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368388414,"cg_vq_v":-0.368388414,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.4143867,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4945984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.624268,"values":{"Elec_RPM":-6.70996566e-23,"EncoderCos":38669,"EncoderSin":12513,"GapTicks":54780,"Mech_RPM":-1.34199313e-23,"cg_du":50.1595497,"cg_dv":50.1992111,"cg_dw":49.8007889,"cg_id_a":0.123660713,"cg_id_raw_a":0.0333251879,"cg_iq_a":-0.314937413,"cg_iq_raw_a":-0.542378724,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8490906,"cg_sample_seq":14354316,"cg_sample_valid":1,"cg_theta_rad":5.00688457,"cg_vd_req_v":0.0716461614,"cg_vd_v":0.0716461614,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359711617,"cg_vq_v":-0.359711617,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.63208,"values":{"Elec_RPM":-6.70996566e-23,"EncoderCos":38712,"EncoderSin":12495,"GapTicks":54771,"Mech_RPM":-1.34199313e-23,"cg_du":50.159996,"cg_dv":50.2081795,"cg_dw":49.7918205,"cg_id_a":-0.153331891,"cg_id_raw_a":-0.436548948,"cg_iq_a":0.0858785585,"cg_iq_raw_a":-0.515343487,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8527279,"cg_sample_seq":14354366,"cg_sample_valid":1,"cg_theta_rad":5.00703573,"cg_vd_req_v":0.0769375041,"cg_vd_v":0.0769375041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372751325,"cg_vq_v":-0.372751325,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.532959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.639893,"values":{"Elec_RPM":-6.57576654e-23,"EncoderCos":38700,"EncoderSin":12519,"GapTicks":54778,"Mech_RPM":-1.31515324e-23,"cg_du":50.1585045,"cg_dv":50.2017975,"cg_dw":49.7982025,"cg_id_a":0.0571425632,"cg_id_raw_a":0.308312774,"cg_iq_a":-0.394354999,"cg_iq_raw_a":0.249841303,"cg_iu_a":0.256240368,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.863636,"cg_sample_seq":14354417,"cg_sample_valid":1,"cg_theta_rad":5.00636435,"cg_vd_req_v":0.0722907558,"cg_vd_v":0.0722907558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363159209,"cg_vq_v":-0.363159209,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5025635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.647705,"values":{"Elec_RPM":-6.57576654e-23,"EncoderCos":38722,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-1.31515324e-23,"cg_du":50.162693,"cg_dv":50.2057037,"cg_dw":49.7942963,"cg_id_a":0.236424699,"cg_id_raw_a":0.611018121,"cg_iq_a":0.1156087,"cg_iq_raw_a":-0.049563881,"cg_iu_a":0.292484283,"cg_iv_a":-0.329528332,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14354467,"cg_sample_valid":1,"cg_theta_rad":5.00516796,"cg_vd_req_v":0.0718502328,"cg_vd_v":0.0718502328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371010244,"cg_vq_v":-0.371010244,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.481781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.655518,"values":{"Elec_RPM":-6.4442508e-23,"EncoderCos":38745,"EncoderSin":12507,"GapTicks":54775,"Mech_RPM":-1.28885018e-23,"cg_du":50.1493034,"cg_dv":50.2039223,"cg_dw":49.7960777,"cg_id_a":-0.148494184,"cg_id_raw_a":0.152138755,"cg_iq_a":-0.232911617,"cg_iq_raw_a":-0.0947510302,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9218178,"cg_sample_seq":14354516,"cg_sample_valid":1,"cg_theta_rad":5.00870275,"cg_vd_req_v":0.0781751648,"cg_vd_v":0.0781751648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361626834,"cg_vq_v":-0.361626834,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7945242,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.481781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.66333,"values":{"Elec_RPM":-6.4442508e-23,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54781,"Mech_RPM":-1.28885018e-23,"cg_du":50.1500244,"cg_dv":50.1988869,"cg_dw":49.8011131,"cg_id_a":-0.0493415147,"cg_id_raw_a":0.298114538,"cg_iq_a":-0.559027672,"cg_iq_raw_a":0.139753684,"cg_iu_a":0.0387773514,"cg_iv_a":0.10539782,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8600006,"cg_sample_seq":14354567,"cg_sample_valid":1,"cg_theta_rad":5.00728703,"cg_vd_req_v":0.0763117149,"cg_vd_v":0.0763117149,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354393482,"cg_vq_v":-0.354393482,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.4945984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.671143,"values":{"Elec_RPM":-6.31536608e-23,"EncoderCos":38704,"EncoderSin":12533,"GapTicks":54776,"Mech_RPM":-1.2630732e-23,"cg_du":50.1532974,"cg_dv":50.2029305,"cg_dw":49.7970695,"cg_id_a":-0.111383893,"cg_id_raw_a":0.447386563,"cg_iq_a":-0.283864319,"cg_iq_raw_a":0.554030478,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9218178,"cg_sample_seq":14354617,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0765656754,"cg_vd_v":0.0765656754,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360815465,"cg_vq_v":-0.360815465,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.139478087,"dclink_p_w":20.1859188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.4945984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2597.702393,"values":{"Elec_RPM":-6.31536608e-23,"EncoderCos":38728,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-1.2630732e-23,"cg_du":50.1616821,"cg_dv":50.2055283,"cg_dw":49.7944717,"cg_id_a":0.0511381477,"cg_id_raw_a":0.0277363043,"cg_iq_a":0.113235287,"cg_iq_raw_a":-0.105770648,"cg_iu_a":0.219996452,"cg_iv_a":-0.691966534,"cg_iw_a":0.471970081,"cg_sample_age_us":24.8490906,"cg_sample_seq":14354670,"cg_sample_valid":1,"cg_theta_rad":5.0061779,"cg_vd_req_v":0.0722256154,"cg_vd_v":0.0722256154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370253474,"cg_vq_v":-0.370253474,"cg_vu_v":108.653458,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.4945984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.710205,"values":{"Elec_RPM":-6.06527761e-23,"EncoderCos":38693,"EncoderSin":12491,"GapTicks":54777,"Mech_RPM":-1.21305547e-23,"cg_du":50.1506462,"cg_dv":50.2021751,"cg_dw":49.7978249,"cg_id_a":-0.267825186,"cg_id_raw_a":-0.128349006,"cg_iq_a":-0.143985584,"cg_iq_raw_a":-0.0123541132,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9581814,"cg_sample_seq":14354816,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0803277344,"cg_vd_v":0.0803277344,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360064268,"cg_vq_v":-0.360064268,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6882429,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.718018,"values":{"Elec_RPM":-6.06527761e-23,"EncoderCos":38734,"EncoderSin":12502,"GapTicks":54772,"Mech_RPM":-1.21305547e-23,"cg_du":50.1481972,"cg_dv":50.2064629,"cg_dw":49.7935371,"cg_id_a":-0.29253459,"cg_id_raw_a":-0.745221078,"cg_iq_a":0.0642307103,"cg_iq_raw_a":0.295971781,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747433,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9872723,"cg_sample_seq":14354867,"cg_sample_valid":1,"cg_theta_rad":5.0061264,"cg_vd_req_v":0.0825251937,"cg_vd_v":0.0825251937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364247501,"cg_vq_v":-0.364247501,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.72583,"values":{"Elec_RPM":-5.94397163e-23,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.18879437e-23,"cg_du":50.1549187,"cg_dv":50.2032356,"cg_dw":49.7967644,"cg_id_a":0.0430062674,"cg_id_raw_a":0.174333215,"cg_iq_a":-0.095041886,"cg_iq_raw_a":-0.309780866,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528213,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14354916,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0763762221,"cg_vd_v":0.0763762221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363123029,"cg_vq_v":-0.363123029,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.737549,"values":{"Elec_RPM":-5.94397163e-23,"EncoderCos":38754,"EncoderSin":12491,"GapTicks":54769,"Mech_RPM":-1.18879437e-23,"cg_du":50.1581612,"cg_dv":50.209774,"cg_dw":49.790226,"cg_id_a":0.0858883113,"cg_id_raw_a":0.394259274,"cg_iq_a":0.345081031,"cg_iq_raw_a":0.25401473,"cg_iu_a":-0.323661089,"cg_iv_a":-0.365772128,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8563633,"cg_sample_seq":14354966,"cg_sample_valid":1,"cg_theta_rad":5.00889111,"cg_vd_req_v":0.076454021,"cg_vd_v":0.076454021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374610066,"cg_vq_v":-0.374610066,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5041809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.745361,"values":{"Elec_RPM":-5.82509281e-23,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54759,"Mech_RPM":-1.1650185e-23,"cg_du":50.1496925,"cg_dv":50.218956,"cg_dw":49.781044,"cg_id_a":-0.83485955,"cg_id_raw_a":0.104755692,"cg_iq_a":0.601554215,"cg_iq_raw_a":0.411202371,"cg_iu_a":0.763653994,"cg_iv_a":-1.92425692,"cg_iw_a":1.16060293,"cg_sample_age_us":23.8454552,"cg_sample_seq":14355016,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0943316966,"cg_vd_v":0.0943316966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381900966,"cg_vq_v":-0.381900966,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.753174,"values":{"Elec_RPM":-5.82509281e-23,"EncoderCos":38733,"EncoderSin":12489,"GapTicks":54760,"Mech_RPM":-1.1650185e-23,"cg_du":50.1590576,"cg_dv":50.2175217,"cg_dw":49.7824783,"cg_id_a":-0.297585785,"cg_id_raw_a":-0.0804310516,"cg_iq_a":0.625532866,"cg_iq_raw_a":1.04893839,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758214593,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9436359,"cg_sample_seq":14355066,"cg_sample_valid":1,"cg_theta_rad":5.00560331,"cg_vd_req_v":0.0850752965,"cg_vd_v":0.0850752965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385293245,"cg_vq_v":-0.385293245,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.760986,"values":{"Elec_RPM":-5.70859068e-23,"EncoderCos":38725,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-1.14171815e-23,"cg_du":50.1574326,"cg_dv":50.2145844,"cg_dw":49.7854156,"cg_id_a":-0.254907191,"cg_id_raw_a":-0.222174391,"cg_iq_a":0.43053472,"cg_iq_raw_a":-0.129772916,"cg_iu_a":-0.359904766,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9218178,"cg_sample_seq":14355116,"cg_sample_valid":1,"cg_theta_rad":5.00739241,"cg_vd_req_v":0.0844957605,"cg_vd_v":0.0844957605,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380165309,"cg_vq_v":-0.380165309,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":21.0364666,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4865723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.792236,"values":{"Elec_RPM":-5.70859068e-23,"EncoderCos":38715,"EncoderSin":12511,"GapTicks":54769,"Mech_RPM":-1.14171815e-23,"cg_du":50.1515961,"cg_dv":50.2096291,"cg_dw":49.7903709,"cg_id_a":-0.194117531,"cg_id_raw_a":0.204912171,"cg_iq_a":0.128252268,"cg_iq_raw_a":0.457418829,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.619478941,"cg_iw_a":0.653189421,"cg_sample_age_us":23.8527279,"cg_sample_seq":14355171,"cg_sample_valid":1,"cg_theta_rad":5.00742722,"cg_vd_req_v":0.0842723027,"cg_vd_v":0.0842723027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370152712,"cg_vq_v":-0.370152712,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":21.0364666,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4865723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.800049,"values":{"Elec_RPM":-5.59441916e-23,"EncoderCos":38697,"EncoderSin":12491,"GapTicks":54774,"Mech_RPM":-1.11888378e-23,"cg_du":50.153038,"cg_dv":50.2048416,"cg_dw":49.7951584,"cg_id_a":-0.0151486471,"cg_id_raw_a":0.479031473,"cg_iq_a":-0.200827286,"cg_iq_raw_a":0.0130437911,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9436359,"cg_sample_seq":14355216,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0804933161,"cg_vd_v":0.0804933161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364013195,"cg_vq_v":-0.364013195,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.309824109,"dclink_p_w":44.8391876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2466431,"temp_inv2_c":37.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.807861,"values":{"Elec_RPM":-5.59441916e-23,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54773,"Mech_RPM":-1.11888378e-23,"cg_du":50.154644,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":0.074088946,"cg_id_raw_a":-0.107929312,"cg_iq_a":-0.183454335,"cg_iq_raw_a":0.208745405,"cg_iu_a":0.546190858,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9836369,"cg_sample_seq":14355267,"cg_sample_valid":1,"cg_theta_rad":5.00810957,"cg_vd_req_v":0.0789423883,"cg_vd_v":0.0789423883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366701275,"cg_vq_v":-0.366701275,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.309824109,"dclink_p_w":44.8391876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4897766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.815674,"values":{"Elec_RPM":-5.48253028e-23,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-1.09650609e-23,"cg_du":50.1412506,"cg_dv":50.1991577,"cg_dw":49.8008423,"cg_id_a":-0.136237428,"cg_id_raw_a":0.0123937987,"cg_iq_a":-0.806196272,"cg_iq_raw_a":-0.58073312,"cg_iu_a":-0.323661089,"cg_iv_a":0.431592226,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14355316,"cg_sample_valid":1,"cg_theta_rad":5.00591516,"cg_vd_req_v":0.0834774822,"cg_vd_v":0.0834774822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349820435,"cg_vq_v":-0.349820435,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.326133847,"dclink_p_w":47.1996078,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4897766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.823486,"values":{"Elec_RPM":-5.48253028e-23,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-1.09650609e-23,"cg_du":50.1544571,"cg_dv":50.2083664,"cg_dw":49.7916336,"cg_id_a":-0.0491153374,"cg_id_raw_a":0.122434534,"cg_iq_a":0.0963403583,"cg_iq_raw_a":-0.424176037,"cg_iu_a":-0.14244175,"cg_iv_a":-0.546991229,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9254551,"cg_sample_seq":14355366,"cg_sample_valid":1,"cg_theta_rad":5.00642443,"cg_vd_req_v":0.0816497654,"cg_vd_v":0.0816497654,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369851291,"cg_vq_v":-0.369851291,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.831299,"values":{"Elec_RPM":-5.37287988e-23,"EncoderCos":38717,"EncoderSin":12450,"GapTicks":54775,"Mech_RPM":-1.07457599e-23,"cg_du":50.1492081,"cg_dv":50.2040176,"cg_dw":49.7959824,"cg_id_a":-0.00334116817,"cg_id_raw_a":0.0713867843,"cg_iq_a":-0.154620856,"cg_iq_raw_a":-0.538428783,"cg_iu_a":0.61867857,"cg_iv_a":-0.112065196,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9436359,"cg_sample_seq":14355416,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0823095888,"cg_vd_v":0.0823095888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361974269,"cg_vq_v":-0.361974269,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.349692345,"dclink_p_w":50.6091042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.492981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.839111,"values":{"Elec_RPM":-5.37287988e-23,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-1.07457599e-23,"cg_du":50.1488914,"cg_dv":50.2081032,"cg_dw":49.7918968,"cg_id_a":-0.200555816,"cg_id_raw_a":0.107408188,"cg_iq_a":0.0422007293,"cg_iq_raw_a":0.156965792,"cg_iu_a":-0.432392597,"cg_iv_a":-0.257040501,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14355466,"cg_sample_valid":1,"cg_theta_rad":5.00489044,"cg_vd_req_v":0.0855208784,"cg_vd_v":0.0855208784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366425633,"cg_vq_v":-0.366425633,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.6026306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.2219543,"temp_inv2_c":37.492981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.85083,"values":{"Elec_RPM":-5.26542251e-23,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54764,"Mech_RPM":-1.0530845e-23,"cg_du":50.162075,"cg_dv":50.2142868,"cg_dw":49.7857132,"cg_id_a":-0.000428512692,"cg_id_raw_a":0.0208384618,"cg_iq_a":0.883565307,"cg_iq_raw_a":-0.033609204,"cg_iu_a":-1.70092678,"cg_iv_a":-0.184552908,"cg_iw_a":0.834408402,"cg_sample_age_us":23.954546,"cg_sample_seq":14355516,"cg_sample_valid":1,"cg_theta_rad":5.00688696,"cg_vd_req_v":0.0804642662,"cg_vd_v":0.0804642662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382382303,"cg_vq_v":-0.382382303,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.6026306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.858643,"values":{"Elec_RPM":-5.26542251e-23,"EncoderCos":38713,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-1.0530845e-23,"cg_du":50.1581039,"cg_dv":50.2050133,"cg_dw":49.7949867,"cg_id_a":0.125862852,"cg_id_raw_a":-0.0967219695,"cg_iq_a":0.0851593167,"cg_iq_raw_a":-0.11815723,"cg_iu_a":0.401215553,"cg_iv_a":0.359104574,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.954546,"cg_sample_seq":14355566,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0761639625,"cg_vd_v":0.0761639625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367213011,"cg_vq_v":-0.367213011,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.6026306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4881897,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.866455,"values":{"Elec_RPM":-5.16011399e-23,"EncoderCos":38700,"EncoderSin":12475,"GapTicks":54777,"Mech_RPM":-1.03202278e-23,"cg_du":50.1583328,"cg_dv":50.2019386,"cg_dw":49.7980614,"cg_id_a":0.230884314,"cg_id_raw_a":0.143441066,"cg_iq_a":-0.230184942,"cg_iq_raw_a":0.41618979,"cg_iu_a":0.00253343582,"cg_iv_a":0.467836082,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.8563633,"cg_sample_seq":14355616,"cg_sample_valid":1,"cg_theta_rad":5.00621462,"cg_vd_req_v":0.0736621767,"cg_vd_v":0.0736621767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363035858,"cg_vq_v":-0.363035858,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.6026306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.893799,"values":{"Elec_RPM":-5.05691142e-23,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54772,"Mech_RPM":-1.01138232e-23,"cg_du":50.1474419,"cg_dv":50.2063866,"cg_dw":49.7936134,"cg_id_a":-0.150381923,"cg_id_raw_a":0.22109963,"cg_iq_a":-0.0599117763,"cg_iq_raw_a":-0.378982991,"cg_iu_a":0.147508621,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14355716,"cg_sample_valid":1,"cg_theta_rad":5.0063839,"cg_vd_req_v":0.0833915845,"cg_vd_v":0.0833915845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363649338,"cg_vq_v":-0.363649338,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4913635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.905518,"values":{"Elec_RPM":-5.05691142e-23,"EncoderCos":38734,"EncoderSin":12494,"GapTicks":54781,"Mech_RPM":-1.01138232e-23,"cg_du":50.1475983,"cg_dv":50.1988106,"cg_dw":49.8011894,"cg_id_a":0.148436755,"cg_id_raw_a":0.241064906,"cg_iq_a":-0.449468523,"cg_iq_raw_a":-0.595600784,"cg_iu_a":-0.0337102413,"cg_iv_a":0.177885473,"cg_iw_a":-0.144175231,"cg_sample_age_us":23.9363632,"cg_sample_seq":14355766,"cg_sample_valid":1,"cg_theta_rad":5.00826597,"cg_vd_req_v":0.0760365501,"cg_vd_v":0.0760365501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3545084,"cg_vq_v":-0.3545084,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.505540788,"dclink_p_w":73.1642151,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4865723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.91333,"values":{"Elec_RPM":-4.95577314e-23,"EncoderCos":38708,"EncoderSin":12472,"GapTicks":54779,"Mech_RPM":-9.9115466e-24,"cg_du":50.1474419,"cg_dv":50.2000465,"cg_dw":49.7999535,"cg_id_a":0.010190092,"cg_id_raw_a":0.226478577,"cg_iq_a":-0.408092916,"cg_iq_raw_a":-0.195015982,"cg_iu_a":0.111264825,"cg_iv_a":0.0691539049,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8563633,"cg_sample_seq":14355816,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0797584131,"cg_vd_v":0.0797584131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354452312,"cg_vq_v":-0.354452312,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.505540788,"dclink_p_w":73.1642151,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4753723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.921143,"values":{"Elec_RPM":-4.95577314e-23,"EncoderCos":38722,"EncoderSin":12447,"GapTicks":54779,"Mech_RPM":-9.9115466e-24,"cg_du":50.1480484,"cg_dv":50.2004395,"cg_dw":49.7995605,"cg_id_a":0.0590086356,"cg_id_raw_a":0.185708031,"cg_iq_a":-0.366543651,"cg_iq_raw_a":-0.636399686,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9836369,"cg_sample_seq":14355866,"cg_sample_valid":1,"cg_theta_rad":5.00597191,"cg_vd_req_v":0.0791472718,"cg_vd_v":0.0791472718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355440795,"cg_vq_v":-0.355440795,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.505540788,"dclink_p_w":73.1642151,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4753723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.928955,"values":{"Elec_RPM":-4.8566575e-23,"EncoderCos":38749,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-9.71331532e-24,"cg_du":50.1517296,"cg_dv":50.2051277,"cg_dw":49.7948723,"cg_id_a":0.112854138,"cg_id_raw_a":0.419889778,"cg_iq_a":-0.00689241011,"cg_iq_raw_a":-0.0340084583,"cg_iu_a":-0.0699541569,"cg_iv_a":0.10539782,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8600006,"cg_sample_seq":14355916,"cg_sample_valid":1,"cg_theta_rad":5.00851107,"cg_vd_req_v":0.0777657032,"cg_vd_v":0.0777657032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364542365,"cg_vq_v":-0.364542365,"cg_vu_v":27.2733402,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.539972425,"dclink_p_w":78.1473236,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4913635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.936768,"values":{"Elec_RPM":-4.8566575e-23,"EncoderCos":38769,"EncoderSin":12482,"GapTicks":54771,"Mech_RPM":-9.71331532e-24,"cg_du":50.1459846,"cg_dv":50.2073212,"cg_dw":49.7926788,"cg_id_a":-0.079620406,"cg_id_raw_a":-0.111601025,"cg_iq_a":-0.06171377,"cg_iq_raw_a":0.282251418,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9581814,"cg_sample_seq":14355966,"cg_sample_valid":1,"cg_theta_rad":5.00590467,"cg_vd_req_v":0.0829552636,"cg_vd_v":0.0829552636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365850717,"cg_vq_v":-0.365850717,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.257270575,"dclink_p_w":37.2333946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4913635,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.948486,"values":{"Elec_RPM":-4.75952443e-23,"EncoderCos":38690,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-9.51904886e-24,"cg_du":50.1576538,"cg_dv":50.2051888,"cg_dw":49.7948112,"cg_id_a":0.143440858,"cg_id_raw_a":-0.438365877,"cg_iq_a":-0.020697549,"cg_iq_raw_a":-0.264269412,"cg_iu_a":-0.722343206,"cg_iv_a":0.141641557,"cg_iw_a":0.580701649,"cg_sample_age_us":23.8563633,"cg_sample_seq":14356016,"cg_sample_valid":1,"cg_theta_rad":5.00545883,"cg_vd_req_v":0.0789966881,"cg_vd_v":0.0789966881,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367876351,"cg_vq_v":-0.367876351,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.257270575,"dclink_p_w":37.2333946,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4705811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2597.956299,"values":{"Elec_RPM":-4.75952443e-23,"EncoderCos":38740,"EncoderSin":12503,"GapTicks":54771,"Mech_RPM":-9.51904886e-24,"cg_du":50.1601486,"cg_dv":50.2079468,"cg_dw":49.7920532,"cg_id_a":0.245496958,"cg_id_raw_a":0.397910595,"cg_iq_a":0.0873371363,"cg_iq_raw_a":-0.254175633,"cg_iu_a":-0.758587122,"cg_iv_a":0.141641617,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9436359,"cg_sample_seq":14356067,"cg_sample_valid":1,"cg_theta_rad":5.00812912,"cg_vd_req_v":0.0740087405,"cg_vd_v":0.0740087405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373040229,"cg_vq_v":-0.373040229,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4849548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.964111,"values":{"Elec_RPM":-4.66433385e-23,"EncoderCos":38696,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-9.32866753e-24,"cg_du":50.161129,"cg_dv":50.2057724,"cg_dw":49.7942276,"cg_id_a":0.179569304,"cg_id_raw_a":-0.0918432325,"cg_iq_a":0.0101010092,"cg_iq_raw_a":0.246406764,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9654541,"cg_sample_seq":14356117,"cg_sample_valid":1,"cg_theta_rad":5.00611687,"cg_vd_req_v":0.0755089968,"cg_vd_v":0.0755089968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369749486,"cg_vq_v":-0.369749486,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4849548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2597.974659,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2597.974666,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2597.974672,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2597.991455,"values":{"Elec_RPM":-4.66433385e-23,"EncoderCos":38766,"EncoderSin":12435,"GapTicks":54770,"Mech_RPM":-9.32866753e-24,"cg_du":50.1604385,"cg_dv":50.2082443,"cg_dw":49.7917557,"cg_id_a":0.229594946,"cg_id_raw_a":0.0131400051,"cg_iq_a":0.123711973,"cg_iq_raw_a":-0.653024912,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8563633,"cg_sample_seq":14356170,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0736180842,"cg_vd_v":0.0736180842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373698682,"cg_vq_v":-0.373698682,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.145035982,"dclink_p_w":-20.9902821,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4961853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2597.999268,"values":{"Elec_RPM":-4.57104694e-23,"EncoderCos":38726,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-9.14209404e-24,"cg_du":50.1617508,"cg_dv":50.2061386,"cg_dw":49.7938614,"cg_id_a":0.237997413,"cg_id_raw_a":0.104125544,"cg_iq_a":0.0059960112,"cg_iq_raw_a":-0.0257597137,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8672733,"cg_sample_seq":14356216,"cg_sample_valid":1,"cg_theta_rad":5.00603437,"cg_vd_req_v":0.0723407418,"cg_vd_v":0.0723407418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371204168,"cg_vq_v":-0.371204168,"cg_vu_v":19.795166,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.00708,"values":{"Elec_RPM":-4.57104694e-23,"EncoderCos":38695,"EncoderSin":12479,"GapTicks":54777,"Mech_RPM":-9.14209404e-24,"cg_du":50.1645317,"cg_dv":50.2026939,"cg_dw":49.7973061,"cg_id_a":0.268763423,"cg_id_raw_a":1.04350841,"cg_iq_a":-0.207903311,"cg_iq_raw_a":1.27409852,"cg_iu_a":0.256240129,"cg_iv_a":0.504079938,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.9509087,"cg_sample_seq":14356266,"cg_sample_valid":1,"cg_theta_rad":5.00658131,"cg_vd_req_v":0.0698674694,"cg_vd_v":0.0698674694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367501557,"cg_vq_v":-0.367501557,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.018799,"values":{"Elec_RPM":-4.47962585e-23,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-8.95925186e-24,"cg_du":50.1820068,"cg_dv":50.2138023,"cg_dw":49.7861977,"cg_id_a":0.488192916,"cg_id_raw_a":-0.0665570572,"cg_iq_a":0.898302972,"cg_iq_raw_a":0.212733641,"cg_iu_a":-1.95463347,"cg_iv_a":0.21412921,"cg_iw_a":1.74050426,"cg_sample_age_us":23.8709087,"cg_sample_seq":14356316,"cg_sample_valid":1,"cg_theta_rad":5.00677872,"cg_vd_req_v":0.0656391084,"cg_vd_v":0.0656391084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3926678,"cg_vq_v":-0.3926678,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.026611,"values":{"Elec_RPM":-4.47962585e-23,"EncoderCos":38704,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-8.95925186e-24,"cg_du":50.1735229,"cg_dv":50.2164154,"cg_dw":49.7835846,"cg_id_a":-0.0396748632,"cg_id_raw_a":-0.043191012,"cg_iq_a":0.907988071,"cg_iq_raw_a":-0.440663517,"cg_iu_a":-0.577368021,"cg_iv_a":-0.873185754,"cg_iw_a":1.45055377,"cg_sample_age_us":23.8672733,"cg_sample_seq":14356366,"cg_sample_valid":1,"cg_theta_rad":5.00649261,"cg_vd_req_v":0.075623475,"cg_vd_v":0.075623475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392521948,"cg_vq_v":-0.392521948,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2602,"hz_tim_isr":5000,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.03833,"values":{"Elec_RPM":-4.39003334e-23,"EncoderCos":38726,"EncoderSin":12471,"GapTicks":54769,"Mech_RPM":-8.78006684e-24,"cg_du":50.1543236,"cg_dv":50.2099152,"cg_dw":49.7900848,"cg_id_a":-0.446756095,"cg_id_raw_a":-1.79832768,"cg_iq_a":-0.0967880413,"cg_iq_raw_a":0.956332505,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284297,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9763641,"cg_sample_seq":14356418,"cg_sample_valid":1,"cg_theta_rad":5.00769043,"cg_vd_req_v":0.0825040117,"cg_vd_v":0.0825040117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372048616,"cg_vq_v":-0.372048616,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.053955,"values":{"Elec_RPM":-4.39003334e-23,"EncoderCos":38704,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-8.78006684e-24,"cg_du":50.1593552,"cg_dv":50.2053337,"cg_dw":49.7946663,"cg_id_a":-0.0372663289,"cg_id_raw_a":-0.232656077,"cg_iq_a":-0.294306964,"cg_iq_raw_a":-0.860290349,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9472733,"cg_sample_seq":14356467,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0752914697,"cg_vd_v":0.0752914697,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367232472,"cg_vq_v":-0.367232472,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.2002869,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.065674,"values":{"Elec_RPM":-4.30223281e-23,"EncoderCos":38740,"EncoderSin":12499,"GapTicks":54768,"Mech_RPM":-8.60446561e-24,"cg_du":50.1525879,"cg_dv":50.2104721,"cg_dw":49.7895279,"cg_id_a":-0.362645984,"cg_id_raw_a":0.268555462,"cg_iq_a":-0.198967874,"cg_iq_raw_a":0.243652135,"cg_iu_a":0.401215672,"cg_iv_a":0.0329101086,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8527279,"cg_sample_seq":14356516,"cg_sample_valid":1,"cg_theta_rad":5.00690651,"cg_vd_req_v":0.0825063661,"cg_vd_v":0.0825063661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372262269,"cg_vq_v":-0.372262269,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.077393,"values":{"Elec_RPM":-4.30223281e-23,"EncoderCos":38702,"EncoderSin":12423,"GapTicks":54776,"Mech_RPM":-8.60446561e-24,"cg_du":50.1708183,"cg_dv":50.2027435,"cg_dw":49.7972565,"cg_id_a":0.382191807,"cg_id_raw_a":-0.143478408,"cg_iq_a":-0.272747546,"cg_iq_raw_a":0.131491289,"cg_iu_a":0.219996452,"cg_iv_a":1.15646887,"cg_iw_a":-1.37646532,"cg_sample_age_us":23.9509087,"cg_sample_seq":14356567,"cg_sample_valid":1,"cg_theta_rad":5.00852489,"cg_vd_req_v":0.06583599,"cg_vd_v":0.06583599,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37097472,"cg_vq_v":-0.37097472,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4897766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.089111,"values":{"Elec_RPM":-4.21618828e-23,"EncoderCos":38733,"EncoderSin":12455,"GapTicks":54773,"Mech_RPM":-8.4323764e-24,"cg_du":50.1661224,"cg_dv":50.2058754,"cg_dw":49.7941246,"cg_id_a":0.291976273,"cg_id_raw_a":0.0206709113,"cg_iq_a":-0.00739604235,"cg_iq_raw_a":-0.470543802,"cg_iu_a":0.256240129,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9181824,"cg_sample_seq":14356616,"cg_sample_valid":1,"cg_theta_rad":5.00723553,"cg_vd_req_v":0.0693470016,"cg_vd_v":0.0693470016,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37433514,"cg_vq_v":-0.37433514,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4705811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.124268,"values":{"Elec_RPM":-4.21618828e-23,"EncoderCos":38732,"EncoderSin":12486,"GapTicks":54769,"Mech_RPM":-8.4323764e-24,"cg_du":50.1639137,"cg_dv":50.2091522,"cg_dw":49.7908478,"cg_id_a":0.0751616731,"cg_id_raw_a":-0.0606763773,"cg_iq_a":0.108215421,"cg_iq_raw_a":-0.732960165,"cg_iu_a":-0.577367783,"cg_iv_a":-0.329528213,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9799995,"cg_sample_seq":14356670,"cg_sample_valid":1,"cg_theta_rad":5.00710869,"cg_vd_req_v":0.0733277798,"cg_vd_v":0.0733277798,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376559764,"cg_vq_v":-0.376559764,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4705811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.139893,"values":{"Elec_RPM":-4.13186441e-23,"EncoderCos":38703,"EncoderSin":12473,"GapTicks":54776,"Mech_RPM":-8.26372898e-24,"cg_du":50.1602478,"cg_dv":50.2027855,"cg_dw":49.7972145,"cg_id_a":0.0697347224,"cg_id_raw_a":0.54035449,"cg_iq_a":-0.33630085,"cg_iq_raw_a":0.237782657,"cg_iu_a":0.111264944,"cg_iv_a":0.286616981,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.954546,"cg_sample_seq":14356717,"cg_sample_valid":1,"cg_theta_rad":5.00895214,"cg_vd_req_v":0.072790347,"cg_vd_v":0.072790347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365304291,"cg_vq_v":-0.365304291,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4673767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.151611,"values":{"Elec_RPM":-4.13186441e-23,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-8.26372898e-24,"cg_du":50.1594162,"cg_dv":50.2070732,"cg_dw":49.7929268,"cg_id_a":-0.182338133,"cg_id_raw_a":-0.422706902,"cg_iq_a":-0.0448712409,"cg_iq_raw_a":-0.223516852,"cg_iu_a":-0.432392597,"cg_iv_a":-0.583235025,"cg_iw_a":1.01562762,"cg_sample_age_us":23.954546,"cg_sample_seq":14356766,"cg_sample_valid":1,"cg_theta_rad":5.00609589,"cg_vd_req_v":0.0772689134,"cg_vd_v":0.0772689134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371897846,"cg_vq_v":-0.371897846,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.8450317,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4673767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.16333,"values":{"Elec_RPM":-3.81110031e-23,"EncoderCos":38728,"EncoderSin":12479,"GapTicks":54770,"Mech_RPM":-7.62220047e-24,"cg_du":50.1580734,"cg_dv":50.2083817,"cg_dw":49.7916183,"cg_id_a":-0.0121940412,"cg_id_raw_a":-0.0523815863,"cg_iq_a":-0.127816111,"cg_iq_raw_a":-0.36826995,"cg_iu_a":0.147508621,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14357116,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.0776974484,"cg_vd_v":0.0776974484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372140676,"cg_vq_v":-0.372140676,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.8151932,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.5009766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.175049,"values":{"Elec_RPM":-3.81110031e-23,"EncoderCos":38704,"EncoderSin":12498,"GapTicks":54772,"Mech_RPM":-7.62220047e-24,"cg_du":50.165905,"cg_dv":50.2069244,"cg_dw":49.7930756,"cg_id_a":0.228781983,"cg_id_raw_a":-0.10539262,"cg_iq_a":-0.0759258866,"cg_iq_raw_a":0.390968144,"cg_iu_a":0.43745935,"cg_iv_a":0.431592345,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.954546,"cg_sample_seq":14357167,"cg_sample_valid":1,"cg_theta_rad":5.00616455,"cg_vd_req_v":0.0716834962,"cg_vd_v":0.0716834962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374250293,"cg_vq_v":-0.374250293,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.5009766,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.210205,"values":{"Elec_RPM":-3.73487805e-23,"EncoderCos":38730,"EncoderSin":12493,"GapTicks":54770,"Mech_RPM":-7.46975625e-24,"cg_du":50.1592102,"cg_dv":50.2090225,"cg_dw":49.7909775,"cg_id_a":-0.0526405312,"cg_id_raw_a":0.344459623,"cg_iq_a":-0.0399379283,"cg_iq_raw_a":0.324367046,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9581814,"cg_sample_seq":14357221,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.0771262646,"cg_vd_v":0.0771262646,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374896616,"cg_vq_v":-0.374896616,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4737854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.221924,"values":{"Elec_RPM":-3.73487805e-23,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-7.46975625e-24,"cg_du":50.1594505,"cg_dv":50.2071648,"cg_dw":49.7928352,"cg_id_a":-0.0436621904,"cg_id_raw_a":0.576280355,"cg_iq_a":-0.130890608,"cg_iq_raw_a":-0.125873893,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14357266,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0759515241,"cg_vd_v":0.0759515241,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372329533,"cg_vq_v":-0.372329533,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.8151932,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.237549,"values":{"Elec_RPM":-3.66018049e-23,"EncoderCos":38724,"EncoderSin":12502,"GapTicks":54770,"Mech_RPM":-7.32036099e-24,"cg_du":50.1598053,"cg_dv":50.2082787,"cg_dw":49.7917213,"cg_id_a":-0.0364989862,"cg_id_raw_a":0.00714087579,"cg_iq_a":-0.0939417034,"cg_iq_raw_a":0.110696852,"cg_iu_a":0.328727961,"cg_iv_a":0.359104574,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.954546,"cg_sample_seq":14357317,"cg_sample_valid":1,"cg_theta_rad":5.00662518,"cg_vd_req_v":0.0762147382,"cg_vd_v":0.0762147382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374160141,"cg_vq_v":-0.374160141,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.8151932,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.249268,"values":{"Elec_RPM":-3.66018049e-23,"EncoderCos":38719,"EncoderSin":12492,"GapTicks":54762,"Mech_RPM":-7.32036099e-24,"cg_du":50.1763992,"cg_dv":50.2161827,"cg_dw":49.7838173,"cg_id_a":0.158095166,"cg_id_raw_a":0.1771027,"cg_iq_a":0.726060212,"cg_iq_raw_a":-0.127758473,"cg_iu_a":-0.541124105,"cg_iv_a":-0.365772009,"cg_iw_a":1.16060281,"cg_sample_age_us":23.9290905,"cg_sample_seq":14357366,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0713066235,"cg_vd_v":0.0713066235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392937124,"cg_vq_v":-0.392937124,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.5153809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.260986,"values":{"Elec_RPM":-3.58697704e-23,"EncoderCos":38690,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-7.17395393e-24,"cg_du":50.1706161,"cg_dv":50.217659,"cg_dw":49.782341,"cg_id_a":-0.171722472,"cg_id_raw_a":-0.599049687,"cg_iq_a":0.374564797,"cg_iq_raw_a":0.266669691,"cg_iu_a":-0.794831038,"cg_iv_a":-0.148309052,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9436359,"cg_sample_seq":14357467,"cg_sample_valid":1,"cg_theta_rad":5.00700808,"cg_vd_req_v":0.0800514147,"cg_vd_v":0.0800514147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391144872,"cg_vq_v":-0.391144872,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.8729553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4785767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.276611,"values":{"Elec_RPM":-3.5152374e-23,"EncoderCos":38703,"EncoderSin":12511,"GapTicks":54758,"Mech_RPM":-7.03047512e-24,"cg_du":50.1752167,"cg_dv":50.2194176,"cg_dw":49.7805824,"cg_id_a":0.0647689551,"cg_id_raw_a":-0.350147694,"cg_iq_a":0.58969903,"cg_iq_raw_a":1.16807199,"cg_iu_a":-0.468636513,"cg_iv_a":0.0691539049,"cg_iw_a":0.399482608,"cg_sample_age_us":23.8490906,"cg_sample_seq":14357516,"cg_sample_valid":1,"cg_theta_rad":5.00684595,"cg_vd_req_v":0.0762989745,"cg_vd_v":0.0762989745,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396497965,"cg_vq_v":-0.396497965,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4545898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.28833,"values":{"Elec_RPM":-3.5152374e-23,"EncoderCos":38749,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-7.03047512e-24,"cg_du":50.1656494,"cg_dv":50.2175598,"cg_dw":49.7824402,"cg_id_a":-0.084357366,"cg_id_raw_a":-0.00536722224,"cg_iq_a":0.193050936,"cg_iq_raw_a":0.255054265,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333374739,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9472733,"cg_sample_seq":14357567,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.078855589,"cg_vd_v":0.078855589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390471995,"cg_vq_v":-0.390471995,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4545898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.303955,"values":{"Elec_RPM":-3.44493285e-23,"EncoderCos":38732,"EncoderSin":12493,"GapTicks":54761,"Mech_RPM":-6.88986539e-24,"cg_du":50.1637383,"cg_dv":50.2165337,"cg_dw":49.7834663,"cg_id_a":-0.118673831,"cg_id_raw_a":-0.0772785097,"cg_iq_a":-0.165725514,"cg_iq_raw_a":-0.334030539,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065315,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.863636,"cg_sample_seq":14357616,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0806666464,"cg_vd_v":0.0806666464,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38773945,"cg_vq_v":-0.38773945,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1972961,"temp_inv2_c":37.4961853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.315674,"values":{"Elec_RPM":-3.44493285e-23,"EncoderCos":38725,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-6.88986539e-24,"cg_du":50.1686707,"cg_dv":50.2151337,"cg_dw":49.7848663,"cg_id_a":0.114407301,"cg_id_raw_a":-0.0662259907,"cg_iq_a":-0.179322571,"cg_iq_raw_a":0.212836727,"cg_iu_a":0.401215553,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9218178,"cg_sample_seq":14357668,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0767858773,"cg_vd_v":0.0767858773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387093127,"cg_vq_v":-0.387093127,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.5600128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4609985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.346924,"values":{"Elec_RPM":-3.17749607e-23,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54760,"Mech_RPM":-6.35499206e-24,"cg_du":50.1757622,"cg_dv":50.2180824,"cg_dw":49.7819176,"cg_id_a":0.331519306,"cg_id_raw_a":-0.0769897774,"cg_iq_a":0.0143457353,"cg_iq_raw_a":0.102212511,"cg_iu_a":-0.758587122,"cg_iv_a":-0.0758213997,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9509087,"cg_sample_seq":14358016,"cg_sample_valid":1,"cg_theta_rad":5.00718021,"cg_vd_req_v":0.0760133266,"cg_vd_v":0.0760133266,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394712329,"cg_vq_v":-0.394712329,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4497986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.362549,"values":{"Elec_RPM":-3.17749607e-23,"EncoderCos":38746,"EncoderSin":12491,"GapTicks":54755,"Mech_RPM":-6.35499206e-24,"cg_du":50.1772308,"cg_dv":50.2223244,"cg_dw":49.7776756,"cg_id_a":0.332333326,"cg_id_raw_a":-0.0425814949,"cg_iq_a":0.49785924,"cg_iq_raw_a":0.433653861,"cg_iu_a":-0.649855614,"cg_iv_a":0.10539782,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9581814,"cg_sample_seq":14358066,"cg_sample_valid":1,"cg_theta_rad":5.00670958,"cg_vd_req_v":0.0741707161,"cg_vd_v":0.0741707161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402214468,"cg_vq_v":-0.402214468,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.181158543,"dclink_p_w":26.2181072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4593811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.374268,"values":{"Elec_RPM":-3.11394607e-23,"EncoderCos":38714,"EncoderSin":12449,"GapTicks":54762,"Mech_RPM":-6.22789237e-24,"cg_du":50.1666451,"cg_dv":50.2158585,"cg_dw":49.7841415,"cg_id_a":0.0048328992,"cg_id_raw_a":-0.423318744,"cg_iq_a":-0.291241795,"cg_iq_raw_a":-0.843174636,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9872723,"cg_sample_seq":14358116,"cg_sample_valid":1,"cg_theta_rad":5.00885105,"cg_vd_req_v":0.0799909607,"cg_vd_v":0.0799909607,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385528505,"cg_vq_v":-0.385528505,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.88127995,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4593811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.389893,"values":{"Elec_RPM":-3.11394607e-23,"EncoderCos":38732,"EncoderSin":12489,"GapTicks":54758,"Mech_RPM":-6.22789237e-24,"cg_du":50.1643524,"cg_dv":50.2193451,"cg_dw":49.7806549,"cg_id_a":-0.149053097,"cg_id_raw_a":0.0905795619,"cg_iq_a":-0.0152159482,"cg_iq_raw_a":0.118498728,"cg_iu_a":-0.14244175,"cg_iv_a":0.177885413,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9436359,"cg_sample_seq":14358167,"cg_sample_valid":1,"cg_theta_rad":5.0064292,"cg_vd_req_v":0.0827623755,"cg_vd_v":0.0827623755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390718281,"cg_vq_v":-0.390718281,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.027243495,"dclink_p_w":-3.94280553,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4705811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.421143,"values":{"Elec_RPM":-3.05166708e-23,"EncoderCos":38733,"EncoderSin":12506,"GapTicks":54757,"Mech_RPM":-6.10333439e-24,"cg_du":50.1649933,"cg_dv":50.2207069,"cg_dw":49.7792931,"cg_id_a":-0.154337525,"cg_id_raw_a":-0.288500994,"cg_iq_a":0.0413706973,"cg_iq_raw_a":-0.0986170098,"cg_iu_a":-0.359905005,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164725,"cg_sample_age_us":23.863636,"cg_sample_seq":14358221,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.0830227509,"cg_vd_v":0.0830227509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393043071,"cg_vq_v":-0.393043071,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.432861,"values":{"Elec_RPM":-3.05166708e-23,"EncoderCos":38699,"EncoderSin":12489,"GapTicks":54762,"Mech_RPM":-6.10333439e-24,"cg_du":50.1718597,"cg_dv":50.2155609,"cg_dw":49.7844391,"cg_id_a":0.271102488,"cg_id_raw_a":-0.123618782,"cg_iq_a":-0.207593828,"cg_iq_raw_a":-0.266720265,"cg_iu_a":-0.287417412,"cg_iv_a":0.75778681,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9654541,"cg_sample_seq":14358266,"cg_sample_valid":1,"cg_theta_rad":5.00636148,"cg_vd_req_v":0.0763496086,"cg_vd_v":0.0763496086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390372694,"cg_vq_v":-0.390372694,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.448486,"values":{"Elec_RPM":-2.99063385e-23,"EncoderCos":38742,"EncoderSin":12476,"GapTicks":54751,"Mech_RPM":-5.98126763e-24,"cg_du":50.1660767,"cg_dv":50.2261848,"cg_dw":49.7738152,"cg_id_a":-0.138600439,"cg_id_raw_a":0.422437549,"cg_iq_a":0.141386151,"cg_iq_raw_a":-0.287780344,"cg_iu_a":0.14750886,"cg_iv_a":-0.438259721,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9872723,"cg_sample_seq":14358367,"cg_sample_valid":1,"cg_theta_rad":5.00716686,"cg_vd_req_v":0.0872023478,"cg_vd_v":0.0872023478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399905026,"cg_vq_v":-0.399905026,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-70.606102,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.451416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.460205,"values":{"Elec_RPM":-2.93082116e-23,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54760,"Mech_RPM":-5.86164239e-24,"cg_du":50.1664238,"cg_dv":50.2178917,"cg_dw":49.7821083,"cg_id_a":0.092934452,"cg_id_raw_a":0.302086651,"cg_iq_a":-0.290786445,"cg_iq_raw_a":-0.115670584,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14358417,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.080591619,"cg_vd_v":0.080591619,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388477653,"cg_vq_v":-0.388477653,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-70.606102,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.471924,"values":{"Elec_RPM":-2.93082116e-23,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54756,"Mech_RPM":-5.86164239e-24,"cg_du":50.1666565,"cg_dv":50.2217598,"cg_dw":49.7782402,"cg_id_a":-0.119958892,"cg_id_raw_a":-0.212259129,"cg_iq_a":0.116368867,"cg_iq_raw_a":0.41710043,"cg_iu_a":0.256240368,"cg_iv_a":0.105397761,"cg_iw_a":-0.361638129,"cg_sample_age_us":24.045454,"cg_sample_seq":14358466,"cg_sample_valid":1,"cg_theta_rad":5.00649357,"cg_vd_req_v":0.0847653672,"cg_vd_v":0.0847653672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394980073,"cg_vq_v":-0.394980073,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.487549,"values":{"Elec_RPM":-2.87220469e-23,"EncoderCos":38744,"EncoderSin":12488,"GapTicks":54772,"Mech_RPM":-5.74440938e-24,"cg_du":50.1607056,"cg_dv":50.2065086,"cg_dw":49.7934914,"cg_id_a":0.500476241,"cg_id_raw_a":-0.371981829,"cg_iq_a":-0.969736159,"cg_iq_raw_a":-0.105840772,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14358518,"cg_sample_valid":1,"cg_theta_rad":5.00697184,"cg_vd_req_v":0.0722308308,"cg_vd_v":0.0722308308,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371378124,"cg_vq_v":-0.371378124,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4801941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.499268,"values":{"Elec_RPM":-2.87220469e-23,"EncoderCos":38719,"EncoderSin":12484,"GapTicks":54760,"Mech_RPM":-5.74440938e-24,"cg_du":50.1717377,"cg_dv":50.2178917,"cg_dw":49.7821083,"cg_id_a":0.196321547,"cg_id_raw_a":0.249459714,"cg_iq_a":0.220458344,"cg_iq_raw_a":0.644047797,"cg_iu_a":-0.0699543953,"cg_iv_a":0.322860718,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9218178,"cg_sample_seq":14358567,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0770755038,"cg_vd_v":0.0770755038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393800914,"cg_vq_v":-0.393800914,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.510986,"values":{"Elec_RPM":-2.81476047e-23,"EncoderCos":38721,"EncoderSin":12497,"GapTicks":54766,"Mech_RPM":-5.62952126e-24,"cg_du":50.1631927,"cg_dv":50.2119675,"cg_dw":49.7880325,"cg_id_a":0.182582706,"cg_id_raw_a":-0.305547506,"cg_iq_a":-0.375503987,"cg_iq_raw_a":-0.137655392,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8563633,"cg_sample_seq":14358616,"cg_sample_valid":1,"cg_theta_rad":5.00903463,"cg_vd_req_v":0.0772823319,"cg_vd_v":0.0772823319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379864395,"cg_vq_v":-0.379864395,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4865723,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.546143,"values":{"Elec_RPM":-2.64923e-23,"EncoderCos":38714,"EncoderSin":12515,"GapTicks":54770,"Mech_RPM":-5.29846e-24,"cg_du":50.1773796,"cg_dv":50.2089806,"cg_dw":49.7910194,"cg_id_a":0.139044985,"cg_id_raw_a":0.388849378,"cg_iq_a":-0.341019988,"cg_iq_raw_a":0.0745530576,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796824,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14358919,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.0709055662,"cg_vd_v":0.0709055662,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385156453,"cg_vq_v":-0.385156453,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.557861,"values":{"Elec_RPM":-2.64923e-23,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-5.29846e-24,"cg_du":50.1710052,"cg_dv":50.2169609,"cg_dw":49.7830391,"cg_id_a":-0.0926307812,"cg_id_raw_a":0.260181367,"cg_iq_a":0.046666801,"cg_iq_raw_a":-0.12023291,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0395774841,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9509087,"cg_sample_seq":14358967,"cg_sample_valid":1,"cg_theta_rad":5.00735331,"cg_vd_req_v":0.0755256265,"cg_vd_v":0.0755256265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391122222,"cg_vq_v":-0.391122222,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.56958,"values":{"Elec_RPM":-2.59624537e-23,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-5.19249074e-24,"cg_du":50.1726799,"cg_dv":50.2196922,"cg_dw":49.7803078,"cg_id_a":-0.249302655,"cg_id_raw_a":0.209293291,"cg_iq_a":0.0943152606,"cg_iq_raw_a":-0.233154982,"cg_iu_a":0.14750886,"cg_iv_a":-0.402015805,"cg_iw_a":0.254506946,"cg_sample_age_us":23.8600006,"cg_sample_seq":14359016,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0791920424,"cg_vd_v":0.0791920424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395318747,"cg_vq_v":-0.395318747,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.585205,"values":{"Elec_RPM":-2.59624537e-23,"EncoderCos":38696,"EncoderSin":12491,"GapTicks":54766,"Mech_RPM":-5.19249074e-24,"cg_du":50.1726685,"cg_dv":50.2123909,"cg_dw":49.7876091,"cg_id_a":0.0215072259,"cg_id_raw_a":-0.253263831,"cg_iq_a":-0.252089292,"cg_iq_raw_a":-0.024985427,"cg_iu_a":0.437459469,"cg_iv_a":0.0691539645,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9872723,"cg_sample_seq":14359067,"cg_sample_valid":1,"cg_theta_rad":5.00671148,"cg_vd_req_v":0.072600238,"cg_vd_v":0.072600238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385308713,"cg_vq_v":-0.385308713,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4577942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.596924,"values":{"Elec_RPM":-2.54432034e-23,"EncoderCos":38708,"EncoderSin":12471,"GapTicks":54767,"Mech_RPM":-5.08864075e-24,"cg_du":50.1743965,"cg_dv":50.2111473,"cg_dw":49.7888527,"cg_id_a":0.157895774,"cg_id_raw_a":-0.050503917,"cg_iq_a":-0.0842015669,"cg_iq_raw_a":-0.368531883,"cg_iu_a":0.147508621,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9618187,"cg_sample_seq":14359116,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.069720827,"cg_vd_v":0.069720827,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385859847,"cg_vq_v":-0.385859847,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.608643,"values":{"Elec_RPM":-2.54432034e-23,"EncoderCos":38712,"EncoderSin":12496,"GapTicks":54766,"Mech_RPM":-5.08864075e-24,"cg_du":50.1682129,"cg_dv":50.2119408,"cg_dw":49.7880592,"cg_id_a":-0.0203639679,"cg_id_raw_a":-0.045101326,"cg_iq_a":-0.0376209021,"cg_iq_raw_a":-0.00360701117,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9872723,"cg_sample_seq":14359167,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0743430331,"cg_vd_v":0.0743430331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383641362,"cg_vq_v":-0.383641362,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.643799,"values":{"Elec_RPM":-2.49343392e-23,"EncoderCos":38753,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-4.98686783e-24,"cg_du":50.162674,"cg_dv":50.2072411,"cg_dw":49.7927589,"cg_id_a":0.240209341,"cg_id_raw_a":0.152071014,"cg_iq_a":-0.393511117,"cg_iq_raw_a":-0.0948597789,"cg_iu_a":-0.541124105,"cg_iv_a":0.322860718,"cg_iw_a":0.218263388,"cg_sample_age_us":26.8163643,"cg_sample_seq":14359269,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0705448538,"cg_vd_v":0.0705448538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373631865,"cg_vq_v":-0.373631865,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.8857422,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.655518,"values":{"Elec_RPM":-2.44356528e-23,"EncoderCos":38717,"EncoderSin":12519,"GapTicks":54764,"Mech_RPM":-4.88713057e-24,"cg_du":50.1693382,"cg_dv":50.2138596,"cg_dw":49.7861404,"cg_id_a":0.0705629885,"cg_id_raw_a":-0.00395460753,"cg_iq_a":0.207900107,"cg_iq_raw_a":-0.436458498,"cg_iu_a":-0.976050138,"cg_iv_a":0.504079878,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9509087,"cg_sample_seq":14359317,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.074054338,"cg_vd_v":0.074054338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385923445,"cg_vq_v":-0.385923445,"cg_vu_v":103.374756,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.671143,"values":{"Elec_RPM":-2.44356528e-23,"EncoderCos":38722,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-4.88713057e-24,"cg_du":50.1630096,"cg_dv":50.2051849,"cg_dw":49.7948151,"cg_id_a":0.267861724,"cg_id_raw_a":0.437444746,"cg_iq_a":-0.299936056,"cg_iq_raw_a":0.00584242819,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14359366,"cg_sample_valid":1,"cg_theta_rad":5.0076561,"cg_vd_req_v":0.0705095604,"cg_vd_v":0.0705095604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370592147,"cg_vq_v":-0.370592147,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-90.739418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4338074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.682861,"values":{"Elec_RPM":-2.39469393e-23,"EncoderCos":38704,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-4.78938794e-24,"cg_du":50.1565971,"cg_dv":50.2037277,"cg_dw":49.7962723,"cg_id_a":0.0609186441,"cg_id_raw_a":0.201840818,"cg_iq_a":-0.585123539,"cg_iq_raw_a":-0.16129005,"cg_iu_a":0.219996452,"cg_iv_a":0.286616981,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9181824,"cg_sample_seq":14359416,"cg_sample_valid":1,"cg_theta_rad":5.00632095,"cg_vd_req_v":0.0757349059,"cg_vd_v":0.0757349059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364693969,"cg_vq_v":-0.364693969,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-90.739418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.718018,"values":{"Elec_RPM":-2.20878939e-23,"EncoderCos":38718,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-4.41757887e-24,"cg_du":50.1504059,"cg_dv":50.1980553,"cg_dw":49.8019447,"cg_id_a":0.119740292,"cg_id_raw_a":0.184302881,"cg_iq_a":-0.406594753,"cg_iq_raw_a":-1.07377684,"cg_iu_a":0.691166162,"cg_iv_a":-0.25704062,"cg_iw_a":-0.434125543,"cg_sample_age_us":26.812727,"cg_sample_seq":14359819,"cg_sample_valid":1,"cg_theta_rad":5.00799608,"cg_vd_req_v":0.0743553489,"cg_vd_v":0.0743553489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354783058,"cg_vq_v":-0.354783058,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.729736,"values":{"Elec_RPM":-2.20878939e-23,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-4.41757887e-24,"cg_du":50.1451302,"cg_dv":50.1936722,"cg_dw":49.8063278,"cg_id_a":0.140735909,"cg_id_raw_a":0.406060517,"cg_iq_a":-0.65183574,"cg_iq_raw_a":0.113184839,"cg_iu_a":0.292484283,"cg_iv_a":1.4101758,"cg_iw_a":-1.70266008,"cg_sample_age_us":24.0381813,"cg_sample_seq":14359866,"cg_sample_valid":1,"cg_theta_rad":5.00541782,"cg_vd_req_v":0.0745551065,"cg_vd_v":0.0745551065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345770687,"cg_vq_v":-0.345770687,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.741455,"values":{"Elec_RPM":-2.16461366e-23,"EncoderCos":38714,"EncoderSin":12489,"GapTicks":54781,"Mech_RPM":-4.32922723e-24,"cg_du":50.1544189,"cg_dv":50.1987877,"cg_dw":49.8012123,"cg_id_a":0.245056123,"cg_id_raw_a":0.29447633,"cg_iq_a":0.042904526,"cg_iq_raw_a":0.393782377,"cg_iu_a":-0.0337102413,"cg_iv_a":0.612811446,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9436359,"cg_sample_seq":14359917,"cg_sample_valid":1,"cg_theta_rad":5.00739956,"cg_vd_req_v":0.072162658,"cg_vd_v":0.072162658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35686034,"cg_vq_v":-0.35686034,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4530029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.75708,"values":{"Elec_RPM":-2.16461366e-23,"EncoderCos":38751,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-4.32922723e-24,"cg_du":50.1504097,"cg_dv":50.192955,"cg_dw":49.807045,"cg_id_a":0.372306734,"cg_id_raw_a":0.487825185,"cg_iq_a":-0.290015012,"cg_iq_raw_a":-0.318796515,"cg_iu_a":0.0387773514,"cg_iv_a":0.10539782,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9763641,"cg_sample_seq":14359966,"cg_sample_valid":1,"cg_theta_rad":5.00582123,"cg_vd_req_v":0.0672422945,"cg_vd_v":0.0672422945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34715277,"cg_vq_v":-0.34715277,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4530029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.768799,"values":{"Elec_RPM":-2.12132128e-23,"EncoderCos":38751,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-4.24264265e-24,"cg_du":50.1323318,"cg_dv":50.1977959,"cg_dw":49.8022041,"cg_id_a":-0.576689959,"cg_id_raw_a":-0.683078408,"cg_iq_a":-0.300384223,"cg_iq_raw_a":1.03182912,"cg_iu_a":0.872385502,"cg_iv_a":0.250373125,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.863636,"cg_sample_seq":14360017,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0851408616,"cg_vd_v":0.0851408616,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342853874,"cg_vq_v":-0.342853874,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.784424,"values":{"Elec_RPM":-2.12132128e-23,"EncoderCos":38728,"EncoderSin":12503,"GapTicks":54795,"Mech_RPM":-4.24264265e-24,"cg_du":50.141571,"cg_dv":50.1859436,"cg_dw":49.8140564,"cg_id_a":0.231956199,"cg_id_raw_a":-0.102536313,"cg_iq_a":-0.731617272,"cg_iq_raw_a":-0.736846149,"cg_iu_a":-0.359905005,"cg_iv_a":0.540323734,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9509087,"cg_sample_seq":14360066,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0685793832,"cg_vd_v":0.0685793832,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333484709,"cg_vq_v":-0.333484709,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.796143,"values":{"Elec_RPM":-2.07889477e-23,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54789,"Mech_RPM":-4.15778961e-24,"cg_du":50.1454697,"cg_dv":50.1909294,"cg_dw":49.8090706,"cg_id_a":0.085971199,"cg_id_raw_a":-0.0441783778,"cg_iq_a":-0.373356968,"cg_iq_raw_a":-0.440565348,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885413,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8672733,"cg_sample_seq":14360116,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.0719365105,"cg_vd_v":0.0719365105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342156231,"cg_vq_v":-0.342156231,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.2420235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4642029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.807861,"values":{"Elec_RPM":-2.07889477e-23,"EncoderCos":38706,"EncoderSin":12506,"GapTicks":54786,"Mech_RPM":-4.15778961e-24,"cg_du":50.1392822,"cg_dv":50.193718,"cg_dw":49.806282,"cg_id_a":-0.233643815,"cg_id_raw_a":-0.431214035,"cg_iq_a":-0.313615263,"cg_iq_raw_a":-1.20707905,"cg_iu_a":0.727410197,"cg_iv_a":0.214129329,"cg_iw_a":-0.941539526,"cg_sample_age_us":23.9836369,"cg_sample_seq":14360166,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0795685649,"cg_vd_v":0.0795685649,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342454225,"cg_vq_v":-0.342454225,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.2420235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4385986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.843018,"values":{"Elec_RPM":-2.03731691e-23,"EncoderCos":38730,"EncoderSin":12437,"GapTicks":54778,"Mech_RPM":-4.07463381e-24,"cg_du":50.1499367,"cg_dv":50.201519,"cg_dw":49.798481,"cg_id_a":-0.144366413,"cg_id_raw_a":0.0914377645,"cg_iq_a":0.259871602,"cg_iq_raw_a":-0.755005777,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148308992,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14360220,"cg_sample_valid":1,"cg_theta_rad":5.0068655,"cg_vd_req_v":0.0783148929,"cg_vd_v":0.0783148929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358059615,"cg_vq_v":-0.358059615,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.2420235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.854736,"values":{"Elec_RPM":-2.03731691e-23,"EncoderCos":38722,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-4.07463381e-24,"cg_du":50.1452866,"cg_dv":50.205143,"cg_dw":49.794857,"cg_id_a":-0.346309125,"cg_id_raw_a":0.153274283,"cg_iq_a":0.519675374,"cg_iq_raw_a":0.342980742,"cg_iu_a":-0.14244175,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9763641,"cg_sample_seq":14360267,"cg_sample_valid":1,"cg_theta_rad":5.00555038,"cg_vd_req_v":0.0841492116,"cg_vd_v":0.0841492116,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359532088,"cg_vq_v":-0.359532088,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.2420235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2598.870361,"values":{"Elec_RPM":-1.99657066e-23,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-3.99314133e-24,"cg_du":50.1423531,"cg_dv":50.1993484,"cg_dw":49.8006516,"cg_id_a":-0.294194847,"cg_id_raw_a":-1.00051725,"cg_iq_a":0.171929806,"cg_iq_raw_a":1.13923156,"cg_iu_a":0.256240129,"cg_iv_a":0.250373065,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9181824,"cg_sample_seq":14360316,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.0829110667,"cg_vd_v":0.0829110667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350672692,"cg_vq_v":-0.350672692,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.6090851,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4450073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2598.870659,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2598.87067,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2598.870673,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2598.88208,"values":{"Elec_RPM":-1.87915645e-23,"EncoderCos":38720,"EncoderSin":12492,"GapTicks":54783,"Mech_RPM":-3.75831282e-24,"cg_du":50.1420937,"cg_dv":50.1966705,"cg_dw":49.8033295,"cg_id_a":-0.0304850563,"cg_id_raw_a":-0.0937095061,"cg_iq_a":0.00685411319,"cg_iq_raw_a":0.0646074936,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14360666,"cg_sample_valid":1,"cg_theta_rad":5.00730038,"cg_vd_req_v":0.079228282,"cg_vd_v":0.079228282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347189039,"cg_vq_v":-0.347189039,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.91333,"values":{"Elec_RPM":-1.84157338e-23,"EncoderCos":38719,"EncoderSin":12498,"GapTicks":54783,"Mech_RPM":-3.6831466e-24,"cg_du":50.1472168,"cg_dv":50.1968117,"cg_dw":49.8031883,"cg_id_a":0.148247123,"cg_id_raw_a":-0.00695054419,"cg_iq_a":0.333975673,"cg_iq_raw_a":-0.181916982,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.863636,"cg_sample_seq":14360720,"cg_sample_valid":1,"cg_theta_rad":5.00614214,"cg_vd_req_v":0.075505428,"cg_vd_v":0.075505428,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351328433,"cg_vq_v":-0.351328433,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.921143,"values":{"Elec_RPM":-1.84157338e-23,"EncoderCos":38711,"EncoderSin":12444,"GapTicks":54789,"Mech_RPM":-3.6831466e-24,"cg_du":50.1424751,"cg_dv":50.1917839,"cg_dw":49.8082161,"cg_id_a":0.171443194,"cg_id_raw_a":-0.0107810283,"cg_iq_a":-0.117878228,"cg_iq_raw_a":0.0725696459,"cg_iu_a":-0.323661089,"cg_iv_a":0.57656759,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9509087,"cg_sample_seq":14360767,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0762349889,"cg_vd_v":0.0762349889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341382176,"cg_vq_v":-0.341382176,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4562073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.932861,"values":{"Elec_RPM":-1.80474178e-23,"EncoderCos":38686,"EncoderSin":12466,"GapTicks":54790,"Mech_RPM":-3.60948356e-24,"cg_du":50.136219,"cg_dv":50.1900024,"cg_dw":49.8099976,"cg_id_a":-0.0458087549,"cg_id_raw_a":-0.203208596,"cg_iq_a":-0.450883269,"cg_iq_raw_a":-0.895419538,"cg_iu_a":0.654922366,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9836369,"cg_sample_seq":14360816,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0805544332,"cg_vd_v":0.0805544332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334071368,"cg_vq_v":-0.334071368,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4306335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.940674,"values":{"Elec_RPM":-1.80474178e-23,"EncoderCos":38715,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-3.60948356e-24,"cg_du":50.1322441,"cg_dv":50.2007179,"cg_dw":49.7992821,"cg_id_a":-0.548034072,"cg_id_raw_a":-0.502359211,"cg_iq_a":0.40157932,"cg_iq_raw_a":1.00739563,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528272,"cg_iw_a":0.544457853,"cg_sample_age_us":23.9872723,"cg_sample_seq":14360866,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0917413235,"cg_vd_v":0.0917413235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34695071,"cg_vq_v":-0.34695071,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4194336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.948486,"values":{"Elec_RPM":-1.76864682e-23,"EncoderCos":38736,"EncoderSin":12485,"GapTicks":54791,"Mech_RPM":-3.53729371e-24,"cg_du":50.1358566,"cg_dv":50.1896896,"cg_dw":49.8103104,"cg_id_a":0.208533719,"cg_id_raw_a":0.230403587,"cg_iq_a":-0.189739779,"cg_iq_raw_a":-0.70576334,"cg_iu_a":-0.468636513,"cg_iv_a":0.57656759,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9509087,"cg_sample_seq":14360916,"cg_sample_valid":1,"cg_theta_rad":5.0066185,"cg_vd_req_v":0.0762993619,"cg_vd_v":0.0762993619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334436804,"cg_vq_v":-0.334436804,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4194336,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.960205,"values":{"Elec_RPM":-1.76864682e-23,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-3.53729371e-24,"cg_du":50.1428947,"cg_dv":50.194355,"cg_dw":49.805645,"cg_id_a":0.117352046,"cg_id_raw_a":0.847023249,"cg_iq_a":0.375711709,"cg_iq_raw_a":0.555740774,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9472733,"cg_sample_seq":14360966,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0763775557,"cg_vd_v":0.0763775557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344480127,"cg_vq_v":-0.344480127,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4434204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.968018,"values":{"Elec_RPM":-1.73327398e-23,"EncoderCos":38724,"EncoderSin":12500,"GapTicks":54787,"Mech_RPM":-3.46654788e-24,"cg_du":50.1409302,"cg_dv":50.1933594,"cg_dw":49.8066406,"cg_id_a":0.0486409254,"cg_id_raw_a":0.166942775,"cg_iq_a":0.206389144,"cg_iq_raw_a":0.198656589,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796764,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9436359,"cg_sample_seq":14361016,"cg_sample_valid":1,"cg_theta_rad":5.00482225,"cg_vd_req_v":0.0764305294,"cg_vd_v":0.0764305294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342142582,"cg_vq_v":-0.342142582,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4434204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.97583,"values":{"Elec_RPM":-1.73327398e-23,"EncoderCos":38722,"EncoderSin":12468,"GapTicks":54786,"Mech_RPM":-3.46654788e-24,"cg_du":50.1441154,"cg_dv":50.1941719,"cg_dw":49.8058281,"cg_id_a":0.0860130787,"cg_id_raw_a":0.398490727,"cg_iq_a":0.327705741,"cg_iq_raw_a":0.622287691,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14361066,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0758594424,"cg_vd_v":0.0758594424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345876783,"cg_vq_v":-0.345876783,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4434204,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2598.983643,"values":{"Elec_RPM":-1.69860843e-23,"EncoderCos":38731,"EncoderSin":12501,"GapTicks":54795,"Mech_RPM":-3.39721687e-24,"cg_du":50.1353455,"cg_dv":50.186058,"cg_dw":49.813942,"cg_id_a":0.136344627,"cg_id_raw_a":0.0771840364,"cg_iq_a":-0.459123671,"cg_iq_raw_a":-0.865624011,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9509087,"cg_sample_seq":14361116,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.0732039586,"cg_vd_v":0.0732039586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329193473,"cg_vq_v":-0.329193473,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.3606911,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4450073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2598.991455,"values":{"Elec_RPM":-1.69860843e-23,"EncoderCos":38728,"EncoderSin":12456,"GapTicks":54786,"Mech_RPM":-3.39721687e-24,"cg_du":50.1534195,"cg_dv":50.1940956,"cg_dw":49.8059044,"cg_id_a":0.499486089,"cg_id_raw_a":0.884413421,"cg_iq_a":0.49644053,"cg_iq_raw_a":1.25174892,"cg_iu_a":-0.251173496,"cg_iv_a":0.21412921,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9254551,"cg_sample_seq":14361166,"cg_sample_valid":1,"cg_theta_rad":5.00600338,"cg_vd_req_v":0.0680636019,"cg_vd_v":0.0680636019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349983603,"cg_vq_v":-0.349983603,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4450073,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2598.998893,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2598.998899,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2598.998904,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2599.018799,"values":{"Elec_RPM":-1.6646363e-23,"EncoderCos":38750,"EncoderSin":12495,"GapTicks":54788,"Mech_RPM":-3.32927267e-24,"cg_du":50.138485,"cg_dv":50.1919327,"cg_dw":49.8080673,"cg_id_a":0.17168723,"cg_id_raw_a":0.0734886453,"cg_iq_a":-0.0746228695,"cg_iq_raw_a":0.0801305547,"cg_iu_a":-1.30224442,"cg_iv_a":-0.184552908,"cg_iw_a":1.48679733,"cg_sample_age_us":23.863636,"cg_sample_seq":14361221,"cg_sample_valid":1,"cg_theta_rad":5.00827646,"cg_vd_req_v":0.075082913,"cg_vd_v":0.075082913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339254051,"cg_vq_v":-0.339254051,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4530029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.026611,"values":{"Elec_RPM":-1.6646363e-23,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.32927267e-24,"cg_du":50.1517868,"cg_dv":50.199379,"cg_dw":49.800621,"cg_id_a":0.251306742,"cg_id_raw_a":0.162182212,"cg_iq_a":0.533972502,"cg_iq_raw_a":0.453801244,"cg_iu_a":-1.30224442,"cg_iv_a":0.21412921,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9327278,"cg_sample_seq":14361266,"cg_sample_valid":1,"cg_theta_rad":5.00828552,"cg_vd_req_v":0.0750218183,"cg_vd_v":0.0750218183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356134593,"cg_vq_v":-0.356134593,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.03833,"values":{"Elec_RPM":-1.63134368e-23,"EncoderCos":38762,"EncoderSin":12474,"GapTicks":54783,"Mech_RPM":-3.26268729e-24,"cg_du":50.1433601,"cg_dv":50.1970367,"cg_dw":49.8029633,"cg_id_a":-0.0300064702,"cg_id_raw_a":0.0962448865,"cg_iq_a":0.179237634,"cg_iq_raw_a":0.300328821,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8527279,"cg_sample_seq":14361316,"cg_sample_valid":1,"cg_theta_rad":5.0090189,"cg_vd_req_v":0.0798567533,"cg_vd_v":0.0798567533,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349217474,"cg_vq_v":-0.349217474,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.362499118,"dclink_p_w":-52.4625587,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2577,"hz_tim_isr":4998,"hz_vsense":2577,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.046143,"values":{"Elec_RPM":-1.56674244e-23,"EncoderCos":38755,"EncoderSin":12482,"GapTicks":54781,"Mech_RPM":-3.13348489e-24,"cg_du":50.1441803,"cg_dv":50.1982346,"cg_dw":49.8017654,"cg_id_a":0.116464086,"cg_id_raw_a":0.309158325,"cg_iq_a":0.129793465,"cg_iq_raw_a":0.501321673,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14361516,"cg_sample_valid":1,"cg_theta_rad":5.00881147,"cg_vd_req_v":0.0765585676,"cg_vd_v":0.0765585676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351051122,"cg_vq_v":-0.351051122,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.699566603,"dclink_p_w":-101.244537,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.053955,"values":{"Elec_RPM":-1.56674244e-23,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.13348489e-24,"cg_du":50.1441841,"cg_dv":50.1978798,"cg_dw":49.8021202,"cg_id_a":-0.0718570277,"cg_id_raw_a":-0.312010586,"cg_iq_a":-0.0424698889,"cg_iq_raw_a":-0.0675629452,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14361566,"cg_sample_valid":1,"cg_theta_rad":5.00614929,"cg_vd_req_v":0.0808765516,"cg_vd_v":0.0808765516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349520355,"cg_vq_v":-0.349520355,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.699566603,"dclink_p_w":-101.244537,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4481812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.061768,"values":{"Elec_RPM":-1.53540763e-23,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.07081521e-24,"cg_du":50.1399727,"cg_dv":50.1972389,"cg_dw":49.8027611,"cg_id_a":-0.0748421699,"cg_id_raw_a":0.0663680062,"cg_iq_a":-0.288867742,"cg_iq_raw_a":0.152630657,"cg_iu_a":0.328727961,"cg_iv_a":0.141641676,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9872723,"cg_sample_seq":14361617,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0805628598,"cg_vd_v":0.0805628598,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346978337,"cg_vq_v":-0.346978337,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.699566603,"dclink_p_w":-101.244537,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4338074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.073486,"values":{"Elec_RPM":-1.53540763e-23,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.07081521e-24,"cg_du":50.1482887,"cg_dv":50.2001572,"cg_dw":49.7998428,"cg_id_a":0.00102370605,"cg_id_raw_a":0.114416689,"cg_iq_a":0.0733118206,"cg_iq_raw_a":0.0848777816,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14361667,"cg_sample_valid":1,"cg_theta_rad":5.00830936,"cg_vd_req_v":0.0786764622,"cg_vd_v":0.0786764622,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356326163,"cg_vq_v":-0.356326163,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.699566603,"dclink_p_w":-101.244537,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4290466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.10083,"values":{"Elec_RPM":-1.50469948e-23,"EncoderCos":38706,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-3.00939884e-24,"cg_du":50.1502914,"cg_dv":50.2044182,"cg_dw":49.7955818,"cg_id_a":-0.146870092,"cg_id_raw_a":-0.170010984,"cg_iq_a":0.387250334,"cg_iq_raw_a":-0.0163174327,"cg_iu_a":0.147508621,"cg_iv_a":-0.510747433,"cg_iw_a":0.363238811,"cg_sample_age_us":23.8527279,"cg_sample_seq":14361722,"cg_sample_valid":1,"cg_theta_rad":5.00814962,"cg_vd_req_v":0.0819088221,"cg_vd_v":0.0819088221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361958086,"cg_vq_v":-0.361958086,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.699566603,"dclink_p_w":-101.244537,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1480103,"temp_inv2_c":37.4290466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.108643,"values":{"Elec_RPM":-1.50469948e-23,"EncoderCos":38715,"EncoderSin":12496,"GapTicks":54786,"Mech_RPM":-3.00939884e-24,"cg_du":50.1368065,"cg_dv":50.1943741,"cg_dw":49.8056259,"cg_id_a":-0.0302358307,"cg_id_raw_a":0.306228817,"cg_iq_a":-0.584552824,"cg_iq_raw_a":-0.806986511,"cg_iu_a":0.401215672,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.863636,"cg_sample_seq":14361766,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0777842626,"cg_vd_v":0.080209218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341882944,"cg_vq_v":-0.341882944,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.5281677,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4370117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.116455,"values":{"Elec_RPM":-1.47460538e-23,"EncoderCos":38746,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-2.94921093e-24,"cg_du":50.1466599,"cg_dv":50.2004433,"cg_dw":49.7995567,"cg_id_a":0.0505742095,"cg_id_raw_a":-0.1985434,"cg_iq_a":0.0971139446,"cg_iq_raw_a":0.528653443,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14361817,"cg_sample_valid":1,"cg_theta_rad":5.00764513,"cg_vd_req_v":0.077427581,"cg_vd_v":0.077427581,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355292588,"cg_vq_v":-0.355292588,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.128174,"values":{"Elec_RPM":-1.47460538e-23,"EncoderCos":38722,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-2.94921093e-24,"cg_du":50.148365,"cg_dv":50.19944,"cg_dw":49.80056,"cg_id_a":0.100678787,"cg_id_raw_a":0.215134233,"cg_iq_a":0.170061052,"cg_iq_raw_a":0.130953982,"cg_iu_a":0.908629179,"cg_iv_a":-0.293284416,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9618187,"cg_sample_seq":14361867,"cg_sample_valid":1,"cg_theta_rad":5.00968933,"cg_vd_req_v":0.0773166865,"cg_vd_v":0.0773166865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354397535,"cg_vq_v":-0.354397535,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.135986,"values":{"Elec_RPM":-1.44511335e-23,"EncoderCos":38739,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-2.89022661e-24,"cg_du":50.1482201,"cg_dv":50.1984024,"cg_dw":49.8015976,"cg_id_a":0.282519042,"cg_id_raw_a":0.00317128655,"cg_iq_a":-0.0729082227,"cg_iq_raw_a":-0.0716973469,"cg_iu_a":0.219996452,"cg_iv_a":0.322860777,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.954546,"cg_sample_seq":14361917,"cg_sample_valid":1,"cg_theta_rad":5.00797606,"cg_vd_req_v":0.0744964108,"cg_vd_v":0.0744964108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353316396,"cg_vq_v":-0.353316396,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4066772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.143799,"values":{"Elec_RPM":-1.44511335e-23,"EncoderCos":38704,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-2.89022661e-24,"cg_du":50.1415253,"cg_dv":50.2019463,"cg_dw":49.7980537,"cg_id_a":-0.254024595,"cg_id_raw_a":-0.245725021,"cg_iq_a":-0.0239512175,"cg_iq_raw_a":0.522310674,"cg_iu_a":1.41604292,"cg_iv_a":-0.655722737,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9254551,"cg_sample_seq":14361967,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0866414905,"cg_vd_v":0.0866414905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353596002,"cg_vq_v":-0.353596002,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4066772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.151611,"values":{"Elec_RPM":-1.41621106e-23,"EncoderCos":38697,"EncoderSin":12464,"GapTicks":54779,"Mech_RPM":-2.83242204e-24,"cg_du":50.1453629,"cg_dv":50.2003136,"cg_dw":49.7996864,"cg_id_a":-0.0326452702,"cg_id_raw_a":0.393586367,"cg_iq_a":-0.0405344665,"cg_iq_raw_a":-0.177094936,"cg_iu_a":0.546190977,"cg_iv_a":-1.05440497,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14362017,"cg_sample_valid":1,"cg_theta_rad":5.00981236,"cg_vd_req_v":0.0827237517,"cg_vd_v":0.0827237517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353390932,"cg_vq_v":-0.353390932,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.159424,"values":{"Elec_RPM":-1.41621106e-23,"EncoderCos":38728,"EncoderSin":12491,"GapTicks":54780,"Mech_RPM":-2.83242204e-24,"cg_du":50.1454811,"cg_dv":50.1991158,"cg_dw":49.8008842,"cg_id_a":0.128960148,"cg_id_raw_a":0.0101885181,"cg_iq_a":-0.123444818,"cg_iq_raw_a":-0.14385438,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14362066,"cg_sample_valid":1,"cg_theta_rad":5.00782585,"cg_vd_req_v":0.0783213601,"cg_vd_v":0.0783213601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352548718,"cg_vq_v":-0.352548718,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.167236,"values":{"Elec_RPM":-1.38788685e-23,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54784,"Mech_RPM":-2.77577354e-24,"cg_du":50.14114,"cg_dv":50.1961365,"cg_dw":49.8038635,"cg_id_a":0.00231551379,"cg_id_raw_a":-0.0867512077,"cg_iq_a":-0.162292063,"cg_iq_raw_a":-0.00770377554,"cg_iu_a":0.147508621,"cg_iv_a":0.721542954,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.9872723,"cg_sample_seq":14362116,"cg_sample_valid":1,"cg_theta_rad":5.00861216,"cg_vd_req_v":0.0800841451,"cg_vd_v":0.0800841451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345781296,"cg_vq_v":-0.345781296,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.175049,"values":{"Elec_RPM":-1.38788685e-23,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54774,"Mech_RPM":-2.77577354e-24,"cg_du":50.1423569,"cg_dv":50.2050362,"cg_dw":49.7949638,"cg_id_a":-0.265673995,"cg_id_raw_a":-0.234972686,"cg_iq_a":0.475465775,"cg_iq_raw_a":0.451994032,"cg_iu_a":-0.323661089,"cg_iv_a":-1.12689269,"cg_iw_a":1.45055377,"cg_sample_age_us":23.9836369,"cg_sample_seq":14362166,"cg_sample_valid":1,"cg_theta_rad":5.00688171,"cg_vd_req_v":0.0862833858,"cg_vd_v":0.0862833858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358923793,"cg_vq_v":-0.358923793,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4338074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.186768,"values":{"Elec_RPM":-1.36012904e-23,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-2.72025805e-24,"cg_du":50.1430206,"cg_dv":50.1991653,"cg_dw":49.8008347,"cg_id_a":0.0857072026,"cg_id_raw_a":0.225523025,"cg_iq_a":0.109357238,"cg_iq_raw_a":0.241126716,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14362216,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0813765079,"cg_vd_v":0.0813765079,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352116168,"cg_vq_v":-0.352116168,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4146423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.214111,"values":{"Elec_RPM":-1.36012904e-23,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54776,"Mech_RPM":-2.72025805e-24,"cg_du":50.1422005,"cg_dv":50.2032547,"cg_dw":49.7967453,"cg_id_a":-0.112114608,"cg_id_raw_a":0.0245695394,"cg_iq_a":0.372771591,"cg_iq_raw_a":0.58571434,"cg_iu_a":0.219996452,"cg_iv_a":0.21412921,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9654541,"cg_sample_seq":14362270,"cg_sample_valid":1,"cg_theta_rad":5.00760651,"cg_vd_req_v":0.0853767246,"cg_vd_v":0.0853767246,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356239736,"cg_vq_v":-0.356239736,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.2439423,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4146423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.221924,"values":{"Elec_RPM":-1.33292644e-23,"EncoderCos":38744,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-2.66585288e-24,"cg_du":50.1375961,"cg_dv":50.1964149,"cg_dw":49.8035851,"cg_id_a":0.0365837403,"cg_id_raw_a":0.513941407,"cg_iq_a":-0.15128991,"cg_iq_raw_a":-0.607663274,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.112065256,"cg_iw_a":0.182019651,"cg_sample_age_us":23.954546,"cg_sample_seq":14362367,"cg_sample_valid":1,"cg_theta_rad":5.00682354,"cg_vd_req_v":0.0803651661,"cg_vd_v":0.0803651661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343722284,"cg_vq_v":-0.343722284,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2599.229736,"values":{"Elec_RPM":-1.30626783e-23,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-2.61253574e-24,"cg_du":50.1411247,"cg_dv":50.1998444,"cg_dw":49.8001556,"cg_id_a":-0.185424849,"cg_id_raw_a":-0.616235793,"cg_iq_a":0.41038236,"cg_iq_raw_a":0.66825074,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309052,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9727268,"cg_sample_seq":14362416,"cg_sample_valid":1,"cg_theta_rad":5.00723934,"cg_vd_req_v":0.0840041861,"cg_vd_v":0.0840041861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350737393,"cg_vq_v":-0.350737393,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4322205,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.241455,"values":{"Elec_RPM":-1.30626783e-23,"EncoderCos":38693,"EncoderSin":12468,"GapTicks":54783,"Mech_RPM":-2.61253574e-24,"cg_du":50.1417847,"cg_dv":50.1965866,"cg_dw":49.8034134,"cg_id_a":0.010793414,"cg_id_raw_a":-0.0116395568,"cg_iq_a":0.0930931717,"cg_iq_raw_a":-0.729202092,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9872723,"cg_sample_seq":14362466,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.082087867,"cg_vd_v":0.082087867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346266925,"cg_vq_v":-0.346266925,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.249268,"values":{"Elec_RPM":-1.28014249e-23,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-2.56028495e-24,"cg_du":50.1401482,"cg_dv":50.2047348,"cg_dw":49.7952652,"cg_id_a":-0.237259164,"cg_id_raw_a":-0.10007637,"cg_iq_a":0.571300507,"cg_iq_raw_a":-0.300363421,"cg_iu_a":-0.214929581,"cg_iv_a":1.19271278,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.8600006,"cg_sample_seq":14362516,"cg_sample_valid":1,"cg_theta_rad":5.00855064,"cg_vd_req_v":0.089257583,"cg_vd_v":0.089257583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356899202,"cg_vq_v":-0.356899202,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1726379,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.25708,"values":{"Elec_RPM":-1.28014249e-23,"EncoderCos":38724,"EncoderSin":12497,"GapTicks":54784,"Mech_RPM":-2.56028495e-24,"cg_du":50.1341133,"cg_dv":50.1962166,"cg_dw":49.8037834,"cg_id_a":-0.0203439109,"cg_id_raw_a":0.257082552,"cg_iq_a":-0.192849427,"cg_iq_raw_a":0.134441808,"cg_iu_a":0.364971638,"cg_iv_a":0.504079938,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.9581814,"cg_sample_seq":14362566,"cg_sample_valid":1,"cg_theta_rad":5.00646544,"cg_vd_req_v":0.0848836005,"cg_vd_v":0.0848836005,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343245894,"cg_vq_v":-0.343245894,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.8798447,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4258118,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.264893,"values":{"Elec_RPM":-1.25453962e-23,"EncoderCos":38721,"EncoderSin":12504,"GapTicks":54774,"Mech_RPM":-2.5090792e-24,"cg_du":50.1425285,"cg_dv":50.2045517,"cg_dw":49.7954483,"cg_id_a":-0.141293526,"cg_id_raw_a":-0.297842115,"cg_iq_a":0.442275107,"cg_iq_raw_a":0.664199769,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14362617,"cg_sample_valid":1,"cg_theta_rad":5.00693703,"cg_vd_req_v":0.0864180923,"cg_vd_v":0.0864180923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359330833,"cg_vq_v":-0.359330833,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.8258209,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.272705,"values":{"Elec_RPM":-1.25453962e-23,"EncoderCos":38725,"EncoderSin":12507,"GapTicks":54780,"Mech_RPM":-2.5090792e-24,"cg_du":50.135498,"cg_dv":50.1994591,"cg_dw":49.8005409,"cg_id_a":-0.0244123451,"cg_id_raw_a":-0.330934763,"cg_iq_a":-0.2197164,"cg_iq_raw_a":-0.539974868,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9872723,"cg_sample_seq":14362666,"cg_sample_valid":1,"cg_theta_rad":5.0066514,"cg_vd_req_v":0.0863615572,"cg_vd_v":0.0863615572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347471386,"cg_vq_v":-0.347471386,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.280518,"values":{"Elec_RPM":-1.22944879e-23,"EncoderCos":38703,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-2.45889759e-24,"cg_du":50.137455,"cg_dv":50.1992722,"cg_dw":49.8007278,"cg_id_a":0.0319143534,"cg_id_raw_a":0.123904645,"cg_iq_a":-0.360073864,"cg_iq_raw_a":-0.42374894,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9400005,"cg_sample_seq":14362717,"cg_sample_valid":1,"cg_theta_rad":5.00722313,"cg_vd_req_v":0.084809415,"cg_vd_v":0.084809415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347963959,"cg_vq_v":-0.347963959,"cg_vu_v":106.014107,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.648825407,"dclink_p_w":-93.9010315,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4130554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.311768,"values":{"Elec_RPM":-1.22944879e-23,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-2.45889759e-24,"cg_du":50.1491623,"cg_dv":50.2069511,"cg_dw":49.7930489,"cg_id_a":0.229833573,"cg_id_raw_a":0.492354214,"cg_iq_a":0.486192316,"cg_iq_raw_a":1.2466675,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8672733,"cg_sample_seq":14362770,"cg_sample_valid":1,"cg_theta_rad":5.00771236,"cg_vd_req_v":0.081793502,"cg_vd_v":0.081793502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36555177,"cg_vq_v":-0.36555177,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-110.686218,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4130554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.31958,"values":{"Elec_RPM":-1.20485976e-23,"EncoderCos":38678,"EncoderSin":12445,"GapTicks":54776,"Mech_RPM":-2.4097196e-24,"cg_du":50.142601,"cg_dv":50.2030182,"cg_dw":49.7969818,"cg_id_a":-0.165215567,"cg_id_raw_a":0.234888926,"cg_iq_a":-0.0510426424,"cg_iq_raw_a":-0.447524101,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14362817,"cg_sample_valid":1,"cg_theta_rad":5.00722313,"cg_vd_req_v":0.0895332024,"cg_vd_v":0.0895332024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35499379,"cg_vq_v":-0.35499379,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4385986,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.327393,"values":{"Elec_RPM":-1.20485976e-23,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54777,"Mech_RPM":-2.4097196e-24,"cg_du":50.1489868,"cg_dv":50.2020798,"cg_dw":49.7979202,"cg_id_a":0.223279312,"cg_id_raw_a":0.12227837,"cg_iq_a":0.259345889,"cg_iq_raw_a":-0.424221098,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397701,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9909096,"cg_sample_seq":14362867,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0799307451,"cg_vd_v":0.0799307451,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359354556,"cg_vq_v":-0.359354556,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.335205,"values":{"Elec_RPM":-1.18076259e-23,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54778,"Mech_RPM":-2.36152513e-24,"cg_du":50.1420135,"cg_dv":50.2017632,"cg_dw":49.7982368,"cg_id_a":0.0263243467,"cg_id_raw_a":-0.152750313,"cg_iq_a":-0.0875733942,"cg_iq_raw_a":0.022342246,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9872723,"cg_sample_seq":14362917,"cg_sample_valid":1,"cg_theta_rad":5.00675821,"cg_vd_req_v":0.0848926231,"cg_vd_v":0.0848926231,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355049044,"cg_vq_v":-0.355049044,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.343018,"values":{"Elec_RPM":-1.18076259e-23,"EncoderCos":38726,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-2.36152513e-24,"cg_du":50.1376228,"cg_dv":50.2040405,"cg_dw":49.7959595,"cg_id_a":-0.227656305,"cg_id_raw_a":-0.701188982,"cg_iq_a":-0.075438194,"cg_iq_raw_a":0.0431666896,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9581814,"cg_sample_seq":14362967,"cg_sample_valid":1,"cg_theta_rad":5.00756931,"cg_vd_req_v":0.0895791501,"cg_vd_v":0.0895791501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354789555,"cg_vq_v":-0.354789555,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.4290466,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.354736,"values":{"Elec_RPM":-1.15714732e-23,"EncoderCos":38748,"EncoderSin":12475,"GapTicks":54776,"Mech_RPM":-2.31429465e-24,"cg_du":50.1440468,"cg_dv":50.2030869,"cg_dw":49.7969131,"cg_id_a":0.20339644,"cg_id_raw_a":-0.0210003443,"cg_iq_a":0.0845684931,"cg_iq_raw_a":-0.0375013612,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9654541,"cg_sample_seq":14363017,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0820653662,"cg_vd_v":0.0820653662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357440293,"cg_vq_v":-0.357440293,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.362549,"values":{"Elec_RPM":-1.15714732e-23,"EncoderCos":38707,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-2.31429465e-24,"cg_du":50.1478958,"cg_dv":50.2039223,"cg_dw":49.7960777,"cg_id_a":0.120406181,"cg_id_raw_a":0.324704379,"cg_iq_a":0.203402355,"cg_iq_raw_a":-0.330452323,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14363067,"cg_sample_valid":1,"cg_theta_rad":5.00816059,"cg_vd_req_v":0.08368586,"cg_vd_v":0.08368586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359847486,"cg_vq_v":-0.359847486,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.370361,"values":{"Elec_RPM":-1.13400443e-23,"EncoderCos":38693,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-2.26800883e-24,"cg_du":50.1408615,"cg_dv":50.2029076,"cg_dw":49.7970924,"cg_id_a":-0.124891452,"cg_id_raw_a":-0.467964798,"cg_iq_a":0.0148001127,"cg_iq_raw_a":-0.594077885,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14363117,"cg_sample_valid":1,"cg_theta_rad":5.00756502,"cg_vd_req_v":0.0887215659,"cg_vd_v":0.0887215659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35437268,"cg_vq_v":-0.35437268,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.378174,"values":{"Elec_RPM":-1.13400443e-23,"EncoderCos":38717,"EncoderSin":12509,"GapTicks":54779,"Mech_RPM":-2.26800883e-24,"cg_du":50.1397667,"cg_dv":50.2001305,"cg_dw":49.7998695,"cg_id_a":0.0963914171,"cg_id_raw_a":-0.201283261,"cg_iq_a":-0.217648059,"cg_iq_raw_a":0.0907591879,"cg_iu_a":0.147508621,"cg_iv_a":0.431592286,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9581814,"cg_sample_seq":14363167,"cg_sample_valid":1,"cg_theta_rad":5.00807047,"cg_vd_req_v":0.0844978392,"cg_vd_v":0.0844978392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351695627,"cg_vq_v":-0.351695627,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.385986,"values":{"Elec_RPM":-1.11132437e-23,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-2.22264873e-24,"cg_du":50.1437149,"cg_dv":50.2061462,"cg_dw":49.7938538,"cg_id_a":-0.100925416,"cg_id_raw_a":0.31595701,"cg_iq_a":0.245851278,"cg_iq_raw_a":-0.260055214,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.863636,"cg_sample_seq":14363216,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0871767104,"cg_vd_v":0.0871767104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3609761,"cg_vq_v":-0.3609761,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.619830132,"dclink_p_w":-90.2500229,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.417236,"values":{"Elec_RPM":-1.11132437e-23,"EncoderCos":38730,"EncoderSin":12496,"GapTicks":54778,"Mech_RPM":-2.22264873e-24,"cg_du":50.1406097,"cg_dv":50.2015419,"cg_dw":49.7984581,"cg_id_a":-0.0051157698,"cg_id_raw_a":-0.268083572,"cg_iq_a":-0.0907086581,"cg_iq_raw_a":-0.315528393,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397761,"cg_iw_a":-0.035443604,"cg_sample_age_us":25.994545,"cg_sample_seq":14363270,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0844775215,"cg_vd_v":0.0844775215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354269296,"cg_vq_v":-0.354269296,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.425049,"values":{"Elec_RPM":-1.08909789e-23,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54777,"Mech_RPM":-2.17819583e-24,"cg_du":50.1372108,"cg_dv":50.2018814,"cg_dw":49.7981186,"cg_id_a":-0.185131446,"cg_id_raw_a":-0.185159668,"cg_iq_a":-0.181345567,"cg_iq_raw_a":0.565292656,"cg_iu_a":0.256240368,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9654541,"cg_sample_seq":14363316,"cg_sample_valid":1,"cg_theta_rad":5.00688601,"cg_vd_req_v":0.088855058,"cg_vd_v":0.088855058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351355791,"cg_vq_v":-0.351355791,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.432861,"values":{"Elec_RPM":-1.08909789e-23,"EncoderCos":38691,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-2.17819583e-24,"cg_du":50.1444702,"cg_dv":50.2075653,"cg_dw":49.7924347,"cg_id_a":-0.231790066,"cg_id_raw_a":-0.642631054,"cg_iq_a":0.223074421,"cg_iq_raw_a":0.881043196,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9618187,"cg_sample_seq":14363366,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.0909495279,"cg_vd_v":0.0909495279,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3625938,"cg_vq_v":-0.3625938,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.3986816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.440674,"values":{"Elec_RPM":-1.06731603e-23,"EncoderCos":38711,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-2.13463197e-24,"cg_du":50.1414413,"cg_dv":50.2043571,"cg_dw":49.7956429,"cg_id_a":-0.0260197297,"cg_id_raw_a":0.0942681134,"cg_iq_a":-0.0928353965,"cg_iq_raw_a":-0.135463312,"cg_iu_a":0.292484045,"cg_iv_a":0.431592226,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9363632,"cg_sample_seq":14363416,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.0885458663,"cg_vd_v":0.0885458663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356945217,"cg_vq_v":-0.356945217,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4050903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.448486,"values":{"Elec_RPM":-1.06731603e-23,"EncoderCos":38747,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-2.13463197e-24,"cg_du":50.1376534,"cg_dv":50.199707,"cg_dw":49.800293,"cg_id_a":0.190600902,"cg_id_raw_a":-0.00363307307,"cg_iq_a":-0.491236508,"cg_iq_raw_a":-0.690997958,"cg_iu_a":0.328727961,"cg_iv_a":-0.148309112,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9509087,"cg_sample_seq":14363466,"cg_sample_valid":1,"cg_theta_rad":5.00735283,"cg_vd_req_v":0.0838090852,"cg_vd_v":0.0838090852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349276215,"cg_vq_v":-0.349276215,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4050903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.456299,"values":{"Elec_RPM":-1.04596969e-23,"EncoderCos":38678,"EncoderSin":12507,"GapTicks":54770,"Mech_RPM":-2.09193941e-24,"cg_du":50.1395874,"cg_dv":50.2086411,"cg_dw":49.7913589,"cg_id_a":-0.311446846,"cg_id_raw_a":-0.828343451,"cg_iq_a":0.241733611,"cg_iq_raw_a":-0.158943906,"cg_iu_a":-0.178685904,"cg_iv_a":-0.365772009,"cg_iw_a":0.544457912,"cg_sample_age_us":23.863636,"cg_sample_seq":14363516,"cg_sample_valid":1,"cg_theta_rad":5.00565195,"cg_vd_req_v":0.096190691,"cg_vd_v":0.096190691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36236012,"cg_vq_v":-0.36236012,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.468018,"values":{"Elec_RPM":-1.04596969e-23,"EncoderCos":38696,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-2.09193941e-24,"cg_du":50.142849,"cg_dv":50.2060013,"cg_dw":49.7939987,"cg_id_a":-0.00362751633,"cg_id_raw_a":0.329637349,"cg_iq_a":0.26475215,"cg_iq_raw_a":0.034325555,"cg_iu_a":0.0387773514,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8600006,"cg_sample_seq":14363566,"cg_sample_valid":1,"cg_theta_rad":5.00627995,"cg_vd_req_v":0.0896317065,"cg_vd_v":0.0896317065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359825701,"cg_vq_v":-0.359825701,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.47583,"values":{"Elec_RPM":-1.02505028e-23,"EncoderCos":38744,"EncoderSin":12478,"GapTicks":54774,"Mech_RPM":-2.0501006e-24,"cg_du":50.1466179,"cg_dv":50.205307,"cg_dw":49.794693,"cg_id_a":0.347490132,"cg_id_raw_a":0.211553335,"cg_iq_a":0.615525067,"cg_iq_raw_a":-0.052585911,"cg_iu_a":0.256240368,"cg_iv_a":0.902762175,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9618187,"cg_sample_seq":14363617,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0824321359,"cg_vd_v":0.0824321359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361845225,"cg_vq_v":-0.361845225,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.3125992,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4130554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.483643,"values":{"Elec_RPM":-1.02505028e-23,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-2.0501006e-24,"cg_du":50.1374702,"cg_dv":50.2064705,"cg_dw":49.7935295,"cg_id_a":-0.0107871294,"cg_id_raw_a":-0.221093878,"cg_iq_a":0.446529418,"cg_iq_raw_a":0.307893068,"cg_iu_a":-1.157269,"cg_iv_a":-0.00333368778,"cg_iw_a":1.16060269,"cg_sample_age_us":23.954546,"cg_sample_seq":14363667,"cg_sample_valid":1,"cg_theta_rad":5.00690746,"cg_vd_req_v":0.0911274776,"cg_vd_v":0.0911274776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358245701,"cg_vq_v":-0.358245701,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.509286523,"dclink_p_w":-73.7063141,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.491455,"values":{"Elec_RPM":-1.00454928e-23,"EncoderCos":38734,"EncoderSin":12468,"GapTicks":54771,"Mech_RPM":-2.00909856e-24,"cg_du":50.1421776,"cg_dv":50.2078934,"cg_dw":49.7921066,"cg_id_a":0.052244205,"cg_id_raw_a":0.402614832,"cg_iq_a":0.515163481,"cg_iq_raw_a":-0.0702855065,"cg_iu_a":-1.66468287,"cg_iv_a":-0.220796704,"cg_iw_a":1.88547957,"cg_sample_age_us":23.9618187,"cg_sample_seq":14363717,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.0894999206,"cg_vd_v":0.0894999206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362638742,"cg_vq_v":-0.362638742,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4242249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.518799,"values":{"Elec_RPM":-1.00454928e-23,"EncoderCos":38756,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-2.00909856e-24,"cg_du":50.129631,"cg_dv":50.2017822,"cg_dw":49.7982178,"cg_id_a":-0.00217224658,"cg_id_raw_a":-0.00563088525,"cg_iq_a":-0.191016093,"cg_iq_raw_a":0.255048573,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14363770,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0924956352,"cg_vd_v":0.0924956352,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348684818,"cg_vq_v":-0.348684818,"cg_vu_v":2.63935518,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.4146423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.530518,"values":{"Elec_RPM":-9.84458257e-24,"EncoderCos":38742,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-1.96891655e-24,"cg_du":50.1333313,"cg_dv":50.2056198,"cg_dw":49.7943802,"cg_id_a":-0.0468260944,"cg_id_raw_a":0.239905417,"cg_iq_a":0.0138404313,"cg_iq_raw_a":0.0958143175,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104633,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9654541,"cg_sample_seq":14363817,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0935109109,"cg_vd_v":0.0935109109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354795963,"cg_vq_v":-0.354795963,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3970947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.53833,"values":{"Elec_RPM":-9.84458257e-24,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-1.96891655e-24,"cg_du":50.1483154,"cg_dv":50.2053757,"cg_dw":49.7946243,"cg_id_a":0.38256979,"cg_id_raw_a":0.313859493,"cg_iq_a":0.738661408,"cg_iq_raw_a":0.614846885,"cg_iu_a":-1.26600075,"cg_iv_a":0.0691539049,"cg_iw_a":1.19684684,"cg_sample_age_us":23.8600006,"cg_sample_seq":14363866,"cg_sample_valid":1,"cg_theta_rad":5.00668764,"cg_vd_req_v":0.0840859339,"cg_vd_v":0.0840859339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362071902,"cg_vq_v":-0.36662215,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3970947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.546143,"values":{"Elec_RPM":-9.64769077e-24,"EncoderCos":38696,"EncoderSin":12430,"GapTicks":54780,"Mech_RPM":-1.92953819e-24,"cg_du":50.1411858,"cg_dv":50.199173,"cg_dw":49.800827,"cg_id_a":0.238277018,"cg_id_raw_a":-0.495216787,"cg_iq_a":0.00389696658,"cg_iq_raw_a":-0.124609329,"cg_iu_a":0.401215553,"cg_iv_a":0.322860718,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9581814,"cg_sample_seq":14363917,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.0855071694,"cg_vd_v":0.0855071694,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348204702,"cg_vq_v":-0.348204702,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.431362271,"dclink_p_w":-62.4287567,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4082642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2599.553955,"values":{"Elec_RPM":-9.64769077e-24,"EncoderCos":38716,"EncoderSin":12489,"GapTicks":54777,"Mech_RPM":-1.92953819e-24,"cg_du":50.1270561,"cg_dv":50.2019196,"cg_dw":49.7980804,"cg_id_a":-0.27393651,"cg_id_raw_a":-0.732638359,"cg_iq_a":0.0190090761,"cg_iq_raw_a":0.147956774,"cg_iu_a":-0.106198072,"cg_iv_a":0.504079938,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.863636,"cg_sample_seq":14363967,"cg_sample_valid":1,"cg_theta_rad":5.00694942,"cg_vd_req_v":0.0965186357,"cg_vd_v":0.0965186357,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345793545,"cg_vq_v":-0.345793545,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4082642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.561768,"values":{"Elec_RPM":-9.45473776e-24,"EncoderCos":38738,"EncoderSin":12490,"GapTicks":54784,"Mech_RPM":-1.89094751e-24,"cg_du":50.1365623,"cg_dv":50.1959152,"cg_dw":49.8040848,"cg_id_a":0.384414911,"cg_id_raw_a":0.582456112,"cg_iq_a":-0.135885701,"cg_iq_raw_a":-0.200247049,"cg_iu_a":-0.649855375,"cg_iv_a":0.141641557,"cg_iw_a":0.508213818,"cg_sample_age_us":23.9290905,"cg_sample_seq":14364017,"cg_sample_valid":1,"cg_theta_rad":5.00644541,"cg_vd_req_v":0.0814831331,"cg_vd_v":0.0814831331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343382359,"cg_vq_v":-0.343382359,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.0345688,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.401886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.56958,"values":{"Elec_RPM":-9.45473776e-24,"EncoderCos":38682,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-1.89094751e-24,"cg_du":50.130661,"cg_dv":50.2040215,"cg_dw":49.7959785,"cg_id_a":-0.430562377,"cg_id_raw_a":-0.234587207,"cg_iq_a":0.222663969,"cg_iq_raw_a":0.194484085,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9618187,"cg_sample_seq":14364067,"cg_sample_valid":1,"cg_theta_rad":5.0072422,"cg_vd_req_v":0.0989455059,"cg_vd_v":0.0989455059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349779844,"cg_vq_v":-0.349779844,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.0345688,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.581299,"values":{"Elec_RPM":-9.26564307e-24,"EncoderCos":38729,"EncoderSin":12491,"GapTicks":54781,"Mech_RPM":-1.85312854e-24,"cg_du":50.1306496,"cg_dv":50.1989288,"cg_dw":49.8010712,"cg_id_a":0.0738863349,"cg_id_raw_a":0.170018747,"cg_iq_a":0.0163586941,"cg_iq_raw_a":-0.0559807196,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309112,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14364117,"cg_sample_valid":1,"cg_theta_rad":5.00851536,"cg_vd_req_v":0.089730449,"cg_vd_v":0.089730449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3440274,"cg_vq_v":-0.3440274,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.421051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.589111,"values":{"Elec_RPM":-9.26564307e-24,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-1.85312854e-24,"cg_du":50.1227036,"cg_dv":50.2033043,"cg_dw":49.7966957,"cg_id_a":-0.375134319,"cg_id_raw_a":-0.277085513,"cg_iq_a":0.0993976891,"cg_iq_raw_a":0.447808743,"cg_iu_a":0.219996452,"cg_iv_a":-0.800698042,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9799995,"cg_sample_seq":14364167,"cg_sample_valid":1,"cg_theta_rad":5.0058136,"cg_vd_req_v":0.10010992,"cg_vd_v":0.10010992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344438642,"cg_vq_v":-0.344438642,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4066772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2599.596924,"values":{"Elec_RPM":-9.08032939e-24,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-1.81606588e-24,"cg_du":50.1338577,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":-0.0100339651,"cg_id_raw_a":0.107323788,"cg_iq_a":0.445663184,"cg_iq_raw_a":0.157023489,"cg_iu_a":0.038777113,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482608,"cg_sample_age_us":23.8672733,"cg_sample_seq":14364217,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0952865928,"cg_vd_v":0.0952865928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354156017,"cg_vq_v":-0.354156017,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4034729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2599.624268,"values":{"Elec_RPM":-9.08032939e-24,"EncoderCos":38730,"EncoderSin":12491,"GapTicks":54776,"Mech_RPM":-1.81606588e-24,"cg_du":50.1242142,"cg_dv":50.2031021,"cg_dw":49.7968979,"cg_id_a":-0.18406336,"cg_id_raw_a":-0.701131284,"cg_iq_a":-0.0437737107,"cg_iq_raw_a":0.044094827,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0395776033,"cg_iw_a":0.870652318,"cg_sample_age_us":23.8490906,"cg_sample_seq":14364270,"cg_sample_valid":1,"cg_theta_rad":5.00623178,"cg_vd_req_v":0.0987506881,"cg_vd_v":0.0987506881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346136838,"cg_vq_v":-0.346136838,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4034729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.63208,"values":{"Elec_RPM":-8.89872256e-24,"EncoderCos":38711,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-1.77974455e-24,"cg_du":50.1323814,"cg_dv":50.2044601,"cg_dw":49.7955399,"cg_id_a":-0.0340137333,"cg_id_raw_a":-0.0288587511,"cg_iq_a":0.197775334,"cg_iq_raw_a":1.09069347,"cg_iu_a":0.473703384,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.863636,"cg_sample_seq":14364316,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0958870128,"cg_vd_v":0.0958870128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351944476,"cg_vq_v":-0.351944476,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.643799,"values":{"Elec_RPM":-8.89872256e-24,"EncoderCos":38709,"EncoderSin":12453,"GapTicks":54779,"Mech_RPM":-1.77974455e-24,"cg_du":50.1394272,"cg_dv":50.200901,"cg_dw":49.799099,"cg_id_a":0.349094301,"cg_id_raw_a":0.270848364,"cg_iq_a":0.116018817,"cg_iq_raw_a":-0.00814007595,"cg_iu_a":0.183752537,"cg_iv_a":0.250373065,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9581814,"cg_sample_seq":14364366,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0875151381,"cg_vd_v":0.0875151381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352068484,"cg_vq_v":-0.352068484,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4162598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.651611,"values":{"Elec_RPM":-8.72074766e-24,"EncoderCos":38714,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-1.74414957e-24,"cg_du":50.1251335,"cg_dv":50.202549,"cg_dw":49.797451,"cg_id_a":-0.250682682,"cg_id_raw_a":-0.0250259992,"cg_iq_a":-0.260980427,"cg_iq_raw_a":0.216850236,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9836369,"cg_sample_seq":14364416,"cg_sample_valid":1,"cg_theta_rad":5.00658751,"cg_vd_req_v":0.0994419977,"cg_vd_v":0.0994419977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345343798,"cg_vq_v":-0.345343798,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.3169327,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.4274292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.659424,"values":{"Elec_RPM":-8.54633288e-24,"EncoderCos":38704,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-1.70926654e-24,"cg_du":50.1266441,"cg_dv":50.2042313,"cg_dw":49.7957687,"cg_id_a":-0.153349608,"cg_id_raw_a":-0.0157634523,"cg_iq_a":-0.0690341592,"cg_iq_raw_a":-0.292242914,"cg_iu_a":1.05360472,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9618187,"cg_sample_seq":14364566,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.10056857,"cg_vd_v":0.10056857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34828499,"cg_vq_v":-0.34828499,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.390686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.667236,"values":{"Elec_RPM":-8.37540644e-24,"EncoderCos":38720,"EncoderSin":12498,"GapTicks":54778,"Mech_RPM":-1.67508125e-24,"cg_du":50.1231537,"cg_dv":50.2013321,"cg_dw":49.7986679,"cg_id_a":-0.0476639867,"cg_id_raw_a":-0.135342911,"cg_iq_a":-0.295373589,"cg_iq_raw_a":0.0606538765,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065315,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9836369,"cg_sample_seq":14364617,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0984883532,"cg_vd_v":0.0984883532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34295702,"cg_vq_v":-0.34295702,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3890991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.678955,"values":{"Elec_RPM":-8.37540644e-24,"EncoderCos":38758,"EncoderSin":12506,"GapTicks":54766,"Mech_RPM":-1.67508125e-24,"cg_du":50.1439018,"cg_dv":50.2121773,"cg_dw":49.7878227,"cg_id_a":0.367476434,"cg_id_raw_a":0.0851664171,"cg_iq_a":1.03853071,"cg_iq_raw_a":0.190071523,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796764,"cg_iw_a":0.326994836,"cg_sample_age_us":23.863636,"cg_sample_seq":14364667,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0895734727,"cg_vd_v":0.0895734727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371293724,"cg_vq_v":-0.371293724,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3890991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.686768,"values":{"Elec_RPM":-8.20789814e-24,"EncoderCos":38720,"EncoderSin":12479,"GapTicks":54786,"Mech_RPM":-1.64157961e-24,"cg_du":50.124218,"cg_dv":50.193779,"cg_dw":49.806221,"cg_id_a":0.223941445,"cg_id_raw_a":0.0798605531,"cg_iq_a":-0.769138455,"cg_iq_raw_a":0.00856252108,"cg_iu_a":0.401215553,"cg_iv_a":1.37393188,"cg_iw_a":-1.77514744,"cg_sample_age_us":23.9581814,"cg_sample_seq":14364717,"cg_sample_valid":1,"cg_theta_rad":5.00759268,"cg_vd_req_v":0.0907616317,"cg_vd_v":0.0907616317,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333153725,"cg_vq_v":-0.333153725,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.47919178,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.714111,"values":{"Elec_RPM":-8.20789814e-24,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.64157961e-24,"cg_du":50.124012,"cg_dv":50.2032852,"cg_dw":49.7967148,"cg_id_a":-0.156339854,"cg_id_raw_a":-0.271093577,"cg_iq_a":0.0587815195,"cg_iq_raw_a":-0.935432971,"cg_iu_a":0.292484283,"cg_iv_a":0.359104633,"cg_iw_a":-0.651588917,"cg_sample_age_us":23.9145451,"cg_sample_seq":14364770,"cg_sample_valid":1,"cg_theta_rad":5.00517702,"cg_vd_req_v":0.0997191146,"cg_vd_v":0.0997191146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346094579,"cg_vq_v":-0.346094579,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.47919178,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.721924,"values":{"Elec_RPM":-8.04374013e-24,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-1.60874801e-24,"cg_du":50.1254654,"cg_dv":50.208374,"cg_dw":49.791626,"cg_id_a":-0.382969916,"cg_id_raw_a":0.159360662,"cg_iq_a":0.391844988,"cg_iq_raw_a":0.271258563,"cg_iu_a":0.328727961,"cg_iv_a":-0.184552908,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9654541,"cg_sample_seq":14364816,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.104099222,"cg_vd_v":0.104099222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353661865,"cg_vq_v":-0.353661865,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4402161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.729736,"values":{"Elec_RPM":-8.04374013e-24,"EncoderCos":38698,"EncoderSin":12501,"GapTicks":54779,"Mech_RPM":-1.60874801e-24,"cg_du":50.1282196,"cg_dv":50.2003975,"cg_dw":49.7996025,"cg_id_a":0.0858049765,"cg_id_raw_a":0.916044772,"cg_iq_a":-0.062505573,"cg_iq_raw_a":0.894422829,"cg_iu_a":0.546190858,"cg_iv_a":0.032910049,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9509087,"cg_sample_seq":14364866,"cg_sample_valid":1,"cg_theta_rad":5.00694609,"cg_vd_req_v":0.0952558666,"cg_vd_v":0.0952558666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34406957,"cg_vq_v":-0.34406957,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.737549,"values":{"Elec_RPM":-7.88286536e-24,"EncoderCos":38718,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-1.57657303e-24,"cg_du":50.1318703,"cg_dv":50.2019348,"cg_dw":49.7980652,"cg_id_a":0.142265096,"cg_id_raw_a":0.368909419,"cg_iq_a":0.0146386623,"cg_iq_raw_a":-1.01938379,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14364916,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.0926696509,"cg_vd_v":0.0926696509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348538458,"cg_vq_v":-0.348538458,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.745361,"values":{"Elec_RPM":-7.88286536e-24,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.57657303e-24,"cg_du":50.1265984,"cg_dv":50.2015991,"cg_dw":49.7984009,"cg_id_a":-0.170513391,"cg_id_raw_a":-0.149906769,"cg_iq_a":-0.0607129484,"cg_iq_raw_a":-0.231603414,"cg_iu_a":0.0750212669,"cg_iv_a":0.322860777,"cg_iw_a":-0.397882044,"cg_sample_age_us":23.9218178,"cg_sample_seq":14364967,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0952024013,"cg_vd_v":0.0952024013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345484197,"cg_vq_v":-0.345484197,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.4002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.75708,"values":{"Elec_RPM":-7.72520756e-24,"EncoderCos":38699,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-1.54504157e-24,"cg_du":50.1279793,"cg_dv":50.2053947,"cg_dw":49.7946053,"cg_id_a":-0.526325107,"cg_id_raw_a":-0.158224985,"cg_iq_a":0.186771408,"cg_iq_raw_a":0.275910169,"cg_iu_a":0.292484283,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9872723,"cg_sample_seq":14365017,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.101347245,"cg_vd_v":0.101347245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350416034,"cg_vq_v":-0.350416034,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.764893,"values":{"Elec_RPM":-7.72520756e-24,"EncoderCos":38722,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-1.54504157e-24,"cg_du":50.136261,"cg_dv":50.1979103,"cg_dw":49.8020897,"cg_id_a":0.245396137,"cg_id_raw_a":-0.349969059,"cg_iq_a":-0.175737739,"cg_iq_raw_a":0.98680687,"cg_iu_a":0.111264944,"cg_iv_a":0.540323794,"cg_iw_a":-0.651588738,"cg_sample_age_us":24.0381813,"cg_sample_seq":14365067,"cg_sample_valid":1,"cg_theta_rad":5.00756407,"cg_vd_req_v":0.0847830474,"cg_vd_v":0.0847830474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345658273,"cg_vq_v":-0.345658273,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4002686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.772705,"values":{"Elec_RPM":-7.57070363e-24,"EncoderCos":38715,"EncoderSin":12494,"GapTicks":54773,"Mech_RPM":-1.51414071e-24,"cg_du":50.1377296,"cg_dv":50.2061615,"cg_dw":49.7938385,"cg_id_a":-0.147837251,"cg_id_raw_a":0.0382053144,"cg_iq_a":0.250498116,"cg_iq_raw_a":0.00451980764,"cg_iu_a":0.219996452,"cg_iv_a":-0.619478822,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14365117,"cg_sample_valid":1,"cg_theta_rad":5.00814676,"cg_vd_req_v":0.092224054,"cg_vd_v":0.092224054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357563972,"cg_vq_v":-0.357563972,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4034729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.784424,"values":{"Elec_RPM":-7.57070363e-24,"EncoderCos":38702,"EncoderSin":12478,"GapTicks":54773,"Mech_RPM":-1.51414071e-24,"cg_du":50.1431694,"cg_dv":50.206337,"cg_dw":49.793663,"cg_id_a":-0.0675538704,"cg_id_raw_a":-0.157600507,"cg_iq_a":0.47680217,"cg_iq_raw_a":0.276267499,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14365167,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0898589343,"cg_vd_v":0.0898589343,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361584127,"cg_vq_v":-0.361584127,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.1233826,"temp_inv2_c":37.4034729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.792236,"values":{"Elec_RPM":-7.41928967e-24,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-1.48385791e-24,"cg_du":50.1411705,"cg_dv":50.2089806,"cg_dw":49.7910194,"cg_id_a":-0.173526436,"cg_id_raw_a":0.184185773,"cg_iq_a":0.456889033,"cg_iq_raw_a":0.236844748,"cg_iu_a":-0.649855614,"cg_iv_a":-0.945673347,"cg_iw_a":1.59552896,"cg_sample_age_us":23.9618187,"cg_sample_seq":14365217,"cg_sample_valid":1,"cg_theta_rad":5.00660181,"cg_vd_req_v":0.091908969,"cg_vd_v":0.091908969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364589959,"cg_vq_v":-0.364589959,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4034729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.81958,"values":{"Elec_RPM":-7.41928967e-24,"EncoderCos":38735,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-1.48385791e-24,"cg_du":50.1338539,"cg_dv":50.2076607,"cg_dw":49.7923393,"cg_id_a":-0.391349107,"cg_id_raw_a":-0.611012459,"cg_iq_a":0.15474312,"cg_iq_raw_a":-0.020220818,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.863636,"cg_sample_seq":14365270,"cg_sample_valid":1,"cg_theta_rad":5.00592327,"cg_vd_req_v":0.0955647305,"cg_vd_v":0.0955647305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357735425,"cg_vq_v":-0.357735425,"cg_vu_v":102.494972,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.4050903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.827393,"values":{"Elec_RPM":-7.27090414e-24,"EncoderCos":38731,"EncoderSin":12493,"GapTicks":54779,"Mech_RPM":-1.45418077e-24,"cg_du":50.1413727,"cg_dv":50.2005882,"cg_dw":49.7994118,"cg_id_a":0.186855137,"cg_id_raw_a":0.0787744448,"cg_iq_a":-0.128115639,"cg_iq_raw_a":-0.428648174,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860837,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8672733,"cg_sample_seq":14365316,"cg_sample_valid":1,"cg_theta_rad":5.00787258,"cg_vd_req_v":0.0826910958,"cg_vd_v":0.0826910958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352324545,"cg_vq_v":-0.352324545,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.4050903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.835205,"values":{"Elec_RPM":-7.12548552e-24,"EncoderCos":38737,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-1.42509714e-24,"cg_du":50.1367569,"cg_dv":50.2019424,"cg_dw":49.7980576,"cg_id_a":0.0125326086,"cg_id_raw_a":-0.0693341196,"cg_iq_a":0.0565403849,"cg_iq_raw_a":0.0307028387,"cg_iu_a":0.14750886,"cg_iv_a":0.105397761,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9799995,"cg_sample_seq":14365467,"cg_sample_valid":1,"cg_theta_rad":5.00799131,"cg_vd_req_v":0.0876870751,"cg_vd_v":0.0876870751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351579249,"cg_vq_v":-0.351579249,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4066772,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.843018,"values":{"Elec_RPM":-6.98297622e-24,"EncoderCos":38718,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-1.39659521e-24,"cg_du":50.137764,"cg_dv":50.2035255,"cg_dw":49.7964745,"cg_id_a":-0.0227279216,"cg_id_raw_a":-0.320392072,"cg_iq_a":0.0422204994,"cg_iq_raw_a":0.442673236,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14365517,"cg_sample_valid":1,"cg_theta_rad":5.00861788,"cg_vd_req_v":0.0901005343,"cg_vd_v":0.0901005343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353880048,"cg_vq_v":-0.353880048,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.854736,"values":{"Elec_RPM":-6.98297622e-24,"EncoderCos":38727,"EncoderSin":12464,"GapTicks":54776,"Mech_RPM":-1.39659521e-24,"cg_du":50.1405945,"cg_dv":50.2029266,"cg_dw":49.7970734,"cg_id_a":0.114073381,"cg_id_raw_a":0.0245837029,"cg_iq_a":0.148178518,"cg_iq_raw_a":-0.725071788,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8600006,"cg_sample_seq":14365567,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0865962058,"cg_vd_v":0.0865962058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354826301,"cg_vq_v":-0.354826301,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.4098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.862549,"values":{"Elec_RPM":-6.84331629e-24,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-1.36866332e-24,"cg_du":50.1376953,"cg_dv":50.1999321,"cg_dw":49.8000679,"cg_id_a":0.140441537,"cg_id_raw_a":0.287548184,"cg_iq_a":-0.186023965,"cg_iq_raw_a":-0.408833742,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395774841,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14365617,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0853193179,"cg_vd_v":0.0853193179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349290609,"cg_vq_v":-0.349290609,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.390686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.870361,"values":{"Elec_RPM":-6.84331629e-24,"EncoderCos":38719,"EncoderSin":12490,"GapTicks":54782,"Mech_RPM":-1.36866332e-24,"cg_du":50.1461906,"cg_dv":50.1973877,"cg_dw":49.8026123,"cg_id_a":0.417830944,"cg_id_raw_a":0.378265172,"cg_iq_a":-0.0412142128,"cg_iq_raw_a":0.401475638,"cg_iu_a":-1.15726924,"cg_iv_a":0.540323794,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9581814,"cg_sample_seq":14365667,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.076833941,"cg_vd_v":0.076833941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350430787,"cg_vq_v":-0.350430787,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-31.9083061,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.878174,"values":{"Elec_RPM":-6.7064505e-24,"EncoderCos":38695,"EncoderSin":12440,"GapTicks":54785,"Mech_RPM":-1.34129004e-24,"cg_du":50.1247787,"cg_dv":50.195034,"cg_dw":49.804966,"cg_id_a":-0.514012158,"cg_id_raw_a":-0.314064115,"cg_iq_a":-0.831645608,"cg_iq_raw_a":0.550767004,"cg_iu_a":0.256240129,"cg_iv_a":0.322860837,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.863636,"cg_sample_seq":14365717,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0943416134,"cg_vd_v":0.0943416134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334401697,"cg_vq_v":-0.334401697,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.905518,"values":{"Elec_RPM":-6.7064505e-24,"EncoderCos":38765,"EncoderSin":12476,"GapTicks":54786,"Mech_RPM":-1.34129004e-24,"cg_du":50.1302834,"cg_dv":50.193882,"cg_dw":49.806118,"cg_id_a":0.0191820152,"cg_id_raw_a":0.0188777316,"cg_iq_a":-0.643638134,"cg_iq_raw_a":-0.979837358,"cg_iu_a":0.872385383,"cg_iv_a":0.177885413,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9690914,"cg_sample_seq":14365770,"cg_sample_valid":1,"cg_theta_rad":5.00870275,"cg_vd_req_v":0.082974039,"cg_vd_v":0.082974039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33856824,"cg_vq_v":-0.33856824,"cg_vu_v":17.5957031,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3858948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2599.91333,"values":{"Elec_RPM":-6.57232127e-24,"EncoderCos":38705,"EncoderSin":12465,"GapTicks":54782,"Mech_RPM":-1.31446423e-24,"cg_du":50.1416359,"cg_dv":50.1978874,"cg_dw":49.8021126,"cg_id_a":0.00391228497,"cg_id_raw_a":-0.226282537,"cg_iq_a":-0.289867431,"cg_iq_raw_a":0.123543859,"cg_iu_a":-0.287417173,"cg_iv_a":0.359104633,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9327278,"cg_sample_seq":14365816,"cg_sample_valid":1,"cg_theta_rad":5.00630522,"cg_vd_req_v":0.0826011002,"cg_vd_v":0.0826011002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348153204,"cg_vq_v":-0.348153204,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.390686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.925049,"values":{"Elec_RPM":-6.57232127e-24,"EncoderCos":38739,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-1.31446423e-24,"cg_du":50.1427345,"cg_dv":50.2007942,"cg_dw":49.7992058,"cg_id_a":-0.0586854666,"cg_id_raw_a":-0.28177762,"cg_iq_a":-0.404978991,"cg_iq_raw_a":-0.170900226,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8527279,"cg_sample_seq":14365866,"cg_sample_valid":1,"cg_theta_rad":5.00807047,"cg_vd_req_v":0.0851625502,"cg_vd_v":0.0850768462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3525756,"cg_vq_v":-0.3525756,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.390686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.932861,"values":{"Elec_RPM":-6.44087495e-24,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-1.28817495e-24,"cg_du":50.1440773,"cg_dv":50.1987267,"cg_dw":49.8012733,"cg_id_a":0.101900883,"cg_id_raw_a":-0.203689396,"cg_iq_a":-0.209152564,"cg_iq_raw_a":0.526692033,"cg_iu_a":0.509947062,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8600006,"cg_sample_seq":14365917,"cg_sample_valid":1,"cg_theta_rad":5.00797606,"cg_vd_req_v":0.0812309459,"cg_vd_v":0.0812309459,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350736737,"cg_vq_v":-0.350736737,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.3970947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.940674,"values":{"Elec_RPM":-6.44087495e-24,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-1.28817495e-24,"cg_du":50.1480713,"cg_dv":50.2017021,"cg_dw":49.7982979,"cg_id_a":0.178397715,"cg_id_raw_a":0.357252657,"cg_iq_a":0.0265621543,"cg_iq_raw_a":-0.256547958,"cg_iu_a":-1.01229405,"cg_iv_a":0.10539782,"cg_iw_a":0.906896234,"cg_sample_age_us":23.8600006,"cg_sample_seq":14365967,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0786973014,"cg_vd_v":0.0786973014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356397361,"cg_vq_v":-0.356397361,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.3970947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2599.952393,"values":{"Elec_RPM":-6.31205712e-24,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-1.26241144e-24,"cg_du":50.1533356,"cg_dv":50.2096596,"cg_dw":49.7903404,"cg_id_a":0.0347051397,"cg_id_raw_a":0.516547024,"cg_iq_a":0.650793016,"cg_iq_raw_a":2.27070999,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9254551,"cg_sample_seq":14366017,"cg_sample_valid":1,"cg_theta_rad":5.00807047,"cg_vd_req_v":0.0825474858,"cg_vd_v":0.0825474858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371256351,"cg_vq_v":-0.371256351,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3858948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.960205,"values":{"Elec_RPM":-6.31205712e-24,"EncoderCos":38722,"EncoderSin":12472,"GapTicks":54763,"Mech_RPM":-1.26241144e-24,"cg_du":50.1635361,"cg_dv":50.2152977,"cg_dw":49.7847023,"cg_id_a":0.200082943,"cg_id_raw_a":1.12328565,"cg_iq_a":1.08534932,"cg_iq_raw_a":1.60295975,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0691540241,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8600006,"cg_sample_seq":14366066,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.0808151215,"cg_vd_v":0.0808151215,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384466469,"cg_vq_v":-0.384466469,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4306335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.968018,"values":{"Elec_RPM":-6.1858165e-24,"EncoderCos":38704,"EncoderSin":12454,"GapTicks":54770,"Mech_RPM":-1.23716326e-24,"cg_du":50.1583786,"cg_dv":50.2081909,"cg_dw":49.7918091,"cg_id_a":0.275086612,"cg_id_raw_a":-0.0108467126,"cg_iq_a":0.390945643,"cg_iq_raw_a":0.0725599676,"cg_iu_a":-1.77341437,"cg_iv_a":0.177885413,"cg_iw_a":1.59552896,"cg_sample_age_us":23.954546,"cg_sample_seq":14366117,"cg_sample_valid":1,"cg_theta_rad":5.00678587,"cg_vd_req_v":0.0799390897,"cg_vd_v":0.0799390897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371491998,"cg_vq_v":-0.371491998,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4306335,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.97583,"values":{"Elec_RPM":-6.1858165e-24,"EncoderCos":38734,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-1.23716326e-24,"cg_du":50.1443138,"cg_dv":50.2077789,"cg_dw":49.7922211,"cg_id_a":-0.113872252,"cg_id_raw_a":-0.744087636,"cg_iq_a":0.0453119427,"cg_iq_raw_a":-0.3961294,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885413,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9618187,"cg_sample_seq":14366167,"cg_sample_valid":1,"cg_theta_rad":5.00609255,"cg_vd_req_v":0.0871560574,"cg_vd_v":0.0871560574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363812268,"cg_vq_v":-0.363812268,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.33473778,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.4226379,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2599.983643,"values":{"Elec_RPM":-6.06209984e-24,"EncoderCos":38700,"EncoderSin":12487,"GapTicks":54775,"Mech_RPM":-1.21241995e-24,"cg_du":50.1434669,"cg_dv":50.2038193,"cg_dw":49.7961807,"cg_id_a":-0.202213556,"cg_id_raw_a":0.239080712,"cg_iq_a":-0.173341319,"cg_iq_raw_a":0.0978539959,"cg_iu_a":0.509947062,"cg_iv_a":-0.402015924,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9763641,"cg_sample_seq":14366217,"cg_sample_valid":1,"cg_theta_rad":5.00731611,"cg_vd_req_v":0.086834766,"cg_vd_v":0.086834766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357257754,"cg_vq_v":-0.357257754,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3763428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2599.990594,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2599.9906,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2599.990606,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2600.010986,"values":{"Elec_RPM":-6.06209984e-24,"EncoderCos":38744,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-1.21241995e-24,"cg_du":50.1457405,"cg_dv":50.2031898,"cg_dw":49.7927322,"cg_id_a":0.12046165,"cg_id_raw_a":0.0712057725,"cg_iq_a":-0.315757841,"cg_iq_raw_a":0.334820628,"cg_iu_a":0.401215792,"cg_iv_a":-0.510747313,"cg_iw_a":0.109531522,"cg_sample_age_us":23.9836369,"cg_sample_seq":14366269,"cg_sample_valid":1,"cg_theta_rad":5.00736237,"cg_vd_req_v":0.0805631354,"cg_vd_v":0.0805631354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357435882,"cg_vq_v":-0.357435882,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4180689,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3763428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2600.018799,"values":{"Elec_RPM":-5.94085783e-24,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-1.18817155e-24,"cg_du":50.1470375,"cg_dv":50.21175,"cg_dw":49.78825,"cg_id_a":-0.509470165,"cg_id_raw_a":-0.615892768,"cg_iq_a":0.262311041,"cg_iq_raw_a":-0.389561951,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284297,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9254551,"cg_sample_seq":14366316,"cg_sample_valid":1,"cg_theta_rad":5.00881386,"cg_vd_req_v":0.0921743214,"cg_vd_v":0.0921743214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371127486,"cg_vq_v":-0.371127486,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.5463219,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.3811035,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.030518,"values":{"Elec_RPM":-5.94085783e-24,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-1.18817155e-24,"cg_du":50.1461868,"cg_dv":50.2028198,"cg_dw":49.7971802,"cg_id_a":-0.0239707138,"cg_id_raw_a":0.43064028,"cg_iq_a":-0.420583129,"cg_iq_raw_a":-0.358117968,"cg_iu_a":-0.323661089,"cg_iv_a":-0.365772128,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9836369,"cg_sample_seq":14366366,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.082120955,"cg_vd_v":0.082120955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357812971,"cg_vq_v":-0.357812971,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2564,"hz_tim_isr":4999,"hz_vsense":2564,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.3811035,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.03833,"values":{"Elec_RPM":-5.82204039e-24,"EncoderCos":38700,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-1.1644081e-24,"cg_du":50.1528587,"cg_dv":50.210083,"cg_dw":49.789917,"cg_id_a":-0.20087713,"cg_id_raw_a":-0.4322429,"cg_iq_a":0.199458092,"cg_iq_raw_a":0.28437379,"cg_iu_a":-0.214929581,"cg_iv_a":-0.546991229,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8672733,"cg_sample_seq":14366417,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.086113967,"cg_vd_v":0.086113967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370931476,"cg_vq_v":-0.370931476,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.4098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.046143,"values":{"Elec_RPM":-5.82204039e-24,"EncoderCos":38734,"EncoderSin":12488,"GapTicks":54766,"Mech_RPM":-1.1644081e-24,"cg_du":50.148159,"cg_dv":50.2122574,"cg_dw":49.7877426,"cg_id_a":-0.297015876,"cg_id_raw_a":-0.199800342,"cg_iq_a":0.207700059,"cg_iq_raw_a":0.528179526,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592286,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9872723,"cg_sample_seq":14366466,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0885063559,"cg_vd_v":0.0885063559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372048736,"cg_vq_v":-0.372048736,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4370117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.053955,"values":{"Elec_RPM":-5.70559979e-24,"EncoderCos":38706,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-1.14111994e-24,"cg_du":50.1533737,"cg_dv":50.2083702,"cg_dw":49.7916298,"cg_id_a":-0.0612253472,"cg_id_raw_a":-0.214220881,"cg_iq_a":0.00359602273,"cg_iq_raw_a":0.416096449,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148309112,"cg_iw_a":0.399482608,"cg_sample_age_us":23.863636,"cg_sample_seq":14366516,"cg_sample_valid":1,"cg_theta_rad":5.00631428,"cg_vd_req_v":0.0839110091,"cg_vd_v":0.0839110091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368930191,"cg_vq_v":-0.368930191,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.4370117,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.065674,"values":{"Elec_RPM":-5.70559979e-24,"EncoderCos":38714,"EncoderSin":12479,"GapTicks":54768,"Mech_RPM":-1.14111994e-24,"cg_du":50.1604881,"cg_dv":50.2104111,"cg_dw":49.7895889,"cg_id_a":0.125937,"cg_id_raw_a":0.572530508,"cg_iq_a":0.441393197,"cg_iq_raw_a":0.130051926,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14366566,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.0789635852,"cg_vd_v":0.0789635852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376007855,"cg_vq_v":-0.376007855,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3811035,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.073486,"values":{"Elec_RPM":-5.59148751e-24,"EncoderCos":38711,"EncoderSin":12553,"GapTicks":54771,"Mech_RPM":-1.1182975e-24,"cg_du":50.145504,"cg_dv":50.2073746,"cg_dw":49.7926254,"cg_id_a":-0.264678121,"cg_id_raw_a":0.2426911,"cg_iq_a":-0.225618705,"cg_iq_raw_a":-0.158387259,"cg_iu_a":-0.106198072,"cg_iv_a":-0.72821033,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9218178,"cg_sample_seq":14366616,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0861480907,"cg_vd_v":0.0861480907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363844723,"cg_vq_v":-0.363844723,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3938904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.081299,"values":{"Elec_RPM":-5.59148751e-24,"EncoderCos":38723,"EncoderSin":12475,"GapTicks":54773,"Mech_RPM":-1.1182975e-24,"cg_du":50.1509171,"cg_dv":50.2056084,"cg_dw":49.7943916,"cg_id_a":-0.00223442912,"cg_id_raw_a":0.44081068,"cg_iq_a":-0.109679118,"cg_iq_raw_a":0.189100429,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9799995,"cg_sample_seq":14366666,"cg_sample_valid":1,"cg_theta_rad":5.00624657,"cg_vd_req_v":0.0811470374,"cg_vd_v":0.0811470374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36424762,"cg_vq_v":-0.36424762,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3938904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.089111,"values":{"Elec_RPM":-5.47965741e-24,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-1.09593152e-24,"cg_du":50.1572762,"cg_dv":50.204895,"cg_dw":49.795105,"cg_id_a":0.0927066281,"cg_id_raw_a":0.175878763,"cg_iq_a":0.0364650413,"cg_iq_raw_a":-0.746594071,"cg_iu_a":-0.106198072,"cg_iv_a":-0.546991229,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14366716,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0763954297,"cg_vd_v":0.0763954297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366653234,"cg_vq_v":-0.366653234,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3779297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.116455,"values":{"Elec_RPM":-5.37006451e-24,"EncoderCos":38715,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-1.07401292e-24,"cg_du":50.1533203,"cg_dv":50.2065926,"cg_dw":49.7934074,"cg_id_a":-0.0475092754,"cg_id_raw_a":0.239332989,"cg_iq_a":-0.0312488079,"cg_iq_raw_a":0.0972353071,"cg_iu_a":0.546190977,"cg_iv_a":0.141641617,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9581814,"cg_sample_seq":14366817,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0808852986,"cg_vd_v":0.0808852986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366787791,"cg_vq_v":-0.366787791,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.6167755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.371521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.128174,"values":{"Elec_RPM":-5.37006451e-24,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-1.07401292e-24,"cg_du":50.1478577,"cg_dv":50.2077751,"cg_dw":49.7922249,"cg_id_a":-0.128752619,"cg_id_raw_a":0.0309725571,"cg_iq_a":-0.230441555,"cg_iq_raw_a":-0.360325336,"cg_iu_a":0.908629417,"cg_iv_a":0.10539782,"cg_iw_a":-1.01402724,"cg_sample_age_us":23.9836369,"cg_sample_seq":14366866,"cg_sample_valid":1,"cg_theta_rad":5.00622129,"cg_vd_req_v":0.0851712301,"cg_vd_v":0.0851712301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365596652,"cg_vq_v":-0.365596652,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.6167755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3858948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.135986,"values":{"Elec_RPM":-5.26266307e-24,"EncoderCos":38718,"EncoderSin":12489,"GapTicks":54767,"Mech_RPM":-1.05253263e-24,"cg_du":50.1499062,"cg_dv":50.2117233,"cg_dw":49.7882767,"cg_id_a":-0.216741353,"cg_id_raw_a":-0.0764206871,"cg_iq_a":0.143304273,"cg_iq_raw_a":0.102638684,"cg_iu_a":0.292484045,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9254551,"cg_sample_seq":14366916,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.0879428238,"cg_vd_v":0.0879428238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371982992,"cg_vq_v":-0.371982992,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.6167755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3858948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.143799,"values":{"Elec_RPM":-5.26266307e-24,"EncoderCos":38711,"EncoderSin":12501,"GapTicks":54765,"Mech_RPM":-1.05253263e-24,"cg_du":50.1668129,"cg_dv":50.2130547,"cg_dw":49.7869453,"cg_id_a":0.321950525,"cg_id_raw_a":0.104205899,"cg_iq_a":0.668778539,"cg_iq_raw_a":-0.0254326891,"cg_iu_a":-0.287417412,"cg_iv_a":0.250373125,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9763641,"cg_sample_seq":14366966,"cg_sample_valid":1,"cg_theta_rad":5.00761318,"cg_vd_req_v":0.0762549341,"cg_vd_v":0.0762549341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383215636,"cg_vq_v":-0.383215636,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.6167755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0741272,"temp_inv2_c":37.3938904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.151611,"values":{"Elec_RPM":-5.15741009e-24,"EncoderCos":38708,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-1.03148198e-24,"cg_du":50.155201,"cg_dv":50.2090302,"cg_dw":49.7909698,"cg_id_a":0.00779319555,"cg_id_raw_a":0.319668889,"cg_iq_a":0.0472229272,"cg_iq_raw_a":-0.0765967742,"cg_iu_a":0.0750212669,"cg_iv_a":-0.655722737,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9654541,"cg_sample_seq":14367016,"cg_sample_valid":1,"cg_theta_rad":5.00692892,"cg_vd_req_v":0.0821962729,"cg_vd_v":0.0821962729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371065974,"cg_vq_v":-0.371065974,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.401886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.159424,"values":{"Elec_RPM":-5.15741009e-24,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54773,"Mech_RPM":-1.03148198e-24,"cg_du":50.1499481,"cg_dv":50.2059059,"cg_dw":49.7940941,"cg_id_a":-0.00267326273,"cg_id_raw_a":0.301950186,"cg_iq_a":-0.172514513,"cg_iq_raw_a":-0.116026707,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14367066,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0817084983,"cg_vd_v":0.0817084983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36421895,"cg_vq_v":-0.36421895,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.401886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.167236,"values":{"Elec_RPM":-5.0542618e-24,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54778,"Mech_RPM":-1.01085238e-24,"cg_du":50.1473503,"cg_dv":50.2014542,"cg_dw":49.7985458,"cg_id_a":0.0365211628,"cg_id_raw_a":0.396415263,"cg_iq_a":-0.459717989,"cg_iq_raw_a":-1.05224478,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065256,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9581814,"cg_sample_seq":14367116,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0811246186,"cg_vd_v":0.0811246186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356326878,"cg_vq_v":-0.356326878,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.178955,"values":{"Elec_RPM":-5.0542618e-24,"EncoderCos":38707,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-1.01085238e-24,"cg_du":50.1547813,"cg_dv":50.2048798,"cg_dw":49.7951202,"cg_id_a":0.190652296,"cg_id_raw_a":0.289962828,"cg_iq_a":-0.0988745317,"cg_iq_raw_a":-0.407124728,"cg_iu_a":0.473703384,"cg_iv_a":0.141641617,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9618187,"cg_sample_seq":14367166,"cg_sample_valid":1,"cg_theta_rad":5.0072422,"cg_vd_req_v":0.0788354054,"cg_vd_v":0.0788354054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365118384,"cg_vq_v":-0.365118384,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.186768,"values":{"Elec_RPM":-4.95317677e-24,"EncoderCos":38713,"EncoderSin":12467,"GapTicks":54772,"Mech_RPM":-9.90635353e-25,"cg_du":50.1523933,"cg_dv":50.2069283,"cg_dw":49.7930717,"cg_id_a":0.0204486921,"cg_id_raw_a":0.32970804,"cg_iq_a":0.0761544257,"cg_iq_raw_a":0.0336401202,"cg_iu_a":0.654922485,"cg_iv_a":-0.257040501,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9509087,"cg_sample_seq":14367218,"cg_sample_valid":1,"cg_theta_rad":5.00754166,"cg_vd_req_v":0.0825556442,"cg_vd_v":0.0825556442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367756248,"cg_vq_v":-0.367756248,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.8798447,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3795166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.19458,"values":{"Elec_RPM":-4.95317677e-24,"EncoderCos":38714,"EncoderSin":12500,"GapTicks":54777,"Mech_RPM":-9.90635353e-25,"cg_du":50.1453056,"cg_dv":50.2024307,"cg_dw":49.7975693,"cg_id_a":-0.00153534487,"cg_id_raw_a":0.0142419301,"cg_iq_a":-0.345278323,"cg_iq_raw_a":-0.398369521,"cg_iu_a":0.292484283,"cg_iv_a":0.0329101682,"cg_iw_a":-0.325394452,"cg_sample_age_us":23.8527279,"cg_sample_seq":14367266,"cg_sample_valid":1,"cg_theta_rad":5.00719547,"cg_vd_req_v":0.0825858265,"cg_vd_v":0.0825858265,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356752098,"cg_vq_v":-0.356752098,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.1310959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3731384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.221924,"values":{"Elec_RPM":-4.85411319e-24,"EncoderCos":38743,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-9.70822618e-25,"cg_du":50.1475487,"cg_dv":50.2053528,"cg_dw":49.7946472,"cg_id_a":0.00903604925,"cg_id_raw_a":0.134122148,"cg_iq_a":-0.126145944,"cg_iq_raw_a":0.559149981,"cg_iu_a":-0.432392597,"cg_iv_a":0.0691539049,"cg_iw_a":0.363238692,"cg_sample_age_us":26.8090916,"cg_sample_seq":14367321,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0819472671,"cg_vd_v":0.0819472671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362375557,"cg_vq_v":-0.362375557,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3731384,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.229736,"values":{"Elec_RPM":-4.85411319e-24,"EncoderCos":38730,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-9.70822618e-25,"cg_du":50.1438637,"cg_dv":50.2060852,"cg_dw":49.7939148,"cg_id_a":-0.22155565,"cg_id_raw_a":-0.806817889,"cg_iq_a":-0.0835090205,"cg_iq_raw_a":-0.620987594,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8745461,"cg_sample_seq":14367367,"cg_sample_valid":1,"cg_theta_rad":5.00662422,"cg_vd_req_v":0.0861250162,"cg_vd_v":0.0861250162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361189544,"cg_vq_v":-0.361189544,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3970947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.241455,"values":{"Elec_RPM":-4.75703084e-24,"EncoderCos":38706,"EncoderSin":12507,"GapTicks":54771,"Mech_RPM":-9.51406188e-25,"cg_du":50.1446266,"cg_dv":50.2078171,"cg_dw":49.7921829,"cg_id_a":-0.305596024,"cg_id_raw_a":-0.445494562,"cg_iq_a":0.150959104,"cg_iq_raw_a":-1.06277204,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14367416,"cg_sample_valid":1,"cg_theta_rad":5.00513124,"cg_vd_req_v":0.0888366923,"cg_vd_v":0.0888366923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363578081,"cg_vq_v":-0.363578081,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.249268,"values":{"Elec_RPM":-4.75703084e-24,"EncoderCos":38696,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-9.51406188e-25,"cg_du":50.1470184,"cg_dv":50.2046776,"cg_dw":49.7953224,"cg_id_a":-0.136363775,"cg_id_raw_a":-0.213975966,"cg_iq_a":-0.186202511,"cg_iq_raw_a":-0.203270167,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.863636,"cg_sample_seq":14367466,"cg_sample_valid":1,"cg_theta_rad":5.00642729,"cg_vd_req_v":0.0853226259,"cg_vd_v":0.0853226259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360325396,"cg_vq_v":-0.360325396,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.25708,"values":{"Elec_RPM":-4.66189027e-24,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-9.32378074e-25,"cg_du":50.143692,"cg_dv":50.2061348,"cg_dw":49.7938652,"cg_id_a":-0.219544098,"cg_id_raw_a":0.694673061,"cg_iq_a":-0.320459723,"cg_iq_raw_a":0.581463993,"cg_iu_a":0.256240368,"cg_iv_a":0.0691539049,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14367516,"cg_sample_valid":1,"cg_theta_rad":5.00701189,"cg_vd_req_v":0.0890972093,"cg_vd_v":0.0890972093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360485345,"cg_vq_v":-0.360485345,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.47919178,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.264893,"values":{"Elec_RPM":-4.66189027e-24,"EncoderCos":38760,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-9.32378074e-25,"cg_du":50.1475525,"cg_dv":50.2053032,"cg_dw":49.7946968,"cg_id_a":0.226888344,"cg_id_raw_a":0.163315386,"cg_iq_a":-0.194756866,"cg_iq_raw_a":0.0151605261,"cg_iu_a":-0.214929581,"cg_iv_a":0.649055302,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.8745461,"cg_sample_seq":14367566,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0803231746,"cg_vd_v":0.0803231746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362666786,"cg_vq_v":-0.362666786,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.74399996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3843079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.272705,"values":{"Elec_RPM":-4.56865243e-24,"EncoderCos":38697,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-9.13730487e-25,"cg_du":50.1411133,"cg_dv":50.2071686,"cg_dw":49.7928314,"cg_id_a":-0.261241049,"cg_id_raw_a":-0.300195158,"cg_iq_a":-0.716991723,"cg_iq_raw_a":0.224747553,"cg_iu_a":0.00253343582,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14367618,"cg_sample_valid":1,"cg_theta_rad":5.0073514,"cg_vd_req_v":0.0905894265,"cg_vd_v":0.0905894265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360818058,"cg_vq_v":-0.360818058,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3827209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.280518,"values":{"Elec_RPM":-4.56865243e-24,"EncoderCos":38703,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-9.13730487e-25,"cg_du":50.1390076,"cg_dv":50.2051353,"cg_dw":49.7948647,"cg_id_a":-0.333056629,"cg_id_raw_a":-0.207031772,"cg_iq_a":-0.332987845,"cg_iq_raw_a":-0.275050819,"cg_iu_a":0.437459469,"cg_iv_a":0.359104574,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.9727268,"cg_sample_seq":14367666,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0914658904,"cg_vd_v":0.0914658904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356563836,"cg_vq_v":-0.356563836,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3763428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.292236,"values":{"Elec_RPM":-4.47727907e-24,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54777,"Mech_RPM":-8.95455834e-25,"cg_du":50.1343918,"cg_dv":50.2018929,"cg_dw":49.7981071,"cg_id_a":-0.463029563,"cg_id_raw_a":-1.35272789,"cg_iq_a":-0.601364136,"cg_iq_raw_a":-2.03160405,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9618187,"cg_sample_seq":14367716,"cg_sample_valid":1,"cg_theta_rad":5.00716591,"cg_vd_req_v":0.0923316926,"cg_vd_v":0.0923316926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349454969,"cg_vq_v":-0.349454969,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3763428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.300049,"values":{"Elec_RPM":-4.47727907e-24,"EncoderCos":38769,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-8.95455834e-25,"cg_du":50.1437569,"cg_dv":50.2032509,"cg_dw":49.7967491,"cg_id_a":0.106059216,"cg_id_raw_a":-0.11698056,"cg_iq_a":-0.0435875542,"cg_iq_raw_a":0.0998994038,"cg_iu_a":0.691166282,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9581814,"cg_sample_seq":14367767,"cg_sample_valid":1,"cg_theta_rad":5.00913143,"cg_vd_req_v":0.0805974901,"cg_vd_v":0.0805974901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357924104,"cg_vq_v":-0.357924104,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.327393,"values":{"Elec_RPM":-4.3877335e-24,"EncoderCos":38721,"EncoderSin":12470,"GapTicks":54776,"Mech_RPM":-8.77546719e-25,"cg_du":50.1453094,"cg_dv":50.2032509,"cg_dw":49.7967491,"cg_id_a":0.0409541801,"cg_id_raw_a":0.115044355,"cg_iq_a":-0.186264545,"cg_iq_raw_a":-0.35213241,"cg_iu_a":0.183752537,"cg_iv_a":-0.873185754,"cg_iw_a":0.689433217,"cg_sample_age_us":26.8272724,"cg_sample_seq":14367821,"cg_sample_valid":1,"cg_theta_rad":5.00620842,"cg_vd_req_v":0.0835483074,"cg_vd_v":0.0835483074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357829839,"cg_vq_v":-0.357829839,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3747559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.335205,"values":{"Elec_RPM":-4.3877335e-24,"EncoderCos":38685,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-8.77546719e-25,"cg_du":50.1521645,"cg_dv":50.2048912,"cg_dw":49.7951088,"cg_id_a":0.0591960587,"cg_id_raw_a":-0.366650641,"cg_iq_a":0.160955474,"cg_iq_raw_a":0.2539258,"cg_iu_a":-0.50488019,"cg_iv_a":0.322860718,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14367867,"cg_sample_valid":1,"cg_theta_rad":5.00768328,"cg_vd_req_v":0.0823666304,"cg_vd_v":0.0823666304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36332649,"cg_vq_v":-0.36332649,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3747559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.343018,"values":{"Elec_RPM":-4.29997864e-24,"EncoderCos":38702,"EncoderSin":12484,"GapTicks":54781,"Mech_RPM":-8.59995747e-25,"cg_du":50.1427155,"cg_dv":50.1986275,"cg_dw":49.8013725,"cg_id_a":0.176624238,"cg_id_raw_a":0.314521581,"cg_iq_a":-0.499918252,"cg_iq_raw_a":-0.441013038,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9618187,"cg_sample_seq":14367917,"cg_sample_valid":1,"cg_theta_rad":5.0076313,"cg_vd_req_v":0.082265541,"cg_vd_v":0.082265541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349815935,"cg_vq_v":-0.349815935,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3683472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.354736,"values":{"Elec_RPM":-4.29997864e-24,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-8.59995747e-25,"cg_du":50.1397629,"cg_dv":50.2043152,"cg_dw":49.7956848,"cg_id_a":-0.075556457,"cg_id_raw_a":-0.107690036,"cg_iq_a":-0.116907589,"cg_iq_raw_a":-0.227971628,"cg_iu_a":0.872385502,"cg_iv_a":-0.510747433,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9509087,"cg_sample_seq":14367967,"cg_sample_valid":1,"cg_theta_rad":5.00635862,"cg_vd_req_v":0.0883199498,"cg_vd_v":0.0883199498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356317729,"cg_vq_v":-0.356317729,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3683472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.362549,"values":{"Elec_RPM":-4.21397899e-24,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-8.42795818e-25,"cg_du":50.1384087,"cg_dv":50.2041397,"cg_dw":49.7958603,"cg_id_a":-0.128552586,"cg_id_raw_a":-0.0243003629,"cg_iq_a":-0.184313804,"cg_iq_raw_a":-0.219997197,"cg_iu_a":0.61867857,"cg_iv_a":-0.365772009,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9618187,"cg_sample_seq":14368017,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0893279389,"cg_vd_v":0.0893279389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355293661,"cg_vq_v":-0.355293661,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3683472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.370361,"values":{"Elec_RPM":-4.21397899e-24,"EncoderCos":38719,"EncoderSin":12444,"GapTicks":54780,"Mech_RPM":-8.42795818e-25,"cg_du":50.1470413,"cg_dv":50.1996727,"cg_dw":49.8003273,"cg_id_a":0.325117111,"cg_id_raw_a":0.138703883,"cg_iq_a":-0.195777178,"cg_iq_raw_a":0.0510715581,"cg_iu_a":0.111264944,"cg_iv_a":0.467836082,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9581814,"cg_sample_seq":14368066,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0795023069,"cg_vd_v":0.0795023069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353761464,"cg_vq_v":-0.353761464,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.378174,"values":{"Elec_RPM":-4.12969946e-24,"EncoderCos":38746,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-8.25939882e-25,"cg_du":50.1399078,"cg_dv":50.2045593,"cg_dw":49.7954407,"cg_id_a":-0.0840728432,"cg_id_raw_a":0.0403978266,"cg_iq_a":-0.0446351953,"cg_iq_raw_a":-0.250274479,"cg_iu_a":-0.0337104797,"cg_iv_a":0.21412921,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14368116,"cg_sample_valid":1,"cg_theta_rad":5.00599909,"cg_vd_req_v":0.0870260298,"cg_vd_v":0.0870260298,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358229876,"cg_vq_v":-0.358229876,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.385986,"values":{"Elec_RPM":-4.12969946e-24,"EncoderCos":38726,"EncoderSin":12501,"GapTicks":54771,"Mech_RPM":-8.25939882e-25,"cg_du":50.1438751,"cg_dv":50.2075272,"cg_dw":49.7924728,"cg_id_a":-0.203031406,"cg_id_raw_a":-0.472406238,"cg_iq_a":0.126844004,"cg_iq_raw_a":-0.152930185,"cg_iu_a":0.763653874,"cg_iv_a":0.39534843,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9836369,"cg_sample_seq":14368166,"cg_sample_valid":1,"cg_theta_rad":5.00947618,"cg_vd_req_v":0.0876415819,"cg_vd_v":0.0876415819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363126695,"cg_vq_v":-0.363126695,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.393799,"values":{"Elec_RPM":-4.04710533e-24,"EncoderCos":38692,"EncoderSin":12441,"GapTicks":54777,"Mech_RPM":-8.09421086e-25,"cg_du":50.1439552,"cg_dv":50.2023621,"cg_dw":49.7976379,"cg_id_a":-0.138256416,"cg_id_raw_a":-0.4705607,"cg_iq_a":-0.23173359,"cg_iq_raw_a":-0.158518597,"cg_iu_a":0.14750886,"cg_iv_a":0.322860718,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9618187,"cg_sample_seq":14368216,"cg_sample_valid":1,"cg_theta_rad":5.00831366,"cg_vd_req_v":0.0867987201,"cg_vd_v":0.0867987201,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355133086,"cg_vq_v":-0.355133086,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.405518,"values":{"Elec_RPM":-4.04710533e-24,"EncoderCos":38746,"EncoderSin":12502,"GapTicks":54774,"Mech_RPM":-8.09421086e-25,"cg_du":50.1493034,"cg_dv":50.2046318,"cg_dw":49.7953682,"cg_id_a":0.196775734,"cg_id_raw_a":0.214318573,"cg_iq_a":0.110564373,"cg_iq_raw_a":0.383892715,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9290905,"cg_sample_seq":14368266,"cg_sample_valid":1,"cg_theta_rad":5.00721645,"cg_vd_req_v":0.078895472,"cg_vd_v":0.078895472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362584174,"cg_vq_v":-0.362584174,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.432861,"values":{"Elec_RPM":-3.96616347e-24,"EncoderCos":38731,"EncoderSin":12479,"GapTicks":54771,"Mech_RPM":-7.93232674e-25,"cg_du":50.1523056,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.307473838,"cg_id_raw_a":0.352431089,"cg_iq_a":-0.119152091,"cg_iq_raw_a":1.12632573,"cg_iu_a":0.00253343582,"cg_iv_a":-0.836941838,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9836369,"cg_sample_seq":14368321,"cg_sample_valid":1,"cg_theta_rad":5.00744247,"cg_vd_req_v":0.082230337,"cg_vd_v":0.082230337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367196113,"cg_vq_v":-0.367196113,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.18819332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.440674,"values":{"Elec_RPM":-3.96616347e-24,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-7.93232674e-25,"cg_du":50.145443,"cg_dv":50.2069893,"cg_dw":49.7930107,"cg_id_a":-0.0946526676,"cg_id_raw_a":0.135005817,"cg_iq_a":0.0639629513,"cg_iq_raw_a":-0.568842471,"cg_iu_a":-0.251173496,"cg_iv_a":-0.764454246,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9254551,"cg_sample_seq":14368367,"cg_sample_valid":1,"cg_theta_rad":5.0062952,"cg_vd_req_v":0.0863446668,"cg_vd_v":0.0863446668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363166958,"cg_vq_v":-0.363166958,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.448486,"values":{"Elec_RPM":-3.88684035e-24,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-7.7736804e-25,"cg_du":50.1460686,"cg_dv":50.2049828,"cg_dw":49.7950172,"cg_id_a":0.0339725614,"cg_id_raw_a":-0.148703188,"cg_iq_a":-0.00500454381,"cg_iq_raw_a":-0.232378006,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.954546,"cg_sample_seq":14368417,"cg_sample_valid":1,"cg_theta_rad":5.00699425,"cg_vd_req_v":0.0850190446,"cg_vd_v":0.0850190446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360524625,"cg_vq_v":-0.360524625,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119693294,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.456299,"values":{"Elec_RPM":-3.88684035e-24,"EncoderCos":38725,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-7.7736804e-25,"cg_du":50.1555977,"cg_dv":50.2114067,"cg_dw":49.7885933,"cg_id_a":0.0423523337,"cg_id_raw_a":0.419105887,"cg_iq_a":0.559396267,"cg_iq_raw_a":0.842757463,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8963642,"cg_sample_seq":14368467,"cg_sample_valid":1,"cg_theta_rad":5.00785494,"cg_vd_req_v":0.0833446831,"cg_vd_v":0.0833446831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374708176,"cg_vq_v":-0.374708176,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.361969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.468018,"values":{"Elec_RPM":-3.73292136e-24,"EncoderCos":38706,"EncoderSin":12471,"GapTicks":54769,"Mech_RPM":-7.46584272e-25,"cg_du":50.1598282,"cg_dv":50.2099571,"cg_dw":49.7900429,"cg_id_a":0.338913679,"cg_id_raw_a":0.170384735,"cg_iq_a":0.471567094,"cg_iq_raw_a":-0.0548568889,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8709087,"cg_sample_seq":14368616,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.0799278691,"cg_vd_v":0.0799278691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374834061,"cg_vq_v":-0.374834061,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.47583,"values":{"Elec_RPM":-3.73292136e-24,"EncoderCos":38702,"EncoderSin":12460,"GapTicks":54766,"Mech_RPM":-7.46584272e-25,"cg_du":50.1586647,"cg_dv":50.212532,"cg_dw":49.787468,"cg_id_a":0.228979006,"cg_id_raw_a":0.643665791,"cg_iq_a":0.315212965,"cg_iq_raw_a":-0.771139085,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065315,"cg_iw_a":0.798164845,"cg_sample_age_us":23.8527279,"cg_sample_seq":14368666,"cg_sample_valid":1,"cg_theta_rad":5.00688601,"cg_vd_req_v":0.0839797854,"cg_vd_v":0.0839797854,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37752828,"cg_vq_v":-0.37752828,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0987549,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.483643,"values":{"Elec_RPM":-3.65826277e-24,"EncoderCos":38710,"EncoderSin":12464,"GapTicks":54772,"Mech_RPM":-7.31652564e-25,"cg_du":50.1455498,"cg_dv":50.2070084,"cg_dw":49.7929916,"cg_id_a":0.0268391781,"cg_id_raw_a":0.525232971,"cg_iq_a":-0.369353145,"cg_iq_raw_a":-0.23782672,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8600006,"cg_sample_seq":14368716,"cg_sample_valid":1,"cg_theta_rad":5.00651789,"cg_vd_req_v":0.0883410126,"cg_vd_v":0.0883410126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363923937,"cg_vq_v":-0.363923937,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.376875162,"dclink_p_w":54.543129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3667603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.495361,"values":{"Elec_RPM":-3.65826277e-24,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-7.31652564e-25,"cg_du":50.1548424,"cg_dv":50.215229,"cg_dw":49.784771,"cg_id_a":0.181924582,"cg_id_raw_a":-0.0948993117,"cg_iq_a":0.318287611,"cg_iq_raw_a":0.756378651,"cg_iu_a":-0.976050138,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9218178,"cg_sample_seq":14368766,"cg_sample_valid":1,"cg_theta_rad":5.00793171,"cg_vd_req_v":0.0863317624,"cg_vd_v":0.0863317624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380992502,"cg_vq_v":-0.380992502,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3667603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.522705,"values":{"Elec_RPM":-3.5850975e-24,"EncoderCos":38719,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-7.1701949e-25,"cg_du":50.1535835,"cg_dv":50.2152672,"cg_dw":49.7847328,"cg_id_a":-0.0749577358,"cg_id_raw_a":-0.30221945,"cg_iq_a":0.303001612,"cg_iq_raw_a":0.481363833,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395775437,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9836369,"cg_sample_seq":14368819,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0886799991,"cg_vd_v":0.0886799991,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380035877,"cg_vq_v":-0.380035877,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3635559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.530518,"values":{"Elec_RPM":-3.5850975e-24,"EncoderCos":38714,"EncoderSin":12448,"GapTicks":54771,"Mech_RPM":-7.1701949e-25,"cg_du":50.1651421,"cg_dv":50.2079659,"cg_dw":49.7920341,"cg_id_a":0.617379069,"cg_id_raw_a":0.602038085,"cg_iq_a":-0.0555010922,"cg_iq_raw_a":0.462112218,"cg_iu_a":-0.468636513,"cg_iv_a":0.757786751,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9581814,"cg_sample_seq":14368866,"cg_sample_valid":1,"cg_theta_rad":5.00609779,"cg_vd_req_v":0.0737332106,"cg_vd_v":0.0737332106,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375147909,"cg_vq_v":-0.375147909,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.53833,"values":{"Elec_RPM":-3.51339557e-24,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54758,"Mech_RPM":-7.02679084e-25,"cg_du":50.1645126,"cg_dv":50.2196426,"cg_dw":49.7803574,"cg_id_a":0.0790445954,"cg_id_raw_a":0.787019253,"cg_iq_a":0.709353805,"cg_iq_raw_a":0.951367199,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.257040501,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9327278,"cg_sample_seq":14368916,"cg_sample_valid":1,"cg_theta_rad":5.00674677,"cg_vd_req_v":0.0843284205,"cg_vd_v":0.0843284205,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390909612,"cg_vq_v":-0.390909612,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.546143,"values":{"Elec_RPM":-3.51339557e-24,"EncoderCos":38717,"EncoderSin":12458,"GapTicks":54768,"Mech_RPM":-7.02679084e-25,"cg_du":50.1444206,"cg_dv":50.2102585,"cg_dw":49.7897415,"cg_id_a":-0.284209847,"cg_id_raw_a":0.0811713189,"cg_iq_a":-0.526641607,"cg_iq_raw_a":-0.428200573,"cg_iu_a":0.219996452,"cg_iv_a":-0.691966653,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9872723,"cg_sample_seq":14368966,"cg_sample_valid":1,"cg_theta_rad":5.00770283,"cg_vd_req_v":0.0916951448,"cg_vd_v":0.0916951448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3667036,"cg_vq_v":-0.3667036,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3779297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.553955,"values":{"Elec_RPM":-3.44312778e-24,"EncoderCos":38713,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-6.88625527e-25,"cg_du":50.1534157,"cg_dv":50.2133636,"cg_dw":49.7866364,"cg_id_a":-0.0660805851,"cg_id_raw_a":0.211985067,"cg_iq_a":-0.00580368936,"cg_iq_raw_a":-0.0508170165,"cg_iu_a":0.219996452,"cg_iv_a":-0.800698042,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8600006,"cg_sample_seq":14369017,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.0879858136,"cg_vd_v":0.0879858136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375906765,"cg_vq_v":-0.375906765,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.561768,"values":{"Elec_RPM":-3.44312778e-24,"EncoderCos":38698,"EncoderSin":12486,"GapTicks":54765,"Mech_RPM":-6.88625527e-25,"cg_du":50.1471138,"cg_dv":50.2127686,"cg_dw":49.7872314,"cg_id_a":-0.280500621,"cg_id_raw_a":-0.625510454,"cg_iq_a":-0.127230465,"cg_iq_raw_a":0.119334109,"cg_iu_a":0.473703146,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8600006,"cg_sample_seq":14369067,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0929193273,"cg_vd_v":0.0929193273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371401608,"cg_vq_v":-0.371401608,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.56958,"values":{"Elec_RPM":-3.37426496e-24,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54762,"Mech_RPM":-6.74853002e-25,"cg_du":50.152565,"cg_dv":50.2159309,"cg_dw":49.7840691,"cg_id_a":-0.126060098,"cg_id_raw_a":0.0866687447,"cg_iq_a":0.279426634,"cg_iq_raw_a":-0.0638589039,"cg_iu_a":-0.287417412,"cg_iv_a":0.359104574,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.9836369,"cg_sample_seq":14369117,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0888374075,"cg_vd_v":0.0888374075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379457474,"cg_vq_v":-0.379457474,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.361969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.581299,"values":{"Elec_RPM":-3.37426496e-24,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-6.74853002e-25,"cg_du":50.1561089,"cg_dv":50.2135468,"cg_dw":49.7864532,"cg_id_a":0.068794325,"cg_id_raw_a":0.194382086,"cg_iq_a":0.226072967,"cg_iq_raw_a":-0.0898216143,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8709087,"cg_sample_seq":14369166,"cg_sample_valid":1,"cg_theta_rad":5.00694847,"cg_vd_req_v":0.0843900442,"cg_vd_v":0.0843900442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378041863,"cg_vq_v":-0.378041863,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.361969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.589111,"values":{"Elec_RPM":-3.30677968e-24,"EncoderCos":38728,"EncoderSin":12495,"GapTicks":54775,"Mech_RPM":-6.61355937e-25,"cg_du":50.1473846,"cg_dv":50.2039948,"cg_dw":49.7960052,"cg_id_a":0.201021671,"cg_id_raw_a":0.0488543585,"cg_iq_a":-0.698094785,"cg_iq_raw_a":0.114618868,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333380699,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14369217,"cg_sample_valid":1,"cg_theta_rad":5.00580454,"cg_vd_req_v":0.0812053084,"cg_vd_v":0.0812053084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359186947,"cg_vq_v":-0.359186947,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.1842842,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3364563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2600.596924,"values":{"Elec_RPM":-3.30677968e-24,"EncoderCos":38717,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-6.61355937e-25,"cg_du":50.1527596,"cg_dv":50.2089767,"cg_dw":49.7910233,"cg_id_a":-0.00418539345,"cg_id_raw_a":-0.149594098,"cg_iq_a":-0.15522562,"cg_iq_raw_a":0.204660475,"cg_iu_a":0.654922485,"cg_iv_a":0.0329101086,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.8563633,"cg_sample_seq":14369267,"cg_sample_valid":1,"cg_theta_rad":5.00859404,"cg_vd_req_v":0.0834010765,"cg_vd_v":0.0834010765,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369768888,"cg_vq_v":-0.369768888,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3523865,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.624268,"values":{"Elec_RPM":-3.24064415e-24,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-6.4812881e-25,"cg_du":50.1511154,"cg_dv":50.2082596,"cg_dw":49.7917404,"cg_id_a":-0.129728779,"cg_id_raw_a":-0.0623582341,"cg_iq_a":-0.275413454,"cg_iq_raw_a":-0.041776821,"cg_iu_a":0.219996333,"cg_iv_a":0.10539782,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8600006,"cg_sample_seq":14369320,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0843181536,"cg_vd_v":0.0843181536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367797792,"cg_vq_v":-0.367797792,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3523865,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.635986,"values":{"Elec_RPM":-3.24064415e-24,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-6.4812881e-25,"cg_du":50.1607971,"cg_dv":50.21315,"cg_dw":49.78685,"cg_id_a":0.0309508219,"cg_id_raw_a":0.665799797,"cg_iq_a":0.295628458,"cg_iq_raw_a":0.249032557,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.72821033,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9836369,"cg_sample_seq":14369366,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.081930697,"cg_vd_v":0.081930697,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380995452,"cg_vq_v":-0.380995452,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3523865,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.643799,"values":{"Elec_RPM":-3.17583134e-24,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-6.35166248e-25,"cg_du":50.1566696,"cg_dv":50.2116165,"cg_dw":49.7883835,"cg_id_a":0.043145977,"cg_id_raw_a":0.368144363,"cg_iq_a":0.123946741,"cg_iq_raw_a":-0.145489186,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641557,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9509087,"cg_sample_seq":14369467,"cg_sample_valid":1,"cg_theta_rad":5.00812197,"cg_vd_req_v":0.0826345086,"cg_vd_v":0.0826345086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375607729,"cg_vq_v":-0.375607729,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3763428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.651611,"values":{"Elec_RPM":-3.11231462e-24,"EncoderCos":38705,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-6.22462925e-25,"cg_du":50.1461678,"cg_dv":50.2065201,"cg_dw":49.7934799,"cg_id_a":-0.176736802,"cg_id_raw_a":0.453764528,"cg_iq_a":-0.471570909,"cg_iq_raw_a":-0.572832227,"cg_iu_a":0.0387773514,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9909096,"cg_sample_seq":14369517,"cg_sample_valid":1,"cg_theta_rad":5.00676155,"cg_vd_req_v":0.0871232748,"cg_vd_v":0.0871232748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362505913,"cg_vq_v":-0.362505913,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.659424,"values":{"Elec_RPM":-3.11231462e-24,"EncoderCos":38698,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-6.22462925e-25,"cg_du":50.1612854,"cg_dv":50.2154884,"cg_dw":49.7845116,"cg_id_a":-0.099270016,"cg_id_raw_a":0.214299306,"cg_iq_a":0.692624807,"cg_iq_raw_a":0.132316321,"cg_iu_a":-0.468636513,"cg_iv_a":0.975249767,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9618187,"cg_sample_seq":14369567,"cg_sample_valid":1,"cg_theta_rad":5.00647211,"cg_vd_req_v":0.0851985738,"cg_vd_v":0.0851985738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382930905,"cg_vq_v":-0.382930905,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.8921509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118132301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.671143,"values":{"Elec_RPM":-3.05006837e-24,"EncoderCos":38724,"EncoderSin":12490,"GapTicks":54773,"Mech_RPM":-6.10013664e-25,"cg_du":50.1419106,"cg_dv":50.2060432,"cg_dw":49.7939568,"cg_id_a":-0.219800353,"cg_id_raw_a":0.274404019,"cg_iq_a":-0.257653266,"cg_iq_raw_a":0.172634333,"cg_iu_a":0.546190858,"cg_iv_a":-0.112065315,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9872723,"cg_sample_seq":14369617,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0881907865,"cg_vd_v":0.0881907865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359904796,"cg_vq_v":-0.359904796,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.678955,"values":{"Elec_RPM":-3.05006837e-24,"EncoderCos":38697,"EncoderSin":12449,"GapTicks":54771,"Mech_RPM":-6.10013664e-25,"cg_du":50.1562386,"cg_dv":50.2073021,"cg_dw":49.7926979,"cg_id_a":0.120616838,"cg_id_raw_a":0.236782268,"cg_iq_a":0.403862596,"cg_iq_raw_a":-0.0837725177,"cg_iu_a":-0.396148682,"cg_iv_a":-0.909429431,"cg_iw_a":1.30557811,"cg_sample_age_us":23.9618187,"cg_sample_seq":14369667,"cg_sample_valid":1,"cg_theta_rad":5.00774431,"cg_vd_req_v":0.0817049444,"cg_vd_v":0.0817049444,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370044082,"cg_vq_v":-0.370044082,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3475952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.686768,"values":{"Elec_RPM":-2.98906694e-24,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-5.97813388e-25,"cg_du":50.1495628,"cg_dv":50.209713,"cg_dw":49.790287,"cg_id_a":-0.0841528177,"cg_id_raw_a":0.124487653,"cg_iq_a":0.348164648,"cg_iq_raw_a":0.195214659,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.764454126,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9509087,"cg_sample_seq":14369717,"cg_sample_valid":1,"cg_theta_rad":5.00667477,"cg_vd_req_v":0.0872401744,"cg_vd_v":0.0872401744,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370011121,"cg_vq_v":-0.370011121,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3475952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.69458,"values":{"Elec_RPM":-2.98906694e-24,"EncoderCos":38682,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-5.97813388e-25,"cg_du":50.1513939,"cg_dv":50.2053909,"cg_dw":49.7946091,"cg_id_a":0.0748777837,"cg_id_raw_a":0.198429778,"cg_iq_a":-0.000437539071,"cg_iq_raw_a":0.277189583,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9836369,"cg_sample_seq":14369767,"cg_sample_valid":1,"cg_theta_rad":5.00706911,"cg_vd_req_v":0.0842534304,"cg_vd_v":0.0842534304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363382638,"cg_vq_v":-0.363382638,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.721924,"values":{"Elec_RPM":-2.92928548e-24,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54768,"Mech_RPM":-5.85857116e-25,"cg_du":50.1426277,"cg_dv":50.2100716,"cg_dw":49.7899284,"cg_id_a":-0.155389175,"cg_id_raw_a":-0.237257063,"cg_iq_a":-0.0676216111,"cg_iq_raw_a":0.706742823,"cg_iu_a":0.14750886,"cg_iv_a":0.322860718,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.954546,"cg_sample_seq":14369821,"cg_sample_valid":1,"cg_theta_rad":5.00831366,"cg_vd_req_v":0.0906378254,"cg_vd_v":0.0906378254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366013438,"cg_vq_v":-0.366013438,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.729736,"values":{"Elec_RPM":-2.92928548e-24,"EncoderCos":38714,"EncoderSin":12497,"GapTicks":54769,"Mech_RPM":-5.85857116e-25,"cg_du":50.1448784,"cg_dv":50.2095413,"cg_dw":49.7904587,"cg_id_a":-0.145398781,"cg_id_raw_a":-0.661987305,"cg_iq_a":-0.131526187,"cg_iq_raw_a":-1.0103792,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14369866,"cg_sample_valid":1,"cg_theta_rad":5.00715399,"cg_vd_req_v":0.089906089,"cg_vd_v":0.089906089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366166621,"cg_vq_v":-0.366166621,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.737549,"values":{"Elec_RPM":-2.87069994e-24,"EncoderCos":38720,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-5.74139968e-25,"cg_du":50.1414833,"cg_dv":50.2072754,"cg_dw":49.7927246,"cg_id_a":-0.236847043,"cg_id_raw_a":-0.548328996,"cg_iq_a":-0.295838207,"cg_iq_raw_a":-0.234379843,"cg_iu_a":0.328727961,"cg_iv_a":0.177885473,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.863636,"cg_sample_seq":14369916,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.090498589,"cg_vd_v":0.090498589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36231491,"cg_vq_v":-0.36231491,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.749268,"values":{"Elec_RPM":-2.87069994e-24,"EncoderCos":38719,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-5.74139968e-25,"cg_du":50.1480293,"cg_dv":50.207058,"cg_dw":49.792942,"cg_id_a":0.0393741578,"cg_id_raw_a":-0.208477318,"cg_iq_a":-0.0587075427,"cg_iq_raw_a":0.162552267,"cg_iu_a":-0.323661089,"cg_iv_a":0.21412921,"cg_iw_a":0.109531879,"cg_sample_age_us":23.863636,"cg_sample_seq":14369966,"cg_sample_valid":1,"cg_theta_rad":5.00710583,"cg_vd_req_v":0.08536461,"cg_vd_v":0.08536461,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365645736,"cg_vq_v":-0.365645736,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.75708,"values":{"Elec_RPM":-2.81328585e-24,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-5.62657161e-25,"cg_du":50.1505699,"cg_dv":50.2108421,"cg_dw":49.7891579,"cg_id_a":-0.0393284857,"cg_id_raw_a":0.131557494,"cg_iq_a":0.160115272,"cg_iq_raw_a":0.123144828,"cg_iu_a":-0.577368021,"cg_iv_a":0.0329101086,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9618187,"cg_sample_seq":14370017,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0877351463,"cg_vd_v":0.0877351463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372071981,"cg_vq_v":-0.372071981,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3475952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.764893,"values":{"Elec_RPM":-2.81328585e-24,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-5.62657161e-25,"cg_du":50.1386108,"cg_dv":50.2073479,"cg_dw":49.7926521,"cg_id_a":-0.213152781,"cg_id_raw_a":0.156264454,"cg_iq_a":-0.421405494,"cg_iq_raw_a":0.088620916,"cg_iu_a":0.401215553,"cg_iv_a":0.177885532,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9763641,"cg_sample_seq":14370067,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.0922249034,"cg_vd_v":0.0922249034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359784156,"cg_vq_v":-0.359784156,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3667603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.776611,"values":{"Elec_RPM":-2.75701995e-24,"EncoderCos":38704,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-5.51404011e-25,"cg_du":50.1550407,"cg_dv":50.2160187,"cg_dw":49.7839813,"cg_id_a":-0.0318545401,"cg_id_raw_a":0.160580635,"cg_iq_a":0.508019745,"cg_iq_raw_a":-0.165044606,"cg_iu_a":-0.468636513,"cg_iv_a":-0.220796704,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9799995,"cg_sample_seq":14370117,"cg_sample_valid":1,"cg_theta_rad":5.00761461,"cg_vd_req_v":0.0898181275,"cg_vd_v":0.0898181275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380297512,"cg_vq_v":-0.380297512,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.1327133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3667603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.784424,"values":{"Elec_RPM":-2.75701995e-24,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54766,"Mech_RPM":-5.51404011e-25,"cg_du":50.1597137,"cg_dv":50.2120399,"cg_dw":49.7879601,"cg_id_a":0.411001146,"cg_id_raw_a":-0.183974221,"cg_iq_a":0.385692209,"cg_iq_raw_a":0.128737658,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758214593,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9290905,"cg_sample_seq":14370167,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0803093985,"cg_vd_v":0.0803093985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377964288,"cg_vq_v":-0.377964288,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.1327133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.341217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.792236,"values":{"Elec_RPM":-2.70187976e-24,"EncoderCos":38710,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-5.40375932e-25,"cg_du":50.1506386,"cg_dv":50.2062111,"cg_dw":49.7937889,"cg_id_a":0.244337142,"cg_id_raw_a":0.162380442,"cg_iq_a":-0.375642657,"cg_iq_raw_a":-0.602105737,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14370217,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.0833808929,"cg_vd_v":0.0833808929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364590257,"cg_vq_v":-0.364590257,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.800049,"values":{"Elec_RPM":-2.70187976e-24,"EncoderCos":38654,"EncoderSin":12478,"GapTicks":54767,"Mech_RPM":-5.40375932e-25,"cg_du":50.1608124,"cg_dv":50.2116585,"cg_dw":49.7883415,"cg_id_a":0.191663489,"cg_id_raw_a":0.204488769,"cg_iq_a":0.211346895,"cg_iq_raw_a":0.023790203,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0395776033,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9872723,"cg_sample_seq":14370267,"cg_sample_valid":1,"cg_theta_rad":5.00711012,"cg_vd_req_v":0.0853614882,"cg_vd_v":0.0853614882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377899706,"cg_vq_v":-0.377899706,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3539734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2600.827393,"values":{"Elec_RPM":-2.647842e-24,"EncoderCos":38732,"EncoderSin":12466,"GapTicks":54759,"Mech_RPM":-5.2956839e-25,"cg_du":50.1503983,"cg_dv":50.2184029,"cg_dw":49.7815971,"cg_id_a":-0.0780353993,"cg_id_raw_a":0.0349754393,"cg_iq_a":0.347397327,"cg_iq_raw_a":0.258993417,"cg_iu_a":-0.722343206,"cg_iv_a":-0.438259721,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9618187,"cg_sample_seq":14370367,"cg_sample_valid":1,"cg_theta_rad":5.00740623,"cg_vd_req_v":0.0934346393,"cg_vd_v":0.0934346393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381492108,"cg_vq_v":-0.381492108,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3651428,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.835205,"values":{"Elec_RPM":-2.59488518e-24,"EncoderCos":38731,"EncoderSin":12471,"GapTicks":54762,"Mech_RPM":-5.18977045e-25,"cg_du":50.1475105,"cg_dv":50.2154694,"cg_dw":49.7845306,"cg_id_a":-0.0378029346,"cg_id_raw_a":0.215392977,"cg_iq_a":0.07881172,"cg_iq_raw_a":0.130528405,"cg_iu_a":-0.106198072,"cg_iv_a":-0.474503517,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9727268,"cg_sample_seq":14370417,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.0928187817,"cg_vd_v":0.0928187817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375893682,"cg_vq_v":-0.375893682,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.846924,"values":{"Elec_RPM":-2.59488518e-24,"EncoderCos":38740,"EncoderSin":12519,"GapTicks":54752,"Mech_RPM":-5.18977045e-25,"cg_du":50.1513977,"cg_dv":50.2246971,"cg_dw":49.7753029,"cg_id_a":-0.156746164,"cg_id_raw_a":-0.234100282,"cg_iq_a":0.696133912,"cg_iq_raw_a":-0.238549799,"cg_iu_a":-0.50488019,"cg_iv_a":0.0691539049,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9618187,"cg_sample_seq":14370467,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0966092497,"cg_vd_v":0.0966092497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39115867,"cg_vq_v":-0.39115867,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3395996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.854736,"values":{"Elec_RPM":-2.54298759e-24,"EncoderCos":38727,"EncoderSin":12495,"GapTicks":54756,"Mech_RPM":-5.08597509e-25,"cg_du":50.1472969,"cg_dv":50.221283,"cg_dw":49.778717,"cg_id_a":-0.154572278,"cg_id_raw_a":0.0821254924,"cg_iq_a":0.178241506,"cg_iq_raw_a":-0.683137357,"cg_iu_a":0.61867857,"cg_iv_a":-1.27186775,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9581814,"cg_sample_seq":14370517,"cg_sample_valid":1,"cg_theta_rad":5.00521851,"cg_vd_req_v":0.0983356908,"cg_vd_v":0.0983356908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383765787,"cg_vq_v":-0.383765787,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3395996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.862549,"values":{"Elec_RPM":-2.54298759e-24,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-5.08597509e-25,"cg_du":50.1425438,"cg_dv":50.2148285,"cg_dw":49.7851715,"cg_id_a":-0.112343222,"cg_id_raw_a":0.198222026,"cg_iq_a":-0.346530676,"cg_iq_raw_a":-0.781118631,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14370567,"cg_sample_valid":1,"cg_theta_rad":5.00814915,"cg_vd_req_v":0.0966404751,"cg_vd_v":0.0966404751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372106642,"cg_vq_v":-0.372106642,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.2854004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119391158,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.870361,"values":{"Elec_RPM":-2.49212776e-24,"EncoderCos":38740,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-4.98425542e-25,"cg_du":50.1438141,"cg_dv":50.2212791,"cg_dw":49.7787209,"cg_id_a":-0.258265257,"cg_id_raw_a":-0.229274333,"cg_iq_a":0.140322894,"cg_iq_raw_a":-0.0569466688,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991289,"cg_iw_a":0.544457853,"cg_sample_age_us":23.9654541,"cg_sample_seq":14370617,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.100575805,"cg_vd_v":0.100575805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381945938,"cg_vq_v":-0.381945938,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.878174,"values":{"Elec_RPM":-2.49212776e-24,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-4.98425542e-25,"cg_du":50.1474152,"cg_dv":50.2152634,"cg_dw":49.7847366,"cg_id_a":0.0135791712,"cg_id_raw_a":0.0768991709,"cg_iq_a":-0.179710642,"cg_iq_raw_a":-0.173679397,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9690914,"cg_sample_seq":14370667,"cg_sample_valid":1,"cg_theta_rad":5.00805855,"cg_vd_req_v":0.0941662565,"cg_vd_v":0.0941662565,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375192523,"cg_vq_v":-0.375192523,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.3119202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.889893,"values":{"Elec_RPM":-2.44228536e-24,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-4.88457052e-25,"cg_du":50.136116,"cg_dv":50.2112999,"cg_dw":49.7887001,"cg_id_a":-0.153170124,"cg_id_raw_a":-0.232065305,"cg_iq_a":-0.816216886,"cg_iq_raw_a":-0.24052994,"cg_iu_a":1.12609231,"cg_iv_a":-0.184552908,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9654541,"cg_sample_seq":14370717,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0985762998,"cg_vd_v":0.0985762998,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362430096,"cg_vq_v":-0.362430096,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.3119202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2600.897705,"values":{"Elec_RPM":-2.44228536e-24,"EncoderCos":38720,"EncoderSin":12478,"GapTicks":54762,"Mech_RPM":-4.88457052e-25,"cg_du":50.1369171,"cg_dv":50.2157707,"cg_dw":49.7842293,"cg_id_a":-0.184041858,"cg_id_raw_a":0.222143307,"cg_iq_a":-0.508962333,"cg_iq_raw_a":0.0588147454,"cg_iu_a":0.401215792,"cg_iv_a":-0.220796704,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.9509087,"cg_sample_seq":14370767,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.101875648,"cg_vd_v":0.101875648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369049519,"cg_vq_v":-0.369049519,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.3119202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2600.925049,"values":{"Elec_RPM":-2.39343949e-24,"EncoderCos":38744,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-4.78687897e-25,"cg_du":50.1549301,"cg_dv":50.2157173,"cg_dw":49.7842827,"cg_id_a":0.535139203,"cg_id_raw_a":0.525018096,"cg_iq_a":0.179038748,"cg_iq_raw_a":0.194765121,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":26.8781815,"cg_sample_seq":14370820,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.0860760435,"cg_vd_v":0.0860760435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38064456,"cg_vq_v":-0.38064456,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.3119202,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3364563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.932861,"values":{"Elec_RPM":-2.39343949e-24,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-4.78687897e-25,"cg_du":50.1452942,"cg_dv":50.2164993,"cg_dw":49.7835007,"cg_id_a":0.0488079824,"cg_id_raw_a":0.423381001,"cg_iq_a":-0.103960626,"cg_iq_raw_a":-0.286390483,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9618187,"cg_sample_seq":14370867,"cg_sample_valid":1,"cg_theta_rad":5.00666618,"cg_vd_req_v":0.0957257152,"cg_vd_v":0.0957257152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376011699,"cg_vq_v":-0.376011699,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.940674,"values":{"Elec_RPM":-2.34557062e-24,"EncoderCos":38730,"EncoderSin":12489,"GapTicks":54762,"Mech_RPM":-4.69114133e-25,"cg_du":50.1570091,"cg_dv":50.215786,"cg_dw":49.784214,"cg_id_a":0.510384858,"cg_id_raw_a":1.31807947,"cg_iq_a":0.230857253,"cg_iq_raw_a":1.14422739,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0395775437,"cg_iw_a":0.435726225,"cg_sample_age_us":23.9472733,"cg_sample_seq":14370917,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0852711052,"cg_vd_v":0.0852711052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381724477,"cg_vq_v":-0.381724477,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.952393,"values":{"Elec_RPM":-2.34557062e-24,"EncoderCos":38726,"EncoderSin":12472,"GapTicks":54750,"Mech_RPM":-4.69114133e-25,"cg_du":50.1654587,"cg_dv":50.2265167,"cg_dw":49.7734833,"cg_id_a":0.293804914,"cg_id_raw_a":-0.350652814,"cg_iq_a":1.15855753,"cg_iq_raw_a":1.42350435,"cg_iu_a":0.147508621,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14370967,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.0898443982,"cg_vd_v":0.0898443982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400883883,"cg_vq_v":-0.400883883,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3555603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.960205,"values":{"Elec_RPM":-2.29865943e-24,"EncoderCos":38712,"EncoderSin":12470,"GapTicks":54749,"Mech_RPM":-4.59731865e-25,"cg_du":50.1653786,"cg_dv":50.2276688,"cg_dw":49.7723312,"cg_id_a":0.149742872,"cg_id_raw_a":-0.652607143,"cg_iq_a":1.15384984,"cg_iq_raw_a":1.02849293,"cg_iu_a":-1.15726924,"cg_iv_a":-0.184552908,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14371017,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.0920810103,"cg_vd_v":0.0920810103,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400878727,"cg_vq_v":-0.400878727,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3395996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2600.968018,"values":{"Elec_RPM":-2.29865943e-24,"EncoderCos":38669,"EncoderSin":12474,"GapTicks":54764,"Mech_RPM":-4.59731865e-25,"cg_du":50.1534767,"cg_dv":50.2145424,"cg_dw":49.7854576,"cg_id_a":0.0632129386,"cg_id_raw_a":-0.203600794,"cg_iq_a":0.12498761,"cg_iq_raw_a":-0.0943510458,"cg_iu_a":-1.33848834,"cg_iv_a":0.794030607,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9836369,"cg_sample_seq":14371067,"cg_sample_valid":1,"cg_theta_rad":5.00664663,"cg_vd_req_v":0.0924761668,"cg_vd_v":0.0924761668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376723528,"cg_vq_v":-0.376723528,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3395996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.97583,"values":{"Elec_RPM":-2.25268619e-24,"EncoderCos":38728,"EncoderSin":12504,"GapTicks":54764,"Mech_RPM":-4.50537248e-25,"cg_du":50.1532288,"cg_dv":50.2144203,"cg_dw":49.7855797,"cg_id_a":0.284862041,"cg_id_raw_a":0.42904377,"cg_iq_a":0.283453465,"cg_iq_raw_a":0.768993855,"cg_iu_a":-0.794831038,"cg_iv_a":0.504079938,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14371117,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0867083892,"cg_vd_v":0.0867083892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377805859,"cg_vq_v":-0.377805859,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3428345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2600.983315,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2600.983321,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2600.983327,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2600.983643,"values":{"Elec_RPM":-2.25268619e-24,"EncoderCos":38711,"EncoderSin":12494,"GapTicks":54768,"Mech_RPM":-4.50537248e-25,"cg_du":50.141571,"cg_dv":50.2104721,"cg_dw":49.7895279,"cg_id_a":-0.088762857,"cg_id_raw_a":0.136510193,"cg_iq_a":-0.254057109,"cg_iq_raw_a":-0.568483353,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9618187,"cg_sample_seq":14371167,"cg_sample_valid":1,"cg_theta_rad":5.00674057,"cg_vd_req_v":0.0937283933,"cg_vd_v":0.0937283933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365492731,"cg_vq_v":-0.365492731,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3428345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2600.991455,"values":{"Elec_RPM":-2.20763237e-24,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-4.41526484e-25,"cg_du":50.15308,"cg_dv":50.2180901,"cg_dw":49.7819099,"cg_id_a":0.170084,"cg_id_raw_a":0.424307615,"cg_iq_a":0.398551434,"cg_iq_raw_a":0.1486478,"cg_iu_a":-0.323661089,"cg_iv_a":-0.365772069,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9581814,"cg_sample_seq":14371217,"cg_sample_valid":1,"cg_theta_rad":5.00814772,"cg_vd_req_v":0.0894385725,"cg_vd_v":0.0894385725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382940382,"cg_vq_v":-0.382940382,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.37466574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3395996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.003174,"values":{"Elec_RPM":-2.20763237e-24,"EncoderCos":38764,"EncoderSin":12525,"GapTicks":54766,"Mech_RPM":-4.41526484e-25,"cg_du":50.1418991,"cg_dv":50.2120285,"cg_dw":49.7879715,"cg_id_a":0.115663365,"cg_id_raw_a":0.211136609,"cg_iq_a":-0.289820731,"cg_iq_raw_a":-0.0542346649,"cg_iu_a":-0.794831038,"cg_iv_a":0.250373065,"cg_iw_a":0.544457972,"cg_sample_age_us":23.8709087,"cg_sample_seq":14371266,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0900264606,"cg_vd_v":0.0900264606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370223701,"cg_vq_v":-0.370223701,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.37466574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.030518,"values":{"Elec_RPM":-2.16347983e-24,"EncoderCos":38762,"EncoderSin":12514,"GapTicks":54753,"Mech_RPM":-4.32695975e-25,"cg_du":50.144558,"cg_dv":50.2240601,"cg_dw":49.7759399,"cg_id_a":-0.293393791,"cg_id_raw_a":-0.405298203,"cg_iq_a":0.429014921,"cg_iq_raw_a":1.02118862,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9763641,"cg_sample_seq":14371320,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.099287726,"cg_vd_v":0.099287726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385781348,"cg_vq_v":-0.385781348,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.37466574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2601.03833,"values":{"Elec_RPM":-2.16347983e-24,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54764,"Mech_RPM":-4.32695975e-25,"cg_du":50.14991,"cg_dv":50.2136993,"cg_dw":49.7863007,"cg_id_a":0.169159085,"cg_id_raw_a":0.0351861753,"cg_iq_a":-0.255684048,"cg_iq_raw_a":-0.177821413,"cg_iu_a":0.183752537,"cg_iv_a":-0.438259721,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14371366,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0905480236,"cg_vd_v":0.0905480236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374507785,"cg_vq_v":-0.374507785,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2587,"hz_tim_isr":5001,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3491821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.046143,"values":{"Elec_RPM":-2.12021041e-24,"EncoderCos":38740,"EncoderSin":12490,"GapTicks":54755,"Mech_RPM":-4.24042072e-25,"cg_du":50.142601,"cg_dv":50.2224007,"cg_dw":49.7775993,"cg_id_a":-0.318427622,"cg_id_raw_a":-0.244955108,"cg_iq_a":0.22560893,"cg_iq_raw_a":0.34228009,"cg_iu_a":0.43745935,"cg_iv_a":-0.583235025,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14371417,"cg_sample_valid":1,"cg_theta_rad":5.00833941,"cg_vd_req_v":0.102110513,"cg_vd_v":0.102110513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382929593,"cg_vq_v":-0.382929593,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3460083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.053955,"values":{"Elec_RPM":-2.12021041e-24,"EncoderCos":38726,"EncoderSin":12470,"GapTicks":54756,"Mech_RPM":-4.24042072e-25,"cg_du":50.1473999,"cg_dv":50.2210121,"cg_dw":49.7789879,"cg_id_a":-0.159674391,"cg_id_raw_a":-0.187580332,"cg_iq_a":0.20331721,"cg_iq_raw_a":0.820194006,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552848,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9727268,"cg_sample_seq":14371467,"cg_sample_valid":1,"cg_theta_rad":5.00626898,"cg_vd_req_v":0.0987384468,"cg_vd_v":0.0987384468,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383260936,"cg_vq_v":-0.383260936,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3460083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119441517,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.065674,"values":{"Elec_RPM":-2.07780618e-24,"EncoderCos":38752,"EncoderSin":12504,"GapTicks":54760,"Mech_RPM":-4.15561226e-25,"cg_du":50.1388931,"cg_dv":50.2174835,"cg_dw":49.7825165,"cg_id_a":-0.17198503,"cg_id_raw_a":-0.640799224,"cg_iq_a":-0.27855438,"cg_iq_raw_a":-1.1107707,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9254551,"cg_sample_seq":14371517,"cg_sample_valid":1,"cg_theta_rad":5.00508213,"cg_vd_req_v":0.0992052332,"cg_vd_v":0.0992052332,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375661165,"cg_vq_v":-0.375661165,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.073486,"values":{"Elec_RPM":-2.07780618e-24,"EncoderCos":38684,"EncoderSin":12461,"GapTicks":54758,"Mech_RPM":-4.15561226e-25,"cg_du":50.158062,"cg_dv":50.219162,"cg_dw":49.780838,"cg_id_a":0.192978531,"cg_id_raw_a":0.816636264,"cg_iq_a":0.285073221,"cg_iq_raw_a":0.598205388,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836142,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14371567,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0924928561,"cg_vd_v":0.0924928561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385796487,"cg_vq_v":-0.385796487,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.40929508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3571777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.081299,"values":{"Elec_RPM":-2.03624997e-24,"EncoderCos":38764,"EncoderSin":12508,"GapTicks":54759,"Mech_RPM":-4.07250009e-25,"cg_du":50.1399117,"cg_dv":50.2187576,"cg_dw":49.7812424,"cg_id_a":-0.0773867592,"cg_id_raw_a":0.0725199953,"cg_iq_a":-0.0801894963,"cg_iq_raw_a":0.588964999,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14371617,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0981902927,"cg_vd_v":0.0981902927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377129525,"cg_vq_v":-0.377129525,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3603821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.089111,"values":{"Elec_RPM":-2.03624997e-24,"EncoderCos":38681,"EncoderSin":12459,"GapTicks":54764,"Mech_RPM":-4.07250009e-25,"cg_du":50.1482544,"cg_dv":50.214119,"cg_dw":49.785881,"cg_id_a":0.0453155302,"cg_id_raw_a":0.0169159081,"cg_iq_a":-0.158380002,"cg_iq_raw_a":-0.580618918,"cg_iu_a":-0.178685665,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.954546,"cg_sample_seq":14371667,"cg_sample_valid":1,"cg_theta_rad":5.0072937,"cg_vd_req_v":0.0954866335,"cg_vd_v":0.0954866335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373338014,"cg_vq_v":-0.373338014,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3364563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.096924,"values":{"Elec_RPM":-1.99552503e-24,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-3.9910502e-25,"cg_du":50.1279526,"cg_dv":50.2159958,"cg_dw":49.7840042,"cg_id_a":-0.634105802,"cg_id_raw_a":-0.0980079174,"cg_iq_a":-0.518898487,"cg_iq_raw_a":0.318900645,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9909096,"cg_sample_seq":14371717,"cg_sample_valid":1,"cg_theta_rad":5.00631428,"cg_vd_req_v":0.110029556,"cg_vd_v":0.110029556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365271449,"cg_vq_v":-0.365271449,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.04953,"temp_inv2_c":37.3364563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.104736,"values":{"Elec_RPM":-1.99552503e-24,"EncoderCos":38722,"EncoderSin":12508,"GapTicks":54759,"Mech_RPM":-3.9910502e-25,"cg_du":50.137928,"cg_dv":50.2185898,"cg_dw":49.7814102,"cg_id_a":-0.258412123,"cg_id_raw_a":-0.03452814,"cg_iq_a":-0.0781441107,"cg_iq_raw_a":0.106752746,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.954546,"cg_sample_seq":14371767,"cg_sample_valid":1,"cg_theta_rad":5.00797129,"cg_vd_req_v":0.103187047,"cg_vd_v":0.103187047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374834865,"cg_vq_v":-0.374834865,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3220825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0037766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.135986,"values":{"Elec_RPM":-1.95561458e-24,"EncoderCos":38742,"EncoderSin":12490,"GapTicks":54757,"Mech_RPM":-3.91122931e-25,"cg_du":50.1412582,"cg_dv":50.2200966,"cg_dw":49.7799034,"cg_id_a":-0.219735891,"cg_id_raw_a":0.0580114052,"cg_iq_a":0.116908073,"cg_iq_raw_a":-0.212265894,"cg_iu_a":0.14750886,"cg_iv_a":-1.05440485,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9509087,"cg_sample_seq":14371822,"cg_sample_valid":1,"cg_theta_rad":5.00730848,"cg_vd_req_v":0.101078041,"cg_vd_v":0.101078041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380235523,"cg_vq_v":-0.380235523,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.341217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.143799,"values":{"Elec_RPM":-1.95561458e-24,"EncoderCos":38731,"EncoderSin":12486,"GapTicks":54762,"Mech_RPM":-3.91122931e-25,"cg_du":50.140564,"cg_dv":50.2161827,"cg_dw":49.7838173,"cg_id_a":-0.112685964,"cg_id_raw_a":0.232964367,"cg_iq_a":-0.111299343,"cg_iq_raw_a":0.168350622,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.863636,"cg_sample_seq":14371866,"cg_sample_valid":1,"cg_theta_rad":5.00777626,"cg_vd_req_v":0.0988838598,"cg_vd_v":0.0988838598,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374213248,"cg_vq_v":-0.374213248,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.341217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.151611,"values":{"Elec_RPM":-1.91650227e-24,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-3.83300463e-25,"cg_du":50.1512833,"cg_dv":50.2203865,"cg_dw":49.7796135,"cg_id_a":0.0894355327,"cg_id_raw_a":0.209875524,"cg_iq_a":0.382682472,"cg_iq_raw_a":0.82272011,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9290905,"cg_sample_seq":14371917,"cg_sample_valid":1,"cg_theta_rad":5.00628328,"cg_vd_req_v":0.0959071517,"cg_vd_v":0.0959071517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384381115,"cg_vq_v":-0.384381115,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.159424,"values":{"Elec_RPM":-1.91650227e-24,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.83300463e-25,"cg_du":50.1536407,"cg_dv":50.2153358,"cg_dw":49.7846642,"cg_id_a":0.332292765,"cg_id_raw_a":0.225155741,"cg_iq_a":0.059823662,"cg_iq_raw_a":-0.633066952,"cg_iu_a":-0.758587122,"cg_iv_a":-0.00333374739,"cg_iw_a":0.761920869,"cg_sample_age_us":23.8600006,"cg_sample_seq":14371966,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0879539624,"cg_vd_v":0.0879539624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379123837,"cg_vq_v":-0.379123837,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.090670228,"dclink_p_w":-13.1222172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.167236,"values":{"Elec_RPM":-1.87817231e-24,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54760,"Mech_RPM":-3.75634461e-25,"cg_du":50.1474609,"cg_dv":50.2175903,"cg_dw":49.7824097,"cg_id_a":-0.0623796694,"cg_id_raw_a":-0.202468351,"cg_iq_a":0.067489855,"cg_iq_raw_a":0.527162731,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9654541,"cg_sample_seq":14372017,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0961237997,"cg_vd_v":0.0961237997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378448069,"cg_vq_v":-0.378448069,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.090670228,"dclink_p_w":-13.1222172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.178955,"values":{"Elec_RPM":-1.84060892e-24,"EncoderCos":38686,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-3.68121769e-25,"cg_du":50.1440735,"cg_dv":50.2120934,"cg_dw":49.7879066,"cg_id_a":0.0966640413,"cg_id_raw_a":0.00788253732,"cg_iq_a":-0.326614618,"cg_iq_raw_a":0.29317835,"cg_iu_a":0.401215792,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9181824,"cg_sample_seq":14372167,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0958475992,"cg_vd_v":0.0958475992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368457198,"cg_vq_v":-0.368457198,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3189087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.186768,"values":{"Elec_RPM":-1.80379672e-24,"EncoderCos":38722,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-3.6075933e-25,"cg_du":50.1505508,"cg_dv":50.2142601,"cg_dw":49.7857399,"cg_id_a":0.264482915,"cg_id_raw_a":-0.225597784,"cg_iq_a":-0.156582534,"cg_iq_raw_a":0.124789611,"cg_iu_a":0.183752537,"cg_iv_a":0.75778681,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9509087,"cg_sample_seq":14372216,"cg_sample_valid":1,"cg_theta_rad":5.00823641,"cg_vd_req_v":0.089561671,"cg_vd_v":0.089561671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375879079,"cg_vq_v":-0.375879079,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.19458,"values":{"Elec_RPM":-1.80379672e-24,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54749,"Mech_RPM":-3.6075933e-25,"cg_du":50.1467819,"cg_dv":50.2276497,"cg_dw":49.7723503,"cg_id_a":-0.451467484,"cg_id_raw_a":0.391729444,"cg_iq_a":0.721670032,"cg_iq_raw_a":-0.181165501,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9654541,"cg_sample_seq":14372266,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.104347035,"cg_vd_v":0.104347035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392298996,"cg_vq_v":-0.392298996,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.202393,"values":{"Elec_RPM":-1.76772073e-24,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.53544137e-25,"cg_du":50.1456108,"cg_dv":50.2071342,"cg_dw":49.7928658,"cg_id_a":0.249691188,"cg_id_raw_a":0.613044918,"cg_iq_a":-0.493425876,"cg_iq_raw_a":-0.484006435,"cg_iu_a":0.111264944,"cg_iv_a":0.39534843,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9254551,"cg_sample_seq":14372316,"cg_sample_valid":1,"cg_theta_rad":5.00731802,"cg_vd_req_v":0.0881328806,"cg_vd_v":0.0881328806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363026261,"cg_vq_v":-0.363026261,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3475952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.233643,"values":{"Elec_RPM":-1.76772073e-24,"EncoderCos":38746,"EncoderSin":12490,"GapTicks":54761,"Mech_RPM":-3.53544137e-25,"cg_du":50.1369286,"cg_dv":50.2167625,"cg_dw":49.7832375,"cg_id_a":-0.353259504,"cg_id_raw_a":0.163277254,"cg_iq_a":-0.0254139528,"cg_iq_raw_a":0.0155669814,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592226,"cg_iw_a":-0.434125662,"cg_sample_age_us":26.823637,"cg_sample_seq":14372371,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.100633003,"cg_vd_v":0.100633003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372214049,"cg_vq_v":-0.372214049,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3475952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.241455,"values":{"Elec_RPM":-1.73236636e-24,"EncoderCos":38703,"EncoderSin":12476,"GapTicks":54756,"Mech_RPM":-3.46473256e-25,"cg_du":50.1461792,"cg_dv":50.2209892,"cg_dw":49.7790108,"cg_id_a":-0.420827746,"cg_id_raw_a":-0.470949233,"cg_iq_a":0.442511648,"cg_iq_raw_a":0.463123918,"cg_iu_a":-0.50488019,"cg_iv_a":-0.90942955,"cg_iw_a":1.41430974,"cg_sample_age_us":23.9581814,"cg_sample_seq":14372417,"cg_sample_valid":1,"cg_theta_rad":5.00779772,"cg_vd_req_v":0.101517759,"cg_vd_v":0.101517759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382063836,"cg_vq_v":-0.382063836,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3428345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.249268,"values":{"Elec_RPM":-1.73236636e-24,"EncoderCos":38743,"EncoderSin":12460,"GapTicks":54768,"Mech_RPM":-3.46473256e-25,"cg_du":50.1358223,"cg_dv":50.2104721,"cg_dw":49.7895279,"cg_id_a":-0.176284716,"cg_id_raw_a":-0.606925309,"cg_iq_a":-0.616496623,"cg_iq_raw_a":-0.96578151,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.184552908,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9654541,"cg_sample_seq":14372467,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.0964492783,"cg_vd_v":0.0964492783,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362741381,"cg_vq_v":-0.362741381,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.587210894,"dclink_p_w":-85.2422028,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3268738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.25708,"values":{"Elec_RPM":-1.69771899e-24,"EncoderCos":38760,"EncoderSin":12460,"GapTicks":54758,"Mech_RPM":-3.39543803e-25,"cg_du":50.1412926,"cg_dv":50.2196121,"cg_dw":49.7803879,"cg_id_a":-0.30056715,"cg_id_raw_a":0.027519498,"cg_iq_a":0.117324278,"cg_iq_raw_a":-1.05199289,"cg_iu_a":0.256240368,"cg_iv_a":-0.583235025,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9581814,"cg_sample_seq":14372517,"cg_sample_valid":1,"cg_theta_rad":5.0073185,"cg_vd_req_v":0.0995145887,"cg_vd_v":0.0995145887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378641278,"cg_vq_v":-0.378641278,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.1649017,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3268738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.264893,"values":{"Elec_RPM":-1.69771899e-24,"EncoderCos":38729,"EncoderSin":12505,"GapTicks":54760,"Mech_RPM":-3.39543803e-25,"cg_du":50.143528,"cg_dv":50.2176743,"cg_dw":49.7823257,"cg_id_a":-0.200578183,"cg_id_raw_a":0.159228042,"cg_iq_a":0.0712946802,"cg_iq_raw_a":-0.166349679,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552848,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9618187,"cg_sample_seq":14372567,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0973740742,"cg_vd_v":0.0973740742,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376853228,"cg_vq_v":-0.376853228,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3141174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.272705,"values":{"Elec_RPM":-1.66376464e-24,"EncoderCos":38727,"EncoderSin":12432,"GapTicks":54760,"Mech_RPM":-3.32752919e-25,"cg_du":50.1439209,"cg_dv":50.2176323,"cg_dw":49.7823677,"cg_id_a":-0.246294647,"cg_id_raw_a":0.160910338,"cg_iq_a":0.168222025,"cg_iq_raw_a":0.890789986,"cg_iu_a":0.0387773514,"cg_iv_a":0.57656765,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9618187,"cg_sample_seq":14372616,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0990904123,"cg_vd_v":0.0990904123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37648055,"cg_vq_v":-0.37648055,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.280518,"values":{"Elec_RPM":-1.66376464e-24,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-3.32752919e-25,"cg_du":50.1348953,"cg_dv":50.2114754,"cg_dw":49.7885246,"cg_id_a":-0.171773702,"cg_id_raw_a":-0.303774029,"cg_iq_a":-0.561639547,"cg_iq_raw_a":-1.5197438,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9836369,"cg_sample_seq":14372666,"cg_sample_valid":1,"cg_theta_rad":5.00769281,"cg_vd_req_v":0.0982844681,"cg_vd_v":0.0982844681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364743084,"cg_vq_v":-0.364743084,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.292236,"values":{"Elec_RPM":-1.63048931e-24,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54764,"Mech_RPM":-3.26097867e-25,"cg_du":50.1487694,"cg_dv":50.2144547,"cg_dw":49.7855453,"cg_id_a":0.178287283,"cg_id_raw_a":0.277709216,"cg_iq_a":0.136811346,"cg_iq_raw_a":0.792178988,"cg_iu_a":-0.142441988,"cg_iv_a":0.504079938,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14372716,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0915282667,"cg_vd_v":0.0915282667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376259625,"cg_vq_v":-0.376259625,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3141174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.300049,"values":{"Elec_RPM":-1.63048931e-24,"EncoderCos":38669,"EncoderSin":12427,"GapTicks":54774,"Mech_RPM":-3.26097867e-25,"cg_du":50.1355858,"cg_dv":50.2050247,"cg_dw":49.7949753,"cg_id_a":-0.13185364,"cg_id_raw_a":0.111043572,"cg_iq_a":-0.904993892,"cg_iq_raw_a":-0.643208027,"cg_iu_a":0.219996452,"cg_iv_a":0.649055302,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9872723,"cg_sample_seq":14372766,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0984282419,"cg_vd_v":0.0984282419,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354452729,"cg_vq_v":-0.354452729,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3141174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.307861,"values":{"Elec_RPM":-1.59787957e-24,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54767,"Mech_RPM":-3.1957591e-25,"cg_du":50.1427689,"cg_dv":50.2113647,"cg_dw":49.7886353,"cg_id_a":0.0440467745,"cg_id_raw_a":0.0413352586,"cg_iq_a":-0.113596484,"cg_iq_raw_a":0.186948001,"cg_iu_a":-0.106198072,"cg_iv_a":0.540323734,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9581814,"cg_sample_seq":14372816,"cg_sample_valid":1,"cg_theta_rad":5.00708103,"cg_vd_req_v":0.0939154476,"cg_vd_v":0.0939154476,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368503332,"cg_vq_v":-0.368503332,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.335205,"values":{"Elec_RPM":-1.59787957e-24,"EncoderCos":38747,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-3.1957591e-25,"cg_du":50.1358337,"cg_dv":50.2112885,"cg_dw":49.7887115,"cg_id_a":-0.13981241,"cg_id_raw_a":0.735339165,"cg_iq_a":-0.188695699,"cg_iq_raw_a":-0.733243704,"cg_iu_a":0.364971876,"cg_iv_a":0.322860777,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.863636,"cg_sample_seq":14372871,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0959823653,"cg_vd_v":0.0959823653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363010108,"cg_vq_v":-0.363010108,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3189087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2601.346924,"values":{"Elec_RPM":-1.56592193e-24,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.13184386e-25,"cg_du":50.1437302,"cg_dv":50.2145576,"cg_dw":49.7854424,"cg_id_a":-0.189120024,"cg_id_raw_a":0.0184968282,"cg_iq_a":0.273208737,"cg_iq_raw_a":-0.215898231,"cg_iu_a":0.509947062,"cg_iv_a":0.0691539645,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.8600006,"cg_sample_seq":14372916,"cg_sample_valid":1,"cg_theta_rad":5.00635338,"cg_vd_req_v":0.0972156227,"cg_vd_v":0.0972156227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371944696,"cg_vq_v":-0.371944696,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.726749659,"dclink_p_w":-105.178596,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.3189087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.354736,"values":{"Elec_RPM":-1.53460356e-24,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-3.06920707e-25,"cg_du":50.1418114,"cg_dv":50.2054787,"cg_dw":49.7945213,"cg_id_a":0.0991241559,"cg_id_raw_a":0.205191553,"cg_iq_a":-0.0807444304,"cg_iq_raw_a":-0.853271186,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14373016,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.0884030908,"cg_vd_v":0.0884030908,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360068887,"cg_vq_v":-0.360068887,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.3446274,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.362549,"values":{"Elec_RPM":-1.53460356e-24,"EncoderCos":38725,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-3.06920707e-25,"cg_du":50.1444397,"cg_dv":50.2060547,"cg_dw":49.7939453,"cg_id_a":0.0744795799,"cg_id_raw_a":-0.48235932,"cg_iq_a":-0.00122974813,"cg_iq_raw_a":-0.264386594,"cg_iu_a":0.364971876,"cg_iv_a":0.467836022,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9618187,"cg_sample_seq":14373066,"cg_sample_valid":1,"cg_theta_rad":5.00730848,"cg_vd_req_v":0.0869663358,"cg_vd_v":0.0869663358,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36231479,"cg_vq_v":-0.36231479,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.3446274,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.370361,"values":{"Elec_RPM":-1.50391145e-24,"EncoderCos":38694,"EncoderSin":12454,"GapTicks":54771,"Mech_RPM":-3.00782285e-25,"cg_du":50.146862,"cg_dv":50.2078705,"cg_dw":49.7921295,"cg_id_a":-0.0708446503,"cg_id_raw_a":0.0570201874,"cg_iq_a":0.175190449,"cg_iq_raw_a":-0.576296866,"cg_iu_a":0.836141706,"cg_iv_a":-0.546991289,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8745461,"cg_sample_seq":14373116,"cg_sample_valid":1,"cg_theta_rad":5.00760365,"cg_vd_req_v":0.0897320583,"cg_vd_v":0.0897320583,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365453899,"cg_vq_v":-0.365453899,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.8693619,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.341217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.378174,"values":{"Elec_RPM":-1.50391145e-24,"EncoderCos":38706,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.00782285e-25,"cg_du":50.1440811,"cg_dv":50.1973114,"cg_dw":49.8026886,"cg_id_a":0.330697685,"cg_id_raw_a":0.315057576,"cg_iq_a":-0.403385639,"cg_iq_raw_a":0.178403363,"cg_iu_a":0.219996572,"cg_iv_a":0.359104574,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9909096,"cg_sample_seq":14373166,"cg_sample_valid":1,"cg_theta_rad":5.00686646,"cg_vd_req_v":0.0799976215,"cg_vd_v":0.0799976215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348781407,"cg_vq_v":-0.348781407,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.341217,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.385986,"values":{"Elec_RPM":-1.47383317e-24,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-2.94766629e-25,"cg_du":50.149971,"cg_dv":50.2018509,"cg_dw":49.7981491,"cg_id_a":0.399641812,"cg_id_raw_a":1.10998595,"cg_iq_a":0.0116194189,"cg_iq_raw_a":-0.440807402,"cg_iu_a":-0.396148682,"cg_iv_a":0.177885413,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14373216,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0773034915,"cg_vd_v":0.0773034915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358810872,"cg_vq_v":-0.358810872,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-57.9702034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.397705,"values":{"Elec_RPM":-1.47383317e-24,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-2.94766629e-25,"cg_du":50.1439438,"cg_dv":50.2112732,"cg_dw":49.7887268,"cg_id_a":-0.430424035,"cg_id_raw_a":-0.468089253,"cg_iq_a":0.286840558,"cg_iq_raw_a":-0.409026265,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9218178,"cg_sample_seq":14373266,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0924269632,"cg_vd_v":0.0924269632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367965668,"cg_vq_v":-0.367965668,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-57.9702034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3189087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.405518,"values":{"Elec_RPM":-1.44435649e-24,"EncoderCos":38698,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-2.88871299e-25,"cg_du":50.1499367,"cg_dv":50.2046928,"cg_dw":49.7953072,"cg_id_a":0.112067759,"cg_id_raw_a":-0.20442909,"cg_iq_a":0.0742845088,"cg_iq_raw_a":-0.092542693,"cg_iu_a":0.183752537,"cg_iv_a":0.504079938,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9254551,"cg_sample_seq":14373316,"cg_sample_valid":1,"cg_theta_rad":5.00866127,"cg_vd_req_v":0.0822921544,"cg_vd_v":0.0822921544,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362166703,"cg_vq_v":-0.362166703,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-57.9702034,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3189087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.432861,"values":{"Elec_RPM":-1.44435649e-24,"EncoderCos":38728,"EncoderSin":12516,"GapTicks":54774,"Mech_RPM":-2.88871299e-25,"cg_du":50.1412315,"cg_dv":50.2052269,"cg_dw":49.7947731,"cg_id_a":-0.130795419,"cg_id_raw_a":-0.120687522,"cg_iq_a":-0.102542274,"cg_iq_raw_a":-0.774774969,"cg_iu_a":-0.287417173,"cg_iv_a":-0.474503517,"cg_iw_a":0.761920691,"cg_sample_age_us":23.863636,"cg_sample_seq":14373371,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0872277766,"cg_vd_v":0.0872277766,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359738022,"cg_vq_v":-0.359738022,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0249329,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.440674,"values":{"Elec_RPM":-1.41546939e-24,"EncoderCos":38711,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-2.83093878e-25,"cg_du":50.1513939,"cg_dv":50.2069817,"cg_dw":49.7930183,"cg_id_a":0.0566832796,"cg_id_raw_a":0.127002314,"cg_iq_a":0.398281962,"cg_iq_raw_a":1.4339844,"cg_iu_a":0.328727961,"cg_iv_a":-0.184552908,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9472733,"cg_sample_seq":14373416,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.083436273,"cg_vd_v":0.083436273,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367255569,"cg_vq_v":-0.367255569,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2583008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.448486,"values":{"Elec_RPM":-1.41546939e-24,"EncoderCos":38727,"EncoderSin":12474,"GapTicks":54777,"Mech_RPM":-2.83093878e-25,"cg_du":50.1585846,"cg_dv":50.2023849,"cg_dw":49.7976151,"cg_id_a":0.554337144,"cg_id_raw_a":0.215011194,"cg_iq_a":0.356155187,"cg_iq_raw_a":-0.743190348,"cg_iu_a":-0.142441988,"cg_iv_a":0.794030666,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14373466,"cg_sample_valid":1,"cg_theta_rad":5.00671387,"cg_vd_req_v":0.0716890171,"cg_vd_v":0.0716890171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364223093,"cg_vq_v":-0.364223093,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.7265472,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2583008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.460205,"values":{"Elec_RPM":-1.38716003e-24,"EncoderCos":38719,"EncoderSin":12470,"GapTicks":54777,"Mech_RPM":-2.77432002e-25,"cg_du":50.1468582,"cg_dv":50.2026634,"cg_dw":49.7973366,"cg_id_a":0.101135105,"cg_id_raw_a":0.0947635621,"cg_iq_a":0.165396258,"cg_iq_raw_a":-0.572588325,"cg_iu_a":-0.903562546,"cg_iv_a":0.359104574,"cg_iw_a":0.544457972,"cg_sample_age_us":23.9872723,"cg_sample_seq":14373516,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.0819237158,"cg_vd_v":0.0819237158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35786432,"cg_vq_v":-0.35786432,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.7265472,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3236694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.468018,"values":{"Elec_RPM":-1.38716003e-24,"EncoderCos":38691,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-2.77432002e-25,"cg_du":50.1449852,"cg_dv":50.2055702,"cg_dw":49.7944298,"cg_id_a":-0.1741997,"cg_id_raw_a":-0.510444343,"cg_iq_a":0.210286781,"cg_iq_raw_a":0.0211107228,"cg_iu_a":-1.48346376,"cg_iv_a":-0.00333368778,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9618187,"cg_sample_seq":14373566,"cg_sample_valid":1,"cg_theta_rad":5.00893402,"cg_vd_req_v":0.087996453,"cg_vd_v":0.087996453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36033687,"cg_vq_v":-0.36033687,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3236694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.47583,"values":{"Elec_RPM":-1.35941678e-24,"EncoderCos":38743,"EncoderSin":12495,"GapTicks":54779,"Mech_RPM":-2.71883352e-25,"cg_du":50.1389275,"cg_dv":50.2003937,"cg_dw":49.7996063,"cg_id_a":0.0512504429,"cg_id_raw_a":0.717933357,"cg_iq_a":-0.295640409,"cg_iq_raw_a":-0.77107209,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9763641,"cg_sample_seq":14373616,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0834228024,"cg_vd_v":0.0834228024,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350938588,"cg_vq_v":-0.350938588,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3268738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.487549,"values":{"Elec_RPM":-1.35941678e-24,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-2.71883352e-25,"cg_du":50.1513596,"cg_dv":50.2072525,"cg_dw":49.7927475,"cg_id_a":-0.0367295593,"cg_id_raw_a":0.0652353093,"cg_iq_a":0.561418474,"cg_iq_raw_a":0.153118491,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534837,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9618187,"cg_sample_seq":14373666,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0842554644,"cg_vd_v":0.0842554644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367484421,"cg_vq_v":-0.367484421,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3093262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.495361,"values":{"Elec_RPM":-1.3322284e-24,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-2.66445684e-25,"cg_du":50.1358986,"cg_dv":50.2021942,"cg_dw":49.7978058,"cg_id_a":-0.359723806,"cg_id_raw_a":-0.401735216,"cg_iq_a":-0.171474785,"cg_iq_raw_a":-0.439327866,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14373716,"cg_sample_valid":1,"cg_theta_rad":5.00662041,"cg_vd_req_v":0.0904745683,"cg_vd_v":0.0904745683,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352106452,"cg_vq_v":-0.352106452,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3093262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.503174,"values":{"Elec_RPM":-1.3322284e-24,"EncoderCos":38706,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-2.66445684e-25,"cg_du":50.1466484,"cg_dv":50.2065315,"cg_dw":49.7934685,"cg_id_a":-0.278582573,"cg_id_raw_a":0.472307503,"cg_iq_a":0.403060496,"cg_iq_raw_a":0.704207778,"cg_iu_a":0.401215553,"cg_iv_a":-0.728210449,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9581814,"cg_sample_seq":14373766,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0869227946,"cg_vd_v":0.0869227946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362746775,"cg_vq_v":-0.362746775,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3157043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.510986,"values":{"Elec_RPM":-1.30558393e-24,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-2.61116781e-25,"cg_du":50.1429825,"cg_dv":50.2028198,"cg_dw":49.7971802,"cg_id_a":-0.0846642032,"cg_id_raw_a":-0.00740787946,"cg_iq_a":0.0197850652,"cg_iq_raw_a":-0.181898862,"cg_iu_a":0.183752775,"cg_iv_a":-0.25704062,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9509087,"cg_sample_seq":14373817,"cg_sample_valid":1,"cg_theta_rad":5.00601435,"cg_vd_req_v":0.0835338309,"cg_vd_v":0.0835338309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356274903,"cg_vq_v":-0.356274903,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.4182014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3380432,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.53833,"values":{"Elec_RPM":-1.27947224e-24,"EncoderCos":38748,"EncoderSin":12507,"GapTicks":54773,"Mech_RPM":-2.55894448e-25,"cg_du":50.1359558,"cg_dv":50.2055092,"cg_dw":49.7944908,"cg_id_a":-0.304690331,"cg_id_raw_a":0.043060001,"cg_iq_a":-0.200908691,"cg_iq_raw_a":0.186558276,"cg_iu_a":0.437459469,"cg_iv_a":-0.148308992,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9618187,"cg_sample_seq":14373916,"cg_sample_valid":1,"cg_theta_rad":5.00792217,"cg_vd_req_v":0.089987807,"cg_vd_v":0.089987807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356446087,"cg_vq_v":-0.356446087,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3268738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.546143,"values":{"Elec_RPM":-1.27947224e-24,"EncoderCos":38707,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-2.55894448e-25,"cg_du":50.1537132,"cg_dv":50.2078133,"cg_dw":49.7921867,"cg_id_a":0.00185635313,"cg_id_raw_a":0.00637009367,"cg_iq_a":0.338012397,"cg_iq_raw_a":0.110743828,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14373966,"cg_sample_valid":1,"cg_theta_rad":5.00763988,"cg_vd_req_v":0.0828930363,"cg_vd_v":0.0828930363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368417948,"cg_vq_v":-0.368417948,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3268738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.553955,"values":{"Elec_RPM":-1.25388277e-24,"EncoderCos":38722,"EncoderSin":12498,"GapTicks":54775,"Mech_RPM":-2.50776564e-25,"cg_du":50.1485481,"cg_dv":50.2041206,"cg_dw":49.7958794,"cg_id_a":0.0453626812,"cg_id_raw_a":-0.0903979316,"cg_iq_a":-0.176514685,"cg_iq_raw_a":-0.189858437,"cg_iu_a":0.437459469,"cg_iv_a":-0.112065196,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14374016,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0810752511,"cg_vd_v":0.0810752511,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361007005,"cg_vq_v":-0.361007005,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3428345,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.561768,"values":{"Elec_RPM":-1.25388277e-24,"EncoderCos":38719,"EncoderSin":12503,"GapTicks":54767,"Mech_RPM":-2.50776564e-25,"cg_du":50.1545334,"cg_dv":50.2114487,"cg_dw":49.7885513,"cg_id_a":-0.0281799883,"cg_id_raw_a":-0.0308496021,"cg_iq_a":0.407729566,"cg_iq_raw_a":0.726040423,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395774841,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8672733,"cg_sample_seq":14374066,"cg_sample_valid":1,"cg_theta_rad":5.00746441,"cg_vd_req_v":0.0835983455,"cg_vd_v":0.0835983455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374303788,"cg_vq_v":-0.374303788,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.573486,"values":{"Elec_RPM":-1.22880518e-24,"EncoderCos":38697,"EncoderSin":12514,"GapTicks":54774,"Mech_RPM":-2.45761036e-25,"cg_du":50.1425552,"cg_dv":50.2052231,"cg_dw":49.7947769,"cg_id_a":-0.209347293,"cg_id_raw_a":-0.527113795,"cg_iq_a":-0.411614954,"cg_iq_raw_a":-1.07179809,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.863636,"cg_sample_seq":14374116,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0885006115,"cg_vd_v":0.0885006115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358754188,"cg_vq_v":-0.358754188,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3284607,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.581299,"values":{"Elec_RPM":-1.22880518e-24,"EncoderCos":38715,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-2.45761036e-25,"cg_du":50.1414566,"cg_dv":50.2060432,"cg_dw":49.7939568,"cg_id_a":-0.248903289,"cg_id_raw_a":-0.824806333,"cg_iq_a":-0.342153251,"cg_iq_raw_a":-1.28116727,"cg_iu_a":0.183752537,"cg_iv_a":0.032910049,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.863636,"cg_sample_seq":14374167,"cg_sample_valid":1,"cg_theta_rad":5.00611877,"cg_vd_req_v":0.0892071351,"cg_vd_v":0.0892071351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359485656,"cg_vq_v":-0.359485656,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3109131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.589111,"values":{"Elec_RPM":-1.20422911e-24,"EncoderCos":38686,"EncoderSin":12465,"GapTicks":54770,"Mech_RPM":-2.40845816e-25,"cg_du":50.1603966,"cg_dv":50.208889,"cg_dw":49.791111,"cg_id_a":0.295101106,"cg_id_raw_a":0.260004729,"cg_iq_a":0.358680606,"cg_iq_raw_a":1.48621249,"cg_iu_a":0.364971638,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9799995,"cg_sample_seq":14374217,"cg_sample_valid":1,"cg_theta_rad":5.00665236,"cg_vd_req_v":0.0802926272,"cg_vd_v":0.0802926272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373310834,"cg_vq_v":-0.373310834,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3141174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.60083,"values":{"Elec_RPM":-1.20422911e-24,"EncoderCos":38713,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-2.40845816e-25,"cg_du":50.152874,"cg_dv":50.2109604,"cg_dw":49.7890396,"cg_id_a":-0.0380192287,"cg_id_raw_a":-0.254943818,"cg_iq_a":0.188148409,"cg_iq_raw_a":0.412404329,"cg_iu_a":-0.178685665,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482369,"cg_sample_age_us":23.863636,"cg_sample_seq":14374266,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0862738565,"cg_vd_v":0.0862738565,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373482198,"cg_vq_v":-0.373482198,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3141174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.608643,"values":{"Elec_RPM":-1.18014459e-24,"EncoderCos":38705,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-2.36028908e-25,"cg_du":50.1549454,"cg_dv":50.2013817,"cg_dw":49.7986183,"cg_id_a":0.422140539,"cg_id_raw_a":0.489279181,"cg_iq_a":-0.295556188,"cg_iq_raw_a":-0.495414585,"cg_iu_a":0.509947062,"cg_iv_a":0.57656765,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9654541,"cg_sample_seq":14374317,"cg_sample_valid":1,"cg_theta_rad":5.00807142,"cg_vd_req_v":0.0762815773,"cg_vd_v":0.0762815773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361402035,"cg_vq_v":-0.361402035,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.2997437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.635986,"values":{"Elec_RPM":-1.18014459e-24,"EncoderCos":38757,"EncoderSin":12503,"GapTicks":54774,"Mech_RPM":-2.36028908e-25,"cg_du":50.1389961,"cg_dv":50.2054176,"cg_dw":49.7945824,"cg_id_a":-0.206240833,"cg_id_raw_a":-0.159934789,"cg_iq_a":-0.400910854,"cg_iq_raw_a":0.350697458,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.863636,"cg_sample_seq":14374369,"cg_sample_valid":1,"cg_theta_rad":5.00818539,"cg_vd_req_v":0.0868667513,"cg_vd_v":0.0868667513,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358160973,"cg_vq_v":-0.358160973,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.00900018215,"dclink_p_w":1.30254829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.2997437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.643799,"values":{"Elec_RPM":-1.15654168e-24,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-2.3130834e-25,"cg_du":50.1456871,"cg_dv":50.2014999,"cg_dw":49.7985001,"cg_id_a":0.0603537858,"cg_id_raw_a":-0.190028772,"cg_iq_a":-0.43039915,"cg_iq_raw_a":-1.29294133,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9836369,"cg_sample_seq":14374416,"cg_sample_valid":1,"cg_theta_rad":5.00673008,"cg_vd_req_v":0.0822849497,"cg_vd_v":0.0822849497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355498105,"cg_vq_v":-0.355498105,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.00900018215,"dclink_p_w":1.30254829,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3220825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.651611,"values":{"Elec_RPM":-1.15654168e-24,"EncoderCos":38733,"EncoderSin":12443,"GapTicks":54774,"Mech_RPM":-2.3130834e-25,"cg_du":50.1438332,"cg_dv":50.205452,"cg_dw":49.794548,"cg_id_a":-0.294771284,"cg_id_raw_a":-0.110886686,"cg_iq_a":-0.19935751,"cg_iq_raw_a":-0.410455465,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9690914,"cg_sample_seq":14374467,"cg_sample_valid":1,"cg_theta_rad":5.00829554,"cg_vd_req_v":0.0865324736,"cg_vd_v":0.0865324736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360072374,"cg_vq_v":-0.360072374,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.311636209,"dclink_p_w":45.1014442,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.66333,"values":{"Elec_RPM":-1.1334108e-24,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-2.26682164e-25,"cg_du":50.1550217,"cg_dv":50.2046738,"cg_dw":49.7953262,"cg_id_a":0.138249427,"cg_id_raw_a":0.229165554,"cg_iq_a":-0.104009032,"cg_iq_raw_a":-0.0131872417,"cg_iu_a":0.038777113,"cg_iv_a":0.540323734,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9618187,"cg_sample_seq":14374516,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0774234906,"cg_vd_v":0.0774234906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365195096,"cg_vq_v":-0.365195096,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.671143,"values":{"Elec_RPM":-1.1334108e-24,"EncoderCos":38708,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-2.26682164e-25,"cg_du":50.1504974,"cg_dv":50.2014771,"cg_dw":49.7985229,"cg_id_a":0.089166753,"cg_id_raw_a":0.137586653,"cg_iq_a":-0.363380522,"cg_iq_raw_a":0.487913519,"cg_iu_a":0.509947062,"cg_iv_a":0.286616921,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.954546,"cg_sample_seq":14374567,"cg_sample_valid":1,"cg_theta_rad":5.00659752,"cg_vd_req_v":0.0785564035,"cg_vd_v":0.0785564035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359298557,"cg_vq_v":-0.359298557,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3045349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.678955,"values":{"Elec_RPM":-1.11074268e-24,"EncoderCos":38745,"EncoderSin":12490,"GapTicks":54767,"Mech_RPM":-2.22148531e-25,"cg_du":50.1575279,"cg_dv":50.2109833,"cg_dw":49.7890167,"cg_id_a":-0.0167609006,"cg_id_raw_a":-0.178774029,"cg_iq_a":0.454098284,"cg_iq_raw_a":0.312129706,"cg_iu_a":-0.178685904,"cg_iv_a":0.649055243,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9763641,"cg_sample_seq":14374617,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.0789095014,"cg_vd_v":0.0789095014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375749648,"cg_vq_v":-0.375749648,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3220825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.686768,"values":{"Elec_RPM":-1.11074268e-24,"EncoderCos":38727,"EncoderSin":12479,"GapTicks":54781,"Mech_RPM":-2.22148531e-25,"cg_du":50.150219,"cg_dv":50.1988068,"cg_dw":49.8011932,"cg_id_a":0.204146564,"cg_id_raw_a":0.120943256,"cg_iq_a":-0.571513772,"cg_iq_raw_a":-0.861454129,"cg_iu_a":1.19858003,"cg_iv_a":0.359104633,"cg_iw_a":-1.55768466,"cg_sample_age_us":23.9872723,"cg_sample_seq":14374667,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0746709034,"cg_vd_v":0.0746709034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354693323,"cg_vq_v":-0.354693323,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3220825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.69458,"values":{"Elec_RPM":-1.08852786e-24,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-2.17705568e-25,"cg_du":50.1481323,"cg_dv":50.2040176,"cg_dw":49.7959824,"cg_id_a":-0.0618553571,"cg_id_raw_a":-0.119342498,"cg_iq_a":-0.323580414,"cg_iq_raw_a":-0.774983168,"cg_iu_a":-0.251173258,"cg_iv_a":0.10539782,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9472733,"cg_sample_seq":14374717,"cg_sample_valid":1,"cg_theta_rad":5.00706339,"cg_vd_req_v":0.080986008,"cg_vd_v":0.080986008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360705227,"cg_vq_v":-0.360705227,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3300476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.702393,"values":{"Elec_RPM":-1.08852786e-24,"EncoderCos":38711,"EncoderSin":12501,"GapTicks":54773,"Mech_RPM":-2.17705568e-25,"cg_du":50.1421509,"cg_dv":50.2059059,"cg_dw":49.7940941,"cg_id_a":-0.390345514,"cg_id_raw_a":-0.199516505,"cg_iq_a":-0.317586631,"cg_iq_raw_a":1.14663708,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14374767,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.0886572078,"cg_vd_v":0.0886572078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359656215,"cg_vq_v":-0.359656215,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3300476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.714111,"values":{"Elec_RPM":-1.06675728e-24,"EncoderCos":38713,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-2.1335145e-25,"cg_du":50.1479187,"cg_dv":50.2055588,"cg_dw":49.7944412,"cg_id_a":-0.034817636,"cg_id_raw_a":0.00809853058,"cg_iq_a":-0.0932259113,"cg_iq_raw_a":-0.326200664,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.863636,"cg_sample_seq":14374816,"cg_sample_valid":1,"cg_theta_rad":5.00666809,"cg_vd_req_v":0.0814739913,"cg_vd_v":0.0814739913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362949431,"cg_vq_v":-0.362949431,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3045349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.737549,"values":{"Elec_RPM":-1.06675728e-24,"EncoderCos":38736,"EncoderSin":12517,"GapTicks":54770,"Mech_RPM":-2.1335145e-25,"cg_du":50.1523438,"cg_dv":50.2083321,"cg_dw":49.7916679,"cg_id_a":0.10356088,"cg_id_raw_a":0.16304408,"cg_iq_a":0.055501692,"cg_iq_raw_a":-0.675854743,"cg_iu_a":0.111264944,"cg_iv_a":0.105397701,"cg_iw_a":-0.216662645,"cg_sample_age_us":26.823637,"cg_sample_seq":14374870,"cg_sample_valid":1,"cg_theta_rad":5.00968075,"cg_vd_req_v":0.0805105567,"cg_vd_v":0.0805105567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369231552,"cg_vq_v":-0.369231552,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0038773173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.749268,"values":{"Elec_RPM":-1.04542214e-24,"EncoderCos":38739,"EncoderSin":12505,"GapTicks":54765,"Mech_RPM":-2.09084427e-25,"cg_du":50.1589088,"cg_dv":50.2131233,"cg_dw":49.7868767,"cg_id_a":0.150040686,"cg_id_raw_a":0.507932782,"cg_iq_a":0.460193098,"cg_iq_raw_a":1.53914976,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9618187,"cg_sample_seq":14374917,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0800063163,"cg_vd_v":0.0800063163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3794128,"cg_vq_v":-0.3794128,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0038773173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.75708,"values":{"Elec_RPM":-1.04542214e-24,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54776,"Mech_RPM":-2.09084427e-25,"cg_du":50.1520233,"cg_dv":50.2028503,"cg_dw":49.7971497,"cg_id_a":0.162266374,"cg_id_raw_a":-0.0185974296,"cg_iq_a":-0.357069939,"cg_iq_raw_a":-0.474635839,"cg_iu_a":-0.142441988,"cg_iv_a":0.21412921,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9763641,"cg_sample_seq":14374967,"cg_sample_valid":1,"cg_theta_rad":5.00790977,"cg_vd_req_v":0.0790958032,"cg_vd_v":0.0790958032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360793382,"cg_vq_v":-0.360793382,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.764893,"values":{"Elec_RPM":-1.02451367e-24,"EncoderCos":38662,"EncoderSin":12447,"GapTicks":54773,"Mech_RPM":-2.04902737e-25,"cg_du":50.1607857,"cg_dv":50.2055321,"cg_dw":49.7944679,"cg_id_a":0.160879314,"cg_id_raw_a":0.544301987,"cg_iq_a":0.00933471322,"cg_iq_raw_a":-0.375531405,"cg_iu_a":-0.468636274,"cg_iv_a":-0.365772128,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375017,"cg_sample_valid":1,"cg_theta_rad":5.00639296,"cg_vd_req_v":0.0791517943,"cg_vd_v":0.0791517943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368471593,"cg_vq_v":-0.368471593,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.776611,"values":{"Elec_RPM":-1.02451367e-24,"EncoderCos":38677,"EncoderSin":12437,"GapTicks":54765,"Mech_RPM":-2.04902737e-25,"cg_du":50.1564407,"cg_dv":50.2134666,"cg_dw":49.7865334,"cg_id_a":-0.256212592,"cg_id_raw_a":-0.386718184,"cg_iq_a":0.394046187,"cg_iq_raw_a":1.38031685,"cg_iu_a":0.61867857,"cg_iv_a":-0.293284416,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375067,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0893713459,"cg_vd_v":0.0893713459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376899749,"cg_vq_v":-0.376899749,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118535131,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.784424,"values":{"Elec_RPM":-1.00402341e-24,"EncoderCos":38714,"EncoderSin":12441,"GapTicks":54776,"Mech_RPM":-2.00804679e-25,"cg_du":50.1511726,"cg_dv":50.2032852,"cg_dw":49.7967148,"cg_id_a":0.19254443,"cg_id_raw_a":0.0330270119,"cg_iq_a":-0.444410086,"cg_iq_raw_a":-0.360142887,"cg_iu_a":0.292484045,"cg_iv_a":0.250373125,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9581814,"cg_sample_seq":14375117,"cg_sample_valid":1,"cg_theta_rad":5.00674057,"cg_vd_req_v":0.0802732706,"cg_vd_v":0.0802732706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360885203,"cg_vq_v":-0.360885203,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0145583153,"dclink_p_w":-2.10694718,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3093262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.792236,"values":{"Elec_RPM":-1.00402341e-24,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54777,"Mech_RPM":-2.00804679e-25,"cg_du":50.148037,"cg_dv":50.202179,"cg_dw":49.797821,"cg_id_a":0.206322521,"cg_id_raw_a":-0.0243884772,"cg_iq_a":-0.414976954,"cg_iq_raw_a":-0.219987437,"cg_iu_a":-0.142441988,"cg_iv_a":0.866518259,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375167,"cg_sample_valid":1,"cg_theta_rad":5.00730038,"cg_vd_req_v":0.0797188655,"cg_vd_v":0.0797188655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358051628,"cg_vq_v":-0.358051628,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3093262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.800049,"values":{"Elec_RPM":-9.83942953e-25,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-1.96788588e-25,"cg_du":50.1419792,"cg_dv":50.2021332,"cg_dw":49.7978668,"cg_id_a":-0.15173173,"cg_id_raw_a":-0.00052454113,"cg_iq_a":-0.443389356,"cg_iq_raw_a":0.182861686,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14375217,"cg_sample_valid":1,"cg_theta_rad":5.0056529,"cg_vd_req_v":0.0856731087,"cg_vd_v":0.0856731087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354298741,"cg_vq_v":-0.354298741,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3157043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.807861,"values":{"Elec_RPM":-9.83942953e-25,"EncoderCos":38715,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-1.96788588e-25,"cg_du":50.1450119,"cg_dv":50.2041435,"cg_dw":49.7958565,"cg_id_a":-0.141813904,"cg_id_raw_a":-0.0302624926,"cg_iq_a":-0.195535332,"cg_iq_raw_a":-0.584830403,"cg_iu_a":0.256240129,"cg_iv_a":-0.474503517,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9581814,"cg_sample_seq":14375266,"cg_sample_valid":1,"cg_theta_rad":5.00641489,"cg_vd_req_v":0.0847654492,"cg_vd_v":0.0847654492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358849496,"cg_vq_v":-0.358849496,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.815674,"values":{"Elec_RPM":-9.64264029e-25,"EncoderCos":38723,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-1.92852813e-25,"cg_du":50.1460724,"cg_dv":50.2040443,"cg_dw":49.7959557,"cg_id_a":-0.0116390288,"cg_id_raw_a":0.470313042,"cg_iq_a":-0.237296879,"cg_iq_raw_a":-0.972824037,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375316,"cg_sample_valid":1,"cg_theta_rad":5.00714493,"cg_vd_req_v":0.0838563964,"cg_vd_v":0.0838563964,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359310389,"cg_vq_v":-0.359310389,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.846924,"values":{"Elec_RPM":-9.64264029e-25,"EncoderCos":38726,"EncoderSin":12492,"GapTicks":54778,"Mech_RPM":-1.92852813e-25,"cg_du":50.1483841,"cg_dv":50.2015038,"cg_dw":49.7984962,"cg_id_a":0.228725761,"cg_id_raw_a":0.237146705,"cg_iq_a":-0.314829469,"cg_iq_raw_a":0.787839413,"cg_iu_a":0.328727841,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9836369,"cg_sample_seq":14375370,"cg_sample_valid":1,"cg_theta_rad":5.00607347,"cg_vd_req_v":0.0784875304,"cg_vd_v":0.0784875304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357391477,"cg_vq_v":-0.357391477,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.854736,"values":{"Elec_RPM":-9.44978746e-25,"EncoderCos":38735,"EncoderSin":12437,"GapTicks":54772,"Mech_RPM":-1.88995752e-25,"cg_du":50.1470718,"cg_dv":50.2072067,"cg_dw":49.7927933,"cg_id_a":-0.116624311,"cg_id_raw_a":-0.170075759,"cg_iq_a":0.144158646,"cg_iq_raw_a":-0.0156299993,"cg_iu_a":-0.323661089,"cg_iv_a":-0.655722737,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375417,"cg_sample_valid":1,"cg_theta_rad":5.00565434,"cg_vd_req_v":0.0856808573,"cg_vd_v":0.0856808573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364277929,"cg_vq_v":-0.364277929,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3061218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.862549,"values":{"Elec_RPM":-9.44978746e-25,"EncoderCos":38719,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.88995752e-25,"cg_du":50.1373787,"cg_dv":50.2013397,"cg_dw":49.7986603,"cg_id_a":-0.163983047,"cg_id_raw_a":0.0175083783,"cg_iq_a":-0.616819859,"cg_iq_raw_a":-0.215980679,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14375467,"cg_sample_valid":1,"cg_theta_rad":5.00534868,"cg_vd_req_v":0.0876637995,"cg_vd_v":0.0876637995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350849032,"cg_vq_v":-0.350849032,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3061218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.870361,"values":{"Elec_RPM":-9.26079217e-25,"EncoderCos":38720,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-1.85215838e-25,"cg_du":50.1461716,"cg_dv":50.2059593,"cg_dw":49.7940407,"cg_id_a":-0.0805163234,"cg_id_raw_a":-3.58995894e-05,"cg_iq_a":-0.0161919445,"cg_iq_raw_a":0.182862431,"cg_iu_a":0.61867857,"cg_iv_a":0.0329101086,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9509087,"cg_sample_seq":14375516,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0857492611,"cg_vd_v":0.0857492611,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363101631,"cg_vq_v":-0.363101631,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3045349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.878174,"values":{"Elec_RPM":-9.26079217e-25,"EncoderCos":38732,"EncoderSin":12458,"GapTicks":54766,"Mech_RPM":-1.85215838e-25,"cg_du":50.1476517,"cg_dv":50.2121658,"cg_dw":49.7878342,"cg_id_a":-0.262195438,"cg_id_raw_a":-0.197595462,"cg_iq_a":0.394076228,"cg_iq_raw_a":0.710062504,"cg_iu_a":0.111264944,"cg_iv_a":-0.619478941,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9618187,"cg_sample_seq":14375567,"cg_sample_valid":1,"cg_theta_rad":5.00711441,"cg_vd_req_v":0.0897570848,"cg_vd_v":0.0897570848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371417254,"cg_vq_v":-0.371417254,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3045349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.889893,"values":{"Elec_RPM":-8.89406454e-25,"EncoderCos":38737,"EncoderSin":12468,"GapTicks":54771,"Mech_RPM":-1.77881293e-25,"cg_du":50.1541405,"cg_dv":50.2080231,"cg_dw":49.7919769,"cg_id_a":0.0526380204,"cg_id_raw_a":0.12833856,"cg_iq_a":0.142208681,"cg_iq_raw_a":-0.0599380024,"cg_iu_a":0.364971876,"cg_iv_a":0.540323794,"cg_iw_a":-0.90529567,"cg_sample_age_us":23.9509087,"cg_sample_seq":14375716,"cg_sample_valid":1,"cg_theta_rad":5.00849295,"cg_vd_req_v":0.0799645782,"cg_vd_v":0.0799645782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369560391,"cg_vq_v":-0.369560391,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.975769,"temp_inv2_c":37.3125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.897705,"values":{"Elec_RPM":-8.89406454e-25,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-1.77881293e-25,"cg_du":50.1483116,"cg_dv":50.2063255,"cg_dw":49.7936745,"cg_id_a":-0.151700437,"cg_id_raw_a":-0.517946959,"cg_iq_a":-0.150602281,"cg_iq_raw_a":0.53292197,"cg_iu_a":0.219996333,"cg_iv_a":0.322860777,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.8745461,"cg_sample_seq":14375766,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0839342549,"cg_vd_v":0.0839342549,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362590253,"cg_vq_v":-0.362590253,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3013306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.905518,"values":{"Elec_RPM":-8.71618331e-25,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.74323666e-25,"cg_du":50.1639709,"cg_dv":50.2072487,"cg_dw":49.7927513,"cg_id_a":0.320800394,"cg_id_raw_a":0.837576807,"cg_iq_a":0.323557973,"cg_iq_raw_a":1.68708062,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758214593,"cg_iw_a":0.145775616,"cg_sample_age_us":23.8818188,"cg_sample_seq":14375817,"cg_sample_valid":1,"cg_theta_rad":5.00793743,"cg_vd_req_v":0.0736379772,"cg_vd_v":0.0736379772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373575538,"cg_vq_v":-0.373575538,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.932861,"values":{"Elec_RPM":-8.71618331e-25,"EncoderCos":38733,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-1.74323666e-25,"cg_du":50.1556816,"cg_dv":50.2037125,"cg_dw":49.7962875,"cg_id_a":0.217718765,"cg_id_raw_a":0.818544865,"cg_iq_a":-0.0605028234,"cg_iq_raw_a":-0.467857718,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14375870,"cg_sample_valid":1,"cg_theta_rad":5.0078721,"cg_vd_req_v":0.0747863427,"cg_vd_v":0.0747863427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364500403,"cg_vq_v":-0.364500403,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.94458,"values":{"Elec_RPM":-8.54185984e-25,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54774,"Mech_RPM":-1.70837197e-25,"cg_du":50.1699944,"cg_dv":50.2050018,"cg_dw":49.7949982,"cg_id_a":0.597228825,"cg_id_raw_a":0.809742212,"cg_iq_a":0.48563087,"cg_iq_raw_a":-0.57556504,"cg_iu_a":-0.722343206,"cg_iv_a":-0.112065196,"cg_iw_a":1.12435925,"cg_sample_age_us":23.9872723,"cg_sample_seq":14375916,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0661431998,"cg_vd_v":0.0661431998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37519595,"cg_vq_v":-0.37519595,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.302948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.952393,"values":{"Elec_RPM":-8.54185984e-25,"EncoderCos":38699,"EncoderSin":12439,"GapTicks":54774,"Mech_RPM":-1.70837197e-25,"cg_du":50.1675682,"cg_dv":50.2046204,"cg_dw":49.7953796,"cg_id_a":0.403964967,"cg_id_raw_a":0.20834738,"cg_iq_a":0.384168267,"cg_iq_raw_a":-0.41467765,"cg_iu_a":-1.19351292,"cg_iv_a":0.322860777,"cg_iw_a":0.870652139,"cg_sample_age_us":23.9836369,"cg_sample_seq":14375966,"cg_sample_valid":1,"cg_theta_rad":5.00803947,"cg_vd_req_v":0.0702749416,"cg_vd_v":0.0702749416,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372829795,"cg_vq_v":-0.372829795,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.302948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.960205,"values":{"Elec_RPM":-8.37102313e-25,"EncoderCos":38727,"EncoderSin":12525,"GapTicks":54775,"Mech_RPM":-1.67420455e-25,"cg_du":50.1495132,"cg_dv":50.2043114,"cg_dw":49.7956886,"cg_id_a":-0.0461743362,"cg_id_raw_a":0.13322036,"cg_iq_a":-0.158927858,"cg_iq_raw_a":-0.569263339,"cg_iu_a":-0.14244175,"cg_iv_a":0.032910049,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9654541,"cg_sample_seq":14376016,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0796534643,"cg_vd_v":0.0796534643,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363146126,"cg_vq_v":-0.363146126,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2601.968018,"values":{"Elec_RPM":-8.37102313e-25,"EncoderCos":38716,"EncoderSin":12535,"GapTicks":54780,"Mech_RPM":-1.67420455e-25,"cg_du":50.1486588,"cg_dv":50.1993523,"cg_dw":49.8006477,"cg_id_a":0.0850309581,"cg_id_raw_a":0.0586069897,"cg_iq_a":-0.527861655,"cg_iq_raw_a":-0.212102383,"cg_iu_a":-0.214929581,"cg_iv_a":0.395348489,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.8600006,"cg_sample_seq":14376066,"cg_sample_valid":1,"cg_theta_rad":5.00776958,"cg_vd_req_v":0.0761725381,"cg_vd_v":0.0761725381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355745494,"cg_vq_v":-0.355745494,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3077087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2601.974649,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2601.974655,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2601.974661,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2601.97583,"values":{"Elec_RPM":-8.2036022e-25,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-1.64072049e-25,"cg_du":50.1620789,"cg_dv":50.2090454,"cg_dw":49.7909546,"cg_id_a":0.0637960508,"cg_id_raw_a":-0.00762277422,"cg_iq_a":0.407109797,"cg_iq_raw_a":0.254996836,"cg_iu_a":-0.686099291,"cg_iv_a":-0.25704062,"cg_iw_a":0.943139911,"cg_sample_age_us":23.863636,"cg_sample_seq":14376116,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.0765650272,"cg_vd_v":0.0765650272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375013411,"cg_vq_v":-0.375013411,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3077087,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2601.983643,"values":{"Elec_RPM":-8.2036022e-25,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-1.64072049e-25,"cg_du":50.1523247,"cg_dv":50.2058258,"cg_dw":49.7941742,"cg_id_a":-0.0469963923,"cg_id_raw_a":-0.390938878,"cg_iq_a":0.0143275298,"cg_iq_raw_a":0.726876318,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885473,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.863636,"cg_sample_seq":14376167,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0809012651,"cg_vd_v":0.0809012651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364026546,"cg_vq_v":-0.364026546,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3045349,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2601.991455,"values":{"Elec_RPM":-8.03953047e-25,"EncoderCos":38714,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-1.60790609e-25,"cg_du":50.1550331,"cg_dv":50.2044907,"cg_dw":49.7955093,"cg_id_a":0.188791841,"cg_id_raw_a":0.72773844,"cg_iq_a":0.0741039366,"cg_iq_raw_a":0.473493159,"cg_iu_a":0.147508621,"cg_iv_a":0.322860718,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9618187,"cg_sample_seq":14376217,"cg_sample_valid":1,"cg_theta_rad":5.00749207,"cg_vd_req_v":0.0776558369,"cg_vd_v":0.0776558369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364862889,"cg_vq_v":-0.364862889,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2487488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.003174,"values":{"Elec_RPM":-8.03953047e-25,"EncoderCos":38708,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-1.60790609e-25,"cg_du":50.1562462,"cg_dv":50.2051125,"cg_dw":49.7948875,"cg_id_a":0.125451609,"cg_id_raw_a":-0.337452531,"cg_iq_a":0.240102038,"cg_iq_raw_a":-0.652343214,"cg_iu_a":-0.323661089,"cg_iv_a":0.540323794,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9363632,"cg_sample_seq":14376266,"cg_sample_valid":1,"cg_theta_rad":5.00756264,"cg_vd_req_v":0.077833347,"cg_vd_v":0.077833347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366275787,"cg_vq_v":-0.366275787,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2487488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.010986,"values":{"Elec_RPM":-7.87873942e-25,"EncoderCos":38719,"EncoderSin":12476,"GapTicks":54775,"Mech_RPM":-1.57574793e-25,"cg_du":50.147419,"cg_dv":50.2041245,"cg_dw":49.7958755,"cg_id_a":-0.0577480271,"cg_id_raw_a":0.00359105761,"cg_iq_a":-0.0319918841,"cg_iq_raw_a":-0.0716775507,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.474503517,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9836369,"cg_sample_seq":14376317,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.0830065385,"cg_vd_v":0.0830065385,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36129415,"cg_vq_v":-0.36129415,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3061218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.03833,"values":{"Elec_RPM":-7.87873942e-25,"EncoderCos":38740,"EncoderSin":12488,"GapTicks":54778,"Mech_RPM":-1.57574793e-25,"cg_du":50.1476784,"cg_dv":50.2012024,"cg_dw":49.7987976,"cg_id_a":0.18919751,"cg_id_raw_a":0.130603477,"cg_iq_a":-0.253964067,"cg_iq_raw_a":-0.314759701,"cg_iu_a":0.0387773514,"cg_iv_a":0.757786751,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9618187,"cg_sample_seq":14376370,"cg_sample_valid":1,"cg_theta_rad":5.00767374,"cg_vd_req_v":0.0777135715,"cg_vd_v":0.0777135715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356815219,"cg_vq_v":-0.356815219,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.3061218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.046143,"values":{"Elec_RPM":-7.72116445e-25,"EncoderCos":38705,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-1.54423294e-25,"cg_du":50.1483421,"cg_dv":50.2044487,"cg_dw":49.7955513,"cg_id_a":-0.0592257455,"cg_id_raw_a":0.00339188753,"cg_iq_a":-0.0141754877,"cg_iq_raw_a":-0.690999091,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14376416,"cg_sample_valid":1,"cg_theta_rad":5.00694466,"cg_vd_req_v":0.083620742,"cg_vd_v":0.083620742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360867977,"cg_vq_v":-0.360867977,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2965698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.057861,"values":{"Elec_RPM":-7.72116445e-25,"EncoderCos":38680,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-1.54423294e-25,"cg_du":50.1508598,"cg_dv":50.2045364,"cg_dw":49.7954636,"cg_id_a":-0.0816218778,"cg_id_raw_a":0.212252066,"cg_iq_a":0.111950159,"cg_iq_raw_a":-0.0496903025,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552848,"cg_iw_a":0.21826309,"cg_sample_age_us":23.9654541,"cg_sample_seq":14376466,"cg_sample_valid":1,"cg_theta_rad":5.00872707,"cg_vd_req_v":0.0833002329,"cg_vd_v":0.0833002329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362049699,"cg_vq_v":-0.362049699,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2981567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.065674,"values":{"Elec_RPM":-7.56674148e-25,"EncoderCos":38752,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-1.5133483e-25,"cg_du":50.1369743,"cg_dv":50.1966858,"cg_dw":49.8033142,"cg_id_a":0.0508675575,"cg_id_raw_a":-0.0864751413,"cg_iq_a":-0.577081025,"cg_iq_raw_a":-0.952988803,"cg_iu_a":-0.106198072,"cg_iv_a":0.975249767,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8745461,"cg_sample_seq":14376567,"cg_sample_valid":1,"cg_theta_rad":5.00660896,"cg_vd_req_v":0.0808531195,"cg_vd_v":0.0808531195,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344915211,"cg_vq_v":-0.344915211,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2981567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.073486,"values":{"Elec_RPM":-7.4154064e-25,"EncoderCos":38752,"EncoderSin":12503,"GapTicks":54773,"Mech_RPM":-1.4830813e-25,"cg_du":50.1429138,"cg_dv":50.2059631,"cg_dw":49.7940369,"cg_id_a":-0.246110395,"cg_id_raw_a":-0.947493494,"cg_iq_a":0.388665974,"cg_iq_raw_a":0.463057935,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":24.0381813,"cg_sample_seq":14376617,"cg_sample_valid":1,"cg_theta_rad":5.00624514,"cg_vd_req_v":0.084959574,"cg_vd_v":0.084959574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362079203,"cg_vq_v":-0.362079203,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.2806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.081299,"values":{"Elec_RPM":-7.4154064e-25,"EncoderCos":38699,"EncoderSin":12455,"GapTicks":54782,"Mech_RPM":-1.4830813e-25,"cg_du":50.1414909,"cg_dv":50.1977959,"cg_dw":49.8022041,"cg_id_a":-0.10383223,"cg_id_raw_a":-0.653493345,"cg_iq_a":-0.0461146981,"cg_iq_raw_a":0.588961065,"cg_iu_a":0.111264944,"cg_iv_a":0.830274463,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14376667,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.0833421052,"cg_vd_v":0.0833421052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347779959,"cg_vq_v":-0.347779959,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":35.0003357,"temp_inv2_c":37.2806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.089111,"values":{"Elec_RPM":-7.26709809e-25,"EncoderCos":38709,"EncoderSin":12474,"GapTicks":54779,"Mech_RPM":-1.45341964e-25,"cg_du":50.1493301,"cg_dv":50.2002907,"cg_dw":49.7997093,"cg_id_a":0.142078668,"cg_id_raw_a":-0.045093298,"cg_iq_a":0.342128396,"cg_iq_raw_a":-0.00370601541,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14376717,"cg_sample_valid":1,"cg_theta_rad":5.00770998,"cg_vd_req_v":0.0783878565,"cg_vd_v":0.0783878565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355876148,"cg_vq_v":-0.355876148,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.355250359,"dclink_p_w":-51.4134865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.096924,"values":{"Elec_RPM":-7.26709809e-25,"EncoderCos":38738,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-1.45341964e-25,"cg_du":50.1384773,"cg_dv":50.1983261,"cg_dw":49.8016739,"cg_id_a":0.00231226534,"cg_id_raw_a":0.0915873125,"cg_iq_a":-0.0535493568,"cg_iq_raw_a":0.555446804,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065196,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9763641,"cg_sample_seq":14376767,"cg_sample_valid":1,"cg_theta_rad":5.00690031,"cg_vd_req_v":0.0828533247,"cg_vd_v":0.0828533247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347610027,"cg_vq_v":-0.347610027,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.324443102,"dclink_p_w":-46.9549179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.104736,"values":{"Elec_RPM":-7.12175638e-25,"EncoderCos":38695,"EncoderSin":12437,"GapTicks":54784,"Mech_RPM":-1.42435123e-25,"cg_du":50.1422272,"cg_dv":50.1957207,"cg_dw":49.8042793,"cg_id_a":0.0261376165,"cg_id_raw_a":0.0669301078,"cg_iq_a":-0.242661625,"cg_iq_raw_a":-0.465913564,"cg_iu_a":0.183752775,"cg_iv_a":-0.112065315,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9836369,"cg_sample_seq":14376817,"cg_sample_valid":1,"cg_theta_rad":5.0078249,"cg_vd_req_v":0.08147154,"cg_vd_v":0.08147154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345215261,"cg_vq_v":-0.345215261,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.135986,"values":{"Elec_RPM":-7.12175638e-25,"EncoderCos":38692,"EncoderSin":12450,"GapTicks":54775,"Mech_RPM":-1.42435123e-25,"cg_du":50.1433792,"cg_dv":50.2039299,"cg_dw":49.7960701,"cg_id_a":-0.345938802,"cg_id_raw_a":-1.20200384,"cg_iq_a":0.410979927,"cg_iq_raw_a":1.58681393,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9690914,"cg_sample_seq":14376872,"cg_sample_valid":1,"cg_theta_rad":5.00695896,"cg_vd_req_v":0.0888392404,"cg_vd_v":0.0888392404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358066708,"cg_vq_v":-0.358066708,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.302948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.143799,"values":{"Elec_RPM":-6.97932113e-25,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54785,"Mech_RPM":-1.39586423e-25,"cg_du":50.1381035,"cg_dv":50.1951027,"cg_dw":49.8048973,"cg_id_a":0.0541534796,"cg_id_raw_a":-0.208581313,"cg_iq_a":-0.286105961,"cg_iq_raw_a":0.162418842,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14376916,"cg_sample_valid":1,"cg_theta_rad":5.00822973,"cg_vd_req_v":0.0814950839,"cg_vd_v":0.0814950839,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342663854,"cg_vq_v":-0.342663854,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.302948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.151611,"values":{"Elec_RPM":-6.97932113e-25,"EncoderCos":38728,"EncoderSin":12490,"GapTicks":54781,"Mech_RPM":-1.39586423e-25,"cg_du":50.1387291,"cg_dv":50.1984901,"cg_dw":49.8015099,"cg_id_a":0.0234529153,"cg_id_raw_a":0.195005208,"cg_iq_a":-0.115346931,"cg_iq_raw_a":0.34689045,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.863636,"cg_sample_seq":14376966,"cg_sample_valid":1,"cg_theta_rad":5.00769472,"cg_vd_req_v":0.0830504894,"cg_vd_v":0.0830504894,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347916007,"cg_vq_v":-0.347916007,"cg_vu_v":41.3499031,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.3332214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.159424,"values":{"Elec_RPM":-6.83973466e-25,"EncoderCos":38687,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-1.36794693e-25,"cg_du":50.1361885,"cg_dv":50.1930847,"cg_dw":49.8069153,"cg_id_a":0.0206486881,"cg_id_raw_a":-0.103741243,"cg_iq_a":-0.616307676,"cg_iq_raw_a":-0.0464876145,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9363632,"cg_sample_seq":14377017,"cg_sample_valid":1,"cg_theta_rad":5.00522757,"cg_vd_req_v":0.0831878558,"cg_vd_v":0.0831878558,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338323385,"cg_vq_v":-0.338323385,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.171143,"values":{"Elec_RPM":-6.83973466e-25,"EncoderCos":38742,"EncoderSin":12505,"GapTicks":54780,"Mech_RPM":-1.36794693e-25,"cg_du":50.1435661,"cg_dv":50.1998825,"cg_dw":49.8001175,"cg_id_a":0.218460366,"cg_id_raw_a":0.112509325,"cg_iq_a":0.0949031562,"cg_iq_raw_a":-0.352950573,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.863636,"cg_sample_seq":14377067,"cg_sample_valid":1,"cg_theta_rad":5.00624084,"cg_vd_req_v":0.0791072547,"cg_vd_v":0.0791072547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352853417,"cg_vq_v":-0.352853417,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2870178,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.178955,"values":{"Elec_RPM":-6.70294026e-25,"EncoderCos":38730,"EncoderSin":12464,"GapTicks":54777,"Mech_RPM":-1.340588e-25,"cg_du":50.1366882,"cg_dv":50.2020607,"cg_dw":49.7979393,"cg_id_a":-0.156540424,"cg_id_raw_a":0.180276945,"cg_iq_a":0.0142045049,"cg_iq_raw_a":-0.819340289,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9799995,"cg_sample_seq":14377117,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.0885833278,"cg_vd_v":0.0885833278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351522714,"cg_vq_v":-0.351522714,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.186768,"values":{"Elec_RPM":-6.70294026e-25,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-1.340588e-25,"cg_du":50.1432838,"cg_dv":50.2102356,"cg_dw":49.7897644,"cg_id_a":-0.267895013,"cg_id_raw_a":-0.202560142,"cg_iq_a":0.730429411,"cg_iq_raw_a":0.782727003,"cg_iu_a":-0.178685904,"cg_iv_a":-0.365772009,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9472733,"cg_sample_seq":14377167,"cg_sample_valid":1,"cg_theta_rad":5.00680971,"cg_vd_req_v":0.0906767696,"cg_vd_v":0.0906767696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36768195,"cg_vq_v":-0.36768195,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.19458,"values":{"Elec_RPM":-6.56888124e-25,"EncoderCos":38695,"EncoderSin":12511,"GapTicks":54783,"Mech_RPM":-1.31377622e-25,"cg_du":50.1363678,"cg_dv":50.1970901,"cg_dw":49.8029099,"cg_id_a":0.0432748459,"cg_id_raw_a":0.124138609,"cg_iq_a":-0.423086822,"cg_iq_raw_a":0.195436761,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9581814,"cg_sample_seq":14377217,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0859015882,"cg_vd_v":0.0859015882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345221847,"cg_vq_v":-0.345221847,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.202393,"values":{"Elec_RPM":-6.56888124e-25,"EncoderCos":38728,"EncoderSin":12504,"GapTicks":54776,"Mech_RPM":-1.31377622e-25,"cg_du":50.1353874,"cg_dv":50.2030144,"cg_dw":49.7969856,"cg_id_a":-0.138603389,"cg_id_raw_a":-0.131256104,"cg_iq_a":-0.121943966,"cg_iq_raw_a":0.243336827,"cg_iu_a":0.763653994,"cg_iv_a":-0.220796824,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9290905,"cg_sample_seq":14377268,"cg_sample_valid":1,"cg_theta_rad":5.00849152,"cg_vd_req_v":0.08971937,"cg_vd_v":0.08971937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352301359,"cg_vq_v":-0.352301359,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.214111,"values":{"Elec_RPM":-6.43750385e-25,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-1.28750075e-25,"cg_du":50.1367111,"cg_dv":50.1956902,"cg_dw":49.8043098,"cg_id_a":0.241385132,"cg_id_raw_a":-0.104187846,"cg_iq_a":-0.577247679,"cg_iq_raw_a":-0.045477882,"cg_iu_a":-0.142441988,"cg_iv_a":0.612811446,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9290905,"cg_sample_seq":14377317,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0820076764,"cg_vd_v":0.0820076764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342954427,"cg_vq_v":-0.342954427,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.221924,"values":{"Elec_RPM":-6.43750385e-25,"EncoderCos":38706,"EncoderSin":12465,"GapTicks":54787,"Mech_RPM":-1.28750075e-25,"cg_du":50.136528,"cg_dv":50.1935158,"cg_dw":49.8064842,"cg_id_a":0.22532849,"cg_id_raw_a":0.336957693,"cg_iq_a":-0.787139058,"cg_iq_raw_a":-0.0379082933,"cg_iu_a":0.691166162,"cg_iv_a":0.504079938,"cg_iw_a":-1.1952461,"cg_sample_age_us":23.9618187,"cg_sample_seq":14377367,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0822515935,"cg_vd_v":0.0822515935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339365691,"cg_vq_v":-0.339365691,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.249268,"values":{"Elec_RPM":-6.30875337e-25,"EncoderCos":38740,"EncoderSin":12508,"GapTicks":54773,"Mech_RPM":-1.26175072e-25,"cg_du":50.1357002,"cg_dv":50.2058411,"cg_dw":49.7941589,"cg_id_a":-0.0915539116,"cg_id_raw_a":0.0742275268,"cg_iq_a":0.30024749,"cg_iq_raw_a":1.46320796,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9654541,"cg_sample_seq":14377467,"cg_sample_valid":1,"cg_theta_rad":5.00621462,"cg_vd_req_v":0.0911325067,"cg_vd_v":0.0911325067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356599778,"cg_vq_v":-0.356599778,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.25708,"values":{"Elec_RPM":-6.18257852e-25,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-1.23651568e-25,"cg_du":50.1351433,"cg_dv":50.2050362,"cg_dw":49.7949638,"cg_id_a":-0.230442539,"cg_id_raw_a":-0.0447337963,"cg_iq_a":0.00464017596,"cg_iq_raw_a":-0.44050929,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9581814,"cg_sample_seq":14377517,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0930991843,"cg_vd_v":0.0930991843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354594409,"cg_vq_v":-0.354594409,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2997437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.264893,"values":{"Elec_RPM":-6.18257852e-25,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-1.23651568e-25,"cg_du":50.1489792,"cg_dv":50.2013664,"cg_dw":49.7986336,"cg_id_a":0.282426596,"cg_id_raw_a":-0.0983681455,"cg_iq_a":0.174363241,"cg_iq_raw_a":0.938002288,"cg_iu_a":-0.722343206,"cg_iv_a":-0.0758213997,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14377567,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0803845152,"cg_vd_v":0.0803845152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3581236,"cg_vq_v":-0.3581236,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.420489192,"dclink_p_w":-61.040123,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2997437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.272705,"values":{"Elec_RPM":-6.05892704e-25,"EncoderCos":38717,"EncoderSin":12441,"GapTicks":54772,"Mech_RPM":-1.21178538e-25,"cg_du":50.1474648,"cg_dv":50.207222,"cg_dw":49.792778,"cg_id_a":0.0196169987,"cg_id_raw_a":-0.558412611,"cg_iq_a":0.294381261,"cg_iq_raw_a":0.709651232,"cg_iu_a":-0.359904766,"cg_iv_a":0.250373125,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9654541,"cg_sample_seq":14377617,"cg_sample_valid":1,"cg_theta_rad":5.00687265,"cg_vd_req_v":0.0867747888,"cg_vd_v":0.0867747888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364190102,"cg_vq_v":-0.364190102,"cg_vu_v":120.090675,"cg_vv_v":142.085297,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2901917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.284424,"values":{"Elec_RPM":-6.05892704e-25,"EncoderCos":38720,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-1.21178538e-25,"cg_du":50.1485863,"cg_dv":50.2051811,"cg_dw":49.7948189,"cg_id_a":0.181430966,"cg_id_raw_a":-0.211712748,"cg_iq_a":0.20987691,"cg_iq_raw_a":-0.0198673159,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14377667,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.0828851238,"cg_vd_v":0.0828851238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362285405,"cg_vq_v":-0.362285405,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.292236,"values":{"Elec_RPM":-5.93774864e-25,"EncoderCos":38715,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-1.18754973e-25,"cg_du":50.1435013,"cg_dv":50.2065887,"cg_dw":49.7934113,"cg_id_a":-0.138785422,"cg_id_raw_a":0.142900229,"cg_iq_a":0.162626609,"cg_iq_raw_a":-0.20358409,"cg_iu_a":-0.577367783,"cg_iv_a":0.467836142,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9618187,"cg_sample_seq":14377717,"cg_sample_valid":1,"cg_theta_rad":5.00844193,"cg_vd_req_v":0.0887056962,"cg_vd_v":0.0887056962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361237049,"cg_vq_v":-0.361237049,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.300049,"values":{"Elec_RPM":-5.93774864e-25,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54765,"Mech_RPM":-1.18754973e-25,"cg_du":50.1517677,"cg_dv":50.2131538,"cg_dw":49.7868462,"cg_id_a":-0.269194335,"cg_id_raw_a":-0.315235257,"cg_iq_a":0.755955458,"cg_iq_raw_a":0.807104528,"cg_iu_a":-0.468636274,"cg_iv_a":-0.148309112,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9727268,"cg_sample_seq":14377767,"cg_sample_valid":1,"cg_theta_rad":5.00572634,"cg_vd_req_v":0.0889264792,"cg_vd_v":0.0889264792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374726862,"cg_vq_v":-0.374726862,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.2002869,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.311768,"values":{"Elec_RPM":-5.81899352e-25,"EncoderCos":38750,"EncoderSin":12499,"GapTicks":54768,"Mech_RPM":-1.16379873e-25,"cg_du":50.141571,"cg_dv":50.2102966,"cg_dw":49.7897034,"cg_id_a":-0.326165259,"cg_id_raw_a":0.362082392,"cg_iq_a":0.404412091,"cg_iq_raw_a":0.615171313,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9654541,"cg_sample_seq":14377817,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.090187788,"cg_vd_v":0.090187788,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366101563,"cg_vq_v":-0.366101563,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.3766785,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.31958,"values":{"Elec_RPM":-5.81899352e-25,"EncoderCos":38704,"EncoderSin":12505,"GapTicks":54773,"Mech_RPM":-1.16379873e-25,"cg_du":50.1527252,"cg_dv":50.2056961,"cg_dw":49.7943039,"cg_id_a":0.215696216,"cg_id_raw_a":-0.175423414,"cg_iq_a":0.457422912,"cg_iq_raw_a":0.675434709,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9836369,"cg_sample_seq":14377867,"cg_sample_valid":1,"cg_theta_rad":5.00807381,"cg_vd_req_v":0.0806373134,"cg_vd_v":0.0806373134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365201414,"cg_vq_v":-0.365201414,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.346924,"values":{"Elec_RPM":-5.70261385e-25,"EncoderCos":38733,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-1.14052277e-25,"cg_du":50.1401215,"cg_dv":50.2022781,"cg_dw":49.7977219,"cg_id_a":-0.211226821,"cg_id_raw_a":0.0135899801,"cg_iq_a":-0.0671890378,"cg_iq_raw_a":-0.39839226,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8527279,"cg_sample_seq":14377920,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.0861903206,"cg_vd_v":0.0861903206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354853779,"cg_vq_v":-0.354853779,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.354736,"values":{"Elec_RPM":-5.70261385e-25,"EncoderCos":38708,"EncoderSin":12467,"GapTicks":54785,"Mech_RPM":-1.14052277e-25,"cg_du":50.1337776,"cg_dv":50.1952744,"cg_dw":49.8047256,"cg_id_a":-0.207313985,"cg_id_raw_a":-0.0438397266,"cg_iq_a":-0.711018085,"cg_iq_raw_a":-1.06000304,"cg_iu_a":0.799897671,"cg_iv_a":0.177885413,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.863636,"cg_sample_seq":14377967,"cg_sample_valid":1,"cg_theta_rad":5.00742149,"cg_vd_req_v":0.0859211311,"cg_vd_v":0.0859211311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340244889,"cg_vq_v":-0.340244889,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.362549,"values":{"Elec_RPM":-5.58856182e-25,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54776,"Mech_RPM":-1.11771236e-25,"cg_du":50.1437378,"cg_dv":50.2031746,"cg_dw":49.7968254,"cg_id_a":-0.158348858,"cg_id_raw_a":-0.246741772,"cg_iq_a":0.0311794579,"cg_iq_raw_a":0.340994209,"cg_iu_a":0.0750210285,"cg_iv_a":-0.546991229,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9327278,"cg_sample_seq":14378017,"cg_sample_valid":1,"cg_theta_rad":5.00696993,"cg_vd_req_v":0.0845420212,"cg_vd_v":0.0845420212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356887043,"cg_vq_v":-0.356887043,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.4271774,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2742615,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.370361,"values":{"Elec_RPM":-5.58856182e-25,"EncoderCos":38748,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-1.11771236e-25,"cg_du":50.1375122,"cg_dv":50.1994438,"cg_dw":49.8005562,"cg_id_a":-0.135477006,"cg_id_raw_a":-0.18337138,"cg_iq_a":-0.376586288,"cg_iq_raw_a":0.129594922,"cg_iu_a":0.364971638,"cg_iv_a":-0.510747433,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9654541,"cg_sample_seq":14378066,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0836461484,"cg_vd_v":0.0836461484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347725034,"cg_vq_v":-0.347725034,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.2069702,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2838135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2602.378174,"values":{"Elec_RPM":-5.47679059e-25,"EncoderCos":38721,"EncoderSin":12486,"GapTicks":54778,"Mech_RPM":-1.09535814e-25,"cg_du":50.1541824,"cg_dv":50.2013664,"cg_dw":49.7986336,"cg_id_a":0.31550014,"cg_id_raw_a":0.381771058,"cg_iq_a":0.17635791,"cg_iq_raw_a":0.583798885,"cg_iu_a":-0.359904766,"cg_iv_a":0.685299158,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9436359,"cg_sample_seq":14378117,"cg_sample_valid":1,"cg_theta_rad":5.00706291,"cg_vd_req_v":0.0743542537,"cg_vd_v":0.0743542537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360333413,"cg_vq_v":-0.360333413,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2838135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.389893,"values":{"Elec_RPM":-5.47679059e-25,"EncoderCos":38729,"EncoderSin":12467,"GapTicks":54770,"Mech_RPM":-1.09535814e-25,"cg_du":50.1547546,"cg_dv":50.2086029,"cg_dw":49.7913971,"cg_id_a":0.0144298915,"cg_id_raw_a":0.0311575513,"cg_iq_a":0.584609628,"cg_iq_raw_a":-0.360309154,"cg_iu_a":0.00253343582,"cg_iv_a":0.467836142,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14378167,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0809875727,"cg_vd_v":0.0809875727,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371667355,"cg_vq_v":-0.371667355,"cg_vu_v":3.51914048,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.604553,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2838135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.397705,"values":{"Elec_RPM":-5.36725479e-25,"EncoderCos":38729,"EncoderSin":12499,"GapTicks":54777,"Mech_RPM":-1.07345098e-25,"cg_du":50.1484489,"cg_dv":50.2024841,"cg_dw":49.7975159,"cg_id_a":0.177210227,"cg_id_raw_a":0.517315447,"cg_iq_a":0.0626911819,"cg_iq_raw_a":1.39616716,"cg_iu_a":-0.396148682,"cg_iv_a":-0.25704056,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.9072723,"cg_sample_seq":14378218,"cg_sample_valid":1,"cg_theta_rad":5.00553608,"cg_vd_req_v":0.0789695457,"cg_vd_v":0.0789695457,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358854622,"cg_vq_v":-0.358854622,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.405518,"values":{"Elec_RPM":-5.36725479e-25,"EncoderCos":38744,"EncoderSin":12458,"GapTicks":54773,"Mech_RPM":-1.07345098e-25,"cg_du":50.1565208,"cg_dv":50.2058983,"cg_dw":49.7941017,"cg_id_a":0.299862862,"cg_id_raw_a":0.758746564,"cg_iq_a":0.466040254,"cg_iq_raw_a":1.74587405,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9472733,"cg_sample_seq":14378267,"cg_sample_valid":1,"cg_theta_rad":5.00710011,"cg_vd_req_v":0.0757062212,"cg_vd_v":0.0757062212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368059009,"cg_vq_v":-0.368059009,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.589022875,"dclink_p_w":-85.2461319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.41333,"values":{"Elec_RPM":-5.25991004e-25,"EncoderCos":38731,"EncoderSin":12491,"GapTicks":54769,"Mech_RPM":-1.05198201e-25,"cg_du":50.1642151,"cg_dv":50.209446,"cg_dw":49.790554,"cg_id_a":0.385592103,"cg_id_raw_a":0.094480671,"cg_iq_a":0.685486913,"cg_iq_raw_a":0.300888449,"cg_iu_a":-0.649855614,"cg_iv_a":0.39534843,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14378317,"cg_sample_valid":1,"cg_theta_rad":5.00641537,"cg_vd_req_v":0.0733319446,"cg_vd_v":0.0733319446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377139747,"cg_vq_v":-0.377139747,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.425049,"values":{"Elec_RPM":-5.25991004e-25,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-1.05198201e-25,"cg_du":50.1631393,"cg_dv":50.2104607,"cg_dw":49.7895393,"cg_id_a":0.302265078,"cg_id_raw_a":-0.158584848,"cg_iq_a":0.631742001,"cg_iq_raw_a":0.713472188,"cg_iu_a":-1.51970768,"cg_iv_a":0.0691539049,"cg_iw_a":1.45055377,"cg_sample_age_us":23.9581814,"cg_sample_seq":14378367,"cg_sample_valid":1,"cg_theta_rad":5.00632858,"cg_vd_req_v":0.0770984963,"cg_vd_v":0.0770984963,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376336396,"cg_vq_v":-0.376336396,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2602.448486,"values":{"Elec_RPM":-5.15471199e-25,"EncoderCos":38724,"EncoderSin":12503,"GapTicks":54774,"Mech_RPM":-1.03094235e-25,"cg_du":50.1480827,"cg_dv":50.2049255,"cg_dw":49.7950745,"cg_id_a":0.0657587424,"cg_id_raw_a":0.263242066,"cg_iq_a":-0.175064981,"cg_iq_raw_a":-0.374764174,"cg_iu_a":-1.26600075,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.863636,"cg_sample_seq":14378420,"cg_sample_valid":1,"cg_theta_rad":5.00790358,"cg_vd_req_v":0.0819321275,"cg_vd_v":0.0819321275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36190924,"cg_vq_v":-0.36190924,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.460205,"values":{"Elec_RPM":-5.15471199e-25,"EncoderCos":38711,"EncoderSin":12498,"GapTicks":54770,"Mech_RPM":-1.03094235e-25,"cg_du":50.1500359,"cg_dv":50.2087898,"cg_dw":49.7912102,"cg_id_a":-0.0971996114,"cg_id_raw_a":0.201639533,"cg_iq_a":-0.00897112489,"cg_iq_raw_a":-0.161541402,"cg_iu_a":0.364971638,"cg_iv_a":-0.365772128,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.863636,"cg_sample_seq":14378466,"cg_sample_valid":1,"cg_theta_rad":5.00703144,"cg_vd_req_v":0.0853500515,"cg_vd_v":0.0853500515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367982745,"cg_vq_v":-0.367982745,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.468018,"values":{"Elec_RPM":-5.05161773e-25,"EncoderCos":38705,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-1.0103235e-25,"cg_du":50.1566734,"cg_dv":50.2110062,"cg_dw":49.7889938,"cg_id_a":0.101133883,"cg_id_raw_a":-0.0179309696,"cg_iq_a":0.291828871,"cg_iq_raw_a":0.144708216,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8563633,"cg_sample_seq":14378516,"cg_sample_valid":1,"cg_theta_rad":5.00653839,"cg_vd_req_v":0.0832242519,"cg_vd_v":0.0832242519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374518991,"cg_vq_v":-0.374518991,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2949829,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.47583,"values":{"Elec_RPM":-5.05161773e-25,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54766,"Mech_RPM":-1.0103235e-25,"cg_du":50.1567955,"cg_dv":50.2120056,"cg_dw":49.7879944,"cg_id_a":0.0439775959,"cg_id_raw_a":0.433595389,"cg_iq_a":0.259812295,"cg_iq_raw_a":0.26164189,"cg_iu_a":0.0387773514,"cg_iv_a":0.10539782,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9581814,"cg_sample_seq":14378567,"cg_sample_valid":1,"cg_theta_rad":5.00656271,"cg_vd_req_v":0.0830827355,"cg_vd_v":0.0830827355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376168787,"cg_vq_v":-0.376168787,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.487549,"values":{"Elec_RPM":-4.95058486e-25,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-9.9011701e-26,"cg_du":50.1576233,"cg_dv":50.2122231,"cg_dw":49.7877769,"cg_id_a":0.0814206749,"cg_id_raw_a":0.270822823,"cg_iq_a":0.208992675,"cg_iq_raw_a":-0.00895062461,"cg_iu_a":0.328727961,"cg_iv_a":0.10539782,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14378618,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0826958865,"cg_vd_v":0.0826958865,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375720173,"cg_vq_v":-0.375720173,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.3853531,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2602.495361,"values":{"Elec_RPM":-4.95058486e-25,"EncoderCos":38725,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-9.9011701e-26,"cg_du":50.1600113,"cg_dv":50.2168121,"cg_dw":49.7831879,"cg_id_a":-0.0180488303,"cg_id_raw_a":-0.0729726106,"cg_iq_a":0.571519196,"cg_iq_raw_a":0.285057217,"cg_iu_a":0.5099473,"cg_iv_a":0.032910049,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.954546,"cg_sample_seq":14378667,"cg_sample_valid":1,"cg_theta_rad":5.00812197,"cg_vd_req_v":0.084559381,"cg_vd_v":0.084559381,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383429408,"cg_vq_v":-0.383429408,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.6286354,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2602.503174,"values":{"Elec_RPM":-4.85157345e-25,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54766,"Mech_RPM":-9.70314691e-26,"cg_du":50.157135,"cg_dv":50.2126884,"cg_dw":49.7873116,"cg_id_a":0.0155634582,"cg_id_raw_a":0.200279489,"cg_iq_a":0.394592762,"cg_iq_raw_a":0.275856048,"cg_iu_a":0.256240368,"cg_iv_a":0.830274463,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14378716,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0841877535,"cg_vd_v":0.0841877535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375925988,"cg_vq_v":-0.375925988,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.5732517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2662964,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2602.510986,"values":{"Elec_RPM":-4.85157345e-25,"EncoderCos":38737,"EncoderSin":12491,"GapTicks":54765,"Mech_RPM":-9.70314691e-26,"cg_du":50.1366615,"cg_dv":50.213131,"cg_dw":49.786869,"cg_id_a":-0.658545256,"cg_id_raw_a":-0.0359397903,"cg_iq_a":-0.190566272,"cg_iq_raw_a":-0.330101848,"cg_iu_a":1.12609231,"cg_iv_a":-0.510747313,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9618187,"cg_sample_seq":14378767,"cg_sample_valid":1,"cg_theta_rad":5.00690746,"cg_vd_req_v":0.0980735496,"cg_vd_v":0.0980735496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366910547,"cg_vq_v":-0.366910547,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2662964,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.518799,"values":{"Elec_RPM":-4.75454208e-25,"EncoderCos":38709,"EncoderSin":12484,"GapTicks":54768,"Mech_RPM":-9.50908404e-26,"cg_du":50.1408844,"cg_dv":50.2103233,"cg_dw":49.7896767,"cg_id_a":-0.3954916,"cg_id_raw_a":-0.177198038,"cg_iq_a":-0.230348349,"cg_iq_raw_a":0.0560480244,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9763641,"cg_sample_seq":14378817,"cg_sample_valid":1,"cg_theta_rad":5.00639296,"cg_vd_req_v":0.0945377052,"cg_vd_v":0.0945377052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364795268,"cg_vq_v":-0.364795268,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.4739418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.526611,"values":{"Elec_RPM":-4.75454208e-25,"EncoderCos":38755,"EncoderSin":12489,"GapTicks":54767,"Mech_RPM":-9.50908404e-26,"cg_du":50.1408005,"cg_dv":50.211277,"cg_dw":49.788723,"cg_id_a":-0.245250404,"cg_id_raw_a":-0.0947102606,"cg_iq_a":-0.0961608738,"cg_iq_raw_a":0.319895566,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9618187,"cg_sample_seq":14378867,"cg_sample_valid":1,"cg_theta_rad":5.0065527,"cg_vd_req_v":0.0915746093,"cg_vd_v":0.0915746093,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367053062,"cg_vq_v":-0.367053062,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.545530319,"dclink_p_w":-78.9516907,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.553955,"values":{"Elec_RPM":-4.65945131e-25,"EncoderCos":38734,"EncoderSin":12500,"GapTicks":54765,"Mech_RPM":-9.31890262e-26,"cg_du":50.1534233,"cg_dv":50.2134552,"cg_dw":49.7865448,"cg_id_a":0.0100775361,"cg_id_raw_a":0.603246391,"cg_iq_a":0.356089294,"cg_iq_raw_a":0.711762309,"cg_iu_a":1.27106762,"cg_iv_a":0.322860718,"cg_iw_a":-1.59392834,"cg_sample_age_us":23.9581814,"cg_sample_seq":14378920,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.0854699165,"cg_vd_v":0.0854699165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377835959,"cg_vq_v":-0.377835959,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.3519669,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.565674,"values":{"Elec_RPM":-4.65945131e-25,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-9.31890262e-26,"cg_du":50.1533203,"cg_dv":50.2124214,"cg_dw":49.7875786,"cg_id_a":-0.146511585,"cg_id_raw_a":0.0192549024,"cg_iq_a":0.142226189,"cg_iq_raw_a":0.403413475,"cg_iu_a":0.546190858,"cg_iv_a":0.10539782,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.8672733,"cg_sample_seq":14378966,"cg_sample_valid":1,"cg_theta_rad":5.00928354,"cg_vd_req_v":0.0871701166,"cg_vd_v":0.0871701166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374567032,"cg_vq_v":-0.374567032,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2886047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.573486,"values":{"Elec_RPM":-4.56626219e-25,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-9.13252437e-26,"cg_du":50.1569939,"cg_dv":50.2075005,"cg_dw":49.7924995,"cg_id_a":0.264919788,"cg_id_raw_a":0.711607277,"cg_iq_a":-0.064810656,"cg_iq_raw_a":0.433528721,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9836369,"cg_sample_seq":14379016,"cg_sample_valid":1,"cg_theta_rad":5.00799274,"cg_vd_req_v":0.0780906156,"cg_vd_v":0.0780906156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370253474,"cg_vq_v":-0.370253474,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":6.1584959,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.581299,"values":{"Elec_RPM":-4.56626219e-25,"EncoderCos":38704,"EncoderSin":12494,"GapTicks":54773,"Mech_RPM":-9.13252437e-26,"cg_du":50.1550827,"cg_dv":50.2063255,"cg_dw":49.7936745,"cg_id_a":0.26047942,"cg_id_raw_a":-0.210129932,"cg_iq_a":-0.135819048,"cg_iq_raw_a":-0.457249135,"cg_iu_a":-0.0337104797,"cg_iv_a":0.685299098,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9290905,"cg_sample_seq":14379066,"cg_sample_valid":1,"cg_theta_rad":5.00480843,"cg_vd_req_v":0.0796797797,"cg_vd_v":0.0796797797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367320776,"cg_vq_v":-0.367320776,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.4456596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2790527,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.589111,"values":{"Elec_RPM":-4.47493724e-25,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-8.94987411e-26,"cg_du":50.1406097,"cg_dv":50.2091026,"cg_dw":49.7908974,"cg_id_a":-0.414212465,"cg_id_raw_a":0.335212469,"cg_iq_a":-0.201814443,"cg_iq_raw_a":-1.0952872,"cg_iu_a":0.0750210285,"cg_iv_a":-0.909429669,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8600006,"cg_sample_seq":14379116,"cg_sample_valid":1,"cg_theta_rad":5.00781679,"cg_vd_req_v":0.0933694467,"cg_vd_v":0.0933694467,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36420849,"cg_vq_v":-0.36420849,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.4456596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2678833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.60083,"values":{"Elec_RPM":-4.3854385e-25,"EncoderCos":38739,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-8.77087664e-26,"cg_du":50.1443481,"cg_dv":50.2119522,"cg_dw":49.7880478,"cg_id_a":-0.321346283,"cg_id_raw_a":-0.338759512,"cg_iq_a":0.0693136156,"cg_iq_raw_a":-0.467055351,"cg_iu_a":-0.541124105,"cg_iv_a":-0.148309112,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9872723,"cg_sample_seq":14379267,"cg_sample_valid":1,"cg_theta_rad":5.00729227,"cg_vd_req_v":0.0906664282,"cg_vd_v":0.0906664282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369643867,"cg_vq_v":-0.369643867,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.603363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.608643,"values":{"Elec_RPM":-4.2977295e-25,"EncoderCos":38696,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-8.59545924e-26,"cg_du":50.149559,"cg_dv":50.206459,"cg_dw":49.793541,"cg_id_a":-0.158094972,"cg_id_raw_a":-0.0303183049,"cg_iq_a":-0.0786152855,"cg_iq_raw_a":-0.148032948,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9836369,"cg_sample_seq":14379317,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0850769877,"cg_vd_v":0.0850769877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364174277,"cg_vq_v":-0.364174277,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.603363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.616455,"values":{"Elec_RPM":-4.2977295e-25,"EncoderCos":38719,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-8.59545924e-26,"cg_du":50.1460037,"cg_dv":50.2044983,"cg_dw":49.7955017,"cg_id_a":-0.0816825926,"cg_id_raw_a":-0.281673759,"cg_iq_a":-0.216259673,"cg_iq_raw_a":0.264503688,"cg_iu_a":0.546190977,"cg_iv_a":0.57656765,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9690914,"cg_sample_seq":14379367,"cg_sample_valid":1,"cg_theta_rad":5.00858259,"cg_vd_req_v":0.0844309926,"cg_vd_v":0.0844309926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359867305,"cg_vq_v":-0.359867305,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.308914,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2694702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.643799,"values":{"Elec_RPM":-4.21177472e-25,"EncoderCos":38752,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-8.42354981e-26,"cg_du":50.1480713,"cg_dv":50.2091637,"cg_dw":49.7908363,"cg_id_a":-0.081965588,"cg_id_raw_a":0.160422072,"cg_iq_a":0.220593438,"cg_iq_raw_a":-0.421490401,"cg_iu_a":-0.251173496,"cg_iv_a":0.39534843,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8672733,"cg_sample_seq":14379420,"cg_sample_valid":1,"cg_theta_rad":5.00650024,"cg_vd_req_v":0.0844896361,"cg_vd_v":0.0844896361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369211525,"cg_vq_v":-0.369211525,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.839105606,"dclink_p_w":-121.43927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.655518,"values":{"Elec_RPM":-4.21177472e-25,"EncoderCos":38706,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-8.42354981e-26,"cg_du":50.1490288,"cg_dv":50.207077,"cg_dw":49.792923,"cg_id_a":-0.228784472,"cg_id_raw_a":-0.0575750358,"cg_iq_a":0.205653921,"cg_iq_raw_a":-0.296441436,"cg_iu_a":-0.178685665,"cg_iv_a":-0.546991229,"cg_iw_a":0.725676894,"cg_sample_age_us":23.8600006,"cg_sample_seq":14379466,"cg_sample_valid":1,"cg_theta_rad":5.00640535,"cg_vd_req_v":0.0858772695,"cg_vd_v":0.0858772695,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365934104,"cg_vq_v":-0.365934104,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-0.839105606,"dclink_p_w":-121.43927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.66333,"values":{"Elec_RPM":-4.12753941e-25,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-8.2550787e-26,"cg_du":50.152565,"cg_dv":50.2087669,"cg_dw":49.7912331,"cg_id_a":-0.183679283,"cg_id_raw_a":-0.25758341,"cg_iq_a":0.483086407,"cg_iq_raw_a":0.230169594,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0395776033,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8600006,"cg_sample_seq":14379517,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0838778093,"cg_vd_v":0.0838778093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369253337,"cg_vq_v":-0.369253337,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.463981867,"dclink_p_w":-67.3537216,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2662964,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.671143,"values":{"Elec_RPM":-4.12753941e-25,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-8.2550787e-26,"cg_du":50.1509476,"cg_dv":50.2073288,"cg_dw":49.7926712,"cg_id_a":-0.214051247,"cg_id_raw_a":-0.0844381526,"cg_iq_a":0.370869786,"cg_iq_raw_a":0.611623466,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263507,"cg_sample_age_us":23.8672733,"cg_sample_seq":14379566,"cg_sample_valid":1,"cg_theta_rad":5.00698805,"cg_vd_req_v":0.0832964927,"cg_vd_v":0.0832964927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366493583,"cg_vq_v":-0.366493583,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2662964,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.678955,"values":{"Elec_RPM":-4.04498832e-25,"EncoderCos":38718,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-8.08997689e-26,"cg_du":50.1455994,"cg_dv":50.1971817,"cg_dw":49.8028183,"cg_id_a":0.0855399892,"cg_id_raw_a":0.145841956,"cg_iq_a":-0.373197287,"cg_iq_raw_a":-0.021475384,"cg_iu_a":0.147508621,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8745461,"cg_sample_seq":14379616,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0772051886,"cg_vd_v":0.0772051886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349795014,"cg_vq_v":-0.349795014,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.263092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.686768,"values":{"Elec_RPM":-4.04498832e-25,"EncoderCos":38705,"EncoderSin":12455,"GapTicks":54784,"Mech_RPM":-8.08997689e-26,"cg_du":50.1433105,"cg_dv":50.1957016,"cg_dw":49.8042984,"cg_id_a":0.0571143031,"cg_id_raw_a":-0.243497282,"cg_iq_a":-0.58609271,"cg_iq_raw_a":0.0852036327,"cg_iu_a":0.5099473,"cg_iv_a":0.214129329,"cg_iw_a":-0.724076629,"cg_sample_age_us":23.9836369,"cg_sample_seq":14379667,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0793930665,"cg_vd_v":0.0793930665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346083313,"cg_vq_v":-0.346083313,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.69458,"values":{"Elec_RPM":-3.96408866e-25,"EncoderCos":38723,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-7.92817721e-26,"cg_du":50.1520462,"cg_dv":50.2077675,"cg_dw":49.7922325,"cg_id_a":-0.0860434324,"cg_id_raw_a":0.145391613,"cg_iq_a":0.365757078,"cg_iq_raw_a":0.85236913,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395774841,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14379717,"cg_sample_valid":1,"cg_theta_rad":5.00733328,"cg_vd_req_v":0.0826108977,"cg_vd_v":0.0826108977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368935406,"cg_vq_v":-0.368935406,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.702393,"values":{"Elec_RPM":-3.96408866e-25,"EncoderCos":38686,"EncoderSin":12460,"GapTicks":54774,"Mech_RPM":-7.92817721e-26,"cg_du":50.1526909,"cg_dv":50.2047043,"cg_dw":49.7952957,"cg_id_a":-0.0530776791,"cg_id_raw_a":0.275854379,"cg_iq_a":0.0689400285,"cg_iq_raw_a":0.540392399,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14379767,"cg_sample_valid":1,"cg_theta_rad":5.00708818,"cg_vd_req_v":0.082558848,"cg_vd_v":0.082558848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364355534,"cg_vq_v":-0.364355534,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2137451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.714111,"values":{"Elec_RPM":-3.88480691e-25,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-7.7696137e-26,"cg_du":50.151844,"cg_dv":50.2078552,"cg_dw":49.7921448,"cg_id_a":-0.00340438075,"cg_id_raw_a":0.28099817,"cg_iq_a":0.15513204,"cg_iq_raw_a":0.101295926,"cg_iu_a":0.0750212669,"cg_iv_a":-0.112065315,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14379817,"cg_sample_valid":1,"cg_theta_rad":5.0061326,"cg_vd_req_v":0.0832112655,"cg_vd_v":0.0832112655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367684573,"cg_vq_v":-0.367684573,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.721924,"values":{"Elec_RPM":-3.88480691e-25,"EncoderCos":38729,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-7.7696137e-26,"cg_du":50.1466026,"cg_dv":50.2079124,"cg_dw":49.7920876,"cg_id_a":-0.126466796,"cg_id_raw_a":-0.346877664,"cg_iq_a":-0.02963797,"cg_iq_raw_a":0.295399129,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14379867,"cg_sample_valid":1,"cg_theta_rad":5.00696135,"cg_vd_req_v":0.0862760097,"cg_vd_v":0.0862760097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36508289,"cg_vq_v":-0.36508289,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.749268,"values":{"Elec_RPM":-3.80711077e-25,"EncoderCos":38729,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-7.61422166e-26,"cg_du":50.1425934,"cg_dv":50.2056847,"cg_dw":49.7943153,"cg_id_a":-0.199017406,"cg_id_raw_a":-0.386147082,"cg_iq_a":-0.208609402,"cg_iq_raw_a":-0.836937666,"cg_iu_a":0.509947062,"cg_iv_a":-0.148309112,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8672733,"cg_sample_seq":14379920,"cg_sample_valid":1,"cg_theta_rad":5.00557709,"cg_vd_req_v":0.0872192159,"cg_vd_v":0.0872192159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359818965,"cg_vq_v":-0.359818965,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.75708,"values":{"Elec_RPM":-3.80711077e-25,"EncoderCos":38712,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-7.61422166e-26,"cg_du":50.1500168,"cg_dv":50.1965256,"cg_dw":49.8034744,"cg_id_a":0.356488734,"cg_id_raw_a":0.457211584,"cg_iq_a":-0.655542612,"cg_iq_raw_a":-0.827972651,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9254551,"cg_sample_seq":14379967,"cg_sample_valid":1,"cg_theta_rad":5.00677872,"cg_vd_req_v":0.0743020624,"cg_vd_v":0.0743020624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351126701,"cg_vq_v":-0.351126701,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.768799,"values":{"Elec_RPM":-3.73096843e-25,"EncoderCos":38707,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-7.46193699e-26,"cg_du":50.153244,"cg_dv":50.2064934,"cg_dw":49.7935066,"cg_id_a":-0.00108267646,"cg_id_raw_a":-0.413399041,"cg_iq_a":0.18250528,"cg_iq_raw_a":0.94284308,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9836369,"cg_sample_seq":14380017,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0817137212,"cg_vd_v":0.0817137212,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367590278,"cg_vq_v":-0.367590278,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-15.9585304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.776611,"values":{"Elec_RPM":-3.6563491e-25,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54771,"Mech_RPM":-7.31269807e-26,"cg_du":50.1500626,"cg_dv":50.2077408,"cg_dw":49.7922592,"cg_id_a":-0.090078719,"cg_id_raw_a":-0.257203728,"cg_iq_a":0.0291485563,"cg_iq_raw_a":-0.205552936,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9290905,"cg_sample_seq":14380117,"cg_sample_valid":1,"cg_theta_rad":5.00579548,"cg_vd_req_v":0.0833619311,"cg_vd_v":0.0833619311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367964953,"cg_vq_v":-0.367964953,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.4545689,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2647095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.784424,"values":{"Elec_RPM":-3.6563491e-25,"EncoderCos":38707,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-7.31269807e-26,"cg_du":50.1584244,"cg_dv":50.2078629,"cg_dw":49.7921371,"cg_id_a":0.133381456,"cg_id_raw_a":-0.0422785133,"cg_iq_a":0.135166109,"cg_iq_raw_a":0.178702906,"cg_iu_a":0.256240368,"cg_iv_a":0.032910049,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9836369,"cg_sample_seq":14380167,"cg_sample_valid":1,"cg_theta_rad":5.0038414,"cg_vd_req_v":0.0785911605,"cg_vd_v":0.0785911605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371285498,"cg_vq_v":-0.371285498,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.792236,"values":{"Elec_RPM":-3.58322194e-25,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54773,"Mech_RPM":-7.16644387e-26,"cg_du":50.1507645,"cg_dv":50.20578,"cg_dw":49.79422,"cg_id_a":-0.0357429832,"cg_id_raw_a":0.10738457,"cg_iq_a":-0.0508942381,"cg_iq_raw_a":0.156981915,"cg_iu_a":0.691166282,"cg_iv_a":-0.873185754,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14380217,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.0818446949,"cg_vd_v":0.0818446949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364305437,"cg_vq_v":-0.364305437,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.800049,"values":{"Elec_RPM":-3.58322194e-25,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-7.16644387e-26,"cg_du":50.1578331,"cg_dv":50.2100754,"cg_dw":49.7899246,"cg_id_a":-0.0186775364,"cg_id_raw_a":-0.459234446,"cg_iq_a":0.426914722,"cg_iq_raw_a":1.01217759,"cg_iu_a":-0.577368021,"cg_iv_a":-0.148309112,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9872723,"cg_sample_seq":14380267,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0802409276,"cg_vd_v":0.0802409276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374165654,"cg_vq_v":-0.374165654,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.807861,"values":{"Elec_RPM":-3.51155762e-25,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-7.02311524e-26,"cg_du":50.1530533,"cg_dv":50.2044754,"cg_dw":49.7955246,"cg_id_a":0.0892680585,"cg_id_raw_a":0.245540828,"cg_iq_a":-0.145010591,"cg_iq_raw_a":0.461970359,"cg_iu_a":0.364971638,"cg_iv_a":-0.691966534,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14380316,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0789448842,"cg_vd_v":0.0789448842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363785028,"cg_vq_v":-0.363785028,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.815674,"values":{"Elec_RPM":-3.51155762e-25,"EncoderCos":38714,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-7.02311524e-26,"cg_du":50.1545525,"cg_dv":50.2050896,"cg_dw":49.7949104,"cg_id_a":0.0369363427,"cg_id_raw_a":0.291512638,"cg_iq_a":0.130652815,"cg_iq_raw_a":1.26801324,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14380367,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.078878887,"cg_vd_v":0.078878887,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366508782,"cg_vq_v":-0.366508782,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2710876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.846924,"values":{"Elec_RPM":-3.44132657e-25,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-6.88265301e-26,"cg_du":50.1521492,"cg_dv":50.2088585,"cg_dw":49.7911415,"cg_id_a":-0.228934243,"cg_id_raw_a":-0.222651288,"cg_iq_a":0.314900845,"cg_iq_raw_a":0.306768596,"cg_iu_a":0.111264944,"cg_iv_a":0.902762115,"cg_iw_a":-0.83280772,"cg_sample_age_us":23.8600006,"cg_sample_seq":14380420,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0840010345,"cg_vd_v":0.0840010345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370387942,"cg_vq_v":-0.370387942,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9511719,"temp_inv2_c":37.2694702,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.854736,"values":{"Elec_RPM":-3.44132657e-25,"EncoderCos":38744,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-6.88265301e-26,"cg_du":50.1506577,"cg_dv":50.2038116,"cg_dw":49.7961884,"cg_id_a":0.0519910902,"cg_id_raw_a":0.213346958,"cg_iq_a":-0.276483476,"cg_iq_raw_a":0.384433538,"cg_iu_a":0.582434654,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9909096,"cg_sample_seq":14380467,"cg_sample_valid":1,"cg_theta_rad":5.00585556,"cg_vd_req_v":0.0779581964,"cg_vd_v":0.0779581964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362019658,"cg_vq_v":-0.362019658,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2423706,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.862549,"values":{"Elec_RPM":-3.37249993e-25,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-6.74499986e-26,"cg_du":50.1598625,"cg_dv":50.2131882,"cg_dw":49.7868118,"cg_id_a":-0.172849149,"cg_id_raw_a":-0.261563241,"cg_iq_a":0.566750467,"cg_iq_raw_a":0.48485294,"cg_iu_a":-0.251173258,"cg_iv_a":-0.329528213,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9836369,"cg_sample_seq":14380517,"cg_sample_valid":1,"cg_theta_rad":5.00772619,"cg_vd_req_v":0.0822485015,"cg_vd_v":0.0822485015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379410923,"cg_vq_v":-0.379410923,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2423706,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.870361,"values":{"Elec_RPM":-3.37249993e-25,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-6.74499986e-26,"cg_du":50.1525803,"cg_dv":50.2034912,"cg_dw":49.7965088,"cg_id_a":-0.0314085707,"cg_id_raw_a":-0.495926887,"cg_iq_a":-0.276545465,"cg_iq_raw_a":-0.121752746,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9509087,"cg_sample_seq":14380567,"cg_sample_valid":1,"cg_theta_rad":5.00989437,"cg_vd_req_v":0.0790381357,"cg_vd_v":0.0790381357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36203289,"cg_vq_v":-0.36203289,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.255127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.88208,"values":{"Elec_RPM":-3.30504986e-25,"EncoderCos":38760,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-6.61009972e-26,"cg_du":50.1571884,"cg_dv":50.2003403,"cg_dw":49.7996597,"cg_id_a":0.477172971,"cg_id_raw_a":0.39854005,"cg_iq_a":-0.287923574,"cg_iq_raw_a":0.690394461,"cg_iu_a":-0.287417173,"cg_iv_a":1.04773748,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9763641,"cg_sample_seq":14380617,"cg_sample_valid":1,"cg_theta_rad":5.00558996,"cg_vd_req_v":0.0676742271,"cg_vd_v":0.0676742271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361258179,"cg_vq_v":-0.361258179,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2503357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.889893,"values":{"Elec_RPM":-3.30504986e-25,"EncoderCos":38728,"EncoderSin":12495,"GapTicks":54773,"Mech_RPM":-6.61009972e-26,"cg_du":50.1527786,"cg_dv":50.2055779,"cg_dw":49.7944221,"cg_id_a":-0.159780502,"cg_id_raw_a":0.500385344,"cg_iq_a":-0.188503057,"cg_iq_raw_a":0.229962721,"cg_iu_a":0.328727961,"cg_iv_a":-0.619478941,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9799995,"cg_sample_seq":14380667,"cg_sample_valid":1,"cg_theta_rad":5.00778246,"cg_vd_req_v":0.0789769739,"cg_vd_v":0.0789769739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366562784,"cg_vq_v":-0.366562784,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2503357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.897705,"values":{"Elec_RPM":-3.23894899e-25,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-6.47789772e-26,"cg_du":50.1650734,"cg_dv":50.200489,"cg_dw":49.799511,"cg_id_a":0.454767942,"cg_id_raw_a":0.701990128,"cg_iq_a":-0.172871187,"cg_iq_raw_a":0.944540322,"cg_iu_a":0.256240368,"cg_iv_a":0.467836142,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9181824,"cg_sample_seq":14380717,"cg_sample_valid":1,"cg_theta_rad":5.00696135,"cg_vd_req_v":0.0659430102,"cg_vd_v":0.0659430102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365065873,"cg_vq_v":-0.365065873,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2758484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.905518,"values":{"Elec_RPM":-3.23894899e-25,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54765,"Mech_RPM":-6.47789772e-26,"cg_du":50.1772079,"cg_dv":50.2128983,"cg_dw":49.7871017,"cg_id_a":0.471970677,"cg_id_raw_a":0.395593643,"cg_iq_a":1.14642346,"cg_iq_raw_a":1.12974513,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333380699,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9618187,"cg_sample_seq":14380767,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.0662519559,"cg_vd_v":0.0662519559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389132947,"cg_vq_v":-0.389132947,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2758484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.91333,"values":{"Elec_RPM":-3.1741697e-25,"EncoderCos":38741,"EncoderSin":12506,"GapTicks":54776,"Mech_RPM":-6.34833965e-26,"cg_du":50.1687126,"cg_dv":50.2033691,"cg_dw":49.7966309,"cg_id_a":0.599194944,"cg_id_raw_a":0.266228139,"cg_iq_a":0.277988344,"cg_iq_raw_a":-0.193466038,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9763641,"cg_sample_seq":14380816,"cg_sample_valid":1,"cg_theta_rad":5.00681973,"cg_vd_req_v":0.0626863763,"cg_vd_v":0.0626863763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371578366,"cg_vq_v":-0.371578366,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.921143,"values":{"Elec_RPM":-3.1741697e-25,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-6.34833965e-26,"cg_du":50.1658058,"cg_dv":50.2067337,"cg_dw":49.7932663,"cg_id_a":0.155286461,"cg_id_raw_a":-0.0871350914,"cg_iq_a":0.324896246,"cg_iq_raw_a":-0.881378353,"cg_iu_a":-0.831074715,"cg_iv_a":-0.112065196,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9509087,"cg_sample_seq":14380866,"cg_sample_valid":1,"cg_theta_rad":5.00785208,"cg_vd_req_v":0.0702037364,"cg_vd_v":0.0702037364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374192357,"cg_vq_v":-0.374192357,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2567139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.952393,"values":{"Elec_RPM":-3.04847285e-25,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-6.0969457e-26,"cg_du":50.1652145,"cg_dv":50.2115021,"cg_dw":49.7884979,"cg_id_a":0.126384228,"cg_id_raw_a":0.300258905,"cg_iq_a":0.349934816,"cg_iq_raw_a":0.574826479,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796824,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14381016,"cg_sample_valid":1,"cg_theta_rad":5.00699854,"cg_vd_req_v":0.0745618269,"cg_vd_v":0.0745618269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381694466,"cg_vq_v":-0.381694466,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2602.960205,"values":{"Elec_RPM":-3.04847285e-25,"EncoderCos":38703,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-6.0969457e-26,"cg_du":50.1684341,"cg_dv":50.2128754,"cg_dw":49.7871246,"cg_id_a":0.0273814797,"cg_id_raw_a":0.24698025,"cg_iq_a":0.376970023,"cg_iq_raw_a":0.645002961,"cg_iu_a":-0.178685904,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9509087,"cg_sample_seq":14381066,"cg_sample_valid":1,"cg_theta_rad":5.00665951,"cg_vd_req_v":0.0762662962,"cg_vd_v":0.0762662962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384807348,"cg_vq_v":-0.384807348,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2602.967064,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2602.96707,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2602.967075,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2602.968018,"values":{"Elec_RPM":-2.98750352e-25,"EncoderCos":38706,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-5.97500691e-26,"cg_du":50.1683655,"cg_dv":50.2063217,"cg_dw":49.7936783,"cg_id_a":0.40043366,"cg_id_raw_a":0.0683095381,"cg_iq_a":-0.250085682,"cg_iq_raw_a":0.33542347,"cg_iu_a":0.546190977,"cg_iv_a":-0.112065196,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.954546,"cg_sample_seq":14381117,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0692279413,"cg_vd_v":0.0692279413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374802768,"cg_vq_v":-0.374802768,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.97583,"values":{"Elec_RPM":-2.98750352e-25,"EncoderCos":38713,"EncoderSin":12477,"GapTicks":54766,"Mech_RPM":-5.97500691e-26,"cg_du":50.1726532,"cg_dv":50.2125397,"cg_dw":49.7874603,"cg_id_a":0.340907723,"cg_id_raw_a":0.57893765,"cg_iq_a":0.143154934,"cg_iq_raw_a":-0.998140872,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14381166,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0716347024,"cg_vd_v":0.0716347024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385708332,"cg_vq_v":-0.385708332,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2615051,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.983643,"values":{"Elec_RPM":-2.92775347e-25,"EncoderCos":38728,"EncoderSin":12499,"GapTicks":54761,"Mech_RPM":-5.85550681e-26,"cg_du":50.1626854,"cg_dv":50.2166748,"cg_dw":49.7833252,"cg_id_a":-0.179453015,"cg_id_raw_a":0.218446448,"cg_iq_a":0.201010689,"cg_iq_raw_a":-0.124292381,"cg_iu_a":-0.432392597,"cg_iv_a":-0.945673466,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9509087,"cg_sample_seq":14381216,"cg_sample_valid":1,"cg_theta_rad":5.00596857,"cg_vd_req_v":0.0815740079,"cg_vd_v":0.0815740079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386125416,"cg_vq_v":-0.386125416,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2487488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2602.995361,"values":{"Elec_RPM":-2.92775347e-25,"EncoderCos":38695,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-5.85550681e-26,"cg_du":50.1633072,"cg_dv":50.2115974,"cg_dw":49.7884026,"cg_id_a":0.0226957314,"cg_id_raw_a":-0.0370942019,"cg_iq_a":-0.0513104871,"cg_iq_raw_a":-0.695273161,"cg_iu_a":0.256240129,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9290905,"cg_sample_seq":14381266,"cg_sample_valid":1,"cg_theta_rad":5.00600529,"cg_vd_req_v":0.0797583461,"cg_vd_v":0.0797583461,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380019784,"cg_vq_v":-0.380019784,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2328186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.003174,"values":{"Elec_RPM":-2.86919829e-25,"EncoderCos":38726,"EncoderSin":12454,"GapTicks":54760,"Mech_RPM":-5.73839671e-26,"cg_du":50.1655579,"cg_dv":50.2181206,"cg_dw":49.7818794,"cg_id_a":-0.129219666,"cg_id_raw_a":-0.506527722,"cg_iq_a":0.506865919,"cg_iq_raw_a":-0.230664685,"cg_iu_a":0.654922485,"cg_iv_a":-0.293284416,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9690914,"cg_sample_seq":14381316,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0823496208,"cg_vd_v":0.0823496208,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390597522,"cg_vq_v":-0.390597522,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2328186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.010986,"values":{"Elec_RPM":-2.86919829e-25,"EncoderCos":38742,"EncoderSin":12472,"GapTicks":54755,"Mech_RPM":-5.73839671e-26,"cg_du":50.1679649,"cg_dv":50.2220116,"cg_dw":49.7779884,"cg_id_a":-0.0518781692,"cg_id_raw_a":0.187421083,"cg_iq_a":0.741385221,"cg_iq_raw_a":-0.018242022,"cg_iu_a":-0.831074715,"cg_iv_a":0.214129329,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9618187,"cg_sample_seq":14381366,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.08230941,"cg_vd_v":0.08230941,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397660822,"cg_vq_v":-0.397660822,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2607,"hz_tim_isr":4999,"hz_vsense":2607,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2456055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.03833,"values":{"Elec_RPM":-2.81181433e-25,"EncoderCos":38742,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-5.62362854e-26,"cg_du":50.1636009,"cg_dv":50.2098389,"cg_dw":49.7901611,"cg_id_a":0.327525228,"cg_id_raw_a":-0.119939215,"cg_iq_a":-0.277649879,"cg_iq_raw_a":0.353753328,"cg_iu_a":0.14750886,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775557,"cg_sample_age_us":23.954546,"cg_sample_seq":14381420,"cg_sample_valid":1,"cg_theta_rad":5.00775528,"cg_vd_req_v":0.0734617487,"cg_vd_v":0.0734617487,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377478808,"cg_vq_v":-0.377478808,"cg_vu_v":35.6312981,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.5296984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2376099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.046143,"values":{"Elec_RPM":-2.81181433e-25,"EncoderCos":38709,"EncoderSin":12501,"GapTicks":54766,"Mech_RPM":-5.62362854e-26,"cg_du":50.1582489,"cg_dv":50.211895,"cg_dw":49.788105,"cg_id_a":-0.14509061,"cg_id_raw_a":-0.711304128,"cg_iq_a":-0.441292346,"cg_iq_raw_a":-1.99916255,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9472733,"cg_sample_seq":14381467,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0817718878,"cg_vd_v":0.0817718878,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375651181,"cg_vq_v":-0.375651181,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.5296984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2376099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2603.057861,"values":{"Elec_RPM":-2.75557792e-25,"EncoderCos":38730,"EncoderSin":12504,"GapTicks":54758,"Mech_RPM":-5.51115608e-26,"cg_du":50.1682053,"cg_dv":50.2197876,"cg_dw":49.7802124,"cg_id_a":0.0484358184,"cg_id_raw_a":-0.180876747,"cg_iq_a":0.397082299,"cg_iq_raw_a":1.00317872,"cg_iu_a":-0.359905005,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9509087,"cg_sample_seq":14381517,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0796855316,"cg_vd_v":0.0796855316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392318457,"cg_vq_v":-0.392318457,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2603.065674,"values":{"Elec_RPM":-2.75557792e-25,"EncoderCos":38706,"EncoderSin":12472,"GapTicks":54755,"Mech_RPM":-5.51115608e-26,"cg_du":50.1589088,"cg_dv":50.2219276,"cg_dw":49.7780724,"cg_id_a":-0.574399114,"cg_id_raw_a":-0.261924893,"cg_iq_a":0.299937487,"cg_iq_raw_a":1.10364771,"cg_iu_a":0.79989779,"cg_iv_a":-0.293284297,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9509087,"cg_sample_seq":14381567,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0923074633,"cg_vd_v":0.0923074633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390552163,"cg_vq_v":-0.390552163,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.073486,"values":{"Elec_RPM":-2.70046661e-25,"EncoderCos":38711,"EncoderSin":12470,"GapTicks":54764,"Mech_RPM":-5.40093311e-26,"cg_du":50.1633415,"cg_dv":50.2145462,"cg_dw":49.7854538,"cg_id_a":-0.0669099092,"cg_id_raw_a":0.270834804,"cg_iq_a":-0.0506795421,"cg_iq_raw_a":-0.00858024135,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065315,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9436359,"cg_sample_seq":14381617,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0812458992,"cg_vd_v":0.0812458992,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383123428,"cg_vq_v":-0.383123428,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.8310738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2774353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.081299,"values":{"Elec_RPM":-2.70046661e-25,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-5.40093311e-26,"cg_du":50.1695213,"cg_dv":50.2106285,"cg_dw":49.7893715,"cg_id_a":0.282174528,"cg_id_raw_a":-0.101015665,"cg_iq_a":-0.181215271,"cg_iq_raw_a":0.136494949,"cg_iu_a":0.0750212669,"cg_iv_a":-0.25704062,"cg_iw_a":0.182019353,"cg_sample_age_us":23.863636,"cg_sample_seq":14381666,"cg_sample_valid":1,"cg_theta_rad":5.00712299,"cg_vd_req_v":0.0724575445,"cg_vd_v":0.0724575445,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382511228,"cg_vq_v":-0.382511228,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.8310738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.089111,"values":{"Elec_RPM":-2.64645725e-25,"EncoderCos":38723,"EncoderSin":12514,"GapTicks":54762,"Mech_RPM":-5.29291463e-26,"cg_du":50.157959,"cg_dv":50.2156639,"cg_dw":49.7843361,"cg_id_a":-0.303356916,"cg_id_raw_a":-0.405592918,"cg_iq_a":-0.0468968004,"cg_iq_raw_a":0.253898263,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8527279,"cg_sample_seq":14381716,"cg_sample_valid":1,"cg_theta_rad":5.00684595,"cg_vd_req_v":0.0843579769,"cg_vd_v":0.0843579769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382103056,"cg_vq_v":-0.382103056,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.8310738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.096924,"values":{"Elec_RPM":-2.64645725e-25,"EncoderCos":38757,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-5.29291463e-26,"cg_du":50.1507492,"cg_dv":50.210743,"cg_dw":49.789257,"cg_id_a":-0.182284713,"cg_id_raw_a":0.049244564,"cg_iq_a":-0.454068273,"cg_iq_raw_a":-1.08634031,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.184552848,"cg_iw_a":0.21826309,"cg_sample_age_us":23.954546,"cg_sample_seq":14381766,"cg_sample_valid":1,"cg_theta_rad":5.00681734,"cg_vd_req_v":0.0827268958,"cg_vd_v":0.0827268958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37194261,"cg_vq_v":-0.37194261,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.8310738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2376099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.108643,"values":{"Elec_RPM":-2.59352814e-25,"EncoderCos":38720,"EncoderSin":12508,"GapTicks":54763,"Mech_RPM":-5.18705627e-26,"cg_du":50.1608887,"cg_dv":50.215107,"cg_dw":49.784893,"cg_id_a":-0.0802410394,"cg_id_raw_a":-0.635726333,"cg_iq_a":0.0298419669,"cg_iq_raw_a":-0.423748672,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333368778,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9690914,"cg_sample_seq":14381816,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0819322094,"cg_vd_v":0.0819322094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382886648,"cg_vq_v":-0.382886648,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2487488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.116455,"values":{"Elec_RPM":-2.59352814e-25,"EncoderCos":38730,"EncoderSin":12495,"GapTicks":54765,"Mech_RPM":-5.18705627e-26,"cg_du":50.1633873,"cg_dv":50.2132912,"cg_dw":49.7867088,"cg_id_a":0.103940971,"cg_id_raw_a":0.202048436,"cg_iq_a":0.0376042575,"cg_iq_raw_a":0.274563044,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860718,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14381866,"cg_sample_valid":1,"cg_theta_rad":5.00569439,"cg_vd_req_v":0.0776819438,"cg_vd_v":0.0776819438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381921619,"cg_vq_v":-0.381921619,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2487488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.143799,"values":{"Elec_RPM":-2.54165757e-25,"EncoderCos":38710,"EncoderSin":12466,"GapTicks":54761,"Mech_RPM":-5.08331521e-26,"cg_du":50.159832,"cg_dv":50.2163773,"cg_dw":49.7836227,"cg_id_a":-0.292723298,"cg_id_raw_a":0.133223176,"cg_iq_a":0.192281991,"cg_iq_raw_a":-0.313659698,"cg_iu_a":-0.359905005,"cg_iv_a":-0.00333380699,"cg_iw_a":0.363238811,"cg_sample_age_us":26.8199997,"cg_sample_seq":14381923,"cg_sample_valid":1,"cg_theta_rad":5.00648403,"cg_vd_req_v":0.0862373188,"cg_vd_v":0.0862373188,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384756416,"cg_vq_v":-0.384756416,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.9861069,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2471619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.151611,"values":{"Elec_RPM":-2.54165757e-25,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-5.08331521e-26,"cg_du":50.1555824,"cg_dv":50.2088966,"cg_dw":49.7911034,"cg_id_a":-0.0383519083,"cg_id_raw_a":-0.12840803,"cg_iq_a":-0.339897245,"cg_iq_raw_a":-0.0117250113,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836082,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9436359,"cg_sample_seq":14381967,"cg_sample_valid":1,"cg_theta_rad":5.00694561,"cg_vd_req_v":0.081231527,"cg_vd_v":0.081231527,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372401357,"cg_vq_v":-0.372401357,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.9861069,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.2471619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.159424,"values":{"Elec_RPM":-2.49082436e-25,"EncoderCos":38698,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-4.98164891e-26,"cg_du":50.1572762,"cg_dv":50.2063332,"cg_dw":49.7936668,"cg_id_a":0.0771318153,"cg_id_raw_a":0.0283483714,"cg_iq_a":-0.373889595,"cg_iq_raw_a":-0.105608322,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.8563633,"cg_sample_seq":14382017,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.0786026493,"cg_vd_v":0.0786026493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368433177,"cg_vq_v":-0.368433177,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.9861069,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.171143,"values":{"Elec_RPM":-2.49082436e-25,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-4.98164891e-26,"cg_du":50.1608658,"cg_dv":50.2108154,"cg_dw":49.7891846,"cg_id_a":-0.0349410921,"cg_id_raw_a":0.123869315,"cg_iq_a":0.171498626,"cg_iq_raw_a":0.195607588,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8563633,"cg_sample_seq":14382066,"cg_sample_valid":1,"cg_theta_rad":5.00870895,"cg_vd_req_v":0.0803796053,"cg_vd_v":0.0803796053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37649104,"cg_vq_v":-0.37649104,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.178955,"values":{"Elec_RPM":-2.44100804e-25,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-4.88201609e-26,"cg_du":50.1498222,"cg_dv":50.209877,"cg_dw":49.790123,"cg_id_a":-0.277441531,"cg_id_raw_a":-0.0995886549,"cg_iq_a":-0.14458847,"cg_iq_raw_a":0.573883951,"cg_iu_a":0.183752537,"cg_iv_a":-0.72821033,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382117,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0852831751,"cg_vd_v":0.0852831751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369645,"cg_vq_v":-0.369645,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.186768,"values":{"Elec_RPM":-2.44100804e-25,"EncoderCos":38728,"EncoderSin":12499,"GapTicks":54773,"Mech_RPM":-4.88201609e-26,"cg_du":50.1417389,"cg_dv":50.2055969,"cg_dw":49.7944031,"cg_id_a":-0.404407561,"cg_id_raw_a":-0.530430496,"cg_iq_a":-0.40362817,"cg_iq_raw_a":-0.197809905,"cg_iu_a":1.0536046,"cg_iv_a":0.177885532,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382166,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0873398855,"cg_vd_v":0.0873398855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359331787,"cg_vq_v":-0.359331787,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.2678413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2503357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.19458,"values":{"Elec_RPM":-2.39218791e-25,"EncoderCos":38718,"EncoderSin":12478,"GapTicks":54772,"Mech_RPM":-4.78437575e-26,"cg_du":50.156147,"cg_dv":50.2065506,"cg_dw":49.7934494,"cg_id_a":0.0809034854,"cg_id_raw_a":0.295165479,"cg_iq_a":-0.00957773626,"cg_iq_raw_a":-0.0431977212,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8600006,"cg_sample_seq":14382216,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0783006325,"cg_vd_v":0.0783006325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368390292,"cg_vq_v":-0.368390292,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.2815323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.202393,"values":{"Elec_RPM":-2.39218791e-25,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-4.78437575e-26,"cg_du":50.1544533,"cg_dv":50.2024117,"cg_dw":49.7975883,"cg_id_a":0.218698233,"cg_id_raw_a":-0.159955442,"cg_iq_a":-0.364709496,"cg_iq_raw_a":0.0941860601,"cg_iu_a":0.401215792,"cg_iv_a":0.57656765,"cg_iw_a":-0.977783442,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382266,"cg_sample_valid":1,"cg_theta_rad":5.01173115,"cg_vd_req_v":0.0764179677,"cg_vd_v":0.0764179677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362789601,"cg_vq_v":-0.362789601,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.34618926,"dclink_p_w":-50.1021194,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.214111,"values":{"Elec_RPM":-2.34434399e-25,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54766,"Mech_RPM":-4.68868816e-26,"cg_du":50.1621361,"cg_dv":50.2125397,"cg_dw":49.7874603,"cg_id_a":-0.0151629653,"cg_id_raw_a":0.045404546,"cg_iq_a":0.563528419,"cg_iq_raw_a":-0.0675050393,"cg_iu_a":-0.396148682,"cg_iv_a":-0.546991229,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9327278,"cg_sample_seq":14382317,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.0805336833,"cg_vd_v":0.0805336833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380863845,"cg_vq_v":-0.380863845,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.4094582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.221924,"values":{"Elec_RPM":-2.34434399e-25,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54778,"Mech_RPM":-4.68868816e-26,"cg_du":50.1518974,"cg_dv":50.2015877,"cg_dw":49.7984123,"cg_id_a":0.247864693,"cg_id_raw_a":-0.0776904598,"cg_iq_a":-0.732572138,"cg_iq_raw_a":-0.771045089,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796704,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9145451,"cg_sample_seq":14382366,"cg_sample_valid":1,"cg_theta_rad":5.00845385,"cg_vd_req_v":0.0756658167,"cg_vd_v":0.0756658167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359502286,"cg_vq_v":-0.359502286,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.4094582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9266357,"temp_inv2_c":37.25354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.229736,"values":{"Elec_RPM":-2.2974573e-25,"EncoderCos":38732,"EncoderSin":12496,"GapTicks":54762,"Mech_RPM":-4.59491448e-26,"cg_du":50.1639862,"cg_dv":50.2162018,"cg_dw":49.7837982,"cg_id_a":0.0881068856,"cg_id_raw_a":-0.133880883,"cg_iq_a":0.573995352,"cg_iq_raw_a":0.4979375,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616981,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9872723,"cg_sample_seq":14382416,"cg_sample_valid":1,"cg_theta_rad":5.00699759,"cg_vd_req_v":0.0798226222,"cg_vd_v":0.0798226222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386262566,"cg_vq_v":-0.386262566,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.7738914,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2423706,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.25708,"values":{"Elec_RPM":-2.2974573e-25,"EncoderCos":38721,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-4.59491448e-26,"cg_du":50.155117,"cg_dv":50.2098694,"cg_dw":49.7901306,"cg_id_a":-0.000650046393,"cg_id_raw_a":-0.10748475,"cg_iq_a":0.0279932767,"cg_iq_raw_a":-0.228068486,"cg_iu_a":0.437459469,"cg_iv_a":-0.583235145,"cg_iw_a":0.145775676,"cg_sample_age_us":26.812727,"cg_sample_seq":14382471,"cg_sample_valid":1,"cg_theta_rad":5.00621605,"cg_vd_req_v":0.0819762275,"cg_vd_v":0.0819762275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372401744,"cg_vq_v":-0.372401744,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-65.8382721,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2456055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.264893,"values":{"Elec_RPM":-2.25150812e-25,"EncoderCos":38704,"EncoderSin":12505,"GapTicks":54769,"Mech_RPM":-4.50301619e-26,"cg_du":50.1547356,"cg_dv":50.2098923,"cg_dw":49.7901077,"cg_id_a":-0.00801284797,"cg_id_raw_a":-0.263441831,"cg_iq_a":0.100149073,"cg_iq_raw_a":-0.1345447,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14382517,"cg_sample_valid":1,"cg_theta_rad":5.00690031,"cg_vd_req_v":0.0831515789,"cg_vd_v":0.0831515789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37202844,"cg_vq_v":-0.37202844,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2456055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.272705,"values":{"Elec_RPM":-2.25150812e-25,"EncoderCos":38765,"EncoderSin":12496,"GapTicks":54768,"Mech_RPM":-4.50301619e-26,"cg_du":50.144619,"cg_dv":50.210865,"cg_dw":49.789135,"cg_id_a":-0.192711234,"cg_id_raw_a":0.121650971,"cg_iq_a":-0.109715007,"cg_iq_raw_a":0.0112226065,"cg_iu_a":0.401215553,"cg_iv_a":-0.474503517,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382567,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0871484354,"cg_vd_v":0.0871484354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368850321,"cg_vq_v":-0.368850321,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.284424,"values":{"Elec_RPM":-2.20647797e-25,"EncoderCos":38783,"EncoderSin":12496,"GapTicks":54767,"Mech_RPM":-4.412956e-26,"cg_du":50.145298,"cg_dv":50.2113571,"cg_dw":49.7886429,"cg_id_a":-0.217699558,"cg_id_raw_a":-0.342791796,"cg_iq_a":0.0356016308,"cg_iq_raw_a":0.300130785,"cg_iu_a":0.509947062,"cg_iv_a":0.467836082,"cg_iw_a":-0.977783144,"cg_sample_age_us":23.8563633,"cg_sample_seq":14382616,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.085826844,"cg_vd_v":0.085826844,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371376038,"cg_vq_v":-0.371376038,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-83.1376801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2503357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.292236,"values":{"Elec_RPM":-2.20647797e-25,"EncoderCos":38716,"EncoderSin":12512,"GapTicks":54763,"Mech_RPM":-4.412956e-26,"cg_du":50.1584167,"cg_dv":50.2152443,"cg_dw":49.7847557,"cg_id_a":-0.141222358,"cg_id_raw_a":0.284619182,"cg_iq_a":0.44200325,"cg_iq_raw_a":-0.153986067,"cg_iu_a":0.14750886,"cg_iv_a":-0.474503517,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9472733,"cg_sample_seq":14382667,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0842492878,"cg_vd_v":0.0842492878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381638139,"cg_vq_v":-0.381638139,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.2456818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2503357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.300049,"values":{"Elec_RPM":-2.1623486e-25,"EncoderCos":38740,"EncoderSin":12529,"GapTicks":54771,"Mech_RPM":-4.32469695e-26,"cg_du":50.1500168,"cg_dv":50.2077446,"cg_dw":49.7922554,"cg_id_a":0.00878364593,"cg_id_raw_a":0.0815937147,"cg_iq_a":-0.235150844,"cg_iq_raw_a":-0.246639729,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8709087,"cg_sample_seq":14382717,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0811425894,"cg_vd_v":0.0811425894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367275536,"cg_vq_v":-0.367275536,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.2456818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2583008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.311768,"values":{"Elec_RPM":-2.1623486e-25,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-4.32469695e-26,"cg_du":50.1591949,"cg_dv":50.2110214,"cg_dw":49.7889786,"cg_id_a":0.0809721798,"cg_id_raw_a":-0.174585804,"cg_iq_a":0.209685773,"cg_iq_raw_a":0.67565161,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382767,"cg_sample_valid":1,"cg_theta_rad":5.0059948,"cg_vd_req_v":0.0802881569,"cg_vd_v":0.0802881569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376168638,"cg_vq_v":-0.376168638,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.2456818,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2583008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.31958,"values":{"Elec_RPM":-2.11910152e-25,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-4.23820298e-26,"cg_du":50.1562195,"cg_dv":50.1966896,"cg_dw":49.8033104,"cg_id_a":0.561584711,"cg_id_raw_a":0.00450345082,"cg_iq_a":-0.798262,"cg_iq_raw_a":-0.508609116,"cg_iu_a":-0.541124105,"cg_iv_a":0.10539782,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9509087,"cg_sample_seq":14382816,"cg_sample_valid":1,"cg_theta_rad":5.00622177,"cg_vd_req_v":0.0688456297,"cg_vd_v":0.0688456297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354989082,"cg_vq_v":-0.354989082,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.327393,"values":{"Elec_RPM":-2.11910152e-25,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-4.23820298e-26,"cg_du":50.1532288,"cg_dv":50.2059593,"cg_dw":49.7940407,"cg_id_a":-0.120065257,"cg_id_raw_a":0.392622679,"cg_iq_a":-0.192627907,"cg_iq_raw_a":-0.797384858,"cg_iu_a":0.546190977,"cg_iv_a":0.359104633,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9436359,"cg_sample_seq":14382866,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0814708993,"cg_vd_v":0.0814708993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366792589,"cg_vq_v":-0.366792589,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.3589516,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2456055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.335205,"values":{"Elec_RPM":-2.07671947e-25,"EncoderCos":38706,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-4.15343895e-26,"cg_du":50.1526299,"cg_dv":50.2019501,"cg_dw":49.7980499,"cg_id_a":0.169528037,"cg_id_raw_a":0.576739848,"cg_iq_a":-0.428419113,"cg_iq_raw_a":-0.123751663,"cg_iu_a":-0.323661089,"cg_iv_a":-0.402015924,"cg_iw_a":0.725677013,"cg_sample_age_us":23.954546,"cg_sample_seq":14382916,"cg_sample_valid":1,"cg_theta_rad":5.00731421,"cg_vd_req_v":0.0775832012,"cg_vd_v":0.0775832012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361095995,"cg_vq_v":-0.361095995,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2456055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.362549,"values":{"Elec_RPM":-2.07671947e-25,"EncoderCos":38728,"EncoderSin":12453,"GapTicks":54766,"Mech_RPM":-4.15343895e-26,"cg_du":50.1631088,"cg_dv":50.2121048,"cg_dw":49.7878952,"cg_id_a":0.0811791942,"cg_id_raw_a":0.77943486,"cg_iq_a":0.472142279,"cg_iq_raw_a":1.89722097,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284416,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8563633,"cg_sample_seq":14382971,"cg_sample_valid":1,"cg_theta_rad":5.00620985,"cg_vd_req_v":0.0780264661,"cg_vd_v":0.0780264661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37989229,"cg_vq_v":-0.37989229,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.370361,"values":{"Elec_RPM":-2.03518496e-25,"EncoderCos":38687,"EncoderSin":12494,"GapTicks":54771,"Mech_RPM":-4.07037005e-26,"cg_du":50.1597633,"cg_dv":50.2078209,"cg_dw":49.7921791,"cg_id_a":0.0391294323,"cg_id_raw_a":-0.277769357,"cg_iq_a":0.0493490249,"cg_iq_raw_a":0.00844037253,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860837,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.954546,"cg_sample_seq":14383016,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0789094716,"cg_vd_v":0.0789094716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371682286,"cg_vq_v":-0.371682286,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.255127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.378174,"values":{"Elec_RPM":-2.03518496e-25,"EncoderCos":38706,"EncoderSin":12451,"GapTicks":54771,"Mech_RPM":-4.07037005e-26,"cg_du":50.1540871,"cg_dv":50.207901,"cg_dw":49.792099,"cg_id_a":-0.125888288,"cg_id_raw_a":-0.0695901513,"cg_iq_a":0.0155623518,"cg_iq_raw_a":0.0301180519,"cg_iu_a":0.038777113,"cg_iv_a":-0.329528213,"cg_iw_a":0.2907511,"cg_sample_age_us":23.8527279,"cg_sample_seq":14383066,"cg_sample_valid":1,"cg_theta_rad":5.00673342,"cg_vd_req_v":0.0829201713,"cg_vd_v":0.0829201713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368695766,"cg_vq_v":-0.368695766,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.255127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.389893,"values":{"Elec_RPM":-1.95459173e-25,"EncoderCos":38696,"EncoderSin":12469,"GapTicks":54773,"Mech_RPM":-3.90918358e-26,"cg_du":50.1527405,"cg_dv":50.2057114,"cg_dw":49.7942886,"cg_id_a":0.0752244368,"cg_id_raw_a":0.383029491,"cg_iq_a":-0.264308363,"cg_iq_raw_a":0.331887603,"cg_iu_a":0.256240368,"cg_iv_a":0.359104633,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.8563633,"cg_sample_seq":14383216,"cg_sample_valid":1,"cg_theta_rad":5.00595045,"cg_vd_req_v":0.0824606344,"cg_vd_v":0.0824606344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365990698,"cg_vq_v":-0.365990698,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.932106,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2407837,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118837267,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.397705,"values":{"Elec_RPM":-1.95459173e-25,"EncoderCos":38714,"EncoderSin":12520,"GapTicks":54764,"Mech_RPM":-3.90918358e-26,"cg_du":50.1612167,"cg_dv":50.2139282,"cg_dw":49.7860718,"cg_id_a":0.0957235247,"cg_id_raw_a":0.24675341,"cg_iq_a":0.454271495,"cg_iq_raw_a":0.461324096,"cg_iu_a":-1.19351292,"cg_iv_a":0.0691539049,"cg_iw_a":1.12435901,"cg_sample_age_us":23.9509087,"cg_sample_seq":14383267,"cg_sample_valid":1,"cg_theta_rad":5.00583696,"cg_vd_req_v":0.0807367787,"cg_vd_v":0.0807367787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381422937,"cg_vq_v":-0.381422937,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2296448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.405518,"values":{"Elec_RPM":-1.91549985e-25,"EncoderCos":38719,"EncoderSin":12482,"GapTicks":54771,"Mech_RPM":-3.83099976e-26,"cg_du":50.1502762,"cg_dv":50.2073898,"cg_dw":49.7926102,"cg_id_a":-0.0278107151,"cg_id_raw_a":0.0905801505,"cg_iq_a":-0.229547963,"cg_iq_raw_a":-0.318125188,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14383317,"cg_sample_valid":1,"cg_theta_rad":5.00663328,"cg_vd_req_v":0.0835370943,"cg_vd_v":0.0835370943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366279304,"cg_vq_v":-0.366279304,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2296448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.41333,"values":{"Elec_RPM":-1.91549985e-25,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-3.83099976e-26,"cg_du":50.1521454,"cg_dv":50.2086334,"cg_dw":49.7913666,"cg_id_a":-0.0248943195,"cg_id_raw_a":-0.222912773,"cg_iq_a":-0.157086387,"cg_iq_raw_a":0.306578636,"cg_iu_a":0.0750210285,"cg_iv_a":0.649055302,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9763641,"cg_sample_seq":14383367,"cg_sample_valid":1,"cg_theta_rad":5.00575495,"cg_vd_req_v":0.0835893676,"cg_vd_v":0.0835893676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36776647,"cg_vq_v":-0.36776647,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2328186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2603.425049,"values":{"Elec_RPM":-1.87718993e-25,"EncoderCos":38730,"EncoderSin":12466,"GapTicks":54762,"Mech_RPM":-3.75437979e-26,"cg_du":50.1534424,"cg_dv":50.2156639,"cg_dw":49.7843361,"cg_id_a":-0.211331934,"cg_id_raw_a":0.0419694483,"cg_iq_a":0.308221042,"cg_iq_raw_a":0.623786747,"cg_iu_a":0.364971876,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9799995,"cg_sample_seq":14383417,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.0882928446,"cg_vd_v":0.0882928446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378272176,"cg_vq_v":-0.378272176,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2376099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2603.452393,"values":{"Elec_RPM":-1.87718993e-25,"EncoderCos":38729,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-3.75437979e-26,"cg_du":50.1434059,"cg_dv":50.2150459,"cg_dw":49.7849541,"cg_id_a":-0.483390629,"cg_id_raw_a":-0.306477517,"cg_iq_a":0.126608461,"cg_iq_raw_a":-0.574223042,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.863636,"cg_sample_seq":14383469,"cg_sample_valid":1,"cg_theta_rad":5.00905657,"cg_vd_req_v":0.0953683555,"cg_vd_v":0.0953683555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373089254,"cg_vq_v":-0.373089254,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2376099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.460205,"values":{"Elec_RPM":-1.83964606e-25,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54776,"Mech_RPM":-3.67929225e-26,"cg_du":50.1505432,"cg_dv":50.2035561,"cg_dw":49.7964439,"cg_id_a":0.277161092,"cg_id_raw_a":0.188290671,"cg_iq_a":-0.499977559,"cg_iq_raw_a":-0.454168469,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14383516,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0799046233,"cg_vd_v":0.0799046233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361146301,"cg_vq_v":-0.361146301,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2296448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.468018,"values":{"Elec_RPM":-1.83964606e-25,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-3.67929225e-26,"cg_du":50.1536903,"cg_dv":50.2078934,"cg_dw":49.7921066,"cg_id_a":0.17901358,"cg_id_raw_a":0.499258339,"cg_iq_a":-0.0827428102,"cg_iq_raw_a":-0.207576171,"cg_iu_a":0.401215792,"cg_iv_a":0.10539782,"cg_iw_a":-0.506613612,"cg_sample_age_us":23.9436359,"cg_sample_seq":14383566,"cg_sample_valid":1,"cg_theta_rad":5.00688124,"cg_vd_req_v":0.0800585747,"cg_vd_v":0.0800585747,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370332778,"cg_vq_v":-0.370332778,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.9020691,"temp_inv2_c":37.2296448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.479736,"values":{"Elec_RPM":-1.8028531e-25,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54759,"Mech_RPM":-3.60570632e-26,"cg_du":50.1591988,"cg_dv":50.2183037,"cg_dw":49.7816963,"cg_id_a":-0.0686739236,"cg_id_raw_a":0.354118943,"cg_iq_a":0.449241579,"cg_iq_raw_a":-0.0015551619,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14383616,"cg_sample_valid":1,"cg_theta_rad":5.00694418,"cg_vd_req_v":0.086753048,"cg_vd_v":0.086753048,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386210889,"cg_vq_v":-0.386210889,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2471619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.487549,"values":{"Elec_RPM":-1.8028531e-25,"EncoderCos":38704,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-3.60570632e-26,"cg_du":50.1599464,"cg_dv":50.2165565,"cg_dw":49.7834435,"cg_id_a":-0.0960119441,"cg_id_raw_a":-0.148179948,"cg_iq_a":0.300673276,"cg_iq_raw_a":0.386388481,"cg_iu_a":-0.649855614,"cg_iv_a":0.177885473,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9872723,"cg_sample_seq":14383666,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0868743062,"cg_vd_v":0.0868743062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383713007,"cg_vq_v":-0.383713007,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2328186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.495361,"values":{"Elec_RPM":-1.76679599e-25,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-3.53359211e-26,"cg_du":50.1366386,"cg_dv":50.2103157,"cg_dw":49.7896843,"cg_id_a":-0.487065643,"cg_id_raw_a":-0.104704514,"cg_iq_a":-0.573069096,"cg_iq_raw_a":-0.482435644,"cg_iu_a":0.727410197,"cg_iv_a":-0.619478941,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14383716,"cg_sample_valid":1,"cg_theta_rad":5.00882959,"cg_vd_req_v":0.0963103771,"cg_vd_v":0.0963103771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362813801,"cg_vq_v":-0.362813801,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.26101625,"dclink_p_w":-37.8903084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2328186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.503174,"values":{"Elec_RPM":-1.76679599e-25,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-3.53359211e-26,"cg_du":50.1459579,"cg_dv":50.2059555,"cg_dw":49.7940445,"cg_id_a":-0.0480050743,"cg_id_raw_a":-0.02069645,"cg_iq_a":-0.540591598,"cg_iq_raw_a":-0.0376699269,"cg_iu_a":0.509947062,"cg_iv_a":0.57656765,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9181824,"cg_sample_seq":14383766,"cg_sample_valid":1,"cg_theta_rad":5.00677967,"cg_vd_req_v":0.086249955,"cg_vd_v":0.086249955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361736923,"cg_vq_v":-0.361736923,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.243988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.510986,"values":{"Elec_RPM":-1.7314602e-25,"EncoderCos":38702,"EncoderSin":12515,"GapTicks":54767,"Mech_RPM":-3.46292034e-26,"cg_du":50.1516914,"cg_dv":50.2113876,"cg_dw":49.7886124,"cg_id_a":-0.000669330359,"cg_id_raw_a":-0.146761686,"cg_iq_a":0.136839643,"cg_iq_raw_a":0.386929303,"cg_iu_a":-0.396148682,"cg_iv_a":0.105397701,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8563633,"cg_sample_seq":14383816,"cg_sample_valid":1,"cg_theta_rad":5.00685596,"cg_vd_req_v":0.0869058147,"cg_vd_v":0.0869058147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37236762,"cg_vq_v":-0.37236762,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.518799,"values":{"Elec_RPM":-1.7314602e-25,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-3.46292034e-26,"cg_du":50.158699,"cg_dv":50.2143822,"cg_dw":49.7856178,"cg_id_a":0.154957637,"cg_id_raw_a":0.614275694,"cg_iq_a":0.434446931,"cg_iq_raw_a":0.755088687,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065196,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8672733,"cg_sample_seq":14383866,"cg_sample_valid":1,"cg_theta_rad":5.0083313,"cg_vd_req_v":0.0852204263,"cg_vd_v":0.0852204263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380174875,"cg_vq_v":-0.380174875,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.275513768,"dclink_p_w":-39.8736343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.526611,"values":{"Elec_RPM":-1.69683106e-25,"EncoderCos":38704,"EncoderSin":12505,"GapTicks":54770,"Mech_RPM":-3.39366205e-26,"cg_du":50.1425476,"cg_dv":50.2085991,"cg_dw":49.7914009,"cg_id_a":-0.188545525,"cg_id_raw_a":-0.152786046,"cg_iq_a":-0.300576448,"cg_iq_raw_a":0.0220966078,"cg_iu_a":0.328727961,"cg_iv_a":-0.257040501,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9836369,"cg_sample_seq":14383917,"cg_sample_valid":1,"cg_theta_rad":5.00638533,"cg_vd_req_v":0.091447413,"cg_vd_v":0.091447413,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363419443,"cg_vq_v":-0.363419443,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.275513768,"dclink_p_w":-39.8736343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2312317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.553955,"values":{"Elec_RPM":-1.69683106e-25,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-3.39366205e-26,"cg_du":50.1485023,"cg_dv":50.2133675,"cg_dw":49.7866325,"cg_id_a":-0.148398057,"cg_id_raw_a":-0.315474361,"cg_iq_a":0.314512819,"cg_iq_raw_a":0.189562172,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309112,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8563633,"cg_sample_seq":14383971,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0895751938,"cg_vd_v":0.0895751938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373689651,"cg_vq_v":-0.373689651,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2312317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.565674,"values":{"Elec_RPM":-1.66289438e-25,"EncoderCos":38717,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-3.32578889e-26,"cg_du":50.1420555,"cg_dv":50.2055244,"cg_dw":49.7944756,"cg_id_a":-0.139457062,"cg_id_raw_a":-0.0165662505,"cg_iq_a":-0.322991967,"cg_iq_raw_a":-0.292198658,"cg_iu_a":0.364971876,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9509087,"cg_sample_seq":14384066,"cg_sample_valid":1,"cg_theta_rad":5.0062952,"cg_vd_req_v":0.0887850374,"cg_vd_v":0.0887850374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358979464,"cg_vq_v":-0.358979464,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.573486,"values":{"Elec_RPM":-1.6296365e-25,"EncoderCos":38718,"EncoderSin":12469,"GapTicks":54769,"Mech_RPM":-3.25927312e-26,"cg_du":50.1535683,"cg_dv":50.2097054,"cg_dw":49.7902946,"cg_id_a":0.00865435228,"cg_id_raw_a":-0.368112057,"cg_iq_a":0.30015555,"cg_iq_raw_a":0.0738725588,"cg_iu_a":0.328727961,"cg_iv_a":0.105397701,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9436359,"cg_sample_seq":14384116,"cg_sample_valid":1,"cg_theta_rad":5.00934029,"cg_vd_req_v":0.0836222842,"cg_vd_v":0.0836222842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371180266,"cg_vq_v":-0.371180266,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.581299,"values":{"Elec_RPM":-1.6296365e-25,"EncoderCos":38712,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-3.25927312e-26,"cg_du":50.1479988,"cg_dv":50.2091026,"cg_dw":49.7908974,"cg_id_a":-0.106219351,"cg_id_raw_a":-0.539195657,"cg_iq_a":-0.0278277695,"cg_iq_raw_a":-0.744818389,"cg_iu_a":-0.359905005,"cg_iv_a":-0.00333368778,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8563633,"cg_sample_seq":14384166,"cg_sample_valid":1,"cg_theta_rad":5.00673342,"cg_vd_req_v":0.0880710706,"cg_vd_v":0.0880710706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368252575,"cg_vq_v":-0.368252575,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2360229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.593018,"values":{"Elec_RPM":-1.59704385e-25,"EncoderCos":38725,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-3.19408764e-26,"cg_du":50.1550446,"cg_dv":50.2161102,"cg_dw":49.7838898,"cg_id_a":-0.0567197353,"cg_id_raw_a":-0.171072334,"cg_iq_a":0.386788219,"cg_iq_raw_a":0.858110726,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065196,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8563633,"cg_sample_seq":14384217,"cg_sample_valid":1,"cg_theta_rad":5.00749207,"cg_vd_req_v":0.088350825,"cg_vd_v":0.088350825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380791008,"cg_vq_v":-0.380791008,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.60083,"values":{"Elec_RPM":-1.59704385e-25,"EncoderCos":38694,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-3.19408764e-26,"cg_du":50.1499405,"cg_dv":50.2097206,"cg_dw":49.7902794,"cg_id_a":-0.036106851,"cg_id_raw_a":0.139255121,"cg_iq_a":-0.312321842,"cg_iq_raw_a":-0.567817152,"cg_iu_a":0.256240368,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9472733,"cg_sample_seq":14384267,"cg_sample_valid":1,"cg_theta_rad":5.00684404,"cg_vd_req_v":0.0882157236,"cg_vd_v":0.0882157236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368752182,"cg_vq_v":-0.368752182,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2232666,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.608643,"values":{"Elec_RPM":-1.56510299e-25,"EncoderCos":38715,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-3.13020593e-26,"cg_du":50.1563339,"cg_dv":50.2168388,"cg_dw":49.7831612,"cg_id_a":-0.0299365893,"cg_id_raw_a":0.013031208,"cg_iq_a":0.425953031,"cg_iq_raw_a":0.475513369,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8563633,"cg_sample_seq":14384317,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.0883139297,"cg_vd_v":0.0883139297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382444799,"cg_vq_v":-0.382444799,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.616455,"values":{"Elec_RPM":-1.56510299e-25,"EncoderCos":38720,"EncoderSin":12503,"GapTicks":54763,"Mech_RPM":-3.13020593e-26,"cg_du":50.1467628,"cg_dv":50.2148132,"cg_dw":49.7851868,"cg_id_a":-0.213825345,"cg_id_raw_a":-0.201025754,"cg_iq_a":0.0432513505,"cg_iq_raw_a":0.174906671,"cg_iu_a":-0.106198072,"cg_iv_a":-0.619478822,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9618187,"cg_sample_seq":14384367,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0928815901,"cg_vd_v":0.0928815901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374555677,"cg_vq_v":-0.374555677,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.624268,"values":{"Elec_RPM":-1.53380087e-25,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-3.0676018e-26,"cg_du":50.1510696,"cg_dv":50.2096367,"cg_dw":49.7903633,"cg_id_a":0.0937271416,"cg_id_raw_a":-0.20264779,"cg_iq_a":-0.290536404,"cg_iq_raw_a":-0.529487848,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14384417,"cg_sample_valid":1,"cg_theta_rad":5.00784492,"cg_vd_req_v":0.086252071,"cg_vd_v":0.086252071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369508058,"cg_vq_v":-0.369508058,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2264709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.655518,"values":{"Elec_RPM":-1.53380087e-25,"EncoderCos":38754,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-3.0676018e-26,"cg_du":50.1466637,"cg_dv":50.2120285,"cg_dw":49.7879715,"cg_id_a":0.00233412534,"cg_id_raw_a":0.0292193349,"cg_iq_a":-0.0262192488,"cg_iq_raw_a":-1.30655611,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397701,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8600006,"cg_sample_seq":14384470,"cg_sample_valid":1,"cg_theta_rad":5.00792217,"cg_vd_req_v":0.0882483795,"cg_vd_v":0.0882483795,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372383624,"cg_vq_v":-0.372383624,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.66333,"values":{"Elec_RPM":-1.5031249e-25,"EncoderCos":38744,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.00624969e-26,"cg_du":50.1403465,"cg_dv":50.2119064,"cg_dw":49.7880936,"cg_id_a":-0.294540107,"cg_id_raw_a":-0.213119373,"cg_iq_a":-0.0913464054,"cg_iq_raw_a":-0.455863476,"cg_iu_a":0.256240368,"cg_iv_a":-0.293284416,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9799995,"cg_sample_seq":14384516,"cg_sample_valid":1,"cg_theta_rad":5.007967,"cg_vd_req_v":0.0942664742,"cg_vd_v":0.0942664742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367223054,"cg_vq_v":-0.367223054,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.671143,"values":{"Elec_RPM":-1.5031249e-25,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.00624969e-26,"cg_du":50.1388512,"cg_dv":50.2124939,"cg_dw":49.7875061,"cg_id_a":-0.43606779,"cg_id_raw_a":-0.885536194,"cg_iq_a":-0.0316451117,"cg_iq_raw_a":-0.885104299,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.365772009,"cg_iw_a":0.435726404,"cg_sample_age_us":23.863636,"cg_sample_seq":14384566,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0969910771,"cg_vd_v":0.0969910771,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366935015,"cg_vq_v":-0.366935015,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2264709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.678955,"values":{"Elec_RPM":-1.47306228e-25,"EncoderCos":38688,"EncoderSin":12435,"GapTicks":54773,"Mech_RPM":-2.94612462e-26,"cg_du":50.1516685,"cg_dv":50.2061234,"cg_dw":49.7938766,"cg_id_a":0.116312839,"cg_id_raw_a":0.0106205707,"cg_iq_a":-0.197470397,"cg_iq_raw_a":-0.326128274,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9581814,"cg_sample_seq":14384617,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0847041756,"cg_vd_v":0.0847041756,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363377839,"cg_vq_v":-0.363377839,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2216797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2603.686768,"values":{"Elec_RPM":-1.47306228e-25,"EncoderCos":38681,"EncoderSin":12456,"GapTicks":54768,"Mech_RPM":-2.94612462e-26,"cg_du":50.149025,"cg_dv":50.2103348,"cg_dw":49.7896652,"cg_id_a":-0.182238787,"cg_id_raw_a":-0.566272676,"cg_iq_a":0.155247375,"cg_iq_raw_a":0.340803415,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.8563633,"cg_sample_seq":14384666,"cg_sample_valid":1,"cg_theta_rad":5.00509024,"cg_vd_req_v":0.0912283212,"cg_vd_v":0.0912283212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368646979,"cg_vq_v":-0.368646979,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2216797,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.69458,"values":{"Elec_RPM":-1.44360116e-25,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-2.88720226e-26,"cg_du":50.1520653,"cg_dv":50.2138023,"cg_dw":49.7861977,"cg_id_a":-0.0969465077,"cg_id_raw_a":-0.356698751,"cg_iq_a":0.335472345,"cg_iq_raw_a":-0.253263682,"cg_iu_a":-0.50488019,"cg_iv_a":-0.00333380699,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14384716,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.089539513,"cg_vd_v":0.089539513,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376927257,"cg_vq_v":-0.376927257,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.706299,"values":{"Elec_RPM":-1.44360116e-25,"EncoderCos":38728,"EncoderSin":12466,"GapTicks":54771,"Mech_RPM":-2.88720226e-26,"cg_du":50.1472054,"cg_dv":50.2075768,"cg_dw":49.7924232,"cg_id_a":0.0777336061,"cg_id_raw_a":-0.00691807596,"cg_iq_a":-0.0822766125,"cg_iq_raw_a":0.255017042,"cg_iu_a":0.509947181,"cg_iv_a":0.105397701,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.8454552,"cg_sample_seq":14384766,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0860495716,"cg_vd_v":0.0860495716,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366001159,"cg_vq_v":-0.366001159,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.714111,"values":{"Elec_RPM":-1.4147291e-25,"EncoderCos":38703,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-2.82945825e-26,"cg_du":50.1428452,"cg_dv":50.2128868,"cg_dw":49.7871132,"cg_id_a":-0.426010221,"cg_id_raw_a":0.371267259,"cg_iq_a":0.0315133929,"cg_iq_raw_a":-0.58070308,"cg_iu_a":-0.686099529,"cg_iv_a":-0.438259721,"cg_iw_a":1.12435925,"cg_sample_age_us":23.8709087,"cg_sample_seq":14384817,"cg_sample_valid":1,"cg_theta_rad":5.00677443,"cg_vd_req_v":0.0964372605,"cg_vd_v":0.0964372605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369135529,"cg_vq_v":-0.369135529,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":30.7924805,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.20578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.721924,"values":{"Elec_RPM":-1.4147291e-25,"EncoderCos":38736,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-2.82945825e-26,"cg_du":50.1453362,"cg_dv":50.2179337,"cg_dw":49.7820663,"cg_id_a":-0.430991471,"cg_id_raw_a":0.0180734638,"cg_iq_a":0.505039454,"cg_iq_raw_a":0.220888421,"cg_iu_a":0.0750212669,"cg_iv_a":-0.148308992,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9872723,"cg_sample_seq":14384867,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0961209759,"cg_vd_v":0.0961209759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378237307,"cg_vq_v":-0.378237307,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.729736,"values":{"Elec_RPM":-1.38643463e-25,"EncoderCos":38717,"EncoderSin":12492,"GapTicks":54768,"Mech_RPM":-2.77286919e-26,"cg_du":50.1490402,"cg_dv":50.2106895,"cg_dw":49.7893105,"cg_id_a":-0.0505465642,"cg_id_raw_a":-0.267677099,"cg_iq_a":0.160054311,"cg_iq_raw_a":0.557476103,"cg_iu_a":-0.251173496,"cg_iv_a":0.250373125,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14384917,"cg_sample_valid":1,"cg_theta_rad":5.00625181,"cg_vd_req_v":0.0876275152,"cg_vd_v":0.0876275152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37009263,"cg_vq_v":-0.37009263,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.75708,"values":{"Elec_RPM":-1.38643463e-25,"EncoderCos":38741,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-2.77286919e-26,"cg_du":50.1484795,"cg_dv":50.2124023,"cg_dw":49.7875977,"cg_id_a":-0.0656408668,"cg_id_raw_a":0.171178296,"cg_iq_a":0.212873936,"cg_iq_raw_a":0.380816698,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9799995,"cg_sample_seq":14384970,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0884425491,"cg_vd_v":0.0884425491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372411519,"cg_vq_v":-0.372411519,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2121582,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.768799,"values":{"Elec_RPM":-1.35870592e-25,"EncoderCos":38750,"EncoderSin":12512,"GapTicks":54768,"Mech_RPM":-2.71741196e-26,"cg_du":50.1454926,"cg_dv":50.2100449,"cg_dw":49.7899551,"cg_id_a":0.0262448192,"cg_id_raw_a":0.118851446,"cg_iq_a":0.14917469,"cg_iq_raw_a":0.520631254,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14385016,"cg_sample_valid":1,"cg_theta_rad":5.0090003,"cg_vd_req_v":0.0867786631,"cg_vd_v":0.0867786631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369126409,"cg_vq_v":-0.369126409,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.776611,"values":{"Elec_RPM":-1.35870592e-25,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-2.71741196e-26,"cg_du":50.1443367,"cg_dv":50.205265,"cg_dw":49.794735,"cg_id_a":0.0601560175,"cg_id_raw_a":-0.0557869561,"cg_iq_a":-0.102956235,"cg_iq_raw_a":-0.11364229,"cg_iu_a":0.437459469,"cg_iv_a":0.177885473,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9509087,"cg_sample_seq":14385066,"cg_sample_valid":1,"cg_theta_rad":5.0075388,"cg_vd_req_v":0.0852135122,"cg_vd_v":0.0852135122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361430526,"cg_vq_v":-0.361430526,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.784424,"values":{"Elec_RPM":-1.33153188e-25,"EncoderCos":38714,"EncoderSin":12460,"GapTicks":54774,"Mech_RPM":-2.66306376e-26,"cg_du":50.1362915,"cg_dv":50.2053947,"cg_dw":49.7946053,"cg_id_a":-0.236658871,"cg_id_raw_a":-0.210101962,"cg_iq_a":-0.296235114,"cg_iq_raw_a":-0.457262039,"cg_iu_a":0.654922485,"cg_iv_a":-0.510747433,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14385116,"cg_sample_valid":1,"cg_theta_rad":5.00666809,"cg_vd_req_v":0.0938018784,"cg_vd_v":0.0938018784,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356551677,"cg_vq_v":-0.356551677,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.72636604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.792236,"values":{"Elec_RPM":-1.33153188e-25,"EncoderCos":38733,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-2.66306376e-26,"cg_du":50.1524124,"cg_dv":50.2052994,"cg_dw":49.7947006,"cg_id_a":0.446928382,"cg_id_raw_a":0.493430704,"cg_iq_a":0.0270355642,"cg_iq_raw_a":0.302386135,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860718,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9763641,"cg_sample_seq":14385166,"cg_sample_valid":1,"cg_theta_rad":5.00653315,"cg_vd_req_v":0.0789450109,"cg_vd_v":0.0789450109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36482659,"cg_vq_v":-0.36482659,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.800049,"values":{"Elec_RPM":-1.30490117e-25,"EncoderCos":38712,"EncoderSin":12465,"GapTicks":54774,"Mech_RPM":-2.6098024e-26,"cg_du":50.1404839,"cg_dv":50.2050018,"cg_dw":49.7949982,"cg_id_a":-0.0443359539,"cg_id_raw_a":-0.0667231083,"cg_iq_a":-0.26775381,"cg_iq_raw_a":0.212681398,"cg_iu_a":0.183752775,"cg_iv_a":-0.293284416,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9618187,"cg_sample_seq":14385216,"cg_sample_valid":1,"cg_theta_rad":5.00623083,"cg_vd_req_v":0.0898904651,"cg_vd_v":0.0898904651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357289582,"cg_vq_v":-0.357289582,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2280579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.807861,"values":{"Elec_RPM":-1.30490117e-25,"EncoderCos":38720,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-2.6098024e-26,"cg_du":50.1385269,"cg_dv":50.2059135,"cg_dw":49.7940865,"cg_id_a":-0.092845954,"cg_id_raw_a":0.203887999,"cg_iq_a":-0.153864995,"cg_iq_raw_a":-1.03525257,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.25704056,"cg_iw_a":0.326994956,"cg_sample_age_us":23.8600006,"cg_sample_seq":14385266,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.0918596536,"cg_vd_v":0.0918596536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357542247,"cg_vq_v":-0.357542247,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.81958,"values":{"Elec_RPM":-1.27880318e-25,"EncoderCos":38713,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-2.55760631e-26,"cg_du":50.137043,"cg_dv":50.2039223,"cg_dw":49.7960777,"cg_id_a":-0.0396202095,"cg_id_raw_a":0.198803172,"cg_iq_a":-0.321498156,"cg_iq_raw_a":-1.39991128,"cg_iu_a":0.147508621,"cg_iv_a":-0.293284357,"cg_iw_a":0.145775735,"cg_sample_age_us":23.8563633,"cg_sample_seq":14385316,"cg_sample_valid":1,"cg_theta_rad":5.00673771,"cg_vd_req_v":0.0916076377,"cg_vd_v":0.0916076377,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355016202,"cg_vq_v":-0.355016202,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.827393,"values":{"Elec_RPM":-1.27880318e-25,"EncoderCos":38723,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-2.55760631e-26,"cg_du":50.1368065,"cg_dv":50.2022972,"cg_dw":49.7977028,"cg_id_a":0.0300152823,"cg_id_raw_a":0.0875139385,"cg_iq_a":-0.342220098,"cg_iq_raw_a":-0.500477672,"cg_iu_a":0.546190977,"cg_iv_a":0.685299039,"cg_iw_a":-1.23149002,"cg_sample_age_us":23.9872723,"cg_sample_seq":14385367,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0895997733,"cg_vd_v":0.0895997733,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352823108,"cg_vq_v":-0.352823108,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.835205,"values":{"Elec_RPM":-1.25322708e-25,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-2.50645423e-26,"cg_du":50.1330719,"cg_dv":50.2053528,"cg_dw":49.7946472,"cg_id_a":-0.178847626,"cg_id_raw_a":-0.0694086999,"cg_iq_a":-0.252531976,"cg_iq_raw_a":0.0305338763,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796824,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14385417,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0950361118,"cg_vd_v":0.0950361118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355016589,"cg_vq_v":-0.355016589,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.02260923,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.862549,"values":{"Elec_RPM":-1.22816263e-25,"EncoderCos":38718,"EncoderSin":12503,"GapTicks":54766,"Mech_RPM":-2.4563252e-26,"cg_du":50.1575508,"cg_dv":50.2118721,"cg_dw":49.7881279,"cg_id_a":0.375913352,"cg_id_raw_a":0.864975214,"cg_iq_a":0.700917184,"cg_iq_raw_a":1.90430057,"cg_iu_a":-0.287417173,"cg_iv_a":0.214129329,"cg_iw_a":0.0732878447,"cg_sample_age_us":24.4163628,"cg_sample_seq":14385519,"cg_sample_valid":1,"cg_theta_rad":5.00622272,"cg_vd_req_v":0.0817241594,"cg_vd_v":0.0817241594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376550853,"cg_vq_v":-0.376550853,"cg_vu_v":102.494972,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.266331434,"dclink_p_w":38.5447235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.870361,"values":{"Elec_RPM":-1.22816263e-25,"EncoderCos":38743,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-2.4563252e-26,"cg_du":50.1393127,"cg_dv":50.206295,"cg_dw":49.793705,"cg_id_a":-0.0683284774,"cg_id_raw_a":0.108380362,"cg_iq_a":-0.142619267,"cg_iq_raw_a":0.156296089,"cg_iu_a":0.292484283,"cg_iv_a":0.177885473,"cg_iw_a":-0.470369756,"cg_sample_age_us":23.9218178,"cg_sample_seq":14385566,"cg_sample_valid":1,"cg_theta_rad":5.00700283,"cg_vd_req_v":0.0890495479,"cg_vd_v":0.0890495479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359150141,"cg_vq_v":-0.359150141,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.4634609,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.88208,"values":{"Elec_RPM":-1.20359935e-25,"EncoderCos":38746,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-2.40719873e-26,"cg_du":50.1486206,"cg_dv":50.2067261,"cg_dw":49.7932739,"cg_id_a":0.186621502,"cg_id_raw_a":-0.0121843265,"cg_iq_a":0.264950156,"cg_iq_raw_a":0.327237993,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9836369,"cg_sample_seq":14385616,"cg_sample_valid":1,"cg_theta_rad":5.00694036,"cg_vd_req_v":0.081982024,"cg_vd_v":0.081982024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36495173,"cg_vq_v":-0.36495173,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.4634609,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2296448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.889893,"values":{"Elec_RPM":-1.20359935e-25,"EncoderCos":38727,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-2.40719873e-26,"cg_du":50.1422997,"cg_dv":50.2001762,"cg_dw":49.7998238,"cg_id_a":0.120456204,"cg_id_raw_a":1.08510232,"cg_iq_a":-0.261994094,"cg_iq_raw_a":1.59655857,"cg_iu_a":0.0750210285,"cg_iv_a":-0.257040501,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8600006,"cg_sample_seq":14385666,"cg_sample_valid":1,"cg_theta_rad":5.00631237,"cg_vd_req_v":0.0822776407,"cg_vd_v":0.0822776407,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353241384,"cg_vq_v":-0.353241384,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.897705,"values":{"Elec_RPM":-1.17952738e-25,"EncoderCos":38717,"EncoderSin":12476,"GapTicks":54778,"Mech_RPM":-2.35905479e-26,"cg_du":50.150528,"cg_dv":50.2017097,"cg_dw":49.7982903,"cg_id_a":0.315396994,"cg_id_raw_a":0.3753407,"cg_iq_a":0.176954925,"cg_iq_raw_a":-0.217318997,"cg_iu_a":-0.686099529,"cg_iv_a":-0.148309112,"cg_iw_a":0.834408641,"cg_sample_age_us":23.9872723,"cg_sample_seq":14385716,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0783703178,"cg_vd_v":0.0783703178,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35971728,"cg_vq_v":-0.35971728,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.5085888,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.905518,"values":{"Elec_RPM":-1.17952738e-25,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-2.35905479e-26,"cg_du":50.1629639,"cg_dv":50.2113686,"cg_dw":49.7886314,"cg_id_a":0.351826191,"cg_id_raw_a":0.0890723243,"cg_iq_a":1.06296182,"cg_iq_raw_a":1.42960596,"cg_iu_a":-1.55595136,"cg_iv_a":0.105397701,"cg_iw_a":1.45055366,"cg_sample_age_us":23.9509087,"cg_sample_seq":14385766,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.0774104521,"cg_vd_v":0.0774104521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378813416,"cg_vq_v":-0.378813416,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.5085888,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2137451,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.91333,"values":{"Elec_RPM":-1.15593687e-25,"EncoderCos":38718,"EncoderSin":12456,"GapTicks":54776,"Mech_RPM":-2.31187367e-26,"cg_du":50.1459885,"cg_dv":50.2028427,"cg_dw":49.7971573,"cg_id_a":0.143862069,"cg_id_raw_a":-0.366887718,"cg_iq_a":0.0600502603,"cg_iq_raw_a":-0.363388926,"cg_iu_a":-0.396148682,"cg_iv_a":0.105397701,"cg_iw_a":0.254507065,"cg_sample_age_us":23.954546,"cg_sample_seq":14385816,"cg_sample_valid":1,"cg_theta_rad":5.00798082,"cg_vd_req_v":0.0832075998,"cg_vd_v":0.0832075998,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35752508,"cg_vq_v":-0.35752508,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.5085888,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1818848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.921143,"values":{"Elec_RPM":-1.15593687e-25,"EncoderCos":38710,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-2.31187367e-26,"cg_du":50.1390686,"cg_dv":50.2026634,"cg_dw":49.7973366,"cg_id_a":0.0276283361,"cg_id_raw_a":-0.25565815,"cg_iq_a":-0.215169609,"cg_iq_raw_a":-0.643387258,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9436359,"cg_sample_seq":14385866,"cg_sample_valid":1,"cg_theta_rad":5.00691175,"cg_vd_req_v":0.0880788192,"cg_vd_v":0.0880788192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353478193,"cg_vq_v":-0.353478193,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.5085888,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1818848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.932861,"values":{"Elec_RPM":-1.13281806e-25,"EncoderCos":38700,"EncoderSin":12476,"GapTicks":54773,"Mech_RPM":-2.26563625e-26,"cg_du":50.1501923,"cg_dv":50.205677,"cg_dw":49.794323,"cg_id_a":0.282749772,"cg_id_raw_a":0.3026191,"cg_iq_a":0.284085929,"cg_iq_raw_a":1.12460721,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9181824,"cg_sample_seq":14385916,"cg_sample_valid":1,"cg_theta_rad":5.00622845,"cg_vd_req_v":0.0836637691,"cg_vd_v":0.0836637691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363511235,"cg_vq_v":-0.363511235,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1914368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.960205,"values":{"Elec_RPM":-1.13281806e-25,"EncoderCos":38680,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-2.26563625e-26,"cg_du":50.1423988,"cg_dv":50.2027473,"cg_dw":49.7972527,"cg_id_a":0.0186696872,"cg_id_raw_a":-0.461213857,"cg_iq_a":-0.235346168,"cg_iq_raw_a":-0.0484013781,"cg_iu_a":0.14750886,"cg_iv_a":-0.836941838,"cg_iw_a":0.689432979,"cg_sample_age_us":23.8527279,"cg_sample_seq":14385971,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.088556692,"cg_vd_v":0.088556692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354728311,"cg_vq_v":-0.354728311,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.3468323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1914368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118283361,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.968018,"values":{"Elec_RPM":-1.11016173e-25,"EncoderCos":38769,"EncoderSin":12473,"GapTicks":54762,"Mech_RPM":-2.22032359e-26,"cg_du":50.1538467,"cg_dv":50.216114,"cg_dw":49.783886,"cg_id_a":0.190662026,"cg_id_raw_a":0.11578498,"cg_iq_a":0.983620107,"cg_iq_raw_a":1.53870487,"cg_iu_a":-0.903562307,"cg_iv_a":-0.691966653,"cg_iw_a":1.59552896,"cg_sample_age_us":23.9509087,"cg_sample_seq":14386016,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0853849947,"cg_vd_v":0.0853849947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382237524,"cg_vq_v":-0.382237524,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.279016733,"dclink_p_w":40.5033379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2073669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2603.97583,"values":{"Elec_RPM":-1.11016173e-25,"EncoderCos":38740,"EncoderSin":12490,"GapTicks":54773,"Mech_RPM":-2.22032359e-26,"cg_du":50.1496353,"cg_dv":50.2057648,"cg_dw":49.7942352,"cg_id_a":0.320065796,"cg_id_raw_a":0.584719121,"cg_iq_a":0.0136549417,"cg_iq_raw_a":-0.455068707,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333374739,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9581814,"cg_sample_seq":14386066,"cg_sample_valid":1,"cg_theta_rad":5.00645447,"cg_vd_req_v":0.0805231482,"cg_vd_v":0.0805231482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364140987,"cg_vq_v":-0.364140987,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.9789543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2603.983643,"values":{"Elec_RPM":-1.08795863e-25,"EncoderCos":38716,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-2.17591719e-26,"cg_du":50.146862,"cg_dv":50.2106094,"cg_dw":49.7893906,"cg_id_a":-0.0967180431,"cg_id_raw_a":-0.162935972,"cg_iq_a":0.146118596,"cg_iq_raw_a":-0.0880927071,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.619478822,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9618187,"cg_sample_seq":14386117,"cg_sample_valid":1,"cg_theta_rad":5.00644207,"cg_vd_req_v":0.0898499265,"cg_vd_v":0.0898499265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368614972,"cg_vq_v":-0.368614972,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.2824516,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2603.991051,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2603.991057,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2603.991063,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2603.995361,"values":{"Elec_RPM":-1.08795863e-25,"EncoderCos":38708,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-2.17591719e-26,"cg_du":50.1488838,"cg_dv":50.204174,"cg_dw":49.795826,"cg_id_a":0.222104803,"cg_id_raw_a":-0.165495247,"cg_iq_a":-0.249597728,"cg_iq_raw_a":-0.270791709,"cg_iu_a":0.0750210285,"cg_iv_a":1.19271278,"cg_iw_a":-1.26773381,"cg_sample_age_us":23.9872723,"cg_sample_seq":14386166,"cg_sample_valid":1,"cg_theta_rad":5.00630903,"cg_vd_req_v":0.0826578289,"cg_vd_v":0.0826578289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360860735,"cg_vq_v":-0.360860735,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1628113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.003174,"values":{"Elec_RPM":-1.0661995e-25,"EncoderCos":38711,"EncoderSin":12499,"GapTicks":54766,"Mech_RPM":-2.13239888e-26,"cg_du":50.1514969,"cg_dv":50.2122803,"cg_dw":49.7877197,"cg_id_a":0.000885833055,"cg_id_raw_a":0.347063631,"cg_iq_a":0.339001596,"cg_iq_raw_a":0.0711724833,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9436359,"cg_sample_seq":14386216,"cg_sample_valid":1,"cg_theta_rad":5.00576019,"cg_vd_req_v":0.0875747502,"cg_vd_v":0.0875747502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373557687,"cg_vq_v":-0.373557687,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.2009888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.010986,"values":{"Elec_RPM":-1.0661995e-25,"EncoderCos":38709,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-2.13239888e-26,"cg_du":50.1498146,"cg_dv":50.2071838,"cg_dw":49.7928162,"cg_id_a":0.0951377228,"cg_id_raw_a":0.417525113,"cg_iq_a":-0.135342419,"cg_iq_raw_a":-0.21218887,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065256,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9727268,"cg_sample_seq":14386266,"cg_sample_valid":1,"cg_theta_rad":5.00502253,"cg_vd_req_v":0.0851910487,"cg_vd_v":0.0851910487,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366565168,"cg_vq_v":-0.366565168,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.2009888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.018799,"values":{"Elec_RPM":-1.04487548e-25,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54763,"Mech_RPM":-2.08975093e-26,"cg_du":50.1550026,"cg_dv":50.215416,"cg_dw":49.784584,"cg_id_a":0.0504304245,"cg_id_raw_a":0.284239769,"cg_iq_a":0.360901475,"cg_iq_raw_a":-0.154685348,"cg_iu_a":-0.359904766,"cg_iv_a":-0.873185754,"cg_iw_a":1.23309052,"cg_sample_age_us":23.9581814,"cg_sample_seq":14386316,"cg_sample_valid":1,"cg_theta_rad":5.00633764,"cg_vd_req_v":0.086427398,"cg_vd_v":0.086427398,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381333202,"cg_vq_v":-0.381333202,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7751522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.026611,"values":{"Elec_RPM":-1.04487548e-25,"EncoderCos":38704,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-2.08975093e-26,"cg_du":50.1483574,"cg_dv":50.208107,"cg_dw":49.791893,"cg_id_a":-0.0126179084,"cg_id_raw_a":0.0825232789,"cg_iq_a":-0.219051227,"cg_iq_raw_a":-0.427942306,"cg_iu_a":0.437459469,"cg_iv_a":0.0691540241,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9872723,"cg_sample_seq":14386367,"cg_sample_valid":1,"cg_theta_rad":5.00738192,"cg_vd_req_v":0.0879347473,"cg_vd_v":0.0879347473,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366829067,"cg_vq_v":-0.366829067,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.308133245,"dclink_p_w":-44.7300224,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2590,"hz_tim_isr":5000,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.03833,"values":{"Elec_RPM":-1.02397794e-25,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-2.04795594e-26,"cg_du":50.1532593,"cg_dv":50.2131538,"cg_dw":49.7868462,"cg_id_a":0.095401004,"cg_id_raw_a":0.0343954042,"cg_iq_a":0.110875294,"cg_iq_raw_a":0.259071082,"cg_iu_a":-0.976050138,"cg_iv_a":0.0329101086,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9872723,"cg_sample_seq":14386417,"cg_sample_valid":1,"cg_theta_rad":5.00664806,"cg_vd_req_v":0.0866794214,"cg_vd_v":0.0866794214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37461403,"cg_vq_v":-0.37461403,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.2201233,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.065674,"values":{"Elec_RPM":-1.02397794e-25,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-2.04795594e-26,"cg_du":50.1422234,"cg_dv":50.2165833,"cg_dw":49.7834167,"cg_id_a":-0.335151196,"cg_id_raw_a":0.210388571,"cg_iq_a":0.0589690879,"cg_iq_raw_a":-0.489177793,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8563633,"cg_sample_seq":14386470,"cg_sample_valid":1,"cg_theta_rad":5.00760794,"cg_vd_req_v":0.0973712355,"cg_vd_v":0.0973712355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374635249,"cg_vq_v":-0.374635249,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.0302238,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2026062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.073486,"values":{"Elec_RPM":-1.00349837e-25,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-2.0069968e-26,"cg_du":50.1519203,"cg_dv":50.2174263,"cg_dw":49.7825737,"cg_id_a":0.0732036829,"cg_id_raw_a":-0.0726647004,"cg_iq_a":-0.183059648,"cg_iq_raw_a":-0.151956618,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8454552,"cg_sample_seq":14386516,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0908434168,"cg_vd_v":0.0892243013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379899979,"cg_vq_v":-0.371947855,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.877533,"temp_inv2_c":37.2026062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.081299,"values":{"Elec_RPM":-1.00349837e-25,"EncoderCos":38716,"EncoderSin":12461,"GapTicks":54766,"Mech_RPM":-2.0069968e-26,"cg_du":50.1537628,"cg_dv":50.2126198,"cg_dw":49.7873802,"cg_id_a":0.121909365,"cg_id_raw_a":0.421510458,"cg_iq_a":0.0585922897,"cg_iq_raw_a":-0.467243314,"cg_iu_a":0.473703384,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9872723,"cg_sample_seq":14386567,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0866821706,"cg_vd_v":0.0866821706,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375161946,"cg_vq_v":-0.375161946,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.089111,"values":{"Elec_RPM":-9.83428455e-26,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.96685688e-26,"cg_du":50.1496849,"cg_dv":50.2096748,"cg_dw":49.7903252,"cg_id_a":0.150955379,"cg_id_raw_a":0.0480047055,"cg_iq_a":-0.184556022,"cg_iq_raw_a":0.114977382,"cg_iu_a":0.183752775,"cg_iv_a":0.57656759,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.9872723,"cg_sample_seq":14386617,"cg_sample_valid":1,"cg_theta_rad":5.00631952,"cg_vd_req_v":0.0878649801,"cg_vd_v":0.0878649801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368662596,"cg_vq_v":-0.368662596,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.2105408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.096924,"values":{"Elec_RPM":-9.63759873e-26,"EncoderCos":38712,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-1.92751968e-26,"cg_du":50.1425591,"cg_dv":50.2090759,"cg_dw":49.7909241,"cg_id_a":0.0856820941,"cg_id_raw_a":-0.450338602,"cg_iq_a":-0.328208476,"cg_iq_raw_a":-0.371460587,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8563633,"cg_sample_seq":14386766,"cg_sample_valid":1,"cg_theta_rad":5.00764894,"cg_vd_req_v":0.0918125436,"cg_vd_v":0.0918125436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364096433,"cg_vq_v":-0.364096433,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.5325241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2073669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.108643,"values":{"Elec_RPM":-9.44484673e-26,"EncoderCos":38736,"EncoderSin":12492,"GapTicks":54765,"Mech_RPM":-1.88896935e-26,"cg_du":50.1366196,"cg_dv":50.2130318,"cg_dw":49.7869682,"cg_id_a":-0.112105891,"cg_id_raw_a":-0.0641965941,"cg_iq_a":-0.128846377,"cg_iq_raw_a":-0.478323489,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065196,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9254551,"cg_sample_seq":14386816,"cg_sample_valid":1,"cg_theta_rad":5.00619078,"cg_vd_req_v":0.0980707183,"cg_vd_v":0.0980707183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366736203,"cg_vq_v":-0.366736203,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.6250687,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2153015,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.116455,"values":{"Elec_RPM":-9.44484673e-26,"EncoderCos":38697,"EncoderSin":12504,"GapTicks":54762,"Mech_RPM":-1.88896935e-26,"cg_du":50.1446457,"cg_dv":50.2158432,"cg_dw":49.7841568,"cg_id_a":-0.142102867,"cg_id_raw_a":-0.052353289,"cg_iq_a":0.287504464,"cg_iq_raw_a":0.0683867782,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373065,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9618187,"cg_sample_seq":14386866,"cg_sample_valid":1,"cg_theta_rad":5.00684834,"cg_vd_req_v":0.0977763981,"cg_vd_v":0.0977763981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375411242,"cg_vq_v":-0.375411242,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.594459534,"dclink_p_w":-86.0329514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.124268,"values":{"Elec_RPM":-9.25595029e-26,"EncoderCos":38696,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-1.85119e-26,"cg_du":50.14608,"cg_dv":50.2150192,"cg_dw":49.7849808,"cg_id_a":-0.0325053558,"cg_id_raw_a":-0.32188192,"cg_iq_a":0.215930209,"cg_iq_raw_a":-0.797029197,"cg_iu_a":-0.323661089,"cg_iv_a":-0.655722737,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8527279,"cg_sample_seq":14386916,"cg_sample_valid":1,"cg_theta_rad":5.00721216,"cg_vd_req_v":0.0962632746,"cg_vd_v":0.0962632746,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374996722,"cg_vq_v":-0.374996722,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.151611,"values":{"Elec_RPM":-9.25595029e-26,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54760,"Mech_RPM":-1.85119e-26,"cg_du":50.1428146,"cg_dv":50.2173576,"cg_dw":49.7826424,"cg_id_a":-0.0369041152,"cg_id_raw_a":-0.120801099,"cg_iq_a":0.216294378,"cg_iq_raw_a":0.353459805,"cg_iu_a":-0.468636513,"cg_iv_a":-0.293284416,"cg_iw_a":0.761920929,"cg_sample_age_us":23.8490906,"cg_sample_seq":14386971,"cg_sample_valid":1,"cg_theta_rad":5.00627708,"cg_vd_req_v":0.10168913,"cg_vd_v":0.10168913,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376168787,"cg_vq_v":-0.376168787,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.779303074,"dclink_p_w":-113.127182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.16333,"values":{"Elec_RPM":-9.07083113e-26,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-1.81416623e-26,"cg_du":50.1309395,"cg_dv":50.2135887,"cg_dw":49.7864113,"cg_id_a":-0.401041597,"cg_id_raw_a":-0.128404409,"cg_iq_a":-0.301195979,"cg_iq_raw_a":-0.0117651178,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14387017,"cg_sample_valid":1,"cg_theta_rad":5.00801373,"cg_vd_req_v":0.105001211,"cg_vd_v":0.105001211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363785684,"cg_vq_v":-0.363785684,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.737622738,"dclink_p_w":-106.752197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.171143,"values":{"Elec_RPM":-9.07083113e-26,"EncoderCos":38710,"EncoderSin":12470,"GapTicks":54756,"Mech_RPM":-1.81416623e-26,"cg_du":50.1448364,"cg_dv":50.2212448,"cg_dw":49.7787552,"cg_id_a":-0.287515193,"cg_id_raw_a":0.00820928905,"cg_iq_a":0.556738198,"cg_iq_raw_a":-0.326197892,"cg_iu_a":-0.686099291,"cg_iv_a":-0.148309112,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9872723,"cg_sample_seq":14387067,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.102365971,"cg_vd_v":0.102365971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381769061,"cg_vq_v":-0.381769061,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.178955,"values":{"Elec_RPM":-8.8894147e-26,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-1.77788294e-26,"cg_du":50.1358185,"cg_dv":50.2073402,"cg_dw":49.7926598,"cg_id_a":-0.0606897138,"cg_id_raw_a":0.319766223,"cg_iq_a":-0.570646703,"cg_iq_raw_a":-0.0761894137,"cg_iu_a":-0.14244175,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9836369,"cg_sample_seq":14387117,"cg_sample_valid":1,"cg_theta_rad":5.00607395,"cg_vd_req_v":0.0961902365,"cg_vd_v":0.0961902365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357738376,"cg_vq_v":-0.357738376,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.186768,"values":{"Elec_RPM":-8.8894147e-26,"EncoderCos":38742,"EncoderSin":12494,"GapTicks":54770,"Mech_RPM":-1.77788294e-26,"cg_du":50.1418037,"cg_dv":50.2082634,"cg_dw":49.7917366,"cg_id_a":0.362845004,"cg_id_raw_a":1.16557598,"cg_iq_a":-0.284369677,"cg_iq_raw_a":-1.53078043,"cg_iu_a":0.727410197,"cg_iv_a":-0.293284416,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9836369,"cg_sample_seq":14387166,"cg_sample_valid":1,"cg_theta_rad":5.00724411,"cg_vd_req_v":0.0888384581,"cg_vd_v":0.0888384581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363254488,"cg_vq_v":-0.363254488,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.19458,"values":{"Elec_RPM":-8.7116264e-26,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-1.74232534e-26,"cg_du":50.1422844,"cg_dv":50.2146034,"cg_dw":49.7853966,"cg_id_a":0.00193426758,"cg_id_raw_a":0.00338524627,"cg_iq_a":0.16514805,"cg_iq_raw_a":-0.0716875046,"cg_iu_a":-0.214929581,"cg_iv_a":-0.728210449,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9763641,"cg_sample_seq":14387217,"cg_sample_valid":1,"cg_theta_rad":5.00675058,"cg_vd_req_v":0.096199736,"cg_vd_v":0.096199736,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372970223,"cg_vq_v":-0.372970223,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.4458427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2185059,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.206299,"values":{"Elec_RPM":-8.7116264e-26,"EncoderCos":38733,"EncoderSin":12482,"GapTicks":54766,"Mech_RPM":-1.74232534e-26,"cg_du":50.1368523,"cg_dv":50.2121964,"cg_dw":49.7878036,"cg_id_a":-0.172185913,"cg_id_raw_a":-0.0964618027,"cg_iq_a":-0.199848801,"cg_iq_raw_a":0.31937176,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.954546,"cg_sample_seq":14387267,"cg_sample_valid":1,"cg_theta_rad":5.00564146,"cg_vd_req_v":0.0978782251,"cg_vd_v":0.0978782251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366706133,"cg_vq_v":-0.366706133,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.4458427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1612244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.214111,"values":{"Elec_RPM":-8.53739415e-26,"EncoderCos":38739,"EncoderSin":12503,"GapTicks":54764,"Mech_RPM":-1.7074788e-26,"cg_du":50.1439819,"cg_dv":50.2141495,"cg_dw":49.7858505,"cg_id_a":0.102659695,"cg_id_raw_a":0.283934832,"cg_iq_a":0.164936975,"cg_iq_raw_a":0.536191106,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0758213997,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14387317,"cg_sample_valid":1,"cg_theta_rad":5.00638819,"cg_vd_req_v":0.0930949599,"cg_vd_v":0.0930949599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373630226,"cg_vq_v":-0.373630226,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.4458427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1612244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.221924,"values":{"Elec_RPM":-8.53739415e-26,"EncoderCos":38724,"EncoderSin":12487,"GapTicks":54764,"Mech_RPM":-1.7074788e-26,"cg_du":50.1465874,"cg_dv":50.2138519,"cg_dw":49.7861481,"cg_id_a":0.207142383,"cg_id_raw_a":0.358404219,"cg_iq_a":0.111877277,"cg_iq_raw_a":1.4914676,"cg_iu_a":0.292484045,"cg_iv_a":0.431592286,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9218178,"cg_sample_seq":14387366,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.0921586454,"cg_vd_v":0.0921586454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373128563,"cg_vq_v":-0.373128563,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.4458427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.229736,"values":{"Elec_RPM":-8.36664643e-26,"EncoderCos":38702,"EncoderSin":12455,"GapTicks":54768,"Mech_RPM":-1.67332929e-26,"cg_du":50.1484833,"cg_dv":50.2106895,"cg_dw":49.7893105,"cg_id_a":0.139502242,"cg_id_raw_a":0.575515389,"cg_iq_a":0.0964808911,"cg_iq_raw_a":-0.923702896,"cg_iu_a":-0.686099529,"cg_iv_a":0.250373125,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8709087,"cg_sample_seq":14387416,"cg_sample_valid":1,"cg_theta_rad":5.00589705,"cg_vd_req_v":0.0902653858,"cg_vd_v":0.0902653858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369246721,"cg_vq_v":-0.369246721,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1691895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.237549,"values":{"Elec_RPM":-8.36664643e-26,"EncoderCos":38702,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-1.67332929e-26,"cg_du":50.1465073,"cg_dv":50.2093658,"cg_dw":49.7906342,"cg_id_a":0.149038032,"cg_id_raw_a":-0.228849918,"cg_iq_a":0.00616820063,"cg_iq_raw_a":-0.678243876,"cg_iu_a":-0.359905005,"cg_iv_a":0.467836082,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9509087,"cg_sample_seq":14387467,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0900849923,"cg_vd_v":0.0900849923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36644128,"cg_vq_v":-0.36644128,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.6919479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1691895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.264893,"values":{"Elec_RPM":-8.19931301e-26,"EncoderCos":38719,"EncoderSin":12493,"GapTicks":54771,"Mech_RPM":-1.63986263e-26,"cg_du":50.1468697,"cg_dv":50.2080002,"cg_dw":49.7919998,"cg_id_a":0.294474304,"cg_id_raw_a":-0.0172038972,"cg_iq_a":0.0360193439,"cg_iq_raw_a":-0.729092002,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.8563633,"cg_sample_seq":14387520,"cg_sample_valid":1,"cg_theta_rad":5.00742722,"cg_vd_req_v":0.0867915601,"cg_vd_v":0.0867915601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366371542,"cg_vq_v":-0.366371542,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.356940985,"dclink_p_w":51.8151779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2041931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.276611,"values":{"Elec_RPM":-8.03532732e-26,"EncoderCos":38707,"EncoderSin":12437,"GapTicks":54766,"Mech_RPM":-1.60706543e-26,"cg_du":50.1496277,"cg_dv":50.212677,"cg_dw":49.787323,"cg_id_a":0.0985407978,"cg_id_raw_a":0.032988593,"cg_iq_a":0.402330458,"cg_iq_raw_a":0.259253979,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14387667,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0913524777,"cg_vd_v":0.0913524777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372578412,"cg_vq_v":-0.372578412,"cg_vu_v":117.451309,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.697633088,"dclink_p_w":100.964706,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.284424,"values":{"Elec_RPM":-7.87462033e-26,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54760,"Mech_RPM":-1.57492413e-26,"cg_du":50.1463242,"cg_dv":50.2173004,"cg_dw":49.7826996,"cg_id_a":-0.138012096,"cg_id_raw_a":-0.559152424,"cg_iq_a":0.405957937,"cg_iq_raw_a":0.091092512,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14387717,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.096685648,"cg_vd_v":0.096685648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376205981,"cg_vq_v":-0.376205981,"cg_vu_v":118.770996,"cg_vv_v":138.566162,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2169189,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.292236,"values":{"Elec_RPM":-7.87462033e-26,"EncoderCos":38727,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-1.57492413e-26,"cg_du":50.1349983,"cg_dv":50.2092285,"cg_dw":49.7907715,"cg_id_a":-0.1293284,"cg_id_raw_a":0.0904039666,"cg_iq_a":-0.212439552,"cg_iq_raw_a":0.118633084,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14387767,"cg_sample_valid":1,"cg_theta_rad":5.00672483,"cg_vd_req_v":0.0966138393,"cg_vd_v":0.0966138393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36039719,"cg_vq_v":-0.36039719,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.2009888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.303955,"values":{"Elec_RPM":-7.71712795e-26,"EncoderCos":38725,"EncoderSin":12495,"GapTicks":54775,"Mech_RPM":-1.54342562e-26,"cg_du":50.138485,"cg_dv":50.2037582,"cg_dw":49.7962418,"cg_id_a":0.198965997,"cg_id_raw_a":0.291332126,"cg_iq_a":-0.362677932,"cg_iq_raw_a":-0.226398319,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9581814,"cg_sample_seq":14387816,"cg_sample_valid":1,"cg_theta_rad":5.00788927,"cg_vd_req_v":0.088732034,"cg_vd_v":0.088732034,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356002718,"cg_vq_v":-0.356002718,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1580505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.311768,"values":{"Elec_RPM":-7.71712795e-26,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-1.54342562e-26,"cg_du":50.1406136,"cg_dv":50.2080612,"cg_dw":49.7919388,"cg_id_a":-0.0412673429,"cg_id_raw_a":-0.0315018557,"cg_iq_a":0.114953049,"cg_iq_raw_a":-0.584765196,"cg_iu_a":0.292484045,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.954546,"cg_sample_seq":14387866,"cg_sample_valid":1,"cg_theta_rad":5.00699949,"cg_vd_req_v":0.0915408507,"cg_vd_v":0.0915408507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362998188,"cg_vq_v":-0.362998188,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1580505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.31958,"values":{"Elec_RPM":-7.56278546e-26,"EncoderCos":38706,"EncoderSin":12461,"GapTicks":54776,"Mech_RPM":-1.51255712e-26,"cg_du":50.1364975,"cg_dv":50.2031212,"cg_dw":49.7968788,"cg_id_a":-0.0545422584,"cg_id_raw_a":0.381102473,"cg_iq_a":-0.240405887,"cg_iq_raw_a":0.148821145,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9472733,"cg_sample_seq":14387916,"cg_sample_valid":1,"cg_theta_rad":5.00783682,"cg_vd_req_v":0.0920385495,"cg_vd_v":0.0920385495,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35341531,"cg_vq_v":-0.35341531,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.902410746,"dclink_p_w":130.998047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.327393,"values":{"Elec_RPM":-7.56278546e-26,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54777,"Mech_RPM":-1.51255712e-26,"cg_du":50.1387672,"cg_dv":50.2025337,"cg_dw":49.7974663,"cg_id_a":0.157616377,"cg_id_raw_a":0.461031467,"cg_iq_a":-0.193536609,"cg_iq_raw_a":-1.08267426,"cg_iu_a":0.256240129,"cg_iv_a":-0.257040501,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9436359,"cg_sample_seq":14387966,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0884227827,"cg_vd_v":0.0884227827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353074998,"cg_vq_v":-0.353074998,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.742937863,"dclink_p_w":107.521423,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.354736,"values":{"Elec_RPM":-7.41153001e-26,"EncoderCos":38730,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-1.482306e-26,"cg_du":50.1344986,"cg_dv":50.2037773,"cg_dw":49.7962227,"cg_id_a":0.0389205404,"cg_id_raw_a":0.145552561,"cg_iq_a":-0.168503076,"cg_iq_raw_a":-0.458597243,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.144175112,"cg_sample_age_us":24.4163628,"cg_sample_seq":14388021,"cg_sample_valid":1,"cg_theta_rad":5.00881815,"cg_vd_req_v":0.091593504,"cg_vd_v":0.091593504,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35158658,"cg_vq_v":-0.35158658,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.918720484,"dclink_p_w":132.557358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1930542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.362549,"values":{"Elec_RPM":-7.41153001e-26,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-1.482306e-26,"cg_du":50.1257362,"cg_dv":50.1978874,"cg_dw":49.8021126,"cg_id_a":0.027358178,"cg_id_raw_a":0.159100503,"cg_iq_a":-0.569793344,"cg_iq_raw_a":-1.03984761,"cg_iu_a":0.763653994,"cg_iv_a":0.830274463,"cg_iw_a":-1.59392846,"cg_sample_age_us":23.9254551,"cg_sample_seq":14388066,"cg_sample_valid":1,"cg_theta_rad":5.00810909,"cg_vd_req_v":0.0930517018,"cg_vd_v":0.0930517018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339735717,"cg_vq_v":-0.339735717,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.918720484,"dclink_p_w":132.557358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1994019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.374268,"values":{"Elec_RPM":-7.26329997e-26,"EncoderCos":38709,"EncoderSin":12451,"GapTicks":54777,"Mech_RPM":-1.45265993e-26,"cg_du":50.1431313,"cg_dv":50.2018776,"cg_dw":49.7981224,"cg_id_a":0.455901772,"cg_id_raw_a":0.069995977,"cg_iq_a":0.199753493,"cg_iq_raw_a":-0.10137412,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860837,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8818188,"cg_sample_seq":14388116,"cg_sample_valid":1,"cg_theta_rad":5.00629425,"cg_vd_req_v":0.0836678371,"cg_vd_v":0.0836678371,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355938762,"cg_vq_v":-0.355938762,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.918720484,"dclink_p_w":132.557358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8529968,"temp_inv2_c":37.1994019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.38208,"values":{"Elec_RPM":-7.26329997e-26,"EncoderCos":38729,"EncoderSin":12477,"GapTicks":54771,"Mech_RPM":-1.45265993e-26,"cg_du":50.1514664,"cg_dv":50.2073364,"cg_dw":49.7926636,"cg_id_a":0.513667583,"cg_id_raw_a":0.215387359,"cg_iq_a":0.718366504,"cg_iq_raw_a":0.130537242,"cg_iu_a":0.0750210285,"cg_iv_a":0.721542954,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.954546,"cg_sample_seq":14388166,"cg_sample_valid":1,"cg_theta_rad":5.00560331,"cg_vd_req_v":0.0820936859,"cg_vd_v":0.0820936859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368146569,"cg_vq_v":-0.368146569,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.704881847,"dclink_p_w":102.32386,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1978149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.389893,"values":{"Elec_RPM":-7.1180337e-26,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-1.42360674e-26,"cg_du":50.1471291,"cg_dv":50.2098045,"cg_dw":49.7901955,"cg_id_a":0.281252503,"cg_id_raw_a":0.26396665,"cg_iq_a":0.692712247,"cg_iq_raw_a":0.0621511564,"cg_iu_a":-1.19351292,"cg_iv_a":0.250373065,"cg_iw_a":0.943139851,"cg_sample_age_us":23.954546,"cg_sample_seq":14388216,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0876422599,"cg_vd_v":0.0876422599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369148284,"cg_vq_v":-0.369148284,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":47.0800018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.397705,"values":{"Elec_RPM":-7.1180337e-26,"EncoderCos":38692,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-1.42360674e-26,"cg_du":50.1389313,"cg_dv":50.2011185,"cg_dw":49.7988815,"cg_id_a":0.179105356,"cg_id_raw_a":0.0741115287,"cg_iq_a":-0.300680995,"cg_iq_raw_a":-0.538060248,"cg_iu_a":-0.14244175,"cg_iv_a":0.504079998,"cg_iw_a":-0.361638248,"cg_sample_age_us":23.954546,"cg_sample_seq":14388266,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.089060761,"cg_vd_v":0.089060761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35071227,"cg_vq_v":-0.35071227,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.7106514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.405518,"values":{"Elec_RPM":-6.97567265e-26,"EncoderCos":38727,"EncoderSin":12487,"GapTicks":54775,"Mech_RPM":-1.39513456e-26,"cg_du":50.1355782,"cg_dv":50.2044754,"cg_dw":49.7955246,"cg_id_a":0.127370849,"cg_id_raw_a":-0.0345611237,"cg_iq_a":-0.195527911,"cg_iq_raw_a":0.106742077,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14388318,"cg_sample_valid":1,"cg_theta_rad":5.00618601,"cg_vd_req_v":0.0912003368,"cg_vd_v":0.0912003368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353194356,"cg_vq_v":-0.353194356,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.2899094,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.417236,"values":{"Elec_RPM":-6.97567265e-26,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54763,"Mech_RPM":-1.39513456e-26,"cg_du":50.1449318,"cg_dv":50.214859,"cg_dw":49.785141,"cg_id_a":-0.0826879367,"cg_id_raw_a":-0.250231981,"cg_iq_a":0.692720771,"cg_iq_raw_a":0.158330172,"cg_iu_a":-0.359905005,"cg_iv_a":-0.945673347,"cg_iw_a":1.30557835,"cg_sample_age_us":23.9472733,"cg_sample_seq":14388366,"cg_sample_valid":1,"cg_theta_rad":5.00903845,"cg_vd_req_v":0.0953614339,"cg_vd_v":0.0953614339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373342007,"cg_vq_v":-0.373342007,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.425049,"values":{"Elec_RPM":-6.8361589e-26,"EncoderCos":38698,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.36723184e-26,"cg_du":50.1390457,"cg_dv":50.2067184,"cg_dw":49.7932816,"cg_id_a":-0.0575425588,"cg_id_raw_a":-0.0841627494,"cg_iq_a":-0.141483828,"cg_iq_raw_a":-0.444980055,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9472733,"cg_sample_seq":14388416,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0931837261,"cg_vd_v":0.0931837261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357521415,"cg_vq_v":-0.357521415,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.7531223,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.432861,"values":{"Elec_RPM":-6.8361589e-26,"EncoderCos":38701,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-1.36723184e-26,"cg_du":50.1439056,"cg_dv":50.2083969,"cg_dw":49.7916031,"cg_id_a":-0.089177452,"cg_id_raw_a":-0.490500748,"cg_iq_a":0.182617962,"cg_iq_raw_a":-0.37751314,"cg_iu_a":-0.86731863,"cg_iv_a":1.12022507,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9872723,"cg_sample_seq":14388467,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.0918095559,"cg_vd_v":0.0918095559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364674777,"cg_vq_v":-0.364674777,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.9301853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.460205,"values":{"Elec_RPM":-6.69943575e-26,"EncoderCos":38718,"EncoderSin":12495,"GapTicks":54764,"Mech_RPM":-1.33988718e-26,"cg_du":50.1438484,"cg_dv":50.2139511,"cg_dw":49.7860489,"cg_id_a":-0.135053009,"cg_id_raw_a":-0.104228161,"cg_iq_a":0.26069662,"cg_iq_raw_a":0.391280323,"cg_iu_a":-0.396148682,"cg_iv_a":-0.365772128,"cg_iw_a":0.76192081,"cg_sample_age_us":23.954546,"cg_sample_seq":14388520,"cg_sample_valid":1,"cg_theta_rad":5.00678778,"cg_vd_req_v":0.0947123319,"cg_vd_v":0.0947123319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371657848,"cg_vq_v":-0.371657848,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2507505,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.468018,"values":{"Elec_RPM":-6.69943575e-26,"EncoderCos":38719,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-1.33988718e-26,"cg_du":50.1463623,"cg_dv":50.2097778,"cg_dw":49.7902222,"cg_id_a":0.0880708098,"cg_id_raw_a":-0.468656003,"cg_iq_a":-0.081320487,"cg_iq_raw_a":0.0281587224,"cg_iu_a":-0.39614892,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9618187,"cg_sample_seq":14388567,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0888779536,"cg_vd_v":0.0888779536,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367341101,"cg_vq_v":-0.367341101,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2507505,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.479736,"values":{"Elec_RPM":-6.56544773e-26,"EncoderCos":38688,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-1.31308948e-26,"cg_du":50.1475601,"cg_dv":50.2147484,"cg_dw":49.7852516,"cg_id_a":-0.190757036,"cg_id_raw_a":-0.323576987,"cg_iq_a":-0.000975981355,"cg_iq_raw_a":-0.360757411,"cg_iu_a":0.727410078,"cg_iv_a":-0.257040501,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8490906,"cg_sample_seq":14388616,"cg_sample_valid":1,"cg_theta_rad":5.0077281,"cg_vd_req_v":0.0953061283,"cg_vd_v":0.0953061283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374132574,"cg_vq_v":-0.374132574,"cg_vu_v":36.9509773,"cg_vv_v":37.830761,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.71273899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1914368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.487549,"values":{"Elec_RPM":-6.56544773e-26,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54754,"Mech_RPM":-1.31308948e-26,"cg_du":50.1565819,"cg_dv":50.2229271,"cg_dw":49.7770729,"cg_id_a":-0.175437033,"cg_id_raw_a":-0.308152914,"cg_iq_a":0.776195884,"cg_iq_raw_a":0.554095924,"cg_iu_a":0.14750886,"cg_iv_a":-0.619478822,"cg_iw_a":0.471969962,"cg_sample_age_us":23.954546,"cg_sample_seq":14388667,"cg_sample_valid":1,"cg_theta_rad":5.00803804,"cg_vd_req_v":0.0924761668,"cg_vd_v":0.0924761668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389970064,"cg_vq_v":-0.389970064,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1914368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.495361,"values":{"Elec_RPM":-6.43413813e-26,"EncoderCos":38709,"EncoderSin":12483,"GapTicks":54761,"Mech_RPM":-1.28682766e-26,"cg_du":50.14645,"cg_dv":50.2171402,"cg_dw":49.7828598,"cg_id_a":-0.452522665,"cg_id_raw_a":-0.270561397,"cg_iq_a":0.0184972771,"cg_iq_raw_a":-0.062510632,"cg_iu_a":0.0750212669,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144175231,"cg_sample_age_us":23.9799995,"cg_sample_seq":14388716,"cg_sample_valid":1,"cg_theta_rad":5.00617123,"cg_vd_req_v":0.0968471467,"cg_vd_v":0.0968471467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377175122,"cg_vq_v":-0.377175122,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.503174,"values":{"Elec_RPM":-6.43413813e-26,"EncoderCos":38731,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-1.28682766e-26,"cg_du":50.1512451,"cg_dv":50.2105484,"cg_dw":49.7894516,"cg_id_a":0.146256685,"cg_id_raw_a":-0.240032047,"cg_iq_a":-0.30357039,"cg_iq_raw_a":-0.167144358,"cg_iu_a":0.0750212669,"cg_iv_a":0.902762115,"cg_iw_a":-0.977783382,"cg_sample_age_us":23.9254551,"cg_sample_seq":14388766,"cg_sample_valid":1,"cg_theta_rad":5.00687885,"cg_vd_req_v":0.0846048295,"cg_vd_v":0.0846048295,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372591197,"cg_vq_v":-0.372591197,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.510986,"values":{"Elec_RPM":-6.30545519e-26,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-1.26109107e-26,"cg_du":50.1470909,"cg_dv":50.210804,"cg_dw":49.789196,"cg_id_a":-0.167062789,"cg_id_raw_a":-0.236084864,"cg_iq_a":-0.505966902,"cg_iq_raw_a":0.0137683144,"cg_iu_a":0.219996452,"cg_iv_a":0.322860777,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9145451,"cg_sample_seq":14388816,"cg_sample_valid":1,"cg_theta_rad":5.00856638,"cg_vd_req_v":0.0904339403,"cg_vd_v":0.0904339403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370060623,"cg_vq_v":-0.370060623,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1946411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.518799,"values":{"Elec_RPM":-6.30545519e-26,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-1.26109107e-26,"cg_du":50.1584206,"cg_dv":50.2153664,"cg_dw":49.7846336,"cg_id_a":-0.0146485502,"cg_id_raw_a":-0.199929088,"cg_iq_a":0.27146253,"cg_iq_raw_a":-0.347077817,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.954546,"cg_sample_seq":14388866,"cg_sample_valid":1,"cg_theta_rad":5.0094614,"cg_vd_req_v":0.0863377675,"cg_vd_v":0.0863377675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382588595,"cg_vq_v":-0.382588595,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.530518,"values":{"Elec_RPM":-6.17934592e-26,"EncoderCos":38728,"EncoderSin":12469,"GapTicks":54771,"Mech_RPM":-1.23586925e-26,"cg_du":50.1584625,"cg_dv":50.2075729,"cg_dw":49.7924271,"cg_id_a":0.317158461,"cg_id_raw_a":-0.000218035362,"cg_iq_a":-0.25919348,"cg_iq_raw_a":-1.12794209,"cg_iu_a":0.00253343582,"cg_iv_a":0.975249767,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9436359,"cg_sample_seq":14388916,"cg_sample_valid":1,"cg_theta_rad":5.00737858,"cg_vd_req_v":0.0768637359,"cg_vd_v":0.0768637359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371210694,"cg_vq_v":-0.371210694,"cg_vu_v":37.3908691,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.53833,"values":{"Elec_RPM":-6.17934592e-26,"EncoderCos":38710,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-1.23586925e-26,"cg_du":50.1480217,"cg_dv":50.2073898,"cg_dw":49.7926102,"cg_id_a":-0.131456986,"cg_id_raw_a":0.0225141365,"cg_iq_a":-0.613357186,"cg_iq_raw_a":-0.470459163,"cg_iu_a":0.79989779,"cg_iv_a":0.612811446,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.994545,"cg_sample_seq":14388966,"cg_sample_valid":1,"cg_theta_rad":5.00658989,"cg_vd_req_v":0.086256735,"cg_vd_v":0.086256735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364789546,"cg_vq_v":-0.364789546,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.6650238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.565674,"values":{"Elec_RPM":-6.05575915e-26,"EncoderCos":38724,"EncoderSin":12509,"GapTicks":54757,"Mech_RPM":-1.21115186e-26,"cg_du":50.1754036,"cg_dv":50.2209053,"cg_dw":49.7790947,"cg_id_a":0.308778971,"cg_id_raw_a":-0.182801202,"cg_iq_a":0.950997293,"cg_iq_raw_a":0.566059828,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8563633,"cg_sample_seq":14389021,"cg_sample_valid":1,"cg_theta_rad":5.00737858,"cg_vd_req_v":0.075748086,"cg_vd_v":0.075748086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398976773,"cg_vq_v":-0.398976773,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.6650238,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.177124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.573486,"values":{"Elec_RPM":-6.05575915e-26,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-1.21115186e-26,"cg_du":50.1578407,"cg_dv":50.2053528,"cg_dw":49.7946472,"cg_id_a":0.249439389,"cg_id_raw_a":0.462525219,"cg_iq_a":-0.565981328,"cg_iq_raw_a":-0.463737458,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796824,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9836369,"cg_sample_seq":14389067,"cg_sample_valid":1,"cg_theta_rad":5.00616932,"cg_vd_req_v":0.0761333033,"cg_vd_v":0.0761333033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368809789,"cg_vq_v":-0.368809789,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.177124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.581299,"values":{"Elec_RPM":-5.93464435e-26,"EncoderCos":38695,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-1.18692882e-26,"cg_du":50.1642075,"cg_dv":50.2106705,"cg_dw":49.7893295,"cg_id_a":0.0195786953,"cg_id_raw_a":-0.180851847,"cg_iq_a":0.0743447095,"cg_iq_raw_a":0.492137611,"cg_iu_a":-0.541124105,"cg_iv_a":0.975249767,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.954546,"cg_sample_seq":14389117,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0786113366,"cg_vd_v":0.0786113366,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379177779,"cg_vq_v":-0.379177779,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.424113631,"dclink_p_w":-61.5662651,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.593018,"values":{"Elec_RPM":-5.93464435e-26,"EncoderCos":38742,"EncoderSin":12482,"GapTicks":54765,"Mech_RPM":-1.18692882e-26,"cg_du":50.1588593,"cg_dv":50.2127876,"cg_dw":49.7872124,"cg_id_a":-0.0458338931,"cg_id_raw_a":0.0618790574,"cg_iq_a":0.1231912,"cg_iq_raw_a":0.661627948,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592345,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14389167,"cg_sample_valid":1,"cg_theta_rad":5.00586843,"cg_vd_req_v":0.0803086534,"cg_vd_v":0.0803086534,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380003512,"cg_vq_v":-0.380003512,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.5209732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.60083,"values":{"Elec_RPM":-5.8159516e-26,"EncoderCos":38734,"EncoderSin":12465,"GapTicks":54769,"Mech_RPM":-1.16319027e-26,"cg_du":50.1604042,"cg_dv":50.2094879,"cg_dw":49.7905121,"cg_id_a":0.194138959,"cg_id_raw_a":0.343558788,"cg_iq_a":-0.0893358737,"cg_iq_raw_a":-0.112214968,"cg_iu_a":0.0750212669,"cg_iv_a":0.649055243,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.954546,"cg_sample_seq":14389216,"cg_sample_valid":1,"cg_theta_rad":5.00558615,"cg_vd_req_v":0.0767875388,"cg_vd_v":0.0767875388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37498495,"cg_vq_v":-0.37498495,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1802979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.608643,"values":{"Elec_RPM":-5.8159516e-26,"EncoderCos":38706,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-1.16319027e-26,"cg_du":50.1684456,"cg_dv":50.2095184,"cg_dw":49.7904816,"cg_id_a":0.362386465,"cg_id_raw_a":0.244196162,"cg_iq_a":0.0825720057,"cg_iq_raw_a":0.462682843,"cg_iu_a":-0.468636513,"cg_iv_a":0.0691539645,"cg_iw_a":0.399482548,"cg_sample_age_us":23.954546,"cg_sample_seq":14389267,"cg_sample_valid":1,"cg_theta_rad":5.00625896,"cg_vd_req_v":0.0728811994,"cg_vd_v":0.0728811994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379073918,"cg_vq_v":-0.379073918,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1818848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.616455,"values":{"Elec_RPM":-5.69963221e-26,"EncoderCos":38724,"EncoderSin":12437,"GapTicks":54768,"Mech_RPM":-1.1399265e-26,"cg_du":50.1628342,"cg_dv":50.2100983,"cg_dw":49.7899017,"cg_id_a":0.116893359,"cg_id_raw_a":0.19174318,"cg_iq_a":0.00360140204,"cg_iq_raw_a":-0.271557778,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9436359,"cg_sample_seq":14389317,"cg_sample_valid":1,"cg_theta_rad":5.00693893,"cg_vd_req_v":0.0770474672,"cg_vd_v":0.0770474672,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376852214,"cg_vq_v":-0.376852214,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1818848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.624268,"values":{"Elec_RPM":-5.69963221e-26,"EncoderCos":38717,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-1.1399265e-26,"cg_du":50.1591568,"cg_dv":50.2109146,"cg_dw":49.7890854,"cg_id_a":-0.0601400062,"cg_id_raw_a":0.0290735513,"cg_iq_a":0.112991393,"cg_iq_raw_a":-0.542622983,"cg_iu_a":0.944873095,"cg_iv_a":0.359104633,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.8527279,"cg_sample_seq":14389366,"cg_sample_valid":1,"cg_theta_rad":5.00724936,"cg_vd_req_v":0.0807675943,"cg_vd_v":0.0807675943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377079755,"cg_vq_v":-0.377079755,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.63208,"values":{"Elec_RPM":-5.58563996e-26,"EncoderCos":38714,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-1.11712796e-26,"cg_du":50.1653061,"cg_dv":50.2067032,"cg_dw":49.7932968,"cg_id_a":0.318380773,"cg_id_raw_a":0.237384245,"cg_iq_a":-0.030931592,"cg_iq_raw_a":-0.522059321,"cg_iu_a":-0.0699541569,"cg_iv_a":0.721542895,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9799995,"cg_sample_seq":14389416,"cg_sample_valid":1,"cg_theta_rad":5.00567341,"cg_vd_req_v":0.0718689933,"cg_vd_v":0.0718689933,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374803871,"cg_vq_v":-0.374803871,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.643799,"values":{"Elec_RPM":-5.58563996e-26,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54764,"Mech_RPM":-1.11712796e-26,"cg_du":50.1595459,"cg_dv":50.2143669,"cg_dw":49.7856331,"cg_id_a":-0.34276557,"cg_id_raw_a":-0.700038195,"cg_iq_a":0.304231703,"cg_iq_raw_a":-0.39647752,"cg_iu_a":-0.468636274,"cg_iv_a":-0.691966534,"cg_iw_a":1.16060281,"cg_sample_age_us":23.9254551,"cg_sample_seq":14389466,"cg_sample_valid":1,"cg_theta_rad":5.00782728,"cg_vd_req_v":0.0838287994,"cg_vd_v":0.0838287994,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38079375,"cg_vq_v":-0.38079375,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.671143,"values":{"Elec_RPM":-5.47392678e-26,"EncoderCos":38692,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-1.0947854e-26,"cg_du":50.1534462,"cg_dv":50.2079201,"cg_dw":49.7920799,"cg_id_a":-0.387272269,"cg_id_raw_a":-0.358437955,"cg_iq_a":-0.383500069,"cg_iq_raw_a":-0.688538849,"cg_iu_a":0.219996452,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8563633,"cg_sample_seq":14389521,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0840048045,"cg_vd_v":0.0840048045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368228137,"cg_vq_v":-0.368228137,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.678955,"values":{"Elec_RPM":-5.47392678e-26,"EncoderCos":38688,"EncoderSin":12441,"GapTicks":54764,"Mech_RPM":-1.0947854e-26,"cg_du":50.1655922,"cg_dv":50.2137642,"cg_dw":49.7862358,"cg_id_a":-0.29717505,"cg_id_raw_a":-0.228462279,"cg_iq_a":0.31679073,"cg_iq_raw_a":-0.0601216666,"cg_iu_a":-0.359905005,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9509087,"cg_sample_seq":14389567,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0814854726,"cg_vd_v":0.0814854726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38275367,"cg_vq_v":-0.38275367,"cg_vu_v":102.055069,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.686768,"values":{"Elec_RPM":-5.36444829e-26,"EncoderCos":38720,"EncoderSin":12446,"GapTicks":54773,"Mech_RPM":-1.07288966e-26,"cg_du":50.1640396,"cg_dv":50.2057686,"cg_dw":49.7942314,"cg_id_a":0.149054885,"cg_id_raw_a":-0.0710043833,"cg_iq_a":-0.103152908,"cg_iq_raw_a":-0.58901757,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9581814,"cg_sample_seq":14389617,"cg_sample_valid":1,"cg_theta_rad":5.00723267,"cg_vd_req_v":0.0719918385,"cg_vd_v":0.0719918385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371631414,"cg_vq_v":-0.371631414,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.69458,"values":{"Elec_RPM":-5.36444829e-26,"EncoderCos":38724,"EncoderSin":12496,"GapTicks":54768,"Mech_RPM":-1.07288966e-26,"cg_du":50.1659889,"cg_dv":50.2101898,"cg_dw":49.7898102,"cg_id_a":0.121147208,"cg_id_raw_a":-0.0625159144,"cg_iq_a":0.248700216,"cg_iq_raw_a":-0.0415409133,"cg_iu_a":-1.12102532,"cg_iv_a":-0.438259721,"cg_iw_a":1.55928504,"cg_sample_age_us":23.9290905,"cg_sample_seq":14389666,"cg_sample_valid":1,"cg_theta_rad":5.00760937,"cg_vd_req_v":0.0731254816,"cg_vd_v":0.0731254816,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379051477,"cg_vq_v":-0.379051477,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.2026062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.706299,"values":{"Elec_RPM":-5.25715951e-26,"EncoderCos":38705,"EncoderSin":12422,"GapTicks":54772,"Mech_RPM":-1.05143187e-26,"cg_du":50.1618462,"cg_dv":50.206501,"cg_dw":49.793499,"cg_id_a":0.0300952867,"cg_id_raw_a":0.221711025,"cg_iq_a":-0.123262808,"cg_iq_raw_a":0.0604237393,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945386,"cg_sample_age_us":23.954546,"cg_sample_seq":14389717,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.0765337497,"cg_vd_v":0.0765337497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372141361,"cg_vq_v":-0.372141361,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.2026062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.714111,"values":{"Elec_RPM":-5.25715951e-26,"EncoderCos":38729,"EncoderSin":12513,"GapTicks":54770,"Mech_RPM":-1.05143187e-26,"cg_du":50.156826,"cg_dv":50.2084808,"cg_dw":49.7915192,"cg_id_a":-0.041594401,"cg_id_raw_a":-0.446935296,"cg_iq_a":-0.0397352986,"cg_iq_raw_a":0.250560373,"cg_iu_a":-0.214929581,"cg_iv_a":0.649055243,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14389767,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0780507848,"cg_vd_v":0.0780507848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372910202,"cg_vq_v":-0.372910202,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1739502,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.721924,"values":{"Elec_RPM":-5.15201637e-26,"EncoderCos":38723,"EncoderSin":12493,"GapTicks":54770,"Mech_RPM":-1.03040326e-26,"cg_du":50.1555481,"cg_dv":50.2082558,"cg_dw":49.7917442,"cg_id_a":0.0376208723,"cg_id_raw_a":0.0280377977,"cg_iq_a":-0.0410402566,"cg_iq_raw_a":0.331159413,"cg_iu_a":0.763653994,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14389816,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.0796208307,"cg_vd_v":0.0796208307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370545417,"cg_vq_v":-0.370545417,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.729736,"values":{"Elec_RPM":-5.15201637e-26,"EncoderCos":38704,"EncoderSin":12476,"GapTicks":54779,"Mech_RPM":-1.03040326e-26,"cg_du":50.1577301,"cg_dv":50.2002487,"cg_dw":49.7997513,"cg_id_a":0.359682262,"cg_id_raw_a":0.399395436,"cg_iq_a":-0.470844686,"cg_iq_raw_a":-1.48883474,"cg_iu_a":0.401215553,"cg_iv_a":0.322860777,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9836369,"cg_sample_seq":14389866,"cg_sample_valid":1,"cg_theta_rad":5.00484896,"cg_vd_req_v":0.0721276924,"cg_vd_v":0.0721276924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360476613,"cg_vq_v":-0.360476613,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.737549,"values":{"Elec_RPM":-5.04897603e-26,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-1.00979519e-26,"cg_du":50.1558685,"cg_dv":50.2133446,"cg_dw":49.7866554,"cg_id_a":-0.286874175,"cg_id_raw_a":-0.534256279,"cg_iq_a":0.518490195,"cg_iq_raw_a":0.93265903,"cg_iu_a":0.183752775,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9581814,"cg_sample_seq":14389916,"cg_sample_valid":1,"cg_theta_rad":5.00586843,"cg_vd_req_v":0.0844463035,"cg_vd_v":0.0844463035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377623022,"cg_vq_v":-0.377623022,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1278076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.745361,"values":{"Elec_RPM":-5.04897603e-26,"EncoderCos":38729,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-1.00979519e-26,"cg_du":50.1591263,"cg_dv":50.2048416,"cg_dw":49.7951584,"cg_id_a":0.178406253,"cg_id_raw_a":0.253163695,"cg_iq_a":0.18192485,"cg_iq_raw_a":-0.484712422,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14389966,"cg_sample_valid":1,"cg_theta_rad":5.00715923,"cg_vd_req_v":0.0735563636,"cg_vd_v":0.0735563636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367886394,"cg_vq_v":-0.367886394,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.253474087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1278076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.776611,"values":{"Elec_RPM":-4.94799629e-26,"EncoderCos":38731,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-9.89599274e-27,"cg_du":50.1542358,"cg_dv":50.2045746,"cg_dw":49.7954254,"cg_id_a":0.0343914069,"cg_id_raw_a":0.0360339209,"cg_iq_a":0.213241279,"cg_iq_raw_a":0.69589442,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885473,"cg_iw_a":-0.0716874003,"cg_sample_age_us":26.8163643,"cg_sample_seq":14390021,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0769101754,"cg_vd_v":0.0769101754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365997165,"cg_vq_v":-0.365997165,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.2073669,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.784424,"values":{"Elec_RPM":-4.94799629e-26,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-9.89599274e-27,"cg_du":50.1455498,"cg_dv":50.2042274,"cg_dw":49.7957726,"cg_id_a":-0.303118765,"cg_id_raw_a":-0.335817575,"cg_iq_a":-0.047800228,"cg_iq_raw_a":-0.469175279,"cg_iu_a":-0.323661089,"cg_iv_a":-0.329528213,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14390067,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0847861916,"cg_vd_v":0.0847861916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36033538,"cg_vq_v":-0.36033538,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.792236,"values":{"Elec_RPM":-4.84903616e-26,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-9.69807262e-27,"cg_du":50.1484756,"cg_dv":50.2033653,"cg_dw":49.7966347,"cg_id_a":-0.108727232,"cg_id_raw_a":0.315602571,"cg_iq_a":-0.0559873246,"cg_iq_raw_a":-0.260485262,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9436359,"cg_sample_seq":14390117,"cg_sample_valid":1,"cg_theta_rad":5.00605965,"cg_vd_req_v":0.0802481025,"cg_vd_v":0.0802481025,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359971344,"cg_vq_v":-0.359971344,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04345465,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.800049,"values":{"Elec_RPM":-4.84903616e-26,"EncoderCos":38730,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-9.69807262e-27,"cg_du":50.1433754,"cg_dv":50.2046356,"cg_dw":49.7953644,"cg_id_a":-0.277703762,"cg_id_raw_a":-0.40954569,"cg_iq_a":-0.144669116,"cg_iq_raw_a":0.0710371807,"cg_iu_a":0.364971876,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14390167,"cg_sample_valid":1,"cg_theta_rad":5.00606966,"cg_vd_req_v":0.0855806842,"cg_vd_v":0.0855806842,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358827353,"cg_vq_v":-0.358827353,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.3810158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1691895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.807861,"values":{"Elec_RPM":-4.65701447e-26,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-9.31402909e-27,"cg_du":50.1442528,"cg_dv":50.2076302,"cg_dw":49.7923698,"cg_id_a":-0.347370803,"cg_id_raw_a":0.24971801,"cg_iq_a":0.186552539,"cg_iq_raw_a":0.207221791,"cg_iu_a":0.509947062,"cg_iv_a":-0.474503636,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9872723,"cg_sample_seq":14390316,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0888764858,"cg_vd_v":0.0888764858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364303619,"cg_vq_v":-0.364303619,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.81958,"values":{"Elec_RPM":-4.65701447e-26,"EncoderCos":38717,"EncoderSin":12496,"GapTicks":54774,"Mech_RPM":-9.31402909e-27,"cg_du":50.1429024,"cg_dv":50.2046127,"cg_dw":49.7953873,"cg_id_a":-0.289966434,"cg_id_raw_a":-0.777770102,"cg_iq_a":0.0275284108,"cg_iq_raw_a":0.398993403,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9836369,"cg_sample_seq":14390366,"cg_sample_valid":1,"cg_theta_rad":5.00754881,"cg_vd_req_v":0.0867084339,"cg_vd_v":0.0867084339,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359500557,"cg_vq_v":-0.359500557,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.827393,"values":{"Elec_RPM":-4.56387434e-26,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-9.12774853e-27,"cg_du":50.1592369,"cg_dv":50.205616,"cg_dw":49.794384,"cg_id_a":0.213633269,"cg_id_raw_a":-0.275466919,"cg_iq_a":0.660744488,"cg_iq_raw_a":0.629277885,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9436359,"cg_sample_seq":14390416,"cg_sample_valid":1,"cg_theta_rad":5.00586748,"cg_vd_req_v":0.0753892511,"cg_vd_v":0.0753892511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369936556,"cg_vq_v":-0.369936556,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8284607,"temp_inv2_c":37.1628113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.835205,"values":{"Elec_RPM":-4.56387434e-26,"EncoderCos":38709,"EncoderSin":12482,"GapTicks":54780,"Mech_RPM":-9.12774853e-27,"cg_du":50.13908,"cg_dv":50.1996651,"cg_dw":49.8003349,"cg_id_a":0.0501159579,"cg_id_raw_a":-0.142817765,"cg_iq_a":-0.361202389,"cg_iq_raw_a":-0.923967838,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397701,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9254551,"cg_sample_seq":14390467,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0856153071,"cg_vd_v":0.0856153071,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348171949,"cg_vq_v":-0.348171949,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.862549,"values":{"Elec_RPM":-4.47259666e-26,"EncoderCos":38734,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-8.94519348e-27,"cg_du":50.1604843,"cg_dv":50.2127037,"cg_dw":49.7872963,"cg_id_a":0.181289837,"cg_id_raw_a":0.160009995,"cg_iq_a":1.09452033,"cg_iq_raw_a":0.27087608,"cg_iu_a":0.509947062,"cg_iv_a":-0.402015865,"cg_iw_a":-0.107931197,"cg_sample_age_us":26.8163643,"cg_sample_seq":14390519,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0799188539,"cg_vd_v":0.0799188539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379393607,"cg_vq_v":-0.379393607,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.186676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.874268,"values":{"Elec_RPM":-4.47259666e-26,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-8.94519348e-27,"cg_du":50.1530075,"cg_dv":50.2040939,"cg_dw":49.7959061,"cg_id_a":0.259757698,"cg_id_raw_a":0.651839435,"cg_iq_a":0.162747577,"cg_iq_raw_a":0.828897893,"cg_iu_a":-0.359904885,"cg_iv_a":0.21412921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14390566,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0782169029,"cg_vd_v":0.0782169029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363321781,"cg_vq_v":-0.363321781,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.88208,"values":{"Elec_RPM":-4.38314507e-26,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-8.76628999e-27,"cg_du":50.1618385,"cg_dv":50.2098694,"cg_dw":49.7901306,"cg_id_a":0.420605332,"cg_id_raw_a":0.0105164498,"cg_iq_a":0.888064623,"cg_iq_raw_a":0.29309535,"cg_iu_a":-0.50488019,"cg_iv_a":0.0329101086,"cg_iw_a":1.30557835,"cg_sample_age_us":23.9618187,"cg_sample_seq":14390616,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0766496584,"cg_vd_v":0.0766496584,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377371371,"cg_vq_v":-0.377371371,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.889893,"values":{"Elec_RPM":-4.38314507e-26,"EncoderCos":38714,"EncoderSin":12476,"GapTicks":54771,"Mech_RPM":-8.76628999e-27,"cg_du":50.1557961,"cg_dv":50.2077675,"cg_dw":49.7922325,"cg_id_a":0.207709059,"cg_id_raw_a":-0.719677567,"cg_iq_a":0.559723258,"cg_iq_raw_a":0.439629793,"cg_iu_a":-1.51970768,"cg_iv_a":0.250373125,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9509087,"cg_sample_seq":14390666,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.080389902,"cg_vd_v":0.080389902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370888799,"cg_vq_v":-0.370888799,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.897705,"values":{"Elec_RPM":-4.29548198e-26,"EncoderCos":38700,"EncoderSin":12487,"GapTicks":54773,"Mech_RPM":-8.59096412e-27,"cg_du":50.1524086,"cg_dv":50.2058296,"cg_dw":49.7941704,"cg_id_a":0.0618497878,"cg_id_raw_a":-0.0373627283,"cg_iq_a":0.361908138,"cg_iq_raw_a":0.543457448,"cg_iu_a":-0.396148682,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9799995,"cg_sample_seq":14390716,"cg_sample_valid":1,"cg_theta_rad":5.0063796,"cg_vd_req_v":0.0820477158,"cg_vd_v":0.0820477158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366138399,"cg_vq_v":-0.366138399,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-53.1481438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.905518,"values":{"Elec_RPM":-4.29548198e-26,"EncoderCos":38742,"EncoderSin":12492,"GapTicks":54782,"Mech_RPM":-8.59096412e-27,"cg_du":50.1450272,"cg_dv":50.1977234,"cg_dw":49.8022766,"cg_id_a":0.308274835,"cg_id_raw_a":0.0777326599,"cg_iq_a":-0.451811969,"cg_iq_raw_a":-0.428838372,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8527279,"cg_sample_seq":14390766,"cg_sample_valid":1,"cg_theta_rad":5.00835896,"cg_vd_req_v":0.0761905834,"cg_vd_v":0.0761905834,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350645125,"cg_vq_v":-0.350645125,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-53.1481438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.91333,"values":{"Elec_RPM":-4.20957256e-26,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-8.41914497e-27,"cg_du":50.1427269,"cg_dv":50.207016,"cg_dw":49.792984,"cg_id_a":-0.381410003,"cg_id_raw_a":0.512323618,"cg_iq_a":-0.109342411,"cg_iq_raw_a":-0.530758977,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14390817,"cg_sample_valid":1,"cg_theta_rad":5.00691462,"cg_vd_req_v":0.0898376182,"cg_vd_v":0.0898376182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360185981,"cg_vq_v":-0.360185981,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-53.1481438,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.8039551,"temp_inv2_c":37.1628113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.921143,"values":{"Elec_RPM":-4.20957256e-26,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54785,"Mech_RPM":-8.41914497e-27,"cg_du":50.1337891,"cg_dv":50.1952438,"cg_dw":49.8047562,"cg_id_a":-0.12141028,"cg_id_raw_a":-0.168925807,"cg_iq_a":-0.874527693,"cg_iq_raw_a":-0.452930152,"cg_iu_a":0.401215672,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9836369,"cg_sample_seq":14390867,"cg_sample_valid":1,"cg_theta_rad":5.00987768,"cg_vd_req_v":0.0849694014,"cg_vd_v":0.0849694014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33934173,"cg_vq_v":-0.33934173,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.3796806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2604.932861,"values":{"Elec_RPM":-4.12538138e-26,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-8.25076246e-27,"cg_du":50.1480637,"cg_dv":50.2000275,"cg_dw":49.7999725,"cg_id_a":0.241991609,"cg_id_raw_a":0.675763428,"cg_iq_a":0.0603853352,"cg_iq_raw_a":-0.518213272,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8563633,"cg_sample_seq":14390917,"cg_sample_valid":1,"cg_theta_rad":5.00666523,"cg_vd_req_v":0.0769593269,"cg_vd_v":0.0769593269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355277717,"cg_vq_v":-0.355277717,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.940674,"values":{"Elec_RPM":-4.12538138e-26,"EncoderCos":38739,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-8.25076246e-27,"cg_du":50.1419258,"cg_dv":50.1978416,"cg_dw":49.8021584,"cg_id_a":0.176573128,"cg_id_raw_a":0.176776558,"cg_iq_a":-0.173399523,"cg_iq_raw_a":-0.128209352,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9799995,"cg_sample_seq":14390967,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.079688251,"cg_vd_v":0.079688251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348872244,"cg_vq_v":-0.348872244,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1676025,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2604.951651,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2604.951658,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2604.951663,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2604.968018,"values":{"Elec_RPM":-4.04287362e-26,"EncoderCos":38761,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-8.08574724e-27,"cg_du":50.1255569,"cg_dv":50.1972198,"cg_dw":49.8027802,"cg_id_a":-0.369047284,"cg_id_raw_a":-0.133546799,"cg_iq_a":-0.593351543,"cg_iq_raw_a":-0.192810223,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885473,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8563633,"cg_sample_seq":14391020,"cg_sample_valid":1,"cg_theta_rad":5.00712681,"cg_vd_req_v":0.0901223943,"cg_vd_v":0.0901223943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340480566,"cg_vq_v":-0.340480566,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.97583,"values":{"Elec_RPM":-4.04287362e-26,"EncoderCos":38716,"EncoderSin":12500,"GapTicks":54776,"Mech_RPM":-8.08574724e-27,"cg_du":50.141243,"cg_dv":50.2030449,"cg_dw":49.7969551,"cg_id_a":-0.170489401,"cg_id_raw_a":0.36789459,"cg_iq_a":-0.0151402503,"cg_iq_raw_a":0.29123351,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592226,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14391066,"cg_sample_valid":1,"cg_theta_rad":5.00781536,"cg_vd_req_v":0.0862092599,"cg_vd_v":0.0862092599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355352789,"cg_vq_v":-0.355352789,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2604.987549,"values":{"Elec_RPM":-3.88277584e-26,"EncoderCos":38712,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-7.76555137e-27,"cg_du":50.1511612,"cg_dv":50.2092972,"cg_dw":49.7907028,"cg_id_a":-0.168945611,"cg_id_raw_a":-0.410898864,"cg_iq_a":0.529686928,"cg_iq_raw_a":0.506520271,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.474503517,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9836369,"cg_sample_seq":14391217,"cg_sample_valid":1,"cg_theta_rad":5.00923872,"cg_vd_req_v":0.0855436996,"cg_vd_v":0.0855436996,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370351553,"cg_vq_v":-0.370351553,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.7738914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2604.995361,"values":{"Elec_RPM":-3.88277584e-26,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-7.76555137e-27,"cg_du":50.1530876,"cg_dv":50.203392,"cg_dw":49.796608,"cg_id_a":0.278599501,"cg_id_raw_a":1.04530942,"cg_iq_a":0.24469161,"cg_iq_raw_a":1.59137404,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9472733,"cg_sample_seq":14391267,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0764691755,"cg_vd_v":0.0764691755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363780856,"cg_vq_v":-0.363780856,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1612244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.003174,"values":{"Elec_RPM":-3.80512019e-26,"EncoderCos":38733,"EncoderSin":12465,"GapTicks":54764,"Mech_RPM":-7.61024053e-27,"cg_du":50.1556091,"cg_dv":50.2138519,"cg_dw":49.7861481,"cg_id_a":-0.117451489,"cg_id_raw_a":0.595440149,"cg_iq_a":0.862816334,"cg_iq_raw_a":1.65938342,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14391317,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0848704576,"cg_vd_v":0.0848704576,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378227443,"cg_vq_v":-0.378227443,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-81.0331573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1612244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.010986,"values":{"Elec_RPM":-3.80512019e-26,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-7.61024053e-27,"cg_du":50.1381187,"cg_dv":50.2053719,"cg_dw":49.7946281,"cg_id_a":-0.279991448,"cg_id_raw_a":0.270792276,"cg_iq_a":-0.235621378,"cg_iq_raw_a":-0.00983130187,"cg_iu_a":0.292484045,"cg_iv_a":0.57656765,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9836369,"cg_sample_seq":14391367,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0904146433,"cg_vd_v":0.0904146433,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356893271,"cg_vq_v":-0.356893271,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1516724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.022705,"values":{"Elec_RPM":-3.72901791e-26,"EncoderCos":38728,"EncoderSin":12508,"GapTicks":54772,"Mech_RPM":-7.45803583e-27,"cg_du":50.1421013,"cg_dv":50.2065811,"cg_dw":49.7934189,"cg_id_a":-0.0967424363,"cg_id_raw_a":-0.172858983,"cg_iq_a":-0.00912521407,"cg_iq_raw_a":0.239485368,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129269,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9763641,"cg_sample_seq":14391417,"cg_sample_valid":1,"cg_theta_rad":5.00610161,"cg_vd_req_v":0.0877877697,"cg_vd_v":0.0877877697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360932946,"cg_vq_v":-0.360932946,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.030518,"values":{"Elec_RPM":-3.72901791e-26,"EncoderCos":38745,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-7.45803583e-27,"cg_du":50.145153,"cg_dv":50.2074738,"cg_dw":49.7925262,"cg_id_a":0.0302059129,"cg_id_raw_a":0.154522747,"cg_iq_a":0.0945573375,"cg_iq_raw_a":0.342420101,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9763641,"cg_sample_seq":14391467,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0854412839,"cg_vd_v":0.0854412839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364041209,"cg_vq_v":-0.364041209,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.3443146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.057861,"values":{"Elec_RPM":-3.65443759e-26,"EncoderCos":38748,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-7.30887486e-27,"cg_du":50.146431,"cg_dv":50.2158661,"cg_dw":49.7841339,"cg_id_a":-0.186332315,"cg_id_raw_a":-0.692025363,"cg_iq_a":0.538999081,"cg_iq_raw_a":0.411166131,"cg_iu_a":-0.613611698,"cg_iv_a":-0.945673466,"cg_iw_a":1.55928516,"cg_sample_age_us":26.8199997,"cg_sample_seq":14391522,"cg_sample_valid":1,"cg_theta_rad":5.00777197,"cg_vd_req_v":0.0926480815,"cg_vd_v":0.0926480815,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377393365,"cg_vq_v":-0.377393365,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.752120256,"dclink_p_w":-109.181198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1389771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.065674,"values":{"Elec_RPM":-3.65443759e-26,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54778,"Mech_RPM":-7.30887486e-27,"cg_du":50.1409302,"cg_dv":50.201313,"cg_dw":49.798687,"cg_id_a":0.175117582,"cg_id_raw_a":0.288798124,"cg_iq_a":-0.610300183,"cg_iq_raw_a":0.46507135,"cg_iu_a":0.256240368,"cg_iv_a":0.649055243,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14391566,"cg_sample_valid":1,"cg_theta_rad":5.00810432,"cg_vd_req_v":0.0844131634,"cg_vd_v":0.0844131634,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354039967,"cg_vq_v":-0.354039967,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.886222363,"dclink_p_w":-128.648071,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1389771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.073486,"values":{"Elec_RPM":-3.5813487e-26,"EncoderCos":38757,"EncoderSin":12504,"GapTicks":54775,"Mech_RPM":-7.16269755e-27,"cg_du":50.1462898,"cg_dv":50.2038498,"cg_dw":49.7961502,"cg_id_a":0.391006857,"cg_id_raw_a":0.263765812,"cg_iq_a":-0.396808237,"cg_iq_raw_a":-1.14044535,"cg_iu_a":-0.359905005,"cg_iv_a":-0.293284416,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9509087,"cg_sample_seq":14391616,"cg_sample_valid":1,"cg_theta_rad":5.00602388,"cg_vd_req_v":0.0798166841,"cg_vd_v":0.0798166841,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361150324,"cg_vq_v":-0.361150324,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.7722931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1437378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.081299,"values":{"Elec_RPM":-3.5813487e-26,"EncoderCos":38738,"EncoderSin":12495,"GapTicks":54759,"Mech_RPM":-7.16269755e-27,"cg_du":50.159584,"cg_dv":50.2182388,"cg_dw":49.7817612,"cg_id_a":0.147465855,"cg_id_raw_a":-0.251627207,"cg_iq_a":0.810467124,"cg_iq_raw_a":0.414436251,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9872723,"cg_sample_seq":14391666,"cg_sample_valid":1,"cg_theta_rad":5.00490379,"cg_vd_req_v":0.0847570598,"cg_vd_v":0.0847570598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386700064,"cg_vq_v":-0.386700064,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.089111,"values":{"Elec_RPM":-3.50972198e-26,"EncoderCos":38714,"EncoderSin":12473,"GapTicks":54766,"Mech_RPM":-7.0194438e-27,"cg_du":50.1526451,"cg_dv":50.212471,"cg_dw":49.787529,"cg_id_a":0.0779192895,"cg_id_raw_a":0.112551577,"cg_iq_a":-0.0190877318,"cg_iq_raw_a":-0.534371793,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0758213997,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9836369,"cg_sample_seq":14391716,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.0872759596,"cg_vd_v":0.0872759596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374364167,"cg_vq_v":-0.374364167,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1755371,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.10083,"values":{"Elec_RPM":-3.50972198e-26,"EncoderCos":38722,"EncoderSin":12496,"GapTicks":54766,"Mech_RPM":-7.0194438e-27,"cg_du":50.1466675,"cg_dv":50.2120934,"cg_dw":49.7879066,"cg_id_a":-0.0518188737,"cg_id_raw_a":-0.544733584,"cg_iq_a":-0.258872449,"cg_iq_raw_a":0.385682136,"cg_iu_a":0.111264944,"cg_iv_a":0.322860837,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14391766,"cg_sample_valid":1,"cg_theta_rad":5.00754833,"cg_vd_req_v":0.0903297439,"cg_vd_v":0.0903297439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3707982,"cg_vq_v":-0.3707982,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.648825407,"dclink_p_w":-93.9010315,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1643982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.108643,"values":{"Elec_RPM":-3.43952753e-26,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54764,"Mech_RPM":-6.87905506e-27,"cg_du":50.1606178,"cg_dv":50.2139282,"cg_dw":49.7860718,"cg_id_a":0.27786985,"cg_id_raw_a":0.474848002,"cg_iq_a":0.183472425,"cg_iq_raw_a":0.266423136,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065315,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9436359,"cg_sample_seq":14391816,"cg_sample_valid":1,"cg_theta_rad":5.0067234,"cg_vd_req_v":0.0825264528,"cg_vd_v":0.0825264528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380805641,"cg_vq_v":-0.380805641,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-0.72856164,"dclink_p_w":-105.440834,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.116455,"values":{"Elec_RPM":-3.43952753e-26,"EncoderCos":38723,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-6.87905506e-27,"cg_du":50.152359,"cg_dv":50.206028,"cg_dw":49.793972,"cg_id_a":0.30673331,"cg_id_raw_a":-0.193939701,"cg_iq_a":-0.523380041,"cg_iq_raw_a":-0.418629855,"cg_iu_a":0.038777113,"cg_iv_a":0.322860777,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.9872723,"cg_sample_seq":14391866,"cg_sample_valid":1,"cg_theta_rad":5.00614214,"cg_vd_req_v":0.0808696374,"cg_vd_v":0.0808696374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366696835,"cg_vq_v":-0.366696835,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.639764309,"dclink_p_w":-92.8711014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.128174,"values":{"Elec_RPM":-3.37073732e-26,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-6.74147433e-27,"cg_du":50.1454086,"cg_dv":50.2117271,"cg_dw":49.7882729,"cg_id_a":-0.258505762,"cg_id_raw_a":-0.0623846762,"cg_iq_a":-0.234661162,"cg_iq_raw_a":-0.0417373255,"cg_iu_a":0.509947181,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9254551,"cg_sample_seq":14391916,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0922153518,"cg_vd_v":0.0922153518,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37047568,"cg_vq_v":-0.37047568,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.9843674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.135986,"values":{"Elec_RPM":-3.37073732e-26,"EncoderCos":38740,"EncoderSin":12465,"GapTicks":54768,"Mech_RPM":-6.74147433e-27,"cg_du":50.1370926,"cg_dv":50.2100601,"cg_dw":49.7899399,"cg_id_a":-0.339877188,"cg_id_raw_a":0.0973497257,"cg_iq_a":-0.668477058,"cg_iq_raw_a":0.0463113636,"cg_iu_a":0.14750886,"cg_iv_a":-0.583235145,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9254551,"cg_sample_seq":14391968,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0951767638,"cg_vd_v":0.0951767638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362859219,"cg_vq_v":-0.362859219,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.16333,"values":{"Elec_RPM":-3.30332238e-26,"EncoderCos":38732,"EncoderSin":12445,"GapTicks":54761,"Mech_RPM":-6.6066446e-27,"cg_du":50.1488228,"cg_dv":50.2169189,"cg_dw":49.7830811,"cg_id_a":-0.202820256,"cg_id_raw_a":0.315609097,"cg_iq_a":0.0465184115,"cg_iq_raw_a":0.61395067,"cg_iu_a":0.546190977,"cg_iv_a":-0.438259721,"cg_iw_a":-0.107931256,"cg_sample_age_us":25.692728,"cg_sample_seq":14392021,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0937820077,"cg_vd_v":0.0937820077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378457129,"cg_vq_v":-0.378457129,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1707764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.171143,"values":{"Elec_RPM":-3.30332238e-26,"EncoderCos":38704,"EncoderSin":12433,"GapTicks":54766,"Mech_RPM":-6.6066446e-27,"cg_du":50.1420364,"cg_dv":50.2127266,"cg_dw":49.7872734,"cg_id_a":-0.311840683,"cg_id_raw_a":-0.38895461,"cg_iq_a":-0.595555186,"cg_iq_raw_a":0.470500529,"cg_iu_a":0.401215792,"cg_iv_a":0.322860777,"cg_iw_a":-0.724076569,"cg_sample_age_us":23.9618187,"cg_sample_seq":14392067,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.097687602,"cg_vd_v":0.097687602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368258536,"cg_vq_v":-0.368258536,"cg_vu_v":137.686371,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.178955,"values":{"Elec_RPM":-3.23725589e-26,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-6.47451194e-27,"cg_du":50.1542778,"cg_dv":50.2227211,"cg_dw":49.7772789,"cg_id_a":-0.166200578,"cg_id_raw_a":-0.423279554,"cg_iq_a":0.585988283,"cg_iq_raw_a":0.215372026,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772128,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9763641,"cg_sample_seq":14392117,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0948104262,"cg_vd_v":0.0948104262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390741557,"cg_vq_v":-0.390741557,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.186768,"values":{"Elec_RPM":-3.23725589e-26,"EncoderCos":38711,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-6.47451194e-27,"cg_du":50.150219,"cg_dv":50.2166557,"cg_dw":49.7833443,"cg_id_a":-0.0866131112,"cg_id_raw_a":0.0216222517,"cg_iq_a":-0.00757780671,"cg_iq_raw_a":0.58583045,"cg_iu_a":0.14750886,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9872723,"cg_sample_seq":14392167,"cg_sample_valid":1,"cg_theta_rad":5.00711155,"cg_vd_req_v":0.0942617655,"cg_vd_v":0.0942617655,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379651099,"cg_vq_v":-0.379651099,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1135254,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.198486,"values":{"Elec_RPM":-3.17251075e-26,"EncoderCos":38717,"EncoderSin":12484,"GapTicks":54761,"Mech_RPM":-6.34502165e-27,"cg_du":50.1483383,"cg_dv":50.2169724,"cg_dw":49.7830276,"cg_id_a":0.0364893749,"cg_id_raw_a":0.122059233,"cg_iq_a":0.0225397646,"cg_iq_raw_a":-0.424283981,"cg_iu_a":-0.396148682,"cg_iv_a":-0.112065196,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9181824,"cg_sample_seq":14392216,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.094778873,"cg_vd_v":0.094778873,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379340947,"cg_vq_v":-0.379340947,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.206299,"values":{"Elec_RPM":-3.17251075e-26,"EncoderCos":38716,"EncoderSin":12502,"GapTicks":54766,"Mech_RPM":-6.34502165e-27,"cg_du":50.1475525,"cg_dv":50.2126389,"cg_dw":49.7873611,"cg_id_a":0.283162504,"cg_id_raw_a":0.170036435,"cg_iq_a":-0.199609399,"cg_iq_raw_a":0.381327927,"cg_iu_a":-0.323661089,"cg_iv_a":0.757786751,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.954546,"cg_sample_seq":14392267,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0905165002,"cg_vd_v":0.0905165002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371949792,"cg_vq_v":-0.371949792,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.214111,"values":{"Elec_RPM":-3.10906076e-26,"EncoderCos":38715,"EncoderSin":12492,"GapTicks":54758,"Mech_RPM":-6.21812136e-27,"cg_du":50.1449852,"cg_dv":50.2192039,"cg_dw":49.7807961,"cg_id_a":-0.118192025,"cg_id_raw_a":-0.309078276,"cg_iq_a":0.207971483,"cg_iq_raw_a":0.116362713,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104633,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14392316,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0992526859,"cg_vd_v":0.0992526859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379348606,"cg_vq_v":-0.379348606,"cg_vu_v":26.3935547,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.221924,"values":{"Elec_RPM":-3.10906076e-26,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54758,"Mech_RPM":-6.21812136e-27,"cg_du":50.1495934,"cg_dv":50.2195168,"cg_dw":49.7804832,"cg_id_a":0.0804411471,"cg_id_raw_a":-0.180883199,"cg_iq_a":0.336033911,"cg_iq_raw_a":0.310912222,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14392367,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.0959721431,"cg_vd_v":0.0959721431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382351577,"cg_vq_v":-0.382351577,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8914557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1453247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.229736,"values":{"Elec_RPM":-3.04687941e-26,"EncoderCos":38744,"EncoderSin":12491,"GapTicks":54765,"Mech_RPM":-6.09375906e-27,"cg_du":50.1429558,"cg_dv":50.2134743,"cg_dw":49.7865257,"cg_id_a":0.195801109,"cg_id_raw_a":0.42880398,"cg_iq_a":-0.0909195244,"cg_iq_raw_a":0.330886513,"cg_iu_a":-0.396148682,"cg_iv_a":0.250373065,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9509087,"cg_sample_seq":14392416,"cg_sample_valid":1,"cg_theta_rad":5.00679827,"cg_vd_req_v":0.0928581133,"cg_vd_v":0.0928581133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371033996,"cg_vq_v":-0.371033996,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0976257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.241455,"values":{"Elec_RPM":-3.04687941e-26,"EncoderCos":38707,"EncoderSin":12487,"GapTicks":54768,"Mech_RPM":-6.09375906e-27,"cg_du":50.1467056,"cg_dv":50.2101784,"cg_dw":49.7898216,"cg_id_a":0.236328602,"cg_id_raw_a":1.121032,"cg_iq_a":-0.285048455,"cg_iq_raw_a":-2.0001049,"cg_iu_a":-0.142441988,"cg_iv_a":-0.800698042,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9581814,"cg_sample_seq":14392466,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.0902008563,"cg_vd_v":0.0902008563,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368970871,"cg_vq_v":-0.368970871,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.249268,"values":{"Elec_RPM":-2.98594206e-26,"EncoderCos":38721,"EncoderSin":12474,"GapTicks":54763,"Mech_RPM":-5.9718839e-27,"cg_du":50.140625,"cg_dv":50.215126,"cg_dw":49.784874,"cg_id_a":-0.182254255,"cg_id_raw_a":-0.148562372,"cg_iq_a":0.0919553712,"cg_iq_raw_a":-0.669113815,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.954546,"cg_sample_seq":14392517,"cg_sample_valid":1,"cg_theta_rad":5.00617361,"cg_vd_req_v":0.0997797251,"cg_vd_v":0.0997797251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372284025,"cg_vq_v":-0.372284025,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.4075565,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.276611,"values":{"Elec_RPM":-2.98594206e-26,"EncoderCos":38729,"EncoderSin":12503,"GapTicks":54757,"Mech_RPM":-5.9718839e-27,"cg_du":50.1476364,"cg_dv":50.220192,"cg_dw":49.779808,"cg_id_a":-0.140244633,"cg_id_raw_a":-0.0895480663,"cg_iq_a":0.379094124,"cg_iq_raw_a":0.247250021,"cg_iu_a":-0.214929581,"cg_iv_a":-0.90942955,"cg_iw_a":1.12435913,"cg_sample_age_us":24.4054546,"cg_sample_seq":14392571,"cg_sample_valid":1,"cg_theta_rad":5.0067277,"cg_vd_req_v":0.0966260359,"cg_vd_v":0.0966260359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382563412,"cg_vq_v":-0.382563412,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1802979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.284424,"values":{"Elec_RPM":-2.92622314e-26,"EncoderCos":38712,"EncoderSin":12488,"GapTicks":54764,"Mech_RPM":-5.8524462e-27,"cg_du":50.1450577,"cg_dv":50.213768,"cg_dw":49.786232,"cg_id_a":-0.0292108692,"cg_id_raw_a":-0.0481846817,"cg_iq_a":-0.229455411,"cg_iq_raw_a":-0.186029211,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9509087,"cg_sample_seq":14392617,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0942718089,"cg_vd_v":0.0942718089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371909291,"cg_vq_v":-0.371909291,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.292236,"values":{"Elec_RPM":-2.92622314e-26,"EncoderCos":38700,"EncoderSin":12497,"GapTicks":54769,"Mech_RPM":-5.8524462e-27,"cg_du":50.1357269,"cg_dv":50.2099609,"cg_dw":49.7900391,"cg_id_a":-0.177105516,"cg_id_raw_a":-0.61257726,"cg_iq_a":-0.643982112,"cg_iq_raw_a":-1.26282573,"cg_iu_a":-0.251173496,"cg_iv_a":0.467836082,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14392667,"cg_sample_valid":1,"cg_theta_rad":5.00794029,"cg_vd_req_v":0.0983451307,"cg_vd_v":0.0983451307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360190541,"cg_vq_v":-0.360190541,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.303955,"values":{"Elec_RPM":-2.86769859e-26,"EncoderCos":38714,"EncoderSin":12462,"GapTicks":54763,"Mech_RPM":-5.73539742e-27,"cg_du":50.1418457,"cg_dv":50.2147636,"cg_dw":49.7852364,"cg_id_a":-0.122410752,"cg_id_raw_a":-0.129717588,"cg_iq_a":-0.0655947626,"cg_iq_raw_a":-0.631330013,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.9581814,"cg_sample_seq":14392716,"cg_sample_valid":1,"cg_theta_rad":5.00786972,"cg_vd_req_v":0.0982537344,"cg_vd_v":0.0982537344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371327996,"cg_vq_v":-0.371327996,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.140564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.311768,"values":{"Elec_RPM":-2.86769859e-26,"EncoderCos":38728,"EncoderSin":12515,"GapTicks":54764,"Mech_RPM":-5.73539742e-27,"cg_du":50.1475563,"cg_dv":50.2138252,"cg_dw":49.7861748,"cg_id_a":0.281864733,"cg_id_raw_a":-0.143339232,"cg_iq_a":0.131080106,"cg_iq_raw_a":-0.303695828,"cg_iu_a":-1.22975683,"cg_iv_a":0.685299158,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14392766,"cg_sample_valid":1,"cg_theta_rad":5.00729227,"cg_vd_req_v":0.0905854627,"cg_vd_v":0.0905854627,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375029713,"cg_vq_v":-0.375029713,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.140564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.31958,"values":{"Elec_RPM":-2.81034471e-26,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-5.62068942e-27,"cg_du":50.144249,"cg_dv":50.2136383,"cg_dw":49.7863617,"cg_id_a":-0.0205477718,"cg_id_raw_a":0.424160987,"cg_iq_a":-0.1461889,"cg_iq_raw_a":-0.285234123,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9618187,"cg_sample_seq":14392816,"cg_sample_valid":1,"cg_theta_rad":5.00810051,"cg_vd_req_v":0.0950760916,"cg_vd_v":0.0950760916,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372409821,"cg_vq_v":-0.372409821,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1532593,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119995423,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.327393,"values":{"Elec_RPM":-2.81034471e-26,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-5.62068942e-27,"cg_du":50.1433411,"cg_dv":50.2142792,"cg_dw":49.7857208,"cg_id_a":-0.161065683,"cg_id_raw_a":0.175985664,"cg_iq_a":-0.105995663,"cg_iq_raw_a":0.309751809,"cg_iu_a":0.14750886,"cg_iv_a":0.286616981,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9145451,"cg_sample_seq":14392866,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0969260633,"cg_vd_v":0.0969260633,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372635603,"cg_vq_v":-0.372635603,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.177124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.335205,"values":{"Elec_RPM":-2.75413775e-26,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-5.50827558e-27,"cg_du":50.145771,"cg_dv":50.2128792,"cg_dw":49.7871208,"cg_id_a":0.0190910529,"cg_id_raw_a":0.23718302,"cg_iq_a":-0.233828396,"cg_iq_raw_a":-0.522150636,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9436359,"cg_sample_seq":14392916,"cg_sample_valid":1,"cg_theta_rad":5.00601721,"cg_vd_req_v":0.092559211,"cg_vd_v":0.092559211,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369979292,"cg_vq_v":-0.369979292,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.7713165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.177124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118333712,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.343018,"values":{"Elec_RPM":-2.75413775e-26,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54764,"Mech_RPM":-5.50827558e-27,"cg_du":50.1507034,"cg_dv":50.2141991,"cg_dw":49.7858009,"cg_id_a":0.0663361102,"cg_id_raw_a":0.298473418,"cg_iq_a":0.0890663117,"cg_iq_raw_a":0.138985604,"cg_iu_a":0.183752775,"cg_iv_a":0.540323794,"cg_iw_a":-0.724076569,"cg_sample_age_us":23.954546,"cg_sample_seq":14392966,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0897421017,"cg_vd_v":0.0897421017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375796527,"cg_vq_v":-0.375796527,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1835022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.354736,"values":{"Elec_RPM":-2.69905492e-26,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-5.39811008e-27,"cg_du":50.1543465,"cg_dv":50.2134895,"cg_dw":49.7865105,"cg_id_a":0.242199674,"cg_id_raw_a":0.77814573,"cg_iq_a":-0.0939112976,"cg_iq_raw_a":-0.907041848,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8563633,"cg_sample_seq":14393016,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.085863024,"cg_vd_v":0.085863024,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375742912,"cg_vq_v":-0.375742912,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.38208,"values":{"Elec_RPM":-2.69905492e-26,"EncoderCos":38760,"EncoderSin":12488,"GapTicks":54757,"Mech_RPM":-5.39811008e-27,"cg_du":50.1505508,"cg_dv":50.2205009,"cg_dw":49.7794991,"cg_id_a":0.0433244109,"cg_id_raw_a":0.613161981,"cg_iq_a":0.18565388,"cg_iq_raw_a":0.636476338,"cg_iu_a":-1.48346376,"cg_iv_a":0.0691539049,"cg_iw_a":1.41430986,"cg_sample_age_us":23.9509087,"cg_sample_seq":14393072,"cg_sample_valid":1,"cg_theta_rad":5.00708818,"cg_vd_req_v":0.0923184678,"cg_vd_v":0.0923184678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385174215,"cg_vq_v":-0.385174215,"cg_vu_v":139.445938,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.389893,"values":{"Elec_RPM":-2.64507403e-26,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54753,"Mech_RPM":-5.29014784e-27,"cg_du":50.1569252,"cg_dv":50.2243195,"cg_dw":49.7756805,"cg_id_a":-0.0651281327,"cg_id_raw_a":0.0102168173,"cg_iq_a":0.560510874,"cg_iq_raw_a":-0.143852413,"cg_iu_a":-1.01229382,"cg_iv_a":0.286616921,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9509087,"cg_sample_seq":14393116,"cg_sample_valid":1,"cg_theta_rad":5.00877237,"cg_vd_req_v":0.0940805003,"cg_vd_v":0.0940805003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394453138,"cg_vq_v":-0.394453138,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.3484726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1421509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.397705,"values":{"Elec_RPM":-2.64507403e-26,"EncoderCos":38724,"EncoderSin":12455,"GapTicks":54757,"Mech_RPM":-5.29014784e-27,"cg_du":50.1600647,"cg_dv":50.2204323,"cg_dw":49.7795677,"cg_id_a":0.198460653,"cg_id_raw_a":0.511944234,"cg_iq_a":0.357743025,"cg_iq_raw_a":-0.968756437,"cg_iu_a":-0.686099529,"cg_iv_a":-0.800698161,"cg_iw_a":1.48679769,"cg_sample_age_us":23.9509087,"cg_sample_seq":14393166,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.0890766829,"cg_vd_v":0.0890766829,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39062205,"cg_vq_v":-0.39062205,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.3484726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1421509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.405518,"values":{"Elec_RPM":-2.59217259e-26,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54753,"Mech_RPM":-5.18434495e-27,"cg_du":50.1636353,"cg_dv":50.2241249,"cg_dw":49.7758751,"cg_id_a":0.105354428,"cg_id_raw_a":-0.126120195,"cg_iq_a":0.548549473,"cg_iq_raw_a":0.607530296,"cg_iu_a":-0.432392597,"cg_iv_a":-0.365772009,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9763641,"cg_sample_seq":14393216,"cg_sample_valid":1,"cg_theta_rad":5.00669813,"cg_vd_req_v":0.0897032768,"cg_vd_v":0.0897032768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396435201,"cg_vq_v":-0.396435201,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.3484726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1850891,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.417236,"values":{"Elec_RPM":-2.59217259e-26,"EncoderCos":38718,"EncoderSin":12446,"GapTicks":54760,"Mech_RPM":-5.18434495e-27,"cg_du":50.1470146,"cg_dv":50.2179298,"cg_dw":49.7820702,"cg_id_a":-0.307056814,"cg_id_raw_a":0.0253721718,"cg_iq_a":-0.338086993,"cg_iq_raw_a":-0.288055062,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.954546,"cg_sample_seq":14393266,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0973634347,"cg_vd_v":0.0973634347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378515303,"cg_vq_v":-0.378515303,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.3484726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1357727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.425049,"values":{"Elec_RPM":-2.54032902e-26,"EncoderCos":38701,"EncoderSin":12485,"GapTicks":54758,"Mech_RPM":-5.08065789e-27,"cg_du":50.1567535,"cg_dv":50.2194176,"cg_dw":49.7805824,"cg_id_a":-0.0396341383,"cg_id_raw_a":0.436915278,"cg_iq_a":0.0518324152,"cg_iq_raw_a":-0.610739708,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14393316,"cg_sample_valid":1,"cg_theta_rad":5.00675297,"cg_vd_req_v":0.0916400924,"cg_vd_v":0.0916400924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385912925,"cg_vq_v":-0.385912925,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1357727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.432861,"values":{"Elec_RPM":-2.54032902e-26,"EncoderCos":38735,"EncoderSin":12503,"GapTicks":54759,"Mech_RPM":-5.08065789e-27,"cg_du":50.1526604,"cg_dv":50.2182426,"cg_dw":49.7817574,"cg_id_a":-0.0690225363,"cg_id_raw_a":-0.0143184811,"cg_iq_a":-0.141838744,"cg_iq_raw_a":-0.109705158,"cg_iu_a":0.61867857,"cg_iv_a":-0.184552908,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9799995,"cg_sample_seq":14393366,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.0905413255,"cg_vd_v":0.0905413255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383999199,"cg_vq_v":-0.383999199,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.7212982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1469116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.440674,"values":{"Elec_RPM":-2.48952237e-26,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54755,"Mech_RPM":-4.97904467e-27,"cg_du":50.1632996,"cg_dv":50.2224731,"cg_dw":49.7775269,"cg_id_a":0.0492760874,"cg_id_raw_a":0.00712491898,"cg_iq_a":0.52429688,"cg_iq_raw_a":0.54764086,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":0.906896114,"cg_sample_age_us":23.8672733,"cg_sample_seq":14393416,"cg_sample_valid":1,"cg_theta_rad":5.00879574,"cg_vd_req_v":0.0877524465,"cg_vd_v":0.0877524465,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395398438,"cg_vq_v":-0.395398438,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.7212982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.448486,"values":{"Elec_RPM":-2.48952237e-26,"EncoderCos":38708,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-4.97904467e-27,"cg_du":50.1642456,"cg_dv":50.2163239,"cg_dw":49.7836761,"cg_id_a":0.155642092,"cg_id_raw_a":-0.072074376,"cg_iq_a":-0.0204941779,"cg_iq_raw_a":-0.15223746,"cg_iu_a":0.111264944,"cg_iv_a":0.395348489,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9327278,"cg_sample_seq":14393466,"cg_sample_valid":1,"cg_theta_rad":5.00678921,"cg_vd_req_v":0.0834402218,"cg_vd_v":0.0834402218,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388248712,"cg_vq_v":-0.388248712,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.324443102,"dclink_p_w":-47.0976372,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2605.456299,"values":{"Elec_RPM":-2.43973185e-26,"EncoderCos":38694,"EncoderSin":12467,"GapTicks":54764,"Mech_RPM":-4.87946369e-27,"cg_du":50.1576271,"cg_dv":50.2144508,"cg_dw":49.7855492,"cg_id_a":-0.0349987932,"cg_id_raw_a":-0.0438120291,"cg_iq_a":-0.248611391,"cg_iq_raw_a":-0.623215139,"cg_iu_a":0.437459469,"cg_iv_a":0.504079938,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14393516,"cg_sample_valid":1,"cg_theta_rad":5.00673485,"cg_vd_req_v":0.0871800855,"cg_vd_v":0.0871800855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379425526,"cg_vq_v":-0.379425526,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.487549,"values":{"Elec_RPM":-2.43973185e-26,"EncoderCos":38774,"EncoderSin":12483,"GapTicks":54756,"Mech_RPM":-4.87946369e-27,"cg_du":50.1553879,"cg_dv":50.2216377,"cg_dw":49.7783623,"cg_id_a":-0.121714436,"cg_id_raw_a":0.0453842841,"cg_iq_a":0.225420684,"cg_iq_raw_a":-0.577329755,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104633,"cg_iw_a":0.00080037117,"cg_sample_age_us":26.8163643,"cg_sample_seq":14393571,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0884794593,"cg_vd_v":0.0884794593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389660537,"cg_vq_v":-0.389660537,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.495361,"values":{"Elec_RPM":-2.39093726e-26,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-4.78187451e-27,"cg_du":50.1632652,"cg_dv":50.2149696,"cg_dw":49.7850304,"cg_id_a":0.212594852,"cg_id_raw_a":0.739822447,"cg_iq_a":0.102679826,"cg_iq_raw_a":0.142911792,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9509087,"cg_sample_seq":14393617,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0793750584,"cg_vd_v":0.0793750584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384146869,"cg_vq_v":-0.384146869,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.131012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.503174,"values":{"Elec_RPM":-2.39093726e-26,"EncoderCos":38702,"EncoderSin":12454,"GapTicks":54767,"Mech_RPM":-4.78187451e-27,"cg_du":50.161026,"cg_dv":50.2117653,"cg_dw":49.7882347,"cg_id_a":0.0540909469,"cg_id_raw_a":0.172743216,"cg_iq_a":-0.239827126,"cg_iq_raw_a":0.127906993,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14393667,"cg_sample_valid":1,"cg_theta_rad":5.00841188,"cg_vd_req_v":0.0817885697,"cg_vd_v":0.0817885697,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378938884,"cg_vq_v":-0.378938884,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.101421952,"dclink_p_w":14.7228718,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.510986,"values":{"Elec_RPM":-2.34311857e-26,"EncoderCos":38648,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-4.68623707e-27,"cg_du":50.1660233,"cg_dv":50.2113533,"cg_dw":49.7886467,"cg_id_a":0.0148589499,"cg_id_raw_a":0.472136497,"cg_iq_a":-0.0592356957,"cg_iq_raw_a":0.820367575,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9472733,"cg_sample_seq":14393717,"cg_sample_valid":1,"cg_theta_rad":5.0072732,"cg_vd_req_v":0.0813877061,"cg_vd_v":0.0813877061,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380396634,"cg_vq_v":-0.380396634,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.101421952,"dclink_p_w":14.7228718,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.518799,"values":{"Elec_RPM":-2.29625623e-26,"EncoderCos":38713,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-4.59251246e-27,"cg_du":50.1554108,"cg_dv":50.2168541,"cg_dw":49.7831459,"cg_id_a":-0.343365192,"cg_id_raw_a":-0.0929283276,"cg_iq_a":0.194640175,"cg_iq_raw_a":-0.372521043,"cg_iu_a":0.14750886,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9836369,"cg_sample_seq":14393866,"cg_sample_valid":1,"cg_theta_rad":5.00571489,"cg_vd_req_v":0.0891458467,"cg_vd_v":0.0891458467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381920338,"cg_vq_v":-0.381920338,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.2935829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1389771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.530518,"values":{"Elec_RPM":-2.25033112e-26,"EncoderCos":38722,"EncoderSin":12482,"GapTicks":54771,"Mech_RPM":-4.50066216e-27,"cg_du":50.1571922,"cg_dv":50.2081642,"cg_dw":49.7918358,"cg_id_a":0.210012376,"cg_id_raw_a":0.559310615,"cg_iq_a":-0.361399204,"cg_iq_raw_a":-1.47454345,"cg_iu_a":0.111264944,"cg_iv_a":-0.329528213,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9145451,"cg_sample_seq":14393916,"cg_sample_valid":1,"cg_theta_rad":5.00722742,"cg_vd_req_v":0.0786065385,"cg_vd_v":0.0786065385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371265471,"cg_vq_v":-0.371265471,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.119873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.53833,"values":{"Elec_RPM":-2.25033112e-26,"EncoderCos":38711,"EncoderSin":12475,"GapTicks":54759,"Mech_RPM":-4.50066216e-27,"cg_du":50.1682854,"cg_dv":50.2186089,"cg_dw":49.7813911,"cg_id_a":0.0799989104,"cg_id_raw_a":0.0798402876,"cg_iq_a":0.554894745,"cg_iq_raw_a":0.00874758046,"cg_iu_a":-0.0337102413,"cg_iv_a":0.177885413,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9763641,"cg_sample_seq":14393966,"cg_sample_valid":1,"cg_theta_rad":5.00735283,"cg_vd_req_v":0.0812023655,"cg_vd_v":0.0812023655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391450256,"cg_vq_v":-0.391450256,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.119873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.546143,"values":{"Elec_RPM":-2.20532445e-26,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-4.41064882e-27,"cg_du":50.1575317,"cg_dv":50.21064,"cg_dw":49.78936,"cg_id_a":0.0392854065,"cg_id_raw_a":0.448171407,"cg_iq_a":-0.0590044186,"cg_iq_raw_a":-0.319764316,"cg_iu_a":0.183752775,"cg_iv_a":0.286616981,"cg_iw_a":-0.470369756,"cg_sample_age_us":23.9836369,"cg_sample_seq":14394016,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.0812730789,"cg_vd_v":0.0812730789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375903308,"cg_vq_v":-0.375903308,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.6412773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.573486,"values":{"Elec_RPM":-2.20532445e-26,"EncoderCos":38735,"EncoderSin":12472,"GapTicks":54763,"Mech_RPM":-4.41064882e-27,"cg_du":50.1536751,"cg_dv":50.2146263,"cg_dw":49.7853737,"cg_id_a":-0.158036202,"cg_id_raw_a":-0.202346012,"cg_iq_a":0.157840759,"cg_iq_raw_a":1.21948862,"cg_iu_a":-0.50488019,"cg_iv_a":0.39534843,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14394071,"cg_sample_valid":1,"cg_theta_rad":5.00615501,"cg_vd_req_v":0.0870517641,"cg_vd_v":0.0870517641,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379431367,"cg_vq_v":-0.379431367,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.516413927,"dclink_p_w":74.9649963,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.129425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.585205,"values":{"Elec_RPM":-2.16121788e-26,"EncoderCos":38705,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-4.32243583e-27,"cg_du":50.155674,"cg_dv":50.213665,"cg_dw":49.786335,"cg_id_a":-0.194075704,"cg_id_raw_a":0.013750161,"cg_iq_a":-0.0915129408,"cg_iq_raw_a":0.0386104137,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065196,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9836369,"cg_sample_seq":14394117,"cg_sample_valid":1,"cg_theta_rad":5.00653839,"cg_vd_req_v":0.0865987539,"cg_vd_v":0.0865987539,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377561092,"cg_vq_v":-0.377561092,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.454799414,"dclink_p_w":66.020752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.129425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.593018,"values":{"Elec_RPM":-2.16121788e-26,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54760,"Mech_RPM":-4.32243583e-27,"cg_du":50.1603088,"cg_dv":50.2174606,"cg_dw":49.7825394,"cg_id_a":-0.0230060294,"cg_id_raw_a":0.10686589,"cg_iq_a":0.370910764,"cg_iq_raw_a":1.03075695,"cg_iu_a":-0.541123867,"cg_iv_a":0.214129329,"cg_iw_a":0.326994538,"cg_sample_age_us":23.9618187,"cg_sample_seq":14394167,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0853762403,"cg_vd_v":0.0853762403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385611206,"cg_vq_v":-0.385611206,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.420367718,"dclink_p_w":60.6526566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7549438,"temp_inv2_c":37.1469116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.60083,"values":{"Elec_RPM":-2.11799354e-26,"EncoderCos":38709,"EncoderSin":12473,"GapTicks":54761,"Mech_RPM":-4.235987e-27,"cg_du":50.1549034,"cg_dv":50.2164612,"cg_dw":49.7835388,"cg_id_a":-0.180493012,"cg_id_raw_a":-0.304942012,"cg_iq_a":0.137653768,"cg_iq_raw_a":-0.138991565,"cg_iu_a":0.219996452,"cg_iv_a":0.141641557,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9436359,"cg_sample_seq":14394217,"cg_sample_valid":1,"cg_theta_rad":5.00671816,"cg_vd_req_v":0.0898230597,"cg_vd_v":0.0898230597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380949229,"cg_vq_v":-0.380949229,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.608643,"values":{"Elec_RPM":-2.11799354e-26,"EncoderCos":38727,"EncoderSin":12503,"GapTicks":54768,"Mech_RPM":-4.235987e-27,"cg_du":50.1490517,"cg_dv":50.2107315,"cg_dw":49.7892685,"cg_id_a":-0.0325612575,"cg_id_raw_a":-0.454172313,"cg_iq_a":-0.412003219,"cg_iq_raw_a":-1.24313664,"cg_iu_a":-0.287417173,"cg_iv_a":0.105397701,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8709087,"cg_sample_seq":14394268,"cg_sample_valid":1,"cg_theta_rad":5.00727177,"cg_vd_req_v":0.0865365937,"cg_vd_v":0.0865365937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37041983,"cg_vq_v":-0.37041983,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.257270455,"dclink_p_w":37.2333794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7794495,"temp_inv2_c":37.1500854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.616455,"values":{"Elec_RPM":-2.07563356e-26,"EncoderCos":38705,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-4.15126727e-27,"cg_du":50.1498718,"cg_dv":50.2168579,"cg_dw":49.7831421,"cg_id_a":-0.426722765,"cg_id_raw_a":0.163041413,"cg_iq_a":0.160488173,"cg_iq_raw_a":-1.22125542,"cg_iu_a":0.14750886,"cg_iv_a":-1.16313636,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9254551,"cg_sample_seq":14394317,"cg_sample_valid":1,"cg_theta_rad":5.00822258,"cg_vd_req_v":0.0950967968,"cg_vd_v":0.0950967968,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379640013,"cg_vq_v":-0.379640013,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1373596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.624268,"values":{"Elec_RPM":-2.07563356e-26,"EncoderCos":38717,"EncoderSin":12503,"GapTicks":54758,"Mech_RPM":-4.15126727e-27,"cg_du":50.1507797,"cg_dv":50.2199135,"cg_dw":49.7800865,"cg_id_a":-0.41002509,"cg_id_raw_a":0.298606515,"cg_iq_a":0.395964354,"cg_iq_raw_a":0.575686574,"cg_iu_a":-0.251173258,"cg_iv_a":-0.220796704,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9509087,"cg_sample_seq":14394367,"cg_sample_valid":1,"cg_theta_rad":5.00637007,"cg_vd_req_v":0.0952175409,"cg_vd_v":0.0952175409,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384847999,"cg_vq_v":-0.384847999,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1373596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.63208,"values":{"Elec_RPM":-2.03412098e-26,"EncoderCos":38724,"EncoderSin":12503,"GapTicks":54769,"Mech_RPM":-4.06824197e-27,"cg_du":50.1396255,"cg_dv":50.2099648,"cg_dw":49.7900352,"cg_id_a":-0.3317343,"cg_id_raw_a":0.218525112,"cg_iq_a":-0.631540775,"cg_iq_raw_a":-0.124154024,"cg_iu_a":0.328727961,"cg_iv_a":0.39534843,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14394416,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0934600607,"cg_vd_v":0.0934600607,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364048332,"cg_vq_v":-0.364048332,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1357727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.643799,"values":{"Elec_RPM":-2.03412098e-26,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54760,"Mech_RPM":-4.06824197e-27,"cg_du":50.1555481,"cg_dv":50.2176056,"cg_dw":49.7823944,"cg_id_a":-0.0261242334,"cg_id_raw_a":-0.10568323,"cg_iq_a":0.499274254,"cg_iq_raw_a":0.646168828,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14394466,"cg_sample_valid":1,"cg_theta_rad":5.00647831,"cg_vd_req_v":0.087832056,"cg_vd_v":0.087832056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383471191,"cg_vq_v":-0.383471191,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.651611,"values":{"Elec_RPM":-1.99343857e-26,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-3.98687721e-27,"cg_du":50.1655388,"cg_dv":50.2140465,"cg_dw":49.7859535,"cg_id_a":0.557570219,"cg_id_raw_a":0.598680079,"cg_iq_a":0.400279313,"cg_iq_raw_a":0.529858232,"cg_iu_a":0.328727961,"cg_iv_a":0.286616921,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9509087,"cg_sample_seq":14394516,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0763086751,"cg_vd_v":0.0763086751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383023143,"cg_vq_v":-0.383023143,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.1886415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.678955,"values":{"Elec_RPM":-1.99343857e-26,"EncoderCos":38710,"EncoderSin":12466,"GapTicks":54762,"Mech_RPM":-3.98687721e-27,"cg_du":50.1543961,"cg_dv":50.2157364,"cg_dw":49.7842636,"cg_id_a":-0.124818817,"cg_id_raw_a":-0.25330022,"cg_iq_a":0.279222608,"cg_iq_raw_a":-0.0246139206,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14394570,"cg_sample_valid":1,"cg_theta_rad":5.00621462,"cg_vd_req_v":0.0896098316,"cg_vd_v":0.0896098316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37965858,"cg_vq_v":-0.37965858,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.1886415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1484985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.686768,"values":{"Elec_RPM":-1.95356997e-26,"EncoderCos":38712,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-3.90713986e-27,"cg_du":50.1518517,"cg_dv":50.2088051,"cg_dw":49.7911949,"cg_id_a":0.183821142,"cg_id_raw_a":0.17463918,"cg_iq_a":-0.245694831,"cg_iq_raw_a":-0.309608459,"cg_iu_a":0.654922485,"cg_iv_a":0.504080057,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.954546,"cg_sample_seq":14394617,"cg_sample_valid":1,"cg_theta_rad":5.00779533,"cg_vd_req_v":0.0845671594,"cg_vd_v":0.0845671594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368882388,"cg_vq_v":-0.368882388,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.1886415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1389771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.698486,"values":{"Elec_RPM":-1.91449855e-26,"EncoderCos":38708,"EncoderSin":12497,"GapTicks":54766,"Mech_RPM":-3.82899717e-27,"cg_du":50.1536407,"cg_dv":50.21241,"cg_dw":49.78759,"cg_id_a":0.0998300165,"cg_id_raw_a":-0.0867468789,"cg_iq_a":0.292424023,"cg_iq_raw_a":-0.00775382807,"cg_iu_a":0.292484283,"cg_iv_a":-0.546991229,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9181824,"cg_sample_seq":14394766,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0863257349,"cg_vd_v":0.0863257349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37486431,"cg_vq_v":-0.37486431,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1421509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.706299,"values":{"Elec_RPM":-1.8762086e-26,"EncoderCos":38685,"EncoderSin":12456,"GapTicks":54772,"Mech_RPM":-3.75241719e-27,"cg_du":50.153717,"cg_dv":50.2071571,"cg_dw":49.7928429,"cg_id_a":0.170119345,"cg_id_raw_a":0.195355877,"cg_iq_a":-0.0372748673,"cg_iq_raw_a":-0.0876837894,"cg_iu_a":0.147508621,"cg_iv_a":0.540323794,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9836369,"cg_sample_seq":14394816,"cg_sample_valid":1,"cg_theta_rad":5.00882959,"cg_vd_req_v":0.0841105655,"cg_vd_v":0.0841105655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367108583,"cg_vq_v":-0.367108583,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.00508261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1262512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.714111,"values":{"Elec_RPM":-1.8762086e-26,"EncoderCos":38727,"EncoderSin":12547,"GapTicks":54768,"Mech_RPM":-3.75241719e-27,"cg_du":50.1500473,"cg_dv":50.2107239,"cg_dw":49.7892761,"cg_id_a":0.0847786963,"cg_id_raw_a":0.459232152,"cg_iq_a":0.061914295,"cg_iq_raw_a":-0.466998726,"cg_iu_a":-1.12102556,"cg_iv_a":0.0329101086,"cg_iw_a":1.08811545,"cg_sample_age_us":23.9509087,"cg_sample_seq":14394866,"cg_sample_valid":1,"cg_theta_rad":5.00580454,"cg_vd_req_v":0.0843595266,"cg_vd_v":0.0843595266,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37009576,"cg_vq_v":-0.37009576,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.252720833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.721924,"values":{"Elec_RPM":-1.83868439e-26,"EncoderCos":38730,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-3.67736871e-27,"cg_du":50.1396103,"cg_dv":50.206871,"cg_dw":49.793129,"cg_id_a":-0.161111802,"cg_id_raw_a":0.318597555,"cg_iq_a":-0.278195918,"cg_iq_raw_a":-0.515129387,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14394916,"cg_sample_valid":1,"cg_theta_rad":5.00786924,"cg_vd_req_v":0.0905070379,"cg_vd_v":0.0905070379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359815061,"cg_vq_v":-0.359815061,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.252720833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.729736,"values":{"Elec_RPM":-1.83868439e-26,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54763,"Mech_RPM":-3.67736871e-27,"cg_du":50.1504707,"cg_dv":50.2149658,"cg_dw":49.7850342,"cg_id_a":-0.226617038,"cg_id_raw_a":0.302259743,"cg_iq_a":0.63331461,"cg_iq_raw_a":-0.73359412,"cg_iu_a":-0.468636513,"cg_iv_a":-1.12689257,"cg_iw_a":1.59552908,"cg_sample_age_us":23.8527279,"cg_sample_seq":14394966,"cg_sample_valid":1,"cg_theta_rad":5.00635862,"cg_vd_req_v":0.0922852233,"cg_vd_v":0.0922852233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376315087,"cg_vq_v":-0.376315087,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.252720833,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.737549,"values":{"Elec_RPM":-1.80191069e-26,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-3.6038213e-27,"cg_du":50.1499825,"cg_dv":50.2094193,"cg_dw":49.7905807,"cg_id_a":0.1076525,"cg_id_raw_a":0.247891665,"cg_iq_a":0.220482647,"cg_iq_raw_a":0.644653201,"cg_iu_a":-0.396148682,"cg_iv_a":-0.112065196,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8527279,"cg_sample_seq":14395016,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0865851566,"cg_vd_v":0.0865851566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368672609,"cg_vq_v":-0.368672609,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":56.0242462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1564636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.768799,"values":{"Elec_RPM":-1.80191069e-26,"EncoderCos":38734,"EncoderSin":12488,"GapTicks":54773,"Mech_RPM":-3.6038213e-27,"cg_du":50.1346893,"cg_dv":50.2061157,"cg_dw":49.7938843,"cg_id_a":-0.235102862,"cg_id_raw_a":-0.528949082,"cg_iq_a":-0.221712619,"cg_iq_raw_a":-0.448966175,"cg_iu_a":0.038777113,"cg_iv_a":-0.293284416,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9436359,"cg_sample_seq":14395071,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0931763574,"cg_vd_v":0.0931763574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356162101,"cg_vq_v":-0.356162101,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1564636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.776611,"values":{"Elec_RPM":-1.76587253e-26,"EncoderCos":38708,"EncoderSin":12464,"GapTicks":54779,"Mech_RPM":-3.53174491e-27,"cg_du":50.1471138,"cg_dv":50.2004776,"cg_dw":49.7995224,"cg_id_a":0.340604424,"cg_id_raw_a":0.159910873,"cg_iq_a":-0.186445087,"cg_iq_raw_a":-0.784469962,"cg_iu_a":-0.359905005,"cg_iv_a":0.0691539645,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9181824,"cg_sample_seq":14395116,"cg_sample_valid":1,"cg_theta_rad":5.00878382,"cg_vd_req_v":0.0806310251,"cg_vd_v":0.0806310251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354803979,"cg_vq_v":-0.354803979,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.784424,"values":{"Elec_RPM":-1.76587253e-26,"EncoderCos":38726,"EncoderSin":12466,"GapTicks":54779,"Mech_RPM":-3.53174491e-27,"cg_du":50.1571808,"cg_dv":50.2000046,"cg_dw":49.7999954,"cg_id_a":0.770204008,"cg_id_raw_a":0.388411075,"cg_iq_a":0.230747581,"cg_iq_raw_a":0.948674142,"cg_iu_a":0.582434654,"cg_iv_a":0.57656765,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9872723,"cg_sample_seq":14395166,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.070767574,"cg_vd_v":0.070767574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360146344,"cg_vq_v":-0.360146344,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1659851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.792236,"values":{"Elec_RPM":-1.73055498e-26,"EncoderCos":38700,"EncoderSin":12479,"GapTicks":54765,"Mech_RPM":-3.46110989e-27,"cg_du":50.1485519,"cg_dv":50.2127495,"cg_dw":49.7872505,"cg_id_a":-0.314270526,"cg_id_raw_a":0.496179044,"cg_iq_a":0.845337391,"cg_iq_raw_a":0.0512862913,"cg_iu_a":0.364971638,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716872215,"cg_sample_age_us":24.0418186,"cg_sample_seq":14395216,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.091784507,"cg_vd_v":0.091784507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372185528,"cg_vq_v":-0.372185528,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1166992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.800049,"values":{"Elec_RPM":-1.73055498e-26,"EncoderCos":38746,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.46110989e-27,"cg_du":50.1359406,"cg_dv":50.2019386,"cg_dw":49.7980614,"cg_id_a":-0.201736733,"cg_id_raw_a":0.196131229,"cg_iq_a":-0.0194716416,"cg_iq_raw_a":-0.345276386,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9872723,"cg_sample_seq":14395266,"cg_sample_valid":1,"cg_theta_rad":5.00682354,"cg_vd_req_v":0.0876283348,"cg_vd_v":0.0876283348,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352428019,"cg_vq_v":-0.352428019,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1182861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.811768,"values":{"Elec_RPM":-1.69594386e-26,"EncoderCos":38708,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-3.39188773e-27,"cg_du":50.1518059,"cg_dv":50.1995926,"cg_dw":49.8004074,"cg_id_a":0.268068165,"cg_id_raw_a":-0.0256467462,"cg_iq_a":0.181830853,"cg_iq_raw_a":-0.402529389,"cg_iu_a":-0.468636274,"cg_iv_a":-0.112065196,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9436359,"cg_sample_seq":14395316,"cg_sample_valid":1,"cg_theta_rad":5.00702667,"cg_vd_req_v":0.0765220448,"cg_vd_v":0.0765220448,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357293218,"cg_vq_v":-0.357293218,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1182861,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.81958,"values":{"Elec_RPM":-1.69594386e-26,"EncoderCos":38714,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-3.39188773e-27,"cg_du":50.1380501,"cg_dv":50.2005539,"cg_dw":49.7994461,"cg_id_a":-0.261711657,"cg_id_raw_a":-0.0885481685,"cg_iq_a":0.00222985446,"cg_iq_raw_a":-0.627110898,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8709087,"cg_sample_seq":14395366,"cg_sample_valid":1,"cg_theta_rad":5.00682354,"cg_vd_req_v":0.0873733163,"cg_vd_v":0.0873733163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351037771,"cg_vq_v":-0.351037771,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1262512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.827393,"values":{"Elec_RPM":-1.662025e-26,"EncoderCos":38733,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-3.32404993e-27,"cg_du":50.1416702,"cg_dv":50.2098389,"cg_dw":49.7901611,"cg_id_a":-0.341831863,"cg_id_raw_a":0.246561021,"cg_iq_a":0.568442583,"cg_iq_raw_a":0.0239189845,"cg_iu_a":0.038777113,"cg_iv_a":-0.981917143,"cg_iw_a":0.94314003,"cg_sample_age_us":23.8563633,"cg_sample_seq":14395416,"cg_sample_valid":1,"cg_theta_rad":5.00785303,"cg_vd_req_v":0.091159977,"cg_vd_v":0.091159977,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363984317,"cg_vq_v":-0.363984317,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2605.835205,"values":{"Elec_RPM":-1.662025e-26,"EncoderCos":38713,"EncoderSin":12477,"GapTicks":54779,"Mech_RPM":-3.32404993e-27,"cg_du":50.1499634,"cg_dv":50.2008896,"cg_dw":49.7991104,"cg_id_a":0.4400796,"cg_id_raw_a":0.41139549,"cg_iq_a":0.209076524,"cg_iq_raw_a":1.97178221,"cg_iu_a":0.582434654,"cg_iv_a":0.649055243,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14395466,"cg_sample_valid":1,"cg_theta_rad":5.00623465,"cg_vd_req_v":0.0780777261,"cg_vd_v":0.0780777261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357130617,"cg_vq_v":-0.357130617,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1325989,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.843018,"values":{"Elec_RPM":-1.62878438e-26,"EncoderCos":38711,"EncoderSin":12486,"GapTicks":54771,"Mech_RPM":-3.25756875e-27,"cg_du":50.1588554,"cg_dv":50.2080498,"cg_dw":49.7919502,"cg_id_a":0.472884446,"cg_id_raw_a":-0.0563225225,"cg_iq_a":1.00200009,"cg_iq_raw_a":0.323024064,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":1.9942112,"cg_sample_age_us":23.8709087,"cg_sample_seq":14395516,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0782577842,"cg_vd_v":0.0782577842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372999281,"cg_vq_v":-0.372999281,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.874268,"values":{"Elec_RPM":-1.62878438e-26,"EncoderCos":38729,"EncoderSin":12493,"GapTicks":54778,"Mech_RPM":-3.25756875e-27,"cg_du":50.1321297,"cg_dv":50.2012138,"cg_dw":49.7987862,"cg_id_a":-0.0653637052,"cg_id_raw_a":-0.0799890235,"cg_iq_a":-0.17838335,"cg_iq_raw_a":-0.079531908,"cg_iu_a":-0.831074715,"cg_iv_a":0.322860777,"cg_iw_a":0.508213937,"cg_sample_age_us":23.8600006,"cg_sample_seq":14395571,"cg_sample_valid":1,"cg_theta_rad":5.00806475,"cg_vd_req_v":0.0910042301,"cg_vd_v":0.0910042301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349038184,"cg_vq_v":-0.349038184,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.88208,"values":{"Elec_RPM":-1.59620873e-26,"EncoderCos":38710,"EncoderSin":12496,"GapTicks":54778,"Mech_RPM":-3.19241743e-27,"cg_du":50.1310844,"cg_dv":50.2013092,"cg_dw":49.7986908,"cg_id_a":-0.180408716,"cg_id_raw_a":-0.321590722,"cg_iq_a":-0.281067193,"cg_iq_raw_a":-0.61349088,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539645,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8490906,"cg_sample_seq":14395616,"cg_sample_valid":1,"cg_theta_rad":5.00692987,"cg_vd_req_v":0.0933524147,"cg_vd_v":0.0933524147,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348197073,"cg_vq_v":-0.348197073,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1373596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.889893,"values":{"Elec_RPM":-1.59620873e-26,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-3.19241743e-27,"cg_du":50.1320915,"cg_dv":50.1992416,"cg_dw":49.8007584,"cg_id_a":-0.0107492432,"cg_id_raw_a":0.0554626733,"cg_iq_a":-0.300696135,"cg_iq_raw_a":0.0426986217,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9145451,"cg_sample_seq":14395666,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0906983763,"cg_vd_v":0.0906983763,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345910132,"cg_vq_v":-0.345910132,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1166992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.897705,"values":{"Elec_RPM":-1.56428452e-26,"EncoderCos":38679,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-3.128569e-27,"cg_du":50.1278877,"cg_dv":50.200428,"cg_dw":49.799572,"cg_id_a":-0.246422559,"cg_id_raw_a":0.0542771295,"cg_iq_a":-0.388099641,"cg_iq_raw_a":-0.941061437,"cg_iu_a":1.19858003,"cg_iv_a":0.177885413,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9181824,"cg_sample_seq":14395716,"cg_sample_valid":1,"cg_theta_rad":5.00691462,"cg_vd_req_v":0.0973601788,"cg_vd_v":0.0973601788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343411118,"cg_vq_v":-0.343411118,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1166992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.905518,"values":{"Elec_RPM":-1.56428452e-26,"EncoderCos":38730,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-3.128569e-27,"cg_du":50.1257553,"cg_dv":50.1973953,"cg_dw":49.8026047,"cg_id_a":0.0683243275,"cg_id_raw_a":0.316293955,"cg_iq_a":-0.584447682,"cg_iq_raw_a":0.176202044,"cg_iu_a":0.256240368,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9836369,"cg_sample_seq":14395766,"cg_sample_valid":1,"cg_theta_rad":5.00740767,"cg_vd_req_v":0.0920651481,"cg_vd_v":0.0920651481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339209467,"cg_vq_v":-0.339209467,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1278076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.91333,"values":{"Elec_RPM":-1.53299879e-26,"EncoderCos":38702,"EncoderSin":12494,"GapTicks":54778,"Mech_RPM":-3.06599766e-27,"cg_du":50.1223831,"cg_dv":50.2010918,"cg_dw":49.7989082,"cg_id_a":-0.293730617,"cg_id_raw_a":-0.593669534,"cg_iq_a":-0.356469363,"cg_iq_raw_a":0.014144429,"cg_iu_a":0.292484283,"cg_iv_a":-0.546991229,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9836369,"cg_sample_seq":14395817,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.100355953,"cg_vd_v":0.100355953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341763884,"cg_vq_v":-0.341763884,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.925049,"values":{"Elec_RPM":-1.53299879e-26,"EncoderCos":38684,"EncoderSin":12492,"GapTicks":54777,"Mech_RPM":-3.06599766e-27,"cg_du":50.1278419,"cg_dv":50.2024689,"cg_dw":49.7975311,"cg_id_a":-0.197979063,"cg_id_raw_a":-0.366944551,"cg_iq_a":-0.102332756,"cg_iq_raw_a":-0.547726452,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9872723,"cg_sample_seq":14395866,"cg_sample_valid":1,"cg_theta_rad":5.00489044,"cg_vd_req_v":0.0988920033,"cg_vd_v":0.0988920033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3462919,"cg_vq_v":-0.3462919,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.932861,"values":{"Elec_RPM":-1.50233891e-26,"EncoderCos":38713,"EncoderSin":12450,"GapTicks":54777,"Mech_RPM":-3.00467778e-27,"cg_du":50.1295547,"cg_dv":50.2019577,"cg_dw":49.7980423,"cg_id_a":-0.0125137419,"cg_id_raw_a":0.324366868,"cg_iq_a":0.136413157,"cg_iq_raw_a":-0.330783725,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14395916,"cg_sample_valid":1,"cg_theta_rad":5.0061512,"cg_vd_req_v":0.0960548967,"cg_vd_v":0.0960548967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347981781,"cg_vq_v":-0.347981781,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1246643,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.940674,"values":{"Elec_RPM":-1.50233891e-26,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-3.00467778e-27,"cg_du":50.1227188,"cg_dv":50.200489,"cg_dw":49.799511,"cg_id_a":-0.0742336735,"cg_id_raw_a":0.0823652446,"cg_iq_a":0.0205652416,"cg_iq_raw_a":-0.68310833,"cg_iu_a":0.147508621,"cg_iv_a":-0.873185754,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9872723,"cg_sample_seq":14395966,"cg_sample_valid":1,"cg_theta_rad":5.0077467,"cg_vd_req_v":0.0979561806,"cg_vd_v":0.0979561806,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342708319,"cg_vq_v":-0.342708319,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1246643,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2605.948486,"values":{"Elec_RPM":-1.47229209e-26,"EncoderCos":38715,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-2.94458414e-27,"cg_du":50.1240807,"cg_dv":50.2076073,"cg_dw":49.7923927,"cg_id_a":-0.336387694,"cg_id_raw_a":0.00467798999,"cg_iq_a":0.321735233,"cg_iq_raw_a":-0.508607805,"cg_iu_a":0.401215792,"cg_iv_a":-0.583235025,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9763641,"cg_sample_seq":14396016,"cg_sample_valid":1,"cg_theta_rad":5.00621986,"cg_vd_req_v":0.104804352,"cg_vd_v":0.104804352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351733148,"cg_vq_v":-0.351733148,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1230774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2605.975509,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2605.975516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2605.975521,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2605.979736,"values":{"Elec_RPM":-1.44284632e-26,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-2.88569248e-27,"cg_du":50.124794,"cg_dv":50.2001801,"cg_dw":49.7998199,"cg_id_a":0.24819085,"cg_id_raw_a":0.722698033,"cg_iq_a":-0.211137652,"cg_iq_raw_a":-0.766608059,"cg_iu_a":-0.396148682,"cg_iv_a":0.286616921,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8781815,"cg_sample_seq":14396116,"cg_sample_valid":1,"cg_theta_rad":5.00702381,"cg_vd_req_v":0.0964811593,"cg_vd_v":0.0964811593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342193753,"cg_vq_v":-0.342193753,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1166992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.987549,"values":{"Elec_RPM":-1.44284632e-26,"EncoderCos":38734,"EncoderSin":12462,"GapTicks":54783,"Mech_RPM":-2.88569248e-27,"cg_du":50.1231766,"cg_dv":50.1970787,"cg_dw":49.8029213,"cg_id_a":0.36555174,"cg_id_raw_a":0.603136718,"cg_iq_a":-0.282192856,"cg_iq_raw_a":-0.852011323,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9836369,"cg_sample_seq":14396166,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.0941109136,"cg_vd_v":0.0941109136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337249607,"cg_vq_v":-0.337249607,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.129425,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2605.995361,"values":{"Elec_RPM":-1.41398942e-26,"EncoderCos":38730,"EncoderSin":12498,"GapTicks":54775,"Mech_RPM":-2.82797872e-27,"cg_du":50.1126022,"cg_dv":50.2042542,"cg_dw":49.7957458,"cg_id_a":-0.391984731,"cg_id_raw_a":-0.304211915,"cg_iq_a":0.0251308437,"cg_iq_raw_a":-0.828494608,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796824,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9581814,"cg_sample_seq":14396216,"cg_sample_valid":1,"cg_theta_rad":5.00582361,"cg_vd_req_v":0.108834863,"cg_vd_v":0.108834863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341272205,"cg_vq_v":-0.341272205,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1103516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.003174,"values":{"Elec_RPM":-1.41398942e-26,"EncoderCos":38711,"EncoderSin":12469,"GapTicks":54785,"Mech_RPM":-2.82797872e-27,"cg_du":50.1164703,"cg_dv":50.1951447,"cg_dw":49.8048553,"cg_id_a":0.0487273894,"cg_id_raw_a":0.187548548,"cg_iq_a":-0.367405534,"cg_iq_raw_a":-0.0168817528,"cg_iu_a":0.328727961,"cg_iv_a":0.467836142,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9509087,"cg_sample_seq":14396266,"cg_sample_valid":1,"cg_theta_rad":5.00749159,"cg_vd_req_v":0.0993757248,"cg_vd_v":0.0993757248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33139959,"cg_vq_v":-0.33139959,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.351799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1103516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.010986,"values":{"Elec_RPM":-1.38570952e-26,"EncoderCos":38713,"EncoderSin":12482,"GapTicks":54783,"Mech_RPM":-2.77141916e-27,"cg_du":50.1191483,"cg_dv":50.1970177,"cg_dw":49.8029823,"cg_id_a":0.0903397202,"cg_id_raw_a":0.709682763,"cg_iq_a":-0.0994603336,"cg_iq_raw_a":0.87196821,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14396316,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0986510292,"cg_vd_v":0.0986510292,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335598201,"cg_vq_v":-0.335598201,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.1409931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1596375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.018799,"values":{"Elec_RPM":-1.38570952e-26,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-2.77141916e-27,"cg_du":50.1157799,"cg_dv":50.1991615,"cg_dw":49.8008385,"cg_id_a":-0.0906646848,"cg_id_raw_a":0.170274287,"cg_iq_a":-0.126670599,"cg_iq_raw_a":-0.0551985912,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691540241,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.9363632,"cg_sample_seq":14396366,"cg_sample_valid":1,"cg_theta_rad":5.00664282,"cg_vd_req_v":0.103194907,"cg_vd_v":0.103194907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335560471,"cg_vq_v":-0.335560471,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.1409931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1596375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.030518,"values":{"Elec_RPM":-1.35799539e-26,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54786,"Mech_RPM":-2.7159907e-27,"cg_du":50.1090126,"cg_dv":50.1940041,"cg_dw":49.8059959,"cg_id_a":-0.109736681,"cg_id_raw_a":-0.353194088,"cg_iq_a":-0.501852572,"cg_iq_raw_a":-1.56386185,"cg_iu_a":0.691166401,"cg_iv_a":0.39534843,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14396416,"cg_sample_valid":1,"cg_theta_rad":5.00877619,"cg_vd_req_v":0.103524469,"cg_vd_v":0.103524469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32474035,"cg_vq_v":-0.32474035,"cg_vu_v":29.912693,"cg_vv_v":19.795166,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.472921371,"dclink_p_w":68.4433823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.03833,"values":{"Elec_RPM":-1.35799539e-26,"EncoderCos":38751,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-2.7159907e-27,"cg_du":50.1150513,"cg_dv":50.1993332,"cg_dw":49.8006668,"cg_id_a":-0.0307203755,"cg_id_raw_a":0.194724932,"cg_iq_a":0.133167058,"cg_iq_raw_a":0.600550056,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14396466,"cg_sample_valid":1,"cg_theta_rad":5.00599194,"cg_vd_req_v":0.100942187,"cg_vd_v":0.100942187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336300045,"cg_vq_v":-0.336300045,"cg_vu_v":28.5930176,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1151123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.046143,"values":{"Elec_RPM":-1.33083546e-26,"EncoderCos":38707,"EncoderSin":12493,"GapTicks":54789,"Mech_RPM":-2.66167081e-27,"cg_du":50.1179771,"cg_dv":50.1917343,"cg_dw":49.8082657,"cg_id_a":0.305539787,"cg_id_raw_a":0.912374377,"cg_iq_a":-0.259697527,"cg_iq_raw_a":-0.964949608,"cg_iu_a":0.219996452,"cg_iv_a":0.177885413,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14396516,"cg_sample_valid":1,"cg_theta_rad":5.00541306,"cg_vd_req_v":0.0943265632,"cg_vd_v":0.0943265632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326687723,"cg_vq_v":-0.326687723,"cg_vu_v":27.2733402,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.423992157,"dclink_p_w":61.3621178,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1151123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.073486,"values":{"Elec_RPM":-1.33083546e-26,"EncoderCos":38708,"EncoderSin":12420,"GapTicks":54782,"Mech_RPM":-2.66167081e-27,"cg_du":50.1115799,"cg_dv":50.1976318,"cg_dw":49.8023682,"cg_id_a":-0.243291199,"cg_id_raw_a":-0.476336598,"cg_iq_a":0.0855259225,"cg_iq_raw_a":0.0970271155,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8563633,"cg_sample_seq":14396570,"cg_sample_valid":1,"cg_theta_rad":5.00662851,"cg_vd_req_v":0.106667861,"cg_vd_v":0.106667861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330591083,"cg_vq_v":-0.330591083,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.445738435,"dclink_p_w":64.5093384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1278076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.081299,"values":{"Elec_RPM":-1.30421865e-26,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-2.60843734e-27,"cg_du":50.1089745,"cg_dv":50.1990967,"cg_dw":49.8009033,"cg_id_a":-0.212321848,"cg_id_raw_a":-0.339558601,"cg_iq_a":0.417070895,"cg_iq_raw_a":0.660206556,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14396616,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.107601658,"cg_vd_v":0.107601658,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333043605,"cg_vq_v":-0.333043605,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1103516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.089111,"values":{"Elec_RPM":-1.30421865e-26,"EncoderCos":38741,"EncoderSin":12462,"GapTicks":54783,"Mech_RPM":-2.60843734e-27,"cg_du":50.1040993,"cg_dv":50.1970825,"cg_dw":49.8029175,"cg_id_a":-0.332130998,"cg_id_raw_a":-0.341199636,"cg_iq_a":0.261743665,"cg_iq_raw_a":0.915348172,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9145451,"cg_sample_seq":14396667,"cg_sample_valid":1,"cg_theta_rad":5.00837708,"cg_vd_req_v":0.10858763,"cg_vd_v":0.10858763,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326754123,"cg_vq_v":-0.326754123,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1103516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.10083,"values":{"Elec_RPM":-1.27813424e-26,"EncoderCos":38706,"EncoderSin":12484,"GapTicks":54790,"Mech_RPM":-2.55626852e-27,"cg_du":50.110611,"cg_dv":50.1901894,"cg_dw":49.8098106,"cg_id_a":0.11452359,"cg_id_raw_a":0.124265328,"cg_iq_a":-0.242320776,"cg_iq_raw_a":0.19535622,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616862,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9436359,"cg_sample_seq":14396716,"cg_sample_valid":1,"cg_theta_rad":5.00740242,"cg_vd_req_v":0.0988659412,"cg_vd_v":0.0988659412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320359856,"cg_vq_v":-0.320359856,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.108643,"values":{"Elec_RPM":-1.27813424e-26,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54792,"Mech_RPM":-2.55626852e-27,"cg_du":50.1129265,"cg_dv":50.1886177,"cg_dw":49.8113823,"cg_id_a":0.347737044,"cg_id_raw_a":0.708510816,"cg_iq_a":-0.321397632,"cg_iq_raw_a":-0.622525215,"cg_iu_a":0.256240129,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9618187,"cg_sample_seq":14396766,"cg_sample_valid":1,"cg_theta_rad":5.00825644,"cg_vd_req_v":0.0944695473,"cg_vd_v":0.0944695473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319846541,"cg_vq_v":-0.319846541,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1341858,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.116455,"values":{"Elec_RPM":-1.2525716e-26,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-2.50514317e-27,"cg_du":50.1153297,"cg_dv":50.1962471,"cg_dw":49.8037529,"cg_id_a":-0.0558289699,"cg_id_raw_a":0.128899217,"cg_iq_a":0.214144543,"cg_iq_raw_a":0.997001767,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528213,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9472733,"cg_sample_seq":14396816,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.100846864,"cg_vd_v":0.100846864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331311613,"cg_vq_v":-0.331311613,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1214905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.128174,"values":{"Elec_RPM":-1.2525716e-26,"EncoderCos":38688,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-2.50514317e-27,"cg_du":50.1215668,"cg_dv":50.2021065,"cg_dw":49.7978935,"cg_id_a":-0.280758172,"cg_id_raw_a":-0.0961301923,"cg_iq_a":0.482897401,"cg_iq_raw_a":-0.118638851,"cg_iu_a":-0.50488019,"cg_iv_a":-0.836941957,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14396866,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.103976354,"cg_vd_v":0.103976354,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343216747,"cg_vq_v":-0.343216747,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.2367935,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1087646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.135986,"values":{"Elec_RPM":-1.22752011e-26,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-2.45504029e-27,"cg_du":50.1202621,"cg_dv":50.2001305,"cg_dw":49.7998695,"cg_id_a":-0.109615594,"cg_id_raw_a":0.405963659,"cg_iq_a":0.207994014,"cg_iq_raw_a":0.113531753,"cg_iu_a":0.546190977,"cg_iv_a":-0.25704062,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9472733,"cg_sample_seq":14396916,"cg_sample_valid":1,"cg_theta_rad":5.0057044,"cg_vd_req_v":0.100718386,"cg_vd_v":0.100718386,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3404966,"cg_vq_v":-0.3404966,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.3448105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1087646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.143799,"values":{"Elec_RPM":-1.22752011e-26,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-2.45504029e-27,"cg_du":50.1190948,"cg_dv":50.2033577,"cg_dw":49.7966423,"cg_id_a":-0.257912725,"cg_id_raw_a":-0.341804802,"cg_iq_a":0.312821001,"cg_iq_raw_a":1.35183263,"cg_iu_a":-0.106198072,"cg_iv_a":-0.510747433,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9472733,"cg_sample_seq":14396966,"cg_sample_valid":1,"cg_theta_rad":5.00685024,"cg_vd_req_v":0.103618793,"cg_vd_v":0.103618793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344584137,"cg_vq_v":-0.344584137,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.6636391,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.151611,"values":{"Elec_RPM":-1.20296974e-26,"EncoderCos":38743,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-2.40593948e-27,"cg_du":50.122097,"cg_dv":50.2011452,"cg_dw":49.7988548,"cg_id_a":0.0497104228,"cg_id_raw_a":0.555920601,"cg_iq_a":0.140991509,"cg_iq_raw_a":0.08784578,"cg_iu_a":0.364971638,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.954546,"cg_sample_seq":14397016,"cg_sample_valid":1,"cg_theta_rad":5.00565767,"cg_vd_req_v":0.0975333378,"cg_vd_v":0.0975333378,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342572659,"cg_vq_v":-0.342572659,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1437378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.178955,"values":{"Elec_RPM":-1.20296974e-26,"EncoderCos":38752,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-2.40593948e-27,"cg_du":50.1191368,"cg_dv":50.2008133,"cg_dw":49.7991867,"cg_id_a":-0.0160080846,"cg_id_raw_a":0.00951316208,"cg_iq_a":0.126815632,"cg_iq_raw_a":-0.143900603,"cg_iu_a":-0.0699543953,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931018,"cg_sample_age_us":26.812727,"cg_sample_seq":14397071,"cg_sample_valid":1,"cg_theta_rad":5.00571489,"cg_vd_req_v":0.0990853012,"cg_vd_v":0.0990853012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340604663,"cg_vq_v":-0.340604663,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.308011889,"dclink_p_w":44.5769157,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1437378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.190674,"values":{"Elec_RPM":-1.17891033e-26,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54789,"Mech_RPM":-2.3578207e-27,"cg_du":50.1184387,"cg_dv":50.191803,"cg_dw":49.808197,"cg_id_a":0.213558972,"cg_id_raw_a":-0.0387199447,"cg_iq_a":-0.525771737,"cg_iq_raw_a":-0.0754077435,"cg_iu_a":-0.0699541569,"cg_iv_a":1.15646899,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.8563633,"cg_sample_seq":14397116,"cg_sample_valid":1,"cg_theta_rad":5.00883484,"cg_vd_req_v":0.0933688059,"cg_vd_v":0.0933688059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327228814,"cg_vq_v":-0.327228814,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.198486,"values":{"Elec_RPM":-1.17891033e-26,"EncoderCos":38717,"EncoderSin":12503,"GapTicks":54786,"Mech_RPM":-2.3578207e-27,"cg_du":50.1154594,"cg_dv":50.1945152,"cg_dw":49.8054848,"cg_id_a":-0.118367091,"cg_id_raw_a":-0.288143605,"cg_iq_a":-0.274669707,"cg_iq_raw_a":-0.536661088,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9509087,"cg_sample_seq":14397167,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0980343148,"cg_vd_v":0.0980343148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32934171,"cg_vq_v":-0.32934171,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.206299,"values":{"Elec_RPM":-1.15533217e-26,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-2.3106643e-27,"cg_du":50.1204338,"cg_dv":50.1956635,"cg_dw":49.8043365,"cg_id_a":-0.0308434218,"cg_id_raw_a":0.0224423092,"cg_iq_a":-0.0385985002,"cg_iq_raw_a":-0.470462531,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704056,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14397216,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.0966803581,"cg_vd_v":0.0966803581,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334374547,"cg_vq_v":-0.334374547,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1087646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.214111,"values":{"Elec_RPM":-1.15533217e-26,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54787,"Mech_RPM":-2.3106643e-27,"cg_du":50.1170731,"cg_dv":50.1932831,"cg_dw":49.8067169,"cg_id_a":-0.0621207543,"cg_id_raw_a":0.310560316,"cg_iq_a":-0.259981155,"cg_iq_raw_a":-1.06134236,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309052,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8709087,"cg_sample_seq":14397267,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.0960766152,"cg_vd_v":0.0960766152,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328421146,"cg_vq_v":-0.328421146,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.221924,"values":{"Elec_RPM":-1.13222556e-26,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54788,"Mech_RPM":-2.26445104e-27,"cg_du":50.1182823,"cg_dv":50.1923103,"cg_dw":49.8076897,"cg_id_a":-0.0456759967,"cg_id_raw_a":0.083440192,"cg_iq_a":-0.158513069,"cg_iq_raw_a":-0.246021196,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14397316,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0938295722,"cg_vd_v":0.0938295722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327879906,"cg_vq_v":-0.327879906,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.229736,"values":{"Elec_RPM":-1.13222556e-26,"EncoderCos":38702,"EncoderSin":12471,"GapTicks":54789,"Mech_RPM":-2.26445104e-27,"cg_du":50.1221542,"cg_dv":50.1910591,"cg_dw":49.8089409,"cg_id_a":0.0602015927,"cg_id_raw_a":0.314944446,"cg_iq_a":-0.0114403516,"cg_iq_raw_a":0.178602934,"cg_iu_a":0.183752537,"cg_iv_a":0.39534843,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9836369,"cg_sample_seq":14397366,"cg_sample_valid":1,"cg_theta_rad":5.00612402,"cg_vd_req_v":0.091259867,"cg_vd_v":0.091259867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327878177,"cg_vq_v":-0.327878177,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.241455,"values":{"Elec_RPM":-1.10958101e-26,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-2.21916202e-27,"cg_du":50.1173248,"cg_dv":50.2030334,"cg_dw":49.7969666,"cg_id_a":-0.636225641,"cg_id_raw_a":0.194689393,"cg_iq_a":0.885685623,"cg_iq_raw_a":-0.0891538337,"cg_iu_a":0.111264944,"cg_iv_a":-0.148308992,"cg_iw_a":1.9217236,"cg_sample_age_us":23.9436359,"cg_sample_seq":14397416,"cg_sample_valid":1,"cg_theta_rad":5.00713873,"cg_vd_req_v":0.105847575,"cg_vd_v":0.105847575,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341661006,"cg_vq_v":-0.341661006,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1087646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.249268,"values":{"Elec_RPM":-1.10958101e-26,"EncoderCos":38728,"EncoderSin":12502,"GapTicks":54792,"Mech_RPM":-2.21916202e-27,"cg_du":50.1251602,"cg_dv":50.1889801,"cg_dw":49.8110199,"cg_id_a":0.443462312,"cg_id_raw_a":1.05112195,"cg_iq_a":0.170256078,"cg_iq_raw_a":1.08217931,"cg_iu_a":-0.287417173,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9872723,"cg_sample_seq":14397466,"cg_sample_valid":1,"cg_theta_rad":5.00723028,"cg_vd_req_v":0.0844998583,"cg_vd_v":0.0844998583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328441262,"cg_vq_v":-0.328441262,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.1087646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.25708,"values":{"Elec_RPM":-1.08738937e-26,"EncoderCos":38699,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-2.17477877e-27,"cg_du":50.1237793,"cg_dv":50.1969299,"cg_dw":49.8030701,"cg_id_a":-0.12958397,"cg_id_raw_a":-0.0871657059,"cg_iq_a":0.406237066,"cg_iq_raw_a":1.23060727,"cg_iu_a":0.328727841,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8709087,"cg_sample_seq":14397517,"cg_sample_valid":1,"cg_theta_rad":5.00538683,"cg_vd_req_v":0.0958708823,"cg_vd_v":0.0958708823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336715877,"cg_vq_v":-0.336715877,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.119873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.264893,"values":{"Elec_RPM":-1.08738937e-26,"EncoderCos":38697,"EncoderSin":12467,"GapTicks":54786,"Mech_RPM":-2.17477877e-27,"cg_du":50.1302719,"cg_dv":50.1944351,"cg_dw":49.8055649,"cg_id_a":0.237296671,"cg_id_raw_a":0.118391372,"cg_iq_a":0.332663804,"cg_iq_raw_a":0.450268984,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.184552908,"cg_iw_a":0.290750861,"cg_sample_age_us":23.954546,"cg_sample_seq":14397566,"cg_sample_valid":1,"cg_theta_rad":5.00789881,"cg_vd_req_v":0.088960059,"cg_vd_v":0.088960059,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337937474,"cg_vq_v":-0.337937474,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.1551323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.119873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.296143,"values":{"Elec_RPM":-1.06564161e-26,"EncoderCos":38738,"EncoderSin":12484,"GapTicks":54790,"Mech_RPM":-2.13128319e-27,"cg_du":50.1261749,"cg_dv":50.1906738,"cg_dw":49.8093262,"cg_id_a":0.358758837,"cg_id_raw_a":0.621636271,"cg_iq_a":-0.0114043355,"cg_iq_raw_a":0.0584136844,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641557,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9763641,"cg_sample_seq":14397619,"cg_sample_valid":1,"cg_theta_rad":5.00626612,"cg_vd_req_v":0.084745653,"cg_vd_v":0.084745653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330408812,"cg_vq_v":-0.330408812,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.1551323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.303955,"values":{"Elec_RPM":-1.06564161e-26,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54786,"Mech_RPM":-2.13128319e-27,"cg_du":50.1222458,"cg_dv":50.1936455,"cg_dw":49.8063545,"cg_id_a":-0.097777389,"cg_id_raw_a":-0.194410339,"cg_iq_a":0.164356917,"cg_iq_raw_a":0.0182177592,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8745461,"cg_sample_seq":14397666,"cg_sample_valid":1,"cg_theta_rad":5.00763369,"cg_vd_req_v":0.0926572159,"cg_vd_v":0.0926572159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33281973,"cg_vq_v":-0.33281973,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.230208993,"dclink_p_w":-33.3169174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.311768,"values":{"Elec_RPM":-1.04432873e-26,"EncoderCos":38748,"EncoderSin":12476,"GapTicks":54792,"Mech_RPM":-2.08865754e-27,"cg_du":50.1083527,"cg_dv":50.1887589,"cg_dw":49.8112411,"cg_id_a":-0.225429505,"cg_id_raw_a":-0.00344593939,"cg_iq_a":-0.812518954,"cg_iq_raw_a":0.000490188017,"cg_iu_a":0.364971757,"cg_iv_a":-0.112065196,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8490906,"cg_sample_seq":14397716,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.096381478,"cg_vd_v":0.096381478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3180269,"cg_vq_v":-0.3180269,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.230208993,"dclink_p_w":-33.3169174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1119385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.31958,"values":{"Elec_RPM":-1.04432873e-26,"EncoderCos":38728,"EncoderSin":12470,"GapTicks":54788,"Mech_RPM":-2.08865754e-27,"cg_du":50.1169548,"cg_dv":50.1919937,"cg_dw":49.8080063,"cg_id_a":-0.10960836,"cg_id_raw_a":0.0277652703,"cg_iq_a":-0.302133948,"cg_iq_raw_a":-0.105762832,"cg_iu_a":1.45228684,"cg_iv_a":-0.329528213,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9872723,"cg_sample_seq":14397766,"cg_sample_valid":1,"cg_theta_rad":5.00704861,"cg_vd_req_v":0.0946240947,"cg_vd_v":0.0946240947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327760786,"cg_vq_v":-0.327760786,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.230208993,"dclink_p_w":-33.3169174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0960388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.327393,"values":{"Elec_RPM":-1.00297332e-26,"EncoderCos":38693,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-2.00594656e-27,"cg_du":50.1397324,"cg_dv":50.1993637,"cg_dw":49.8006363,"cg_id_a":0.383835614,"cg_id_raw_a":0.0307831597,"cg_iq_a":0.841022372,"cg_iq_raw_a":0.076830633,"cg_iu_a":-0.0337104797,"cg_iv_a":0.39534843,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9218178,"cg_sample_seq":14397917,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.0858916119,"cg_vd_v":0.0858916119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348994911,"cg_vq_v":-0.348994911,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0960388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.335205,"values":{"Elec_RPM":-1.00297332e-26,"EncoderCos":38694,"EncoderSin":12472,"GapTicks":54778,"Mech_RPM":-2.00594656e-27,"cg_du":50.1318741,"cg_dv":50.2011032,"cg_dw":49.7988968,"cg_id_a":-0.00736904144,"cg_id_raw_a":-0.491240263,"cg_iq_a":0.764843225,"cg_iq_raw_a":0.241411284,"cg_iu_a":-1.22975683,"cg_iv_a":0.141641617,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9909096,"cg_sample_seq":14397967,"cg_sample_valid":1,"cg_theta_rad":5.0064106,"cg_vd_req_v":0.0940891951,"cg_vd_v":0.0940891951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346816212,"cg_vq_v":-0.346816212,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0960388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.343018,"values":{"Elec_RPM":-9.82913832e-27,"EncoderCos":38694,"EncoderSin":12459,"GapTicks":54783,"Mech_RPM":-1.9658277e-27,"cg_du":50.122776,"cg_dv":50.1965179,"cg_dw":49.8034821,"cg_id_a":-0.108559489,"cg_id_raw_a":0.00568905193,"cg_iq_a":0.18129006,"cg_iq_raw_a":-0.690984011,"cg_iu_a":-1.80965829,"cg_iv_a":0.322860718,"cg_iw_a":1.48679757,"cg_sample_age_us":23.9836369,"cg_sample_seq":14398017,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0970036462,"cg_vd_v":0.0970036462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335374802,"cg_vq_v":-0.335374802,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.317853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0881042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.354736,"values":{"Elec_RPM":-9.82913832e-27,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54788,"Mech_RPM":-1.9658277e-27,"cg_du":50.1142006,"cg_dv":50.1922646,"cg_dw":49.8077354,"cg_id_a":-0.0950859934,"cg_id_raw_a":-0.440640569,"cg_iq_a":-0.071325615,"cg_iq_raw_a":-0.697159648,"cg_iu_a":-1.30224442,"cg_iv_a":-0.148309112,"cg_iw_a":1.45055354,"cg_sample_age_us":23.9836369,"cg_sample_seq":14398066,"cg_sample_valid":1,"cg_theta_rad":5.00875616,"cg_vd_req_v":0.0969580412,"cg_vd_v":0.0969580412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325532734,"cg_vq_v":-0.325532734,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.102417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.38208,"values":{"Elec_RPM":-9.63255557e-27,"EncoderCos":38737,"EncoderSin":12470,"GapTicks":54778,"Mech_RPM":-1.92651119e-27,"cg_du":50.1202545,"cg_dv":50.2016525,"cg_dw":49.7983475,"cg_id_a":-0.211093277,"cg_id_raw_a":0.259262681,"cg_iq_a":0.718894839,"cg_iq_raw_a":1.00802886,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238573,"cg_sample_age_us":26.8272724,"cg_sample_seq":14398120,"cg_sample_valid":1,"cg_theta_rad":5.00547791,"cg_vd_req_v":0.10071902,"cg_vd_v":0.10071902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343003482,"cg_vq_v":-0.343003482,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.102417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.389893,"values":{"Elec_RPM":-9.63255557e-27,"EncoderCos":38703,"EncoderSin":12513,"GapTicks":54781,"Mech_RPM":-1.92651119e-27,"cg_du":50.1247292,"cg_dv":50.1986771,"cg_dw":49.8013229,"cg_id_a":0.0246420503,"cg_id_raw_a":-0.400711209,"cg_iq_a":0.521798968,"cg_iq_raw_a":0.616815686,"cg_iu_a":-0.9760499,"cg_iv_a":0.0691539049,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9181824,"cg_sample_seq":14398166,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0959313586,"cg_vd_v":0.0959313586,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340991497,"cg_vq_v":-0.340991497,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1040039,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.397705,"values":{"Elec_RPM":-9.43990556e-27,"EncoderCos":38712,"EncoderSin":12493,"GapTicks":54787,"Mech_RPM":-1.88798104e-27,"cg_du":50.1117249,"cg_dv":50.1933594,"cg_dw":49.8066406,"cg_id_a":-0.210522279,"cg_id_raw_a":-0.0993450955,"cg_iq_a":-0.301757991,"cg_iq_raw_a":-0.73728317,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14398216,"cg_sample_valid":1,"cg_theta_rad":5.00730467,"cg_vd_req_v":0.100744002,"cg_vd_v":0.100744002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326479346,"cg_vq_v":-0.326479346,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.409424,"values":{"Elec_RPM":-9.43990556e-27,"EncoderCos":38713,"EncoderSin":12487,"GapTicks":54786,"Mech_RPM":-1.88798104e-27,"cg_du":50.1071358,"cg_dv":50.1941071,"cg_dw":49.8058929,"cg_id_a":-0.376155704,"cg_id_raw_a":-0.514857948,"cg_iq_a":-0.428206503,"cg_iq_raw_a":-1.21513665,"cg_iu_a":0.727410078,"cg_iv_a":-0.329528213,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9836369,"cg_sample_seq":14398266,"cg_sample_valid":1,"cg_theta_rad":5.00721025,"cg_vd_req_v":0.104826286,"cg_vd_v":0.104826286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323909223,"cg_vq_v":-0.323909223,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.417236,"values":{"Elec_RPM":-9.25110742e-27,"EncoderCos":38714,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-1.85022145e-27,"cg_du":50.1211433,"cg_dv":50.1973839,"cg_dw":49.8026161,"cg_id_a":0.0198421106,"cg_id_raw_a":-0.100878075,"cg_iq_a":0.248592466,"cg_iq_raw_a":0.136596501,"cg_iu_a":-0.323661089,"cg_iv_a":-0.25704062,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8563633,"cg_sample_seq":14398316,"cg_sample_valid":1,"cg_theta_rad":5.00716686,"cg_vd_req_v":0.0969279334,"cg_vd_v":0.0969279334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336260289,"cg_vq_v":-0.336260289,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.425049,"values":{"Elec_RPM":-9.25110742e-27,"EncoderCos":38712,"EncoderSin":12487,"GapTicks":54776,"Mech_RPM":-1.85022145e-27,"cg_du":50.1139336,"cg_dv":50.2027435,"cg_dw":49.7972565,"cg_id_a":-0.39086175,"cg_id_raw_a":-0.00747686625,"cg_iq_a":0.353884876,"cg_iq_raw_a":0.255001128,"cg_iu_a":0.5099473,"cg_iv_a":0.431592345,"cg_iw_a":-0.941539645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14398366,"cg_sample_valid":1,"cg_theta_rad":5.00694036,"cg_vd_req_v":0.107974187,"cg_vd_v":0.107974187,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339436829,"cg_vq_v":-0.339436829,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.432861,"values":{"Elec_RPM":-9.06608487e-27,"EncoderCos":38751,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-1.81321701e-27,"cg_du":50.1174774,"cg_dv":50.1994896,"cg_dw":49.8005104,"cg_id_a":0.0727092698,"cg_id_raw_a":-0.176208854,"cg_iq_a":0.108945489,"cg_iq_raw_a":-0.88823849,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0758213401,"cg_iw_a":0.544457853,"cg_sample_age_us":23.8454552,"cg_sample_seq":14398416,"cg_sample_valid":1,"cg_theta_rad":5.0087409,"cg_vd_req_v":0.0992669389,"cg_vd_v":0.0992669389,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33894664,"cg_vq_v":-0.33894664,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0976257,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.440674,"values":{"Elec_RPM":-9.06608487e-27,"EncoderCos":38716,"EncoderSin":12477,"GapTicks":54776,"Mech_RPM":-1.81321701e-27,"cg_du":50.1170692,"cg_dv":50.2036057,"cg_dw":49.7963943,"cg_id_a":-0.248372689,"cg_id_raw_a":0.103361368,"cg_iq_a":0.359191477,"cg_iq_raw_a":0.411555052,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8527279,"cg_sample_seq":14398467,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.106603824,"cg_vd_v":0.106603824,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343434066,"cg_vq_v":-0.343434066,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1214905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.448486,"values":{"Elec_RPM":-8.88476319e-27,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54777,"Mech_RPM":-1.77695272e-27,"cg_du":50.1091805,"cg_dv":50.2020187,"cg_dw":49.7979813,"cg_id_a":-0.42427662,"cg_id_raw_a":-0.368047327,"cg_iq_a":0.213528693,"cg_iq_raw_a":0.0741949379,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9799995,"cg_sample_seq":14398517,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.110999405,"cg_vd_v":0.110999405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336917669,"cg_vq_v":-0.336917669,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1214905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.456299,"values":{"Elec_RPM":-8.88476319e-27,"EncoderCos":38698,"EncoderSin":12490,"GapTicks":54782,"Mech_RPM":-1.77695272e-27,"cg_du":50.1148987,"cg_dv":50.1977654,"cg_dw":49.8022346,"cg_id_a":0.0657612756,"cg_id_raw_a":-0.101356395,"cg_iq_a":0.0437509753,"cg_iq_raw_a":0.136242121,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14398567,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.103365026,"cg_vd_v":0.103365026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332911521,"cg_vq_v":-0.332911521,"cg_vu_v":102.494972,"cg_vv_v":91.4976578,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0526143312,"dclink_p_w":-7.63773584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.487549,"values":{"Elec_RPM":-8.70706842e-27,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.74141372e-27,"cg_du":50.1062355,"cg_dv":50.1967735,"cg_dw":49.8032265,"cg_id_a":-0.131516948,"cg_id_raw_a":-0.186760202,"cg_iq_a":-0.148323327,"cg_iq_raw_a":0.383622825,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":26.8199997,"cg_sample_seq":14398621,"cg_sample_valid":1,"cg_theta_rad":5.00706673,"cg_vd_req_v":0.106908813,"cg_vd_v":0.106908813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327431291,"cg_vq_v":-0.327431291,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.495361,"values":{"Elec_RPM":-8.70706842e-27,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54788,"Mech_RPM":-1.74141372e-27,"cg_du":50.1120224,"cg_dv":50.1922722,"cg_dw":49.8077278,"cg_id_a":0.216782004,"cg_id_raw_a":0.325416535,"cg_iq_a":-0.168874919,"cg_iq_raw_a":-1.20542645,"cg_iu_a":0.836141706,"cg_iv_a":0.431592345,"cg_iw_a":-1.26773405,"cg_sample_age_us":23.9581814,"cg_sample_seq":14398666,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.0992555767,"cg_vd_v":0.0992555767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324146032,"cg_vq_v":-0.324146032,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.503174,"values":{"Elec_RPM":-8.5329266e-27,"EncoderCos":38728,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-1.7065854e-27,"cg_du":50.1087418,"cg_dv":50.1958694,"cg_dw":49.8041306,"cg_id_a":-0.0854753256,"cg_id_raw_a":-0.034500353,"cg_iq_a":0.14706029,"cg_iq_raw_a":0.543646812,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14398766,"cg_sample_valid":1,"cg_theta_rad":5.00591135,"cg_vd_req_v":0.104844481,"cg_vd_v":0.104844481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328441978,"cg_vq_v":-0.328441978,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0992126,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.510986,"values":{"Elec_RPM":-8.36226841e-27,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-1.67245368e-27,"cg_du":50.1094322,"cg_dv":50.197403,"cg_dw":49.802597,"cg_id_a":-0.0343199223,"cg_id_raw_a":0.045128502,"cg_iq_a":0.21528168,"cg_iq_raw_a":-0.0676898882,"cg_iu_a":-0.686099291,"cg_iv_a":-0.112065256,"cg_iw_a":0.798164546,"cg_sample_age_us":23.9436359,"cg_sample_seq":14398816,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.105788499,"cg_vd_v":0.105788499,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330923945,"cg_vq_v":-0.330923945,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1103516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.522705,"values":{"Elec_RPM":-8.36226841e-27,"EncoderCos":38701,"EncoderSin":12495,"GapTicks":54788,"Mech_RPM":-1.67245368e-27,"cg_du":50.0926514,"cg_dv":50.1921654,"cg_dw":49.8078346,"cg_id_a":-0.489268094,"cg_id_raw_a":-1.00918758,"cg_iq_a":-0.704307199,"cg_iq_raw_a":-1.08402359,"cg_iu_a":0.836141586,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.8600006,"cg_sample_seq":14398866,"cg_sample_valid":1,"cg_theta_rad":5.00653505,"cg_vd_req_v":0.114981987,"cg_vd_v":0.114981987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312884986,"cg_vq_v":-0.312884986,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.530518,"values":{"Elec_RPM":-8.19502297e-27,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-1.63900452e-27,"cg_du":50.1108322,"cg_dv":50.1955032,"cg_dw":49.8044968,"cg_id_a":0.14331995,"cg_id_raw_a":-0.361787051,"cg_iq_a":0.0599817075,"cg_iq_raw_a":-1.30811524,"cg_iu_a":-0.831074715,"cg_iv_a":0.105397701,"cg_iw_a":0.725677013,"cg_sample_age_us":23.8563633,"cg_sample_seq":14398916,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.102452472,"cg_vd_v":0.102452472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328143567,"cg_vq_v":-0.328143567,"cg_vu_v":24.1940918,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.53833,"values":{"Elec_RPM":-8.19502297e-27,"EncoderCos":38677,"EncoderSin":12492,"GapTicks":54794,"Mech_RPM":-1.63900452e-27,"cg_du":50.0945015,"cg_dv":50.1869965,"cg_dw":49.8130035,"cg_id_a":0.130078271,"cg_id_raw_a":-0.00589812919,"cg_iq_a":-1.02463746,"cg_iq_raw_a":-1.16613793,"cg_iu_a":0.582434893,"cg_iv_a":0.649055243,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.954546,"cg_sample_seq":14398967,"cg_sample_valid":1,"cg_theta_rad":5.00540066,"cg_vd_req_v":0.105833344,"cg_vd_v":0.105833344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.307841927,"cg_vq_v":-0.307841927,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0436401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.546143,"values":{"Elec_RPM":-8.03112171e-27,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-1.60622442e-27,"cg_du":50.1096649,"cg_dv":50.1977768,"cg_dw":49.8022232,"cg_id_a":-0.102263793,"cg_id_raw_a":-0.170028403,"cg_iq_a":0.0454235747,"cg_iq_raw_a":-0.0161348656,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9509087,"cg_sample_seq":14399017,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.106881134,"cg_vd_v":0.106881134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330168635,"cg_vq_v":-0.330168635,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0547485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.553955,"values":{"Elec_RPM":-8.03112171e-27,"EncoderCos":38735,"EncoderSin":12462,"GapTicks":54783,"Mech_RPM":-1.60622442e-27,"cg_du":50.1148605,"cg_dv":50.1971283,"cg_dw":49.8028717,"cg_id_a":0.323363662,"cg_id_raw_a":0.183749139,"cg_iq_a":0.0419630259,"cg_iq_raw_a":-0.200200215,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8672733,"cg_sample_seq":14399066,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.100617051,"cg_vd_v":0.100617051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332685858,"cg_vq_v":-0.332685858,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.42866683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0547485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.585205,"values":{"Elec_RPM":-7.87049915e-27,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.57409991e-27,"cg_du":50.102459,"cg_dv":50.1943741,"cg_dw":49.8056259,"cg_id_a":-0.0779726207,"cg_id_raw_a":-0.42006427,"cg_iq_a":-0.598454177,"cg_iq_raw_a":-0.0392708704,"cg_iu_a":-0.323661089,"cg_iv_a":0.21412921,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9799995,"cg_sample_seq":14399119,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.108192854,"cg_vd_v":0.108192854,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322923213,"cg_vq_v":-0.322923213,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.593018,"values":{"Elec_RPM":-7.87049915e-27,"EncoderCos":38703,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-1.57409991e-27,"cg_du":50.1068268,"cg_dv":50.202301,"cg_dw":49.797699,"cg_id_a":-0.370426416,"cg_id_raw_a":0.414889485,"cg_iq_a":-0.0698773563,"cg_iq_raw_a":-0.394540161,"cg_iu_a":-0.251173258,"cg_iv_a":-0.220796704,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9472733,"cg_sample_seq":14399166,"cg_sample_valid":1,"cg_theta_rad":5.00622463,"cg_vd_req_v":0.113873065,"cg_vd_v":0.113873065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33458668,"cg_vq_v":-0.33458668,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1007996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.60083,"values":{"Elec_RPM":-7.71308904e-27,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-1.54261789e-27,"cg_du":50.1149673,"cg_dv":50.2005882,"cg_dw":49.7994118,"cg_id_a":-0.0451541841,"cg_id_raw_a":0.0424338095,"cg_iq_a":0.0407658778,"cg_iq_raw_a":-0.249937296,"cg_iu_a":-0.359905005,"cg_iv_a":0.57656765,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14399216,"cg_sample_valid":1,"cg_theta_rad":5.00573206,"cg_vd_req_v":0.105345778,"cg_vd_v":0.105345778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337006301,"cg_vq_v":-0.337006301,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0944824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.608643,"values":{"Elec_RPM":-7.71308904e-27,"EncoderCos":38740,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-1.54261789e-27,"cg_du":50.0979843,"cg_dv":50.1941643,"cg_dw":49.8058357,"cg_id_a":-0.218574807,"cg_id_raw_a":-0.360709101,"cg_iq_a":-0.648230791,"cg_iq_raw_a":-0.687351584,"cg_iu_a":-0.649855614,"cg_iv_a":0.359104633,"cg_iw_a":-1.44895315,"cg_sample_age_us":23.8563633,"cg_sample_seq":14399266,"cg_sample_valid":1,"cg_theta_rad":5.00707912,"cg_vd_req_v":0.109969325,"cg_vd_v":0.109969325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319574058,"cg_vq_v":-0.319574058,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.616455,"values":{"Elec_RPM":-7.55882745e-27,"EncoderCos":38703,"EncoderSin":12533,"GapTicks":54783,"Mech_RPM":-1.51176555e-27,"cg_du":50.1081657,"cg_dv":50.1969452,"cg_dw":49.8030548,"cg_id_a":0.00116966479,"cg_id_raw_a":0.318556249,"cg_iq_a":-0.208509102,"cg_iq_raw_a":0.796514153,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9509087,"cg_sample_seq":14399316,"cg_sample_valid":1,"cg_theta_rad":5.00702143,"cg_vd_req_v":0.106488682,"cg_vd_v":0.106488682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328438908,"cg_vq_v":-0.328438908,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.624268,"values":{"Elec_RPM":-7.55882745e-27,"EncoderCos":38706,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-1.51176555e-27,"cg_du":50.1147156,"cg_dv":50.2053452,"cg_dw":49.7946548,"cg_id_a":-0.215122685,"cg_id_raw_a":-0.36751771,"cg_iq_a":0.56247735,"cg_iq_raw_a":0.692355931,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148308992,"cg_iw_a":0.544457674,"cg_sample_age_us":23.8600006,"cg_sample_seq":14399366,"cg_sample_valid":1,"cg_theta_rad":5.00648785,"cg_vd_req_v":0.110982336,"cg_vd_v":0.110982336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344213665,"cg_vq_v":-0.344213665,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0881042,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.635986,"values":{"Elec_RPM":-7.40765119e-27,"EncoderCos":38707,"EncoderSin":12469,"GapTicks":54775,"Mech_RPM":-1.48153028e-27,"cg_du":50.1223679,"cg_dv":50.2043686,"cg_dw":49.7956314,"cg_id_a":0.13698104,"cg_id_raw_a":0.0117424317,"cg_iq_a":0.585777819,"cg_iq_raw_a":0.475546867,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0395775437,"cg_iw_a":0.870652258,"cg_sample_age_us":23.9327278,"cg_sample_seq":14399416,"cg_sample_valid":1,"cg_theta_rad":5.00645113,"cg_vd_req_v":0.104079805,"cg_vd_v":0.104079805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347190291,"cg_vq_v":-0.347190291,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.5262222,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.643799,"values":{"Elec_RPM":-7.40765119e-27,"EncoderCos":38703,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-1.48153028e-27,"cg_du":50.1144943,"cg_dv":50.2010193,"cg_dw":49.7989807,"cg_id_a":-0.0137672126,"cg_id_raw_a":0.0745294988,"cg_iq_a":0.108623631,"cg_iq_raw_a":-0.355959147,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14399466,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.106966138,"cg_vd_v":0.106966138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338188857,"cg_vq_v":-0.338188857,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.651611,"values":{"Elec_RPM":-7.25949864e-27,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-1.45189965e-27,"cg_du":50.1004486,"cg_dv":50.192215,"cg_dw":49.807785,"cg_id_a":0.0261243507,"cg_id_raw_a":0.0101018082,"cg_iq_a":-0.952501237,"cg_iq_raw_a":-0.143860489,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9181824,"cg_sample_seq":14399517,"cg_sample_valid":1,"cg_theta_rad":5.00604773,"cg_vd_req_v":0.106541768,"cg_vd_v":0.106541768,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317076534,"cg_vq_v":-0.317076534,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2606.659424,"values":{"Elec_RPM":-7.25949864e-27,"EncoderCos":38728,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-1.45189965e-27,"cg_du":50.1076469,"cg_dv":50.2083054,"cg_dw":49.7916946,"cg_id_a":-0.522463322,"cg_id_raw_a":-0.208211258,"cg_iq_a":0.259979427,"cg_iq_raw_a":0.162893146,"cg_iu_a":0.364971876,"cg_iv_a":-0.800698042,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8600006,"cg_sample_seq":14399566,"cg_sample_valid":1,"cg_theta_rad":5.00743294,"cg_vd_req_v":0.117449321,"cg_vd_v":0.117449321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343760461,"cg_vq_v":-0.343760461,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.690674,"values":{"Elec_RPM":-7.11430818e-27,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54773,"Mech_RPM":-1.42286164e-27,"cg_du":50.1131935,"cg_dv":50.205986,"cg_dw":49.794014,"cg_id_a":-0.0413606726,"cg_id_raw_a":-0.423657686,"cg_iq_a":0.115490168,"cg_iq_raw_a":-0.221709892,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019532,"cg_sample_age_us":23.8345451,"cg_sample_seq":14399666,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.110723473,"cg_vd_v":0.110723473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343749553,"cg_vq_v":-0.343749553,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0754089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.698486,"values":{"Elec_RPM":-6.97202201e-27,"EncoderCos":38717,"EncoderSin":12477,"GapTicks":54768,"Mech_RPM":-1.39440438e-27,"cg_du":50.115139,"cg_dv":50.2106361,"cg_dw":49.7893639,"cg_id_a":-0.15981175,"cg_id_raw_a":-0.195171997,"cg_iq_a":0.458284229,"cg_iq_raw_a":0.455108017,"cg_iu_a":0.292484045,"cg_iv_a":-0.474503577,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9836369,"cg_sample_seq":14399716,"cg_sample_valid":1,"cg_theta_rad":5.00964928,"cg_vd_req_v":0.114903025,"cg_vd_v":0.114903025,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351955473,"cg_vq_v":-0.351955473,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0754089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.706299,"values":{"Elec_RPM":-6.97202201e-27,"EncoderCos":38715,"EncoderSin":12488,"GapTicks":54773,"Mech_RPM":-1.39440438e-27,"cg_du":50.1167145,"cg_dv":50.206337,"cg_dw":49.793663,"cg_id_a":0.190264508,"cg_id_raw_a":0.124718837,"cg_iq_a":0.18291527,"cg_iq_raw_a":0.195067003,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14399766,"cg_sample_valid":1,"cg_theta_rad":5.00688267,"cg_vd_req_v":0.109363735,"cg_vd_v":0.109363735,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347017616,"cg_vq_v":-0.347017616,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.714111,"values":{"Elec_RPM":-6.8325816e-27,"EncoderCos":38703,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-1.36651634e-27,"cg_du":50.1176872,"cg_dv":50.2117615,"cg_dw":49.7882385,"cg_id_a":-0.0526490547,"cg_id_raw_a":0.346536815,"cg_iq_a":0.50604105,"cg_iq_raw_a":0.692021072,"cg_iu_a":0.256240129,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.8600006,"cg_sample_seq":14399817,"cg_sample_valid":1,"cg_theta_rad":5.00757742,"cg_vd_req_v":0.11514245,"cg_vd_v":0.11514245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353367418,"cg_vq_v":-0.353367418,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1151123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.721924,"values":{"Elec_RPM":-6.8325816e-27,"EncoderCos":38709,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-1.36651634e-27,"cg_du":50.102047,"cg_dv":50.2030182,"cg_dw":49.7969818,"cg_id_a":-0.231701061,"cg_id_raw_a":0.181768313,"cg_iq_a":-0.442675084,"cg_iq_raw_a":-0.381765723,"cg_iu_a":0.691166282,"cg_iv_a":-0.438259721,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8490906,"cg_sample_seq":14399866,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.117906876,"cg_vd_v":0.117906876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333012462,"cg_vq_v":-0.333012462,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.1151123,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.729736,"values":{"Elec_RPM":-6.69592994e-27,"EncoderCos":38752,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-1.33918605e-27,"cg_du":50.1115875,"cg_dv":50.208683,"cg_dw":49.791317,"cg_id_a":-0.0668128207,"cg_id_raw_a":-0.00785566308,"cg_iq_a":0.385733306,"cg_iq_raw_a":0.509607136,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333374739,"cg_iw_a":0.544457853,"cg_sample_age_us":23.9836369,"cg_sample_seq":14399917,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.113117449,"cg_vd_v":0.113117449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347007245,"cg_vq_v":-0.347007245,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.737549,"values":{"Elec_RPM":-6.69592994e-27,"EncoderCos":38687,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-1.33918605e-27,"cg_du":50.1093254,"cg_dv":50.2027512,"cg_dw":49.7972488,"cg_id_a":-0.103479721,"cg_id_raw_a":-0.512637675,"cg_iq_a":-0.191270322,"cg_iq_raw_a":-0.16148442,"cg_iu_a":0.908629179,"cg_iv_a":-0.0395776033,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8563633,"cg_sample_seq":14399966,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.113233276,"cg_vd_v":0.113233276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336312264,"cg_vq_v":-0.336312264,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.749268,"values":{"Elec_RPM":-6.56201156e-27,"EncoderCos":38712,"EncoderSin":12490,"GapTicks":54777,"Mech_RPM":-1.31240233e-27,"cg_du":50.1103249,"cg_dv":50.2026901,"cg_dw":49.7973099,"cg_id_a":0.0800969005,"cg_id_raw_a":-0.120449476,"cg_iq_a":0.00830991566,"cg_iq_raw_a":-0.520882249,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373065,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.8563633,"cg_sample_seq":14400016,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.111022227,"cg_vd_v":0.111022227,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338384628,"cg_vq_v":-0.338384628,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.2197046,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.75708,"values":{"Elec_RPM":-6.56201156e-27,"EncoderCos":38748,"EncoderSin":12493,"GapTicks":54777,"Mech_RPM":-1.31240233e-27,"cg_du":50.1078072,"cg_dv":50.2023582,"cg_dw":49.7976418,"cg_id_a":0.154387891,"cg_id_raw_a":0.347621977,"cg_iq_a":-0.0668015182,"cg_iq_raw_a":0.0683932751,"cg_iu_a":0.183752537,"cg_iv_a":0.540323794,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9509087,"cg_sample_seq":14400067,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.109848395,"cg_vd_v":0.109848395,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337450236,"cg_vq_v":-0.337450236,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.784424,"values":{"Elec_RPM":-6.43077176e-27,"EncoderCos":38706,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-1.28615431e-27,"cg_du":50.1033516,"cg_dv":50.2057648,"cg_dw":49.7942352,"cg_id_a":-0.270911157,"cg_id_raw_a":-0.517886162,"cg_iq_a":-0.0608926788,"cg_iq_raw_a":-0.33926475,"cg_iu_a":0.183752537,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14400120,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.119211122,"cg_vd_v":0.119211122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337596893,"cg_vq_v":-0.337596893,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.3676777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.792236,"values":{"Elec_RPM":-6.43077176e-27,"EncoderCos":38714,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-1.28615431e-27,"cg_du":50.111496,"cg_dv":50.204464,"cg_dw":49.795536,"cg_id_a":-0.017312251,"cg_id_raw_a":0.0122366743,"cg_iq_a":0.235353291,"cg_iq_raw_a":0.475534469,"cg_iu_a":-0.0699541569,"cg_iv_a":0.540323794,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.954546,"cg_sample_seq":14400166,"cg_sample_valid":1,"cg_theta_rad":5.00610161,"cg_vd_req_v":0.112015985,"cg_vd_v":0.112015985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340259045,"cg_vq_v":-0.340259045,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0912781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.800049,"values":{"Elec_RPM":-6.30215585e-27,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54773,"Mech_RPM":-1.26043121e-27,"cg_du":50.1115341,"cg_dv":50.2056465,"cg_dw":49.7943535,"cg_id_a":-0.0282893665,"cg_id_raw_a":0.308566958,"cg_iq_a":0.407588214,"cg_iq_raw_a":0.249526888,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14400216,"cg_sample_valid":1,"cg_theta_rad":5.00649643,"cg_vd_req_v":0.112516776,"cg_vd_v":0.112516776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342089027,"cg_vq_v":-0.342089027,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.811768,"values":{"Elec_RPM":-6.30215585e-27,"EncoderCos":38694,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-1.26043121e-27,"cg_du":50.1030426,"cg_dv":50.1978989,"cg_dw":49.8021011,"cg_id_a":-0.0521018878,"cg_id_raw_a":-0.032029286,"cg_iq_a":-0.396743387,"cg_iq_raw_a":-0.330504417,"cg_iu_a":-0.0699541569,"cg_iv_a":0.576567531,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9618187,"cg_sample_seq":14400266,"cg_sample_valid":1,"cg_theta_rad":5.00583649,"cg_vd_req_v":0.113721073,"cg_vd_v":0.113721073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326078296,"cg_vq_v":-0.326078296,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.81958,"values":{"Elec_RPM":-6.17611298e-27,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-1.23522261e-27,"cg_du":50.1004982,"cg_dv":50.1989594,"cg_dw":49.8010406,"cg_id_a":-0.0653606728,"cg_id_raw_a":-0.108221464,"cg_iq_a":-0.442312211,"cg_iq_raw_a":0.208594099,"cg_iu_a":0.509947062,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8781815,"cg_sample_seq":14400316,"cg_sample_valid":1,"cg_theta_rad":5.00676155,"cg_vd_req_v":0.115449414,"cg_vd_v":0.115449414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327648133,"cg_vq_v":-0.327648133,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.827393,"values":{"Elec_RPM":-6.17611298e-27,"EncoderCos":38713,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-1.23522261e-27,"cg_du":50.1167336,"cg_dv":50.2026291,"cg_dw":49.7973709,"cg_id_a":0.278474033,"cg_id_raw_a":0.396319509,"cg_iq_a":0.273274958,"cg_iq_raw_a":1.67958486,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373065,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9254551,"cg_sample_seq":14400366,"cg_sample_valid":1,"cg_theta_rad":5.00838661,"cg_vd_req_v":0.106546737,"cg_vd_v":0.106546737,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341720104,"cg_vq_v":-0.341720104,"cg_vu_v":7.47817326,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.62184024,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.835205,"values":{"Elec_RPM":-6.05259076e-27,"EncoderCos":38732,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-1.21051813e-27,"cg_du":50.1184082,"cg_dv":50.2041779,"cg_dw":49.7958221,"cg_id_a":0.224385127,"cg_id_raw_a":0.211271822,"cg_iq_a":0.540362597,"cg_iq_raw_a":-0.488796979,"cg_iu_a":-0.359904766,"cg_iv_a":-0.329528213,"cg_iw_a":0.94314009,"cg_sample_age_us":23.9618187,"cg_sample_seq":14400416,"cg_sample_valid":1,"cg_theta_rad":5.00810814,"cg_vd_req_v":0.105067,"cg_vd_v":0.105067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3452878,"cg_vq_v":-0.3452878,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.843018,"values":{"Elec_RPM":-6.05259076e-27,"EncoderCos":38699,"EncoderSin":12491,"GapTicks":54777,"Mech_RPM":-1.21051813e-27,"cg_du":50.1209259,"cg_dv":50.2019424,"cg_dw":49.7980576,"cg_id_a":0.335230052,"cg_id_raw_a":-0.067887485,"cg_iq_a":0.32372722,"cg_iq_raw_a":-1.02606606,"cg_iu_a":-0.722343445,"cg_iv_a":-0.184552908,"cg_iw_a":0.906896353,"cg_sample_age_us":23.8563633,"cg_sample_seq":14400466,"cg_sample_valid":1,"cg_theta_rad":5.00638914,"cg_vd_req_v":0.102630816,"cg_vd_v":0.102630816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342004865,"cg_vq_v":-0.342004865,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.85083,"values":{"Elec_RPM":-5.93153875e-27,"EncoderCos":38751,"EncoderSin":12460,"GapTicks":54782,"Mech_RPM":-1.18630775e-27,"cg_du":50.1039658,"cg_dv":50.1973267,"cg_dw":49.8026733,"cg_id_a":0.0100396425,"cg_id_raw_a":-0.520971835,"cg_iq_a":-0.233225867,"cg_iq_raw_a":-0.774691761,"cg_iu_a":0.14750886,"cg_iv_a":0.721542954,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9618187,"cg_sample_seq":14400516,"cg_sample_valid":1,"cg_theta_rad":5.00729752,"cg_vd_req_v":0.108233355,"cg_vd_v":0.108233355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32724449,"cg_vq_v":-0.32724449,"cg_vu_v":25.953661,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.623333216,"dclink_p_w":90.2116852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.862549,"values":{"Elec_RPM":-5.93153875e-27,"EncoderCos":38711,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-1.18630775e-27,"cg_du":50.1112976,"cg_dv":50.2010117,"cg_dw":49.7989883,"cg_id_a":-0.057649143,"cg_id_raw_a":-0.0331689194,"cg_iq_a":0.186439887,"cg_iq_raw_a":-0.330391884,"cg_iu_a":-0.251173496,"cg_iv_a":-0.402015805,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8600006,"cg_sample_seq":14400566,"cg_sample_valid":1,"cg_theta_rad":5.00644016,"cg_vd_req_v":0.109172106,"cg_vd_v":0.109172106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335339069,"cg_vq_v":-0.335339069,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.67588675,"dclink_p_w":97.8174744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0849304,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.889893,"values":{"Elec_RPM":-5.81290801e-27,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-1.16258164e-27,"cg_du":50.1132965,"cg_dv":50.199131,"cg_dw":49.800869,"cg_id_a":0.195397571,"cg_id_raw_a":0.107732907,"cg_iq_a":0.0646003336,"cg_iq_raw_a":0.156743422,"cg_iu_a":-0.251173496,"cg_iv_a":0.322860837,"cg_iw_a":-0.0716873407,"cg_sample_age_us":26.8163643,"cg_sample_seq":14400619,"cg_sample_valid":1,"cg_theta_rad":5.00551796,"cg_vd_req_v":0.104032032,"cg_vd_v":0.104032032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334462881,"cg_vq_v":-0.334462881,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.659577072,"dclink_p_w":95.4570618,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0833435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.897705,"values":{"Elec_RPM":-5.81290801e-27,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-1.16258164e-27,"cg_du":50.1030731,"cg_dv":50.1933136,"cg_dw":49.8066864,"cg_id_a":0.0668168291,"cg_id_raw_a":0.168936715,"cg_iq_a":-0.502625823,"cg_iq_raw_a":-0.674406052,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9836369,"cg_sample_seq":14400666,"cg_sample_valid":1,"cg_theta_rad":5.0061059,"cg_vd_req_v":0.107699454,"cg_vd_v":0.107699454,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320395529,"cg_vq_v":-0.320395529,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0833435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.905518,"values":{"Elec_RPM":-5.69665002e-27,"EncoderCos":38702,"EncoderSin":12462,"GapTicks":54776,"Mech_RPM":-1.13932998e-27,"cg_du":50.1090965,"cg_dv":50.2034836,"cg_dw":49.7965164,"cg_id_a":-0.166629344,"cg_id_raw_a":-0.157904416,"cg_iq_a":0.385528952,"cg_iq_raw_a":0.276093781,"cg_iu_a":-0.178685904,"cg_iv_a":-1.4168433,"cg_iw_a":1.5955292,"cg_sample_age_us":23.9509087,"cg_sample_seq":14400716,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.114184685,"cg_vd_v":0.114184685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338302314,"cg_vq_v":-0.338302314,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0706177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.91333,"values":{"Elec_RPM":-5.69665002e-27,"EncoderCos":38729,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-1.13932998e-27,"cg_du":50.1100121,"cg_dv":50.2062149,"cg_dw":49.7937851,"cg_id_a":-0.128083438,"cg_id_raw_a":0.386808127,"cg_iq_a":0.551953554,"cg_iq_raw_a":1.20258129,"cg_iu_a":-0.214929581,"cg_iv_a":-0.510747433,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9618187,"cg_sample_seq":14400766,"cg_sample_valid":1,"cg_theta_rad":5.00573969,"cg_vd_req_v":0.113270044,"cg_vd_v":0.113270044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342336059,"cg_vq_v":-0.342336059,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0706177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.925049,"values":{"Elec_RPM":-5.58271663e-27,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54790,"Mech_RPM":-1.11654334e-27,"cg_du":50.1048126,"cg_dv":50.1905479,"cg_dw":49.8094521,"cg_id_a":0.413248658,"cg_id_raw_a":-0.440716624,"cg_iq_a":-0.775456488,"cg_iq_raw_a":0.177209482,"cg_iu_a":0.14750886,"cg_iv_a":-0.148309112,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14400816,"cg_sample_valid":1,"cg_theta_rad":5.00606966,"cg_vd_req_v":0.102306053,"cg_vd_v":0.102306053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318054587,"cg_vq_v":-0.318054587,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.932861,"values":{"Elec_RPM":-5.58271663e-27,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-1.11654334e-27,"cg_du":50.1133003,"cg_dv":50.2044678,"cg_dw":49.7955322,"cg_id_a":0.145627335,"cg_id_raw_a":0.340261608,"cg_iq_a":0.196861789,"cg_iq_raw_a":0.1427086,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9836369,"cg_sample_seq":14400866,"cg_sample_valid":1,"cg_theta_rad":5.00716591,"cg_vd_req_v":0.109338857,"cg_vd_v":0.109338857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341688693,"cg_vq_v":-0.341688693,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.940674,"values":{"Elec_RPM":-5.47106238e-27,"EncoderCos":38726,"EncoderSin":12499,"GapTicks":54777,"Mech_RPM":-1.09421248e-27,"cg_du":50.1054726,"cg_dv":50.2021751,"cg_dw":49.7978249,"cg_id_a":-0.00256616622,"cg_id_raw_a":-0.32535708,"cg_iq_a":-0.21804285,"cg_iq_raw_a":0.516170382,"cg_iu_a":-0.106198072,"cg_iv_a":0.359104633,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14400916,"cg_sample_valid":1,"cg_theta_rad":5.00680351,"cg_vd_req_v":0.112716794,"cg_vd_v":0.112716794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334364653,"cg_vq_v":-0.334364653,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.948486,"values":{"Elec_RPM":-5.47106238e-27,"EncoderCos":38756,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-1.09421248e-27,"cg_du":50.1106606,"cg_dv":50.2060051,"cg_dw":49.7939949,"cg_id_a":0.0104947314,"cg_id_raw_a":0.104673371,"cg_iq_a":0.229963809,"cg_iq_raw_a":0.919623435,"cg_iu_a":0.908629417,"cg_iv_a":0.177885532,"cg_iw_a":-1.08651495,"cg_sample_age_us":23.954546,"cg_sample_seq":14400966,"cg_sample_valid":1,"cg_theta_rad":5.00659466,"cg_vd_req_v":0.110530503,"cg_vd_v":0.110530503,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344220966,"cg_vq_v":-0.344220966,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.1071777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2606.956299,"values":{"Elec_RPM":-5.36164105e-27,"EncoderCos":38695,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-1.07232823e-27,"cg_du":50.1063995,"cg_dv":50.204258,"cg_dw":49.795742,"cg_id_a":-0.258014679,"cg_id_raw_a":-0.165973783,"cg_iq_a":-0.106228054,"cg_iq_raw_a":-1.69226778,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.863636,"cg_sample_seq":14401016,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.116825894,"cg_vd_v":0.116825894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336759657,"cg_vq_v":-0.336759657,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2606.964111,"values":{"Elec_RPM":-5.36164105e-27,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-1.07232823e-27,"cg_du":50.0942268,"cg_dv":50.2000008,"cg_dw":49.7999992,"cg_id_a":-0.445272446,"cg_id_raw_a":-0.471594095,"cg_iq_a":-0.425895214,"cg_iq_raw_a":-0.155416697,"cg_iu_a":0.473703384,"cg_iv_a":-0.329528332,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14401066,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.121124022,"cg_vd_v":0.121124022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324502975,"cg_vq_v":-0.324502975,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2606.967203,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2606.967209,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2606.967214,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2606.995361,"values":{"Elec_RPM":-5.25440836e-27,"EncoderCos":38751,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.05088165e-27,"cg_du":50.0964737,"cg_dv":50.2023697,"cg_dw":49.7976303,"cg_id_a":-0.270292163,"cg_id_raw_a":0.110497162,"cg_iq_a":0.0296946019,"cg_iq_raw_a":-0.0984326303,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9763641,"cg_sample_seq":14401119,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.11852093,"cg_vd_v":0.11852093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330131799,"cg_vq_v":-0.330131799,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.003174,"values":{"Elec_RPM":-5.25440836e-27,"EncoderCos":38712,"EncoderSin":12455,"GapTicks":54777,"Mech_RPM":-1.05088165e-27,"cg_du":50.1022186,"cg_dv":50.2024841,"cg_dw":49.7975159,"cg_id_a":-0.269714266,"cg_id_raw_a":-0.855364501,"cg_iq_a":0.201457515,"cg_iq_raw_a":0.315406233,"cg_iu_a":0.328727961,"cg_iv_a":0.177885473,"cg_iw_a":-0.506613433,"cg_sample_age_us":24.0381813,"cg_sample_seq":14401166,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.117642269,"cg_vd_v":0.117642269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332244605,"cg_vq_v":-0.332244605,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.010986,"values":{"Elec_RPM":-5.14931999e-27,"EncoderCos":38751,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-1.02986398e-27,"cg_du":50.1043015,"cg_dv":50.1978226,"cg_dw":49.8021774,"cg_id_a":0.149430305,"cg_id_raw_a":-0.211858734,"cg_iq_a":-0.0569655634,"cg_iq_raw_a":-0.018243175,"cg_iu_a":-0.178685665,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8527279,"cg_sample_seq":14401216,"cg_sample_valid":1,"cg_theta_rad":5.00719595,"cg_vd_req_v":0.108298324,"cg_vd_v":0.108298324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329264283,"cg_vq_v":-0.329264283,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0865173,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.018799,"values":{"Elec_RPM":-5.14931999e-27,"EncoderCos":38739,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-1.02986398e-27,"cg_du":50.1011009,"cg_dv":50.2076302,"cg_dw":49.7923698,"cg_id_a":-0.549146175,"cg_id_raw_a":-1.21346164,"cg_iq_a":0.395888805,"cg_iq_raw_a":1.27199268,"cg_iu_a":0.038777113,"cg_iv_a":-0.728210449,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9509087,"cg_sample_seq":14401266,"cg_sample_valid":1,"cg_theta_rad":5.00772858,"cg_vd_req_v":0.120713867,"cg_vd_v":0.120713867,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339614391,"cg_vq_v":-0.339614391,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0785828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.026611,"values":{"Elec_RPM":-5.04633358e-27,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54773,"Mech_RPM":-1.00926674e-27,"cg_du":50.110363,"cg_dv":50.206131,"cg_dw":49.793869,"cg_id_a":-0.229566827,"cg_id_raw_a":0.0447039343,"cg_iq_a":0.507660747,"cg_iq_raw_a":0.806221128,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9690914,"cg_sample_seq":14401316,"cg_sample_valid":1,"cg_theta_rad":5.00827217,"cg_vd_req_v":0.113518313,"cg_vd_v":0.113518313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342219502,"cg_vq_v":-0.342219502,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2581,"hz_tim_isr":4999,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0785828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.03833,"values":{"Elec_RPM":-4.94540715e-27,"EncoderCos":38714,"EncoderSin":12470,"GapTicks":54786,"Mech_RPM":-9.89081449e-28,"cg_du":50.1128349,"cg_dv":50.1939087,"cg_dw":49.8060913,"cg_id_a":0.247364908,"cg_id_raw_a":0.399978161,"cg_iq_a":-0.302481174,"cg_iq_raw_a":-0.250909507,"cg_iu_a":0.0750210285,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14401466,"cg_sample_valid":1,"cg_theta_rad":5.00693274,"cg_vd_req_v":0.100471146,"cg_vd_v":0.100471146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326745629,"cg_vq_v":-0.326745629,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0388794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.046143,"values":{"Elec_RPM":-4.84649909e-27,"EncoderCos":38723,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-9.69299837e-28,"cg_du":50.1085625,"cg_dv":50.2064018,"cg_dw":49.7935982,"cg_id_a":-0.497964889,"cg_id_raw_a":-0.496327937,"cg_iq_a":0.489429802,"cg_iq_raw_a":-0.120106988,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.8527279,"cg_sample_seq":14401517,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.115223348,"cg_vd_v":0.115223348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341567129,"cg_vq_v":-0.341567129,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0817566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.053955,"values":{"Elec_RPM":-4.84649909e-27,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-9.69299837e-28,"cg_du":50.1097717,"cg_dv":50.1992607,"cg_dw":49.8007393,"cg_id_a":-0.0827011317,"cg_id_raw_a":-0.177156195,"cg_iq_a":0.00201661885,"cg_iq_raw_a":-0.380281419,"cg_iu_a":-0.14244175,"cg_iv_a":-0.112065196,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9436359,"cg_sample_seq":14401567,"cg_sample_valid":1,"cg_theta_rad":5.00743151,"cg_vd_req_v":0.107610725,"cg_vd_v":0.107610725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332447976,"cg_vq_v":-0.332447976,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0817566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.081299,"values":{"Elec_RPM":-4.74956896e-27,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54787,"Mech_RPM":-9.49913812e-28,"cg_du":50.1096764,"cg_dv":50.1931305,"cg_dw":49.8068695,"cg_id_a":0.131793812,"cg_id_raw_a":0.326317757,"cg_iq_a":-0.177797899,"cg_iq_raw_a":0.724033356,"cg_iu_a":0.328727961,"cg_iv_a":0.540323794,"cg_iw_a":-0.869051754,"cg_sample_age_us":26.8199997,"cg_sample_seq":14401620,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.101262078,"cg_vd_v":0.101262078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324204117,"cg_vq_v":-0.324204117,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.093018,"values":{"Elec_RPM":-4.74956896e-27,"EncoderCos":38719,"EncoderSin":12447,"GapTicks":54784,"Mech_RPM":-9.49913812e-28,"cg_du":50.1103706,"cg_dv":50.1963272,"cg_dw":49.8036728,"cg_id_a":-0.1151613,"cg_id_raw_a":-0.165765032,"cg_iq_a":-0.0467652604,"cg_iq_raw_a":0.785603821,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9690914,"cg_sample_seq":14401666,"cg_sample_valid":1,"cg_theta_rad":5.00724936,"cg_vd_req_v":0.10490793,"cg_vd_v":0.10490793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328599364,"cg_vq_v":-0.328599364,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.810110331,"dclink_p_w":-117.242935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.10083,"values":{"Elec_RPM":-4.65457786e-27,"EncoderCos":38788,"EncoderSin":12501,"GapTicks":54781,"Mech_RPM":-9.30915572e-28,"cg_du":50.1102219,"cg_dv":50.1982269,"cg_dw":49.8017731,"cg_id_a":0.0219388939,"cg_id_raw_a":-0.350596309,"cg_iq_a":0.213549659,"cg_iq_raw_a":-0.645374537,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9472733,"cg_sample_seq":14401716,"cg_sample_valid":1,"cg_theta_rad":5.00791264,"cg_vd_req_v":0.100431167,"cg_vd_v":0.100431167,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333101839,"cg_vq_v":-0.333101839,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.859039545,"dclink_p_w":-124.324203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.108643,"values":{"Elec_RPM":-4.65457786e-27,"EncoderCos":38718,"EncoderSin":12489,"GapTicks":54788,"Mech_RPM":-9.30915572e-28,"cg_du":50.1096687,"cg_dv":50.1927223,"cg_dw":49.8072777,"cg_id_a":-0.0626208708,"cg_id_raw_a":-0.173418283,"cg_iq_a":-0.196607471,"cg_iq_raw_a":-0.198070958,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9581814,"cg_sample_seq":14401766,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.101082452,"cg_vd_v":0.101082452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323582917,"cg_vq_v":-0.323582917,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-1.12361956,"dclink_p_w":-163.109726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0769958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.120361,"values":{"Elec_RPM":-4.56148611e-27,"EncoderCos":38685,"EncoderSin":12458,"GapTicks":54787,"Mech_RPM":-9.12297222e-28,"cg_du":50.122612,"cg_dv":50.1934433,"cg_dw":49.8065567,"cg_id_a":0.146841124,"cg_id_raw_a":0.0797764659,"cg_iq_a":-0.0404189155,"cg_iq_raw_a":0.00931288488,"cg_iu_a":0.183752775,"cg_iv_a":0.685299039,"cg_iw_a":-0.869051814,"cg_sample_age_us":24.0381813,"cg_sample_seq":14401817,"cg_sample_valid":1,"cg_theta_rad":5.0081048,"cg_vd_req_v":0.0948110968,"cg_vd_v":0.0948110968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330921948,"cg_vq_v":-0.330921948,"cg_vu_v":7.47817326,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.6556473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.128174,"values":{"Elec_RPM":-4.56148611e-27,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-9.12297222e-28,"cg_du":50.1206856,"cg_dv":50.196476,"cg_dw":49.803524,"cg_id_a":0.0717322081,"cg_id_raw_a":0.232598141,"cg_iq_a":0.234583884,"cg_iq_raw_a":-0.268117458,"cg_iu_a":-0.686099291,"cg_iv_a":0.359104633,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9581814,"cg_sample_seq":14401866,"cg_sample_valid":1,"cg_theta_rad":5.00554514,"cg_vd_req_v":0.0958296135,"cg_vd_v":0.0958296135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334937483,"cg_vq_v":-0.334937483,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.7304688,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.135986,"values":{"Elec_RPM":-4.47025635e-27,"EncoderCos":38715,"EncoderSin":12495,"GapTicks":54789,"Mech_RPM":-8.94051251e-28,"cg_du":50.1152382,"cg_dv":50.1916122,"cg_dw":49.8083878,"cg_id_a":-0.00202858075,"cg_id_raw_a":0.0942995027,"cg_iq_a":-0.127046078,"cg_iq_raw_a":-0.572664797,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528213,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9618187,"cg_sample_seq":14401916,"cg_sample_valid":1,"cg_theta_rad":5.00717211,"cg_vd_req_v":0.096008718,"cg_vd_v":0.096008718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326153696,"cg_vq_v":-0.326153696,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.143799,"values":{"Elec_RPM":-4.47025635e-27,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-8.94051251e-28,"cg_du":50.1249847,"cg_dv":50.1890221,"cg_dw":49.8109779,"cg_id_a":0.377540827,"cg_id_raw_a":0.228044242,"cg_iq_a":-0.124309488,"cg_iq_raw_a":0.423970401,"cg_iu_a":-0.50488019,"cg_iv_a":0.721542895,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.8563633,"cg_sample_seq":14401966,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0860880688,"cg_vd_v":0.0860880688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326971024,"cg_vq_v":-0.326971024,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.151611,"values":{"Elec_RPM":-4.38085121e-27,"EncoderCos":38731,"EncoderSin":12461,"GapTicks":54786,"Mech_RPM":-8.76170243e-28,"cg_du":50.1230354,"cg_dv":50.1945114,"cg_dw":49.8054886,"cg_id_a":-0.03728652,"cg_id_raw_a":0.208384931,"cg_iq_a":0.0787545517,"cg_iq_raw_a":0.202833563,"cg_iu_a":0.14750886,"cg_iv_a":-0.438259721,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14402017,"cg_sample_valid":1,"cg_theta_rad":5.00591278,"cg_vd_req_v":0.0919806361,"cg_vd_v":0.0919806361,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333605319,"cg_vq_v":-0.333605319,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6815186,"temp_inv2_c":37.0690308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.159424,"values":{"Elec_RPM":-4.38085121e-27,"EncoderCos":38694,"EncoderSin":12446,"GapTicks":54795,"Mech_RPM":-8.76170243e-28,"cg_du":50.1329422,"cg_dv":50.1856232,"cg_dw":49.8143768,"cg_id_a":0.495371848,"cg_id_raw_a":-0.372594148,"cg_iq_a":-0.344917834,"cg_iq_raw_a":0.508199692,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14402067,"cg_sample_valid":1,"cg_theta_rad":5.00779247,"cg_vd_req_v":0.0786624253,"cg_vd_v":0.0786624253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326329321,"cg_vq_v":-0.326329321,"cg_vu_v":120.530563,"cg_vv_v":142.085297,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.0530472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.190674,"values":{"Elec_RPM":-4.2932345e-27,"EncoderCos":38746,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-8.5864688e-28,"cg_du":50.1242332,"cg_dv":50.1937828,"cg_dw":49.8062172,"cg_id_a":0.0308491513,"cg_id_raw_a":0.20496203,"cg_iq_a":-0.0784136429,"cg_iq_raw_a":0.0192935299,"cg_iu_a":-0.323661089,"cg_iv_a":-0.25704062,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8563633,"cg_sample_seq":14402120,"cg_sample_valid":1,"cg_theta_rad":5.00857592,"cg_vd_req_v":0.0884608626,"cg_vd_v":0.0884608626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333789229,"cg_vq_v":-0.333789229,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.198486,"values":{"Elec_RPM":-4.2932345e-27,"EncoderCos":38708,"EncoderSin":12477,"GapTicks":54779,"Mech_RPM":-8.5864688e-28,"cg_du":50.1270905,"cg_dv":50.2009048,"cg_dw":49.7990952,"cg_id_a":-0.306006223,"cg_id_raw_a":-0.512032628,"cg_iq_a":0.362533778,"cg_iq_raw_a":0.459526032,"cg_iu_a":0.219996333,"cg_iv_a":-0.112065196,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14402166,"cg_sample_valid":1,"cg_theta_rad":5.0078764,"cg_vd_req_v":0.096419096,"cg_vd_v":0.096419096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344180465,"cg_vq_v":-0.344180465,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00453192927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.206299,"values":{"Elec_RPM":-4.20736961e-27,"EncoderCos":38770,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-8.41473941e-28,"cg_du":50.1258087,"cg_dv":50.2016068,"cg_dw":49.7983932,"cg_id_a":-0.161067709,"cg_id_raw_a":0.00164207199,"cg_iq_a":0.267038822,"cg_iq_raw_a":0.182855055,"cg_iu_a":0.0750210285,"cg_iv_a":-0.873185754,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9581814,"cg_sample_seq":14402216,"cg_sample_valid":1,"cg_theta_rad":5.00509501,"cg_vd_req_v":0.0937464833,"cg_vd_v":0.0937464833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345621824,"cg_vq_v":-0.345621824,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0754089,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.214111,"values":{"Elec_RPM":-4.12322265e-27,"EncoderCos":38708,"EncoderSin":12477,"GapTicks":54779,"Mech_RPM":-8.24644491e-28,"cg_du":50.1372871,"cg_dv":50.1997185,"cg_dw":49.8002815,"cg_id_a":0.11515265,"cg_id_raw_a":0.27805227,"cg_iq_a":0.130655199,"cg_iq_raw_a":-0.0806532279,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8563633,"cg_sample_seq":14402316,"cg_sample_valid":1,"cg_theta_rad":5.0066061,"cg_vd_req_v":0.0872743875,"cg_vd_v":0.0872743875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348314375,"cg_vq_v":-0.348314375,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.429550171,"dclink_p_w":-62.3554573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0357056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.221924,"values":{"Elec_RPM":-4.12322265e-27,"EncoderCos":38730,"EncoderSin":12466,"GapTicks":54777,"Mech_RPM":-8.24644491e-28,"cg_du":50.1420822,"cg_dv":50.2026291,"cg_dw":49.7973709,"cg_id_a":0.210383505,"cg_id_raw_a":0.541488409,"cg_iq_a":0.339416623,"cg_iq_raw_a":-0.202210903,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373125,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9654541,"cg_sample_seq":14402366,"cg_sample_valid":1,"cg_theta_rad":5.00734854,"cg_vd_req_v":0.0848457664,"cg_vd_v":0.0848457664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355325848,"cg_vq_v":-0.355325848,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.9861069,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0357056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.233643,"values":{"Elec_RPM":-4.04075818e-27,"EncoderCos":38716,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-8.08151597e-28,"cg_du":50.126461,"cg_dv":50.2006569,"cg_dw":49.7993431,"cg_id_a":-0.245311469,"cg_id_raw_a":-0.204654947,"cg_iq_a":-0.315195531,"cg_iq_raw_a":-0.0920421556,"cg_iu_a":0.582434773,"cg_iv_a":-0.25704056,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.863636,"cg_sample_seq":14402416,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0956105739,"cg_vd_v":0.0956105739,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342660606,"cg_vq_v":-0.342660606,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0499878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00443121977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.241455,"values":{"Elec_RPM":-4.04075818e-27,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-8.08151597e-28,"cg_du":50.138073,"cg_dv":50.2062645,"cg_dw":49.7937355,"cg_id_a":-0.0838073194,"cg_id_raw_a":0.479087532,"cg_iq_a":0.329009324,"cg_iq_raw_a":0.0107944123,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8600006,"cg_sample_seq":14402467,"cg_sample_valid":1,"cg_theta_rad":5.00677443,"cg_vd_req_v":0.0916332006,"cg_vd_v":0.0916332006,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356839716,"cg_vq_v":-0.356839716,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.3264313,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0515747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.249268,"values":{"Elec_RPM":-3.95994269e-27,"EncoderCos":38712,"EncoderSin":12469,"GapTicks":54774,"Mech_RPM":-7.91988567e-28,"cg_du":50.137989,"cg_dv":50.2047882,"cg_dw":49.7952118,"cg_id_a":-0.0648486465,"cg_id_raw_a":0.220502973,"cg_iq_a":0.368703932,"cg_iq_raw_a":0.496289194,"cg_iu_a":0.111264944,"cg_iv_a":-0.402015805,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14402517,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0918195397,"cg_vd_v":0.0918195397,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356702894,"cg_vq_v":-0.356702894,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.694130182,"dclink_p_w":-100.7631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0515747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.25708,"values":{"Elec_RPM":-3.95994269e-27,"EncoderCos":38740,"EncoderSin":12509,"GapTicks":54777,"Mech_RPM":-7.91988567e-28,"cg_du":50.1377716,"cg_dv":50.2019882,"cg_dw":49.7980118,"cg_id_a":0.21303536,"cg_id_raw_a":0.387233853,"cg_iq_a":0.102993645,"cg_iq_raw_a":0.326972306,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397701,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8709087,"cg_sample_seq":14402566,"cg_sample_valid":1,"cg_theta_rad":5.00850296,"cg_vd_req_v":0.0860276446,"cg_vd_v":0.0860276446,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353565902,"cg_vq_v":-0.353565902,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.8728714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0722046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.264893,"values":{"Elec_RPM":-3.88074422e-27,"EncoderCos":38714,"EncoderSin":12456,"GapTicks":54777,"Mech_RPM":-7.76148805e-28,"cg_du":50.1408005,"cg_dv":50.2025604,"cg_dw":49.7974396,"cg_id_a":-0.0206710324,"cg_id_raw_a":0.261928827,"cg_iq_a":0.180517763,"cg_iq_raw_a":0.500554919,"cg_iu_a":-1.08478141,"cg_iv_a":-0.112065196,"cg_iw_a":1.1968466,"cg_sample_age_us":23.8600006,"cg_sample_seq":14402617,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0873192623,"cg_vd_v":0.0873192623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35414046,"cg_vq_v":-0.35414046,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.625515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.296143,"values":{"Elec_RPM":-3.88074422e-27,"EncoderCos":38719,"EncoderSin":12468,"GapTicks":54774,"Mech_RPM":-7.76148805e-28,"cg_du":50.1498909,"cg_dv":50.2048492,"cg_dw":49.7951508,"cg_id_a":0.198578387,"cg_id_raw_a":0.0484064743,"cg_iq_a":0.718878269,"cg_iq_raw_a":0.114808738,"cg_iu_a":0.111264944,"cg_iv_a":-0.945673466,"cg_iw_a":1.12435913,"cg_sample_age_us":23.863636,"cg_sample_seq":14402671,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0814738572,"cg_vd_v":0.0814738572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361426383,"cg_vq_v":-0.361426383,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.625515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.303955,"values":{"Elec_RPM":-3.80312924e-27,"EncoderCos":38703,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-7.60625809e-28,"cg_du":50.1309662,"cg_dv":50.2006912,"cg_dw":49.7993088,"cg_id_a":-0.365327775,"cg_id_raw_a":0.251794755,"cg_iq_a":0.0754748583,"cg_iq_raw_a":0.390373379,"cg_iu_a":1.0898484,"cg_iv_a":-0.148309112,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9799995,"cg_sample_seq":14402716,"cg_sample_valid":1,"cg_theta_rad":5.00853682,"cg_vd_req_v":0.0933277383,"cg_vd_v":0.0933277383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346031755,"cg_vq_v":-0.346031755,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.625515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0658875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.311768,"values":{"Elec_RPM":-3.80312924e-27,"EncoderCos":38715,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-7.60625809e-28,"cg_du":50.1309357,"cg_dv":50.2062035,"cg_dw":49.7937965,"cg_id_a":-0.586325943,"cg_id_raw_a":0.148772687,"cg_iq_a":0.580226302,"cg_iq_raw_a":-0.894960165,"cg_iu_a":-0.0699541569,"cg_iv_a":0.395348489,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.954546,"cg_sample_seq":14402766,"cg_sample_valid":1,"cg_theta_rad":5.00679111,"cg_vd_req_v":0.098399207,"cg_vd_v":0.098399207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353581846,"cg_vq_v":-0.353581846,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.625515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0658875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117528036,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.31958,"values":{"Elec_RPM":-3.72706656e-27,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-7.45413274e-28,"cg_du":50.14011,"cg_dv":50.1933556,"cg_dw":49.8066444,"cg_id_a":0.402061671,"cg_id_raw_a":1.11511803,"cg_iq_a":0.149620205,"cg_iq_raw_a":1.23958623,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9254551,"cg_sample_seq":14402816,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0785563663,"cg_vd_v":0.0785563663,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342433095,"cg_vq_v":-0.342433095,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.625515,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0690308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.327393,"values":{"Elec_RPM":-3.72706656e-27,"EncoderCos":38755,"EncoderSin":12497,"GapTicks":54780,"Mech_RPM":-7.45413274e-28,"cg_du":50.1420441,"cg_dv":50.1997566,"cg_dw":49.8002434,"cg_id_a":0.294278026,"cg_id_raw_a":-0.0718770549,"cg_iq_a":0.785722077,"cg_iq_raw_a":0.540239692,"cg_iu_a":0.0750210285,"cg_iv_a":-0.583235025,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9654541,"cg_sample_seq":14402866,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0795840174,"cg_vd_v":0.0795840174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353099495,"cg_vq_v":-0.353099495,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.473042727,"dclink_p_w":-68.4609451,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0293579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.335205,"values":{"Elec_RPM":-3.65252498e-27,"EncoderCos":38710,"EncoderSin":12482,"GapTicks":54784,"Mech_RPM":-7.30504987e-28,"cg_du":50.1400185,"cg_dv":50.1955719,"cg_dw":49.8044281,"cg_id_a":0.0982097536,"cg_id_raw_a":0.457585871,"cg_iq_a":0.401146531,"cg_iq_raw_a":0.228322744,"cg_iu_a":-1.26600075,"cg_iv_a":0.612811446,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14402916,"cg_sample_valid":1,"cg_theta_rad":5.00611973,"cg_vd_req_v":0.0810602382,"cg_vd_v":0.0810602382,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345338285,"cg_vq_v":-0.345338285,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.3443146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0293579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.346924,"values":{"Elec_RPM":-3.65252498e-27,"EncoderCos":38713,"EncoderSin":12457,"GapTicks":54786,"Mech_RPM":-7.30504987e-28,"cg_du":50.1329498,"cg_dv":50.1936722,"cg_dw":49.8063278,"cg_id_a":-0.150924712,"cg_id_raw_a":-0.0550636016,"cg_iq_a":0.0044731088,"cg_iq_raw_a":-0.113994539,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9836369,"cg_sample_seq":14402966,"cg_sample_valid":1,"cg_theta_rad":5.00745487,"cg_vd_req_v":0.0848553553,"cg_vd_v":0.0848553553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33764866,"cg_vq_v":-0.33764866,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.636140108,"dclink_p_w":-92.3449936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0674438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.354736,"values":{"Elec_RPM":-3.57947446e-27,"EncoderCos":38725,"EncoderSin":12490,"GapTicks":54791,"Mech_RPM":-7.15894883e-28,"cg_du":50.1270561,"cg_dv":50.1894264,"cg_dw":49.8105736,"cg_id_a":0.0436498746,"cg_id_raw_a":0.0899707898,"cg_iq_a":-0.504453063,"cg_iq_raw_a":-0.318298072,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9472733,"cg_sample_seq":14403016,"cg_sample_valid":1,"cg_theta_rad":5.00811243,"cg_vd_req_v":0.0836802274,"cg_vd_v":0.0836802274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328987628,"cg_vq_v":-0.328987628,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.362549,"values":{"Elec_RPM":-3.57947446e-27,"EncoderCos":38712,"EncoderSin":12499,"GapTicks":54784,"Mech_RPM":-7.15894883e-28,"cg_du":50.1317558,"cg_dv":50.1962318,"cg_dw":49.8037682,"cg_id_a":-0.138872549,"cg_id_raw_a":-0.45017916,"cg_iq_a":0.114618957,"cg_iq_raw_a":-0.807868183,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9872723,"cg_sample_seq":14403066,"cg_sample_valid":1,"cg_theta_rad":5.00854492,"cg_vd_req_v":0.0873781443,"cg_vd_v":0.0873781443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340679288,"cg_vq_v":-0.340679288,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.370361,"values":{"Elec_RPM":-3.50788495e-27,"EncoderCos":38728,"EncoderSin":12445,"GapTicks":54789,"Mech_RPM":-7.0157699e-28,"cg_du":50.1316071,"cg_dv":50.191555,"cg_dw":49.808445,"cg_id_a":0.0453346297,"cg_id_raw_a":0.167624459,"cg_iq_a":-0.28613326,"cg_iq_raw_a":-0.674733162,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9581814,"cg_sample_seq":14403116,"cg_sample_valid":1,"cg_theta_rad":5.00763559,"cg_vd_req_v":0.0829764456,"cg_vd_v":0.0829764456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334234715,"cg_vq_v":-0.334234715,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0515747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.401611,"values":{"Elec_RPM":-3.43772717e-27,"EncoderCos":38701,"EncoderSin":12516,"GapTicks":54790,"Mech_RPM":-6.87545435e-28,"cg_du":50.1274338,"cg_dv":50.1904182,"cg_dw":49.8095818,"cg_id_a":-0.0952909291,"cg_id_raw_a":-0.220627695,"cg_iq_a":-0.180721551,"cg_iq_raw_a":-0.567337692,"cg_iu_a":-0.214929581,"cg_iv_a":0.866518319,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9836369,"cg_sample_seq":14403216,"cg_sample_valid":1,"cg_theta_rad":5.00759268,"cg_vd_req_v":0.0858211815,"cg_vd_v":0.0858211815,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331244886,"cg_vq_v":-0.331244886,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.661510706,"dclink_p_w":-95.736908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.409424,"values":{"Elec_RPM":-3.43772717e-27,"EncoderCos":38684,"EncoderSin":12488,"GapTicks":54785,"Mech_RPM":-6.87545435e-28,"cg_du":50.1282043,"cg_dv":50.1953125,"cg_dw":49.8046875,"cg_id_a":-0.40076974,"cg_id_raw_a":-0.215275109,"cg_iq_a":0.181462288,"cg_iq_raw_a":0.41555196,"cg_iu_a":-0.649855614,"cg_iv_a":-0.293284416,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9581814,"cg_sample_seq":14403266,"cg_sample_valid":1,"cg_theta_rad":5.00791073,"cg_vd_req_v":0.0916731805,"cg_vd_v":0.0916731805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336791098,"cg_vq_v":-0.336791098,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.417236,"values":{"Elec_RPM":-3.36897263e-27,"EncoderCos":38717,"EncoderSin":12447,"GapTicks":54788,"Mech_RPM":-6.73794536e-28,"cg_du":50.1283722,"cg_dv":50.1923676,"cg_dw":49.8076324,"cg_id_a":-0.109416336,"cg_id_raw_a":-0.0967319161,"cg_iq_a":0.18164371,"cg_iq_raw_a":-0.118148789,"cg_iu_a":-0.0699543953,"cg_iv_a":0.794030607,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9581814,"cg_sample_seq":14403316,"cg_sample_valid":1,"cg_theta_rad":5.00776863,"cg_vd_req_v":0.0870901197,"cg_vd_v":0.0870901197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33332026,"cg_vq_v":-0.33332026,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.425049,"values":{"Elec_RPM":-3.36897263e-27,"EncoderCos":38700,"EncoderSin":12471,"GapTicks":54788,"Mech_RPM":-6.73794536e-28,"cg_du":50.1265907,"cg_dv":50.1924744,"cg_dw":49.8075256,"cg_id_a":-0.228143007,"cg_id_raw_a":-0.211870536,"cg_iq_a":0.251777112,"cg_iq_raw_a":0.598491669,"cg_iu_a":-0.251173258,"cg_iv_a":-0.00333380699,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9509087,"cg_sample_seq":14403366,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.089326039,"cg_vd_v":0.089326039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332262754,"cg_vq_v":-0.332262754,"cg_vu_v":7.91806602,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.7059937,"temp_inv2_c":37.0388794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.432861,"values":{"Elec_RPM":-3.3015932e-27,"EncoderCos":38728,"EncoderSin":12519,"GapTicks":54791,"Mech_RPM":-6.60318659e-28,"cg_du":50.1295509,"cg_dv":50.1891098,"cg_dw":49.8108902,"cg_id_a":0.270059377,"cg_id_raw_a":0.0706813037,"cg_iq_a":0.0110859927,"cg_iq_raw_a":0.334931791,"cg_iu_a":-0.323661089,"cg_iv_a":0.467836082,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.954546,"cg_sample_seq":14403416,"cg_sample_valid":1,"cg_theta_rad":5.00809526,"cg_vd_req_v":0.0805258006,"cg_vd_v":0.0805258006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330169082,"cg_vq_v":-0.330169082,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.440674,"values":{"Elec_RPM":-3.3015932e-27,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-6.60318659e-28,"cg_du":50.1351433,"cg_dv":50.1941452,"cg_dw":49.8058548,"cg_id_a":0.27538076,"cg_id_raw_a":0.0884707868,"cg_iq_a":0.482667118,"cg_iq_raw_a":0.372880191,"cg_iu_a":-0.867318392,"cg_iv_a":-0.0395775437,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9836369,"cg_sample_seq":14403466,"cg_sample_valid":1,"cg_theta_rad":5.00638914,"cg_vd_req_v":0.0809644461,"cg_vd_v":0.0809644461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341256887,"cg_vq_v":-0.341256887,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.448486,"values":{"Elec_RPM":-3.23556154e-27,"EncoderCos":38707,"EncoderSin":12457,"GapTicks":54793,"Mech_RPM":-6.47112269e-28,"cg_du":50.1277008,"cg_dv":50.1878471,"cg_dw":49.8121529,"cg_id_a":0.101538107,"cg_id_raw_a":-0.0647294298,"cg_iq_a":-0.272387356,"cg_iq_raw_a":-0.224359989,"cg_iu_a":-0.106198072,"cg_iv_a":0.866518259,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.863636,"cg_sample_seq":14403517,"cg_sample_valid":1,"cg_theta_rad":5.00631809,"cg_vd_req_v":0.0837259367,"cg_vd_v":0.0837259367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326673061,"cg_vq_v":-0.326673061,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.460205,"values":{"Elec_RPM":-3.23556154e-27,"EncoderCos":38711,"EncoderSin":12441,"GapTicks":54790,"Mech_RPM":-6.47112269e-28,"cg_du":50.1264839,"cg_dv":50.1905289,"cg_dw":49.8094711,"cg_id_a":0.242381796,"cg_id_raw_a":-0.0401972309,"cg_iq_a":-0.312935233,"cg_iq_raw_a":-0.258308947,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8745461,"cg_sample_seq":14403566,"cg_sample_valid":1,"cg_theta_rad":5.00624847,"cg_vd_req_v":0.0861967504,"cg_vd_v":0.0815782249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329913646,"cg_vq_v":-0.326604813,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.468018,"values":{"Elec_RPM":-3.1708501e-27,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54787,"Mech_RPM":-6.34170019e-28,"cg_du":50.1208344,"cg_dv":50.1932411,"cg_dw":49.8067589,"cg_id_a":-0.271689296,"cg_id_raw_a":0.156097189,"cg_iq_a":-0.15402627,"cg_iq_raw_a":0.0889156684,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9618187,"cg_sample_seq":14403617,"cg_sample_valid":1,"cg_theta_rad":5.00655937,"cg_vd_req_v":0.0931329802,"cg_vd_v":0.0931329802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330462486,"cg_vq_v":-0.330462486,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.371560097,"dclink_p_w":-53.7739067,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0944824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.495361,"values":{"Elec_RPM":-3.1708501e-27,"EncoderCos":38732,"EncoderSin":12464,"GapTicks":54783,"Mech_RPM":-6.34170019e-28,"cg_du":50.1280899,"cg_dv":50.1969376,"cg_dw":49.8030624,"cg_id_a":-0.190797925,"cg_id_raw_a":-0.0139487023,"cg_iq_a":0.310207546,"cg_iq_raw_a":-0.10975273,"cg_iu_a":-0.39614892,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238811,"cg_sample_age_us":23.863636,"cg_sample_seq":14403670,"cg_sample_valid":1,"cg_theta_rad":5.00670958,"cg_vd_req_v":0.0902171731,"cg_vd_v":0.0902171731,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339775592,"cg_vq_v":-0.339775592,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-50.9957352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.503174,"values":{"Elec_RPM":-3.10743308e-27,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54788,"Mech_RPM":-6.21486615e-28,"cg_du":50.1293793,"cg_dv":50.1923981,"cg_dw":49.8076019,"cg_id_a":0.131962776,"cg_id_raw_a":0.451425433,"cg_iq_a":0.121906191,"cg_iq_raw_a":-0.137484387,"cg_iu_a":-0.794830799,"cg_iv_a":0.39534843,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9763641,"cg_sample_seq":14403716,"cg_sample_valid":1,"cg_theta_rad":5.00644207,"cg_vd_req_v":0.0853157789,"cg_vd_v":0.0853157789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334187031,"cg_vq_v":-0.334187031,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0579224,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.510986,"values":{"Elec_RPM":-3.10743308e-27,"EncoderCos":38731,"EncoderSin":12485,"GapTicks":54792,"Mech_RPM":-6.21486615e-28,"cg_du":50.1204109,"cg_dv":50.1886597,"cg_dw":49.8113403,"cg_id_a":0.00557659566,"cg_id_raw_a":-0.091490835,"cg_iq_a":-0.182468146,"cg_iq_raw_a":-0.626688421,"cg_iu_a":-0.541124105,"cg_iv_a":0.141641617,"cg_iw_a":0.399482489,"cg_sample_age_us":23.863636,"cg_sample_seq":14403766,"cg_sample_valid":1,"cg_theta_rad":5.00789881,"cg_vd_req_v":0.0880989805,"cg_vd_v":0.0880989805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325304657,"cg_vq_v":-0.325304657,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0658875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.522705,"values":{"Elec_RPM":-3.04528447e-27,"EncoderCos":38723,"EncoderSin":12510,"GapTicks":54795,"Mech_RPM":-6.09056904e-28,"cg_du":50.1133003,"cg_dv":50.1859779,"cg_dw":49.8140221,"cg_id_a":-0.0596818477,"cg_id_raw_a":-0.588433862,"cg_iq_a":-0.495763779,"cg_iq_raw_a":-0.928399503,"cg_iu_a":-0.541124105,"cg_iv_a":0.250373065,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14403817,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.0908635631,"cg_vd_v":0.0908635631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316682696,"cg_vq_v":-0.316682696,"cg_vu_v":127.568848,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0436401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.530518,"values":{"Elec_RPM":-3.04528447e-27,"EncoderCos":38705,"EncoderSin":12494,"GapTicks":54790,"Mech_RPM":-6.09056904e-28,"cg_du":50.1153603,"cg_dv":50.1902466,"cg_dw":49.8097534,"cg_id_a":-0.215412796,"cg_id_raw_a":-0.17002961,"cg_iq_a":-0.138896957,"cg_iq_raw_a":-0.016122492,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14403867,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0950519145,"cg_vd_v":0.0950519145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323159128,"cg_vq_v":-0.323159128,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0436401,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.53833,"values":{"Elec_RPM":-2.98437886e-27,"EncoderCos":38711,"EncoderSin":12456,"GapTicks":54783,"Mech_RPM":-5.96875782e-28,"cg_du":50.1296959,"cg_dv":50.196991,"cg_dw":49.803009,"cg_id_a":0.0381780937,"cg_id_raw_a":-0.243375152,"cg_iq_a":0.522674918,"cg_iq_raw_a":0.0855521485,"cg_iu_a":-0.178685904,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.8600006,"cg_sample_seq":14403917,"cg_sample_valid":1,"cg_theta_rad":5.00835514,"cg_vd_req_v":0.0905401707,"cg_vd_v":0.0905401707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339232326,"cg_vq_v":-0.339232326,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.546143,"values":{"Elec_RPM":-2.98437886e-27,"EncoderCos":38719,"EncoderSin":12487,"GapTicks":54790,"Mech_RPM":-5.96875782e-28,"cg_du":50.1212425,"cg_dv":50.1907043,"cg_dw":49.8092957,"cg_id_a":0.0776508152,"cg_id_raw_a":-0.00396550214,"cg_iq_a":-0.128188416,"cg_iq_raw_a":0.874339759,"cg_iu_a":0.401215792,"cg_iv_a":0.649055243,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9290905,"cg_sample_seq":14403967,"cg_sample_valid":1,"cg_theta_rad":5.00700617,"cg_vd_req_v":0.0897337124,"cg_vd_v":0.0897337124,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326340944,"cg_vq_v":-0.326340944,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.553955,"values":{"Elec_RPM":-2.92469141e-27,"EncoderCos":38745,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-5.84938291e-28,"cg_du":50.1216965,"cg_dv":50.202095,"cg_dw":49.797905,"cg_id_a":-0.310737252,"cg_id_raw_a":0.218156859,"cg_iq_a":0.525989771,"cg_iq_raw_a":0.56657809,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14404017,"cg_sample_valid":1,"cg_theta_rad":5.00766945,"cg_vd_req_v":0.0987538248,"cg_vd_v":0.0987538248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343651414,"cg_vq_v":-0.343651414,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0547485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.561768,"values":{"Elec_RPM":-2.92469141e-27,"EncoderCos":38736,"EncoderSin":12469,"GapTicks":54785,"Mech_RPM":-5.84938291e-28,"cg_du":50.1201248,"cg_dv":50.1946487,"cg_dw":49.8053513,"cg_id_a":-0.118770406,"cg_id_raw_a":0.136032224,"cg_iq_a":-0.0383999646,"cg_iq_raw_a":0.304848224,"cg_iu_a":-0.396148801,"cg_iv_a":-0.365772128,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9618187,"cg_sample_seq":14404067,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0938414186,"cg_vd_v":0.0938414186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332317054,"cg_vq_v":-0.332317054,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0452271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.573486,"values":{"Elec_RPM":-2.86619764e-27,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-5.73239518e-28,"cg_du":50.1202888,"cg_dv":50.1991425,"cg_dw":49.8008575,"cg_id_a":-0.432461143,"cg_id_raw_a":-0.739685714,"cg_iq_a":0.36938709,"cg_iq_raw_a":-0.215054348,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9254551,"cg_sample_seq":14404117,"cg_sample_valid":1,"cg_theta_rad":5.00768661,"cg_vd_req_v":0.0983183533,"cg_vd_v":0.0983183533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338458627,"cg_vq_v":-0.338458627,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0452271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.60083,"values":{"Elec_RPM":-2.86619764e-27,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54796,"Mech_RPM":-5.73239518e-28,"cg_du":50.1212158,"cg_dv":50.1848373,"cg_dw":49.8151627,"cg_id_a":0.256711096,"cg_id_raw_a":0.717921257,"cg_iq_a":-0.585528553,"cg_iq_raw_a":-0.950096488,"cg_iu_a":0.111264944,"cg_iv_a":1.33768809,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.863636,"cg_sample_seq":14404170,"cg_sample_valid":1,"cg_theta_rad":5.00750303,"cg_vd_req_v":0.084156394,"cg_vd_v":0.084156394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320423514,"cg_vq_v":-0.320423514,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.179346323,"dclink_p_w":25.9558353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.608643,"values":{"Elec_RPM":-2.80887368e-27,"EncoderCos":38747,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-5.61774746e-28,"cg_du":50.1189995,"cg_dv":50.1978188,"cg_dw":49.8021812,"cg_id_a":-0.331485987,"cg_id_raw_a":-0.299348712,"cg_iq_a":0.0869869217,"cg_iq_raw_a":0.483154029,"cg_iu_a":0.401215553,"cg_iv_a":-0.220796764,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9618187,"cg_sample_seq":14404217,"cg_sample_valid":1,"cg_theta_rad":5.00714207,"cg_vd_req_v":0.096631676,"cg_vd_v":0.096631676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336348802,"cg_vq_v":-0.336348802,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.616455,"values":{"Elec_RPM":-2.80887368e-27,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-5.61774746e-28,"cg_du":50.1139908,"cg_dv":50.1928444,"cg_dw":49.8071556,"cg_id_a":-0.322091699,"cg_id_raw_a":0.0485082194,"cg_iq_a":-0.393341899,"cg_iq_raw_a":-0.322235882,"cg_iu_a":0.582434893,"cg_iv_a":-0.583235025,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.863636,"cg_sample_seq":14404266,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0974638462,"cg_vd_v":0.0974638462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326271802,"cg_vq_v":-0.326271802,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2607.624268,"values":{"Elec_RPM":-2.75269623e-27,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-5.50539256e-28,"cg_du":50.1296577,"cg_dv":50.1965904,"cg_dw":49.8038788,"cg_id_a":0.0605030358,"cg_id_raw_a":-0.128398523,"cg_iq_a":0.316827327,"cg_iq_raw_a":-0.0118284104,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14404316,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0896385536,"cg_vd_v":0.0896385536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339919478,"cg_vq_v":-0.339919478,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0531616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.635986,"values":{"Elec_RPM":-2.75269623e-27,"EncoderCos":38701,"EncoderSin":12495,"GapTicks":54783,"Mech_RPM":-5.50539256e-28,"cg_du":50.1144562,"cg_dv":50.1968384,"cg_dw":49.8031616,"cg_id_a":-0.567785859,"cg_id_raw_a":0.239156649,"cg_iq_a":-0.143476576,"cg_iq_raw_a":0.0976683199,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9363632,"cg_sample_seq":14404366,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.102468282,"cg_vd_v":0.102468282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331511736,"cg_vq_v":-0.331511736,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0531616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.643799,"values":{"Elec_RPM":-2.69764237e-27,"EncoderCos":38727,"EncoderSin":12422,"GapTicks":54789,"Mech_RPM":-5.39528474e-28,"cg_du":50.1240273,"cg_dv":50.191597,"cg_dw":49.808403,"cg_id_a":0.00457916781,"cg_id_raw_a":0.233483538,"cg_iq_a":-0.244291455,"cg_iq_raw_a":-0.267347008,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9799995,"cg_sample_seq":14404416,"cg_sample_valid":1,"cg_theta_rad":5.00671387,"cg_vd_req_v":0.0898325443,"cg_vd_v":0.0898325443,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330876827,"cg_vq_v":-0.330876827,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.797303617,"dclink_p_w":115.389488,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0420532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.651611,"values":{"Elec_RPM":-2.69764237e-27,"EncoderCos":38697,"EncoderSin":12493,"GapTicks":54776,"Mech_RPM":-5.39528474e-28,"cg_du":50.1337051,"cg_dv":50.2035255,"cg_dw":49.7964745,"cg_id_a":-0.143945649,"cg_id_raw_a":0.165622756,"cg_iq_a":0.678548038,"cg_iq_raw_a":0.19975847,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.402015924,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14404467,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0942882448,"cg_vd_v":0.0942882448,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351332009,"cg_vq_v":-0.351332009,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.797303617,"dclink_p_w":115.389488,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0499878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.659424,"values":{"Elec_RPM":-2.64368956e-27,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54785,"Mech_RPM":-5.28737922e-28,"cg_du":50.1252975,"cg_dv":50.1945648,"cg_dw":49.8054352,"cg_id_a":0.0416999869,"cg_id_raw_a":0.00361276767,"cg_iq_a":-0.359248996,"cg_iq_raw_a":-0.071676217,"cg_iu_a":0.364971638,"cg_iv_a":0.0691540241,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9218178,"cg_sample_seq":14404517,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.0909228623,"cg_vd_v":0.0909228623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334760398,"cg_vq_v":-0.334760398,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.797303617,"dclink_p_w":115.389488,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0499878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.667236,"values":{"Elec_RPM":-2.64368956e-27,"EncoderCos":38706,"EncoderSin":12487,"GapTicks":54781,"Mech_RPM":-5.28737922e-28,"cg_du":50.1255951,"cg_dv":50.1986847,"cg_dw":49.8013153,"cg_id_a":-0.200245783,"cg_id_raw_a":-0.497250527,"cg_iq_a":-0.173576578,"cg_iq_raw_a":-0.740880013,"cg_iu_a":0.509947062,"cg_iv_a":0.359104574,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9872723,"cg_sample_seq":14404567,"cg_sample_valid":1,"cg_theta_rad":5.0080657,"cg_vd_req_v":0.0953454971,"cg_vd_v":0.0953454971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340351522,"cg_vq_v":-0.340351522,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.762871981,"dclink_p_w":110.406387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0293579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.675049,"values":{"Elec_RPM":-2.59081585e-27,"EncoderCos":38737,"EncoderSin":12503,"GapTicks":54781,"Mech_RPM":-5.1816317e-28,"cg_du":50.1292915,"cg_dv":50.1988144,"cg_dw":49.8011856,"cg_id_a":-0.000298008323,"cg_id_raw_a":-0.733502924,"cg_iq_a":-0.0984539241,"cg_iq_raw_a":-0.976256609,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14404617,"cg_sample_valid":1,"cg_theta_rad":5.0076561,"cg_vd_req_v":0.0897761583,"cg_vd_v":0.0897761583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343346894,"cg_vq_v":-0.343346894,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.692196488,"dclink_p_w":100.177895,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.706299,"values":{"Elec_RPM":-2.59081585e-27,"EncoderCos":38705,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-5.1816317e-28,"cg_du":50.1300392,"cg_dv":50.1949005,"cg_dw":49.8050995,"cg_id_a":0.0820432156,"cg_id_raw_a":0.256387174,"cg_iq_a":-0.326747656,"cg_iq_raw_a":0.135763705,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758213401,"cg_iw_a":0.254507005,"cg_sample_age_us":23.863636,"cg_sample_seq":14404670,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.088295579,"cg_vd_v":0.088295579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337681651,"cg_vq_v":-0.337681651,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.728440344,"dclink_p_w":105.423279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.714111,"values":{"Elec_RPM":-2.53899948e-27,"EncoderCos":38718,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-5.07799885e-28,"cg_du":50.1325607,"cg_dv":50.2013512,"cg_dw":49.7986488,"cg_id_a":-0.106172003,"cg_id_raw_a":0.461773902,"cg_iq_a":0.300054997,"cg_iq_raw_a":-0.0269544926,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.01816094,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14404716,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0917303041,"cg_vd_v":0.0917303041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348088503,"cg_vq_v":-0.348088503,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":0.728440344,"dclink_p_w":105.423279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0547485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.721924,"values":{"Elec_RPM":-2.53899948e-27,"EncoderCos":38714,"EncoderSin":12473,"GapTicks":54786,"Mech_RPM":-5.07799885e-28,"cg_du":50.1296616,"cg_dv":50.1945305,"cg_dw":49.8054695,"cg_id_a":0.0800072998,"cg_id_raw_a":0.0471385159,"cg_iq_a":-0.319082707,"cg_iq_raw_a":0.551780343,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9218178,"cg_sample_seq":14404766,"cg_sample_valid":1,"cg_theta_rad":5.00712395,"cg_vd_req_v":0.0878177658,"cg_vd_v":0.0878177658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337076604,"cg_vq_v":-0.337076604,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.612460077,"dclink_p_w":88.6380768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0547485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.729736,"values":{"Elec_RPM":-2.48821944e-27,"EncoderCos":38727,"EncoderSin":12471,"GapTicks":54782,"Mech_RPM":-4.97643879e-28,"cg_du":50.1265144,"cg_dv":50.1981049,"cg_dw":49.8018951,"cg_id_a":-0.0505669378,"cg_id_raw_a":0.388789445,"cg_iq_a":-0.213685229,"cg_iq_raw_a":-0.362352312,"cg_iu_a":-0.323661089,"cg_iv_a":-0.329528213,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9872723,"cg_sample_seq":14404816,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.092809923,"cg_vd_v":0.092809923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340425164,"cg_vq_v":-0.340425164,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.612460077,"dclink_p_w":88.6380768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.737549,"values":{"Elec_RPM":-2.48821944e-27,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-4.97643879e-28,"cg_du":50.1270218,"cg_dv":50.19841,"cg_dw":49.80159,"cg_id_a":-0.0710562542,"cg_id_raw_a":-0.194485039,"cg_iq_a":0.248400539,"cg_iq_raw_a":0.0174021889,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263507,"cg_sample_age_us":23.863636,"cg_sample_seq":14404866,"cg_sample_valid":1,"cg_theta_rad":5.00622225,"cg_vd_req_v":0.0939028934,"cg_vd_v":0.0939028934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347517163,"cg_vq_v":-0.347517163,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.612460077,"dclink_p_w":88.6380768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0499878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.749268,"values":{"Elec_RPM":-2.38968598e-27,"EncoderCos":38696,"EncoderSin":12458,"GapTicks":54790,"Mech_RPM":-4.77937186e-28,"cg_du":50.1228027,"cg_dv":50.1908875,"cg_dw":49.8091125,"cg_id_a":0.112987973,"cg_id_raw_a":-0.0451049767,"cg_iq_a":-0.398714066,"cg_iq_raw_a":-0.00356015307,"cg_iu_a":0.292484283,"cg_iv_a":1.4101758,"cg_iw_a":-1.70266008,"cg_sample_age_us":23.954546,"cg_sample_seq":14405016,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0916028395,"cg_vd_v":0.0916028395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328802735,"cg_vq_v":-0.328802735,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.648703933,"dclink_p_w":93.8834534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.75708,"values":{"Elec_RPM":-2.38968598e-27,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-4.77937186e-28,"cg_du":50.1346626,"cg_dv":50.1986694,"cg_dw":49.8013306,"cg_id_a":0.368882,"cg_id_raw_a":0.201517567,"cg_iq_a":0.445248157,"cg_iq_raw_a":0.274952918,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":0.798164666,"cg_sample_age_us":23.9509087,"cg_sample_seq":14405067,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0868138298,"cg_vd_v":0.0868138298,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345790684,"cg_vq_v":-0.345790684,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.567155302,"dclink_p_w":82.0813522,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0404663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.764893,"values":{"Elec_RPM":-2.34189229e-27,"EncoderCos":38707,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-4.68378459e-28,"cg_du":50.1184921,"cg_dv":50.2021675,"cg_dw":49.7978325,"cg_id_a":-0.408266604,"cg_id_raw_a":-0.368225187,"cg_iq_a":0.160946652,"cg_iq_raw_a":0.0733065531,"cg_iu_a":0.183752775,"cg_iv_a":-0.438259721,"cg_iw_a":0.254506946,"cg_sample_age_us":23.863636,"cg_sample_seq":14405116,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.104325026,"cg_vd_v":0.104325026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341071963,"cg_vq_v":-0.341071963,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.442114115,"dclink_p_w":63.9848137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.792236,"values":{"Elec_RPM":-2.34189229e-27,"EncoderCos":38715,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-4.68378459e-28,"cg_du":50.1311264,"cg_dv":50.1992722,"cg_dw":49.8007278,"cg_id_a":0.20085901,"cg_id_raw_a":-0.0320612267,"cg_iq_a":0.212469429,"cg_iq_raw_a":-0.76728487,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14405170,"cg_sample_valid":1,"cg_theta_rad":5.0086298,"cg_vd_req_v":0.0915405899,"cg_vd_v":0.0915405899,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344269156,"cg_vq_v":-0.344269156,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.442114115,"dclink_p_w":63.9848137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.073822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.803955,"values":{"Elec_RPM":-2.29505445e-27,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54780,"Mech_RPM":-4.5901088e-28,"cg_du":50.1295395,"cg_dv":50.1998215,"cg_dw":49.8001785,"cg_id_a":0.211758643,"cg_id_raw_a":0.564380705,"cg_iq_a":0.385479391,"cg_iq_raw_a":1.94907606,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8600006,"cg_sample_seq":14405217,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0924065784,"cg_vd_v":0.0924065784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344370514,"cg_vq_v":-0.344370514,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.442114115,"dclink_p_w":63.9848137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.811768,"values":{"Elec_RPM":-2.29505445e-27,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-4.5901088e-28,"cg_du":50.1447105,"cg_dv":50.2038536,"cg_dw":49.7961464,"cg_id_a":0.571638465,"cg_id_raw_a":0.356523633,"cg_iq_a":1.05457318,"cg_iq_raw_a":-0.257560253,"cg_iu_a":-1.26600051,"cg_iv_a":-0.112065196,"cg_iw_a":1.37806571,"cg_sample_age_us":23.9618187,"cg_sample_seq":14405267,"cg_sample_valid":1,"cg_theta_rad":5.00796509,"cg_vd_req_v":0.0826459825,"cg_vd_v":0.0826459825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358770788,"cg_vq_v":-0.358770788,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.6531563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0372925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.81958,"values":{"Elec_RPM":-2.24915318e-27,"EncoderCos":38741,"EncoderSin":12486,"GapTicks":54782,"Mech_RPM":-4.49830646e-28,"cg_du":50.1305122,"cg_dv":50.1976128,"cg_dw":49.8023872,"cg_id_a":0.289774895,"cg_id_raw_a":0.456879467,"cg_iq_a":0.18267639,"cg_iq_raw_a":0.479522526,"cg_iu_a":-1.30224442,"cg_iv_a":0.105397701,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9581814,"cg_sample_seq":14405317,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0877453685,"cg_vd_v":0.0877453685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342364758,"cg_vq_v":-0.342364758,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.6531563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0372925,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.827393,"values":{"Elec_RPM":-2.24915318e-27,"EncoderCos":38725,"EncoderSin":12505,"GapTicks":54784,"Mech_RPM":-4.49830646e-28,"cg_du":50.1189232,"cg_dv":50.195488,"cg_dw":49.804512,"cg_id_a":-0.250236899,"cg_id_raw_a":-0.17395179,"cg_iq_a":-0.278071135,"cg_iq_raw_a":-0.197602242,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14405367,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.0956053808,"cg_vd_v":0.0956053808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332789868,"cg_vq_v":-0.332789868,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0134888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.835205,"values":{"Elec_RPM":-2.2041702e-27,"EncoderCos":38714,"EncoderSin":12470,"GapTicks":54785,"Mech_RPM":-4.40834049e-28,"cg_du":50.1276283,"cg_dv":50.194664,"cg_dw":49.805336,"cg_id_a":0.0996406451,"cg_id_raw_a":0.908155799,"cg_iq_a":0.0292553604,"cg_iq_raw_a":-0.710424781,"cg_iu_a":-0.287417173,"cg_iv_a":-0.728210449,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9618187,"cg_sample_seq":14405416,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.08961384,"cg_vd_v":0.08961384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336095661,"cg_vq_v":-0.336095661,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.843018,"values":{"Elec_RPM":-2.2041702e-27,"EncoderCos":38703,"EncoderSin":12518,"GapTicks":54784,"Mech_RPM":-4.40834049e-28,"cg_du":50.1246605,"cg_dv":50.1960678,"cg_dw":49.8039322,"cg_id_a":-0.0530593395,"cg_id_raw_a":0.118411213,"cg_iq_a":-0.0222907215,"cg_iq_raw_a":-0.169644281,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503577,"cg_iw_a":0.689433157,"cg_sample_age_us":23.9763641,"cg_sample_seq":14405466,"cg_sample_valid":1,"cg_theta_rad":5.00741911,"cg_vd_req_v":0.0930368528,"cg_vd_v":0.0930368528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336408317,"cg_vq_v":-0.336408317,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.85083,"values":{"Elec_RPM":-2.16008682e-27,"EncoderCos":38719,"EncoderSin":12453,"GapTicks":54785,"Mech_RPM":-4.32017383e-28,"cg_du":50.1273994,"cg_dv":50.1945724,"cg_dw":49.8054276,"cg_id_a":0.100714892,"cg_id_raw_a":0.346967608,"cg_iq_a":0.119754925,"cg_iq_raw_a":0.0716391131,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552848,"cg_iw_a":0.254507005,"cg_sample_age_us":23.954546,"cg_sample_seq":14405516,"cg_sample_valid":1,"cg_theta_rad":5.00834513,"cg_vd_req_v":0.0897145718,"cg_vd_v":0.0897145718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335840017,"cg_vq_v":-0.335840017,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":43.0032959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0452271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.862549,"values":{"Elec_RPM":-2.16008682e-27,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54791,"Mech_RPM":-4.32017383e-28,"cg_du":50.1186867,"cg_dv":50.18927,"cg_dw":49.81073,"cg_id_a":-0.0443244874,"cg_id_raw_a":0.677043378,"cg_iq_a":-0.285721302,"cg_iq_raw_a":-0.0790847614,"cg_iu_a":0.292484283,"cg_iv_a":0.322860777,"cg_iw_a":-0.615345061,"cg_sample_age_us":23.9581814,"cg_sample_seq":14405566,"cg_sample_valid":1,"cg_theta_rad":5.00718212,"cg_vd_req_v":0.0909962878,"cg_vd_v":0.0909962878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324908674,"cg_vq_v":-0.324908674,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":25.9558182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0452271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.870361,"values":{"Elec_RPM":-2.11688513e-27,"EncoderCos":38745,"EncoderSin":12467,"GapTicks":54792,"Mech_RPM":-4.23377035e-28,"cg_du":50.1185493,"cg_dv":50.1887589,"cg_dw":49.8112411,"cg_id_a":0.121561617,"cg_id_raw_a":0.342513561,"cg_iq_a":-0.388612449,"cg_iq_raw_a":0.578366995,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333380699,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14405616,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.089033626,"cg_vd_v":0.089033626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32456696,"cg_vq_v":-0.32456696,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":25.9558182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.897705,"values":{"Elec_RPM":-2.11688513e-27,"EncoderCos":38713,"EncoderSin":12474,"GapTicks":54786,"Mech_RPM":-4.23377035e-28,"cg_du":50.11549,"cg_dv":50.1942482,"cg_dw":49.8057518,"cg_id_a":-0.327241421,"cg_id_raw_a":0.0381968729,"cg_iq_a":-0.0756878629,"cg_iq_raw_a":0.00458943099,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.8745461,"cg_sample_seq":14405670,"cg_sample_valid":1,"cg_theta_rad":5.00551319,"cg_vd_req_v":0.0987051204,"cg_vd_v":0.0987051204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328707218,"cg_vq_v":-0.328707218,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0357056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.905518,"values":{"Elec_RPM":-2.07454741e-27,"EncoderCos":38720,"EncoderSin":12482,"GapTicks":54785,"Mech_RPM":-4.14909492e-28,"cg_du":50.1244164,"cg_dv":50.195137,"cg_dw":49.804863,"cg_id_a":-0.0898725763,"cg_id_raw_a":-0.559577048,"cg_iq_a":0.355600446,"cg_iq_raw_a":0.966143548,"cg_iu_a":0.437459469,"cg_iv_a":-0.148309112,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8563633,"cg_sample_seq":14405717,"cg_sample_valid":1,"cg_theta_rad":5.00728989,"cg_vd_req_v":0.0918568447,"cg_vd_v":0.0918568447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335132599,"cg_vq_v":-0.335132599,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0357056,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.917236,"values":{"Elec_RPM":-2.07454741e-27,"EncoderCos":38730,"EncoderSin":12475,"GapTicks":54788,"Mech_RPM":-4.14909492e-28,"cg_du":50.12146,"cg_dv":50.1923294,"cg_dw":49.8076706,"cg_id_a":-0.00284289569,"cg_id_raw_a":0.208534643,"cg_iq_a":0.109186001,"cg_iq_raw_a":0.202679649,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9763641,"cg_sample_seq":14405767,"cg_sample_valid":1,"cg_theta_rad":5.00644207,"cg_vd_req_v":0.0911349654,"cg_vd_v":0.0911349654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330822468,"cg_vq_v":-0.330822468,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0293579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2607.925049,"values":{"Elec_RPM":-2.03305633e-27,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-4.06611285e-28,"cg_du":50.1141891,"cg_dv":50.1896095,"cg_dw":49.8103905,"cg_id_a":-0.157573223,"cg_id_raw_a":-0.05042319,"cg_iq_a":-0.270039022,"cg_iq_raw_a":-0.368543208,"cg_iu_a":0.14750886,"cg_iv_a":-0.438259721,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.863636,"cg_sample_seq":14405867,"cg_sample_valid":1,"cg_theta_rad":5.00820684,"cg_vd_req_v":0.0957096517,"cg_vd_v":0.0957096517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321529239,"cg_vq_v":-0.321529239,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.932861,"values":{"Elec_RPM":-1.99239533e-27,"EncoderCos":38745,"EncoderSin":12497,"GapTicks":54791,"Mech_RPM":-3.9847907e-28,"cg_du":50.1128883,"cg_dv":50.1892815,"cg_dw":49.8107185,"cg_id_a":0.0248036869,"cg_id_raw_a":0.189318299,"cg_iq_a":-0.242684811,"cg_iq_raw_a":-0.273253798,"cg_iu_a":0.111264944,"cg_iv_a":0.359104574,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9618187,"cg_sample_seq":14405916,"cg_sample_valid":1,"cg_theta_rad":5.00765753,"cg_vd_req_v":0.0930612683,"cg_vd_v":0.0930612683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321335852,"cg_vq_v":-0.321335852,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.940674,"values":{"Elec_RPM":-1.99239533e-27,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54788,"Mech_RPM":-3.9847907e-28,"cg_du":50.1197166,"cg_dv":50.1918869,"cg_dw":49.8081131,"cg_id_a":-0.0159576945,"cg_id_raw_a":-0.272985965,"cg_iq_a":0.126688361,"cg_iq_raw_a":0.811462402,"cg_iu_a":0.14750886,"cg_iv_a":0.395348489,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9618187,"cg_sample_seq":14405967,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0930584371,"cg_vd_v":0.0930584371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327888936,"cg_vq_v":-0.327888936,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.657074,"temp_inv2_c":37.0563354,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.948486,"values":{"Elec_RPM":-1.95254745e-27,"EncoderCos":38716,"EncoderSin":12477,"GapTicks":54787,"Mech_RPM":-3.905095e-28,"cg_du":50.1242142,"cg_dv":50.1930923,"cg_dw":49.8069077,"cg_id_a":0.0231933817,"cg_id_raw_a":0.178179026,"cg_iq_a":0.285709262,"cg_iq_raw_a":-0.564388812,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9872723,"cg_sample_seq":14406016,"cg_sample_valid":1,"cg_theta_rad":5.0056262,"cg_vd_req_v":0.0904433951,"cg_vd_v":0.0904433951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332124263,"cg_vq_v":-0.332124263,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.554591417,"dclink_p_w":-80.2630539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6081543,"temp_inv2_c":37.0595093,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.956299,"values":{"Elec_RPM":-1.95254745e-27,"EncoderCos":38736,"EncoderSin":12494,"GapTicks":54791,"Mech_RPM":-3.905095e-28,"cg_du":50.119915,"cg_dv":50.1893196,"cg_dw":49.8106804,"cg_id_a":0.201940596,"cg_id_raw_a":0.765043497,"cg_iq_a":-0.226193681,"cg_iq_raw_a":-0.583649993,"cg_iu_a":0.14750886,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9581814,"cg_sample_seq":14406066,"cg_sample_valid":1,"cg_theta_rad":5.00730896,"cg_vd_req_v":0.0882894099,"cg_vd_v":0.0882894099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325096279,"cg_vq_v":-0.325096279,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2607.968018,"values":{"Elec_RPM":-1.91349653e-27,"EncoderCos":38725,"EncoderSin":12474,"GapTicks":54786,"Mech_RPM":-3.826993e-28,"cg_du":50.1262131,"cg_dv":50.1942444,"cg_dw":49.8057556,"cg_id_a":0.0298044235,"cg_id_raw_a":-0.0694113821,"cg_iq_a":0.213882491,"cg_iq_raw_a":0.0305278022,"cg_iu_a":0.14750886,"cg_iv_a":0.214129329,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9981823,"cg_sample_seq":14406116,"cg_sample_valid":1,"cg_theta_rad":5.00453949,"cg_vd_req_v":0.0893830135,"cg_vd_v":0.0893830135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334977031,"cg_vq_v":-0.334977031,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2607.990762,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2607.990766,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2607.99077,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2607.995361,"values":{"Elec_RPM":-1.91349653e-27,"EncoderCos":38734,"EncoderSin":12464,"GapTicks":54784,"Mech_RPM":-3.826993e-28,"cg_du":50.127224,"cg_dv":50.1956863,"cg_dw":49.8043137,"cg_id_a":-0.0116268825,"cg_id_raw_a":-0.239180848,"cg_iq_a":0.245211989,"cg_iq_raw_a":0.269341648,"cg_iu_a":0.401215553,"cg_iv_a":0.649055243,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.8600006,"cg_sample_seq":14406171,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0895319059,"cg_vd_v":0.0895319059,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337628156,"cg_vq_v":-0.337628156,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.692317963,"dclink_p_w":-100.19548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.003174,"values":{"Elec_RPM":-1.87522656e-27,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54787,"Mech_RPM":-3.75045318e-28,"cg_du":50.1260796,"cg_dv":50.193264,"cg_dw":49.806736,"cg_id_a":-0.0229026359,"cg_id_raw_a":0.00370725826,"cg_iq_a":0.089630343,"cg_iq_raw_a":-0.0716716349,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9581814,"cg_sample_seq":14406216,"cg_sample_valid":1,"cg_theta_rad":5.00690651,"cg_vd_req_v":0.0894837528,"cg_vd_v":0.0894837528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333318204,"cg_vq_v":-0.333318204,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.539017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.010986,"values":{"Elec_RPM":-1.87522656e-27,"EncoderCos":38740,"EncoderSin":12460,"GapTicks":54788,"Mech_RPM":-3.75045318e-28,"cg_du":50.1208115,"cg_dv":50.1918793,"cg_dw":49.8081207,"cg_id_a":-0.11215575,"cg_id_raw_a":0.226230755,"cg_iq_a":-0.220189095,"cg_iq_raw_a":0.24046281,"cg_iu_a":-0.0337104797,"cg_iv_a":0.10539782,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9618187,"cg_sample_seq":14406268,"cg_sample_valid":1,"cg_theta_rad":5.00689936,"cg_vd_req_v":0.0905289054,"cg_vd_v":0.0905289054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328958035,"cg_vq_v":-0.328958035,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0484009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.018799,"values":{"Elec_RPM":-1.83772216e-27,"EncoderCos":38700,"EncoderSin":12487,"GapTicks":54788,"Mech_RPM":-3.67544422e-28,"cg_du":50.1182747,"cg_dv":50.1923828,"cg_dw":49.8076172,"cg_id_a":-0.357672691,"cg_id_raw_a":-0.376047283,"cg_iq_a":-0.296521306,"cg_iq_raw_a":-0.474393249,"cg_iu_a":0.183752775,"cg_iv_a":0.359104633,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.863636,"cg_sample_seq":14406316,"cg_sample_valid":1,"cg_theta_rad":5.00835276,"cg_vd_req_v":0.0953814834,"cg_vd_v":0.0953814834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327544212,"cg_vq_v":-0.327544212,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.632515669,"dclink_p_w":-91.5406113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0134888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.030518,"values":{"Elec_RPM":-1.83772216e-27,"EncoderCos":38760,"EncoderSin":12463,"GapTicks":54786,"Mech_RPM":-3.67544422e-28,"cg_du":50.1208534,"cg_dv":50.1937218,"cg_dw":49.8062782,"cg_id_a":-0.0461785793,"cg_id_raw_a":-0.327409476,"cg_iq_a":0.0789947063,"cg_iq_raw_a":0.335506201,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.863636,"cg_sample_seq":14406367,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.090700753,"cg_vd_v":0.090700753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331927121,"cg_vq_v":-0.331927121,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.632515669,"dclink_p_w":-91.5406113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2584,"hz_tim_isr":4999,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0134888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.042236,"values":{"Elec_RPM":-1.80096771e-27,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54790,"Mech_RPM":-3.60193533e-28,"cg_du":50.1227531,"cg_dv":50.1906586,"cg_dw":49.8093414,"cg_id_a":0.0293095037,"cg_id_raw_a":-0.186091468,"cg_iq_a":-0.169203281,"cg_iq_raw_a":-0.491091549,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150178,"cg_sample_age_us":23.863636,"cg_sample_seq":14406418,"cg_sample_valid":1,"cg_theta_rad":5.0064373,"cg_vd_req_v":0.0894830227,"cg_vd_v":0.0894830227,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327927917,"cg_vq_v":-0.327927917,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.632515669,"dclink_p_w":-91.5406113,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0610962,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.057861,"values":{"Elec_RPM":-1.80096771e-27,"EncoderCos":38708,"EncoderSin":12443,"GapTicks":54784,"Mech_RPM":-3.60193533e-28,"cg_du":50.1257477,"cg_dv":50.1959877,"cg_dw":49.8040123,"cg_id_a":-0.204463989,"cg_id_raw_a":-0.321747661,"cg_iq_a":0.281630427,"cg_iq_raw_a":-0.17787604,"cg_iu_a":-0.577368021,"cg_iv_a":-0.184552908,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9654541,"cg_sample_seq":14406466,"cg_sample_valid":1,"cg_theta_rad":5.00778484,"cg_vd_req_v":0.0934596509,"cg_vd_v":0.0934596509,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336536467,"cg_vq_v":-0.336536467,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.5052719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0515747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.06958,"values":{"Elec_RPM":-1.76494839e-27,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-3.52989664e-28,"cg_du":50.1320496,"cg_dv":50.1971169,"cg_dw":49.8028831,"cg_id_a":0.017862387,"cg_id_raw_a":-0.089899376,"cg_iq_a":0.57572031,"cg_iq_raw_a":-0.19009541,"cg_iu_a":-0.468636274,"cg_iv_a":-0.546991229,"cg_iw_a":1.0156275,"cg_sample_age_us":23.863636,"cg_sample_seq":14406516,"cg_sample_valid":1,"cg_theta_rad":5.00700712,"cg_vd_req_v":0.0881532654,"cg_vd_v":0.0881532654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342011631,"cg_vq_v":-0.342011631,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0515747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.081299,"values":{"Elec_RPM":-1.76494839e-27,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54791,"Mech_RPM":-3.52989664e-28,"cg_du":50.1258812,"cg_dv":50.1893654,"cg_dw":49.8106346,"cg_id_a":0.0888976604,"cg_id_raw_a":-0.363103151,"cg_iq_a":-0.191102192,"cg_iq_raw_a":-0.617664695,"cg_iu_a":-0.142441988,"cg_iv_a":0.21412921,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9654541,"cg_sample_seq":14406566,"cg_sample_valid":1,"cg_theta_rad":5.0072217,"cg_vd_req_v":0.0856033042,"cg_vd_v":0.0856033042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327974409,"cg_vq_v":-0.327974409,"cg_vu_v":18.9153805,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0325317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.093018,"values":{"Elec_RPM":-1.72964937e-27,"EncoderCos":38744,"EncoderSin":12493,"GapTicks":54790,"Mech_RPM":-3.45929879e-28,"cg_du":50.1153145,"cg_dv":50.1906013,"cg_dw":49.8093987,"cg_id_a":-0.205174923,"cg_id_raw_a":0.264200062,"cg_iq_a":-0.356442392,"cg_iq_raw_a":0.0611505546,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641557,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9581814,"cg_sample_seq":14406617,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0925826579,"cg_vd_v":0.0925826579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324445158,"cg_vq_v":-0.324445158,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.574525356,"dclink_p_w":-83.4007187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0626831,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.128174,"values":{"Elec_RPM":-1.6950564e-27,"EncoderCos":38735,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-3.39011289e-28,"cg_du":50.1159401,"cg_dv":50.2038612,"cg_dw":49.7961388,"cg_id_a":-0.820502281,"cg_id_raw_a":-0.0451165251,"cg_iq_a":0.181004703,"cg_iq_raw_a":-0.0034116162,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14406769,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.105795078,"cg_vd_v":0.105795078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342609942,"cg_vq_v":-0.342609942,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0214233,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.139893,"values":{"Elec_RPM":-1.66115521e-27,"EncoderCos":38749,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-3.32231052e-28,"cg_du":50.1291924,"cg_dv":50.1975899,"cg_dw":49.8024101,"cg_id_a":-0.0164136216,"cg_id_raw_a":0.0827033743,"cg_iq_a":0.144494474,"cg_iq_raw_a":0.444906533,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065315,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14406816,"cg_sample_valid":1,"cg_theta_rad":5.008636,"cg_vd_req_v":0.0880733803,"cg_vd_v":0.0880733803,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341781676,"cg_vq_v":-0.341781676,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0071411,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.155518,"values":{"Elec_RPM":-1.66115521e-27,"EncoderCos":38721,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-3.32231052e-28,"cg_du":50.1223602,"cg_dv":50.1932411,"cg_dw":49.8067589,"cg_id_a":-0.189887702,"cg_id_raw_a":-0.0437780656,"cg_iq_a":-0.362593591,"cg_iq_raw_a":-0.877473593,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14406866,"cg_sample_valid":1,"cg_theta_rad":5.0084753,"cg_vd_req_v":0.0918962359,"cg_vd_v":0.0918962359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331329614,"cg_vq_v":-0.331329614,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.129501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.167236,"values":{"Elec_RPM":-1.62793215e-27,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54788,"Mech_RPM":-3.25586426e-28,"cg_du":50.1255836,"cg_dv":50.1920624,"cg_dw":49.8079376,"cg_id_a":-0.0315256491,"cg_id_raw_a":0.114371225,"cg_iq_a":-0.302498758,"cg_iq_raw_a":-0.789248228,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704056,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9690914,"cg_sample_seq":14406916,"cg_sample_valid":1,"cg_theta_rad":5.00623083,"cg_vd_req_v":0.0876290351,"cg_vd_v":0.0876290351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331691384,"cg_vq_v":-0.331691384,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.8229637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.178955,"values":{"Elec_RPM":-1.62793215e-27,"EncoderCos":38754,"EncoderSin":12490,"GapTicks":54784,"Mech_RPM":-3.25586426e-28,"cg_du":50.1276627,"cg_dv":50.1958275,"cg_dw":49.8041725,"cg_id_a":-0.0867830813,"cg_id_raw_a":-0.0707177892,"cg_iq_a":0.0564815104,"cg_iq_raw_a":0.285624981,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796704,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14406967,"cg_sample_valid":1,"cg_theta_rad":5.00779963,"cg_vd_req_v":0.0871793702,"cg_vd_v":0.0871793702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338627368,"cg_vq_v":-0.338627368,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0388794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.214111,"values":{"Elec_RPM":-1.53219668e-27,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-3.06439336e-28,"cg_du":50.122242,"cg_dv":50.1941605,"cg_dw":49.8058395,"cg_id_a":-0.374771565,"cg_id_raw_a":-0.368045628,"cg_iq_a":-0.181164324,"cg_iq_raw_a":0.0742028728,"cg_iu_a":-0.432392597,"cg_iv_a":-0.619478822,"cg_iw_a":1.05187142,"cg_sample_age_us":23.8600006,"cg_sample_seq":14407219,"cg_sample_valid":1,"cg_theta_rad":5.0060811,"cg_vd_req_v":0.0930487141,"cg_vd_v":0.0930487141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333554059,"cg_vq_v":-0.333554059,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.6325989,"temp_inv2_c":37.0245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.22583,"values":{"Elec_RPM":-1.53219668e-27,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54787,"Mech_RPM":-3.06439336e-28,"cg_du":50.1371078,"cg_dv":50.1928978,"cg_dw":49.8071022,"cg_id_a":0.186946973,"cg_id_raw_a":0.358531684,"cg_iq_a":0.0910431445,"cg_iq_raw_a":0.617247462,"cg_iu_a":-0.0337104797,"cg_iv_a":0.504079938,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9690914,"cg_sample_seq":14407266,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.0791983381,"cg_vd_v":0.0791983381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340414166,"cg_vq_v":-0.340414166,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-81.0331573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.027771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.241455,"values":{"Elec_RPM":-1.50155273e-27,"EncoderCos":38709,"EncoderSin":12470,"GapTicks":54795,"Mech_RPM":-3.00310545e-28,"cg_du":50.1339149,"cg_dv":50.1855278,"cg_dw":49.8144722,"cg_id_a":0.337010473,"cg_id_raw_a":0.163117066,"cg_iq_a":-0.566584826,"cg_iq_raw_a":0.017164709,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641676,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9581814,"cg_sample_seq":14407317,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0759240612,"cg_vd_v":0.0759240612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32614705,"cg_vq_v":-0.32614705,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.630703449,"dclink_p_w":-91.5557861,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.027771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2608.253174,"values":{"Elec_RPM":-1.50155273e-27,"EncoderCos":38702,"EncoderSin":12483,"GapTicks":54786,"Mech_RPM":-3.00310545e-28,"cg_du":50.1446724,"cg_dv":50.1940994,"cg_dw":49.8059006,"cg_id_a":0.265250981,"cg_id_raw_a":-0.0908653736,"cg_iq_a":0.308934927,"cg_iq_raw_a":0.865904391,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14407366,"cg_sample_valid":1,"cg_theta_rad":5.00717306,"cg_vd_req_v":0.0763354376,"cg_vd_v":0.0763354376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344775379,"cg_vq_v":-0.344775379,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.031357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.264893,"values":{"Elec_RPM":-1.4715217e-27,"EncoderCos":38709,"EncoderSin":12419,"GapTicks":54788,"Mech_RPM":-2.9430434e-28,"cg_du":50.1342354,"cg_dv":50.1919785,"cg_dw":49.8080215,"cg_id_a":-0.12160743,"cg_id_raw_a":0.0169086419,"cg_iq_a":-0.128412217,"cg_iq_raw_a":-0.398265272,"cg_iu_a":0.0387773514,"cg_iv_a":0.032910049,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9618187,"cg_sample_seq":14407417,"cg_sample_valid":1,"cg_theta_rad":5.00872087,"cg_vd_req_v":0.0833718777,"cg_vd_v":0.0833718777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33578077,"cg_vq_v":-0.33578077,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0150757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.276611,"values":{"Elec_RPM":-1.4715217e-27,"EncoderCos":38711,"EncoderSin":12498,"GapTicks":54788,"Mech_RPM":-2.9430434e-28,"cg_du":50.1275558,"cg_dv":50.1925964,"cg_dw":49.8074036,"cg_id_a":-0.201696143,"cg_id_raw_a":-0.148868427,"cg_iq_a":-0.438085496,"cg_iq_raw_a":-0.232272223,"cg_iu_a":0.61867857,"cg_iv_a":0.322860718,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9690914,"cg_sample_seq":14407466,"cg_sample_valid":1,"cg_theta_rad":5.00668335,"cg_vd_req_v":0.0872396752,"cg_vd_v":0.0872396752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333358377,"cg_vq_v":-0.333358377,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0150757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.292236,"values":{"Elec_RPM":-1.41324942e-27,"EncoderCos":38733,"EncoderSin":12492,"GapTicks":54781,"Mech_RPM":-2.82649888e-28,"cg_du":50.1357269,"cg_dv":50.1984482,"cg_dw":49.8015518,"cg_id_a":0.0735992566,"cg_id_raw_a":0.364851415,"cg_iq_a":0.235259175,"cg_iq_raw_a":0.107632644,"cg_iu_a":0.292484283,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9799995,"cg_sample_seq":14407616,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0849324763,"cg_vd_v":0.0849324763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346289247,"cg_vq_v":-0.346289247,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.685069084,"dclink_p_w":-99.1463852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0150757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.303955,"values":{"Elec_RPM":-1.41324942e-27,"EncoderCos":38727,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-2.82649888e-28,"cg_du":50.1449356,"cg_dv":50.2010994,"cg_dw":49.7989006,"cg_id_a":0.227071926,"cg_id_raw_a":0.351166487,"cg_iq_a":0.648540616,"cg_iq_raw_a":1.56370056,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539645,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9472733,"cg_sample_seq":14407667,"cg_sample_valid":1,"cg_theta_rad":5.01028156,"cg_vd_req_v":0.0811694935,"cg_vd_v":0.0811694935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354831606,"cg_vq_v":-0.354831606,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-81.0498352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.339111,"values":{"Elec_RPM":-1.38498447e-27,"EncoderCos":38732,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-2.76996898e-28,"cg_du":50.127285,"cg_dv":50.1955261,"cg_dw":49.8044739,"cg_id_a":-0.0558375865,"cg_id_raw_a":0.204902232,"cg_iq_a":-0.286498845,"cg_iq_raw_a":0.0199174602,"cg_iu_a":-0.251173258,"cg_iv_a":0.395348489,"cg_iw_a":-0.144175231,"cg_sample_age_us":26.187273,"cg_sample_seq":14407720,"cg_sample_valid":1,"cg_theta_rad":5.00829935,"cg_vd_req_v":0.0887619779,"cg_vd_v":0.0887619779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33759585,"cg_vq_v":-0.33759585,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-81.0498352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.35083,"values":{"Elec_RPM":-1.38498447e-27,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-2.76996898e-28,"cg_du":50.1496048,"cg_dv":50.2004776,"cg_dw":49.7995224,"cg_id_a":0.517402709,"cg_id_raw_a":0.152636454,"cg_iq_a":0.641725242,"cg_iq_raw_a":-0.0939473882,"cg_iu_a":-0.214929581,"cg_iv_a":0.57656759,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9618187,"cg_sample_seq":14407766,"cg_sample_valid":1,"cg_theta_rad":5.00729179,"cg_vd_req_v":0.0765076876,"cg_vd_v":0.0765076876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356687486,"cg_vq_v":-0.356687486,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":37.0214233,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.362549,"values":{"Elec_RPM":-1.27746558e-27,"EncoderCos":38738,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-2.5549312e-28,"cg_du":50.1364937,"cg_dv":50.2010231,"cg_dw":49.7989769,"cg_id_a":-0.00514229387,"cg_id_raw_a":-0.315137178,"cg_iq_a":-0.107965946,"cg_iq_raw_a":-0.938629329,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14408116,"cg_sample_valid":1,"cg_theta_rad":5.0079422,"cg_vd_req_v":0.0868283883,"cg_vd_v":0.0868283883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35022369,"cg_vq_v":-0.35022369,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0119019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.378174,"values":{"Elec_RPM":-1.27746558e-27,"EncoderCos":38747,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-2.5549312e-28,"cg_du":50.1436119,"cg_dv":50.2038422,"cg_dw":49.7961578,"cg_id_a":0.15753831,"cg_id_raw_a":0.0777873173,"cg_iq_a":0.289216667,"cg_iq_raw_a":0.262626112,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14408166,"cg_sample_valid":1,"cg_theta_rad":5.00606203,"cg_vd_req_v":0.0830937997,"cg_vd_v":0.0830937997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358237535,"cg_vq_v":-0.358237535,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.393306375,"dclink_p_w":-56.9211311,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9247131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116772719,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.409424,"values":{"Elec_RPM":-1.25191629e-27,"EncoderCos":38730,"EncoderSin":12495,"GapTicks":54775,"Mech_RPM":-2.50383267e-28,"cg_du":50.133213,"cg_dv":50.2039299,"cg_dw":49.7960701,"cg_id_a":-0.234464586,"cg_id_raw_a":-0.499543905,"cg_iq_a":-0.112114549,"cg_iq_raw_a":0.135989979,"cg_iu_a":-0.251173496,"cg_iv_a":-0.402015805,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9799995,"cg_sample_seq":14408219,"cg_sample_valid":1,"cg_theta_rad":5.00632954,"cg_vd_req_v":0.092373386,"cg_vd_v":0.092373386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352315962,"cg_vq_v":-0.352315962,"cg_vu_v":22.4345207,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-47.0976181,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.421143,"values":{"Elec_RPM":-1.25191629e-27,"EncoderCos":38707,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-2.50383267e-28,"cg_du":50.1385612,"cg_dv":50.1895065,"cg_dw":49.8011665,"cg_id_a":0.51426971,"cg_id_raw_a":-0.00780223543,"cg_iq_a":-1.00239956,"cg_iq_raw_a":0.254991412,"cg_iu_a":0.618678689,"cg_iv_a":1.5551511,"cg_iw_a":-2.17382979,"cg_sample_age_us":23.863636,"cg_sample_seq":14408266,"cg_sample_valid":1,"cg_theta_rad":5.00667048,"cg_vd_req_v":0.0762064606,"cg_vd_v":0.0762064606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33519873,"cg_vq_v":-0.33519873,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.436768,"values":{"Elec_RPM":-1.22687804e-27,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-2.45375608e-28,"cg_du":50.1401749,"cg_dv":50.1986237,"cg_dw":49.8013763,"cg_id_a":0.185089871,"cg_id_raw_a":0.518753707,"cg_iq_a":-0.354523152,"cg_iq_raw_a":-0.603560388,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.863636,"cg_sample_seq":14408317,"cg_sample_valid":1,"cg_theta_rad":5.00511742,"cg_vd_req_v":0.0834716633,"cg_vd_v":0.0834716633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34856537,"cg_vq_v":-0.34856537,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.76111794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0182495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.448486,"values":{"Elec_RPM":-1.22687804e-27,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-2.45375608e-28,"cg_du":50.1399651,"cg_dv":50.2013779,"cg_dw":49.7986221,"cg_id_a":0.0734554753,"cg_id_raw_a":0.113760762,"cg_iq_a":-0.246030986,"cg_iq_raw_a":-0.352549225,"cg_iu_a":0.437459469,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14408366,"cg_sample_valid":1,"cg_theta_rad":5.00493145,"cg_vd_req_v":0.0846396014,"cg_vd_v":0.0846396014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352597237,"cg_vq_v":-0.352597237,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0182495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.464111,"values":{"Elec_RPM":-1.20234054e-27,"EncoderCos":38733,"EncoderSin":12482,"GapTicks":54778,"Mech_RPM":-2.40468098e-28,"cg_du":50.1405945,"cg_dv":50.2014122,"cg_dw":49.7985878,"cg_id_a":0.0292131454,"cg_id_raw_a":-0.236990288,"cg_iq_a":-0.278060257,"cg_iq_raw_a":-0.421900779,"cg_iu_a":0.0387773514,"cg_iv_a":0.830274463,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9618187,"cg_sample_seq":14408466,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0844642073,"cg_vd_v":0.0844642073,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35406372,"cg_vq_v":-0.35406372,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0785828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.47583,"values":{"Elec_RPM":-1.17829367e-27,"EncoderCos":38725,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-2.35658738e-28,"cg_du":50.1383286,"cg_dv":50.2039757,"cg_dw":49.7960243,"cg_id_a":-0.0850243792,"cg_id_raw_a":0.246496961,"cg_iq_a":-0.181277663,"cg_iq_raw_a":0.0245710704,"cg_iu_a":0.256240129,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9254551,"cg_sample_seq":14408517,"cg_sample_valid":1,"cg_theta_rad":5.00614929,"cg_vd_req_v":0.0893380642,"cg_vd_v":0.0893380642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355002075,"cg_vq_v":-0.355002075,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0785828,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.491455,"values":{"Elec_RPM":-1.17829367e-27,"EncoderCos":38696,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-2.35658738e-28,"cg_du":50.1392365,"cg_dv":50.2004204,"cg_dw":49.7995796,"cg_id_a":-0.00824516639,"cg_id_raw_a":-0.379396498,"cg_iq_a":-0.3640275,"cg_iq_raw_a":-0.840019524,"cg_iu_a":0.292484045,"cg_iv_a":0.431592286,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.954546,"cg_sample_seq":14408566,"cg_sample_valid":1,"cg_theta_rad":5.00431681,"cg_vd_req_v":0.08757779,"cg_vd_v":0.08757779,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350078732,"cg_vq_v":-0.350078732,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.5608521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":37.0198364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.503174,"values":{"Elec_RPM":-1.15472779e-27,"EncoderCos":38715,"EncoderSin":12496,"GapTicks":54773,"Mech_RPM":-2.30945554e-28,"cg_du":50.1434135,"cg_dv":50.2061615,"cg_dw":49.7938385,"cg_id_a":-0.0269860327,"cg_id_raw_a":-0.076826036,"cg_iq_a":0.189337641,"cg_iq_raw_a":0.539558411,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0395776033,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9799995,"cg_sample_seq":14408617,"cg_sample_valid":1,"cg_theta_rad":5.00723267,"cg_vd_req_v":0.0877135023,"cg_vd_v":0.0877135023,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360764712,"cg_vq_v":-0.360764712,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.5608521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.514893,"values":{"Elec_RPM":-1.15472779e-27,"EncoderCos":38740,"EncoderSin":12496,"GapTicks":54771,"Mech_RPM":-2.30945554e-28,"cg_du":50.1385956,"cg_dv":50.2073059,"cg_dw":49.7926941,"cg_id_a":-0.0959391892,"cg_id_raw_a":0.32772243,"cg_iq_a":0.0990124866,"cg_iq_raw_a":0.285514146,"cg_iu_a":-0.504880428,"cg_iv_a":-0.112065196,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9763641,"cg_sample_seq":14408666,"cg_sample_valid":1,"cg_theta_rad":5.00623608,"cg_vd_req_v":0.0905615762,"cg_vd_v":0.0905615762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36013633,"cg_vq_v":-0.36013633,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.5608521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.550049,"values":{"Elec_RPM":-1.08682056e-27,"EncoderCos":38716,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-2.17364113e-28,"cg_du":50.133831,"cg_dv":50.1987762,"cg_dw":49.8012238,"cg_id_a":0.0906962454,"cg_id_raw_a":0.104187503,"cg_iq_a":-0.208829045,"cg_iq_raw_a":-0.025508156,"cg_iu_a":-0.0699541569,"cg_iv_a":0.21412921,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14408968,"cg_sample_valid":1,"cg_theta_rad":5.00701666,"cg_vd_req_v":0.0880058631,"cg_vd_v":0.0880058631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345360965,"cg_vq_v":-0.345360965,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0261841,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.561768,"values":{"Elec_RPM":-1.06508413e-27,"EncoderCos":38755,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-2.13016831e-28,"cg_du":50.1386414,"cg_dv":50.2051277,"cg_dw":49.7948723,"cg_id_a":0.0402482525,"cg_id_raw_a":0.0799264833,"cg_iq_a":0.624347806,"cg_iq_raw_a":0.00792144705,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.655722737,"cg_iw_a":0.725676894,"cg_sample_age_us":23.954546,"cg_sample_seq":14409016,"cg_sample_valid":1,"cg_theta_rad":5.00656796,"cg_vd_req_v":0.0875991955,"cg_vd_v":0.0875991955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357389688,"cg_vq_v":-0.357389688,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0150757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.573486,"values":{"Elec_RPM":-1.06508413e-27,"EncoderCos":38731,"EncoderSin":12457,"GapTicks":54776,"Mech_RPM":-2.13016831e-28,"cg_du":50.1312332,"cg_dv":50.202774,"cg_dw":49.797226,"cg_id_a":-0.293361872,"cg_id_raw_a":-0.610997736,"cg_iq_a":0.17275092,"cg_iq_raw_a":-0.458467931,"cg_iu_a":0.437459469,"cg_iv_a":-1.05440485,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9254551,"cg_sample_seq":14409066,"cg_sample_valid":1,"cg_theta_rad":5.00738716,"cg_vd_req_v":0.0936521143,"cg_vd_v":0.0936521143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349413425,"cg_vq_v":-0.349413425,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0150757,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.589111,"values":{"Elec_RPM":-1.04378258e-27,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-2.08756506e-28,"cg_du":50.1366119,"cg_dv":50.2026443,"cg_dw":49.7973557,"cg_id_a":-0.00745543838,"cg_id_raw_a":-0.0249976609,"cg_iq_a":0.255333722,"cg_iq_raw_a":-0.219919011,"cg_iu_a":0.546190977,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.954546,"cg_sample_seq":14409118,"cg_sample_valid":1,"cg_theta_rad":5.00733709,"cg_vd_req_v":0.0881735012,"cg_vd_v":0.0881735012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352535456,"cg_vq_v":-0.352535456,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.60083,"values":{"Elec_RPM":-1.04378258e-27,"EncoderCos":38705,"EncoderSin":12462,"GapTicks":54782,"Mech_RPM":-2.08756506e-28,"cg_du":50.1332893,"cg_dv":50.1972771,"cg_dw":49.8027229,"cg_id_a":-0.102013879,"cg_id_raw_a":-0.19454971,"cg_iq_a":-0.282001078,"cg_iq_raw_a":-0.601892471,"cg_iu_a":0.111264944,"cg_iv_a":0.322860777,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9872723,"cg_sample_seq":14409166,"cg_sample_valid":1,"cg_theta_rad":5.00846958,"cg_vd_req_v":0.0886104777,"cg_vd_v":0.0886104777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342599571,"cg_vq_v":-0.342599571,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.0676575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.635986,"values":{"Elec_RPM":-1.02290685e-27,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-2.04581379e-28,"cg_du":50.1441345,"cg_dv":50.2053947,"cg_dw":49.7946053,"cg_id_a":0.000946838409,"cg_id_raw_a":0.465106308,"cg_iq_a":0.502079546,"cg_iq_raw_a":-0.282300204,"cg_iu_a":0.364971876,"cg_iv_a":1.44641948,"cg_iw_a":-1.81139135,"cg_sample_age_us":23.8600006,"cg_sample_seq":14409220,"cg_sample_valid":1,"cg_theta_rad":5.00835514,"cg_vd_req_v":0.0859533325,"cg_vd_v":0.0859533325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360230267,"cg_vq_v":-0.360230267,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.0676575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9199524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.647705,"values":{"Elec_RPM":-9.82399724e-28,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-1.96479954e-28,"cg_du":50.1314278,"cg_dv":50.2000351,"cg_dw":49.7999649,"cg_id_a":-0.207651988,"cg_id_raw_a":-0.392661363,"cg_iq_a":-0.0742211938,"cg_iq_raw_a":0.545349717,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.863636,"cg_sample_seq":14409466,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.0911190882,"cg_vd_v":0.0911190882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345725089,"cg_vq_v":-0.345725089,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.172097564,"dclink_p_w":24.9067612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9484558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.659424,"values":{"Elec_RPM":-9.62751772e-28,"EncoderCos":38686,"EncoderSin":12461,"GapTicks":54783,"Mech_RPM":-1.92550359e-28,"cg_du":50.136116,"cg_dv":50.1965256,"cg_dw":49.8034744,"cg_id_a":0.0436962545,"cg_id_raw_a":0.0128381727,"cg_iq_a":-0.140638411,"cg_iq_raw_a":-0.945471227,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0758213401,"cg_iw_a":0.21826309,"cg_sample_age_us":23.8563633,"cg_sample_seq":14409517,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.087169081,"cg_vd_v":0.087169081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342796117,"cg_vq_v":-0.342796117,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.671143,"values":{"Elec_RPM":-9.62751772e-28,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-1.92550359e-28,"cg_du":50.1313705,"cg_dv":50.1984749,"cg_dw":49.8015251,"cg_id_a":-0.0648894161,"cg_id_raw_a":-0.440241992,"cg_iq_a":-0.0694516748,"cg_iq_raw_a":-0.261132538,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397701,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9799995,"cg_sample_seq":14409566,"cg_sample_valid":1,"cg_theta_rad":5.00727367,"cg_vd_req_v":0.0902113542,"cg_vd_v":0.0902113542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343417943,"cg_vq_v":-0.343417943,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0049095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.686768,"values":{"Elec_RPM":-9.43496806e-28,"EncoderCos":38737,"EncoderSin":12489,"GapTicks":54780,"Mech_RPM":-1.88699354e-28,"cg_du":50.1323547,"cg_dv":50.1997566,"cg_dw":49.8002434,"cg_id_a":0.00255513191,"cg_id_raw_a":-0.0533905625,"cg_iq_a":0.100779042,"cg_iq_raw_a":-0.368124872,"cg_iu_a":0.582434654,"cg_iv_a":-0.329528213,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9509087,"cg_sample_seq":14409617,"cg_sample_valid":1,"cg_theta_rad":5.00734758,"cg_vd_req_v":0.0886082277,"cg_vd_v":0.0886082277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346255243,"cg_vq_v":-0.346255243,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0198364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.698486,"values":{"Elec_RPM":-9.43496806e-28,"EncoderCos":38698,"EncoderSin":12458,"GapTicks":54785,"Mech_RPM":-1.88699354e-28,"cg_du":50.1346283,"cg_dv":50.1953735,"cg_dw":49.8046265,"cg_id_a":0.0971201807,"cg_id_raw_a":0.246314511,"cg_iq_a":-0.0616430007,"cg_iq_raw_a":0.0263372697,"cg_iu_a":0.328727961,"cg_iv_a":0.250373065,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9436359,"cg_sample_seq":14409666,"cg_sample_valid":1,"cg_theta_rad":5.00706625,"cg_vd_req_v":0.0866006166,"cg_vd_v":0.0866006166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341650009,"cg_vq_v":-0.341650009,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.733643,"values":{"Elec_RPM":-9.06134246e-28,"EncoderCos":38719,"EncoderSin":12464,"GapTicks":54798,"Mech_RPM":-1.81226854e-28,"cg_du":50.1262856,"cg_dv":50.1832199,"cg_dw":49.8167801,"cg_id_a":0.472530961,"cg_id_raw_a":0.356021613,"cg_iq_a":-0.901634037,"cg_iq_raw_a":-0.874629855,"cg_iu_a":0.546190977,"cg_iv_a":0.721542954,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9618187,"cg_sample_seq":14409867,"cg_sample_valid":1,"cg_theta_rad":5.00840235,"cg_vd_req_v":0.079282023,"cg_vd_v":0.079282023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319856316,"cg_vq_v":-0.319856316,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.745361,"values":{"Elec_RPM":-8.88011534e-28,"EncoderCos":38692,"EncoderSin":12460,"GapTicks":54779,"Mech_RPM":-1.77602314e-28,"cg_du":50.1339722,"cg_dv":50.2006989,"cg_dw":49.7993011,"cg_id_a":-0.180671871,"cg_id_raw_a":0.280342251,"cg_iq_a":0.402160227,"cg_iq_raw_a":0.103097327,"cg_iu_a":0.14750886,"cg_iv_a":-0.691966534,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9327278,"cg_sample_seq":14409916,"cg_sample_valid":1,"cg_theta_rad":5.00564528,"cg_vd_req_v":0.0924944133,"cg_vd_v":0.0924944133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347338259,"cg_vq_v":-0.347338259,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.75708,"values":{"Elec_RPM":-8.88011534e-28,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54777,"Mech_RPM":-1.77602314e-28,"cg_du":50.1325073,"cg_dv":50.2025566,"cg_dw":49.7974434,"cg_id_a":-0.105557494,"cg_id_raw_a":0.469273657,"cg_iq_a":0.382750422,"cg_iq_raw_a":0.336365104,"cg_iu_a":-0.251173496,"cg_iv_a":-1.09064865,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9509087,"cg_sample_seq":14409967,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0918470919,"cg_vd_v":0.0918470919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349987566,"cg_vq_v":-0.349987566,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.772705,"values":{"Elec_RPM":-8.70251379e-28,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-1.74050273e-28,"cg_du":50.137928,"cg_dv":50.2013359,"cg_dw":49.7986641,"cg_id_a":0.0464769676,"cg_id_raw_a":0.263735473,"cg_iq_a":0.305452168,"cg_iq_raw_a":0.0631242096,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333374739,"cg_iw_a":0.218263328,"cg_sample_age_us":23.8563633,"cg_sample_seq":14410016,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0877127126,"cg_vd_v":0.0877127126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351029485,"cg_vq_v":-0.351029485,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9326172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.784424,"values":{"Elec_RPM":-8.70251379e-28,"EncoderCos":38716,"EncoderSin":12509,"GapTicks":54785,"Mech_RPM":-1.74050273e-28,"cg_du":50.1444473,"cg_dv":50.1952896,"cg_dw":49.8047104,"cg_id_a":0.486439645,"cg_id_raw_a":0.496778518,"cg_iq_a":0.0289422125,"cg_iq_raw_a":1.35926068,"cg_iu_a":0.111264944,"cg_iv_a":0.395348489,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8963642,"cg_sample_seq":14410068,"cg_sample_valid":1,"cg_theta_rad":5.00715733,"cg_vd_req_v":0.075949192,"cg_vd_v":0.075949192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346642971,"cg_vq_v":-0.346642971,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9453125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.800049,"values":{"Elec_RPM":-8.52846268e-28,"EncoderCos":38693,"EncoderSin":12485,"GapTicks":54786,"Mech_RPM":-1.70569263e-28,"cg_du":50.1389847,"cg_dv":50.1939163,"cg_dw":49.8060837,"cg_id_a":0.149254337,"cg_id_raw_a":-0.142544657,"cg_iq_a":-0.276687205,"cg_iq_raw_a":-0.487527877,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14410116,"cg_sample_valid":1,"cg_theta_rad":5.00814962,"cg_vd_req_v":0.081262283,"cg_vd_v":0.081262283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341165811,"cg_vq_v":-0.341165811,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9453125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.811768,"values":{"Elec_RPM":-8.52846268e-28,"EncoderCos":38737,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-1.70569263e-28,"cg_du":50.1536217,"cg_dv":50.2008743,"cg_dw":49.7991257,"cg_id_a":0.484177291,"cg_id_raw_a":-0.445148975,"cg_iq_a":0.721092224,"cg_iq_raw_a":-0.441654593,"cg_iu_a":-0.468636513,"cg_iv_a":-0.00333368778,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9654541,"cg_sample_seq":14410167,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0735822171,"cg_vd_v":0.0735822171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359504342,"cg_vq_v":-0.359504342,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.843018,"values":{"Elec_RPM":-8.19073546e-28,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-1.63814714e-28,"cg_du":50.1422157,"cg_dv":50.2028961,"cg_dw":49.7971039,"cg_id_a":-0.165824488,"cg_id_raw_a":-0.0875500366,"cg_iq_a":0.385443807,"cg_iq_raw_a":0.684283674,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309112,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9581814,"cg_sample_seq":14410320,"cg_sample_valid":1,"cg_theta_rad":5.00619173,"cg_vd_req_v":0.0837694779,"cg_vd_v":0.0837694779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356055319,"cg_vq_v":-0.356055319,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2608.855226,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2608.855237,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2608.85524,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2608.858643,"values":{"Elec_RPM":-8.19073546e-28,"EncoderCos":38713,"EncoderSin":12471,"GapTicks":54778,"Mech_RPM":-1.63814714e-28,"cg_du":50.1482811,"cg_dv":50.2012863,"cg_dw":49.7987137,"cg_id_a":0.106008917,"cg_id_raw_a":0.0899191499,"cg_iq_a":0.330023617,"cg_iq_raw_a":0.119000807,"cg_iu_a":-0.686099529,"cg_iv_a":-0.0395776033,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9618187,"cg_sample_seq":14410367,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.0796892196,"cg_vd_v":0.0796892196,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355606437,"cg_vq_v":-0.355606437,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9563904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2608.870361,"values":{"Elec_RPM":-8.02692067e-28,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-1.60538418e-28,"cg_du":50.1470795,"cg_dv":50.1992455,"cg_dw":49.8007545,"cg_id_a":0.0446958691,"cg_id_raw_a":-0.238829762,"cg_iq_a":0.152170688,"cg_iq_raw_a":-0.168857828,"cg_iu_a":0.219996452,"cg_iv_a":0.431592286,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9690914,"cg_sample_seq":14410416,"cg_sample_valid":1,"cg_theta_rad":5.00596857,"cg_vd_req_v":0.0792368948,"cg_vd_v":0.0792368948,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353166908,"cg_vq_v":-0.353166908,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9057007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.885986,"values":{"Elec_RPM":-8.02692067e-28,"EncoderCos":38709,"EncoderSin":12484,"GapTicks":54779,"Mech_RPM":-1.60538418e-28,"cg_du":50.1427612,"cg_dv":50.2005043,"cg_dw":49.7994957,"cg_id_a":-0.183456838,"cg_id_raw_a":0.413234472,"cg_iq_a":0.0649943799,"cg_iq_raw_a":1.09809303,"cg_iu_a":0.691166401,"cg_iv_a":0.10539782,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.9581814,"cg_sample_seq":14410467,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0834999233,"cg_vd_v":0.0834999233,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352521747,"cg_vq_v":-0.352521747,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9310608,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.917236,"values":{"Elec_RPM":-7.55487428e-28,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-1.51097486e-28,"cg_du":50.1396408,"cg_dv":50.2016068,"cg_dw":49.7983932,"cg_id_a":-0.220856205,"cg_id_raw_a":-0.416411638,"cg_iq_a":-0.412122428,"cg_iq_raw_a":-0.915139437,"cg_iu_a":0.654922366,"cg_iv_a":0.359104633,"cg_iw_a":-1.014027,"cg_sample_age_us":26.8199997,"cg_sample_seq":14410767,"cg_sample_valid":1,"cg_theta_rad":5.00763369,"cg_vd_req_v":0.0873333067,"cg_vd_v":0.0873333067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352184325,"cg_vq_v":-0.352184325,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.313448429,"dclink_p_w":45.3637161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9500732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.925049,"values":{"Elec_RPM":-7.40377641e-28,"EncoderCos":38772,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-1.48075533e-28,"cg_du":50.1344528,"cg_dv":50.1998825,"cg_dw":49.8001175,"cg_id_a":-0.0129673295,"cg_id_raw_a":0.372457832,"cg_iq_a":-0.611480176,"cg_iq_raw_a":-0.222223356,"cg_iu_a":0.691166401,"cg_iv_a":0.286616921,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.8672733,"cg_sample_seq":14410816,"cg_sample_valid":1,"cg_theta_rad":5.00962543,"cg_vd_req_v":0.0844065174,"cg_vd_v":0.0844065174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348256558,"cg_vq_v":-0.348256558,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.462048173,"dclink_p_w":66.8697662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":37.0198364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.932861,"values":{"Elec_RPM":-7.40377641e-28,"EncoderCos":38687,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-1.48075533e-28,"cg_du":50.1520271,"cg_dv":50.2080193,"cg_dw":49.7919807,"cg_id_a":-0.0842394978,"cg_id_raw_a":-0.105591848,"cg_iq_a":0.301883161,"cg_iq_raw_a":-0.228951007,"cg_iu_a":-0.142441988,"cg_iv_a":-0.220796824,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9618187,"cg_sample_seq":14410867,"cg_sample_valid":1,"cg_theta_rad":5.00793314,"cg_vd_req_v":0.0859132186,"cg_vd_v":0.0859132186,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368571758,"cg_vq_v":-0.368571758,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.429428697,"dclink_p_w":62.1489182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9421387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.94458,"values":{"Elec_RPM":-7.25570081e-28,"EncoderCos":38731,"EncoderSin":12497,"GapTicks":54772,"Mech_RPM":-1.45114019e-28,"cg_du":50.1479492,"cg_dv":50.2071419,"cg_dw":49.7928581,"cg_id_a":-0.0365408882,"cg_id_raw_a":-0.00221197121,"cg_iq_a":0.188462079,"cg_iq_raw_a":0.437415123,"cg_iu_a":-0.432392597,"cg_iv_a":-0.329528213,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14410917,"cg_sample_valid":1,"cg_theta_rad":5.00781298,"cg_vd_req_v":0.084006682,"cg_vd_v":0.084006682,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366062343,"cg_vq_v":-0.366062343,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.58165282,"dclink_p_w":84.1795044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9421387,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2608.952393,"values":{"Elec_RPM":-7.25570081e-28,"EncoderCos":38736,"EncoderSin":12497,"GapTicks":54771,"Mech_RPM":-1.45114019e-28,"cg_du":50.147438,"cg_dv":50.2079964,"cg_dw":49.7920036,"cg_id_a":-0.0815077201,"cg_id_raw_a":-0.077675499,"cg_iq_a":0.0649618208,"cg_iq_raw_a":-0.333938718,"cg_iu_a":0.727410197,"cg_iv_a":0.0329101086,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9254551,"cg_sample_seq":14410967,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0845610723,"cg_vd_v":0.0845610723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365927488,"cg_vq_v":-0.365927488,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.541784585,"dclink_p_w":78.6479187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.960205,"values":{"Elec_RPM":-7.1105868e-28,"EncoderCos":38721,"EncoderSin":12504,"GapTicks":54776,"Mech_RPM":-1.42211738e-28,"cg_du":50.1514587,"cg_dv":50.2034149,"cg_dw":49.7965851,"cg_id_a":0.209446773,"cg_id_raw_a":0.0661400184,"cg_iq_a":-0.0795096308,"cg_iq_raw_a":0.152729958,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9218178,"cg_sample_seq":14411017,"cg_sample_valid":1,"cg_theta_rad":5.00784874,"cg_vd_req_v":0.0780347288,"cg_vd_v":0.0780347288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361690909,"cg_vq_v":-0.361690909,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.541784585,"dclink_p_w":78.6479187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9484558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.971924,"values":{"Elec_RPM":-7.1105868e-28,"EncoderCos":38694,"EncoderSin":12470,"GapTicks":54768,"Mech_RPM":-1.42211738e-28,"cg_du":50.1516342,"cg_dv":50.2105026,"cg_dw":49.7894974,"cg_id_a":-0.174521565,"cg_id_raw_a":-0.239395872,"cg_iq_a":0.283478081,"cg_iq_raw_a":0.449667126,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.619478941,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9254551,"cg_sample_seq":14411067,"cg_sample_valid":1,"cg_theta_rad":5.00655746,"cg_vd_req_v":0.0879134759,"cg_vd_v":0.0879134759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370709002,"cg_vq_v":-0.370709002,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.541784585,"dclink_p_w":78.6479187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9484558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2608.979736,"values":{"Elec_RPM":-6.96837517e-28,"EncoderCos":38687,"EncoderSin":12437,"GapTicks":54766,"Mech_RPM":-1.39367501e-28,"cg_du":50.1537552,"cg_dv":50.2122421,"cg_dw":49.7877579,"cg_id_a":-0.231692106,"cg_id_raw_a":0.297688097,"cg_iq_a":0.28026557,"cg_iq_raw_a":-0.842029572,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503577,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9836369,"cg_sample_seq":14411117,"cg_sample_valid":1,"cg_theta_rad":5.00817728,"cg_vd_req_v":0.0893991292,"cg_vd_v":0.0893991292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373918205,"cg_vq_v":-0.373918205,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.601586878,"dclink_p_w":87.0644531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2608.983311,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2608.983317,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2608.983323,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2608.987549,"values":{"Elec_RPM":-6.96837517e-28,"EncoderCos":38718,"EncoderSin":12494,"GapTicks":54767,"Mech_RPM":-1.39367501e-28,"cg_du":50.1476974,"cg_dv":50.211216,"cg_dw":49.788784,"cg_id_a":-0.108326614,"cg_id_raw_a":0.267099261,"cg_iq_a":0.0718705207,"cg_iq_raw_a":0.682020962,"cg_iu_a":-0.504880428,"cg_iv_a":-0.184552908,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9581814,"cg_sample_seq":14411167,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0890588909,"cg_vd_v":0.0890588909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370087832,"cg_vq_v":-0.370087832,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.954834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.014893,"values":{"Elec_RPM":-6.82900766e-28,"EncoderCos":38732,"EncoderSin":12504,"GapTicks":54764,"Mech_RPM":-1.36580151e-28,"cg_du":50.1473618,"cg_dv":50.2142487,"cg_dw":49.7857513,"cg_id_a":-0.189268813,"cg_id_raw_a":-0.289489895,"cg_iq_a":0.247129112,"cg_iq_raw_a":0.592765212,"cg_iu_a":0.219996452,"cg_iv_a":0.57656759,"cg_iw_a":1.37806594,"cg_sample_age_us":23.9254551,"cg_sample_seq":14411221,"cg_sample_valid":1,"cg_theta_rad":5.0063982,"cg_vd_req_v":0.0910912752,"cg_vd_v":0.0910912752,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375513941,"cg_vq_v":-0.375513941,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.699445248,"dclink_p_w":101.534653,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.022705,"values":{"Elec_RPM":-6.82900766e-28,"EncoderCos":38694,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-1.36580151e-28,"cg_du":50.1485558,"cg_dv":50.2076912,"cg_dw":49.7923088,"cg_id_a":-0.0629325658,"cg_id_raw_a":-0.0791551024,"cg_iq_a":-0.28841117,"cg_iq_raw_a":-0.0803619027,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.863636,"cg_sample_seq":14411267,"cg_sample_valid":1,"cg_theta_rad":5.00603294,"cg_vd_req_v":0.0881517977,"cg_vd_v":0.0881517977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366192162,"cg_vq_v":-0.366192162,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.744750023,"dclink_p_w":108.111305,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.935791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.030518,"values":{"Elec_RPM":-6.69242745e-28,"EncoderCos":38707,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.33848544e-28,"cg_du":50.1509857,"cg_dv":50.2095795,"cg_dw":49.7904205,"cg_id_a":-0.023684904,"cg_id_raw_a":-0.293288261,"cg_iq_a":-0.0480696037,"cg_iq_raw_a":-0.465641797,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14411316,"cg_sample_valid":1,"cg_theta_rad":5.00660181,"cg_vd_req_v":0.0864285976,"cg_vd_v":0.0864285976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370529979,"cg_vq_v":-0.370529979,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":0.728440344,"dclink_p_w":105.423279,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.935791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.03833,"values":{"Elec_RPM":-6.69242745e-28,"EncoderCos":38720,"EncoderSin":12496,"GapTicks":54766,"Mech_RPM":-1.33848544e-28,"cg_du":50.150856,"cg_dv":50.2119598,"cg_dw":49.7880402,"cg_id_a":-0.0278448239,"cg_id_raw_a":0.0590965226,"cg_iq_a":0.0340351835,"cg_iq_raw_a":0.224937275,"cg_iu_a":-0.178685665,"cg_iv_a":0.322860777,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9509087,"cg_sample_seq":14411367,"cg_sample_valid":1,"cg_theta_rad":5.00691891,"cg_vd_req_v":0.0870802552,"cg_vd_v":0.0870802552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372923315,"cg_vq_v":-0.372923315,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.761059761,"dclink_p_w":110.478897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9310608,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.050049,"values":{"Elec_RPM":-6.55857868e-28,"EncoderCos":38696,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-1.31171574e-28,"cg_du":50.159317,"cg_dv":50.2104492,"cg_dw":49.7895508,"cg_id_a":0.163266838,"cg_id_raw_a":0.429988384,"cg_iq_a":0.0171404406,"cg_iq_raw_a":0.081351541,"cg_iu_a":-0.613611698,"cg_iv_a":0.141641617,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9654541,"cg_sample_seq":14411417,"cg_sample_valid":1,"cg_theta_rad":5.00696993,"cg_vd_req_v":0.0814293772,"cg_vd_v":0.0814293772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375077635,"cg_vq_v":-0.375077635,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.761059761,"dclink_p_w":110.478897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.057861,"values":{"Elec_RPM":-6.55857868e-28,"EncoderCos":38712,"EncoderSin":12431,"GapTicks":54767,"Mech_RPM":-1.31171574e-28,"cg_du":50.1566772,"cg_dv":50.2116585,"cg_dw":49.7883415,"cg_id_a":0.00150980055,"cg_id_raw_a":-0.0255846959,"cg_iq_a":0.118312418,"cg_iq_raw_a":0.216785043,"cg_iu_a":-0.541124105,"cg_iv_a":0.0691539049,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14411467,"cg_sample_valid":1,"cg_theta_rad":5.005476,"cg_vd_req_v":0.0845706314,"cg_vd_v":0.0845706314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37524578,"cg_vq_v":-0.37524578,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.655952692,"dclink_p_w":94.9325256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9437256,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.065674,"values":{"Elec_RPM":-6.42740697e-28,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-1.28548144e-28,"cg_du":50.148941,"cg_dv":50.2091599,"cg_dw":49.7908401,"cg_id_a":-0.0714430064,"cg_id_raw_a":-0.284689009,"cg_iq_a":-0.342001915,"cg_iq_raw_a":-0.354249537,"cg_iu_a":-0.432392597,"cg_iv_a":0.214129269,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9581814,"cg_sample_seq":14411517,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0859119371,"cg_vd_v":0.0859119371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368028402,"cg_vq_v":-0.368028402,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.655952692,"dclink_p_w":94.9325256,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9151917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.073486,"values":{"Elec_RPM":-6.29885933e-28,"EncoderCos":38715,"EncoderSin":12467,"GapTicks":54769,"Mech_RPM":-1.25977184e-28,"cg_du":50.1544266,"cg_dv":50.2096634,"cg_dw":49.7903366,"cg_id_a":0.0769003183,"cg_id_raw_a":0.461814076,"cg_iq_a":-0.374816269,"cg_iq_raw_a":-0.0262578186,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14411617,"cg_sample_valid":1,"cg_theta_rad":5.00605488,"cg_vd_req_v":0.083210811,"cg_vd_v":0.083210811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371533662,"cg_vq_v":-0.371533662,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.085205,"values":{"Elec_RPM":-6.29885933e-28,"EncoderCos":38718,"EncoderSin":12470,"GapTicks":54766,"Mech_RPM":-1.25977184e-28,"cg_du":50.1553688,"cg_dv":50.2127266,"cg_dw":49.7872734,"cg_id_a":0.00303292274,"cg_id_raw_a":-0.669853985,"cg_iq_a":-0.117534354,"cg_iq_raw_a":-0.0649989694,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641557,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9581814,"cg_sample_seq":14411666,"cg_sample_valid":1,"cg_theta_rad":5.00694942,"cg_vd_req_v":0.0851233304,"cg_vd_v":0.0851233304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376298934,"cg_vq_v":-0.376298934,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.112549,"values":{"Elec_RPM":-6.17288232e-28,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-1.23457646e-28,"cg_du":50.154953,"cg_dv":50.2160225,"cg_dw":49.7839775,"cg_id_a":-0.0442900695,"cg_id_raw_a":0.140277684,"cg_iq_a":-0.00344642997,"cg_iq_raw_a":0.487115324,"cg_iu_a":-0.649855614,"cg_iv_a":0.177885413,"cg_iw_a":0.471970201,"cg_sample_age_us":25.8927269,"cg_sample_seq":14411720,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0868107751,"cg_vd_v":0.0868107751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380971164,"cg_vq_v":-0.380971164,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5592957,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.120361,"values":{"Elec_RPM":-6.17288232e-28,"EncoderCos":38732,"EncoderSin":12506,"GapTicks":54758,"Mech_RPM":-1.23457646e-28,"cg_du":50.1546707,"cg_dv":50.219162,"cg_dw":49.780838,"cg_id_a":-0.239566714,"cg_id_raw_a":0.187419832,"cg_iq_a":0.0499322489,"cg_iq_raw_a":-0.018255705,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9763641,"cg_sample_seq":14411767,"cg_sample_valid":1,"cg_theta_rad":5.00693893,"cg_vd_req_v":0.0897517949,"cg_vd_v":0.0897517949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385165364,"cg_vq_v":-0.385165364,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.881958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.128174,"values":{"Elec_RPM":-6.04942492e-28,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-1.20988496e-28,"cg_du":50.1674805,"cg_dv":50.2225151,"cg_dw":49.7774849,"cg_id_a":-0.0230825618,"cg_id_raw_a":-0.118063211,"cg_iq_a":0.389134467,"cg_iq_raw_a":0.0986173302,"cg_iu_a":0.292484045,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14411817,"cg_sample_valid":1,"cg_theta_rad":5.008533,"cg_vd_req_v":0.0845747069,"cg_vd_v":0.0845747069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396526366,"cg_vq_v":-0.396526366,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.155787826,"dclink_p_w":22.546339,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9199524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.139893,"values":{"Elec_RPM":-6.04942492e-28,"EncoderCos":38714,"EncoderSin":12506,"GapTicks":54757,"Mech_RPM":-1.20988496e-28,"cg_du":50.1681824,"cg_dv":50.2203331,"cg_dw":49.7796669,"cg_id_a":0.119288161,"cg_id_raw_a":0.64947921,"cg_iq_a":0.0486559272,"cg_iq_raw_a":-0.664678037,"cg_iu_a":-0.722343445,"cg_iv_a":-0.655722737,"cg_iw_a":1.37806618,"cg_sample_age_us":23.9363632,"cg_sample_seq":14411867,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.0818550959,"cg_vd_v":0.0818550959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393965393,"cg_vq_v":-0.393965393,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9199524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.147705,"values":{"Elec_RPM":-5.92843607e-28,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54757,"Mech_RPM":-1.18568721e-28,"cg_du":50.161293,"cg_dv":50.2200623,"cg_dw":49.7799377,"cg_id_a":-0.0798228607,"cg_id_raw_a":0.0665240064,"cg_iq_a":-0.0165665373,"cg_iq_raw_a":-0.721021831,"cg_iu_a":0.14750886,"cg_iv_a":-0.257040501,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9618187,"cg_sample_seq":14411917,"cg_sample_valid":1,"cg_theta_rad":5.00876427,"cg_vd_req_v":0.0871319473,"cg_vd_v":0.0871319473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389702946,"cg_vq_v":-0.389702946,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9294739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.155518,"values":{"Elec_RPM":-5.92843607e-28,"EncoderCos":38770,"EncoderSin":12478,"GapTicks":54759,"Mech_RPM":-1.18568721e-28,"cg_du":50.1553879,"cg_dv":50.2186966,"cg_dw":49.7813034,"cg_id_a":-0.0518964157,"cg_id_raw_a":-0.43817246,"cg_iq_a":-0.321758211,"cg_iq_raw_a":-0.0731517002,"cg_iu_a":0.14750886,"cg_iv_a":-0.148308992,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9290905,"cg_sample_seq":14411967,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0861557573,"cg_vd_v":0.0861557573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385515809,"cg_vq_v":-0.385515809,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9294739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.16333,"values":{"Elec_RPM":-5.80986716e-28,"EncoderCos":38727,"EncoderSin":12486,"GapTicks":54760,"Mech_RPM":-1.16197348e-28,"cg_du":50.1586876,"cg_dv":50.2176895,"cg_dw":49.7823105,"cg_id_a":-0.131153196,"cg_id_raw_a":0.0487574898,"cg_iq_a":-0.193919748,"cg_iq_raw_a":0.114660114,"cg_iu_a":0.401215553,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14412017,"cg_sample_valid":1,"cg_theta_rad":5.00663662,"cg_vd_req_v":0.0861368626,"cg_vd_v":0.0861368626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385181636,"cg_vq_v":-0.385181636,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.994953871,"dclink_p_w":-143.994354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9532471,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.171143,"values":{"Elec_RPM":-5.80986716e-28,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54757,"Mech_RPM":-1.16197348e-28,"cg_du":50.1631737,"cg_dv":50.2205772,"cg_dw":49.7794228,"cg_id_a":-0.091548562,"cg_id_raw_a":-0.397317737,"cg_iq_a":0.201175988,"cg_iq_raw_a":0.799396813,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9509087,"cg_sample_seq":14412067,"cg_sample_valid":1,"cg_theta_rad":5.0075922,"cg_vd_req_v":0.0866393149,"cg_vd_v":0.0866393149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391353875,"cg_vq_v":-0.391353875,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.911593199,"dclink_p_w":-131.930008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9326172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.178955,"values":{"Elec_RPM":-5.69367003e-28,"EncoderCos":38719,"EncoderSin":12482,"GapTicks":54760,"Mech_RPM":-1.13873401e-28,"cg_du":50.1636162,"cg_dv":50.2180786,"cg_dw":49.7819214,"cg_id_a":0.0271003973,"cg_id_raw_a":-0.343696058,"cg_iq_a":0.0485549569,"cg_iq_raw_a":0.0402368642,"cg_iu_a":-0.541124105,"cg_iv_a":-0.365772128,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9618187,"cg_sample_seq":14412117,"cg_sample_valid":1,"cg_theta_rad":5.00817776,"cg_vd_req_v":0.0834508538,"cg_vd_v":0.0834508538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3882927,"cg_vq_v":-0.3882927,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.911593199,"dclink_p_w":-131.930008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9326172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.186768,"values":{"Elec_RPM":-5.69367003e-28,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-1.13873401e-28,"cg_du":50.169754,"cg_dv":50.2216759,"cg_dw":49.7783241,"cg_id_a":-0.0195388198,"cg_id_raw_a":-0.319380909,"cg_iq_a":0.535443962,"cg_iq_raw_a":0.00522034429,"cg_iu_a":-0.432392597,"cg_iv_a":0.866518319,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.8600006,"cg_sample_seq":14412166,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.083328262,"cg_vd_v":0.083328262,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396376848,"cg_vq_v":-0.396376848,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.936963797,"dclink_p_w":-136.013931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.927887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.218018,"values":{"Elec_RPM":-5.57979653e-28,"EncoderCos":38743,"EncoderSin":12474,"GapTicks":54765,"Mech_RPM":-1.11595928e-28,"cg_du":50.1651382,"cg_dv":50.2128868,"cg_dw":49.7871132,"cg_id_a":0.259630561,"cg_id_raw_a":-0.0535106808,"cg_iq_a":-0.139525831,"cg_iq_raw_a":-0.368107319,"cg_iu_a":0.256240129,"cg_iv_a":0.032910049,"cg_iw_a":-0.289150178,"cg_sample_age_us":26.823637,"cg_sample_seq":14412220,"cg_sample_valid":1,"cg_theta_rad":5.00686216,"cg_vd_req_v":0.0753384158,"cg_vd_v":0.0753384158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382465661,"cg_vq_v":-0.382465661,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9484558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.22583,"values":{"Elec_RPM":-5.57979653e-28,"EncoderCos":38707,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-1.11595928e-28,"cg_du":50.1651115,"cg_dv":50.2122612,"cg_dw":49.7877388,"cg_id_a":0.138302684,"cg_id_raw_a":-0.280379534,"cg_iq_a":-0.25916627,"cg_iq_raw_a":-0.792742431,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9654541,"cg_sample_seq":14412267,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.078320086,"cg_vd_v":0.078320086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380878061,"cg_vq_v":-0.380878061,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9484558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.233643,"values":{"Elec_RPM":-5.46820045e-28,"EncoderCos":38712,"EncoderSin":12515,"GapTicks":54762,"Mech_RPM":-1.09364004e-28,"cg_du":50.1577148,"cg_dv":50.2159157,"cg_dw":49.7840843,"cg_id_a":-0.176333785,"cg_id_raw_a":0.0799777359,"cg_iq_a":-0.225440472,"cg_iq_raw_a":-0.428425133,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796824,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14412317,"cg_sample_valid":1,"cg_theta_rad":5.00857067,"cg_vd_req_v":0.0857220665,"cg_vd_v":0.0857220665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382101238,"cg_vq_v":-0.382101238,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.881958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.241455,"values":{"Elec_RPM":-5.46820045e-28,"EncoderCos":38747,"EncoderSin":12489,"GapTicks":54765,"Mech_RPM":-1.09364004e-28,"cg_du":50.1589394,"cg_dv":50.2130241,"cg_dw":49.7869759,"cg_id_a":0.02615216,"cg_id_raw_a":0.126765415,"cg_iq_a":-0.288230062,"cg_iq_raw_a":0.885633826,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14412367,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0796171799,"cg_vd_v":0.0796171799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379353732,"cg_vq_v":-0.379353732,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.881958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.253174,"values":{"Elec_RPM":-5.25165948e-28,"EncoderCos":38709,"EncoderSin":12488,"GapTicks":54762,"Mech_RPM":-1.0503319e-28,"cg_du":50.1736488,"cg_dv":50.2159615,"cg_dw":49.7840385,"cg_id_a":0.229986995,"cg_id_raw_a":0.263683021,"cg_iq_a":0.250530183,"cg_iq_raw_a":0.0633437708,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148308992,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9690914,"cg_sample_seq":14412516,"cg_sample_valid":1,"cg_theta_rad":5.00762272,"cg_vd_req_v":0.0742478743,"cg_vd_v":0.0742478743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390907347,"cg_vq_v":-0.390907347,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-1.13811707,"dclink_p_w":-164.713608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.935791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.260986,"values":{"Elec_RPM":-5.25165948e-28,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-1.0503319e-28,"cg_du":50.1616669,"cg_dv":50.2116013,"cg_dw":49.7883987,"cg_id_a":-0.0739241987,"cg_id_raw_a":0.0310424045,"cg_iq_a":-0.55312258,"cg_iq_raw_a":0.0767262205,"cg_iu_a":0.147508621,"cg_iv_a":0.141641557,"cg_iw_a":-0.289150178,"cg_sample_age_us":23.9836369,"cg_sample_seq":14412566,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.0794424117,"cg_vd_v":0.0794424117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378238171,"cg_vq_v":-0.378238171,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.268799,"values":{"Elec_RPM":-5.14662648e-28,"EncoderCos":38700,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-1.0293253e-28,"cg_du":50.1774559,"cg_dv":50.2146187,"cg_dw":49.7853813,"cg_id_a":0.271188796,"cg_id_raw_a":0.56066674,"cg_iq_a":0.255026162,"cg_iq_raw_a":1.07750058,"cg_iu_a":0.401215553,"cg_iv_a":0.141641557,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9254551,"cg_sample_seq":14412616,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0707550421,"cg_vd_v":0.0707550421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391076624,"cg_vq_v":-0.391076624,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.276611,"values":{"Elec_RPM":-5.14662648e-28,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54757,"Mech_RPM":-1.0293253e-28,"cg_du":50.1785316,"cg_dv":50.2201118,"cg_dw":49.7798882,"cg_id_a":0.10864877,"cg_id_raw_a":-0.0655338317,"cg_iq_a":0.656678677,"cg_iq_raw_a":-0.224126056,"cg_iu_a":0.691166401,"cg_iv_a":-0.00333380699,"cg_iw_a":1.74050426,"cg_sample_age_us":23.9618187,"cg_sample_seq":14412666,"cg_sample_valid":1,"cg_theta_rad":5.00750303,"cg_vd_req_v":0.0740601197,"cg_vd_v":0.0740601197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399360508,"cg_vq_v":-0.399360508,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.284424,"values":{"Elec_RPM":-5.04369371e-28,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54765,"Mech_RPM":-1.00873879e-28,"cg_du":50.1741028,"cg_dv":50.2128868,"cg_dw":49.7871132,"cg_id_a":0.162901595,"cg_id_raw_a":0.108288638,"cg_iq_a":0.189132303,"cg_iq_raw_a":-0.716965497,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8709087,"cg_sample_seq":14412716,"cg_sample_valid":1,"cg_theta_rad":5.00718164,"cg_vd_req_v":0.0701653436,"cg_vd_v":0.0701653436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387121499,"cg_vq_v":-0.387121499,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-1.22872663,"dclink_p_w":-177.827042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.315674,"values":{"Elec_RPM":-5.04369371e-28,"EncoderCos":38776,"EncoderSin":12521,"GapTicks":54763,"Mech_RPM":-1.00873879e-28,"cg_du":50.1612167,"cg_dv":50.2146454,"cg_dw":49.7853546,"cg_id_a":-0.0668487176,"cg_id_raw_a":0.0746584088,"cg_iq_a":0.0765345842,"cg_iq_raw_a":0.588697731,"cg_iu_a":1.30731142,"cg_iv_a":-0.25704062,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.8672733,"cg_sample_seq":14412771,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0760025904,"cg_vd_v":0.0760025904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383518577,"cg_vq_v":-0.383518577,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-1.22872663,"dclink_p_w":-177.827042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.323486,"values":{"Elec_RPM":-4.94282024e-28,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54778,"Mech_RPM":-9.88564012e-29,"cg_du":50.152977,"cg_dv":50.2012711,"cg_dw":49.7987289,"cg_id_a":-0.0490921289,"cg_id_raw_a":0.132225096,"cg_iq_a":-1.08689821,"cg_iq_raw_a":-0.314081907,"cg_iu_a":0.437459469,"cg_iv_a":1.5913949,"cg_iw_a":-2.02885437,"cg_sample_age_us":23.9218178,"cg_sample_seq":14412816,"cg_sample_valid":1,"cg_theta_rad":5.00718737,"cg_vd_req_v":0.0754623115,"cg_vd_v":0.0754623115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359477192,"cg_vq_v":-0.359477192,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-1.19067073,"dclink_p_w":-172.319412,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.331299,"values":{"Elec_RPM":-4.94282024e-28,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-9.88564012e-29,"cg_du":50.1561546,"cg_dv":50.2058945,"cg_dw":49.7941055,"cg_id_a":-0.0974488109,"cg_id_raw_a":0.677180231,"cg_iq_a":-0.446535707,"cg_iq_raw_a":-0.774045527,"cg_iu_a":1.16233611,"cg_iv_a":0.177885413,"cg_iw_a":-1.34022152,"cg_sample_age_us":23.9872723,"cg_sample_seq":14412866,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0755748153,"cg_vd_v":0.0755748153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367938519,"cg_vq_v":-0.367938519,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-1.14355373,"dclink_p_w":-165.500427,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.339111,"values":{"Elec_RPM":-4.8439637e-28,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-9.68792716e-29,"cg_du":50.164196,"cg_dv":50.2003479,"cg_dw":49.7996521,"cg_id_a":0.299812824,"cg_id_raw_a":0.839778781,"cg_iq_a":-0.406761527,"cg_iq_raw_a":-0.683425725,"cg_iu_a":-0.0337102413,"cg_iv_a":0.359104574,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9290905,"cg_sample_seq":14412916,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.0652373806,"cg_vd_v":0.0652373806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364606112,"cg_vq_v":-0.364606112,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-1.18342185,"dclink_p_w":-171.270325,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.346924,"values":{"Elec_RPM":-4.8439637e-28,"EncoderCos":38711,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-9.68792716e-29,"cg_du":50.1677437,"cg_dv":50.2032928,"cg_dw":49.7967072,"cg_id_a":0.111430988,"cg_id_raw_a":-0.098300539,"cg_iq_a":0.0104263946,"cg_iq_raw_a":0.318810761,"cg_iu_a":0.292484283,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9581814,"cg_sample_seq":14412966,"cg_sample_valid":1,"cg_theta_rad":5.00874424,"cg_vd_req_v":0.0668023154,"cg_vd_v":0.0668023154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370336473,"cg_vq_v":-0.370336473,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-1.04931974,"dclink_p_w":-151.862442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.354736,"values":{"Elec_RPM":-4.74708413e-28,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54777,"Mech_RPM":-9.49416837e-29,"cg_du":50.1605453,"cg_dv":50.2021599,"cg_dw":49.7978401,"cg_id_a":0.0570951067,"cg_id_raw_a":0.107656702,"cg_iq_a":-0.130319178,"cg_iq_raw_a":0.15679574,"cg_iu_a":0.364971638,"cg_iv_a":0.177885413,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9618187,"cg_sample_seq":14413016,"cg_sample_valid":1,"cg_theta_rad":5.00712299,"cg_vd_req_v":0.0700154305,"cg_vd_v":0.0700154305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365001559,"cg_vq_v":-0.365001559,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-1.04931974,"dclink_p_w":-151.862442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.366455,"values":{"Elec_RPM":-4.74708413e-28,"EncoderCos":38712,"EncoderSin":12486,"GapTicks":54771,"Mech_RPM":-9.49416837e-29,"cg_du":50.1591072,"cg_dv":50.2076225,"cg_dw":49.7923775,"cg_id_a":-0.22925359,"cg_id_raw_a":0.274868101,"cg_iq_a":0.205520824,"cg_iq_raw_a":-0.263475209,"cg_iu_a":0.401215792,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9581814,"cg_sample_seq":14413066,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.0773207992,"cg_vd_v":0.0773207992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371442825,"cg_vq_v":-0.371442825,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-1.04931974,"dclink_p_w":-151.862442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.374268,"values":{"Elec_RPM":-4.65214252e-28,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-9.30428492e-29,"cg_du":50.1629181,"cg_dv":50.2051811,"cg_dw":49.7948189,"cg_id_a":0.00620417297,"cg_id_raw_a":-0.151207507,"cg_iq_a":0.0803257972,"cg_iq_raw_a":-0.851621389,"cg_iu_a":0.111264944,"cg_iv_a":-1.05440485,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9618187,"cg_sample_seq":14413116,"cg_sample_valid":1,"cg_theta_rad":5.01005507,"cg_vd_req_v":0.0717816055,"cg_vd_v":0.0717816055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370302677,"cg_vq_v":-0.370302677,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9247131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.38208,"values":{"Elec_RPM":-4.65214252e-28,"EncoderCos":38706,"EncoderSin":12449,"GapTicks":54773,"Mech_RPM":-9.30428492e-29,"cg_du":50.1573868,"cg_dv":50.206131,"cg_dw":49.793869,"cg_id_a":-0.36027199,"cg_id_raw_a":0.668056607,"cg_iq_a":-0.0626244247,"cg_iq_raw_a":-0.805161417,"cg_iu_a":0.727410078,"cg_iv_a":-1.4168433,"cg_iw_a":1.08811533,"cg_sample_age_us":23.8563633,"cg_sample_seq":14413166,"cg_sample_valid":1,"cg_theta_rad":5.00643873,"cg_vd_req_v":0.0788956806,"cg_vd_v":0.0788956806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369268239,"cg_vq_v":-0.369268239,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9247131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.389893,"values":{"Elec_RPM":-4.5590994e-28,"EncoderCos":38724,"EncoderSin":12494,"GapTicks":54777,"Mech_RPM":-9.11819916e-29,"cg_du":50.1627274,"cg_dv":50.2026329,"cg_dw":49.7973671,"cg_id_a":0.134446323,"cg_id_raw_a":0.735499084,"cg_iq_a":-0.0684277415,"cg_iq_raw_a":-0.47530064,"cg_iu_a":0.256240368,"cg_iv_a":0.10539782,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9654541,"cg_sample_seq":14413216,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0686310753,"cg_vd_v":0.0686310753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368044257,"cg_vq_v":-0.368044257,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.935791,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.421143,"values":{"Elec_RPM":-4.5590994e-28,"EncoderCos":38747,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-9.11819916e-29,"cg_du":50.1589203,"cg_dv":50.2059708,"cg_dw":49.7940292,"cg_id_a":-0.0540143847,"cg_id_raw_a":0.264580697,"cg_iq_a":0.0256800428,"cg_iq_raw_a":0.752623796,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691540241,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.8563633,"cg_sample_seq":14413271,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0729697794,"cg_vd_v":0.0729697794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369678795,"cg_vq_v":-0.369678795,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9468994,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.428955,"values":{"Elec_RPM":-4.37855936e-28,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-8.7571186e-29,"cg_du":50.1660423,"cg_dv":50.2049713,"cg_dw":49.7950287,"cg_id_a":-0.0183081925,"cg_id_raw_a":-0.0775432885,"cg_iq_a":0.0539693162,"cg_iq_raw_a":0.539455771,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.438259721,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8527279,"cg_sample_seq":14413417,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.0692856014,"cg_vd_v":0.0692856014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371742994,"cg_vq_v":-0.371742994,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9231262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.436768,"values":{"Elec_RPM":-4.37855936e-28,"EncoderCos":38728,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-8.7571186e-29,"cg_du":50.1661491,"cg_dv":50.2055473,"cg_dw":49.7944527,"cg_id_a":0.000634866767,"cg_id_raw_a":0.444360137,"cg_iq_a":0.164203599,"cg_iq_raw_a":-0.065795593,"cg_iu_a":-0.359905005,"cg_iv_a":-0.329528213,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8709087,"cg_sample_seq":14413467,"cg_sample_valid":1,"cg_theta_rad":5.00631428,"cg_vd_req_v":0.0688341036,"cg_vd_v":0.0688341036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372763753,"cg_vq_v":-0.372763753,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9231262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.44458,"values":{"Elec_RPM":-4.29098829e-28,"EncoderCos":38684,"EncoderSin":12484,"GapTicks":54781,"Mech_RPM":-8.58197633e-29,"cg_du":50.1644936,"cg_dv":50.1990318,"cg_dw":49.8009682,"cg_id_a":0.160801783,"cg_id_raw_a":0.0722157508,"cg_iq_a":-0.274382293,"cg_iq_raw_a":0.0812795982,"cg_iu_a":-0.214929581,"cg_iv_a":-0.655722737,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9872723,"cg_sample_seq":14413517,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0670958459,"cg_vd_v":0.0670958459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362377733,"cg_vq_v":-0.362377733,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.452393,"values":{"Elec_RPM":-4.29098829e-28,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-8.58197633e-29,"cg_du":50.1579208,"cg_dv":50.2011757,"cg_dw":49.7988243,"cg_id_a":-0.0305455662,"cg_id_raw_a":-0.771638155,"cg_iq_a":-0.257304698,"cg_iq_raw_a":-1.3518343,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14413567,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0727598146,"cg_vd_v":0.0727598146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361866206,"cg_vq_v":-0.361866206,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.460205,"values":{"Elec_RPM":-4.20516837e-28,"EncoderCos":38720,"EncoderSin":12491,"GapTicks":54785,"Mech_RPM":-8.41033685e-29,"cg_du":50.1548538,"cg_dv":50.1949654,"cg_dw":49.8050346,"cg_id_a":0.269330055,"cg_id_raw_a":0.0938045159,"cg_iq_a":-0.801334262,"cg_iq_raw_a":-0.572746217,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9581814,"cg_sample_seq":14413617,"cg_sample_valid":1,"cg_theta_rad":5.00703573,"cg_vd_req_v":0.0673708469,"cg_vd_v":0.0673708469,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350941598,"cg_vq_v":-0.350941598,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9373779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2609.468018,"values":{"Elec_RPM":-4.20516837e-28,"EncoderCos":38734,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-8.41033685e-29,"cg_du":50.1502266,"cg_dv":50.1990166,"cg_dw":49.8009834,"cg_id_a":-0.073800236,"cg_id_raw_a":0.029679222,"cg_iq_a":-0.479417682,"cg_iq_raw_a":-0.797295392,"cg_iu_a":1.12609243,"cg_iv_a":0.0329101086,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9618187,"cg_sample_seq":14413667,"cg_sample_valid":1,"cg_theta_rad":5.00773144,"cg_vd_req_v":0.0744020045,"cg_vd_v":0.0744020045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355083585,"cg_vq_v":-0.355083585,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9120483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.479736,"values":{"Elec_RPM":-4.12106541e-28,"EncoderCos":38729,"EncoderSin":12538,"GapTicks":54780,"Mech_RPM":-8.24213035e-29,"cg_du":50.1429405,"cg_dv":50.1995392,"cg_dw":49.8004608,"cg_id_a":-0.32545206,"cg_id_raw_a":-0.490455538,"cg_iq_a":-0.513360322,"cg_iq_raw_a":-0.189388484,"cg_iu_a":0.364971638,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14413717,"cg_sample_valid":1,"cg_theta_rad":5.00651932,"cg_vd_req_v":0.0795078203,"cg_vd_v":0.0795078203,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351985037,"cg_vq_v":-0.351985037,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9120483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.50708,"values":{"Elec_RPM":-4.12106541e-28,"EncoderCos":38731,"EncoderSin":12455,"GapTicks":54779,"Mech_RPM":-8.24213035e-29,"cg_du":50.1453667,"cg_dv":50.200428,"cg_dw":49.799572,"cg_id_a":-0.293063641,"cg_id_raw_a":-0.44084391,"cg_iq_a":-0.15476419,"cg_iq_raw_a":-0.260115057,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.863636,"cg_sample_seq":14413770,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0803225711,"cg_vd_v":0.0803225711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354128331,"cg_vq_v":-0.354128331,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.514893,"values":{"Elec_RPM":-4.0386438e-28,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-8.07728759e-29,"cg_du":50.1494255,"cg_dv":50.2038689,"cg_dw":49.7961311,"cg_id_a":-0.296068817,"cg_id_raw_a":-0.457968622,"cg_iq_a":0.208469674,"cg_iq_raw_a":-1.35568988,"cg_iu_a":-0.106198072,"cg_iv_a":-0.474503517,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9763641,"cg_sample_seq":14413817,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.081436649,"cg_vd_v":0.081436649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360866755,"cg_vq_v":-0.360866755,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8771973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.522705,"values":{"Elec_RPM":-4.0386438e-28,"EncoderCos":38746,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-8.07728759e-29,"cg_du":50.1516685,"cg_dv":50.2060585,"cg_dw":49.7939415,"cg_id_a":-0.103733942,"cg_id_raw_a":0.466038346,"cg_iq_a":0.435130447,"cg_iq_raw_a":0.152284667,"cg_iu_a":-0.50488019,"cg_iv_a":-0.583235025,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9872723,"cg_sample_seq":14413867,"cg_sample_valid":1,"cg_theta_rad":5.00608778,"cg_vd_req_v":0.0788334608,"cg_vd_v":0.0788334608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365754038,"cg_vq_v":-0.365754038,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8771973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.534424,"values":{"Elec_RPM":-3.95787078e-28,"EncoderCos":38737,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-7.91574179e-29,"cg_du":50.1388626,"cg_dv":50.2009659,"cg_dw":49.7990341,"cg_id_a":-0.348110348,"cg_id_raw_a":-0.871807814,"cg_iq_a":-0.296296537,"cg_iq_raw_a":-0.153172806,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8745461,"cg_sample_seq":14413917,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.0845854804,"cg_vd_v":0.0845854804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35041824,"cg_vq_v":-0.35041824,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2609.542236,"values":{"Elec_RPM":-3.95787078e-28,"EncoderCos":38750,"EncoderSin":12487,"GapTicks":54777,"Mech_RPM":-7.91574179e-29,"cg_du":50.1386223,"cg_dv":50.2023048,"cg_dw":49.7976952,"cg_id_a":-0.314312369,"cg_id_raw_a":-0.0145712588,"cg_iq_a":-0.0481954291,"cg_iq_raw_a":-0.109671816,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758214593,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9836369,"cg_sample_seq":14413967,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0848749131,"cg_vd_v":0.0848749131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352388978,"cg_vq_v":-0.352388978,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2609.550049,"values":{"Elec_RPM":-3.87871337e-28,"EncoderCos":38724,"EncoderSin":12505,"GapTicks":54780,"Mech_RPM":-7.75742674e-29,"cg_du":50.1376572,"cg_dv":50.1996231,"cg_dw":49.8003769,"cg_id_a":-0.278215677,"cg_id_raw_a":-0.110238329,"cg_iq_a":-0.143940121,"cg_iq_raw_a":0.4636603,"cg_iu_a":-0.178685665,"cg_iv_a":-0.474503636,"cg_iw_a":0.653189301,"cg_sample_age_us":23.863636,"cg_sample_seq":14414017,"cg_sample_valid":1,"cg_theta_rad":5.00753307,"cg_vd_req_v":0.0849480927,"cg_vd_v":0.0849480927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348872244,"cg_vq_v":-0.348872244,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9231262,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.557861,"values":{"Elec_RPM":-3.87871337e-28,"EncoderCos":38702,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-7.75742674e-29,"cg_du":50.1423531,"cg_dv":50.2020874,"cg_dw":49.7979126,"cg_id_a":-0.324389577,"cg_id_raw_a":-0.437328935,"cg_iq_a":0.259851813,"cg_iq_raw_a":0.538879693,"cg_iu_a":-0.251173258,"cg_iv_a":-0.691966534,"cg_iw_a":0.943139791,"cg_sample_age_us":23.9581814,"cg_sample_seq":14414067,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.086772196,"cg_vd_v":0.086772196,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355237752,"cg_vq_v":-0.355237752,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.565674,"values":{"Elec_RPM":-3.80113908e-28,"EncoderCos":38719,"EncoderSin":12492,"GapTicks":54785,"Mech_RPM":-7.60227804e-29,"cg_du":50.1374779,"cg_dv":50.1949883,"cg_dw":49.8050117,"cg_id_a":-0.0182002559,"cg_id_raw_a":0.302183151,"cg_iq_a":-0.30843842,"cg_iq_raw_a":-0.552636445,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8672733,"cg_sample_seq":14414117,"cg_sample_valid":1,"cg_theta_rad":5.01014519,"cg_vd_req_v":0.0815484449,"cg_vd_v":0.0815484449,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343332797,"cg_vq_v":-0.343332797,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9215393,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.573486,"values":{"Elec_RPM":-3.80113908e-28,"EncoderCos":38741,"EncoderSin":12500,"GapTicks":54776,"Mech_RPM":-7.60227804e-29,"cg_du":50.1428833,"cg_dv":50.203537,"cg_dw":49.796463,"cg_id_a":-0.0480310321,"cg_id_raw_a":0.0932320654,"cg_iq_a":0.359969497,"cg_iq_raw_a":0.555172861,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0395776033,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9509087,"cg_sample_seq":14414167,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0836204812,"cg_vd_v":0.0836204812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358507276,"cg_vq_v":-0.358507276,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.6653767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.581299,"values":{"Elec_RPM":-3.72511637e-28,"EncoderCos":38715,"EncoderSin":12511,"GapTicks":54780,"Mech_RPM":-7.45023249e-29,"cg_du":50.1343384,"cg_dv":50.1994324,"cg_dw":49.8005676,"cg_id_a":-0.157454669,"cg_id_raw_a":0.0868016779,"cg_iq_a":-0.204582542,"cg_iq_raw_a":-0.0636780113,"cg_iu_a":0.727410197,"cg_iv_a":0.0329101682,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9618187,"cg_sample_seq":14414217,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0879420713,"cg_vd_v":0.0879420713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346612573,"cg_vq_v":-0.346612573,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.7176399,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.612549,"values":{"Elec_RPM":-3.72511637e-28,"EncoderCos":38742,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-7.45023249e-29,"cg_du":50.1368828,"cg_dv":50.2043648,"cg_dw":49.7956352,"cg_id_a":-0.226790398,"cg_id_raw_a":-0.571657419,"cg_iq_a":0.234502435,"cg_iq_raw_a":0.239671767,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539645,"cg_iw_a":0.218263209,"cg_sample_age_us":23.863636,"cg_sample_seq":14414270,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0891100466,"cg_vd_v":0.0891100466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355160892,"cg_vq_v":-0.355160892,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.620361,"values":{"Elec_RPM":-3.65061417e-28,"EncoderCos":38714,"EncoderSin":12445,"GapTicks":54780,"Mech_RPM":-7.3012281e-29,"cg_du":50.1454849,"cg_dv":50.1999931,"cg_dw":49.8000069,"cg_id_a":0.225805894,"cg_id_raw_a":0.290041953,"cg_iq_a":0.148657113,"cg_iq_raw_a":-0.407068223,"cg_iu_a":-0.794831038,"cg_iv_a":0.21412921,"cg_iw_a":0.580701828,"cg_sample_age_us":23.863636,"cg_sample_seq":14414317,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0802081972,"cg_vd_v":0.0802081972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353511751,"cg_vq_v":-0.353511751,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.628174,"values":{"Elec_RPM":-3.65061417e-28,"EncoderCos":38752,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-7.3012281e-29,"cg_du":50.1464882,"cg_dv":50.2050705,"cg_dw":49.7949295,"cg_id_a":0.0479772389,"cg_id_raw_a":-0.417470247,"cg_iq_a":0.288563251,"cg_iq_raw_a":0.400012106,"cg_iu_a":-0.613611937,"cg_iv_a":0.141641617,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8745461,"cg_sample_seq":14414366,"cg_sample_valid":1,"cg_theta_rad":5.00864744,"cg_vd_req_v":0.081599161,"cg_vd_v":0.081599161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361611307,"cg_vq_v":-0.361611307,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10693002,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9342041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.635986,"values":{"Elec_RPM":-3.57760169e-28,"EncoderCos":38689,"EncoderSin":12445,"GapTicks":54777,"Mech_RPM":-7.15520349e-29,"cg_du":50.1502113,"cg_dv":50.2018852,"cg_dw":49.7981148,"cg_id_a":-0.0145327821,"cg_id_raw_a":-0.342749149,"cg_iq_a":0.126066789,"cg_iq_raw_a":-0.764725506,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.863636,"cg_sample_seq":14414417,"cg_sample_valid":1,"cg_theta_rad":5.00677299,"cg_vd_req_v":0.081593737,"cg_vd_v":0.081593737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358010739,"cg_vq_v":-0.358010739,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.5297165,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9120483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.643799,"values":{"Elec_RPM":-3.57760169e-28,"EncoderCos":38732,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-7.15520349e-29,"cg_du":50.1484337,"cg_dv":50.2073517,"cg_dw":49.7926483,"cg_id_a":-0.169592649,"cg_id_raw_a":0.152567863,"cg_iq_a":0.394812047,"cg_iq_raw_a":-0.0940585434,"cg_iu_a":0.437459469,"cg_iv_a":0.431592226,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9836369,"cg_sample_seq":14414467,"cg_sample_valid":1,"cg_theta_rad":5.00828743,"cg_vd_req_v":0.0838184729,"cg_vd_v":0.0838184729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365454972,"cg_vq_v":-0.365454972,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.655518,"values":{"Elec_RPM":-3.50604978e-28,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-7.01209968e-29,"cg_du":50.1507149,"cg_dv":50.2043037,"cg_dw":49.7956963,"cg_id_a":-0.0590575188,"cg_id_raw_a":-0.54023838,"cg_iq_a":0.223852605,"cg_iq_raw_a":0.929206729,"cg_iu_a":0.219996452,"cg_iv_a":-0.583235145,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8600006,"cg_sample_seq":14414518,"cg_sample_valid":1,"cg_theta_rad":5.0052228,"cg_vd_req_v":0.0820529684,"cg_vd_v":0.0820529684,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36191079,"cg_vq_v":-0.36191079,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.918396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.66333,"values":{"Elec_RPM":-3.50604978e-28,"EncoderCos":38721,"EncoderSin":12440,"GapTicks":54783,"Mech_RPM":-7.01209968e-29,"cg_du":50.1446266,"cg_dv":50.1972122,"cg_dw":49.8027878,"cg_id_a":0.0459100977,"cg_id_raw_a":0.506328702,"cg_iq_a":-0.377459466,"cg_iq_raw_a":0.160517499,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065315,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9654541,"cg_sample_seq":14414567,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0789322481,"cg_vd_v":0.0789322481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349079877,"cg_vq_v":-0.349079877,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.671143,"values":{"Elec_RPM":-3.43592884e-28,"EncoderCos":38713,"EncoderSin":12497,"GapTicks":54781,"Mech_RPM":-6.87185767e-29,"cg_du":50.1414185,"cg_dv":50.1984863,"cg_dw":49.8015137,"cg_id_a":-0.0997412354,"cg_id_raw_a":0.32922262,"cg_iq_a":-0.374124229,"cg_iq_raw_a":0.469893754,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9581814,"cg_sample_seq":14414617,"cg_sample_valid":1,"cg_theta_rad":5.00590467,"cg_vd_req_v":0.0819587857,"cg_vd_v":0.0819587857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349177927,"cg_vq_v":-0.349177927,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9041138,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.678955,"values":{"Elec_RPM":-3.43592884e-28,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54779,"Mech_RPM":-6.87185767e-29,"cg_du":50.153801,"cg_dv":50.200058,"cg_dw":49.799942,"cg_id_a":0.21040985,"cg_id_raw_a":0.202068329,"cg_iq_a":0.230564326,"cg_iq_raw_a":-0.598575354,"cg_iu_a":-0.686099291,"cg_iv_a":0.10539782,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9509087,"cg_sample_seq":14414667,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0737302527,"cg_vd_v":0.0737302527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358268917,"cg_vq_v":-0.358268917,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9041138,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.690674,"values":{"Elec_RPM":-3.36721021e-28,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54781,"Mech_RPM":-6.7344203e-29,"cg_du":50.1516266,"cg_dv":50.1990662,"cg_dw":49.8009338,"cg_id_a":0.178429395,"cg_id_raw_a":0.236329064,"cg_iq_a":0.136431918,"cg_iq_raw_a":-0.0850426331,"cg_iu_a":-0.251173496,"cg_iv_a":0.39534843,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9618187,"cg_sample_seq":14414717,"cg_sample_valid":1,"cg_theta_rad":5.00781202,"cg_vd_req_v":0.0750655457,"cg_vd_v":0.0750655457,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355576694,"cg_vq_v":-0.355576694,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.891449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.718018,"values":{"Elec_RPM":-3.36721021e-28,"EncoderCos":38760,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-6.7344203e-29,"cg_du":50.1435318,"cg_dv":50.1981049,"cg_dw":49.8018951,"cg_id_a":0.170603514,"cg_id_raw_a":0.452059776,"cg_iq_a":-0.247830778,"cg_iq_raw_a":-0.651264191,"cg_iu_a":0.111264944,"cg_iv_a":-0.546991229,"cg_iw_a":0.580701709,"cg_sample_age_us":23.863636,"cg_sample_seq":14414770,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0761364251,"cg_vd_v":0.0761364251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350687802,"cg_vq_v":-0.350687802,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.891449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.72583,"values":{"Elec_RPM":-3.29986622e-28,"EncoderCos":38731,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-6.5997322e-29,"cg_du":50.154911,"cg_dv":50.2066193,"cg_dw":49.7933807,"cg_id_a":0.0828157291,"cg_id_raw_a":-0.153266326,"cg_iq_a":0.456059158,"cg_iq_raw_a":-0.414215267,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.691966534,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9618187,"cg_sample_seq":14414817,"cg_sample_valid":1,"cg_theta_rad":5.00658751,"cg_vd_req_v":0.0783251971,"cg_vd_v":0.0783251971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368007272,"cg_vq_v":-0.368007272,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9025269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.733643,"values":{"Elec_RPM":-3.29986622e-28,"EncoderCos":38737,"EncoderSin":12494,"GapTicks":54772,"Mech_RPM":-6.5997322e-29,"cg_du":50.1440315,"cg_dv":50.2065582,"cg_dw":49.7934418,"cg_id_a":-0.344926059,"cg_id_raw_a":-0.717535257,"cg_iq_a":0.168086797,"cg_iq_raw_a":1.13576329,"cg_iu_a":-0.359905005,"cg_iv_a":-0.329528213,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9509087,"cg_sample_seq":14414867,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.0858529806,"cg_vd_v":0.0858529806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362069875,"cg_vq_v":-0.362069875,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.741455,"values":{"Elec_RPM":-3.23386869e-28,"EncoderCos":38737,"EncoderSin":12501,"GapTicks":54776,"Mech_RPM":-6.46773738e-29,"cg_du":50.1454048,"cg_dv":50.2033539,"cg_dw":49.7966461,"cg_id_a":-0.0572310612,"cg_id_raw_a":-0.551853061,"cg_iq_a":0.0140911713,"cg_iq_raw_a":0.0229803845,"cg_iu_a":0.14750886,"cg_iv_a":-0.148309112,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14414917,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0815031081,"cg_vd_v":0.0815031081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358500481,"cg_vq_v":-0.358500481,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.749268,"values":{"Elec_RPM":-3.23386869e-28,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-6.46773738e-29,"cg_du":50.1460838,"cg_dv":50.2018204,"cg_dw":49.7981796,"cg_id_a":0.10812813,"cg_id_raw_a":0.354115367,"cg_iq_a":-0.298433483,"cg_iq_raw_a":-0.00222383812,"cg_iu_a":0.183752537,"cg_iv_a":-0.728210449,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9581814,"cg_sample_seq":14414967,"cg_sample_valid":1,"cg_theta_rad":5.00819445,"cg_vd_req_v":0.0803876221,"cg_vd_v":0.0803876221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356588572,"cg_vq_v":-0.356588572,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9025269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.75708,"values":{"Elec_RPM":-3.16919139e-28,"EncoderCos":38724,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-6.3383829e-29,"cg_du":50.1532211,"cg_dv":50.2080116,"cg_dw":49.7919884,"cg_id_a":0.113221303,"cg_id_raw_a":1.06292701,"cg_iq_a":0.211383224,"cg_iq_raw_a":1.81399238,"cg_iu_a":0.328727961,"cg_iv_a":0.504079938,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9472733,"cg_sample_seq":14415017,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0813597217,"cg_vd_v":0.0813597217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36887905,"cg_vq_v":-0.36887905,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.768799,"values":{"Elec_RPM":-3.16919139e-28,"EncoderCos":38704,"EncoderSin":12507,"GapTicks":54766,"Mech_RPM":-6.3383829e-29,"cg_du":50.1685638,"cg_dv":50.2124443,"cg_dw":49.7875557,"cg_id_a":0.420338988,"cg_id_raw_a":-0.0796121731,"cg_iq_a":0.870919406,"cg_iq_raw_a":-0.0799089596,"cg_iu_a":0.256240368,"cg_iv_a":-0.148309112,"cg_iw_a":1.74050426,"cg_sample_age_us":23.9654541,"cg_sample_seq":14415067,"cg_sample_valid":1,"cg_theta_rad":5.00681543,"cg_vd_req_v":0.0747415423,"cg_vd_v":0.0747415423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383281738,"cg_vq_v":-0.383281738,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.776611,"values":{"Elec_RPM":-3.10580759e-28,"EncoderCos":38724,"EncoderSin":12466,"GapTicks":54765,"Mech_RPM":-6.21161518e-29,"cg_du":50.16922,"cg_dv":50.21278,"cg_dw":49.78722,"cg_id_a":0.394138753,"cg_id_raw_a":-0.493383676,"cg_iq_a":1.06669664,"cg_iq_raw_a":0.499096036,"cg_iu_a":-0.831074715,"cg_iv_a":0.177885413,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9654541,"cg_sample_seq":14415116,"cg_sample_valid":1,"cg_theta_rad":5.00775909,"cg_vd_req_v":0.0738905892,"cg_vd_v":0.0738905892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384237498,"cg_vq_v":-0.384237498,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.447672129,"dclink_p_w":-64.7891922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9009399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.784424,"values":{"Elec_RPM":-3.10580759e-28,"EncoderCos":38701,"EncoderSin":12468,"GapTicks":54780,"Mech_RPM":-6.21161518e-29,"cg_du":50.1564255,"cg_dv":50.1992416,"cg_dw":49.8007584,"cg_id_a":0.50325048,"cg_id_raw_a":0.0798159242,"cg_iq_a":-0.196317539,"cg_iq_raw_a":0.00896739122,"cg_iu_a":-0.686099529,"cg_iv_a":0.359104574,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14415167,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0726065561,"cg_vd_v":0.0726065561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358284712,"cg_vq_v":-0.358284712,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.8857422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.9009399,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.796143,"values":{"Elec_RPM":-3.04369154e-28,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-6.08738307e-29,"cg_du":50.1512985,"cg_dv":50.2065773,"cg_dw":49.7934227,"cg_id_a":-0.0490005575,"cg_id_raw_a":0.23602739,"cg_iq_a":0.186924875,"cg_iq_raw_a":-0.0858762562,"cg_iu_a":0.147508621,"cg_iv_a":-0.148308992,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9618187,"cg_sample_seq":14415216,"cg_sample_valid":1,"cg_theta_rad":5.00616074,"cg_vd_req_v":0.0813504159,"cg_vd_v":0.0813504159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365878105,"cg_vq_v":-0.365878105,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-100.720024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8946228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.823486,"values":{"Elec_RPM":-3.04369154e-28,"EncoderCos":38744,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-6.08738307e-29,"cg_du":50.1400032,"cg_dv":50.2019806,"cg_dw":49.7980194,"cg_id_a":-0.207906187,"cg_id_raw_a":0.764261663,"cg_iq_a":-0.117565989,"cg_iq_raw_a":0.10718748,"cg_iu_a":-0.794830799,"cg_iv_a":0.250373065,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9872723,"cg_sample_seq":14415270,"cg_sample_valid":1,"cg_theta_rad":5.00664282,"cg_vd_req_v":0.0843891427,"cg_vd_v":0.0843891427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353635281,"cg_vq_v":-0.353635281,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.869912624,"dclink_p_w":-126.280472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8946228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.831299,"values":{"Elec_RPM":-2.98281771e-28,"EncoderCos":38750,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-5.96563541e-29,"cg_du":50.1472931,"cg_dv":50.2008629,"cg_dw":49.7991371,"cg_id_a":0.119718477,"cg_id_raw_a":0.0297959242,"cg_iq_a":-0.0147743076,"cg_iq_raw_a":0.331005782,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9290905,"cg_sample_seq":14415317,"cg_sample_valid":1,"cg_theta_rad":5.0067687,"cg_vd_req_v":0.077054821,"cg_vd_v":0.077054821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356277972,"cg_vq_v":-0.356277972,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.2139587,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8946228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.839111,"values":{"Elec_RPM":-2.98281771e-28,"EncoderCos":38723,"EncoderSin":12513,"GapTicks":54776,"Mech_RPM":-5.96563541e-29,"cg_du":50.1619148,"cg_dv":50.2032089,"cg_dw":49.7967911,"cg_id_a":0.500582039,"cg_id_raw_a":-0.0471243784,"cg_iq_a":0.497463822,"cg_iq_raw_a":0.688044429,"cg_iu_a":-0.251173258,"cg_iv_a":-0.257040501,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9836369,"cg_sample_seq":14415367,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0692203864,"cg_vd_v":0.0692203864,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367333412,"cg_vq_v":-0.367333412,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5837402,"temp_inv2_c":36.9041138,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.846924,"values":{"Elec_RPM":-2.92316154e-28,"EncoderCos":38721,"EncoderSin":12482,"GapTicks":54773,"Mech_RPM":-5.84632285e-29,"cg_du":50.1447906,"cg_dv":50.2060432,"cg_dw":49.7939568,"cg_id_a":-0.35665378,"cg_id_raw_a":-0.33690998,"cg_iq_a":0.185760856,"cg_iq_raw_a":0.405176669,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503517,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9872723,"cg_sample_seq":14415417,"cg_sample_valid":1,"cg_theta_rad":5.00752115,"cg_vd_req_v":0.0861102194,"cg_vd_v":0.0861102194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360309869,"cg_vq_v":-0.360309869,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.881958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2609.854736,"values":{"Elec_RPM":-2.92316154e-28,"EncoderCos":38743,"EncoderSin":12491,"GapTicks":54784,"Mech_RPM":-5.84632285e-29,"cg_du":50.1416893,"cg_dv":50.1961403,"cg_dw":49.8038597,"cg_id_a":0.111440867,"cg_id_raw_a":-0.0495338514,"cg_iq_a":-0.425250769,"cg_iq_raw_a":-0.185674518,"cg_iu_a":0.183752775,"cg_iv_a":0.721542954,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.863636,"cg_sample_seq":14415467,"cg_sample_valid":1,"cg_theta_rad":5.00681734,"cg_vd_req_v":0.077242814,"cg_vd_v":0.077242814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34664312,"cg_vq_v":-0.34664312,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.881958,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.866455,"values":{"Elec_RPM":-2.86469825e-28,"EncoderCos":38721,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-5.72939663e-29,"cg_du":50.1414871,"cg_dv":50.1978111,"cg_dw":49.8021889,"cg_id_a":-0.0723191425,"cg_id_raw_a":-0.394295961,"cg_iq_a":-0.261180043,"cg_iq_raw_a":-0.948154509,"cg_iu_a":-0.39614892,"cg_iv_a":0.0691539049,"cg_iw_a":0.326995015,"cg_sample_age_us":23.8527279,"cg_sample_seq":14415517,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.0813303664,"cg_vd_v":0.0813303664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348276615,"cg_vq_v":-0.348276615,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.116041064,"dclink_p_w":-16.7940025,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.874268,"values":{"Elec_RPM":-2.86469825e-28,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54781,"Mech_RPM":-5.72939663e-29,"cg_du":50.1430359,"cg_dv":50.1984978,"cg_dw":49.8015022,"cg_id_a":-0.0429663584,"cg_id_raw_a":0.100446552,"cg_iq_a":-0.194179401,"cg_iq_raw_a":-0.208095133,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.148309112,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9763641,"cg_sample_seq":14415567,"cg_sample_valid":1,"cg_theta_rad":5.00808048,"cg_vd_req_v":0.0798323303,"cg_vd_v":0.0798323303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350299656,"cg_vq_v":-0.350299656,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5593977,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.9405518,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119240098,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.88208,"values":{"Elec_RPM":-2.80740425e-28,"EncoderCos":38724,"EncoderSin":12503,"GapTicks":54779,"Mech_RPM":-5.61480861e-29,"cg_du":50.1427765,"cg_dv":50.2006416,"cg_dw":49.7993584,"cg_id_a":-0.141414687,"cg_id_raw_a":0.208648875,"cg_iq_a":0.0691253841,"cg_iq_raw_a":0.202561677,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9654541,"cg_sample_seq":14415617,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0822061971,"cg_vd_v":0.0822061971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354181021,"cg_vq_v":-0.354181021,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5593977,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.889893,"values":{"Elec_RPM":-2.80740425e-28,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54781,"Mech_RPM":-5.61480861e-29,"cg_du":50.1464844,"cg_dv":50.1989441,"cg_dw":49.8010559,"cg_id_a":-0.0648715496,"cg_id_raw_a":0.373915523,"cg_iq_a":0.0206564516,"cg_iq_raw_a":-0.836234212,"cg_iu_a":0.0387773514,"cg_iv_a":-0.945673347,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9872723,"cg_sample_seq":14415667,"cg_sample_valid":1,"cg_theta_rad":5.00702381,"cg_vd_req_v":0.0792458653,"cg_vd_v":0.0792458653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353582978,"cg_vq_v":-0.353582978,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":41.02948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9072876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.897705,"values":{"Elec_RPM":-2.75125617e-28,"EncoderCos":38734,"EncoderSin":12483,"GapTicks":54786,"Mech_RPM":-5.50251245e-29,"cg_du":50.1403809,"cg_dv":50.1942711,"cg_dw":49.8057289,"cg_id_a":0.0401981473,"cg_id_raw_a":0.432403505,"cg_iq_a":-0.560939014,"cg_iq_raw_a":-0.613942385,"cg_iu_a":-0.287417173,"cg_iv_a":0.214129329,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9836369,"cg_sample_seq":14415717,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0773651823,"cg_vd_v":0.0773651823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343162924,"cg_vq_v":-0.343162924,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.416743398,"dclink_p_w":60.3130455,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.9072876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.925049,"values":{"Elec_RPM":-2.75125617e-28,"EncoderCos":38750,"EncoderSin":12484,"GapTicks":54779,"Mech_RPM":-5.50251245e-29,"cg_du":50.1409035,"cg_dv":50.2002754,"cg_dw":49.7997246,"cg_id_a":-0.156318173,"cg_id_raw_a":-0.523961067,"cg_iq_a":-0.00414642692,"cg_iq_raw_a":-0.519384384,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14415770,"cg_sample_valid":1,"cg_theta_rad":5.00675488,"cg_vd_req_v":0.081457749,"cg_vd_v":0.081457749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351940274,"cg_vq_v":-0.351940274,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.77012074,"dclink_p_w":111.45546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.5348816,"temp_inv2_c":36.8851318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.936768,"values":{"Elec_RPM":-2.69623114e-28,"EncoderCos":38715,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-5.39246241e-29,"cg_du":50.141716,"cg_dv":50.193119,"cg_dw":49.806881,"cg_id_a":0.0615021959,"cg_id_raw_a":0.216986507,"cg_iq_a":-0.339348286,"cg_iq_raw_a":-0.742615759,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8745461,"cg_sample_seq":14415816,"cg_sample_valid":1,"cg_theta_rad":5.00689697,"cg_vd_req_v":0.0768671334,"cg_vd_v":0.0768671334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341966599,"cg_vq_v":-0.341966599,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.648703873,"dclink_p_w":93.8834457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.94458,"values":{"Elec_RPM":-2.69623114e-28,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54790,"Mech_RPM":-5.39246241e-29,"cg_du":50.1403656,"cg_dv":50.1903648,"cg_dw":49.8096352,"cg_id_a":0.1385075,"cg_id_raw_a":1.09017861,"cg_iq_a":-0.586625218,"cg_iq_raw_a":-1.71293402,"cg_iu_a":0.473703384,"cg_iv_a":-0.148308992,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9836369,"cg_sample_seq":14415866,"cg_sample_valid":1,"cg_theta_rad":5.00694609,"cg_vd_req_v":0.075162515,"cg_vd_v":0.075162515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337483644,"cg_vq_v":-0.337483644,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.648703873,"dclink_p_w":93.8834457,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.952393,"values":{"Elec_RPM":-2.64230655e-28,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-5.28461334e-29,"cg_du":50.1380424,"cg_dv":50.1981621,"cg_dw":49.8018379,"cg_id_a":-0.242799103,"cg_id_raw_a":-0.378304809,"cg_iq_a":0.222081199,"cg_iq_raw_a":-0.0363295861,"cg_iu_a":-0.251173496,"cg_iv_a":-0.329528213,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9145451,"cg_sample_seq":14415917,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0823596641,"cg_vd_v":0.0823596641,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348417431,"cg_vq_v":-0.348417431,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":0.563530862,"dclink_p_w":81.5568085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2609.964111,"values":{"Elec_RPM":-2.58946072e-28,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-5.17892132e-29,"cg_du":50.1477242,"cg_dv":50.1938477,"cg_dw":49.8061523,"cg_id_a":0.220095664,"cg_id_raw_a":0.0502487868,"cg_iq_a":0.0311327055,"cg_iq_raw_a":-0.759047568,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9290905,"cg_sample_seq":14416066,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0727981105,"cg_vd_v":0.0727981105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346344084,"cg_vq_v":-0.346344084,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.563530862,"dclink_p_w":81.5568085,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.971924,"values":{"Elec_RPM":-2.5376715e-28,"EncoderCos":38717,"EncoderSin":12474,"GapTicks":54787,"Mech_RPM":-5.075343e-29,"cg_du":50.1426239,"cg_dv":50.193634,"cg_dw":49.806366,"cg_id_a":0.115135178,"cg_id_raw_a":0.388688505,"cg_iq_a":-0.197332427,"cg_iq_raw_a":0.0753862783,"cg_iu_a":0.147508621,"cg_iv_a":0.214129269,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9618187,"cg_sample_seq":14416117,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.0765277967,"cg_vd_v":0.0765277967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343204647,"cg_vq_v":-0.343204647,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.567155242,"dclink_p_w":81.8318558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2609.974936,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2609.974942,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2609.974947,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2609.979736,"values":{"Elec_RPM":-2.5376715e-28,"EncoderCos":38717,"EncoderSin":12469,"GapTicks":54793,"Mech_RPM":-5.075343e-29,"cg_du":50.1409073,"cg_dv":50.187664,"cg_dw":49.812336,"cg_id_a":0.275151223,"cg_id_raw_a":0.375445843,"cg_iq_a":-0.591572404,"cg_iq_raw_a":-0.217137054,"cg_iu_a":0.14750886,"cg_iv_a":1.4101758,"cg_iw_a":-1.55768466,"cg_sample_age_us":23.9618187,"cg_sample_seq":14416166,"cg_sample_valid":1,"cg_theta_rad":5.0067234,"cg_vd_req_v":0.0721777678,"cg_vd_v":0.0721777678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334104061,"cg_vq_v":-0.334104061,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.549033344,"dclink_p_w":79.4586639,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2609.987549,"values":{"Elec_RPM":-2.48691819e-28,"EncoderCos":38733,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-4.97383626e-29,"cg_du":50.1422806,"cg_dv":50.1958618,"cg_dw":49.8041382,"cg_id_a":0.0323200189,"cg_id_raw_a":0.21273078,"cg_iq_a":0.077094093,"cg_iq_raw_a":0.384774864,"cg_iu_a":0.038777113,"cg_iv_a":0.467836082,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9581814,"cg_sample_seq":14416216,"cg_sample_valid":1,"cg_theta_rad":5.0078721,"cg_vd_req_v":0.0774397254,"cg_vd_v":0.0774397254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346379757,"cg_vq_v":-0.346379757,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.9214592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.014893,"values":{"Elec_RPM":-2.48691819e-28,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-4.97383626e-29,"cg_du":50.1350327,"cg_dv":50.1968079,"cg_dw":49.8031921,"cg_id_a":-0.213831902,"cg_id_raw_a":-0.160023764,"cg_iq_a":-0.000889614224,"cg_iq_raw_a":-0.34209466,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284416,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.863636,"cg_sample_seq":14416270,"cg_sample_valid":1,"cg_theta_rad":5.00801897,"cg_vd_req_v":0.0845431462,"cg_vd_v":0.0845431462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343503386,"cg_vq_v":-0.343503386,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.436677456,"dclink_p_w":63.3900871,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8993835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.022705,"values":{"Elec_RPM":-2.43717984e-28,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-4.87435957e-29,"cg_du":50.1390724,"cg_dv":50.1972847,"cg_dw":49.8027153,"cg_id_a":-0.155576378,"cg_id_raw_a":-0.26901722,"cg_iq_a":0.167860851,"cg_iq_raw_a":0.556830764,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9690914,"cg_sample_seq":14416317,"cg_sample_valid":1,"cg_theta_rad":5.00830364,"cg_vd_req_v":0.0832679868,"cg_vd_v":0.0832679868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346073419,"cg_vq_v":-0.346073419,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9199524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.030518,"values":{"Elec_RPM":-2.43717984e-28,"EncoderCos":38713,"EncoderSin":12464,"GapTicks":54777,"Mech_RPM":-4.87435957e-29,"cg_du":50.1463737,"cg_dv":50.2020264,"cg_dw":49.7979736,"cg_id_a":-0.0491989926,"cg_id_raw_a":0.0325421207,"cg_iq_a":0.460131049,"cg_iq_raw_a":-0.360186815,"cg_iu_a":-0.577367783,"cg_iv_a":-0.510747433,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8745461,"cg_sample_seq":14416366,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0823209658,"cg_vd_v":0.0823209658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35658294,"cg_vq_v":-0.35658294,"cg_vu_v":17.1558094,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9199524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.042236,"values":{"Elec_RPM":-2.38843624e-28,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-4.7768723e-29,"cg_du":50.1433792,"cg_dv":50.1992302,"cg_dw":49.8007698,"cg_id_a":0.0494266525,"cg_id_raw_a":-0.354082167,"cg_iq_a":0.0510250479,"cg_iq_raw_a":-0.0696313456,"cg_iu_a":-0.39614892,"cg_iv_a":0.141641617,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9799995,"cg_sample_seq":14416416,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0806489214,"cg_vd_v":0.0806489214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351399243,"cg_vq_v":-0.351399243,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8882751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.050049,"values":{"Elec_RPM":-2.38843624e-28,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-4.7768723e-29,"cg_du":50.1410637,"cg_dv":50.1996384,"cg_dw":49.8003616,"cg_id_a":-0.0477285497,"cg_id_raw_a":-0.0481730253,"cg_iq_a":0.169923067,"cg_iq_raw_a":0.687971592,"cg_iu_a":0.908629179,"cg_iv_a":0.0329101086,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9618187,"cg_sample_seq":14416467,"cg_sample_valid":1,"cg_theta_rad":5.00619602,"cg_vd_req_v":0.0827046856,"cg_vd_v":0.0827046856,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350696683,"cg_vq_v":-0.350696683,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.057861,"values":{"Elec_RPM":-2.3406674e-28,"EncoderCos":38711,"EncoderSin":12462,"GapTicks":54780,"Mech_RPM":-4.68133474e-29,"cg_du":50.1366348,"cg_dv":50.1997604,"cg_dw":49.8002396,"cg_id_a":-0.223473266,"cg_id_raw_a":-0.31394583,"cg_iq_a":0.0428294167,"cg_iq_raw_a":0.369971573,"cg_iu_a":0.364971876,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8563633,"cg_sample_seq":14416517,"cg_sample_valid":1,"cg_theta_rad":5.00847387,"cg_vd_req_v":0.0879463553,"cg_vd_v":0.0879463553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347970068,"cg_vq_v":-0.347970068,"cg_vu_v":1.75957024,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.065674,"values":{"Elec_RPM":-2.3406674e-28,"EncoderCos":38722,"EncoderSin":12510,"GapTicks":54779,"Mech_RPM":-4.68133474e-29,"cg_du":50.1420479,"cg_dv":50.2001953,"cg_dw":49.7998047,"cg_id_a":0.0774325132,"cg_id_raw_a":0.11618863,"cg_iq_a":0.354389042,"cg_iq_raw_a":0.958328903,"cg_iu_a":0.183752775,"cg_iv_a":-0.184552908,"cg_iw_a":0.000800132751,"cg_sample_age_us":24.0381813,"cg_sample_seq":14416566,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0820877254,"cg_vd_v":0.0820877254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35209465,"cg_vq_v":-0.35209465,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8977966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.077393,"values":{"Elec_RPM":-2.29385406e-28,"EncoderCos":38752,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-4.58770807e-29,"cg_du":50.1334381,"cg_dv":50.1966934,"cg_dw":49.8033066,"cg_id_a":0.00552995503,"cg_id_raw_a":-0.144261315,"cg_iq_a":-0.153106779,"cg_iq_raw_a":-0.303258896,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9727268,"cg_sample_seq":14416617,"cg_sample_valid":1,"cg_theta_rad":5.00767374,"cg_vd_req_v":0.0838407129,"cg_vd_v":0.0838407129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342915803,"cg_vq_v":-0.342915803,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.085205,"values":{"Elec_RPM":-2.29385406e-28,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-4.58770807e-29,"cg_du":50.1323395,"cg_dv":50.1963577,"cg_dw":49.8036423,"cg_id_a":-0.124717891,"cg_id_raw_a":-0.155378386,"cg_iq_a":-0.0478155427,"cg_iq_raw_a":-0.160665497,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14416667,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0883185938,"cg_vd_v":0.0883185938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340851009,"cg_vq_v":-0.340851009,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.093018,"values":{"Elec_RPM":-2.24797697e-28,"EncoderCos":38693,"EncoderSin":12461,"GapTicks":54784,"Mech_RPM":-4.49595406e-29,"cg_du":50.1352386,"cg_dv":50.1960449,"cg_dw":49.8039551,"cg_id_a":0.0312838927,"cg_id_raw_a":0.168623894,"cg_iq_a":0.076951921,"cg_iq_raw_a":-0.23664856,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14416718,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0865697637,"cg_vd_v":0.0865697637,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340749383,"cg_vq_v":-0.340749383,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.0779934,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.891449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2610.120361,"values":{"Elec_RPM":-2.24797697e-28,"EncoderCos":38758,"EncoderSin":12498,"GapTicks":54793,"Mech_RPM":-4.49595406e-29,"cg_du":50.1182404,"cg_dv":50.1878929,"cg_dw":49.8121071,"cg_id_a":0.0854866952,"cg_id_raw_a":-0.199327067,"cg_iq_a":-0.718867838,"cg_iq_raw_a":-0.162084952,"cg_iu_a":0.0750212669,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9836369,"cg_sample_seq":14416769,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0865287259,"cg_vd_v":0.0865287259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322673827,"cg_vq_v":-0.322673827,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.891449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119592577,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.13208,"values":{"Elec_RPM":-2.20301758e-28,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-4.4060351e-29,"cg_du":50.1381912,"cg_dv":50.195385,"cg_dw":49.804615,"cg_id_a":0.255716085,"cg_id_raw_a":0.0351661146,"cg_iq_a":0.400702953,"cg_iq_raw_a":0.258967578,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14416816,"cg_sample_valid":1,"cg_theta_rad":5.00586748,"cg_vd_req_v":0.0807187334,"cg_vd_v":0.0807187334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344430059,"cg_vq_v":-0.344430059,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.139893,"values":{"Elec_RPM":-2.15895736e-28,"EncoderCos":38683,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-4.31791447e-29,"cg_du":50.1415024,"cg_dv":50.1985054,"cg_dw":49.8014946,"cg_id_a":-0.00548781827,"cg_id_raw_a":0.21994178,"cg_iq_a":0.483186275,"cg_iq_raw_a":-0.121626616,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14416968,"cg_sample_valid":1,"cg_theta_rad":5.00614452,"cg_vd_req_v":0.0849132165,"cg_vd_v":0.0849132165,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348529845,"cg_vq_v":-0.348529845,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8882751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.147705,"values":{"Elec_RPM":-2.11577801e-28,"EncoderCos":38712,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-4.23155607e-29,"cg_du":50.1388702,"cg_dv":50.2000694,"cg_dw":49.7999306,"cg_id_a":-0.146428362,"cg_id_raw_a":0.284820706,"cg_iq_a":0.588085413,"cg_iq_raw_a":0.903461516,"cg_iu_a":-0.649855614,"cg_iv_a":-0.510747433,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9799995,"cg_sample_seq":14417017,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.0863446295,"cg_vd_v":0.0863446295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349689573,"cg_vq_v":-0.349689573,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.40788698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8803711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.155518,"values":{"Elec_RPM":-2.11577801e-28,"EncoderCos":38712,"EncoderSin":12459,"GapTicks":54785,"Mech_RPM":-4.23155607e-29,"cg_du":50.1328735,"cg_dv":50.1953125,"cg_dw":49.8046875,"cg_id_a":-0.108303428,"cg_id_raw_a":-0.110303976,"cg_iq_a":0.00833377242,"cg_iq_raw_a":-1.03019404,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9290905,"cg_sample_seq":14417067,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.0865451619,"cg_vd_v":0.0865451619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339823663,"cg_vq_v":-0.339823663,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8803711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.16333,"values":{"Elec_RPM":-2.07346244e-28,"EncoderCos":38738,"EncoderSin":12509,"GapTicks":54785,"Mech_RPM":-4.146925e-29,"cg_du":50.1340637,"cg_dv":50.1949387,"cg_dw":49.8050613,"cg_id_a":0.137555361,"cg_id_raw_a":0.112733424,"cg_iq_a":-0.104268372,"cg_iq_raw_a":-0.352878958,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.954546,"cg_sample_seq":14417117,"cg_sample_valid":1,"cg_theta_rad":5.00714445,"cg_vd_req_v":0.08206103,"cg_vd_v":0.08206103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340764672,"cg_vq_v":-0.340764672,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.34449172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.171143,"values":{"Elec_RPM":-2.07346244e-28,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54791,"Mech_RPM":-4.146925e-29,"cg_du":50.1378593,"cg_dv":50.1898613,"cg_dw":49.8101387,"cg_id_a":0.385816455,"cg_id_raw_a":0.27857697,"cg_iq_a":-0.280314326,"cg_iq_raw_a":-0.518192291,"cg_iu_a":-0.613611698,"cg_iv_a":0.177885413,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14417167,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.0767114758,"cg_vd_v":0.0767114758,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336448908,"cg_vq_v":-0.336448908,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.178955,"values":{"Elec_RPM":-2.03199331e-28,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-4.06398663e-29,"cg_du":50.1319046,"cg_dv":50.1940727,"cg_dw":49.8059273,"cg_id_a":0.0133703388,"cg_id_raw_a":-0.215252399,"cg_iq_a":-0.225138932,"cg_iq_raw_a":-0.201917991,"cg_iu_a":0.61867857,"cg_iv_a":0.322860777,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9872723,"cg_sample_seq":14417217,"cg_sample_valid":1,"cg_theta_rad":5.00640535,"cg_vd_req_v":0.0848944783,"cg_vd_v":0.0848944783,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338989824,"cg_vq_v":-0.338989824,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63947415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8930359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.210205,"values":{"Elec_RPM":-2.03199331e-28,"EncoderCos":38752,"EncoderSin":12529,"GapTicks":54771,"Mech_RPM":-4.06398663e-29,"cg_du":50.1479111,"cg_dv":50.2073746,"cg_dw":49.7926254,"cg_id_a":0.165611058,"cg_id_raw_a":0.102941118,"cg_iq_a":1.07949591,"cg_iq_raw_a":0.227961108,"cg_iu_a":0.256240129,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.863636,"cg_sample_seq":14417272,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0816954076,"cg_vd_v":0.0816954076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366939276,"cg_vq_v":-0.366939276,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63947415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.218018,"values":{"Elec_RPM":-1.99135354e-28,"EncoderCos":38705,"EncoderSin":12487,"GapTicks":54782,"Mech_RPM":-3.98270697e-29,"cg_du":50.1428604,"cg_dv":50.1981735,"cg_dw":49.8018265,"cg_id_a":0.223746657,"cg_id_raw_a":0.431842774,"cg_iq_a":0.0413499922,"cg_iq_raw_a":-0.356667072,"cg_iu_a":-0.432392597,"cg_iv_a":0.0691539645,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9654541,"cg_sample_seq":14417316,"cg_sample_valid":1,"cg_theta_rad":5.00660706,"cg_vd_req_v":0.0813981369,"cg_vd_v":0.0813981369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349359393,"cg_vq_v":-0.349359393,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63947415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.22583,"values":{"Elec_RPM":-1.99135354e-28,"EncoderCos":38695,"EncoderSin":12446,"GapTicks":54780,"Mech_RPM":-3.98270697e-29,"cg_du":50.1456909,"cg_dv":50.1997719,"cg_dw":49.8002281,"cg_id_a":0.139747381,"cg_id_raw_a":0.0401876792,"cg_iq_a":0.0509647466,"cg_iq_raw_a":-0.614512324,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9218178,"cg_sample_seq":14417367,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.0825343132,"cg_vd_v":0.0825343132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352701664,"cg_vq_v":-0.352701664,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.9072876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.233643,"values":{"Elec_RPM":-1.95152652e-28,"EncoderCos":38725,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-3.90305291e-29,"cg_du":50.1379356,"cg_dv":50.2006302,"cg_dw":49.7993698,"cg_id_a":-0.0136689022,"cg_id_raw_a":-0.20794034,"cg_iq_a":-0.155263349,"cg_iq_raw_a":0.163238779,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397701,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9581814,"cg_sample_seq":14417417,"cg_sample_valid":1,"cg_theta_rad":5.00638294,"cg_vd_req_v":0.0856221467,"cg_vd_v":0.0856221467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350415885,"cg_vq_v":-0.350415885,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.245361,"values":{"Elec_RPM":-1.95152652e-28,"EncoderCos":38733,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-3.90305291e-29,"cg_du":50.1574135,"cg_dv":50.1999245,"cg_dw":49.8000755,"cg_id_a":0.747273088,"cg_id_raw_a":1.23010218,"cg_iq_a":0.117729723,"cg_iq_raw_a":0.955028594,"cg_iu_a":-0.50488019,"cg_iv_a":1.37393188,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8563633,"cg_sample_seq":14417467,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0699104145,"cg_vd_v":0.0699104145,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360282719,"cg_vq_v":-0.360282719,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.253174,"values":{"Elec_RPM":-1.91249598e-28,"EncoderCos":38751,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.82499196e-29,"cg_du":50.1680298,"cg_dv":50.2136612,"cg_dw":49.7863388,"cg_id_a":0.596089959,"cg_id_raw_a":0.278048635,"cg_iq_a":1.23946035,"cg_iq_raw_a":0.608064055,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9872723,"cg_sample_seq":14417517,"cg_sample_valid":1,"cg_theta_rad":5.00790024,"cg_vd_req_v":0.0731719658,"cg_vd_v":0.0731719658,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386466891,"cg_vq_v":-0.386466891,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8677063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.260986,"values":{"Elec_RPM":-1.91249598e-28,"EncoderCos":38720,"EncoderSin":12484,"GapTicks":54769,"Mech_RPM":-3.82499196e-29,"cg_du":50.1525383,"cg_dv":50.2095337,"cg_dw":49.7904663,"cg_id_a":0.0767865032,"cg_id_raw_a":-0.288306236,"cg_iq_a":0.384211868,"cg_iq_raw_a":0.337028205,"cg_iu_a":-1.33848858,"cg_iv_a":0.21412921,"cg_iw_a":1.12435937,"cg_sample_age_us":23.9581814,"cg_sample_seq":14417567,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.0837099403,"cg_vd_v":0.0837099403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370490462,"cg_vq_v":-0.370490462,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8677063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.268799,"values":{"Elec_RPM":-1.87424617e-28,"EncoderCos":38711,"EncoderSin":12507,"GapTicks":54769,"Mech_RPM":-3.74849222e-29,"cg_du":50.1492043,"cg_dv":50.2093163,"cg_dw":49.7906837,"cg_id_a":-0.0468138382,"cg_id_raw_a":0.274094403,"cg_iq_a":0.0594249368,"cg_iq_raw_a":0.173125505,"cg_iu_a":0.111264944,"cg_iv_a":0.57656765,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9618187,"cg_sample_seq":14417617,"cg_sample_valid":1,"cg_theta_rad":5.0067153,"cg_vd_req_v":0.0862899572,"cg_vd_v":0.0862899572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368285537,"cg_vq_v":-0.368285537,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8898621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.276611,"values":{"Elec_RPM":-1.87424617e-28,"EncoderCos":38744,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-3.74849222e-29,"cg_du":50.1483498,"cg_dv":50.2037964,"cg_dw":49.7962036,"cg_id_a":0.297281981,"cg_id_raw_a":0.290728211,"cg_iq_a":-0.344209194,"cg_iq_raw_a":-0.227173164,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079938,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9509087,"cg_sample_seq":14417667,"cg_sample_valid":1,"cg_theta_rad":5.00749207,"cg_vd_req_v":0.0797859877,"cg_vd_v":0.0797859877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360710084,"cg_vq_v":-0.360710084,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-43.935997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.284424,"values":{"Elec_RPM":-1.83676119e-28,"EncoderCos":38772,"EncoderSin":12495,"GapTicks":54767,"Mech_RPM":-3.67352239e-29,"cg_du":50.1593971,"cg_dv":50.2116051,"cg_dw":49.7883949,"cg_id_a":0.367673129,"cg_id_raw_a":0.24677828,"cg_iq_a":0.508547008,"cg_iq_raw_a":0.0215623062,"cg_iu_a":0.147508621,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14417717,"cg_sample_valid":1,"cg_theta_rad":5.00727558,"cg_vd_req_v":0.0755862519,"cg_vd_v":0.0755862519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378138214,"cg_vq_v":-0.378138214,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8867188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.292236,"values":{"Elec_RPM":-1.83676119e-28,"EncoderCos":38761,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-3.67352239e-29,"cg_du":50.1481781,"cg_dv":50.2048607,"cg_dw":49.7951393,"cg_id_a":0.214919627,"cg_id_raw_a":0.137025416,"cg_iq_a":-0.333602905,"cg_iq_raw_a":0.558445692,"cg_iu_a":-0.287417173,"cg_iv_a":0.359104574,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9618187,"cg_sample_seq":14417767,"cg_sample_valid":1,"cg_theta_rad":5.00694513,"cg_vd_req_v":0.0790953338,"cg_vd_v":0.0790953338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362471521,"cg_vq_v":-0.362471521,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8851318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.323486,"values":{"Elec_RPM":-1.80002601e-28,"EncoderCos":38737,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.60005207e-29,"cg_du":50.156517,"cg_dv":50.2097778,"cg_dw":49.7902222,"cg_id_a":0.083151482,"cg_id_raw_a":0.0899137557,"cg_iq_a":0.145830423,"cg_iq_raw_a":-0.318314254,"cg_iu_a":-0.14244175,"cg_iv_a":0.10539782,"cg_iw_a":0.0370439291,"cg_sample_age_us":26.8163643,"cg_sample_seq":14417820,"cg_sample_valid":1,"cg_theta_rad":5.00726318,"cg_vd_req_v":0.0801768973,"cg_vd_v":0.0801768973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373193204,"cg_vq_v":-0.373193204,"cg_vu_v":21.5547352,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.872467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.331299,"values":{"Elec_RPM":-1.80002601e-28,"EncoderCos":38716,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.60005207e-29,"cg_du":50.1560173,"cg_dv":50.2086067,"cg_dw":49.7913933,"cg_id_a":0.0755678415,"cg_id_raw_a":0.102880932,"cg_iq_a":-0.109892614,"cg_iq_raw_a":0.411675364,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860718,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14417867,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.0810268074,"cg_vd_v":0.0810268074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370976448,"cg_vq_v":-0.370976448,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.872467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.339111,"values":{"Elec_RPM":-1.76402556e-28,"EncoderCos":38714,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-3.52805118e-29,"cg_du":50.1544685,"cg_dv":50.2083549,"cg_dw":49.7916451,"cg_id_a":-0.0590092987,"cg_id_raw_a":0.0381966457,"cg_iq_a":-0.0777079985,"cg_iq_raw_a":0.00459132576,"cg_iu_a":0.364971638,"cg_iv_a":0.105397701,"cg_iw_a":-0.470369339,"cg_sample_age_us":23.9872723,"cg_sample_seq":14417916,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0816611722,"cg_vd_v":0.0816611722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368657768,"cg_vq_v":-0.368657768,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.4364014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8898621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2610.346924,"values":{"Elec_RPM":-1.76402556e-28,"EncoderCos":38687,"EncoderSin":12471,"GapTicks":54782,"Mech_RPM":-3.52805118e-29,"cg_du":50.1453629,"cg_dv":50.1977997,"cg_dw":49.8022003,"cg_id_a":-0.131359726,"cg_id_raw_a":0.0119743124,"cg_iq_a":-0.704583347,"cg_iq_raw_a":-0.945482731,"cg_iu_a":0.727410078,"cg_iv_a":0.214129269,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.8527279,"cg_sample_seq":14417967,"cg_sample_valid":1,"cg_theta_rad":5.00644827,"cg_vd_req_v":0.0808920711,"cg_vd_v":0.0808920711,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349845886,"cg_vq_v":-0.349845886,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8898621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.354736,"values":{"Elec_RPM":-1.72874505e-28,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54779,"Mech_RPM":-3.45749022e-29,"cg_du":50.1516953,"cg_dv":50.2003174,"cg_dw":49.7996826,"cg_id_a":0.126629576,"cg_id_raw_a":0.354121804,"cg_iq_a":-0.414602846,"cg_iq_raw_a":-0.000616328965,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14418017,"cg_sample_valid":1,"cg_theta_rad":5.00702381,"cg_vd_req_v":0.0761406422,"cg_vd_v":0.0761406422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357331753,"cg_vq_v":-0.357331753,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9072876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.366455,"values":{"Elec_RPM":-1.72874505e-28,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.45749022e-29,"cg_du":50.1581116,"cg_dv":50.2054443,"cg_dw":49.7945557,"cg_id_a":0.142119095,"cg_id_raw_a":0.406000733,"cg_iq_a":0.0764311999,"cg_iq_raw_a":-0.324462086,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14418067,"cg_sample_valid":1,"cg_theta_rad":5.00863361,"cg_vd_req_v":0.074938789,"cg_vd_v":0.074938789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368143708,"cg_vq_v":-0.368143708,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.842729807,"dclink_p_w":-121.963783,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.374268,"values":{"Elec_RPM":-1.69417016e-28,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-3.38834031e-29,"cg_du":50.1518555,"cg_dv":50.1990204,"cg_dw":49.8009796,"cg_id_a":0.156056926,"cg_id_raw_a":0.218212232,"cg_iq_a":-0.502939463,"cg_iq_raw_a":-1.43467736,"cg_iu_a":-0.214929581,"cg_iv_a":-0.257040501,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9472733,"cg_sample_seq":14418117,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0737078637,"cg_vd_v":0.0737078637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355880946,"cg_vq_v":-0.355880946,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.62526679,"dclink_p_w":-90.4915237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.38208,"values":{"Elec_RPM":-1.69417016e-28,"EncoderCos":38710,"EncoderSin":12511,"GapTicks":54779,"Mech_RPM":-3.38834031e-29,"cg_du":50.1551285,"cg_dv":50.2005424,"cg_dw":49.7994576,"cg_id_a":0.174421206,"cg_id_raw_a":-0.0141863273,"cg_iq_a":-0.219750762,"cg_iq_raw_a":0.327157229,"cg_iu_a":0.111264944,"cg_iv_a":0.214129329,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9836369,"cg_sample_seq":14418167,"cg_sample_valid":1,"cg_theta_rad":5.00847197,"cg_vd_req_v":0.0730967596,"cg_vd_v":0.0730967596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359685808,"cg_vq_v":-0.359685808,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.293625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8835449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.389893,"values":{"Elec_RPM":-1.66028667e-28,"EncoderCos":38709,"EncoderSin":12474,"GapTicks":54777,"Mech_RPM":-3.32057346e-29,"cg_du":50.1515427,"cg_dv":50.2019615,"cg_dw":49.7980385,"cg_id_a":-0.124551192,"cg_id_raw_a":-0.128379196,"cg_iq_a":-0.110623538,"cg_iq_raw_a":-0.0120363198,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9654541,"cg_sample_seq":14418217,"cg_sample_valid":1,"cg_theta_rad":5.0085783,"cg_vd_req_v":0.0782844424,"cg_vd_v":0.0782844424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359386802,"cg_vq_v":-0.359386802,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.293625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.397705,"values":{"Elec_RPM":-1.66028667e-28,"EncoderCos":38747,"EncoderSin":12484,"GapTicks":54775,"Mech_RPM":-3.32057346e-29,"cg_du":50.1511917,"cg_dv":50.2043533,"cg_dw":49.7956467,"cg_id_a":-0.0470695645,"cg_id_raw_a":0.0713180229,"cg_iq_a":0.0516441166,"cg_iq_raw_a":0.334796458,"cg_iu_a":-0.142441988,"cg_iv_a":-1.41684318,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9581814,"cg_sample_seq":14418267,"cg_sample_valid":1,"cg_theta_rad":5.00622272,"cg_vd_req_v":0.0772734061,"cg_vd_v":0.0772734061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36207059,"cg_vq_v":-0.36207059,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.293625,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2610.428955,"values":{"Elec_RPM":-1.62708099e-28,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54788,"Mech_RPM":-3.25416198e-29,"cg_du":50.1429405,"cg_dv":50.1925392,"cg_dw":49.8074608,"cg_id_a":0.0757469982,"cg_id_raw_a":-0.0768375546,"cg_iq_a":-0.8300578,"cg_iq_raw_a":-0.334132254,"cg_iu_a":-0.106198072,"cg_iv_a":-0.510747433,"cg_iw_a":0.616945505,"cg_sample_age_us":23.863636,"cg_sample_seq":14418321,"cg_sample_valid":1,"cg_theta_rad":5.00719595,"cg_vd_req_v":0.0740479678,"cg_vd_v":0.0740479678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34214586,"cg_vq_v":-0.34214586,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.469418406,"dclink_p_w":-67.9364166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8977966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.436768,"values":{"Elec_RPM":-1.62708099e-28,"EncoderCos":38754,"EncoderSin":12468,"GapTicks":54778,"Mech_RPM":-3.25416198e-29,"cg_du":50.1540833,"cg_dv":50.2009125,"cg_dw":49.7990875,"cg_id_a":0.182627007,"cg_id_raw_a":0.163281888,"cg_iq_a":-0.0726175755,"cg_iq_raw_a":0.0155183999,"cg_iu_a":-0.577367783,"cg_iv_a":0.504079938,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9181824,"cg_sample_seq":14418367,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.0717419013,"cg_vd_v":0.0717419013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360116005,"cg_vq_v":-0.360116005,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8977966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.44458,"values":{"Elec_RPM":-1.59453939e-28,"EncoderCos":38723,"EncoderSin":12461,"GapTicks":54783,"Mech_RPM":-3.18907878e-29,"cg_du":50.1630669,"cg_dv":50.1966934,"cg_dw":49.8033066,"cg_id_a":0.582549751,"cg_id_raw_a":1.5300113,"cg_iq_a":-0.087921679,"cg_iq_raw_a":-1.70693505,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9763641,"cg_sample_seq":14418417,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0631062165,"cg_vd_v":0.0631062165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357786059,"cg_vq_v":-0.357786059,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.5104675,"temp_inv2_c":36.8803711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2610.452393,"values":{"Elec_RPM":-1.59453939e-28,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54782,"Mech_RPM":-3.18907878e-29,"cg_du":50.1503716,"cg_dv":50.197567,"cg_dw":49.802433,"cg_id_a":-0.0535765737,"cg_id_raw_a":-0.293764025,"cg_iq_a":-0.150130272,"cg_iq_raw_a":0.590658784,"cg_iu_a":0.183752537,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9763641,"cg_sample_seq":14418467,"cg_sample_valid":1,"cg_theta_rad":5.008533,"cg_vd_req_v":0.0748880878,"cg_vd_v":0.0748880878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352769881,"cg_vq_v":-0.352769881,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8708801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.460205,"values":{"Elec_RPM":-1.56264852e-28,"EncoderCos":38699,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.1252971e-29,"cg_du":50.1516304,"cg_dv":50.2001419,"cg_dw":49.7998581,"cg_id_a":-0.0847796202,"cg_id_raw_a":-0.589601934,"cg_iq_a":0.0187393352,"cg_iq_raw_a":0.376730204,"cg_iu_a":0.111264944,"cg_iv_a":0.359104574,"cg_iw_a":-0.470369518,"cg_sample_age_us":24.0381813,"cg_sample_seq":14418517,"cg_sample_valid":1,"cg_theta_rad":5.00852489,"cg_vd_req_v":0.0776280314,"cg_vd_v":0.0776280314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355578184,"cg_vq_v":-0.355578184,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.7385025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8708801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2610.468018,"values":{"Elec_RPM":-1.56264852e-28,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54787,"Mech_RPM":-3.1252971e-29,"cg_du":50.1460838,"cg_dv":50.1934242,"cg_dw":49.8065758,"cg_id_a":0.101133466,"cg_id_raw_a":0.471358776,"cg_iq_a":-0.362612486,"cg_iq_raw_a":0.520301938,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.25704056,"cg_iw_a":0.290750802,"cg_sample_age_us":23.8672733,"cg_sample_seq":14418567,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0734628439,"cg_vd_v":0.0734628439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344893128,"cg_vq_v":-0.344893128,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.1343117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.9088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.479736,"values":{"Elec_RPM":-1.53139549e-28,"EncoderCos":38729,"EncoderSin":12449,"GapTicks":54778,"Mech_RPM":-3.06279104e-29,"cg_du":50.1501503,"cg_dv":50.2009163,"cg_dw":49.7990837,"cg_id_a":-0.143164456,"cg_id_raw_a":-0.0517057255,"cg_iq_a":0.28691715,"cg_iq_raw_a":-0.368365496,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9363632,"cg_sample_seq":14418616,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.0773481205,"cg_vd_v":0.0773481205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35740456,"cg_vq_v":-0.35740456,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.487549,"values":{"Elec_RPM":-1.53139549e-28,"EncoderCos":38709,"EncoderSin":12498,"GapTicks":54786,"Mech_RPM":-3.06279104e-29,"cg_du":50.1439133,"cg_dv":50.1942482,"cg_dw":49.8057518,"cg_id_a":-0.020874545,"cg_id_raw_a":-0.688967049,"cg_iq_a":-0.337811828,"cg_iq_raw_a":0.770671546,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104574,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9763641,"cg_sample_seq":14418667,"cg_sample_valid":1,"cg_theta_rad":5.0081811,"cg_vd_req_v":0.0764018148,"cg_vd_v":0.0764018148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345800787,"cg_vq_v":-0.345800787,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.369747758,"dclink_p_w":-53.6742668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.495361,"values":{"Elec_RPM":-1.50076767e-28,"EncoderCos":38729,"EncoderSin":12451,"GapTicks":54790,"Mech_RPM":-3.00153534e-29,"cg_du":50.1441841,"cg_dv":50.1900368,"cg_dw":49.8099632,"cg_id_a":0.290734351,"cg_id_raw_a":0.427452028,"cg_iq_a":-0.535271049,"cg_iq_raw_a":-0.540345311,"cg_iu_a":-0.39614892,"cg_iv_a":-0.184552908,"cg_iw_a":0.580701828,"cg_sample_age_us":23.9218178,"cg_sample_seq":14418717,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0714113638,"cg_vd_v":0.0714113638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339273959,"cg_vq_v":-0.339273959,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.50708,"values":{"Elec_RPM":-1.50076767e-28,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54793,"Mech_RPM":-3.00153534e-29,"cg_du":50.1387367,"cg_dv":50.1880341,"cg_dw":49.8119659,"cg_id_a":0.204918712,"cg_id_raw_a":0.146434069,"cg_iq_a":-0.525704503,"cg_iq_raw_a":-0.458316654,"cg_iu_a":0.111264944,"cg_iv_a":0.721542954,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9799995,"cg_sample_seq":14418767,"cg_sample_valid":1,"cg_theta_rad":5.00714636,"cg_vd_req_v":0.07414224,"cg_vd_v":0.07414224,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33447203,"cg_vq_v":-0.33447203,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.237457752,"dclink_p_w":-34.3659897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.534424,"values":{"Elec_RPM":-1.47075229e-28,"EncoderCos":38748,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-2.9415047e-29,"cg_du":50.1368828,"cg_dv":50.1910248,"cg_dw":49.8089752,"cg_id_a":0.0558521971,"cg_id_raw_a":0.115460217,"cg_iq_a":-0.130377457,"cg_iq_raw_a":-0.60732621,"cg_iu_a":0.546190977,"cg_iv_a":-0.365772009,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9581814,"cg_sample_seq":14418820,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0763975531,"cg_vd_v":0.0763975531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336918414,"cg_vq_v":-0.336918414,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.486084,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.542236,"values":{"Elec_RPM":-1.47075229e-28,"EncoderCos":38738,"EncoderSin":12485,"GapTicks":54793,"Mech_RPM":-2.9415047e-29,"cg_du":50.1309624,"cg_dv":50.1881294,"cg_dw":49.8118706,"cg_id_a":-0.0681392401,"cg_id_raw_a":-0.0549401306,"cg_iq_a":-0.424384952,"cg_iq_raw_a":-0.805059731,"cg_iu_a":0.328727841,"cg_iv_a":0.0691539645,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.9254551,"cg_sample_seq":14418866,"cg_sample_valid":1,"cg_theta_rad":5.00662279,"cg_vd_req_v":0.0784970075,"cg_vd_v":0.0784970075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329614758,"cg_vq_v":-0.329614758,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.550049,"values":{"Elec_RPM":-1.4413372e-28,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54786,"Mech_RPM":-2.88267446e-29,"cg_du":50.1356239,"cg_dv":50.1937523,"cg_dw":49.8062477,"cg_id_a":-0.210263982,"cg_id_raw_a":-0.0694842115,"cg_iq_a":0.0716203377,"cg_iq_raw_a":0.0303615108,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772069,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9581814,"cg_sample_seq":14418916,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0823271126,"cg_vd_v":0.0823271126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339385509,"cg_vq_v":-0.339385509,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.220005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.557861,"values":{"Elec_RPM":-1.4413372e-28,"EncoderCos":38738,"EncoderSin":12474,"GapTicks":54795,"Mech_RPM":-2.88267446e-29,"cg_du":50.1268196,"cg_dv":50.1856422,"cg_dw":49.8143578,"cg_id_a":0.0444709584,"cg_id_raw_a":0.535505772,"cg_iq_a":-0.614582419,"cg_iq_raw_a":0.305613756,"cg_iu_a":0.256240368,"cg_iv_a":0.250373065,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.863636,"cg_sample_seq":14418966,"cg_sample_valid":1,"cg_theta_rad":5.00792837,"cg_vd_req_v":0.0796019062,"cg_vd_v":0.0796019062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323850304,"cg_vq_v":-0.323850304,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.220005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.565674,"values":{"Elec_RPM":-1.41251048e-28,"EncoderCos":38736,"EncoderSin":12483,"GapTicks":54789,"Mech_RPM":-2.82502085e-29,"cg_du":50.1342773,"cg_dv":50.1911049,"cg_dw":49.8088951,"cg_id_a":0.0416668653,"cg_id_raw_a":0.227704138,"cg_iq_a":-0.123388745,"cg_iq_raw_a":0.677242219,"cg_iu_a":0.14750886,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9836369,"cg_sample_seq":14419017,"cg_sample_valid":1,"cg_theta_rad":5.00591421,"cg_vd_req_v":0.0791968331,"cg_vd_v":0.0791968331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336494207,"cg_vq_v":-0.336494207,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.220005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8771973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.573486,"values":{"Elec_RPM":-1.41251048e-28,"EncoderCos":38701,"EncoderSin":12458,"GapTicks":54790,"Mech_RPM":-2.82502085e-29,"cg_du":50.1344681,"cg_dv":50.1904373,"cg_dw":49.8095627,"cg_id_a":-0.0532075614,"cg_id_raw_a":0.126611516,"cg_iq_a":-0.14975594,"cg_iq_raw_a":-0.241206691,"cg_iu_a":0.691166401,"cg_iv_a":0.286616981,"cg_iw_a":-0.977783382,"cg_sample_age_us":23.9472733,"cg_sample_seq":14419067,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0816436931,"cg_vd_v":0.0816436931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334913492,"cg_vq_v":-0.334913492,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.220005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8771973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.581299,"values":{"Elec_RPM":-1.38426022e-28,"EncoderCos":38732,"EncoderSin":12500,"GapTicks":54792,"Mech_RPM":-2.76852038e-29,"cg_du":50.1350021,"cg_dv":50.1887856,"cg_dw":49.8112144,"cg_id_a":0.215279937,"cg_id_raw_a":-0.131101817,"cg_iq_a":-0.177368045,"cg_iq_raw_a":0.243420079,"cg_iu_a":0.401215553,"cg_iv_a":0.540323794,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9836369,"cg_sample_seq":14419168,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0760552064,"cg_vd_v":0.0760552064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332734704,"cg_vq_v":-0.332734704,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":0.21015358,"dclink_p_w":30.4144039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.891449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.593018,"values":{"Elec_RPM":-1.35657498e-28,"EncoderCos":38719,"EncoderSin":12495,"GapTicks":54790,"Mech_RPM":-2.7131499e-29,"cg_du":50.1310654,"cg_dv":50.1900444,"cg_dw":49.8099556,"cg_id_a":-0.0927353054,"cg_id_raw_a":0.298586458,"cg_iq_a":-0.201527715,"cg_iq_raw_a":-0.29815495,"cg_iu_a":-0.251173496,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14419217,"cg_sample_valid":1,"cg_theta_rad":5.00527668,"cg_vd_req_v":0.0814686418,"cg_vd_v":0.0814686418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331988841,"cg_vq_v":-0.331988841,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8708801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.60083,"values":{"Elec_RPM":-1.35657498e-28,"EncoderCos":38710,"EncoderSin":12465,"GapTicks":54797,"Mech_RPM":-2.7131499e-29,"cg_du":50.1281013,"cg_dv":50.1836777,"cg_dw":49.8163223,"cg_id_a":0.072613582,"cg_id_raw_a":-0.0622910187,"cg_iq_a":-0.447567105,"cg_iq_raw_a":-0.041876968,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9872723,"cg_sample_seq":14419267,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0789409429,"cg_vd_v":0.0789409429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321348906,"cg_vq_v":-0.321348906,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.872467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.628174,"values":{"Elec_RPM":-1.32944344e-28,"EncoderCos":38750,"EncoderSin":12483,"GapTicks":54793,"Mech_RPM":-2.65888682e-29,"cg_du":50.1240005,"cg_dv":50.187458,"cg_dw":49.812542,"cg_id_a":-0.00188916922,"cg_id_raw_a":-0.373987943,"cg_iq_a":-0.171581298,"cg_iq_raw_a":0.149099246,"cg_iu_a":-0.251173496,"cg_iv_a":0.721542895,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.8745461,"cg_sample_seq":14419320,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.0827397555,"cg_vd_v":0.0827397555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32602033,"cg_vq_v":-0.32602033,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.254261822,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.872467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.635986,"values":{"Elec_RPM":-1.32944344e-28,"EncoderCos":38733,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-2.65888682e-29,"cg_du":50.1359215,"cg_dv":50.1980591,"cg_dw":49.8019409,"cg_id_a":-0.0458593816,"cg_id_raw_a":0.0139453271,"cg_iq_a":0.8521474,"cg_iq_raw_a":0.0385406427,"cg_iu_a":-0.649855614,"cg_iv_a":-0.546991229,"cg_iw_a":1.19684684,"cg_sample_age_us":23.9509087,"cg_sample_seq":14419366,"cg_sample_valid":1,"cg_theta_rad":5.00673008,"cg_vd_req_v":0.0850928873,"cg_vd_v":0.0850928873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345700622,"cg_vq_v":-0.345700622,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8708801,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.647705,"values":{"Elec_RPM":-1.30285453e-28,"EncoderCos":38742,"EncoderSin":12482,"GapTicks":54787,"Mech_RPM":-2.60570919e-29,"cg_du":50.1289558,"cg_dv":50.1933937,"cg_dw":49.8066063,"cg_id_a":-0.0109747536,"cg_id_raw_a":-0.316947788,"cg_iq_a":0.337112099,"cg_iq_raw_a":-0.246701643,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8600006,"cg_sample_seq":14419417,"cg_sample_valid":1,"cg_theta_rad":5.00663567,"cg_vd_req_v":0.0849234387,"cg_vd_v":0.0849234387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335736156,"cg_vq_v":-0.335736156,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.655518,"values":{"Elec_RPM":-1.30285453e-28,"EncoderCos":38704,"EncoderSin":12442,"GapTicks":54785,"Mech_RPM":-2.60570919e-29,"cg_du":50.12743,"cg_dv":50.1951523,"cg_dw":49.8048477,"cg_id_a":-0.0138394004,"cg_id_raw_a":-0.0503576174,"cg_iq_a":-0.15548107,"cg_iq_raw_a":0.25065735,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9218178,"cg_sample_seq":14419467,"cg_sample_valid":1,"cg_theta_rad":5.00594378,"cg_vd_req_v":0.0884019732,"cg_vd_v":0.0884019732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337134928,"cg_vq_v":-0.337134928,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.66333,"values":{"Elec_RPM":-1.27679754e-28,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-2.55359503e-29,"cg_du":50.1265182,"cg_dv":50.192337,"cg_dw":49.807663,"cg_id_a":-0.0572497472,"cg_id_raw_a":-0.105583601,"cg_iq_a":0.167951196,"cg_iq_raw_a":0.390916735,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14419517,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0884931162,"cg_vd_v":0.0884931162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33223936,"cg_vq_v":-0.33223936,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.671143,"values":{"Elec_RPM":-1.27679754e-28,"EncoderCos":38721,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-2.55359503e-29,"cg_du":50.1211777,"cg_dv":50.1966743,"cg_dw":49.8033257,"cg_id_a":-0.210097164,"cg_id_raw_a":-0.343647212,"cg_iq_a":0.135691151,"cg_iq_raw_a":0.0406528674,"cg_iu_a":0.00253343582,"cg_iv_a":-0.619478822,"cg_iw_a":0.616945386,"cg_sample_age_us":23.863636,"cg_sample_seq":14419566,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0945982188,"cg_vd_v":0.0945982188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335022628,"cg_vq_v":-0.332409978,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.682861,"values":{"Elec_RPM":-1.25126152e-28,"EncoderCos":38724,"EncoderSin":12489,"GapTicks":54790,"Mech_RPM":-2.50252313e-29,"cg_du":50.1168404,"cg_dv":50.1900558,"cg_dw":49.8099442,"cg_id_a":-0.0122525096,"cg_id_raw_a":0.124832407,"cg_iq_a":-0.437994719,"cg_iq_raw_a":-0.242132127,"cg_iu_a":-0.287417173,"cg_iv_a":0.39534843,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14419617,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0924177542,"cg_vd_v":0.0924177542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324105054,"cg_vq_v":-0.324105054,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.83090925,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8613892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.690674,"values":{"Elec_RPM":-1.25126152e-28,"EncoderCos":38723,"EncoderSin":12467,"GapTicks":54785,"Mech_RPM":-2.50252313e-29,"cg_du":50.1192093,"cg_dv":50.1954079,"cg_dw":49.8045921,"cg_id_a":-0.227601945,"cg_id_raw_a":0.547889531,"cg_iq_a":-0.121848024,"cg_iq_raw_a":0.600334585,"cg_iu_a":0.654922366,"cg_iv_a":-0.510747313,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9909096,"cg_sample_seq":14419667,"cg_sample_valid":1,"cg_theta_rad":5.00663948,"cg_vd_req_v":0.0963226706,"cg_vd_v":0.0963226706,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332545847,"cg_vq_v":-0.332545847,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.698486,"values":{"Elec_RPM":-1.22623635e-28,"EncoderCos":38697,"EncoderSin":12442,"GapTicks":54793,"Mech_RPM":-2.45247272e-29,"cg_du":50.1117821,"cg_dv":50.187645,"cg_dw":49.812355,"cg_id_a":-0.213912621,"cg_id_raw_a":0.306815594,"cg_iq_a":-1.02308953,"cg_iq_raw_a":0.251677185,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9472733,"cg_sample_seq":14419717,"cg_sample_valid":1,"cg_theta_rad":5.00606537,"cg_vd_req_v":0.0970301107,"cg_vd_v":0.0970301107,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317094564,"cg_vq_v":-0.317094564,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.66569042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.874054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.706299,"values":{"Elec_RPM":-1.22623635e-28,"EncoderCos":38693,"EncoderSin":12486,"GapTicks":54781,"Mech_RPM":-2.45247272e-29,"cg_du":50.1333504,"cg_dv":50.1986008,"cg_dw":49.8013992,"cg_id_a":0.207229078,"cg_id_raw_a":-0.0405387022,"cg_iq_a":0.311938941,"cg_iq_raw_a":0.360985249,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9363632,"cg_sample_seq":14419767,"cg_sample_valid":1,"cg_theta_rad":5.00773048,"cg_vd_req_v":0.0902316421,"cg_vd_v":0.0902316421,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344330519,"cg_vq_v":-0.344330519,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8771973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.733643,"values":{"Elec_RPM":-1.20171155e-28,"EncoderCos":38763,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-2.4034232e-29,"cg_du":50.1336746,"cg_dv":50.2019234,"cg_dw":49.7980766,"cg_id_a":0.27602312,"cg_id_raw_a":-0.37868306,"cg_iq_a":0.793933213,"cg_iq_raw_a":-0.0321481936,"cg_iu_a":0.183752537,"cg_iv_a":0.250373125,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8563633,"cg_sample_seq":14419820,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.087736778,"cg_vd_v":0.087736778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350432783,"cg_vq_v":-0.350432783,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.741455,"values":{"Elec_RPM":-1.20171155e-28,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-2.4034232e-29,"cg_du":50.1225319,"cg_dv":50.194603,"cg_dw":49.805397,"cg_id_a":0.0203465074,"cg_id_raw_a":0.15780203,"cg_iq_a":-0.0791865885,"cg_iq_raw_a":-0.347569823,"cg_iu_a":0.401215553,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.954546,"cg_sample_seq":14419866,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0940772742,"cg_vd_v":0.0940772742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332998365,"cg_vq_v":-0.332998365,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.749268,"values":{"Elec_RPM":-1.17767739e-28,"EncoderCos":38707,"EncoderSin":12447,"GapTicks":54783,"Mech_RPM":-2.35535469e-29,"cg_du":50.1219749,"cg_dv":50.1971436,"cg_dw":49.8028564,"cg_id_a":-0.123590723,"cg_id_raw_a":-0.0864317417,"cg_iq_a":0.0432878174,"cg_iq_raw_a":-0.62740612,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8709087,"cg_sample_seq":14419916,"cg_sample_valid":1,"cg_theta_rad":5.00614882,"cg_vd_req_v":0.097820729,"cg_vd_v":0.097820729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336997628,"cg_vq_v":-0.336997628,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.4722042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.760986,"values":{"Elec_RPM":-1.17767739e-28,"EncoderCos":38716,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-2.35535469e-29,"cg_du":50.1264076,"cg_dv":50.2000656,"cg_dw":49.7999344,"cg_id_a":-0.0845084041,"cg_id_raw_a":0.429017007,"cg_iq_a":0.284504384,"cg_iq_raw_a":0.95317471,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9472733,"cg_sample_seq":14419966,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0953692421,"cg_vd_v":0.0953692421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34287253,"cg_vq_v":-0.34287253,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.4722042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.768799,"values":{"Elec_RPM":-1.13104136e-28,"EncoderCos":38696,"EncoderSin":12450,"GapTicks":54786,"Mech_RPM":-2.26208266e-29,"cg_du":50.1213989,"cg_dv":50.1936798,"cg_dw":49.8063202,"cg_id_a":-0.0730449706,"cg_id_raw_a":-0.0716068745,"cg_iq_a":-0.133369818,"cg_iq_raw_a":-0.152457878,"cg_iu_a":0.328727961,"cg_iv_a":-0.619478822,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9690914,"cg_sample_seq":14420117,"cg_sample_valid":1,"cg_theta_rad":5.00566673,"cg_vd_req_v":0.0953464657,"cg_vd_v":0.0953464657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330738515,"cg_vq_v":-0.330738515,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.872467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.776611,"values":{"Elec_RPM":-1.13104136e-28,"EncoderCos":38692,"EncoderSin":12444,"GapTicks":54788,"Mech_RPM":-2.26208266e-29,"cg_du":50.1209602,"cg_dv":50.1919212,"cg_dw":49.8080788,"cg_id_a":0.018560119,"cg_id_raw_a":0.229264528,"cg_iq_a":-0.279527158,"cg_iq_raw_a":-0.0113388784,"cg_iu_a":0.401215553,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14420167,"cg_sample_valid":1,"cg_theta_rad":5.00742579,"cg_vd_req_v":0.0943924487,"cg_vd_v":0.0943924487,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327987671,"cg_vq_v":-0.327987671,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.78833,"values":{"Elec_RPM":-1.10842059e-28,"EncoderCos":38714,"EncoderSin":12501,"GapTicks":54787,"Mech_RPM":-2.21684106e-29,"cg_du":50.1161194,"cg_dv":50.1931305,"cg_dw":49.8068695,"cg_id_a":-0.198440954,"cg_id_raw_a":-0.0624325573,"cg_iq_a":-0.209415466,"cg_iq_raw_a":-0.0416656584,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9763641,"cg_sample_seq":14420217,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0964407995,"cg_vd_v":0.0964407995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327746928,"cg_vq_v":-0.327746928,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.393306375,"dclink_p_w":-56.9211311,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8613892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.796143,"values":{"Elec_RPM":-1.10842059e-28,"EncoderCos":38694,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-2.21684106e-29,"cg_du":50.1239052,"cg_dv":50.198307,"cg_dw":49.801693,"cg_id_a":-0.239856541,"cg_id_raw_a":-0.644120097,"cg_iq_a":0.249923572,"cg_iq_raw_a":1.50046194,"cg_iu_a":0.328727961,"cg_iv_a":-0.72821033,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9763641,"cg_sample_seq":14420267,"cg_sample_valid":1,"cg_theta_rad":5.00630283,"cg_vd_req_v":0.0978778005,"cg_vd_v":0.0978778005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338434517,"cg_vq_v":-0.338434517,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.386057615,"dclink_p_w":-56.0418816,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8613892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.823486,"values":{"Elec_RPM":-1.08625205e-28,"EncoderCos":38749,"EncoderSin":12470,"GapTicks":54776,"Mech_RPM":-2.1725042e-29,"cg_du":50.1234055,"cg_dv":50.2030869,"cg_dw":49.7969131,"cg_id_a":-0.232696652,"cg_id_raw_a":0.683138013,"cg_iq_a":0.561877608,"cg_iq_raw_a":-0.155308768,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8527279,"cg_sample_seq":14420320,"cg_sample_valid":1,"cg_theta_rad":5.00688028,"cg_vd_req_v":0.0983806103,"cg_vd_v":0.0983806103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345946521,"cg_vq_v":-0.345946521,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.386057615,"dclink_p_w":-56.0418816,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8518982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.831299,"values":{"Elec_RPM":-1.08625205e-28,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-2.1725042e-29,"cg_du":50.1304436,"cg_dv":50.193985,"cg_dw":49.806015,"cg_id_a":0.19078584,"cg_id_raw_a":0.155822366,"cg_iq_a":0.055728592,"cg_iq_raw_a":0.0893959478,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8600006,"cg_sample_seq":14420366,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0873547569,"cg_vd_v":0.0873547569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336601436,"cg_vq_v":-0.336601436,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.386057615,"dclink_p_w":-56.0418816,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8518982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.839111,"values":{"Elec_RPM":-1.06452708e-28,"EncoderCos":38716,"EncoderSin":12466,"GapTicks":54781,"Mech_RPM":-2.12905416e-29,"cg_du":50.1312599,"cg_dv":50.198349,"cg_dw":49.801651,"cg_id_a":0.0267977174,"cg_id_raw_a":-0.445504427,"cg_iq_a":0.285266221,"cg_iq_raw_a":0.430184007,"cg_iu_a":0.147508621,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.8454552,"cg_sample_seq":14420417,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0902951583,"cg_vd_v":0.0902951583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343156517,"cg_vq_v":-0.343156517,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.386057615,"dclink_p_w":-56.0418816,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8598022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.846924,"values":{"Elec_RPM":-1.06452708e-28,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54787,"Mech_RPM":-2.12905416e-29,"cg_du":50.124733,"cg_dv":50.1929245,"cg_dw":49.8070755,"cg_id_a":-0.0299708061,"cg_id_raw_a":-0.13372533,"cg_iq_a":-0.211565256,"cg_iq_raw_a":-0.813540578,"cg_iu_a":0.0750210285,"cg_iv_a":0.322860777,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9472733,"cg_sample_seq":14420466,"cg_sample_valid":1,"cg_theta_rad":5.00611734,"cg_vd_req_v":0.0901653618,"cg_vd_v":0.0901653618,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333191872,"cg_vq_v":-0.333191872,"cg_vu_v":37.3908691,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.858643,"values":{"Elec_RPM":-1.04323653e-28,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-2.08647306e-29,"cg_du":50.1341743,"cg_dv":50.2024689,"cg_dw":49.7975311,"cg_id_a":-0.125610992,"cg_id_raw_a":-0.334373057,"cg_iq_a":0.516130805,"cg_iq_raw_a":0.587087035,"cg_iu_a":0.292484283,"cg_iv_a":-0.112065196,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.8563633,"cg_sample_seq":14420517,"cg_sample_valid":1,"cg_theta_rad":5.00789452,"cg_vd_req_v":0.0920191482,"cg_vd_v":0.0920191482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351527572,"cg_vq_v":-0.351527572,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8692627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.866455,"values":{"Elec_RPM":-1.04323653e-28,"EncoderCos":38747,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-2.08647306e-29,"cg_du":50.1275215,"cg_dv":50.2010498,"cg_dw":49.7989502,"cg_id_a":-0.0658581406,"cg_id_raw_a":0.178725377,"cg_iq_a":0.212104186,"cg_iq_raw_a":0.30817914,"cg_iu_a":-0.251173496,"cg_iv_a":-0.546991229,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9763641,"cg_sample_seq":14420567,"cg_sample_valid":1,"cg_theta_rad":5.00594234,"cg_vd_req_v":0.0933506712,"cg_vd_v":0.0933506712,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346533656,"cg_vq_v":-0.346533656,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8455505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.874268,"values":{"Elec_RPM":-1.02237173e-28,"EncoderCos":38675,"EncoderSin":12459,"GapTicks":54779,"Mech_RPM":-2.04474357e-29,"cg_du":50.1371651,"cg_dv":50.2008743,"cg_dw":49.7991257,"cg_id_a":0.014549166,"cg_id_raw_a":-0.0662208647,"cg_iq_a":0.238705352,"cg_iq_raw_a":0.576923609,"cg_iu_a":-0.686099529,"cg_iv_a":-0.184552908,"cg_iw_a":0.870652437,"cg_sample_age_us":23.9509087,"cg_sample_seq":14420617,"cg_sample_valid":1,"cg_theta_rad":5.00560093,"cg_vd_req_v":0.0915459543,"cg_vd_v":0.0915459543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34902516,"cg_vq_v":-0.34902516,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.88208,"values":{"Elec_RPM":-1.02237173e-28,"EncoderCos":38671,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-2.04474357e-29,"cg_du":50.1388855,"cg_dv":50.2072029,"cg_dw":49.7927971,"cg_id_a":-0.152680874,"cg_id_raw_a":0.0238429233,"cg_iq_a":0.595482528,"cg_iq_raw_a":0.331487745,"cg_iu_a":0.61867857,"cg_iv_a":0.0329101086,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.954546,"cg_sample_seq":14420667,"cg_sample_valid":1,"cg_theta_rad":5.00655222,"cg_vd_req_v":0.0962463394,"cg_vd_v":0.0962463394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358596832,"cg_vq_v":-0.358596832,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8629761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.889893,"values":{"Elec_RPM":-1.00192437e-28,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-2.00384871e-29,"cg_du":50.1203842,"cg_dv":50.2044411,"cg_dw":49.7955589,"cg_id_a":-0.543757677,"cg_id_raw_a":-0.925343394,"cg_iq_a":-0.181866333,"cg_iq_raw_a":-0.455621839,"cg_iu_a":0.292484045,"cg_iv_a":-0.945673347,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14420717,"cg_sample_valid":1,"cg_theta_rad":5.00686216,"cg_vd_req_v":0.104979806,"cg_vd_v":0.104979806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345243722,"cg_vq_v":-0.345243722,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8613892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.901611,"values":{"Elec_RPM":-1.00192437e-28,"EncoderCos":38764,"EncoderSin":12490,"GapTicks":54772,"Mech_RPM":-2.00384871e-29,"cg_du":50.1306686,"cg_dv":50.2070198,"cg_dw":49.7929802,"cg_id_a":0.0452027917,"cg_id_raw_a":0.169571996,"cg_iq_a":0.350868285,"cg_iq_raw_a":-0.0573199354,"cg_iu_a":-0.287417173,"cg_iv_a":-0.728210449,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9727268,"cg_sample_seq":14420767,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0950294062,"cg_vd_v":0.0950294062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356899261,"cg_vq_v":-0.356899261,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.4271774,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8613892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.928955,"values":{"Elec_RPM":-9.8188591e-29,"EncoderCos":38759,"EncoderSin":12475,"GapTicks":54779,"Mech_RPM":-1.96377176e-29,"cg_du":50.1166267,"cg_dv":50.2002907,"cg_dw":49.7997093,"cg_id_a":-0.225800276,"cg_id_raw_a":-0.165325701,"cg_iq_a":-0.311772823,"cg_iq_raw_a":0.168101192,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8600006,"cg_sample_seq":14420820,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.1004472,"cg_vd_v":0.1004472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339650899,"cg_vq_v":-0.339650899,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8677063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.936768,"values":{"Elec_RPM":-9.8188591e-29,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-1.96377176e-29,"cg_du":50.133049,"cg_dv":50.2007065,"cg_dw":49.7992935,"cg_id_a":0.270478606,"cg_id_raw_a":0.205072716,"cg_iq_a":0.0999897718,"cg_iq_raw_a":-0.416307092,"cg_iu_a":-0.106198072,"cg_iv_a":0.032910049,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14420868,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0907075033,"cg_vd_v":0.0907075033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348615348,"cg_vq_v":-0.348615348,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.666947365,"dclink_p_w":-96.8171158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8582153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2610.94458,"values":{"Elec_RPM":-9.62248165e-29,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.92449633e-29,"cg_du":50.1265335,"cg_dv":50.1968689,"cg_dw":49.8031311,"cg_id_a":0.203090802,"cg_id_raw_a":0.49365598,"cg_iq_a":-0.361872733,"cg_iq_raw_a":-0.570165575,"cg_iu_a":0.256240368,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9218178,"cg_sample_seq":14420966,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0920372456,"cg_vd_v":0.0920372456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338627964,"cg_vq_v":-0.338627964,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8518982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.956299,"values":{"Elec_RPM":-9.4300325e-29,"EncoderCos":38712,"EncoderSin":12427,"GapTicks":54782,"Mech_RPM":-1.88600647e-29,"cg_du":50.1243896,"cg_dv":50.1979446,"cg_dw":49.8020554,"cg_id_a":0.117953502,"cg_id_raw_a":0.204709932,"cg_iq_a":-0.152013093,"cg_iq_raw_a":0.0218054187,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9872723,"cg_sample_seq":14421017,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0964988321,"cg_vd_v":0.0964988321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338400066,"cg_vq_v":-0.338400066,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8534546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.964111,"values":{"Elec_RPM":-9.4300325e-29,"EncoderCos":38741,"EncoderSin":12477,"GapTicks":54782,"Mech_RPM":-1.88600647e-29,"cg_du":50.1179008,"cg_dv":50.1973724,"cg_dw":49.8026276,"cg_id_a":0.0721729547,"cg_id_raw_a":-0.451024979,"cg_iq_a":-0.318200588,"cg_iq_raw_a":0.068291679,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9509087,"cg_sample_seq":14421067,"cg_sample_valid":1,"cg_theta_rad":5.00569916,"cg_vd_req_v":0.097660251,"cg_vd_v":0.097660251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334951758,"cg_vq_v":-0.334951758,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8534546,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2610.967055,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2610.96706,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2610.967066,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2610.971924,"values":{"Elec_RPM":-9.2414316e-29,"EncoderCos":38727,"EncoderSin":12452,"GapTicks":54781,"Mech_RPM":-1.84828638e-29,"cg_du":50.120842,"cg_dv":50.1984711,"cg_dw":49.8015289,"cg_id_a":0.0124929622,"cg_id_raw_a":-0.274972469,"cg_iq_a":-0.0973962024,"cg_iq_raw_a":0.629493892,"cg_iu_a":0.0387773514,"cg_iv_a":0.57656759,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9254551,"cg_sample_seq":14421117,"cg_sample_valid":1,"cg_theta_rad":5.00747681,"cg_vd_req_v":0.0980623215,"cg_vd_v":0.0980623215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337614655,"cg_vq_v":-0.337614655,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.6556473,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.979736,"values":{"Elec_RPM":-9.2414316e-29,"EncoderCos":38725,"EncoderSin":12491,"GapTicks":54785,"Mech_RPM":-1.84828638e-29,"cg_du":50.1126022,"cg_dv":50.1951561,"cg_dw":49.8048439,"cg_id_a":-0.0916047543,"cg_id_raw_a":-0.316145718,"cg_iq_a":-0.453724533,"cg_iq_raw_a":-0.247728646,"cg_iu_a":0.509947062,"cg_iv_a":0.105397761,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9436359,"cg_sample_seq":14421167,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.100573786,"cg_vd_v":0.100573786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328710884,"cg_vq_v":-0.328710884,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.987549,"values":{"Elec_RPM":-9.05660371e-29,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54780,"Mech_RPM":-1.81132071e-29,"cg_du":50.1208038,"cg_dv":50.1992035,"cg_dw":49.8007965,"cg_id_a":-0.0782622248,"cg_id_raw_a":-0.0596561059,"cg_iq_a":0.120321527,"cg_iq_raw_a":0.577639222,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397701,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9181824,"cg_sample_seq":14421217,"cg_sample_valid":1,"cg_theta_rad":5.00629091,"cg_vd_req_v":0.0987888873,"cg_vd_v":0.0987888873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338591456,"cg_vq_v":-0.338591456,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8518982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2610.995361,"values":{"Elec_RPM":-9.05660371e-29,"EncoderCos":38720,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-1.81132071e-29,"cg_du":50.123661,"cg_dv":50.2011528,"cg_dw":49.7988472,"cg_id_a":-0.0917154625,"cg_id_raw_a":-0.273802966,"cg_iq_a":0.0920331255,"cg_iq_raw_a":-0.244527757,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8745461,"cg_sample_seq":14421267,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.0983451977,"cg_vd_v":0.0983451977,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341744065,"cg_vq_v":-0.341744065,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.022705,"values":{"Elec_RPM":-8.8754712e-29,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-1.77509427e-29,"cg_du":50.1223793,"cg_dv":50.2008286,"cg_dw":49.7991714,"cg_id_a":-0.209693462,"cg_id_raw_a":0.295107245,"cg_iq_a":0.0724021792,"cg_iq_raw_a":-0.0435940698,"cg_iu_a":0.364971757,"cg_iv_a":-0.800697982,"cg_iw_a":0.435726225,"cg_sample_age_us":23.8672733,"cg_sample_seq":14421366,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0990749076,"cg_vd_v":0.0990749076,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342830151,"cg_vq_v":-0.342830151,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.630703449,"dclink_p_w":-91.2783356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2597,"hz_tim_isr":4999,"hz_vsense":2597,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.034424,"values":{"Elec_RPM":-8.69796245e-29,"EncoderCos":38725,"EncoderSin":12456,"GapTicks":54775,"Mech_RPM":-1.73959246e-29,"cg_du":50.1303558,"cg_dv":50.2039337,"cg_dw":49.7960663,"cg_id_a":-0.0497631356,"cg_id_raw_a":0.496385217,"cg_iq_a":0.578422606,"cg_iq_raw_a":0.0492511317,"cg_iu_a":-0.577368021,"cg_iv_a":-0.438259721,"cg_iw_a":1.01562774,"cg_sample_age_us":23.8563633,"cg_sample_seq":14421416,"cg_sample_valid":1,"cg_theta_rad":5.00709009,"cg_vd_req_v":0.0962611884,"cg_vd_v":0.0962611884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351429701,"cg_vq_v":-0.351429701,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.630703449,"dclink_p_w":-91.2783356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.042236,"values":{"Elec_RPM":-8.69796245e-29,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-1.73959246e-29,"cg_du":50.1239929,"cg_dv":50.1992569,"cg_dw":49.8007431,"cg_id_a":-0.146392971,"cg_id_raw_a":-0.40959695,"cg_iq_a":0.168939218,"cg_iq_raw_a":0.0707411095,"cg_iu_a":0.654922485,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8490906,"cg_sample_seq":14421466,"cg_sample_valid":1,"cg_theta_rad":5.00670242,"cg_vd_req_v":0.0964343026,"cg_vd_v":0.0964343026,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342665255,"cg_vq_v":-0.342665255,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.6115417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2611.050049,"values":{"Elec_RPM":-8.52400343e-29,"EncoderCos":38672,"EncoderSin":12478,"GapTicks":54786,"Mech_RPM":-1.70480069e-29,"cg_du":50.1271553,"cg_dv":50.1945305,"cg_dw":49.8054695,"cg_id_a":0.0732802078,"cg_id_raw_a":0.233189911,"cg_iq_a":-0.228306249,"cg_iq_raw_a":-0.630152166,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8527279,"cg_sample_seq":14421517,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0931526273,"cg_vd_v":0.0931526273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335843384,"cg_vq_v":-0.335843384,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.6115417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.057861,"values":{"Elec_RPM":-8.52400343e-29,"EncoderCos":38719,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-1.70480069e-29,"cg_du":50.1301994,"cg_dv":50.1976852,"cg_dw":49.8023148,"cg_id_a":0.201920837,"cg_id_raw_a":0.486069441,"cg_iq_a":0.0570195913,"cg_iq_raw_a":-0.0614067093,"cg_iu_a":0.183752775,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.8527279,"cg_sample_seq":14421566,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0897259414,"cg_vd_v":0.0897259414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341855198,"cg_vq_v":-0.341855198,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.3290253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.065674,"values":{"Elec_RPM":-8.35352312e-29,"EncoderCos":38697,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-1.67070465e-29,"cg_du":50.1188583,"cg_dv":50.1978302,"cg_dw":49.8021698,"cg_id_a":-0.370095372,"cg_id_raw_a":-0.0653800368,"cg_iq_a":-0.281869441,"cg_iq_raw_a":0.394845188,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9763641,"cg_sample_seq":14421617,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.101074196,"cg_vd_v":0.101074196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335009992,"cg_vq_v":-0.335009992,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.3290253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.077393,"values":{"Elec_RPM":-8.35352312e-29,"EncoderCos":38711,"EncoderSin":12426,"GapTicks":54777,"Mech_RPM":-1.67070465e-29,"cg_du":50.1249428,"cg_dv":50.2021942,"cg_dw":49.7978058,"cg_id_a":-0.304561138,"cg_id_raw_a":-0.0108704586,"cg_iq_a":0.278511673,"cg_iq_raw_a":0.0725565329,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.655722618,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9836369,"cg_sample_seq":14421667,"cg_sample_valid":1,"cg_theta_rad":5.00448561,"cg_vd_req_v":0.100329392,"cg_vd_v":0.100329392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344438344,"cg_vq_v":-0.344438344,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.3290253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8677063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.085205,"values":{"Elec_RPM":-8.18645291e-29,"EncoderCos":38718,"EncoderSin":12468,"GapTicks":54783,"Mech_RPM":-1.63729052e-29,"cg_du":50.1214638,"cg_dv":50.1964111,"cg_dw":49.8035889,"cg_id_a":-0.048296757,"cg_id_raw_a":0.458710909,"cg_iq_a":-0.204878598,"cg_iq_raw_a":-0.209002122,"cg_iu_a":0.147508621,"cg_iv_a":-0.691966653,"cg_iw_a":0.544458032,"cg_sample_age_us":23.9799995,"cg_sample_seq":14421717,"cg_sample_valid":1,"cg_theta_rad":5.00769615,"cg_vd_req_v":0.0961810797,"cg_vd_v":0.0961810797,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336094588,"cg_vq_v":-0.336094588,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.3290253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8677063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.093018,"values":{"Elec_RPM":-8.18645291e-29,"EncoderCos":38707,"EncoderSin":12485,"GapTicks":54783,"Mech_RPM":-1.63729052e-29,"cg_du":50.1291199,"cg_dv":50.1971817,"cg_dw":49.8028183,"cg_id_a":0.209858373,"cg_id_raw_a":0.101416416,"cg_iq_a":0.0754335076,"cg_iq_raw_a":-0.207624018,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14421767,"cg_sample_valid":1,"cg_theta_rad":5.00766706,"cg_vd_req_v":0.0913641602,"cg_vd_v":0.0913641602,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341334522,"cg_vq_v":-0.341334522,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.4164467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8376465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.120361,"values":{"Elec_RPM":-8.02272359e-29,"EncoderCos":38705,"EncoderSin":12493,"GapTicks":54777,"Mech_RPM":-1.60454475e-29,"cg_du":50.1289711,"cg_dv":50.2024841,"cg_dw":49.7975159,"cg_id_a":-0.201483548,"cg_id_raw_a":-0.343792915,"cg_iq_a":0.308787614,"cg_iq_raw_a":0.0394013338,"cg_iu_a":0.256240129,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.8563633,"cg_sample_seq":14421820,"cg_sample_valid":1,"cg_theta_rad":5.01006985,"cg_vd_req_v":0.0966349244,"cg_vd_v":0.0966349244,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348480642,"cg_vq_v":-0.348480642,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.13208,"values":{"Elec_RPM":-8.02272359e-29,"EncoderCos":38728,"EncoderSin":12505,"GapTicks":54778,"Mech_RPM":-1.60454475e-29,"cg_du":50.1365585,"cg_dv":50.2010078,"cg_dw":49.7989922,"cg_id_a":0.238406539,"cg_id_raw_a":0.449342012,"cg_iq_a":0.33213827,"cg_iq_raw_a":0.552446067,"cg_iu_a":-0.794830799,"cg_iv_a":-0.148308992,"cg_iw_a":0.182019472,"cg_sample_age_us":23.954546,"cg_sample_seq":14421866,"cg_sample_valid":1,"cg_theta_rad":5.00689983,"cg_vd_req_v":0.0868331864,"cg_vd_v":0.0868331864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350224167,"cg_vq_v":-0.350224167,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8423767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.139893,"values":{"Elec_RPM":-7.86226895e-29,"EncoderCos":38724,"EncoderSin":12492,"GapTicks":54774,"Mech_RPM":-1.57245379e-29,"cg_du":50.1304436,"cg_dv":50.2050667,"cg_dw":49.7949333,"cg_id_a":-0.22319214,"cg_id_raw_a":-0.159194618,"cg_iq_a":0.261265099,"cg_iq_raw_a":0.531750441,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9181824,"cg_sample_seq":14421916,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0962066874,"cg_vd_v":0.0962066874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352169961,"cg_vq_v":-0.352169961,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.147705,"values":{"Elec_RPM":-7.86226895e-29,"EncoderCos":38714,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-1.57245379e-29,"cg_du":50.1356544,"cg_dv":50.1999664,"cg_dw":49.8000336,"cg_id_a":0.146828458,"cg_id_raw_a":-0.0361493081,"cg_iq_a":0.17947787,"cg_iq_raw_a":-0.512771726,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.954546,"cg_sample_seq":14421966,"cg_sample_valid":1,"cg_theta_rad":5.00646973,"cg_vd_req_v":0.0888456479,"cg_vd_v":0.0888456479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347718239,"cg_vq_v":-0.347718239,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.155518,"values":{"Elec_RPM":-7.70502339e-29,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54788,"Mech_RPM":-1.54100471e-29,"cg_du":50.1302299,"cg_dv":50.1923485,"cg_dw":49.8076515,"cg_id_a":0.330808043,"cg_id_raw_a":0.156880483,"cg_iq_a":-0.358661175,"cg_iq_raw_a":-1.22206223,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.863636,"cg_sample_seq":14422016,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0847812966,"cg_vd_v":0.0847812966,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335634589,"cg_vq_v":-0.335634589,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8645325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.16333,"values":{"Elec_RPM":-7.70502339e-29,"EncoderCos":38705,"EncoderSin":12468,"GapTicks":54784,"Mech_RPM":-1.54100471e-29,"cg_du":50.1307373,"cg_dv":50.1961517,"cg_dw":49.8038483,"cg_id_a":0.0113927722,"cg_id_raw_a":-0.00854031462,"cg_iq_a":-0.143908024,"cg_iq_raw_a":-0.364356458,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8672733,"cg_sample_seq":14422066,"cg_sample_valid":1,"cg_theta_rad":5.00634623,"cg_vd_req_v":0.0896362439,"cg_vd_v":0.0896362439,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340699822,"cg_vq_v":-0.340699822,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.171143,"values":{"Elec_RPM":-7.55092251e-29,"EncoderCos":38712,"EncoderSin":12457,"GapTicks":54784,"Mech_RPM":-1.51018456e-29,"cg_du":50.1295586,"cg_dv":50.1963539,"cg_dw":49.8036461,"cg_id_a":0.0318210684,"cg_id_raw_a":0.703603864,"cg_iq_a":-0.250423402,"cg_iq_raw_a":-0.547724724,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9872723,"cg_sample_seq":14422116,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0904758126,"cg_vd_v":0.0904758126,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340386152,"cg_vq_v":-0.340386152,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.3189087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8487244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.178955,"values":{"Elec_RPM":-7.55092251e-29,"EncoderCos":38709,"EncoderSin":12468,"GapTicks":54779,"Mech_RPM":-1.51018456e-29,"cg_du":50.1306267,"cg_dv":50.2001228,"cg_dw":49.7998772,"cg_id_a":-0.0842821002,"cg_id_raw_a":0.0752978474,"cg_iq_a":0.0199993253,"cg_iq_raw_a":0.263350636,"cg_iu_a":0.364971876,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8563633,"cg_sample_seq":14422166,"cg_sample_valid":1,"cg_theta_rad":5.00652742,"cg_vd_req_v":0.0930192843,"cg_vd_v":0.0930192843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345073432,"cg_vq_v":-0.345073432,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8946228,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.190674,"values":{"Elec_RPM":-7.39990433e-29,"EncoderCos":38699,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-1.47998087e-29,"cg_du":50.1314125,"cg_dv":50.2023201,"cg_dw":49.7976799,"cg_id_a":-0.163183987,"cg_id_raw_a":0.0381949656,"cg_iq_a":0.0852266476,"cg_iq_raw_a":-0.614639461,"cg_iu_a":0.509947062,"cg_iv_a":-0.148309112,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14422216,"cg_sample_valid":1,"cg_theta_rad":5.0069952,"cg_vd_req_v":0.0950556323,"cg_vd_v":0.0950556323,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348360389,"cg_vq_v":-0.348360389,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.198486,"values":{"Elec_RPM":-7.39990433e-29,"EncoderCos":38698,"EncoderSin":12498,"GapTicks":54778,"Mech_RPM":-1.47998087e-29,"cg_du":50.1290512,"cg_dv":50.2018204,"cg_dw":49.7981796,"cg_id_a":-0.107079804,"cg_id_raw_a":-0.456837773,"cg_iq_a":-0.0735934675,"cg_iq_raw_a":-0.300278693,"cg_iu_a":0.763653994,"cg_iv_a":-0.148309112,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9436359,"cg_sample_seq":14422266,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0960650146,"cg_vd_v":0.0960650146,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346448362,"cg_vq_v":-0.346448362,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.22583,"values":{"Elec_RPM":-7.25190624e-29,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54764,"Mech_RPM":-1.45038128e-29,"cg_du":50.1323929,"cg_dv":50.2139587,"cg_dw":49.7860413,"cg_id_a":-0.370328337,"cg_id_raw_a":-0.0161040761,"cg_iq_a":0.721584737,"cg_iq_raw_a":0.581751287,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796824,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8490906,"cg_sample_seq":14422321,"cg_sample_valid":1,"cg_theta_rad":5.0069437,"cg_vd_req_v":0.102842607,"cg_vd_v":0.102842607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365492493,"cg_vq_v":-0.365492493,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8392334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.233643,"values":{"Elec_RPM":-7.25190624e-29,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54778,"Mech_RPM":-1.45038128e-29,"cg_du":50.1238365,"cg_dv":50.2016258,"cg_dw":49.7983742,"cg_id_a":-0.102429263,"cg_id_raw_a":0.0699405223,"cg_iq_a":-0.37409395,"cg_iq_raw_a":-0.538618565,"cg_iu_a":0.582434893,"cg_iv_a":-0.184552908,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9836369,"cg_sample_seq":14422366,"cg_sample_valid":1,"cg_theta_rad":5.00602341,"cg_vd_req_v":0.0989813507,"cg_vd_v":0.0989813507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344654441,"cg_vq_v":-0.344654441,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8392334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.245361,"values":{"Elec_RPM":-7.10686807e-29,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54768,"Mech_RPM":-1.42137361e-29,"cg_du":50.1400833,"cg_dv":50.2104454,"cg_dw":49.7895546,"cg_id_a":-0.00529748946,"cg_id_raw_a":0.343894988,"cg_iq_a":0.500666857,"cg_iq_raw_a":2.00192404,"cg_iu_a":-0.287417412,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8999996,"cg_sample_seq":14422416,"cg_sample_valid":1,"cg_theta_rad":5.00682068,"cg_vd_req_v":0.0956887677,"cg_vd_v":0.0956887677,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365591317,"cg_vq_v":-0.365591317,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.253174,"values":{"Elec_RPM":-7.10686807e-29,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-1.42137361e-29,"cg_du":50.1292801,"cg_dv":50.2044029,"cg_dw":49.7955971,"cg_id_a":-0.0405934975,"cg_id_raw_a":0.273716599,"cg_iq_a":-0.166555211,"cg_iq_raw_a":-0.264671445,"cg_iu_a":-1.59219503,"cg_iv_a":-0.329528213,"cg_iw_a":1.92172325,"cg_sample_age_us":23.954546,"cg_sample_seq":14422468,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0960519686,"cg_vd_v":0.0960519686,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350730687,"cg_vq_v":-0.350730687,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8360596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.260986,"values":{"Elec_RPM":-6.96473083e-29,"EncoderCos":38722,"EncoderSin":12439,"GapTicks":54765,"Mech_RPM":-1.39294614e-29,"cg_du":50.1457214,"cg_dv":50.2134819,"cg_dw":49.7865181,"cg_id_a":-0.00918261707,"cg_id_raw_a":-0.151394039,"cg_iq_a":0.882446051,"cg_iq_raw_a":-0.414903522,"cg_iu_a":-1.73717046,"cg_iv_a":-0.293284416,"cg_iw_a":2.03045487,"cg_sample_age_us":23.9836369,"cg_sample_seq":14422516,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0938758105,"cg_vd_v":0.0938758105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371792495,"cg_vq_v":-0.371792495,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8360596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.268799,"values":{"Elec_RPM":-6.96473083e-29,"EncoderCos":38740,"EncoderSin":12498,"GapTicks":54766,"Mech_RPM":-1.39294614e-29,"cg_du":50.1332855,"cg_dv":50.2118454,"cg_dw":49.7881546,"cg_id_a":-0.307783425,"cg_id_raw_a":-0.336867481,"cg_iq_a":0.207860589,"cg_iq_raw_a":-0.0299322195,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.365772009,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9618187,"cg_sample_seq":14422566,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.0990713835,"cg_vd_v":0.0990713835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363392264,"cg_vq_v":-0.363392264,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8661194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.276611,"values":{"Elec_RPM":-6.82543614e-29,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-1.36508726e-29,"cg_du":50.1408119,"cg_dv":50.20858,"cg_dw":49.79142,"cg_id_a":-0.0133597851,"cg_id_raw_a":0.168721855,"cg_iq_a":0.109461084,"cg_iq_raw_a":0.381911427,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14422616,"cg_sample_valid":1,"cg_theta_rad":5.00662518,"cg_vd_req_v":0.0931193605,"cg_vd_v":0.0931193605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362331092,"cg_vq_v":-0.362331092,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8407898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.284424,"values":{"Elec_RPM":-6.82543614e-29,"EncoderCos":38715,"EncoderSin":12459,"GapTicks":54772,"Mech_RPM":-1.36508726e-29,"cg_du":50.1375504,"cg_dv":50.2070427,"cg_dw":49.7929573,"cg_id_a":-0.079209581,"cg_id_raw_a":-0.075203985,"cg_iq_a":-0.0969574153,"cg_iq_raw_a":-0.334503949,"cg_iu_a":-0.649855614,"cg_iv_a":-0.0395774841,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14422666,"cg_sample_valid":1,"cg_theta_rad":5.00843,"cg_vd_req_v":0.0943696871,"cg_vd_v":0.0943696871,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35952419,"cg_vq_v":-0.35952419,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.3535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8407898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.292236,"values":{"Elec_RPM":-6.68892803e-29,"EncoderCos":38736,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-1.33778555e-29,"cg_du":50.1285172,"cg_dv":50.2042351,"cg_dw":49.7957649,"cg_id_a":-0.0687449425,"cg_id_raw_a":-0.372344613,"cg_iq_a":-0.688010395,"cg_iq_raw_a":-1.23486006,"cg_iu_a":0.0750212669,"cg_iv_a":0.250373125,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9254551,"cg_sample_seq":14422716,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.0962756947,"cg_vd_v":0.0962756947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351280302,"cg_vq_v":-0.351280302,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8439636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.303955,"values":{"Elec_RPM":-6.68892803e-29,"EncoderCos":38706,"EncoderSin":12476,"GapTicks":54769,"Mech_RPM":-1.33778555e-29,"cg_du":50.1490517,"cg_dv":50.2097244,"cg_dw":49.7902756,"cg_id_a":0.305993378,"cg_id_raw_a":0.484416604,"cg_iq_a":0.0693500787,"cg_iq_raw_a":0.377364039,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8600006,"cg_sample_seq":14422766,"cg_sample_valid":1,"cg_theta_rad":5.0065012,"cg_vd_req_v":0.0882777795,"cg_vd_v":0.0882777795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369590342,"cg_vq_v":-0.369590342,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8439636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.311768,"values":{"Elec_RPM":-6.55514933e-29,"EncoderCos":38739,"EncoderSin":12512,"GapTicks":54757,"Mech_RPM":-1.31102987e-29,"cg_du":50.1504745,"cg_dv":50.2205391,"cg_dw":49.7794609,"cg_id_a":0.0486435145,"cg_id_raw_a":-0.0336249173,"cg_iq_a":0.650270462,"cg_iq_raw_a":0.798383117,"cg_iu_a":-1.08478141,"cg_iv_a":-0.184552908,"cg_iw_a":1.26933432,"cg_sample_age_us":23.8563633,"cg_sample_seq":14422817,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0933257043,"cg_vd_v":0.0933257043,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383722931,"cg_vq_v":-0.383722931,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271878272,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8439636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.339111,"values":{"Elec_RPM":-6.55514933e-29,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.31102987e-29,"cg_du":50.1464386,"cg_dv":50.2072296,"cg_dw":49.7927704,"cg_id_a":0.403460294,"cg_id_raw_a":0.027665833,"cg_iq_a":-0.30667609,"cg_iq_raw_a":0.331190616,"cg_iu_a":-0.323661089,"cg_iv_a":-0.583235145,"cg_iw_a":0.906896234,"cg_sample_age_us":26.812727,"cg_sample_seq":14422871,"cg_sample_valid":1,"cg_theta_rad":5.00508928,"cg_vd_req_v":0.0859335065,"cg_vd_v":0.0859335065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362848997,"cg_vq_v":-0.362848997,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.14642859,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.346924,"values":{"Elec_RPM":-6.42404646e-29,"EncoderCos":38697,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.28480923e-29,"cg_du":50.1391029,"cg_dv":50.2095451,"cg_dw":49.7904549,"cg_id_a":-0.162088171,"cg_id_raw_a":0.506183922,"cg_iq_a":-0.196649164,"cg_iq_raw_a":-0.457446933,"cg_iu_a":-0.106198072,"cg_iv_a":-0.257040501,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9909096,"cg_sample_seq":14422916,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.0962704048,"cg_vd_v":0.0962704048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362452149,"cg_vq_v":-0.362452149,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8471375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.358643,"values":{"Elec_RPM":-6.42404646e-29,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54762,"Mech_RPM":-1.28480923e-29,"cg_du":50.140377,"cg_dv":50.215786,"cg_dw":49.784214,"cg_id_a":-0.27004838,"cg_id_raw_a":-0.230098411,"cg_iq_a":0.35643971,"cg_iq_raw_a":0.378676444,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397701,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.8490906,"cg_sample_seq":14422966,"cg_sample_valid":1,"cg_theta_rad":5.00675058,"cg_vd_req_v":0.100100353,"cg_vd_v":0.100100353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371967047,"cg_vq_v":-0.371967047,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.1938019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.7949524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.366455,"values":{"Elec_RPM":-6.29556527e-29,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-1.25911304e-29,"cg_du":50.1394539,"cg_dv":50.204998,"cg_dw":49.795002,"cg_id_a":0.251709491,"cg_id_raw_a":-0.419782937,"cg_iq_a":-0.401664406,"cg_iq_raw_a":-0.476767927,"cg_iu_a":0.872385502,"cg_iv_a":0.21412921,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.8527279,"cg_sample_seq":14423017,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0898342133,"cg_vd_v":0.0898342133,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358074784,"cg_vq_v":-0.358074784,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.442113996,"dclink_p_w":64.1792831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8075867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.374268,"values":{"Elec_RPM":-6.16965398e-29,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-1.23393075e-29,"cg_du":50.143528,"cg_dv":50.205719,"cg_dw":49.794281,"cg_id_a":0.34698081,"cg_id_raw_a":0.111535743,"cg_iq_a":-0.0393183008,"cg_iq_raw_a":0.339058071,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9509087,"cg_sample_seq":14423116,"cg_sample_valid":1,"cg_theta_rad":5.00788927,"cg_vd_req_v":0.0864258856,"cg_vd_v":0.0864258856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360412925,"cg_vq_v":-0.360412925,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.7106514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8170776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.38208,"values":{"Elec_RPM":-6.16965398e-29,"EncoderCos":38725,"EncoderSin":12466,"GapTicks":54771,"Mech_RPM":-1.23393075e-29,"cg_du":50.1430054,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":0.1744688,"cg_id_raw_a":0.0175265446,"cg_iq_a":-0.0459708385,"cg_iq_raw_a":-0.215979263,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14423166,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0890531614,"cg_vd_v":0.0890531614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362086385,"cg_vq_v":-0.362086385,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8170776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.389893,"values":{"Elec_RPM":-6.04626086e-29,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54761,"Mech_RPM":-1.20925214e-29,"cg_du":50.1410141,"cg_dv":50.2165222,"cg_dw":49.7834778,"cg_id_a":-0.318436742,"cg_id_raw_a":-0.0362993367,"cg_iq_a":0.315119356,"cg_iq_raw_a":0.543529391,"cg_iu_a":0.401215553,"cg_iv_a":-0.800698042,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8672733,"cg_sample_seq":14423216,"cg_sample_valid":1,"cg_theta_rad":5.00677109,"cg_vd_req_v":0.100437477,"cg_vd_v":0.100437477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373297572,"cg_vq_v":-0.373297572,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8550415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.397705,"values":{"Elec_RPM":-6.04626086e-29,"EncoderCos":38718,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-1.20925214e-29,"cg_du":50.1378822,"cg_dv":50.2121696,"cg_dw":49.7878304,"cg_id_a":-0.244039908,"cg_id_raw_a":-0.957273662,"cg_iq_a":-0.0693789721,"cg_iq_raw_a":0.706445754,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8527279,"cg_sample_seq":14423267,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.0989258736,"cg_vd_v":0.0989258736,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365552604,"cg_vq_v":-0.365552604,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.405518,"values":{"Elec_RPM":-5.92533533e-29,"EncoderCos":38696,"EncoderSin":12488,"GapTicks":54766,"Mech_RPM":-1.18506713e-29,"cg_du":50.1399536,"cg_dv":50.212635,"cg_dw":49.787365,"cg_id_a":-0.138412446,"cg_id_raw_a":-0.165052801,"cg_iq_a":-0.0128971934,"cg_iq_raw_a":-0.271061271,"cg_iu_a":0.256240368,"cg_iv_a":-0.438259721,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14423317,"cg_sample_valid":1,"cg_theta_rad":5.00802279,"cg_vd_req_v":0.0988099426,"cg_vd_v":0.0988099426,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368264437,"cg_vq_v":-0.368264437,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.436768,"values":{"Elec_RPM":-5.92533533e-29,"EncoderCos":38685,"EncoderSin":12502,"GapTicks":54769,"Mech_RPM":-1.18506713e-29,"cg_du":50.1385422,"cg_dv":50.209938,"cg_dw":49.790062,"cg_id_a":-0.15416491,"cg_id_raw_a":-0.235090181,"cg_iq_a":-0.223920375,"cg_iq_raw_a":-0.606555641,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14423369,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0978318676,"cg_vd_v":0.0978318676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363650113,"cg_vq_v":-0.363650113,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4617004,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.44458,"values":{"Elec_RPM":-5.80682864e-29,"EncoderCos":38704,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-1.16136577e-29,"cg_du":50.1454811,"cg_dv":50.2165604,"cg_dw":49.7834396,"cg_id_a":-0.0881908983,"cg_id_raw_a":-0.380461752,"cg_iq_a":0.137074888,"cg_iq_raw_a":-0.83953774,"cg_iu_a":0.0387773514,"cg_iv_a":-0.257040501,"cg_iw_a":0.580701709,"cg_sample_age_us":23.954546,"cg_sample_seq":14423416,"cg_sample_valid":1,"cg_theta_rad":5.00791407,"cg_vd_req_v":0.0980358496,"cg_vd_v":0.0980358496,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375583559,"cg_vq_v":-0.375583559,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.452393,"values":{"Elec_RPM":-5.80682864e-29,"EncoderCos":38746,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-1.16136577e-29,"cg_du":50.1361885,"cg_dv":50.2101707,"cg_dw":49.7898293,"cg_id_a":0.0399976596,"cg_id_raw_a":0.39846012,"cg_iq_a":-0.405417681,"cg_iq_raw_a":-0.945354819,"cg_iu_a":0.292484045,"cg_iv_a":-0.510747433,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14423466,"cg_sample_valid":1,"cg_theta_rad":5.00707388,"cg_vd_req_v":0.0953257233,"cg_vd_v":0.0953257233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362680972,"cg_vq_v":-0.362680972,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.460205,"values":{"Elec_RPM":-5.69069206e-29,"EncoderCos":38744,"EncoderSin":12471,"GapTicks":54757,"Mech_RPM":-1.13813846e-29,"cg_du":50.140152,"cg_dv":50.2201996,"cg_dw":49.7798004,"cg_id_a":-0.30755192,"cg_id_raw_a":0.167448044,"cg_iq_a":0.490155339,"cg_iq_raw_a":0.198230922,"cg_iu_a":0.183752537,"cg_iv_a":-0.329528213,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14423516,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.102067247,"cg_vd_v":0.102067247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378520459,"cg_vq_v":-0.378520459,"cg_vu_v":29.0329094,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8661194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.471924,"values":{"Elec_RPM":-5.69069206e-29,"EncoderCos":38714,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-1.13813846e-29,"cg_du":50.1419144,"cg_dv":50.2123642,"cg_dw":49.7876358,"cg_id_a":0.0778746903,"cg_id_raw_a":0.164950863,"cg_iq_a":-0.12781775,"cg_iq_raw_a":-0.41973874,"cg_iu_a":0.147508621,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14423568,"cg_sample_valid":1,"cg_theta_rad":5.00661659,"cg_vd_req_v":0.0961401388,"cg_vd_v":0.0961401388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368040174,"cg_vq_v":-0.368040174,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8661194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.479736,"values":{"Elec_RPM":-5.57687863e-29,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-1.1153757e-29,"cg_du":50.1423073,"cg_dv":50.2131119,"cg_dw":49.7868881,"cg_id_a":-0.00517275929,"cg_id_raw_a":-0.244580761,"cg_iq_a":-0.0911262929,"cg_iq_raw_a":0.522847533,"cg_iu_a":0.328727961,"cg_iv_a":1.08398128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14423616,"cg_sample_valid":1,"cg_theta_rad":5.00527668,"cg_vd_req_v":0.0964279547,"cg_vd_v":0.0964279547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370507836,"cg_vq_v":-0.370507836,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.7405062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.487549,"values":{"Elec_RPM":-5.57687863e-29,"EncoderCos":38695,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-1.1153757e-29,"cg_du":50.1428299,"cg_dv":50.2148323,"cg_dw":49.7851677,"cg_id_a":-0.0931518748,"cg_id_raw_a":0.879368305,"cg_iq_a":-0.19818145,"cg_iq_raw_a":-1.22043395,"cg_iu_a":0.183752537,"cg_iv_a":-0.691966653,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9145451,"cg_sample_seq":14423666,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.098998718,"cg_vd_v":0.098998718,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372803658,"cg_vq_v":-0.372803658,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4774361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.499268,"values":{"Elec_RPM":-5.4653408e-29,"EncoderCos":38696,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-1.09306816e-29,"cg_du":50.1424332,"cg_dv":50.2212105,"cg_dw":49.7787895,"cg_id_a":-0.456646681,"cg_id_raw_a":-0.569987893,"cg_iq_a":0.167367235,"cg_iq_raw_a":0.597827733,"cg_iu_a":0.473703384,"cg_iv_a":-0.546991229,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9218178,"cg_sample_seq":14423716,"cg_sample_valid":1,"cg_theta_rad":5.00597811,"cg_vd_req_v":0.105721824,"cg_vd_v":0.105721824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381200701,"cg_vq_v":-0.381200701,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4774361,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.50708,"values":{"Elec_RPM":-5.4653408e-29,"EncoderCos":38712,"EncoderSin":12501,"GapTicks":54761,"Mech_RPM":-1.09306816e-29,"cg_du":50.1485519,"cg_dv":50.2170067,"cg_dw":49.7829933,"cg_id_a":0.0408704057,"cg_id_raw_a":0.132324532,"cg_iq_a":-0.122610599,"cg_iq_raw_a":-0.314040035,"cg_iu_a":0.111264944,"cg_iv_a":0.141641557,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8600006,"cg_sample_seq":14423766,"cg_sample_valid":1,"cg_theta_rad":5.00711823,"cg_vd_req_v":0.0943430066,"cg_vd_v":0.0943430066,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378355622,"cg_vq_v":-0.378355622,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.7801476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8360596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.514893,"values":{"Elec_RPM":-5.35603405e-29,"EncoderCos":38721,"EncoderSin":12469,"GapTicks":54749,"Mech_RPM":-1.07120682e-29,"cg_du":50.1620712,"cg_dv":50.2277031,"cg_dw":49.7722969,"cg_id_a":0.123295948,"cg_id_raw_a":-0.0207544193,"cg_iq_a":0.713079154,"cg_iq_raw_a":-0.0376379527,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9581814,"cg_sample_seq":14423817,"cg_sample_valid":1,"cg_theta_rad":5.00785828,"cg_vd_req_v":0.0939051285,"cg_vd_v":0.0939051285,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399251908,"cg_vq_v":-0.399251908,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.7801476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.542236,"values":{"Elec_RPM":-5.35603405e-29,"EncoderCos":38768,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-1.07120682e-29,"cg_du":50.1409683,"cg_dv":50.2193909,"cg_dw":49.7806091,"cg_id_a":-0.150580198,"cg_id_raw_a":0.0249368399,"cg_iq_a":-0.323007554,"cg_iq_raw_a":0.403102398,"cg_iu_a":-0.39614892,"cg_iv_a":-0.184552908,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9509087,"cg_sample_seq":14423871,"cg_sample_valid":1,"cg_theta_rad":5.00630569,"cg_vd_req_v":0.0980263725,"cg_vd_v":0.0980263725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37733534,"cg_vq_v":-0.37733534,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.6468296,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.550049,"values":{"Elec_RPM":-5.24891322e-29,"EncoderCos":38737,"EncoderSin":12494,"GapTicks":54759,"Mech_RPM":-1.04978266e-29,"cg_du":50.1423569,"cg_dv":50.218399,"cg_dw":49.781601,"cg_id_a":-0.181095153,"cg_id_raw_a":0.106523402,"cg_iq_a":-0.280713052,"cg_iq_raw_a":-0.280555129,"cg_iu_a":0.292484283,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9909096,"cg_sample_seq":14423916,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0988954529,"cg_vd_v":0.0988954529,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378440976,"cg_vq_v":-0.378440976,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.557861,"values":{"Elec_RPM":-5.14393499e-29,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-1.02878701e-29,"cg_du":50.1564674,"cg_dv":50.2194252,"cg_dw":49.7805748,"cg_id_a":0.166297436,"cg_id_raw_a":0.0426883548,"cg_iq_a":-0.00188921392,"cg_iq_raw_a":-0.249893934,"cg_iu_a":-0.359905005,"cg_iv_a":0.105397701,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8563633,"cg_sample_seq":14424066,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0915674269,"cg_vd_v":0.0915674269,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385832876,"cg_vq_v":-0.385832876,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-103.130692,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7728271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.565674,"values":{"Elec_RPM":-5.04105663e-29,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-1.00821131e-29,"cg_du":50.1488609,"cg_dv":50.2209892,"cg_dw":49.7790108,"cg_id_a":-0.0807920769,"cg_id_raw_a":-0.0982630253,"cg_iq_a":-0.125469074,"cg_iq_raw_a":-0.554524899,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9436359,"cg_sample_seq":14424116,"cg_sample_valid":1,"cg_theta_rad":5.00607538,"cg_vd_req_v":0.0967528298,"cg_vd_v":0.0967528298,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384253502,"cg_vq_v":-0.384253502,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7728271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.573486,"values":{"Elec_RPM":-5.04105663e-29,"EncoderCos":38704,"EncoderSin":12456,"GapTicks":54755,"Mech_RPM":-1.00821131e-29,"cg_du":50.1459503,"cg_dv":50.222126,"cg_dw":49.777874,"cg_id_a":-0.253324389,"cg_id_raw_a":-0.0941029042,"cg_iq_a":-0.305847853,"cg_iq_raw_a":0.0640333593,"cg_iu_a":-0.251173496,"cg_iv_a":-0.365772009,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9218178,"cg_sample_seq":14424167,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.102932729,"cg_vd_v":0.102932729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38219136,"cg_vq_v":-0.38219136,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8344727,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.585205,"values":{"Elec_RPM":-4.9402354e-29,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54750,"Mech_RPM":-9.8804705e-30,"cg_du":50.167057,"cg_dv":50.2271461,"cg_dw":49.7728539,"cg_id_a":0.314357877,"cg_id_raw_a":0.235443503,"cg_iq_a":0.741034389,"cg_iq_raw_a":0.351654321,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9872723,"cg_sample_seq":14424217,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0899194852,"cg_vd_v":0.0899194852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402470201,"cg_vq_v":-0.402470201,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.593018,"values":{"Elec_RPM":-4.9402354e-29,"EncoderCos":38687,"EncoderSin":12457,"GapTicks":54759,"Mech_RPM":-9.8804705e-30,"cg_du":50.1565819,"cg_dv":50.2190475,"cg_dw":49.7809525,"cg_id_a":0.0532814935,"cg_id_raw_a":0.106078573,"cg_iq_a":-0.157923818,"cg_iq_raw_a":0.157867655,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8454552,"cg_sample_seq":14424267,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0936617032,"cg_vd_v":0.0936617032,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386010826,"cg_vq_v":-0.386010826,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.2509308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.60083,"values":{"Elec_RPM":-4.84143038e-29,"EncoderCos":38742,"EncoderSin":12491,"GapTicks":54746,"Mech_RPM":-9.68286106e-30,"cg_du":50.1577377,"cg_dv":50.2304916,"cg_dw":49.7695084,"cg_id_a":-0.221659258,"cg_id_raw_a":0.130395845,"cg_iq_a":0.579268336,"cg_iq_raw_a":-0.314845562,"cg_iu_a":0.219996452,"cg_iv_a":-0.257040501,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9436359,"cg_sample_seq":14424318,"cg_sample_valid":1,"cg_theta_rad":5.00536823,"cg_vd_req_v":0.0977765545,"cg_vd_v":0.0977765545,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402454555,"cg_vq_v":-0.402454555,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8281555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.628174,"values":{"Elec_RPM":-4.84143038e-29,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54760,"Mech_RPM":-9.68286106e-30,"cg_du":50.1571846,"cg_dv":50.2181396,"cg_dw":49.7818604,"cg_id_a":0.16489628,"cg_id_raw_a":-0.253732383,"cg_iq_a":-0.393345594,"cg_iq_raw_a":-0.460330576,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8563633,"cg_sample_seq":14424370,"cg_sample_valid":1,"cg_theta_rad":5.00767708,"cg_vd_req_v":0.0879196823,"cg_vd_v":0.0879196823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384913027,"cg_vq_v":-0.384913027,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8281555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.639893,"values":{"Elec_RPM":-4.74460184e-29,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54757,"Mech_RPM":-9.48920354e-30,"cg_du":50.1649742,"cg_dv":50.2205429,"cg_dw":49.7794571,"cg_id_a":0.116566747,"cg_id_raw_a":0.0957441032,"cg_iq_a":-0.0423785448,"cg_iq_raw_a":-0.572425187,"cg_iu_a":-0.0337104797,"cg_iv_a":0.105397761,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9181824,"cg_sample_seq":14424416,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.085775964,"cg_vd_v":0.085775964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39218846,"cg_vq_v":-0.39218846,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.647705,"values":{"Elec_RPM":-4.74460184e-29,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54755,"Mech_RPM":-9.48920354e-30,"cg_du":50.165741,"cg_dv":50.222435,"cg_dw":49.777565,"cg_id_a":0.103047557,"cg_id_raw_a":-0.339706093,"cg_iq_a":0.147782087,"cg_iq_raw_a":-0.214749083,"cg_iu_a":-0.287417173,"cg_iv_a":0.504079938,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14424466,"cg_sample_valid":1,"cg_theta_rad":5.00690079,"cg_vd_req_v":0.0865328684,"cg_vd_v":0.0865328684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395294636,"cg_vq_v":-0.395294636,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.756794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.655518,"values":{"Elec_RPM":-4.64970977e-29,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54755,"Mech_RPM":-9.29941969e-30,"cg_du":50.163166,"cg_dv":50.2220993,"cg_dw":49.7779007,"cg_id_a":0.00075119175,"cg_id_raw_a":-0.684321165,"cg_iq_a":-0.0605538227,"cg_iq_raw_a":0.516979575,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14424516,"cg_sample_valid":1,"cg_theta_rad":5.00432158,"cg_vd_req_v":0.0876874477,"cg_vd_v":0.0876874477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393511355,"cg_vq_v":-0.393511355,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.66333,"values":{"Elec_RPM":-4.64970977e-29,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54757,"Mech_RPM":-9.29941969e-30,"cg_du":50.1691475,"cg_dv":50.2205505,"cg_dw":49.7794495,"cg_id_a":0.180645704,"cg_id_raw_a":0.321444839,"cg_iq_a":0.0272226781,"cg_iq_raw_a":-0.513357639,"cg_iu_a":0.183752537,"cg_iv_a":0.39534843,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14424566,"cg_sample_valid":1,"cg_theta_rad":5.00846529,"cg_vd_req_v":0.0829614997,"cg_vd_v":0.0829614997,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395707786,"cg_vq_v":-0.395707786,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8265686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.671143,"values":{"Elec_RPM":-4.55671564e-29,"EncoderCos":38714,"EncoderSin":12455,"GapTicks":54756,"Mech_RPM":-9.11343128e-30,"cg_du":50.1672859,"cg_dv":50.2209244,"cg_dw":49.7790756,"cg_id_a":0.121790037,"cg_id_raw_a":0.120438442,"cg_iq_a":0.0127491048,"cg_iq_raw_a":-0.606358528,"cg_iu_a":-0.39614892,"cg_iv_a":0.0691539049,"cg_iw_a":0.326995015,"cg_sample_age_us":23.8745461,"cg_sample_seq":14424616,"cg_sample_valid":1,"cg_theta_rad":5.00657654,"cg_vd_req_v":0.0847735628,"cg_vd_v":0.0847735628,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395168483,"cg_vq_v":-0.395168483,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.682861,"values":{"Elec_RPM":-4.55671564e-29,"EncoderCos":38721,"EncoderSin":12471,"GapTicks":54754,"Mech_RPM":-9.11343128e-30,"cg_du":50.1708298,"cg_dv":50.223362,"cg_dw":49.776638,"cg_id_a":0.156723589,"cg_id_raw_a":0.208063111,"cg_iq_a":0.352957666,"cg_iq_raw_a":0.203163296,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148308992,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9290905,"cg_sample_seq":14424666,"cg_sample_valid":1,"cg_theta_rad":5.00711441,"cg_vd_req_v":0.0832983851,"cg_vd_v":0.0832983851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400714993,"cg_vq_v":-0.400714993,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8297424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.690674,"values":{"Elec_RPM":-4.46558124e-29,"EncoderCos":38695,"EncoderSin":12493,"GapTicks":54750,"Mech_RPM":-8.93116233e-30,"cg_du":50.1723099,"cg_dv":50.2272453,"cg_dw":49.7727547,"cg_id_a":-0.00347851962,"cg_id_raw_a":-0.304711848,"cg_iq_a":0.436331123,"cg_iq_raw_a":0.479789704,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14424717,"cg_sample_valid":1,"cg_theta_rad":5.00786448,"cg_vd_req_v":0.0874413326,"cg_vd_v":0.0874413326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405226529,"cg_vq_v":-0.405226529,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.698486,"values":{"Elec_RPM":-4.46558124e-29,"EncoderCos":38716,"EncoderSin":12479,"GapTicks":54755,"Mech_RPM":-8.93116233e-30,"cg_du":50.1675034,"cg_dv":50.2223206,"cg_dw":49.7776794,"cg_id_a":0.0121491328,"cg_id_raw_a":0.0106998961,"cg_iq_a":-0.0526108444,"cg_iq_raw_a":-0.143817231,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065196,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8527279,"cg_sample_seq":14424766,"cg_sample_valid":1,"cg_theta_rad":5.00699759,"cg_vd_req_v":0.0848731026,"cg_vd_v":0.0848731026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396163553,"cg_vq_v":-0.396163553,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.706299,"values":{"Elec_RPM":-4.37626955e-29,"EncoderCos":38682,"EncoderSin":12434,"GapTicks":54741,"Mech_RPM":-8.7525391e-30,"cg_du":50.1860809,"cg_dv":50.235363,"cg_dw":49.764637,"cg_id_a":-0.262376368,"cg_id_raw_a":0.640135109,"cg_iq_a":1.17813456,"cg_iq_raw_a":1.82058156,"cg_iu_a":-0.251173496,"cg_iv_a":-1.05440485,"cg_iw_a":1.30557835,"cg_sample_age_us":23.8563633,"cg_sample_seq":14424817,"cg_sample_valid":1,"cg_theta_rad":5.00638819,"cg_vd_req_v":0.0875691101,"cg_vd_v":0.0875691101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.423399836,"cg_vq_v":-0.423399836,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8265686,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.733643,"values":{"Elec_RPM":-4.28874446e-29,"EncoderCos":38701,"EncoderSin":12435,"GapTicks":54743,"Mech_RPM":-8.57748861e-30,"cg_du":50.1931496,"cg_dv":50.233551,"cg_dw":49.766449,"cg_id_a":0.0678625479,"cg_id_raw_a":-0.644852996,"cg_iq_a":0.980188012,"cg_iq_raw_a":-0.103062093,"cg_iu_a":-0.396148682,"cg_iv_a":-0.546991229,"cg_iw_a":1.88547957,"cg_sample_age_us":23.8600006,"cg_sample_seq":14424916,"cg_sample_valid":1,"cg_theta_rad":5.00798559,"cg_vd_req_v":0.078654103,"cg_vd_v":0.078654103,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.426631272,"cg_vq_v":-0.426631272,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.741455,"values":{"Elec_RPM":-4.28874446e-29,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54746,"Mech_RPM":-8.57748861e-30,"cg_du":50.1790771,"cg_dv":50.2304306,"cg_dw":49.7695694,"cg_id_a":-0.0333069041,"cg_id_raw_a":0.427897334,"cg_iq_a":0.325190187,"cg_iq_raw_a":0.332058191,"cg_iu_a":-0.178685665,"cg_iv_a":-0.546991289,"cg_iw_a":0.725676954,"cg_sample_age_us":23.9472733,"cg_sample_seq":14424967,"cg_sample_valid":1,"cg_theta_rad":5.00666523,"cg_vd_req_v":0.0820882693,"cg_vd_v":0.0820882693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415314227,"cg_vq_v":-0.415314227,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8249817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.753174,"values":{"Elec_RPM":-4.20296926e-29,"EncoderCos":38710,"EncoderSin":12489,"GapTicks":54753,"Mech_RPM":-8.40593866e-30,"cg_du":50.1740189,"cg_dv":50.2244301,"cg_dw":49.7755699,"cg_id_a":0.0263313726,"cg_id_raw_a":0.065599896,"cg_iq_a":-0.19685322,"cg_iq_raw_a":0.152962655,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9436359,"cg_sample_seq":14425017,"cg_sample_valid":1,"cg_theta_rad":5.00700903,"cg_vd_req_v":0.082086198,"cg_vd_v":0.082086198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402638465,"cg_vq_v":-0.402638465,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.760986,"values":{"Elec_RPM":-4.20296926e-29,"EncoderCos":38716,"EncoderSin":12478,"GapTicks":54750,"Mech_RPM":-8.40593866e-30,"cg_du":50.1711464,"cg_dv":50.2272224,"cg_dw":49.7727776,"cg_id_a":-0.244643494,"cg_id_raw_a":-0.362673432,"cg_iq_a":0.104233511,"cg_iq_raw_a":0.875661612,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9872723,"cg_sample_seq":14425067,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0868114829,"cg_vd_v":0.0868114829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404868633,"cg_vq_v":-0.404868633,"cg_vu_v":117.011421,"cg_vv_v":133.727341,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.768799,"values":{"Elec_RPM":-4.11890994e-29,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54751,"Mech_RPM":-8.23782002e-30,"cg_du":50.1733284,"cg_dv":50.2256088,"cg_dw":49.7743912,"cg_id_a":-0.208023131,"cg_id_raw_a":0.157068267,"cg_iq_a":0.208797902,"cg_iq_raw_a":0.708577633,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14425117,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0842726007,"cg_vd_v":0.0842726007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403746098,"cg_vq_v":-0.403746098,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.776611,"values":{"Elec_RPM":-4.11890994e-29,"EncoderCos":38717,"EncoderSin":12527,"GapTicks":54751,"Mech_RPM":-8.23782002e-30,"cg_du":50.1722603,"cg_dv":50.2261925,"cg_dw":49.7738075,"cg_id_a":-0.221207261,"cg_id_raw_a":-0.143578857,"cg_iq_a":0.115123816,"cg_iq_raw_a":-0.740869761,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9509087,"cg_sample_seq":14425167,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0834777281,"cg_vd_v":0.0834777281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404398113,"cg_vq_v":-0.404398113,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.24651885,"dclink_p_w":-35.6773567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.78833,"values":{"Elec_RPM":-4.03653189e-29,"EncoderCos":38676,"EncoderSin":12483,"GapTicks":54753,"Mech_RPM":-8.07306349e-30,"cg_du":50.1816635,"cg_dv":50.2240982,"cg_dw":49.7759018,"cg_id_a":-0.0504859015,"cg_id_raw_a":0.0551109873,"cg_iq_a":0.0508487895,"cg_iq_raw_a":0.0431515947,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796824,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9872723,"cg_sample_seq":14425217,"cg_sample_valid":1,"cg_theta_rad":5.00699949,"cg_vd_req_v":0.0790812522,"cg_vd_v":0.0790812522,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405855417,"cg_vq_v":-0.405855417,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.507474422,"dclink_p_w":-73.6672974,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8218079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.796143,"values":{"Elec_RPM":-4.03653189e-29,"EncoderCos":38700,"EncoderSin":12468,"GapTicks":54751,"Mech_RPM":-8.07306349e-30,"cg_du":50.1827164,"cg_dv":50.2257919,"cg_dw":49.7742081,"cg_id_a":-0.0176394768,"cg_id_raw_a":0.549839139,"cg_iq_a":0.255228162,"cg_iq_raw_a":0.348635465,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065256,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9509087,"cg_sample_seq":14425267,"cg_sample_valid":1,"cg_theta_rad":5.00797415,"cg_vd_req_v":0.0781135336,"cg_vd_v":0.0781135336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40908581,"cg_vq_v":-0.40908581,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.4216957,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8202209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.803955,"values":{"Elec_RPM":-3.95580112e-29,"EncoderCos":38751,"EncoderSin":12505,"GapTicks":54749,"Mech_RPM":-7.9116021e-30,"cg_du":50.1668167,"cg_dv":50.2275391,"cg_dw":49.7724609,"cg_id_a":-0.3656542,"cg_id_raw_a":0.0269560311,"cg_iq_a":-0.11790663,"cg_iq_raw_a":-0.105972193,"cg_iu_a":0.256240368,"cg_iv_a":0.105397701,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9254551,"cg_sample_seq":14425317,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.0865584165,"cg_vd_v":0.0865584165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403736293,"cg_vq_v":-0.403736293,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8202209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.831299,"values":{"Elec_RPM":-3.95580112e-29,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54750,"Mech_RPM":-7.9116021e-30,"cg_du":50.1817207,"cg_dv":50.2271385,"cg_dw":49.7728615,"cg_id_a":-0.0104375258,"cg_id_raw_a":0.201140895,"cg_iq_a":0.0724964738,"cg_iq_raw_a":0.27522859,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8563633,"cg_sample_seq":14425370,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0780051574,"cg_vd_v":0.0780051574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410777569,"cg_vq_v":-0.410777569,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8202209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.839111,"values":{"Elec_RPM":-3.87668513e-29,"EncoderCos":38713,"EncoderSin":12489,"GapTicks":54757,"Mech_RPM":-7.7533704e-30,"cg_du":50.1721611,"cg_dv":50.2207222,"cg_dw":49.7792778,"cg_id_a":-0.0954723284,"cg_id_raw_a":-0.382242948,"cg_iq_a":-0.563966095,"cg_iq_raw_a":0.218244493,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8563633,"cg_sample_seq":14425417,"cg_sample_valid":1,"cg_theta_rad":5.00521851,"cg_vd_req_v":0.0794224143,"cg_vd_v":0.0794224143,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395406425,"cg_vq_v":-0.395406425,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.1660919,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2611.846924,"values":{"Elec_RPM":-3.87668513e-29,"EncoderCos":38728,"EncoderSin":12448,"GapTicks":54752,"Mech_RPM":-7.7533704e-30,"cg_du":50.1807213,"cg_dv":50.2252197,"cg_dw":49.7747803,"cg_id_a":0.0775027946,"cg_id_raw_a":0.211849615,"cg_iq_a":0.0905092955,"cg_iq_raw_a":-0.0513790138,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.954546,"cg_sample_seq":14425466,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.0770815834,"cg_vd_v":0.0770815834,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407574713,"cg_vq_v":-0.407574713,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.135231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.858643,"values":{"Elec_RPM":-3.7991514e-29,"EncoderCos":38701,"EncoderSin":12429,"GapTicks":54753,"Mech_RPM":-7.59830295e-30,"cg_du":50.1874084,"cg_dv":50.2236824,"cg_dw":49.7763176,"cg_id_a":0.18081215,"cg_id_raw_a":-0.495349675,"cg_iq_a":-0.0554621071,"cg_iq_raw_a":-0.124080211,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8600006,"cg_sample_seq":14425517,"cg_sample_valid":1,"cg_theta_rad":5.00716734,"cg_vd_req_v":0.0733797252,"cg_vd_v":0.0733797252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408705115,"cg_vq_v":-0.408705115,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.135231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8407898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.866455,"values":{"Elec_RPM":-3.7991514e-29,"EncoderCos":38726,"EncoderSin":12513,"GapTicks":54743,"Mech_RPM":-7.59830295e-30,"cg_du":50.1866112,"cg_dv":50.2335892,"cg_dw":49.7664108,"cg_id_a":-0.0672666132,"cg_id_raw_a":0.0755920187,"cg_iq_a":0.495554149,"cg_iq_raw_a":0.954306006,"cg_iu_a":0.183752537,"cg_iv_a":-0.365772128,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8563633,"cg_sample_seq":14425567,"cg_sample_valid":1,"cg_theta_rad":5.00608253,"cg_vd_req_v":0.0788947269,"cg_vd_v":0.0788947269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.422576129,"cg_vq_v":-0.422576129,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.135231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8407898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.874268,"values":{"Elec_RPM":-3.72316835e-29,"EncoderCos":38708,"EncoderSin":12425,"GapTicks":54746,"Mech_RPM":-7.44633654e-30,"cg_du":50.1774101,"cg_dv":50.2302475,"cg_dw":49.7697525,"cg_id_a":-0.415471375,"cg_id_raw_a":-0.206249729,"cg_iq_a":-0.295328081,"cg_iq_raw_a":-0.275637746,"cg_iu_a":1.05360472,"cg_iv_a":-0.00333368778,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.8563633,"cg_sample_seq":14425617,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.0870879889,"cg_vd_v":0.0870879889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412025273,"cg_vq_v":-0.412025273,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.2402878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7822876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.88208,"values":{"Elec_RPM":-3.72316835e-29,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54746,"Mech_RPM":-7.44633654e-30,"cg_du":50.1841011,"cg_dv":50.2301331,"cg_dw":49.7698669,"cg_id_a":-0.0210047811,"cg_id_raw_a":-0.544629395,"cg_iq_a":-0.147459447,"cg_iq_raw_a":-0.925731361,"cg_iu_a":0.0750212669,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.954546,"cg_sample_seq":14425667,"cg_sample_valid":1,"cg_theta_rad":5.0078764,"cg_vd_req_v":0.0788619891,"cg_vd_v":0.0788619891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.416216522,"cg_vq_v":-0.416216522,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.66569042,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.889893,"values":{"Elec_RPM":-3.64870467e-29,"EncoderCos":38713,"EncoderSin":12493,"GapTicks":54739,"Mech_RPM":-7.2974095e-30,"cg_du":50.1929321,"cg_dv":50.2368088,"cg_dw":49.7631912,"cg_id_a":0.0739700943,"cg_id_raw_a":0.0996698439,"cg_iq_a":0.39054352,"cg_iq_raw_a":0.666050673,"cg_iu_a":-0.613611698,"cg_iv_a":-0.0395775437,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9363632,"cg_sample_seq":14425717,"cg_sample_valid":1,"cg_theta_rad":5.00751495,"cg_vd_req_v":0.0789007246,"cg_vd_v":0.0789007246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.430159897,"cg_vq_v":-0.430159897,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.901611,"values":{"Elec_RPM":-3.64870467e-29,"EncoderCos":38716,"EncoderSin":12469,"GapTicks":54739,"Mech_RPM":-7.2974095e-30,"cg_du":50.1889801,"cg_dv":50.2370491,"cg_dw":49.7629509,"cg_id_a":-0.186156586,"cg_id_raw_a":-0.524600685,"cg_iq_a":0.346606225,"cg_iq_raw_a":0.16751413,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528272,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9654541,"cg_sample_seq":14425767,"cg_sample_valid":1,"cg_theta_rad":5.0057373,"cg_vd_req_v":0.0826490223,"cg_vd_v":0.0826490223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.428184271,"cg_vq_v":-0.428184271,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8313293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.909424,"values":{"Elec_RPM":-3.57573089e-29,"EncoderCos":38731,"EncoderSin":12485,"GapTicks":54749,"Mech_RPM":-7.15146162e-30,"cg_du":50.1831436,"cg_dv":50.2279091,"cg_dw":49.7720909,"cg_id_a":0.122652441,"cg_id_raw_a":0.198085219,"cg_iq_a":-0.269648492,"cg_iq_raw_a":0.0922733396,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14425817,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.0766969919,"cg_vd_v":0.0766969919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414096951,"cg_vq_v":-0.414096951,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.936768,"values":{"Elec_RPM":-3.57573089e-29,"EncoderCos":38730,"EncoderSin":12468,"GapTicks":54745,"Mech_RPM":-7.15146162e-30,"cg_du":50.1848259,"cg_dv":50.231678,"cg_dw":49.768322,"cg_id_a":0.0539839938,"cg_id_raw_a":0.149656728,"cg_iq_a":0.169850051,"cg_iq_raw_a":0.597660482,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065256,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9618187,"cg_sample_seq":14425870,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0796148926,"cg_vd_v":0.0796148926,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.42007792,"cg_vq_v":-0.42007792,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.9319401,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117830165,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.94458,"values":{"Elec_RPM":-3.50421629e-29,"EncoderCos":38692,"EncoderSin":12474,"GapTicks":54745,"Mech_RPM":-7.00843274e-30,"cg_du":50.1886826,"cg_dv":50.2310562,"cg_dw":49.7689438,"cg_id_a":0.0693473667,"cg_id_raw_a":0.0947875232,"cg_iq_a":0.226194888,"cg_iq_raw_a":-0.13510038,"cg_iu_a":0.473703265,"cg_iv_a":-0.112065196,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9872723,"cg_sample_seq":14425917,"cg_sample_valid":1,"cg_theta_rad":5.00703001,"cg_vd_req_v":0.0794332102,"cg_vd_v":0.0794332102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420755446,"cg_vq_v":-0.420755446,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.6061249,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.956299,"values":{"Elec_RPM":-3.50421629e-29,"EncoderCos":38722,"EncoderSin":12467,"GapTicks":54754,"Mech_RPM":-7.00843274e-30,"cg_du":50.1736565,"cg_dv":50.2235146,"cg_dw":49.7764854,"cg_id_a":-0.0461236313,"cg_id_raw_a":-0.529180765,"cg_iq_a":-0.641014576,"cg_iq_raw_a":-1.50743556,"cg_iu_a":0.183752537,"cg_iv_a":0.250373065,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9618187,"cg_sample_seq":14425966,"cg_sample_valid":1,"cg_theta_rad":5.00729465,"cg_vd_req_v":0.0809915066,"cg_vd_v":0.0809915066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401286662,"cg_vq_v":-0.401286662,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":51.0259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8503113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.964111,"values":{"Elec_RPM":-3.434132e-29,"EncoderCos":38753,"EncoderSin":12482,"GapTicks":54751,"Mech_RPM":-6.86826416e-30,"cg_du":50.1759758,"cg_dv":50.2259216,"cg_dw":49.7740784,"cg_id_a":0.0568022318,"cg_id_raw_a":0.833732367,"cg_iq_a":-0.304778814,"cg_iq_raw_a":-0.434118301,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065196,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14426016,"cg_sample_valid":1,"cg_theta_rad":5.00711298,"cg_vd_req_v":0.0782323107,"cg_vd_v":0.0782323107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406506568,"cg_vq_v":-0.406506568,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.273580194,"dclink_p_w":39.5937996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.4129333,"temp_inv2_c":36.8139343,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.971924,"values":{"Elec_RPM":-3.434132e-29,"EncoderCos":38701,"EncoderSin":12466,"GapTicks":54746,"Mech_RPM":-6.86826416e-30,"cg_du":50.1844521,"cg_dv":50.2306442,"cg_dw":49.7693558,"cg_id_a":-0.19009915,"cg_id_raw_a":-0.270696133,"cg_iq_a":0.291638285,"cg_iq_raw_a":0.556016386,"cg_iu_a":-0.178685665,"cg_iv_a":-0.329528213,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8490906,"cg_sample_seq":14426066,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0814664513,"cg_vd_v":0.0814664513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.416647226,"cg_vq_v":-0.416647226,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3081036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2611.979736,"values":{"Elec_RPM":-3.36544943e-29,"EncoderCos":38710,"EncoderSin":12500,"GapTicks":54749,"Mech_RPM":-6.73089871e-30,"cg_du":50.1900711,"cg_dv":50.2278557,"cg_dw":49.7721443,"cg_id_a":0.143862516,"cg_id_raw_a":0.0350487977,"cg_iq_a":0.461141407,"cg_iq_raw_a":-0.177848548,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9400005,"cg_sample_seq":14426116,"cg_sample_valid":1,"cg_theta_rad":5.00602627,"cg_vd_req_v":0.0727414191,"cg_vd_v":0.0727414191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417633921,"cg_vq_v":-0.417633921,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.344255686,"dclink_p_w":49.8222847,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2611.987549,"values":{"Elec_RPM":-3.36544943e-29,"EncoderCos":38698,"EncoderSin":12489,"GapTicks":54760,"Mech_RPM":-6.73089871e-30,"cg_du":50.1737061,"cg_dv":50.2181587,"cg_dw":49.7818413,"cg_id_a":-0.106523558,"cg_id_raw_a":-0.713793457,"cg_iq_a":-0.666143179,"cg_iq_raw_a":-0.253803164,"cg_iu_a":0.401215553,"cg_iv_a":0.649055243,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9218178,"cg_sample_seq":14426166,"cg_sample_valid":1,"cg_theta_rad":5.00631571,"cg_vd_req_v":0.0775390416,"cg_vd_v":0.0775390416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394931048,"cg_vq_v":-0.394931048,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0526143312,"dclink_p_w":-7.63773584,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.7980957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2611.991406,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2611.991412,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2611.991418,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2611.995361,"values":{"Elec_RPM":-3.29814028e-29,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54750,"Mech_RPM":-6.59628072e-30,"cg_du":50.1824112,"cg_dv":50.2271309,"cg_dw":49.7728691,"cg_id_a":-0.108630873,"cg_id_raw_a":-0.153905556,"cg_iq_a":0.0264085829,"cg_iq_raw_a":-0.597400665,"cg_iu_a":-0.359904766,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164487,"cg_sample_age_us":23.8600006,"cg_sample_seq":14426216,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0789255947,"cg_vd_v":0.0789255947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412170529,"cg_vq_v":-0.412170529,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8249817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.003174,"values":{"Elec_RPM":-3.29814028e-29,"EncoderCos":38731,"EncoderSin":12477,"GapTicks":54753,"Mech_RPM":-6.59628072e-30,"cg_du":50.1662674,"cg_dv":50.2242889,"cg_dw":49.7757111,"cg_id_a":-0.450961232,"cg_id_raw_a":0.00091915729,"cg_iq_a":-0.55998981,"cg_iq_raw_a":0.619796813,"cg_iu_a":0.799897671,"cg_iv_a":-0.112065315,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9509087,"cg_sample_seq":14426266,"cg_sample_valid":1,"cg_theta_rad":5.00852489,"cg_vd_req_v":0.0864551961,"cg_vd_v":0.0864551961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398430824,"cg_vq_v":-0.398430824,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8249817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.014893,"values":{"Elec_RPM":-3.23217748e-29,"EncoderCos":38732,"EncoderSin":12498,"GapTicks":54747,"Mech_RPM":-6.46435527e-30,"cg_du":50.1827736,"cg_dv":50.2294159,"cg_dw":49.7705841,"cg_id_a":0.0114935637,"cg_id_raw_a":-0.223870501,"cg_iq_a":0.0743650571,"cg_iq_raw_a":0.562375307,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104574,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9509087,"cg_sample_seq":14426317,"cg_sample_valid":1,"cg_theta_rad":5.00578022,"cg_vd_req_v":0.0777442455,"cg_vd_v":0.0777442455,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414771378,"cg_vq_v":-0.414771378,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8439636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.042236,"values":{"Elec_RPM":-3.23217748e-29,"EncoderCos":38746,"EncoderSin":12455,"GapTicks":54744,"Mech_RPM":-6.46435527e-30,"cg_du":50.1828423,"cg_dv":50.2322845,"cg_dw":49.7677155,"cg_id_a":-0.0596019328,"cg_id_raw_a":-0.830175102,"cg_iq_a":0.250637859,"cg_iq_raw_a":-0.149082109,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.954546,"cg_sample_seq":14426371,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0803749561,"cg_vd_v":0.0803749561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418742597,"cg_vq_v":-0.418742597,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.5827484,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8439636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.050049,"values":{"Elec_RPM":-3.16753425e-29,"EncoderCos":38725,"EncoderSin":12457,"GapTicks":54745,"Mech_RPM":-6.33506819e-30,"cg_du":50.1886253,"cg_dv":50.2312164,"cg_dw":49.7687836,"cg_id_a":0.113188796,"cg_id_raw_a":0.433061182,"cg_iq_a":0.257646143,"cg_iq_raw_a":0.698525071,"cg_iu_a":-0.359904766,"cg_iv_a":0.322860777,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.954546,"cg_sample_seq":14426416,"cg_sample_valid":1,"cg_theta_rad":5.00662088,"cg_vd_req_v":0.0767367333,"cg_vd_v":0.0767367333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420160651,"cg_vq_v":-0.420160651,"cg_vu_v":1.75957024,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.5827484,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8202209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.057861,"values":{"Elec_RPM":-3.16753425e-29,"EncoderCos":38707,"EncoderSin":12487,"GapTicks":54749,"Mech_RPM":-6.33506819e-30,"cg_du":50.179657,"cg_dv":50.2279778,"cg_dw":49.7720222,"cg_id_a":-0.160735518,"cg_id_raw_a":-0.409849644,"cg_iq_a":-0.0603599325,"cg_iq_raw_a":0.0692616627,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592226,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9436359,"cg_sample_seq":14426466,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0817058459,"cg_vd_v":0.0817058459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411805421,"cg_vq_v":-0.411805421,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.9478188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00493476773,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.06958,"values":{"Elec_RPM":-3.10418349e-29,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54750,"Mech_RPM":-6.20836683e-30,"cg_du":50.1804428,"cg_dv":50.2271423,"cg_dw":49.7728577,"cg_id_a":-0.0389255993,"cg_id_raw_a":0.250977844,"cg_iq_a":-0.230457917,"cg_iq_raw_a":-0.666578472,"cg_iu_a":-0.14244175,"cg_iv_a":-0.25704062,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9436359,"cg_sample_seq":14426516,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0792831704,"cg_vd_v":0.0792831704,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410009116,"cg_vq_v":-0.410009116,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.4373169,"temp_inv2_c":36.8233948,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00493476773,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.077393,"values":{"Elec_RPM":-3.10418349e-29,"EncoderCos":38746,"EncoderSin":12461,"GapTicks":54746,"Mech_RPM":-6.20836683e-30,"cg_du":50.1882591,"cg_dv":50.2303505,"cg_dw":49.7696495,"cg_id_a":0.110812075,"cg_id_raw_a":-0.0618561506,"cg_iq_a":0.35765332,"cg_iq_raw_a":1.08703625,"cg_iu_a":0.038777113,"cg_iv_a":-0.220796764,"cg_iw_a":0.182019651,"cg_sample_age_us":23.9509087,"cg_sample_seq":14426567,"cg_sample_valid":1,"cg_theta_rad":5.00821304,"cg_vd_req_v":0.0740658715,"cg_vd_v":0.0740658715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.419155866,"cg_vq_v":-0.419155866,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8107605,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.085205,"values":{"Elec_RPM":-3.04209994e-29,"EncoderCos":38721,"EncoderSin":12484,"GapTicks":54754,"Mech_RPM":-6.08419964e-30,"cg_du":50.1778564,"cg_dv":50.2233849,"cg_dw":49.7766151,"cg_id_a":-0.0559948012,"cg_id_raw_a":0.0939508751,"cg_iq_a":-0.45235154,"cg_iq_raw_a":-0.572722197,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333368778,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9836369,"cg_sample_seq":14426666,"cg_sample_valid":1,"cg_theta_rad":5.00611305,"cg_vd_req_v":0.0771887228,"cg_vd_v":0.0771887228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403542548,"cg_vq_v":-0.403542548,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":6.59838867,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8028564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.093018,"values":{"Elec_RPM":-2.9812577e-29,"EncoderCos":38752,"EncoderSin":12490,"GapTicks":54752,"Mech_RPM":-5.96251548e-30,"cg_du":50.1829376,"cg_dv":50.225132,"cg_dw":49.774868,"cg_id_a":0.157512784,"cg_id_raw_a":-0.0322723687,"cg_iq_a":-0.03820429,"cg_iq_raw_a":-0.147619158,"cg_iu_a":0.111264944,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9436359,"cg_sample_seq":14426716,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0718436986,"cg_vd_v":0.0718436986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409313798,"cg_vq_v":-0.409313798,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.10083,"values":{"Elec_RPM":-2.9812577e-29,"EncoderCos":38733,"EncoderSin":12488,"GapTicks":54752,"Mech_RPM":-5.96251548e-30,"cg_du":50.1808243,"cg_dv":50.2249641,"cg_dw":49.7750359,"cg_id_a":-0.0369878039,"cg_id_raw_a":0.242609218,"cg_iq_a":-0.159078926,"cg_iq_raw_a":-0.158512741,"cg_iu_a":0.437459469,"cg_iv_a":0.431592286,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9472733,"cg_sample_seq":14426766,"cg_sample_valid":1,"cg_theta_rad":5.00471258,"cg_vd_req_v":0.0753989816,"cg_vd_v":0.0753989816,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408821136,"cg_vq_v":-0.408821136,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.108643,"values":{"Elec_RPM":-2.92163242e-29,"EncoderCos":38708,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-5.84326506e-30,"cg_du":50.1843796,"cg_dv":50.2067261,"cg_dw":49.7932739,"cg_id_a":0.85144043,"cg_id_raw_a":0.0885313153,"cg_iq_a":-1.29882193,"cg_iq_raw_a":-0.500298679,"cg_iu_a":0.473703384,"cg_iv_a":1.26520038,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.9436359,"cg_sample_seq":14426816,"cg_sample_valid":1,"cg_theta_rad":5.00687361,"cg_vd_req_v":0.0572579131,"cg_vd_v":0.0572579131,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385530502,"cg_vq_v":-0.385530502,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.16561413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7933655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.139893,"values":{"Elec_RPM":-2.92163242e-29,"EncoderCos":38730,"EncoderSin":12476,"GapTicks":54753,"Mech_RPM":-5.84326506e-30,"cg_du":50.1787338,"cg_dv":50.2244568,"cg_dw":49.7755432,"cg_id_a":-0.139347523,"cg_id_raw_a":0.0455769673,"cg_iq_a":-0.340212554,"cg_iq_raw_a":0.36920923,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373065,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.8490906,"cg_sample_seq":14426871,"cg_sample_valid":1,"cg_theta_rad":5.00832176,"cg_vd_req_v":0.0771699175,"cg_vd_v":0.0771699175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406842649,"cg_vq_v":-0.406842649,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.16561413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7822876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.147705,"values":{"Elec_RPM":-2.8632e-29,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54754,"Mech_RPM":-5.72639985e-30,"cg_du":50.18993,"cg_dv":50.2236061,"cg_dw":49.7763939,"cg_id_a":0.279514164,"cg_id_raw_a":0.215794861,"cg_iq_a":-0.0358668417,"cg_iq_raw_a":-0.305805862,"cg_iu_a":-0.106198072,"cg_iv_a":0.902762115,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.954546,"cg_sample_seq":14426916,"cg_sample_valid":1,"cg_theta_rad":5.00777483,"cg_vd_req_v":0.0685023144,"cg_vd_v":0.0685023144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41051349,"cg_vq_v":-0.41051349,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.16561413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7822876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.155518,"values":{"Elec_RPM":-2.8632e-29,"EncoderCos":38712,"EncoderSin":12443,"GapTicks":54754,"Mech_RPM":-5.72639985e-30,"cg_du":50.1871872,"cg_dv":50.2228622,"cg_dw":49.7771378,"cg_id_a":0.148518905,"cg_id_raw_a":0.534813881,"cg_iq_a":-0.148823947,"cg_iq_raw_a":-1.36569059,"cg_iu_a":-0.432392597,"cg_iv_a":0.540323734,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14426966,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.0713390931,"cg_vd_v":0.0713390931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407718122,"cg_vq_v":-0.407718122,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.16561413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7791443,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.16333,"values":{"Elec_RPM":-2.80593579e-29,"EncoderCos":38722,"EncoderSin":12486,"GapTicks":54753,"Mech_RPM":-5.61187172e-30,"cg_du":50.1789818,"cg_dv":50.2243576,"cg_dw":49.7756424,"cg_id_a":-0.126118332,"cg_id_raw_a":0.350634515,"cg_iq_a":-0.157206923,"cg_iq_raw_a":-0.62086457,"cg_iu_a":0.981116891,"cg_iv_a":-0.184552908,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9472733,"cg_sample_seq":14427016,"cg_sample_valid":1,"cg_theta_rad":5.0062809,"cg_vd_req_v":0.0771020725,"cg_vd_v":0.0771020725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405522138,"cg_vq_v":-0.405522138,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8123474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.171143,"values":{"Elec_RPM":-2.80593579e-29,"EncoderCos":38728,"EncoderSin":12466,"GapTicks":54749,"Mech_RPM":-5.61187172e-30,"cg_du":50.1896019,"cg_dv":50.2280769,"cg_dw":49.7719231,"cg_id_a":0.101013556,"cg_id_raw_a":-0.319357693,"cg_iq_a":0.385271877,"cg_iq_raw_a":0.0064873863,"cg_iu_a":-0.903562307,"cg_iv_a":0.612811446,"cg_iw_a":0.290750861,"cg_sample_age_us":23.954546,"cg_sample_seq":14427066,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.072375901,"cg_vd_v":0.072375901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.416532576,"cg_vq_v":-0.416532576,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8123474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.182861,"values":{"Elec_RPM":-2.7498172e-29,"EncoderCos":38705,"EncoderSin":12486,"GapTicks":54755,"Mech_RPM":-5.49963439e-30,"cg_du":50.1751175,"cg_dv":50.2219772,"cg_dw":49.7780228,"cg_id_a":-0.265492648,"cg_id_raw_a":-0.391584784,"cg_iq_a":-0.162508205,"cg_iq_raw_a":0.726528525,"cg_iu_a":0.328727961,"cg_iv_a":0.322860718,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9290905,"cg_sample_seq":14427116,"cg_sample_valid":1,"cg_theta_rad":5.00645399,"cg_vd_req_v":0.0796160772,"cg_vd_v":0.0796160772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401032537,"cg_vq_v":-0.401032537,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8154907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.190674,"values":{"Elec_RPM":-2.7498172e-29,"EncoderCos":38716,"EncoderSin":12479,"GapTicks":54759,"Mech_RPM":-5.49963439e-30,"cg_du":50.1831055,"cg_dv":50.2188568,"cg_dw":49.7811432,"cg_id_a":0.203464672,"cg_id_raw_a":0.0885206386,"cg_iq_a":-0.224953219,"cg_iq_raw_a":-0.937375069,"cg_iu_a":-0.178685665,"cg_iv_a":0.649055243,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9436359,"cg_sample_seq":14427166,"cg_sample_valid":1,"cg_theta_rad":5.0078516,"cg_vd_req_v":0.0692642108,"cg_vd_v":0.0692642108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40022099,"cg_vq_v":-0.40022099,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3885803,"temp_inv2_c":36.8154907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.198486,"values":{"Elec_RPM":-2.69482076e-29,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-5.3896416e-30,"cg_du":50.1811295,"cg_dv":50.2196541,"cg_dw":49.7803459,"cg_id_a":0.235477462,"cg_id_raw_a":0.0932108685,"cg_iq_a":-0.111813203,"cg_iq_raw_a":-0.136193022,"cg_iu_a":-0.142441988,"cg_iv_a":1.04773748,"cg_iw_a":0.254507124,"cg_sample_age_us":23.954546,"cg_sample_seq":14427216,"cg_sample_valid":1,"cg_theta_rad":5.00798559,"cg_vd_req_v":0.0692619681,"cg_vd_v":0.0692619681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400607765,"cg_vq_v":-0.400607765,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8202209,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.206299,"values":{"Elec_RPM":-2.69482076e-29,"EncoderCos":38728,"EncoderSin":12497,"GapTicks":54748,"Mech_RPM":-5.3896416e-30,"cg_du":50.1911316,"cg_dv":50.2285995,"cg_dw":49.7714005,"cg_id_a":0.208987564,"cg_id_raw_a":0.681482375,"cg_iq_a":0.68363893,"cg_iq_raw_a":2.1035192,"cg_iu_a":0.111264944,"cg_iv_a":0.830274463,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.8963642,"cg_sample_seq":14427267,"cg_sample_valid":1,"cg_theta_rad":5.00822687,"cg_vd_req_v":0.0707900152,"cg_vd_v":0.0707900152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418255478,"cg_vq_v":-0.418255478,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.974898398,"dclink_p_w":141.091827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.214111,"values":{"Elec_RPM":-2.64092451e-29,"EncoderCos":38737,"EncoderSin":12472,"GapTicks":54751,"Mech_RPM":-5.28184895e-30,"cg_du":50.187664,"cg_dv":50.2261353,"cg_dw":49.7738647,"cg_id_a":0.220420718,"cg_id_raw_a":-0.0532622114,"cg_iq_a":0.358179212,"cg_iq_raw_a":2.32558513,"cg_iu_a":-0.323661089,"cg_iv_a":0.57656759,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8963642,"cg_sample_seq":14427316,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0709981918,"cg_vd_v":0.0709981918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412979275,"cg_vq_v":-0.412979275,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.971274018,"dclink_p_w":140.567291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8044434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.245361,"values":{"Elec_RPM":-2.64092451e-29,"EncoderCos":38740,"EncoderSin":12491,"GapTicks":54754,"Mech_RPM":-5.28184895e-30,"cg_du":50.16922,"cg_dv":50.2234001,"cg_dw":49.7765999,"cg_id_a":-0.364086866,"cg_id_raw_a":-0.43383339,"cg_iq_a":-0.288470924,"cg_iq_raw_a":0.798118114,"cg_iu_a":-1.30224466,"cg_iv_a":0.105397701,"cg_iw_a":1.19684696,"cg_sample_age_us":23.8672733,"cg_sample_seq":14427371,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0823196396,"cg_vd_v":0.0823196396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400333613,"cg_vq_v":-0.400333613,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.06550801,"dclink_p_w":154.673996,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8075867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.253174,"values":{"Elec_RPM":-2.58810619e-29,"EncoderCos":38698,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-5.17621207e-30,"cg_du":50.1967773,"cg_dv":50.224308,"cg_dw":49.775692,"cg_id_a":0.414317101,"cg_id_raw_a":0.18758525,"cg_iq_a":0.477416456,"cg_iq_raw_a":-0.0164689086,"cg_iu_a":-1.59219503,"cg_iv_a":0.540323734,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9509087,"cg_sample_seq":14427416,"cg_sample_valid":1,"cg_theta_rad":5.0089283,"cg_vd_req_v":0.065512836,"cg_vd_v":0.065512836,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415049762,"cg_vq_v":-0.415049762,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.994832516,"dclink_p_w":144.414413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8028564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.260986,"values":{"Elec_RPM":-2.58810619e-29,"EncoderCos":38726,"EncoderSin":12489,"GapTicks":54749,"Mech_RPM":-5.17621207e-30,"cg_du":50.1787262,"cg_dv":50.2274971,"cg_dw":49.7725029,"cg_id_a":-0.309132874,"cg_id_raw_a":-0.480320156,"cg_iq_a":0.0523502678,"cg_iq_raw_a":0.353509128,"cg_iu_a":0.292484045,"cg_iv_a":0.105397761,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9290905,"cg_sample_seq":14427466,"cg_sample_valid":1,"cg_theta_rad":5.00664425,"cg_vd_req_v":0.0798936859,"cg_vd_v":0.0798936859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409741253,"cg_vq_v":-0.409741253,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.806364596,"dclink_p_w":116.700836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8028564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.268799,"values":{"Elec_RPM":-2.48561707e-29,"EncoderCos":38711,"EncoderSin":12441,"GapTicks":54753,"Mech_RPM":-4.97123407e-30,"cg_du":50.1817703,"cg_dv":50.2242317,"cg_dw":49.7757683,"cg_id_a":-0.0499986596,"cg_id_raw_a":-0.13815771,"cg_iq_a":0.1596338,"cg_iq_raw_a":-0.122560665,"cg_iu_a":0.61867857,"cg_iv_a":0.0691540241,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9581814,"cg_sample_seq":14427616,"cg_sample_valid":1,"cg_theta_rad":5.00751925,"cg_vd_req_v":0.0770645067,"cg_vd_v":0.0770645067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40649125,"cg_vq_v":-0.40649125,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7965088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.276611,"values":{"Elec_RPM":-2.48561707e-29,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54755,"Mech_RPM":-4.97123407e-30,"cg_du":50.1743393,"cg_dv":50.2222328,"cg_dw":49.7777672,"cg_id_a":-0.0977476984,"cg_id_raw_a":-0.0377123579,"cg_iq_a":-0.163446188,"cg_iq_raw_a":0.361291677,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860718,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9509087,"cg_sample_seq":14427666,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.0784319863,"cg_vd_v":0.0784319863,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401343286,"cg_vq_v":-0.401343286,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7980957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.284424,"values":{"Elec_RPM":-2.43590476e-29,"EncoderCos":38737,"EncoderSin":12468,"GapTicks":54750,"Mech_RPM":-4.87180944e-30,"cg_du":50.1792984,"cg_dv":50.2271538,"cg_dw":49.7728462,"cg_id_a":-0.0860501304,"cg_id_raw_a":-0.448215127,"cg_iq_a":0.22087875,"cg_iq_raw_a":-0.186949238,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9799995,"cg_sample_seq":14427716,"cg_sample_valid":1,"cg_theta_rad":5.00524092,"cg_vd_req_v":0.0789197534,"cg_vd_v":0.0789197534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410925031,"cg_vq_v":-0.410925031,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.483794451,"dclink_p_w":70.016983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7980957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.296143,"values":{"Elec_RPM":-2.43590476e-29,"EncoderCos":38723,"EncoderSin":12466,"GapTicks":54758,"Mech_RPM":-4.87180944e-30,"cg_du":50.176796,"cg_dv":50.219471,"cg_dw":49.780529,"cg_id_a":0.0403683148,"cg_id_raw_a":0.222627237,"cg_iq_a":-0.341337681,"cg_iq_raw_a":-0.378087759,"cg_iu_a":0.256240129,"cg_iv_a":0.649055243,"cg_iw_a":-0.905295372,"cg_sample_age_us":23.8563633,"cg_sample_seq":14427766,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0745348558,"cg_vd_v":0.0745348558,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397567064,"cg_vq_v":-0.397567064,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.483794451,"dclink_p_w":70.016983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.8123474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.303955,"values":{"Elec_RPM":-2.38718655e-29,"EncoderCos":38695,"EncoderSin":12459,"GapTicks":54755,"Mech_RPM":-4.77437319e-30,"cg_du":50.173439,"cg_dv":50.2222137,"cg_dw":49.7777863,"cg_id_a":-0.319618225,"cg_id_raw_a":0.0150664141,"cg_iq_a":-0.320964038,"cg_iq_raw_a":-0.58066988,"cg_iu_a":-0.142441988,"cg_iv_a":-0.510747313,"cg_iw_a":0.653189301,"cg_sample_age_us":23.954546,"cg_sample_seq":14427816,"cg_sample_valid":1,"cg_theta_rad":5.00778675,"cg_vd_req_v":0.0825671852,"cg_vd_v":0.0825671852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398856789,"cg_vq_v":-0.398856789,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8075867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.311768,"values":{"Elec_RPM":-2.38718655e-29,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54757,"Mech_RPM":-4.77437319e-30,"cg_du":50.1790085,"cg_dv":50.2202797,"cg_dw":49.7797203,"cg_id_a":0.116782434,"cg_id_raw_a":-0.308257192,"cg_iq_a":-0.261033028,"cg_iq_raw_a":-0.320874393,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592286,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9145451,"cg_sample_seq":14427866,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0739907399,"cg_vd_v":0.0739907399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399834394,"cg_vq_v":-0.399834394,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.00508261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8075867,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.339111,"values":{"Elec_RPM":-2.3394429e-29,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54748,"Mech_RPM":-4.6788858e-30,"cg_du":50.1734848,"cg_dv":50.2284813,"cg_dw":49.7715187,"cg_id_a":-0.24660331,"cg_id_raw_a":-0.207623422,"cg_iq_a":0.187007904,"cg_iq_raw_a":0.85530895,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528332,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8490906,"cg_sample_seq":14427921,"cg_sample_valid":1,"cg_theta_rad":5.00724983,"cg_vd_req_v":0.0834655911,"cg_vd_v":0.0834655911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408460736,"cg_vq_v":-0.408460736,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.00508261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8249817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.35083,"values":{"Elec_RPM":-2.3394429e-29,"EncoderCos":38747,"EncoderSin":12497,"GapTicks":54756,"Mech_RPM":-4.6788858e-30,"cg_du":50.1782837,"cg_dv":50.2211456,"cg_dw":49.7788544,"cg_id_a":0.226756856,"cg_id_raw_a":0.0716195181,"cg_iq_a":-0.151145086,"cg_iq_raw_a":0.334732354,"cg_iu_a":0.147508621,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.954546,"cg_sample_seq":14427967,"cg_sample_valid":1,"cg_theta_rad":5.00797319,"cg_vd_req_v":0.0719484165,"cg_vd_v":0.0719484165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401233017,"cg_vq_v":-0.401233017,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.00508261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8249817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.358643,"values":{"Elec_RPM":-2.29265409e-29,"EncoderCos":38724,"EncoderSin":12486,"GapTicks":54752,"Mech_RPM":-4.58530818e-30,"cg_du":50.1742668,"cg_dv":50.224556,"cg_dw":49.775444,"cg_id_a":-0.170684054,"cg_id_raw_a":0.089922674,"cg_iq_a":-0.0615030415,"cg_iq_raw_a":-0.75518775,"cg_iu_a":0.546190977,"cg_iv_a":-0.764454246,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9436359,"cg_sample_seq":14428016,"cg_sample_valid":1,"cg_theta_rad":5.00827551,"cg_vd_req_v":0.0808160603,"cg_vd_v":0.0808160603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403192222,"cg_vq_v":-0.403192222,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8012695,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.366455,"values":{"Elec_RPM":-2.29265409e-29,"EncoderCos":38717,"EncoderSin":12488,"GapTicks":54755,"Mech_RPM":-4.58530818e-30,"cg_du":50.1779938,"cg_dv":50.221981,"cg_dw":49.778019,"cg_id_a":-0.0078689307,"cg_id_raw_a":0.445296228,"cg_iq_a":-0.0813038498,"cg_iq_raw_a":-0.939104795,"cg_iu_a":0.401215553,"cg_iv_a":0.177885473,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9836369,"cg_sample_seq":14428066,"cg_sample_valid":1,"cg_theta_rad":5.00905085,"cg_vd_req_v":0.0759744272,"cg_vd_v":0.0759744272,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401664615,"cg_vq_v":-0.401664615,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.374268,"values":{"Elec_RPM":-2.24680101e-29,"EncoderCos":38730,"EncoderSin":12477,"GapTicks":54757,"Mech_RPM":-4.49360194e-30,"cg_du":50.1681747,"cg_dv":50.2201424,"cg_dw":49.7798576,"cg_id_a":-0.242330283,"cg_id_raw_a":-0.0445785373,"cg_iq_a":-0.287666947,"cg_iq_raw_a":0.433453143,"cg_iu_a":0.292484045,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8563633,"cg_sample_seq":14428116,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.0810316205,"cg_vd_v":0.0810316205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393835068,"cg_vq_v":-0.393835068,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.38208,"values":{"Elec_RPM":-2.24680101e-29,"EncoderCos":38722,"EncoderSin":12439,"GapTicks":54761,"Mech_RPM":-4.49360194e-30,"cg_du":50.1729126,"cg_dv":50.2168541,"cg_dw":49.7831459,"cg_id_a":-0.0214015227,"cg_id_raw_a":-0.450168401,"cg_iq_a":-0.330852866,"cg_iq_raw_a":-1.42803276,"cg_iu_a":0.509947062,"cg_iv_a":0.214129329,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9799995,"cg_sample_seq":14428166,"cg_sample_valid":1,"cg_theta_rad":5.00971127,"cg_vd_req_v":0.0758554563,"cg_vd_v":0.0758554563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391675115,"cg_vq_v":-0.391675115,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.389893,"values":{"Elec_RPM":-2.20186485e-29,"EncoderCos":38705,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-4.40372985e-30,"cg_du":50.1767197,"cg_dv":50.2173042,"cg_dw":49.7826958,"cg_id_a":0.0371760018,"cg_id_raw_a":-0.039701242,"cg_iq_a":-0.040925324,"cg_iq_raw_a":0.36107856,"cg_iu_a":0.364971876,"cg_iv_a":0.250373125,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9472733,"cg_sample_seq":14428216,"cg_sample_valid":1,"cg_theta_rad":5.00638914,"cg_vd_req_v":0.0737241432,"cg_vd_v":0.0737241432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394347072,"cg_vq_v":-0.394347072,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.397705,"values":{"Elec_RPM":-2.20186485e-29,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54759,"Mech_RPM":-4.40372985e-30,"cg_du":50.1795578,"cg_dv":50.2181931,"cg_dw":49.7818069,"cg_id_a":0.0569073856,"cg_id_raw_a":0.394416153,"cg_iq_a":0.134588465,"cg_iq_raw_a":0.440633804,"cg_iu_a":-0.359904766,"cg_iv_a":0.322860837,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.954546,"cg_sample_seq":14428266,"cg_sample_valid":1,"cg_theta_rad":5.00764942,"cg_vd_req_v":0.0719056055,"cg_vd_v":0.0719056055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397238731,"cg_vq_v":-0.397238731,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.409424,"values":{"Elec_RPM":-2.15782771e-29,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-4.31565542e-30,"cg_du":50.1810875,"cg_dv":50.2176933,"cg_dw":49.7823067,"cg_id_a":0.137639821,"cg_id_raw_a":-0.163130432,"cg_iq_a":0.332910657,"cg_iq_raw_a":-0.0877320543,"cg_iu_a":-0.613611698,"cg_iv_a":-0.0758213997,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14428316,"cg_sample_valid":1,"cg_theta_rad":5.00700855,"cg_vd_req_v":0.0690283626,"cg_vd_v":0.0690283626,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397625834,"cg_vq_v":-0.397625834,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.650637627,"dclink_p_w":-94.1633072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.417236,"values":{"Elec_RPM":-2.15782771e-29,"EncoderCos":38702,"EncoderSin":12470,"GapTicks":54758,"Mech_RPM":-4.31565542e-30,"cg_du":50.1750793,"cg_dv":50.2192764,"cg_dw":49.7807236,"cg_id_a":-0.172092617,"cg_id_raw_a":0.0136919674,"cg_iq_a":0.283885658,"cg_iq_raw_a":0.038631089,"cg_iu_a":0.364971638,"cg_iv_a":-1.01816094,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14428366,"cg_sample_valid":1,"cg_theta_rad":5.00879192,"cg_vd_req_v":0.0774760991,"cg_vd_v":0.0774760991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395997107,"cg_vq_v":-0.395997107,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.5592575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.44458,"values":{"Elec_RPM":-2.07237766e-29,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54757,"Mech_RPM":-4.14475547e-30,"cg_du":50.1739731,"cg_dv":50.2205887,"cg_dw":49.7794113,"cg_id_a":-0.0657667592,"cg_id_raw_a":0.306209981,"cg_iq_a":0.303543568,"cg_iq_raw_a":-0.369749129,"cg_iu_a":0.328727961,"cg_iv_a":0.141641617,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14428516,"cg_sample_valid":1,"cg_theta_rad":5.0063796,"cg_vd_req_v":0.078130208,"cg_vd_v":0.078130208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397443116,"cg_vq_v":-0.397443116,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.452393,"values":{"Elec_RPM":-2.07237766e-29,"EncoderCos":38715,"EncoderSin":12447,"GapTicks":54765,"Mech_RPM":-4.14475547e-30,"cg_du":50.1677856,"cg_dv":50.2133408,"cg_dw":49.7866592,"cg_id_a":-0.0054048989,"cg_id_raw_a":-0.354612112,"cg_iq_a":-0.245947093,"cg_iq_raw_a":-0.690517068,"cg_iu_a":0.183752775,"cg_iv_a":0.286616981,"cg_iw_a":-0.470369756,"cg_sample_age_us":23.9436359,"cg_sample_seq":14428566,"cg_sample_valid":1,"cg_theta_rad":5.00734758,"cg_vd_req_v":0.0768476725,"cg_vd_v":0.0768476725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383935779,"cg_vq_v":-0.383935779,"cg_vu_v":18.4754887,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.464111,"values":{"Elec_RPM":-2.03093014e-29,"EncoderCos":38675,"EncoderSin":12457,"GapTicks":54764,"Mech_RPM":-4.06186036e-30,"cg_du":50.1766129,"cg_dv":50.2143669,"cg_dw":49.7856331,"cg_id_a":0.0148656294,"cg_id_raw_a":-0.248712435,"cg_iq_a":-0.116667025,"cg_iq_raw_a":-0.646103978,"cg_iu_a":-0.468636274,"cg_iv_a":-0.691966653,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9254551,"cg_sample_seq":14428617,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0742154121,"cg_vd_v":0.0742154121,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389694303,"cg_vq_v":-0.389694303,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7744141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.471924,"values":{"Elec_RPM":-2.03093014e-29,"EncoderCos":38694,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-4.06186036e-30,"cg_du":50.1701698,"cg_dv":50.2167625,"cg_dw":49.7832375,"cg_id_a":-0.136097729,"cg_id_raw_a":0.00464782305,"cg_iq_a":-0.122519016,"cg_iq_raw_a":-0.69099164,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9472733,"cg_sample_seq":14428666,"cg_sample_valid":1,"cg_theta_rad":5.00734758,"cg_vd_req_v":0.0792753026,"cg_vd_v":0.0792753026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389732778,"cg_vq_v":-0.389732778,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7744141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.479736,"values":{"Elec_RPM":-1.99031153e-29,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54759,"Mech_RPM":-3.98062298e-30,"cg_du":50.168972,"cg_dv":50.2189522,"cg_dw":49.7810478,"cg_id_a":-0.248674199,"cg_id_raw_a":0.374878556,"cg_iq_a":-0.0143502206,"cg_iq_raw_a":-0.835802853,"cg_iu_a":-0.287417173,"cg_iv_a":-0.546991289,"cg_iw_a":0.834408462,"cg_sample_age_us":23.9181824,"cg_sample_seq":14428716,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0813257471,"cg_vd_v":0.0813257471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392234623,"cg_vq_v":-0.392234623,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.487549,"values":{"Elec_RPM":-1.99031153e-29,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-3.98062298e-30,"cg_du":50.1727638,"cg_dv":50.2191887,"cg_dw":49.7808113,"cg_id_a":-0.041641809,"cg_id_raw_a":-0.0694832802,"cg_iq_a":0.0696402118,"cg_iq_raw_a":0.467460066,"cg_iu_a":0.509947062,"cg_iv_a":0.0691539645,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9254551,"cg_sample_seq":14428767,"cg_sample_valid":1,"cg_theta_rad":5.00638723,"cg_vd_req_v":0.0770447254,"cg_vd_v":0.0770447254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394992441,"cg_vq_v":-0.394992441,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.499268,"values":{"Elec_RPM":-1.95050526e-29,"EncoderCos":38740,"EncoderSin":12492,"GapTicks":54753,"Mech_RPM":-3.9010106e-30,"cg_du":50.1722832,"cg_dv":50.224369,"cg_dw":49.775631,"cg_id_a":-0.192345291,"cg_id_raw_a":-0.267074108,"cg_iq_a":0.610641241,"cg_iq_raw_a":0.81342721,"cg_iu_a":-0.178685904,"cg_iv_a":-0.546991229,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9509087,"cg_sample_seq":14428816,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0805644244,"cg_vd_v":0.0805644244,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402153403,"cg_vq_v":-0.402153403,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7996826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.50708,"values":{"Elec_RPM":-1.95050526e-29,"EncoderCos":38719,"EncoderSin":12451,"GapTicks":54758,"Mech_RPM":-3.9010106e-30,"cg_du":50.1699295,"cg_dv":50.2192535,"cg_dw":49.7807465,"cg_id_a":-0.256534994,"cg_id_raw_a":-0.0222628154,"cg_iq_a":0.0119012743,"cg_iq_raw_a":-0.657006085,"cg_iu_a":0.328727961,"cg_iv_a":-0.619478822,"cg_iw_a":0.254507065,"cg_sample_age_us":23.954546,"cg_sample_seq":14428866,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0807201564,"cg_vd_v":0.0807201564,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394457728,"cg_vq_v":-0.394457728,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.2455177,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.534424,"values":{"Elec_RPM":-1.91149525e-29,"EncoderCos":38756,"EncoderSin":12507,"GapTicks":54760,"Mech_RPM":-3.8229905e-30,"cg_du":50.171402,"cg_dv":50.2176247,"cg_dw":49.7823753,"cg_id_a":0.161218718,"cg_id_raw_a":0.285516798,"cg_iq_a":-0.0928441808,"cg_iq_raw_a":-0.665603697,"cg_iu_a":-0.14244175,"cg_iv_a":-0.112065256,"cg_iw_a":0.254507005,"cg_sample_age_us":23.8600006,"cg_sample_seq":14428921,"cg_sample_valid":1,"cg_theta_rad":5.00847769,"cg_vd_req_v":0.0729199946,"cg_vd_v":0.0729199946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392806888,"cg_vq_v":-0.392806888,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.6671333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.542236,"values":{"Elec_RPM":-1.91149525e-29,"EncoderCos":38724,"EncoderSin":12463,"GapTicks":54756,"Mech_RPM":-3.8229905e-30,"cg_du":50.1765747,"cg_dv":50.2214165,"cg_dw":49.7785835,"cg_id_a":-0.0207662247,"cg_id_raw_a":0.0700495988,"cg_iq_a":0.317946553,"cg_iq_raw_a":-0.5386042,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8309097,"cg_sample_seq":14428966,"cg_sample_valid":1,"cg_theta_rad":5.00602484,"cg_vd_req_v":0.076589793,"cg_vd_v":0.076589793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400089324,"cg_vq_v":-0.400089324,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7791443,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.550049,"values":{"Elec_RPM":-1.87326539e-29,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-3.7465307e-30,"cg_du":50.1703415,"cg_dv":50.2198753,"cg_dw":49.7801247,"cg_id_a":-0.128379226,"cg_id_raw_a":-0.270313978,"cg_iq_a":-0.0754330605,"cg_iq_raw_a":-1.37255287,"cg_iu_a":0.147508621,"cg_iv_a":-0.583235025,"cg_iw_a":0.435726404,"cg_sample_age_us":23.954546,"cg_sample_seq":14429016,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.0796753019,"cg_vd_v":0.0796753019,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394558609,"cg_vq_v":-0.394558609,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.557861,"values":{"Elec_RPM":-1.87326539e-29,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-3.7465307e-30,"cg_du":50.1714134,"cg_dv":50.2133369,"cg_dw":49.7866631,"cg_id_a":0.11494793,"cg_id_raw_a":0.366661608,"cg_iq_a":-0.460738838,"cg_iq_raw_a":-0.764148533,"cg_iu_a":-0.758587122,"cg_iv_a":0.39534843,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8709087,"cg_sample_seq":14429066,"cg_sample_valid":1,"cg_theta_rad":5.00723076,"cg_vd_req_v":0.0736604705,"cg_vd_v":0.0736604705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387258977,"cg_vq_v":-0.387258977,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.565674,"values":{"Elec_RPM":-1.83580003e-29,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54754,"Mech_RPM":-3.67159999e-30,"cg_du":50.1794395,"cg_dv":50.2235451,"cg_dw":49.7764549,"cg_id_a":-0.0238519162,"cg_id_raw_a":0.569372714,"cg_iq_a":0.480526447,"cg_iq_raw_a":-0.0534437262,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0395776033,"cg_iw_a":0.508213878,"cg_sample_age_us":23.954546,"cg_sample_seq":14429116,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0763350949,"cg_vd_v":0.0763350949,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40587768,"cg_vq_v":-0.40587768,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.577393,"values":{"Elec_RPM":-1.83580003e-29,"EncoderCos":38708,"EncoderSin":12458,"GapTicks":54759,"Mech_RPM":-3.67159999e-30,"cg_du":50.176609,"cg_dv":50.2188416,"cg_dw":49.7811584,"cg_id_a":0.0130335614,"cg_id_raw_a":-0.410291463,"cg_iq_a":0.181792215,"cg_iq_raw_a":-0.550797999,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.954546,"cg_sample_seq":14429166,"cg_sample_valid":1,"cg_theta_rad":5.00931787,"cg_vd_req_v":0.0758712143,"cg_vd_v":0.0758712143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397513747,"cg_vq_v":-0.397513747,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.585205,"values":{"Elec_RPM":-1.79908399e-29,"EncoderCos":38734,"EncoderSin":12498,"GapTicks":54762,"Mech_RPM":-3.5981679e-30,"cg_du":50.1750221,"cg_dv":50.2158012,"cg_dw":49.7841988,"cg_id_a":0.245892972,"cg_id_raw_a":0.425083697,"cg_iq_a":0.024267666,"cg_iq_raw_a":-0.5422104,"cg_iu_a":-0.468636274,"cg_iv_a":0.322860718,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9872723,"cg_sample_seq":14429216,"cg_sample_valid":1,"cg_theta_rad":5.00722075,"cg_vd_req_v":0.0705158487,"cg_vd_v":0.0705158487,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391917229,"cg_vq_v":-0.391917229,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.266331434,"dclink_p_w":38.5447235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7854614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.593018,"values":{"Elec_RPM":-1.79908399e-29,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-3.5981679e-30,"cg_du":50.1708298,"cg_dv":50.2035904,"cg_dw":49.7964096,"cg_id_a":0.56788218,"cg_id_raw_a":0.481678069,"cg_iq_a":-0.845209122,"cg_iq_raw_a":-1.73653162,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592226,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9145451,"cg_sample_seq":14429266,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0639194921,"cg_vd_v":0.0639194921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372607142,"cg_vq_v":-0.372607142,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.8328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.60083,"values":{"Elec_RPM":-1.76310235e-29,"EncoderCos":38729,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-3.5262047e-30,"cg_du":50.1552544,"cg_dv":50.2046127,"cg_dw":49.7953873,"cg_id_a":-0.0953823924,"cg_id_raw_a":0.0339162052,"cg_iq_a":-1.12882257,"cg_iq_raw_a":-0.614890337,"cg_iu_a":1.23482382,"cg_iv_a":0.504079938,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.9436359,"cg_sample_seq":14429316,"cg_sample_valid":1,"cg_theta_rad":5.0056138,"cg_vd_req_v":0.0761028826,"cg_vd_v":0.0761028826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365468621,"cg_vq_v":-0.365468621,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.8328857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.612549,"values":{"Elec_RPM":-1.76310235e-29,"EncoderCos":38714,"EncoderSin":12431,"GapTicks":54761,"Mech_RPM":-3.5262047e-30,"cg_du":50.1687889,"cg_dv":50.2168961,"cg_dw":49.7831039,"cg_id_a":-0.293912321,"cg_id_raw_a":-0.0793767497,"cg_iq_a":0.17193383,"cg_iq_raw_a":-0.0801429823,"cg_iu_a":0.219996452,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.954546,"cg_sample_seq":14429366,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0800501183,"cg_vd_v":0.0800501183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389220417,"cg_vq_v":-0.389220417,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.639893,"values":{"Elec_RPM":-1.72784038e-29,"EncoderCos":38743,"EncoderSin":12488,"GapTicks":54761,"Mech_RPM":-3.45568068e-30,"cg_du":50.1653557,"cg_dv":50.2167549,"cg_dw":49.7832451,"cg_id_a":-0.265898973,"cg_id_raw_a":0.0228429306,"cg_iq_a":0.119101882,"cg_iq_raw_a":0.403226495,"cg_iu_a":-0.14244175,"cg_iv_a":0.467836082,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.8527279,"cg_sample_seq":14429421,"cg_sample_valid":1,"cg_theta_rad":5.00803661,"cg_vd_req_v":0.0787631273,"cg_vd_v":0.0787631273,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389119387,"cg_vq_v":-0.389119387,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.647705,"values":{"Elec_RPM":-1.72784038e-29,"EncoderCos":38722,"EncoderSin":12452,"GapTicks":54764,"Mech_RPM":-3.45568068e-30,"cg_du":50.1594009,"cg_dv":50.2140465,"cg_dw":49.7859535,"cg_id_a":-0.525682211,"cg_id_raw_a":-0.238110274,"cg_iq_a":-0.406960607,"cg_iq_raw_a":-0.605376482,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14429467,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0836187601,"cg_vd_v":0.0836187601,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381486714,"cg_vq_v":-0.381486714,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7917786,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.655518,"values":{"Elec_RPM":-1.69328363e-29,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54761,"Mech_RPM":-3.38656725e-30,"cg_du":50.1757317,"cg_dv":50.2166176,"cg_dw":49.7833824,"cg_id_a":0.0406112075,"cg_id_raw_a":0.319527984,"cg_iq_a":0.0318828113,"cg_iq_raw_a":-0.0771826431,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716871619,"cg_sample_age_us":23.9909096,"cg_sample_seq":14429516,"cg_sample_valid":1,"cg_theta_rad":5.00675392,"cg_vd_req_v":0.0727833062,"cg_vd_v":0.0727833062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393055618,"cg_vq_v":-0.393055618,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.66333,"values":{"Elec_RPM":-1.69328363e-29,"EncoderCos":38715,"EncoderSin":12486,"GapTicks":54758,"Mech_RPM":-3.38656725e-30,"cg_du":50.1782875,"cg_dv":50.2197647,"cg_dw":49.7802353,"cg_id_a":0.0332543328,"cg_id_raw_a":0.367547244,"cg_iq_a":0.103895515,"cg_iq_raw_a":0.2916722,"cg_iu_a":0.0387773514,"cg_iv_a":-0.691966534,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9763641,"cg_sample_seq":14429567,"cg_sample_valid":1,"cg_theta_rad":5.00709772,"cg_vd_req_v":0.073825486,"cg_vd_v":0.073825486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39876917,"cg_vq_v":-0.39876917,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8033466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.8186646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.675049,"values":{"Elec_RPM":-1.65941795e-29,"EncoderCos":38696,"EncoderSin":12478,"GapTicks":54754,"Mech_RPM":-3.31883583e-30,"cg_du":50.1737785,"cg_dv":50.2229614,"cg_dw":49.7770386,"cg_id_a":-0.314484119,"cg_id_raw_a":0.0627000332,"cg_iq_a":0.215490654,"cg_iq_raw_a":-0.0291887969,"cg_iu_a":0.0387773514,"cg_iv_a":-0.836941957,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14429617,"cg_sample_valid":1,"cg_theta_rad":5.00727558,"cg_vd_req_v":0.0824251249,"cg_vd_v":0.0824251249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400184989,"cg_vq_v":-0.400184989,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.682861,"values":{"Elec_RPM":-1.65941795e-29,"EncoderCos":38715,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-3.31883583e-30,"cg_du":50.1654549,"cg_dv":50.2127762,"cg_dw":49.7872238,"cg_id_a":-0.133477882,"cg_id_raw_a":-0.325070173,"cg_iq_a":-0.640852749,"cg_iq_raw_a":-0.359412462,"cg_iu_a":0.292484283,"cg_iv_a":0.0691540241,"cg_iw_a":-0.361638308,"cg_sample_age_us":23.8527279,"cg_sample_seq":14429666,"cg_sample_valid":1,"cg_theta_rad":5.00632429,"cg_vd_req_v":0.0778080076,"cg_vd_v":0.0778080076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381920576,"cg_vq_v":-0.381920576,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.495986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7538452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.690674,"values":{"Elec_RPM":-1.62622952e-29,"EncoderCos":38679,"EncoderSin":12451,"GapTicks":54760,"Mech_RPM":-3.25245896e-30,"cg_du":50.184391,"cg_dv":50.2176399,"cg_dw":49.7823601,"cg_id_a":0.17614013,"cg_id_raw_a":0.621601939,"cg_iq_a":0.319591552,"cg_iq_raw_a":1.41714859,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772128,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9254551,"cg_sample_seq":14429717,"cg_sample_valid":1,"cg_theta_rad":5.00821829,"cg_vd_req_v":0.0714123473,"cg_vd_v":0.0714123473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399790287,"cg_vq_v":-0.399790287,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.329758167,"dclink_p_w":47.7241364,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7538452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.698486,"values":{"Elec_RPM":-1.62622952e-29,"EncoderCos":38706,"EncoderSin":12511,"GapTicks":54757,"Mech_RPM":-3.25245896e-30,"cg_du":50.1950111,"cg_dv":50.2200699,"cg_dw":49.7799301,"cg_id_a":0.681994438,"cg_id_raw_a":0.763548076,"cg_iq_a":0.676787436,"cg_iq_raw_a":0.112157457,"cg_iu_a":-0.50488019,"cg_iv_a":0.105397701,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9472733,"cg_sample_seq":14429767,"cg_sample_valid":1,"cg_theta_rad":5.00703049,"cg_vd_req_v":0.061320141,"cg_vd_v":0.061320141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409793824,"cg_vq_v":-0.409793824,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.6636391,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.706299,"values":{"Elec_RPM":-1.59370492e-29,"EncoderCos":38712,"EncoderSin":12471,"GapTicks":54744,"Mech_RPM":-3.18740992e-30,"cg_du":50.1952438,"cg_dv":50.2324142,"cg_dw":49.7675858,"cg_id_a":0.154497594,"cg_id_raw_a":0.12723054,"cg_iq_a":1.51870108,"cg_iq_raw_a":0.377698094,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772128,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14429816,"cg_sample_valid":1,"cg_theta_rad":5.00657082,"cg_vd_req_v":0.0737729147,"cg_vd_v":0.0737729147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.426647693,"cg_vq_v":-0.426647693,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7949524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.714111,"values":{"Elec_RPM":-1.59370492e-29,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-3.18740992e-30,"cg_du":50.1749916,"cg_dv":50.2193832,"cg_dw":49.7806168,"cg_id_a":-0.0255907774,"cg_id_raw_a":0.24046503,"cg_iq_a":0.125870496,"cg_iq_raw_a":-0.339616925,"cg_iu_a":0.437459469,"cg_iv_a":-0.148309112,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14429867,"cg_sample_valid":1,"cg_theta_rad":5.00747252,"cg_vd_req_v":0.0764755756,"cg_vd_v":0.0764755756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396316767,"cg_vq_v":-0.396316767,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.65183568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7949524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.741455,"values":{"Elec_RPM":-1.56183078e-29,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54758,"Mech_RPM":-3.12366164e-30,"cg_du":50.168457,"cg_dv":50.2194519,"cg_dw":49.7805481,"cg_id_a":-0.249804825,"cg_id_raw_a":-0.510062039,"cg_iq_a":-0.0596996695,"cg_iq_raw_a":-0.412695318,"cg_iu_a":0.401215792,"cg_iv_a":0.359104633,"cg_iw_a":0.363238752,"cg_sample_age_us":23.8600006,"cg_sample_seq":14429920,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.080839403,"cg_vd_v":0.080839403,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392907768,"cg_vq_v":-0.392907768,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.753174,"values":{"Elec_RPM":-1.56183078e-29,"EncoderCos":38711,"EncoderSin":12469,"GapTicks":54755,"Mech_RPM":-3.12366164e-30,"cg_du":50.1673584,"cg_dv":50.2221031,"cg_dw":49.7778969,"cg_id_a":-0.478334665,"cg_id_raw_a":-0.148020163,"cg_iq_a":-0.0127314925,"cg_iq_raw_a":-1.28883421,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8527279,"cg_sample_seq":14429966,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0855003893,"cg_vd_v":0.0855003893,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395636886,"cg_vq_v":-0.395636886,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1107082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7870483,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.760986,"values":{"Elec_RPM":-1.53059415e-29,"EncoderCos":38712,"EncoderSin":12509,"GapTicks":54764,"Mech_RPM":-3.06118835e-30,"cg_du":50.1794701,"cg_dv":50.2143555,"cg_dw":49.7856445,"cg_id_a":0.3562558,"cg_id_raw_a":-0.0968084261,"cg_iq_a":-0.0332628489,"cg_iq_raw_a":-0.554780602,"cg_iu_a":0.183752537,"cg_iv_a":0.0691540241,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14430017,"cg_sample_valid":1,"cg_theta_rad":5.00509453,"cg_vd_req_v":0.0672814846,"cg_vd_v":0.0672814846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392141521,"cg_vq_v":-0.392141521,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1107082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7649231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.768799,"values":{"Elec_RPM":-1.53059415e-29,"EncoderCos":38712,"EncoderSin":12458,"GapTicks":54763,"Mech_RPM":-3.06118835e-30,"cg_du":50.1819801,"cg_dv":50.2147751,"cg_dw":49.7852249,"cg_id_a":0.311677575,"cg_id_raw_a":0.349587113,"cg_iq_a":0.151436687,"cg_iq_raw_a":0.254475743,"cg_iu_a":0.14750886,"cg_iv_a":-0.474503636,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14430068,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0671044216,"cg_vd_v":0.0671044216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393886179,"cg_vq_v":-0.393886179,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7854614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.780518,"values":{"Elec_RPM":-1.49998225e-29,"EncoderCos":38736,"EncoderSin":12484,"GapTicks":54767,"Mech_RPM":-2.99996465e-30,"cg_du":50.1663361,"cg_dv":50.2110405,"cg_dw":49.7889595,"cg_id_a":0.00517328549,"cg_id_raw_a":0.511391103,"cg_iq_a":-0.41813758,"cg_iq_raw_a":-0.788786352,"cg_iu_a":0.183752537,"cg_iv_a":0.0691540241,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9472733,"cg_sample_seq":14430117,"cg_sample_valid":1,"cg_theta_rad":5.00682688,"cg_vd_req_v":0.0729561895,"cg_vd_v":0.0729561895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380547076,"cg_vq_v":-0.380547076,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7854614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.78833,"values":{"Elec_RPM":-1.49998225e-29,"EncoderCos":38715,"EncoderSin":12491,"GapTicks":54764,"Mech_RPM":-2.99996465e-30,"cg_du":50.1690979,"cg_dv":50.2143402,"cg_dw":49.7856598,"cg_id_a":-0.130208999,"cg_id_raw_a":0.194538802,"cg_iq_a":0.0053974539,"cg_iq_raw_a":-0.0894819871,"cg_iu_a":0.0750210285,"cg_iv_a":-0.25704062,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14430167,"cg_sample_valid":1,"cg_theta_rad":5.00589037,"cg_vd_req_v":0.075628683,"cg_vd_v":0.075628683,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386263579,"cg_vq_v":-0.386263579,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.509165168,"dclink_p_w":73.6887512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7902222,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.796143,"values":{"Elec_RPM":-1.46998273e-29,"EncoderCos":38698,"EncoderSin":12473,"GapTicks":54760,"Mech_RPM":-2.93996535e-30,"cg_du":50.174305,"cg_dv":50.218132,"cg_dw":49.781868,"cg_id_a":-0.255591214,"cg_id_raw_a":-0.196812868,"cg_iq_a":0.412548244,"cg_iq_raw_a":-0.165128738,"cg_iu_a":0.256240249,"cg_iv_a":-0.619478941,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9581814,"cg_sample_seq":14430217,"cg_sample_valid":1,"cg_theta_rad":5.00606871,"cg_vd_req_v":0.0770065263,"cg_vd_v":0.0770065263,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392756164,"cg_vq_v":-0.392756164,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.877040029,"dclink_p_w":126.929314,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7854614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2612.803955,"values":{"Elec_RPM":-1.46998273e-29,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-2.93996535e-30,"cg_du":50.1640015,"cg_dv":50.2097549,"cg_dw":49.7902451,"cg_id_a":-0.0278959237,"cg_id_raw_a":-0.132035658,"cg_iq_a":-0.22928071,"cg_iq_raw_a":-0.193848163,"cg_iu_a":0.473703146,"cg_iv_a":0.612811446,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.9763641,"cg_sample_seq":14430267,"cg_sample_valid":1,"cg_theta_rad":5.00800514,"cg_vd_req_v":0.0742113441,"cg_vd_v":0.0742113441,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376171887,"cg_vq_v":-0.376171887,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.824486494,"dclink_p_w":119.323524,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7854614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2612.811768,"values":{"Elec_RPM":-1.44058296e-29,"EncoderCos":38727,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-2.88116599e-30,"cg_du":50.1588898,"cg_dv":50.2038002,"cg_dw":49.7961998,"cg_id_a":0.081623584,"cg_id_raw_a":0.364402145,"cg_iq_a":-0.692594945,"cg_iq_raw_a":-0.328377187,"cg_iu_a":0.582434654,"cg_iv_a":0.39534843,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.9763641,"cg_sample_seq":14430317,"cg_sample_valid":1,"cg_theta_rad":5.00644445,"cg_vd_req_v":0.072797887,"cg_vd_v":0.072797887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366326213,"cg_vq_v":-0.366326213,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.737501323,"dclink_p_w":106.734627,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7886353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.81958,"values":{"Elec_RPM":-1.44058296e-29,"EncoderCos":38719,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-2.88116599e-30,"cg_du":50.1680527,"cg_dv":50.2095833,"cg_dw":49.7904167,"cg_id_a":0.0981913432,"cg_id_raw_a":0.33678478,"cg_iq_a":0.110828333,"cg_iq_raw_a":-0.0394143276,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14430367,"cg_sample_valid":1,"cg_theta_rad":5.00754881,"cg_vd_req_v":0.0715857744,"cg_vd_v":0.0715857744,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379259139,"cg_vq_v":-0.379259139,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.670450211,"dclink_p_w":97.3256073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7886353,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.85083,"values":{"Elec_RPM":-1.41177135e-29,"EncoderCos":38726,"EncoderSin":12507,"GapTicks":54777,"Mech_RPM":-2.8235427e-30,"cg_du":50.1628036,"cg_dv":50.2021561,"cg_dw":49.7978439,"cg_id_a":0.256944507,"cg_id_raw_a":0.160358086,"cg_iq_a":-0.257772446,"cg_iq_raw_a":0.270670146,"cg_iu_a":0.14750886,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9472733,"cg_sample_seq":14430420,"cg_sample_valid":1,"cg_theta_rad":5.00729942,"cg_vd_req_v":0.0676109418,"cg_vd_v":0.0676109418,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367528021,"cg_vq_v":-0.367528021,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.358753204,"dclink_p_w":52.0782471,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.858643,"values":{"Elec_RPM":-1.41177135e-29,"EncoderCos":38702,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-2.8235427e-30,"cg_du":50.1515961,"cg_dv":50.201683,"cg_dw":49.798317,"cg_id_a":-0.377545089,"cg_id_raw_a":-0.72612083,"cg_iq_a":-0.565479994,"cg_iq_raw_a":-0.546534061,"cg_iu_a":1.19858003,"cg_iv_a":-0.510747433,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9181824,"cg_sample_seq":14430466,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.078517817,"cg_vd_v":0.078517817,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358920038,"cg_vq_v":-0.358920038,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7712402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.866455,"values":{"Elec_RPM":-1.38353586e-29,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54778,"Mech_RPM":-2.76707176e-30,"cg_du":50.1629143,"cg_dv":50.2016449,"cg_dw":49.7983551,"cg_id_a":0.0712138936,"cg_id_raw_a":0.476154834,"cg_iq_a":-0.165263176,"cg_iq_raw_a":-0.170417011,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14430516,"cg_sample_valid":1,"cg_theta_rad":5.00637674,"cg_vd_req_v":0.068829909,"cg_vd_v":0.068829909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365410268,"cg_vq_v":-0.365410268,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7712402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.874268,"values":{"Elec_RPM":-1.38353586e-29,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-2.76707176e-30,"cg_du":50.1610794,"cg_dv":50.2061348,"cg_dw":49.7938652,"cg_id_a":-0.149874046,"cg_id_raw_a":0.116713159,"cg_iq_a":0.0766142309,"cg_iq_raw_a":-0.788905203,"cg_iu_a":0.364971876,"cg_iv_a":0.214129269,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9872723,"cg_sample_seq":14430566,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.0744896382,"cg_vd_v":0.0744896382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370499879,"cg_vq_v":-0.370499879,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.443367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7807312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.88208,"values":{"Elec_RPM":-1.35586506e-29,"EncoderCos":38701,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-2.71173024e-30,"cg_du":50.1512718,"cg_dv":50.2044792,"cg_dw":49.7955208,"cg_id_a":-0.408103645,"cg_id_raw_a":-0.735780656,"cg_iq_a":-0.213009208,"cg_iq_raw_a":-0.036948245,"cg_iu_a":0.401215553,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9181824,"cg_sample_seq":14430616,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.0812385455,"cg_vd_v":0.0812385455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362585306,"cg_vq_v":-0.362585306,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.443367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7807312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.893799,"values":{"Elec_RPM":-1.35586506e-29,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-2.71173024e-30,"cg_du":50.1622429,"cg_dv":50.2024612,"cg_dw":49.7975388,"cg_id_a":0.256204098,"cg_id_raw_a":0.490113646,"cg_iq_a":0.0884959623,"cg_iq_raw_a":0.118250124,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9472733,"cg_sample_seq":14430666,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0673618689,"cg_vd_v":0.0673618689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367811441,"cg_vq_v":-0.367811441,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.443367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7807312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.901611,"values":{"Elec_RPM":-1.32874782e-29,"EncoderCos":38733,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-2.65749556e-30,"cg_du":50.1591339,"cg_dv":50.2059593,"cg_dw":49.7940407,"cg_id_a":-0.0442355722,"cg_id_raw_a":-0.114619292,"cg_iq_a":0.214541093,"cg_iq_raw_a":-0.155802399,"cg_iu_a":0.546190977,"cg_iv_a":-0.112065256,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9654541,"cg_sample_seq":14430716,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.074882254,"cg_vd_v":0.074882254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370531112,"cg_vq_v":-0.370531112,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.465672493,"dclink_p_w":67.5991364,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.76651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.909424,"values":{"Elec_RPM":-1.32874782e-29,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-2.65749556e-30,"cg_du":50.1546936,"cg_dv":50.2038307,"cg_dw":49.7961693,"cg_id_a":-0.117663406,"cg_id_raw_a":0.0952274799,"cg_iq_a":-0.183407322,"cg_iq_raw_a":-1.00955129,"cg_iu_a":1.08984852,"cg_iv_a":-0.474503636,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9836369,"cg_sample_seq":14430766,"cg_sample_valid":1,"cg_theta_rad":5.00638914,"cg_vd_req_v":0.0768024027,"cg_vd_v":0.0768024027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363875329,"cg_vq_v":-0.363875329,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":105.947815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.76651,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.917236,"values":{"Elec_RPM":-1.30217284e-29,"EncoderCos":38736,"EncoderSin":12490,"GapTicks":54770,"Mech_RPM":-2.60434573e-30,"cg_du":50.1674538,"cg_dv":50.2087059,"cg_dw":49.7912941,"cg_id_a":0.208702475,"cg_id_raw_a":0.176625103,"cg_iq_a":0.421331406,"cg_iq_raw_a":-0.128418043,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14430816,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.0696646348,"cg_vd_v":0.0696646348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378013313,"cg_vq_v":-0.378013313,"cg_vu_v":40.0302238,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":0.715754986,"dclink_p_w":103.272537,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7807312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.925049,"values":{"Elec_RPM":-1.30217284e-29,"EncoderCos":38694,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-2.60434573e-30,"cg_du":50.1628113,"cg_dv":50.2099228,"cg_dw":49.7900772,"cg_id_a":-0.207675189,"cg_id_raw_a":-0.142487943,"cg_iq_a":0.223925561,"cg_iq_raw_a":-0.487544447,"cg_iu_a":0.401215792,"cg_iv_a":-1.19938016,"cg_iw_a":0.798164368,"cg_sample_age_us":23.9872723,"cg_sample_seq":14430866,"cg_sample_valid":1,"cg_theta_rad":5.00935507,"cg_vd_req_v":0.0783523545,"cg_vd_v":0.0783523545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376302719,"cg_vq_v":-0.376302719,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":0.521850467,"dclink_p_w":75.5246277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.956299,"values":{"Elec_RPM":-1.27612931e-29,"EncoderCos":38711,"EncoderSin":12517,"GapTicks":54774,"Mech_RPM":-2.55225873e-30,"cg_du":50.1554794,"cg_dv":50.2047768,"cg_dw":49.7952232,"cg_id_a":-0.188398004,"cg_id_raw_a":-0.145764068,"cg_iq_a":-0.0990572348,"cg_iq_raw_a":-0.0496849716,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796824,"cg_iw_a":-0.144175053,"cg_sample_age_us":24.3436356,"cg_sample_seq":14430921,"cg_sample_valid":1,"cg_theta_rad":5.00648499,"cg_vd_req_v":0.0766990483,"cg_vd_v":0.0766990483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365689784,"cg_vq_v":-0.365689784,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.964111,"values":{"Elec_RPM":-1.27612931e-29,"EncoderCos":38676,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-2.55225873e-30,"cg_du":50.1612663,"cg_dv":50.2096672,"cg_dw":49.7903328,"cg_id_a":-0.0441081077,"cg_id_raw_a":-0.384448797,"cg_iq_a":0.350748897,"cg_iq_raw_a":0.214334875,"cg_iu_a":-0.396148682,"cg_iv_a":-0.112065196,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8454552,"cg_sample_seq":14430966,"cg_sample_valid":1,"cg_theta_rad":5.00495863,"cg_vd_req_v":0.0767058879,"cg_vd_v":0.0767058879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375623256,"cg_vq_v":-0.375623256,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.971924,"values":{"Elec_RPM":-1.25060675e-29,"EncoderCos":38708,"EncoderSin":12517,"GapTicks":54781,"Mech_RPM":-2.50121349e-30,"cg_du":50.1629601,"cg_dv":50.1988754,"cg_dw":49.8011246,"cg_id_a":0.418004215,"cg_id_raw_a":-0.082575053,"cg_iq_a":-0.495404691,"cg_iq_raw_a":-0.699109972,"cg_iu_a":-0.251173496,"cg_iv_a":0.032910049,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9727268,"cg_sample_seq":14431016,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0655413717,"cg_vd_v":0.0655413717,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362907797,"cg_vq_v":-0.362907797,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.271768093,"dclink_p_w":39.331543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2612.979736,"values":{"Elec_RPM":-1.22559456e-29,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-2.45118916e-30,"cg_du":50.157795,"cg_dv":50.2063255,"cg_dw":49.7936745,"cg_id_a":-0.172626734,"cg_id_raw_a":-0.0481285006,"cg_iq_a":0.0676843747,"cg_iq_raw_a":-0.186043471,"cg_iu_a":-0.468636513,"cg_iv_a":-0.474503636,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9472733,"cg_sample_seq":14431166,"cg_sample_valid":1,"cg_theta_rad":5.00846529,"cg_vd_req_v":0.0771499053,"cg_vd_v":0.0771499053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368936896,"cg_vq_v":-0.368936896,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7680664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2612.983087,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2612.983093,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2612.983099,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2612.987549,"values":{"Elec_RPM":-1.20108274e-29,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-2.4021654e-30,"cg_du":50.1643715,"cg_dv":50.2061348,"cg_dw":49.7938652,"cg_id_a":0.102826431,"cg_id_raw_a":-0.00108602992,"cg_iq_a":0.210524142,"cg_iq_raw_a":0.182859138,"cg_iu_a":-0.541124105,"cg_iv_a":0.0691539049,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8709087,"cg_sample_seq":14431216,"cg_sample_valid":1,"cg_theta_rad":5.00614929,"cg_vd_req_v":0.0731656328,"cg_vd_v":0.0731656328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372109801,"cg_vq_v":-0.372109801,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1282349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7538452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2612.995361,"values":{"Elec_RPM":-1.20108274e-29,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-2.4021654e-30,"cg_du":50.1539345,"cg_dv":50.2036438,"cg_dw":49.7963562,"cg_id_a":-0.117708467,"cg_id_raw_a":-0.275914133,"cg_iq_a":-0.211100355,"cg_iq_raw_a":0.884921908,"cg_iu_a":0.872385502,"cg_iv_a":0.177885413,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9472733,"cg_sample_seq":14431267,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.0759511739,"cg_vd_v":0.0759511739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36346215,"cg_vq_v":-0.36346215,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.00708,"values":{"Elec_RPM":-1.17706105e-29,"EncoderCos":38717,"EncoderSin":12486,"GapTicks":54774,"Mech_RPM":-2.3541221e-30,"cg_du":50.1602402,"cg_dv":50.2051964,"cg_dw":49.7948036,"cg_id_a":-0.0113057587,"cg_id_raw_a":-0.0656860173,"cg_iq_a":-0.127998009,"cg_iq_raw_a":-0.224081531,"cg_iu_a":0.292484283,"cg_iv_a":0.141641557,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9254551,"cg_sample_seq":14431316,"cg_sample_valid":1,"cg_theta_rad":5.00713921,"cg_vd_req_v":0.0736509562,"cg_vd_v":0.0736509562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368869394,"cg_vq_v":-0.368869394,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0633660555,"dclink_p_w":9.1985054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.014893,"values":{"Elec_RPM":-1.17706105e-29,"EncoderCos":38724,"EncoderSin":12479,"GapTicks":54772,"Mech_RPM":-2.3541221e-30,"cg_du":50.1616249,"cg_dv":50.2065849,"cg_dw":49.7934151,"cg_id_a":0.0518073142,"cg_id_raw_a":-0.336715311,"cg_iq_a":0.250948638,"cg_iq_raw_a":-0.03159789,"cg_iu_a":-0.251173496,"cg_iv_a":0.504079998,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9436359,"cg_sample_seq":14431366,"cg_sample_valid":1,"cg_theta_rad":5.00788307,"cg_vd_req_v":0.0738518238,"cg_vd_v":0.0720056593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371550828,"cg_vq_v":-0.371550828,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7380676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.042236,"values":{"Elec_RPM":-1.15351987e-29,"EncoderCos":38689,"EncoderSin":12490,"GapTicks":54777,"Mech_RPM":-2.3070397e-30,"cg_du":50.1561775,"cg_dv":50.202034,"cg_dw":49.797966,"cg_id_a":-0.233052209,"cg_id_raw_a":-0.357873559,"cg_iq_a":-0.376836061,"cg_iq_raw_a":-0.437050641,"cg_iu_a":0.111264944,"cg_iv_a":-1.05440497,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9799995,"cg_sample_seq":14431420,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0757399276,"cg_vd_v":0.0757399276,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36073494,"cg_vq_v":-0.36073494,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2613.050049,"values":{"Elec_RPM":-1.15351987e-29,"EncoderCos":38774,"EncoderSin":12489,"GapTicks":54771,"Mech_RPM":-2.3070397e-30,"cg_du":50.172924,"cg_dv":50.2075005,"cg_dw":49.7924995,"cg_id_a":0.491188049,"cg_id_raw_a":0.192928761,"cg_iq_a":0.505268037,"cg_iq_raw_a":0.162511408,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9836369,"cg_sample_seq":14431467,"cg_sample_valid":1,"cg_theta_rad":5.00603342,"cg_vd_req_v":0.0607542321,"cg_vd_v":0.0607542321,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378798634,"cg_vq_v":-0.378798634,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2613.061768,"values":{"Elec_RPM":-1.13044941e-29,"EncoderCos":38718,"EncoderSin":12544,"GapTicks":54774,"Mech_RPM":-2.26089881e-30,"cg_du":50.1608047,"cg_dv":50.2049446,"cg_dw":49.7950554,"cg_id_a":-0.0137857273,"cg_id_raw_a":0.391743243,"cg_iq_a":0.0442643464,"cg_iq_raw_a":-0.181135535,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9872723,"cg_sample_seq":14431517,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.071402505,"cg_vd_v":0.071402505,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369153142,"cg_vq_v":-0.369153142,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7775574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.06958,"values":{"Elec_RPM":-1.13044941e-29,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-2.26089881e-30,"cg_du":50.1570663,"cg_dv":50.2037468,"cg_dw":49.7962532,"cg_id_a":-0.118579015,"cg_id_raw_a":-0.239807785,"cg_iq_a":-0.16585438,"cg_iq_raw_a":-0.60470587,"cg_iu_a":0.5099473,"cg_iv_a":-0.25704056,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.9509087,"cg_sample_seq":14431567,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0741473585,"cg_vd_v":0.0741473585,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365241051,"cg_vq_v":-0.365241051,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7775574,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.077393,"values":{"Elec_RPM":-1.10784042e-29,"EncoderCos":38728,"EncoderSin":12439,"GapTicks":54779,"Mech_RPM":-2.21568084e-30,"cg_du":50.1567841,"cg_dv":50.2007141,"cg_dw":49.7992859,"cg_id_a":0.107864507,"cg_id_raw_a":-0.00971823279,"cg_iq_a":-0.17102167,"cg_iq_raw_a":-0.364326954,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.954546,"cg_sample_seq":14431616,"cg_sample_valid":1,"cg_theta_rad":5.00745916,"cg_vd_req_v":0.0724902079,"cg_vd_v":0.0724902079,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361882776,"cg_vq_v":-0.361882776,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7822876,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.085205,"values":{"Elec_RPM":-1.10784042e-29,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-2.21568084e-30,"cg_du":50.1541061,"cg_dv":50.2155952,"cg_dw":49.7844048,"cg_id_a":-0.626151681,"cg_id_raw_a":0.0783768073,"cg_iq_a":0.950812101,"cg_iq_raw_a":0.445689082,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9799995,"cg_sample_seq":14431666,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0896926597,"cg_vd_v":0.0896926597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380521625,"cg_vq_v":-0.380521625,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7601929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.093018,"values":{"Elec_RPM":-1.08568357e-29,"EncoderCos":38736,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-2.17136715e-30,"cg_du":50.1422157,"cg_dv":50.2019577,"cg_dw":49.7980423,"cg_id_a":-0.293768764,"cg_id_raw_a":-0.295138478,"cg_iq_a":-0.246984631,"cg_iq_raw_a":-0.0267031211,"cg_iu_a":0.908629179,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.8490906,"cg_sample_seq":14431716,"cg_sample_valid":1,"cg_theta_rad":5.00637722,"cg_vd_req_v":0.0831910968,"cg_vd_v":0.0831910968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354698837,"cg_vq_v":-0.354698837,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7601929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.10083,"values":{"Elec_RPM":-1.08568357e-29,"EncoderCos":38743,"EncoderSin":12458,"GapTicks":54777,"Mech_RPM":-2.17136715e-30,"cg_du":50.1455841,"cg_dv":50.2027168,"cg_dw":49.7972832,"cg_id_a":-0.233886644,"cg_id_raw_a":-0.456568807,"cg_iq_a":-0.141449153,"cg_iq_raw_a":0.57701236,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9436359,"cg_sample_seq":14431766,"cg_sample_valid":1,"cg_theta_rad":5.00506783,"cg_vd_req_v":0.0813246071,"cg_vd_v":0.0813246071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357602865,"cg_vq_v":-0.357602865,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7807312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.108643,"values":{"Elec_RPM":-1.06396992e-29,"EncoderCos":38709,"EncoderSin":12545,"GapTicks":54778,"Mech_RPM":-2.12793987e-30,"cg_du":50.1483574,"cg_dv":50.2013168,"cg_dw":49.7986832,"cg_id_a":-0.0577811264,"cg_id_raw_a":0.339404374,"cg_iq_a":-0.204422563,"cg_iq_raw_a":-0.731478214,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065315,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14431816,"cg_sample_valid":1,"cg_theta_rad":5.0083313,"cg_vd_req_v":0.0784058496,"cg_vd_v":0.0784058496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35710752,"cg_vq_v":-0.35710752,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.9412079,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.757019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.120361,"values":{"Elec_RPM":-1.06396992e-29,"EncoderCos":38712,"EncoderSin":12492,"GapTicks":54775,"Mech_RPM":-2.12793987e-30,"cg_du":50.153904,"cg_dv":50.2042198,"cg_dw":49.7957802,"cg_id_a":-0.00118520111,"cg_id_raw_a":-0.482836813,"cg_iq_a":0.227419764,"cg_iq_raw_a":0.171952575,"cg_iu_a":-0.396148682,"cg_iv_a":-0.510747433,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9509087,"cg_sample_seq":14431866,"cg_sample_valid":1,"cg_theta_rad":5.00797653,"cg_vd_req_v":0.0781762898,"cg_vd_v":0.0781762898,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365034819,"cg_vq_v":-0.365034819,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.757019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.147705,"values":{"Elec_RPM":-1.04269057e-29,"EncoderCos":38728,"EncoderSin":12501,"GapTicks":54772,"Mech_RPM":-2.08538115e-30,"cg_du":50.1577263,"cg_dv":50.206871,"cg_dw":49.793129,"cg_id_a":0.131495729,"cg_id_raw_a":0.151802734,"cg_iq_a":0.577446759,"cg_iq_raw_a":1.03432059,"cg_iu_a":0.256240368,"cg_iv_a":0.21412921,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14431921,"cg_sample_valid":1,"cg_theta_rad":5.00624084,"cg_vd_req_v":0.0761751011,"cg_vd_v":0.0761751011,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371130109,"cg_vq_v":-0.371130109,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7712402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.155518,"values":{"Elec_RPM":-1.02183674e-29,"EncoderCos":38701,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-2.04367348e-30,"cg_du":50.1532249,"cg_dv":50.2037849,"cg_dw":49.7962151,"cg_id_a":0.0759271979,"cg_id_raw_a":-0.210940778,"cg_iq_a":0.32657373,"cg_iq_raw_a":-0.640318751,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397701,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9763641,"cg_sample_seq":14432066,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0798051059,"cg_vd_v":0.0798051059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362580597,"cg_vq_v":-0.362580597,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7633362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.16333,"values":{"Elec_RPM":-1.00139999e-29,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54773,"Mech_RPM":-2.00279994e-30,"cg_du":50.1465836,"cg_dv":50.2061081,"cg_dw":49.7938919,"cg_id_a":-0.0719510689,"cg_id_raw_a":-0.275161892,"cg_iq_a":0.513181269,"cg_iq_raw_a":-0.242997587,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9763641,"cg_sample_seq":14432116,"cg_sample_valid":1,"cg_theta_rad":5.00623989,"cg_vd_req_v":0.0834599882,"cg_vd_v":0.0834599882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362865686,"cg_vq_v":-0.362865686,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7633362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.175049,"values":{"Elec_RPM":-1.00139999e-29,"EncoderCos":38727,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-2.00279994e-30,"cg_du":50.1309052,"cg_dv":50.1998253,"cg_dw":49.8001747,"cg_id_a":-0.388888061,"cg_id_raw_a":0.200636059,"cg_iq_a":-0.426337034,"cg_iq_raw_a":-0.599056959,"cg_iu_a":-0.178685904,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150178,"cg_sample_age_us":23.9836369,"cg_sample_seq":14432166,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0909242257,"cg_vd_v":0.0909242257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346373141,"cg_vq_v":-0.346373141,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.5454025,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.182861,"values":{"Elec_RPM":-9.81371972e-30,"EncoderCos":38716,"EncoderSin":12490,"GapTicks":54773,"Mech_RPM":-1.96274398e-30,"cg_du":50.1514473,"cg_dv":50.2054825,"cg_dw":49.7945175,"cg_id_a":0.177195907,"cg_id_raw_a":1.08564305,"cg_iq_a":0.464216828,"cg_iq_raw_a":0.907570481,"cg_iu_a":-0.758586884,"cg_iv_a":-0.220796704,"cg_iw_a":0.979383588,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432216,"cg_sample_valid":1,"cg_theta_rad":5.00716352,"cg_vd_req_v":0.0808115602,"cg_vd_v":0.0808115602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364330083,"cg_vq_v":-0.364330083,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.190674,"values":{"Elec_RPM":-9.81371972e-30,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.96274398e-30,"cg_du":50.1530113,"cg_dv":50.2067528,"cg_dw":49.7932472,"cg_id_a":0.228392139,"cg_id_raw_a":0.227071002,"cg_iq_a":0.46992442,"cg_iq_raw_a":-0.632382512,"cg_iu_a":0.437459469,"cg_iv_a":0.467836142,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14432266,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0812413692,"cg_vd_v":0.0812413692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366843969,"cg_vq_v":-0.366843969,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.198486,"values":{"Elec_RPM":-9.61744565e-30,"EncoderCos":38694,"EncoderSin":12424,"GapTicks":54777,"Mech_RPM":-1.92348905e-30,"cg_du":50.1547203,"cg_dv":50.201973,"cg_dw":49.798027,"cg_id_a":0.371109307,"cg_id_raw_a":0.438892543,"cg_iq_a":0.274468869,"cg_iq_raw_a":-0.790625453,"cg_iu_a":-1.01229382,"cg_iv_a":-0.0395774841,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432316,"cg_sample_valid":1,"cg_theta_rad":5.00748634,"cg_vd_req_v":0.0782738775,"cg_vd_v":0.0782738775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360669822,"cg_vq_v":-0.360669822,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.206299,"values":{"Elec_RPM":-9.61744565e-30,"EncoderCos":38727,"EncoderSin":12506,"GapTicks":54775,"Mech_RPM":-1.92348905e-30,"cg_du":50.1342201,"cg_dv":50.2045441,"cg_dw":49.7954559,"cg_id_a":-0.271232545,"cg_id_raw_a":0.0827153102,"cg_iq_a":0.112114698,"cg_iq_raw_a":-0.246265844,"cg_iu_a":0.111264944,"cg_iv_a":-0.402015924,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9290905,"cg_sample_seq":14432366,"cg_sample_valid":1,"cg_theta_rad":5.00808191,"cg_vd_req_v":0.0921481103,"cg_vd_v":0.0921481103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353722781,"cg_vq_v":-0.353722781,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.237549,"values":{"Elec_RPM":-9.4250964e-30,"EncoderCos":38732,"EncoderSin":12468,"GapTicks":54780,"Mech_RPM":-1.88501936e-30,"cg_du":50.1320496,"cg_dv":50.1991882,"cg_dw":49.8008118,"cg_id_a":-0.0348064899,"cg_id_raw_a":-0.208557248,"cg_iq_a":-0.330127358,"cg_iq_raw_a":-0.273895949,"cg_iu_a":0.401215553,"cg_iv_a":0.649055243,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.8527279,"cg_sample_seq":14432421,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0891923383,"cg_vd_v":0.0891923383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345078379,"cg_vq_v":-0.345078379,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3642273,"temp_inv2_c":36.7380676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.245361,"values":{"Elec_RPM":-9.4250964e-30,"EncoderCos":38700,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-1.88501936e-30,"cg_du":50.1459885,"cg_dv":50.2029305,"cg_dw":49.7970695,"cg_id_a":0.200893804,"cg_id_raw_a":0.00134162779,"cg_iq_a":0.202027634,"cg_iq_raw_a":-0.25406909,"cg_iu_a":0.401215553,"cg_iv_a":0.504079938,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.954546,"cg_sample_seq":14432466,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0843483955,"cg_vd_v":0.0843483955,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358542532,"cg_vq_v":-0.358542532,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.254244506,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.253174,"values":{"Elec_RPM":-9.2365945e-30,"EncoderCos":38705,"EncoderSin":12497,"GapTicks":54779,"Mech_RPM":-1.8473189e-30,"cg_du":50.1358376,"cg_dv":50.200264,"cg_dw":49.799736,"cg_id_a":0.0196772739,"cg_id_raw_a":1.2860111,"cg_iq_a":-0.342646182,"cg_iq_raw_a":-0.490615755,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432516,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0889680013,"cg_vd_v":0.0889680013,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349356174,"cg_vq_v":-0.349356174,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.254244506,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.260986,"values":{"Elec_RPM":-9.2365945e-30,"EncoderCos":38685,"EncoderSin":12478,"GapTicks":54777,"Mech_RPM":-1.8473189e-30,"cg_du":50.1440811,"cg_dv":50.2026215,"cg_dw":49.7973785,"cg_id_a":0.124952108,"cg_id_raw_a":-0.499222904,"cg_iq_a":-0.0886525065,"cg_iq_raw_a":0.312696606,"cg_iu_a":-0.287417412,"cg_iv_a":0.504079998,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9618187,"cg_sample_seq":14432567,"cg_sample_valid":1,"cg_theta_rad":5.00631094,"cg_vd_req_v":0.0866195932,"cg_vd_v":0.0866195932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355635166,"cg_vq_v":-0.355635166,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7649231,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.268799,"values":{"Elec_RPM":-9.05186246e-30,"EncoderCos":38713,"EncoderSin":12476,"GapTicks":54769,"Mech_RPM":-1.81037246e-30,"cg_du":50.147583,"cg_dv":50.2094612,"cg_dw":49.7905388,"cg_id_a":0.0652986839,"cg_id_raw_a":-0.302726507,"cg_iq_a":0.389038444,"cg_iq_raw_a":-1.01251829,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14432616,"cg_sample_valid":1,"cg_theta_rad":5.00746965,"cg_vd_req_v":0.0883161351,"cg_vd_v":0.0883161351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367424786,"cg_vq_v":-0.367424786,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.276611,"values":{"Elec_RPM":-9.05186246e-30,"EncoderCos":38741,"EncoderSin":12488,"GapTicks":54773,"Mech_RPM":-1.81037246e-30,"cg_du":50.1442642,"cg_dv":50.2058792,"cg_dw":49.7941208,"cg_id_a":0.24068597,"cg_id_raw_a":0.319052517,"cg_iq_a":0.141882271,"cg_iq_raw_a":-0.0791254044,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0395776033,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432666,"cg_sample_valid":1,"cg_theta_rad":5.00713825,"cg_vd_req_v":0.084833324,"cg_vd_v":0.084833324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361314893,"cg_vq_v":-0.361314893,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.28833,"values":{"Elec_RPM":-8.87082505e-30,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-1.77416497e-30,"cg_du":50.1418953,"cg_dv":50.2096176,"cg_dw":49.7903824,"cg_id_a":-0.0995867327,"cg_id_raw_a":-0.264772207,"cg_iq_a":0.291747689,"cg_iq_raw_a":-1.00743353,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14432716,"cg_sample_valid":1,"cg_theta_rad":5.00748634,"cg_vd_req_v":0.0915918276,"cg_vd_v":0.0915918276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364779592,"cg_vq_v":-0.364779592,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.257270455,"dclink_p_w":37.2333794,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7633362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.296143,"values":{"Elec_RPM":-8.87082505e-30,"EncoderCos":38721,"EncoderSin":12473,"GapTicks":54768,"Mech_RPM":-1.77416497e-30,"cg_du":50.1475105,"cg_dv":50.2101936,"cg_dw":49.7898064,"cg_id_a":0.0856252462,"cg_id_raw_a":-0.170546308,"cg_iq_a":0.419404507,"cg_iq_raw_a":0.421184987,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860718,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9763641,"cg_sample_seq":14432766,"cg_sample_valid":1,"cg_theta_rad":5.00618744,"cg_vd_req_v":0.088765569,"cg_vd_v":0.088765569,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369645417,"cg_vq_v":-0.369645417,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7633362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.303955,"values":{"Elec_RPM":-8.69340778e-30,"EncoderCos":38725,"EncoderSin":12447,"GapTicks":54767,"Mech_RPM":-1.73868159e-30,"cg_du":50.1378174,"cg_dv":50.211441,"cg_dw":49.788559,"cg_id_a":-0.376629412,"cg_id_raw_a":-0.222762495,"cg_iq_a":0.272925079,"cg_iq_raw_a":0.306687921,"cg_iu_a":0.872385502,"cg_iv_a":-0.474503636,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432816,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0979313403,"cg_vd_v":0.0979313403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365803272,"cg_vq_v":-0.365803272,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":46.0277405,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.311768,"values":{"Elec_RPM":-8.69340778e-30,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.73868159e-30,"cg_du":50.1384239,"cg_dv":50.2070389,"cg_dw":49.7929611,"cg_id_a":-0.0894835368,"cg_id_raw_a":-0.2982696,"cg_iq_a":-0.190137133,"cg_iq_raw_a":-0.210345909,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539645,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9254551,"cg_sample_seq":14432866,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0928905383,"cg_vd_v":0.0928905383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360216916,"cg_vq_v":-0.360216916,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.4005699,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.323486,"values":{"Elec_RPM":-8.51953994e-30,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54774,"Mech_RPM":-1.70390803e-30,"cg_du":50.1426964,"cg_dv":50.2054443,"cg_dw":49.7945557,"cg_id_a":0.0702655017,"cg_id_raw_a":0.30676347,"cg_iq_a":-0.210687488,"cg_iq_raw_a":-0.988194227,"cg_iu_a":0.14750886,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14432916,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.0889746398,"cg_vd_v":0.0889746398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359040886,"cg_vq_v":-0.359040886,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.35083,"values":{"Elec_RPM":-8.51953994e-30,"EncoderCos":38741,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-1.70390803e-30,"cg_du":50.1374435,"cg_dv":50.2087784,"cg_dw":49.7912216,"cg_id_a":-0.11107482,"cg_id_raw_a":-0.391898572,"cg_iq_a":-0.0644449294,"cg_iq_raw_a":0.109998852,"cg_iu_a":-1.80965829,"cg_iv_a":0.21412921,"cg_iw_a":1.59552908,"cg_sample_age_us":26.8090916,"cg_sample_seq":14432969,"cg_sample_valid":1,"cg_theta_rad":5.00691891,"cg_vd_req_v":0.0934284627,"cg_vd_v":0.0934284627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361365318,"cg_vq_v":-0.361365318,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.757019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.358643,"values":{"Elec_RPM":-8.34914855e-30,"EncoderCos":38701,"EncoderSin":12468,"GapTicks":54768,"Mech_RPM":-1.66982979e-30,"cg_du":50.1402092,"cg_dv":50.2100334,"cg_dw":49.7899666,"cg_id_a":-0.174333379,"cg_id_raw_a":0.0553116202,"cg_iq_a":-0.0257420577,"cg_iq_raw_a":0.0428941101,"cg_iu_a":0.111264944,"cg_iv_a":0.032910049,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8527279,"cg_sample_seq":14433016,"cg_sample_valid":1,"cg_theta_rad":5.00657558,"cg_vd_req_v":0.0961399823,"cg_vd_v":0.0961399823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364853621,"cg_vq_v":-0.364853621,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.366455,"values":{"Elec_RPM":-8.34914855e-30,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-1.66982979e-30,"cg_du":50.1440887,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.181342363,"cg_id_raw_a":0.0905025974,"cg_iq_a":0.265477031,"cg_iq_raw_a":0.118557855,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.691966534,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9581814,"cg_sample_seq":14433066,"cg_sample_valid":1,"cg_theta_rad":5.00736666,"cg_vd_req_v":0.0939418375,"cg_vd_v":0.0939418375,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372284532,"cg_vq_v":-0.372284532,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7696533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.374268,"values":{"Elec_RPM":-8.18216591e-30,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-1.63643315e-30,"cg_du":50.1460609,"cg_dv":50.2095337,"cg_dw":49.7904663,"cg_id_a":0.032456547,"cg_id_raw_a":0.0138404109,"cg_iq_a":-0.0774232224,"cg_iq_raw_a":0.0385781564,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528213,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9763641,"cg_sample_seq":14433116,"cg_sample_valid":1,"cg_theta_rad":5.00548697,"cg_vd_req_v":0.0895114169,"cg_vd_v":0.0895114169,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367864549,"cg_vq_v":-0.367864549,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.38208,"values":{"Elec_RPM":-8.18216591e-30,"EncoderCos":38729,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-1.63643315e-30,"cg_du":50.1422005,"cg_dv":50.1986694,"cg_dw":49.8013306,"cg_id_a":0.353434205,"cg_id_raw_a":0.510297716,"cg_iq_a":-0.976870477,"cg_iq_raw_a":-1.40655303,"cg_iu_a":0.0387773514,"cg_iv_a":0.21412921,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9181824,"cg_sample_seq":14433166,"cg_sample_valid":1,"cg_theta_rad":5.00914383,"cg_vd_req_v":0.0813150257,"cg_vd_v":0.0813150257,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35103336,"cg_vq_v":-0.35103336,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.32240295,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.389893,"values":{"Elec_RPM":-8.01852281e-30,"EncoderCos":38719,"EncoderSin":12457,"GapTicks":54759,"Mech_RPM":-1.60370456e-30,"cg_du":50.1455383,"cg_dv":50.2187538,"cg_dw":49.7812462,"cg_id_a":-0.47640878,"cg_id_raw_a":-0.874394298,"cg_iq_a":0.480305135,"cg_iq_raw_a":1.15262496,"cg_iu_a":0.509947181,"cg_iv_a":-0.220796704,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14433216,"cg_sample_valid":1,"cg_theta_rad":5.00369072,"cg_vd_req_v":0.0989491194,"cg_vd_v":0.0989491194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378900677,"cg_vq_v":-0.378900677,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.16385841,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7680664,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.401611,"values":{"Elec_RPM":-8.01852281e-30,"EncoderCos":38710,"EncoderSin":12492,"GapTicks":54777,"Mech_RPM":-1.60370456e-30,"cg_du":50.1436653,"cg_dv":50.2025528,"cg_dw":49.7974472,"cg_id_a":0.320114106,"cg_id_raw_a":0.288093776,"cg_iq_a":-0.596858859,"cg_iq_raw_a":0.0291939396,"cg_iu_a":0.14750886,"cg_iv_a":0.540323734,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9509087,"cg_sample_seq":14433266,"cg_sample_valid":1,"cg_theta_rad":5.00858021,"cg_vd_req_v":0.0845104009,"cg_vd_v":0.0845104009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355876625,"cg_vq_v":-0.355876625,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.16385841,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7728271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.409424,"values":{"Elec_RPM":-7.85815228e-30,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54769,"Mech_RPM":-1.57163049e-30,"cg_du":50.1518135,"cg_dv":50.2096672,"cg_dw":49.7903328,"cg_id_a":0.178289756,"cg_id_raw_a":0.0111744311,"cg_iq_a":0.182398885,"cg_iq_raw_a":-0.1437812,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":0.58070147,"cg_sample_age_us":23.954546,"cg_sample_seq":14433316,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0860936567,"cg_vd_v":0.0860936567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369879395,"cg_vq_v":-0.369879395,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.16385841,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7728271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.417236,"values":{"Elec_RPM":-7.85815228e-30,"EncoderCos":38732,"EncoderSin":12490,"GapTicks":54770,"Mech_RPM":-1.57163049e-30,"cg_du":50.1333656,"cg_dv":50.2084541,"cg_dw":49.7915459,"cg_id_a":-0.403122276,"cg_id_raw_a":-0.762485147,"cg_iq_a":-0.313897192,"cg_iq_raw_a":-0.871440291,"cg_iu_a":0.473703384,"cg_iv_a":-0.25704062,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8563633,"cg_sample_seq":14433366,"cg_sample_valid":1,"cg_theta_rad":5.0078764,"cg_vd_req_v":0.0968843326,"cg_vd_v":0.0968843326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35967207,"cg_vq_v":-0.35967207,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.16385841,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.425049,"values":{"Elec_RPM":-7.70098962e-30,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-1.54019787e-30,"cg_du":50.1445618,"cg_dv":50.2089272,"cg_dw":49.7910728,"cg_id_a":-0.0147781856,"cg_id_raw_a":0.19485265,"cg_iq_a":-0.0456692204,"cg_iq_raw_a":-0.0887964591,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.8454552,"cg_sample_seq":14433416,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.091186814,"cg_vd_v":0.091186814,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365927756,"cg_vq_v":-0.365927756,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.628994,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.452393,"values":{"Elec_RPM":-7.70098962e-30,"EncoderCos":38729,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-1.54019787e-30,"cg_du":50.1315155,"cg_dv":50.204464,"cg_dw":49.795536,"cg_id_a":-0.198753431,"cg_id_raw_a":0.183980569,"cg_iq_a":-0.646451294,"cg_iq_raw_a":-0.199987471,"cg_iu_a":0.111264944,"cg_iv_a":-0.619478822,"cg_iw_a":0.363238454,"cg_sample_age_us":23.8563633,"cg_sample_seq":14433471,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.095322527,"cg_vd_v":0.095322527,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352946669,"cg_vq_v":-0.352946669,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.628994,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.464111,"values":{"Elec_RPM":-7.54696939e-30,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-1.5093939e-30,"cg_du":50.1475334,"cg_dv":50.2093964,"cg_dw":49.7906036,"cg_id_a":0.116316535,"cg_id_raw_a":0.67719537,"cg_iq_a":0.0837517157,"cg_iq_raw_a":0.356810719,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9763641,"cg_sample_seq":14433516,"cg_sample_valid":1,"cg_theta_rad":5.00516748,"cg_vd_req_v":0.0870677382,"cg_vd_v":0.0870677382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367606461,"cg_vq_v":-0.367606461,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.758606,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.471924,"values":{"Elec_RPM":-7.54696939e-30,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-1.5093939e-30,"cg_du":50.149868,"cg_dv":50.2080498,"cg_dw":49.7919502,"cg_id_a":0.176805258,"cg_id_raw_a":-0.270489186,"cg_iq_a":0.124615639,"cg_iq_raw_a":-0.0628215224,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055243,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14433566,"cg_sample_valid":1,"cg_theta_rad":5.00993443,"cg_vd_req_v":0.0857306346,"cg_vd_v":0.0857306346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366660506,"cg_vq_v":-0.366660506,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.758606,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.479736,"values":{"Elec_RPM":-7.3960299e-30,"EncoderCos":38701,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-1.47920598e-30,"cg_du":50.141964,"cg_dv":50.2023087,"cg_dw":49.7976913,"cg_id_a":0.0293391235,"cg_id_raw_a":0.0724462941,"cg_iq_a":-0.387788326,"cg_iq_raw_a":0.0810741708,"cg_iu_a":0.473703384,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9509087,"cg_sample_seq":14433616,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0868940204,"cg_vd_v":0.0868940204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35427922,"cg_vq_v":-0.35427922,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.491455,"values":{"Elec_RPM":-7.3960299e-30,"EncoderCos":38793,"EncoderSin":12471,"GapTicks":54772,"Mech_RPM":-1.47920598e-30,"cg_du":50.1429214,"cg_dv":50.2070503,"cg_dw":49.7929497,"cg_id_a":0.116791077,"cg_id_raw_a":0.271002084,"cg_iq_a":0.00168788433,"cg_iq_raw_a":0.240928322,"cg_iu_a":0.546190858,"cg_iv_a":-0.220796704,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9799995,"cg_sample_seq":14433667,"cg_sample_valid":1,"cg_theta_rad":5.01051712,"cg_vd_req_v":0.0831660628,"cg_vd_v":0.0831660628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363070637,"cg_vq_v":-0.363070637,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7459717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.499268,"values":{"Elec_RPM":-7.24810945e-30,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-1.44962189e-30,"cg_du":50.1480675,"cg_dv":50.2078247,"cg_dw":49.7921753,"cg_id_a":-0.117121197,"cg_id_raw_a":-0.027945675,"cg_iq_a":0.0351024121,"cg_iq_raw_a":0.0343862884,"cg_iu_a":0.292484283,"cg_iv_a":-0.655722737,"cg_iw_a":0.363238454,"cg_sample_age_us":23.954546,"cg_sample_seq":14433716,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0874341056,"cg_vd_v":0.0874341056,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365215808,"cg_vq_v":-0.365215808,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7459717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.50708,"values":{"Elec_RPM":-7.24810945e-30,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54777,"Mech_RPM":-1.44962189e-30,"cg_du":50.1408958,"cg_dv":50.2026634,"cg_dw":49.7973366,"cg_id_a":-0.0782917812,"cg_id_raw_a":-0.128431171,"cg_iq_a":-0.435206234,"cg_iq_raw_a":-0.0114692319,"cg_iu_a":0.799897909,"cg_iv_a":0.540323734,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.954546,"cg_sample_seq":14433766,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.0860043839,"cg_vd_v":0.0860043839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355805635,"cg_vq_v":-0.355805635,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7412109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.514893,"values":{"Elec_RPM":-7.10314711e-30,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-1.4206295e-30,"cg_du":50.1462173,"cg_dv":50.2073364,"cg_dw":49.7926636,"cg_id_a":-0.0142760882,"cg_id_raw_a":-0.194368765,"cg_iq_a":-0.182608083,"cg_iq_raw_a":0.0186555758,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.863636,"cg_sample_seq":14433817,"cg_sample_valid":1,"cg_theta_rad":5.00556803,"cg_vd_req_v":0.0860587507,"cg_vd_v":0.0860587507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364071041,"cg_vq_v":-0.364071041,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.522705,"values":{"Elec_RPM":-7.10314711e-30,"EncoderCos":38704,"EncoderSin":12445,"GapTicks":54778,"Mech_RPM":-1.4206295e-30,"cg_du":50.149662,"cg_dv":50.2009926,"cg_dw":49.7990074,"cg_id_a":0.18949607,"cg_id_raw_a":-0.0153225251,"cg_iq_a":-0.453964859,"cg_iq_raw_a":-0.292266369,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323734,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.8600006,"cg_sample_seq":14433867,"cg_sample_valid":1,"cg_theta_rad":5.00622177,"cg_vd_req_v":0.0799291506,"cg_vd_v":0.0799291506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356763572,"cg_vq_v":-0.356763572,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.530518,"values":{"Elec_RPM":-6.96108495e-30,"EncoderCos":38710,"EncoderSin":12458,"GapTicks":54773,"Mech_RPM":-1.39221695e-30,"cg_du":50.1466026,"cg_dv":50.2063408,"cg_dw":49.7936592,"cg_id_a":-0.115465619,"cg_id_raw_a":0.353520155,"cg_iq_a":-0.137694478,"cg_iq_raw_a":-0.619226038,"cg_iu_a":0.473703384,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14433917,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0867439434,"cg_vd_v":0.0867439434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362470448,"cg_vq_v":-0.362470448,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.557861,"values":{"Elec_RPM":-6.96108495e-30,"EncoderCos":38745,"EncoderSin":12499,"GapTicks":54778,"Mech_RPM":-1.39221695e-30,"cg_du":50.1413383,"cg_dv":50.2014389,"cg_dw":49.7985611,"cg_id_a":0.0830630064,"cg_id_raw_a":0.276457071,"cg_iq_a":-0.464677572,"cg_iq_raw_a":-0.774897873,"cg_iu_a":0.111264944,"cg_iv_a":0.504079878,"cg_iw_a":-0.615344822,"cg_sample_age_us":26.8163643,"cg_sample_seq":14433970,"cg_sample_valid":1,"cg_theta_rad":5.00832081,"cg_vd_req_v":0.0822674632,"cg_vd_v":0.0822674632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353764772,"cg_vq_v":-0.353764772,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-20.0018196,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.565674,"values":{"Elec_RPM":-6.82186279e-30,"EncoderCos":38716,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-1.3643726e-30,"cg_du":50.1440659,"cg_dv":50.2026863,"cg_dw":49.7973137,"cg_id_a":-0.0496994257,"cg_id_raw_a":-0.147539735,"cg_iq_a":-0.322188139,"cg_iq_raw_a":-1.106125,"cg_iu_a":0.14750886,"cg_iv_a":0.540323794,"cg_iw_a":0.254507065,"cg_sample_age_us":23.954546,"cg_sample_seq":14434016,"cg_sample_valid":1,"cg_theta_rad":5.00809097,"cg_vd_req_v":0.0840606093,"cg_vd_v":0.0840606093,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356346577,"cg_vq_v":-0.356346577,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7538452,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.577393,"values":{"Elec_RPM":-6.82186279e-30,"EncoderCos":38720,"EncoderSin":12462,"GapTicks":54780,"Mech_RPM":-1.3643726e-30,"cg_du":50.1501389,"cg_dv":50.1998825,"cg_dw":49.8001175,"cg_id_a":0.243862838,"cg_id_raw_a":-0.640561759,"cg_iq_a":-0.420173705,"cg_iq_raw_a":-0.790556014,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8563633,"cg_sample_seq":14434066,"cg_sample_valid":1,"cg_theta_rad":5.00634336,"cg_vd_req_v":0.0769928768,"cg_vd_v":0.0769928768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356984198,"cg_vq_v":-0.356984198,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.585205,"values":{"Elec_RPM":-6.6854257e-30,"EncoderCos":38706,"EncoderSin":12504,"GapTicks":54775,"Mech_RPM":-1.33708514e-30,"cg_du":50.1469727,"cg_dv":50.204483,"cg_dw":49.795517,"cg_id_a":-0.132803991,"cg_id_raw_a":0.0554660112,"cg_iq_a":-0.221457735,"cg_iq_raw_a":0.0426942855,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616981,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.954546,"cg_sample_seq":14434116,"cg_sample_valid":1,"cg_theta_rad":5.00678062,"cg_vd_req_v":0.0840804055,"cg_vd_v":0.0840804055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36144495,"cg_vq_v":-0.36144495,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.593018,"values":{"Elec_RPM":-6.6854257e-30,"EncoderCos":38711,"EncoderSin":12468,"GapTicks":54783,"Mech_RPM":-1.33708514e-30,"cg_du":50.1465607,"cg_dv":50.1964607,"cg_dw":49.8035393,"cg_id_a":0.176521212,"cg_id_raw_a":0.0514476262,"cg_iq_a":-0.892834663,"cg_iq_raw_a":-0.758966982,"cg_iu_a":0.437459469,"cg_iv_a":0.866518259,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.863636,"cg_sample_seq":14434166,"cg_sample_valid":1,"cg_theta_rad":5.0066185,"cg_vd_req_v":0.0768063962,"cg_vd_v":0.0768063962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349120885,"cg_vq_v":-0.349120885,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7459717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.604736,"values":{"Elec_RPM":-6.55171726e-30,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-1.3103434e-30,"cg_du":50.1492653,"cg_dv":50.2023163,"cg_dw":49.7976837,"cg_id_a":0.0200347491,"cg_id_raw_a":0.357931256,"cg_iq_a":-0.470195711,"cg_iq_raw_a":-0.255600393,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9836369,"cg_sample_seq":14434267,"cg_sample_valid":1,"cg_theta_rad":5.00782108,"cg_vd_req_v":0.0793021917,"cg_vd_v":0.0793021917,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357687831,"cg_vq_v":-0.357687831,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.2197046,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7475586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2613.612549,"values":{"Elec_RPM":-6.42068255e-30,"EncoderCos":38740,"EncoderSin":12464,"GapTicks":54768,"Mech_RPM":-1.28413655e-30,"cg_du":50.1556473,"cg_dv":50.2104988,"cg_dw":49.7895012,"cg_id_a":-0.0939975604,"cg_id_raw_a":-0.710679471,"cg_iq_a":0.283934355,"cg_iq_raw_a":0.371107489,"cg_iu_a":-0.359905005,"cg_iv_a":-0.365772009,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9218178,"cg_sample_seq":14434317,"cg_sample_valid":1,"cg_theta_rad":5.00649214,"cg_vd_req_v":0.0810224786,"cg_vd_v":0.0810224786,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373805583,"cg_vq_v":-0.373805583,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10693002,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7443848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.620361,"values":{"Elec_RPM":-6.42068255e-30,"EncoderCos":38717,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-1.28413655e-30,"cg_du":50.1455193,"cg_dv":50.2071877,"cg_dw":49.7928123,"cg_id_a":-0.458648026,"cg_id_raw_a":-0.472595066,"cg_iq_a":-0.188696355,"cg_iq_raw_a":0.282257885,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9290905,"cg_sample_seq":14434367,"cg_sample_valid":1,"cg_theta_rad":5.00763559,"cg_vd_req_v":0.087367326,"cg_vd_v":0.087367326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363265008,"cg_vq_v":-0.363265008,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10693002,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7443848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.628174,"values":{"Elec_RPM":-6.29226892e-30,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54779,"Mech_RPM":-1.25845378e-30,"cg_du":50.1380272,"cg_dv":50.2007103,"cg_dw":49.7992897,"cg_id_a":-0.312502265,"cg_id_raw_a":-0.124218263,"cg_iq_a":-0.841430545,"cg_iq_raw_a":-0.266441613,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14434417,"cg_sample_valid":1,"cg_theta_rad":5.00633478,"cg_vd_req_v":0.087301895,"cg_vd_v":0.087301895,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350166261,"cg_vq_v":-0.350166261,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10693002,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.776001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.655518,"values":{"Elec_RPM":-6.29226892e-30,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54779,"Mech_RPM":-1.25845378e-30,"cg_du":50.1579247,"cg_dv":50.2005997,"cg_dw":49.7994003,"cg_id_a":0.622095823,"cg_id_raw_a":0.950787604,"cg_iq_a":-0.30660373,"cg_iq_raw_a":1.03591442,"cg_iu_a":0.364971876,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8600006,"cg_sample_seq":14434470,"cg_sample_valid":1,"cg_theta_rad":5.00679398,"cg_vd_req_v":0.0695389658,"cg_vd_v":0.0695389658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361606956,"cg_vq_v":-0.361606956,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.667236,"values":{"Elec_RPM":-6.16642331e-30,"EncoderCos":38698,"EncoderSin":12475,"GapTicks":54757,"Mech_RPM":-1.23328466e-30,"cg_du":50.1593704,"cg_dv":50.2207031,"cg_dw":49.7792969,"cg_id_a":-0.463086993,"cg_id_raw_a":-0.395630419,"cg_iq_a":0.836632788,"cg_iq_raw_a":0.543199539,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539645,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9472733,"cg_sample_seq":14434516,"cg_sample_valid":1,"cg_theta_rad":5.00596619,"cg_vd_req_v":0.0913805813,"cg_vd_v":0.0913805813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389003664,"cg_vq_v":-0.389003664,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.675049,"values":{"Elec_RPM":-6.16642331e-30,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-1.23328466e-30,"cg_du":50.1558838,"cg_dv":50.2146149,"cg_dw":49.7853851,"cg_id_a":-0.273576289,"cg_id_raw_a":0.00904673617,"cg_iq_a":0.238695592,"cg_iq_raw_a":0.293144673,"cg_iu_a":0.256240368,"cg_iv_a":-0.438259721,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8527279,"cg_sample_seq":14434566,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0875984132,"cg_vd_v":0.0875984132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378913343,"cg_vq_v":-0.378913343,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3398743,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.682861,"values":{"Elec_RPM":-6.04309458e-30,"EncoderCos":38664,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-1.20861894e-30,"cg_du":50.1630325,"cg_dv":50.2144585,"cg_dw":49.7855415,"cg_id_a":-0.0440258011,"cg_id_raw_a":0.678441525,"cg_iq_a":0.254699975,"cg_iq_raw_a":1.64357817,"cg_iu_a":0.473703384,"cg_iv_a":-0.148308992,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9218178,"cg_sample_seq":14434617,"cg_sample_valid":1,"cg_theta_rad":5.00777388,"cg_vd_req_v":0.0853632092,"cg_vd_v":0.0853632092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38196981,"cg_vq_v":-0.38196981,"cg_vu_v":107.333786,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.757019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.690674,"values":{"Elec_RPM":-6.04309458e-30,"EncoderCos":38672,"EncoderSin":12464,"GapTicks":54761,"Mech_RPM":-1.20861894e-30,"cg_du":50.1732903,"cg_dv":50.2170944,"cg_dw":49.7829056,"cg_id_a":0.257785022,"cg_id_raw_a":-0.0855352208,"cg_iq_a":0.68110317,"cg_iq_raw_a":0.173759609,"cg_iu_a":0.00253343582,"cg_iv_a":0.975249767,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9472733,"cg_sample_seq":14434667,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.0798157528,"cg_vd_v":0.0798157528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392653316,"cg_vq_v":-0.392653316,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.757019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.698486,"values":{"Elec_RPM":-5.9222327e-30,"EncoderCos":38709,"EncoderSin":12466,"GapTicks":54756,"Mech_RPM":-1.18444654e-30,"cg_du":50.1699448,"cg_dv":50.2212601,"cg_dw":49.7787399,"cg_id_a":0.106246293,"cg_id_raw_a":0.318933725,"cg_iq_a":0.877960205,"cg_iq_raw_a":-0.695651948,"cg_iu_a":-2.17209649,"cg_iv_a":-0.257040739,"cg_iw_a":2.42913723,"cg_sample_age_us":23.9909096,"cg_sample_seq":14434717,"cg_sample_valid":1,"cg_theta_rad":5.00816917,"cg_vd_req_v":0.0831617191,"cg_vd_v":0.0831617191,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397094667,"cg_vq_v":-0.397094667,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7159424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.706299,"values":{"Elec_RPM":-5.9222327e-30,"EncoderCos":38753,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-1.18444654e-30,"cg_du":50.1579704,"cg_dv":50.2162437,"cg_dw":49.7837563,"cg_id_a":0.157488972,"cg_id_raw_a":-0.122736655,"cg_iq_a":0.0707672536,"cg_iq_raw_a":-0.774452865,"cg_iu_a":0.14750886,"cg_iv_a":0.10539782,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8563633,"cg_sample_seq":14434766,"cg_sample_valid":1,"cg_theta_rad":5.00858259,"cg_vd_req_v":0.0834070742,"cg_vd_v":0.0834070742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383229166,"cg_vq_v":-0.383229166,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7159424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.718018,"values":{"Elec_RPM":-5.80378801e-30,"EncoderCos":38710,"EncoderSin":12447,"GapTicks":54763,"Mech_RPM":-1.1607576e-30,"cg_du":50.158596,"cg_dv":50.2148323,"cg_dw":49.7851677,"cg_id_a":0.0797295868,"cg_id_raw_a":0.376252621,"cg_iq_a":0.054594487,"cg_iq_raw_a":0.403362393,"cg_iu_a":-0.287417412,"cg_iv_a":-0.257040501,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9436359,"cg_sample_seq":14434817,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.0859357044,"cg_vd_v":0.0859357044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38068682,"cg_vq_v":-0.38068682,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.3155518,"temp_inv2_c":36.7507019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.72583,"values":{"Elec_RPM":-5.80378801e-30,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54763,"Mech_RPM":-1.1607576e-30,"cg_du":50.1505356,"cg_dv":50.2151031,"cg_dw":49.7848969,"cg_id_a":-0.263747931,"cg_id_raw_a":-0.515493333,"cg_iq_a":-0.025358675,"cg_iq_raw_a":-0.778348088,"cg_iu_a":0.401215553,"cg_iv_a":-0.546991229,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9872723,"cg_sample_seq":14434867,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0913206935,"cg_vd_v":0.0913206935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376791,"cg_vq_v":-0.376791,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7427979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.733643,"values":{"Elec_RPM":-5.68771198e-30,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-1.13754243e-30,"cg_du":50.1626282,"cg_dv":50.2098274,"cg_dw":49.7901726,"cg_id_a":0.36616689,"cg_id_raw_a":0.069226779,"cg_iq_a":0.136534736,"cg_iq_raw_a":-0.101901017,"cg_iu_a":-0.50488019,"cg_iv_a":1.08398128,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8600006,"cg_sample_seq":14434917,"cg_sample_valid":1,"cg_theta_rad":5.00672913,"cg_vd_req_v":0.0752454773,"cg_vd_v":0.0752454773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37790364,"cg_vq_v":-0.37790364,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":0.329758167,"dclink_p_w":47.7241364,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7427979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.760986,"values":{"Elec_RPM":-5.68771198e-30,"EncoderCos":38720,"EncoderSin":12494,"GapTicks":54771,"Mech_RPM":-1.13754243e-30,"cg_du":50.1521797,"cg_dv":50.2081032,"cg_dw":49.7918968,"cg_id_a":-0.109566256,"cg_id_raw_a":-0.0475002527,"cg_iq_a":-0.146654263,"cg_iq_raw_a":-0.125776663,"cg_iu_a":0.582434654,"cg_iv_a":0.286616921,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.8454552,"cg_sample_seq":14434970,"cg_sample_valid":1,"cg_theta_rad":5.00738192,"cg_vd_req_v":0.0826018527,"cg_vd_v":0.0826018527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369523048,"cg_vq_v":-0.369523048,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2613.772705,"values":{"Elec_RPM":-5.57395761e-30,"EncoderCos":38691,"EncoderSin":12490,"GapTicks":54776,"Mech_RPM":-1.11479154e-30,"cg_du":50.1591339,"cg_dv":50.2031059,"cg_dw":49.7968941,"cg_id_a":0.226836175,"cg_id_raw_a":-0.172212094,"cg_iq_a":-0.286595345,"cg_iq_raw_a":-0.199120224,"cg_iu_a":0.763653874,"cg_iv_a":1.15646887,"cg_iw_a":-1.92012274,"cg_sample_age_us":23.9509087,"cg_sample_seq":14435016,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0745488331,"cg_vd_v":0.0745488331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364993632,"cg_vq_v":-0.364993632,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4756985,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.780518,"values":{"Elec_RPM":-5.57395761e-30,"EncoderCos":38718,"EncoderSin":12431,"GapTicks":54773,"Mech_RPM":-1.11479154e-30,"cg_du":50.1606255,"cg_dv":50.2059517,"cg_dw":49.7940483,"cg_id_a":0.157219052,"cg_id_raw_a":0.574839056,"cg_iq_a":0.0253144987,"cg_iq_raw_a":0.313821912,"cg_iu_a":-0.287417412,"cg_iv_a":0.286616921,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9872723,"cg_sample_seq":14435066,"cg_sample_valid":1,"cg_theta_rad":5.00575686,"cg_vd_req_v":0.0753961578,"cg_vd_v":0.0753961578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369848073,"cg_vq_v":-0.369848073,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118786901,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.78833,"values":{"Elec_RPM":-5.35322911e-30,"EncoderCos":38712,"EncoderSin":12437,"GapTicks":54776,"Mech_RPM":-1.0706458e-30,"cg_du":50.1568947,"cg_dv":50.2035408,"cg_dw":49.7964592,"cg_id_a":0.134820297,"cg_id_raw_a":-0.331631243,"cg_iq_a":-0.00586863607,"cg_iq_raw_a":-0.288008541,"cg_iu_a":-0.541124105,"cg_iv_a":0.286616921,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8563633,"cg_sample_seq":14435216,"cg_sample_valid":1,"cg_theta_rad":5.00623894,"cg_vd_req_v":0.0722500905,"cg_vd_v":0.0722500905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364757597,"cg_vq_v":-0.368724734,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7317505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.796143,"values":{"Elec_RPM":-5.35322911e-30,"EncoderCos":38682,"EncoderSin":12511,"GapTicks":54769,"Mech_RPM":-1.0706458e-30,"cg_du":50.1655502,"cg_dv":50.2093658,"cg_dw":49.7906342,"cg_id_a":-0.040938884,"cg_id_raw_a":0.038125392,"cg_iq_a":0.315710336,"cg_iq_raw_a":1.42584085,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14435267,"cg_sample_valid":1,"cg_theta_rad":5.00629187,"cg_vd_req_v":0.0758937746,"cg_vd_v":0.0758937746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377052128,"cg_vq_v":-0.377052128,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.803955,"values":{"Elec_RPM":-5.24616471e-30,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.0492329e-30,"cg_du":50.1530075,"cg_dv":50.2034798,"cg_dw":49.7965202,"cg_id_a":-0.0159533173,"cg_id_raw_a":0.441998333,"cg_iq_a":-0.400850832,"cg_iq_raw_a":-0.246110365,"cg_iu_a":0.691166282,"cg_iv_a":-0.220796704,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.954546,"cg_sample_seq":14435316,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.078857325,"cg_vd_v":0.078857325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362222284,"cg_vq_v":-0.362222284,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.811768,"values":{"Elec_RPM":-5.24616471e-30,"EncoderCos":38717,"EncoderSin":12488,"GapTicks":54776,"Mech_RPM":-1.0492329e-30,"cg_du":50.1572266,"cg_dv":50.2033691,"cg_dw":49.7966309,"cg_id_a":0.184747145,"cg_id_raw_a":0.21885021,"cg_iq_a":-0.154193252,"cg_iq_raw_a":-0.123580068,"cg_iu_a":0.582434654,"cg_iv_a":0.467836142,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.954546,"cg_sample_seq":14435367,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0741892904,"cg_vd_v":0.0741892904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364706755,"cg_vq_v":-0.364706755,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.72229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.81958,"values":{"Elec_RPM":-5.1412414e-30,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54772,"Mech_RPM":-1.02824826e-30,"cg_du":50.1557922,"cg_dv":50.2065544,"cg_dw":49.7934456,"cg_id_a":-0.00286707934,"cg_id_raw_a":0.132116124,"cg_iq_a":-0.108874053,"cg_iq_raw_a":-0.314127475,"cg_iu_a":-0.396148682,"cg_iv_a":-0.365772009,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9509087,"cg_sample_seq":14435417,"cg_sample_valid":1,"cg_theta_rad":5.00647259,"cg_vd_req_v":0.0782559291,"cg_vd_v":0.0782559291,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368264675,"cg_vq_v":-0.368264675,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.661510706,"dclink_p_w":-95.736908,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7333374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.85083,"values":{"Elec_RPM":-5.1412414e-30,"EncoderCos":38760,"EncoderSin":12489,"GapTicks":54768,"Mech_RPM":-1.02824826e-30,"cg_du":50.1527519,"cg_dv":50.2106209,"cg_dw":49.7893791,"cg_id_a":-0.0897394344,"cg_id_raw_a":-0.20438756,"cg_iq_a":0.0743970275,"cg_iq_raw_a":-0.344471306,"cg_iu_a":-0.287417412,"cg_iv_a":0.322860837,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9509087,"cg_sample_seq":14435470,"cg_sample_valid":1,"cg_theta_rad":5.00623846,"cg_vd_req_v":0.081084393,"cg_vd_v":0.081084393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37287274,"cg_vq_v":-0.37287274,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.786551952,"dclink_p_w":-113.833458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7333374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.858643,"values":{"Elec_RPM":-5.03841668e-30,"EncoderCos":38732,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-1.00768332e-30,"cg_du":50.1614037,"cg_dv":50.2102242,"cg_dw":49.7897758,"cg_id_a":0.220061809,"cg_id_raw_a":0.0721067861,"cg_iq_a":0.0770852119,"cg_iq_raw_a":-0.356457531,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8490906,"cg_sample_seq":14435516,"cg_sample_valid":1,"cg_theta_rad":5.00782156,"cg_vd_req_v":0.0763419047,"cg_vd_v":0.0763419047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376623094,"cg_vq_v":-0.376623094,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.786551952,"dclink_p_w":-113.833458,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7427979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.866455,"values":{"Elec_RPM":-5.03841668e-30,"EncoderCos":38712,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.00768332e-30,"cg_du":50.1415787,"cg_dv":50.2013588,"cg_dw":49.7986412,"cg_id_a":-0.0998827592,"cg_id_raw_a":0.123407386,"cg_iq_a":-0.920139313,"cg_iq_raw_a":-0.861104667,"cg_iu_a":-0.50488019,"cg_iv_a":-0.365772128,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9836369,"cg_sample_seq":14435568,"cg_sample_valid":1,"cg_theta_rad":5.0062542,"cg_vd_req_v":0.0849446356,"cg_vd_v":0.0849446356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353091538,"cg_vq_v":-0.353091538,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7427979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.874268,"values":{"Elec_RPM":-4.93764803e-30,"EncoderCos":38711,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-9.87529607e-31,"cg_du":50.1510201,"cg_dv":50.2070465,"cg_dw":49.7929535,"cg_id_a":-0.019927375,"cg_id_raw_a":-0.323708117,"cg_iq_a":-0.22851336,"cg_iq_raw_a":0.259938955,"cg_iu_a":0.509947181,"cg_iv_a":0.286616921,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.8527279,"cg_sample_seq":14435616,"cg_sample_valid":1,"cg_theta_rad":5.00668764,"cg_vd_req_v":0.0835138485,"cg_vd_v":0.0835138485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366023868,"cg_vq_v":-0.366023868,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.976831913,"dclink_p_w":-141.371658,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.885986,"values":{"Elec_RPM":-4.93764803e-30,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-9.87529607e-31,"cg_du":50.152401,"cg_dv":50.2076492,"cg_dw":49.7923508,"cg_id_a":0.0227534771,"cg_id_raw_a":0.435476631,"cg_iq_a":-0.0969052613,"cg_iq_raw_a":-0.611766338,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503636,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8563633,"cg_sample_seq":14435667,"cg_sample_valid":1,"cg_theta_rad":5.00693703,"cg_vd_req_v":0.0826873928,"cg_vd_v":0.0826873928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367696732,"cg_vq_v":-0.367696732,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.893799,"values":{"Elec_RPM":-4.83889522e-30,"EncoderCos":38718,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-9.67779045e-31,"cg_du":50.1595345,"cg_dv":50.2070923,"cg_dw":49.7929077,"cg_id_a":0.230664611,"cg_id_raw_a":-0.361019433,"cg_iq_a":0.140688568,"cg_iq_raw_a":0.00190771651,"cg_iu_a":-0.577368021,"cg_iv_a":0.57656759,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.8600006,"cg_sample_seq":14435717,"cg_sample_valid":1,"cg_theta_rad":5.00848341,"cg_vd_req_v":0.0762189031,"cg_vd_v":0.0762189031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3710168,"cg_vq_v":-0.3710168,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7617798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.901611,"values":{"Elec_RPM":-4.83889522e-30,"EncoderCos":38725,"EncoderSin":12453,"GapTicks":54771,"Mech_RPM":-9.67779045e-31,"cg_du":50.1576729,"cg_dv":50.2081146,"cg_dw":49.7918854,"cg_id_a":0.0675467104,"cg_id_raw_a":0.470205426,"cg_iq_a":0.0256990679,"cg_iq_raw_a":-0.972876012,"cg_iu_a":0.183752775,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9290905,"cg_sample_seq":14435767,"cg_sample_valid":1,"cg_theta_rad":5.00709295,"cg_vd_req_v":0.0784333795,"cg_vd_v":0.0784333795,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370233804,"cg_vq_v":-0.370233804,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2613.909424,"values":{"Elec_RPM":-4.74211724e-30,"EncoderCos":38710,"EncoderSin":12495,"GapTicks":54763,"Mech_RPM":-9.48423449e-31,"cg_du":50.1601257,"cg_dv":50.2148056,"cg_dw":49.7851944,"cg_id_a":-0.191441596,"cg_id_raw_a":-0.228977025,"cg_iq_a":0.373686999,"cg_iq_raw_a":-0.0581305698,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14435817,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0831994787,"cg_vd_v":0.0831994787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380630642,"cg_vq_v":-0.380630642,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-1.10187316,"dclink_p_w":-159.468216,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2613.917236,"values":{"Elec_RPM":-4.74211724e-30,"EncoderCos":38712,"EncoderSin":12507,"GapTicks":54770,"Mech_RPM":-9.48423449e-31,"cg_du":50.1516991,"cg_dv":50.2081947,"cg_dw":49.7918053,"cg_id_a":-0.09199965,"cg_id_raw_a":-0.207693547,"cg_iq_a":-0.21789813,"cg_iq_raw_a":-0.711218417,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9763641,"cg_sample_seq":14435867,"cg_sample_valid":1,"cg_theta_rad":5.00627565,"cg_vd_req_v":0.0831563324,"cg_vd_v":0.0831563324,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368181497,"cg_vq_v":-0.368181497,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-1.13086843,"dclink_p_w":-163.664551,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.925049,"values":{"Elec_RPM":-4.64727497e-30,"EncoderCos":38717,"EncoderSin":12492,"GapTicks":54772,"Mech_RPM":-9.29455014e-31,"cg_du":50.1511841,"cg_dv":50.2065315,"cg_dw":49.7934685,"cg_id_a":-0.0539348051,"cg_id_raw_a":-0.0244303495,"cg_iq_a":-0.176607341,"cg_iq_raw_a":0.216918215,"cg_iu_a":0.183752537,"cg_iv_a":0.504079938,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.8527279,"cg_sample_seq":14435917,"cg_sample_valid":1,"cg_theta_rad":5.00812769,"cg_vd_req_v":0.0819080696,"cg_vd_v":0.0819080696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365639687,"cg_vq_v":-0.365639687,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.13086843,"dclink_p_w":-163.664551,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7396545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.956299,"values":{"Elec_RPM":-4.64727497e-30,"EncoderCos":38747,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-9.29455014e-31,"cg_du":50.158287,"cg_dv":50.2072487,"cg_dw":49.7927513,"cg_id_a":0.2647475,"cg_id_raw_a":0.358355403,"cg_iq_a":0.19943881,"cg_iq_raw_a":-0.512524724,"cg_iu_a":0.111264944,"cg_iv_a":0.322860837,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8563633,"cg_sample_seq":14435970,"cg_sample_valid":1,"cg_theta_rad":5.00602484,"cg_vd_req_v":0.0748056695,"cg_vd_v":0.0748056695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371052325,"cg_vq_v":-0.371052325,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-1.13086843,"dclink_p_w":-163.664551,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7396545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.964111,"values":{"Elec_RPM":-4.55432967e-30,"EncoderCos":38720,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-9.10865934e-31,"cg_du":50.1496925,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":-0.139928848,"cg_id_raw_a":-0.0554731898,"cg_iq_a":0.0319425985,"cg_iq_raw_a":-0.550712168,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.438259721,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8563633,"cg_sample_seq":14436066,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0822734907,"cg_vd_v":0.0822734907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364043683,"cg_vq_v":-0.364043683,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.971924,"values":{"Elec_RPM":-4.46324296e-30,"EncoderCos":38741,"EncoderSin":12468,"GapTicks":54776,"Mech_RPM":-8.92648593e-31,"cg_du":50.1573944,"cg_dv":50.2028503,"cg_dw":49.7971497,"cg_id_a":0.399143517,"cg_id_raw_a":0.754671156,"cg_iq_a":0.121066779,"cg_iq_raw_a":-0.693349779,"cg_iu_a":-0.722343206,"cg_iv_a":0.286616921,"cg_iw_a":0.435726285,"cg_sample_age_us":23.863636,"cg_sample_seq":14436116,"cg_sample_valid":1,"cg_theta_rad":5.00798225,"cg_vd_req_v":0.0720703676,"cg_vd_v":0.0720703676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364390224,"cg_vq_v":-0.364390224,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7554321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2613.974984,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2613.97499,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2613.974995,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2613.979736,"values":{"Elec_RPM":-4.46324296e-30,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-8.92648593e-31,"cg_du":50.1490479,"cg_dv":50.202343,"cg_dw":49.797657,"cg_id_a":-0.00536326226,"cg_id_raw_a":-0.166153118,"cg_iq_a":-0.0634957179,"cg_iq_raw_a":0.785521805,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8490906,"cg_sample_seq":14436167,"cg_sample_valid":1,"cg_theta_rad":5.00876617,"cg_vd_req_v":0.0806387141,"cg_vd_v":0.0806387141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358492672,"cg_vq_v":-0.358492672,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7301636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.987549,"values":{"Elec_RPM":-4.37397837e-30,"EncoderCos":38724,"EncoderSin":12516,"GapTicks":54783,"Mech_RPM":-8.74795655e-31,"cg_du":50.1455193,"cg_dv":50.1968346,"cg_dw":49.8031654,"cg_id_a":0.166045398,"cg_id_raw_a":0.557407618,"cg_iq_a":-0.393637747,"cg_iq_raw_a":-0.602235675,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656759,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9763641,"cg_sample_seq":14436217,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.0757989213,"cg_vd_v":0.0757989213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349524111,"cg_vq_v":-0.349524111,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-103.130692,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2613.995361,"values":{"Elec_RPM":-4.37397837e-30,"EncoderCos":38714,"EncoderSin":12492,"GapTicks":54782,"Mech_RPM":-8.74795655e-31,"cg_du":50.1472664,"cg_dv":50.1974182,"cg_dw":49.8025818,"cg_id_a":0.0539799929,"cg_id_raw_a":0.317502141,"cg_iq_a":-0.26606524,"cg_iq_raw_a":-1.13351655,"cg_iu_a":-0.39614892,"cg_iv_a":0.250373065,"cg_iw_a":0.145775855,"cg_sample_age_us":23.9872723,"cg_sample_seq":14436267,"cg_sample_valid":1,"cg_theta_rad":5.00887489,"cg_vd_req_v":0.0763707235,"cg_vd_v":0.0763707235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35100019,"cg_vq_v":-0.35100019,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-103.130692,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.00708,"values":{"Elec_RPM":-4.28649902e-30,"EncoderCos":38726,"EncoderSin":12473,"GapTicks":54781,"Mech_RPM":-8.57299785e-31,"cg_du":50.1507797,"cg_dv":50.1983566,"cg_dw":49.8016434,"cg_id_a":0.123221286,"cg_id_raw_a":0.184007168,"cg_iq_a":-0.224120647,"cg_iq_raw_a":-0.199963197,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9836369,"cg_sample_seq":14436318,"cg_sample_valid":1,"cg_theta_rad":5.00722313,"cg_vd_req_v":0.0740234926,"cg_vd_v":0.0740234926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354351997,"cg_vq_v":-0.354351997,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.71950078,"dclink_p_w":-104.129501,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7443848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.014893,"values":{"Elec_RPM":-4.28649902e-30,"EncoderCos":38736,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-8.57299785e-31,"cg_du":50.1533661,"cg_dv":50.2082672,"cg_dw":49.7917328,"cg_id_a":-0.178333536,"cg_id_raw_a":-0.0897177607,"cg_iq_a":0.511800408,"cg_iq_raw_a":0.247188777,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.438259721,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14436367,"cg_sample_valid":1,"cg_theta_rad":5.00735712,"cg_vd_req_v":0.0810900852,"cg_vd_v":0.0810900852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370574534,"cg_vq_v":-0.370574534,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.91465,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2575,"hz_tim_isr":5001,"hz_vsense":2575,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7443848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.022705,"values":{"Elec_RPM":-4.20076918e-30,"EncoderCos":38717,"EncoderSin":12441,"GapTicks":54774,"Mech_RPM":-8.40153836e-31,"cg_du":50.1493568,"cg_dv":50.2046051,"cg_dw":49.7953949,"cg_id_a":-0.18405661,"cg_id_raw_a":-0.475995958,"cg_iq_a":0.0189404637,"cg_iq_raw_a":0.0986846164,"cg_iu_a":0.147508621,"cg_iv_a":0.10539782,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8672733,"cg_sample_seq":14436416,"cg_sample_valid":1,"cg_theta_rad":5.00652075,"cg_vd_req_v":0.0827397779,"cg_vd_v":0.0827397779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36170727,"cg_vq_v":-0.36170727,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.916321,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7443848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.050049,"values":{"Elec_RPM":-4.20076918e-30,"EncoderCos":38747,"EncoderSin":12505,"GapTicks":54774,"Mech_RPM":-8.40153836e-31,"cg_du":50.1461563,"cg_dv":50.2054443,"cg_dw":49.7945557,"cg_id_a":-0.108470134,"cg_id_raw_a":-0.162368506,"cg_iq_a":-0.0545070246,"cg_iq_raw_a":0.604917645,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8709087,"cg_sample_seq":14436470,"cg_sample_valid":1,"cg_theta_rad":5.00778008,"cg_vd_req_v":0.0820060745,"cg_vd_v":0.0820060745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361984015,"cg_vq_v":-0.361984015,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.916321,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.72229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.061768,"values":{"Elec_RPM":-4.11675387e-30,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-8.23350756e-31,"cg_du":50.1502304,"cg_dv":50.206562,"cg_dw":49.793438,"cg_id_a":-0.103331029,"cg_id_raw_a":-0.132449105,"cg_iq_a":0.219012976,"cg_iq_raw_a":-0.193565905,"cg_iu_a":-0.541124105,"cg_iv_a":0.902762115,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9472733,"cg_sample_seq":14436516,"cg_sample_valid":1,"cg_theta_rad":5.00728703,"cg_vd_req_v":0.0813860446,"cg_vd_v":0.0813860446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365438312,"cg_vq_v":-0.365438312,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.652449608,"dclink_p_w":-94.4255447,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.72229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.06958,"values":{"Elec_RPM":-4.11675387e-30,"EncoderCos":38698,"EncoderSin":12441,"GapTicks":54775,"Mech_RPM":-8.23350756e-31,"cg_du":50.150631,"cg_dv":50.2037125,"cg_dw":49.7962875,"cg_id_a":-0.164657742,"cg_id_raw_a":-0.153019905,"cg_iq_a":-0.0067461729,"cg_iq_raw_a":-0.780528843,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.220796704,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9836369,"cg_sample_seq":14436566,"cg_sample_valid":1,"cg_theta_rad":5.00565767,"cg_vd_req_v":0.0824255124,"cg_vd_v":0.0824255124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360859007,"cg_vq_v":-0.360859007,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.444047689,"dclink_p_w":-64.2646484,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7143555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.077393,"values":{"Elec_RPM":-4.03441886e-30,"EncoderCos":38735,"EncoderSin":12446,"GapTicks":54773,"Mech_RPM":-8.06883773e-31,"cg_du":50.1467781,"cg_dv":50.2060814,"cg_dw":49.7939186,"cg_id_a":-0.248691261,"cg_id_raw_a":-0.496623576,"cg_iq_a":0.0310439914,"cg_iq_raw_a":-0.993546069,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9436359,"cg_sample_seq":14436616,"cg_sample_valid":1,"cg_theta_rad":5.00740623,"cg_vd_req_v":0.0845929235,"cg_vd_v":0.0845929235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362631589,"cg_vq_v":-0.362631589,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.085205,"values":{"Elec_RPM":-4.03441886e-30,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-8.06883773e-31,"cg_du":50.1459007,"cg_dv":50.2075882,"cg_dw":49.7924118,"cg_id_a":-0.31680876,"cg_id_raw_a":0.211795688,"cg_iq_a":0.142241448,"cg_iq_raw_a":-0.0516006649,"cg_iu_a":0.183752537,"cg_iv_a":-1.30811179,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14436666,"cg_sample_valid":1,"cg_theta_rad":5.00647831,"cg_vd_req_v":0.0868930519,"cg_vd_v":0.0868930519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364160985,"cg_vq_v":-0.364160985,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.093018,"values":{"Elec_RPM":-3.95373067e-30,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-7.90746116e-31,"cg_du":50.1521683,"cg_dv":50.2030373,"cg_dw":49.7969627,"cg_id_a":0.231051892,"cg_id_raw_a":0.70888567,"cg_iq_a":0.0771278515,"cg_iq_raw_a":0.249108031,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0329101086,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9218178,"cg_sample_seq":14436716,"cg_sample_valid":1,"cg_theta_rad":5.00789881,"cg_vd_req_v":0.0765161142,"cg_vd_v":0.0765161142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361701995,"cg_vq_v":-0.361701995,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.10083,"values":{"Elec_RPM":-3.95373067e-30,"EncoderCos":38707,"EncoderSin":12505,"GapTicks":54779,"Mech_RPM":-7.90746116e-31,"cg_du":50.1521339,"cg_dv":50.2007217,"cg_dw":49.7992783,"cg_id_a":0.181749344,"cg_id_raw_a":0.0847620666,"cg_iq_a":0.0365889147,"cg_iq_raw_a":-0.682815194,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148308992,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9218178,"cg_sample_seq":14436766,"cg_sample_valid":1,"cg_theta_rad":5.00694561,"cg_vd_req_v":0.0760135055,"cg_vd_v":0.0760135055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358168393,"cg_vq_v":-0.358168393,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.108643,"values":{"Elec_RPM":-3.87465583e-30,"EncoderCos":38744,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-7.74931203e-31,"cg_du":50.139534,"cg_dv":50.1974564,"cg_dw":49.8025436,"cg_id_a":0.0440873504,"cg_id_raw_a":0.0250091162,"cg_iq_a":-0.422732562,"cg_iq_raw_a":0.148675889,"cg_iu_a":0.437459469,"cg_iv_a":0.105397701,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14436817,"cg_sample_valid":1,"cg_theta_rad":5.00661039,"cg_vd_req_v":0.0803942606,"cg_vd_v":0.0803942606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347194195,"cg_vq_v":-0.347194195,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.704895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.120361,"values":{"Elec_RPM":-3.87465583e-30,"EncoderCos":38714,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-7.74931203e-31,"cg_du":50.1430359,"cg_dv":50.1997871,"cg_dw":49.8002129,"cg_id_a":-0.0353476889,"cg_id_raw_a":0.197649956,"cg_iq_a":-0.110904351,"cg_iq_raw_a":0.0932020769,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.954546,"cg_sample_seq":14436867,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0824545696,"cg_vd_v":0.0824545696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351735532,"cg_vq_v":-0.351735532,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.758606,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.128174,"values":{"Elec_RPM":-3.7971631e-30,"EncoderCos":38748,"EncoderSin":12497,"GapTicks":54781,"Mech_RPM":-7.59432592e-31,"cg_du":50.140377,"cg_dv":50.1988792,"cg_dw":49.8011208,"cg_id_a":-0.0785462409,"cg_id_raw_a":-0.113810271,"cg_iq_a":-0.206512213,"cg_iq_raw_a":-0.409654438,"cg_iu_a":0.473703265,"cg_iv_a":-0.293284416,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14436917,"cg_sample_valid":1,"cg_theta_rad":5.0064168,"cg_vd_req_v":0.0803743154,"cg_vd_v":0.0803743154,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34977591,"cg_vq_v":-0.34977591,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.758606,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.155518,"values":{"Elec_RPM":-3.7971631e-30,"EncoderCos":38732,"EncoderSin":12434,"GapTicks":54773,"Mech_RPM":-7.59432592e-31,"cg_du":50.1649475,"cg_dv":50.2055702,"cg_dw":49.7944298,"cg_id_a":0.326737285,"cg_id_raw_a":-0.618535459,"cg_iq_a":0.878517151,"cg_iq_raw_a":0.486719519,"cg_iu_a":-0.287417173,"cg_iv_a":-0.25704062,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9836369,"cg_sample_seq":14436971,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0703812242,"cg_vd_v":0.0703812242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372009128,"cg_vq_v":-0.372009128,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.8238831,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2912292,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.16333,"values":{"Elec_RPM":-3.72121977e-30,"EncoderCos":38710,"EncoderSin":12447,"GapTicks":54780,"Mech_RPM":-7.44243936e-31,"cg_du":50.1556129,"cg_dv":50.1995468,"cg_dw":49.8004532,"cg_id_a":0.193372831,"cg_id_raw_a":0.150783852,"cg_iq_a":0.192724481,"cg_iq_raw_a":-0.275311559,"cg_iu_a":-0.39614892,"cg_iv_a":0.431592226,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.954546,"cg_sample_seq":14437016,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0733266398,"cg_vd_v":0.0733266398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358285904,"cg_vq_v":-0.358285904,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7333374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.175049,"values":{"Elec_RPM":-3.72121977e-30,"EncoderCos":38736,"EncoderSin":12513,"GapTicks":54782,"Mech_RPM":-7.44243936e-31,"cg_du":50.1481133,"cg_dv":50.1980629,"cg_dw":49.8019371,"cg_id_a":0.127162442,"cg_id_raw_a":0.33437559,"cg_iq_a":-0.0418576822,"cg_iq_raw_a":0.213237956,"cg_iu_a":0.147508621,"cg_iv_a":0.0329101086,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9218178,"cg_sample_seq":14437066,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0742804632,"cg_vd_v":0.0742804632,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353907585,"cg_vq_v":-0.353907585,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.9495583,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7333374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.182861,"values":{"Elec_RPM":-3.64679537e-30,"EncoderCos":38706,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-7.29359074e-31,"cg_du":50.1521759,"cg_dv":50.2056389,"cg_dw":49.7943611,"cg_id_a":-0.15228489,"cg_id_raw_a":0.938317835,"cg_iq_a":0.530583918,"cg_iq_raw_a":0.677375317,"cg_iu_a":0.546190977,"cg_iv_a":-1.19938028,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9254551,"cg_sample_seq":14437116,"cg_sample_valid":1,"cg_theta_rad":5.00623989,"cg_vd_req_v":0.0815955549,"cg_vd_v":0.0815955549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365850359,"cg_vq_v":-0.365850359,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.95480704,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.190674,"values":{"Elec_RPM":-3.64679537e-30,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-7.29359074e-31,"cg_du":50.1674767,"cg_dv":50.2062378,"cg_dw":49.7937622,"cg_id_a":0.405068398,"cg_id_raw_a":-0.419973046,"cg_iq_a":0.923700154,"cg_iq_raw_a":-0.0402353182,"cg_iu_a":-0.432392597,"cg_iv_a":0.250373125,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14437166,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0693314523,"cg_vd_v":0.0693314523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37545982,"cg_vq_v":-0.37545982,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.198486,"values":{"Elec_RPM":-3.57385942e-30,"EncoderCos":38695,"EncoderSin":12432,"GapTicks":54775,"Mech_RPM":-7.14771894e-31,"cg_du":50.1601181,"cg_dv":50.20401,"cg_dw":49.79599,"cg_id_a":0.0269758701,"cg_id_raw_a":-0.589450955,"cg_iq_a":0.376866937,"cg_iq_raw_a":-0.426237822,"cg_iu_a":-1.62843895,"cg_iv_a":0.359104633,"cg_iw_a":1.26933432,"cg_sample_age_us":23.8563633,"cg_sample_seq":14437216,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0757870674,"cg_vd_v":0.0757870674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366545618,"cg_vq_v":-0.366545618,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.72229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.206299,"values":{"Elec_RPM":-3.57385942e-30,"EncoderCos":38710,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-7.14771894e-31,"cg_du":50.1559868,"cg_dv":50.1970825,"cg_dw":49.8029175,"cg_id_a":0.406460494,"cg_id_raw_a":0.181918338,"cg_iq_a":-0.104249142,"cg_iq_raw_a":-0.381694287,"cg_iu_a":0.292484045,"cg_iv_a":0.467836082,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9872723,"cg_sample_seq":14437266,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0699865073,"cg_vd_v":0.0699865073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35528034,"cg_vq_v":-0.35528034,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.218018,"values":{"Elec_RPM":-3.50238222e-30,"EncoderCos":38718,"EncoderSin":12470,"GapTicks":54781,"Mech_RPM":-7.00476472e-31,"cg_du":50.1429749,"cg_dv":50.1990585,"cg_dw":49.8009415,"cg_id_a":-0.0999778733,"cg_id_raw_a":-0.151898742,"cg_iq_a":-0.300383747,"cg_iq_raw_a":-0.414718837,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065315,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9363632,"cg_sample_seq":14437316,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0815440193,"cg_vd_v":0.0815440193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35076946,"cg_vq_v":-0.35076946,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.7264137,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7254333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.22583,"values":{"Elec_RPM":-3.50238222e-30,"EncoderCos":38706,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-7.00476472e-31,"cg_du":50.1453629,"cg_dv":50.1995773,"cg_dw":49.8004227,"cg_id_a":-0.082197994,"cg_id_raw_a":0.179577917,"cg_iq_a":-0.106872715,"cg_iq_raw_a":-0.563944936,"cg_iu_a":0.473703146,"cg_iv_a":-0.112065315,"cg_iw_a":0.182019472,"cg_sample_age_us":23.954546,"cg_sample_seq":14437366,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.0810393468,"cg_vd_v":0.0810393468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352615416,"cg_vq_v":-0.352615416,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.7264137,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.749115,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.233643,"values":{"Elec_RPM":-3.43233479e-30,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-6.86466931e-31,"cg_du":50.1409607,"cg_dv":50.1962509,"cg_dw":49.8013687,"cg_id_a":0.0142266303,"cg_id_raw_a":-0.0970614627,"cg_iq_a":-0.289049923,"cg_iq_raw_a":-0.117878221,"cg_iu_a":0.111264944,"cg_iv_a":0.322860777,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.8563633,"cg_sample_seq":14437416,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0800502002,"cg_vd_v":0.0800502002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345902652,"cg_vq_v":-0.345902652,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.2797279,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.260986,"values":{"Elec_RPM":-3.43233479e-30,"EncoderCos":38744,"EncoderSin":12489,"GapTicks":54777,"Mech_RPM":-6.86466931e-31,"cg_du":50.1440163,"cg_dv":50.2020073,"cg_dw":49.7979927,"cg_id_a":-0.0651529729,"cg_id_raw_a":-0.0100115547,"cg_iq_a":0.257217944,"cg_iq_raw_a":0.0726800263,"cg_iu_a":0.763653994,"cg_iv_a":0.57656759,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8563633,"cg_sample_seq":14437471,"cg_sample_valid":1,"cg_theta_rad":5.00762606,"cg_vd_req_v":0.0810299739,"cg_vd_v":0.0810299739,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355952531,"cg_vq_v":-0.355952531,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.268799,"values":{"Elec_RPM":-3.36368781e-30,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-6.7273758e-31,"cg_du":50.1416435,"cg_dv":50.1967545,"cg_dw":49.8032455,"cg_id_a":-0.0169457346,"cg_id_raw_a":0.333684742,"cg_iq_a":-0.18266879,"cg_iq_raw_a":-0.221409947,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14437516,"cg_sample_valid":1,"cg_theta_rad":5.00745058,"cg_vd_req_v":0.0802774504,"cg_vd_v":0.0802774504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346908092,"cg_vq_v":-0.346908092,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7238464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.276611,"values":{"Elec_RPM":-3.36368781e-30,"EncoderCos":38722,"EncoderSin":12471,"GapTicks":54783,"Mech_RPM":-6.7273758e-31,"cg_du":50.1432076,"cg_dv":50.1971474,"cg_dw":49.8028526,"cg_id_a":0.0640864149,"cg_id_raw_a":0.0279023834,"cg_iq_a":0.0162070096,"cg_iq_raw_a":-0.105727099,"cg_iu_a":0.14750886,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9254551,"cg_sample_seq":14437567,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0791634619,"cg_vd_v":0.0791634619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348381937,"cg_vq_v":-0.348381937,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.5912628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7238464,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.28833,"values":{"Elec_RPM":-3.29641417e-30,"EncoderCos":38728,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-6.59282825e-31,"cg_du":50.1405182,"cg_dv":50.2027931,"cg_dw":49.7972069,"cg_id_a":-0.284207821,"cg_id_raw_a":0.0176415797,"cg_iq_a":0.346126288,"cg_iq_raw_a":0.220923319,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691540241,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14437616,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.0859839916,"cg_vd_v":0.0859839916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35473755,"cg_vq_v":-0.35473755,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7127991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.296143,"values":{"Elec_RPM":-3.29641417e-30,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-6.59282825e-31,"cg_du":50.1403999,"cg_dv":50.1976128,"cg_dw":49.8023872,"cg_id_a":-0.0750856623,"cg_id_raw_a":-0.294932365,"cg_iq_a":-0.00696823746,"cg_iq_raw_a":-0.0288904924,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9436359,"cg_sample_seq":14437666,"cg_sample_valid":1,"cg_theta_rad":5.01061201,"cg_vd_req_v":0.0830001086,"cg_vd_v":0.0830001086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347154677,"cg_vq_v":-0.347154677,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.303955,"values":{"Elec_RPM":-3.23048568e-30,"EncoderCos":38708,"EncoderSin":12456,"GapTicks":54784,"Mech_RPM":-6.46097163e-31,"cg_du":50.1315689,"cg_dv":50.1956558,"cg_dw":49.8043442,"cg_id_a":-0.182894111,"cg_id_raw_a":0.51791501,"cg_iq_a":-0.417176485,"cg_iq_raw_a":-0.784518063,"cg_iu_a":0.509947062,"cg_iv_a":0.105397701,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9181824,"cg_sample_seq":14437716,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.0885463133,"cg_vd_v":0.0885463133,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34048301,"cg_vq_v":-0.34048301,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.315674,"values":{"Elec_RPM":-3.16587599e-30,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54787,"Mech_RPM":-6.33175236e-31,"cg_du":50.1313744,"cg_dv":50.1934013,"cg_dw":49.8065987,"cg_id_a":0.0921083763,"cg_id_raw_a":-0.235872835,"cg_iq_a":-0.272684753,"cg_iq_raw_a":-1.04258811,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.954546,"cg_sample_seq":14437817,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0856468305,"cg_vd_v":0.0856468305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336437225,"cg_vq_v":-0.336437225,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.323486,"values":{"Elec_RPM":-3.16587599e-30,"EncoderCos":38734,"EncoderSin":12484,"GapTicks":54793,"Mech_RPM":-6.33175236e-31,"cg_du":50.12743,"cg_dv":50.1874809,"cg_dw":49.8125191,"cg_id_a":0.337189198,"cg_id_raw_a":1.45828605,"cg_iq_a":-0.431543469,"cg_iq_raw_a":-1.24600136,"cg_iu_a":-0.14244175,"cg_iv_a":0.685299098,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.8527279,"cg_sample_seq":14437867,"cg_sample_valid":1,"cg_theta_rad":5.00731421,"cg_vd_req_v":0.0809718892,"cg_vd_v":0.0809718892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326682687,"cg_vq_v":-0.326682687,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.331299,"values":{"Elec_RPM":-3.1025586e-30,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54788,"Mech_RPM":-6.20511729e-31,"cg_du":50.1280785,"cg_dv":50.1918449,"cg_dw":49.8081551,"cg_id_a":0.0649139434,"cg_id_raw_a":-0.518816233,"cg_iq_a":-0.0468764007,"cg_iq_raw_a":0.532075405,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14437917,"cg_sample_valid":1,"cg_theta_rad":5.0061965,"cg_vd_req_v":0.0865360573,"cg_vd_v":0.0865360573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332512647,"cg_vq_v":-0.332512647,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-50.8889389,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6812439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.339111,"values":{"Elec_RPM":-3.1025586e-30,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54794,"Mech_RPM":-6.20511729e-31,"cg_du":50.1335831,"cg_dv":50.1865692,"cg_dw":49.8134308,"cg_id_a":0.477558047,"cg_id_raw_a":0.313532412,"cg_iq_a":-0.408287823,"cg_iq_raw_a":-0.44171685,"cg_iu_a":-0.251173258,"cg_iv_a":0.794030607,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9763641,"cg_sample_seq":14437967,"cg_sample_valid":1,"cg_theta_rad":5.00802374,"cg_vd_req_v":0.0769014582,"cg_vd_v":0.0769014582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328492373,"cg_vq_v":-0.328492373,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6812439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.366455,"values":{"Elec_RPM":-3.04050754e-30,"EncoderCos":38736,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-6.08101518e-31,"cg_du":50.1348305,"cg_dv":50.1985588,"cg_dw":49.8014412,"cg_id_a":0.079138808,"cg_id_raw_a":0.405413389,"cg_iq_a":0.572461009,"cg_iq_raw_a":1.24024951,"cg_iu_a":0.0387773514,"cg_iv_a":0.540323794,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.954546,"cg_sample_seq":14438020,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0860092044,"cg_vd_v":0.0860092044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345876127,"cg_vq_v":-0.345876127,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7096558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.374268,"values":{"Elec_RPM":-3.04050754e-30,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54787,"Mech_RPM":-6.08101518e-31,"cg_du":50.1262474,"cg_dv":50.1929512,"cg_dw":49.8070488,"cg_id_a":0.0525800288,"cg_id_raw_a":-0.0546546318,"cg_iq_a":-0.248281538,"cg_iq_raw_a":0.323310137,"cg_iu_a":-0.0699541569,"cg_iv_a":0.540323734,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8563633,"cg_sample_seq":14438066,"cg_sample_valid":1,"cg_theta_rad":5.00789881,"cg_vd_req_v":0.0871653929,"cg_vd_v":0.0871653929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333485335,"cg_vq_v":-0.333485335,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.38208,"values":{"Elec_RPM":-2.97969744e-30,"EncoderCos":38720,"EncoderSin":12515,"GapTicks":54780,"Mech_RPM":-5.95939478e-31,"cg_du":50.1274452,"cg_dv":50.1993561,"cg_dw":49.8006439,"cg_id_a":-0.170489043,"cg_id_raw_a":-0.0314522125,"cg_iq_a":0.203051418,"cg_iq_raw_a":-0.147796124,"cg_iu_a":-0.142441988,"cg_iv_a":-0.438259721,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8600006,"cg_sample_seq":14438116,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.0930769071,"cg_vd_v":0.0930769071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343820095,"cg_vq_v":-0.343820095,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.3611984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.393799,"values":{"Elec_RPM":-2.97969744e-30,"EncoderCos":38696,"EncoderSin":12457,"GapTicks":54791,"Mech_RPM":-5.95939478e-31,"cg_du":50.1231918,"cg_dv":50.189888,"cg_dw":49.810112,"cg_id_a":0.174554244,"cg_id_raw_a":0.23612906,"cg_iq_a":-0.245757923,"cg_iq_raw_a":-0.885594726,"cg_iu_a":-0.142441988,"cg_iv_a":0.214129329,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9363632,"cg_sample_seq":14438167,"cg_sample_valid":1,"cg_theta_rad":5.00578642,"cg_vd_req_v":0.0884148777,"cg_vd_v":0.0884148777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327120423,"cg_vq_v":-0.327120423,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.401611,"values":{"Elec_RPM":-2.92010326e-30,"EncoderCos":38741,"EncoderSin":12511,"GapTicks":54786,"Mech_RPM":-5.8402067e-31,"cg_du":50.1224632,"cg_dv":50.1945419,"cg_dw":49.8054581,"cg_id_a":-0.0801972523,"cg_id_raw_a":-0.0581377074,"cg_iq_a":-0.188693315,"cg_iq_raw_a":0.14112775,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616981,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9436359,"cg_sample_seq":14438217,"cg_sample_valid":1,"cg_theta_rad":5.00786304,"cg_vd_req_v":0.0905529633,"cg_vd_v":0.0905529633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333849758,"cg_vq_v":-0.333849758,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.315382004,"dclink_p_w":-45.7822876,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.409424,"values":{"Elec_RPM":-2.92010326e-30,"EncoderCos":38717,"EncoderSin":12501,"GapTicks":54779,"Mech_RPM":-5.8402067e-31,"cg_du":50.1345673,"cg_dv":50.2008858,"cg_dw":49.7991142,"cg_id_a":-0.0156522803,"cg_id_raw_a":0.0590202212,"cg_iq_a":0.390817583,"cg_iq_raw_a":0.224957645,"cg_iu_a":-0.178685904,"cg_iv_a":-0.365772069,"cg_iw_a":0.544457972,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438267,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0889808312,"cg_vd_v":0.0889808312,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347638428,"cg_vq_v":-0.347638428,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.417236,"values":{"Elec_RPM":-2.86170131e-30,"EncoderCos":38715,"EncoderSin":12507,"GapTicks":54782,"Mech_RPM":-5.72340253e-31,"cg_du":50.1324463,"cg_dv":50.1975899,"cg_dw":49.8024101,"cg_id_a":0.0488035977,"cg_id_raw_a":-0.149223402,"cg_iq_a":0.114566639,"cg_iq_raw_a":-0.232044026,"cg_iu_a":-0.178685904,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14438317,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.0874686018,"cg_vd_v":0.0874686018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341980964,"cg_vq_v":-0.341980964,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.35343802,"dclink_p_w":-51.1511955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7064819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.428955,"values":{"Elec_RPM":-2.86170131e-30,"EncoderCos":38730,"EncoderSin":12472,"GapTicks":54779,"Mech_RPM":-5.72340253e-31,"cg_du":50.1369247,"cg_dv":50.2000771,"cg_dw":49.7999229,"cg_id_a":0.147582322,"cg_id_raw_a":0.0422275327,"cg_iq_a":0.397222817,"cg_iq_raw_a":0.623769104,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9799995,"cg_sample_seq":14438367,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.0860174671,"cg_vd_v":0.0860174671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347939312,"cg_vq_v":-0.347939312,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.35343802,"dclink_p_w":-51.1511955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7064819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.436768,"values":{"Elec_RPM":-2.80446715e-30,"EncoderCos":38732,"EncoderSin":12535,"GapTicks":54779,"Mech_RPM":-5.6089343e-31,"cg_du":50.1321335,"cg_dv":50.2005959,"cg_dw":49.7994041,"cg_id_a":-0.0482744873,"cg_id_raw_a":-0.319315732,"cg_iq_a":0.404276967,"cg_iq_raw_a":0.00829940662,"cg_iu_a":-0.686099291,"cg_iv_a":0.39534843,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8600006,"cg_sample_seq":14438417,"cg_sample_valid":1,"cg_theta_rad":5.00645399,"cg_vd_req_v":0.089150168,"cg_vd_v":0.089150168,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34851414,"cg_vq_v":-0.34851414,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.35343802,"dclink_p_w":-51.1511955,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.44458,"values":{"Elec_RPM":-2.80446715e-30,"EncoderCos":38725,"EncoderSin":12497,"GapTicks":54783,"Mech_RPM":-5.6089343e-31,"cg_du":50.121376,"cg_dv":50.1972389,"cg_dw":49.8027611,"cg_id_a":-0.301010877,"cg_id_raw_a":-0.491565257,"cg_iq_a":-0.110902935,"cg_iq_raw_a":0.937194169,"cg_iu_a":0.292484283,"cg_iv_a":0.141641617,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438467,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0958442688,"cg_vd_v":0.0958442688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337514043,"cg_vq_v":-0.337514043,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.522728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.471924,"values":{"Elec_RPM":-2.74837764e-30,"EncoderCos":38741,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-5.49675546e-31,"cg_du":50.1265526,"cg_dv":50.2007637,"cg_dw":49.7992363,"cg_id_a":-0.34744224,"cg_id_raw_a":0.00734713906,"cg_iq_a":0.488297403,"cg_iq_raw_a":0.110683352,"cg_iu_a":0.473703146,"cg_iv_a":0.0691539049,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9799995,"cg_sample_seq":14438519,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0986868292,"cg_vd_v":0.0986868292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348892778,"cg_vq_v":-0.348892778,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":16.0382042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.483643,"values":{"Elec_RPM":-2.74837764e-30,"EncoderCos":38718,"EncoderSin":12434,"GapTicks":54780,"Mech_RPM":-5.49675546e-31,"cg_du":50.139946,"cg_dv":50.1995544,"cg_dw":49.8004456,"cg_id_a":0.186672449,"cg_id_raw_a":0.182955101,"cg_iq_a":0.517432213,"cg_iq_raw_a":0.237796649,"cg_iu_a":-0.613611698,"cg_iv_a":0.105397701,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438567,"cg_sample_valid":1,"cg_theta_rad":5.00826263,"cg_vd_req_v":0.0852700099,"cg_vd_v":0.0852700099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34953174,"cg_vq_v":-0.34953174,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.491455,"values":{"Elec_RPM":-2.69341021e-30,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54789,"Mech_RPM":-5.38682041e-31,"cg_du":50.1234283,"cg_dv":50.1917915,"cg_dw":49.8082085,"cg_id_a":-0.138012111,"cg_id_raw_a":0.14592807,"cg_iq_a":-0.476785272,"cg_iq_raw_a":-0.0208821446,"cg_iu_a":1.16233611,"cg_iv_a":0.504079819,"cg_iw_a":-1.66641593,"cg_sample_age_us":23.9872723,"cg_sample_seq":14438616,"cg_sample_valid":1,"cg_theta_rad":5.0082407,"cg_vd_req_v":0.0907172039,"cg_vd_v":0.0907172039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329667687,"cg_vq_v":-0.329667687,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6985779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.499268,"values":{"Elec_RPM":-2.63954191e-30,"EncoderCos":38726,"EncoderSin":12477,"GapTicks":54778,"Mech_RPM":-5.279084e-31,"cg_du":50.13311,"cg_dv":50.2013206,"cg_dw":49.7986794,"cg_id_a":0.0694513917,"cg_id_raw_a":-0.0866324902,"cg_iq_a":0.472684324,"cg_iq_raw_a":0.429416537,"cg_iu_a":-0.613611698,"cg_iv_a":-0.0758213997,"cg_iw_a":0.689433098,"cg_sample_age_us":23.8563633,"cg_sample_seq":14438766,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.0892508104,"cg_vd_v":0.0852428377,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348877013,"cg_vq_v":-0.348877013,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6985779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.50708,"values":{"Elec_RPM":-2.5867513e-30,"EncoderCos":38718,"EncoderSin":12490,"GapTicks":54785,"Mech_RPM":-5.17350251e-31,"cg_du":50.1335945,"cg_dv":50.1949081,"cg_dw":49.8050919,"cg_id_a":0.0652429163,"cg_id_raw_a":-0.0699613169,"cg_iq_a":-0.11185652,"cg_iq_raw_a":0.904363453,"cg_iu_a":-0.0699543953,"cg_iv_a":0.721542954,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438817,"cg_sample_valid":1,"cg_theta_rad":5.00657654,"cg_vd_req_v":0.0846516117,"cg_vd_v":0.0846516117,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341009617,"cg_vq_v":-0.341009617,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7333374,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.514893,"values":{"Elec_RPM":-2.5867513e-30,"EncoderCos":38719,"EncoderSin":12419,"GapTicks":54787,"Mech_RPM":-5.17350251e-31,"cg_du":50.1333809,"cg_dv":50.1930389,"cg_dw":49.8069611,"cg_id_a":0.061244484,"cg_id_raw_a":0.206817448,"cg_iq_a":-0.2753658,"cg_iq_raw_a":-1.03467143,"cg_iu_a":-0.214929581,"cg_iv_a":0.431592286,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438866,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0843163282,"cg_vd_v":0.0843163282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33692798,"cg_vq_v":-0.33692798,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.217402339,"dclink_p_w":31.4634781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7159424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.522705,"values":{"Elec_RPM":-2.53501639e-30,"EncoderCos":38733,"EncoderSin":12488,"GapTicks":54778,"Mech_RPM":-5.07003268e-31,"cg_du":50.1353989,"cg_dv":50.2009277,"cg_dw":49.7990723,"cg_id_a":-0.0218330007,"cg_id_raw_a":-0.163371623,"cg_iq_a":0.135313451,"cg_iq_raw_a":-0.0872821137,"cg_iu_a":0.292484283,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.8563633,"cg_sample_seq":14438917,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.0876803696,"cg_vd_v":0.0876803696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349460512,"cg_vq_v":-0.349460512,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7159424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.530518,"values":{"Elec_RPM":-2.53501639e-30,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-5.07003268e-31,"cg_du":50.1404877,"cg_dv":50.2011566,"cg_dw":49.7988434,"cg_id_a":0.112631917,"cg_id_raw_a":-0.240106702,"cg_iq_a":0.103053555,"cg_iq_raw_a":0.2685166,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14438967,"cg_sample_valid":1,"cg_theta_rad":5.0067935,"cg_vd_req_v":0.0856151655,"cg_vd_v":0.0856151655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352204055,"cg_vq_v":-0.352204055,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.704895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.557861,"values":{"Elec_RPM":-2.48431609e-30,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-4.96863218e-31,"cg_du":50.1373787,"cg_dv":50.2096825,"cg_dw":49.7903175,"cg_id_a":-0.331200093,"cg_id_raw_a":-0.455595523,"cg_iq_a":0.288082808,"cg_iq_raw_a":-0.552012682,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8563633,"cg_sample_seq":14439020,"cg_sample_valid":1,"cg_theta_rad":5.00656128,"cg_vd_req_v":0.0949963331,"cg_vd_v":0.0949963331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362396151,"cg_vq_v":-0.362396151,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.6766605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.56958,"values":{"Elec_RPM":-2.48431609e-30,"EncoderCos":38737,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-4.96863218e-31,"cg_du":50.1411057,"cg_dv":50.206707,"cg_dw":49.793293,"cg_id_a":-0.0126814097,"cg_id_raw_a":0.295022011,"cg_iq_a":0.0256413966,"cg_iq_raw_a":-0.0441669337,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9436359,"cg_sample_seq":14439066,"cg_sample_valid":1,"cg_theta_rad":5.0052948,"cg_vd_req_v":0.0890731812,"cg_vd_v":0.0890731812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360454261,"cg_vq_v":-0.360454261,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.577393,"values":{"Elec_RPM":-2.43462973e-30,"EncoderCos":38693,"EncoderSin":12486,"GapTicks":54770,"Mech_RPM":-4.86925965e-31,"cg_du":50.1476402,"cg_dv":50.2085037,"cg_dw":49.7914963,"cg_id_a":-0.0424859524,"cg_id_raw_a":0.160199299,"cg_iq_a":0.288507313,"cg_iq_raw_a":0.454504728,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.954546,"cg_sample_seq":14439116,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0890268162,"cg_vd_v":0.0890268162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366932362,"cg_vq_v":-0.366932362,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7365112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.585205,"values":{"Elec_RPM":-2.43462973e-30,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-4.86925965e-31,"cg_du":50.1408691,"cg_dv":50.2023468,"cg_dw":49.7976532,"cg_id_a":0.123707399,"cg_id_raw_a":0.0085272789,"cg_iq_a":-0.333200246,"cg_iq_raw_a":-1.20008659,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860837,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14439166,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0864135176,"cg_vd_v":0.0864135176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355188549,"cg_vq_v":-0.355188549,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7365112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.596924,"values":{"Elec_RPM":-2.38593737e-30,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-4.77187465e-31,"cg_du":50.1452789,"cg_dv":50.2091866,"cg_dw":49.7908134,"cg_id_a":0.171097398,"cg_id_raw_a":-0.322636455,"cg_iq_a":0.0525663719,"cg_iq_raw_a":-0.176258698,"cg_iu_a":-0.722343206,"cg_iv_a":0.39534843,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14439216,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0893791839,"cg_vd_v":0.0893791839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365876675,"cg_vq_v":-0.365876675,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.297781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7080688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.604736,"values":{"Elec_RPM":-2.38593737e-30,"EncoderCos":38812,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-4.77187465e-31,"cg_du":50.1364975,"cg_dv":50.2070847,"cg_dw":49.7929153,"cg_id_a":0.0221510231,"cg_id_raw_a":0.0344281197,"cg_iq_a":-0.125005066,"cg_iq_raw_a":0.330556184,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9909096,"cg_sample_seq":14439267,"cg_sample_valid":1,"cg_theta_rad":5.00649929,"cg_vd_req_v":0.0865240172,"cg_vd_v":0.0865240172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360027164,"cg_vq_v":-0.360027164,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.612549,"values":{"Elec_RPM":-2.33821851e-30,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-4.6764372e-31,"cg_du":50.1520767,"cg_dv":50.2135391,"cg_dw":49.7864609,"cg_id_a":-0.00792337582,"cg_id_raw_a":-0.131920561,"cg_iq_a":0.409925133,"cg_iq_raw_a":-0.193926558,"cg_iu_a":-0.758587122,"cg_iv_a":-0.365772128,"cg_iw_a":1.12435925,"cg_sample_age_us":23.8745461,"cg_sample_seq":14439316,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0874341875,"cg_vd_v":0.0874341875,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374601185,"cg_vq_v":-0.374601185,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7285767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.620361,"values":{"Elec_RPM":-2.33821851e-30,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-4.6764372e-31,"cg_du":50.1472702,"cg_dv":50.2088203,"cg_dw":49.7911797,"cg_id_a":-0.0533450767,"cg_id_raw_a":0.0401627235,"cg_iq_a":-0.022686258,"cg_iq_raw_a":-0.432277232,"cg_iu_a":0.79989779,"cg_iv_a":-0.148309112,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9509087,"cg_sample_seq":14439367,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.0886023864,"cg_vd_v":0.0886023864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366222858,"cg_vq_v":-0.366222858,"cg_vu_v":140.325729,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6670532,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.628174,"values":{"Elec_RPM":-2.29145414e-30,"EncoderCos":38740,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-4.58290829e-31,"cg_du":50.1492348,"cg_dv":50.2098007,"cg_dw":49.7901993,"cg_id_a":0.0883087069,"cg_id_raw_a":-0.00412057946,"cg_iq_a":0.200589105,"cg_iq_raw_a":0.691974223,"cg_iu_a":-0.577368021,"cg_iv_a":0.431592286,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9690914,"cg_sample_seq":14439417,"cg_sample_valid":1,"cg_theta_rad":5.00760078,"cg_vd_req_v":0.0848579705,"cg_vd_v":0.0848579705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369398117,"cg_vq_v":-0.369398117,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7080688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.635986,"values":{"Elec_RPM":-2.29145414e-30,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-4.58290829e-31,"cg_du":50.1391983,"cg_dv":50.2080612,"cg_dw":49.7919388,"cg_id_a":-0.2905339,"cg_id_raw_a":-0.25636977,"cg_iq_a":-0.236725807,"cg_iq_raw_a":-0.643104017,"cg_iu_a":0.473703146,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9799995,"cg_sample_seq":14439467,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0928280428,"cg_vd_v":0.0928280428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360988796,"cg_vq_v":-0.360988796,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7080688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.667236,"values":{"Elec_RPM":-2.2456251e-30,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54763,"Mech_RPM":-4.49125029e-31,"cg_du":50.1421318,"cg_dv":50.2148132,"cg_dw":49.7851868,"cg_id_a":-0.416718394,"cg_id_raw_a":-0.510210931,"cg_iq_a":0.380885452,"cg_iq_raw_a":0.0261525624,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641557,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8490906,"cg_sample_seq":14439520,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0958971977,"cg_vd_v":0.0958971977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373330921,"cg_vq_v":-0.373330921,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.675049,"values":{"Elec_RPM":-2.20071256e-30,"EncoderCos":38771,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-4.40142513e-31,"cg_du":50.1437721,"cg_dv":50.2151794,"cg_dw":49.7848206,"cg_id_a":-0.103364341,"cg_id_raw_a":-0.174635693,"cg_iq_a":0.44685179,"cg_iq_raw_a":-0.705102384,"cg_iu_a":-1.41097593,"cg_iv_a":-0.365772009,"cg_iw_a":1.77674794,"cg_sample_age_us":23.954546,"cg_sample_seq":14439617,"cg_sample_valid":1,"cg_theta_rad":5.00674534,"cg_vd_req_v":0.0913332179,"cg_vd_v":0.0913332179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373236686,"cg_vq_v":-0.373236686,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.09004545,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.682861,"values":{"Elec_RPM":-2.20071256e-30,"EncoderCos":38708,"EncoderSin":12488,"GapTicks":54776,"Mech_RPM":-4.40142513e-31,"cg_du":50.1324768,"cg_dv":50.2028275,"cg_dw":49.7971725,"cg_id_a":-0.242408574,"cg_id_raw_a":0.0411159284,"cg_iq_a":-0.477516949,"cg_iq_raw_a":0.186996356,"cg_iu_a":-1.33848858,"cg_iv_a":0.105397701,"cg_iw_a":1.23309088,"cg_sample_age_us":23.9836369,"cg_sample_seq":14439667,"cg_sample_valid":1,"cg_theta_rad":5.00837708,"cg_vd_req_v":0.0940923989,"cg_vd_v":0.0940923989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350957155,"cg_vq_v":-0.350957155,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.7840424,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6891174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.690674,"values":{"Elec_RPM":-2.15669829e-30,"EncoderCos":38734,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-4.31339659e-31,"cg_du":50.1450272,"cg_dv":50.2057533,"cg_dw":49.7942467,"cg_id_a":0.168039203,"cg_id_raw_a":-0.00203429721,"cg_iq_a":0.0894570053,"cg_iq_raw_a":0.437416047,"cg_iu_a":-0.577367783,"cg_iv_a":0.214129329,"cg_iw_a":0.363238454,"cg_sample_age_us":23.954546,"cg_sample_seq":14439717,"cg_sample_valid":1,"cg_theta_rad":5.00644684,"cg_vd_req_v":0.0845631436,"cg_vd_v":0.0845631436,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361462921,"cg_vq_v":-0.361462921,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.7840424,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6891174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.698486,"values":{"Elec_RPM":-2.15669829e-30,"EncoderCos":38716,"EncoderSin":12472,"GapTicks":54781,"Mech_RPM":-4.31339659e-31,"cg_du":50.1349106,"cg_dv":50.1986732,"cg_dw":49.8013268,"cg_id_a":0.0323852673,"cg_id_raw_a":0.0828991234,"cg_iq_a":-0.615261436,"cg_iq_raw_a":0.19107154,"cg_iu_a":-0.0337102413,"cg_iv_a":0.866518259,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.863636,"cg_sample_seq":14439767,"cg_sample_valid":1,"cg_theta_rad":5.00786781,"cg_vd_req_v":0.0878729895,"cg_vd_v":0.0878729895,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346736342,"cg_vq_v":-0.346736342,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.8746109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.7001648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.706299,"values":{"Elec_RPM":-2.11356423e-30,"EncoderCos":38750,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-4.22712847e-31,"cg_du":50.1288948,"cg_dv":50.1976662,"cg_dw":49.8023338,"cg_id_a":-0.0332247317,"cg_id_raw_a":0.338470191,"cg_iq_a":-0.629980803,"cg_iq_raw_a":-0.296184868,"cg_iu_a":0.292484045,"cg_iv_a":0.431592286,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.9872723,"cg_sample_seq":14439817,"cg_sample_valid":1,"cg_theta_rad":5.00825453,"cg_vd_req_v":0.0887860432,"cg_vd_v":0.0887860432,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342718124,"cg_vq_v":-0.342718124,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.031357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.718018,"values":{"Elec_RPM":-2.11356423e-30,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-4.22712847e-31,"cg_du":50.1346169,"cg_dv":50.2048378,"cg_dw":49.7951622,"cg_id_a":-0.2610493,"cg_id_raw_a":-0.5860129,"cg_iq_a":-0.10704501,"cg_iq_raw_a":-0.49335891,"cg_iu_a":-0.396148682,"cg_iv_a":0.359104633,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14439867,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0934881642,"cg_vd_v":0.0934881642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353986889,"cg_vq_v":-0.353986889,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.775678635,"dclink_p_w":-112.601044,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.72583,"values":{"Elec_RPM":-2.07129289e-30,"EncoderCos":38701,"EncoderSin":12455,"GapTicks":54782,"Mech_RPM":-4.14258597e-31,"cg_du":50.1341209,"cg_dv":50.1980476,"cg_dw":49.8019524,"cg_id_a":-0.0568253025,"cg_id_raw_a":0.127452955,"cg_iq_a":-0.422577143,"cg_iq_raw_a":-0.860515058,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9327278,"cg_sample_seq":14439917,"cg_sample_valid":1,"cg_theta_rad":5.00820875,"cg_vd_req_v":0.0891925916,"cg_vd_v":0.0891925916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343988389,"cg_vq_v":-0.343988389,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.775678635,"dclink_p_w":-112.601044,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.733643,"values":{"Elec_RPM":-2.07129289e-30,"EncoderCos":38711,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-4.14258597e-31,"cg_du":50.1421318,"cg_dv":50.2020874,"cg_dw":49.7979126,"cg_id_a":0.0832298622,"cg_id_raw_a":-0.487489641,"cg_iq_a":0.127846897,"cg_iq_raw_a":0.425675392,"cg_iu_a":-0.722343206,"cg_iv_a":0.214129329,"cg_iw_a":0.508213878,"cg_sample_age_us":24.0418186,"cg_sample_seq":14439967,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0856925845,"cg_vd_v":0.0856925845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354278296,"cg_vq_v":-0.354278296,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.775678635,"dclink_p_w":-112.601044,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.760986,"values":{"Elec_RPM":-2.02986715e-30,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-4.05973431e-31,"cg_du":50.1387558,"cg_dv":50.2064857,"cg_dw":49.7935143,"cg_id_a":-0.117425248,"cg_id_raw_a":0.0299093369,"cg_iq_a":0.381592214,"cg_iq_raw_a":-0.360414922,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309052,"cg_iw_a":0.218263209,"cg_sample_age_us":23.863636,"cg_sample_seq":14440020,"cg_sample_valid":1,"cg_theta_rad":5.01047993,"cg_vd_req_v":0.0902893394,"cg_vd_v":0.0902893394,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360103548,"cg_vq_v":-0.360103548,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.824607849,"dclink_p_w":-119.341087,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6843872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.772705,"values":{"Elec_RPM":-2.02986715e-30,"EncoderCos":38714,"EncoderSin":12457,"GapTicks":54778,"Mech_RPM":-4.05973431e-31,"cg_du":50.1353416,"cg_dv":50.2017174,"cg_dw":49.7982826,"cg_id_a":-0.144367069,"cg_id_raw_a":-0.0606495366,"cg_iq_a":-0.113282159,"cg_iq_raw_a":-0.47878617,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8527279,"cg_sample_seq":14440066,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0910240337,"cg_vd_v":0.0910240337,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350991577,"cg_vq_v":-0.350991577,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.936963797,"dclink_p_w":-136.013931,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7127991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.780518,"values":{"Elec_RPM":-1.98926972e-30,"EncoderCos":38717,"EncoderSin":12487,"GapTicks":54773,"Mech_RPM":-3.97853962e-31,"cg_du":50.1396065,"cg_dv":50.2058067,"cg_dw":49.7941933,"cg_id_a":-0.0924908593,"cg_id_raw_a":0.114494838,"cg_iq_a":0.237662181,"cg_iq_raw_a":0.084772341,"cg_iu_a":-0.178685904,"cg_iv_a":-0.293284416,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8563633,"cg_sample_seq":14440116,"cg_sample_valid":1,"cg_theta_rad":5.00715303,"cg_vd_req_v":0.0906913579,"cg_vd_v":0.0906913579,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359217882,"cg_vq_v":-0.359217882,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.936963797,"dclink_p_w":-136.013931,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7127991,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.78833,"values":{"Elec_RPM":-1.98926972e-30,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-3.97853962e-31,"cg_du":50.1436691,"cg_dv":50.2043419,"cg_dw":49.7956581,"cg_id_a":0.136509329,"cg_id_raw_a":-0.464105189,"cg_iq_a":-0.0683288425,"cg_iq_raw_a":-0.228174999,"cg_iu_a":-0.649855614,"cg_iv_a":0.141641617,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14440166,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.0870956108,"cg_vd_v":0.0870956108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358107328,"cg_vq_v":-0.358107328,"cg_vu_v":106.014107,"cg_vv_v":100.735397,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.810110331,"dclink_p_w":-117.599304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.796143,"values":{"Elec_RPM":-1.94948441e-30,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-3.89896877e-31,"cg_du":50.1342964,"cg_dv":50.2030602,"cg_dw":49.7969398,"cg_id_a":-0.0187302269,"cg_id_raw_a":0.246550635,"cg_iq_a":-0.319690585,"cg_iq_raw_a":0.0240261592,"cg_iu_a":0.0750210285,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9254551,"cg_sample_seq":14440217,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0908382311,"cg_vd_v":0.0908382311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35169512,"cg_vq_v":-0.35169512,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.81373477,"dclink_p_w":-117.767487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6938782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.803955,"values":{"Elec_RPM":-1.94948441e-30,"EncoderCos":38765,"EncoderSin":12475,"GapTicks":54760,"Mech_RPM":-3.89896877e-31,"cg_du":50.1377792,"cg_dv":50.2173233,"cg_dw":49.7826767,"cg_id_a":-0.441961348,"cg_id_raw_a":0.134216532,"cg_iq_a":0.786495507,"cg_iq_raw_a":-0.133028597,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885413,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8672733,"cg_sample_seq":14440267,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.0992787704,"cg_vd_v":0.0992787704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373779595,"cg_vq_v":-0.373779595,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.81373477,"dclink_p_w":-117.767487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6938782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.811768,"values":{"Elec_RPM":-1.91049467e-30,"EncoderCos":38725,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-3.82098929e-31,"cg_du":50.1298447,"cg_dv":50.2010765,"cg_dw":49.7989235,"cg_id_a":-0.216070324,"cg_id_raw_a":-1.04420125,"cg_iq_a":-0.52056843,"cg_iq_raw_a":0.775079966,"cg_iu_a":0.364971876,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9290905,"cg_sample_seq":14440317,"cg_sample_valid":1,"cg_theta_rad":5.00593472,"cg_vd_req_v":0.0928051695,"cg_vd_v":0.0928051695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346404821,"cg_vq_v":-0.346404821,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.730373859,"dclink_p_w":-105.703102,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.81958,"values":{"Elec_RPM":-1.91049467e-30,"EncoderCos":38729,"EncoderSin":12527,"GapTicks":54777,"Mech_RPM":-3.82098929e-31,"cg_du":50.132843,"cg_dv":50.2019463,"cg_dw":49.7980537,"cg_id_a":-0.0694121346,"cg_id_raw_a":-0.277251512,"cg_iq_a":-0.142065629,"cg_iq_raw_a":-0.679760396,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552848,"cg_iw_a":0.326994836,"cg_sample_age_us":23.9290905,"cg_sample_seq":14440367,"cg_sample_valid":1,"cg_theta_rad":5.0081501,"cg_vd_req_v":0.0903280303,"cg_vd_v":0.0903280303,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350646615,"cg_vq_v":-0.350646615,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6922913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.831299,"values":{"Elec_RPM":-1.87228471e-30,"EncoderCos":38748,"EncoderSin":12482,"GapTicks":54783,"Mech_RPM":-3.74456946e-31,"cg_du":50.1363792,"cg_dv":50.1971703,"cg_dw":49.8028297,"cg_id_a":0.294635504,"cg_id_raw_a":0.586614192,"cg_iq_a":-0.310389608,"cg_iq_raw_a":-0.0188797992,"cg_iu_a":-0.649855614,"cg_iv_a":0.467836082,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9763641,"cg_sample_seq":14440417,"cg_sample_valid":1,"cg_theta_rad":5.00752354,"cg_vd_req_v":0.0824942365,"cg_vd_v":0.0824942365,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346186817,"cg_vq_v":-0.346186817,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.677820444,"dclink_p_w":-98.3955002,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.7349243,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.839111,"values":{"Elec_RPM":-1.87228471e-30,"EncoderCos":38709,"EncoderSin":12509,"GapTicks":54779,"Mech_RPM":-3.74456946e-31,"cg_du":50.1362,"cg_dv":50.2006798,"cg_dw":49.7993202,"cg_id_a":-0.0373508222,"cg_id_raw_a":-0.00463085249,"cg_iq_a":-0.121499345,"cg_iq_raw_a":0.874336481,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9799995,"cg_sample_seq":14440467,"cg_sample_valid":1,"cg_theta_rad":5.00620985,"cg_vd_req_v":0.0884812847,"cg_vd_v":0.0884812847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350283504,"cg_vq_v":-0.350283504,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-78.1394196,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7080688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.866455,"values":{"Elec_RPM":-1.8348391e-30,"EncoderCos":38761,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-3.66967801e-31,"cg_du":50.1386223,"cg_dv":50.2019348,"cg_dw":49.7980652,"cg_id_a":0.174529329,"cg_id_raw_a":-0.0482571088,"cg_iq_a":-0.000405514147,"cg_iq_raw_a":-0.440137565,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885473,"cg_iw_a":-0.0354434848,"cg_sample_age_us":24.8818188,"cg_sample_seq":14440520,"cg_sample_valid":1,"cg_theta_rad":5.00496292,"cg_vd_req_v":0.0845324248,"cg_vd_v":0.0845324248,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353015512,"cg_vq_v":-0.353015512,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.3723373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7080688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.874268,"values":{"Elec_RPM":-1.8348391e-30,"EncoderCos":38719,"EncoderSin":12447,"GapTicks":54781,"Mech_RPM":-3.66967801e-31,"cg_du":50.1390877,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":0.170369938,"cg_id_raw_a":0.189003363,"cg_iq_a":-0.164640188,"cg_iq_raw_a":-0.453872263,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14440566,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0846481547,"cg_vd_v":0.0846481547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347890109,"cg_vq_v":-0.347890109,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.3723373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.885986,"values":{"Elec_RPM":-1.79814224e-30,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-3.59628438e-31,"cg_du":50.1368523,"cg_dv":50.1999245,"cg_dw":49.8000755,"cg_id_a":0.0522077717,"cg_id_raw_a":0.0664686412,"cg_iq_a":-0.139371738,"cg_iq_raw_a":-0.284023374,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14440616,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0870918036,"cg_vd_v":0.0870918036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348527521,"cg_vq_v":-0.348527521,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.893799,"values":{"Elec_RPM":-1.79814224e-30,"EncoderCos":38724,"EncoderSin":12496,"GapTicks":54774,"Mech_RPM":-3.59628438e-31,"cg_du":50.1334114,"cg_dv":50.205204,"cg_dw":49.794796,"cg_id_a":-0.333723724,"cg_id_raw_a":-0.468599826,"cg_iq_a":0.278682292,"cg_iq_raw_a":0.0290784892,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.863636,"cg_sample_seq":14440666,"cg_sample_valid":1,"cg_theta_rad":5.00759554,"cg_vd_req_v":0.0941928476,"cg_vd_v":0.0941928476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355117798,"cg_vq_v":-0.355117798,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.543718338,"dclink_p_w":-78.6894455,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.901611,"values":{"Elec_RPM":-1.76217926e-30,"EncoderCos":38717,"EncoderSin":12433,"GapTicks":54786,"Mech_RPM":-3.5243587e-31,"cg_du":50.1386528,"cg_dv":50.1944199,"cg_dw":49.8055801,"cg_id_a":0.214158162,"cg_id_raw_a":0.293228745,"cg_iq_a":-0.287438661,"cg_iq_raw_a":0.394711882,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9363632,"cg_sample_seq":14440717,"cg_sample_valid":1,"cg_theta_rad":5.00679255,"cg_vd_req_v":0.0816160887,"cg_vd_v":0.0816160887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342854977,"cg_vq_v":-0.342854977,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.9808731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.909424,"values":{"Elec_RPM":-1.76217926e-30,"EncoderCos":38722,"EncoderSin":12466,"GapTicks":54779,"Mech_RPM":-3.5243587e-31,"cg_du":50.1369133,"cg_dv":50.196804,"cg_dw":49.7998085,"cg_id_a":0.0538671613,"cg_id_raw_a":-0.705099702,"cg_iq_a":-0.112458885,"cg_iq_raw_a":0.296150982,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.8527279,"cg_sample_seq":14440766,"cg_sample_valid":1,"cg_theta_rad":5.00709105,"cg_vd_req_v":0.0838854164,"cg_vd_v":0.0838854164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344351739,"cg_vq_v":-0.344351739,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.9808731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.917236,"values":{"Elec_RPM":-1.72693587e-30,"EncoderCos":38770,"EncoderSin":12488,"GapTicks":54772,"Mech_RPM":-3.45387159e-31,"cg_du":50.1324654,"cg_dv":50.2071495,"cg_dw":49.7928505,"cg_id_a":-0.436179698,"cg_id_raw_a":-0.61116755,"cg_iq_a":0.51624018,"cg_iq_raw_a":-0.0148102287,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9618187,"cg_sample_seq":14440817,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.0930060968,"cg_vd_v":0.0930060968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357104003,"cg_vq_v":-0.357104003,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.9808731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7001648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.925049,"values":{"Elec_RPM":-1.72693587e-30,"EncoderCos":38706,"EncoderSin":12457,"GapTicks":54774,"Mech_RPM":-3.45387159e-31,"cg_du":50.1344337,"cg_dv":50.20541,"cg_dw":49.79459,"cg_id_a":-0.528321445,"cg_id_raw_a":-0.466335237,"cg_iq_a":0.267443538,"cg_iq_raw_a":-0.411025077,"cg_iu_a":0.328727961,"cg_iv_a":-0.72821039,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8745461,"cg_sample_seq":14440867,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0957091898,"cg_vd_v":0.0957091898,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354256809,"cg_vq_v":-0.354256809,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2614.932861,"values":{"Elec_RPM":-1.69239702e-30,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54786,"Mech_RPM":-3.38479414e-31,"cg_du":50.1334381,"cg_dv":50.1939735,"cg_dw":49.8060265,"cg_id_a":0.0372217298,"cg_id_raw_a":0.0348109305,"cg_iq_a":-0.433119118,"cg_iq_raw_a":-0.177895188,"cg_iu_a":-0.14244175,"cg_iv_a":0.685299098,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9581814,"cg_sample_seq":14440917,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0832873583,"cg_vd_v":0.0832873583,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33760193,"cg_vq_v":-0.33760193,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.4407539,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2614.94458,"values":{"Elec_RPM":-1.69239702e-30,"EncoderCos":38717,"EncoderSin":12484,"GapTicks":54790,"Mech_RPM":-3.38479414e-31,"cg_du":50.1261253,"cg_dv":50.1903458,"cg_dw":49.8096542,"cg_id_a":-0.124200687,"cg_id_raw_a":-0.200890914,"cg_iq_a":-0.783973575,"cg_iq_raw_a":-0.346521974,"cg_iu_a":0.908629179,"cg_iv_a":0.105397701,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.9618187,"cg_sample_seq":14440967,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0860427618,"cg_vd_v":0.0860427618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32953009,"cg_vq_v":-0.32953009,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6954346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2614.967132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2614.967138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2614.967143,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2614.971924,"values":{"Elec_RPM":-1.65854918e-30,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-3.31709836e-31,"cg_du":50.1383514,"cg_dv":50.1968231,"cg_dw":49.8031769,"cg_id_a":0.0267737769,"cg_id_raw_a":-4.51838423e-05,"cg_iq_a":0.0677238032,"cg_iq_raw_a":-0.254072368,"cg_iu_a":0.509947181,"cg_iv_a":0.39534843,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9472733,"cg_sample_seq":14441021,"cg_sample_valid":1,"cg_theta_rad":5.00728559,"cg_vd_req_v":0.082464762,"cg_vd_v":0.082464762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346368283,"cg_vq_v":-0.346368283,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0526143312,"dclink_p_w":-7.63773584,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6907043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.979736,"values":{"Elec_RPM":-1.65854918e-30,"EncoderCos":38722,"EncoderSin":12505,"GapTicks":54787,"Mech_RPM":-3.31709836e-31,"cg_du":50.1350365,"cg_dv":50.1934738,"cg_dw":49.8065262,"cg_id_a":0.0332918465,"cg_id_raw_a":0.114114366,"cg_iq_a":-0.251563609,"cg_iq_raw_a":-0.352434844,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0758213997,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9581814,"cg_sample_seq":14441066,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0814597011,"cg_vd_v":0.0814597011,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34002468,"cg_vq_v":-0.34002468,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8938179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6907043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.987549,"values":{"Elec_RPM":-1.62537804e-30,"EncoderCos":38701,"EncoderSin":12499,"GapTicks":54780,"Mech_RPM":-3.25075628e-31,"cg_du":50.1380081,"cg_dv":50.1993065,"cg_dw":49.8006935,"cg_id_a":-0.0618838444,"cg_id_raw_a":-0.049547486,"cg_iq_a":0.113160595,"cg_iq_raw_a":0.250818729,"cg_iu_a":0.038777113,"cg_iv_a":0.141641557,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.8527279,"cg_sample_seq":14441116,"cg_sample_valid":1,"cg_theta_rad":5.00658989,"cg_vd_req_v":0.0865966976,"cg_vd_v":0.0865966976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349211931,"cg_vq_v":-0.349211931,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8938179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6938782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2614.999268,"values":{"Elec_RPM":-1.62537804e-30,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-3.25075628e-31,"cg_du":50.1348572,"cg_dv":50.1952667,"cg_dw":49.8047333,"cg_id_a":0.00976381078,"cg_id_raw_a":-0.55650878,"cg_iq_a":-0.125263304,"cg_iq_raw_a":0.711145282,"cg_iu_a":0.038777113,"cg_iv_a":0.359104574,"cg_iw_a":-0.397881687,"cg_sample_age_us":23.8563633,"cg_sample_seq":14441166,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0840628892,"cg_vd_v":0.0840628892,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341094166,"cg_vq_v":-0.341094166,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8938179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6938782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.00708,"values":{"Elec_RPM":-1.59287045e-30,"EncoderCos":38728,"EncoderSin":12495,"GapTicks":54783,"Mech_RPM":-3.18574109e-31,"cg_du":50.1268539,"cg_dv":50.1967278,"cg_dw":49.8032722,"cg_id_a":-0.255066663,"cg_id_raw_a":-0.171864554,"cg_iq_a":-0.223824441,"cg_iq_raw_a":-0.889089167,"cg_iu_a":0.256240368,"cg_iv_a":-0.764454126,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9581814,"cg_sample_seq":14441217,"cg_sample_valid":1,"cg_theta_rad":5.00677872,"cg_vd_req_v":0.0902926102,"cg_vd_v":0.0902926102,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337880254,"cg_vq_v":-0.337880254,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8938179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7001648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.014893,"values":{"Elec_RPM":-1.59287045e-30,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-3.18574109e-31,"cg_du":50.1392899,"cg_dv":50.2017517,"cg_dw":49.7982483,"cg_id_a":-0.00434966385,"cg_id_raw_a":0.32054323,"cg_iq_a":0.437377095,"cg_iq_raw_a":0.979331315,"cg_iu_a":0.183752537,"cg_iv_a":-0.329528213,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14441267,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0869290978,"cg_vd_v":0.0869290978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351252645,"cg_vq_v":-0.351252645,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8938179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.022705,"values":{"Elec_RPM":-1.56101315e-30,"EncoderCos":38713,"EncoderSin":12493,"GapTicks":54778,"Mech_RPM":-3.12202624e-31,"cg_du":50.1394463,"cg_dv":50.2016716,"cg_dw":49.7983284,"cg_id_a":-0.106542088,"cg_id_raw_a":-0.417454541,"cg_iq_a":0.299963236,"cg_iq_raw_a":0.579068184,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9799995,"cg_sample_seq":14441367,"cg_sample_valid":1,"cg_theta_rad":5.00699425,"cg_vd_req_v":0.0866987929,"cg_vd_v":0.0866987929,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35237366,"cg_vq_v":-0.35237366,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.4129524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2592,"hz_tim_isr":4999,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.034424,"values":{"Elec_RPM":-1.52979286e-30,"EncoderCos":38693,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-3.05958563e-31,"cg_du":50.1453018,"cg_dv":50.2021408,"cg_dw":49.7978592,"cg_id_a":-0.0252539087,"cg_id_raw_a":-0.134240493,"cg_iq_a":0.443863928,"cg_iq_raw_a":-0.559846759,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9327278,"cg_sample_seq":14441417,"cg_sample_valid":1,"cg_theta_rad":5.00878382,"cg_vd_req_v":0.0849364102,"cg_vd_v":0.0849364102,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355739564,"cg_vq_v":-0.355739564,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.042236,"values":{"Elec_RPM":-1.52979286e-30,"EncoderCos":38714,"EncoderSin":12504,"GapTicks":54780,"Mech_RPM":-3.05958563e-31,"cg_du":50.1376991,"cg_dv":50.1997108,"cg_dw":49.8002892,"cg_id_a":-0.05328127,"cg_id_raw_a":-0.739779055,"cg_iq_a":-0.0226075724,"cg_iq_raw_a":0.657466948,"cg_iu_a":0.111264944,"cg_iv_a":-0.691966534,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8600006,"cg_sample_seq":14441468,"cg_sample_valid":1,"cg_theta_rad":5.00728846,"cg_vd_req_v":0.0858186036,"cg_vd_v":0.0858186036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34881264,"cg_vq_v":-0.34881264,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.06958,"values":{"Elec_RPM":-1.49919691e-30,"EncoderCos":38752,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-2.99839386e-31,"cg_du":50.1354065,"cg_dv":50.2025032,"cg_dw":49.7974968,"cg_id_a":-0.113926172,"cg_id_raw_a":-0.0913766995,"cg_iq_a":0.235361904,"cg_iq_raw_a":0.756812274,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528332,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9909096,"cg_sample_seq":14441520,"cg_sample_valid":1,"cg_theta_rad":5.00716352,"cg_vd_req_v":0.0874347538,"cg_vd_v":0.0874347538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352055967,"cg_vq_v":-0.352055967,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.97672367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7064819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.077393,"values":{"Elec_RPM":-1.49919691e-30,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-2.99839386e-31,"cg_du":50.1417503,"cg_dv":50.1976471,"cg_dw":49.8023529,"cg_id_a":0.228986681,"cg_id_raw_a":0.369708806,"cg_iq_a":0.159529731,"cg_iq_raw_a":-0.581696451,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9654541,"cg_sample_seq":14441566,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0814565197,"cg_vd_v":0.0814565197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348084271,"cg_vq_v":-0.348084271,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.97672367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2669067,"temp_inv2_c":36.7064819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.085205,"values":{"Elec_RPM":-1.46921296e-30,"EncoderCos":38753,"EncoderSin":12453,"GapTicks":54780,"Mech_RPM":-2.93842602e-31,"cg_du":50.1306725,"cg_dv":50.1994858,"cg_dw":49.8005142,"cg_id_a":-0.228721559,"cg_id_raw_a":0.233581215,"cg_iq_a":-0.079215847,"cg_iq_raw_a":-0.523771882,"cg_iu_a":0.364971876,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8672733,"cg_sample_seq":14441616,"cg_sample_valid":1,"cg_theta_rad":5.00832033,"cg_vd_req_v":0.0895455852,"cg_vd_v":0.0895455852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346102238,"cg_vq_v":-0.346102238,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.093018,"values":{"Elec_RPM":-1.46921296e-30,"EncoderCos":38711,"EncoderSin":12465,"GapTicks":54781,"Mech_RPM":-2.93842602e-31,"cg_du":50.1338272,"cg_dv":50.198761,"cg_dw":49.801239,"cg_id_a":-0.207841635,"cg_id_raw_a":-0.300457537,"cg_iq_a":-0.0558927059,"cg_iq_raw_a":-0.393550605,"cg_iu_a":-0.541124105,"cg_iv_a":0.322860718,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14441667,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0893673748,"cg_vd_v":0.0893673748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346099496,"cg_vq_v":-0.346099496,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6812439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.10083,"values":{"Elec_RPM":-1.43982871e-30,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54793,"Mech_RPM":-2.87965741e-31,"cg_du":50.1397667,"cg_dv":50.1873055,"cg_dw":49.8126945,"cg_id_a":0.555753708,"cg_id_raw_a":0.551491857,"cg_iq_a":-0.498847723,"cg_iq_raw_a":-1.14656258,"cg_iu_a":0.292484283,"cg_iv_a":0.359104633,"cg_iw_a":-0.651588917,"cg_sample_age_us":23.8781815,"cg_sample_seq":14441717,"cg_sample_valid":1,"cg_theta_rad":5.00640821,"cg_vd_req_v":0.0730457008,"cg_vd_v":0.0730457008,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333968669,"cg_vq_v":-0.333968669,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6812439,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.112549,"values":{"Elec_RPM":-1.43982871e-30,"EncoderCos":38728,"EncoderSin":12477,"GapTicks":54788,"Mech_RPM":-2.87965741e-31,"cg_du":50.1260452,"cg_dv":50.1922874,"cg_dw":49.8077126,"cg_id_a":-0.0958421081,"cg_id_raw_a":0.208136097,"cg_iq_a":-0.354123354,"cg_iq_raw_a":-0.234188616,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14441767,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.0873206332,"cg_vd_v":0.0873206332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332296431,"cg_vq_v":-0.332296431,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.629879,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6970215,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.120361,"values":{"Elec_RPM":-1.4110322e-30,"EncoderCos":38747,"EncoderSin":12484,"GapTicks":54793,"Mech_RPM":-2.8220643e-31,"cg_du":50.1221275,"cg_dv":50.1875114,"cg_dw":49.8124886,"cg_id_a":0.0973668098,"cg_id_raw_a":-0.306610942,"cg_iq_a":-0.762752056,"cg_iq_raw_a":-0.827609599,"cg_iu_a":0.509947062,"cg_iv_a":0.830274343,"cg_iw_a":-1.34022141,"cg_sample_age_us":23.9763641,"cg_sample_seq":14441817,"cg_sample_valid":1,"cg_theta_rad":5.00753736,"cg_vd_req_v":0.0842173845,"cg_vd_v":0.0842173845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324013233,"cg_vq_v":-0.324013233,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.128174,"values":{"Elec_RPM":-1.4110322e-30,"EncoderCos":38735,"EncoderSin":12483,"GapTicks":54785,"Mech_RPM":-2.8220643e-31,"cg_du":50.1256943,"cg_dv":50.1952591,"cg_dw":49.8047409,"cg_id_a":-0.126024514,"cg_id_raw_a":-0.00621421728,"cg_iq_a":-0.13921243,"cg_iq_raw_a":0.255035132,"cg_iu_a":0.292484045,"cg_iv_a":0.10539782,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9872723,"cg_sample_seq":14441867,"cg_sample_valid":1,"cg_theta_rad":5.00667906,"cg_vd_req_v":0.0898048952,"cg_vd_v":0.0898048952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336329043,"cg_vq_v":-0.336329043,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6875305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.139893,"values":{"Elec_RPM":-1.38281149e-30,"EncoderCos":38717,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-2.76562294e-31,"cg_du":50.1317062,"cg_dv":50.1959839,"cg_dw":49.8040161,"cg_id_a":0.0451547578,"cg_id_raw_a":0.222163767,"cg_iq_a":0.167972475,"cg_iq_raw_a":0.0587372594,"cg_iu_a":0.546190977,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9836369,"cg_sample_seq":14441917,"cg_sample_valid":1,"cg_theta_rad":5.00769997,"cg_vd_req_v":0.0871948898,"cg_vd_v":0.0871948898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341415256,"cg_vq_v":-0.341415256,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6985779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.147705,"values":{"Elec_RPM":-1.38281149e-30,"EncoderCos":38711,"EncoderSin":12461,"GapTicks":54779,"Mech_RPM":-2.76562294e-31,"cg_du":50.1487694,"cg_dv":50.2003479,"cg_dw":49.7996521,"cg_id_a":0.499399602,"cg_id_raw_a":1.16598344,"cg_iq_a":0.759996653,"cg_iq_raw_a":2.59493256,"cg_iu_a":-0.722343206,"cg_iv_a":0.359104574,"cg_iw_a":0.363238633,"cg_sample_age_us":23.954546,"cg_sample_seq":14441967,"cg_sample_valid":1,"cg_theta_rad":5.00613022,"cg_vd_req_v":0.0792796165,"cg_vd_v":0.0792796165,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356683612,"cg_vq_v":-0.356683612,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6985779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.175049,"values":{"Elec_RPM":-1.35515521e-30,"EncoderCos":38732,"EncoderSin":12508,"GapTicks":54769,"Mech_RPM":-2.71031052e-31,"cg_du":50.1482086,"cg_dv":50.2098503,"cg_dw":49.7901497,"cg_id_a":0.196187407,"cg_id_raw_a":-0.101795167,"cg_iq_a":1.14659047,"cg_iq_raw_a":-0.299785227,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14442020,"cg_sample_valid":1,"cg_theta_rad":5.00779009,"cg_vd_req_v":0.0860631838,"cg_vd_v":0.0860631838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369996428,"cg_vq_v":-0.369996428,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.182861,"values":{"Elec_RPM":-1.35515521e-30,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54767,"Mech_RPM":-2.71031052e-31,"cg_du":50.1537361,"cg_dv":50.2110786,"cg_dw":49.7889214,"cg_id_a":0.293156624,"cg_id_raw_a":0.0404359102,"cg_iq_a":1.04937065,"cg_iq_raw_a":1.49770975,"cg_iu_a":-1.62843895,"cg_iv_a":-0.0758213997,"cg_iw_a":1.70426035,"cg_sample_age_us":23.9581814,"cg_sample_seq":14442067,"cg_sample_valid":1,"cg_theta_rad":5.00772095,"cg_vd_req_v":0.0843681097,"cg_vd_v":0.0843681097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373241574,"cg_vq_v":-0.373241574,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.7595215,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.190674,"values":{"Elec_RPM":-1.32805208e-30,"EncoderCos":38747,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-2.65610425e-31,"cg_du":50.1395874,"cg_dv":50.2049751,"cg_dw":49.7950249,"cg_id_a":0.193503097,"cg_id_raw_a":0.621902227,"cg_iq_a":0.0648851395,"cg_iq_raw_a":-0.633832455,"cg_iu_a":0.5099473,"cg_iv_a":-0.148309112,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8745461,"cg_sample_seq":14442116,"cg_sample_valid":1,"cg_theta_rad":5.00830984,"cg_vd_req_v":0.0872884244,"cg_vd_v":0.0872884244,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356412917,"cg_vq_v":-0.356412917,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.198486,"values":{"Elec_RPM":-1.32805208e-30,"EncoderCos":38709,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-2.65610425e-31,"cg_du":50.1446533,"cg_dv":50.2063522,"cg_dw":49.7936478,"cg_id_a":0.0911644474,"cg_id_raw_a":-0.0677676126,"cg_iq_a":0.228026494,"cg_iq_raw_a":-0.40667516,"cg_iu_a":0.111264944,"cg_iv_a":0.141641557,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9509087,"cg_sample_seq":14442167,"cg_sample_valid":1,"cg_theta_rad":5.00729465,"cg_vd_req_v":0.0880649686,"cg_vd_v":0.0880649686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361441255,"cg_vq_v":-0.361441255,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.704895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.206299,"values":{"Elec_RPM":-1.27546131e-30,"EncoderCos":38738,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-2.55092266e-31,"cg_du":50.1391869,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.00282262266,"cg_id_raw_a":0.123295002,"cg_iq_a":0.218813032,"cg_iq_raw_a":0.448951006,"cg_iu_a":0.546190977,"cg_iv_a":0.830274463,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9654541,"cg_sample_seq":14442318,"cg_sample_valid":1,"cg_theta_rad":5.00763798,"cg_vd_req_v":0.0903893188,"cg_vd_v":0.0903893188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360364884,"cg_vq_v":-0.360364884,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.217402339,"dclink_p_w":31.4634781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.218018,"values":{"Elec_RPM":-1.27546131e-30,"EncoderCos":38713,"EncoderSin":12449,"GapTicks":54772,"Mech_RPM":-2.55092266e-31,"cg_du":50.1473312,"cg_dv":50.2066231,"cg_dw":49.7933769,"cg_id_a":0.153933138,"cg_id_raw_a":0.428775489,"cg_iq_a":0.262129486,"cg_iq_raw_a":1.13687015,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129269,"cg_iw_a":0.10953182,"cg_sample_age_us":23.954546,"cg_sample_seq":14442367,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.0861619413,"cg_vd_v":0.0861619413,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362165749,"cg_vq_v":-0.362165749,"cg_vu_v":136.366699,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0869904,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.22583,"values":{"Elec_RPM":-1.24995214e-30,"EncoderCos":38700,"EncoderSin":12472,"GapTicks":54787,"Mech_RPM":-2.49990432e-31,"cg_du":50.1320801,"cg_dv":50.1929359,"cg_dw":49.8070641,"cg_id_a":0.236571684,"cg_id_raw_a":0.29058215,"cg_iq_a":-0.914137602,"cg_iq_raw_a":-0.406682879,"cg_iu_a":0.618678689,"cg_iv_a":0.431592345,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9872723,"cg_sample_seq":14442417,"cg_sample_valid":1,"cg_theta_rad":5.00806093,"cg_vd_req_v":0.0852034613,"cg_vd_v":0.0852034613,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334973812,"cg_vq_v":-0.334973812,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0869904,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.233643,"values":{"Elec_RPM":-1.24995214e-30,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54782,"Mech_RPM":-2.49990432e-31,"cg_du":50.1368103,"cg_dv":50.1980743,"cg_dw":49.8019257,"cg_id_a":0.21722658,"cg_id_raw_a":0.10815914,"cg_iq_a":-0.259835005,"cg_iq_raw_a":-0.279928386,"cg_iu_a":-0.251173496,"cg_iv_a":-0.293284416,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9872723,"cg_sample_seq":14442467,"cg_sample_valid":1,"cg_theta_rad":5.00666952,"cg_vd_req_v":0.0851167515,"cg_vd_v":0.0851167515,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344929934,"cg_vq_v":-0.344929934,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.260986,"values":{"Elec_RPM":-1.22495313e-30,"EncoderCos":38739,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-2.44990632e-31,"cg_du":50.1287842,"cg_dv":50.2009964,"cg_dw":49.7990036,"cg_id_a":-0.174882397,"cg_id_raw_a":0.10921856,"cg_iq_a":-0.0258384459,"cg_iq_raw_a":-0.535062909,"cg_iu_a":1.77848125,"cg_iv_a":-0.0395774841,"cg_iw_a":-1.73890376,"cg_sample_age_us":24.4127274,"cg_sample_seq":14442522,"cg_sample_valid":1,"cg_theta_rad":5.00791788,"cg_vd_req_v":0.0926512554,"cg_vd_v":0.0926512554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345949024,"cg_vq_v":-0.345949024,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.268799,"values":{"Elec_RPM":-1.22495313e-30,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-2.44990632e-31,"cg_du":50.1386833,"cg_dv":50.1999016,"cg_dw":49.8000984,"cg_id_a":0.155147538,"cg_id_raw_a":0.159388036,"cg_iq_a":0.171252042,"cg_iq_raw_a":1.14496613,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9218178,"cg_sample_seq":14442567,"cg_sample_valid":1,"cg_theta_rad":5.00561237,"cg_vd_req_v":0.0851369202,"cg_vd_v":0.0851369202,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349648356,"cg_vq_v":-0.349648356,"cg_vu_v":107.773682,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.280518,"values":{"Elec_RPM":-1.20045414e-30,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54774,"Mech_RPM":-2.40090819e-31,"cg_du":50.1440315,"cg_dv":50.2053986,"cg_dw":49.7946014,"cg_id_a":0.013016196,"cg_id_raw_a":0.391712666,"cg_iq_a":0.584564865,"cg_iq_raw_a":1.31449938,"cg_iu_a":-0.686099529,"cg_iv_a":-0.510747313,"cg_iw_a":1.19684684,"cg_sample_age_us":23.9872723,"cg_sample_seq":14442617,"cg_sample_valid":1,"cg_theta_rad":5.00623178,"cg_vd_req_v":0.0872821882,"cg_vd_v":0.0872821882,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359877944,"cg_vq_v":-0.359877944,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.28833,"values":{"Elec_RPM":-1.20045414e-30,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-2.40090819e-31,"cg_du":50.1325569,"cg_dv":50.2010307,"cg_dw":49.7989693,"cg_id_a":-0.212590307,"cg_id_raw_a":-0.413042843,"cg_iq_a":0.0441706777,"cg_iq_raw_a":-0.111938141,"cg_iu_a":0.0387773514,"cg_iv_a":-0.583235025,"cg_iw_a":0.544457674,"cg_sample_age_us":23.863636,"cg_sample_seq":14442666,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0910865068,"cg_vd_v":0.0910865068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347740382,"cg_vq_v":-0.347740382,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.296143,"values":{"Elec_RPM":-1.176445e-30,"EncoderCos":38765,"EncoderSin":12472,"GapTicks":54776,"Mech_RPM":-2.35288995e-31,"cg_du":50.1263962,"cg_dv":50.2036247,"cg_dw":49.7963753,"cg_id_a":-0.364173591,"cg_id_raw_a":-0.674191594,"cg_iq_a":0.0121950507,"cg_iq_raw_a":0.705947399,"cg_iu_a":0.147508621,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9872723,"cg_sample_seq":14442717,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.0952237174,"cg_vd_v":0.0952237174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348707944,"cg_vq_v":-0.348707944,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6907043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.307861,"values":{"Elec_RPM":-1.176445e-30,"EncoderCos":38755,"EncoderSin":12460,"GapTicks":54781,"Mech_RPM":-2.35288995e-31,"cg_du":50.1262169,"cg_dv":50.198967,"cg_dw":49.801033,"cg_id_a":-0.130261794,"cg_id_raw_a":-0.501112163,"cg_iq_a":-0.348032206,"cg_iq_raw_a":0.392178982,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.863636,"cg_sample_seq":14442767,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0919665098,"cg_vd_v":0.0919665098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34194839,"cg_vq_v":-0.34194839,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9126444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6907043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.315674,"values":{"Elec_RPM":-1.15291602e-30,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-2.30583209e-31,"cg_du":50.144474,"cg_dv":50.2021751,"cg_dw":49.7978249,"cg_id_a":0.222449362,"cg_id_raw_a":0.0786012262,"cg_iq_a":0.43201822,"cg_iq_raw_a":0.445649534,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333374739,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9836369,"cg_sample_seq":14442817,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0839582533,"cg_vd_v":0.0839582533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356855333,"cg_vq_v":-0.356855333,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9126444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.323486,"values":{"Elec_RPM":-1.15291602e-30,"EncoderCos":38730,"EncoderSin":12449,"GapTicks":54780,"Mech_RPM":-2.30583209e-31,"cg_du":50.1367226,"cg_dv":50.1995621,"cg_dw":49.8004379,"cg_id_a":0.0477872938,"cg_id_raw_a":0.156487629,"cg_iq_a":0.114353836,"cg_iq_raw_a":-0.348163635,"cg_iu_a":-0.359905005,"cg_iv_a":-0.728210449,"cg_iw_a":1.08811545,"cg_sample_age_us":23.9436359,"cg_sample_seq":14442867,"cg_sample_valid":1,"cg_theta_rad":5.00771427,"cg_vd_req_v":0.0867574662,"cg_vd_v":0.0867574662,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349111199,"cg_vq_v":-0.349111199,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.4652138,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.331299,"values":{"Elec_RPM":-1.1298578e-30,"EncoderCos":38688,"EncoderSin":12472,"GapTicks":54779,"Mech_RPM":-2.25971556e-31,"cg_du":50.13657,"cg_dv":50.2005424,"cg_dw":49.7994576,"cg_id_a":-0.178269103,"cg_id_raw_a":-0.222909749,"cg_iq_a":0.0741535425,"cg_iq_raw_a":-0.314142466,"cg_iu_a":-0.106198072,"cg_iv_a":-0.257040501,"cg_iw_a":0.363238573,"cg_sample_age_us":24.8781815,"cg_sample_seq":14442917,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.0906196684,"cg_vd_v":0.0906196684,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349651664,"cg_vq_v":-0.349651664,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.3606911,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.339111,"values":{"Elec_RPM":-1.1298578e-30,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-2.25971556e-31,"cg_du":50.1390724,"cg_dv":50.1998672,"cg_dw":49.8001328,"cg_id_a":0.162988678,"cg_id_raw_a":0.277660161,"cg_iq_a":0.0165033191,"cg_iq_raw_a":-0.0819929913,"cg_iu_a":-0.903562307,"cg_iv_a":0.141641617,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9836369,"cg_sample_seq":14442967,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.084331654,"cg_vd_v":0.084331654,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349929839,"cg_vq_v":-0.349929839,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.1046085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.7033081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.346924,"values":{"Elec_RPM":-1.10726067e-30,"EncoderCos":38740,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-2.21452133e-31,"cg_du":50.1445465,"cg_dv":50.2018967,"cg_dw":49.7981033,"cg_id_a":0.305462241,"cg_id_raw_a":0.220016584,"cg_iq_a":0.348899066,"cg_iq_raw_a":0.312238246,"cg_iu_a":-1.01229405,"cg_iv_a":-0.25704062,"cg_iw_a":1.26933467,"cg_sample_age_us":23.9836369,"cg_sample_seq":14443017,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.080903843,"cg_vd_v":0.080903843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356009156,"cg_vq_v":-0.356009156,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6891174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.374268,"values":{"Elec_RPM":-1.10726067e-30,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-2.21452133e-31,"cg_du":50.1396141,"cg_dv":50.20644,"cg_dw":49.79356,"cg_id_a":-0.104026139,"cg_id_raw_a":-0.0965068787,"cg_iq_a":0.47342959,"cg_iq_raw_a":0.31935811,"cg_iu_a":-0.359904766,"cg_iv_a":-0.873185754,"cg_iw_a":1.23309052,"cg_sample_age_us":23.8600006,"cg_sample_seq":14443070,"cg_sample_valid":1,"cg_theta_rad":5.0048399,"cg_vd_req_v":0.0898906514,"cg_vd_v":0.0898906514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359278172,"cg_vq_v":-0.359278172,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6891174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.38208,"values":{"Elec_RPM":-1.08511539e-30,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-2.17023082e-31,"cg_du":50.1437187,"cg_dv":50.2098579,"cg_dw":49.7901421,"cg_id_a":-0.171142608,"cg_id_raw_a":-0.111090429,"cg_iq_a":0.748365998,"cg_iq_raw_a":0.0264250487,"cg_iu_a":-0.251173496,"cg_iv_a":-0.728210449,"cg_iw_a":0.979383945,"cg_sample_age_us":23.8600006,"cg_sample_seq":14443166,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.091355212,"cg_vd_v":0.091355212,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367067754,"cg_vq_v":-0.367067754,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.393799,"values":{"Elec_RPM":-1.06341313e-30,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54786,"Mech_RPM":-2.12682616e-31,"cg_du":50.138588,"cg_dv":50.1942329,"cg_dw":49.8057671,"cg_id_a":0.4947685,"cg_id_raw_a":0.257034391,"cg_iq_a":-0.370537698,"cg_iq_raw_a":-0.30207485,"cg_iu_a":-0.794830799,"cg_iv_a":1.04773748,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9218178,"cg_sample_seq":14443217,"cg_sample_valid":1,"cg_theta_rad":5.00731421,"cg_vd_req_v":0.0799842551,"cg_vd_v":0.0799842551,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342912436,"cg_vq_v":-0.342912436,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6749268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.401611,"values":{"Elec_RPM":-1.06341313e-30,"EncoderCos":38701,"EncoderSin":12478,"GapTicks":54775,"Mech_RPM":-2.12682616e-31,"cg_du":50.1358376,"cg_dv":50.2039757,"cg_dw":49.7960243,"cg_id_a":-0.139988229,"cg_id_raw_a":0.287818164,"cg_iq_a":-0.0387466699,"cg_iq_raw_a":-0.589274585,"cg_iu_a":0.582434893,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9872723,"cg_sample_seq":14443267,"cg_sample_valid":1,"cg_theta_rad":5.00836754,"cg_vd_req_v":0.0931010917,"cg_vd_v":0.0931010917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3531335,"cg_vq_v":-0.3531335,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6749268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.409424,"values":{"Elec_RPM":-1.04214486e-30,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-2.08428972e-31,"cg_du":50.1310692,"cg_dv":50.2043228,"cg_dw":49.7956772,"cg_id_a":-0.208915606,"cg_id_raw_a":-0.584535182,"cg_iq_a":-0.29271552,"cg_iq_raw_a":0.562286258,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772069,"cg_iw_a":0.254507124,"cg_sample_age_us":23.8745461,"cg_sample_seq":14443317,"cg_sample_valid":1,"cg_theta_rad":5.00814772,"cg_vd_req_v":0.0961419195,"cg_vd_v":0.0961419195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351192921,"cg_vq_v":-0.351192921,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6749268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.417236,"values":{"Elec_RPM":-1.04214486e-30,"EncoderCos":38706,"EncoderSin":12515,"GapTicks":54773,"Mech_RPM":-2.08428972e-31,"cg_du":50.1409492,"cg_dv":50.206234,"cg_dw":49.793766,"cg_id_a":0.100630417,"cg_id_raw_a":0.248929083,"cg_iq_a":0.228663504,"cg_iq_raw_a":0.644253314,"cg_iu_a":-0.722343206,"cg_iv_a":0.322860718,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14443367,"cg_sample_valid":1,"cg_theta_rad":5.00666285,"cg_vd_req_v":0.089710705,"cg_vd_v":0.089710705,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358319521,"cg_vq_v":-0.358319521,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6654663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.428955,"values":{"Elec_RPM":-1.02130194e-30,"EncoderCos":38698,"EncoderSin":12454,"GapTicks":54780,"Mech_RPM":-2.04260387e-31,"cg_du":50.1374092,"cg_dv":50.1994934,"cg_dw":49.8005066,"cg_id_a":0.20165883,"cg_id_raw_a":0.754575253,"cg_iq_a":-0.142626584,"cg_iq_raw_a":-0.613111198,"cg_iu_a":0.292484045,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14443417,"cg_sample_valid":1,"cg_theta_rad":5.00886345,"cg_vd_req_v":0.0882978067,"cg_vd_v":0.0882978067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347739518,"cg_vq_v":-0.347739518,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104939342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.436768,"values":{"Elec_RPM":-1.02130194e-30,"EncoderCos":38738,"EncoderSin":12490,"GapTicks":54777,"Mech_RPM":-2.04260387e-31,"cg_du":50.1319199,"cg_dv":50.201973,"cg_dw":49.798027,"cg_id_a":-0.0440627709,"cg_id_raw_a":0.414262265,"cg_iq_a":0.0592330024,"cg_iq_raw_a":1.16735053,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14443467,"cg_sample_valid":1,"cg_theta_rad":5.00670433,"cg_vd_req_v":0.0909864008,"cg_vd_v":0.0909864008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349062026,"cg_vq_v":-0.349062026,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104939342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.44458,"values":{"Elec_RPM":-1.00087589e-30,"EncoderCos":38783,"EncoderSin":12501,"GapTicks":54786,"Mech_RPM":-2.00175168e-31,"cg_du":50.121666,"cg_dv":50.1944542,"cg_dw":49.8055458,"cg_id_a":-0.0528833941,"cg_id_raw_a":-0.677708089,"cg_iq_a":-0.511605024,"cg_iq_raw_a":-0.745111942,"cg_iu_a":0.437459469,"cg_iv_a":1.04773736,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.863636,"cg_sample_seq":14443516,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.0884084925,"cg_vd_v":0.0884084925,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335097283,"cg_vq_v":-0.335097283,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.471924,"values":{"Elec_RPM":-1.00087589e-30,"EncoderCos":38753,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-2.00175168e-31,"cg_du":50.1382599,"cg_dv":50.1971436,"cg_dw":49.8028564,"cg_id_a":0.248608291,"cg_id_raw_a":0.126198262,"cg_iq_a":0.0511002727,"cg_iq_raw_a":0.19411318,"cg_iu_a":0.111264825,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14443570,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0808037072,"cg_vd_v":0.0808037072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347239554,"cg_vq_v":-0.347239554,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.5244656,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6717529,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.483643,"values":{"Elec_RPM":-9.80858347e-31,"EncoderCos":38708,"EncoderSin":12487,"GapTicks":54785,"Mech_RPM":-1.96171669e-31,"cg_du":50.133564,"cg_dv":50.1953926,"cg_dw":49.8046074,"cg_id_a":0.0220375061,"cg_id_raw_a":-0.10824015,"cg_iq_a":-0.407842338,"cg_iq_raw_a":0.208584383,"cg_iu_a":-0.468636274,"cg_iv_a":0.649055243,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14443617,"cg_sample_valid":1,"cg_theta_rad":5.00631189,"cg_vd_req_v":0.0854729638,"cg_vd_v":0.0854729638,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339371175,"cg_vq_v":-0.339371175,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.5244656,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6607361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.491455,"values":{"Elec_RPM":-9.80858347e-31,"EncoderCos":38727,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-1.96171669e-31,"cg_du":50.1383514,"cg_dv":50.1959152,"cg_dw":49.8040848,"cg_id_a":0.218989179,"cg_id_raw_a":0.673809588,"cg_iq_a":-0.124013275,"cg_iq_raw_a":0.173647761,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9581814,"cg_sample_seq":14443667,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.080570206,"cg_vd_v":0.080570206,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343162626,"cg_vq_v":-0.343162626,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3262978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00493476773,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.499268,"values":{"Elec_RPM":-9.61241133e-31,"EncoderCos":38753,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.92248234e-31,"cg_du":50.1345634,"cg_dv":50.2015991,"cg_dw":49.7984009,"cg_id_a":-0.116180584,"cg_id_raw_a":0.209757328,"cg_iq_a":0.143784106,"cg_iq_raw_a":0.201413631,"cg_iu_a":-0.541124105,"cg_iv_a":-0.25704062,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9836369,"cg_sample_seq":14443717,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0871557593,"cg_vd_v":0.0871557593,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349244714,"cg_vq_v":-0.349244714,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00493476773,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.50708,"values":{"Elec_RPM":-9.61241133e-31,"EncoderCos":38753,"EncoderSin":12472,"GapTicks":54780,"Mech_RPM":-1.92248234e-31,"cg_du":50.1300812,"cg_dv":50.1991386,"cg_dw":49.8008614,"cg_id_a":-0.233042851,"cg_id_raw_a":-0.483374357,"cg_iq_a":-0.112281963,"cg_iq_raw_a":0.430342883,"cg_iu_a":0.292484045,"cg_iv_a":0.322860718,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9618187,"cg_sample_seq":14443767,"cg_sample_valid":1,"cg_theta_rad":5.00689459,"cg_vd_req_v":0.0889507309,"cg_vd_v":0.0889507309,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344363719,"cg_vq_v":-0.344363719,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.326133728,"dclink_p_w":47.1995926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6575623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.514893,"values":{"Elec_RPM":-9.42016346e-31,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-1.88403274e-31,"cg_du":50.1390228,"cg_dv":50.2033195,"cg_dw":49.7966805,"cg_id_a":-0.212038368,"cg_id_raw_a":-0.643257558,"cg_iq_a":0.243919164,"cg_iq_raw_a":1.13837028,"cg_iu_a":-0.323661089,"cg_iv_a":0.032910049,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9909096,"cg_sample_seq":14443817,"cg_sample_valid":1,"cg_theta_rad":5.00764656,"cg_vd_req_v":0.0894898921,"cg_vd_v":0.0894898921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354161263,"cg_vq_v":-0.354161263,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.926693,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.522705,"values":{"Elec_RPM":-9.42016346e-31,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-1.88403274e-31,"cg_du":50.1310272,"cg_dv":50.1962471,"cg_dw":49.8037529,"cg_id_a":-0.225774616,"cg_id_raw_a":0.17093946,"cg_iq_a":-0.358573496,"cg_iq_raw_a":-0.492301941,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8527279,"cg_sample_seq":14443867,"cg_sample_valid":1,"cg_theta_rad":5.0067935,"cg_vd_req_v":0.0883310512,"cg_vd_v":0.0883310512,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341301888,"cg_vq_v":-0.341301888,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.9301853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.530518,"values":{"Elec_RPM":-9.23175993e-31,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-1.84635203e-31,"cg_du":50.137291,"cg_dv":50.1962662,"cg_dw":49.8037338,"cg_id_a":0.0308283418,"cg_id_raw_a":0.0439881459,"cg_iq_a":-0.168295935,"cg_iq_raw_a":0.623647451,"cg_iu_a":-0.0337102413,"cg_iv_a":0.612811387,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9727268,"cg_sample_seq":14443917,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0813297555,"cg_vd_v":0.0813297555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344247848,"cg_vq_v":-0.344247848,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6654663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.542236,"values":{"Elec_RPM":-9.23175993e-31,"EncoderCos":38723,"EncoderSin":12488,"GapTicks":54780,"Mech_RPM":-1.84635203e-31,"cg_du":50.1388397,"cg_dv":50.1997986,"cg_dw":49.8002014,"cg_id_a":-0.105842054,"cg_id_raw_a":-0.0692273974,"cg_iq_a":0.0816151723,"cg_iq_raw_a":0.467498094,"cg_iu_a":-0.287417173,"cg_iv_a":-0.25704062,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9763641,"cg_sample_seq":14443967,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0846796408,"cg_vd_v":0.0846796408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34965387,"cg_vq_v":-0.34965387,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":0.547221184,"dclink_p_w":79.1963959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6654663,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.550049,"values":{"Elec_RPM":-9.04712456e-31,"EncoderCos":38689,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-1.80942494e-31,"cg_du":50.1555634,"cg_dv":50.2002945,"cg_dw":49.7997055,"cg_id_a":0.261199176,"cg_id_raw_a":0.350057632,"cg_iq_a":0.392223418,"cg_iq_raw_a":-0.363559872,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14444017,"cg_sample_valid":1,"cg_theta_rad":5.00594568,"cg_vd_req_v":0.0749960691,"cg_vd_v":0.0749960691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359084159,"cg_vq_v":-0.359084159,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.577393,"values":{"Elec_RPM":-9.04712456e-31,"EncoderCos":38777,"EncoderSin":12523,"GapTicks":54783,"Mech_RPM":-1.80942494e-31,"cg_du":50.1320534,"cg_dv":50.1968498,"cg_dw":49.8031502,"cg_id_a":-0.0607254766,"cg_id_raw_a":0.0979175568,"cg_iq_a":-0.278455287,"cg_iq_raw_a":0.0450983606,"cg_iu_a":-0.468636274,"cg_iv_a":0.431592286,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.8527279,"cg_sample_seq":14444070,"cg_sample_valid":1,"cg_theta_rad":5.00775909,"cg_vd_req_v":0.0823621899,"cg_vd_v":0.0823621899,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344125986,"cg_vq_v":-0.344125986,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.585205,"values":{"Elec_RPM":-8.86618213e-31,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-1.7732364e-31,"cg_du":50.1389923,"cg_dv":50.1976624,"cg_dw":49.8023376,"cg_id_a":-0.0441825092,"cg_id_raw_a":0.211581796,"cg_iq_a":-0.176589578,"cg_iq_raw_a":-0.0524707623,"cg_iu_a":0.256240368,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.863636,"cg_sample_seq":14444116,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.081504263,"cg_vd_v":0.081504263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348178804,"cg_vq_v":-0.348178804,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.596924,"values":{"Elec_RPM":-8.86618213e-31,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-1.7732364e-31,"cg_du":50.1465378,"cg_dv":50.2024536,"cg_dw":49.7975464,"cg_id_a":-0.0806255713,"cg_id_raw_a":0.495517433,"cg_iq_a":0.311435997,"cg_iq_raw_a":0.486463398,"cg_iu_a":-0.214929581,"cg_iv_a":-0.764454246,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8600006,"cg_sample_seq":14444167,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0822776109,"cg_vd_v":0.0822776109,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358473837,"cg_vq_v":-0.358473837,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.604736,"values":{"Elec_RPM":-8.68885833e-31,"EncoderCos":38767,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-1.73777162e-31,"cg_du":50.140522,"cg_dv":50.2035637,"cg_dw":49.7964363,"cg_id_a":-0.130335554,"cg_id_raw_a":0.490712464,"cg_iq_a":0.332862794,"cg_iq_raw_a":0.115739293,"cg_iu_a":0.328727961,"cg_iv_a":-0.184552908,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9618187,"cg_sample_seq":14444217,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0835183859,"cg_vd_v":0.0835183859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356553942,"cg_vq_v":-0.356553942,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":0.518226087,"dclink_p_w":75.2280579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.612549,"values":{"Elec_RPM":-8.68885833e-31,"EncoderCos":38757,"EncoderSin":12502,"GapTicks":54773,"Mech_RPM":-1.73777162e-31,"cg_du":50.1431618,"cg_dv":50.205719,"cg_dw":49.794281,"cg_id_a":-0.133553565,"cg_id_raw_a":-0.0285925344,"cg_iq_a":0.543502569,"cg_iq_raw_a":0.289361507,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.16313636,"cg_iw_a":1.19684684,"cg_sample_age_us":23.9181824,"cg_sample_seq":14444267,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0838888884,"cg_vd_v":0.0838888884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360873878,"cg_vq_v":-0.360873878,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2425842,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117930867,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.620361,"values":{"Elec_RPM":-8.51508077e-31,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54782,"Mech_RPM":-1.70301613e-31,"cg_du":50.1445618,"cg_dv":50.1977158,"cg_dw":49.8022842,"cg_id_a":0.108754337,"cg_id_raw_a":0.170164272,"cg_iq_a":-0.0982982963,"cg_iq_raw_a":-0.0555369593,"cg_iu_a":-0.323661089,"cg_iv_a":-0.402015924,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9872723,"cg_sample_seq":14444317,"cg_sample_valid":1,"cg_theta_rad":5.00811243,"cg_vd_req_v":0.0785279199,"cg_vd_v":0.0785279199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349941999,"cg_vq_v":-0.349941999,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.628174,"values":{"Elec_RPM":-8.51508077e-31,"EncoderCos":38696,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-1.70301613e-31,"cg_du":50.1394691,"cg_dv":50.1980591,"cg_dw":49.8019409,"cg_id_a":-0.278835475,"cg_id_raw_a":0.439707935,"cg_iq_a":-0.190967903,"cg_iq_raw_a":0.191651061,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641557,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9581814,"cg_sample_seq":14444367,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.0848210379,"cg_vd_v":0.0848210379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34707734,"cg_vq_v":-0.34707734,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.635986,"values":{"Elec_RPM":-8.34477891e-31,"EncoderCos":38740,"EncoderSin":12488,"GapTicks":54794,"Mech_RPM":-1.66895583e-31,"cg_du":50.1289063,"cg_dv":50.1872559,"cg_dw":49.8127441,"cg_id_a":-0.0594799779,"cg_id_raw_a":0.224306583,"cg_iq_a":-1.12460279,"cg_iq_raw_a":0.494581699,"cg_iu_a":0.292484283,"cg_iv_a":0.504079938,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.9254551,"cg_sample_seq":14444417,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.0792939812,"cg_vd_v":0.0792939812,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328321368,"cg_vq_v":-0.328321368,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.643799,"values":{"Elec_RPM":-8.34477891e-31,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-1.66895583e-31,"cg_du":50.1583939,"cg_dv":50.1979027,"cg_dw":49.8020973,"cg_id_a":0.509290397,"cg_id_raw_a":0.073150292,"cg_iq_a":0.452094257,"cg_iq_raw_a":0.517547011,"cg_iu_a":0.0387773514,"cg_iv_a":0.612811446,"cg_iw_a":0.870652437,"cg_sample_age_us":23.9872723,"cg_sample_seq":14444467,"cg_sample_valid":1,"cg_theta_rad":5.00668192,"cg_vd_req_v":0.0676610395,"cg_vd_v":0.0676610395,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359113693,"cg_vq_v":-0.359113693,"cg_vu_v":137.686371,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.3483047,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.655518,"values":{"Elec_RPM":-8.17788411e-31,"EncoderCos":38716,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-1.63557673e-31,"cg_du":50.1597061,"cg_dv":50.19664,"cg_dw":49.80336,"cg_id_a":0.534743488,"cg_id_raw_a":0.243706197,"cg_iq_a":0.307920456,"cg_iq_raw_a":-0.594524801,"cg_iu_a":-1.7371707,"cg_iv_a":0.39534843,"cg_iw_a":1.34182227,"cg_sample_age_us":23.9327278,"cg_sample_seq":14444517,"cg_sample_valid":1,"cg_theta_rad":5.00631809,"cg_vd_req_v":0.0657613426,"cg_vd_v":0.0657613426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356936246,"cg_vq_v":-0.356936246,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.682861,"values":{"Elec_RPM":-8.17788411e-31,"EncoderCos":38740,"EncoderSin":12461,"GapTicks":54786,"Mech_RPM":-1.63557673e-31,"cg_du":50.1529198,"cg_dv":50.1942635,"cg_dw":49.8057365,"cg_id_a":0.330135435,"cg_id_raw_a":0.00123652839,"cg_iq_a":-0.141986668,"cg_iq_raw_a":-0.945557714,"cg_iu_a":-2.02712131,"cg_iv_a":0.39534843,"cg_iw_a":1.63177288,"cg_sample_age_us":23.863636,"cg_sample_seq":14444570,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0675452203,"cg_vd_v":0.0675452203,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350136489,"cg_vq_v":-0.350136489,"cg_vu_v":26.3935547,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.501916349,"dclink_p_w":72.4188766,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.690674,"values":{"Elec_RPM":-8.01432582e-31,"EncoderCos":38730,"EncoderSin":12502,"GapTicks":54775,"Mech_RPM":-1.60286519e-31,"cg_du":50.1495285,"cg_dv":50.2044754,"cg_dw":49.7955246,"cg_id_a":-0.324682504,"cg_id_raw_a":0.21707724,"cg_iq_a":0.43059516,"cg_iq_raw_a":-0.561370194,"cg_iu_a":0.256240368,"cg_iv_a":-1.12689245,"cg_iw_a":0.87065208,"cg_sample_age_us":23.8490906,"cg_sample_seq":14444616,"cg_sample_valid":1,"cg_theta_rad":5.00795126,"cg_vd_req_v":0.0798893869,"cg_vd_v":0.0798893869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362209201,"cg_vq_v":-0.362209201,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.698486,"values":{"Elec_RPM":-8.01432582e-31,"EncoderCos":38725,"EncoderSin":12492,"GapTicks":54786,"Mech_RPM":-1.60286519e-31,"cg_du":50.1463699,"cg_dv":50.1937065,"cg_dw":49.8062935,"cg_id_a":0.0356693193,"cg_id_raw_a":0.0276771877,"cg_iq_a":-0.196800023,"cg_iq_raw_a":-0.10578613,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8600006,"cg_sample_seq":14444666,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.0726015344,"cg_vd_v":0.0726015344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345633209,"cg_vq_v":-0.345633209,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6765137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.710205,"values":{"Elec_RPM":-7.85403964e-31,"EncoderCos":38726,"EncoderSin":12519,"GapTicks":54787,"Mech_RPM":-1.57080793e-31,"cg_du":50.1501732,"cg_dv":50.1934433,"cg_dw":49.8065567,"cg_id_a":0.22814393,"cg_id_raw_a":0.233155966,"cg_iq_a":-0.13316983,"cg_iq_raw_a":0.168085173,"cg_iu_a":-1.22975707,"cg_iv_a":0.10539782,"cg_iw_a":1.12435925,"cg_sample_age_us":23.9836369,"cg_sample_seq":14444717,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.0686271489,"cg_vd_v":0.0686271489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347542554,"cg_vq_v":-0.347542554,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6749268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.718018,"values":{"Elec_RPM":-7.85403964e-31,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-1.57080793e-31,"cg_du":50.1526489,"cg_dv":50.1968422,"cg_dw":49.8031578,"cg_id_a":0.00123202428,"cg_id_raw_a":0.340533614,"cg_iq_a":0.27414453,"cg_iq_raw_a":0.579534948,"cg_iu_a":0.473703384,"cg_iv_a":0.0691540241,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9581814,"cg_sample_seq":14444767,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0709120631,"cg_vd_v":0.0709120631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353371173,"cg_vq_v":-0.353371173,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6749268,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.72583,"values":{"Elec_RPM":-7.6969588e-31,"EncoderCos":38717,"EncoderSin":12440,"GapTicks":54778,"Mech_RPM":-1.53939178e-31,"cg_du":50.1467018,"cg_dv":50.2009277,"cg_dw":49.7990723,"cg_id_a":-0.396126926,"cg_id_raw_a":-0.238792717,"cg_iq_a":0.0992155373,"cg_iq_raw_a":-0.168910205,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14444817,"cg_sample_valid":1,"cg_theta_rad":5.00769854,"cg_vd_req_v":0.0812510177,"cg_vd_v":0.0812510177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35521844,"cg_vq_v":-0.35521844,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.288077712,"dclink_p_w":41.5652237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.733643,"values":{"Elec_RPM":-7.54301983e-31,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54786,"Mech_RPM":-1.50860394e-31,"cg_du":50.1574402,"cg_dv":50.194088,"cg_dw":49.805912,"cg_id_a":0.310221672,"cg_id_raw_a":0.093071796,"cg_iq_a":0.0307512432,"cg_iq_raw_a":0.301326901,"cg_iu_a":0.0387773514,"cg_iv_a":0.902762115,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.9218178,"cg_sample_seq":14444916,"cg_sample_valid":1,"cg_theta_rad":5.00796032,"cg_vd_req_v":0.0654557422,"cg_vd_v":0.0654557422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352122575,"cg_vq_v":-0.352122575,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.741455,"values":{"Elec_RPM":-7.54301983e-31,"EncoderCos":38715,"EncoderSin":12464,"GapTicks":54787,"Mech_RPM":-1.50860394e-31,"cg_du":50.1530342,"cg_dv":50.193203,"cg_dw":49.806797,"cg_id_a":0.086422354,"cg_id_raw_a":0.29679659,"cg_iq_a":-0.0634374022,"cg_iq_raw_a":0.576621771,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860837,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14444966,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0683363751,"cg_vd_v":0.0683363751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348389059,"cg_vq_v":-0.348389059,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8033466,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.749268,"values":{"Elec_RPM":-7.39215923e-31,"EncoderCos":38744,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-1.47843182e-31,"cg_du":50.149353,"cg_dv":50.1929131,"cg_dw":49.8070869,"cg_id_a":0.0331460387,"cg_id_raw_a":-0.126432672,"cg_iq_a":-0.113338247,"cg_iq_raw_a":0.425977409,"cg_iu_a":-0.722343206,"cg_iv_a":0.685299098,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9472733,"cg_sample_seq":14445016,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0684598982,"cg_vd_v":0.0684598982,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347517878,"cg_vq_v":-0.347517878,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.774807,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.780518,"values":{"Elec_RPM":-7.39215923e-31,"EncoderCos":38793,"EncoderSin":12486,"GapTicks":54793,"Mech_RPM":-1.47843182e-31,"cg_du":50.1405716,"cg_dv":50.1880455,"cg_dw":49.8119545,"cg_id_a":0.105375946,"cg_id_raw_a":-0.0631284937,"cg_iq_a":-0.480018049,"cg_iq_raw_a":-0.040603511,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8600006,"cg_sample_seq":14445070,"cg_sample_valid":1,"cg_theta_rad":5.0083828,"cg_vd_req_v":0.0668368936,"cg_vd_v":0.0668368936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336741447,"cg_vq_v":-0.336741447,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.78833,"values":{"Elec_RPM":-7.2443159e-31,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54789,"Mech_RPM":-1.4488632e-31,"cg_du":50.1509705,"cg_dv":50.1914978,"cg_dw":49.8085022,"cg_id_a":0.0635185391,"cg_id_raw_a":-0.590310812,"cg_iq_a":0.0150373168,"cg_iq_raw_a":0.198380098,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065256,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9836369,"cg_sample_seq":14445117,"cg_sample_valid":1,"cg_theta_rad":5.00785303,"cg_vd_req_v":0.0675324723,"cg_vd_v":0.0675324723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345064878,"cg_vq_v":-0.345064878,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.766407,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.796143,"values":{"Elec_RPM":-7.2443159e-31,"EncoderCos":38706,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-1.4488632e-31,"cg_du":50.1509666,"cg_dv":50.1935081,"cg_dw":49.8064919,"cg_id_a":-0.0479250252,"cg_id_raw_a":0.0772522241,"cg_iq_a":0.187110588,"cg_iq_raw_a":-0.173522413,"cg_iu_a":-0.0337104797,"cg_iv_a":0.685299098,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.954546,"cg_sample_seq":14445167,"cg_sample_valid":1,"cg_theta_rad":5.00740242,"cg_vd_req_v":0.0706783161,"cg_vd_v":0.0706783161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346453905,"cg_vq_v":-0.346453905,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.311636209,"dclink_p_w":45.1014442,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.803955,"values":{"Elec_RPM":-7.09943011e-31,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54786,"Mech_RPM":-1.41988597e-31,"cg_du":50.1536484,"cg_dv":50.1944084,"cg_dw":49.8055916,"cg_id_a":0.0623541549,"cg_id_raw_a":-0.0735269859,"cg_iq_a":0.235019237,"cg_iq_raw_a":0.284914643,"cg_iu_a":0.14750886,"cg_iv_a":-0.402015924,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9909096,"cg_sample_seq":14445217,"cg_sample_valid":1,"cg_theta_rad":5.00621128,"cg_vd_req_v":0.06853652,"cg_vd_v":0.06853652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349361897,"cg_vq_v":-0.349361897,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.496479809,"dclink_p_w":71.8528671,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2615.811768,"values":{"Elec_RPM":-7.09943011e-31,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-1.41988597e-31,"cg_du":50.1472702,"cg_dv":50.1931305,"cg_dw":49.8068695,"cg_id_a":-0.101948865,"cg_id_raw_a":-0.0933930278,"cg_iq_a":0.0456606187,"cg_iq_raw_a":-0.372404873,"cg_iu_a":0.219996452,"cg_iv_a":-0.438259721,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8563633,"cg_sample_seq":14445267,"cg_sample_valid":1,"cg_theta_rad":5.00796223,"cg_vd_req_v":0.0720127225,"cg_vd_v":0.0720127225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345210999,"cg_vq_v":-0.345210999,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6496887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.823486,"values":{"Elec_RPM":-6.9574412e-31,"EncoderCos":38710,"EncoderSin":12496,"GapTicks":54784,"Mech_RPM":-1.39148826e-31,"cg_du":50.1433716,"cg_dv":50.195507,"cg_dw":49.804493,"cg_id_a":-0.420170128,"cg_id_raw_a":-0.949873507,"cg_iq_a":0.288727999,"cg_iq_raw_a":1.07285428,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9727268,"cg_sample_seq":14445317,"cg_sample_valid":1,"cg_theta_rad":5.00875235,"cg_vd_req_v":0.0780241117,"cg_vd_v":0.0780241117,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347213686,"cg_vq_v":-0.347213686,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6496887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.831299,"values":{"Elec_RPM":-6.9574412e-31,"EncoderCos":38704,"EncoderSin":12461,"GapTicks":54789,"Mech_RPM":-1.39148826e-31,"cg_du":50.151619,"cg_dv":50.1910133,"cg_dw":49.8089867,"cg_id_a":0.125707507,"cg_id_raw_a":-0.228760242,"cg_iq_a":0.0682808161,"cg_iq_raw_a":-0.0589778759,"cg_iu_a":-0.722343206,"cg_iv_a":0.177885413,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9254551,"cg_sample_seq":14445367,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0684531331,"cg_vd_v":0.0684531331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345483422,"cg_vq_v":-0.345483422,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.9249535,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6701965,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.839111,"values":{"Elec_RPM":-6.81829276e-31,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54788,"Mech_RPM":-1.36365855e-31,"cg_du":50.1425819,"cg_dv":50.1924438,"cg_dw":49.8075562,"cg_id_a":-0.119098172,"cg_id_raw_a":-0.504819572,"cg_iq_a":-0.0834857523,"cg_iq_raw_a":1.51838517,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9254551,"cg_sample_seq":14445417,"cg_sample_valid":1,"cg_theta_rad":5.00652313,"cg_vd_req_v":0.0745132267,"cg_vd_v":0.0745132267,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342847049,"cg_vq_v":-0.342847049,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.9249535,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.846924,"values":{"Elec_RPM":-6.81829276e-31,"EncoderCos":38726,"EncoderSin":12457,"GapTicks":54785,"Mech_RPM":-1.36365855e-31,"cg_du":50.1494751,"cg_dv":50.1952248,"cg_dw":49.8047752,"cg_id_a":0.0552045852,"cg_id_raw_a":-0.200490624,"cg_iq_a":0.0428590514,"cg_iq_raw_a":-0.783418834,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.148309112,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14445467,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.0723940954,"cg_vd_v":0.0723940954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349277884,"cg_vq_v":-0.349277884,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.9249535,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.854736,"values":{"Elec_RPM":-6.68192743e-31,"EncoderCos":38709,"EncoderSin":12448,"GapTicks":54778,"Mech_RPM":-1.33638544e-31,"cg_du":50.1600418,"cg_dv":50.2010651,"cg_dw":49.7989349,"cg_id_a":0.141673252,"cg_id_raw_a":0.0137315234,"cg_iq_a":0.54353857,"cg_iq_raw_a":0.657964945,"cg_iu_a":-0.0337104797,"cg_iv_a":0.902762115,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9618187,"cg_sample_seq":14445517,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.0714012384,"cg_vd_v":0.0714012384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362830639,"cg_vq_v":-0.362830639,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6496887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.885986,"values":{"Elec_RPM":-6.68192743e-31,"EncoderCos":38750,"EncoderSin":12514,"GapTicks":54780,"Mech_RPM":-1.33638544e-31,"cg_du":50.1361694,"cg_dv":50.2000008,"cg_dw":49.7999992,"cg_id_a":-0.365003854,"cg_id_raw_a":-0.0424313433,"cg_iq_a":-0.303094804,"cg_iq_raw_a":-0.51229012,"cg_iu_a":0.14750886,"cg_iv_a":0.0329101682,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9654541,"cg_sample_seq":14445570,"cg_sample_valid":1,"cg_theta_rad":5.00700855,"cg_vd_req_v":0.0842007995,"cg_vd_v":0.0842007995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349109799,"cg_vq_v":-0.349109799,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6291828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6496887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.893799,"values":{"Elec_RPM":-6.54828876e-31,"EncoderCos":38720,"EncoderSin":12484,"GapTicks":54786,"Mech_RPM":-1.30965775e-31,"cg_du":50.1538048,"cg_dv":50.1941948,"cg_dw":49.8058052,"cg_id_a":0.407318503,"cg_id_raw_a":0.587218702,"cg_iq_a":-0.278392643,"cg_iq_raw_a":-0.889097333,"cg_iu_a":-0.432392597,"cg_iv_a":0.57656765,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8709087,"cg_sample_seq":14445616,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.0680252239,"cg_vd_v":0.0680252239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35140422,"cg_vq_v":-0.35140422,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6291828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.2182922,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.901611,"values":{"Elec_RPM":-6.54828876e-31,"EncoderCos":38749,"EncoderSin":12478,"GapTicks":54776,"Mech_RPM":-1.30965775e-31,"cg_du":50.1488647,"cg_dv":50.2028656,"cg_dw":49.7971344,"cg_id_a":-0.0739714652,"cg_id_raw_a":-0.0778183937,"cg_iq_a":-0.0246505719,"cg_iq_raw_a":0.357677191,"cg_iu_a":0.437459469,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9763641,"cg_sample_seq":14445667,"cg_sample_valid":1,"cg_theta_rad":5.00716925,"cg_vd_req_v":0.0781339705,"cg_vd_v":0.0781339705,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360947281,"cg_vq_v":-0.360947281,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6291828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6512756,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.909424,"values":{"Elec_RPM":-6.41732271e-31,"EncoderCos":38736,"EncoderSin":12478,"GapTicks":54784,"Mech_RPM":-1.28346456e-31,"cg_du":50.1421013,"cg_dv":50.1962891,"cg_dw":49.8037109,"cg_id_a":-0.117784843,"cg_id_raw_a":-0.760237992,"cg_iq_a":-0.601884305,"cg_iq_raw_a":0.00248770672,"cg_iu_a":0.292484164,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14445717,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0781619251,"cg_vd_v":0.0781619251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347936213,"cg_vq_v":-0.347936213,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.094173193,"dclink_p_w":13.6291828,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6512756,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.917236,"values":{"Elec_RPM":-6.28897659e-31,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54785,"Mech_RPM":-1.25779529e-31,"cg_du":50.1395187,"cg_dv":50.1948624,"cg_dw":49.8051376,"cg_id_a":-0.176055178,"cg_id_raw_a":-0.23396197,"cg_iq_a":-0.662860274,"cg_iq_raw_a":-0.859936178,"cg_iu_a":0.256240129,"cg_iv_a":0.467836142,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9581814,"cg_sample_seq":14445866,"cg_sample_valid":1,"cg_theta_rad":5.00722742,"cg_vd_req_v":0.0803206116,"cg_vd_v":0.0803206116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343091011,"cg_vq_v":-0.343091011,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6528625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.925049,"values":{"Elec_RPM":-6.16319681e-31,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-1.23263936e-31,"cg_du":50.1474152,"cg_dv":50.1933746,"cg_dw":49.8066254,"cg_id_a":0.122561052,"cg_id_raw_a":0.334181428,"cg_iq_a":-0.423418552,"cg_iq_raw_a":-0.220659673,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14445916,"cg_sample_valid":1,"cg_theta_rad":5.00666714,"cg_vd_req_v":0.0732357576,"cg_vd_v":0.0732357576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345392913,"cg_vq_v":-0.345392913,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.88317204,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6433716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.936768,"values":{"Elec_RPM":-6.16319681e-31,"EncoderCos":38728,"EncoderSin":12504,"GapTicks":54777,"Mech_RPM":-1.23263936e-31,"cg_du":50.1556435,"cg_dv":50.2023239,"cg_dw":49.7976761,"cg_id_a":0.15897724,"cg_id_raw_a":0.523085594,"cg_iq_a":0.41631338,"cg_iq_raw_a":0.887000263,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104633,"cg_iw_a":-0.180418968,"cg_sample_age_us":24.0381813,"cg_sample_seq":14445966,"cg_sample_valid":1,"cg_theta_rad":5.0093112,"cg_vd_req_v":0.0733316988,"cg_vd_v":0.0733316988,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363765359,"cg_vq_v":-0.363765359,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.88317204,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6433716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2615.94458,"values":{"Elec_RPM":-6.0399326e-31,"EncoderCos":38719,"EncoderSin":12447,"GapTicks":54780,"Mech_RPM":-1.20798654e-31,"cg_du":50.1534348,"cg_dv":50.1993752,"cg_dw":49.8006248,"cg_id_a":0.109989718,"cg_id_raw_a":-0.41271323,"cg_iq_a":-0.126781583,"cg_iq_raw_a":-0.113147646,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9618187,"cg_sample_seq":14446016,"cg_sample_valid":1,"cg_theta_rad":5.00791597,"cg_vd_req_v":0.0743559748,"cg_vd_v":0.0743559748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358059645,"cg_vq_v":-0.358059645,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":57.0765076,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6575623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2615.95968,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2615.959686,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2615.959691,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2615.971924,"values":{"Elec_RPM":-6.0399326e-31,"EncoderCos":38719,"EncoderSin":12454,"GapTicks":54773,"Mech_RPM":-1.20798654e-31,"cg_du":50.1592102,"cg_dv":50.2060738,"cg_dw":49.7939262,"cg_id_a":0.0281729847,"cg_id_raw_a":0.2447308,"cg_iq_a":0.331278682,"cg_iq_raw_a":-0.594103932,"cg_iu_a":0.183752537,"cg_iv_a":-0.293284416,"cg_iw_a":0.109531879,"cg_sample_age_us":23.863636,"cg_sample_seq":14446071,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.075956881,"cg_vd_v":0.075956881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36935094,"cg_vq_v":-0.36935094,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.527287066,"dclink_p_w":76.3114395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.979736,"values":{"Elec_RPM":-5.9191341e-31,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-1.18382684e-31,"cg_du":50.1459846,"cg_dv":50.1976395,"cg_dw":49.8023605,"cg_id_a":0.0967184529,"cg_id_raw_a":0.413291097,"cg_iq_a":-0.4367342,"cg_iq_raw_a":0.0389349796,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9581814,"cg_sample_seq":14446117,"cg_sample_valid":1,"cg_theta_rad":5.00758314,"cg_vd_req_v":0.0757271945,"cg_vd_v":0.0757271945,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350988001,"cg_vq_v":-0.350988001,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.556282103,"dclink_p_w":80.5077362,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.991455,"values":{"Elec_RPM":-5.9191341e-31,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-1.18382684e-31,"cg_du":50.1453514,"cg_dv":50.1967659,"cg_dw":49.8032341,"cg_id_a":0.00110894442,"cg_id_raw_a":0.0552733578,"cg_iq_a":-0.426820695,"cg_iq_raw_a":-0.394413888,"cg_iu_a":0.0750212669,"cg_iv_a":0.649055243,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.863636,"cg_sample_seq":14446166,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.0764947906,"cg_vd_v":0.0764947906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349200606,"cg_vq_v":-0.349200606,"cg_vu_v":138.126266,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.730252504,"dclink_p_w":105.685539,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6449585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2615.999268,"values":{"Elec_RPM":-5.80075147e-31,"EncoderCos":38746,"EncoderSin":12473,"GapTicks":54781,"Mech_RPM":-1.16015027e-31,"cg_du":50.1448784,"cg_dv":50.1985741,"cg_dw":49.8014259,"cg_id_a":0.00669519883,"cg_id_raw_a":-0.367613405,"cg_iq_a":-0.216258675,"cg_iq_raw_a":0.0763153359,"cg_iu_a":0.364971876,"cg_iv_a":0.177885473,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9581814,"cg_sample_seq":14446216,"cg_sample_valid":1,"cg_theta_rad":5.00691271,"cg_vd_req_v":0.0772717968,"cg_vd_v":0.0772717968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351692766,"cg_vq_v":-0.351692766,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.521850467,"dclink_p_w":75.5246277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.00708,"values":{"Elec_RPM":-5.80075147e-31,"EncoderCos":38737,"EncoderSin":12470,"GapTicks":54783,"Mech_RPM":-1.16015027e-31,"cg_du":50.1455269,"cg_dv":50.1969299,"cg_dw":49.8030701,"cg_id_a":0.132186294,"cg_id_raw_a":-0.0237727687,"cg_iq_a":-0.269148052,"cg_iq_raw_a":0.216991216,"cg_iu_a":0.437459469,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9872723,"cg_sample_seq":14446267,"cg_sample_valid":1,"cg_theta_rad":5.00800705,"cg_vd_req_v":0.0759632438,"cg_vd_v":0.0759632438,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349642545,"cg_vq_v":-0.349642545,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.4423523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6591492,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.014893,"values":{"Elec_RPM":-5.68473676e-31,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54793,"Mech_RPM":-1.1369473e-31,"cg_du":50.1438293,"cg_dv":50.1874084,"cg_dw":49.8125916,"cg_id_a":0.476425469,"cg_id_raw_a":0.0468768589,"cg_iq_a":-0.93726778,"cg_iq_raw_a":-0.941459119,"cg_iu_a":0.763653994,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9509087,"cg_sample_seq":14446316,"cg_sample_valid":1,"cg_theta_rad":5.00750017,"cg_vd_req_v":0.0696947351,"cg_vd_v":0.0696947351,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336449653,"cg_vq_v":-0.336449653,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.4423523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.022705,"values":{"Elec_RPM":-5.68473676e-31,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-1.1369473e-31,"cg_du":50.1518288,"cg_dv":50.2074547,"cg_dw":49.7925453,"cg_id_a":-0.201072112,"cg_id_raw_a":-0.215607628,"cg_iq_a":0.599840522,"cg_iq_raw_a":0.234610543,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9509087,"cg_sample_seq":14446367,"cg_sample_valid":1,"cg_theta_rad":5.00621319,"cg_vd_req_v":0.0826583356,"cg_vd_v":0.0826583356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367175758,"cg_vq_v":-0.367175758,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.034424,"values":{"Elec_RPM":-5.57104154e-31,"EncoderCos":38688,"EncoderSin":12456,"GapTicks":54770,"Mech_RPM":-1.11420831e-31,"cg_du":50.151844,"cg_dv":50.208889,"cg_dw":49.791111,"cg_id_a":-0.257761627,"cg_id_raw_a":0.0874288529,"cg_iq_a":0.339508772,"cg_iq_raw_a":-0.0628142133,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.52557468,"cg_iw_a":1.59552884,"cg_sample_age_us":23.9618187,"cg_sample_seq":14446417,"cg_sample_valid":1,"cg_theta_rad":5.00640821,"cg_vd_req_v":0.086757943,"cg_vd_v":0.086757943,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367324203,"cg_vq_v":-0.367324203,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6496887,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.042236,"values":{"Elec_RPM":-5.57104154e-31,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.11420831e-31,"cg_du":50.1488113,"cg_dv":50.2035522,"cg_dw":49.7964478,"cg_id_a":-0.0847037658,"cg_id_raw_a":-0.0461599007,"cg_iq_a":-0.226154476,"cg_iq_raw_a":-1.67929387,"cg_iu_a":0.292484283,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9581814,"cg_sample_seq":14446467,"cg_sample_valid":1,"cg_theta_rad":5.0077858,"cg_vd_req_v":0.0816380605,"cg_vd_v":0.0816380605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358933091,"cg_vq_v":-0.358933091,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6165771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.050049,"values":{"Elec_RPM":-5.45962066e-31,"EncoderCos":38717,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-1.09192411e-31,"cg_du":50.155323,"cg_dv":50.2124672,"cg_dw":49.7875328,"cg_id_a":-0.201091006,"cg_id_raw_a":-0.434260935,"cg_iq_a":0.55468148,"cg_iq_raw_a":0.541355252,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14446517,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0843939111,"cg_vd_v":0.0843939111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376037061,"cg_vq_v":-0.376037061,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6165771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.077393,"values":{"Elec_RPM":-5.45962066e-31,"EncoderCos":38721,"EncoderSin":12486,"GapTicks":54775,"Mech_RPM":-1.09192411e-31,"cg_du":50.1562424,"cg_dv":50.2042618,"cg_dw":49.7957382,"cg_id_a":0.166881338,"cg_id_raw_a":-0.055588074,"cg_iq_a":0.0884044096,"cg_iq_raw_a":0.323151022,"cg_iu_a":-0.50488019,"cg_iv_a":0.431592286,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.8600006,"cg_sample_seq":14446570,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0757791474,"cg_vd_v":0.0757791474,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36653918,"cg_vq_v":-0.36653918,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.279016733,"dclink_p_w":40.5033379,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.085205,"values":{"Elec_RPM":-5.35042805e-31,"EncoderCos":38725,"EncoderSin":12488,"GapTicks":54772,"Mech_RPM":-1.07008566e-31,"cg_du":50.1480675,"cg_dv":50.2069321,"cg_dw":49.7930679,"cg_id_a":-0.239451379,"cg_id_raw_a":-0.249425918,"cg_iq_a":-0.167878538,"cg_iq_raw_a":0.595956028,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991289,"cg_iw_a":0.544457853,"cg_sample_age_us":24.0418186,"cg_sample_seq":14446617,"cg_sample_valid":1,"cg_theta_rad":5.0073638,"cg_vd_req_v":0.0841782093,"cg_vd_v":0.0841782093,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364565551,"cg_vq_v":-0.364565551,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.311636209,"dclink_p_w":45.2385292,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6386414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.093018,"values":{"Elec_RPM":-5.24341951e-31,"EncoderCos":38716,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-1.0486839e-31,"cg_du":50.150631,"cg_dv":50.2088966,"cg_dw":49.7911034,"cg_id_a":-0.170648262,"cg_id_raw_a":0.131708696,"cg_iq_a":-0.0444897711,"cg_iq_raw_a":0.122983083,"cg_iu_a":-0.468636274,"cg_iv_a":-0.402015924,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9763641,"cg_sample_seq":14446717,"cg_sample_valid":1,"cg_theta_rad":5.00588512,"cg_vd_req_v":0.0850766525,"cg_vd_v":0.0850766525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368447542,"cg_vq_v":-0.368447542,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.104736,"values":{"Elec_RPM":-5.24341951e-31,"EncoderCos":38705,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-1.0486839e-31,"cg_du":50.1569481,"cg_dv":50.2045326,"cg_dw":49.7954674,"cg_id_a":0.187181324,"cg_id_raw_a":0.212801352,"cg_iq_a":-0.108847655,"cg_iq_raw_a":-1.10704648,"cg_iu_a":-0.468636513,"cg_iv_a":0.0691539645,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9654541,"cg_sample_seq":14446767,"cg_sample_valid":1,"cg_theta_rad":5.00811863,"cg_vd_req_v":0.0766670108,"cg_vd_v":0.0766670108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365898639,"cg_vq_v":-0.365898639,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.139477968,"dclink_p_w":20.1859016,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.112549,"values":{"Elec_RPM":-5.1385513e-31,"EncoderCos":38706,"EncoderSin":12453,"GapTicks":54768,"Mech_RPM":-1.02771026e-31,"cg_du":50.1508331,"cg_dv":50.2103043,"cg_dw":49.7896957,"cg_id_a":-0.392207742,"cg_id_raw_a":0.334417701,"cg_iq_a":0.0467639714,"cg_iq_raw_a":0.399295896,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885413,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9799995,"cg_sample_seq":14446817,"cg_sample_valid":1,"cg_theta_rad":5.00777197,"cg_vd_req_v":0.087765269,"cg_vd_v":0.087765269,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37012592,"cg_vq_v":-0.37012592,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6639099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.120361,"values":{"Elec_RPM":-5.1385513e-31,"EncoderCos":38733,"EncoderSin":12507,"GapTicks":54779,"Mech_RPM":-1.02771026e-31,"cg_du":50.1583633,"cg_dv":50.2004547,"cg_dw":49.7995453,"cg_id_a":0.495248139,"cg_id_raw_a":0.541059315,"cg_iq_a":-0.197581828,"cg_iq_raw_a":1.61579728,"cg_iu_a":-0.359904766,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716875196,"cg_sample_age_us":23.9472733,"cg_sample_seq":14446867,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0688865781,"cg_vd_v":0.0688865781,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362826973,"cg_vq_v":-0.362826973,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6465454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.128174,"values":{"Elec_RPM":-5.03578018e-31,"EncoderCos":38736,"EncoderSin":12454,"GapTicks":54773,"Mech_RPM":-1.00715604e-31,"cg_du":50.1729622,"cg_dv":50.2056427,"cg_dw":49.7943573,"cg_id_a":0.802616119,"cg_id_raw_a":0.785355926,"cg_iq_a":0.524596572,"cg_iq_raw_a":0.767329991,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9618187,"cg_sample_seq":14446917,"cg_sample_valid":1,"cg_theta_rad":5.00714207,"cg_vd_req_v":0.0634947792,"cg_vd_v":0.0634947792,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377893388,"cg_vq_v":-0.377893388,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6465454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.139893,"values":{"Elec_RPM":-5.03578018e-31,"EncoderCos":38738,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-1.00715604e-31,"cg_du":50.1606979,"cg_dv":50.2049217,"cg_dw":49.7950783,"cg_id_a":0.272266388,"cg_id_raw_a":0.255745471,"cg_iq_a":0.361964226,"cg_iq_raw_a":-0.303166837,"cg_iu_a":-1.41097617,"cg_iv_a":0.467836082,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9872723,"cg_sample_seq":14446967,"cg_sample_valid":1,"cg_theta_rad":5.00670767,"cg_vd_req_v":0.0711848885,"cg_vd_v":0.0711848885,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369114518,"cg_vq_v":-0.369114518,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.3624458,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.147705,"values":{"Elec_RPM":-4.9350643e-31,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-9.87012883e-32,"cg_du":50.1636543,"cg_dv":50.2090492,"cg_dw":49.7909508,"cg_id_a":0.219874293,"cg_id_raw_a":0.211815149,"cg_iq_a":0.750041425,"cg_iq_raw_a":-0.051521346,"cg_iu_a":-1.37473226,"cg_iv_a":-0.220796704,"cg_iw_a":1.59552896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14447016,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.07450746,"cg_vd_v":0.07450746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376067609,"cg_vq_v":-0.376067609,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.3624458,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6575623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.175049,"values":{"Elec_RPM":-4.83636321e-31,"EncoderCos":38727,"EncoderSin":12453,"GapTicks":54783,"Mech_RPM":-9.6727263e-32,"cg_du":50.1416245,"cg_dv":50.1964836,"cg_dw":49.8035164,"cg_id_a":0.0347279757,"cg_id_raw_a":0.326026887,"cg_iq_a":-0.44223693,"cg_iq_raw_a":0.287448734,"cg_iu_a":0.256240368,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14447167,"cg_sample_valid":1,"cg_theta_rad":5.0070076,"cg_vd_req_v":0.0800369829,"cg_vd_v":0.0800369829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34763661,"cg_vq_v":-0.34763661,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6859741,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.182861,"values":{"Elec_RPM":-4.73963601e-31,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-9.47927167e-32,"cg_du":50.1472549,"cg_dv":50.2004051,"cg_dw":49.7995949,"cg_id_a":0.0692268237,"cg_id_raw_a":0.395766914,"cg_iq_a":-0.0370832905,"cg_iq_raw_a":0.0038013095,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.863636,"cg_sample_seq":14447216,"cg_sample_valid":1,"cg_theta_rad":5.00860405,"cg_vd_req_v":0.0802218392,"cg_vd_v":0.0802218392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355974227,"cg_vq_v":-0.355974227,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6575623,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.190674,"values":{"Elec_RPM":-4.73963601e-31,"EncoderCos":38734,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-9.47927167e-32,"cg_du":50.1448593,"cg_dv":50.2018738,"cg_dw":49.7981262,"cg_id_a":-0.00182739645,"cg_id_raw_a":-0.171263725,"cg_iq_a":0.06422849,"cg_iq_raw_a":-0.452051014,"cg_iu_a":0.183752537,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14447266,"cg_sample_valid":1,"cg_theta_rad":5.00892591,"cg_vd_req_v":0.0814160332,"cg_vd_v":0.0814160332,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357111633,"cg_vq_v":-0.357111633,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6465454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.198486,"values":{"Elec_RPM":-4.64484321e-31,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-9.28968618e-32,"cg_du":50.1381111,"cg_dv":50.1975708,"cg_dw":49.8024292,"cg_id_a":-0.18980673,"cg_id_raw_a":-0.166114107,"cg_iq_a":-0.518239617,"cg_iq_raw_a":-0.707158506,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9618187,"cg_sample_seq":14447316,"cg_sample_valid":1,"cg_theta_rad":5.00724506,"cg_vd_req_v":0.0834642425,"cg_vd_v":0.0834642425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34612155,"cg_vq_v":-0.34612155,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6465454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.210205,"values":{"Elec_RPM":-4.64484321e-31,"EncoderCos":38737,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-9.28968618e-32,"cg_du":50.1528358,"cg_dv":50.2024574,"cg_dw":49.7975426,"cg_id_a":0.13603054,"cg_id_raw_a":0.320635319,"cg_iq_a":0.040381141,"cg_iq_raw_a":0.358141214,"cg_iu_a":-0.504880428,"cg_iv_a":-0.00333368778,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9581814,"cg_sample_seq":14447366,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.0751601309,"cg_vd_v":0.0751601309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361338377,"cg_vq_v":-0.361338377,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.146848202,"dclink_p_w":-21.2525558,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6465454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.218018,"values":{"Elec_RPM":-4.55194624e-31,"EncoderCos":38715,"EncoderSin":12467,"GapTicks":54777,"Mech_RPM":-9.10389224e-32,"cg_du":50.1364288,"cg_dv":50.2024269,"cg_dw":49.7975731,"cg_id_a":-0.694533288,"cg_id_raw_a":-0.0938939676,"cg_iq_a":-0.399968624,"cg_iq_raw_a":0.0643391162,"cg_iu_a":0.763653994,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9618187,"cg_sample_seq":14447416,"cg_sample_valid":1,"cg_theta_rad":5.0087285,"cg_vd_req_v":0.0902695209,"cg_vd_v":0.0902695209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351589173,"cg_vq_v":-0.351589173,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6244812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.22583,"values":{"Elec_RPM":-4.55194624e-31,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54783,"Mech_RPM":-9.10389224e-32,"cg_du":50.156353,"cg_dv":50.1969795,"cg_dw":49.8030205,"cg_id_a":0.298549861,"cg_id_raw_a":1.07626736,"cg_iq_a":-0.079040654,"cg_iq_raw_a":-0.0767180845,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9436359,"cg_sample_seq":14447466,"cg_sample_valid":1,"cg_theta_rad":5.00559616,"cg_vd_req_v":0.0688518882,"cg_vd_v":0.0688518882,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356617659,"cg_vq_v":-0.356617659,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6244812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.233643,"values":{"Elec_RPM":-4.46090749e-31,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-8.92181463e-32,"cg_du":50.1514854,"cg_dv":50.1963615,"cg_dw":49.8036385,"cg_id_a":0.129844457,"cg_id_raw_a":0.592638612,"cg_iq_a":-0.232442945,"cg_iq_raw_a":-1.14270627,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213401,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9872723,"cg_sample_seq":14447516,"cg_sample_valid":1,"cg_theta_rad":5.00552607,"cg_vd_req_v":0.0725206956,"cg_vd_v":0.0725206956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352942526,"cg_vq_v":-0.352942526,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.3136768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.260986,"values":{"Elec_RPM":-4.46090749e-31,"EncoderCos":38698,"EncoderSin":12470,"GapTicks":54778,"Mech_RPM":-8.92181463e-32,"cg_du":50.1563225,"cg_dv":50.2011185,"cg_dw":49.7988815,"cg_id_a":0.0300273895,"cg_id_raw_a":0.417996794,"cg_iq_a":0.340713859,"cg_iq_raw_a":-0.211258173,"cg_iu_a":0.183752775,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.144175231,"cg_sample_age_us":23.9872723,"cg_sample_seq":14447570,"cg_sample_valid":1,"cg_theta_rad":5.00855875,"cg_vd_req_v":0.0749458447,"cg_vd_v":0.0749458447,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361825466,"cg_vq_v":-0.361825466,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6481323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.268799,"values":{"Elec_RPM":-4.37168888e-31,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-8.74337812e-32,"cg_du":50.1440201,"cg_dv":50.199295,"cg_dw":49.800705,"cg_id_a":-0.249375522,"cg_id_raw_a":-0.742771029,"cg_iq_a":-0.18648079,"cg_iq_raw_a":0.0406774767,"cg_iu_a":0.0750212669,"cg_iv_a":-0.402015805,"cg_iw_a":0.326994538,"cg_sample_age_us":23.9363632,"cg_sample_seq":14447617,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0790078416,"cg_vd_v":0.0790078416,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350994676,"cg_vq_v":-0.350994676,"cg_vu_v":135.486908,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6512756,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.280518,"values":{"Elec_RPM":-4.37168888e-31,"EncoderCos":38705,"EncoderSin":12483,"GapTicks":54781,"Mech_RPM":-8.74337812e-32,"cg_du":50.161293,"cg_dv":50.1985588,"cg_dw":49.8014412,"cg_id_a":0.250121951,"cg_id_raw_a":-0.0622952878,"cg_iq_a":0.143674284,"cg_iq_raw_a":-0.0418706127,"cg_iu_a":0.0750212669,"cg_iv_a":0.794030607,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.8600006,"cg_sample_seq":14447666,"cg_sample_valid":1,"cg_theta_rad":5.00685024,"cg_vd_req_v":0.0674329102,"cg_vd_v":0.0674329102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360243648,"cg_vq_v":-0.360243648,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.28833,"values":{"Elec_RPM":-4.28425514e-31,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-8.5685104e-32,"cg_du":50.1567535,"cg_dv":50.203373,"cg_dw":49.796627,"cg_id_a":-0.115182869,"cg_id_raw_a":-0.678773999,"cg_iq_a":0.299352169,"cg_iq_raw_a":1.13787329,"cg_iu_a":-0.794830799,"cg_iv_a":0.0329101086,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8563633,"cg_sample_seq":14447716,"cg_sample_valid":1,"cg_theta_rad":5.00590754,"cg_vd_req_v":0.0736890212,"cg_vd_v":0.0736890212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364624381,"cg_vq_v":-0.364624381,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.296143,"values":{"Elec_RPM":-4.28425514e-31,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-8.5685104e-32,"cg_du":50.1569748,"cg_dv":50.1993065,"cg_dw":49.8006935,"cg_id_a":0.097723797,"cg_id_raw_a":0.07320299,"cg_iq_a":-0.0170527399,"cg_iq_raw_a":0.0803916007,"cg_iu_a":0.183752537,"cg_iv_a":0.431592345,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9981823,"cg_sample_seq":14447766,"cg_sample_valid":1,"cg_theta_rad":5.00669718,"cg_vd_req_v":0.0690617785,"cg_vd_v":0.0690617785,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360443801,"cg_vq_v":-0.360443801,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.307861,"values":{"Elec_RPM":-4.19857007e-31,"EncoderCos":38709,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-8.39714037e-32,"cg_du":50.1596069,"cg_dv":50.2045174,"cg_dw":49.7954826,"cg_id_a":-0.28455174,"cg_id_raw_a":0.0272381343,"cg_iq_a":0.389414608,"cg_iq_raw_a":0.950628877,"cg_iu_a":-0.359904766,"cg_iv_a":0.214129269,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9763641,"cg_sample_seq":14447816,"cg_sample_valid":1,"cg_theta_rad":5.00592327,"cg_vd_req_v":0.0748622492,"cg_vd_v":0.0748622492,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368476421,"cg_vq_v":-0.368476421,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6213074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.315674,"values":{"Elec_RPM":-4.19857007e-31,"EncoderCos":38722,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-8.39714037e-32,"cg_du":50.1532745,"cg_dv":50.1990852,"cg_dw":49.8009148,"cg_id_a":-0.181720257,"cg_id_raw_a":-0.589895606,"cg_iq_a":-0.216929987,"cg_iq_raw_a":-0.238635689,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9763641,"cg_sample_seq":14447866,"cg_sample_valid":1,"cg_theta_rad":5.00605822,"cg_vd_req_v":0.0733655542,"cg_vd_v":0.0733655542,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357747048,"cg_vq_v":-0.357747048,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6213074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.323486,"values":{"Elec_RPM":-4.11459886e-31,"EncoderCos":38727,"EncoderSin":12447,"GapTicks":54774,"Mech_RPM":-8.22919749e-32,"cg_du":50.1677856,"cg_dv":50.2051735,"cg_dw":49.7948265,"cg_id_a":0.158308551,"cg_id_raw_a":0.163826257,"cg_iq_a":0.48969245,"cg_iq_raw_a":-0.42017895,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.863636,"cg_sample_seq":14447916,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0678624064,"cg_vd_v":0.0678624064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373046815,"cg_vq_v":-0.373046815,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.331299,"values":{"Elec_RPM":-4.11459886e-31,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-8.22919749e-32,"cg_du":50.1615181,"cg_dv":50.1976852,"cg_dw":49.8023148,"cg_id_a":0.256217122,"cg_id_raw_a":0.298340201,"cg_iq_a":-0.128626823,"cg_iq_raw_a":0.139271319,"cg_iu_a":-0.287417173,"cg_iv_a":0.721542895,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9509087,"cg_sample_seq":14447966,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0655515119,"cg_vd_v":0.0655515119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359339505,"cg_vq_v":-0.359339505,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6686096,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.339111,"values":{"Elec_RPM":-4.03230674e-31,"EncoderCos":38722,"EncoderSin":12456,"GapTicks":54783,"Mech_RPM":-8.06461359e-32,"cg_du":50.1542244,"cg_dv":50.1971359,"cg_dw":49.8028641,"cg_id_a":0.0134065719,"cg_id_raw_a":0.322660774,"cg_iq_a":-0.443899184,"cg_iq_raw_a":0.105354518,"cg_iu_a":0.364971638,"cg_iv_a":0.177885413,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9654541,"cg_sample_seq":14448016,"cg_sample_valid":1,"cg_theta_rad":5.00692606,"cg_vd_req_v":0.0708661228,"cg_vd_v":0.0708661228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354470223,"cg_vq_v":-0.354470223,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.662323,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.346924,"values":{"Elec_RPM":-4.03230674e-31,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-8.06461359e-32,"cg_du":50.1545753,"cg_dv":50.2067757,"cg_dw":49.7932243,"cg_id_a":-0.368187755,"cg_id_raw_a":0.17415002,"cg_iq_a":0.137315065,"cg_iq_raw_a":-0.309883922,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.546991229,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9290905,"cg_sample_seq":14448066,"cg_sample_valid":1,"cg_theta_rad":5.00638485,"cg_vd_req_v":0.0798753798,"cg_vd_v":0.0798753798,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367784292,"cg_vq_v":-0.367784292,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.374268,"values":{"Elec_RPM":-3.9516603e-31,"EncoderCos":38766,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-7.90332107e-32,"cg_du":50.1497879,"cg_dv":50.2065163,"cg_dw":49.7934837,"cg_id_a":-0.292109907,"cg_id_raw_a":-0.04654973,"cg_iq_a":0.174191386,"cg_iq_raw_a":0.251392335,"cg_iu_a":0.546190858,"cg_iv_a":-0.365772009,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.863636,"cg_sample_seq":14448121,"cg_sample_valid":1,"cg_theta_rad":5.00662851,"cg_vd_req_v":0.0799453408,"cg_vd_v":0.0799453408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366679162,"cg_vq_v":-0.366679162,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9859419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.385986,"values":{"Elec_RPM":-3.9516603e-31,"EncoderCos":38721,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-7.90332107e-32,"cg_du":50.1535683,"cg_dv":50.2010384,"cg_dw":49.7989616,"cg_id_a":-0.0737222061,"cg_id_raw_a":0.263377041,"cg_iq_a":0.0209053624,"cg_iq_raw_a":0.499794394,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373125,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9799995,"cg_sample_seq":14448167,"cg_sample_valid":1,"cg_theta_rad":5.00707817,"cg_vd_req_v":0.0750221387,"cg_vd_v":0.0750221387,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36057952,"cg_vq_v":-0.36057952,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6055603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.393799,"values":{"Elec_RPM":-3.87262735e-31,"EncoderCos":38746,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-7.74525469e-32,"cg_du":50.1514854,"cg_dv":50.2116547,"cg_dw":49.7883453,"cg_id_a":-0.455780029,"cg_id_raw_a":-1.26220882,"cg_iq_a":0.649375916,"cg_iq_raw_a":0.905231953,"cg_iu_a":-0.251173496,"cg_iv_a":0.10539782,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9472733,"cg_sample_seq":14448217,"cg_sample_valid":1,"cg_theta_rad":5.00615549,"cg_vd_req_v":0.0843671784,"cg_vd_v":0.0843671784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373296678,"cg_vq_v":-0.373296678,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.401611,"values":{"Elec_RPM":-3.87262735e-31,"EncoderCos":38716,"EncoderSin":12497,"GapTicks":54775,"Mech_RPM":-7.74525469e-32,"cg_du":50.151432,"cg_dv":50.2036858,"cg_dw":49.7963142,"cg_id_a":-0.118849337,"cg_id_raw_a":-0.0940028578,"cg_iq_a":-0.0102356374,"cg_iq_raw_a":0.501489162,"cg_iu_a":-0.323661089,"cg_iv_a":-0.474503517,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9581814,"cg_sample_seq":14448267,"cg_sample_valid":1,"cg_theta_rad":5.00815535,"cg_vd_req_v":0.0789027587,"cg_vd_v":0.0789027587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361915469,"cg_vq_v":-0.361915469,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.409424,"values":{"Elec_RPM":-3.79517497e-31,"EncoderCos":38711,"EncoderSin":12457,"GapTicks":54778,"Mech_RPM":-7.59034981e-32,"cg_du":50.1577797,"cg_dv":50.2014389,"cg_dw":49.7985611,"cg_id_a":0.238105193,"cg_id_raw_a":0.184906632,"cg_iq_a":0.0998299569,"cg_iq_raw_a":-0.199131534,"cg_iu_a":0.328727961,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14448318,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0731455162,"cg_vd_v":0.0731455162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362136632,"cg_vq_v":-0.362136632,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6386414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.421143,"values":{"Elec_RPM":-3.79517497e-31,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-7.59034981e-32,"cg_du":50.1510086,"cg_dv":50.1984711,"cg_dw":49.8015289,"cg_id_a":0.0997610763,"cg_id_raw_a":0.00383465737,"cg_iq_a":-0.144108355,"cg_iq_raw_a":-0.0716649294,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9581814,"cg_sample_seq":14448367,"cg_sample_valid":1,"cg_theta_rad":5.00781202,"cg_vd_req_v":0.075646691,"cg_vd_v":0.075646691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354274333,"cg_vq_v":-0.354274333,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6386414,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.428955,"values":{"Elec_RPM":-3.71927141e-31,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-7.43854295e-32,"cg_du":50.147953,"cg_dv":50.2038193,"cg_dw":49.7961807,"cg_id_a":-0.212260291,"cg_id_raw_a":-0.124805361,"cg_iq_a":0.199107438,"cg_iq_raw_a":-0.266167194,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9618187,"cg_sample_seq":14448417,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.0820022374,"cg_vd_v":0.0820022374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361246258,"cg_vq_v":-0.361246258,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1697083,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.436768,"values":{"Elec_RPM":-3.71927141e-31,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-7.43854295e-32,"cg_du":50.1468048,"cg_dv":50.2015724,"cg_dw":49.7984276,"cg_id_a":-0.0113555565,"cg_id_raw_a":-0.375052571,"cg_iq_a":0.135734022,"cg_iq_raw_a":-0.28995505,"cg_iu_a":-0.468636274,"cg_iv_a":-0.764454246,"cg_iw_a":1.23309052,"cg_sample_age_us":23.9363632,"cg_sample_seq":14448466,"cg_sample_valid":1,"cg_theta_rad":5.00821638,"cg_vd_req_v":0.0803372636,"cg_vd_v":0.0803372636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357620448,"cg_vq_v":-0.357620448,"cg_vu_v":29.912693,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.44458,"values":{"Elec_RPM":-3.64488613e-31,"EncoderCos":38747,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-7.28977238e-32,"cg_du":50.1360435,"cg_dv":50.1977348,"cg_dw":49.8022652,"cg_id_a":-0.104345307,"cg_id_raw_a":-0.359562784,"cg_iq_a":-0.482073367,"cg_iq_raw_a":-1.37906301,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.257040501,"cg_iw_a":0.326994658,"cg_sample_age_us":23.8672733,"cg_sample_seq":14448516,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.0836316869,"cg_vd_v":0.0836316869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345582038,"cg_vq_v":-0.345582038,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.452393,"values":{"Elec_RPM":-3.64488613e-31,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-7.28977238e-32,"cg_du":50.1522064,"cg_dv":50.1994705,"cg_dw":49.8005295,"cg_id_a":0.366211027,"cg_id_raw_a":0.118244343,"cg_iq_a":0.153910786,"cg_iq_raw_a":0.703945637,"cg_iu_a":-0.541124105,"cg_iv_a":-0.184552908,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9618187,"cg_sample_seq":14448566,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.0739008561,"cg_vd_v":0.0739008561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356683403,"cg_vq_v":-0.356683403,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6244812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.483643,"values":{"Elec_RPM":-3.57198855e-31,"EncoderCos":38751,"EncoderSin":12475,"GapTicks":54782,"Mech_RPM":-7.14397699e-32,"cg_du":50.1345291,"cg_dv":50.1979485,"cg_dw":49.8020515,"cg_id_a":-0.176138639,"cg_id_raw_a":-0.632625222,"cg_iq_a":-0.298367113,"cg_iq_raw_a":0.453143567,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":26.823637,"cg_sample_seq":14448620,"cg_sample_valid":1,"cg_theta_rad":5.00606966,"cg_vd_req_v":0.0843828693,"cg_vd_v":0.0843828693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345185369,"cg_vq_v":-0.345185369,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.637085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.491455,"values":{"Elec_RPM":-3.57198855e-31,"EncoderCos":38721,"EncoderSin":12455,"GapTicks":54785,"Mech_RPM":-7.14397699e-32,"cg_du":50.1378136,"cg_dv":50.1949959,"cg_dw":49.8050041,"cg_id_a":-0.0229922794,"cg_id_raw_a":-0.387424469,"cg_iq_a":-0.348091751,"cg_iq_raw_a":-0.583683491,"cg_iu_a":0.219996452,"cg_iv_a":0.322860718,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14448666,"cg_sample_valid":1,"cg_theta_rad":5.00723839,"cg_vd_req_v":0.0817613453,"cg_vd_v":0.0817613453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342320561,"cg_vq_v":-0.342320561,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.637085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.499268,"values":{"Elec_RPM":-3.50054883e-31,"EncoderCos":38698,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-7.00109742e-32,"cg_du":50.1412354,"cg_dv":50.1999588,"cg_dw":49.8000412,"cg_id_a":-0.205668911,"cg_id_raw_a":-0.302270174,"cg_iq_a":-0.0291034132,"cg_iq_raw_a":0.0426959023,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065196,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9581814,"cg_sample_seq":14448717,"cg_sample_valid":1,"cg_theta_rad":5.00632858,"cg_vd_req_v":0.085258171,"cg_vd_v":0.085258171,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350658566,"cg_vq_v":-0.350658566,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.50708,"values":{"Elec_RPM":-3.50054883e-31,"EncoderCos":38738,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-7.00109742e-32,"cg_du":50.1463394,"cg_dv":50.1989174,"cg_dw":49.8010826,"cg_id_a":0.236219794,"cg_id_raw_a":0.434594244,"cg_iq_a":-0.0218660682,"cg_iq_raw_a":0.259979337,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14448767,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.0772144198,"cg_vd_v":0.0772144198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352813363,"cg_vq_v":-0.352813363,"cg_vu_v":126.689056,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6402283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.514893,"values":{"Elec_RPM":-3.43053779e-31,"EncoderCos":38691,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-6.86107547e-32,"cg_du":50.1507034,"cg_dv":50.2066727,"cg_dw":49.7933273,"cg_id_a":-0.167285249,"cg_id_raw_a":-0.528961003,"cg_iq_a":0.429890364,"cg_iq_raw_a":0.601594925,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.148309052,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9509087,"cg_sample_seq":14448817,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0850592926,"cg_vd_v":0.0850592926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364958227,"cg_vq_v":-0.364958227,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6244812,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.522705,"values":{"Elec_RPM":-3.43053779e-31,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54778,"Mech_RPM":-6.86107547e-32,"cg_du":50.1370049,"cg_dv":50.2014618,"cg_dw":49.7985382,"cg_id_a":-0.340779722,"cg_id_raw_a":-0.550253928,"cg_iq_a":-0.151731104,"cg_iq_raw_a":-0.418658912,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.8563633,"cg_sample_seq":14448866,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0892926455,"cg_vd_v":0.0892926455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350497961,"cg_vq_v":-0.350497961,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.534424,"values":{"Elec_RPM":-3.36192701e-31,"EncoderCos":38716,"EncoderSin":12453,"GapTicks":54787,"Mech_RPM":-6.72385414e-32,"cg_du":50.1358833,"cg_dv":50.1932602,"cg_dw":49.8067398,"cg_id_a":0.107113935,"cg_id_raw_a":0.151873678,"cg_iq_a":-0.7904706,"cg_iq_raw_a":-0.712510824,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373065,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9836369,"cg_sample_seq":14448917,"cg_sample_valid":1,"cg_theta_rad":5.00667572,"cg_vd_req_v":0.0817650557,"cg_vd_v":0.0817650557,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337746382,"cg_vq_v":-0.337746382,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.542236,"values":{"Elec_RPM":-3.36192701e-31,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-6.72385414e-32,"cg_du":50.1415558,"cg_dv":50.1978188,"cg_dw":49.8021812,"cg_id_a":0.176110685,"cg_id_raw_a":0.538044989,"cg_iq_a":-0.282499671,"cg_iq_raw_a":0.053246785,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14448967,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.081187129,"cg_vd_v":0.081187129,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348345697,"cg_vq_v":-0.348345697,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.550049,"values":{"Elec_RPM":-3.2946885e-31,"EncoderCos":38724,"EncoderSin":12527,"GapTicks":54775,"Mech_RPM":-6.58937699e-32,"cg_du":50.1410866,"cg_dv":50.2039413,"cg_dw":49.7960587,"cg_id_a":-0.138560459,"cg_id_raw_a":0.0207409766,"cg_iq_a":0.141886994,"cg_iq_raw_a":-0.0336695351,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.863636,"cg_sample_seq":14449016,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0861480385,"cg_vd_v":0.0861480385,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35788399,"cg_vq_v":-0.35788399,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6149902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.557861,"values":{"Elec_RPM":-3.2946885e-31,"EncoderCos":38718,"EncoderSin":12478,"GapTicks":54778,"Mech_RPM":-6.58937699e-32,"cg_du":50.144268,"cg_dv":50.2010651,"cg_dw":49.7989349,"cg_id_a":0.0360683538,"cg_id_raw_a":-0.135453627,"cg_iq_a":-0.0868234485,"cg_iq_raw_a":0.0604062043,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9654541,"cg_sample_seq":14449067,"cg_sample_valid":1,"cg_theta_rad":5.00792217,"cg_vd_req_v":0.0822892115,"cg_vd_v":0.0822892115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354267687,"cg_vq_v":-0.354267687,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6149902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.589111,"values":{"Elec_RPM":-3.22879475e-31,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-6.45758938e-32,"cg_du":50.1462135,"cg_dv":50.2018433,"cg_dw":49.7981567,"cg_id_a":0.134831116,"cg_id_raw_a":-0.22926183,"cg_iq_a":0.039653074,"cg_iq_raw_a":-0.056996949,"cg_iu_a":0.401215792,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8709087,"cg_sample_seq":14449120,"cg_sample_valid":1,"cg_theta_rad":5.00694609,"cg_vd_req_v":0.0802272409,"cg_vd_v":0.0802272409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357844323,"cg_vq_v":-0.357844323,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6323547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.596924,"values":{"Elec_RPM":-3.22879475e-31,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-6.45758938e-32,"cg_du":50.149147,"cg_dv":50.2063904,"cg_dw":49.7936096,"cg_id_a":0.0218380094,"cg_id_raw_a":-0.105010584,"cg_iq_a":0.340495318,"cg_iq_raw_a":0.828131199,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528272,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9727268,"cg_sample_seq":14449167,"cg_sample_valid":1,"cg_theta_rad":5.006001,"cg_vd_req_v":0.0832513049,"cg_vd_v":0.0832513049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363168478,"cg_vq_v":-0.363168478,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6323547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.604736,"values":{"Elec_RPM":-3.16421897e-31,"EncoderCos":38715,"EncoderSin":12465,"GapTicks":54781,"Mech_RPM":-6.32843782e-32,"cg_du":50.1394119,"cg_dv":50.1989517,"cg_dw":49.8010483,"cg_id_a":-0.0934395641,"cg_id_raw_a":-0.135548666,"cg_iq_a":-0.326914728,"cg_iq_raw_a":0.0601923577,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796704,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9727268,"cg_sample_seq":14449217,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.084335953,"cg_vd_v":0.084335953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347477227,"cg_vq_v":-0.347477227,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6433716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.612549,"values":{"Elec_RPM":-3.16421897e-31,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-6.32843782e-32,"cg_du":50.1494331,"cg_dv":50.1981583,"cg_dw":49.8018417,"cg_id_a":0.256558567,"cg_id_raw_a":0.398391306,"cg_iq_a":-0.111023605,"cg_iq_raw_a":-1.05149829,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0395776033,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8672733,"cg_sample_seq":14449267,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0769411623,"cg_vd_v":0.0769411623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352883279,"cg_vq_v":-0.352883279,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6149902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.620361,"values":{"Elec_RPM":-3.10093435e-31,"EncoderCos":38738,"EncoderSin":12468,"GapTicks":54776,"Mech_RPM":-6.20186882e-32,"cg_du":50.1565437,"cg_dv":50.2030296,"cg_dw":49.7969704,"cg_id_a":0.391490817,"cg_id_raw_a":0.770365596,"cg_iq_a":0.557351887,"cg_iq_raw_a":2.73046207,"cg_iu_a":-0.287417173,"cg_iv_a":0.214129269,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.8600006,"cg_sample_seq":14449366,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.0733830482,"cg_vd_v":0.0733830482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365219772,"cg_vq_v":-0.365219772,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6607361,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.628174,"values":{"Elec_RPM":-3.03891574e-31,"EncoderCos":38709,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-6.07783124e-32,"cg_du":50.1688423,"cg_dv":50.2023964,"cg_dw":49.7976036,"cg_id_a":0.758943081,"cg_id_raw_a":-0.0278575402,"cg_iq_a":0.570893288,"cg_iq_raw_a":0.0344578177,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14449416,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0649287924,"cg_vd_v":0.0649287924,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369760215,"cg_vq_v":-0.369760215,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6307678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.635986,"values":{"Elec_RPM":-3.03891574e-31,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-6.07783124e-32,"cg_du":50.1528587,"cg_dv":50.2074623,"cg_dw":49.7925377,"cg_id_a":0.0816718936,"cg_id_raw_a":0.0703989863,"cg_iq_a":0.380906165,"cg_iq_raw_a":0.334991187,"cg_iu_a":-1.62843919,"cg_iv_a":0.250373125,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9581814,"cg_sample_seq":14449466,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.0801997185,"cg_vd_v":0.0801997185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36812827,"cg_vq_v":-0.36812827,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6307678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.647705,"values":{"Elec_RPM":-2.97813727e-31,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-5.95627454e-32,"cg_du":50.1476631,"cg_dv":50.2022667,"cg_dw":49.7977333,"cg_id_a":0.162622333,"cg_id_raw_a":0.176482812,"cg_iq_a":-0.200872764,"cg_iq_raw_a":-0.5649212,"cg_iu_a":-1.19351292,"cg_iv_a":0.540323794,"cg_iw_a":0.653189123,"cg_sample_age_us":23.9872723,"cg_sample_seq":14449516,"cg_sample_valid":1,"cg_theta_rad":5.00688171,"cg_vd_req_v":0.0799041092,"cg_vd_v":0.0799041092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358007222,"cg_vq_v":-0.358007222,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.3468323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.655518,"values":{"Elec_RPM":-2.97813727e-31,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-5.95627454e-32,"cg_du":50.1534195,"cg_dv":50.2034569,"cg_dw":49.7965431,"cg_id_a":0.234689206,"cg_id_raw_a":-0.220542222,"cg_iq_a":0.151031822,"cg_iq_raw_a":-0.567370951,"cg_iu_a":-0.323660851,"cg_iv_a":0.359104633,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.8600006,"cg_sample_seq":14449566,"cg_sample_valid":1,"cg_theta_rad":5.00731945,"cg_vd_req_v":0.0779408365,"cg_vd_v":0.0779408365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362547249,"cg_vq_v":-0.362547249,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.682861,"values":{"Elec_RPM":-2.91857427e-31,"EncoderCos":38715,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-5.83714877e-32,"cg_du":50.1556244,"cg_dv":50.2042732,"cg_dw":49.7957268,"cg_id_a":0.269541919,"cg_id_raw_a":-0.56227082,"cg_iq_a":0.209985822,"cg_iq_raw_a":0.964578331,"cg_iu_a":0.111264944,"cg_iv_a":-0.43825984,"cg_iw_a":0.326994896,"cg_sample_age_us":26.8090916,"cg_sample_seq":14449620,"cg_sample_valid":1,"cg_theta_rad":5.00622082,"cg_vd_req_v":0.0774793923,"cg_vd_v":0.0774793923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365950346,"cg_vq_v":-0.365950346,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.690674,"values":{"Elec_RPM":-2.91857427e-31,"EncoderCos":38696,"EncoderSin":12457,"GapTicks":54783,"Mech_RPM":-5.83714877e-32,"cg_du":50.152977,"cg_dv":50.1969452,"cg_dw":49.8030548,"cg_id_a":0.445805341,"cg_id_raw_a":-0.137874201,"cg_iq_a":-0.41291669,"cg_iq_raw_a":-0.122879513,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9618187,"cg_sample_seq":14449668,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.073947072,"cg_vd_v":0.073947072,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354161292,"cg_vq_v":-0.354161292,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.702393,"values":{"Elec_RPM":-2.86020298e-31,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-5.72040573e-32,"cg_du":50.1469498,"cg_dv":50.2060928,"cg_dw":49.7939072,"cg_id_a":-0.041649919,"cg_id_raw_a":0.337442428,"cg_iq_a":0.0234962031,"cg_iq_raw_a":0.833981037,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772128,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14449717,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0842553154,"cg_vd_v":0.0842553154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362796783,"cg_vq_v":-0.362796783,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.710205,"values":{"Elec_RPM":-2.86020298e-31,"EncoderCos":38731,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-5.72040573e-32,"cg_du":50.1545296,"cg_dv":50.210701,"cg_dw":49.789299,"cg_id_a":-0.0159041211,"cg_id_raw_a":0.0242038965,"cg_iq_a":0.655254364,"cg_iq_raw_a":-0.288155586,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015924,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9872723,"cg_sample_seq":14449767,"cg_sample_valid":1,"cg_theta_rad":5.00674534,"cg_vd_req_v":0.082909517,"cg_vd_v":0.082909517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373277307,"cg_vq_v":-0.373277307,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6165771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.718018,"values":{"Elec_RPM":-2.80299896e-31,"EncoderCos":38696,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-5.6059978e-32,"cg_du":50.1572075,"cg_dv":50.2056313,"cg_dw":49.7943687,"cg_id_a":0.125907123,"cg_id_raw_a":0.0479003787,"cg_iq_a":0.395698786,"cg_iq_raw_a":0.115020812,"cg_iu_a":-0.577367783,"cg_iv_a":-0.257040501,"cg_iw_a":0.834408283,"cg_sample_age_us":23.9618187,"cg_sample_seq":14449817,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0783603117,"cg_vd_v":0.0783603117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367357939,"cg_vq_v":-0.367357939,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.405870199,"dclink_p_w":58.5608826,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.72583,"values":{"Elec_RPM":-2.80299896e-31,"EncoderCos":38747,"EncoderSin":12512,"GapTicks":54771,"Mech_RPM":-5.6059978e-32,"cg_du":50.1380653,"cg_dv":50.2074203,"cg_dw":49.7925797,"cg_id_a":-0.388954639,"cg_id_raw_a":-0.370510489,"cg_iq_a":-0.0177287906,"cg_iq_raw_a":0.586517513,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9727268,"cg_sample_seq":14449867,"cg_sample_valid":1,"cg_theta_rad":5.0075736,"cg_vd_req_v":0.0901138857,"cg_vd_v":0.0901138857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360241711,"cg_vq_v":-0.360241711,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.733643,"values":{"Elec_RPM":-2.74693893e-31,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-5.49387797e-32,"cg_du":50.1454582,"cg_dv":50.2011375,"cg_dw":49.7988625,"cg_id_a":0.109493487,"cg_id_raw_a":-0.037913546,"cg_iq_a":-0.298250943,"cg_iq_raw_a":-0.0758163184,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9618187,"cg_sample_seq":14449917,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0820875168,"cg_vd_v":0.0820875168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354881585,"cg_vq_v":-0.354881585,"cg_vu_v":114.811958,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6165771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.741455,"values":{"Elec_RPM":-2.74693893e-31,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-5.49387797e-32,"cg_du":50.1415405,"cg_dv":50.1987877,"cg_dw":49.8012123,"cg_id_a":0.0660411865,"cg_id_raw_a":-0.100350499,"cg_iq_a":-0.547508836,"cg_iq_raw_a":-0.737146974,"cg_iu_a":0.038777113,"cg_iv_a":-0.220796704,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9581814,"cg_sample_seq":14449967,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0818517804,"cg_vd_v":0.0818517804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349722981,"cg_vq_v":-0.349722981,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6165771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.749268,"values":{"Elec_RPM":-2.69200008e-31,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-5.3840004e-32,"cg_du":50.1499481,"cg_dv":50.2035789,"cg_dw":49.7964211,"cg_id_a":0.169481739,"cg_id_raw_a":-0.200941011,"cg_iq_a":0.0262823701,"cg_iq_raw_a":0.0915144756,"cg_iu_a":-0.722343206,"cg_iv_a":-0.293284416,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8600006,"cg_sample_seq":14450016,"cg_sample_valid":1,"cg_theta_rad":5.0070715,"cg_vd_req_v":0.0782293975,"cg_vd_v":0.0782293975,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36131829,"cg_vq_v":-0.36131829,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6339417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.760986,"values":{"Elec_RPM":-2.69200008e-31,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-5.3840004e-32,"cg_du":50.1502762,"cg_dv":50.1999969,"cg_dw":49.8000031,"cg_id_a":0.265419006,"cg_id_raw_a":0.219044864,"cg_iq_a":-0.198895335,"cg_iq_raw_a":-0.123234726,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9581814,"cg_sample_seq":14450066,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.0769338012,"cg_vd_v":0.0769338012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356103331,"cg_vq_v":-0.356103331,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.503728569,"dclink_p_w":72.901947,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.637085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.78833,"values":{"Elec_RPM":-2.63816009e-31,"EncoderCos":38740,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-5.27632042e-32,"cg_du":50.1426773,"cg_dv":50.2076263,"cg_dw":49.7923737,"cg_id_a":-0.339338303,"cg_id_raw_a":-0.641832113,"cg_iq_a":0.160409704,"cg_iq_raw_a":0.0874711275,"cg_iu_a":0.98111701,"cg_iv_a":0.250373125,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.863636,"cg_sample_seq":14450120,"cg_sample_valid":1,"cg_theta_rad":5.00806999,"cg_vd_req_v":0.0878034607,"cg_vd_v":0.0878034607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362811238,"cg_vq_v":-0.362811238,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.509165168,"dclink_p_w":73.6887512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.637085,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.796143,"values":{"Elec_RPM":-2.63816009e-31,"EncoderCos":38702,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-5.27632042e-32,"cg_du":50.157074,"cg_dv":50.2043152,"cg_dw":49.7956848,"cg_id_a":0.150468245,"cg_id_raw_a":-0.507907033,"cg_iq_a":0.09688925,"cg_iq_raw_a":-0.415344805,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0395776033,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9618187,"cg_sample_seq":14450167,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.0769798979,"cg_vd_v":0.0769798979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365540892,"cg_vq_v":-0.365540892,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.509165168,"dclink_p_w":73.6887512,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.627594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.803955,"values":{"Elec_RPM":-2.58539685e-31,"EncoderCos":38707,"EncoderSin":12484,"GapTicks":54770,"Mech_RPM":-5.17079394e-32,"cg_du":50.1521034,"cg_dv":50.208744,"cg_dw":49.791256,"cg_id_a":-0.176272213,"cg_id_raw_a":-0.177223563,"cg_iq_a":-0.0696167648,"cg_iq_raw_a":0.0559672415,"cg_iu_a":-0.39614892,"cg_iv_a":0.177885413,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9690914,"cg_sample_seq":14450267,"cg_sample_valid":1,"cg_theta_rad":5.0078764,"cg_vd_req_v":0.0843761563,"cg_vd_v":0.0843761563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368928313,"cg_vq_v":-0.368928313,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.6750641,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6055603,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.815674,"values":{"Elec_RPM":-2.53368897e-31,"EncoderCos":38717,"EncoderSin":12493,"GapTicks":54770,"Mech_RPM":-5.06737806e-32,"cg_du":50.1467896,"cg_dv":50.2087059,"cg_dw":49.7912941,"cg_id_a":-0.31643939,"cg_id_raw_a":0.100829013,"cg_iq_a":-0.29386133,"cg_iq_raw_a":-0.207910106,"cg_iu_a":0.872385383,"cg_iv_a":-0.329528213,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9836369,"cg_sample_seq":14450317,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0874400735,"cg_vd_v":0.0874400735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366135985,"cg_vq_v":-0.366135985,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.823486,"values":{"Elec_RPM":-2.53368897e-31,"EncoderCos":38741,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-5.06737806e-32,"cg_du":50.1571999,"cg_dv":50.207901,"cg_dw":49.792099,"cg_id_a":0.15393576,"cg_id_raw_a":-0.403639346,"cg_iq_a":-0.00149772037,"cg_iq_raw_a":-0.437578738,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9218178,"cg_sample_seq":14450367,"cg_sample_valid":1,"cg_theta_rad":5.00678921,"cg_vd_req_v":0.0774342716,"cg_vd_v":0.0774342716,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371099353,"cg_vq_v":-0.371099353,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.831299,"values":{"Elec_RPM":-2.48301529e-31,"EncoderCos":38733,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-4.96603046e-32,"cg_du":50.1546326,"cg_dv":50.2118645,"cg_dw":49.7881355,"cg_id_a":-0.0461203493,"cg_id_raw_a":-0.384743035,"cg_iq_a":0.215121821,"cg_iq_raw_a":0.473950535,"cg_iu_a":-0.541123867,"cg_iv_a":-0.112065196,"cg_iw_a":0.653189063,"cg_sample_age_us":23.9327278,"cg_sample_seq":14450417,"cg_sample_valid":1,"cg_theta_rad":5.00932932,"cg_vd_req_v":0.0836633444,"cg_vd_v":0.0836633444,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374986321,"cg_vq_v":-0.374986321,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6291809,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.839111,"values":{"Elec_RPM":-2.48301529e-31,"EncoderCos":38743,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-4.96603046e-32,"cg_du":50.1495094,"cg_dv":50.2064781,"cg_dw":49.7935219,"cg_id_a":0.0549785942,"cg_id_raw_a":0.711658895,"cg_iq_a":-0.378076464,"cg_iq_raw_a":-0.00719609763,"cg_iu_a":0.183752537,"cg_iv_a":0.612811446,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9618187,"cg_sample_seq":14450466,"cg_sample_valid":1,"cg_theta_rad":5.00643015,"cg_vd_req_v":0.0807893425,"cg_vd_v":0.0807893425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363996536,"cg_vq_v":-0.363996536,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.8529048,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.846924,"values":{"Elec_RPM":-2.43335489e-31,"EncoderCos":38750,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-4.86670971e-32,"cg_du":50.1454926,"cg_dv":50.2093239,"cg_dw":49.7906761,"cg_id_a":-0.205990136,"cg_id_raw_a":0.380010664,"cg_iq_a":-0.0283822194,"cg_iq_raw_a":-0.29260847,"cg_iu_a":0.147508621,"cg_iv_a":-0.438259721,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9327278,"cg_sample_seq":14450517,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0862026587,"cg_vd_v":0.0862026587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36575979,"cg_vq_v":-0.36575979,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2616.854736,"values":{"Elec_RPM":-2.43335489e-31,"EncoderCos":38768,"EncoderSin":12499,"GapTicks":54769,"Mech_RPM":-4.86670971e-32,"cg_du":50.1402969,"cg_dv":50.2097511,"cg_dw":49.7902489,"cg_id_a":-0.392979681,"cg_id_raw_a":-0.0512657315,"cg_iq_a":0.106928416,"cg_iq_raw_a":0.0692058131,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0758213401,"cg_iw_a":0.58070153,"cg_sample_age_us":23.8563633,"cg_sample_seq":14450566,"cg_sample_valid":1,"cg_theta_rad":5.00627995,"cg_vd_req_v":0.0894494578,"cg_vd_v":0.0894494578,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366125107,"cg_vq_v":-0.366125107,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6181641,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.885986,"values":{"Elec_RPM":-2.33699397e-31,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-4.673988e-32,"cg_du":50.1444244,"cg_dv":50.2073441,"cg_dw":49.7926559,"cg_id_a":-0.312444061,"cg_id_raw_a":-0.354486465,"cg_iq_a":0.235243157,"cg_iq_raw_a":-0.506323814,"cg_iu_a":0.256240129,"cg_iv_a":-0.329528213,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8600006,"cg_sample_seq":14450716,"cg_sample_valid":1,"cg_theta_rad":5.00891066,"cg_vd_req_v":0.0879825726,"cg_vd_v":0.0879825726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365294486,"cg_vq_v":-0.365294486,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.61026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2616.893799,"values":{"Elec_RPM":-2.33699397e-31,"EncoderCos":38729,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-4.673988e-32,"cg_du":50.1437836,"cg_dv":50.203289,"cg_dw":49.796711,"cg_id_a":-0.161638916,"cg_id_raw_a":0.267140061,"cg_iq_a":-0.216175094,"cg_iq_raw_a":-0.628955603,"cg_iu_a":0.14750886,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14450766,"cg_sample_valid":1,"cg_theta_rad":5.00637579,"cg_vd_req_v":0.0842081681,"cg_vd_v":0.0842081681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357165873,"cg_vq_v":-0.357165873,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.61026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.901611,"values":{"Elec_RPM":-2.2902542e-31,"EncoderCos":38725,"EncoderSin":12519,"GapTicks":54772,"Mech_RPM":-4.58050828e-32,"cg_du":50.1503143,"cg_dv":50.2064323,"cg_dw":49.7935677,"cg_id_a":0.00649834052,"cg_id_raw_a":-0.104258329,"cg_iq_a":0.128274918,"cg_iq_raw_a":-0.0453160703,"cg_iu_a":0.292484283,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9290905,"cg_sample_seq":14450816,"cg_sample_valid":1,"cg_theta_rad":5.00828791,"cg_vd_req_v":0.0811486766,"cg_vd_v":0.0811486766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365317255,"cg_vq_v":-0.365317255,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6228943,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.909424,"values":{"Elec_RPM":-2.2902542e-31,"EncoderCos":38703,"EncoderSin":12489,"GapTicks":54779,"Mech_RPM":-4.58050828e-32,"cg_du":50.1459503,"cg_dv":50.2006721,"cg_dw":49.7993279,"cg_id_a":0.0660312921,"cg_id_raw_a":-0.269649804,"cg_iq_a":-0.330383956,"cg_iq_raw_a":-1.11903393,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14450866,"cg_sample_valid":1,"cg_theta_rad":5.00807667,"cg_vd_req_v":0.0815286487,"cg_vd_v":0.0815286487,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354461938,"cg_vq_v":-0.354461938,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.917236,"values":{"Elec_RPM":-2.24444918e-31,"EncoderCos":38722,"EncoderSin":12486,"GapTicks":54774,"Mech_RPM":-4.48889819e-32,"cg_du":50.1531715,"cg_dv":50.2054176,"cg_dw":49.7945824,"cg_id_a":0.218035862,"cg_id_raw_a":0.0972360671,"cg_iq_a":0.0490839854,"cg_iq_raw_a":0.483503789,"cg_iu_a":0.0387773514,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14450916,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0790000781,"cg_vd_v":0.0790000781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365293711,"cg_vq_v":-0.365293711,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.928955,"values":{"Elec_RPM":-2.24444918e-31,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-4.48889819e-32,"cg_du":50.1465797,"cg_dv":50.2039986,"cg_dw":49.7960014,"cg_id_a":-0.0236874372,"cg_id_raw_a":-0.472352654,"cg_iq_a":-0.221059501,"cg_iq_raw_a":0.282663435,"cg_iu_a":0.79989779,"cg_iv_a":0.0329101086,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9509087,"cg_sample_seq":14450966,"cg_sample_valid":1,"cg_theta_rad":5.00800514,"cg_vd_req_v":0.0831232071,"cg_vd_v":0.0831232071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359596252,"cg_vq_v":-0.359596252,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.61026,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.936768,"values":{"Elec_RPM":-2.19956011e-31,"EncoderCos":38723,"EncoderSin":12445,"GapTicks":54777,"Mech_RPM":-4.3991201e-32,"cg_du":50.1552544,"cg_dv":50.2019234,"cg_dw":49.7980766,"cg_id_a":0.3610906,"cg_id_raw_a":0.590875626,"cg_iq_a":-0.291586041,"cg_iq_raw_a":-0.268588513,"cg_iu_a":-0.323661089,"cg_iv_a":0.540323794,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9618187,"cg_sample_seq":14451016,"cg_sample_valid":1,"cg_theta_rad":5.0073185,"cg_vd_req_v":0.0751368627,"cg_vd_v":0.0751368627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362611413,"cg_vq_v":-0.362611413,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.0997313261,"dclink_p_w":-14.4774532,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2616.94458,"values":{"Elec_RPM":-2.19956011e-31,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-4.3991201e-32,"cg_du":50.1650085,"cg_dv":50.2109718,"cg_dw":49.7890282,"cg_id_a":0.348547935,"cg_id_raw_a":0.797295094,"cg_iq_a":0.473263711,"cg_iq_raw_a":-0.428214192,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14451066,"cg_sample_valid":1,"cg_theta_rad":5.00643778,"cg_vd_req_v":0.0771166012,"cg_vd_v":0.0771166012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379075527,"cg_vq_v":-0.379075527,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2616.951332,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2616.951338,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2616.951343,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2616.971924,"values":{"Elec_RPM":-2.15556888e-31,"EncoderCos":38750,"EncoderSin":12492,"GapTicks":54764,"Mech_RPM":-4.31113758e-32,"cg_du":50.157753,"cg_dv":50.2143898,"cg_dw":49.7856102,"cg_id_a":0.109874792,"cg_id_raw_a":0.0705000833,"cg_iq_a":0.374165952,"cg_iq_raw_a":-0.356779069,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.863636,"cg_sample_seq":14451121,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.0815289468,"cg_vd_v":0.0815289468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380633265,"cg_vq_v":-0.380633265,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.979736,"values":{"Elec_RPM":-2.15556888e-31,"EncoderCos":38730,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-4.31113758e-32,"cg_du":50.1482544,"cg_dv":50.2065849,"cg_dw":49.7934151,"cg_id_a":-0.134864077,"cg_id_raw_a":-0.284649551,"cg_iq_a":-0.422134459,"cg_iq_raw_a":0.0826229826,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14451167,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0840345249,"cg_vd_v":0.0840345249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364120603,"cg_vq_v":-0.364120603,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.991455,"values":{"Elec_RPM":-2.11245739e-31,"EncoderCos":38692,"EncoderSin":12465,"GapTicks":54768,"Mech_RPM":-4.22491478e-32,"cg_du":50.158844,"cg_dv":50.2108688,"cg_dw":49.7891312,"cg_id_a":-0.153536692,"cg_id_raw_a":-0.728437304,"cg_iq_a":0.0386036038,"cg_iq_raw_a":-0.913505077,"cg_iu_a":-0.287417412,"cg_iv_a":0.250373125,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9581814,"cg_sample_seq":14451216,"cg_sample_valid":1,"cg_theta_rad":5.00655842,"cg_vd_req_v":0.0829355642,"cg_vd_v":0.0829355642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375218898,"cg_vq_v":-0.375218898,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.4866409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2616.999268,"values":{"Elec_RPM":-2.11245739e-31,"EncoderCos":38722,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-4.22491478e-32,"cg_du":50.1506042,"cg_dv":50.2081413,"cg_dw":49.7918587,"cg_id_a":-0.192414016,"cg_id_raw_a":-0.0862853304,"cg_iq_a":-0.375884771,"cg_iq_raw_a":-0.444573343,"cg_iu_a":0.00253343582,"cg_iv_a":0.685299098,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9327278,"cg_sample_seq":14451266,"cg_sample_valid":1,"cg_theta_rad":5.00527716,"cg_vd_req_v":0.0840636641,"cg_vd_v":0.0840636641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367473125,"cg_vq_v":-0.367473125,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.639764309,"dclink_p_w":-92.5896683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.00708,"values":{"Elec_RPM":-2.07020824e-31,"EncoderCos":38703,"EncoderSin":12435,"GapTicks":54768,"Mech_RPM":-4.14041642e-32,"cg_du":50.1657372,"cg_dv":50.2108917,"cg_dw":49.7891083,"cg_id_a":0.107555032,"cg_id_raw_a":-0.0696435794,"cg_iq_a":0.220556378,"cg_iq_raw_a":0.0299942959,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14451317,"cg_sample_valid":1,"cg_theta_rad":5.00785875,"cg_vd_req_v":0.077645123,"cg_vd_v":0.077645123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380343914,"cg_vq_v":-0.380343914,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.677820444,"dclink_p_w":-98.0973282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1939697,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.014893,"values":{"Elec_RPM":-2.07020824e-31,"EncoderCos":38723,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-4.14041642e-32,"cg_du":50.1609612,"cg_dv":50.2062988,"cg_dw":49.7937012,"cg_id_a":0.324386656,"cg_id_raw_a":0.305502146,"cg_iq_a":-0.305010617,"cg_iq_raw_a":-0.370333999,"cg_iu_a":0.0387773514,"cg_iv_a":1.12022519,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9254551,"cg_sample_seq":14451366,"cg_sample_valid":1,"cg_theta_rad":5.00661421,"cg_vd_req_v":0.0737274662,"cg_vd_v":0.0737274662,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370857894,"cg_vq_v":-0.370857894,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.026611,"values":{"Elec_RPM":-2.02880404e-31,"EncoderCos":38724,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-4.05760813e-32,"cg_du":50.1613884,"cg_dv":50.2066116,"cg_dw":49.7933884,"cg_id_a":0.276454926,"cg_id_raw_a":-0.128415495,"cg_iq_a":-0.281682253,"cg_iq_raw_a":-0.0116429534,"cg_iu_a":-0.14244175,"cg_iv_a":0.57656759,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.8781815,"cg_sample_seq":14451416,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.0739692226,"cg_vd_v":0.0739692226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371468872,"cg_vq_v":-0.371468872,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.034424,"values":{"Elec_RPM":-2.02880404e-31,"EncoderCos":38703,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-4.05760813e-32,"cg_du":50.1537819,"cg_dv":50.2058105,"cg_dw":49.7941895,"cg_id_a":-0.0522872359,"cg_id_raw_a":-0.12568514,"cg_iq_a":-0.505585968,"cg_iq_raw_a":-1.06856227,"cg_iu_a":0.836141586,"cg_iv_a":-0.474503636,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9872723,"cg_sample_seq":14451466,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.0810382962,"cg_vd_v":0.0810382962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365707785,"cg_vq_v":-0.365707785,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.042236,"values":{"Elec_RPM":-1.98822809e-31,"EncoderCos":38717,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.97645612e-32,"cg_du":50.1637497,"cg_dv":50.2094536,"cg_dw":49.7905464,"cg_id_a":0.1723928,"cg_id_raw_a":0.216293231,"cg_iq_a":0.144843161,"cg_iq_raw_a":-0.305453509,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14451516,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0758870244,"cg_vd_v":0.0758870244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376456499,"cg_vq_v":-0.376456499,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6149902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.050049,"values":{"Elec_RPM":-1.98822809e-31,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54772,"Mech_RPM":-3.97645612e-32,"cg_du":50.1579781,"cg_dv":50.2071915,"cg_dw":49.7928085,"cg_id_a":0.104144223,"cg_id_raw_a":0.101315431,"cg_iq_a":0.0213205963,"cg_iq_raw_a":-0.207673311,"cg_iu_a":0.582434893,"cg_iv_a":-0.25704062,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14451566,"cg_sample_valid":1,"cg_theta_rad":5.00635004,"cg_vd_req_v":0.0782903731,"cg_vd_v":0.0782903731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371291846,"cg_vq_v":-0.371291846,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6149902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.077393,"values":{"Elec_RPM":-1.94846347e-31,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.89692687e-32,"cg_du":50.162941,"cg_dv":50.2066536,"cg_dw":49.7933464,"cg_id_a":0.361585498,"cg_id_raw_a":-0.267398745,"cg_iq_a":0.333535284,"cg_iq_raw_a":-0.316108942,"cg_iu_a":-0.39614892,"cg_iv_a":-0.329528213,"cg_iw_a":0.725677133,"cg_sample_age_us":26.8199997,"cg_sample_seq":14451621,"cg_sample_valid":1,"cg_theta_rad":5.00662184,"cg_vd_req_v":0.0723993778,"cg_vd_v":0.0723993778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372476131,"cg_vq_v":-0.372476131,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6039734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.085205,"values":{"Elec_RPM":-1.94846347e-31,"EncoderCos":38702,"EncoderSin":12465,"GapTicks":54774,"Mech_RPM":-3.89692687e-32,"cg_du":50.1525497,"cg_dv":50.2052841,"cg_dw":49.7947159,"cg_id_a":-0.028052669,"cg_id_raw_a":-0.057449162,"cg_iq_a":0.0347252041,"cg_iq_raw_a":0.322825372,"cg_iu_a":0.14750886,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9581814,"cg_sample_seq":14451667,"cg_sample_valid":1,"cg_theta_rad":5.00671816,"cg_vd_req_v":0.0815411508,"cg_vd_v":0.0815411508,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364283651,"cg_vq_v":-0.364283651,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.690505743,"dclink_p_w":-100.236954,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.093018,"values":{"Elec_RPM":-1.90949418e-31,"EncoderCos":38709,"EncoderSin":12453,"GapTicks":54780,"Mech_RPM":-3.81898836e-32,"cg_du":50.142952,"cg_dv":50.1996536,"cg_dw":49.8003464,"cg_id_a":-0.0811602026,"cg_id_raw_a":0.322077185,"cg_iq_a":-0.451989025,"cg_iq_raw_a":-0.512960911,"cg_iu_a":0.256240368,"cg_iv_a":-0.619478941,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9581814,"cg_sample_seq":14451717,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.0832728818,"cg_vd_v":0.0832728818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351297945,"cg_vq_v":-0.351297945,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-111.997581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.104736,"values":{"Elec_RPM":-1.90949418e-31,"EncoderCos":38715,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-3.81898836e-32,"cg_du":50.1482506,"cg_dv":50.2033195,"cg_dw":49.7966805,"cg_id_a":0.098238118,"cg_id_raw_a":-0.179574326,"cg_iq_a":0.155497983,"cg_iq_raw_a":-0.563028038,"cg_iu_a":0.582434893,"cg_iv_a":0.250373125,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.9254551,"cg_sample_seq":14451766,"cg_sample_valid":1,"cg_theta_rad":5.00761318,"cg_vd_req_v":0.0814256594,"cg_vd_v":0.0814256594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359550476,"cg_vq_v":-0.359550476,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-111.997581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6071167,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.112549,"values":{"Elec_RPM":-1.87130425e-31,"EncoderCos":38736,"EncoderSin":12486,"GapTicks":54763,"Mech_RPM":-3.74260856e-32,"cg_du":50.1569366,"cg_dv":50.2146225,"cg_dw":49.7853775,"cg_id_a":-0.0964009911,"cg_id_raw_a":0.851652741,"cg_iq_a":1.12829149,"cg_iq_raw_a":1.42680836,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14451816,"cg_sample_valid":1,"cg_theta_rad":5.00703955,"cg_vd_req_v":0.0837657377,"cg_vd_v":0.0837657377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380199879,"cg_vq_v":-0.380199879,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-111.997581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6008301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.120361,"values":{"Elec_RPM":-1.87130425e-31,"EncoderCos":38719,"EncoderSin":12466,"GapTicks":54775,"Mech_RPM":-3.74260856e-32,"cg_du":50.160675,"cg_dv":50.204464,"cg_dw":49.795536,"cg_id_a":0.423491627,"cg_id_raw_a":0.0745423511,"cg_iq_a":0.461373508,"cg_iq_raw_a":-0.79307574,"cg_iu_a":0.256240368,"cg_iv_a":0.39534843,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9618187,"cg_sample_seq":14451866,"cg_sample_valid":1,"cg_theta_rad":5.00686741,"cg_vd_req_v":0.0729376003,"cg_vd_v":0.0729376003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368053138,"cg_vq_v":-0.368053138,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-111.997581,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6008301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.13208,"values":{"Elec_RPM":-1.83387816e-31,"EncoderCos":38749,"EncoderSin":12444,"GapTicks":54781,"Mech_RPM":-3.66775631e-32,"cg_du":50.1485023,"cg_dv":50.1985512,"cg_dw":49.8014488,"cg_id_a":0.348448932,"cg_id_raw_a":0.276052386,"cg_iq_a":-0.0751044154,"cg_iq_raw_a":-0.519541621,"cg_iu_a":-1.55595136,"cg_iv_a":0.431592226,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9872723,"cg_sample_seq":14451916,"cg_sample_valid":1,"cg_theta_rad":5.00880146,"cg_vd_req_v":0.0750851035,"cg_vd_v":0.0750851035,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354655117,"cg_vq_v":-0.354655117,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.574525595,"dclink_p_w":-83.1480179,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5929565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.139893,"values":{"Elec_RPM":-1.83387816e-31,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-3.66775631e-32,"cg_du":50.1452179,"cg_dv":50.2042465,"cg_dw":49.7957535,"cg_id_a":-0.185478359,"cg_id_raw_a":-0.103820123,"cg_iq_a":0.301973283,"cg_iq_raw_a":-0.482626677,"cg_iu_a":-0.831074715,"cg_iv_a":-0.112065196,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9872723,"cg_sample_seq":14451966,"cg_sample_valid":1,"cg_theta_rad":5.00745487,"cg_vd_req_v":0.0846011117,"cg_vd_v":0.0846011117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360284775,"cg_vq_v":-0.360284775,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5929565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.147705,"values":{"Elec_RPM":-1.7972005e-31,"EncoderCos":38695,"EncoderSin":12448,"GapTicks":54782,"Mech_RPM":-3.59440106e-32,"cg_du":50.1450272,"cg_dv":50.197628,"cg_dw":49.802372,"cg_id_a":-0.0412697643,"cg_id_raw_a":-0.158607408,"cg_iq_a":-0.0860111117,"cg_iq_raw_a":0.275690526,"cg_iu_a":0.509947062,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.954546,"cg_sample_seq":14452016,"cg_sample_valid":1,"cg_theta_rad":5.00851536,"cg_vd_req_v":0.0811448693,"cg_vd_v":0.0811448693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350500375,"cg_vq_v":-0.350500375,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.3049316,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.602417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.155518,"values":{"Elec_RPM":-1.7972005e-31,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54785,"Mech_RPM":-3.59440106e-32,"cg_du":50.1328697,"cg_dv":50.195118,"cg_dw":49.804882,"cg_id_a":-0.300236583,"cg_id_raw_a":-0.22203432,"cg_iq_a":-0.502566755,"cg_iq_raw_a":-0.130012393,"cg_iu_a":0.654922485,"cg_iv_a":0.0329101086,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.863636,"cg_sample_seq":14452066,"cg_sample_valid":1,"cg_theta_rad":5.00660038,"cg_vd_req_v":0.085276939,"cg_vd_v":0.085276939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339830965,"cg_vq_v":-0.339830965,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.182861,"values":{"Elec_RPM":-1.76125659e-31,"EncoderCos":38725,"EncoderSin":12492,"GapTicks":54780,"Mech_RPM":-3.52251311e-32,"cg_du":50.1414452,"cg_dv":50.1991882,"cg_dw":49.8008118,"cg_id_a":-0.215294197,"cg_id_raw_a":0.0117396722,"cg_iq_a":9.32940748e-06,"cg_iq_raw_a":1.16695559,"cg_iu_a":-0.0337102413,"cg_iv_a":0.57656765,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9509087,"cg_sample_seq":14452121,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0815350711,"cg_vd_v":0.0815350711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349278629,"cg_vq_v":-0.349278629,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2617.190674,"values":{"Elec_RPM":-1.76125659e-31,"EncoderCos":38719,"EncoderSin":12451,"GapTicks":54782,"Mech_RPM":-3.52251311e-32,"cg_du":50.1519699,"cg_dv":50.19767,"cg_dw":49.80233,"cg_id_a":0.134970129,"cg_id_raw_a":0.068425335,"cg_iq_a":0.19636336,"cg_iq_raw_a":0.335399896,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14452166,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.073517561,"cg_vd_v":0.073517561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35385403,"cg_vq_v":-0.35385403,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.202393,"values":{"Elec_RPM":-1.72603137e-31,"EncoderCos":38698,"EncoderSin":12475,"GapTicks":54791,"Mech_RPM":-3.4520628e-32,"cg_du":50.1404877,"cg_dv":50.1895599,"cg_dw":49.8104401,"cg_id_a":0.0869103,"cg_id_raw_a":0.680519879,"cg_iq_a":-0.481766373,"cg_iq_raw_a":-1.13176799,"cg_iu_a":0.364971757,"cg_iv_a":0.540323794,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9327278,"cg_sample_seq":14452216,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0758951381,"cg_vd_v":0.0758951381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33717218,"cg_vq_v":-0.33717218,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.210205,"values":{"Elec_RPM":-1.72603137e-31,"EncoderCos":38726,"EncoderSin":12469,"GapTicks":54784,"Mech_RPM":-3.4520628e-32,"cg_du":50.1433258,"cg_dv":50.1959267,"cg_dw":49.8040733,"cg_id_a":-0.0175913032,"cg_id_raw_a":-0.034822844,"cg_iq_a":0.144591987,"cg_iq_raw_a":0.543626249,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9327278,"cg_sample_seq":14452266,"cg_sample_valid":1,"cg_theta_rad":5.00449467,"cg_vd_req_v":0.0778510943,"cg_vd_v":0.0778510943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347901165,"cg_vq_v":-0.347901165,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.218018,"values":{"Elec_RPM":-1.69151075e-31,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54788,"Mech_RPM":-3.38302161e-32,"cg_du":50.1432838,"cg_dv":50.1926346,"cg_dw":49.8073654,"cg_id_a":0.100803308,"cg_id_raw_a":-0.204454333,"cg_iq_a":-0.165191442,"cg_iq_raw_a":-0.0924869329,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9618187,"cg_sample_seq":14452316,"cg_sample_valid":1,"cg_theta_rad":5.00988436,"cg_vd_req_v":0.0758714676,"cg_vd_v":0.0758714676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343122184,"cg_vq_v":-0.343122184,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.22583,"values":{"Elec_RPM":-1.69151075e-31,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54787,"Mech_RPM":-3.38302161e-32,"cg_du":50.1388283,"cg_dv":50.1931686,"cg_dw":49.8068314,"cg_id_a":-0.0344810076,"cg_id_raw_a":0.642576993,"cg_iq_a":-0.439456999,"cg_iq_raw_a":-0.592449427,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333374739,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9763641,"cg_sample_seq":14452366,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0785734579,"cg_vd_v":0.0785734579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340553939,"cg_vq_v":-0.340553939,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.233643,"values":{"Elec_RPM":-1.65768049e-31,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-3.31536103e-32,"cg_du":50.1383667,"cg_dv":50.1910744,"cg_dw":49.8089256,"cg_id_a":-0.00444974005,"cg_id_raw_a":-0.241115242,"cg_iq_a":-0.64568311,"cg_iq_raw_a":-0.351567268,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9654541,"cg_sample_seq":14452416,"cg_sample_valid":1,"cg_theta_rad":5.00563049,"cg_vd_req_v":0.0785126314,"cg_vd_v":0.0785126314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337071925,"cg_vq_v":-0.337071925,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5913696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.245361,"values":{"Elec_RPM":-1.65768049e-31,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-3.31536103e-32,"cg_du":50.1368828,"cg_dv":50.1957588,"cg_dw":49.8042412,"cg_id_a":-0.141634151,"cg_id_raw_a":-0.0735438913,"cg_iq_a":-0.286113232,"cg_iq_raw_a":-1.20828795,"cg_iu_a":0.654922485,"cg_iv_a":0.10539782,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9581814,"cg_sample_seq":14452466,"cg_sample_valid":1,"cg_theta_rad":5.008286,"cg_vd_req_v":0.0832271054,"cg_vd_v":0.0832271054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342834979,"cg_vq_v":-0.342834979,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.253174,"values":{"Elec_RPM":-1.62452685e-31,"EncoderCos":38715,"EncoderSin":12443,"GapTicks":54779,"Mech_RPM":-3.24905375e-32,"cg_du":50.1359596,"cg_dv":50.2000999,"cg_dw":49.7999001,"cg_id_a":-0.322435379,"cg_id_raw_a":-0.328629941,"cg_iq_a":0.0876995325,"cg_iq_raw_a":0.514092922,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14452516,"cg_sample_valid":1,"cg_theta_rad":5.00723553,"cg_vd_req_v":0.0889411047,"cg_vd_v":0.0889411047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348016411,"cg_vq_v":-0.348016411,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.260986,"values":{"Elec_RPM":-1.62452685e-31,"EncoderCos":38726,"EncoderSin":12470,"GapTicks":54784,"Mech_RPM":-3.24905375e-32,"cg_du":50.1329536,"cg_dv":50.195549,"cg_dw":49.804451,"cg_id_a":-0.146669358,"cg_id_raw_a":-0.364456624,"cg_iq_a":-0.250721216,"cg_iq_raw_a":-0.179976374,"cg_iu_a":0.219996452,"cg_iv_a":0.431592226,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14452566,"cg_sample_valid":1,"cg_theta_rad":5.00583076,"cg_vd_req_v":0.0853722617,"cg_vd_v":0.0853722617,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340525329,"cg_vq_v":-0.340525329,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6134338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.28833,"values":{"Elec_RPM":-1.59203642e-31,"EncoderCos":38734,"EncoderSin":12470,"GapTicks":54779,"Mech_RPM":-3.18407272e-32,"cg_du":50.1443787,"cg_dv":50.2006264,"cg_dw":49.7993736,"cg_id_a":0.0673648193,"cg_id_raw_a":-0.300486058,"cg_iq_a":0.404530883,"cg_iq_raw_a":0.918932676,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8672733,"cg_sample_seq":14452622,"cg_sample_valid":1,"cg_theta_rad":5.00658798,"cg_vd_req_v":0.0806825012,"cg_vd_v":0.0806825012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353983164,"cg_vq_v":-0.353983164,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6008301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.300049,"values":{"Elec_RPM":-1.59203642e-31,"EncoderCos":38731,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-3.18407272e-32,"cg_du":50.1398163,"cg_dv":50.1977654,"cg_dw":49.8022346,"cg_id_a":0.0464140102,"cg_id_raw_a":0.452996939,"cg_iq_a":0.0238080565,"cg_iq_raw_a":0.735016227,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397761,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9472733,"cg_sample_seq":14452667,"cg_sample_valid":1,"cg_theta_rad":5.00838423,"cg_vd_req_v":0.0812829211,"cg_vd_v":0.0812829211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347587734,"cg_vq_v":-0.347587734,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6008301,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.307861,"values":{"Elec_RPM":-1.56019557e-31,"EncoderCos":38738,"EncoderSin":12492,"GapTicks":54786,"Mech_RPM":-3.12039119e-32,"cg_du":50.1415863,"cg_dv":50.1941757,"cg_dw":49.8058243,"cg_id_a":0.168195248,"cg_id_raw_a":0.521461606,"cg_iq_a":-0.0383024886,"cg_iq_raw_a":-0.679107368,"cg_iu_a":-0.14244175,"cg_iv_a":0.504079938,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9763641,"cg_sample_seq":14452716,"cg_sample_valid":1,"cg_theta_rad":5.00813198,"cg_vd_req_v":0.0757981837,"cg_vd_v":0.0757981837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343818784,"cg_vq_v":-0.343818784,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.315674,"values":{"Elec_RPM":-1.56019557e-31,"EncoderCos":38711,"EncoderSin":12451,"GapTicks":54771,"Mech_RPM":-3.12039119e-32,"cg_du":50.1409607,"cg_dv":50.2074051,"cg_dw":49.7925949,"cg_id_a":-0.649536967,"cg_id_raw_a":-0.0377935432,"cg_iq_a":0.715312183,"cg_iq_raw_a":-0.0758762807,"cg_iu_a":0.401215553,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8745461,"cg_sample_seq":14452766,"cg_sample_valid":1,"cg_theta_rad":5.00867748,"cg_vd_req_v":0.0922893286,"cg_vd_v":0.0922893286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360710651,"cg_vq_v":-0.360710651,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.323486,"values":{"Elec_RPM":-1.5289916e-31,"EncoderCos":38729,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-3.05798331e-32,"cg_du":50.1415138,"cg_dv":50.19133,"cg_dw":49.80867,"cg_id_a":0.291818678,"cg_id_raw_a":0.120870627,"cg_iq_a":-0.379719794,"cg_iq_raw_a":-0.424624354,"cg_iu_a":-0.142441988,"cg_iv_a":0.975249767,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9836369,"cg_sample_seq":14452816,"cg_sample_valid":1,"cg_theta_rad":5.00557613,"cg_vd_req_v":0.0739701912,"cg_vd_v":0.0739701912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339708835,"cg_vq_v":-0.339708835,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5787659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.331299,"values":{"Elec_RPM":-1.49841182e-31,"EncoderCos":38702,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-2.99682352e-32,"cg_du":50.150631,"cg_dv":50.2042847,"cg_dw":49.7957153,"cg_id_a":0.0591483861,"cg_id_raw_a":0.0132267512,"cg_iq_a":0.398024201,"cg_iq_raw_a":-0.580714762,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9327278,"cg_sample_seq":14452916,"cg_sample_valid":1,"cg_theta_rad":5.00712824,"cg_vd_req_v":0.0818902552,"cg_vd_v":0.0818902552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363039374,"cg_vq_v":-0.363039374,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.478479385,"dclink_p_w":-69.4582443,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.6118469,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.339111,"values":{"Elec_RPM":-1.49841182e-31,"EncoderCos":38739,"EncoderSin":12516,"GapTicks":54777,"Mech_RPM":-2.99682352e-32,"cg_du":50.148304,"cg_dv":50.20187,"cg_dw":49.79813,"cg_id_a":0.306248128,"cg_id_raw_a":0.373641729,"cg_iq_a":0.0937130004,"cg_iq_raw_a":-0.220227033,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0758213997,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9836369,"cg_sample_seq":14452966,"cg_sample_valid":1,"cg_theta_rad":5.00855494,"cg_vd_req_v":0.0772541538,"cg_vd_v":0.0772541538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3582066,"cg_vq_v":-0.3582066,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6039734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.346924,"values":{"Elec_RPM":-1.46844353e-31,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-2.93688712e-32,"cg_du":50.1444054,"cg_dv":50.1995506,"cg_dw":49.8004494,"cg_id_a":0.0776462331,"cg_id_raw_a":0.405898005,"cg_iq_a":0.026431039,"cg_iq_raw_a":0.11376629,"cg_iu_a":0.147508621,"cg_iv_a":0.57656759,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9509087,"cg_sample_seq":14453017,"cg_sample_valid":1,"cg_theta_rad":5.00595379,"cg_vd_req_v":0.0811146051,"cg_vd_v":0.0811146051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352189898,"cg_vq_v":-0.352189898,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.3212738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.358643,"values":{"Elec_RPM":-1.46844353e-31,"EncoderCos":38717,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-2.93688712e-32,"cg_du":50.1535263,"cg_dv":50.2017784,"cg_dw":49.7982216,"cg_id_a":0.28275001,"cg_id_raw_a":0.350312293,"cg_iq_a":0.34655875,"cg_iq_raw_a":0.25347653,"cg_iu_a":0.219996452,"cg_iv_a":-0.546991229,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14453067,"cg_sample_valid":1,"cg_theta_rad":5.00694895,"cg_vd_req_v":0.0756752118,"cg_vd_v":0.0756752118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360442877,"cg_vq_v":-0.360442877,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.3212738,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.619751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.366455,"values":{"Elec_RPM":-1.43907474e-31,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-2.87814943e-32,"cg_du":50.1567574,"cg_dv":50.2045784,"cg_dw":49.7954216,"cg_id_a":0.222659826,"cg_id_raw_a":-0.100295767,"cg_iq_a":0.47808519,"cg_iq_raw_a":-0.300290227,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9254551,"cg_sample_seq":14453117,"cg_sample_valid":1,"cg_theta_rad":5.0068655,"cg_vd_req_v":0.0758097842,"cg_vd_v":0.0758097842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366069734,"cg_vq_v":-0.366069734,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.393799,"values":{"Elec_RPM":-1.43907474e-31,"EncoderCos":38762,"EncoderSin":12466,"GapTicks":54776,"Mech_RPM":-2.87814943e-32,"cg_du":50.1468582,"cg_dv":50.203434,"cg_dw":49.796566,"cg_id_a":-0.0155960992,"cg_id_raw_a":-0.311041325,"cg_iq_a":0.128322288,"cg_iq_raw_a":0.628232241,"cg_iu_a":-0.468636274,"cg_iv_a":0.721542954,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9836369,"cg_sample_seq":14453169,"cg_sample_valid":1,"cg_theta_rad":5.00719023,"cg_vd_req_v":0.0795042664,"cg_vd_v":0.0795042664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360773057,"cg_vq_v":-0.360773057,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.401611,"values":{"Elec_RPM":-1.41029323e-31,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54770,"Mech_RPM":-2.82058635e-32,"cg_du":50.1488113,"cg_dv":50.2087708,"cg_dw":49.7912292,"cg_id_a":-0.316885263,"cg_id_raw_a":-0.313144803,"cg_iq_a":0.361349523,"cg_iq_raw_a":0.370650142,"cg_iu_a":-0.722343206,"cg_iv_a":-0.438259721,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9581814,"cg_sample_seq":14453216,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0864118338,"cg_vd_v":0.0864118338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367245883,"cg_vq_v":-0.367245883,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5756226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.41333,"values":{"Elec_RPM":-1.41029323e-31,"EncoderCos":38715,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-2.82058635e-32,"cg_du":50.1506233,"cg_dv":50.2038498,"cg_dw":49.7961502,"cg_id_a":-0.0494420752,"cg_id_raw_a":-0.0438380316,"cg_iq_a":-0.0131217316,"cg_iq_raw_a":-0.440599352,"cg_iu_a":0.473703384,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14453266,"cg_sample_valid":1,"cg_theta_rad":5.00677156,"cg_vd_req_v":0.0805305317,"cg_vd_v":0.0805305317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361505926,"cg_vq_v":-0.361505926,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.7088509,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.421143,"values":{"Elec_RPM":-1.38208737e-31,"EncoderCos":38726,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-2.76417467e-32,"cg_du":50.1407394,"cg_dv":50.2014046,"cg_dw":49.7985954,"cg_id_a":-0.247645795,"cg_id_raw_a":0.0483017005,"cg_iq_a":-0.451262593,"cg_iq_raw_a":-0.322266906,"cg_iu_a":0.183752537,"cg_iv_a":0.467836082,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9581814,"cg_sample_seq":14453316,"cg_sample_valid":1,"cg_theta_rad":5.00695896,"cg_vd_req_v":0.0845254585,"cg_vd_v":0.0845254585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352955818,"cg_vq_v":-0.352955818,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.428955,"values":{"Elec_RPM":-1.38208737e-31,"EncoderCos":38722,"EncoderSin":12498,"GapTicks":54773,"Mech_RPM":-2.76417467e-32,"cg_du":50.1567993,"cg_dv":50.2062836,"cg_dw":49.7937164,"cg_id_a":0.104337692,"cg_id_raw_a":0.0244499762,"cg_iq_a":0.393735617,"cg_iq_raw_a":0.148768485,"cg_iu_a":-0.541123867,"cg_iv_a":-0.112065196,"cg_iw_a":0.653189063,"cg_sample_age_us":23.8527279,"cg_sample_seq":14453366,"cg_sample_valid":1,"cg_theta_rad":5.00753212,"cg_vd_req_v":0.0766833723,"cg_vd_v":0.0766833723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368567526,"cg_vq_v":-0.368567526,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.436768,"values":{"Elec_RPM":-1.35444562e-31,"EncoderCos":38697,"EncoderSin":12453,"GapTicks":54773,"Mech_RPM":-2.70889117e-32,"cg_du":50.1481857,"cg_dv":50.2060814,"cg_dw":49.7939186,"cg_id_a":-0.404965162,"cg_id_raw_a":-0.30841884,"cg_iq_a":0.0796752498,"cg_iq_raw_a":-0.505065978,"cg_iu_a":-0.504880428,"cg_iv_a":0.141641617,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14453417,"cg_sample_valid":1,"cg_theta_rad":5.0071907,"cg_vd_req_v":0.0864448994,"cg_vd_v":0.0864448994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3627294,"cg_vq_v":-0.3627294,"cg_vu_v":142.965088,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.44458,"values":{"Elec_RPM":-1.35444562e-31,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-2.70889117e-32,"cg_du":50.1616058,"cg_dv":50.2064896,"cg_dw":49.7935104,"cg_id_a":0.19753924,"cg_id_raw_a":0.402868629,"cg_iq_a":0.329228848,"cg_iq_raw_a":-0.0688160062,"cg_iu_a":-0.468636274,"cg_iv_a":0.141641617,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9581814,"cg_sample_seq":14453467,"cg_sample_valid":1,"cg_theta_rad":5.00833178,"cg_vd_req_v":0.0742180198,"cg_vd_v":0.0742180198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371321172,"cg_vq_v":-0.371321172,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.452393,"values":{"Elec_RPM":-1.32735658e-31,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-2.65471323e-32,"cg_du":50.1543694,"cg_dv":50.1990356,"cg_dw":49.8009644,"cg_id_a":0.218120754,"cg_id_raw_a":0.131738678,"cg_iq_a":-0.342485517,"cg_iq_raw_a":0.122950986,"cg_iu_a":0.256240129,"cg_iv_a":0.431592286,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9836369,"cg_sample_seq":14453517,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0724617317,"cg_vd_v":0.0724617317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357160658,"cg_vq_v":-0.357160658,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6134338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.460205,"values":{"Elec_RPM":-1.32735658e-31,"EncoderCos":38744,"EncoderSin":12469,"GapTicks":54776,"Mech_RPM":-2.65471323e-32,"cg_du":50.1537132,"cg_dv":50.2033157,"cg_dw":49.7966843,"cg_id_a":0.0377015173,"cg_id_raw_a":0.46081683,"cg_iq_a":-0.0238093734,"cg_iq_raw_a":0.662122667,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9872723,"cg_sample_seq":14453567,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0751458779,"cg_vd_v":0.0751458779,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363033205,"cg_vq_v":-0.363033205,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6134338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.471924,"values":{"Elec_RPM":-1.30080957e-31,"EncoderCos":38725,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-2.60161908e-32,"cg_du":50.1607399,"cg_dv":50.2046165,"cg_dw":49.7953835,"cg_id_a":0.154376104,"cg_id_raw_a":-0.475606203,"cg_iq_a":0.216379181,"cg_iq_raw_a":0.537595272,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691540241,"cg_iw_a":0.109532058,"cg_sample_age_us":23.9581814,"cg_sample_seq":14453617,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0720851794,"cg_vd_v":0.0720851794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367318124,"cg_vq_v":-0.367318124,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2617.499268,"values":{"Elec_RPM":-1.30080957e-31,"EncoderCos":38738,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-2.60161908e-32,"cg_du":50.1573563,"cg_dv":50.2002258,"cg_dw":49.7997742,"cg_id_a":0.251959145,"cg_id_raw_a":0.85195905,"cg_iq_a":-0.168677568,"cg_iq_raw_a":-0.829420567,"cg_iu_a":-0.649855375,"cg_iv_a":-0.293284416,"cg_iw_a":0.943139791,"cg_sample_age_us":26.8199997,"cg_sample_seq":14453670,"cg_sample_valid":1,"cg_theta_rad":5.00579453,"cg_vd_req_v":0.069786638,"cg_vd_v":0.069786638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360752136,"cg_vq_v":-0.360752136,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.50708,"values":{"Elec_RPM":-1.2747933e-31,"EncoderCos":38732,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-2.54958671e-32,"cg_du":50.1533241,"cg_dv":50.203846,"cg_dw":49.796154,"cg_id_a":-0.203075618,"cg_id_raw_a":-0.0867679715,"cg_iq_a":-0.000333194621,"cg_iq_raw_a":-0.00751342904,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796764,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.8563633,"cg_sample_seq":14453717,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0772295967,"cg_vd_v":0.0772295967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363270462,"cg_vq_v":-0.363270462,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5976563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.514893,"values":{"Elec_RPM":-1.24929753e-31,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.49859494e-32,"cg_du":50.1541862,"cg_dv":50.2100449,"cg_dw":49.7899551,"cg_id_a":-0.453654826,"cg_id_raw_a":-0.166645929,"cg_iq_a":0.237717614,"cg_iq_raw_a":-0.270084769,"cg_iu_a":0.0387773514,"cg_iv_a":-0.546991229,"cg_iw_a":0.508213878,"cg_sample_age_us":23.863636,"cg_sample_seq":14453817,"cg_sample_valid":1,"cg_theta_rad":5.00668859,"cg_vd_req_v":0.0826536715,"cg_vd_v":0.0826536715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37217012,"cg_vq_v":-0.37217012,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.526611,"values":{"Elec_RPM":-1.24929753e-31,"EncoderCos":38716,"EncoderSin":12453,"GapTicks":54771,"Mech_RPM":-2.49859494e-32,"cg_du":50.1604805,"cg_dv":50.2075996,"cg_dw":49.7924004,"cg_id_a":-0.0724287182,"cg_id_raw_a":0.234816685,"cg_iq_a":0.111957863,"cg_iq_raw_a":0.352073193,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.220796704,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9836369,"cg_sample_seq":14453867,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0767281651,"cg_vd_v":0.0767281651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372082293,"cg_vq_v":-0.372082293,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5834961,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.534424,"values":{"Elec_RPM":-1.22431157e-31,"EncoderCos":38704,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-2.44862306e-32,"cg_du":50.1642761,"cg_dv":50.2065163,"cg_dw":49.7934837,"cg_id_a":0.0917180255,"cg_id_raw_a":-0.115989178,"cg_iq_a":-0.00776583701,"cg_iq_raw_a":0.280476719,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.954546,"cg_sample_seq":14453917,"cg_sample_valid":1,"cg_theta_rad":5.00635815,"cg_vd_req_v":0.0732796937,"cg_vd_v":0.0732796937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372635603,"cg_vq_v":-0.372635603,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5913696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.542236,"values":{"Elec_RPM":-1.22431157e-31,"EncoderCos":38717,"EncoderSin":12462,"GapTicks":54773,"Mech_RPM":-2.44862306e-32,"cg_du":50.1641502,"cg_dv":50.2062416,"cg_dw":49.7937584,"cg_id_a":0.119351938,"cg_id_raw_a":-0.0320205837,"cg_iq_a":-0.0148241408,"cg_iq_raw_a":0.28900224,"cg_iu_a":-0.287417412,"cg_iv_a":0.250373125,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9872723,"cg_sample_seq":14453967,"cg_sample_valid":1,"cg_theta_rad":5.00616932,"cg_vd_req_v":0.0722153634,"cg_vd_v":0.0722153634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372369587,"cg_vq_v":-0.372369587,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5913696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.550049,"values":{"Elec_RPM":-1.19982532e-31,"EncoderCos":38699,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-2.39965064e-32,"cg_du":50.1602554,"cg_dv":50.2099113,"cg_dw":49.7900887,"cg_id_a":-0.257074177,"cg_id_raw_a":-0.126295507,"cg_iq_a":0.275504202,"cg_iq_raw_a":0.169845909,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9799995,"cg_sample_seq":14454017,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0810090005,"cg_vd_v":0.0810090005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375892103,"cg_vq_v":-0.375892103,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6782742,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5866394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.557861,"values":{"Elec_RPM":-1.19982532e-31,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.39965064e-32,"cg_du":50.1554527,"cg_dv":50.2104568,"cg_dw":49.7895432,"cg_id_a":-0.298966467,"cg_id_raw_a":-0.500602007,"cg_iq_a":0.00832185894,"cg_iq_raw_a":-0.300973177,"cg_iu_a":0.00253343582,"cg_iv_a":-0.474503517,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9509087,"cg_sample_seq":14454067,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0812065527,"cg_vd_v":0.0812065527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373626411,"cg_vq_v":-0.373626411,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6782742,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5378418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.565674,"values":{"Elec_RPM":-1.17582878e-31,"EncoderCos":38714,"EncoderSin":12460,"GapTicks":54763,"Mech_RPM":-2.35165756e-32,"cg_du":50.1643944,"cg_dv":50.2152748,"cg_dw":49.7847252,"cg_id_a":-0.338794291,"cg_id_raw_a":-0.629988611,"cg_iq_a":0.641414404,"cg_iq_raw_a":1.43128872,"cg_iu_a":-0.649855375,"cg_iv_a":-0.184552908,"cg_iw_a":0.834408283,"cg_sample_age_us":23.9618187,"cg_sample_seq":14454117,"cg_sample_valid":1,"cg_theta_rad":5.00764084,"cg_vd_req_v":0.081136547,"cg_vd_v":0.081136547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384704471,"cg_vq_v":-0.384704471,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6782742,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5378418,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.596924,"values":{"Elec_RPM":-1.15231219e-31,"EncoderCos":38719,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-2.30462441e-32,"cg_du":50.1775017,"cg_dv":50.2069511,"cg_dw":49.7930489,"cg_id_a":0.57855016,"cg_id_raw_a":-0.368166208,"cg_iq_a":0.543945849,"cg_iq_raw_a":0.0736022294,"cg_iu_a":0.14750886,"cg_iv_a":0.395348489,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9836369,"cg_sample_seq":14454267,"cg_sample_valid":1,"cg_theta_rad":5.00850534,"cg_vd_req_v":0.062445581,"cg_vd_v":0.062445581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38083601,"cg_vq_v":-0.38083601,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.326133728,"dclink_p_w":47.1995926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.604736,"values":{"Elec_RPM":-1.12926592e-31,"EncoderCos":38722,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-2.25853196e-32,"cg_du":50.1593895,"cg_dv":50.2082443,"cg_dw":49.7917557,"cg_id_a":-0.0960974023,"cg_id_raw_a":0.0589824729,"cg_iq_a":0.100571156,"cg_iq_raw_a":0.224967539,"cg_iu_a":-1.01229382,"cg_iv_a":0.540323794,"cg_iw_a":0.471970022,"cg_sample_age_us":23.9836369,"cg_sample_seq":14454318,"cg_sample_valid":1,"cg_theta_rad":5.00727415,"cg_vd_req_v":0.0771939754,"cg_vd_v":0.0771939754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373737931,"cg_vq_v":-0.373737931,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.8709335,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.612549,"values":{"Elec_RPM":-1.12926592e-31,"EncoderCos":38720,"EncoderSin":12460,"GapTicks":54766,"Mech_RPM":-2.25853196e-32,"cg_du":50.1663857,"cg_dv":50.2118988,"cg_dw":49.7881012,"cg_id_a":-0.0389689952,"cg_id_raw_a":-0.331482649,"cg_iq_a":0.297282577,"cg_iq_raw_a":0.769384563,"cg_iu_a":-0.178685665,"cg_iv_a":-0.510747313,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9618187,"cg_sample_seq":14454367,"cg_sample_valid":1,"cg_theta_rad":5.00655794,"cg_vd_req_v":0.0759913698,"cg_vd_v":0.0759913698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382505774,"cg_vq_v":-0.382505774,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.620361,"values":{"Elec_RPM":-1.10668068e-31,"EncoderCos":38708,"EncoderSin":12451,"GapTicks":54767,"Mech_RPM":-2.21336138e-32,"cg_du":50.1723633,"cg_dv":50.2110405,"cg_dw":49.7889595,"cg_id_a":0.162145674,"cg_id_raw_a":0.202269852,"cg_iq_a":0.298806906,"cg_iq_raw_a":-0.160751671,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9290905,"cg_sample_seq":14454416,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0715241134,"cg_vd_v":0.0715241134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383304894,"cg_vq_v":-0.383304894,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5913696,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.628174,"values":{"Elec_RPM":-1.10668068e-31,"EncoderCos":38731,"EncoderSin":12497,"GapTicks":54765,"Mech_RPM":-2.21336138e-32,"cg_du":50.1684532,"cg_dv":50.2133255,"cg_dw":49.7866745,"cg_id_a":0.112206772,"cg_id_raw_a":0.156491831,"cg_iq_a":0.165840507,"cg_iq_raw_a":0.0882187933,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14454466,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.0735902041,"cg_vd_v":0.0735902041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384825319,"cg_vq_v":-0.384825319,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.639893,"values":{"Elec_RPM":-1.08454706e-31,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-2.16909418e-32,"cg_du":50.1668167,"cg_dv":50.2124557,"cg_dw":49.7875443,"cg_id_a":-0.0711311027,"cg_id_raw_a":0.0985445827,"cg_iq_a":0.0225187987,"cg_iq_raw_a":-0.390033334,"cg_iu_a":0.183752775,"cg_iv_a":0.39534843,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9654541,"cg_sample_seq":14454516,"cg_sample_valid":1,"cg_theta_rad":5.00973511,"cg_vd_req_v":0.0764130279,"cg_vd_v":0.0764130279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382260144,"cg_vq_v":-0.382260144,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.647705,"values":{"Elec_RPM":-1.08454706e-31,"EncoderCos":38727,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-2.16909418e-32,"cg_du":50.1538086,"cg_dv":50.2104683,"cg_dw":49.7895317,"cg_id_a":-0.352480829,"cg_id_raw_a":0.246677861,"cg_iq_a":-0.398781061,"cg_iq_raw_a":-0.412305743,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213401,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9836369,"cg_sample_seq":14454566,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.0835668594,"cg_vd_v":0.0835668594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37248522,"cg_vq_v":-0.37248522,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.193843722,"dclink_p_w":28.0539665,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.6087036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.655518,"values":{"Elec_RPM":-1.06285613e-31,"EncoderCos":38746,"EncoderSin":12495,"GapTicks":54761,"Mech_RPM":-2.12571226e-32,"cg_du":50.1708069,"cg_dv":50.217083,"cg_dw":49.782917,"cg_id_a":0.151469827,"cg_id_raw_a":0.643958986,"cg_iq_a":0.460474432,"cg_iq_raw_a":0.277148426,"cg_iu_a":-0.50488019,"cg_iv_a":-0.546991229,"cg_iw_a":1.05187142,"cg_sample_age_us":23.954546,"cg_sample_seq":14454616,"cg_sample_valid":1,"cg_theta_rad":5.00726748,"cg_vd_req_v":0.0740861371,"cg_vd_v":0.0740861371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391504109,"cg_vq_v":-0.391504109,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5866394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.682861,"values":{"Elec_RPM":-1.06285613e-31,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54767,"Mech_RPM":-2.12571226e-32,"cg_du":50.1600838,"cg_dv":50.2110405,"cg_dw":49.7889595,"cg_id_a":-0.0798887014,"cg_id_raw_a":0.260268003,"cg_iq_a":-0.0782573819,"cg_iq_raw_a":0.317247957,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":26.8163643,"cg_sample_seq":14454670,"cg_sample_valid":1,"cg_theta_rad":5.01070452,"cg_vd_req_v":0.0791747794,"cg_vd_v":0.0791747794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376787484,"cg_vq_v":-0.376787484,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5866394,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.690674,"values":{"Elec_RPM":-1.04159896e-31,"EncoderCos":38727,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-2.08319801e-32,"cg_du":50.1612244,"cg_dv":50.2107811,"cg_dw":49.7892189,"cg_id_a":0.0142841134,"cg_id_raw_a":-0.0728241652,"cg_iq_a":-0.116112925,"cg_iq_raw_a":0.285095185,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.954546,"cg_sample_seq":14454717,"cg_sample_valid":1,"cg_theta_rad":5.00602484,"cg_vd_req_v":0.0778155848,"cg_vd_v":0.0778155848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37711978,"cg_vq_v":-0.37711978,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5929565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.702393,"values":{"Elec_RPM":-1.04159896e-31,"EncoderCos":38735,"EncoderSin":12477,"GapTicks":54763,"Mech_RPM":-2.08319801e-32,"cg_du":50.1578293,"cg_dv":50.2146187,"cg_dw":49.7853813,"cg_id_a":-0.280989051,"cg_id_raw_a":0.274680257,"cg_iq_a":0.0186823905,"cg_iq_raw_a":0.172194466,"cg_iu_a":-0.323661089,"cg_iv_a":-1.3805995,"cg_iw_a":1.70426059,"cg_sample_age_us":23.9763641,"cg_sample_seq":14454767,"cg_sample_valid":1,"cg_theta_rad":5.00657511,"cg_vd_req_v":0.0833802894,"cg_vd_v":0.0833802894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380618006,"cg_vq_v":-0.380618006,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.6359797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5929565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.710205,"values":{"Elec_RPM":-1.02076709e-31,"EncoderCos":38738,"EncoderSin":12461,"GapTicks":54769,"Mech_RPM":-2.04153408e-32,"cg_du":50.1519165,"cg_dv":50.20961,"cg_dw":49.79039,"cg_id_a":-0.128715307,"cg_id_raw_a":-0.214756519,"cg_iq_a":-0.540070415,"cg_iq_raw_a":0.235390052,"cg_iu_a":1.56101835,"cg_iv_a":0.286616921,"cg_iw_a":-1.84763527,"cg_sample_age_us":23.9618187,"cg_sample_seq":14454817,"cg_sample_valid":1,"cg_theta_rad":5.00758028,"cg_vd_req_v":0.0830916911,"cg_vd_v":0.0830916911,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36933443,"cg_vq_v":-0.36933443,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.6359797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5898132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2617.718018,"values":{"Elec_RPM":-1.02076709e-31,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54765,"Mech_RPM":-2.04153408e-32,"cg_du":50.1607437,"cg_dv":50.2134171,"cg_dw":49.7865829,"cg_id_a":0.0590293892,"cg_id_raw_a":0.0422183834,"cg_iq_a":-0.166564733,"cg_iq_raw_a":-0.249973878,"cg_iu_a":0.5099473,"cg_iv_a":1.01149368,"cg_iw_a":-1.52144098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14454866,"cg_sample_valid":1,"cg_theta_rad":5.00635529,"cg_vd_req_v":0.08163663,"cg_vd_v":0.08163663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380244046,"cg_vq_v":-0.380244046,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.6359797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.5661621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.72583,"values":{"Elec_RPM":-1.00035169e-31,"EncoderCos":38733,"EncoderSin":12490,"GapTicks":54758,"Mech_RPM":-2.00070343e-32,"cg_du":50.1678581,"cg_dv":50.2195702,"cg_dw":49.7804298,"cg_id_a":0.15237315,"cg_id_raw_a":-0.23355259,"cg_iq_a":0.360322386,"cg_iq_raw_a":0.889029384,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9581814,"cg_sample_seq":14454917,"cg_sample_valid":1,"cg_theta_rad":5.00829315,"cg_vd_req_v":0.0801037773,"cg_vd_v":0.0801037773,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39300555,"cg_vq_v":-0.39300555,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.3721838,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.1454163,"temp_inv2_c":36.5661621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.733643,"values":{"Elec_RPM":-1.00035169e-31,"EncoderCos":38744,"EncoderSin":12519,"GapTicks":54763,"Mech_RPM":-2.00070343e-32,"cg_du":50.1582298,"cg_dv":50.2153358,"cg_dw":49.7846642,"cg_id_a":0.0941255912,"cg_id_raw_a":-0.181410879,"cg_iq_a":-0.135195643,"cg_iq_raw_a":-0.124475822,"cg_iu_a":-0.0699543953,"cg_iv_a":0.830274463,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.863636,"cg_sample_seq":14454967,"cg_sample_valid":1,"cg_theta_rad":5.00816298,"cg_vd_req_v":0.0818662196,"cg_vd_v":0.0818662196,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38222906,"cg_vq_v":-0.38222906,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.741455,"values":{"Elec_RPM":-9.80344656e-32,"EncoderCos":38732,"EncoderSin":12496,"GapTicks":54765,"Mech_RPM":-1.96068931e-32,"cg_du":50.1574402,"cg_dv":50.2128448,"cg_dw":49.7871552,"cg_id_a":0.147833481,"cg_id_raw_a":0.0826049,"cg_iq_a":-0.320667058,"cg_iq_raw_a":-0.246302903,"cg_iu_a":-0.396148682,"cg_iv_a":1.26520038,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9872723,"cg_sample_seq":14455016,"cg_sample_valid":1,"cg_theta_rad":5.00886917,"cg_vd_req_v":0.0819804966,"cg_vd_v":0.0819804966,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379186869,"cg_vq_v":-0.379186869,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5661621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.749268,"values":{"Elec_RPM":-9.80344656e-32,"EncoderCos":38749,"EncoderSin":12491,"GapTicks":54755,"Mech_RPM":-1.96068931e-32,"cg_du":50.1543236,"cg_dv":50.2220383,"cg_dw":49.7779617,"cg_id_a":-0.297189474,"cg_id_raw_a":-0.634144843,"cg_iq_a":0.227766797,"cg_iq_raw_a":0.7081182,"cg_iu_a":0.61867857,"cg_iv_a":-0.220796704,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9581814,"cg_sample_seq":14455066,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0919807106,"cg_vd_v":0.0919807106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390342355,"cg_vq_v":-0.390342355,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5661621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.760986,"values":{"Elec_RPM":-9.60737763e-32,"EncoderCos":38686,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-1.92147556e-32,"cg_du":50.169735,"cg_dv":50.2141266,"cg_dw":49.7858734,"cg_id_a":0.394952238,"cg_id_raw_a":0.664009988,"cg_iq_a":0.0224411637,"cg_iq_raw_a":-0.549445629,"cg_iu_a":-0.758587122,"cg_iv_a":0.214129269,"cg_iw_a":0.544457853,"cg_sample_age_us":23.954546,"cg_sample_seq":14455116,"cg_sample_valid":1,"cg_theta_rad":5.00640297,"cg_vd_req_v":0.077520445,"cg_vd_v":0.077520445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385816962,"cg_vq_v":-0.385816962,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.0699806,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.78833,"values":{"Elec_RPM":-9.60737763e-32,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54764,"Mech_RPM":-1.92147556e-32,"cg_du":50.1657753,"cg_dv":50.2141495,"cg_dw":49.7858505,"cg_id_a":0.301094592,"cg_id_raw_a":0.368489742,"cg_iq_a":0.0575582385,"cg_iq_raw_a":-0.582469404,"cg_iu_a":-0.831074715,"cg_iv_a":0.0691540241,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8490906,"cg_sample_seq":14455172,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.0776652247,"cg_vd_v":0.0776652247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383004546,"cg_vq_v":-0.383004546,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.793181837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2617.796143,"values":{"Elec_RPM":-9.41523015e-32,"EncoderCos":38719,"EncoderSin":12497,"GapTicks":54766,"Mech_RPM":-1.883046e-32,"cg_du":50.1593285,"cg_dv":50.2122765,"cg_dw":49.7877235,"cg_id_a":0.0646618605,"cg_id_raw_a":-0.159743056,"cg_iq_a":-0.20283246,"cg_iq_raw_a":-0.779180408,"cg_iu_a":-0.39614892,"cg_iv_a":-0.0395775437,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9836369,"cg_sample_seq":14455217,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0805463195,"cg_vd_v":0.0805463195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376934379,"cg_vq_v":-0.376934379,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5787659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2617.803955,"values":{"Elec_RPM":-9.41523015e-32,"EncoderCos":38708,"EncoderSin":12457,"GapTicks":54772,"Mech_RPM":-1.883046e-32,"cg_du":50.1586494,"cg_dv":50.2068138,"cg_dw":49.7931862,"cg_id_a":0.126851529,"cg_id_raw_a":0.175195798,"cg_iq_a":-0.459225595,"cg_iq_raw_a":-0.309293836,"cg_iu_a":0.401215553,"cg_iv_a":-0.148309112,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.863636,"cg_sample_seq":14455267,"cg_sample_valid":1,"cg_theta_rad":5.00628805,"cg_vd_req_v":0.0782018825,"cg_vd_v":0.0782018825,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37098816,"cg_vq_v":-0.37098816,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.6220055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.815674,"values":{"Elec_RPM":-9.22692536e-32,"EncoderCos":38707,"EncoderSin":12488,"GapTicks":54769,"Mech_RPM":-1.84538507e-32,"cg_du":50.159977,"cg_dv":50.2096329,"cg_dw":49.7903671,"cg_id_a":0.0497114658,"cg_id_raw_a":0.359878987,"cg_iq_a":-0.230896384,"cg_iq_raw_a":0.364420861,"cg_iu_a":0.219996452,"cg_iv_a":0.322860718,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9836369,"cg_sample_seq":14455317,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0792132989,"cg_vd_v":0.0792132989,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375726998,"cg_vq_v":-0.375726998,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.6220055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.823486,"values":{"Elec_RPM":-9.22692536e-32,"EncoderCos":38724,"EncoderSin":12418,"GapTicks":54767,"Mech_RPM":-1.84538507e-32,"cg_du":50.1549759,"cg_dv":50.2115517,"cg_dw":49.7884483,"cg_id_a":-0.159015715,"cg_id_raw_a":-0.116588548,"cg_iq_a":-0.233676359,"cg_iq_raw_a":-0.33874476,"cg_iu_a":0.256240368,"cg_iv_a":-0.72821033,"cg_iw_a":0.471969962,"cg_sample_age_us":23.954546,"cg_sample_seq":14455367,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.0851142406,"cg_vd_v":0.0851142406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374299258,"cg_vq_v":-0.374299258,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.6220055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5661621,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.831299,"values":{"Elec_RPM":-9.04238685e-32,"EncoderCos":38708,"EncoderSin":12434,"GapTicks":54770,"Mech_RPM":-1.80847734e-32,"cg_du":50.1628799,"cg_dv":50.2090454,"cg_dw":49.7909546,"cg_id_a":0.118993074,"cg_id_raw_a":-0.157360017,"cg_iq_a":-0.23434037,"cg_iq_raw_a":-0.343328118,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860718,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14455417,"cg_sample_valid":1,"cg_theta_rad":5.00805426,"cg_vd_req_v":0.0774283856,"cg_vd_v":0.0774283856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375156045,"cg_vq_v":-0.375156045,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.839111,"values":{"Elec_RPM":-9.04238685e-32,"EncoderCos":38725,"EncoderSin":12470,"GapTicks":54767,"Mech_RPM":-1.80847734e-32,"cg_du":50.1682854,"cg_dv":50.2111015,"cg_dw":49.7888985,"cg_id_a":0.309265554,"cg_id_raw_a":-0.124845996,"cg_iq_a":0.0308399498,"cg_iq_raw_a":-0.26614809,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0395776033,"cg_iw_a":0.508213878,"cg_sample_age_us":23.8527279,"cg_sample_seq":14455466,"cg_sample_valid":1,"cg_theta_rad":5.00728273,"cg_vd_req_v":0.0728031546,"cg_vd_v":0.0728031546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381465405,"cg_vq_v":-0.381465405,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.2678413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.846924,"values":{"Elec_RPM":-8.8615394e-32,"EncoderCos":38716,"EncoderSin":12527,"GapTicks":54766,"Mech_RPM":-1.77230782e-32,"cg_du":50.1602287,"cg_dv":50.2120438,"cg_dw":49.7879562,"cg_id_a":0.0133941919,"cg_id_raw_a":-0.398284435,"cg_iq_a":-0.161321968,"cg_iq_raw_a":0.618385613,"cg_iu_a":0.14750886,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9799995,"cg_sample_seq":14455517,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.0793327168,"cg_vd_v":0.0793327168,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378382981,"cg_vq_v":-0.378382981,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.2678413,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5756226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.854736,"values":{"Elec_RPM":-8.8615394e-32,"EncoderCos":38686,"EncoderSin":12503,"GapTicks":54774,"Mech_RPM":-1.77230782e-32,"cg_du":50.1564255,"cg_dv":50.2046394,"cg_dw":49.7953606,"cg_id_a":-0.0172027051,"cg_id_raw_a":-0.33867979,"cg_iq_a":-0.722018421,"cg_iq_raw_a":-0.216364011,"cg_iu_a":-0.468636513,"cg_iv_a":0.612811446,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8709087,"cg_sample_seq":14455567,"cg_sample_valid":1,"cg_theta_rad":5.00555897,"cg_vd_req_v":0.0784951225,"cg_vd_v":0.0784951225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366629779,"cg_vq_v":-0.366629779,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5756226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.862549,"values":{"Elec_RPM":-8.68430835e-32,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-1.73686167e-32,"cg_du":50.1626968,"cg_dv":50.2081833,"cg_dw":49.7918167,"cg_id_a":0.195959866,"cg_id_raw_a":0.110332727,"cg_iq_a":-0.342271984,"cg_iq_raw_a":-0.534834266,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14455616,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0736626759,"cg_vd_v":0.0736626759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374503255,"cg_vq_v":-0.374503255,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.893799,"values":{"Elec_RPM":-8.68430835e-32,"EncoderCos":38736,"EncoderSin":12460,"GapTicks":54763,"Mech_RPM":-1.73686167e-32,"cg_du":50.1576843,"cg_dv":50.2150574,"cg_dw":49.7849426,"cg_id_a":-0.268508434,"cg_id_raw_a":-0.704894185,"cg_iq_a":-0.0338534489,"cg_iq_raw_a":-0.138833299,"cg_iu_a":0.038777113,"cg_iv_a":-0.474503517,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8672733,"cg_sample_seq":14455670,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0842767283,"cg_vd_v":0.0842767283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381055266,"cg_vq_v":-0.381055266,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.901611,"values":{"Elec_RPM":-8.51062259e-32,"EncoderCos":38700,"EncoderSin":12447,"GapTicks":54766,"Mech_RPM":-1.70212449e-32,"cg_du":50.1630898,"cg_dv":50.2122002,"cg_dw":49.7877998,"cg_id_a":-0.0716393143,"cg_id_raw_a":-0.0758635029,"cg_iq_a":0.00294881314,"cg_iq_raw_a":-0.517230511,"cg_iu_a":0.437459469,"cg_iv_a":-0.619478941,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14455716,"cg_sample_valid":1,"cg_theta_rad":5.00631094,"cg_vd_req_v":0.0807074681,"cg_vd_v":0.0807074681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37947166,"cg_vq_v":-0.37947166,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.909424,"values":{"Elec_RPM":-8.51062259e-32,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54758,"Mech_RPM":-1.70212449e-32,"cg_du":50.1632347,"cg_dv":50.2194672,"cg_dw":49.7805328,"cg_id_a":-0.191027954,"cg_id_raw_a":-0.729161263,"cg_iq_a":0.464707524,"cg_iq_raw_a":1.20495081,"cg_iu_a":-0.142441988,"cg_iv_a":-0.257040501,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9836369,"cg_sample_seq":14455766,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0847881213,"cg_vd_v":0.0847881213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390037507,"cg_vq_v":-0.390037507,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.159533501,"dclink_p_w":-23.0182533,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.917236,"values":{"Elec_RPM":-8.34040984e-32,"EncoderCos":38748,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-1.66808203e-32,"cg_du":50.1673698,"cg_dv":50.213131,"cg_dw":49.786869,"cg_id_a":0.0189674683,"cg_id_raw_a":0.323469251,"cg_iq_a":0.0934795514,"cg_iq_raw_a":0.102845401,"cg_iu_a":0.147508621,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8527279,"cg_sample_seq":14455816,"cg_sample_valid":1,"cg_theta_rad":5.00850725,"cg_vd_req_v":0.0821099803,"cg_vd_v":0.0821099803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384075105,"cg_vq_v":-0.384075105,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.928955,"values":{"Elec_RPM":-8.34040984e-32,"EncoderCos":38699,"EncoderSin":12468,"GapTicks":54754,"Mech_RPM":-1.66808203e-32,"cg_du":50.1697006,"cg_dv":50.2231331,"cg_dw":49.7768669,"cg_id_a":-0.214827001,"cg_id_raw_a":-0.00167552638,"cg_iq_a":0.899171233,"cg_iq_raw_a":0.802193284,"cg_iu_a":-0.251173258,"cg_iv_a":-0.836941838,"cg_iw_a":1.0881151,"cg_sample_age_us":23.8563633,"cg_sample_seq":14455866,"cg_sample_valid":1,"cg_theta_rad":5.00607347,"cg_vd_req_v":0.0860406086,"cg_vd_v":0.0860406086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399319798,"cg_vq_v":-0.399319798,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2617.936768,"values":{"Elec_RPM":-8.17360131e-32,"EncoderCos":38746,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-1.63472032e-32,"cg_du":50.1568298,"cg_dv":50.2074623,"cg_dw":49.7925377,"cg_id_a":0.217333838,"cg_id_raw_a":0.351524174,"cg_iq_a":-0.52501756,"cg_iq_raw_a":0.251793176,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9618187,"cg_sample_seq":14455917,"cg_sample_valid":1,"cg_theta_rad":5.00639677,"cg_vd_req_v":0.0768318027,"cg_vd_v":0.0768318027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37039414,"cg_vq_v":-0.37039414,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.94458,"values":{"Elec_RPM":-8.17360131e-32,"EncoderCos":38716,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-1.63472032e-32,"cg_du":50.1575699,"cg_dv":50.2110863,"cg_dw":49.7889137,"cg_id_a":0.0444119535,"cg_id_raw_a":-0.168457896,"cg_iq_a":-0.331712365,"cg_iq_raw_a":0.603250206,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0329101086,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.863636,"cg_sample_seq":14455967,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0822036862,"cg_vd_v":0.0822036862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375222206,"cg_vq_v":-0.375222206,"cg_vu_v":26.3935547,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.952393,"values":{"Elec_RPM":-8.01012942e-32,"EncoderCos":38726,"EncoderSin":12447,"GapTicks":54764,"Mech_RPM":-1.60202586e-32,"cg_du":50.1503754,"cg_dv":50.2142181,"cg_dw":49.7857819,"cg_id_a":-0.290484726,"cg_id_raw_a":-0.118947618,"cg_iq_a":-0.247765869,"cg_iq_raw_a":0.53540951,"cg_iu_a":0.147508621,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9618187,"cg_sample_seq":14456017,"cg_sample_valid":1,"cg_theta_rad":5.00529528,"cg_vd_req_v":0.0903998464,"cg_vd_v":0.0903998464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375541717,"cg_vq_v":-0.375541717,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.960205,"values":{"Elec_RPM":-8.01012942e-32,"EncoderCos":38743,"EncoderSin":12521,"GapTicks":54766,"Mech_RPM":-1.60202586e-32,"cg_du":50.1571884,"cg_dv":50.2122841,"cg_dw":49.7877159,"cg_id_a":0.256204575,"cg_id_raw_a":0.580161929,"cg_iq_a":-0.194571376,"cg_iq_raw_a":0.0524052046,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14456067,"cg_sample_valid":1,"cg_theta_rad":5.00845766,"cg_vd_req_v":0.0797915757,"cg_vd_v":0.0797915757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377473742,"cg_vq_v":-0.377473742,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5582886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2617.968018,"values":{"Elec_RPM":-7.84992718e-32,"EncoderCos":38718,"EncoderSin":12494,"GapTicks":54759,"Mech_RPM":-1.56998541e-32,"cg_du":50.1588669,"cg_dv":50.2186508,"cg_dw":49.7813492,"cg_id_a":-0.138060883,"cg_id_raw_a":-0.250129342,"cg_iq_a":0.142026603,"cg_iq_raw_a":0.595660806,"cg_iu_a":0.183752537,"cg_iv_a":-0.474503517,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14456117,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.0875061154,"cg_vd_v":0.0875061154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386462867,"cg_vq_v":-0.386462867,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.8805962,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5582886,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2617.975132,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2617.975138,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2617.975143,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2617.999268,"values":{"Elec_RPM":-7.84992718e-32,"EncoderCos":38726,"EncoderSin":12461,"GapTicks":54759,"Mech_RPM":-1.56998541e-32,"cg_du":50.1595764,"cg_dv":50.2190094,"cg_dw":49.7809906,"cg_id_a":-0.0580934063,"cg_id_raw_a":-0.235706598,"cg_iq_a":0.186261863,"cg_iq_raw_a":-0.422619402,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148309112,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9799995,"cg_sample_seq":14456170,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0874734372,"cg_vd_v":0.0874734372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387306273,"cg_vq_v":-0.387306273,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.11333394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.00708,"values":{"Elec_RPM":-7.69292874e-32,"EncoderCos":38716,"EncoderSin":12469,"GapTicks":54761,"Mech_RPM":-1.53858575e-32,"cg_du":50.163784,"cg_dv":50.2170067,"cg_dw":49.7829933,"cg_id_a":0.175589934,"cg_id_raw_a":-0.139629811,"cg_iq_a":0.0609487891,"cg_iq_raw_a":0.314795554,"cg_iu_a":-0.396148682,"cg_iv_a":0.286616921,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8672733,"cg_sample_seq":14456216,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0828863606,"cg_vd_v":0.0828863606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38679871,"cg_vq_v":-0.38679871,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.11333394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.014893,"values":{"Elec_RPM":-7.69292874e-32,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54766,"Mech_RPM":-1.53858575e-32,"cg_du":50.1588097,"cg_dv":50.2124977,"cg_dw":49.7875023,"cg_id_a":0.253543317,"cg_id_raw_a":-0.00592727214,"cg_iq_a":-0.504688978,"cg_iq_raw_a":-0.618863165,"cg_iu_a":0.256240368,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9618187,"cg_sample_seq":14456266,"cg_sample_valid":1,"cg_theta_rad":5.00910568,"cg_vd_req_v":0.0823032483,"cg_vd_v":0.0823032483,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379105091,"cg_vq_v":-0.379105091,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.7735596,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.022705,"values":{"Elec_RPM":-7.53907063e-32,"EncoderCos":38729,"EncoderSin":12531,"GapTicks":54752,"Mech_RPM":-1.5078141e-32,"cg_du":50.1479034,"cg_dv":50.2250404,"cg_dw":49.7749596,"cg_id_a":-0.516676068,"cg_id_raw_a":-0.424546927,"cg_iq_a":0.0343721919,"cg_iq_raw_a":-0.220002264,"cg_iu_a":0.654922485,"cg_iv_a":-0.800697982,"cg_iw_a":0.145775497,"cg_sample_age_us":23.8672733,"cg_sample_seq":14456316,"cg_sample_valid":1,"cg_theta_rad":5.0083065,"cg_vd_req_v":0.100350067,"cg_vd_v":0.100350067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389518321,"cg_vq_v":-0.389518321,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5645752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.030518,"values":{"Elec_RPM":-7.53907063e-32,"EncoderCos":38728,"EncoderSin":12502,"GapTicks":54748,"Mech_RPM":-1.5078141e-32,"cg_du":50.1554489,"cg_dv":50.2283783,"cg_dw":49.7716217,"cg_id_a":-0.469313115,"cg_id_raw_a":-0.339630723,"cg_iq_a":0.42013219,"cg_iq_raw_a":0.223794341,"cg_iu_a":0.364971876,"cg_iv_a":0.105397701,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9581814,"cg_sample_seq":14456366,"cg_sample_valid":1,"cg_theta_rad":5.00738192,"cg_vd_req_v":0.0982086882,"cg_vd_v":0.0982086882,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396848828,"cg_vq_v":-0.396848828,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.1238785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2590,"hz_tim_isr":4999,"hz_vsense":2590,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5645752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2618.046143,"values":{"Elec_RPM":-7.3882888e-32,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54762,"Mech_RPM":-1.47765782e-32,"cg_du":50.1611557,"cg_dv":50.2161255,"cg_dw":49.7838745,"cg_id_a":0.262366146,"cg_id_raw_a":0.0762526691,"cg_iq_a":-0.316592813,"cg_iq_raw_a":-0.173964217,"cg_iu_a":0.0750210285,"cg_iv_a":-0.25704056,"cg_iw_a":0.182019532,"cg_sample_age_us":23.8709087,"cg_sample_seq":14456466,"cg_sample_valid":1,"cg_theta_rad":5.00528193,"cg_vd_req_v":0.0828098953,"cg_vd_v":0.0828098953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384404987,"cg_vq_v":-0.384404987,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.1238785,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.057861,"values":{"Elec_RPM":-7.24052328e-32,"EncoderCos":38730,"EncoderSin":12471,"GapTicks":54754,"Mech_RPM":-1.44810472e-32,"cg_du":50.1666183,"cg_dv":50.2233658,"cg_dw":49.7766342,"cg_id_a":0.150315359,"cg_id_raw_a":-0.197985917,"cg_iq_a":0.252515763,"cg_iq_raw_a":-0.163720071,"cg_iu_a":-0.468636274,"cg_iv_a":0.10539782,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9836369,"cg_sample_seq":14456516,"cg_sample_valid":1,"cg_theta_rad":5.00686407,"cg_vd_req_v":0.0857989714,"cg_vd_v":0.0857989714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39852345,"cg_vq_v":-0.39852345,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.32240295,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.073486,"values":{"Elec_RPM":-7.24052328e-32,"EncoderCos":38704,"EncoderSin":12468,"GapTicks":54751,"Mech_RPM":-1.44810472e-32,"cg_du":50.1703491,"cg_dv":50.2258568,"cg_dw":49.7741432,"cg_id_a":0.0694482177,"cg_id_raw_a":0.30979681,"cg_iq_a":0.318036854,"cg_iq_raw_a":-0.80562371,"cg_iu_a":-1.33848858,"cg_iv_a":-0.655722857,"cg_iw_a":1.99421144,"cg_sample_age_us":23.9872723,"cg_sample_seq":14456567,"cg_sample_valid":1,"cg_theta_rad":5.00809145,"cg_vd_req_v":0.0874829069,"cg_vd_v":0.0874829069,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402266294,"cg_vq_v":-0.402266294,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.9896011,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5787659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.085205,"values":{"Elec_RPM":-7.09571296e-32,"EncoderCos":38742,"EncoderSin":12475,"GapTicks":54757,"Mech_RPM":-1.41914259e-32,"cg_du":50.1578865,"cg_dv":50.2208519,"cg_dw":49.7791481,"cg_id_a":-0.00574469939,"cg_id_raw_a":-0.44602856,"cg_iq_a":-0.227027506,"cg_iq_raw_a":1.37912643,"cg_iu_a":0.763653874,"cg_iv_a":0.250373006,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.8600006,"cg_sample_seq":14456616,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0890692621,"cg_vd_v":0.0890692621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390458405,"cg_vq_v":-0.390458405,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.9896011,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.116455,"values":{"Elec_RPM":-7.09571296e-32,"EncoderCos":38744,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-1.41914259e-32,"cg_du":50.1701508,"cg_dv":50.2242432,"cg_dw":49.7757568,"cg_id_a":0.247020438,"cg_id_raw_a":-0.0319016948,"cg_iq_a":0.0699383467,"cg_iq_raw_a":-0.147699758,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395775437,"cg_iw_a":0.29075104,"cg_sample_age_us":24.4200001,"cg_sample_seq":14456670,"cg_sample_valid":1,"cg_theta_rad":5.00662613,"cg_vd_req_v":0.0820901915,"cg_vd_v":0.0820901915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400801897,"cg_vq_v":-0.400801897,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.222960234,"dclink_p_w":-32.2678413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.13208,"values":{"Elec_RPM":-6.81472279e-32,"EncoderCos":38735,"EncoderSin":12467,"GapTicks":54747,"Mech_RPM":-1.36294456e-32,"cg_du":50.1723747,"cg_dv":50.2298813,"cg_dw":49.7701187,"cg_id_a":-0.136122376,"cg_id_raw_a":0.426119298,"cg_iq_a":0.0599092096,"cg_iq_raw_a":-0.541396797,"cg_iu_a":0.183752775,"cg_iv_a":-0.90942955,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9836369,"cg_sample_seq":14456866,"cg_sample_valid":1,"cg_theta_rad":5.00762796,"cg_vd_req_v":0.0872419104,"cg_vd_v":0.0872419104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410726398,"cg_vq_v":-0.410726398,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.143799,"values":{"Elec_RPM":-6.67842892e-32,"EncoderCos":38719,"EncoderSin":12499,"GapTicks":54744,"Mech_RPM":-1.33568573e-32,"cg_du":50.1752548,"cg_dv":50.2323494,"cg_dw":49.7676506,"cg_id_a":-0.10467156,"cg_id_raw_a":-0.350473493,"cg_iq_a":0.23727861,"cg_iq_raw_a":0.54972887,"cg_iu_a":0.256240129,"cg_iv_a":-0.583235025,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9799995,"cg_sample_seq":14456917,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0879654288,"cg_vd_v":0.0879654288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.415589929,"cg_vq_v":-0.415589929,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":0.166660905,"dclink_p_w":24.1199417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.159424,"values":{"Elec_RPM":-6.67842892e-32,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54751,"Mech_RPM":-1.33568573e-32,"cg_du":50.1704483,"cg_dv":50.2260704,"cg_dw":49.7739296,"cg_id_a":0.00137870014,"cg_id_raw_a":-0.391619116,"cg_iq_a":-0.362948596,"cg_iq_raw_a":-1.63918912,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9654541,"cg_sample_seq":14456966,"cg_sample_valid":1,"cg_theta_rad":5.00805044,"cg_vd_req_v":0.0856326073,"cg_vd_v":0.0856326073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40304023,"cg_vq_v":-0.40304023,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.171143,"values":{"Elec_RPM":-6.54485985e-32,"EncoderCos":38704,"EncoderSin":12448,"GapTicks":54747,"Mech_RPM":-1.30897203e-32,"cg_du":50.1784935,"cg_dv":50.2297783,"cg_dw":49.7702217,"cg_id_a":-0.120335907,"cg_id_raw_a":0.0575352609,"cg_iq_a":0.225844964,"cg_iq_raw_a":0.225341976,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9872723,"cg_sample_seq":14457018,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0855095834,"cg_vd_v":0.0855095834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41206494,"cg_vq_v":-0.41206494,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5567322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.182861,"values":{"Elec_RPM":-6.54485985e-32,"EncoderCos":38717,"EncoderSin":12495,"GapTicks":54758,"Mech_RPM":-1.30897203e-32,"cg_du":50.1669464,"cg_dv":50.2191238,"cg_dw":49.7808762,"cg_id_a":0.0606250167,"cg_id_raw_a":0.152816862,"cg_iq_a":-0.809199512,"cg_iq_raw_a":-0.093653433,"cg_iu_a":-0.432392597,"cg_iv_a":1.80885792,"cg_iw_a":-1.37646532,"cg_sample_age_us":23.9836369,"cg_sample_seq":14457066,"cg_sample_valid":1,"cg_theta_rad":5.00545883,"cg_vd_req_v":0.0816790536,"cg_vd_v":0.0816790536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39161858,"cg_vq_v":-0.39161858,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.8805962,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5567322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.19458,"values":{"Elec_RPM":-6.41396267e-32,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54753,"Mech_RPM":-1.28279259e-32,"cg_du":50.178875,"cg_dv":50.224411,"cg_dw":49.775589,"cg_id_a":0.10428267,"cg_id_raw_a":-0.218941823,"cg_iq_a":0.0209512711,"cg_iq_raw_a":0.0514967479,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284297,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9618187,"cg_sample_seq":14457116,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0795024708,"cg_vd_v":0.0795024708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406377584,"cg_vq_v":-0.406377584,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.90078831,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5630188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.229736,"values":{"Elec_RPM":-6.15997008e-32,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54755,"Mech_RPM":-1.23199397e-32,"cg_du":50.1713753,"cg_dv":50.2223091,"cg_dw":49.7776909,"cg_id_a":-0.0565660819,"cg_id_raw_a":0.503460884,"cg_iq_a":-0.265417725,"cg_iq_raw_a":-0.022123646,"cg_iu_a":0.111264944,"cg_iv_a":0.431592345,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9581814,"cg_sample_seq":14457366,"cg_sample_valid":1,"cg_theta_rad":5.00929165,"cg_vd_req_v":0.0822497457,"cg_vd_v":0.0822497457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398238242,"cg_vq_v":-0.398238242,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5299683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.241455,"values":{"Elec_RPM":-6.03677005e-32,"EncoderCos":38690,"EncoderSin":12492,"GapTicks":54755,"Mech_RPM":-1.20735407e-32,"cg_du":50.1797333,"cg_dv":50.2223358,"cg_dw":49.7776642,"cg_id_a":0.0607331581,"cg_id_raw_a":0.0433926769,"cg_iq_a":-0.102247834,"cg_iq_raw_a":-0.249772653,"cg_iu_a":0.219996452,"cg_iv_a":0.467836082,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9618187,"cg_sample_seq":14457417,"cg_sample_valid":1,"cg_theta_rad":5.0072031,"cg_vd_req_v":0.0773192942,"cg_vd_v":0.0773192942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402675182,"cg_vq_v":-0.402675182,"cg_vu_v":117.891212,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5787659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.25708,"values":{"Elec_RPM":-6.03677005e-32,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54749,"Mech_RPM":-1.20735407e-32,"cg_du":50.180542,"cg_dv":50.2275543,"cg_dw":49.7724457,"cg_id_a":-0.0873652697,"cg_id_raw_a":-0.016640218,"cg_iq_a":0.27481994,"cg_iq_raw_a":-0.292194277,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9654541,"cg_sample_seq":14457466,"cg_sample_valid":1,"cg_theta_rad":5.00761986,"cg_vd_req_v":0.080207251,"cg_vd_v":0.080207251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411806732,"cg_vq_v":-0.411806732,"cg_vu_v":23.3143044,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5787659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.268799,"values":{"Elec_RPM":-5.91603502e-32,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54749,"Mech_RPM":-1.18320699e-32,"cg_du":50.178978,"cg_dv":50.2276764,"cg_dw":49.7723236,"cg_id_a":-0.17228502,"cg_id_raw_a":0.282275051,"cg_iq_a":0.240020931,"cg_iq_raw_a":-0.335360467,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0329101086,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14457517,"cg_sample_valid":1,"cg_theta_rad":5.00798702,"cg_vd_req_v":0.0816266462,"cg_vd_v":0.0816266462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409783781,"cg_vq_v":-0.409783781,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.280518,"values":{"Elec_RPM":-5.91603502e-32,"EncoderCos":38725,"EncoderSin":12486,"GapTicks":54756,"Mech_RPM":-1.18320699e-32,"cg_du":50.1696014,"cg_dv":50.2215805,"cg_dw":49.7784195,"cg_id_a":-0.163286299,"cg_id_raw_a":0.176673517,"cg_iq_a":-0.369020462,"cg_iq_raw_a":-0.564861596,"cg_iu_a":0.981116891,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9472733,"cg_sample_seq":14457567,"cg_sample_valid":1,"cg_theta_rad":5.00816536,"cg_vd_req_v":0.0815058351,"cg_vd_v":0.0815058351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396546483,"cg_vq_v":-0.396546483,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5740356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.296143,"values":{"Elec_RPM":-5.79771387e-32,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54745,"Mech_RPM":-1.15954282e-32,"cg_du":50.1814041,"cg_dv":50.2318153,"cg_dw":49.7681847,"cg_id_a":0.241397053,"cg_id_raw_a":-0.0766972974,"cg_iq_a":0.313755572,"cg_iq_raw_a":0.102432318,"cg_iu_a":-0.722343206,"cg_iv_a":0.141641617,"cg_iw_a":0.58070159,"cg_sample_age_us":23.8600006,"cg_sample_seq":14457617,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0790998414,"cg_vd_v":0.0790998414,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417674035,"cg_vq_v":-0.417674035,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0969238,"temp_inv2_c":36.5630188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.327393,"values":{"Elec_RPM":-5.56812455e-32,"EncoderCos":38751,"EncoderSin":12476,"GapTicks":54746,"Mech_RPM":-1.11362492e-32,"cg_du":50.1769257,"cg_dv":50.2300262,"cg_dw":49.7699738,"cg_id_a":0.0863120332,"cg_id_raw_a":0.577505827,"cg_iq_a":0.153904706,"cg_iq_raw_a":-0.383769482,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.8672733,"cg_sample_seq":14457818,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.0817853808,"cg_vd_v":0.0817853808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412575811,"cg_vq_v":-0.412575811,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.567749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.339111,"values":{"Elec_RPM":-5.56812455e-32,"EncoderCos":38731,"EncoderSin":12508,"GapTicks":54744,"Mech_RPM":-1.11362492e-32,"cg_du":50.1723633,"cg_dv":50.2319946,"cg_dw":49.7680054,"cg_id_a":-0.120102353,"cg_id_raw_a":0.0464766696,"cg_iq_a":0.180553466,"cg_iq_raw_a":0.369096845,"cg_iu_a":0.364971876,"cg_iv_a":-1.12689257,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9836369,"cg_sample_seq":14457866,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0885104388,"cg_vd_v":0.0885104388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413780689,"cg_vq_v":-0.413780689,"cg_vu_v":0.87978512,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.567749,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.354736,"values":{"Elec_RPM":-5.45676174e-32,"EncoderCos":38721,"EncoderSin":12472,"GapTicks":54746,"Mech_RPM":-1.09135239e-32,"cg_du":50.1719208,"cg_dv":50.2307014,"cg_dw":49.7692986,"cg_id_a":-0.145942718,"cg_id_raw_a":-0.152750567,"cg_iq_a":-0.112625718,"cg_iq_raw_a":0.0223405045,"cg_iu_a":-0.287417173,"cg_iv_a":0.504079938,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9181824,"cg_sample_seq":14457917,"cg_sample_valid":1,"cg_theta_rad":5.00832319,"cg_vd_req_v":0.0892924145,"cg_vd_v":0.0892924145,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410092741,"cg_vq_v":-0.410092741,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5488586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.366455,"values":{"Elec_RPM":-5.45676174e-32,"EncoderCos":38728,"EncoderSin":12482,"GapTicks":54748,"Mech_RPM":-1.09135239e-32,"cg_du":50.1706085,"cg_dv":50.2285156,"cg_dw":49.7714844,"cg_id_a":-0.0461140871,"cg_id_raw_a":-0.281846523,"cg_iq_a":-0.158167899,"cg_iq_raw_a":-0.608519137,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860837,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9763641,"cg_sample_seq":14457966,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0872722566,"cg_vd_v":0.0872722566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406585038,"cg_vq_v":-0.406585038,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.43861115,"dclink_p_w":-63.4778481,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.1211548,"temp_inv2_c":36.5488586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.38208,"values":{"Elec_RPM":-5.34762708e-32,"EncoderCos":38757,"EncoderSin":12447,"GapTicks":54754,"Mech_RPM":-1.06952537e-32,"cg_du":50.1618004,"cg_dv":50.2229691,"cg_dw":49.7770309,"cg_id_a":-0.11286442,"cg_id_raw_a":-0.0123161273,"cg_iq_a":-0.611016095,"cg_iq_raw_a":-0.364248276,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9218178,"cg_sample_seq":14458017,"cg_sample_valid":1,"cg_theta_rad":5.00726032,"cg_vd_req_v":0.0871764123,"cg_vd_v":0.0871764123,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39447093,"cg_vq_v":-0.39447093,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5645752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.393799,"values":{"Elec_RPM":-5.34762708e-32,"EncoderCos":38740,"EncoderSin":12489,"GapTicks":54755,"Mech_RPM":-1.06952537e-32,"cg_du":50.1599884,"cg_dv":50.2220917,"cg_dw":49.7779083,"cg_id_a":-0.303484768,"cg_id_raw_a":-0.281428248,"cg_iq_a":-0.500931144,"cg_iq_raw_a":-0.862167895,"cg_iu_a":0.256240368,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14458066,"cg_sample_valid":1,"cg_theta_rad":5.00776529,"cg_vd_req_v":0.0884054676,"cg_vd_v":0.0884054676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393376112,"cg_vq_v":-0.393376112,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.34618938,"dclink_p_w":-50.254425,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.425049,"values":{"Elec_RPM":-5.13586118e-32,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-1.02717224e-32,"cg_du":50.1671295,"cg_dv":50.219677,"cg_dw":49.780323,"cg_id_a":0.124744125,"cg_id_raw_a":0.39500466,"cg_iq_a":-0.13386555,"cg_iq_raw_a":-1.12743402,"cg_iu_a":0.219996452,"cg_iv_a":0.250373125,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8600006,"cg_sample_seq":14458220,"cg_sample_valid":1,"cg_theta_rad":5.00700617,"cg_vd_req_v":0.0803989843,"cg_vd_v":0.0803989843,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392819464,"cg_vq_v":-0.392819464,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.440674,"values":{"Elec_RPM":-5.13586118e-32,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-1.02717224e-32,"cg_du":50.1619034,"cg_dv":50.2166748,"cg_dw":49.7833252,"cg_id_a":-0.0162212625,"cg_id_raw_a":0.406078756,"cg_iq_a":-0.419461012,"cg_iq_raw_a":0.113119654,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9218178,"cg_sample_seq":14458267,"cg_sample_valid":1,"cg_theta_rad":5.00756502,"cg_vd_req_v":0.0834562927,"cg_vd_v":0.0834562927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385417342,"cg_vq_v":-0.385417342,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.452393,"values":{"Elec_RPM":-5.03314414e-32,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54758,"Mech_RPM":-1.00662878e-32,"cg_du":50.1572151,"cg_dv":50.2196999,"cg_dw":49.7803001,"cg_id_a":-0.222351074,"cg_id_raw_a":-0.121749148,"cg_iq_a":-0.129418954,"cg_iq_raw_a":-0.0833169073,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9218178,"cg_sample_seq":14458316,"cg_sample_valid":1,"cg_theta_rad":5.0077095,"cg_vd_req_v":0.0884462446,"cg_vd_v":0.0884462446,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387277782,"cg_vq_v":-0.387277782,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.468018,"values":{"Elec_RPM":-5.03314414e-32,"EncoderCos":38733,"EncoderSin":12515,"GapTicks":54763,"Mech_RPM":-1.00662878e-32,"cg_du":50.1636581,"cg_dv":50.2152939,"cg_dw":49.7847061,"cg_id_a":0.279467821,"cg_id_raw_a":0.782123327,"cg_iq_a":-0.582844317,"cg_iq_raw_a":-0.546237051,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9290905,"cg_sample_seq":14458367,"cg_sample_valid":1,"cg_theta_rad":5.00675297,"cg_vd_req_v":0.0786091536,"cg_vd_v":0.0786091536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384964079,"cg_vq_v":-0.384964079,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.51644278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.479736,"values":{"Elec_RPM":-4.93248127e-32,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-9.86496239e-33,"cg_du":50.1583176,"cg_dv":50.2155113,"cg_dw":49.7844887,"cg_id_a":-0.134329826,"cg_id_raw_a":0.329645872,"cg_iq_a":-0.813504219,"cg_iq_raw_a":0.0342452712,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.954546,"cg_sample_seq":14458417,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0867310241,"cg_vd_v":0.0867310241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381464571,"cg_vq_v":-0.381464571,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5803223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.491455,"values":{"Elec_RPM":-4.73715466e-32,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-9.47430961e-33,"cg_du":50.1659317,"cg_dv":50.2170143,"cg_dw":49.7829857,"cg_id_a":0.0447477698,"cg_id_raw_a":-0.40590319,"cg_iq_a":-0.59519738,"cg_iq_raw_a":-0.621016204,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8563633,"cg_sample_seq":14458666,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.0803879574,"cg_vd_v":0.0803879574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388190687,"cg_vq_v":-0.388190687,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0726318,"temp_inv2_c":36.5614319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.526611,"values":{"Elec_RPM":-4.64241187e-32,"EncoderCos":38737,"EncoderSin":12488,"GapTicks":54749,"Mech_RPM":-9.2848236e-33,"cg_du":50.1631966,"cg_dv":50.2278786,"cg_dw":49.7721214,"cg_id_a":-0.575094342,"cg_id_raw_a":-0.281782866,"cg_iq_a":0.359450132,"cg_iq_raw_a":-0.170891628,"cg_iu_a":0.0387773514,"cg_iv_a":1.2289567,"cg_iw_a":-1.26773405,"cg_sample_age_us":23.8563633,"cg_sample_seq":14458721,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0914924368,"cg_vd_v":0.0914924368,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401798636,"cg_vq_v":-0.401798636,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.53833,"values":{"Elec_RPM":-4.64241187e-32,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54757,"Mech_RPM":-9.2848236e-33,"cg_du":50.169754,"cg_dv":50.220108,"cg_dw":49.779892,"cg_id_a":-0.0556768402,"cg_id_raw_a":0.0978199691,"cg_iq_a":-0.00476869941,"cg_iq_raw_a":-0.390215546,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8490906,"cg_sample_seq":14458766,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0808356926,"cg_vd_v":0.0808356926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394447535,"cg_vq_v":-0.394447535,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":0.462048173,"dclink_p_w":66.8697662,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5693359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.553955,"values":{"Elec_RPM":-4.54956339e-32,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54753,"Mech_RPM":-9.09912708e-33,"cg_du":50.1701012,"cg_dv":50.2240677,"cg_dw":49.7759323,"cg_id_a":-0.139056697,"cg_id_raw_a":-0.114628047,"cg_iq_a":0.113600627,"cg_iq_raw_a":0.281035513,"cg_iu_a":-0.831074715,"cg_iv_a":-0.112065196,"cg_iw_a":0.943139911,"cg_sample_age_us":23.954546,"cg_sample_seq":14458817,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0839347243,"cg_vd_v":0.0839347243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400126755,"cg_vq_v":-0.400126755,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":0.462048173,"dclink_p_w":66.8697662,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.565674,"values":{"Elec_RPM":-4.54956339e-32,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-9.09912708e-33,"cg_du":50.171833,"cg_dv":50.2210197,"cg_dw":49.7789803,"cg_id_a":0.0846679062,"cg_id_raw_a":-0.00764040044,"cg_iq_a":-0.118589036,"cg_iq_raw_a":0.254996061,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065196,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14458867,"cg_sample_valid":1,"cg_theta_rad":5.00594711,"cg_vd_req_v":0.0806074366,"cg_vd_v":0.0806074366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39675048,"cg_vq_v":-0.39675048,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5488586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.577393,"values":{"Elec_RPM":-4.28201265e-32,"EncoderCos":38715,"EncoderSin":12453,"GapTicks":54759,"Mech_RPM":-8.56402515e-33,"cg_du":50.1794205,"cg_dv":50.2187119,"cg_dw":49.7812881,"cg_id_a":0.46690613,"cg_id_raw_a":0.765518785,"cg_iq_a":0.0747897625,"cg_iq_raw_a":1.35230613,"cg_iu_a":0.0750212669,"cg_iv_a":0.359104574,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.863636,"cg_sample_seq":14459166,"cg_sample_valid":1,"cg_theta_rad":5.00635815,"cg_vd_req_v":0.0728162304,"cg_vd_v":0.0728162304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397812456,"cg_vq_v":-0.397812456,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.8630867,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5409851,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.612549,"values":{"Elec_RPM":-4.1963723e-32,"EncoderCos":38787,"EncoderSin":12491,"GapTicks":54754,"Mech_RPM":-8.39274461e-33,"cg_du":50.161541,"cg_dv":50.2229156,"cg_dw":49.7770844,"cg_id_a":-0.0414292365,"cg_id_raw_a":-0.523857713,"cg_iq_a":-0.137622401,"cg_iq_raw_a":-1.35065925,"cg_iu_a":-1.19351292,"cg_iv_a":0.431592286,"cg_iw_a":0.761920631,"cg_sample_age_us":23.8600006,"cg_sample_seq":14459220,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0834393054,"cg_vd_v":0.0834393054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395098746,"cg_vq_v":-0.395098746,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.8630867,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5488586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.624268,"values":{"Elec_RPM":-4.1963723e-32,"EncoderCos":38735,"EncoderSin":12469,"GapTicks":54756,"Mech_RPM":-8.39274461e-33,"cg_du":50.1818199,"cg_dv":50.2216568,"cg_dw":49.7783432,"cg_id_a":0.496245295,"cg_id_raw_a":0.447271854,"cg_iq_a":0.438827127,"cg_iq_raw_a":-0.321021676,"cg_iu_a":-1.66468287,"cg_iv_a":0.105397701,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9509087,"cg_sample_seq":14459266,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.071750246,"cg_vd_v":0.071750246,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404797107,"cg_vq_v":-0.404797107,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.6166077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5598755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.639893,"values":{"Elec_RPM":-4.11244495e-32,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54762,"Mech_RPM":-8.22488989e-33,"cg_du":50.1692924,"cg_dv":50.2160034,"cg_dw":49.7839966,"cg_id_a":0.252711892,"cg_id_raw_a":0.815747499,"cg_iq_a":-0.0931384265,"cg_iq_raw_a":0.225260392,"cg_iu_a":0.038777113,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8418179,"cg_sample_seq":14459316,"cg_sample_valid":1,"cg_theta_rad":5.00728703,"cg_vd_req_v":0.076763384,"cg_vd_v":0.076763384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388700873,"cg_vq_v":-0.388700873,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.6166077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5598755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.651611,"values":{"Elec_RPM":-4.11244495e-32,"EncoderCos":38714,"EncoderSin":12530,"GapTicks":54760,"Mech_RPM":-8.22488989e-33,"cg_du":50.1638756,"cg_dv":50.2174873,"cg_dw":49.7825127,"cg_id_a":0.0324306116,"cg_id_raw_a":0.34040907,"cg_iq_a":-0.207097709,"cg_iq_raw_a":0.142355919,"cg_iu_a":-0.214929581,"cg_iv_a":0.721542895,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9436359,"cg_sample_seq":14459366,"cg_sample_valid":1,"cg_theta_rad":5.00635004,"cg_vd_req_v":0.0818323717,"cg_vd_v":0.0818323717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38781473,"cg_vq_v":-0.38781473,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.1409931,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5440979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.66333,"values":{"Elec_RPM":-4.0301959e-32,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-8.06039195e-33,"cg_du":50.1668053,"cg_dv":50.2229614,"cg_dw":49.7770386,"cg_id_a":-0.180170178,"cg_id_raw_a":-0.467571676,"cg_iq_a":0.200975001,"cg_iq_raw_a":-0.409617782,"cg_iu_a":0.219996452,"cg_iv_a":-0.945673347,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9509087,"cg_sample_seq":14459417,"cg_sample_valid":1,"cg_theta_rad":5.00785971,"cg_vd_req_v":0.0863522291,"cg_vd_v":0.0863522291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396578819,"cg_vq_v":-0.396578819,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.1409931,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.675049,"values":{"Elec_RPM":-3.94959196e-32,"EncoderCos":38718,"EncoderSin":12436,"GapTicks":54758,"Mech_RPM":-7.89918392e-33,"cg_du":50.1704559,"cg_dv":50.21978,"cg_dw":49.78022,"cg_id_a":0.116993904,"cg_id_raw_a":-0.173790023,"cg_iq_a":-0.041823525,"cg_iq_raw_a":0.857564449,"cg_iu_a":0.14750886,"cg_iv_a":1.08398128,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9618187,"cg_sample_seq":14459517,"cg_sample_valid":1,"cg_theta_rad":5.00712538,"cg_vd_req_v":0.0810710788,"cg_vd_v":0.0810710788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394173682,"cg_vq_v":-0.394173682,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.478357911,"dclink_p_w":69.2301865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.690674,"values":{"Elec_RPM":-3.94959196e-32,"EncoderCos":38719,"EncoderSin":12473,"GapTicks":54756,"Mech_RPM":-7.89918392e-33,"cg_du":50.1595497,"cg_dv":50.2213783,"cg_dw":49.7786217,"cg_id_a":-0.255740792,"cg_id_raw_a":-0.325062722,"cg_iq_a":-0.252448797,"cg_iq_raw_a":-0.795737386,"cg_iu_a":-0.50488019,"cg_iv_a":0.0329101086,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8563633,"cg_sample_seq":14459567,"cg_sample_valid":1,"cg_theta_rad":5.00705099,"cg_vd_req_v":0.0892336369,"cg_vd_v":0.0892336369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390637696,"cg_vq_v":-0.390637696,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.536348045,"dclink_p_w":77.6227875,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.577179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.702393,"values":{"Elec_RPM":-3.87060021e-32,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-7.74120041e-33,"cg_du":50.1743355,"cg_dv":50.2196846,"cg_dw":49.7803154,"cg_id_a":0.344694346,"cg_id_raw_a":0.63242805,"cg_iq_a":-0.0656972826,"cg_iq_raw_a":-0.264700949,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8418179,"cg_sample_seq":14459617,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0771008953,"cg_vd_v":0.0771008953,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396391392,"cg_vq_v":-0.396391392,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.295326591,"dclink_p_w":42.7410393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5393982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.714111,"values":{"Elec_RPM":-3.87060021e-32,"EncoderCos":38690,"EncoderSin":12472,"GapTicks":54755,"Mech_RPM":-7.74120041e-33,"cg_du":50.1750679,"cg_dv":50.2226715,"cg_dw":49.7773285,"cg_id_a":0.100372322,"cg_id_raw_a":0.450466931,"cg_iq_a":0.137901664,"cg_iq_raw_a":-0.316522509,"cg_iu_a":-0.976050138,"cg_iv_a":-0.112065196,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9436359,"cg_sample_seq":14459667,"cg_sample_valid":1,"cg_theta_rad":5.00617361,"cg_vd_req_v":0.0818420127,"cg_vd_v":0.0818420127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400379032,"cg_vq_v":-0.400379032,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.295326591,"dclink_p_w":42.7410393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.749268,"values":{"Elec_RPM":-3.79318803e-32,"EncoderCos":38744,"EncoderSin":12481,"GapTicks":54759,"Mech_RPM":-7.58637605e-33,"cg_du":50.1589203,"cg_dv":50.2184639,"cg_dw":49.7815361,"cg_id_a":-0.0567027517,"cg_id_raw_a":-0.176758334,"cg_iq_a":-0.478130311,"cg_iq_raw_a":0.0574194752,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213401,"cg_iw_a":0.145775735,"cg_sample_age_us":26.8163643,"cg_sample_seq":14459720,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0853416324,"cg_vd_v":0.0853416324,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386667401,"cg_vq_v":-0.386667401,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.295326591,"dclink_p_w":42.7410393,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5331116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.760986,"values":{"Elec_RPM":-3.49871552e-32,"EncoderCos":38703,"EncoderSin":12485,"GapTicks":54762,"Mech_RPM":-6.99743134e-33,"cg_du":50.1620827,"cg_dv":50.2154884,"cg_dw":49.7845116,"cg_id_a":-0.131420791,"cg_id_raw_a":0.662031293,"cg_iq_a":-0.149913073,"cg_iq_raw_a":-0.551828146,"cg_iu_a":0.256240368,"cg_iv_a":-0.402015924,"cg_iw_a":-0.579101264,"cg_sample_age_us":23.9581814,"cg_sample_seq":14460166,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0834584907,"cg_vd_v":0.0834584907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383626997,"cg_vq_v":-0.383626997,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5425415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.796143,"values":{"Elec_RPM":-3.42874128e-32,"EncoderCos":38746,"EncoderSin":12470,"GapTicks":54767,"Mech_RPM":-6.85748286e-33,"cg_du":50.1623573,"cg_dv":50.2113457,"cg_dw":49.7886543,"cg_id_a":0.160512164,"cg_id_raw_a":-0.303263903,"cg_iq_a":-0.137268335,"cg_iq_raw_a":-1.08253241,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8527279,"cg_sample_seq":14460220,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0761184916,"cg_vd_v":0.0761184916,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379992962,"cg_vq_v":-0.379992962,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.807861,"values":{"Elec_RPM":-3.42874128e-32,"EncoderCos":38711,"EncoderSin":12490,"GapTicks":54768,"Mech_RPM":-6.85748286e-33,"cg_du":50.1666718,"cg_dv":50.2104912,"cg_dw":49.7895088,"cg_id_a":0.27023688,"cg_id_raw_a":0.222071186,"cg_iq_a":-0.208828181,"cg_iq_raw_a":0.0590863563,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9363632,"cg_sample_seq":14460267,"cg_sample_valid":1,"cg_theta_rad":5.0063715,"cg_vd_req_v":0.0741601214,"cg_vd_v":0.0741601214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379596561,"cg_vq_v":-0.379596561,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.559906542,"dclink_p_w":81.03228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.81958,"values":{"Elec_RPM":-3.36016676e-32,"EncoderCos":38760,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-6.72033353e-33,"cg_du":50.1639862,"cg_dv":50.2156906,"cg_dw":49.7843094,"cg_id_a":0.0841521472,"cg_id_raw_a":-0.256700695,"cg_iq_a":0.191620499,"cg_iq_raw_a":0.487444818,"cg_iu_a":0.256240129,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9436359,"cg_sample_seq":14460318,"cg_sample_valid":1,"cg_theta_rad":5.00749493,"cg_vd_req_v":0.0773582906,"cg_vd_v":0.0773582906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384747744,"cg_vq_v":-0.384747744,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.648703933,"dclink_p_w":93.5980911,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5535889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2618.835205,"values":{"Elec_RPM":-3.36016676e-32,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-6.72033353e-33,"cg_du":50.1612244,"cg_dv":50.2127151,"cg_dw":49.7872849,"cg_id_a":-0.0236748159,"cg_id_raw_a":-0.316689283,"cg_iq_a":0.0443567075,"cg_iq_raw_a":-0.247033373,"cg_iu_a":0.509947062,"cg_iv_a":-0.619478941,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8527279,"cg_sample_seq":14460367,"cg_sample_valid":1,"cg_theta_rad":5.00724125,"cg_vd_req_v":0.0785301775,"cg_vd_v":0.0785301775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379989892,"cg_vq_v":-0.379989892,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.621521056,"dclink_p_w":89.9494171,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5535889,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2618.838954,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2618.838967,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2618.83897,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2618.846924,"values":{"Elec_RPM":-3.29296346e-32,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-6.58592677e-33,"cg_du":50.1616364,"cg_dv":50.2109871,"cg_dw":49.7890129,"cg_id_a":-0.00939439237,"cg_id_raw_a":0.142998651,"cg_iq_a":-0.100434795,"cg_iq_raw_a":-0.640756845,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.800698042,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9690914,"cg_sample_seq":14460416,"cg_sample_valid":1,"cg_theta_rad":5.00699615,"cg_vd_req_v":0.0781400949,"cg_vd_v":0.0781400949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377535224,"cg_vq_v":-0.377535224,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.665013611,"dclink_p_w":96.243866,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5504456,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.862549,"values":{"Elec_RPM":-3.29296346e-32,"EncoderCos":38706,"EncoderSin":12461,"GapTicks":54766,"Mech_RPM":-6.58592677e-33,"cg_du":50.1530457,"cg_dv":50.211834,"cg_dw":49.788166,"cg_id_a":-0.450351596,"cg_id_raw_a":-0.419980973,"cg_iq_a":-0.310162038,"cg_iq_raw_a":-0.661189616,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8563633,"cg_sample_seq":14460467,"cg_sample_valid":1,"cg_theta_rad":5.00564003,"cg_vd_req_v":0.0873236731,"cg_vd_v":0.0873236731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373491585,"cg_vq_v":-0.373491585,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.874268,"values":{"Elec_RPM":-3.22710404e-32,"EncoderCos":38715,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-6.45420822e-33,"cg_du":50.1517372,"cg_dv":50.2144623,"cg_dw":49.7855377,"cg_id_a":-0.584595919,"cg_id_raw_a":-0.42845431,"cg_iq_a":-0.00960296486,"cg_iq_raw_a":-1.46123993,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14460516,"cg_sample_valid":1,"cg_theta_rad":5.00779438,"cg_vd_req_v":0.089424178,"cg_vd_v":0.089424178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376677483,"cg_vq_v":-0.376677483,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5456848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.885986,"values":{"Elec_RPM":-3.22710404e-32,"EncoderCos":38760,"EncoderSin":12505,"GapTicks":54764,"Mech_RPM":-6.45420822e-33,"cg_du":50.1528664,"cg_dv":50.2144699,"cg_dw":49.7855301,"cg_id_a":-0.356291592,"cg_id_raw_a":-0.170228645,"cg_iq_a":0.121967405,"cg_iq_raw_a":-0.0138645591,"cg_iu_a":0.43745935,"cg_iv_a":-0.329528213,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14460567,"cg_sample_valid":1,"cg_theta_rad":5.00781441,"cg_vd_req_v":0.0845177844,"cg_vd_v":0.0845177844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379449606,"cg_vq_v":-0.379449606,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.90254402,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.4749146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119089037,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2618.901611,"values":{"Elec_RPM":-3.16256205e-32,"EncoderCos":38719,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-6.32512425e-33,"cg_du":50.1537933,"cg_dv":50.2037849,"cg_dw":49.7962151,"cg_id_a":-0.0223490223,"cg_id_raw_a":0.395776093,"cg_iq_a":-0.565699458,"cg_iq_raw_a":0.00268329121,"cg_iu_a":0.691166401,"cg_iv_a":-0.438259721,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9509087,"cg_sample_seq":14460617,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0771232992,"cg_vd_v":0.0771232992,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363379151,"cg_vq_v":-0.363379151,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5299683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.909424,"values":{"Elec_RPM":-3.16256205e-32,"EncoderCos":38710,"EncoderSin":12505,"GapTicks":54760,"Mech_RPM":-6.32512425e-33,"cg_du":50.1613388,"cg_dv":50.2178955,"cg_dw":49.7821045,"cg_id_a":-0.368453026,"cg_id_raw_a":-0.875551403,"cg_iq_a":0.491635561,"cg_iq_raw_a":0.534391999,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9436359,"cg_sample_seq":14460666,"cg_sample_valid":1,"cg_theta_rad":5.00561476,"cg_vd_req_v":0.0852412432,"cg_vd_v":0.0852412432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386727363,"cg_vq_v":-0.386727363,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5299683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.936768,"values":{"Elec_RPM":-2.97657827e-32,"EncoderCos":38728,"EncoderSin":12491,"GapTicks":54766,"Mech_RPM":-5.95315669e-33,"cg_du":50.1631737,"cg_dv":50.2126808,"cg_dw":49.7873192,"cg_id_a":0.17315191,"cg_id_raw_a":0.226089463,"cg_iq_a":0.207224458,"cg_iq_raw_a":0.240595669,"cg_iu_a":-0.939805984,"cg_iv_a":0.105397701,"cg_iw_a":0.834408283,"cg_sample_age_us":23.954546,"cg_sample_seq":14460966,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0775387734,"cg_vd_v":0.0775387734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380912244,"cg_vq_v":-0.380912244,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5315247,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.948486,"values":{"Elec_RPM":-2.91704683e-32,"EncoderCos":38710,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-5.83409344e-33,"cg_du":50.1590729,"cg_dv":50.2095528,"cg_dw":49.7904472,"cg_id_a":0.0978198871,"cg_id_raw_a":0.0739632174,"cg_iq_a":-0.217079982,"cg_iq_raw_a":-0.356077284,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9836369,"cg_sample_seq":14461016,"cg_sample_valid":1,"cg_theta_rad":5.00527763,"cg_vd_req_v":0.07947395,"cg_vd_v":0.07947395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373998076,"cg_vq_v":-0.373998076,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.293635845,"dclink_p_w":-42.4963455,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5189514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.956299,"values":{"Elec_RPM":-2.91704683e-32,"EncoderCos":38692,"EncoderSin":12484,"GapTicks":54766,"Mech_RPM":-5.83409344e-33,"cg_du":50.1574326,"cg_dv":50.2123756,"cg_dw":49.7876244,"cg_id_a":-0.153892681,"cg_id_raw_a":0.00481909933,"cg_iq_a":-0.114222646,"cg_iq_raw_a":-0.690990627,"cg_iu_a":0.292484045,"cg_iv_a":0.359104574,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9872723,"cg_sample_seq":14461066,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0850302577,"cg_vd_v":0.0850302577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376568884,"cg_vq_v":-0.376568884,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5189514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.964111,"values":{"Elec_RPM":-2.85870587e-32,"EncoderCos":38694,"EncoderSin":12528,"GapTicks":54763,"Mech_RPM":-5.71741167e-33,"cg_du":50.1574326,"cg_dv":50.2147179,"cg_dw":49.7852821,"cg_id_a":-0.273184717,"cg_id_raw_a":0.540765524,"cg_iq_a":0.103221059,"cg_iq_raw_a":0.236846417,"cg_iu_a":-0.142441988,"cg_iv_a":-1.19938016,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9436359,"cg_sample_seq":14461116,"cg_sample_valid":1,"cg_theta_rad":5.00703049,"cg_vd_req_v":0.0859997645,"cg_vd_v":0.0859997645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380038083,"cg_vq_v":-0.380038083,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5063477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2618.967388,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2618.967393,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2618.967399,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2618.971924,"values":{"Elec_RPM":-2.85870587e-32,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-5.71741167e-33,"cg_du":50.166153,"cg_dv":50.2089272,"cg_dw":49.7910728,"cg_id_a":0.358159006,"cg_id_raw_a":0.38314715,"cg_iq_a":-0.147313982,"cg_iq_raw_a":-0.726423562,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9181824,"cg_sample_seq":14461166,"cg_sample_valid":1,"cg_theta_rad":5.00792933,"cg_vd_req_v":0.0728669986,"cg_vd_v":0.0728669986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377213806,"cg_vq_v":-0.377213806,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5063477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2618.999268,"values":{"Elec_RPM":-2.80153188e-32,"EncoderCos":38731,"EncoderSin":12490,"GapTicks":54766,"Mech_RPM":-5.60306362e-33,"cg_du":50.1598434,"cg_dv":50.2126427,"cg_dw":49.7873573,"cg_id_a":0.012179032,"cg_id_raw_a":-0.0362911113,"cg_iq_a":-0.00748653896,"cg_iq_raw_a":0.798266411,"cg_iu_a":0.691166401,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.863636,"cg_sample_seq":14461221,"cg_sample_valid":1,"cg_theta_rad":5.00667763,"cg_vd_req_v":0.0801307261,"cg_vd_v":0.0801307261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380201548,"cg_vq_v":-0.380201548,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.010986,"values":{"Elec_RPM":-2.80153188e-32,"EncoderCos":38718,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-5.60306362e-33,"cg_du":50.1613503,"cg_dv":50.2094917,"cg_dw":49.7905083,"cg_id_a":0.167609796,"cg_id_raw_a":0.0995668992,"cg_iq_a":-0.300694644,"cg_iq_raw_a":-1.26405168,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14461266,"cg_sample_valid":1,"cg_theta_rad":5.00590324,"cg_vd_req_v":0.0772318393,"cg_vd_v":0.0772318393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375279903,"cg_vq_v":-0.375279903,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5220947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.018799,"values":{"Elec_RPM":-2.74550106e-32,"EncoderCos":38737,"EncoderSin":12466,"GapTicks":54763,"Mech_RPM":-5.49100227e-33,"cg_du":50.1638947,"cg_dv":50.2146263,"cg_dw":49.7853737,"cg_id_a":0.108255506,"cg_id_raw_a":-0.302804589,"cg_iq_a":-0.0796445906,"cg_iq_raw_a":-0.391747653,"cg_iu_a":-0.432392597,"cg_iv_a":0.540323734,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9872723,"cg_sample_seq":14461317,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0787309632,"cg_vd_v":0.0787309632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383990347,"cg_vq_v":-0.383990347,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0924825668,"dclink_p_w":-13.3845072,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5220947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.026611,"values":{"Elec_RPM":-2.74550106e-32,"EncoderCos":38729,"EncoderSin":12459,"GapTicks":54758,"Mech_RPM":-5.49100227e-33,"cg_du":50.1598969,"cg_dv":50.2192764,"cg_dw":49.7807236,"cg_id_a":-0.313888133,"cg_id_raw_a":-0.246540099,"cg_iq_a":0.061708197,"cg_iq_raw_a":0.341140032,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592286,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9909096,"cg_sample_seq":14461366,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.0872698426,"cg_vd_v":0.0872698426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387898654,"cg_vq_v":-0.387898654,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.317194343,"dclink_p_w":-45.9058418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2587,"hz_tim_isr":4999,"hz_vsense":2587,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5220947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.03833,"values":{"Elec_RPM":-2.69059108e-32,"EncoderCos":38691,"EncoderSin":12478,"GapTicks":54755,"Mech_RPM":-5.38118208e-33,"cg_du":50.1700478,"cg_dv":50.2225876,"cg_dw":49.7774124,"cg_id_a":-0.247305363,"cg_id_raw_a":-0.390983433,"cg_iq_a":0.649518311,"cg_iq_raw_a":0.288138837,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14461416,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.0854271799,"cg_vd_v":0.0854271799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397476047,"cg_vq_v":-0.397476047,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.317194343,"dclink_p_w":-45.9058418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5236511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.046143,"values":{"Elec_RPM":-2.69059108e-32,"EncoderCos":38706,"EncoderSin":12487,"GapTicks":54759,"Mech_RPM":-5.38118208e-33,"cg_du":50.1715698,"cg_dv":50.2185555,"cg_dw":49.7814445,"cg_id_a":0.127825618,"cg_id_raw_a":0.183171853,"cg_iq_a":0.458761811,"cg_iq_raw_a":0.237630099,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539645,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9763641,"cg_sample_seq":14461466,"cg_sample_valid":1,"cg_theta_rad":5.00819445,"cg_vd_req_v":0.0787019208,"cg_vd_v":0.0787019208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393201411,"cg_vq_v":-0.393201411,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.317194343,"dclink_p_w":-45.9058418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5236511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.053955,"values":{"Elec_RPM":-2.6367793e-32,"EncoderCos":38701,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-5.27355859e-33,"cg_du":50.1611862,"cg_dv":50.1981277,"cg_dw":49.8018723,"cg_id_a":0.567135215,"cg_id_raw_a":-0.277141124,"cg_iq_a":-1.03608084,"cg_iq_raw_a":-0.610676527,"cg_iu_a":0.364971876,"cg_iv_a":0.39534843,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9618187,"cg_sample_seq":14461516,"cg_sample_valid":1,"cg_theta_rad":5.01017141,"cg_vd_req_v":0.0682217777,"cg_vd_v":0.0682217777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36051774,"cg_vq_v":-0.36051774,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.324443102,"dclink_p_w":-46.9549179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5299683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.061768,"values":{"Elec_RPM":-2.6367793e-32,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-5.27355859e-33,"cg_du":50.1625557,"cg_dv":50.2142487,"cg_dw":49.7857513,"cg_id_a":-0.0139153674,"cg_id_raw_a":0.246519834,"cg_iq_a":0.218041256,"cg_iq_raw_a":0.0243398566,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14461566,"cg_sample_valid":1,"cg_theta_rad":5.00735569,"cg_vd_req_v":0.0801634789,"cg_vd_v":0.0801634789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383791864,"cg_vq_v":-0.383791864,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9983444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5299683,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.06958,"values":{"Elec_RPM":-2.58404368e-32,"EncoderCos":38731,"EncoderSin":12469,"GapTicks":54761,"Mech_RPM":-5.16808736e-33,"cg_du":50.1691246,"cg_dv":50.2167778,"cg_dw":49.7832222,"cg_id_a":0.20500493,"cg_id_raw_a":0.386049479,"cg_iq_a":0.299263686,"cg_iq_raw_a":0.765764713,"cg_iu_a":0.256240368,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9254551,"cg_sample_seq":14461616,"cg_sample_valid":1,"cg_theta_rad":5.00966072,"cg_vd_req_v":0.0771499425,"cg_vd_v":0.0771499425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389755636,"cg_vq_v":-0.389755636,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9983444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5362549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.077393,"values":{"Elec_RPM":-2.58404368e-32,"EncoderCos":38729,"EncoderSin":12476,"GapTicks":54761,"Mech_RPM":-5.16808736e-33,"cg_du":50.1690331,"cg_dv":50.2165031,"cg_dw":49.7834969,"cg_id_a":0.245594054,"cg_id_raw_a":-0.0568365976,"cg_iq_a":0.306431323,"cg_iq_raw_a":-1.42452514,"cg_iu_a":-1.37473226,"cg_iv_a":-0.0395776033,"cg_iw_a":1.41430986,"cg_sample_age_us":23.8709087,"cg_sample_seq":14461666,"cg_sample_valid":1,"cg_theta_rad":5.0075469,"cg_vd_req_v":0.0769442469,"cg_vd_v":0.0769442469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389332235,"cg_vq_v":-0.389332235,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.300884604,"dclink_p_w":-43.5454216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.108643,"values":{"Elec_RPM":-2.48171572e-32,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-4.96343122e-33,"cg_du":50.1617966,"cg_dv":50.2192955,"cg_dw":49.7807045,"cg_id_a":0.00212128274,"cg_id_raw_a":0.431414604,"cg_iq_a":0.255379319,"cg_iq_raw_a":-0.614637613,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14461817,"cg_sample_valid":1,"cg_theta_rad":5.00687313,"cg_vd_req_v":0.0840820074,"cg_vd_v":0.0840820074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389358312,"cg_vq_v":-0.389358312,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.300884604,"dclink_p_w":-43.5454216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5425415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.116455,"values":{"Elec_RPM":-2.48171572e-32,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54757,"Mech_RPM":-4.96343122e-33,"cg_du":50.162468,"cg_dv":50.2204208,"cg_dw":49.7795792,"cg_id_a":-0.185252473,"cg_id_raw_a":-0.0873916894,"cg_iq_a":0.301214397,"cg_iq_raw_a":0.429262817,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14461867,"cg_sample_valid":1,"cg_theta_rad":5.00711012,"cg_vd_req_v":0.0868330896,"cg_vd_v":0.0868330896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390787631,"cg_vq_v":-0.390787631,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.300884604,"dclink_p_w":-43.5454216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5425415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.124268,"values":{"Elec_RPM":-2.43208135e-32,"EncoderCos":38715,"EncoderSin":12472,"GapTicks":54766,"Mech_RPM":-4.86416256e-33,"cg_du":50.1548157,"cg_dv":50.211998,"cg_dw":49.788002,"cg_id_a":-0.0707037449,"cg_id_raw_a":0.0524499454,"cg_iq_a":-0.544574976,"cg_iq_raw_a":-0.139695719,"cg_iu_a":0.256240129,"cg_iv_a":-0.329528213,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14461918,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0850492045,"cg_vd_v":0.0850492045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374953836,"cg_vq_v":-0.374953836,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.13208,"values":{"Elec_RPM":-2.43208135e-32,"EncoderCos":38696,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-4.86416256e-33,"cg_du":50.1635818,"cg_dv":50.219265,"cg_dw":49.780735,"cg_id_a":-0.096977964,"cg_id_raw_a":-0.103756845,"cg_iq_a":0.100628451,"cg_iq_raw_a":-0.0464527905,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.954546,"cg_sample_seq":14461967,"cg_sample_valid":1,"cg_theta_rad":5.00753641,"cg_vd_req_v":0.08736296,"cg_vd_v":0.08736296,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389285684,"cg_vq_v":-0.389285684,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.031357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.139893,"values":{"Elec_RPM":-2.38343969e-32,"EncoderCos":38720,"EncoderSin":12474,"GapTicks":54761,"Mech_RPM":-4.76687939e-33,"cg_du":50.1502571,"cg_dv":50.2167206,"cg_dw":49.7832794,"cg_id_a":-0.301974595,"cg_id_raw_a":-0.270678341,"cg_iq_a":-0.421085745,"cg_iq_raw_a":-0.062002223,"cg_iu_a":1.63350606,"cg_iv_a":0.10539782,"cg_iw_a":-1.73890388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14462017,"cg_sample_valid":1,"cg_theta_rad":5.00721216,"cg_vd_req_v":0.0927436724,"cg_vd_v":0.0927436724,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378922164,"cg_vq_v":-0.378922164,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.031357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5393982,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.151611,"values":{"Elec_RPM":-2.38343969e-32,"EncoderCos":38714,"EncoderSin":12494,"GapTicks":54756,"Mech_RPM":-4.76687939e-33,"cg_du":50.1615219,"cg_dv":50.2215271,"cg_dw":49.7784729,"cg_id_a":-0.0986269265,"cg_id_raw_a":-0.201438591,"cg_iq_a":0.209001571,"cg_iq_raw_a":0.0904138982,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9872723,"cg_sample_seq":14462067,"cg_sample_valid":1,"cg_theta_rad":5.00571251,"cg_vd_req_v":0.0885664299,"cg_vd_v":0.0885664299,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391779155,"cg_vq_v":-0.391779155,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5724792,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.159424,"values":{"Elec_RPM":-2.33577075e-32,"EncoderCos":38775,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-4.67154165e-33,"cg_du":50.1646233,"cg_dv":50.2176971,"cg_dw":49.7823029,"cg_id_a":0.357795596,"cg_id_raw_a":0.60530138,"cg_iq_a":0.207303733,"cg_iq_raw_a":-0.493656188,"cg_iu_a":-0.577367783,"cg_iv_a":-0.148309112,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9436359,"cg_sample_seq":14462117,"cg_sample_valid":1,"cg_theta_rad":5.00669718,"cg_vd_req_v":0.0773970485,"cg_vd_v":0.0773970485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389347106,"cg_vq_v":-0.389347106,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5724792,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.167236,"values":{"Elec_RPM":-2.33577075e-32,"EncoderCos":38727,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-4.67154165e-33,"cg_du":50.1671371,"cg_dv":50.2138672,"cg_dw":49.7861328,"cg_id_a":0.440078378,"cg_id_raw_a":0.562426865,"cg_iq_a":0.0345463157,"cg_iq_raw_a":0.0180150121,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.329528332,"cg_iw_a":0.363238573,"cg_sample_age_us":23.954546,"cg_sample_seq":14462167,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0758984163,"cg_vd_v":0.0758984163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384682208,"cg_vq_v":-0.384682208,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.607144833,"dclink_p_w":-88.13591,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.19458,"values":{"Elec_RPM":-2.28905543e-32,"EncoderCos":38705,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-4.57811079e-33,"cg_du":50.154377,"cg_dv":50.2087746,"cg_dw":49.7912254,"cg_id_a":0.0551889688,"cg_id_raw_a":-0.099207446,"cg_iq_a":-0.459620655,"cg_iq_raw_a":-0.30065155,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129269,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.8600006,"cg_sample_seq":14462220,"cg_sample_valid":1,"cg_theta_rad":5.00667477,"cg_vd_req_v":0.0833508372,"cg_vd_v":0.0833508372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371264488,"cg_vq_v":-0.371264488,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.7700806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.206299,"values":{"Elec_RPM":-2.28905543e-32,"EncoderCos":38732,"EncoderSin":12474,"GapTicks":54769,"Mech_RPM":-4.57811079e-33,"cg_du":50.1477242,"cg_dv":50.2096443,"cg_dw":49.7903557,"cg_id_a":-0.112111509,"cg_id_raw_a":-0.222986013,"cg_iq_a":-0.656326652,"cg_iq_raw_a":-0.56641525,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397701,"cg_iw_a":-0.941539228,"cg_sample_age_us":23.954546,"cg_sample_seq":14462268,"cg_sample_valid":1,"cg_theta_rad":5.00636816,"cg_vd_req_v":0.0868453979,"cg_vd_v":0.0868453979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368119001,"cg_vq_v":-0.368119001,"cg_vu_v":139.006058,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.214111,"values":{"Elec_RPM":-2.24327433e-32,"EncoderCos":38749,"EncoderSin":12457,"GapTicks":54762,"Mech_RPM":-4.48654859e-33,"cg_du":50.1534653,"cg_dv":50.2157707,"cg_dw":49.7842293,"cg_id_a":-0.144442677,"cg_id_raw_a":-0.321143955,"cg_iq_a":-0.130522177,"cg_iq_raw_a":-0.429118812,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.8563633,"cg_sample_seq":14462316,"cg_sample_valid":1,"cg_theta_rad":5.00819349,"cg_vd_req_v":0.0869767293,"cg_vd_v":0.0869767293,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37875542,"cg_vq_v":-0.37875542,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5126648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.221924,"values":{"Elec_RPM":-2.24327433e-32,"EncoderCos":38696,"EncoderSin":12459,"GapTicks":54760,"Mech_RPM":-4.48654859e-33,"cg_du":50.1610451,"cg_dv":50.2174187,"cg_dw":49.7825813,"cg_id_a":-0.137344822,"cg_id_raw_a":-0.459279716,"cg_iq_a":0.0777648464,"cg_iq_raw_a":0.135215476,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.954546,"cg_sample_seq":14462366,"cg_sample_valid":1,"cg_theta_rad":5.0058136,"cg_vd_req_v":0.0874525532,"cg_vd_v":0.0874525532,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385366499,"cg_vq_v":-0.385366499,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5126648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.229736,"values":{"Elec_RPM":-2.1984088e-32,"EncoderCos":38726,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-4.3968176e-33,"cg_du":50.1570702,"cg_dv":50.2124825,"cg_dw":49.7875175,"cg_id_a":0.109681427,"cg_id_raw_a":-0.309020102,"cg_iq_a":-0.299607098,"cg_iq_raw_a":-0.320139706,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9218178,"cg_sample_seq":14462417,"cg_sample_valid":1,"cg_theta_rad":5.00819921,"cg_vd_req_v":0.0827120841,"cg_vd_v":0.0827120841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377111346,"cg_vq_v":-0.377111346,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5173645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.237549,"values":{"Elec_RPM":-2.1984088e-32,"EncoderCos":38715,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-4.3968176e-33,"cg_du":50.1544456,"cg_dv":50.2129364,"cg_dw":49.7870636,"cg_id_a":-0.159299135,"cg_id_raw_a":0.223440826,"cg_iq_a":-0.388621747,"cg_iq_raw_a":0.678660631,"cg_iu_a":0.691166162,"cg_iv_a":0.359104633,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9436359,"cg_sample_seq":14462467,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0865400136,"cg_vd_v":0.0865400136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375957608,"cg_vq_v":-0.375957608,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5236511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.245361,"values":{"Elec_RPM":-2.15444046e-32,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54766,"Mech_RPM":-4.30888107e-33,"cg_du":50.1575775,"cg_dv":50.2123871,"cg_dw":49.7876129,"cg_id_a":-0.0597007498,"cg_id_raw_a":-0.347579211,"cg_iq_a":-0.278175473,"cg_iq_raw_a":0.294573188,"cg_iu_a":0.5099473,"cg_iv_a":0.322860777,"cg_iw_a":-0.832808077,"cg_sample_age_us":23.9654541,"cg_sample_seq":14462517,"cg_sample_valid":1,"cg_theta_rad":5.00674295,"cg_vd_req_v":0.0828862265,"cg_vd_v":0.0828862265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377119929,"cg_vq_v":-0.377119929,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5236511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.253174,"values":{"Elec_RPM":-2.15444046e-32,"EncoderCos":38736,"EncoderSin":12493,"GapTicks":54769,"Mech_RPM":-4.30888107e-33,"cg_du":50.1615105,"cg_dv":50.2096481,"cg_dw":49.7903519,"cg_id_a":0.280596852,"cg_id_raw_a":0.453342974,"cg_iq_a":-0.0992482007,"cg_iq_raw_a":-0.394043267,"cg_iu_a":-0.468636513,"cg_iv_a":-0.691966534,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9436359,"cg_sample_seq":14462567,"cg_sample_valid":1,"cg_theta_rad":5.00663567,"cg_vd_req_v":0.075175792,"cg_vd_v":0.075175792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376001894,"cg_vq_v":-0.376001894,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.6132813,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5032043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.264893,"values":{"Elec_RPM":-2.11135169e-32,"EncoderCos":38704,"EncoderSin":12477,"GapTicks":54770,"Mech_RPM":-4.22270338e-33,"cg_du":50.155571,"cg_dv":50.2087898,"cg_dw":49.7912102,"cg_id_a":-0.0528721064,"cg_id_raw_a":-0.00663347216,"cg_iq_a":-0.350418329,"cg_iq_raw_a":-0.801283062,"cg_iu_a":-0.287417173,"cg_iv_a":-0.510747433,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14462617,"cg_sample_valid":1,"cg_theta_rad":5.00709057,"cg_vd_req_v":0.081883356,"cg_vd_v":0.081883356,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369716465,"cg_vq_v":-0.369716465,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.272705,"values":{"Elec_RPM":-2.11135169e-32,"EncoderCos":38711,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-4.22270338e-33,"cg_du":50.1584091,"cg_dv":50.2076912,"cg_dw":49.7923088,"cg_id_a":0.1370202,"cg_id_raw_a":0.00368727488,"cg_iq_a":-0.131882489,"cg_iq_raw_a":-0.0716724172,"cg_iu_a":0.836141586,"cg_iv_a":0.757786751,"cg_iw_a":-1.59392834,"cg_sample_age_us":23.9836369,"cg_sample_seq":14462667,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0778592303,"cg_vd_v":0.0778592303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369987696,"cg_vq_v":-0.369987696,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.300049,"values":{"Elec_RPM":-2.06912455e-32,"EncoderCos":38733,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-4.13824925e-33,"cg_du":50.1501846,"cg_dv":50.211216,"cg_dw":49.788784,"cg_id_a":-0.266708136,"cg_id_raw_a":0.155915648,"cg_iq_a":-0.0528212935,"cg_iq_raw_a":-0.348420143,"cg_iu_a":-0.577368021,"cg_iv_a":-0.25704062,"cg_iw_a":0.834408641,"cg_sample_age_us":23.9509087,"cg_sample_seq":14462722,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.0863682181,"cg_vd_v":0.0863682181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370461702,"cg_vq_v":-0.370461702,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4969177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.307861,"values":{"Elec_RPM":-2.06912455e-32,"EncoderCos":38718,"EncoderSin":12458,"GapTicks":54757,"Mech_RPM":-4.13824925e-33,"cg_du":50.1745949,"cg_dv":50.2204628,"cg_dw":49.7795372,"cg_id_a":0.240466416,"cg_id_raw_a":-0.121244408,"cg_iq_a":1.37121701,"cg_iq_raw_a":-0.0840497166,"cg_iu_a":-0.758587122,"cg_iv_a":-1.12689269,"cg_iw_a":1.88547981,"cg_sample_age_us":23.9763641,"cg_sample_seq":14462768,"cg_sample_valid":1,"cg_theta_rad":5.00678539,"cg_vd_req_v":0.0778962374,"cg_vd_v":0.0778962374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397548229,"cg_vq_v":-0.397548229,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4969177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.31958,"values":{"Elec_RPM":-2.02774215e-32,"EncoderCos":38703,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-4.05548416e-33,"cg_du":50.1530266,"cg_dv":50.1934929,"cg_dw":49.8065071,"cg_id_a":0.624081135,"cg_id_raw_a":-0.116637178,"cg_iq_a":-0.901128054,"cg_iq_raw_a":-0.958179832,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.823637,"cg_sample_seq":14462816,"cg_sample_valid":1,"cg_theta_rad":5.00631094,"cg_vd_req_v":0.0693141893,"cg_vd_v":0.0693141893,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34864068,"cg_vq_v":-0.34864068,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7892742,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5047913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.327393,"values":{"Elec_RPM":-2.02774215e-32,"EncoderCos":38712,"EncoderSin":12469,"GapTicks":54769,"Mech_RPM":-4.05548416e-33,"cg_du":50.1461945,"cg_dv":50.2092934,"cg_dw":49.7907066,"cg_id_a":-0.371786267,"cg_id_raw_a":-0.0723587722,"cg_iq_a":0.0646430105,"cg_iq_raw_a":-0.15210253,"cg_iu_a":0.219996452,"cg_iv_a":-0.655722618,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8454552,"cg_sample_seq":14462866,"cg_sample_valid":1,"cg_theta_rad":5.00667763,"cg_vd_req_v":0.0895050168,"cg_vd_v":0.0895050168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36635682,"cg_vq_v":-0.36635682,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.313448429,"dclink_p_w":45.3637161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.335205,"values":{"Elec_RPM":-1.98718716e-32,"EncoderCos":38719,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-3.97437432e-33,"cg_du":50.1474419,"cg_dv":50.20327,"cg_dw":49.79673,"cg_id_a":0.0382124372,"cg_id_raw_a":-0.00014785961,"cg_iq_a":-0.295855433,"cg_iq_raw_a":0.182862371,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9799995,"cg_sample_seq":14462916,"cg_sample_valid":1,"cg_theta_rad":5.00902128,"cg_vd_req_v":0.0817598477,"cg_vd_v":0.0817598477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359089404,"cg_vq_v":-0.359089404,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.313448429,"dclink_p_w":45.3637161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.343018,"values":{"Elec_RPM":-1.98718716e-32,"EncoderCos":38772,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-3.97437432e-33,"cg_du":50.1379395,"cg_dv":50.203186,"cg_dw":49.796814,"cg_id_a":-0.0479034632,"cg_id_raw_a":0.374348968,"cg_iq_a":-0.423213243,"cg_iq_raw_a":-0.73099649,"cg_iu_a":0.437459469,"cg_iv_a":0.467836082,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.8563633,"cg_sample_seq":14462967,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0851436555,"cg_vd_v":0.0851436555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35462752,"cg_vq_v":-0.35462752,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":0.442114115,"dclink_p_w":63.9848137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5173645,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.35083,"values":{"Elec_RPM":-1.94744325e-32,"EncoderCos":38697,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-3.89488666e-33,"cg_du":50.1427078,"cg_dv":50.2033195,"cg_dw":49.7966805,"cg_id_a":-0.251057118,"cg_id_raw_a":-0.421333104,"cg_iq_a":-0.196479887,"cg_iq_raw_a":-0.844168603,"cg_iu_a":0.437459469,"cg_iv_a":-0.25704062,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14463017,"cg_sample_valid":1,"cg_theta_rad":5.00828791,"cg_vd_req_v":0.0875776261,"cg_vd_v":0.0875776261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356002122,"cg_vq_v":-0.356002122,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.331570387,"dclink_p_w":47.9864082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5158081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.358643,"values":{"Elec_RPM":-1.94744325e-32,"EncoderCos":38716,"EncoderSin":12443,"GapTicks":54774,"Mech_RPM":-3.89488666e-33,"cg_du":50.1445923,"cg_dv":50.2053909,"cg_dw":49.7946091,"cg_id_a":-0.252590001,"cg_id_raw_a":0.0500081144,"cg_iq_a":0.0860133544,"cg_iq_raw_a":-0.322006345,"cg_iu_a":0.14750886,"cg_iv_a":-0.25704062,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14463066,"cg_sample_valid":1,"cg_theta_rad":5.00650311,"cg_vd_req_v":0.0875351951,"cg_vd_v":0.0875351951,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361174762,"cg_vq_v":-0.361174762,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5158081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.366455,"values":{"Elec_RPM":-1.90849442e-32,"EncoderCos":38735,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-3.81698885e-33,"cg_du":50.1372681,"cg_dv":50.2027435,"cg_dw":49.7972565,"cg_id_a":-0.21436277,"cg_id_raw_a":-0.0534654297,"cg_iq_a":-0.139412209,"cg_iq_raw_a":0.760244846,"cg_iu_a":0.691166162,"cg_iv_a":-0.402015805,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9290905,"cg_sample_seq":14463117,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.0882146582,"cg_vd_v":0.0882146582,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354057044,"cg_vq_v":-0.354057044,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":0.39499712,"dclink_p_w":57.3395805,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4906006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.378174,"values":{"Elec_RPM":-1.90849442e-32,"EncoderCos":38732,"EncoderSin":12457,"GapTicks":54781,"Mech_RPM":-3.81698885e-33,"cg_du":50.1449165,"cg_dv":50.1988792,"cg_dw":49.8011208,"cg_id_a":0.239292085,"cg_id_raw_a":0.558761656,"cg_iq_a":-0.0585635975,"cg_iq_raw_a":-0.600979626,"cg_iu_a":0.183752775,"cg_iv_a":0.0691539645,"cg_iw_a":0.290750861,"cg_sample_age_us":23.954546,"cg_sample_seq":14463166,"cg_sample_valid":1,"cg_theta_rad":5.00799036,"cg_vd_req_v":0.0790443867,"cg_vd_v":0.0790443867,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351800054,"cg_vq_v":-0.351800054,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.761059761,"dclink_p_w":110.144112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4906006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.385986,"values":{"Elec_RPM":-1.87032451e-32,"EncoderCos":38713,"EncoderSin":12477,"GapTicks":54783,"Mech_RPM":-3.74064894e-33,"cg_du":50.1426697,"cg_dv":50.196743,"cg_dw":49.803257,"cg_id_a":0.330626905,"cg_id_raw_a":0.611141264,"cg_iq_a":-0.231811315,"cg_iq_raw_a":-0.0480197296,"cg_iu_a":0.147508621,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.863636,"cg_sample_seq":14463216,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0797568262,"cg_vd_v":0.0797568262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347398072,"cg_vq_v":-0.347398072,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.8665619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5079346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.41333,"values":{"Elec_RPM":-1.87032451e-32,"EncoderCos":38713,"EncoderSin":12469,"GapTicks":54775,"Mech_RPM":-3.74064894e-33,"cg_du":50.131218,"cg_dv":50.2037544,"cg_dw":49.7962456,"cg_id_a":0.0328667983,"cg_id_raw_a":-0.40984109,"cg_iq_a":0.0582756437,"cg_iq_raw_a":0.069313094,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14463269,"cg_sample_valid":1,"cg_theta_rad":5.00600863,"cg_vd_req_v":0.0872950181,"cg_vd_v":0.0872950181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354228407,"cg_vq_v":-0.354228407,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.634206355,"dclink_p_w":91.7852936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.421143,"values":{"Elec_RPM":-1.83291807e-32,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.66583607e-33,"cg_du":50.1361313,"cg_dv":50.1998711,"cg_dw":49.8001289,"cg_id_a":0.0913837701,"cg_id_raw_a":-0.0283232406,"cg_iq_a":-0.162498623,"cg_iq_raw_a":-0.402349651,"cg_iu_a":0.256240368,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14463316,"cg_sample_valid":1,"cg_theta_rad":5.0060811,"cg_vd_req_v":0.0865147859,"cg_vd_v":0.0865147859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348325193,"cg_vq_v":-0.348325193,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.432861,"values":{"Elec_RPM":-1.83291807e-32,"EncoderCos":38719,"EncoderSin":12468,"GapTicks":54770,"Mech_RPM":-3.66583607e-33,"cg_du":50.1412544,"cg_dv":50.2089233,"cg_dw":49.7910767,"cg_id_a":-0.231872752,"cg_id_raw_a":0.0130059812,"cg_iq_a":0.61556989,"cg_iq_raw_a":0.475514233,"cg_iu_a":0.256240368,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14463366,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0924606174,"cg_vd_v":0.0924606174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36321497,"cg_vq_v":-0.36321497,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.440674,"values":{"Elec_RPM":-1.79625969e-32,"EncoderCos":38703,"EncoderSin":12441,"GapTicks":54784,"Mech_RPM":-3.59251939e-33,"cg_du":50.1311722,"cg_dv":50.1962013,"cg_dw":49.8037987,"cg_id_a":-0.116526015,"cg_id_raw_a":0.759854734,"cg_iq_a":-0.582806706,"cg_iq_raw_a":-2.28888893,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333374739,"cg_iw_a":0.145775497,"cg_sample_age_us":23.954546,"cg_sample_seq":14463416,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0898566246,"cg_vd_v":0.0898566246,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339775085,"cg_vq_v":-0.339775085,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5079346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.448486,"values":{"Elec_RPM":-1.79625969e-32,"EncoderCos":38709,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-3.59251939e-33,"cg_du":50.132061,"cg_dv":50.1965332,"cg_dw":49.8034668,"cg_id_a":-0.135902494,"cg_id_raw_a":0.0180586372,"cg_iq_a":-0.249773011,"cg_iq_raw_a":-0.215935305,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14463466,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.0883080959,"cg_vd_v":0.0883080959,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342143863,"cg_vq_v":-0.342143863,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":0.349692345,"dclink_p_w":50.7629318,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5079346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.456299,"values":{"Elec_RPM":-1.76033453e-32,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54769,"Mech_RPM":-3.52066913e-33,"cg_du":50.1362343,"cg_dv":50.2092781,"cg_dw":49.7907219,"cg_id_a":-0.53481555,"cg_id_raw_a":-0.178423032,"cg_iq_a":0.603823543,"cg_iq_raw_a":0.493023515,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.27186787,"cg_iw_a":1.30557835,"cg_sample_age_us":23.9872723,"cg_sample_seq":14463516,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0970801413,"cg_vd_v":0.0970801413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360783219,"cg_vq_v":-0.360783219,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.464111,"values":{"Elec_RPM":-1.76033453e-32,"EncoderCos":38711,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-3.52066913e-33,"cg_du":50.141819,"cg_dv":50.1993065,"cg_dw":49.8006935,"cg_id_a":0.0862486959,"cg_id_raw_a":0.0698107108,"cg_iq_a":0.155134946,"cg_iq_raw_a":-0.101501964,"cg_iu_a":-1.15726924,"cg_iv_a":-0.0395776033,"cg_iw_a":1.19684684,"cg_sample_age_us":23.9763641,"cg_sample_seq":14463566,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.083227694,"cg_vd_v":0.083227694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350330651,"cg_vq_v":-0.350330651,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.471924,"values":{"Elec_RPM":-1.72512789e-32,"EncoderCos":38713,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-3.45025592e-33,"cg_du":50.1374474,"cg_dv":50.2003326,"cg_dw":49.7996674,"cg_id_a":-0.083684355,"cg_id_raw_a":0.308427215,"cg_iq_a":0.148211986,"cg_iq_raw_a":-0.806149006,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.954546,"cg_sample_seq":14463616,"cg_sample_valid":1,"cg_theta_rad":5.0081892,"cg_vd_req_v":0.087687172,"cg_vd_v":0.087687172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349253535,"cg_vq_v":-0.349253535,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5079346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.479736,"values":{"Elec_RPM":-1.72512789e-32,"EncoderCos":38750,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-3.45025592e-33,"cg_du":50.1372795,"cg_dv":50.1955681,"cg_dw":49.8044319,"cg_id_a":0.22581771,"cg_id_raw_a":0.503245056,"cg_iq_a":-0.241683796,"cg_iq_raw_a":-0.0265851859,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9509087,"cg_sample_seq":14463666,"cg_sample_valid":1,"cg_theta_rad":5.00639486,"cg_vd_req_v":0.0798825398,"cg_vd_v":0.0798825398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343475074,"cg_vq_v":-0.343475074,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.491455,"values":{"Elec_RPM":-1.69062536e-32,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54763,"Mech_RPM":-3.38125073e-33,"cg_du":50.1418571,"cg_dv":50.2150307,"cg_dw":49.7849693,"cg_id_a":-0.618205309,"cg_id_raw_a":-0.0679560453,"cg_iq_a":1.06576931,"cg_iq_raw_a":0.649653494,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14463716,"cg_sample_valid":1,"cg_theta_rad":5.00578642,"cg_vd_req_v":0.0986800268,"cg_vd_v":0.0986800268,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372861892,"cg_vq_v":-0.372861892,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.95305157,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.518799,"values":{"Elec_RPM":-1.69062536e-32,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.38125073e-33,"cg_du":50.1415825,"cg_dv":50.2071037,"cg_dw":49.7928963,"cg_id_a":-0.190520987,"cg_id_raw_a":-0.218819097,"cg_iq_a":0.464514077,"cg_iq_raw_a":0.0520156883,"cg_iu_a":0.292484045,"cg_iv_a":-1.38059938,"cg_iw_a":1.08811533,"cg_sample_age_us":23.863636,"cg_sample_seq":14463771,"cg_sample_valid":1,"cg_theta_rad":5.00705957,"cg_vd_req_v":0.0909596831,"cg_vd_v":0.0909596831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361960739,"cg_vq_v":-0.361960739,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5142212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.526611,"values":{"Elec_RPM":-1.65681286e-32,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-3.31362564e-33,"cg_du":50.1355972,"cg_dv":50.2003136,"cg_dw":49.7996864,"cg_id_a":-0.118774265,"cg_id_raw_a":0.400095761,"cg_iq_a":-0.274334699,"cg_iq_raw_a":-0.250721753,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14463816,"cg_sample_valid":1,"cg_theta_rad":5.00733328,"cg_vd_req_v":0.08903189,"cg_vd_v":0.08903189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348207086,"cg_vq_v":-0.348207086,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.534424,"values":{"Elec_RPM":-1.65681286e-32,"EncoderCos":38767,"EncoderSin":12478,"GapTicks":54778,"Mech_RPM":-3.31362564e-33,"cg_du":50.1320877,"cg_dv":50.2009544,"cg_dw":49.7990456,"cg_id_a":-0.102004319,"cg_id_raw_a":-0.309802949,"cg_iq_a":-0.309007704,"cg_iq_raw_a":0.628843844,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9509087,"cg_sample_seq":14463867,"cg_sample_valid":1,"cg_theta_rad":5.00670433,"cg_vd_req_v":0.0878665298,"cg_vd_v":0.0878665298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348281235,"cg_vq_v":-0.348281235,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.1057014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.546143,"values":{"Elec_RPM":-1.59120293e-32,"EncoderCos":38723,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-3.18240594e-33,"cg_du":50.136219,"cg_dv":50.1989479,"cg_dw":49.8010521,"cg_id_a":-0.0720953867,"cg_id_raw_a":0.163187966,"cg_iq_a":-0.152455613,"cg_iq_raw_a":0.0164769758,"cg_iu_a":0.0750212669,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14464016,"cg_sample_valid":1,"cg_theta_rad":5.00620413,"cg_vd_req_v":0.0862458423,"cg_vd_v":0.0862458423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348065376,"cg_vq_v":-0.348065376,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5126648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.553955,"values":{"Elec_RPM":-1.59120293e-32,"EncoderCos":38694,"EncoderSin":12455,"GapTicks":54777,"Mech_RPM":-3.18240594e-33,"cg_du":50.1487541,"cg_dv":50.2026291,"cg_dw":49.7973709,"cg_id_a":0.138980046,"cg_id_raw_a":0.441218078,"cg_iq_a":0.206368268,"cg_iq_raw_a":0.375016153,"cg_iu_a":-0.359905005,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9254551,"cg_sample_seq":14464066,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.082809113,"cg_vd_v":0.082809113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358335078,"cg_vq_v":-0.358335078,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04345465,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5126648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.561768,"values":{"Elec_RPM":-1.55937877e-32,"EncoderCos":38738,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-3.11875769e-33,"cg_du":50.159565,"cg_dv":50.2064552,"cg_dw":49.7935448,"cg_id_a":0.492630839,"cg_id_raw_a":0.554641068,"cg_iq_a":0.792452335,"cg_iq_raw_a":0.780271351,"cg_iu_a":0.219996452,"cg_iv_a":0.866518259,"cg_iw_a":1.66801667,"cg_sample_age_us":23.954546,"cg_sample_seq":14464116,"cg_sample_valid":1,"cg_theta_rad":5.00837469,"cg_vd_req_v":0.0737373829,"cg_vd_v":0.0737373829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370538741,"cg_vq_v":-0.370538741,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04345465,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5126648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.56958,"values":{"Elec_RPM":-1.55937877e-32,"EncoderCos":38705,"EncoderSin":12485,"GapTicks":54771,"Mech_RPM":-3.11875769e-33,"cg_du":50.1498985,"cg_dv":50.2078133,"cg_dw":49.7921867,"cg_id_a":-0.0226605386,"cg_id_raw_a":0.139734,"cg_iq_a":0.553572536,"cg_iq_raw_a":0.67045629,"cg_iu_a":0.256240368,"cg_iv_a":-0.510747433,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14464166,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.0853376165,"cg_vd_v":0.0853376165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366387069,"cg_vq_v":-0.366387069,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.15602136,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.577393,"values":{"Elec_RPM":-1.52819129e-32,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-3.05638247e-33,"cg_du":50.1377792,"cg_dv":50.2025642,"cg_dw":49.7974358,"cg_id_a":-0.118486881,"cg_id_raw_a":0.271180302,"cg_iq_a":-0.165023297,"cg_iq_raw_a":-0.44625479,"cg_iu_a":0.401215553,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8490906,"cg_sample_seq":14464216,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0886272043,"cg_vd_v":0.0886272043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352714211,"cg_vq_v":-0.352714211,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.608643,"values":{"Elec_RPM":-1.52819129e-32,"EncoderCos":38748,"EncoderSin":12500,"GapTicks":54781,"Mech_RPM":-3.05638247e-33,"cg_du":50.1390762,"cg_dv":50.1989098,"cg_dw":49.8010902,"cg_id_a":0.317556024,"cg_id_raw_a":0.233775005,"cg_iq_a":-0.343064189,"cg_iq_raw_a":0.167223141,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":26.8163643,"cg_sample_seq":14464269,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0813586414,"cg_vd_v":0.0813586414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349115431,"cg_vq_v":-0.349115431,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.616455,"values":{"Elec_RPM":-1.49762741e-32,"EncoderCos":38737,"EncoderSin":12527,"GapTicks":54776,"Mech_RPM":-2.99525475e-33,"cg_du":50.1380653,"cg_dv":50.2032356,"cg_dw":49.7967644,"cg_id_a":0.0554098524,"cg_id_raw_a":-0.0997924581,"cg_iq_a":-0.111822695,"cg_iq_raw_a":0.137391776,"cg_iu_a":0.00253343582,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9618187,"cg_sample_seq":14464316,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.0865404606,"cg_vd_v":0.0865404606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354413211,"cg_vq_v":-0.354413211,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.5032043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.624268,"values":{"Elec_RPM":-1.49762741e-32,"EncoderCos":38756,"EncoderSin":12495,"GapTicks":54771,"Mech_RPM":-2.99525475e-33,"cg_du":50.1397285,"cg_dv":50.2076492,"cg_dw":49.7923508,"cg_id_a":-0.0665215701,"cg_id_raw_a":0.169656098,"cg_iq_a":0.230841339,"cg_iq_raw_a":-0.0570705123,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.954546,"cg_sample_seq":14464366,"cg_sample_valid":1,"cg_theta_rad":5.00831556,"cg_vd_req_v":0.0889773741,"cg_vd_v":0.0889773741,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362652481,"cg_vq_v":-0.362652481,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.5032043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.63208,"values":{"Elec_RPM":-1.46767493e-32,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-2.93534972e-33,"cg_du":50.1391487,"cg_dv":50.1965179,"cg_dw":49.8034821,"cg_id_a":0.229896441,"cg_id_raw_a":0.41977948,"cg_iq_a":-0.559019029,"cg_iq_raw_a":-1.08663619,"cg_iu_a":0.473703265,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9509087,"cg_sample_seq":14464416,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0826467052,"cg_vd_v":0.0826467052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346141517,"cg_vq_v":-0.346141517,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.639893,"values":{"Elec_RPM":-1.46767493e-32,"EncoderCos":38702,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-2.93534972e-33,"cg_du":50.1485634,"cg_dv":50.2073212,"cg_dw":49.7926788,"cg_id_a":0.152906567,"cg_id_raw_a":0.0871465057,"cg_iq_a":0.18811357,"cg_iq_raw_a":-0.0632054955,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14464466,"cg_sample_valid":1,"cg_theta_rad":5.00816822,"cg_vd_req_v":0.0864025578,"cg_vd_v":0.0864025578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364850044,"cg_vq_v":-0.364850044,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.25250626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.647705,"values":{"Elec_RPM":-1.43832137e-32,"EncoderCos":38734,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-2.87664278e-33,"cg_du":50.138504,"cg_dv":50.2089729,"cg_dw":49.7910271,"cg_id_a":-0.122276947,"cg_id_raw_a":0.201824769,"cg_iq_a":0.0886308104,"cg_iq_raw_a":0.274727494,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.289150536,"cg_sample_age_us":23.9509087,"cg_sample_seq":14464516,"cg_sample_valid":1,"cg_theta_rad":5.00685167,"cg_vd_req_v":0.0933794081,"cg_vd_v":0.0933794081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362067223,"cg_vq_v":-0.362067223,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.25250626,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.659424,"values":{"Elec_RPM":-1.43832137e-32,"EncoderCos":38701,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-2.87664278e-33,"cg_du":50.1417618,"cg_dv":50.2026558,"cg_dw":49.7973442,"cg_id_a":0.148286134,"cg_id_raw_a":0.179676905,"cg_iq_a":-0.303267717,"cg_iq_raw_a":-0.563913405,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8490906,"cg_sample_seq":14464566,"cg_sample_valid":1,"cg_theta_rad":5.00643873,"cg_vd_req_v":0.0869283974,"cg_vd_v":0.0869283974,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354744583,"cg_vq_v":-0.354744583,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.667236,"values":{"Elec_RPM":-1.40955497e-32,"EncoderCos":38693,"EncoderSin":12448,"GapTicks":54764,"Mech_RPM":-2.81910986e-33,"cg_du":50.1473694,"cg_dv":50.2141876,"cg_dw":49.7858124,"cg_id_a":-0.242266208,"cg_id_raw_a":-0.316228807,"cg_iq_a":0.704939842,"cg_iq_raw_a":1.1701268,"cg_iu_a":-0.50488019,"cg_iv_a":0.322860837,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8563633,"cg_sample_seq":14464617,"cg_sample_valid":1,"cg_theta_rad":5.00727034,"cg_vd_req_v":0.0955073684,"cg_vd_v":0.0955073684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373115063,"cg_vq_v":-0.373115063,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5032043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.675049,"values":{"Elec_RPM":-1.40955497e-32,"EncoderCos":38754,"EncoderSin":12497,"GapTicks":54772,"Mech_RPM":-2.81910986e-33,"cg_du":50.1344986,"cg_dv":50.2067986,"cg_dw":49.7932014,"cg_id_a":-0.0551409572,"cg_id_raw_a":-0.165260613,"cg_iq_a":0.105149865,"cg_iq_raw_a":0.168165207,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14464666,"cg_sample_valid":1,"cg_theta_rad":5.00897408,"cg_vd_req_v":0.0924176723,"cg_vd_v":0.0924176723,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358554512,"cg_vq_v":-0.358554512,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5032043,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.682861,"values":{"Elec_RPM":-1.38136382e-32,"EncoderCos":38721,"EncoderSin":12446,"GapTicks":54776,"Mech_RPM":-2.76272764e-33,"cg_du":50.1362724,"cg_dv":50.2027931,"cg_dw":49.7972069,"cg_id_a":0.138212025,"cg_id_raw_a":0.726006627,"cg_iq_a":-0.230473548,"cg_iq_raw_a":-0.145699516,"cg_iu_a":-1.01229382,"cg_iv_a":-0.184552908,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14464717,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0907776356,"cg_vd_v":0.0907776356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351991683,"cg_vq_v":-0.351991683,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.710205,"values":{"Elec_RPM":-1.38136382e-32,"EncoderCos":38738,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-2.76272764e-33,"cg_du":50.1328506,"cg_dv":50.2047806,"cg_dw":49.7952194,"cg_id_a":-0.0272062197,"cg_id_raw_a":0.180640459,"cg_iq_a":-0.138258964,"cg_iq_raw_a":0.0542636439,"cg_iu_a":0.292484045,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":26.5036373,"cg_sample_seq":14464770,"cg_sample_valid":1,"cg_theta_rad":5.00622225,"cg_vd_req_v":0.0937176794,"cg_vd_v":0.0937176794,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353213251,"cg_vq_v":-0.353213251,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5110779,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.721924,"values":{"Elec_RPM":-1.35373662e-32,"EncoderCos":38725,"EncoderSin":12511,"GapTicks":54775,"Mech_RPM":-2.70747316e-33,"cg_du":50.1348915,"cg_dv":50.2045097,"cg_dw":49.7954903,"cg_id_a":0.12701793,"cg_id_raw_a":0.189562663,"cg_iq_a":-0.223861441,"cg_iq_raw_a":0.855846047,"cg_iu_a":0.437459469,"cg_iv_a":0.39534837,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.8563633,"cg_sample_seq":14464816,"cg_sample_valid":1,"cg_theta_rad":5.00784779,"cg_vd_req_v":0.0916249976,"cg_vd_v":0.0916249976,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354041427,"cg_vq_v":-0.354041427,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4874878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.729736,"values":{"Elec_RPM":-1.35373662e-32,"EncoderCos":38690,"EncoderSin":12450,"GapTicks":54772,"Mech_RPM":-2.70747316e-33,"cg_du":50.1397781,"cg_dv":50.2064056,"cg_dw":49.7935944,"cg_id_a":0.0602433011,"cg_id_raw_a":0.37705031,"cg_iq_a":-0.102137476,"cg_iq_raw_a":-0.214339077,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14464867,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0936889872,"cg_vd_v":0.0936889872,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35714677,"cg_vq_v":-0.35714677,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4937744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.737549,"values":{"Elec_RPM":-1.32666175e-32,"EncoderCos":38718,"EncoderSin":12496,"GapTicks":54772,"Mech_RPM":-2.65332364e-33,"cg_du":50.1348381,"cg_dv":50.206913,"cg_dw":49.793087,"cg_id_a":0.0143668763,"cg_id_raw_a":0.0314264148,"cg_iq_a":-0.0707832128,"cg_iq_raw_a":-0.797228456,"cg_iu_a":0.546190858,"cg_iv_a":0.177885413,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9727268,"cg_sample_seq":14464917,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0949308798,"cg_vd_v":0.0949308798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357040197,"cg_vq_v":-0.357040197,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.123289824,"dclink_p_w":-17.8973122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4937744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.745361,"values":{"Elec_RPM":-1.32666175e-32,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-2.65332364e-33,"cg_du":50.1297531,"cg_dv":50.201664,"cg_dw":49.798336,"cg_id_a":0.0929159075,"cg_id_raw_a":0.405891836,"cg_iq_a":-0.673312068,"cg_iq_raw_a":0.113789074,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9472733,"cg_sample_seq":14464967,"cg_sample_valid":1,"cg_theta_rad":5.00604343,"cg_vd_req_v":0.094680801,"cg_vd_v":0.094680801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346817672,"cg_vq_v":-0.346817672,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.67236519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0241699,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.753174,"values":{"Elec_RPM":-1.30012864e-32,"EncoderCos":38712,"EncoderSin":12497,"GapTicks":54768,"Mech_RPM":-2.60025724e-33,"cg_du":50.1374168,"cg_dv":50.2102165,"cg_dw":49.7897835,"cg_id_a":0.0112250894,"cg_id_raw_a":0.538685024,"cg_iq_a":0.11981295,"cg_iq_raw_a":-0.38354513,"cg_iu_a":-0.686099291,"cg_iv_a":-0.148308992,"cg_iw_a":0.834408283,"cg_sample_age_us":23.9836369,"cg_sample_seq":14465017,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0965817794,"cg_vd_v":0.0965817794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362852901,"cg_vq_v":-0.362852901,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.03074646,"dclink_p_w":4.46329594,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.760986,"values":{"Elec_RPM":-1.30012864e-32,"EncoderCos":38741,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-2.60025724e-33,"cg_du":50.131115,"cg_dv":50.2084846,"cg_dw":49.7915154,"cg_id_a":-0.0212844517,"cg_id_raw_a":-0.42434147,"cg_iq_a":-0.0828684345,"cg_iq_raw_a":-0.220398277,"cg_iu_a":0.509947062,"cg_iv_a":0.286616981,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.9181824,"cg_sample_seq":14465067,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0976568237,"cg_vd_v":0.0976568237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356398582,"cg_vq_v":-0.356398582,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.772705,"values":{"Elec_RPM":-1.27412597e-32,"EncoderCos":38712,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-2.54825208e-33,"cg_du":50.1364594,"cg_dv":50.2118797,"cg_dw":49.7881203,"cg_id_a":-0.0128439441,"cg_id_raw_a":-0.26611343,"cg_iq_a":0.154156536,"cg_iq_raw_a":-0.31719175,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465117,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0994499698,"cg_vd_v":0.0994499698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363246709,"cg_vq_v":-0.363246709,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2619.780518,"values":{"Elec_RPM":-1.27412597e-32,"EncoderCos":38710,"EncoderSin":12464,"GapTicks":54778,"Mech_RPM":-2.54825208e-33,"cg_du":50.1290054,"cg_dv":50.2013168,"cg_dw":49.7986832,"cg_id_a":0.127653226,"cg_id_raw_a":-0.142869011,"cg_iq_a":-0.678844452,"cg_iq_raw_a":0.132152915,"cg_iu_a":-0.541124105,"cg_iv_a":0.177885413,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9290905,"cg_sample_seq":14465167,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0954738557,"cg_vd_v":0.0954738557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345778793,"cg_vq_v":-0.345778793,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":34.0484009,"temp_inv2_c":36.5267944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.78833,"values":{"Elec_RPM":-1.2486436e-32,"EncoderCos":38744,"EncoderSin":12512,"GapTicks":54765,"Mech_RPM":-2.49728706e-33,"cg_du":50.1428413,"cg_dv":50.2134094,"cg_dw":49.7865906,"cg_id_a":0.0928567871,"cg_id_raw_a":0.0330365375,"cg_iq_a":0.555031538,"cg_iq_raw_a":0.767907023,"cg_iu_a":-1.33848834,"cg_iv_a":-0.00333380699,"cg_iw_a":1.34182215,"cg_sample_age_us":23.8454552,"cg_sample_seq":14465217,"cg_sample_valid":1,"cg_theta_rad":5.0073595,"cg_vd_req_v":0.0923478827,"cg_vd_v":0.0923478827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371020675,"cg_vq_v":-0.371020675,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.815674,"values":{"Elec_RPM":-1.22367066e-32,"EncoderCos":38721,"EncoderSin":12501,"GapTicks":54773,"Mech_RPM":-2.4473414e-33,"cg_du":50.1249771,"cg_dv":50.2056885,"cg_dw":49.7943115,"cg_id_a":-0.385690093,"cg_id_raw_a":-0.392531335,"cg_iq_a":-0.446187854,"cg_iq_raw_a":-0.327906311,"cg_iu_a":0.908629417,"cg_iv_a":0.21412921,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.954546,"cg_sample_seq":14465367,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.101434045,"cg_vd_v":0.101434045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351013005,"cg_vq_v":-0.351013005,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.85028124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4921875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.823486,"values":{"Elec_RPM":-1.19919731e-32,"EncoderCos":38736,"EncoderSin":12485,"GapTicks":54772,"Mech_RPM":-2.39839455e-33,"cg_du":50.1287575,"cg_dv":50.2070961,"cg_dw":49.7929039,"cg_id_a":-0.169176146,"cg_id_raw_a":-0.531665981,"cg_iq_a":-0.106448799,"cg_iq_raw_a":0.93413806,"cg_iu_a":0.111264944,"cg_iv_a":0.431592226,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465417,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.0987041593,"cg_vd_v":0.0987041593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354210168,"cg_vq_v":-0.354210168,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.509491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.835205,"values":{"Elec_RPM":-1.19919731e-32,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54775,"Mech_RPM":-2.39839455e-33,"cg_du":50.1325417,"cg_dv":50.204258,"cg_dw":49.795742,"cg_id_a":-0.0308742225,"cg_id_raw_a":0.00746476138,"cg_iq_a":-0.147889629,"cg_iq_raw_a":0.730069697,"cg_iu_a":0.292484045,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465467,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0955218002,"cg_vd_v":0.0955218002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351771802,"cg_vq_v":-0.351771802,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.509491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.843018,"values":{"Elec_RPM":-1.17521333e-32,"EncoderCos":38736,"EncoderSin":12454,"GapTicks":54770,"Mech_RPM":-2.35042667e-33,"cg_du":50.1371574,"cg_dv":50.208416,"cg_dw":49.791584,"cg_id_a":0.0591492951,"cg_id_raw_a":-0.322131455,"cg_iq_a":0.0703058243,"cg_iq_raw_a":0.69828707,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465517,"cg_sample_valid":1,"cg_theta_rad":5.00826454,"cg_vd_req_v":0.0941342413,"cg_vd_v":0.0941342413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360494435,"cg_vq_v":-0.360494435,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5158081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.85083,"values":{"Elec_RPM":-1.17521333e-32,"EncoderCos":38750,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-2.35042667e-33,"cg_du":50.12537,"cg_dv":50.212204,"cg_dw":49.787796,"cg_id_a":-0.452030808,"cg_id_raw_a":-0.718966186,"cg_iq_a":0.00202351809,"cg_iq_raw_a":-0.682964265,"cg_iu_a":0.763653874,"cg_iv_a":-0.112065315,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9618187,"cg_sample_seq":14465567,"cg_sample_valid":1,"cg_theta_rad":5.00611448,"cg_vd_req_v":0.105729364,"cg_vd_v":0.105729364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360645294,"cg_vq_v":-0.360645294,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5158081,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.858643,"values":{"Elec_RPM":-1.15170903e-32,"EncoderCos":38726,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-2.3034181e-33,"cg_du":50.1427727,"cg_dv":50.2109528,"cg_dw":49.7890472,"cg_id_a":0.188216671,"cg_id_raw_a":0.291592747,"cg_iq_a":0.328704059,"cg_iq_raw_a":-0.226062536,"cg_iu_a":-0.251173496,"cg_iv_a":0.504079938,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.954546,"cg_sample_seq":14465616,"cg_sample_valid":1,"cg_theta_rad":5.0083828,"cg_vd_req_v":0.092765905,"cg_vd_v":0.092765905,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368133307,"cg_vq_v":-0.368133307,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-19.9412251,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4921875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.866455,"values":{"Elec_RPM":-1.15170903e-32,"EncoderCos":38735,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-2.3034181e-33,"cg_du":50.1370697,"cg_dv":50.20924,"cg_dw":49.79076,"cg_id_a":-0.015006369,"cg_id_raw_a":0.0557027757,"cg_iq_a":0.0629234612,"cg_iq_raw_a":0.0423849225,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9763641,"cg_sample_seq":14465666,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0944989249,"cg_vd_v":0.0944989249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362876356,"cg_vq_v":-0.362876356,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.874268,"values":{"Elec_RPM":-1.12867485e-32,"EncoderCos":38695,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-2.25734974e-33,"cg_du":50.1362305,"cg_dv":50.2096443,"cg_dw":49.7903557,"cg_id_a":-0.298185647,"cg_id_raw_a":-0.182503819,"cg_iq_a":0.0529418811,"cg_iq_raw_a":0.309963733,"cg_iu_a":0.437459469,"cg_iv_a":-0.873185754,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9509087,"cg_sample_seq":14465717,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.0987507105,"cg_vd_v":0.0987507105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360921443,"cg_vq_v":-0.360921443,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-51.0436172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.905518,"values":{"Elec_RPM":-1.12867485e-32,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54774,"Mech_RPM":-2.25734974e-33,"cg_du":50.1314011,"cg_dv":50.2048264,"cg_dw":49.7951736,"cg_id_a":-0.126000822,"cg_id_raw_a":-0.395678371,"cg_iq_a":-0.421053529,"cg_iq_raw_a":-0.0739703029,"cg_iu_a":-0.106198072,"cg_iv_a":0.467836142,"cg_iw_a":-0.361638069,"cg_sample_age_us":26.8199997,"cg_sample_seq":14465770,"cg_sample_valid":1,"cg_theta_rad":5.00610209,"cg_vd_req_v":0.0957899168,"cg_vd_v":0.0957899168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352226108,"cg_vq_v":-0.352226108,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.91333,"values":{"Elec_RPM":-1.10610132e-32,"EncoderCos":38725,"EncoderSin":12497,"GapTicks":54774,"Mech_RPM":-2.21220268e-33,"cg_du":50.1312637,"cg_dv":50.2052383,"cg_dw":49.7947617,"cg_id_a":0.0539843924,"cg_id_raw_a":0.390765786,"cg_iq_a":-0.549633741,"cg_iq_raw_a":-1.05435586,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465817,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.0955267921,"cg_vd_v":0.0955267921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352914602,"cg_vq_v":-0.352914602,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.761181116,"dclink_p_w":-109.826836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4937744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.921143,"values":{"Elec_RPM":-1.10610132e-32,"EncoderCos":38707,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-2.21220268e-33,"cg_du":50.1408958,"cg_dv":50.2107925,"cg_dw":49.7892075,"cg_id_a":0.0772285387,"cg_id_raw_a":-0.464503288,"cg_iq_a":0.134915605,"cg_iq_raw_a":0.828677177,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8527279,"cg_sample_seq":14465867,"cg_sample_valid":1,"cg_theta_rad":5.00782633,"cg_vd_req_v":0.0951038599,"cg_vd_v":0.0951038599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36540854,"cg_vq_v":-0.36540854,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4937744,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.928955,"values":{"Elec_RPM":-1.08397925e-32,"EncoderCos":38685,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-2.16795854e-33,"cg_du":50.1404114,"cg_dv":50.2149353,"cg_dw":49.7850647,"cg_id_a":-0.163592309,"cg_id_raw_a":-0.304382831,"cg_iq_a":0.330350339,"cg_iq_raw_a":1.46300292,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14465917,"cg_sample_valid":1,"cg_theta_rad":5.00715446,"cg_vd_req_v":0.101813793,"cg_vd_v":0.101813793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371349514,"cg_vq_v":-0.371349514,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.721313,"dclink_p_w":-104.709076,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.936768,"values":{"Elec_RPM":-1.08397925e-32,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-2.16795854e-33,"cg_du":50.1358757,"cg_dv":50.210701,"cg_dw":49.789299,"cg_id_a":0.0913039446,"cg_id_raw_a":0.100606918,"cg_iq_a":-0.053985592,"cg_iq_raw_a":-0.208017752,"cg_iu_a":-0.214929581,"cg_iv_a":1.41017568,"cg_iw_a":-1.1952461,"cg_sample_age_us":23.8527279,"cg_sample_seq":14465968,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0978573486,"cg_vd_v":0.0978573486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363938719,"cg_vq_v":-0.363938719,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.604553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2619.948486,"values":{"Elec_RPM":-1.06229968e-32,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-2.12459933e-33,"cg_du":50.1385078,"cg_dv":50.2094154,"cg_dw":49.7905846,"cg_id_a":0.181318402,"cg_id_raw_a":-0.18058762,"cg_iq_a":0.100890532,"cg_iq_raw_a":-0.125667214,"cg_iu_a":-0.9760499,"cg_iv_a":0.322860718,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9872723,"cg_sample_seq":14466017,"cg_sample_valid":1,"cg_theta_rad":5.00616932,"cg_vd_req_v":0.0941439047,"cg_vd_v":0.0941439047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362589329,"cg_vq_v":-0.362589329,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.420489192,"dclink_p_w":-60.8551521,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4796143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.956299,"values":{"Elec_RPM":-1.06229968e-32,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54772,"Mech_RPM":-2.12459933e-33,"cg_du":50.1287994,"cg_dv":50.2070656,"cg_dw":49.7929344,"cg_id_a":-0.0707300752,"cg_id_raw_a":0.444544762,"cg_iq_a":-0.342628509,"cg_iq_raw_a":-0.0645368472,"cg_iu_a":0.401215553,"cg_iv_a":-0.257040501,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9836369,"cg_sample_seq":14466067,"cg_sample_valid":1,"cg_theta_rad":5.00784492,"cg_vd_req_v":0.100653931,"cg_vd_v":0.100653931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35362643,"cg_vq_v":-0.35362643,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4921875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.964111,"values":{"Elec_RPM":-1.04105372e-32,"EncoderCos":38735,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-2.08210741e-33,"cg_du":50.1351433,"cg_dv":50.21241,"cg_dw":49.78759,"cg_id_a":-0.0711252913,"cg_id_raw_a":-0.503827095,"cg_iq_a":0.221740335,"cg_iq_raw_a":1.08218217,"cg_iu_a":-0.50488019,"cg_iv_a":0.214129269,"cg_iw_a":0.290750921,"cg_sample_age_us":23.954546,"cg_sample_seq":14466117,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0989458859,"cg_vd_v":0.0989458859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364983201,"cg_vq_v":-0.364983201,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4921875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.97583,"values":{"Elec_RPM":-1.04105372e-32,"EncoderCos":38706,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-2.08210741e-33,"cg_du":50.1286354,"cg_dv":50.2037392,"cg_dw":49.7962608,"cg_id_a":0.0451256819,"cg_id_raw_a":-0.00175027922,"cg_iq_a":-0.459367365,"cg_iq_raw_a":-0.436472952,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9581814,"cg_sample_seq":14466167,"cg_sample_valid":1,"cg_theta_rad":5.00794411,"cg_vd_req_v":0.0980103835,"cg_vd_v":0.0980103835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348882943,"cg_vq_v":-0.348882943,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.5047913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2619.983643,"values":{"Elec_RPM":-1.02023271e-32,"EncoderCos":38699,"EncoderSin":12437,"GapTicks":54772,"Mech_RPM":-2.04046534e-33,"cg_du":50.1317139,"cg_dv":50.2069778,"cg_dw":49.7930222,"cg_id_a":-0.0819851011,"cg_id_raw_a":0.123249844,"cg_iq_a":-0.261863351,"cg_iq_raw_a":-0.605793357,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.954546,"cg_sample_seq":14466217,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.100420833,"cg_vd_v":0.100420833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354549617,"cg_vq_v":-0.354549617,"cg_vu_v":118.770996,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2619.990503,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2619.990508,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2619.990513,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2620.010986,"values":{"Elec_RPM":-1.02023271e-32,"EncoderCos":38759,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-2.04046534e-33,"cg_du":50.1282921,"cg_dv":50.2172546,"cg_dw":49.7827454,"cg_id_a":-0.399484992,"cg_id_raw_a":0.216307923,"cg_iq_a":0.37463358,"cg_iq_raw_a":0.129006088,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104574,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.863636,"cg_sample_seq":14466270,"cg_sample_valid":1,"cg_theta_rad":5.00700474,"cg_vd_req_v":0.107388794,"cg_vd_v":0.107388794,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369457453,"cg_vq_v":-0.369457453,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.018799,"values":{"Elec_RPM":-9.99828034e-33,"EncoderCos":38725,"EncoderSin":12477,"GapTicks":54768,"Mech_RPM":-1.99965603e-33,"cg_du":50.1332512,"cg_dv":50.2106171,"cg_dw":49.7893829,"cg_id_a":-0.045448631,"cg_id_raw_a":0.0833550766,"cg_iq_a":-0.0494957194,"cg_iq_raw_a":0.190873146,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148309112,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8490906,"cg_sample_seq":14466317,"cg_sample_valid":1,"cg_theta_rad":5.00627899,"cg_vd_req_v":0.099671863,"cg_vd_v":0.099671863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361215264,"cg_vq_v":-0.361215264,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.026611,"values":{"Elec_RPM":-9.99828034e-33,"EncoderCos":38776,"EncoderSin":12486,"GapTicks":54766,"Mech_RPM":-1.99965603e-33,"cg_du":50.1332474,"cg_dv":50.2124214,"cg_dw":49.7875786,"cg_id_a":0.160684735,"cg_id_raw_a":0.204737723,"cg_iq_a":0.160996899,"cg_iq_raw_a":0.272563577,"cg_iu_a":-0.251173258,"cg_iv_a":-0.0395776033,"cg_iw_a":0.290750861,"cg_sample_age_us":23.8527279,"cg_sample_seq":14466366,"cg_sample_valid":1,"cg_theta_rad":5.00982094,"cg_vd_req_v":0.0969769359,"cg_vd_v":0.0969769359,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364878863,"cg_vq_v":-0.364878863,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.03833,"values":{"Elec_RPM":-9.79831479e-33,"EncoderCos":38745,"EncoderSin":12484,"GapTicks":54766,"Mech_RPM":-1.95966296e-33,"cg_du":50.1294823,"cg_dv":50.2124557,"cg_dw":49.7875443,"cg_id_a":-0.103987366,"cg_id_raw_a":0.340895236,"cg_iq_a":0.0442699865,"cg_iq_raw_a":-0.550452471,"cg_iu_a":-0.106198072,"cg_iv_a":-0.402015805,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9872723,"cg_sample_seq":14466416,"cg_sample_valid":1,"cg_theta_rad":5.00647402,"cg_vd_req_v":0.102593534,"cg_vd_v":0.102593534,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362125665,"cg_vq_v":-0.362125665,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.017662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4874878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.046143,"values":{"Elec_RPM":-9.79831479e-33,"EncoderCos":38737,"EncoderSin":12434,"GapTicks":54766,"Mech_RPM":-1.95966296e-33,"cg_du":50.1375923,"cg_dv":50.211853,"cg_dw":49.788147,"cg_id_a":0.180577949,"cg_id_raw_a":0.0760278776,"cg_iq_a":0.292026162,"cg_iq_raw_a":2.44771981,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9254551,"cg_sample_seq":14466467,"cg_sample_valid":1,"cg_theta_rad":5.00620604,"cg_vd_req_v":0.0975444168,"cg_vd_v":0.0975444168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365310133,"cg_vq_v":-0.365310133,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4812012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.053955,"values":{"Elec_RPM":-9.60234887e-33,"EncoderCos":38728,"EncoderSin":12446,"GapTicks":54764,"Mech_RPM":-1.92046977e-33,"cg_du":50.1465111,"cg_dv":50.2137299,"cg_dw":49.7862701,"cg_id_a":0.34555766,"cg_id_raw_a":0.569665551,"cg_iq_a":0.726715088,"cg_iq_raw_a":2.31420088,"cg_iu_a":-0.504880428,"cg_iv_a":0.0329101086,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8600006,"cg_sample_seq":14466516,"cg_sample_valid":1,"cg_theta_rad":5.00708914,"cg_vd_req_v":0.0928154215,"cg_vd_v":0.0928154215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372746646,"cg_vq_v":-0.372746646,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-71.2996979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4812012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.061768,"values":{"Elec_RPM":-9.60234887e-33,"EncoderCos":38698,"EncoderSin":12455,"GapTicks":54754,"Mech_RPM":-1.92046977e-33,"cg_du":50.1470184,"cg_dv":50.2229424,"cg_dw":49.7770576,"cg_id_a":-0.205837682,"cg_id_raw_a":-0.335588306,"cg_iq_a":1.26469755,"cg_iq_raw_a":0.767602563,"cg_iu_a":-1.88214588,"cg_iv_a":0.105397701,"cg_iw_a":1.77674818,"cg_sample_age_us":23.9472733,"cg_sample_seq":14466567,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.103759907,"cg_vd_v":0.103759907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384915978,"cg_vq_v":-0.384915978,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.4024887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.5189514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.06958,"values":{"Elec_RPM":-9.41030174e-33,"EncoderCos":38744,"EncoderSin":12472,"GapTicks":54767,"Mech_RPM":-1.88206031e-33,"cg_du":50.1321564,"cg_dv":50.2115707,"cg_dw":49.7884293,"cg_id_a":0.0528528765,"cg_id_raw_a":-0.420189232,"cg_iq_a":0.0156600401,"cg_iq_raw_a":-0.0379102156,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9872723,"cg_sample_seq":14466617,"cg_sample_valid":1,"cg_theta_rad":5.00695705,"cg_vd_req_v":0.100015968,"cg_vd_v":0.100015968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362301201,"cg_vq_v":-0.362301201,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-78.4024887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.077393,"values":{"Elec_RPM":-9.41030174e-33,"EncoderCos":38725,"EncoderSin":12468,"GapTicks":54766,"Mech_RPM":-1.88206031e-33,"cg_du":50.1330299,"cg_dv":50.2118645,"cg_dw":49.7881355,"cg_id_a":-0.033599548,"cg_id_raw_a":0.101042949,"cg_iq_a":-0.156623587,"cg_iq_raw_a":-0.644854903,"cg_iu_a":-1.80965829,"cg_iv_a":0.105397701,"cg_iw_a":1.70426059,"cg_sample_age_us":23.954546,"cg_sample_seq":14466666,"cg_sample_valid":1,"cg_theta_rad":5.00584602,"cg_vd_req_v":0.100970261,"cg_vd_v":0.100970261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361626059,"cg_vq_v":-0.361626059,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.1108627,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.089111,"values":{"Elec_RPM":-9.22209554e-33,"EncoderCos":38748,"EncoderSin":12470,"GapTicks":54759,"Mech_RPM":-1.84441915e-33,"cg_du":50.1305389,"cg_dv":50.2182961,"cg_dw":49.7817039,"cg_id_a":-0.329391479,"cg_id_raw_a":0.0206897706,"cg_iq_a":0.352762967,"cg_iq_raw_a":-0.0337010249,"cg_iu_a":-0.178685904,"cg_iv_a":-0.293284357,"cg_iw_a":0.47197026,"cg_sample_age_us":23.9872723,"cg_sample_seq":14466717,"cg_sample_valid":1,"cg_theta_rad":5.00820637,"cg_vd_req_v":0.107166633,"cg_vd_v":0.107166633,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369531631,"cg_vq_v":-0.369531631,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.592247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.116455,"values":{"Elec_RPM":-9.22209554e-33,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-1.84441915e-33,"cg_du":50.1249771,"cg_dv":50.2119102,"cg_dw":49.7880898,"cg_id_a":-0.250101447,"cg_id_raw_a":-0.195410714,"cg_iq_a":-0.0591320544,"cg_iq_raw_a":-0.417944968,"cg_iu_a":0.654922485,"cg_iv_a":0.39534843,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.8563633,"cg_sample_seq":14466770,"cg_sample_valid":1,"cg_theta_rad":5.00609827,"cg_vd_req_v":0.106454231,"cg_vd_v":0.106454231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358631045,"cg_vq_v":-0.358631045,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117981225,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.124268,"values":{"Elec_RPM":-9.0376546e-33,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.80753085e-33,"cg_du":50.1302681,"cg_dv":50.2064362,"cg_dw":49.7935638,"cg_id_a":0.113081701,"cg_id_raw_a":0.413172871,"cg_iq_a":-0.115608484,"cg_iq_raw_a":-0.396337599,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9472733,"cg_sample_seq":14466816,"cg_sample_valid":1,"cg_theta_rad":5.0076046,"cg_vd_req_v":0.0983159468,"cg_vd_v":0.0983159468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354912996,"cg_vq_v":-0.354912996,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4780579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.13208,"values":{"Elec_RPM":-9.0376546e-33,"EncoderCos":38696,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-1.80753085e-33,"cg_du":50.1234207,"cg_dv":50.2041626,"cg_dw":49.7958374,"cg_id_a":-0.163104102,"cg_id_raw_a":0.314503729,"cg_iq_a":-0.307399035,"cg_iq_raw_a":0.179377839,"cg_iu_a":-0.468636274,"cg_iv_a":-0.148309112,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14466867,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.104252242,"cg_vd_v":0.104252242,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347148567,"cg_vq_v":-0.347148567,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.3014374,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.143799,"values":{"Elec_RPM":-8.85690104e-33,"EncoderCos":38710,"EncoderSin":12471,"GapTicks":54771,"Mech_RPM":-1.77138017e-33,"cg_du":50.1276627,"cg_dv":50.2073097,"cg_dw":49.7926903,"cg_id_a":-0.0255326405,"cg_id_raw_a":-0.0367253833,"cg_iq_a":0.0620462112,"cg_iq_raw_a":0.543500721,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9836369,"cg_sample_seq":14466916,"cg_sample_valid":1,"cg_theta_rad":5.00704145,"cg_vd_req_v":0.10220515,"cg_vd_v":0.10220515,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353198975,"cg_vq_v":-0.353198975,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-42.0993767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.151611,"values":{"Elec_RPM":-8.85690104e-33,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54773,"Mech_RPM":-1.77138017e-33,"cg_du":50.1287537,"cg_dv":50.2060814,"cg_dw":49.7939186,"cg_id_a":-0.0322513282,"cg_id_raw_a":-0.480352402,"cg_iq_a":0.0251580365,"cg_iq_raw_a":0.353465408,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691540241,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9436359,"cg_sample_seq":14466966,"cg_sample_valid":1,"cg_theta_rad":5.00600863,"cg_vd_req_v":0.10012874,"cg_vd_v":0.10012874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352149636,"cg_vq_v":-0.352149636,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4812012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.159424,"values":{"Elec_RPM":-8.67976286e-33,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-1.73595261e-33,"cg_du":50.1267471,"cg_dv":50.206913,"cg_dw":49.793087,"cg_id_a":-0.152230278,"cg_id_raw_a":-0.337391615,"cg_iq_a":-0.0873560607,"cg_iq_raw_a":-0.652374923,"cg_iu_a":0.401215792,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9254551,"cg_sample_seq":14467016,"cg_sample_valid":1,"cg_theta_rad":5.0066638,"cg_vd_req_v":0.102726743,"cg_vd_v":0.102726743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352088779,"cg_vq_v":-0.352088779,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.167236,"values":{"Elec_RPM":-8.67976286e-33,"EncoderCos":38729,"EncoderSin":12458,"GapTicks":54767,"Mech_RPM":-1.73595261e-33,"cg_du":50.1309357,"cg_dv":50.2111282,"cg_dw":49.7888718,"cg_id_a":-0.120530382,"cg_id_raw_a":0.194456935,"cg_iq_a":0.289653242,"cg_iq_raw_a":-0.0896596238,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397701,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9472733,"cg_sample_seq":14467066,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.102126986,"cg_vd_v":0.102126986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360572845,"cg_vq_v":-0.360572845,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.175049,"values":{"Elec_RPM":-8.50616806e-33,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54771,"Mech_RPM":-1.70123365e-33,"cg_du":50.128231,"cg_dv":50.2073326,"cg_dw":49.7926674,"cg_id_a":-0.0521569103,"cg_id_raw_a":0.606929898,"cg_iq_a":-0.103749335,"cg_iq_raw_a":0.206711754,"cg_iu_a":0.727410197,"cg_iv_a":0.0329101086,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.954546,"cg_sample_seq":14467116,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.101505995,"cg_vd_v":0.101505995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353624344,"cg_vq_v":-0.353624344,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.459198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.182861,"values":{"Elec_RPM":-8.50616806e-33,"EncoderCos":38709,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.70123365e-33,"cg_du":50.1172485,"cg_dv":50.2025528,"cg_dw":49.7974472,"cg_id_a":-0.218844146,"cg_id_raw_a":0.29523617,"cg_iq_a":-0.694281638,"cg_iq_raw_a":-1.09892011,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9509087,"cg_sample_seq":14467166,"cg_sample_valid":1,"cg_theta_rad":5.00702095,"cg_vd_req_v":0.105883367,"cg_vd_v":0.105883367,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341961861,"cg_vq_v":-0.341961861,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.459198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.190674,"values":{"Elec_RPM":-8.33604464e-33,"EncoderCos":38725,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-1.66720896e-33,"cg_du":50.1334152,"cg_dv":50.2093887,"cg_dw":49.7906113,"cg_id_a":0.0578362085,"cg_id_raw_a":-0.208817989,"cg_iq_a":0.243000641,"cg_iq_raw_a":-0.710889339,"cg_iu_a":-0.722343206,"cg_iv_a":-0.293284416,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8563633,"cg_sample_seq":14467216,"cg_sample_valid":1,"cg_theta_rad":5.00751686,"cg_vd_req_v":0.0984003842,"cg_vd_v":0.0984003842,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36079821,"cg_vq_v":-0.36079821,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.525238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.221924,"values":{"Elec_RPM":-8.33604464e-33,"EncoderCos":38726,"EncoderSin":12495,"GapTicks":54768,"Mech_RPM":-1.66720896e-33,"cg_du":50.1185074,"cg_dv":50.2103386,"cg_dw":49.7896614,"cg_id_a":-0.427881896,"cg_id_raw_a":-0.0389596187,"cg_iq_a":-0.185252085,"cg_iq_raw_a":-0.512565911,"cg_iu_a":-1.41097593,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8563633,"cg_sample_seq":14467271,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.110466018,"cg_vd_v":0.110466018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352743328,"cg_vq_v":-0.352743328,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.229736,"values":{"Elec_RPM":-8.16932427e-33,"EncoderCos":38709,"EncoderSin":12513,"GapTicks":54760,"Mech_RPM":-1.63386478e-33,"cg_du":50.137249,"cg_dv":50.2179527,"cg_dw":49.7820473,"cg_id_a":-0.13461028,"cg_id_raw_a":-0.581136823,"cg_iq_a":0.825619936,"cg_iq_raw_a":1.43838012,"cg_iu_a":-0.577367783,"cg_iv_a":0.467836082,"cg_iw_a":0.109531701,"cg_sample_age_us":23.8527279,"cg_sample_seq":14467316,"cg_sample_valid":1,"cg_theta_rad":5.00764847,"cg_vd_req_v":0.105365463,"cg_vd_v":0.105365463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372958213,"cg_vq_v":-0.372958213,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.237549,"values":{"Elec_RPM":-8.16932427e-33,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54765,"Mech_RPM":-1.63386478e-33,"cg_du":50.1297188,"cg_dv":50.2132263,"cg_dw":49.7867737,"cg_id_a":-0.0971499681,"cg_id_raw_a":-0.00344852335,"cg_iq_a":0.254961908,"cg_iq_raw_a":0.000471666077,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.994545,"cg_sample_seq":14467366,"cg_sample_valid":1,"cg_theta_rad":5.00579453,"cg_vd_req_v":0.105052717,"cg_vd_v":0.105052717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362765938,"cg_vq_v":-0.362765938,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.245361,"values":{"Elec_RPM":-8.00593791e-33,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-1.60118751e-33,"cg_du":50.1314507,"cg_dv":50.211132,"cg_dw":49.788868,"cg_id_a":0.0969487876,"cg_id_raw_a":0.514184654,"cg_iq_a":0.046612747,"cg_iq_raw_a":-0.349727362,"cg_iu_a":0.147508621,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9363632,"cg_sample_seq":14467416,"cg_sample_valid":1,"cg_theta_rad":5.00664425,"cg_vd_req_v":0.101998918,"cg_vd_v":0.101998918,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360789031,"cg_vq_v":-0.360789031,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.8407841,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9757385,"temp_inv2_c":36.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.25708,"values":{"Elec_RPM":-7.84581868e-33,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54766,"Mech_RPM":-1.56916374e-33,"cg_du":50.1176987,"cg_dv":50.2120438,"cg_dw":49.7879562,"cg_id_a":-0.51888293,"cg_id_raw_a":-0.264927238,"cg_iq_a":-0.401769996,"cg_iq_raw_a":0.302146375,"cg_iu_a":0.473703384,"cg_iv_a":-0.112065256,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.954546,"cg_sample_seq":14467566,"cg_sample_valid":1,"cg_theta_rad":5.00889158,"cg_vd_req_v":0.1146053,"cg_vd_v":0.1146053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35401985,"cg_vq_v":-0.35401985,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.445738435,"dclink_p_w":64.5093384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4796143,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.264893,"values":{"Elec_RPM":-7.68890194e-33,"EncoderCos":38710,"EncoderSin":12461,"GapTicks":54766,"Mech_RPM":-1.53778042e-33,"cg_du":50.1301956,"cg_dv":50.2124634,"cg_dw":49.7875366,"cg_id_a":-0.119098276,"cg_id_raw_a":-0.34117049,"cg_iq_a":0.116325527,"cg_iq_raw_a":0.221439838,"cg_iu_a":0.61867857,"cg_iv_a":-0.293284416,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9254551,"cg_sample_seq":14467616,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.105495319,"cg_vd_v":0.105495319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361547589,"cg_vq_v":-0.361547589,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.6412773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4874878,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.272705,"values":{"Elec_RPM":-7.68890194e-33,"EncoderCos":38693,"EncoderSin":12469,"GapTicks":54766,"Mech_RPM":-1.53778042e-33,"cg_du":50.1278076,"cg_dv":50.2118378,"cg_dw":49.7881622,"cg_id_a":-0.192216918,"cg_id_raw_a":-0.590922952,"cg_iq_a":0.026982829,"cg_iq_raw_a":0.996067166,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.8563633,"cg_sample_seq":14467666,"cg_sample_valid":1,"cg_theta_rad":5.00581408,"cg_vd_req_v":0.107942343,"cg_vd_v":0.107942343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358995736,"cg_vq_v":-0.358995736,"cg_vu_v":27.2733402,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.521850467,"dclink_p_w":75.5246277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.280518,"values":{"Elec_RPM":-7.53512377e-33,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-1.50702481e-33,"cg_du":50.122097,"cg_dv":50.209259,"cg_dw":49.790741,"cg_id_a":-0.145692945,"cg_id_raw_a":-0.134044781,"cg_iq_a":-0.159438446,"cg_iq_raw_a":-0.813487768,"cg_iu_a":0.256240368,"cg_iv_a":-0.365772009,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9872723,"cg_sample_seq":14467716,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.107717454,"cg_vd_v":0.107717454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352935851,"cg_vq_v":-0.352935851,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.521850467,"dclink_p_w":75.5246277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.307861,"values":{"Elec_RPM":-7.53512377e-33,"EncoderCos":38729,"EncoderSin":12474,"GapTicks":54770,"Mech_RPM":-1.50702481e-33,"cg_du":50.1221962,"cg_dv":50.2084923,"cg_dw":49.7915077,"cg_id_a":-0.115629703,"cg_id_raw_a":-0.406289995,"cg_iq_a":-0.15509443,"cg_iq_raw_a":-0.183603957,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":24.8563633,"cg_sample_seq":14467771,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.106046036,"cg_vd_v":0.106046036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352208734,"cg_vq_v":-0.352208734,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.2792587,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4685974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.31958,"values":{"Elec_RPM":-7.38442172e-33,"EncoderCos":38704,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-1.47688431e-33,"cg_du":50.123661,"cg_dv":50.2052689,"cg_dw":49.7947311,"cg_id_a":0.0532889254,"cg_id_raw_a":0.0713138431,"cg_iq_a":-0.203707397,"cg_iq_raw_a":-0.538438439,"cg_iu_a":-0.359904766,"cg_iv_a":0.431592226,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9254551,"cg_sample_seq":14467817,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.103563495,"cg_vd_v":0.103563495,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349265039,"cg_vq_v":-0.349265039,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48741889,"dclink_p_w":70.7559433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.327393,"values":{"Elec_RPM":-7.38442172e-33,"EncoderCos":38730,"EncoderSin":12487,"GapTicks":54768,"Mech_RPM":-1.47688431e-33,"cg_du":50.1200905,"cg_dv":50.2104721,"cg_dw":49.7895279,"cg_id_a":-0.19418776,"cg_id_raw_a":-0.551075816,"cg_iq_a":-0.0904556513,"cg_iq_raw_a":0.45850268,"cg_iu_a":0.437459469,"cg_iv_a":0.214129329,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.8745461,"cg_sample_seq":14467866,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.109222643,"cg_vd_v":0.109222643,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353850514,"cg_vq_v":-0.353850514,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":71.0189972,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.335205,"values":{"Elec_RPM":-7.23673334e-33,"EncoderCos":38718,"EncoderSin":12513,"GapTicks":54771,"Mech_RPM":-1.44734661e-33,"cg_du":50.11549,"cg_dv":50.2078476,"cg_dw":49.7921524,"cg_id_a":-0.13949576,"cg_id_raw_a":0.825299442,"cg_iq_a":-0.279026568,"cg_iq_raw_a":-0.976418018,"cg_iu_a":0.401215792,"cg_iv_a":-0.257040501,"cg_iw_a":-0.144175291,"cg_sample_age_us":23.9836369,"cg_sample_seq":14467916,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.110628366,"cg_vd_v":0.110628366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347597897,"cg_vq_v":-0.347597897,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.500104189,"dclink_p_w":72.3774033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.343018,"values":{"Elec_RPM":-7.23673334e-33,"EncoderCos":38709,"EncoderSin":12445,"GapTicks":54773,"Mech_RPM":-1.44734661e-33,"cg_du":50.1177711,"cg_dv":50.2062759,"cg_dw":49.7937241,"cg_id_a":-0.112061821,"cg_id_raw_a":-0.490593404,"cg_iq_a":-0.111277036,"cg_iq_raw_a":-1.61582804,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.954546,"cg_sample_seq":14467967,"cg_sample_valid":1,"cg_theta_rad":5.00611544,"cg_vd_req_v":0.109637775,"cg_vd_v":0.109637775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346002907,"cg_vq_v":-0.346002907,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4764709,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.35083,"values":{"Elec_RPM":-7.09199839e-33,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-1.4183997e-33,"cg_du":50.1252022,"cg_dv":50.2063026,"cg_dw":49.7936974,"cg_id_a":0.188925594,"cg_id_raw_a":0.267659187,"cg_iq_a":0.200413615,"cg_iq_raw_a":-0.191481367,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9509087,"cg_sample_seq":14468016,"cg_sample_valid":1,"cg_theta_rad":5.00807667,"cg_vd_req_v":0.102437086,"cg_vd_v":0.102437086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3506549,"cg_vq_v":-0.3506549,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.549033344,"dclink_p_w":79.4586639,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9999695,"temp_inv2_c":36.4749146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.358643,"values":{"Elec_RPM":-7.09199839e-33,"EncoderCos":38741,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-1.4183997e-33,"cg_du":50.1120338,"cg_dv":50.2052383,"cg_dw":49.7947617,"cg_id_a":-0.245631218,"cg_id_raw_a":-0.770948768,"cg_iq_a":-0.204665631,"cg_iq_raw_a":-0.107692204,"cg_iu_a":0.364971638,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14468066,"cg_sample_valid":1,"cg_theta_rad":5.00635099,"cg_vd_req_v":0.110561967,"cg_vd_v":0.110561967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343339324,"cg_vq_v":-0.343339324,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.451174974,"dclink_p_w":65.2961426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4481506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.370361,"values":{"Elec_RPM":-6.95015884e-33,"EncoderCos":38708,"EncoderSin":12447,"GapTicks":54775,"Mech_RPM":-1.39003171e-33,"cg_du":50.1156044,"cg_dv":50.2039032,"cg_dw":49.7960968,"cg_id_a":-0.102724068,"cg_id_raw_a":0.332320035,"cg_iq_a":-0.154561237,"cg_iq_raw_a":-1.02179599,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9763641,"cg_sample_seq":14468116,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.109375931,"cg_vd_v":0.109375931,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342594922,"cg_vq_v":-0.342594922,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.552124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4481506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.378174,"values":{"Elec_RPM":-6.95015884e-33,"EncoderCos":38721,"EncoderSin":12478,"GapTicks":54774,"Mech_RPM":-1.39003171e-33,"cg_du":50.117321,"cg_dv":50.20504,"cg_dw":49.79496,"cg_id_a":-0.05895558,"cg_id_raw_a":0.239815503,"cg_iq_a":0.0313637033,"cg_iq_raw_a":-0.340075821,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.954546,"cg_sample_seq":14468166,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.107389413,"cg_vd_v":0.107389413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345661879,"cg_vq_v":-0.345661879,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.422179937,"dclink_p_w":61.0998459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.467041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.385986,"values":{"Elec_RPM":-6.81115516e-33,"EncoderCos":38709,"EncoderSin":12474,"GapTicks":54769,"Mech_RPM":-1.36223109e-33,"cg_du":50.1250725,"cg_dv":50.2094307,"cg_dw":49.7905693,"cg_id_a":-0.00910595804,"cg_id_raw_a":-0.0267355926,"cg_iq_a":0.473295689,"cg_iq_raw_a":0.6537745,"cg_iu_a":-0.359905005,"cg_iv_a":-0.148308992,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14468217,"cg_sample_valid":1,"cg_theta_rad":5.00565767,"cg_vd_req_v":0.105981603,"cg_vd_v":0.105981603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353536099,"cg_vq_v":-0.353536099,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.422179937,"dclink_p_w":61.0998459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.500061,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.393799,"values":{"Elec_RPM":-6.81115516e-33,"EncoderCos":38700,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-1.36223109e-33,"cg_du":50.1200371,"cg_dv":50.2044487,"cg_dw":49.7955513,"cg_id_a":0.0283574909,"cg_id_raw_a":-0.216396302,"cg_iq_a":0.0490339883,"cg_iq_raw_a":0.233883485,"cg_iu_a":-0.287417173,"cg_iv_a":0.322860718,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9181824,"cg_sample_seq":14468267,"cg_sample_valid":1,"cg_theta_rad":5.00635195,"cg_vd_req_v":0.105226286,"cg_vd_v":0.105226286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343924135,"cg_vq_v":-0.343924135,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.422179937,"dclink_p_w":61.0998459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.500061,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.421143,"values":{"Elec_RPM":-6.67493226e-33,"EncoderCos":38713,"EncoderSin":12495,"GapTicks":54770,"Mech_RPM":-1.33498643e-33,"cg_du":50.1116486,"cg_dv":50.2088966,"cg_dw":49.7911034,"cg_id_a":-0.380447894,"cg_id_raw_a":0.0875158235,"cg_iq_a":0.290322036,"cg_iq_raw_a":-0.500477314,"cg_iu_a":0.256240368,"cg_iv_a":0.177885473,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9290905,"cg_sample_seq":14468366,"cg_sample_valid":1,"cg_theta_rad":5.00646114,"cg_vd_req_v":0.115488231,"cg_vd_v":0.115488231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346603572,"cg_vq_v":-0.346603572,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.432861,"values":{"Elec_RPM":-6.54143358e-33,"EncoderCos":38694,"EncoderSin":12510,"GapTicks":54783,"Mech_RPM":-1.30828673e-33,"cg_du":50.1012955,"cg_dv":50.1967354,"cg_dw":49.8032646,"cg_id_a":-0.345512509,"cg_id_raw_a":0.0256782901,"cg_iq_a":-0.549860418,"cg_iq_raw_a":-0.288027704,"cg_iu_a":1.23482382,"cg_iv_a":-0.329528213,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14468416,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.113202319,"cg_vd_v":0.113202319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324878156,"cg_vq_v":-0.324878156,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.257270455,"dclink_p_w":37.2333794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.440674,"values":{"Elec_RPM":-6.54143358e-33,"EncoderCos":38724,"EncoderSin":12463,"GapTicks":54786,"Mech_RPM":-1.30828673e-33,"cg_du":50.1093025,"cg_dv":50.1936531,"cg_dw":49.8063469,"cg_id_a":0.134501129,"cg_id_raw_a":-0.122354582,"cg_iq_a":-0.332146347,"cg_iq_raw_a":0.790026844,"cg_iu_a":0.256240129,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9436359,"cg_sample_seq":14468466,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.102719955,"cg_vd_v":0.102719955,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325584054,"cg_vq_v":-0.325584054,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.376875162,"dclink_p_w":54.7089119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.448486,"values":{"Elec_RPM":-6.41060473e-33,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-1.28212096e-33,"cg_du":50.1204033,"cg_dv":50.2071648,"cg_dw":49.7928352,"cg_id_a":-0.0811937153,"cg_id_raw_a":-0.348153323,"cg_iq_a":0.730220437,"cg_iq_raw_a":0.29389444,"cg_iu_a":-0.758587122,"cg_iv_a":-0.184552908,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9654541,"cg_sample_seq":14468516,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.107655108,"cg_vd_v":0.107655108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34894225,"cg_vq_v":-0.34894225,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.376875162,"dclink_p_w":54.7089119,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.456299,"values":{"Elec_RPM":-6.41060473e-33,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.28212096e-33,"cg_du":50.1177635,"cg_dv":50.2021179,"cg_dw":49.7978821,"cg_id_a":0.0315474346,"cg_id_raw_a":0.0425582267,"cg_iq_a":0.231592685,"cg_iq_raw_a":-0.249916136,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395775437,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14468566,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.104813188,"cg_vd_v":0.104813188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340602666,"cg_vq_v":-0.340602666,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4827576,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.464111,"values":{"Elec_RPM":-6.28239282e-33,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-1.25647856e-33,"cg_du":50.1124611,"cg_dv":50.1966515,"cg_dw":49.8033485,"cg_id_a":0.0488623045,"cg_id_raw_a":0.179619849,"cg_iq_a":-0.322033465,"cg_iq_raw_a":-0.563931882,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14468616,"cg_sample_valid":1,"cg_theta_rad":5.00773621,"cg_vd_req_v":0.103973769,"cg_vd_v":0.103973769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330095619,"cg_vq_v":-0.330095619,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.467041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.471924,"values":{"Elec_RPM":-6.28239282e-33,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-1.25647856e-33,"cg_du":50.1149292,"cg_dv":50.2037582,"cg_dw":49.7962418,"cg_id_a":-0.140772745,"cg_id_raw_a":0.734264851,"cg_iq_a":0.178931147,"cg_iq_raw_a":-0.654978812,"cg_iu_a":0.111264825,"cg_iv_a":0.21412921,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9581814,"cg_sample_seq":14468666,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.108347453,"cg_vd_v":0.108347453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341326952,"cg_vq_v":-0.341326952,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.467041,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.483643,"values":{"Elec_RPM":-6.15674497e-33,"EncoderCos":38719,"EncoderSin":12518,"GapTicks":54774,"Mech_RPM":-1.23134898e-33,"cg_du":50.1133423,"cg_dv":50.2048111,"cg_dw":49.7951889,"cg_id_a":-0.195066586,"cg_id_raw_a":-0.0936082229,"cg_iq_a":0.236376345,"cg_iq_raw_a":0.0647541583,"cg_iu_a":0.0387773514,"cg_iv_a":-0.329528213,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9909096,"cg_sample_seq":14468716,"cg_sample_valid":1,"cg_theta_rad":5.00767183,"cg_vd_req_v":0.109508015,"cg_vd_v":0.109508015,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343365967,"cg_vq_v":-0.343365967,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4780579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.491455,"values":{"Elec_RPM":-6.15674497e-33,"EncoderCos":38679,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-1.23134898e-33,"cg_du":50.1064682,"cg_dv":50.2011147,"cg_dw":49.7988853,"cg_id_a":-0.363487661,"cg_id_raw_a":-0.214100778,"cg_iq_a":-0.369692713,"cg_iq_raw_a":-0.386922628,"cg_iu_a":1.01736069,"cg_iv_a":-0.184552908,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.8490906,"cg_sample_seq":14468766,"cg_sample_valid":1,"cg_theta_rad":5.00851917,"cg_vd_req_v":0.11582198,"cg_vd_v":0.11582198,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332934499,"cg_vq_v":-0.332934499,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4780579,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.518799,"values":{"Elec_RPM":-6.0336101e-33,"EncoderCos":38749,"EncoderSin":12475,"GapTicks":54768,"Mech_RPM":-1.206722e-33,"cg_du":50.1253395,"cg_dv":50.2107582,"cg_dw":49.7892418,"cg_id_a":0.218877628,"cg_id_raw_a":0.60680145,"cg_iq_a":0.721470952,"cg_iq_raw_a":1.14767504,"cg_iu_a":0.364971876,"cg_iv_a":0.105397761,"cg_iw_a":-0.470369637,"cg_sample_age_us":26.8163643,"cg_sample_seq":14468819,"cg_sample_valid":1,"cg_theta_rad":5.00856638,"cg_vd_req_v":0.104121245,"cg_vd_v":0.104121245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357533365,"cg_vq_v":-0.357533365,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.48741889,"dclink_p_w":70.7559433,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4717407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.526611,"values":{"Elec_RPM":-6.0336101e-33,"EncoderCos":38798,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-1.206722e-33,"cg_du":50.0957718,"cg_dv":50.2065048,"cg_dw":49.7934952,"cg_id_a":-0.58036381,"cg_id_raw_a":-0.0451593697,"cg_iq_a":-0.221354976,"cg_iq_raw_a":-0.00278436253,"cg_iu_a":-0.106197834,"cg_iv_a":0.105397761,"cg_iw_a":0.000800073147,"cg_sample_age_us":23.9472733,"cg_sample_seq":14468866,"cg_sample_valid":1,"cg_theta_rad":5.00722075,"cg_vd_req_v":0.119556077,"cg_vd_v":0.119556077,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336653382,"cg_vq_v":-0.336653382,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4245911,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.534424,"values":{"Elec_RPM":-5.91293789e-33,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-1.18258754e-33,"cg_du":50.1156883,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.463817656,"cg_id_raw_a":-1.14320588,"cg_iq_a":0.629349947,"cg_iq_raw_a":1.0880307,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9472733,"cg_sample_seq":14468916,"cg_sample_valid":1,"cg_theta_rad":5.00799322,"cg_vd_req_v":0.118432395,"cg_vd_v":0.118432395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355706424,"cg_vq_v":-0.355706424,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4245911,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.546143,"values":{"Elec_RPM":-5.91293789e-33,"EncoderCos":38717,"EncoderSin":12450,"GapTicks":54780,"Mech_RPM":-1.18258754e-33,"cg_du":50.1193695,"cg_dv":50.1998978,"cg_dw":49.8001022,"cg_id_a":0.348626405,"cg_id_raw_a":1.0789659,"cg_iq_a":-0.274435639,"cg_iq_raw_a":1.16483569,"cg_iu_a":0.473703146,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9254551,"cg_sample_seq":14468966,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.101419538,"cg_vd_v":0.101419538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33848381,"cg_vq_v":-0.33848381,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4749146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104989693,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.553955,"values":{"Elec_RPM":-5.79467875e-33,"EncoderCos":38687,"EncoderSin":12484,"GapTicks":54773,"Mech_RPM":-1.15893577e-33,"cg_du":50.1324997,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":0.465166211,"cg_id_raw_a":-0.281771332,"cg_iq_a":0.450401962,"cg_iq_raw_a":-0.356574625,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14469016,"cg_sample_valid":1,"cg_theta_rad":5.0057807,"cg_vd_req_v":0.0990874618,"cg_vd_v":0.0990874618,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354958087,"cg_vq_v":-0.354958087,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.561768,"values":{"Elec_RPM":-5.79467875e-33,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-1.15893577e-33,"cg_du":50.1180038,"cg_dv":50.2062645,"cg_dw":49.7937355,"cg_id_a":0.06413427,"cg_id_raw_a":0.135194734,"cg_iq_a":0.0318652838,"cg_iq_raw_a":-0.13203457,"cg_iu_a":-1.12102532,"cg_iv_a":0.286616921,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9872723,"cg_sample_seq":14469066,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.107206091,"cg_vd_v":0.107206091,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347974628,"cg_vq_v":-0.347974628,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4953613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.56958,"values":{"Elec_RPM":-5.67878529e-33,"EncoderCos":38718,"EncoderSin":12458,"GapTicks":54763,"Mech_RPM":-1.13575704e-33,"cg_du":50.1223335,"cg_dv":50.2146454,"cg_dw":49.7853546,"cg_id_a":-0.199532777,"cg_id_raw_a":-0.436671317,"cg_iq_a":0.528789759,"cg_iq_raw_a":0.977339566,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9581814,"cg_sample_seq":14469116,"cg_sample_valid":1,"cg_theta_rad":5.00830984,"cg_vd_req_v":0.11319989,"cg_vd_v":0.11319989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360254556,"cg_vq_v":-0.360254556,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.30476904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4733276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.577393,"values":{"Elec_RPM":-5.67878529e-33,"EncoderCos":38721,"EncoderSin":12440,"GapTicks":54777,"Mech_RPM":-1.13575704e-33,"cg_du":50.1222763,"cg_dv":50.2022324,"cg_dw":49.7977676,"cg_id_a":0.316963583,"cg_id_raw_a":0.887017071,"cg_iq_a":-0.349792928,"cg_iq_raw_a":-1.5498724,"cg_iu_a":0.0387773514,"cg_iv_a":1.15646887,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9436359,"cg_sample_seq":14469166,"cg_sample_valid":1,"cg_theta_rad":5.00776434,"cg_vd_req_v":0.101341009,"cg_vd_v":0.101341009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343310654,"cg_vq_v":-0.343310654,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.30476904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4733276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.585205,"values":{"Elec_RPM":-5.56520939e-33,"EncoderCos":38707,"EncoderSin":12458,"GapTicks":54769,"Mech_RPM":-1.1130419e-33,"cg_du":50.1257858,"cg_dv":50.2093582,"cg_dw":49.7906418,"cg_id_a":0.0543251671,"cg_id_raw_a":-0.400158286,"cg_iq_a":-0.00416177232,"cg_iq_raw_a":0.178734243,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.8709087,"cg_sample_seq":14469216,"cg_sample_valid":1,"cg_theta_rad":5.0062995,"cg_vd_req_v":0.106227934,"cg_vd_v":0.106227934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3547526,"cg_vq_v":-0.3547526,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.30476904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4481506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.593018,"values":{"Elec_RPM":-5.56520939e-33,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-1.1130419e-33,"cg_du":50.1279488,"cg_dv":50.2098579,"cg_dw":49.7901421,"cg_id_a":0.144442677,"cg_id_raw_a":0.0381938443,"cg_iq_a":0.10558477,"cg_iq_raw_a":0.00461456552,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065315,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14469267,"cg_sample_valid":1,"cg_theta_rad":5.00769186,"cg_vd_req_v":0.104381844,"cg_vd_v":0.104381844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356844038,"cg_vq_v":-0.356844038,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.30476904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4654541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.624268,"values":{"Elec_RPM":-5.45390514e-33,"EncoderCos":38741,"EncoderSin":12469,"GapTicks":54765,"Mech_RPM":-1.09078106e-33,"cg_du":50.1195946,"cg_dv":50.2134056,"cg_dw":49.7865944,"cg_id_a":-0.162215769,"cg_id_raw_a":0.273435801,"cg_iq_a":0.111211285,"cg_iq_raw_a":-0.26496166,"cg_iu_a":-0.178685665,"cg_iv_a":0.431592286,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.994545,"cg_sample_seq":14469320,"cg_sample_valid":1,"cg_theta_rad":5.00597763,"cg_vd_req_v":0.112002261,"cg_vd_v":0.112002261,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357709646,"cg_vq_v":-0.357709646,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4654541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.63208,"values":{"Elec_RPM":-5.45390514e-33,"EncoderCos":38719,"EncoderSin":12443,"GapTicks":54772,"Mech_RPM":-1.09078106e-33,"cg_du":50.118721,"cg_dv":50.2070198,"cg_dw":49.7929802,"cg_id_a":0.0305938311,"cg_id_raw_a":-0.0466738679,"cg_iq_a":-0.187386155,"cg_iq_raw_a":0.433232546,"cg_iu_a":-0.0337104797,"cg_iv_a":0.431592226,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9618187,"cg_sample_seq":14469366,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.10921485,"cg_vd_v":0.10921485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348841995,"cg_vq_v":-0.348841995,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58721125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4654541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.639893,"values":{"Elec_RPM":-5.34482735e-33,"EncoderCos":38662,"EncoderSin":12469,"GapTicks":54770,"Mech_RPM":-1.06896545e-33,"cg_du":50.12006,"cg_dv":50.2090416,"cg_dw":49.7909584,"cg_id_a":-0.217165709,"cg_id_raw_a":-0.10420958,"cg_iq_a":-0.0538002141,"cg_iq_raw_a":-0.229583472,"cg_iu_a":0.292484283,"cg_iv_a":-0.402015924,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9327278,"cg_sample_seq":14469416,"cg_sample_valid":1,"cg_theta_rad":5.00440359,"cg_vd_req_v":0.113722511,"cg_vd_v":0.113722511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350030243,"cg_vq_v":-0.350030243,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58721125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4576111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.647705,"values":{"Elec_RPM":-5.34482735e-33,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.06896545e-33,"cg_du":50.1167717,"cg_dv":50.203434,"cg_dw":49.796566,"cg_id_a":0.101044148,"cg_id_raw_a":-0.30522728,"cg_iq_a":-0.435026884,"cg_iq_raw_a":0.299360543,"cg_iu_a":0.473703146,"cg_iv_a":0.757786751,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.9799995,"cg_sample_seq":14469466,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.105394579,"cg_vd_v":0.105394579,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342288911,"cg_vq_v":-0.342288911,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4576111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.659424,"values":{"Elec_RPM":-5.23793083e-33,"EncoderCos":38686,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-1.04758615e-33,"cg_du":50.1227226,"cg_dv":50.207119,"cg_dw":49.792881,"cg_id_a":0.0798868537,"cg_id_raw_a":0.0457502976,"cg_iq_a":0.0086099878,"cg_iq_raw_a":-0.0672711879,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079998,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.8563633,"cg_sample_seq":14469517,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.107351206,"cg_vd_v":0.107351206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348549604,"cg_vq_v":-0.348549604,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4685974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.667236,"values":{"Elec_RPM":-5.23793083e-33,"EncoderCos":38718,"EncoderSin":12512,"GapTicks":54768,"Mech_RPM":-1.04758615e-33,"cg_du":50.1275635,"cg_dv":50.2105789,"cg_dw":49.7894211,"cg_id_a":0.231937423,"cg_id_raw_a":0.555155814,"cg_iq_a":0.496291995,"cg_iq_raw_a":-0.346769601,"cg_iu_a":-0.649855375,"cg_iv_a":-0.329528332,"cg_iw_a":0.979383707,"cg_sample_age_us":23.8563633,"cg_sample_seq":14469566,"cg_sample_valid":1,"cg_theta_rad":5.00754261,"cg_vd_req_v":0.103809886,"cg_vd_v":0.103809886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358062387,"cg_vq_v":-0.358062387,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8599615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4685974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.675049,"values":{"Elec_RPM":-5.13317224e-33,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-1.02663443e-33,"cg_du":50.1196785,"cg_dv":50.2038536,"cg_dw":49.7961464,"cg_id_a":0.120035157,"cg_id_raw_a":0.0526744947,"cg_iq_a":-0.142668635,"cg_iq_raw_a":-0.576710403,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9254551,"cg_sample_seq":14469616,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.104143083,"cg_vd_v":0.104143083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344298154,"cg_vq_v":-0.344298154,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.5016479,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.682861,"values":{"Elec_RPM":-5.13317224e-33,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-1.02663443e-33,"cg_du":50.1228905,"cg_dv":50.2059669,"cg_dw":49.7940331,"cg_id_a":0.212893382,"cg_id_raw_a":0.223477557,"cg_iq_a":0.148728117,"cg_iq_raw_a":1.11529863,"cg_iu_a":0.437459469,"cg_iv_a":-0.510747313,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14469667,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.104013517,"cg_vd_v":0.104013517,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348872662,"cg_vq_v":-0.348872662,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.690674,"values":{"Elec_RPM":-5.03050897e-33,"EncoderCos":38712,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-1.00610176e-33,"cg_du":50.1153679,"cg_dv":50.2030334,"cg_dw":49.7969666,"cg_id_a":0.0873139128,"cg_id_raw_a":0.163129881,"cg_iq_a":-0.263581634,"cg_iq_raw_a":0.0170421805,"cg_iu_a":0.401215792,"cg_iv_a":0.322860777,"cg_iw_a":-0.724076569,"cg_sample_age_us":24.0381813,"cg_sample_seq":14469717,"cg_sample_valid":1,"cg_theta_rad":5.00570011,"cg_vd_req_v":0.107181445,"cg_vd_v":0.107181445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339484841,"cg_vq_v":-0.339484841,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.702393,"values":{"Elec_RPM":-5.03050897e-33,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54777,"Mech_RPM":-1.00610176e-33,"cg_du":50.1137352,"cg_dv":50.2023163,"cg_dw":49.7976837,"cg_id_a":0.0178091973,"cg_id_raw_a":0.164370358,"cg_iq_a":-0.215558991,"cg_iq_raw_a":-0.857136726,"cg_iu_a":0.292484045,"cg_iv_a":-0.438259721,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9218178,"cg_sample_seq":14469767,"cg_sample_valid":1,"cg_theta_rad":5.00618124,"cg_vd_req_v":0.107445061,"cg_vd_v":0.107445061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338833541,"cg_vq_v":-0.338833541,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4701843,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.729736,"values":{"Elec_RPM":-4.92989841e-33,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54769,"Mech_RPM":-9.85979682e-34,"cg_du":50.125248,"cg_dv":50.2098656,"cg_dw":49.7901344,"cg_id_a":0.286486864,"cg_id_raw_a":0.431234717,"cg_iq_a":0.639253914,"cg_iq_raw_a":0.514953911,"cg_iu_a":-0.686099291,"cg_iv_a":-0.800698161,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9763641,"cg_sample_seq":14469820,"cg_sample_valid":1,"cg_theta_rad":5.00690079,"cg_vd_req_v":0.104744643,"cg_vd_v":0.104744643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355854273,"cg_vq_v":-0.355854273,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.737549,"values":{"Elec_RPM":-4.92989841e-33,"EncoderCos":38719,"EncoderSin":12456,"GapTicks":54771,"Mech_RPM":-9.85979682e-34,"cg_du":50.1133881,"cg_dv":50.2077484,"cg_dw":49.7922516,"cg_id_a":-0.0954677686,"cg_id_raw_a":0.257738888,"cg_iq_a":0.147266403,"cg_iq_raw_a":-0.301473916,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641676,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9436359,"cg_sample_seq":14469866,"cg_sample_valid":1,"cg_theta_rad":5.007967,"cg_vd_req_v":0.113464251,"cg_vd_v":0.113464251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34586975,"cg_vq_v":-0.34586975,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.745361,"values":{"Elec_RPM":-4.83130052e-33,"EncoderCos":38774,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-9.66260122e-34,"cg_du":50.1094971,"cg_dv":50.2070618,"cg_dw":49.7929382,"cg_id_a":-0.00894508045,"cg_id_raw_a":-0.0445083939,"cg_iq_a":0.191707194,"cg_iq_raw_a":-0.257601023,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9618187,"cg_sample_seq":14469916,"cg_sample_valid":1,"cg_theta_rad":5.00580454,"cg_vd_req_v":0.11141587,"cg_vd_v":0.11141587,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345368475,"cg_vq_v":-0.345368475,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.753174,"values":{"Elec_RPM":-4.83130052e-33,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-9.66260122e-34,"cg_du":50.1142273,"cg_dv":50.2034111,"cg_dw":49.7965889,"cg_id_a":0.133572459,"cg_id_raw_a":-0.0265244823,"cg_iq_a":-0.268416077,"cg_iq_raw_a":-0.83936435,"cg_iu_a":0.038777113,"cg_iv_a":-0.474503517,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14469966,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.108477667,"cg_vd_v":0.108477667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341625512,"cg_vq_v":-0.341625512,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1603642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.760986,"values":{"Elec_RPM":-4.73467451e-33,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-9.46934903e-34,"cg_du":50.1128769,"cg_dv":50.2047157,"cg_dw":49.7952843,"cg_id_a":0.107420631,"cg_id_raw_a":-0.156681642,"cg_iq_a":-0.306654811,"cg_iq_raw_a":0.276789516,"cg_iu_a":0.328727961,"cg_iv_a":0.214129269,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9836369,"cg_sample_seq":14470016,"cg_sample_valid":1,"cg_theta_rad":5.00585747,"cg_vd_req_v":0.110577747,"cg_vd_v":0.110577747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341572791,"cg_vq_v":-0.341572791,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4576111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.772705,"values":{"Elec_RPM":-4.73467451e-33,"EncoderCos":38719,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-9.46934903e-34,"cg_du":50.1208458,"cg_dv":50.2118301,"cg_dw":49.7881699,"cg_id_a":0.0674458891,"cg_id_raw_a":0.132385641,"cg_iq_a":0.307705045,"cg_iq_raw_a":-0.314014256,"cg_iu_a":0.219996452,"cg_iv_a":0.21412921,"cg_iw_a":0.979383707,"cg_sample_age_us":23.954546,"cg_sample_seq":14470066,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.11112421,"cg_vd_v":0.11112421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355749726,"cg_vq_v":-0.355749726,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4544678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.780518,"values":{"Elec_RPM":-4.6399811e-33,"EncoderCos":38724,"EncoderSin":12491,"GapTicks":54767,"Mech_RPM":-9.27996219e-34,"cg_du":50.1093826,"cg_dv":50.2116699,"cg_dw":49.7883301,"cg_id_a":-0.304929554,"cg_id_raw_a":-0.150518119,"cg_iq_a":0.0170593336,"cg_iq_raw_a":-1.54270697,"cg_iu_a":0.546190977,"cg_iv_a":-0.25704062,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9763641,"cg_sample_seq":14470118,"cg_sample_valid":1,"cg_theta_rad":5.00710821,"cg_vd_req_v":0.11918401,"cg_vd_v":0.11918401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349366874,"cg_vq_v":-0.349366874,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4544678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.78833,"values":{"Elec_RPM":-4.6399811e-33,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54770,"Mech_RPM":-9.27996219e-34,"cg_du":50.1059761,"cg_dv":50.2088394,"cg_dw":49.7911606,"cg_id_a":-0.27938506,"cg_id_raw_a":-0.231029794,"cg_iq_a":-0.282806814,"cg_iq_raw_a":-0.67750442,"cg_iu_a":-0.251173496,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.954546,"cg_sample_seq":14470166,"cg_sample_valid":1,"cg_theta_rad":5.00647402,"cg_vd_req_v":0.120181397,"cg_vd_v":0.120181397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343236804,"cg_vq_v":-0.343236804,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4607544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.800049,"values":{"Elec_RPM":-4.54718133e-33,"EncoderCos":38741,"EncoderSin":12451,"GapTicks":54771,"Mech_RPM":-9.09436266e-34,"cg_du":50.1107407,"cg_dv":50.2078476,"cg_dw":49.7921524,"cg_id_a":0.0253143888,"cg_id_raw_a":-0.122483276,"cg_iq_a":-0.0876110494,"cg_iq_raw_a":-0.520407736,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8563633,"cg_sample_seq":14470217,"cg_sample_valid":1,"cg_theta_rad":5.00774765,"cg_vd_req_v":0.114376947,"cg_vd_v":0.114376947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346098155,"cg_vq_v":-0.346098155,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.807861,"values":{"Elec_RPM":-4.54718133e-33,"EncoderCos":38716,"EncoderSin":12486,"GapTicks":54770,"Mech_RPM":-9.09436266e-34,"cg_du":50.1187057,"cg_dv":50.2086678,"cg_dw":49.7913322,"cg_id_a":0.19957155,"cg_id_raw_a":0.242655262,"cg_iq_a":0.0749389976,"cg_iq_raw_a":0.279394418,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8563633,"cg_sample_seq":14470266,"cg_sample_valid":1,"cg_theta_rad":5.00709391,"cg_vd_req_v":0.109705411,"cg_vd_v":0.109705411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350261122,"cg_vq_v":-0.350261122,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.835205,"values":{"Elec_RPM":-4.45623737e-33,"EncoderCos":38724,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-8.91247511e-34,"cg_du":50.1103096,"cg_dv":50.2108192,"cg_dw":49.7891808,"cg_id_a":-0.201106563,"cg_id_raw_a":0.138828233,"cg_iq_a":-0.0189457014,"cg_iq_raw_a":0.0507330857,"cg_iu_a":-0.287417412,"cg_iv_a":-0.293284416,"cg_iw_a":0.580701828,"cg_sample_age_us":26.8163643,"cg_sample_seq":14470320,"cg_sample_valid":1,"cg_theta_rad":5.00660181,"cg_vd_req_v":0.118304178,"cg_vd_v":0.118304178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348499179,"cg_vq_v":-0.348499179,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4418945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.843018,"values":{"Elec_RPM":-4.45623737e-33,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-8.91247511e-34,"cg_du":50.1146584,"cg_dv":50.2037048,"cg_dw":49.7962952,"cg_id_a":0.151201919,"cg_id_raw_a":0.408707887,"cg_iq_a":-0.476657122,"cg_iq_raw_a":0.296424657,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9509087,"cg_sample_seq":14470366,"cg_sample_valid":1,"cg_theta_rad":5.00586843,"cg_vd_req_v":0.108700491,"cg_vd_v":0.108700491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341035396,"cg_vq_v":-0.341035396,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4418945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.85083,"values":{"Elec_RPM":-4.36711249e-33,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54777,"Mech_RPM":-8.73422517e-34,"cg_du":50.1203461,"cg_dv":50.2024422,"cg_dw":49.7975578,"cg_id_a":0.452423662,"cg_id_raw_a":0.0485992432,"cg_iq_a":-0.311010689,"cg_iq_raw_a":0.551653862,"cg_iu_a":0.256240368,"cg_iv_a":-0.402015924,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9509087,"cg_sample_seq":14470417,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.101921663,"cg_vd_v":0.101921663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342851996,"cg_vq_v":-0.342851996,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4890442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.858643,"values":{"Elec_RPM":-4.36711249e-33,"EncoderCos":38719,"EncoderSin":12470,"GapTicks":54779,"Mech_RPM":-8.73422517e-34,"cg_du":50.1046638,"cg_dv":50.2001534,"cg_dw":49.7998466,"cg_id_a":-0.0669283047,"cg_id_raw_a":0.422443271,"cg_iq_a":-0.862429023,"cg_iq_raw_a":-1.34165871,"cg_iu_a":0.546190977,"cg_iv_a":0.685299158,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.8709087,"cg_sample_seq":14470466,"cg_sample_valid":1,"cg_theta_rad":5.00637722,"cg_vd_req_v":0.112586096,"cg_vd_v":0.112586096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330757916,"cg_vq_v":-0.330757916,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.866455,"values":{"Elec_RPM":-4.27976995e-33,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-8.55954028e-34,"cg_du":50.1201057,"cg_dv":50.2131424,"cg_dw":49.7868576,"cg_id_a":-0.124300972,"cg_id_raw_a":-0.128372788,"cg_iq_a":0.242506653,"cg_iq_raw_a":-0.0121043883,"cg_iu_a":0.00253343582,"cg_iv_a":-0.583235145,"cg_iw_a":0.580701709,"cg_sample_age_us":23.954546,"cg_sample_seq":14470516,"cg_sample_valid":1,"cg_theta_rad":5.00574541,"cg_vd_req_v":0.114007935,"cg_vd_v":0.114007935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356792629,"cg_vq_v":-0.356792629,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.874268,"values":{"Elec_RPM":-4.27976995e-33,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-8.55954028e-34,"cg_du":50.1239929,"cg_dv":50.210701,"cg_dw":49.789299,"cg_id_a":0.132098839,"cg_id_raw_a":-0.0510382354,"cg_iq_a":0.214283109,"cg_iq_raw_a":0.687765121,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9436359,"cg_sample_seq":14470566,"cg_sample_valid":1,"cg_theta_rad":5.00652742,"cg_vd_req_v":0.108654536,"cg_vd_v":0.108654536,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356830597,"cg_vq_v":-0.356830597,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.885986,"values":{"Elec_RPM":-4.11029159e-33,"EncoderCos":38732,"EncoderSin":12484,"GapTicks":54764,"Mech_RPM":-8.22058281e-34,"cg_du":50.1231842,"cg_dv":50.213913,"cg_dw":49.786087,"cg_id_a":0.0155018549,"cg_id_raw_a":0.182639718,"cg_iq_a":0.0655382872,"cg_iq_raw_a":-0.63728708,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9436359,"cg_sample_seq":14470716,"cg_sample_valid":1,"cg_theta_rad":5.00708961,"cg_vd_req_v":0.109692156,"cg_vd_v":0.109692156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359194696,"cg_vq_v":-0.359194696,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.8260307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.893799,"values":{"Elec_RPM":-4.11029159e-33,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-8.22058281e-34,"cg_du":50.1252022,"cg_dv":50.2104454,"cg_dw":49.7895546,"cg_id_a":0.115072332,"cg_id_raw_a":0.131529585,"cg_iq_a":-0.133816138,"cg_iq_raw_a":0.123174638,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8527279,"cg_sample_seq":14470767,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.106722981,"cg_vd_v":0.106722981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355023801,"cg_vq_v":-0.355023801,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.4407539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2620.921143,"values":{"Elec_RPM":-4.02808559e-33,"EncoderCos":38752,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-8.05617155e-34,"cg_du":50.1003914,"cg_dv":50.2058182,"cg_dw":49.7941818,"cg_id_a":-0.496830195,"cg_id_raw_a":-0.176100373,"cg_iq_a":-1.09597063,"cg_iq_raw_a":-0.888260007,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":26.0345459,"cg_sample_seq":14470820,"cg_sample_valid":1,"cg_theta_rad":5.00601006,"cg_vd_req_v":0.118935771,"cg_vd_v":0.118935771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338106751,"cg_vq_v":-0.338106751,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9515381,"temp_inv2_c":36.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.928955,"values":{"Elec_RPM":-4.02808559e-33,"EncoderCos":38705,"EncoderSin":12461,"GapTicks":54769,"Mech_RPM":-8.05617155e-34,"cg_du":50.1249313,"cg_dv":50.2098999,"cg_dw":49.7901001,"cg_id_a":0.0852423087,"cg_id_raw_a":-0.32186982,"cg_iq_a":-0.201028123,"cg_iq_raw_a":-0.797034204,"cg_iu_a":-0.251173496,"cg_iv_a":0.250373125,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8454552,"cg_sample_seq":14470866,"cg_sample_valid":1,"cg_theta_rad":5.00828409,"cg_vd_req_v":0.107842647,"cg_vd_v":0.107842647,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356057167,"cg_vq_v":-0.356057167,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4576111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.940674,"values":{"Elec_RPM":-3.94752382e-33,"EncoderCos":38706,"EncoderSin":12469,"GapTicks":54767,"Mech_RPM":-7.89504801e-34,"cg_du":50.1278763,"cg_dv":50.211689,"cg_dw":49.788311,"cg_id_a":0.0684416667,"cg_id_raw_a":-0.245994613,"cg_iq_a":-0.148664489,"cg_iq_raw_a":-0.0969121531,"cg_iu_a":0.509947062,"cg_iv_a":0.105397761,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9763641,"cg_sample_seq":14470916,"cg_sample_valid":1,"cg_theta_rad":5.00869894,"cg_vd_req_v":0.107007734,"cg_vd_v":0.107007734,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360244125,"cg_vq_v":-0.360244125,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4576111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.948486,"values":{"Elec_RPM":-3.94752382e-33,"EncoderCos":38714,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-7.89504801e-34,"cg_du":50.1293716,"cg_dv":50.216629,"cg_dw":49.783371,"cg_id_a":-0.0470228046,"cg_id_raw_a":-0.435820431,"cg_iq_a":0.122637555,"cg_iq_raw_a":0.540100396,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065196,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9181824,"cg_sample_seq":14470966,"cg_sample_valid":1,"cg_theta_rad":5.008533,"cg_vd_req_v":0.109875374,"cg_vd_v":0.109875374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36683169,"cg_vq_v":-0.36683169,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.956299,"values":{"Elec_RPM":-3.86857358e-33,"EncoderCos":38723,"EncoderSin":12483,"GapTicks":54759,"Mech_RPM":-7.73714698e-34,"cg_du":50.1245117,"cg_dv":50.2186813,"cg_dw":49.7813187,"cg_id_a":-0.271971971,"cg_id_raw_a":-0.295058131,"cg_iq_a":0.0204454958,"cg_iq_raw_a":-0.0275756512,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14471016,"cg_sample_valid":1,"cg_theta_rad":5.00737095,"cg_vd_req_v":0.114377789,"cg_vd_v":0.114377789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367291033,"cg_vq_v":-0.367291033,"cg_vu_v":106.893898,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4638977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.964111,"values":{"Elec_RPM":-3.86857358e-33,"EncoderCos":38693,"EncoderSin":12493,"GapTicks":54762,"Mech_RPM":-7.73714698e-34,"cg_du":50.1332054,"cg_dv":50.2155724,"cg_dw":49.7844276,"cg_id_a":-0.0507158041,"cg_id_raw_a":-0.806886911,"cg_iq_a":0.112386718,"cg_iq_raw_a":0.246094123,"cg_iu_a":-0.577368021,"cg_iv_a":0.21412921,"cg_iw_a":0.363238811,"cg_sample_age_us":23.8563633,"cg_sample_seq":14471066,"cg_sample_valid":1,"cg_theta_rad":5.00614309,"cg_vd_req_v":0.106785774,"cg_vd_v":0.106785774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367282867,"cg_vq_v":-0.367282867,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4638977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2620.97583,"values":{"Elec_RPM":-3.79120218e-33,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-7.58240417e-34,"cg_du":50.1334534,"cg_dv":50.2142715,"cg_dw":49.7857285,"cg_id_a":-0.0182774775,"cg_id_raw_a":-0.361024231,"cg_iq_a":0.0988645852,"cg_iq_raw_a":0.000528208446,"cg_iu_a":-0.39614892,"cg_iv_a":-0.0395775437,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9363632,"cg_sample_seq":14471117,"cg_sample_valid":1,"cg_theta_rad":5.00658607,"cg_vd_req_v":0.105060413,"cg_vd_v":0.105060413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365731716,"cg_vq_v":-0.365731716,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.459198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2620.983428,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2620.983434,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2620.98344,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2620.983643,"values":{"Elec_RPM":-3.79120218e-33,"EncoderCos":38704,"EncoderSin":12442,"GapTicks":54768,"Mech_RPM":-7.58240417e-34,"cg_du":50.1413155,"cg_dv":50.2108879,"cg_dw":49.7891121,"cg_id_a":0.274422616,"cg_id_raw_a":0.397927642,"cg_iq_a":0.110979043,"cg_iq_raw_a":0.187694058,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397701,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9290905,"cg_sample_seq":14471166,"cg_sample_valid":1,"cg_theta_rad":5.00594378,"cg_vd_req_v":0.0965154842,"cg_vd_v":0.0965154842,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366533309,"cg_vq_v":-0.366533309,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.400555015,"dclink_p_w":-58.146389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.459198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.991455,"values":{"Elec_RPM":-3.71537802e-33,"EncoderCos":38703,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-7.43075621e-34,"cg_du":50.1285973,"cg_dv":50.2154732,"cg_dw":49.7845268,"cg_id_a":-0.271299988,"cg_id_raw_a":-0.532381713,"cg_iq_a":0.155442879,"cg_iq_raw_a":0.238188565,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9436359,"cg_sample_seq":14471217,"cg_sample_valid":1,"cg_theta_rad":5.00630999,"cg_vd_req_v":0.107901253,"cg_vd_v":0.107901253,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366466522,"cg_vq_v":-0.366466522,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.7195435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4544678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2620.999268,"values":{"Elec_RPM":-3.71537802e-33,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-7.43075621e-34,"cg_du":50.1347389,"cg_dv":50.2128677,"cg_dw":49.7871323,"cg_id_a":0.0677971467,"cg_id_raw_a":0.212061867,"cg_iq_a":0.134714663,"cg_iq_raw_a":0.385143906,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732882023,"cg_sample_age_us":23.9872723,"cg_sample_seq":14471267,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.100760087,"cg_vd_v":0.100760087,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366284907,"cg_vq_v":-0.366284907,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.7195435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.026611,"values":{"Elec_RPM":-3.64107061e-33,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54757,"Mech_RPM":-7.28214113e-34,"cg_du":50.140461,"cg_dv":50.2204323,"cg_dw":49.7795677,"cg_id_a":-0.0739027709,"cg_id_raw_a":-0.356329471,"cg_iq_a":0.630405664,"cg_iq_raw_a":0.622498751,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":26.8272724,"cg_sample_seq":14471320,"cg_sample_valid":1,"cg_theta_rad":5.00631142,"cg_vd_req_v":0.102820702,"cg_vd_v":0.102820702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378802896,"cg_vq_v":-0.378802896,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.7195435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.034424,"values":{"Elec_RPM":-3.64107061e-33,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-7.28214113e-34,"cg_du":50.1341667,"cg_dv":50.2136116,"cg_dw":49.7863884,"cg_id_a":0.0891739801,"cg_id_raw_a":0.291947067,"cg_iq_a":-0.0819744766,"cg_iq_raw_a":0.210485697,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14471366,"cg_sample_valid":1,"cg_theta_rad":5.00621557,"cg_vd_req_v":0.101337999,"cg_vd_v":0.101337999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365948975,"cg_vq_v":-0.365948975,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.3715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2592,"hz_tim_isr":4998,"hz_vsense":2592,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4277344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.046143,"values":{"Elec_RPM":-3.5682491e-33,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-7.13649829e-34,"cg_du":50.1384392,"cg_dv":50.212307,"cg_dw":49.787693,"cg_id_a":0.287148148,"cg_id_raw_a":0.641050577,"cg_iq_a":0.0190946199,"cg_iq_raw_a":1.66182959,"cg_iu_a":0.0750210285,"cg_iv_a":0.10539782,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9509087,"cg_sample_seq":14471416,"cg_sample_valid":1,"cg_theta_rad":5.00627518,"cg_vd_req_v":0.0959994644,"cg_vd_v":0.0959994644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366746515,"cg_vq_v":-0.366746515,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.3715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.053955,"values":{"Elec_RPM":-3.5682491e-33,"EncoderCos":38738,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-7.13649829e-34,"cg_du":50.1498871,"cg_dv":50.2167473,"cg_dw":49.7832527,"cg_id_a":0.436241925,"cg_id_raw_a":-0.215894267,"cg_iq_a":0.477434009,"cg_iq_raw_a":-0.201231197,"cg_iu_a":0.00253343582,"cg_iv_a":0.540323794,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9836369,"cg_sample_seq":14471466,"cg_sample_valid":1,"cg_theta_rad":5.00828409,"cg_vd_req_v":0.0915767252,"cg_vd_v":0.0915767252,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380331963,"cg_vq_v":-0.380331963,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.061768,"values":{"Elec_RPM":-3.4968841e-33,"EncoderCos":38717,"EncoderSin":12482,"GapTicks":54766,"Mech_RPM":-6.99376848e-34,"cg_du":50.146244,"cg_dv":50.2122192,"cg_dw":49.7877808,"cg_id_a":0.387885153,"cg_id_raw_a":-0.037450999,"cg_iq_a":0.138725579,"cg_iq_raw_a":-0.512678266,"cg_iu_a":-1.62843919,"cg_iv_a":0.21412921,"cg_iw_a":1.41430998,"cg_sample_age_us":23.9509087,"cg_sample_seq":14471516,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0918438435,"cg_vd_v":0.0918438435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371665359,"cg_vq_v":-0.371665359,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.615036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.06958,"values":{"Elec_RPM":-3.4968841e-33,"EncoderCos":38711,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-6.99376848e-34,"cg_du":50.1441803,"cg_dv":50.211956,"cg_dw":49.788044,"cg_id_a":0.183907613,"cg_id_raw_a":0.0626040101,"cg_iq_a":-0.0910519734,"cg_iq_raw_a":-0.0293940399,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9509087,"cg_sample_seq":14471566,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0935850218,"cg_vd_v":0.0935850218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368859053,"cg_vq_v":-0.368859053,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.615036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.081299,"values":{"Elec_RPM":-3.4269466e-33,"EncoderCos":38706,"EncoderSin":12460,"GapTicks":54768,"Mech_RPM":-6.85389292e-34,"cg_du":50.1516762,"cg_dv":50.210434,"cg_dw":49.789566,"cg_id_a":0.464784533,"cg_id_raw_a":1.2355653,"cg_iq_a":0.00177836418,"cg_iq_raw_a":-1.22149599,"cg_iu_a":-0.794831038,"cg_iv_a":-0.293284297,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9436359,"cg_sample_seq":14471616,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.087052986,"cg_vd_v":0.087052986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370815039,"cg_vq_v":-0.370815039,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.477829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118988328,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.089111,"values":{"Elec_RPM":-3.4269466e-33,"EncoderCos":38732,"EncoderSin":12462,"GapTicks":54763,"Mech_RPM":-6.85389292e-34,"cg_du":50.1521912,"cg_dv":50.2150383,"cg_dw":49.7849617,"cg_id_a":0.290083498,"cg_id_raw_a":0.381985366,"cg_iq_a":0.27487427,"cg_iq_raw_a":0.146540672,"cg_iu_a":0.256240129,"cg_iv_a":0.0691539049,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9181824,"cg_sample_seq":14471666,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0888715461,"cg_vd_v":0.0888715461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377893835,"cg_vq_v":-0.377893835,"cg_vu_v":26.3935547,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-81.0498352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4512939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.096924,"values":{"Elec_RPM":-3.35840756e-33,"EncoderCos":38706,"EncoderSin":12453,"GapTicks":54768,"Mech_RPM":-6.71681513e-34,"cg_du":50.1502533,"cg_dv":50.2107315,"cg_dw":49.7892685,"cg_id_a":0.308382213,"cg_id_raw_a":0.452125043,"cg_iq_a":-0.0937735438,"cg_iq_raw_a":-0.135165855,"cg_iu_a":0.14750886,"cg_iv_a":0.685299098,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.954546,"cg_sample_seq":14471716,"cg_sample_valid":1,"cg_theta_rad":5.00311995,"cg_vd_req_v":0.0886364952,"cg_vd_v":0.0886364952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370371252,"cg_vq_v":-0.370371252,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.748495817,"dclink_p_w":-108.325798,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4512939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.104736,"values":{"Elec_RPM":-3.35840756e-33,"EncoderCos":38716,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-6.71681513e-34,"cg_du":50.1504288,"cg_dv":50.2138824,"cg_dw":49.7861176,"cg_id_a":0.192279115,"cg_id_raw_a":-0.409831643,"cg_iq_a":0.148127437,"cg_iq_raw_a":0.0693679526,"cg_iu_a":0.401215553,"cg_iv_a":0.286616921,"cg_iw_a":0.544457734,"cg_sample_age_us":23.954546,"cg_sample_seq":14471766,"cg_sample_valid":1,"cg_theta_rad":5.00624037,"cg_vd_req_v":0.0905234143,"cg_vd_v":0.0905234143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375001371,"cg_vq_v":-0.375001371,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.4762344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.13208,"values":{"Elec_RPM":-3.29123945e-33,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-6.58247862e-34,"cg_du":50.1412735,"cg_dv":50.2122421,"cg_dw":49.7877579,"cg_id_a":-0.188423797,"cg_id_raw_a":0.0732166916,"cg_iq_a":-0.190777212,"cg_iq_raw_a":-0.356231213,"cg_iu_a":-0.396148682,"cg_iv_a":-0.764454246,"cg_iw_a":1.16060293,"cg_sample_age_us":23.8563633,"cg_sample_seq":14471821,"cg_sample_valid":1,"cg_theta_rad":5.00777626,"cg_vd_req_v":0.095276311,"cg_vd_v":0.095276311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367836982,"cg_vq_v":-0.367836982,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.143799,"values":{"Elec_RPM":-3.2254147e-33,"EncoderCos":38704,"EncoderSin":12445,"GapTicks":54770,"Mech_RPM":-6.45082923e-34,"cg_du":50.14711,"cg_dv":50.2084541,"cg_dw":49.7915459,"cg_id_a":-0.0107602477,"cg_id_raw_a":-0.106021851,"cg_iq_a":-0.300268978,"cg_iq_raw_a":-0.228752166,"cg_iu_a":-0.142441988,"cg_iv_a":0.540323794,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9400005,"cg_sample_seq":14471966,"cg_sample_valid":1,"cg_theta_rad":5.00769281,"cg_vd_req_v":0.0892343149,"cg_vd_v":0.0892343149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365424961,"cg_vq_v":-0.365424961,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4403076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.151611,"values":{"Elec_RPM":-3.16090651e-33,"EncoderCos":38663,"EncoderSin":12437,"GapTicks":54761,"Mech_RPM":-6.32181275e-34,"cg_du":50.1571274,"cg_dv":50.2164612,"cg_dw":49.7835388,"cg_id_a":-0.193020463,"cg_id_raw_a":-0.170213908,"cg_iq_a":0.408926338,"cg_iq_raw_a":-0.200831354,"cg_iu_a":-0.323661089,"cg_iv_a":-0.329528213,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9218178,"cg_sample_seq":14472016,"cg_sample_valid":1,"cg_theta_rad":5.00401258,"cg_vd_req_v":0.0930094495,"cg_vd_v":0.0930094495,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381028652,"cg_vq_v":-0.381028652,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.578149796,"dclink_p_w":-83.4182053,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4623108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.159424,"values":{"Elec_RPM":-3.16090651e-33,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-6.32181275e-34,"cg_du":50.1403389,"cg_dv":50.2097931,"cg_dw":49.7902069,"cg_id_a":-0.138477147,"cg_id_raw_a":0.0518604293,"cg_iq_a":-0.340981036,"cg_iq_raw_a":-0.576784313,"cg_iu_a":0.437459469,"cg_iv_a":0.141641557,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.954546,"cg_sample_seq":14472066,"cg_sample_valid":1,"cg_theta_rad":5.00675488,"cg_vd_req_v":0.0931852758,"cg_vd_v":0.0931852758,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364095271,"cg_vq_v":-0.364095271,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.1310959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.167236,"values":{"Elec_RPM":-3.09768806e-33,"EncoderCos":38733,"EncoderSin":12496,"GapTicks":54767,"Mech_RPM":-6.1953764e-34,"cg_du":50.1516533,"cg_dv":50.2113914,"cg_dw":49.7886086,"cg_id_a":0.307639301,"cg_id_raw_a":0.588062763,"cg_iq_a":0.157158419,"cg_iq_raw_a":0.419484884,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8563633,"cg_sample_seq":14472116,"cg_sample_valid":1,"cg_theta_rad":5.00800514,"cg_vd_req_v":0.0847987905,"cg_vd_v":0.0847987905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372847408,"cg_vq_v":-0.372847408,"cg_vu_v":0.87978512,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4497375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.175049,"values":{"Elec_RPM":-3.09768806e-33,"EncoderCos":38712,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-6.1953764e-34,"cg_du":50.1425209,"cg_dv":50.2087555,"cg_dw":49.7912445,"cg_id_a":-0.0744665489,"cg_id_raw_a":-0.50319308,"cg_iq_a":-0.1340985,"cg_iq_raw_a":-0.0492482372,"cg_iu_a":0.0387773514,"cg_iv_a":0.467836082,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9509087,"cg_sample_seq":14472167,"cg_sample_valid":1,"cg_theta_rad":5.00781775,"cg_vd_req_v":0.0917824507,"cg_vd_v":0.0917824507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363574147,"cg_vq_v":-0.363574147,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.661510706,"dclink_p_w":-95.736908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.182861,"values":{"Elec_RPM":-3.03573436e-33,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-6.07146873e-34,"cg_du":50.1495171,"cg_dv":50.2162399,"cg_dw":49.7837601,"cg_id_a":-0.0483932346,"cg_id_raw_a":-0.402473241,"cg_iq_a":0.705182076,"cg_iq_raw_a":1.81995654,"cg_iu_a":-0.396148682,"cg_iv_a":0.214129269,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9400005,"cg_sample_seq":14472217,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0908934548,"cg_vd_v":0.0908934548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378330588,"cg_vq_v":-0.378330588,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.19458,"values":{"Elec_RPM":-3.03573436e-33,"EncoderCos":38726,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-6.07146873e-34,"cg_du":50.1433754,"cg_dv":50.2094078,"cg_dw":49.7905922,"cg_id_a":0.04853433,"cg_id_raw_a":0.0588854216,"cg_iq_a":0.00530131906,"cg_iq_raw_a":-0.212025106,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8490906,"cg_sample_seq":14472267,"cg_sample_valid":1,"cg_theta_rad":5.00869322,"cg_vd_req_v":0.0900346562,"cg_vd_v":0.0900346562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364187777,"cg_vq_v":-0.364187777,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.590835094,"dclink_p_w":-85.5084076,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.221924,"values":{"Elec_RPM":-2.97501971e-33,"EncoderCos":38743,"EncoderSin":12499,"GapTicks":54770,"Mech_RPM":-5.95003924e-34,"cg_du":50.1412849,"cg_dv":50.2088699,"cg_dw":49.7911301,"cg_id_a":0.0308241099,"cg_id_raw_a":0.295316666,"cg_iq_a":0.0307142884,"cg_iq_raw_a":0.646186173,"cg_iu_a":1.27106762,"cg_iv_a":-0.184552908,"cg_iw_a":-1.08651471,"cg_sample_age_us":26.8272724,"cg_sample_seq":14472320,"cg_sample_valid":1,"cg_theta_rad":5.00677109,"cg_vd_req_v":0.089622587,"cg_vd_v":0.089622587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363847673,"cg_vq_v":-0.363847673,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.643388748,"dclink_p_w":-93.114212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.229736,"values":{"Elec_RPM":-2.97501971e-33,"EncoderCos":38726,"EncoderSin":12497,"GapTicks":54765,"Mech_RPM":-5.95003924e-34,"cg_du":50.1468391,"cg_dv":50.2128716,"cg_dw":49.7871284,"cg_id_a":0.00162995327,"cg_id_raw_a":0.532853961,"cg_iq_a":0.491509974,"cg_iq_raw_a":0.997708976,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9872723,"cg_sample_seq":14472366,"cg_sample_valid":1,"cg_theta_rad":5.00598526,"cg_vd_req_v":0.0905838311,"cg_vd_v":0.0905838311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372040212,"cg_vq_v":-0.372040212,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.81192255,"dclink_p_w":-117.505211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4450378,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.237549,"values":{"Elec_RPM":-2.91551913e-33,"EncoderCos":38740,"EncoderSin":12495,"GapTicks":54766,"Mech_RPM":-5.83103835e-34,"cg_du":50.14785,"cg_dv":50.2124977,"cg_dw":49.7875023,"cg_id_a":0.0115952007,"cg_id_raw_a":0.417657405,"cg_iq_a":0.383658946,"cg_iq_raw_a":0.220973581,"cg_iu_a":0.328727961,"cg_iv_a":0.141641617,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9472733,"cg_sample_seq":14472416,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.088564232,"cg_vd_v":0.088564232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373500168,"cg_vq_v":-0.373500168,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.81192255,"dclink_p_w":-117.505211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4481506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.245361,"values":{"Elec_RPM":-2.91551913e-33,"EncoderCos":38703,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-5.83103835e-34,"cg_du":50.1526337,"cg_dv":50.208107,"cg_dw":49.791893,"cg_id_a":0.192367956,"cg_id_raw_a":-0.199285343,"cg_iq_a":-0.116614603,"cg_iq_raw_a":-0.347447842,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129329,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9654541,"cg_sample_seq":14472467,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0842055529,"cg_vd_v":0.0842055529,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368164092,"cg_vq_v":-0.368164092,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.831856728,"dclink_p_w":-120.390175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.25708,"values":{"Elec_RPM":-2.85720873e-33,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-5.71441737e-34,"cg_du":50.1518593,"cg_dv":50.2106056,"cg_dw":49.7893944,"cg_id_a":0.1099433,"cg_id_raw_a":-0.00401741872,"cg_iq_a":-0.188916922,"cg_iq_raw_a":0.437402308,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9618187,"cg_sample_seq":14472516,"cg_sample_valid":1,"cg_theta_rad":5.00655317,"cg_vd_req_v":0.08555381,"cg_vd_v":0.08555381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371505529,"cg_vq_v":-0.371505529,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.849978685,"dclink_p_w":-123.012871,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.264893,"values":{"Elec_RPM":-2.85720873e-33,"EncoderCos":38740,"EncoderSin":12501,"GapTicks":54766,"Mech_RPM":-5.71441737e-34,"cg_du":50.1341057,"cg_dv":50.2123909,"cg_dw":49.7876091,"cg_id_a":-0.571203351,"cg_id_raw_a":-0.104266964,"cg_iq_a":-0.595598936,"cg_iq_raw_a":0.646398604,"cg_iu_a":2.14091969,"cg_iv_a":-0.365772009,"cg_iw_a":-1.77514768,"cg_sample_age_us":23.8563633,"cg_sample_seq":14472566,"cg_sample_valid":1,"cg_theta_rad":5.00839233,"cg_vd_req_v":0.0988737941,"cg_vd_v":0.0988737941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364611208,"cg_vq_v":-0.364611208,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.849978685,"dclink_p_w":-123.012871,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.272705,"values":{"Elec_RPM":-2.80006446e-33,"EncoderCos":38702,"EncoderSin":12490,"GapTicks":54764,"Mech_RPM":-5.60012901e-34,"cg_du":50.1521683,"cg_dv":50.2145195,"cg_dw":49.7854805,"cg_id_a":-0.126526877,"cg_id_raw_a":0.153167576,"cg_iq_a":-0.0297603123,"cg_iq_raw_a":-0.0930788219,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8600006,"cg_sample_seq":14472616,"cg_sample_valid":1,"cg_theta_rad":5.00651169,"cg_vd_req_v":0.0902318507,"cg_vd_v":0.0902318507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376736164,"cg_vq_v":-0.376736164,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.735397,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.280518,"values":{"Elec_RPM":-2.80006446e-33,"EncoderCos":38722,"EncoderSin":12477,"GapTicks":54762,"Mech_RPM":-5.60012901e-34,"cg_du":50.1565323,"cg_dv":50.2160568,"cg_dw":49.7839432,"cg_id_a":0.115029544,"cg_id_raw_a":0.045193553,"cg_iq_a":0.130639568,"cg_iq_raw_a":-0.0676464811,"cg_iu_a":-0.686099529,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9436359,"cg_sample_seq":14472666,"cg_sample_valid":1,"cg_theta_rad":5.00636292,"cg_vd_req_v":0.0869204551,"cg_vd_v":0.0869204551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381597489,"cg_vq_v":-0.381597489,"cg_vu_v":37.830761,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.239822,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.28833,"values":{"Elec_RPM":-2.74406318e-33,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54760,"Mech_RPM":-5.48812644e-34,"cg_du":50.1555138,"cg_dv":50.2175865,"cg_dw":49.7824135,"cg_id_a":-0.0327521339,"cg_id_raw_a":-0.0350893065,"cg_iq_a":0.0886835754,"cg_iq_raw_a":0.106569335,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9218178,"cg_sample_seq":14472716,"cg_sample_valid":1,"cg_theta_rad":5.00661755,"cg_vd_req_v":0.0904018804,"cg_vd_v":0.0904018804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382829279,"cg_vq_v":-0.382829279,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-100.982262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.296143,"values":{"Elec_RPM":-2.74406318e-33,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-5.48812644e-34,"cg_du":50.1574478,"cg_dv":50.2225838,"cg_dw":49.7774162,"cg_id_a":-0.257984519,"cg_id_raw_a":-0.0296484958,"cg_iq_a":0.448658556,"cg_iq_raw_a":-1.20424008,"cg_iu_a":-0.142441988,"cg_iv_a":-0.764454305,"cg_iw_a":0.906896293,"cg_sample_age_us":23.9218178,"cg_sample_seq":14472766,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.093940489,"cg_vd_v":0.093940489,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390654862,"cg_vq_v":-0.390654862,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-100.982262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.327393,"values":{"Elec_RPM":-2.68918192e-33,"EncoderCos":38695,"EncoderSin":12473,"GapTicks":54746,"Mech_RPM":-5.37836374e-34,"cg_du":50.1566849,"cg_dv":50.2306938,"cg_dw":49.7693062,"cg_id_a":-0.640836835,"cg_id_raw_a":-0.212919667,"cg_iq_a":0.78518188,"cg_iq_raw_a":-0.822799325,"cg_iu_a":0.691166401,"cg_iv_a":-0.329528213,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9836369,"cg_sample_seq":14472867,"cg_sample_valid":1,"cg_theta_rad":5.00537539,"cg_vd_req_v":0.103587262,"cg_vd_v":0.103587262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400933117,"cg_vq_v":-0.400933117,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.335205,"values":{"Elec_RPM":-2.63539809e-33,"EncoderCos":38724,"EncoderSin":12490,"GapTicks":54761,"Mech_RPM":-5.27079636e-34,"cg_du":50.1584396,"cg_dv":50.2171211,"cg_dw":49.7828789,"cg_id_a":0.219809189,"cg_id_raw_a":0.36461553,"cg_iq_a":-0.0783598572,"cg_iq_raw_a":0.108429141,"cg_iu_a":-0.541123867,"cg_iv_a":0.0691539049,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9509087,"cg_sample_seq":14472916,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.0859391764,"cg_vd_v":0.0859391764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384235263,"cg_vq_v":-0.384235263,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.343018,"values":{"Elec_RPM":-2.63539809e-33,"EncoderCos":38722,"EncoderSin":12476,"GapTicks":54753,"Mech_RPM":-5.27079636e-34,"cg_du":50.1673546,"cg_dv":50.2238312,"cg_dw":49.7761688,"cg_id_a":0.27042824,"cg_id_raw_a":-0.17429851,"cg_iq_a":0.5376544,"cg_iq_raw_a":1.11273587,"cg_iu_a":-1.12102556,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9618187,"cg_sample_seq":14472966,"cg_sample_valid":1,"cg_theta_rad":5.00628042,"cg_vd_req_v":0.0859989524,"cg_vd_v":0.0859989524,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398233652,"cg_vq_v":-0.398233652,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4356079,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.35083,"values":{"Elec_RPM":-2.58269003e-33,"EncoderCos":38715,"EncoderSin":12447,"GapTicks":54759,"Mech_RPM":-5.16538024e-34,"cg_du":50.1502876,"cg_dv":50.2188263,"cg_dw":49.7811737,"cg_id_a":-0.203506991,"cg_id_raw_a":-0.829857945,"cg_iq_a":-0.374649733,"cg_iq_raw_a":-0.774714112,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065315,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9218178,"cg_sample_seq":14473017,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0959075242,"cg_vd_v":0.0959075242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381517977,"cg_vq_v":-0.381517977,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.358643,"values":{"Elec_RPM":-2.58269003e-33,"EncoderCos":38726,"EncoderSin":12433,"GapTicks":54756,"Mech_RPM":-5.16538024e-34,"cg_du":50.1620064,"cg_dv":50.2216644,"cg_dw":49.7783356,"cg_id_a":0.13541545,"cg_id_raw_a":-0.027842816,"cg_iq_a":-0.550210655,"cg_iq_raw_a":0.0344697163,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.8709087,"cg_sample_seq":14473066,"cg_sample_valid":1,"cg_theta_rad":5.00681973,"cg_vd_req_v":0.0878191814,"cg_vd_v":0.0878191814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380912215,"cg_vq_v":-0.380912215,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.370361,"values":{"Elec_RPM":-2.53103623e-33,"EncoderCos":38726,"EncoderSin":12457,"GapTicks":54760,"Mech_RPM":-5.06207265e-34,"cg_du":50.1591339,"cg_dv":50.2178726,"cg_dw":49.7821274,"cg_id_a":0.148343801,"cg_id_raw_a":0.613410175,"cg_iq_a":-0.148809105,"cg_iq_raw_a":1.00727975,"cg_iu_a":0.582434654,"cg_iv_a":0.21412921,"cg_iw_a":-0.796563864,"cg_sample_age_us":23.9836369,"cg_sample_seq":14473117,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0870831534,"cg_vd_v":0.0870831534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386660248,"cg_vq_v":-0.386660248,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.293625,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.378174,"values":{"Elec_RPM":-2.53103623e-33,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54760,"Mech_RPM":-5.06207265e-34,"cg_du":50.1599579,"cg_dv":50.2178307,"cg_dw":49.7821693,"cg_id_a":0.188808247,"cg_id_raw_a":0.222510517,"cg_iq_a":-0.189926118,"cg_iq_raw_a":-0.378156304,"cg_iu_a":-0.106198072,"cg_iv_a":0.504079938,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8709087,"cg_sample_seq":14473167,"cg_sample_valid":1,"cg_theta_rad":5.00719881,"cg_vd_req_v":0.0860423893,"cg_vd_v":0.0860423893,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385915339,"cg_vq_v":-0.385915339,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.3290253,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.385986,"values":{"Elec_RPM":-2.48041577e-33,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-4.96083136e-34,"cg_du":50.1628151,"cg_dv":50.2134056,"cg_dw":49.7865944,"cg_id_a":0.308957398,"cg_id_raw_a":-0.108727552,"cg_iq_a":-0.481696934,"cg_iq_raw_a":0.645663261,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333380699,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14473217,"cg_sample_valid":1,"cg_theta_rad":5.00930405,"cg_vd_req_v":0.0798515156,"cg_vd_v":0.0798515156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381422967,"cg_vq_v":-0.381422967,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.531032801,"dclink_p_w":-76.8535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4403076,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.393799,"values":{"Elec_RPM":-2.48041577e-33,"EncoderCos":38722,"EncoderSin":12460,"GapTicks":54757,"Mech_RPM":-4.96083136e-34,"cg_du":50.159626,"cg_dv":50.2203217,"cg_dw":49.7796783,"cg_id_a":-0.0479602963,"cg_id_raw_a":0.124652982,"cg_iq_a":-0.248899564,"cg_iq_raw_a":0.195109099,"cg_iu_a":0.582434654,"cg_iv_a":-0.220796704,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.954546,"cg_sample_seq":14473267,"cg_sample_valid":1,"cg_theta_rad":5.00699615,"cg_vd_req_v":0.0890855417,"cg_vd_v":0.0890855417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389029294,"cg_vq_v":-0.389029294,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.400555015,"dclink_p_w":-57.9701881,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11873655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.401611,"values":{"Elec_RPM":-2.43080734e-33,"EncoderCos":38705,"EncoderSin":12455,"GapTicks":54754,"Mech_RPM":-4.86161459e-34,"cg_du":50.1630783,"cg_dv":50.2231903,"cg_dw":49.7768097,"cg_id_a":-0.136932462,"cg_id_raw_a":-0.103848435,"cg_iq_a":-0.030924879,"cg_iq_raw_a":-0.046247676,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9436359,"cg_sample_seq":14473317,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0908287466,"cg_vd_v":0.0908287466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394490719,"cg_vq_v":-0.394490719,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11873655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.432861,"values":{"Elec_RPM":-2.43080734e-33,"EncoderCos":38729,"EncoderSin":12482,"GapTicks":54757,"Mech_RPM":-4.86161459e-34,"cg_du":50.160511,"cg_dv":50.2203445,"cg_dw":49.7796555,"cg_id_a":0.0567918569,"cg_id_raw_a":0.182578132,"cg_iq_a":-0.193754941,"cg_iq_raw_a":-1.07407165,"cg_iu_a":0.763653994,"cg_iv_a":0.902762175,"cg_iw_a":-1.66641617,"cg_sample_age_us":23.8563633,"cg_sample_seq":14473370,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.0872049704,"cg_vd_v":0.0872049704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389831603,"cg_vq_v":-0.389831603,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4245911,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.440674,"values":{"Elec_RPM":-2.3821911e-33,"EncoderCos":38714,"EncoderSin":12503,"GapTicks":54751,"Mech_RPM":-4.76438238e-34,"cg_du":50.1642952,"cg_dv":50.2258263,"cg_dw":49.7741737,"cg_id_a":-0.134813711,"cg_id_raw_a":0.187496647,"cg_iq_a":0.106071912,"cg_iq_raw_a":-0.0174486674,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8527279,"cg_sample_seq":14473416,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.0903209895,"cg_vd_v":0.0903209895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399234951,"cg_vq_v":-0.399234951,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.448486,"values":{"Elec_RPM":-2.3821911e-33,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54753,"Mech_RPM":-4.76438238e-34,"cg_du":50.1621094,"cg_dv":50.2239113,"cg_dw":49.7760887,"cg_id_a":-0.187410563,"cg_id_raw_a":-0.186612174,"cg_iq_a":0.0104443133,"cg_iq_raw_a":-0.4908939,"cg_iu_a":0.038777113,"cg_iv_a":-0.619478822,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8600006,"cg_sample_seq":14473466,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0908747837,"cg_vd_v":0.0908747837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396513909,"cg_vq_v":-0.396513909,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.456299,"values":{"Elec_RPM":-2.33454739e-33,"EncoderCos":38744,"EncoderSin":12452,"GapTicks":54762,"Mech_RPM":-4.66909479e-34,"cg_du":50.1585121,"cg_dv":50.2156448,"cg_dw":49.7843552,"cg_id_a":0.214287862,"cg_id_raw_a":0.0168030262,"cg_iq_a":-0.461011827,"cg_iq_raw_a":-0.216036692,"cg_iu_a":0.111264944,"cg_iv_a":0.504079938,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9581814,"cg_sample_seq":14473517,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0837149993,"cg_vd_v":0.0837149993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382427812,"cg_vq_v":-0.382427812,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.464111,"values":{"Elec_RPM":-2.33454739e-33,"EncoderCos":38708,"EncoderSin":12501,"GapTicks":54758,"Mech_RPM":-4.66909479e-34,"cg_du":50.161602,"cg_dv":50.2193604,"cg_dw":49.7806396,"cg_id_a":0.100587271,"cg_id_raw_a":0.0199921355,"cg_iq_a":-0.0805590749,"cg_iq_raw_a":0.403377891,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9654541,"cg_sample_seq":14473567,"cg_sample_valid":1,"cg_theta_rad":5.00593138,"cg_vd_req_v":0.0864795446,"cg_vd_v":0.0864795446,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387622088,"cg_vq_v":-0.387622088,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.471924,"values":{"Elec_RPM":-2.28785639e-33,"EncoderCos":38723,"EncoderSin":12470,"GapTicks":54760,"Mech_RPM":-4.57571278e-34,"cg_du":50.1515274,"cg_dv":50.2173691,"cg_dw":49.7826309,"cg_id_a":-0.133407116,"cg_id_raw_a":-0.391979247,"cg_iq_a":-0.330851614,"cg_iq_raw_a":-0.328566104,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14473617,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.091943033,"cg_vd_v":0.091943033,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379399121,"cg_vq_v":-0.379399121,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.3884888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.483643,"values":{"Elec_RPM":-2.28785639e-33,"EncoderCos":38710,"EncoderSin":12494,"GapTicks":54755,"Mech_RPM":-4.57571278e-34,"cg_du":50.1548615,"cg_dv":50.2225304,"cg_dw":49.7774696,"cg_id_a":-0.24282071,"cg_id_raw_a":-0.232993707,"cg_iq_a":0.0865746364,"cg_iq_raw_a":0.196390122,"cg_iu_a":0.219996452,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9436359,"cg_sample_seq":14473667,"cg_sample_valid":1,"cg_theta_rad":5.00784111,"cg_vd_req_v":0.0948355868,"cg_vd_v":0.0948355868,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38813436,"cg_vq_v":-0.38813436,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.491455,"values":{"Elec_RPM":-2.24209935e-33,"EncoderCos":38760,"EncoderSin":12514,"GapTicks":54753,"Mech_RPM":-4.48419871e-34,"cg_du":50.1531143,"cg_dv":50.2237129,"cg_dw":49.7762871,"cg_id_a":-0.0792902336,"cg_id_raw_a":0.0204947889,"cg_iq_a":0.338213295,"cg_iq_raw_a":-0.0338199511,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641557,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9872723,"cg_sample_seq":14473717,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.092660062,"cg_vd_v":0.092660062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391156644,"cg_vq_v":-0.391156644,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.499268,"values":{"Elec_RPM":-2.24209935e-33,"EncoderCos":38726,"EncoderSin":12456,"GapTicks":54757,"Mech_RPM":-4.48419871e-34,"cg_du":50.1711082,"cg_dv":50.220417,"cg_dw":49.779583,"cg_id_a":0.493412256,"cg_id_raw_a":1.29108262,"cg_iq_a":0.521773875,"cg_iq_raw_a":0.30859372,"cg_iu_a":-0.649855614,"cg_iv_a":-0.329528272,"cg_iw_a":0.979383886,"cg_sample_age_us":23.9509087,"cg_sample_seq":14473768,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0799213052,"cg_vd_v":0.0799213052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395659506,"cg_vq_v":-0.395659506,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4292908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.50708,"values":{"Elec_RPM":-2.19725755e-33,"EncoderCos":38714,"EncoderSin":12497,"GapTicks":54756,"Mech_RPM":-4.39451492e-34,"cg_du":50.1634407,"cg_dv":50.2215271,"cg_dw":49.7784729,"cg_id_a":0.0977627859,"cg_id_raw_a":0.48099944,"cg_iq_a":0.310768574,"cg_iq_raw_a":1.50419033,"cg_iu_a":0.582434773,"cg_iv_a":-0.184552908,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9254551,"cg_sample_seq":14473817,"cg_sample_valid":1,"cg_theta_rad":5.0070262,"cg_vd_req_v":0.086981751,"cg_vd_v":0.086981751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392877877,"cg_vq_v":-0.392877877,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.53833,"values":{"Elec_RPM":-2.19725755e-33,"EncoderCos":38733,"EncoderSin":12472,"GapTicks":54757,"Mech_RPM":-4.39451492e-34,"cg_du":50.168026,"cg_dv":50.22052,"cg_dw":49.77948,"cg_id_a":0.216834784,"cg_id_raw_a":0.148868799,"cg_iq_a":0.458078057,"cg_iq_raw_a":-0.27635175,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9509087,"cg_sample_seq":14473870,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0816259086,"cg_vd_v":0.0816259086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395489722,"cg_vq_v":-0.395489722,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4324646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.546143,"values":{"Elec_RPM":-2.15331243e-33,"EncoderCos":38731,"EncoderSin":12459,"GapTicks":54757,"Mech_RPM":-4.30662467e-34,"cg_du":50.1643486,"cg_dv":50.2209015,"cg_dw":49.7790985,"cg_id_a":0.169934586,"cg_id_raw_a":-0.576239526,"cg_iq_a":0.47376585,"cg_iq_raw_a":0.0547077507,"cg_iu_a":0.582434654,"cg_iv_a":0.0329101682,"cg_iw_a":1.16060293,"cg_sample_age_us":23.8563633,"cg_sample_seq":14473916,"cg_sample_valid":1,"cg_theta_rad":5.00662851,"cg_vd_req_v":0.0854290575,"cg_vd_v":0.0854290575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393836021,"cg_vq_v":-0.393836021,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.5463219,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4308777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.553955,"values":{"Elec_RPM":-2.15331243e-33,"EncoderCos":38729,"EncoderSin":12492,"GapTicks":54753,"Mech_RPM":-4.30662467e-34,"cg_du":50.1730919,"cg_dv":50.2243652,"cg_dw":49.7756348,"cg_id_a":0.392608583,"cg_id_raw_a":-0.478327543,"cg_iq_a":0.963580668,"cg_iq_raw_a":0.356200665,"cg_iu_a":-2.24458432,"cg_iv_a":0.250373006,"cg_iw_a":1.99421132,"cg_sample_age_us":23.8309097,"cg_sample_seq":14473966,"cg_sample_valid":1,"cg_theta_rad":5.00667667,"cg_vd_req_v":0.0809303001,"cg_vd_v":0.0809303001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402398199,"cg_vq_v":-0.402398199,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0742391348,"dclink_p_w":10.7442331,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4308777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.561768,"values":{"Elec_RPM":-2.11024599e-33,"EncoderCos":38729,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-4.22049216e-34,"cg_du":50.1441116,"cg_dv":50.2094612,"cg_dw":49.7905388,"cg_id_a":0.0584878027,"cg_id_raw_a":0.20329015,"cg_iq_a":-0.712652743,"cg_iq_raw_a":-0.853726089,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531641,"cg_sample_age_us":23.954546,"cg_sample_seq":14474016,"cg_sample_valid":1,"cg_theta_rad":5.00778913,"cg_vd_req_v":0.0893815458,"cg_vd_v":0.0893815458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365881294,"cg_vq_v":-0.365881294,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4292908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.56958,"values":{"Elec_RPM":-2.11024599e-33,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54762,"Mech_RPM":-4.22049216e-34,"cg_du":50.1598015,"cg_dv":50.2161789,"cg_dw":49.7838211,"cg_id_a":0.17467989,"cg_id_raw_a":0.120380901,"cg_iq_a":0.327378213,"cg_iq_raw_a":0.449740887,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8490906,"cg_sample_seq":14474066,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.0852193907,"cg_vd_v":0.0852193907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383435756,"cg_vq_v":-0.383435756,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.577393,"values":{"Elec_RPM":-2.06804133e-33,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54759,"Mech_RPM":-4.13608248e-34,"cg_du":50.1536942,"cg_dv":50.2189102,"cg_dw":49.7810898,"cg_id_a":-0.133424073,"cg_id_raw_a":-0.20261538,"cg_iq_a":0.388842165,"cg_iq_raw_a":0.782712698,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8563633,"cg_sample_seq":14474116,"cg_sample_valid":1,"cg_theta_rad":5.00866127,"cg_vd_req_v":0.0908920169,"cg_vd_v":0.0908920169,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385367095,"cg_vq_v":-0.385367095,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4387512,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.585205,"values":{"Elec_RPM":-2.06804133e-33,"EncoderCos":38674,"EncoderSin":12525,"GapTicks":54766,"Mech_RPM":-4.13608248e-34,"cg_du":50.1540947,"cg_dv":50.2120743,"cg_dw":49.7879257,"cg_id_a":-0.0421177819,"cg_id_raw_a":0.151565686,"cg_iq_a":-0.193886042,"cg_iq_raw_a":-0.274881929,"cg_iu_a":0.437459469,"cg_iv_a":-0.112065196,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9254551,"cg_sample_seq":14474166,"cg_sample_valid":1,"cg_theta_rad":5.0057168,"cg_vd_req_v":0.0878260955,"cg_vd_v":0.0878260955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374159664,"cg_vq_v":-0.374159664,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4418945,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.596924,"values":{"Elec_RPM":-2.02668046e-33,"EncoderCos":38694,"EncoderSin":12471,"GapTicks":54766,"Mech_RPM":-4.05336074e-34,"cg_du":50.1493225,"cg_dv":50.2120972,"cg_dw":49.7879028,"cg_id_a":-0.257485062,"cg_id_raw_a":-0.101657592,"cg_iq_a":-0.190206215,"cg_iq_raw_a":0.136017531,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9581814,"cg_sample_seq":14474217,"cg_sample_valid":1,"cg_theta_rad":5.00592279,"cg_vd_req_v":0.0912550166,"cg_vd_v":0.0912550166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371562183,"cg_vq_v":-0.371562183,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4308777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.604736,"values":{"Elec_RPM":-2.02668046e-33,"EncoderCos":38660,"EncoderSin":12457,"GapTicks":54765,"Mech_RPM":-4.05336074e-34,"cg_du":50.1566734,"cg_dv":50.2136192,"cg_dw":49.7863808,"cg_id_a":-0.143335253,"cg_id_raw_a":-0.12011978,"cg_iq_a":0.222816914,"cg_iq_raw_a":-0.0856492817,"cg_iu_a":-0.359905005,"cg_iv_a":-0.546991229,"cg_iw_a":0.906896234,"cg_sample_age_us":23.8563633,"cg_sample_seq":14474266,"cg_sample_valid":1,"cg_theta_rad":5.00414848,"cg_vd_req_v":0.0902829468,"cg_vd_v":0.0902829468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377012014,"cg_vq_v":-0.377012014,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4308777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.612549,"values":{"Elec_RPM":-1.98614666e-33,"EncoderCos":38730,"EncoderSin":12496,"GapTicks":54766,"Mech_RPM":-3.97229342e-34,"cg_du":50.1533775,"cg_dv":50.2125931,"cg_dw":49.7874069,"cg_id_a":0.146616548,"cg_id_raw_a":0.408685863,"cg_iq_a":0.0880194604,"cg_iq_raw_a":0.985551536,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641557,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.954546,"cg_sample_seq":14474317,"cg_sample_valid":1,"cg_theta_rad":5.00685024,"cg_vd_req_v":0.0848599002,"cg_vd_v":0.0848599002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375388205,"cg_vq_v":-0.375388205,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.639893,"values":{"Elec_RPM":-1.98614666e-33,"EncoderCos":38759,"EncoderSin":12489,"GapTicks":54764,"Mech_RPM":-3.97229342e-34,"cg_du":50.1431007,"cg_dv":50.2138405,"cg_dw":49.7861595,"cg_id_a":-0.190032512,"cg_id_raw_a":-0.057774663,"cg_iq_a":-0.18970722,"cg_iq_raw_a":0.141276762,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":0.326994777,"cg_sample_age_us":26.0781822,"cg_sample_seq":14474370,"cg_sample_valid":1,"cg_theta_rad":5.00635815,"cg_vd_req_v":0.091880694,"cg_vd_v":0.091880694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371916741,"cg_vq_v":-0.371916741,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.651611,"values":{"Elec_RPM":-1.94642377e-33,"EncoderCos":38725,"EncoderSin":12444,"GapTicks":54758,"Mech_RPM":-3.89284745e-34,"cg_du":50.1555862,"cg_dv":50.2192688,"cg_dw":49.7807312,"cg_id_a":-0.152540892,"cg_id_raw_a":0.0687208921,"cg_iq_a":0.395609826,"cg_iq_raw_a":0.335339427,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9436359,"cg_sample_seq":14474416,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.0913907662,"cg_vd_v":0.0913907662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385293007,"cg_vq_v":-0.385293007,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4277344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.659424,"values":{"Elec_RPM":-1.94642377e-33,"EncoderCos":38681,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-3.89284745e-34,"cg_du":50.1551361,"cg_dv":50.2089996,"cg_dw":49.7910004,"cg_id_a":0.0810183212,"cg_id_raw_a":0.454244107,"cg_iq_a":-0.272646308,"cg_iq_raw_a":0.0498547629,"cg_iu_a":0.473703384,"cg_iv_a":0.250373065,"cg_iw_a":-0.397881687,"cg_sample_age_us":23.954546,"cg_sample_seq":14474466,"cg_sample_valid":1,"cg_theta_rad":5.007339,"cg_vd_req_v":0.0855138525,"cg_vd_v":0.0855138525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371425986,"cg_vq_v":-0.371425986,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.667236,"values":{"Elec_RPM":-1.90749525e-33,"EncoderCos":38725,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-3.81499046e-34,"cg_du":50.1468391,"cg_dv":50.2073975,"cg_dw":49.7926025,"cg_id_a":-0.00143102929,"cg_id_raw_a":0.434215367,"cg_iq_a":-0.718578041,"cg_iq_raw_a":-0.175284445,"cg_iu_a":0.61867857,"cg_iv_a":0.21412921,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9836369,"cg_sample_seq":14474516,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.0866885036,"cg_vd_v":0.0866885036,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365425855,"cg_vq_v":-0.365425855,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4560547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.675049,"values":{"Elec_RPM":-1.86934532e-33,"EncoderCos":38729,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-3.73869055e-34,"cg_du":50.1608925,"cg_dv":50.2197456,"cg_dw":49.7802544,"cg_id_a":0.0717314929,"cg_id_raw_a":0.260811508,"cg_iq_a":0.253607988,"cg_iq_raw_a":0.316801339,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503636,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9836369,"cg_sample_seq":14474667,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.08632759,"cg_vd_v":0.08632759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389230609,"cg_vq_v":-0.389230609,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3649292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117477685,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.682861,"values":{"Elec_RPM":-1.83195835e-33,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.66391671e-34,"cg_du":50.166954,"cg_dv":50.2177315,"cg_dw":49.7822685,"cg_id_a":0.378361136,"cg_id_raw_a":0.284081966,"cg_iq_a":0.30859831,"cg_iq_raw_a":-0.154975072,"cg_iu_a":-0.287417173,"cg_iv_a":0.39534843,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9763641,"cg_sample_seq":14474717,"cg_sample_valid":1,"cg_theta_rad":5.0083828,"cg_vd_req_v":0.0785975605,"cg_vd_v":0.0785975605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390079856,"cg_vq_v":-0.390079856,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.690674,"values":{"Elec_RPM":-1.83195835e-33,"EncoderCos":38726,"EncoderSin":12496,"GapTicks":54766,"Mech_RPM":-3.66391671e-34,"cg_du":50.161377,"cg_dv":50.2118607,"cg_dw":49.7881393,"cg_id_a":0.338104039,"cg_id_raw_a":0.61093092,"cg_iq_a":-0.167518526,"cg_iq_raw_a":-0.0506257378,"cg_iu_a":-0.541124105,"cg_iv_a":0.141641617,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14474767,"cg_sample_valid":1,"cg_theta_rad":5.00780439,"cg_vd_req_v":0.0782007724,"cg_vd_v":0.0782007724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378786623,"cg_vq_v":-0.378786623,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4465942,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.702393,"values":{"Elec_RPM":-1.7953193e-33,"EncoderCos":38719,"EncoderSin":12448,"GapTicks":54767,"Mech_RPM":-3.59063841e-34,"cg_du":50.1620903,"cg_dv":50.2111053,"cg_dw":49.7888947,"cg_id_a":0.273821652,"cg_id_raw_a":1.152542,"cg_iq_a":0.0176652521,"cg_iq_raw_a":-1.05001712,"cg_iu_a":0.0387773514,"cg_iv_a":-0.728210449,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9872723,"cg_sample_seq":14474816,"cg_sample_valid":1,"cg_theta_rad":5.00825834,"cg_vd_req_v":0.0789979696,"cg_vd_v":0.0789979696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378920674,"cg_vq_v":-0.378920674,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.729736,"values":{"Elec_RPM":-1.7953193e-33,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-3.59063841e-34,"cg_du":50.1530724,"cg_dv":50.213604,"cg_dw":49.786396,"cg_id_a":-0.0419500396,"cg_id_raw_a":0.338691264,"cg_iq_a":0.024432335,"cg_iq_raw_a":-0.731808722,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.43825978,"cg_iw_a":0.471970022,"cg_sample_age_us":26.8199997,"cg_sample_seq":14474871,"cg_sample_valid":1,"cg_theta_rad":5.00695896,"cg_vd_req_v":0.0862350985,"cg_vd_v":0.0862350985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376560837,"cg_vq_v":-0.376560837,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.737549,"values":{"Elec_RPM":-1.75941272e-33,"EncoderCos":38720,"EncoderSin":12441,"GapTicks":54763,"Mech_RPM":-3.51882558e-34,"cg_du":50.1467857,"cg_dv":50.2148361,"cg_dw":49.7851639,"cg_id_a":-0.478389323,"cg_id_raw_a":-0.457164377,"cg_iq_a":0.0107154995,"cg_iq_raw_a":-0.299780965,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.954546,"cg_sample_seq":14474917,"cg_sample_valid":1,"cg_theta_rad":5.009233,"cg_vd_req_v":0.0944831669,"cg_vd_v":0.0944831669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374203593,"cg_vq_v":-0.374203593,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.745361,"values":{"Elec_RPM":-1.75941272e-33,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.51882558e-34,"cg_du":50.1632423,"cg_dv":50.2173576,"cg_dw":49.7826424,"cg_id_a":0.081923984,"cg_id_raw_a":-0.0726022869,"cg_iq_a":0.628426015,"cg_iq_raw_a":0.28515178,"cg_iu_a":-1.41097617,"cg_iv_a":-0.619478941,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9509087,"cg_sample_seq":14474967,"cg_sample_valid":1,"cg_theta_rad":5.00474024,"cg_vd_req_v":0.082305938,"cg_vd_v":0.082305938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387259156,"cg_vq_v":-0.387259156,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4230347,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.753174,"values":{"Elec_RPM":-1.72422448e-33,"EncoderCos":38724,"EncoderSin":12464,"GapTicks":54771,"Mech_RPM":-3.44844905e-34,"cg_du":50.1533737,"cg_dv":50.207901,"cg_dw":49.792099,"cg_id_a":0.124186575,"cg_id_raw_a":0.402792662,"cg_iq_a":-0.114918008,"cg_iq_raw_a":-0.0692593232,"cg_iu_a":0.654922485,"cg_iv_a":0.177885413,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9509087,"cg_sample_seq":14475016,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0816418827,"cg_vd_v":0.0816418827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368701965,"cg_vq_v":-0.368701965,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.764893,"values":{"Elec_RPM":-1.72422448e-33,"EncoderCos":38731,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-3.44844905e-34,"cg_du":50.1416893,"cg_dv":50.202301,"cg_dw":49.797699,"cg_id_a":-0.0955797136,"cg_id_raw_a":-0.155583352,"cg_iq_a":-0.699805498,"cg_iq_raw_a":0.277408332,"cg_iu_a":0.872385502,"cg_iv_a":0.286616921,"cg_iw_a":-1.15900242,"cg_sample_age_us":23.9327278,"cg_sample_seq":14475066,"cg_sample_valid":1,"cg_theta_rad":5.00791359,"cg_vd_req_v":0.0844752118,"cg_vd_v":0.0844752118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355888188,"cg_vq_v":-0.355888188,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.772705,"values":{"Elec_RPM":-1.68974007e-33,"EncoderCos":38744,"EncoderSin":12511,"GapTicks":54761,"Mech_RPM":-3.37948014e-34,"cg_du":50.1570129,"cg_dv":50.2164154,"cg_dw":49.7835846,"cg_id_a":-0.0570766926,"cg_id_raw_a":0.0411902182,"cg_iq_a":0.559309602,"cg_iq_raw_a":0.441147476,"cg_iu_a":-1.62843895,"cg_iv_a":0.39534831,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9145451,"cg_sample_seq":14475116,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0843317285,"cg_vd_v":0.0843317285,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384152114,"cg_vq_v":-0.384152114,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.780518,"values":{"Elec_RPM":-1.68974007e-33,"EncoderCos":38735,"EncoderSin":12491,"GapTicks":54770,"Mech_RPM":-3.37948014e-34,"cg_du":50.1420975,"cg_dv":50.2085152,"cg_dw":49.7914848,"cg_id_a":-0.285721242,"cg_id_raw_a":0.225020275,"cg_iq_a":-0.400114328,"cg_iq_raw_a":-0.196696728,"cg_iu_a":0.908629298,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9436359,"cg_sample_seq":14475166,"cg_sample_valid":1,"cg_theta_rad":5.00729084,"cg_vd_req_v":0.089776516,"cg_vd_v":0.089776516,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364711344,"cg_vq_v":-0.364711344,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.792236,"values":{"Elec_RPM":-1.65594534e-33,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54760,"Mech_RPM":-3.31189059e-34,"cg_du":50.1473465,"cg_dv":50.2179756,"cg_dw":49.7820244,"cg_id_a":-0.575891256,"cg_id_raw_a":-0.307949066,"cg_iq_a":0.227184951,"cg_iq_raw_a":-0.941012502,"cg_iu_a":0.111264944,"cg_iv_a":-0.402015924,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14475216,"cg_sample_valid":1,"cg_theta_rad":5.00747681,"cg_vd_req_v":0.0975683108,"cg_vd_v":0.0975683108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378656387,"cg_vq_v":-0.378656387,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9273376,"temp_inv2_c":36.4245911,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.800049,"values":{"Elec_RPM":-1.65594534e-33,"EncoderCos":38732,"EncoderSin":12467,"GapTicks":54757,"Mech_RPM":-3.31189059e-34,"cg_du":50.1525841,"cg_dv":50.2202644,"cg_dw":49.7797356,"cg_id_a":-0.304404467,"cg_id_raw_a":-0.0139711061,"cg_iq_a":0.544361293,"cg_iq_raw_a":-0.109749883,"cg_iu_a":0.183752537,"cg_iv_a":0.540323734,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9509087,"cg_sample_seq":14475268,"cg_sample_valid":1,"cg_theta_rad":5.0063858,"cg_vd_req_v":0.0932107419,"cg_vd_v":0.0932107419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384087086,"cg_vq_v":-0.384087086,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.7481003,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.807861,"values":{"Elec_RPM":-1.62282652e-33,"EncoderCos":38740,"EncoderSin":12492,"GapTicks":54765,"Mech_RPM":-3.24565286e-34,"cg_du":50.1432152,"cg_dv":50.2131844,"cg_dw":49.7868156,"cg_id_a":-0.141939074,"cg_id_raw_a":0.329962343,"cg_iq_a":-0.195393473,"cg_iq_raw_a":0.0310463402,"cg_iu_a":0.473703146,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14475316,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0929657817,"cg_vd_v":0.0929657817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371833235,"cg_vq_v":-0.371833235,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.7481003,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11848478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.835205,"values":{"Elec_RPM":-1.62282652e-33,"EncoderCos":38690,"EncoderSin":12446,"GapTicks":54765,"Mech_RPM":-3.24565286e-34,"cg_du":50.1564331,"cg_dv":50.2135696,"cg_dw":49.7864304,"cg_id_a":0.16396898,"cg_id_raw_a":0.452677041,"cg_iq_a":0.0172089599,"cg_iq_raw_a":-0.133305386,"cg_iu_a":-0.359905005,"cg_iv_a":-0.510747433,"cg_iw_a":0.870652437,"cg_sample_age_us":26.8163643,"cg_sample_seq":14475371,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0878660902,"cg_vd_v":0.0878660902,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376203716,"cg_vq_v":-0.376203716,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3759155,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2621.843018,"values":{"Elec_RPM":-1.59037002e-33,"EncoderCos":38708,"EncoderSin":12445,"GapTicks":54762,"Mech_RPM":-3.18073986e-34,"cg_du":50.1514893,"cg_dv":50.2158699,"cg_dw":49.7841301,"cg_id_a":-0.0291114263,"cg_id_raw_a":-0.223987356,"cg_iq_a":-0.0573864728,"cg_iq_raw_a":0.305794418,"cg_iu_a":0.437459469,"cg_iv_a":0.105397761,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9799995,"cg_sample_seq":14475467,"cg_sample_valid":1,"cg_theta_rad":5.00803328,"cg_vd_req_v":0.0927320272,"cg_vd_v":0.0927320272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378024608,"cg_vq_v":-0.378024608,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4481506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.85083,"values":{"Elec_RPM":-1.55856243e-33,"EncoderCos":38700,"EncoderSin":12458,"GapTicks":54760,"Mech_RPM":-3.11712495e-34,"cg_du":50.14505,"cg_dv":50.2175865,"cg_dw":49.7824135,"cg_id_a":-0.334102243,"cg_id_raw_a":0.255979657,"cg_iq_a":-0.0507814214,"cg_iq_raw_a":0.136530071,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9181824,"cg_sample_seq":14475516,"cg_sample_valid":1,"cg_theta_rad":5.0093112,"cg_vd_req_v":0.0997983962,"cg_vd_v":0.0997983962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376621008,"cg_vq_v":-0.376621008,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.858643,"values":{"Elec_RPM":-1.55856243e-33,"EncoderCos":38697,"EncoderSin":12483,"GapTicks":54761,"Mech_RPM":-3.11712495e-34,"cg_du":50.1452141,"cg_dv":50.2165375,"cg_dw":49.7834625,"cg_id_a":-0.2672216,"cg_id_raw_a":0.00151507871,"cg_iq_a":-0.206402346,"cg_iq_raw_a":-0.254068047,"cg_iu_a":0.473703265,"cg_iv_a":-0.293284357,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9509087,"cg_sample_seq":14475566,"cg_sample_valid":1,"cg_theta_rad":5.00819683,"cg_vd_req_v":0.0982572138,"cg_vd_v":0.0982572138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375396639,"cg_vq_v":-0.375396639,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.866455,"values":{"Elec_RPM":-1.52739126e-33,"EncoderCos":38708,"EncoderSin":12445,"GapTicks":54759,"Mech_RPM":-3.05478242e-34,"cg_du":50.1656837,"cg_dv":50.2186508,"cg_dw":49.7813492,"cg_id_a":0.415143102,"cg_id_raw_a":0.092183888,"cg_iq_a":0.384139299,"cg_iq_raw_a":-0.317664146,"cg_iu_a":-0.0337104797,"cg_iv_a":0.21412921,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9836369,"cg_sample_seq":14475616,"cg_sample_valid":1,"cg_theta_rad":5.00866127,"cg_vd_req_v":0.0843510255,"cg_vd_v":0.0843510255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389810264,"cg_vq_v":-0.389810264,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4214478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.878174,"values":{"Elec_RPM":-1.52739126e-33,"EncoderCos":38752,"EncoderSin":12498,"GapTicks":54764,"Mech_RPM":-3.05478242e-34,"cg_du":50.1348305,"cg_dv":50.2141457,"cg_dw":49.7858543,"cg_id_a":-0.152403682,"cg_id_raw_a":0.259461105,"cg_iq_a":-0.707670808,"cg_iq_raw_a":-0.121779285,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065256,"cg_iw_a":0.290750921,"cg_sample_age_us":23.954546,"cg_sample_seq":14475666,"cg_sample_valid":1,"cg_theta_rad":5.00634956,"cg_vd_req_v":0.0990652144,"cg_vd_v":0.0990652144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367662281,"cg_vq_v":-0.367662281,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4151917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.885986,"values":{"Elec_RPM":-1.49684337e-33,"EncoderCos":38704,"EncoderSin":12446,"GapTicks":54753,"Mech_RPM":-2.99368679e-34,"cg_du":50.1486626,"cg_dv":50.2236519,"cg_dw":49.7763481,"cg_id_a":-0.374692351,"cg_id_raw_a":-0.730487883,"cg_iq_a":0.355982244,"cg_iq_raw_a":-0.293133229,"cg_iu_a":0.219996452,"cg_iv_a":0.250373125,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9509087,"cg_sample_seq":14475716,"cg_sample_valid":1,"cg_theta_rad":5.00875616,"cg_vd_req_v":0.102885693,"cg_vd_v":0.102885693,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38688609,"cg_vq_v":-0.38688609,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4151917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.893799,"values":{"Elec_RPM":-1.49684337e-33,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54759,"Mech_RPM":-2.99368679e-34,"cg_du":50.1429291,"cg_dv":50.2189598,"cg_dw":49.7810402,"cg_id_a":-0.285413563,"cg_id_raw_a":-0.103904992,"cg_iq_a":-0.0907152817,"cg_iq_raw_a":-0.046120476,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9581814,"cg_sample_seq":14475766,"cg_sample_valid":1,"cg_theta_rad":5.0087781,"cg_vd_req_v":0.101989008,"cg_vd_v":0.101989008,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377501607,"cg_vq_v":-0.377501607,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3727722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.905518,"values":{"Elec_RPM":-1.46690656e-33,"EncoderCos":38720,"EncoderSin":12506,"GapTicks":54763,"Mech_RPM":-2.93381304e-34,"cg_du":50.150116,"cg_dv":50.2146568,"cg_dw":49.7853432,"cg_id_a":0.28857553,"cg_id_raw_a":0.409941971,"cg_iq_a":-0.0804772675,"cg_iq_raw_a":0.294715583,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860837,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9763641,"cg_sample_seq":14475816,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.090292044,"cg_vd_v":0.090292044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377382368,"cg_vq_v":-0.377382368,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2621.928955,"values":{"Elec_RPM":-1.46690656e-33,"EncoderCos":38729,"EncoderSin":12493,"GapTicks":54758,"Mech_RPM":-2.93381304e-34,"cg_du":50.1373634,"cg_dv":50.2194481,"cg_dw":49.7805519,"cg_id_a":-0.344691396,"cg_id_raw_a":-0.927096307,"cg_iq_a":0.0132322647,"cg_iq_raw_a":1.55173421,"cg_iu_a":0.328727961,"cg_iv_a":-0.691966653,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8600006,"cg_sample_seq":14475871,"cg_sample_valid":1,"cg_theta_rad":5.00689697,"cg_vd_req_v":0.104249559,"cg_vd_v":0.104249559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375746131,"cg_vq_v":-0.375746131,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.799115837,"dclink_p_w":115.651764,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.940674,"values":{"Elec_RPM":-1.43756843e-33,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-2.87513681e-34,"cg_du":50.1502686,"cg_dv":50.219944,"cg_dw":49.780056,"cg_id_a":0.0914157033,"cg_id_raw_a":-0.166675612,"cg_iq_a":0.365333289,"cg_iq_raw_a":0.166762859,"cg_iu_a":0.509947062,"cg_iv_a":0.286616921,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9509087,"cg_sample_seq":14475917,"cg_sample_valid":1,"cg_theta_rad":5.00631666,"cg_vd_req_v":0.0955337211,"cg_vd_v":0.0955337211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38339594,"cg_vq_v":-0.38339594,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.7646842,"dclink_p_w":110.668655,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.948486,"values":{"Elec_RPM":-1.43756843e-33,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-2.87513681e-34,"cg_du":50.1376801,"cg_dv":50.2134132,"cg_dw":49.7865868,"cg_id_a":-0.109123074,"cg_id_raw_a":-0.118405521,"cg_iq_a":-0.428855121,"cg_iq_raw_a":0.0982059687,"cg_iu_a":0.292484045,"cg_iv_a":0.467836142,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9872723,"cg_sample_seq":14475967,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.100415215,"cg_vd_v":0.100415215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3670955,"cg_vq_v":-0.3670955,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.7646842,"dclink_p_w":110.668655,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.956299,"values":{"Elec_RPM":-1.40881703e-33,"EncoderCos":38694,"EncoderSin":12473,"GapTicks":54762,"Mech_RPM":-2.81763402e-34,"cg_du":50.1493568,"cg_dv":50.2162285,"cg_dw":49.7837715,"cg_id_a":0.204131618,"cg_id_raw_a":0.19190976,"cg_iq_a":0.240849003,"cg_iq_raw_a":0.348612785,"cg_iu_a":-0.504880428,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14476017,"cg_sample_valid":1,"cg_theta_rad":5.00506258,"cg_vd_req_v":0.0952291936,"cg_vd_v":0.0952291936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377186239,"cg_vq_v":-0.377186239,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4025879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.968018,"values":{"Elec_RPM":-1.40881703e-33,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.81763402e-34,"cg_du":50.1273079,"cg_dv":50.2104149,"cg_dw":49.7895851,"cg_id_a":-0.274681181,"cg_id_raw_a":0.0775095671,"cg_iq_a":-0.784209132,"cg_iq_raw_a":-0.792791426,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14476066,"cg_sample_valid":1,"cg_theta_rad":5.00588417,"cg_vd_req_v":0.106558613,"cg_vd_v":0.106558613,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358079821,"cg_vq_v":-0.358079821,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.8037872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2621.975313,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2621.975319,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2621.975325,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2621.97583,"values":{"Elec_RPM":-1.38064061e-33,"EncoderCos":38686,"EncoderSin":12473,"GapTicks":54759,"Mech_RPM":-2.76128123e-34,"cg_du":50.140419,"cg_dv":50.2186356,"cg_dw":49.7813644,"cg_id_a":-0.145431399,"cg_id_raw_a":-0.526006401,"cg_iq_a":0.0861725509,"cg_iq_raw_a":0.965821981,"cg_iu_a":0.401215792,"cg_iv_a":0.504079878,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9472733,"cg_sample_seq":14476117,"cg_sample_valid":1,"cg_theta_rad":5.00841856,"cg_vd_req_v":0.105255648,"cg_vd_v":0.105255648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375198245,"cg_vq_v":-0.375198245,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.7629166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4073181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.983643,"values":{"Elec_RPM":-1.38064061e-33,"EncoderCos":38713,"EncoderSin":12471,"GapTicks":54760,"Mech_RPM":-2.76128123e-34,"cg_du":50.1381378,"cg_dv":50.2176361,"cg_dw":49.7823639,"cg_id_a":-0.0979034901,"cg_id_raw_a":-0.0294315238,"cg_iq_a":0.00954931974,"cg_iq_raw_a":-0.584873021,"cg_iu_a":0.582434893,"cg_iv_a":0.359104633,"cg_iw_a":-0.941539526,"cg_sample_age_us":23.9436359,"cg_sample_seq":14476166,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.103815094,"cg_vd_v":0.103815094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373181939,"cg_vq_v":-0.373181939,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.529099226,"dclink_p_w":76.5737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4214478,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.991455,"values":{"Elec_RPM":-1.35302779e-33,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-2.70605549e-34,"cg_du":50.1438522,"cg_dv":50.212841,"cg_dw":49.787159,"cg_id_a":0.374024212,"cg_id_raw_a":0.655711412,"cg_iq_a":-0.0447013229,"cg_iq_raw_a":-1.35496366,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14476216,"cg_sample_valid":1,"cg_theta_rad":5.00701189,"cg_vd_req_v":0.0943613499,"cg_vd_v":0.0943613499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369964123,"cg_vq_v":-0.369964123,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.529099226,"dclink_p_w":76.5737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2621.999268,"values":{"Elec_RPM":-1.35302779e-33,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-2.70605549e-34,"cg_du":50.1331635,"cg_dv":50.2094078,"cg_dw":49.7905922,"cg_id_a":0.147231251,"cg_id_raw_a":0.542222261,"cg_iq_a":-0.349088609,"cg_iq_raw_a":-0.638352275,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9472733,"cg_sample_seq":14476266,"cg_sample_valid":1,"cg_theta_rad":5.00629091,"cg_vd_req_v":0.0989581272,"cg_vd_v":0.0989581272,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35941413,"cg_vq_v":-0.35941413,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.529099226,"dclink_p_w":76.5737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.00708,"values":{"Elec_RPM":-1.32596718e-33,"EncoderCos":38698,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-2.65193431e-34,"cg_du":50.1477623,"cg_dv":50.2096176,"cg_dw":49.7903824,"cg_id_a":0.493971884,"cg_id_raw_a":1.18817842,"cg_iq_a":-0.0320597813,"cg_iq_raw_a":1.69127369,"cg_iu_a":0.183752537,"cg_iv_a":-0.619478941,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9472733,"cg_sample_seq":14476316,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0901660696,"cg_vd_v":0.0901660696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36729598,"cg_vq_v":-0.36729598,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":68.1252747,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3884888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.03833,"values":{"Elec_RPM":-1.29944784e-33,"EncoderCos":38740,"EncoderSin":12465,"GapTicks":54769,"Mech_RPM":-2.59889564e-34,"cg_du":50.1305313,"cg_dv":50.2097931,"cg_dw":49.7902069,"cg_id_a":-0.0222082175,"cg_id_raw_a":-0.280000538,"cg_iq_a":-0.192349091,"cg_iq_raw_a":-0.862632573,"cg_iu_a":-1.80965829,"cg_iv_a":-0.510747194,"cg_iw_a":2.32040548,"cg_sample_age_us":23.9436359,"cg_sample_seq":14476417,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.100384563,"cg_vd_v":0.100384563,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359923154,"cg_vq_v":-0.359923154,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.51557636,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.046143,"values":{"Elec_RPM":-1.29944784e-33,"EncoderCos":38736,"EncoderSin":12495,"GapTicks":54769,"Mech_RPM":-2.59889564e-34,"cg_du":50.1251183,"cg_dv":50.2097778,"cg_dw":49.7902222,"cg_id_a":-0.190972656,"cg_id_raw_a":-0.110963531,"cg_iq_a":-0.236527026,"cg_iq_raw_a":0.0269527175,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9436359,"cg_sample_seq":14476467,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.103596933,"cg_vd_v":0.103596933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354826808,"cg_vq_v":-0.354826808,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.51557636,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4057312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.053955,"values":{"Elec_RPM":-1.27345886e-33,"EncoderCos":38698,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-2.54691767e-34,"cg_du":50.1277924,"cg_dv":50.2049332,"cg_dw":49.7950668,"cg_id_a":0.0627631247,"cg_id_raw_a":1.03157985,"cg_iq_a":-0.446842998,"cg_iq_raw_a":-1.05859482,"cg_iu_a":0.256240249,"cg_iv_a":-0.112065196,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.954546,"cg_sample_seq":14476517,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.100621983,"cg_vd_v":0.100621983,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348651379,"cg_vq_v":-0.348651379,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.1340599,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4057312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.061768,"values":{"Elec_RPM":-1.27345886e-33,"EncoderCos":38717,"EncoderSin":12445,"GapTicks":54765,"Mech_RPM":-2.54691767e-34,"cg_du":50.141243,"cg_dv":50.2131233,"cg_dw":49.7868767,"cg_id_a":0.2306346,"cg_id_raw_a":0.096006155,"cg_iq_a":0.486611307,"cg_iq_raw_a":-0.572381318,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0758213997,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9509087,"cg_sample_seq":14476567,"cg_sample_valid":1,"cg_theta_rad":5.00867319,"cg_vd_req_v":0.0970112756,"cg_vd_v":0.0970112756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367596298,"cg_vq_v":-0.367596298,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.1340599,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.06958,"values":{"Elec_RPM":-1.24798966e-33,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-2.49597927e-34,"cg_du":50.1259995,"cg_dv":50.2060623,"cg_dw":49.7939377,"cg_id_a":-0.0118307471,"cg_id_raw_a":0.253667444,"cg_iq_a":-0.45559606,"cg_iq_raw_a":0.389159113,"cg_iu_a":0.509947062,"cg_iv_a":0.39534843,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14476617,"cg_sample_valid":1,"cg_theta_rad":5.00728703,"cg_vd_req_v":0.100469574,"cg_vd_v":0.100469574,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349937618,"cg_vq_v":-0.349937618,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.081299,"values":{"Elec_RPM":-1.24798966e-33,"EncoderCos":38713,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-2.49597927e-34,"cg_du":50.1311111,"cg_dv":50.2086906,"cg_dw":49.7913094,"cg_id_a":0.0265925825,"cg_id_raw_a":0.503440022,"cg_iq_a":0.0202992409,"cg_iq_raw_a":-0.0225942265,"cg_iu_a":-0.613611698,"cg_iv_a":0.322860777,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9836369,"cg_sample_seq":14476667,"cg_sample_valid":1,"cg_theta_rad":5.0063858,"cg_vd_req_v":0.10021057,"cg_vd_v":0.10021057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357193589,"cg_vq_v":-0.357193589,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.434021,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.089111,"values":{"Elec_RPM":-1.22302987e-33,"EncoderCos":38729,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-2.44605979e-34,"cg_du":50.1341972,"cg_dv":50.2112503,"cg_dw":49.7887497,"cg_id_a":0.0321236998,"cg_id_raw_a":-0.183964297,"cg_iq_a":0.432395995,"cg_iq_raw_a":0.128751948,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.655722737,"cg_iw_a":0.689432979,"cg_sample_age_us":23.8563633,"cg_sample_seq":14476717,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.0995600969,"cg_vd_v":0.0995600969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362600863,"cg_vq_v":-0.362600863,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.4183044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.096924,"values":{"Elec_RPM":-1.22302987e-33,"EncoderCos":38721,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-2.44605979e-34,"cg_du":50.1245003,"cg_dv":50.1999588,"cg_dw":49.8000412,"cg_id_a":0.0247660819,"cg_id_raw_a":-0.0508303791,"cg_iq_a":-0.442808688,"cg_iq_raw_a":-0.805329859,"cg_iu_a":0.219996452,"cg_iv_a":0.322860837,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9799995,"cg_sample_seq":14476767,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.096747078,"cg_vd_v":0.096747078,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341657817,"cg_vq_v":-0.341657817,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.617896616,"dclink_p_w":89.4248734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.4183044,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.104736,"values":{"Elec_RPM":-1.1985693e-33,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-2.39713856e-34,"cg_du":50.1302872,"cg_dv":50.197113,"cg_dw":49.802887,"cg_id_a":0.241281062,"cg_id_raw_a":0.666332364,"cg_iq_a":-0.367428511,"cg_iq_raw_a":1.12100303,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9363632,"cg_sample_seq":14476817,"cg_sample_valid":1,"cg_theta_rad":5.00601435,"cg_vd_req_v":0.088991642,"cg_vd_v":0.088991642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341154575,"cg_vq_v":-0.341154575,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.592525959,"dclink_p_w":85.7531128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4261475,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.135986,"values":{"Elec_RPM":-1.17459794e-33,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-2.34919584e-34,"cg_du":50.1314774,"cg_dv":50.2019348,"cg_dw":49.7980652,"cg_id_a":0.00665211678,"cg_id_raw_a":0.387764156,"cg_iq_a":-0.0443830937,"cg_iq_raw_a":-0.542987466,"cg_iu_a":0.654922485,"cg_iv_a":-0.474503517,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14476917,"cg_sample_valid":1,"cg_theta_rad":5.00686979,"cg_vd_req_v":0.0944910496,"cg_vd_v":0.0944910496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349046916,"cg_vq_v":-0.349046916,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.592525959,"dclink_p_w":85.7531128,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4057312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.143799,"values":{"Elec_RPM":-1.17459794e-33,"EncoderCos":38712,"EncoderSin":12503,"GapTicks":54779,"Mech_RPM":-2.34919584e-34,"cg_du":50.1374664,"cg_dv":50.2005692,"cg_dw":49.7994308,"cg_id_a":0.330214083,"cg_id_raw_a":0.39904812,"cg_iq_a":-0.0299200118,"cg_iq_raw_a":0.185299888,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14476967,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.0870183781,"cg_vd_v":0.0870183781,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349804223,"cg_vq_v":-0.349804223,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.996644735,"dclink_p_w":144.239059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4151917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.151611,"values":{"Elec_RPM":-1.15110597e-33,"EncoderCos":38701,"EncoderSin":12442,"GapTicks":54771,"Mech_RPM":-2.30221188e-34,"cg_du":50.1385536,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.0667571276,"cg_id_raw_a":0.100334577,"cg_iq_a":0.368648499,"cg_iq_raw_a":1.83322728,"cg_iu_a":0.14750886,"cg_iv_a":0.902762055,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.954546,"cg_sample_seq":14477017,"cg_sample_valid":1,"cg_theta_rad":5.00689936,"cg_vd_req_v":0.0950980932,"cg_vd_v":0.0950980932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358922899,"cg_vq_v":-0.358922899,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":0.996644735,"dclink_p_w":144.239059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.159424,"values":{"Elec_RPM":-1.15110597e-33,"EncoderCos":38741,"EncoderSin":12494,"GapTicks":54777,"Mech_RPM":-2.30221188e-34,"cg_du":50.126152,"cg_dv":50.202446,"cg_dw":49.797554,"cg_id_a":-0.153190449,"cg_id_raw_a":0.441826463,"cg_iq_a":-0.305549711,"cg_iq_raw_a":0.186715275,"cg_iu_a":-0.794831038,"cg_iv_a":-0.438259721,"cg_iw_a":1.23309076,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477067,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0956535786,"cg_vd_v":0.0956535786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346586972,"cg_vq_v":-0.346586972,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.996644735,"dclink_p_w":144.239059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.167236,"values":{"Elec_RPM":-1.12808382e-33,"EncoderCos":38685,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-2.25616763e-34,"cg_du":50.137291,"cg_dv":50.2034416,"cg_dw":49.7965584,"cg_id_a":-0.0404606164,"cg_id_raw_a":-0.0833314061,"cg_iq_a":-0.0112617463,"cg_iq_raw_a":0.356433451,"cg_iu_a":1.01736081,"cg_iv_a":-0.25704056,"cg_iw_a":-0.760320246,"cg_sample_age_us":23.9836369,"cg_sample_seq":14477117,"cg_sample_valid":1,"cg_theta_rad":5.00554085,"cg_vd_req_v":0.093038179,"cg_vd_v":0.093038179,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352808177,"cg_vq_v":-0.352808177,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":1.07456899,"dclink_p_w":155.516632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.175049,"values":{"Elec_RPM":-1.12808382e-33,"EncoderCos":38722,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-2.25616763e-34,"cg_du":50.1398849,"cg_dv":50.2072868,"cg_dw":49.7927132,"cg_id_a":0.0390423238,"cg_id_raw_a":0.232479602,"cg_iq_a":0.377717018,"cg_iq_raw_a":0.169019818,"cg_iu_a":-0.577367783,"cg_iv_a":-0.257040501,"cg_iw_a":0.834408283,"cg_sample_age_us":23.9763641,"cg_sample_seq":14477167,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.0915478021,"cg_vd_v":0.0915478021,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360319465,"cg_vq_v":-0.360319465,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.07456899,"dclink_p_w":155.516632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.182861,"values":{"Elec_RPM":-1.10552213e-33,"EncoderCos":38728,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-2.21104426e-34,"cg_du":50.1385193,"cg_dv":50.2084465,"cg_dw":49.7915535,"cg_id_a":-0.0281372815,"cg_id_raw_a":0.322998673,"cg_iq_a":0.316979468,"cg_iq_raw_a":0.104313947,"cg_iu_a":0.256240368,"cg_iv_a":-0.293284357,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.954546,"cg_sample_seq":14477217,"cg_sample_valid":1,"cg_theta_rad":5.00766706,"cg_vd_req_v":0.0930281654,"cg_vd_v":0.0930281654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361317456,"cg_vq_v":-0.361317456,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.07456899,"dclink_p_w":155.516632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4198914,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.19458,"values":{"Elec_RPM":-1.10552213e-33,"EncoderCos":38730,"EncoderSin":12505,"GapTicks":54776,"Mech_RPM":-2.21104426e-34,"cg_du":50.1414413,"cg_dv":50.2033806,"cg_dw":49.7966194,"cg_id_a":0.255548298,"cg_id_raw_a":0.969789147,"cg_iq_a":0.0425701514,"cg_iq_raw_a":0.382241845,"cg_iu_a":-0.214929581,"cg_iv_a":0.431592286,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9181824,"cg_sample_seq":14477266,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0851212442,"cg_vd_v":0.0851212442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356219113,"cg_vq_v":-0.356219113,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.02745199,"dclink_p_w":148.697632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.202393,"values":{"Elec_RPM":-1.08341173e-33,"EncoderCos":38720,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-2.1668234e-34,"cg_du":50.1373177,"cg_dv":50.2118492,"cg_dw":49.7881508,"cg_id_a":-0.388098866,"cg_id_raw_a":0.343742281,"cg_iq_a":0.381452143,"cg_iq_raw_a":0.762084723,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.01816106,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477317,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0976834819,"cg_vd_v":0.0976834819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365168899,"cg_vq_v":-0.365168899,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.03107631,"dclink_p_w":149.222168,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4136047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.229736,"values":{"Elec_RPM":-1.08341173e-33,"EncoderCos":38712,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-2.1668234e-34,"cg_du":50.1422386,"cg_dv":50.2097816,"cg_dw":49.7902184,"cg_id_a":-0.161182523,"cg_id_raw_a":-0.206309021,"cg_iq_a":0.222622097,"cg_iq_raw_a":0.344308257,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14477371,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.0934303403,"cg_vd_v":0.0934303403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364703566,"cg_vq_v":-0.364703566,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.06732011,"dclink_p_w":154.467529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4245911,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.237549,"values":{"Elec_RPM":-1.06174342e-33,"EncoderCos":38722,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-2.12348692e-34,"cg_du":50.1464386,"cg_dv":50.2072563,"cg_dw":49.7927437,"cg_id_a":0.169337571,"cg_id_raw_a":0.128464147,"cg_iq_a":0.00777779054,"cg_iq_raw_a":-0.059668351,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885473,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477417,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0860459208,"cg_vd_v":0.0860459208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364031672,"cg_vq_v":-0.364031672,"cg_vu_v":119.210884,"cg_vv_v":138.566162,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.13437128,"dclink_p_w":164.171494,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.249268,"values":{"Elec_RPM":-1.06174342e-33,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-2.12348692e-34,"cg_du":50.1394272,"cg_dv":50.2045517,"cg_dw":49.7954483,"cg_id_a":-0.0590352193,"cg_id_raw_a":-0.0593844876,"cg_iq_a":-0.232789934,"cg_iq_raw_a":0.140607819,"cg_iu_a":0.292484283,"cg_iv_a":0.141641617,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.8563633,"cg_sample_seq":14477466,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0899557397,"cg_vd_v":0.0899557397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356169075,"cg_vq_v":-0.356169075,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.112625,"dclink_p_w":161.024277,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.416748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.25708,"values":{"Elec_RPM":-1.04050857e-33,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54774,"Mech_RPM":-2.08101714e-34,"cg_du":50.1421738,"cg_dv":50.2051506,"cg_dw":49.7948494,"cg_id_a":0.0490174666,"cg_id_raw_a":-0.0926341042,"cg_iq_a":0.0515377708,"cg_iq_raw_a":-0.372594357,"cg_iu_a":-0.359905005,"cg_iv_a":0.214129329,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9436359,"cg_sample_seq":14477517,"cg_sample_valid":1,"cg_theta_rad":5.00690746,"cg_vd_req_v":0.0886925608,"cg_vd_v":0.0886925608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35960716,"cg_vq_v":-0.35960716,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.904222906,"dclink_p_w":131.261108,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.264893,"values":{"Elec_RPM":-1.04050857e-33,"EncoderCos":38720,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-2.08101714e-34,"cg_du":50.1365547,"cg_dv":50.2056465,"cg_dw":49.7943535,"cg_id_a":-0.146424949,"cg_id_raw_a":-0.0764584616,"cg_iq_a":-0.204489976,"cg_iq_raw_a":0.102610543,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019532,"cg_sample_age_us":23.8490906,"cg_sample_seq":14477566,"cg_sample_valid":1,"cg_theta_rad":5.00715208,"cg_vd_req_v":0.0926583335,"cg_vd_v":0.0926583335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356200129,"cg_vq_v":-0.356200129,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.628769815,"dclink_p_w":91.2750854,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4104614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.272705,"values":{"Elec_RPM":-1.01969837e-33,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54770,"Mech_RPM":-2.03939683e-34,"cg_du":50.1384888,"cg_dv":50.2087631,"cg_dw":49.7912369,"cg_id_a":0.156499714,"cg_id_raw_a":0.00970593654,"cg_iq_a":-0.0201881807,"cg_iq_raw_a":0.293123573,"cg_iu_a":-0.0699543953,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.8709087,"cg_sample_seq":14477616,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.091269508,"cg_vd_v":0.0870749503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362262517,"cg_vq_v":-0.361734927,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.280518,"values":{"Elec_RPM":-1.01969837e-33,"EncoderCos":38710,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-2.03939683e-34,"cg_du":50.1353264,"cg_dv":50.2099075,"cg_dw":49.7900925,"cg_id_a":-0.35058257,"cg_id_raw_a":0.118526421,"cg_iq_a":-0.214582831,"cg_iq_raw_a":-0.169563904,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477667,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.098085396,"cg_vd_v":0.098085396,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360036075,"cg_vq_v":-0.360036075,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4057312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.28833,"values":{"Elec_RPM":-9.9930437e-34,"EncoderCos":38709,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-1.99860879e-34,"cg_du":50.1492729,"cg_dv":50.2108765,"cg_dw":49.7891235,"cg_id_a":0.153475523,"cg_id_raw_a":0.395767689,"cg_iq_a":0.279996753,"cg_iq_raw_a":0.00371901016,"cg_iu_a":-0.178685665,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477717,"cg_sample_valid":1,"cg_theta_rad":5.00704384,"cg_vd_req_v":0.0882622674,"cg_vd_v":0.0882622674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369137645,"cg_vq_v":-0.369137645,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4057312,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.296143,"values":{"Elec_RPM":-9.9930437e-34,"EncoderCos":38692,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-1.99860879e-34,"cg_du":50.1501961,"cg_dv":50.20718,"cg_dw":49.79282,"cg_id_a":0.230372563,"cg_id_raw_a":-0.528492749,"cg_iq_a":0.0777304024,"cg_iq_raw_a":0.602006495,"cg_iu_a":-1.51970744,"cg_iv_a":0.359104633,"cg_iw_a":1.16060281,"cg_sample_age_us":23.9436359,"cg_sample_seq":14477767,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0856685638,"cg_vd_v":0.0856685638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365423977,"cg_vq_v":-0.365423977,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.307861,"values":{"Elec_RPM":-9.79318303e-34,"EncoderCos":38737,"EncoderSin":12484,"GapTicks":54766,"Mech_RPM":-1.9586367e-34,"cg_du":50.1374397,"cg_dv":50.2120972,"cg_dw":49.7879028,"cg_id_a":-0.200285643,"cg_id_raw_a":0.0784557089,"cg_iq_a":0.226837188,"cg_iq_raw_a":-0.428706408,"cg_iu_a":0.0750210285,"cg_iv_a":-1.19938028,"cg_iw_a":1.12435925,"cg_sample_age_us":23.9509087,"cg_sample_seq":14477816,"cg_sample_valid":1,"cg_theta_rad":5.00566673,"cg_vd_req_v":0.0969335958,"cg_vd_v":0.0969335958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36699912,"cg_vq_v":-0.36699912,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4041748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.335205,"values":{"Elec_RPM":-9.79318303e-34,"EncoderCos":38726,"EncoderSin":12499,"GapTicks":54774,"Mech_RPM":-1.9586367e-34,"cg_du":50.1358643,"cg_dv":50.2045708,"cg_dw":49.7954292,"cg_id_a":0.086632438,"cg_id_raw_a":0.117744058,"cg_iq_a":-0.173281491,"cg_iq_raw_a":-0.170108005,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":24.8818188,"cg_sample_seq":14477870,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.0914099962,"cg_vd_v":0.0914099962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355689228,"cg_vq_v":-0.355689228,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4041748,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.343018,"values":{"Elec_RPM":-9.59731995e-34,"EncoderCos":38713,"EncoderSin":12445,"GapTicks":54765,"Mech_RPM":-1.91946392e-34,"cg_du":50.1409187,"cg_dv":50.213501,"cg_dw":49.786499,"cg_id_a":-0.234346762,"cg_id_raw_a":-0.0429733209,"cg_iq_a":0.413799852,"cg_iq_raw_a":-0.440684766,"cg_iu_a":-0.794830799,"cg_iv_a":-0.438259721,"cg_iw_a":1.23309052,"cg_sample_age_us":23.954546,"cg_sample_seq":14477917,"cg_sample_valid":1,"cg_theta_rad":5.00607347,"cg_vd_req_v":0.0979646221,"cg_vd_v":0.0979646221,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367835253,"cg_vq_v":-0.367835253,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.35083,"values":{"Elec_RPM":-9.59731995e-34,"EncoderCos":38719,"EncoderSin":12433,"GapTicks":54767,"Mech_RPM":-1.91946392e-34,"cg_du":50.1454086,"cg_dv":50.211544,"cg_dw":49.788456,"cg_id_a":0.0976561978,"cg_id_raw_a":0.236453578,"cg_iq_a":0.28220287,"cg_iq_raw_a":-0.0846959576,"cg_iu_a":0.256240368,"cg_iv_a":0.032910049,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9836369,"cg_sample_seq":14477968,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.0923587158,"cg_vd_v":0.0923587158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367765367,"cg_vq_v":-0.367765367,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4355783,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.362549,"values":{"Elec_RPM":-9.40537275e-34,"EncoderCos":38740,"EncoderSin":12476,"GapTicks":54764,"Mech_RPM":-1.88107462e-34,"cg_du":50.1415863,"cg_dv":50.2142677,"cg_dw":49.7857323,"cg_id_a":-0.0245455857,"cg_id_raw_a":0.126056477,"cg_iq_a":0.40747726,"cg_iq_raw_a":1.32287884,"cg_iu_a":-0.432392597,"cg_iv_a":-0.329528213,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14478017,"cg_sample_valid":1,"cg_theta_rad":5.00634956,"cg_vd_req_v":0.095133543,"cg_vd_v":0.095133543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370043129,"cg_vq_v":-0.370043129,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3806152,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2622.370361,"values":{"Elec_RPM":-9.40537275e-34,"EncoderCos":38692,"EncoderSin":12391,"GapTicks":54766,"Mech_RPM":-1.88107462e-34,"cg_du":50.1483917,"cg_dv":50.2125969,"cg_dw":49.7874031,"cg_id_a":-0.0819108859,"cg_id_raw_a":-0.0956055149,"cg_iq_a":0.238559172,"cg_iq_raw_a":-0.119062409,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14478067,"cg_sample_valid":1,"cg_theta_rad":5.00874853,"cg_vd_req_v":0.0946713388,"cg_vd_v":0.0946713388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371157348,"cg_vq_v":-0.371157348,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.378174,"values":{"Elec_RPM":-9.2172661e-34,"EncoderCos":38728,"EncoderSin":12492,"GapTicks":54767,"Mech_RPM":-1.84345317e-34,"cg_du":50.1416359,"cg_dv":50.2109566,"cg_dw":49.7890434,"cg_id_a":-0.0409605578,"cg_id_raw_a":-0.329958558,"cg_iq_a":0.161257938,"cg_iq_raw_a":-0.103156939,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9799995,"cg_sample_seq":14478117,"cg_sample_valid":1,"cg_theta_rad":5.00628328,"cg_vd_req_v":0.0927851126,"cg_vd_v":0.0927851126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366534561,"cg_vq_v":-0.366534561,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.385986,"values":{"Elec_RPM":-9.2172661e-34,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-1.84345317e-34,"cg_du":50.1349449,"cg_dv":50.2034569,"cg_dw":49.7965431,"cg_id_a":0.0455802009,"cg_id_raw_a":0.360989392,"cg_iq_a":-0.487454802,"cg_iq_raw_a":0.363320619,"cg_iu_a":-0.106198072,"cg_iv_a":0.359104633,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14478167,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0914901942,"cg_vd_v":0.0914901942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352395445,"cg_vq_v":-0.352395445,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.393799,"values":{"Elec_RPM":-9.03292012e-34,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-1.80658409e-34,"cg_du":50.1286316,"cg_dv":50.2057686,"cg_dw":49.7942314,"cg_id_a":-0.346895367,"cg_id_raw_a":-0.173814163,"cg_iq_a":-0.515936136,"cg_iq_raw_a":-0.197723284,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9363632,"cg_sample_seq":14478217,"cg_sample_valid":1,"cg_theta_rad":5.00683451,"cg_vd_req_v":0.0981628075,"cg_vd_v":0.0981628075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352154911,"cg_vq_v":-0.352154911,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.401611,"values":{"Elec_RPM":-9.03292012e-34,"EncoderCos":38746,"EncoderSin":12473,"GapTicks":54770,"Mech_RPM":-1.80658409e-34,"cg_du":50.1439133,"cg_dv":50.2088509,"cg_dw":49.7911491,"cg_id_a":0.190643743,"cg_id_raw_a":-0.266729116,"cg_iq_a":-0.0539287478,"cg_iq_raw_a":0.121952184,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.365772128,"cg_iw_a":0.435726523,"cg_sample_age_us":23.9581814,"cg_sample_seq":14478267,"cg_sample_valid":1,"cg_theta_rad":5.00769854,"cg_vd_req_v":0.0879399329,"cg_vd_v":0.0879399329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365186125,"cg_vq_v":-0.365186125,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.409424,"values":{"Elec_RPM":-8.85226225e-34,"EncoderCos":38733,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-1.77045245e-34,"cg_du":50.1488342,"cg_dv":50.2145844,"cg_dw":49.7854156,"cg_id_a":0.0848894715,"cg_id_raw_a":0.0971283615,"cg_iq_a":0.282107174,"cg_iq_raw_a":-0.390388191,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065315,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9581814,"cg_sample_seq":14478317,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0912164375,"cg_vd_v":0.0912164375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375361383,"cg_vq_v":-0.375361383,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.421143,"values":{"Elec_RPM":-8.85226225e-34,"EncoderCos":38699,"EncoderSin":12485,"GapTicks":54759,"Mech_RPM":-1.77045245e-34,"cg_du":50.1500282,"cg_dv":50.2188301,"cg_dw":49.7811699,"cg_id_a":-0.127819151,"cg_id_raw_a":0.378804266,"cg_iq_a":0.407584071,"cg_iq_raw_a":0.585728228,"cg_iu_a":-0.178685665,"cg_iv_a":-0.510747433,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9581814,"cg_sample_seq":14478367,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0965055823,"cg_vd_v":0.0965055823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38127768,"cg_vq_v":-0.38127768,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.448486,"values":{"Elec_RPM":-8.67521719e-34,"EncoderCos":38744,"EncoderSin":12473,"GapTicks":54760,"Mech_RPM":-1.73504344e-34,"cg_du":50.1520386,"cg_dv":50.2180214,"cg_dw":49.7819786,"cg_id_a":0.112057552,"cg_id_raw_a":0.117353477,"cg_iq_a":0.257812411,"cg_iq_raw_a":-0.170377761,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796704,"cg_iw_a":-0.144175172,"cg_sample_age_us":24.4200001,"cg_sample_seq":14478420,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.0905511752,"cg_vd_v":0.0905511752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382182807,"cg_vq_v":-0.382182807,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.456299,"values":{"Elec_RPM":-8.67521719e-34,"EncoderCos":38721,"EncoderSin":12490,"GapTicks":54759,"Mech_RPM":-1.73504344e-34,"cg_du":50.1527939,"cg_dv":50.2182655,"cg_dw":49.7817345,"cg_id_a":-0.0345995501,"cg_id_raw_a":-0.0624673441,"cg_iq_a":0.215814292,"cg_iq_raw_a":-0.0416134931,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758214593,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9872723,"cg_sample_seq":14478467,"cg_sample_valid":1,"cg_theta_rad":5.0069356,"cg_vd_req_v":0.0917450562,"cg_vd_v":0.0917450562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3825728,"cg_vq_v":-0.3825728,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.3963318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.464111,"values":{"Elec_RPM":-8.5017133e-34,"EncoderCos":38676,"EncoderSin":12463,"GapTicks":54754,"Mech_RPM":-1.70034259e-34,"cg_du":50.1602325,"cg_dv":50.2232666,"cg_dw":49.7767334,"cg_id_a":-0.196744829,"cg_id_raw_a":0.109719813,"cg_iq_a":0.717298031,"cg_iq_raw_a":-0.461233348,"cg_iu_a":-0.794831038,"cg_iv_a":0.286616921,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9872723,"cg_sample_seq":14478517,"cg_sample_valid":1,"cg_theta_rad":5.00601006,"cg_vd_req_v":0.0957936794,"cg_vd_v":0.0957936794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393607646,"cg_vq_v":-0.393607646,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.9031677,"temp_inv2_c":36.3963318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.47583,"values":{"Elec_RPM":-8.5017133e-34,"EncoderCos":38713,"EncoderSin":12513,"GapTicks":54756,"Mech_RPM":-1.70034259e-34,"cg_du":50.1593628,"cg_dv":50.2211494,"cg_dw":49.7788506,"cg_id_a":0.114926033,"cg_id_raw_a":0.159525618,"cg_iq_a":0.549507856,"cg_iq_raw_a":1.14494693,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9763641,"cg_sample_seq":14478567,"cg_sample_valid":1,"cg_theta_rad":5.00625086,"cg_vd_req_v":0.0894763172,"cg_vd_v":0.0894763172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390153736,"cg_vq_v":-0.390153736,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4088745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.483643,"values":{"Elec_RPM":-8.33167896e-34,"EncoderCos":38720,"EncoderSin":12487,"GapTicks":54765,"Mech_RPM":-1.66633579e-34,"cg_du":50.1449318,"cg_dv":50.2135391,"cg_dw":49.7864609,"cg_id_a":-0.130699635,"cg_id_raw_a":0.454777241,"cg_iq_a":-0.211578161,"cg_iq_raw_a":0.0447323881,"cg_iu_a":0.292484045,"cg_iv_a":-0.583235085,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9581814,"cg_sample_seq":14478667,"cg_sample_valid":1,"cg_theta_rad":5.00778246,"cg_vd_req_v":0.0934944823,"cg_vd_v":0.0934944823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371693939,"cg_vq_v":-0.371693939,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.53646946,"dclink_p_w":-77.640358,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3947449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.491455,"values":{"Elec_RPM":-8.16504529e-34,"EncoderCos":38737,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-1.63300904e-34,"cg_du":50.1537971,"cg_dv":50.213047,"cg_dw":49.786953,"cg_id_a":0.247218817,"cg_id_raw_a":0.863109946,"cg_iq_a":0.0238819048,"cg_iq_raw_a":0.846101165,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0758214593,"cg_iw_a":0.326994956,"cg_sample_age_us":23.9254551,"cg_sample_seq":14478717,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0849650949,"cg_vd_v":0.0849650949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376243681,"cg_vq_v":-0.376243681,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-84.9870605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.499268,"values":{"Elec_RPM":-8.16504529e-34,"EncoderCos":38736,"EncoderSin":12444,"GapTicks":54764,"Mech_RPM":-1.63300904e-34,"cg_du":50.1546249,"cg_dv":50.2144661,"cg_dw":49.7855339,"cg_id_a":0.217856854,"cg_id_raw_a":0.906411886,"cg_iq_a":0.00322307646,"cg_iq_raw_a":1.03440487,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9218178,"cg_sample_seq":14478766,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0865262374,"cg_vd_v":0.0865262374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378444433,"cg_vq_v":-0.378444433,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.737622738,"dclink_p_w":-106.752197,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.50708,"values":{"Elec_RPM":-8.00174433e-34,"EncoderCos":38744,"EncoderSin":12499,"GapTicks":54757,"Mech_RPM":-1.60034889e-34,"cg_du":50.1643181,"cg_dv":50.2207756,"cg_dw":49.7792244,"cg_id_a":0.39155966,"cg_id_raw_a":0.305906743,"cg_iq_a":0.630341232,"cg_iq_raw_a":0.0648031235,"cg_iu_a":-1.7371707,"cg_iv_a":-0.148308992,"cg_iw_a":1.88547969,"cg_sample_age_us":23.9581814,"cg_sample_seq":14478817,"cg_sample_valid":1,"cg_theta_rad":5.00772476,"cg_vd_req_v":0.0828263536,"cg_vd_v":0.0828263536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392930955,"cg_vq_v":-0.392930955,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.694130182,"dclink_p_w":-100.457748,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.518799,"values":{"Elec_RPM":-8.00174433e-34,"EncoderCos":38701,"EncoderSin":12468,"GapTicks":54762,"Mech_RPM":-1.60034889e-34,"cg_du":50.1524048,"cg_dv":50.2159462,"cg_dw":49.7840538,"cg_id_a":-0.00360854715,"cg_id_raw_a":0.12121179,"cg_iq_a":-0.000435620546,"cg_iq_raw_a":0.632560194,"cg_iu_a":-0.0337104797,"cg_iv_a":0.57656765,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14478867,"cg_sample_valid":1,"cg_theta_rad":5.00521803,"cg_vd_req_v":0.0920944959,"cg_vd_v":0.0920944959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378643751,"cg_vq_v":-0.378643751,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.546143,"values":{"Elec_RPM":-7.84170996e-34,"EncoderCos":38722,"EncoderSin":12465,"GapTicks":54765,"Mech_RPM":-1.56834192e-34,"cg_du":50.1449432,"cg_dv":50.2135925,"cg_dw":49.7864075,"cg_id_a":-0.0921135023,"cg_id_raw_a":-0.158555478,"cg_iq_a":-0.280880362,"cg_iq_raw_a":-0.779422939,"cg_iu_a":0.14750886,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263149,"cg_sample_age_us":23.863636,"cg_sample_seq":14478920,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0939324126,"cg_vd_v":0.0939324126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371672601,"cg_vq_v":-0.371672601,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.553955,"values":{"Elec_RPM":-7.84170996e-34,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54757,"Mech_RPM":-1.56834192e-34,"cg_du":50.1582603,"cg_dv":50.2202797,"cg_dw":49.7797203,"cg_id_a":0.210700184,"cg_id_raw_a":-0.0443962961,"cg_iq_a":0.44954741,"cg_iq_raw_a":0.87037009,"cg_iu_a":-0.686099529,"cg_iv_a":0.105397761,"cg_iw_a":0.580701768,"cg_sample_age_us":23.8563633,"cg_sample_seq":14478966,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0891138837,"cg_vd_v":0.0891138837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388439745,"cg_vq_v":-0.388439745,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4025879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.561768,"values":{"Elec_RPM":-7.68487513e-34,"EncoderCos":38708,"EncoderSin":12447,"GapTicks":54768,"Mech_RPM":-1.53697505e-34,"cg_du":50.1549606,"cg_dv":50.2104912,"cg_dw":49.7895088,"cg_id_a":0.458002687,"cg_id_raw_a":-0.182310641,"cg_iq_a":-0.47332406,"cg_iq_raw_a":0.31007731,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14479017,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.0847023576,"cg_vd_v":0.0847023576,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372711837,"cg_vq_v":-0.372711837,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.56958,"values":{"Elec_RPM":-7.68487513e-34,"EncoderCos":38716,"EncoderSin":12458,"GapTicks":54757,"Mech_RPM":-1.53697505e-34,"cg_du":50.1546288,"cg_dv":50.2207451,"cg_dw":49.7792549,"cg_id_a":0.0119284466,"cg_id_raw_a":0.346961647,"cg_iq_a":0.102572151,"cg_iq_raw_a":1.12802267,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065196,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9836369,"cg_sample_seq":14479067,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.093998611,"cg_vd_v":0.093998611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386659443,"cg_vq_v":-0.386659443,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.577393,"values":{"Elec_RPM":-7.53117741e-34,"EncoderCos":38688,"EncoderSin":12459,"GapTicks":54748,"Mech_RPM":-1.50623553e-34,"cg_du":50.1637192,"cg_dv":50.2286224,"cg_dw":49.7713776,"cg_id_a":-0.163603023,"cg_id_raw_a":0.0679720938,"cg_iq_a":0.704180717,"cg_iq_raw_a":0.518252492,"cg_iu_a":-0.251173496,"cg_iv_a":0.57656765,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9872723,"cg_sample_seq":14479117,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0970853567,"cg_vd_v":0.0970853567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401862085,"cg_vq_v":-0.401862085,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3994751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.589111,"values":{"Elec_RPM":-7.53117741e-34,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54751,"Mech_RPM":-1.50623553e-34,"cg_du":50.1545677,"cg_dv":50.22575,"cg_dw":49.77425,"cg_id_a":-0.326843321,"cg_id_raw_a":0.0278167799,"cg_iq_a":0.251028776,"cg_iq_raw_a":0.33117798,"cg_iu_a":0.111264944,"cg_iv_a":-0.90942955,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9581814,"cg_sample_seq":14479167,"cg_sample_valid":1,"cg_theta_rad":5.00652313,"cg_vd_req_v":0.0976163298,"cg_vd_v":0.0976163298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393748194,"cg_vq_v":-0.393748194,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3994751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.596924,"values":{"Elec_RPM":-7.38055434e-34,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54755,"Mech_RPM":-1.47611085e-34,"cg_du":50.1615067,"cg_dv":50.2224503,"cg_dw":49.7775497,"cg_id_a":0.0109656723,"cg_id_raw_a":0.0138314003,"cg_iq_a":0.165803045,"cg_iq_raw_a":0.0385816768,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.863636,"cg_sample_seq":14479216,"cg_sample_valid":1,"cg_theta_rad":5.0063796,"cg_vd_req_v":0.0900508389,"cg_vd_v":0.0900508389,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394150853,"cg_vq_v":-0.394150853,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3947449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.604736,"values":{"Elec_RPM":-7.38055434e-34,"EncoderCos":38704,"EncoderSin":12493,"GapTicks":54751,"Mech_RPM":-1.47611085e-34,"cg_du":50.1563606,"cg_dv":50.2255859,"cg_dw":49.7744141,"cg_id_a":-0.321555734,"cg_id_raw_a":0.290871769,"cg_iq_a":0.24350369,"cg_iq_raw_a":0.211969182,"cg_iu_a":0.763653874,"cg_iv_a":-0.873185754,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9836369,"cg_sample_seq":14479266,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0974904373,"cg_vd_v":0.0974904373,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394174963,"cg_vq_v":-0.394174963,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3947449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.616455,"values":{"Elec_RPM":-7.23294301e-34,"EncoderCos":38720,"EncoderSin":12491,"GapTicks":54755,"Mech_RPM":-1.4465886e-34,"cg_du":50.153614,"cg_dv":50.2227097,"cg_dw":49.7772903,"cg_id_a":-0.204679936,"cg_id_raw_a":-0.562123656,"cg_iq_a":0.0167438313,"cg_iq_raw_a":-0.0912201703,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104574,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9181824,"cg_sample_seq":14479316,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0954725742,"cg_vd_v":0.0954725742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38905862,"cg_vq_v":-0.38905862,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3947449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.624268,"values":{"Elec_RPM":-7.23294301e-34,"EncoderCos":38758,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-1.4465886e-34,"cg_du":50.1496506,"cg_dv":50.2092934,"cg_dw":49.7907066,"cg_id_a":0.327934384,"cg_id_raw_a":0.903193772,"cg_iq_a":-0.887984514,"cg_iq_raw_a":-1.66445708,"cg_iu_a":0.401215672,"cg_iv_a":0.649055243,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.863636,"cg_sample_seq":14479366,"cg_sample_valid":1,"cg_theta_rad":5.00627995,"cg_vd_req_v":0.0836003944,"cg_vd_v":0.0836003944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370215803,"cg_vq_v":-0.370215803,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.651611,"values":{"Elec_RPM":-7.0882842e-34,"EncoderCos":38696,"EncoderSin":12449,"GapTicks":54754,"Mech_RPM":-1.41765686e-34,"cg_du":50.1574898,"cg_dv":50.2234421,"cg_dw":49.7765579,"cg_id_a":-0.379511863,"cg_id_raw_a":-0.28919661,"cg_iq_a":-0.0181763805,"cg_iq_raw_a":-0.284580588,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395774841,"cg_iw_a":0.471970081,"cg_sample_age_us":26.8309097,"cg_sample_seq":14479421,"cg_sample_valid":1,"cg_theta_rad":5.00892591,"cg_vd_req_v":0.0964078978,"cg_vd_v":0.0964078978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391438693,"cg_vq_v":-0.391438693,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.659424,"values":{"Elec_RPM":-6.94651866e-34,"EncoderCos":38702,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-1.38930369e-34,"cg_du":50.1591225,"cg_dv":50.2197762,"cg_dw":49.7802238,"cg_id_a":-0.144422948,"cg_id_raw_a":-0.444286704,"cg_iq_a":-0.222858891,"cg_iq_raw_a":-0.00846788287,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9290905,"cg_sample_seq":14479566,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0908205435,"cg_vd_v":0.0908205435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387571514,"cg_vq_v":-0.387571514,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.667236,"values":{"Elec_RPM":-6.80758809e-34,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54762,"Mech_RPM":-1.36151759e-34,"cg_du":50.155632,"cg_dv":50.2155647,"cg_dw":49.7844353,"cg_id_a":0.0220203027,"cg_id_raw_a":0.333112657,"cg_iq_a":-0.552219033,"cg_iq_raw_a":-0.659028351,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9799995,"cg_sample_seq":14479616,"cg_sample_valid":1,"cg_theta_rad":5.00820875,"cg_vd_req_v":0.0868196189,"cg_vd_v":0.0868196189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380504102,"cg_vq_v":-0.380504102,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.675049,"values":{"Elec_RPM":-6.80758809e-34,"EncoderCos":38739,"EncoderSin":12513,"GapTicks":54759,"Mech_RPM":-1.36151759e-34,"cg_du":50.1599464,"cg_dv":50.2187119,"cg_dw":49.7812881,"cg_id_a":0.217486441,"cg_id_raw_a":-0.025543645,"cg_iq_a":-0.0603829697,"cg_iq_raw_a":-0.219856367,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14479666,"cg_sample_valid":1,"cg_theta_rad":5.00775814,"cg_vd_req_v":0.0843563452,"cg_vd_v":0.0843563452,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387670726,"cg_vq_v":-0.387670726,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.682861,"values":{"Elec_RPM":-6.671436e-34,"EncoderCos":38713,"EncoderSin":12471,"GapTicks":54755,"Mech_RPM":-1.33428722e-34,"cg_du":50.1632309,"cg_dv":50.2219696,"cg_dw":49.7780304,"cg_id_a":0.0174436327,"cg_id_raw_a":-0.274816632,"cg_iq_a":0.111563504,"cg_iq_raw_a":0.192044005,"cg_iu_a":0.509947181,"cg_iv_a":0.359104574,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9799995,"cg_sample_seq":14479716,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0883700997,"cg_vd_v":0.0883700997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393180221,"cg_vq_v":-0.393180221,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.690674,"values":{"Elec_RPM":-6.671436e-34,"EncoderCos":38738,"EncoderSin":12493,"GapTicks":54752,"Mech_RPM":-1.33428722e-34,"cg_du":50.1592827,"cg_dv":50.2250023,"cg_dw":49.7749977,"cg_id_a":-0.0757092983,"cg_id_raw_a":0.499065667,"cg_iq_a":0.14726381,"cg_iq_raw_a":-0.208038867,"cg_iu_a":0.836141706,"cg_iv_a":-0.619478941,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14479766,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0915739685,"cg_vd_v":0.0915739685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395747155,"cg_vq_v":-0.395747155,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3837585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.702393,"values":{"Elec_RPM":-6.53800728e-34,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54762,"Mech_RPM":-1.30760143e-34,"cg_du":50.1364937,"cg_dv":50.2160263,"cg_dw":49.7839737,"cg_id_a":-0.555367112,"cg_id_raw_a":-0.190322071,"cg_iq_a":-1.11618423,"cg_iq_raw_a":0.201458946,"cg_iu_a":1.52477455,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.48519695,"cg_sample_age_us":23.9836369,"cg_sample_seq":14479816,"cg_sample_valid":1,"cg_theta_rad":5.00808048,"cg_vd_req_v":0.101315878,"cg_vd_v":0.101315878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370683789,"cg_vq_v":-0.370683789,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.710205,"values":{"Elec_RPM":-6.53800728e-34,"EncoderCos":38702,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-1.30760143e-34,"cg_du":50.1535645,"cg_dv":50.2176781,"cg_dw":49.7823219,"cg_id_a":-0.15851441,"cg_id_raw_a":-0.15050143,"cg_iq_a":-0.451984525,"cg_iq_raw_a":0.203994319,"cg_iu_a":0.618678689,"cg_iv_a":0.250373125,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9618187,"cg_sample_seq":14479866,"cg_sample_valid":1,"cg_theta_rad":5.00715399,"cg_vd_req_v":0.0929302052,"cg_vd_v":0.0929302052,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381635606,"cg_vq_v":-0.381635606,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.737549,"values":{"Elec_RPM":-6.40724731e-34,"EncoderCos":38774,"EncoderSin":12493,"GapTicks":54749,"Mech_RPM":-1.28144944e-34,"cg_du":50.1482468,"cg_dv":50.2280159,"cg_dw":49.7719841,"cg_id_a":-0.57286334,"cg_id_raw_a":0.2054151,"cg_iq_a":0.282484293,"cg_iq_raw_a":-0.236578882,"cg_iu_a":-0.649855614,"cg_iv_a":1.19271278,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.863636,"cg_sample_seq":14479921,"cg_sample_valid":1,"cg_theta_rad":5.0069356,"cg_vd_req_v":0.0999478325,"cg_vd_v":0.0999478325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394541979,"cg_vq_v":-0.394541979,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7751522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.745361,"values":{"Elec_RPM":-6.40724731e-34,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54752,"Mech_RPM":-1.28144944e-34,"cg_du":50.168045,"cg_dv":50.2246056,"cg_dw":49.7753944,"cg_id_a":0.0604950935,"cg_id_raw_a":-0.0808520988,"cg_iq_a":0.553294301,"cg_iq_raw_a":0.357003689,"cg_iu_a":-0.323661089,"cg_iv_a":0.322860777,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9509087,"cg_sample_seq":14479967,"cg_sample_valid":1,"cg_theta_rad":5.00814581,"cg_vd_req_v":0.0870975927,"cg_vd_v":0.0870975927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399484217,"cg_vq_v":-0.399484217,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63147569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3853455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.753174,"values":{"Elec_RPM":-6.27910236e-34,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54759,"Mech_RPM":-1.25582045e-34,"cg_du":50.1580505,"cg_dv":50.2182388,"cg_dw":49.7817612,"cg_id_a":-0.0114244837,"cg_id_raw_a":-0.425324738,"cg_iq_a":-0.127531126,"cg_iq_raw_a":-0.40612936,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14480016,"cg_sample_valid":1,"cg_theta_rad":5.00573111,"cg_vd_req_v":0.0891866311,"cg_vd_v":0.0891866311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385111272,"cg_vq_v":-0.385111272,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3837585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.764893,"values":{"Elec_RPM":-6.27910236e-34,"EncoderCos":38723,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-1.25582045e-34,"cg_du":50.1621323,"cg_dv":50.2195587,"cg_dw":49.7804413,"cg_id_a":0.181178123,"cg_id_raw_a":-0.0238786414,"cg_iq_a":-0.00744976196,"cg_iq_raw_a":-0.220043316,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14480066,"cg_sample_valid":1,"cg_theta_rad":5.00569391,"cg_vd_req_v":0.0863941386,"cg_vd_v":0.0863941386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389396608,"cg_vq_v":-0.389396608,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.3758564,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.772705,"values":{"Elec_RPM":-6.15352007e-34,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54742,"Mech_RPM":-1.23070401e-34,"cg_du":50.1503487,"cg_dv":50.2343826,"cg_dw":49.7656174,"cg_id_a":-0.901010692,"cg_id_raw_a":-0.437364757,"cg_iq_a":0.741647124,"cg_iq_raw_a":-0.0778362155,"cg_iu_a":0.509947062,"cg_iv_a":-0.365772009,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14480116,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.109461822,"cg_vd_v":0.109461822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403086305,"cg_vq_v":-0.403086305,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4010315,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.780518,"values":{"Elec_RPM":-6.15352007e-34,"EncoderCos":38713,"EncoderSin":12497,"GapTicks":54756,"Mech_RPM":-1.23070401e-34,"cg_du":50.1543732,"cg_dv":50.2211342,"cg_dw":49.7788658,"cg_id_a":-0.157209039,"cg_id_raw_a":0.291363835,"cg_iq_a":-0.0517796874,"cg_iq_raw_a":0.211292267,"cg_iu_a":0.401215553,"cg_iv_a":0.431592226,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9581814,"cg_sample_seq":14480166,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.0940898955,"cg_vd_v":0.0940898955,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388410628,"cg_vq_v":-0.388410628,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.792236,"values":{"Elec_RPM":-6.03044949e-34,"EncoderCos":38710,"EncoderSin":12474,"GapTicks":54757,"Mech_RPM":-1.20608992e-34,"cg_du":50.1431389,"cg_dv":50.2204399,"cg_dw":49.7795601,"cg_id_a":-0.576594234,"cg_id_raw_a":-0.0664281696,"cg_iq_a":-0.490163416,"cg_iq_raw_a":-0.843573332,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238573,"cg_sample_age_us":23.954546,"cg_sample_seq":14480217,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.103119709,"cg_vd_v":0.103119709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380905151,"cg_vq_v":-0.380905151,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5660839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.800049,"values":{"Elec_RPM":-6.03044949e-34,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54755,"Mech_RPM":-1.20608992e-34,"cg_du":50.1577072,"cg_dv":50.2219315,"cg_dw":49.7780685,"cg_id_a":-0.0194184929,"cg_id_raw_a":-0.164674267,"cg_iq_a":0.0536956973,"cg_iq_raw_a":-0.524171591,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691540241,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9836369,"cg_sample_seq":14480266,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0903253108,"cg_vd_v":0.0903253108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390568227,"cg_vq_v":-0.390568227,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.807861,"values":{"Elec_RPM":-5.90984101e-34,"EncoderCos":38718,"EncoderSin":12440,"GapTicks":54758,"Mech_RPM":-1.18196818e-34,"cg_du":50.1668053,"cg_dv":50.2194557,"cg_dw":49.7805443,"cg_id_a":0.244432136,"cg_id_raw_a":0.199293375,"cg_iq_a":0.105381459,"cg_iq_raw_a":-0.343460739,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0395776033,"cg_iw_a":0.616945386,"cg_sample_age_us":23.954546,"cg_sample_seq":14480316,"cg_sample_valid":1,"cg_theta_rad":5.00893736,"cg_vd_req_v":0.0835047513,"cg_vd_v":0.0835047513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391695887,"cg_vq_v":-0.391695887,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.815674,"values":{"Elec_RPM":-5.90984101e-34,"EncoderCos":38714,"EncoderSin":12483,"GapTicks":54753,"Mech_RPM":-1.18196818e-34,"cg_du":50.1627388,"cg_dv":50.22435,"cg_dw":49.77565,"cg_id_a":-0.0934431404,"cg_id_raw_a":0.00276244362,"cg_iq_a":0.264575481,"cg_iq_raw_a":0.365258873,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9763641,"cg_sample_seq":14480366,"cg_sample_valid":1,"cg_theta_rad":5.00623035,"cg_vd_req_v":0.0906567425,"cg_vd_v":0.0906567425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396232963,"cg_vq_v":-0.396232963,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3821716,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.843018,"values":{"Elec_RPM":-5.79164414e-34,"EncoderCos":38713,"EncoderSin":12491,"GapTicks":54754,"Mech_RPM":-1.1583288e-34,"cg_du":50.1701736,"cg_dv":50.2234116,"cg_dw":49.7765884,"cg_id_a":0.165005505,"cg_id_raw_a":0.0201744623,"cg_iq_a":0.41771102,"cg_iq_raw_a":0.403368771,"cg_iu_a":-0.0337104797,"cg_iv_a":0.21412921,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14480466,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.084036611,"cg_vd_v":0.084036611,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400375843,"cg_vq_v":-0.400375843,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.85083,"values":{"Elec_RPM":-5.67581111e-34,"EncoderCos":38723,"EncoderSin":12450,"GapTicks":54767,"Mech_RPM":-1.13516227e-34,"cg_du":50.1518631,"cg_dv":50.2116432,"cg_dw":49.7883568,"cg_id_a":-0.0464902893,"cg_id_raw_a":-0.0919052511,"cg_iq_a":-0.823894978,"cg_iq_raw_a":-0.809467196,"cg_iu_a":-0.50488019,"cg_iv_a":0.359104514,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9618187,"cg_sample_seq":14480517,"cg_sample_valid":1,"cg_theta_rad":5.00639486,"cg_vd_req_v":0.086908862,"cg_vd_v":0.086908862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372839689,"cg_vq_v":-0.372839689,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.858643,"values":{"Elec_RPM":-5.67581111e-34,"EncoderCos":38685,"EncoderSin":12447,"GapTicks":54764,"Mech_RPM":-1.13516227e-34,"cg_du":50.1660271,"cg_dv":50.21381,"cg_dw":49.78619,"cg_id_a":0.129364803,"cg_id_raw_a":-0.164560542,"cg_iq_a":-0.241653204,"cg_iq_raw_a":1.69638789,"cg_iu_a":-0.251173496,"cg_iv_a":0.757786751,"cg_iw_a":-1.37646532,"cg_sample_age_us":23.9290905,"cg_sample_seq":14480567,"cg_sample_valid":1,"cg_theta_rad":5.00775766,"cg_vd_req_v":0.0812963918,"cg_vd_v":0.0812963918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383039385,"cg_vq_v":-0.383039385,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.866455,"values":{"Elec_RPM":-5.56229509e-34,"EncoderCos":38719,"EncoderSin":12494,"GapTicks":54764,"Mech_RPM":-1.11245904e-34,"cg_du":50.1600304,"cg_dv":50.2139473,"cg_dw":49.7860527,"cg_id_a":-0.00893986318,"cg_id_raw_a":0.0834152773,"cg_iq_a":-0.164050847,"cg_iq_raw_a":-0.682981014,"cg_iu_a":0.14750886,"cg_iv_a":0.105397761,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9654541,"cg_sample_seq":14480616,"cg_sample_valid":1,"cg_theta_rad":5.00619221,"cg_vd_req_v":0.0819401816,"cg_vd_v":0.0819401816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380735159,"cg_vq_v":-0.380735159,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3727722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.878174,"values":{"Elec_RPM":-5.56229509e-34,"EncoderCos":38784,"EncoderSin":12515,"GapTicks":54772,"Mech_RPM":-1.11245904e-34,"cg_du":50.1523666,"cg_dv":50.2067223,"cg_dw":49.7932777,"cg_id_a":0.293366045,"cg_id_raw_a":-0.0875092968,"cg_iq_a":-0.842326641,"cg_iq_raw_a":-0.260712385,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9363632,"cg_sample_seq":14480666,"cg_sample_valid":1,"cg_theta_rad":5.00548983,"cg_vd_req_v":0.0749828219,"cg_vd_v":0.0749828219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36787492,"cg_vq_v":-0.36787492,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3727722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.885986,"values":{"Elec_RPM":-5.45104924e-34,"EncoderCos":38701,"EncoderSin":12435,"GapTicks":54762,"Mech_RPM":-1.09020982e-34,"cg_du":50.1664772,"cg_dv":50.2159843,"cg_dw":49.7840157,"cg_id_a":-0.112815976,"cg_id_raw_a":-0.612733841,"cg_iq_a":0.107194781,"cg_iq_raw_a":-0.209028229,"cg_iu_a":0.292484283,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9218178,"cg_sample_seq":14480716,"cg_sample_valid":1,"cg_theta_rad":5.00789452,"cg_vd_req_v":0.0820017532,"cg_vd_v":0.0820017532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386464596,"cg_vq_v":-0.386464596,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.4634609,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.893799,"values":{"Elec_RPM":-5.45104924e-34,"EncoderCos":38712,"EncoderSin":12453,"GapTicks":54759,"Mech_RPM":-1.09020982e-34,"cg_du":50.1710587,"cg_dv":50.2185135,"cg_dw":49.7814865,"cg_id_a":-0.0365852527,"cg_id_raw_a":-0.715949476,"cg_iq_a":0.342587948,"cg_iq_raw_a":0.183636323,"cg_iu_a":-0.649855614,"cg_iv_a":-0.184552908,"cg_iw_a":0.834408522,"cg_sample_age_us":23.863636,"cg_sample_seq":14480766,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0794411376,"cg_vd_v":0.0794411376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39277938,"cg_vq_v":-0.39277938,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.309824109,"dclink_p_w":44.8391876,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.905518,"values":{"Elec_RPM":-5.34202857e-34,"EncoderCos":38720,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-1.06840567e-34,"cg_du":50.1601448,"cg_dv":50.2135811,"cg_dw":49.7864189,"cg_id_a":-0.0927621275,"cg_id_raw_a":-0.287771016,"cg_iq_a":-0.108768567,"cg_iq_raw_a":-0.536861181,"cg_iu_a":0.292484283,"cg_iv_a":-0.402015924,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9836369,"cg_sample_seq":14480816,"cg_sample_valid":1,"cg_theta_rad":5.00801134,"cg_vd_req_v":0.0816944987,"cg_vd_v":0.0816944987,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380255461,"cg_vq_v":-0.380255461,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.353316665,"dclink_p_w":51.1336327,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3445435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.91333,"values":{"Elec_RPM":-5.34202857e-34,"EncoderCos":38708,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-1.06840567e-34,"cg_du":50.1612892,"cg_dv":50.206955,"cg_dw":49.793045,"cg_id_a":0.13643156,"cg_id_raw_a":0.295224935,"cg_iq_a":-0.304571748,"cg_iq_raw_a":-0.0427895151,"cg_iu_a":0.401215553,"cg_iv_a":0.286616921,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9836369,"cg_sample_seq":14480866,"cg_sample_valid":1,"cg_theta_rad":5.00768089,"cg_vd_req_v":0.0753982216,"cg_vd_v":0.0753982216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372851431,"cg_vq_v":-0.372851431,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":57.0765076,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2622.940674,"values":{"Elec_RPM":-5.23518761e-34,"EncoderCos":38734,"EncoderSin":12495,"GapTicks":54762,"Mech_RPM":-1.0470375e-34,"cg_du":50.1569977,"cg_dv":50.2160301,"cg_dw":49.7839699,"cg_id_a":-0.26951164,"cg_id_raw_a":-0.237464204,"cg_iq_a":0.0941873267,"cg_iq_raw_a":-0.421634346,"cg_iu_a":0.14750886,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.863636,"cg_sample_seq":14480921,"cg_sample_valid":1,"cg_theta_rad":5.00766945,"cg_vd_req_v":0.0850131512,"cg_vd_v":0.0850131512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382166207,"cg_vq_v":-0.382166207,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.948486,"values":{"Elec_RPM":-5.23518761e-34,"EncoderCos":38708,"EncoderSin":12499,"GapTicks":54767,"Mech_RPM":-1.0470375e-34,"cg_du":50.1589203,"cg_dv":50.2115364,"cg_dw":49.7884636,"cg_id_a":-0.0261335224,"cg_id_raw_a":-0.124347769,"cg_iq_a":-0.338155836,"cg_iq_raw_a":-0.266381264,"cg_iu_a":0.219996452,"cg_iv_a":0.431592286,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9690914,"cg_sample_seq":14480966,"cg_sample_valid":1,"cg_theta_rad":5.00690842,"cg_vd_req_v":0.0812835321,"cg_vd_v":0.0812835321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376658261,"cg_vq_v":-0.376658261,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3931885,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.956299,"values":{"Elec_RPM":-5.13048367e-34,"EncoderCos":38732,"EncoderSin":12458,"GapTicks":54764,"Mech_RPM":-1.02609671e-34,"cg_du":50.1596756,"cg_dv":50.2144012,"cg_dw":49.7855988,"cg_id_a":-0.105150871,"cg_id_raw_a":-0.048646152,"cg_iq_a":0.017778201,"cg_iq_raw_a":-0.185909063,"cg_iu_a":-0.359905005,"cg_iv_a":-0.402015805,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9327278,"cg_sample_seq":14481016,"cg_sample_valid":1,"cg_theta_rad":5.00685453,"cg_vd_req_v":0.082474947,"cg_vd_v":0.082474947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381190658,"cg_vq_v":-0.381190658,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.360199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.968018,"values":{"Elec_RPM":-5.13048367e-34,"EncoderCos":38764,"EncoderSin":12449,"GapTicks":54766,"Mech_RPM":-1.02609671e-34,"cg_du":50.1499596,"cg_dv":50.2120743,"cg_dw":49.7879257,"cg_id_a":-0.187560678,"cg_id_raw_a":-0.327116936,"cg_iq_a":-0.444445848,"cg_iq_raw_a":-0.610562384,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9472733,"cg_sample_seq":14481066,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0853776336,"cg_vd_v":0.0853776336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373161674,"cg_vq_v":-0.373161674,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.360199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.97583,"values":{"Elec_RPM":-5.02787403e-34,"EncoderCos":38661,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-1.00557481e-34,"cg_du":50.1659164,"cg_dv":50.2106628,"cg_dw":49.7893372,"cg_id_a":-0.0144888125,"cg_id_raw_a":0.201219648,"cg_iq_a":-0.181971416,"cg_iq_raw_a":-0.888436973,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14481116,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.079933092,"cg_vd_v":0.079933092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37838003,"cg_vq_v":-0.37838003,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.983643,"values":{"Elec_RPM":-5.02787403e-34,"EncoderCos":38743,"EncoderSin":12487,"GapTicks":54760,"Mech_RPM":-1.00557481e-34,"cg_du":50.166935,"cg_dv":50.2178078,"cg_dw":49.7821922,"cg_id_a":0.0656079352,"cg_id_raw_a":-0.297527641,"cg_iq_a":0.48061496,"cg_iq_raw_a":0.919894814,"cg_iu_a":-0.468636274,"cg_iv_a":0.39534843,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14481166,"cg_sample_valid":1,"cg_theta_rad":5.00592613,"cg_vd_req_v":0.0783227906,"cg_vd_v":0.0783227906,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390248805,"cg_vq_v":-0.390248805,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.938015,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3978882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.991455,"values":{"Elec_RPM":-4.92731646e-34,"EncoderCos":38720,"EncoderSin":12452,"GapTicks":54760,"Mech_RPM":-9.85463291e-35,"cg_du":50.1695938,"cg_dv":50.2176056,"cg_dw":49.7823944,"cg_id_a":0.0713876858,"cg_id_raw_a":1.11980963,"cg_iq_a":0.382030129,"cg_iq_raw_a":0.548746228,"cg_iu_a":0.691166401,"cg_iv_a":0.649055243,"cg_iw_a":-1.34022164,"cg_sample_age_us":23.9254551,"cg_sample_seq":14481216,"cg_sample_valid":1,"cg_theta_rad":5.00773478,"cg_vd_req_v":0.0790182352,"cg_vd_v":0.0790182352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390858978,"cg_vq_v":-0.390858978,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.429550171,"dclink_p_w":-62.3554573,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3884888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2622.999268,"values":{"Elec_RPM":-4.92731646e-34,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54761,"Mech_RPM":-9.85463291e-35,"cg_du":50.1749535,"cg_dv":50.2169876,"cg_dw":49.7830124,"cg_id_a":0.35606122,"cg_id_raw_a":0.319849223,"cg_iq_a":0.544174612,"cg_iq_raw_a":-0.514353275,"cg_iu_a":-1.37473202,"cg_iv_a":-0.220796824,"cg_iw_a":1.59552884,"cg_sample_age_us":23.8600006,"cg_sample_seq":14481266,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0734643415,"cg_vd_v":0.0734643415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393174559,"cg_vq_v":-0.393174559,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.35343802,"dclink_p_w":-51.1511955,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3884888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.00708,"values":{"Elec_RPM":-4.82877008e-34,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54759,"Mech_RPM":-9.65754016e-35,"cg_du":50.1791039,"cg_dv":50.218914,"cg_dw":49.781086,"cg_id_a":0.419243813,"cg_id_raw_a":0.205507293,"cg_iq_a":0.842658162,"cg_iq_raw_a":-0.85319519,"cg_iu_a":-0.794830799,"cg_iv_a":-0.257040501,"cg_iw_a":1.0518713,"cg_sample_age_us":23.8563633,"cg_sample_seq":14481316,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0720439106,"cg_vd_v":0.0720439106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398128748,"cg_vq_v":-0.398128748,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.35343802,"dclink_p_w":-51.1511955,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3884888,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.018799,"values":{"Elec_RPM":-4.82877008e-34,"EncoderCos":38708,"EncoderSin":12444,"GapTicks":54773,"Mech_RPM":-9.65754016e-35,"cg_du":50.1598473,"cg_dv":50.2058296,"cg_dw":49.7941704,"cg_id_a":0.177213401,"cg_id_raw_a":0.0455612466,"cg_iq_a":-0.327208132,"cg_iq_raw_a":-0.0673993751,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9218178,"cg_sample_seq":14481367,"cg_sample_valid":1,"cg_theta_rad":5.00619936,"cg_vd_req_v":0.0763952956,"cg_vd_v":0.0763952956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369137585,"cg_vq_v":-0.369137585,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2593,"hz_tim_isr":4999,"hz_vsense":2593,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.046143,"values":{"Elec_RPM":-4.73219495e-34,"EncoderCos":38696,"EncoderSin":12465,"GapTicks":54765,"Mech_RPM":-9.46438945e-35,"cg_du":50.157444,"cg_dv":50.213253,"cg_dw":49.786747,"cg_id_a":-0.322868526,"cg_id_raw_a":-0.11552529,"cg_iq_a":0.0418195277,"cg_iq_raw_a":-0.339109093,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":0.616945624,"cg_sample_age_us":23.863636,"cg_sample_seq":14481421,"cg_sample_valid":1,"cg_theta_rad":5.00810146,"cg_vd_req_v":0.0860285088,"cg_vd_v":0.0860285088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377729565,"cg_vq_v":-0.377729565,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4025879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.053955,"values":{"Elec_RPM":-4.73219495e-34,"EncoderCos":38730,"EncoderSin":12484,"GapTicks":54765,"Mech_RPM":-9.46438945e-35,"cg_du":50.1668549,"cg_dv":50.2132111,"cg_dw":49.7867889,"cg_id_a":0.21995005,"cg_id_raw_a":0.0586782992,"cg_iq_a":0.186555251,"cg_iq_raw_a":-0.212082446,"cg_iu_a":0.00253343582,"cg_iv_a":0.57656759,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9872723,"cg_sample_seq":14481466,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0751700252,"cg_vd_v":0.0751700252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383692443,"cg_vq_v":-0.383692443,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.4025879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.061768,"values":{"Elec_RPM":-4.63755067e-34,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-9.27510157e-35,"cg_du":50.1706352,"cg_dv":50.2168884,"cg_dw":49.7831116,"cg_id_a":0.0789045766,"cg_id_raw_a":0.863940418,"cg_iq_a":0.400001585,"cg_iq_raw_a":0.15950346,"cg_iu_a":-0.613611698,"cg_iv_a":-0.510747433,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9836369,"cg_sample_seq":14481516,"cg_sample_valid":1,"cg_theta_rad":5.0065403,"cg_vd_req_v":0.0776413232,"cg_vd_v":0.0776413232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390445769,"cg_vq_v":-0.390445769,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.810110331,"dclink_p_w":-117.599304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3712158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2623.06576,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2623.065765,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2623.065769,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2623.073486,"values":{"Elec_RPM":-4.63755067e-34,"EncoderCos":38730,"EncoderSin":12462,"GapTicks":54765,"Mech_RPM":-9.27510157e-35,"cg_du":50.1582756,"cg_dv":50.2135735,"cg_dw":49.7864265,"cg_id_a":-0.164466009,"cg_id_raw_a":-0.10763742,"cg_iq_a":0.0847067833,"cg_iq_raw_a":-0.227996469,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691540241,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.954546,"cg_sample_seq":14481566,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0830928981,"cg_vd_v":0.0830928981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380420923,"cg_vq_v":-0.380420923,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.23053885,"dclink_p_w":-178.08931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3712158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.081299,"values":{"Elec_RPM":-4.54480003e-34,"EncoderCos":38723,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-9.08959961e-35,"cg_du":50.1631012,"cg_dv":50.2084236,"cg_dw":49.7915764,"cg_id_a":0.360389769,"cg_id_raw_a":0.41641587,"cg_iq_a":-0.119299725,"cg_iq_raw_a":0.223303989,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9618187,"cg_sample_seq":14481616,"cg_sample_valid":1,"cg_theta_rad":5.00778008,"cg_vd_req_v":0.0746717677,"cg_vd_v":0.0746717677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376024663,"cg_vq_v":-0.376024663,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.14174151,"dclink_p_w":-165.238144,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3633728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.089111,"values":{"Elec_RPM":-4.54480003e-34,"EncoderCos":38709,"EncoderSin":12474,"GapTicks":54763,"Mech_RPM":-9.08959961e-35,"cg_du":50.168396,"cg_dv":50.2150764,"cg_dw":49.7849236,"cg_id_a":0.239018947,"cg_id_raw_a":0.0731208771,"cg_iq_a":0.442117214,"cg_iq_raw_a":-0.975348413,"cg_iu_a":0.14750886,"cg_iv_a":-0.257040501,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9872723,"cg_sample_seq":14481666,"cg_sample_valid":1,"cg_theta_rad":5.00746965,"cg_vd_req_v":0.0778751671,"cg_vd_v":0.0778751671,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386676103,"cg_vq_v":-0.386676103,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.855415106,"dclink_p_w":-123.79966,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.096924,"values":{"Elec_RPM":-4.45390401e-34,"EncoderCos":38785,"EncoderSin":12464,"GapTicks":54759,"Mech_RPM":-8.9078078e-35,"cg_du":50.1685562,"cg_dv":50.2190666,"cg_dw":49.7809334,"cg_id_a":0.299796402,"cg_id_raw_a":0.615712583,"cg_iq_a":0.601623595,"cg_iq_raw_a":0.634009659,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14481716,"cg_sample_valid":1,"cg_theta_rad":5.00535774,"cg_vd_req_v":0.0751304403,"cg_vd_v":0.0751304403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393478364,"cg_vq_v":-0.393478364,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.104736,"values":{"Elec_RPM":-4.45390401e-34,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-8.9078078e-35,"cg_du":50.1637535,"cg_dv":50.2132263,"cg_dw":49.7867737,"cg_id_a":0.107739888,"cg_id_raw_a":0.297779143,"cg_iq_a":-0.107196175,"cg_iq_raw_a":-0.916627049,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14481766,"cg_sample_valid":1,"cg_theta_rad":5.00829172,"cg_vd_req_v":0.0793872476,"cg_vd_v":0.0793872476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381619751,"cg_vq_v":-0.381619751,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.531032801,"dclink_p_w":-76.8535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.360199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.112549,"values":{"Elec_RPM":-4.36482588e-34,"EncoderCos":38724,"EncoderSin":12491,"GapTicks":54768,"Mech_RPM":-8.72965153e-35,"cg_du":50.151413,"cg_dv":50.2103767,"cg_dw":49.7896233,"cg_id_a":-0.12004815,"cg_id_raw_a":-0.118286334,"cg_iq_a":-0.520864546,"cg_iq_raw_a":-0.338155627,"cg_iu_a":0.546190977,"cg_iv_a":0.322860777,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.863636,"cg_sample_seq":14481816,"cg_sample_valid":1,"cg_theta_rad":5.00667477,"cg_vd_req_v":0.0848990753,"cg_vd_v":0.0848990753,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371127784,"cg_vq_v":-0.371127784,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.531032801,"dclink_p_w":-76.8535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.120361,"values":{"Elec_RPM":-4.36482588e-34,"EncoderCos":38725,"EncoderSin":12485,"GapTicks":54760,"Mech_RPM":-8.72965153e-35,"cg_du":50.1676331,"cg_dv":50.2175636,"cg_dw":49.7824364,"cg_id_a":0.212673709,"cg_id_raw_a":-0.549184382,"cg_iq_a":0.568803132,"cg_iq_raw_a":-1.10754979,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395775437,"cg_iw_a":1.66801679,"cg_sample_age_us":23.9618187,"cg_sample_seq":14481866,"cg_sample_valid":1,"cg_theta_rad":5.00680971,"cg_vd_req_v":0.0794244707,"cg_vd_v":0.0794244707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391158879,"cg_vq_v":-0.391158879,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.531032801,"dclink_p_w":-76.8535385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.151611,"values":{"Elec_RPM":-4.27752935e-34,"EncoderCos":38741,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-8.55505847e-35,"cg_du":50.1535606,"cg_dv":50.2157898,"cg_dw":49.7842102,"cg_id_a":0.0213087983,"cg_id_raw_a":0.0825089589,"cg_iq_a":0.0117129385,"cg_iq_raw_a":-0.246335283,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.863636,"cg_sample_seq":14481921,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0874837488,"cg_vd_v":0.0874837488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379921108,"cg_vq_v":-0.379921108,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.2927094,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.159424,"values":{"Elec_RPM":-4.27752935e-34,"EncoderCos":38716,"EncoderSin":12465,"GapTicks":54767,"Mech_RPM":-8.55505847e-35,"cg_du":50.1532745,"cg_dv":50.2117844,"cg_dw":49.7882156,"cg_id_a":0.127138242,"cg_id_raw_a":0.171500862,"cg_iq_a":-0.259932071,"cg_iq_raw_a":-0.492106587,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860718,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9872723,"cg_sample_seq":14481966,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0861483216,"cg_vd_v":0.0861483216,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373777121,"cg_vq_v":-0.373777121,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.2927094,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.167236,"values":{"Elec_RPM":-4.19197862e-34,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-8.38395747e-35,"cg_du":50.1519547,"cg_dv":50.213131,"cg_dw":49.786869,"cg_id_a":0.0262966231,"cg_id_raw_a":-0.245178223,"cg_iq_a":-0.26061976,"cg_iq_raw_a":-0.786532581,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104574,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9509087,"cg_sample_seq":14482016,"cg_sample_valid":1,"cg_theta_rad":5.00655413,"cg_vd_req_v":0.0864007249,"cg_vd_v":0.0864007249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375347793,"cg_vq_v":-0.375347793,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.175049,"values":{"Elec_RPM":-4.19197862e-34,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-8.38395747e-35,"cg_du":50.1481171,"cg_dv":50.213726,"cg_dw":49.786274,"cg_id_a":-0.193354517,"cg_id_raw_a":-0.201474845,"cg_iq_a":-0.373005927,"cg_iq_raw_a":0.0903332904,"cg_iu_a":0.582434654,"cg_iv_a":-0.220796824,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.954546,"cg_sample_seq":14482066,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.091656208,"cg_vd_v":0.091656208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373614192,"cg_vq_v":-0.373614192,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.186768,"values":{"Elec_RPM":-4.10813924e-34,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54763,"Mech_RPM":-8.21627848e-35,"cg_du":50.1570358,"cg_dv":50.2153206,"cg_dw":49.7846794,"cg_id_a":0.0676422939,"cg_id_raw_a":0.464219183,"cg_iq_a":-0.0379252955,"cg_iq_raw_a":-0.90018177,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14482116,"cg_sample_valid":1,"cg_theta_rad":5.0056901,"cg_vd_req_v":0.0866292939,"cg_vd_v":0.0866292939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380694956,"cg_vq_v":-0.380694956,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.19458,"values":{"Elec_RPM":-4.02597632e-34,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-8.05195263e-35,"cg_du":50.1462593,"cg_dv":50.2135849,"cg_dw":49.7864151,"cg_id_a":-0.149413079,"cg_id_raw_a":-0.0960217267,"cg_iq_a":-0.232248425,"cg_iq_raw_a":-0.808989227,"cg_iu_a":0.183752537,"cg_iv_a":-0.25704062,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14482216,"cg_sample_valid":1,"cg_theta_rad":5.00559568,"cg_vd_req_v":0.0915766507,"cg_vd_v":0.0915766507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373931497,"cg_vq_v":-0.373931497,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.202393,"values":{"Elec_RPM":-4.02597632e-34,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54774,"Mech_RPM":-8.05195263e-35,"cg_du":50.1463127,"cg_dv":50.2050323,"cg_dw":49.7949677,"cg_id_a":0.0898677781,"cg_id_raw_a":0.19527334,"cg_iq_a":-0.691426873,"cg_iq_raw_a":-0.526343048,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9836369,"cg_sample_seq":14482266,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.08485879,"cg_vd_v":0.08485879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361888349,"cg_vq_v":-0.361888349,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.9913559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.210205,"values":{"Elec_RPM":-3.94545679e-34,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-7.89091335e-35,"cg_du":50.1491051,"cg_dv":50.214901,"cg_dw":49.785099,"cg_id_a":-0.238357857,"cg_id_raw_a":0.683312833,"cg_iq_a":0.179556116,"cg_iq_raw_a":-0.154538408,"cg_iu_a":0.473703265,"cg_iv_a":0.177885413,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14482316,"cg_sample_valid":1,"cg_theta_rad":5.00864744,"cg_vd_req_v":0.0899271443,"cg_vd_v":0.0899271443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376273453,"cg_vq_v":-0.376273453,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-69.1951752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.218018,"values":{"Elec_RPM":-3.94545679e-34,"EncoderCos":38699,"EncoderSin":12498,"GapTicks":54761,"Mech_RPM":-7.89091335e-35,"cg_du":50.1492767,"cg_dv":50.2164764,"cg_dw":49.7835236,"cg_id_a":-0.478830814,"cg_id_raw_a":-0.208980918,"cg_iq_a":0.289800227,"cg_iq_raw_a":0.16190435,"cg_iu_a":-0.14244175,"cg_iv_a":-0.438259721,"cg_iw_a":0.58070147,"cg_sample_age_us":24.0381813,"cg_sample_seq":14482366,"cg_sample_valid":1,"cg_theta_rad":5.00651789,"cg_vd_req_v":0.0944540501,"cg_vd_v":0.0944540501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377748162,"cg_vq_v":-0.377748162,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.683256865,"dclink_p_w":-98.8841171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3680725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.249268,"values":{"Elec_RPM":-3.8665476e-34,"EncoderCos":38764,"EncoderSin":12483,"GapTicks":54760,"Mech_RPM":-7.7330952e-35,"cg_du":50.1506958,"cg_dv":50.2176743,"cg_dw":49.7823257,"cg_id_a":-0.116103232,"cg_id_raw_a":-0.317369878,"cg_iq_a":0.554265678,"cg_iq_raw_a":0.955521941,"cg_iu_a":0.509947181,"cg_iv_a":-0.220796704,"cg_iw_a":-0.289150476,"cg_sample_age_us":26.8345451,"cg_sample_seq":14482421,"cg_sample_valid":1,"cg_theta_rad":5.0099144,"cg_vd_req_v":0.0892773047,"cg_vd_v":0.0892773047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381435663,"cg_vq_v":-0.381435663,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.739434958,"dclink_p_w":-107.014473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.25708,"values":{"Elec_RPM":-3.8665476e-34,"EncoderCos":38696,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-7.7330952e-35,"cg_du":50.1543617,"cg_dv":50.2122726,"cg_dw":49.7877274,"cg_id_a":-0.165860638,"cg_id_raw_a":0.00402983604,"cg_iq_a":0.167360425,"cg_iq_raw_a":-0.0716542155,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503517,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9618187,"cg_sample_seq":14482467,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0875242203,"cg_vd_v":0.0875242203,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374644846,"cg_vq_v":-0.374644846,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.264893,"values":{"Elec_RPM":-3.7892166e-34,"EncoderCos":38701,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-7.57843332e-35,"cg_du":50.1510925,"cg_dv":50.2126923,"cg_dw":49.7873077,"cg_id_a":-0.312513173,"cg_id_raw_a":-0.862637401,"cg_iq_a":0.260244757,"cg_iq_raw_a":-0.234552115,"cg_iu_a":0.0750212669,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8600006,"cg_sample_seq":14482517,"cg_sample_valid":1,"cg_theta_rad":5.00695753,"cg_vd_req_v":0.0908041224,"cg_vd_v":0.0908041224,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374487698,"cg_vq_v":-0.374487698,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-37.1011124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.272705,"values":{"Elec_RPM":-3.7892166e-34,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-7.57843332e-35,"cg_du":50.1460724,"cg_dv":50.2040901,"cg_dw":49.7959099,"cg_id_a":-0.0939032808,"cg_id_raw_a":0.128604904,"cg_iq_a":-0.435416818,"cg_iq_raw_a":-0.0593643524,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14482567,"cg_sample_valid":1,"cg_theta_rad":5.00815344,"cg_vd_req_v":0.084366858,"cg_vd_v":0.084366858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360410571,"cg_vq_v":-0.360410571,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.473042727,"dclink_p_w":-68.6690369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.280518,"values":{"Elec_RPM":-3.71343234e-34,"EncoderCos":38721,"EncoderSin":12450,"GapTicks":54775,"Mech_RPM":-7.42686457e-35,"cg_du":50.147274,"cg_dv":50.2036858,"cg_dw":49.7963142,"cg_id_a":-0.0448842943,"cg_id_raw_a":0.487372547,"cg_iq_a":-0.330406606,"cg_iq_raw_a":-0.497290462,"cg_iu_a":0.872385502,"cg_iv_a":-0.619478822,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9618187,"cg_sample_seq":14482617,"cg_sample_valid":1,"cg_theta_rad":5.00723267,"cg_vd_req_v":0.0829228684,"cg_vd_v":0.0829228684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359413236,"cg_vq_v":-0.359413236,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.9251175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.28833,"values":{"Elec_RPM":-3.71343234e-34,"EncoderCos":38764,"EncoderSin":12520,"GapTicks":54780,"Mech_RPM":-7.42686457e-35,"cg_du":50.1445198,"cg_dv":50.1996536,"cg_dw":49.8003464,"cg_id_a":0.279921472,"cg_id_raw_a":0.115150079,"cg_iq_a":-0.601294935,"cg_iq_raw_a":0.337847382,"cg_iu_a":0.183752537,"cg_iv_a":0.322860837,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9581814,"cg_sample_seq":14482667,"cg_sample_valid":1,"cg_theta_rad":5.00810146,"cg_vd_req_v":0.0759992898,"cg_vd_v":0.0759992898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35353598,"cg_vq_v":-0.35353598,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.300049,"values":{"Elec_RPM":-3.63916383e-34,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-7.27832754e-35,"cg_du":50.1531982,"cg_dv":50.2058678,"cg_dw":49.7941322,"cg_id_a":-0.0124127567,"cg_id_raw_a":-0.415727943,"cg_iq_a":0.045437403,"cg_iq_raw_a":-0.295333683,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.863636,"cg_sample_seq":14482716,"cg_sample_valid":1,"cg_theta_rad":5.0069108,"cg_vd_req_v":0.0804557204,"cg_vd_v":0.0804557204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36569801,"cg_vq_v":-0.36569801,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.307861,"values":{"Elec_RPM":-3.63916383e-34,"EncoderCos":38705,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-7.27832754e-35,"cg_du":50.1548576,"cg_dv":50.2052078,"cg_dw":49.7947922,"cg_id_a":0.0067045209,"cg_id_raw_a":0.0835515484,"cg_iq_a":-0.0259447619,"cg_iq_raw_a":-0.865032673,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539645,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9872723,"cg_sample_seq":14482766,"cg_sample_valid":1,"cg_theta_rad":5.00831366,"cg_vd_req_v":0.0790369585,"cg_vd_v":0.0790369585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365623057,"cg_vq_v":-0.365623057,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.315674,"values":{"Elec_RPM":-3.56638052e-34,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-7.13276082e-35,"cg_du":50.1484337,"cg_dv":50.2029991,"cg_dw":49.7970009,"cg_id_a":0.0531461239,"cg_id_raw_a":-0.190688804,"cg_iq_a":-0.313082695,"cg_iq_raw_a":-1.10994184,"cg_iu_a":0.183752537,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9472733,"cg_sample_seq":14482816,"cg_sample_valid":1,"cg_theta_rad":5.008183,"cg_vd_req_v":0.080699943,"cg_vd_v":0.080699943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360427082,"cg_vq_v":-0.360427082,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3916321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.323486,"values":{"Elec_RPM":-3.56638052e-34,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-7.13276082e-35,"cg_du":50.1494331,"cg_dv":50.2028122,"cg_dw":49.7971878,"cg_id_a":0.0427054167,"cg_id_raw_a":0.295218319,"cg_iq_a":-0.249978483,"cg_iq_raw_a":-0.0428351052,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9654541,"cg_sample_seq":14482866,"cg_sample_valid":1,"cg_theta_rad":5.00661135,"cg_vd_req_v":0.0806168169,"cg_vd_v":0.0806168169,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360533506,"cg_vq_v":-0.360533506,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.683256865,"dclink_p_w":-99.1846771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3649292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.35083,"values":{"Elec_RPM":-3.49505281e-34,"EncoderCos":38733,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-6.99010586e-35,"cg_du":50.1442184,"cg_dv":50.2034035,"cg_dw":49.7965965,"cg_id_a":-0.125581443,"cg_id_raw_a":-0.239519566,"cg_iq_a":-0.421366513,"cg_iq_raw_a":-0.167877913,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":26.8199997,"cg_sample_seq":14482921,"cg_sample_valid":1,"cg_theta_rad":5.00764084,"cg_vd_req_v":0.0840703771,"cg_vd_v":0.0840703771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357542008,"cg_vq_v":-0.357542008,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3649292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.362549,"values":{"Elec_RPM":-3.49505281e-34,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-6.99010586e-35,"cg_du":50.1443329,"cg_dv":50.198925,"cg_dw":49.801075,"cg_id_a":0.070374079,"cg_id_raw_a":0.655927658,"cg_iq_a":-0.711868525,"cg_iq_raw_a":0.137788579,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9618187,"cg_sample_seq":14482967,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.0799556896,"cg_vd_v":0.0799556896,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350319445,"cg_vq_v":-0.350319445,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.728561878,"dclink_p_w":-105.440865,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3790283,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2623.370361,"values":{"Elec_RPM":-3.35664891e-34,"EncoderCos":38707,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-6.7132976e-35,"cg_du":50.141613,"cg_dv":50.1992912,"cg_dw":49.8007088,"cg_id_a":-0.0845694691,"cg_id_raw_a":0.180299446,"cg_iq_a":-0.826043367,"cg_iq_raw_a":0.0553855561,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14483116,"cg_sample_valid":1,"cg_theta_rad":5.008111,"cg_vd_req_v":0.0839452595,"cg_vd_v":0.0839452595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351179063,"cg_vq_v":-0.351179063,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3712158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.378174,"values":{"Elec_RPM":-3.35664891e-34,"EncoderCos":38696,"EncoderSin":12465,"GapTicks":54769,"Mech_RPM":-6.7132976e-35,"cg_du":50.1581535,"cg_dv":50.2093239,"cg_dw":49.7906761,"cg_id_a":0.00641416013,"cg_id_raw_a":-0.228668928,"cg_iq_a":0.346483737,"cg_iq_raw_a":-0.0593308508,"cg_iu_a":0.038777113,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9509087,"cg_sample_seq":14483166,"cg_sample_valid":1,"cg_theta_rad":5.00798559,"cg_vd_req_v":0.0818675831,"cg_vd_v":0.0818675831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373946071,"cg_vq_v":-0.373946071,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3712158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.385986,"values":{"Elec_RPM":-3.28951579e-34,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-6.57903181e-35,"cg_du":50.1476555,"cg_dv":50.2121391,"cg_dw":49.7878609,"cg_id_a":-0.371097475,"cg_id_raw_a":-0.0140779186,"cg_iq_a":0.354858398,"cg_iq_raw_a":-0.546693146,"cg_iu_a":-0.178685665,"cg_iv_a":-0.402015865,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8745461,"cg_sample_seq":14483216,"cg_sample_valid":1,"cg_theta_rad":5.00624084,"cg_vd_req_v":0.0899868086,"cg_vd_v":0.0899868086,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372511238,"cg_vq_v":-0.372511238,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3696289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.393799,"values":{"Elec_RPM":-3.28951579e-34,"EncoderCos":38721,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-6.57903181e-35,"cg_du":50.1466293,"cg_dv":50.2063255,"cg_dw":49.7936745,"cg_id_a":-0.0482570976,"cg_id_raw_a":-0.116834968,"cg_iq_a":-0.295693129,"cg_iq_raw_a":-0.775365293,"cg_iu_a":-0.251173258,"cg_iv_a":0.214129329,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9218178,"cg_sample_seq":14483267,"cg_sample_valid":1,"cg_theta_rad":5.00705957,"cg_vd_req_v":0.0865217149,"cg_vd_v":0.0865217149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362509578,"cg_vq_v":-0.362509578,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.401611,"values":{"Elec_RPM":-3.22372553e-34,"EncoderCos":38728,"EncoderSin":12474,"GapTicks":54772,"Mech_RPM":-6.44745106e-35,"cg_du":50.1423988,"cg_dv":50.2070236,"cg_dw":49.7929764,"cg_id_a":-0.249615222,"cg_id_raw_a":-0.118197314,"cg_iq_a":-0.295659959,"cg_iq_raw_a":-0.338186741,"cg_iu_a":0.401215792,"cg_iv_a":0.141641617,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.863636,"cg_sample_seq":14483316,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.0915924385,"cg_vd_v":0.0915924385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361371428,"cg_vq_v":-0.361371428,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.41333,"values":{"Elec_RPM":-3.22372553e-34,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-6.44745106e-35,"cg_du":50.1281319,"cg_dv":50.2043304,"cg_dw":49.7956696,"cg_id_a":-0.665026307,"cg_id_raw_a":-0.209611207,"cg_iq_a":-0.819501162,"cg_iq_raw_a":0.599286497,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9872723,"cg_sample_seq":14483367,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0984048098,"cg_vd_v":0.0984048098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349569947,"cg_vq_v":-0.349569947,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.955085754,"dclink_p_w":-138.644592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3554993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.421143,"values":{"Elec_RPM":-3.15925104e-34,"EncoderCos":38687,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-6.31850197e-35,"cg_du":50.1459389,"cg_dv":50.206871,"cg_dw":49.793129,"cg_id_a":-0.267738968,"cg_id_raw_a":0.0533388816,"cg_iq_a":-0.0348220915,"cg_iq_raw_a":-0.139358431,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14483417,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0896013454,"cg_vd_v":0.0896013454,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363539338,"cg_vq_v":-0.363539338,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.864476204,"dclink_p_w":-125.491302,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.448486,"values":{"Elec_RPM":-3.15925104e-34,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54764,"Mech_RPM":-6.31850197e-35,"cg_du":50.1568489,"cg_dv":50.2144775,"cg_dw":49.7855225,"cg_id_a":0.0928956866,"cg_id_raw_a":-0.531793892,"cg_iq_a":0.83043009,"cg_iq_raw_a":-0.194114462,"cg_iu_a":0.691166401,"cg_iv_a":-0.293284297,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.863636,"cg_sample_seq":14483471,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0838562027,"cg_vd_v":0.0838562027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381127656,"cg_vq_v":-0.381127656,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.393761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.456299,"values":{"Elec_RPM":-3.09606592e-34,"EncoderCos":38711,"EncoderSin":12499,"GapTicks":54773,"Mech_RPM":-6.19213173e-35,"cg_du":50.1470909,"cg_dv":50.2057381,"cg_dw":49.7942619,"cg_id_a":0.0610948354,"cg_id_raw_a":-0.00026678812,"cg_iq_a":-0.0756058246,"cg_iq_raw_a":0.182862237,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592286,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9763641,"cg_sample_seq":14483516,"cg_sample_valid":1,"cg_theta_rad":5.00666285,"cg_vd_req_v":0.084924534,"cg_vd_v":0.084924534,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363290936,"cg_vq_v":-0.363290936,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.393761,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.464111,"values":{"Elec_RPM":-3.09606592e-34,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-6.19213173e-35,"cg_du":50.1497612,"cg_dv":50.210289,"cg_dw":49.789711,"cg_id_a":-0.0521173663,"cg_id_raw_a":-0.510584354,"cg_iq_a":0.297562361,"cg_iq_raw_a":-0.412049115,"cg_iu_a":0.256240129,"cg_iv_a":0.0691539049,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9872723,"cg_sample_seq":14483566,"cg_sample_valid":1,"cg_theta_rad":5.00555563,"cg_vd_req_v":0.0861492231,"cg_vd_v":0.0861492231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370071143,"cg_vq_v":-0.370071143,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-90.5035019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.47583,"values":{"Elec_RPM":-3.03414469e-34,"EncoderCos":38719,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-6.06828927e-35,"cg_du":50.1498604,"cg_dv":50.208416,"cg_dw":49.791584,"cg_id_a":0.0165036544,"cg_id_raw_a":0.107844524,"cg_iq_a":-0.0431321934,"cg_iq_raw_a":-0.280049592,"cg_iu_a":0.256240368,"cg_iv_a":0.141641617,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9836369,"cg_sample_seq":14483616,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.0847841427,"cg_vd_v":0.0847841427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367457092,"cg_vq_v":-0.367457092,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3539429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.483643,"values":{"Elec_RPM":-3.03414469e-34,"EncoderCos":38715,"EncoderSin":12438,"GapTicks":54766,"Mech_RPM":-6.06828927e-35,"cg_du":50.161911,"cg_dv":50.2121086,"cg_dw":49.7878914,"cg_id_a":0.219677255,"cg_id_raw_a":0.643920898,"cg_iq_a":0.496584713,"cg_iq_raw_a":1.08593512,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148308992,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8963642,"cg_sample_seq":14483666,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.0804784894,"cg_vd_v":0.0804784894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378904969,"cg_vq_v":-0.378904969,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3539429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.491455,"values":{"Elec_RPM":-2.97346163e-34,"EncoderCos":38729,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-5.9469235e-35,"cg_du":50.1571388,"cg_dv":50.2081146,"cg_dw":49.7918854,"cg_id_a":0.312784374,"cg_id_raw_a":0.350967705,"cg_iq_a":0.322365344,"cg_iq_raw_a":0.252568245,"cg_iu_a":-0.0337102413,"cg_iv_a":0.395348489,"cg_iw_a":-0.361638248,"cg_sample_age_us":23.9872723,"cg_sample_seq":14483716,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0780390203,"cg_vd_v":0.0780390203,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371284693,"cg_vq_v":-0.371284693,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3539429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.499268,"values":{"Elec_RPM":-2.97346163e-34,"EncoderCos":38756,"EncoderSin":12479,"GapTicks":54768,"Mech_RPM":-5.9469235e-35,"cg_du":50.1537399,"cg_dv":50.2102928,"cg_dw":49.7897072,"cg_id_a":0.278242707,"cg_id_raw_a":0.320452988,"cg_iq_a":0.417152047,"cg_iq_raw_a":-0.334576756,"cg_iu_a":-1.66468287,"cg_iv_a":0.0329101086,"cg_iw_a":1.63177276,"cg_sample_age_us":23.9509087,"cg_sample_seq":14483766,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.0808308497,"cg_vd_v":0.0808308497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373973608,"cg_vq_v":-0.373973608,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3665161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.50708,"values":{"Elec_RPM":-2.91399264e-34,"EncoderCos":38725,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-5.82798505e-35,"cg_du":50.1382217,"cg_dv":50.2073288,"cg_dw":49.7926712,"cg_id_a":-0.336913794,"cg_id_raw_a":-0.78374517,"cg_iq_a":-0.0771630257,"cg_iq_raw_a":-0.840069771,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528332,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8527279,"cg_sample_seq":14483816,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0932263434,"cg_vd_v":0.0932263434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360521615,"cg_vq_v":-0.360521615,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3194275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.518799,"values":{"Elec_RPM":-2.91399264e-34,"EncoderCos":38748,"EncoderSin":12498,"GapTicks":54772,"Mech_RPM":-5.82798505e-35,"cg_du":50.1406975,"cg_dv":50.2072563,"cg_dw":49.7927437,"cg_id_a":-0.180322453,"cg_id_raw_a":0.301256299,"cg_iq_a":-0.017227754,"cg_iq_raw_a":-0.117816225,"cg_iu_a":0.0750210285,"cg_iv_a":-0.510747433,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9509087,"cg_sample_seq":14483866,"cg_sample_valid":1,"cg_theta_rad":5.00695038,"cg_vd_req_v":0.0881493464,"cg_vd_v":0.0881493464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361412704,"cg_vq_v":-0.361412704,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3194275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.526611,"values":{"Elec_RPM":-2.85571246e-34,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-5.71142514e-35,"cg_du":50.142746,"cg_dv":50.2011795,"cg_dw":49.7988205,"cg_id_a":-0.0755491033,"cg_id_raw_a":0.00424605981,"cg_iq_a":-0.334346831,"cg_iq_raw_a":0.547670782,"cg_iu_a":0.582434654,"cg_iv_a":0.0691539645,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9763641,"cg_sample_seq":14483916,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.0848403573,"cg_vd_v":0.0848403573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353268266,"cg_vq_v":-0.353268266,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3633728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.553955,"values":{"Elec_RPM":-2.79859835e-34,"EncoderCos":38718,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-5.59719671e-35,"cg_du":50.1399078,"cg_dv":50.2014847,"cg_dw":49.7985153,"cg_id_a":-0.132200778,"cg_id_raw_a":-0.381199956,"cg_iq_a":-0.394712508,"cg_iq_raw_a":-0.219121754,"cg_iu_a":0.473703384,"cg_iv_a":-0.365772009,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484016,"cg_sample_valid":1,"cg_theta_rad":5.00659943,"cg_vd_req_v":0.0866491869,"cg_vd_v":0.0866491869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352256417,"cg_vq_v":-0.352256417,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3366699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.561768,"values":{"Elec_RPM":-2.79859835e-34,"EncoderCos":38704,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-5.59719671e-35,"cg_du":50.1473618,"cg_dv":50.194725,"cg_dw":49.805275,"cg_id_a":0.333610773,"cg_id_raw_a":-0.000980926096,"cg_iq_a":-0.485105991,"cg_iq_raw_a":-0.436475068,"cg_iu_a":0.364971638,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9618187,"cg_sample_seq":14484066,"cg_sample_valid":1,"cg_theta_rad":5.00686407,"cg_vd_req_v":0.0751591623,"cg_vd_v":0.0751591623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347071499,"cg_vq_v":-0.347071499,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.56958,"values":{"Elec_RPM":-2.74262623e-34,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54780,"Mech_RPM":-5.48525268e-35,"cg_du":50.1409874,"cg_dv":50.1991234,"cg_dw":49.8008766,"cg_id_a":0.00265649892,"cg_id_raw_a":-0.354959756,"cg_iq_a":-0.42693454,"cg_iq_raw_a":-0.690338433,"cg_iu_a":0.509947062,"cg_iv_a":0.177885473,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484116,"cg_sample_valid":1,"cg_theta_rad":5.00656796,"cg_vd_req_v":0.0837813988,"cg_vd_v":0.0837813988,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349593163,"cg_vq_v":-0.349593163,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.577393,"values":{"Elec_RPM":-2.74262623e-34,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-5.48525268e-35,"cg_du":50.1412239,"cg_dv":50.2063675,"cg_dw":49.7936325,"cg_id_a":-0.311760157,"cg_id_raw_a":-0.600615025,"cg_iq_a":0.133573338,"cg_iq_raw_a":0.088230066,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9654541,"cg_sample_seq":14484166,"cg_sample_valid":1,"cg_theta_rad":5.00576687,"cg_vd_req_v":0.0895734578,"cg_vd_v":0.0895734578,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359830618,"cg_vq_v":-0.359830618,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.589111,"values":{"Elec_RPM":-2.6877738e-34,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-5.37554772e-35,"cg_du":50.1441002,"cg_dv":50.2032967,"cg_dw":49.7967033,"cg_id_a":0.10572587,"cg_id_raw_a":-0.137320191,"cg_iq_a":-0.0438273549,"cg_iq_raw_a":0.752359152,"cg_iu_a":-0.0337104797,"cg_iv_a":0.359104574,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.863636,"cg_sample_seq":14484216,"cg_sample_valid":1,"cg_theta_rad":5.00776577,"cg_vd_req_v":0.0830995291,"cg_vd_v":0.0830995291,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356407076,"cg_vq_v":-0.356407076,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.4819603,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.352356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2623.596924,"values":{"Elec_RPM":-2.6877738e-34,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-5.37554772e-35,"cg_du":50.1423111,"cg_dv":50.2002602,"cg_dw":49.7997398,"cg_id_a":0.161813781,"cg_id_raw_a":0.215837225,"cg_iq_a":-0.119974837,"cg_iq_raw_a":0.129792064,"cg_iu_a":-0.0699543953,"cg_iv_a":0.250373065,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9618187,"cg_sample_seq":14484266,"cg_sample_valid":1,"cg_theta_rad":5.00574446,"cg_vd_req_v":0.080966562,"cg_vd_v":0.080966562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352556944,"cg_vq_v":-0.352556944,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.352356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.604736,"values":{"Elec_RPM":-2.63401858e-34,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-5.26803705e-35,"cg_du":50.1433868,"cg_dv":50.1991119,"cg_dw":49.8008881,"cg_id_a":0.136206001,"cg_id_raw_a":0.132158503,"cg_iq_a":-0.104542807,"cg_iq_raw_a":0.122499987,"cg_iu_a":0.509947062,"cg_iv_a":0.504079938,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484316,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.0799541175,"cg_vd_v":0.0799541175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351375431,"cg_vq_v":-0.351375431,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.616455,"values":{"Elec_RPM":-2.63401858e-34,"EncoderCos":38728,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-5.26803705e-35,"cg_du":50.1449471,"cg_dv":50.1964149,"cg_dw":49.8035851,"cg_id_a":0.33310312,"cg_id_raw_a":0.10416697,"cg_iq_a":-0.267430246,"cg_iq_raw_a":-0.0255916659,"cg_iu_a":0.00253343582,"cg_iv_a":0.721542954,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8745461,"cg_sample_seq":14484366,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0769385174,"cg_vd_v":0.0769385174,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349503279,"cg_vq_v":-0.349503279,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.624268,"values":{"Elec_RPM":-2.5813383e-34,"EncoderCos":38721,"EncoderSin":12460,"GapTicks":54784,"Mech_RPM":-5.16267648e-35,"cg_du":50.1438866,"cg_dv":50.1963615,"cg_dw":49.8036385,"cg_id_a":0.166844994,"cg_id_raw_a":-0.00344939623,"cg_iq_a":-0.237907887,"cg_iq_raw_a":0.00046523902,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079938,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484417,"cg_sample_valid":1,"cg_theta_rad":5.00678492,"cg_vd_req_v":0.0782088563,"cg_vd_v":0.0782088563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347617835,"cg_vq_v":-0.347617835,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.49104327,"dclink_p_w":71.282074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3727722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.651611,"values":{"Elec_RPM":-2.5813383e-34,"EncoderCos":38740,"EncoderSin":12487,"GapTicks":54783,"Mech_RPM":-5.16267648e-35,"cg_du":50.1421051,"cg_dv":50.1970406,"cg_dw":49.8029594,"cg_id_a":0.128879189,"cg_id_raw_a":0.174128354,"cg_iq_a":-0.233228028,"cg_iq_raw_a":0.126014844,"cg_iu_a":0.654922366,"cg_iv_a":0.250373125,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484470,"cg_sample_valid":1,"cg_theta_rad":5.00905657,"cg_vd_req_v":0.0781176835,"cg_vd_v":0.0781176835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348027617,"cg_vq_v":-0.348027617,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3445435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.659424,"values":{"Elec_RPM":-2.5297116e-34,"EncoderCos":38718,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-5.05942297e-35,"cg_du":50.145607,"cg_dv":50.2057381,"cg_dw":49.7942619,"cg_id_a":-0.180421382,"cg_id_raw_a":0.106254093,"cg_iq_a":0.356542349,"cg_iq_raw_a":0.59399122,"cg_iu_a":0.328727961,"cg_iv_a":-0.655722737,"cg_iw_a":0.326994777,"cg_sample_age_us":24.0018177,"cg_sample_seq":14484516,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0861035958,"cg_vd_v":0.0861035958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361293018,"cg_vq_v":-0.361293018,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3445435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.667236,"values":{"Elec_RPM":-2.5297116e-34,"EncoderCos":38722,"EncoderSin":12441,"GapTicks":54779,"Mech_RPM":-5.05942297e-35,"cg_du":50.1512337,"cg_dv":50.2004204,"cg_dw":49.7995796,"cg_id_a":0.299770057,"cg_id_raw_a":1.37914169,"cg_iq_a":-0.0151435286,"cg_iq_raw_a":-1.42836559,"cg_iu_a":-0.50488019,"cg_iv_a":-0.293284416,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9436359,"cg_sample_seq":14484566,"cg_sample_valid":1,"cg_theta_rad":5.00711679,"cg_vd_req_v":0.0767778754,"cg_vd_v":0.0767778754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357177883,"cg_vq_v":-0.357177883,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.675049,"values":{"Elec_RPM":-2.47911736e-34,"EncoderCos":38735,"EncoderSin":12443,"GapTicks":54777,"Mech_RPM":-4.9582346e-35,"cg_du":50.1498909,"cg_dv":50.199646,"cg_dw":49.800354,"cg_id_a":0.260110468,"cg_id_raw_a":0.270808816,"cg_iq_a":-0.0106748417,"cg_iq_raw_a":0.427381396,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.863636,"cg_sample_seq":14484616,"cg_sample_valid":1,"cg_theta_rad":5.00736523,"cg_vd_req_v":0.076208964,"cg_vd_v":0.076208964,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356685191,"cg_vq_v":-0.356685191,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":0.427616477,"dclink_p_w":61.8866463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.686768,"values":{"Elec_RPM":-2.47911736e-34,"EncoderCos":38709,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-4.9582346e-35,"cg_du":50.1438866,"cg_dv":50.201786,"cg_dw":49.798214,"cg_id_a":-0.190090343,"cg_id_raw_a":-0.0681864545,"cg_iq_a":0.136437625,"cg_iq_raw_a":-0.406605333,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503577,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9581814,"cg_sample_seq":14484666,"cg_sample_valid":1,"cg_theta_rad":5.00658321,"cg_vd_req_v":0.0840961412,"cg_vd_v":0.0840961412,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355977982,"cg_vq_v":-0.355977982,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3570557,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.69458,"values":{"Elec_RPM":-2.42953514e-34,"EncoderCos":38724,"EncoderSin":12455,"GapTicks":54783,"Mech_RPM":-4.85907006e-35,"cg_du":50.1381454,"cg_dv":50.1971245,"cg_dw":49.8028755,"cg_id_a":-0.145757169,"cg_id_raw_a":-0.139360353,"cg_iq_a":-0.359888673,"cg_iq_raw_a":0.314914852,"cg_iu_a":0.582434773,"cg_iv_a":0.0691539049,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.863636,"cg_sample_seq":14484716,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0835896879,"cg_vd_v":0.0835896879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346503347,"cg_vq_v":-0.346503347,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.8239212,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3382568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.702393,"values":{"Elec_RPM":-2.42953514e-34,"EncoderCos":38710,"EncoderSin":12458,"GapTicks":54783,"Mech_RPM":-4.85907006e-35,"cg_du":50.1424065,"cg_dv":50.1969147,"cg_dw":49.8030853,"cg_id_a":0.0412103161,"cg_id_raw_a":0.416389078,"cg_iq_a":-0.25931561,"cg_iq_raw_a":-1.45072365,"cg_iu_a":0.61867857,"cg_iv_a":0.177885413,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9872723,"cg_sample_seq":14484766,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.0808239356,"cg_vd_v":0.0808239356,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347323328,"cg_vq_v":-0.347323328,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3382568,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.710205,"values":{"Elec_RPM":-2.38094429e-34,"EncoderCos":38722,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-4.76188859e-35,"cg_du":50.1472282,"cg_dv":50.2027626,"cg_dw":49.7972374,"cg_id_a":-0.007449497,"cg_id_raw_a":-0.0867543146,"cg_iq_a":0.209380358,"cg_iq_raw_a":-0.00766869355,"cg_iu_a":-0.359905005,"cg_iv_a":-0.220796824,"cg_iw_a":0.580701828,"cg_sample_age_us":23.863636,"cg_sample_seq":14484816,"cg_sample_valid":1,"cg_theta_rad":5.00707722,"cg_vd_req_v":0.0816108584,"cg_vd_v":0.0816108584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358239502,"cg_vq_v":-0.358239502,"cg_vu_v":105.574219,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3586426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.718018,"values":{"Elec_RPM":-2.38094429e-34,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-4.76188859e-35,"cg_du":50.1478767,"cg_dv":50.2112045,"cg_dw":49.7887955,"cg_id_a":-0.413024932,"cg_id_raw_a":-0.214887142,"cg_iq_a":0.75553894,"cg_iq_raw_a":1.29071391,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.88801312,"cg_iw_a":1.9217236,"cg_sample_age_us":23.9472733,"cg_sample_seq":14484867,"cg_sample_valid":1,"cg_theta_rad":5.00602293,"cg_vd_req_v":0.0896856338,"cg_vd_v":0.0896856338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369985253,"cg_vq_v":-0.369985253,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3445435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.729736,"values":{"Elec_RPM":-2.33332552e-34,"EncoderCos":38694,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-4.66665087e-35,"cg_du":50.1485176,"cg_dv":50.2014961,"cg_dw":49.7985039,"cg_id_a":-0.0408991873,"cg_id_raw_a":0.0476821885,"cg_iq_a":0.0059264563,"cg_iq_raw_a":0.115111478,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309112,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9654541,"cg_sample_seq":14484917,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0817859247,"cg_vd_v":0.0817859247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356692851,"cg_vq_v":-0.356692851,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3445435,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.75708,"values":{"Elec_RPM":-2.33332552e-34,"EncoderCos":38748,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-4.66665087e-35,"cg_du":50.1534271,"cg_dv":50.2032928,"cg_dw":49.7967072,"cg_id_a":0.144323304,"cg_id_raw_a":0.0550832897,"cg_iq_a":0.387494415,"cg_iq_raw_a":0.733823419,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":26.823637,"cg_sample_seq":14484970,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0754962564,"cg_vd_v":0.0754962564,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363958031,"cg_vq_v":-0.363958031,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.764893,"values":{"Elec_RPM":-2.28665885e-34,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-4.57331788e-35,"cg_du":50.1525688,"cg_dv":50.2005119,"cg_dw":49.7994881,"cg_id_a":0.0446596295,"cg_id_raw_a":-0.144815743,"cg_iq_a":0.0418090299,"cg_iq_raw_a":-0.48685807,"cg_iu_a":-0.178685904,"cg_iv_a":-0.402015924,"cg_iw_a":0.580701828,"cg_sample_age_us":23.863636,"cg_sample_seq":14485016,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0756620094,"cg_vd_v":0.0756620094,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359223157,"cg_vq_v":-0.359223157,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.772705,"values":{"Elec_RPM":-2.28665885e-34,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-4.57331788e-35,"cg_du":50.144207,"cg_dv":50.1975327,"cg_dw":49.8024673,"cg_id_a":-0.113933668,"cg_id_raw_a":0.0280920304,"cg_iq_a":-0.483481467,"cg_iq_raw_a":-0.724944055,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397701,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9836369,"cg_sample_seq":14485066,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0802119523,"cg_vd_v":0.0802119523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349129796,"cg_vq_v":-0.349129796,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.784424,"values":{"Elec_RPM":-2.2409257e-34,"EncoderCos":38708,"EncoderSin":12464,"GapTicks":54783,"Mech_RPM":-4.48185145e-35,"cg_du":50.1520462,"cg_dv":50.1966858,"cg_dw":49.8033142,"cg_id_a":0.282371581,"cg_id_raw_a":0.405084491,"cg_iq_a":-0.270600796,"cg_iq_raw_a":-0.504724562,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14485117,"cg_sample_valid":1,"cg_theta_rad":5.00554419,"cg_vd_req_v":0.0730668306,"cg_vd_v":0.0730668306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352445096,"cg_vq_v":-0.352445096,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.792236,"values":{"Elec_RPM":-2.2409257e-34,"EncoderCos":38713,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-4.48185145e-35,"cg_du":50.1485558,"cg_dv":50.2002754,"cg_dw":49.7997246,"cg_id_a":0.0595702417,"cg_id_raw_a":0.0927918106,"cg_iq_a":0.0982883275,"cg_iq_raw_a":0.301413238,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9290905,"cg_sample_seq":14485167,"cg_sample_valid":1,"cg_theta_rad":5.0067234,"cg_vd_req_v":0.0767659321,"cg_vd_v":0.0767659321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355904609,"cg_vq_v":-0.355904609,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.800049,"values":{"Elec_RPM":-2.19610722e-34,"EncoderCos":38715,"EncoderSin":12472,"GapTicks":54778,"Mech_RPM":-4.39221455e-35,"cg_du":50.1513481,"cg_dv":50.2009811,"cg_dw":49.7990189,"cg_id_a":0.1048375,"cg_id_raw_a":-0.221825317,"cg_iq_a":0.210252061,"cg_iq_raw_a":-0.13036868,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9509087,"cg_sample_seq":14485217,"cg_sample_valid":1,"cg_theta_rad":5.00845766,"cg_vd_req_v":0.0770433992,"cg_vd_v":0.0770433992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358045161,"cg_vq_v":-0.358045161,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.807861,"values":{"Elec_RPM":-2.19610722e-34,"EncoderCos":38704,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-4.39221455e-35,"cg_du":50.1492996,"cg_dv":50.1983376,"cg_dw":49.8016624,"cg_id_a":0.0491545945,"cg_id_raw_a":-0.177342042,"cg_iq_a":-0.0856475532,"cg_iq_raw_a":0.0555904917,"cg_iu_a":-0.577367783,"cg_iv_a":-0.148309112,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9618187,"cg_sample_seq":14485267,"cg_sample_valid":1,"cg_theta_rad":5.00585747,"cg_vd_req_v":0.0774110109,"cg_vd_v":0.0774110109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354133397,"cg_vq_v":-0.354133397,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.2056389,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3554993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.815674,"values":{"Elec_RPM":-2.15218506e-34,"EncoderCos":38728,"EncoderSin":12439,"GapTicks":54783,"Mech_RPM":-4.30437017e-35,"cg_du":50.1456299,"cg_dv":50.1971169,"cg_dw":49.8028831,"cg_id_a":0.00641834363,"cg_id_raw_a":-0.327964932,"cg_iq_a":-0.262722433,"cg_iq_raw_a":-0.97822839,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9581814,"cg_sample_seq":14485317,"cg_sample_valid":1,"cg_theta_rad":5.00719738,"cg_vd_req_v":0.0775234178,"cg_vd_v":0.0775234178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349635273,"cg_vq_v":-0.349635273,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3554993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.823486,"values":{"Elec_RPM":-2.15218506e-34,"EncoderCos":38696,"EncoderSin":12472,"GapTicks":54786,"Mech_RPM":-4.30437017e-35,"cg_du":50.1491699,"cg_dv":50.1945267,"cg_dw":49.8054733,"cg_id_a":0.167399198,"cg_id_raw_a":0.0456154831,"cg_iq_a":-0.237753734,"cg_iq_raw_a":-0.0673626885,"cg_iu_a":-0.287417173,"cg_iv_a":-0.438259721,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9836369,"cg_sample_seq":14485367,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.0739682764,"cg_vd_v":0.0739682764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347738266,"cg_vq_v":-0.347738266,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3507996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.831299,"values":{"Elec_RPM":-2.1091413e-34,"EncoderCos":38690,"EncoderSin":12435,"GapTicks":54783,"Mech_RPM":-4.21828271e-35,"cg_du":50.1438789,"cg_dv":50.196888,"cg_dw":49.803112,"cg_id_a":-0.212636903,"cg_id_raw_a":0.155280069,"cg_iq_a":-0.174036726,"cg_iq_raw_a":0.0903351083,"cg_iu_a":0.183752775,"cg_iv_a":-0.220796704,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14485417,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0815224126,"cg_vd_v":0.0815224126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346570104,"cg_vq_v":-0.346570104,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.37640405,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3335266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2623.862549,"values":{"Elec_RPM":-2.1091413e-34,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-4.21828271e-35,"cg_du":50.143486,"cg_dv":50.2006035,"cg_dw":49.7993965,"cg_id_a":-0.112095222,"cg_id_raw_a":-0.180787534,"cg_iq_a":0.199204996,"cg_iq_raw_a":-0.125379443,"cg_iu_a":-0.214929581,"cg_iv_a":-0.510747433,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9690914,"cg_sample_seq":14485470,"cg_sample_valid":1,"cg_theta_rad":5.00758314,"cg_vd_req_v":0.0811250582,"cg_vd_v":0.0811250582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353507131,"cg_vq_v":-0.353507131,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3335266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.870361,"values":{"Elec_RPM":-2.0669585e-34,"EncoderCos":38716,"EncoderSin":12465,"GapTicks":54785,"Mech_RPM":-4.13391718e-35,"cg_du":50.1424255,"cg_dv":50.194828,"cg_dw":49.805172,"cg_id_a":0.0397798344,"cg_id_raw_a":0.519491553,"cg_iq_a":-0.122523218,"cg_iq_raw_a":0.452887356,"cg_iu_a":0.473703384,"cg_iv_a":0.0691539049,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9618187,"cg_sample_seq":14485517,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0778953433,"cg_vd_v":0.0778953433,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343603075,"cg_vq_v":-0.343603075,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3335266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2623.878174,"values":{"Elec_RPM":-2.0669585e-34,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54781,"Mech_RPM":-4.13391718e-35,"cg_du":50.1495705,"cg_dv":50.1988869,"cg_dw":49.8011131,"cg_id_a":0.0791450664,"cg_id_raw_a":-0.121995956,"cg_iq_a":0.508964121,"cg_iq_raw_a":0.790082335,"cg_iu_a":-0.541124105,"cg_iv_a":-0.00333368778,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9290905,"cg_sample_seq":14485566,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.0757293701,"cg_vd_v":0.0757293701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354340941,"cg_vq_v":-0.354340941,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.9478188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3335266,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.885986,"values":{"Elec_RPM":-2.02561944e-34,"EncoderCos":38748,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-4.05123883e-35,"cg_du":50.1359291,"cg_dv":50.1962967,"cg_dw":49.8037033,"cg_id_a":-0.0905984938,"cg_id_raw_a":-0.417834014,"cg_iq_a":-0.154268265,"cg_iq_raw_a":0.399632156,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373065,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9618187,"cg_sample_seq":14485617,"cg_sample_valid":1,"cg_theta_rad":5.00542784,"cg_vd_req_v":0.0818077177,"cg_vd_v":0.0818077177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343680054,"cg_vq_v":-0.343680054,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.9478188,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.897705,"values":{"Elec_RPM":-2.02561944e-34,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-4.05123883e-35,"cg_du":50.1406631,"cg_dv":50.1985435,"cg_dw":49.8014565,"cg_id_a":-0.0508174784,"cg_id_raw_a":0.147034869,"cg_iq_a":0.114036605,"cg_iq_raw_a":0.414934129,"cg_iu_a":0.111264944,"cg_iv_a":-0.329528213,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14485667,"cg_sample_valid":1,"cg_theta_rad":5.00691891,"cg_vd_req_v":0.0811485201,"cg_vd_v":0.0811485201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349174351,"cg_vq_v":-0.349174351,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.485728025,"dclink_p_w":-70.5104904,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.905518,"values":{"Elec_RPM":-1.98510713e-34,"EncoderCos":38741,"EncoderSin":12476,"GapTicks":54783,"Mech_RPM":-3.97021409e-35,"cg_du":50.1450539,"cg_dv":50.1968498,"cg_dw":49.8031502,"cg_id_a":0.151718587,"cg_id_raw_a":0.174061105,"cg_iq_a":0.0786107332,"cg_iq_raw_a":0.126107708,"cg_iu_a":-0.178685665,"cg_iv_a":0.250373065,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14485767,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0755648389,"cg_vd_v":0.0755648389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348307133,"cg_vq_v":-0.348307133,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-40.9227257,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3366699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2623.91333,"values":{"Elec_RPM":-1.94540481e-34,"EncoderCos":38741,"EncoderSin":12486,"GapTicks":54773,"Mech_RPM":-3.89080968e-35,"cg_du":50.1396675,"cg_dv":50.205658,"cg_dw":49.794342,"cg_id_a":-0.486059099,"cg_id_raw_a":-0.255865008,"cg_iq_a":0.665274262,"cg_iq_raw_a":0.232078314,"cg_iu_a":0.183752537,"cg_iv_a":-1.81552541,"cg_iw_a":1.63177288,"cg_sample_age_us":23.863636,"cg_sample_seq":14485816,"cg_sample_valid":1,"cg_theta_rad":5.0075922,"cg_vd_req_v":0.088561058,"cg_vd_v":0.088561058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359530509,"cg_vq_v":-0.359530509,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.921143,"values":{"Elec_RPM":-1.94540481e-34,"EncoderCos":38710,"EncoderSin":12491,"GapTicks":54785,"Mech_RPM":-3.89080968e-35,"cg_du":50.1380577,"cg_dv":50.1952591,"cg_dw":49.8047409,"cg_id_a":-0.18121618,"cg_id_raw_a":0.359228641,"cg_iq_a":-0.106751487,"cg_iq_raw_a":-0.692164063,"cg_iu_a":0.364971638,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9836369,"cg_sample_seq":14485867,"cg_sample_valid":1,"cg_theta_rad":5.00803089,"cg_vd_req_v":0.0818332359,"cg_vd_v":0.0818332359,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342813402,"cg_vq_v":-0.342813402,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-66.0383682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3743286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.928955,"values":{"Elec_RPM":-1.90649675e-34,"EncoderCos":38709,"EncoderSin":12462,"GapTicks":54783,"Mech_RPM":-3.81299344e-35,"cg_du":50.1437721,"cg_dv":50.1968918,"cg_dw":49.8031082,"cg_id_a":-0.0359862745,"cg_id_raw_a":-0.534223855,"cg_iq_a":0.105900742,"cg_iq_raw_a":0.675479174,"cg_iu_a":-0.178685904,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8600006,"cg_sample_seq":14485917,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0799572989,"cg_vd_v":0.0799572989,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349125057,"cg_vq_v":-0.349125057,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-66.0383682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.960205,"values":{"Elec_RPM":-1.90649675e-34,"EncoderCos":38743,"EncoderSin":12494,"GapTicks":54782,"Mech_RPM":-3.81299344e-35,"cg_du":50.1518593,"cg_dv":50.1978531,"cg_dw":49.8021469,"cg_id_a":0.504844189,"cg_id_raw_a":0.160933256,"cg_iq_a":0.285507709,"cg_iq_raw_a":-0.421295464,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772128,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14485970,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0710144863,"cg_vd_v":0.0710144863,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35572657,"cg_vq_v":-0.35572657,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-66.0383682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.968018,"values":{"Elec_RPM":-1.86836677e-34,"EncoderCos":38719,"EncoderSin":12497,"GapTicks":54786,"Mech_RPM":-3.73673353e-35,"cg_du":50.1362534,"cg_dv":50.1944847,"cg_dw":49.8055153,"cg_id_a":-0.144008845,"cg_id_raw_a":0.0868051574,"cg_iq_a":-0.406894863,"cg_iq_raw_a":-0.0636734739,"cg_iu_a":-0.432392597,"cg_iv_a":0.032910049,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9618187,"cg_sample_seq":14486017,"cg_sample_valid":1,"cg_theta_rad":5.00563717,"cg_vd_req_v":0.0816544145,"cg_vd_v":0.0816544145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340951562,"cg_vq_v":-0.340951562,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-66.0383682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3429565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2623.974784,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2623.974789,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2623.974794,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2623.97583,"values":{"Elec_RPM":-1.86836677e-34,"EncoderCos":38724,"EncoderSin":12466,"GapTicks":54786,"Mech_RPM":-3.73673353e-35,"cg_du":50.1396713,"cg_dv":50.19384,"cg_dw":49.80616,"cg_id_a":0.028058758,"cg_id_raw_a":1.22438228,"cg_iq_a":-0.151230603,"cg_iq_raw_a":1.21216524,"cg_iu_a":-0.287417412,"cg_iv_a":-0.25704062,"cg_iw_a":0.544458032,"cg_sample_age_us":23.9581814,"cg_sample_seq":14486067,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0786851123,"cg_vd_v":0.0786851123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341904938,"cg_vq_v":-0.341904938,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.983643,"values":{"Elec_RPM":-1.83099948e-34,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54778,"Mech_RPM":-3.66199895e-35,"cg_du":50.1475639,"cg_dv":50.201149,"cg_dw":49.798851,"cg_id_a":0.0630444139,"cg_id_raw_a":0.877848327,"cg_iq_a":0.317226171,"cg_iq_raw_a":1.50799537,"cg_iu_a":0.364971638,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8600006,"cg_sample_seq":14486116,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.077864334,"cg_vd_v":0.077864334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352876961,"cg_vq_v":-0.352876961,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3774719,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2623.991455,"values":{"Elec_RPM":-1.83099948e-34,"EncoderCos":38711,"EncoderSin":12447,"GapTicks":54787,"Mech_RPM":-3.66199895e-35,"cg_du":50.1494904,"cg_dv":50.1935921,"cg_dw":49.8064079,"cg_id_a":0.361507893,"cg_id_raw_a":0.532770753,"cg_iq_a":0.0997605622,"cg_iq_raw_a":-0.309452116,"cg_iu_a":-1.15726924,"cg_iv_a":0.250373125,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9836369,"cg_sample_seq":14486167,"cg_sample_valid":1,"cg_theta_rad":5.00619936,"cg_vd_req_v":0.0724311024,"cg_vd_v":0.0724311024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347827643,"cg_vq_v":-0.347827643,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.360199,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2623.999268,"values":{"Elec_RPM":-1.7943795e-34,"EncoderCos":38702,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-3.588759e-35,"cg_du":50.1453552,"cg_dv":50.1988907,"cg_dw":49.8011093,"cg_id_a":-0.0620756745,"cg_id_raw_a":-0.299847156,"cg_iq_a":0.267718852,"cg_iq_raw_a":0.22521165,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9836369,"cg_sample_seq":14486217,"cg_sample_valid":1,"cg_theta_rad":5.00628805,"cg_vd_req_v":0.0811101571,"cg_vd_v":0.0811101571,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352635741,"cg_vq_v":-0.352635741,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.5606918,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.010986,"values":{"Elec_RPM":-1.7943795e-34,"EncoderCos":38755,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-3.588759e-35,"cg_du":50.1288414,"cg_dv":50.1936188,"cg_dw":49.8063812,"cg_id_a":-0.214685708,"cg_id_raw_a":-0.306396484,"cg_iq_a":-0.511935055,"cg_iq_raw_a":-0.135755196,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8600006,"cg_sample_seq":14486267,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0846545175,"cg_vd_v":0.0846545175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337208033,"cg_vq_v":-0.337208033,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.018799,"values":{"Elec_RPM":-1.75849191e-34,"EncoderCos":38718,"EncoderSin":12493,"GapTicks":54783,"Mech_RPM":-3.51698382e-35,"cg_du":50.1399536,"cg_dv":50.1964493,"cg_dw":49.8035507,"cg_id_a":-0.0411394425,"cg_id_raw_a":-0.170253843,"cg_iq_a":-0.0396289527,"cg_iq_raw_a":0.421303302,"cg_iu_a":0.546190858,"cg_iv_a":0.105397701,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9763641,"cg_sample_seq":14486317,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.0808290318,"cg_vd_v":0.0808290318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345653445,"cg_vq_v":-0.345653445,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.3676777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.026611,"values":{"Elec_RPM":-1.75849191e-34,"EncoderCos":38727,"EncoderSin":12445,"GapTicks":54784,"Mech_RPM":-3.51698382e-35,"cg_du":50.1455002,"cg_dv":50.1960754,"cg_dw":49.8039246,"cg_id_a":0.177384987,"cg_id_raw_a":0.416961491,"cg_iq_a":-0.0449927151,"cg_iq_raw_a":-0.213294268,"cg_iu_a":-0.468636513,"cg_iv_a":-1.12689257,"cg_iw_a":1.59552908,"cg_sample_age_us":23.8709087,"cg_sample_seq":14486367,"cg_sample_valid":1,"cg_theta_rad":5.00734901,"cg_vd_req_v":0.0765476152,"cg_vd_v":0.0765476152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348158419,"cg_vq_v":-0.348158419,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.0684948,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2580,"hz_tim_isr":4999,"hz_vsense":2580,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.034424,"values":{"Elec_RPM":-1.72332201e-34,"EncoderCos":38717,"EncoderSin":12515,"GapTicks":54785,"Mech_RPM":-3.44664414e-35,"cg_du":50.1369591,"cg_dv":50.1947289,"cg_dw":49.8052711,"cg_id_a":-0.0477935225,"cg_id_raw_a":-0.246540129,"cg_iq_a":-0.31329909,"cg_iq_raw_a":-0.0955153778,"cg_iu_a":0.437459469,"cg_iv_a":0.10539782,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9799995,"cg_sample_seq":14486416,"cg_sample_valid":1,"cg_theta_rad":5.00753927,"cg_vd_req_v":0.0810670108,"cg_vd_v":0.0810670108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341738194,"cg_vq_v":-0.341738194,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.308133245,"dclink_p_w":-44.5944786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3398132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.061768,"values":{"Elec_RPM":-1.72332201e-34,"EncoderCos":38728,"EncoderSin":12501,"GapTicks":54780,"Mech_RPM":-3.44664414e-35,"cg_du":50.1419678,"cg_dv":50.1996765,"cg_dw":49.8003235,"cg_id_a":-0.134252235,"cg_id_raw_a":0.00437860237,"cg_iq_a":0.215526536,"cg_iq_raw_a":0.365243226,"cg_iu_a":-0.0337102413,"cg_iv_a":0.177885413,"cg_iw_a":-0.144175172,"cg_sample_age_us":26.812727,"cg_sample_seq":14486470,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0816363096,"cg_vd_v":0.0816363096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352474332,"cg_vq_v":-0.352474332,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.308133245,"dclink_p_w":-44.5944786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.073486,"values":{"Elec_RPM":-1.68885569e-34,"EncoderCos":38710,"EncoderSin":12462,"GapTicks":54782,"Mech_RPM":-3.37771127e-35,"cg_du":50.1507797,"cg_dv":50.1975822,"cg_dw":49.8024178,"cg_id_a":0.255994827,"cg_id_raw_a":0.0500283502,"cg_iq_a":0.170506492,"cg_iq_raw_a":-0.322003156,"cg_iu_a":-0.0699543953,"cg_iv_a":1.12022507,"cg_iw_a":-1.05027068,"cg_sample_age_us":23.9618187,"cg_sample_seq":14486516,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0750493333,"cg_vd_v":0.0750493333,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354041904,"cg_vq_v":-0.354041904,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.081299,"values":{"Elec_RPM":-1.6550786e-34,"EncoderCos":38711,"EncoderSin":12491,"GapTicks":54782,"Mech_RPM":-3.31015708e-35,"cg_du":50.1442566,"cg_dv":50.1979828,"cg_dw":49.8020172,"cg_id_a":-0.0774384737,"cg_id_raw_a":0.0999263003,"cg_iq_a":0.102134846,"cg_iq_raw_a":-1.26402342,"cg_iu_a":-0.214929581,"cg_iv_a":-0.90942955,"cg_iw_a":1.12435913,"cg_sample_age_us":23.8527279,"cg_sample_seq":14486666,"cg_sample_valid":1,"cg_theta_rad":5.00693512,"cg_vd_req_v":0.0793002918,"cg_vd_v":0.0793002918,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348949134,"cg_vq_v":-0.348949134,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3460999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.089111,"values":{"Elec_RPM":-1.62197695e-34,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-3.24395402e-35,"cg_du":50.144455,"cg_dv":50.1921577,"cg_dw":49.8078423,"cg_id_a":0.104898766,"cg_id_raw_a":0.055543974,"cg_iq_a":-0.0252424553,"cg_iq_raw_a":0.0425928161,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065315,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14486717,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0731767789,"cg_vd_v":0.0731767789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342332244,"cg_vq_v":-0.342332244,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.096924,"values":{"Elec_RPM":-1.62197695e-34,"EncoderCos":38695,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-3.24395402e-35,"cg_du":50.1501236,"cg_dv":50.1965942,"cg_dw":49.8034058,"cg_id_a":0.0036842376,"cg_id_raw_a":0.110636674,"cg_iq_a":0.431757361,"cg_iq_raw_a":0.522438586,"cg_iu_a":-0.686099291,"cg_iv_a":0.141641617,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14486767,"cg_sample_valid":1,"cg_theta_rad":5.01079559,"cg_vd_req_v":0.0754956976,"cg_vd_v":0.0754956976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351022184,"cg_vq_v":-0.351022184,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.104736,"values":{"Elec_RPM":-1.58953744e-34,"EncoderCos":38730,"EncoderSin":12475,"GapTicks":54789,"Mech_RPM":-3.17907482e-35,"cg_du":50.1461601,"cg_dv":50.1910439,"cg_dw":49.8089561,"cg_id_a":0.233252138,"cg_id_raw_a":0.337191701,"cg_iq_a":-0.00481164642,"cg_iq_raw_a":0.396956116,"cg_iu_a":0.183752537,"cg_iv_a":-0.293284297,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14486817,"cg_sample_valid":1,"cg_theta_rad":5.00782919,"cg_vd_req_v":0.0701970607,"cg_vd_v":0.0701970607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341887325,"cg_vq_v":-0.341887325,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3460999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.112549,"values":{"Elec_RPM":-1.58953744e-34,"EncoderCos":38741,"EncoderSin":12499,"GapTicks":54793,"Mech_RPM":-3.17907482e-35,"cg_du":50.1274376,"cg_dv":50.1877441,"cg_dw":49.8122559,"cg_id_a":-0.330890924,"cg_id_raw_a":-0.240389243,"cg_iq_a":-0.597165585,"cg_iq_raw_a":-0.166630417,"cg_iu_a":-0.50488019,"cg_iv_a":-0.220796824,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9836369,"cg_sample_seq":14486867,"cg_sample_valid":1,"cg_theta_rad":5.00624752,"cg_vd_req_v":0.0803604499,"cg_vd_v":0.0803604499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327259392,"cg_vq_v":-0.327259392,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.485728025,"dclink_p_w":-70.2968216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.124268,"values":{"Elec_RPM":-1.55774675e-34,"EncoderCos":38737,"EncoderSin":12464,"GapTicks":54788,"Mech_RPM":-3.11549338e-35,"cg_du":50.1400146,"cg_dv":50.1920815,"cg_dw":49.8079185,"cg_id_a":-0.0815302059,"cg_id_raw_a":-0.0935842991,"cg_iq_a":0.0474868044,"cg_iq_raw_a":0.0647889078,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9799995,"cg_sample_seq":14486917,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0757506192,"cg_vd_v":0.0757506192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339921653,"cg_vq_v":-0.339921653,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.485728025,"dclink_p_w":-70.2968216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.151611,"values":{"Elec_RPM":-1.55774675e-34,"EncoderCos":38748,"EncoderSin":12505,"GapTicks":54785,"Mech_RPM":-3.11549338e-35,"cg_du":50.1355782,"cg_dv":50.1954231,"cg_dw":49.8045769,"cg_id_a":-0.333275259,"cg_id_raw_a":0.00939506106,"cg_iq_a":0.241417378,"cg_iq_raw_a":-0.143908665,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.863636,"cg_sample_seq":14486970,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0806519091,"cg_vd_v":0.0806519091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342433631,"cg_vq_v":-0.342433631,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3398132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.159424,"values":{"Elec_RPM":-1.52659178e-34,"EncoderCos":38698,"EncoderSin":12465,"GapTicks":54785,"Mech_RPM":-3.05318357e-35,"cg_du":50.1454315,"cg_dv":50.1952667,"cg_dw":49.8047333,"cg_id_a":-0.125539377,"cg_id_raw_a":0.116215661,"cg_iq_a":0.344470561,"cg_iq_raw_a":0.267848253,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9181824,"cg_sample_seq":14487016,"cg_sample_valid":1,"cg_theta_rad":5.00598669,"cg_vd_req_v":0.0773852915,"cg_vd_v":0.0773852915,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34556672,"cg_vq_v":-0.34556672,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.167236,"values":{"Elec_RPM":-1.52659178e-34,"EncoderCos":38734,"EncoderSin":12482,"GapTicks":54787,"Mech_RPM":-3.05318357e-35,"cg_du":50.1453743,"cg_dv":50.1933479,"cg_dw":49.8066521,"cg_id_a":0.0517270863,"cg_id_raw_a":0.864136755,"cg_iq_a":0.25089696,"cg_iq_raw_a":1.28308892,"cg_iu_a":0.364971638,"cg_iv_a":-0.112065315,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.8600006,"cg_sample_seq":14487066,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0727894157,"cg_vd_v":0.0727894157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345733851,"cg_vq_v":-0.345733851,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.8873444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.175049,"values":{"Elec_RPM":-1.49605993e-34,"EncoderCos":38732,"EncoderSin":12465,"GapTicks":54785,"Mech_RPM":-2.99211985e-35,"cg_du":50.1440773,"cg_dv":50.195282,"cg_dw":49.804718,"cg_id_a":-0.134018257,"cg_id_raw_a":-0.0932825059,"cg_iq_a":0.278480262,"cg_iq_raw_a":0.50162369,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726285,"cg_sample_age_us":23.863636,"cg_sample_seq":14487117,"cg_sample_valid":1,"cg_theta_rad":5.00731421,"cg_vd_req_v":0.0760215968,"cg_vd_v":0.0760215968,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346470863,"cg_vq_v":-0.346470863,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.186768,"values":{"Elec_RPM":-1.49605993e-34,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54788,"Mech_RPM":-2.99211985e-35,"cg_du":50.1410065,"cg_dv":50.1920662,"cg_dw":49.8079338,"cg_id_a":-0.0764578581,"cg_id_raw_a":-0.574156642,"cg_iq_a":-0.251456499,"cg_iq_raw_a":-0.820750833,"cg_iu_a":-0.0337104797,"cg_iv_a":0.612811446,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.863636,"cg_sample_seq":14487167,"cg_sample_valid":1,"cg_theta_rad":5.00805092,"cg_vd_req_v":0.0764773935,"cg_vd_v":0.0764773935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340118289,"cg_vq_v":-0.340118289,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.19458,"values":{"Elec_RPM":-1.46613877e-34,"EncoderCos":38720,"EncoderSin":12471,"GapTicks":54786,"Mech_RPM":-2.93227755e-35,"cg_du":50.1452446,"cg_dv":50.1936874,"cg_dw":49.8063126,"cg_id_a":0.112267695,"cg_id_raw_a":0.438707501,"cg_iq_a":-0.161300689,"cg_iq_raw_a":-0.866742373,"cg_iu_a":-0.359904766,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9836369,"cg_sample_seq":14487217,"cg_sample_valid":1,"cg_theta_rad":5.00886679,"cg_vd_req_v":0.0741289183,"cg_vd_v":0.0741289183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343736559,"cg_vq_v":-0.343736559,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.2880554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.202393,"values":{"Elec_RPM":-1.46613877e-34,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54783,"Mech_RPM":-2.93227755e-35,"cg_du":50.1503868,"cg_dv":50.1972656,"cg_dw":49.8027344,"cg_id_a":0.10577257,"cg_id_raw_a":0.13168332,"cg_iq_a":0.329922915,"cg_iq_raw_a":0.12301027,"cg_iu_a":-0.287417293,"cg_iv_a":0.141641557,"cg_iw_a":0.145775735,"cg_sample_age_us":23.9836369,"cg_sample_seq":14487267,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0737962648,"cg_vd_v":0.0737962648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351415873,"cg_vq_v":-0.351415873,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3366699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.210205,"values":{"Elec_RPM":-1.43681593e-34,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-2.87363197e-35,"cg_du":50.151577,"cg_dv":50.1982727,"cg_dw":49.8017273,"cg_id_a":0.0486322232,"cg_id_raw_a":-0.0892117769,"cg_iq_a":0.269727051,"cg_iq_raw_a":0.428888202,"cg_iu_a":-0.613611698,"cg_iv_a":-0.293284416,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9763641,"cg_sample_seq":14487317,"cg_sample_valid":1,"cg_theta_rad":5.00633287,"cg_vd_req_v":0.0751198381,"cg_vd_v":0.0751198381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353178918,"cg_vq_v":-0.353178918,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8547974,"temp_inv2_c":36.3366699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.218018,"values":{"Elec_RPM":-1.43681593e-34,"EncoderCos":38734,"EncoderSin":12499,"GapTicks":54783,"Mech_RPM":-2.87363197e-35,"cg_du":50.1333618,"cg_dv":50.1965218,"cg_dw":49.8034782,"cg_id_a":-0.367454231,"cg_id_raw_a":-0.638710082,"cg_iq_a":-0.251670897,"cg_iq_raw_a":0.960857868,"cg_iu_a":0.0750210285,"cg_iv_a":0.57656765,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9218178,"cg_sample_seq":14487367,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0846862793,"cg_vd_v":0.0846862793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342402995,"cg_vq_v":-0.342402995,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.539017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3194275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.22583,"values":{"Elec_RPM":-1.40807968e-34,"EncoderCos":38705,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-2.81615931e-35,"cg_du":50.1386261,"cg_dv":50.2009048,"cg_dw":49.7990952,"cg_id_a":-0.508123934,"cg_id_raw_a":-0.214339659,"cg_iq_a":0.114290297,"cg_iq_raw_a":-0.822430491,"cg_iu_a":-0.50488019,"cg_iv_a":-1.09064877,"cg_iw_a":1.59552896,"cg_sample_age_us":23.9581814,"cg_sample_seq":14487417,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.0881773829,"cg_vd_v":0.0881773829,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351613373,"cg_vq_v":-0.351613373,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.795612812,"dclink_p_w":-115.494774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.25708,"values":{"Elec_RPM":-1.37991798e-34,"EncoderCos":38710,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-2.75983603e-35,"cg_du":50.1417274,"cg_dv":50.1991119,"cg_dw":49.8008881,"cg_id_a":-0.283216953,"cg_id_raw_a":-0.319378257,"cg_iq_a":0.0369154364,"cg_iq_raw_a":0.00537866354,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8745461,"cg_sample_seq":14487566,"cg_sample_valid":1,"cg_theta_rad":5.00666952,"cg_vd_req_v":0.083091706,"cg_vd_v":0.083091706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350020379,"cg_vq_v":-0.350020379,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.264893,"values":{"Elec_RPM":-1.3523197e-34,"EncoderCos":38738,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-2.70463945e-35,"cg_du":50.1488304,"cg_dv":50.1990967,"cg_dw":49.8009033,"cg_id_a":0.171372354,"cg_id_raw_a":0.0394894704,"cg_iq_a":0.317780107,"cg_iq_raw_a":0.441302896,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9290905,"cg_sample_seq":14487617,"cg_sample_valid":1,"cg_theta_rad":5.00728512,"cg_vd_req_v":0.0752562284,"cg_vd_v":0.0752562284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354481846,"cg_vq_v":-0.354481846,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.554591417,"dclink_p_w":-80.2630539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.272705,"values":{"Elec_RPM":-1.3523197e-34,"EncoderCos":38739,"EncoderSin":12509,"GapTicks":54785,"Mech_RPM":-2.70463945e-35,"cg_du":50.135273,"cg_dv":50.1945839,"cg_dw":49.8054161,"cg_id_a":-0.156177774,"cg_id_raw_a":-0.220470265,"cg_iq_a":-0.296970099,"cg_iq_raw_a":0.308339804,"cg_iu_a":0.401215792,"cg_iv_a":0.105397761,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.9763641,"cg_sample_seq":14487667,"cg_sample_valid":1,"cg_theta_rad":5.00608683,"cg_vd_req_v":0.0806892216,"cg_vd_v":0.0806892216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340973377,"cg_vq_v":-0.340973377,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.369747758,"dclink_p_w":-53.5116158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.280518,"values":{"Elec_RPM":-1.32527334e-34,"EncoderCos":38699,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-2.65054662e-35,"cg_du":50.1456223,"cg_dv":50.1954689,"cg_dw":49.8045311,"cg_id_a":-0.124949053,"cg_id_raw_a":-0.0867176279,"cg_iq_a":0.170765743,"cg_iq_raw_a":-0.00807442889,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.863636,"cg_sample_seq":14487716,"cg_sample_valid":1,"cg_theta_rad":5.00614214,"cg_vd_req_v":0.0815058127,"cg_vd_v":0.0815058127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351451159,"cg_vq_v":-0.351451159,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.28833,"values":{"Elec_RPM":-1.32527334e-34,"EncoderCos":38685,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-2.65054662e-35,"cg_du":50.1383514,"cg_dv":50.1924858,"cg_dw":49.8075142,"cg_id_a":-0.158908382,"cg_id_raw_a":-0.120807968,"cg_iq_a":-0.205643862,"cg_iq_raw_a":0.716979086,"cg_iu_a":0.292484045,"cg_iv_a":0.250373125,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8781815,"cg_sample_seq":14487767,"cg_sample_valid":1,"cg_theta_rad":5.00749159,"cg_vd_req_v":0.081309393,"cg_vd_v":0.081309393,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33972913,"cg_vq_v":-0.33972913,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3178711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.300049,"values":{"Elec_RPM":-1.29876789e-34,"EncoderCos":38693,"EncoderSin":12496,"GapTicks":54787,"Mech_RPM":-2.59753573e-35,"cg_du":50.1287994,"cg_dv":50.1933098,"cg_dw":49.8066902,"cg_id_a":-0.492665529,"cg_id_raw_a":0.422830343,"cg_iq_a":-0.389493883,"cg_iq_raw_a":-0.466049105,"cg_iu_a":-0.468636513,"cg_iv_a":-0.329528213,"cg_iw_a":0.798164725,"cg_sample_age_us":23.863636,"cg_sample_seq":14487817,"cg_sample_valid":1,"cg_theta_rad":5.00811577,"cg_vd_req_v":0.0886438712,"cg_vd_v":0.0886438712,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335665822,"cg_vq_v":-0.335665822,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-67.0906525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.307861,"values":{"Elec_RPM":-1.29876789e-34,"EncoderCos":38710,"EncoderSin":12470,"GapTicks":54786,"Mech_RPM":-2.59753573e-35,"cg_du":50.135891,"cg_dv":50.1943398,"cg_dw":49.8056602,"cg_id_a":-0.231380448,"cg_id_raw_a":-0.260524809,"cg_iq_a":-0.0395980924,"cg_iq_raw_a":0.0475826077,"cg_iu_a":0.401215553,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.863636,"cg_sample_seq":14487866,"cg_sample_valid":1,"cg_theta_rad":5.00660038,"cg_vd_req_v":0.0831304789,"cg_vd_v":0.0831304789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340226859,"cg_vq_v":-0.340226859,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.315674,"values":{"Elec_RPM":-1.27279245e-34,"EncoderCos":38706,"EncoderSin":12455,"GapTicks":54789,"Mech_RPM":-2.54558496e-35,"cg_du":50.1366653,"cg_dv":50.1912613,"cg_dw":49.8087387,"cg_id_a":-0.0713653937,"cg_id_raw_a":0.243933007,"cg_iq_a":-0.261022061,"cg_iq_raw_a":-0.15646781,"cg_iu_a":0.292484045,"cg_iv_a":-0.474503517,"cg_iw_a":0.182019472,"cg_sample_age_us":24.0381813,"cg_sample_seq":14487917,"cg_sample_valid":1,"cg_theta_rad":5.00631332,"cg_vd_req_v":0.0801697969,"cg_vd_v":0.0801697969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336330265,"cg_vq_v":-0.336330265,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3398132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.343018,"values":{"Elec_RPM":-1.27279245e-34,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-2.54558496e-35,"cg_du":50.1414337,"cg_dv":50.1960068,"cg_dw":49.8039932,"cg_id_a":0.00526256487,"cg_id_raw_a":0.047641594,"cg_iq_a":0.283796459,"cg_iq_raw_a":0.55173713,"cg_iu_a":-0.14244175,"cg_iv_a":0.286616921,"cg_iw_a":-0.144175172,"cg_sample_age_us":26.8272724,"cg_sample_seq":14487971,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.0797122121,"cg_vd_v":0.0797122121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345772564,"cg_vq_v":-0.345772564,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3398132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.354736,"values":{"Elec_RPM":-1.24733669e-34,"EncoderCos":38703,"EncoderSin":12454,"GapTicks":54782,"Mech_RPM":-2.49467337e-35,"cg_du":50.1453362,"cg_dv":50.1974182,"cg_dw":49.8025818,"cg_id_a":0.0610980503,"cg_id_raw_a":0.369575828,"cg_iq_a":0.436040223,"cg_iq_raw_a":1.89696598,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14488016,"cg_sample_valid":1,"cg_theta_rad":5.00606298,"cg_vd_req_v":0.0796712339,"cg_vd_v":0.0796712339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349509537,"cg_vq_v":-0.349509537,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8064575,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.362549,"values":{"Elec_RPM":-1.24733669e-34,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-2.49467337e-35,"cg_du":50.1336937,"cg_dv":50.2010193,"cg_dw":49.7989807,"cg_id_a":-0.394825876,"cg_id_raw_a":0.210785434,"cg_iq_a":0.23401469,"cg_iq_raw_a":0.385843962,"cg_iu_a":0.401215553,"cg_iv_a":-1.09064877,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9254551,"cg_sample_seq":14488066,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0909436122,"cg_vd_v":0.0909436122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348160148,"cg_vq_v":-0.348160148,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.370361,"values":{"Elec_RPM":-1.22239003e-34,"EncoderCos":38714,"EncoderSin":12464,"GapTicks":54780,"Mech_RPM":-2.44478001e-35,"cg_du":50.1416168,"cg_dv":50.1994743,"cg_dw":49.8005257,"cg_id_a":0.0417491719,"cg_id_raw_a":0.322526842,"cg_iq_a":0.296355963,"cg_iq_raw_a":0.105763741,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9654541,"cg_sample_seq":14488116,"cg_sample_valid":1,"cg_theta_rad":5.00811863,"cg_vd_req_v":0.0834805518,"cg_vd_v":0.0834805518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35046193,"cg_vq_v":-0.35046193,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.378174,"values":{"Elec_RPM":-1.22239003e-34,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-2.44478001e-35,"cg_du":50.1423416,"cg_dv":50.198143,"cg_dw":49.801857,"cg_id_a":0.170080766,"cg_id_raw_a":0.490327895,"cg_iq_a":0.163210019,"cg_iq_raw_a":-0.314933658,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14488166,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0813622028,"cg_vd_v":0.0813622028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349119663,"cg_vq_v":-0.349119663,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3414001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.385986,"values":{"Elec_RPM":-1.19794216e-34,"EncoderCos":38716,"EncoderSin":12488,"GapTicks":54780,"Mech_RPM":-2.39588435e-35,"cg_du":50.1384888,"cg_dv":50.1999664,"cg_dw":49.8000336,"cg_id_a":0.00586592406,"cg_id_raw_a":0.218351811,"cg_iq_a":0.174282804,"cg_iq_raw_a":0.313404739,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373065,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9618187,"cg_sample_seq":14488217,"cg_sample_valid":1,"cg_theta_rad":5.00707912,"cg_vd_req_v":0.0856731236,"cg_vd_v":0.0856731236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349550754,"cg_vq_v":-0.349550754,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3194275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.393799,"values":{"Elec_RPM":-1.19794216e-34,"EncoderCos":38709,"EncoderSin":12468,"GapTicks":54779,"Mech_RPM":-2.39588435e-35,"cg_du":50.1443291,"cg_dv":50.2000313,"cg_dw":49.7999687,"cg_id_a":0.24253282,"cg_id_raw_a":-0.148282617,"cg_iq_a":0.216755301,"cg_iq_raw_a":-0.232646316,"cg_iu_a":-0.178685665,"cg_iv_a":0.504079938,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9581814,"cg_sample_seq":14488267,"cg_sample_valid":1,"cg_theta_rad":5.00623798,"cg_vd_req_v":0.0822009742,"cg_vd_v":0.0822009742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352674186,"cg_vq_v":-0.352674186,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8306274,"temp_inv2_c":36.3194275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.401611,"values":{"Elec_RPM":-1.17398331e-34,"EncoderCos":38760,"EncoderSin":12484,"GapTicks":54772,"Mech_RPM":-2.3479666e-35,"cg_du":50.1439552,"cg_dv":50.2069817,"cg_dw":49.7930183,"cg_id_a":0.110320851,"cg_id_raw_a":0.737871468,"cg_iq_a":0.61035037,"cg_iq_raw_a":1.84822094,"cg_iu_a":-0.251173496,"cg_iv_a":-0.583235025,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9618187,"cg_sample_seq":14488317,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0846751034,"cg_vd_v":0.0846751034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362995684,"cg_vq_v":-0.362995684,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0253100395,"dclink_p_w":3.66298676,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.41333,"values":{"Elec_RPM":-1.17398331e-34,"EncoderCos":38699,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-2.3479666e-35,"cg_du":50.1373863,"cg_dv":50.1993103,"cg_dw":49.8006897,"cg_id_a":-0.0235221535,"cg_id_raw_a":-0.243408903,"cg_iq_a":-0.309534729,"cg_iq_raw_a":0.0854560584,"cg_iu_a":-0.214929581,"cg_iv_a":0.902762055,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9509087,"cg_sample_seq":14488367,"cg_sample_valid":1,"cg_theta_rad":5.00676584,"cg_vd_req_v":0.08719787,"cg_vd_v":0.08719787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347713232,"cg_vq_v":-0.347713232,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.420367718,"dclink_p_w":61.0224915,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.421143,"values":{"Elec_RPM":-1.15050362e-34,"EncoderCos":38693,"EncoderSin":12472,"GapTicks":54779,"Mech_RPM":-2.30100723e-35,"cg_du":50.1429024,"cg_dv":50.200367,"cg_dw":49.799633,"cg_id_a":0.0671662688,"cg_id_raw_a":0.327466875,"cg_iq_a":0.0608902276,"cg_iq_raw_a":-0.147385702,"cg_iu_a":0.763653994,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9654541,"cg_sample_seq":14488417,"cg_sample_valid":1,"cg_theta_rad":5.00610828,"cg_vd_req_v":0.0850859061,"cg_vd_v":0.0850859061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353112876,"cg_vq_v":-0.353112876,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.6566505,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.8789673,"temp_inv2_c":36.3303833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.428955,"values":{"Elec_RPM":-1.15050362e-34,"EncoderCos":38726,"EncoderSin":12477,"GapTicks":54776,"Mech_RPM":-2.30100723e-35,"cg_du":50.1485939,"cg_dv":50.2030907,"cg_dw":49.7969093,"cg_id_a":0.298309565,"cg_id_raw_a":0.989866138,"cg_iq_a":0.35592103,"cg_iq_raw_a":1.47933125,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9581814,"cg_sample_seq":14488468,"cg_sample_valid":1,"cg_theta_rad":5.00816345,"cg_vd_req_v":0.0802327096,"cg_vd_v":0.0802327096,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359589875,"cg_vq_v":-0.359589875,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.456299,"values":{"Elec_RPM":-1.12749354e-34,"EncoderCos":38743,"EncoderSin":12487,"GapTicks":54764,"Mech_RPM":-2.25498703e-35,"cg_du":50.1256027,"cg_dv":50.2138329,"cg_dw":49.7861671,"cg_id_a":-0.976748407,"cg_id_raw_a":0.029513279,"cg_iq_a":0.400581121,"cg_iq_raw_a":-0.360447854,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8490906,"cg_sample_seq":14488520,"cg_sample_valid":1,"cg_theta_rad":5.00809431,"cg_vd_req_v":0.10707099,"cg_vd_v":0.10707099,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361826628,"cg_vq_v":-0.361826628,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3256836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.468018,"values":{"Elec_RPM":-1.12749354e-34,"EncoderCos":38776,"EncoderSin":12477,"GapTicks":54775,"Mech_RPM":-2.25498703e-35,"cg_du":50.1449394,"cg_dv":50.2043495,"cg_dw":49.7956505,"cg_id_a":0.411879987,"cg_id_raw_a":1.33103013,"cg_iq_a":0.209752023,"cg_iq_raw_a":0.113227837,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395774841,"cg_iw_a":0.326994658,"cg_sample_age_us":23.8818188,"cg_sample_seq":14488566,"cg_sample_valid":1,"cg_theta_rad":5.00969553,"cg_vd_req_v":0.0799962655,"cg_vd_v":0.0799962655,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359094381,"cg_vq_v":-0.359094381,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.433053136,"dclink_p_w":62.6734657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3209839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.47583,"values":{"Elec_RPM":-1.10494368e-34,"EncoderCos":38713,"EncoderSin":12466,"GapTicks":54766,"Mech_RPM":-2.20988734e-35,"cg_du":50.1526642,"cg_dv":50.2121277,"cg_dw":49.7878723,"cg_id_a":-0.0245053768,"cg_id_raw_a":-0.296448141,"cg_iq_a":0.791123211,"cg_iq_raw_a":0.408340693,"cg_iu_a":-1.12102532,"cg_iv_a":-0.0758213997,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14488617,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0871885344,"cg_vd_v":0.0871885344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373843193,"cg_vq_v":-0.373843193,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.433053136,"dclink_p_w":62.6734657,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.483643,"values":{"Elec_RPM":-1.10494368e-34,"EncoderCos":38735,"EncoderSin":12494,"GapTicks":54769,"Mech_RPM":-2.20988734e-35,"cg_du":50.1373444,"cg_dv":50.2096214,"cg_dw":49.7903786,"cg_id_a":-0.339424491,"cg_id_raw_a":-0.318822652,"cg_iq_a":0.0397036821,"cg_iq_raw_a":1.13603151,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14488667,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.094243221,"cg_vd_v":0.094243221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362482846,"cg_vq_v":-0.362482846,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.491455,"values":{"Elec_RPM":-1.08284485e-34,"EncoderCos":38730,"EncoderSin":12494,"GapTicks":54770,"Mech_RPM":-2.16568964e-35,"cg_du":50.1385422,"cg_dv":50.2086792,"cg_dw":49.7913208,"cg_id_a":-0.358702362,"cg_id_raw_a":-0.0383448005,"cg_iq_a":-0.0791929364,"cg_iq_raw_a":-0.075599201,"cg_iu_a":0.401215672,"cg_iv_a":-0.220796704,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9799995,"cg_sample_seq":14488717,"cg_sample_valid":1,"cg_theta_rad":5.00703907,"cg_vd_req_v":0.0927995667,"cg_vd_v":0.0927995667,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361761928,"cg_vq_v":-0.361761928,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.499268,"values":{"Elec_RPM":-1.08284485e-34,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-2.16568964e-35,"cg_du":50.1484566,"cg_dv":50.2111664,"cg_dw":49.7888336,"cg_id_a":-0.131046265,"cg_id_raw_a":0.0560925305,"cg_iq_a":0.160282299,"cg_iq_raw_a":-0.394298285,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9218178,"cg_sample_seq":14488767,"cg_sample_valid":1,"cg_theta_rad":5.00593948,"cg_vd_req_v":0.0887825564,"cg_vd_v":0.0887825564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370355308,"cg_vq_v":-0.370355308,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.510986,"values":{"Elec_RPM":-1.06118797e-34,"EncoderCos":38761,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-2.12237586e-35,"cg_du":50.1470795,"cg_dv":50.2126884,"cg_dw":49.7873116,"cg_id_a":-0.149986848,"cg_id_raw_a":-0.836128592,"cg_iq_a":0.288505375,"cg_iq_raw_a":0.873497784,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373185,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9581814,"cg_sample_seq":14488817,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0876676366,"cg_vd_v":0.0876676366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372534513,"cg_vq_v":-0.372534513,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.518799,"values":{"Elec_RPM":-1.06118797e-34,"EncoderCos":38696,"EncoderSin":12482,"GapTicks":54770,"Mech_RPM":-2.12237586e-35,"cg_du":50.1549072,"cg_dv":50.2086678,"cg_dw":49.7913322,"cg_id_a":0.0507319719,"cg_id_raw_a":-0.490615815,"cg_iq_a":0.0497892797,"cg_iq_raw_a":-0.377363205,"cg_iu_a":-0.468636274,"cg_iv_a":0.250373065,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9581814,"cg_sample_seq":14488867,"cg_sample_valid":1,"cg_theta_rad":5.00938034,"cg_vd_req_v":0.0830837786,"cg_vd_v":0.0830837786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370182872,"cg_vq_v":-0.370182872,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.505540788,"dclink_p_w":73.1642151,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.526611,"values":{"Elec_RPM":-1.03996421e-34,"EncoderCos":38746,"EncoderSin":12510,"GapTicks":54770,"Mech_RPM":-2.07992834e-35,"cg_du":50.1508408,"cg_dv":50.2086258,"cg_dw":49.7913742,"cg_id_a":0.0960839465,"cg_id_raw_a":0.257871449,"cg_iq_a":0.109794326,"cg_iq_raw_a":0.132922336,"cg_iu_a":0.219996452,"cg_iv_a":0.214129269,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9618187,"cg_sample_seq":14488917,"cg_sample_valid":1,"cg_theta_rad":5.00688696,"cg_vd_req_v":0.0813204423,"cg_vd_v":0.0813204423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3689408,"cg_vq_v":-0.3689408,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.539972425,"dclink_p_w":78.1473236,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.534424,"values":{"Elec_RPM":-1.03996421e-34,"EncoderCos":38744,"EncoderSin":12446,"GapTicks":54771,"Mech_RPM":-2.07992834e-35,"cg_du":50.142334,"cg_dv":50.2080193,"cg_dw":49.7919807,"cg_id_a":-0.289169192,"cg_id_raw_a":0.0750122517,"cg_iq_a":-0.301212788,"cg_iq_raw_a":-0.611007512,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507065,"cg_sample_age_us":23.954546,"cg_sample_seq":14488967,"cg_sample_valid":1,"cg_theta_rad":5.00648928,"cg_vd_req_v":0.0892240331,"cg_vd_v":0.0892240331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362965107,"cg_vq_v":-0.362965107,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.4602661,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3225708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.561768,"values":{"Elec_RPM":-1.01916485e-34,"EncoderCos":38745,"EncoderSin":12503,"GapTicks":54768,"Mech_RPM":-2.03832973e-35,"cg_du":50.1577034,"cg_dv":50.2107201,"cg_dw":49.7892799,"cg_id_a":0.290338367,"cg_id_raw_a":0.394921094,"cg_iq_a":0.308641136,"cg_iq_raw_a":0.945982337,"cg_iu_a":0.473703265,"cg_iv_a":-0.293284416,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.863636,"cg_sample_seq":14489020,"cg_sample_valid":1,"cg_theta_rad":5.00730896,"cg_vd_req_v":0.0784174949,"cg_vd_v":0.0784174949,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376699835,"cg_vq_v":-0.376699835,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.4602661,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2990417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.56958,"values":{"Elec_RPM":-1.01916485e-34,"EncoderCos":38729,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-2.03832973e-35,"cg_du":50.1590614,"cg_dv":50.2105408,"cg_dw":49.7894592,"cg_id_a":0.235020638,"cg_id_raw_a":0.333355039,"cg_iq_a":0.258594364,"cg_iq_raw_a":0.214829907,"cg_iu_a":-0.468636274,"cg_iv_a":0.214129269,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9509087,"cg_sample_seq":14489066,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.0792381465,"cg_vd_v":0.0792381465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375585496,"cg_vq_v":-0.375585496,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2990417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.581299,"values":{"Elec_RPM":-9.98781504e-35,"EncoderCos":38722,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-1.9975631e-35,"cg_du":50.1448174,"cg_dv":50.2064552,"cg_dw":49.7935448,"cg_id_a":-0.135248378,"cg_id_raw_a":-0.0369239785,"cg_iq_a":-0.276191413,"cg_iq_raw_a":-1.13211417,"cg_iu_a":-0.39614892,"cg_iv_a":-0.655722737,"cg_iw_a":1.05187166,"cg_sample_age_us":23.954546,"cg_sample_seq":14489117,"cg_sample_valid":1,"cg_theta_rad":5.00652981,"cg_vd_req_v":0.0864928365,"cg_vd_v":0.0864928365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362045407,"cg_vq_v":-0.362045407,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.589111,"values":{"Elec_RPM":-9.98781504e-35,"EncoderCos":38722,"EncoderSin":12431,"GapTicks":54773,"Mech_RPM":-1.9975631e-35,"cg_du":50.1545029,"cg_dv":50.2055779,"cg_dw":49.7944221,"cg_id_a":0.152644098,"cg_id_raw_a":-0.477593213,"cg_iq_a":-0.0936966389,"cg_iq_raw_a":0.535830796,"cg_iu_a":-0.287417412,"cg_iv_a":0.57656765,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9254551,"cg_sample_seq":14489167,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0794942379,"cg_vd_v":0.0794942379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365961611,"cg_vq_v":-0.365961611,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.596924,"values":{"Elec_RPM":-9.78805907e-35,"EncoderCos":38726,"EncoderSin":12472,"GapTicks":54765,"Mech_RPM":-1.95761178e-35,"cg_du":50.156147,"cg_dv":50.2132339,"cg_dw":49.7867661,"cg_id_a":-0.144759044,"cg_id_raw_a":0.0972241685,"cg_iq_a":0.523706675,"cg_iq_raw_a":0.0465743542,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14489217,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0842685848,"cg_vd_v":0.0842685848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377595454,"cg_vq_v":-0.377595454,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.608643,"values":{"Elec_RPM":-9.78805907e-35,"EncoderCos":38715,"EncoderSin":12456,"GapTicks":54775,"Mech_RPM":-1.95761178e-35,"cg_du":50.1492348,"cg_dv":50.2043839,"cg_dw":49.7956161,"cg_id_a":-0.0637718886,"cg_id_raw_a":0.226383016,"cg_iq_a":-0.433747113,"cg_iq_raw_a":-0.195126668,"cg_iu_a":0.0387773514,"cg_iv_a":-0.945673466,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9618187,"cg_sample_seq":14489267,"cg_sample_valid":1,"cg_theta_rad":5.00775766,"cg_vd_req_v":0.0826606676,"cg_vd_v":0.0826606676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362482846,"cg_vq_v":-0.362482846,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.3100281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.616455,"values":{"Elec_RPM":-9.59229793e-35,"EncoderCos":38740,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-1.91845959e-35,"cg_du":50.1546364,"cg_dv":50.2080231,"cg_dw":49.7919769,"cg_id_a":0.0474368185,"cg_id_raw_a":-0.0424119011,"cg_iq_a":-0.0221980512,"cg_iq_raw_a":-0.257954478,"cg_iu_a":-0.86731863,"cg_iv_a":-0.438259721,"cg_iw_a":1.30557835,"cg_sample_age_us":23.9581814,"cg_sample_seq":14489317,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0795130357,"cg_vd_v":0.0795130357,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371023566,"cg_vq_v":-0.371023566,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.3100281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.624268,"values":{"Elec_RPM":-9.59229793e-35,"EncoderCos":38712,"EncoderSin":12456,"GapTicks":54772,"Mech_RPM":-1.91845959e-35,"cg_du":50.1654663,"cg_dv":50.2064857,"cg_dw":49.7935143,"cg_id_a":0.360142827,"cg_id_raw_a":0.5443331,"cg_iq_a":-0.0556699,"cg_iq_raw_a":-0.636553168,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.954546,"cg_sample_seq":14489367,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.07199689,"cg_vd_v":0.07199689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373329461,"cg_vq_v":-0.373329461,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.418555617,"dclink_p_w":60.7594376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.63208,"values":{"Elec_RPM":-9.40045243e-35,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54772,"Mech_RPM":-1.88009043e-35,"cg_du":50.151741,"cg_dv":50.2067299,"cg_dw":49.7932701,"cg_id_a":-0.0810782164,"cg_id_raw_a":0.145823792,"cg_iq_a":-0.280008256,"cg_iq_raw_a":-0.0215983279,"cg_iu_a":0.00253343582,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9581814,"cg_sample_seq":14489416,"cg_sample_valid":1,"cg_theta_rad":5.00722504,"cg_vd_req_v":0.0813463405,"cg_vd_v":0.0813463405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366294533,"cg_vq_v":-0.366294533,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.452987194,"dclink_p_w":65.5584183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.639893,"values":{"Elec_RPM":-9.40045243e-35,"EncoderCos":38709,"EncoderSin":12439,"GapTicks":54770,"Mech_RPM":-1.88009043e-35,"cg_du":50.1581726,"cg_dv":50.2090416,"cg_dw":49.7909584,"cg_id_a":-0.0383697301,"cg_id_raw_a":0.0113234622,"cg_iq_a":0.0980167538,"cg_iq_raw_a":-0.143769726,"cg_iu_a":-0.396148682,"cg_iv_a":0.57656759,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9618187,"cg_sample_seq":14489467,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0808918029,"cg_vd_v":0.0808918029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3725335,"cg_vq_v":-0.3725335,"cg_vu_v":115.251846,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.667236,"values":{"Elec_RPM":-9.21244336e-35,"EncoderCos":38742,"EncoderSin":12488,"GapTicks":54766,"Mech_RPM":-1.84248867e-35,"cg_du":50.1533012,"cg_dv":50.2121162,"cg_dw":49.7878838,"cg_id_a":-0.129204243,"cg_id_raw_a":-0.093403101,"cg_iq_a":0.271568835,"cg_iq_raw_a":0.0650496781,"cg_iu_a":-0.396148682,"cg_iv_a":-0.184552908,"cg_iw_a":0.58070159,"cg_sample_age_us":26.4418182,"cg_sample_seq":14489520,"cg_sample_valid":1,"cg_theta_rad":5.00767231,"cg_vd_req_v":0.0836416185,"cg_vd_v":0.0836416185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374875754,"cg_vq_v":-0.374875754,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.675049,"values":{"Elec_RPM":-9.21244336e-35,"EncoderCos":38732,"EncoderSin":12425,"GapTicks":54764,"Mech_RPM":-1.84248867e-35,"cg_du":50.1604156,"cg_dv":50.2136803,"cg_dw":49.7863197,"cg_id_a":0.00489209592,"cg_id_raw_a":-0.0428073071,"cg_iq_a":0.455401063,"cg_iq_raw_a":0.615708351,"cg_iu_a":-0.178685665,"cg_iv_a":-0.583235025,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9509087,"cg_sample_seq":14489567,"cg_sample_valid":1,"cg_theta_rad":5.00878382,"cg_vd_req_v":0.0820589364,"cg_vd_v":0.0820589364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380438656,"cg_vq_v":-0.380438656,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.686768,"values":{"Elec_RPM":-9.02819495e-35,"EncoderCos":38728,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-1.80563896e-35,"cg_du":50.1596756,"cg_dv":50.2071495,"cg_dw":49.7928505,"cg_id_a":0.320456922,"cg_id_raw_a":0.305845857,"cg_iq_a":0.013139829,"cg_iq_raw_a":-0.370050251,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656765,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9872723,"cg_sample_seq":14489617,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0761371329,"cg_vd_v":0.0761371329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372354448,"cg_vq_v":-0.372354448,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.69458,"values":{"Elec_RPM":-8.84763144e-35,"EncoderCos":38745,"EncoderSin":12465,"GapTicks":54768,"Mech_RPM":-1.76952623e-35,"cg_du":50.153595,"cg_dv":50.2108536,"cg_dw":49.7891464,"cg_id_a":0.00263731927,"cg_id_raw_a":0.0957420841,"cg_iq_a":0.146532387,"cg_iq_raw_a":-0.39073056,"cg_iu_a":-0.214929581,"cg_iv_a":-0.402015924,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14489717,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.0825305134,"cg_vd_v":0.0825305134,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373243123,"cg_vq_v":-0.373243123,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.11159563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3209839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.702393,"values":{"Elec_RPM":-8.84763144e-35,"EncoderCos":38712,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-1.76952623e-35,"cg_du":50.1513748,"cg_dv":50.2074394,"cg_dw":49.7925606,"cg_id_a":-0.0784598142,"cg_id_raw_a":-0.21185191,"cg_iq_a":-0.142566532,"cg_iq_raw_a":0.11561922,"cg_iu_a":0.0387773514,"cg_iv_a":0.649055302,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.954546,"cg_sample_seq":14489766,"cg_sample_valid":1,"cg_theta_rad":5.00854111,"cg_vd_req_v":0.0836874247,"cg_vd_v":0.0836874247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366743028,"cg_vq_v":-0.366743028,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3209839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.710205,"values":{"Elec_RPM":-8.67067822e-35,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54770,"Mech_RPM":-1.7341357e-35,"cg_du":50.1539116,"cg_dv":50.2086372,"cg_dw":49.7913628,"cg_id_a":0.0998479277,"cg_id_raw_a":-0.0572921447,"cg_iq_a":0.137204275,"cg_iq_raw_a":-0.550525963,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9472733,"cg_sample_seq":14489816,"cg_sample_valid":1,"cg_theta_rad":5.00834179,"cg_vd_req_v":0.0803593397,"cg_vd_v":0.0803593397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370350063,"cg_vq_v":-0.370350063,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.721924,"values":{"Elec_RPM":-8.67067822e-35,"EncoderCos":38716,"EncoderSin":12450,"GapTicks":54769,"Mech_RPM":-1.7341357e-35,"cg_du":50.1664391,"cg_dv":50.2097473,"cg_dw":49.7902527,"cg_id_a":0.326565802,"cg_id_raw_a":0.0454108939,"cg_iq_a":0.632128358,"cg_iq_raw_a":-0.067500852,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592286,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.954546,"cg_sample_seq":14489866,"cg_sample_valid":1,"cg_theta_rad":5.00791597,"cg_vd_req_v":0.0744591057,"cg_vd_v":0.0744591057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379488468,"cg_vq_v":-0.379488468,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3131714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.729736,"values":{"Elec_RPM":-8.49726525e-35,"EncoderCos":38714,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-1.69945302e-35,"cg_du":50.1532593,"cg_dv":50.2073059,"cg_dw":49.7926941,"cg_id_a":-0.0424401239,"cg_id_raw_a":-0.270649433,"cg_iq_a":0.132483616,"cg_iq_raw_a":-0.0621285923,"cg_iu_a":-0.577367783,"cg_iv_a":0.21412921,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9472733,"cg_sample_seq":14489916,"cg_sample_valid":1,"cg_theta_rad":5.00640392,"cg_vd_req_v":0.0816559941,"cg_vd_v":0.0816559941,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368890822,"cg_vq_v":-0.368890822,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4598198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.737549,"values":{"Elec_RPM":-8.49726525e-35,"EncoderCos":38713,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-1.69945302e-35,"cg_du":50.1459961,"cg_dv":50.2059059,"cg_dw":49.7940941,"cg_id_a":-0.262200862,"cg_id_raw_a":-0.575969934,"cg_iq_a":-0.0701729655,"cg_iq_raw_a":-1.00383472,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14489966,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0867367536,"cg_vd_v":0.0867367536,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362718105,"cg_vq_v":-0.362718105,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.433053136,"dclink_p_w":62.8639641,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.764893,"values":{"Elec_RPM":-8.32732022e-35,"EncoderCos":38709,"EncoderSin":12460,"GapTicks":54782,"Mech_RPM":-1.66546399e-35,"cg_du":50.149704,"cg_dv":50.1977921,"cg_dw":49.8022079,"cg_id_a":0.184952393,"cg_id_raw_a":0.0824373886,"cg_iq_a":-0.418003023,"cg_iq_raw_a":0.191270918,"cg_iu_a":-0.178685904,"cg_iv_a":-0.293284416,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9763641,"cg_sample_seq":14490020,"cg_sample_valid":1,"cg_theta_rad":5.00778723,"cg_vd_req_v":0.0759984031,"cg_vd_v":0.0759984031,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352622151,"cg_vq_v":-0.352622151,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.451174974,"dclink_p_w":65.2961426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.772705,"values":{"Elec_RPM":-8.32732022e-35,"EncoderCos":38708,"EncoderSin":12490,"GapTicks":54780,"Mech_RPM":-1.66546399e-35,"cg_du":50.1585274,"cg_dv":50.1997299,"cg_dw":49.8002701,"cg_id_a":0.411112845,"cg_id_raw_a":0.512294292,"cg_iq_a":-0.186379731,"cg_iq_raw_a":0.525073946,"cg_iu_a":-0.468636274,"cg_iv_a":0.322860777,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9618187,"cg_sample_seq":14490067,"cg_sample_valid":1,"cg_theta_rad":5.00599909,"cg_vd_req_v":0.0701087564,"cg_vd_v":0.0701087564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359260798,"cg_vq_v":-0.359260798,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.605211318,"dclink_p_w":87.5889969,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.784424,"values":{"Elec_RPM":-8.1607731e-35,"EncoderCos":38753,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-1.63215468e-35,"cg_du":50.1435585,"cg_dv":50.2001572,"cg_dw":49.7998428,"cg_id_a":0.00359348208,"cg_id_raw_a":0.0174941812,"cg_iq_a":-0.308289051,"cg_iq_raw_a":-0.470672578,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9763641,"cg_sample_seq":14490117,"cg_sample_valid":1,"cg_theta_rad":5.008111,"cg_vd_req_v":0.0786960199,"cg_vd_v":0.0786960199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352251589,"cg_vq_v":-0.352251589,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.538353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.792236,"values":{"Elec_RPM":-8.1607731e-35,"EncoderCos":38768,"EncoderSin":12503,"GapTicks":54779,"Mech_RPM":-1.63215468e-35,"cg_du":50.1349525,"cg_dv":50.2007141,"cg_dw":49.7992859,"cg_id_a":-0.173619986,"cg_id_raw_a":0.205068439,"cg_iq_a":-0.417122185,"cg_iq_raw_a":0.0181260463,"cg_iu_a":0.256240129,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9763641,"cg_sample_seq":14490167,"cg_sample_valid":1,"cg_theta_rad":5.00726604,"cg_vd_req_v":0.084686026,"cg_vd_v":0.084686026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349699378,"cg_vq_v":-0.349699378,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.726628184,"dclink_p_w":105.161011,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.800049,"values":{"Elec_RPM":-7.99755789e-35,"EncoderCos":38719,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-1.59951161e-35,"cg_du":50.1382027,"cg_dv":50.2017441,"cg_dw":49.7982559,"cg_id_a":-0.211284608,"cg_id_raw_a":0.131868675,"cg_iq_a":-0.176169664,"cg_iq_raw_a":0.122811906,"cg_iu_a":0.256240129,"cg_iv_a":0.105397761,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.9290905,"cg_sample_seq":14490217,"cg_sample_valid":1,"cg_theta_rad":5.00588226,"cg_vd_req_v":0.0874087065,"cg_vd_v":0.0874087065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351858854,"cg_vq_v":-0.351858854,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.695820928,"dclink_p_w":100.702446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.807861,"values":{"Elec_RPM":-7.99755789e-35,"EncoderCos":38726,"EncoderSin":12450,"GapTicks":54775,"Mech_RPM":-1.59951161e-35,"cg_du":50.1471291,"cg_dv":50.2044563,"cg_dw":49.7955437,"cg_id_a":0.0510286205,"cg_id_raw_a":0.0350134484,"cg_iq_a":0.297516882,"cg_iq_raw_a":-0.177855819,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528213,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14490267,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0836307183,"cg_vd_v":0.0836307183,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361568868,"cg_vq_v":-0.361568868,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.6702576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.815674,"values":{"Elec_RPM":-7.83760744e-35,"EncoderCos":38732,"EncoderSin":12466,"GapTicks":54775,"Mech_RPM":-1.56752143e-35,"cg_du":50.1400337,"cg_dv":50.2042503,"cg_dw":49.7957497,"cg_id_a":-0.119011581,"cg_id_raw_a":0.0802760348,"cg_iq_a":-0.0389195383,"cg_iq_raw_a":0.445350915,"cg_iu_a":0.364971876,"cg_iv_a":0.177885473,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9836369,"cg_sample_seq":14490317,"cg_sample_valid":1,"cg_theta_rad":5.00633049,"cg_vd_req_v":0.0878682211,"cg_vd_v":0.0878682211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356427193,"cg_vq_v":-0.356427193,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.780993879,"dclink_p_w":113.372627,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.823486,"values":{"Elec_RPM":-7.83760744e-35,"EncoderCos":38701,"EncoderSin":12423,"GapTicks":54773,"Mech_RPM":-1.56752143e-35,"cg_du":50.1388245,"cg_dv":50.205925,"cg_dw":49.794075,"cg_id_a":-0.31193012,"cg_id_raw_a":0.138749406,"cg_iq_a":-0.0471019447,"cg_iq_raw_a":-0.749908328,"cg_iu_a":0.0750210285,"cg_iv_a":-0.836941957,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9290905,"cg_sample_seq":14490367,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0940150619,"cg_vd_v":0.0940150619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357110023,"cg_vq_v":-0.357110023,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.835205,"values":{"Elec_RPM":-7.68085458e-35,"EncoderCos":38696,"EncoderSin":12449,"GapTicks":54777,"Mech_RPM":-1.53617094e-35,"cg_du":50.1391068,"cg_dv":50.2021675,"cg_dw":49.7978325,"cg_id_a":-0.056828618,"cg_id_raw_a":0.164973795,"cg_iq_a":-0.204944611,"cg_iq_raw_a":0.200294763,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9872723,"cg_sample_seq":14490417,"cg_sample_valid":1,"cg_theta_rad":5.00674248,"cg_vd_req_v":0.0898725465,"cg_vd_v":0.0898725465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35224703,"cg_vq_v":-0.35224703,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.840796232,"dclink_p_w":121.683945,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3147278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.843018,"values":{"Elec_RPM":-7.68085458e-35,"EncoderCos":38717,"EncoderSin":12474,"GapTicks":54770,"Mech_RPM":-1.53617094e-35,"cg_du":50.1455116,"cg_dv":50.2087364,"cg_dw":49.7912636,"cg_id_a":-0.11133875,"cg_id_raw_a":-0.222751394,"cg_iq_a":0.490236789,"cg_iq_raw_a":0.306695998,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772128,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9763641,"cg_sample_seq":14490467,"cg_sample_valid":1,"cg_theta_rad":5.0063014,"cg_vd_req_v":0.0892249644,"cg_vd_v":0.0892249644,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366453081,"cg_vq_v":-0.366453081,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.753811002,"dclink_p_w":109.426636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.870361,"values":{"Elec_RPM":-7.37669254e-35,"EncoderCos":38696,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-1.47533854e-35,"cg_du":50.1494217,"cg_dv":50.2067413,"cg_dw":49.7932587,"cg_id_a":0.163939059,"cg_id_raw_a":0.204688907,"cg_iq_a":-0.0465213023,"cg_iq_raw_a":0.0220028963,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14490617,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.0858875364,"cg_vd_v":0.0858875364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36437887,"cg_vq_v":-0.36437887,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.1374969,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.878174,"values":{"Elec_RPM":-7.37669254e-35,"EncoderCos":38720,"EncoderSin":12491,"GapTicks":54771,"Mech_RPM":-1.47533854e-35,"cg_du":50.1446724,"cg_dv":50.2081718,"cg_dw":49.7918282,"cg_id_a":0.082377471,"cg_id_raw_a":0.628332615,"cg_iq_a":-0.0110341311,"cg_iq_raw_a":0.425436527,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.8672733,"cg_sample_seq":14490667,"cg_sample_valid":1,"cg_theta_rad":5.00592136,"cg_vd_req_v":0.0883876234,"cg_vd_v":0.0883876234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36427176,"cg_vq_v":-0.36427176,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3288269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.885986,"values":{"Elec_RPM":-7.22915882e-35,"EncoderCos":38716,"EncoderSin":12483,"GapTicks":54779,"Mech_RPM":-1.44583179e-35,"cg_du":50.1367073,"cg_dv":50.2004738,"cg_dw":49.7995262,"cg_id_a":0.0535591692,"cg_id_raw_a":0.0696111619,"cg_iq_a":-0.740666986,"cg_iq_raw_a":-0.101638921,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.994545,"cg_sample_seq":14490717,"cg_sample_valid":1,"cg_theta_rad":5.0055232,"cg_vd_req_v":0.0876840726,"cg_vd_v":0.0876840726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349211603,"cg_vq_v":-0.349211603,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.897705,"values":{"Elec_RPM":-7.22915882e-35,"EncoderCos":38746,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-1.44583179e-35,"cg_du":50.1389732,"cg_dv":50.2038422,"cg_dw":49.7961578,"cg_id_a":0.0268234536,"cg_id_raw_a":0.279222816,"cg_iq_a":-0.28847459,"cg_iq_raw_a":0.35407117,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14490767,"cg_sample_valid":1,"cg_theta_rad":5.00603485,"cg_vd_req_v":0.0874174461,"cg_vd_v":0.0874174461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356643856,"cg_vq_v":-0.356643856,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.905518,"values":{"Elec_RPM":-7.08457531e-35,"EncoderCos":38711,"EncoderSin":12499,"GapTicks":54775,"Mech_RPM":-1.41691509e-35,"cg_du":50.1480179,"cg_dv":50.2036667,"cg_dw":49.7963333,"cg_id_a":0.353799284,"cg_id_raw_a":0.0290676542,"cg_iq_a":-0.0467405617,"cg_iq_raw_a":1.38748765,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9509087,"cg_sample_seq":14490817,"cg_sample_valid":1,"cg_theta_rad":5.00716448,"cg_vd_req_v":0.0821740031,"cg_vd_v":0.0821740031,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360988975,"cg_vq_v":-0.360988975,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.91333,"values":{"Elec_RPM":-7.08457531e-35,"EncoderCos":38738,"EncoderSin":12490,"GapTicks":54766,"Mech_RPM":-1.41691509e-35,"cg_du":50.1431999,"cg_dv":50.2119102,"cg_dw":49.7880898,"cg_id_a":-0.254882813,"cg_id_raw_a":-0.688484371,"cg_iq_a":0.387147754,"cg_iq_raw_a":0.592447937,"cg_iu_a":-0.50488019,"cg_iv_a":0.214129269,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8563633,"cg_sample_seq":14490866,"cg_sample_valid":1,"cg_theta_rad":5.00814962,"cg_vd_req_v":0.0946805403,"cg_vd_v":0.0946805403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369343698,"cg_vq_v":-0.369343698,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.921143,"values":{"Elec_RPM":-6.94288404e-35,"EncoderCos":38684,"EncoderSin":12447,"GapTicks":54770,"Mech_RPM":-1.38857681e-35,"cg_du":50.1525421,"cg_dv":50.2082901,"cg_dw":49.7917099,"cg_id_a":0.143939048,"cg_id_raw_a":0.463430047,"cg_iq_a":0.216276348,"cg_iq_raw_a":0.160046071,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397761,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9581814,"cg_sample_seq":14490917,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0867139176,"cg_vd_v":0.0867139176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369015217,"cg_vq_v":-0.369015217,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0924825668,"dclink_p_w":-13.42519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.928955,"values":{"Elec_RPM":-6.94288404e-35,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-1.38857681e-35,"cg_du":50.1527023,"cg_dv":50.2155342,"cg_dw":49.7844658,"cg_id_a":0.0847189426,"cg_id_raw_a":0.997404575,"cg_iq_a":0.672225296,"cg_iq_raw_a":1.22141194,"cg_iu_a":-0.396148682,"cg_iv_a":-1.34435558,"cg_iw_a":1.74050426,"cg_sample_age_us":23.9254551,"cg_sample_seq":14490967,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.0875227973,"cg_vd_v":0.0875227973,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377970099,"cg_vq_v":-0.377970099,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.49967527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2958984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2624.960205,"values":{"Elec_RPM":-6.80402648e-35,"EncoderCos":38770,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-1.36080532e-35,"cg_du":50.1435432,"cg_dv":50.2061691,"cg_dw":49.7938309,"cg_id_a":0.317557782,"cg_id_raw_a":0.234504476,"cg_iq_a":-0.105508052,"cg_iq_raw_a":0.166198611,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":26.823637,"cg_sample_seq":14491020,"cg_sample_valid":1,"cg_theta_rad":5.00689125,"cg_vd_req_v":0.0832252651,"cg_vd_v":0.0832252651,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361884862,"cg_vq_v":-0.361884862,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.49967527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2624.96684,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2624.966844,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2624.966849,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2624.968018,"values":{"Elec_RPM":-6.80402648e-35,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54763,"Mech_RPM":-1.36080532e-35,"cg_du":50.1605034,"cg_dv":50.2150993,"cg_dw":49.7849007,"cg_id_a":0.309727579,"cg_id_raw_a":-0.319379449,"cg_iq_a":0.782930136,"cg_iq_raw_a":0.00530637056,"cg_iu_a":-1.41097593,"cg_iv_a":-0.329528213,"cg_iw_a":1.74050415,"cg_sample_age_us":23.9581814,"cg_sample_seq":14491067,"cg_sample_valid":1,"cg_theta_rad":5.00856876,"cg_vd_req_v":0.0840550959,"cg_vd_v":0.0840550959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382268488,"cg_vq_v":-0.382268488,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.49967527,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.97583,"values":{"Elec_RPM":-6.66794579e-35,"EncoderCos":38717,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-1.33358916e-35,"cg_du":50.147522,"cg_dv":50.2142868,"cg_dw":49.7857132,"cg_id_a":-0.163507193,"cg_id_raw_a":0.195160747,"cg_iq_a":0.367884964,"cg_iq_raw_a":-0.52638495,"cg_iu_a":-1.26600075,"cg_iv_a":0.0329101086,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9618187,"cg_sample_seq":14491117,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0928515047,"cg_vd_v":0.0928515047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375204653,"cg_vq_v":-0.375204653,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2624.983643,"values":{"Elec_RPM":-6.66794579e-35,"EncoderCos":38723,"EncoderSin":12511,"GapTicks":54768,"Mech_RPM":-1.33358916e-35,"cg_du":50.1350212,"cg_dv":50.2108269,"cg_dw":49.7891731,"cg_id_a":-0.331188321,"cg_id_raw_a":-0.0170490723,"cg_iq_a":-0.0428552479,"cg_iq_raw_a":0.144814759,"cg_iu_a":0.292484045,"cg_iv_a":0.10539782,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14491167,"cg_sample_valid":1,"cg_theta_rad":5.00553846,"cg_vd_req_v":0.0977970064,"cg_vd_v":0.0977970064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36267823,"cg_vq_v":-0.36267823,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.991455,"values":{"Elec_RPM":-6.53458687e-35,"EncoderCos":38711,"EncoderSin":12469,"GapTicks":54776,"Mech_RPM":-1.3069174e-35,"cg_du":50.1368828,"cg_dv":50.203476,"cg_dw":49.796524,"cg_id_a":0.0956918374,"cg_id_raw_a":-0.536013484,"cg_iq_a":-0.482706666,"cg_iq_raw_a":-0.562689185,"cg_iu_a":0.256240129,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9727268,"cg_sample_seq":14491217,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.0912106261,"cg_vd_v":0.0912106261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353198171,"cg_vq_v":-0.353198171,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.27014017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3052979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2624.999268,"values":{"Elec_RPM":-6.53458687e-35,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-1.3069174e-35,"cg_du":50.139801,"cg_dv":50.2110367,"cg_dw":49.7889633,"cg_id_a":-0.126772329,"cg_id_raw_a":0.0409425087,"cg_iq_a":0.0794913322,"cg_iq_raw_a":0.623854756,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14491267,"cg_sample_valid":1,"cg_theta_rad":5.00696993,"cg_vd_req_v":0.0951047018,"cg_vd_v":0.0951047018,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364222616,"cg_vq_v":-0.364222616,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.010986,"values":{"Elec_RPM":-6.4038952e-35,"EncoderCos":38746,"EncoderSin":12453,"GapTicks":54773,"Mech_RPM":-1.28077901e-35,"cg_du":50.1357117,"cg_dv":50.2055473,"cg_dw":49.7944527,"cg_id_a":0.0521525145,"cg_id_raw_a":0.290906638,"cg_iq_a":-0.358547032,"cg_iq_raw_a":-0.22694461,"cg_iu_a":0.546190858,"cg_iv_a":-0.148309112,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9509087,"cg_sample_seq":14491317,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0914330855,"cg_vd_v":0.0914330855,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354903102,"cg_vq_v":-0.354903102,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.4953194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.018799,"values":{"Elec_RPM":-6.4038952e-35,"EncoderCos":38728,"EncoderSin":12497,"GapTicks":54770,"Mech_RPM":-1.28077901e-35,"cg_du":50.1337051,"cg_dv":50.2083817,"cg_dw":49.7916183,"cg_id_a":-0.209705353,"cg_id_raw_a":-0.00543660391,"cg_iq_a":-0.146683306,"cg_iq_raw_a":0.691964924,"cg_iu_a":0.546190858,"cg_iv_a":-0.293284416,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9618187,"cg_sample_seq":14491367,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0961126536,"cg_vd_v":0.0961126536,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357537925,"cg_vq_v":-0.357537925,"cg_vu_v":136.806595,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.026611,"values":{"Elec_RPM":-6.27581683e-35,"EncoderCos":38720,"EncoderSin":12474,"GapTicks":54783,"Mech_RPM":-1.25516337e-35,"cg_du":50.1271057,"cg_dv":50.1971931,"cg_dw":49.8028069,"cg_id_a":0.0234162398,"cg_id_raw_a":-0.0272417832,"cg_iq_a":-0.907225072,"cg_iq_raw_a":-0.402424395,"cg_iu_a":0.691166162,"cg_iv_a":-0.220796764,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9618187,"cg_sample_seq":14491416,"cg_sample_valid":1,"cg_theta_rad":5.00776243,"cg_vd_req_v":0.0919272155,"cg_vd_v":0.0919272155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339385301,"cg_vq_v":-0.339385301,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.034424,"values":{"Elec_RPM":-6.27581683e-35,"EncoderCos":38730,"EncoderSin":12506,"GapTicks":54773,"Mech_RPM":-1.25516337e-35,"cg_du":50.1298904,"cg_dv":50.2059212,"cg_dw":49.7940788,"cg_id_a":-0.159414142,"cg_id_raw_a":-0.104269303,"cg_iq_a":-0.123893104,"cg_iq_raw_a":-0.0452908166,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9290905,"cg_sample_seq":14491467,"cg_sample_valid":1,"cg_theta_rad":5.00715828,"cg_vd_req_v":0.0966481566,"cg_vd_v":0.0966481566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353249997,"cg_vq_v":-0.353249997,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.065674,"values":{"Elec_RPM":-6.15030066e-35,"EncoderCos":38725,"EncoderSin":12488,"GapTicks":54779,"Mech_RPM":-1.23006013e-35,"cg_du":50.1376114,"cg_dv":50.2006989,"cg_dw":49.7993011,"cg_id_a":0.362205088,"cg_id_raw_a":0.0921698734,"cg_iq_a":-0.375559747,"cg_iq_raw_a":-1.88363719,"cg_iu_a":0.183752537,"cg_iv_a":0.902762175,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9618187,"cg_sample_seq":14491520,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0866208673,"cg_vd_v":0.0866208673,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351295799,"cg_vq_v":-0.351295799,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.073486,"values":{"Elec_RPM":-6.15030066e-35,"EncoderCos":38723,"EncoderSin":12498,"GapTicks":54777,"Mech_RPM":-1.23006013e-35,"cg_du":50.1281433,"cg_dv":50.2026558,"cg_dw":49.7973442,"cg_id_a":-0.0672851354,"cg_id_raw_a":0.0968059152,"cg_iq_a":-0.424713403,"cg_iq_raw_a":-0.390468299,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9472733,"cg_sample_seq":14491566,"cg_sample_valid":1,"cg_theta_rad":5.00693989,"cg_vd_req_v":0.0956136882,"cg_vd_v":0.0956136882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347619712,"cg_vq_v":-0.347619712,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3068848,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.081299,"values":{"Elec_RPM":-6.02729505e-35,"EncoderCos":38719,"EncoderSin":12462,"GapTicks":54773,"Mech_RPM":-1.20545898e-35,"cg_du":50.1339569,"cg_dv":50.2060204,"cg_dw":49.7939796,"cg_id_a":-0.0146954693,"cg_id_raw_a":0.14486675,"cg_iq_a":0.0179691762,"cg_iq_raw_a":0.415696025,"cg_iu_a":0.582434893,"cg_iv_a":0.39534843,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9654541,"cg_sample_seq":14491616,"cg_sample_valid":1,"cg_theta_rad":5.00892591,"cg_vd_req_v":0.0955072418,"cg_vd_v":0.0955072418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355131686,"cg_vq_v":-0.355131686,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3162842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.089111,"values":{"Elec_RPM":-6.02729505e-35,"EncoderCos":38716,"EncoderSin":12443,"GapTicks":54775,"Mech_RPM":-1.20545898e-35,"cg_du":50.1263466,"cg_dv":50.2041855,"cg_dw":49.7958145,"cg_id_a":-0.279408813,"cg_id_raw_a":-0.302188694,"cg_iq_a":-0.436454028,"cg_iq_raw_a":0.0432689078,"cg_iu_a":0.763653994,"cg_iv_a":-0.945673347,"cg_iw_a":0.182019353,"cg_sample_age_us":23.863636,"cg_sample_seq":14491667,"cg_sample_valid":1,"cg_theta_rad":5.00620413,"cg_vd_req_v":0.100077704,"cg_vd_v":0.100077704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347104967,"cg_vq_v":-0.347104967,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2896423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.096924,"values":{"Elec_RPM":-5.90674891e-35,"EncoderCos":38693,"EncoderSin":12446,"GapTicks":54773,"Mech_RPM":-1.1813498e-35,"cg_du":50.1408653,"cg_dv":50.2062721,"cg_dw":49.7937279,"cg_id_a":0.0422807224,"cg_id_raw_a":-0.098377198,"cg_iq_a":0.168508142,"cg_iq_raw_a":0.500649452,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065196,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9254551,"cg_sample_seq":14491717,"cg_sample_valid":1,"cg_theta_rad":5.00766706,"cg_vd_req_v":0.0931303054,"cg_vd_v":0.0931303054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359803379,"cg_vq_v":-0.359803379,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2896423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.104736,"values":{"Elec_RPM":-5.90674891e-35,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-1.1813498e-35,"cg_du":50.1378517,"cg_dv":50.2099304,"cg_dw":49.7900696,"cg_id_a":-0.0725140646,"cg_id_raw_a":-0.442800045,"cg_iq_a":0.285295367,"cg_iq_raw_a":0.869111478,"cg_iu_a":-0.577368021,"cg_iv_a":0.0329101086,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9909096,"cg_sample_seq":14491767,"cg_sample_valid":1,"cg_theta_rad":5.00674534,"cg_vd_req_v":0.0950673372,"cg_vd_v":0.0950673372,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364121348,"cg_vq_v":-0.364121348,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.926693,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2974548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.112549,"values":{"Elec_RPM":-5.78861402e-35,"EncoderCos":38724,"EncoderSin":12477,"GapTicks":54775,"Mech_RPM":-1.15772282e-35,"cg_du":50.1343803,"cg_dv":50.2043266,"cg_dw":49.7956734,"cg_id_a":-0.032475166,"cg_id_raw_a":0.11112608,"cg_iq_a":-0.285173148,"cg_iq_raw_a":-0.0977220461,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14491817,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.0930424258,"cg_vd_v":0.0930424258,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354343146,"cg_vq_v":-0.354343146,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.20834136,"dclink_p_w":30.2437801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2880554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.124268,"values":{"Elec_RPM":-5.78861402e-35,"EncoderCos":38728,"EncoderSin":12456,"GapTicks":54769,"Mech_RPM":-1.15772282e-35,"cg_du":50.1395378,"cg_dv":50.2098083,"cg_dw":49.7901917,"cg_id_a":-0.0238485392,"cg_id_raw_a":-0.097693108,"cg_iq_a":0.107738912,"cg_iq_raw_a":0.756022871,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9181824,"cg_sample_seq":14491867,"cg_sample_valid":1,"cg_theta_rad":5.00666237,"cg_vd_req_v":0.0942227617,"cg_vd_v":0.0942227617,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363566667,"cg_vq_v":-0.363566667,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2880554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.13208,"values":{"Elec_RPM":-5.67284161e-35,"EncoderCos":38713,"EncoderSin":12460,"GapTicks":54771,"Mech_RPM":-1.13456836e-35,"cg_du":50.1420784,"cg_dv":50.2073364,"cg_dw":49.7926636,"cg_id_a":0.122116253,"cg_id_raw_a":0.243630275,"cg_iq_a":0.0585437752,"cg_iq_raw_a":-0.156938896,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9799995,"cg_sample_seq":14491917,"cg_sample_valid":1,"cg_theta_rad":5.006567,"cg_vd_req_v":0.0909637287,"cg_vd_v":0.0909637287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361347079,"cg_vq_v":-0.361347079,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2958984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.139893,"values":{"Elec_RPM":-5.67284161e-35,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-1.13456836e-35,"cg_du":50.1316338,"cg_dv":50.2093506,"cg_dw":49.7906494,"cg_id_a":-0.332886606,"cg_id_raw_a":0.144960657,"cg_iq_a":-0.129656523,"cg_iq_raw_a":-0.640316069,"cg_iu_a":-0.323661089,"cg_iv_a":-0.873185754,"cg_iw_a":1.19684684,"cg_sample_age_us":23.9509087,"cg_sample_seq":14491967,"cg_sample_valid":1,"cg_theta_rad":5.00844622,"cg_vd_req_v":0.101200804,"cg_vd_v":0.101200804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358171672,"cg_vq_v":-0.358171672,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2958984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.167236,"values":{"Elec_RPM":-5.55938516e-35,"EncoderCos":38735,"EncoderSin":12490,"GapTicks":54762,"Mech_RPM":-1.11187703e-35,"cg_du":50.1336708,"cg_dv":50.2155075,"cg_dw":49.7844925,"cg_id_a":-0.33151257,"cg_id_raw_a":0.168524235,"cg_iq_a":0.30583927,"cg_iq_raw_a":-0.493133903,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616981,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9618187,"cg_sample_seq":14492020,"cg_sample_valid":1,"cg_theta_rad":5.00738716,"cg_vd_req_v":0.102918983,"cg_vd_v":0.102918983,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368434459,"cg_vq_v":-0.368434459,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2583008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.178955,"values":{"Elec_RPM":-5.55938516e-35,"EncoderCos":38724,"EncoderSin":12465,"GapTicks":54772,"Mech_RPM":-1.11187703e-35,"cg_du":50.1400223,"cg_dv":50.2070961,"cg_dw":49.7929039,"cg_id_a":0.0671478659,"cg_id_raw_a":0.197810188,"cg_iq_a":-0.0204701237,"cg_iq_raw_a":0.0928615257,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9872723,"cg_sample_seq":14492067,"cg_sample_valid":1,"cg_theta_rad":5.00888824,"cg_vd_req_v":0.0915921256,"cg_vd_v":0.0915921256,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361218572,"cg_vq_v":-0.361218572,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.5244656,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.186768,"values":{"Elec_RPM":-5.44819763e-35,"EncoderCos":38708,"EncoderSin":12471,"GapTicks":54773,"Mech_RPM":-1.0896395e-35,"cg_du":50.1349258,"cg_dv":50.2059517,"cg_dw":49.7940483,"cg_id_a":-0.125505731,"cg_id_raw_a":0.180312023,"cg_iq_a":-0.311754793,"cg_iq_raw_a":0.0553452224,"cg_iu_a":0.872385383,"cg_iv_a":0.286616921,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9690914,"cg_sample_seq":14492116,"cg_sample_valid":1,"cg_theta_rad":5.00703621,"cg_vd_req_v":0.0956398174,"cg_vd_v":0.0956398174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356480986,"cg_vq_v":-0.356480986,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.19458,"values":{"Elec_RPM":-5.44819763e-35,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-1.0896395e-35,"cg_du":50.1339455,"cg_dv":50.2101479,"cg_dw":49.7898521,"cg_id_a":-0.30854556,"cg_id_raw_a":-0.0585523285,"cg_iq_a":-0.210784301,"cg_iq_raw_a":-0.296249956,"cg_iu_a":0.473703146,"cg_iv_a":-0.510747313,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14492166,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0992344394,"cg_vd_v":0.0992344394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36081028,"cg_vq_v":-0.36081028,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.3676777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.294342,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.202393,"values":{"Elec_RPM":-5.33923367e-35,"EncoderCos":38739,"EncoderSin":12458,"GapTicks":54761,"Mech_RPM":-1.06784672e-35,"cg_du":50.147213,"cg_dv":50.2166328,"cg_dw":49.7833672,"cg_id_a":-0.0874462202,"cg_id_raw_a":0.426409155,"cg_iq_a":0.756421149,"cg_iq_raw_a":1.46076655,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.655722797,"cg_iw_a":0.689433038,"cg_sample_age_us":23.8527279,"cg_sample_seq":14492216,"cg_sample_valid":1,"cg_theta_rad":5.00775385,"cg_vd_req_v":0.0938328654,"cg_vd_v":0.0938328654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377400637,"cg_vq_v":-0.377400637,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.210205,"values":{"Elec_RPM":-5.33923367e-35,"EncoderCos":38684,"EncoderSin":12447,"GapTicks":54771,"Mech_RPM":-1.06784672e-35,"cg_du":50.144825,"cg_dv":50.2074242,"cg_dw":49.7925758,"cg_id_a":-0.0154550374,"cg_id_raw_a":0.269481421,"cg_iq_a":-0.137023374,"cg_iq_raw_a":-0.188908324,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772069,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9509087,"cg_sample_seq":14492266,"cg_sample_valid":1,"cg_theta_rad":5.00628519,"cg_vd_req_v":0.0916091204,"cg_vd_v":0.0916091204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362336814,"cg_vq_v":-0.362336814,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.612581491,"dclink_p_w":-88.3861694,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.218018,"values":{"Elec_RPM":-5.23244908e-35,"EncoderCos":38733,"EncoderSin":12497,"GapTicks":54770,"Mech_RPM":-1.0464898e-35,"cg_du":50.1390381,"cg_dv":50.2087059,"cg_dw":49.7912941,"cg_id_a":-0.194654018,"cg_id_raw_a":-0.762872338,"cg_iq_a":-0.0900978446,"cg_iq_raw_a":0.257522225,"cg_iu_a":-1.55595136,"cg_iv_a":0.39534843,"cg_iw_a":1.16060293,"cg_sample_age_us":23.8600006,"cg_sample_seq":14492317,"cg_sample_valid":1,"cg_theta_rad":5.00798368,"cg_vd_req_v":0.0921115875,"cg_vd_v":0.0921115875,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362153351,"cg_vq_v":-0.362153351,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.715876341,"dclink_p_w":-103.604958,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.22583,"values":{"Elec_RPM":-5.23244908e-35,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-1.0464898e-35,"cg_du":50.1477928,"cg_dv":50.2044525,"cg_dw":49.7955475,"cg_id_a":0.228585541,"cg_id_raw_a":-0.464577615,"cg_iq_a":-0.10600552,"cg_iq_raw_a":-0.66335696,"cg_iu_a":-0.106198072,"cg_iv_a":0.721542954,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9254551,"cg_sample_seq":14492366,"cg_sample_valid":1,"cg_theta_rad":5.00842047,"cg_vd_req_v":0.0828672945,"cg_vd_v":0.0828672945,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361992598,"cg_vq_v":-0.361992598,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.773866653,"dclink_p_w":-112.338005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.237549,"values":{"Elec_RPM":-5.12780023e-35,"EncoderCos":38745,"EncoderSin":12479,"GapTicks":54777,"Mech_RPM":-1.02555999e-35,"cg_du":50.1357079,"cg_dv":50.2026367,"cg_dw":49.7973633,"cg_id_a":-0.0920449346,"cg_id_raw_a":0.275270224,"cg_iq_a":-0.50044632,"cg_iq_raw_a":-0.519956529,"cg_iu_a":0.292484045,"cg_iv_a":-0.112065256,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9509087,"cg_sample_seq":14492416,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0886177048,"cg_vd_v":0.0886177048,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353220344,"cg_vq_v":-0.353220344,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.90434432,"dclink_p_w":-130.88092,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.245361,"values":{"Elec_RPM":-5.12780023e-35,"EncoderCos":38700,"EncoderSin":12471,"GapTicks":54778,"Mech_RPM":-1.02555999e-35,"cg_du":50.1444702,"cg_dv":50.2015495,"cg_dw":49.7984505,"cg_id_a":0.149019554,"cg_id_raw_a":-0.0350812674,"cg_iq_a":-0.38621062,"cg_iq_raw_a":-0.512845933,"cg_iu_a":-0.178685665,"cg_iv_a":0.322860718,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14492466,"cg_sample_valid":1,"cg_theta_rad":5.00615978,"cg_vd_req_v":0.0842226818,"cg_vd_v":0.0842226818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354657471,"cg_vq_v":-0.354657471,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.03301001,"dclink_p_w":-149.502014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.272705,"values":{"Elec_RPM":-5.02524409e-35,"EncoderCos":38692,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.00504882e-35,"cg_du":50.1433754,"cg_dv":50.2064285,"cg_dw":49.7935715,"cg_id_a":-0.147096634,"cg_id_raw_a":-0.00345181744,"cg_iq_a":-0.140649676,"cg_iq_raw_a":0.000447287894,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":1.05187142,"cg_sample_age_us":23.863636,"cg_sample_seq":14492521,"cg_sample_valid":1,"cg_theta_rad":5.00716925,"cg_vd_req_v":0.0902875513,"cg_vd_v":0.0902875513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360538751,"cg_vq_v":-0.360538751,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.03301001,"dclink_p_w":-149.502014,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.280518,"values":{"Elec_RPM":-5.02524409e-35,"EncoderCos":38698,"EncoderSin":12475,"GapTicks":54770,"Mech_RPM":-1.00504882e-35,"cg_du":50.1433449,"cg_dv":50.2088242,"cg_dw":49.7911758,"cg_id_a":-0.258490086,"cg_id_raw_a":0.00123321521,"cg_iq_a":0.0752619356,"cg_iq_raw_a":0.365267277,"cg_iu_a":-0.14244175,"cg_iv_a":-0.257040501,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9836369,"cg_sample_seq":14492566,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0922892541,"cg_vd_v":0.0922892541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363860548,"cg_vq_v":-0.363860548,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.08737564,"dclink_p_w":-157.370071,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.292236,"values":{"Elec_RPM":-4.92473932e-35,"EncoderCos":38678,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-9.84947821e-36,"cg_du":50.1435852,"cg_dv":50.2025261,"cg_dw":49.7974739,"cg_id_a":0.0282479953,"cg_id_raw_a":0.208528653,"cg_iq_a":-0.369209737,"cg_iq_raw_a":-0.596355498,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9509087,"cg_sample_seq":14492616,"cg_sample_valid":1,"cg_theta_rad":5.00773191,"cg_vd_req_v":0.0879877582,"cg_vd_v":0.0879877582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354959399,"cg_vq_v":-0.354959399,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.21422911,"dclink_p_w":-175.728882,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.300049,"values":{"Elec_RPM":-4.92473932e-35,"EncoderCos":38726,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-9.84947821e-36,"cg_du":50.1431236,"cg_dv":50.2016144,"cg_dw":49.7983856,"cg_id_a":0.116446033,"cg_id_raw_a":0.315908253,"cg_iq_a":-0.260614723,"cg_iq_raw_a":-0.69703126,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129269,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9654541,"cg_sample_seq":14492666,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0834498331,"cg_vd_v":0.0834498331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355567485,"cg_vq_v":-0.355567485,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.4298799,"dclink_p_w":-206.938873,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.307861,"values":{"Elec_RPM":-4.8262446e-35,"EncoderCos":38740,"EncoderSin":12503,"GapTicks":54769,"Mech_RPM":-9.65248892e-36,"cg_du":50.1424866,"cg_dv":50.2091293,"cg_dw":49.7908707,"cg_id_a":-0.216181338,"cg_id_raw_a":-0.194097653,"cg_iq_a":0.252566576,"cg_iq_raw_a":0.711026371,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9618187,"cg_sample_seq":14492716,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0893460438,"cg_vd_v":0.0893460438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365945816,"cg_vq_v":-0.365945816,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.33383369,"dclink_p_w":-193.625366,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.31958,"values":{"Elec_RPM":-4.8262446e-35,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-9.65248892e-36,"cg_du":50.1509819,"cg_dv":50.2034149,"cg_dw":49.7965851,"cg_id_a":0.18629694,"cg_id_raw_a":-0.461710066,"cg_iq_a":-0.0447085164,"cg_iq_raw_a":-0.6653561,"cg_iu_a":-0.323661089,"cg_iv_a":0.540323794,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9799995,"cg_sample_seq":14492766,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0809053108,"cg_vd_v":0.0809053108,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362026453,"cg_vq_v":-0.362026453,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-1.33745813,"dclink_p_w":-193.563171,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.327393,"values":{"Elec_RPM":-4.63512518e-35,"EncoderCos":38734,"EncoderSin":12507,"GapTicks":54772,"Mech_RPM":-9.27025022e-36,"cg_du":50.1423721,"cg_dv":50.2066994,"cg_dw":49.7933006,"cg_id_a":-0.0309080556,"cg_id_raw_a":0.28770864,"cg_iq_a":0.0886484683,"cg_iq_raw_a":0.71881032,"cg_iu_a":0.111264944,"cg_iv_a":-0.655722737,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9836369,"cg_sample_seq":14492917,"cg_sample_valid":1,"cg_theta_rad":5.00634193,"cg_vd_req_v":0.0869519264,"cg_vd_v":0.0869519264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360259444,"cg_vq_v":-0.360259444,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-1.31208754,"dclink_p_w":-189.891418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.3005981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.335205,"values":{"Elec_RPM":-4.63512518e-35,"EncoderCos":38708,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-9.27025022e-36,"cg_du":50.1510849,"cg_dv":50.2082481,"cg_dw":49.7917519,"cg_id_a":0.0147224609,"cg_id_raw_a":-0.686703146,"cg_iq_a":0.393489242,"cg_iq_raw_a":0.513811529,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8600006,"cg_sample_seq":14492967,"cg_sample_valid":1,"cg_theta_rad":5.00673771,"cg_vd_req_v":0.0856765509,"cg_vd_v":0.0856765509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368631065,"cg_vq_v":-0.368631065,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.51686525,"dclink_p_w":-219.527802,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.3037415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.362549,"values":{"Elec_RPM":-4.54242241e-35,"EncoderCos":38752,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-9.08484511e-36,"cg_du":50.1432991,"cg_dv":50.2099075,"cg_dw":49.7900925,"cg_id_a":-0.104464456,"cg_id_raw_a":0.326685429,"cg_iq_a":0.300048858,"cg_iq_raw_a":0.539340436,"cg_iu_a":-0.106198072,"cg_iv_a":-0.583235025,"cg_iw_a":0.689433098,"cg_sample_age_us":23.8527279,"cg_sample_seq":14493022,"cg_sample_valid":1,"cg_theta_rad":5.0082674,"cg_vd_req_v":0.0888074115,"cg_vd_v":0.0888074115,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367620766,"cg_vq_v":-0.367620766,"cg_vu_v":143.844864,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-1.51686525,"dclink_p_w":-219.527802,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.278656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.370361,"values":{"Elec_RPM":-4.54242241e-35,"EncoderCos":38712,"EncoderSin":12423,"GapTicks":54780,"Mech_RPM":-9.08484511e-36,"cg_du":50.1479187,"cg_dv":50.1996765,"cg_dw":49.8003235,"cg_id_a":0.274327099,"cg_id_raw_a":0.852625608,"cg_iq_a":-0.227273151,"cg_iq_raw_a":-1.36889207,"cg_iu_a":0.836141586,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9581814,"cg_sample_seq":14493066,"cg_sample_valid":1,"cg_theta_rad":5.00804949,"cg_vd_req_v":0.0801374391,"cg_vd_v":0.0801374391,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35509944,"cg_vq_v":-0.35509944,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-1.51686525,"dclink_p_w":-219.527802,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.278656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.378174,"values":{"Elec_RPM":-4.45157386e-35,"EncoderCos":38708,"EncoderSin":12438,"GapTicks":54771,"Mech_RPM":-8.90314786e-36,"cg_du":50.1449852,"cg_dv":50.2076607,"cg_dw":49.7923393,"cg_id_a":-0.058823891,"cg_id_raw_a":0.0113662425,"cg_iq_a":0.223514929,"cg_iq_raw_a":-0.143766358,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263149,"cg_sample_age_us":23.863636,"cg_sample_seq":14493116,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0899600238,"cg_vd_v":0.0899600238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363185227,"cg_vq_v":-0.363185227,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-1.38819957,"dclink_p_w":-201.517365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.385986,"values":{"Elec_RPM":-4.45157386e-35,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-8.90314786e-36,"cg_du":50.1309319,"cg_dv":50.2059097,"cg_dw":49.7940903,"cg_id_a":-0.466688991,"cg_id_raw_a":-0.559360623,"cg_iq_a":-0.272116333,"cg_iq_raw_a":0.0898050219,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9654541,"cg_sample_seq":14493166,"cg_sample_valid":1,"cg_theta_rad":5.00764418,"cg_vd_req_v":0.0987674519,"cg_vd_v":0.0987674519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353004545,"cg_vq_v":-0.353004545,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-1.33020949,"dclink_p_w":-192.514114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2927551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.393799,"values":{"Elec_RPM":-4.36254222e-35,"EncoderCos":38745,"EncoderSin":12464,"GapTicks":54775,"Mech_RPM":-8.72508458e-36,"cg_du":50.1412277,"cg_dv":50.2039108,"cg_dw":49.7960892,"cg_id_a":0.212717265,"cg_id_raw_a":0.246591389,"cg_iq_a":0.0574530363,"cg_iq_raw_a":0.0236038789,"cg_iu_a":-0.50488019,"cg_iv_a":0.0329101086,"cg_iw_a":0.471970081,"cg_sample_age_us":23.954546,"cg_sample_seq":14493216,"cg_sample_valid":1,"cg_theta_rad":5.00810862,"cg_vd_req_v":0.0855964646,"cg_vd_v":0.0855964646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356875539,"cg_vq_v":-0.356875539,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-1.33020949,"dclink_p_w":-192.514114,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.405518,"values":{"Elec_RPM":-4.36254222e-35,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-8.72508458e-36,"cg_du":50.1373062,"cg_dv":50.2087135,"cg_dw":49.7912865,"cg_id_a":-0.0880354792,"cg_id_raw_a":-0.656271219,"cg_iq_a":-0.0985658988,"cg_iq_raw_a":0.665723443,"cg_iu_a":0.328727961,"cg_iv_a":0.214129329,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.863636,"cg_sample_seq":14493266,"cg_sample_valid":1,"cg_theta_rad":5.00730991,"cg_vd_req_v":0.0912753418,"cg_vd_v":0.0912753418,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354623526,"cg_vq_v":-0.354623526,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2880554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.41333,"values":{"Elec_RPM":-4.27529132e-35,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54777,"Mech_RPM":-8.55058279e-36,"cg_du":50.1319351,"cg_dv":50.2020454,"cg_dw":49.7979546,"cg_id_a":-0.123408012,"cg_id_raw_a":-0.420040071,"cg_iq_a":-0.284077436,"cg_iq_raw_a":-0.0395295434,"cg_iu_a":1.19857991,"cg_iv_a":0.540323853,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.863636,"cg_sample_seq":14493317,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0926276967,"cg_vd_v":0.0926276967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349885762,"cg_vq_v":-0.349885762,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2880554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.421143,"values":{"Elec_RPM":-4.27529132e-35,"EncoderCos":38694,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-8.55058279e-36,"cg_du":50.1347961,"cg_dv":50.2046432,"cg_dw":49.7953568,"cg_id_a":-0.256788373,"cg_id_raw_a":0.393743336,"cg_iq_a":0.0112117976,"cg_iq_raw_a":-0.176745832,"cg_iu_a":-0.0699543953,"cg_iv_a":0.214129329,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14493367,"cg_sample_valid":1,"cg_theta_rad":5.0061388,"cg_vd_req_v":0.0958298221,"cg_vd_v":0.0958298221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354262471,"cg_vq_v":-0.354262471,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-1.07831478,"dclink_p_w":-156.058731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7581787,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.432861,"values":{"Elec_RPM":-4.18978559e-35,"EncoderCos":38729,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-8.37957146e-36,"cg_du":50.1434288,"cg_dv":50.2064552,"cg_dw":49.7935448,"cg_id_a":0.128523543,"cg_id_raw_a":0.664339304,"cg_iq_a":0.331620723,"cg_iq_raw_a":0.937591732,"cg_iu_a":-0.323661089,"cg_iv_a":-0.510747313,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9509087,"cg_sample_seq":14493417,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0871818289,"cg_vd_v":0.0871818289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36136362,"cg_vq_v":-0.36136362,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-1.1145587,"dclink_p_w":-161.304123,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.440674,"values":{"Elec_RPM":-4.18978559e-35,"EncoderCos":38715,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-8.37957146e-36,"cg_du":50.1562309,"cg_dv":50.2097855,"cg_dw":49.7902145,"cg_id_a":0.302111864,"cg_id_raw_a":0.219253704,"cg_iq_a":0.706679463,"cg_iq_raw_a":-0.122862644,"cg_iu_a":0.61867857,"cg_iv_a":-0.148309112,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9872723,"cg_sample_seq":14493467,"cg_sample_valid":1,"cg_theta_rad":5.0095396,"cg_vd_req_v":0.0824282914,"cg_vd_v":0.0824282914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372606933,"cg_vq_v":-0.372606933,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-1.11274648,"dclink_p_w":-161.041855,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2849426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.448486,"values":{"Elec_RPM":-4.10599029e-35,"EncoderCos":38738,"EncoderSin":12454,"GapTicks":54776,"Mech_RPM":-8.21198029e-36,"cg_du":50.147316,"cg_dv":50.2027512,"cg_dw":49.7972488,"cg_id_a":0.3923527,"cg_id_raw_a":-0.0718294978,"cg_iq_a":0.0390489101,"cg_iq_raw_a":0.722121179,"cg_iu_a":-1.51970768,"cg_iv_a":0.0691540241,"cg_iw_a":1.45055366,"cg_sample_age_us":23.9290905,"cg_sample_seq":14493517,"cg_sample_valid":1,"cg_theta_rad":5.00721264,"cg_vd_req_v":0.0804994777,"cg_vd_v":0.0804994777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358501583,"cg_vq_v":-0.358501583,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.14899015,"dclink_p_w":-165.781769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2598572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.47583,"values":{"Elec_RPM":-4.10599029e-35,"EncoderCos":38749,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-8.21198029e-36,"cg_du":50.1392975,"cg_dv":50.2013245,"cg_dw":49.7986755,"cg_id_a":0.205263004,"cg_id_raw_a":-0.258048773,"cg_iq_a":-0.216698468,"cg_iq_raw_a":-0.204491049,"cg_iu_a":-1.12102532,"cg_iv_a":-0.00333368778,"cg_iw_a":1.12435901,"cg_sample_age_us":23.8781815,"cg_sample_seq":14493570,"cg_sample_valid":1,"cg_theta_rad":5.00632715,"cg_vd_req_v":0.0839101896,"cg_vd_v":0.0839101896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352438331,"cg_vq_v":-0.352438331,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.14899015,"dclink_p_w":-165.781769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2598572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.483643,"values":{"Elec_RPM":-4.02387013e-35,"EncoderCos":38683,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-8.0477404e-36,"cg_du":50.1341286,"cg_dv":50.2036514,"cg_dw":49.7963486,"cg_id_a":-0.345631093,"cg_id_raw_a":0.137113959,"cg_iq_a":-0.234260008,"cg_iq_raw_a":-0.93229574,"cg_iu_a":0.727410197,"cg_iv_a":-0.728210449,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8672733,"cg_sample_seq":14493616,"cg_sample_valid":1,"cg_theta_rad":5.00550938,"cg_vd_req_v":0.095512338,"cg_vd_v":0.095512338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351354957,"cg_vq_v":-0.351354957,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.14899015,"dclink_p_w":-165.781769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.491455,"values":{"Elec_RPM":-4.02387013e-35,"EncoderCos":38706,"EncoderSin":12495,"GapTicks":54775,"Mech_RPM":-8.0477404e-36,"cg_du":50.1391335,"cg_dv":50.20438,"cg_dw":49.79562,"cg_id_a":-0.107065275,"cg_id_raw_a":-0.00344986143,"cg_iq_a":0.0730927736,"cg_iq_raw_a":0.000461778167,"cg_iu_a":-0.178685665,"cg_iv_a":-0.655722737,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9618187,"cg_sample_seq":14493667,"cg_sample_valid":1,"cg_theta_rad":5.00635004,"cg_vd_req_v":0.0903674141,"cg_vd_v":0.0903674141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356829435,"cg_vq_v":-0.356829435,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.971395493,"dclink_p_w":-140.584885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.503174,"values":{"Elec_RPM":-3.94339296e-35,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-7.88678577e-36,"cg_du":50.1410675,"cg_dv":50.2079201,"cg_dw":49.7920799,"cg_id_a":-0.111358553,"cg_id_raw_a":-0.149915487,"cg_iq_a":0.290560424,"cg_iq_raw_a":-0.231597438,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9581814,"cg_sample_seq":14493717,"cg_sample_valid":1,"cg_theta_rad":5.00664759,"cg_vd_req_v":0.0899067745,"cg_vd_v":0.0899067745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362177521,"cg_vq_v":-0.362177521,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.971395493,"dclink_p_w":-140.584885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.510986,"values":{"Elec_RPM":-3.94339296e-35,"EncoderCos":38776,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-7.88678577e-36,"cg_du":50.1358871,"cg_dv":50.2057114,"cg_dw":49.7942886,"cg_id_a":-0.0635643601,"cg_id_raw_a":0.110012315,"cg_iq_a":-0.0241411924,"cg_iq_raw_a":-0.0989741012,"cg_iu_a":-0.178685904,"cg_iv_a":0.141641617,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9618187,"cg_sample_seq":14493768,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0886129662,"cg_vd_v":0.0886129662,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355938315,"cg_vq_v":-0.355938315,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.611259,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2723694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.518799,"values":{"Elec_RPM":-3.86452521e-35,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54773,"Mech_RPM":-7.72905042e-36,"cg_du":50.1452866,"cg_dv":50.2059822,"cg_dw":49.7940178,"cg_id_a":0.0669176877,"cg_id_raw_a":0.153050289,"cg_iq_a":0.244172379,"cg_iq_raw_a":-0.093271561,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.9618187,"cg_sample_seq":14493817,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0865667388,"cg_vd_v":0.0865667388,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360285282,"cg_vq_v":-0.360285282,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2833862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.526611,"values":{"Elec_RPM":-3.86452521e-35,"EncoderCos":38716,"EncoderSin":12458,"GapTicks":54777,"Mech_RPM":-7.72905042e-36,"cg_du":50.1401367,"cg_dv":50.2021332,"cg_dw":49.7978668,"cg_id_a":0.111521155,"cg_id_raw_a":0.19041723,"cg_iq_a":0.0578224435,"cg_iq_raw_a":0.165447071,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9581814,"cg_sample_seq":14493867,"cg_sample_valid":1,"cg_theta_rad":5.00609589,"cg_vd_req_v":0.0872159302,"cg_vd_v":0.0872159302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353240371,"cg_vq_v":-0.353240371,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2833862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.534424,"values":{"Elec_RPM":-3.78723502e-35,"EncoderCos":38742,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-7.57446975e-36,"cg_du":50.1315384,"cg_dv":50.2036896,"cg_dw":49.7963104,"cg_id_a":-0.0252860151,"cg_id_raw_a":0.123807453,"cg_iq_a":-0.0471901335,"cg_iq_raw_a":-0.24265787,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14493917,"cg_sample_valid":1,"cg_theta_rad":5.00730467,"cg_vd_req_v":0.0925965607,"cg_vd_v":0.0925965607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351281673,"cg_vq_v":-0.351281673,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.9791336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2770996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.546143,"values":{"Elec_RPM":-3.78723502e-35,"EncoderCos":38749,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-7.57446975e-36,"cg_du":50.1254921,"cg_dv":50.2102776,"cg_dw":49.7897224,"cg_id_a":-0.535174131,"cg_id_raw_a":-0.23726368,"cg_iq_a":0.293638736,"cg_iq_raw_a":0.96195513,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.873185754,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9763641,"cg_sample_seq":14493967,"cg_sample_valid":1,"cg_theta_rad":5.00661755,"cg_vd_req_v":0.103342816,"cg_vd_v":0.103342816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35702002,"cg_vq_v":-0.35702002,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.685069084,"dclink_p_w":-99.4477463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2770996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.553955,"values":{"Elec_RPM":-3.71149025e-35,"EncoderCos":38710,"EncoderSin":12417,"GapTicks":54778,"Mech_RPM":-7.42298065e-36,"cg_du":50.1347008,"cg_dv":50.2010651,"cg_dw":49.7989349,"cg_id_a":0.0521990769,"cg_id_raw_a":-0.152887583,"cg_iq_a":-0.0306295026,"cg_iq_raw_a":0.0213826932,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9618187,"cg_sample_seq":14494017,"cg_sample_valid":1,"cg_theta_rad":5.00690413,"cg_vd_req_v":0.0918869898,"cg_vd_v":0.0918869898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348352879,"cg_vq_v":-0.348352879,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.685069084,"dclink_p_w":-99.4477463,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.3084412,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.581299,"values":{"Elec_RPM":-3.63726077e-35,"EncoderCos":38710,"EncoderSin":12474,"GapTicks":54779,"Mech_RPM":-7.27452139e-36,"cg_du":50.132637,"cg_dv":50.2005234,"cg_dw":49.7994766,"cg_id_a":0.125003263,"cg_id_raw_a":-0.184421793,"cg_iq_a":-0.0234227851,"cg_iq_raw_a":0.128095895,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.863636,"cg_sample_seq":14494167,"cg_sample_valid":1,"cg_theta_rad":5.00694752,"cg_vd_req_v":0.0913366079,"cg_vd_v":0.0913366079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345756441,"cg_vq_v":-0.345756441,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7823181,"temp_inv2_c":36.278656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.589111,"values":{"Elec_RPM":-3.56451558e-35,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-7.12903101e-36,"cg_du":50.1295776,"cg_dv":50.2046967,"cg_dw":49.7953033,"cg_id_a":-0.22977823,"cg_id_raw_a":-0.541365445,"cg_iq_a":0.224670127,"cg_iq_raw_a":0.13145332,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772009,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14494217,"cg_sample_valid":1,"cg_theta_rad":5.0075388,"cg_vd_req_v":0.096677497,"cg_vd_v":0.096677497,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352286398,"cg_vq_v":-0.352286398,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2630005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.596924,"values":{"Elec_RPM":-3.56451558e-35,"EncoderCos":38700,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-7.12903101e-36,"cg_du":50.1324806,"cg_dv":50.2064934,"cg_dw":49.7935066,"cg_id_a":-0.297632396,"cg_id_raw_a":-0.77914691,"cg_iq_a":0.253337651,"cg_iq_raw_a":1.63395429,"cg_iu_a":0.328727961,"cg_iv_a":-0.546991229,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9254551,"cg_sample_seq":14494267,"cg_sample_valid":1,"cg_theta_rad":5.00686216,"cg_vd_req_v":0.0984457508,"cg_vd_v":0.0984457508,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355740041,"cg_vq_v":-0.355740041,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.469418406,"dclink_p_w":-67.9364166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2630005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.608643,"values":{"Elec_RPM":-3.4932254e-35,"EncoderCos":38724,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-6.98645066e-36,"cg_du":50.1393318,"cg_dv":50.2052879,"cg_dw":49.7947121,"cg_id_a":0.0667551607,"cg_id_raw_a":-0.00696896855,"cg_iq_a":0.216659829,"cg_iq_raw_a":-0.181916207,"cg_iu_a":-0.178685665,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9727268,"cg_sample_seq":14494317,"cg_sample_valid":1,"cg_theta_rad":5.00839472,"cg_vd_req_v":0.0899285004,"cg_vd_v":0.0899285004,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358475268,"cg_vq_v":-0.358475268,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.492976785,"dclink_p_w":-71.5627518,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.616455,"values":{"Elec_RPM":-3.4932254e-35,"EncoderCos":38726,"EncoderSin":12486,"GapTicks":54770,"Mech_RPM":-6.98645066e-36,"cg_du":50.1427536,"cg_dv":50.2085075,"cg_dw":49.7914925,"cg_id_a":-0.0077753067,"cg_id_raw_a":0.118304029,"cg_iq_a":0.364459455,"cg_iq_raw_a":0.26693213,"cg_iu_a":-0.577367783,"cg_iv_a":-0.184552908,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9763641,"cg_sample_seq":14494367,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0898514315,"cg_vd_v":0.0898514315,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363745719,"cg_vq_v":-0.363745719,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.574525356,"dclink_p_w":-83.1479874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.624268,"values":{"Elec_RPM":-3.42336069e-35,"EncoderCos":38759,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-6.84672152e-36,"cg_du":50.1341896,"cg_dv":50.2088242,"cg_dw":49.7911758,"cg_id_a":-0.341271877,"cg_id_raw_a":-0.0528173633,"cg_iq_a":0.195202827,"cg_iq_raw_a":0.323615432,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552848,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9836369,"cg_sample_seq":14494417,"cg_sample_valid":1,"cg_theta_rad":5.00618362,"cg_vd_req_v":0.0942137241,"cg_vd_v":0.0942137241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360092938,"cg_vq_v":-0.360092938,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2817993,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.63208,"values":{"Elec_RPM":-3.42336069e-35,"EncoderCos":38693,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-6.84672152e-36,"cg_du":50.1419411,"cg_dv":50.2049026,"cg_dw":49.7950974,"cg_id_a":-0.254452318,"cg_id_raw_a":-0.29481411,"cg_iq_a":0.148901224,"cg_iq_raw_a":-0.0300732683,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14494467,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0903447866,"cg_vd_v":0.0903447866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357554734,"cg_vq_v":-0.357554734,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.661510706,"dclink_p_w":-95.736908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.639893,"values":{"Elec_RPM":-3.35489359e-35,"EncoderCos":38695,"EncoderSin":12471,"GapTicks":54789,"Mech_RPM":-6.7097869e-36,"cg_du":50.1436806,"cg_dv":50.1917267,"cg_dw":49.8082733,"cg_id_a":0.465402842,"cg_id_raw_a":0.0275936965,"cg_iq_a":-0.499761492,"cg_iq_raw_a":0.513780534,"cg_iu_a":-0.178685665,"cg_iv_a":0.105397761,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9836369,"cg_sample_seq":14494517,"cg_sample_valid":1,"cg_theta_rad":5.00701141,"cg_vd_req_v":0.0758464411,"cg_vd_v":0.0758464411,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341855764,"cg_vq_v":-0.341855764,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.667236,"values":{"Elec_RPM":-3.35489359e-35,"EncoderCos":38761,"EncoderSin":12474,"GapTicks":54781,"Mech_RPM":-6.7097869e-36,"cg_du":50.1377068,"cg_dv":50.1986923,"cg_dw":49.8013077,"cg_id_a":0.103574932,"cg_id_raw_a":0.125885248,"cg_iq_a":-0.198742226,"cg_iq_raw_a":-0.752174616,"cg_iu_a":0.364971876,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8745461,"cg_sample_seq":14494570,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0820771083,"cg_vd_v":0.0820771083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349208236,"cg_vq_v":-0.349208236,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2802429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.678955,"values":{"Elec_RPM":-3.28779542e-35,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-6.57559085e-36,"cg_du":50.1412888,"cg_dv":50.1982727,"cg_dw":49.8017273,"cg_id_a":0.0920549333,"cg_id_raw_a":-0.0483365208,"cg_iq_a":-0.162581503,"cg_iq_raw_a":-0.185989812,"cg_iu_a":0.364971638,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.8527279,"cg_sample_seq":14494617,"cg_sample_valid":1,"cg_theta_rad":5.00583553,"cg_vd_req_v":0.0821119696,"cg_vd_v":0.0821119696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349873304,"cg_vq_v":-0.349873304,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.686768,"values":{"Elec_RPM":-3.28779542e-35,"EncoderCos":38708,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-6.57559085e-36,"cg_du":50.1431656,"cg_dv":50.2018127,"cg_dw":49.7981873,"cg_id_a":-0.0880732089,"cg_id_raw_a":-0.223377377,"cg_iq_a":-0.101501554,"cg_iq_raw_a":0.306240261,"cg_iu_a":-0.359905005,"cg_iv_a":0.467836142,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8600006,"cg_sample_seq":14494667,"cg_sample_valid":1,"cg_theta_rad":5.0061779,"cg_vd_req_v":0.0847827122,"cg_vd_v":0.0847827122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354448557,"cg_vq_v":-0.354448557,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.69458,"values":{"Elec_RPM":-3.22203949e-35,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-6.44407883e-36,"cg_du":50.1488914,"cg_dv":50.198967,"cg_dw":49.801033,"cg_id_a":0.240186244,"cg_id_raw_a":0.25891006,"cg_iq_a":-0.0775689781,"cg_iq_raw_a":-0.738414288,"cg_iu_a":0.183752775,"cg_iv_a":-0.546991229,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9872723,"cg_sample_seq":14494717,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0770660937,"cg_vd_v":0.0770660937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353915215,"cg_vq_v":-0.353915215,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.702393,"values":{"Elec_RPM":-3.22203949e-35,"EncoderCos":38742,"EncoderSin":12501,"GapTicks":54781,"Mech_RPM":-6.44407883e-36,"cg_du":50.1429558,"cg_dv":50.1988602,"cg_dw":49.8011398,"cg_id_a":0.18879953,"cg_id_raw_a":0.117100805,"cg_iq_a":-0.29961741,"cg_iq_raw_a":-0.170551449,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333368778,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9254551,"cg_sample_seq":14494767,"cg_sample_valid":1,"cg_theta_rad":5.00698137,"cg_vd_req_v":0.0787013322,"cg_vd_v":0.0787013322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351097316,"cg_vq_v":-0.351097316,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2755127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.710205,"values":{"Elec_RPM":-3.15759852e-35,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54780,"Mech_RPM":-6.31519704e-36,"cg_du":50.1442032,"cg_dv":50.1991615,"cg_dw":49.8008385,"cg_id_a":0.0784079432,"cg_id_raw_a":0.294980168,"cg_iq_a":-0.437967092,"cg_iq_raw_a":-0.480632573,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14494817,"cg_sample_valid":1,"cg_theta_rad":5.00552082,"cg_vd_req_v":0.0798928887,"cg_vd_v":0.0798928887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35177812,"cg_vq_v":-0.35177812,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-101.2892,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2802429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.721924,"values":{"Elec_RPM":-3.15759852e-35,"EncoderCos":38723,"EncoderSin":12500,"GapTicks":54782,"Mech_RPM":-6.31519704e-36,"cg_du":50.1492462,"cg_dv":50.1981697,"cg_dw":49.8018303,"cg_id_a":0.146737024,"cg_id_raw_a":0.510221422,"cg_iq_a":-0.240081236,"cg_iq_raw_a":-0.0963525698,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9618187,"cg_sample_seq":14494867,"cg_sample_valid":1,"cg_theta_rad":5.00640202,"cg_vd_req_v":0.0748549923,"cg_vd_v":0.0748549923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354398817,"cg_vq_v":-0.354398817,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2723694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.729736,"values":{"Elec_RPM":-3.0944464e-35,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-6.1888931e-36,"cg_du":50.1419868,"cg_dv":50.1976738,"cg_dw":49.8023262,"cg_id_a":-0.136373103,"cg_id_raw_a":-0.07986442,"cg_iq_a":-0.485770404,"cg_iq_raw_a":-0.0796570107,"cg_iu_a":0.582434893,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9581814,"cg_sample_seq":14494917,"cg_sample_valid":1,"cg_theta_rad":5.00834322,"cg_vd_req_v":0.080336377,"cg_vd_v":0.080336377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349592358,"cg_vq_v":-0.349592358,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2723694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.737549,"values":{"Elec_RPM":-3.0944464e-35,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-6.1888931e-36,"cg_du":50.1475029,"cg_dv":50.2047462,"cg_dw":49.7952538,"cg_id_a":-0.300833911,"cg_id_raw_a":-0.318526238,"cg_iq_a":0.134872258,"cg_iq_raw_a":-0.43106544,"cg_iu_a":0.292484045,"cg_iv_a":0.39534843,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9254551,"cg_sample_seq":14494966,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0835059732,"cg_vd_v":0.0835059732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361041963,"cg_vq_v":-0.361041963,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2802429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.745361,"values":{"Elec_RPM":-3.0325576e-35,"EncoderCos":38739,"EncoderSin":12465,"GapTicks":54778,"Mech_RPM":-6.06511535e-36,"cg_du":50.1462479,"cg_dv":50.2016106,"cg_dw":49.7983894,"cg_id_a":-0.144419029,"cg_id_raw_a":-0.0615006872,"cg_iq_a":-0.00549963117,"cg_iq_raw_a":0.395468026,"cg_iu_a":0.654922485,"cg_iv_a":0.721542954,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9581814,"cg_sample_seq":14495016,"cg_sample_valid":1,"cg_theta_rad":5.00521183,"cg_vd_req_v":0.0798828751,"cg_vd_v":0.0798828751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356429338,"cg_vq_v":-0.356429338,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.270813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.776611,"values":{"Elec_RPM":-3.0325576e-35,"EncoderCos":38736,"EncoderSin":12484,"GapTicks":54788,"Mech_RPM":-6.06511535e-36,"cg_du":50.1427116,"cg_dv":50.1925468,"cg_dw":49.8074532,"cg_id_a":0.193459034,"cg_id_raw_a":0.241203517,"cg_iq_a":-0.636373162,"cg_iq_raw_a":-0.595544696,"cg_iu_a":0.0750212669,"cg_iv_a":0.467836142,"cg_iw_a":-0.542857409,"cg_sample_age_us":26.8199997,"cg_sample_seq":14495070,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0734581128,"cg_vd_v":0.0734581128,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341109127,"cg_vq_v":-0.341109127,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.2614517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.270813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2625.784424,"values":{"Elec_RPM":-2.97190657e-35,"EncoderCos":38726,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-5.94381321e-36,"cg_du":50.1356583,"cg_dv":50.1977463,"cg_dw":49.8022537,"cg_id_a":-0.229785711,"cg_id_raw_a":-0.132874504,"cg_iq_a":-0.431206912,"cg_iq_raw_a":-0.630673289,"cg_iu_a":0.256240129,"cg_iv_a":-0.402015805,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9581814,"cg_sample_seq":14495118,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.0847867355,"cg_vd_v":0.0847867355,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345179915,"cg_vq_v":-0.345179915,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.792236,"values":{"Elec_RPM":-2.97190657e-35,"EncoderCos":38746,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-5.94381321e-36,"cg_du":50.146904,"cg_dv":50.1990929,"cg_dw":49.8009071,"cg_id_a":0.303181052,"cg_id_raw_a":0.213310286,"cg_iq_a":-0.00646047294,"cg_iq_raw_a":0.384453923,"cg_iu_a":-0.722343206,"cg_iv_a":-0.00333380699,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9581814,"cg_sample_seq":14495167,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0763961002,"cg_vd_v":0.0763961002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35348323,"cg_vq_v":-0.35348323,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.237915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.800049,"values":{"Elec_RPM":-2.91246834e-35,"EncoderCos":38726,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-5.82493683e-36,"cg_du":50.1471748,"cg_dv":50.2043533,"cg_dw":49.7956467,"cg_id_a":0.0281502772,"cg_id_raw_a":0.326396108,"cg_iq_a":0.285701394,"cg_iq_raw_a":0.287029445,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9618187,"cg_sample_seq":14495217,"cg_sample_valid":1,"cg_theta_rad":5.00814342,"cg_vd_req_v":0.0826238915,"cg_vd_v":0.0826238915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360499293,"cg_vq_v":-0.360499293,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.278656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.807861,"values":{"Elec_RPM":-2.91246834e-35,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-5.82493683e-36,"cg_du":50.1477127,"cg_dv":50.2031937,"cg_dw":49.7968063,"cg_id_a":-0.023650432,"cg_id_raw_a":0.058687564,"cg_iq_a":0.153320551,"cg_iq_raw_a":0.22504434,"cg_iu_a":0.038777113,"cg_iv_a":-0.220796704,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9836369,"cg_sample_seq":14495267,"cg_sample_valid":1,"cg_theta_rad":5.00684834,"cg_vd_req_v":0.0817001238,"cg_vd_v":0.0817001238,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359083474,"cg_vq_v":-0.359083474,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.815674,"values":{"Elec_RPM":-2.8542191e-35,"EncoderCos":38736,"EncoderSin":12508,"GapTicks":54774,"Mech_RPM":-5.70843812e-36,"cg_du":50.1445618,"cg_dv":50.2049789,"cg_dw":49.7950211,"cg_id_a":-0.017247688,"cg_id_raw_a":0.0138852131,"cg_iq_a":0.254157364,"cg_iq_raw_a":0.72997582,"cg_iu_a":0.328727961,"cg_iv_a":0.032910049,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9290905,"cg_sample_seq":14495317,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0836469904,"cg_vd_v":0.0836469904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360273689,"cg_vq_v":-0.360273689,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.823486,"values":{"Elec_RPM":-2.8542191e-35,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54779,"Mech_RPM":-5.70843812e-36,"cg_du":50.1470795,"cg_dv":50.2003479,"cg_dw":49.7996521,"cg_id_a":0.328716904,"cg_id_raw_a":-0.138290405,"cg_iq_a":-0.167116225,"cg_iq_raw_a":0.315386206,"cg_iu_a":0.111264944,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9727268,"cg_sample_seq":14495367,"cg_sample_valid":1,"cg_theta_rad":5.00701714,"cg_vd_req_v":0.0782587454,"cg_vd_v":0.0782587454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355120659,"cg_vq_v":-0.355120659,"cg_vu_v":142.965088,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2645569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.835205,"values":{"Elec_RPM":-2.79713473e-35,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-5.59426938e-36,"cg_du":50.1444359,"cg_dv":50.2036629,"cg_dw":49.7963371,"cg_id_a":-0.0811566114,"cg_id_raw_a":-0.438978523,"cg_iq_a":0.0935160667,"cg_iq_raw_a":-0.698207557,"cg_iu_a":-0.794831038,"cg_iv_a":0.105397761,"cg_iw_a":0.689433277,"cg_sample_age_us":23.9763641,"cg_sample_seq":14495417,"cg_sample_valid":1,"cg_theta_rad":5.00746822,"cg_vd_req_v":0.0851298943,"cg_vd_v":0.0851298943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357783824,"cg_vq_v":-0.357783824,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.843018,"values":{"Elec_RPM":-2.79713473e-35,"EncoderCos":38741,"EncoderSin":12509,"GapTicks":54774,"Mech_RPM":-5.59426938e-36,"cg_du":50.1431313,"cg_dv":50.2046242,"cg_dw":49.7953758,"cg_id_a":-0.00388278812,"cg_id_raw_a":0.049303852,"cg_iq_a":0.218845204,"cg_iq_raw_a":0.11442627,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9799995,"cg_sample_seq":14495467,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0842518732,"cg_vd_v":0.0842518732,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360185236,"cg_vq_v":-0.360185236,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2739563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.85083,"values":{"Elec_RPM":-2.74119199e-35,"EncoderCos":38715,"EncoderSin":12469,"GapTicks":54780,"Mech_RPM":-5.48238397e-36,"cg_du":50.1417885,"cg_dv":50.1993065,"cg_dw":49.8006935,"cg_id_a":0.03664653,"cg_id_raw_a":-0.109365366,"cg_iq_a":-0.195993587,"cg_iq_raw_a":0.645555377,"cg_iu_a":-0.323661089,"cg_iv_a":0.322860837,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14495517,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0832306221,"cg_vd_v":0.0832306221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351441175,"cg_vq_v":-0.351441175,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2551575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.878174,"values":{"Elec_RPM":-2.74119199e-35,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-5.48238397e-36,"cg_du":50.1521835,"cg_dv":50.2047043,"cg_dw":49.7952957,"cg_id_a":0.221312985,"cg_id_raw_a":0.449113995,"cg_iq_a":0.622152805,"cg_iq_raw_a":-0.576485455,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":26.823637,"cg_sample_seq":14495570,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0779296309,"cg_vd_v":0.0779296309,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365175515,"cg_vq_v":-0.365175515,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.3154144,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2551575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.889893,"values":{"Elec_RPM":-2.6863682e-35,"EncoderCos":38709,"EncoderSin":12439,"GapTicks":54783,"Mech_RPM":-5.37273633e-36,"cg_du":50.1314087,"cg_dv":50.1967354,"cg_dw":49.8032646,"cg_id_a":-0.328798413,"cg_id_raw_a":0.0237505529,"cg_iq_a":-0.631984293,"cg_iq_raw_a":-0.470398307,"cg_iu_a":0.473703384,"cg_iv_a":-0.728210449,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14495616,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0897769332,"cg_vd_v":0.0897769332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340742439,"cg_vq_v":-0.340742439,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.278656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.897705,"values":{"Elec_RPM":-2.6863682e-35,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-5.37273633e-36,"cg_du":50.1390533,"cg_dv":50.1999435,"cg_dw":49.8000565,"cg_id_a":-0.0424155593,"cg_id_raw_a":0.573251009,"cg_iq_a":-0.194281459,"cg_iq_raw_a":-0.307395965,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065256,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9909096,"cg_sample_seq":14495666,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0852700919,"cg_vd_v":0.0852700919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3498182,"cg_vq_v":-0.3498182,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2676697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.905518,"values":{"Elec_RPM":-2.63264071e-35,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-5.26528163e-36,"cg_du":50.1421547,"cg_dv":50.196991,"cg_dw":49.803009,"cg_id_a":0.154654324,"cg_id_raw_a":0.0991634279,"cg_iq_a":-0.266065717,"cg_iq_raw_a":-0.389876485,"cg_iu_a":-0.0337104797,"cg_iv_a":0.685299098,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.954546,"cg_sample_seq":14495716,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0812086761,"cg_vd_v":0.0812086761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347255468,"cg_vq_v":-0.347255468,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2676697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.91333,"values":{"Elec_RPM":-2.63264071e-35,"EncoderCos":38737,"EncoderSin":12497,"GapTicks":54778,"Mech_RPM":-5.26528163e-36,"cg_du":50.1373024,"cg_dv":50.2011604,"cg_dw":49.7988396,"cg_id_a":-0.114346616,"cg_id_raw_a":-0.369474739,"cg_iq_a":-0.0466950089,"cg_iq_raw_a":-0.360758215,"cg_iu_a":-0.541124105,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9509087,"cg_sample_seq":14495766,"cg_sample_valid":1,"cg_theta_rad":5.00692892,"cg_vd_req_v":0.0861302465,"cg_vd_v":0.0861302465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352041185,"cg_vq_v":-0.352041185,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2896423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.921143,"values":{"Elec_RPM":-2.57998797e-35,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54786,"Mech_RPM":-5.15997609e-36,"cg_du":50.1290932,"cg_dv":50.1942825,"cg_dw":49.8057175,"cg_id_a":-0.103415683,"cg_id_raw_a":0.141679421,"cg_iq_a":-0.608695567,"cg_iq_raw_a":-1.07792413,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14495816,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0871681422,"cg_vd_v":0.0871681422,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337731004,"cg_vq_v":-0.337731004,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2567139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.928955,"values":{"Elec_RPM":-2.57998797e-35,"EncoderCos":38723,"EncoderSin":12493,"GapTicks":54780,"Mech_RPM":-5.15997609e-36,"cg_du":50.142067,"cg_dv":50.1993675,"cg_dw":49.8006325,"cg_id_a":0.240067884,"cg_id_raw_a":0.569634557,"cg_iq_a":0.205471218,"cg_iq_raw_a":0.38287425,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9836369,"cg_sample_seq":14495866,"cg_sample_valid":1,"cg_theta_rad":5.00750875,"cg_vd_req_v":0.0818515569,"cg_vd_v":0.0818515569,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35196811,"cg_vq_v":-0.35196811,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2567139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2625.936768,"values":{"Elec_RPM":-2.52838848e-35,"EncoderCos":38681,"EncoderSin":12468,"GapTicks":54779,"Mech_RPM":-5.05677667e-36,"cg_du":50.1502457,"cg_dv":50.2002411,"cg_dw":49.7997589,"cg_id_a":0.250478089,"cg_id_raw_a":-0.427294403,"cg_iq_a":0.235648677,"cg_iq_raw_a":0.028038729,"cg_iu_a":0.401215553,"cg_iv_a":0.57656759,"cg_iw_a":-0.977783144,"cg_sample_age_us":23.863636,"cg_sample_seq":14495917,"cg_sample_valid":1,"cg_theta_rad":5.0060215,"cg_vd_req_v":0.0800347924,"cg_vd_v":0.0800347924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355787426,"cg_vq_v":-0.355787426,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.8432941,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2676697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.948486,"values":{"Elec_RPM":-2.52838848e-35,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54774,"Mech_RPM":-5.05677667e-36,"cg_du":50.1491203,"cg_dv":50.2050247,"cg_dw":49.7949753,"cg_id_a":0.214297861,"cg_id_raw_a":0.0758270696,"cg_iq_a":0.47609365,"cg_iq_raw_a":-0.174150154,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0395776033,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8600006,"cg_sample_seq":14495966,"cg_sample_valid":1,"cg_theta_rad":5.00801706,"cg_vd_req_v":0.0806217641,"cg_vd_v":0.0806217641,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362757683,"cg_vq_v":-0.362757683,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2676697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.956299,"values":{"Elec_RPM":-2.47782041e-35,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-4.95564103e-36,"cg_du":50.1408539,"cg_dv":50.1973801,"cg_dw":49.8026199,"cg_id_a":0.175865903,"cg_id_raw_a":-0.0897696316,"cg_iq_a":-0.108876415,"cg_iq_raw_a":-0.190156639,"cg_iu_a":0.14750886,"cg_iv_a":0.467836082,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9618187,"cg_sample_seq":14496017,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.081735976,"cg_vd_v":0.081735976,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347257018,"cg_vq_v":-0.347257018,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.756794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7340698,"temp_inv2_c":36.2676697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2625.983643,"values":{"Elec_RPM":-2.47782041e-35,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54777,"Mech_RPM":-4.95564103e-36,"cg_du":50.1175804,"cg_dv":50.2021065,"cg_dw":49.7978935,"cg_id_a":-0.835451126,"cg_id_raw_a":-0.764088035,"cg_iq_a":-0.441123813,"cg_iq_raw_a":0.691537738,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9581814,"cg_sample_seq":14496070,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.103935897,"cg_vd_v":0.103935897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340794772,"cg_vq_v":-0.340794772,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.756794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2567139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2625.990632,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2625.990638,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2625.990642,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2625.991455,"values":{"Elec_RPM":-2.42826425e-35,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-4.85652829e-36,"cg_du":50.1263771,"cg_dv":50.1976814,"cg_dw":49.8023186,"cg_id_a":-0.0962512642,"cg_id_raw_a":-0.168248519,"cg_iq_a":-0.463244349,"cg_iq_raw_a":-0.706653714,"cg_iu_a":0.401215792,"cg_iv_a":-0.148309052,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.9509087,"cg_sample_seq":14496116,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0920389295,"cg_vd_v":0.0920389295,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341001451,"cg_vq_v":-0.341001451,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.756794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2567139,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.003174,"values":{"Elec_RPM":-2.42826425e-35,"EncoderCos":38719,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-4.85652829e-36,"cg_du":50.1332893,"cg_dv":50.2036057,"cg_dw":49.7963943,"cg_id_a":-0.15655157,"cg_id_raw_a":0.114501499,"cg_iq_a":0.167696416,"cg_iq_raw_a":-0.352309227,"cg_iu_a":0.038777113,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8600006,"cg_sample_seq":14496166,"cg_sample_valid":1,"cg_theta_rad":5.0074091,"cg_vd_req_v":0.0930683091,"cg_vd_v":0.0930683091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352783114,"cg_vq_v":-0.352783114,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.756794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2723694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.010986,"values":{"Elec_RPM":-2.37969892e-35,"EncoderCos":38727,"EncoderSin":12495,"GapTicks":54782,"Mech_RPM":-4.75939791e-36,"cg_du":50.1276512,"cg_dv":50.1980705,"cg_dw":49.8019295,"cg_id_a":-0.0668070912,"cg_id_raw_a":-0.00422432553,"cg_iq_a":-0.396062344,"cg_iq_raw_a":-0.436455756,"cg_iu_a":0.473703146,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.863636,"cg_sample_seq":14496216,"cg_sample_valid":1,"cg_theta_rad":5.00771809,"cg_vd_req_v":0.0938990265,"cg_vd_v":0.0920712501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34046194,"cg_vq_v":-0.34046194,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.018799,"values":{"Elec_RPM":-2.37969892e-35,"EncoderCos":38726,"EncoderSin":12468,"GapTicks":54780,"Mech_RPM":-4.75939791e-36,"cg_du":50.1285553,"cg_dv":50.1991081,"cg_dw":49.8008919,"cg_id_a":-0.0787691548,"cg_id_raw_a":-0.208318755,"cg_iq_a":-0.14372322,"cg_iq_raw_a":0.16275534,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14496266,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0923276395,"cg_vd_v":0.0923276395,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342893332,"cg_vq_v":-0.342893332,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.026611,"values":{"Elec_RPM":-2.33210503e-35,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-4.66421006e-36,"cg_du":50.133606,"cg_dv":50.2009811,"cg_dw":49.7990189,"cg_id_a":0.112890996,"cg_id_raw_a":-0.305352092,"cg_iq_a":-0.0704913586,"cg_iq_raw_a":-0.138088271,"cg_iu_a":-0.178685665,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9581814,"cg_sample_seq":14496317,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.0900994688,"cg_vd_v":0.0900994688,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347162843,"cg_vq_v":-0.347162843,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.034424,"values":{"Elec_RPM":-2.28546293e-35,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-4.570926e-36,"cg_du":50.1350441,"cg_dv":50.1991463,"cg_dw":49.8008537,"cg_id_a":0.19670178,"cg_id_raw_a":0.11636246,"cg_iq_a":-0.171187162,"cg_iq_raw_a":-0.607153952,"cg_iu_a":-0.14244175,"cg_iv_a":-1.05440497,"cg_iw_a":1.19684672,"cg_sample_age_us":23.8709087,"cg_sample_seq":14496468,"cg_sample_valid":1,"cg_theta_rad":5.00721884,"cg_vd_req_v":0.0864555985,"cg_vd_v":0.0864555985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347901434,"cg_vq_v":-0.347901434,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0470561981,"dclink_p_w":6.83089209,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2316589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.042236,"values":{"Elec_RPM":-2.23975367e-35,"EncoderCos":38752,"EncoderSin":12525,"GapTicks":54779,"Mech_RPM":-4.47950735e-36,"cg_du":50.1279182,"cg_dv":50.2005463,"cg_dw":49.7994537,"cg_id_a":-0.0343455821,"cg_id_raw_a":0.0841158628,"cg_iq_a":-0.24915643,"cg_iq_raw_a":0.44464165,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9618187,"cg_sample_seq":14496517,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0910990313,"cg_vd_v":0.0910990313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346448898,"cg_vq_v":-0.346448898,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.6324863,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2316589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.073486,"values":{"Elec_RPM":-2.23975367e-35,"EncoderCos":38729,"EncoderSin":12484,"GapTicks":54771,"Mech_RPM":-4.47950735e-36,"cg_du":50.1395226,"cg_dv":50.2074509,"cg_dw":49.7925491,"cg_id_a":0.0186875071,"cg_id_raw_a":0.558051765,"cg_iq_a":0.394260377,"cg_iq_raw_a":-0.601639032,"cg_iu_a":-0.359905005,"cg_iv_a":0.0691540241,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8527279,"cg_sample_seq":14496570,"cg_sample_valid":1,"cg_theta_rad":5.00825262,"cg_vd_req_v":0.0911707878,"cg_vd_v":0.0911707878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360551327,"cg_vq_v":-0.360551327,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2645569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.081299,"values":{"Elec_RPM":-2.19495862e-35,"EncoderCos":38729,"EncoderSin":12489,"GapTicks":54776,"Mech_RPM":-4.38991716e-36,"cg_du":50.1370964,"cg_dv":50.2028313,"cg_dw":49.7971687,"cg_id_a":0.0434667803,"cg_id_raw_a":0.0033640922,"cg_iq_a":-0.00397582352,"cg_iq_raw_a":-0.0716885552,"cg_iu_a":0.256240368,"cg_iv_a":0.21412921,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9581814,"cg_sample_seq":14496616,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0884830505,"cg_vd_v":0.0884830505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352931201,"cg_vq_v":-0.352931201,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.089111,"values":{"Elec_RPM":-2.19495862e-35,"EncoderCos":38730,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-4.38991716e-36,"cg_du":50.1336479,"cg_dv":50.2048111,"cg_dw":49.7951889,"cg_id_a":-0.210751832,"cg_id_raw_a":-0.392043769,"cg_iq_a":0.0262981355,"cg_iq_raw_a":0.109479934,"cg_iu_a":-0.287417412,"cg_iv_a":0.467836082,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.9654541,"cg_sample_seq":14496666,"cg_sample_valid":1,"cg_theta_rad":5.0071187,"cg_vd_req_v":0.0930548981,"cg_vd_v":0.0930548981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353718966,"cg_vq_v":-0.353718966,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10052586,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2692566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.096924,"values":{"Elec_RPM":-2.15105938e-35,"EncoderCos":38708,"EncoderSin":12464,"GapTicks":54777,"Mech_RPM":-4.30211884e-36,"cg_du":50.1408501,"cg_dv":50.2019463,"cg_dw":49.7980537,"cg_id_a":0.0352796204,"cg_id_raw_a":0.165724844,"cg_iq_a":0.0864350945,"cg_iq_raw_a":0.199673772,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9581814,"cg_sample_seq":14496716,"cg_sample_valid":1,"cg_theta_rad":5.00587654,"cg_vd_req_v":0.0872342512,"cg_vd_v":0.0872342512,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354339808,"cg_vq_v":-0.354339808,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.104736,"values":{"Elec_RPM":-2.15105938e-35,"EncoderCos":38705,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-4.30211884e-36,"cg_du":50.1485443,"cg_dv":50.2099152,"cg_dw":49.7900848,"cg_id_a":-0.0324524157,"cg_id_raw_a":0.434804797,"cg_iq_a":0.771748245,"cg_iq_raw_a":-0.173817277,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9799995,"cg_sample_seq":14496766,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.0890484676,"cg_vd_v":0.0890484676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369520336,"cg_vq_v":-0.369520336,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":31.0329723,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.116455,"values":{"Elec_RPM":-2.10803818e-35,"EncoderCos":38736,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-4.21607651e-36,"cg_du":50.1359634,"cg_dv":50.2041359,"cg_dw":49.7958641,"cg_id_a":-0.195106551,"cg_id_raw_a":-0.850414038,"cg_iq_a":0.0824272186,"cg_iq_raw_a":0.0657530874,"cg_iu_a":-0.577368021,"cg_iv_a":-0.25704062,"cg_iw_a":0.834408641,"cg_sample_age_us":23.954546,"cg_sample_seq":14496816,"cg_sample_valid":1,"cg_theta_rad":5.00716305,"cg_vd_req_v":0.0910802111,"cg_vd_v":0.0910802111,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355108529,"cg_vq_v":-0.355108529,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":31.0329723,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2770996,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.124268,"values":{"Elec_RPM":-2.10803818e-35,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-4.21607651e-36,"cg_du":50.1429901,"cg_dv":50.2032242,"cg_dw":49.7967758,"cg_id_a":0.0840620175,"cg_id_raw_a":0.15619722,"cg_iq_a":0.127309307,"cg_iq_raw_a":0.0887393951,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9909096,"cg_sample_seq":14496867,"cg_sample_valid":1,"cg_theta_rad":5.00713825,"cg_vd_req_v":0.0850558132,"cg_vd_v":0.0850558132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356560469,"cg_vq_v":-0.356560469,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":31.0329723,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2630005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.13208,"values":{"Elec_RPM":-2.06587751e-35,"EncoderCos":38736,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-4.13175502e-36,"cg_du":50.136467,"cg_dv":50.2012939,"cg_dw":49.7987061,"cg_id_a":-0.0407590047,"cg_id_raw_a":-0.446951956,"cg_iq_a":-0.103204295,"cg_iq_raw_a":0.250530422,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373065,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8709087,"cg_sample_seq":14496916,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.0869306251,"cg_vd_v":0.0869306251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35062471,"cg_vq_v":-0.35062471,"cg_vu_v":136.806595,"cg_vv_v":124.049698,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2630005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.143799,"values":{"Elec_RPM":-2.06587751e-35,"EncoderCos":38697,"EncoderSin":12437,"GapTicks":54790,"Mech_RPM":-4.13175502e-36,"cg_du":50.1467667,"cg_dv":50.1901703,"cg_dw":49.8098297,"cg_id_a":0.505191624,"cg_id_raw_a":0.416986555,"cg_iq_a":-0.413945556,"cg_iq_raw_a":-1.19437826,"cg_iu_a":-0.14244175,"cg_iv_a":0.685299098,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.8781815,"cg_sample_seq":14496966,"cg_sample_valid":1,"cg_theta_rad":5.00555754,"cg_vd_req_v":0.0744385794,"cg_vd_v":0.0744385794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34323886,"cg_vq_v":-0.34323886,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.151611,"values":{"Elec_RPM":-2.02456e-35,"EncoderCos":38755,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-4.04911994e-36,"cg_du":50.1346664,"cg_dv":50.198349,"cg_dw":49.801651,"cg_id_a":0.0710019171,"cg_id_raw_a":-0.107737437,"cg_iq_a":-0.165222228,"cg_iq_raw_a":0.464248031,"cg_iu_a":0.256240368,"cg_iv_a":0.540323794,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9581814,"cg_sample_seq":14497017,"cg_sample_valid":1,"cg_theta_rad":5.00717258,"cg_vd_req_v":0.0842019692,"cg_vd_v":0.0842019692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345920801,"cg_vq_v":-0.345920801,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.178955,"values":{"Elec_RPM":-2.02456e-35,"EncoderCos":38726,"EncoderSin":12497,"GapTicks":54786,"Mech_RPM":-4.04911994e-36,"cg_du":50.1270256,"cg_dv":50.1944733,"cg_dw":49.8055267,"cg_id_a":-0.0173390955,"cg_id_raw_a":0.0238367859,"cg_iq_a":-0.482960999,"cg_iq_raw_a":-0.288186073,"cg_iu_a":0.98111701,"cg_iv_a":0.57656765,"cg_iw_a":-1.55768466,"cg_sample_age_us":23.9763641,"cg_sample_seq":14497069,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0886273235,"cg_vd_v":0.0886273235,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336926073,"cg_vq_v":-0.336926073,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.186768,"values":{"Elec_RPM":-1.98406873e-35,"EncoderCos":38719,"EncoderSin":12498,"GapTicks":54779,"Mech_RPM":-3.96813753e-36,"cg_du":50.1389809,"cg_dv":50.2008781,"cg_dw":49.7991219,"cg_id_a":0.160114259,"cg_id_raw_a":0.190911531,"cg_iq_a":0.362663388,"cg_iq_raw_a":-0.272143155,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796764,"cg_iw_a":0.653189361,"cg_sample_age_us":23.954546,"cg_sample_seq":14497116,"cg_sample_valid":1,"cg_theta_rad":5.0065403,"cg_vd_req_v":0.0859495401,"cg_vd_v":0.0859495401,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352247894,"cg_vq_v":-0.352247894,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.19458,"values":{"Elec_RPM":-1.98406873e-35,"EncoderCos":38714,"EncoderSin":12452,"GapTicks":54781,"Mech_RPM":-3.96813753e-36,"cg_du":50.135994,"cg_dv":50.1987152,"cg_dw":49.8012848,"cg_id_a":0.0249993168,"cg_id_raw_a":0.504386365,"cg_iq_a":-0.00546833873,"cg_iq_raw_a":-1.07776201,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14497166,"cg_sample_valid":1,"cg_theta_rad":5.00792646,"cg_vd_req_v":0.0874282494,"cg_vd_v":0.0874282494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346192539,"cg_vq_v":-0.346192539,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.202393,"values":{"Elec_RPM":-1.94438733e-35,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54783,"Mech_RPM":-3.8887748e-36,"cg_du":50.1351509,"cg_dv":50.1971054,"cg_dw":49.8028946,"cg_id_a":0.184326559,"cg_id_raw_a":0.145862162,"cg_iq_a":-0.117144465,"cg_iq_raw_a":-0.0213380065,"cg_iu_a":-0.722343206,"cg_iv_a":0.540323794,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9618187,"cg_sample_seq":14497216,"cg_sample_valid":1,"cg_theta_rad":5.00564861,"cg_vd_req_v":0.0856562182,"cg_vd_v":0.0856562182,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34374851,"cg_vq_v":-0.34374851,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.210205,"values":{"Elec_RPM":-1.94438733e-35,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-3.8887748e-36,"cg_du":50.1246681,"cg_dv":50.1980591,"cg_dw":49.8019409,"cg_id_a":-0.185926706,"cg_id_raw_a":-0.101147987,"cg_iq_a":-0.226793841,"cg_iq_raw_a":0.573611379,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.863636,"cg_sample_seq":14497267,"cg_sample_valid":1,"cg_theta_rad":5.00701666,"cg_vd_req_v":0.0942609459,"cg_vd_v":0.0942609459,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338200688,"cg_vq_v":-0.338200688,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2614136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.218018,"values":{"Elec_RPM":-1.90549973e-35,"EncoderCos":38730,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.81099946e-36,"cg_du":50.1318245,"cg_dv":50.1980591,"cg_dw":49.8019409,"cg_id_a":0.132283017,"cg_id_raw_a":0.499955624,"cg_iq_a":0.0587666109,"cg_iq_raw_a":-0.205891207,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885413,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14497316,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0889598876,"cg_vd_v":0.0889598876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344352067,"cg_vq_v":-0.344352067,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2614136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.229736,"values":{"Elec_RPM":-1.90549973e-35,"EncoderCos":38705,"EncoderSin":12457,"GapTicks":54784,"Mech_RPM":-3.81099946e-36,"cg_du":50.1260147,"cg_dv":50.1962509,"cg_dw":49.8037491,"cg_id_a":-0.195391849,"cg_id_raw_a":0.0918504521,"cg_iq_a":-0.182096586,"cg_iq_raw_a":0.920992434,"cg_iu_a":0.0750212669,"cg_iv_a":-0.329528213,"cg_iw_a":0.254506946,"cg_sample_age_us":23.8600006,"cg_sample_seq":14497367,"cg_sample_valid":1,"cg_theta_rad":5.00659037,"cg_vd_req_v":0.0934162587,"cg_vd_v":0.0934162587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337070614,"cg_vq_v":-0.337070614,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2441711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.237549,"values":{"Elec_RPM":-1.86738987e-35,"EncoderCos":38699,"EncoderSin":12503,"GapTicks":54784,"Mech_RPM":-3.73477959e-36,"cg_du":50.1215706,"cg_dv":50.1962662,"cg_dw":49.8037338,"cg_id_a":-0.198492706,"cg_id_raw_a":-0.0341562331,"cg_iq_a":-0.273699909,"cg_iq_raw_a":0.725892425,"cg_iu_a":0.799897671,"cg_iv_a":-0.293284357,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9836369,"cg_sample_seq":14497417,"cg_sample_valid":1,"cg_theta_rad":5.00769424,"cg_vd_req_v":0.096303232,"cg_vd_v":0.096303232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334750354,"cg_vq_v":-0.334750354,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.245361,"values":{"Elec_RPM":-1.86738987e-35,"EncoderCos":38719,"EncoderSin":12497,"GapTicks":54788,"Mech_RPM":-3.73477959e-36,"cg_du":50.128334,"cg_dv":50.1923256,"cg_dw":49.8076744,"cg_id_a":0.338982254,"cg_id_raw_a":-0.0450646691,"cg_iq_a":-0.320665449,"cg_iq_raw_a":0.433402866,"cg_iu_a":-0.214929581,"cg_iv_a":1.77261412,"cg_iw_a":-1.55768454,"cg_sample_age_us":23.9763641,"cg_sample_seq":14497467,"cg_sample_valid":1,"cg_theta_rad":5.00650883,"cg_vd_req_v":0.0855212808,"cg_vd_v":0.0855212808,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332560986,"cg_vq_v":-0.332560986,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.25708,"values":{"Elec_RPM":-1.83004195e-35,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54785,"Mech_RPM":-3.66008397e-36,"cg_du":50.116333,"cg_dv":50.1947556,"cg_dw":49.8052444,"cg_id_a":-0.254907906,"cg_id_raw_a":0.458871871,"cg_iq_a":-0.477090299,"cg_iq_raw_a":0.225727007,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.148308992,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9690914,"cg_sample_seq":14497517,"cg_sample_valid":1,"cg_theta_rad":5.00845146,"cg_vd_req_v":0.0964184925,"cg_vd_v":0.0964184925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329406649,"cg_vq_v":-0.329406649,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.280518,"values":{"Elec_RPM":-1.83004195e-35,"EncoderCos":38747,"EncoderSin":12469,"GapTicks":54788,"Mech_RPM":-3.66008397e-36,"cg_du":50.1223145,"cg_dv":50.1921158,"cg_dw":49.8078842,"cg_id_a":0.271670669,"cg_id_raw_a":0.367340803,"cg_iq_a":-0.502551794,"cg_iq_raw_a":-0.14750649,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14497570,"cg_sample_valid":1,"cg_theta_rad":5.00631428,"cg_vd_req_v":0.088842921,"cg_vd_v":0.088842921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330315024,"cg_vq_v":-0.330315024,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.607144833,"dclink_p_w":-87.8688278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.292236,"values":{"Elec_RPM":-1.75757241e-35,"EncoderCos":38720,"EncoderSin":12476,"GapTicks":54780,"Mech_RPM":-3.51514496e-36,"cg_du":50.1252594,"cg_dv":50.1998558,"cg_dw":49.8001442,"cg_id_a":0.0954237357,"cg_id_raw_a":-0.346480697,"cg_iq_a":-0.153503254,"cg_iq_raw_a":-0.57915622,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.8600006,"cg_sample_seq":14497717,"cg_sample_valid":1,"cg_theta_rad":5.00672245,"cg_vd_req_v":0.0962104872,"cg_vd_v":0.0962104872,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343019485,"cg_vq_v":-0.343019485,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.9808731,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.300049,"values":{"Elec_RPM":-1.75757241e-35,"EncoderCos":38703,"EncoderSin":12474,"GapTicks":54782,"Mech_RPM":-3.51514496e-36,"cg_du":50.1251678,"cg_dv":50.1981506,"cg_dw":49.8018494,"cg_id_a":0.135675758,"cg_id_raw_a":0.204735458,"cg_iq_a":-0.222657487,"cg_iq_raw_a":0.0215641614,"cg_iu_a":-0.251173496,"cg_iv_a":0.10539782,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14497767,"cg_sample_valid":1,"cg_theta_rad":5.00596189,"cg_vd_req_v":0.0956910178,"cg_vd_v":0.0956910178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33923313,"cg_vq_v":-0.33923313,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2441711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.307861,"values":{"Elec_RPM":-1.72242094e-35,"EncoderCos":38688,"EncoderSin":12411,"GapTicks":54776,"Mech_RPM":-3.44484201e-36,"cg_du":50.1213799,"cg_dv":50.2032547,"cg_dw":49.7967453,"cg_id_a":-0.324485451,"cg_id_raw_a":-0.103528522,"cg_iq_a":-0.156422347,"cg_iq_raw_a":-0.0469594523,"cg_iu_a":0.437459469,"cg_iv_a":-0.112065315,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9363632,"cg_sample_seq":14497817,"cg_sample_valid":1,"cg_theta_rad":5.00925255,"cg_vd_req_v":0.106298693,"cg_vd_v":0.106298693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343205094,"cg_vq_v":-0.343205094,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.31958,"values":{"Elec_RPM":-1.72242094e-35,"EncoderCos":38736,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-3.44484201e-36,"cg_du":50.1240997,"cg_dv":50.204834,"cg_dw":49.795166,"cg_id_a":-0.0102288462,"cg_id_raw_a":0.0457248352,"cg_iq_a":0.072656095,"cg_iq_raw_a":0.369190961,"cg_iu_a":-0.251173258,"cg_iv_a":0.177885413,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9836369,"cg_sample_seq":14497867,"cg_sample_valid":1,"cg_theta_rad":5.0066433,"cg_vd_req_v":0.100737087,"cg_vd_v":0.100737087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348371476,"cg_vq_v":-0.348371476,"cg_vu_v":105.574219,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.71043992,"dclink_p_w":-102.818176,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.327393,"values":{"Elec_RPM":-1.68797258e-35,"EncoderCos":38705,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.3759453e-36,"cg_du":50.1302376,"cg_dv":50.2052536,"cg_dw":49.7947464,"cg_id_a":0.0621942356,"cg_id_raw_a":0.424744397,"cg_iq_a":0.0346876457,"cg_iq_raw_a":-0.284364641,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503636,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14497917,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0983345881,"cg_vd_v":0.0983345881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351812422,"cg_vq_v":-0.351812422,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.335205,"values":{"Elec_RPM":-1.68797258e-35,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-3.3759453e-36,"cg_du":50.1304092,"cg_dv":50.2039909,"cg_dw":49.7960091,"cg_id_a":0.0267456826,"cg_id_raw_a":-0.157965511,"cg_iq_a":0.0214296263,"cg_iq_raw_a":-0.343049943,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9763641,"cg_sample_seq":14497967,"cg_sample_valid":1,"cg_theta_rad":5.00778151,"cg_vd_req_v":0.0975391269,"cg_vd_v":0.0975391269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351186067,"cg_vq_v":-0.351186067,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.343018,"values":{"Elec_RPM":-1.65421328e-35,"EncoderCos":38729,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-3.30842648e-36,"cg_du":50.1299171,"cg_dv":50.2038383,"cg_dw":49.7961617,"cg_id_a":0.0389682725,"cg_id_raw_a":-0.254204601,"cg_iq_a":0.0961295366,"cg_iq_raw_a":-0.460069776,"cg_iu_a":-0.686099291,"cg_iv_a":0.10539782,"cg_iw_a":0.58070147,"cg_sample_age_us":23.954546,"cg_sample_seq":14498017,"cg_sample_valid":1,"cg_theta_rad":5.00640249,"cg_vd_req_v":0.0954176933,"cg_vd_v":0.0954176933,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351350665,"cg_vq_v":-0.351350665,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.6324863,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.370361,"values":{"Elec_RPM":-1.65421328e-35,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54770,"Mech_RPM":-3.30842648e-36,"cg_du":50.1447563,"cg_dv":50.2089729,"cg_dw":49.7910271,"cg_id_a":0.296835095,"cg_id_raw_a":0.95450896,"cg_iq_a":0.766583622,"cg_iq_raw_a":1.4035995,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263507,"cg_sample_age_us":23.8527279,"cg_sample_seq":14498072,"cg_sample_valid":1,"cg_theta_rad":5.00712967,"cg_vd_req_v":0.0891140997,"cg_vd_v":0.0891140997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365404189,"cg_vq_v":-0.365404189,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2551575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.378174,"values":{"Elec_RPM":-1.62112897e-35,"EncoderCos":38722,"EncoderSin":12435,"GapTicks":54774,"Mech_RPM":-3.24225793e-36,"cg_du":50.1252747,"cg_dv":50.2045898,"cg_dw":49.7954102,"cg_id_a":-0.307168156,"cg_id_raw_a":-0.35797894,"cg_iq_a":-0.0566298403,"cg_iq_raw_a":-0.872645319,"cg_iu_a":0.256240368,"cg_iv_a":-0.546991229,"cg_iw_a":0.290750861,"cg_sample_age_us":23.863636,"cg_sample_seq":14498116,"cg_sample_valid":1,"cg_theta_rad":5.00666571,"cg_vd_req_v":0.101330727,"cg_vd_v":0.101330727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348190933,"cg_vq_v":-0.348190933,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2551575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.385986,"values":{"Elec_RPM":-1.62112897e-35,"EncoderCos":38709,"EncoderSin":12426,"GapTicks":54782,"Mech_RPM":-3.24225793e-36,"cg_du":50.1337547,"cg_dv":50.1979904,"cg_dw":49.8020096,"cg_id_a":0.244032532,"cg_id_raw_a":0.461522847,"cg_iq_a":-0.202726826,"cg_iq_raw_a":-1.44541073,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0758213997,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9436359,"cg_sample_seq":14498167,"cg_sample_valid":1,"cg_theta_rad":5.00801134,"cg_vd_req_v":0.0894767717,"cg_vd_v":0.0894767717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343689889,"cg_vq_v":-0.343689889,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2551575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.397705,"values":{"Elec_RPM":-1.58870644e-35,"EncoderCos":38730,"EncoderSin":12490,"GapTicks":54776,"Mech_RPM":-3.17741274e-36,"cg_du":50.1327171,"cg_dv":50.2034416,"cg_dw":49.7965584,"cg_id_a":0.0883973539,"cg_id_raw_a":-0.128447711,"cg_iq_a":0.136921287,"cg_iq_raw_a":-0.0112816896,"cg_iu_a":-0.50488019,"cg_iv_a":-0.293284297,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9436359,"cg_sample_seq":14498217,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0924139619,"cg_vd_v":0.0924139619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351342082,"cg_vq_v":-0.351342082,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.405518,"values":{"Elec_RPM":-1.58870644e-35,"EncoderCos":38698,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.17741274e-36,"cg_du":50.1340103,"cg_dv":50.1979141,"cg_dw":49.8020859,"cg_id_a":0.177380368,"cg_id_raw_a":-0.26817432,"cg_iq_a":-0.282324374,"cg_iq_raw_a":0.118740395,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14498267,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.0893344805,"cg_vd_v":0.0893344805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343699664,"cg_vq_v":-0.343699664,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.0039711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2504578,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.41333,"values":{"Elec_RPM":-1.55693222e-35,"EncoderCos":38731,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-3.11386437e-36,"cg_du":50.1409569,"cg_dv":50.2063904,"cg_dw":49.7936096,"cg_id_a":0.0198844448,"cg_id_raw_a":0.671732962,"cg_iq_a":0.466342628,"cg_iq_raw_a":1.30238175,"cg_iu_a":0.0750210285,"cg_iv_a":-0.619478881,"cg_iw_a":0.544457853,"cg_sample_age_us":23.8745461,"cg_sample_seq":14498317,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0890737996,"cg_vd_v":0.0890737996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359890103,"cg_vq_v":-0.359890103,"cg_vu_v":123.60981,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.545530319,"dclink_p_w":-78.9516907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.421143,"values":{"Elec_RPM":-1.55693222e-35,"EncoderCos":38720,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-3.11386437e-36,"cg_du":50.1534882,"cg_dv":50.2040749,"cg_dw":49.7959251,"cg_id_a":0.507527947,"cg_id_raw_a":0.308383286,"cg_iq_a":0.721336782,"cg_iq_raw_a":0.24975425,"cg_iu_a":0.328727961,"cg_iv_a":-0.257040501,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9472733,"cg_sample_seq":14498367,"cg_sample_valid":1,"cg_theta_rad":5.00810957,"cg_vd_req_v":0.0783378258,"cg_vd_v":0.0783378258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36345315,"cg_vq_v":-0.36345315,"cg_vu_v":127.12896,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.432861,"values":{"Elec_RPM":-1.52579353e-35,"EncoderCos":38704,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-3.05158699e-36,"cg_du":50.1431046,"cg_dv":50.2041245,"cg_dw":49.7958755,"cg_id_a":-0.0479367375,"cg_id_raw_a":-0.615823746,"cg_iq_a":0.370436102,"cg_iq_raw_a":0.2292808,"cg_iu_a":-1.30224442,"cg_iv_a":0.0329101086,"cg_iw_a":1.26933432,"cg_sample_age_us":23.9509087,"cg_sample_seq":14498417,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0878049061,"cg_vd_v":0.0878049061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357372969,"cg_vq_v":-0.357372969,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.440674,"values":{"Elec_RPM":-1.52579353e-35,"EncoderCos":38728,"EncoderSin":12435,"GapTicks":54779,"Mech_RPM":-3.05158699e-36,"cg_du":50.1454735,"cg_dv":50.2006073,"cg_dw":49.7993927,"cg_id_a":0.248388812,"cg_id_raw_a":-0.0747147873,"cg_iq_a":0.179250047,"cg_iq_raw_a":-0.771339059,"cg_iu_a":-1.44721985,"cg_iv_a":0.57656765,"cg_iw_a":0.870652199,"cg_sample_age_us":23.8563633,"cg_sample_seq":14498466,"cg_sample_valid":1,"cg_theta_rad":5.00820827,"cg_vd_req_v":0.0811386034,"cg_vd_v":0.0811386034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354265064,"cg_vq_v":-0.354265064,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.448486,"values":{"Elec_RPM":-1.4952776e-35,"EncoderCos":38702,"EncoderSin":12509,"GapTicks":54771,"Mech_RPM":-2.99055531e-36,"cg_du":50.1416969,"cg_dv":50.207653,"cg_dw":49.792347,"cg_id_a":-0.179489672,"cg_id_raw_a":0.0440639406,"cg_iq_a":0.428215653,"cg_iq_raw_a":0.369392872,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.23562407,"cg_iw_a":1.26933455,"cg_sample_age_us":23.8490906,"cg_sample_seq":14498516,"cg_sample_valid":1,"cg_theta_rad":5.00549984,"cg_vd_req_v":0.0912562758,"cg_vd_v":0.0912562758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361636251,"cg_vq_v":-0.361636251,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.9826126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.456299,"values":{"Elec_RPM":-1.4952776e-35,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-2.99055531e-36,"cg_du":50.1340446,"cg_dv":50.2015228,"cg_dw":49.7984772,"cg_id_a":-0.0943689048,"cg_id_raw_a":-0.130822822,"cg_iq_a":0.0186862499,"cg_iq_raw_a":-0.631102085,"cg_iu_a":0.654922485,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9400005,"cg_sample_seq":14498566,"cg_sample_valid":1,"cg_theta_rad":5.00694513,"cg_vd_req_v":0.0911230519,"cg_vd_v":0.0911230519,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350186944,"cg_vq_v":-0.350186944,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.587210894,"dclink_p_w":-84.9838943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.483643,"values":{"Elec_RPM":-1.46537209e-35,"EncoderCos":38767,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-2.93074422e-36,"cg_du":50.1303139,"cg_dv":50.2085648,"cg_dw":49.7914352,"cg_id_a":-0.353461564,"cg_id_raw_a":-0.482362658,"cg_iq_a":0.368132502,"cg_iq_raw_a":0.431476653,"cg_iu_a":0.292484283,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9472733,"cg_sample_seq":14498621,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.0969990864,"cg_vd_v":0.0969990864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357603461,"cg_vq_v":-0.357603461,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.587210894,"dclink_p_w":-84.9838943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.495361,"values":{"Elec_RPM":-1.46537209e-35,"EncoderCos":38756,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-2.93074422e-36,"cg_du":50.1366768,"cg_dv":50.2022057,"cg_dw":49.7977943,"cg_id_a":0.102467492,"cg_id_raw_a":0.414871186,"cg_iq_a":-0.0443718582,"cg_iq_raw_a":-0.907863796,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9799995,"cg_sample_seq":14498668,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0868252963,"cg_vd_v":0.0868252963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352188379,"cg_vq_v":-0.352188379,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2269592,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.503174,"values":{"Elec_RPM":-1.43606466e-35,"EncoderCos":38716,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-2.87212931e-36,"cg_du":50.1389999,"cg_dv":50.2067223,"cg_dw":49.7932777,"cg_id_a":-0.126549646,"cg_id_raw_a":-0.212559,"cg_iq_a":0.234186515,"cg_iq_raw_a":0.416947693,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395775437,"cg_iw_a":0.182019532,"cg_sample_age_us":23.954546,"cg_sample_seq":14498717,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.0918300226,"cg_vd_v":0.0918300226,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357860386,"cg_vq_v":-0.357860386,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2441711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.510986,"values":{"Elec_RPM":-1.43606466e-35,"EncoderCos":38737,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-2.87212931e-36,"cg_du":50.1411057,"cg_dv":50.2050476,"cg_dw":49.7949524,"cg_id_a":0.0795004144,"cg_id_raw_a":-0.224743336,"cg_iq_a":0.181450754,"cg_iq_raw_a":0.562027037,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9763641,"cg_sample_seq":14498767,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0875638649,"cg_vd_v":0.0875638649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358170629,"cg_vq_v":-0.358170629,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2441711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.518799,"values":{"Elec_RPM":-1.40734339e-35,"EncoderCos":38760,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-2.81468675e-36,"cg_du":50.1400681,"cg_dv":50.2054443,"cg_dw":49.7945557,"cg_id_a":0.165831059,"cg_id_raw_a":-0.0387917012,"cg_iq_a":0.153151855,"cg_iq_raw_a":-0.0753708556,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641557,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9472733,"cg_sample_seq":14498817,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.0863479823,"cg_vd_v":0.0863479823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358721375,"cg_vq_v":-0.358721375,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.230072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.526611,"values":{"Elec_RPM":-1.40734339e-35,"EncoderCos":38668,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-2.81468675e-36,"cg_du":50.1433144,"cg_dv":50.2057571,"cg_dw":49.7942429,"cg_id_a":-0.0169970058,"cg_id_raw_a":0.129330173,"cg_iq_a":-0.0734321326,"cg_iq_raw_a":-0.0577670857,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8527279,"cg_sample_seq":14498867,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0923503339,"cg_vd_v":0.0923503339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358919084,"cg_vq_v":-0.358919084,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.534424,"values":{"Elec_RPM":-1.37919653e-35,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-2.75839302e-36,"cg_du":50.1433105,"cg_dv":50.2076416,"cg_dw":49.7923584,"cg_id_a":0.0452903956,"cg_id_raw_a":0.0727558136,"cg_iq_a":0.150592878,"cg_iq_raw_a":0.0807965249,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14498917,"cg_sample_valid":1,"cg_theta_rad":5.00803947,"cg_vd_req_v":0.0899458975,"cg_vd_v":0.0899458975,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363710552,"cg_vq_v":-0.363710552,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.546143,"values":{"Elec_RPM":-1.37919653e-35,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-2.75839302e-36,"cg_du":50.1385765,"cg_dv":50.2130547,"cg_dw":49.7869453,"cg_id_a":-0.283672124,"cg_id_raw_a":0.201497719,"cg_iq_a":0.456042588,"cg_iq_raw_a":-0.161718249,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.655722797,"cg_iw_a":0.725677192,"cg_sample_age_us":23.954546,"cg_sample_seq":14498967,"cg_sample_valid":1,"cg_theta_rad":5.00743294,"cg_vd_req_v":0.0984677598,"cg_vd_v":0.0984677598,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368549496,"cg_vq_v":-0.368549496,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.553955,"values":{"Elec_RPM":-1.35161259e-35,"EncoderCos":38708,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-2.70322518e-36,"cg_du":50.1416397,"cg_dv":50.2074623,"cg_dw":49.7925377,"cg_id_a":0.0331565067,"cg_id_raw_a":0.00892691873,"cg_iq_a":-0.114946045,"cg_iq_raw_a":0.29314816,"cg_iu_a":0.183752656,"cg_iv_a":-0.583235025,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9509087,"cg_sample_seq":14499017,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.091912061,"cg_vd_v":0.091912061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361148924,"cg_vq_v":-0.361148924,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.456611633,"dclink_p_w":66.2838211,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2363281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.561768,"values":{"Elec_RPM":-1.35161259e-35,"EncoderCos":38704,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-2.70322518e-36,"cg_du":50.1452484,"cg_dv":50.2064934,"cg_dw":49.7935066,"cg_id_a":0.116416164,"cg_id_raw_a":0.111443788,"cg_iq_a":0.0214591399,"cg_iq_raw_a":-0.716481864,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8709087,"cg_sample_seq":14499067,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0881944895,"cg_vd_v":0.0881944895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36185658,"cg_vq_v":-0.36185658,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2363281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.589111,"values":{"Elec_RPM":-1.32458038e-35,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-2.64916062e-36,"cg_du":50.1467552,"cg_dv":50.2121506,"cg_dw":49.7878494,"cg_id_a":-0.0643983036,"cg_id_raw_a":-0.159770846,"cg_iq_a":0.50458169,"cg_iq_raw_a":0.0944989473,"cg_iu_a":-0.178685665,"cg_iv_a":0.250373065,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8563633,"cg_sample_seq":14499120,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0909862965,"cg_vd_v":0.0909862965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370760292,"cg_vq_v":-0.370760292,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":42.8725853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.60083,"values":{"Elec_RPM":-1.32458038e-35,"EncoderCos":38732,"EncoderSin":12458,"GapTicks":54773,"Mech_RPM":-2.64916062e-36,"cg_du":50.1340828,"cg_dv":50.2063446,"cg_dw":49.7936554,"cg_id_a":-0.359942138,"cg_id_raw_a":0.177024439,"cg_iq_a":-0.171055242,"cg_iq_raw_a":-0.127866879,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14499166,"cg_sample_valid":1,"cg_theta_rad":5.00702906,"cg_vd_req_v":0.0947724953,"cg_vd_v":0.0947724953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355895102,"cg_vq_v":-0.355895102,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.495986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.608643,"values":{"Elec_RPM":-1.29808871e-35,"EncoderCos":38713,"EncoderSin":12478,"GapTicks":54771,"Mech_RPM":-2.59617746e-36,"cg_du":50.1471939,"cg_dv":50.2076759,"cg_dw":49.7923241,"cg_id_a":0.0642177314,"cg_id_raw_a":-0.482211143,"cg_iq_a":0.215693831,"cg_iq_raw_a":1.22786343,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836142,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8600006,"cg_sample_seq":14499216,"cg_sample_valid":1,"cg_theta_rad":5.00684738,"cg_vd_req_v":0.0870977193,"cg_vd_v":0.0870977193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365905255,"cg_vq_v":-0.365905255,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.616455,"values":{"Elec_RPM":-1.29808871e-35,"EncoderCos":38752,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-2.59617746e-36,"cg_du":50.1430969,"cg_dv":50.2072716,"cg_dw":49.7927284,"cg_id_a":0.0450015515,"cg_id_raw_a":0.379199862,"cg_iq_a":-0.00466639549,"cg_iq_raw_a":0.653425455,"cg_iu_a":-0.468636513,"cg_iv_a":0.250373065,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9763641,"cg_sample_seq":14499267,"cg_sample_valid":1,"cg_theta_rad":5.00788927,"cg_vd_req_v":0.0866279304,"cg_vd_v":0.0866279304,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363843977,"cg_vq_v":-0.363843977,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.624268,"values":{"Elec_RPM":-1.27212696e-35,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-2.54425399e-36,"cg_du":50.1401863,"cg_dv":50.2036133,"cg_dw":49.7963867,"cg_id_a":0.029334005,"cg_id_raw_a":0.18404448,"cg_iq_a":-0.342438251,"cg_iq_raw_a":-0.636882901,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9436359,"cg_sample_seq":14499317,"cg_sample_valid":1,"cg_theta_rad":5.00751925,"cg_vd_req_v":0.0874722302,"cg_vd_v":0.0874722302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355559796,"cg_vq_v":-0.355559796,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.63208,"values":{"Elec_RPM":-1.27212696e-35,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-2.54425399e-36,"cg_du":50.147522,"cg_dv":50.2096367,"cg_dw":49.7903633,"cg_id_a":-0.027116023,"cg_id_raw_a":-0.0450978428,"cg_iq_a":0.125659406,"cg_iq_raw_a":-0.00364773045,"cg_iu_a":-0.758587122,"cg_iv_a":-0.474503517,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9509087,"cg_sample_seq":14499367,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0884485543,"cg_vd_v":0.0884485543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367652297,"cg_vq_v":-0.367652297,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8914557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.2316589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.639893,"values":{"Elec_RPM":-1.24668437e-35,"EncoderCos":38694,"EncoderSin":12444,"GapTicks":54768,"Mech_RPM":-2.49336888e-36,"cg_du":50.1500664,"cg_dv":50.2103767,"cg_dw":49.7896233,"cg_id_a":-0.000412799418,"cg_id_raw_a":0.317863673,"cg_iq_a":0.0104745775,"cg_iq_raw_a":0.544586539,"cg_iu_a":0.038777113,"cg_iv_a":0.504079938,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9872723,"cg_sample_seq":14499417,"cg_sample_valid":1,"cg_theta_rad":5.00707626,"cg_vd_req_v":0.0893974453,"cg_vd_v":0.0893974453,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368366957,"cg_vq_v":-0.368366957,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.252703637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.647705,"values":{"Elec_RPM":-1.24668437e-35,"EncoderCos":38700,"EncoderSin":12435,"GapTicks":54772,"Mech_RPM":-2.49336888e-36,"cg_du":50.1468811,"cg_dv":50.2063713,"cg_dw":49.7936287,"cg_id_a":0.0133287571,"cg_id_raw_a":-0.0678846389,"cg_iq_a":-0.162061304,"cg_iq_raw_a":-0.589385331,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9436359,"cg_sample_seq":14499467,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0879475251,"cg_vd_v":0.0879475251,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362336099,"cg_vq_v":-0.362336099,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.252703637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.659424,"values":{"Elec_RPM":-1.22175074e-35,"EncoderCos":38718,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-2.44350148e-36,"cg_du":50.1542282,"cg_dv":50.2122192,"cg_dw":49.7877808,"cg_id_a":0.174685925,"cg_id_raw_a":0.44855231,"cg_iq_a":0.390805215,"cg_iq_raw_a":-0.319229782,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":0.979383588,"cg_sample_age_us":23.9581814,"cg_sample_seq":14499517,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0856003612,"cg_vd_v":0.0856003612,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374952793,"cg_vq_v":-0.374952793,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.252703637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.667236,"values":{"Elec_RPM":-1.22175074e-35,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54761,"Mech_RPM":-2.44350148e-36,"cg_du":50.1552734,"cg_dv":50.2166023,"cg_dw":49.7833977,"cg_id_a":-0.0633088648,"cg_id_raw_a":-0.572294831,"cg_iq_a":0.567572117,"cg_iq_raw_a":0.854310036,"cg_iu_a":0.147508621,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9436359,"cg_sample_seq":14499567,"cg_sample_valid":1,"cg_theta_rad":5.00769472,"cg_vd_req_v":0.0895411298,"cg_vd_v":0.0895411298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38137567,"cg_vq_v":-0.38137567,"cg_vu_v":129.328415,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.252703637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.69458,"values":{"Elec_RPM":-1.19731568e-35,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54765,"Mech_RPM":-2.39463137e-36,"cg_du":50.1499634,"cg_dv":50.2133675,"cg_dw":49.7866325,"cg_id_a":-0.0159483552,"cg_id_raw_a":0.170283586,"cg_iq_a":0.235625371,"cg_iq_raw_a":0.381217301,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":25.9218178,"cg_sample_seq":14499620,"cg_sample_valid":1,"cg_theta_rad":5.00644732,"cg_vd_req_v":0.0890896544,"cg_vd_v":0.0890896544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374347925,"cg_vq_v":-0.374347925,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.00175142288,"dclink_p_w":0.252703637,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2285156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.702393,"values":{"Elec_RPM":-1.19731568e-35,"EncoderCos":38737,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-2.39463137e-36,"cg_du":50.1506157,"cg_dv":50.2157211,"cg_dw":49.7842789,"cg_id_a":0.00170867145,"cg_id_raw_a":-0.279003114,"cg_iq_a":0.27475363,"cg_iq_raw_a":0.702837706,"cg_iu_a":-0.39614892,"cg_iv_a":0.177885413,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9509087,"cg_sample_seq":14499667,"cg_sample_valid":1,"cg_theta_rad":5.00636292,"cg_vd_req_v":0.0895716175,"cg_vd_v":0.0895716175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377011061,"cg_vq_v":-0.377011061,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.714111,"values":{"Elec_RPM":-1.17336936e-35,"EncoderCos":38711,"EncoderSin":12465,"GapTicks":54758,"Mech_RPM":-2.3467388e-36,"cg_du":50.1608315,"cg_dv":50.2196045,"cg_dw":49.7803955,"cg_id_a":0.114956275,"cg_id_raw_a":0.939195573,"cg_iq_a":0.805312097,"cg_iq_raw_a":1.29693496,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539645,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9509087,"cg_sample_seq":14499717,"cg_sample_valid":1,"cg_theta_rad":5.00834322,"cg_vd_req_v":0.0880153999,"cg_vd_v":0.0880153999,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387364656,"cg_vq_v":-0.387364656,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.721924,"values":{"Elec_RPM":-1.17336936e-35,"EncoderCos":38730,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-2.3467388e-36,"cg_du":50.1437759,"cg_dv":50.2074661,"cg_dw":49.7925339,"cg_id_a":0.103067942,"cg_id_raw_a":-0.0527790897,"cg_iq_a":-0.399125308,"cg_iq_raw_a":-0.368213236,"cg_iu_a":0.14750886,"cg_iv_a":-0.25704062,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14499768,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0873908028,"cg_vd_v":0.0873908028,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361891121,"cg_vq_v":-0.361891121,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0633660555,"dclink_p_w":9.14275646,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2489014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.729736,"values":{"Elec_RPM":-1.14990202e-35,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54769,"Mech_RPM":-2.29980404e-36,"cg_du":50.1437263,"cg_dv":50.2099762,"cg_dw":49.7900238,"cg_id_a":-0.10792546,"cg_id_raw_a":-0.0518513322,"cg_iq_a":-0.100779995,"cg_iq_raw_a":0.505573213,"cg_iu_a":0.256240368,"cg_iv_a":-0.329528332,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14499817,"cg_sample_valid":1,"cg_theta_rad":5.00622177,"cg_vd_req_v":0.0907050148,"cg_vd_v":0.0907050148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366238505,"cg_vq_v":-0.366238505,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.226463199,"dclink_p_w":32.774807,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.737549,"values":{"Elec_RPM":-1.14990202e-35,"EncoderCos":38725,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-2.29980404e-36,"cg_du":50.1410789,"cg_dv":50.2125587,"cg_dw":49.7874413,"cg_id_a":-0.314001113,"cg_id_raw_a":0.0347482376,"cg_iq_a":0.170739919,"cg_iq_raw_a":-0.177907571,"cg_iu_a":-0.106198072,"cg_iv_a":-1.23562407,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9836369,"cg_sample_seq":14499867,"cg_sample_valid":1,"cg_theta_rad":5.00716686,"cg_vd_req_v":0.0954561159,"cg_vd_v":0.0954561159,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368229181,"cg_vq_v":-0.368229181,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.83090925,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.745361,"values":{"Elec_RPM":-1.10436589e-35,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-2.20873175e-36,"cg_du":50.1402931,"cg_dv":50.2052116,"cg_dw":49.7947884,"cg_id_a":-0.0479086339,"cg_id_raw_a":0.539729953,"cg_iq_a":-0.18645899,"cg_iq_raw_a":0.487731963,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.863636,"cg_sample_seq":14500017,"cg_sample_valid":1,"cg_theta_rad":5.00722742,"cg_vd_req_v":0.0877393112,"cg_vd_v":0.0877393112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358093828,"cg_vq_v":-0.358093828,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2081604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.753174,"values":{"Elec_RPM":-1.10436589e-35,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-2.20873175e-36,"cg_du":50.1460342,"cg_dv":50.2043953,"cg_dw":49.7956047,"cg_id_a":0.072971791,"cg_id_raw_a":0.156253472,"cg_iq_a":-0.0285117403,"cg_iq_raw_a":0.0886402875,"cg_iu_a":0.0750212669,"cg_iv_a":0.431592345,"cg_iw_a":-0.506613612,"cg_sample_age_us":23.9836369,"cg_sample_seq":14500066,"cg_sample_valid":1,"cg_theta_rad":5.00568104,"cg_vd_req_v":0.0835746676,"cg_vd_v":0.0835746676,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35991472,"cg_vq_v":-0.35991472,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2175598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.784424,"values":{"Elec_RPM":-1.08227852e-35,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-2.16455708e-36,"cg_du":50.1338463,"cg_dv":50.2088776,"cg_dw":49.7911224,"cg_id_a":-0.490992546,"cg_id_raw_a":-0.521044791,"cg_iq_a":-0.111551605,"cg_iq_raw_a":-0.083630994,"cg_iu_a":-0.142441988,"cg_iv_a":-0.293284416,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8527279,"cg_sample_seq":14500120,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.0961084217,"cg_vd_v":0.0961084217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359564066,"cg_vq_v":-0.359564066,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2175598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.792236,"values":{"Elec_RPM":-1.08227852e-35,"EncoderCos":38664,"EncoderSin":12451,"GapTicks":54772,"Mech_RPM":-2.16455708e-36,"cg_du":50.1499939,"cg_dv":50.2064209,"cg_dw":49.7935791,"cg_id_a":-0.144067973,"cg_id_raw_a":0.0623313822,"cg_iq_a":0.105485827,"cg_iq_raw_a":-0.211037979,"cg_iu_a":-0.432392597,"cg_iv_a":0.105397761,"cg_iw_a":0.326994836,"cg_sample_age_us":23.9836369,"cg_sample_seq":14500167,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.0884135365,"cg_vd_v":0.0884135365,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364657491,"cg_vq_v":-0.364657491,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.5540466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2394714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.800049,"values":{"Elec_RPM":-1.06063297e-35,"EncoderCos":38725,"EncoderSin":12489,"GapTicks":54765,"Mech_RPM":-2.12126597e-36,"cg_du":50.1470604,"cg_dv":50.2136192,"cg_dw":49.7863808,"cg_id_a":-0.297569871,"cg_id_raw_a":0.0382139385,"cg_iq_a":0.645243943,"cg_iq_raw_a":0.00444603572,"cg_iu_a":0.292484283,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9618187,"cg_sample_seq":14500217,"cg_sample_valid":1,"cg_theta_rad":5.00709963,"cg_vd_req_v":0.0917037502,"cg_vd_v":0.0917037502,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374247998,"cg_vq_v":-0.374247998,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.5540466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.807861,"values":{"Elec_RPM":-1.06063297e-35,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54774,"Mech_RPM":-2.12126597e-36,"cg_du":50.140667,"cg_dv":50.2049713,"cg_dw":49.7950287,"cg_id_a":-0.152868003,"cg_id_raw_a":-0.440270752,"cg_iq_a":-0.305371702,"cg_iq_raw_a":-0.261083573,"cg_iu_a":0.183752775,"cg_iv_a":0.467836082,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.9763641,"cg_sample_seq":14500267,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.0892066061,"cg_vd_v":0.0892066061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357479513,"cg_vq_v":-0.357479513,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.665135145,"dclink_p_w":-96.5540466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2520142,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.815674,"values":{"Elec_RPM":-1.03942033e-35,"EncoderCos":38680,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-2.07884067e-36,"cg_du":50.1498795,"cg_dv":50.2083015,"cg_dw":49.7916985,"cg_id_a":-0.0189634934,"cg_id_raw_a":-0.0528275929,"cg_iq_a":0.145006508,"cg_iq_raw_a":0.068021059,"cg_iu_a":0.364971638,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.954546,"cg_sample_seq":14500317,"cg_sample_valid":1,"cg_theta_rad":5.0053134,"cg_vd_req_v":0.0885674804,"cg_vd_v":0.0885674804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366389334,"cg_vq_v":-0.366389334,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-100.720024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2394714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.827393,"values":{"Elec_RPM":-1.03942033e-35,"EncoderCos":38703,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.07884067e-36,"cg_du":50.1503525,"cg_dv":50.2105408,"cg_dw":49.7894592,"cg_id_a":-0.0936944485,"cg_id_raw_a":0.325009972,"cg_iq_a":0.264469028,"cg_iq_raw_a":0.288598061,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284297,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9836369,"cg_sample_seq":14500367,"cg_sample_valid":1,"cg_theta_rad":5.005445,"cg_vd_req_v":0.08791475,"cg_vd_v":0.08791475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370280772,"cg_vq_v":-0.370280772,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-101.982704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2394714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.835205,"values":{"Elec_RPM":-1.01863201e-35,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54768,"Mech_RPM":-2.03726394e-36,"cg_du":50.1494255,"cg_dv":50.2106247,"cg_dw":49.7893753,"cg_id_a":-0.030290015,"cg_id_raw_a":-0.448103011,"cg_iq_a":0.162070364,"cg_iq_raw_a":-0.187217548,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704056,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14500417,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0864109844,"cg_vd_v":0.0864109844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370418131,"cg_vq_v":-0.370418131,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.843018,"values":{"Elec_RPM":-1.01863201e-35,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-2.03726394e-36,"cg_du":50.1502457,"cg_dv":50.2143822,"cg_dw":49.7856178,"cg_id_a":-0.111763947,"cg_id_raw_a":-0.600757122,"cg_iq_a":0.418405175,"cg_iq_raw_a":0.525360763,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860777,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9509087,"cg_sample_seq":14500466,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0904258937,"cg_vd_v":0.0904258937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376960367,"cg_vq_v":-0.376960367,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.85083,"values":{"Elec_RPM":-9.98259305e-36,"EncoderCos":38730,"EncoderSin":12476,"GapTicks":54770,"Mech_RPM":-1.99651857e-36,"cg_du":50.1414108,"cg_dv":50.2089691,"cg_dw":49.7910309,"cg_id_a":-0.142512277,"cg_id_raw_a":0.0656557605,"cg_iq_a":-0.304014564,"cg_iq_raw_a":-0.284212381,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9509087,"cg_sample_seq":14500517,"cg_sample_valid":1,"cg_theta_rad":5.00730228,"cg_vd_req_v":0.0915498361,"cg_vd_v":0.0915498361,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364748329,"cg_vq_v":-0.364748329,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.8240662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.858643,"values":{"Elec_RPM":-9.98259305e-36,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-1.99651857e-36,"cg_du":50.1450615,"cg_dv":50.2142372,"cg_dw":49.7857628,"cg_id_a":-0.38130334,"cg_id_raw_a":0.0924031734,"cg_iq_a":0.0900253579,"cg_iq_raw_a":0.301532954,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14500566,"cg_sample_valid":1,"cg_theta_rad":5.0062871,"cg_vd_req_v":0.0958945677,"cg_vd_v":0.0958945677,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373455554,"cg_vq_v":-0.373455554,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.8240662,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6858215,"temp_inv2_c":36.2316589,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.889893,"values":{"Elec_RPM":-9.78294125e-36,"EncoderCos":38743,"EncoderSin":12474,"GapTicks":54757,"Mech_RPM":-1.95658825e-36,"cg_du":50.1565437,"cg_dv":50.2201233,"cg_dw":49.7798767,"cg_id_a":-0.00300846342,"cg_id_raw_a":0.997732997,"cg_iq_a":0.755756676,"cg_iq_raw_a":1.22114396,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9836369,"cg_sample_seq":14500620,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.089090541,"cg_vd_v":0.089090541,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387548625,"cg_vq_v":-0.387548625,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2426147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.897705,"values":{"Elec_RPM":-9.78294125e-36,"EncoderCos":38756,"EncoderSin":12496,"GapTicks":54768,"Mech_RPM":-1.95658825e-36,"cg_du":50.1503754,"cg_dv":50.2105255,"cg_dw":49.7894745,"cg_id_a":0.223983943,"cg_id_raw_a":0.222687721,"cg_iq_a":0.040521726,"cg_iq_raw_a":0.05671864,"cg_iu_a":-0.396148682,"cg_iv_a":0.359104633,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14500667,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0827738866,"cg_vd_v":0.0827738866,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370261848,"cg_vq_v":-0.370261848,"cg_vu_v":129.328415,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.2987442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2426147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.905518,"values":{"Elec_RPM":-9.58728213e-36,"EncoderCos":38765,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-1.91745646e-36,"cg_du":50.1440735,"cg_dv":50.2069283,"cg_dw":49.7930717,"cg_id_a":0.156257272,"cg_id_raw_a":0.130529568,"cg_iq_a":-0.257191628,"cg_iq_raw_a":-0.824656188,"cg_iu_a":0.14750886,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9509087,"cg_sample_seq":14500717,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0836890042,"cg_vd_v":0.0836890042,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362020582,"cg_vq_v":-0.362020582,"cg_vu_v":134.167236,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.2987442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.91333,"values":{"Elec_RPM":-9.58728213e-36,"EncoderCos":38752,"EncoderSin":12455,"GapTicks":54765,"Mech_RPM":-1.91745646e-36,"cg_du":50.1510201,"cg_dv":50.2135086,"cg_dw":49.7864914,"cg_id_a":-0.0622233897,"cg_id_raw_a":0.562048137,"cg_iq_a":0.567030609,"cg_iq_raw_a":1.39884388,"cg_iu_a":0.0750212669,"cg_iv_a":-0.583235145,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9254551,"cg_sample_seq":14500767,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0867857113,"cg_vd_v":0.0867857113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375512272,"cg_vq_v":-0.375512272,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.2987442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.921143,"values":{"Elec_RPM":-9.39553607e-36,"EncoderCos":38703,"EncoderSin":12445,"GapTicks":54769,"Mech_RPM":-1.87910725e-36,"cg_du":50.1540184,"cg_dv":50.209816,"cg_dw":49.790184,"cg_id_a":-0.0214366764,"cg_id_raw_a":-0.169966966,"cg_iq_a":0.0257906318,"cg_iq_raw_a":-0.0167718232,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8563633,"cg_sample_seq":14500816,"cg_sample_valid":1,"cg_theta_rad":5.00593948,"cg_vd_req_v":0.0812442973,"cg_vd_v":0.0812442973,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373239398,"cg_vq_v":-0.373239398,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.5610352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2394714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.928955,"values":{"Elec_RPM":-9.39553607e-36,"EncoderCos":38737,"EncoderSin":12470,"GapTicks":54763,"Mech_RPM":-1.87910725e-36,"cg_du":50.1644974,"cg_dv":50.2148247,"cg_dw":49.7851753,"cg_id_a":0.299833268,"cg_id_raw_a":-0.038339749,"cg_iq_a":1.01226163,"cg_iq_raw_a":-0.075601764,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9872723,"cg_sample_seq":14500866,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0785815716,"cg_vd_v":0.0785815716,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38579157,"cg_vq_v":-0.38579157,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.753932476,"dclink_p_w":-109.444267,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2626.940674,"values":{"Elec_RPM":-9.2076263e-36,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54770,"Mech_RPM":-1.84152519e-36,"cg_du":50.1535912,"cg_dv":50.2090111,"cg_dw":49.7909889,"cg_id_a":0.0305762291,"cg_id_raw_a":0.134914935,"cg_iq_a":0.13897498,"cg_iq_raw_a":0.305344343,"cg_iu_a":0.654922366,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14500917,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0825154632,"cg_vd_v":0.0825154632,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36915651,"cg_vq_v":-0.36915651,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.948486,"values":{"Elec_RPM":-9.2076263e-36,"EncoderCos":38700,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-1.84152519e-36,"cg_du":50.1577377,"cg_dv":50.2152557,"cg_dw":49.7847443,"cg_id_a":-0.148504987,"cg_id_raw_a":-0.400605083,"cg_iq_a":0.796199799,"cg_iq_raw_a":-0.44035852,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14500966,"cg_sample_valid":1,"cg_theta_rad":5.00721121,"cg_vd_req_v":0.0867629573,"cg_vd_v":0.0867629573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380835086,"cg_vq_v":-0.380835086,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.7099304,"temp_inv2_c":36.230072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2626.956299,"values":{"Elec_RPM":-9.02347317e-36,"EncoderCos":38730,"EncoderSin":12496,"GapTicks":54773,"Mech_RPM":-1.80469467e-36,"cg_du":50.1483459,"cg_dv":50.205616,"cg_dw":49.794384,"cg_id_a":0.0520862937,"cg_id_raw_a":-0.212894246,"cg_iq_a":-0.248935848,"cg_iq_raw_a":-0.455968589,"cg_iu_a":-0.178685665,"cg_iv_a":0.105397701,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14501016,"cg_sample_valid":1,"cg_theta_rad":5.00708055,"cg_vd_req_v":0.0818226039,"cg_vd_v":0.0818226039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361967027,"cg_vq_v":-0.361967027,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.1846924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2626.964111,"values":{"Elec_RPM":-9.02347317e-36,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-1.80469467e-36,"cg_du":50.1506577,"cg_dv":50.2128754,"cg_dw":49.7871246,"cg_id_a":-0.382033914,"cg_id_raw_a":-1.03582883,"cg_iq_a":0.262943089,"cg_iq_raw_a":1.06208611,"cg_iu_a":0.401215553,"cg_iv_a":0.286616921,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.954546,"cg_sample_seq":14501066,"cg_sample_valid":1,"cg_theta_rad":5.00666809,"cg_vd_req_v":0.0901803076,"cg_vd_v":0.0901803076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374766469,"cg_vq_v":-0.374766469,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.1846924,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2626.98298,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2626.982985,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2626.98299,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2626.991455,"values":{"Elec_RPM":-8.84300422e-36,"EncoderCos":38740,"EncoderSin":12466,"GapTicks":54767,"Mech_RPM":-1.76860081e-36,"cg_du":50.1461182,"cg_dv":50.2117157,"cg_dw":49.7882843,"cg_id_a":-0.346691877,"cg_id_raw_a":-0.920168757,"cg_iq_a":0.0770811737,"cg_iq_raw_a":-0.0852000639,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796704,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8563633,"cg_sample_seq":14501121,"cg_sample_valid":1,"cg_theta_rad":5.0072546,"cg_vd_req_v":0.0899208859,"cg_vd_v":0.0899208859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371285945,"cg_vq_v":-0.371285945,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2332153,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.003174,"values":{"Elec_RPM":-8.66614341e-36,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-1.73322872e-36,"cg_du":50.1567917,"cg_dv":50.2088966,"cg_dw":49.7911034,"cg_id_a":0.140129685,"cg_id_raw_a":0.368991613,"cg_iq_a":0.0504326671,"cg_iq_raw_a":-0.582151711,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0758213997,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501266,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0801669434,"cg_vd_v":0.0801669434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371919423,"cg_vq_v":-0.371919423,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.010986,"values":{"Elec_RPM":-8.49282113e-36,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-1.69856423e-36,"cg_du":50.1533279,"cg_dv":50.215374,"cg_dw":49.784626,"cg_id_a":-0.141049474,"cg_id_raw_a":-0.378367901,"cg_iq_a":0.17800203,"cg_iq_raw_a":-0.0356664211,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503636,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501316,"cg_sample_valid":1,"cg_theta_rad":5.00842667,"cg_vd_req_v":0.0886058882,"cg_vd_v":0.0886058882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378911138,"cg_vq_v":-0.378911138,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2661133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.018799,"values":{"Elec_RPM":-8.49282113e-36,"EncoderCos":38689,"EncoderSin":12504,"GapTicks":54771,"Mech_RPM":-1.69856423e-36,"cg_du":50.1498566,"cg_dv":50.2079811,"cg_dw":49.7920189,"cg_id_a":-0.0380168073,"cg_id_raw_a":0.236618385,"cg_iq_a":-0.33967495,"cg_iq_raw_a":-0.0842344165,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9763641,"cg_sample_seq":14501366,"cg_sample_valid":1,"cg_theta_rad":5.00680161,"cg_vd_req_v":0.0866531879,"cg_vd_v":0.0866531879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367502868,"cg_vq_v":-0.367502868,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2175598,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.026611,"values":{"Elec_RPM":-8.32296492e-36,"EncoderCos":38692,"EncoderSin":12475,"GapTicks":54768,"Mech_RPM":-1.66459298e-36,"cg_du":50.1469154,"cg_dv":50.2108574,"cg_dw":49.7891426,"cg_id_a":-0.272556007,"cg_id_raw_a":-0.255306333,"cg_iq_a":-0.199116722,"cg_iq_raw_a":-0.207904845,"cg_iu_a":0.219996452,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9799995,"cg_sample_seq":14501416,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0922672749,"cg_vd_v":0.0922672749,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369629204,"cg_vq_v":-0.369629204,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.630703449,"dclink_p_w":-91.5557861,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.034424,"values":{"Elec_RPM":-8.32296492e-36,"EncoderCos":38720,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-1.66459298e-36,"cg_du":50.1419106,"cg_dv":50.2109146,"cg_dw":49.7890854,"cg_id_a":-0.320586324,"cg_id_raw_a":-0.499478161,"cg_iq_a":-0.194559395,"cg_iq_raw_a":-1.79645109,"cg_iu_a":-0.251173258,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501466,"cg_sample_valid":1,"cg_theta_rad":5.00700808,"cg_vd_req_v":0.0942632928,"cg_vd_v":0.0942632928,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367375344,"cg_vq_v":-0.367375344,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.498413444,"dclink_p_w":-72.3519669,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.046143,"values":{"Elec_RPM":-8.15650591e-36,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-1.63130118e-36,"cg_du":50.1455078,"cg_dv":50.2106171,"cg_dw":49.7893829,"cg_id_a":0.00549546629,"cg_id_raw_a":0.229092374,"cg_iq_a":-0.0905419141,"cg_iq_raw_a":-0.0144050559,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501516,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.0887120441,"cg_vd_v":0.0887120441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368404716,"cg_vq_v":-0.368404716,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.9773941,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.053955,"values":{"Elec_RPM":-8.15650591e-36,"EncoderCos":38721,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-1.63130118e-36,"cg_du":50.1491928,"cg_dv":50.209465,"cg_dw":49.790535,"cg_id_a":0.167133138,"cg_id_raw_a":0.204810545,"cg_iq_a":-0.0832932368,"cg_iq_raw_a":0.0208391938,"cg_iu_a":0.256240368,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9181824,"cg_sample_seq":14501566,"cg_sample_valid":1,"cg_theta_rad":5.0076313,"cg_vd_req_v":0.0866431817,"cg_vd_v":0.0866431817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368436307,"cg_vq_v":-0.368436307,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.9773941,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.081299,"values":{"Elec_RPM":-7.99337593e-36,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-1.59867519e-36,"cg_du":50.1402512,"cg_dv":50.2159119,"cg_dw":49.7840881,"cg_id_a":-0.428883255,"cg_id_raw_a":-0.469770432,"cg_iq_a":0.17880781,"cg_iq_raw_a":-0.40709433,"cg_iu_a":0.727410197,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.8563633,"cg_sample_seq":14501621,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0983007997,"cg_vd_v":0.0983007997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372610897,"cg_vq_v":-0.372610897,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2457581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.089111,"values":{"Elec_RPM":-7.99337593e-36,"EncoderCos":38721,"EncoderSin":12468,"GapTicks":54766,"Mech_RPM":-1.59867519e-36,"cg_du":50.14151,"cg_dv":50.2126656,"cg_dw":49.7873344,"cg_id_a":-0.381664842,"cg_id_raw_a":-0.38920933,"cg_iq_a":5.15989959e-05,"cg_iq_raw_a":0.29053086,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9618187,"cg_sample_seq":14501666,"cg_sample_valid":1,"cg_theta_rad":5.00707626,"cg_vd_req_v":0.0957357585,"cg_vd_v":0.0957357585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368486315,"cg_vq_v":-0.368486315,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.096924,"values":{"Elec_RPM":-7.83350899e-36,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54769,"Mech_RPM":-1.56670173e-36,"cg_du":50.1398888,"cg_dv":50.2091217,"cg_dw":49.7908783,"cg_id_a":-0.182585865,"cg_id_raw_a":-0.509988904,"cg_iq_a":-0.35398072,"cg_iq_raw_a":0.461793482,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9363632,"cg_sample_seq":14501716,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0930799469,"cg_vd_v":0.0930799469,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364056498,"cg_vq_v":-0.364056498,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.7248154,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.104736,"values":{"Elec_RPM":-7.83350899e-36,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54759,"Mech_RPM":-1.56670173e-36,"cg_du":50.1655159,"cg_dv":50.218853,"cg_dw":49.781147,"cg_id_a":0.35595274,"cg_id_raw_a":0.0929632038,"cg_iq_a":0.744885504,"cg_iq_raw_a":0.738150716,"cg_iu_a":-0.432392597,"cg_iv_a":0.214129269,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9618187,"cg_sample_seq":14501766,"cg_sample_valid":1,"cg_theta_rad":5.00745487,"cg_vd_req_v":0.0830197707,"cg_vd_v":0.0830197707,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391587913,"cg_vq_v":-0.391587913,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2347717,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.116455,"values":{"Elec_RPM":-7.67683835e-36,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-1.53536771e-36,"cg_du":50.156662,"cg_dv":50.2158813,"cg_dw":49.7841187,"cg_id_a":0.0605838299,"cg_id_raw_a":0.410413057,"cg_iq_a":0.116039857,"cg_iq_raw_a":-0.139648587,"cg_iu_a":0.727410197,"cg_iv_a":0.177885413,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501816,"cg_sample_valid":1,"cg_theta_rad":5.00762987,"cg_vd_req_v":0.0884499848,"cg_vd_v":0.0884499848,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381019592,"cg_vq_v":-0.381019592,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2285156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.124268,"values":{"Elec_RPM":-7.67683835e-36,"EncoderCos":38708,"EncoderSin":12431,"GapTicks":54758,"Mech_RPM":-1.53536771e-36,"cg_du":50.1549835,"cg_dv":50.2194443,"cg_dw":49.7805557,"cg_id_a":-0.150396526,"cg_id_raw_a":0.273892194,"cg_iq_a":0.28747347,"cg_iq_raw_a":-0.444595516,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14501866,"cg_sample_valid":1,"cg_theta_rad":5.0075736,"cg_vd_req_v":0.0938647538,"cg_vd_v":0.0938647538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38474822,"cg_vq_v":-0.38474822,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2285156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.13208,"values":{"Elec_RPM":-7.5233016e-36,"EncoderCos":38706,"EncoderSin":12475,"GapTicks":54758,"Mech_RPM":-1.50466039e-36,"cg_du":50.1554985,"cg_dv":50.2200012,"cg_dw":49.7799988,"cg_id_a":-0.112383485,"cg_id_raw_a":0.138661742,"cg_iq_a":0.38956818,"cg_iq_raw_a":0.0511858314,"cg_iu_a":0.473703146,"cg_iv_a":-0.365772128,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9654541,"cg_sample_seq":14501916,"cg_sample_valid":1,"cg_theta_rad":5.0082612,"cg_vd_req_v":0.0930189863,"cg_vd_v":0.0930189863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386036873,"cg_vq_v":-0.386036873,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2238159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.143799,"values":{"Elec_RPM":-7.5233016e-36,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-1.50466039e-36,"cg_du":50.1529999,"cg_dv":50.2174301,"cg_dw":49.7825699,"cg_id_a":0.034536615,"cg_id_raw_a":-0.142971382,"cg_iq_a":0.213342592,"cg_iq_raw_a":-0.303869516,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9436359,"cg_sample_seq":14501968,"cg_sample_valid":1,"cg_theta_rad":5.00806284,"cg_vd_req_v":0.0896933302,"cg_vd_v":0.0896933302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380579114,"cg_vq_v":-0.380579114,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.4771233,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2238159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2627.151611,"values":{"Elec_RPM":-7.37283631e-36,"EncoderCos":38738,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-1.47456723e-36,"cg_du":50.1470451,"cg_dv":50.2114754,"cg_dw":49.7885246,"cg_id_a":0.183633894,"cg_id_raw_a":0.119591922,"cg_iq_a":-0.181800455,"cg_iq_raw_a":1.3950367,"cg_iu_a":-0.359904766,"cg_iv_a":0.721542895,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.954546,"cg_sample_seq":14502016,"cg_sample_valid":1,"cg_theta_rad":5.00736141,"cg_vd_req_v":0.0886374488,"cg_vd_v":0.0886374488,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371547759,"cg_vq_v":-0.371547759,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.1028709,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2238159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.159424,"values":{"Elec_RPM":-7.37283631e-36,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54759,"Mech_RPM":-1.47456723e-36,"cg_du":50.1495628,"cg_dv":50.2185402,"cg_dw":49.7814598,"cg_id_a":-0.132410035,"cg_id_raw_a":-0.428361118,"cg_iq_a":0.351823896,"cg_iq_raw_a":0.468211383,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9436359,"cg_sample_seq":14502066,"cg_sample_valid":1,"cg_theta_rad":5.00805616,"cg_vd_req_v":0.0959921107,"cg_vd_v":0.0959921107,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382002324,"cg_vq_v":-0.382002324,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.8450317,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2222595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.186768,"values":{"Elec_RPM":-7.22537936e-36,"EncoderCos":38731,"EncoderSin":12483,"GapTicks":54760,"Mech_RPM":-1.44507593e-36,"cg_du":50.1447182,"cg_dv":50.217701,"cg_dw":49.782299,"cg_id_a":-0.152687371,"cg_id_raw_a":0.141162455,"cg_iq_a":0.176595911,"cg_iq_raw_a":-0.641163886,"cg_iu_a":-0.323661089,"cg_iv_a":-0.293284416,"cg_iw_a":0.616945505,"cg_sample_age_us":23.863636,"cg_sample_seq":14502166,"cg_sample_valid":1,"cg_theta_rad":5.00657129,"cg_vd_req_v":0.0968641862,"cg_vd_v":0.0968641862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377449602,"cg_vq_v":-0.377449602,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.4488525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2410278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.19458,"values":{"Elec_RPM":-7.0808719e-36,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-1.41617438e-36,"cg_du":50.1483994,"cg_dv":50.2124443,"cg_dw":49.7875557,"cg_id_a":0.0539523028,"cg_id_raw_a":0.195056319,"cg_iq_a":0.0142811462,"cg_iq_raw_a":-0.526423633,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9509087,"cg_sample_seq":14502216,"cg_sample_valid":1,"cg_theta_rad":5.00919867,"cg_vd_req_v":0.090017207,"cg_vd_v":0.090017207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37207368,"cg_vq_v":-0.37207368,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.4488525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.202393,"values":{"Elec_RPM":-7.0808719e-36,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54760,"Mech_RPM":-1.41617438e-36,"cg_du":50.1444016,"cg_dv":50.217392,"cg_dw":49.782608,"cg_id_a":-0.345477641,"cg_id_raw_a":0.145886004,"cg_iq_a":0.212080106,"cg_iq_raw_a":-0.0211744104,"cg_iu_a":0.944873214,"cg_iv_a":-0.945673347,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.954546,"cg_sample_seq":14502266,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0985501185,"cg_vd_v":0.0985501185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376407176,"cg_vq_v":-0.376407176,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.4488525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.210205,"values":{"Elec_RPM":-6.93925439e-36,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-1.38785093e-36,"cg_du":50.1405449,"cg_dv":50.2104301,"cg_dw":49.7895699,"cg_id_a":-0.175540179,"cg_id_raw_a":0.32997635,"cg_iq_a":-0.288876742,"cg_iq_raw_a":-0.404265285,"cg_iu_a":-0.468636513,"cg_iv_a":0.10539782,"cg_iw_a":0.363238692,"cg_sample_age_us":24.0381813,"cg_sample_seq":14502316,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0939319134,"cg_vd_v":0.0939319134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365000606,"cg_vq_v":-0.365000606,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.230072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.221924,"values":{"Elec_RPM":-6.93925439e-36,"EncoderCos":38731,"EncoderSin":12449,"GapTicks":54766,"Mech_RPM":-1.38785093e-36,"cg_du":50.1531181,"cg_dv":50.2120705,"cg_dw":49.7879295,"cg_id_a":0.19016628,"cg_id_raw_a":0.229150474,"cg_iq_a":0.165730789,"cg_iq_raw_a":-0.0134482775,"cg_iu_a":-0.396148682,"cg_iv_a":-0.0758213997,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9472733,"cg_sample_seq":14502366,"cg_sample_valid":1,"cg_theta_rad":5.00583029,"cg_vd_req_v":0.0859433934,"cg_vd_v":0.0859433934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375411332,"cg_vq_v":-0.375411332,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.230072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.229736,"values":{"Elec_RPM":-6.80046943e-36,"EncoderCos":38709,"EncoderSin":12473,"GapTicks":54766,"Mech_RPM":-1.36009392e-36,"cg_du":50.1478195,"cg_dv":50.211895,"cg_dw":49.788105,"cg_id_a":-0.182787463,"cg_id_raw_a":-0.405439287,"cg_iq_a":0.064753823,"cg_iq_raw_a":-0.185475007,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9763641,"cg_sample_seq":14502416,"cg_sample_valid":1,"cg_theta_rad":5.0075736,"cg_vd_req_v":0.0911897346,"cg_vd_v":0.0911897346,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3718898,"cg_vq_v":-0.3718898,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.0834214687,"dclink_p_w":-12.1098404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2285156,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.237549,"values":{"Elec_RPM":-6.80046943e-36,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54769,"Mech_RPM":-1.36009392e-36,"cg_du":50.1456795,"cg_dv":50.2096176,"cg_dw":49.7903824,"cg_id_a":-0.104433142,"cg_id_raw_a":0.301965624,"cg_iq_a":-0.0464006066,"cg_iq_raw_a":-0.115986317,"cg_iu_a":0.038777113,"cg_iv_a":-0.474503636,"cg_iw_a":0.435726523,"cg_sample_age_us":23.954546,"cg_sample_seq":14502466,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0887098908,"cg_vd_v":0.0887098908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366871536,"cg_vq_v":-0.366871536,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.0834214687,"dclink_p_w":-12.1098404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2160034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.245361,"values":{"Elec_RPM":-6.66446034e-36,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.33289205e-36,"cg_du":50.147419,"cg_dv":50.2064743,"cg_dw":49.7935257,"cg_id_a":0.118967108,"cg_id_raw_a":0.708245277,"cg_iq_a":-0.0148833077,"cg_iq_raw_a":-0.185811728,"cg_iu_a":0.256240129,"cg_iv_a":-0.25704056,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9509087,"cg_sample_seq":14502516,"cg_sample_valid":1,"cg_theta_rad":5.00763559,"cg_vd_req_v":0.0846108422,"cg_vd_v":0.0846108422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363498896,"cg_vq_v":-0.363498896,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.0834214687,"dclink_p_w":-12.1098404,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2160034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.25708,"values":{"Elec_RPM":-6.66446034e-36,"EncoderCos":38723,"EncoderSin":12431,"GapTicks":54776,"Mech_RPM":-1.33289205e-36,"cg_du":50.1377678,"cg_dv":50.2036095,"cg_dw":49.7963905,"cg_id_a":-0.146268189,"cg_id_raw_a":-0.454078257,"cg_iq_a":-0.404896259,"cg_iq_raw_a":-1.17364705,"cg_iu_a":0.14750886,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14502566,"cg_sample_valid":1,"cg_theta_rad":5.00608444,"cg_vd_req_v":0.0906003714,"cg_vd_v":0.0906003714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353885859,"cg_vq_v":-0.353885859,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.2476978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.284424,"values":{"Elec_RPM":-6.53117117e-36,"EncoderCos":38717,"EncoderSin":12482,"GapTicks":54780,"Mech_RPM":-1.3062342e-36,"cg_du":50.139534,"cg_dv":50.199707,"cg_dw":49.800293,"cg_id_a":0.116520874,"cg_id_raw_a":0.149682567,"cg_iq_a":-0.52496314,"cg_iq_raw_a":-0.275911897,"cg_iu_a":0.582434893,"cg_iv_a":0.250373125,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.8563633,"cg_sample_seq":14502666,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0849246755,"cg_vd_v":0.0849246755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350831896,"cg_vq_v":-0.350831896,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.4819603,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2113037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.292236,"values":{"Elec_RPM":-6.40054737e-36,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-1.28010951e-36,"cg_du":50.1378326,"cg_dv":50.2067947,"cg_dw":49.7932053,"cg_id_a":-0.247089297,"cg_id_raw_a":-0.929907084,"cg_iq_a":-0.141879752,"cg_iq_raw_a":-0.200008601,"cg_iu_a":0.691166401,"cg_iv_a":-0.25704062,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14502716,"cg_sample_valid":1,"cg_theta_rad":5.00712824,"cg_vd_req_v":0.0934669375,"cg_vd_v":0.0934669375,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359457254,"cg_vq_v":-0.359457254,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.942585,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.300049,"values":{"Elec_RPM":-6.40054737e-36,"EncoderCos":38708,"EncoderSin":12446,"GapTicks":54777,"Mech_RPM":-1.28010951e-36,"cg_du":50.1348076,"cg_dv":50.2023201,"cg_dw":49.7976799,"cg_id_a":-0.114159435,"cg_id_raw_a":-0.12854217,"cg_iq_a":-0.547961533,"cg_iq_raw_a":0.607022464,"cg_iu_a":0.727410078,"cg_iv_a":0.794030666,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9181824,"cg_sample_seq":14502767,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0924988016,"cg_vd_v":0.0924988016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350251645,"cg_vq_v":-0.350251645,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.311768,"values":{"Elec_RPM":-6.27253658e-36,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-1.25450732e-36,"cg_du":50.1419678,"cg_dv":50.2090263,"cg_dw":49.7909737,"cg_id_a":0.0511524081,"cg_id_raw_a":0.587693691,"cg_iq_a":0.251048207,"cg_iq_raw_a":0.420001864,"cg_iu_a":0.183752775,"cg_iv_a":-0.728210449,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14502816,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0904568508,"cg_vd_v":0.0904568508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364137888,"cg_vq_v":-0.364137888,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.31958,"values":{"Elec_RPM":-6.27253658e-36,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54779,"Mech_RPM":-1.25450732e-36,"cg_du":50.1381874,"cg_dv":50.2005234,"cg_dw":49.7994766,"cg_id_a":0.231080696,"cg_id_raw_a":-0.199712083,"cg_iq_a":-0.167425632,"cg_iq_raw_a":-0.347203016,"cg_iu_a":0.00253343582,"cg_iv_a":1.37393188,"cg_iw_a":-1.37646532,"cg_sample_age_us":23.9581814,"cg_sample_seq":14502866,"cg_sample_valid":1,"cg_theta_rad":5.00783157,"cg_vd_req_v":0.0876581967,"cg_vd_v":0.0876581967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349837005,"cg_vq_v":-0.349837005,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2113037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.327393,"values":{"Elec_RPM":-6.14708642e-36,"EncoderCos":38773,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-1.22941721e-36,"cg_du":50.1307716,"cg_dv":50.1985779,"cg_dw":49.8014221,"cg_id_a":0.199359432,"cg_id_raw_a":0.0940103978,"cg_iq_a":-0.316118479,"cg_iq_raw_a":-0.645917356,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065256,"cg_iw_a":0.254507244,"cg_sample_age_us":23.954546,"cg_sample_seq":14502916,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.0864024684,"cg_vd_v":0.0864024684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344350547,"cg_vq_v":-0.344350547,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2113037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.335205,"values":{"Elec_RPM":-6.14708642e-36,"EncoderCos":38714,"EncoderSin":12478,"GapTicks":54781,"Mech_RPM":-1.22941721e-36,"cg_du":50.1302872,"cg_dv":50.1985359,"cg_dw":49.8014641,"cg_id_a":-0.146709919,"cg_id_raw_a":-0.5936113,"cg_iq_a":-0.359764934,"cg_iq_raw_a":-1.47808647,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14502966,"cg_sample_valid":1,"cg_theta_rad":5.00722504,"cg_vd_req_v":0.0913879871,"cg_vd_v":0.0913879871,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343942493,"cg_vq_v":-0.343942493,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.578149796,"dclink_p_w":-84.1811829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2394714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.343018,"values":{"Elec_RPM":-6.02414452e-36,"EncoderCos":38715,"EncoderSin":12496,"GapTicks":54781,"Mech_RPM":-1.20482889e-36,"cg_du":50.1336288,"cg_dv":50.1983299,"cg_dw":49.8016701,"cg_id_a":-0.0767270774,"cg_id_raw_a":0.298452169,"cg_iq_a":-0.161087617,"cg_iq_raw_a":0.139031202,"cg_iu_a":0.0750210285,"cg_iv_a":1.01149356,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.9618187,"cg_sample_seq":14503016,"cg_sample_valid":1,"cg_theta_rad":5.00728512,"cg_vd_req_v":0.0880515501,"cg_vd_v":0.0880515501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345670998,"cg_vq_v":-0.345670998,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.578149796,"dclink_p_w":-84.1811829,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.35083,"values":{"Elec_RPM":-6.02414452e-36,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-1.20482889e-36,"cg_du":50.1354904,"cg_dv":50.197464,"cg_dw":49.802536,"cg_id_a":0.0421755612,"cg_id_raw_a":0.108597726,"cg_iq_a":0.0143570527,"cg_iq_raw_a":-0.716918826,"cg_iu_a":-0.50488019,"cg_iv_a":0.10539782,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9581814,"cg_sample_seq":14503066,"cg_sample_valid":1,"cg_theta_rad":5.00716591,"cg_vd_req_v":0.085899055,"cg_vd_v":0.085899055,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345502734,"cg_vq_v":-0.345502734,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-93.1341705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.378174,"values":{"Elec_RPM":-5.90366137e-36,"EncoderCos":38748,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-1.18073229e-36,"cg_du":50.1428757,"cg_dv":50.200119,"cg_dw":49.799881,"cg_id_a":0.34840852,"cg_id_raw_a":-0.0408578254,"cg_iq_a":0.39733392,"cg_iq_raw_a":0.179032952,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528332,"cg_iw_a":0.182019711,"cg_sample_age_us":23.8600006,"cg_sample_seq":14503121,"cg_sample_valid":1,"cg_theta_rad":5.00713015,"cg_vd_req_v":0.0804231465,"cg_vd_v":0.0804231465,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35267216,"cg_vq_v":-0.35267216,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-93.1341705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.385986,"values":{"Elec_RPM":-5.90366137e-36,"EncoderCos":38710,"EncoderSin":12473,"GapTicks":54780,"Mech_RPM":-1.18073229e-36,"cg_du":50.1426277,"cg_dv":50.1995049,"cg_dw":49.8004951,"cg_id_a":0.240823299,"cg_id_raw_a":0.748618066,"cg_iq_a":0.234322205,"cg_iq_raw_a":1.31398094,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0758213401,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9472733,"cg_sample_seq":14503168,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0825648233,"cg_vd_v":0.0825648233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349981189,"cg_vq_v":-0.349981189,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.540093899,"dclink_p_w":-77.9273148,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2191162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2627.397705,"values":{"Elec_RPM":-5.78558819e-36,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-1.15711766e-36,"cg_du":50.1260986,"cg_dv":50.1943626,"cg_dw":49.8056374,"cg_id_a":-0.0989211649,"cg_id_raw_a":0.216107607,"cg_iq_a":-0.28354609,"cg_iq_raw_a":0.567362905,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104574,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9872723,"cg_sample_seq":14503216,"cg_sample_valid":1,"cg_theta_rad":5.00580311,"cg_vd_req_v":0.0893172249,"cg_vd_v":0.0893172249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336240083,"cg_vq_v":-0.336240083,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-86.8173523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.405518,"values":{"Elec_RPM":-5.78558819e-36,"EncoderCos":38732,"EncoderSin":12449,"GapTicks":54782,"Mech_RPM":-1.15711766e-36,"cg_du":50.1409798,"cg_dv":50.1973648,"cg_dw":49.8026352,"cg_id_a":0.280965626,"cg_id_raw_a":1.07942235,"cg_iq_a":0.209679872,"cg_iq_raw_a":0.978836715,"cg_iu_a":-0.0337102413,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150536,"cg_sample_age_us":23.8563633,"cg_sample_seq":14503266,"cg_sample_valid":1,"cg_theta_rad":5.00585699,"cg_vd_req_v":0.0811041221,"cg_vd_v":0.0811041221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348544091,"cg_vq_v":-0.348544091,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-86.8173523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.41333,"values":{"Elec_RPM":-5.66987654e-36,"EncoderCos":38695,"EncoderSin":12476,"GapTicks":54778,"Mech_RPM":-1.13397529e-36,"cg_du":50.157589,"cg_dv":50.2013016,"cg_dw":49.7986984,"cg_id_a":0.562790692,"cg_id_raw_a":-0.000477251568,"cg_iq_a":0.990178645,"cg_iq_raw_a":-0.436475933,"cg_iu_a":-0.251173496,"cg_iv_a":0.866518259,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9836369,"cg_sample_seq":14503316,"cg_sample_valid":1,"cg_theta_rad":5.00807333,"cg_vd_req_v":0.0742322654,"cg_vd_v":0.0742322654,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362772554,"cg_vq_v":-0.362772554,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-86.8173523,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.425049,"values":{"Elec_RPM":-5.66987654e-36,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-1.13397529e-36,"cg_du":50.1442871,"cg_dv":50.1985893,"cg_dw":49.8014107,"cg_id_a":0.299144298,"cg_id_raw_a":-0.0867553875,"cg_iq_a":0.357433319,"cg_iq_raw_a":-0.00765802059,"cg_iu_a":-1.44721985,"cg_iv_a":-0.365772009,"cg_iw_a":1.81299186,"cg_sample_age_us":23.9254551,"cg_sample_seq":14503366,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.0800597146,"cg_vd_v":0.0800597146,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351990432,"cg_vq_v":-0.351990432,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.4529953,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2097473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.432861,"values":{"Elec_RPM":-5.55647871e-36,"EncoderCos":38759,"EncoderSin":12461,"GapTicks":54780,"Mech_RPM":-1.11129578e-36,"cg_du":50.1334114,"cg_dv":50.1999855,"cg_dw":49.8000145,"cg_id_a":-0.0577070564,"cg_id_raw_a":-0.345144302,"cg_iq_a":0.186267197,"cg_iq_raw_a":0.297422647,"cg_iu_a":-0.577368021,"cg_iv_a":0.57656765,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14503416,"cg_sample_valid":1,"cg_theta_rad":5.00709963,"cg_vd_req_v":0.086931549,"cg_vd_v":0.086931549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347421318,"cg_vq_v":-0.347421318,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.440674,"values":{"Elec_RPM":-5.55647871e-36,"EncoderCos":38700,"EncoderSin":12454,"GapTicks":54780,"Mech_RPM":-1.11129578e-36,"cg_du":50.1384163,"cg_dv":50.1996231,"cg_dw":49.8003769,"cg_id_a":-0.0835912824,"cg_id_raw_a":-0.29171446,"cg_iq_a":0.192361832,"cg_iq_raw_a":-0.466629028,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8527279,"cg_sample_seq":14503466,"cg_sample_valid":1,"cg_theta_rad":5.00789404,"cg_vd_req_v":0.0874803141,"cg_vd_v":0.0874803141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348525345,"cg_vq_v":-0.348525345,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.753932476,"dclink_p_w":-108.780968,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.448486,"values":{"Elec_RPM":-5.44534951e-36,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54776,"Mech_RPM":-1.08906988e-36,"cg_du":50.1359062,"cg_dv":50.203537,"cg_dw":49.796463,"cg_id_a":-0.272421956,"cg_id_raw_a":-0.36505428,"cg_iq_a":0.456124365,"cg_iq_raw_a":0.256215572,"cg_iu_a":0.401215792,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9799995,"cg_sample_seq":14503516,"cg_sample_valid":1,"cg_theta_rad":5.00772762,"cg_vd_req_v":0.0915265977,"cg_vd_v":0.0915265977,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35286352,"cg_vq_v":-0.35286352,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.735810518,"dclink_p_w":-106.489922,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.456299,"values":{"Elec_RPM":-5.44534951e-36,"EncoderCos":38723,"EncoderSin":12457,"GapTicks":54787,"Mech_RPM":-1.08906988e-36,"cg_du":50.1290169,"cg_dv":50.1931534,"cg_dw":49.8068466,"cg_id_a":0.0353955925,"cg_id_raw_a":0.0766636804,"cg_iq_a":-0.287173003,"cg_iq_raw_a":-0.173783273,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14503566,"cg_sample_valid":1,"cg_theta_rad":5.00705528,"cg_vd_req_v":0.0869285762,"cg_vd_v":0.0869285762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335941643,"cg_vq_v":-0.335941643,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2473145,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.464111,"values":{"Elec_RPM":-5.3364423e-36,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54790,"Mech_RPM":-1.06728846e-36,"cg_du":50.1194954,"cg_dv":50.1907043,"cg_dw":49.8092957,"cg_id_a":-0.0701586604,"cg_id_raw_a":0.161074311,"cg_iq_a":-0.480351388,"cg_iq_raw_a":0.707677722,"cg_iu_a":1.45228684,"cg_iv_a":0.322860718,"cg_iw_a":-1.77514756,"cg_sample_age_us":23.9799995,"cg_sample_seq":14503616,"cg_sample_valid":1,"cg_theta_rad":5.00771809,"cg_vd_req_v":0.0908320919,"cg_vd_v":0.0908320919,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327575803,"cg_vq_v":-0.327575803,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.495361,"values":{"Elec_RPM":-5.3364423e-36,"EncoderCos":38724,"EncoderSin":12462,"GapTicks":54782,"Mech_RPM":-1.06728846e-36,"cg_du":50.1312332,"cg_dv":50.197876,"cg_dw":49.802124,"cg_id_a":-0.109392032,"cg_id_raw_a":-0.295024455,"cg_iq_a":0.226822495,"cg_iq_raw_a":-0.0279345717,"cg_iu_a":0.183752775,"cg_iv_a":0.685299039,"cg_iw_a":-0.869051814,"cg_sample_age_us":26.5,"cg_sample_seq":14503670,"cg_sample_valid":1,"cg_theta_rad":5.00540257,"cg_vd_req_v":0.0895956233,"cg_vd_v":0.0895956233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343679845,"cg_vq_v":-0.343679845,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.137787342,"dclink_p_w":-20.0018368,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.503174,"values":{"Elec_RPM":-5.22971367e-36,"EncoderCos":38751,"EncoderSin":12498,"GapTicks":54784,"Mech_RPM":-1.04594272e-36,"cg_du":50.1228676,"cg_dv":50.1958656,"cg_dw":49.8041344,"cg_id_a":-0.0804189295,"cg_id_raw_a":-0.136586756,"cg_iq_a":-0.297873825,"cg_iq_raw_a":-0.629879773,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14503717,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0910433456,"cg_vd_v":0.0910433456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336006016,"cg_vq_v":-0.336006016,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.510986,"values":{"Elec_RPM":-5.22971367e-36,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54784,"Mech_RPM":-1.04594272e-36,"cg_du":50.1264954,"cg_dv":50.1962547,"cg_dw":49.8037453,"cg_id_a":0.0480306074,"cg_id_raw_a":-0.0482757799,"cg_iq_a":-0.303302944,"cg_iq_raw_a":0.251066655,"cg_iu_a":-0.14244175,"cg_iv_a":0.612811446,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9763641,"cg_sample_seq":14503767,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.090663746,"cg_vd_v":0.090663746,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337994814,"cg_vq_v":-0.337994814,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.61980438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2097473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.518799,"values":{"Elec_RPM":-5.1251195e-36,"EncoderCos":38738,"EncoderSin":12514,"GapTicks":54774,"Mech_RPM":-1.02502386e-36,"cg_du":50.1213112,"cg_dv":50.2051659,"cg_dw":49.7948341,"cg_id_a":-0.439214468,"cg_id_raw_a":-0.323410302,"cg_iq_a":0.00461834669,"cg_iq_raw_a":0.517392278,"cg_iu_a":0.437459469,"cg_iv_a":-0.655722737,"cg_iw_a":0.218263268,"cg_sample_age_us":23.954546,"cg_sample_seq":14503817,"cg_sample_valid":1,"cg_theta_rad":5.0073514,"cg_vd_req_v":0.101845302,"cg_vd_v":0.101845302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347676754,"cg_vq_v":-0.347676754,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.61980438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2363281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.526611,"values":{"Elec_RPM":-5.1251195e-36,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-1.02502386e-36,"cg_du":50.1312523,"cg_dv":50.2072945,"cg_dw":49.7927055,"cg_id_a":-0.148858786,"cg_id_raw_a":0.506402612,"cg_iq_a":0.314188421,"cg_iq_raw_a":0.596140206,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552848,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9509087,"cg_sample_seq":14503867,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0986225829,"cg_vd_v":0.0986225829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356570095,"cg_vq_v":-0.356570095,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.61980438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2363281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.53833,"values":{"Elec_RPM":-5.02261673e-36,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-1.00452338e-36,"cg_du":50.125721,"cg_dv":50.2036476,"cg_dw":49.7963524,"cg_id_a":-0.154398352,"cg_id_raw_a":0.25386411,"cg_iq_a":-0.0697585493,"cg_iq_raw_a":-0.484346181,"cg_iu_a":0.364971876,"cg_iv_a":-0.220796704,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8563633,"cg_sample_seq":14503916,"cg_sample_valid":1,"cg_theta_rad":5.00658321,"cg_vd_req_v":0.0994576514,"cg_vd_v":0.0994576514,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348479569,"cg_vq_v":-0.348479569,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.61980438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2238159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.546143,"values":{"Elec_RPM":-5.02261673e-36,"EncoderCos":38709,"EncoderSin":12464,"GapTicks":54774,"Mech_RPM":-1.00452338e-36,"cg_du":50.1222725,"cg_dv":50.2048073,"cg_dw":49.7951927,"cg_id_a":-0.334530026,"cg_id_raw_a":-0.0133746862,"cg_iq_a":-0.112460315,"cg_iq_raw_a":-0.10982421,"cg_iu_a":0.61867857,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9581814,"cg_sample_seq":14503967,"cg_sample_valid":1,"cg_theta_rad":5.00868893,"cg_vd_req_v":0.104548946,"cg_vd_v":0.104548946,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347748011,"cg_vq_v":-0.347748011,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2238159,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.553955,"values":{"Elec_RPM":-4.92216448e-36,"EncoderCos":38722,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-9.84432933e-37,"cg_du":50.1275635,"cg_dv":50.2005768,"cg_dw":49.7994232,"cg_id_a":0.188051879,"cg_id_raw_a":0.185619429,"cg_iq_a":-0.345062375,"cg_iq_raw_a":-0.636425614,"cg_iu_a":0.0387773514,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9872723,"cg_sample_seq":14504016,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.0952922031,"cg_vd_v":0.0952922031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344123006,"cg_vq_v":-0.344123006,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2536011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.561768,"values":{"Elec_RPM":-4.92216448e-36,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-9.84432933e-37,"cg_du":50.1187439,"cg_dv":50.2124786,"cg_dw":49.7875214,"cg_id_a":-0.628106833,"cg_id_raw_a":-0.395903796,"cg_iq_a":0.160146415,"cg_iq_raw_a":0.363060445,"cg_iu_a":0.256240368,"cg_iv_a":0.141641557,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9254551,"cg_sample_seq":14504066,"cg_sample_valid":1,"cg_theta_rad":5.00788689,"cg_vd_req_v":0.1130706,"cg_vd_v":0.1130706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35556072,"cg_vq_v":-0.35556072,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2081604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.56958,"values":{"Elec_RPM":-4.82372114e-36,"EncoderCos":38719,"EncoderSin":12456,"GapTicks":54766,"Mech_RPM":-9.64744263e-37,"cg_du":50.1320801,"cg_dv":50.2126389,"cg_dw":49.7873611,"cg_id_a":-0.014665097,"cg_id_raw_a":0.0340321772,"cg_iq_a":0.454329073,"cg_iq_raw_a":0.259119034,"cg_iu_a":-0.468636513,"cg_iv_a":-0.293284357,"cg_iw_a":0.761920869,"cg_sample_age_us":23.9181824,"cg_sample_seq":14504116,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.103572704,"cg_vd_v":0.103572704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36302197,"cg_vq_v":-0.36302197,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.2081604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.60083,"values":{"Elec_RPM":-4.82372114e-36,"EncoderCos":38749,"EncoderSin":12467,"GapTicks":54777,"Mech_RPM":-9.64744263e-37,"cg_du":50.126133,"cg_dv":50.2022362,"cg_dw":49.7977638,"cg_id_a":0.361969352,"cg_id_raw_a":0.354107618,"cg_iq_a":-0.312375009,"cg_iq_raw_a":-0.00324823847,"cg_iu_a":-0.396148682,"cg_iv_a":-0.873185754,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9509087,"cg_sample_seq":14504171,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0954823643,"cg_vd_v":0.0954823643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346287549,"cg_vq_v":-0.346287549,"cg_vu_v":134.167236,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.552657723,"dclink_p_w":79.9832001,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1721802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.608643,"values":{"Elec_RPM":-4.72724687e-36,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-9.45449392e-37,"cg_du":50.1235504,"cg_dv":50.2071953,"cg_dw":49.7928047,"cg_id_a":-0.166506812,"cg_id_raw_a":-0.04799233,"cg_iq_a":-0.116189182,"cg_iq_raw_a":-0.186078727,"cg_iu_a":0.14750886,"cg_iv_a":0.431592226,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9727268,"cg_sample_seq":14504216,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.105428636,"cg_vd_v":0.105428636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351856381,"cg_vq_v":-0.351856381,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.510977328,"dclink_p_w":73.9510193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.616455,"values":{"Elec_RPM":-4.72724687e-36,"EncoderCos":38677,"EncoderSin":12438,"GapTicks":54772,"Mech_RPM":-9.45449392e-37,"cg_du":50.1191978,"cg_dv":50.2071571,"cg_dw":49.7928429,"cg_id_a":-0.432820469,"cg_id_raw_a":-0.476892412,"cg_iq_a":-0.288871408,"cg_iq_raw_a":0.0942571685,"cg_iu_a":0.727410078,"cg_iv_a":-0.546991229,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.954546,"cg_sample_seq":14504267,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.112077281,"cg_vd_v":0.112077281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347146362,"cg_vq_v":-0.347146362,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.442113996,"dclink_p_w":63.9847946,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.624268,"values":{"Elec_RPM":-4.63270223e-36,"EncoderCos":38702,"EncoderSin":12464,"GapTicks":54777,"Mech_RPM":-9.26540428e-37,"cg_du":50.1274147,"cg_dv":50.2021866,"cg_dw":49.7978134,"cg_id_a":0.301862955,"cg_id_raw_a":0.307747632,"cg_iq_a":-0.270120561,"cg_iq_raw_a":-0.368470103,"cg_iu_a":-0.396148682,"cg_iv_a":0.250373065,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.954546,"cg_sample_seq":14504317,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.0981939211,"cg_vd_v":0.0981939211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345880955,"cg_vq_v":-0.345880955,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.445738435,"dclink_p_w":64.7054214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.63208,"values":{"Elec_RPM":-4.54004846e-36,"EncoderCos":38707,"EncoderSin":12490,"GapTicks":54768,"Mech_RPM":-9.08009657e-37,"cg_du":50.1208611,"cg_dv":50.2107544,"cg_dw":49.7892456,"cg_id_a":-0.261337519,"cg_id_raw_a":-0.155696765,"cg_iq_a":-0.0422862247,"cg_iq_raw_a":-0.160357013,"cg_iu_a":0.509947062,"cg_iv_a":-0.365772069,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9909096,"cg_sample_seq":14504416,"cg_sample_valid":1,"cg_theta_rad":5.00922298,"cg_vd_req_v":0.11066924,"cg_vd_v":0.11066924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354109883,"cg_vq_v":-0.354109883,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1737366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.639893,"values":{"Elec_RPM":-4.54004846e-36,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-9.08009657e-37,"cg_du":50.1232224,"cg_dv":50.2091217,"cg_dw":49.7908783,"cg_id_a":-0.140250295,"cg_id_raw_a":-0.633343458,"cg_iq_a":-0.150631756,"cg_iq_raw_a":-0.427301943,"cg_iu_a":0.473703384,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8600006,"cg_sample_seq":14504466,"cg_sample_valid":1,"cg_theta_rad":5.00782871,"cg_vd_req_v":0.108051062,"cg_vd_v":0.108051062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354147792,"cg_vq_v":-0.354147792,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.706694007,"dclink_p_w":102.276047,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.183136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.651611,"values":{"Elec_RPM":-4.44924719e-36,"EncoderCos":38733,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-8.89849457e-37,"cg_du":50.1270103,"cg_dv":50.2135925,"cg_dw":49.7864075,"cg_id_a":-0.164399058,"cg_id_raw_a":0.0172076393,"cg_iq_a":0.283214033,"cg_iq_raw_a":-0.216004863,"cg_iu_a":-0.468636513,"cg_iv_a":0.21412921,"cg_iw_a":0.254507303,"cg_sample_age_us":23.863636,"cg_sample_seq":14504516,"cg_sample_valid":1,"cg_theta_rad":5.00568342,"cg_vd_req_v":0.107523933,"cg_vd_v":0.107523933,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36294654,"cg_vq_v":-0.36294654,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.8021927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.183136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.659424,"values":{"Elec_RPM":-4.44924719e-36,"EncoderCos":38728,"EncoderSin":12462,"GapTicks":54770,"Mech_RPM":-8.89849457e-37,"cg_du":50.1284714,"cg_dv":50.2089844,"cg_dw":49.7910156,"cg_id_a":0.112336524,"cg_id_raw_a":0.0485938564,"cg_iq_a":0.0568447858,"cg_iq_raw_a":0.114729553,"cg_iu_a":0.401215792,"cg_iv_a":0.177885473,"cg_iw_a":-0.579101264,"cg_sample_age_us":23.9763641,"cg_sample_seq":14504566,"cg_sample_valid":1,"cg_theta_rad":5.00779057,"cg_vd_req_v":0.102274388,"cg_vd_v":0.102274388,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357366055,"cg_vq_v":-0.357366055,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.8021927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1878052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.667236,"values":{"Elec_RPM":-4.36026254e-36,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-8.72052473e-37,"cg_du":50.1395111,"cg_dv":50.2163887,"cg_dw":49.7836113,"cg_id_a":0.218772262,"cg_id_raw_a":-0.277705103,"cg_iq_a":0.760915577,"cg_iq_raw_a":0.0103405733,"cg_iu_a":0.038777113,"cg_iv_a":0.322860777,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.8709087,"cg_sample_seq":14504616,"cg_sample_valid":1,"cg_theta_rad":5.00630808,"cg_vd_req_v":0.100588359,"cg_vd_v":0.100588359,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372511685,"cg_vq_v":-0.372511685,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.8021927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2050171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.69458,"values":{"Elec_RPM":-4.36026254e-36,"EncoderCos":38739,"EncoderSin":12485,"GapTicks":54765,"Mech_RPM":-8.72052473e-37,"cg_du":50.1182365,"cg_dv":50.212883,"cg_dw":49.787117,"cg_id_a":-0.242679268,"cg_id_raw_a":-0.0559554473,"cg_iq_a":-0.148658097,"cg_iq_raw_a":-0.113559499,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8563633,"cg_sample_seq":14504671,"cg_sample_valid":1,"cg_theta_rad":5.00594139,"cg_vd_req_v":0.112331256,"cg_vd_v":0.112331256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356310844,"cg_vq_v":-0.356310844,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.599774718,"dclink_p_w":86.8021927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2050171,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.702393,"values":{"Elec_RPM":-4.27305721e-36,"EncoderCos":38726,"EncoderSin":12493,"GapTicks":54766,"Mech_RPM":-8.54611441e-37,"cg_du":50.1103783,"cg_dv":50.2120667,"cg_dw":49.7879333,"cg_id_a":-0.572291493,"cg_id_raw_a":0.278247237,"cg_iq_a":-0.357085943,"cg_iq_raw_a":0.354838371,"cg_iu_a":-0.287417173,"cg_iv_a":-0.365772128,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14504717,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.118581176,"cg_vd_v":0.118581176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350536406,"cg_vq_v":-0.350536406,"cg_vu_v":106.453995,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.672262371,"dclink_p_w":97.2929382,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1925049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.714111,"values":{"Elec_RPM":-4.18759603e-36,"EncoderCos":38736,"EncoderSin":12462,"GapTicks":54765,"Mech_RPM":-8.37519188e-37,"cg_du":50.122097,"cg_dv":50.2130013,"cg_dw":49.7869987,"cg_id_a":-0.167853266,"cg_id_raw_a":-0.4723427,"cg_iq_a":0.0120070763,"cg_iq_raw_a":-0.153126508,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9436359,"cg_sample_seq":14504817,"cg_sample_valid":1,"cg_theta_rad":5.00616312,"cg_vd_req_v":0.110553458,"cg_vd_v":0.110553458,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359463662,"cg_vq_v":-0.359463662,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.449337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.721924,"values":{"Elec_RPM":-4.18759603e-36,"EncoderCos":38684,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-8.37519188e-37,"cg_du":50.1259804,"cg_dv":50.2066879,"cg_dw":49.7933121,"cg_id_a":0.1385625,"cg_id_raw_a":0.193482116,"cg_iq_a":-0.103863925,"cg_iq_raw_a":-0.270321548,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373125,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9763641,"cg_sample_seq":14504866,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.105187759,"cg_vd_v":0.105187759,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351895899,"cg_vq_v":-0.351895899,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.198761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.729736,"values":{"Elec_RPM":-4.10384421e-36,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-8.20768806e-37,"cg_du":50.1181412,"cg_dv":50.2040291,"cg_dw":49.7959709,"cg_id_a":-0.00899829715,"cg_id_raw_a":0.77991128,"cg_iq_a":-0.31854108,"cg_iq_raw_a":-1.34309244,"cg_iu_a":0.401215553,"cg_iv_a":-0.25704056,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9763641,"cg_sample_seq":14504916,"cg_sample_valid":1,"cg_theta_rad":5.00716019,"cg_vd_req_v":0.106077589,"cg_vd_v":0.106077589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344646722,"cg_vq_v":-0.344646722,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.198761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.737549,"values":{"Elec_RPM":-4.10384421e-36,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-8.20768806e-37,"cg_du":50.1310463,"cg_dv":50.2085915,"cg_dw":49.7914085,"cg_id_a":0.20112963,"cg_id_raw_a":0.625879467,"cg_iq_a":0.412592113,"cg_iq_raw_a":-0.190753937,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641617,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9436359,"cg_sample_seq":14504966,"cg_sample_valid":1,"cg_theta_rad":5.00589418,"cg_vd_req_v":0.101285771,"cg_vd_v":0.101285771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356703818,"cg_vq_v":-0.356703818,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.0877705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.198761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.745361,"values":{"Elec_RPM":-4.02176695e-36,"EncoderCos":38714,"EncoderSin":12456,"GapTicks":54775,"Mech_RPM":-8.0435339e-37,"cg_du":50.1260262,"cg_dv":50.2043839,"cg_dw":49.7956161,"cg_id_a":0.224078298,"cg_id_raw_a":0.446315885,"cg_iq_a":0.0579237342,"cg_iq_raw_a":-0.500884891,"cg_iu_a":0.799897671,"cg_iv_a":-0.257040501,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9509087,"cg_sample_seq":14505016,"cg_sample_valid":1,"cg_theta_rad":5.00800419,"cg_vd_req_v":0.100673661,"cg_vd_v":0.100673661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348294467,"cg_vq_v":-0.348294467,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.11437988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.753174,"values":{"Elec_RPM":-4.02176695e-36,"EncoderCos":38691,"EncoderSin":12469,"GapTicks":54775,"Mech_RPM":-8.0435339e-37,"cg_du":50.1207504,"cg_dv":50.2044182,"cg_dw":49.7955818,"cg_id_a":-0.0580249913,"cg_id_raw_a":-0.474409699,"cg_iq_a":-0.0967753753,"cg_iq_raw_a":0.279197156,"cg_iu_a":0.0387773514,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9218178,"cg_sample_seq":14505066,"cg_sample_valid":1,"cg_theta_rad":5.00759506,"cg_vd_req_v":0.106336743,"cg_vd_v":0.106336743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344911814,"cg_vq_v":-0.344911814,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.764893,"values":{"Elec_RPM":-3.94133161e-36,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-7.88266304e-37,"cg_du":50.1273575,"cg_dv":50.2119484,"cg_dw":49.7880516,"cg_id_a":-0.0649049059,"cg_id_raw_a":-0.149831027,"cg_iq_a":0.503806651,"cg_iq_raw_a":0.204487249,"cg_iu_a":-0.0337102413,"cg_iv_a":0.540323734,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9509087,"cg_sample_seq":14505116,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.106962986,"cg_vd_v":0.106962986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360511214,"cg_vq_v":-0.360511214,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.792236,"values":{"Elec_RPM":-3.94133161e-36,"EncoderCos":38747,"EncoderSin":12495,"GapTicks":54769,"Mech_RPM":-7.88266304e-37,"cg_du":50.1175499,"cg_dv":50.2093849,"cg_dw":49.7906151,"cg_id_a":-0.0994074494,"cg_id_raw_a":-0.0859066173,"cg_iq_a":0.136381611,"cg_iq_raw_a":0.684491992,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14505171,"cg_sample_valid":1,"cg_theta_rad":5.00655222,"cg_vd_req_v":0.108947746,"cg_vd_v":0.108947746,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352498293,"cg_vq_v":-0.352498293,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.800049,"values":{"Elec_RPM":-3.86250483e-36,"EncoderCos":38737,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-7.72501001e-37,"cg_du":50.1126175,"cg_dv":50.2075119,"cg_dw":49.7924881,"cg_id_a":-0.185767859,"cg_id_raw_a":-0.129065812,"cg_iq_a":-0.33548075,"cg_iq_raw_a":-0.448303908,"cg_iu_a":0.364971876,"cg_iv_a":0.540323853,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.9436359,"cg_sample_seq":14505216,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.11274261,"cg_vd_v":0.11274261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346634448,"cg_vq_v":-0.346634448,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2160034,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.807861,"values":{"Elec_RPM":-3.86250483e-36,"EncoderCos":38711,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-7.72501001e-37,"cg_du":50.1205444,"cg_dv":50.2076569,"cg_dw":49.7923431,"cg_id_a":0.0545858517,"cg_id_raw_a":0.07261917,"cg_iq_a":-0.112154327,"cg_iq_raw_a":0.0809193626,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9654541,"cg_sample_seq":14505266,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.108133532,"cg_vd_v":0.108133532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349653125,"cg_vq_v":-0.349653125,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.815674,"values":{"Elec_RPM":-3.78525503e-36,"EncoderCos":38721,"EncoderSin":12489,"GapTicks":54767,"Mech_RPM":-7.57051025e-37,"cg_du":50.1251373,"cg_dv":50.2116661,"cg_dw":49.7883339,"cg_id_a":0.0673796609,"cg_id_raw_a":0.624898374,"cg_iq_a":0.24336046,"cg_iq_raw_a":0.679925859,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14505316,"cg_sample_valid":1,"cg_theta_rad":5.00625849,"cg_vd_req_v":0.107091114,"cg_vd_v":0.107091114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358089954,"cg_vq_v":-0.358089954,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.827393,"values":{"Elec_RPM":-3.78525503e-36,"EncoderCos":38736,"EncoderSin":12488,"GapTicks":54767,"Mech_RPM":-7.57051025e-37,"cg_du":50.1220016,"cg_dv":50.2112846,"cg_dw":49.7887154,"cg_id_a":0.0921217129,"cg_id_raw_a":0.0300625581,"cg_iq_a":-0.0081782043,"cg_iq_raw_a":-0.360402465,"cg_iu_a":-0.251173258,"cg_iv_a":-0.619478941,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9509087,"cg_sample_seq":14505366,"cg_sample_valid":1,"cg_theta_rad":5.00691271,"cg_vd_req_v":0.107995637,"cg_vd_v":0.107995637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356174886,"cg_vq_v":-0.356174886,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.4961395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.835205,"values":{"Elec_RPM":-3.70954994e-36,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-7.41910006e-37,"cg_du":50.1270943,"cg_dv":50.2158966,"cg_dw":49.7841034,"cg_id_a":0.0207722653,"cg_id_raw_a":-0.267756909,"cg_iq_a":0.449215978,"cg_iq_raw_a":0.557437897,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14505417,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.110305034,"cg_vd_v":0.110305034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365958154,"cg_vq_v":-0.365958154,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.843018,"values":{"Elec_RPM":-3.70954994e-36,"EncoderCos":38725,"EncoderSin":12478,"GapTicks":54765,"Mech_RPM":-7.41910006e-37,"cg_du":50.1219406,"cg_dv":50.212841,"cg_dw":49.787159,"cg_id_a":0.00292006694,"cg_id_raw_a":0.197848335,"cg_iq_a":0.0647650361,"cg_iq_raw_a":-0.344295442,"cg_iu_a":0.437459469,"cg_iv_a":0.250373065,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.954546,"cg_sample_seq":14505466,"cg_sample_valid":1,"cg_theta_rad":5.00540876,"cg_vd_req_v":0.111025415,"cg_vd_v":0.111025415,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359001249,"cg_vq_v":-0.359001249,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.793800592,"dclink_p_w":-115.231705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.85083,"values":{"Elec_RPM":-3.63535906e-36,"EncoderCos":38726,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-7.27071802e-37,"cg_du":50.1255684,"cg_dv":50.2143822,"cg_dw":49.7856178,"cg_id_a":0.0899697468,"cg_id_raw_a":0.0941684395,"cg_iq_a":0.355154783,"cg_iq_raw_a":-0.572686315,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14505516,"cg_sample_valid":1,"cg_theta_rad":5.0078516,"cg_vd_req_v":0.109984078,"cg_vd_v":0.109984078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363048732,"cg_vq_v":-0.363048732,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.6620483,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.858643,"values":{"Elec_RPM":-3.63535906e-36,"EncoderCos":38682,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-7.27071802e-37,"cg_du":50.1148071,"cg_dv":50.2065086,"cg_dw":49.7934914,"cg_id_a":-0.161521077,"cg_id_raw_a":0.00419915887,"cg_iq_a":-0.479189128,"cg_iq_raw_a":-0.0716444924,"cg_iu_a":0.147508621,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9763641,"cg_sample_seq":14505566,"cg_sample_valid":1,"cg_theta_rad":5.00716305,"cg_vd_req_v":0.113936402,"cg_vd_v":0.113936402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345233023,"cg_vq_v":-0.345233023,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.6620483,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.866455,"values":{"Elec_RPM":-3.56265189e-36,"EncoderCos":38696,"EncoderSin":12444,"GapTicks":54769,"Mech_RPM":-7.1253036e-37,"cg_du":50.1273499,"cg_dv":50.2098579,"cg_dw":49.7901421,"cg_id_a":0.123438925,"cg_id_raw_a":-0.234287664,"cg_iq_a":0.258250713,"cg_iq_raw_a":0.194844648,"cg_iu_a":0.219996452,"cg_iv_a":0.177885413,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8563633,"cg_sample_seq":14505616,"cg_sample_valid":1,"cg_theta_rad":5.0070591,"cg_vd_req_v":0.106726848,"cg_vd_v":0.106726848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355946302,"cg_vq_v":-0.355946302,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.6620483,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.897705,"values":{"Elec_RPM":-3.49139866e-36,"EncoderCos":38727,"EncoderSin":12468,"GapTicks":54763,"Mech_RPM":-6.9827976e-37,"cg_du":50.1367722,"cg_dv":50.2150269,"cg_dw":49.7849731,"cg_id_a":0.384443611,"cg_id_raw_a":0.763677001,"cg_iq_a":0.75547725,"cg_iq_raw_a":0.984641969,"cg_iu_a":0.14750886,"cg_iv_a":0.141641557,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8818188,"cg_sample_seq":14505716,"cg_sample_valid":1,"cg_theta_rad":5.00857067,"cg_vd_req_v":0.101245426,"cg_vd_v":0.101245426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369174898,"cg_vq_v":-0.369174898,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6617126,"temp_inv2_c":36.2207031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.905518,"values":{"Elec_RPM":-3.49139866e-36,"EncoderCos":38725,"EncoderSin":12464,"GapTicks":54768,"Mech_RPM":-6.9827976e-37,"cg_du":50.1435966,"cg_dv":50.2103615,"cg_dw":49.7896385,"cg_id_a":0.720871389,"cg_id_raw_a":-0.372052938,"cg_iq_a":0.653580844,"cg_iq_raw_a":0.765808403,"cg_iu_a":-0.251173496,"cg_iv_a":1.33768809,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.9218178,"cg_sample_seq":14505766,"cg_sample_valid":1,"cg_theta_rad":5.00706911,"cg_vd_req_v":0.0916229934,"cg_vd_v":0.0916229934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366581947,"cg_vq_v":-0.366581947,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-105.235214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2003174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.91333,"values":{"Elec_RPM":-3.42157104e-36,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54761,"Mech_RPM":-6.84314173e-37,"cg_du":50.1375504,"cg_dv":50.217247,"cg_dw":49.782753,"cg_id_a":0.169655249,"cg_id_raw_a":0.038211938,"cg_iq_a":0.928348243,"cg_iq_raw_a":0.00446196692,"cg_iu_a":-1.66468287,"cg_iv_a":0.359104633,"cg_iw_a":1.30557823,"cg_sample_age_us":23.9836369,"cg_sample_seq":14505816,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.102885932,"cg_vd_v":0.102885932,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373818159,"cg_vq_v":-0.373818159,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.924278498,"dclink_p_w":-134.17247,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.921143,"values":{"Elec_RPM":-3.42157104e-36,"EncoderCos":38700,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-6.84314173e-37,"cg_du":50.1266556,"cg_dv":50.2062759,"cg_dw":49.7937241,"cg_id_a":0.409094006,"cg_id_raw_a":0.0774288476,"cg_iq_a":0.0954999477,"cg_iq_raw_a":-0.173443913,"cg_iu_a":-0.142441988,"cg_iv_a":0.467836082,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.8454552,"cg_sample_seq":14505866,"cg_sample_valid":1,"cg_theta_rad":5.00617361,"cg_vd_req_v":0.104018591,"cg_vd_v":0.104018591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350630671,"cg_vq_v":-0.350630671,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.81373477,"dclink_p_w":-118.125443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.928955,"values":{"Elec_RPM":-3.35313961e-36,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-6.70627904e-37,"cg_du":50.1227379,"cg_dv":50.2123299,"cg_dw":49.7876701,"cg_id_a":-0.243527293,"cg_id_raw_a":-0.100527577,"cg_iq_a":0.239979357,"cg_iq_raw_a":-0.300212413,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284297,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9727268,"cg_sample_seq":14505916,"cg_sample_valid":1,"cg_theta_rad":5.00574017,"cg_vd_req_v":0.10976892,"cg_vd_v":0.10976892,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357604414,"cg_vq_v":-0.357604414,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-92.851944,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.940674,"values":{"Elec_RPM":-3.35313961e-36,"EncoderCos":38748,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-6.70627904e-37,"cg_du":50.129467,"cg_dv":50.2089005,"cg_dw":49.7910995,"cg_id_a":0.255304009,"cg_id_raw_a":1.12230849,"cg_iq_a":0.323884308,"cg_iq_raw_a":0.793925762,"cg_iu_a":0.509947062,"cg_iv_a":-0.438259721,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14505967,"cg_sample_valid":1,"cg_theta_rad":5.00709963,"cg_vd_req_v":0.0990122035,"cg_vd_v":0.0990122035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357311189,"cg_vq_v":-0.357311189,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.948486,"values":{"Elec_RPM":-3.28607674e-36,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-6.57215347e-37,"cg_du":50.1246872,"cg_dv":50.2062187,"cg_dw":49.7937813,"cg_id_a":0.186955959,"cg_id_raw_a":0.778380334,"cg_iq_a":-0.0827657282,"cg_iq_raw_a":-0.728017688,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9436359,"cg_sample_seq":14506016,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.100838989,"cg_vd_v":0.100838989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350810856,"cg_vq_v":-0.350810856,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.214447,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2627.956299,"values":{"Elec_RPM":-3.28607674e-36,"EncoderCos":38709,"EncoderSin":12490,"GapTicks":54767,"Mech_RPM":-6.57215347e-37,"cg_du":50.1290512,"cg_dv":50.2110252,"cg_dw":49.7889748,"cg_id_a":-0.0330220088,"cg_id_raw_a":0.0625890344,"cg_iq_a":0.152722895,"cg_iq_raw_a":-0.0294259321,"cg_iu_a":-0.0699541569,"cg_iv_a":0.57656759,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9836369,"cg_sample_seq":14506066,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.104668982,"cg_vd_v":0.104668982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360224605,"cg_vq_v":-0.360224605,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1893616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2627.964111,"values":{"Elec_RPM":-3.22035517e-36,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-6.44071033e-37,"cg_du":50.1245689,"cg_dv":50.2082062,"cg_dw":49.7917938,"cg_id_a":-0.0558517128,"cg_id_raw_a":0.208327606,"cg_iq_a":-0.223712474,"cg_iq_raw_a":-0.670960486,"cg_iu_a":0.111264944,"cg_iv_a":0.504079938,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9581814,"cg_sample_seq":14506116,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.104504071,"cg_vd_v":0.104504071,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354135871,"cg_vq_v":-0.354135871,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1893616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2627.970511,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2627.970516,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2627.970521,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2627.995361,"values":{"Elec_RPM":-3.15594799e-36,"EncoderCos":38713,"EncoderSin":12533,"GapTicks":54765,"Mech_RPM":-6.31189625e-37,"cg_du":50.1300583,"cg_dv":50.2133904,"cg_dw":49.7866096,"cg_id_a":-0.0980250314,"cg_id_raw_a":-0.596749783,"cg_iq_a":0.337444127,"cg_iq_raw_a":0.271777481,"cg_iu_a":-0.359905005,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14506216,"cg_sample_valid":1,"cg_theta_rad":5.00840664,"cg_vd_req_v":0.104456767,"cg_vd_v":0.104456767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363317877,"cg_vq_v":-0.363317877,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.003174,"values":{"Elec_RPM":-3.15594799e-36,"EncoderCos":38722,"EncoderSin":12442,"GapTicks":54776,"Mech_RPM":-6.31189625e-37,"cg_du":50.1270027,"cg_dv":50.2033806,"cg_dw":49.7966194,"cg_id_a":0.125749052,"cg_id_raw_a":0.0268002599,"cg_iq_a":-0.615260482,"cg_iq_raw_a":0.331261843,"cg_iu_a":0.14750886,"cg_iv_a":0.57656759,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14506267,"cg_sample_valid":1,"cg_theta_rad":5.0065732,"cg_vd_req_v":0.0983294398,"cg_vd_v":0.0983294398,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346510977,"cg_vq_v":-0.346510977,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.5463219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2628.010986,"values":{"Elec_RPM":-3.09282902e-36,"EncoderCos":38732,"EncoderSin":12486,"GapTicks":54771,"Mech_RPM":-6.18565832e-37,"cg_du":50.1277122,"cg_dv":50.2080078,"cg_dw":49.7919922,"cg_id_a":-0.11701721,"cg_id_raw_a":0.0178880747,"cg_iq_a":-0.183458954,"cg_iq_raw_a":0.220903501,"cg_iu_a":0.14750886,"cg_iv_a":0.0329101086,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8563633,"cg_sample_seq":14506316,"cg_sample_valid":1,"cg_theta_rad":5.00726652,"cg_vd_req_v":0.100706168,"cg_vd_v":0.100706168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354789078,"cg_vq_v":-0.354789078,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.5463219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.018799,"values":{"Elec_RPM":-3.09282902e-36,"EncoderCos":38718,"EncoderSin":12445,"GapTicks":54774,"Mech_RPM":-6.18565832e-37,"cg_du":50.1335983,"cg_dv":50.2048569,"cg_dw":49.7951431,"cg_id_a":0.183780536,"cg_id_raw_a":0.253619522,"cg_iq_a":-0.262726843,"cg_iq_raw_a":-0.046690736,"cg_iu_a":-0.613611698,"cg_iv_a":0.0691539049,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.9509087,"cg_sample_seq":14506367,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0951489657,"cg_vd_v":0.0951489657,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35321328,"cg_vq_v":-0.35321328,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2604,"hz_tim_isr":5001,"hz_vsense":2604,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1972046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.030518,"values":{"Elec_RPM":-3.03097244e-36,"EncoderCos":38722,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-6.06194496e-37,"cg_du":50.1372833,"cg_dv":50.2115822,"cg_dw":49.7884178,"cg_id_a":0.0272270255,"cg_id_raw_a":-0.118253738,"cg_iq_a":0.394595325,"cg_iq_raw_a":0.972522557,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213997,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9836369,"cg_sample_seq":14506417,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.0978575274,"cg_vd_v":0.0978575274,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365861505,"cg_vq_v":-0.365861505,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.042236,"values":{"Elec_RPM":-3.03097244e-36,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-6.06194496e-37,"cg_du":50.1397018,"cg_dv":50.2076149,"cg_dw":49.7923851,"cg_id_a":0.288802236,"cg_id_raw_a":0.485941976,"cg_iq_a":0.0923632979,"cg_iq_raw_a":-0.678580821,"cg_iu_a":-0.0699543953,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.954546,"cg_sample_seq":14506466,"cg_sample_valid":1,"cg_theta_rad":5.00786448,"cg_vd_req_v":0.0937951729,"cg_vd_v":0.0937951729,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361372799,"cg_vq_v":-0.361372799,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.057861,"values":{"Elec_RPM":-2.97035294e-36,"EncoderCos":38716,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-5.94070596e-37,"cg_du":50.1339912,"cg_dv":50.2089233,"cg_dw":49.7910767,"cg_id_a":0.0237861499,"cg_id_raw_a":0.421158284,"cg_iq_a":-0.115389273,"cg_iq_raw_a":-0.467560738,"cg_iu_a":0.038777113,"cg_iv_a":-0.365772128,"cg_iw_a":0.326995015,"cg_sample_age_us":23.954546,"cg_sample_seq":14506517,"cg_sample_valid":1,"cg_theta_rad":5.0063405,"cg_vd_req_v":0.0980072916,"cg_vd_v":0.0980072916,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358000576,"cg_vq_v":-0.358000576,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2628.06958,"values":{"Elec_RPM":-2.97035294e-36,"EncoderCos":38717,"EncoderSin":12434,"GapTicks":54769,"Mech_RPM":-5.94070596e-37,"cg_du":50.1256332,"cg_dv":50.2099876,"cg_dw":49.7900124,"cg_id_a":-0.461716026,"cg_id_raw_a":-1.32509172,"cg_iq_a":-0.200354725,"cg_iq_raw_a":-1.69938266,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8490906,"cg_sample_seq":14506566,"cg_sample_valid":1,"cg_theta_rad":5.00623035,"cg_vd_req_v":0.106742263,"cg_vd_v":0.106742263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355591148,"cg_vq_v":-0.355591148,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.206604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.085205,"values":{"Elec_RPM":-2.91094595e-36,"EncoderCos":38724,"EncoderSin":12469,"GapTicks":54764,"Mech_RPM":-5.821892e-37,"cg_du":50.1342201,"cg_dv":50.2144241,"cg_dw":49.7855759,"cg_id_a":-0.300137937,"cg_id_raw_a":-0.319057941,"cg_iq_a":0.290098161,"cg_iq_raw_a":-0.430672079,"cg_iu_a":-0.14244175,"cg_iv_a":-0.72821033,"cg_iw_a":0.87065208,"cg_sample_age_us":23.8563633,"cg_sample_seq":14506617,"cg_sample_valid":1,"cg_theta_rad":5.00707912,"cg_vd_req_v":0.102889806,"cg_vd_v":0.102889806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366859853,"cg_vq_v":-0.366859853,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.116455,"values":{"Elec_RPM":-2.91094595e-36,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-5.821892e-37,"cg_du":50.1329155,"cg_dv":50.2122459,"cg_dw":49.7877541,"cg_id_a":-0.273878276,"cg_id_raw_a":-0.388613284,"cg_iq_a":-0.0254864581,"cg_iq_raw_a":-0.14630644,"cg_iu_a":-0.468636513,"cg_iv_a":-0.112065196,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8454552,"cg_sample_seq":14506671,"cg_sample_valid":1,"cg_theta_rad":5.00700712,"cg_vd_req_v":0.101979166,"cg_vd_v":0.101979166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363112956,"cg_vq_v":-0.363112956,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1862488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.128174,"values":{"Elec_RPM":-2.85272709e-36,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-5.70545418e-37,"cg_du":50.1405716,"cg_dv":50.2115059,"cg_dw":49.7884941,"cg_id_a":0.111148603,"cg_id_raw_a":-0.382527113,"cg_iq_a":0.149828732,"cg_iq_raw_a":-0.654532373,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9509087,"cg_sample_seq":14506716,"cg_sample_valid":1,"cg_theta_rad":5.00574017,"cg_vd_req_v":0.0947181433,"cg_vd_v":0.0947181433,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367731959,"cg_vq_v":-0.367731959,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.2402878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1627808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.143799,"values":{"Elec_RPM":-2.85272709e-36,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-5.70545418e-37,"cg_du":50.1351624,"cg_dv":50.2016258,"cg_dw":49.7983742,"cg_id_a":0.194085419,"cg_id_raw_a":0.253600746,"cg_iq_a":-0.46265316,"cg_iq_raw_a":-0.0467930771,"cg_iu_a":0.183752537,"cg_iv_a":0.431592286,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9872723,"cg_sample_seq":14506767,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0909047648,"cg_vd_v":0.0909047648,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350809097,"cg_vq_v":-0.350809097,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.2402878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1627808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.155518,"values":{"Elec_RPM":-2.7956725e-36,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-5.59134499e-37,"cg_du":50.1321259,"cg_dv":50.2040329,"cg_dw":49.7959671,"cg_id_a":-0.00390730612,"cg_id_raw_a":-0.084005408,"cg_iq_a":-0.218019888,"cg_iq_raw_a":0.611682773,"cg_iu_a":0.437459469,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9654541,"cg_sample_seq":14506816,"cg_sample_valid":1,"cg_theta_rad":5.00784731,"cg_vd_req_v":0.0946034864,"cg_vd_v":0.0946034864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351509571,"cg_vq_v":-0.351509571,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.2455177,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.171143,"values":{"Elec_RPM":-2.63126454e-36,"EncoderCos":38717,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-5.26252907e-37,"cg_du":50.1329193,"cg_dv":50.2000351,"cg_dw":49.7999649,"cg_id_a":-0.0196439922,"cg_id_raw_a":-0.276723444,"cg_iq_a":-0.429049551,"cg_iq_raw_a":-0.427075356,"cg_iu_a":0.292484283,"cg_iv_a":0.322860777,"cg_iw_a":-0.615345061,"cg_sample_age_us":23.8600006,"cg_sample_seq":14507116,"cg_sample_valid":1,"cg_theta_rad":5.00690508,"cg_vd_req_v":0.0904835984,"cg_vd_v":0.0904835984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346417785,"cg_vq_v":-0.346417785,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-15.0035763,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1815491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.202393,"values":{"Elec_RPM":-2.63126454e-36,"EncoderCos":38695,"EncoderSin":12495,"GapTicks":54776,"Mech_RPM":-5.26252907e-37,"cg_du":50.13134,"cg_dv":50.2034035,"cg_dw":49.7965965,"cg_id_a":-0.197074831,"cg_id_raw_a":-0.0132585894,"cg_iq_a":-0.273706108,"cg_iq_raw_a":-0.109838344,"cg_iu_a":0.618678689,"cg_iv_a":-0.184552908,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8563633,"cg_sample_seq":14507171,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.0961283743,"cg_vd_v":0.0961283743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349800676,"cg_vq_v":-0.349800676,"cg_vu_v":25.0738773,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1815491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.214111,"values":{"Elec_RPM":-2.57863921e-36,"EncoderCos":38694,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-5.15727833e-37,"cg_du":50.1380539,"cg_dv":50.2045174,"cg_dw":49.7954826,"cg_id_a":-0.0441361107,"cg_id_raw_a":-0.37611255,"cg_iq_a":0.0233282,"cg_iq_raw_a":0.143655434,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9581814,"cg_sample_seq":14507217,"cg_sample_valid":1,"cg_theta_rad":5.00865555,"cg_vd_req_v":0.0929720029,"cg_vd_v":0.0929720029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354837686,"cg_vq_v":-0.354837686,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1658936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.229736,"values":{"Elec_RPM":-2.57863921e-36,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-5.15727833e-37,"cg_du":50.125061,"cg_dv":50.2078934,"cg_dw":49.7921066,"cg_id_a":-0.478374064,"cg_id_raw_a":-0.889102995,"cg_iq_a":-0.0350579321,"cg_iq_raw_a":-0.192034721,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641557,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8527279,"cg_sample_seq":14507267,"cg_sample_valid":1,"cg_theta_rad":5.007792,"cg_vd_req_v":0.103229858,"cg_vd_v":0.103229858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352992117,"cg_vq_v":-0.352992117,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.241455,"values":{"Elec_RPM":-2.52706641e-36,"EncoderCos":38763,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-5.0541329e-37,"cg_du":50.1326218,"cg_dv":50.2051849,"cg_dw":49.7948151,"cg_id_a":0.112844005,"cg_id_raw_a":0.307101279,"cg_iq_a":-0.0531260818,"cg_iq_raw_a":-0.191000536,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333368778,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14507317,"cg_sample_valid":1,"cg_theta_rad":5.00534534,"cg_vd_req_v":0.091397725,"cg_vd_v":0.091397725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354395092,"cg_vq_v":-0.354395092,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.2018738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.25708,"values":{"Elec_RPM":-2.52706641e-36,"EncoderCos":38728,"EncoderSin":12469,"GapTicks":54783,"Mech_RPM":-5.0541329e-37,"cg_du":50.1382523,"cg_dv":50.1969414,"cg_dw":49.8030586,"cg_id_a":0.459311604,"cg_id_raw_a":0.138708234,"cg_iq_a":-0.447546959,"cg_iq_raw_a":-0.82332015,"cg_iu_a":-0.432392597,"cg_iv_a":1.04773736,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.8563633,"cg_sample_seq":14507366,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0826767981,"cg_vd_v":0.0826767981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346468896,"cg_vq_v":-0.346468896,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1815491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.268799,"values":{"Elec_RPM":-2.42699477e-36,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-4.85398936e-37,"cg_du":50.1434441,"cg_dv":50.2095718,"cg_dw":49.7904282,"cg_id_a":-0.0557914339,"cg_id_raw_a":0.177429691,"cg_iq_a":0.32298699,"cg_iq_raw_a":0.745982468,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148309052,"cg_iw_a":0.435726225,"cg_sample_age_us":23.9872723,"cg_sample_seq":14507516,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0905032605,"cg_vd_v":0.0905032605,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365542382,"cg_vq_v":-0.365542382,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1893616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.280518,"values":{"Elec_RPM":-2.42699477e-36,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-4.85398936e-37,"cg_du":50.1436844,"cg_dv":50.2053642,"cg_dw":49.7946358,"cg_id_a":0.0183924064,"cg_id_raw_a":0.326308489,"cg_iq_a":0.0481527895,"cg_iq_raw_a":-0.149932981,"cg_iu_a":0.14750886,"cg_iv_a":0.141641557,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14507567,"cg_sample_valid":1,"cg_theta_rad":5.00767231,"cg_vd_req_v":0.0860519558,"cg_vd_v":0.0860519558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358835489,"cg_vq_v":-0.358835489,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1893616,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2628.292236,"values":{"Elec_RPM":-2.37845487e-36,"EncoderCos":38728,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-4.75690965e-37,"cg_du":50.142643,"cg_dv":50.2032509,"cg_dw":49.7967491,"cg_id_a":0.130531222,"cg_id_raw_a":0.250202715,"cg_iq_a":-0.0133850649,"cg_iq_raw_a":0.206636339,"cg_iu_a":-0.14244175,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9836369,"cg_sample_seq":14507616,"cg_sample_valid":1,"cg_theta_rad":5.00551176,"cg_vd_req_v":0.085034743,"cg_vd_v":0.085034743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357625157,"cg_vq_v":-0.357625157,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.327393,"values":{"Elec_RPM":-2.37845487e-36,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-4.75690965e-37,"cg_du":50.1401825,"cg_dv":50.1984634,"cg_dw":49.8015366,"cg_id_a":0.153438359,"cg_id_raw_a":0.0637166873,"cg_iq_a":-0.376267254,"cg_iq_raw_a":-0.903377771,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.72821033,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14507671,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.0829259828,"cg_vd_v":0.0829259828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348444343,"cg_vq_v":-0.348444343,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.343018,"values":{"Elec_RPM":-2.3308857e-36,"EncoderCos":38697,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-4.66177157e-37,"cg_du":50.1340561,"cg_dv":50.2056465,"cg_dw":49.7943535,"cg_id_a":-0.521230876,"cg_id_raw_a":0.0476848334,"cg_iq_a":0.131360456,"cg_iq_raw_a":0.734341323,"cg_iu_a":0.183752537,"cg_iv_a":-0.836941957,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9872723,"cg_sample_seq":14507717,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0966669917,"cg_vd_v":0.0966669917,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355398417,"cg_vq_v":-0.355398417,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1956482,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.354736,"values":{"Elec_RPM":-2.23858259e-36,"EncoderCos":38731,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-4.47716518e-37,"cg_du":50.1314278,"cg_dv":50.2060356,"cg_dw":49.7939644,"cg_id_a":-0.180070102,"cg_id_raw_a":0.0319034979,"cg_iq_a":-0.0800737366,"cg_iq_raw_a":0.51353091,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8527279,"cg_sample_seq":14507967,"cg_sample_valid":1,"cg_theta_rad":5.00770044,"cg_vd_req_v":0.096538499,"cg_vd_v":0.096538499,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355148554,"cg_vq_v":-0.355148554,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.2180901,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.366455,"values":{"Elec_RPM":-2.19381099e-36,"EncoderCos":38725,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-4.38762199e-37,"cg_du":50.1355286,"cg_dv":50.2063332,"cg_dw":49.7936668,"cg_id_a":0.0839768499,"cg_id_raw_a":0.736350596,"cg_iq_a":-0.0914445072,"cg_iq_raw_a":-0.911185384,"cg_iu_a":0.219996452,"cg_iv_a":-0.510747313,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9763641,"cg_sample_seq":14508016,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.0941800773,"cg_vd_v":0.0941800773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35770148,"cg_vq_v":-0.35770148,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.9842033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.1611938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119038686,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.378174,"values":{"Elec_RPM":-2.19381099e-36,"EncoderCos":38665,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-4.38762199e-37,"cg_du":50.1418495,"cg_dv":50.2072144,"cg_dw":49.7927856,"cg_id_a":0.032216806,"cg_id_raw_a":0.462062329,"cg_iq_a":0.0147973858,"cg_iq_raw_a":-0.0214482527,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395774841,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14508067,"cg_sample_valid":1,"cg_theta_rad":5.00814581,"cg_vd_req_v":0.0944425836,"cg_vd_v":0.0944425836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360173643,"cg_vq_v":-0.360173643,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1815491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.393799,"values":{"Elec_RPM":-2.14993497e-36,"EncoderCos":38741,"EncoderSin":12489,"GapTicks":54768,"Mech_RPM":-4.29986976e-37,"cg_du":50.1309471,"cg_dv":50.2103539,"cg_dw":49.7896461,"cg_id_a":-0.189496636,"cg_id_raw_a":-0.0672802404,"cg_iq_a":-0.0650691167,"cg_iq_raw_a":0.467782229,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9218178,"cg_sample_seq":14508116,"cg_sample_valid":1,"cg_theta_rad":5.00546646,"cg_vd_req_v":0.0996176898,"cg_vd_v":0.0996176898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360013813,"cg_vq_v":-0.360013813,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1815491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.425049,"values":{"Elec_RPM":-2.14993497e-36,"EncoderCos":38724,"EncoderSin":12456,"GapTicks":54772,"Mech_RPM":-4.29986976e-37,"cg_du":50.1345673,"cg_dv":50.2067757,"cg_dw":49.7932243,"cg_id_a":0.0697314888,"cg_id_raw_a":0.131746218,"cg_iq_a":-0.102208599,"cg_iq_raw_a":0.122942887,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613314,"cg_sample_age_us":26.8199997,"cg_sample_seq":14508171,"cg_sample_valid":1,"cg_theta_rad":5.00787497,"cg_vd_req_v":0.0955034569,"cg_vd_v":0.0955034569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356566042,"cg_vq_v":-0.356566042,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.440674,"values":{"Elec_RPM":-2.02350153e-36,"EncoderCos":38715,"EncoderSin":12475,"GapTicks":54770,"Mech_RPM":-4.04700288e-37,"cg_du":50.1342583,"cg_dv":50.2089996,"cg_dw":49.7910004,"cg_id_a":-0.135073885,"cg_id_raw_a":0.205811769,"cg_iq_a":-0.531598687,"cg_iq_raw_a":-0.415942013,"cg_iu_a":0.219996452,"cg_iv_a":-0.184552848,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.954546,"cg_sample_seq":14508416,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.098173514,"cg_vd_v":0.098173514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35934332,"cg_vq_v":-0.35934332,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1721802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.452393,"values":{"Elec_RPM":-2.02350153e-36,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-4.04700288e-37,"cg_du":50.1441536,"cg_dv":50.2095833,"cg_dw":49.7904167,"cg_id_a":0.210647851,"cg_id_raw_a":0.208142877,"cg_iq_a":-0.0972703323,"cg_iq_raw_a":0.203081578,"cg_iu_a":0.509947062,"cg_iv_a":0.177885473,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9872723,"cg_sample_seq":14508468,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0904431641,"cg_vd_v":0.0904431641,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365833312,"cg_vq_v":-0.365833312,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.464111,"values":{"Elec_RPM":-1.98303149e-36,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-3.96606298e-37,"cg_du":50.1421623,"cg_dv":50.2021217,"cg_dw":49.7978783,"cg_id_a":0.427017063,"cg_id_raw_a":0.0637694523,"cg_iq_a":-0.650333941,"cg_iq_raw_a":-0.466356695,"cg_iu_a":0.111264944,"cg_iv_a":0.57656759,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.954546,"cg_sample_seq":14508516,"cg_sample_valid":1,"cg_theta_rad":5.00778294,"cg_vd_req_v":0.0854155868,"cg_vd_v":0.0854155868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354412913,"cg_vq_v":-0.354412913,"cg_vu_v":18.0355949,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.479736,"values":{"Elec_RPM":-1.98303149e-36,"EncoderCos":38692,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-3.96606298e-37,"cg_du":50.1411057,"cg_dv":50.2153931,"cg_dw":49.7846069,"cg_id_a":-0.328799963,"cg_id_raw_a":-0.438486248,"cg_iq_a":0.0491754562,"cg_iq_raw_a":-0.264069676,"cg_iu_a":0.219996452,"cg_iv_a":-0.90942955,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9218178,"cg_sample_seq":14508567,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.101531029,"cg_vd_v":0.101531029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371199548,"cg_vq_v":-0.371199548,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.183136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.491455,"values":{"Elec_RPM":-1.94337093e-36,"EncoderCos":38708,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-3.88674187e-37,"cg_du":50.1458893,"cg_dv":50.212513,"cg_dw":49.787487,"cg_id_a":0.0810910016,"cg_id_raw_a":0.148522928,"cg_iq_a":0.0996561348,"cg_iq_raw_a":0.161532119,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104574,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9872723,"cg_sample_seq":14508616,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.0936780423,"cg_vd_v":0.0936780423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371547282,"cg_vq_v":-0.371547282,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.1969147,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.50708,"values":{"Elec_RPM":-1.94337093e-36,"EncoderCos":38718,"EncoderSin":12489,"GapTicks":54773,"Mech_RPM":-3.88674187e-37,"cg_du":50.1428604,"cg_dv":50.2059174,"cg_dw":49.7940826,"cg_id_a":0.295262516,"cg_id_raw_a":0.295729488,"cg_iq_a":-0.525499165,"cg_iq_raw_a":-0.91729027,"cg_iu_a":-0.758587122,"cg_iv_a":0.141641617,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8600006,"cg_sample_seq":14508666,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.0881038606,"cg_vd_v":0.0881038606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36123389,"cg_vq_v":-0.36123389,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.708627701,"dclink_p_w":-102.867622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.175293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.53833,"values":{"Elec_RPM":-1.8664135e-36,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54766,"Mech_RPM":-3.73282705e-37,"cg_du":50.1509666,"cg_dv":50.2124786,"cg_dw":49.7875214,"cg_id_a":0.226994634,"cg_id_raw_a":0.456325591,"cg_iq_a":0.00500786304,"cg_iq_raw_a":0.665226281,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":24.0381813,"cg_sample_seq":14508868,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0886797309,"cg_vd_v":0.0886797309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37340644,"cg_vq_v":-0.37340644,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.407066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1940613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.550049,"values":{"Elec_RPM":-1.82908525e-36,"EncoderCos":38740,"EncoderSin":12458,"GapTicks":54762,"Mech_RPM":-3.65817058e-37,"cg_du":50.1469879,"cg_dv":50.215683,"cg_dw":49.784317,"cg_id_a":0.022557538,"cg_id_raw_a":-0.000531732279,"cg_iq_a":0.0388995335,"cg_iq_raw_a":-0.254071802,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592226,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9472733,"cg_sample_seq":14508916,"cg_sample_valid":1,"cg_theta_rad":5.00564146,"cg_vd_req_v":0.0932874829,"cg_vd_v":0.0932874829,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377141476,"cg_vq_v":-0.377141476,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.341484,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1940613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.565674,"values":{"Elec_RPM":-1.82908525e-36,"EncoderCos":38711,"EncoderSin":12505,"GapTicks":54765,"Mech_RPM":-3.65817058e-37,"cg_du":50.1400299,"cg_dv":50.213253,"cg_dw":49.786747,"cg_id_a":-0.145298108,"cg_id_raw_a":-0.170063615,"cg_iq_a":-0.40565452,"cg_iq_raw_a":-0.0157616939,"cg_iu_a":0.437459469,"cg_iv_a":0.141641617,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8490906,"cg_sample_seq":14508966,"cg_sample_valid":1,"cg_theta_rad":5.00712776,"cg_vd_req_v":0.0976623222,"cg_vd_v":0.0976623222,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369596601,"cg_vq_v":-0.369596601,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.647013187,"dclink_p_w":-93.923378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1878052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.577393,"values":{"Elec_RPM":-1.79250351e-36,"EncoderCos":38721,"EncoderSin":12479,"GapTicks":54767,"Mech_RPM":-3.58500711e-37,"cg_du":50.1503983,"cg_dv":50.2114563,"cg_dw":49.7885437,"cg_id_a":0.169557184,"cg_id_raw_a":-0.309023142,"cg_iq_a":-0.0557319671,"cg_iq_raw_a":0.116508804,"cg_iu_a":0.111264944,"cg_iv_a":0.540323734,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.8527279,"cg_sample_seq":14509017,"cg_sample_valid":1,"cg_theta_rad":5.00677443,"cg_vd_req_v":0.0875648409,"cg_vd_v":0.0875648409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373027921,"cg_vq_v":-0.373027921,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.6080322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.593018,"values":{"Elec_RPM":-1.79250351e-36,"EncoderCos":38728,"EncoderSin":12460,"GapTicks":54763,"Mech_RPM":-3.58500711e-37,"cg_du":50.1480446,"cg_dv":50.215107,"cg_dw":49.784893,"cg_id_a":-0.0682906657,"cg_id_raw_a":0.111328125,"cg_iq_a":0.121525049,"cg_iq_raw_a":-0.534627914,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9763641,"cg_sample_seq":14509066,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.092588082,"cg_vd_v":0.092588082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375564396,"cg_vq_v":-0.375564396,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.2666931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.624268,"values":{"Elec_RPM":-1.68708999e-36,"EncoderCos":38692,"EncoderSin":12456,"GapTicks":54767,"Mech_RPM":-3.37418007e-37,"cg_du":50.1443138,"cg_dv":50.2110367,"cg_dw":49.7889633,"cg_id_a":-0.250704229,"cg_id_raw_a":0.265310824,"cg_iq_a":-0.150048226,"cg_iq_raw_a":-0.554390788,"cg_iu_a":-0.50488019,"cg_iv_a":-0.546991229,"cg_iw_a":1.05187142,"cg_sample_age_us":23.8527279,"cg_sample_seq":14509318,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0946747288,"cg_vd_v":0.0946747288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367152393,"cg_vq_v":-0.367152393,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.1596375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.635986,"values":{"Elec_RPM":-1.68708999e-36,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-3.37418007e-37,"cg_du":50.1485977,"cg_dv":50.2157822,"cg_dw":49.7842178,"cg_id_a":-0.202030659,"cg_id_raw_a":0.198921159,"cg_iq_a":0.264141023,"cg_iq_raw_a":-0.343676478,"cg_iu_a":0.364971876,"cg_iv_a":-0.836941838,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9763641,"cg_sample_seq":14509367,"cg_sample_valid":1,"cg_theta_rad":5.00703621,"cg_vd_req_v":0.0937741995,"cg_vd_v":0.0937741995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376558065,"cg_vq_v":-0.376558065,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.651611,"values":{"Elec_RPM":-1.65334816e-36,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.30669645e-37,"cg_du":50.1554489,"cg_dv":50.2128639,"cg_dw":49.7871361,"cg_id_a":0.161693215,"cg_id_raw_a":0.222433299,"cg_iq_a":0.299110204,"cg_iq_raw_a":0.0577082075,"cg_iu_a":-0.396148682,"cg_iv_a":0.105397761,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8527279,"cg_sample_seq":14509416,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0829380304,"cg_vd_v":0.0829380304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377034813,"cg_vq_v":-0.377034813,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.66333,"values":{"Elec_RPM":-1.65334816e-36,"EncoderCos":38696,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-3.30669645e-37,"cg_du":50.1522331,"cg_dv":50.2092819,"cg_dw":49.7907181,"cg_id_a":0.0429742783,"cg_id_raw_a":-0.339116335,"cg_iq_a":-0.187568828,"cg_iq_raw_a":-1.01840568,"cg_iu_a":0.292484283,"cg_iv_a":0.322860837,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14509467,"cg_sample_valid":1,"cg_theta_rad":5.0077734,"cg_vd_req_v":0.0864080265,"cg_vd_v":0.0864080265,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369358689,"cg_vq_v":-0.369358689,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.675049,"values":{"Elec_RPM":-1.62028128e-36,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.24056256e-37,"cg_du":50.1499405,"cg_dv":50.2107773,"cg_dw":49.7892227,"cg_id_a":-0.0580447465,"cg_id_raw_a":-0.345097721,"cg_iq_a":-0.141063631,"cg_iq_raw_a":-0.579981208,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.8600006,"cg_sample_seq":14509516,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0883135125,"cg_vd_v":0.0883135125,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371598572,"cg_vq_v":-0.371598572,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.690674,"values":{"Elec_RPM":-1.62028128e-36,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-3.24056256e-37,"cg_du":50.153141,"cg_dv":50.2164688,"cg_dw":49.7835312,"cg_id_a":-0.286876619,"cg_id_raw_a":-0.625275075,"cg_iq_a":0.318498343,"cg_iq_raw_a":0.120561533,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9581814,"cg_sample_seq":14509567,"cg_sample_valid":1,"cg_theta_rad":5.00698805,"cg_vd_req_v":0.0913505256,"cg_vd_v":0.0913505256,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381151736,"cg_vq_v":-0.381151736,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.721924,"values":{"Elec_RPM":-1.55611822e-36,"EncoderCos":38741,"EncoderSin":12479,"GapTicks":54766,"Mech_RPM":-3.11223636e-37,"cg_du":50.153965,"cg_dv":50.2119217,"cg_dw":49.7880783,"cg_id_a":0.1669714,"cg_id_raw_a":0.00490318099,"cg_iq_a":0.0890073925,"cg_iq_raw_a":0.365236551,"cg_iu_a":-0.722343206,"cg_iv_a":0.395348489,"cg_iw_a":0.326994717,"cg_sample_age_us":24.3909092,"cg_sample_seq":14509720,"cg_sample_valid":1,"cg_theta_rad":5.00436735,"cg_vd_req_v":0.0832483768,"cg_vd_v":0.0832483768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374911427,"cg_vq_v":-0.374911427,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6376038,"temp_inv2_c":36.1784363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.737549,"values":{"Elec_RPM":-1.55611822e-36,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-3.11223636e-37,"cg_du":50.1513023,"cg_dv":50.2115746,"cg_dw":49.7884254,"cg_id_a":0.0533157587,"cg_id_raw_a":0.397506416,"cg_iq_a":0.0604710765,"cg_iq_raw_a":-0.690009832,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9436359,"cg_sample_seq":14509767,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0855080485,"cg_vd_v":0.0855080485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372839749,"cg_vq_v":-0.372839749,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.749268,"values":{"Elec_RPM":-1.52499586e-36,"EncoderCos":38739,"EncoderSin":12490,"GapTicks":54775,"Mech_RPM":-3.04999158e-37,"cg_du":50.1494904,"cg_dv":50.2042618,"cg_dw":49.7957382,"cg_id_a":0.345792115,"cg_id_raw_a":1.11149025,"cg_iq_a":-0.303592086,"cg_iq_raw_a":-0.697643638,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9218178,"cg_sample_seq":14509816,"cg_sample_valid":1,"cg_theta_rad":5.00819492,"cg_vd_req_v":0.0795121714,"cg_vd_v":0.0795121714,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363095015,"cg_vq_v":-0.363095015,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.760986,"values":{"Elec_RPM":-1.52499586e-36,"EncoderCos":38714,"EncoderSin":12437,"GapTicks":54777,"Mech_RPM":-3.04999158e-37,"cg_du":50.1502342,"cg_dv":50.202446,"cg_dw":49.797554,"cg_id_a":0.281852573,"cg_id_raw_a":-0.106415205,"cg_iq_a":-0.464318991,"cg_iq_raw_a":-0.228569478,"cg_iu_a":-0.287417412,"cg_iv_a":0.0691539645,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9181824,"cg_sample_seq":14509867,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0805309638,"cg_vd_v":0.0805309638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360284209,"cg_vq_v":-0.360284209,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.897295,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.772705,"values":{"Elec_RPM":-1.49449589e-36,"EncoderCos":38738,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-2.98899182e-37,"cg_du":50.1520767,"cg_dv":50.2087555,"cg_dw":49.7912445,"cg_id_a":0.149164081,"cg_id_raw_a":0.059644185,"cg_iq_a":0.00626842491,"cg_iq_raw_a":0.224792749,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616981,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.954546,"cg_sample_seq":14509916,"cg_sample_valid":1,"cg_theta_rad":5.00568628,"cg_vd_req_v":0.0823609233,"cg_vd_v":0.0823609233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37056461,"cg_vq_v":-0.37056461,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1721802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.78833,"values":{"Elec_RPM":-1.43531392e-36,"EncoderCos":38735,"EncoderSin":12473,"GapTicks":54766,"Mech_RPM":-2.87062784e-37,"cg_du":50.152462,"cg_dv":50.2123299,"cg_dw":49.7876701,"cg_id_a":0.126198351,"cg_id_raw_a":-0.131057695,"cg_iq_a":0.522365212,"cg_iq_raw_a":0.243443772,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8527279,"cg_sample_seq":14510166,"cg_sample_valid":1,"cg_theta_rad":5.00763655,"cg_vd_req_v":0.0851280838,"cg_vd_v":0.0851280838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37456131,"cg_vq_v":-0.37456131,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1674805,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.81958,"values":{"Elec_RPM":-1.40660761e-36,"EncoderCos":38715,"EncoderSin":12517,"GapTicks":54774,"Mech_RPM":-2.81321518e-37,"cg_du":50.1409492,"cg_dv":50.2047272,"cg_dw":49.7952728,"cg_id_a":-0.0628381073,"cg_id_raw_a":0.0486896485,"cg_iq_a":-0.260071516,"cg_iq_raw_a":0.114688978,"cg_iu_a":0.14750886,"cg_iv_a":0.177885413,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14510220,"cg_sample_valid":1,"cg_theta_rad":5.00580311,"cg_vd_req_v":0.088001743,"cg_vd_v":0.088001743,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358644396,"cg_vq_v":-0.358644396,"cg_vu_v":19.3552723,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8796787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.835205,"values":{"Elec_RPM":-1.40660761e-36,"EncoderCos":38745,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-2.81321518e-37,"cg_du":50.1613579,"cg_dv":50.2167549,"cg_dw":49.7832451,"cg_id_a":0.279109299,"cg_id_raw_a":-0.0161434598,"cg_iq_a":1.01036084,"cg_iq_raw_a":1.27326298,"cg_iu_a":-0.577368021,"cg_iv_a":0.177885473,"cg_iw_a":1.12435889,"cg_sample_age_us":23.9618187,"cg_sample_seq":14510267,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0821668059,"cg_vd_v":0.0821668059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385608703,"cg_vq_v":-0.385608703,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8796787,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.846924,"values":{"Elec_RPM":-1.37847546e-36,"EncoderCos":38729,"EncoderSin":12494,"GapTicks":54767,"Mech_RPM":-2.75695092e-37,"cg_du":50.1481819,"cg_dv":50.2115974,"cg_dw":49.7884026,"cg_id_a":-0.0453774482,"cg_id_raw_a":-0.106195949,"cg_iq_a":0.214664161,"cg_iq_raw_a":0.646084368,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9581814,"cg_sample_seq":14510317,"cg_sample_valid":1,"cg_theta_rad":5.00624037,"cg_vd_req_v":0.0881230831,"cg_vd_v":0.0881230831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371099859,"cg_vq_v":-0.371099859,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.858643,"values":{"Elec_RPM":-1.37847546e-36,"EncoderCos":38728,"EncoderSin":12490,"GapTicks":54760,"Mech_RPM":-2.75695092e-37,"cg_du":50.1531982,"cg_dv":50.2179871,"cg_dw":49.7820129,"cg_id_a":-0.117332928,"cg_id_raw_a":0.386635095,"cg_iq_a":0.735363126,"cg_iq_raw_a":0.765469193,"cg_iu_a":-0.50488019,"cg_iv_a":-0.72821033,"cg_iw_a":1.23309052,"cg_sample_age_us":23.954546,"cg_sample_seq":14510367,"cg_sample_valid":1,"cg_theta_rad":5.0068903,"cg_vd_req_v":0.0902733505,"cg_vd_v":0.0902733505,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38139984,"cg_vq_v":-0.38139984,"cg_vu_v":134.607132,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.253491312,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2628.867342,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2628.867351,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2628.867354,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2628.874268,"values":{"Elec_RPM":-1.35090598e-36,"EncoderCos":38707,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-2.70181196e-37,"cg_du":50.147274,"cg_dv":50.2061462,"cg_dw":49.7938538,"cg_id_a":0.0874420479,"cg_id_raw_a":-0.160135895,"cg_iq_a":-0.172905207,"cg_iq_raw_a":0.0938790143,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9799995,"cg_sample_seq":14510418,"cg_sample_valid":1,"cg_theta_rad":5.00667095,"cg_vd_req_v":0.0861480683,"cg_vd_v":0.0861480683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362557083,"cg_vq_v":-0.362557083,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1611938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118182652,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.885986,"values":{"Elec_RPM":-1.2974101e-36,"EncoderCos":38741,"EncoderSin":12466,"GapTicks":54770,"Mech_RPM":-2.59482024e-37,"cg_du":50.1581459,"cg_dv":50.2083054,"cg_dw":49.7916946,"cg_id_a":0.452195585,"cg_id_raw_a":-0.0558580011,"cg_iq_a":0.483224362,"cg_iq_raw_a":-0.113607429,"cg_iu_a":0.183752537,"cg_iv_a":0.57656759,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.8309097,"cg_sample_seq":14510666,"cg_sample_valid":1,"cg_theta_rad":5.00656128,"cg_vd_req_v":0.0768024549,"cg_vd_v":0.0768024549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372240424,"cg_vq_v":-0.372240424,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.917236,"values":{"Elec_RPM":-1.27146191e-36,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-2.54292377e-37,"cg_du":50.1476784,"cg_dv":50.2131653,"cg_dw":49.7868347,"cg_id_a":-0.233575732,"cg_id_raw_a":-0.0797238722,"cg_iq_a":0.505488157,"cg_iq_raw_a":-0.0797977,"cg_iu_a":-1.19351292,"cg_iv_a":0.39534843,"cg_iw_a":0.798164487,"cg_sample_age_us":23.8600006,"cg_sample_seq":14510720,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.091296576,"cg_vd_v":0.091296576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372644007,"cg_vq_v":-0.372644007,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.445738435,"dclink_p_w":64.5093384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.925049,"values":{"Elec_RPM":-1.27146191e-36,"EncoderCos":38703,"EncoderSin":12458,"GapTicks":54771,"Mech_RPM":-2.54292377e-37,"cg_du":50.1480827,"cg_dv":50.208065,"cg_dw":49.791935,"cg_id_a":-0.0696359351,"cg_id_raw_a":-0.000732935267,"cg_iq_a":0.139563918,"cg_iq_raw_a":-0.436475843,"cg_iu_a":-0.14244175,"cg_iv_a":-0.510747313,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9290905,"cg_sample_seq":14510766,"cg_sample_valid":1,"cg_theta_rad":5.00638819,"cg_vd_req_v":0.0878506601,"cg_vd_v":0.0878506601,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365507901,"cg_vq_v":-0.365507901,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.445738435,"dclink_p_w":64.5093384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.932861,"values":{"Elec_RPM":-1.24603271e-36,"EncoderCos":38719,"EncoderSin":12507,"GapTicks":54771,"Mech_RPM":-2.49206538e-37,"cg_du":50.1410217,"cg_dv":50.2077675,"cg_dw":49.7922325,"cg_id_a":-0.135151252,"cg_id_raw_a":0.183514789,"cg_iq_a":0.0608761534,"cg_iq_raw_a":-0.637035668,"cg_iu_a":-0.287417412,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14510816,"cg_sample_valid":1,"cg_theta_rad":5.00770283,"cg_vd_req_v":0.0908238962,"cg_vd_v":0.0908238962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362858325,"cg_vq_v":-0.362858325,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.637830734,"dclink_p_w":92.3098297,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.940674,"values":{"Elec_RPM":-1.24603271e-36,"EncoderCos":38733,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-2.49206538e-37,"cg_du":50.145874,"cg_dv":50.2101746,"cg_dw":49.7898254,"cg_id_a":0.0339146703,"cg_id_raw_a":0.225881562,"cg_iq_a":0.104094245,"cg_iq_raw_a":0.240790829,"cg_iu_a":-0.178685665,"cg_iv_a":0.032910049,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.954546,"cg_sample_seq":14510866,"cg_sample_valid":1,"cg_theta_rad":5.00672483,"cg_vd_req_v":0.0890356973,"cg_vd_v":0.0890356973,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36775583,"cg_vq_v":-0.36775583,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.405870199,"dclink_p_w":58.9179649,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.948486,"values":{"Elec_RPM":-1.22111202e-36,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-2.44222399e-37,"cg_du":50.1448021,"cg_dv":50.2107391,"cg_dw":49.7892609,"cg_id_a":-0.114412002,"cg_id_raw_a":0.118661843,"cg_iq_a":0.126810238,"cg_iq_raw_a":-0.169469059,"cg_iu_a":0.147508621,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14510916,"cg_sample_valid":1,"cg_theta_rad":5.00822687,"cg_vd_req_v":0.092060037,"cg_vd_v":0.092060037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367521435,"cg_vq_v":-0.367521435,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.6135254,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.960205,"values":{"Elec_RPM":-1.22111202e-36,"EncoderCos":38700,"EncoderSin":12465,"GapTicks":54763,"Mech_RPM":-2.44222399e-37,"cg_du":50.1496315,"cg_dv":50.2151909,"cg_dw":49.7848091,"cg_id_a":-0.238431856,"cg_id_raw_a":-0.28286764,"cg_iq_a":0.46892941,"cg_iq_raw_a":0.263226688,"cg_iu_a":-0.251173258,"cg_iv_a":-0.510747313,"cg_iw_a":0.58070147,"cg_sample_age_us":23.954546,"cg_sample_seq":14510966,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0936879665,"cg_vd_v":0.0936879665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376012743,"cg_vq_v":-0.376012743,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.0517883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.183136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2628.968018,"values":{"Elec_RPM":-1.1966897e-36,"EncoderCos":38707,"EncoderSin":12448,"GapTicks":54770,"Mech_RPM":-2.39337944e-37,"cg_du":50.1527481,"cg_dv":50.2086334,"cg_dw":49.7913666,"cg_id_a":0.275096685,"cg_id_raw_a":0.00154705346,"cg_iq_a":0.189443052,"cg_iq_raw_a":-0.254067868,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14511067,"cg_sample_valid":1,"cg_theta_rad":5.00850391,"cg_vd_req_v":0.0849328488,"cg_vd_v":0.0849328488,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370055646,"cg_vq_v":-0.370055646,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.0517883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.97583,"values":{"Elec_RPM":-1.17275588e-36,"EncoderCos":38700,"EncoderSin":12466,"GapTicks":54767,"Mech_RPM":-2.34551175e-37,"cg_du":50.1526489,"cg_dv":50.2117004,"cg_dw":49.7882996,"cg_id_a":0.137538075,"cg_id_raw_a":0.138096735,"cg_iq_a":0.269552946,"cg_iq_raw_a":0.670795441,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14511117,"cg_sample_valid":1,"cg_theta_rad":5.00685883,"cg_vd_req_v":0.0881537125,"cg_vd_v":0.0881537125,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374135405,"cg_vq_v":-0.374135405,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.0517883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2628.983643,"values":{"Elec_RPM":-1.17275588e-36,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-2.34551175e-37,"cg_du":50.1354179,"cg_dv":50.2095413,"cg_dw":49.7904587,"cg_id_a":-0.385779262,"cg_id_raw_a":-0.33260119,"cg_iq_a":-0.383600622,"cg_iq_raw_a":-0.286887884,"cg_iu_a":0.401215553,"cg_iv_a":-0.148309052,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9872723,"cg_sample_seq":14511167,"cg_sample_valid":1,"cg_theta_rad":5.0064683,"cg_vd_req_v":0.0980603322,"cg_vd_v":0.0980603322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361837655,"cg_vq_v":-0.361837655,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.0517883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1799927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2628.9947,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2628.994706,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2628.994711,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2629.010986,"values":{"Elec_RPM":-1.1493007e-36,"EncoderCos":38768,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-2.29860144e-37,"cg_du":50.1280479,"cg_dv":50.2081299,"cg_dw":49.7918701,"cg_id_a":-0.380463511,"cg_id_raw_a":-0.39343071,"cg_iq_a":-0.534732699,"cg_iq_raw_a":-0.833538532,"cg_iu_a":0.292484045,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8672733,"cg_sample_seq":14511220,"cg_sample_valid":1,"cg_theta_rad":5.0066452,"cg_vd_req_v":0.0979227498,"cg_vd_v":0.0979227498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355879843,"cg_vq_v":-0.355879843,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1658936,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.022705,"values":{"Elec_RPM":-1.1493007e-36,"EncoderCos":38732,"EncoderSin":12454,"GapTicks":54769,"Mech_RPM":-2.29860144e-37,"cg_du":50.1544647,"cg_dv":50.2097626,"cg_dw":49.7902374,"cg_id_a":0.362356633,"cg_id_raw_a":0.107654788,"cg_iq_a":0.193754062,"cg_iq_raw_a":0.156796739,"cg_iu_a":-0.577368021,"cg_iv_a":-0.474503636,"cg_iw_a":1.05187166,"cg_sample_age_us":23.9436359,"cg_sample_seq":14511267,"cg_sample_valid":1,"cg_theta_rad":5.00539398,"cg_vd_req_v":0.0821735412,"cg_vd_v":0.0821735412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371939719,"cg_vq_v":-0.371939719,"cg_vu_v":102.494972,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1330566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.030518,"values":{"Elec_RPM":-1.12631474e-36,"EncoderCos":38717,"EncoderSin":12505,"GapTicks":54758,"Mech_RPM":-2.25262943e-37,"cg_du":50.1492691,"cg_dv":50.2198181,"cg_dw":49.7801819,"cg_id_a":-0.259352118,"cg_id_raw_a":-0.0485300422,"cg_iq_a":0.421409756,"cg_iq_raw_a":0.25101763,"cg_iu_a":-0.468636513,"cg_iv_a":-0.112065196,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9218178,"cg_sample_seq":14511317,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0959727466,"cg_vd_v":0.0959727466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382720441,"cg_vq_v":-0.382720441,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1330566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.03833,"values":{"Elec_RPM":-1.12631474e-36,"EncoderCos":38711,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-2.25262943e-37,"cg_du":50.1435966,"cg_dv":50.206543,"cg_dw":49.793457,"cg_id_a":0.0992264971,"cg_id_raw_a":0.105443336,"cg_iq_a":-0.655963004,"cg_iq_raw_a":-0.462229609,"cg_iu_a":-0.577367783,"cg_iv_a":0.866518259,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9400005,"cg_sample_seq":14511367,"cg_sample_valid":1,"cg_theta_rad":5.00623512,"cg_vd_req_v":0.0886162147,"cg_vd_v":0.0886162147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361219138,"cg_vq_v":-0.361219138,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.050049,"values":{"Elec_RPM":-1.10378841e-36,"EncoderCos":38733,"EncoderSin":12441,"GapTicks":54767,"Mech_RPM":-2.2075769e-37,"cg_du":50.1485939,"cg_dv":50.2110214,"cg_dw":49.7889786,"cg_id_a":0.0615723543,"cg_id_raw_a":0.208198413,"cg_iq_a":-0.138599768,"cg_iq_raw_a":0.203025013,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14511417,"cg_sample_valid":1,"cg_theta_rad":5.00836039,"cg_vd_req_v":0.0885204002,"cg_vd_v":0.0885204002,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37142694,"cg_vq_v":-0.37142694,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.057861,"values":{"Elec_RPM":-1.08171273e-36,"EncoderCos":38759,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-2.16342546e-37,"cg_du":50.1479607,"cg_dv":50.216671,"cg_dw":49.783329,"cg_id_a":-0.10738951,"cg_id_raw_a":-0.255316317,"cg_iq_a":-0.209724352,"cg_iq_raw_a":0.232681856,"cg_iu_a":0.618678808,"cg_iv_a":0.286616921,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.954546,"cg_sample_seq":14511517,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0914857388,"cg_vd_v":0.0914857388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378304571,"cg_vq_v":-0.378304571,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.9824486,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.065674,"values":{"Elec_RPM":-1.08171273e-36,"EncoderCos":38712,"EncoderSin":12453,"GapTicks":54762,"Mech_RPM":-2.16342546e-37,"cg_du":50.1546364,"cg_dv":50.2162666,"cg_dw":49.7837334,"cg_id_a":0.00855638459,"cg_id_raw_a":0.533916593,"cg_iq_a":-0.125559092,"cg_iq_raw_a":0.92887634,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539645,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9472733,"cg_sample_seq":14511567,"cg_sample_valid":1,"cg_theta_rad":5.0069232,"cg_vd_req_v":0.0901037604,"cg_vd_v":0.0901037604,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380472809,"cg_vq_v":-0.380472809,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.073486,"values":{"Elec_RPM":-1.06007848e-36,"EncoderCos":38716,"EncoderSin":12443,"GapTicks":54753,"Mech_RPM":-2.12015695e-37,"cg_du":50.1597443,"cg_dv":50.2242012,"cg_dw":49.7757988,"cg_id_a":-0.175076991,"cg_id_raw_a":-0.37015301,"cg_iq_a":0.520894647,"cg_iq_raw_a":0.5099805,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0758213997,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9581814,"cg_sample_seq":14511617,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0937661305,"cg_vd_v":0.0937661305,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394134045,"cg_vq_v":-0.394134045,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1721802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.081299,"values":{"Elec_RPM":-1.06007848e-36,"EncoderCos":38725,"EncoderSin":12464,"GapTicks":54760,"Mech_RPM":-2.12015695e-37,"cg_du":50.1561775,"cg_dv":50.2177582,"cg_dw":49.7822418,"cg_id_a":0.0732537657,"cg_id_raw_a":-0.181104258,"cg_iq_a":-0.0285245664,"cg_iq_raw_a":0.747924805,"cg_iu_a":0.183752775,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9654541,"cg_sample_seq":14511667,"cg_sample_valid":1,"cg_theta_rad":5.00706339,"cg_vd_req_v":0.088933982,"cg_vd_v":0.088933982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383696705,"cg_vq_v":-0.383696705,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.88127995,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.108643,"values":{"Elec_RPM":-1.03887694e-36,"EncoderCos":38757,"EncoderSin":12461,"GapTicks":54752,"Mech_RPM":-2.07775389e-37,"cg_du":50.1660194,"cg_dv":50.2246399,"cg_dw":49.7753601,"cg_id_a":0.290286899,"cg_id_raw_a":0.914420605,"cg_iq_a":0.50945276,"cg_iq_raw_a":0.774441719,"cg_iu_a":0.509947062,"cg_iv_a":-0.909429669,"cg_iw_a":0.399482608,"cg_sample_age_us":26.8199997,"cg_sample_seq":14511720,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0853329822,"cg_vd_v":0.0853329822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400397807,"cg_vq_v":-0.400397807,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.120361,"values":{"Elec_RPM":-1.03887694e-36,"EncoderCos":38723,"EncoderSin":12469,"GapTicks":54747,"Mech_RPM":-2.07775389e-37,"cg_du":50.163105,"cg_dv":50.2293892,"cg_dw":49.7706108,"cg_id_a":-0.140147313,"cg_id_raw_a":-0.111493707,"cg_iq_a":0.596934795,"cg_iq_raw_a":0.463359982,"cg_iu_a":-0.323661089,"cg_iv_a":-0.402015924,"cg_iw_a":0.725677013,"cg_sample_age_us":23.8563633,"cg_sample_seq":14511766,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0951263085,"cg_vd_v":0.0951263085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404612064,"cg_vq_v":-0.404612064,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1611938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.128174,"values":{"Elec_RPM":-1.01809943e-36,"EncoderCos":38738,"EncoderSin":12465,"GapTicks":54752,"Mech_RPM":-2.03619877e-37,"cg_du":50.153717,"cg_dv":50.2249451,"cg_dw":49.7750549,"cg_id_a":-0.190991342,"cg_id_raw_a":-0.333875567,"cg_iq_a":-0.171912372,"cg_iq_raw_a":-0.285403728,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015805,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8454552,"cg_sample_seq":14511816,"cg_sample_valid":1,"cg_theta_rad":5.00780439,"cg_vd_req_v":0.0963654891,"cg_vd_v":0.0963654891,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391190112,"cg_vq_v":-0.391190112,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.4669724,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1549377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.135986,"values":{"Elec_RPM":-9.97737421e-37,"EncoderCos":38728,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-1.9954748e-37,"cg_du":50.1524048,"cg_dv":50.2214279,"cg_dw":49.7785721,"cg_id_a":-0.208222136,"cg_id_raw_a":0.0764895305,"cg_iq_a":-0.82068789,"cg_iq_raw_a":0.263006985,"cg_iu_a":0.038777113,"cg_iv_a":0.359104633,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8563633,"cg_sample_seq":14511967,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0950112641,"cg_vd_v":0.0950112641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386682838,"cg_vq_v":-0.386682838,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.587210894,"dclink_p_w":-84.9838943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.143799,"values":{"Elec_RPM":-9.77782662e-37,"EncoderCos":38727,"EncoderSin":12469,"GapTicks":54750,"Mech_RPM":-1.95556537e-37,"cg_du":50.1704597,"cg_dv":50.2272453,"cg_dw":49.7727547,"cg_id_a":0.066044867,"cg_id_raw_a":0.208298311,"cg_iq_a":-0.0655740052,"cg_iq_raw_a":1.07677817,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9799995,"cg_sample_seq":14512017,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0868763626,"cg_vd_v":0.0868763626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405908018,"cg_vq_v":-0.405908018,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.151611,"values":{"Elec_RPM":-9.77782662e-37,"EncoderCos":38710,"EncoderSin":12474,"GapTicks":54750,"Mech_RPM":-1.95556537e-37,"cg_du":50.1727257,"cg_dv":50.2264671,"cg_dw":49.7735329,"cg_id_a":0.154555947,"cg_id_raw_a":-0.177223772,"cg_iq_a":-0.049695462,"cg_iq_raw_a":0.0559665672,"cg_iu_a":0.292484164,"cg_iv_a":0.105397761,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8709087,"cg_sample_seq":14512067,"cg_sample_valid":1,"cg_theta_rad":5.00855494,"cg_vd_req_v":0.0857610777,"cg_vd_v":0.0857610777,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405816406,"cg_vq_v":-0.405816406,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.16333,"values":{"Elec_RPM":-9.58227082e-37,"EncoderCos":38693,"EncoderSin":12443,"GapTicks":54750,"Mech_RPM":-1.91645412e-37,"cg_du":50.1726837,"cg_dv":50.227253,"cg_dw":49.772747,"cg_id_a":0.0373774767,"cg_id_raw_a":0.0305357892,"cg_iq_a":-0.259373873,"cg_iq_raw_a":0.0769295469,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9581814,"cg_sample_seq":14512117,"cg_sample_valid":1,"cg_theta_rad":5.00723028,"cg_vd_req_v":0.0887285993,"cg_vd_v":0.0887285993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405105144,"cg_vq_v":-0.405105144,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.171143,"values":{"Elec_RPM":-9.58227082e-37,"EncoderCos":38721,"EncoderSin":12484,"GapTicks":54751,"Mech_RPM":-1.91645412e-37,"cg_du":50.166378,"cg_dv":50.2263222,"cg_dw":49.7736778,"cg_id_a":0.0520802885,"cg_id_raw_a":0.177114829,"cg_iq_a":-0.340910196,"cg_iq_raw_a":-0.127741531,"cg_iu_a":0.981116891,"cg_iv_a":-0.112065256,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9436359,"cg_sample_seq":14512167,"cg_sample_valid":1,"cg_theta_rad":5.00700998,"cg_vd_req_v":0.0890546814,"cg_vd_v":0.0890546814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401104808,"cg_vq_v":-0.401104808,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1424255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.198486,"values":{"Elec_RPM":-9.39062521e-37,"EncoderCos":38766,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-1.87812502e-37,"cg_du":50.1553268,"cg_dv":50.2202072,"cg_dw":49.7797928,"cg_id_a":0.229655981,"cg_id_raw_a":0.612364113,"cg_iq_a":-0.861476123,"cg_iq_raw_a":-0.564846635,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0354434252,"cg_sample_age_us":26.8163643,"cg_sample_seq":14512220,"cg_sample_valid":1,"cg_theta_rad":5.00695276,"cg_vd_req_v":0.0878110602,"cg_vd_v":0.0878110602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387514979,"cg_vq_v":-0.387514979,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9581099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.206299,"values":{"Elec_RPM":-9.39062521e-37,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54752,"Mech_RPM":-1.87812502e-37,"cg_du":50.1617165,"cg_dv":50.2252693,"cg_dw":49.7747307,"cg_id_a":-0.0776178092,"cg_id_raw_a":-0.495139301,"cg_iq_a":-0.316826612,"cg_iq_raw_a":-0.994286776,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14512267,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.0920657068,"cg_vd_v":0.0920657068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396976352,"cg_vq_v":-0.396976352,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.103355646,"dclink_p_w":-14.9581099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.218018,"values":{"Elec_RPM":-9.20281265e-37,"EncoderCos":38723,"EncoderSin":12495,"GapTicks":54749,"Mech_RPM":-1.84056249e-37,"cg_du":50.1606064,"cg_dv":50.2273064,"cg_dw":49.7726936,"cg_id_a":-0.150078982,"cg_id_raw_a":-0.291830748,"cg_iq_a":-0.078178376,"cg_iq_raw_a":-0.28187871,"cg_iu_a":-0.178685665,"cg_iv_a":-1.27186787,"cg_iw_a":1.45055354,"cg_sample_age_us":23.9836369,"cg_sample_seq":14512317,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0943464041,"cg_vd_v":0.0943464041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400535345,"cg_vq_v":-0.400535345,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.0139122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.22583,"values":{"Elec_RPM":-9.20281265e-37,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54755,"Mech_RPM":-1.84056249e-37,"cg_du":50.1630898,"cg_dv":50.222271,"cg_dw":49.777729,"cg_id_a":0.0646844208,"cg_id_raw_a":-0.863348126,"cg_iq_a":-0.266806245,"cg_iq_raw_a":-0.666301131,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860718,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14512367,"cg_sample_valid":1,"cg_theta_rad":5.00825071,"cg_vd_req_v":0.0884520262,"cg_vd_v":0.0884520262,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394838512,"cg_vq_v":-0.394838512,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.0139122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.233643,"values":{"Elec_RPM":-9.01875602e-37,"EncoderCos":38722,"EncoderSin":12453,"GapTicks":54749,"Mech_RPM":-1.80375127e-37,"cg_du":50.1603737,"cg_dv":50.2274704,"cg_dw":49.7725296,"cg_id_a":-0.319511086,"cg_id_raw_a":-0.269634306,"cg_iq_a":0.0699237138,"cg_iq_raw_a":-0.499203324,"cg_iu_a":-0.359904766,"cg_iv_a":-0.220796824,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9509087,"cg_sample_seq":14512417,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.0959376767,"cg_vd_v":0.0959376767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400332779,"cg_vq_v":-0.400332779,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.0139122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1017761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.241455,"values":{"Elec_RPM":-9.01875602e-37,"EncoderCos":38706,"EncoderSin":12427,"GapTicks":54752,"Mech_RPM":-1.80375127e-37,"cg_du":50.1650352,"cg_dv":50.2248993,"cg_dw":49.7751007,"cg_id_a":-0.126139432,"cg_id_raw_a":0.0614606366,"cg_iq_a":0.0618351661,"cg_iq_raw_a":0.590221286,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9872723,"cg_sample_seq":14512467,"cg_sample_valid":1,"cg_theta_rad":5.00752783,"cg_vd_req_v":0.0916443318,"cg_vd_v":0.0916443318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397756487,"cg_vq_v":-0.397756487,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.249268,"values":{"Elec_RPM":-8.83838088e-37,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54759,"Mech_RPM":-1.76767624e-37,"cg_du":50.1464996,"cg_dv":50.218544,"cg_dw":49.781456,"cg_id_a":-0.280641764,"cg_id_raw_a":-0.10770797,"cg_iq_a":-0.609066844,"cg_iq_raw_a":0.208859429,"cg_iu_a":0.401215553,"cg_iv_a":0.105397761,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9145451,"cg_sample_seq":14512517,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.097191073,"cg_vd_v":0.097191073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379361153,"cg_vq_v":-0.379361153,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.25708,"values":{"Elec_RPM":-8.83838088e-37,"EncoderCos":38696,"EncoderSin":12440,"GapTicks":54758,"Mech_RPM":-1.76767624e-37,"cg_du":50.1570244,"cg_dv":50.2198486,"cg_dw":49.7801514,"cg_id_a":-0.0751155168,"cg_id_raw_a":-0.277782828,"cg_iq_a":-0.243881613,"cg_iq_raw_a":0.00798144285,"cg_iu_a":0.582434654,"cg_iv_a":0.032910049,"cg_iw_a":-0.615344703,"cg_sample_age_us":23.954546,"cg_sample_seq":14512567,"cg_sample_valid":1,"cg_theta_rad":5.00821638,"cg_vd_req_v":0.0934829861,"cg_vd_v":0.0934829861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386257052,"cg_vq_v":-0.386257052,"cg_vu_v":117.011421,"cg_vv_v":133.727341,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.230208993,"dclink_p_w":-33.2156487,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1909485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.264893,"values":{"Elec_RPM":-8.66161369e-37,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-1.73232272e-37,"cg_du":50.1648865,"cg_dv":50.2214813,"cg_dw":49.7785187,"cg_id_a":0.30952087,"cg_id_raw_a":-0.250134468,"cg_iq_a":0.139549449,"cg_iq_raw_a":-0.277937621,"cg_iu_a":0.111264944,"cg_iv_a":0.359104633,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14512617,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.0850972384,"cg_vd_v":0.0850972384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393773675,"cg_vq_v":-0.393773675,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.276611,"values":{"Elec_RPM":-8.66161369e-37,"EncoderCos":38738,"EncoderSin":12452,"GapTicks":54756,"Mech_RPM":-1.73232272e-37,"cg_du":50.1622772,"cg_dv":50.2218018,"cg_dw":49.7781982,"cg_id_a":0.196311891,"cg_id_raw_a":-0.245431274,"cg_iq_a":0.0828364491,"cg_iq_raw_a":0.778459609,"cg_iu_a":0.219996452,"cg_iv_a":0.902762055,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.9181824,"cg_sample_seq":14512667,"cg_sample_valid":1,"cg_theta_rad":5.00888443,"cg_vd_req_v":0.0875003189,"cg_vd_v":0.0875003189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393996179,"cg_vq_v":-0.393996179,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.4819603,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.303955,"values":{"Elec_RPM":-8.48838092e-37,"EncoderCos":38731,"EncoderSin":12464,"GapTicks":54758,"Mech_RPM":-1.69767623e-37,"cg_du":50.1576118,"cg_dv":50.2196617,"cg_dw":49.7803383,"cg_id_a":0.15895319,"cg_id_raw_a":0.52100122,"cg_iq_a":-0.147996292,"cg_iq_raw_a":0.451149881,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373125,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14512767,"cg_sample_valid":1,"cg_theta_rad":5.00654125,"cg_vd_req_v":0.0891280472,"cg_vd_v":0.0891280472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387209386,"cg_vq_v":-0.387209386,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.254261822,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.311768,"values":{"Elec_RPM":-8.3186135e-37,"EncoderCos":38725,"EncoderSin":12461,"GapTicks":54749,"Mech_RPM":-1.66372265e-37,"cg_du":50.1713104,"cg_dv":50.2278595,"cg_dw":49.7721405,"cg_id_a":0.236232206,"cg_id_raw_a":0.673766494,"cg_iq_a":0.615882993,"cg_iq_raw_a":-0.261403352,"cg_iu_a":0.872385502,"cg_iv_a":-0.148309112,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14512817,"cg_sample_valid":1,"cg_theta_rad":5.00730896,"cg_vd_req_v":0.0866821706,"cg_vd_v":0.0866821706,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404666454,"cg_vq_v":-0.404666454,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.254261822,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.31958,"values":{"Elec_RPM":-8.3186135e-37,"EncoderCos":38736,"EncoderSin":12467,"GapTicks":54751,"Mech_RPM":-1.66372265e-37,"cg_du":50.1621361,"cg_dv":50.2258568,"cg_dw":49.7741432,"cg_id_a":0.0484298021,"cg_id_raw_a":-0.29428035,"cg_iq_a":0.223454967,"cg_iq_raw_a":0.409905672,"cg_iu_a":-0.323661089,"cg_iv_a":-0.402015924,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9436359,"cg_sample_seq":14512867,"cg_sample_valid":1,"cg_theta_rad":5.00817156,"cg_vd_req_v":0.0907662362,"cg_vd_v":0.0907662362,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397085547,"cg_vq_v":-0.397085547,"cg_vu_v":138.126266,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.331299,"values":{"Elec_RPM":-8.15224058e-37,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54742,"Mech_RPM":-1.63044821e-37,"cg_du":50.1569138,"cg_dv":50.2338066,"cg_dw":49.7661934,"cg_id_a":-0.491652668,"cg_id_raw_a":-0.0360375345,"cg_iq_a":0.597164869,"cg_iq_raw_a":-0.949643731,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104633,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9472733,"cg_sample_seq":14512917,"cg_sample_valid":1,"cg_theta_rad":5.00623035,"cg_vd_req_v":0.104525954,"cg_vd_v":0.104525954,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405782789,"cg_vq_v":-0.405782789,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.2180901,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1705933,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.339111,"values":{"Elec_RPM":-8.15224058e-37,"EncoderCos":38718,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-1.63044821e-37,"cg_du":50.1573715,"cg_dv":50.2208672,"cg_dw":49.7791328,"cg_id_a":0.252954304,"cg_id_raw_a":0.802428246,"cg_iq_a":-0.265868455,"cg_iq_raw_a":-0.503841937,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0758213997,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9509087,"cg_sample_seq":14512967,"cg_sample_valid":1,"cg_theta_rad":5.0076046,"cg_vd_req_v":0.0910714045,"cg_vd_v":0.0910714045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388578355,"cg_vq_v":-0.388578355,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0049095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.346924,"values":{"Elec_RPM":-7.98919581e-37,"EncoderCos":38711,"EncoderSin":12462,"GapTicks":54749,"Mech_RPM":-1.59783921e-37,"cg_du":50.1611938,"cg_dv":50.2275162,"cg_dw":49.7724838,"cg_id_a":0.0493927598,"cg_id_raw_a":0.711715698,"cg_iq_a":0.206803113,"cg_iq_raw_a":1.67500341,"cg_iu_a":0.908629179,"cg_iv_a":-0.619478822,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8963642,"cg_sample_seq":14513017,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0957982764,"cg_vd_v":0.0957982764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399461776,"cg_vq_v":-0.399461776,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.425804377,"dclink_p_w":61.6243935,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.354736,"values":{"Elec_RPM":-7.98919581e-37,"EncoderCos":38705,"EncoderSin":12467,"GapTicks":54740,"Mech_RPM":-1.59783921e-37,"cg_du":50.1714973,"cg_dv":50.2356644,"cg_dw":49.7643356,"cg_id_a":0.0962538794,"cg_id_raw_a":0.190105394,"cg_iq_a":1.03963089,"cg_iq_raw_a":0.16580531,"cg_iu_a":-0.396148682,"cg_iv_a":-0.800698042,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9872723,"cg_sample_seq":14513067,"cg_sample_valid":1,"cg_theta_rad":5.00638103,"cg_vd_req_v":0.09610679,"cg_vd_v":0.09610679,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.416224897,"cg_vq_v":-0.416224897,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.362549,"values":{"Elec_RPM":-7.82941191e-37,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54752,"Mech_RPM":-1.56588243e-37,"cg_du":50.151638,"cg_dv":50.2249794,"cg_dw":49.7750206,"cg_id_a":-0.0982883945,"cg_id_raw_a":0.312480718,"cg_iq_a":-0.345637262,"cg_iq_raw_a":-0.00426815217,"cg_iu_a":-1.15726924,"cg_iv_a":0.0691540241,"cg_iw_a":1.08811522,"cg_sample_age_us":23.954546,"cg_sample_seq":14513118,"cg_sample_valid":1,"cg_theta_rad":5.00800991,"cg_vd_req_v":0.100477062,"cg_vd_v":0.100477062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389454842,"cg_vq_v":-0.389454842,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":37.9046326,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1252441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.370361,"values":{"Elec_RPM":-7.82941191e-37,"EncoderCos":38736,"EncoderSin":12459,"GapTicks":54749,"Mech_RPM":-1.56588243e-37,"cg_du":50.1577988,"cg_dv":50.2276917,"cg_dw":49.7723083,"cg_id_a":0.0694655031,"cg_id_raw_a":-0.329324007,"cg_iq_a":0.05274041,"cg_iq_raw_a":0.333627015,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065196,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9763641,"cg_sample_seq":14513167,"cg_sample_valid":1,"cg_theta_rad":5.00812912,"cg_vd_req_v":0.0961582363,"cg_vd_v":0.0961582363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39711377,"cg_vq_v":-0.39711377,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.40043366,"dclink_p_w":57.9526215,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1252441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.401611,"values":{"Elec_RPM":-7.67282342e-37,"EncoderCos":38735,"EncoderSin":12463,"GapTicks":54743,"Mech_RPM":-1.53456475e-37,"cg_du":50.1524048,"cg_dv":50.2330933,"cg_dw":49.7669067,"cg_id_a":-0.395953298,"cg_id_raw_a":-0.0314265639,"cg_iq_a":0.144441694,"cg_iq_raw_a":-0.147801593,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14513222,"cg_sample_valid":1,"cg_theta_rad":5.00639486,"cg_vd_req_v":0.105905227,"cg_vd_v":0.105905227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40266937,"cg_vq_v":-0.40266937,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.409424,"values":{"Elec_RPM":-7.67282342e-37,"EncoderCos":38724,"EncoderSin":12494,"GapTicks":54751,"Mech_RPM":-1.53456475e-37,"cg_du":50.153553,"cg_dv":50.2254868,"cg_dw":49.7745132,"cg_id_a":0.00693247467,"cg_id_raw_a":0.19112657,"cg_iq_a":-0.171733782,"cg_iq_raw_a":0.164627537,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9181824,"cg_sample_seq":14513266,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.0980768949,"cg_vd_v":0.0980768949,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394108355,"cg_vq_v":-0.394108355,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.417236,"values":{"Elec_RPM":-7.51936756e-37,"EncoderCos":38727,"EncoderSin":12498,"GapTicks":54747,"Mech_RPM":-1.50387351e-37,"cg_du":50.1505013,"cg_dv":50.2293015,"cg_dw":49.7706985,"cg_id_a":-0.284722447,"cg_id_raw_a":-0.0353478752,"cg_iq_a":0.0829480737,"cg_iq_raw_a":-0.330165982,"cg_iu_a":0.292484045,"cg_iv_a":-0.402015924,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14513316,"cg_sample_valid":1,"cg_theta_rad":5.00735712,"cg_vd_req_v":0.103807487,"cg_vd_v":0.103807487,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39770487,"cg_vq_v":-0.39770487,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.425049,"values":{"Elec_RPM":-7.51936756e-37,"EncoderCos":38744,"EncoderSin":12422,"GapTicks":54755,"Mech_RPM":-1.50387351e-37,"cg_du":50.1516724,"cg_dv":50.2221947,"cg_dw":49.7778053,"cg_id_a":0.0196910128,"cg_id_raw_a":0.219334111,"cg_iq_a":-0.361973017,"cg_iq_raw_a":-0.380007327,"cg_iu_a":0.111264944,"cg_iv_a":0.21412921,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14513367,"cg_sample_valid":1,"cg_theta_rad":5.00887442,"cg_vd_req_v":0.0965185463,"cg_vd_v":0.0965185463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388515383,"cg_vq_v":-0.388515383,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.7106514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.432861,"values":{"Elec_RPM":-7.36898021e-37,"EncoderCos":38707,"EncoderSin":12459,"GapTicks":54751,"Mech_RPM":-1.47379604e-37,"cg_du":50.1565781,"cg_dv":50.2258835,"cg_dw":49.7741165,"cg_id_a":-0.065021053,"cg_id_raw_a":-0.0659221634,"cg_iq_a":0.0396751985,"cg_iq_raw_a":0.212931246,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129329,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9254551,"cg_sample_seq":14513417,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0982633457,"cg_vd_v":0.0982633457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394538045,"cg_vq_v":-0.394538045,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.44458,"values":{"Elec_RPM":-7.36898021e-37,"EncoderCos":38704,"EncoderSin":12469,"GapTicks":54754,"Mech_RPM":-1.47379604e-37,"cg_du":50.1592255,"cg_dv":50.2228203,"cg_dw":49.7771797,"cg_id_a":0.180340797,"cg_id_raw_a":0.449297071,"cg_iq_a":-0.146065503,"cg_iq_raw_a":-0.937197268,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885413,"cg_iw_a":0.109531999,"cg_sample_age_us":23.8709087,"cg_sample_seq":14513466,"cg_sample_valid":1,"cg_theta_rad":5.00631428,"cg_vd_req_v":0.0931949541,"cg_vd_v":0.0931949541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391882718,"cg_vq_v":-0.391882718,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.452393,"values":{"Elec_RPM":-7.22160083e-37,"EncoderCos":38718,"EncoderSin":12465,"GapTicks":54750,"Mech_RPM":-1.44432012e-37,"cg_du":50.1604767,"cg_dv":50.2272263,"cg_dw":49.7727737,"cg_id_a":0.058382459,"cg_id_raw_a":0.0717165396,"cg_iq_a":0.132574707,"cg_iq_raw_a":0.517747402,"cg_iu_a":-0.722343206,"cg_iv_a":0.286616921,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14513517,"cg_sample_valid":1,"cg_theta_rad":5.00568676,"cg_vd_req_v":0.0953614861,"cg_vd_v":0.0953614861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398838878,"cg_vq_v":-0.398838878,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.460205,"values":{"Elec_RPM":-7.22160083e-37,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54749,"Mech_RPM":-1.44432012e-37,"cg_du":50.1573486,"cg_dv":50.2280045,"cg_dw":49.7719955,"cg_id_a":-0.0734625831,"cg_id_raw_a":0.0900907144,"cg_iq_a":0.020830892,"cg_iq_raw_a":0.118871145,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9763641,"cg_sample_seq":14513567,"cg_sample_valid":1,"cg_theta_rad":5.00711012,"cg_vd_req_v":0.098584272,"cg_vd_v":0.098584272,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39941746,"cg_vq_v":-0.39941746,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.468018,"values":{"Elec_RPM":-7.07716888e-37,"EncoderCos":38707,"EncoderSin":12455,"GapTicks":54747,"Mech_RPM":-1.41543375e-37,"cg_du":50.1665192,"cg_dv":50.2294579,"cg_dw":49.7705421,"cg_id_a":0.173550159,"cg_id_raw_a":0.138603002,"cg_iq_a":0.299599648,"cg_iq_raw_a":0.0513452701,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14513617,"cg_sample_valid":1,"cg_theta_rad":5.00799942,"cg_vd_req_v":0.0943725631,"cg_vd_v":0.0943725631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406200796,"cg_vq_v":-0.406200796,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.47583,"values":{"Elec_RPM":-7.07716888e-37,"EncoderCos":38705,"EncoderSin":12457,"GapTicks":54746,"Mech_RPM":-1.41543375e-37,"cg_du":50.1622314,"cg_dv":50.2304649,"cg_dw":49.7695351,"cg_id_a":-0.0314091071,"cg_id_raw_a":-0.255663216,"cg_iq_a":0.196817145,"cg_iq_raw_a":-0.207465842,"cg_iu_a":0.183752775,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9509087,"cg_sample_seq":14513667,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.0988549367,"cg_vd_v":0.0988549367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405107647,"cg_vq_v":-0.405107647,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.3535385,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.483643,"values":{"Elec_RPM":-6.93562518e-37,"EncoderCos":38713,"EncoderSin":12466,"GapTicks":54748,"Mech_RPM":-1.38712506e-37,"cg_du":50.1666374,"cg_dv":50.2287445,"cg_dw":49.7712555,"cg_id_a":0.228295758,"cg_id_raw_a":0.153088495,"cg_iq_a":0.221859634,"cg_iq_raw_a":-0.0932088941,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14513717,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0924421549,"cg_vd_v":0.0924421549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404262871,"cg_vq_v":-0.404262871,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.514893,"values":{"Elec_RPM":-6.93562518e-37,"EncoderCos":38754,"EncoderSin":12489,"GapTicks":54750,"Mech_RPM":-1.38712506e-37,"cg_du":50.1499634,"cg_dv":50.226532,"cg_dw":49.773468,"cg_id_a":-0.096560061,"cg_id_raw_a":-0.168633059,"cg_iq_a":-0.353646189,"cg_iq_raw_a":-0.268848866,"cg_iu_a":-0.649855614,"cg_iv_a":0.431592226,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8527279,"cg_sample_seq":14513770,"cg_sample_valid":1,"cg_theta_rad":5.00632858,"cg_vd_req_v":0.0990677848,"cg_vd_v":0.0990677848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392979205,"cg_vq_v":-0.392979205,"cg_vu_v":29.4728031,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1252441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.522705,"values":{"Elec_RPM":-6.79691278e-37,"EncoderCos":38719,"EncoderSin":12464,"GapTicks":54745,"Mech_RPM":-1.3593826e-37,"cg_du":50.1641846,"cg_dv":50.231636,"cg_dw":49.768364,"cg_id_a":0.00768796448,"cg_id_raw_a":-0.0114994934,"cg_iq_a":0.374853849,"cg_iq_raw_a":0.509537578,"cg_iu_a":-0.541123867,"cg_iv_a":-0.402015924,"cg_iw_a":0.943139791,"cg_sample_age_us":23.8563633,"cg_sample_seq":14513816,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.0966798961,"cg_vd_v":0.0966798961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406924903,"cg_vq_v":-0.406924903,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.530518,"values":{"Elec_RPM":-6.79691278e-37,"EncoderCos":38710,"EncoderSin":12486,"GapTicks":54752,"Mech_RPM":-1.3593826e-37,"cg_du":50.1616554,"cg_dv":50.2248344,"cg_dw":49.7751656,"cg_id_a":0.0972384512,"cg_id_raw_a":0.592706561,"cg_iq_a":0.0476934165,"cg_iq_raw_a":0.350824863,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019591,"cg_sample_age_us":24.0381813,"cg_sample_seq":14513866,"cg_sample_valid":1,"cg_theta_rad":5.00861406,"cg_vd_req_v":0.0925379768,"cg_vd_v":0.0925379768,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397420943,"cg_vq_v":-0.397420943,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1471252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.53833,"values":{"Elec_RPM":-6.66097472e-37,"EncoderCos":38724,"EncoderSin":12499,"GapTicks":54755,"Mech_RPM":-1.33219494e-37,"cg_du":50.1601257,"cg_dv":50.221859,"cg_dw":49.778141,"cg_id_a":0.230823785,"cg_id_raw_a":0.14891997,"cg_iq_a":-0.14074856,"cg_iq_raw_a":-0.276324242,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8527279,"cg_sample_seq":14513917,"cg_sample_valid":1,"cg_theta_rad":5.00745916,"cg_vd_req_v":0.0889598504,"cg_vd_v":0.0889598504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391681641,"cg_vq_v":-0.391681641,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.134613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.546143,"values":{"Elec_RPM":-6.66097472e-37,"EncoderCos":38690,"EncoderSin":12460,"GapTicks":54755,"Mech_RPM":-1.33219494e-37,"cg_du":50.1662636,"cg_dv":50.2221489,"cg_dw":49.7778511,"cg_id_a":0.199223489,"cg_id_raw_a":0.402784288,"cg_iq_a":-0.0982635617,"cg_iq_raw_a":-0.506562054,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333374739,"cg_iw_a":0.0732881427,"cg_sample_age_us":23.9218178,"cg_sample_seq":14513967,"cg_sample_valid":1,"cg_theta_rad":5.00733709,"cg_vd_req_v":0.0885293707,"cg_vd_v":0.0885293707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394609541,"cg_vq_v":-0.394609541,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.134613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.557861,"values":{"Elec_RPM":-6.52775496e-37,"EncoderCos":38713,"EncoderSin":12431,"GapTicks":54752,"Mech_RPM":-1.30555099e-37,"cg_du":50.1636887,"cg_dv":50.2251968,"cg_dw":49.7748032,"cg_id_a":0.00818118826,"cg_id_raw_a":-0.277634799,"cg_iq_a":0.0644781068,"cg_iq_raw_a":-0.610451996,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9509087,"cg_sample_seq":14514017,"cg_sample_valid":1,"cg_theta_rad":5.00817347,"cg_vd_req_v":0.0922481567,"cg_vd_v":0.0922481567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397569656,"cg_vq_v":-0.397569656,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.565674,"values":{"Elec_RPM":-6.52775496e-37,"EncoderCos":38723,"EncoderSin":12467,"GapTicks":54752,"Mech_RPM":-1.30555099e-37,"cg_du":50.1491051,"cg_dv":50.2245712,"cg_dw":49.7754288,"cg_id_a":-0.380187988,"cg_id_raw_a":-0.524819016,"cg_iq_a":-0.402832091,"cg_iq_raw_a":0.605211973,"cg_iu_a":0.509947062,"cg_iv_a":-0.365772128,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9181824,"cg_sample_seq":14514067,"cg_sample_valid":1,"cg_theta_rad":5.00543213,"cg_vd_req_v":0.10120029,"cg_vd_v":0.10120029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388969243,"cg_vq_v":-0.388969243,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.573486,"values":{"Elec_RPM":-6.39719968e-37,"EncoderCos":38711,"EncoderSin":12426,"GapTicks":54751,"Mech_RPM":-1.27943998e-37,"cg_du":50.1668663,"cg_dv":50.2261429,"cg_dw":49.7738571,"cg_id_a":0.0650264174,"cg_id_raw_a":0.456757694,"cg_iq_a":0.217204094,"cg_iq_raw_a":0.229975477,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14514117,"cg_sample_valid":1,"cg_theta_rad":5.00753307,"cg_vd_req_v":0.0910069346,"cg_vd_v":0.0910069346,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400574565,"cg_vq_v":-0.400574565,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-11.024086,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.581299,"values":{"Elec_RPM":-6.39719968e-37,"EncoderCos":38713,"EncoderSin":12493,"GapTicks":54752,"Mech_RPM":-1.27943998e-37,"cg_du":50.1611938,"cg_dv":50.2252464,"cg_dw":49.7747536,"cg_id_a":0.0689574108,"cg_id_raw_a":0.315658927,"cg_iq_a":-0.0845640749,"cg_iq_raw_a":0.177336708,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885473,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9254551,"cg_sample_seq":14514167,"cg_sample_valid":1,"cg_theta_rad":5.00621796,"cg_vd_req_v":0.0925581306,"cg_vd_v":0.0925581306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396622092,"cg_vq_v":-0.396622092,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.134613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.589111,"values":{"Elec_RPM":-6.26925597e-37,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54756,"Mech_RPM":-1.25385115e-37,"cg_du":50.1596298,"cg_dv":50.220974,"cg_dw":49.779026,"cg_id_a":0.155113876,"cg_id_raw_a":0.195915535,"cg_iq_a":-0.4844625,"cg_iq_raw_a":-0.52610451,"cg_iu_a":-0.106198072,"cg_iv_a":0.757786751,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9581814,"cg_sample_seq":14514217,"cg_sample_valid":1,"cg_theta_rad":5.00685883,"cg_vd_req_v":0.0901336223,"cg_vd_v":0.0901336223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389826268,"cg_vq_v":-0.389826268,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.130538583,"dclink_p_w":-18.9495754,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.620361,"values":{"Elec_RPM":-6.26925597e-37,"EncoderCos":38746,"EncoderSin":12463,"GapTicks":54747,"Mech_RPM":-1.25385115e-37,"cg_du":50.1554642,"cg_dv":50.2299232,"cg_dw":49.7700768,"cg_id_a":-0.267613828,"cg_id_raw_a":0.30655551,"cg_iq_a":0.165130571,"cg_iq_raw_a":-0.626063406,"cg_iu_a":1.0898484,"cg_iv_a":-0.873185754,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14514270,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0997289419,"cg_vd_v":0.0997289419,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401526719,"cg_vq_v":-0.401526719,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1690369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.628174,"values":{"Elec_RPM":-6.14387048e-37,"EncoderCos":38722,"EncoderSin":12451,"GapTicks":54748,"Mech_RPM":-1.22877407e-37,"cg_du":50.1609192,"cg_dv":50.2288589,"cg_dw":49.7711411,"cg_id_a":-0.110047415,"cg_id_raw_a":-0.049177181,"cg_iq_a":0.0269764066,"cg_iq_raw_a":0.250891656,"cg_iu_a":0.256240368,"cg_iv_a":0.431592286,"cg_iw_a":0.290750742,"cg_sample_age_us":23.9436359,"cg_sample_seq":14514316,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0966245905,"cg_vd_v":0.0966245905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401299775,"cg_vq_v":-0.401299775,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.1392536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.635986,"values":{"Elec_RPM":-6.14387048e-37,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54751,"Mech_RPM":-1.22877407e-37,"cg_du":50.1599693,"cg_dv":50.2257538,"cg_dw":49.7742462,"cg_id_a":0.002898518,"cg_id_raw_a":0.0550559014,"cg_iq_a":-0.0717339218,"cg_iq_raw_a":-0.394444644,"cg_iu_a":0.473703146,"cg_iv_a":0.214129269,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9872723,"cg_sample_seq":14514366,"cg_sample_valid":1,"cg_theta_rad":5.00607777,"cg_vd_req_v":0.0928848311,"cg_vd_v":0.0928848311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396892846,"cg_vq_v":-0.396892846,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120045774,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.643799,"values":{"Elec_RPM":-6.02099252e-37,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-1.20419855e-37,"cg_du":50.1553497,"cg_dv":50.2245255,"cg_dw":49.7754745,"cg_id_a":-0.14871648,"cg_id_raw_a":-0.160621107,"cg_iq_a":-0.232490182,"cg_iq_raw_a":-0.341814667,"cg_iu_a":0.61867857,"cg_iv_a":-0.148309052,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.8745461,"cg_sample_seq":14514416,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.0947441533,"cg_vd_v":0.0947441533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39277792,"cg_vq_v":-0.39277792,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.385936141,"dclink_p_w":55.8544731,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.651611,"values":{"Elec_RPM":-6.02099252e-37,"EncoderCos":38732,"EncoderSin":12472,"GapTicks":54752,"Mech_RPM":-1.20419855e-37,"cg_du":50.1597404,"cg_dv":50.2251587,"cg_dw":49.7748413,"cg_id_a":-0.014950268,"cg_id_raw_a":0.410055041,"cg_iq_a":0.0174318217,"cg_iq_raw_a":0.294558674,"cg_iu_a":0.473703146,"cg_iv_a":0.649055243,"cg_iw_a":-1.12275839,"cg_sample_age_us":24.0381813,"cg_sample_seq":14514468,"cg_sample_valid":1,"cg_theta_rad":5.00878191,"cg_vd_req_v":0.0921937898,"cg_vd_v":0.0921937898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39475137,"cg_vq_v":-0.39475137,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36200142,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.659424,"values":{"Elec_RPM":-5.90057322e-37,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54749,"Mech_RPM":-1.1801146e-37,"cg_du":50.1695824,"cg_dv":50.227356,"cg_dw":49.772644,"cg_id_a":0.161042333,"cg_id_raw_a":-0.441991359,"cg_iq_a":0.609667003,"cg_iq_raw_a":0.612971127,"cg_iu_a":0.401215672,"cg_iv_a":-0.836941957,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14514517,"cg_sample_valid":1,"cg_theta_rad":5.00653124,"cg_vd_req_v":0.0884197801,"cg_vd_v":0.0884197801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405404568,"cg_vq_v":-0.405404568,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.67410326,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.671143,"values":{"Elec_RPM":-5.90057322e-37,"EncoderCos":38716,"EncoderSin":12495,"GapTicks":54751,"Mech_RPM":-1.1801146e-37,"cg_du":50.1609879,"cg_dv":50.2254906,"cg_dw":49.7745094,"cg_id_a":-0.0461260453,"cg_id_raw_a":0.486081541,"cg_iq_a":0.323800087,"cg_iq_raw_a":-0.0613095425,"cg_iu_a":-0.323661089,"cg_iv_a":0.431592226,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8563633,"cg_sample_seq":14514566,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0929152742,"cg_vd_v":0.0929152742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398123592,"cg_vq_v":-0.398123592,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7751522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.120575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.678955,"values":{"Elec_RPM":-5.78256192e-37,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54760,"Mech_RPM":-1.15651236e-37,"cg_du":50.1469116,"cg_dv":50.2180672,"cg_dw":49.7819328,"cg_id_a":-0.160407647,"cg_id_raw_a":-0.15643926,"cg_iq_a":-0.543539226,"cg_iq_raw_a":-0.159632713,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309052,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9763641,"cg_sample_seq":14514618,"cg_sample_valid":1,"cg_theta_rad":5.00788975,"cg_vd_req_v":0.0956242755,"cg_vd_v":0.0956242755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379145682,"cg_vq_v":-0.379145682,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1330566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.686768,"values":{"Elec_RPM":-5.78256192e-37,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54761,"Mech_RPM":-1.15651236e-37,"cg_du":50.148407,"cg_dv":50.2166138,"cg_dw":49.7833862,"cg_id_a":-0.192082375,"cg_id_raw_a":-0.12495207,"cg_iq_a":-0.328167439,"cg_iq_raw_a":-0.885919869,"cg_iu_a":0.401215792,"cg_iv_a":0.39534843,"cg_iw_a":-0.796564221,"cg_sample_age_us":23.9436359,"cg_sample_seq":14514666,"cg_sample_valid":1,"cg_theta_rad":5.00644016,"cg_vd_req_v":0.0950939357,"cg_vd_v":0.0950939357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377486587,"cg_vq_v":-0.377486587,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.328331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1330566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.69458,"values":{"Elec_RPM":-5.66691018e-37,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54762,"Mech_RPM":-1.13338208e-37,"cg_du":50.1467552,"cg_dv":50.2158127,"cg_dw":49.7841873,"cg_id_a":-0.139128864,"cg_id_raw_a":0.173853323,"cg_iq_a":-0.259469926,"cg_iq_raw_a":-0.310050249,"cg_iu_a":-0.287417173,"cg_iv_a":-0.220796704,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9181824,"cg_sample_seq":14514716,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.0944417566,"cg_vd_v":0.0944417566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375766784,"cg_vq_v":-0.375766784,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.328331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.721924,"values":{"Elec_RPM":-5.66691018e-37,"EncoderCos":38715,"EncoderSin":12468,"GapTicks":54761,"Mech_RPM":-1.13338208e-37,"cg_du":50.1434174,"cg_dv":50.2164421,"cg_dw":49.7835579,"cg_id_a":-0.255147517,"cg_id_raw_a":-0.0867437273,"cg_iq_a":-0.0673909187,"cg_iq_raw_a":-0.00778906839,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8527279,"cg_sample_seq":14514771,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0984210148,"cg_vd_v":0.0984210148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374551982,"cg_vq_v":-0.374551982,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.328331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.733643,"values":{"Elec_RPM":-5.55357226e-37,"EncoderCos":38716,"EncoderSin":12465,"GapTicks":54766,"Mech_RPM":-1.11071445e-37,"cg_du":50.1420937,"cg_dv":50.2122116,"cg_dw":49.7877884,"cg_id_a":-0.0909338668,"cg_id_raw_a":-0.331226289,"cg_iq_a":-0.17209582,"cg_iq_raw_a":-0.7240026,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.8563633,"cg_sample_seq":14514816,"cg_sample_valid":1,"cg_theta_rad":5.00943565,"cg_vd_req_v":0.095328398,"cg_vd_v":0.095328398,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368069381,"cg_vq_v":-0.368069381,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.49285543,"dclink_p_w":71.328331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5653687,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.741455,"values":{"Elec_RPM":-5.55357226e-37,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-1.11071445e-37,"cg_du":50.1329918,"cg_dv":50.1992912,"cg_dw":49.8007088,"cg_id_a":0.123930193,"cg_id_raw_a":0.00778059009,"cg_iq_a":-1.02570581,"cg_iq_raw_a":-0.326208413,"cg_iu_a":0.908629298,"cg_iv_a":1.37393177,"cg_iw_a":-2.28256106,"cg_sample_age_us":23.9509087,"cg_sample_seq":14514867,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0900513828,"cg_vd_v":0.0900513828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346483111,"cg_vq_v":-0.346483111,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.4928741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.749268,"values":{"Elec_RPM":-5.44250064e-37,"EncoderCos":38738,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-1.08850017e-37,"cg_du":50.1378937,"cg_dv":50.2115364,"cg_dw":49.7884636,"cg_id_a":-0.209617332,"cg_id_raw_a":-0.104002751,"cg_iq_a":0.181079641,"cg_iq_raw_a":0.828258336,"cg_iu_a":0.364971876,"cg_iv_a":0.286616921,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.8563633,"cg_sample_seq":14514916,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.0967840254,"cg_vd_v":0.0967840254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366290271,"cg_vq_v":-0.366290271,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.4928741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.75708,"values":{"Elec_RPM":-5.44250064e-37,"EncoderCos":38728,"EncoderSin":12460,"GapTicks":54769,"Mech_RPM":-1.08850017e-37,"cg_du":50.1323013,"cg_dv":50.2097816,"cg_dw":49.7902184,"cg_id_a":-0.326318175,"cg_id_raw_a":0.0694947168,"cg_iq_a":-0.0521904677,"cg_iq_raw_a":-0.101718403,"cg_iu_a":0.364971876,"cg_iv_a":0.395348489,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.9836369,"cg_sample_seq":14514966,"cg_sample_valid":1,"cg_theta_rad":5.00542212,"cg_vd_req_v":0.0997819006,"cg_vd_v":0.0997819006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359501123,"cg_vq_v":-0.359501123,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.4928741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1627808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.764893,"values":{"Elec_RPM":-5.33365091e-37,"EncoderCos":38693,"EncoderSin":12503,"GapTicks":54775,"Mech_RPM":-1.06673016e-37,"cg_du":50.1404419,"cg_dv":50.2041168,"cg_dw":49.7958832,"cg_id_a":0.158765882,"cg_id_raw_a":-0.0720565543,"cg_iq_a":-0.256985456,"cg_iq_raw_a":-0.152245581,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616981,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9618187,"cg_sample_seq":14515066,"cg_sample_valid":1,"cg_theta_rad":5.00685358,"cg_vd_req_v":0.0896724835,"cg_vd_v":0.0896724835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355915844,"cg_vq_v":-0.355915844,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.4928741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.772705,"values":{"Elec_RPM":-5.2269778e-37,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-1.04539556e-37,"cg_du":50.1408501,"cg_dv":50.2101746,"cg_dw":49.7898254,"cg_id_a":-0.157197908,"cg_id_raw_a":-0.174606934,"cg_iq_a":0.231247962,"cg_iq_raw_a":0.238213778,"cg_iu_a":0.0387773514,"cg_iv_a":-0.257040501,"cg_iw_a":0.218263149,"cg_sample_age_us":23.8672733,"cg_sample_seq":14515116,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.095200181,"cg_vd_v":0.095200181,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365554154,"cg_vq_v":-0.365554154,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.610647857,"dclink_p_w":88.3758011,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.118988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.784424,"values":{"Elec_RPM":-5.2269778e-37,"EncoderCos":38707,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-1.04539556e-37,"cg_du":50.1483116,"cg_dv":50.2077293,"cg_dw":49.7922707,"cg_id_a":0.278193653,"cg_id_raw_a":0.144075185,"cg_iq_a":0.292146951,"cg_iq_raw_a":0.415971041,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14515166,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0866101384,"cg_vd_v":0.0866101384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365354896,"cg_vq_v":-0.365354896,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":1.3174026,"dclink_p_w":191.240158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.118988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.792236,"values":{"Elec_RPM":-5.12243824e-37,"EncoderCos":38710,"EncoderSin":12476,"GapTicks":54776,"Mech_RPM":-1.02448763e-37,"cg_du":50.1373138,"cg_dv":50.2035789,"cg_dw":49.7964211,"cg_id_a":0.0466190055,"cg_id_raw_a":-0.0551348664,"cg_iq_a":-0.240070894,"cg_iq_raw_a":-0.113960117,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14515216,"cg_sample_valid":1,"cg_theta_rad":5.00772238,"cg_vd_req_v":0.0911551192,"cg_vd_v":0.0911551192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354676366,"cg_vq_v":-0.354676366,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":1.24491501,"dclink_p_w":180.717529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.0908508,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.81958,"values":{"Elec_RPM":-5.12243824e-37,"EncoderCos":38749,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-1.02448763e-37,"cg_du":50.135334,"cg_dv":50.1993179,"cg_dw":49.8006821,"cg_id_a":0.297295302,"cg_id_raw_a":-0.0716538504,"cg_iq_a":-0.536453784,"cg_iq_raw_a":0.28539151,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592226,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8527279,"cg_sample_seq":14515269,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0856089517,"cg_vd_v":0.0856089517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34737438,"cg_vq_v":-0.34737438,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.24491501,"dclink_p_w":180.717529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.827393,"values":{"Elec_RPM":-5.0199892e-37,"EncoderCos":38720,"EncoderSin":12466,"GapTicks":54781,"Mech_RPM":-1.00399784e-37,"cg_du":50.124157,"cg_dv":50.1986923,"cg_dw":49.8013077,"cg_id_a":-0.245056778,"cg_id_raw_a":0.407569081,"cg_iq_a":-0.797554374,"cg_iq_raw_a":-0.760420978,"cg_iu_a":0.437459469,"cg_iv_a":-0.25704056,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.954546,"cg_sample_seq":14515316,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0958877504,"cg_vd_v":0.0958877504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339715391,"cg_vq_v":-0.339715391,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.24491501,"dclink_p_w":180.717529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.589447,"temp_inv2_c":36.1362,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.835205,"values":{"Elec_RPM":-5.0199892e-37,"EncoderCos":38707,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-1.00399784e-37,"cg_du":50.1396561,"cg_dv":50.2050018,"cg_dw":49.7949982,"cg_id_a":-0.0581558943,"cg_id_raw_a":-0.481201023,"cg_iq_a":0.122606121,"cg_iq_raw_a":-0.266488999,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9763641,"cg_sample_seq":14515366,"cg_sample_valid":1,"cg_theta_rad":5.00612879,"cg_vd_req_v":0.0909969136,"cg_vd_v":0.0909969136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356709182,"cg_vq_v":-0.356709182,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":1.159742,"dclink_p_w":167.333099,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1142883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.846924,"values":{"Elec_RPM":-4.82119763e-37,"EncoderCos":38735,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-9.64239527e-38,"cg_du":50.1445656,"cg_dv":50.2010155,"cg_dw":49.7989845,"cg_id_a":0.40923968,"cg_id_raw_a":0.748137653,"cg_iq_a":0.249364302,"cg_iq_raw_a":1.3824935,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8818188,"cg_sample_seq":14515516,"cg_sample_valid":1,"cg_theta_rad":5.00761318,"cg_vd_req_v":0.081049569,"cg_vd_v":0.081049569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354584664,"cg_vq_v":-0.354584664,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":106.996887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1174316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.854736,"values":{"Elec_RPM":-4.82119763e-37,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-9.64239527e-38,"cg_du":50.1522064,"cg_dv":50.2121277,"cg_dw":49.7878723,"cg_id_a":0.159590513,"cg_id_raw_a":-0.253884792,"cg_iq_a":1.30020189,"cg_iq_raw_a":1.2871294,"cg_iu_a":-1.48346376,"cg_iv_a":-0.728210449,"cg_iw_a":2.21167421,"cg_sample_age_us":23.8563633,"cg_sample_seq":14515566,"cg_sample_valid":1,"cg_theta_rad":5.00728703,"cg_vd_req_v":0.0866809934,"cg_vd_v":0.0866809934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374984801,"cg_vq_v":-0.374984801,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":106.996887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1174316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.862549,"values":{"Elec_RPM":-4.72477395e-37,"EncoderCos":38730,"EncoderSin":12477,"GapTicks":54792,"Mech_RPM":-9.44954745e-38,"cg_du":50.1312866,"cg_dv":50.1890411,"cg_dw":49.8109589,"cg_id_a":0.437509894,"cg_id_raw_a":0.214884564,"cg_iq_a":-0.893843234,"cg_iq_raw_a":-0.306446195,"cg_iu_a":0.219996452,"cg_iv_a":0.141641676,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.8490906,"cg_sample_seq":14515617,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.0796614587,"cg_vd_v":0.0796614587,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329844654,"cg_vq_v":-0.329844654,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.925969243,"dclink_p_w":134.010574,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1768799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.870361,"values":{"Elec_RPM":-4.72477395e-37,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-9.44954745e-38,"cg_du":50.1332054,"cg_dv":50.2075386,"cg_dw":49.7924614,"cg_id_a":-0.398932338,"cg_id_raw_a":-0.633162916,"cg_iq_a":0.225335121,"cg_iq_raw_a":0.630452573,"cg_iu_a":0.183752537,"cg_iv_a":-0.257040501,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9145451,"cg_sample_seq":14515667,"cg_sample_valid":1,"cg_theta_rad":5.00641108,"cg_vd_req_v":0.0972240567,"cg_vd_v":0.0972240567,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355698586,"cg_vq_v":-0.355698586,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":1.08000553,"dclink_p_w":156.303421,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2629.878174,"values":{"Elec_RPM":-4.63027845e-37,"EncoderCos":38741,"EncoderSin":12465,"GapTicks":54774,"Mech_RPM":-9.26055657e-38,"cg_du":50.1286888,"cg_dv":50.2048264,"cg_dw":49.7951736,"cg_id_a":-0.378831744,"cg_id_raw_a":-0.292400032,"cg_iq_a":-0.128559664,"cg_iq_raw_a":-0.281288117,"cg_iu_a":0.111264944,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9218178,"cg_sample_seq":14515717,"cg_sample_valid":1,"cg_theta_rad":5.00537729,"cg_vd_req_v":0.0966517851,"cg_vd_v":0.0966517851,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351054937,"cg_vq_v":-0.351054937,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.893349767,"dclink_p_w":129.289734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.909424,"values":{"Elec_RPM":-4.63027845e-37,"EncoderCos":38736,"EncoderSin":12494,"GapTicks":54773,"Mech_RPM":-9.26055657e-38,"cg_du":50.1330986,"cg_dv":50.2063332,"cg_dw":49.7936668,"cg_id_a":-0.209659189,"cg_id_raw_a":-0.0025735104,"cg_iq_a":0.181440592,"cg_iq_raw_a":-0.691002786,"cg_iu_a":0.0750212669,"cg_iv_a":-0.0758213401,"cg_iw_a":0.000800073147,"cg_sample_age_us":26.8199997,"cg_sample_seq":14515770,"cg_sample_valid":1,"cg_theta_rad":5.00578117,"cg_vd_req_v":0.0946149752,"cg_vd_v":0.0946149752,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356732726,"cg_vq_v":-0.356732726,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.893349767,"dclink_p_w":129.289734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.917236,"values":{"Elec_RPM":-4.53767258e-37,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-9.07534527e-38,"cg_du":50.1232567,"cg_dv":50.1996956,"cg_dw":49.8003044,"cg_id_a":-0.363778651,"cg_id_raw_a":0.295234799,"cg_iq_a":-0.789630711,"cg_iq_raw_a":-0.0427213609,"cg_iu_a":1.34355533,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.8600006,"cg_sample_seq":14515816,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0982898623,"cg_vd_v":0.0982898623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34148404,"cg_vq_v":-0.34148404,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.893349767,"dclink_p_w":129.289734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.925049,"values":{"Elec_RPM":-4.53767258e-37,"EncoderCos":38705,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-9.07534527e-38,"cg_du":50.1392784,"cg_dv":50.2021332,"cg_dw":49.7978668,"cg_id_a":0.0924124047,"cg_id_raw_a":0.0743435696,"cg_iq_a":-0.163262427,"cg_iq_raw_a":-0.355997801,"cg_iu_a":1.08984852,"cg_iv_a":0.177885413,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.8563633,"cg_sample_seq":14515866,"cg_sample_valid":1,"cg_theta_rad":5.00669909,"cg_vd_req_v":0.088405855,"cg_vd_v":0.088405855,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353764921,"cg_vq_v":-0.353764921,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.893349767,"dclink_p_w":129.289734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.932861,"values":{"Elec_RPM":-4.44691911e-37,"EncoderCos":38738,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-8.89383845e-38,"cg_du":50.146389,"cg_dv":50.206665,"cg_dw":49.793335,"cg_id_a":0.283772796,"cg_id_raw_a":0.374360174,"cg_iq_a":0.392219663,"cg_iq_raw_a":-0.219003677,"cg_iu_a":-0.0699541569,"cg_iv_a":0.10539782,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9581814,"cg_sample_seq":14515916,"cg_sample_valid":1,"cg_theta_rad":5.00703526,"cg_vd_req_v":0.0845680684,"cg_vd_v":0.0845680684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363424122,"cg_vq_v":-0.363424122,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.683135509,"dclink_p_w":98.8665543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.940674,"values":{"Elec_RPM":-4.44691911e-37,"EncoderCos":38736,"EncoderSin":12492,"GapTicks":54776,"Mech_RPM":-8.89383845e-38,"cg_du":50.1311913,"cg_dv":50.2030029,"cg_dw":49.7969971,"cg_id_a":-0.123513632,"cg_id_raw_a":-0.0909238309,"cg_iq_a":-0.176151305,"cg_iq_raw_a":-0.189607501,"cg_iu_a":0.256240368,"cg_iv_a":0.431592226,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9436359,"cg_sample_seq":14515966,"cg_sample_valid":1,"cg_theta_rad":5.00540066,"cg_vd_req_v":0.0926638022,"cg_vd_v":0.0926638022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350032687,"cg_vq_v":-0.350032687,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":0.703069627,"dclink_p_w":101.44223,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.948486,"values":{"Elec_RPM":-4.35798083e-37,"EncoderCos":38697,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-8.71596154e-38,"cg_du":50.1316071,"cg_dv":50.2028961,"cg_dw":49.7971039,"cg_id_a":-0.319898844,"cg_id_raw_a":-0.36102432,"cg_iq_a":-0.149361491,"cg_iq_raw_a":0.000356308417,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539645,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9618187,"cg_sample_seq":14516016,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0955505967,"cg_vd_v":0.0955505967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349226832,"cg_vq_v":-0.349226832,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.703069627,"dclink_p_w":101.44223,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.150238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.960205,"values":{"Elec_RPM":-4.35798083e-37,"EncoderCos":38702,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-8.71596154e-38,"cg_du":50.1351166,"cg_dv":50.1986351,"cg_dw":49.8013649,"cg_id_a":0.0406175964,"cg_id_raw_a":0.0895972177,"cg_iq_a":-0.404758871,"cg_iq_raw_a":0.119243577,"cg_iu_a":-0.0699543953,"cg_iv_a":0.322860777,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.8454552,"cg_sample_seq":14516066,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0886019766,"cg_vd_v":0.0886019766,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34544906,"cg_vq_v":-0.34544906,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.636018574,"dclink_p_w":92.0475693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2629.968018,"values":{"Elec_RPM":-4.27082096e-37,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54787,"Mech_RPM":-8.54164225e-38,"cg_du":50.1280861,"cg_dv":50.1935272,"cg_dw":49.8064728,"cg_id_a":0.046530541,"cg_id_raw_a":0.545951843,"cg_iq_a":-0.831769109,"cg_iq_raw_a":-1.07361937,"cg_iu_a":0.509947062,"cg_iv_a":0.10539782,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.954546,"cg_sample_seq":14516116,"cg_sample_valid":1,"cg_theta_rad":5.00715733,"cg_vd_req_v":0.0888053253,"cg_vd_v":0.0888053253,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33572042,"cg_vq_v":-0.33572042,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.828110874,"dclink_p_w":120.212341,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1315002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.97583,"values":{"Elec_RPM":-4.27082096e-37,"EncoderCos":38704,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-8.54164225e-38,"cg_du":50.1384392,"cg_dv":50.2054253,"cg_dw":49.7945747,"cg_id_a":-0.0889715999,"cg_id_raw_a":0.065467082,"cg_iq_a":0.138213962,"cg_iq_raw_a":-0.466121405,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9509087,"cg_sample_seq":14516166,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.0931336731,"cg_vd_v":0.0931336731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357554346,"cg_vq_v":-0.357554346,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.857105911,"dclink_p_w":124.044357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.134613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2629.983643,"values":{"Elec_RPM":-4.18540453e-37,"EncoderCos":38740,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-8.3708094e-38,"cg_du":50.1257515,"cg_dv":50.1994476,"cg_dw":49.8005524,"cg_id_a":-0.187664092,"cg_id_raw_a":-0.202872932,"cg_iq_a":-0.709007263,"cg_iq_raw_a":-0.782805443,"cg_iu_a":0.401215792,"cg_iv_a":0.141641617,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9509087,"cg_sample_seq":14516216,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0940773338,"cg_vd_v":0.0940773338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341999352,"cg_vq_v":-0.341999352,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.6750641,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2629.986787,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2629.986793,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2629.986798,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2630.014893,"values":{"Elec_RPM":-4.10169657e-37,"EncoderCos":38713,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-8.20339347e-38,"cg_du":50.1349258,"cg_dv":50.2052803,"cg_dw":49.7947197,"cg_id_a":-0.308788955,"cg_id_raw_a":-0.869187176,"cg_iq_a":0.0887273476,"cg_iq_raw_a":-0.59593612,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.252906561,"cg_sample_age_us":24.9909096,"cg_sample_seq":14516316,"cg_sample_valid":1,"cg_theta_rad":5.00885534,"cg_vd_req_v":0.0944857895,"cg_vd_v":0.0944857895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354549021,"cg_vq_v":-0.354549021,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.4602661,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1268005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.022705,"values":{"Elec_RPM":-4.10169657e-37,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54778,"Mech_RPM":-8.20339347e-38,"cg_du":50.1348267,"cg_dv":50.2015266,"cg_dw":49.7984734,"cg_id_a":-0.0198201351,"cg_id_raw_a":-0.123912685,"cg_iq_a":-0.12916109,"cg_iq_raw_a":-0.266583949,"cg_iu_a":0.691166162,"cg_iv_a":0.359104633,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9509087,"cg_sample_seq":14516366,"cg_sample_valid":1,"cg_theta_rad":5.0078392,"cg_vd_req_v":0.0910029635,"cg_vd_v":0.0910029635,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34936893,"cg_vq_v":-0.34936893,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.4602661,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1268005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.030518,"values":{"Elec_RPM":-4.01966298e-37,"EncoderCos":38716,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-8.03932552e-38,"cg_du":50.1399689,"cg_dv":50.2086334,"cg_dw":49.7913666,"cg_id_a":-0.105901659,"cg_id_raw_a":-0.0826886296,"cg_iq_a":0.546267629,"cg_iq_raw_a":-0.26228115,"cg_iu_a":-0.214929581,"cg_iv_a":-1.01816106,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9436359,"cg_sample_seq":14516416,"cg_sample_valid":1,"cg_theta_rad":5.00593138,"cg_vd_req_v":0.0936178118,"cg_vd_v":0.0936178118,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363160253,"cg_vq_v":-0.363160253,"cg_vu_v":26.8334465,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.3988113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.042236,"values":{"Elec_RPM":-4.01966298e-37,"EncoderCos":38731,"EncoderSin":12469,"GapTicks":54773,"Mech_RPM":-8.03932552e-38,"cg_du":50.1357765,"cg_dv":50.2062416,"cg_dw":49.7937584,"cg_id_a":0.015100088,"cg_id_raw_a":0.0527538992,"cg_iq_a":0.193292484,"cg_iq_raw_a":0.733994663,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14516466,"cg_sample_valid":1,"cg_theta_rad":5.00686979,"cg_vd_req_v":0.0934340283,"cg_vd_v":0.0934340283,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357836366,"cg_vq_v":-0.357836366,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.476545691,"dclink_p_w":68.9679108,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.120575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.050049,"values":{"Elec_RPM":-3.93926926e-37,"EncoderCos":38754,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-7.87853885e-38,"cg_du":50.1358757,"cg_dv":50.2096519,"cg_dw":49.7903481,"cg_id_a":-0.00782274455,"cg_id_raw_a":0.0335009471,"cg_iq_a":0.16388464,"cg_iq_raw_a":-0.178146526,"cg_iu_a":0.14750886,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.954546,"cg_sample_seq":14516516,"cg_sample_valid":1,"cg_theta_rad":5.00805092,"cg_vd_req_v":0.0941909552,"cg_vd_v":0.0941909552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362030536,"cg_vq_v":-0.362030536,"cg_vu_v":20.6749516,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.483794451,"dclink_p_w":70.016983,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.120575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.057861,"values":{"Elec_RPM":-3.93926926e-37,"EncoderCos":38730,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-7.87853885e-38,"cg_du":50.1333313,"cg_dv":50.2053528,"cg_dw":49.7946472,"cg_id_a":0.00615674909,"cg_id_raw_a":0.381617188,"cg_iq_a":-0.26273939,"cg_iq_raw_a":-0.290509999,"cg_iu_a":0.0750212669,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9836369,"cg_sample_seq":14516566,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.094197236,"cg_vd_v":0.094197236,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354180872,"cg_vq_v":-0.354180872,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.5885773,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.065674,"values":{"Elec_RPM":-3.860484e-37,"EncoderCos":38715,"EncoderSin":12451,"GapTicks":54767,"Mech_RPM":-7.72096789e-38,"cg_du":50.1420212,"cg_dv":50.2111816,"cg_dw":49.7888184,"cg_id_a":0.0236892644,"cg_id_raw_a":0.20128496,"cg_iq_a":0.212173104,"cg_iq_raw_a":0.895192504,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.954546,"cg_sample_seq":14516616,"cg_sample_valid":1,"cg_theta_rad":5.00597763,"cg_vd_req_v":0.0948161483,"cg_vd_v":0.0948161483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366516888,"cg_vq_v":-0.366516888,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.887913227,"dclink_p_w":128.50293,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1580811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.073486,"values":{"Elec_RPM":-3.860484e-37,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-7.72096789e-38,"cg_du":50.1399612,"cg_dv":50.2117043,"cg_dw":49.7882957,"cg_id_a":-0.0322721824,"cg_id_raw_a":-0.15866527,"cg_iq_a":0.0881410986,"cg_iq_raw_a":-0.342726916,"cg_iu_a":0.509947181,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.470369697,"cg_sample_age_us":24.0381813,"cg_sample_seq":14516666,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0965571627,"cg_vd_v":0.0965571627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366164237,"cg_vq_v":-0.366164237,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.920532644,"dclink_p_w":133.22377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1580811,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00347447931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.081299,"values":{"Elec_RPM":-3.78327447e-37,"EncoderCos":38731,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-7.56654872e-38,"cg_du":50.1350288,"cg_dv":50.2109642,"cg_dw":49.7890358,"cg_id_a":-0.128646433,"cg_id_raw_a":-0.694142163,"cg_iq_a":-0.0116807669,"cg_iq_raw_a":0.407582343,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8600006,"cg_sample_seq":14516716,"cg_sample_valid":1,"cg_theta_rad":5.00769043,"cg_vd_req_v":0.0988130122,"cg_vd_v":0.0988130122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363812119,"cg_vq_v":-0.363812119,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":1.05825925,"dclink_p_w":153.621735,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.112549,"values":{"Elec_RPM":-3.78327447e-37,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-7.56654872e-38,"cg_du":50.1333351,"cg_dv":50.2044258,"cg_dw":49.7955742,"cg_id_a":0.183292627,"cg_id_raw_a":-0.0137682781,"cg_iq_a":-0.500697434,"cg_iq_raw_a":0.32717517,"cg_iu_a":-0.142441988,"cg_iv_a":-0.329528213,"cg_iw_a":0.471970201,"cg_sample_age_us":26.8199997,"cg_sample_seq":14516770,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.0935230181,"cg_vd_v":0.0935230181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352859706,"cg_vq_v":-0.352859706,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":1.14705658,"dclink_p_w":166.511948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.120361,"values":{"Elec_RPM":-3.70760906e-37,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-7.41521801e-38,"cg_du":50.1288185,"cg_dv":50.2110481,"cg_dw":49.7889519,"cg_id_a":-0.278182119,"cg_id_raw_a":0.00335944118,"cg_iq_a":-0.0981744602,"cg_iq_raw_a":-0.0716887787,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747313,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9254551,"cg_sample_seq":14516817,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.102922313,"cg_vd_v":0.102922313,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359505206,"cg_vq_v":-0.359505206,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":1.30652952,"dclink_p_w":189.087036,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.128174,"values":{"Elec_RPM":-3.70760906e-37,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54764,"Mech_RPM":-7.41521801e-38,"cg_du":50.1364403,"cg_dv":50.213726,"cg_dw":49.786274,"cg_id_a":-0.314526916,"cg_id_raw_a":0.109099351,"cg_iq_a":-0.047241807,"cg_iq_raw_a":0.339849859,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14516867,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.102077335,"cg_vd_v":0.102077335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365510851,"cg_vq_v":-0.365510851,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":1.25035155,"dclink_p_w":180.956696,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.135986,"values":{"Elec_RPM":-3.63345683e-37,"EncoderCos":38757,"EncoderSin":12437,"GapTicks":54764,"Mech_RPM":-7.26691355e-38,"cg_du":50.1363335,"cg_dv":50.2144585,"cg_dw":49.7855415,"cg_id_a":-0.181724459,"cg_id_raw_a":0.17418009,"cg_iq_a":0.00112648308,"cg_iq_raw_a":0.125943303,"cg_iu_a":0.944873095,"cg_iv_a":-0.329528213,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9872723,"cg_sample_seq":14516917,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0990115702,"cg_vd_v":0.0990115702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367501646,"cg_vq_v":-0.367501646,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":1.36089528,"dclink_p_w":196.955093,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1440125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.143799,"values":{"Elec_RPM":-3.63345683e-37,"EncoderCos":38716,"EncoderSin":12449,"GapTicks":54769,"Mech_RPM":-7.26691355e-38,"cg_du":50.1395798,"cg_dv":50.2094536,"cg_dw":49.7905464,"cg_id_a":-0.00261957943,"cg_id_raw_a":-0.156207442,"cg_iq_a":-0.300211817,"cg_iq_raw_a":0.895788908,"cg_iu_a":0.0750210285,"cg_iv_a":1.01149356,"cg_iw_a":-1.08651459,"cg_sample_age_us":23.8563633,"cg_sample_seq":14516967,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.095300518,"cg_vd_v":0.095300518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363905638,"cg_vq_v":-0.363905638,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":1.21229553,"dclink_p_w":175.449051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1221313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.155518,"values":{"Elec_RPM":-3.56078774e-37,"EncoderCos":38723,"EncoderSin":12483,"GapTicks":54757,"Mech_RPM":-7.12157536e-38,"cg_du":50.1510353,"cg_dv":50.2201653,"cg_dw":49.7798347,"cg_id_a":-0.0167535804,"cg_id_raw_a":0.670027971,"cg_iq_a":0.563214242,"cg_iq_raw_a":-0.00757309049,"cg_iu_a":0.00253343582,"cg_iv_a":-0.728210449,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8490906,"cg_sample_seq":14517017,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0952674896,"cg_vd_v":0.0952674896,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385331333,"cg_vq_v":-0.385331333,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":1.21229553,"dclink_p_w":175.449051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.16333,"values":{"Elec_RPM":-3.56078774e-37,"EncoderCos":38712,"EncoderSin":12472,"GapTicks":54764,"Mech_RPM":-7.12157536e-38,"cg_du":50.1387672,"cg_dv":50.2138519,"cg_dw":49.7861481,"cg_id_a":-0.281569302,"cg_id_raw_a":-0.0695053786,"cg_iq_a":-0.436411232,"cg_iq_raw_a":0.0303131826,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9436359,"cg_sample_seq":14517067,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.0999925584,"cg_vd_v":0.0999925584,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369501829,"cg_vq_v":-0.369501829,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":1.21229553,"dclink_p_w":175.449051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.171143,"values":{"Elec_RPM":-3.48957195e-37,"EncoderCos":38706,"EncoderSin":12486,"GapTicks":54762,"Mech_RPM":-6.97914402e-38,"cg_du":50.1502228,"cg_dv":50.2156525,"cg_dw":49.7843475,"cg_id_a":0.0111048911,"cg_id_raw_a":0.0878375694,"cg_iq_a":-0.080546692,"cg_iq_raw_a":0.373029619,"cg_iu_a":0.111264944,"cg_iv_a":0.250373065,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8527279,"cg_sample_seq":14517116,"cg_sample_valid":1,"cg_theta_rad":5.00791264,"cg_vd_req_v":0.093010366,"cg_vd_v":0.093010366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377139688,"cg_vq_v":-0.377139688,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":1.21229553,"dclink_p_w":175.449051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.178955,"values":{"Elec_RPM":-3.48957195e-37,"EncoderCos":38749,"EncoderSin":12493,"GapTicks":54760,"Mech_RPM":-6.97914402e-38,"cg_du":50.1457558,"cg_dv":50.2181702,"cg_dw":49.7818298,"cg_id_a":-0.119167082,"cg_id_raw_a":0.45976308,"cg_iq_a":0.16019997,"cg_iq_raw_a":0.22390677,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309052,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9509087,"cg_sample_seq":14517167,"cg_sample_valid":1,"cg_theta_rad":5.00619411,"cg_vd_req_v":0.0946902633,"cg_vd_v":0.0946902633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379126728,"cg_vq_v":-0.379126728,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":1.12893474,"dclink_p_w":162.888077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.186768,"values":{"Elec_RPM":-3.41978056e-37,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54758,"Mech_RPM":-6.83956124e-38,"cg_du":50.15588,"cg_dv":50.2199936,"cg_dw":49.7800064,"cg_id_a":-0.0599732101,"cg_id_raw_a":0.141194746,"cg_iq_a":0.532309532,"cg_iq_raw_a":0.233675227,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9436359,"cg_sample_seq":14517216,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0929449722,"cg_vd_v":0.0929449722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386183143,"cg_vq_v":-0.386183143,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.996644735,"dclink_p_w":144.239059,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.218018,"values":{"Elec_RPM":-3.41978056e-37,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-6.83956124e-38,"cg_du":50.1435318,"cg_dv":50.2104683,"cg_dw":49.7895317,"cg_id_a":0.0460938998,"cg_id_raw_a":-0.131493479,"cg_iq_a":-0.349779189,"cg_iq_raw_a":0.243208662,"cg_iu_a":0.0750210285,"cg_iv_a":0.685299098,"cg_iw_a":-0.760320127,"cg_sample_age_us":26.8090916,"cg_sample_seq":14517269,"cg_sample_valid":1,"cg_theta_rad":5.00681734,"cg_vd_req_v":0.0908764899,"cg_vd_v":0.0908764899,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366918385,"cg_vq_v":-0.366918385,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.13255906,"dclink_p_w":163.909225,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1080322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.22583,"values":{"Elec_RPM":-3.35138487e-37,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-6.70276985e-38,"cg_du":50.1434555,"cg_dv":50.2180595,"cg_dw":49.7819405,"cg_id_a":-0.306643188,"cg_id_raw_a":-0.497577995,"cg_iq_a":0.253329813,"cg_iq_raw_a":-0.555672467,"cg_iu_a":0.473703384,"cg_iv_a":-0.873185813,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8563633,"cg_sample_seq":14517317,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0984111428,"cg_vd_v":0.0984111428,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378405243,"cg_vq_v":-0.378405243,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":1.27572227,"dclink_p_w":184.628464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1080322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.233643,"values":{"Elec_RPM":-3.35138487e-37,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54758,"Mech_RPM":-6.70276985e-38,"cg_du":50.1492081,"cg_dv":50.2196922,"cg_dw":49.7803078,"cg_id_a":-0.162772149,"cg_id_raw_a":-0.901898623,"cg_iq_a":0.631447673,"cg_iq_raw_a":2.13532519,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9872723,"cg_sample_seq":14517367,"cg_sample_valid":1,"cg_theta_rad":5.00870705,"cg_vd_req_v":0.0961426124,"cg_vd_v":0.0961426124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383691013,"cg_vq_v":-0.383691013,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":1.52218032,"dclink_p_w":220.966629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.241455,"values":{"Elec_RPM":-3.28435706e-37,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-6.56871435e-38,"cg_du":50.148365,"cg_dv":50.2164116,"cg_dw":49.7835884,"cg_id_a":-0.0554640666,"cg_id_raw_a":0.190677702,"cg_iq_a":0.214101419,"cg_iq_raw_a":0.165146813,"cg_iu_a":-0.142441988,"cg_iv_a":-0.800698042,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9509087,"cg_sample_seq":14517417,"cg_sample_valid":1,"cg_theta_rad":5.00774097,"cg_vd_req_v":0.094088465,"cg_vd_v":0.094088465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37739861,"cg_vq_v":-0.37739861,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":1.52218032,"dclink_p_w":220.966629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.118988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.249268,"values":{"Elec_RPM":-3.28435706e-37,"EncoderCos":38729,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-6.56871435e-38,"cg_du":50.1389198,"cg_dv":50.2037849,"cg_dw":49.7962151,"cg_id_a":0.224626809,"cg_id_raw_a":0.492294103,"cg_iq_a":-0.614682257,"cg_iq_raw_a":-0.571341872,"cg_iu_a":0.0387773514,"cg_iv_a":0.504079938,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.954546,"cg_sample_seq":14517467,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0881908461,"cg_vd_v":0.0881908461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355191559,"cg_vq_v":-0.355191559,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.52218032,"dclink_p_w":220.966629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.118988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.25708,"values":{"Elec_RPM":-3.21867002e-37,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54771,"Mech_RPM":-6.43733982e-38,"cg_du":50.1468506,"cg_dv":50.2081718,"cg_dw":49.7918282,"cg_id_a":0.291726202,"cg_id_raw_a":0.63215977,"cg_iq_a":-0.142135218,"cg_iq_raw_a":-0.265341073,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.619478941,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9581814,"cg_sample_seq":14517517,"cg_sample_valid":1,"cg_theta_rad":5.00654411,"cg_vd_req_v":0.0870834291,"cg_vd_v":0.0870834291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365394235,"cg_vq_v":-0.365394235,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.57473385,"dclink_p_w":227.902817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.268799,"values":{"Elec_RPM":-3.21867002e-37,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54770,"Mech_RPM":-6.43733982e-38,"cg_du":50.1400261,"cg_dv":50.2088814,"cg_dw":49.7911186,"cg_id_a":0.0400588661,"cg_id_raw_a":-0.482546806,"cg_iq_a":-0.122618362,"cg_iq_raw_a":-0.264044017,"cg_iu_a":-0.251173258,"cg_iv_a":-0.329528332,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14517567,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.0926569477,"cg_vd_v":0.0926569477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362654746,"cg_vq_v":-0.362654746,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.39351463,"dclink_p_w":201.675919,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.276611,"values":{"Elec_RPM":-3.15429639e-37,"EncoderCos":38680,"EncoderSin":12446,"GapTicks":54769,"Mech_RPM":-6.308593e-38,"cg_du":50.1441269,"cg_dv":50.2095718,"cg_dw":49.7904282,"cg_id_a":-0.0549401976,"cg_id_raw_a":-0.0425924808,"cg_iq_a":0.131200433,"cg_iq_raw_a":0.360748917,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14517617,"cg_sample_valid":1,"cg_theta_rad":5.00800085,"cg_vd_req_v":0.0946258232,"cg_vd_v":0.0946258232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364745885,"cg_vq_v":-0.364745885,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.11806154,"dclink_p_w":161.811066,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.284424,"values":{"Elec_RPM":-3.15429639e-37,"EncoderCos":38730,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-6.308593e-38,"cg_du":50.1397781,"cg_dv":50.205986,"cg_dw":49.794014,"cg_id_a":0.124155819,"cg_id_raw_a":0.0242303573,"cg_iq_a":-0.178451508,"cg_iq_raw_a":-0.288153052,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14517666,"cg_sample_valid":1,"cg_theta_rad":5.00769997,"cg_vd_req_v":0.0899631083,"cg_vd_v":0.0899631083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35859555,"cg_vq_v":-0.35859555,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":1.11806154,"dclink_p_w":161.811066,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1268005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.311768,"values":{"Elec_RPM":-3.0912106e-37,"EncoderCos":38729,"EncoderSin":12458,"GapTicks":54764,"Mech_RPM":-6.1824212e-38,"cg_du":50.1616974,"cg_dv":50.2137222,"cg_dw":49.7862778,"cg_id_a":0.640839577,"cg_id_raw_a":-0.128557384,"cg_iq_a":0.768576622,"cg_iq_raw_a":0.42534098,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.954546,"cg_sample_seq":14517771,"cg_sample_valid":1,"cg_theta_rad":5.00651932,"cg_vd_req_v":0.0802442953,"cg_vd_v":0.0802442953,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380183816,"cg_vq_v":-0.380183816,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":1.1833005,"dclink_p_w":171.252762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.323486,"values":{"Elec_RPM":-3.02938644e-37,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-6.05877287e-38,"cg_du":50.143364,"cg_dv":50.2141495,"cg_dw":49.7858505,"cg_id_a":-0.000970453024,"cg_id_raw_a":0.152672634,"cg_iq_a":0.182561412,"cg_iq_raw_a":-0.0938885659,"cg_iu_a":-0.214929581,"cg_iv_a":-0.764454246,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9763641,"cg_sample_seq":14517816,"cg_sample_valid":1,"cg_theta_rad":5.00673199,"cg_vd_req_v":0.0947974324,"cg_vd_v":0.0947974324,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371782511,"cg_vq_v":-0.371782511,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":1.1833005,"dclink_p_w":171.252762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1174316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.331299,"values":{"Elec_RPM":-3.02938644e-37,"EncoderCos":38728,"EncoderSin":12444,"GapTicks":54765,"Mech_RPM":-6.05877287e-38,"cg_du":50.1419334,"cg_dv":50.2130928,"cg_dw":49.7869072,"cg_id_a":-0.0319428444,"cg_id_raw_a":-0.696777165,"cg_iq_a":0.0886029303,"cg_iq_raw_a":-0.649966657,"cg_iu_a":-0.178685904,"cg_iv_a":1.04773736,"cg_iw_a":-0.869051516,"cg_sample_age_us":23.9618187,"cg_sample_seq":14517866,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0958368182,"cg_vd_v":0.0958368182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369297832,"cg_vq_v":-0.369297832,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":1.1833005,"dclink_p_w":171.252762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1174316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.339111,"values":{"Elec_RPM":-2.96879877e-37,"EncoderCos":38718,"EncoderSin":12497,"GapTicks":54775,"Mech_RPM":-5.93759755e-38,"cg_du":50.1406174,"cg_dv":50.2042656,"cg_dw":49.7957344,"cg_id_a":0.229357988,"cg_id_raw_a":0.062629357,"cg_iq_a":-0.405971199,"cg_iq_raw_a":-0.903453887,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14517916,"cg_sample_valid":1,"cg_theta_rad":5.00872278,"cg_vd_req_v":0.088062562,"cg_vd_v":0.088062562,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357765317,"cg_vq_v":-0.357765317,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":1.1833005,"dclink_p_w":171.252762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.346924,"values":{"Elec_RPM":-2.96879877e-37,"EncoderCos":38692,"EncoderSin":12442,"GapTicks":54769,"Mech_RPM":-5.93759755e-38,"cg_du":50.151947,"cg_dv":50.2095375,"cg_dw":49.7904625,"cg_id_a":0.275749683,"cg_id_raw_a":1.04276454,"cg_iq_a":0.230802193,"cg_iq_raw_a":1.64228106,"cg_iu_a":0.364971876,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8600006,"cg_sample_seq":14517966,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0878667608,"cg_vd_v":0.0878667608,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370495826,"cg_vq_v":-0.370495826,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.94952774,"dclink_p_w":137.420074,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.354736,"values":{"Elec_RPM":-2.90942273e-37,"EncoderCos":38740,"EncoderSin":12467,"GapTicks":54761,"Mech_RPM":-5.81884535e-38,"cg_du":50.1582985,"cg_dv":50.2170715,"cg_dw":49.7829285,"cg_id_a":0.40718627,"cg_id_raw_a":0.139025524,"cg_iq_a":0.813523412,"cg_iq_raw_a":0.0501898713,"cg_iu_a":0.183752537,"cg_iv_a":0.39534843,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9654541,"cg_sample_seq":14518016,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0854704902,"cg_vd_v":0.0854704902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3854343,"cg_vq_v":-0.3854343,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.973086238,"dclink_p_w":141.257629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1049194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.362549,"values":{"Elec_RPM":-2.90942273e-37,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54763,"Mech_RPM":-5.81884535e-38,"cg_du":50.1594543,"cg_dv":50.2152519,"cg_dw":49.7847481,"cg_id_a":0.368894041,"cg_id_raw_a":-0.065748103,"cg_iq_a":0.473528981,"cg_iq_raw_a":-0.22406359,"cg_iu_a":-1.55595136,"cg_iv_a":-0.112065196,"cg_iw_a":1.66801655,"cg_sample_age_us":23.863636,"cg_sample_seq":14518066,"cg_sample_valid":1,"cg_theta_rad":5.00838232,"cg_vd_req_v":0.0839344785,"cg_vd_v":0.0839344785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38212359,"cg_vq_v":-0.38212359,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.973086238,"dclink_p_w":141.257629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1299438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.370361,"values":{"Elec_RPM":-2.85123432e-37,"EncoderCos":38730,"EncoderSin":12484,"GapTicks":54766,"Mech_RPM":-5.70246863e-38,"cg_du":50.14645,"cg_dv":50.2124557,"cg_dw":49.7875443,"cg_id_a":-0.0377274528,"cg_id_raw_a":-0.588246047,"cg_iq_a":-0.139169514,"cg_iq_raw_a":-0.928518116,"cg_iu_a":0.292484283,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9327278,"cg_sample_seq":14518116,"cg_sample_valid":1,"cg_theta_rad":5.00720215,"cg_vd_req_v":0.0904856101,"cg_vd_v":0.0904856101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371257007,"cg_vq_v":-0.371257007,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.973086238,"dclink_p_w":141.257629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1299438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.38208,"values":{"Elec_RPM":-2.85123432e-37,"EncoderCos":38710,"EncoderSin":12468,"GapTicks":54770,"Mech_RPM":-5.70246863e-38,"cg_du":50.1488266,"cg_dv":50.2089996,"cg_dw":49.7910004,"cg_id_a":0.111885957,"cg_id_raw_a":0.230589271,"cg_iq_a":-0.361502171,"cg_iq_raw_a":-2.12518454,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0758214593,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8563633,"cg_sample_seq":14518166,"cg_sample_valid":1,"cg_theta_rad":5.00674772,"cg_vd_req_v":0.0873473138,"cg_vd_v":0.0873473138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367389917,"cg_vq_v":-0.367389917,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.973086238,"dclink_p_w":141.257629,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1064758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.389893,"values":{"Elec_RPM":-2.79420954e-37,"EncoderCos":38714,"EncoderSin":12507,"GapTicks":54763,"Mech_RPM":-5.58841919e-38,"cg_du":50.1496468,"cg_dv":50.2146416,"cg_dw":49.7853584,"cg_id_a":0.005211059,"cg_id_raw_a":0.041615475,"cg_iq_a":0.192137241,"cg_iq_raw_a":0.186885834,"cg_iu_a":-0.468636513,"cg_iv_a":-0.184552908,"cg_iw_a":0.653189421,"cg_sample_age_us":23.8745461,"cg_sample_seq":14518216,"cg_sample_valid":1,"cg_theta_rad":5.00729179,"cg_vd_req_v":0.0908580124,"cg_vd_v":0.0908580124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375835925,"cg_vq_v":-0.375835925,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":1.03288853,"dclink_p_w":149.484436,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1033325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.417236,"values":{"Elec_RPM":-2.79420954e-37,"EncoderCos":38712,"EncoderSin":12478,"GapTicks":54756,"Mech_RPM":-5.58841919e-38,"cg_du":50.1577797,"cg_dv":50.2212753,"cg_dw":49.7787247,"cg_id_a":-0.0469150022,"cg_id_raw_a":0.0685136095,"cg_iq_a":0.779215932,"cg_iq_raw_a":0.335381866,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641617,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8345451,"cg_sample_seq":14518271,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0921474993,"cg_vd_v":0.0921474993,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390380412,"cg_vq_v":-0.390380412,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":0.851669371,"dclink_p_w":123.632202,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1033325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.425049,"values":{"Elec_RPM":-2.73832553e-37,"EncoderCos":38719,"EncoderSin":12484,"GapTicks":54761,"Mech_RPM":-5.47665107e-38,"cg_du":50.1495094,"cg_dv":50.2167206,"cg_dw":49.7832794,"cg_id_a":-0.1208359,"cg_id_raw_a":-0.387278587,"cg_iq_a":0.0709935501,"cg_iq_raw_a":-1.89388978,"cg_iu_a":-0.178685904,"cg_iv_a":-0.25704056,"cg_iw_a":0.435726464,"cg_sample_age_us":23.863636,"cg_sample_seq":14518316,"cg_sample_valid":1,"cg_theta_rad":5.00720215,"cg_vd_req_v":0.0934368595,"cg_vd_v":0.0934368595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37969619,"cg_vq_v":-0.37969619,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.746562243,"dclink_p_w":108.045959,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.432861,"values":{"Elec_RPM":-2.73832553e-37,"EncoderCos":38735,"EncoderSin":12483,"GapTicks":54760,"Mech_RPM":-5.47665107e-38,"cg_du":50.1436462,"cg_dv":50.2172813,"cg_dw":49.7827187,"cg_id_a":-0.294343829,"cg_id_raw_a":-0.0907619894,"cg_iq_a":-0.200612545,"cg_iq_raw_a":-0.189684749,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9581814,"cg_sample_seq":14518367,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0969599709,"cg_vd_v":0.0969599709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376368791,"cg_vq_v":-0.376368791,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.454799414,"dclink_p_w":66.020752,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.44458,"values":{"Elec_RPM":-2.6835592e-37,"EncoderCos":38724,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-5.36711829e-38,"cg_du":50.1526985,"cg_dv":50.215229,"cg_dw":49.784771,"cg_id_a":0.00560601428,"cg_id_raw_a":0.0903722793,"cg_iq_a":0.0197219588,"cg_iq_raw_a":0.118657216,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9872723,"cg_sample_seq":14518417,"cg_sample_valid":1,"cg_theta_rad":5.00712204,"cg_vd_req_v":0.0886123478,"cg_vd_v":0.0886123478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378444582,"cg_vq_v":-0.378444582,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.587089419,"dclink_p_w":84.9663162,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.452393,"values":{"Elec_RPM":-2.6835592e-37,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54761,"Mech_RPM":-5.36711829e-38,"cg_du":50.1548309,"cg_dv":50.2164955,"cg_dw":49.7835045,"cg_id_a":-0.170788616,"cg_id_raw_a":0.0844060928,"cg_iq_a":-0.0612498745,"cg_iq_raw_a":-0.245691702,"cg_iu_a":0.0387773514,"cg_iv_a":-0.329528213,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9872723,"cg_sample_seq":14518466,"cg_sample_valid":1,"cg_theta_rad":5.00727177,"cg_vd_req_v":0.09010683,"cg_vd_v":0.09010683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380907744,"cg_vq_v":-0.380907744,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.509165168,"dclink_p_w":73.6887512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.460205,"values":{"Elec_RPM":-2.6298879e-37,"EncoderCos":38714,"EncoderSin":12466,"GapTicks":54749,"Mech_RPM":-5.25977603e-38,"cg_du":50.1759262,"cg_dv":50.2277489,"cg_dw":49.7722511,"cg_id_a":0.147547647,"cg_id_raw_a":0.177475691,"cg_iq_a":1.12669373,"cg_iq_raw_a":-0.127239689,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772128,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14518517,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.0840975866,"cg_vd_v":0.0840975866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408161908,"cg_vq_v":-0.408161908,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.4602661,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1096191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.468018,"values":{"Elec_RPM":-2.57729033e-37,"EncoderCos":38729,"EncoderSin":12491,"GapTicks":54760,"Mech_RPM":-5.15458055e-38,"cg_du":50.1603699,"cg_dv":50.2180099,"cg_dw":49.7819901,"cg_id_a":0.0531016439,"cg_id_raw_a":0.274611592,"cg_iq_a":0.188357964,"cg_iq_raw_a":0.172303945,"cg_iu_a":-0.214929581,"cg_iv_a":-0.72821033,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9618187,"cg_sample_seq":14518616,"cg_sample_valid":1,"cg_theta_rad":5.00634193,"cg_vd_req_v":0.0850746036,"cg_vd_v":0.0850746036,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387801647,"cg_vq_v":-0.387801647,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.47583,"values":{"Elec_RPM":-2.57729033e-37,"EncoderCos":38694,"EncoderSin":12489,"GapTicks":54760,"Mech_RPM":-5.15458055e-38,"cg_du":50.1627655,"cg_dv":50.2175674,"cg_dw":49.7824326,"cg_id_a":-0.0418945998,"cg_id_raw_a":0.0455678031,"cg_iq_a":0.17879115,"cg_iq_raw_a":-0.0673949495,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9581814,"cg_sample_seq":14518666,"cg_sample_valid":1,"cg_theta_rad":5.00697708,"cg_vd_req_v":0.0856375769,"cg_vd_v":0.0856375769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38668102,"cg_vq_v":-0.38668102,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1283875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115815975,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.483643,"values":{"Elec_RPM":-2.5257443e-37,"EncoderCos":38721,"EncoderSin":12464,"GapTicks":54762,"Mech_RPM":-5.05148871e-38,"cg_du":50.1610947,"cg_dv":50.2163544,"cg_dw":49.7836456,"cg_id_a":0.0258800462,"cg_id_raw_a":0.115189373,"cg_iq_a":0.0672049075,"cg_iq_raw_a":-0.352084935,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9618187,"cg_sample_seq":14518716,"cg_sample_valid":1,"cg_theta_rad":5.00560427,"cg_vd_req_v":0.0840604305,"cg_vd_v":0.0840604305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384470522,"cg_vq_v":-0.384470522,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.120575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.495361,"values":{"Elec_RPM":-2.5257443e-37,"EncoderCos":38714,"EncoderSin":12450,"GapTicks":54760,"Mech_RPM":-5.05148871e-38,"cg_du":50.1676559,"cg_dv":50.2179604,"cg_dw":49.7820396,"cg_id_a":0.172263205,"cg_id_raw_a":0.655551791,"cg_iq_a":0.236820638,"cg_iq_raw_a":0.139565825,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309112,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9872723,"cg_sample_seq":14518766,"cg_sample_valid":1,"cg_theta_rad":5.006145,"cg_vd_req_v":0.0814679712,"cg_vd_v":0.0814679712,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390127867,"cg_vq_v":-0.390127867,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0941733122,"dclink_p_w":13.6292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.120575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.522705,"values":{"Elec_RPM":-2.47522939e-37,"EncoderCos":38729,"EncoderSin":12467,"GapTicks":54759,"Mech_RPM":-4.95045901e-38,"cg_du":50.1635323,"cg_dv":50.2185402,"cg_dw":49.7814598,"cg_id_a":0.0570622534,"cg_id_raw_a":-0.319355786,"cg_iq_a":0.0246715434,"cg_iq_raw_a":0.00658179726,"cg_iu_a":-0.468636513,"cg_iv_a":-0.546991229,"cg_iw_a":1.01562774,"cg_sample_age_us":23.863636,"cg_sample_seq":14518821,"cg_sample_valid":1,"cg_theta_rad":5.00780296,"cg_vd_req_v":0.0834825039,"cg_vd_v":0.0834825039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388977647,"cg_vq_v":-0.388977647,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1064758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.530518,"values":{"Elec_RPM":-2.47522939e-37,"EncoderCos":38735,"EncoderSin":12483,"GapTicks":54758,"Mech_RPM":-4.95045901e-38,"cg_du":50.1587067,"cg_dv":50.2196732,"cg_dw":49.7803268,"cg_id_a":-0.111034445,"cg_id_raw_a":0.324721664,"cg_iq_a":-0.103327021,"cg_iq_raw_a":-0.587685227,"cg_iu_a":-0.142441988,"cg_iv_a":0.612811387,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9181824,"cg_sample_seq":14518866,"cg_sample_valid":1,"cg_theta_rad":5.00608444,"cg_vd_req_v":0.087417677,"cg_vd_v":0.087417677,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388030857,"cg_vq_v":-0.388030857,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00488441298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.53833,"values":{"Elec_RPM":-2.42572499e-37,"EncoderCos":38718,"EncoderSin":12451,"GapTicks":54763,"Mech_RPM":-4.85144999e-38,"cg_du":50.1670914,"cg_dv":50.2146568,"cg_dw":49.7853432,"cg_id_a":0.281067133,"cg_id_raw_a":-0.28204298,"cg_iq_a":-0.162140235,"cg_iq_raw_a":0.264109999,"cg_iu_a":-0.178685665,"cg_iv_a":0.431592286,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9872723,"cg_sample_seq":14518916,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0785486698,"cg_vd_v":0.0785486698,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386579096,"cg_vq_v":-0.386579096,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00488441298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.546143,"values":{"Elec_RPM":-2.42572499e-37,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-4.85144999e-38,"cg_du":50.157856,"cg_dv":50.2134399,"cg_dw":49.7865601,"cg_id_a":-0.0811081827,"cg_id_raw_a":0.321673065,"cg_iq_a":-0.435248196,"cg_iq_raw_a":-0.513214469,"cg_iu_a":0.509947062,"cg_iv_a":-0.293284416,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14518966,"cg_sample_valid":1,"cg_theta_rad":5.00701189,"cg_vd_req_v":0.085041739,"cg_vd_v":0.085041739,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37961632,"cg_vq_v":-0.37961632,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.557861,"values":{"Elec_RPM":-2.37721025e-37,"EncoderCos":38711,"EncoderSin":12489,"GapTicks":54765,"Mech_RPM":-4.75442072e-38,"cg_du":50.1616325,"cg_dv":50.2128677,"cg_dw":49.7871323,"cg_id_a":0.0936921984,"cg_id_raw_a":0.479068995,"cg_iq_a":-0.18120572,"cg_iq_raw_a":0.0115827536,"cg_iu_a":0.183752775,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.954546,"cg_sample_seq":14519017,"cg_sample_valid":1,"cg_theta_rad":5.00595856,"cg_vd_req_v":0.0804529041,"cg_vd_v":0.0804529041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37998873,"cg_vq_v":-0.37998873,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.565674,"values":{"Elec_RPM":-2.37721025e-37,"EncoderCos":38699,"EncoderSin":12465,"GapTicks":54765,"Mech_RPM":-4.75442072e-38,"cg_du":50.1682854,"cg_dv":50.2134628,"cg_dw":49.7865372,"cg_id_a":0.214802206,"cg_id_raw_a":0.521290898,"cg_iq_a":0.103977099,"cg_iq_raw_a":-0.601370335,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":0.689433038,"cg_sample_age_us":23.9618187,"cg_sample_seq":14519066,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0774975568,"cg_vd_v":0.0774975568,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384199232,"cg_vq_v":-0.384199232,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.16859448,"dclink_p_w":-24.3997784,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.573486,"values":{"Elec_RPM":-2.3296661e-37,"EncoderCos":38720,"EncoderSin":12466,"GapTicks":54765,"Mech_RPM":-4.65933225e-38,"cg_du":50.1602859,"cg_dv":50.2127724,"cg_dw":49.7872276,"cg_id_a":0.0473836809,"cg_id_raw_a":-0.0482418351,"cg_iq_a":-0.194559887,"cg_iq_raw_a":-0.186014339,"cg_iu_a":-0.0699543953,"cg_iv_a":0.540323794,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9290905,"cg_sample_seq":14519116,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.0809933618,"cg_vd_v":0.0809933618,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377986431,"cg_vq_v":-0.377986431,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.581299,"values":{"Elec_RPM":-2.3296661e-37,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54761,"Mech_RPM":-4.65933225e-38,"cg_du":50.1623383,"cg_dv":50.2171326,"cg_dw":49.7828674,"cg_id_a":-0.0666542575,"cg_id_raw_a":0.159504473,"cg_iq_a":0.276715696,"cg_iq_raw_a":0.271174043,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14519166,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0837266967,"cg_vd_v":0.0837266967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387478739,"cg_vq_v":-0.387478739,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.589111,"values":{"Elec_RPM":-2.28307281e-37,"EncoderCos":38676,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-4.56614562e-38,"cg_du":50.1666832,"cg_dv":50.2142944,"cg_dw":49.7857056,"cg_id_a":0.101991981,"cg_id_raw_a":0.0244928431,"cg_iq_a":0.10176371,"cg_iq_raw_a":0.331440389,"cg_iu_a":0.14750886,"cg_iv_a":0.214129269,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.8563633,"cg_sample_seq":14519216,"cg_sample_valid":1,"cg_theta_rad":5.00536871,"cg_vd_req_v":0.0808401778,"cg_vd_v":0.0808401778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384154499,"cg_vq_v":-0.384154499,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1142883,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.596924,"values":{"Elec_RPM":-2.28307281e-37,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54755,"Mech_RPM":-4.56614562e-38,"cg_du":50.1530876,"cg_dv":50.2218933,"cg_dw":49.7781067,"cg_id_a":-0.513281822,"cg_id_raw_a":-1.26763713,"cg_iq_a":0.323741317,"cg_iq_raw_a":0.459940434,"cg_iu_a":0.14750886,"cg_iv_a":-0.329528332,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8709087,"cg_sample_seq":14519267,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.095525153,"cg_vd_v":0.095525153,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387550831,"cg_vq_v":-0.387550831,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.628174,"values":{"Elec_RPM":-2.23741133e-37,"EncoderCos":38725,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-4.47482272e-38,"cg_du":50.1569328,"cg_dv":50.2107582,"cg_dw":49.7892418,"cg_id_a":0.209803656,"cg_id_raw_a":0.243308127,"cg_iq_a":-0.489100039,"cg_iq_raw_a":-0.594687819,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065256,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.8600006,"cg_sample_seq":14519321,"cg_sample_valid":1,"cg_theta_rad":5.00707388,"cg_vd_req_v":0.0811627135,"cg_vd_v":0.0811627135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373493463,"cg_vq_v":-0.373493463,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.181279898,"dclink_p_w":-26.2356701,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.635986,"values":{"Elec_RPM":-2.23741133e-37,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54767,"Mech_RPM":-4.47482272e-38,"cg_du":50.1531487,"cg_dv":50.2117615,"cg_dw":49.7882385,"cg_id_a":0.0431168377,"cg_id_raw_a":0.0382045135,"cg_iq_a":-0.268664956,"cg_iq_raw_a":0.00452658394,"cg_iu_a":-0.432392597,"cg_iv_a":1.01149368,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9581814,"cg_sample_seq":14519366,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0856297985,"cg_vd_v":0.0856297985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373812467,"cg_vq_v":-0.373812467,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1033325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.643799,"values":{"Elec_RPM":-2.19266305e-37,"EncoderCos":38710,"EncoderSin":12443,"GapTicks":54764,"Mech_RPM":-4.38532627e-38,"cg_du":50.155941,"cg_dv":50.2139359,"cg_dw":49.7860641,"cg_id_a":-0.0459637716,"cg_id_raw_a":-0.0426471457,"cg_iq_a":-0.0489063561,"cg_iq_raw_a":0.178615168,"cg_iu_a":0.147508621,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9872723,"cg_sample_seq":14519417,"cg_sample_valid":1,"cg_theta_rad":5.00787735,"cg_vd_req_v":0.0872359276,"cg_vd_v":0.0872359276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377946675,"cg_vq_v":-0.377946675,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0986633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.651611,"values":{"Elec_RPM":-2.14880981e-37,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54763,"Mech_RPM":-4.29761984e-38,"cg_du":50.1573944,"cg_dv":50.2146606,"cg_dw":49.7853394,"cg_id_a":-0.105763957,"cg_id_raw_a":0.257745266,"cg_iq_a":0.273862332,"cg_iq_raw_a":-0.301468551,"cg_iu_a":0.038777113,"cg_iv_a":0.032910049,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9872723,"cg_sample_seq":14519516,"cg_sample_valid":1,"cg_theta_rad":5.00866938,"cg_vd_req_v":0.0859650001,"cg_vd_v":0.0859650001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381156206,"cg_vq_v":-0.381156206,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.659424,"values":{"Elec_RPM":-2.14880981e-37,"EncoderCos":38668,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-4.29761984e-38,"cg_du":50.1595612,"cg_dv":50.2098656,"cg_dw":49.7901344,"cg_id_a":0.0823469907,"cg_id_raw_a":-0.169845358,"cg_iq_a":0.0359906256,"cg_iq_raw_a":-0.0179609526,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552848,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9509087,"cg_sample_seq":14519566,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.0838424936,"cg_vd_v":0.0838424936,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374920756,"cg_vq_v":-0.374920756,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.671143,"values":{"Elec_RPM":-2.10583367e-37,"EncoderCos":38744,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-4.21166755e-38,"cg_du":50.1485329,"cg_dv":50.2128601,"cg_dw":49.7871399,"cg_id_a":-0.127111644,"cg_id_raw_a":-0.1258654,"cg_iq_a":-0.0114605725,"cg_iq_raw_a":-0.265667558,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284297,"cg_iw_a":0.471969962,"cg_sample_age_us":23.8600006,"cg_sample_seq":14519616,"cg_sample_valid":1,"cg_theta_rad":5.00804949,"cg_vd_req_v":0.0888616741,"cg_vd_v":0.0888616741,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374264002,"cg_vq_v":-0.374264002,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1033325,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.678955,"values":{"Elec_RPM":-2.10583367e-37,"EncoderCos":38748,"EncoderSin":12470,"GapTicks":54769,"Mech_RPM":-4.21166755e-38,"cg_du":50.1551857,"cg_dv":50.2097664,"cg_dw":49.7902336,"cg_id_a":0.299197704,"cg_id_raw_a":-0.229240164,"cg_iq_a":-0.0966835245,"cg_iq_raw_a":-0.748033822,"cg_iu_a":-0.287417412,"cg_iv_a":-0.148309112,"cg_iw_a":0.435726523,"cg_sample_age_us":23.9218178,"cg_sample_seq":14519667,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0798466504,"cg_vd_v":0.0798466504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372728854,"cg_vq_v":-0.372728854,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.7386017,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.686768,"values":{"Elec_RPM":-2.06371714e-37,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54770,"Mech_RPM":-4.1274341e-38,"cg_du":50.1575012,"cg_dv":50.2082901,"cg_dw":49.7917099,"cg_id_a":0.257027,"cg_id_raw_a":-0.00963214692,"cg_iq_a":0.0269343257,"cg_iq_raw_a":0.691919208,"cg_iu_a":0.00253343582,"cg_iv_a":0.57656759,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.863636,"cg_sample_seq":14519716,"cg_sample_valid":1,"cg_theta_rad":5.00625849,"cg_vd_req_v":0.0798504129,"cg_vd_v":0.0798504129,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371320397,"cg_vq_v":-0.371320397,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.1111755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.69458,"values":{"Elec_RPM":-2.06371714e-37,"EncoderCos":38751,"EncoderSin":12489,"GapTicks":54770,"Mech_RPM":-4.1274341e-38,"cg_du":50.1488266,"cg_dv":50.2086525,"cg_dw":49.7913475,"cg_id_a":0.143631339,"cg_id_raw_a":0.333014607,"cg_iq_a":0.0142138973,"cg_iq_raw_a":0.467213959,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14519767,"cg_sample_valid":1,"cg_theta_rad":5.00644112,"cg_vd_req_v":0.0830506757,"cg_vd_v":0.0830506757,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367834479,"cg_vq_v":-0.367834479,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0986633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.72583,"values":{"Elec_RPM":-2.02244273e-37,"EncoderCos":38747,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-4.04488529e-38,"cg_du":50.1404839,"cg_dv":50.2100563,"cg_dw":49.7899437,"cg_id_a":-0.136084691,"cg_id_raw_a":0.167519346,"cg_iq_a":-0.157812193,"cg_iq_raw_a":-0.493476212,"cg_iu_a":0.14750886,"cg_iv_a":-0.800698042,"cg_iw_a":0.653189182,"cg_sample_age_us":23.863636,"cg_sample_seq":14519820,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0915450454,"cg_vd_v":0.0915450454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364984214,"cg_vq_v":-0.364984214,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.2433586,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.733643,"values":{"Elec_RPM":-1.98199386e-37,"EncoderCos":38730,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-3.96398749e-38,"cg_du":50.1467438,"cg_dv":50.2024994,"cg_dw":49.7975006,"cg_id_a":0.412863851,"cg_id_raw_a":0.531284571,"cg_iq_a":-0.377870381,"cg_iq_raw_a":0.12423645,"cg_iu_a":-0.178685665,"cg_iv_a":1.12022507,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14519916,"cg_sample_valid":1,"cg_theta_rad":5.00599813,"cg_vd_req_v":0.080886364,"cg_vd_v":0.080886364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357797205,"cg_vq_v":-0.357797205,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-51.0436172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.741455,"values":{"Elec_RPM":-1.98199386e-37,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-3.96398749e-38,"cg_du":50.1321907,"cg_dv":50.2029572,"cg_dw":49.7970428,"cg_id_a":-0.228235543,"cg_id_raw_a":0.0598163269,"cg_iq_a":-0.495138735,"cg_iq_raw_a":-0.648846209,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14519966,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.093519859,"cg_vd_v":0.093519859,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35008049,"cg_vq_v":-0.35008049,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-51.0436172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.749268,"values":{"Elec_RPM":-1.94235393e-37,"EncoderCos":38742,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-3.88470763e-38,"cg_du":50.1334724,"cg_dv":50.2043953,"cg_dw":49.7956047,"cg_id_a":-0.13041085,"cg_id_raw_a":0.0164082814,"cg_iq_a":-0.413184702,"cg_iq_raw_a":-0.216067106,"cg_iu_a":0.546190977,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8781815,"cg_sample_seq":14520016,"cg_sample_valid":1,"cg_theta_rad":5.00826263,"cg_vd_req_v":0.091898866,"cg_vd_v":0.091898866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353285611,"cg_vq_v":-0.353285611,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-51.0436172,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.072113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.75708,"values":{"Elec_RPM":-1.94235393e-37,"EncoderCos":38686,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-3.88470763e-38,"cg_du":50.1403847,"cg_dv":50.2008171,"cg_dw":49.7991829,"cg_id_a":-0.0375183672,"cg_id_raw_a":0.494492888,"cg_iq_a":-0.120842189,"cg_iq_raw_a":-0.931088924,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9654541,"cg_sample_seq":14520067,"cg_sample_valid":1,"cg_theta_rad":5.00555038,"cg_vd_req_v":0.0849623233,"cg_vd_v":0.0849623233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351782024,"cg_vq_v":-0.351782024,"cg_vu_v":26.3935547,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.09552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.764893,"values":{"Elec_RPM":-1.90350679e-37,"EncoderCos":38702,"EncoderSin":12444,"GapTicks":54782,"Mech_RPM":-3.80701348e-38,"cg_du":50.1308136,"cg_dv":50.1976929,"cg_dw":49.8023071,"cg_id_a":-0.022274591,"cg_id_raw_a":0.0905183181,"cg_iq_a":-0.910634816,"cg_iq_raw_a":-0.499943018,"cg_iu_a":0.509947062,"cg_iv_a":0.721542835,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.9618187,"cg_sample_seq":14520117,"cg_sample_valid":1,"cg_theta_rad":5.0085206,"cg_vd_req_v":0.0916062668,"cg_vd_v":0.0916062668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341586798,"cg_vq_v":-0.341586798,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.09552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.772705,"values":{"Elec_RPM":-1.90350679e-37,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54778,"Mech_RPM":-3.80701348e-38,"cg_du":50.1340446,"cg_dv":50.2012405,"cg_dw":49.7987595,"cg_id_a":0.0427556075,"cg_id_raw_a":0.0922112167,"cg_iq_a":-0.331492126,"cg_iq_raw_a":-0.317656308,"cg_iu_a":0.0387773514,"cg_iv_a":0.10539782,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8781815,"cg_sample_seq":14520166,"cg_sample_valid":1,"cg_theta_rad":5.00614929,"cg_vd_req_v":0.0920932367,"cg_vd_v":0.0920932367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348345816,"cg_vq_v":-0.348345816,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.5413208,"temp_inv2_c":36.1017761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.784424,"values":{"Elec_RPM":-1.86543654e-37,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-3.73087308e-38,"cg_du":50.13871,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":-0.0602544919,"cg_id_raw_a":-0.177128524,"cg_iq_a":0.360562533,"cg_iq_raw_a":0.0562673286,"cg_iu_a":-0.106198072,"cg_iv_a":-0.981917262,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9509087,"cg_sample_seq":14520217,"cg_sample_valid":1,"cg_theta_rad":5.00509501,"cg_vd_req_v":0.093642056,"cg_vd_v":0.093642056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360685468,"cg_vq_v":-0.360685468,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.792236,"values":{"Elec_RPM":-1.86543654e-37,"EncoderCos":38682,"EncoderSin":12451,"GapTicks":54775,"Mech_RPM":-3.73087308e-38,"cg_du":50.1392136,"cg_dv":50.2042427,"cg_dw":49.7957573,"cg_id_a":-0.0335689262,"cg_id_raw_a":-0.0372927524,"cg_iq_a":-0.0207087696,"cg_iq_raw_a":-0.0761236325,"cg_iu_a":0.364971876,"cg_iv_a":0.214129329,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9618187,"cg_sample_seq":14520267,"cg_sample_valid":1,"cg_theta_rad":5.00674677,"cg_vd_req_v":0.0929079875,"cg_vd_v":0.0929079875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354830801,"cg_vq_v":-0.354830801,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00287022209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.81958,"values":{"Elec_RPM":-1.82812781e-37,"EncoderCos":38706,"EncoderSin":12441,"GapTicks":54767,"Mech_RPM":-3.65625562e-38,"cg_du":50.1583519,"cg_dv":50.2116661,"cg_dw":49.7883339,"cg_id_a":0.419830531,"cg_id_raw_a":0.148217306,"cg_iq_a":0.848248601,"cg_iq_raw_a":0.161812618,"cg_iu_a":0.038777113,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716872215,"cg_sample_age_us":26.5945454,"cg_sample_seq":14520320,"cg_sample_valid":1,"cg_theta_rad":5.00703192,"cg_vd_req_v":0.083272405,"cg_vd_v":0.083272405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37500301,"cg_vq_v":-0.37500301,"cg_vu_v":137.246475,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.09552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.827393,"values":{"Elec_RPM":-1.82812781e-37,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54779,"Mech_RPM":-3.65625562e-38,"cg_du":50.1174698,"cg_dv":50.2005234,"cg_dw":49.7994766,"cg_id_a":-0.528000116,"cg_id_raw_a":-0.297934175,"cg_iq_a":-0.914510906,"cg_iq_raw_a":-0.210820556,"cg_iu_a":1.52477443,"cg_iv_a":-0.655722737,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9581814,"cg_sample_seq":14520366,"cg_sample_valid":1,"cg_theta_rad":5.00624895,"cg_vd_req_v":0.103258476,"cg_vd_v":0.103258476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338344157,"cg_vq_v":-0.338344157,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.09552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.839111,"values":{"Elec_RPM":-1.79156524e-37,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.58313054e-38,"cg_du":50.1329079,"cg_dv":50.2067833,"cg_dw":49.7932167,"cg_id_a":0.0197545588,"cg_id_raw_a":0.818372607,"cg_iq_a":0.00162871182,"cg_iq_raw_a":1.34974015,"cg_iu_a":0.799897909,"cg_iv_a":0.177885413,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.8600006,"cg_sample_seq":14520416,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0946664587,"cg_vd_v":0.0946664587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35622558,"cg_vq_v":-0.35622558,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.846924,"values":{"Elec_RPM":-1.79156524e-37,"EncoderCos":38726,"EncoderSin":12462,"GapTicks":54772,"Mech_RPM":-3.58313054e-38,"cg_du":50.1461449,"cg_dv":50.2063904,"cg_dw":49.7936096,"cg_id_a":0.443753541,"cg_id_raw_a":0.239488661,"cg_iq_a":0.372032583,"cg_iq_raw_a":0.0968512818,"cg_iu_a":-1.12102532,"cg_iv_a":0.467836142,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9581814,"cg_sample_seq":14520467,"cg_sample_valid":1,"cg_theta_rad":5.00773764,"cg_vd_req_v":0.0857321694,"cg_vd_v":0.0857321694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362619191,"cg_vq_v":-0.362619191,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0908508,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.854736,"values":{"Elec_RPM":-1.75573393e-37,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-3.51146786e-38,"cg_du":50.1342926,"cg_dv":50.2005043,"cg_dw":49.7994957,"cg_id_a":0.329433382,"cg_id_raw_a":1.21536112,"cg_iq_a":-0.405628651,"cg_iq_raw_a":-1.34127092,"cg_iu_a":-0.794831038,"cg_iv_a":0.214129269,"cg_iw_a":0.580701768,"cg_sample_age_us":23.8527279,"cg_sample_seq":14520517,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0882428661,"cg_vd_v":0.0882428661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34824127,"cg_vq_v":-0.34824127,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0908508,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.862549,"values":{"Elec_RPM":-1.75573393e-37,"EncoderCos":38721,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-3.51146786e-38,"cg_du":50.142765,"cg_dv":50.2092361,"cg_dw":49.7907639,"cg_id_a":0.095799692,"cg_id_raw_a":0.215113625,"cg_iq_a":0.438530028,"cg_iq_raw_a":0.130988285,"cg_iu_a":-0.50488019,"cg_iv_a":-0.00333374739,"cg_iw_a":0.508213937,"cg_sample_age_us":23.9472733,"cg_sample_seq":14520567,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.0912900195,"cg_vd_v":0.0912900195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364558041,"cg_vq_v":-0.364558041,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.2507677,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.1158752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.870361,"values":{"Elec_RPM":-1.72061918e-37,"EncoderCos":38744,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.44123842e-38,"cg_du":50.1315842,"cg_dv":50.2030487,"cg_dw":49.7969513,"cg_id_a":0.028792128,"cg_id_raw_a":-0.308540285,"cg_iq_a":-0.21470578,"cg_iq_raw_a":0.11778152,"cg_iu_a":-0.287417412,"cg_iv_a":0.57656765,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9799995,"cg_sample_seq":14520617,"cg_sample_valid":1,"cg_theta_rad":5.0064559,"cg_vd_req_v":0.0921811014,"cg_vd_v":0.0921811014,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349231958,"cg_vq_v":-0.349231958,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.6090851,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.878174,"values":{"Elec_RPM":-1.72061918e-37,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54771,"Mech_RPM":-3.44123842e-38,"cg_du":50.1327896,"cg_dv":50.2080269,"cg_dw":49.7919731,"cg_id_a":-0.106706783,"cg_id_raw_a":-0.12747553,"cg_iq_a":0.0997363478,"cg_iq_raw_a":0.425666481,"cg_iu_a":-0.106198072,"cg_iv_a":-0.90942955,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9836369,"cg_sample_seq":14520667,"cg_sample_valid":1,"cg_theta_rad":5.00635862,"cg_vd_req_v":0.0964596868,"cg_vd_v":0.0964596868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356556028,"cg_vq_v":-0.356556028,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.885986,"values":{"Elec_RPM":-1.68620688e-37,"EncoderCos":38694,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-3.37241365e-38,"cg_du":50.1361542,"cg_dv":50.2059517,"cg_dw":49.7940483,"cg_id_a":-0.0319590643,"cg_id_raw_a":0.117371753,"cg_iq_a":-0.0671000928,"cg_iq_raw_a":-0.35136354,"cg_iu_a":-0.432392359,"cg_iv_a":-0.655722737,"cg_iw_a":1.0881151,"cg_sample_age_us":23.9799995,"cg_sample_seq":14520718,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0954234451,"cg_vd_v":0.0954234451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354660124,"cg_vq_v":-0.354660124,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.3357964,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2630.897705,"values":{"Elec_RPM":-1.68620688e-37,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-3.37241365e-38,"cg_du":50.1351471,"cg_dv":50.2073936,"cg_dw":49.7926064,"cg_id_a":0.0416472182,"cg_id_raw_a":-0.0417475514,"cg_iq_a":0.27826494,"cg_iq_raw_a":-0.25806281,"cg_iu_a":0.256240368,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9872723,"cg_sample_seq":14520767,"cg_sample_valid":1,"cg_theta_rad":5.00656509,"cg_vd_req_v":0.0949261338,"cg_vd_v":0.0949261338,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357924938,"cg_vq_v":-0.357924938,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0892944,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.925049,"values":{"Elec_RPM":-1.65248278e-37,"EncoderCos":38742,"EncoderSin":12500,"GapTicks":54774,"Mech_RPM":-3.30496551e-38,"cg_du":50.1195107,"cg_dv":50.2046318,"cg_dw":49.7953682,"cg_id_a":-0.327044934,"cg_id_raw_a":-0.5194664,"cg_iq_a":-0.248853773,"cg_iq_raw_a":-1.02887702,"cg_iu_a":0.14750886,"cg_iv_a":0.57656759,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.863636,"cg_sample_seq":14520820,"cg_sample_valid":1,"cg_theta_rad":5.00706911,"cg_vd_req_v":0.103088133,"cg_vd_v":0.103088133,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346994638,"cg_vq_v":-0.346994638,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.932861,"values":{"Elec_RPM":-1.65248278e-37,"EncoderCos":38764,"EncoderSin":12488,"GapTicks":54770,"Mech_RPM":-3.30496551e-38,"cg_du":50.1323395,"cg_dv":50.208889,"cg_dw":49.791111,"cg_id_a":0.0521384738,"cg_id_raw_a":-0.0523820408,"cg_iq_a":0.515802622,"cg_iq_raw_a":0.323686421,"cg_iu_a":0.0750212669,"cg_iv_a":-0.112065315,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14520867,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0955462754,"cg_vd_v":0.0955462754,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360377401,"cg_vq_v":-0.360377401,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.940674,"values":{"Elec_RPM":-1.6194331e-37,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54783,"Mech_RPM":-3.23886626e-38,"cg_du":50.1350594,"cg_dv":50.1971664,"cg_dw":49.8028336,"cg_id_a":0.390024245,"cg_id_raw_a":0.772466063,"cg_iq_a":-0.470828682,"cg_iq_raw_a":-0.23283872,"cg_iu_a":0.256240368,"cg_iv_a":0.0691539049,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8563633,"cg_sample_seq":14520917,"cg_sample_valid":1,"cg_theta_rad":5.00688601,"cg_vd_req_v":0.0871112347,"cg_vd_v":0.0871112347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343449473,"cg_vq_v":-0.343449473,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.952393,"values":{"Elec_RPM":-1.6194331e-37,"EncoderCos":38700,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.23886626e-38,"cg_du":50.1298409,"cg_dv":50.2004166,"cg_dw":49.7995834,"cg_id_a":0.0100454837,"cg_id_raw_a":-0.395165861,"cg_iq_a":-0.281649917,"cg_iq_raw_a":-0.0766614377,"cg_iu_a":0.908629298,"cg_iv_a":0.902762055,"cg_iw_a":-1.81139135,"cg_sample_age_us":23.8600006,"cg_sample_seq":14520967,"cg_sample_valid":1,"cg_theta_rad":5.00850916,"cg_vd_req_v":0.0950760841,"cg_vd_v":0.0950760841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344715625,"cg_vq_v":-0.344715625,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0924072,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.960205,"values":{"Elec_RPM":-1.5870445e-37,"EncoderCos":38659,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-3.174089e-38,"cg_du":50.1348534,"cg_dv":50.1989059,"cg_dw":49.8010941,"cg_id_a":0.0618596449,"cg_id_raw_a":-0.201020673,"cg_iq_a":-0.266920477,"cg_iq_raw_a":0.634722412,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14521017,"cg_sample_valid":1,"cg_theta_rad":5.00724125,"cg_vd_req_v":0.0925675035,"cg_vd_v":0.0925675035,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344746381,"cg_vq_v":-0.344746381,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0767822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2630.968018,"values":{"Elec_RPM":-1.5870445e-37,"EncoderCos":38733,"EncoderSin":12418,"GapTicks":54779,"Mech_RPM":-3.174089e-38,"cg_du":50.1302376,"cg_dv":50.2006149,"cg_dw":49.7993851,"cg_id_a":0.126470402,"cg_id_raw_a":0.66080761,"cg_iq_a":-0.305558205,"cg_iq_raw_a":-0.553292751,"cg_iu_a":-0.214929581,"cg_iv_a":0.57656765,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9836369,"cg_sample_seq":14521067,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0933888629,"cg_vd_v":0.0933888629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346760333,"cg_vq_v":-0.346760333,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0767822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.97583,"values":{"Elec_RPM":-1.55530352e-37,"EncoderCos":38724,"EncoderSin":12477,"GapTicks":54780,"Mech_RPM":-3.1106071e-38,"cg_du":50.1294937,"cg_dv":50.1999779,"cg_dw":49.8000221,"cg_id_a":0.16802597,"cg_id_raw_a":-0.454604,"cg_iq_a":-0.519808292,"cg_iq_raw_a":-0.989712179,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9836369,"cg_sample_seq":14521117,"cg_sample_valid":1,"cg_theta_rad":5.006814,"cg_vd_req_v":0.0926585719,"cg_vd_v":0.0926585719,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345662504,"cg_vq_v":-0.345662504,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.8415375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2630.978872,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2630.978878,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2630.978883,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2630.983643,"values":{"Elec_RPM":-1.55530352e-37,"EncoderCos":38735,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-3.1106071e-38,"cg_du":50.1306,"cg_dv":50.2068596,"cg_dw":49.7931404,"cg_id_a":-0.0763076171,"cg_id_raw_a":-0.0411173254,"cg_iq_a":0.10285338,"cg_iq_raw_a":0.615823567,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931376,"cg_sample_age_us":24.0381813,"cg_sample_seq":14521167,"cg_sample_valid":1,"cg_theta_rad":5.00776863,"cg_vd_req_v":0.0981381088,"cg_vd_v":0.0981381088,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355773509,"cg_vq_v":-0.355773509,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2630.995361,"values":{"Elec_RPM":-1.5241975e-37,"EncoderCos":38733,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-3.04839505e-38,"cg_du":50.1273689,"cg_dv":50.1986084,"cg_dw":49.8013916,"cg_id_a":0.196597725,"cg_id_raw_a":0.124754287,"cg_iq_a":-0.58995223,"cg_iq_raw_a":-0.242172673,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14521217,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0923237652,"cg_vd_v":0.0923237652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341666162,"cg_vq_v":-0.341666162,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.022705,"values":{"Elec_RPM":-1.49371354e-37,"EncoderCos":38735,"EncoderSin":12518,"GapTicks":54773,"Mech_RPM":-2.98742708e-38,"cg_du":50.1314697,"cg_dv":50.2060699,"cg_dw":49.7939301,"cg_id_a":0.0813226551,"cg_id_raw_a":0.0340489075,"cg_iq_a":0.0267986879,"cg_iq_raw_a":1.20488906,"cg_iu_a":0.364971876,"cg_iv_a":0.612811387,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.8672733,"cg_sample_seq":14521320,"cg_sample_valid":1,"cg_theta_rad":5.01172733,"cg_vd_req_v":0.0948490575,"cg_vd_v":0.0948490575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354518831,"cg_vq_v":-0.354518831,"cg_vu_v":41.3499031,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.0503006,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.030518,"values":{"Elec_RPM":-1.49371354e-37,"EncoderCos":38780,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-2.98742708e-38,"cg_du":50.1249275,"cg_dv":50.2126274,"cg_dw":49.7873726,"cg_id_a":-0.280956924,"cg_id_raw_a":-0.249147356,"cg_iq_a":0.220133215,"cg_iq_raw_a":0.670819342,"cg_iu_a":0.14750886,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9654541,"cg_sample_seq":14521366,"cg_sample_valid":1,"cg_theta_rad":5.00966978,"cg_vd_req_v":0.104036488,"cg_vd_v":0.104036488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360503495,"cg_vq_v":-0.360503495,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.426899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1049194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.042236,"values":{"Elec_RPM":-1.4638392e-37,"EncoderCos":38691,"EncoderSin":12461,"GapTicks":54771,"Mech_RPM":-2.92767851e-38,"cg_du":50.1418991,"cg_dv":50.2076302,"cg_dw":49.7923698,"cg_id_a":0.301259756,"cg_id_raw_a":0.295539796,"cg_iq_a":0.20220615,"cg_iq_raw_a":-0.842785895,"cg_iu_a":-0.9760499,"cg_iv_a":0.0329101086,"cg_iw_a":0.943139791,"cg_sample_age_us":23.863636,"cg_sample_seq":14521416,"cg_sample_valid":1,"cg_theta_rad":5.0056138,"cg_vd_req_v":0.0934530869,"cg_vd_v":0.0934530869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362286001,"cg_vq_v":-0.362286001,"cg_vu_v":7.03828096,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.426899,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1049194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.050049,"values":{"Elec_RPM":-1.4638392e-37,"EncoderCos":38740,"EncoderSin":12497,"GapTicks":54770,"Mech_RPM":-2.92767851e-38,"cg_du":50.1268654,"cg_dv":50.2083092,"cg_dw":49.7916908,"cg_id_a":-0.0564356297,"cg_id_raw_a":0.0580052212,"cg_iq_a":-0.160035372,"cg_iq_raw_a":-0.212267816,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284357,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9618187,"cg_sample_seq":14521467,"cg_sample_valid":1,"cg_theta_rad":5.00739431,"cg_vd_req_v":0.101056933,"cg_vd_v":0.101056933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356066555,"cg_vq_v":-0.356066555,"cg_vu_v":137.686371,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.7805481,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1049194,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.057861,"values":{"Elec_RPM":-1.43456249e-37,"EncoderCos":38721,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-2.86912497e-38,"cg_du":50.1302986,"cg_dv":50.2052002,"cg_dw":49.7947998,"cg_id_a":0.148794159,"cg_id_raw_a":-0.0278298892,"cg_iq_a":-0.230410218,"cg_iq_raw_a":0.0344800651,"cg_iu_a":-0.613611698,"cg_iv_a":-0.112065196,"cg_iw_a":0.725676894,"cg_sample_age_us":23.863636,"cg_sample_seq":14521517,"cg_sample_valid":1,"cg_theta_rad":5.00759554,"cg_vd_req_v":0.0975879282,"cg_vd_v":0.0975879282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351959854,"cg_vq_v":-0.351959854,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.065674,"values":{"Elec_RPM":-1.43456249e-37,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54776,"Mech_RPM":-2.86912497e-38,"cg_du":50.1344528,"cg_dv":50.2031708,"cg_dw":49.7968292,"cg_id_a":0.428581536,"cg_id_raw_a":0.213145137,"cg_iq_a":-0.406366378,"cg_iq_raw_a":-0.487983018,"cg_iu_a":-0.50488019,"cg_iv_a":1.2652005,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.8563633,"cg_sample_seq":14521566,"cg_sample_valid":1,"cg_theta_rad":5.0068059,"cg_vd_req_v":0.0925089642,"cg_vd_v":0.0925089642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351492882,"cg_vq_v":-0.351492882,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.073486,"values":{"Elec_RPM":-1.40587118e-37,"EncoderCos":38727,"EncoderSin":12463,"GapTicks":54764,"Mech_RPM":-2.81174236e-38,"cg_du":50.137146,"cg_dv":50.2143593,"cg_dw":49.7856407,"cg_id_a":-0.0472223125,"cg_id_raw_a":0.128495201,"cg_iq_a":0.341706872,"cg_iq_raw_a":-0.0596014485,"cg_iu_a":-0.359905005,"cg_iv_a":-0.148308992,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9509087,"cg_sample_seq":14521617,"cg_sample_valid":1,"cg_theta_rad":5.00649405,"cg_vd_req_v":0.100429185,"cg_vd_v":0.100429185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368438125,"cg_vq_v":-0.368438125,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.545530319,"dclink_p_w":-78.9516907,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.081299,"values":{"Elec_RPM":-1.40587118e-37,"EncoderCos":38734,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-2.81174236e-38,"cg_du":50.1264153,"cg_dv":50.2079124,"cg_dw":49.7920876,"cg_id_a":-0.185390472,"cg_id_raw_a":-0.173159346,"cg_iq_a":-0.4911865,"cg_iq_raw_a":0.239268169,"cg_iu_a":0.944873095,"cg_iv_a":0.0329101086,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9654541,"cg_sample_seq":14521667,"cg_sample_valid":1,"cg_theta_rad":5.00705242,"cg_vd_req_v":0.101861604,"cg_vd_v":0.101861604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353867382,"cg_vq_v":-0.353867382,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.093018,"values":{"Elec_RPM":-1.37775374e-37,"EncoderCos":38680,"EncoderSin":12455,"GapTicks":54766,"Mech_RPM":-2.75550741e-38,"cg_du":50.1404877,"cg_dv":50.2118912,"cg_dw":49.7881088,"cg_id_a":-0.0973716825,"cg_id_raw_a":-0.592415154,"cg_iq_a":0.0992876738,"cg_iq_raw_a":0.192004904,"cg_iu_a":-0.14244175,"cg_iv_a":-0.329528213,"cg_iw_a":0.471969962,"cg_sample_age_us":23.863636,"cg_sample_seq":14521717,"cg_sample_valid":1,"cg_theta_rad":5.00677299,"cg_vd_req_v":0.0995219201,"cg_vd_v":0.0995219201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365859419,"cg_vq_v":-0.365859419,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.10083,"values":{"Elec_RPM":-1.37775374e-37,"EncoderCos":38745,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-2.75550741e-38,"cg_du":50.1327095,"cg_dv":50.2195282,"cg_dw":49.7804718,"cg_id_a":-0.383766323,"cg_id_raw_a":-0.0648910701,"cg_iq_a":0.432512105,"cg_iq_raw_a":0.213247389,"cg_iu_a":-0.323660851,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457555,"cg_sample_age_us":23.9363632,"cg_sample_seq":14521767,"cg_sample_valid":1,"cg_theta_rad":5.00981522,"cg_vd_req_v":0.106941625,"cg_vd_v":0.106941625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373558074,"cg_vq_v":-0.373558074,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.5680046,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.128174,"values":{"Elec_RPM":-1.3501986e-37,"EncoderCos":38740,"EncoderSin":12475,"GapTicks":54756,"Mech_RPM":-2.70039715e-38,"cg_du":50.1416969,"cg_dv":50.2209435,"cg_dw":49.7790565,"cg_id_a":-0.124516822,"cg_id_raw_a":-0.0302507505,"cg_iq_a":0.625913084,"cg_iq_raw_a":0.289192736,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14521820,"cg_sample_valid":1,"cg_theta_rad":5.00779772,"cg_vd_req_v":0.102120668,"cg_vd_v":0.102120668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381490022,"cg_vq_v":-0.381490022,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.5680046,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0861511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.135986,"values":{"Elec_RPM":-1.3501986e-37,"EncoderCos":38717,"EncoderSin":12482,"GapTicks":54763,"Mech_RPM":-2.70039715e-38,"cg_du":50.1399651,"cg_dv":50.2150688,"cg_dw":49.7849312,"cg_id_a":-0.00372713059,"cg_id_raw_a":0.156118438,"cg_iq_a":0.0641253293,"cg_iq_raw_a":0.0888779014,"cg_iu_a":-0.468636513,"cg_iv_a":-0.184552848,"cg_iw_a":0.653189361,"cg_sample_age_us":23.863636,"cg_sample_seq":14521866,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.0992617384,"cg_vd_v":0.0992617384,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370889992,"cg_vq_v":-0.370889992,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.5680046,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0861511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.143799,"values":{"Elec_RPM":-1.32319457e-37,"EncoderCos":38740,"EncoderSin":12496,"GapTicks":54759,"Mech_RPM":-2.64638914e-38,"cg_du":50.1406746,"cg_dv":50.2184334,"cg_dw":49.7815666,"cg_id_a":-0.0135403275,"cg_id_raw_a":0.485735387,"cg_iq_a":0.373014122,"cg_iq_raw_a":-0.0639952049,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885473,"cg_iw_a":0.145775616,"cg_sample_age_us":23.8563633,"cg_sample_seq":14521916,"cg_sample_valid":1,"cg_theta_rad":5.00832319,"cg_vd_req_v":0.0996466279,"cg_vd_v":0.0996466279,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376488,"cg_vq_v":-0.376488,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0767822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.155518,"values":{"Elec_RPM":-1.32319457e-37,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54762,"Mech_RPM":-2.64638914e-38,"cg_du":50.146019,"cg_dv":50.2155342,"cg_dw":49.7844658,"cg_id_a":0.140902728,"cg_id_raw_a":-0.347751111,"cg_iq_a":0.249733746,"cg_iq_raw_a":0.294370294,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14521966,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.095232524,"cg_vd_v":0.095232524,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374853939,"cg_vq_v":-0.374853939,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0767822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116269164,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.16333,"values":{"Elec_RPM":-1.29673066e-37,"EncoderCos":38712,"EncoderSin":12472,"GapTicks":54766,"Mech_RPM":-2.59346126e-38,"cg_du":50.1387596,"cg_dv":50.212635,"cg_dw":49.787365,"cg_id_a":-0.0263011493,"cg_id_raw_a":-0.0350349136,"cg_iq_a":-0.247622848,"cg_iq_raw_a":0.10658744,"cg_iu_a":0.61867857,"cg_iv_a":0.10539782,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14522017,"cg_sample_valid":1,"cg_theta_rad":5.00685453,"cg_vd_req_v":0.0985105932,"cg_vd_v":0.0985105932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366723746,"cg_vq_v":-0.366723746,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0799255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.171143,"values":{"Elec_RPM":-1.29673066e-37,"EncoderCos":38739,"EncoderSin":12475,"GapTicks":54759,"Mech_RPM":-2.59346126e-38,"cg_du":50.1444168,"cg_dv":50.2186241,"cg_dw":49.7813759,"cg_id_a":-0.0126290517,"cg_id_raw_a":-0.362315029,"cg_iq_a":0.37363553,"cg_iq_raw_a":0.695092797,"cg_iu_a":-0.831074715,"cg_iv_a":0.286616921,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9581814,"cg_sample_seq":14522068,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0975136608,"cg_vd_v":0.0975136608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378662556,"cg_vq_v":-0.378662556,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.512911081,"dclink_p_w":-74.2308807,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1127319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.178955,"values":{"Elec_RPM":-1.27079599e-37,"EncoderCos":38717,"EncoderSin":12523,"GapTicks":54766,"Mech_RPM":-2.54159192e-38,"cg_du":50.1365395,"cg_dv":50.2126427,"cg_dw":49.7873573,"cg_id_a":-0.113944523,"cg_id_raw_a":-0.232913509,"cg_iq_a":-0.219749272,"cg_iq_raw_a":-0.239708707,"cg_iu_a":0.256240368,"cg_iv_a":0.21412921,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14522167,"cg_sample_valid":1,"cg_theta_rad":5.00631762,"cg_vd_req_v":0.0985589623,"cg_vd_v":0.0985589623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365947306,"cg_vq_v":-0.365947306,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.09004545,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0783691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.186768,"values":{"Elec_RPM":-1.24538002e-37,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-2.4907601e-38,"cg_du":50.1394577,"cg_dv":50.2106857,"cg_dw":49.7893143,"cg_id_a":0.0611956306,"cg_id_raw_a":0.182007864,"cg_iq_a":-0.229806036,"cg_iq_raw_a":-0.38165161,"cg_iu_a":-0.251173258,"cg_iv_a":-0.148309112,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9290905,"cg_sample_seq":14522217,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0962919518,"cg_vd_v":0.0962919518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364411831,"cg_vq_v":-0.364411831,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.00900018215,"dclink_p_w":1.30254829,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1080322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.19458,"values":{"Elec_RPM":-1.24538002e-37,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-2.4907601e-38,"cg_du":50.1234207,"cg_dv":50.2092056,"cg_dw":49.7907944,"cg_id_a":-0.40069443,"cg_id_raw_a":-0.149359792,"cg_iq_a":-0.675271988,"cg_iq_raw_a":0.204831555,"cg_iu_a":0.401215553,"cg_iv_a":-0.112065196,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8527279,"cg_sample_seq":14522267,"cg_sample_valid":1,"cg_theta_rad":5.00740385,"cg_vd_req_v":0.106236234,"cg_vd_v":0.106236234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353723466,"cg_vq_v":-0.353723466,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.1080322,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.22583,"values":{"Elec_RPM":-1.22047244e-37,"EncoderCos":38747,"EncoderSin":12473,"GapTicks":54755,"Mech_RPM":-2.44094478e-38,"cg_du":50.1421661,"cg_dv":50.2227211,"cg_dw":49.7772789,"cg_id_a":-0.201407582,"cg_id_raw_a":0.0841083378,"cg_iq_a":0.827890217,"cg_iq_raw_a":0.881964922,"cg_iu_a":0.292484045,"cg_iv_a":0.540323794,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.863636,"cg_sample_seq":14522320,"cg_sample_valid":1,"cg_theta_rad":5.0087347,"cg_vd_req_v":0.102600724,"cg_vd_v":0.102600724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383168548,"cg_vq_v":-0.383168548,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.233643,"values":{"Elec_RPM":-1.22047244e-37,"EncoderCos":38741,"EncoderSin":12464,"GapTicks":54766,"Mech_RPM":-2.44094478e-38,"cg_du":50.1419678,"cg_dv":50.2123909,"cg_dw":49.7876091,"cg_id_a":0.162057161,"cg_id_raw_a":-0.0276515931,"cg_iq_a":0.281353951,"cg_iq_raw_a":0.0346232951,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9509087,"cg_sample_seq":14522366,"cg_sample_valid":1,"cg_theta_rad":5.00619268,"cg_vd_req_v":0.0938199759,"cg_vd_v":0.0938199759,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369891047,"cg_vq_v":-0.369891047,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.5172424,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.241455,"values":{"Elec_RPM":-1.19606295e-37,"EncoderCos":38743,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-2.39212578e-38,"cg_du":50.1446953,"cg_dv":50.21381,"cg_dw":49.78619,"cg_id_a":0.211851716,"cg_id_raw_a":0.303738117,"cg_iq_a":0.447843432,"cg_iq_raw_a":0.31955862,"cg_iu_a":-0.794830799,"cg_iv_a":-0.402015924,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9690914,"cg_sample_seq":14522416,"cg_sample_valid":1,"cg_theta_rad":5.00862217,"cg_vd_req_v":0.0921219066,"cg_vd_v":0.0921219066,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37358433,"cg_vq_v":-0.37358433,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0908508,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00236667437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.249268,"values":{"Elec_RPM":-1.19606295e-37,"EncoderCos":38731,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-2.39212578e-38,"cg_du":50.1416435,"cg_dv":50.2148819,"cg_dw":49.7851181,"cg_id_a":0.06087327,"cg_id_raw_a":0.433910489,"cg_iq_a":0.207010061,"cg_iq_raw_a":0.261118978,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.873185754,"cg_iw_a":0.906896234,"cg_sample_age_us":23.8672733,"cg_sample_seq":14522466,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.0973225161,"cg_vd_v":0.0973225161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371691406,"cg_vq_v":-0.371691406,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.25708,"values":{"Elec_RPM":-1.17214155e-37,"EncoderCos":38731,"EncoderSin":12469,"GapTicks":54759,"Mech_RPM":-2.34428321e-38,"cg_du":50.141716,"cg_dv":50.2188377,"cg_dw":49.7811623,"cg_id_a":-0.169135302,"cg_id_raw_a":-0.034204971,"cg_iq_a":0.402858853,"cg_iq_raw_a":0.54366523,"cg_iu_a":0.038777113,"cg_iv_a":-0.329528332,"cg_iw_a":0.290751219,"cg_sample_age_us":23.9218178,"cg_sample_seq":14522516,"cg_sample_valid":1,"cg_theta_rad":5.00754166,"cg_vd_req_v":0.100692719,"cg_vd_v":0.100692719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377226979,"cg_vq_v":-0.377226979,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.268799,"values":{"Elec_RPM":-1.17214155e-37,"EncoderCos":38721,"EncoderSin":12473,"GapTicks":54763,"Mech_RPM":-2.34428321e-38,"cg_du":50.1418152,"cg_dv":50.2153625,"cg_dw":49.7846375,"cg_id_a":-0.0847520903,"cg_id_raw_a":-0.551972508,"cg_iq_a":0.19273439,"cg_iq_raw_a":0.0199065357,"cg_iu_a":-0.0337104797,"cg_iv_a":0.105397761,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14522567,"cg_sample_valid":1,"cg_theta_rad":5.00761032,"cg_vd_req_v":0.0979891196,"cg_vd_v":0.0979891196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372355372,"cg_vq_v":-0.372355372,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0845947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.276611,"values":{"Elec_RPM":-1.14869883e-37,"EncoderCos":38714,"EncoderSin":12446,"GapTicks":54765,"Mech_RPM":-2.29739758e-38,"cg_du":50.1417656,"cg_dv":50.2134094,"cg_dw":49.7865906,"cg_id_a":-0.0492393114,"cg_id_raw_a":0.0844576359,"cg_iq_a":-0.0129567161,"cg_iq_raw_a":-0.245673999,"cg_iu_a":0.0387773514,"cg_iv_a":-0.257040501,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9836369,"cg_sample_seq":14522617,"cg_sample_valid":1,"cg_theta_rad":5.00797176,"cg_vd_req_v":0.0974031687,"cg_vd_v":0.0974031687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36933881,"cg_vq_v":-0.36933881,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.8583641,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.072113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.284424,"values":{"Elec_RPM":-1.14869883e-37,"EncoderCos":38726,"EncoderSin":12490,"GapTicks":54760,"Mech_RPM":-2.29739758e-38,"cg_du":50.1410866,"cg_dv":50.2181168,"cg_dw":49.7818832,"cg_id_a":-0.102942035,"cg_id_raw_a":-0.625230551,"cg_iq_a":0.264175355,"cg_iq_raw_a":-0.313447595,"cg_iu_a":-0.468636274,"cg_iv_a":-0.293284416,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9218178,"cg_sample_seq":14522667,"cg_sample_valid":1,"cg_theta_rad":5.00767279,"cg_vd_req_v":0.100371003,"cg_vd_v":0.100371003,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375921875,"cg_vq_v":-0.375921875,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.554591417,"dclink_p_w":-80.2630539,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.072113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.292236,"values":{"Elec_RPM":-1.12572483e-37,"EncoderCos":38754,"EncoderSin":12472,"GapTicks":54764,"Mech_RPM":-2.25144957e-38,"cg_du":50.1415863,"cg_dv":50.2142143,"cg_dw":49.7857857,"cg_id_a":0.134550586,"cg_id_raw_a":-0.00530595705,"cg_iq_a":0.10553661,"cg_iq_raw_a":0.255055606,"cg_iu_a":-0.178685665,"cg_iv_a":1.373932,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9763641,"cg_sample_seq":14522717,"cg_sample_valid":1,"cg_theta_rad":5.00689983,"cg_vd_req_v":0.0942969322,"cg_vd_v":0.0942969322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371379107,"cg_vq_v":-0.371379107,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.300049,"values":{"Elec_RPM":-1.12572483e-37,"EncoderCos":38710,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-2.25144957e-38,"cg_du":50.1517563,"cg_dv":50.2220497,"cg_dw":49.7779503,"cg_id_a":-0.0630125701,"cg_id_raw_a":-0.698685825,"cg_iq_a":0.849734604,"cg_iq_raw_a":-0.83344382,"cg_iu_a":-0.287417412,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9836369,"cg_sample_seq":14522767,"cg_sample_valid":1,"cg_theta_rad":5.00749779,"cg_vd_req_v":0.0977349803,"cg_vd_v":0.0977349803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388011277,"cg_vq_v":-0.388011277,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0814819,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.331299,"values":{"Elec_RPM":-1.10321022e-37,"EncoderCos":38746,"EncoderSin":12467,"GapTicks":54755,"Mech_RPM":-2.20642052e-38,"cg_du":50.1487999,"cg_dv":50.2225342,"cg_dw":49.7774658,"cg_id_a":0.0445583612,"cg_id_raw_a":-0.127241448,"cg_iq_a":0.513665617,"cg_iq_raw_a":1.11740065,"cg_iu_a":0.0387773514,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8600006,"cg_sample_seq":14522821,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0974406451,"cg_vd_v":0.0974406451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386544764,"cg_vq_v":-0.386544764,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0783691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.339111,"values":{"Elec_RPM":-1.10321022e-37,"EncoderCos":38713,"EncoderSin":12456,"GapTicks":54760,"Mech_RPM":-2.20642052e-38,"cg_du":50.1630745,"cg_dv":50.2178078,"cg_dw":49.7821922,"cg_id_a":0.355647683,"cg_id_raw_a":0.89188987,"cg_iq_a":0.198601544,"cg_iq_raw_a":0.928104222,"cg_iu_a":-0.359905005,"cg_iv_a":0.250373065,"cg_iw_a":0.109531939,"cg_sample_age_us":23.954546,"cg_sample_seq":14522867,"cg_sample_valid":1,"cg_theta_rad":5.00654459,"cg_vd_req_v":0.0865498558,"cg_vd_v":0.0865498558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386976182,"cg_vq_v":-0.386976182,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.621642351,"dclink_p_w":-89.6935196,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0689697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.346924,"values":{"Elec_RPM":-1.08114605e-37,"EncoderCos":38741,"EncoderSin":12482,"GapTicks":54753,"Mech_RPM":-2.16229209e-38,"cg_du":50.1587181,"cg_dv":50.2237167,"cg_dw":49.7762833,"cg_id_a":0.46061033,"cg_id_raw_a":0.259898752,"cg_iq_a":0.811845839,"cg_iq_raw_a":-0.120842412,"cg_iu_a":-1.51970744,"cg_iv_a":-0.00333368778,"cg_iw_a":1.52304113,"cg_sample_age_us":23.9290905,"cg_sample_seq":14522916,"cg_sample_valid":1,"cg_theta_rad":5.00817537,"cg_vd_req_v":0.0908068493,"cg_vd_v":0.0908068493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393669665,"cg_vq_v":-0.393669665,"cg_vu_v":25.5137672,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.590835094,"dclink_p_w":-85.5084076,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0689697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.354736,"values":{"Elec_RPM":-1.08114605e-37,"EncoderCos":38731,"EncoderSin":12476,"GapTicks":54754,"Mech_RPM":-2.16229209e-38,"cg_du":50.1530876,"cg_dv":50.2228546,"cg_dw":49.7771454,"cg_id_a":0.140368059,"cg_id_raw_a":0.426623732,"cg_iq_a":0.470038354,"cg_iq_raw_a":0.333692908,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9290905,"cg_sample_seq":14522967,"cg_sample_valid":1,"cg_theta_rad":5.00712395,"cg_vd_req_v":0.0954574645,"cg_vd_v":0.0954574645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389101326,"cg_vq_v":-0.389101326,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.362549,"values":{"Elec_RPM":-1.05952311e-37,"EncoderCos":38713,"EncoderSin":12425,"GapTicks":54761,"Mech_RPM":-2.1190462e-38,"cg_du":50.1462669,"cg_dv":50.217144,"cg_dw":49.782856,"cg_id_a":-0.0981687754,"cg_id_raw_a":0.197695553,"cg_iq_a":-0.0990979522,"cg_iq_raw_a":-0.52543819,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9254551,"cg_sample_seq":14523067,"cg_sample_valid":1,"cg_theta_rad":5.00745058,"cg_vd_req_v":0.0981518328,"cg_vd_v":0.0981518328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376779765,"cg_vq_v":-0.376779765,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.8746109,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.056488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.370361,"values":{"Elec_RPM":-1.03833268e-37,"EncoderCos":38715,"EncoderSin":12437,"GapTicks":54763,"Mech_RPM":-2.07666533e-38,"cg_du":50.1458282,"cg_dv":50.2152176,"cg_dw":49.7847824,"cg_id_a":-0.117123365,"cg_id_raw_a":0.152816787,"cg_iq_a":-0.119363479,"cg_iq_raw_a":-0.712308884,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14523117,"cg_sample_valid":1,"cg_theta_rad":5.00772238,"cg_vd_req_v":0.0961335897,"cg_vd_v":0.0961335897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374044925,"cg_vq_v":-0.374044925,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.38208,"values":{"Elec_RPM":-1.03833268e-37,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-2.07666533e-38,"cg_du":50.1469917,"cg_dv":50.2131615,"cg_dw":49.7868385,"cg_id_a":0.0291502215,"cg_id_raw_a":0.52922976,"cg_iq_a":-0.278339863,"cg_iq_raw_a":-0.492945105,"cg_iu_a":-0.0337102413,"cg_iv_a":0.10539782,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9254551,"cg_sample_seq":14523167,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0925309733,"cg_vd_v":0.0925309733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372080594,"cg_vq_v":-0.372080594,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.389893,"values":{"Elec_RPM":-1.017566e-37,"EncoderCos":38750,"EncoderSin":12471,"GapTicks":54753,"Mech_RPM":-2.03513196e-38,"cg_du":50.1542816,"cg_dv":50.2241974,"cg_dw":49.7758026,"cg_id_a":-0.0421326458,"cg_id_raw_a":0.0646890327,"cg_iq_a":0.597498536,"cg_iq_raw_a":0.407002717,"cg_iu_a":-0.323661089,"cg_iv_a":-0.583235025,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9618187,"cg_sample_seq":14523217,"cg_sample_valid":1,"cg_theta_rad":5.00583935,"cg_vd_req_v":0.0942604393,"cg_vd_v":0.0942604393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391976625,"cg_vq_v":-0.391976625,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.6250687,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.397705,"values":{"Elec_RPM":-1.017566e-37,"EncoderCos":38693,"EncoderSin":12433,"GapTicks":54763,"Mech_RPM":-2.03513196e-38,"cg_du":50.1467896,"cg_dv":50.2152061,"cg_dw":49.7847939,"cg_id_a":-0.128823727,"cg_id_raw_a":-0.276182085,"cg_iq_a":-0.276938111,"cg_iq_raw_a":0.190074995,"cg_iu_a":0.872385502,"cg_iv_a":0.177885413,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14523267,"cg_sample_valid":1,"cg_theta_rad":5.00762987,"cg_vd_req_v":0.0973398164,"cg_vd_v":0.0973398164,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374062747,"cg_vq_v":-0.374062747,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.4866409,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.425049,"values":{"Elec_RPM":-9.97214658e-38,"EncoderCos":38727,"EncoderSin":12473,"GapTicks":54758,"Mech_RPM":-1.99442929e-38,"cg_du":50.1478043,"cg_dv":50.219883,"cg_dw":49.780117,"cg_id_a":-0.1283907,"cg_id_raw_a":0.458439738,"cg_iq_a":0.0350839645,"cg_iq_raw_a":0.663771093,"cg_iu_a":0.401215792,"cg_iv_a":0.359104633,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8672733,"cg_sample_seq":14523322,"cg_sample_valid":1,"cg_theta_rad":5.0107708,"cg_vd_req_v":0.0971612558,"cg_vd_v":0.0971612558,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381995291,"cg_vq_v":-0.381995291,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.4866409,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118081942,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.436768,"values":{"Elec_RPM":-9.97214658e-38,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54759,"Mech_RPM":-1.99442929e-38,"cg_du":50.1538467,"cg_dv":50.2183418,"cg_dw":49.7816582,"cg_id_a":0.0412194058,"cg_id_raw_a":0.266926795,"cg_iq_a":0.0318531618,"cg_iq_raw_a":0.24543567,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9509087,"cg_sample_seq":14523367,"cg_sample_valid":1,"cg_theta_rad":5.00634623,"cg_vd_req_v":0.0916484594,"cg_vd_v":0.0916484594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383104205,"cg_vq_v":-0.383104205,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0799255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.44458,"values":{"Elec_RPM":-9.77270369e-38,"EncoderCos":38716,"EncoderSin":12457,"GapTicks":54760,"Mech_RPM":-1.95454077e-38,"cg_du":50.1558952,"cg_dv":50.2180786,"cg_dw":49.7819214,"cg_id_a":-0.0458421931,"cg_id_raw_a":0.494882673,"cg_iq_a":0.168860361,"cg_iq_raw_a":-0.569101214,"cg_iu_a":0.763653994,"cg_iv_a":-0.112065196,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9581814,"cg_sample_seq":14523467,"cg_sample_valid":1,"cg_theta_rad":5.00675917,"cg_vd_req_v":0.0904357284,"cg_vd_v":0.0904357284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383749008,"cg_vq_v":-0.383749008,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.452393,"values":{"Elec_RPM":-9.57724946e-38,"EncoderCos":38725,"EncoderSin":12487,"GapTicks":54754,"Mech_RPM":-1.91545e-38,"cg_du":50.1537552,"cg_dv":50.2230453,"cg_dw":49.7769547,"cg_id_a":-0.297325015,"cg_id_raw_a":0.312456399,"cg_iq_a":0.292993188,"cg_iq_raw_a":-0.00578202447,"cg_iu_a":0.401215792,"cg_iv_a":-1.56181848,"cg_iw_a":1.16060269,"cg_sample_age_us":23.8381824,"cg_sample_seq":14523516,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0953498706,"cg_vd_v":0.0953498706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389677346,"cg_vq_v":-0.389677346,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.460205,"values":{"Elec_RPM":-9.57724946e-38,"EncoderCos":38731,"EncoderSin":12431,"GapTicks":54756,"Mech_RPM":-1.91545e-38,"cg_du":50.1561699,"cg_dv":50.2216072,"cg_dw":49.7783928,"cg_id_a":-0.192238599,"cg_id_raw_a":-0.333502471,"cg_iq_a":0.410521775,"cg_iq_raw_a":0.150221005,"cg_iu_a":0.14750886,"cg_iv_a":0.21412921,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8600006,"cg_sample_seq":14523567,"cg_sample_valid":1,"cg_theta_rad":5.00843668,"cg_vd_req_v":0.0930284932,"cg_vd_v":0.0930284932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388839722,"cg_vq_v":-0.388839722,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.468018,"values":{"Elec_RPM":-9.38570542e-38,"EncoderCos":38720,"EncoderSin":12403,"GapTicks":54763,"Mech_RPM":-1.87714103e-38,"cg_du":50.1506004,"cg_dv":50.214653,"cg_dw":49.785347,"cg_id_a":-0.126559883,"cg_id_raw_a":-0.150182426,"cg_iq_a":-0.247714356,"cg_iq_raw_a":-0.415343344,"cg_iu_a":0.256240368,"cg_iv_a":0.359104574,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.8600006,"cg_sample_seq":14523617,"cg_sample_valid":1,"cg_theta_rad":5.00825262,"cg_vd_req_v":0.0922939777,"cg_vd_v":0.0922939777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375860214,"cg_vq_v":-0.375860214,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0971069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.47583,"values":{"Elec_RPM":-9.38570542e-38,"EncoderCos":38752,"EncoderSin":12499,"GapTicks":54763,"Mech_RPM":-1.87714103e-38,"cg_du":50.1467705,"cg_dv":50.2148056,"cg_dw":49.7851944,"cg_id_a":-0.0175782852,"cg_id_raw_a":0.156923711,"cg_iq_a":-0.22870484,"cg_iq_raw_a":0.0874487311,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14523666,"cg_sample_valid":1,"cg_theta_rad":5.00707293,"cg_vd_req_v":0.0902414545,"cg_vd_v":0.0902414545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375190347,"cg_vq_v":-0.375190347,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0627441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.483643,"values":{"Elec_RPM":-9.19799084e-38,"EncoderCos":38730,"EncoderSin":12443,"GapTicks":54762,"Mech_RPM":-1.83959814e-38,"cg_du":50.1555672,"cg_dv":50.216198,"cg_dw":49.783802,"cg_id_a":0.0637437403,"cg_id_raw_a":0.111221164,"cg_iq_a":0.0614909828,"cg_iq_raw_a":-0.0976136029,"cg_iu_a":0.183752537,"cg_iv_a":0.504079938,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.954546,"cg_sample_seq":14523716,"cg_sample_valid":1,"cg_theta_rad":5.00720119,"cg_vd_req_v":0.0880128816,"cg_vd_v":0.0880128816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381204188,"cg_vq_v":-0.381204188,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0627441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.495361,"values":{"Elec_RPM":-9.19799084e-38,"EncoderCos":38735,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-1.83959814e-38,"cg_du":50.1519928,"cg_dv":50.2145691,"cg_dw":49.7854309,"cg_id_a":0.0673553199,"cg_id_raw_a":-0.275877893,"cg_iq_a":-0.08335118,"cg_iq_raw_a":-0.680319071,"cg_iu_a":-0.50488019,"cg_iv_a":0.504079938,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14523766,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.0878978297,"cg_vd_v":0.0878978297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377299398,"cg_vq_v":-0.377299398,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.3338184,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0783691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.503174,"values":{"Elec_RPM":-9.01403118e-38,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54764,"Mech_RPM":-1.80280621e-38,"cg_du":50.1535187,"cg_dv":50.2136765,"cg_dw":49.7863235,"cg_id_a":0.0586467199,"cg_id_raw_a":0.253433764,"cg_iq_a":-0.102742694,"cg_iq_raw_a":-0.0476888604,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9618187,"cg_sample_seq":14523816,"cg_sample_valid":1,"cg_theta_rad":5.0082407,"cg_vd_req_v":0.0866643637,"cg_vd_v":0.0866643637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37674582,"cg_vq_v":-0.37674582,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0861511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.530518,"values":{"Elec_RPM":-9.01403118e-38,"EncoderCos":38739,"EncoderSin":12457,"GapTicks":54758,"Mech_RPM":-1.80280621e-38,"cg_du":50.1571388,"cg_dv":50.219532,"cg_dw":49.780468,"cg_id_a":-0.0536024906,"cg_id_raw_a":0.0875159428,"cg_iq_a":0.368780404,"cg_iq_raw_a":0.373105198,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641617,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8527279,"cg_sample_seq":14523870,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0888574496,"cg_vd_v":0.0888574496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386890471,"cg_vq_v":-0.386890471,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0861511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.53833,"values":{"Elec_RPM":-8.83375077e-38,"EncoderCos":38718,"EncoderSin":12477,"GapTicks":54763,"Mech_RPM":-1.7667501e-38,"cg_du":50.1509628,"cg_dv":50.2154465,"cg_dw":49.7845535,"cg_id_a":-0.204070598,"cg_id_raw_a":1.13338554,"cg_iq_a":-0.0906385481,"cg_iq_raw_a":-1.09015858,"cg_iu_a":0.00253355503,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14523917,"cg_sample_valid":1,"cg_theta_rad":5.00760603,"cg_vd_req_v":0.091041334,"cg_vd_v":0.091041334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377562582,"cg_vq_v":-0.377562582,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.550049,"values":{"Elec_RPM":-8.83375077e-38,"EncoderCos":38725,"EncoderSin":12519,"GapTicks":54764,"Mech_RPM":-1.7667501e-38,"cg_du":50.1586304,"cg_dv":50.2136688,"cg_dw":49.7863312,"cg_id_a":0.263487905,"cg_id_raw_a":0.255905181,"cg_iq_a":0.0808523223,"cg_iq_raw_a":0.825480521,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14523967,"cg_sample_valid":1,"cg_theta_rad":5.00666714,"cg_vd_req_v":0.0815915465,"cg_vd_v":0.0815915465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379822046,"cg_vq_v":-0.379822046,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0869245529,"dclink_p_w":12.5418882,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0705566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.557861,"values":{"Elec_RPM":-8.65707562e-38,"EncoderCos":38727,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-1.7314151e-38,"cg_du":50.1516151,"cg_dv":50.2150116,"cg_dw":49.7849884,"cg_id_a":-0.144003198,"cg_id_raw_a":0.17015174,"cg_iq_a":0.0862693861,"cg_iq_raw_a":-0.0555752032,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9618187,"cg_sample_seq":14524017,"cg_sample_valid":1,"cg_theta_rad":5.00649405,"cg_vd_req_v":0.0897021666,"cg_vd_v":0.0897021666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377437592,"cg_vq_v":-0.377437592,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.565674,"values":{"Elec_RPM":-8.65707562e-38,"EncoderCos":38734,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-1.7314151e-38,"cg_du":50.1439781,"cg_dv":50.2060432,"cg_dw":49.7939568,"cg_id_a":-0.0709466636,"cg_id_raw_a":-0.119837619,"cg_iq_a":-0.670464635,"cg_iq_raw_a":-1.21194315,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9218178,"cg_sample_seq":14524067,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0862902403,"cg_vd_v":0.0862902403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361126006,"cg_vq_v":-0.361126006,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.04245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.573486,"values":{"Elec_RPM":-8.48393398e-38,"EncoderCos":38732,"EncoderSin":12478,"GapTicks":54769,"Mech_RPM":-1.69678677e-38,"cg_du":50.1502571,"cg_dv":50.2099838,"cg_dw":49.7900162,"cg_id_a":0.0186286811,"cg_id_raw_a":0.0374559127,"cg_iq_a":-0.0791070908,"cg_iq_raw_a":-0.432520181,"cg_iu_a":-0.541124105,"cg_iv_a":-0.293284297,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9581814,"cg_sample_seq":14524117,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0850832686,"cg_vd_v":0.0850832686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370023161,"cg_vq_v":-0.370023161,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.04245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.581299,"values":{"Elec_RPM":-8.48393398e-38,"EncoderCos":38731,"EncoderSin":12447,"GapTicks":54782,"Mech_RPM":-1.69678677e-38,"cg_du":50.1529655,"cg_dv":50.1979256,"cg_dw":49.8020744,"cg_id_a":0.591205239,"cg_id_raw_a":0.243937656,"cg_iq_a":-0.963817716,"cg_iq_raw_a":-1.468521,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9254551,"cg_sample_seq":14524167,"cg_sample_valid":1,"cg_theta_rad":5.00824261,"cg_vd_req_v":0.0721182972,"cg_vd_v":0.0721182972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354941726,"cg_vq_v":-0.354941726,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.2678604,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.589111,"values":{"Elec_RPM":-8.3142558e-38,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-1.6628511e-38,"cg_du":50.1547241,"cg_dv":50.2169189,"cg_dw":49.7830811,"cg_id_a":-0.28243798,"cg_id_raw_a":-0.653188884,"cg_iq_a":0.574029922,"cg_iq_raw_a":1.10455525,"cg_iu_a":0.61867857,"cg_iv_a":1.12022519,"cg_iw_a":-1.73890376,"cg_sample_age_us":23.8745461,"cg_sample_seq":14524216,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.08794453,"cg_vd_v":0.08794453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382046014,"cg_vq_v":-0.382046014,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.2678604,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0799255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.596924,"values":{"Elec_RPM":-8.3142558e-38,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-1.6628511e-38,"cg_du":50.1493034,"cg_dv":50.2099228,"cg_dw":49.7900772,"cg_id_a":-0.217516795,"cg_id_raw_a":-0.203687698,"cg_iq_a":-0.230521649,"cg_iq_raw_a":-0.529088616,"cg_iu_a":-0.323661089,"cg_iv_a":0.57656759,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.863636,"cg_sample_seq":14524266,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0871903151,"cg_vd_v":0.0871903151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369074225,"cg_vq_v":-0.369074225,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.2678604,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0799255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.608643,"values":{"Elec_RPM":-8.14797043e-38,"EncoderCos":38704,"EncoderSin":12492,"GapTicks":54771,"Mech_RPM":-1.62959409e-38,"cg_du":50.1533508,"cg_dv":50.2078209,"cg_dw":49.7921791,"cg_id_a":-0.0538554862,"cg_id_raw_a":-0.043493595,"cg_iq_a":-0.177342474,"cg_iq_raw_a":-0.440633744,"cg_iu_a":0.292484045,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9618187,"cg_sample_seq":14524316,"cg_sample_valid":1,"cg_theta_rad":5.00982475,"cg_vd_req_v":0.0825463533,"cg_vd_v":0.0825463533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368365228,"cg_vq_v":-0.368365228,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0627441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.635986,"values":{"Elec_RPM":-8.14797043e-38,"EncoderCos":38737,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-1.62959409e-38,"cg_du":50.1512337,"cg_dv":50.21035,"cg_dw":49.78965,"cg_id_a":-0.183884099,"cg_id_raw_a":-0.266407907,"cg_iq_a":0.0203548595,"cg_iq_raw_a":0.558083773,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860837,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9618187,"cg_sample_seq":14524370,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0849897861,"cg_vd_v":0.0849897861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372182846,"cg_vq_v":-0.372182846,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.6237602,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0627441,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.643799,"values":{"Elec_RPM":-7.98501119e-38,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-1.59700227e-38,"cg_du":50.1510849,"cg_dv":50.2038269,"cg_dw":49.7961731,"cg_id_a":0.126583382,"cg_id_raw_a":0.457827747,"cg_iq_a":-0.478327602,"cg_iq_raw_a":0.227837354,"cg_iu_a":0.981116891,"cg_iv_a":0.0691539049,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9472733,"cg_sample_seq":14524417,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0797996297,"cg_vd_v":0.0797996297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361809522,"cg_vq_v":-0.361809522,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.6237602,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.072113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00327306008,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.651611,"values":{"Elec_RPM":-7.98501119e-38,"EncoderCos":38727,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-1.59700227e-38,"cg_du":50.1453476,"cg_dv":50.2046661,"cg_dw":49.7953339,"cg_id_a":-0.108309664,"cg_id_raw_a":-0.145976111,"cg_iq_a":-0.537895799,"cg_iq_raw_a":-0.486511439,"cg_iu_a":0.256240368,"cg_iv_a":0.141641557,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9872723,"cg_sample_seq":14524467,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0842780843,"cg_vd_v":0.0842780843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359919846,"cg_vq_v":-0.359919846,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.66333,"values":{"Elec_RPM":-7.82531081e-38,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-1.56506219e-38,"cg_du":50.1482735,"cg_dv":50.1972847,"cg_dw":49.8027153,"cg_id_a":0.346139222,"cg_id_raw_a":0.153095081,"cg_iq_a":-0.785245299,"cg_iq_raw_a":-0.967547894,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.863636,"cg_sample_seq":14524518,"cg_sample_valid":1,"cg_theta_rad":5.00609827,"cg_vd_req_v":0.0748517141,"cg_vd_v":0.0748517141,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350390524,"cg_vq_v":-0.350390524,"cg_vu_v":137.686371,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.3351288,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4691772,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2631.671143,"values":{"Elec_RPM":-7.82531081e-38,"EncoderCos":38713,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-1.56506219e-38,"cg_du":50.1484947,"cg_dv":50.2010994,"cg_dw":49.7989006,"cg_id_a":0.174609005,"cg_id_raw_a":0.165883228,"cg_iq_a":-0.546869457,"cg_iq_raw_a":0.19954221,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.619478941,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9836369,"cg_sample_seq":14524567,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.0796338767,"cg_vd_v":0.0796338767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355409622,"cg_vq_v":-0.355409622,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2631.678955,"values":{"Elec_RPM":-7.66880483e-38,"EncoderCos":38699,"EncoderSin":12458,"GapTicks":54769,"Mech_RPM":-1.53376097e-38,"cg_du":50.1526566,"cg_dv":50.2091751,"cg_dw":49.7908249,"cg_id_a":-0.0656903386,"cg_id_raw_a":0.236692414,"cg_iq_a":0.103530943,"cg_iq_raw_a":-0.0840261579,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14524617,"cg_sample_valid":1,"cg_theta_rad":5.00665569,"cg_vd_req_v":0.0856959745,"cg_vd_v":0.0856959745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369513512,"cg_vq_v":-0.369513512,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0455627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.686768,"values":{"Elec_RPM":-7.66880483e-38,"EncoderCos":38697,"EncoderSin":12492,"GapTicks":54772,"Mech_RPM":-1.53376097e-38,"cg_du":50.1545334,"cg_dv":50.206913,"cg_dw":49.793087,"cg_id_a":0.100488499,"cg_id_raw_a":0.302650332,"cg_iq_a":-0.143793643,"cg_iq_raw_a":-0.114187941,"cg_iu_a":-0.613611698,"cg_iv_a":-0.293284416,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9872723,"cg_sample_seq":14524667,"cg_sample_valid":1,"cg_theta_rad":5.00626898,"cg_vd_req_v":0.0813226253,"cg_vd_v":0.0813226253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367672056,"cg_vq_v":-0.367672056,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0455627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.69458,"values":{"Elec_RPM":-7.51542823e-38,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-1.5030857e-38,"cg_du":50.1517334,"cg_dv":50.2091484,"cg_dw":49.7908516,"cg_id_a":-0.0850901455,"cg_id_raw_a":-0.221679166,"cg_iq_a":0.0381827839,"cg_iq_raw_a":-0.566927671,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9872723,"cg_sample_seq":14524716,"cg_sample_valid":1,"cg_theta_rad":5.00813389,"cg_vd_req_v":0.0843239501,"cg_vd_v":0.0843239501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370616883,"cg_vq_v":-0.370616883,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0689697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.702393,"values":{"Elec_RPM":-7.51542823e-38,"EncoderCos":38723,"EncoderSin":12430,"GapTicks":54761,"Mech_RPM":-1.5030857e-38,"cg_du":50.1728363,"cg_dv":50.2165871,"cg_dw":49.7834129,"cg_id_a":0.215022966,"cg_id_raw_a":0.0670037866,"cg_iq_a":1.10361004,"cg_iq_raw_a":-0.283897638,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796764,"cg_iw_a":0.544457853,"cg_sample_age_us":23.954546,"cg_sample_seq":14524767,"cg_sample_valid":1,"cg_theta_rad":5.00817156,"cg_vd_req_v":0.0755776539,"cg_vd_v":0.0755776539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390048742,"cg_vq_v":-0.390048742,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0689697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2631.733643,"values":{"Elec_RPM":-7.2178171e-38,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-1.44356345e-38,"cg_du":50.1636353,"cg_dv":50.2126198,"cg_dw":49.7873802,"cg_id_a":-0.0256894752,"cg_id_raw_a":0.0870048851,"cg_iq_a":0.389353901,"cg_iq_raw_a":0.373224705,"cg_iu_a":0.473703146,"cg_iv_a":0.141641557,"cg_iw_a":-0.615344703,"cg_sample_age_us":26.8199997,"cg_sample_seq":14524918,"cg_sample_valid":1,"cg_theta_rad":5.0087781,"cg_vd_req_v":0.0778171122,"cg_vd_v":0.0778171122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382155657,"cg_vq_v":-0.382155657,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0596008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.741455,"values":{"Elec_RPM":-7.2178171e-38,"EncoderCos":38706,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-1.44356345e-38,"cg_du":50.1512527,"cg_dv":50.2058983,"cg_dw":49.7941017,"cg_id_a":-0.182171077,"cg_id_raw_a":0.153127611,"cg_iq_a":-0.388888359,"cg_iq_raw_a":-0.0931445435,"cg_iu_a":0.836141706,"cg_iv_a":-0.25704056,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9581814,"cg_sample_seq":14524966,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0826268122,"cg_vd_v":0.0826268122,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365670443,"cg_vq_v":-0.365670443,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.072113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.749268,"values":{"Elec_RPM":-7.07346094e-38,"EncoderCos":38716,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-1.41469222e-38,"cg_du":50.1518669,"cg_dv":50.2101631,"cg_dw":49.7898369,"cg_id_a":-0.305032074,"cg_id_raw_a":-0.448138267,"cg_iq_a":-0.0924292803,"cg_iq_raw_a":0.248402432,"cg_iu_a":0.0387773514,"cg_iv_a":0.504079938,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9654541,"cg_sample_seq":14525016,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.0851341933,"cg_vd_v":0.0851341933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370905578,"cg_vq_v":-0.370905578,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.75708,"values":{"Elec_RPM":-7.07346094e-38,"EncoderCos":38722,"EncoderSin":12492,"GapTicks":54770,"Mech_RPM":-1.41469222e-38,"cg_du":50.1551018,"cg_dv":50.2088394,"cg_dw":49.7911606,"cg_id_a":-0.0726756081,"cg_id_raw_a":-8.73987665e-05,"cg_iq_a":-0.152165085,"cg_iq_raw_a":-0.254072309,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397701,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14525066,"cg_sample_valid":1,"cg_theta_rad":5.00733232,"cg_vd_req_v":0.0806490704,"cg_vd_v":0.0806490704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371067286,"cg_vq_v":-0.371067286,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.764893,"values":{"Elec_RPM":-6.93199145e-38,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-1.38639832e-38,"cg_du":50.1621208,"cg_dv":50.208847,"cg_dw":49.791153,"cg_id_a":0.284632236,"cg_id_raw_a":0.150034592,"cg_iq_a":0.065157488,"cg_iq_raw_a":-0.275720358,"cg_iu_a":-0.541124105,"cg_iv_a":0.322860718,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14525116,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0763057172,"cg_vd_v":0.0763057172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374771833,"cg_vq_v":-0.374771833,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0783691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.776611,"values":{"Elec_RPM":-6.93199145e-38,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-1.38639832e-38,"cg_du":50.1611595,"cg_dv":50.2082901,"cg_dw":49.7917099,"cg_id_a":0.423317611,"cg_id_raw_a":0.541805148,"cg_iq_a":-0.0477817804,"cg_iq_raw_a":0.234458491,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333368778,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9509087,"cg_sample_seq":14525166,"cg_sample_valid":1,"cg_theta_rad":5.00579357,"cg_vd_req_v":0.0751634985,"cg_vd_v":0.0751634985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373749375,"cg_vq_v":-0.373749375,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.788364172,"dclink_p_w":-114.095734,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0783691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.784424,"values":{"Elec_RPM":-6.79335202e-38,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54765,"Mech_RPM":-1.3586704e-38,"cg_du":50.1469917,"cg_dv":50.213253,"cg_dw":49.786747,"cg_id_a":-0.369669139,"cg_id_raw_a":-0.298168451,"cg_iq_a":-0.0170645416,"cg_iq_raw_a":-0.210489318,"cg_iu_a":0.292484045,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9799995,"cg_sample_seq":14525216,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0923829377,"cg_vd_v":0.0923829377,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37346676,"cg_vq_v":-0.37346676,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.788364172,"dclink_p_w":-114.095734,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0752258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115967043,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.792236,"values":{"Elec_RPM":-6.79335202e-38,"EncoderCos":38782,"EncoderSin":12484,"GapTicks":54768,"Mech_RPM":-1.3586704e-38,"cg_du":50.1523933,"cg_dv":50.2105789,"cg_dw":49.7894211,"cg_id_a":0.27752459,"cg_id_raw_a":0.741192818,"cg_iq_a":-0.0299260318,"cg_iq_raw_a":1.4076153,"cg_iu_a":0.582434893,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.8818188,"cg_sample_seq":14525267,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0798364803,"cg_vd_v":0.0798364803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374125898,"cg_vq_v":-0.374125898,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.788364172,"dclink_p_w":-114.095734,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0486755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.800049,"values":{"Elec_RPM":-6.65748493e-38,"EncoderCos":38721,"EncoderSin":12440,"GapTicks":54760,"Mech_RPM":-1.33149699e-38,"cg_du":50.1670341,"cg_dv":50.2177658,"cg_dw":49.7822342,"cg_id_a":0.25199908,"cg_id_raw_a":-0.198772773,"cg_iq_a":0.707152903,"cg_iq_raw_a":0.272387415,"cg_iu_a":0.00253343582,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9363632,"cg_sample_seq":14525317,"cg_sample_valid":1,"cg_theta_rad":5.00799465,"cg_vd_req_v":0.0814115107,"cg_vd_v":0.0814115107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389586896,"cg_vq_v":-0.389586896,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.788364172,"dclink_p_w":-114.095734,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0486755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.831299,"values":{"Elec_RPM":-6.65748493e-38,"EncoderCos":38728,"EncoderSin":12445,"GapTicks":54761,"Mech_RPM":-1.33149699e-38,"cg_du":50.162056,"cg_dv":50.2170105,"cg_dw":49.7829895,"cg_id_a":0.0481152274,"cg_id_raw_a":0.452145725,"cg_iq_a":0.278937936,"cg_iq_raw_a":-0.574110806,"cg_iu_a":-0.432392597,"cg_iv_a":0.0329101086,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8600006,"cg_sample_seq":14525370,"cg_sample_valid":1,"cg_theta_rad":5.00632095,"cg_vd_req_v":0.083830744,"cg_vd_v":0.083830744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385921538,"cg_vq_v":-0.385921538,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.757556915,"dclink_p_w":-109.303917,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.839111,"values":{"Elec_RPM":-6.52433467e-38,"EncoderCos":38711,"EncoderSin":12464,"GapTicks":54765,"Mech_RPM":-1.30486699e-38,"cg_du":50.1665916,"cg_dv":50.2132988,"cg_dw":49.7867012,"cg_id_a":0.348083556,"cg_id_raw_a":0.260864139,"cg_iq_a":0.225894794,"cg_iq_raw_a":-0.118744113,"cg_iu_a":-1.88214588,"cg_iv_a":0.0691540241,"cg_iw_a":-0.252906799,"cg_sample_age_us":23.8600006,"cg_sample_seq":14525416,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.077644974,"cg_vd_v":0.077644974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383229941,"cg_vq_v":-0.383229941,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.594459534,"dclink_p_w":-86.0329514,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0611877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.846924,"values":{"Elec_RPM":-6.52433467e-38,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-1.30486699e-38,"cg_du":50.1587143,"cg_dv":50.2170906,"cg_dw":49.7829094,"cg_id_a":-0.135394201,"cg_id_raw_a":-0.273797393,"cg_iq_a":0.060399197,"cg_iq_raw_a":0.19349429,"cg_iu_a":-0.396148682,"cg_iv_a":0.75778681,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9618187,"cg_sample_seq":14525466,"cg_sample_valid":1,"cg_theta_rad":5.00717354,"cg_vd_req_v":0.0851240233,"cg_vd_v":0.0851240233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384471536,"cg_vq_v":-0.384471536,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0611877,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.854736,"values":{"Elec_RPM":-6.393848e-38,"EncoderCos":38720,"EncoderSin":12492,"GapTicks":54766,"Mech_RPM":-1.27876963e-38,"cg_du":50.1553497,"cg_dv":50.2127228,"cg_dw":49.7872772,"cg_id_a":0.0638680235,"cg_id_raw_a":-0.260342568,"cg_iq_a":-0.311538875,"cg_iq_raw_a":0.0485701859,"cg_iu_a":0.256240368,"cg_iv_a":0.540323794,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.8600006,"cg_sample_seq":14525516,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.0846485347,"cg_vd_v":0.0846485347,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377595723,"cg_vq_v":-0.377595723,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-106.28746,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.862549,"values":{"Elec_RPM":-6.393848e-38,"EncoderCos":38715,"EncoderSin":12454,"GapTicks":54763,"Mech_RPM":-1.27876963e-38,"cg_du":50.1578064,"cg_dv":50.2149696,"cg_dw":49.7850304,"cg_id_a":-0.0762914717,"cg_id_raw_a":-0.278874308,"cg_iq_a":-0.161908999,"cg_iq_raw_a":-0.609887064,"cg_iu_a":0.61867857,"cg_iv_a":-0.148308992,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9618187,"cg_sample_seq":14525566,"cg_sample_valid":1,"cg_theta_rad":5.00684595,"cg_vd_req_v":0.0863319114,"cg_vd_v":0.0863319114,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381721944,"cg_vq_v":-0.381721944,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.9285965,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.870361,"values":{"Elec_RPM":-6.2659711e-38,"EncoderCos":38716,"EncoderSin":12493,"GapTicks":54764,"Mech_RPM":-1.25319425e-38,"cg_du":50.1599541,"cg_dv":50.2139778,"cg_dw":49.7860222,"cg_id_a":0.0956521481,"cg_id_raw_a":0.114886522,"cg_iq_a":-0.308255553,"cg_iq_raw_a":-0.352183968,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14525616,"cg_sample_valid":1,"cg_theta_rad":5.00615835,"cg_vd_req_v":0.0823128819,"cg_vd_v":0.0823128819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380667657,"cg_vq_v":-0.380667657,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0877075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.878174,"values":{"Elec_RPM":-6.2659711e-38,"EncoderCos":38729,"EncoderSin":12494,"GapTicks":54763,"Mech_RPM":-1.25319425e-38,"cg_du":50.1538391,"cg_dv":50.2148247,"cg_dw":49.7851753,"cg_id_a":-0.195822582,"cg_id_raw_a":0.205915958,"cg_iq_a":-0.355007738,"cg_iq_raw_a":-1.10834765,"cg_iu_a":0.111264944,"cg_iv_a":-0.329528213,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9836369,"cg_sample_seq":14525666,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0867915973,"cg_vd_v":0.0867915973,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378656864,"cg_vq_v":-0.378656864,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0174255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.889893,"values":{"Elec_RPM":-6.14065186e-38,"EncoderCos":38690,"EncoderSin":12446,"GapTicks":54765,"Mech_RPM":-1.22813034e-38,"cg_du":50.1681175,"cg_dv":50.2135696,"cg_dw":49.7864304,"cg_id_a":0.170475423,"cg_id_raw_a":0.20899561,"cg_iq_a":-0.100854523,"cg_iq_raw_a":-0.414351583,"cg_iu_a":0.256240368,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14525716,"cg_sample_valid":1,"cg_theta_rad":5.00731277,"cg_vd_req_v":0.079018794,"cg_vd_v":0.079018794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383985907,"cg_vq_v":-0.383985907,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0174255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.897705,"values":{"Elec_RPM":-6.14065186e-38,"EncoderCos":38728,"EncoderSin":12479,"GapTicks":54767,"Mech_RPM":-1.22813034e-38,"cg_du":50.1597137,"cg_dv":50.2114296,"cg_dw":49.7885704,"cg_id_a":0.0469601005,"cg_id_raw_a":0.496495336,"cg_iq_a":-0.321905911,"cg_iq_raw_a":0.0481281169,"cg_iu_a":0.691166282,"cg_iv_a":0.141641617,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.8600006,"cg_sample_seq":14525766,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0793635696,"cg_vd_v":0.0793635696,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377211571,"cg_vq_v":-0.377211571,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0580444,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.905518,"values":{"Elec_RPM":-6.01783814e-38,"EncoderCos":38752,"EncoderSin":12490,"GapTicks":54760,"Mech_RPM":-1.20356768e-38,"cg_du":50.164547,"cg_dv":50.2177849,"cg_dw":49.7822151,"cg_id_a":-0.0713397115,"cg_id_raw_a":0.110413507,"cg_iq_a":0.376572311,"cg_iq_raw_a":-0.0985263437,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8527279,"cg_sample_seq":14525817,"cg_sample_valid":1,"cg_theta_rad":5.00745583,"cg_vd_req_v":0.0793045014,"cg_vd_v":0.0793045014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389070243,"cg_vq_v":-0.389070243,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.056488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.932861,"values":{"Elec_RPM":-6.01783814e-38,"EncoderCos":38746,"EncoderSin":12484,"GapTicks":54768,"Mech_RPM":-1.20356768e-38,"cg_du":50.1633148,"cg_dv":50.2105637,"cg_dw":49.7894363,"cg_id_a":0.0355037674,"cg_id_raw_a":-0.110922642,"cg_iq_a":-0.0229234658,"cg_iq_raw_a":0.027120525,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772009,"cg_iw_a":0.471970081,"cg_sample_age_us":26.8199997,"cg_sample_seq":14525869,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0742387474,"cg_vd_v":0.0742387474,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37952888,"cg_vq_v":-0.37952888,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0707361698,"dclink_p_w":-10.2372675,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.056488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.94458,"values":{"Elec_RPM":-5.89748174e-38,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-1.17949632e-38,"cg_du":50.1701431,"cg_dv":50.2132378,"cg_dw":49.7867622,"cg_id_a":0.0341075584,"cg_id_raw_a":0.0463991128,"cg_iq_a":0.167187363,"cg_iq_raw_a":-0.504495561,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503517,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9654541,"cg_sample_seq":14525916,"cg_sample_valid":1,"cg_theta_rad":5.00824833,"cg_vd_req_v":0.0742137209,"cg_vd_v":0.0742137209,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385259002,"cg_vq_v":-0.385259002,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.6359797,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.952393,"values":{"Elec_RPM":-5.89748174e-38,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-1.17949632e-38,"cg_du":50.1616249,"cg_dv":50.2082253,"cg_dw":49.7917747,"cg_id_a":0.0629998446,"cg_id_raw_a":0.0737682879,"cg_iq_a":-0.247887775,"cg_iq_raw_a":-0.356117725,"cg_iu_a":0.292484045,"cg_iv_a":0.359104633,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9836369,"cg_sample_seq":14525966,"cg_sample_valid":1,"cg_theta_rad":5.00649214,"cg_vd_req_v":0.0759752393,"cg_vd_v":0.0759752393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373669356,"cg_vq_v":-0.373669356,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4931946,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117225915,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.960205,"values":{"Elec_RPM":-5.7795322e-38,"EncoderCos":38743,"EncoderSin":12472,"GapTicks":54760,"Mech_RPM":-1.15590644e-38,"cg_du":50.1604576,"cg_dv":50.217659,"cg_dw":49.782341,"cg_id_a":-0.269528657,"cg_id_raw_a":-0.0117596183,"cg_iq_a":0.374598026,"cg_iq_raw_a":1.45564139,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528213,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14526016,"cg_sample_valid":1,"cg_theta_rad":5.00607014,"cg_vd_req_v":0.0839354768,"cg_vd_v":0.0839354768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387528121,"cg_vq_v":-0.387528121,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.968018,"values":{"Elec_RPM":-5.7795322e-38,"EncoderCos":38712,"EncoderSin":12427,"GapTicks":54765,"Mech_RPM":-1.15590644e-38,"cg_du":50.1639938,"cg_dv":50.2133713,"cg_dw":49.7866287,"cg_id_a":-0.0929076448,"cg_id_raw_a":0.0358586684,"cg_iq_a":0.174509078,"cg_iq_raw_a":-0.177687183,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14526066,"cg_sample_valid":1,"cg_theta_rad":5.00805712,"cg_vd_req_v":0.0806319192,"cg_vd_v":0.0806319192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381677568,"cg_vq_v":-0.381677568,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.3162384,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2631.97583,"values":{"Elec_RPM":-5.66394189e-38,"EncoderCos":38732,"EncoderSin":12446,"GapTicks":54769,"Mech_RPM":-1.13278838e-38,"cg_du":50.1683998,"cg_dv":50.209713,"cg_dw":49.790287,"cg_id_a":0.327337801,"cg_id_raw_a":0.288146913,"cg_iq_a":0.112649113,"cg_iq_raw_a":0.0286647286,"cg_iu_a":-0.142441988,"cg_iv_a":0.757786751,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.954546,"cg_sample_seq":14526116,"cg_sample_valid":1,"cg_theta_rad":5.00831366,"cg_vd_req_v":0.0716043934,"cg_vd_v":0.0716043934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380787969,"cg_vq_v":-0.380787969,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.987549,"values":{"Elec_RPM":-5.66394189e-38,"EncoderCos":38725,"EncoderSin":12447,"GapTicks":54762,"Mech_RPM":-1.13278838e-38,"cg_du":50.1719894,"cg_dv":50.2156143,"cg_dw":49.7843857,"cg_id_a":0.0555986837,"cg_id_raw_a":0.152090609,"cg_iq_a":0.652284443,"cg_iq_raw_a":0.34350726,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309052,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9581814,"cg_sample_seq":14526166,"cg_sample_valid":1,"cg_theta_rad":5.00779772,"cg_vd_req_v":0.0751198083,"cg_vd_v":0.0751198083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39074862,"cg_vq_v":-0.39074862,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0533752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2631.995361,"values":{"Elec_RPM":-5.55066317e-38,"EncoderCos":38730,"EncoderSin":12491,"GapTicks":54767,"Mech_RPM":-1.11013261e-38,"cg_du":50.1577682,"cg_dv":50.2110901,"cg_dw":49.7889099,"cg_id_a":-0.159660935,"cg_id_raw_a":0.204887718,"cg_iq_a":-0.0146212112,"cg_iq_raw_a":0.0200674478,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9727268,"cg_sample_seq":14526216,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.0800771117,"cg_vd_v":0.0800771117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375762701,"cg_vq_v":-0.375762701,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.6166077,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2632.003037,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2632.003043,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2632.003049,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2632.003174,"values":{"Elec_RPM":-5.55066317e-38,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54766,"Mech_RPM":-1.11013261e-38,"cg_du":50.168972,"cg_dv":50.2121658,"cg_dw":49.7878342,"cg_id_a":0.119068369,"cg_id_raw_a":0.204837948,"cg_iq_a":0.203237981,"cg_iq_raw_a":0.0205691606,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539645,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9581814,"cg_sample_seq":14526266,"cg_sample_valid":1,"cg_theta_rad":5.00717258,"cg_vd_req_v":0.073246479,"cg_vd_v":0.073246479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383310854,"cg_vq_v":-0.383310854,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0643005,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.010986,"values":{"Elec_RPM":-5.43965006e-38,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54773,"Mech_RPM":-1.08793001e-38,"cg_du":50.1635704,"cg_dv":50.2056084,"cg_dw":49.7943916,"cg_id_a":0.199685395,"cg_id_raw_a":0.222081065,"cg_iq_a":-0.298016757,"cg_iq_raw_a":-0.37840876,"cg_iu_a":0.00253343582,"cg_iv_a":0.57656759,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9836369,"cg_sample_seq":14526316,"cg_sample_valid":1,"cg_theta_rad":5.00654316,"cg_vd_req_v":0.0709063038,"cg_vd_v":0.0709063038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371401072,"cg_vq_v":-0.371401072,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":10.9730511,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.056488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.03833,"values":{"Elec_RPM":-5.43965006e-38,"EncoderCos":38728,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-1.08793001e-38,"cg_du":50.1586952,"cg_dv":50.2058411,"cg_dw":49.7941589,"cg_id_a":-0.0298601463,"cg_id_raw_a":-0.444338888,"cg_iq_a":-0.357387394,"cg_iq_raw_a":-0.00501598371,"cg_iu_a":0.256240368,"cg_iv_a":0.39534843,"cg_iw_a":-0.651588798,"cg_sample_age_us":26.823637,"cg_sample_seq":14526370,"cg_sample_valid":1,"cg_theta_rad":5.00657225,"cg_vd_req_v":0.0746449754,"cg_vd_v":0.0746449754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369055837,"cg_vq_v":-0.369055837,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4998,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2583,"hz_tim_isr":4999,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.056488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.050049,"values":{"Elec_RPM":-5.33085661e-38,"EncoderCos":38736,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-1.06617135e-38,"cg_du":50.1606979,"cg_dv":50.2052917,"cg_dw":49.7947083,"cg_id_a":0.0740609691,"cg_id_raw_a":-0.277682781,"cg_iq_a":-0.0916624591,"cg_iq_raw_a":0.01092372,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.863636,"cg_sample_seq":14526416,"cg_sample_valid":1,"cg_theta_rad":5.00767231,"cg_vd_req_v":0.0726198256,"cg_vd_v":0.0726198256,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370572925,"cg_vq_v":-0.370572925,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.057861,"values":{"Elec_RPM":-5.33085661e-38,"EncoderCos":38717,"EncoderSin":12446,"GapTicks":54769,"Mech_RPM":-1.06617135e-38,"cg_du":50.1632309,"cg_dv":50.2094307,"cg_dw":49.7905693,"cg_id_a":0.00331775099,"cg_id_raw_a":-0.00790546741,"cg_iq_a":0.255452752,"cg_iq_raw_a":0.254987955,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772009,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9872723,"cg_sample_seq":14526467,"cg_sample_valid":1,"cg_theta_rad":5.00834942,"cg_vd_req_v":0.0766883418,"cg_vd_v":0.0766883418,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377241939,"cg_vq_v":-0.377241939,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.04245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.065674,"values":{"Elec_RPM":-5.22423966e-38,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-1.04484793e-38,"cg_du":50.1619225,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":0.175344512,"cg_id_raw_a":-0.0880212262,"cg_iq_a":0.109177873,"cg_iq_raw_a":0.42913419,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9763641,"cg_sample_seq":14526517,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.073898904,"cg_vd_v":0.073898904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370934725,"cg_vq_v":-0.370934725,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.04245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.073486,"values":{"Elec_RPM":-5.11975492e-38,"EncoderCos":38717,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-1.02395093e-38,"cg_du":50.1576881,"cg_dv":50.2038841,"cg_dw":49.7961159,"cg_id_a":0.214562297,"cg_id_raw_a":0.267821223,"cg_iq_a":-0.242028326,"cg_iq_raw_a":-0.191254631,"cg_iu_a":0.183752537,"cg_iv_a":0.21412921,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8745461,"cg_sample_seq":14526616,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.0749072954,"cg_vd_v":0.0749072954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365547568,"cg_vq_v":-0.365547568,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0518188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.081299,"values":{"Elec_RPM":-5.11975492e-38,"EncoderCos":38725,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-1.02395093e-38,"cg_du":50.1436958,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":-0.240514144,"cg_id_raw_a":0.267552137,"cg_iq_a":-0.477866083,"cg_iq_raw_a":-0.191630915,"cg_iu_a":0.473703384,"cg_iv_a":-0.546991229,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9581814,"cg_sample_seq":14526667,"cg_sample_valid":1,"cg_theta_rad":5.00704765,"cg_vd_req_v":0.0875460505,"cg_vd_v":0.0875460505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360840023,"cg_vq_v":-0.360840023,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0518188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.093018,"values":{"Elec_RPM":-5.0173598e-38,"EncoderCos":38721,"EncoderSin":12475,"GapTicks":54770,"Mech_RPM":-1.00347193e-38,"cg_du":50.1425591,"cg_dv":50.2087708,"cg_dw":49.7912292,"cg_id_a":-0.378146678,"cg_id_raw_a":-0.856311381,"cg_iq_a":-0.254516333,"cg_iq_raw_a":-1.17486799,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14526716,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0909496695,"cg_vd_v":0.0909496695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363822639,"cg_vq_v":-0.363822639,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0533752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.10083,"values":{"Elec_RPM":-5.0173598e-38,"EncoderCos":38704,"EncoderSin":12443,"GapTicks":54775,"Mech_RPM":-1.00347193e-38,"cg_du":50.14534,"cg_dv":50.2040672,"cg_dw":49.7959328,"cg_id_a":-0.156345502,"cg_id_raw_a":0.0263467953,"cg_iq_a":-0.360475332,"cg_iq_raw_a":-0.287967324,"cg_iu_a":0.473703146,"cg_iv_a":-0.546991229,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.863636,"cg_sample_seq":14526766,"cg_sample_valid":1,"cg_theta_rad":5.00662041,"cg_vd_req_v":0.0863706544,"cg_vd_v":0.0863706544,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358472347,"cg_vq_v":-0.358472347,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0533752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.108643,"values":{"Elec_RPM":-4.91701282e-38,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-9.83402536e-39,"cg_du":50.1492767,"cg_dv":50.206131,"cg_dw":49.793869,"cg_id_a":0.020411998,"cg_id_raw_a":-0.315957546,"cg_iq_a":-0.0446469486,"cg_iq_raw_a":0.188755944,"cg_iu_a":0.618678808,"cg_iv_a":0.504079938,"cg_iw_a":-1.12275875,"cg_sample_age_us":23.954546,"cg_sample_seq":14526816,"cg_sample_valid":1,"cg_theta_rad":5.01086426,"cg_vd_req_v":0.0831491873,"cg_vd_v":0.0831491873,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365157396,"cg_vq_v":-0.365157396,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0549316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.135986,"values":{"Elec_RPM":-4.91701282e-38,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-9.83402536e-39,"cg_du":50.1498718,"cg_dv":50.20718,"cg_dw":49.79282,"cg_id_a":0.0199435893,"cg_id_raw_a":0.101118036,"cg_iq_a":-0.0791993737,"cg_iq_raw_a":-0.644842803,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14526871,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.0835466385,"cg_vd_v":0.0835466385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365790218,"cg_vq_v":-0.365790218,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0533752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.147705,"values":{"Elec_RPM":-4.81867249e-38,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-9.63734471e-39,"cg_du":50.1467781,"cg_dv":50.2080917,"cg_dw":49.7919083,"cg_id_a":-0.200151518,"cg_id_raw_a":0.141999722,"cg_iq_a":-0.146212891,"cg_iq_raw_a":0.23318693,"cg_iu_a":0.00253343582,"cg_iv_a":-0.945673466,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9872723,"cg_sample_seq":14526917,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0869150758,"cg_vd_v":0.0869150758,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364106327,"cg_vq_v":-0.364106327,"cg_vu_v":135.486908,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0533752,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.155518,"values":{"Elec_RPM":-4.72229847e-38,"EncoderCos":38751,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-9.44459751e-39,"cg_du":50.1538315,"cg_dv":50.2084846,"cg_dw":49.7915154,"cg_id_a":0.20610711,"cg_id_raw_a":-0.0186806582,"cg_iq_a":0.111396536,"cg_iq_raw_a":-0.292070955,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552848,"cg_iw_a":0.218263328,"cg_sample_age_us":23.954546,"cg_sample_seq":14527066,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0800029784,"cg_vd_v":0.0800029784,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371334225,"cg_vq_v":-0.371334225,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.04245,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.16333,"values":{"Elec_RPM":-4.62785264e-38,"EncoderCos":38724,"EncoderSin":12462,"GapTicks":54769,"Mech_RPM":-9.25570528e-39,"cg_du":50.1487389,"cg_dv":50.2096634,"cg_dw":49.7903366,"cg_id_a":-0.206328303,"cg_id_raw_a":-0.577341378,"cg_iq_a":0.081090346,"cg_iq_raw_a":0.927780032,"cg_iu_a":0.401215792,"cg_iv_a":0.10539782,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9618187,"cg_sample_seq":14527116,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0873071477,"cg_vd_v":0.0873071477,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3696073,"cg_vq_v":-0.3696073,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0236816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.171143,"values":{"Elec_RPM":-4.62785264e-38,"EncoderCos":38745,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-9.25570528e-39,"cg_du":50.1516762,"cg_dv":50.2073021,"cg_dw":49.7926979,"cg_id_a":0.173148811,"cg_id_raw_a":0.0340372995,"cg_iq_a":0.0178357586,"cg_iq_raw_a":-0.178045198,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9581814,"cg_sample_seq":14527166,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0805659294,"cg_vd_v":0.0805659294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367342979,"cg_vq_v":-0.367342979,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0236816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.178955,"values":{"Elec_RPM":-4.53529547e-38,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-9.07059095e-39,"cg_du":50.1441383,"cg_dv":50.208683,"cg_dw":49.791317,"cg_id_a":-0.265657842,"cg_id_raw_a":0.0484988615,"cg_iq_a":-0.208764702,"cg_iq_raw_a":0.114769742,"cg_iu_a":0.727410078,"cg_iv_a":-0.293284416,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8563633,"cg_sample_seq":14527216,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0896717533,"cg_vd_v":0.0896717533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364580929,"cg_vq_v":-0.364580929,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.186768,"values":{"Elec_RPM":-4.53529547e-38,"EncoderCos":38719,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-9.07059095e-39,"cg_du":50.1520271,"cg_dv":50.2013893,"cg_dw":49.7986107,"cg_id_a":0.36183548,"cg_id_raw_a":-0.405935556,"cg_iq_a":-0.291036785,"cg_iq_raw_a":-0.184386313,"cg_iu_a":-0.359904766,"cg_iv_a":0.250373125,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8600006,"cg_sample_seq":14527266,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0764083117,"cg_vd_v":0.0764083117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359087884,"cg_vq_v":-0.359087884,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0346375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.19458,"values":{"Elec_RPM":-4.44458942e-38,"EncoderCos":38725,"EncoderSin":12467,"GapTicks":54769,"Mech_RPM":-8.88917885e-39,"cg_du":50.1498985,"cg_dv":50.2098846,"cg_dw":49.7901154,"cg_id_a":-0.0855191723,"cg_id_raw_a":-0.430885643,"cg_iq_a":0.301798582,"cg_iq_raw_a":0.723758996,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.691966653,"cg_iw_a":-0.144174874,"cg_sample_age_us":23.9254551,"cg_sample_seq":14527316,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0861357674,"cg_vd_v":0.0861357674,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369485408,"cg_vq_v":-0.369485408,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0346375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.22583,"values":{"Elec_RPM":-4.44458942e-38,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-8.88917885e-39,"cg_du":50.1518974,"cg_dv":50.2124519,"cg_dw":49.7875481,"cg_id_a":0.066796951,"cg_id_raw_a":-0.0560967028,"cg_iq_a":0.353051513,"cg_iq_raw_a":-0.113489717,"cg_iu_a":0.147508621,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14527371,"cg_sample_valid":1,"cg_theta_rad":5.01037312,"cg_vd_req_v":0.0849381685,"cg_vd_v":0.0849381685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374582499,"cg_vq_v":-0.374582499,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0658569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.233643,"values":{"Elec_RPM":-4.3556975e-38,"EncoderCos":38734,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-8.71139471e-39,"cg_du":50.1463432,"cg_dv":50.211235,"cg_dw":49.788765,"cg_id_a":-0.218317643,"cg_id_raw_a":-0.249533772,"cg_iq_a":0.161211222,"cg_iq_raw_a":0.159428284,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0395775437,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9254551,"cg_sample_seq":14527416,"cg_sample_valid":1,"cg_theta_rad":5.00669289,"cg_vd_req_v":0.0891045257,"cg_vd_v":0.0891045257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369606376,"cg_vq_v":-0.369606376,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.241455,"values":{"Elec_RPM":-4.3556975e-38,"EncoderCos":38700,"EncoderSin":12418,"GapTicks":54770,"Mech_RPM":-8.71139471e-39,"cg_du":50.1501808,"cg_dv":50.2084274,"cg_dw":49.7915726,"cg_id_a":-0.151865497,"cg_id_raw_a":-0.146081418,"cg_iq_a":0.00407781638,"cg_iq_raw_a":0.75070709,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9690914,"cg_sample_seq":14527467,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0878184512,"cg_vd_v":0.0878184512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366883904,"cg_vq_v":-0.366883904,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.92524242,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.249268,"values":{"Elec_RPM":-4.26858353e-38,"EncoderCos":38726,"EncoderSin":12476,"GapTicks":54773,"Mech_RPM":-8.53716707e-39,"cg_du":50.1481972,"cg_dv":50.2063103,"cg_dw":49.7936897,"cg_id_a":0.0398987457,"cg_id_raw_a":0.302018374,"cg_iq_a":-0.1230212,"cg_iq_raw_a":-0.115849003,"cg_iu_a":0.111264944,"cg_iv_a":0.322860718,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9690914,"cg_sample_seq":14527516,"cg_sample_valid":1,"cg_theta_rad":5.00681829,"cg_vd_req_v":0.0836926997,"cg_vd_v":0.0836926997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363742292,"cg_vq_v":-0.363742292,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.260986,"values":{"Elec_RPM":-4.26858353e-38,"EncoderCos":38735,"EncoderSin":12466,"GapTicks":54775,"Mech_RPM":-8.53716707e-39,"cg_du":50.1456642,"cg_dv":50.2041016,"cg_dw":49.7958984,"cg_id_a":0.014321737,"cg_id_raw_a":0.347986758,"cg_iq_a":-0.270783633,"cg_iq_raw_a":0.507001519,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14527567,"cg_sample_valid":1,"cg_theta_rad":5.00648069,"cg_vd_req_v":0.0830553472,"cg_vd_v":0.0830553472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359433323,"cg_vq_v":-0.359433323,"cg_vu_v":105.574219,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.0290557146,"dclink_p_w":-4.20507813,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.268799,"values":{"Elec_RPM":-4.18321167e-38,"EncoderCos":38714,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-8.36642305e-39,"cg_du":50.1541138,"cg_dv":50.2065926,"cg_dw":49.7934074,"cg_id_a":0.0719661191,"cg_id_raw_a":0.280896068,"cg_iq_a":0.035271883,"cg_iq_raw_a":0.101578787,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9472733,"cg_sample_seq":14527616,"cg_sample_valid":1,"cg_theta_rad":5.00710821,"cg_vd_req_v":0.0805755034,"cg_vd_v":0.0805755034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367168844,"cg_vq_v":-0.367168844,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0440063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.276611,"values":{"Elec_RPM":-4.18321167e-38,"EncoderCos":38737,"EncoderSin":12486,"GapTicks":54770,"Mech_RPM":-8.36642305e-39,"cg_du":50.1460037,"cg_dv":50.2087173,"cg_dw":49.7912827,"cg_id_a":-0.222038209,"cg_id_raw_a":-0.276564151,"cg_iq_a":-0.0854723528,"cg_iq_raw_a":-0.680040419,"cg_iu_a":-0.504880428,"cg_iv_a":0.322860777,"cg_iw_a":0.182019651,"cg_sample_age_us":23.9799995,"cg_sample_seq":14527666,"cg_sample_valid":1,"cg_theta_rad":5.00623178,"cg_vd_req_v":0.0865823999,"cg_vd_v":0.0865823999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366066366,"cg_vq_v":-0.366066366,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.040863,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.284424,"values":{"Elec_RPM":-4.09954686e-38,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-8.199094e-39,"cg_du":50.1432343,"cg_dv":50.2054367,"cg_dw":49.7945633,"cg_id_a":-0.158563808,"cg_id_raw_a":-0.128482625,"cg_iq_a":-0.36009407,"cg_iq_raw_a":-0.448471725,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14527716,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.0870466158,"cg_vd_v":0.0870466158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360857397,"cg_vq_v":-0.360857397,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.040863,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.292236,"values":{"Elec_RPM":-4.09954686e-38,"EncoderCos":38716,"EncoderSin":12484,"GapTicks":54772,"Mech_RPM":-8.199094e-39,"cg_du":50.1521492,"cg_dv":50.2072258,"cg_dw":49.7927742,"cg_id_a":0.145507336,"cg_id_raw_a":0.884057045,"cg_iq_a":-0.067044273,"cg_iq_raw_a":0.81552279,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9472733,"cg_sample_seq":14527766,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0821075886,"cg_vd_v":0.0821075886,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367059171,"cg_vq_v":-0.367059171,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0486755,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.300049,"values":{"Elec_RPM":-4.01755633e-38,"EncoderCos":38696,"EncoderSin":12446,"GapTicks":54762,"Mech_RPM":-8.03511266e-39,"cg_du":50.1684723,"cg_dv":50.2162666,"cg_dw":49.7837334,"cg_id_a":0.119295031,"cg_id_raw_a":-0.939923227,"cg_iq_a":0.871736526,"cg_iq_raw_a":1.10477614,"cg_iu_a":0.292484283,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9618187,"cg_sample_seq":14527816,"cg_sample_valid":1,"cg_theta_rad":5.00869322,"cg_vd_req_v":0.0808694735,"cg_vd_v":0.0808694735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387945801,"cg_vq_v":-0.387945801,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.331299,"values":{"Elec_RPM":-4.01755633e-38,"EncoderCos":38736,"EncoderSin":12475,"GapTicks":54768,"Mech_RPM":-8.03511266e-39,"cg_du":50.1474724,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":-0.186846867,"cg_id_raw_a":0.713456631,"cg_iq_a":0.0568639934,"cg_iq_raw_a":-0.696762502,"cg_iu_a":-0.613611698,"cg_iv_a":0.467836082,"cg_iw_a":0.145775616,"cg_sample_age_us":23.863636,"cg_sample_seq":14527871,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.0875177607,"cg_vd_v":0.0875177607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369240969,"cg_vq_v":-0.369240969,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.339111,"values":{"Elec_RPM":-3.93720531e-38,"EncoderCos":38717,"EncoderSin":12455,"GapTicks":54766,"Mech_RPM":-7.87441035e-39,"cg_du":50.1520309,"cg_dv":50.212368,"cg_dw":49.787632,"cg_id_a":-0.146909028,"cg_id_raw_a":-0.118328646,"cg_iq_a":0.187509954,"cg_iq_raw_a":0.0982988849,"cg_iu_a":-1.12102532,"cg_iv_a":0.250373125,"cg_iw_a":0.870652199,"cg_sample_age_us":23.8490906,"cg_sample_seq":14527916,"cg_sample_valid":1,"cg_theta_rad":5.00891018,"cg_vd_req_v":0.0878616646,"cg_vd_v":0.0878616646,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37383014,"cg_vq_v":-0.37383014,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.346924,"values":{"Elec_RPM":-3.93720531e-38,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54761,"Mech_RPM":-7.87441035e-39,"cg_du":50.1477051,"cg_dv":50.2165146,"cg_dw":49.7834854,"cg_id_a":-0.440647542,"cg_id_raw_a":-0.0178963337,"cg_iq_a":0.311101019,"cg_iq_raw_a":-0.292120337,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14527966,"cg_sample_valid":1,"cg_theta_rad":5.00618172,"cg_vd_req_v":0.093628183,"cg_vd_v":0.093628183,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378659904,"cg_vq_v":-0.378659904,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106147863,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.354736,"values":{"Elec_RPM":-3.85846131e-38,"EncoderCos":38711,"EncoderSin":12495,"GapTicks":54769,"Mech_RPM":-7.71692262e-39,"cg_du":50.1527367,"cg_dv":50.2096596,"cg_dw":49.7903404,"cg_id_a":0.0849992782,"cg_id_raw_a":0.15607655,"cg_iq_a":0.0005145818,"cg_iq_raw_a":0.0889514387,"cg_iu_a":0.691166162,"cg_iv_a":0.0691539049,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.9836369,"cg_sample_seq":14528016,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0844106451,"cg_vd_v":0.0844106451,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371792227,"cg_vq_v":-0.371792227,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.362549,"values":{"Elec_RPM":-3.85846131e-38,"EncoderCos":38727,"EncoderSin":12455,"GapTicks":54766,"Mech_RPM":-7.71692262e-39,"cg_du":50.1570358,"cg_dv":50.212616,"cg_dw":49.787384,"cg_id_a":0.145712063,"cg_id_raw_a":0.128527805,"cg_iq_a":0.0876755863,"cg_iq_raw_a":-0.0595310926,"cg_iu_a":-0.251173258,"cg_iv_a":0.540323734,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9581814,"cg_sample_seq":14528066,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0833245143,"cg_vd_v":0.0833245143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37717396,"cg_vq_v":-0.37717396,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.93717337,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.040863,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.374268,"values":{"Elec_RPM":-3.7812918e-38,"EncoderCos":38744,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-7.5625836e-39,"cg_du":50.1588135,"cg_dv":50.2104149,"cg_dw":49.7895851,"cg_id_a":0.357733428,"cg_id_raw_a":0.54933995,"cg_iq_a":-0.039140828,"cg_iq_raw_a":0.85154891,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14528116,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.077534534,"cg_vd_v":0.077534534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375647366,"cg_vq_v":-0.375647366,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.040863,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.38208,"values":{"Elec_RPM":-3.7812918e-38,"EncoderCos":38738,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-7.5625836e-39,"cg_du":50.1538925,"cg_dv":50.2095032,"cg_dw":49.7904968,"cg_id_a":0.184782192,"cg_id_raw_a":0.339784801,"cg_iq_a":-0.309129834,"cg_iq_raw_a":-0.294675738,"cg_iu_a":0.00253343582,"cg_iv_a":0.540323794,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9872723,"cg_sample_seq":14528166,"cg_sample_valid":1,"cg_theta_rad":5.00607681,"cg_vd_req_v":0.0818375051,"cg_vd_v":0.0818375051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371380717,"cg_vq_v":-0.371380717,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0440063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.389893,"values":{"Elec_RPM":-3.70566597e-38,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54763,"Mech_RPM":-7.41133165e-39,"cg_du":50.1648064,"cg_dv":50.2152443,"cg_dw":49.7847557,"cg_id_a":0.271579921,"cg_id_raw_a":0.183882058,"cg_iq_a":0.255143851,"cg_iq_raw_a":0.237080619,"cg_iu_a":-0.359905005,"cg_iv_a":0.39534843,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14528216,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0796193033,"cg_vd_v":0.0796193033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385138094,"cg_vq_v":-0.385138094,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.397705,"values":{"Elec_RPM":-3.70566597e-38,"EncoderCos":38738,"EncoderSin":12483,"GapTicks":54761,"Mech_RPM":-7.41133165e-39,"cg_du":50.1541328,"cg_dv":50.2168846,"cg_dw":49.7831154,"cg_id_a":-0.143523991,"cg_id_raw_a":0.0932851583,"cg_iq_a":0.0405560881,"cg_iq_raw_a":-0.13614215,"cg_iu_a":-0.251173258,"cg_iv_a":-0.293284297,"cg_iw_a":0.544457555,"cg_sample_age_us":23.9654541,"cg_sample_seq":14528266,"cg_sample_valid":1,"cg_theta_rad":5.00805235,"cg_vd_req_v":0.0880642235,"cg_vd_v":0.0880642235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381741047,"cg_vq_v":-0.381741047,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.405518,"values":{"Elec_RPM":-3.63155241e-38,"EncoderCos":38702,"EncoderSin":12452,"GapTicks":54762,"Mech_RPM":-7.2631051e-39,"cg_du":50.1603813,"cg_dv":50.2158775,"cg_dw":49.7841225,"cg_id_a":0.0125510655,"cg_id_raw_a":0.0946842134,"cg_iq_a":-0.0521149077,"cg_iq_raw_a":-0.135172889,"cg_iu_a":-0.214929581,"cg_iv_a":0.21412921,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.863636,"cg_sample_seq":14528317,"cg_sample_valid":1,"cg_theta_rad":5.00522232,"cg_vd_req_v":0.0861254781,"cg_vd_v":0.0861254781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382983357,"cg_vq_v":-0.382983357,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0221252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.436768,"values":{"Elec_RPM":-3.55892199e-38,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54769,"Mech_RPM":-7.1178437e-39,"cg_du":50.1577301,"cg_dv":50.2097778,"cg_dw":49.7902222,"cg_id_a":0.277289242,"cg_id_raw_a":0.343480408,"cg_iq_a":-0.454745948,"cg_iq_raw_a":-0.548843265,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065196,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8600006,"cg_sample_seq":14528417,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0795048252,"cg_vd_v":0.0795048252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373811841,"cg_vq_v":-0.373811841,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.88317204,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0346375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.44458,"values":{"Elec_RPM":-3.55892199e-38,"EncoderCos":38724,"EncoderSin":12472,"GapTicks":54765,"Mech_RPM":-7.1178437e-39,"cg_du":50.1604843,"cg_dv":50.2135201,"cg_dw":49.7864799,"cg_id_a":0.112366483,"cg_id_raw_a":0.621397257,"cg_iq_a":-0.208065912,"cg_iq_raw_a":0.0609042607,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9872723,"cg_sample_seq":14528467,"cg_sample_valid":1,"cg_theta_rad":5.00648832,"cg_vd_req_v":0.0810648799,"cg_vd_v":0.0810648799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379219919,"cg_vq_v":-0.379219919,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.452393,"values":{"Elec_RPM":-3.4877436e-38,"EncoderCos":38716,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-6.97548719e-39,"cg_du":50.1670723,"cg_dv":50.2108574,"cg_dw":49.7891426,"cg_id_a":0.286507815,"cg_id_raw_a":0.127314061,"cg_iq_a":-0.0619668365,"cg_iq_raw_a":0.37766999,"cg_iu_a":-0.323661089,"cg_iv_a":0.902762115,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9872723,"cg_sample_seq":14528517,"cg_sample_valid":1,"cg_theta_rad":5.0069561,"cg_vd_req_v":0.0743044689,"cg_vd_v":0.0743044689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379102528,"cg_vq_v":-0.379102528,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0830383,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.460205,"values":{"Elec_RPM":-3.4877436e-38,"EncoderCos":38754,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-6.97548719e-39,"cg_du":50.1581802,"cg_dv":50.2108727,"cg_dw":49.7891273,"cg_id_a":0.00025052391,"cg_id_raw_a":-0.0708566979,"cg_iq_a":-0.144741386,"cg_iq_raw_a":0.285590559,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148309112,"cg_iw_a":0.2907511,"cg_sample_age_us":23.8527279,"cg_sample_seq":14528567,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.077703774,"cg_vd_v":0.077703774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376083791,"cg_vq_v":-0.376083791,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.468018,"values":{"Elec_RPM":-3.41798892e-38,"EncoderCos":38716,"EncoderSin":12446,"GapTicks":54773,"Mech_RPM":-6.83597812e-39,"cg_du":50.149662,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":-0.28483367,"cg_id_raw_a":0.00378777133,"cg_iq_a":-0.474225163,"cg_iq_raw_a":-0.0716674253,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":-1.23149025,"cg_sample_age_us":23.9509087,"cg_sample_seq":14528617,"cg_sample_valid":1,"cg_theta_rad":5.00609589,"cg_vd_req_v":0.0839331523,"cg_vd_v":0.0839331523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363940924,"cg_vq_v":-0.363940924,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.47583,"values":{"Elec_RPM":-3.41798892e-38,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-6.83597812e-39,"cg_du":50.1551819,"cg_dv":50.207283,"cg_dw":49.792717,"cg_id_a":-0.10526555,"cg_id_raw_a":0.0151819736,"cg_iq_a":-0.262719929,"cg_iq_raw_a":-1.52681899,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641617,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9254551,"cg_sample_seq":14528667,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0787080154,"cg_vd_v":0.0787080154,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369071901,"cg_vq_v":-0.369071901,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0361938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.487549,"values":{"Elec_RPM":-3.34962966e-38,"EncoderCos":38751,"EncoderSin":12483,"GapTicks":54777,"Mech_RPM":-6.69925903e-39,"cg_du":50.1571426,"cg_dv":50.2025795,"cg_dw":49.7974205,"cg_id_a":0.168254778,"cg_id_raw_a":0.378183991,"cg_iq_a":-0.302270889,"cg_iq_raw_a":-0.0380285829,"cg_iu_a":-0.287417173,"cg_iv_a":0.322860777,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9581814,"cg_sample_seq":14528717,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0708044618,"cg_vd_v":0.0708044618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364119262,"cg_vq_v":-0.364119262,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0314941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.495361,"values":{"Elec_RPM":-3.34962966e-38,"EncoderCos":38705,"EncoderSin":12446,"GapTicks":54769,"Mech_RPM":-6.69925903e-39,"cg_du":50.1700935,"cg_dv":50.2097664,"cg_dw":49.7902336,"cg_id_a":0.0595689453,"cg_id_raw_a":-0.464272976,"cg_iq_a":0.441592187,"cg_iq_raw_a":0.390260667,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796824,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14528767,"cg_sample_valid":1,"cg_theta_rad":5.00818443,"cg_vd_req_v":0.0724422783,"cg_vd_v":0.0724422783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380222499,"cg_vq_v":-0.380222499,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0314941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.503174,"values":{"Elec_RPM":-3.28263694e-38,"EncoderCos":38714,"EncoderSin":12440,"GapTicks":54773,"Mech_RPM":-6.56527388e-39,"cg_du":50.1664009,"cg_dv":50.2058601,"cg_dw":49.7941399,"cg_id_a":0.164628044,"cg_id_raw_a":0.412928909,"cg_iq_a":-0.0463926978,"cg_iq_raw_a":0.0426052362,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9618187,"cg_sample_seq":14528817,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0708945319,"cg_vd_v":0.0708945319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372959316,"cg_vq_v":-0.372959316,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0455627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.510986,"values":{"Elec_RPM":-3.28263694e-38,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-6.56527388e-39,"cg_du":50.1762733,"cg_dv":50.210804,"cg_dw":49.789196,"cg_id_a":0.390623391,"cg_id_raw_a":1.02651334,"cg_iq_a":0.539804757,"cg_iq_raw_a":1.3021096,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9872723,"cg_sample_seq":14528866,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0664071441,"cg_vd_v":0.0664071441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38550669,"cg_vq_v":-0.38550669,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0314941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.542236,"values":{"Elec_RPM":-3.21698387e-38,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54763,"Mech_RPM":-6.43396801e-39,"cg_du":50.1624336,"cg_dv":50.2147789,"cg_dw":49.7852211,"cg_id_a":-0.369938403,"cg_id_raw_a":-0.0840262696,"cg_iq_a":0.374872088,"cg_iq_raw_a":-0.88168025,"cg_iu_a":1.19858003,"cg_iv_a":-0.583235145,"cg_iw_a":-0.615344882,"cg_sample_age_us":26.823637,"cg_sample_seq":14528920,"cg_sample_valid":1,"cg_theta_rad":5.00579596,"cg_vd_req_v":0.0822525322,"cg_vd_v":0.0822525322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384129107,"cg_vq_v":-0.384129107,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0314941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.550049,"values":{"Elec_RPM":-3.21698387e-38,"EncoderCos":38726,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-6.43396801e-39,"cg_du":50.1677055,"cg_dv":50.2092667,"cg_dw":49.7907333,"cg_id_a":0.0973546207,"cg_id_raw_a":-0.312299103,"cg_iq_a":0.264778584,"cg_iq_raw_a":-0.0662168786,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14528967,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0722058639,"cg_vd_v":0.0722058639,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37969625,"cg_vq_v":-0.37969625,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.557861,"values":{"Elec_RPM":-3.15264409e-38,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54773,"Mech_RPM":-6.30528818e-39,"cg_du":50.1588249,"cg_dv":50.2058716,"cg_dw":49.7941284,"cg_id_a":0.0195944831,"cg_id_raw_a":0.243074954,"cg_iq_a":-0.188899651,"cg_iq_raw_a":-0.157797545,"cg_iu_a":-0.178685904,"cg_iv_a":-0.546991229,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9872723,"cg_sample_seq":14529017,"cg_sample_valid":1,"cg_theta_rad":5.00672674,"cg_vd_req_v":0.075110957,"cg_vd_v":0.075110957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369054914,"cg_vq_v":-0.369054914,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0596008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.565674,"values":{"Elec_RPM":-3.15264409e-38,"EncoderCos":38693,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-6.30528818e-39,"cg_du":50.1655579,"cg_dv":50.20718,"cg_dw":49.79282,"cg_id_a":0.134720862,"cg_id_raw_a":-0.311091423,"cg_iq_a":0.120761171,"cg_iq_raw_a":-0.687185407,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9472733,"cg_sample_seq":14529067,"cg_sample_valid":1,"cg_theta_rad":5.00857067,"cg_vd_req_v":0.0736041963,"cg_vd_v":0.0736041963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374128371,"cg_vq_v":-0.374128371,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.8256588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0596008,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.573486,"values":{"Elec_RPM":-3.08959126e-38,"EncoderCos":38770,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-6.17918252e-39,"cg_du":50.1438599,"cg_dv":50.202446,"cg_dw":49.797554,"cg_id_a":-0.212864101,"cg_id_raw_a":-0.300734192,"cg_iq_a":-0.50136745,"cg_iq_raw_a":-0.206806943,"cg_iu_a":0.256240129,"cg_iv_a":0.177885473,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9581814,"cg_sample_seq":14529117,"cg_sample_valid":1,"cg_theta_rad":5.00728083,"cg_vd_req_v":0.0796644688,"cg_vd_v":0.0796644688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356894553,"cg_vq_v":-0.356894553,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0674133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.581299,"values":{"Elec_RPM":-3.08959126e-38,"EncoderCos":38711,"EncoderSin":12408,"GapTicks":54777,"Mech_RPM":-6.17918252e-39,"cg_du":50.1588783,"cg_dv":50.2020645,"cg_dw":49.7979355,"cg_id_a":0.0504478812,"cg_id_raw_a":0.151455656,"cg_iq_a":-0.0573041439,"cg_iq_raw_a":-0.274942338,"cg_iu_a":-0.214929581,"cg_iv_a":0.540323734,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9654541,"cg_sample_seq":14529167,"cg_sample_valid":1,"cg_theta_rad":5.00822306,"cg_vd_req_v":0.0741157755,"cg_vd_v":0.0741157755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363358021,"cg_vq_v":-0.363358021,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0674133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.589111,"values":{"Elec_RPM":-3.0277996e-38,"EncoderCos":38750,"EncoderSin":12441,"GapTicks":54765,"Mech_RPM":-6.05559921e-39,"cg_du":50.1679535,"cg_dv":50.2132835,"cg_dw":49.7867165,"cg_id_a":0.113234222,"cg_id_raw_a":0.0422942042,"cg_iq_a":1.03998899,"cg_iq_raw_a":0.186733022,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14529217,"cg_sample_valid":1,"cg_theta_rad":5.00763988,"cg_vd_req_v":0.0737659261,"cg_vd_v":0.0737659261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384520978,"cg_vq_v":-0.384520978,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0190125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.60083,"values":{"Elec_RPM":-3.0277996e-38,"EncoderCos":38740,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-6.05559921e-39,"cg_du":50.1512489,"cg_dv":50.2008438,"cg_dw":49.7991562,"cg_id_a":-0.0470074303,"cg_id_raw_a":0.347382218,"cg_iq_a":-0.186491445,"cg_iq_raw_a":0.0696009099,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9618187,"cg_sample_seq":14529267,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0750246048,"cg_vd_v":0.0750246048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3582156,"cg_vq_v":-0.3582156,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0440063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.608643,"values":{"Elec_RPM":-2.96724389e-38,"EncoderCos":38689,"EncoderSin":12430,"GapTicks":54780,"Mech_RPM":-5.93448779e-39,"cg_du":50.1639862,"cg_dv":50.1996002,"cg_dw":49.8003998,"cg_id_a":0.230960876,"cg_id_raw_a":0.0917491913,"cg_iq_a":0.0596038774,"cg_iq_raw_a":0.484574944,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796704,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14529317,"cg_sample_valid":1,"cg_theta_rad":5.0075469,"cg_vd_req_v":0.0689750314,"cg_vd_v":0.0689750314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362682909,"cg_vq_v":-0.362682909,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0440063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.616455,"values":{"Elec_RPM":-2.96724389e-38,"EncoderCos":38744,"EncoderSin":12433,"GapTicks":54781,"Mech_RPM":-5.93448779e-39,"cg_du":50.1435242,"cg_dv":50.1989212,"cg_dw":49.8010788,"cg_id_a":-0.308639586,"cg_id_raw_a":-0.201800466,"cg_iq_a":-0.463708699,"cg_iq_raw_a":-0.3459934,"cg_iu_a":0.183752537,"cg_iv_a":-0.510747313,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14529367,"cg_sample_valid":1,"cg_theta_rad":5.00889683,"cg_vd_req_v":0.0798009261,"cg_vd_v":0.0798009261,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351158917,"cg_vq_v":-0.351158917,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.643799,"values":{"Elec_RPM":-2.9078989e-38,"EncoderCos":38712,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-5.81579781e-39,"cg_du":50.1509285,"cg_dv":50.2045326,"cg_dw":49.7954674,"cg_id_a":-0.38202107,"cg_id_raw_a":-0.481393963,"cg_iq_a":0.108806863,"cg_iq_raw_a":-0.266140252,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8600006,"cg_sample_seq":14529420,"cg_sample_valid":1,"cg_theta_rad":5.00541306,"cg_vd_req_v":0.0814479217,"cg_vd_v":0.0814479217,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36248976,"cg_vq_v":-0.36248976,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.655518,"values":{"Elec_RPM":-2.9078989e-38,"EncoderCos":38720,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-5.81579781e-39,"cg_du":50.156765,"cg_dv":50.2010231,"cg_dw":49.7989769,"cg_id_a":0.0486486852,"cg_id_raw_a":0.210903198,"cg_iq_a":0.00559936464,"cg_iq_raw_a":0.385779619,"cg_iu_a":0.0750212669,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9581814,"cg_sample_seq":14529466,"cg_sample_valid":1,"cg_theta_rad":5.00679016,"cg_vd_req_v":0.0727489293,"cg_vd_v":0.0727489293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361163616,"cg_vq_v":-0.361163616,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0502319,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.66333,"values":{"Elec_RPM":-2.84974081e-38,"EncoderCos":38743,"EncoderSin":12488,"GapTicks":54779,"Mech_RPM":-5.69948163e-39,"cg_du":50.158947,"cg_dv":50.2003174,"cg_dw":49.7996826,"cg_id_a":0.272749603,"cg_id_raw_a":0.527404606,"cg_iq_a":0.127082989,"cg_iq_raw_a":-0.0602560863,"cg_iu_a":0.00253343582,"cg_iv_a":0.612811446,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.863636,"cg_sample_seq":14529516,"cg_sample_valid":1,"cg_theta_rad":5.00753498,"cg_vd_req_v":0.0677351654,"cg_vd_v":0.0677351654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361927181,"cg_vq_v":-0.361927181,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.671143,"values":{"Elec_RPM":-2.84974081e-38,"EncoderCos":38685,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-5.69948163e-39,"cg_du":50.1578865,"cg_dv":50.199707,"cg_dw":49.800293,"cg_id_a":-0.0654255971,"cg_id_raw_a":0.303216279,"cg_iq_a":0.104630791,"cg_iq_raw_a":-0.112676345,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9581814,"cg_sample_seq":14529566,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0736720562,"cg_vd_v":0.0736720562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360527068,"cg_vq_v":-0.360527068,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.942585,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.678955,"values":{"Elec_RPM":-2.7927458e-38,"EncoderCos":38744,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-5.5854916e-39,"cg_du":50.154808,"cg_dv":50.2017593,"cg_dw":49.7982407,"cg_id_a":-0.0822573379,"cg_id_raw_a":-0.510173321,"cg_iq_a":0.0662464052,"cg_iq_raw_a":0.0268748738,"cg_iu_a":-0.359904766,"cg_iv_a":-0.184552908,"cg_iw_a":0.544457674,"cg_sample_age_us":23.8600006,"cg_sample_seq":14529616,"cg_sample_valid":1,"cg_theta_rad":5.00828409,"cg_vd_req_v":0.0727266967,"cg_vd_v":0.0727266967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362669766,"cg_vq_v":-0.362669766,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.5105057,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0346375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.686768,"values":{"Elec_RPM":-2.7927458e-38,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54778,"Mech_RPM":-5.5854916e-39,"cg_du":50.1614227,"cg_dv":50.2016068,"cg_dw":49.7983932,"cg_id_a":0.124138698,"cg_id_raw_a":-0.0763071924,"cg_iq_a":0.195096463,"cg_iq_raw_a":0.721661806,"cg_iu_a":0.473703384,"cg_iv_a":-0.112065315,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9218178,"cg_sample_seq":14529668,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0705581605,"cg_vd_v":0.0705581605,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364401758,"cg_vq_v":-0.364401758,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.0345688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0190125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.69458,"values":{"Elec_RPM":-2.7368906e-38,"EncoderCos":38724,"EncoderSin":12498,"GapTicks":54776,"Mech_RPM":-5.47378149e-39,"cg_du":50.1564674,"cg_dv":50.2035294,"cg_dw":49.7964706,"cg_id_a":0.102839001,"cg_id_raw_a":0.517061532,"cg_iq_a":0.210691825,"cg_iq_raw_a":-0.1685628,"cg_iu_a":-0.722343206,"cg_iv_a":-0.438259721,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9654541,"cg_sample_seq":14529717,"cg_sample_valid":1,"cg_theta_rad":5.00714636,"cg_vd_req_v":0.0738851354,"cg_vd_v":0.0738851354,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363563448,"cg_vq_v":-0.363563448,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0190125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.706299,"values":{"Elec_RPM":-2.7368906e-38,"EncoderCos":38773,"EncoderSin":12517,"GapTicks":54782,"Mech_RPM":-5.47378149e-39,"cg_du":50.1440811,"cg_dv":50.1977463,"cg_dw":49.8022537,"cg_id_a":0.132001236,"cg_id_raw_a":0.365962565,"cg_iq_a":-0.252125412,"cg_iq_raw_a":-0.15089339,"cg_iu_a":-0.649855614,"cg_iv_a":0.0691540241,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9836369,"cg_sample_seq":14529767,"cg_sample_valid":1,"cg_theta_rad":5.00670767,"cg_vd_req_v":0.0736576021,"cg_vd_v":0.0736576021,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349746108,"cg_vq_v":-0.349746108,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0174255,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.714111,"values":{"Elec_RPM":-2.68215308e-38,"EncoderCos":38710,"EncoderSin":12472,"GapTicks":54787,"Mech_RPM":-5.36430645e-39,"cg_du":50.1403351,"cg_dv":50.192749,"cg_dw":49.807251,"cg_id_a":-0.0540998876,"cg_id_raw_a":-0.570438385,"cg_iq_a":-0.596619129,"cg_iq_raw_a":-0.63898927,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373125,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9581814,"cg_sample_seq":14529817,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.0778108165,"cg_vd_v":0.0778108165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339546204,"cg_vq_v":-0.339546204,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.721924,"values":{"Elec_RPM":-2.68215308e-38,"EncoderCos":38736,"EncoderSin":12456,"GapTicks":54781,"Mech_RPM":-5.36430645e-39,"cg_du":50.1480293,"cg_dv":50.1982994,"cg_dw":49.8017006,"cg_id_a":0.118166253,"cg_id_raw_a":0.724907458,"cg_iq_a":-0.152737603,"cg_iq_raw_a":-0.585604668,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0758213997,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9836369,"cg_sample_seq":14529867,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0757391006,"cg_vd_v":0.0757391006,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352816314,"cg_vq_v":-0.352816314,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.749268,"values":{"Elec_RPM":-2.62851026e-38,"EncoderCos":38775,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-5.25702023e-39,"cg_du":50.1341438,"cg_dv":50.1956253,"cg_dw":49.8043747,"cg_id_a":-0.0669540912,"cg_id_raw_a":0.129799634,"cg_iq_a":-0.650663078,"cg_iq_raw_a":-0.824771345,"cg_iu_a":0.111264944,"cg_iv_a":-0.329528213,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8600006,"cg_sample_seq":14529920,"cg_sample_valid":1,"cg_theta_rad":5.00581026,"cg_vd_req_v":0.0809285194,"cg_vd_v":0.0809285194,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343262672,"cg_vq_v":-0.343262672,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.75708,"values":{"Elec_RPM":-2.62851026e-38,"EncoderCos":38723,"EncoderSin":12406,"GapTicks":54773,"Mech_RPM":-5.25702023e-39,"cg_du":50.1497841,"cg_dv":50.2061234,"cg_dw":49.7938766,"cg_id_a":-0.22200498,"cg_id_raw_a":0.160581365,"cg_iq_a":0.307286054,"cg_iq_raw_a":-0.165043741,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14529966,"cg_sample_valid":1,"cg_theta_rad":5.00631332,"cg_vd_req_v":0.0845189989,"cg_vd_v":0.0845189989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36502412,"cg_vq_v":-0.36502412,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0393066,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.764893,"values":{"Elec_RPM":-2.5759397e-38,"EncoderCos":38719,"EncoderSin":12476,"GapTicks":54775,"Mech_RPM":-5.15187941e-39,"cg_du":50.1437187,"cg_dv":50.203907,"cg_dw":49.796093,"cg_id_a":-0.259755731,"cg_id_raw_a":-0.145125821,"cg_iq_a":0.093380034,"cg_iq_raw_a":-0.486765772,"cg_iu_a":-0.142441988,"cg_iv_a":-0.800698042,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9436359,"cg_sample_seq":14530017,"cg_sample_valid":1,"cg_theta_rad":5.00644112,"cg_vd_req_v":0.0854475945,"cg_vd_v":0.0854475945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357828707,"cg_vq_v":-0.357828707,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.776611,"values":{"Elec_RPM":-2.5759397e-38,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-5.15187941e-39,"cg_du":50.1509399,"cg_dv":50.203701,"cg_dw":49.796299,"cg_id_a":0.111206561,"cg_id_raw_a":0.11343997,"cg_iq_a":0.402414173,"cg_iq_raw_a":-0.35265255,"cg_iu_a":0.183752537,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9763641,"cg_sample_seq":14530067,"cg_sample_valid":1,"cg_theta_rad":5.00785685,"cg_vd_req_v":0.0779203251,"cg_vd_v":0.0779203251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361961603,"cg_vq_v":-0.361961603,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.784424,"values":{"Elec_RPM":-2.52442097e-38,"EncoderCos":38719,"EncoderSin":12460,"GapTicks":54779,"Mech_RPM":-5.04884193e-39,"cg_du":50.1510124,"cg_dv":50.2006989,"cg_dw":49.7993011,"cg_id_a":0.300213575,"cg_id_raw_a":0.82630831,"cg_iq_a":0.339006692,"cg_iq_raw_a":1.39347601,"cg_iu_a":0.43745935,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9472733,"cg_sample_seq":14530167,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0770022497,"cg_vd_v":0.0770022497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357477129,"cg_vq_v":-0.357477129,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.792236,"values":{"Elec_RPM":-2.47393302e-38,"EncoderCos":38738,"EncoderSin":12488,"GapTicks":54779,"Mech_RPM":-4.94786577e-39,"cg_du":50.1464386,"cg_dv":50.200489,"cg_dw":49.799511,"cg_id_a":0.277260721,"cg_id_raw_a":0.676631868,"cg_iq_a":0.218033776,"cg_iq_raw_a":1.73763764,"cg_iu_a":0.219996452,"cg_iv_a":0.540323794,"cg_iw_a":-0.760320246,"cg_sample_age_us":23.9472733,"cg_sample_seq":14530216,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.0781654343,"cg_vd_v":0.0781654343,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355114251,"cg_vq_v":-0.355114251,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0221252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.803955,"values":{"Elec_RPM":-2.47393302e-38,"EncoderCos":38726,"EncoderSin":12432,"GapTicks":54775,"Mech_RPM":-4.94786577e-39,"cg_du":50.1535263,"cg_dv":50.2036781,"cg_dw":49.7963219,"cg_id_a":0.381102085,"cg_id_raw_a":-0.164642185,"cg_iq_a":0.566844404,"cg_iq_raw_a":-0.707502663,"cg_iu_a":-0.287417412,"cg_iv_a":0.250373125,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9363632,"cg_sample_seq":14530266,"cg_sample_valid":1,"cg_theta_rad":5.00652075,"cg_vd_req_v":0.0780518353,"cg_vd_v":0.0780518353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362911522,"cg_vq_v":-0.362911522,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0221252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.811768,"values":{"Elec_RPM":-2.4244543e-38,"EncoderCos":38734,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-4.84890887e-39,"cg_du":50.1496086,"cg_dv":50.2098465,"cg_dw":49.7901535,"cg_id_a":0.0814351141,"cg_id_raw_a":0.159656629,"cg_iq_a":0.863563538,"cg_iq_raw_a":0.271084815,"cg_iu_a":-1.84590197,"cg_iv_a":0.141641617,"cg_iw_a":1.70426035,"cg_sample_age_us":23.9836369,"cg_sample_seq":14530316,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.0861836895,"cg_vd_v":0.0861836895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369306922,"cg_vq_v":-0.369306922,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0205688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.81958,"values":{"Elec_RPM":-2.4244543e-38,"EncoderCos":38736,"EncoderSin":12471,"GapTicks":54776,"Mech_RPM":-4.84890887e-39,"cg_du":50.1348,"cg_dv":50.2035065,"cg_dw":49.7964935,"cg_id_a":-0.111083627,"cg_id_raw_a":-0.364877313,"cg_iq_a":-0.0825795457,"cg_iq_raw_a":-0.179122254,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8527279,"cg_sample_seq":14530366,"cg_sample_valid":1,"cg_theta_rad":5.00680876,"cg_vd_req_v":0.090820156,"cg_vd_v":0.090820156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352601588,"cg_vq_v":-0.352601588,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0205688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.846924,"values":{"Elec_RPM":-2.37596545e-38,"EncoderCos":38728,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-4.75193061e-39,"cg_du":50.1385918,"cg_dv":50.2057114,"cg_dw":49.7942886,"cg_id_a":-0.0920512825,"cg_id_raw_a":-0.201249138,"cg_iq_a":0.155781507,"cg_iq_raw_a":0.527629375,"cg_iu_a":0.43745935,"cg_iv_a":0.286616921,"cg_iw_a":-0.724076271,"cg_sample_age_us":25.3981819,"cg_sample_seq":14530420,"cg_sample_valid":1,"cg_theta_rad":5.00774717,"cg_vd_req_v":0.0906942487,"cg_vd_v":0.0906942487,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357541353,"cg_vq_v":-0.357541353,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.854736,"values":{"Elec_RPM":-2.37596545e-38,"EncoderCos":38722,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-4.75193061e-39,"cg_du":50.1381302,"cg_dv":50.2030182,"cg_dw":49.7969818,"cg_id_a":-0.101710349,"cg_id_raw_a":0.201358706,"cg_iq_a":0.0455117524,"cg_iq_raw_a":0.275069237,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.510747433,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9836369,"cg_sample_seq":14530467,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.088512741,"cg_vd_v":0.088512741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353599072,"cg_vq_v":-0.353599072,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0549316,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.862549,"values":{"Elec_RPM":-2.28187722e-38,"EncoderCos":38717,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-4.56375444e-39,"cg_du":50.1502151,"cg_dv":50.2075233,"cg_dw":49.7924767,"cg_id_a":0.132719442,"cg_id_raw_a":0.0120448582,"cg_iq_a":0.340813369,"cg_iq_raw_a":-0.580740392,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552848,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9618187,"cg_sample_seq":14530616,"cg_sample_valid":1,"cg_theta_rad":5.00755262,"cg_vd_req_v":0.0843854696,"cg_vd_v":0.0843854696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366269886,"cg_vq_v":-0.366269886,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.870361,"values":{"Elec_RPM":-2.28187722e-38,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-4.56375444e-39,"cg_du":50.1427498,"cg_dv":50.207428,"cg_dw":49.792572,"cg_id_a":-0.128372982,"cg_id_raw_a":-0.503268301,"cg_iq_a":-0.0107674766,"cg_iq_raw_a":-0.0484736525,"cg_iu_a":-0.432392597,"cg_iv_a":0.504079938,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14530666,"cg_sample_valid":1,"cg_theta_rad":5.00702763,"cg_vd_req_v":0.0897423178,"cg_vd_v":0.0897423178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362046123,"cg_vq_v":-0.362046123,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.4451294,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.878174,"values":{"Elec_RPM":-2.23623973e-38,"EncoderCos":38716,"EncoderSin":12444,"GapTicks":54772,"Mech_RPM":-4.47247947e-39,"cg_du":50.1545639,"cg_dv":50.2064018,"cg_dw":49.7935982,"cg_id_a":0.322842121,"cg_id_raw_a":0.0816799402,"cg_iq_a":0.121509634,"cg_iq_raw_a":-0.428104103,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539645,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9618187,"cg_sample_seq":14530716,"cg_sample_valid":1,"cg_theta_rad":5.00830555,"cg_vd_req_v":0.0804226547,"cg_vd_v":0.0804226547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367079139,"cg_vq_v":-0.367079139,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.889893,"values":{"Elec_RPM":-2.23623973e-38,"EncoderCos":38744,"EncoderSin":12447,"GapTicks":54777,"Mech_RPM":-4.47247947e-39,"cg_du":50.1408348,"cg_dv":50.2024117,"cg_dw":49.7975883,"cg_id_a":0.0815892443,"cg_id_raw_a":0.367664278,"cg_iq_a":-0.44670397,"cg_iq_raw_a":-0.146698251,"cg_iu_a":0.183752537,"cg_iv_a":0.214129269,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9763641,"cg_sample_seq":14530766,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.085215643,"cg_vd_v":0.085215643,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355570346,"cg_vq_v":-0.355570346,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.897705,"values":{"Elec_RPM":-2.19151519e-38,"EncoderCos":38715,"EncoderSin":12494,"GapTicks":54776,"Mech_RPM":-4.38303038e-39,"cg_du":50.1477509,"cg_dv":50.2032509,"cg_dw":49.7967491,"cg_id_a":0.184476435,"cg_id_raw_a":0.23617442,"cg_iq_a":-0.199566394,"cg_iq_raw_a":-0.0854711607,"cg_iu_a":-0.214929581,"cg_iv_a":0.975249767,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9581814,"cg_sample_seq":14530816,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.0817785934,"cg_vd_v":0.0817785934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360320091,"cg_vq_v":-0.360320091,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.905518,"values":{"Elec_RPM":-2.19151519e-38,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-4.38303038e-39,"cg_du":50.1428642,"cg_dv":50.2112999,"cg_dw":49.7887001,"cg_id_a":-0.205739811,"cg_id_raw_a":-0.292095661,"cg_iq_a":0.146115795,"cg_iq_raw_a":-0.718860388,"cg_iu_a":-0.613611698,"cg_iv_a":0.504079938,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14530866,"cg_sample_valid":1,"cg_theta_rad":5.00806475,"cg_vd_req_v":0.0928327739,"cg_vd_v":0.0928327739,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368705034,"cg_vq_v":-0.368705034,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4979439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.932861,"values":{"Elec_RPM":-2.14768468e-38,"EncoderCos":38739,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-4.29536935e-39,"cg_du":50.1412735,"cg_dv":50.2049637,"cg_dw":49.7950363,"cg_id_a":0.17313616,"cg_id_raw_a":0.784358084,"cg_iq_a":-0.419651955,"cg_iq_raw_a":-0.10745199,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129269,"cg_iw_a":-0.289150298,"cg_sample_age_us":26.823637,"cg_sample_seq":14530921,"cg_sample_valid":1,"cg_theta_rad":5.00800848,"cg_vd_req_v":0.0868741199,"cg_vd_v":0.0868741199,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357110441,"cg_vq_v":-0.357110441,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.94458,"values":{"Elec_RPM":-2.14768468e-38,"EncoderCos":38690,"EncoderSin":12431,"GapTicks":54767,"Mech_RPM":-4.29536935e-39,"cg_du":50.1424446,"cg_dv":50.2111359,"cg_dw":49.7888641,"cg_id_a":-0.23929216,"cg_id_raw_a":-0.272981346,"cg_iq_a":-0.214124054,"cg_iq_raw_a":-0.429476917,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9581814,"cg_sample_seq":14530967,"cg_sample_valid":1,"cg_theta_rad":5.00761223,"cg_vd_req_v":0.0967261046,"cg_vd_v":0.0967261046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364905,"cg_vq_v":-0.364905,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2632.952393,"values":{"Elec_RPM":-2.10473068e-38,"EncoderCos":38744,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-4.20946135e-39,"cg_du":50.142067,"cg_dv":50.2041321,"cg_dw":49.7958679,"cg_id_a":0.27023527,"cg_id_raw_a":0.76829046,"cg_iq_a":-0.509043872,"cg_iq_raw_a":-0.837535143,"cg_iu_a":0.727410197,"cg_iv_a":0.141641617,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.863636,"cg_sample_seq":14531016,"cg_sample_valid":1,"cg_theta_rad":5.00566816,"cg_vd_req_v":0.0854537264,"cg_vd_v":0.0854537264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357572138,"cg_vq_v":-0.357572138,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.266331434,"dclink_p_w":38.5447235,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0221252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.960205,"values":{"Elec_RPM":-2.10473068e-38,"EncoderCos":38712,"EncoderSin":12487,"GapTicks":54768,"Mech_RPM":-4.20946135e-39,"cg_du":50.14814,"cg_dv":50.2105141,"cg_dw":49.7894859,"cg_id_a":0.0882615522,"cg_id_raw_a":0.200770602,"cg_iq_a":-0.254742026,"cg_iq_raw_a":0.275498807,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9509087,"cg_sample_seq":14531067,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0887125582,"cg_vd_v":0.0887125582,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369218618,"cg_vq_v":-0.369218618,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.355128884,"dclink_p_w":51.3959045,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0221252,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.968018,"values":{"Elec_RPM":-2.06263637e-38,"EncoderCos":38746,"EncoderSin":12499,"GapTicks":54786,"Mech_RPM":-4.12527274e-39,"cg_du":50.1489449,"cg_dv":50.1938171,"cg_dw":49.8061829,"cg_id_a":0.925083578,"cg_id_raw_a":0.956174314,"cg_iq_a":-1.14986515,"cg_iq_raw_a":-0.859470904,"cg_iu_a":0.00253343582,"cg_iv_a":0.721542954,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9727268,"cg_sample_seq":14531116,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.0690646172,"cg_vd_v":0.0690646172,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348647445,"cg_vq_v":-0.348647445,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.026825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2632.979736,"values":{"Elec_RPM":-2.06263637e-38,"EncoderCos":38740,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-4.12527274e-39,"cg_du":50.1524849,"cg_dv":50.2171173,"cg_dw":49.7828827,"cg_id_a":-0.155771807,"cg_id_raw_a":-0.209375978,"cg_iq_a":0.322808325,"cg_iq_raw_a":-0.273270607,"cg_iu_a":-0.577368021,"cg_iv_a":-0.510747433,"cg_iw_a":1.08811545,"cg_sample_age_us":23.8709087,"cg_sample_seq":14531167,"cg_sample_valid":1,"cg_theta_rad":5.00722599,"cg_vd_req_v":0.0893567279,"cg_vd_v":0.0893567279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38119328,"cg_vq_v":-0.38119328,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":0.454799414,"dclink_p_w":65.8206863,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.026825,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2632.987549,"values":{"Elec_RPM":-2.02138354e-38,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-4.04276709e-39,"cg_du":50.1560936,"cg_dv":50.2074928,"cg_dw":49.7925072,"cg_id_a":0.45454818,"cg_id_raw_a":0.0184700266,"cg_iq_a":-0.417870492,"cg_iq_raw_a":-0.470635295,"cg_iu_a":-0.106198072,"cg_iv_a":1.91758943,"cg_iw_a":-1.81139135,"cg_sample_age_us":23.8781815,"cg_sample_seq":14531216,"cg_sample_valid":1,"cg_theta_rad":5.00761986,"cg_vd_req_v":0.0768513978,"cg_vd_v":0.0768513978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37014842,"cg_vq_v":-0.37014842,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.454799414,"dclink_p_w":65.8206863,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.025238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2632.994923,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2632.994928,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2632.994932,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2632.995361,"values":{"Elec_RPM":-2.02138354e-38,"EncoderCos":38740,"EncoderSin":12450,"GapTicks":54763,"Mech_RPM":-4.04276709e-39,"cg_du":50.1581421,"cg_dv":50.2148705,"cg_dw":49.7851295,"cg_id_a":0.131355882,"cg_id_raw_a":0.191939399,"cg_iq_a":0.295554698,"cg_iq_raw_a":0.601446092,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14531266,"cg_sample_valid":1,"cg_theta_rad":5.00740385,"cg_vd_req_v":0.0836522207,"cg_vd_v":0.0836522207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38107425,"cg_vq_v":-0.38107425,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.003174,"values":{"Elec_RPM":-1.98095608e-38,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.96191217e-39,"cg_du":50.1541443,"cg_dv":50.2137146,"cg_dw":49.7862854,"cg_id_a":0.11355117,"cg_id_raw_a":0.114761584,"cg_iq_a":-0.179561704,"cg_iq_raw_a":0.0844104588,"cg_iu_a":0.183752775,"cg_iv_a":0.504079938,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.863636,"cg_sample_seq":14531316,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.0855002254,"cg_vd_v":0.0855002254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377308488,"cg_vq_v":-0.377308488,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":44.8690414,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.010986,"values":{"Elec_RPM":-1.98095608e-38,"EncoderCos":38719,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.96191217e-39,"cg_du":50.1600647,"cg_dv":50.2119484,"cg_dw":49.7880516,"cg_id_a":0.264412522,"cg_id_raw_a":-0.36284858,"cg_iq_a":-0.15621984,"cg_iq_raw_a":-0.617814302,"cg_iu_a":0.14750886,"cg_iv_a":1.4464196,"cg_iw_a":-1.59392846,"cg_sample_age_us":26.5763645,"cg_sample_seq":14531366,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.0809346139,"cg_vd_v":0.0809346139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377829641,"cg_vq_v":-0.377829641,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0314941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.042236,"values":{"Elec_RPM":-1.94133717e-38,"EncoderCos":38784,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-3.88267434e-39,"cg_du":50.1435966,"cg_dv":50.211956,"cg_dw":49.788044,"cg_id_a":-0.0241434127,"cg_id_raw_a":0.0261872541,"cg_iq_a":-0.510389209,"cg_iq_raw_a":-0.615267992,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":26.8199997,"cg_sample_seq":14531420,"cg_sample_valid":1,"cg_theta_rad":5.00694275,"cg_vd_req_v":0.0877366737,"cg_vd_v":0.0877366737,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37008059,"cg_vq_v":-0.37008059,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.050049,"values":{"Elec_RPM":-1.94133717e-38,"EncoderCos":38726,"EncoderSin":12471,"GapTicks":54759,"Mech_RPM":-3.88267434e-39,"cg_du":50.1577682,"cg_dv":50.2183304,"cg_dw":49.7816696,"cg_id_a":-0.0997304171,"cg_id_raw_a":-0.376541793,"cg_iq_a":0.336668164,"cg_iq_raw_a":-0.165867195,"cg_iu_a":-0.359905005,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14531467,"cg_sample_valid":1,"cg_theta_rad":5.00680017,"cg_vd_req_v":0.0879663825,"cg_vd_v":0.0879663825,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385428548,"cg_vq_v":-0.385428548,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0299377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.057861,"values":{"Elec_RPM":-1.9025107e-38,"EncoderCos":38724,"EncoderSin":12443,"GapTicks":54761,"Mech_RPM":-3.80502139e-39,"cg_du":50.1585236,"cg_dv":50.216774,"cg_dw":49.783226,"cg_id_a":-0.0503506288,"cg_id_raw_a":-0.361021101,"cg_iq_a":0.114360392,"cg_iq_raw_a":0.00158144836,"cg_iu_a":0.038777113,"cg_iv_a":0.540323794,"cg_iw_a":-0.579100907,"cg_sample_age_us":23.9509087,"cg_sample_seq":14531517,"cg_sample_valid":1,"cg_theta_rad":5.00764179,"cg_vd_req_v":0.086776033,"cg_vd_v":0.086776033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383529395,"cg_vq_v":-0.383529395,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.065674,"values":{"Elec_RPM":-1.9025107e-38,"EncoderCos":38698,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.80502139e-39,"cg_du":50.1531792,"cg_dv":50.2152557,"cg_dw":49.7847443,"cg_id_a":-0.256716371,"cg_id_raw_a":-0.00839422736,"cg_iq_a":-0.0350353494,"cg_iq_raw_a":0.254972339,"cg_iu_a":-0.178685904,"cg_iv_a":-0.25704062,"cg_iw_a":0.435726523,"cg_sample_age_us":23.863636,"cg_sample_seq":14531567,"cg_sample_valid":1,"cg_theta_rad":5.00575829,"cg_vd_req_v":0.0907370895,"cg_vd_v":0.0907370895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378168106,"cg_vq_v":-0.378168106,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.66936255,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0283813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.073486,"values":{"Elec_RPM":-1.86446054e-38,"EncoderCos":38722,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-3.72892107e-39,"cg_du":50.1489906,"cg_dv":50.2147331,"cg_dw":49.7852669,"cg_id_a":-0.283763111,"cg_id_raw_a":0.121530302,"cg_iq_a":-0.199705541,"cg_iq_raw_a":0.012461924,"cg_iu_a":0.038777113,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9872723,"cg_sample_seq":14531617,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.0912197307,"cg_vd_v":0.0912197307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375653237,"cg_vq_v":-0.375653237,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.085205,"values":{"Elec_RPM":-1.86446054e-38,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-3.72892107e-39,"cg_du":50.159359,"cg_dv":50.2176056,"cg_dw":49.7823944,"cg_id_a":-0.109952733,"cg_id_raw_a":-0.162188098,"cg_iq_a":0.227137119,"cg_iq_raw_a":0.530845046,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9909096,"cg_sample_seq":14531667,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0878016204,"cg_vd_v":0.0878016204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384931296,"cg_vq_v":-0.384931296,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.6766605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.093018,"values":{"Elec_RPM":-1.82717128e-38,"EncoderCos":38715,"EncoderSin":12499,"GapTicks":54767,"Mech_RPM":-3.65434257e-39,"cg_du":50.1562386,"cg_dv":50.2116318,"cg_dw":49.7883682,"cg_id_a":0.108615577,"cg_id_raw_a":0.336788028,"cg_iq_a":-0.215630978,"cg_iq_raw_a":-0.0393863693,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14531717,"cg_sample_valid":1,"cg_theta_rad":5.00639963,"cg_vd_req_v":0.0831321478,"cg_vd_v":0.0831321478,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376552343,"cg_vq_v":-0.376552343,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.10083,"values":{"Elec_RPM":-1.82717128e-38,"EncoderCos":38737,"EncoderSin":12482,"GapTicks":54759,"Mech_RPM":-3.65434257e-39,"cg_du":50.1512184,"cg_dv":50.2189255,"cg_dw":49.7810745,"cg_id_a":-0.32671389,"cg_id_raw_a":-0.297811061,"cg_iq_a":0.252826363,"cg_iq_raw_a":0.22789748,"cg_iu_a":0.292484164,"cg_iv_a":-0.293284416,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14531767,"cg_sample_valid":1,"cg_theta_rad":5.00770378,"cg_vd_req_v":0.0927220285,"cg_vd_v":0.0927220285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384034365,"cg_vq_v":-0.384034365,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.09396172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0205688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.108643,"values":{"Elec_RPM":-1.79062752e-38,"EncoderCos":38732,"EncoderSin":12466,"GapTicks":54759,"Mech_RPM":-3.58125505e-39,"cg_du":50.1529961,"cg_dv":50.2183723,"cg_dw":49.7816277,"cg_id_a":-0.231288105,"cg_id_raw_a":-0.083133541,"cg_iq_a":0.1782206,"cg_iq_raw_a":0.174921572,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9763641,"cg_sample_seq":14531817,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0916443467,"cg_vd_v":0.0916443467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384071827,"cg_vq_v":-0.384071827,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.116455,"values":{"Elec_RPM":-1.79062752e-38,"EncoderCos":38747,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-3.58125505e-39,"cg_du":50.1511993,"cg_dv":50.2140961,"cg_dw":49.7859039,"cg_id_a":0.0457304828,"cg_id_raw_a":-0.203178614,"cg_iq_a":-0.240537778,"cg_iq_raw_a":-0.345185816,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9290905,"cg_sample_seq":14531867,"cg_sample_valid":1,"cg_theta_rad":5.00718212,"cg_vd_req_v":0.0869601667,"cg_vd_v":0.0869601667,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376469254,"cg_vq_v":-0.376469254,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.147705,"values":{"Elec_RPM":-1.75481524e-38,"EncoderCos":38748,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-3.50963048e-39,"cg_du":50.1541557,"cg_dv":50.2163048,"cg_dw":49.7836952,"cg_id_a":0.0908075571,"cg_id_raw_a":0.202489689,"cg_iq_a":0.118582509,"cg_iq_raw_a":0.274237782,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14531967,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0872457623,"cg_vd_v":0.0872457623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381014884,"cg_vq_v":-0.381014884,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.155518,"values":{"Elec_RPM":-1.71971902e-38,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54756,"Mech_RPM":-3.43943804e-39,"cg_du":50.1632843,"cg_dv":50.2212029,"cg_dw":49.7787971,"cg_id_a":0.101932809,"cg_id_raw_a":0.0518369488,"cg_iq_a":0.683654726,"cg_iq_raw_a":-0.139924049,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9872723,"cg_sample_seq":14532017,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.0856538564,"cg_vd_v":0.0856538564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392594814,"cg_vq_v":-0.392594814,"cg_vu_v":118.3311,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.16333,"values":{"Elec_RPM":-1.71971902e-38,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54761,"Mech_RPM":-3.43943804e-39,"cg_du":50.1526108,"cg_dv":50.2172546,"cg_dw":49.7827454,"cg_id_a":-0.298027515,"cg_id_raw_a":-0.451542228,"cg_iq_a":0.207900316,"cg_iq_raw_a":0.0647831708,"cg_iu_a":0.364971876,"cg_iv_a":-0.25704062,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8709087,"cg_sample_seq":14532066,"cg_sample_valid":1,"cg_theta_rad":5.00631762,"cg_vd_req_v":0.0924762636,"cg_vd_v":0.0924762636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380711526,"cg_vq_v":-0.380711526,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.171143,"values":{"Elec_RPM":-1.68532485e-38,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.37064969e-39,"cg_du":50.1526604,"cg_dv":50.2178917,"cg_dw":49.7821083,"cg_id_a":-0.291866839,"cg_id_raw_a":-0.730370045,"cg_iq_a":0.178093448,"cg_iq_raw_a":-0.727195323,"cg_iu_a":0.00253343582,"cg_iv_a":-0.981917262,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9509087,"cg_sample_seq":14532117,"cg_sample_valid":1,"cg_theta_rad":5.00894785,"cg_vd_req_v":0.092616953,"cg_vd_v":0.092616953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381712705,"cg_vq_v":-0.381712705,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.178955,"values":{"Elec_RPM":-1.68532485e-38,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-3.37064969e-39,"cg_du":50.1594658,"cg_dv":50.2178421,"cg_dw":49.7821579,"cg_id_a":0.054695297,"cg_id_raw_a":0.400000274,"cg_iq_a":0.370556742,"cg_iq_raw_a":0.805548549,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9872723,"cg_sample_seq":14532167,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0874204934,"cg_vd_v":0.0874204934,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385430455,"cg_vq_v":-0.385430455,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0236816,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.186768,"values":{"Elec_RPM":-1.65161801e-38,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.30323603e-39,"cg_du":50.1572075,"cg_dv":50.2181816,"cg_dw":49.7818184,"cg_id_a":0.0343227312,"cg_id_raw_a":0.124487743,"cg_iq_a":0.368036687,"cg_iq_raw_a":-0.242309496,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9836369,"cg_sample_seq":14532217,"cg_sample_valid":1,"cg_theta_rad":5.00727177,"cg_vd_req_v":0.0874121785,"cg_vd_v":0.0874121785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385107189,"cg_vq_v":-0.385107189,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.198486,"values":{"Elec_RPM":-1.65161801e-38,"EncoderCos":38691,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-3.30323603e-39,"cg_du":50.1513481,"cg_dv":50.2132034,"cg_dw":49.7867966,"cg_id_a":-0.140626788,"cg_id_raw_a":-0.0903213844,"cg_iq_a":-0.0403950103,"cg_iq_raw_a":-0.373161763,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860777,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9581814,"cg_sample_seq":14532267,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0913990885,"cg_vd_v":0.0913990885,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374051899,"cg_vq_v":-0.374051899,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.206299,"values":{"Elec_RPM":-1.61858591e-38,"EncoderCos":38722,"EncoderSin":12495,"GapTicks":54767,"Mech_RPM":-3.23717181e-39,"cg_du":50.1497803,"cg_dv":50.211132,"cg_dw":49.788868,"cg_id_a":0.052103132,"cg_id_raw_a":0.298383445,"cg_iq_a":-0.139966547,"cg_iq_raw_a":-0.298358232,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.329528332,"cg_iw_a":0.399482727,"cg_sample_age_us":23.9363632,"cg_sample_seq":14532317,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0869786069,"cg_vd_v":0.0869786069,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371225327,"cg_vq_v":-0.371225327,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.214111,"values":{"Elec_RPM":-1.61858591e-38,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-3.23717181e-39,"cg_du":50.1527405,"cg_dv":50.208313,"cg_dw":49.791687,"cg_id_a":0.140775859,"cg_id_raw_a":-0.236645266,"cg_iq_a":0.0322251767,"cg_iq_raw_a":0.451120585,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9618187,"cg_sample_seq":14532367,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0823992118,"cg_vd_v":0.0823992118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367761731,"cg_vq_v":-0.367761731,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.241455,"values":{"Elec_RPM":-1.58621451e-38,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.17242902e-39,"cg_du":50.1454659,"cg_dv":50.2085381,"cg_dw":49.7914619,"cg_id_a":-0.128015146,"cg_id_raw_a":-0.336705118,"cg_iq_a":-0.0753347352,"cg_iq_raw_a":-0.0317049101,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14532420,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0882068574,"cg_vd_v":0.0882068574,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365193903,"cg_vq_v":-0.365193903,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.253174,"values":{"Elec_RPM":-1.58621451e-38,"EncoderCos":38738,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-3.17242902e-39,"cg_du":50.1539612,"cg_dv":50.2066002,"cg_dw":49.7933998,"cg_id_a":0.326855987,"cg_id_raw_a":0.199343324,"cg_iq_a":0.0667781383,"cg_iq_raw_a":-0.599488378,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14532467,"cg_sample_valid":1,"cg_theta_rad":5.00893974,"cg_vd_req_v":0.0782904625,"cg_vd_v":0.0782904625,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36761114,"cg_vq_v":-0.36761114,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.260986,"values":{"Elec_RPM":-1.55449051e-38,"EncoderCos":38730,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-3.10898103e-39,"cg_du":50.1416092,"cg_dv":50.2048149,"cg_dw":49.7951851,"cg_id_a":-0.116270222,"cg_id_raw_a":0.107658975,"cg_iq_a":-0.40228948,"cg_iq_raw_a":0.156793863,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9254551,"cg_sample_seq":14532517,"cg_sample_valid":1,"cg_theta_rad":5.00681829,"cg_vd_req_v":0.0874630511,"cg_vd_v":0.0874630511,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35800606,"cg_vq_v":-0.35800606,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.4211121,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.268799,"values":{"Elec_RPM":-1.55449051e-38,"EncoderCos":38697,"EncoderSin":12437,"GapTicks":54778,"Mech_RPM":-3.10898103e-39,"cg_du":50.1438179,"cg_dv":50.2016029,"cg_dw":49.7983971,"cg_id_a":-0.0440845266,"cg_id_raw_a":0.469560474,"cg_iq_a":-0.284552544,"cg_iq_raw_a":-0.0955090225,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9581814,"cg_sample_seq":14532567,"cg_sample_valid":1,"cg_theta_rad":5.00734997,"cg_vd_req_v":0.0858529508,"cg_vd_v":0.0858529508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354102701,"cg_vq_v":-0.354102701,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.276611,"values":{"Elec_RPM":-1.52340061e-38,"EncoderCos":38733,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-3.04680121e-39,"cg_du":50.1526146,"cg_dv":50.2046089,"cg_dw":49.7953911,"cg_id_a":0.357211888,"cg_id_raw_a":0.769019544,"cg_iq_a":0.243880063,"cg_iq_raw_a":0.728148997,"cg_iu_a":0.0387773514,"cg_iv_a":0.359104633,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8963642,"cg_sample_seq":14532617,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0775296167,"cg_vd_v":0.0775296167,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362966537,"cg_vq_v":-0.362966537,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.284424,"values":{"Elec_RPM":-1.52340061e-38,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-3.04680121e-39,"cg_du":50.1623039,"cg_dv":50.2064857,"cg_dw":49.7935143,"cg_id_a":0.444528937,"cg_id_raw_a":-0.374752879,"cg_iq_a":0.72817868,"cg_iq_raw_a":0.583815992,"cg_iu_a":-0.50488019,"cg_iv_a":0.649055302,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9763641,"cg_sample_seq":14532667,"cg_sample_valid":1,"cg_theta_rad":5.00653028,"cg_vd_req_v":0.0725541711,"cg_vd_v":0.0725541711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370755583,"cg_vq_v":-0.370755583,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.9220467,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.292236,"values":{"Elec_RPM":-1.49293287e-38,"EncoderCos":38727,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-2.98586575e-39,"cg_du":50.1544685,"cg_dv":50.205452,"cg_dw":49.794548,"cg_id_a":0.159217015,"cg_id_raw_a":-0.124883585,"cg_iq_a":0.317093372,"cg_iq_raw_a":0.170886725,"cg_iu_a":-1.33848834,"cg_iv_a":-0.112065196,"cg_iw_a":1.45055354,"cg_sample_age_us":23.8600006,"cg_sample_seq":14532717,"cg_sample_valid":1,"cg_theta_rad":5.0075469,"cg_vd_req_v":0.0776388943,"cg_vd_v":0.0776388943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364985853,"cg_vq_v":-0.364985853,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.300049,"values":{"Elec_RPM":-1.49293287e-38,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-2.98586575e-39,"cg_du":50.1515884,"cg_dv":50.2077904,"cg_dw":49.7922096,"cg_id_a":-0.165950775,"cg_id_raw_a":-0.20652692,"cg_iq_a":0.27587679,"cg_iq_raw_a":0.344177812,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747433,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8527279,"cg_sample_seq":14532767,"cg_sample_valid":1,"cg_theta_rad":5.00944376,"cg_vd_req_v":0.0843964145,"cg_vd_v":0.0843964145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36721471,"cg_vq_v":-0.36721471,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0143127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.311768,"values":{"Elec_RPM":-1.46307401e-38,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-2.92614801e-39,"cg_du":50.1428604,"cg_dv":50.2093124,"cg_dw":49.7906876,"cg_id_a":-0.483884066,"cg_id_raw_a":0.0414228551,"cg_iq_a":0.279405534,"cg_iq_raw_a":0.186928332,"cg_iu_a":0.401215553,"cg_iv_a":-0.728210449,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8600006,"cg_sample_seq":14532817,"cg_sample_valid":1,"cg_theta_rad":5.00615072,"cg_vd_req_v":0.0913896114,"cg_vd_v":0.0913896114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364689708,"cg_vq_v":-0.364689708,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0190125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.31958,"values":{"Elec_RPM":-1.46307401e-38,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-2.92614801e-39,"cg_du":50.1441956,"cg_dv":50.206192,"cg_dw":49.793808,"cg_id_a":-0.143226206,"cg_id_raw_a":0.20704402,"cg_iq_a":0.0412405133,"cg_iq_raw_a":0.456458151,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8600006,"cg_sample_seq":14532866,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0850691497,"cg_vd_v":0.0850691497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361733586,"cg_vq_v":-0.361733586,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.452987194,"dclink_p_w":65.5584183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.346924,"values":{"Elec_RPM":-1.43381279e-38,"EncoderCos":38718,"EncoderSin":12497,"GapTicks":54772,"Mech_RPM":-2.86762559e-39,"cg_du":50.1472664,"cg_dv":50.20681,"cg_dw":49.79319,"cg_id_a":-0.0797118098,"cg_id_raw_a":-0.0520013422,"cg_iq_a":0.0935088098,"cg_iq_raw_a":-0.368323684,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885413,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9218178,"cg_sample_seq":14532920,"cg_sample_valid":1,"cg_theta_rad":5.0059948,"cg_vd_req_v":0.0850463137,"cg_vd_v":0.0850463137,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363870621,"cg_vq_v":-0.363870621,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.480170131,"dclink_p_w":69.4924545,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.354736,"values":{"Elec_RPM":-1.43381279e-38,"EncoderCos":38693,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-2.86762559e-39,"cg_du":50.1492348,"cg_dv":50.2079964,"cg_dw":49.7920036,"cg_id_a":-0.243343532,"cg_id_raw_a":0.531844437,"cg_iq_a":0.0421609059,"cg_iq_raw_a":-0.490123123,"cg_iu_a":0.473703384,"cg_iv_a":-0.764454246,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9581814,"cg_sample_seq":14532966,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0876893178,"cg_vd_v":0.0876893178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365872025,"cg_vq_v":-0.365872025,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.366455,"values":{"Elec_RPM":-1.40513662e-38,"EncoderCos":38743,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-2.81027324e-39,"cg_du":50.1492233,"cg_dv":50.2090111,"cg_dw":49.7909889,"cg_id_a":-0.0323427282,"cg_id_raw_a":-0.131882191,"cg_iq_a":0.151925206,"cg_iq_raw_a":-0.193952605,"cg_iu_a":0.364971876,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9581814,"cg_sample_seq":14533017,"cg_sample_valid":1,"cg_theta_rad":5.00734901,"cg_vd_req_v":0.0839856863,"cg_vd_v":0.0839856863,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368344665,"cg_vq_v":-0.368344665,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0080872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.374268,"values":{"Elec_RPM":-1.40513662e-38,"EncoderCos":38727,"EncoderSin":12488,"GapTicks":54770,"Mech_RPM":-2.81027324e-39,"cg_du":50.1502571,"cg_dv":50.2085304,"cg_dw":49.7914696,"cg_id_a":-0.13203153,"cg_id_raw_a":0.104702376,"cg_iq_a":0.133292183,"cg_iq_raw_a":0.411215901,"cg_iu_a":0.14750886,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.863636,"cg_sample_seq":14533066,"cg_sample_valid":1,"cg_theta_rad":5.00762177,"cg_vd_req_v":0.083838664,"cg_vd_v":0.083838664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368006259,"cg_vq_v":-0.368006259,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0080872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.38208,"values":{"Elec_RPM":-1.37703358e-38,"EncoderCos":38730,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-2.75406716e-39,"cg_du":50.1503296,"cg_dv":50.210434,"cg_dw":49.789566,"cg_id_a":-0.233898208,"cg_id_raw_a":-0.218629867,"cg_iq_a":0.279485255,"cg_iq_raw_a":0.0528052524,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796704,"cg_iw_a":0.254507184,"cg_sample_age_us":23.863636,"cg_sample_seq":14533117,"cg_sample_valid":1,"cg_theta_rad":5.00836182,"cg_vd_req_v":0.085732758,"cg_vd_v":0.085732758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370614707,"cg_vq_v":-0.370614707,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.249012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.389893,"values":{"Elec_RPM":-1.37703358e-38,"EncoderCos":38729,"EncoderSin":12468,"GapTicks":54768,"Mech_RPM":-2.75406716e-39,"cg_du":50.1503868,"cg_dv":50.2108536,"cg_dw":49.7891464,"cg_id_a":-0.21205619,"cg_id_raw_a":-0.0624800734,"cg_iq_a":0.243660584,"cg_iq_raw_a":-0.0415947959,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8563633,"cg_sample_seq":14533166,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0865913853,"cg_vd_v":0.0865913853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372288316,"cg_vq_v":-0.372288316,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.132229209,"dclink_p_w":19.1368275,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0127563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.397705,"values":{"Elec_RPM":-1.34949316e-38,"EncoderCos":38751,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-2.69898632e-39,"cg_du":50.1550293,"cg_dv":50.2100105,"cg_dw":49.7899895,"cg_id_a":0.210835397,"cg_id_raw_a":0.530018628,"cg_iq_a":0.385162264,"cg_iq_raw_a":0.562756896,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503636,"cg_iw_a":0.399482608,"cg_sample_age_us":23.954546,"cg_sample_seq":14533217,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0795394033,"cg_vd_v":0.0795394033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373118311,"cg_vq_v":-0.373118311,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.405518,"values":{"Elec_RPM":-1.34949316e-38,"EncoderCos":38782,"EncoderSin":12493,"GapTicks":54770,"Mech_RPM":-2.69898632e-39,"cg_du":50.1470566,"cg_dv":50.2084846,"cg_dw":49.7915154,"cg_id_a":0.0107645765,"cg_id_raw_a":0.294328421,"cg_iq_a":0.0553872213,"cg_iq_raw_a":-0.302359104,"cg_iu_a":0.0387773514,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9836369,"cg_sample_seq":14533267,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.081601657,"cg_vd_v":0.081601657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367231101,"cg_vq_v":-0.367231101,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.987793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.41333,"values":{"Elec_RPM":-1.32250345e-38,"EncoderCos":38712,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-2.6450069e-39,"cg_du":50.1519432,"cg_dv":50.2075958,"cg_dw":49.7924042,"cg_id_a":-0.135167256,"cg_id_raw_a":-0.143788069,"cg_iq_a":0.0587547272,"cg_iq_raw_a":0.569318831,"cg_iu_a":-0.287417412,"cg_iv_a":0.286616921,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9581814,"cg_sample_seq":14533317,"cg_sample_valid":1,"cg_theta_rad":5.00626087,"cg_vd_req_v":0.0830375999,"cg_vd_v":0.0830375999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367355227,"cg_vq_v":-0.367355227,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.987793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.425049,"values":{"Elec_RPM":-1.32250345e-38,"EncoderCos":38711,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-2.6450069e-39,"cg_du":50.1584663,"cg_dv":50.2033691,"cg_dw":49.7966309,"cg_id_a":0.30287534,"cg_id_raw_a":-0.00345075829,"cg_iq_a":0.04002437,"cg_iq_raw_a":0.00045502602,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534837,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9618187,"cg_sample_seq":14533367,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.0746692121,"cg_vd_v":0.0746692121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365107507,"cg_vq_v":-0.365107507,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9924622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.452393,"values":{"Elec_RPM":-1.29605324e-38,"EncoderCos":38776,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-2.59210649e-39,"cg_du":50.1394081,"cg_dv":50.2130013,"cg_dw":49.7869987,"cg_id_a":-0.470908016,"cg_id_raw_a":-0.206285939,"cg_iq_a":0.0644332245,"cg_iq_raw_a":0.165324271,"cg_iu_a":-0.251173496,"cg_iv_a":0.467836082,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.8745461,"cg_sample_seq":14533420,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.0927254036,"cg_vd_v":0.0927254036,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369051367,"cg_vq_v":-0.369051367,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0736694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.460205,"values":{"Elec_RPM":-1.29605324e-38,"EncoderCos":38733,"EncoderSin":12466,"GapTicks":54773,"Mech_RPM":-2.59210649e-39,"cg_du":50.154892,"cg_dv":50.2057915,"cg_dw":49.7942085,"cg_id_a":0.251173556,"cg_id_raw_a":0.104139574,"cg_iq_a":-0.0744734257,"cg_iq_raw_a":-0.0257029124,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8672733,"cg_sample_seq":14533467,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0775984153,"cg_vd_v":0.0775984153,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366856366,"cg_vq_v":-0.366856366,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0736694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.468018,"values":{"Elec_RPM":-1.27013202e-38,"EncoderCos":38695,"EncoderSin":12439,"GapTicks":54784,"Mech_RPM":-2.54026405e-39,"cg_du":50.1569214,"cg_dv":50.1962814,"cg_dw":49.8037186,"cg_id_a":0.578144789,"cg_id_raw_a":0.659464478,"cg_iq_a":-0.768282413,"cg_iq_raw_a":-1.09577346,"cg_iu_a":-0.468636274,"cg_iv_a":0.431592345,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9472733,"cg_sample_seq":14533517,"cg_sample_valid":1,"cg_theta_rad":5.0052948,"cg_vd_req_v":0.0705074146,"cg_vd_v":0.0705074146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354320914,"cg_vq_v":-0.354320914,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.47583,"values":{"Elec_RPM":-1.27013202e-38,"EncoderCos":38717,"EncoderSin":12446,"GapTicks":54772,"Mech_RPM":-2.54026405e-39,"cg_du":50.1498222,"cg_dv":50.2071114,"cg_dw":49.7928886,"cg_id_a":-0.141741484,"cg_id_raw_a":-0.0695250779,"cg_iq_a":-0.213470787,"cg_iq_raw_a":0.0302679669,"cg_iu_a":0.473703146,"cg_iv_a":-0.438259721,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8745461,"cg_sample_seq":14533567,"cg_sample_valid":1,"cg_theta_rad":5.00856876,"cg_vd_req_v":0.084697403,"cg_vd_v":0.084697403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365399212,"cg_vq_v":-0.365399212,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.487549,"values":{"Elec_RPM":-1.21983452e-38,"EncoderCos":38717,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-2.43966903e-39,"cg_du":50.1531334,"cg_dv":50.2067375,"cg_dw":49.7932625,"cg_id_a":0.0545880347,"cg_id_raw_a":-0.419878572,"cg_iq_a":0.105992705,"cg_iq_raw_a":-0.0412075073,"cg_iu_a":-1.15726924,"cg_iv_a":0.612811446,"cg_iw_a":0.544457793,"cg_sample_age_us":23.863636,"cg_sample_seq":14533716,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0817113668,"cg_vd_v":0.0817113668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366760731,"cg_vq_v":-0.366760731,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0205688,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118937977,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.495361,"values":{"Elec_RPM":-1.21983452e-38,"EncoderCos":38718,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-2.43966903e-39,"cg_du":50.1608429,"cg_dv":50.2076302,"cg_dw":49.7923698,"cg_id_a":0.338503838,"cg_id_raw_a":0.299330622,"cg_iq_a":0.333091199,"cg_iq_raw_a":-0.297407746,"cg_iu_a":-0.432392597,"cg_iv_a":0.214129329,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9872723,"cg_sample_seq":14533766,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.0760720819,"cg_vd_v":0.0760720819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372410566,"cg_vq_v":-0.372410566,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.503174,"values":{"Elec_RPM":-1.19543791e-38,"EncoderCos":38722,"EncoderSin":12458,"GapTicks":54768,"Mech_RPM":-2.39087582e-39,"cg_du":50.1560173,"cg_dv":50.2103081,"cg_dw":49.7896919,"cg_id_a":0.00896829367,"cg_id_raw_a":-0.684853196,"cg_iq_a":0.311104745,"cg_iq_raw_a":0.516274691,"cg_iu_a":-0.287417412,"cg_iv_a":0.57656765,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9581814,"cg_sample_seq":14533816,"cg_sample_valid":1,"cg_theta_rad":5.00764942,"cg_vd_req_v":0.0822283775,"cg_vd_v":0.0822283775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373386204,"cg_vq_v":-0.373386204,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.510986,"values":{"Elec_RPM":-1.19543791e-38,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-2.39087582e-39,"cg_du":50.1562729,"cg_dv":50.2009315,"cg_dw":49.7990685,"cg_id_a":0.375934035,"cg_id_raw_a":-0.0107558593,"cg_iq_a":-0.281572402,"cg_iq_raw_a":0.0725736097,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055243,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9654541,"cg_sample_seq":14533866,"cg_sample_valid":1,"cg_theta_rad":5.00767279,"cg_vd_req_v":0.0740275458,"cg_vd_v":0.0740275458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360561967,"cg_vq_v":-0.360561967,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.522705,"values":{"Elec_RPM":-1.17152896e-38,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-2.34305791e-39,"cg_du":50.1502914,"cg_dv":50.2065201,"cg_dw":49.7934799,"cg_id_a":0.00812641531,"cg_id_raw_a":-0.159221947,"cg_iq_a":-0.0621941388,"cg_iq_raw_a":-0.34246847,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148308992,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9509087,"cg_sample_seq":14533916,"cg_sample_valid":1,"cg_theta_rad":5.00712204,"cg_vd_req_v":0.0830669701,"cg_vd_v":0.0830669701,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366185516,"cg_vq_v":-0.366185516,"cg_vu_v":1.75957024,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0033875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.550049,"values":{"Elec_RPM":-1.17152896e-38,"EncoderCos":38747,"EncoderSin":12476,"GapTicks":54766,"Mech_RPM":-2.34305791e-39,"cg_du":50.1492577,"cg_dv":50.2123566,"cg_dw":49.7876434,"cg_id_a":-0.14966014,"cg_id_raw_a":-0.30396378,"cg_iq_a":0.351291537,"cg_iq_raw_a":-0.390849262,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616981,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9872723,"cg_sample_seq":14533970,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0869445726,"cg_vd_v":0.0869445726,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372980863,"cg_vq_v":-0.372980863,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0033875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.557861,"values":{"Elec_RPM":-1.14809855e-38,"EncoderCos":38728,"EncoderSin":12435,"GapTicks":54766,"Mech_RPM":-2.29619709e-39,"cg_du":50.1483612,"cg_dv":50.2125626,"cg_dw":49.7874374,"cg_id_a":-0.309543073,"cg_id_raw_a":0.189680383,"cg_iq_a":0.288748711,"cg_iq_raw_a":0.602162361,"cg_iu_a":0.546190977,"cg_iv_a":-0.510747373,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9581814,"cg_sample_seq":14534017,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.0905097127,"cg_vd_v":0.0905097127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372131318,"cg_vq_v":-0.372131318,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.565674,"values":{"Elec_RPM":-1.14809855e-38,"EncoderCos":38760,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-2.29619709e-39,"cg_du":50.1443863,"cg_dv":50.2119713,"cg_dw":49.7880287,"cg_id_a":-0.192187041,"cg_id_raw_a":-0.0787106156,"cg_iq_a":-0.0188657455,"cg_iq_raw_a":-0.333696008,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.863636,"cg_sample_seq":14534066,"cg_sample_valid":1,"cg_theta_rad":5.00602007,"cg_vd_req_v":0.0896524861,"cg_vd_v":0.0896524861,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369930476,"cg_vq_v":-0.369930476,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-41.0471115,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.573486,"values":{"Elec_RPM":-1.12513687e-38,"EncoderCos":38716,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-2.25027374e-39,"cg_du":50.1537933,"cg_dv":50.2147141,"cg_dw":49.7852859,"cg_id_a":-0.188490778,"cg_id_raw_a":-0.183659911,"cg_iq_a":0.274057359,"cg_iq_raw_a":-0.308371842,"cg_iu_a":-0.867318392,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14534117,"cg_sample_valid":1,"cg_theta_rad":5.00708961,"cg_vd_req_v":0.0876473114,"cg_vd_v":0.0876473114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377052069,"cg_vq_v":-0.377052069,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.581299,"values":{"Elec_RPM":-1.12513687e-38,"EncoderCos":38733,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-2.25027374e-39,"cg_du":50.1540756,"cg_dv":50.2172089,"cg_dw":49.7827911,"cg_id_a":-0.279653102,"cg_id_raw_a":0.0179968309,"cg_iq_a":0.509205282,"cg_iq_raw_a":0.657862127,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":24.0381813,"cg_sample_seq":14534166,"cg_sample_valid":1,"cg_theta_rad":5.00606298,"cg_vd_req_v":0.0896519423,"cg_vd_v":0.0896519423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383088976,"cg_vq_v":-0.383088976,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9893494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105342187,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.589111,"values":{"Elec_RPM":-1.10263412e-38,"EncoderCos":38722,"EncoderSin":12498,"GapTicks":54768,"Mech_RPM":-2.20526823e-39,"cg_du":50.1578674,"cg_dv":50.210907,"cg_dw":49.789093,"cg_id_a":0.169951499,"cg_id_raw_a":0.284557849,"cg_iq_a":0.00784170628,"cg_iq_raw_a":-0.154099599,"cg_iu_a":-0.649855375,"cg_iv_a":-0.00333374739,"cg_iw_a":0.653189123,"cg_sample_age_us":23.8600006,"cg_sample_seq":14534216,"cg_sample_valid":1,"cg_theta_rad":5.00674057,"cg_vd_req_v":0.0803260505,"cg_vd_v":0.0803260505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375459015,"cg_vq_v":-0.375459015,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9987183,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.60083,"values":{"Elec_RPM":-1.10263412e-38,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54762,"Mech_RPM":-2.20526823e-39,"cg_du":50.1546478,"cg_dv":50.2162132,"cg_dw":49.7837868,"cg_id_a":-0.242096886,"cg_id_raw_a":-0.0969626456,"cg_iq_a":0.350531816,"cg_iq_raw_a":-0.117959835,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9509087,"cg_sample_seq":14534266,"cg_sample_valid":1,"cg_theta_rad":5.00730228,"cg_vd_req_v":0.0890243128,"cg_vd_v":0.0890243128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380645514,"cg_vq_v":-0.380645514,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9987183,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.608643,"values":{"Elec_RPM":-1.08058118e-38,"EncoderCos":38729,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-2.16116237e-39,"cg_du":50.1577148,"cg_dv":50.2105789,"cg_dw":49.7894211,"cg_id_a":0.148365676,"cg_id_raw_a":0.142265826,"cg_iq_a":-0.103563532,"cg_iq_raw_a":-0.204027921,"cg_iu_a":0.401215553,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9872723,"cg_sample_seq":14534316,"cg_sample_valid":1,"cg_theta_rad":5.00784588,"cg_vd_req_v":0.0802832842,"cg_vd_v":0.0802832842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374897569,"cg_vq_v":-0.374897569,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0018311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.616455,"values":{"Elec_RPM":-1.08058118e-38,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-2.16116237e-39,"cg_du":50.1592178,"cg_dv":50.2125359,"cg_dw":49.7874641,"cg_id_a":0.119462468,"cg_id_raw_a":0.292487234,"cg_iq_a":-0.0785102099,"cg_iq_raw_a":-1.09965515,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9799995,"cg_sample_seq":14534366,"cg_sample_valid":1,"cg_theta_rad":5.00682497,"cg_vd_req_v":0.0814596638,"cg_vd_v":0.0814596638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378302515,"cg_vq_v":-0.378302515,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0018311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.628174,"values":{"Elec_RPM":-1.05896966e-38,"EncoderCos":38715,"EncoderSin":12443,"GapTicks":54765,"Mech_RPM":-2.11793931e-39,"cg_du":50.1583176,"cg_dv":50.2130623,"cg_dw":49.7869377,"cg_id_a":0.0111409361,"cg_id_raw_a":0.0474353246,"cg_iq_a":-0.143823907,"cg_iq_raw_a":-0.50439918,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14534416,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0840959474,"cg_vd_v":0.0840959474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378202647,"cg_vq_v":-0.378202647,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.655518,"values":{"Elec_RPM":-1.05896966e-38,"EncoderCos":38726,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-2.11793931e-39,"cg_du":50.1478157,"cg_dv":50.2071152,"cg_dw":49.7928848,"cg_id_a":-0.0433581546,"cg_id_raw_a":-0.240118057,"cg_iq_a":-0.694736481,"cg_iq_raw_a":-0.604582906,"cg_iu_a":-0.106198072,"cg_iv_a":0.830274403,"cg_iw_a":-0.724076569,"cg_sample_age_us":23.9872723,"cg_sample_seq":14534471,"cg_sample_valid":1,"cg_theta_rad":5.00659037,"cg_vd_req_v":0.0844935402,"cg_vd_v":0.0844935402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3646864,"cg_vq_v":-0.3646864,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.66333,"values":{"Elec_RPM":-1.03779043e-38,"EncoderCos":38696,"EncoderSin":12452,"GapTicks":54764,"Mech_RPM":-2.07558086e-39,"cg_du":50.1526222,"cg_dv":50.2142487,"cg_dw":49.7857513,"cg_id_a":-0.199004501,"cg_id_raw_a":-0.406241775,"cg_iq_a":-0.0104584098,"cg_iq_raw_a":0.432076097,"cg_iu_a":0.509947062,"cg_iv_a":0.0691539645,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.8600006,"cg_sample_seq":14534516,"cg_sample_valid":1,"cg_theta_rad":5.00571728,"cg_vd_req_v":0.0888437703,"cg_vd_v":0.0888437703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376808882,"cg_vq_v":-0.376808882,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3970947,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.671143,"values":{"Elec_RPM":-1.03779043e-38,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54756,"Mech_RPM":-2.07558086e-39,"cg_du":50.1551018,"cg_dv":50.2211418,"cg_dw":49.7788582,"cg_id_a":-0.447001427,"cg_id_raw_a":-0.167046398,"cg_iq_a":0.382335186,"cg_iq_raw_a":0.166391432,"cg_iu_a":-0.359905005,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9836369,"cg_sample_seq":14534566,"cg_sample_valid":1,"cg_theta_rad":5.00560331,"cg_vd_req_v":0.0937637091,"cg_vd_v":0.0937637091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387524575,"cg_vq_v":-0.387524575,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.678955,"values":{"Elec_RPM":-1.0170344e-38,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54757,"Mech_RPM":-2.0340688e-39,"cg_du":50.1621323,"cg_dv":50.220665,"cg_dw":49.779335,"cg_id_a":-0.15431723,"cg_id_raw_a":-0.277064562,"cg_iq_a":0.586194754,"cg_iq_raw_a":-0.426853836,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796764,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9509087,"cg_sample_seq":14534616,"cg_sample_valid":1,"cg_theta_rad":5.00730467,"cg_vd_req_v":0.0876113996,"cg_vd_v":0.0876113996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392115921,"cg_vq_v":-0.392115921,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.686768,"values":{"Elec_RPM":-1.0170344e-38,"EncoderCos":38724,"EncoderSin":12479,"GapTicks":54761,"Mech_RPM":-2.0340688e-39,"cg_du":50.1580391,"cg_dv":50.2168388,"cg_dw":49.7831612,"cg_id_a":-0.111196421,"cg_id_raw_a":0.597124219,"cg_iq_a":0.0432192981,"cg_iq_raw_a":0.531611025,"cg_iu_a":0.981116891,"cg_iv_a":-0.148309112,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9654541,"cg_sample_seq":14534666,"cg_sample_valid":1,"cg_theta_rad":5.00703907,"cg_vd_req_v":0.0862681419,"cg_vd_v":0.0862681419,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383560687,"cg_vq_v":-0.383560687,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.69458,"values":{"Elec_RPM":-9.96693852e-39,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54773,"Mech_RPM":-1.9933877e-39,"cg_du":50.1578751,"cg_dv":50.2058182,"cg_dw":49.7941818,"cg_id_a":0.356137574,"cg_id_raw_a":0.513853014,"cg_iq_a":-0.547218025,"cg_iq_raw_a":0.0863979757,"cg_iu_a":0.437459469,"cg_iv_a":1.01149356,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.8709087,"cg_sample_seq":14534716,"cg_sample_valid":1,"cg_theta_rad":5.00669813,"cg_vd_req_v":0.0757459104,"cg_vd_v":0.0757459104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369632006,"cg_vq_v":-0.369632006,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0080872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.706299,"values":{"Elec_RPM":-9.96693852e-39,"EncoderCos":38732,"EncoderSin":12441,"GapTicks":54762,"Mech_RPM":-1.9933877e-39,"cg_du":50.1630096,"cg_dv":50.2160149,"cg_dw":49.7839851,"cg_id_a":-0.0192580372,"cg_id_raw_a":-0.101110853,"cg_iq_a":0.118355617,"cg_iq_raw_a":0.573618054,"cg_iu_a":0.328727961,"cg_iv_a":-0.72821033,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9581814,"cg_sample_seq":14534766,"cg_sample_valid":1,"cg_theta_rad":5.00568628,"cg_vd_req_v":0.0818728358,"cg_vd_v":0.0818728358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385158747,"cg_vq_v":-0.385158747,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0080872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.714111,"values":{"Elec_RPM":-9.7675968e-39,"EncoderCos":38695,"EncoderSin":12451,"GapTicks":54764,"Mech_RPM":-1.95351936e-39,"cg_du":50.1630325,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.132245183,"cg_id_raw_a":-0.147270024,"cg_iq_a":-0.150404066,"cg_iq_raw_a":-0.233288974,"cg_iu_a":0.0750210285,"cg_iv_a":0.830274463,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9581814,"cg_sample_seq":14534816,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0830109492,"cg_vd_v":0.0830109492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382032931,"cg_vq_v":-0.382032931,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.721924,"values":{"Elec_RPM":-9.7675968e-39,"EncoderCos":38712,"EncoderSin":12467,"GapTicks":54764,"Mech_RPM":-1.95351936e-39,"cg_du":50.1655273,"cg_dv":50.2144012,"cg_dw":49.7855988,"cg_id_a":0.0525658168,"cg_id_raw_a":0.0153284371,"cg_iq_a":-0.0935198143,"cg_iq_raw_a":-0.398329169,"cg_iu_a":-0.287417173,"cg_iv_a":0.10539782,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9363632,"cg_sample_seq":14534866,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.079386726,"cg_vd_v":0.079386726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384159952,"cg_vq_v":-0.384159952,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-43.935997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.729736,"values":{"Elec_RPM":-9.57224178e-39,"EncoderCos":38735,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-1.91444836e-39,"cg_du":50.1600533,"cg_dv":50.2140617,"cg_dw":49.7859383,"cg_id_a":-0.0989089459,"cg_id_raw_a":0.264520288,"cg_iq_a":-0.254490048,"cg_iq_raw_a":0.499190241,"cg_iu_a":0.509947062,"cg_iv_a":-0.184552908,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8527279,"cg_sample_seq":14534916,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0814849138,"cg_vd_v":0.0814849138,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381019682,"cg_vq_v":-0.381019682,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-43.935997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":36.0158691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.75708,"values":{"Elec_RPM":-9.38079639e-39,"EncoderCos":38721,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-1.87615928e-39,"cg_du":50.1648407,"cg_dv":50.2092781,"cg_dw":49.7907219,"cg_id_a":0.396134436,"cg_id_raw_a":-0.0242776256,"cg_iq_a":-0.325493187,"cg_iq_raw_a":0.216935292,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":0.580701828,"cg_sample_age_us":23.9654541,"cg_sample_seq":14535016,"cg_sample_valid":1,"cg_theta_rad":5.00804567,"cg_vd_req_v":0.0735867172,"cg_vd_v":0.0735867172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377081037,"cg_vq_v":-0.377081037,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.768799,"values":{"Elec_RPM":-9.38079639e-39,"EncoderCos":38733,"EncoderSin":12455,"GapTicks":54766,"Mech_RPM":-1.87615928e-39,"cg_du":50.1669922,"cg_dv":50.212162,"cg_dw":49.787838,"cg_id_a":0.354305774,"cg_id_raw_a":0.589910626,"cg_iq_a":-0.219667703,"cg_iq_raw_a":-0.707268834,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9509087,"cg_sample_seq":14535066,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.0745464861,"cg_vd_v":0.0745464861,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382242501,"cg_vq_v":-0.382242501,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.776611,"values":{"Elec_RPM":-9.19318354e-39,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-1.83863671e-39,"cg_du":50.1730614,"cg_dv":50.2153587,"cg_dw":49.7846413,"cg_id_a":0.452592909,"cg_id_raw_a":1.01384044,"cg_iq_a":0.218206972,"cg_iq_raw_a":0.571462095,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9472733,"cg_sample_seq":14535116,"cg_sample_valid":1,"cg_theta_rad":5.00611305,"cg_vd_req_v":0.0729412884,"cg_vd_v":0.0729412884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38997829,"cg_vq_v":-0.38997829,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.784424,"values":{"Elec_RPM":-9.19318354e-39,"EncoderCos":38727,"EncoderSin":12466,"GapTicks":54757,"Mech_RPM":-1.83863671e-39,"cg_du":50.1796341,"cg_dv":50.2207565,"cg_dw":49.7792435,"cg_id_a":0.481047899,"cg_id_raw_a":0.475660264,"cg_iq_a":0.659050941,"cg_iq_raw_a":-0.171792388,"cg_iu_a":-0.0699541569,"cg_iv_a":0.467836082,"cg_iw_a":1.52304113,"cg_sample_age_us":23.9618187,"cg_sample_seq":14535166,"cg_sample_valid":1,"cg_theta_rad":5.0062809,"cg_vd_req_v":0.0731917247,"cg_vd_v":0.0731917247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400969982,"cg_vq_v":-0.400969982,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.796143,"values":{"Elec_RPM":-9.00931917e-39,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54759,"Mech_RPM":-1.80186383e-39,"cg_du":50.1770248,"cg_dv":50.2188225,"cg_dw":49.7811775,"cg_id_a":0.432004929,"cg_id_raw_a":-0.29210338,"cg_iq_a":0.389892817,"cg_iq_raw_a":0.591481864,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860718,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8600006,"cg_sample_seq":14535216,"cg_sample_valid":1,"cg_theta_rad":5.00718737,"cg_vd_req_v":0.0736260936,"cg_vd_v":0.0736260936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396834344,"cg_vq_v":-0.396834344,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.5759964,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.803955,"values":{"Elec_RPM":-9.00931917e-39,"EncoderCos":38736,"EncoderSin":12473,"GapTicks":54753,"Mech_RPM":-1.80186383e-39,"cg_du":50.1687317,"cg_dv":50.2245178,"cg_dw":49.7754822,"cg_id_a":-0.00607066974,"cg_id_raw_a":-0.542240739,"cg_iq_a":0.329349309,"cg_iq_raw_a":-0.304933369,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8527279,"cg_sample_seq":14535266,"cg_sample_valid":1,"cg_theta_rad":5.00782394,"cg_vd_req_v":0.0843961611,"cg_vd_v":0.0843961611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400195807,"cg_vq_v":-0.400195807,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00337376958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.811768,"values":{"Elec_RPM":-8.82913321e-39,"EncoderCos":38709,"EncoderSin":12466,"GapTicks":54761,"Mech_RPM":-1.76582664e-39,"cg_du":50.1652641,"cg_dv":50.2170372,"cg_dw":49.7829628,"cg_id_a":0.136129186,"cg_id_raw_a":-0.115748003,"cg_iq_a":-0.350042373,"cg_iq_raw_a":0.280576169,"cg_iu_a":0.292484045,"cg_iv_a":0.649055243,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9181824,"cg_sample_seq":14535316,"cg_sample_valid":1,"cg_theta_rad":5.00650024,"cg_vd_req_v":0.0824550018,"cg_vd_v":0.0824550018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387528509,"cg_vq_v":-0.387528509,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0065308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00337376958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.81958,"values":{"Elec_RPM":-8.82913321e-39,"EncoderCos":38708,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-1.76582664e-39,"cg_du":50.1633835,"cg_dv":50.2204399,"cg_dw":49.7795601,"cg_id_a":-0.101366207,"cg_id_raw_a":-0.0149788689,"cg_iq_a":-0.310579181,"cg_iq_raw_a":-0.729141116,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535367,"cg_sample_valid":1,"cg_theta_rad":5.0056591,"cg_vd_req_v":0.0865627378,"cg_vd_v":0.0865627378,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389983654,"cg_vq_v":-0.389983654,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.657886267,"dclink_p_w":-95.2123642,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9971619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.827393,"values":{"Elec_RPM":-8.65254858e-39,"EncoderCos":38698,"EncoderSin":12465,"GapTicks":54761,"Mech_RPM":-1.73050972e-39,"cg_du":50.1627502,"cg_dv":50.2165146,"cg_dw":49.7834854,"cg_id_a":0.022087805,"cg_id_raw_a":0.323723942,"cg_iq_a":-0.561210275,"cg_iq_raw_a":-1.13175535,"cg_iu_a":0.364971757,"cg_iv_a":-0.25704062,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9618187,"cg_sample_seq":14535418,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0846420676,"cg_vd_v":0.0846420676,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384012908,"cg_vq_v":-0.384012908,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-110.349785,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9909058,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2633.854736,"values":{"Elec_RPM":-8.47949523e-39,"EncoderCos":38736,"EncoderSin":12487,"GapTicks":54761,"Mech_RPM":-1.69589905e-39,"cg_du":50.1495438,"cg_dv":50.2170944,"cg_dw":49.7829056,"cg_id_a":-0.398556292,"cg_id_raw_a":-0.283162087,"cg_iq_a":-0.613994598,"cg_iq_raw_a":-0.607908189,"cg_iu_a":-0.0337102413,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8563633,"cg_sample_seq":14535517,"cg_sample_valid":1,"cg_theta_rad":5.00718737,"cg_vd_req_v":0.0922275335,"cg_vd_v":0.0922275335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380605042,"cg_vq_v":-0.380605042,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.862549,"values":{"Elec_RPM":-8.47949523e-39,"EncoderCos":38706,"EncoderSin":12429,"GapTicks":54750,"Mech_RPM":-1.69589905e-39,"cg_du":50.1687851,"cg_dv":50.2265167,"cg_dw":49.7734833,"cg_id_a":-0.259411067,"cg_id_raw_a":-0.0118467724,"cg_iq_a":0.529703259,"cg_iq_raw_a":-0.729198754,"cg_iu_a":0.328727961,"cg_iv_a":-1.5980624,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535567,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0902459174,"cg_vd_v":0.0902459174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402082384,"cg_vq_v":-0.402082384,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.870361,"values":{"Elec_RPM":-8.30990308e-39,"EncoderCos":38735,"EncoderSin":12520,"GapTicks":54753,"Mech_RPM":-1.66198062e-39,"cg_du":50.1668625,"cg_dv":50.2237892,"cg_dw":49.7762108,"cg_id_a":0.029407721,"cg_id_raw_a":0.104244672,"cg_iq_a":0.376512229,"cg_iq_raw_a":0.66535002,"cg_iu_a":-0.287417173,"cg_iv_a":-0.474503517,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9763641,"cg_sample_seq":14535617,"cg_sample_valid":1,"cg_theta_rad":5.0077095,"cg_vd_req_v":0.0839592814,"cg_vd_v":0.0839592814,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398414165,"cg_vq_v":-0.398414165,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.88208,"values":{"Elec_RPM":-8.30990308e-39,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-1.66198062e-39,"cg_du":50.1632233,"cg_dv":50.2127838,"cg_dw":49.7872162,"cg_id_a":0.299839944,"cg_id_raw_a":0.0668584853,"cg_iq_a":-0.426231503,"cg_iq_raw_a":-0.539009869,"cg_iu_a":0.328727961,"cg_iv_a":0.359104633,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9763641,"cg_sample_seq":14535667,"cg_sample_valid":1,"cg_theta_rad":5.00795507,"cg_vd_req_v":0.076424621,"cg_vd_v":0.076424621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38132295,"cg_vq_v":-0.38132295,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.427737951,"dclink_p_w":-61.9042282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.889893,"values":{"Elec_RPM":-8.14370208e-39,"EncoderCos":38734,"EncoderSin":12493,"GapTicks":54759,"Mech_RPM":-1.62874042e-39,"cg_du":50.1643372,"cg_dv":50.218399,"cg_dw":49.781601,"cg_id_a":-0.0231774636,"cg_id_raw_a":0.0664758235,"cg_iq_a":0.0439343825,"cg_iq_raw_a":0.152584031,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796764,"cg_iw_a":0.254507244,"cg_sample_age_us":23.9872723,"cg_sample_seq":14535717,"cg_sample_valid":1,"cg_theta_rad":5.00661707,"cg_vd_req_v":0.0815754309,"cg_vd_v":0.0815754309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38947764,"cg_vq_v":-0.38947764,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.897705,"values":{"Elec_RPM":-8.14370208e-39,"EncoderCos":38727,"EncoderSin":12493,"GapTicks":54760,"Mech_RPM":-1.62874042e-39,"cg_du":50.1569061,"cg_dv":50.2178993,"cg_dw":49.7821007,"cg_id_a":-0.318521917,"cg_id_raw_a":-0.503426254,"cg_iq_a":-0.274653435,"cg_iq_raw_a":-0.04680508,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373125,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535767,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0875569656,"cg_vd_v":0.0875569656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38451454,"cg_vq_v":-0.38451454,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.366699,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":36.0002747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.909424,"values":{"Elec_RPM":-7.98082916e-39,"EncoderCos":38716,"EncoderSin":12459,"GapTicks":54758,"Mech_RPM":-1.59616583e-39,"cg_du":50.167366,"cg_dv":50.2197495,"cg_dw":49.7802505,"cg_id_a":-0.0989159942,"cg_id_raw_a":-0.586393356,"cg_iq_a":0.319102794,"cg_iq_raw_a":0.998740435,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333374739,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535817,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0830199569,"cg_vd_v":0.0830199569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392483026,"cg_vq_v":-0.392483026,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5091724,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.917236,"values":{"Elec_RPM":-7.98082916e-39,"EncoderCos":38736,"EncoderSin":12491,"GapTicks":54767,"Mech_RPM":-1.59616583e-39,"cg_du":50.165863,"cg_dv":50.2111931,"cg_dw":49.7888069,"cg_id_a":0.39811036,"cg_id_raw_a":0.288259506,"cg_iq_a":-0.189160913,"cg_iq_raw_a":0.0275093112,"cg_iu_a":-0.178685904,"cg_iv_a":0.431592286,"cg_iw_a":-0.252906382,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535867,"cg_sample_valid":1,"cg_theta_rad":5.00799513,"cg_vd_req_v":0.073514998,"cg_vd_v":0.073514998,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381684572,"cg_vq_v":-0.381684572,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.9913559,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9956055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.925049,"values":{"Elec_RPM":-7.82121426e-39,"EncoderCos":38731,"EncoderSin":12465,"GapTicks":54762,"Mech_RPM":-1.56424285e-39,"cg_du":50.1654015,"cg_dv":50.2159653,"cg_dw":49.7840347,"cg_id_a":0.148331925,"cg_id_raw_a":1.48200333,"cg_iq_a":-0.0592522621,"cg_iq_raw_a":-0.585698783,"cg_iu_a":0.00253343582,"cg_iv_a":-0.800698042,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14535917,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0796393454,"cg_vd_v":0.0796393454,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38772139,"cg_vq_v":-0.38772139,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-47.0976181,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2633.952393,"values":{"Elec_RPM":-7.82121426e-39,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54755,"Mech_RPM":-1.56424285e-39,"cg_du":50.1608582,"cg_dv":50.2221794,"cg_dw":49.7778206,"cg_id_a":-0.292431563,"cg_id_raw_a":-0.125164375,"cg_iq_a":0.282566547,"cg_iq_raw_a":0.170681179,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.863636,"cg_sample_seq":14535970,"cg_sample_valid":1,"cg_theta_rad":5.00625086,"cg_vd_req_v":0.0897227228,"cg_vd_v":0.0897227228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392293036,"cg_vq_v":-0.392293036,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2633.955146,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2633.955153,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2633.955158,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2633.960205,"values":{"Elec_RPM":-7.66478731e-39,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-1.53295746e-39,"cg_du":50.1611099,"cg_dv":50.2169266,"cg_dw":49.7830734,"cg_id_a":-0.103408016,"cg_id_raw_a":-0.330139071,"cg_iq_a":-0.0459953025,"cg_iq_raw_a":-0.724498987,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14536018,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0855914429,"cg_vd_v":0.0855914429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385034949,"cg_vq_v":-0.385034949,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.971924,"values":{"Elec_RPM":-7.66478731e-39,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54759,"Mech_RPM":-1.53295746e-39,"cg_du":50.1652946,"cg_dv":50.2188263,"cg_dw":49.7811737,"cg_id_a":0.0270944834,"cg_id_raw_a":0.211862981,"cg_iq_a":0.112801358,"cg_iq_raw_a":-0.0513241179,"cg_iu_a":-0.142441988,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14536066,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.0830755383,"cg_vd_v":0.0830755383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390203565,"cg_vq_v":-0.390203565,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.979736,"values":{"Elec_RPM":-7.51149226e-39,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-1.50229845e-39,"cg_du":50.1661072,"cg_dv":50.2226486,"cg_dw":49.7773514,"cg_id_a":-0.176572174,"cg_id_raw_a":0.037164975,"cg_iq_a":0.456153601,"cg_iq_raw_a":0.441505075,"cg_iu_a":-0.251173496,"cg_iv_a":-0.43825978,"cg_iw_a":0.689433277,"cg_sample_age_us":23.863636,"cg_sample_seq":14536116,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0865009949,"cg_vd_v":0.0865009949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395780027,"cg_vq_v":-0.395780027,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.987549,"values":{"Elec_RPM":-7.51149226e-39,"EncoderCos":38718,"EncoderSin":12487,"GapTicks":54763,"Mech_RPM":-1.50229845e-39,"cg_du":50.1558342,"cg_dv":50.2150192,"cg_dw":49.7849808,"cg_id_a":-0.113083303,"cg_id_raw_a":-0.0764345899,"cg_iq_a":-0.328884363,"cg_iq_raw_a":0.102628335,"cg_iu_a":1.70599353,"cg_iv_a":0.250373006,"cg_iw_a":-1.95636654,"cg_sample_age_us":23.9327278,"cg_sample_seq":14536167,"cg_sample_valid":1,"cg_theta_rad":5.00675392,"cg_vd_req_v":0.0865448639,"cg_vd_v":0.0865448639,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379779607,"cg_vq_v":-0.379779607,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9893494,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2633.995361,"values":{"Elec_RPM":-7.36125905e-39,"EncoderCos":38712,"EncoderSin":12473,"GapTicks":54758,"Mech_RPM":-1.47225181e-39,"cg_du":50.1684265,"cg_dv":50.2196045,"cg_dw":49.7803955,"cg_id_a":0.0894726068,"cg_id_raw_a":0.405835629,"cg_iq_a":0.401511043,"cg_iq_raw_a":0.113989443,"cg_iu_a":-0.178685904,"cg_iv_a":0.214129269,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9581814,"cg_sample_seq":14536217,"cg_sample_valid":1,"cg_theta_rad":5.00743008,"cg_vd_req_v":0.0822772682,"cg_vd_v":0.0822772682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394082129,"cg_vq_v":-0.394082129,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.003174,"values":{"Elec_RPM":-7.36125905e-39,"EncoderCos":38725,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-1.47225181e-39,"cg_du":50.1546631,"cg_dv":50.2135963,"cg_dw":49.7864037,"cg_id_a":-0.129242018,"cg_id_raw_a":0.326519638,"cg_iq_a":-0.6487602,"cg_iq_raw_a":-0.149472654,"cg_iu_a":0.654922485,"cg_iv_a":0.322860718,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9872723,"cg_sample_seq":14536267,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0864676163,"cg_vd_v":0.0864676163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378303021,"cg_vq_v":-0.378303021,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.010986,"values":{"Elec_RPM":-7.21403163e-39,"EncoderCos":38716,"EncoderSin":12472,"GapTicks":54758,"Mech_RPM":-1.44280633e-39,"cg_du":50.1646919,"cg_dv":50.2199821,"cg_dw":49.7800179,"cg_id_a":-0.0600657426,"cg_id_raw_a":0.15399465,"cg_iq_a":0.0498146191,"cg_iq_raw_a":-0.530310273,"cg_iu_a":0.437459469,"cg_iv_a":-0.220796824,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14536317,"cg_sample_valid":1,"cg_theta_rad":5.00636053,"cg_vd_req_v":0.0849914402,"cg_vd_v":0.0849914402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391368777,"cg_vq_v":-0.391368777,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.022705,"values":{"Elec_RPM":-7.21403163e-39,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54765,"Mech_RPM":-1.44280633e-39,"cg_du":50.1547165,"cg_dv":50.2130699,"cg_dw":49.7869301,"cg_id_a":0.0692451298,"cg_id_raw_a":-0.167408794,"cg_iq_a":-0.520111442,"cg_iq_raw_a":-0.269612938,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14536367,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.0841048434,"cg_vd_v":0.0841048434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376823872,"cg_vq_v":-0.376823872,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2601,"hz_tim_isr":5000,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.030518,"values":{"Elec_RPM":-7.06975394e-39,"EncoderCos":38711,"EncoderSin":12425,"GapTicks":54759,"Mech_RPM":-1.41395079e-39,"cg_du":50.1605186,"cg_dv":50.2183762,"cg_dw":49.7816238,"cg_id_a":0.0107509159,"cg_id_raw_a":-0.0718652904,"cg_iq_a":-0.0809013769,"cg_iq_raw_a":-0.15233624,"cg_iu_a":-0.359904766,"cg_iv_a":0.10539782,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9909096,"cg_sample_seq":14536417,"cg_sample_valid":1,"cg_theta_rad":5.00664854,"cg_vd_req_v":0.0883871168,"cg_vd_v":0.0883871168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386459559,"cg_vq_v":-0.386459559,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.703191042,"dclink_p_w":-101.769081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.057861,"values":{"Elec_RPM":-7.06975394e-39,"EncoderCos":38698,"EncoderSin":12463,"GapTicks":54747,"Mech_RPM":-1.41395079e-39,"cg_du":50.1653633,"cg_dv":50.2295036,"cg_dw":49.7704964,"cg_id_a":-0.284769893,"cg_id_raw_a":-0.339552134,"cg_iq_a":0.719166279,"cg_iq_raw_a":0.402965009,"cg_iu_a":0.582434893,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.8527279,"cg_sample_seq":14536470,"cg_sample_valid":1,"cg_theta_rad":5.00868464,"cg_vd_req_v":0.0956417695,"cg_vd_v":0.0956417695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404235721,"cg_vq_v":-0.404235721,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.703191042,"dclink_p_w":-101.769081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.065674,"values":{"Elec_RPM":-6.92835592e-39,"EncoderCos":38747,"EncoderSin":12453,"GapTicks":54756,"Mech_RPM":-1.38567118e-39,"cg_du":50.1542664,"cg_dv":50.2216949,"cg_dw":49.7783051,"cg_id_a":-0.0787668154,"cg_id_raw_a":0.125664994,"cg_iq_a":-0.171087682,"cg_iq_raw_a":0.194458812,"cg_iu_a":-0.142441988,"cg_iv_a":-0.909429431,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9581814,"cg_sample_seq":14536516,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.0926111862,"cg_vd_v":0.0926111862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388372779,"cg_vq_v":-0.388372779,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.853603125,"dclink_p_w":-123.537415,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9846802,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.077393,"values":{"Elec_RPM":-6.92835592e-39,"EncoderCos":38713,"EncoderSin":12445,"GapTicks":54753,"Mech_RPM":-1.38567118e-39,"cg_du":50.1573067,"cg_dv":50.2240219,"cg_dw":49.7759781,"cg_id_a":-0.306497872,"cg_id_raw_a":0.255788386,"cg_iq_a":-0.00975419581,"cg_iq_raw_a":-0.483332545,"cg_iu_a":0.038777113,"cg_iv_a":-0.583235025,"cg_iw_a":0.544457912,"cg_sample_age_us":23.8600006,"cg_sample_seq":14536566,"cg_sample_valid":1,"cg_theta_rad":5.00639391,"cg_vd_req_v":0.0957146287,"cg_vd_v":0.0957146287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392465383,"cg_vq_v":-0.392465383,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-83.9347992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.085205,"values":{"Elec_RPM":-6.78978852e-39,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-1.3579577e-39,"cg_du":50.16185,"cg_dv":50.2232666,"cg_dw":49.7767334,"cg_id_a":0.133437425,"cg_id_raw_a":0.284457803,"cg_iq_a":0.104706399,"cg_iq_raw_a":-0.154284015,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8563633,"cg_sample_seq":14536616,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0889163762,"cg_vd_v":0.0889163762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394572824,"cg_vq_v":-0.394572824,"cg_vu_v":21.5547352,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-71.8704376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.093018,"values":{"Elec_RPM":-6.78978852e-39,"EncoderCos":38716,"EncoderSin":12473,"GapTicks":54755,"Mech_RPM":-1.3579577e-39,"cg_du":50.1639671,"cg_dv":50.2220497,"cg_dw":49.7779503,"cg_id_a":0.160169601,"cg_id_raw_a":0.476984739,"cg_iq_a":0.0528983548,"cg_iq_raw_a":-0.607764959,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148309112,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9872723,"cg_sample_seq":14536666,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0875497237,"cg_vd_v":0.0875497237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39377591,"cg_vq_v":-0.39377591,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.10083,"values":{"Elec_RPM":-6.65399569e-39,"EncoderCos":38717,"EncoderSin":12465,"GapTicks":54757,"Mech_RPM":-1.33079914e-39,"cg_du":50.1543045,"cg_dv":50.220787,"cg_dw":49.779213,"cg_id_a":-0.163144916,"cg_id_raw_a":-0.382053971,"cg_iq_a":-0.306654185,"cg_iq_raw_a":-1.27523756,"cg_iu_a":0.256240368,"cg_iv_a":0.032910049,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8563633,"cg_sample_seq":14536716,"cg_sample_valid":1,"cg_theta_rad":5.00595665,"cg_vd_req_v":0.094021067,"cg_vd_v":0.094021067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386603445,"cg_vq_v":-0.386603445,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.108643,"values":{"Elec_RPM":-6.65399569e-39,"EncoderCos":38723,"EncoderSin":12453,"GapTicks":54751,"Mech_RPM":-1.33079914e-39,"cg_du":50.1563454,"cg_dv":50.2261925,"cg_dw":49.7738075,"cg_id_a":-0.241252795,"cg_id_raw_a":-0.465587497,"cg_iq_a":-0.058178246,"cg_iq_raw_a":0.209981486,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.863636,"cg_sample_seq":14536766,"cg_sample_valid":1,"cg_theta_rad":5.00695801,"cg_vd_req_v":0.096004039,"cg_vd_v":0.096004039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395634741,"cg_vq_v":-0.388905466,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9940186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.116455,"values":{"Elec_RPM":-6.52091438e-39,"EncoderCos":38734,"EncoderSin":12471,"GapTicks":54755,"Mech_RPM":-1.30418288e-39,"cg_du":50.1574783,"cg_dv":50.2220573,"cg_dw":49.7779427,"cg_id_a":0.0316695869,"cg_id_raw_a":-0.242085934,"cg_iq_a":-0.032596454,"cg_iq_raw_a":0.52400744,"cg_iu_a":0.292484045,"cg_iv_a":0.39534843,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9581814,"cg_sample_seq":14536817,"cg_sample_valid":1,"cg_theta_rad":5.00779772,"cg_vd_req_v":0.0910999849,"cg_vd_v":0.0910999849,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390504837,"cg_vq_v":-0.390504837,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.33894062,"dclink_p_w":-49.0530663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3730774,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.124268,"values":{"Elec_RPM":-6.52091438e-39,"EncoderCos":38726,"EncoderSin":12435,"GapTicks":54762,"Mech_RPM":-1.30418288e-39,"cg_du":50.151886,"cg_dv":50.2160606,"cg_dw":49.7839394,"cg_id_a":0.0196446441,"cg_id_raw_a":-0.205685347,"cg_iq_a":-0.599246562,"cg_iq_raw_a":0.344681412,"cg_iu_a":0.836141586,"cg_iv_a":0.467836142,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.9436359,"cg_sample_seq":14536867,"cg_sample_valid":1,"cg_theta_rad":5.00991964,"cg_vd_req_v":0.0913194641,"cg_vd_v":0.0913194641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378818959,"cg_vq_v":-0.378818959,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.135986,"values":{"Elec_RPM":-6.39049553e-39,"EncoderCos":38731,"EncoderSin":12449,"GapTicks":54769,"Mech_RPM":-1.27809911e-39,"cg_du":50.1570282,"cg_dv":50.2096214,"cg_dw":49.7903786,"cg_id_a":0.493175417,"cg_id_raw_a":0.263620108,"cg_iq_a":-0.751837969,"cg_iq_raw_a":0.499666244,"cg_iu_a":-0.359904766,"cg_iv_a":-0.112065196,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9436359,"cg_sample_seq":14536917,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.0802355409,"cg_vd_v":0.0802355409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373135746,"cg_vq_v":-0.373135746,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.16333,"values":{"Elec_RPM":-6.39049553e-39,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54757,"Mech_RPM":-1.27809911e-39,"cg_du":50.1587486,"cg_dv":50.2207146,"cg_dw":49.7792854,"cg_id_a":0.136338621,"cg_id_raw_a":0.315324157,"cg_iq_a":-0.00480037928,"cg_iq_raw_a":-0.260822207,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14536970,"cg_sample_valid":1,"cg_theta_rad":5.00616646,"cg_vd_req_v":0.0885595232,"cg_vd_v":0.0885595232,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389440298,"cg_vq_v":-0.389440298,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9644165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.171143,"values":{"Elec_RPM":-6.2626831e-39,"EncoderCos":38723,"EncoderSin":12459,"GapTicks":54756,"Mech_RPM":-1.25253662e-39,"cg_du":50.1515617,"cg_dv":50.2211075,"cg_dw":49.7788925,"cg_id_a":-0.166043714,"cg_id_raw_a":-0.667768836,"cg_iq_a":-0.270635605,"cg_iq_raw_a":-1.37554669,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333380699,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14537016,"cg_sample_valid":1,"cg_theta_rad":5.0070405,"cg_vd_req_v":0.0961204395,"cg_vd_v":0.0961204395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385586709,"cg_vq_v":-0.385586709,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.178955,"values":{"Elec_RPM":-6.2626831e-39,"EncoderCos":38713,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-1.25253662e-39,"cg_du":50.154377,"cg_dv":50.2079506,"cg_dw":49.7920494,"cg_id_a":0.507808149,"cg_id_raw_a":0.53060329,"cg_iq_a":-1.02541471,"cg_iq_raw_a":-0.929868877,"cg_iu_a":1.1260922,"cg_iv_a":0.431592226,"cg_iw_a":-0.869051576,"cg_sample_age_us":23.9436359,"cg_sample_seq":14537066,"cg_sample_valid":1,"cg_theta_rad":5.00768757,"cg_vd_req_v":0.0819224194,"cg_vd_v":0.0819224194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370284766,"cg_vq_v":-0.370284766,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.186768,"values":{"Elec_RPM":-6.13742803e-39,"EncoderCos":38740,"EncoderSin":12472,"GapTicks":54752,"Mech_RPM":-1.22748561e-39,"cg_du":50.1637001,"cg_dv":50.2249413,"cg_dw":49.7750587,"cg_id_a":0.187814802,"cg_id_raw_a":0.522170603,"cg_iq_a":0.309779406,"cg_iq_raw_a":0.449795872,"cg_iu_a":-0.106198072,"cg_iv_a":0.21412921,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8563633,"cg_sample_seq":14537116,"cg_sample_valid":1,"cg_theta_rad":5.00729084,"cg_vd_req_v":0.088160947,"cg_vd_v":0.088160947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396829277,"cg_vq_v":-0.396829277,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.7706318,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.198486,"values":{"Elec_RPM":-6.01468129e-39,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-1.20293626e-39,"cg_du":50.1499825,"cg_dv":50.2089348,"cg_dw":49.7910652,"cg_id_a":0.274890363,"cg_id_raw_a":0.182666451,"cg_iq_a":-0.855354905,"cg_iq_raw_a":-0.637279391,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":24.0381813,"cg_sample_seq":14537267,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0841459185,"cg_vd_v":0.0841459185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368472338,"cg_vq_v":-0.368472338,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9768677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.206299,"values":{"Elec_RPM":-5.89438683e-39,"EncoderCos":38735,"EncoderSin":12496,"GapTicks":54762,"Mech_RPM":-1.17887737e-39,"cg_du":50.1490173,"cg_dv":50.2163353,"cg_dw":49.7836647,"cg_id_a":-0.039208021,"cg_id_raw_a":-0.0801137239,"cg_iq_a":-0.385325938,"cg_iq_raw_a":-0.0794063061,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8490906,"cg_sample_seq":14537317,"cg_sample_valid":1,"cg_theta_rad":5.00698233,"cg_vd_req_v":0.0914768353,"cg_vd_v":0.0914768353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378156781,"cg_vq_v":-0.378156781,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9768677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.214111,"values":{"Elec_RPM":-5.89438683e-39,"EncoderCos":38720,"EncoderSin":12437,"GapTicks":54751,"Mech_RPM":-1.17887737e-39,"cg_du":50.1552887,"cg_dv":50.2261696,"cg_dw":49.7738304,"cg_id_a":-0.415172964,"cg_id_raw_a":0.0753967836,"cg_iq_a":0.408232868,"cg_iq_raw_a":0.263322324,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885413,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9690914,"cg_sample_seq":14537367,"cg_sample_valid":1,"cg_theta_rad":5.00783062,"cg_vd_req_v":0.0989804268,"cg_vd_v":0.0989804268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394343078,"cg_vq_v":-0.394343078,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9862366,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.221924,"values":{"Elec_RPM":-5.77650259e-39,"EncoderCos":38717,"EncoderSin":12470,"GapTicks":54763,"Mech_RPM":-1.15530052e-39,"cg_du":50.1544724,"cg_dv":50.2148933,"cg_dw":49.7851067,"cg_id_a":0.103449747,"cg_id_raw_a":0.34088406,"cg_iq_a":-0.28947866,"cg_iq_raw_a":-0.293403447,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9181824,"cg_sample_seq":14537417,"cg_sample_valid":1,"cg_theta_rad":5.0073514,"cg_vd_req_v":0.0880199894,"cg_vd_v":0.0880199894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378719747,"cg_vq_v":-0.378719747,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.155787826,"dclink_p_w":22.546339,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.253174,"values":{"Elec_RPM":-5.77650259e-39,"EncoderCos":38732,"EncoderSin":12445,"GapTicks":54758,"Mech_RPM":-1.15530052e-39,"cg_du":50.1609116,"cg_dv":50.2199593,"cg_dw":49.7800407,"cg_id_a":0.0795558542,"cg_id_raw_a":0.260680795,"cg_iq_a":0.427469671,"cg_iq_raw_a":-0.556582928,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":26.8199997,"cg_sample_seq":14537470,"cg_sample_valid":1,"cg_theta_rad":5.00791359,"cg_vd_req_v":0.0872428045,"cg_vd_v":0.0872428045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389366537,"cg_vq_v":-0.389366537,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.260986,"values":{"Elec_RPM":-5.66097254e-39,"EncoderCos":38740,"EncoderSin":12495,"GapTicks":54772,"Mech_RPM":-1.13219451e-39,"cg_du":50.1466904,"cg_dv":50.206749,"cg_dw":49.793251,"cg_id_a":0.198959321,"cg_id_raw_a":0.817284226,"cg_iq_a":-0.581791878,"cg_iq_raw_a":-1.1618886,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373185,"cg_iw_a":-0.216662943,"cg_sample_age_us":23.9763641,"cg_sample_seq":14537516,"cg_sample_valid":1,"cg_theta_rad":5.00685787,"cg_vd_req_v":0.0836664513,"cg_vd_v":0.0836664513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363874465,"cg_vq_v":-0.363874465,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.268799,"values":{"Elec_RPM":-5.66097254e-39,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54764,"Mech_RPM":-1.13219451e-39,"cg_du":50.1645775,"cg_dv":50.2142105,"cg_dw":49.7857895,"cg_id_a":0.30207181,"cg_id_raw_a":0.781432867,"cg_iq_a":0.413307428,"cg_iq_raw_a":1.39118326,"cg_iu_a":0.727410197,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9436359,"cg_sample_seq":14537566,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0804095566,"cg_vd_v":0.0804095566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383271277,"cg_vq_v":-0.383271277,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.276611,"values":{"Elec_RPM":-5.54775463e-39,"EncoderCos":38743,"EncoderSin":12472,"GapTicks":54765,"Mech_RPM":-1.10955093e-39,"cg_du":50.1657867,"cg_dv":50.2134323,"cg_dw":49.7865677,"cg_id_a":0.55607897,"cg_id_raw_a":0.615810871,"cg_iq_a":0.400193512,"cg_iq_raw_a":-0.561087132,"cg_iu_a":0.183752775,"cg_iv_a":0.214129329,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.954546,"cg_sample_seq":14537616,"cg_sample_valid":1,"cg_theta_rad":5.00713682,"cg_vd_req_v":0.07540562,"cg_vd_v":0.07540562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38355878,"cg_vq_v":-0.38355878,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.454920888,"dclink_p_w":-65.8382721,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9768677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.284424,"values":{"Elec_RPM":-5.54775463e-39,"EncoderCos":38710,"EncoderSin":12487,"GapTicks":54762,"Mech_RPM":-1.10955093e-39,"cg_du":50.1653214,"cg_dv":50.2159348,"cg_dw":49.7840652,"cg_id_a":0.321642965,"cg_id_raw_a":0.240455925,"cg_iq_a":0.404597282,"cg_iq_raw_a":-0.339623302,"cg_iu_a":-1.26600051,"cg_iv_a":0.141641617,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14537666,"cg_sample_valid":1,"cg_theta_rad":5.00953817,"cg_vd_req_v":0.0806891546,"cg_vd_v":0.0806891546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386197984,"cg_vq_v":-0.386197984,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.292236,"values":{"Elec_RPM":-5.43679982e-39,"EncoderCos":38724,"EncoderSin":12464,"GapTicks":54760,"Mech_RPM":-1.08735996e-39,"cg_du":50.1503792,"cg_dv":50.217617,"cg_dw":49.782383,"cg_id_a":-0.283080876,"cg_id_raw_a":-0.46820873,"cg_iq_a":0.0637856498,"cg_iq_raw_a":-0.40888989,"cg_iu_a":0.509947062,"cg_iv_a":-0.438259721,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14537716,"cg_sample_valid":1,"cg_theta_rad":5.0069294,"cg_vd_req_v":0.0934342518,"cg_vd_v":0.0934342518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380233824,"cg_vq_v":-0.380233824,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.980011,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.300049,"values":{"Elec_RPM":-5.43679982e-39,"EncoderCos":38730,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-1.08735996e-39,"cg_du":50.1513748,"cg_dv":50.2167397,"cg_dw":49.7832603,"cg_id_a":-0.150948048,"cg_id_raw_a":-0.385312408,"cg_iq_a":0.11357329,"cg_iq_raw_a":0.0365949869,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.863636,"cg_sample_seq":14537766,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0916367099,"cg_vd_v":0.0916367099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380857676,"cg_vq_v":-0.380857676,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.311768,"values":{"Elec_RPM":-5.32806607e-39,"EncoderCos":38726,"EncoderSin":12485,"GapTicks":54761,"Mech_RPM":-1.06561321e-39,"cg_du":50.1478996,"cg_dv":50.21661,"cg_dw":49.78339,"cg_id_a":-0.136747539,"cg_id_raw_a":0.15556483,"cg_iq_a":-0.185600728,"cg_iq_raw_a":-0.785343349,"cg_iu_a":-0.39614892,"cg_iv_a":-0.655722737,"cg_iw_a":1.05187166,"cg_sample_age_us":23.8563633,"cg_sample_seq":14537817,"cg_sample_valid":1,"cg_theta_rad":5.006814,"cg_vd_req_v":0.0936849564,"cg_vd_v":0.0936849564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377648681,"cg_vq_v":-0.377648681,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9737549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.31958,"values":{"Elec_RPM":-5.32806607e-39,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54759,"Mech_RPM":-1.06561321e-39,"cg_du":50.1559448,"cg_dv":50.2184372,"cg_dw":49.7815628,"cg_id_a":-0.0224067979,"cg_id_raw_a":0.104806915,"cg_iq_a":0.135284543,"cg_iq_raw_a":0.594248354,"cg_iu_a":0.328727961,"cg_iv_a":0.21412921,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9799995,"cg_sample_seq":14537867,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0912979394,"cg_vd_v":0.0912979394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384132296,"cg_vq_v":-0.384132296,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9737549,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.327393,"values":{"Elec_RPM":-5.22150432e-39,"EncoderCos":38717,"EncoderSin":12454,"GapTicks":54759,"Mech_RPM":-1.04430086e-39,"cg_du":50.1497231,"cg_dv":50.2184639,"cg_dw":49.7815361,"cg_id_a":-0.168968111,"cg_id_raw_a":-0.743008137,"cg_iq_a":-0.0341123641,"cg_iq_raw_a":0.0360892452,"cg_iu_a":-0.758587122,"cg_iv_a":-0.220796704,"cg_iw_a":0.979383826,"cg_sample_age_us":23.8600006,"cg_sample_seq":14537917,"cg_sample_valid":1,"cg_theta_rad":5.00752783,"cg_vd_req_v":0.095638141,"cg_vd_v":0.095638141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380796194,"cg_vq_v":-0.380796194,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":36.0033875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.354736,"values":{"Elec_RPM":-5.22150432e-39,"EncoderCos":38754,"EncoderSin":12503,"GapTicks":54763,"Mech_RPM":-1.04430086e-39,"cg_du":50.1467133,"cg_dv":50.2152939,"cg_dw":49.7847061,"cg_id_a":0.131948322,"cg_id_raw_a":0.035859447,"cg_iq_a":-0.15977031,"cg_iq_raw_a":-0.687327206,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104574,"cg_iw_a":-0.180418909,"cg_sample_age_us":26.8163643,"cg_sample_seq":14537969,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0904800072,"cg_vd_v":0.0904800072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375892758,"cg_vq_v":-0.375892758,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":36.0033875,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.366455,"values":{"Elec_RPM":-5.11707256e-39,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-1.02341451e-39,"cg_du":50.1480255,"cg_dv":50.2099991,"cg_dw":49.7900009,"cg_id_a":0.360764772,"cg_id_raw_a":0.478636473,"cg_iq_a":-0.446981519,"cg_iq_raw_a":-1.04439044,"cg_iu_a":0.219996452,"cg_iv_a":0.177885413,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9472733,"cg_sample_seq":14538016,"cg_sample_valid":1,"cg_theta_rad":5.00764704,"cg_vd_req_v":0.0885554999,"cg_vd_v":0.0885554999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368389606,"cg_vq_v":-0.368389606,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.647013187,"dclink_p_w":-93.6387634,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9815369,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.374268,"values":{"Elec_RPM":-5.11707256e-39,"EncoderCos":38718,"EncoderSin":12501,"GapTicks":54769,"Mech_RPM":-1.02341451e-39,"cg_du":50.137085,"cg_dv":50.2094307,"cg_dw":49.7905693,"cg_id_a":-0.0519370809,"cg_id_raw_a":0.34362489,"cg_iq_a":-0.632917941,"cg_iq_raw_a":-0.548752785,"cg_iu_a":-0.359904766,"cg_iv_a":0.395348489,"cg_iw_a":-0.0354437232,"cg_sample_age_us":23.9581814,"cg_sample_seq":14538066,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0954833478,"cg_vd_v":0.0954833478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36175403,"cg_vq_v":-0.36175403,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.6585693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.38208,"values":{"Elec_RPM":-5.01472872e-39,"EncoderCos":38722,"EncoderSin":12468,"GapTicks":54765,"Mech_RPM":-1.00294574e-39,"cg_du":50.1459084,"cg_dv":50.2128067,"cg_dw":49.7871933,"cg_id_a":-0.0279333889,"cg_id_raw_a":-0.0900051221,"cg_iq_a":-0.0565054417,"cg_iq_raw_a":-0.190045059,"cg_iu_a":0.618678689,"cg_iv_a":0.649055243,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9618187,"cg_sample_seq":14538166,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.0923355371,"cg_vd_v":0.0923355371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371163964,"cg_vq_v":-0.371163964,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.951461315,"dclink_p_w":-137.699905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.389893,"values":{"Elec_RPM":-4.91443079e-39,"EncoderCos":38743,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-9.82886157e-40,"cg_du":50.1447296,"cg_dv":50.2082443,"cg_dw":49.7917557,"cg_id_a":0.220896527,"cg_id_raw_a":0.398141235,"cg_iq_a":-0.0966770574,"cg_iq_raw_a":-0.25381431,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129329,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8672733,"cg_sample_seq":14538216,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0867829844,"cg_vd_v":0.0867829844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364793748,"cg_vq_v":-0.364793748,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.951461315,"dclink_p_w":-137.699905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.397705,"values":{"Elec_RPM":-4.91443079e-39,"EncoderCos":38709,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-9.82886157e-40,"cg_du":50.143383,"cg_dv":50.2105637,"cg_dw":49.7894363,"cg_id_a":-0.0357762873,"cg_id_raw_a":-0.103934698,"cg_iq_a":0.0609991476,"cg_iq_raw_a":-0.0460534804,"cg_iu_a":-0.106198072,"cg_iv_a":0.032910049,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8600006,"cg_sample_seq":14538266,"cg_sample_valid":1,"cg_theta_rad":5.00654125,"cg_vd_req_v":0.0931926891,"cg_vd_v":0.0931926891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366432995,"cg_vq_v":-0.366432995,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.951461315,"dclink_p_w":-137.699905,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9831238,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.405518,"values":{"Elec_RPM":-4.81614371e-39,"EncoderCos":38732,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-9.63228742e-40,"cg_du":50.1361237,"cg_dv":50.2078056,"cg_dw":49.7921944,"cg_id_a":-0.0363842919,"cg_id_raw_a":-0.177268744,"cg_iq_a":-0.248014942,"cg_iq_raw_a":-0.380229235,"cg_iu_a":0.691166401,"cg_iv_a":-0.220796704,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.8600006,"cg_sample_seq":14538316,"cg_sample_valid":1,"cg_theta_rad":5.00545788,"cg_vd_req_v":0.0944866091,"cg_vd_v":0.0944866091,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359051645,"cg_vq_v":-0.359051645,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9644165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.41333,"values":{"Elec_RPM":-4.81614371e-39,"EncoderCos":38703,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-9.63228742e-40,"cg_du":50.1367302,"cg_dv":50.2063026,"cg_dw":49.7936974,"cg_id_a":-0.0584989712,"cg_id_raw_a":-0.0942985043,"cg_iq_a":-0.341948748,"cg_iq_raw_a":-0.555212796,"cg_iu_a":0.292484045,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.8563633,"cg_sample_seq":14538366,"cg_sample_valid":1,"cg_theta_rad":5.00690413,"cg_vd_req_v":0.0946330279,"cg_vd_v":0.0946330279,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356799245,"cg_vq_v":-0.356799245,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9644165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.425049,"values":{"Elec_RPM":-4.71981846e-39,"EncoderCos":38737,"EncoderSin":12495,"GapTicks":54765,"Mech_RPM":-9.43963691e-40,"cg_du":50.1384773,"cg_dv":50.2133942,"cg_dw":49.7866058,"cg_id_a":-0.151407152,"cg_id_raw_a":-0.173252106,"cg_iq_a":0.131430954,"cg_iq_raw_a":0.931172073,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8490906,"cg_sample_seq":14538417,"cg_sample_valid":1,"cg_theta_rad":5.00673199,"cg_vd_req_v":0.0967953131,"cg_vd_v":0.0967953131,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368308634,"cg_vq_v":-0.368308634,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9924622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.452393,"values":{"Elec_RPM":-4.71981846e-39,"EncoderCos":38713,"EncoderSin":12468,"GapTicks":54770,"Mech_RPM":-9.43963691e-40,"cg_du":50.1369438,"cg_dv":50.209053,"cg_dw":49.790947,"cg_id_a":-0.13156116,"cg_id_raw_a":-0.103973396,"cg_iq_a":-0.366843075,"cg_iq_raw_a":-0.0459660403,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9836369,"cg_sample_seq":14538471,"cg_sample_valid":1,"cg_theta_rad":5.00763226,"cg_vd_req_v":0.0964618251,"cg_vd_v":0.0964618251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360836983,"cg_vq_v":-0.360836983,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.460205,"values":{"Elec_RPM":-4.62541998e-39,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-9.25083997e-40,"cg_du":50.1403999,"cg_dv":50.2102051,"cg_dw":49.7897949,"cg_id_a":0.104114033,"cg_id_raw_a":0.0603483953,"cg_iq_a":-0.24365741,"cg_iq_raw_a":-0.648796916,"cg_iu_a":-0.251173258,"cg_iv_a":-0.0758213997,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9218178,"cg_sample_seq":14538566,"cg_sample_valid":1,"cg_theta_rad":5.00607491,"cg_vd_req_v":0.0944210738,"cg_vd_v":0.0944210738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364461422,"cg_vq_v":-0.364461422,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.855415106,"dclink_p_w":-123.79966,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.468018,"values":{"Elec_RPM":-4.53291327e-39,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54762,"Mech_RPM":-9.06582653e-40,"cg_du":50.1317329,"cg_dv":50.2161407,"cg_dw":49.7838593,"cg_id_a":-0.537192822,"cg_id_raw_a":0.13030155,"cg_iq_a":-0.189296097,"cg_iq_raw_a":-0.496113807,"cg_iu_a":0.00253343582,"cg_iv_a":-2.1054759,"cg_iw_a":1.4143095,"cg_sample_age_us":23.9327278,"cg_sample_seq":14538617,"cg_sample_valid":1,"cg_theta_rad":5.00657749,"cg_vd_req_v":0.107610554,"cg_vd_v":0.107610554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367477208,"cg_vq_v":-0.367477208,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.3137207,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.479736,"values":{"Elec_RPM":-4.53291327e-39,"EncoderCos":38707,"EncoderSin":12505,"GapTicks":54767,"Mech_RPM":-9.06582653e-40,"cg_du":50.1421814,"cg_dv":50.2111893,"cg_dw":49.7888107,"cg_id_a":0.0824629143,"cg_id_raw_a":-0.228067368,"cg_iq_a":-0.118592322,"cg_iq_raw_a":-0.495063305,"cg_iu_a":-0.0337102413,"cg_iv_a":0.431592226,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8709087,"cg_sample_seq":14538666,"cg_sample_valid":1,"cg_theta_rad":5.00762606,"cg_vd_req_v":0.0940052047,"cg_vd_v":0.0940052047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36679402,"cg_vq_v":-0.36679402,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.429550171,"dclink_p_w":-61.9775429,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.487549,"values":{"Elec_RPM":-4.44225626e-39,"EncoderCos":38724,"EncoderSin":12430,"GapTicks":54763,"Mech_RPM":-8.88451252e-40,"cg_du":50.1405678,"cg_dv":50.21521,"cg_dw":49.78479,"cg_id_a":-0.135428384,"cg_id_raw_a":-0.0996380374,"cg_iq_a":0.279096961,"cg_iq_raw_a":-0.300509065,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9509087,"cg_sample_seq":14538716,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0996611714,"cg_vd_v":0.0996611714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371219754,"cg_vq_v":-0.371219754,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.495361,"values":{"Elec_RPM":-4.44225626e-39,"EncoderCos":38691,"EncoderSin":12441,"GapTicks":54776,"Mech_RPM":-8.88451252e-40,"cg_du":50.1404533,"cg_dv":50.2030945,"cg_dw":49.7969055,"cg_id_a":0.21923393,"cg_id_raw_a":-0.00508003961,"cg_iq_a":-0.477769762,"cg_iq_raw_a":-0.181978762,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14538766,"cg_sample_valid":1,"cg_theta_rad":5.00615978,"cg_vd_req_v":0.0903293565,"cg_vd_v":0.0903293565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354115844,"cg_vq_v":-0.354115844,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.503174,"values":{"Elec_RPM":-4.35341394e-39,"EncoderCos":38727,"EncoderSin":12456,"GapTicks":54775,"Mech_RPM":-8.70682788e-40,"cg_du":50.1362686,"cg_dv":50.2044601,"cg_dw":49.7955399,"cg_id_a":0.0526723862,"cg_id_raw_a":-0.29542774,"cg_iq_a":-0.29437992,"cg_iq_raw_a":0.409079522,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065315,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9436359,"cg_sample_seq":14538816,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0919567719,"cg_vd_v":0.0919567719,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355515331,"cg_vq_v":-0.355515331,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-71.0836411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9675293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.510986,"values":{"Elec_RPM":-4.35341394e-39,"EncoderCos":38722,"EncoderSin":12451,"GapTicks":54765,"Mech_RPM":-8.70682788e-40,"cg_du":50.1436539,"cg_dv":50.2132721,"cg_dw":49.7867279,"cg_id_a":-0.103731021,"cg_id_raw_a":0.00366556458,"cg_iq_a":0.445723236,"cg_iq_raw_a":-0.0716737732,"cg_iu_a":-0.396148682,"cg_iv_a":-0.510747313,"cg_iw_a":0.906895995,"cg_sample_age_us":23.8527279,"cg_sample_seq":14538866,"cg_sample_valid":1,"cg_theta_rad":5.00688505,"cg_vd_req_v":0.0949897766,"cg_vd_v":0.0949897766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370424062,"cg_vq_v":-0.370424062,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.522705,"values":{"Elec_RPM":-4.26634426e-39,"EncoderCos":38690,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-8.53268852e-40,"cg_du":50.1473083,"cg_dv":50.2104416,"cg_dw":49.7895584,"cg_id_a":0.0659390241,"cg_id_raw_a":0.265002042,"cg_iq_a":0.252981782,"cg_iq_raw_a":-1.97580314,"cg_iu_a":-0.686099529,"cg_iv_a":-0.474503636,"cg_iw_a":1.16060317,"cg_sample_age_us":23.8600006,"cg_sample_seq":14538916,"cg_sample_valid":1,"cg_theta_rad":5.00584173,"cg_vd_req_v":0.0912896097,"cg_vd_v":0.0912896097,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368162036,"cg_vq_v":-0.368162036,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9721985,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.530518,"values":{"Elec_RPM":-4.26634426e-39,"EncoderCos":38746,"EncoderSin":12483,"GapTicks":54754,"Mech_RPM":-8.53268852e-40,"cg_du":50.1320953,"cg_dv":50.2229385,"cg_dw":49.7770615,"cg_id_a":-0.825523376,"cg_id_raw_a":-0.391681641,"cg_iq_a":0.7068488,"cg_iq_raw_a":0.110768862,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.863636,"cg_sample_seq":14538967,"cg_sample_valid":1,"cg_theta_rad":5.00796509,"cg_vd_req_v":0.110574022,"cg_vd_v":0.110574022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377913415,"cg_vq_v":-0.377913415,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.378808856,"dclink_p_w":-54.8229828,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.987793,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.557861,"values":{"Elec_RPM":-4.1810192e-39,"EncoderCos":38735,"EncoderSin":12505,"GapTicks":54771,"Mech_RPM":-8.36203839e-40,"cg_du":50.1298027,"cg_dv":50.2073212,"cg_dw":49.7926788,"cg_id_a":-0.2269876,"cg_id_raw_a":-0.190047458,"cg_iq_a":-0.466583312,"cg_iq_raw_a":0.201718256,"cg_iu_a":0.256240368,"cg_iv_a":0.141641557,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8563633,"cg_sample_seq":14539020,"cg_sample_valid":1,"cg_theta_rad":5.00719023,"cg_vd_req_v":0.0976905748,"cg_vd_v":0.0976905748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355216235,"cg_vq_v":-0.355216235,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.378808856,"dclink_p_w":-54.8229828,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.565674,"values":{"Elec_RPM":-4.1810192e-39,"EncoderCos":38752,"EncoderSin":12466,"GapTicks":54770,"Mech_RPM":-8.36203839e-40,"cg_du":50.1277962,"cg_dv":50.2085953,"cg_dw":49.7914047,"cg_id_a":-0.352628559,"cg_id_raw_a":-0.242810607,"cg_iq_a":-0.461958468,"cg_iq_raw_a":-0.603506565,"cg_iu_a":0.79989779,"cg_iv_a":-0.474503517,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9181824,"cg_sample_seq":14539066,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.10008321,"cg_vd_v":0.10008321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355952948,"cg_vq_v":-0.355952948,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.701378822,"dclink_p_w":-101.506805,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.573486,"values":{"Elec_RPM":-4.09739671e-39,"EncoderCos":38724,"EncoderSin":12465,"GapTicks":54768,"Mech_RPM":-8.19479342e-40,"cg_du":50.146656,"cg_dv":50.2104378,"cg_dw":49.7895622,"cg_id_a":0.083283186,"cg_id_raw_a":0.390034199,"cg_iq_a":0.0180991292,"cg_iq_raw_a":-1.23579586,"cg_iu_a":-0.214929581,"cg_iv_a":-0.293284416,"cg_iw_a":0.508213997,"cg_sample_age_us":23.954546,"cg_sample_seq":14539116,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0896240547,"cg_vd_v":0.0896240547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369506776,"cg_vq_v":-0.369506776,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.579962015,"dclink_p_w":-84.1899261,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.581299,"values":{"Elec_RPM":-4.09739671e-39,"EncoderCos":38743,"EncoderSin":12496,"GapTicks":54765,"Mech_RPM":-8.19479342e-40,"cg_du":50.1529579,"cg_dv":50.2133636,"cg_dw":49.7866364,"cg_id_a":0.216823608,"cg_id_raw_a":0.319296867,"cg_iq_a":0.175959304,"cg_iq_raw_a":0.612041175,"cg_iu_a":-0.287417412,"cg_iv_a":0.39534837,"cg_iw_a":-0.107930958,"cg_sample_age_us":23.9727268,"cg_sample_seq":14539166,"cg_sample_valid":1,"cg_theta_rad":5.00671387,"cg_vd_req_v":0.0850783139,"cg_vd_v":0.0850783139,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377600342,"cg_vq_v":-0.377600342,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.3189087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.593018,"values":{"Elec_RPM":-4.01544878e-39,"EncoderCos":38732,"EncoderSin":12449,"GapTicks":54762,"Mech_RPM":-8.03089755e-40,"cg_du":50.1504555,"cg_dv":50.2155914,"cg_dw":49.7844086,"cg_id_a":-0.0980969295,"cg_id_raw_a":0.267379105,"cg_iq_a":0.0550111979,"cg_iq_raw_a":-0.191872194,"cg_iu_a":0.147508621,"cg_iv_a":-0.402015805,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14539216,"cg_sample_valid":1,"cg_theta_rad":5.00733757,"cg_vd_req_v":0.0911076292,"cg_vd_v":0.0911076292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377591014,"cg_vq_v":-0.377591014,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9675293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.60083,"values":{"Elec_RPM":-4.01544878e-39,"EncoderCos":38726,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-8.03089755e-40,"cg_du":50.154995,"cg_dv":50.214592,"cg_dw":49.785408,"cg_id_a":0.145068228,"cg_id_raw_a":0.145844325,"cg_iq_a":-0.0218101218,"cg_iq_raw_a":-0.0214595832,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14539266,"cg_sample_valid":1,"cg_theta_rad":5.0083847,"cg_vd_req_v":0.086778976,"cg_vd_v":0.086778976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37872982,"cg_vq_v":-0.37872982,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.4639549,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.608643,"values":{"Elec_RPM":-3.93514036e-39,"EncoderCos":38711,"EncoderSin":12476,"GapTicks":54763,"Mech_RPM":-7.87028072e-40,"cg_du":50.1608696,"cg_dv":50.2148018,"cg_dw":49.7851982,"cg_id_a":0.316187918,"cg_id_raw_a":0.171686679,"cg_iq_a":0.0207711905,"cg_iq_raw_a":-0.492041767,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885473,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9836369,"cg_sample_seq":14539316,"cg_sample_valid":1,"cg_theta_rad":5.00873852,"cg_vd_req_v":0.0832777023,"cg_vd_v":0.0832777023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382112503,"cg_vq_v":-0.382112503,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.620361,"values":{"Elec_RPM":-3.93514036e-39,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54768,"Mech_RPM":-7.87028072e-40,"cg_du":50.1487274,"cg_dv":50.2101784,"cg_dw":49.7898216,"cg_id_a":0.0837171078,"cg_id_raw_a":0.118494026,"cg_iq_a":-0.491610825,"cg_iq_raw_a":-0.16958645,"cg_iu_a":0.437459469,"cg_iv_a":0.721542835,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.954546,"cg_sample_seq":14539366,"cg_sample_valid":1,"cg_theta_rad":5.0062871,"cg_vd_req_v":0.0883412063,"cg_vd_v":0.0883412063,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370179713,"cg_vq_v":-0.370179713,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.8397999,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9581604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.628174,"values":{"Elec_RPM":-3.85643643e-39,"EncoderCos":38718,"EncoderSin":12484,"GapTicks":54756,"Mech_RPM":-7.71287286e-40,"cg_du":50.1569824,"cg_dv":50.2209663,"cg_dw":49.7790337,"cg_id_a":-0.0909159631,"cg_id_raw_a":-0.0100177163,"cg_iq_a":0.401251912,"cg_iq_raw_a":-0.364318848,"cg_iu_a":-0.722343206,"cg_iv_a":-0.184552848,"cg_iw_a":0.906896055,"cg_sample_age_us":23.9581814,"cg_sample_seq":14539416,"cg_sample_valid":1,"cg_theta_rad":5.00641775,"cg_vd_req_v":0.0917771384,"cg_vd_v":0.0917771384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389670104,"cg_vq_v":-0.389670104,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.635986,"values":{"Elec_RPM":-3.85643643e-39,"EncoderCos":38693,"EncoderSin":12458,"GapTicks":54762,"Mech_RPM":-7.71287286e-40,"cg_du":50.1563835,"cg_dv":50.2154617,"cg_dw":49.7845383,"cg_id_a":-0.0601668134,"cg_id_raw_a":0.0418822728,"cg_iq_a":0.0765509158,"cg_iq_raw_a":-0.432114005,"cg_iu_a":0.292484045,"cg_iv_a":0.10539782,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9472733,"cg_sample_seq":14539466,"cg_sample_valid":1,"cg_theta_rad":5.00503111,"cg_vd_req_v":0.0894610733,"cg_vd_v":0.0894610733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38001284,"cg_vq_v":-0.38001284,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.66333,"values":{"Elec_RPM":-3.77930896e-39,"EncoderCos":38724,"EncoderSin":12507,"GapTicks":54762,"Mech_RPM":-7.55861793e-40,"cg_du":50.1518021,"cg_dv":50.2158089,"cg_dw":49.7841911,"cg_id_a":-0.0948038995,"cg_id_raw_a":0.118568845,"cg_iq_a":-0.244432241,"cg_iq_raw_a":0.266814888,"cg_iu_a":-0.831074715,"cg_iv_a":-0.800698161,"cg_iw_a":1.63177288,"cg_sample_age_us":23.8672733,"cg_sample_seq":14539521,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0894381702,"cg_vd_v":0.0894381702,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378840327,"cg_vq_v":-0.378840327,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.671143,"values":{"Elec_RPM":-3.77930896e-39,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54760,"Mech_RPM":-7.55861793e-40,"cg_du":50.1654625,"cg_dv":50.2174759,"cg_dw":49.7825241,"cg_id_a":0.212284371,"cg_id_raw_a":0.155932933,"cg_iq_a":0.103976741,"cg_iq_raw_a":0.0892034248,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14539567,"cg_sample_valid":1,"cg_theta_rad":5.00661755,"cg_vd_req_v":0.0821528435,"cg_vd_v":0.0821528435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387123942,"cg_vq_v":-0.387123942,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.678955,"values":{"Elec_RPM":-3.70372293e-39,"EncoderCos":38701,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-7.40744585e-40,"cg_du":50.1679153,"cg_dv":50.217495,"cg_dw":49.782505,"cg_id_a":0.318289638,"cg_id_raw_a":0.096361421,"cg_iq_a":-0.0584795028,"cg_iq_raw_a":-1.19160378,"cg_iu_a":-0.468636513,"cg_iv_a":0.177885473,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8563633,"cg_sample_seq":14539616,"cg_sample_valid":1,"cg_theta_rad":5.00634241,"cg_vd_req_v":0.0808854103,"cg_vd_v":0.0808854103,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388391763,"cg_vq_v":-0.388391763,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.686768,"values":{"Elec_RPM":-3.70372293e-39,"EncoderCos":38717,"EncoderSin":12424,"GapTicks":54762,"Mech_RPM":-7.40744585e-40,"cg_du":50.1612358,"cg_dv":50.2160797,"cg_dw":49.7839203,"cg_id_a":0.069731012,"cg_id_raw_a":0.312631041,"cg_iq_a":-0.16499038,"cg_iq_raw_a":0.615472436,"cg_iu_a":0.256240368,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9472733,"cg_sample_seq":14539667,"cg_sample_valid":1,"cg_theta_rad":5.00700712,"cg_vd_req_v":0.0850808099,"cg_vd_v":0.0850808099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38386482,"cg_vq_v":-0.38386482,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.698486,"values":{"Elec_RPM":-3.62965029e-39,"EncoderCos":38740,"EncoderSin":12466,"GapTicks":54760,"Mech_RPM":-7.25930058e-40,"cg_du":50.1539574,"cg_dv":50.2180977,"cg_dw":49.7819023,"cg_id_a":-0.136656106,"cg_id_raw_a":-0.11773853,"cg_iq_a":-0.185153961,"cg_iq_raw_a":0.0990048572,"cg_iu_a":0.401215672,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9254551,"cg_sample_seq":14539717,"cg_sample_valid":1,"cg_theta_rad":5.00592756,"cg_vd_req_v":0.0896464065,"cg_vd_v":0.0896464065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383231997,"cg_vq_v":-0.383231997,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9753113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.706299,"values":{"Elec_RPM":-3.62965029e-39,"EncoderCos":38737,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-7.25930058e-40,"cg_du":50.1675911,"cg_dv":50.2210045,"cg_dw":49.7789955,"cg_id_a":0.141811445,"cg_id_raw_a":0.194213197,"cg_iq_a":0.359861314,"cg_iq_raw_a":-0.0901863426,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9872723,"cg_sample_seq":14539767,"cg_sample_valid":1,"cg_theta_rad":5.00812197,"cg_vd_req_v":0.0818583444,"cg_vd_v":0.0818583444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39477402,"cg_vq_v":-0.39477402,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3490906,"temp_inv2_c":35.9550476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.714111,"values":{"Elec_RPM":-3.55705602e-39,"EncoderCos":38729,"EncoderSin":12503,"GapTicks":54755,"Mech_RPM":-7.11411204e-40,"cg_du":50.1659012,"cg_dv":50.222477,"cg_dw":49.777523,"cg_id_a":0.0179923717,"cg_id_raw_a":0.183129251,"cg_iq_a":0.220819816,"cg_iq_raw_a":0.927951097,"cg_iu_a":0.0387773514,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9436359,"cg_sample_seq":14539817,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0842025727,"cg_vd_v":0.0842025727,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394671023,"cg_vq_v":-0.394671023,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.2678604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.721924,"values":{"Elec_RPM":-3.55705602e-39,"EncoderCos":38731,"EncoderSin":12459,"GapTicks":54757,"Mech_RPM":-7.11411204e-40,"cg_du":50.1623535,"cg_dv":50.2204514,"cg_dw":49.7795486,"cg_id_a":-0.116491541,"cg_id_raw_a":-0.430386961,"cg_iq_a":-0.119447052,"cg_iq_raw_a":0.287174642,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9654541,"cg_sample_seq":14539867,"cg_sample_valid":1,"cg_theta_rad":5.00571012,"cg_vd_req_v":0.0860385597,"cg_vd_v":0.0860385597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389720172,"cg_vq_v":-0.389720172,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.733643,"values":{"Elec_RPM":-3.4859121e-39,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-6.9718242e-40,"cg_du":50.1684608,"cg_dv":50.2162399,"cg_dw":49.7837601,"cg_id_a":0.414468527,"cg_id_raw_a":0.454755485,"cg_iq_a":-0.285867155,"cg_iq_raw_a":0.0449515842,"cg_iu_a":0.0750212669,"cg_iv_a":-0.655722737,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9509087,"cg_sample_seq":14539917,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0775898546,"cg_vd_v":0.0775898546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387336373,"cg_vq_v":-0.387336373,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9924622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2634.741455,"values":{"Elec_RPM":-3.4859121e-39,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-6.9718242e-40,"cg_du":50.1569557,"cg_dv":50.219902,"cg_dw":49.780098,"cg_id_a":-0.170186266,"cg_id_raw_a":0.521349728,"cg_iq_a":-0.216809899,"cg_iq_raw_a":2.01573825,"cg_iu_a":0.691166401,"cg_iv_a":-0.329528213,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.954546,"cg_sample_seq":14539967,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0893079713,"cg_vd_v":0.0893079713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38730067,"cg_vq_v":-0.38730067,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9924622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.768799,"values":{"Elec_RPM":-3.41619049e-39,"EncoderCos":38687,"EncoderSin":12487,"GapTicks":54759,"Mech_RPM":-6.83238099e-40,"cg_du":50.1650887,"cg_dv":50.2190819,"cg_dw":49.7809181,"cg_id_a":0.0535642952,"cg_id_raw_a":-0.128328636,"cg_iq_a":-0.0296654254,"cg_iq_raw_a":-0.0125645213,"cg_iu_a":1.48853064,"cg_iv_a":0.39534843,"cg_iw_a":-1.88387907,"cg_sample_age_us":23.8527279,"cg_sample_seq":14540020,"cg_sample_valid":1,"cg_theta_rad":5.00595856,"cg_vd_req_v":0.0859795064,"cg_vd_v":0.0859795064,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389895976,"cg_vq_v":-0.389895976,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9706421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.776611,"values":{"Elec_RPM":-3.41619049e-39,"EncoderCos":38700,"EncoderSin":12443,"GapTicks":54759,"Mech_RPM":-6.83238099e-40,"cg_du":50.1736565,"cg_dv":50.2184258,"cg_dw":49.7815742,"cg_id_a":0.432118833,"cg_id_raw_a":0.0367316902,"cg_iq_a":0.171365887,"cg_iq_raw_a":0.624116838,"cg_iu_a":-1.12102532,"cg_iv_a":0.21412921,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9836369,"cg_sample_seq":14540067,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.0786639601,"cg_vd_v":0.0786639601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393857598,"cg_vq_v":-0.393857598,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.78833,"values":{"Elec_RPM":-3.34787019e-39,"EncoderCos":38729,"EncoderSin":12456,"GapTicks":54756,"Mech_RPM":-6.69574037e-40,"cg_du":50.1636162,"cg_dv":50.2213097,"cg_dw":49.7786903,"cg_id_a":0.0624123365,"cg_id_raw_a":0.121434979,"cg_iq_a":0.0800291598,"cg_iq_raw_a":0.0133588733,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9290905,"cg_sample_seq":14540117,"cg_sample_valid":1,"cg_theta_rad":5.00594473,"cg_vd_req_v":0.0864026546,"cg_vd_v":0.0864026546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392731786,"cg_vq_v":-0.392731786,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9784241,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.796143,"values":{"Elec_RPM":-3.34787019e-39,"EncoderCos":38725,"EncoderSin":12504,"GapTicks":54760,"Mech_RPM":-6.69574037e-40,"cg_du":50.1545715,"cg_dv":50.2174683,"cg_dw":49.7825317,"cg_id_a":0.0258919299,"cg_id_raw_a":-0.376316041,"cg_iq_a":-0.415188372,"cg_iq_raw_a":-0.726353765,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991229,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9436359,"cg_sample_seq":14540167,"cg_sample_valid":1,"cg_theta_rad":5.00700378,"cg_vd_req_v":0.0888546631,"cg_vd_v":0.0888546631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382645667,"cg_vq_v":-0.382645667,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9114075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.803955,"values":{"Elec_RPM":-3.28091615e-39,"EncoderCos":38705,"EncoderSin":12444,"GapTicks":54747,"Mech_RPM":-6.56183229e-40,"cg_du":50.1637535,"cg_dv":50.2299767,"cg_dw":49.7700233,"cg_id_a":-0.405658901,"cg_id_raw_a":-0.841940641,"cg_iq_a":0.561673403,"cg_iq_raw_a":0.78852278,"cg_iu_a":0.437459469,"cg_iv_a":-0.365772128,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9181824,"cg_sample_seq":14540217,"cg_sample_valid":1,"cg_theta_rad":5.00745249,"cg_vd_req_v":0.0972459689,"cg_vd_v":0.0972459689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403992236,"cg_vq_v":-0.403992236,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9550476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.811768,"values":{"Elec_RPM":-3.28091615e-39,"EncoderCos":38713,"EncoderSin":12474,"GapTicks":54750,"Mech_RPM":-6.56183229e-40,"cg_du":50.1639137,"cg_dv":50.2267113,"cg_dw":49.7732887,"cg_id_a":-0.0162637234,"cg_id_raw_a":0.245185614,"cg_iq_a":0.126208454,"cg_iq_raw_a":0.462159008,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8563633,"cg_sample_seq":14540266,"cg_sample_valid":1,"cg_theta_rad":5.00679255,"cg_vd_req_v":0.0923697948,"cg_vd_v":0.0923697948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400022298,"cg_vq_v":-0.400022298,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9550476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.81958,"values":{"Elec_RPM":-3.21530035e-39,"EncoderCos":38714,"EncoderSin":12503,"GapTicks":54744,"Mech_RPM":-6.43060069e-40,"cg_du":50.1620865,"cg_dv":50.2324638,"cg_dw":49.7675362,"cg_id_a":-0.203496903,"cg_id_raw_a":-0.274897009,"cg_iq_a":0.390630364,"cg_iq_raw_a":1.06658161,"cg_iu_a":-0.577368021,"cg_iv_a":-0.0395774841,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9836369,"cg_sample_seq":14540317,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0985054001,"cg_vd_v":0.0985054001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407025576,"cg_vq_v":-0.407025576,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9269714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.827393,"values":{"Elec_RPM":-3.21530035e-39,"EncoderCos":38716,"EncoderSin":12468,"GapTicks":54749,"Mech_RPM":-6.43060069e-40,"cg_du":50.1674271,"cg_dv":50.2276039,"cg_dw":49.7723961,"cg_id_a":0.281840444,"cg_id_raw_a":0.375509948,"cg_iq_a":0.165178448,"cg_iq_raw_a":-0.217026338,"cg_iu_a":-0.323661089,"cg_iv_a":0.612811446,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14540367,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.0903792679,"cg_vd_v":0.0903792679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403231174,"cg_vq_v":-0.403231174,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9269714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.835205,"values":{"Elec_RPM":-3.15099476e-39,"EncoderCos":38686,"EncoderSin":12496,"GapTicks":54749,"Mech_RPM":-6.30198952e-40,"cg_du":50.1620674,"cg_dv":50.2273865,"cg_dw":49.7726135,"cg_id_a":0.026073195,"cg_id_raw_a":-0.0548896268,"cg_iq_a":0.00368075073,"cg_iq_raw_a":1.30689406,"cg_iu_a":0.256240368,"cg_iv_a":-0.474503636,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14540417,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.096330516,"cg_vd_v":0.096330516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399457753,"cg_vq_v":-0.399457753,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9690857,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.846924,"values":{"Elec_RPM":-3.15099476e-39,"EncoderCos":38735,"EncoderSin":12449,"GapTicks":54746,"Mech_RPM":-6.30198952e-40,"cg_du":50.1626778,"cg_dv":50.2301941,"cg_dw":49.7698059,"cg_id_a":-0.0332316943,"cg_id_raw_a":0.329832256,"cg_iq_a":0.243145317,"cg_iq_raw_a":0.0323991925,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.954546,"cg_sample_seq":14540466,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.0954089388,"cg_vd_v":0.0954089388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404371113,"cg_vq_v":-0.404371113,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.949649096,"dclink_p_w":-137.437637,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.956604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.874268,"values":{"Elec_RPM":-3.08797837e-39,"EncoderCos":38745,"EncoderSin":12437,"GapTicks":54737,"Mech_RPM":-6.17595673e-40,"cg_du":50.1579514,"cg_dv":50.2385483,"cg_dw":49.7614517,"cg_id_a":-0.59371382,"cg_id_raw_a":-0.16330269,"cg_iq_a":0.600873947,"cg_iq_raw_a":-0.0874110311,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641557,"cg_iw_a":0.834408522,"cg_sample_age_us":23.8563633,"cg_sample_seq":14540520,"cg_sample_valid":1,"cg_theta_rad":5.00678253,"cg_vd_req_v":0.106628321,"cg_vd_v":0.106628321,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413251847,"cg_vq_v":-0.413251847,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.781115294,"dclink_p_w":-112.703033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.956604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.88208,"values":{"Elec_RPM":-3.08797837e-39,"EncoderCos":38716,"EncoderSin":12441,"GapTicks":54749,"Mech_RPM":-6.17595673e-40,"cg_du":50.165081,"cg_dv":50.2275543,"cg_dw":49.7724457,"cg_id_a":0.0038789399,"cg_id_raw_a":-0.446241409,"cg_iq_a":0.191747084,"cg_iq_raw_a":0.429419547,"cg_iu_a":0.0750212669,"cg_iv_a":-0.148309052,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9654541,"cg_sample_seq":14540567,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0929116234,"cg_vd_v":0.0929116234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401675016,"cg_vq_v":-0.401675016,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.873537064,"dclink_p_w":-126.422348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.889893,"values":{"Elec_RPM":-3.02621614e-39,"EncoderCos":38748,"EncoderSin":12485,"GapTicks":54754,"Mech_RPM":-6.05243228e-40,"cg_du":50.1682549,"cg_dv":50.2230721,"cg_dw":49.7769279,"cg_id_a":0.423449725,"cg_id_raw_a":0.426988274,"cg_iq_a":0.104131885,"cg_iq_raw_a":0.585235119,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9799995,"cg_sample_seq":14540617,"cg_sample_valid":1,"cg_theta_rad":5.00773048,"cg_vd_req_v":0.0819545463,"cg_vd_v":0.0819545463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398249954,"cg_vq_v":-0.398249954,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.873537064,"dclink_p_w":-126.422348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.897705,"values":{"Elec_RPM":-3.02621614e-39,"EncoderCos":38748,"EncoderSin":12494,"GapTicks":54759,"Mech_RPM":-6.05243228e-40,"cg_du":50.1528702,"cg_dv":50.2186394,"cg_dw":49.7813606,"cg_id_a":-0.000962983817,"cg_id_raw_a":-0.00061191275,"cg_iq_a":-0.327190191,"cg_iq_raw_a":0.4374201,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333380699,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14540667,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.089861393,"cg_vd_v":0.089861393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384871125,"cg_vq_v":-0.384871125,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.873537064,"dclink_p_w":-126.422348,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2634.909424,"values":{"Elec_RPM":-2.90637709e-39,"EncoderCos":38742,"EncoderSin":12486,"GapTicks":54757,"Mech_RPM":-5.81275419e-40,"cg_du":50.1516724,"cg_dv":50.2201996,"cg_dw":49.7798004,"cg_id_a":-0.0649134442,"cg_id_raw_a":-0.121550448,"cg_iq_a":-0.288060367,"cg_iq_raw_a":-0.774640083,"cg_iu_a":-0.613611698,"cg_iv_a":0.10539782,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9872723,"cg_sample_seq":14540816,"cg_sample_valid":1,"cg_theta_rad":5.0063448,"cg_vd_req_v":0.0927713141,"cg_vd_v":0.0927713141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384996712,"cg_vq_v":-0.384996712,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.878973722,"dclink_p_w":-127.209167,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.917236,"values":{"Elec_RPM":-2.90637709e-39,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54759,"Mech_RPM":-5.81275419e-40,"cg_du":50.158905,"cg_dv":50.219059,"cg_dw":49.780941,"cg_id_a":0.100352742,"cg_id_raw_a":-0.17553024,"cg_iq_a":-0.098521471,"cg_iq_raw_a":0.675406814,"cg_iu_a":1.2348237,"cg_iv_a":0.177885413,"cg_iw_a":-1.41270912,"cg_sample_age_us":23.9836369,"cg_sample_seq":14540866,"cg_sample_valid":1,"cg_theta_rad":5.00702,"cg_vd_req_v":0.0888744518,"cg_vd_v":0.0888744518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386807829,"cg_vq_v":-0.386807829,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.940588236,"dclink_p_w":-136.126312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.925049,"values":{"Elec_RPM":-2.84825123e-39,"EncoderCos":38727,"EncoderSin":12469,"GapTicks":54757,"Mech_RPM":-5.69650247e-40,"cg_du":50.1662941,"cg_dv":50.2208214,"cg_dw":49.7791786,"cg_id_a":0.382080615,"cg_id_raw_a":1.02760255,"cg_iq_a":0.0837622583,"cg_iq_raw_a":-0.446468681,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9763641,"cg_sample_seq":14540916,"cg_sample_valid":1,"cg_theta_rad":5.00634861,"cg_vd_req_v":0.0836503431,"cg_vd_v":0.0836503431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393602699,"cg_vq_v":-0.393602699,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.940588236,"dclink_p_w":-136.126312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.932861,"values":{"Elec_RPM":-2.84825123e-39,"EncoderCos":38748,"EncoderSin":12463,"GapTicks":54751,"Mech_RPM":-5.69650247e-40,"cg_du":50.1650925,"cg_dv":50.2262115,"cg_dw":49.7737885,"cg_id_a":0.0763206556,"cg_id_raw_a":0.0922291949,"cg_iq_a":0.499471366,"cg_iq_raw_a":1.24675047,"cg_iu_a":-0.758587122,"cg_iv_a":-0.257040501,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9872723,"cg_sample_seq":14540966,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.0880810916,"cg_vd_v":0.0880810916,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400651157,"cg_vq_v":-0.400651157,"cg_vu_v":28.1531239,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.99857831,"dclink_p_w":-144.518906,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9487915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.964111,"values":{"Elec_RPM":-2.79128845e-39,"EncoderCos":38730,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-5.5825769e-40,"cg_du":50.1593628,"cg_dv":50.2158356,"cg_dw":49.7841644,"cg_id_a":0.205546096,"cg_id_raw_a":0.191067249,"cg_iq_a":-0.261826217,"cg_iq_raw_a":0.164696366,"cg_iu_a":0.401215553,"cg_iv_a":-0.220796824,"cg_iw_a":-0.18041873,"cg_sample_age_us":26.823637,"cg_sample_seq":14541021,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0840004981,"cg_vd_v":0.0840004981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382994741,"cg_vq_v":-0.382994741,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-116.02092,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9659424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.971924,"values":{"Elec_RPM":-2.79128845e-39,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54758,"Mech_RPM":-5.5825769e-40,"cg_du":50.1580353,"cg_dv":50.2193642,"cg_dw":49.7806358,"cg_id_a":-0.165836245,"cg_id_raw_a":0.0582570322,"cg_iq_a":-0.00618780404,"cg_iq_raw_a":0.225156456,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14541067,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.0900645703,"cg_vd_v":0.0900645703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386686414,"cg_vq_v":-0.386686414,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-116.02092,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9659424,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2634.978911,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2634.978918,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2634.978924,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2634.979736,"values":{"Elec_RPM":-2.73546072e-39,"EncoderCos":38702,"EncoderSin":12457,"GapTicks":54763,"Mech_RPM":-5.47092144e-40,"cg_du":50.160183,"cg_dv":50.2149963,"cg_dw":49.7850037,"cg_id_a":-0.0643244982,"cg_id_raw_a":-0.000602141372,"cg_iq_a":-0.223509222,"cg_iq_raw_a":-0.436475784,"cg_iu_a":0.111264944,"cg_iv_a":0.467836082,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.954546,"cg_sample_seq":14541117,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0852846131,"cg_vd_v":0.0852846131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381708682,"cg_vq_v":-0.381708682,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.784739733,"dclink_p_w":-113.916389,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.987549,"values":{"Elec_RPM":-2.73546072e-39,"EncoderCos":38743,"EncoderSin":12469,"GapTicks":54767,"Mech_RPM":-5.47092144e-40,"cg_du":50.1561966,"cg_dv":50.2116127,"cg_dw":49.7883873,"cg_id_a":0.191508085,"cg_id_raw_a":0.025478201,"cg_iq_a":-0.319114268,"cg_iq_raw_a":1.27712011,"cg_iu_a":-0.14244175,"cg_iv_a":1.80885792,"cg_iw_a":-1.66641617,"cg_sample_age_us":23.9618187,"cg_sample_seq":14541167,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0812824219,"cg_vd_v":0.0812824219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375717521,"cg_vq_v":-0.375717521,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.868100405,"dclink_p_w":-125.635529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2634.995361,"values":{"Elec_RPM":-2.68075403e-39,"EncoderCos":38724,"EncoderSin":12445,"GapTicks":54759,"Mech_RPM":-5.36150805e-40,"cg_du":50.1553154,"cg_dv":50.2183838,"cg_dw":49.7816162,"cg_id_a":-0.364350379,"cg_id_raw_a":-0.286855161,"cg_iq_a":0.14659597,"cg_iq_raw_a":-0.537351072,"cg_iu_a":0.582434654,"cg_iv_a":0.141641617,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8490906,"cg_sample_seq":14541216,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.090806298,"cg_vd_v":0.090806298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383925915,"cg_vq_v":-0.383925915,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.795612812,"dclink_p_w":-114.7948,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.003174,"values":{"Elec_RPM":-2.68075403e-39,"EncoderCos":38736,"EncoderSin":12472,"GapTicks":54767,"Mech_RPM":-5.36150805e-40,"cg_du":50.1551514,"cg_dv":50.2117767,"cg_dw":49.7882233,"cg_id_a":0.0611832067,"cg_id_raw_a":0.214571714,"cg_iq_a":-0.230350241,"cg_iq_raw_a":-0.306665272,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9436359,"cg_sample_seq":14541266,"cg_sample_valid":1,"cg_theta_rad":5.00612211,"cg_vd_req_v":0.0827819631,"cg_vd_v":0.0827819631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375240535,"cg_vq_v":-0.375240535,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.772054434,"dclink_p_w":-111.735313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.010986,"values":{"Elec_RPM":-2.62714035e-39,"EncoderCos":38716,"EncoderSin":12417,"GapTicks":54771,"Mech_RPM":-5.2542807e-40,"cg_du":50.1606903,"cg_dv":50.2081451,"cg_dw":49.7918549,"cg_id_a":0.23435691,"cg_id_raw_a":0.285326272,"cg_iq_a":-0.176078826,"cg_iq_raw_a":0.467209756,"cg_iu_a":-0.287417173,"cg_iv_a":0.359104574,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9181824,"cg_sample_seq":14541316,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0782540664,"cg_vd_v":0.0782540664,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373884916,"cg_vq_v":-0.373884916,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.772054434,"dclink_p_w":-111.735313,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.3251038,"temp_inv2_c":35.9628296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.022705,"values":{"Elec_RPM":-2.62714035e-39,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54763,"Mech_RPM":-5.2542807e-40,"cg_du":50.1502953,"cg_dv":50.2146606,"cg_dw":49.7853394,"cg_id_a":-0.267456084,"cg_id_raw_a":-0.0495703556,"cg_iq_a":0.0565279201,"cg_iq_raw_a":-0.622783303,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9254551,"cg_sample_seq":14541366,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.089909859,"cg_vd_v":0.089909859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377548665,"cg_vq_v":-0.377548665,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.030518,"values":{"Elec_RPM":-2.57459866e-39,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-5.14919732e-40,"cg_du":50.1497765,"cg_dv":50.2070122,"cg_dw":49.7929878,"cg_id_a":-0.000234395266,"cg_id_raw_a":-0.0389426537,"cg_iq_a":-0.454465657,"cg_iq_raw_a":-0.695172071,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9509087,"cg_sample_seq":14541416,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.084635742,"cg_vd_v":0.084635742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365237951,"cg_vq_v":-0.365237951,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.72856164,"dclink_p_w":-105.440834,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.956604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.03833,"values":{"Elec_RPM":-2.57459866e-39,"EncoderCos":38712,"EncoderSin":12496,"GapTicks":54765,"Mech_RPM":-5.14919732e-40,"cg_du":50.1465454,"cg_dv":50.2128525,"cg_dw":49.7871475,"cg_id_a":-0.233373255,"cg_id_raw_a":-0.351460755,"cg_iq_a":-0.2227837,"cg_iq_raw_a":0.549098015,"cg_iu_a":0.509947062,"cg_iv_a":0.141641617,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9218178,"cg_sample_seq":14541466,"cg_sample_valid":1,"cg_theta_rad":5.00618744,"cg_vd_req_v":0.0920080096,"cg_vd_v":0.0920080096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371551812,"cg_vq_v":-0.371551812,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.72856164,"dclink_p_w":-105.440834,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.956604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.065674,"values":{"Elec_RPM":-2.52310795e-39,"EncoderCos":38750,"EncoderSin":12443,"GapTicks":54767,"Mech_RPM":-5.0462159e-40,"cg_du":50.1445427,"cg_dv":50.2114372,"cg_dw":49.7885628,"cg_id_a":-0.133877516,"cg_id_raw_a":0.259976864,"cg_iq_a":-0.394205451,"cg_iq_raw_a":-0.120674334,"cg_iu_a":0.219996452,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14541520,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0900898054,"cg_vd_v":0.0900898054,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36783725,"cg_vq_v":-0.36783725,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.541906118,"dclink_p_w":-78.188797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9550476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12075074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.077393,"values":{"Elec_RPM":-2.52310795e-39,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-5.0462159e-40,"cg_du":50.1569366,"cg_dv":50.2130661,"cg_dw":49.7869339,"cg_id_a":0.0998956114,"cg_id_raw_a":0.737865984,"cg_iq_a":0.0739566162,"cg_iq_raw_a":-0.471617788,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0395774841,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9145451,"cg_sample_seq":14541567,"cg_sample_valid":1,"cg_theta_rad":5.00597334,"cg_vd_req_v":0.0849683434,"cg_vd_v":0.0849683434,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377474606,"cg_vq_v":-0.377474606,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.509286523,"dclink_p_w":-73.4822845,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9550476,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.12075074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.085205,"values":{"Elec_RPM":-2.47264719e-39,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-4.94529438e-40,"cg_du":50.1574211,"cg_dv":50.2152138,"cg_dw":49.7847862,"cg_id_a":0.079729788,"cg_id_raw_a":0.40631783,"cg_iq_a":0.181227252,"cg_iq_raw_a":0.549554288,"cg_iu_a":-0.39614892,"cg_iv_a":-0.293284357,"cg_iw_a":0.689433277,"cg_sample_age_us":23.954546,"cg_sample_seq":14541617,"cg_sample_valid":1,"cg_theta_rad":5.00629854,"cg_vd_req_v":0.0850857198,"cg_vd_v":0.0850857198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381021976,"cg_vq_v":-0.381021976,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.509286523,"dclink_p_w":-73.4822845,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.093018,"values":{"Elec_RPM":-2.42319537e-39,"EncoderCos":38700,"EncoderSin":12450,"GapTicks":54766,"Mech_RPM":-4.84639074e-40,"cg_du":50.1495018,"cg_dv":50.2122459,"cg_dw":49.7877541,"cg_id_a":-0.297234476,"cg_id_raw_a":-0.216957316,"cg_iq_a":-0.257407129,"cg_iq_raw_a":0.233363166,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9218178,"cg_sample_seq":14541717,"cg_sample_valid":1,"cg_theta_rad":5.00578833,"cg_vd_req_v":0.0912888795,"cg_vd_v":0.0912888795,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371858001,"cg_vq_v":-0.371858001,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.9338417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00266880286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.10083,"values":{"Elec_RPM":-2.42319537e-39,"EncoderCos":38725,"EncoderSin":12467,"GapTicks":54767,"Mech_RPM":-4.84639074e-40,"cg_du":50.1532021,"cg_dv":50.211483,"cg_dw":49.788517,"cg_id_a":0.00735199079,"cg_id_raw_a":-0.045104757,"cg_iq_a":-0.198423982,"cg_iq_raw_a":-0.00356382388,"cg_iu_a":0.328727961,"cg_iv_a":0.467836082,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.8563633,"cg_sample_seq":14541767,"cg_sample_valid":1,"cg_theta_rad":5.00826454,"cg_vd_req_v":0.085095413,"cg_vd_v":0.085095413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373511344,"cg_vq_v":-0.373511344,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9612732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.108643,"values":{"Elec_RPM":-2.37473146e-39,"EncoderCos":38716,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-4.74946292e-40,"cg_du":50.1559753,"cg_dv":50.2068024,"cg_dw":49.7931976,"cg_id_a":0.231215745,"cg_id_raw_a":0.208676979,"cg_iq_a":-0.359053731,"cg_iq_raw_a":-0.233706906,"cg_iu_a":0.111264944,"cg_iv_a":1.01149368,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9872723,"cg_sample_seq":14541816,"cg_sample_valid":1,"cg_theta_rad":5.00602293,"cg_vd_req_v":0.0787193477,"cg_vd_v":0.0787193477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368629515,"cg_vq_v":-0.368629515,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.116455,"values":{"Elec_RPM":-2.37473146e-39,"EncoderCos":38713,"EncoderSin":12468,"GapTicks":54765,"Mech_RPM":-4.74946292e-40,"cg_du":50.1555557,"cg_dv":50.2130928,"cg_dw":49.7869072,"cg_id_a":-0.0653987452,"cg_id_raw_a":0.00372852175,"cg_iq_a":0.0392092466,"cg_iq_raw_a":-0.0716702268,"cg_iu_a":-0.287417412,"cg_iv_a":0.39534843,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.8563633,"cg_sample_seq":14541866,"cg_sample_valid":1,"cg_theta_rad":5.00631237,"cg_vd_req_v":0.0858117342,"cg_vd_v":0.0858117342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376795709,"cg_vq_v":-0.376795709,"cg_vu_v":37.3908691,"cg_vv_v":39.1504402,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.124268,"values":{"Elec_RPM":-2.32723445e-39,"EncoderCos":38736,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-4.6544689e-40,"cg_du":50.1486855,"cg_dv":50.2093315,"cg_dw":49.7906685,"cg_id_a":0.0570616163,"cg_id_raw_a":0.199906975,"cg_iq_a":-0.394206941,"cg_iq_raw_a":-0.599300683,"cg_iu_a":0.401215553,"cg_iv_a":0.649055243,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9618187,"cg_sample_seq":14541916,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.0854287967,"cg_vd_v":0.0854287967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368314773,"cg_vq_v":-0.368314773,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9285278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.135986,"values":{"Elec_RPM":-2.32723445e-39,"EncoderCos":38740,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-4.6544689e-40,"cg_du":50.1486778,"cg_dv":50.2118416,"cg_dw":49.7881584,"cg_id_a":-0.0605621636,"cg_id_raw_a":0.101591006,"cg_iq_a":-0.105494663,"cg_iq_raw_a":0.228565991,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9181824,"cg_sample_seq":14541967,"cg_sample_valid":1,"cg_theta_rad":5.00578022,"cg_vd_req_v":0.087584205,"cg_vd_v":0.087584205,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372994304,"cg_vq_v":-0.372994304,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-73.1411591,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9285278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.16333,"values":{"Elec_RPM":-2.28069032e-39,"EncoderCos":38736,"EncoderSin":12443,"GapTicks":54763,"Mech_RPM":-4.56138064e-40,"cg_du":50.1507645,"cg_dv":50.2147369,"cg_dw":49.7852631,"cg_id_a":-0.119892739,"cg_id_raw_a":0.239476755,"cg_iq_a":0.316427171,"cg_iq_raw_a":-0.340314418,"cg_iu_a":1.95970058,"cg_iv_a":0.0329099894,"cg_iw_a":-1.99261057,"cg_sample_age_us":24.8418179,"cg_sample_seq":14542021,"cg_sample_valid":1,"cg_theta_rad":5.00701571,"cg_vd_req_v":0.0901208445,"cg_vd_v":0.0901208445,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377790123,"cg_vq_v":-0.377790123,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.3606911,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9347839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.171143,"values":{"Elec_RPM":-2.23507806e-39,"EncoderCos":38718,"EncoderSin":12438,"GapTicks":54771,"Mech_RPM":-4.47015611e-40,"cg_du":50.149334,"cg_dv":50.2079964,"cg_dw":49.7920036,"cg_id_a":0.00795233995,"cg_id_raw_a":-0.445184231,"cg_iq_a":0.000620081555,"cg_iq_raw_a":-0.62673521,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14542117,"cg_sample_valid":1,"cg_theta_rad":5.00776577,"cg_vd_req_v":0.0860589519,"cg_vd_v":0.0860589519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366294414,"cg_vq_v":-0.366294414,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.956604,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.178955,"values":{"Elec_RPM":-2.23507806e-39,"EncoderCos":38701,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-4.47015611e-40,"cg_du":50.1494026,"cg_dv":50.2138176,"cg_dw":49.7861824,"cg_id_a":-0.351931006,"cg_id_raw_a":0.180185407,"cg_iq_a":0.657313585,"cg_iq_raw_a":0.0557554625,"cg_iu_a":0.437459469,"cg_iv_a":-1.27186799,"cg_iw_a":0.834408522,"cg_sample_age_us":23.954546,"cg_sample_seq":14542167,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0925438032,"cg_vd_v":0.0925438032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374022186,"cg_vq_v":-0.374022186,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.143102407,"dclink_p_w":20.7104473,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.190674,"values":{"Elec_RPM":-2.19037664e-39,"EncoderCos":38669,"EncoderSin":12445,"GapTicks":54776,"Mech_RPM":-4.38075327e-40,"cg_du":50.1567917,"cg_dv":50.203186,"cg_dw":49.796814,"cg_id_a":0.20001249,"cg_id_raw_a":0.294953138,"cg_iq_a":0.248546958,"cg_iq_raw_a":-0.221660182,"cg_iu_a":-0.0337104797,"cg_iv_a":0.39534843,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9872723,"cg_sample_seq":14542216,"cg_sample_valid":1,"cg_theta_rad":5.00756645,"cg_vd_req_v":0.0793933719,"cg_vd_v":0.0793933719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363146275,"cg_vq_v":-0.363146275,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.198486,"values":{"Elec_RPM":-2.19037664e-39,"EncoderCos":38685,"EncoderSin":12449,"GapTicks":54780,"Mech_RPM":-4.38075327e-40,"cg_du":50.1457558,"cg_dv":50.1999512,"cg_dw":49.8000488,"cg_id_a":0.188089162,"cg_id_raw_a":0.16924797,"cg_iq_a":-0.280506313,"cg_iq_raw_a":-0.236202553,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9436359,"cg_sample_seq":14542267,"cg_sample_valid":1,"cg_theta_rad":5.00624657,"cg_vd_req_v":0.0836426243,"cg_vd_v":0.0836426243,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353886038,"cg_vq_v":-0.353886038,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.206299,"values":{"Elec_RPM":-2.14657205e-39,"EncoderCos":38725,"EncoderSin":12490,"GapTicks":54767,"Mech_RPM":-4.29314409e-40,"cg_du":50.1546249,"cg_dv":50.211235,"cg_dw":49.788765,"cg_id_a":0.158721611,"cg_id_raw_a":0.257404983,"cg_iq_a":0.690806866,"cg_iq_raw_a":0.938269615,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9436359,"cg_sample_seq":14542316,"cg_sample_valid":1,"cg_theta_rad":5.00598526,"cg_vd_req_v":0.0831426829,"cg_vd_v":0.0831426829,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374103338,"cg_vq_v":-0.374103338,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.214111,"values":{"Elec_RPM":-2.14657205e-39,"EncoderCos":38721,"EncoderSin":12433,"GapTicks":54777,"Mech_RPM":-4.29314409e-40,"cg_du":50.1407166,"cg_dv":50.20224,"cg_dw":49.79776,"cg_id_a":-0.123273864,"cg_id_raw_a":-0.136686608,"cg_iq_a":-0.220582664,"cg_iq_raw_a":-0.559254646,"cg_iu_a":0.183752775,"cg_iv_a":-0.329528213,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9509087,"cg_sample_seq":14542367,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0870660841,"cg_vd_v":0.0870660841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353659242,"cg_vq_v":-0.353659242,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.92524242,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.221924,"values":{"Elec_RPM":-2.10364327e-39,"EncoderCos":38739,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-4.20728654e-40,"cg_du":50.1480904,"cg_dv":50.1988335,"cg_dw":49.8011665,"cg_id_a":0.476824909,"cg_id_raw_a":1.04849052,"cg_iq_a":-0.108191021,"cg_iq_raw_a":1.33656991,"cg_iu_a":-0.0337104797,"cg_iv_a":0.431592286,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.8963642,"cg_sample_seq":14542417,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0756762251,"cg_vd_v":0.0756762251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353693306,"cg_vq_v":-0.353693306,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.561718702,"dclink_p_w":81.294548,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.229736,"values":{"Elec_RPM":-2.10364327e-39,"EncoderCos":38705,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-4.20728654e-40,"cg_du":50.1694679,"cg_dv":50.2068138,"cg_dw":49.7931862,"cg_id_a":0.742787659,"cg_id_raw_a":0.00874639023,"cg_iq_a":0.872941732,"cg_iq_raw_a":0.293153912,"cg_iu_a":-0.504880428,"cg_iv_a":-0.0758213997,"cg_iw_a":0.580701828,"cg_sample_age_us":23.9581814,"cg_sample_seq":14542467,"cg_sample_valid":1,"cg_theta_rad":5.00749493,"cg_vd_req_v":0.0697301999,"cg_vd_v":0.0697301999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375925213,"cg_vq_v":-0.375925213,"cg_vu_v":114.37207,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.516413927,"dclink_p_w":74.7378311,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.260986,"values":{"Elec_RPM":-2.06156928e-39,"EncoderCos":38751,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-4.12313856e-40,"cg_du":50.1405182,"cg_dv":50.2085457,"cg_dw":49.7914543,"cg_id_a":-0.231801957,"cg_id_raw_a":-0.364565015,"cg_iq_a":0.133026272,"cg_iq_raw_a":0.256911159,"cg_iu_a":-1.59219527,"cg_iv_a":0.39534843,"cg_iw_a":1.19684684,"cg_sample_age_us":23.8563633,"cg_sample_seq":14542522,"cg_sample_valid":1,"cg_theta_rad":5.00731611,"cg_vd_req_v":0.0896567181,"cg_vd_v":0.0896567181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363043666,"cg_vq_v":-0.363043666,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.452987194,"dclink_p_w":65.5584183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.268799,"values":{"Elec_RPM":-2.06156928e-39,"EncoderCos":38690,"EncoderSin":12494,"GapTicks":54779,"Mech_RPM":-4.12313856e-40,"cg_du":50.1539421,"cg_dv":50.2000542,"cg_dw":49.7999458,"cg_id_a":0.352573812,"cg_id_raw_a":0.305063784,"cg_iq_a":-0.0463819504,"cg_iq_raw_a":0.068662107,"cg_iu_a":0.219996452,"cg_iv_a":0.431592286,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9290905,"cg_sample_seq":14542566,"cg_sample_valid":1,"cg_theta_rad":5.00602055,"cg_vd_req_v":0.0756013021,"cg_vd_v":0.0756013021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357927591,"cg_vq_v":-0.357927591,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.465672493,"dclink_p_w":67.5991364,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.276611,"values":{"Elec_RPM":-2.02033607e-39,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-4.04067215e-40,"cg_du":50.1383591,"cg_dv":50.2015038,"cg_dw":49.7984962,"cg_id_a":0.0604519546,"cg_id_raw_a":-0.0803847015,"cg_iq_a":-0.275236785,"cg_iq_raw_a":-0.516546905,"cg_iu_a":-0.0699541569,"cg_iv_a":0.214129329,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8490906,"cg_sample_seq":14542616,"cg_sample_valid":1,"cg_theta_rad":5.00758028,"cg_vd_req_v":0.0840414912,"cg_vd_v":0.08094576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352354646,"cg_vq_v":-0.352354646,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.284424,"values":{"Elec_RPM":-2.02033607e-39,"EncoderCos":38717,"EncoderSin":12489,"GapTicks":54767,"Mech_RPM":-4.04067215e-40,"cg_du":50.1544571,"cg_dv":50.2111893,"cg_dw":49.7888107,"cg_id_a":-0.163108096,"cg_id_raw_a":-0.698751807,"cg_iq_a":0.950294793,"cg_iq_raw_a":1.09818828,"cg_iu_a":-0.722343206,"cg_iv_a":-0.510747433,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9145451,"cg_sample_seq":14542666,"cg_sample_valid":1,"cg_theta_rad":5.00718069,"cg_vd_req_v":0.0841934532,"cg_vd_v":0.0841934532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374928892,"cg_vq_v":-0.374928892,"cg_vu_v":24.1940918,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.416743398,"dclink_p_w":60.3130455,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.292236,"values":{"Elec_RPM":-1.97992963e-39,"EncoderCos":38775,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-3.95985927e-40,"cg_du":50.1476784,"cg_dv":50.2047462,"cg_dw":49.7952538,"cg_id_a":0.111932918,"cg_id_raw_a":-0.152860537,"cg_iq_a":0.276357293,"cg_iq_raw_a":0.278917938,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0758213997,"cg_iw_a":0.544457912,"cg_sample_age_us":23.954546,"cg_sample_seq":14542717,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.0783299357,"cg_vd_v":0.0783299357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362270117,"cg_vq_v":-0.362270117,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.416743398,"dclink_p_w":60.3130455,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.303955,"values":{"Elec_RPM":-1.97992963e-39,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-3.95985927e-40,"cg_du":50.1519814,"cg_dv":50.2011871,"cg_dw":49.7988129,"cg_id_a":0.469527751,"cg_id_raw_a":0.706758022,"cg_iq_a":0.00977293681,"cg_iq_raw_a":0.502732575,"cg_iu_a":0.183752537,"cg_iv_a":-0.25704062,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14542767,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0744025707,"cg_vd_v":0.0744025707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3591699,"cg_vq_v":-0.3591699,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.416743398,"dclink_p_w":60.3130455,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9519348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.311768,"values":{"Elec_RPM":-1.94032894e-39,"EncoderCos":38736,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-3.88065788e-40,"cg_du":50.1379776,"cg_dv":50.2093658,"cg_dw":49.7906342,"cg_id_a":-0.465752184,"cg_id_raw_a":-0.751445472,"cg_iq_a":0.16587919,"cg_iq_raw_a":0.803923845,"cg_iu_a":0.473703146,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9618187,"cg_sample_seq":14542817,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0939362943,"cg_vd_v":0.0939362943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362372339,"cg_vq_v":-0.362372339,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.31958,"values":{"Elec_RPM":-1.94032894e-39,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-3.88065788e-40,"cg_du":50.1437569,"cg_dv":50.2035828,"cg_dw":49.7964172,"cg_id_a":0.0573905483,"cg_id_raw_a":0.323046416,"cg_iq_a":-0.0851439685,"cg_iq_raw_a":-0.332073271,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9509087,"cg_sample_seq":14542867,"cg_sample_valid":1,"cg_theta_rad":5.0059514,"cg_vd_req_v":0.0848072842,"cg_vd_v":0.0848072842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357482672,"cg_vq_v":-0.357482672,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.327393,"values":{"Elec_RPM":-1.90151998e-39,"EncoderCos":38716,"EncoderSin":12494,"GapTicks":54771,"Mech_RPM":-3.80303995e-40,"cg_du":50.1363716,"cg_dv":50.2073135,"cg_dw":49.7926865,"cg_id_a":-0.416250765,"cg_id_raw_a":0.0732070655,"cg_iq_a":0.0783254206,"cg_iq_raw_a":-0.356233418,"cg_iu_a":-0.50488019,"cg_iv_a":-0.329528213,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9618187,"cg_sample_seq":14542917,"cg_sample_valid":1,"cg_theta_rad":5.00697708,"cg_vd_req_v":0.0943288654,"cg_vd_v":0.0943288654,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358388394,"cg_vq_v":-0.358388394,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.339111,"values":{"Elec_RPM":-1.90151998e-39,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-3.80303995e-40,"cg_du":50.1406326,"cg_dv":50.2042351,"cg_dw":49.7957649,"cg_id_a":-0.149096042,"cg_id_raw_a":-0.0279379096,"cg_iq_a":-0.0145216174,"cg_iq_raw_a":0.0343926847,"cg_iu_a":0.0750212669,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9436359,"cg_sample_seq":14542967,"cg_sample_valid":1,"cg_theta_rad":5.00595474,"cg_vd_req_v":0.0896596536,"cg_vd_v":0.0896596536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356175244,"cg_vq_v":-0.356175244,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.366455,"values":{"Elec_RPM":-1.86348874e-39,"EncoderCos":38727,"EncoderSin":12451,"GapTicks":54777,"Mech_RPM":-3.72697747e-40,"cg_du":50.1395569,"cg_dv":50.2022591,"cg_dw":49.7977409,"cg_id_a":-0.0396774486,"cg_id_raw_a":-0.0451024175,"cg_iq_a":-0.0577546731,"cg_iq_raw_a":-0.0035928709,"cg_iu_a":0.183752537,"cg_iv_a":0.649055243,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.863636,"cg_sample_seq":14543020,"cg_sample_valid":1,"cg_theta_rad":5.00656223,"cg_vd_req_v":0.0868129581,"cg_vd_v":0.0868129581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352188468,"cg_vq_v":-0.352188468,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.374268,"values":{"Elec_RPM":-1.86348874e-39,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.72697747e-40,"cg_du":50.1398125,"cg_dv":50.1971207,"cg_dw":49.8028793,"cg_id_a":0.14795357,"cg_id_raw_a":0.274118125,"cg_iq_a":-0.430605471,"cg_iq_raw_a":-0.264255583,"cg_iu_a":-0.432392597,"cg_iv_a":0.105397761,"cg_iw_a":0.326994836,"cg_sample_age_us":23.9509087,"cg_sample_seq":14543067,"cg_sample_valid":1,"cg_theta_rad":5.00733757,"cg_vd_req_v":0.0809971243,"cg_vd_v":0.0809971243,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345514178,"cg_vq_v":-0.345514178,"cg_vu_v":137.686371,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.38208,"values":{"Elec_RPM":-1.8262212e-39,"EncoderCos":38727,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.65244241e-40,"cg_du":50.1451988,"cg_dv":50.1999779,"cg_dw":49.8000221,"cg_id_a":0.250741243,"cg_id_raw_a":0.278072804,"cg_iq_a":-0.0108543634,"cg_iq_raw_a":-0.518463075,"cg_iu_a":-0.359904766,"cg_iv_a":-0.764454246,"cg_iw_a":1.12435901,"cg_sample_age_us":23.954546,"cg_sample_seq":14543117,"cg_sample_valid":1,"cg_theta_rad":5.00695515,"cg_vd_req_v":0.0799689665,"cg_vd_v":0.0799689665,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352301776,"cg_vq_v":-0.352301776,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.2979221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.389893,"values":{"Elec_RPM":-1.8262212e-39,"EncoderCos":38722,"EncoderSin":12490,"GapTicks":54778,"Mech_RPM":-3.65244241e-40,"cg_du":50.1314392,"cg_dv":50.201725,"cg_dw":49.798275,"cg_id_a":-0.211494058,"cg_id_raw_a":-0.0832419619,"cg_iq_a":-0.175208434,"cg_iq_raw_a":0.174870014,"cg_iu_a":0.256240129,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.8563633,"cg_sample_seq":14543167,"cg_sample_valid":1,"cg_theta_rad":5.00627279,"cg_vd_req_v":0.0923920348,"cg_vd_v":0.0923920348,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348121911,"cg_vq_v":-0.348121911,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.397705,"values":{"Elec_RPM":-1.78969636e-39,"EncoderCos":38738,"EncoderSin":12450,"GapTicks":54782,"Mech_RPM":-3.57939272e-40,"cg_du":50.1333694,"cg_dv":50.1979446,"cg_dw":49.8020554,"cg_id_a":0.0771634132,"cg_id_raw_a":-0.0208505392,"cg_iq_a":-0.30978623,"cg_iq_raw_a":-0.0375848562,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14543217,"cg_sample_valid":1,"cg_theta_rad":5.00481272,"cg_vd_req_v":0.0869040415,"cg_vd_v":0.0869040415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344134122,"cg_vq_v":-0.344134122,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.405518,"values":{"Elec_RPM":-1.78969636e-39,"EncoderCos":38711,"EncoderSin":12429,"GapTicks":54778,"Mech_RPM":-3.57939272e-40,"cg_du":50.1392746,"cg_dv":50.2015839,"cg_dw":49.7984161,"cg_id_a":0.00612267107,"cg_id_raw_a":-0.28795743,"cg_iq_a":0.110121399,"cg_iq_raw_a":0.517752886,"cg_iu_a":0.219996452,"cg_iv_a":0.322860718,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9400005,"cg_sample_seq":14543267,"cg_sample_valid":1,"cg_theta_rad":5.00770283,"cg_vd_req_v":0.088451989,"cg_vd_v":0.088451989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351731926,"cg_vq_v":-0.351731926,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.417236,"values":{"Elec_RPM":-1.75390019e-39,"EncoderCos":38686,"EncoderSin":12456,"GapTicks":54783,"Mech_RPM":-3.50780038e-40,"cg_du":50.1293182,"cg_dv":50.1968346,"cg_dw":49.8031654,"cg_id_a":-0.120569371,"cg_id_raw_a":0.29714036,"cg_iq_a":-0.428541958,"cg_iq_raw_a":0.141813219,"cg_iu_a":0.763653994,"cg_iv_a":0.0691539645,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9472733,"cg_sample_seq":14543317,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0926092714,"cg_vd_v":0.0926092714,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33829245,"cg_vq_v":-0.33829245,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.425049,"values":{"Elec_RPM":-1.75390019e-39,"EncoderCos":38740,"EncoderSin":12483,"GapTicks":54780,"Mech_RPM":-3.50780038e-40,"cg_du":50.1275024,"cg_dv":50.1999893,"cg_dw":49.8000107,"cg_id_a":-0.153073043,"cg_id_raw_a":0.409106433,"cg_iq_a":-0.0231226236,"cg_iq_raw_a":-0.14343138,"cg_iu_a":0.14750886,"cg_iv_a":-0.655722618,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9909096,"cg_sample_seq":14543367,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0922796354,"cg_vd_v":0.0922796354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342847764,"cg_vq_v":-0.342847764,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2635.432861,"values":{"Elec_RPM":-1.71882569e-39,"EncoderCos":38712,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-3.43765138e-40,"cg_du":50.1293144,"cg_dv":50.20121,"cg_dw":49.79879,"cg_id_a":-0.245419115,"cg_id_raw_a":-0.610867381,"cg_iq_a":0.167737842,"cg_iq_raw_a":-0.0242107343,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552848,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8672733,"cg_sample_seq":14543416,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0951566845,"cg_vd_v":0.0951566845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345795512,"cg_vq_v":-0.345795512,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118585482,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.460205,"values":{"Elec_RPM":-1.68445184e-39,"EncoderCos":38736,"EncoderSin":12500,"GapTicks":54784,"Mech_RPM":-3.36890368e-40,"cg_du":50.1240997,"cg_dv":50.1962814,"cg_dw":49.8037186,"cg_id_a":-0.0334004685,"cg_id_raw_a":0.102237813,"cg_iq_a":-0.239402294,"cg_iq_raw_a":-0.462949097,"cg_iu_a":-0.0699541569,"cg_iv_a":0.540323734,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9763641,"cg_sample_seq":14543520,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0918489769,"cg_vd_v":0.0918489769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337984622,"cg_vq_v":-0.337984622,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":26.0347118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.471924,"values":{"Elec_RPM":-1.68445184e-39,"EncoderCos":38695,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-3.36890368e-40,"cg_du":50.1355858,"cg_dv":50.1993103,"cg_dw":49.8006897,"cg_id_a":0.0269199014,"cg_id_raw_a":-0.742842972,"cg_iq_a":0.156689018,"cg_iq_raw_a":0.834173799,"cg_iu_a":0.0750212669,"cg_iv_a":-0.148309112,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14543567,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0900264829,"cg_vd_v":0.0900264829,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347458631,"cg_vq_v":-0.347458631,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":26.0347118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.479736,"values":{"Elec_RPM":-1.65076462e-39,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-3.30152925e-40,"cg_du":50.1280594,"cg_dv":50.1986847,"cg_dw":49.8013153,"cg_id_a":-0.0431698635,"cg_id_raw_a":0.0859440044,"cg_iq_a":-0.176659465,"cg_iq_raw_a":0.373470694,"cg_iu_a":0.836141586,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9836369,"cg_sample_seq":14543617,"cg_sample_valid":1,"cg_theta_rad":5.00638294,"cg_vd_req_v":0.0929924473,"cg_vd_v":0.0929924473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341850072,"cg_vq_v":-0.341850072,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":26.0347118,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9316711,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.487549,"values":{"Elec_RPM":-1.65076462e-39,"EncoderCos":38736,"EncoderSin":12505,"GapTicks":54775,"Mech_RPM":-3.30152925e-40,"cg_du":50.129818,"cg_dv":50.2041969,"cg_dw":49.7958031,"cg_id_a":-0.12228857,"cg_id_raw_a":-0.135091364,"cg_iq_a":0.13457574,"cg_iq_raw_a":0.0612119213,"cg_iu_a":-0.251173496,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9763641,"cg_sample_seq":14543667,"cg_sample_valid":1,"cg_theta_rad":5.00554848,"cg_vd_req_v":0.0945827961,"cg_vd_v":0.0945827961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350980043,"cg_vq_v":-0.350980043,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.495361,"values":{"Elec_RPM":-1.61775003e-39,"EncoderCos":38715,"EncoderSin":12459,"GapTicks":54771,"Mech_RPM":-3.23550006e-40,"cg_du":50.1327896,"cg_dv":50.2077599,"cg_dw":49.7922401,"cg_id_a":-0.234245956,"cg_id_raw_a":-0.374055713,"cg_iq_a":0.459345341,"cg_iq_raw_a":0.764831841,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9799995,"cg_sample_seq":14543717,"cg_sample_valid":1,"cg_theta_rad":5.0059948,"cg_vd_req_v":0.0985133648,"cg_vd_v":0.0985133648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356725097,"cg_vq_v":-0.356725097,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.503174,"values":{"Elec_RPM":-1.61775003e-39,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-3.23550006e-40,"cg_du":50.1297874,"cg_dv":50.1994743,"cg_dw":49.8005257,"cg_id_a":0.0480168387,"cg_id_raw_a":-0.482794374,"cg_iq_a":-0.257941455,"cg_iq_raw_a":-0.263591319,"cg_iu_a":0.328727961,"cg_iv_a":-0.148309112,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9472733,"cg_sample_seq":14543767,"cg_sample_valid":1,"cg_theta_rad":5.00690937,"cg_vd_req_v":0.0912517756,"cg_vd_v":0.0912517756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344201893,"cg_vq_v":-0.344201893,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9706421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.514893,"values":{"Elec_RPM":-1.58539405e-39,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-3.1707881e-40,"cg_du":50.1246834,"cg_dv":50.1975288,"cg_dw":49.8024712,"cg_id_a":-0.214505181,"cg_id_raw_a":0.223701522,"cg_iq_a":-0.466633528,"cg_iq_raw_a":-0.377453059,"cg_iu_a":0.872385383,"cg_iv_a":0.0691539645,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9836369,"cg_sample_seq":14543817,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0953649208,"cg_vd_v":0.0953649208,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339254141,"cg_vq_v":-0.339254141,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.522705,"values":{"Elec_RPM":-1.58539405e-39,"EncoderCos":38713,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-3.1707881e-40,"cg_du":50.1327362,"cg_dv":50.2044983,"cg_dw":49.7955017,"cg_id_a":-0.180457175,"cg_id_raw_a":-0.180206671,"cg_iq_a":0.0921843499,"cg_iq_raw_a":-0.126212865,"cg_iu_a":0.437459469,"cg_iv_a":-0.25704062,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14543867,"cg_sample_valid":1,"cg_theta_rad":5.0071125,"cg_vd_req_v":0.0952689424,"cg_vd_v":0.0952689424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353449494,"cg_vq_v":-0.353449494,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.530518,"values":{"Elec_RPM":-1.55368967e-39,"EncoderCos":38709,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-3.10737934e-40,"cg_du":50.1356697,"cg_dv":50.199894,"cg_dw":49.800106,"cg_id_a":0.0330175087,"cg_id_raw_a":0.331247836,"cg_iq_a":-0.205361605,"cg_iq_raw_a":-1.02214384,"cg_iu_a":0.038777113,"cg_iv_a":-0.546991229,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9872723,"cg_sample_seq":14543917,"cg_sample_valid":1,"cg_theta_rad":5.00719023,"cg_vd_req_v":0.0893333405,"cg_vd_v":0.0893333405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348606765,"cg_vq_v":-0.348606765,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.53833,"values":{"Elec_RPM":-1.55368967e-39,"EncoderCos":38731,"EncoderSin":12429,"GapTicks":54771,"Mech_RPM":-3.10737934e-40,"cg_du":50.1418953,"cg_dv":50.2077484,"cg_dw":49.7922516,"cg_id_a":-0.0708761066,"cg_id_raw_a":0.669230998,"cg_iq_a":0.447545767,"cg_iq_raw_a":0.43063128,"cg_iu_a":0.546190977,"cg_iv_a":-0.112065315,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9836369,"cg_sample_seq":14543966,"cg_sample_valid":1,"cg_theta_rad":5.00625181,"cg_vd_req_v":0.0907982141,"cg_vd_v":0.0907982141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361981511,"cg_vq_v":-0.361981511,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.546143,"values":{"Elec_RPM":-1.52261588e-39,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54778,"Mech_RPM":-3.04523176e-40,"cg_du":50.1405182,"cg_dv":50.2016144,"cg_dw":49.7983856,"cg_id_a":0.132959589,"cg_id_raw_a":0.482944816,"cg_iq_a":-0.159212068,"cg_iq_raw_a":-0.680717051,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552848,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9763641,"cg_sample_seq":14544017,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.0854539424,"cg_vd_v":0.0854539424,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352986395,"cg_vq_v":-0.352986395,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.317853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9332275,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.573486,"values":{"Elec_RPM":-1.52261588e-39,"EncoderCos":38740,"EncoderSin":12489,"GapTicks":54772,"Mech_RPM":-3.04523176e-40,"cg_du":50.1416283,"cg_dv":50.2071533,"cg_dw":49.7928467,"cg_id_a":0.105395466,"cg_id_raw_a":0.470615417,"cg_iq_a":0.174941912,"cg_iq_raw_a":-0.356324375,"cg_iu_a":0.473703265,"cg_iv_a":-0.293284297,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8600006,"cg_sample_seq":14544070,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0881985202,"cg_vd_v":0.0881985202,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361573964,"cg_vq_v":-0.361573964,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.585205,"values":{"Elec_RPM":-1.49216566e-39,"EncoderCos":38727,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-2.98433133e-40,"cg_du":50.1448174,"cg_dv":50.2019005,"cg_dw":49.7980995,"cg_id_a":0.336446315,"cg_id_raw_a":0.399252892,"cg_iq_a":-0.101540864,"cg_iq_raw_a":-0.252061963,"cg_iu_a":0.473703384,"cg_iv_a":0.721542954,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.954546,"cg_sample_seq":14544116,"cg_sample_valid":1,"cg_theta_rad":5.00564003,"cg_vd_req_v":0.0821617842,"cg_vd_v":0.0821617842,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355825514,"cg_vq_v":-0.355825514,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9472351,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.593018,"values":{"Elec_RPM":-1.49216566e-39,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-2.98433133e-40,"cg_du":50.1446228,"cg_dv":50.1999474,"cg_dw":49.8000526,"cg_id_a":0.332252353,"cg_id_raw_a":0.218890265,"cg_iq_a":-0.0937141627,"cg_iq_raw_a":-0.123509102,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14544166,"cg_sample_valid":1,"cg_theta_rad":5.00709295,"cg_vd_req_v":0.0811199546,"cg_vd_v":0.0811199546,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354032159,"cg_vq_v":-0.354032159,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.5050926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.925415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.60083,"values":{"Elec_RPM":-1.46232501e-39,"EncoderCos":38704,"EncoderSin":12469,"GapTicks":54780,"Mech_RPM":-2.92465002e-40,"cg_du":50.1374893,"cg_dv":50.1999702,"cg_dw":49.8000298,"cg_id_a":-0.0174299255,"cg_id_raw_a":-0.184865683,"cg_iq_a":-0.0738179386,"cg_iq_raw_a":-0.49155429,"cg_iu_a":-0.359904766,"cg_iv_a":-0.112065256,"cg_iw_a":0.471970022,"cg_sample_age_us":24.0090904,"cg_sample_seq":14544217,"cg_sample_valid":1,"cg_theta_rad":5.00771379,"cg_vd_req_v":0.0881363451,"cg_vd_v":0.0881363451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349698991,"cg_vq_v":-0.349698991,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.5050926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.608643,"values":{"Elec_RPM":-1.46232501e-39,"EncoderCos":38743,"EncoderSin":12474,"GapTicks":54783,"Mech_RPM":-2.92465002e-40,"cg_du":50.1360092,"cg_dv":50.1972084,"cg_dw":49.8036156,"cg_id_a":0.252434462,"cg_id_raw_a":0.0848245695,"cg_iq_a":-0.266765863,"cg_iq_raw_a":-0.500940442,"cg_iu_a":-0.178685665,"cg_iv_a":0.612811446,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8563633,"cg_sample_seq":14544266,"cg_sample_valid":1,"cg_theta_rad":5.00815582,"cg_vd_req_v":0.0831542313,"cg_vd_v":0.0831542313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344842762,"cg_vq_v":-0.344842762,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.5050926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.620361,"values":{"Elec_RPM":-1.43307991e-39,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54790,"Mech_RPM":-2.86615983e-40,"cg_du":50.1308479,"cg_dv":50.1908951,"cg_dw":49.8091049,"cg_id_a":0.245417148,"cg_id_raw_a":0.590295613,"cg_iq_a":-0.721042395,"cg_iq_raw_a":-2.45475459,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9509087,"cg_sample_seq":14544316,"cg_sample_valid":1,"cg_theta_rad":5.00672245,"cg_vd_req_v":0.0824646875,"cg_vd_v":0.0824646875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333024383,"cg_vq_v":-0.333024383,"cg_vu_v":118.3311,"cg_vv_v":135.926804,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9176331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.628174,"values":{"Elec_RPM":-1.43307991e-39,"EncoderCos":38719,"EncoderSin":12497,"GapTicks":54782,"Mech_RPM":-2.86615983e-40,"cg_du":50.13237,"cg_dv":50.1981087,"cg_dw":49.8018913,"cg_id_a":-0.0575175993,"cg_id_raw_a":0.322885484,"cg_iq_a":-0.141827404,"cg_iq_raw_a":0.104663767,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9290905,"cg_sample_seq":14544366,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.0882235989,"cg_vd_v":0.0882235989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343706161,"cg_vq_v":-0.343706161,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9176331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.635986,"values":{"Elec_RPM":-1.40441635e-39,"EncoderCos":38711,"EncoderSin":12472,"GapTicks":54788,"Mech_RPM":-2.80883271e-40,"cg_du":50.1395874,"cg_dv":50.1918449,"cg_dw":49.8081551,"cg_id_a":0.482216209,"cg_id_raw_a":0.790634811,"cg_iq_a":-0.22330007,"cg_iq_raw_a":0.261750281,"cg_iu_a":-0.214929581,"cg_iv_a":0.649055243,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8527279,"cg_sample_seq":14544416,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.077675052,"cg_vd_v":0.077675052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338948905,"cg_vq_v":-0.338948905,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9347839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.643799,"values":{"Elec_RPM":-1.40441635e-39,"EncoderCos":38738,"EncoderSin":12451,"GapTicks":54790,"Mech_RPM":-2.80883271e-40,"cg_du":50.1372452,"cg_dv":50.1908493,"cg_dw":49.8091507,"cg_id_a":0.155567825,"cg_id_raw_a":0.323550731,"cg_iq_a":-0.021082446,"cg_iq_raw_a":0.541227043,"cg_iu_a":0.111264944,"cg_iv_a":0.540323734,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.8527279,"cg_sample_seq":14544467,"cg_sample_valid":1,"cg_theta_rad":5.00761175,"cg_vd_req_v":0.0777557641,"cg_vd_v":0.0777557641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336464524,"cg_vq_v":-0.336464524,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.41105056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9082642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.651611,"values":{"Elec_RPM":-1.37632733e-39,"EncoderCos":38739,"EncoderSin":12445,"GapTicks":54789,"Mech_RPM":-2.75265465e-40,"cg_du":50.1292381,"cg_dv":50.1916656,"cg_dw":49.8083344,"cg_id_a":0.0533812121,"cg_id_raw_a":0.366925389,"cg_iq_a":-0.267330855,"cg_iq_raw_a":-1.02009988,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.863636,"cg_sample_seq":14544516,"cg_sample_valid":1,"cg_theta_rad":5.00757408,"cg_vd_req_v":0.0841103643,"cg_vd_v":0.0841103643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333267272,"cg_vq_v":-0.333267272,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.41105056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9082642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.678955,"values":{"Elec_RPM":-1.37632733e-39,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54793,"Mech_RPM":-2.75265465e-40,"cg_du":50.134964,"cg_dv":50.1881561,"cg_dw":49.8118439,"cg_id_a":0.30042854,"cg_id_raw_a":-0.0284710191,"cg_iq_a":-0.252348989,"cg_iq_raw_a":-0.584920585,"cg_iu_a":0.401215792,"cg_iv_a":0.467836142,"cg_iw_a":-0.869051933,"cg_sample_age_us":26.8163643,"cg_sample_seq":14544570,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0781172141,"cg_vd_v":0.0781172141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331242979,"cg_vq_v":-0.331242979,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.41105056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9301147,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.690674,"values":{"Elec_RPM":-1.34879882e-39,"EncoderCos":38740,"EncoderSin":12452,"GapTicks":54782,"Mech_RPM":-2.69759763e-40,"cg_du":50.1347084,"cg_dv":50.1979828,"cg_dw":49.8020172,"cg_id_a":-0.131383106,"cg_id_raw_a":-0.171657592,"cg_iq_a":0.243195549,"cg_iq_raw_a":-0.889129162,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9290905,"cg_sample_seq":14544617,"cg_sample_valid":1,"cg_theta_rad":5.00754261,"cg_vd_req_v":0.0856844261,"cg_vd_v":0.0856844261,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344984263,"cg_vq_v":-0.344984263,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.3011169,"temp_inv2_c":35.9223022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.698486,"values":{"Elec_RPM":-1.32182382e-39,"EncoderCos":38732,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-2.64364764e-40,"cg_du":50.1303444,"cg_dv":50.1970062,"cg_dw":49.8029938,"cg_id_a":-0.105659962,"cg_id_raw_a":-0.216897652,"cg_iq_a":-0.0913231075,"cg_iq_raw_a":-0.638325572,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9436359,"cg_sample_seq":14544767,"cg_sample_valid":1,"cg_theta_rad":5.00649071,"cg_vd_req_v":0.0881423205,"cg_vd_v":0.0881423205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342329502,"cg_vq_v":-0.342329502,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.9772148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9347839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.706299,"values":{"Elec_RPM":-1.29538833e-39,"EncoderCos":38681,"EncoderSin":12451,"GapTicks":54783,"Mech_RPM":-2.59077665e-40,"cg_du":50.1384354,"cg_dv":50.1967278,"cg_dw":49.8032722,"cg_id_a":-0.0532531999,"cg_id_raw_a":-0.623807132,"cg_iq_a":-0.00652846694,"cg_iq_raw_a":-0.686328053,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503577,"cg_iw_a":0.689433157,"cg_sample_age_us":23.9218178,"cg_sample_seq":14544817,"cg_sample_valid":1,"cg_theta_rad":5.00767136,"cg_vd_req_v":0.0861818343,"cg_vd_v":0.0861818343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344228685,"cg_vq_v":-0.344228685,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9285278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.714111,"values":{"Elec_RPM":-1.29538833e-39,"EncoderCos":38713,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-2.59077665e-40,"cg_du":50.1289215,"cg_dv":50.2014885,"cg_dw":49.7985115,"cg_id_a":-0.407077253,"cg_id_raw_a":0.0381991975,"cg_iq_a":0.0339564383,"cg_iq_raw_a":0.00457125017,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.981917262,"cg_iw_a":1.01562774,"cg_sample_age_us":23.8563633,"cg_sample_seq":14544866,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0953544825,"cg_vd_v":0.0953544825,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347192585,"cg_vq_v":-0.347192585,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.721924,"values":{"Elec_RPM":-1.26947832e-39,"EncoderCos":38713,"EncoderSin":12452,"GapTicks":54782,"Mech_RPM":-2.53895664e-40,"cg_du":50.1368408,"cg_dv":50.1972847,"cg_dw":49.8027153,"cg_id_a":0.139476895,"cg_id_raw_a":0.802233815,"cg_iq_a":-0.012178652,"cg_iq_raw_a":-0.0641764551,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539645,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8563633,"cg_sample_seq":14544916,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0854479074,"cg_vd_v":0.0854479074,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344712585,"cg_vq_v":-0.344712585,"cg_vu_v":36.5110817,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9534912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.733643,"values":{"Elec_RPM":-1.26947832e-39,"EncoderCos":38691,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-2.53895664e-40,"cg_du":50.1473732,"cg_dv":50.2051544,"cg_dw":49.7948456,"cg_id_a":0.153737426,"cg_id_raw_a":-0.149136096,"cg_iq_a":0.817986488,"cg_iq_raw_a":0.386020452,"cg_iu_a":0.364971876,"cg_iv_a":-0.112065315,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9799995,"cg_sample_seq":14544966,"cg_sample_valid":1,"cg_theta_rad":5.00580549,"cg_vd_req_v":0.086442776,"cg_vd_v":0.086442776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360953361,"cg_vq_v":-0.360953361,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.741455,"values":{"Elec_RPM":-1.24408679e-39,"EncoderCos":38712,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-2.48817358e-40,"cg_du":50.1340561,"cg_dv":50.1996613,"cg_dw":49.8003387,"cg_id_a":0.0572074503,"cg_id_raw_a":0.0798453987,"cg_iq_a":-0.00479692221,"cg_iq_raw_a":0.00870239828,"cg_iu_a":-1.48346353,"cg_iv_a":0.431592345,"cg_iw_a":1.05187118,"cg_sample_age_us":23.8672733,"cg_sample_seq":14545016,"cg_sample_valid":1,"cg_theta_rad":5.00559521,"cg_vd_req_v":0.0893608257,"cg_vd_v":0.0893608257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346516132,"cg_vq_v":-0.346516132,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.8238831,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.768799,"values":{"Elec_RPM":-1.24408679e-39,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54782,"Mech_RPM":-2.48817358e-40,"cg_du":50.1206894,"cg_dv":50.197422,"cg_dw":49.802578,"cg_id_a":-0.252004892,"cg_id_raw_a":0.261324853,"cg_iq_a":-0.587756932,"cg_iq_raw_a":0.316377968,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.471969962,"cg_sample_age_us":25.4454536,"cg_sample_seq":14545070,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0960604176,"cg_vd_v":0.0960604176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337525904,"cg_vq_v":-0.337525904,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.11333394,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.776611,"values":{"Elec_RPM":-1.21920674e-39,"EncoderCos":38720,"EncoderSin":12460,"GapTicks":54771,"Mech_RPM":-2.43841347e-40,"cg_du":50.136879,"cg_dv":50.2075653,"cg_dw":49.7924347,"cg_id_a":-0.111634418,"cg_id_raw_a":-0.132434711,"cg_iq_a":0.199168235,"cg_iq_raw_a":0.242697582,"cg_iu_a":-0.14244175,"cg_iv_a":-0.293284357,"cg_iw_a":0.435726106,"cg_sample_age_us":23.9763641,"cg_sample_seq":14545117,"cg_sample_valid":1,"cg_theta_rad":5.0058341,"cg_vd_req_v":0.0949759111,"cg_vd_v":0.0949759111,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35997048,"cg_vq_v":-0.35997048,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-5.00707006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9160767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.78833,"values":{"Elec_RPM":-1.21920674e-39,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-2.43841347e-40,"cg_du":50.1318932,"cg_dv":50.2056961,"cg_dw":49.7943039,"cg_id_a":-0.163768813,"cg_id_raw_a":-0.353004396,"cg_iq_a":-0.243017092,"cg_iq_raw_a":-0.507357895,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796824,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8709087,"cg_sample_seq":14545166,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.097029902,"cg_vd_v":0.097029902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354623407,"cg_vq_v":-0.354623407,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9160767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.796143,"values":{"Elec_RPM":-1.19482414e-39,"EncoderCos":38726,"EncoderSin":12469,"GapTicks":54771,"Mech_RPM":-2.38964828e-40,"cg_du":50.1432228,"cg_dv":50.2080574,"cg_dw":49.7919426,"cg_id_a":0.1610699,"cg_id_raw_a":-0.482561082,"cg_iq_a":-0.0115447566,"cg_iq_raw_a":0.172725111,"cg_iu_a":0.364971876,"cg_iv_a":0.032910049,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9509087,"cg_sample_seq":14545217,"cg_sample_valid":1,"cg_theta_rad":5.00754833,"cg_vd_req_v":0.0894726291,"cg_vd_v":0.0894726291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363292426,"cg_vq_v":-0.363292426,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9223022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.803955,"values":{"Elec_RPM":-1.19482414e-39,"EncoderCos":38713,"EncoderSin":12465,"GapTicks":54764,"Mech_RPM":-2.38964828e-40,"cg_du":50.149395,"cg_dv":50.2138329,"cg_dw":49.7861671,"cg_id_a":0.0978688598,"cg_id_raw_a":0.282187343,"cg_iq_a":0.483897388,"cg_iq_raw_a":0.720995784,"cg_iu_a":-0.287417173,"cg_iv_a":-0.474503517,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9218178,"cg_sample_seq":14545267,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0914400518,"cg_vd_v":0.0914400518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374312997,"cg_vq_v":-0.374312997,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9285278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.811768,"values":{"Elec_RPM":-1.170925e-39,"EncoderCos":38718,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-2.34184999e-40,"cg_du":50.1467361,"cg_dv":50.2132759,"cg_dw":49.7867241,"cg_id_a":0.110675842,"cg_id_raw_a":-0.118266009,"cg_iq_a":0.120864742,"cg_iq_raw_a":0.098374255,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9836369,"cg_sample_seq":14545317,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.0926601738,"cg_vd_v":0.0926601738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372142911,"cg_vq_v":-0.372142911,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9285278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.81958,"values":{"Elec_RPM":-1.170925e-39,"EncoderCos":38706,"EncoderSin":12474,"GapTicks":54762,"Mech_RPM":-2.34184999e-40,"cg_du":50.1438904,"cg_dv":50.2158775,"cg_dw":49.7841225,"cg_id_a":-0.111145735,"cg_id_raw_a":-0.145559192,"cg_iq_a":0.135506541,"cg_iq_raw_a":-0.0502820276,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9581814,"cg_sample_seq":14545367,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0984104201,"cg_vd_v":0.0984104201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375031948,"cg_vq_v":-0.375031948,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9207458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.827393,"values":{"Elec_RPM":-1.1475093e-39,"EncoderCos":38741,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-2.2950186e-40,"cg_du":50.1418762,"cg_dv":50.2154579,"cg_dw":49.7845421,"cg_id_a":-0.120317779,"cg_id_raw_a":-0.309685886,"cg_iq_a":0.071038425,"cg_iq_raw_a":0.809250057,"cg_iu_a":-0.14244175,"cg_iv_a":-0.583235025,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9436359,"cg_sample_seq":14545417,"cg_sample_valid":1,"cg_theta_rad":5.0070405,"cg_vd_req_v":0.0966555998,"cg_vd_v":0.0966555998,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374087781,"cg_vq_v":-0.374087781,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.835205,"values":{"Elec_RPM":-1.1475093e-39,"EncoderCos":38725,"EncoderSin":12466,"GapTicks":54763,"Mech_RPM":-2.2950186e-40,"cg_du":50.1435051,"cg_dv":50.2151604,"cg_dw":49.7848396,"cg_id_a":-0.109656826,"cg_id_raw_a":0.399713993,"cg_iq_a":-0.1476859,"cg_iq_raw_a":-0.688733518,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14545467,"cg_sample_valid":1,"cg_theta_rad":5.00639963,"cg_vd_req_v":0.0965970084,"cg_vd_v":0.0965970084,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374201417,"cg_vq_v":-0.374201417,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117578395,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.846924,"values":{"Elec_RPM":-1.12455603e-39,"EncoderCos":38752,"EncoderSin":12490,"GapTicks":54768,"Mech_RPM":-2.24911206e-40,"cg_du":50.1468544,"cg_dv":50.2108192,"cg_dw":49.7891808,"cg_id_a":0.362505585,"cg_id_raw_a":0.0656173676,"cg_iq_a":-0.418832779,"cg_iq_raw_a":-0.539162278,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129269,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.8527279,"cg_sample_seq":14545516,"cg_sample_valid":1,"cg_theta_rad":5.00682163,"cg_vd_req_v":0.0865827054,"cg_vd_v":0.0865827054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369729936,"cg_vq_v":-0.369729936,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9269714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.874268,"values":{"Elec_RPM":-1.10206519e-39,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54762,"Mech_RPM":-2.20413038e-40,"cg_du":50.1544418,"cg_dv":50.2162857,"cg_dw":49.7837143,"cg_id_a":0.287772,"cg_id_raw_a":0.242116585,"cg_iq_a":-0.0801179484,"cg_iq_raw_a":-0.595173836,"cg_iu_a":-0.251173258,"cg_iv_a":0.286616921,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9872723,"cg_sample_seq":14545666,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0879708081,"cg_vd_v":0.0879708081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380926102,"cg_vq_v":-0.380926102,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.88208,"values":{"Elec_RPM":-1.08002277e-39,"EncoderCos":38733,"EncoderSin":12480,"GapTicks":54751,"Mech_RPM":-2.16004553e-40,"cg_du":50.1555977,"cg_dv":50.2261009,"cg_dw":49.7738991,"cg_id_a":-0.18041724,"cg_id_raw_a":-0.082924962,"cg_iq_a":0.465670824,"cg_iq_raw_a":0.175020546,"cg_iu_a":-0.613611698,"cg_iv_a":-0.764454126,"cg_iw_a":1.37806582,"cg_sample_age_us":23.9509087,"cg_sample_seq":14545716,"cg_sample_valid":1,"cg_theta_rad":5.00692558,"cg_vd_req_v":0.0966311321,"cg_vd_v":0.0966311321,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396196336,"cg_vq_v":-0.396196336,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9394531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.889893,"values":{"Elec_RPM":-1.08002277e-39,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54760,"Mech_RPM":-2.16004553e-40,"cg_du":50.1493607,"cg_dv":50.2178078,"cg_dw":49.7821922,"cg_id_a":0.0336902514,"cg_id_raw_a":-0.194413885,"cg_iq_a":-0.268980354,"cg_iq_raw_a":0.0181803703,"cg_iu_a":0.292484045,"cg_iv_a":0.612811446,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9909096,"cg_sample_seq":14545766,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0949550197,"cg_vd_v":0.0949550197,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381010652,"cg_vq_v":-0.381010652,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9160767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.901611,"values":{"Elec_RPM":-1.05842175e-39,"EncoderCos":38721,"EncoderSin":12471,"GapTicks":54760,"Mech_RPM":-2.1168435e-40,"cg_du":50.1539764,"cg_dv":50.2178116,"cg_dw":49.7821884,"cg_id_a":0.238321885,"cg_id_raw_a":0.486654937,"cg_iq_a":-0.212345257,"cg_iq_raw_a":-0.497992784,"cg_iu_a":-0.541124105,"cg_iv_a":-0.148309112,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9436359,"cg_sample_seq":14545816,"cg_sample_valid":1,"cg_theta_rad":5.00653172,"cg_vd_req_v":0.0911505744,"cg_vd_v":0.0911505744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383657843,"cg_vq_v":-0.383657843,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.909424,"values":{"Elec_RPM":-1.05842175e-39,"EncoderCos":38706,"EncoderSin":12458,"GapTicks":54757,"Mech_RPM":-2.1168435e-40,"cg_du":50.1463776,"cg_dv":50.2202682,"cg_dw":49.7797318,"cg_id_a":-0.180397511,"cg_id_raw_a":0.187580153,"cg_iq_a":-0.125836179,"cg_iq_raw_a":-0.0165272783,"cg_iu_a":0.727410078,"cg_iv_a":-0.329528213,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.954546,"cg_sample_seq":14545866,"cg_sample_valid":1,"cg_theta_rad":5.00682068,"cg_vd_req_v":0.100869291,"cg_vd_v":0.100869291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38114056,"cg_vq_v":-0.38114056,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.917236,"values":{"Elec_RPM":-1.03725514e-39,"EncoderCos":38741,"EncoderSin":12487,"GapTicks":54768,"Mech_RPM":-2.07451027e-40,"cg_du":50.1450081,"cg_dv":50.2101097,"cg_dw":49.7898903,"cg_id_a":0.390602201,"cg_id_raw_a":0.0514788218,"cg_iq_a":-0.682259202,"cg_iq_raw_a":-0.140056491,"cg_iu_a":-0.0699541569,"cg_iv_a":1.04773736,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.8600006,"cg_sample_seq":14545916,"cg_sample_valid":1,"cg_theta_rad":5.00824451,"cg_vd_req_v":0.088353999,"cg_vd_v":0.088353999,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367498636,"cg_vq_v":-0.367498636,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8724365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.925049,"values":{"Elec_RPM":-1.03725514e-39,"EncoderCos":38731,"EncoderSin":12467,"GapTicks":54756,"Mech_RPM":-2.07451027e-40,"cg_du":50.1476402,"cg_dv":50.2215233,"cg_dw":49.7784767,"cg_id_a":-0.140767485,"cg_id_raw_a":-0.0831609517,"cg_iq_a":0.114651501,"cg_iq_raw_a":0.174908206,"cg_iu_a":0.509947062,"cg_iv_a":-0.546991229,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14545966,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0986873284,"cg_vd_v":0.0986873284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384182215,"cg_vq_v":-0.384182215,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8724365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.932861,"values":{"Elec_RPM":-1.01650891e-39,"EncoderCos":38709,"EncoderSin":12489,"GapTicks":54753,"Mech_RPM":-2.03301783e-40,"cg_du":50.1507492,"cg_dv":50.2237434,"cg_dw":49.7762566,"cg_id_a":-0.239160359,"cg_id_raw_a":-0.201572374,"cg_iq_a":0.24983944,"cg_iq_raw_a":0.090115279,"cg_iu_a":0.038777113,"cg_iv_a":-0.836941957,"cg_iw_a":0.798164845,"cg_sample_age_us":23.8600006,"cg_sample_seq":14546016,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.100054517,"cg_vd_v":0.100054517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38978079,"cg_vq_v":-0.38978079,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.925415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.964111,"values":{"Elec_RPM":-1.01650891e-39,"EncoderCos":38716,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-2.03301783e-40,"cg_du":50.153141,"cg_dv":50.2152977,"cg_dw":49.7847023,"cg_id_a":0.236249834,"cg_id_raw_a":0.302806586,"cg_iq_a":-0.349465758,"cg_iq_raw_a":-1.17095041,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14546069,"cg_sample_valid":1,"cg_theta_rad":5.00798559,"cg_vd_req_v":0.0902591571,"cg_vd_v":0.0902591571,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379545808,"cg_vq_v":-0.379545808,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9067078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2635.97144,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2635.971446,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2635.971452,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2635.971924,"values":{"Elec_RPM":-9.96176072e-40,"EncoderCos":38703,"EncoderSin":12467,"GapTicks":54762,"Mech_RPM":-1.99235214e-40,"cg_du":50.1422539,"cg_dv":50.2157364,"cg_dw":49.7842636,"cg_id_a":-0.238567322,"cg_id_raw_a":-0.0352899954,"cg_iq_a":-0.496170461,"cg_iq_raw_a":0.106503323,"cg_iu_a":0.509947181,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9836369,"cg_sample_seq":14546116,"cg_sample_valid":1,"cg_theta_rad":5.00713539,"cg_vd_req_v":0.0999890417,"cg_vd_v":0.0999890417,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373795211,"cg_vq_v":-0.373795211,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.5592575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9067078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2635.979736,"values":{"Elec_RPM":-9.96176072e-40,"EncoderCos":38730,"EncoderSin":12466,"GapTicks":54747,"Mech_RPM":-1.99235214e-40,"cg_du":50.1553268,"cg_dv":50.2294693,"cg_dw":49.7705307,"cg_id_a":-0.236741632,"cg_id_raw_a":-0.569114149,"cg_iq_a":0.515079021,"cg_iq_raw_a":0.419631124,"cg_iu_a":-0.359905005,"cg_iv_a":-0.293284416,"cg_iw_a":0.653189421,"cg_sample_age_us":23.8490906,"cg_sample_seq":14546166,"cg_sample_valid":1,"cg_theta_rad":5.00720119,"cg_vd_req_v":0.100469984,"cg_vd_v":0.100469984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399274588,"cg_vq_v":-0.399274588,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9176331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.987549,"values":{"Elec_RPM":-9.76249608e-40,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-1.95249922e-40,"cg_du":50.1568375,"cg_dv":50.2232323,"cg_dw":49.7767677,"cg_id_a":0.112659112,"cg_id_raw_a":0.492537498,"cg_iq_a":0.102802455,"cg_iq_raw_a":0.303838819,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148308992,"cg_iw_a":0.326994658,"cg_sample_age_us":23.954546,"cg_sample_seq":14546216,"cg_sample_valid":1,"cg_theta_rad":5.00596189,"cg_vd_req_v":0.0939851105,"cg_vd_v":0.0939851105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391448855,"cg_vq_v":-0.391448855,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.639764309,"dclink_p_w":-92.5896683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2635.995361,"values":{"Elec_RPM":-9.76249608e-40,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54752,"Mech_RPM":-1.95249922e-40,"cg_du":50.1507225,"cg_dv":50.2250862,"cg_dw":49.7749138,"cg_id_a":-0.14911963,"cg_id_raw_a":-0.226872146,"cg_iq_a":-0.122738354,"cg_iq_raw_a":-0.311292887,"cg_iu_a":0.111264944,"cg_iv_a":0.105397701,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8600006,"cg_sample_seq":14546266,"cg_sample_valid":1,"cg_theta_rad":5.00692606,"cg_vd_req_v":0.0984540954,"cg_vd_v":0.0984540954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391075611,"cg_vq_v":-0.391075611,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.833668947,"dclink_p_w":-120.652451,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.003174,"values":{"Elec_RPM":-9.56722514e-40,"EncoderCos":38702,"EncoderSin":12487,"GapTicks":54748,"Mech_RPM":-1.91344503e-40,"cg_du":50.1608887,"cg_dv":50.2290688,"cg_dw":49.7709312,"cg_id_a":-0.167723805,"cg_id_raw_a":0.330378354,"cg_iq_a":0.404999077,"cg_iq_raw_a":0.653346181,"cg_iu_a":-0.0337104797,"cg_iv_a":0.359104633,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14546316,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0979839191,"cg_vd_v":0.0979839191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402584761,"cg_vq_v":-0.402584761,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.574525356,"dclink_p_w":-83.1479874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9067078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.014893,"values":{"Elec_RPM":-9.56722514e-40,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54739,"Mech_RPM":-1.91344503e-40,"cg_du":50.1652985,"cg_dv":50.2372437,"cg_dw":49.7627563,"cg_id_a":-0.252542585,"cg_id_raw_a":0.0417456552,"cg_iq_a":1.12245274,"cg_iq_raw_a":0.62380147,"cg_iu_a":-0.39614892,"cg_iv_a":-0.43825984,"cg_iw_a":0.83440876,"cg_sample_age_us":23.9509087,"cg_sample_seq":14546367,"cg_sample_valid":1,"cg_theta_rad":5.00611019,"cg_vd_req_v":0.100626424,"cg_vd_v":0.100626424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.416660428,"cg_vq_v":-0.416660428,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2584,"hz_tim_isr":5000,"hz_vsense":2584,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9067078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.022705,"values":{"Elec_RPM":-9.37587783e-40,"EncoderCos":38695,"EncoderSin":12468,"GapTicks":54754,"Mech_RPM":-1.87517557e-40,"cg_du":50.1556702,"cg_dv":50.2229042,"cg_dw":49.7770958,"cg_id_a":-0.0640956089,"cg_id_raw_a":0.128904894,"cg_iq_a":-0.132617936,"cg_iq_raw_a":-0.0587101206,"cg_iu_a":-0.214929581,"cg_iv_a":-0.00333380699,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9581814,"cg_sample_seq":14546417,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.0971760824,"cg_vd_v":0.0971760824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390968502,"cg_vq_v":-0.390968502,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9347839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.030518,"values":{"Elec_RPM":-9.37587783e-40,"EncoderCos":38699,"EncoderSin":12463,"GapTicks":54749,"Mech_RPM":-1.87517557e-40,"cg_du":50.1588593,"cg_dv":50.2280922,"cg_dw":49.7719078,"cg_id_a":-0.135670736,"cg_id_raw_a":-0.795193315,"cg_iq_a":0.331491709,"cg_iq_raw_a":-1.50216377,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9872723,"cg_sample_seq":14546466,"cg_sample_valid":1,"cg_theta_rad":5.00782919,"cg_vd_req_v":0.0992485881,"cg_vd_v":0.0992485881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398665935,"cg_vq_v":-0.398665935,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.03833,"values":{"Elec_RPM":-9.1883841e-40,"EncoderCos":38731,"EncoderSin":12483,"GapTicks":54758,"Mech_RPM":-1.83767682e-40,"cg_du":50.1481247,"cg_dv":50.2193909,"cg_dw":49.7806091,"cg_id_a":0.0289745778,"cg_id_raw_a":0.326067239,"cg_iq_a":-0.370535374,"cg_iq_raw_a":-0.150456771,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9799995,"cg_sample_seq":14546516,"cg_sample_valid":1,"cg_theta_rad":5.0061574,"cg_vd_req_v":0.0958182737,"cg_vd_v":0.0958182737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381657451,"cg_vq_v":-0.381657451,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9363403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.06958,"values":{"Elec_RPM":-9.1883841e-40,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54758,"Mech_RPM":-1.83767682e-40,"cg_du":50.1539803,"cg_dv":50.2194366,"cg_dw":49.7805634,"cg_id_a":0.149717286,"cg_id_raw_a":0.32139501,"cg_iq_a":-0.166510716,"cg_iq_raw_a":-0.513388634,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":26.8199997,"cg_sample_seq":14546570,"cg_sample_valid":1,"cg_theta_rad":5.00528574,"cg_vd_req_v":0.0934664011,"cg_vd_v":0.0934664011,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38446489,"cg_vq_v":-0.38446489,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8693237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.077393,"values":{"Elec_RPM":-9.0046038e-40,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54757,"Mech_RPM":-1.80092076e-40,"cg_du":50.1598015,"cg_dv":50.2207108,"cg_dw":49.7792892,"cg_id_a":0.146223947,"cg_id_raw_a":0.776675642,"cg_iq_a":0.261965394,"cg_iq_raw_a":-1.26861334,"cg_iu_a":-0.831074715,"cg_iv_a":0.105397761,"cg_iw_a":0.725676954,"cg_sample_age_us":23.9509087,"cg_sample_seq":14546617,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0907447934,"cg_vd_v":0.0907447934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390576363,"cg_vq_v":-0.390576363,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.925415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.085205,"values":{"Elec_RPM":-9.0046038e-40,"EncoderCos":38716,"EncoderSin":12496,"GapTicks":54761,"Mech_RPM":-1.80092076e-40,"cg_du":50.1540642,"cg_dv":50.2171555,"cg_dw":49.7828445,"cg_id_a":-0.00696375128,"cg_id_raw_a":0.145556346,"cg_iq_a":-0.0268947706,"cg_iq_raw_a":0.415455043,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14546667,"cg_sample_valid":1,"cg_theta_rad":5.00759411,"cg_vd_req_v":0.0902184546,"cg_vd_v":0.0902184546,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382865667,"cg_vq_v":-0.382865667,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.925415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.093018,"values":{"Elec_RPM":-8.82453695e-40,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54755,"Mech_RPM":-1.76490739e-40,"cg_du":50.1548157,"cg_dv":50.2220345,"cg_dw":49.7779655,"cg_id_a":-0.17544727,"cg_id_raw_a":-0.216318786,"cg_iq_a":0.411382943,"cg_iq_raw_a":0.671553314,"cg_iu_a":0.183752537,"cg_iv_a":0.322860718,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9509087,"cg_sample_seq":14546717,"cg_sample_valid":1,"cg_theta_rad":5.00671721,"cg_vd_req_v":0.0947661176,"cg_vd_v":0.0947661176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3898471,"cg_vq_v":-0.3898471,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.05933285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.10083,"values":{"Elec_RPM":-8.82453695e-40,"EncoderCos":38712,"EncoderSin":12451,"GapTicks":54758,"Mech_RPM":-1.76490739e-40,"cg_du":50.1520119,"cg_dv":50.2195816,"cg_dw":49.7804184,"cg_id_a":-0.234335408,"cg_id_raw_a":0.334907264,"cg_iq_a":0.104262337,"cg_iq_raw_a":0.398885727,"cg_iu_a":0.14750886,"cg_iv_a":-0.438259721,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9836369,"cg_sample_seq":14546767,"cg_sample_valid":1,"cg_theta_rad":5.00579023,"cg_vd_req_v":0.095449768,"cg_vd_v":0.095449768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383477837,"cg_vq_v":-0.383477837,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.108643,"values":{"Elec_RPM":-8.64804341e-40,"EncoderCos":38742,"EncoderSin":12475,"GapTicks":54759,"Mech_RPM":-1.72960868e-40,"cg_du":50.1532249,"cg_dv":50.2189293,"cg_dw":49.7810707,"cg_id_a":0.00995481014,"cg_id_raw_a":-0.437682241,"cg_iq_a":0.138702959,"cg_iq_raw_a":-0.0760293454,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9145451,"cg_sample_seq":14546817,"cg_sample_valid":1,"cg_theta_rad":5.00766706,"cg_vd_req_v":0.0906144306,"cg_vd_v":0.0906144306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384053856,"cg_vq_v":-0.384053856,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.116455,"values":{"Elec_RPM":-8.64804341e-40,"EncoderCos":38755,"EncoderSin":12496,"GapTicks":54767,"Mech_RPM":-1.72960868e-40,"cg_du":50.1465797,"cg_dv":50.2117615,"cg_dw":49.7882385,"cg_id_a":0.0931654349,"cg_id_raw_a":0.326484442,"cg_iq_a":-0.418460399,"cg_iq_raw_a":-0.407090455,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641557,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9909096,"cg_sample_seq":14546866,"cg_sample_valid":1,"cg_theta_rad":5.00769567,"cg_vd_req_v":0.0872976109,"cg_vd_v":0.0872976109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370962381,"cg_vq_v":-0.370962381,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.128174,"values":{"Elec_RPM":-8.47505311e-40,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-1.69501062e-40,"cg_du":50.1589851,"cg_dv":50.2130394,"cg_dw":49.7869606,"cg_id_a":0.359889358,"cg_id_raw_a":0.766828597,"cg_iq_a":-0.0552805588,"cg_iq_raw_a":0.730455995,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104574,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9836369,"cg_sample_seq":14546917,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0820458233,"cg_vd_v":0.0820458233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378874213,"cg_vq_v":-0.378874213,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.135986,"values":{"Elec_RPM":-8.47505311e-40,"EncoderCos":38744,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-1.69501062e-40,"cg_du":50.152317,"cg_dv":50.2114143,"cg_dw":49.7885857,"cg_id_a":0.1682529,"cg_id_raw_a":0.755857468,"cg_iq_a":-0.195345044,"cg_iq_raw_a":-0.949097574,"cg_iu_a":-0.831074715,"cg_iv_a":0.214129329,"cg_iw_a":0.616945386,"cg_sample_age_us":23.954546,"cg_sample_seq":14546966,"cg_sample_valid":1,"cg_theta_rad":5.00547504,"cg_vd_req_v":0.0840066373,"cg_vd_v":0.0840066373,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374504507,"cg_vq_v":-0.374504507,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.2509308,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.9191895,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.143799,"values":{"Elec_RPM":-8.30556606e-40,"EncoderCos":38738,"EncoderSin":12512,"GapTicks":54763,"Mech_RPM":-1.66111321e-40,"cg_du":50.1602211,"cg_dv":50.215435,"cg_dw":49.784565,"cg_id_a":0.21758686,"cg_id_raw_a":0.0340688713,"cg_iq_a":0.42285645,"cg_iq_raw_a":0.513391793,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104574,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9509087,"cg_sample_seq":14547016,"cg_sample_valid":1,"cg_theta_rad":5.00648832,"cg_vd_req_v":0.0813484862,"cg_vd_v":0.0813484862,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384486675,"cg_vq_v":-0.384486675,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.4042282,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.171143,"values":{"Elec_RPM":-8.30556606e-40,"EncoderCos":38748,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-1.66111321e-40,"cg_du":50.1620941,"cg_dv":50.2149734,"cg_dw":49.7850266,"cg_id_a":0.22956863,"cg_id_raw_a":-0.179186329,"cg_iq_a":0.422760695,"cg_iq_raw_a":0.311893374,"cg_iu_a":0.292484045,"cg_iv_a":-1.12689245,"cg_iw_a":0.834408402,"cg_sample_age_us":26.823637,"cg_sample_seq":14547070,"cg_sample_valid":1,"cg_theta_rad":5.00625086,"cg_vd_req_v":0.0796562284,"cg_vd_v":0.0796562284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383630246,"cg_vq_v":-0.383630246,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.182861,"values":{"Elec_RPM":-8.13944213e-40,"EncoderCos":38724,"EncoderSin":12469,"GapTicks":54760,"Mech_RPM":-1.62788843e-40,"cg_du":50.1541061,"cg_dv":50.2179718,"cg_dw":49.7820282,"cg_id_a":-0.223741561,"cg_id_raw_a":-0.909837306,"cg_iq_a":0.152033538,"cg_iq_raw_a":0.458820969,"cg_iu_a":-0.323661089,"cg_iv_a":-0.402015924,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9618187,"cg_sample_seq":14547117,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0904468149,"cg_vd_v":0.0904468149,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381670862,"cg_vq_v":-0.381670862,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9129639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.190674,"values":{"Elec_RPM":-8.13944213e-40,"EncoderCos":38742,"EncoderSin":12443,"GapTicks":54766,"Mech_RPM":-1.62788843e-40,"cg_du":50.1506042,"cg_dv":50.2121239,"cg_dw":49.7878761,"cg_id_a":0.0172973499,"cg_id_raw_a":-0.292037576,"cg_iq_a":-0.388596326,"cg_iq_raw_a":-0.281664431,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14547167,"cg_sample_valid":1,"cg_theta_rad":5.00786543,"cg_vd_req_v":0.086667113,"cg_vd_v":0.086667113,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371984839,"cg_vq_v":-0.371984839,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-50.7342606,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9129639,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.198486,"values":{"Elec_RPM":-7.97668131e-40,"EncoderCos":38738,"EncoderSin":12504,"GapTicks":54753,"Mech_RPM":-1.59533626e-40,"cg_du":50.1511116,"cg_dv":50.2240982,"cg_dw":49.7759018,"cg_id_a":-0.378505707,"cg_id_raw_a":-0.00344610563,"cg_iq_a":0.536325812,"cg_iq_raw_a":0.000489018101,"cg_iu_a":0.111264944,"cg_iv_a":-1.16313636,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9872723,"cg_sample_seq":14547217,"cg_sample_valid":1,"cg_theta_rad":5.00606585,"cg_vd_req_v":0.0968419462,"cg_vd_v":0.0968419462,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390036017,"cg_vq_v":-0.390036017,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.8857422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.925415,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.206299,"values":{"Elec_RPM":-7.97668131e-40,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54758,"Mech_RPM":-1.59533626e-40,"cg_du":50.1670265,"cg_dv":50.2196083,"cg_dw":49.7803917,"cg_id_a":0.329338193,"cg_id_raw_a":0.791151583,"cg_iq_a":0.64217335,"cg_iq_raw_a":1.13316083,"cg_iu_a":0.799897909,"cg_iv_a":0.21412921,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9254551,"cg_sample_seq":14547268,"cg_sample_valid":1,"cg_theta_rad":5.00721169,"cg_vd_req_v":0.0820240825,"cg_vd_v":0.0820240825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392334819,"cg_vq_v":-0.392334819,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9223022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.214111,"values":{"Elec_RPM":-7.81714348e-40,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54760,"Mech_RPM":-1.5634287e-40,"cg_du":50.1498337,"cg_dv":50.2174301,"cg_dw":49.7825699,"cg_id_a":-0.184074268,"cg_id_raw_a":0.391927749,"cg_iq_a":0.0364582241,"cg_iq_raw_a":1.38456357,"cg_iu_a":0.473703384,"cg_iv_a":-0.220796704,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9509087,"cg_sample_seq":14547317,"cg_sample_valid":1,"cg_theta_rad":5.00697088,"cg_vd_req_v":0.092438519,"cg_vd_v":0.092438519,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379977196,"cg_vq_v":-0.379977196,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.451296449,"dclink_p_w":-65.5122452,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9223022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.221924,"values":{"Elec_RPM":-7.81714348e-40,"EncoderCos":38730,"EncoderSin":12488,"GapTicks":54751,"Mech_RPM":-1.5634287e-40,"cg_du":50.1744347,"cg_dv":50.2255669,"cg_dw":49.7744331,"cg_id_a":0.38045755,"cg_id_raw_a":-0.749979198,"cg_iq_a":1.1655395,"cg_iq_raw_a":1.67754543,"cg_iu_a":-0.468636513,"cg_iv_a":0.540323734,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9727268,"cg_sample_seq":14547367,"cg_sample_valid":1,"cg_theta_rad":5.00768518,"cg_vd_req_v":0.0808095038,"cg_vd_v":0.0808095038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40355435,"cg_vq_v":-0.40355435,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.523784161,"dclink_p_w":-75.8044815,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.229736,"values":{"Elec_RPM":-7.66082864e-40,"EncoderCos":38723,"EncoderSin":12469,"GapTicks":54756,"Mech_RPM":-1.53216573e-40,"cg_du":50.1674156,"cg_dv":50.2210846,"cg_dw":49.7789154,"cg_id_a":0.23344335,"cg_id_raw_a":0.298849672,"cg_iq_a":0.570833206,"cg_iq_raw_a":-0.29789114,"cg_iu_a":-1.51970744,"cg_iv_a":-0.112065196,"cg_iw_a":1.63177264,"cg_sample_age_us":23.8563633,"cg_sample_seq":14547417,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.0833859891,"cg_vd_v":0.0833859891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394512236,"cg_vq_v":-0.394512236,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.241455,"values":{"Elec_RPM":-7.66082864e-40,"EncoderCos":38751,"EncoderSin":12493,"GapTicks":54751,"Mech_RPM":-1.53216573e-40,"cg_du":50.1647186,"cg_dv":50.2260666,"cg_dw":49.7739334,"cg_id_a":0.0317620337,"cg_id_raw_a":0.0765965953,"cg_iq_a":0.732137442,"cg_iq_raw_a":0.517047942,"cg_iu_a":-0.432392597,"cg_iv_a":-0.945673466,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14547467,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.0871328488,"cg_vd_v":0.0871328488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400484562,"cg_vq_v":-0.400484562,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.5912628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.249268,"values":{"Elec_RPM":-7.50759665e-40,"EncoderCos":38714,"EncoderSin":12488,"GapTicks":54763,"Mech_RPM":-1.50151933e-40,"cg_du":50.1527863,"cg_dv":50.2146225,"cg_dw":49.7853775,"cg_id_a":-0.062217392,"cg_id_raw_a":-0.347619116,"cg_iq_a":-0.35122776,"cg_iq_raw_a":0.29452613,"cg_iu_a":0.038777113,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9145451,"cg_sample_seq":14547517,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0888710916,"cg_vd_v":0.0888710916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377456218,"cg_vq_v":-0.377456218,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.888031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.276611,"values":{"Elec_RPM":-7.50759665e-40,"EncoderCos":38733,"EncoderSin":12443,"GapTicks":54754,"Mech_RPM":-1.50151933e-40,"cg_du":50.1523323,"cg_dv":50.2235756,"cg_dw":49.7764244,"cg_id_a":-0.466480851,"cg_id_raw_a":-0.197591841,"cg_iq_a":0.229540706,"cg_iq_raw_a":-0.600900948,"cg_iu_a":0.292484045,"cg_iv_a":0.250373125,"cg_iw_a":-0.54285717,"cg_sample_age_us":26.8163643,"cg_sample_seq":14547570,"cg_sample_valid":1,"cg_theta_rad":5.00772762,"cg_vd_req_v":0.0977524146,"cg_vd_v":0.0977524146,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390671611,"cg_vq_v":-0.390671611,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.888031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.284424,"values":{"Elec_RPM":-7.35744752e-40,"EncoderCos":38716,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-1.4714895e-40,"cg_du":50.1646461,"cg_dv":50.219429,"cg_dw":49.780571,"cg_id_a":0.178048044,"cg_id_raw_a":-0.217372775,"cg_iq_a":0.217838511,"cg_iq_raw_a":-0.385093838,"cg_iu_a":0.183752537,"cg_iv_a":0.685299098,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9472733,"cg_sample_seq":14547616,"cg_sample_valid":1,"cg_theta_rad":5.00788927,"cg_vd_req_v":0.0851806328,"cg_vd_v":0.0851806328,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391686201,"cg_vq_v":-0.391686201,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.6725273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.903595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.296143,"values":{"Elec_RPM":-7.35744752e-40,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-1.4714895e-40,"cg_du":50.1589928,"cg_dv":50.2194519,"cg_dw":49.7805481,"cg_id_a":0.000692538917,"cg_id_raw_a":0.291960955,"cg_iq_a":-0.0800770074,"cg_iq_raw_a":-0.225586623,"cg_iu_a":0.147508621,"cg_iv_a":-0.583235025,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14547666,"cg_sample_valid":1,"cg_theta_rad":5.00602341,"cg_vd_req_v":0.088620238,"cg_vd_v":0.088620238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387522906,"cg_vq_v":-0.387522906,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9160767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.303955,"values":{"Elec_RPM":-7.21031118e-40,"EncoderCos":38709,"EncoderSin":12473,"GapTicks":54754,"Mech_RPM":-1.44206224e-40,"cg_du":50.1628876,"cg_dv":50.2235107,"cg_dw":49.7764893,"cg_id_a":-0.114960663,"cg_id_raw_a":-0.330474854,"cg_iq_a":0.3892591,"cg_iq_raw_a":-0.724345922,"cg_iu_a":0.147508621,"cg_iv_a":-0.546991229,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9509087,"cg_sample_seq":14547716,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0904446095,"cg_vd_v":0.0904446095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395010948,"cg_vq_v":-0.395010948,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9160767,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.311768,"values":{"Elec_RPM":-7.21031118e-40,"EncoderCos":38724,"EncoderSin":12488,"GapTicks":54757,"Mech_RPM":-1.44206224e-40,"cg_du":50.1561699,"cg_dv":50.220253,"cg_dw":49.779747,"cg_id_a":-0.200673997,"cg_id_raw_a":0.0729746819,"cg_iq_a":0.071104005,"cg_iq_raw_a":0.0805989057,"cg_iu_a":0.219996452,"cg_iv_a":-0.546991229,"cg_iw_a":0.363238692,"cg_sample_age_us":23.954546,"cg_sample_seq":14547766,"cg_sample_valid":1,"cg_theta_rad":5.00603914,"cg_vd_req_v":0.0908117741,"cg_vd_v":0.0908117741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387216061,"cg_vq_v":-0.387216061,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2771301,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.31958,"values":{"Elec_RPM":-7.06611757e-40,"EncoderCos":38708,"EncoderSin":12479,"GapTicks":54757,"Mech_RPM":-1.41322351e-40,"cg_du":50.1633606,"cg_dv":50.2203598,"cg_dw":49.7796402,"cg_id_a":-0.0094310008,"cg_id_raw_a":-0.32340005,"cg_iq_a":0.0716520101,"cg_iq_raw_a":-0.796414554,"cg_iu_a":-0.432392597,"cg_iv_a":0.0329101086,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8527279,"cg_sample_seq":14547816,"cg_sample_valid":1,"cg_theta_rad":5.00663328,"cg_vd_req_v":0.0869297907,"cg_vd_v":0.0869297907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391016811,"cg_vq_v":-0.391016811,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.146848202,"dclink_p_w":-21.2525558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9145203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.331299,"values":{"Elec_RPM":-7.06611757e-40,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54759,"Mech_RPM":-1.41322351e-40,"cg_du":50.1595535,"cg_dv":50.2190704,"cg_dw":49.7809296,"cg_id_a":0.0252563134,"cg_id_raw_a":-0.220531821,"cg_iq_a":-0.087546356,"cg_iq_raw_a":-0.383293569,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263149,"cg_sample_age_us":23.8490906,"cg_sample_seq":14547866,"cg_sample_valid":1,"cg_theta_rad":5.00832558,"cg_vd_req_v":0.0856328234,"cg_vd_v":0.0856328234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389037848,"cg_vq_v":-0.389037848,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.146848202,"dclink_p_w":-21.2525558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9145203,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.339111,"values":{"Elec_RPM":-6.92479662e-40,"EncoderCos":38700,"EncoderSin":12465,"GapTicks":54759,"Mech_RPM":-1.38495932e-40,"cg_du":50.1630554,"cg_dv":50.2181892,"cg_dw":49.7818108,"cg_id_a":0.0771161765,"cg_id_raw_a":-0.145459339,"cg_iq_a":-0.173562407,"cg_iq_raw_a":-0.0505702756,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8563633,"cg_sample_seq":14547917,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0863913149,"cg_vd_v":0.0863913149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388841093,"cg_vq_v":-0.388841093,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.346924,"values":{"Elec_RPM":-6.92479662e-40,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54767,"Mech_RPM":-1.38495932e-40,"cg_du":50.1577148,"cg_dv":50.2115822,"cg_dw":49.7884178,"cg_id_a":0.335350454,"cg_id_raw_a":1.23414564,"cg_iq_a":-0.749301791,"cg_iq_raw_a":-1.84169972,"cg_iu_a":0.582434893,"cg_iv_a":-0.909429669,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9254551,"cg_sample_seq":14547967,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.0813685805,"cg_vd_v":0.0813685805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376237392,"cg_vq_v":-0.376237392,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.354736,"values":{"Elec_RPM":-6.78627827e-40,"EncoderCos":38696,"EncoderSin":12477,"GapTicks":54746,"Mech_RPM":-1.35725565e-40,"cg_du":50.1684303,"cg_dv":50.2306747,"cg_dw":49.7693253,"cg_id_a":-0.256274402,"cg_id_raw_a":0.368385643,"cg_iq_a":0.628680527,"cg_iq_raw_a":0.475893021,"cg_iu_a":-0.649855614,"cg_iv_a":0.0691539645,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9509087,"cg_sample_seq":14548017,"cg_sample_valid":1,"cg_theta_rad":5.0058217,"cg_vd_req_v":0.0941840932,"cg_vd_v":0.0941840932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407601535,"cg_vq_v":-0.407601535,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9082642,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.38208,"values":{"Elec_RPM":-6.78627827e-40,"EncoderCos":38752,"EncoderSin":12480,"GapTicks":54751,"Mech_RPM":-1.35725565e-40,"cg_du":50.1544609,"cg_dv":50.225811,"cg_dw":49.774189,"cg_id_a":-0.316898525,"cg_id_raw_a":0.203135118,"cg_iq_a":-0.0736743957,"cg_iq_raw_a":0.273760051,"cg_iu_a":0.219996452,"cg_iv_a":0.57656759,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.8490906,"cg_sample_seq":14548070,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.0952493101,"cg_vd_v":0.0952493101,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394382596,"cg_vq_v":-0.394382596,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.242772937,"dclink_p_w":35.135231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9004822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.389893,"values":{"Elec_RPM":-6.65056251e-40,"EncoderCos":38738,"EncoderSin":12464,"GapTicks":54754,"Mech_RPM":-1.3301125e-40,"cg_du":50.1667366,"cg_dv":50.223465,"cg_dw":49.776535,"cg_id_a":0.278116852,"cg_id_raw_a":0.263992608,"cg_iq_a":-0.0819255635,"cg_iq_raw_a":0.062040139,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641557,"cg_iw_a":0.254507124,"cg_sample_age_us":23.954546,"cg_sample_seq":14548116,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.0850127786,"cg_vd_v":0.0850127786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397627622,"cg_vq_v":-0.397627622,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9004822,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.397705,"values":{"Elec_RPM":-6.65056251e-40,"EncoderCos":38715,"EncoderSin":12466,"GapTicks":54752,"Mech_RPM":-1.3301125e-40,"cg_du":50.1599998,"cg_dv":50.2254105,"cg_dw":49.7745895,"cg_id_a":-0.256549954,"cg_id_raw_a":-0.158299148,"cg_iq_a":0.057504639,"cg_iq_raw_a":0.713535368,"cg_iu_a":0.437459469,"cg_iv_a":0.214129269,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.8527279,"cg_sample_seq":14548166,"cg_sample_valid":1,"cg_theta_rad":5.00708008,"cg_vd_req_v":0.0944990218,"cg_vd_v":0.0944990218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397249341,"cg_vq_v":-0.397249341,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":53.1305122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.903595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.409424,"values":{"Elec_RPM":-6.38725853e-40,"EncoderCos":38693,"EncoderSin":12455,"GapTicks":54758,"Mech_RPM":-1.27745171e-40,"cg_du":50.1663551,"cg_dv":50.2194901,"cg_dw":49.7805099,"cg_id_a":0.242696166,"cg_id_raw_a":-0.0658696517,"cg_iq_a":-0.313064069,"cg_iq_raw_a":-0.406987011,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104633,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14548317,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.0854525119,"cg_vd_v":0.0854525119,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389906883,"cg_vq_v":-0.389906883,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.498292029,"dclink_p_w":72.3343353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9176331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.417236,"values":{"Elec_RPM":-6.38725853e-40,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54756,"Mech_RPM":-1.27745171e-40,"cg_du":50.161087,"cg_dv":50.2214394,"cg_dw":49.7785606,"cg_id_a":0.055720903,"cg_id_raw_a":-0.14295274,"cg_iq_a":-0.330307752,"cg_iq_raw_a":-0.30387798,"cg_iu_a":0.0750212669,"cg_iv_a":0.322860718,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9509087,"cg_sample_seq":14548367,"cg_sample_valid":1,"cg_theta_rad":5.00596714,"cg_vd_req_v":0.0872418657,"cg_vd_v":0.0872418657,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390519887,"cg_vq_v":-0.390519887,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.498292029,"dclink_p_w":72.3343353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.9176331,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.425049,"values":{"Elec_RPM":-6.25953018e-40,"EncoderCos":38712,"EncoderSin":12464,"GapTicks":54752,"Mech_RPM":-1.25190604e-40,"cg_du":50.1659012,"cg_dv":50.2254143,"cg_dw":49.7745857,"cg_id_a":-0.120063849,"cg_id_raw_a":-0.0567383617,"cg_iq_a":0.00745896716,"cg_iq_raw_a":0.322951287,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9618187,"cg_sample_seq":14548417,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0899145901,"cg_vd_v":0.0899145901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399295986,"cg_vq_v":-0.399295986,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.467484713,"dclink_p_w":67.6565628,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.432861,"values":{"Elec_RPM":-6.25953018e-40,"EncoderCos":38739,"EncoderSin":12486,"GapTicks":54749,"Mech_RPM":-1.25190604e-40,"cg_du":50.1641464,"cg_dv":50.2277641,"cg_dw":49.7722359,"cg_id_a":-0.0382892229,"cg_id_raw_a":0.202439427,"cg_iq_a":0.187256485,"cg_iq_raw_a":0.274274886,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9254551,"cg_sample_seq":14548466,"cg_sample_valid":1,"cg_theta_rad":5.00565767,"cg_vd_req_v":0.0907804742,"cg_vd_v":0.0907804742,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403422207,"cg_vq_v":-0.403422207,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.48560667,"dclink_p_w":70.4928741,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.44458,"values":{"Elec_RPM":-6.13432416e-40,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54749,"Mech_RPM":-1.22686483e-40,"cg_du":50.1603355,"cg_dv":50.2280045,"cg_dw":49.7719955,"cg_id_a":-0.214882165,"cg_id_raw_a":-0.0101426272,"cg_iq_a":0.124275737,"cg_iq_raw_a":0.509566665,"cg_iu_a":0.328727961,"cg_iv_a":-0.546991229,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14548517,"cg_sample_valid":1,"cg_theta_rad":5.00526857,"cg_vd_req_v":0.0951023325,"cg_vd_v":0.0951023325,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400085449,"cg_vq_v":-0.400085449,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.503728569,"dclink_p_w":73.1235352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.471924,"values":{"Elec_RPM":-6.13432416e-40,"EncoderCos":38724,"EncoderSin":12455,"GapTicks":54753,"Mech_RPM":-1.22686483e-40,"cg_du":50.154747,"cg_dv":50.2239456,"cg_dw":49.7760544,"cg_id_a":-0.314778388,"cg_id_raw_a":0.0128487078,"cg_iq_a":-0.0935222283,"cg_iq_raw_a":-1.45462203,"cg_iu_a":-0.251173258,"cg_iv_a":-0.329528213,"cg_iw_a":0.58070147,"cg_sample_age_us":23.8563633,"cg_sample_seq":14548572,"cg_sample_valid":1,"cg_theta_rad":5.00668192,"cg_vd_req_v":0.0963958427,"cg_vd_v":0.0963958427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391225725,"cg_vq_v":-0.391225725,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8989258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.479736,"values":{"Elec_RPM":-6.01164048e-40,"EncoderCos":38714,"EncoderSin":12434,"GapTicks":54756,"Mech_RPM":-1.2023281e-40,"cg_du":50.1637421,"cg_dv":50.2212181,"cg_dw":49.7787819,"cg_id_a":0.0733730793,"cg_id_raw_a":0.249004766,"cg_iq_a":0.0166756883,"cg_iq_raw_a":0.827587843,"cg_iu_a":0.473703146,"cg_iv_a":-0.148308992,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9763641,"cg_sample_seq":14548617,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.0881437287,"cg_vd_v":0.0881437287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392249197,"cg_vq_v":-0.392249197,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.266331434,"dclink_p_w":38.5447235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.487549,"values":{"Elec_RPM":-6.01164048e-40,"EncoderCos":38715,"EncoderSin":12457,"GapTicks":54753,"Mech_RPM":-1.2023281e-40,"cg_du":50.1664658,"cg_dv":50.2243156,"cg_dw":49.7756844,"cg_id_a":0.0814956054,"cg_id_raw_a":0.722010195,"cg_iq_a":0.291270733,"cg_iq_raw_a":-0.946992815,"cg_iu_a":-0.577368021,"cg_iv_a":-0.474503517,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9218178,"cg_sample_seq":14548666,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0883216038,"cg_vd_v":0.0883216038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398143172,"cg_vq_v":-0.398143172,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.495361,"values":{"Elec_RPM":-5.89140907e-40,"EncoderCos":38714,"EncoderSin":12465,"GapTicks":54749,"Mech_RPM":-1.17828181e-40,"cg_du":50.1551743,"cg_dv":50.2280045,"cg_dw":49.7719955,"cg_id_a":-0.489100218,"cg_id_raw_a":-0.587898731,"cg_iq_a":0.37904191,"cg_iq_raw_a":0.37938264,"cg_iu_a":0.00253343582,"cg_iv_a":-0.257040501,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14548717,"cg_sample_valid":1,"cg_theta_rad":5.00606966,"cg_vd_req_v":0.100640155,"cg_vd_v":0.100640155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396824151,"cg_vq_v":-0.396824151,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.405870199,"dclink_p_w":58.7394257,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9114075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.503174,"values":{"Elec_RPM":-5.89140907e-40,"EncoderCos":38744,"EncoderSin":12475,"GapTicks":54757,"Mech_RPM":-1.17828181e-40,"cg_du":50.1529694,"cg_dv":50.220871,"cg_dw":49.779129,"cg_id_a":0.0566926226,"cg_id_raw_a":0.534080327,"cg_iq_a":-0.0843773186,"cg_iq_raw_a":-0.132084653,"cg_iu_a":-0.359905005,"cg_iv_a":-0.220796824,"cg_iw_a":-0.144174814,"cg_sample_age_us":23.8563633,"cg_sample_seq":14548766,"cg_sample_valid":1,"cg_theta_rad":5.00829792,"cg_vd_req_v":0.092511937,"cg_vd_v":0.092511937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386604369,"cg_vq_v":-0.386604369,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.449362874,"dclink_p_w":65.2315598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.9114075,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.514893,"values":{"Elec_RPM":-5.77355987e-40,"EncoderCos":38702,"EncoderSin":12465,"GapTicks":54758,"Mech_RPM":-1.15471197e-40,"cg_du":50.1523285,"cg_dv":50.2199364,"cg_dw":49.7800636,"cg_id_a":-0.11005152,"cg_id_raw_a":0.388606727,"cg_iq_a":-0.191100895,"cg_iq_raw_a":-0.542384803,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9218178,"cg_sample_seq":14548816,"cg_sample_valid":1,"cg_theta_rad":5.00616884,"cg_vd_req_v":0.0963427648,"cg_vd_v":0.0963427648,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385175467,"cg_vq_v":-0.385175467,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.510977328,"dclink_p_w":73.9510193,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9207458,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.522705,"values":{"Elec_RPM":-5.77355987e-40,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54758,"Mech_RPM":-1.15471197e-40,"cg_du":50.15205,"cg_dv":50.2195892,"cg_dw":49.7804108,"cg_id_a":-0.0259387791,"cg_id_raw_a":0.095293209,"cg_iq_a":-0.0928669572,"cg_iq_raw_a":-0.572500467,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.954546,"cg_sample_seq":14548867,"cg_sample_valid":1,"cg_theta_rad":5.00682497,"cg_vd_req_v":0.0952979624,"cg_vd_v":0.0952979624,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384778827,"cg_vq_v":-0.384778827,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.550845563,"dclink_p_w":79.9632492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.530518,"values":{"Elec_RPM":-5.65809287e-40,"EncoderCos":38713,"EncoderSin":12447,"GapTicks":54758,"Mech_RPM":-1.13161857e-40,"cg_du":50.1527748,"cg_dv":50.2191048,"cg_dw":49.7808952,"cg_id_a":-0.0210871398,"cg_id_raw_a":-0.127811536,"cg_iq_a":-0.300984532,"cg_iq_raw_a":0.607176721,"cg_iu_a":0.473703384,"cg_iv_a":0.0691539645,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.8454552,"cg_sample_seq":14548916,"cg_sample_valid":1,"cg_theta_rad":5.00642109,"cg_vd_req_v":0.0944055319,"cg_vd_v":0.0944055319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383256853,"cg_vq_v":-0.383256853,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.53833,"values":{"Elec_RPM":-5.65809287e-40,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54755,"Mech_RPM":-1.13161857e-40,"cg_du":50.1621246,"cg_dv":50.2219467,"cg_dw":49.7780533,"cg_id_a":0.173045546,"cg_id_raw_a":-0.0166892074,"cg_iq_a":0.0187256858,"cg_iq_raw_a":-0.911563814,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9145451,"cg_sample_seq":14548966,"cg_sample_valid":1,"cg_theta_rad":5.00551224,"cg_vd_req_v":0.0897861719,"cg_vd_v":0.0897861719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392396897,"cg_vq_v":-0.392396897,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8989258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.546143,"values":{"Elec_RPM":-5.54493802e-40,"EncoderCos":38746,"EncoderSin":12476,"GapTicks":54753,"Mech_RPM":-1.1089876e-40,"cg_du":50.1525078,"cg_dv":50.2236748,"cg_dw":49.7763252,"cg_id_a":-0.141077712,"cg_id_raw_a":0.0208535083,"cg_iq_a":-0.103897929,"cg_iq_raw_a":-0.725188315,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885473,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8563633,"cg_sample_seq":14549018,"cg_sample_valid":1,"cg_theta_rad":5.0073638,"cg_vd_req_v":0.0953768194,"cg_vd_v":0.0953768194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390222073,"cg_vq_v":-0.390222073,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8895874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.557861,"values":{"Elec_RPM":-5.54493802e-40,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-1.1089876e-40,"cg_du":50.1551094,"cg_dv":50.2154503,"cg_dw":49.7845497,"cg_id_a":0.254439741,"cg_id_raw_a":1.28527749,"cg_iq_a":-0.611411929,"cg_iq_raw_a":-0.93043375,"cg_iu_a":0.799897909,"cg_iv_a":0.177885473,"cg_iw_a":-0.977783382,"cg_sample_age_us":23.8709087,"cg_sample_seq":14549067,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0878096819,"cg_vd_v":0.0878096819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381110907,"cg_vq_v":-0.381110907,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8895874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.585205,"values":{"Elec_RPM":-5.32535455e-40,"EncoderCos":38718,"EncoderSin":12468,"GapTicks":54760,"Mech_RPM":-1.06507091e-40,"cg_du":50.1663704,"cg_dv":50.2180672,"cg_dw":49.7819328,"cg_id_a":0.269774765,"cg_id_raw_a":0.0169104375,"cg_iq_a":0.0547873974,"cg_iq_raw_a":0.220980451,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373065,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.8454552,"cg_sample_seq":14549217,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.0817430094,"cg_vd_v":0.0817430094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389724225,"cg_vq_v":-0.389724225,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4598198,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.593018,"values":{"Elec_RPM":-5.32535455e-40,"EncoderCos":38741,"EncoderSin":12505,"GapTicks":54761,"Mech_RPM":-1.06507091e-40,"cg_du":50.1597939,"cg_dv":50.2165718,"cg_dw":49.7834282,"cg_id_a":0.209915698,"cg_id_raw_a":0.426865637,"cg_iq_a":-0.0618337169,"cg_iq_raw_a":0.585324943,"cg_iu_a":-0.359904766,"cg_iv_a":0.721542895,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9436359,"cg_sample_seq":14549267,"cg_sample_valid":1,"cg_theta_rad":5.00529051,"cg_vd_req_v":0.0824549794,"cg_vd_v":0.0824549794,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384654105,"cg_vq_v":-0.384654105,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.60083,"values":{"Elec_RPM":-5.21885587e-40,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54754,"Mech_RPM":-1.04377117e-40,"cg_du":50.1604691,"cg_dv":50.2229767,"cg_dw":49.7770233,"cg_id_a":-0.11985819,"cg_id_raw_a":-0.142336309,"cg_iq_a":0.444400311,"cg_iq_raw_a":0.132726625,"cg_iu_a":-0.106198072,"cg_iv_a":0.757786751,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.954546,"cg_sample_seq":14549317,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0903925374,"cg_vd_v":0.0903925374,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393254131,"cg_vq_v":-0.393254131,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.612549,"values":{"Elec_RPM":-5.21885587e-40,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-1.04377117e-40,"cg_du":50.1543465,"cg_dv":50.2114334,"cg_dw":49.7885666,"cg_id_a":0.178641245,"cg_id_raw_a":0.862080097,"cg_iq_a":-0.300357312,"cg_iq_raw_a":-0.898382068,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14549367,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.084386304,"cg_vd_v":0.084386304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374029756,"cg_vq_v":-0.374029756,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.620361,"values":{"Elec_RPM":-5.11445914e-40,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-1.02289183e-40,"cg_du":50.1541672,"cg_dv":50.2117729,"cg_dw":49.7882271,"cg_id_a":0.222497776,"cg_id_raw_a":-0.569292486,"cg_iq_a":-0.271375656,"cg_iq_raw_a":-0.0180594921,"cg_iu_a":0.582434654,"cg_iv_a":-0.112065196,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9509087,"cg_sample_seq":14549417,"cg_sample_valid":1,"cg_theta_rad":5.00807047,"cg_vd_req_v":0.0847152397,"cg_vd_v":0.0847152397,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374425501,"cg_vq_v":-0.374425501,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.628174,"values":{"Elec_RPM":-5.11445914e-40,"EncoderCos":38709,"EncoderSin":12450,"GapTicks":54763,"Mech_RPM":-1.02289183e-40,"cg_du":50.1578827,"cg_dv":50.2151794,"cg_dw":49.7848206,"cg_id_a":0.234720409,"cg_id_raw_a":0.324789703,"cg_iq_a":0.0882889256,"cg_iq_raw_a":0.288845956,"cg_iu_a":-0.541124105,"cg_iv_a":0.612811446,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.954546,"cg_sample_seq":14549467,"cg_sample_valid":1,"cg_theta_rad":5.00601006,"cg_vd_req_v":0.0868370458,"cg_vd_v":0.0868370458,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380749434,"cg_vq_v":-0.380749434,"cg_vu_v":139.006058,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.635986,"values":{"Elec_RPM":-5.01216435e-40,"EncoderCos":38701,"EncoderSin":12478,"GapTicks":54764,"Mech_RPM":-1.00243287e-40,"cg_du":50.1535606,"cg_dv":50.2144203,"cg_dw":49.7855797,"cg_id_a":0.109016731,"cg_id_raw_a":-0.816335261,"cg_iq_a":0.0736917481,"cg_iq_raw_a":0.755778134,"cg_iu_a":-0.178685904,"cg_iv_a":0.10539782,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8563633,"cg_sample_seq":14549516,"cg_sample_valid":1,"cg_theta_rad":5.00765371,"cg_vd_req_v":0.0894428939,"cg_vd_v":0.0894428939,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37729311,"cg_vq_v":-0.37729311,"cg_vu_v":144.28476,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":43.1340027,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.643799,"values":{"Elec_RPM":-5.01216435e-40,"EncoderCos":38710,"EncoderSin":12431,"GapTicks":54771,"Mech_RPM":-1.00243287e-40,"cg_du":50.1393166,"cg_dv":50.2073898,"cg_dw":49.7926102,"cg_id_a":-0.159432918,"cg_id_raw_a":0.322733492,"cg_iq_a":-0.707814455,"cg_iq_raw_a":-0.512548327,"cg_iu_a":0.256240129,"cg_iv_a":-0.438259721,"cg_iw_a":0.182019591,"cg_sample_age_us":23.954546,"cg_sample_seq":14549566,"cg_sample_valid":1,"cg_theta_rad":5.00531292,"cg_vd_req_v":0.0938512161,"cg_vd_v":0.0938512161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3585217,"cg_vq_v":-0.3585217,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.2301712,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.671143,"values":{"Elec_RPM":-4.91190144e-40,"EncoderCos":38744,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-9.82380288e-41,"cg_du":50.1405716,"cg_dv":50.2064781,"cg_dw":49.7935219,"cg_id_a":0.111765884,"cg_id_raw_a":-0.416339129,"cg_iq_a":-0.488780022,"cg_iq_raw_a":-0.9842695,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150476,"cg_sample_age_us":26.823637,"cg_sample_seq":14549619,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0884762108,"cg_vd_v":0.0884762108,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35887602,"cg_vq_v":-0.35887602,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.7210732,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2531738,"temp_inv2_c":35.903595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.678955,"values":{"Elec_RPM":-4.91190144e-40,"EncoderCos":38698,"EncoderSin":12484,"GapTicks":54766,"Mech_RPM":-9.82380288e-41,"cg_du":50.1463203,"cg_dv":50.2122612,"cg_dw":49.7877388,"cg_id_a":-0.220721185,"cg_id_raw_a":-0.265498549,"cg_iq_a":0.197049111,"cg_iq_raw_a":0.301644713,"cg_iu_a":-0.794831038,"cg_iv_a":-0.981917262,"cg_iw_a":1.7767483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14549667,"cg_sample_valid":1,"cg_theta_rad":5.00623083,"cg_vd_req_v":0.0930942595,"cg_vd_v":0.0930942595,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370252401,"cg_vq_v":-0.370252401,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.690674,"values":{"Elec_RPM":-4.81367042e-40,"EncoderCos":38726,"EncoderSin":12501,"GapTicks":54778,"Mech_RPM":-9.62734084e-41,"cg_du":50.1391335,"cg_dv":50.2014542,"cg_dw":49.7985458,"cg_id_a":0.162483603,"cg_id_raw_a":-0.220296428,"cg_iq_a":-0.756210148,"cg_iq_raw_a":-0.820855021,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397701,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8672733,"cg_sample_seq":14549717,"cg_sample_valid":1,"cg_theta_rad":5.00587273,"cg_vd_req_v":0.085496299,"cg_vd_v":0.085496299,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352204859,"cg_vq_v":-0.352204859,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.8134384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9098511,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.698486,"values":{"Elec_RPM":-4.81367042e-40,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-9.62734084e-41,"cg_du":50.1451645,"cg_dv":50.2066422,"cg_dw":49.7933578,"cg_id_a":0.0103589892,"cg_id_raw_a":0.770030558,"cg_iq_a":-0.0349706411,"cg_iq_raw_a":0.912990332,"cg_iu_a":0.618678689,"cg_iv_a":-0.365772009,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9509087,"cg_sample_seq":14549767,"cg_sample_valid":1,"cg_theta_rad":5.00761318,"cg_vd_req_v":0.0867526457,"cg_vd_v":0.0867526457,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362411588,"cg_vq_v":-0.362411588,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8786926,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.706299,"values":{"Elec_RPM":-4.71740122e-40,"EncoderCos":38720,"EncoderSin":12428,"GapTicks":54764,"Mech_RPM":-9.43480243e-41,"cg_du":50.1652641,"cg_dv":50.214325,"cg_dw":49.785675,"cg_id_a":0.310717195,"cg_id_raw_a":-0.4660891,"cg_iq_a":1.07701027,"cg_iq_raw_a":0.208865598,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8563633,"cg_sample_seq":14549817,"cg_sample_valid":1,"cg_theta_rad":5.00770855,"cg_vd_req_v":0.0798469856,"cg_vd_v":0.0798469856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383836299,"cg_vq_v":-0.383836299,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.714111,"values":{"Elec_RPM":-4.71740122e-40,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-9.43480243e-41,"cg_du":50.1506119,"cg_dv":50.2170906,"cg_dw":49.7829094,"cg_id_a":-0.35670948,"cg_id_raw_a":-0.684704244,"cg_iq_a":0.857075095,"cg_iq_raw_a":-0.977467954,"cg_iu_a":-1.88214588,"cg_iv_a":-0.402015924,"cg_iw_a":2.28416181,"cg_sample_age_us":23.9836369,"cg_sample_seq":14549867,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.093369469,"cg_vd_v":0.093369469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379494548,"cg_vq_v":-0.379494548,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.72583,"values":{"Elec_RPM":-4.62302376e-40,"EncoderCos":38728,"EncoderSin":12471,"GapTicks":54779,"Mech_RPM":-9.24604753e-41,"cg_du":50.1348457,"cg_dv":50.2002449,"cg_dw":49.7997551,"cg_id_a":-0.129703075,"cg_id_raw_a":0.0972421691,"cg_iq_a":-0.493760705,"cg_iq_raw_a":0.0465362705,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.954546,"cg_sample_seq":14549917,"cg_sample_valid":1,"cg_theta_rad":5.00740623,"cg_vd_req_v":0.0882584527,"cg_vd_v":0.0882584527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348019481,"cg_vq_v":-0.348019481,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.525474846,"dclink_p_w":76.0491638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8849182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.733643,"values":{"Elec_RPM":-4.62302376e-40,"EncoderCos":38720,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-9.24604753e-41,"cg_du":50.1397743,"cg_dv":50.2069016,"cg_dw":49.7930984,"cg_id_a":-0.179840744,"cg_id_raw_a":-0.370255798,"cg_iq_a":-0.0624347255,"cg_iq_raw_a":-0.545493543,"cg_iu_a":0.256240368,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8672733,"cg_sample_seq":14549967,"cg_sample_valid":1,"cg_theta_rad":5.00867128,"cg_vd_req_v":0.091745168,"cg_vd_v":0.091745168,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359608173,"cg_vq_v":-0.359608173,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.525474846,"dclink_p_w":76.0491638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8849182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107457079,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.741455,"values":{"Elec_RPM":-4.53053807e-40,"EncoderCos":38710,"EncoderSin":12443,"GapTicks":54774,"Mech_RPM":-9.06107613e-41,"cg_du":50.1492271,"cg_dv":50.2052841,"cg_dw":49.7947159,"cg_id_a":0.22125715,"cg_id_raw_a":-0.297335088,"cg_iq_a":0.213665083,"cg_iq_raw_a":-0.211664841,"cg_iu_a":-0.577367783,"cg_iv_a":0.467836142,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8600006,"cg_sample_seq":14550017,"cg_sample_valid":1,"cg_theta_rad":5.00701332,"cg_vd_req_v":0.0842827633,"cg_vd_v":0.0842827633,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363532037,"cg_vq_v":-0.363532037,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.525474846,"dclink_p_w":76.0491638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.749268,"values":{"Elec_RPM":-4.53053807e-40,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-9.06107613e-41,"cg_du":50.1360092,"cg_dv":50.2043724,"cg_dw":49.7956276,"cg_id_a":-0.209519565,"cg_id_raw_a":-0.427536994,"cg_iq_a":-0.147129342,"cg_iq_raw_a":0.906145751,"cg_iu_a":0.401215553,"cg_iv_a":0.177885473,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9654541,"cg_sample_seq":14550066,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0919715762,"cg_vd_v":0.0919715762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355277956,"cg_vq_v":-0.355277956,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.340631247,"dclink_p_w":49.2977409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.780518,"values":{"Elec_RPM":-4.43994412e-40,"EncoderCos":38738,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-8.87988824e-41,"cg_du":50.1402092,"cg_dv":50.20401,"cg_dw":49.79599,"cg_id_a":0.0761342272,"cg_id_raw_a":-0.0558354221,"cg_iq_a":-0.00128850341,"cg_iq_raw_a":-0.11361856,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885473,"cg_iw_a":0.363238633,"cg_sample_age_us":23.8454552,"cg_sample_seq":14550120,"cg_sample_valid":1,"cg_theta_rad":5.00878763,"cg_vd_req_v":0.0868392289,"cg_vd_v":0.0868392289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356360137,"cg_vq_v":-0.356360137,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.1827736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8942566,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.78833,"values":{"Elec_RPM":-4.43994412e-40,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-8.87988824e-41,"cg_du":50.1376724,"cg_dv":50.2038269,"cg_dw":49.7961731,"cg_id_a":-0.086085476,"cg_id_raw_a":0.0690406337,"cg_iq_a":-0.0713240355,"cg_iq_raw_a":0.335273772,"cg_iu_a":-0.323660851,"cg_iv_a":0.322860718,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9872723,"cg_sample_seq":14550167,"cg_sample_valid":1,"cg_theta_rad":5.00750113,"cg_vd_req_v":0.090075694,"cg_vd_v":0.090075694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354338646,"cg_vq_v":-0.354338646,"cg_vu_v":105.134323,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.1827736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8927002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.796143,"values":{"Elec_RPM":-4.35117186e-40,"EncoderCos":38728,"EncoderSin":12499,"GapTicks":54770,"Mech_RPM":-8.70234372e-41,"cg_du":50.1413116,"cg_dv":50.2083282,"cg_dw":49.7916718,"cg_id_a":0.0116457418,"cg_id_raw_a":0.539225399,"cg_iq_a":0.255765736,"cg_iq_raw_a":0.488289744,"cg_iu_a":-0.287417412,"cg_iv_a":-0.438259721,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9836369,"cg_sample_seq":14550217,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.0903188363,"cg_vd_v":0.0903188363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362817109,"cg_vq_v":-0.362817109,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.1981392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.803955,"values":{"Elec_RPM":-4.35117186e-40,"EncoderCos":38727,"EncoderSin":12462,"GapTicks":54775,"Mech_RPM":-8.70234372e-41,"cg_du":50.1315308,"cg_dv":50.2037392,"cg_dw":49.7962608,"cg_id_a":-0.22754173,"cg_id_raw_a":-0.114460431,"cg_iq_a":-0.304639995,"cg_iq_raw_a":-0.155918807,"cg_iu_a":-0.251173496,"cg_iv_a":-0.438259721,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9872723,"cg_sample_seq":14550267,"cg_sample_valid":1,"cg_theta_rad":5.00587273,"cg_vd_req_v":0.0945485756,"cg_vd_v":0.0945485756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350839019,"cg_vq_v":-0.350839019,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.308011889,"dclink_p_w":44.5769157,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.811768,"values":{"Elec_RPM":-4.26415123e-40,"EncoderCos":38717,"EncoderSin":12449,"GapTicks":54772,"Mech_RPM":-8.52830245e-41,"cg_du":50.1400108,"cg_dv":50.2064781,"cg_dw":49.7935219,"cg_id_a":-0.199708223,"cg_id_raw_a":-0.329390377,"cg_iq_a":0.181449234,"cg_iq_raw_a":-0.104957141,"cg_iu_a":-0.178685904,"cg_iv_a":-0.402015805,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9763641,"cg_sample_seq":14550317,"cg_sample_valid":1,"cg_theta_rad":5.00720119,"cg_vd_req_v":0.0919679329,"cg_vd_v":0.0919679329,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360125422,"cg_vq_v":-0.360125422,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.364189744,"dclink_p_w":52.7072334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8927002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.81958,"values":{"Elec_RPM":-4.26415123e-40,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-8.52830245e-41,"cg_du":50.1408539,"cg_dv":50.2009544,"cg_dw":49.7990456,"cg_id_a":0.160874844,"cg_id_raw_a":0.434926629,"cg_iq_a":-0.120772436,"cg_iq_raw_a":0.259422898,"cg_iu_a":-0.468636274,"cg_iv_a":0.286616921,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9472733,"cg_sample_seq":14550367,"cg_sample_valid":1,"cg_theta_rad":5.00735521,"cg_vd_req_v":0.0832998604,"cg_vd_v":0.0832998604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353699505,"cg_vq_v":-0.353699505,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8927002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.827393,"values":{"Elec_RPM":-4.17888222e-40,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-8.35776443e-41,"cg_du":50.1481361,"cg_dv":50.2067223,"cg_dw":49.7932777,"cg_id_a":0.204208776,"cg_id_raw_a":0.735456765,"cg_iq_a":0.256775171,"cg_iq_raw_a":1.96357608,"cg_iu_a":0.328727961,"cg_iv_a":0.322860837,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9836369,"cg_sample_seq":14550417,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.0836847648,"cg_vd_v":0.0836847648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364376366,"cg_vq_v":-0.364376366,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8895874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.839111,"values":{"Elec_RPM":-4.17888222e-40,"EncoderCos":38711,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-8.35776443e-41,"cg_du":50.1477547,"cg_dv":50.2033958,"cg_dw":49.7966042,"cg_id_a":0.250798166,"cg_id_raw_a":-0.10972736,"cg_iq_a":-0.0307815373,"cg_iq_raw_a":0.645493984,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14550467,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.0824857727,"cg_vd_v":0.0824857727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359236956,"cg_vq_v":-0.359236956,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.846924,"values":{"Elec_RPM":-4.09529476e-40,"EncoderCos":38726,"EncoderSin":12482,"GapTicks":54778,"Mech_RPM":-8.19058952e-41,"cg_du":50.148407,"cg_dv":50.2013245,"cg_dw":49.7986755,"cg_id_a":0.459956944,"cg_id_raw_a":0.385292083,"cg_iq_a":-0.16284959,"cg_iq_raw_a":-0.108012147,"cg_iu_a":-0.649855375,"cg_iv_a":1.4101758,"cg_iw_a":-0.760320425,"cg_sample_age_us":23.954546,"cg_sample_seq":14550517,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0785424113,"cg_vd_v":0.0785424113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357106775,"cg_vq_v":-0.357106775,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.854736,"values":{"Elec_RPM":-4.09529476e-40,"EncoderCos":38742,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-8.19058952e-41,"cg_du":50.1302834,"cg_dv":50.2035713,"cg_dw":49.7964287,"cg_id_a":-0.259909779,"cg_id_raw_a":-0.119963452,"cg_iq_a":-0.497544497,"cg_iq_raw_a":0.353744984,"cg_iu_a":1.16233611,"cg_iv_a":-0.510747433,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9509087,"cg_sample_seq":14550567,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0936952755,"cg_vd_v":0.0936952755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350366443,"cg_vq_v":-0.350366443,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.88208,"values":{"Elec_RPM":-4.01338887e-40,"EncoderCos":38732,"EncoderSin":12449,"GapTicks":54775,"Mech_RPM":-8.02677773e-41,"cg_du":50.1380692,"cg_dv":50.2040977,"cg_dw":49.7959023,"cg_id_a":-0.18685773,"cg_id_raw_a":0.225721866,"cg_iq_a":-0.0702146292,"cg_iq_raw_a":-0.195891112,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8563633,"cg_sample_seq":14550620,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0899500102,"cg_vd_v":0.0899500102,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356094152,"cg_vq_v":-0.356094152,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.893799,"values":{"Elec_RPM":-4.01338887e-40,"EncoderCos":38713,"EncoderSin":12468,"GapTicks":54778,"Mech_RPM":-8.02677773e-41,"cg_du":50.1402702,"cg_dv":50.2014961,"cg_dw":49.7985039,"cg_id_a":0.00225028396,"cg_id_raw_a":0.240667731,"cg_iq_a":-0.208902776,"cg_iq_raw_a":-0.339473307,"cg_iu_a":0.908629179,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9436359,"cg_sample_seq":14550666,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0867518485,"cg_vd_v":0.0867518485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353523195,"cg_vq_v":-0.353523195,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-91.0296402,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.9238586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2636.901611,"values":{"Elec_RPM":-3.93309446e-40,"EncoderCos":38719,"EncoderSin":12441,"GapTicks":54781,"Mech_RPM":-7.86618893e-41,"cg_du":50.1406746,"cg_dv":50.1989479,"cg_dw":49.8010521,"cg_id_a":0.263662159,"cg_id_raw_a":0.783833385,"cg_iq_a":-0.375283957,"cg_iq_raw_a":-0.722143114,"cg_iu_a":0.219996452,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9181824,"cg_sample_seq":14550716,"cg_sample_valid":1,"cg_theta_rad":5.00661182,"cg_vd_req_v":0.0838576183,"cg_vd_v":0.0838576183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349179178,"cg_vq_v":-0.349179178,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-92.851944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.909424,"values":{"Elec_RPM":-3.93309446e-40,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54777,"Mech_RPM":-7.86618893e-41,"cg_du":50.1289597,"cg_dv":50.2026482,"cg_dw":49.7973518,"cg_id_a":-0.209335268,"cg_id_raw_a":0.198254243,"cg_iq_a":-0.411824524,"cg_iq_raw_a":0.0919096768,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.760320425,"cg_sample_age_us":23.8563633,"cg_sample_seq":14550766,"cg_sample_valid":1,"cg_theta_rad":5.00663805,"cg_vd_req_v":0.0940051749,"cg_vd_v":0.0940051749,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348324865,"cg_vq_v":-0.348324865,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.917236,"values":{"Elec_RPM":-3.85441156e-40,"EncoderCos":38660,"EncoderSin":12482,"GapTicks":54772,"Mech_RPM":-7.70882311e-41,"cg_du":50.1430511,"cg_dv":50.2070885,"cg_dw":49.7929115,"cg_id_a":-0.104992487,"cg_id_raw_a":-0.00260315393,"cg_iq_a":0.0636340976,"cg_iq_raw_a":0.182843834,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065315,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8563633,"cg_sample_seq":14550817,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.093768172,"cg_vd_v":0.093768172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360591024,"cg_vq_v":-0.360591024,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8864746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.925049,"values":{"Elec_RPM":-3.85441156e-40,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54773,"Mech_RPM":-7.70882311e-41,"cg_du":50.1428375,"cg_dv":50.2061424,"cg_dw":49.7938576,"cg_id_a":0.16692923,"cg_id_raw_a":0.443427891,"cg_iq_a":-0.00128975883,"cg_iq_raw_a":-1.55814922,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9327278,"cg_sample_seq":14550867,"cg_sample_valid":1,"cg_theta_rad":5.00791264,"cg_vd_req_v":0.08841075,"cg_vd_v":0.08841075,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360344917,"cg_vq_v":-0.360344917,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.932861,"values":{"Elec_RPM":-3.77734014e-40,"EncoderCos":38708,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-7.55468028e-41,"cg_du":50.14468,"cg_dv":50.2115059,"cg_dw":49.7884941,"cg_id_a":-0.00257694721,"cg_id_raw_a":-0.231489182,"cg_iq_a":0.338804305,"cg_iq_raw_a":-0.860604942,"cg_iu_a":-0.976050138,"cg_iv_a":0.177885413,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9436359,"cg_sample_seq":14550917,"cg_sample_valid":1,"cg_theta_rad":5.00629377,"cg_vd_req_v":0.0935369357,"cg_vd_v":0.0935369357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3683303,"cg_vq_v":-0.3683303,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.940674,"values":{"Elec_RPM":-3.77734014e-40,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-7.55468028e-41,"cg_du":50.1413231,"cg_dv":50.209816,"cg_dw":49.790184,"cg_id_a":0.0356449112,"cg_id_raw_a":0.456623942,"cg_iq_a":0.022904247,"cg_iq_raw_a":-0.828296721,"cg_iu_a":-0.504880428,"cg_iv_a":0.214129269,"cg_iw_a":0.290751159,"cg_sample_age_us":23.9872723,"cg_sample_seq":14550967,"cg_sample_valid":1,"cg_theta_rad":5.0065732,"cg_vd_req_v":0.0933869332,"cg_vd_v":0.0933869332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364434808,"cg_vq_v":-0.364434808,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.694130182,"dclink_p_w":-100.7631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.888031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.952393,"values":{"Elec_RPM":-3.70181015e-40,"EncoderCos":38717,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-7.40362031e-41,"cg_du":50.13657,"cg_dv":50.2101898,"cg_dw":49.7898102,"cg_id_a":-0.195782334,"cg_id_raw_a":0.0587725528,"cg_iq_a":-0.291128755,"cg_iq_raw_a":0.225022152,"cg_iu_a":-0.178685665,"cg_iv_a":-0.474503636,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.9436359,"cg_sample_seq":14551017,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0971082225,"cg_vd_v":0.0971082225,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362374544,"cg_vq_v":-0.362374544,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.851790905,"dclink_p_w":-123.275146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8818054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2636.960205,"values":{"Elec_RPM":-3.70181015e-40,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-7.40362031e-41,"cg_du":50.1481094,"cg_dv":50.2138519,"cg_dw":49.7861481,"cg_id_a":0.0829019323,"cg_id_raw_a":0.51668483,"cg_iq_a":0.190453917,"cg_iq_raw_a":0.270189583,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14551067,"cg_sample_valid":1,"cg_theta_rad":5.00614882,"cg_vd_req_v":0.0917164907,"cg_vd_v":0.0917164907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372595578,"cg_vq_v":-0.372595578,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.839105368,"dclink_p_w":-121.439232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8818054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2636.987549,"values":{"Elec_RPM":-3.62775153e-40,"EncoderCos":38783,"EncoderSin":12454,"GapTicks":54770,"Mech_RPM":-7.25550306e-41,"cg_du":50.1340332,"cg_dv":50.2089577,"cg_dw":49.7910423,"cg_id_a":-0.0183748119,"cg_id_raw_a":-0.104144797,"cg_iq_a":-0.245841265,"cg_iq_raw_a":-0.298976839,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14551120,"cg_sample_valid":1,"cg_theta_rad":5.0055275,"cg_vd_req_v":0.0935617462,"cg_vd_v":0.0935617462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361593634,"cg_vq_v":-0.361593634,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.839105368,"dclink_p_w":-121.439232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2636.995093,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2636.995099,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2636.995104,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2636.995361,"values":{"Elec_RPM":-3.62775153e-40,"EncoderCos":38718,"EncoderSin":12465,"GapTicks":54770,"Mech_RPM":-7.25550306e-41,"cg_du":50.133152,"cg_dv":50.2090225,"cg_dw":49.7909775,"cg_id_a":-0.279637992,"cg_id_raw_a":-0.404695302,"cg_iq_a":-0.391411692,"cg_iq_raw_a":-0.621803701,"cg_iu_a":-0.541124105,"cg_iv_a":0.0329101086,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14551167,"cg_sample_valid":1,"cg_theta_rad":5.00664949,"cg_vd_req_v":0.0990687013,"cg_vd_v":0.0990687013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358756095,"cg_vq_v":-0.358756095,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.839105368,"dclink_p_w":-121.439232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.00708,"values":{"Elec_RPM":-3.55516427e-40,"EncoderCos":38720,"EncoderSin":12443,"GapTicks":54760,"Mech_RPM":-7.11032854e-41,"cg_du":50.1465378,"cg_dv":50.2177162,"cg_dw":49.7822838,"cg_id_a":-0.166063249,"cg_id_raw_a":-0.414299875,"cg_iq_a":0.585103869,"cg_iq_raw_a":1.38002992,"cg_iu_a":-0.287417412,"cg_iv_a":-0.112065196,"cg_iw_a":0.399482608,"cg_sample_age_us":23.863636,"cg_sample_seq":14551217,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.0974367931,"cg_vd_v":0.0974367931,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377983928,"cg_vq_v":-0.377983928,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.839105368,"dclink_p_w":-121.439232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8927002,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.014893,"values":{"Elec_RPM":-3.55516427e-40,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54770,"Mech_RPM":-7.11032854e-41,"cg_du":50.1401596,"cg_dv":50.2084885,"cg_dw":49.7915115,"cg_id_a":0.116043597,"cg_id_raw_a":0.111754373,"cg_iq_a":-0.197410226,"cg_iq_raw_a":-0.534539044,"cg_iu_a":0.437459469,"cg_iv_a":0.0691539049,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9836369,"cg_sample_seq":14551267,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.0926420614,"cg_vd_v":0.0926420614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362069458,"cg_vq_v":-0.362069458,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.022705,"values":{"Elec_RPM":-3.48404837e-40,"EncoderCos":38746,"EncoderSin":12442,"GapTicks":54770,"Mech_RPM":-6.96809674e-41,"cg_du":50.1383362,"cg_dv":50.2090416,"cg_dw":49.7909584,"cg_id_a":0.0462133922,"cg_id_raw_a":0.0820223391,"cg_iq_a":-0.049501583,"cg_iq_raw_a":0.882161558,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9290905,"cg_sample_seq":14551317,"cg_sample_valid":1,"cg_theta_rad":5.00557566,"cg_vd_req_v":0.0932950675,"cg_vd_v":0.0932950675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362144381,"cg_vq_v":-0.362144381,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.030518,"values":{"Elec_RPM":-3.48404837e-40,"EncoderCos":38699,"EncoderSin":12462,"GapTicks":54772,"Mech_RPM":-6.96809674e-41,"cg_du":50.1391258,"cg_dv":50.2065849,"cg_dw":49.7934151,"cg_id_a":-0.0333230942,"cg_id_raw_a":0.368996859,"cg_iq_a":-0.17540583,"cg_iq_raw_a":-0.143313423,"cg_iu_a":0.14750886,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9727268,"cg_sample_seq":14551367,"cg_sample_valid":1,"cg_theta_rad":5.00653315,"cg_vd_req_v":0.0936335251,"cg_vd_v":0.0936335251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358381599,"cg_vq_v":-0.358381599,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8304443,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.03833,"values":{"Elec_RPM":-3.41433377e-40,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-6.82866755e-41,"cg_du":50.1459885,"cg_dv":50.2095947,"cg_dw":49.7904053,"cg_id_a":0.117445976,"cg_id_raw_a":-0.0520950891,"cg_iq_a":0.18611604,"cg_iq_raw_a":0.0685837641,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772009,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9799995,"cg_sample_seq":14551417,"cg_sample_valid":1,"cg_theta_rad":5.00426722,"cg_vd_req_v":0.0889442638,"cg_vd_v":0.0889442638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366896749,"cg_vq_v":-0.366896749,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.046143,"values":{"Elec_RPM":-3.41433377e-40,"EncoderCos":38711,"EncoderSin":12447,"GapTicks":54773,"Mech_RPM":-6.82866755e-41,"cg_du":50.14674,"cg_dv":50.2055016,"cg_dw":49.7944984,"cg_id_a":0.245311201,"cg_id_raw_a":0.486348927,"cg_iq_a":-0.193273291,"cg_iq_raw_a":-0.0591522641,"cg_iu_a":-0.287417173,"cg_iv_a":0.10539782,"cg_iw_a":0.182019353,"cg_sample_age_us":23.863636,"cg_sample_seq":14551467,"cg_sample_valid":1,"cg_theta_rad":5.00817823,"cg_vd_req_v":0.0862675533,"cg_vd_v":0.0862675533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362461567,"cg_vq_v":-0.362461567,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.057861,"values":{"Elec_RPM":-3.34602047e-40,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-6.69204095e-41,"cg_du":50.1370201,"cg_dv":50.2128105,"cg_dw":49.7871895,"cg_id_a":-0.296952456,"cg_id_raw_a":-0.0663507655,"cg_iq_a":0.0360503122,"cg_iq_raw_a":-0.660901606,"cg_iu_a":-0.432392597,"cg_iv_a":-0.0395776033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14551517,"cg_sample_valid":1,"cg_theta_rad":5.00716734,"cg_vd_req_v":0.0986363664,"cg_vd_v":0.0986363664,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366365522,"cg_vq_v":-0.366365522,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.065674,"values":{"Elec_RPM":-3.34602047e-40,"EncoderCos":38712,"EncoderSin":12445,"GapTicks":54774,"Mech_RPM":-6.69204095e-41,"cg_du":50.1457062,"cg_dv":50.2048492,"cg_dw":49.7951508,"cg_id_a":0.327920943,"cg_id_raw_a":0.00418968033,"cg_iq_a":-0.321800232,"cg_iq_raw_a":0.547671199,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9836369,"cg_sample_seq":14551567,"cg_sample_valid":1,"cg_theta_rad":5.00694847,"cg_vd_req_v":0.0864082575,"cg_vd_v":0.0864082575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361000657,"cg_vq_v":-0.361000657,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.093018,"values":{"Elec_RPM":-3.27910847e-40,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-6.55821694e-41,"cg_du":50.1466293,"cg_dv":50.2148857,"cg_dw":49.7851143,"cg_id_a":-0.0381562412,"cg_id_raw_a":0.0110601755,"cg_iq_a":0.251957715,"cg_iq_raw_a":-0.580760062,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9799995,"cg_sample_seq":14551620,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0937342644,"cg_vd_v":0.0937342644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374411076,"cg_vq_v":-0.374411076,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8818054,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.10083,"values":{"Elec_RPM":-3.27910847e-40,"EncoderCos":38768,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-6.55821694e-41,"cg_du":50.1477394,"cg_dv":50.2168236,"cg_dw":49.7831764,"cg_id_a":0.186182275,"cg_id_raw_a":0.270692587,"cg_iq_a":0.464828461,"cg_iq_raw_a":-0.012273374,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14551666,"cg_sample_valid":1,"cg_theta_rad":5.00644207,"cg_vd_req_v":0.0905378759,"cg_vd_v":0.0905378759,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378701061,"cg_vq_v":-0.378701061,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8895874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.108643,"values":{"Elec_RPM":-3.2135277e-40,"EncoderCos":38717,"EncoderSin":12453,"GapTicks":54764,"Mech_RPM":-6.42705541e-41,"cg_du":50.1334991,"cg_dv":50.2140656,"cg_dw":49.7859344,"cg_id_a":-0.420136809,"cg_id_raw_a":-0.597994268,"cg_iq_a":-0.24182789,"cg_iq_raw_a":0.269028127,"cg_iu_a":0.292484045,"cg_iv_a":-0.112065196,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9581814,"cg_sample_seq":14551716,"cg_sample_valid":1,"cg_theta_rad":5.00609684,"cg_vd_req_v":0.104090072,"cg_vd_v":0.104090072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36568886,"cg_vq_v":-0.36568886,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8895874,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.120361,"values":{"Elec_RPM":-3.14927817e-40,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54768,"Mech_RPM":-6.29855634e-41,"cg_du":50.141922,"cg_dv":50.2105484,"cg_dw":49.7894516,"cg_id_a":-0.126461297,"cg_id_raw_a":0.312489241,"cg_iq_a":-0.293953627,"cg_iq_raw_a":-0.00359108183,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885473,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9509087,"cg_sample_seq":14551867,"cg_sample_valid":1,"cg_theta_rad":5.00661564,"cg_vd_req_v":0.0951035991,"cg_vd_v":0.0951035991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365385294,"cg_vq_v":-0.365385294,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8740234,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.128174,"values":{"Elec_RPM":-3.0862898e-40,"EncoderCos":38738,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-6.17257961e-41,"cg_du":50.1430244,"cg_dv":50.2109795,"cg_dw":49.7890205,"cg_id_a":0.141380951,"cg_id_raw_a":-0.137705982,"cg_iq_a":-0.139340907,"cg_iq_raw_a":0.315641701,"cg_iu_a":0.292484283,"cg_iv_a":0.214129269,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.9218178,"cg_sample_seq":14551917,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.0910544693,"cg_vd_v":0.0910544693,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367505372,"cg_vq_v":-0.367505372,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8989258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.135986,"values":{"Elec_RPM":-3.0862898e-40,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54763,"Mech_RPM":-6.17257961e-41,"cg_du":50.1465263,"cg_dv":50.2145996,"cg_dw":49.7854004,"cg_id_a":-0.0129727721,"cg_id_raw_a":-0.326486737,"cg_iq_a":-0.0390663594,"cg_iq_raw_a":0.0778637007,"cg_iu_a":0.0387773514,"cg_iv_a":-0.583235025,"cg_iw_a":0.544457674,"cg_sample_age_us":23.863636,"cg_sample_seq":14551967,"cg_sample_valid":1,"cg_theta_rad":5.00912142,"cg_vd_req_v":0.0940248296,"cg_vd_v":0.0940248296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373840898,"cg_vq_v":-0.373840898,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8989258,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.143799,"values":{"Elec_RPM":-3.02456261e-40,"EncoderCos":38714,"EncoderSin":12477,"GapTicks":54766,"Mech_RPM":-6.04912521e-41,"cg_du":50.1503143,"cg_dv":50.2125587,"cg_dw":49.7874413,"cg_id_a":0.211492389,"cg_id_raw_a":0.0330551155,"cg_iq_a":0.103178024,"cg_iq_raw_a":0.696042299,"cg_iu_a":-0.359905005,"cg_iv_a":-0.365772128,"cg_iw_a":0.725677133,"cg_sample_age_us":23.954546,"cg_sample_seq":14552017,"cg_sample_valid":1,"cg_theta_rad":5.00731945,"cg_vd_req_v":0.0890838727,"cg_vd_v":0.0890838727,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373198032,"cg_vq_v":-0.373198032,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.155518,"values":{"Elec_RPM":-3.02456261e-40,"EncoderCos":38688,"EncoderSin":12458,"GapTicks":54754,"Mech_RPM":-6.04912521e-41,"cg_du":50.153717,"cg_dv":50.2233963,"cg_dw":49.7766037,"cg_id_a":-0.223467395,"cg_id_raw_a":-0.120668642,"cg_iq_a":0.724898219,"cg_iq_raw_a":-0.0848742574,"cg_iu_a":-0.178685904,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9436359,"cg_sample_seq":14552067,"cg_sample_valid":1,"cg_theta_rad":5.00649071,"cg_vd_req_v":0.0997748375,"cg_vd_v":0.0997748375,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389116496,"cg_vq_v":-0.389116496,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8724365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.182861,"values":{"Elec_RPM":-2.96409658e-40,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54757,"Mech_RPM":-5.92819315e-41,"cg_du":50.1638107,"cg_dv":50.2204742,"cg_dw":49.7795258,"cg_id_a":0.339659661,"cg_id_raw_a":-0.218949124,"cg_iq_a":0.717429101,"cg_iq_raw_a":0.051465746,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8563633,"cg_sample_seq":14552120,"cg_sample_valid":1,"cg_theta_rad":5.00788975,"cg_vd_req_v":0.087260507,"cg_vd_v":0.087260507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391297817,"cg_vq_v":-0.391297817,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8724365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.190674,"values":{"Elec_RPM":-2.96409658e-40,"EncoderCos":38719,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-5.92819315e-41,"cg_du":50.1482506,"cg_dv":50.2066841,"cg_dw":49.7933159,"cg_id_a":0.412227243,"cg_id_raw_a":-0.112800263,"cg_iq_a":-0.534055114,"cg_iq_raw_a":-0.593130291,"cg_iu_a":-0.432392597,"cg_iv_a":0.939005971,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8563633,"cg_sample_seq":14552166,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0851660594,"cg_vd_v":0.0851660594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364012003,"cg_vq_v":-0.364012003,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8599854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.198486,"values":{"Elec_RPM":-2.90482165e-40,"EncoderCos":38722,"EncoderSin":12440,"GapTicks":54756,"Mech_RPM":-5.8096433e-41,"cg_du":50.1556015,"cg_dv":50.221386,"cg_dw":49.778614,"cg_id_a":0.096952714,"cg_id_raw_a":0.30851683,"cg_iq_a":0.574921906,"cg_iq_raw_a":2.36250448,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9472733,"cg_sample_seq":14552217,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0938095823,"cg_vd_v":0.0938095823,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388087124,"cg_vq_v":-0.388087124,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8599854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.206299,"values":{"Elec_RPM":-2.90482165e-40,"EncoderCos":38762,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-5.8096433e-41,"cg_du":50.1461754,"cg_dv":50.2147598,"cg_dw":49.7852402,"cg_id_a":0.281608492,"cg_id_raw_a":0.111441739,"cg_iq_a":-0.0719960481,"cg_iq_raw_a":-0.353289187,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860718,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14552267,"cg_sample_valid":1,"cg_theta_rad":5.00719595,"cg_vd_req_v":0.0902337804,"cg_vd_v":0.0902337804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374904513,"cg_vq_v":-0.374904513,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.163036585,"dclink_p_w":23.5954132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8599854,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.214111,"values":{"Elec_RPM":-2.84673783e-40,"EncoderCos":38742,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-5.69347566e-41,"cg_du":50.1479378,"cg_dv":50.2089729,"cg_dw":49.7910271,"cg_id_a":0.42989397,"cg_id_raw_a":1.36015356,"cg_iq_a":-0.267528266,"cg_iq_raw_a":-1.54651713,"cg_iu_a":-1.01229382,"cg_iv_a":-0.0758213997,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9254551,"cg_sample_seq":14552317,"cg_sample_valid":1,"cg_theta_rad":5.00734377,"cg_vd_req_v":0.0855760276,"cg_vd_v":0.0855760276,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367433012,"cg_vq_v":-0.367433012,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.264519334,"dclink_p_w":38.1661072,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.221924,"values":{"Elec_RPM":-2.84673783e-40,"EncoderCos":38742,"EncoderSin":12456,"GapTicks":54767,"Mech_RPM":-5.69347566e-41,"cg_du":50.1420326,"cg_dv":50.2117424,"cg_dw":49.7882576,"cg_id_a":0.0100622121,"cg_id_raw_a":0.239799351,"cg_iq_a":-0.235365599,"cg_iq_raw_a":0.0960789621,"cg_iu_a":-1.37473226,"cg_iv_a":-0.00333368778,"cg_iw_a":1.37806594,"cg_sample_age_us":23.9472733,"cg_sample_seq":14552367,"cg_sample_valid":1,"cg_theta_rad":5.00629091,"cg_vd_req_v":0.0929774791,"cg_vd_v":0.0929774791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36789304,"cg_vq_v":-0.36789304,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.0530472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.233643,"values":{"Elec_RPM":-2.78977505e-40,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-5.5795501e-41,"cg_du":50.1490288,"cg_dv":50.2178497,"cg_dw":49.7821503,"cg_id_a":-0.0916275457,"cg_id_raw_a":-0.211432233,"cg_iq_a":0.265249252,"cg_iq_raw_a":0.854375362,"cg_iu_a":-1.44721985,"cg_iv_a":0.540323734,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9836369,"cg_sample_seq":14552416,"cg_sample_valid":1,"cg_theta_rad":5.0084281,"cg_vd_req_v":0.0941885114,"cg_vd_v":0.0941885114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379924566,"cg_vq_v":-0.379924566,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.34618926,"dclink_p_w":-50.1021194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8724365,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.241455,"values":{"Elec_RPM":-2.78977505e-40,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-5.5795501e-41,"cg_du":50.1432457,"cg_dv":50.2059784,"cg_dw":49.7940216,"cg_id_a":0.116853625,"cg_id_raw_a":-0.191033497,"cg_iq_a":-0.460418344,"cg_iq_raw_a":-0.235934749,"cg_iu_a":0.183752775,"cg_iv_a":0.250373125,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9872723,"cg_sample_seq":14552467,"cg_sample_valid":1,"cg_theta_rad":5.00590563,"cg_vd_req_v":0.0871611163,"cg_vd_v":0.0871611163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360542893,"cg_vq_v":-0.360542893,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.249268,"values":{"Elec_RPM":-2.73400337e-40,"EncoderCos":38733,"EncoderSin":12453,"GapTicks":54765,"Mech_RPM":-5.46800674e-41,"cg_du":50.1419334,"cg_dv":50.2129478,"cg_dw":49.7870522,"cg_id_a":-0.358097702,"cg_id_raw_a":-0.399266839,"cg_iq_a":-0.0338649526,"cg_iq_raw_a":-0.255977005,"cg_iu_a":0.111264944,"cg_iv_a":0.250373065,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8672733,"cg_sample_seq":14552517,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0950521007,"cg_vd_v":0.0950521007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369267881,"cg_vq_v":-0.369267881,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8911438,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.25708,"values":{"Elec_RPM":-2.73400337e-40,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-5.46800674e-41,"cg_du":50.1548386,"cg_dv":50.2069893,"cg_dw":49.7930107,"cg_id_a":0.420364708,"cg_id_raw_a":0.352189839,"cg_iq_a":0.0338785201,"cg_iq_raw_a":0.87311852,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641617,"cg_iw_a":0.218263388,"cg_sample_age_us":23.954546,"cg_sample_seq":14552567,"cg_sample_valid":1,"cg_theta_rad":5.00607681,"cg_vd_req_v":0.0800372139,"cg_vd_v":0.0800372139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368189305,"cg_vq_v":-0.368189305,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.284424,"values":{"Elec_RPM":-2.67935273e-40,"EncoderCos":38730,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-5.35870546e-41,"cg_du":50.1482887,"cg_dv":50.206459,"cg_dw":49.793541,"cg_id_a":0.215372995,"cg_id_raw_a":-0.0862999409,"cg_iq_a":-0.0876968354,"cg_iq_raw_a":0.429483533,"cg_iu_a":0.183752537,"cg_iv_a":-0.474503636,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14552620,"cg_sample_valid":1,"cg_theta_rad":5.00639772,"cg_vd_req_v":0.0834593698,"cg_vd_v":0.0834593698,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36406672,"cg_vq_v":-0.36406672,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8693237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.296143,"values":{"Elec_RPM":-2.62575306e-40,"EncoderCos":38704,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-5.25150612e-41,"cg_du":50.1612778,"cg_dv":50.2157249,"cg_dw":49.7842751,"cg_id_a":0.165496662,"cg_id_raw_a":-0.0107571017,"cg_iq_a":0.653591156,"cg_iq_raw_a":0.0725734234,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309052,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9290905,"cg_sample_seq":14552766,"cg_sample_valid":1,"cg_theta_rad":5.00635529,"cg_vd_req_v":0.0848306119,"cg_vd_v":0.0848306119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384603232,"cg_vq_v":-0.384603232,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.888031,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.303955,"values":{"Elec_RPM":-2.57320437e-40,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-5.14640874e-41,"cg_du":50.145649,"cg_dv":50.2130661,"cg_dw":49.7869339,"cg_id_a":-0.222518563,"cg_id_raw_a":0.0482789949,"cg_iq_a":0.11205253,"cg_iq_raw_a":0.114862412,"cg_iu_a":-0.396148682,"cg_iv_a":1.48266339,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9727268,"cg_sample_seq":14552817,"cg_sample_valid":1,"cg_theta_rad":5.00624037,"cg_vd_req_v":0.0934561044,"cg_vd_v":0.0934561044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371209472,"cg_vq_v":-0.371209472,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.311768,"values":{"Elec_RPM":-2.57320437e-40,"EncoderCos":38720,"EncoderSin":12439,"GapTicks":54765,"Mech_RPM":-5.14640874e-41,"cg_du":50.1467438,"cg_dv":50.2128601,"cg_dw":49.7871399,"cg_id_a":-0.196035877,"cg_id_raw_a":0.530310154,"cg_iq_a":0.192006409,"cg_iq_raw_a":1.18294835,"cg_iu_a":0.727410078,"cg_iv_a":-0.945673347,"cg_iw_a":0.218263268,"cg_sample_age_us":23.863636,"cg_sample_seq":14552867,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0926371962,"cg_vd_v":0.0926371962,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371482581,"cg_vq_v":-0.371482581,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.31958,"values":{"Elec_RPM":-2.52170665e-40,"EncoderCos":38691,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-5.0434133e-41,"cg_du":50.15168,"cg_dv":50.2039337,"cg_dw":49.7960663,"cg_id_a":0.291181803,"cg_id_raw_a":0.413039446,"cg_iq_a":-0.251734138,"cg_iq_raw_a":-0.757463574,"cg_iu_a":0.111264944,"cg_iv_a":0.721542954,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9836369,"cg_sample_seq":14552917,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0820028037,"cg_vd_v":0.0820028037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361716121,"cg_vq_v":-0.361716121,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8755798,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.331299,"values":{"Elec_RPM":-2.52170665e-40,"EncoderCos":38701,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-5.0434133e-41,"cg_du":50.1454239,"cg_dv":50.2069054,"cg_dw":49.7930946,"cg_id_a":-0.0965687931,"cg_id_raw_a":0.0575356074,"cg_iq_a":-0.181375444,"cg_iq_raw_a":0.225341558,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14552967,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0889596865,"cg_vd_v":0.0889596865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362395048,"cg_vq_v":-0.362395048,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8693237,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.339111,"values":{"Elec_RPM":-2.47125991e-40,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-4.94251981e-41,"cg_du":50.1458893,"cg_dv":50.2089577,"cg_dw":49.7910423,"cg_id_a":-0.0514757186,"cg_id_raw_a":0.148153961,"cg_iq_a":0.114339836,"cg_iq_raw_a":0.598035097,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397761,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9836369,"cg_sample_seq":14553017,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0888635665,"cg_vd_v":0.0888635665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365860462,"cg_vq_v":-0.365860462,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8537903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.346924,"values":{"Elec_RPM":-2.47125991e-40,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54763,"Mech_RPM":-4.94251981e-41,"cg_du":50.1556778,"cg_dv":50.2147141,"cg_dw":49.7852859,"cg_id_a":0.0923624486,"cg_id_raw_a":0.0455226749,"cg_iq_a":0.58352679,"cg_iq_raw_a":-0.0674254373,"cg_iu_a":-0.214929581,"cg_iv_a":0.032910049,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9836369,"cg_sample_seq":14553067,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0881330147,"cg_vd_v":0.0881330147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378867656,"cg_vq_v":-0.378867656,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6336594,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8537903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.374268,"values":{"Elec_RPM":-2.42186414e-40,"EncoderCos":38738,"EncoderSin":12494,"GapTicks":54766,"Mech_RPM":-4.84372827e-41,"cg_du":50.1524887,"cg_dv":50.2121658,"cg_dw":49.7878342,"cg_id_a":0.327732325,"cg_id_raw_a":0.218206078,"cg_iq_a":0.239074156,"cg_iq_raw_a":-0.124713756,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8527279,"cg_sample_seq":14553120,"cg_sample_valid":1,"cg_theta_rad":5.00776577,"cg_vd_req_v":0.0845137089,"cg_vd_v":0.0845137089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374452442,"cg_vq_v":-0.374452442,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.0706148148,"dclink_p_w":10.1886415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.38208,"values":{"Elec_RPM":-2.42186414e-40,"EncoderCos":38690,"EncoderSin":12462,"GapTicks":54761,"Mech_RPM":-4.84372827e-41,"cg_du":50.1568718,"cg_dv":50.2167091,"cg_dw":49.7832909,"cg_id_a":0.058092203,"cg_id_raw_a":0.00024252139,"cg_iq_a":0.380057484,"cg_iq_raw_a":0.365269244,"cg_iu_a":0.147508621,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9436359,"cg_sample_seq":14553166,"cg_sample_valid":1,"cg_theta_rad":5.006567,"cg_vd_req_v":0.0907363966,"cg_vd_v":0.0907363966,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383101255,"cg_vq_v":-0.383101255,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.7803846,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.389893,"values":{"Elec_RPM":-2.37344927e-40,"EncoderCos":38733,"EncoderSin":12476,"GapTicks":54757,"Mech_RPM":-4.74689855e-41,"cg_du":50.1474953,"cg_dv":50.2203789,"cg_dw":49.7796211,"cg_id_a":-0.244160414,"cg_id_raw_a":-0.111017205,"cg_iq_a":0.259223133,"cg_iq_raw_a":0.0267310347,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9763641,"cg_sample_seq":14553216,"cg_sample_valid":1,"cg_theta_rad":5.00772858,"cg_vd_req_v":0.0975806341,"cg_vd_v":0.0975806341,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38381201,"cg_vq_v":-0.38381201,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2292175,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.397705,"values":{"Elec_RPM":-2.37344927e-40,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-4.74689855e-41,"cg_du":50.1521988,"cg_dv":50.2169952,"cg_dw":49.7830048,"cg_id_a":0.425599456,"cg_id_raw_a":-0.16931878,"cg_iq_a":0.132791653,"cg_iq_raw_a":-0.452783436,"cg_iu_a":-0.86731863,"cg_iv_a":0.649055243,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8563633,"cg_sample_seq":14553266,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0912405998,"cg_vd_v":0.0847635493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38044408,"cg_vq_v":-0.38044408,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.903595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.409424,"values":{"Elec_RPM":-2.32601532e-40,"EncoderCos":38706,"EncoderSin":12456,"GapTicks":54757,"Mech_RPM":-4.65203064e-41,"cg_du":50.1539955,"cg_dv":50.2205162,"cg_dw":49.7794838,"cg_id_a":-0.0643429309,"cg_id_raw_a":0.0944779292,"cg_iq_a":-0.132858545,"cg_iq_raw_a":0.484049976,"cg_iu_a":0.292484045,"cg_iv_a":0.250373065,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.8672733,"cg_sample_seq":14553316,"cg_sample_valid":1,"cg_theta_rad":5.00622654,"cg_vd_req_v":0.0943983048,"cg_vd_v":0.0943983048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384650558,"cg_vq_v":-0.384650558,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.903595,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.417236,"values":{"Elec_RPM":-2.32601532e-40,"EncoderCos":38709,"EncoderSin":12474,"GapTicks":54754,"Mech_RPM":-4.65203064e-41,"cg_du":50.1553688,"cg_dv":50.2232742,"cg_dw":49.7767258,"cg_id_a":-0.062515296,"cg_id_raw_a":0.175907686,"cg_iq_a":0.00428691506,"cg_iq_raw_a":0.309796125,"cg_iu_a":0.79989779,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9836369,"cg_sample_seq":14553367,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0960784703,"cg_vd_v":0.0960784703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390463114,"cg_vq_v":-0.390463114,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.425049,"values":{"Elec_RPM":-2.27949221e-40,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54754,"Mech_RPM":-4.55898442e-41,"cg_du":50.1613121,"cg_dv":50.2234879,"cg_dw":49.7765121,"cg_id_a":0.114924029,"cg_id_raw_a":-0.699186981,"cg_iq_a":0.146971598,"cg_iq_raw_a":0.660373747,"cg_iu_a":0.473703384,"cg_iv_a":0.286616921,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9618187,"cg_sample_seq":14553417,"cg_sample_valid":1,"cg_theta_rad":5.00796413,"cg_vd_req_v":0.0910016,"cg_vd_v":0.0910016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394242495,"cg_vq_v":-0.394242495,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.436768,"values":{"Elec_RPM":-2.27949221e-40,"EncoderCos":38727,"EncoderSin":12432,"GapTicks":54748,"Mech_RPM":-4.55898442e-41,"cg_du":50.1679153,"cg_dv":50.2287788,"cg_dw":49.7712212,"cg_id_a":0.0727764815,"cg_id_raw_a":0.220934659,"cg_iq_a":0.609229207,"cg_iq_raw_a":0.496097118,"cg_iu_a":-0.178685665,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9436359,"cg_sample_seq":14553467,"cg_sample_valid":1,"cg_theta_rad":5.00644302,"cg_vd_req_v":0.0914078504,"cg_vd_v":0.0914078504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406338096,"cg_vq_v":-0.406338096,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.44458,"values":{"Elec_RPM":-2.23387995e-40,"EncoderCos":38699,"EncoderSin":12446,"GapTicks":54750,"Mech_RPM":-4.46775989e-41,"cg_du":50.1688271,"cg_dv":50.2266769,"cg_dw":49.7733231,"cg_id_a":0.0986261442,"cg_id_raw_a":-0.0505731963,"cg_iq_a":0.401893049,"cg_iq_raw_a":0.250613868,"cg_iu_a":-0.359905005,"cg_iv_a":0.21412921,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14553517,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0908146724,"cg_vd_v":0.0908146724,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403505057,"cg_vq_v":-0.403505057,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.3206472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.452393,"values":{"Elec_RPM":-2.23387995e-40,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54757,"Mech_RPM":-4.46775989e-41,"cg_du":50.155674,"cg_dv":50.2207375,"cg_dw":49.7792625,"cg_id_a":0.145031363,"cg_id_raw_a":-0.0334967412,"cg_iq_a":-0.394355386,"cg_iq_raw_a":-1.02164292,"cg_iu_a":-0.178685904,"cg_iv_a":-0.148309112,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9254551,"cg_sample_seq":14553567,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.0910431519,"cg_vd_v":0.0910431519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387746185,"cg_vq_v":-0.387746185,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.479736,"values":{"Elec_RPM":-2.18917853e-40,"EncoderCos":38724,"EncoderSin":12473,"GapTicks":54751,"Mech_RPM":-4.37835705e-41,"cg_du":50.1643143,"cg_dv":50.2263145,"cg_dw":49.7736855,"cg_id_a":0.130974889,"cg_id_raw_a":-0.34725377,"cg_iq_a":0.0316935554,"cg_iq_raw_a":0.294956952,"cg_iu_a":-0.359905005,"cg_iv_a":-0.655722737,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8563633,"cg_sample_seq":14553622,"cg_sample_valid":1,"cg_theta_rad":5.0058217,"cg_vd_req_v":0.0907003656,"cg_vd_v":0.0907003656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399929464,"cg_vq_v":-0.399929464,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8677673,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.487549,"values":{"Elec_RPM":-2.18917853e-40,"EncoderCos":38764,"EncoderSin":12485,"GapTicks":54752,"Mech_RPM":-4.37835705e-41,"cg_du":50.1544609,"cg_dv":50.2251091,"cg_dw":49.7748909,"cg_id_a":-0.061569877,"cg_id_raw_a":-0.145192504,"cg_iq_a":-0.387170196,"cg_iq_raw_a":-0.302814364,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14553667,"cg_sample_valid":1,"cg_theta_rad":5.00745058,"cg_vd_req_v":0.0933665186,"cg_vd_v":0.0933665186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393710881,"cg_vq_v":-0.393710881,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.25376749,"dclink_p_w":-36.7264137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8537903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.495361,"values":{"Elec_RPM":-2.14538795e-40,"EncoderCos":38761,"EncoderSin":12445,"GapTicks":54745,"Mech_RPM":-4.2907759e-41,"cg_du":50.1591148,"cg_dv":50.2316437,"cg_dw":49.7683563,"cg_id_a":-0.172925323,"cg_id_raw_a":0.0454571322,"cg_iq_a":0.0831603855,"cg_iq_raw_a":0.623542428,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065315,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14553717,"cg_sample_valid":1,"cg_theta_rad":5.00628567,"cg_vd_req_v":0.0973400772,"cg_vd_v":0.0973400772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404903144,"cg_vq_v":-0.404903144,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8537903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.50708,"values":{"Elec_RPM":-2.14538795e-40,"EncoderCos":38734,"EncoderSin":12454,"GapTicks":54747,"Mech_RPM":-4.2907759e-41,"cg_du":50.1595764,"cg_dv":50.2292747,"cg_dw":49.7707253,"cg_id_a":-0.176093608,"cg_id_raw_a":-0.094149746,"cg_iq_a":-0.225727409,"cg_iq_raw_a":-0.809209228,"cg_iu_a":0.79989779,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.954546,"cg_sample_seq":14553766,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0969082564,"cg_vd_v":0.0969082564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401394099,"cg_vq_v":-0.401394099,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0869245529,"dclink_p_w":12.5801258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8849182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.514893,"values":{"Elec_RPM":-2.10250822e-40,"EncoderCos":38710,"EncoderSin":12444,"GapTicks":54749,"Mech_RPM":-4.20501643e-41,"cg_du":50.1671257,"cg_dv":50.2280579,"cg_dw":49.7719421,"cg_id_a":0.0530058816,"cg_id_raw_a":0.0626842082,"cg_iq_a":-0.0665630102,"cg_iq_raw_a":0.590092599,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9436359,"cg_sample_seq":14553817,"cg_sample_valid":1,"cg_theta_rad":5.00847769,"cg_vd_req_v":0.0922726169,"cg_vd_v":0.0922726169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403404176,"cg_vq_v":-0.403404176,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.522705,"values":{"Elec_RPM":-2.10250822e-40,"EncoderCos":38729,"EncoderSin":12486,"GapTicks":54750,"Mech_RPM":-4.20501643e-41,"cg_du":50.1600914,"cg_dv":50.2268181,"cg_dw":49.7731819,"cg_id_a":-0.0256463923,"cg_id_raw_a":0.270786583,"cg_iq_a":-0.247474015,"cg_iq_raw_a":-0.00998620782,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772009,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9618187,"cg_sample_seq":14553867,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.0936944857,"cg_vd_v":0.0936944857,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398436785,"cg_vq_v":-0.398436785,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.8134384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.880249,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.530518,"values":{"Elec_RPM":-2.06046926e-40,"EncoderCos":38735,"EncoderSin":12464,"GapTicks":54756,"Mech_RPM":-4.12093852e-41,"cg_du":50.1553955,"cg_dv":50.221756,"cg_dw":49.778244,"cg_id_a":0.109083757,"cg_id_raw_a":-0.257170856,"cg_iq_a":-0.761905134,"cg_iq_raw_a":-0.205594018,"cg_iu_a":0.364971638,"cg_iv_a":0.322860718,"cg_iw_a":-0.687832355,"cg_sample_age_us":23.9509087,"cg_sample_seq":14553918,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0922668055,"cg_vd_v":0.0922668055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387722969,"cg_vq_v":-0.387722969,"cg_vu_v":139.885834,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.367814183,"dclink_p_w":53.0699806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8615417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2637.53833,"values":{"Elec_RPM":-2.06046926e-40,"EncoderCos":38694,"EncoderSin":12461,"GapTicks":54746,"Mech_RPM":-4.12093852e-41,"cg_du":50.1699104,"cg_dv":50.2303047,"cg_dw":49.7696953,"cg_id_a":0.0546102375,"cg_id_raw_a":0.0988486558,"cg_iq_a":0.106248319,"cg_iq_raw_a":0.229765236,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0395776033,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9836369,"cg_sample_seq":14553967,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0930159315,"cg_vd_v":0.0930159315,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406555325,"cg_vq_v":-0.406555325,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8615417,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2637.550049,"values":{"Elec_RPM":-2.01927109e-40,"EncoderCos":38700,"EncoderSin":12496,"GapTicks":54743,"Mech_RPM":-4.03854217e-41,"cg_du":50.1679382,"cg_dv":50.2327843,"cg_dw":49.7672157,"cg_id_a":-0.102292687,"cg_id_raw_a":0.14510721,"cg_iq_a":0.354746699,"cg_iq_raw_a":-0.640282869,"cg_iu_a":-0.903562307,"cg_iv_a":0.467836082,"cg_iw_a":0.435726225,"cg_sample_age_us":23.954546,"cg_sample_seq":14554017,"cg_sample_valid":1,"cg_theta_rad":5.00645399,"cg_vd_req_v":0.0954332873,"cg_vd_v":0.0954332873,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409145445,"cg_vq_v":-0.409145445,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2637.557861,"values":{"Elec_RPM":-2.01927109e-40,"EncoderCos":38713,"EncoderSin":12471,"GapTicks":54746,"Mech_RPM":-4.03854217e-41,"cg_du":50.1611214,"cg_dv":50.2303162,"cg_dw":49.7696838,"cg_id_a":-0.177268177,"cg_id_raw_a":0.167383909,"cg_iq_a":0.0943897665,"cg_iq_raw_a":-0.237527162,"cg_iu_a":0.364971876,"cg_iv_a":0.685299158,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9836369,"cg_sample_seq":14554067,"cg_sample_valid":1,"cg_theta_rad":5.00819492,"cg_vd_req_v":0.0981570259,"cg_vd_v":0.0981570259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403323442,"cg_vq_v":-0.403323442,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.259082675,"dclink_p_w":37.4956512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.565674,"values":{"Elec_RPM":-1.97891369e-40,"EncoderCos":38703,"EncoderSin":12472,"GapTicks":54746,"Mech_RPM":-3.95782738e-41,"cg_du":50.1661911,"cg_dv":50.2305183,"cg_dw":49.7694817,"cg_id_a":0.0524494946,"cg_id_raw_a":-0.226279631,"cg_iq_a":0.084260568,"cg_iq_raw_a":0.12354894,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.836941957,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9472733,"cg_sample_seq":14554117,"cg_sample_valid":1,"cg_theta_rad":5.00905228,"cg_vd_req_v":0.0952765942,"cg_vd_v":0.0952765942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406241804,"cg_vq_v":-0.406241804,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.593018,"values":{"Elec_RPM":-1.97891369e-40,"EncoderCos":38718,"EncoderSin":12482,"GapTicks":54745,"Mech_RPM":-3.95782738e-41,"cg_du":50.1591339,"cg_dv":50.2311325,"cg_dw":49.7688675,"cg_id_a":-0.246404231,"cg_id_raw_a":-0.020762343,"cg_iq_a":-0.0318650454,"cg_iq_raw_a":-0.0376332663,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994658,"cg_sample_age_us":23.8600006,"cg_sample_seq":14554170,"cg_sample_valid":1,"cg_theta_rad":5.0064702,"cg_vd_req_v":0.100047946,"cg_vd_v":0.100047946,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404729873,"cg_vq_v":-0.404729873,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0869245529,"dclink_p_w":12.5801258,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.604736,"values":{"Elec_RPM":-1.93932701e-40,"EncoderCos":38732,"EncoderSin":12467,"GapTicks":54751,"Mech_RPM":-3.87865402e-41,"cg_du":50.1689606,"cg_dv":50.2258377,"cg_dw":49.7741623,"cg_id_a":0.365279794,"cg_id_raw_a":0.965307474,"cg_iq_a":-0.20056203,"cg_iq_raw_a":0.201955214,"cg_iu_a":0.219996452,"cg_iv_a":0.504079938,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14554216,"cg_sample_valid":1,"cg_theta_rad":5.00623894,"cg_vd_req_v":0.086285904,"cg_vd_v":0.086285904,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403227836,"cg_vq_v":-0.403227836,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8164368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.612549,"values":{"Elec_RPM":-1.93932701e-40,"EncoderCos":38694,"EncoderSin":12487,"GapTicks":54746,"Mech_RPM":-3.87865402e-41,"cg_du":50.1753578,"cg_dv":50.2304993,"cg_dw":49.7695007,"cg_id_a":0.260602832,"cg_id_raw_a":0.133494124,"cg_iq_a":0.191056833,"cg_iq_raw_a":0.305968225,"cg_iu_a":-0.359904766,"cg_iv_a":0.431592345,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8527279,"cg_sample_seq":14554266,"cg_sample_valid":1,"cg_theta_rad":5.00564098,"cg_vd_req_v":0.0885018408,"cg_vd_v":0.0885018408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411299914,"cg_vq_v":-0.411299914,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8164368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.620361,"values":{"Elec_RPM":-1.90051104e-40,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54748,"Mech_RPM":-3.80102208e-41,"cg_du":50.1620255,"cg_dv":50.2290573,"cg_dw":49.7709427,"cg_id_a":-0.135827124,"cg_id_raw_a":-0.0744544193,"cg_iq_a":-0.296169788,"cg_iq_raw_a":-0.771364272,"cg_iu_a":0.437459469,"cg_iv_a":-0.148309052,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.8600006,"cg_sample_seq":14554316,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0959788933,"cg_vd_v":0.0959788933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402181864,"cg_vq_v":-0.402181864,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.628174,"values":{"Elec_RPM":-1.90051104e-40,"EncoderCos":38705,"EncoderSin":12495,"GapTicks":54749,"Mech_RPM":-3.80102208e-41,"cg_du":50.1608047,"cg_dv":50.2273445,"cg_dw":49.7726555,"cg_id_a":-0.0750461295,"cg_id_raw_a":0.209068581,"cg_iq_a":-0.552841902,"cg_iq_raw_a":-0.233356401,"cg_iu_a":0.401215792,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9181824,"cg_sample_seq":14554366,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0955760702,"cg_vd_v":0.0955760702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399096519,"cg_vq_v":-0.399096519,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.635986,"values":{"Elec_RPM":-1.86253585e-40,"EncoderCos":38719,"EncoderSin":12489,"GapTicks":54741,"Mech_RPM":-3.72507171e-41,"cg_du":50.1725006,"cg_dv":50.2349815,"cg_dw":49.7650185,"cg_id_a":0.111398242,"cg_id_raw_a":0.47908923,"cg_iq_a":0.239955932,"cg_iq_raw_a":0.0107119847,"cg_iu_a":0.546190977,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9581814,"cg_sample_seq":14554417,"cg_sample_valid":1,"cg_theta_rad":5.00499964,"cg_vd_req_v":0.0927022472,"cg_vd_v":0.0927022472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41630435,"cg_vq_v":-0.41630435,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.1827049,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.643799,"values":{"Elec_RPM":-1.86253585e-40,"EncoderCos":38749,"EncoderSin":12483,"GapTicks":54740,"Mech_RPM":-3.72507171e-41,"cg_du":50.1650734,"cg_dv":50.2355652,"cg_dw":49.7644348,"cg_id_a":-0.089864783,"cg_id_raw_a":0.0551763363,"cg_iq_a":0.0105363596,"cg_iq_raw_a":-0.649257183,"cg_iu_a":0.0750210285,"cg_iv_a":-0.438259721,"cg_iw_a":0.363238692,"cg_sample_age_us":23.863636,"cg_sample_seq":14554466,"cg_sample_valid":1,"cg_theta_rad":5.00855255,"cg_vd_req_v":0.096743837,"cg_vd_v":0.096743837,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414816082,"cg_vq_v":-0.414816082,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.462048173,"dclink_p_w":67.0730133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.651611,"values":{"Elec_RPM":-1.82526131e-40,"EncoderCos":38712,"EncoderSin":12499,"GapTicks":54743,"Mech_RPM":-3.65052263e-41,"cg_du":50.1617775,"cg_dv":50.2333755,"cg_dw":49.7666245,"cg_id_a":-0.260412067,"cg_id_raw_a":0.013856858,"cg_iq_a":-0.262870461,"cg_iq_raw_a":0.0385725424,"cg_iu_a":0.691166401,"cg_iv_a":-0.25704062,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8454552,"cg_sample_seq":14554516,"cg_sample_valid":1,"cg_theta_rad":5.00709057,"cg_vd_req_v":0.099930048,"cg_vd_v":0.099930048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408020616,"cg_vq_v":-0.408020616,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.462048173,"dclink_p_w":67.0730133,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.66333,"values":{"Elec_RPM":-1.82526131e-40,"EncoderCos":38700,"EncoderSin":12449,"GapTicks":54743,"Mech_RPM":-3.65052263e-41,"cg_du":50.167614,"cg_dv":50.2330437,"cg_dw":49.7669563,"cg_id_a":-0.130194455,"cg_id_raw_a":-0.65360105,"cg_iq_a":-0.0582389608,"cg_iq_raw_a":0.588841617,"cg_iu_a":-0.359904766,"cg_iv_a":0.105397701,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9436359,"cg_sample_seq":14554567,"cg_sample_valid":1,"cg_theta_rad":5.007061,"cg_vd_req_v":0.0975574404,"cg_vd_v":0.0975574404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410252094,"cg_vq_v":-0.410252094,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.605211318,"dclink_p_w":87.5889969,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8491211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.671143,"values":{"Elec_RPM":-1.78875749e-40,"EncoderCos":38709,"EncoderSin":12465,"GapTicks":54743,"Mech_RPM":-3.57751498e-41,"cg_du":50.1655731,"cg_dv":50.2330933,"cg_dw":49.7669067,"cg_id_a":-0.108489648,"cg_id_raw_a":0.10771209,"cg_iq_a":-0.0555582345,"cg_iq_raw_a":0.77661097,"cg_iu_a":0.219996452,"cg_iv_a":0.214129269,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9799995,"cg_sample_seq":14554617,"cg_sample_valid":1,"cg_theta_rad":5.00659752,"cg_vd_req_v":0.0979164317,"cg_vd_v":0.0979164317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409471393,"cg_vq_v":-0.409471393,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.698486,"values":{"Elec_RPM":-1.78875749e-40,"EncoderCos":38726,"EncoderSin":12456,"GapTicks":54739,"Mech_RPM":-3.57751498e-41,"cg_du":50.1808052,"cg_dv":50.2369499,"cg_dw":49.7630501,"cg_id_a":0.281841427,"cg_id_raw_a":-0.139195666,"cg_iq_a":0.612349808,"cg_iq_raw_a":0.314987928,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8490906,"cg_sample_seq":14554669,"cg_sample_valid":1,"cg_theta_rad":5.00804138,"cg_vd_req_v":0.0883786678,"cg_vd_v":0.0883786678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.423576772,"cg_vq_v":-0.423576772,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.706299,"values":{"Elec_RPM":-1.75295431e-40,"EncoderCos":38706,"EncoderSin":12450,"GapTicks":54744,"Mech_RPM":-3.50590863e-41,"cg_du":50.1746941,"cg_dv":50.2320557,"cg_dw":49.7679443,"cg_id_a":0.150684521,"cg_id_raw_a":0.341718465,"cg_iq_a":0.0340726674,"cg_iq_raw_a":0.32725355,"cg_iu_a":0.111264944,"cg_iv_a":0.032910049,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9472733,"cg_sample_seq":14554716,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.0904681608,"cg_vd_v":0.0904681608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413052142,"cg_vq_v":-0.413052142,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.718018,"values":{"Elec_RPM":-1.75295431e-40,"EncoderCos":38744,"EncoderSin":12466,"GapTicks":54734,"Mech_RPM":-3.50590863e-41,"cg_du":50.1856995,"cg_dv":50.2415886,"cg_dw":49.7584114,"cg_id_a":0.314010531,"cg_id_raw_a":-0.122737028,"cg_iq_a":0.896766901,"cg_iq_raw_a":0.608222902,"cg_iu_a":0.328727841,"cg_iv_a":0.39534843,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9509087,"cg_sample_seq":14554766,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.0872425362,"cg_vd_v":0.0872425362,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.434364319,"cg_vq_v":-0.434364319,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.72583,"values":{"Elec_RPM":-1.71792185e-40,"EncoderCos":38704,"EncoderSin":12482,"GapTicks":54739,"Mech_RPM":-3.4358437e-41,"cg_du":50.1821938,"cg_dv":50.2371864,"cg_dw":49.7628136,"cg_id_a":0.11079789,"cg_id_raw_a":0.266262949,"cg_iq_a":0.476923764,"cg_iq_raw_a":0.246155709,"cg_iu_a":0.183752537,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14554816,"cg_sample_valid":1,"cg_theta_rad":5.00649261,"cg_vd_req_v":0.0891524553,"cg_vd_v":0.0891524553,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.425681889,"cg_vq_v":-0.425681889,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.733643,"values":{"Elec_RPM":-1.71792185e-40,"EncoderCos":38732,"EncoderSin":12446,"GapTicks":54743,"Mech_RPM":-3.4358437e-41,"cg_du":50.1754456,"cg_dv":50.2327805,"cg_dw":49.7672195,"cg_id_a":0.112546697,"cg_id_raw_a":0.339966416,"cg_iq_a":-0.0977751315,"cg_iq_raw_a":0.579867899,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333368778,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9181824,"cg_sample_seq":14554867,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0882523134,"cg_vd_v":0.0882523134,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414958119,"cg_vq_v":-0.414958119,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.512789547,"dclink_p_w":74.2132874,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.741455,"values":{"Elec_RPM":-1.68359004e-40,"EncoderCos":38711,"EncoderSin":12488,"GapTicks":54745,"Mech_RPM":-3.36718008e-41,"cg_du":50.1722107,"cg_dv":50.2309532,"cg_dw":49.7690468,"cg_id_a":-0.020869948,"cg_id_raw_a":-0.0481424481,"cg_iq_a":-0.128024295,"cg_iq_raw_a":-0.186040148,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8490906,"cg_sample_seq":14554916,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0897906423,"cg_vd_v":0.0897906423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.410493523,"cg_vq_v":-0.410493523,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.749268,"values":{"Elec_RPM":-1.68359004e-40,"EncoderCos":38732,"EncoderSin":12447,"GapTicks":54746,"Mech_RPM":-3.36718008e-41,"cg_du":50.1693115,"cg_dv":50.2301826,"cg_dw":49.7698174,"cg_id_a":0.0392689854,"cg_id_raw_a":0.0104937609,"cg_iq_a":-0.123277865,"cg_iq_raw_a":-0.143832669,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14554967,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.090517506,"cg_vd_v":0.090517506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407993346,"cg_vq_v":-0.407993346,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.75708,"values":{"Elec_RPM":-1.64988881e-40,"EncoderCos":38758,"EncoderSin":12456,"GapTicks":54745,"Mech_RPM":-3.29977762e-41,"cg_du":50.1755486,"cg_dv":50.2317657,"cg_dw":49.7682343,"cg_id_a":0.265213609,"cg_id_raw_a":0.0623280108,"cg_iq_a":0.33727634,"cg_iq_raw_a":-0.029974699,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9872723,"cg_sample_seq":14555018,"cg_sample_valid":1,"cg_theta_rad":5.00750113,"cg_vd_req_v":0.0844584256,"cg_vd_v":0.0844584256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.414204866,"cg_vq_v":-0.414204866,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.4449806,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.858429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.764893,"values":{"Elec_RPM":-1.64988881e-40,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54746,"Mech_RPM":-3.29977762e-41,"cg_du":50.1752396,"cg_dv":50.2308197,"cg_dw":49.7691803,"cg_id_a":0.210059553,"cg_id_raw_a":0.405514449,"cg_iq_a":0.184166953,"cg_iq_raw_a":0.550147355,"cg_iu_a":-0.686099529,"cg_iv_a":0.612811446,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14555067,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0868301243,"cg_vd_v":0.0868301243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412112355,"cg_vq_v":-0.412112355,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.30438745,"dclink_p_w":44.0523682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.858429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.776611,"values":{"Elec_RPM":-1.61688823e-40,"EncoderCos":38705,"EncoderSin":12476,"GapTicks":54748,"Mech_RPM":-3.23377647e-41,"cg_du":50.1692276,"cg_dv":50.2284927,"cg_dw":49.7715073,"cg_id_a":0.0768687204,"cg_id_raw_a":0.223913267,"cg_iq_a":-0.110387385,"cg_iq_raw_a":-0.377327323,"cg_iu_a":-0.359904766,"cg_iv_a":-0.112065196,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9872723,"cg_sample_seq":14555116,"cg_sample_valid":1,"cg_theta_rad":5.00710773,"cg_vd_req_v":0.0906253606,"cg_vd_v":0.0906253606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405279666,"cg_vq_v":-0.405279666,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.0676575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.803955,"values":{"Elec_RPM":-1.61688823e-40,"EncoderCos":38731,"EncoderSin":12427,"GapTicks":54753,"Mech_RPM":-3.23377647e-41,"cg_du":50.168129,"cg_dv":50.2244263,"cg_dw":49.7755737,"cg_id_a":0.267308861,"cg_id_raw_a":0.297799498,"cg_iq_a":-0.347008467,"cg_iq_raw_a":-1.35383654,"cg_iu_a":-0.251173496,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8600006,"cg_sample_seq":14555171,"cg_sample_valid":1,"cg_theta_rad":5.00626707,"cg_vd_req_v":0.086496748,"cg_vd_v":0.086496748,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399363428,"cg_vq_v":-0.399363428,"cg_vu_v":22.4345207,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.496479809,"dclink_p_w":71.8528671,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.811768,"values":{"Elec_RPM":-1.58451824e-40,"EncoderCos":38722,"EncoderSin":12468,"GapTicks":54744,"Mech_RPM":-3.16903648e-41,"cg_du":50.1736565,"cg_dv":50.2318268,"cg_dw":49.7681732,"cg_id_a":0.0625607669,"cg_id_raw_a":0.115012787,"cg_iq_a":0.343830019,"cg_iq_raw_a":-0.352142751,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539645,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9872723,"cg_sample_seq":14555216,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.0890437737,"cg_vd_v":0.0890437737,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412593782,"cg_vq_v":-0.412593782,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.9162254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8646545,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.81958,"values":{"Elec_RPM":-1.58451824e-40,"EncoderCos":38720,"EncoderSin":12457,"GapTicks":54746,"Mech_RPM":-3.16903648e-41,"cg_du":50.1663704,"cg_dv":50.2303581,"cg_dw":49.7696419,"cg_id_a":-0.121376269,"cg_id_raw_a":0.410006911,"cg_iq_a":-0.0177251995,"cg_iq_raw_a":-0.140836611,"cg_iu_a":0.183752775,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9727268,"cg_sample_seq":14555266,"cg_sample_valid":1,"cg_theta_rad":5.00941992,"cg_vd_req_v":0.0938308537,"cg_vd_v":0.0938308537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406395763,"cg_vq_v":-0.406395763,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.9162254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8771057,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.831299,"values":{"Elec_RPM":-1.52181013e-40,"EncoderCos":38752,"EncoderSin":12475,"GapTicks":54749,"Mech_RPM":-3.04362026e-41,"cg_du":50.15728,"cg_dv":50.2277222,"cg_dw":49.7722778,"cg_id_a":-0.0742847174,"cg_id_raw_a":-0.260041505,"cg_iq_a":-0.133464471,"cg_iq_raw_a":0.0501573421,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9290905,"cg_sample_seq":14555417,"cg_sample_valid":1,"cg_theta_rad":5.00722313,"cg_vd_req_v":0.0950010344,"cg_vd_v":0.0950010344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398524702,"cg_vq_v":-0.398524702,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.503728569,"dclink_p_w":72.901947,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.839111,"values":{"Elec_RPM":-1.52181013e-40,"EncoderCos":38749,"EncoderSin":12462,"GapTicks":54745,"Mech_RPM":-3.04362026e-41,"cg_du":50.161808,"cg_dv":50.231205,"cg_dw":49.768795,"cg_id_a":-0.0809554458,"cg_id_raw_a":0.220136777,"cg_iq_a":0.31089136,"cg_iq_raw_a":0.312153548,"cg_iu_a":-0.178685665,"cg_iv_a":-0.583235145,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14555467,"cg_sample_valid":1,"cg_theta_rad":5.00610685,"cg_vd_req_v":0.0954185501,"cg_vd_v":0.0954185501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.4056499,"cg_vq_v":-0.4056499,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.503728569,"dclink_p_w":72.901947,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.846924,"values":{"Elec_RPM":-1.49140196e-40,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54745,"Mech_RPM":-2.98280391e-41,"cg_du":50.1656456,"cg_dv":50.2311249,"cg_dw":49.7688751,"cg_id_a":0.0553209223,"cg_id_raw_a":0.237926453,"cg_iq_a":0.36998868,"cg_iq_raw_a":0.787604392,"cg_iu_a":-0.251173496,"cg_iv_a":-0.510747373,"cg_iw_a":0.761920869,"cg_sample_age_us":23.9181824,"cg_sample_seq":14555517,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.0932024643,"cg_vd_v":0.0932024643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407476634,"cg_vq_v":-0.407476634,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8630981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.854736,"values":{"Elec_RPM":-1.49140196e-40,"EncoderCos":38704,"EncoderSin":12460,"GapTicks":54755,"Mech_RPM":-2.98280391e-41,"cg_du":50.1580772,"cg_dv":50.2222595,"cg_dw":49.7777405,"cg_id_a":0.0616992414,"cg_id_raw_a":0.679985762,"cg_iq_a":-0.557044744,"cg_iq_raw_a":-0.512660265,"cg_iu_a":1.0536046,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9145451,"cg_sample_seq":14555567,"cg_sample_valid":1,"cg_theta_rad":5.00780773,"cg_vd_req_v":0.093497172,"cg_vd_v":0.093497172,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389227182,"cg_vq_v":-0.389227182,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8630981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2637.862549,"values":{"Elec_RPM":-1.4615543e-40,"EncoderCos":38722,"EncoderSin":12488,"GapTicks":54749,"Mech_RPM":-2.9231086e-41,"cg_du":50.1560555,"cg_dv":50.2278557,"cg_dw":49.7721443,"cg_id_a":-0.138344824,"cg_id_raw_a":0.21534881,"cg_iq_a":-0.0132826865,"cg_iq_raw_a":0.567651331,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14555616,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0984512344,"cg_vd_v":0.0984512344,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397456914,"cg_vq_v":-0.397456914,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.3299294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8709106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.893799,"values":{"Elec_RPM":-1.4615543e-40,"EncoderCos":38752,"EncoderSin":12429,"GapTicks":54752,"Mech_RPM":-2.9231086e-41,"cg_du":50.1552315,"cg_dv":50.2246094,"cg_dw":49.7753906,"cg_id_a":-0.0053377524,"cg_id_raw_a":0.109556302,"cg_iq_a":-0.263203621,"cg_iq_raw_a":-0.534993887,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641617,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9836369,"cg_sample_seq":14555670,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.0945792869,"cg_vd_v":0.0945792869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39164111,"cg_vq_v":-0.39164111,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8460083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2637.901611,"values":{"Elec_RPM":-1.43233723e-40,"EncoderCos":38738,"EncoderSin":12469,"GapTicks":54754,"Mech_RPM":-2.86467445e-41,"cg_du":50.1528053,"cg_dv":50.2236366,"cg_dw":49.7763634,"cg_id_a":-0.0730295181,"cg_id_raw_a":-0.0646702349,"cg_iq_a":-0.306660235,"cg_iq_raw_a":-0.661068141,"cg_iu_a":0.0387773514,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.8563633,"cg_sample_seq":14555717,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0960022807,"cg_vd_v":0.0960022807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390114665,"cg_vq_v":-0.390114665,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.055069,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8460083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.909424,"values":{"Elec_RPM":-1.43233723e-40,"EncoderCos":38723,"EncoderSin":12460,"GapTicks":54744,"Mech_RPM":-2.86467445e-41,"cg_du":50.1600494,"cg_dv":50.2323685,"cg_dw":49.7676315,"cg_id_a":-0.411441803,"cg_id_raw_a":-0.243117347,"cg_iq_a":0.634564638,"cg_iq_raw_a":0.0862816349,"cg_iu_a":0.219996452,"cg_iv_a":0.105397761,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8563633,"cg_sample_seq":14555767,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.100687876,"cg_vd_v":0.100687876,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406897366,"cg_vq_v":-0.406897366,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.917236,"values":{"Elec_RPM":-1.40368067e-40,"EncoderCos":38703,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-2.80736134e-41,"cg_du":50.152668,"cg_dv":50.2131348,"cg_dw":49.7868652,"cg_id_a":0.140633464,"cg_id_raw_a":-0.145315319,"cg_iq_a":-0.714023709,"cg_iq_raw_a":-0.669826806,"cg_iu_a":0.183752537,"cg_iv_a":0.250373065,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8600006,"cg_sample_seq":14555817,"cg_sample_valid":1,"cg_theta_rad":5.00707531,"cg_vd_req_v":0.0893708915,"cg_vd_v":0.0893708915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37613517,"cg_vq_v":-0.37613517,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.7681656,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.925049,"values":{"Elec_RPM":-1.40368067e-40,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54753,"Mech_RPM":-2.80736134e-41,"cg_du":50.1576157,"cg_dv":50.224472,"cg_dw":49.775528,"cg_id_a":0.00247720629,"cg_id_raw_a":-0.263914943,"cg_iq_a":0.209943354,"cg_iq_raw_a":0.303031027,"cg_iu_a":-0.396148682,"cg_iv_a":0.21412921,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8563633,"cg_sample_seq":14555866,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.0941362008,"cg_vd_v":0.0941362008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393676996,"cg_vq_v":-0.393676996,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.8221664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.932861,"values":{"Elec_RPM":-1.37558464e-40,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54754,"Mech_RPM":-2.75116928e-41,"cg_du":50.1576538,"cg_dv":50.2230186,"cg_dw":49.7769814,"cg_id_a":0.13591823,"cg_id_raw_a":0.0557274185,"cg_iq_a":0.240739554,"cg_iq_raw_a":0.0423525088,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104574,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.8527279,"cg_sample_seq":14555917,"cg_sample_valid":1,"cg_theta_rad":5.00693464,"cg_vd_req_v":0.0910883993,"cg_vd_v":0.0910883993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39209938,"cg_vq_v":-0.39209938,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.940674,"values":{"Elec_RPM":-1.37558464e-40,"EncoderCos":38709,"EncoderSin":12456,"GapTicks":54755,"Mech_RPM":-2.75116928e-41,"cg_du":50.1471596,"cg_dv":50.2219162,"cg_dw":49.7780838,"cg_id_a":-0.411288291,"cg_id_raw_a":-0.49542436,"cg_iq_a":-0.131460696,"cg_iq_raw_a":0.497070521,"cg_iu_a":0.727410078,"cg_iv_a":-0.619478941,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8709087,"cg_sample_seq":14555967,"cg_sample_valid":1,"cg_theta_rad":5.00689125,"cg_vd_req_v":0.101658829,"cg_vd_v":0.101658829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38386777,"cg_vq_v":-0.38386777,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.952393,"values":{"Elec_RPM":-1.34804912e-40,"EncoderCos":38717,"EncoderSin":12445,"GapTicks":54761,"Mech_RPM":-2.69609825e-41,"cg_du":50.1503334,"cg_dv":50.2168922,"cg_dw":49.7831078,"cg_id_a":-0.0434192941,"cg_id_raw_a":-0.594704628,"cg_iq_a":-0.395397514,"cg_iq_raw_a":-0.605162263,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14556017,"cg_sample_valid":1,"cg_theta_rad":5.00723076,"cg_vd_req_v":0.0938636884,"cg_vd_v":0.0938636884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378949136,"cg_vq_v":-0.378949136,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8662109,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2637.955537,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2637.955543,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2637.955548,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2637.960205,"values":{"Elec_RPM":-1.34804912e-40,"EncoderCos":38720,"EncoderSin":12461,"GapTicks":54755,"Mech_RPM":-2.69609825e-41,"cg_du":50.1558075,"cg_dv":50.2222481,"cg_dw":49.7777519,"cg_id_a":-0.0373750255,"cg_id_raw_a":-0.189460218,"cg_iq_a":0.188302636,"cg_iq_raw_a":-0.673378766,"cg_iu_a":0.00253343582,"cg_iv_a":-0.619478941,"cg_iw_a":0.616945505,"cg_sample_age_us":23.8709087,"cg_sample_seq":14556066,"cg_sample_valid":1,"cg_theta_rad":5.00761175,"cg_vd_req_v":0.0941057876,"cg_vd_v":0.0941057876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389465779,"cg_vq_v":-0.389465779,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.0877705,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8444519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2637.968018,"values":{"Elec_RPM":-1.32107413e-40,"EncoderCos":38708,"EncoderSin":12473,"GapTicks":54759,"Mech_RPM":-2.64214825e-41,"cg_du":50.1467972,"cg_dv":50.2187843,"cg_dw":49.7812157,"cg_id_a":-0.227566019,"cg_id_raw_a":-0.309413821,"cg_iq_a":-0.27688235,"cg_iq_raw_a":0.115467235,"cg_iu_a":0.763653874,"cg_iv_a":-0.619478941,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14556117,"cg_sample_valid":1,"cg_theta_rad":5.00620365,"cg_vd_req_v":0.0988255963,"cg_vd_v":0.0988255963,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380666077,"cg_vq_v":-0.380666077,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8444519,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2637.995361,"values":{"Elec_RPM":-1.32107413e-40,"EncoderCos":38744,"EncoderSin":12483,"GapTicks":54763,"Mech_RPM":-2.64214825e-41,"cg_du":50.1409569,"cg_dv":50.2150993,"cg_dw":49.7849007,"cg_id_a":-0.13157618,"cg_id_raw_a":0.016481543,"cg_iq_a":-0.585479975,"cg_iq_raw_a":-0.907560408,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.8563633,"cg_sample_seq":14556170,"cg_sample_valid":1,"cg_theta_rad":5.00634003,"cg_vd_req_v":0.0962069407,"cg_vd_v":0.0962069407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372092217,"cg_vq_v":-0.372092217,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1967497,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8195496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.00708,"values":{"Elec_RPM":-1.26873563e-40,"EncoderCos":38728,"EncoderSin":12468,"GapTicks":54762,"Mech_RPM":-2.53747126e-41,"cg_du":50.1540184,"cg_dv":50.215786,"cg_dw":49.784214,"cg_id_a":0.0790061057,"cg_id_raw_a":-0.35745433,"cg_iq_a":0.0720549673,"cg_iq_raw_a":0.621853709,"cg_iu_a":-0.14244175,"cg_iv_a":0.322860718,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9654541,"cg_sample_seq":14556317,"cg_sample_valid":1,"cg_theta_rad":5.00814772,"cg_vd_req_v":0.0883505195,"cg_vd_v":0.0883505195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379889876,"cg_vq_v":-0.379889876,"cg_vu_v":114.37207,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.014893,"values":{"Elec_RPM":-1.26873563e-40,"EncoderCos":38738,"EncoderSin":12501,"GapTicks":54765,"Mech_RPM":-2.53747126e-41,"cg_du":50.1530457,"cg_dv":50.2132034,"cg_dw":49.7867966,"cg_id_a":0.224435851,"cg_id_raw_a":0.0514391623,"cg_iq_a":-0.133111656,"cg_iq_raw_a":-0.140070915,"cg_iu_a":-0.178685904,"cg_iv_a":0.21412921,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.954546,"cg_sample_seq":14556367,"cg_sample_valid":1,"cg_theta_rad":5.00773668,"cg_vd_req_v":0.0848975331,"cg_vd_v":0.0848975331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376219034,"cg_vq_v":-0.376219034,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2585,"hz_tim_isr":4998,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8475647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.026611,"values":{"Elec_RPM":-1.24337213e-40,"EncoderCos":38729,"EncoderSin":12493,"GapTicks":54767,"Mech_RPM":-2.48674425e-41,"cg_du":50.1442223,"cg_dv":50.2117004,"cg_dw":49.7882996,"cg_id_a":-0.0405824371,"cg_id_raw_a":0.032343179,"cg_iq_a":-0.349800974,"cg_iq_raw_a":0.513503134,"cg_iu_a":0.509947181,"cg_iv_a":0.57656765,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14556417,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0916365981,"cg_vd_v":0.0916365981,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370141596,"cg_vq_v":-0.370141596,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8428955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.03833,"values":{"Elec_RPM":-1.24337213e-40,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-2.48674425e-41,"cg_du":50.1509476,"cg_dv":50.2135696,"cg_dw":49.7864304,"cg_id_a":0.02004233,"cg_id_raw_a":-0.240677088,"cg_iq_a":0.0291115493,"cg_iq_raw_a":0.26800561,"cg_iu_a":0.908629417,"cg_iv_a":-0.438259721,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9581814,"cg_sample_seq":14556466,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0905631781,"cg_vd_v":0.0905631781,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375890553,"cg_vq_v":-0.375890553,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.4650755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.050049,"values":{"Elec_RPM":-1.21849908e-40,"EncoderCos":38713,"EncoderSin":12441,"GapTicks":54762,"Mech_RPM":-2.43699816e-41,"cg_du":50.1634216,"cg_dv":50.2160835,"cg_dw":49.7839165,"cg_id_a":0.416971445,"cg_id_raw_a":-0.0918023884,"cg_iq_a":0.550728738,"cg_iq_raw_a":-0.372799963,"cg_iu_a":-1.04853773,"cg_iv_a":0.0329101086,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9581814,"cg_sample_seq":14556517,"cg_sample_valid":1,"cg_theta_rad":5.00713158,"cg_vd_req_v":0.0832756981,"cg_vd_v":0.0832756981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385126948,"cg_vq_v":-0.385126948,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.98943615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.065674,"values":{"Elec_RPM":-1.21849908e-40,"EncoderCos":38744,"EncoderSin":12434,"GapTicks":54768,"Mech_RPM":-2.43699816e-41,"cg_du":50.1385384,"cg_dv":50.2105598,"cg_dw":49.7894402,"cg_id_a":-0.144544244,"cg_id_raw_a":-0.558759451,"cg_iq_a":-0.377933383,"cg_iq_raw_a":0.0934729129,"cg_iu_a":0.0750210285,"cg_iv_a":0.57656759,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9581814,"cg_sample_seq":14556566,"cg_sample_valid":1,"cg_theta_rad":5.00608587,"cg_vd_req_v":0.0949698761,"cg_vd_v":0.0949698761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364231467,"cg_vq_v":-0.364231467,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.98943615,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.077393,"values":{"Elec_RPM":-1.19411649e-40,"EncoderCos":38707,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-2.38823297e-41,"cg_du":50.140625,"cg_dv":50.2075691,"cg_dw":49.7924309,"cg_id_a":-0.0716456473,"cg_id_raw_a":0.102320984,"cg_iq_a":-0.49757579,"cg_iq_raw_a":0.411814898,"cg_iu_a":0.691166162,"cg_iv_a":0.431592226,"cg_iw_a":-1.12275839,"cg_sample_age_us":23.9509087,"cg_sample_seq":14556617,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.092571564,"cg_vd_v":0.092571564,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360777944,"cg_vq_v":-0.360777944,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.858429,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.112549,"values":{"Elec_RPM":-1.17022435e-40,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-2.3404487e-41,"cg_du":50.1503754,"cg_dv":50.2163086,"cg_dw":49.7836914,"cg_id_a":0.0598483086,"cg_id_raw_a":0.137602672,"cg_iq_a":0.361619234,"cg_iq_raw_a":-0.38681379,"cg_iu_a":-0.939806223,"cg_iv_a":0.141641557,"cg_iw_a":0.798164666,"cg_sample_age_us":23.9581814,"cg_sample_seq":14556766,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.090791747,"cg_vd_v":0.090791747,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3800008,"cg_vq_v":-0.3800008,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.151638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8553162,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.124268,"values":{"Elec_RPM":-1.14682266e-40,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-2.29364533e-41,"cg_du":50.1444397,"cg_dv":50.2119713,"cg_dw":49.7880287,"cg_id_a":0.0279266182,"cg_id_raw_a":-0.179222703,"cg_iq_a":-0.169431016,"cg_iq_raw_a":-0.999897003,"cg_iu_a":0.147508621,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9618187,"cg_sample_seq":14556817,"cg_sample_valid":1,"cg_theta_rad":5.00660849,"cg_vd_req_v":0.0926942229,"cg_vd_v":0.0926942229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369199961,"cg_vq_v":-0.369199961,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.1969147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8630981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.135986,"values":{"Elec_RPM":-1.14682266e-40,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54776,"Mech_RPM":-2.29364533e-41,"cg_du":50.1273575,"cg_dv":50.2030144,"cg_dw":49.7969856,"cg_id_a":-0.106530115,"cg_id_raw_a":0.163730115,"cg_iq_a":-1.22060299,"cg_iq_raw_a":-0.420216501,"cg_iu_a":0.219996452,"cg_iv_a":0.612811446,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9872723,"cg_sample_seq":14556866,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0974015296,"cg_vd_v":0.0974015296,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347436547,"cg_vq_v":-0.347436547,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.151611,"values":{"Elec_RPM":-1.12391143e-40,"EncoderCos":38749,"EncoderSin":12456,"GapTicks":54757,"Mech_RPM":-2.24782287e-41,"cg_du":50.1513977,"cg_dv":50.2204552,"cg_dw":49.7795448,"cg_id_a":0.116651595,"cg_id_raw_a":-0.157494098,"cg_iq_a":0.613028765,"cg_iq_raw_a":0.532256663,"cg_iu_a":-0.758586884,"cg_iv_a":-0.0758213997,"cg_iw_a":0.834408283,"cg_sample_age_us":23.8600006,"cg_sample_seq":14556916,"cg_sample_valid":1,"cg_theta_rad":5.00817966,"cg_vd_req_v":0.093136169,"cg_vd_v":0.093136169,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383974671,"cg_vq_v":-0.383974671,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2638.16333,"values":{"Elec_RPM":-1.12391143e-40,"EncoderCos":38727,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-2.24782287e-41,"cg_du":50.1460457,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.000769197941,"cg_id_raw_a":-0.0451048315,"cg_iq_a":-0.127254948,"cg_iq_raw_a":-0.00356195704,"cg_iu_a":-0.831074715,"cg_iv_a":0.322860718,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9363632,"cg_sample_seq":14556966,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.0933067724,"cg_vd_v":0.0933067724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373157799,"cg_vq_v":-0.373157799,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8382263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.178955,"values":{"Elec_RPM":-1.10142059e-40,"EncoderCos":38740,"EncoderSin":12443,"GapTicks":54758,"Mech_RPM":-2.20284119e-41,"cg_du":50.1569138,"cg_dv":50.2198257,"cg_dw":49.7801743,"cg_id_a":0.0881010965,"cg_id_raw_a":0.361980736,"cg_iq_a":0.464403778,"cg_iq_raw_a":0.799768269,"cg_iu_a":-0.396148682,"cg_iv_a":-0.00333374739,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8672733,"cg_sample_seq":14557017,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0896051675,"cg_vd_v":0.0896051675,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387099743,"cg_vq_v":-0.387099743,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.53646946,"dclink_p_w":-77.640358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.210205,"values":{"Elec_RPM":-1.05784021e-40,"EncoderCos":38765,"EncoderSin":12499,"GapTicks":54766,"Mech_RPM":-2.11568042e-41,"cg_du":50.1449318,"cg_dv":50.21241,"cg_dw":49.78759,"cg_id_a":-0.0563096926,"cg_id_raw_a":-0.83592397,"cg_iq_a":-0.285230517,"cg_iq_raw_a":-0.579878926,"cg_iu_a":0.183752775,"cg_iv_a":0.39534843,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9763641,"cg_sample_seq":14557220,"cg_sample_valid":1,"cg_theta_rad":5.00687265,"cg_vd_req_v":0.0883005932,"cg_vd_v":0.0883005932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371157378,"cg_vq_v":-0.371157378,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8382263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.221924,"values":{"Elec_RPM":-1.05784021e-40,"EncoderCos":38711,"EncoderSin":12449,"GapTicks":54765,"Mech_RPM":-2.11568042e-41,"cg_du":50.1459312,"cg_dv":50.2129822,"cg_dw":49.7870178,"cg_id_a":-0.34643048,"cg_id_raw_a":-0.767902315,"cg_iq_a":-0.315510273,"cg_iq_raw_a":-0.550560534,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9654541,"cg_sample_seq":14557267,"cg_sample_valid":1,"cg_theta_rad":5.00788164,"cg_vd_req_v":0.0938989669,"cg_vd_v":0.0938989669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371063977,"cg_vq_v":-0.371063977,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.237549,"values":{"Elec_RPM":-1.0366806e-40,"EncoderCos":38714,"EncoderSin":12465,"GapTicks":54764,"Mech_RPM":-2.07336121e-41,"cg_du":50.1608925,"cg_dv":50.2145119,"cg_dw":49.7854881,"cg_id_a":0.149762571,"cg_id_raw_a":-0.408380836,"cg_iq_a":0.20451498,"cg_iq_raw_a":0.688627064,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539645,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9618187,"cg_sample_seq":14557316,"cg_sample_valid":1,"cg_theta_rad":5.00872612,"cg_vd_req_v":0.0832569376,"cg_vd_v":0.0832569376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382888317,"cg_vq_v":-0.382888317,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.249268,"values":{"Elec_RPM":-1.0366806e-40,"EncoderCos":38730,"EncoderSin":12482,"GapTicks":54759,"Mech_RPM":-2.07336121e-41,"cg_du":50.1614456,"cg_dv":50.2182579,"cg_dw":49.7817421,"cg_id_a":0.19687824,"cg_id_raw_a":0.406367987,"cg_iq_a":0.408574998,"cg_iq_raw_a":0.112076044,"cg_iu_a":0.546190977,"cg_iv_a":-0.43825978,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9763641,"cg_sample_seq":14557367,"cg_sample_valid":1,"cg_theta_rad":5.00886059,"cg_vd_req_v":0.0846162513,"cg_vd_v":0.0846162513,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388711035,"cg_vq_v":-0.388711035,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.264893,"values":{"Elec_RPM":-1.01594139e-40,"EncoderCos":38737,"EncoderSin":12486,"GapTicks":54760,"Mech_RPM":-2.03188277e-41,"cg_du":50.1533928,"cg_dv":50.2180176,"cg_dw":49.7819824,"cg_id_a":-0.0540456623,"cg_id_raw_a":0.804306865,"cg_iq_a":0.0857386142,"cg_iq_raw_a":-0.324981689,"cg_iu_a":0.437459469,"cg_iv_a":-0.619478881,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9654541,"cg_sample_seq":14557416,"cg_sample_valid":1,"cg_theta_rad":5.00746822,"cg_vd_req_v":0.0897478387,"cg_vd_v":0.0897478387,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382872403,"cg_vq_v":-0.382872403,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8491211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.276611,"values":{"Elec_RPM":-1.01594139e-40,"EncoderCos":38719,"EncoderSin":12498,"GapTicks":54766,"Mech_RPM":-2.03188277e-41,"cg_du":50.1415367,"cg_dv":50.2124672,"cg_dw":49.7875328,"cg_id_a":-0.36184901,"cg_id_raw_a":5.37354827e-05,"cg_iq_a":-0.584283173,"cg_iq_raw_a":0.182862431,"cg_iu_a":0.618678689,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9836369,"cg_sample_seq":14557467,"cg_sample_valid":1,"cg_theta_rad":5.00485849,"cg_vd_req_v":0.0949256793,"cg_vd_v":0.0949256793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368382663,"cg_vq_v":-0.368382663,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8491211,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00412909128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.307861,"values":{"Elec_RPM":-9.56176007e-41,"EncoderCos":38757,"EncoderSin":12472,"GapTicks":54758,"Mech_RPM":-1.91235201e-41,"cg_du":50.1517105,"cg_dv":50.2199211,"cg_dw":49.7800789,"cg_id_a":-0.0732066631,"cg_id_raw_a":-0.234246284,"cg_iq_a":0.130943283,"cg_iq_raw_a":-0.23840645,"cg_iu_a":-0.359904766,"cg_iv_a":0.395348489,"cg_iw_a":-0.0354437232,"cg_sample_age_us":23.863636,"cg_sample_seq":14557770,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.0915338546,"cg_vd_v":0.0915338546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384860337,"cg_vq_v":-0.384860337,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.2052612,"temp_inv2_c":35.8320007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.323486,"values":{"Elec_RPM":-9.37048283e-41,"EncoderCos":38719,"EncoderSin":12475,"GapTicks":54758,"Mech_RPM":-1.87409657e-41,"cg_du":50.1597595,"cg_dv":50.2198563,"cg_dw":49.7801437,"cg_id_a":0.19150576,"cg_id_raw_a":0.0126177957,"cg_iq_a":0.210016578,"cg_iq_raw_a":0.912441909,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641557,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9254551,"cg_sample_seq":14557817,"cg_sample_valid":1,"cg_theta_rad":5.00771666,"cg_vd_req_v":0.0883945525,"cg_vd_v":0.0883945525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388505816,"cg_vq_v":-0.388505816,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2163334,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.335205,"values":{"Elec_RPM":-9.37048283e-41,"EncoderCos":38702,"EncoderSin":12458,"GapTicks":54769,"Mech_RPM":-1.87409657e-41,"cg_du":50.1533546,"cg_dv":50.2091713,"cg_dw":49.7908287,"cg_id_a":0.296282589,"cg_id_raw_a":0.202935323,"cg_iq_a":-0.744105637,"cg_iq_raw_a":-0.779907465,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055243,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9581814,"cg_sample_seq":14557866,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0848946124,"cg_vd_v":0.0848946124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369965076,"cg_vq_v":-0.369965076,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8568726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.35083,"values":{"Elec_RPM":-9.18340949e-41,"EncoderCos":38716,"EncoderSin":12504,"GapTicks":54761,"Mech_RPM":-1.8366819e-41,"cg_du":50.1487122,"cg_dv":50.2169991,"cg_dw":49.7830009,"cg_id_a":-0.163117558,"cg_id_raw_a":-0.236042514,"cg_iq_a":-0.178517371,"cg_iq_raw_a":0.0144775743,"cg_iu_a":-0.178685665,"cg_iv_a":-0.583235025,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9581814,"cg_sample_seq":14557917,"cg_sample_valid":1,"cg_theta_rad":5.00700378,"cg_vd_req_v":0.0937894434,"cg_vd_v":0.0937894434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378544509,"cg_vq_v":-0.378544509,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8335571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.362549,"values":{"Elec_RPM":-9.18340949e-41,"EncoderCos":38724,"EncoderSin":12454,"GapTicks":54764,"Mech_RPM":-1.8366819e-41,"cg_du":50.1508942,"cg_dv":50.2136841,"cg_dw":49.7863159,"cg_id_a":-0.0221477728,"cg_id_raw_a":0.523129106,"cg_iq_a":-0.0199303422,"cg_iq_raw_a":0.634731233,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.954546,"cg_sample_seq":14557966,"cg_sample_valid":1,"cg_theta_rad":5.00659895,"cg_vd_req_v":0.0897375047,"cg_vd_v":0.0897375047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376253963,"cg_vq_v":-0.376253963,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8335571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.374268,"values":{"Elec_RPM":-8.99983939e-41,"EncoderCos":38720,"EncoderSin":12488,"GapTicks":54771,"Mech_RPM":-1.79996788e-41,"cg_du":50.1455269,"cg_dv":50.2076797,"cg_dw":49.7923203,"cg_id_a":0.137395844,"cg_id_raw_a":0.444139898,"cg_iq_a":-0.596765995,"cg_iq_raw_a":0.808331668,"cg_iu_a":0.836141706,"cg_iv_a":0.0329101086,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9509087,"cg_sample_seq":14558017,"cg_sample_valid":1,"cg_theta_rad":5.00655937,"cg_vd_req_v":0.0873156562,"cg_vd_v":0.0873156562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364061564,"cg_vq_v":-0.364061564,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.318531,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.385986,"values":{"Elec_RPM":-8.81977253e-41,"EncoderCos":38713,"EncoderSin":12477,"GapTicks":54763,"Mech_RPM":-1.76395451e-41,"cg_du":50.1451874,"cg_dv":50.2150993,"cg_dw":49.7849007,"cg_id_a":-0.309965551,"cg_id_raw_a":0.27796039,"cg_iq_a":-0.0369751751,"cg_iq_raw_a":-0.0809691995,"cg_iu_a":0.618678689,"cg_iv_a":-0.184552908,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.863636,"cg_sample_seq":14558116,"cg_sample_valid":1,"cg_theta_rad":5.00683355,"cg_vd_req_v":0.0956635028,"cg_vd_v":0.0956635028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373742402,"cg_vq_v":-0.373742402,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8164368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.421143,"values":{"Elec_RPM":-8.81977253e-41,"EncoderCos":38752,"EncoderSin":12472,"GapTicks":54762,"Mech_RPM":-1.76395451e-41,"cg_du":50.1447296,"cg_dv":50.2157097,"cg_dw":49.7842903,"cg_id_a":-0.145237893,"cg_id_raw_a":0.386699915,"cg_iq_a":0.0597123653,"cg_iq_raw_a":-0.364581257,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528332,"cg_iw_a":0.254507303,"cg_sample_age_us":26.8272724,"cg_sample_seq":14558170,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0931403935,"cg_vd_v":0.0931403935,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373980433,"cg_vq_v":-0.373980433,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8397827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2638.432861,"values":{"Elec_RPM":-8.64320893e-41,"EncoderCos":38707,"EncoderSin":12463,"GapTicks":54758,"Mech_RPM":-1.72864179e-41,"cg_du":50.1549149,"cg_dv":50.2196388,"cg_dw":49.7803612,"cg_id_a":-0.167074323,"cg_id_raw_a":-0.639664769,"cg_iq_a":0.475366026,"cg_iq_raw_a":0.883199155,"cg_iu_a":-0.14244175,"cg_iv_a":-0.800698042,"cg_iw_a":0.943139791,"cg_sample_age_us":23.9836369,"cg_sample_seq":14558216,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0933511779,"cg_vd_v":0.0933511779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385160387,"cg_vq_v":-0.385160387,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8320007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.448486,"values":{"Elec_RPM":-8.64320893e-41,"EncoderCos":38714,"EncoderSin":12457,"GapTicks":54767,"Mech_RPM":-1.72864179e-41,"cg_du":50.151329,"cg_dv":50.2113914,"cg_dw":49.7886086,"cg_id_a":0.074197799,"cg_id_raw_a":-0.315476805,"cg_iq_a":-0.0469024628,"cg_iq_raw_a":0.807009935,"cg_iu_a":-0.106197834,"cg_iv_a":0.105397701,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8745461,"cg_sample_seq":14558266,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0879274905,"cg_vd_v":0.0879274905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37319091,"cg_vq_v":-0.37319091,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.2056389,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8320007,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.460205,"values":{"Elec_RPM":-8.47014857e-41,"EncoderCos":38711,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-1.69402971e-41,"cg_du":50.1547699,"cg_dv":50.2141533,"cg_dw":49.7858467,"cg_id_a":0.0933268145,"cg_id_raw_a":0.143197224,"cg_iq_a":0.255632192,"cg_iq_raw_a":-0.203375474,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9254551,"cg_sample_seq":14558316,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.088058345,"cg_vd_v":0.088058345,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378865838,"cg_vq_v":-0.378865838,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.6725273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8102112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.471924,"values":{"Elec_RPM":-8.13453759e-41,"EncoderCos":38698,"EncoderSin":12441,"GapTicks":54758,"Mech_RPM":-1.62690752e-41,"cg_du":50.1516418,"cg_dv":50.2195206,"cg_dw":49.7804794,"cg_id_a":-0.308250248,"cg_id_raw_a":-0.296837062,"cg_iq_a":0.0512004681,"cg_iq_raw_a":-1.01426041,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9872723,"cg_sample_seq":14558567,"cg_sample_valid":1,"cg_theta_rad":5.00593948,"cg_vd_req_v":0.0974542424,"cg_vd_v":0.0974542424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383974433,"cg_vq_v":-0.383974433,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8195496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.487549,"values":{"Elec_RPM":-7.97198696e-41,"EncoderCos":38708,"EncoderSin":12427,"GapTicks":54763,"Mech_RPM":-1.59439739e-41,"cg_du":50.1578979,"cg_dv":50.215435,"cg_dw":49.784565,"cg_id_a":0.152964234,"cg_id_raw_a":0.0574157014,"cg_iq_a":0.124842234,"cg_iq_raw_a":0.225372136,"cg_iu_a":0.509947062,"cg_iv_a":-0.655722737,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9909096,"cg_sample_seq":14558617,"cg_sample_valid":1,"cg_theta_rad":5.00792933,"cg_vd_req_v":0.0880281553,"cg_vd_v":0.0880281553,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382105827,"cg_vq_v":-0.382105827,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.3049316,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8257751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.518799,"values":{"Elec_RPM":-7.97198696e-41,"EncoderCos":38740,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-1.59439739e-41,"cg_du":50.1566048,"cg_dv":50.2083092,"cg_dw":49.7916908,"cg_id_a":0.636642516,"cg_id_raw_a":1.07457221,"cg_iq_a":-0.405403763,"cg_iq_raw_a":-0.518014491,"cg_iu_a":0.0750212669,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263149,"cg_sample_age_us":26.8199997,"cg_sample_seq":14558671,"cg_sample_valid":1,"cg_theta_rad":5.00634003,"cg_vd_req_v":0.078186661,"cg_vd_v":0.078186661,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372528762,"cg_vq_v":-0.372528762,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.7195435,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8257751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.530518,"values":{"Elec_RPM":-7.81223894e-41,"EncoderCos":38712,"EncoderSin":12439,"GapTicks":54757,"Mech_RPM":-1.56244779e-41,"cg_du":50.15839,"cg_dv":50.2207794,"cg_dw":49.7792206,"cg_id_a":-0.070764482,"cg_id_raw_a":0.15814735,"cg_iq_a":0.158035651,"cg_iq_raw_a":-0.347412854,"cg_iu_a":-0.794830799,"cg_iv_a":-0.220796824,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9763641,"cg_sample_seq":14558717,"cg_sample_valid":1,"cg_theta_rad":5.00734997,"cg_vd_req_v":0.0919427201,"cg_vd_v":0.0919427201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388620049,"cg_vq_v":-0.388620049,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8522339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.546143,"values":{"Elec_RPM":-7.81223894e-41,"EncoderCos":38718,"EncoderSin":12483,"GapTicks":54757,"Mech_RPM":-1.56244779e-41,"cg_du":50.1524467,"cg_dv":50.2206573,"cg_dw":49.7793427,"cg_id_a":-0.126081824,"cg_id_raw_a":-0.117638543,"cg_iq_a":0.0157726184,"cg_iq_raw_a":-0.338381529,"cg_iu_a":0.147508621,"cg_iv_a":0.214129329,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14558766,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0947842821,"cg_vd_v":0.0947842821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385518789,"cg_vq_v":-0.385518789,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8522339,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.557861,"values":{"Elec_RPM":-7.35261304e-41,"EncoderCos":38748,"EncoderSin":12486,"GapTicks":54760,"Mech_RPM":-1.47052261e-41,"cg_du":50.1372719,"cg_dv":50.2178116,"cg_dw":49.7821884,"cg_id_a":-0.271693945,"cg_id_raw_a":-0.516021967,"cg_iq_a":-0.246157527,"cg_iq_raw_a":0.791232526,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592226,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14559016,"cg_sample_valid":1,"cg_theta_rad":5.00599432,"cg_vd_req_v":0.101309054,"cg_vd_v":0.101309054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373858184,"cg_vq_v":-0.373858184,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8382263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.573486,"values":{"Elec_RPM":-7.35261304e-41,"EncoderCos":38718,"EncoderSin":12456,"GapTicks":54753,"Mech_RPM":-1.47052261e-41,"cg_du":50.1558037,"cg_dv":50.2237625,"cg_dw":49.7762375,"cg_id_a":0.0256496444,"cg_id_raw_a":-0.109500796,"cg_iq_a":0.61334759,"cg_iq_raw_a":0.645532846,"cg_iu_a":-0.432392597,"cg_iv_a":-0.402015924,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9509087,"cg_sample_seq":14559067,"cg_sample_valid":1,"cg_theta_rad":5.00689459,"cg_vd_req_v":0.095896937,"cg_vd_v":0.095896937,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391448647,"cg_vq_v":-0.391448647,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8382263,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.585205,"values":{"Elec_RPM":-7.2054767e-41,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54759,"Mech_RPM":-1.44109534e-41,"cg_du":50.147171,"cg_dv":50.2182121,"cg_dw":49.7817879,"cg_id_a":-0.0279678553,"cg_id_raw_a":-0.572264612,"cg_iq_a":0.114786521,"cg_iq_raw_a":-0.201425433,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9509087,"cg_sample_seq":14559116,"cg_sample_valid":1,"cg_theta_rad":5.00842381,"cg_vd_req_v":0.0971064046,"cg_vd_v":0.0971064046,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379091084,"cg_vq_v":-0.379091084,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-66.9454956,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.60083,"values":{"Elec_RPM":-7.2054767e-41,"EncoderCos":38707,"EncoderSin":12453,"GapTicks":54758,"Mech_RPM":-1.44109534e-41,"cg_du":50.1474075,"cg_dv":50.2191086,"cg_dw":49.7808914,"cg_id_a":-0.0778481215,"cg_id_raw_a":0.172815442,"cg_iq_a":0.366606206,"cg_iq_raw_a":1.36639225,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14559167,"cg_sample_valid":1,"cg_theta_rad":5.00592136,"cg_vd_req_v":0.0989709049,"cg_vd_v":0.0989709049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380140096,"cg_vq_v":-0.380140096,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-66.9454956,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.63208,"values":{"Elec_RPM":-7.06114296e-41,"EncoderCos":38717,"EncoderSin":12505,"GapTicks":54767,"Mech_RPM":-1.41222859e-41,"cg_du":50.1466866,"cg_dv":50.2113876,"cg_dw":49.7886124,"cg_id_a":0.293466002,"cg_id_raw_a":0.333247125,"cg_iq_a":-0.0257168598,"cg_iq_raw_a":-0.222067952,"cg_iu_a":0.256240129,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9509087,"cg_sample_seq":14559221,"cg_sample_valid":1,"cg_theta_rad":5.0075469,"cg_vd_req_v":0.0898222476,"cg_vd_v":0.0898222476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369801581,"cg_vq_v":-0.369801581,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-66.9454956,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8195496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.643799,"values":{"Elec_RPM":-6.78088327e-41,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-1.35617665e-41,"cg_du":50.1450806,"cg_dv":50.2087936,"cg_dw":49.7912064,"cg_id_a":0.409093469,"cg_id_raw_a":0.197839752,"cg_iq_a":-0.740909815,"cg_iq_raw_a":0.0927985013,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9799995,"cg_sample_seq":14559467,"cg_sample_valid":1,"cg_theta_rad":5.00614643,"cg_vd_req_v":0.0886077434,"cg_vd_v":0.0886077434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364188194,"cg_vq_v":-0.364188194,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8413391,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2638.659424,"values":{"Elec_RPM":-6.64495732e-41,"EncoderCos":38747,"EncoderSin":12462,"GapTicks":54761,"Mech_RPM":-1.32899146e-41,"cg_du":50.1434402,"cg_dv":50.2169914,"cg_dw":49.7830086,"cg_id_a":0.0500061624,"cg_id_raw_a":0.159040585,"cg_iq_a":-0.121971428,"cg_iq_raw_a":-0.166528955,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284416,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8600006,"cg_sample_seq":14559516,"cg_sample_valid":1,"cg_theta_rad":5.00788355,"cg_vd_req_v":0.0966554731,"cg_vd_v":0.0966554731,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377126783,"cg_vq_v":-0.377126783,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.671143,"values":{"Elec_RPM":-6.64495732e-41,"EncoderCos":38701,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-1.32899146e-41,"cg_du":50.1575356,"cg_dv":50.2209816,"cg_dw":49.7790184,"cg_id_a":0.23682493,"cg_id_raw_a":0.751344323,"cg_iq_a":0.489303887,"cg_iq_raw_a":1.06062996,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065315,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8381824,"cg_sample_seq":14559567,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0929730609,"cg_vd_v":0.0929730609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389621615,"cg_vq_v":-0.389621615,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32414114,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.682861,"values":{"Elec_RPM":-6.51183396e-41,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54757,"Mech_RPM":-1.30236679e-41,"cg_du":50.1526871,"cg_dv":50.220623,"cg_dw":49.779377,"cg_id_a":0.174945295,"cg_id_raw_a":0.0565490313,"cg_iq_a":0.172913775,"cg_iq_raw_a":1.09895313,"cg_iu_a":0.00253343582,"cg_iv_a":0.757786751,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.8600006,"cg_sample_seq":14559616,"cg_sample_valid":1,"cg_theta_rad":5.00791788,"cg_vd_req_v":0.0950171947,"cg_vd_v":0.0950171947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385498762,"cg_vq_v":-0.385498762,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.5767288,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8460083,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.698486,"values":{"Elec_RPM":-6.51183396e-41,"EncoderCos":38751,"EncoderSin":12462,"GapTicks":54758,"Mech_RPM":-1.30236679e-41,"cg_du":50.1615982,"cg_dv":50.2197495,"cg_dw":49.7802505,"cg_id_a":0.607034206,"cg_id_raw_a":0.790683746,"cg_iq_a":0.405272841,"cg_iq_raw_a":-0.873319507,"cg_iu_a":-1.30224466,"cg_iv_a":-0.00333368778,"cg_iw_a":1.30557835,"cg_sample_age_us":23.9254551,"cg_sample_seq":14559666,"cg_sample_valid":1,"cg_theta_rad":5.00835371,"cg_vd_req_v":0.0843628645,"cg_vd_v":0.0843628645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389939308,"cg_vq_v":-0.389939308,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8335571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.729736,"values":{"Elec_RPM":-6.25399505e-41,"EncoderCos":38716,"EncoderSin":12453,"GapTicks":54762,"Mech_RPM":-1.25079901e-41,"cg_du":50.1515999,"cg_dv":50.215847,"cg_dw":49.784153,"cg_id_a":0.205809802,"cg_id_raw_a":0.33690238,"cg_iq_a":-0.152341276,"cg_iq_raw_a":-0.0383967049,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14559867,"cg_sample_valid":1,"cg_theta_rad":5.00727129,"cg_vd_req_v":0.092009522,"cg_vd_v":0.092009522,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379425704,"cg_vq_v":-0.379425704,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.5784855,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8630981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.745361,"values":{"Elec_RPM":-6.12857883e-41,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-1.22571577e-41,"cg_du":50.1497612,"cg_dv":50.2147522,"cg_dw":49.7852478,"cg_id_a":0.0503400229,"cg_id_raw_a":-0.0206972007,"cg_iq_a":-0.121841319,"cg_iq_raw_a":-0.0376692005,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8672733,"cg_sample_seq":14559916,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0921095088,"cg_vd_v":0.0921095088,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376961559,"cg_vq_v":-0.376961559,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.5413055,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.5784855,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8179932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.75708,"values":{"Elec_RPM":-6.12857883e-41,"EncoderCos":38742,"EncoderSin":12508,"GapTicks":54759,"Mech_RPM":-1.22571577e-41,"cg_du":50.1552238,"cg_dv":50.2189751,"cg_dw":49.7810249,"cg_id_a":0.292579561,"cg_id_raw_a":0.464220077,"cg_iq_a":0.256346643,"cg_iq_raw_a":0.406528294,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397761,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9872723,"cg_sample_seq":14559967,"cg_sample_valid":1,"cg_theta_rad":5.00617552,"cg_vd_req_v":0.0882064402,"cg_vd_v":0.0882064402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38543573,"cg_vq_v":-0.38543573,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8179932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105140768,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.768799,"values":{"Elec_RPM":-6.00596522e-41,"EncoderCos":38734,"EncoderSin":12484,"GapTicks":54759,"Mech_RPM":-1.20119304e-41,"cg_du":50.1472206,"cg_dv":50.2182999,"cg_dw":49.7817001,"cg_id_a":-0.0723161846,"cg_id_raw_a":0.316393226,"cg_iq_a":-0.0426679179,"cg_iq_raw_a":0.17602326,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704056,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9618187,"cg_sample_seq":14560016,"cg_sample_valid":1,"cg_theta_rad":5.00727034,"cg_vd_req_v":0.095190227,"cg_vd_v":0.095190227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379737079,"cg_vq_v":-0.379737079,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8242188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.780518,"values":{"Elec_RPM":-6.00596522e-41,"EncoderCos":38708,"EncoderSin":12468,"GapTicks":54758,"Mech_RPM":-1.20119304e-41,"cg_du":50.1477051,"cg_dv":50.2199249,"cg_dw":49.7800751,"cg_id_a":-0.230188414,"cg_id_raw_a":-0.0676179081,"cg_iq_a":0.11471644,"cg_iq_raw_a":-0.406700253,"cg_iu_a":0.401215553,"cg_iv_a":0.250373125,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9618187,"cg_sample_seq":14560067,"cg_sample_valid":1,"cg_theta_rad":5.00695467,"cg_vd_req_v":0.0990563855,"cg_vd_v":0.0990563855,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381536126,"cg_vq_v":-0.381536126,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.155787826,"dclink_p_w":22.546339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.796143,"values":{"Elec_RPM":-5.8861542e-41,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54764,"Mech_RPM":-1.17723084e-41,"cg_du":50.1469688,"cg_dv":50.2142525,"cg_dw":49.7857475,"cg_id_a":-0.0623107925,"cg_id_raw_a":0.142047718,"cg_iq_a":-0.197323322,"cg_iq_raw_a":-0.640968382,"cg_iu_a":-0.178685665,"cg_iv_a":-0.220796704,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9618187,"cg_sample_seq":14560116,"cg_sample_valid":1,"cg_theta_rad":5.00538158,"cg_vd_req_v":0.0922720581,"cg_vd_v":0.0922720581,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373880774,"cg_vq_v":-0.373880774,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.155787826,"dclink_p_w":22.546339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1813049,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.807861,"values":{"Elec_RPM":-5.8861542e-41,"EncoderCos":38729,"EncoderSin":12464,"GapTicks":54763,"Mech_RPM":-1.17723084e-41,"cg_du":50.1531181,"cg_dv":50.2148552,"cg_dw":49.7851448,"cg_id_a":0.0193104055,"cg_id_raw_a":0.239652872,"cg_iq_a":0.0936072394,"cg_iq_raw_a":0.970524371,"cg_iu_a":-0.323660851,"cg_iv_a":-0.112065196,"cg_iw_a":0.435726047,"cg_sample_age_us":23.9618187,"cg_sample_seq":14560167,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0881698504,"cg_vd_v":0.0881698504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37811476,"cg_vq_v":-0.37811476,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8242188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2638.819495,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2638.819505,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2638.819507,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2638.843018,"values":{"Elec_RPM":-5.65283801e-41,"EncoderCos":38746,"EncoderSin":12465,"GapTicks":54765,"Mech_RPM":-1.1305676e-41,"cg_du":50.1512451,"cg_dv":50.2130241,"cg_dw":49.7869759,"cg_id_a":-0.0707741007,"cg_id_raw_a":-0.0633176714,"cg_iq_a":0.330935866,"cg_iq_raw_a":0.650122106,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616981,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14560369,"cg_sample_valid":1,"cg_theta_rad":5.00879765,"cg_vd_req_v":0.0861274451,"cg_vd_v":0.0861274451,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373774737,"cg_vq_v":-0.373774737,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8026791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8164368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2638.854736,"values":{"Elec_RPM":-5.54003348e-41,"EncoderCos":38724,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-1.1080067e-41,"cg_du":50.1499825,"cg_dv":50.2092285,"cg_dw":49.7907715,"cg_id_a":-0.0845822245,"cg_id_raw_a":0.201517373,"cg_iq_a":-0.0246829763,"cg_iq_raw_a":-0.16169396,"cg_iu_a":0.14750886,"cg_iv_a":0.0329101086,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9872723,"cg_sample_seq":14560416,"cg_sample_valid":1,"cg_theta_rad":5.00718212,"cg_vd_req_v":0.0855409876,"cg_vd_v":0.0855409876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368616521,"cg_vq_v":-0.368616521,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8026791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.866455,"values":{"Elec_RPM":-5.54003348e-41,"EncoderCos":38730,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-1.1080067e-41,"cg_du":50.1539307,"cg_dv":50.2089729,"cg_dw":49.7910271,"cg_id_a":0.128410906,"cg_id_raw_a":-0.0646951497,"cg_iq_a":0.268514156,"cg_iq_raw_a":0.649986386,"cg_iu_a":0.292484045,"cg_iv_a":0.141641557,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8527279,"cg_sample_seq":14560466,"cg_sample_valid":1,"cg_theta_rad":5.00676441,"cg_vd_req_v":0.0814001188,"cg_vd_v":0.0814001188,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371836543,"cg_vq_v":-0.371836543,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.3206472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.88208,"values":{"Elec_RPM":-5.4293309e-41,"EncoderCos":38723,"EncoderSin":12462,"GapTicks":54770,"Mech_RPM":-1.08586618e-41,"cg_du":50.1551781,"cg_dv":50.208725,"cg_dw":49.791275,"cg_id_a":0.0592137463,"cg_id_raw_a":0.0446345769,"cg_iq_a":0.225361869,"cg_iq_raw_a":0.369324356,"cg_iu_a":-0.178685665,"cg_iv_a":-0.402015924,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9436359,"cg_sample_seq":14560516,"cg_sample_valid":1,"cg_theta_rad":5.00671387,"cg_vd_req_v":0.0814079121,"cg_vd_v":0.0814079121,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371931553,"cg_vq_v":-0.371931553,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.5314541,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.889893,"values":{"Elec_RPM":-5.4293309e-41,"EncoderCos":38716,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-1.08586618e-41,"cg_du":50.1437721,"cg_dv":50.2030144,"cg_dw":49.7969856,"cg_id_a":-0.0457278118,"cg_id_raw_a":0.0907318369,"cg_iq_a":-0.503829241,"cg_iq_raw_a":-0.318081975,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395774841,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9581814,"cg_sample_seq":14560567,"cg_sample_valid":1,"cg_theta_rad":5.00814342,"cg_vd_req_v":0.0843024552,"cg_vd_v":0.0843024552,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355554581,"cg_vq_v":-0.355554581,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2638.897705,"values":{"Elec_RPM":-5.32073027e-41,"EncoderCos":38725,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-1.06414605e-41,"cg_du":50.1554489,"cg_dv":50.2070541,"cg_dw":49.7929459,"cg_id_a":0.149101257,"cg_id_raw_a":0.479973227,"cg_iq_a":0.16156435,"cg_iq_raw_a":-0.862887859,"cg_iu_a":-0.541124105,"cg_iv_a":0.286616921,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9581814,"cg_sample_seq":14560616,"cg_sample_valid":1,"cg_theta_rad":5.00736284,"cg_vd_req_v":0.0791803002,"cg_vd_v":0.0791803002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368715733,"cg_vq_v":-0.368715733,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0708675,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8288879,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.928955,"values":{"Elec_RPM":-5.21423159e-41,"EncoderCos":38725,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-1.04284632e-41,"cg_du":50.1409607,"cg_dv":50.208992,"cg_dw":49.791008,"cg_id_a":-0.535593927,"cg_id_raw_a":-0.125302032,"cg_iq_a":-0.158392519,"cg_iq_raw_a":-0.702970743,"cg_iu_a":-0.432392597,"cg_iv_a":0.105397761,"cg_iw_a":0.326994836,"cg_sample_age_us":23.863636,"cg_sample_seq":14560770,"cg_sample_valid":1,"cg_theta_rad":5.00699759,"cg_vd_req_v":0.0918886364,"cg_vd_v":0.0918886364,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363363981,"cg_vq_v":-0.363363981,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.936768,"values":{"Elec_RPM":-5.10983485e-41,"EncoderCos":38728,"EncoderSin":12452,"GapTicks":54776,"Mech_RPM":-1.02196697e-41,"cg_du":50.1535797,"cg_dv":50.2032661,"cg_dw":49.7967339,"cg_id_a":0.177310631,"cg_id_raw_a":-0.114805974,"cg_iq_a":-0.12781319,"cg_iq_raw_a":0.280962884,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8563633,"cg_sample_seq":14560817,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0771789402,"cg_vd_v":0.0771789402,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363622159,"cg_vq_v":-0.363622159,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8335571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.94458,"values":{"Elec_RPM":-5.10983485e-41,"EncoderCos":38728,"EncoderSin":12454,"GapTicks":54773,"Mech_RPM":-1.02196697e-41,"cg_du":50.1473999,"cg_dv":50.2056732,"cg_dw":49.7943268,"cg_id_a":-0.261747628,"cg_id_raw_a":-0.275743365,"cg_iq_a":-0.227052942,"cg_iq_raw_a":-0.794366956,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9218178,"cg_sample_seq":14560867,"cg_sample_valid":1,"cg_theta_rad":5.00511742,"cg_vd_req_v":0.0843407288,"cg_vd_v":0.0843407288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363440096,"cg_vq_v":-0.363440096,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.148539066,"dclink_p_w":21.5626068,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.952393,"values":{"Elec_RPM":-5.00754006e-41,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54776,"Mech_RPM":-1.00150801e-41,"cg_du":50.1584396,"cg_dv":50.2035637,"cg_dw":49.7964363,"cg_id_a":0.176631674,"cg_id_raw_a":-0.174442038,"cg_iq_a":-0.018409282,"cg_iq_raw_a":0.238334745,"cg_iu_a":0.183752537,"cg_iv_a":0.39534837,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.863636,"cg_sample_seq":14560916,"cg_sample_valid":1,"cg_theta_rad":5.00706482,"cg_vd_req_v":0.0744334981,"cg_vd_v":0.0744334981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365449935,"cg_vq_v":-0.365449935,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.960205,"values":{"Elec_RPM":-5.00754006e-41,"EncoderCos":38749,"EncoderSin":12487,"GapTicks":54776,"Mech_RPM":-1.00150801e-41,"cg_du":50.1438332,"cg_dv":50.2027626,"cg_dw":49.7972374,"cg_id_a":-0.188866943,"cg_id_raw_a":-0.0765444711,"cg_iq_a":-0.317935795,"cg_iq_raw_a":-0.588323534,"cg_iu_a":0.473703384,"cg_iv_a":-0.148309112,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.863636,"cg_sample_seq":14560966,"cg_sample_valid":1,"cg_theta_rad":5.00860786,"cg_vd_req_v":0.081543535,"cg_vd_v":0.081543535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356962413,"cg_vq_v":-0.356962413,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8366699,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2638.971924,"values":{"Elec_RPM":-4.90734722e-41,"EncoderCos":38711,"EncoderSin":12417,"GapTicks":54776,"Mech_RPM":-9.81469444e-42,"cg_du":50.1471291,"cg_dv":50.2030678,"cg_dw":49.7969322,"cg_id_a":-0.393870533,"cg_id_raw_a":-0.181740716,"cg_iq_a":-0.0285395533,"cg_iq_raw_a":-0.309507012,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503636,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8745461,"cg_sample_seq":14561016,"cg_sample_valid":1,"cg_theta_rad":5.00591993,"cg_vd_req_v":0.0861027464,"cg_vd_v":0.0861027464,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361672252,"cg_vq_v":-0.361672252,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.5375309,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2638.9793,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2638.979304,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2638.979308,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2638.979736,"values":{"Elec_RPM":-4.90734722e-41,"EncoderCos":38731,"EncoderSin":12462,"GapTicks":54775,"Mech_RPM":-9.81469444e-42,"cg_du":50.1410484,"cg_dv":50.2038994,"cg_dw":49.7961006,"cg_id_a":-0.451788723,"cg_id_raw_a":0.392594427,"cg_iq_a":-0.0888012052,"cg_iq_raw_a":0.69379276,"cg_iu_a":0.872385502,"cg_iv_a":-0.655722737,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.863636,"cg_sample_seq":14561066,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0871729255,"cg_vd_v":0.0871729255,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357558668,"cg_vq_v":-0.357558668,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2638.987549,"values":{"Elec_RPM":-4.80925633e-41,"EncoderCos":38722,"EncoderSin":12448,"GapTicks":54785,"Mech_RPM":-9.61851266e-42,"cg_du":50.1439247,"cg_dv":50.195385,"cg_dw":49.804615,"cg_id_a":0.0294451509,"cg_id_raw_a":-0.0754840598,"cg_iq_a":-0.433781117,"cg_iq_raw_a":-0.334440887,"cg_iu_a":0.364971638,"cg_iv_a":0.10539782,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9618187,"cg_sample_seq":14561117,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.0776689947,"cg_vd_v":0.0776689947,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34731403,"cg_vq_v":-0.34731403,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8195496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.014893,"values":{"Elec_RPM":-4.61867974e-41,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-9.23735948e-42,"cg_du":50.1446953,"cg_dv":50.1982422,"cg_dw":49.8017578,"cg_id_a":0.172064975,"cg_id_raw_a":0.218841732,"cg_iq_a":-0.182895586,"cg_iq_raw_a":-0.560684681,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":26.8199997,"cg_sample_seq":14561370,"cg_sample_valid":1,"cg_theta_rad":5.0077281,"cg_vd_req_v":0.0790101588,"cg_vd_v":0.0790101588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351832956,"cg_vq_v":-0.351832956,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1368446,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":5000,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.026611,"values":{"Elec_RPM":-4.52619404e-41,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-9.05238808e-42,"cg_du":50.1335106,"cg_dv":50.1985397,"cg_dw":49.8014603,"cg_id_a":-0.182451814,"cg_id_raw_a":-0.242340893,"cg_iq_a":-0.435566694,"cg_iq_raw_a":-0.350723535,"cg_iu_a":0.111264944,"cg_iv_a":0.250373065,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.8527279,"cg_sample_seq":14561418,"cg_sample_valid":1,"cg_theta_rad":5.00777197,"cg_vd_req_v":0.0886785164,"cg_vd_v":0.0886785164,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345810354,"cg_vq_v":-0.345810354,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.295326591,"dclink_p_w":42.8709526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7993164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.034424,"values":{"Elec_RPM":-4.52619404e-41,"EncoderCos":38749,"EncoderSin":12491,"GapTicks":54787,"Mech_RPM":-9.05238808e-42,"cg_du":50.1428146,"cg_dv":50.1935997,"cg_dw":49.8064003,"cg_id_a":0.55013907,"cg_id_raw_a":0.106842965,"cg_iq_a":-0.358916581,"cg_iq_raw_a":0.410664916,"cg_iu_a":0.364971876,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9581814,"cg_sample_seq":14561466,"cg_sample_valid":1,"cg_theta_rad":5.00852489,"cg_vd_req_v":0.0734402314,"cg_vd_v":0.0734402314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343899548,"cg_vq_v":-0.343899548,"cg_vu_v":25.0738773,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.4280777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7993164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.042236,"values":{"Elec_RPM":-4.43581029e-41,"EncoderCos":38734,"EncoderSin":12462,"GapTicks":54784,"Mech_RPM":-8.87162058e-42,"cg_du":50.1402283,"cg_dv":50.1961441,"cg_dw":49.8038559,"cg_id_a":0.23818779,"cg_id_raw_a":0.278134227,"cg_iq_a":-0.103853986,"cg_iq_raw_a":0.354926914,"cg_iu_a":-0.541124105,"cg_iv_a":0.359104574,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9327278,"cg_sample_seq":14561516,"cg_sample_valid":1,"cg_theta_rad":5.00717354,"cg_vd_req_v":0.0797967762,"cg_vd_v":0.0797967762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345510453,"cg_vq_v":-0.345510453,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.050049,"values":{"Elec_RPM":-4.43581029e-41,"EncoderCos":38717,"EncoderSin":12491,"GapTicks":54776,"Mech_RPM":-8.87162058e-42,"cg_du":50.1410065,"cg_dv":50.2035713,"cg_dw":49.7964287,"cg_id_a":-0.0493802503,"cg_id_raw_a":-0.334033251,"cg_iq_a":0.360238761,"cg_iq_raw_a":1.02440655,"cg_iu_a":-0.142441988,"cg_iv_a":0.10539782,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9472733,"cg_sample_seq":14561566,"cg_sample_valid":1,"cg_theta_rad":5.00609016,"cg_vd_req_v":0.0870440975,"cg_vd_v":0.0870440975,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355899751,"cg_vq_v":-0.355899751,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.061768,"values":{"Elec_RPM":-4.34682784e-41,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-8.69365567e-42,"cg_du":50.1199379,"cg_dv":50.1982918,"cg_dw":49.8017082,"cg_id_a":-0.55697155,"cg_id_raw_a":-0.384264886,"cg_iq_a":-0.571294606,"cg_iq_raw_a":-0.65351361,"cg_iu_a":-0.468636513,"cg_iv_a":-0.619478941,"cg_iw_a":1.08811545,"cg_sample_age_us":23.954546,"cg_sample_seq":14561616,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.0969511122,"cg_vd_v":0.0969511122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337339997,"cg_vq_v":-0.337339997,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.337006927,"dclink_p_w":48.7732124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8335571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.06958,"values":{"Elec_RPM":-4.34682784e-41,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54787,"Mech_RPM":-8.69365567e-42,"cg_du":50.1340714,"cg_dv":50.1929741,"cg_dw":49.8070259,"cg_id_a":0.142732471,"cg_id_raw_a":-0.0822522417,"cg_iq_a":-0.595615804,"cg_iq_raw_a":-0.26241836,"cg_iu_a":0.546190977,"cg_iv_a":0.540323794,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9618187,"cg_sample_seq":14561666,"cg_sample_valid":1,"cg_theta_rad":5.00764465,"cg_vd_req_v":0.0835283473,"cg_vd_v":0.0835283473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338360846,"cg_vq_v":-0.338360846,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0922232,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.096924,"values":{"Elec_RPM":-4.25994733e-41,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54780,"Mech_RPM":-8.51989466e-42,"cg_du":50.1367455,"cg_dv":50.1997528,"cg_dw":49.8002472,"cg_id_a":0.0153576154,"cg_id_raw_a":-0.139469221,"cg_iq_a":0.0203033742,"cg_iq_raw_a":0.751963615,"cg_iu_a":0.401215553,"cg_iv_a":0.540323794,"cg_iw_a":-0.941539347,"cg_sample_age_us":26.8199997,"cg_sample_seq":14561721,"cg_sample_valid":1,"cg_theta_rad":5.00711012,"cg_vd_req_v":0.0867068991,"cg_vd_v":0.0867068991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348312318,"cg_vq_v":-0.348312318,"cg_vu_v":139.445938,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.545408964,"dclink_p_w":78.9341278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.821106,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.104736,"values":{"Elec_RPM":-4.25994733e-41,"EncoderCos":38703,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-8.51989466e-42,"cg_du":50.1361885,"cg_dv":50.1980858,"cg_dw":49.8019142,"cg_id_a":0.0445419177,"cg_id_raw_a":0.555034459,"cg_iq_a":-0.204661772,"cg_iq_raw_a":0.0932809934,"cg_iu_a":-0.613611698,"cg_iv_a":-0.0395775437,"cg_iw_a":0.653189242,"cg_sample_age_us":23.954546,"cg_sample_seq":14561766,"cg_sample_valid":1,"cg_theta_rad":5.00659037,"cg_vd_req_v":0.0868619755,"cg_vd_v":0.0868619755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345398575,"cg_vq_v":-0.345398575,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.545408964,"dclink_p_w":78.9341278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.8226624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.112549,"values":{"Elec_RPM":-4.17446813e-41,"EncoderCos":38721,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-8.34893625e-42,"cg_du":50.1406059,"cg_dv":50.1989555,"cg_dw":49.8010445,"cg_id_a":0.150331035,"cg_id_raw_a":0.277857602,"cg_iq_a":-0.0432550758,"cg_iq_raw_a":-0.081321165,"cg_iu_a":0.582434893,"cg_iv_a":-0.112065256,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9909096,"cg_sample_seq":14561816,"cg_sample_valid":1,"cg_theta_rad":5.01125669,"cg_vd_req_v":0.0830878615,"cg_vd_v":0.0830878615,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34934938,"cg_vq_v":-0.34934938,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.761059761,"dclink_p_w":110.144112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.120361,"values":{"Elec_RPM":-4.17446813e-41,"EncoderCos":38694,"EncoderSin":12461,"GapTicks":54785,"Mech_RPM":-8.34893625e-42,"cg_du":50.1421089,"cg_dv":50.194622,"cg_dw":49.805378,"cg_id_a":0.309689492,"cg_id_raw_a":0.350117296,"cg_iq_a":-0.360245347,"cg_iq_raw_a":-0.363502473,"cg_iu_a":-0.178685904,"cg_iv_a":0.685299098,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9763641,"cg_sample_seq":14561867,"cg_sample_valid":1,"cg_theta_rad":5.007514,"cg_vd_req_v":0.0797492787,"cg_vd_v":0.0797492787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3427293,"cg_vq_v":-0.3427293,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.730252504,"dclink_p_w":105.685539,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.128174,"values":{"Elec_RPM":-4.09109087e-41,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54774,"Mech_RPM":-8.18218173e-42,"cg_du":50.1395302,"cg_dv":50.2052231,"cg_dw":49.7947769,"cg_id_a":-0.131352708,"cg_id_raw_a":-0.445284545,"cg_iq_a":0.606609046,"cg_iq_raw_a":0.430411816,"cg_iu_a":0.292484045,"cg_iv_a":0.177885473,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9763641,"cg_sample_seq":14561916,"cg_sample_valid":1,"cg_theta_rad":5.0085845,"cg_vd_req_v":0.0903232992,"cg_vd_v":0.0903232992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357188195,"cg_vq_v":-0.357188195,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8226624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.139893,"values":{"Elec_RPM":-4.09109087e-41,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-8.18218173e-42,"cg_du":50.1352997,"cg_dv":50.1983757,"cg_dw":49.8016243,"cg_id_a":0.0615103915,"cg_id_raw_a":0.194134831,"cg_iq_a":-0.120576359,"cg_iq_raw_a":-0.708182454,"cg_iu_a":0.0387773514,"cg_iv_a":-0.112065315,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.863636,"cg_sample_seq":14561966,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0880299136,"cg_vd_v":0.0880299136,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346360624,"cg_vq_v":-0.346360624,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8226624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.147705,"values":{"Elec_RPM":-4.00911491e-41,"EncoderCos":38745,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-8.01822981e-42,"cg_du":50.1360588,"cg_dv":50.2027626,"cg_dw":49.7972374,"cg_id_a":0.097753115,"cg_id_raw_a":0.292742968,"cg_iq_a":0.182682067,"cg_iq_raw_a":-0.481998593,"cg_iu_a":0.14750886,"cg_iv_a":0.540323794,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9618187,"cg_sample_seq":14562016,"cg_sample_valid":1,"cg_theta_rad":5.00694513,"cg_vd_req_v":0.0881457999,"cg_vd_v":0.0881457999,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352532178,"cg_vq_v":-0.352532178,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.111931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8226624,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.155518,"values":{"Elec_RPM":-4.00911491e-41,"EncoderCos":38724,"EncoderSin":12502,"GapTicks":54775,"Mech_RPM":-8.01822981e-42,"cg_du":50.1431427,"cg_dv":50.2039948,"cg_dw":49.7960052,"cg_id_a":0.276125669,"cg_id_raw_a":0.777282298,"cg_iq_a":0.328699887,"cg_iq_raw_a":1.96745837,"cg_iu_a":0.473703384,"cg_iv_a":-0.293284416,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8672733,"cg_sample_seq":14562066,"cg_sample_valid":1,"cg_theta_rad":5.00648832,"cg_vd_req_v":0.0851989165,"cg_vd_v":0.0851989165,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358961612,"cg_vq_v":-0.358961612,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.679511189,"dclink_p_w":98.6409378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.16333,"values":{"Elec_RPM":-3.92924089e-41,"EncoderCos":38723,"EncoderSin":12464,"GapTicks":54768,"Mech_RPM":-7.85848179e-42,"cg_du":50.1531868,"cg_dv":50.2104187,"cg_dw":49.7895813,"cg_id_a":0.449280918,"cg_id_raw_a":-0.410259843,"cg_iq_a":0.817387342,"cg_iq_raw_a":0.507038116,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9872723,"cg_sample_seq":14562116,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.0843216404,"cg_vd_v":0.0843216404,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372000933,"cg_vq_v":-0.372000933,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":0.679511189,"dclink_p_w":98.6409378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8351135,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.175049,"values":{"Elec_RPM":-3.92924089e-41,"EncoderCos":38734,"EncoderSin":12440,"GapTicks":54767,"Mech_RPM":-7.85848179e-42,"cg_du":50.1414566,"cg_dv":50.2112656,"cg_dw":49.7887344,"cg_id_a":0.0622176379,"cg_id_raw_a":-0.239075333,"cg_iq_a":0.361262649,"cg_iq_raw_a":-1.04185843,"cg_iu_a":-1.26600051,"cg_iv_a":0.21412921,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9836369,"cg_sample_seq":14562166,"cg_sample_valid":1,"cg_theta_rad":5.00726175,"cg_vd_req_v":0.0940376967,"cg_vd_v":0.0940376967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366648734,"cg_vq_v":-0.366648734,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.378687382,"dclink_p_w":54.8054008,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8086548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.202393,"values":{"Elec_RPM":-3.85076818e-41,"EncoderCos":38746,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-7.70153636e-42,"cg_du":50.1302109,"cg_dv":50.2103424,"cg_dw":49.7896576,"cg_id_a":-0.589003682,"cg_id_raw_a":-0.1985434,"cg_iq_a":0.0792270601,"cg_iq_raw_a":0.528653443,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.863636,"cg_sample_seq":14562221,"cg_sample_valid":1,"cg_theta_rad":5.00619364,"cg_vd_req_v":0.100080252,"cg_vd_v":0.100080252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359620214,"cg_vq_v":-0.359620214,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.460235953,"dclink_p_w":66.6074905,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.210205,"values":{"Elec_RPM":-3.85076818e-41,"EncoderCos":38702,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-7.70153636e-42,"cg_du":50.1308174,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":-0.22478497,"cg_id_raw_a":-0.251000285,"cg_iq_a":-0.158172697,"cg_iq_raw_a":0.15710932,"cg_iu_a":0.256240368,"cg_iv_a":0.250373125,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9872723,"cg_sample_seq":14562267,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.101673357,"cg_vd_v":0.101673357,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355854392,"cg_vq_v":-0.355854392,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.460235953,"dclink_p_w":66.6074905,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.218018,"values":{"Elec_RPM":-3.77369676e-41,"EncoderCos":38744,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-7.54739353e-42,"cg_du":50.1277008,"cg_dv":50.2071075,"cg_dw":49.7928925,"cg_id_a":-0.0395622253,"cg_id_raw_a":0.402488321,"cg_iq_a":-0.21409364,"cg_iq_raw_a":-0.0710064694,"cg_iu_a":-0.0337104797,"cg_iv_a":0.105397701,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.954546,"cg_sample_seq":14562317,"cg_sample_valid":1,"cg_theta_rad":5.00588989,"cg_vd_req_v":0.0997907966,"cg_vd_v":0.0997907966,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354728609,"cg_vq_v":-0.354728609,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.7225418,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8397827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.229736,"values":{"Elec_RPM":-3.77369676e-41,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-7.54739353e-42,"cg_du":50.1267815,"cg_dv":50.2045135,"cg_dw":49.7954865,"cg_id_a":0.0170459002,"cg_id_raw_a":0.139019787,"cg_iq_a":-0.416487932,"cg_iq_raw_a":-0.386306763,"cg_iu_a":0.219996452,"cg_iv_a":0.10539782,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9509087,"cg_sample_seq":14562367,"cg_sample_valid":1,"cg_theta_rad":5.00653172,"cg_vd_req_v":0.0992823988,"cg_vd_v":0.0992823988,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350305229,"cg_vq_v":-0.350305229,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8397827,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.237549,"values":{"Elec_RPM":-3.69802665e-41,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54767,"Mech_RPM":-7.39605329e-42,"cg_du":50.1275101,"cg_dv":50.2110825,"cg_dw":49.7889175,"cg_id_a":-0.214329317,"cg_id_raw_a":-0.486132443,"cg_iq_a":-0.0938417614,"cg_iq_raw_a":-0.446330398,"cg_iu_a":-0.831074715,"cg_iv_a":0.286616921,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9618187,"cg_sample_seq":14562417,"cg_sample_valid":1,"cg_theta_rad":5.00690937,"cg_vd_req_v":0.104548782,"cg_vd_v":0.104548782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358659029,"cg_vq_v":-0.358659029,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.3331413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8304443,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.245361,"values":{"Elec_RPM":-3.69802665e-41,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-7.39605329e-42,"cg_du":50.1315155,"cg_dv":50.2146149,"cg_dw":49.7853851,"cg_id_a":-0.188571945,"cg_id_raw_a":0.316311359,"cg_iq_a":0.163536191,"cg_iq_raw_a":-0.259624064,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14562466,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.10547436,"cg_vd_v":0.10547436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365520328,"cg_vq_v":-0.365520328,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.253174,"values":{"Elec_RPM":-3.62375783e-41,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-7.24751566e-42,"cg_du":50.1373253,"cg_dv":50.2147293,"cg_dw":49.7852707,"cg_id_a":0.0391222313,"cg_id_raw_a":-0.0708004907,"cg_iq_a":0.270265996,"cg_iq_raw_a":-0.843217552,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14562517,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.0998818576,"cg_vd_v":0.0998818576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369251966,"cg_vq_v":-0.369251966,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8506775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.260986,"values":{"Elec_RPM":-3.62375783e-41,"EncoderCos":38748,"EncoderSin":12479,"GapTicks":54770,"Mech_RPM":-7.24751566e-42,"cg_du":50.1279678,"cg_dv":50.2086296,"cg_dw":49.7913704,"cg_id_a":0.176200807,"cg_id_raw_a":-0.378561974,"cg_iq_a":-0.281974226,"cg_iq_raw_a":-0.0335432701,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656759,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9472733,"cg_sample_seq":14562567,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0999864191,"cg_vd_v":0.0999864191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356096357,"cg_vq_v":-0.356096357,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.268799,"values":{"Elec_RPM":-3.55159096e-41,"EncoderCos":38727,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-7.10318192e-42,"cg_du":50.1352997,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":0.432445467,"cg_id_raw_a":0.277789325,"cg_iq_a":-0.242868766,"cg_iq_raw_a":0.792150915,"cg_iu_a":-0.323661089,"cg_iv_a":0.612811387,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9690914,"cg_sample_seq":14562617,"cg_sample_valid":1,"cg_theta_rad":5.00805092,"cg_vd_req_v":0.0937090814,"cg_vd_v":0.0937090814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356242597,"cg_vq_v":-0.356242597,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.9965897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.276611,"values":{"Elec_RPM":-3.55159096e-41,"EncoderCos":38694,"EncoderSin":12455,"GapTicks":54763,"Mech_RPM":-7.10318192e-42,"cg_du":50.133091,"cg_dv":50.2146301,"cg_dw":49.7853699,"cg_id_a":-0.107024819,"cg_id_raw_a":0.0513519645,"cg_iq_a":0.209127128,"cg_iq_raw_a":-0.321794927,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373125,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9618187,"cg_sample_seq":14562667,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.106824279,"cg_vd_v":0.106824279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365687996,"cg_vq_v":-0.365687996,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.3589516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.303955,"values":{"Elec_RPM":-3.48082539e-41,"EncoderCos":38744,"EncoderSin":12463,"GapTicks":54758,"Mech_RPM":-6.96165077e-42,"cg_du":50.1232758,"cg_dv":50.2192459,"cg_dw":49.7807541,"cg_id_a":-0.425220609,"cg_id_raw_a":-0.43355605,"cg_iq_a":0.233229429,"cg_iq_raw_a":0.106184907,"cg_iu_a":0.473703384,"cg_iv_a":-0.365772128,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8527279,"cg_sample_seq":14562720,"cg_sample_valid":1,"cg_theta_rad":5.0087738,"cg_vd_req_v":0.11464563,"cg_vd_v":0.11464563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367755115,"cg_vq_v":-0.367755115,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8257751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.315674,"values":{"Elec_RPM":-3.48082539e-41,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54762,"Mech_RPM":-6.96165077e-42,"cg_du":50.1393433,"cg_dv":50.2158432,"cg_dw":49.7841568,"cg_id_a":0.225239784,"cg_id_raw_a":-0.206121638,"cg_iq_a":0.334758341,"cg_iq_raw_a":0.781796694,"cg_iu_a":0.292484283,"cg_iv_a":0.214129329,"cg_iw_a":-0.506613612,"cg_sample_age_us":23.9836369,"cg_sample_seq":14562766,"cg_sample_valid":1,"cg_theta_rad":5.00544071,"cg_vd_req_v":0.100614317,"cg_vd_v":0.100614317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371560127,"cg_vq_v":-0.371560127,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8257751,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.323486,"values":{"Elec_RPM":-3.41146111e-41,"EncoderCos":38748,"EncoderSin":12484,"GapTicks":54761,"Mech_RPM":-6.82292222e-42,"cg_du":50.1255798,"cg_dv":50.2165756,"cg_dw":49.7834244,"cg_id_a":-0.14292492,"cg_id_raw_a":-0.259520561,"cg_iq_a":-0.130836591,"cg_iq_raw_a":0.74157095,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065196,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9290905,"cg_sample_seq":14562816,"cg_sample_valid":1,"cg_theta_rad":5.00618553,"cg_vd_req_v":0.109058097,"cg_vd_v":0.109058097,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364546359,"cg_vq_v":-0.364546359,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.331299,"values":{"Elec_RPM":-3.41146111e-41,"EncoderCos":38705,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-6.82292222e-42,"cg_du":50.1369591,"cg_dv":50.2198334,"cg_dw":49.7801666,"cg_id_a":-0.0486489683,"cg_id_raw_a":-0.00525045116,"cg_iq_a":0.361010164,"cg_iq_raw_a":0.437389284,"cg_iu_a":0.00253343582,"cg_iv_a":-0.43825984,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9290905,"cg_sample_seq":14562866,"cg_sample_valid":1,"cg_theta_rad":5.00653839,"cg_vd_req_v":0.107278556,"cg_vd_v":0.107278556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375388592,"cg_vq_v":-0.375388592,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8039856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.343018,"values":{"Elec_RPM":-3.34349814e-41,"EncoderCos":38731,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-6.68699627e-42,"cg_du":50.1357765,"cg_dv":50.2135277,"cg_dw":49.7864723,"cg_id_a":0.168497324,"cg_id_raw_a":0.052047655,"cg_iq_a":-0.0829961896,"cg_iq_raw_a":-0.139846101,"cg_iu_a":0.038777113,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.8527279,"cg_sample_seq":14562916,"cg_sample_valid":1,"cg_theta_rad":5.00743151,"cg_vd_req_v":0.100718506,"cg_vd_v":0.100718506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367732972,"cg_vq_v":-0.367732972,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8039856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.35083,"values":{"Elec_RPM":-3.34349814e-41,"EncoderCos":38725,"EncoderSin":12511,"GapTicks":54764,"Mech_RPM":-6.68699627e-42,"cg_du":50.1397705,"cg_dv":50.2144012,"cg_dw":49.7855988,"cg_id_a":0.201671034,"cg_id_raw_a":0.581697941,"cg_iq_a":-0.0073518008,"cg_iq_raw_a":-0.636300445,"cg_iu_a":-0.251173258,"cg_iv_a":-0.329528213,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9654541,"cg_sample_seq":14562967,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0973534659,"cg_vd_v":0.0973534659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370245427,"cg_vq_v":-0.370245427,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8102112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.358643,"values":{"Elec_RPM":-3.27693646e-41,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-6.55387292e-42,"cg_du":50.1343193,"cg_dv":50.2138023,"cg_dw":49.7861977,"cg_id_a":0.0276526883,"cg_id_raw_a":0.129792988,"cg_iq_a":-0.2778548,"cg_iq_raw_a":-0.751510262,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9290905,"cg_sample_seq":14563017,"cg_sample_valid":1,"cg_theta_rad":5.0099535,"cg_vd_req_v":0.100596987,"cg_vd_v":0.100596987,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365314305,"cg_vq_v":-0.365314305,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.366455,"values":{"Elec_RPM":-3.27693646e-41,"EncoderCos":38696,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-6.55387292e-42,"cg_du":50.1369286,"cg_dv":50.2106781,"cg_dw":49.7893219,"cg_id_a":-0.0177750178,"cg_id_raw_a":-0.169973642,"cg_iq_a":-0.383606255,"cg_iq_raw_a":-0.0167040695,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9581814,"cg_sample_seq":14563067,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.0990056843,"cg_vd_v":0.0990056843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361587673,"cg_vq_v":-0.361587673,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.374268,"values":{"Elec_RPM":-3.21107543e-41,"EncoderCos":38703,"EncoderSin":12425,"GapTicks":54761,"Mech_RPM":-6.42215086e-42,"cg_du":50.1475449,"cg_dv":50.2164497,"cg_dw":49.7835503,"cg_id_a":0.0909355059,"cg_id_raw_a":0.448626786,"cg_iq_a":0.29255262,"cg_iq_raw_a":-0.498816311,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9909096,"cg_sample_seq":14563117,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.0970316157,"cg_vd_v":0.0970316157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37519756,"cg_vq_v":-0.37519756,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.7758102,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8242188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.38208,"values":{"Elec_RPM":-3.21107543e-41,"EncoderCos":38744,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-6.42215086e-42,"cg_du":50.1322327,"cg_dv":50.211235,"cg_dw":49.788765,"cg_id_a":-0.181776702,"cg_id_raw_a":-0.132720634,"cg_iq_a":-0.171782136,"cg_iq_raw_a":-0.193379655,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8600006,"cg_sample_seq":14563167,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0995572731,"cg_vd_v":0.0995572731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36190629,"cg_vq_v":-0.36190629,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8242188,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.41333,"values":{"Elec_RPM":-3.1466157e-41,"EncoderCos":38750,"EncoderSin":12517,"GapTicks":54769,"Mech_RPM":-6.2932314e-42,"cg_du":50.1330528,"cg_dv":50.209446,"cg_dw":49.790554,"cg_id_a":-0.00244460255,"cg_id_raw_a":-0.438036859,"cg_iq_a":-0.235409334,"cg_iq_raw_a":-0.0739590079,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065315,"cg_iw_a":0.254507303,"cg_sample_age_us":23.863636,"cg_sample_seq":14563220,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0959360227,"cg_vd_v":0.0959360227,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361427307,"cg_vq_v":-0.361427307,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8102112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.421143,"values":{"Elec_RPM":-3.1466157e-41,"EncoderCos":38750,"EncoderSin":12450,"GapTicks":54773,"Mech_RPM":-6.2932314e-42,"cg_du":50.1315346,"cg_dv":50.2061462,"cg_dw":49.7938538,"cg_id_a":0.0346012935,"cg_id_raw_a":0.150699347,"cg_iq_a":-0.442070782,"cg_iq_raw_a":-0.531256139,"cg_iu_a":0.219996452,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9618187,"cg_sample_seq":14563266,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.095617868,"cg_vd_v":0.095617868,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355617642,"cg_vq_v":-0.355617642,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.3571968,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.805542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.428955,"values":{"Elec_RPM":-3.02190014e-41,"EncoderCos":38723,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-6.04380028e-42,"cg_du":50.1271896,"cg_dv":50.2003708,"cg_dw":49.7996292,"cg_id_a":0.0649206042,"cg_id_raw_a":0.0966466367,"cg_iq_a":-0.611928821,"cg_iq_raw_a":0.483621985,"cg_iu_a":0.473703146,"cg_iv_a":0.359104633,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9836369,"cg_sample_seq":14563417,"cg_sample_valid":1,"cg_theta_rad":5.00811577,"cg_vd_req_v":0.0949291065,"cg_vd_v":0.0949291065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343756437,"cg_vq_v":-0.343756437,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8086548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.436768,"values":{"Elec_RPM":-3.02190014e-41,"EncoderCos":38736,"EncoderSin":12486,"GapTicks":54767,"Mech_RPM":-6.04380028e-42,"cg_du":50.134861,"cg_dv":50.2109528,"cg_dw":49.7890472,"cg_id_a":-0.147132248,"cg_id_raw_a":0.262802809,"cg_iq_a":0.424384236,"cg_iq_raw_a":0.753246486,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104633,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9872723,"cg_sample_seq":14563467,"cg_sample_valid":1,"cg_theta_rad":5.00796843,"cg_vd_req_v":0.0978962407,"cg_vd_v":0.0978962407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36398679,"cg_vq_v":-0.36398679,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8086548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.44458,"values":{"Elec_RPM":-2.9616443e-41,"EncoderCos":38704,"EncoderSin":12488,"GapTicks":54774,"Mech_RPM":-5.92328861e-42,"cg_du":50.1310692,"cg_dv":50.2051849,"cg_dw":49.7948151,"cg_id_a":-0.271352172,"cg_id_raw_a":-0.473902494,"cg_iq_a":0.0922199413,"cg_iq_raw_a":1.3374815,"cg_iu_a":0.111264944,"cg_iv_a":-0.583235145,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9581814,"cg_sample_seq":14563517,"cg_sample_valid":1,"cg_theta_rad":5.00719595,"cg_vd_req_v":0.0978276506,"cg_vd_v":0.0978276506,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353282511,"cg_vq_v":-0.353282511,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.456299,"values":{"Elec_RPM":-2.9616443e-41,"EncoderCos":38709,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-5.92328861e-42,"cg_du":50.1375084,"cg_dv":50.2033501,"cg_dw":49.7966499,"cg_id_a":0.110096648,"cg_id_raw_a":0.0653122887,"cg_iq_a":0.0752899945,"cg_iq_raw_a":0.153085381,"cg_iu_a":-0.178685904,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945624,"cg_sample_age_us":23.954546,"cg_sample_seq":14563567,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0911279023,"cg_vd_v":0.0911279023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354385763,"cg_vq_v":-0.354385763,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.464111,"values":{"Elec_RPM":-2.90208912e-41,"EncoderCos":38695,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-5.80417824e-42,"cg_du":50.1376076,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":0.0294677541,"cg_id_raw_a":0.208213627,"cg_iq_a":0.112324595,"cg_iq_raw_a":-0.414745092,"cg_iu_a":-0.722343206,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9763641,"cg_sample_seq":14563617,"cg_sample_valid":1,"cg_theta_rad":5.00665379,"cg_vd_req_v":0.0912825987,"cg_vd_v":0.0912825987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351908118,"cg_vq_v":-0.351908118,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.2477493,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.471924,"values":{"Elec_RPM":-2.90208912e-41,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-5.80417824e-42,"cg_du":50.1405983,"cg_dv":50.2065735,"cg_dw":49.7934265,"cg_id_a":0.0566844717,"cg_id_raw_a":-0.27444908,"cg_iq_a":0.496989548,"cg_iq_raw_a":0.192568839,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14563666,"cg_sample_valid":1,"cg_theta_rad":5.00867319,"cg_vd_req_v":0.0904170275,"cg_vd_v":0.0904170275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359719068,"cg_vq_v":-0.359719068,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8086548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.499268,"values":{"Elec_RPM":-2.84393523e-41,"EncoderCos":38734,"EncoderSin":12492,"GapTicks":54773,"Mech_RPM":-5.68787047e-42,"cg_du":50.1329956,"cg_dv":50.205616,"cg_dw":49.794384,"cg_id_a":-0.128359705,"cg_id_raw_a":-0.301857442,"cg_iq_a":0.207212567,"cg_iq_raw_a":0.045521792,"cg_iu_a":0.364971876,"cg_iv_a":0.431592345,"cg_iw_a":0.145775735,"cg_sample_age_us":23.8563633,"cg_sample_seq":14563722,"cg_sample_valid":1,"cg_theta_rad":5.00692177,"cg_vd_req_v":0.0939273834,"cg_vd_v":0.0939273834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354560882,"cg_vq_v":-0.354560882,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.8086548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.510986,"values":{"Elec_RPM":-2.84393523e-41,"EncoderCos":38720,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-5.68787047e-42,"cg_du":50.134922,"cg_dv":50.199604,"cg_dw":49.800396,"cg_id_a":0.18223004,"cg_id_raw_a":0.152933151,"cg_iq_a":-0.181975484,"cg_iq_raw_a":-0.0934636369,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14563767,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.0883055255,"cg_vd_v":0.0883055255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347005814,"cg_vq_v":-0.347005814,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.518799,"values":{"Elec_RPM":-2.78718265e-41,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54777,"Mech_RPM":-5.57436529e-42,"cg_du":50.1406288,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":0.266573012,"cg_id_raw_a":0.204874262,"cg_iq_a":0.090541631,"cg_iq_raw_a":0.0202028044,"cg_iu_a":0.509947181,"cg_iv_a":0.286616921,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9872723,"cg_sample_seq":14563816,"cg_sample_valid":1,"cg_theta_rad":5.00782776,"cg_vd_req_v":0.0855107531,"cg_vd_v":0.0855107531,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354459226,"cg_vq_v":-0.354459226,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-11.024086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.526611,"values":{"Elec_RPM":-2.78718265e-41,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54779,"Mech_RPM":-5.57436529e-42,"cg_du":50.1373253,"cg_dv":50.2005272,"cg_dw":49.7994728,"cg_id_a":0.0886691585,"cg_id_raw_a":0.160558984,"cg_iq_a":-0.0816126019,"cg_iq_raw_a":-0.165065452,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14563867,"cg_sample_valid":1,"cg_theta_rad":5.00785494,"cg_vd_req_v":0.0884947106,"cg_vd_v":0.0884947106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349313468,"cg_vq_v":-0.349313468,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.6307487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.534424,"values":{"Elec_RPM":-2.73113071e-41,"EncoderCos":38733,"EncoderSin":12458,"GapTicks":54763,"Mech_RPM":-5.46226141e-42,"cg_du":50.1415482,"cg_dv":50.2147942,"cg_dw":49.7852058,"cg_id_a":-0.325463384,"cg_id_raw_a":0.163453832,"cg_iq_a":0.90754503,"cg_iq_raw_a":0.453344464,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9872723,"cg_sample_seq":14563917,"cg_sample_valid":1,"cg_theta_rad":5.0077858,"cg_vd_req_v":0.0970136225,"cg_vd_v":0.0970136225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371595889,"cg_vq_v":-0.371595889,"cg_vu_v":138.566162,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.542236,"values":{"Elec_RPM":-2.73113071e-41,"EncoderCos":38696,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-5.46226141e-42,"cg_du":50.140255,"cg_dv":50.2098579,"cg_dw":49.7901421,"cg_id_a":-0.195942,"cg_id_raw_a":-0.0480750985,"cg_iq_a":0.364806831,"cg_iq_raw_a":0.433079392,"cg_iu_a":0.147508621,"cg_iv_a":-0.148308992,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9763641,"cg_sample_seq":14563967,"cg_sample_valid":1,"cg_theta_rad":5.00807762,"cg_vd_req_v":0.0959533304,"cg_vd_v":0.0959533304,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36345154,"cg_vq_v":-0.36345154,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.550049,"values":{"Elec_RPM":-2.67648007e-41,"EncoderCos":38725,"EncoderSin":12431,"GapTicks":54779,"Mech_RPM":-5.35296013e-42,"cg_du":50.1368484,"cg_dv":50.2006683,"cg_dw":49.7993317,"cg_id_a":0.107353315,"cg_id_raw_a":-0.264967889,"cg_iq_a":-0.218898952,"cg_iq_raw_a":-0.753958642,"cg_iu_a":0.219996452,"cg_iv_a":-0.112065256,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9618187,"cg_sample_seq":14564017,"cg_sample_valid":1,"cg_theta_rad":5.00940228,"cg_vd_req_v":0.0882956311,"cg_vd_v":0.0882956311,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349421114,"cg_vq_v":-0.349421114,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8195496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.557861,"values":{"Elec_RPM":-2.67648007e-41,"EncoderCos":38722,"EncoderSin":12453,"GapTicks":54783,"Mech_RPM":-5.35296013e-42,"cg_du":50.1309128,"cg_dv":50.1970406,"cg_dw":49.8029594,"cg_id_a":0.0173687898,"cg_id_raw_a":-0.109160125,"cg_iq_a":-0.616597652,"cg_iq_raw_a":-0.847589433,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373125,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9618187,"cg_sample_seq":14564067,"cg_sample_valid":1,"cg_theta_rad":5.00588655,"cg_vd_req_v":0.0891299695,"cg_vd_v":0.0891299695,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341225028,"cg_vq_v":-0.341225028,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7853088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.56958,"values":{"Elec_RPM":-2.62323073e-41,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-5.24646145e-42,"cg_du":50.1325111,"cg_dv":50.2033043,"cg_dw":49.7966957,"cg_id_a":-0.0912429392,"cg_id_raw_a":-0.0468363464,"cg_iq_a":0.0281161088,"cg_iq_raw_a":-0.440290838,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9581814,"cg_sample_seq":14564117,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0918066353,"cg_vd_v":0.0918066353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351208121,"cg_vq_v":-0.351208121,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7853088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.577393,"values":{"Elec_RPM":-2.62323073e-41,"EncoderCos":38718,"EncoderSin":12447,"GapTicks":54776,"Mech_RPM":-5.24646145e-42,"cg_du":50.1405792,"cg_dv":50.2033615,"cg_dw":49.7966385,"cg_id_a":0.0572726205,"cg_id_raw_a":0.0970590338,"cg_iq_a":0.347465217,"cg_iq_raw_a":0.0469175018,"cg_iu_a":0.582434773,"cg_iv_a":-0.148309112,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9654541,"cg_sample_seq":14564167,"cg_sample_valid":1,"cg_theta_rad":5.01139212,"cg_vd_req_v":0.0879030302,"cg_vd_v":0.0879030302,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354047388,"cg_vq_v":-0.354047388,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7930908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.585205,"values":{"Elec_RPM":-2.57068203e-41,"EncoderCos":38703,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-5.14136407e-42,"cg_du":50.1402016,"cg_dv":50.2040138,"cg_dw":49.7959862,"cg_id_a":-0.0684033185,"cg_id_raw_a":-0.131040111,"cg_iq_a":0.403597504,"cg_iq_raw_a":0.42458269,"cg_iu_a":0.292484045,"cg_iv_a":0.794030666,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9872723,"cg_sample_seq":14564216,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0900230408,"cg_vd_v":0.0900230408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355571061,"cg_vq_v":-0.355571061,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.612549,"values":{"Elec_RPM":-2.51953464e-41,"EncoderCos":38735,"EncoderSin":12472,"GapTicks":54782,"Mech_RPM":-5.03906928e-42,"cg_du":50.1292152,"cg_dv":50.1981621,"cg_dw":49.8018379,"cg_id_a":-0.0959838033,"cg_id_raw_a":0.0633293539,"cg_iq_a":-0.445558041,"cg_iq_raw_a":0.407216161,"cg_iu_a":-0.178685665,"cg_iv_a":0.214129329,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9218178,"cg_sample_seq":14564317,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.0900947526,"cg_vd_v":0.0900947526,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34218207,"cg_vq_v":-0.34218207,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.00187289715,"dclink_p_w":-0.271054387,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.624268,"values":{"Elec_RPM":-2.51953464e-41,"EncoderCos":38718,"EncoderSin":12443,"GapTicks":54782,"Mech_RPM":-5.03906928e-42,"cg_du":50.1397247,"cg_dv":50.19767,"cg_dw":49.80233,"cg_id_a":0.155012757,"cg_id_raw_a":0.00209075841,"cg_iq_a":-0.0661635771,"cg_iq_raw_a":0.365263492,"cg_iu_a":-0.0699543953,"cg_iv_a":0.685299098,"cg_iw_a":-0.615344703,"cg_sample_age_us":23.9763641,"cg_sample_seq":14564367,"cg_sample_valid":1,"cg_theta_rad":5.00722218,"cg_vd_req_v":0.0833878517,"cg_vd_v":0.0833878517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346904337,"cg_vq_v":-0.346904337,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.7764225,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1573486,"temp_inv2_c":35.813324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.63208,"values":{"Elec_RPM":-2.46908789e-41,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-4.93817579e-42,"cg_du":50.1364899,"cg_dv":50.19347,"cg_dw":49.80653,"cg_id_a":0.356966019,"cg_id_raw_a":0.288327903,"cg_iq_a":-0.47538498,"cg_iq_raw_a":0.465363383,"cg_iu_a":-0.432392597,"cg_iv_a":0.214129329,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14564417,"cg_sample_valid":1,"cg_theta_rad":5.0076766,"cg_vd_req_v":0.0803975537,"cg_vd_v":0.0803975537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339723587,"cg_vq_v":-0.339723587,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.639893,"values":{"Elec_RPM":-2.46908789e-41,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54781,"Mech_RPM":-4.93817579e-42,"cg_du":50.1458511,"cg_dv":50.1983986,"cg_dw":49.8016014,"cg_id_a":0.453408957,"cg_id_raw_a":0.81039083,"cg_iq_a":-0.0455855131,"cg_iq_raw_a":0.918174386,"cg_iu_a":0.111264944,"cg_iv_a":0.431592226,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9290905,"cg_sample_seq":14564467,"cg_sample_valid":1,"cg_theta_rad":5.00700474,"cg_vd_req_v":0.0787009597,"cg_vd_v":0.0787009597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35147506,"cg_vq_v":-0.35147506,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.647705,"values":{"Elec_RPM":-2.42004245e-41,"EncoderCos":38723,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-4.8400849e-42,"cg_du":50.149704,"cg_dv":50.2050934,"cg_dw":49.7949066,"cg_id_a":0.313728809,"cg_id_raw_a":-0.378384382,"cg_iq_a":0.367132217,"cg_iq_raw_a":0.401319504,"cg_iu_a":0.292484283,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9654541,"cg_sample_seq":14564517,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0814260319,"cg_vd_v":0.0814260319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362906218,"cg_vq_v":-0.362906218,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.789978,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.655518,"values":{"Elec_RPM":-2.42004245e-41,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-4.8400849e-42,"cg_du":50.1460266,"cg_dv":50.2052689,"cg_dw":49.7947311,"cg_id_a":0.102882028,"cg_id_raw_a":-0.00906013697,"cg_iq_a":0.210779414,"cg_iq_raw_a":-0.364343941,"cg_iu_a":-1.12102532,"cg_iv_a":0.105397701,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9581814,"cg_sample_seq":14564567,"cg_sample_valid":1,"cg_theta_rad":5.00715065,"cg_vd_req_v":0.0857939273,"cg_vd_v":0.0857939273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36077863,"cg_vq_v":-0.36077863,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.66333,"values":{"Elec_RPM":-2.37169765e-41,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-4.7433953e-42,"cg_du":50.1432152,"cg_dv":50.2064629,"cg_dw":49.7935371,"cg_id_a":-0.00246407092,"cg_id_raw_a":-0.0418399312,"cg_iq_a":0.247695625,"cg_iq_raw_a":-0.877568066,"cg_iu_a":-1.19351292,"cg_iv_a":0.141641617,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9581814,"cg_sample_seq":14564616,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0891859978,"cg_vd_v":0.0891859978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360807776,"cg_vq_v":-0.360807776,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":50.8713608,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8102112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.671143,"values":{"Elec_RPM":-2.37169765e-41,"EncoderCos":38774,"EncoderSin":12469,"GapTicks":54774,"Mech_RPM":-4.7433953e-42,"cg_du":50.1352272,"cg_dv":50.2049294,"cg_dw":49.7950706,"cg_id_a":0.014930496,"cg_id_raw_a":0.275342971,"cg_iq_a":-0.134986281,"cg_iq_raw_a":0.424474686,"cg_iu_a":0.364971638,"cg_iv_a":0.286616921,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.954546,"cg_sample_seq":14564666,"cg_sample_valid":1,"cg_theta_rad":5.00763655,"cg_vd_req_v":0.0888457298,"cg_vd_v":0.0888457298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355546653,"cg_vq_v":-0.355546653,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8102112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.682861,"values":{"Elec_RPM":-2.3240535e-41,"EncoderCos":38734,"EncoderSin":12477,"GapTicks":54772,"Mech_RPM":-4.64810701e-42,"cg_du":50.1315269,"cg_dv":50.2069054,"cg_dw":49.7930946,"cg_id_a":-0.157398045,"cg_id_raw_a":0.385132819,"cg_iq_a":-0.251904517,"cg_iq_raw_a":-0.108578652,"cg_iu_a":0.473703146,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9763641,"cg_sample_seq":14564716,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.096697554,"cg_vd_v":0.096697554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355396599,"cg_vq_v":-0.355396599,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.710205,"values":{"Elec_RPM":-2.3240535e-41,"EncoderCos":38739,"EncoderSin":12457,"GapTicks":54776,"Mech_RPM":-4.64810701e-42,"cg_du":50.1341705,"cg_dv":50.2028198,"cg_dw":49.7971802,"cg_id_a":0.167688087,"cg_id_raw_a":0.0964885131,"cg_iq_a":-0.301363289,"cg_iq_raw_a":-0.390547097,"cg_iu_a":-0.251173496,"cg_iv_a":0.032910049,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9181824,"cg_sample_seq":14564770,"cg_sample_valid":1,"cg_theta_rad":5.00598526,"cg_vd_req_v":0.091024749,"cg_vd_v":0.091024749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352352768,"cg_vq_v":-0.352352768,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.718018,"values":{"Elec_RPM":-2.27781065e-41,"EncoderCos":38733,"EncoderSin":12445,"GapTicks":54776,"Mech_RPM":-4.55562131e-42,"cg_du":50.1319122,"cg_dv":50.2028389,"cg_dw":49.7971611,"cg_id_a":0.156168491,"cg_id_raw_a":0.0798656046,"cg_iq_a":-0.348297477,"cg_iq_raw_a":0.00851333141,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.220796704,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9581814,"cg_sample_seq":14564817,"cg_sample_valid":1,"cg_theta_rad":5.00737095,"cg_vd_req_v":0.0933118314,"cg_vd_v":0.0933118314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34984839,"cg_vq_v":-0.34984839,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7993164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.72583,"values":{"Elec_RPM":-2.27781065e-41,"EncoderCos":38688,"EncoderSin":12451,"GapTicks":54778,"Mech_RPM":-4.55562131e-42,"cg_du":50.1376457,"cg_dv":50.2011871,"cg_dw":49.7988129,"cg_id_a":0.258272499,"cg_id_raw_a":-0.207112998,"cg_iq_a":-0.347075731,"cg_iq_raw_a":-0.458623618,"cg_iu_a":-0.0337102413,"cg_iv_a":0.322860837,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14564867,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.0906419903,"cg_vd_v":0.0906419903,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349941283,"cg_vq_v":-0.349941283,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.257270455,"dclink_p_w":37.2333794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.737549,"values":{"Elec_RPM":-2.23226845e-41,"EncoderCos":38732,"EncoderSin":12473,"GapTicks":54770,"Mech_RPM":-4.46453691e-42,"cg_du":50.1376266,"cg_dv":50.2085838,"cg_dw":49.7914162,"cg_id_a":0.182873994,"cg_id_raw_a":0.548751533,"cg_iq_a":0.14543885,"cg_iq_raw_a":0.1620536,"cg_iu_a":-1.04853773,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.954546,"cg_sample_seq":14564917,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0937865376,"cg_vd_v":0.0937865376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361027718,"cg_vq_v":-0.361027718,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.257270455,"dclink_p_w":37.2333794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.745361,"values":{"Elec_RPM":-2.23226845e-41,"EncoderCos":38747,"EncoderSin":12490,"GapTicks":54765,"Mech_RPM":-4.46453691e-42,"cg_du":50.139782,"cg_dv":50.2130966,"cg_dw":49.7869034,"cg_id_a":0.113201037,"cg_id_raw_a":0.143746644,"cg_iq_a":0.47626105,"cg_iq_raw_a":0.232113823,"cg_iu_a":-1.08478165,"cg_iv_a":0.0329101086,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9618187,"cg_sample_seq":14564967,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.0947742462,"cg_vd_v":0.0947742462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368816137,"cg_vq_v":-0.368816137,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.753174,"values":{"Elec_RPM":-2.1874269e-41,"EncoderCos":38715,"EncoderSin":12477,"GapTicks":54771,"Mech_RPM":-4.37485381e-42,"cg_du":50.1422119,"cg_dv":50.208149,"cg_dw":49.791851,"cg_id_a":0.264134377,"cg_id_raw_a":0.577527821,"cg_iq_a":0.108993575,"cg_iq_raw_a":-0.561469615,"cg_iu_a":-0.468636513,"cg_iv_a":-0.112065196,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9654541,"cg_sample_seq":14565016,"cg_sample_valid":1,"cg_theta_rad":5.00650024,"cg_vd_req_v":0.0910623819,"cg_vd_v":0.0910623819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362671584,"cg_vq_v":-0.362671584,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.760986,"values":{"Elec_RPM":-2.1874269e-41,"EncoderCos":38722,"EncoderSin":12495,"GapTicks":54759,"Mech_RPM":-4.37485381e-42,"cg_du":50.1353111,"cg_dv":50.2184334,"cg_dw":49.7815666,"cg_id_a":-0.458543271,"cg_id_raw_a":-0.554965198,"cg_iq_a":0.529195786,"cg_iq_raw_a":0.712350547,"cg_iu_a":-0.214929581,"cg_iv_a":-0.945673347,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9509087,"cg_sample_seq":14565066,"cg_sample_valid":1,"cg_theta_rad":5.00579357,"cg_vd_req_v":0.105426311,"cg_vd_v":0.105426311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373064429,"cg_vq_v":-0.373064429,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.768799,"values":{"Elec_RPM":-2.14398665e-41,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-4.2879733e-42,"cg_du":50.1322899,"cg_dv":50.2035179,"cg_dw":49.7964821,"cg_id_a":0.106434762,"cg_id_raw_a":0.378406972,"cg_iq_a":-0.617352605,"cg_iq_raw_a":-0.0357412472,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14565117,"cg_sample_valid":1,"cg_theta_rad":5.00601721,"cg_vd_req_v":0.093442291,"cg_vd_v":0.093442291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351045579,"cg_vq_v":-0.351045579,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0217934,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.776611,"values":{"Elec_RPM":-2.14398665e-41,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-4.2879733e-42,"cg_du":50.139473,"cg_dv":50.2104034,"cg_dw":49.7895966,"cg_id_a":-0.000345583074,"cg_id_raw_a":-0.187130615,"cg_iq_a":0.0735602379,"cg_iq_raw_a":-0.0547113568,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9581814,"cg_sample_seq":14565166,"cg_sample_valid":1,"cg_theta_rad":5.00621891,"cg_vd_req_v":0.0966834351,"cg_vd_v":0.0966834351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363860369,"cg_vq_v":-0.363860369,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.784424,"values":{"Elec_RPM":-2.10124705e-41,"EncoderCos":38692,"EncoderSin":12483,"GapTicks":54771,"Mech_RPM":-4.20249409e-42,"cg_du":50.1329842,"cg_dv":50.2077408,"cg_dw":49.7922592,"cg_id_a":-0.172591612,"cg_id_raw_a":0.106085099,"cg_iq_a":-0.244467467,"cg_iq_raw_a":-1.26352131,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14565216,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0996199995,"cg_vd_v":0.0996199995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356458575,"cg_vq_v":-0.356458575,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.317853,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.815674,"values":{"Elec_RPM":-2.10124705e-41,"EncoderCos":38752,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-4.20249409e-42,"cg_du":50.1188965,"cg_dv":50.2024803,"cg_dw":49.7975197,"cg_id_a":-0.172222644,"cg_id_raw_a":-0.0144239776,"cg_iq_a":-0.871604562,"cg_iq_raw_a":-0.109691285,"cg_iu_a":0.437459469,"cg_iv_a":-0.90942955,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14565271,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.101329498,"cg_vd_v":0.101329498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342619151,"cg_vq_v":-0.342619151,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0796757936,"dclink_p_w":11.5310516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.823486,"values":{"Elec_RPM":-2.05920809e-41,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54764,"Mech_RPM":-4.11841619e-42,"cg_du":50.1379051,"cg_dv":50.2145004,"cg_dw":49.7854996,"cg_id_a":-0.176875681,"cg_id_raw_a":0.142777473,"cg_iq_a":0.30342868,"cg_iq_raw_a":-0.640806139,"cg_iu_a":-0.903562307,"cg_iv_a":-0.365772009,"cg_iw_a":1.26933432,"cg_sample_age_us":23.954546,"cg_sample_seq":14565317,"cg_sample_valid":1,"cg_theta_rad":5.00767088,"cg_vd_req_v":0.100055166,"cg_vd_v":0.100055166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369030744,"cg_vq_v":-0.369030744,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0796757936,"dclink_p_w":11.5310516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8117676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.831299,"values":{"Elec_RPM":-2.05920809e-41,"EncoderCos":38715,"EncoderSin":12453,"GapTicks":54764,"Mech_RPM":-4.11841619e-42,"cg_du":50.1414566,"cg_dv":50.2138062,"cg_dw":49.7861938,"cg_id_a":-0.0611811467,"cg_id_raw_a":0.374105275,"cg_iq_a":0.332248569,"cg_iq_raw_a":0.220376953,"cg_iu_a":-0.287417173,"cg_iv_a":-0.438259721,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9872723,"cg_sample_seq":14565366,"cg_sample_valid":1,"cg_theta_rad":5.00751495,"cg_vd_req_v":0.0977699682,"cg_vd_v":0.0977699682,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369772285,"cg_vq_v":-0.369772285,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.148539066,"dclink_p_w":21.4972649,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.805542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.839111,"values":{"Elec_RPM":-2.01786979e-41,"EncoderCos":38729,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-4.03573958e-42,"cg_du":50.1401367,"cg_dv":50.217514,"cg_dw":49.782486,"cg_id_a":-0.350829899,"cg_id_raw_a":-1.04661691,"cg_iq_a":0.50431931,"cg_iq_raw_a":1.46686566,"cg_iu_a":0.183752775,"cg_iv_a":0.032910049,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8600006,"cg_sample_seq":14565416,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.100840822,"cg_vd_v":0.100840822,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375710279,"cg_vq_v":-0.375710279,"cg_vu_v":36.5110817,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0435532331,"dclink_p_w":-6.32238531,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7884216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.85083,"values":{"Elec_RPM":-2.01786979e-41,"EncoderCos":38726,"EncoderSin":12485,"GapTicks":54764,"Mech_RPM":-4.03573958e-42,"cg_du":50.1447678,"cg_dv":50.2137337,"cg_dw":49.7862663,"cg_id_a":-0.0466205366,"cg_id_raw_a":0.00343269436,"cg_iq_a":0.187383294,"cg_iq_raw_a":-0.0716852471,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9581814,"cg_sample_seq":14565467,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0933560133,"cg_vd_v":0.0933560133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371981025,"cg_vq_v":-0.371981025,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7884216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.858643,"values":{"Elec_RPM":-1.97723213e-41,"EncoderCos":38732,"EncoderSin":12495,"GapTicks":54770,"Mech_RPM":-3.95446427e-42,"cg_du":50.1340218,"cg_dv":50.2083664,"cg_dw":49.7916336,"cg_id_a":-0.155809224,"cg_id_raw_a":0.132479101,"cg_iq_a":-0.534578741,"cg_iq_raw_a":-1.00607145,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8818188,"cg_sample_seq":14565516,"cg_sample_valid":1,"cg_theta_rad":5.00601292,"cg_vd_req_v":0.0961539447,"cg_vd_v":0.0961539447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359948158,"cg_vq_v":-0.359948158,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.4312897,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2639.866455,"values":{"Elec_RPM":-1.97723213e-41,"EncoderCos":38712,"EncoderSin":12427,"GapTicks":54770,"Mech_RPM":-3.95446427e-42,"cg_du":50.1430473,"cg_dv":50.2087555,"cg_dw":49.7912445,"cg_id_a":-0.0319497213,"cg_id_raw_a":-0.367990702,"cg_iq_a":-0.303544641,"cg_iq_raw_a":-0.547024131,"cg_iu_a":0.183752537,"cg_iv_a":0.57656759,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9727268,"cg_sample_seq":14565567,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.0922087282,"cg_vd_v":0.0922087282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362481892,"cg_vq_v":-0.362481892,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2639.874268,"values":{"Elec_RPM":-1.93799578e-41,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-3.87599155e-42,"cg_du":50.1380653,"cg_dv":50.2135506,"cg_dw":49.7864494,"cg_id_a":-0.289490551,"cg_id_raw_a":0.19791244,"cg_iq_a":0.0276906639,"cg_iq_raw_a":0.0926433876,"cg_iu_a":0.582434893,"cg_iv_a":0.0691540241,"cg_iw_a":-0.651588917,"cg_sample_age_us":23.9836369,"cg_sample_seq":14565616,"cg_sample_valid":1,"cg_theta_rad":5.00753212,"cg_vd_req_v":0.0987166911,"cg_vd_v":0.0987166911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367910177,"cg_vq_v":-0.367910177,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.8008728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.88208,"values":{"Elec_RPM":-1.93799578e-41,"EncoderCos":38714,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-3.87599155e-42,"cg_du":50.1439285,"cg_dv":50.2074547,"cg_dw":49.7925453,"cg_id_a":0.16578652,"cg_id_raw_a":0.21306695,"cg_iq_a":-0.174312294,"cg_iq_raw_a":-0.488017142,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333368778,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9290905,"cg_sample_seq":14565666,"cg_sample_valid":1,"cg_theta_rad":5.00764465,"cg_vd_req_v":0.0891965628,"cg_vd_v":0.0891965628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36265561,"cg_vq_v":-0.36265561,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7759705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.889893,"values":{"Elec_RPM":-1.89946007e-41,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-3.79892014e-42,"cg_du":50.1430397,"cg_dv":50.209816,"cg_dw":49.790184,"cg_id_a":0.176046327,"cg_id_raw_a":0.270760328,"cg_iq_a":0.0903254524,"cg_iq_raw_a":-0.0106741181,"cg_iu_a":-0.359904766,"cg_iv_a":0.177885473,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9181824,"cg_sample_seq":14565717,"cg_sample_valid":1,"cg_theta_rad":5.00793314,"cg_vd_req_v":0.0897144377,"cg_vd_v":0.0897144377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365981311,"cg_vq_v":-0.365981311,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.592247,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7759705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.921143,"values":{"Elec_RPM":-1.89946007e-41,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-3.79892014e-42,"cg_du":50.1361046,"cg_dv":50.2042046,"cg_dw":49.7957954,"cg_id_a":0.0386932567,"cg_id_raw_a":-0.201349512,"cg_iq_a":-0.242220163,"cg_iq_raw_a":0.0906121135,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":26.8199997,"cg_sample_seq":14565770,"cg_sample_valid":1,"cg_theta_rad":5.00811815,"cg_vd_req_v":0.091329895,"cg_vd_v":0.091329895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354058415,"cg_vq_v":-0.354058415,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7962036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.928955,"values":{"Elec_RPM":-1.86162501e-41,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.72325002e-42,"cg_du":50.1332169,"cg_dv":50.2046776,"cg_dw":49.7953224,"cg_id_a":-0.0702557117,"cg_id_raw_a":-0.284480393,"cg_iq_a":-0.189447328,"cg_iq_raw_a":0.0832038596,"cg_iu_a":0.328727961,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14565817,"cg_sample_valid":1,"cg_theta_rad":5.00853109,"cg_vd_req_v":0.0932760909,"cg_vd_v":0.0932760909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353292614,"cg_vq_v":-0.353292614,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.477829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.936768,"values":{"Elec_RPM":-1.86162501e-41,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-3.72325002e-42,"cg_du":50.1348038,"cg_dv":50.2071953,"cg_dw":49.7928047,"cg_id_a":0.145309895,"cg_id_raw_a":-0.01056452,"cg_iq_a":-0.176138997,"cg_iq_raw_a":0.0726017132,"cg_iu_a":0.00253343582,"cg_iv_a":0.359104633,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.863636,"cg_sample_seq":14565866,"cg_sample_valid":1,"cg_theta_rad":5.00688601,"cg_vd_req_v":0.0915373862,"cg_vd_v":0.0882275328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358369321,"cg_vq_v":-0.352055371,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.94458,"values":{"Elec_RPM":-1.8244906e-41,"EncoderCos":38695,"EncoderSin":12438,"GapTicks":54766,"Mech_RPM":-3.6489812e-42,"cg_du":50.1325798,"cg_dv":50.2123718,"cg_dw":49.7876282,"cg_id_a":-0.599973559,"cg_id_raw_a":0.108516954,"cg_iq_a":0.395841539,"cg_iq_raw_a":-0.461517632,"cg_iu_a":0.546190858,"cg_iv_a":-2.10547614,"cg_iw_a":1.55928528,"cg_sample_age_us":23.9618187,"cg_sample_seq":14565917,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.105343811,"cg_vd_v":0.105343811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362241179,"cg_vq_v":-0.362241179,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.1359062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.952393,"values":{"Elec_RPM":-1.8244906e-41,"EncoderCos":38709,"EncoderSin":12443,"GapTicks":54776,"Mech_RPM":-3.6489812e-42,"cg_du":50.1268272,"cg_dv":50.2028885,"cg_dw":49.7971115,"cg_id_a":-0.34014824,"cg_id_raw_a":-0.233725056,"cg_iq_a":-0.169079602,"cg_iq_raw_a":0.195519343,"cg_iu_a":0.473703384,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8745461,"cg_sample_seq":14565966,"cg_sample_valid":1,"cg_theta_rad":5.00618458,"cg_vd_req_v":0.0992908254,"cg_vd_v":0.0992908254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346517861,"cg_vq_v":-0.346517861,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.4174023,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.960205,"values":{"Elec_RPM":-1.78805684e-41,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-3.57611368e-42,"cg_du":50.1287994,"cg_dv":50.2037354,"cg_dw":49.7962646,"cg_id_a":-0.0608995557,"cg_id_raw_a":-0.0902489945,"cg_iq_a":0.158931136,"cg_iq_raw_a":-0.189929366,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9472733,"cg_sample_seq":14566067,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.0964966044,"cg_vd_v":0.0964966044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34935683,"cg_vq_v":-0.34935683,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2639.971726,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2639.971732,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2639.971737,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2639.971924,"values":{"Elec_RPM":-1.75232373e-41,"EncoderCos":38716,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-3.50464746e-42,"cg_du":50.1357002,"cg_dv":50.2036858,"cg_dw":49.7963142,"cg_id_a":0.205810353,"cg_id_raw_a":0.423179984,"cg_iq_a":0.284850091,"cg_iq_raw_a":0.151828244,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9254551,"cg_sample_seq":14566117,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.0919141173,"cg_vd_v":0.0919141173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352925092,"cg_vq_v":-0.352925092,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.979736,"values":{"Elec_RPM":-1.75232373e-41,"EncoderCos":38696,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-3.50464746e-42,"cg_du":50.1289482,"cg_dv":50.2022133,"cg_dw":49.7977867,"cg_id_a":-0.0321075842,"cg_id_raw_a":-0.199138969,"cg_iq_a":0.0247925911,"cg_iq_raw_a":-0.347532064,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9618187,"cg_sample_seq":14566167,"cg_sample_valid":1,"cg_theta_rad":5.00634718,"cg_vd_req_v":0.09711238,"cg_vd_v":0.09711238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346755773,"cg_vq_v":-0.346755773,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2639.987549,"values":{"Elec_RPM":-1.71729127e-41,"EncoderCos":38729,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-3.43458254e-42,"cg_du":50.138855,"cg_dv":50.2069054,"cg_dw":49.7930946,"cg_id_a":0.242080361,"cg_id_raw_a":0.295050472,"cg_iq_a":0.543596983,"cg_iq_raw_a":-0.0439767875,"cg_iu_a":-1.33848834,"cg_iv_a":-0.220796824,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9836369,"cg_sample_seq":14566216,"cg_sample_valid":1,"cg_theta_rad":5.00557089,"cg_vd_req_v":0.0912643075,"cg_vd_v":0.0912643075,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359407365,"cg_vq_v":-0.359407365,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7930908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.014893,"values":{"Elec_RPM":-1.71729127e-41,"EncoderCos":38767,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.43458254e-42,"cg_du":50.1211395,"cg_dv":50.1997185,"cg_dw":49.8002815,"cg_id_a":0.00957652181,"cg_id_raw_a":0.366553187,"cg_iq_a":-0.289658844,"cg_iq_raw_a":-0.14945285,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":26.8090916,"cg_sample_seq":14566270,"cg_sample_valid":1,"cg_theta_rad":5.00708389,"cg_vd_req_v":0.0955818444,"cg_vd_v":0.0955818444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341582358,"cg_vq_v":-0.341582358,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7930908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.026611,"values":{"Elec_RPM":-1.68295946e-41,"EncoderCos":38754,"EncoderSin":12484,"GapTicks":54772,"Mech_RPM":-3.36591891e-42,"cg_du":50.1333809,"cg_dv":50.2063828,"cg_dw":49.7936172,"cg_id_a":0.217670485,"cg_id_raw_a":0.280280381,"cg_iq_a":0.26756683,"cg_iq_raw_a":0.353234231,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9872723,"cg_sample_seq":14566317,"cg_sample_valid":1,"cg_theta_rad":5.00642109,"cg_vd_req_v":0.0929414481,"cg_vd_v":0.0929414481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356192291,"cg_vq_v":-0.356192291,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.146848202,"dclink_p_w":-21.2525558,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.034424,"values":{"Elec_RPM":-1.68295946e-41,"EncoderCos":38743,"EncoderSin":12460,"GapTicks":54769,"Mech_RPM":-3.36591891e-42,"cg_du":50.1327095,"cg_dv":50.209301,"cg_dw":49.790699,"cg_id_a":0.0124097317,"cg_id_raw_a":0.184724808,"cg_iq_a":0.32016778,"cg_iq_raw_a":0.236424908,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552908,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9618187,"cg_sample_seq":14566367,"cg_sample_valid":1,"cg_theta_rad":5.00659513,"cg_vd_req_v":0.0977701843,"cg_vd_v":0.0977701843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35940817,"cg_vq_v":-0.35940817,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2570,"hz_tim_isr":4999,"hz_vsense":2570,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.042236,"values":{"Elec_RPM":-1.64932829e-41,"EncoderCos":38740,"EncoderSin":12468,"GapTicks":54770,"Mech_RPM":-3.29865659e-42,"cg_du":50.1311798,"cg_dv":50.2090645,"cg_dw":49.7909355,"cg_id_a":-0.0750879869,"cg_id_raw_a":0.164486706,"cg_iq_a":0.0386229753,"cg_iq_raw_a":0.452970743,"cg_iu_a":0.14750886,"cg_iv_a":-0.257040501,"cg_iw_a":0.109531641,"cg_sample_age_us":23.8672733,"cg_sample_seq":14566417,"cg_sample_valid":1,"cg_theta_rad":5.00793695,"cg_vd_req_v":0.100078128,"cg_vd_v":0.100078128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357862264,"cg_vq_v":-0.357862264,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.053955,"values":{"Elec_RPM":-1.64932829e-41,"EncoderCos":38741,"EncoderSin":12468,"GapTicks":54766,"Mech_RPM":-3.29865659e-42,"cg_du":50.1259537,"cg_dv":50.2125549,"cg_dw":49.7874451,"cg_id_a":-0.195028305,"cg_id_raw_a":-0.276311159,"cg_iq_a":0.346693695,"cg_iq_raw_a":0.448287129,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528213,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9618187,"cg_sample_seq":14566467,"cg_sample_valid":1,"cg_theta_rad":5.00632429,"cg_vd_req_v":0.10619811,"cg_vd_v":0.10619811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360089362,"cg_vq_v":-0.360089362,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7790833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.061768,"values":{"Elec_RPM":-1.61639778e-41,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-3.23279556e-42,"cg_du":50.1217232,"cg_dv":50.2091293,"cg_dw":49.7908707,"cg_id_a":-0.185231373,"cg_id_raw_a":0.0760706812,"cg_iq_a":-0.117737345,"cg_iq_raw_a":1.82825518,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309052,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14566517,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.106706738,"cg_vd_v":0.106706738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352912188,"cg_vq_v":-0.352912188,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7790833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.06958,"values":{"Elec_RPM":-1.61639778e-41,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-3.23279556e-42,"cg_du":50.124794,"cg_dv":50.2064896,"cg_dw":49.7935104,"cg_id_a":0.133099616,"cg_id_raw_a":0.0728176981,"cg_iq_a":-0.205530107,"cg_iq_raw_a":0.0807407796,"cg_iu_a":1.59726214,"cg_iv_a":0.21412921,"cg_iw_a":-1.81139135,"cg_sample_age_us":23.9836369,"cg_sample_seq":14566567,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.102805018,"cg_vd_v":0.102805018,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350716859,"cg_vq_v":-0.350716859,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-90.229248,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7759705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.077393,"values":{"Elec_RPM":-1.58416791e-41,"EncoderCos":38717,"EncoderSin":12508,"GapTicks":54774,"Mech_RPM":-3.16833583e-42,"cg_du":50.1235619,"cg_dv":50.2051964,"cg_dw":49.7948036,"cg_id_a":0.188367695,"cg_id_raw_a":0.111247145,"cg_iq_a":-0.190442383,"cg_iq_raw_a":0.339152575,"cg_iu_a":-0.251173496,"cg_iv_a":0.467836142,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14566617,"cg_sample_valid":1,"cg_theta_rad":5.00738287,"cg_vd_req_v":0.101912022,"cg_vd_v":0.101912022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348446757,"cg_vq_v":-0.348446757,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.853602886,"dclink_p_w":-123.91288,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.085205,"values":{"Elec_RPM":-1.58416791e-41,"EncoderCos":38728,"EncoderSin":12467,"GapTicks":54774,"Mech_RPM":-3.16833583e-42,"cg_du":50.1186256,"cg_dv":50.2051926,"cg_dw":49.7948074,"cg_id_a":-0.0246805251,"cg_id_raw_a":0.236113816,"cg_iq_a":-0.203025937,"cg_iq_raw_a":0.351204604,"cg_iu_a":0.654922485,"cg_iv_a":-0.25704062,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9618187,"cg_sample_seq":14566667,"cg_sample_valid":1,"cg_theta_rad":5.00703907,"cg_vd_req_v":0.105900191,"cg_vd_v":0.105900191,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345643282,"cg_vq_v":-0.345643282,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.093018,"values":{"Elec_RPM":-1.5526387e-41,"EncoderCos":38718,"EncoderSin":12449,"GapTicks":54767,"Mech_RPM":-3.1052774e-42,"cg_du":50.1223221,"cg_dv":50.211174,"cg_dw":49.788826,"cg_id_a":-0.224637866,"cg_id_raw_a":-0.0823933408,"cg_iq_a":0.215868384,"cg_iq_raw_a":-0.262374133,"cg_iu_a":-0.214929581,"cg_iv_a":-0.90942955,"cg_iw_a":1.12435913,"cg_sample_age_us":23.9581814,"cg_sample_seq":14566717,"cg_sample_valid":1,"cg_theta_rad":5.00867319,"cg_vd_req_v":0.110048614,"cg_vd_v":0.110048614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355467647,"cg_vq_v":-0.355467647,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.120361,"values":{"Elec_RPM":-1.5526387e-41,"EncoderCos":38738,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-3.1052774e-42,"cg_du":50.1299438,"cg_dv":50.2117424,"cg_dw":49.7882576,"cg_id_a":0.0495956764,"cg_id_raw_a":0.659918547,"cg_iq_a":0.551503479,"cg_iq_raw_a":1.88318419,"cg_iu_a":-0.178685665,"cg_iv_a":0.467836142,"cg_iw_a":-0.289150476,"cg_sample_age_us":26.8272724,"cg_sample_seq":14566770,"cg_sample_valid":1,"cg_theta_rad":5.00678253,"cg_vd_req_v":0.102669686,"cg_vd_v":0.102669686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361094594,"cg_vq_v":-0.361094594,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.13208,"values":{"Elec_RPM":-1.52181013e-41,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54772,"Mech_RPM":-3.04362026e-42,"cg_du":50.1193161,"cg_dv":50.2067146,"cg_dw":49.7932854,"cg_id_a":-0.128461972,"cg_id_raw_a":0.586755574,"cg_iq_a":-0.103192031,"cg_iq_raw_a":-0.0138050364,"cg_iu_a":-0.396148682,"cg_iv_a":-0.25704056,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9509087,"cg_sample_seq":14566816,"cg_sample_valid":1,"cg_theta_rad":5.00675201,"cg_vd_req_v":0.107901722,"cg_vd_v":0.107901722,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347773284,"cg_vq_v":-0.347773284,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.048989892,"dclink_p_w":-7.09004545,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.139893,"values":{"Elec_RPM":-1.49168222e-41,"EncoderCos":38700,"EncoderSin":12438,"GapTicks":54771,"Mech_RPM":-2.98336443e-42,"cg_du":50.1364975,"cg_dv":50.2076454,"cg_dw":49.7923546,"cg_id_a":0.264009774,"cg_id_raw_a":0.111916982,"cg_iq_a":0.390345812,"cg_iq_raw_a":-0.0968152583,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9872723,"cg_sample_seq":14566967,"cg_sample_valid":1,"cg_theta_rad":5.00742292,"cg_vd_req_v":0.0972335711,"cg_vd_v":0.0972335711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358189195,"cg_vq_v":-0.358189195,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7433472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.147705,"values":{"Elec_RPM":-1.4615543e-41,"EncoderCos":38744,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-2.9231086e-42,"cg_du":50.1340218,"cg_dv":50.2075348,"cg_dw":49.7924652,"cg_id_a":0.351353586,"cg_id_raw_a":0.0598736666,"cg_iq_a":0.424142212,"cg_iq_raw_a":0.224731997,"cg_iu_a":-1.73717046,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14567017,"cg_sample_valid":1,"cg_theta_rad":5.00896358,"cg_vd_req_v":0.0947782397,"cg_vd_v":0.0947782397,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357800901,"cg_vq_v":-0.357800901,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7868652,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.155518,"values":{"Elec_RPM":-1.4615543e-41,"EncoderCos":38730,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-2.9231086e-42,"cg_du":50.1292801,"cg_dv":50.2071991,"cg_dw":49.7928009,"cg_id_a":0.152684569,"cg_id_raw_a":0.531426311,"cg_iq_a":-0.0121807605,"cg_iq_raw_a":0.561427832,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14567067,"cg_sample_valid":1,"cg_theta_rad":5.00520849,"cg_vd_req_v":0.0990356952,"cg_vd_v":0.0990356952,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353301287,"cg_vq_v":-0.353301287,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7868652,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.167236,"values":{"Elec_RPM":-1.43212703e-41,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-2.86425406e-42,"cg_du":50.1394691,"cg_dv":50.2105904,"cg_dw":49.7894096,"cg_id_a":0.2802248,"cg_id_raw_a":0.719499767,"cg_iq_a":0.474594593,"cg_iq_raw_a":-0.511403799,"cg_iu_a":-0.939806223,"cg_iv_a":-0.112065196,"cg_iw_a":1.05187142,"cg_sample_age_us":23.8563633,"cg_sample_seq":14567116,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.095699355,"cg_vd_v":0.095699355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365598291,"cg_vq_v":-0.365598291,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7790833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.175049,"values":{"Elec_RPM":-1.43212703e-41,"EncoderCos":38756,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-2.86425406e-42,"cg_du":50.1240883,"cg_dv":50.2098656,"cg_dw":49.7901344,"cg_id_a":-0.239573926,"cg_id_raw_a":0.00378735713,"cg_iq_a":-0.076292187,"cg_iq_raw_a":-1.2723217,"cg_iu_a":-0.287417412,"cg_iv_a":-0.402015924,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9509087,"cg_sample_seq":14567167,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.103028178,"cg_vd_v":0.103028178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354805321,"cg_vq_v":-0.354805321,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.291823506,"dclink_p_w":-42.2340546,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.7790833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.182861,"values":{"Elec_RPM":-1.40340041e-41,"EncoderCos":38748,"EncoderSin":12449,"GapTicks":54775,"Mech_RPM":-2.80680082e-42,"cg_du":50.1289215,"cg_dv":50.2042313,"cg_dw":49.7957687,"cg_id_a":0.115594573,"cg_id_raw_a":-0.0733916014,"cg_iq_a":-0.087341778,"cg_iq_raw_a":-0.1516065,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333374739,"cg_iw_a":0.10953182,"cg_sample_age_us":23.8709087,"cg_sample_seq":14567217,"cg_sample_valid":1,"cg_theta_rad":5.00616312,"cg_vd_req_v":0.095722422,"cg_vd_v":0.095722422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350423008,"cg_vq_v":-0.350423008,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.210205,"values":{"Elec_RPM":-1.40340041e-41,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-2.80680082e-42,"cg_du":50.1363602,"cg_dv":50.2049103,"cg_dw":49.7950897,"cg_id_a":0.22190018,"cg_id_raw_a":-0.25264737,"cg_iq_a":0.357200652,"cg_iq_raw_a":-0.46092692,"cg_iu_a":1.59726214,"cg_iv_a":0.177885413,"cg_iw_a":0.689433038,"cg_sample_age_us":23.8527279,"cg_sample_seq":14567270,"cg_sample_valid":1,"cg_theta_rad":5.0071497,"cg_vd_req_v":0.0923005342,"cg_vd_v":0.0923005342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355036557,"cg_vq_v":-0.355036557,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.221924,"values":{"Elec_RPM":-1.37537444e-41,"EncoderCos":38732,"EncoderSin":12427,"GapTicks":54775,"Mech_RPM":-2.75074889e-42,"cg_du":50.1332474,"cg_dv":50.20364,"cg_dw":49.79636,"cg_id_a":0.136565402,"cg_id_raw_a":0.189895168,"cg_iq_a":0.13254793,"cg_iq_raw_a":0.60209465,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129329,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8600006,"cg_sample_seq":14567316,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.0935531631,"cg_vd_v":0.0935531631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351548493,"cg_vq_v":-0.351548493,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7837524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.229736,"values":{"Elec_RPM":-1.37537444e-41,"EncoderCos":38714,"EncoderSin":12499,"GapTicks":54774,"Mech_RPM":-2.75074889e-42,"cg_du":50.1307793,"cg_dv":50.2052231,"cg_dw":49.7947769,"cg_id_a":-0.0491762608,"cg_id_raw_a":-0.0834516138,"cg_iq_a":0.250910491,"cg_iq_raw_a":0.174769908,"cg_iu_a":-0.396148682,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.863636,"cg_sample_seq":14567366,"cg_sample_valid":1,"cg_theta_rad":5.00718164,"cg_vd_req_v":0.0967264697,"cg_vd_v":0.0967264697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352397293,"cg_vq_v":-0.352397293,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.322630763,"dclink_p_w":-46.692627,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7790833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.237549,"values":{"Elec_RPM":-1.34804912e-41,"EncoderCos":38740,"EncoderSin":12505,"GapTicks":54778,"Mech_RPM":-2.69609825e-42,"cg_du":50.117897,"cg_dv":50.2009811,"cg_dw":49.7990189,"cg_id_a":-0.276448578,"cg_id_raw_a":0.141246811,"cg_iq_a":-0.288454831,"cg_iq_raw_a":-0.204734683,"cg_iu_a":-0.468636274,"cg_iv_a":0.214129269,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9618187,"cg_sample_seq":14567417,"cg_sample_valid":1,"cg_theta_rad":5.00790596,"cg_vd_req_v":0.100565158,"cg_vd_v":0.100565158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340046644,"cg_vq_v":-0.340046644,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.322630763,"dclink_p_w":-46.692627,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.245361,"values":{"Elec_RPM":-1.34804912e-41,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-2.69609825e-42,"cg_du":50.119751,"cg_dv":50.2036552,"cg_dw":49.7963448,"cg_id_a":-0.425487041,"cg_id_raw_a":-0.539687991,"cg_iq_a":-0.187666565,"cg_iq_raw_a":0.74890846,"cg_iu_a":0.582434654,"cg_iv_a":-0.148308992,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8600006,"cg_sample_seq":14567467,"cg_sample_valid":1,"cg_theta_rad":5.00571203,"cg_vd_req_v":0.10429731,"cg_vd_v":0.10429731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343949378,"cg_vq_v":-0.343949378,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.322630763,"dclink_p_w":-46.692627,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7806396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.253174,"values":{"Elec_RPM":-1.32142445e-41,"EncoderCos":38723,"EncoderSin":12453,"GapTicks":54779,"Mech_RPM":-2.6428489e-42,"cg_du":50.1243095,"cg_dv":50.2004051,"cg_dw":49.7995949,"cg_id_a":0.0135473292,"cg_id_raw_a":0.174226254,"cg_iq_a":-0.134264246,"cg_iq_raw_a":-0.309841037,"cg_iu_a":0.256240368,"cg_iv_a":0.105397761,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.863636,"cg_sample_seq":14567518,"cg_sample_valid":1,"cg_theta_rad":5.00805664,"cg_vd_req_v":0.0975039527,"cg_vd_v":0.0975039527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342107594,"cg_vq_v":-0.342107594,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.260986,"values":{"Elec_RPM":-1.32142445e-41,"EncoderCos":38723,"EncoderSin":12455,"GapTicks":54780,"Mech_RPM":-2.6428489e-42,"cg_du":50.1175957,"cg_dv":50.1992264,"cg_dw":49.8007736,"cg_id_a":-0.105381325,"cg_id_raw_a":0.0492314994,"cg_iq_a":-0.556190372,"cg_iq_raw_a":-0.32212615,"cg_iu_a":0.763653874,"cg_iv_a":0.21412921,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.8818188,"cg_sample_seq":14567567,"cg_sample_valid":1,"cg_theta_rad":5.00675488,"cg_vd_req_v":0.101578146,"cg_vd_v":0.101578146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336748302,"cg_vq_v":-0.336748302,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.268799,"values":{"Elec_RPM":-1.29479978e-41,"EncoderCos":38686,"EncoderSin":12431,"GapTicks":54774,"Mech_RPM":-2.58959956e-42,"cg_du":50.1268349,"cg_dv":50.2047539,"cg_dw":49.7952461,"cg_id_a":-0.160960525,"cg_id_raw_a":-0.112669773,"cg_iq_a":0.0667139068,"cg_iq_raw_a":-0.157217652,"cg_iu_a":0.473703265,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9836369,"cg_sample_seq":14567617,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.103529997,"cg_vd_v":0.103529997,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349491417,"cg_vq_v":-0.349491417,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7666626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.280518,"values":{"Elec_RPM":-1.29479978e-41,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-2.58959956e-42,"cg_du":50.1294174,"cg_dv":50.2063141,"cg_dw":49.7936859,"cg_id_a":0.0994916558,"cg_id_raw_a":0.023797309,"cg_iq_a":0.137744129,"cg_iq_raw_a":1.02267182,"cg_iu_a":-0.468636513,"cg_iv_a":-0.257040501,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9654541,"cg_sample_seq":14567667,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0990171954,"cg_vd_v":0.0990171954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354229778,"cg_vq_v":-0.354229778,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.28833,"values":{"Elec_RPM":-1.26887576e-41,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-2.53775152e-42,"cg_du":50.1219292,"cg_dv":50.200016,"cg_dw":49.799984,"cg_id_a":0.197293639,"cg_id_raw_a":-0.333782464,"cg_iq_a":-0.627322495,"cg_iq_raw_a":-0.285512626,"cg_iu_a":0.364971638,"cg_iv_a":-0.148308992,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9581814,"cg_sample_seq":14567717,"cg_sample_valid":1,"cg_theta_rad":5.00794029,"cg_vd_req_v":0.0976645201,"cg_vd_v":0.0976645201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340625465,"cg_vq_v":-0.340625465,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.529438,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.315674,"values":{"Elec_RPM":-1.24365239e-41,"EncoderCos":38735,"EncoderSin":12464,"GapTicks":54769,"Mech_RPM":-2.48730477e-42,"cg_du":50.1349373,"cg_dv":50.2093773,"cg_dw":49.7906227,"cg_id_a":0.162752301,"cg_id_raw_a":0.208611012,"cg_iq_a":0.2351951,"cg_iq_raw_a":0.202600673,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9654541,"cg_sample_seq":14567867,"cg_sample_valid":1,"cg_theta_rad":5.00683784,"cg_vd_req_v":0.0966457054,"cg_vd_v":0.0966457054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36060673,"cg_vq_v":-0.36060673,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.017662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7930908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118585482,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.323486,"values":{"Elec_RPM":-1.21912966e-41,"EncoderCos":38699,"EncoderSin":12455,"GapTicks":54779,"Mech_RPM":-2.43825933e-42,"cg_du":50.127739,"cg_dv":50.200779,"cg_dw":49.799221,"cg_id_a":0.0584264174,"cg_id_raw_a":0.767207325,"cg_iq_a":-0.520404458,"cg_iq_raw_a":-0.939946651,"cg_iu_a":0.14750886,"cg_iv_a":-0.510747313,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9581814,"cg_sample_seq":14567917,"cg_sample_valid":1,"cg_theta_rad":5.00760889,"cg_vd_req_v":0.0973045528,"cg_vd_v":0.0973045528,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345076025,"cg_vq_v":-0.345076025,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.017662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8039856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.335205,"values":{"Elec_RPM":-1.21912966e-41,"EncoderCos":38706,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-2.43825933e-42,"cg_du":50.1345406,"cg_dv":50.2071152,"cg_dw":49.7928848,"cg_id_a":0.0569214746,"cg_id_raw_a":-0.422189891,"cg_iq_a":0.0876521617,"cg_iq_raw_a":-0.22449182,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14567967,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0976883247,"cg_vd_v":0.0976883247,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357684582,"cg_vq_v":-0.357684582,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.017662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8039856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.343018,"values":{"Elec_RPM":-1.19460694e-41,"EncoderCos":38703,"EncoderSin":12451,"GapTicks":54770,"Mech_RPM":-2.38921388e-42,"cg_du":50.1306114,"cg_dv":50.2085495,"cg_dw":49.7914505,"cg_id_a":-0.117712095,"cg_id_raw_a":-0.138699204,"cg_iq_a":-0.0111139566,"cg_iq_raw_a":0.49661693,"cg_iu_a":0.582434893,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9690914,"cg_sample_seq":14568017,"cg_sample_valid":1,"cg_theta_rad":5.00763512,"cg_vd_req_v":0.102159902,"cg_vd_v":0.102159902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356241465,"cg_vq_v":-0.356241465,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.518347502,"dclink_p_w":-75.017662,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.7728882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.35083,"values":{"Elec_RPM":-1.19460694e-41,"EncoderCos":38772,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-2.38921388e-42,"cg_du":50.1274796,"cg_dv":50.2114868,"cg_dw":49.7885132,"cg_id_a":-0.0863226205,"cg_id_raw_a":0.0559815578,"cg_iq_a":-0.0262227356,"cg_iq_raw_a":0.0420160256,"cg_iu_a":0.401215553,"cg_iv_a":0.794030666,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.9618187,"cg_sample_seq":14568066,"cg_sample_valid":1,"cg_theta_rad":5.00718307,"cg_vd_req_v":0.101554289,"cg_vd_v":0.101554289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360169351,"cg_vq_v":-0.360169351,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7775269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.358643,"values":{"Elec_RPM":-1.17078487e-41,"EncoderCos":38737,"EncoderSin":12443,"GapTicks":54765,"Mech_RPM":-2.34156973e-42,"cg_du":50.1335945,"cg_dv":50.2131424,"cg_dw":49.7868576,"cg_id_a":-0.0803611577,"cg_id_raw_a":-0.371480882,"cg_iq_a":0.138751358,"cg_iq_raw_a":-0.107585669,"cg_iu_a":-0.359904766,"cg_iv_a":-0.438259721,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9581814,"cg_sample_seq":14568116,"cg_sample_valid":1,"cg_theta_rad":5.00724983,"cg_vd_req_v":0.101711638,"cg_vd_v":0.101711638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364887029,"cg_vq_v":-0.364887029,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7775269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.366455,"values":{"Elec_RPM":-1.17078487e-41,"EncoderCos":38720,"EncoderSin":12437,"GapTicks":54764,"Mech_RPM":-2.34156973e-42,"cg_du":50.1394501,"cg_dv":50.2138939,"cg_dw":49.7861061,"cg_id_a":-0.000382836908,"cg_id_raw_a":-0.51759851,"cg_iq_a":0.182409793,"cg_iq_raw_a":0.0947120637,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9654541,"cg_sample_seq":14568166,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0994133502,"cg_vd_v":0.0994133502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36876604,"cg_vq_v":-0.36876604,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.744871616,"dclink_p_w":-107.473625,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1334534,"temp_inv2_c":35.8148804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.374268,"values":{"Elec_RPM":-1.14766344e-41,"EncoderCos":38711,"EncoderSin":12470,"GapTicks":54763,"Mech_RPM":-2.29532688e-42,"cg_du":50.1318474,"cg_dv":50.2152481,"cg_dw":49.7847519,"cg_id_a":-0.284905791,"cg_id_raw_a":-0.172843963,"cg_iq_a":-0.0275632292,"cg_iq_raw_a":-0.198571995,"cg_iu_a":0.654922485,"cg_iv_a":0.032910049,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9509087,"cg_sample_seq":14568216,"cg_sample_valid":1,"cg_theta_rad":5.00656366,"cg_vd_req_v":0.106609397,"cg_vd_v":0.106609397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366343111,"cg_vq_v":-0.366343111,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-115.669334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.405518,"values":{"Elec_RPM":-1.14766344e-41,"EncoderCos":38731,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-2.29532688e-42,"cg_du":50.1380424,"cg_dv":50.2119179,"cg_dw":49.7880821,"cg_id_a":0.120230816,"cg_id_raw_a":0.250475496,"cg_iq_a":0.0305332076,"cg_iq_raw_a":-0.666767597,"cg_iu_a":-0.214929342,"cg_iv_a":-0.583235145,"cg_iw_a":0.798164487,"cg_sample_age_us":26.8309097,"cg_sample_seq":14568271,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0974740312,"cg_vd_v":0.0974740312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365587771,"cg_vq_v":-0.365587771,"cg_vu_v":120.090675,"cg_vv_v":142.085297,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-115.669334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116319515,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.41333,"values":{"Elec_RPM":-1.12454202e-41,"EncoderCos":38764,"EncoderSin":12449,"GapTicks":54771,"Mech_RPM":-2.24908404e-42,"cg_du":50.1273766,"cg_dv":50.207428,"cg_dw":49.792572,"cg_id_a":0.016387308,"cg_id_raw_a":0.429657876,"cg_iq_a":-0.590168059,"cg_iq_raw_a":-0.615866899,"cg_iu_a":0.0750210285,"cg_iv_a":0.250373125,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9581814,"cg_sample_seq":14568317,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.0987413749,"cg_vd_v":0.0987413749,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354280621,"cg_vq_v":-0.354280621,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-115.669334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7884216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.421143,"values":{"Elec_RPM":-1.12454202e-41,"EncoderCos":38721,"EncoderSin":12452,"GapTicks":54763,"Mech_RPM":-2.24908404e-42,"cg_du":50.136364,"cg_dv":50.2150993,"cg_dw":49.7849007,"cg_id_a":-0.169495031,"cg_id_raw_a":0.137643382,"cg_iq_a":0.139167041,"cg_iq_raw_a":0.487865984,"cg_iu_a":0.038777113,"cg_iv_a":-0.257040501,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9654541,"cg_sample_seq":14568367,"cg_sample_valid":1,"cg_theta_rad":5.00713015,"cg_vd_req_v":0.10254246,"cg_vd_v":0.10254246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368791074,"cg_vq_v":-0.368791074,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.705003262,"dclink_p_w":-102.031357,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7884216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.428955,"values":{"Elec_RPM":-1.10212124e-41,"EncoderCos":38758,"EncoderSin":12458,"GapTicks":54755,"Mech_RPM":-2.20424248e-42,"cg_du":50.1399574,"cg_dv":50.2226219,"cg_dw":49.7773781,"cg_id_a":-0.221522808,"cg_id_raw_a":-0.0748430416,"cg_iq_a":0.659915686,"cg_iq_raw_a":0.794654965,"cg_iu_a":-0.432392359,"cg_iv_a":0.322860777,"cg_iw_a":0.109531581,"cg_sample_age_us":23.9581814,"cg_sample_seq":14568417,"cg_sample_valid":1,"cg_theta_rad":5.00581264,"cg_vd_req_v":0.103687838,"cg_vd_v":0.103687838,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381956339,"cg_vq_v":-0.381956339,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-96.7532578,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7666626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.436768,"values":{"Elec_RPM":-1.10212124e-41,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54762,"Mech_RPM":-2.20424248e-42,"cg_du":50.1414261,"cg_dv":50.2156296,"cg_dw":49.7843704,"cg_id_a":0.103743389,"cg_id_raw_a":0.513159811,"cg_iq_a":0.146541715,"cg_iq_raw_a":-0.35122934,"cg_iu_a":0.836141586,"cg_iv_a":-0.25704062,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8563633,"cg_sample_seq":14568466,"cg_sample_valid":1,"cg_theta_rad":5.00651217,"cg_vd_req_v":0.0971563831,"cg_vd_v":0.0971563831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371654004,"cg_vq_v":-0.371654004,"cg_vu_v":140.325729,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.322113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7588806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.448486,"values":{"Elec_RPM":-1.08040112e-41,"EncoderCos":38742,"EncoderSin":12447,"GapTicks":54759,"Mech_RPM":-2.16080223e-42,"cg_du":50.1407661,"cg_dv":50.2183075,"cg_dw":49.7816925,"cg_id_a":-0.0333131254,"cg_id_raw_a":-0.25085035,"cg_iq_a":0.306162566,"cg_iq_raw_a":0.157348633,"cg_iu_a":-0.287417412,"cg_iv_a":-0.184552908,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8563633,"cg_sample_seq":14568516,"cg_sample_valid":1,"cg_theta_rad":5.00619411,"cg_vd_req_v":0.100242637,"cg_vd_v":0.100242637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376155674,"cg_vq_v":-0.376155674,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.322113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7588806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.456299,"values":{"Elec_RPM":-1.08040112e-41,"EncoderCos":38747,"EncoderSin":12466,"GapTicks":54766,"Mech_RPM":-2.16080223e-42,"cg_du":50.1282539,"cg_dv":50.2123032,"cg_dw":49.7876968,"cg_id_a":-0.277410746,"cg_id_raw_a":-0.39604634,"cg_iq_a":-0.316889465,"cg_iq_raw_a":-0.0719737485,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9218178,"cg_sample_seq":14568566,"cg_sample_valid":1,"cg_theta_rad":5.00719595,"cg_vd_req_v":0.104014546,"cg_vd_v":0.104014546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362250865,"cg_vq_v":-0.362250865,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.322113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.8070984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.464111,"values":{"Elec_RPM":-1.05868099e-41,"EncoderCos":38738,"EncoderSin":12491,"GapTicks":54766,"Mech_RPM":-2.11736198e-42,"cg_du":50.1403008,"cg_dv":50.212307,"cg_dw":49.787693,"cg_id_a":0.124454282,"cg_id_raw_a":0.424852043,"cg_iq_a":0.240166754,"cg_iq_raw_a":-0.542391658,"cg_iu_a":-0.432392597,"cg_iv_a":0.250373065,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9872723,"cg_sample_seq":14568616,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.0943316445,"cg_vd_v":0.0943316445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367839247,"cg_vq_v":-0.367839247,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.6585693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7744141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.471924,"values":{"Elec_RPM":-1.05868099e-41,"EncoderCos":38736,"EncoderSin":12455,"GapTicks":54768,"Mech_RPM":-2.11736198e-42,"cg_du":50.1345787,"cg_dv":50.2101364,"cg_dw":49.7898636,"cg_id_a":-0.0227215737,"cg_id_raw_a":-0.180164024,"cg_iq_a":-0.128549665,"cg_iq_raw_a":0.311329603,"cg_iu_a":0.509947062,"cg_iv_a":-0.25704062,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.863636,"cg_sample_seq":14568667,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0978058353,"cg_vd_v":0.0978058353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361402005,"cg_vq_v":-0.361402005,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.590835333,"dclink_p_w":-85.5084381,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.1095276,"temp_inv2_c":35.7744141,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.479736,"values":{"Elec_RPM":-1.03766151e-41,"EncoderCos":38784,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-2.07532303e-42,"cg_du":50.1324806,"cg_dv":50.2094955,"cg_dw":49.7905045,"cg_id_a":0.135436043,"cg_id_raw_a":-0.259793252,"cg_iq_a":-0.0228283033,"cg_iq_raw_a":-0.20227018,"cg_iu_a":0.147508621,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9836369,"cg_sample_seq":14568716,"cg_sample_valid":1,"cg_theta_rad":5.00871658,"cg_vd_req_v":0.0940640196,"cg_vd_v":0.0940640196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360634327,"cg_vq_v":-0.360634327,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.648825407,"dclink_p_w":-93.9010315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.510986,"values":{"Elec_RPM":-1.03766151e-41,"EncoderCos":38740,"EncoderSin":12430,"GapTicks":54764,"Mech_RPM":-2.07532303e-42,"cg_du":50.1423416,"cg_dv":50.213829,"cg_dw":49.786171,"cg_id_a":0.0858099833,"cg_id_raw_a":0.190887094,"cg_iq_a":0.32796675,"cg_iq_raw_a":-0.272160232,"cg_iu_a":-0.468636274,"cg_iv_a":-0.148309052,"cg_iw_a":0.616945326,"cg_sample_age_us":23.863636,"cg_sample_seq":14568772,"cg_sample_valid":1,"cg_theta_rad":5.00619459,"cg_vd_req_v":0.0952928439,"cg_vd_v":0.0952928439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369571149,"cg_vq_v":-0.369571149,"cg_vu_v":35.6312981,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-70.8675766,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.79776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.518799,"values":{"Elec_RPM":-1.01664204e-41,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54764,"Mech_RPM":-2.03328407e-42,"cg_du":50.1392746,"cg_dv":50.2143021,"cg_dw":49.7856979,"cg_id_a":-0.197739109,"cg_id_raw_a":0.260229677,"cg_iq_a":0.208803684,"cg_iq_raw_a":0.937490046,"cg_iu_a":0.111264944,"cg_iv_a":-0.546991229,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9836369,"cg_sample_seq":14568817,"cg_sample_valid":1,"cg_theta_rad":5.00664854,"cg_vd_req_v":0.0999739692,"cg_vd_v":0.0999739692,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369212747,"cg_vq_v":-0.369212747,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7573547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.526611,"values":{"Elec_RPM":-1.01664204e-41,"EncoderCos":38696,"EncoderSin":12451,"GapTicks":54761,"Mech_RPM":-2.03328407e-42,"cg_du":50.1417198,"cg_dv":50.2172432,"cg_dw":49.7827568,"cg_id_a":-0.232307538,"cg_id_raw_a":-0.497060895,"cg_iq_a":0.433633417,"cg_iq_raw_a":0.495433956,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14568867,"cg_sample_valid":1,"cg_theta_rad":5.00897121,"cg_vd_req_v":0.102586538,"cg_vd_v":0.102586538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374130458,"cg_vq_v":-0.374130458,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.534424,"values":{"Elec_RPM":-9.96323208e-42,"EncoderCos":38721,"EncoderSin":12460,"GapTicks":54762,"Mech_RPM":-1.99264642e-42,"cg_du":50.1428146,"cg_dv":50.2155113,"cg_dw":49.7844887,"cg_id_a":-0.0248395428,"cg_id_raw_a":-0.416844577,"cg_iq_a":0.325992703,"cg_iq_raw_a":0.141945198,"cg_iu_a":-0.577367783,"cg_iv_a":0.0329101086,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9654541,"cg_sample_seq":14568917,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0976845175,"cg_vd_v":0.0976845175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3730326,"cg_vq_v":-0.3730326,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.516535282,"dclink_p_w":-74.755394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.542236,"values":{"Elec_RPM":-9.96323208e-42,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-1.99264642e-42,"cg_du":50.1347237,"cg_dv":50.2158508,"cg_dw":49.7841492,"cg_id_a":-0.175628379,"cg_id_raw_a":0.283484757,"cg_iq_a":0.102544978,"cg_iq_raw_a":0.536429226,"cg_iu_a":0.00253343582,"cg_iv_a":-0.691966534,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9254551,"cg_sample_seq":14568967,"cg_sample_valid":1,"cg_theta_rad":5.00786781,"cg_vd_req_v":0.102060154,"cg_vd_v":0.102060154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369586438,"cg_vq_v":-0.369586438,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.550049,"values":{"Elec_RPM":-9.7670503e-42,"EncoderCos":38739,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-1.95341006e-42,"cg_du":50.1413689,"cg_dv":50.2161179,"cg_dw":49.7838821,"cg_id_a":0.010577634,"cg_id_raw_a":0.240963936,"cg_iq_a":0.119986996,"cg_iq_raw_a":-0.595641494,"cg_iu_a":0.0387773514,"cg_iv_a":0.105397761,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.863636,"cg_sample_seq":14569016,"cg_sample_valid":1,"cg_theta_rad":5.00717545,"cg_vd_req_v":0.0973635316,"cg_vd_v":0.0973635316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373581171,"cg_vq_v":-0.373581171,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":44.4291458,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.561768,"values":{"Elec_RPM":-9.7670503e-42,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-1.95341006e-42,"cg_du":50.1434517,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":0.466884226,"cg_id_raw_a":0.680779457,"cg_iq_a":-0.300988495,"cg_iq_raw_a":0.100434639,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9618187,"cg_sample_seq":14569067,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0880520865,"cg_vd_v":0.0880520865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363806605,"cg_vq_v":-0.363806605,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.4481735,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7946472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.56958,"values":{"Elec_RPM":-9.57086851e-42,"EncoderCos":38721,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-1.9141737e-42,"cg_du":50.1356544,"cg_dv":50.2117615,"cg_dw":49.7882385,"cg_id_a":-0.0413893536,"cg_id_raw_a":0.166754484,"cg_iq_a":-0.303988755,"cg_iq_raw_a":-0.237969458,"cg_iu_a":0.836141586,"cg_iv_a":0.250373125,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9836369,"cg_sample_seq":14569116,"cg_sample_valid":1,"cg_theta_rad":5.00674534,"cg_vd_req_v":0.0990705714,"cg_vd_v":0.0990705714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364069521,"cg_vq_v":-0.364069521,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.4481735,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.577393,"values":{"Elec_RPM":-9.57086851e-42,"EncoderCos":38738,"EncoderSin":12474,"GapTicks":54764,"Mech_RPM":-1.9141737e-42,"cg_du":50.1428795,"cg_dv":50.2145271,"cg_dw":49.7854729,"cg_id_a":0.0677645355,"cg_id_raw_a":0.182210639,"cg_iq_a":0.0165958703,"cg_iq_raw_a":-0.637409925,"cg_iu_a":0.038777113,"cg_iv_a":0.359104633,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.954546,"cg_sample_seq":14569166,"cg_sample_valid":1,"cg_theta_rad":5.01081657,"cg_vd_req_v":0.0951667428,"cg_vd_v":0.0951667428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373324543,"cg_vq_v":-0.373324543,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.4481735,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.585205,"values":{"Elec_RPM":-9.38169322e-42,"EncoderCos":38716,"EncoderSin":12447,"GapTicks":54774,"Mech_RPM":-1.87633864e-42,"cg_du":50.1294174,"cg_dv":50.2053986,"cg_dw":49.7946014,"cg_id_a":-0.123789176,"cg_id_raw_a":-0.629059017,"cg_iq_a":-0.84059006,"cg_iq_raw_a":-0.681517601,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9836369,"cg_sample_seq":14569216,"cg_sample_valid":1,"cg_theta_rad":5.00640297,"cg_vd_req_v":0.0990615115,"cg_vd_v":0.0990615115,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351562798,"cg_vq_v":-0.351562798,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7651062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.593018,"values":{"Elec_RPM":-9.38169322e-42,"EncoderCos":38733,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-1.87633864e-42,"cg_du":50.1380348,"cg_dv":50.2157974,"cg_dw":49.7842026,"cg_id_a":-0.0994117558,"cg_id_raw_a":-0.137054861,"cg_iq_a":0.118735239,"cg_iq_raw_a":-1.25001991,"cg_iu_a":0.14750886,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9763641,"cg_sample_seq":14569266,"cg_sample_valid":1,"cg_theta_rad":5.00738716,"cg_vd_req_v":0.100467831,"cg_vd_v":0.100467831,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371069163,"cg_vq_v":-0.371069163,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.262706995,"dclink_p_w":38.0201797,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.624268,"values":{"Elec_RPM":-9.19251793e-42,"EncoderCos":38739,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-1.83850359e-42,"cg_du":50.1428909,"cg_dv":50.2095032,"cg_dw":49.7904968,"cg_id_a":0.483924806,"cg_id_raw_a":0.856763721,"cg_iq_a":0.128270239,"cg_iq_raw_a":-0.210949376,"cg_iu_a":-0.287417412,"cg_iv_a":-0.220796704,"cg_iw_a":0.508214116,"cg_sample_age_us":26.8163643,"cg_sample_seq":14569320,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.0897806883,"cg_vd_v":0.0897806883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365407228,"cg_vq_v":-0.365407228,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.7225418,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.63208,"values":{"Elec_RPM":-9.19251793e-42,"EncoderCos":38756,"EncoderSin":12487,"GapTicks":54773,"Mech_RPM":-1.83850359e-42,"cg_du":50.1262589,"cg_dv":50.2060699,"cg_dw":49.7939301,"cg_id_a":0.0982016325,"cg_id_raw_a":0.635545731,"cg_iq_a":-0.291661948,"cg_iq_raw_a":1.80342674,"cg_iu_a":1.27106774,"cg_iv_a":0.21412921,"cg_iw_a":-1.48519695,"cg_sample_age_us":23.8563633,"cg_sample_seq":14569367,"cg_sample_valid":1,"cg_theta_rad":5.00643349,"cg_vd_req_v":0.0980333686,"cg_vd_v":0.0980333686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351880074,"cg_vq_v":-0.351880074,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":0.614272237,"dclink_p_w":88.9003372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.639893,"values":{"Elec_RPM":-9.01034913e-42,"EncoderCos":38726,"EncoderSin":12444,"GapTicks":54768,"Mech_RPM":-1.80206983e-42,"cg_du":50.1474037,"cg_dv":50.2103996,"cg_dw":49.7896004,"cg_id_a":0.53564918,"cg_id_raw_a":0.223490342,"cg_iq_a":0.72636342,"cg_iq_raw_a":1.11529613,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691540241,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9872723,"cg_sample_seq":14569417,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.089095965,"cg_vd_v":0.089095965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368669242,"cg_vq_v":-0.368669242,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.614272237,"dclink_p_w":88.9003372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7511292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.647705,"values":{"Elec_RPM":-9.01034913e-42,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54748,"Mech_RPM":-1.80206983e-42,"cg_du":50.1513596,"cg_dv":50.2282219,"cg_dw":49.7717781,"cg_id_a":-0.132708877,"cg_id_raw_a":0.145856991,"cg_iq_a":1.9554019,"cg_iq_raw_a":-0.0213733502,"cg_iu_a":-2.6432662,"cg_iv_a":-0.220796585,"cg_iw_a":2.86406279,"cg_sample_age_us":23.9872723,"cg_sample_seq":14569467,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.103106923,"cg_vd_v":0.103106923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395163894,"cg_vq_v":-0.395163894,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.614272237,"dclink_p_w":88.9003372,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7511292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.655518,"values":{"Elec_RPM":-8.82818033e-42,"EncoderCos":38724,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-1.76563607e-42,"cg_du":50.1242943,"cg_dv":50.2018852,"cg_dw":49.7981148,"cg_id_a":0.0518438965,"cg_id_raw_a":0.0285084192,"cg_iq_a":-0.403855771,"cg_iq_raw_a":-0.542652965,"cg_iu_a":-1.66468287,"cg_iv_a":0.39534843,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9327278,"cg_sample_seq":14569517,"cg_sample_valid":1,"cg_theta_rad":5.00726748,"cg_vd_req_v":0.0987158418,"cg_vd_v":0.0987158418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34418416,"cg_vq_v":-0.34418416,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.780993879,"dclink_p_w":113.029068,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7402344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.66333,"values":{"Elec_RPM":-8.82818033e-42,"EncoderCos":38698,"EncoderSin":12467,"GapTicks":54772,"Mech_RPM":-1.76563607e-42,"cg_du":50.1368866,"cg_dv":50.2069626,"cg_dw":49.7930374,"cg_id_a":0.128457457,"cg_id_raw_a":0.248572811,"cg_iq_a":0.394721359,"cg_iq_raw_a":0.208594128,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9763641,"cg_sample_seq":14569567,"cg_sample_valid":1,"cg_theta_rad":5.00836658,"cg_vd_req_v":0.0960016251,"cg_vd_v":0.0960016251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358721256,"cg_vq_v":-0.358721256,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.780993879,"dclink_p_w":113.029068,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7402344,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.671143,"values":{"Elec_RPM":-8.65301802e-42,"EncoderCos":38733,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-1.7306036e-42,"cg_du":50.1320076,"cg_dv":50.2060738,"cg_dw":49.7939262,"cg_id_a":0.148667216,"cg_id_raw_a":0.382799387,"cg_iq_a":0.11527162,"cg_iq_raw_a":0.583125055,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9763641,"cg_sample_seq":14569617,"cg_sample_valid":1,"cg_theta_rad":5.00667334,"cg_vd_req_v":0.0957196355,"cg_vd_v":0.0957196355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35448131,"cg_vq_v":-0.35448131,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.918720484,"dclink_p_w":132.961502,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7557678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.682861,"values":{"Elec_RPM":-8.65301802e-42,"EncoderCos":38728,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-1.7306036e-42,"cg_du":50.1309547,"cg_dv":50.204628,"cg_dw":49.795372,"cg_id_a":0.155891836,"cg_id_raw_a":0.0167972408,"cg_iq_a":-0.0208580364,"cg_iq_raw_a":0.657893836,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14569667,"cg_sample_valid":1,"cg_theta_rad":5.00762701,"cg_vd_req_v":0.0960068777,"cg_vd_v":0.0960068777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351689607,"cg_vq_v":-0.351689607,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.755623221,"dclink_p_w":109.357307,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.690674,"values":{"Elec_RPM":-8.47785571e-42,"EncoderCos":38716,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-1.69557114e-42,"cg_du":50.1389961,"cg_dv":50.2087135,"cg_dw":49.7912865,"cg_id_a":0.0939918384,"cg_id_raw_a":0.329717159,"cg_iq_a":0.438047916,"cg_iq_raw_a":0.0335502476,"cg_iu_a":-0.251173258,"cg_iv_a":-0.00333374739,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9581814,"cg_sample_seq":14569717,"cg_sample_valid":1,"cg_theta_rad":5.00606775,"cg_vd_req_v":0.0944482237,"cg_vd_v":0.0944482237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36155203,"cg_vq_v":-0.36155203,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.791867018,"dclink_p_w":114.602684,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.698486,"values":{"Elec_RPM":-8.47785571e-42,"EncoderCos":38725,"EncoderSin":12430,"GapTicks":54765,"Mech_RPM":-1.69557114e-42,"cg_du":50.1331062,"cg_dv":50.2133598,"cg_dw":49.7866402,"cg_id_a":-0.35555011,"cg_id_raw_a":-0.712648928,"cg_iq_a":0.537382424,"cg_iq_raw_a":1.42328703,"cg_iu_a":-1.22975683,"cg_iv_a":0.57656759,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9872723,"cg_sample_seq":14569767,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.103623107,"cg_vd_v":0.103623107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364533484,"cg_vq_v":-0.364533484,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.757435381,"dclink_p_w":109.619576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.72583,"values":{"Elec_RPM":-8.30969989e-42,"EncoderCos":38734,"EncoderSin":12464,"GapTicks":54767,"Mech_RPM":-1.66193998e-42,"cg_du":50.1312943,"cg_dv":50.211586,"cg_dw":49.788414,"cg_id_a":-0.290362656,"cg_id_raw_a":-0.540835619,"cg_iq_a":0.374199241,"cg_iq_raw_a":0.56835258,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528213,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9654541,"cg_sample_seq":14569820,"cg_sample_valid":1,"cg_theta_rad":5.00561237,"cg_vd_req_v":0.101734303,"cg_vd_v":0.101734303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361557305,"cg_vq_v":-0.361557305,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.757435381,"dclink_p_w":109.619576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7588806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.737549,"values":{"Elec_RPM":-8.30969989e-42,"EncoderCos":38724,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-1.66193998e-42,"cg_du":50.1344681,"cg_dv":50.2027512,"cg_dw":49.7976303,"cg_id_a":0.22323525,"cg_id_raw_a":0.513956368,"cg_iq_a":-0.114014611,"cg_iq_raw_a":-0.350062698,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8600006,"cg_sample_seq":14569866,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0912564695,"cg_vd_v":0.0912564695,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351149201,"cg_vq_v":-0.351149201,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.757435381,"dclink_p_w":109.619576,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7588806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.745361,"values":{"Elec_RPM":-8.14154408e-42,"EncoderCos":38716,"EncoderSin":12474,"GapTicks":54778,"Mech_RPM":-1.62830882e-42,"cg_du":50.1311378,"cg_dv":50.2009926,"cg_dw":49.7990074,"cg_id_a":0.0630348325,"cg_id_raw_a":-0.0178844742,"cg_iq_a":-0.248000309,"cg_iq_raw_a":-1.34845614,"cg_iu_a":-0.214929581,"cg_iv_a":-0.257040501,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8672733,"cg_sample_seq":14569916,"cg_sample_valid":1,"cg_theta_rad":5.00711346,"cg_vd_req_v":0.0930540189,"cg_vd_v":0.0930540189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347783118,"cg_vq_v":-0.347783118,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.712130606,"dclink_p_w":103.376122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.753174,"values":{"Elec_RPM":-8.14154408e-42,"EncoderCos":38701,"EncoderSin":12448,"GapTicks":54777,"Mech_RPM":-1.62830882e-42,"cg_du":50.1321106,"cg_dv":50.2023773,"cg_dw":49.7976227,"cg_id_a":-0.0868921876,"cg_id_raw_a":-0.0941814929,"cg_iq_a":-0.27205947,"cg_iq_raw_a":0.0639177263,"cg_iu_a":0.364971638,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8600006,"cg_sample_seq":14569966,"cg_sample_valid":1,"cg_theta_rad":5.00588989,"cg_vd_req_v":0.0954609141,"cg_vd_v":0.0954609141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3497262,"cg_vq_v":-0.3497262,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.712130606,"dclink_p_w":103.376122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.760986,"values":{"Elec_RPM":-7.98039475e-42,"EncoderCos":38739,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-1.59607895e-42,"cg_du":50.1382027,"cg_dv":50.2077293,"cg_dw":49.7922707,"cg_id_a":0.0790573359,"cg_id_raw_a":0.373800874,"cg_iq_a":0.0988663584,"cg_iq_raw_a":-0.655585945,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885473,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9290905,"cg_sample_seq":14570017,"cg_sample_valid":1,"cg_theta_rad":5.0052495,"cg_vd_req_v":0.0920954347,"cg_vd_v":0.0920954347,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359120131,"cg_vq_v":-0.359120131,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.545408964,"dclink_p_w":78.9341278,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.768799,"values":{"Elec_RPM":-7.98039475e-42,"EncoderCos":38745,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-1.59607895e-42,"cg_du":50.1427078,"cg_dv":50.2093658,"cg_dw":49.7906342,"cg_id_a":0.15672946,"cg_id_raw_a":0.472394735,"cg_iq_a":0.261120826,"cg_iq_raw_a":0.0812436938,"cg_iu_a":0.038777113,"cg_iv_a":0.10539782,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14570067,"cg_sample_valid":1,"cg_theta_rad":5.00821066,"cg_vd_req_v":0.0896989703,"cg_vd_v":0.0896989703,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363965452,"cg_vq_v":-0.363965452,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.463860393,"dclink_p_w":67.1320343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2640.776611,"values":{"Elec_RPM":-7.81924543e-42,"EncoderCos":38745,"EncoderSin":12464,"GapTicks":54765,"Mech_RPM":-1.56384909e-42,"cg_du":50.141983,"cg_dv":50.2129478,"cg_dw":49.7870522,"cg_id_a":-0.0870713294,"cg_id_raw_a":-0.308505446,"cg_iq_a":0.475428879,"cg_iq_raw_a":0.117872745,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14570117,"cg_sample_valid":1,"cg_theta_rad":5.00661373,"cg_vd_req_v":0.093722336,"cg_vd_v":0.093722336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369622648,"cg_vq_v":-0.369622648,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.472921252,"dclink_p_w":68.443367,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7697754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.784424,"values":{"Elec_RPM":-7.81924543e-42,"EncoderCos":38722,"EncoderSin":12460,"GapTicks":54769,"Mech_RPM":-1.56384909e-42,"cg_du":50.1400146,"cg_dv":50.2094536,"cg_dw":49.7905464,"cg_id_a":-0.0444588885,"cg_id_raw_a":-0.135473624,"cg_iq_a":0.152028799,"cg_iq_raw_a":0.0603611954,"cg_iu_a":0.14750886,"cg_iv_a":-0.619478822,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9290905,"cg_sample_seq":14570167,"cg_sample_valid":1,"cg_theta_rad":5.00596189,"cg_vd_req_v":0.0939012319,"cg_vd_v":0.0939012319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363247544,"cg_vq_v":-0.363247544,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.358753204,"dclink_p_w":51.920433,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.796143,"values":{"Elec_RPM":-7.6651026e-42,"EncoderCos":38700,"EncoderSin":12450,"GapTicks":54766,"Mech_RPM":-1.53302052e-42,"cg_du":50.1480637,"cg_dv":50.2125931,"cg_dw":49.7874069,"cg_id_a":0.132312223,"cg_id_raw_a":-0.145407274,"cg_iq_a":0.432335138,"cg_iq_raw_a":-0.0507203154,"cg_iu_a":-0.432392597,"cg_iv_a":-0.329528213,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14570217,"cg_sample_valid":1,"cg_theta_rad":5.00709295,"cg_vd_req_v":0.0927547216,"cg_vd_v":0.0927547216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371514648,"cg_vq_v":-0.371514648,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.358753204,"dclink_p_w":51.920433,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7666626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.803955,"values":{"Elec_RPM":-7.6651026e-42,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-1.53302052e-42,"cg_du":50.1411171,"cg_dv":50.2116966,"cg_dw":49.7883034,"cg_id_a":-0.00503626466,"cg_id_raw_a":0.062767379,"cg_iq_a":0.191714823,"cg_iq_raw_a":-0.903444111,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14570267,"cg_sample_valid":1,"cg_theta_rad":5.00804329,"cg_vd_req_v":0.0946745798,"cg_vd_v":0.0946745798,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367057145,"cg_vq_v":-0.367057145,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.358753204,"dclink_p_w":51.920433,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7666626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.831299,"values":{"Elec_RPM":-7.51095977e-42,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54768,"Mech_RPM":-1.50219195e-42,"cg_du":50.1402512,"cg_dv":50.2100716,"cg_dw":49.7899284,"cg_id_a":-0.0942390561,"cg_id_raw_a":-0.151282147,"cg_iq_a":0.237388372,"cg_iq_raw_a":-0.851608098,"cg_iu_a":0.0387773514,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8672733,"cg_sample_seq":14570320,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0945771188,"cg_vd_v":0.0945771188,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365334481,"cg_vq_v":-0.365334481,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.839111,"values":{"Elec_RPM":-7.51095977e-42,"EncoderCos":38741,"EncoderSin":12456,"GapTicks":54772,"Mech_RPM":-1.50219195e-42,"cg_du":50.135994,"cg_dv":50.2063713,"cg_dw":49.7936287,"cg_id_a":-0.0404281616,"cg_id_raw_a":0.0798872411,"cg_iq_a":-0.103635527,"cg_iq_raw_a":0.00830780808,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.863636,"cg_sample_seq":14570366,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0926136374,"cg_vd_v":0.0926136374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35717842,"cg_vq_v":-0.35717842,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.85083,"values":{"Elec_RPM":-7.21668709e-42,"EncoderCos":38701,"EncoderSin":12498,"GapTicks":54769,"Mech_RPM":-1.44333742e-42,"cg_du":50.1371727,"cg_dv":50.2093086,"cg_dw":49.7906914,"cg_id_a":-0.203557596,"cg_id_raw_a":-0.174491584,"cg_iq_a":0.217502892,"cg_iq_raw_a":0.238298461,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9254551,"cg_sample_seq":14570517,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0970667005,"cg_vd_v":0.0970667005,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362344503,"cg_vq_v":-0.362344503,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.391494155,"dclink_p_w":-56.6588554,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.858643,"values":{"Elec_RPM":-7.21668709e-42,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54764,"Mech_RPM":-1.44333742e-42,"cg_du":50.139637,"cg_dv":50.2141304,"cg_dw":49.7858696,"cg_id_a":-0.308418393,"cg_id_raw_a":-0.286868453,"cg_iq_a":0.316887528,"cg_iq_raw_a":0.518357277,"cg_iu_a":0.328727961,"cg_iv_a":-0.583235145,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14570567,"cg_sample_valid":1,"cg_theta_rad":5.00600863,"cg_vd_req_v":0.0996781513,"cg_vd_v":0.0996781513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369145393,"cg_vq_v":-0.369145393,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7588806,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.866455,"values":{"Elec_RPM":-7.06955075e-42,"EncoderCos":38723,"EncoderSin":12464,"GapTicks":54765,"Mech_RPM":-1.41391015e-42,"cg_du":50.1523781,"cg_dv":50.2132263,"cg_dw":49.7867737,"cg_id_a":0.251745522,"cg_id_raw_a":0.367636234,"cg_iq_a":0.562387764,"cg_iq_raw_a":0.291560024,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641557,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14570617,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0876829028,"cg_vd_v":0.0876829028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375362903,"cg_vq_v":-0.375362903,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.5606918,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7728882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.874268,"values":{"Elec_RPM":-7.06955075e-42,"EncoderCos":38731,"EncoderSin":12479,"GapTicks":54768,"Mech_RPM":-1.41391015e-42,"cg_du":50.1372719,"cg_dv":50.2102737,"cg_dw":49.7897263,"cg_id_a":-0.107591465,"cg_id_raw_a":-0.104194954,"cg_iq_a":-0.0553034544,"cg_iq_raw_a":-0.0454615839,"cg_iu_a":-0.577367783,"cg_iv_a":-0.655722857,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9618187,"cg_sample_seq":14570667,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.0956336483,"cg_vd_v":0.0956336483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363145232,"cg_vq_v":-0.363145232,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-71.0836411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7728882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.88208,"values":{"Elec_RPM":-6.92942091e-42,"EncoderCos":38711,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-1.38588418e-42,"cg_du":50.1426926,"cg_dv":50.2068596,"cg_dw":49.7931404,"cg_id_a":0.147701785,"cg_id_raw_a":0.145925239,"cg_iq_a":-0.103935838,"cg_iq_raw_a":-0.0209022444,"cg_iu_a":-0.0699543953,"cg_iv_a":0.21412921,"cg_iw_a":-0.144174814,"cg_sample_age_us":23.9254551,"cg_sample_seq":14570717,"cg_sample_valid":1,"cg_theta_rad":5.00890827,"cg_vd_req_v":0.0903044865,"cg_vd_v":0.0903044865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360973984,"cg_vq_v":-0.360973984,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.768219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.889893,"values":{"Elec_RPM":-6.92942091e-42,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-1.38588418e-42,"cg_du":50.1377754,"cg_dv":50.2121277,"cg_dw":49.7878723,"cg_id_a":-0.119853824,"cg_id_raw_a":0.0546345599,"cg_iq_a":0.299747437,"cg_iq_raw_a":-0.394503236,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9254551,"cg_sample_seq":14570766,"cg_sample_valid":1,"cg_theta_rad":5.00662851,"cg_vd_req_v":0.0970387161,"cg_vd_v":0.0970387161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367139578,"cg_vq_v":-0.367139578,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.3049316,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.768219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.921143,"values":{"Elec_RPM":-6.78929106e-42,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-1.35785821e-42,"cg_du":50.1266632,"cg_dv":50.2044868,"cg_dw":49.7955132,"cg_id_a":-0.243084371,"cg_id_raw_a":-0.488689989,"cg_iq_a":-0.505257845,"cg_iq_raw_a":-1.68637025,"cg_iu_a":0.473703146,"cg_iv_a":-0.220796704,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8600006,"cg_sample_seq":14570820,"cg_sample_valid":1,"cg_theta_rad":5.00884295,"cg_vd_req_v":0.100110158,"cg_vd_v":0.100110158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349987715,"cg_vq_v":-0.349987715,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.527408361,"dclink_p_w":-76.560997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.768219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.928955,"values":{"Elec_RPM":-6.78929106e-42,"EncoderCos":38735,"EncoderSin":12447,"GapTicks":54767,"Mech_RPM":-1.35785821e-42,"cg_du":50.1296806,"cg_dv":50.2114143,"cg_dw":49.7885857,"cg_id_a":-0.298003346,"cg_id_raw_a":0.0869196057,"cg_iq_a":0.00847002119,"cg_iq_raw_a":0.373244822,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14570867,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.103487991,"cg_vd_v":0.103487991,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361415446,"cg_vq_v":-0.361415446,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.527408361,"dclink_p_w":-76.560997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7573547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.936768,"values":{"Elec_RPM":-6.65616771e-42,"EncoderCos":38715,"EncoderSin":12470,"GapTicks":54770,"Mech_RPM":-1.33123354e-42,"cg_du":50.1374054,"cg_dv":50.2086487,"cg_dw":49.7913513,"cg_id_a":0.0485845655,"cg_id_raw_a":0.125644371,"cg_iq_a":-0.0402805954,"cg_iq_raw_a":-0.241711885,"cg_iu_a":-0.613611698,"cg_iv_a":-0.0395776033,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9327278,"cg_sample_seq":14570917,"cg_sample_valid":1,"cg_theta_rad":5.00707579,"cg_vd_req_v":0.0954912975,"cg_vd_v":0.0954912975,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360601842,"cg_vq_v":-0.360601842,"cg_vu_v":102.494972,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.527408361,"dclink_p_w":-76.560997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7573547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.94458,"values":{"Elec_RPM":-6.65616771e-42,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-1.33123354e-42,"cg_du":50.1341782,"cg_dv":50.2075958,"cg_dw":49.7924042,"cg_id_a":0.03494443,"cg_id_raw_a":-0.087001808,"cg_iq_a":-0.114520133,"cg_iq_raw_a":0.42934227,"cg_iu_a":-0.396148682,"cg_iv_a":0.0691540241,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9763641,"cg_sample_seq":14570967,"cg_sample_valid":1,"cg_theta_rad":5.00684738,"cg_vd_req_v":0.0962368995,"cg_vd_v":0.0962368995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357561588,"cg_vq_v":-0.357561588,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.492976785,"dclink_p_w":-71.1290359,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.782196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.952393,"values":{"Elec_RPM":-6.52304435e-42,"EncoderCos":38739,"EncoderSin":12484,"GapTicks":54768,"Mech_RPM":-1.30460887e-42,"cg_du":50.1356506,"cg_dv":50.2101021,"cg_dw":49.7898979,"cg_id_a":0.0544476546,"cg_id_raw_a":0.476613194,"cg_iq_a":0.0597362705,"cg_iq_raw_a":0.263252854,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.954546,"cg_sample_seq":14571017,"cg_sample_valid":1,"cg_theta_rad":5.00715303,"cg_vd_req_v":0.0959576443,"cg_vd_v":0.0959576443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362212896,"cg_vq_v":-0.362212896,"cg_vu_v":114.811958,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.500225544,"dclink_p_w":-72.3949661,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2640.962568,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2640.962575,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2640.962581,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2640.964111,"values":{"Elec_RPM":-6.52304435e-42,"EncoderCos":38731,"EncoderSin":12501,"GapTicks":54767,"Mech_RPM":-1.30460887e-42,"cg_du":50.1350784,"cg_dv":50.2114639,"cg_dw":49.7885361,"cg_id_a":-0.0277735107,"cg_id_raw_a":0.325880498,"cg_iq_a":0.252443463,"cg_iq_raw_a":-0.150860965,"cg_iu_a":-0.396148682,"cg_iv_a":-0.220796764,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9836369,"cg_sample_seq":14571067,"cg_sample_valid":1,"cg_theta_rad":5.00688219,"cg_vd_req_v":0.0979585722,"cg_vd_v":0.0979585722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363691866,"cg_vq_v":-0.363691866,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.62707901,"dclink_p_w":-90.7537918,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.971924,"values":{"Elec_RPM":-6.389921e-42,"EncoderCos":38705,"EncoderSin":12470,"GapTicks":54774,"Mech_RPM":-1.2779842e-42,"cg_du":50.1418571,"cg_dv":50.2050247,"cg_dw":49.7949753,"cg_id_a":0.345702916,"cg_id_raw_a":0.327084154,"cg_iq_a":-0.0199374408,"cg_iq_raw_a":-0.148233041,"cg_iu_a":-0.39614892,"cg_iv_a":0.286616921,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9581814,"cg_sample_seq":14571117,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0895581394,"cg_vd_v":0.0895581394,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359074801,"cg_vq_v":-0.359074801,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-103.867226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7619934,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2640.979736,"values":{"Elec_RPM":-6.389921e-42,"EncoderCos":38700,"EncoderSin":12464,"GapTicks":54778,"Mech_RPM":-1.2779842e-42,"cg_du":50.1339188,"cg_dv":50.2017365,"cg_dw":49.7982635,"cg_id_a":0.14299655,"cg_id_raw_a":0.121442869,"cg_iq_a":-0.430760801,"cg_iq_raw_a":0.0132866604,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885473,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9618187,"cg_sample_seq":14571167,"cg_sample_valid":1,"cg_theta_rad":5.00504923,"cg_vd_req_v":0.0928282216,"cg_vd_v":0.0928282216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348905653,"cg_vq_v":-0.348905653,"cg_vu_v":120.530563,"cg_vv_v":143.404984,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.9756241,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7619934,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.987549,"values":{"Elec_RPM":-6.26380414e-42,"EncoderCos":38738,"EncoderSin":12454,"GapTicks":54775,"Mech_RPM":-1.25276083e-42,"cg_du":50.1306496,"cg_dv":50.2037621,"cg_dw":49.7962379,"cg_id_a":0.0328113288,"cg_id_raw_a":0.235327184,"cg_iq_a":-0.268712282,"cg_iq_raw_a":-0.52298981,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284357,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9581814,"cg_sample_seq":14571217,"cg_sample_valid":1,"cg_theta_rad":5.00708675,"cg_vd_req_v":0.0945831537,"cg_vd_v":0.0945831537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350564599,"cg_vq_v":-0.350564599,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.599896193,"dclink_p_w":-87.0836639,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7355652,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2640.995361,"values":{"Elec_RPM":-6.26380414e-42,"EncoderCos":38743,"EncoderSin":12488,"GapTicks":54773,"Mech_RPM":-1.25276083e-42,"cg_du":50.1149216,"cg_dv":50.2056465,"cg_dw":49.7943535,"cg_id_a":-0.577616751,"cg_id_raw_a":-0.0100329053,"cg_iq_a":-0.506785333,"cg_iq_raw_a":0.0726770833,"cg_iu_a":0.763653994,"cg_iv_a":0.286616921,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.9836369,"cg_sample_seq":14571267,"cg_sample_valid":1,"cg_theta_rad":5.00523663,"cg_vd_req_v":0.107573166,"cg_vd_v":0.107573166,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3447119,"cg_vq_v":-0.3447119,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.2026291,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.026611,"values":{"Elec_RPM":-6.01157041e-42,"EncoderCos":38759,"EncoderSin":12460,"GapTicks":54775,"Mech_RPM":-1.20231408e-42,"cg_du":50.1269379,"cg_dv":50.2045288,"cg_dw":49.7954712,"cg_id_a":0.12593925,"cg_id_raw_a":0.354101211,"cg_iq_a":0.0214473028,"cg_iq_raw_a":-0.00388103933,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065315,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9654541,"cg_sample_seq":14571416,"cg_sample_valid":1,"cg_theta_rad":5.00771523,"cg_vd_req_v":0.0964331478,"cg_vd_v":0.0964331478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350035071,"cg_vq_v":-0.350035071,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7495728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.034424,"values":{"Elec_RPM":-6.01157041e-42,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-1.20231408e-42,"cg_du":50.118,"cg_dv":50.1992188,"cg_dw":49.8007813,"cg_id_a":-0.161137819,"cg_id_raw_a":0.110971168,"cg_iq_a":-0.514158487,"cg_iq_raw_a":-0.0978978053,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14571467,"cg_sample_valid":1,"cg_theta_rad":5.00835276,"cg_vd_req_v":0.100135699,"cg_vd_v":0.100135699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337301731,"cg_vq_v":-0.337301731,"cg_vu_v":143.404984,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7495728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.046143,"values":{"Elec_RPM":-5.89246004e-42,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-1.17849201e-42,"cg_du":50.1145058,"cg_dv":50.2022514,"cg_dw":49.7977486,"cg_id_a":-0.451834857,"cg_id_raw_a":-0.0348728783,"cg_iq_a":-0.416451514,"cg_iq_raw_a":0.106640637,"cg_iu_a":1.30731142,"cg_iv_a":-0.873185754,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9872723,"cg_sample_seq":14571517,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.106881298,"cg_vd_v":0.106881298,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339145631,"cg_vq_v":-0.339145631,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.053955,"values":{"Elec_RPM":-5.89246004e-42,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-1.17849201e-42,"cg_du":50.132637,"cg_dv":50.2032127,"cg_dw":49.7967873,"cg_id_a":0.209294304,"cg_id_raw_a":0.351194382,"cg_iq_a":0.139679134,"cg_iq_raw_a":-0.620548189,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397701,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9872723,"cg_sample_seq":14571567,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0930225402,"cg_vd_v":0.0930225402,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349643141,"cg_vq_v":-0.349643141,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.061768,"values":{"Elec_RPM":-5.77334967e-42,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54771,"Mech_RPM":-1.15466993e-42,"cg_du":50.1330223,"cg_dv":50.2072868,"cg_dw":49.7927132,"cg_id_a":0.0177998766,"cg_id_raw_a":-0.00607334683,"cg_iq_a":0.232175454,"cg_iq_raw_a":-0.181948304,"cg_iu_a":0.437459469,"cg_iv_a":-0.365772128,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9654541,"cg_sample_seq":14571617,"cg_sample_valid":1,"cg_theta_rad":5.0046401,"cg_vd_req_v":0.0980074927,"cg_vd_v":0.0980074927,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355014086,"cg_vq_v":-0.355014086,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7666626,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.06958,"values":{"Elec_RPM":-5.77334967e-42,"EncoderCos":38735,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-1.15466993e-42,"cg_du":50.1278725,"cg_dv":50.2074928,"cg_dw":49.7925072,"cg_id_a":-0.0978045166,"cg_id_raw_a":-0.73222065,"cg_iq_a":0.238592654,"cg_iq_raw_a":0.150010198,"cg_iu_a":0.256240129,"cg_iv_a":0.214129269,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.8490906,"cg_sample_seq":14571666,"cg_sample_valid":1,"cg_theta_rad":5.00537205,"cg_vd_req_v":0.100608043,"cg_vd_v":0.100608043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355187058,"cg_vq_v":-0.355187058,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.077393,"values":{"Elec_RPM":-5.6612458e-42,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-1.13224916e-42,"cg_du":50.1320686,"cg_dv":50.2128792,"cg_dw":49.7871208,"cg_id_a":-0.26170373,"cg_id_raw_a":0.00371719361,"cg_iq_a":0.704121351,"cg_iq_raw_a":-0.0716710612,"cg_iu_a":-0.976050138,"cg_iv_a":-0.764454246,"cg_iw_a":1.74050438,"cg_sample_age_us":23.8745461,"cg_sample_seq":14571716,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.104269437,"cg_vd_v":0.104269437,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364409655,"cg_vq_v":-0.364409655,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.085205,"values":{"Elec_RPM":-5.6612458e-42,"EncoderCos":38735,"EncoderSin":12467,"GapTicks":54772,"Mech_RPM":-1.13224916e-42,"cg_du":50.1172371,"cg_dv":50.206665,"cg_dw":49.793335,"cg_id_a":-0.322151721,"cg_id_raw_a":-0.457986861,"cg_iq_a":-0.00182263553,"cg_iq_raw_a":0.139531776,"cg_iu_a":0.691166162,"cg_iv_a":0.177885473,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.8745461,"cg_sample_seq":14571766,"cg_sample_valid":1,"cg_theta_rad":5.00873852,"cg_vd_req_v":0.108193591,"cg_vd_v":0.108193591,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348096848,"cg_vq_v":-0.348096848,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.112549,"values":{"Elec_RPM":-5.54914192e-42,"EncoderCos":38760,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-1.10982838e-42,"cg_du":50.1101074,"cg_dv":50.1974945,"cg_dw":49.8025055,"cg_id_a":-0.00891681761,"cg_id_raw_a":0.260556936,"cg_iq_a":-0.700499415,"cg_iq_raw_a":-0.376635879,"cg_iu_a":0.292484045,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8527279,"cg_sample_seq":14571821,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.102238156,"cg_vd_v":0.102238156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331299961,"cg_vq_v":-0.331299961,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7480164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.124268,"values":{"Elec_RPM":-5.54914192e-42,"EncoderCos":38716,"EncoderSin":12458,"GapTicks":54776,"Mech_RPM":-1.10982838e-42,"cg_du":50.1260948,"cg_dv":50.2031059,"cg_dw":49.7968941,"cg_id_a":0.177258953,"cg_id_raw_a":0.739000022,"cg_iq_a":0.182596087,"cg_iq_raw_a":1.20346344,"cg_iu_a":0.872385383,"cg_iv_a":-0.184552908,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9254551,"cg_sample_seq":14571866,"cg_sample_valid":1,"cg_theta_rad":5.00567722,"cg_vd_req_v":0.0991670713,"cg_vd_v":0.0991670713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346654266,"cg_vq_v":-0.346654266,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7480164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.13208,"values":{"Elec_RPM":-5.43703804e-42,"EncoderCos":38728,"EncoderSin":12488,"GapTicks":54768,"Mech_RPM":-1.08740761e-42,"cg_du":50.1299553,"cg_dv":50.2100677,"cg_dw":49.7899323,"cg_id_a":-0.0007718876,"cg_id_raw_a":0.161457941,"cg_iq_a":0.246375442,"cg_iq_raw_a":1.14467621,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8563633,"cg_sample_seq":14571916,"cg_sample_valid":1,"cg_theta_rad":5.00766706,"cg_vd_req_v":0.0997048393,"cg_vd_v":0.0997048393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359192789,"cg_vq_v":-0.359192789,"cg_vu_v":36.9509773,"cg_vv_v":39.1504402,"cg_vw_v":45.3089333,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7029724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.139893,"values":{"Elec_RPM":-5.43703804e-42,"EncoderCos":38745,"EncoderSin":12437,"GapTicks":54771,"Mech_RPM":-1.08740761e-42,"cg_du":50.1276169,"cg_dv":50.2079659,"cg_dw":49.7920341,"cg_id_a":0.0322413966,"cg_id_raw_a":-0.378439635,"cg_iq_a":0.404515117,"cg_iq_raw_a":-0.0348970219,"cg_iu_a":-0.359904766,"cg_iv_a":-0.655722737,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9327278,"cg_sample_seq":14571967,"cg_sample_valid":1,"cg_theta_rad":5.00758457,"cg_vd_req_v":0.100892901,"cg_vd_v":0.100892901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354636133,"cg_vq_v":-0.354636133,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.2710495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7029724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.147705,"values":{"Elec_RPM":-5.32493416e-42,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54773,"Mech_RPM":-1.06498683e-42,"cg_du":50.1210136,"cg_dv":50.2056427,"cg_dw":49.7943573,"cg_id_a":-0.104857594,"cg_id_raw_a":-0.347028017,"cg_iq_a":0.0180131197,"cg_iq_raw_a":-0.142081156,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.293284416,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14572017,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.105053343,"cg_vd_v":0.105053343,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348568112,"cg_vq_v":-0.348568112,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.2710495,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.159424,"values":{"Elec_RPM":-5.32493416e-42,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-1.06498683e-42,"cg_du":50.1034241,"cg_dv":50.2018318,"cg_dw":49.7981682,"cg_id_a":-0.553043962,"cg_id_raw_a":-0.957444191,"cg_iq_a":-0.618621469,"cg_iq_raw_a":-2.09431791,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8600006,"cg_sample_seq":14572066,"cg_sample_valid":1,"cg_theta_rad":5.00628567,"cg_vd_req_v":0.115061596,"cg_vd_v":0.115061596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333521873,"cg_vq_v":-0.333521873,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.509286523,"dclink_p_w":-73.9303513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.167236,"values":{"Elec_RPM":-5.21983678e-42,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-1.04396736e-42,"cg_du":50.1265907,"cg_dv":50.2059555,"cg_dw":49.7940445,"cg_id_a":0.0566784069,"cg_id_raw_a":0.493425429,"cg_iq_a":0.261540651,"cg_iq_raw_a":-0.13216418,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9581814,"cg_sample_seq":14572117,"cg_sample_valid":1,"cg_theta_rad":5.00791454,"cg_vd_req_v":0.10188999,"cg_vd_v":0.10188999,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351861119,"cg_vq_v":-0.351861119,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.714064121,"dclink_p_w":-103.342682,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.175049,"values":{"Elec_RPM":-5.21983678e-42,"EncoderCos":38689,"EncoderSin":12421,"GapTicks":54782,"Mech_RPM":-1.04396736e-42,"cg_du":50.1183128,"cg_dv":50.1976852,"cg_dw":49.8023148,"cg_id_a":0.0149256811,"cg_id_raw_a":-0.115260623,"cg_iq_a":-0.599576831,"cg_iq_raw_a":-0.522055209,"cg_iu_a":1.01736069,"cg_iv_a":0.39534843,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.954546,"cg_sample_seq":14572167,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.102879904,"cg_vd_v":0.102879904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334041387,"cg_vq_v":-0.334041387,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.182861,"values":{"Elec_RPM":-5.11473939e-42,"EncoderCos":38713,"EncoderSin":12445,"GapTicks":54780,"Mech_RPM":-1.02294788e-42,"cg_du":50.1182404,"cg_dv":50.1992607,"cg_dw":49.8007393,"cg_id_a":0.123223372,"cg_id_raw_a":0.140281379,"cg_iq_a":-0.488063186,"cg_iq_raw_a":-1.00501299,"cg_iu_a":0.61867857,"cg_iv_a":0.141641617,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9836369,"cg_sample_seq":14572216,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.102106281,"cg_vd_v":0.102106281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336858571,"cg_vq_v":-0.336858571,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.190674,"values":{"Elec_RPM":-5.11473939e-42,"EncoderCos":38721,"EncoderSin":12476,"GapTicks":54777,"Mech_RPM":-1.02294788e-42,"cg_du":50.1193161,"cg_dv":50.2026138,"cg_dw":49.7973862,"cg_id_a":-0.0191106983,"cg_id_raw_a":-0.482674241,"cg_iq_a":0.0536492765,"cg_iq_raw_a":0.172408357,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691540241,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9872723,"cg_sample_seq":14572266,"cg_sample_valid":1,"cg_theta_rad":5.00699186,"cg_vd_req_v":0.103188828,"cg_vd_v":0.103188828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342422515,"cg_vq_v":-0.342422515,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.221924,"values":{"Elec_RPM":-5.00964201e-42,"EncoderCos":38724,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-1.0019284e-42,"cg_du":50.1282272,"cg_dv":50.200798,"cg_dw":49.799202,"cg_id_a":0.399744779,"cg_id_raw_a":0.49167785,"cg_iq_a":0.165738776,"cg_iq_raw_a":1.17753398,"cg_iu_a":-0.142441988,"cg_iv_a":0.540323794,"cg_iw_a":-0.397881806,"cg_sample_age_us":25.8272724,"cg_sample_seq":14572321,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.094785288,"cg_vd_v":0.094785288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345976681,"cg_vq_v":-0.345976681,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.815546989,"dclink_p_w":-118.029755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.229736,"values":{"Elec_RPM":-5.00964201e-42,"EncoderCos":38716,"EncoderSin":12494,"GapTicks":54779,"Mech_RPM":-1.0019284e-42,"cg_du":50.119236,"cg_dv":50.2000046,"cg_dw":49.7999954,"cg_id_a":0.102172241,"cg_id_raw_a":-0.653641641,"cg_iq_a":-0.271305263,"cg_iq_raw_a":1.28470433,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0758214593,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9218178,"cg_sample_seq":14572367,"cg_sample_valid":1,"cg_theta_rad":5.0070405,"cg_vd_req_v":0.100988016,"cg_vd_v":0.100988016,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339868039,"cg_vq_v":-0.339868039,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-0.815546989,"dclink_p_w":-118.029755,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7635498,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.237549,"values":{"Elec_RPM":-4.91155112e-42,"EncoderCos":38709,"EncoderSin":12448,"GapTicks":54778,"Mech_RPM":-9.82310223e-43,"cg_du":50.1189651,"cg_dv":50.2012367,"cg_dw":49.7987633,"cg_id_a":0.0226155668,"cg_id_raw_a":0.160558254,"cg_iq_a":-0.317361772,"cg_iq_raw_a":-1.40366518,"cg_iu_a":0.256240368,"cg_iv_a":-0.619478941,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9618187,"cg_sample_seq":14572417,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.104020536,"cg_vd_v":0.104020536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340905756,"cg_vq_v":-0.340905756,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.927902937,"dclink_p_w":-134.698608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7573547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.245361,"values":{"Elec_RPM":-4.91155112e-42,"EncoderCos":38695,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-9.82310223e-43,"cg_du":50.1280746,"cg_dv":50.2037201,"cg_dw":49.7962799,"cg_id_a":0.243457928,"cg_id_raw_a":0.366804302,"cg_iq_a":-0.0474220589,"cg_iq_raw_a":-0.32569173,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8745461,"cg_sample_seq":14572466,"cg_sample_valid":1,"cg_theta_rad":5.00666714,"cg_vd_req_v":0.0994928405,"cg_vd_v":0.0994928405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348242193,"cg_vq_v":-0.348242193,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.927902937,"dclink_p_w":-134.698608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.253174,"values":{"Elec_RPM":-4.81346022e-42,"EncoderCos":38707,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-9.62692045e-43,"cg_du":50.1275482,"cg_dv":50.2037659,"cg_dw":49.7962341,"cg_id_a":0.306203365,"cg_id_raw_a":-0.17676191,"cg_iq_a":-0.0884223804,"cg_iq_raw_a":-1.00033486,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8709087,"cg_sample_seq":14572516,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0988333821,"cg_vd_v":0.0988333821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348326862,"cg_vq_v":-0.348326862,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.927902937,"dclink_p_w":-134.698608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7713318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.260986,"values":{"Elec_RPM":-4.81346022e-42,"EncoderCos":38738,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-9.62692045e-43,"cg_du":50.1228485,"cg_dv":50.206192,"cg_dw":49.793808,"cg_id_a":0.0936148614,"cg_id_raw_a":0.395235121,"cg_iq_a":0.036760781,"cg_iq_raw_a":-0.434951901,"cg_iu_a":0.328727961,"cg_iv_a":-0.402015924,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14572566,"cg_sample_valid":1,"cg_theta_rad":5.00857067,"cg_vd_req_v":0.103141978,"cg_vd_v":0.103141978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349489123,"cg_vq_v":-0.349489123,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.855415106,"dclink_p_w":-123.79966,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.272705,"values":{"Elec_RPM":-4.71536933e-42,"EncoderCos":38718,"EncoderSin":12476,"GapTicks":54772,"Mech_RPM":-9.43073866e-43,"cg_du":50.121212,"cg_dv":50.2066383,"cg_dw":49.7933617,"cg_id_a":-0.0727709159,"cg_id_raw_a":-0.297508955,"cg_iq_a":-0.0424958616,"cg_iq_raw_a":-0.647382498,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9872723,"cg_sample_seq":14572616,"cg_sample_valid":1,"cg_theta_rad":5.00690413,"cg_vd_req_v":0.106166124,"cg_vd_v":0.106166124,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349944681,"cg_vq_v":-0.349944681,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.837293386,"dclink_p_w":-121.176994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.280518,"values":{"Elec_RPM":-4.71536933e-42,"EncoderCos":38738,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-9.43073866e-43,"cg_du":50.1124191,"cg_dv":50.2077141,"cg_dw":49.7922859,"cg_id_a":-0.381070346,"cg_id_raw_a":-0.277669251,"cg_iq_a":-0.109404355,"cg_iq_raw_a":0.0112604471,"cg_iu_a":0.401215553,"cg_iv_a":0.504079938,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9581814,"cg_sample_seq":14572666,"cg_sample_valid":1,"cg_theta_rad":5.00678062,"cg_vd_req_v":0.112634547,"cg_vd_v":0.112634547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346951753,"cg_vq_v":-0.346951753,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.869912624,"dclink_p_w":-126.280472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.28833,"values":{"Elec_RPM":-4.62428493e-42,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-9.24856986e-43,"cg_du":50.1237106,"cg_dv":50.2038803,"cg_dw":49.7961197,"cg_id_a":0.215268463,"cg_id_raw_a":0.25340572,"cg_iq_a":-0.0877801552,"cg_iq_raw_a":-0.047837723,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9290905,"cg_sample_seq":14572716,"cg_sample_valid":1,"cg_theta_rad":5.00733614,"cg_vd_req_v":0.100679263,"cg_vd_v":0.100679263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347835243,"cg_vq_v":-0.347835243,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.89709568,"dclink_p_w":-129.831863,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7433472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.296143,"values":{"Elec_RPM":-4.62428493e-42,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54770,"Mech_RPM":-9.24856986e-43,"cg_du":50.1182938,"cg_dv":50.20821,"cg_dw":49.79179,"cg_id_a":-0.134703934,"cg_id_raw_a":-0.0315049626,"cg_iq_a":-0.00340366736,"cg_iq_raw_a":-0.147784844,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9509087,"cg_sample_seq":14572766,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.108439453,"cg_vd_v":0.108439453,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349762976,"cg_vq_v":-0.349762976,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.770242214,"dclink_p_w":-111.473038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7433472,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.323486,"values":{"Elec_RPM":-4.53320053e-42,"EncoderCos":38732,"EncoderSin":12476,"GapTicks":54767,"Mech_RPM":-9.06640106e-43,"cg_du":50.1232109,"cg_dv":50.2110138,"cg_dw":49.7889862,"cg_id_a":0.0700862557,"cg_id_raw_a":-0.270854861,"cg_iq_a":0.226630658,"cg_iq_raw_a":-0.0612265058,"cg_iu_a":0.401215792,"cg_iv_a":-0.655722737,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9836369,"cg_sample_seq":14572820,"cg_sample_valid":1,"cg_theta_rad":5.00636578,"cg_vd_req_v":0.107074626,"cg_vd_v":0.107074626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35521245,"cg_vq_v":-0.35521245,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-120.914726,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7247009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.335205,"values":{"Elec_RPM":-4.53320053e-42,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54770,"Mech_RPM":-9.06640106e-43,"cg_du":50.116291,"cg_dv":50.2082481,"cg_dw":49.7917519,"cg_id_a":-0.000748448074,"cg_id_raw_a":-0.0935168117,"cg_iq_a":-0.035354346,"cg_iq_raw_a":0.0648863167,"cg_iu_a":0.473703146,"cg_iv_a":0.177885413,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9836369,"cg_sample_seq":14572867,"cg_sample_valid":1,"cg_theta_rad":5.00706291,"cg_vd_req_v":0.109359056,"cg_vd_v":0.109359056,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347746164,"cg_vq_v":-0.347746164,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7511292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.343018,"values":{"Elec_RPM":-4.44211613e-42,"EncoderCos":38716,"EncoderSin":12417,"GapTicks":54777,"Mech_RPM":-8.88423226e-43,"cg_du":50.1116943,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":-0.119336359,"cg_id_raw_a":-0.395276308,"cg_iq_a":-0.448922038,"cg_iq_raw_a":-0.0760900304,"cg_iu_a":0.256240129,"cg_iv_a":-0.365772128,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9690914,"cg_sample_seq":14572917,"cg_sample_valid":1,"cg_theta_rad":5.00795078,"cg_vd_req_v":0.110831611,"cg_vd_v":0.110831611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337452978,"cg_vq_v":-0.337452978,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-90.229248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7511292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.35083,"values":{"Elec_RPM":-4.44211613e-42,"EncoderCos":38720,"EncoderSin":12446,"GapTicks":54776,"Mech_RPM":-8.88423226e-43,"cg_du":50.1169624,"cg_dv":50.2033234,"cg_dw":49.7966766,"cg_id_a":0.0411512181,"cg_id_raw_a":-0.349567473,"cg_iq_a":-0.078098543,"cg_iq_raw_a":-0.325336933,"cg_iu_a":0.292484045,"cg_iv_a":-0.25704062,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9909096,"cg_sample_seq":14572967,"cg_sample_valid":1,"cg_theta_rad":5.00781202,"cg_vd_req_v":0.106506109,"cg_vd_v":0.106506109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34181878,"cg_vq_v":-0.34181878,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.768219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.358643,"values":{"Elec_RPM":-4.35103173e-42,"EncoderCos":38710,"EncoderSin":12436,"GapTicks":54767,"Mech_RPM":-8.70206346e-43,"cg_du":50.1179848,"cg_dv":50.2110443,"cg_dw":49.7889557,"cg_id_a":-0.239664808,"cg_id_raw_a":0.442091018,"cg_iq_a":0.314380616,"cg_iq_raw_a":0.373987049,"cg_iu_a":0.256240129,"cg_iv_a":-0.402015924,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14573017,"cg_sample_valid":1,"cg_theta_rad":5.00706005,"cg_vd_req_v":0.114274576,"cg_vd_v":0.114274576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352544397,"cg_vq_v":-0.352544397,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.4634781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.366455,"values":{"Elec_RPM":-4.35103173e-42,"EncoderCos":38726,"EncoderSin":12447,"GapTicks":54771,"Mech_RPM":-8.70206346e-43,"cg_du":50.1181602,"cg_dv":50.2076263,"cg_dw":49.7923737,"cg_id_a":-0.00639399514,"cg_id_raw_a":-0.127637222,"cg_iq_a":0.0820890367,"cg_iq_raw_a":-0.448712885,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9763641,"cg_sample_seq":14573067,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.109263085,"cg_vd_v":0.109263085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348490536,"cg_vq_v":-0.348490536,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.374268,"values":{"Elec_RPM":-4.26695382e-42,"EncoderCos":38713,"EncoderSin":12418,"GapTicks":54774,"Mech_RPM":-8.53390765e-43,"cg_du":50.1056938,"cg_dv":50.2053719,"cg_dw":49.7946281,"cg_id_a":-0.365994006,"cg_id_raw_a":-0.126998648,"cg_iq_a":-0.361877799,"cg_iq_raw_a":-1.25108171,"cg_iu_a":-0.178685904,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9254551,"cg_sample_seq":14573117,"cg_sample_valid":1,"cg_theta_rad":5.00775051,"cg_vd_req_v":0.118159898,"cg_vd_v":0.118159898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336820811,"cg_vq_v":-0.336820811,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7371216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.38208,"values":{"Elec_RPM":-4.26695382e-42,"EncoderCos":38721,"EncoderSin":12485,"GapTicks":54763,"Mech_RPM":-8.53390765e-43,"cg_du":50.1242485,"cg_dv":50.2153053,"cg_dw":49.7846947,"cg_id_a":0.0208627731,"cg_id_raw_a":-0.281123668,"cg_iq_a":0.611550987,"cg_iq_raw_a":-0.171973899,"cg_iu_a":-1.22975707,"cg_iv_a":-0.474503517,"cg_iw_a":1.70426059,"cg_sample_age_us":23.9472733,"cg_sample_seq":14573167,"cg_sample_valid":1,"cg_theta_rad":5.00721693,"cg_vd_req_v":0.111082397,"cg_vd_v":0.111082397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361413836,"cg_vq_v":-0.361413836,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7371216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.393799,"values":{"Elec_RPM":-4.18287592e-42,"EncoderCos":38715,"EncoderSin":12435,"GapTicks":54775,"Mech_RPM":-8.36575183e-43,"cg_du":50.1038246,"cg_dv":50.2038536,"cg_dw":49.7961464,"cg_id_a":-0.184731662,"cg_id_raw_a":0.547032893,"cg_iq_a":-0.92754519,"cg_iq_raw_a":-1.07306945,"cg_iu_a":0.908629298,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9254551,"cg_sample_seq":14573217,"cg_sample_valid":1,"cg_theta_rad":5.00634766,"cg_vd_req_v":0.117593989,"cg_vd_v":0.117593989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333905965,"cg_vq_v":-0.333905965,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.401611,"values":{"Elec_RPM":-4.18287592e-42,"EncoderCos":38731,"EncoderSin":12451,"GapTicks":54762,"Mech_RPM":-8.36575183e-43,"cg_du":50.1215973,"cg_dv":50.2157021,"cg_dw":49.7842979,"cg_id_a":0.0210123584,"cg_id_raw_a":0.360937387,"cg_iq_a":0.348373443,"cg_iq_raw_a":0.363372296,"cg_iu_a":-1.08478165,"cg_iv_a":-0.90942955,"cg_iw_a":1.9942112,"cg_sample_age_us":23.9581814,"cg_sample_seq":14573266,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.113912553,"cg_vd_v":0.113912553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361557692,"cg_vq_v":-0.361557692,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.428955,"values":{"Elec_RPM":-4.09879801e-42,"EncoderCos":38752,"EncoderSin":12477,"GapTicks":54759,"Mech_RPM":-8.19759602e-43,"cg_du":50.1134186,"cg_dv":50.2185516,"cg_dw":49.7814484,"cg_id_a":-0.276372015,"cg_id_raw_a":-0.0302507486,"cg_iq_a":0.275672287,"cg_iq_raw_a":-0.40220961,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885413,"cg_iw_a":0.0732880831,"cg_sample_age_us":26.8272724,"cg_sample_seq":14573320,"cg_sample_valid":1,"cg_theta_rad":5.0079422,"cg_vd_req_v":0.121099681,"cg_vd_v":0.121099681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362752289,"cg_vq_v":-0.362752289,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.436768,"values":{"Elec_RPM":-4.09879801e-42,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-8.19759602e-43,"cg_du":50.1177559,"cg_dv":50.20858,"cg_dw":49.79142,"cg_id_a":0.224530473,"cg_id_raw_a":0.315573037,"cg_iq_a":-0.35075739,"cg_iq_raw_a":-1.13405538,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503636,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9290905,"cg_sample_seq":14573366,"cg_sample_valid":1,"cg_theta_rad":5.0067482,"cg_vd_req_v":0.110118285,"cg_vd_v":0.110118285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350853443,"cg_vq_v":-0.350853443,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-10.005332,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7293396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.448486,"values":{"Elec_RPM":-4.0147201e-42,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54762,"Mech_RPM":-8.0294402e-43,"cg_du":50.1198959,"cg_dv":50.2162857,"cg_dw":49.7837143,"cg_id_a":-0.0850167647,"cg_id_raw_a":-0.440889776,"cg_iq_a":0.192931458,"cg_iq_raw_a":0.176778197,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9799995,"cg_sample_seq":14573417,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.11575003,"cg_vd_v":0.11575003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3614223,"cg_vq_v":-0.3614223,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.21612167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.456299,"values":{"Elec_RPM":-4.0147201e-42,"EncoderCos":38728,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-8.0294402e-43,"cg_du":50.1187744,"cg_dv":50.2156143,"cg_dw":49.7843857,"cg_id_a":0.0650426373,"cg_id_raw_a":0.00655659661,"cg_iq_a":0.0427961946,"cg_iq_raw_a":0.547648072,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503577,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9872723,"cg_sample_seq":14573467,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.116191253,"cg_vd_v":0.116191253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359808743,"cg_vq_v":-0.359808743,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7291021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.464111,"values":{"Elec_RPM":-3.93764868e-42,"EncoderCos":38719,"EncoderSin":12455,"GapTicks":54758,"Mech_RPM":-7.87529737e-43,"cg_du":50.1169891,"cg_dv":50.2191887,"cg_dw":49.7808113,"cg_id_a":-0.169739485,"cg_id_raw_a":0.0601512603,"cg_iq_a":0.0300321169,"cg_iq_raw_a":0.844449043,"cg_iu_a":0.147508621,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.144174814,"cg_sample_age_us":23.9581814,"cg_sample_seq":14573517,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.121808521,"cg_vd_v":0.121808521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363421708,"cg_vq_v":-0.363421708,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.04029262,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.471924,"values":{"Elec_RPM":-3.93764868e-42,"EncoderCos":38713,"EncoderSin":12423,"GapTicks":54761,"Mech_RPM":-7.87529737e-43,"cg_du":50.1185226,"cg_dv":50.2169647,"cg_dw":49.7830353,"cg_id_a":-0.0149603197,"cg_id_raw_a":0.24634096,"cg_iq_a":-0.17271556,"cg_iq_raw_a":0.0260883085,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14573567,"cg_sample_valid":1,"cg_theta_rad":5.00804996,"cg_vd_req_v":0.119722925,"cg_vd_v":0.119722925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360837966,"cg_vq_v":-0.360837966,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0856018,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.479736,"values":{"Elec_RPM":-3.86057727e-42,"EncoderCos":38705,"EncoderSin":12455,"GapTicks":54759,"Mech_RPM":-7.72115454e-43,"cg_du":50.1322327,"cg_dv":50.2188416,"cg_dw":49.7811584,"cg_id_a":0.357052147,"cg_id_raw_a":-0.0281832777,"cg_iq_a":0.271781504,"cg_iq_raw_a":0.653713644,"cg_iu_a":-1.08478165,"cg_iv_a":0.214129269,"cg_iw_a":0.870652378,"cg_sample_age_us":23.9618187,"cg_sample_seq":14573617,"cg_sample_valid":1,"cg_theta_rad":5.00815725,"cg_vd_req_v":0.111039288,"cg_vd_v":0.111039288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372302353,"cg_vq_v":-0.372302353,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.74646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.487549,"values":{"Elec_RPM":-3.86057727e-42,"EncoderCos":38732,"EncoderSin":12464,"GapTicks":54755,"Mech_RPM":-7.72115454e-43,"cg_du":50.1222534,"cg_dv":50.2220345,"cg_dw":49.7779655,"cg_id_a":-0.00494511425,"cg_id_raw_a":-0.766787291,"cg_iq_a":0.128667772,"cg_iq_raw_a":0.510159731,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.329528332,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14573667,"cg_sample_valid":1,"cg_theta_rad":5.00662422,"cg_vd_req_v":0.119130641,"cg_vd_v":0.119130641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37067464,"cg_vq_v":-0.37067464,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.8576698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.495361,"values":{"Elec_RPM":-3.78350585e-42,"EncoderCos":38692,"EncoderSin":12443,"GapTicks":54756,"Mech_RPM":-7.56701171e-43,"cg_du":50.1260643,"cg_dv":50.221489,"cg_dw":49.778511,"cg_id_a":-0.0778999403,"cg_id_raw_a":-0.289692909,"cg_iq_a":0.21101658,"cg_iq_raw_a":0.516783834,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.293284416,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9618187,"cg_sample_seq":14573717,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.11951521,"cg_vd_v":0.11951521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370829761,"cg_vq_v":-0.370829761,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.8576698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.50708,"values":{"Elec_RPM":-3.78350585e-42,"EncoderCos":38790,"EncoderSin":12436,"GapTicks":54756,"Mech_RPM":-7.56701171e-43,"cg_du":50.1142426,"cg_dv":50.221489,"cg_dw":49.778511,"cg_id_a":-0.00447560102,"cg_id_raw_a":-0.13070184,"cg_iq_a":-0.0457984656,"cg_iq_raw_a":-0.194750011,"cg_iu_a":-0.359904766,"cg_iv_a":-0.00333374739,"cg_iw_a":0.363238513,"cg_sample_age_us":23.8527279,"cg_sample_seq":14573766,"cg_sample_valid":1,"cg_theta_rad":5.00613451,"cg_vd_req_v":0.11936146,"cg_vd_v":0.11936146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367295921,"cg_vq_v":-0.367295921,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.639642894,"dclink_p_w":92.8534698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7293396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.534424,"values":{"Elec_RPM":-3.70643444e-42,"EncoderCos":38742,"EncoderSin":12474,"GapTicks":54747,"Mech_RPM":-7.41286888e-43,"cg_du":50.1218758,"cg_dv":50.2299042,"cg_dw":49.7700958,"cg_id_a":-0.31949693,"cg_id_raw_a":-0.263564527,"cg_iq_a":0.616398096,"cg_iq_raw_a":0.995591581,"cg_iu_a":0.763653994,"cg_iv_a":-0.25704062,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8709087,"cg_sample_seq":14573821,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.125924662,"cg_vd_v":0.125924662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381547421,"cg_vq_v":-0.381547421,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.539972365,"dclink_p_w":78.147316,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7371216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.542236,"values":{"Elec_RPM":-3.70643444e-42,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-7.41286888e-43,"cg_du":50.1188164,"cg_dv":50.2140694,"cg_dw":49.7859306,"cg_id_a":0.220473155,"cg_id_raw_a":0.466645062,"cg_iq_a":-0.469489932,"cg_iq_raw_a":-1.15542305,"cg_iu_a":0.582434773,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9290905,"cg_sample_seq":14573867,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.114834033,"cg_vd_v":0.114834033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357673377,"cg_vq_v":-0.357673377,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.568967462,"dclink_p_w":82.3436203,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7371216,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.550049,"values":{"Elec_RPM":-3.62936302e-42,"EncoderCos":38683,"EncoderSin":12471,"GapTicks":54758,"Mech_RPM":-7.25872605e-43,"cg_du":50.128437,"cg_dv":50.2198296,"cg_dw":49.7801704,"cg_id_a":0.131984472,"cg_id_raw_a":0.378753036,"cg_iq_a":0.077519618,"cg_iq_raw_a":-0.0318645798,"cg_iu_a":0.183752775,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9581814,"cg_sample_seq":14573917,"cg_sample_valid":1,"cg_theta_rad":5.00864744,"cg_vd_req_v":0.116078787,"cg_vd_v":0.116078787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369915873,"cg_vq_v":-0.369915873,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.49104321,"dclink_p_w":71.2820663,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7417908,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.561768,"values":{"Elec_RPM":-3.5592981e-42,"EncoderCos":38722,"EncoderSin":12456,"GapTicks":54766,"Mech_RPM":-7.1185962e-43,"cg_du":50.1139641,"cg_dv":50.2123222,"cg_dw":49.7876778,"cg_id_a":-0.0414631851,"cg_id_raw_a":-0.298098892,"cg_iq_a":-0.367537856,"cg_iq_raw_a":-0.210587382,"cg_iu_a":0.328727961,"cg_iv_a":0.214129269,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9654541,"cg_sample_seq":14574066,"cg_sample_valid":1,"cg_theta_rad":5.00770378,"cg_vd_req_v":0.117227331,"cg_vd_v":0.117227331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352485597,"cg_vq_v":-0.352485597,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.670450211,"dclink_p_w":97.0306778,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.56958,"values":{"Elec_RPM":-3.48923318e-42,"EncoderCos":38743,"EncoderSin":12485,"GapTicks":54762,"Mech_RPM":-6.97846635e-43,"cg_du":50.1188583,"cg_dv":50.2161331,"cg_dw":49.7838669,"cg_id_a":0.113873526,"cg_id_raw_a":-0.20976527,"cg_iq_a":0.0393957794,"cg_iq_raw_a":0.418360174,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9472733,"cg_sample_seq":14574117,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.114650883,"cg_vd_v":0.114650883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361195892,"cg_vq_v":-0.361195892,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.619708836,"dclink_p_w":89.687149,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.577393,"values":{"Elec_RPM":-3.48923318e-42,"EncoderCos":38704,"EncoderSin":12466,"GapTicks":54762,"Mech_RPM":-6.97846635e-43,"cg_du":50.116291,"cg_dv":50.2159843,"cg_dw":49.7840157,"cg_id_a":-0.07434728,"cg_id_raw_a":-0.390466034,"cg_iq_a":-0.134004682,"cg_iq_raw_a":-0.330363154,"cg_iu_a":0.618678689,"cg_iv_a":-0.112065196,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9509087,"cg_sample_seq":14574166,"cg_sample_valid":1,"cg_theta_rad":5.00660896,"cg_vd_req_v":0.120186374,"cg_vd_v":0.120186374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358361632,"cg_vq_v":-0.358361632,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.619708836,"dclink_p_w":89.687149,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.585205,"values":{"Elec_RPM":-3.41916825e-42,"EncoderCos":38725,"EncoderSin":12465,"GapTicks":54763,"Mech_RPM":-6.83833651e-43,"cg_du":50.1133842,"cg_dv":50.2148361,"cg_dw":49.7851639,"cg_id_a":-0.0713353008,"cg_id_raw_a":0.520741522,"cg_iq_a":-0.23294431,"cg_iq_raw_a":0.0148895765,"cg_iu_a":0.401215792,"cg_iv_a":0.177885413,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9872723,"cg_sample_seq":14574216,"cg_sample_valid":1,"cg_theta_rad":5.00777578,"cg_vd_req_v":0.120027117,"cg_vd_v":0.120027117,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356809169,"cg_vq_v":-0.356809169,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.619708836,"dclink_p_w":89.687149,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.593018,"values":{"Elec_RPM":-3.41916825e-42,"EncoderCos":38717,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-6.83833651e-43,"cg_du":50.1277199,"cg_dv":50.2160263,"cg_dw":49.7839737,"cg_id_a":0.312059015,"cg_id_raw_a":0.460405141,"cg_iq_a":0.213494658,"cg_iq_raw_a":0.41084379,"cg_iu_a":0.183752775,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9799995,"cg_sample_seq":14574266,"cg_sample_valid":1,"cg_theta_rad":5.00716305,"cg_vd_req_v":0.110817023,"cg_vd_v":0.110817023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366224021,"cg_vq_v":-0.366224021,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.619708836,"dclink_p_w":89.687149,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.60083,"values":{"Elec_RPM":-3.34910333e-42,"EncoderCos":38718,"EncoderSin":12437,"GapTicks":54757,"Mech_RPM":-6.69820666e-43,"cg_du":50.1301231,"cg_dv":50.2201271,"cg_dw":49.7798729,"cg_id_a":0.14312014,"cg_id_raw_a":0.823790193,"cg_iq_a":0.479686081,"cg_iq_raw_a":1.3949666,"cg_iu_a":0.183752537,"cg_iv_a":-0.438259721,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9254551,"cg_sample_seq":14574316,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.112969182,"cg_vd_v":0.112969182,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371915877,"cg_vq_v":-0.371915877,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":71.0189972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.63208,"values":{"Elec_RPM":-3.34910333e-42,"EncoderCos":38760,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-6.69820666e-43,"cg_du":50.1245003,"cg_dv":50.2196312,"cg_dw":49.7803688,"cg_id_a":0.20215252,"cg_id_raw_a":0.00788630452,"cg_iq_a":0.102461912,"cg_iq_raw_a":0.110646136,"cg_iu_a":-1.66468287,"cg_iv_a":-0.00333368778,"cg_iw_a":1.66801655,"cg_sample_age_us":23.9618187,"cg_sample_seq":14574371,"cg_sample_valid":1,"cg_theta_rad":5.00704718,"cg_vd_req_v":0.111910485,"cg_vd_v":0.111910485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368394136,"cg_vq_v":-0.368394136,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":71.0189972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.639893,"values":{"Elec_RPM":-3.27903841e-42,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54763,"Mech_RPM":-6.55807681e-43,"cg_du":50.1130829,"cg_dv":50.2149277,"cg_dw":49.7850723,"cg_id_a":-0.243865326,"cg_id_raw_a":-0.287571639,"cg_iq_a":-0.550915897,"cg_iq_raw_a":-0.973772407,"cg_iu_a":0.256240368,"cg_iv_a":-0.148309112,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14574417,"cg_sample_valid":1,"cg_theta_rad":5.00716925,"cg_vd_req_v":0.119562,"cg_vd_v":0.119562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354627579,"cg_vq_v":-0.354627579,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.49104321,"dclink_p_w":70.8500519,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0617065,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.647705,"values":{"Elec_RPM":-3.27903841e-42,"EncoderCos":38732,"EncoderSin":12471,"GapTicks":54753,"Mech_RPM":-6.55807681e-43,"cg_du":50.1257973,"cg_dv":50.2243462,"cg_dw":49.7756538,"cg_id_a":-0.212426156,"cg_id_raw_a":-0.704322934,"cg_iq_a":0.481108248,"cg_iq_raw_a":0.29799366,"cg_iu_a":-0.9760499,"cg_iv_a":-0.220796824,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9472733,"cg_sample_seq":14574467,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.118044756,"cg_vd_v":0.118044756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374715835,"cg_vq_v":-0.374715835,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.655518,"values":{"Elec_RPM":-3.21597998e-42,"EncoderCos":38768,"EncoderSin":12496,"GapTicks":54758,"Mech_RPM":-6.43195995e-43,"cg_du":50.120121,"cg_dv":50.2193718,"cg_dw":49.7806282,"cg_id_a":-0.128241062,"cg_id_raw_a":-0.261039406,"cg_iq_a":0.195517316,"cg_iq_raw_a":0.560615003,"cg_iu_a":-0.86731863,"cg_iv_a":0.10539782,"cg_iw_a":0.76192081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14574517,"cg_sample_valid":1,"cg_theta_rad":5.00569105,"cg_vd_req_v":0.114416629,"cg_vd_v":0.114416629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367063969,"cg_vq_v":-0.367063969,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.262706995,"dclink_p_w":38.0201797,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.66333,"values":{"Elec_RPM":-3.21597998e-42,"EncoderCos":38744,"EncoderSin":12461,"GapTicks":54756,"Mech_RPM":-6.43195995e-43,"cg_du":50.134861,"cg_dv":50.2217369,"cg_dw":49.7782631,"cg_id_a":0.124986835,"cg_id_raw_a":-0.0558965243,"cg_iq_a":0.505108654,"cg_iq_raw_a":-0.113588512,"cg_iu_a":-0.178685904,"cg_iv_a":-0.220796704,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9581814,"cg_sample_seq":14574567,"cg_sample_valid":1,"cg_theta_rad":5.00667238,"cg_vd_req_v":0.108307786,"cg_vd_v":0.108307786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37874645,"cg_vq_v":-0.37874645,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7355652,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.675049,"values":{"Elec_RPM":-3.15292154e-42,"EncoderCos":38727,"EncoderSin":12429,"GapTicks":54759,"Mech_RPM":-6.30584309e-43,"cg_du":50.1304321,"cg_dv":50.2182236,"cg_dw":49.7817764,"cg_id_a":0.0729378685,"cg_id_raw_a":-0.327724427,"cg_iq_a":0.0162535086,"cg_iq_raw_a":0.514670312,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.329528213,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9218178,"cg_sample_seq":14574617,"cg_sample_valid":1,"cg_theta_rad":5.00788593,"cg_vd_req_v":0.110317342,"cg_vd_v":0.110317342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369676441,"cg_vq_v":-0.369676441,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.03074646,"dclink_p_w":4.44977093,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.682861,"values":{"Elec_RPM":-3.15292154e-42,"EncoderCos":38706,"EncoderSin":12473,"GapTicks":54753,"Mech_RPM":-6.30584309e-43,"cg_du":50.1377563,"cg_dv":50.2238503,"cg_dw":49.7761497,"cg_id_a":0.0967701599,"cg_id_raw_a":0.322399735,"cg_iq_a":0.557809353,"cg_iq_raw_a":0.106150605,"cg_iu_a":-0.86731863,"cg_iv_a":-0.00333374739,"cg_iw_a":0.870652378,"cg_sample_age_us":23.954546,"cg_sample_seq":14574667,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.110721663,"cg_vd_v":0.110721663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381239235,"cg_vq_v":-0.381239235,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.690674,"values":{"Elec_RPM":-3.08986311e-42,"EncoderCos":38704,"EncoderSin":12503,"GapTicks":54759,"Mech_RPM":-6.17972623e-43,"cg_du":50.1304474,"cg_dv":50.2189102,"cg_dw":49.7810898,"cg_id_a":-0.0204869509,"cg_id_raw_a":0.26661849,"cg_iq_a":-0.0379904881,"cg_iq_raw_a":0.245770544,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9581814,"cg_sample_seq":14574717,"cg_sample_valid":1,"cg_theta_rad":5.00604486,"cg_vd_req_v":0.111025386,"cg_vd_v":0.111025386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370598406,"cg_vq_v":-0.370598406,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.698486,"values":{"Elec_RPM":-3.08986311e-42,"EncoderCos":38717,"EncoderSin":12436,"GapTicks":54763,"Mech_RPM":-6.17972623e-43,"cg_du":50.132473,"cg_dv":50.2149048,"cg_dw":49.7850952,"cg_id_a":0.194877923,"cg_id_raw_a":0.206736133,"cg_iq_a":-0.234067082,"cg_iq_raw_a":-0.415483475,"cg_iu_a":-0.758587122,"cg_iv_a":-0.0395775437,"cg_iw_a":0.798164666,"cg_sample_age_us":23.9618187,"cg_sample_seq":14574767,"cg_sample_valid":1,"cg_theta_rad":5.00803089,"cg_vd_req_v":0.106141716,"cg_vd_v":0.106141716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366128862,"cg_vq_v":-0.366128862,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.12153912,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.706299,"values":{"Elec_RPM":-3.02680468e-42,"EncoderCos":38742,"EncoderSin":12447,"GapTicks":54755,"Mech_RPM":-6.05360937e-43,"cg_du":50.1446648,"cg_dv":50.2222366,"cg_dw":49.7777634,"cg_id_a":0.301355302,"cg_id_raw_a":1.36799657,"cg_iq_a":0.601617694,"cg_iq_raw_a":1.95008516,"cg_iu_a":-0.287417412,"cg_iv_a":0.10539782,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14574817,"cg_sample_valid":1,"cg_theta_rad":5.00513124,"cg_vd_req_v":0.101288915,"cg_vd_v":0.101288915,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383601278,"cg_vq_v":-0.383601278,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.737549,"values":{"Elec_RPM":-2.96374625e-42,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54750,"Mech_RPM":-5.9274925e-43,"cg_du":50.1390724,"cg_dv":50.2269859,"cg_dw":49.7730141,"cg_id_a":-0.0988610014,"cg_id_raw_a":-0.272218674,"cg_iq_a":0.183126807,"cg_iq_raw_a":0.374214679,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14574967,"cg_sample_valid":1,"cg_theta_rad":5.00876188,"cg_vd_req_v":0.112861603,"cg_vd_v":0.112861603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387478739,"cg_vq_v":-0.387478739,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7247009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.745361,"values":{"Elec_RPM":-2.90769431e-42,"EncoderCos":38719,"EncoderSin":12443,"GapTicks":54750,"Mech_RPM":-5.81538863e-43,"cg_du":50.1358337,"cg_dv":50.2269287,"cg_dw":49.7730713,"cg_id_a":-0.172415271,"cg_id_raw_a":-0.734234869,"cg_iq_a":-0.153155372,"cg_iq_raw_a":-0.473193973,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14575017,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.114888616,"cg_vd_v":0.114888616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384435505,"cg_vq_v":-0.384435505,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.753174,"values":{"Elec_RPM":-2.90769431e-42,"EncoderCos":38698,"EncoderSin":12449,"GapTicks":54755,"Mech_RPM":-5.81538863e-43,"cg_du":50.146225,"cg_dv":50.2223625,"cg_dw":49.7776375,"cg_id_a":0.36310786,"cg_id_raw_a":0.456988037,"cg_iq_a":-0.108178169,"cg_iq_raw_a":1.03234994,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104633,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9581814,"cg_sample_seq":14575067,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.103968911,"cg_vd_v":0.103968911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383640349,"cg_vq_v":-0.383640349,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.760986,"values":{"Elec_RPM":-2.85164237e-42,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54749,"Mech_RPM":-5.70328475e-43,"cg_du":50.1316643,"cg_dv":50.2277107,"cg_dw":49.7722893,"cg_id_a":-0.275587022,"cg_id_raw_a":-0.128428116,"cg_iq_a":-0.0981688797,"cg_iq_raw_a":-0.0115030929,"cg_iu_a":0.292484045,"cg_iv_a":-0.873185754,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8600006,"cg_sample_seq":14575116,"cg_sample_valid":1,"cg_theta_rad":5.00608969,"cg_vd_req_v":0.117381372,"cg_vd_v":0.117381372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383620501,"cg_vq_v":-0.383620501,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.768799,"values":{"Elec_RPM":-2.85164237e-42,"EncoderCos":38726,"EncoderSin":12441,"GapTicks":54751,"Mech_RPM":-5.70328475e-43,"cg_du":50.1463699,"cg_dv":50.2258606,"cg_dw":49.7741394,"cg_id_a":0.300554812,"cg_id_raw_a":0.505575418,"cg_iq_a":0.16785717,"cg_iq_raw_a":0.596841574,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9654541,"cg_sample_seq":14575166,"cg_sample_valid":1,"cg_theta_rad":5.00587606,"cg_vd_req_v":0.105029143,"cg_vd_v":0.105029143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389069289,"cg_vq_v":-0.389069289,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.738678,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.776611,"values":{"Elec_RPM":-2.79559044e-42,"EncoderCos":38726,"EncoderSin":12469,"GapTicks":54750,"Mech_RPM":-5.59118087e-43,"cg_du":50.1432762,"cg_dv":50.2269363,"cg_dw":49.7730637,"cg_id_a":0.100181811,"cg_id_raw_a":0.0208602548,"cg_iq_a":0.11954774,"cg_iq_raw_a":-0.0335956812,"cg_iu_a":-0.106198072,"cg_iv_a":1.01149356,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9181824,"cg_sample_seq":14575216,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.107753754,"cg_vd_v":0.107753754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388999999,"cg_vq_v":-0.388999999,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.2561646,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.78833,"values":{"Elec_RPM":-2.79559044e-42,"EncoderCos":38722,"EncoderSin":12450,"GapTicks":54750,"Mech_RPM":-5.59118087e-43,"cg_du":50.1396561,"cg_dv":50.2269249,"cg_dw":49.7730751,"cg_id_a":-0.0105150342,"cg_id_raw_a":0.259607822,"cg_iq_a":0.0729234368,"cg_iq_raw_a":0.317788422,"cg_iu_a":0.328727961,"cg_iv_a":-0.474503517,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9872723,"cg_sample_seq":14575266,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.111780137,"cg_vd_v":0.111780137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387886971,"cg_vq_v":-0.387886971,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7340088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.796143,"values":{"Elec_RPM":-2.7395385e-42,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54748,"Mech_RPM":-5.479077e-43,"cg_du":50.1456947,"cg_dv":50.2282906,"cg_dw":49.7717094,"cg_id_a":0.229824364,"cg_id_raw_a":0.399414808,"cg_iq_a":0.0322712213,"cg_iq_raw_a":-0.251805216,"cg_iu_a":-0.577367783,"cg_iv_a":0.39534843,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9836369,"cg_sample_seq":14575316,"cg_sample_valid":1,"cg_theta_rad":5.00654888,"cg_vd_req_v":0.10733337,"cg_vd_v":0.10733337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392154187,"cg_vq_v":-0.392154187,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7340088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.823486,"values":{"Elec_RPM":-2.7395385e-42,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54744,"Mech_RPM":-5.479077e-43,"cg_du":50.1368866,"cg_dv":50.2325325,"cg_dw":49.7674675,"cg_id_a":-0.348830163,"cg_id_raw_a":-0.340200722,"cg_iq_a":-0.1234321,"cg_iq_raw_a":-0.213964626,"cg_iu_a":0.219996452,"cg_iv_a":0.322860837,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9727268,"cg_sample_seq":14575370,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.117745571,"cg_vd_v":0.117745571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393570274,"cg_vq_v":-0.393570274,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.831299,"values":{"Elec_RPM":-2.68348656e-42,"EncoderCos":38766,"EncoderSin":12498,"GapTicks":54742,"Mech_RPM":-5.36697312e-43,"cg_du":50.1388817,"cg_dv":50.2343941,"cg_dw":49.7656059,"cg_id_a":-0.15082249,"cg_id_raw_a":0.476564467,"cg_iq_a":-0.0977900773,"cg_iq_raw_a":-1.19531751,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796824,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9872723,"cg_sample_seq":14575417,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.113691814,"cg_vd_v":0.113691814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3967641,"cg_vq_v":-0.3967641,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.66569042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2641.843018,"values":{"Elec_RPM":-2.68348656e-42,"EncoderCos":38712,"EncoderSin":12463,"GapTicks":54746,"Mech_RPM":-5.36697312e-43,"cg_du":50.1547127,"cg_dv":50.2303085,"cg_dw":49.7696915,"cg_id_a":0.315252125,"cg_id_raw_a":0.154224724,"cg_iq_a":0.0684938505,"cg_iq_raw_a":0.526191175,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065196,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14575467,"cg_sample_valid":1,"cg_theta_rad":5.00687742,"cg_vd_req_v":0.103483647,"cg_vd_v":0.103483647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39962858,"cg_vq_v":-0.39962858,"cg_vu_v":135.926804,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.85083,"values":{"Elec_RPM":-2.62743462e-42,"EncoderCos":38749,"EncoderSin":12456,"GapTicks":54745,"Mech_RPM":-5.25486924e-43,"cg_du":50.1450348,"cg_dv":50.2311745,"cg_dw":49.7688255,"cg_id_a":0.00530194864,"cg_id_raw_a":-0.343489856,"cg_iq_a":-0.0894771218,"cg_iq_raw_a":0.0419614986,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14575517,"cg_sample_valid":1,"cg_theta_rad":5.0072217,"cg_vd_req_v":0.108774297,"cg_vd_v":0.108774297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396227062,"cg_vq_v":-0.396227062,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.858643,"values":{"Elec_RPM":-2.62743462e-42,"EncoderCos":38730,"EncoderSin":12455,"GapTicks":54743,"Mech_RPM":-5.25486924e-43,"cg_du":50.1519852,"cg_dv":50.2333794,"cg_dw":49.7666206,"cg_id_a":0.0624204651,"cg_id_raw_a":0.00667496864,"cg_iq_a":0.0797329694,"cg_iq_raw_a":0.984579742,"cg_iu_a":-0.0337102413,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9690914,"cg_sample_seq":14575567,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.107191332,"cg_vd_v":0.107191332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40264082,"cg_vq_v":-0.40264082,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.866455,"values":{"Elec_RPM":-2.57838917e-42,"EncoderCos":38745,"EncoderSin":12480,"GapTicks":54736,"Mech_RPM":-5.15677835e-43,"cg_du":50.1521568,"cg_dv":50.2397614,"cg_dw":49.7602386,"cg_id_a":-0.158306777,"cg_id_raw_a":0.130420312,"cg_iq_a":0.467779696,"cg_iq_raw_a":-0.314835578,"cg_iu_a":0.437459469,"cg_iv_a":-0.365772128,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9254551,"cg_sample_seq":14575617,"cg_sample_valid":1,"cg_theta_rad":5.00765276,"cg_vd_req_v":0.111139029,"cg_vd_v":0.111139029,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411991894,"cg_vq_v":-0.411991894,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7262573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.874268,"values":{"Elec_RPM":-2.57838917e-42,"EncoderCos":38727,"EncoderSin":12485,"GapTicks":54739,"Mech_RPM":-5.15677835e-43,"cg_du":50.1454239,"cg_dv":50.236908,"cg_dw":49.763092,"cg_id_a":-0.326563954,"cg_id_raw_a":-0.698936582,"cg_iq_a":0.123922013,"cg_iq_raw_a":-1.08509159,"cg_iu_a":-0.142441988,"cg_iv_a":0.0329101682,"cg_iw_a":0.10953182,"cg_sample_age_us":23.863636,"cg_sample_seq":14575666,"cg_sample_valid":1,"cg_theta_rad":5.00685787,"cg_vd_req_v":0.115207784,"cg_vd_v":0.115207784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403922439,"cg_vq_v":-0.403922439,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.4803638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7247009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.88208,"values":{"Elec_RPM":-2.52934373e-42,"EncoderCos":38729,"EncoderSin":12479,"GapTicks":54748,"Mech_RPM":-5.05868746e-43,"cg_du":50.1455612,"cg_dv":50.2285957,"cg_dw":49.7714043,"cg_id_a":-0.0320171416,"cg_id_raw_a":-0.0203536879,"cg_iq_a":-0.412959367,"cg_iq_raw_a":0.399348944,"cg_iu_a":0.256240368,"cg_iv_a":0.902762175,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.8672733,"cg_sample_seq":14575716,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.107031614,"cg_vd_v":0.107031614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392688453,"cg_vq_v":-0.392688453,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.4803638,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7247009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.889893,"values":{"Elec_RPM":-2.52934373e-42,"EncoderCos":38718,"EncoderSin":12488,"GapTicks":54743,"Mech_RPM":-5.05868746e-43,"cg_du":50.1534004,"cg_dv":50.2330818,"cg_dw":49.7669182,"cg_id_a":-0.0473240837,"cg_id_raw_a":-0.159410074,"cg_iq_a":0.014520824,"cg_iq_raw_a":-0.34238112,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8745461,"cg_sample_seq":14575766,"cg_sample_valid":1,"cg_theta_rad":5.00672245,"cg_vd_req_v":0.105972894,"cg_vd_v":0.105972894,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40298295,"cg_vq_v":-0.40298295,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7231445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.901611,"values":{"Elec_RPM":-2.48029828e-42,"EncoderCos":38731,"EncoderSin":12453,"GapTicks":54745,"Mech_RPM":-4.96059656e-43,"cg_du":50.149662,"cg_dv":50.2316895,"cg_dw":49.7683105,"cg_id_a":-0.110196829,"cg_id_raw_a":0.36812529,"cg_iq_a":-0.211132109,"cg_iq_raw_a":-0.582699895,"cg_iu_a":0.509947062,"cg_iv_a":0.39534843,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.863636,"cg_sample_seq":14575816,"cg_sample_valid":1,"cg_theta_rad":5.00622845,"cg_vd_req_v":0.107339479,"cg_vd_v":0.107339479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399050564,"cg_vq_v":-0.399050564,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.928955,"values":{"Elec_RPM":-2.48029828e-42,"EncoderCos":38756,"EncoderSin":12490,"GapTicks":54750,"Mech_RPM":-4.96059656e-43,"cg_du":50.1531944,"cg_dv":50.2271805,"cg_dw":49.7728195,"cg_id_a":0.365133494,"cg_id_raw_a":0.150584698,"cg_iq_a":-0.348086178,"cg_iq_raw_a":0.159611821,"cg_iu_a":-0.106198072,"cg_iv_a":0.612811387,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.8600006,"cg_sample_seq":14575870,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0972268805,"cg_vd_v":0.0972268805,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396909058,"cg_vq_v":-0.396909058,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7542419,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.936768,"values":{"Elec_RPM":-2.43125284e-42,"EncoderCos":38762,"EncoderSin":12472,"GapTicks":54740,"Mech_RPM":-4.86250567e-43,"cg_du":50.1622467,"cg_dv":50.2355995,"cg_dw":49.7644005,"cg_id_a":0.276561975,"cg_id_raw_a":0.0241364148,"cg_iq_a":0.529470801,"cg_iq_raw_a":0.403151095,"cg_iu_a":-0.794830799,"cg_iv_a":-0.293284416,"cg_iw_a":1.08811522,"cg_sample_age_us":23.9690914,"cg_sample_seq":14575917,"cg_sample_valid":1,"cg_theta_rad":5.00613689,"cg_vd_req_v":0.0981054381,"cg_vd_v":0.0981054381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413504779,"cg_vq_v":-0.413504779,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.21196568,"dclink_p_w":30.7699032,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.94458,"values":{"Elec_RPM":-2.43125284e-42,"EncoderCos":38710,"EncoderSin":12461,"GapTicks":54750,"Mech_RPM":-4.86250567e-43,"cg_du":50.1528244,"cg_dv":50.2271881,"cg_dw":49.7728119,"cg_id_a":-0.0483724773,"cg_id_raw_a":0.449263513,"cg_iq_a":-0.467091203,"cg_iq_raw_a":-0.318228364,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539645,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9400005,"cg_sample_seq":14575967,"cg_sample_valid":1,"cg_theta_rad":5.00787878,"cg_vd_req_v":0.102148905,"cg_vd_v":0.102148905,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394270718,"cg_vq_v":-0.394270718,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.329758167,"dclink_p_w":47.7241364,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.956299,"values":{"Elec_RPM":-2.38220739e-42,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54744,"Mech_RPM":-4.76441478e-43,"cg_du":50.1578522,"cg_dv":50.2325821,"cg_dw":49.7674179,"cg_id_a":-0.0979312211,"cg_id_raw_a":0.263669759,"cg_iq_a":0.100497767,"cg_iq_raw_a":0.0633990318,"cg_iu_a":-0.251173496,"cg_iv_a":-1.09064865,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9763641,"cg_sample_seq":14576017,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.102905273,"cg_vd_v":0.102905273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404565424,"cg_vq_v":-0.404565424,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.7225418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.730896,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.964111,"values":{"Elec_RPM":-2.38220739e-42,"EncoderCos":38715,"EncoderSin":12467,"GapTicks":54757,"Mech_RPM":-4.76441478e-43,"cg_du":50.1627121,"cg_dv":50.2205391,"cg_dw":49.7794609,"cg_id_a":0.62630254,"cg_id_raw_a":0.32257244,"cg_iq_a":-0.830060959,"cg_iq_raw_a":0.105624653,"cg_iu_a":-0.287417412,"cg_iv_a":0.214129329,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14576067,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0873129591,"cg_vd_v":0.0873129591,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390961587,"cg_vq_v":-0.390961587,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7138367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.971924,"values":{"Elec_RPM":-2.33316194e-42,"EncoderCos":38704,"EncoderSin":12487,"GapTicks":54741,"Mech_RPM":-4.66632389e-43,"cg_du":50.1612015,"cg_dv":50.2345543,"cg_dw":49.7654457,"cg_id_a":-0.118105926,"cg_id_raw_a":0.160376593,"cg_iq_a":-0.0104994997,"cg_iq_raw_a":-0.165242657,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.257040501,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9254551,"cg_sample_seq":14576117,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.10260918,"cg_vd_v":0.10260918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409026265,"cg_vq_v":-0.409026265,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7138367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2641.979736,"values":{"Elec_RPM":-2.33316194e-42,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54745,"Mech_RPM":-4.66632389e-43,"cg_du":50.1637306,"cg_dv":50.2313957,"cg_dw":49.7686043,"cg_id_a":0.15202722,"cg_id_raw_a":0.309120893,"cg_iq_a":-0.13924174,"cg_iq_raw_a":-0.187714174,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.954546,"cg_sample_seq":14576167,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0964978933,"cg_vd_v":0.0964978933,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407720089,"cg_vq_v":-0.407720089,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2641.987205,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2641.98721,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2641.987215,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2641.987549,"values":{"Elec_RPM":-2.2841165e-42,"EncoderCos":38718,"EncoderSin":12433,"GapTicks":54740,"Mech_RPM":-4.56823299e-43,"cg_du":50.1696892,"cg_dv":50.236187,"cg_dw":49.763813,"cg_id_a":0.00282004476,"cg_id_raw_a":-0.380187809,"cg_iq_a":0.410619378,"cg_iq_raw_a":0.399611473,"cg_iu_a":-0.758587122,"cg_iv_a":-0.293284416,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9436359,"cg_sample_seq":14576217,"cg_sample_valid":1,"cg_theta_rad":5.00723696,"cg_vd_req_v":0.09807311,"cg_vd_v":0.09807311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.417238981,"cg_vq_v":-0.417238981,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2641.995361,"values":{"Elec_RPM":-2.2841165e-42,"EncoderCos":38725,"EncoderSin":12469,"GapTicks":54739,"Mech_RPM":-4.56823299e-43,"cg_du":50.1763115,"cg_dv":50.2366066,"cg_dw":49.7633934,"cg_id_a":0.279053122,"cg_id_raw_a":-0.52405256,"cg_iq_a":0.492729783,"cg_iq_raw_a":-0.268347293,"cg_iu_a":-1.55595136,"cg_iv_a":0.286616921,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9400005,"cg_sample_seq":14576267,"cg_sample_valid":1,"cg_theta_rad":5.00829458,"cg_vd_req_v":0.0912917405,"cg_vd_v":0.0912917405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.420649529,"cg_vq_v":-0.420649529,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.00708,"values":{"Elec_RPM":-2.23507105e-42,"EncoderCos":38698,"EncoderSin":12480,"GapTicks":54737,"Mech_RPM":-4.4701421e-43,"cg_du":50.170887,"cg_dv":50.2387009,"cg_dw":49.7612991,"cg_id_a":-0.154652327,"cg_id_raw_a":0.0676436201,"cg_iq_a":0.341617584,"cg_iq_raw_a":-0.283745825,"cg_iu_a":0.111264944,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9763641,"cg_sample_seq":14576317,"cg_sample_valid":1,"cg_theta_rad":5.00834131,"cg_vd_req_v":0.0998447537,"cg_vd_v":0.0998447537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.419925064,"cg_vq_v":-0.419925064,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.034424,"values":{"Elec_RPM":-2.23507105e-42,"EncoderCos":38704,"EncoderSin":12486,"GapTicks":54741,"Mech_RPM":-4.4701421e-43,"cg_du":50.1664391,"cg_dv":50.2351227,"cg_dw":49.7648773,"cg_id_a":-0.123762682,"cg_id_raw_a":0.0481569432,"cg_iq_a":0.216798499,"cg_iq_raw_a":0.114913628,"cg_iu_a":-0.14244175,"cg_iv_a":0.649055243,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.8454552,"cg_sample_seq":14576370,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0990938544,"cg_vd_v":0.0990938544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412743568,"cg_vq_v":-0.412743568,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.7713165,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.046143,"values":{"Elec_RPM":-2.1930321e-42,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54744,"Mech_RPM":-4.38606419e-43,"cg_du":50.1649399,"cg_dv":50.2324867,"cg_dw":49.7675133,"cg_id_a":0.0141189955,"cg_id_raw_a":0.122671589,"cg_iq_a":-0.289086729,"cg_iq_raw_a":-0.424107552,"cg_iu_a":-0.0337102413,"cg_iv_a":0.39534843,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9509087,"cg_sample_seq":14576416,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.0971311405,"cg_vd_v":0.0971311405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408457428,"cg_vq_v":-0.408457428,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.7713165,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7324524,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.053955,"values":{"Elec_RPM":-2.1930321e-42,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54746,"Mech_RPM":-4.38606419e-43,"cg_du":50.1659698,"cg_dv":50.230648,"cg_dw":49.769352,"cg_id_a":0.171032071,"cg_id_raw_a":0.274393797,"cg_iq_a":-0.228526995,"cg_iq_raw_a":0.172650561,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9581814,"cg_sample_seq":14576467,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0934346765,"cg_vd_v":0.0934346765,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408091605,"cg_vq_v":-0.408091605,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5643444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.061768,"values":{"Elec_RPM":-2.15099314e-42,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54742,"Mech_RPM":-4.30198629e-43,"cg_du":50.16539,"cg_dv":50.2342758,"cg_dw":49.7657242,"cg_id_a":-0.135801226,"cg_id_raw_a":-0.0337850787,"cg_iq_a":0.0792710781,"cg_iq_raw_a":-0.330329567,"cg_iu_a":0.111264944,"cg_iv_a":-0.619478822,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9509087,"cg_sample_seq":14576516,"cg_sample_valid":1,"cg_theta_rad":5.0079093,"cg_vd_req_v":0.0988421142,"cg_vd_v":0.0988421142,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.412385315,"cg_vq_v":-0.412385315,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.157599926,"dclink_p_w":22.8779221,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.06958,"values":{"Elec_RPM":-2.15099314e-42,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54751,"Mech_RPM":-4.30198629e-43,"cg_du":50.1591263,"cg_dv":50.2259293,"cg_dw":49.7740707,"cg_id_a":0.0485484228,"cg_id_raw_a":-0.254843146,"cg_iq_a":-0.567892849,"cg_iq_raw_a":-0.643710673,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8418179,"cg_sample_seq":14576566,"cg_sample_valid":1,"cg_theta_rad":5.00673199,"cg_vd_req_v":0.095481135,"cg_vd_v":0.095481135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396235526,"cg_vq_v":-0.396235526,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9859419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.077393,"values":{"Elec_RPM":-2.10895419e-42,"EncoderCos":38738,"EncoderSin":12474,"GapTicks":54751,"Mech_RPM":-4.21790838e-43,"cg_du":50.1671448,"cg_dv":50.2262154,"cg_dw":49.7737846,"cg_id_a":0.476904899,"cg_id_raw_a":0.030246783,"cg_iq_a":-0.299856156,"cg_iq_raw_a":-0.360387057,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860837,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9436359,"cg_sample_seq":14576617,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.087075308,"cg_vd_v":0.087075308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401665211,"cg_vq_v":-0.401665211,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.085205,"values":{"Elec_RPM":-2.10895419e-42,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54748,"Mech_RPM":-4.21790838e-43,"cg_du":50.161438,"cg_dv":50.228344,"cg_dw":49.771656,"cg_id_a":-0.00065895915,"cg_id_raw_a":-0.163333237,"cg_iq_a":-0.298382312,"cg_iq_raw_a":0.34912762,"cg_iu_a":-0.0337104797,"cg_iv_a":0.504079938,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9181824,"cg_sample_seq":14576666,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0946923867,"cg_vd_v":0.0946923867,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399844736,"cg_vq_v":-0.399844736,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.093018,"values":{"Elec_RPM":-2.06691523e-42,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54745,"Mech_RPM":-4.13383047e-43,"cg_du":50.1736908,"cg_dv":50.2310562,"cg_dw":49.7689438,"cg_id_a":0.2990309,"cg_id_raw_a":0.580935836,"cg_iq_a":0.402665615,"cg_iq_raw_a":1.11405706,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616981,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8563633,"cg_sample_seq":14576717,"cg_sample_valid":1,"cg_theta_rad":5.00768089,"cg_vd_req_v":0.0886183754,"cg_vd_v":0.0886183754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411490411,"cg_vq_v":-0.411490411,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.6967468,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.104736,"values":{"Elec_RPM":-2.06691523e-42,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54747,"Mech_RPM":-4.13383047e-43,"cg_du":50.1720886,"cg_dv":50.2294731,"cg_dw":49.7705269,"cg_id_a":0.331824869,"cg_id_raw_a":0.614482939,"cg_iq_a":0.232983008,"cg_iq_raw_a":1.19081354,"cg_iu_a":-0.432392597,"cg_iv_a":0.322860777,"cg_iw_a":0.10953182,"cg_sample_age_us":23.8490906,"cg_sample_seq":14576766,"cg_sample_valid":1,"cg_theta_rad":5.00677872,"cg_vd_req_v":0.0886822343,"cg_vd_v":0.0886822343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408362091,"cg_vq_v":-0.408362091,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.6967468,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.112549,"values":{"Elec_RPM":-2.02487628e-42,"EncoderCos":38721,"EncoderSin":12457,"GapTicks":54746,"Mech_RPM":-4.04975256e-43,"cg_du":50.1721039,"cg_dv":50.230423,"cg_dw":49.769577,"cg_id_a":0.263538688,"cg_id_raw_a":0.156046182,"cg_iq_a":0.281369984,"cg_iq_raw_a":0.0890047252,"cg_iu_a":-0.903562307,"cg_iv_a":0.250373125,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9509087,"cg_sample_seq":14576817,"cg_sample_valid":1,"cg_theta_rad":5.00781012,"cg_vd_req_v":0.089301981,"cg_vd_v":0.089301981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409722954,"cg_vq_v":-0.409722954,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7231445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.139893,"values":{"Elec_RPM":-2.02487628e-42,"EncoderCos":38737,"EncoderSin":12501,"GapTicks":54750,"Mech_RPM":-4.04975256e-43,"cg_du":50.1569672,"cg_dv":50.2266159,"cg_dw":49.7733841,"cg_id_a":0.0403349362,"cg_id_raw_a":0.407074094,"cg_iq_a":-0.405168474,"cg_iq_raw_a":-0.580591381,"cg_iu_a":-1.26600075,"cg_iv_a":0.612811387,"cg_iw_a":0.653189361,"cg_sample_age_us":23.9436359,"cg_sample_seq":14576870,"cg_sample_valid":1,"cg_theta_rad":5.00821066,"cg_vd_req_v":0.0948251709,"cg_vd_v":0.0948251709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396690995,"cg_vq_v":-0.396690995,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.147705,"values":{"Elec_RPM":-1.98283733e-42,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54738,"Mech_RPM":-3.96567465e-43,"cg_du":50.1683502,"cg_dv":50.23806,"cg_dw":49.76194,"cg_id_a":-0.0836170763,"cg_id_raw_a":-0.166514829,"cg_iq_a":0.548114419,"cg_iq_raw_a":0.166923627,"cg_iu_a":-0.178685904,"cg_iv_a":-0.25704056,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9472733,"cg_sample_seq":14576916,"cg_sample_valid":1,"cg_theta_rad":5.00673199,"cg_vd_req_v":0.0985189974,"cg_vd_v":0.0985189974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418264121,"cg_vq_v":-0.418264121,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.159424,"values":{"Elec_RPM":-1.98283733e-42,"EncoderCos":38704,"EncoderSin":12483,"GapTicks":54735,"Mech_RPM":-3.96567465e-43,"cg_du":50.170414,"cg_dv":50.240757,"cg_dw":49.759243,"cg_id_a":-0.0913137794,"cg_id_raw_a":-0.0587741658,"cg_iq_a":0.510782838,"cg_iq_raw_a":0.759852827,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8527279,"cg_sample_seq":14576966,"cg_sample_valid":1,"cg_theta_rad":5.00650644,"cg_vd_req_v":0.101258479,"cg_vd_v":0.101258479,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.421321541,"cg_vq_v":-0.421321541,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.32012856,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.167236,"values":{"Elec_RPM":-1.94079837e-42,"EncoderCos":38761,"EncoderSin":12443,"GapTicks":54737,"Mech_RPM":-3.88159675e-43,"cg_du":50.1605682,"cg_dv":50.2383347,"cg_dw":49.7616653,"cg_id_a":-0.17799291,"cg_id_raw_a":0.00565483794,"cg_iq_a":0.0738783479,"cg_iq_raw_a":0.365225673,"cg_iu_a":-0.613611698,"cg_iv_a":-0.474503517,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8600006,"cg_sample_seq":14577017,"cg_sample_valid":1,"cg_theta_rad":5.00652742,"cg_vd_req_v":0.102377012,"cg_vd_v":0.102377012,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413578808,"cg_vq_v":-0.413578808,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.175049,"values":{"Elec_RPM":-1.94079837e-42,"EncoderCos":38735,"EncoderSin":12481,"GapTicks":54746,"Mech_RPM":-3.88159675e-43,"cg_du":50.1593399,"cg_dv":50.2303848,"cg_dw":49.7696152,"cg_id_a":0.0853658244,"cg_id_raw_a":0.247716323,"cg_iq_a":-0.264597833,"cg_iq_raw_a":0.4608078,"cg_iu_a":0.219996452,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9763641,"cg_sample_seq":14577066,"cg_sample_valid":1,"cg_theta_rad":5.00788927,"cg_vd_req_v":0.097623609,"cg_vd_v":0.097623609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404199451,"cg_vq_v":-0.404199451,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.182861,"values":{"Elec_RPM":-1.89875942e-42,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54742,"Mech_RPM":-3.79751884e-43,"cg_du":50.1620483,"cg_dv":50.234333,"cg_dw":49.765667,"cg_id_a":-0.0788589418,"cg_id_raw_a":-0.131256297,"cg_iq_a":0.0746866912,"cg_iq_raw_a":-0.194376722,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9254551,"cg_sample_seq":14577117,"cg_sample_valid":1,"cg_theta_rad":5.00670433,"cg_vd_req_v":0.100455582,"cg_vd_v":0.100455582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409518808,"cg_vq_v":-0.409518808,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.190674,"values":{"Elec_RPM":-1.89875942e-42,"EncoderCos":38704,"EncoderSin":12471,"GapTicks":54745,"Mech_RPM":-3.79751884e-43,"cg_du":50.1581345,"cg_dv":50.2313843,"cg_dw":49.7686157,"cg_id_a":-0.180655003,"cg_id_raw_a":-0.0644806474,"cg_iq_a":-0.172209635,"cg_iq_raw_a":0.394993067,"cg_iu_a":0.654922485,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8563633,"cg_sample_seq":14577167,"cg_sample_valid":1,"cg_theta_rad":5.00670242,"cg_vd_req_v":0.10236425,"cg_vd_v":0.10236425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402888298,"cg_vq_v":-0.402888298,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.198486,"values":{"Elec_RPM":-1.86372696e-42,"EncoderCos":38720,"EncoderSin":12444,"GapTicks":54745,"Mech_RPM":-3.72745392e-43,"cg_du":50.161541,"cg_dv":50.2309952,"cg_dw":49.7690048,"cg_id_a":-0.0395719409,"cg_id_raw_a":-0.356705487,"cg_iq_a":0.0512924641,"cg_iq_raw_a":-0.253254175,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9872723,"cg_sample_seq":14577217,"cg_sample_valid":1,"cg_theta_rad":5.00755405,"cg_vd_req_v":0.0982983485,"cg_vd_v":0.0982983485,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403229326,"cg_vq_v":-0.403229326,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.106858611,"dclink_p_w":15.5120821,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7153931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.206299,"values":{"Elec_RPM":-1.86372696e-42,"EncoderCos":38707,"EncoderSin":12483,"GapTicks":54750,"Mech_RPM":-3.72745392e-43,"cg_du":50.1558075,"cg_dv":50.2266998,"cg_dw":49.7733002,"cg_id_a":-0.0816165656,"cg_id_raw_a":-0.19444795,"cg_iq_a":-0.216963425,"cg_iq_raw_a":0.0178112518,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309112,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9145451,"cg_sample_seq":14577267,"cg_sample_valid":1,"cg_theta_rad":5.00778103,"cg_vd_req_v":0.0990114212,"cg_vd_v":0.0990114212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395376325,"cg_vq_v":-0.395376325,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7231445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.218018,"values":{"Elec_RPM":-1.8286945e-42,"EncoderCos":38728,"EncoderSin":12465,"GapTicks":54751,"Mech_RPM":-3.65738899e-43,"cg_du":50.1628113,"cg_dv":50.2260933,"cg_dw":49.7739067,"cg_id_a":0.260343254,"cg_id_raw_a":-0.37142399,"cg_iq_a":-0.0100742579,"cg_iq_raw_a":-0.107781932,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9799995,"cg_sample_seq":14577317,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.0912450477,"cg_vd_v":0.0912450477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397608608,"cg_vq_v":-0.397608608,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7231445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.245361,"values":{"Elec_RPM":-1.8286945e-42,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54755,"Mech_RPM":-3.65738899e-43,"cg_du":50.1635437,"cg_dv":50.2221069,"cg_dw":49.7778931,"cg_id_a":0.374988317,"cg_id_raw_a":0.476548731,"cg_iq_a":-0.107482314,"cg_iq_raw_a":-0.608106911,"cg_iu_a":-0.14244175,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238454,"cg_sample_age_us":23.8709087,"cg_sample_seq":14577371,"cg_sample_valid":1,"cg_theta_rad":5.00665712,"cg_vd_req_v":0.0866818577,"cg_vd_v":0.0866818577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393890947,"cg_vq_v":-0.393890947,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.253174,"values":{"Elec_RPM":-1.79366203e-42,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54752,"Mech_RPM":-3.58732407e-43,"cg_du":50.1618385,"cg_dv":50.2253151,"cg_dw":49.7746849,"cg_id_a":0.0673235357,"cg_id_raw_a":0.0336301476,"cg_iq_a":-0.237574115,"cg_iq_raw_a":-1.23410738,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.25704056,"cg_iw_a":0.326994956,"cg_sample_age_us":23.9218178,"cg_sample_seq":14577416,"cg_sample_valid":1,"cg_theta_rad":5.0051403,"cg_vd_req_v":0.0925487801,"cg_vd_v":0.0925487801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398254305,"cg_vq_v":-0.398254305,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.260986,"values":{"Elec_RPM":-1.79366203e-42,"EncoderCos":38744,"EncoderSin":12490,"GapTicks":54751,"Mech_RPM":-3.58732407e-43,"cg_du":50.1711121,"cg_dv":50.2262115,"cg_dw":49.7737885,"cg_id_a":0.407680571,"cg_id_raw_a":0.284062654,"cg_iq_a":0.159215778,"cg_iq_raw_a":0.536123455,"cg_iu_a":0.219996452,"cg_iv_a":0.685299098,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9436359,"cg_sample_seq":14577466,"cg_sample_valid":1,"cg_theta_rad":5.00660229,"cg_vd_req_v":0.0832048804,"cg_vd_v":0.0832048804,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405312479,"cg_vq_v":-0.405312479,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7107239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.272705,"values":{"Elec_RPM":-1.72359711e-42,"EncoderCos":38711,"EncoderSin":12448,"GapTicks":54760,"Mech_RPM":-3.44719422e-43,"cg_du":50.1549988,"cg_dv":50.2181168,"cg_dw":49.7818832,"cg_id_a":-0.115996256,"cg_id_raw_a":0.206641689,"cg_iq_a":-0.339367658,"cg_iq_raw_a":-1.03470635,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8600006,"cg_sample_seq":14577616,"cg_sample_valid":1,"cg_theta_rad":5.00589466,"cg_vd_req_v":0.0918473825,"cg_vd_v":0.0918473825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383135349,"cg_vq_v":-0.383135349,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.280518,"values":{"Elec_RPM":-1.72359711e-42,"EncoderCos":38698,"EncoderSin":12431,"GapTicks":54756,"Mech_RPM":-3.44719422e-43,"cg_du":50.1610603,"cg_dv":50.2214127,"cg_dw":49.7785873,"cg_id_a":-0.17157048,"cg_id_raw_a":0.0721794665,"cg_iq_a":0.266071886,"cg_iq_raw_a":0.0813118219,"cg_iu_a":-0.0699543953,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.9836369,"cg_sample_seq":14577668,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.091932252,"cg_vd_v":0.091932252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390643388,"cg_vq_v":-0.390643388,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.28833,"values":{"Elec_RPM":-1.68856465e-42,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-3.3771293e-43,"cg_du":50.1544952,"cg_dv":50.2133141,"cg_dw":49.7866859,"cg_id_a":0.11622332,"cg_id_raw_a":-0.583276391,"cg_iq_a":-0.177573591,"cg_iq_raw_a":0.126361907,"cg_iu_a":0.0750210285,"cg_iv_a":1.37393188,"cg_iw_a":-1.44895291,"cg_sample_age_us":23.9618187,"cg_sample_seq":14577716,"cg_sample_valid":1,"cg_theta_rad":5.00689983,"cg_vd_req_v":0.0861340463,"cg_vd_v":0.0861340463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377867699,"cg_vq_v":-0.377867699,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.296143,"values":{"Elec_RPM":-1.68856465e-42,"EncoderCos":38705,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-3.3771293e-43,"cg_du":50.1505547,"cg_dv":50.2071152,"cg_dw":49.7928848,"cg_id_a":0.217302769,"cg_id_raw_a":0.171055734,"cg_iq_a":-0.56922698,"cg_iq_raw_a":-0.673871696,"cg_iu_a":0.437459469,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.954546,"cg_sample_seq":14577766,"cg_sample_valid":1,"cg_theta_rad":5.00675297,"cg_vd_req_v":0.0853576362,"cg_vd_v":0.0853576362,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366702497,"cg_vq_v":-0.366702497,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1621199,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.303955,"values":{"Elec_RPM":-1.65353219e-42,"EncoderCos":38676,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.30706438e-43,"cg_du":50.1479797,"cg_dv":50.2151527,"cg_dw":49.7848473,"cg_id_a":-0.311270088,"cg_id_raw_a":-0.289996684,"cg_iq_a":-0.00273770094,"cg_iq_raw_a":-0.467698812,"cg_iu_a":-0.287417173,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9654541,"cg_sample_seq":14577817,"cg_sample_valid":1,"cg_theta_rad":5.00735331,"cg_vd_req_v":0.0966043249,"cg_vd_v":0.0966043249,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374606282,"cg_vq_v":-0.374606282,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.335205,"values":{"Elec_RPM":-1.65353219e-42,"EncoderCos":38740,"EncoderSin":12507,"GapTicks":54774,"Mech_RPM":-3.30706438e-43,"cg_du":50.1351357,"cg_dv":50.2048607,"cg_dw":49.7951393,"cg_id_a":-0.06090229,"cg_id_raw_a":0.0595360696,"cg_iq_a":-0.84273243,"cg_iq_raw_a":-1.15835583,"cg_iu_a":-0.251173258,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8563633,"cg_sample_seq":14577870,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.0906607807,"cg_vd_v":0.0906607807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354945391,"cg_vq_v":-0.354945391,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.343018,"values":{"Elec_RPM":-1.61849973e-42,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-3.23699945e-43,"cg_du":50.1492729,"cg_dv":50.2094002,"cg_dw":49.7905998,"cg_id_a":0.104522191,"cg_id_raw_a":0.054700356,"cg_iq_a":0.0838441253,"cg_iq_raw_a":-0.576521933,"cg_iu_a":0.763653994,"cg_iv_a":0.10539782,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.8563633,"cg_sample_seq":14577916,"cg_sample_valid":1,"cg_theta_rad":5.00692368,"cg_vd_req_v":0.0875978395,"cg_vd_v":0.0875978395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368137956,"cg_vq_v":-0.368137956,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.6329746,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.35083,"values":{"Elec_RPM":-1.61849973e-42,"EncoderCos":38698,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-3.23699945e-43,"cg_du":50.1566162,"cg_dv":50.2091637,"cg_dw":49.7908363,"cg_id_a":0.272143662,"cg_id_raw_a":-0.00556832971,"cg_iq_a":0.208383039,"cg_iq_raw_a":-0.181964517,"cg_iu_a":-0.903562307,"cg_iv_a":0.0691539049,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9436359,"cg_sample_seq":14577967,"cg_sample_valid":1,"cg_theta_rad":5.00732803,"cg_vd_req_v":0.0826990604,"cg_vd_v":0.0826990604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371717572,"cg_vq_v":-0.371717572,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.358643,"values":{"Elec_RPM":-1.58346726e-42,"EncoderCos":38714,"EncoderSin":12451,"GapTicks":54767,"Mech_RPM":-3.16693453e-43,"cg_du":50.1535988,"cg_dv":50.2117958,"cg_dw":49.7882042,"cg_id_a":0.10042014,"cg_id_raw_a":-0.258706808,"cg_iq_a":0.137018889,"cg_iq_raw_a":-0.389450848,"cg_iu_a":-0.142441988,"cg_iv_a":0.286616981,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9436359,"cg_sample_seq":14578016,"cg_sample_valid":1,"cg_theta_rad":5.00817966,"cg_vd_req_v":0.0866945758,"cg_vd_v":0.0866945758,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374985844,"cg_vq_v":-0.374985844,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.366455,"values":{"Elec_RPM":-1.58346726e-42,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54757,"Mech_RPM":-3.16693453e-43,"cg_du":50.1498222,"cg_dv":50.2205467,"cg_dw":49.7794533,"cg_id_a":-0.381715745,"cg_id_raw_a":0.0317868367,"cg_iq_a":0.565503061,"cg_iq_raw_a":-0.79721415,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796764,"cg_iw_a":0.145775735,"cg_sample_age_us":23.954546,"cg_sample_seq":14578066,"cg_sample_valid":1,"cg_theta_rad":5.00783587,"cg_vd_req_v":0.0968627408,"cg_vd_v":0.0968627408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385106504,"cg_vq_v":-0.385106504,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7293396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.374268,"values":{"Elec_RPM":-1.5484348e-42,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-3.09686961e-43,"cg_du":50.1452599,"cg_dv":50.2110405,"cg_dw":49.7889595,"cg_id_a":-0.0292784683,"cg_id_raw_a":-0.482034147,"cg_iq_a":-0.166034847,"cg_iq_raw_a":-0.264978766,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9254551,"cg_sample_seq":14578116,"cg_sample_valid":1,"cg_theta_rad":5.00726223,"cg_vd_req_v":0.0916327313,"cg_vd_v":0.0916327313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369464725,"cg_vq_v":-0.369464725,"cg_vu_v":26.8334465,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7293396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.385986,"values":{"Elec_RPM":-1.5484348e-42,"EncoderCos":38756,"EncoderSin":12469,"GapTicks":54767,"Mech_RPM":-3.09686961e-43,"cg_du":50.1445427,"cg_dv":50.2113075,"cg_dw":49.7886925,"cg_id_a":0.0907695442,"cg_id_raw_a":0.0633907244,"cg_iq_a":-0.128568709,"cg_iq_raw_a":0.661484838,"cg_iu_a":-0.577367783,"cg_iv_a":0.39534843,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14578166,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0890747458,"cg_vd_v":0.0890747458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369067162,"cg_vq_v":-0.369067162,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.393799,"values":{"Elec_RPM":-1.52040883e-42,"EncoderCos":38744,"EncoderSin":12475,"GapTicks":54761,"Mech_RPM":-3.04081767e-43,"cg_du":50.1557159,"cg_dv":50.2169838,"cg_dw":49.7830162,"cg_id_a":0.160361454,"cg_id_raw_a":0.612657726,"cg_iq_a":0.425371289,"cg_iq_raw_a":0.384691626,"cg_iu_a":-0.0699543953,"cg_iv_a":0.57656759,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9581814,"cg_sample_seq":14578216,"cg_sample_valid":1,"cg_theta_rad":5.00689554,"cg_vd_req_v":0.0866028741,"cg_vd_v":0.0866028741,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382830232,"cg_vq_v":-0.382830232,"cg_vu_v":22.4345207,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7122803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.401611,"values":{"Elec_RPM":-1.52040883e-42,"EncoderCos":38725,"EncoderSin":12460,"GapTicks":54758,"Mech_RPM":-3.04081767e-43,"cg_du":50.155941,"cg_dv":50.2191925,"cg_dw":49.7808075,"cg_id_a":-0.032171376,"cg_id_raw_a":0.000299324689,"cg_iq_a":0.553149343,"cg_iq_raw_a":-0.25407216,"cg_iu_a":-0.903562546,"cg_iv_a":-0.184552908,"cg_iw_a":1.08811545,"cg_sample_age_us":23.9509087,"cg_sample_seq":14578266,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0906167328,"cg_vd_v":0.0906167328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385487258,"cg_vq_v":-0.385487258,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7122803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.409424,"values":{"Elec_RPM":-1.49238286e-42,"EncoderCos":38718,"EncoderSin":12458,"GapTicks":54765,"Mech_RPM":-2.98476573e-43,"cg_du":50.1579514,"cg_dv":50.2130508,"cg_dw":49.7869492,"cg_id_a":0.285455406,"cg_id_raw_a":0.0280928686,"cg_iq_a":0.328903437,"cg_iq_raw_a":-0.105676584,"cg_iu_a":-0.722343206,"cg_iv_a":0.286616862,"cg_iw_a":0.435726345,"cg_sample_age_us":23.8490906,"cg_sample_seq":14578316,"cg_sample_valid":1,"cg_theta_rad":5.00679922,"cg_vd_req_v":0.0839796066,"cg_vd_v":0.0839796066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379274487,"cg_vq_v":-0.379274487,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.440674,"values":{"Elec_RPM":-1.49238286e-42,"EncoderCos":38747,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-2.98476573e-43,"cg_du":50.1431618,"cg_dv":50.2107391,"cg_dw":49.7892609,"cg_id_a":-0.0496191755,"cg_id_raw_a":-0.124011017,"cg_iq_a":-0.0764410123,"cg_iq_raw_a":0.171520919,"cg_iu_a":-0.976050138,"cg_iv_a":-0.0395776033,"cg_iw_a":1.01562774,"cg_sample_age_us":23.8527279,"cg_sample_seq":14578371,"cg_sample_valid":1,"cg_theta_rad":5.00881815,"cg_vd_req_v":0.0900136232,"cg_vd_v":0.0900136232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367426634,"cg_vq_v":-0.367426634,"cg_vu_v":128.888519,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.448486,"values":{"Elec_RPM":-1.43633093e-42,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-2.87266185e-43,"cg_du":50.1533585,"cg_dv":50.2125244,"cg_dw":49.7874756,"cg_id_a":0.129275411,"cg_id_raw_a":-0.352455527,"cg_iq_a":-0.105447799,"cg_iq_raw_a":-1.12754154,"cg_iu_a":-0.323661089,"cg_iv_a":0.032910049,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8563633,"cg_sample_seq":14578516,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.0871855393,"cg_vd_v":0.0871855393,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373539507,"cg_vq_v":-0.373539507,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7215881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.456299,"values":{"Elec_RPM":-1.43633093e-42,"EncoderCos":38724,"EncoderSin":12479,"GapTicks":54765,"Mech_RPM":-2.87266185e-43,"cg_du":50.150547,"cg_dv":50.2130394,"cg_dw":49.7869606,"cg_id_a":0.0206862912,"cg_id_raw_a":0.64225328,"cg_iq_a":-0.0794676244,"cg_iq_raw_a":0.718009889,"cg_iu_a":0.546190977,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9509087,"cg_sample_seq":14578567,"cg_sample_valid":1,"cg_theta_rad":5.00577259,"cg_vd_req_v":0.0881977156,"cg_vd_v":0.0881977156,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373058826,"cg_vq_v":-0.373058826,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.464111,"values":{"Elec_RPM":-1.40830496e-42,"EncoderCos":38720,"EncoderSin":12394,"GapTicks":54767,"Mech_RPM":-2.81660991e-43,"cg_du":50.1545258,"cg_dv":50.2115822,"cg_dw":49.7884178,"cg_id_a":0.0304101612,"cg_id_raw_a":-0.0815247148,"cg_iq_a":0.0311258398,"cg_iq_raw_a":-0.262645274,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9290905,"cg_sample_seq":14578617,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0864502192,"cg_vd_v":0.0864502192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373867303,"cg_vq_v":-0.373867303,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.3694153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7060547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.471924,"values":{"Elec_RPM":-1.40830496e-42,"EncoderCos":38742,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-2.81660991e-43,"cg_du":50.1502075,"cg_dv":50.2111015,"cg_dw":49.7888985,"cg_id_a":0.0160084087,"cg_id_raw_a":-0.1928716,"cg_iq_a":-0.088423647,"cg_iq_raw_a":-0.672409594,"cg_iu_a":-0.178685665,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8600006,"cg_sample_seq":14578667,"cg_sample_valid":1,"cg_theta_rad":5.0073967,"cg_vd_req_v":0.0857689604,"cg_vd_v":0.0857689604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371620089,"cg_vq_v":-0.371620089,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7060547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.479736,"values":{"Elec_RPM":-1.38027899e-42,"EncoderCos":38713,"EncoderSin":12443,"GapTicks":54765,"Mech_RPM":-2.76055797e-43,"cg_du":50.1576996,"cg_dv":50.2135086,"cg_dw":49.7864914,"cg_id_a":0.0174830966,"cg_id_raw_a":-0.0739088431,"cg_iq_a":0.266530216,"cg_iq_raw_a":0.904049695,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9763641,"cg_sample_seq":14578717,"cg_sample_valid":1,"cg_theta_rad":5.00790501,"cg_vd_req_v":0.0851863325,"cg_vd_v":0.0851863325,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378422827,"cg_vq_v":-0.378422827,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.487549,"values":{"Elec_RPM":-1.38027899e-42,"EncoderCos":38712,"EncoderSin":12511,"GapTicks":54775,"Mech_RPM":-2.76055797e-43,"cg_du":50.1476517,"cg_dv":50.2036476,"cg_dw":49.7963524,"cg_id_a":0.102437079,"cg_id_raw_a":0.0174956489,"cg_iq_a":-0.534983754,"cg_iq_raw_a":-0.215981781,"cg_iu_a":0.183752775,"cg_iv_a":-0.293284357,"cg_iw_a":0.109531581,"cg_sample_age_us":23.9763641,"cg_sample_seq":14578766,"cg_sample_valid":1,"cg_theta_rad":5.00778532,"cg_vd_req_v":0.0818175822,"cg_vd_v":0.0818175822,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359749913,"cg_vq_v":-0.359749913,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.499268,"values":{"Elec_RPM":-1.35225302e-42,"EncoderCos":38721,"EncoderSin":12462,"GapTicks":54772,"Mech_RPM":-2.70450604e-43,"cg_du":50.1530418,"cg_dv":50.2068977,"cg_dw":49.7931023,"cg_id_a":0.054012388,"cg_id_raw_a":0.238566875,"cg_iq_a":-0.203076348,"cg_iq_raw_a":0.534056962,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528332,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9909096,"cg_sample_seq":14578817,"cg_sample_valid":1,"cg_theta_rad":5.00668621,"cg_vd_req_v":0.0812282562,"cg_vd_v":0.0812282562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367084056,"cg_vq_v":-0.367084056,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.5732517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.526611,"values":{"Elec_RPM":-1.35225302e-42,"EncoderCos":38738,"EncoderSin":12453,"GapTicks":54766,"Mech_RPM":-2.70450604e-43,"cg_du":50.1576653,"cg_dv":50.212204,"cg_dw":49.787796,"cg_id_a":0.0979150981,"cg_id_raw_a":0.222281858,"cg_iq_a":0.355378807,"cg_iq_raw_a":0.0582888164,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":26.8199997,"cg_sample_seq":14578871,"cg_sample_valid":1,"cg_theta_rad":5.00588703,"cg_vd_req_v":0.0815383568,"cg_vd_v":0.0815383568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377158284,"cg_vq_v":-0.377158284,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.534424,"values":{"Elec_RPM":-1.32422705e-42,"EncoderCos":38738,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-2.6484541e-43,"cg_du":50.1539764,"cg_dv":50.2040977,"cg_dw":49.7959023,"cg_id_a":0.349910676,"cg_id_raw_a":0.801678658,"cg_iq_a":-0.294266224,"cg_iq_raw_a":-0.0707752705,"cg_iu_a":-0.0699543953,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8563633,"cg_sample_seq":14578916,"cg_sample_valid":1,"cg_theta_rad":5.00790071,"cg_vd_req_v":0.0759168044,"cg_vd_v":0.0759168044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365353703,"cg_vq_v":-0.365353703,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.542236,"values":{"Elec_RPM":-1.32422705e-42,"EncoderCos":38713,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-2.6484541e-43,"cg_du":50.1475525,"cg_dv":50.2066422,"cg_dw":49.7933578,"cg_id_a":-0.149476588,"cg_id_raw_a":0.0170350112,"cg_iq_a":-0.387503594,"cg_iq_raw_a":-0.835258126,"cg_iu_a":0.691166282,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.954546,"cg_sample_seq":14578966,"cg_sample_valid":1,"cg_theta_rad":5.00495815,"cg_vd_req_v":0.086230658,"cg_vd_v":0.086230658,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364595413,"cg_vq_v":-0.364595413,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.553955,"values":{"Elec_RPM":-1.29620108e-42,"EncoderCos":38719,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-2.59240216e-43,"cg_du":50.1533775,"cg_dv":50.2128334,"cg_dw":49.7871666,"cg_id_a":-0.151681006,"cg_id_raw_a":0.270816863,"cg_iq_a":0.212658748,"cg_iq_raw_a":-0.00912774168,"cg_iu_a":0.908629179,"cg_iv_a":-0.25704062,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579016,"cg_sample_valid":1,"cg_theta_rad":5.00354385,"cg_vd_req_v":0.0868891627,"cg_vd_v":0.0868891627,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37650615,"cg_vq_v":-0.37650615,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35878754,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.561768,"values":{"Elec_RPM":-1.29620108e-42,"EncoderCos":38707,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-2.59240216e-43,"cg_du":50.15411,"cg_dv":50.2034378,"cg_dw":49.7965622,"cg_id_a":0.263958901,"cg_id_raw_a":0.319806844,"cg_iq_a":-0.373829246,"cg_iq_raw_a":-0.0760186389,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8527279,"cg_sample_seq":14579066,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0782518685,"cg_vd_v":0.0782518685,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362721503,"cg_vq_v":-0.362721503,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.4143867,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.56958,"values":{"Elec_RPM":-1.26817511e-42,"EncoderCos":38715,"EncoderSin":12445,"GapTicks":54770,"Mech_RPM":-2.53635022e-43,"cg_du":50.1502571,"cg_dv":50.2090073,"cg_dw":49.7909927,"cg_id_a":-0.123982608,"cg_id_raw_a":-0.762908101,"cg_iq_a":-0.15739882,"cg_iq_raw_a":-0.185266584,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9909096,"cg_sample_seq":14579116,"cg_sample_valid":1,"cg_theta_rad":5.00600958,"cg_vd_req_v":0.0863972008,"cg_vd_v":0.0863972008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368170381,"cg_vq_v":-0.368170381,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.577393,"values":{"Elec_RPM":-1.26817511e-42,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-2.53635022e-43,"cg_du":50.1509094,"cg_dv":50.2102394,"cg_dw":49.7897606,"cg_id_a":0.0389366522,"cg_id_raw_a":-0.0734837279,"cg_iq_a":0.0324319378,"cg_iq_raw_a":-1.02568042,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9836369,"cg_sample_seq":14579166,"cg_sample_valid":1,"cg_theta_rad":5.00623274,"cg_vd_req_v":0.0852451697,"cg_vd_v":0.0852451697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370640278,"cg_vq_v":-0.370640278,"cg_vu_v":40.4701157,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":33.013916,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.585205,"values":{"Elec_RPM":-1.24014914e-42,"EncoderCos":38742,"EncoderSin":12458,"GapTicks":54769,"Mech_RPM":-2.48029828e-43,"cg_du":50.1600113,"cg_dv":50.2096825,"cg_dw":49.7903175,"cg_id_a":0.391483992,"cg_id_raw_a":0.889709711,"cg_iq_a":0.2293652,"cg_iq_raw_a":1.68574381,"cg_iu_a":-0.251173258,"cg_iv_a":0.359104633,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9254551,"cg_sample_seq":14579216,"cg_sample_valid":1,"cg_theta_rad":5.00663996,"cg_vd_req_v":0.0767848194,"cg_vd_v":0.0767848194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375135422,"cg_vq_v":-0.375135422,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.268143654,"dclink_p_w":38.8069992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.593018,"values":{"Elec_RPM":-1.24014914e-42,"EncoderCos":38717,"EncoderSin":12454,"GapTicks":54765,"Mech_RPM":-2.48029828e-43,"cg_du":50.1628571,"cg_dv":50.2134285,"cg_dw":49.7865715,"cg_id_a":0.172753111,"cg_id_raw_a":-0.31364426,"cg_iq_a":0.656330466,"cg_iq_raw_a":0.370227426,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14579266,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0804357454,"cg_vd_v":0.0804357454,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381354749,"cg_vq_v":-0.381354749,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.353316665,"dclink_p_w":51.2890549,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.60083,"values":{"Elec_RPM":-1.21212317e-42,"EncoderCos":38714,"EncoderSin":12427,"GapTicks":54764,"Mech_RPM":-2.42424634e-43,"cg_du":50.1617012,"cg_dv":50.2143593,"cg_dw":49.7856407,"cg_id_a":0.123784736,"cg_id_raw_a":-0.733477592,"cg_iq_a":0.65005064,"cg_iq_raw_a":0.76383841,"cg_iu_a":-1.04853773,"cg_iv_a":0.649055302,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579316,"cg_sample_valid":1,"cg_theta_rad":5.00892019,"cg_vd_req_v":0.0834704787,"cg_vd_v":0.0834704787,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382921606,"cg_vq_v":-0.382921606,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.628769815,"dclink_p_w":90.998497,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.7076111,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.612549,"values":{"Elec_RPM":-1.21212317e-42,"EncoderCos":38737,"EncoderSin":12464,"GapTicks":54765,"Mech_RPM":-2.42424634e-43,"cg_du":50.1519623,"cg_dv":50.2128563,"cg_dw":49.7871437,"cg_id_a":0.0064339675,"cg_id_raw_a":-0.0472608916,"cg_iq_a":0.174294621,"cg_iq_raw_a":0.688034713,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129269,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9618187,"cg_sample_seq":14579366,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0864552781,"cg_vd_v":0.0864552781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374903291,"cg_vq_v":-0.374903291,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.7200317,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.639893,"values":{"Elec_RPM":-1.19110369e-42,"EncoderCos":38758,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-2.38220739e-43,"cg_du":50.142601,"cg_dv":50.2133484,"cg_dw":49.7866516,"cg_id_a":-0.320585132,"cg_id_raw_a":-0.550205231,"cg_iq_a":-0.0208248496,"cg_iq_raw_a":-0.229941204,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482667,"cg_sample_age_us":23.8563633,"cg_sample_seq":14579421,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0922493488,"cg_vd_v":0.0922493488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370861471,"cg_vq_v":-0.370861471,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7060547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.647705,"values":{"Elec_RPM":-1.19110369e-42,"EncoderCos":38731,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-2.38220739e-43,"cg_du":50.1433907,"cg_dv":50.2049141,"cg_dw":49.7950859,"cg_id_a":-0.0464459062,"cg_id_raw_a":0.100918822,"cg_iq_a":-0.468312383,"cg_iq_raw_a":-0.644874096,"cg_iu_a":0.654922485,"cg_iv_a":0.177885473,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579466,"cg_sample_valid":1,"cg_theta_rad":5.00617075,"cg_vd_req_v":0.08632496,"cg_vd_v":0.08632496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35909754,"cg_vq_v":-0.35909754,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7060547,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.655518,"values":{"Elec_RPM":-1.17008422e-42,"EncoderCos":38703,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-2.34016844e-43,"cg_du":50.157032,"cg_dv":50.2071953,"cg_dw":49.7928047,"cg_id_a":0.272114396,"cg_id_raw_a":-0.127750516,"cg_iq_a":0.0827741623,"cg_iq_raw_a":-0.631731033,"cg_iu_a":-0.106198072,"cg_iv_a":0.359104633,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14579516,"cg_sample_valid":1,"cg_theta_rad":5.00631237,"cg_vd_req_v":0.0801257491,"cg_vd_v":0.0801257491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36935696,"cg_vq_v":-0.36935696,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.667236,"values":{"Elec_RPM":-1.17008422e-42,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-2.34016844e-43,"cg_du":50.1436691,"cg_dv":50.2052536,"cg_dw":49.7947464,"cg_id_a":0.0696457326,"cg_id_raw_a":0.265289038,"cg_iq_a":-0.165490255,"cg_iq_raw_a":-0.629738569,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14579566,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.0854018256,"cg_vd_v":0.0854018256,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361118823,"cg_vq_v":-0.361118823,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.701416,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.675049,"values":{"Elec_RPM":-1.14906474e-42,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-2.29812948e-43,"cg_du":50.1494064,"cg_dv":50.2058563,"cg_dw":49.7941437,"cg_id_a":0.136964157,"cg_id_raw_a":0.20942308,"cg_iq_a":0.0234289318,"cg_iq_raw_a":-0.233038321,"cg_iu_a":0.183752775,"cg_iv_a":0.39534843,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579616,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0843720585,"cg_vd_v":0.0843720585,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364491165,"cg_vq_v":-0.364491165,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.682861,"values":{"Elec_RPM":-1.14906474e-42,"EncoderCos":38738,"EncoderSin":12470,"GapTicks":54768,"Mech_RPM":-2.29812948e-43,"cg_du":50.1483307,"cg_dv":50.2108231,"cg_dw":49.7891769,"cg_id_a":-0.0932314098,"cg_id_raw_a":-0.506877244,"cg_iq_a":0.456144661,"cg_iq_raw_a":1.33662808,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333374739,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9254551,"cg_sample_seq":14579666,"cg_sample_valid":1,"cg_theta_rad":5.00829554,"cg_vd_req_v":0.087109521,"cg_vd_v":0.087109521,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370157897,"cg_vq_v":-0.370157897,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.690674,"values":{"Elec_RPM":-1.12804526e-42,"EncoderCos":38730,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-2.25609053e-43,"cg_du":50.140728,"cg_dv":50.2098427,"cg_dw":49.7901573,"cg_id_a":-0.396844298,"cg_id_raw_a":0.0382182784,"cg_iq_a":0.160005882,"cg_iq_raw_a":0.00440760842,"cg_iu_a":-0.214929581,"cg_iv_a":-0.43825978,"cg_iw_a":0.653189361,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579716,"cg_sample_valid":1,"cg_theta_rad":5.0057025,"cg_vd_req_v":0.0923809484,"cg_vd_v":0.0923809484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364521325,"cg_vq_v":-0.364521325,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.698486,"values":{"Elec_RPM":-1.12804526e-42,"EncoderCos":38730,"EncoderSin":12448,"GapTicks":54775,"Mech_RPM":-2.25609053e-43,"cg_du":50.145256,"cg_dv":50.2040367,"cg_dw":49.7959633,"cg_id_a":-0.0347758234,"cg_id_raw_a":-0.70458895,"cg_iq_a":-0.0506085902,"cg_iq_raw_a":-0.140373677,"cg_iu_a":0.437459469,"cg_iv_a":-0.184552848,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.8672733,"cg_sample_seq":14579766,"cg_sample_valid":1,"cg_theta_rad":5.00921631,"cg_vd_req_v":0.0841648579,"cg_vd_v":0.0841648579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358916283,"cg_vq_v":-0.358916283,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.706299,"values":{"Elec_RPM":-1.10702579e-42,"EncoderCos":38732,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-2.21405157e-43,"cg_du":50.1460953,"cg_dv":50.2034721,"cg_dw":49.7965279,"cg_id_a":0.0137922205,"cg_id_raw_a":-0.0937201008,"cg_iq_a":0.0385477468,"cg_iq_raw_a":0.064592123,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065256,"cg_iw_a":0.254507244,"cg_sample_age_us":23.8563633,"cg_sample_seq":14579816,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.0829950869,"cg_vd_v":0.0829950869,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359755486,"cg_vq_v":-0.359755486,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6874084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.714111,"values":{"Elec_RPM":-1.10702579e-42,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-2.21405157e-43,"cg_du":50.1385612,"cg_dv":50.2045059,"cg_dw":49.7954941,"cg_id_a":-0.284256995,"cg_id_raw_a":-0.405945837,"cg_iq_a":-0.135401845,"cg_iq_raw_a":-0.620988131,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9254551,"cg_sample_seq":14579866,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0899845809,"cg_vd_v":0.0899845809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356919199,"cg_vq_v":-0.356919199,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6874084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.745361,"values":{"Elec_RPM":-1.08600631e-42,"EncoderCos":38738,"EncoderSin":12490,"GapTicks":54770,"Mech_RPM":-2.17201262e-43,"cg_du":50.1440659,"cg_dv":50.2083702,"cg_dw":49.7916298,"cg_id_a":-0.284849048,"cg_id_raw_a":-0.0892636999,"cg_iq_a":0.456160158,"cg_iq_raw_a":0.247352913,"cg_iu_a":0.256240129,"cg_iv_a":0.685299098,"cg_iw_a":-0.941539228,"cg_sample_age_us":23.9799995,"cg_sample_seq":14579919,"cg_sample_valid":1,"cg_theta_rad":5.00659466,"cg_vd_req_v":0.0910218135,"cg_vd_v":0.0910218135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37021175,"cg_vq_v":-0.37021175,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7029724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.753174,"values":{"Elec_RPM":-1.08600631e-42,"EncoderCos":38702,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-2.17201262e-43,"cg_du":50.1347504,"cg_dv":50.2045288,"cg_dw":49.7954712,"cg_id_a":-0.377761781,"cg_id_raw_a":-1.31796384,"cg_iq_a":-0.391774029,"cg_iq_raw_a":-1.33644521,"cg_iu_a":0.14750886,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9872723,"cg_sample_seq":14579966,"cg_sample_valid":1,"cg_theta_rad":5.00938511,"cg_vd_req_v":0.0947755501,"cg_vd_v":0.0947755501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353193939,"cg_vq_v":-0.353193939,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7029724,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.760986,"values":{"Elec_RPM":-1.06498683e-42,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54776,"Mech_RPM":-2.12997367e-43,"cg_du":50.1372452,"cg_dv":50.2031288,"cg_dw":49.7968712,"cg_id_a":-0.111328676,"cg_id_raw_a":0.346913844,"cg_iq_a":-0.238032117,"cg_iq_raw_a":-0.366560936,"cg_iu_a":0.473703146,"cg_iv_a":0.0329101086,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9509087,"cg_sample_seq":14580016,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.0890436843,"cg_vd_v":0.0890436843,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353320777,"cg_vq_v":-0.353320777,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.768799,"values":{"Elec_RPM":-1.06498683e-42,"EncoderCos":38692,"EncoderSin":12433,"GapTicks":54776,"Mech_RPM":-2.12997367e-43,"cg_du":50.147953,"cg_dv":50.2027435,"cg_dw":49.7972565,"cg_id_a":0.13287279,"cg_id_raw_a":-0.0835447609,"cg_iq_a":0.103874713,"cg_iq_raw_a":0.356383383,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9472733,"cg_sample_seq":14580066,"cg_sample_valid":1,"cg_theta_rad":5.00835705,"cg_vd_req_v":0.0842522681,"cg_vd_v":0.0842522681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357875198,"cg_vq_v":-0.357875198,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.20834136,"dclink_p_w":30.152132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.780518,"values":{"Elec_RPM":-1.04396736e-42,"EncoderCos":38756,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-2.08793471e-43,"cg_du":50.1285477,"cg_dv":50.2011719,"cg_dw":49.7988281,"cg_id_a":-0.0987838432,"cg_id_raw_a":-0.114067771,"cg_iq_a":-0.491323173,"cg_iq_raw_a":-1.35563123,"cg_iu_a":-0.359905005,"cg_iv_a":0.10539782,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9727268,"cg_sample_seq":14580116,"cg_sample_valid":1,"cg_theta_rad":5.00621891,"cg_vd_req_v":0.0916907936,"cg_vd_v":0.0916907936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346402794,"cg_vq_v":-0.346402794,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.20834136,"dclink_p_w":30.152132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.78833,"values":{"Elec_RPM":-1.04396736e-42,"EncoderCos":38704,"EncoderSin":12446,"GapTicks":54782,"Mech_RPM":-2.08793471e-43,"cg_du":50.145256,"cg_dv":50.197998,"cg_dw":49.802002,"cg_id_a":0.429216921,"cg_id_raw_a":0.936217189,"cg_iq_a":-0.322021782,"cg_iq_raw_a":-1.36010039,"cg_iu_a":-0.359905005,"cg_iv_a":0.540323794,"cg_iw_a":-0.180418789,"cg_sample_age_us":23.9218178,"cg_sample_seq":14580166,"cg_sample_valid":1,"cg_theta_rad":5.00599861,"cg_vd_req_v":0.0806593746,"cg_vd_v":0.0806593746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351286709,"cg_vq_v":-0.351286709,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.5138206,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6983032,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.796143,"values":{"Elec_RPM":-1.02294788e-42,"EncoderCos":38723,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-2.04589576e-43,"cg_du":50.1390572,"cg_dv":50.2053108,"cg_dw":49.7946892,"cg_id_a":-0.0329437554,"cg_id_raw_a":0.451376736,"cg_iq_a":-0.0209544059,"cg_iq_raw_a":-0.574715555,"cg_iu_a":0.256240129,"cg_iv_a":-0.293284357,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.8854542,"cg_sample_seq":14580216,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0902987719,"cg_vd_v":0.0902987719,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358320802,"cg_vq_v":-0.358320802,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2507505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6889648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.803955,"values":{"Elec_RPM":-1.02294788e-42,"EncoderCos":38712,"EncoderSin":12456,"GapTicks":54776,"Mech_RPM":-2.04589576e-43,"cg_du":50.1408195,"cg_dv":50.2031212,"cg_dw":49.7968788,"cg_id_a":0.0512865968,"cg_id_raw_a":0.0591535196,"cg_iq_a":-0.121607579,"cg_iq_raw_a":-0.831059933,"cg_iu_a":0.183752537,"cg_iv_a":0.214129269,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9509087,"cg_sample_seq":14580266,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0882787481,"cg_vd_v":0.0882787481,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355949879,"cg_vq_v":-0.355949879,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.4563255,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6889648,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.811768,"values":{"Elec_RPM":-1.0019284e-42,"EncoderCos":38726,"EncoderSin":12446,"GapTicks":54775,"Mech_RPM":-2.0038568e-43,"cg_du":50.1439323,"cg_dv":50.2042313,"cg_dw":49.7957687,"cg_id_a":0.222133577,"cg_id_raw_a":0.433488578,"cg_iq_a":-0.050700143,"cg_iq_raw_a":0.261818796,"cg_iu_a":-0.178685665,"cg_iv_a":0.322860718,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9290905,"cg_sample_seq":14580317,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.0855055451,"cg_vd_v":0.0855055451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357261449,"cg_vq_v":-0.357261449,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2642.823486,"values":{"Elec_RPM":-1.0019284e-42,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54768,"Mech_RPM":-2.0038568e-43,"cg_du":50.1396294,"cg_dv":50.2106514,"cg_dw":49.7893486,"cg_id_a":-0.295599908,"cg_id_raw_a":0.142325118,"cg_iq_a":0.364171326,"cg_iq_raw_a":0.232988507,"cg_iu_a":0.038777113,"cg_iv_a":-0.546991229,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8563633,"cg_sample_seq":14580366,"cg_sample_valid":1,"cg_theta_rad":5.00733614,"cg_vd_req_v":0.0947726443,"cg_vd_v":0.0947726443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364815623,"cg_vq_v":-0.364815623,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7044983,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.85083,"values":{"Elec_RPM":-9.80908925e-43,"EncoderCos":38742,"EncoderSin":12487,"GapTicks":54770,"Mech_RPM":-1.96181785e-43,"cg_du":50.1301498,"cg_dv":50.2088394,"cg_dw":49.7911606,"cg_id_a":-0.31181559,"cg_id_raw_a":-0.165835425,"cg_iq_a":-0.0663557053,"cg_iq_raw_a":0.167598486,"cg_iu_a":-0.251173496,"cg_iv_a":-0.148308992,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8563633,"cg_sample_seq":14580420,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0987556726,"cg_vd_v":0.0987556726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35751605,"cg_vq_v":-0.35751605,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6951904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.858643,"values":{"Elec_RPM":-9.80908925e-43,"EncoderCos":38740,"EncoderSin":12466,"GapTicks":54767,"Mech_RPM":-1.96181785e-43,"cg_du":50.1340332,"cg_dv":50.2112312,"cg_dw":49.7887688,"cg_id_a":-0.257969707,"cg_id_raw_a":-0.612603068,"cg_iq_a":0.140091747,"cg_iq_raw_a":0.67158258,"cg_iu_a":-0.9760499,"cg_iv_a":-0.184552908,"cg_iw_a":1.16060281,"cg_sample_age_us":23.9145451,"cg_sample_seq":14580466,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.0989924967,"cg_vd_v":0.0989924967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363857329,"cg_vq_v":-0.363857329,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.5610352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.866455,"values":{"Elec_RPM":-9.59889448e-43,"EncoderCos":38728,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-1.9197789e-43,"cg_du":50.1398582,"cg_dv":50.2060852,"cg_dw":49.7939148,"cg_id_a":0.284514219,"cg_id_raw_a":0.0547218136,"cg_iq_a":-0.153079331,"cg_iq_raw_a":-0.394491076,"cg_iu_a":-0.39614892,"cg_iv_a":0.431592286,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9872723,"cg_sample_seq":14580516,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.0896152556,"cg_vd_v":0.0896152556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360027432,"cg_vq_v":-0.360027432,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.5274086,"dclink_p_w":-76.5610352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7277832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.874268,"values":{"Elec_RPM":-9.59889448e-43,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54765,"Mech_RPM":-1.9197789e-43,"cg_du":50.1382408,"cg_dv":50.2127457,"cg_dw":49.7872543,"cg_id_a":-0.140236199,"cg_id_raw_a":-0.218384102,"cg_iq_a":0.269299805,"cg_iq_raw_a":-0.384521306,"cg_iu_a":0.364971876,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9509087,"cg_sample_seq":14580566,"cg_sample_valid":1,"cg_theta_rad":5.00698805,"cg_vd_req_v":0.0984309837,"cg_vd_v":0.0984309837,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367939055,"cg_vq_v":-0.367939055,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.88208,"values":{"Elec_RPM":-9.38869971e-43,"EncoderCos":38748,"EncoderSin":12503,"GapTicks":54771,"Mech_RPM":-1.87773994e-43,"cg_du":50.1315613,"cg_dv":50.2081718,"cg_dw":49.7918282,"cg_id_a":-0.0420593396,"cg_id_raw_a":0.273832798,"cg_iq_a":-0.13136819,"cg_iq_raw_a":0.425450146,"cg_iu_a":0.328727961,"cg_iv_a":-0.365772009,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9836369,"cg_sample_seq":14580616,"cg_sample_valid":1,"cg_theta_rad":5.00689554,"cg_vd_req_v":0.0961181447,"cg_vd_v":0.0961181447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357627869,"cg_vq_v":-0.357627869,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.695942402,"dclink_p_w":-100.720024,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7138367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.893799,"values":{"Elec_RPM":-9.38869971e-43,"EncoderCos":38718,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-1.87773994e-43,"cg_du":50.1342964,"cg_dv":50.2135124,"cg_dw":49.7864876,"cg_id_a":-0.230015039,"cg_id_raw_a":-0.283242255,"cg_iq_a":0.11550764,"cg_iq_raw_a":0.701139808,"cg_iu_a":0.509947062,"cg_iv_a":-0.25704062,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9872723,"cg_sample_seq":14580666,"cg_sample_valid":1,"cg_theta_rad":5.01046467,"cg_vd_req_v":0.102768682,"cg_vd_v":0.102768682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365429848,"cg_vq_v":-0.365429848,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.791988611,"dclink_p_w":-114.620277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7138367,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.901611,"values":{"Elec_RPM":-9.17850494e-43,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-1.83570099e-43,"cg_du":50.1274529,"cg_dv":50.2048531,"cg_dw":49.7951469,"cg_id_a":-0.0540767983,"cg_id_raw_a":0.332266212,"cg_iq_a":-0.377872586,"cg_iq_raw_a":0.216510117,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.293284416,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14580766,"cg_sample_valid":1,"cg_theta_rad":5.00640392,"cg_vd_req_v":0.100319833,"cg_vd_v":0.100319833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349645257,"cg_vq_v":-0.349645257,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.909424,"values":{"Elec_RPM":-8.96831017e-43,"EncoderCos":38730,"EncoderSin":12452,"GapTicks":54769,"Mech_RPM":-1.79366203e-43,"cg_du":50.1320572,"cg_dv":50.209877,"cg_dw":49.790123,"cg_id_a":-0.0585206039,"cg_id_raw_a":-0.756861687,"cg_iq_a":0.186639562,"cg_iq_raw_a":0.182484314,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9436359,"cg_sample_seq":14580816,"cg_sample_valid":1,"cg_theta_rad":5.00680876,"cg_vd_req_v":0.100403406,"cg_vd_v":0.100403406,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360576987,"cg_vq_v":-0.360576987,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7169495,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.917236,"values":{"Elec_RPM":-8.96831017e-43,"EncoderCos":38711,"EncoderSin":12457,"GapTicks":54772,"Mech_RPM":-1.79366203e-43,"cg_du":50.1317787,"cg_dv":50.2069511,"cg_dw":49.7930489,"cg_id_a":0.0360188559,"cg_id_raw_a":-0.747659326,"cg_iq_a":-0.0231017992,"cg_iq_raw_a":0.289757341,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14580866,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.09918686,"cg_vd_v":0.09918686,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356033891,"cg_vq_v":-0.356033891,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.4762344,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.94458,"values":{"Elec_RPM":-8.7581154e-43,"EncoderCos":38712,"EncoderSin":12486,"GapTicks":54773,"Mech_RPM":-1.75162308e-43,"cg_du":50.1197548,"cg_dv":50.2063637,"cg_dw":49.7936363,"cg_id_a":-0.36311999,"cg_id_raw_a":0.214962751,"cg_iq_a":-0.33807084,"cg_iq_raw_a":0.131235301,"cg_iu_a":0.437459469,"cg_iv_a":-0.329528213,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9436359,"cg_sample_seq":14580921,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.106957659,"cg_vd_v":0.106957659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347618759,"cg_vq_v":-0.347618759,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1621199,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.956299,"values":{"Elec_RPM":-8.7581154e-43,"EncoderCos":38719,"EncoderSin":12436,"GapTicks":54766,"Mech_RPM":-1.75162308e-43,"cg_du":50.1312294,"cg_dv":50.2125092,"cg_dw":49.7874908,"cg_id_a":-0.184825897,"cg_id_raw_a":0.266324788,"cg_iq_a":0.301966012,"cg_iq_raw_a":0.2460884,"cg_iu_a":0.328727961,"cg_iv_a":0.649055243,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9509087,"cg_sample_seq":14580966,"cg_sample_valid":1,"cg_theta_rad":5.00736237,"cg_vd_req_v":0.104609273,"cg_vd_v":0.104609273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362225831,"cg_vq_v":-0.362225831,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1621199,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6842957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.964111,"values":{"Elec_RPM":-8.61798556e-43,"EncoderCos":38703,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-1.72359711e-43,"cg_du":50.1274872,"cg_dv":50.2115059,"cg_dw":49.7884941,"cg_id_a":-0.274676532,"cg_id_raw_a":-0.473190337,"cg_iq_a":-0.101201579,"cg_iq_raw_a":0.900020719,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14581016,"cg_sample_valid":1,"cg_theta_rad":5.00537205,"cg_vd_req_v":0.106903151,"cg_vd_v":0.106903151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358651936,"cg_vq_v":-0.358651936,"cg_vu_v":41.3499031,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2642.971924,"values":{"Elec_RPM":-8.61798556e-43,"EncoderCos":38726,"EncoderSin":12499,"GapTicks":54767,"Mech_RPM":-1.72359711e-43,"cg_du":50.1317902,"cg_dv":50.2113762,"cg_dw":49.7886238,"cg_id_a":0.0107582435,"cg_id_raw_a":0.0314069279,"cg_iq_a":0.0744423345,"cg_iq_raw_a":0.0765776858,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9509087,"cg_sample_seq":14581066,"cg_sample_valid":1,"cg_theta_rad":5.00753307,"cg_vd_req_v":0.100923106,"cg_vd_v":0.100923106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361607701,"cg_vq_v":-0.361607701,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7184753,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2642.979401,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2642.979407,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2642.979412,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2642.979736,"values":{"Elec_RPM":-8.47785571e-43,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-1.69557114e-43,"cg_du":50.1334343,"cg_dv":50.2108345,"cg_dw":49.7891655,"cg_id_a":0.0201050676,"cg_id_raw_a":-0.337808073,"cg_iq_a":0.18526274,"cg_iq_raw_a":0.404428065,"cg_iu_a":0.401215792,"cg_iv_a":0.105397701,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9145451,"cg_sample_seq":14581166,"cg_sample_valid":1,"cg_theta_rad":5.00615835,"cg_vd_req_v":0.101049319,"cg_vd_v":0.101049319,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362434417,"cg_vq_v":-0.362434417,"cg_vu_v":29.4728031,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.9443245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6920776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.987549,"values":{"Elec_RPM":-8.33772586e-43,"EncoderCos":38714,"EncoderSin":12482,"GapTicks":54765,"Mech_RPM":-1.66754517e-43,"cg_du":50.1325874,"cg_dv":50.2129173,"cg_dw":49.7870827,"cg_id_a":-0.0889433995,"cg_id_raw_a":0.527814031,"cg_iq_a":0.228867233,"cg_iq_raw_a":-0.0565570742,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":0.58070159,"cg_sample_age_us":23.954546,"cg_sample_seq":14581216,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.103521794,"cg_vd_v":0.103521794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364858508,"cg_vq_v":-0.364858508,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.371172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2642.999268,"values":{"Elec_RPM":-8.33772586e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-1.66754517e-43,"cg_du":50.1334724,"cg_dv":50.211235,"cg_dw":49.788765,"cg_id_a":0.205302224,"cg_id_raw_a":0.475356549,"cg_iq_a":0.23970671,"cg_iq_raw_a":0.265515238,"cg_iu_a":-0.0699541569,"cg_iv_a":0.032910049,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.954546,"cg_sample_seq":14581267,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0974667594,"cg_vd_v":0.0974667594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362897694,"cg_vq_v":-0.362897694,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.371172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.00708,"values":{"Elec_RPM":-8.19759602e-43,"EncoderCos":38714,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-1.6395192e-43,"cg_du":50.1271248,"cg_dv":50.211628,"cg_dw":49.788372,"cg_id_a":-0.322024524,"cg_id_raw_a":-1.01701379,"cg_iq_a":-0.0219151452,"cg_iq_raw_a":1.1017518,"cg_iu_a":0.14750886,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.8600006,"cg_sample_seq":14581316,"cg_sample_valid":1,"cg_theta_rad":5.00675488,"cg_vd_req_v":0.106585331,"cg_vd_v":0.106585331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358829051,"cg_vq_v":-0.358829051,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.371172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6998596,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.014893,"values":{"Elec_RPM":-8.19759602e-43,"EncoderCos":38723,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-1.6395192e-43,"cg_du":50.1368752,"cg_dv":50.2079735,"cg_dw":49.7920265,"cg_id_a":0.261318922,"cg_id_raw_a":0.0133801941,"cg_iq_a":-0.0931664407,"cg_iq_raw_a":0.9124313,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9618187,"cg_sample_seq":14581367,"cg_sample_valid":1,"cg_theta_rad":5.00805235,"cg_vd_req_v":0.0944939852,"cg_vd_v":0.0944939852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35958612,"cg_vq_v":-0.35958612,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.371172,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2582,"hz_tim_isr":4999,"hz_vsense":2582,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116923779,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.046143,"values":{"Elec_RPM":-8.05746617e-43,"EncoderCos":38732,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-1.61149323e-43,"cg_du":50.1256447,"cg_dv":50.2081528,"cg_dw":49.7918472,"cg_id_a":-0.158938318,"cg_id_raw_a":-0.133386895,"cg_iq_a":-0.250147551,"cg_iq_raw_a":-0.630565166,"cg_iu_a":0.0750212669,"cg_iv_a":-0.329528332,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14581420,"cg_sample_valid":1,"cg_theta_rad":5.00667238,"cg_vd_req_v":0.102449462,"cg_vd_v":0.102449462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353838563,"cg_vq_v":-0.353838563,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.053955,"values":{"Elec_RPM":-8.05746617e-43,"EncoderCos":38758,"EncoderSin":12467,"GapTicks":54769,"Mech_RPM":-1.61149323e-43,"cg_du":50.1290398,"cg_dv":50.2094078,"cg_dw":49.7905922,"cg_id_a":-0.024052199,"cg_id_raw_a":0.458099008,"cg_iq_a":0.105935603,"cg_iq_raw_a":0.478357643,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065315,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.954546,"cg_sample_seq":14581466,"cg_sample_valid":1,"cg_theta_rad":5.00456715,"cg_vd_req_v":0.0996757001,"cg_vd_v":0.0996757001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358983338,"cg_vq_v":-0.358983338,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.8736534,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.061768,"values":{"Elec_RPM":-7.91733632e-43,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-1.58346726e-43,"cg_du":50.1314812,"cg_dv":50.205513,"cg_dw":49.794487,"cg_id_a":0.0145652723,"cg_id_raw_a":0.118229002,"cg_iq_a":-0.179852873,"cg_iq_raw_a":-1.22580624,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9472733,"cg_sample_seq":14581516,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0974835306,"cg_vd_v":0.0974835306,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354057908,"cg_vq_v":-0.354057908,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.2596588,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.06958,"values":{"Elec_RPM":-7.91733632e-43,"EncoderCos":38734,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-1.58346726e-43,"cg_du":50.1294518,"cg_dv":50.2067299,"cg_dw":49.7932701,"cg_id_a":0.0160318911,"cg_id_raw_a":0.49955523,"cg_iq_a":0.0204473883,"cg_iq_raw_a":-0.206860557,"cg_iu_a":-0.323661089,"cg_iv_a":-0.655722618,"cg_iw_a":0.979383707,"cg_sample_age_us":23.954546,"cg_sample_seq":14581566,"cg_sample_valid":1,"cg_theta_rad":5.00739241,"cg_vd_req_v":0.0982835293,"cg_vd_v":0.0982835293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353967994,"cg_vq_v":-0.353967994,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.8885689,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.077393,"values":{"Elec_RPM":-7.77720648e-43,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-1.5554413e-43,"cg_du":50.1276093,"cg_dv":50.2031097,"cg_dw":49.7968903,"cg_id_a":0.053074494,"cg_id_raw_a":-0.0520983934,"cg_iq_a":-0.313990325,"cg_iq_raw_a":-0.368310243,"cg_iu_a":-0.577368021,"cg_iv_a":0.685299098,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.954546,"cg_sample_seq":14581616,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.0968016386,"cg_vd_v":0.0968016386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347845227,"cg_vq_v":-0.347845227,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6672668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.085205,"values":{"Elec_RPM":-7.77720648e-43,"EncoderCos":38717,"EncoderSin":12474,"GapTicks":54765,"Mech_RPM":-1.5554413e-43,"cg_du":50.1484489,"cg_dv":50.2133446,"cg_dw":49.7866554,"cg_id_a":0.365976185,"cg_id_raw_a":0.679962099,"cg_iq_a":0.884788752,"cg_iq_raw_a":2.03414607,"cg_iu_a":-0.577368021,"cg_iv_a":0.286616981,"cg_iw_a":0.182019293,"cg_sample_age_us":23.9472733,"cg_sample_seq":14581666,"cg_sample_valid":1,"cg_theta_rad":5.00578451,"cg_vd_req_v":0.0911323205,"cg_vd_v":0.0911323205,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373256385,"cg_vq_v":-0.373256385,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.096924,"values":{"Elec_RPM":-7.63707663e-43,"EncoderCos":38715,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-1.52741533e-43,"cg_du":50.1412163,"cg_dv":50.2120934,"cg_dw":49.7879066,"cg_id_a":0.127251506,"cg_id_raw_a":-0.0288950037,"cg_iq_a":0.540027738,"cg_iq_raw_a":-0.584899724,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":1.52304149,"cg_sample_age_us":23.9618187,"cg_sample_seq":14581716,"cg_sample_valid":1,"cg_theta_rad":5.00819921,"cg_vd_req_v":0.0963371098,"cg_vd_v":0.0963371098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367295742,"cg_vq_v":-0.367295742,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.104736,"values":{"Elec_RPM":-7.63707663e-43,"EncoderCos":38707,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-1.52741533e-43,"cg_du":50.1422501,"cg_dv":50.2100182,"cg_dw":49.7899818,"cg_id_a":0.202200487,"cg_id_raw_a":0.161053777,"cg_iq_a":0.58504355,"cg_iq_raw_a":0.454202652,"cg_iu_a":-2.13585281,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9509087,"cg_sample_seq":14581766,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0940501243,"cg_vd_v":0.0940501243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366109729,"cg_vq_v":-0.366109729,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.411306739,"dclink_p_w":59.526226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6905212,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.112549,"values":{"Elec_RPM":-7.49694678e-43,"EncoderCos":38767,"EncoderSin":12499,"GapTicks":54776,"Mech_RPM":-1.49938936e-43,"cg_du":50.1278343,"cg_dv":50.2031593,"cg_dw":49.7968407,"cg_id_a":0.26556927,"cg_id_raw_a":-0.0292616133,"cg_iq_a":-0.0292514116,"cg_iq_raw_a":0.798554957,"cg_iu_a":-0.577367783,"cg_iv_a":-0.0758213997,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9145451,"cg_sample_seq":14581817,"cg_sample_valid":1,"cg_theta_rad":5.00755835,"cg_vd_req_v":0.0928318799,"cg_vd_v":0.0928318799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349081665,"cg_vq_v":-0.349081665,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.411306739,"dclink_p_w":59.526226,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6641541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.120361,"values":{"Elec_RPM":-7.49694678e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-1.49938936e-43,"cg_du":50.1227837,"cg_dv":50.202507,"cg_dw":49.797493,"cg_id_a":-0.0331476368,"cg_id_raw_a":-0.100942746,"cg_iq_a":-0.239116296,"cg_iq_raw_a":-0.300073355,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.863636,"cg_sample_seq":14581866,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0997189507,"cg_vd_v":0.0997189507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344405234,"cg_vq_v":-0.344405234,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.449362755,"dclink_p_w":65.0338669,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6641541,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.151611,"values":{"Elec_RPM":-7.35681694e-43,"EncoderCos":38707,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-1.47136339e-43,"cg_du":50.1252022,"cg_dv":50.2057228,"cg_dw":49.7942772,"cg_id_a":-0.183375582,"cg_id_raw_a":0.153272688,"cg_iq_a":0.084967792,"cg_iq_raw_a":-0.0929055586,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885473,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9872723,"cg_sample_seq":14581919,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.103156976,"cg_vd_v":0.103156976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34948805,"cg_vq_v":-0.34948805,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.159424,"values":{"Elec_RPM":-7.21668709e-43,"EncoderCos":38731,"EncoderSin":12465,"GapTicks":54770,"Mech_RPM":-1.44333742e-43,"cg_du":50.1229553,"cg_dv":50.2086601,"cg_dw":49.7913399,"cg_id_a":-0.0249656551,"cg_id_raw_a":-0.437166959,"cg_iq_a":0.171714395,"cg_iq_raw_a":0.359510809,"cg_iu_a":-0.39614892,"cg_iv_a":-0.474503517,"cg_iw_a":0.870652437,"cg_sample_age_us":23.9509087,"cg_sample_seq":14582067,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.105349936,"cg_vd_v":0.105349936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351772577,"cg_vq_v":-0.351772577,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6874084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2643.167236,"values":{"Elec_RPM":-7.07655724e-43,"EncoderCos":38732,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-1.41531145e-43,"cg_du":50.1106834,"cg_dv":50.2027092,"cg_dw":49.7972908,"cg_id_a":-0.144558251,"cg_id_raw_a":-0.21286492,"cg_iq_a":-0.504426956,"cg_iq_raw_a":-0.893173337,"cg_iu_a":0.364971638,"cg_iv_a":-0.510747433,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9290905,"cg_sample_seq":14582117,"cg_sample_valid":1,"cg_theta_rad":5.00753212,"cg_vd_req_v":0.109328784,"cg_vd_v":0.109328784,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337945491,"cg_vq_v":-0.337945491,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6874084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.175049,"values":{"Elec_RPM":-7.07655724e-43,"EncoderCos":38729,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-1.41531145e-43,"cg_du":50.117424,"cg_dv":50.201767,"cg_dw":49.798233,"cg_id_a":0.0926452428,"cg_id_raw_a":0.228690758,"cg_iq_a":-0.227043673,"cg_iq_raw_a":0.423621744,"cg_iu_a":-0.287417173,"cg_iv_a":0.39534843,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8527279,"cg_sample_seq":14582167,"cg_sample_valid":1,"cg_theta_rad":5.00689983,"cg_vd_req_v":0.103911057,"cg_vd_v":0.103911057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340191275,"cg_vq_v":-0.340191275,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.344255686,"dclink_p_w":49.9737206,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.182861,"values":{"Elec_RPM":-6.9364274e-43,"EncoderCos":38712,"EncoderSin":12449,"GapTicks":54778,"Mech_RPM":-1.38728548e-43,"cg_du":50.1159821,"cg_dv":50.2016754,"cg_dw":49.7983246,"cg_id_a":0.00130619854,"cg_id_raw_a":-0.1580237,"cg_iq_a":-0.317917645,"cg_iq_raw_a":-0.343023181,"cg_iu_a":-0.0337104797,"cg_iv_a":1.01149368,"cg_iw_a":-0.977783144,"cg_sample_age_us":23.8672733,"cg_sample_seq":14582218,"cg_sample_valid":1,"cg_theta_rad":5.00733232,"cg_vd_req_v":0.106217809,"cg_vd_v":0.106217809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338863999,"cg_vq_v":-0.338863999,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.190674,"values":{"Elec_RPM":-6.9364274e-43,"EncoderCos":38721,"EncoderSin":12451,"GapTicks":54777,"Mech_RPM":-1.38728548e-43,"cg_du":50.1153717,"cg_dv":50.2020226,"cg_dw":49.7979774,"cg_id_a":-0.0247904696,"cg_id_raw_a":-0.179025412,"cg_iq_a":-0.219895452,"cg_iq_raw_a":-0.5632025,"cg_iu_a":0.61867857,"cg_iv_a":0.214129329,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9181824,"cg_sample_seq":14582267,"cg_sample_valid":1,"cg_theta_rad":5.00700474,"cg_vd_req_v":0.106291816,"cg_vd_v":0.106291816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339223087,"cg_vq_v":-0.339223087,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.198486,"values":{"Elec_RPM":-6.79629755e-43,"EncoderCos":38689,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-1.35925951e-43,"cg_du":50.1106682,"cg_dv":50.1979523,"cg_dw":49.8020477,"cg_id_a":-0.131882578,"cg_id_raw_a":0.102209151,"cg_iq_a":-0.39498502,"cg_iq_raw_a":-1.00886846,"cg_iu_a":0.328727961,"cg_iv_a":-0.546991229,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14582317,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.107923508,"cg_vd_v":0.107923508,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330432355,"cg_vq_v":-0.330432355,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7153931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.210205,"values":{"Elec_RPM":-6.79629755e-43,"EncoderCos":38708,"EncoderSin":12483,"GapTicks":54781,"Mech_RPM":-1.35925951e-43,"cg_du":50.1144943,"cg_dv":50.1986732,"cg_dw":49.8013268,"cg_id_a":0.0506689325,"cg_id_raw_a":0.115683168,"cg_iq_a":-0.0123163834,"cg_iq_raw_a":0.704371035,"cg_iu_a":0.292484283,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9836369,"cg_sample_seq":14582367,"cg_sample_valid":1,"cg_theta_rad":5.00634861,"cg_vd_req_v":0.103971928,"cg_vd_v":0.103971928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334104449,"cg_vq_v":-0.334104449,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.7153931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.237549,"values":{"Elec_RPM":-6.65616771e-43,"EncoderCos":38724,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-1.33123354e-43,"cg_du":50.1210556,"cg_dv":50.1985893,"cg_dw":49.8014107,"cg_id_a":0.334840626,"cg_id_raw_a":0.433675349,"cg_iq_a":0.150833398,"cg_iq_raw_a":0.261509746,"cg_iu_a":-0.178685665,"cg_iv_a":-0.25704062,"cg_iw_a":0.435726285,"cg_sample_age_us":24.8527279,"cg_sample_seq":14582420,"cg_sample_valid":1,"cg_theta_rad":5.00571632,"cg_vd_req_v":0.0982821807,"cg_vd_v":0.0982821807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338929474,"cg_vq_v":-0.338929474,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.182970643,"dclink_p_w":26.4803638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.693634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.245361,"values":{"Elec_RPM":-6.65616771e-43,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54784,"Mech_RPM":-1.33123354e-43,"cg_du":50.1128197,"cg_dv":50.195961,"cg_dw":49.804039,"cg_id_a":0.194573075,"cg_id_raw_a":-0.305718452,"cg_iq_a":-0.28926897,"cg_iq_raw_a":0.735943615,"cg_iu_a":0.364971876,"cg_iv_a":0.322860777,"cg_iw_a":-0.687832654,"cg_sample_age_us":24.0381813,"cg_sample_seq":14582466,"cg_sample_valid":1,"cg_theta_rad":5.00670958,"cg_vd_req_v":0.101639472,"cg_vd_v":0.101639472,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329789579,"cg_vq_v":-0.329789579,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.199280381,"dclink_p_w":28.9284477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.253174,"values":{"Elec_RPM":-6.51603786e-43,"EncoderCos":38713,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-1.30320757e-43,"cg_du":50.1132355,"cg_dv":50.2003326,"cg_dw":49.7996674,"cg_id_a":0.00600124337,"cg_id_raw_a":-0.0780741796,"cg_iq_a":0.219995379,"cg_iq_raw_a":0.539379179,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9799995,"cg_sample_seq":14582516,"cg_sample_valid":1,"cg_theta_rad":5.00627708,"cg_vd_req_v":0.106517054,"cg_vd_v":0.106517054,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335665464,"cg_vq_v":-0.335665464,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.179346204,"dclink_p_w":26.0347118,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.264893,"values":{"Elec_RPM":-6.51603786e-43,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-1.30320757e-43,"cg_du":50.1110268,"cg_dv":50.1990623,"cg_dw":49.8009377,"cg_id_a":0.00164861977,"cg_id_raw_a":-0.260458678,"cg_iq_a":0.0556326061,"cg_iq_raw_a":0.0479439348,"cg_iu_a":-0.613611698,"cg_iv_a":0.105397761,"cg_iw_a":0.508213937,"cg_sample_age_us":23.9727268,"cg_sample_seq":14582566,"cg_sample_valid":1,"cg_theta_rad":5.00658751,"cg_vd_req_v":0.106752314,"cg_vd_v":0.106752314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332776219,"cg_vq_v":-0.332776219,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.8310375,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6672668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.272705,"values":{"Elec_RPM":-6.37590801e-43,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54774,"Mech_RPM":-1.2751816e-43,"cg_du":50.1177788,"cg_dv":50.2048073,"cg_dw":49.7951927,"cg_id_a":-0.0683822408,"cg_id_raw_a":-0.517532051,"cg_iq_a":0.649890304,"cg_iq_raw_a":0.533324838,"cg_iu_a":-1.12102532,"cg_iv_a":-0.691966534,"cg_iw_a":1.81299186,"cg_sample_age_us":23.9654541,"cg_sample_seq":14582616,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.106407784,"cg_vd_v":0.106407784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344573528,"cg_vq_v":-0.344573528,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.71204376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.280518,"values":{"Elec_RPM":-6.37590801e-43,"EncoderCos":38709,"EncoderSin":12459,"GapTicks":54790,"Mech_RPM":-1.2751816e-43,"cg_du":50.10326,"cg_dv":50.1900406,"cg_dw":49.8099594,"cg_id_a":-0.0916646942,"cg_id_raw_a":-0.0403982326,"cg_iq_a":-0.65414989,"cg_iq_raw_a":-0.258277595,"cg_iu_a":0.546190977,"cg_iv_a":0.757786751,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.9836369,"cg_sample_seq":14582666,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.104809031,"cg_vd_v":0.104809031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315912575,"cg_vq_v":-0.315912575,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6858521,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.28833,"values":{"Elec_RPM":-6.23577817e-43,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54785,"Mech_RPM":-1.24715563e-43,"cg_du":50.117012,"cg_dv":50.1947594,"cg_dw":49.8052406,"cg_id_a":0.151962548,"cg_id_raw_a":0.34691298,"cg_iq_a":0.0793383867,"cg_iq_raw_a":0.0719031319,"cg_iu_a":-0.794830799,"cg_iv_a":0.286616981,"cg_iw_a":0.508213818,"cg_sample_age_us":23.9509087,"cg_sample_seq":14582716,"cg_sample_valid":1,"cg_theta_rad":5.00701666,"cg_vd_req_v":0.098588936,"cg_vd_v":0.098588936,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331178665,"cg_vq_v":-0.331178665,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.9789734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.296143,"values":{"Elec_RPM":-6.23577817e-43,"EncoderCos":38704,"EncoderSin":12435,"GapTicks":54791,"Mech_RPM":-1.24715563e-43,"cg_du":50.1087914,"cg_dv":50.1892242,"cg_dw":49.8107758,"cg_id_a":0.00128970668,"cg_id_raw_a":0.0714401454,"cg_iq_a":-0.518096209,"cg_iq_raw_a":-0.72055155,"cg_iu_a":0.546190977,"cg_iv_a":0.359104574,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.954546,"cg_sample_seq":14582766,"cg_sample_valid":1,"cg_theta_rad":5.0058136,"cg_vd_req_v":0.100868858,"cg_vd_v":0.100868858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318608969,"cg_vq_v":-0.318608969,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56957746,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.303955,"values":{"Elec_RPM":-6.09564832e-43,"EncoderCos":38734,"EncoderSin":12443,"GapTicks":54784,"Mech_RPM":-1.21912966e-43,"cg_du":50.1137352,"cg_dv":50.1963654,"cg_dw":49.8036346,"cg_id_a":0.0448872298,"cg_id_raw_a":-0.284751445,"cg_iq_a":0.0594318211,"cg_iq_raw_a":0.519523144,"cg_iu_a":0.654922485,"cg_iv_a":0.757786751,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.9872723,"cg_sample_seq":14582816,"cg_sample_valid":1,"cg_theta_rad":5.00804663,"cg_vd_req_v":0.101269536,"cg_vd_v":0.101269536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33086428,"cg_vq_v":-0.33086428,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.642395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.311768,"values":{"Elec_RPM":-6.09564832e-43,"EncoderCos":38716,"EncoderSin":12460,"GapTicks":54783,"Mech_RPM":-1.21912966e-43,"cg_du":50.1078606,"cg_dv":50.1966591,"cg_dw":49.8033409,"cg_id_a":-0.157035664,"cg_id_raw_a":0.436045825,"cg_iq_a":-0.143153116,"cg_iq_raw_a":0.444787174,"cg_iu_a":0.509947062,"cg_iv_a":0.10539782,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.954546,"cg_sample_seq":14582866,"cg_sample_valid":1,"cg_theta_rad":5.00602293,"cg_vd_req_v":0.107124738,"cg_vd_v":0.107124738,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327658743,"cg_vq_v":-0.327658743,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.343018,"values":{"Elec_RPM":-5.95551847e-43,"EncoderCos":38709,"EncoderSin":12504,"GapTicks":54783,"Mech_RPM":-1.19110369e-43,"cg_du":50.1080551,"cg_dv":50.1968575,"cg_dw":49.8031425,"cg_id_a":0.018830277,"cg_id_raw_a":0.152929217,"cg_iq_a":-0.251504064,"cg_iq_raw_a":-0.0934700519,"cg_iu_a":-0.577367783,"cg_iv_a":0.0329101086,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9472733,"cg_sample_seq":14582966,"cg_sample_valid":1,"cg_theta_rad":5.00850153,"cg_vd_req_v":0.106697746,"cg_vd_v":0.106697746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328190356,"cg_vq_v":-0.328190356,"cg_vu_v":7.47817326,"cg_vv_v":21.5547352,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.35083,"values":{"Elec_RPM":-5.81538863e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54795,"Mech_RPM":-1.16307773e-43,"cg_du":50.1042519,"cg_dv":50.1857185,"cg_dw":49.8142815,"cg_id_a":0.50785172,"cg_id_raw_a":0.142805457,"cg_iq_a":-0.933305144,"cg_iq_raw_a":-0.640800178,"cg_iu_a":0.473703384,"cg_iv_a":1.30144429,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.863636,"cg_sample_seq":14583016,"cg_sample_valid":1,"cg_theta_rad":5.00729084,"cg_vd_req_v":0.0988392606,"cg_vd_v":0.0988392606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311964005,"cg_vq_v":-0.311964005,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.358643,"values":{"Elec_RPM":-5.81538863e-43,"EncoderCos":38751,"EncoderSin":12477,"GapTicks":54782,"Mech_RPM":-1.16307773e-43,"cg_du":50.10009,"cg_dv":50.1974945,"cg_dw":49.8025055,"cg_id_a":-0.0641880631,"cg_id_raw_a":0.365178287,"cg_iq_a":-0.259686947,"cg_iq_raw_a":0.106517762,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14583066,"cg_sample_valid":1,"cg_theta_rad":5.00856638,"cg_vd_req_v":0.111404493,"cg_vd_v":0.111404493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326437473,"cg_vq_v":-0.326437473,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.056117177,"dclink_p_w":8.14622498,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.366455,"values":{"Elec_RPM":-5.67525878e-43,"EncoderCos":38725,"EncoderSin":12454,"GapTicks":54781,"Mech_RPM":-1.13505176e-43,"cg_du":50.1061592,"cg_dv":50.1989975,"cg_dw":49.8010025,"cg_id_a":0.0975849628,"cg_id_raw_a":0.111258395,"cg_iq_a":-0.235567078,"cg_iq_raw_a":-0.0975711718,"cg_iu_a":0.401215792,"cg_iv_a":-0.0395774841,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14583116,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.110201441,"cg_vd_v":0.110201441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330057323,"cg_vq_v":-0.330057323,"cg_vu_v":27.7132301,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.0399609,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6719055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.378174,"values":{"Elec_RPM":-5.67525878e-43,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-1.13505176e-43,"cg_du":50.1143112,"cg_dv":50.2112045,"cg_dw":49.7887955,"cg_id_a":-0.142246395,"cg_id_raw_a":-0.239972875,"cg_iq_a":0.724371552,"cg_iq_raw_a":0.705825269,"cg_iu_a":-0.577368021,"cg_iv_a":-0.691966534,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9509087,"cg_sample_seq":14583166,"cg_sample_valid":1,"cg_theta_rad":5.00582123,"cg_vd_req_v":0.115375146,"cg_vd_v":0.115375146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351321816,"cg_vq_v":-0.351321816,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6719055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.385986,"values":{"Elec_RPM":-5.53512893e-43,"EncoderCos":38730,"EncoderSin":12423,"GapTicks":54780,"Mech_RPM":-1.10702579e-43,"cg_du":50.1029091,"cg_dv":50.1996803,"cg_dw":49.8003197,"cg_id_a":-0.0334086455,"cg_id_raw_a":-0.0470266864,"cg_iq_a":-0.175837219,"cg_iq_raw_a":-0.622980595,"cg_iu_a":0.183752775,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9472733,"cg_sample_seq":14583216,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.113740332,"cg_vd_v":0.113740332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329045892,"cg_vq_v":-0.329045892,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.393799,"values":{"Elec_RPM":-5.53512893e-43,"EncoderCos":38729,"EncoderSin":12464,"GapTicks":54779,"Mech_RPM":-1.10702579e-43,"cg_du":50.1035233,"cg_dv":50.2008324,"cg_dw":49.7991676,"cg_id_a":0.0140510052,"cg_id_raw_a":-0.170168489,"cg_iq_a":-0.024262391,"cg_iq_raw_a":-0.889415383,"cg_iu_a":0.292484283,"cg_iv_a":0.250373065,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9436359,"cg_sample_seq":14583266,"cg_sample_valid":1,"cg_theta_rad":5.00638103,"cg_vd_req_v":0.113524489,"cg_vd_v":0.113524489,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331252068,"cg_vq_v":-0.331252068,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.401611,"values":{"Elec_RPM":-5.39499909e-43,"EncoderCos":38751,"EncoderSin":12437,"GapTicks":54776,"Mech_RPM":-1.07899982e-43,"cg_du":50.1001816,"cg_dv":50.2030334,"cg_dw":49.7969666,"cg_id_a":-0.065994449,"cg_id_raw_a":0.0368115492,"cg_iq_a":0.149325132,"cg_iq_raw_a":-0.432575464,"cg_iu_a":0.0750210285,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994896,"cg_sample_age_us":23.954546,"cg_sample_seq":14583316,"cg_sample_valid":1,"cg_theta_rad":5.00666666,"cg_vd_req_v":0.117243141,"cg_vd_v":0.117243141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332741618,"cg_vq_v":-0.332741618,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.409424,"values":{"Elec_RPM":-5.39499909e-43,"EncoderCos":38709,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-1.07899982e-43,"cg_du":50.0993614,"cg_dv":50.1961594,"cg_dw":49.8038406,"cg_id_a":0.063541159,"cg_id_raw_a":0.111438461,"cg_iq_a":-0.357144088,"cg_iq_raw_a":-0.0973656625,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9509087,"cg_sample_seq":14583366,"cg_sample_valid":1,"cg_theta_rad":5.00682592,"cg_vd_req_v":0.113713846,"cg_vd_v":0.113713846,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323151261,"cg_vq_v":-0.323151261,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.1897621,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.440674,"values":{"Elec_RPM":-5.25486924e-43,"EncoderCos":38744,"EncoderSin":12501,"GapTicks":54777,"Mech_RPM":-1.05097385e-43,"cg_du":50.0967102,"cg_dv":50.2027245,"cg_dw":49.7972755,"cg_id_a":-0.21708788,"cg_id_raw_a":-0.0841608346,"cg_iq_a":0.0362806953,"cg_iq_raw_a":0.429907829,"cg_iu_a":0.0387772322,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8563633,"cg_sample_seq":14583421,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.118740566,"cg_vd_v":0.118740566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330723584,"cg_vq_v":-0.330723584,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.448486,"values":{"Elec_RPM":-5.25486924e-43,"EncoderCos":38729,"EncoderSin":12448,"GapTicks":54789,"Mech_RPM":-1.05097385e-43,"cg_du":50.0979347,"cg_dv":50.1917915,"cg_dw":49.8082085,"cg_id_a":0.244249731,"cg_id_raw_a":-0.659613907,"cg_iq_a":-0.622140408,"cg_iq_raw_a":0.0459090658,"cg_iu_a":-0.976050138,"cg_iv_a":-0.112065196,"cg_iw_a":-1.88387895,"cg_sample_age_us":23.9509087,"cg_sample_seq":14583467,"cg_sample_valid":1,"cg_theta_rad":5.00827408,"cg_vd_req_v":0.109491363,"cg_vd_v":0.109491363,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315698624,"cg_vq_v":-0.315698624,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.456299,"values":{"Elec_RPM":-5.18480432e-43,"EncoderCos":38719,"EncoderSin":12453,"GapTicks":54775,"Mech_RPM":-1.03696086e-43,"cg_du":50.1046371,"cg_dv":50.2040558,"cg_dw":49.7959442,"cg_id_a":-0.100033969,"cg_id_raw_a":0.191753581,"cg_iq_a":0.336791426,"cg_iq_raw_a":-0.271550536,"cg_iu_a":-0.178685665,"cg_iv_a":-0.329528213,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9509087,"cg_sample_seq":14583516,"cg_sample_valid":1,"cg_theta_rad":5.00637865,"cg_vd_req_v":0.116797827,"cg_vd_v":0.116797827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33591181,"cg_vq_v":-0.33591181,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.464111,"values":{"Elec_RPM":-5.18480432e-43,"EncoderCos":38706,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-1.03696086e-43,"cg_du":50.0874786,"cg_dv":50.1984596,"cg_dw":49.8015404,"cg_id_a":-0.39044559,"cg_id_raw_a":-0.505633473,"cg_iq_a":-0.518992066,"cg_iq_raw_a":-0.232618332,"cg_iu_a":0.111264944,"cg_iv_a":0.10539782,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14583566,"cg_sample_valid":1,"cg_theta_rad":5.00795078,"cg_vd_req_v":0.125494555,"cg_vd_v":0.125494555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318384081,"cg_vq_v":-0.318384081,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.679657,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.471924,"values":{"Elec_RPM":-5.11473939e-43,"EncoderCos":38727,"EncoderSin":12491,"GapTicks":54775,"Mech_RPM":-1.02294788e-43,"cg_du":50.0983658,"cg_dv":50.2036781,"cg_dw":49.7963219,"cg_id_a":-0.168514341,"cg_id_raw_a":0.000298189756,"cg_iq_a":0.0278017335,"cg_iq_raw_a":0.182862252,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9763641,"cg_sample_seq":14583616,"cg_sample_valid":1,"cg_theta_rad":5.00521278,"cg_vd_req_v":0.120236769,"cg_vd_v":0.120236769,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333415002,"cg_vq_v":-0.333415002,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6781006,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.479736,"values":{"Elec_RPM":-5.11473939e-43,"EncoderCos":38713,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-1.02294788e-43,"cg_du":50.1065826,"cg_dv":50.2038002,"cg_dw":49.7961998,"cg_id_a":0.0659719184,"cg_id_raw_a":0.144357339,"cg_iq_a":0.134675696,"cg_iq_raw_a":-0.640452445,"cg_iu_a":-0.14244175,"cg_iv_a":0.214129269,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14583666,"cg_sample_valid":1,"cg_theta_rad":5.00590849,"cg_vd_req_v":0.115438201,"cg_vd_v":0.115438201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337659299,"cg_vq_v":-0.337659299,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.491455,"values":{"Elec_RPM":-5.04467447e-43,"EncoderCos":38736,"EncoderSin":12501,"GapTicks":54780,"Mech_RPM":-1.00893489e-43,"cg_du":50.1023293,"cg_dv":50.199337,"cg_dw":49.800663,"cg_id_a":0.226476431,"cg_id_raw_a":0.169890389,"cg_iq_a":-0.150255501,"cg_iq_raw_a":-0.0563690625,"cg_iu_a":-0.577367783,"cg_iv_a":0.250373065,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9836369,"cg_sample_seq":14583716,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.111989424,"cg_vd_v":0.111989424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330011785,"cg_vq_v":-0.330011785,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.39862144,"dclink_p_w":57.6903496,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.499268,"values":{"Elec_RPM":-5.04467447e-43,"EncoderCos":38712,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-1.00893489e-43,"cg_du":50.0975456,"cg_dv":50.2009926,"cg_dw":49.7990074,"cg_id_a":-0.17533274,"cg_id_raw_a":0.116736352,"cg_iq_a":-0.180129364,"cg_iq_raw_a":0.267621487,"cg_iu_a":0.727410078,"cg_iv_a":0.105397701,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9509087,"cg_sample_seq":14583766,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.120024234,"cg_vd_v":0.120024234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327521324,"cg_vq_v":-0.327521324,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.39862144,"dclink_p_w":57.6903496,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115916684,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.50708,"values":{"Elec_RPM":-4.97460955e-43,"EncoderCos":38730,"EncoderSin":12494,"GapTicks":54777,"Mech_RPM":-9.9492191e-44,"cg_du":50.0924988,"cg_dv":50.20261,"cg_dw":49.79739,"cg_id_a":-0.261378706,"cg_id_raw_a":-0.518818378,"cg_iq_a":-0.134314463,"cg_iq_raw_a":0.78940165,"cg_iu_a":0.763653994,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.863636,"cg_sample_seq":14583817,"cg_sample_valid":1,"cg_theta_rad":5.00644112,"cg_vd_req_v":0.122782916,"cg_vd_v":0.122782916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326782346,"cg_vq_v":-0.326782346,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.356940985,"dclink_p_w":51.5011444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.6703491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2643.514893,"values":{"Elec_RPM":-4.97460955e-43,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-9.9492191e-44,"cg_du":50.0984573,"cg_dv":50.2053642,"cg_dw":49.7946358,"cg_id_a":-0.150148585,"cg_id_raw_a":-0.0104741659,"cg_iq_a":0.377813339,"cg_iq_raw_a":0.509559631,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8600006,"cg_sample_seq":14583866,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.121990971,"cg_vd_v":0.121990971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334550321,"cg_vq_v":-0.334550321,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.6111107,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":33.0378113,"temp_inv2_c":35.6703491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.542236,"values":{"Elec_RPM":-4.90454463e-43,"EncoderCos":38735,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-9.80908925e-44,"cg_du":50.1057549,"cg_dv":50.2028885,"cg_dw":49.7971115,"cg_id_a":0.269839227,"cg_id_raw_a":-0.166182056,"cg_iq_a":0.398402035,"cg_iq_raw_a":0.167254806,"cg_iu_a":0.256240129,"cg_iv_a":-0.148309112,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.8563633,"cg_sample_seq":14583921,"cg_sample_valid":1,"cg_theta_rad":5.00639677,"cg_vd_req_v":0.112941504,"cg_vd_v":0.112941504,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33557868,"cg_vq_v":-0.33557868,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6160278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.553955,"values":{"Elec_RPM":-4.90454463e-43,"EncoderCos":38736,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-9.80908925e-44,"cg_du":50.0908737,"cg_dv":50.1968269,"cg_dw":49.8031731,"cg_id_a":-0.0558442175,"cg_id_raw_a":-0.16704756,"cg_iq_a":-0.223246112,"cg_iq_raw_a":-0.269836545,"cg_iu_a":0.0387773514,"cg_iv_a":0.359104574,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9436359,"cg_sample_seq":14583966,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.119452342,"cg_vd_v":0.119452342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319866657,"cg_vq_v":-0.319866657,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6160278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.561768,"values":{"Elec_RPM":-4.8344797e-43,"EncoderCos":38729,"EncoderSin":12475,"GapTicks":54782,"Mech_RPM":-9.6689594e-44,"cg_du":50.0977859,"cg_dv":50.1980667,"cg_dw":49.8019333,"cg_id_a":0.17093271,"cg_id_raw_a":0.246522471,"cg_iq_a":0.0357270911,"cg_iq_raw_a":0.0243130494,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616981,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9763641,"cg_sample_seq":14584016,"cg_sample_valid":1,"cg_theta_rad":5.00600243,"cg_vd_req_v":0.115455776,"cg_vd_v":0.115455776,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325350821,"cg_vq_v":-0.325350821,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6610413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.56958,"values":{"Elec_RPM":-4.8344797e-43,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-9.6689594e-44,"cg_du":50.0971794,"cg_dv":50.19907,"cg_dw":49.80093,"cg_id_a":0.11986059,"cg_id_raw_a":0.383512199,"cg_iq_a":-0.143650562,"cg_iq_raw_a":-0.982353806,"cg_iu_a":0.256240129,"cg_iv_a":-0.72821033,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9836369,"cg_sample_seq":14584066,"cg_sample_valid":1,"cg_theta_rad":5.00809288,"cg_vd_req_v":0.116219722,"cg_vd_v":0.116219722,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32550934,"cg_vq_v":-0.32550934,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.577393,"values":{"Elec_RPM":-4.76441478e-43,"EncoderCos":38726,"EncoderSin":12474,"GapTicks":54779,"Mech_RPM":-9.52882956e-44,"cg_du":50.1035004,"cg_dv":50.2005157,"cg_dw":49.7994843,"cg_id_a":0.306560636,"cg_id_raw_a":0.826371551,"cg_iq_a":0.221766159,"cg_iq_raw_a":1.20897281,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641617,"cg_iw_a":0.145775795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14584116,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.113235347,"cg_vd_v":0.113235347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330811203,"cg_vq_v":-0.330811203,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.4552574,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.585205,"values":{"Elec_RPM":-4.76441478e-43,"EncoderCos":38694,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-9.52882956e-44,"cg_du":50.1113167,"cg_dv":50.2014809,"cg_dw":49.7985191,"cg_id_a":0.417585492,"cg_id_raw_a":0.17252785,"cg_iq_a":0.516653419,"cg_iq_raw_a":0.128197372,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.954546,"cg_sample_seq":14584166,"cg_sample_valid":1,"cg_theta_rad":5.00644112,"cg_vd_req_v":0.110890523,"cg_vd_v":0.110890523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335570008,"cg_vq_v":-0.335570008,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.159412146,"dclink_p_w":23.0007439,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.593018,"values":{"Elec_RPM":-4.69434986e-43,"EncoderCos":38705,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-9.38869971e-44,"cg_du":50.0999146,"cg_dv":50.2044373,"cg_dw":49.7955627,"cg_id_a":-0.0498369783,"cg_id_raw_a":0.01838894,"cg_iq_a":0.314736843,"cg_iq_raw_a":-0.21590744,"cg_iu_a":-1.12102556,"cg_iv_a":-0.583235025,"cg_iw_a":1.70426059,"cg_sample_age_us":23.9872723,"cg_sample_seq":14584216,"cg_sample_valid":1,"cg_theta_rad":5.00740385,"cg_vd_req_v":0.12144807,"cg_vd_v":0.12144807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33355996,"cg_vq_v":-0.33355996,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.604736,"values":{"Elec_RPM":-4.69434986e-43,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54777,"Mech_RPM":-9.38869971e-44,"cg_du":50.1000252,"cg_dv":50.2022133,"cg_dw":49.7977867,"cg_id_a":0.101156697,"cg_id_raw_a":-0.0060447813,"cg_iq_a":0.211095408,"cg_iq_raw_a":0.437378734,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397761,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9290905,"cg_sample_seq":14584266,"cg_sample_valid":1,"cg_theta_rad":5.00617504,"cg_vd_req_v":0.118656546,"cg_vd_v":0.118656546,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331935108,"cg_vq_v":-0.331935108,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.612549,"values":{"Elec_RPM":-4.62428493e-43,"EncoderCos":38739,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-9.24856986e-44,"cg_du":50.0884323,"cg_dv":50.2016525,"cg_dw":49.7983475,"cg_id_a":-0.267683774,"cg_id_raw_a":-0.448183656,"cg_iq_a":-0.116324976,"cg_iq_raw_a":-0.187024355,"cg_iu_a":-0.214929581,"cg_iv_a":-0.583235025,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9763641,"cg_sample_seq":14584316,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.125935525,"cg_vd_v":0.125935525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325143576,"cg_vq_v":-0.325143576,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.620361,"values":{"Elec_RPM":-4.62428493e-43,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54786,"Mech_RPM":-9.24856986e-44,"cg_du":50.0839653,"cg_dv":50.1938629,"cg_dw":49.8061371,"cg_id_a":-0.218312293,"cg_id_raw_a":-0.212825477,"cg_iq_a":-0.740357935,"cg_iq_raw_a":-1.25922525,"cg_iu_a":0.799897671,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9872723,"cg_sample_seq":14584366,"cg_sample_valid":1,"cg_theta_rad":5.00628281,"cg_vd_req_v":0.123604305,"cg_vd_v":0.123604305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310231,"cg_vq_v":-0.310231,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.628174,"values":{"Elec_RPM":-4.55422001e-43,"EncoderCos":38734,"EncoderSin":12429,"GapTicks":54778,"Mech_RPM":-9.10844002e-44,"cg_du":50.1015816,"cg_dv":50.2009811,"cg_dw":49.7990189,"cg_id_a":0.169421375,"cg_id_raw_a":0.829623282,"cg_iq_a":0.162720323,"cg_iq_raw_a":0.0816184431,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129269,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9436359,"cg_sample_seq":14584416,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.115615897,"cg_vd_v":0.115615897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330219984,"cg_vq_v":-0.330219984,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.2091331,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6703491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.655518,"values":{"Elec_RPM":-4.55422001e-43,"EncoderCos":38712,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-9.10844002e-44,"cg_du":50.0992432,"cg_dv":50.2036018,"cg_dw":49.7963982,"cg_id_a":-0.0781348497,"cg_id_raw_a":-0.175633296,"cg_iq_a":0.257967174,"cg_iq_raw_a":0.675380051,"cg_iu_a":0.0750212669,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.8527279,"cg_sample_seq":14584471,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.120630987,"cg_vd_v":0.120630987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332240582,"cg_vq_v":-0.332240582,"cg_vu_v":137.686371,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.667236,"values":{"Elec_RPM":-4.48415509e-43,"EncoderCos":38711,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-8.96831017e-44,"cg_du":50.0975685,"cg_dv":50.2047653,"cg_dw":49.7952347,"cg_id_a":-0.0954179391,"cg_id_raw_a":0.200670242,"cg_iq_a":0.110772431,"cg_iq_raw_a":0.275571942,"cg_iu_a":-0.50488019,"cg_iv_a":-0.43825984,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9509087,"cg_sample_seq":14584517,"cg_sample_valid":1,"cg_theta_rad":5.00817728,"cg_vd_req_v":0.122901239,"cg_vd_v":0.122901239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332943559,"cg_vq_v":-0.332943559,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.675049,"values":{"Elec_RPM":-4.48415509e-43,"EncoderCos":38727,"EncoderSin":12451,"GapTicks":54780,"Mech_RPM":-8.96831017e-44,"cg_du":50.0897408,"cg_dv":50.1995049,"cg_dw":49.8004951,"cg_id_a":-0.137882799,"cg_id_raw_a":0.201027974,"cg_iq_a":-0.432324439,"cg_iq_raw_a":0.275311083,"cg_iu_a":0.038777113,"cg_iv_a":-0.365772128,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.954546,"cg_sample_seq":14584567,"cg_sample_valid":1,"cg_theta_rad":5.00628996,"cg_vd_req_v":0.123495847,"cg_vd_v":0.123495847,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321558923,"cg_vq_v":-0.321558923,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6812134,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.682861,"values":{"Elec_RPM":-4.34402524e-43,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-8.68805048e-44,"cg_du":50.0995903,"cg_dv":50.2050323,"cg_dw":49.7949677,"cg_id_a":-0.230652362,"cg_id_raw_a":0.0415654555,"cg_iq_a":0.179155439,"cg_iq_raw_a":0.186896682,"cg_iu_a":0.183752537,"cg_iv_a":-0.72821033,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9654541,"cg_sample_seq":14584716,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.120929793,"cg_vd_v":0.120929793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334677607,"cg_vq_v":-0.334677607,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.690674,"values":{"Elec_RPM":-4.34402524e-43,"EncoderCos":38704,"EncoderSin":12453,"GapTicks":54786,"Mech_RPM":-8.68805048e-44,"cg_du":50.0962944,"cg_dv":50.1945457,"cg_dw":49.8054543,"cg_id_a":-0.0179260969,"cg_id_raw_a":-0.514612198,"cg_iq_a":-0.601983011,"cg_iq_raw_a":-0.962863982,"cg_iu_a":0.111264944,"cg_iv_a":1.01149368,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9218178,"cg_sample_seq":14584766,"cg_sample_valid":1,"cg_theta_rad":5.00909615,"cg_vd_req_v":0.115154825,"cg_vd_v":0.115154825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317916721,"cg_vq_v":-0.317916721,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.698486,"values":{"Elec_RPM":-4.27396032e-43,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54775,"Mech_RPM":-8.54792063e-44,"cg_du":50.100502,"cg_dv":50.2040443,"cg_dw":49.7959557,"cg_id_a":-0.166636333,"cg_id_raw_a":-0.17681776,"cg_iq_a":0.166465133,"cg_iq_raw_a":0.493601471,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0758214593,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9836369,"cg_sample_seq":14584816,"cg_sample_valid":1,"cg_theta_rad":5.00674582,"cg_vd_req_v":0.118907496,"cg_vd_v":0.118907496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333966434,"cg_vq_v":-0.333966434,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.706299,"values":{"Elec_RPM":-4.27396032e-43,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54781,"Mech_RPM":-8.54792063e-44,"cg_du":50.0925484,"cg_dv":50.1987152,"cg_dw":49.8012848,"cg_id_a":-0.378931046,"cg_id_raw_a":0.122488052,"cg_iq_a":-0.581123531,"cg_iq_raw_a":-0.424160391,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323734,"cg_iw_a":-0.796563864,"cg_sample_age_us":23.954546,"cg_sample_seq":14584866,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.120856024,"cg_vd_v":0.120856024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321940273,"cg_vq_v":-0.321940273,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.714111,"values":{"Elec_RPM":-4.20389539e-43,"EncoderCos":38704,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-8.40779079e-44,"cg_du":50.1098595,"cg_dv":50.2104492,"cg_dw":49.7895508,"cg_id_a":-0.330530286,"cg_id_raw_a":0.118966788,"cg_iq_a":0.570580065,"cg_iq_raw_a":-0.169255123,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14584916,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.120146044,"cg_vd_v":0.120146044,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348291457,"cg_vq_v":-0.348291457,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.745361,"values":{"Elec_RPM":-4.20389539e-43,"EncoderCos":38774,"EncoderSin":12490,"GapTicks":54772,"Mech_RPM":-8.40779079e-44,"cg_du":50.0979805,"cg_dv":50.2067223,"cg_dw":49.7932777,"cg_id_a":-0.173631966,"cg_id_raw_a":-0.284395009,"cg_iq_a":-0.0246074945,"cg_iq_raw_a":0.595226407,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8563633,"cg_sample_seq":14584971,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.11954543,"cg_vd_v":0.11954543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337620944,"cg_vq_v":-0.337620944,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6501465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.753174,"values":{"Elec_RPM":-4.13383047e-43,"EncoderCos":38742,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-8.26766094e-44,"cg_du":50.1016388,"cg_dv":50.2056999,"cg_dw":49.7943001,"cg_id_a":-0.119286746,"cg_id_raw_a":-0.30330357,"cg_iq_a":-0.0559762642,"cg_iq_raw_a":-0.391361773,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691540241,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9363632,"cg_sample_seq":14585016,"cg_sample_valid":1,"cg_theta_rad":5.00697374,"cg_vd_req_v":0.118640497,"cg_vd_v":0.118640497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3372069,"cg_vq_v":-0.3372069,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.760986,"values":{"Elec_RPM":-4.13383047e-43,"EncoderCos":38723,"EncoderSin":12458,"GapTicks":54776,"Mech_RPM":-8.26766094e-44,"cg_du":50.105751,"cg_dv":50.2035217,"cg_dw":49.7964783,"cg_id_a":0.187593937,"cg_id_raw_a":0.0586614199,"cg_iq_a":-0.299267799,"cg_iq_raw_a":0.22505112,"cg_iu_a":-0.468636274,"cg_iv_a":0.649055302,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.9472733,"cg_sample_seq":14585066,"cg_sample_valid":1,"cg_theta_rad":5.00781298,"cg_vd_req_v":0.114979304,"cg_vd_v":0.114979304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33595565,"cg_vq_v":-0.33595565,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.768799,"values":{"Elec_RPM":-4.06376555e-43,"EncoderCos":38715,"EncoderSin":12509,"GapTicks":54775,"Mech_RPM":-8.12753109e-44,"cg_du":50.1078072,"cg_dv":50.2043457,"cg_dw":49.7956543,"cg_id_a":0.162451044,"cg_id_raw_a":0.381882966,"cg_iq_a":-0.247277915,"cg_iq_raw_a":-0.727088988,"cg_iu_a":0.14750886,"cg_iv_a":0.467836142,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9509087,"cg_sample_seq":14585116,"cg_sample_valid":1,"cg_theta_rad":5.00816917,"cg_vd_req_v":0.113255121,"cg_vd_v":0.113255121,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337395489,"cg_vq_v":-0.337395489,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.3853531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2643.780518,"values":{"Elec_RPM":-4.06376555e-43,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54778,"Mech_RPM":-8.12753109e-44,"cg_du":50.1117287,"cg_dv":50.2010498,"cg_dw":49.7989502,"cg_id_a":0.309794605,"cg_id_raw_a":0.546776772,"cg_iq_a":-0.188290298,"cg_iq_raw_a":-0.892386734,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9799995,"cg_sample_seq":14585166,"cg_sample_valid":1,"cg_theta_rad":5.00784016,"cg_vd_req_v":0.108297408,"cg_vd_v":0.108297408,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336945266,"cg_vq_v":-0.336945266,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.3853531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.78833,"values":{"Elec_RPM":-3.99370062e-43,"EncoderCos":38702,"EncoderSin":12449,"GapTicks":54774,"Mech_RPM":-7.98740125e-44,"cg_du":50.1112251,"cg_dv":50.2054367,"cg_dw":49.7945633,"cg_id_a":-0.010905154,"cg_id_raw_a":-0.538986027,"cg_iq_a":0.11778789,"cg_iq_raw_a":1.11107552,"cg_iu_a":-0.0337104797,"cg_iv_a":0.39534843,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9654541,"cg_sample_seq":14585216,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.114734225,"cg_vd_v":0.114734225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342055827,"cg_vq_v":-0.342055827,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.3853531,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6610413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.796143,"values":{"Elec_RPM":-3.99370062e-43,"EncoderCos":38712,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-7.98740125e-44,"cg_du":50.1186333,"cg_dv":50.2051697,"cg_dw":49.7948303,"cg_id_a":0.32343334,"cg_id_raw_a":0.282688558,"cg_iq_a":0.214488238,"cg_iq_raw_a":-0.335012048,"cg_iu_a":-0.50488019,"cg_iv_a":0.250373125,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8527279,"cg_sample_seq":14585266,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.107735641,"cg_vd_v":0.107735641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346188486,"cg_vq_v":-0.346188486,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7945242,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.803955,"values":{"Elec_RPM":-3.9236357e-43,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-7.8472714e-44,"cg_du":50.1173553,"cg_dv":50.2098579,"cg_dw":49.7901421,"cg_id_a":0.0311888829,"cg_id_raw_a":-0.243299171,"cg_iq_a":0.358630061,"cg_iq_raw_a":0.085767962,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641676,"cg_iw_a":0.58070153,"cg_sample_age_us":23.9581814,"cg_sample_seq":14585316,"cg_sample_valid":1,"cg_theta_rad":5.00806618,"cg_vd_req_v":0.113076694,"cg_vd_v":0.113076694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351926506,"cg_vq_v":-0.351926506,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6765442,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.815674,"values":{"Elec_RPM":-3.9236357e-43,"EncoderCos":38700,"EncoderSin":12445,"GapTicks":54771,"Mech_RPM":-7.8472714e-44,"cg_du":50.1164093,"cg_dv":50.2074051,"cg_dw":49.7925949,"cg_id_a":0.0739777088,"cg_id_raw_a":-0.0867820755,"cg_iq_a":0.0179615915,"cg_iq_raw_a":-0.00734779146,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395775437,"cg_iw_a":0.145775616,"cg_sample_age_us":23.954546,"cg_sample_seq":14585367,"cg_sample_valid":1,"cg_theta_rad":5.00781679,"cg_vd_req_v":0.11217764,"cg_vd_v":0.11217764,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345481753,"cg_vq_v":-0.345481753,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6703491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2643.823486,"values":{"Elec_RPM":-3.85357078e-43,"EncoderCos":38737,"EncoderSin":12483,"GapTicks":54775,"Mech_RPM":-7.70714155e-44,"cg_du":50.1063499,"cg_dv":50.2039986,"cg_dw":49.7960014,"cg_id_a":0.0298443586,"cg_id_raw_a":-0.0989673734,"cg_iq_a":-0.451347888,"cg_iq_raw_a":-0.55439961,"cg_iu_a":0.546190977,"cg_iv_a":0.141641617,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9872723,"cg_sample_seq":14585417,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.112977937,"cg_vd_v":0.112977937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336474597,"cg_vq_v":-0.336474597,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2643.85083,"values":{"Elec_RPM":-3.85357078e-43,"EncoderCos":38744,"EncoderSin":12482,"GapTicks":54762,"Mech_RPM":-7.70714155e-44,"cg_du":50.1150703,"cg_dv":50.2162437,"cg_dw":49.7837563,"cg_id_a":-0.183437452,"cg_id_raw_a":-0.148278251,"cg_iq_a":0.566533446,"cg_iq_raw_a":0.205615833,"cg_iu_a":-0.287417173,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945386,"cg_sample_age_us":26.8163643,"cg_sample_seq":14585469,"cg_sample_valid":1,"cg_theta_rad":5.00343943,"cg_vd_req_v":0.117736951,"cg_vd_v":0.117736951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359238893,"cg_vq_v":-0.359238893,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.858643,"values":{"Elec_RPM":-3.78350585e-43,"EncoderCos":38696,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-7.56701171e-44,"cg_du":50.1194801,"cg_dv":50.2153053,"cg_dw":49.7846947,"cg_id_a":-0.26455313,"cg_id_raw_a":-0.808378577,"cg_iq_a":0.611126542,"cg_iq_raw_a":0.864319563,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539645,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9836369,"cg_sample_seq":14585516,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.118107669,"cg_vd_v":0.118107669,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360093534,"cg_vq_v":-0.360093534,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.866455,"values":{"Elec_RPM":-3.78350585e-43,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-7.56701171e-44,"cg_du":50.1106529,"cg_dv":50.2106552,"cg_dw":49.7893448,"cg_id_a":-0.358756602,"cg_id_raw_a":0.197636753,"cg_iq_a":0.247700542,"cg_iq_raw_a":0.0932300314,"cg_iu_a":0.0750210285,"cg_iv_a":0.032910049,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9872723,"cg_sample_seq":14585566,"cg_sample_valid":1,"cg_theta_rad":5.00691366,"cg_vd_req_v":0.118835278,"cg_vd_v":0.118835278,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349323869,"cg_vq_v":-0.349323869,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.874268,"values":{"Elec_RPM":-3.71344093e-43,"EncoderCos":38707,"EncoderSin":12447,"GapTicks":54781,"Mech_RPM":-7.42688186e-44,"cg_du":50.1116142,"cg_dv":50.1983223,"cg_dw":49.8016777,"cg_id_a":0.181794539,"cg_id_raw_a":0.219762549,"cg_iq_a":-0.600574911,"cg_iq_raw_a":-0.741799295,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9290905,"cg_sample_seq":14585616,"cg_sample_valid":1,"cg_theta_rad":5.00709438,"cg_vd_req_v":0.106782444,"cg_vd_v":0.106782444,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331718087,"cg_vq_v":-0.331718087,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.88208,"values":{"Elec_RPM":-3.71344093e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-7.42688186e-44,"cg_du":50.1159515,"cg_dv":50.2060623,"cg_dw":49.7939377,"cg_id_a":0.0536171459,"cg_id_raw_a":0.0728685483,"cg_iq_a":0.0607269555,"cg_iq_raw_a":0.0806948692,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14585666,"cg_sample_valid":1,"cg_theta_rad":5.00691605,"cg_vd_req_v":0.109113038,"cg_vd_v":0.109113038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3452425,"cg_vq_v":-0.3452425,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.893799,"values":{"Elec_RPM":-3.64337601e-43,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-7.28675201e-44,"cg_du":50.1151733,"cg_dv":50.2069054,"cg_dw":49.7930946,"cg_id_a":-0.110861205,"cg_id_raw_a":0.201454222,"cg_iq_a":-0.0628048331,"cg_iq_raw_a":-1.21755266,"cg_iu_a":-0.178685904,"cg_iv_a":-0.112065196,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14585716,"cg_sample_valid":1,"cg_theta_rad":5.00942993,"cg_vd_req_v":0.111311316,"cg_vd_v":0.111311316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345708758,"cg_vq_v":-0.345708758,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.901611,"values":{"Elec_RPM":-3.64337601e-43,"EncoderCos":38727,"EncoderSin":12499,"GapTicks":54765,"Mech_RPM":-7.28675201e-44,"cg_du":50.1173935,"cg_dv":50.2132721,"cg_dw":49.7867279,"cg_id_a":-0.161431313,"cg_id_raw_a":0.232962266,"cg_iq_a":0.421108752,"cg_iq_raw_a":0.16835393,"cg_iu_a":-0.106198072,"cg_iv_a":-0.474503517,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9618187,"cg_sample_seq":14585766,"cg_sample_valid":1,"cg_theta_rad":5.0059495,"cg_vd_req_v":0.114000566,"cg_vd_v":0.114000566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356170386,"cg_vq_v":-0.356170386,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":0.313448429,"dclink_p_w":45.3637161,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.909424,"values":{"Elec_RPM":-3.57331108e-43,"EncoderCos":38712,"EncoderSin":12453,"GapTicks":54773,"Mech_RPM":-7.14662217e-44,"cg_du":50.1204491,"cg_dv":50.2061195,"cg_dw":49.7938805,"cg_id_a":0.150024772,"cg_id_raw_a":0.116174757,"cg_iq_a":0.0515382066,"cg_iq_raw_a":-0.351761013,"cg_iu_a":-0.396148682,"cg_iv_a":0.0691539049,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14585816,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.10729067,"cg_vd_v":0.10729067,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348494619,"cg_vq_v":-0.348494619,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.313448429,"dclink_p_w":45.3637161,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0036758983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.921143,"values":{"Elec_RPM":-3.57331108e-43,"EncoderCos":38714,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-7.14662217e-44,"cg_du":50.1155357,"cg_dv":50.2054901,"cg_dw":49.7945099,"cg_id_a":0.0706975311,"cg_id_raw_a":-0.311475605,"cg_iq_a":-0.165073469,"cg_iq_raw_a":-0.503186762,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8563633,"cg_sample_seq":14585866,"cg_sample_valid":1,"cg_theta_rad":5.006989,"cg_vd_req_v":0.109616756,"cg_vd_v":0.109616756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345153719,"cg_vq_v":-0.345153719,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.3988113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0036758983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.928955,"values":{"Elec_RPM":-3.50324616e-43,"EncoderCos":38714,"EncoderSin":12448,"GapTicks":54770,"Mech_RPM":-7.00649232e-44,"cg_du":50.1169815,"cg_dv":50.2084236,"cg_dw":49.7915764,"cg_id_a":0.0312985256,"cg_id_raw_a":-0.072209008,"cg_iq_a":-0.0330687985,"cg_iq_raw_a":-0.152173311,"cg_iu_a":-0.251173496,"cg_iv_a":0.322860777,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.8563633,"cg_sample_seq":14585917,"cg_sample_valid":1,"cg_theta_rad":5.00573492,"cg_vd_req_v":0.111890413,"cg_vd_v":0.111890413,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348619908,"cg_vq_v":-0.348619908,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.3988113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.956299,"values":{"Elec_RPM":-3.50324616e-43,"EncoderCos":38766,"EncoderSin":12438,"GapTicks":54769,"Mech_RPM":-7.00649232e-44,"cg_du":50.1044769,"cg_dv":50.2094193,"cg_dw":49.7905807,"cg_id_a":-0.322382092,"cg_id_raw_a":0.0881479606,"cg_iq_a":-0.239928916,"cg_iq_raw_a":-0.318807632,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691540241,"cg_iw_a":-0.0716874599,"cg_sample_age_us":26.812727,"cg_sample_seq":14585969,"cg_sample_valid":1,"cg_theta_rad":5.00786924,"cg_vd_req_v":0.118837468,"cg_vd_v":0.118837468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344262958,"cg_vq_v":-0.344262958,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":0.264519215,"dclink_p_w":38.3988113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.964111,"values":{"Elec_RPM":-3.36311631e-43,"EncoderCos":38728,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-6.72623263e-44,"cg_du":50.1111107,"cg_dv":50.2045021,"cg_dw":49.7954979,"cg_id_a":-0.0905090719,"cg_id_raw_a":-0.537644625,"cg_iq_a":-0.345169306,"cg_iq_raw_a":-0.561130881,"cg_iu_a":0.691166401,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14586116,"cg_sample_valid":1,"cg_theta_rad":5.00879574,"cg_vd_req_v":0.111412585,"cg_vd_v":0.111412585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340404063,"cg_vq_v":-0.340404063,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.625145435,"dclink_p_w":90.4739609,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2643.971501,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2643.971507,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2643.971512,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2643.971924,"values":{"Elec_RPM":-3.36311631e-43,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-6.72623263e-44,"cg_du":50.117794,"cg_dv":50.2062759,"cg_dw":49.7937241,"cg_id_a":-0.0447575897,"cg_id_raw_a":-0.0860156789,"cg_iq_a":0.0878300443,"cg_iq_raw_a":-0.444625556,"cg_iu_a":-0.468636274,"cg_iv_a":-0.148309112,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8672733,"cg_sample_seq":14586166,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.108542725,"cg_vd_v":0.108542725,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347513735,"cg_vq_v":-0.347513735,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.636018574,"dclink_p_w":92.0475693,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6238098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.979736,"values":{"Elec_RPM":-3.29305139e-43,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54778,"Mech_RPM":-6.58610278e-44,"cg_du":50.1143951,"cg_dv":50.2017822,"cg_dw":49.7982178,"cg_id_a":0.0124687739,"cg_id_raw_a":0.0351394005,"cg_iq_a":-0.380284369,"cg_iq_raw_a":-0.614821672,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395774841,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9836369,"cg_sample_seq":14586216,"cg_sample_valid":1,"cg_theta_rad":5.00700474,"cg_vd_req_v":0.106482707,"cg_vd_v":0.106482707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33958444,"cg_vq_v":-0.33958444,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.554469943,"dclink_p_w":80.4893799,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2643.991455,"values":{"Elec_RPM":-3.29305139e-43,"EncoderCos":38719,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-6.58610278e-44,"cg_du":50.1072311,"cg_dv":50.2048721,"cg_dw":49.7951279,"cg_id_a":-0.388837576,"cg_id_raw_a":-0.119455598,"cg_iq_a":-0.37619698,"cg_iq_raw_a":0.972375512,"cg_iu_a":0.582434654,"cg_iv_a":-0.293284416,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.954546,"cg_sample_seq":14586267,"cg_sample_valid":1,"cg_theta_rad":5.0057025,"cg_vd_req_v":0.115071051,"cg_vd_v":0.115071051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338644415,"cg_vq_v":-0.338644415,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.681323349,"dclink_p_w":98.6042862,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2643.999268,"values":{"Elec_RPM":-3.22298647e-43,"EncoderCos":38693,"EncoderSin":12495,"GapTicks":54778,"Mech_RPM":-6.44597294e-44,"cg_du":50.1217995,"cg_dv":50.2011299,"cg_dw":49.7988701,"cg_id_a":0.297913253,"cg_id_raw_a":0.138580456,"cg_iq_a":-0.233022988,"cg_iq_raw_a":0.0514060631,"cg_iu_a":-0.359905005,"cg_iv_a":0.322860718,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.863636,"cg_sample_seq":14586316,"cg_sample_valid":1,"cg_theta_rad":5.00617075,"cg_vd_req_v":0.101524062,"cg_vd_v":0.101524062,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341286778,"cg_vq_v":-0.341286778,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.761059821,"dclink_p_w":109.809334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.00708,"values":{"Elec_RPM":-3.22298647e-43,"EncoderCos":38726,"EncoderSin":12488,"GapTicks":54775,"Mech_RPM":-6.44597294e-44,"cg_du":50.1167259,"cg_dv":50.2036705,"cg_dw":49.7963295,"cg_id_a":0.108632334,"cg_id_raw_a":1.43181205,"cg_iq_a":-0.144971117,"cg_iq_raw_a":-1.82896948,"cg_iu_a":0.14750886,"cg_iv_a":-0.619478941,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14586366,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.105576254,"cg_vd_v":0.105576254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342612177,"cg_vq_v":-0.342612177,"cg_vu_v":22.8744144,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.761059821,"dclink_p_w":109.809334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.014893,"values":{"Elec_RPM":-3.15292154e-43,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-6.30584309e-44,"cg_du":50.1210785,"cg_dv":50.2099342,"cg_dw":49.7900658,"cg_id_a":-0.0809366107,"cg_id_raw_a":-0.460958451,"cg_iq_a":0.447729588,"cg_iq_raw_a":-0.481259316,"cg_iu_a":-0.178685665,"cg_iv_a":-0.402015805,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9254551,"cg_sample_seq":14586416,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.109137438,"cg_vd_v":0.109137438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353296936,"cg_vq_v":-0.353296936,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.916908264,"dclink_p_w":132.699234,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6687927,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.046143,"values":{"Elec_RPM":-3.15292154e-43,"EncoderCos":38705,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-6.30584309e-44,"cg_du":50.1334953,"cg_dv":50.2097473,"cg_dw":49.7902527,"cg_id_a":0.345602214,"cg_id_raw_a":0.256446213,"cg_iq_a":0.758953571,"cg_iq_raw_a":0.755434215,"cg_iu_a":0.292484045,"cg_iv_a":0.359104633,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9836369,"cg_sample_seq":14586469,"cg_sample_valid":1,"cg_theta_rad":5.00660849,"cg_vd_req_v":0.100848705,"cg_vd_v":0.100848705,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360735416,"cg_vq_v":-0.360735416,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.86073035,"dclink_p_w":124.947533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6672668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.053955,"values":{"Elec_RPM":-3.08285662e-43,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-6.16571324e-44,"cg_du":50.1179695,"cg_dv":50.2002411,"cg_dw":49.7997589,"cg_id_a":0.210033432,"cg_id_raw_a":0.361216515,"cg_iq_a":-0.343025446,"cg_iq_raw_a":-0.0729254931,"cg_iu_a":-0.214929581,"cg_iv_a":0.685299098,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9509087,"cg_sample_seq":14586516,"cg_sample_valid":1,"cg_theta_rad":5.00597143,"cg_vd_req_v":0.102661602,"cg_vd_v":0.102661602,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339344978,"cg_vq_v":-0.339344978,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.86073035,"dclink_p_w":124.947533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6672668,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.061768,"values":{"Elec_RPM":-3.08285662e-43,"EncoderCos":38722,"EncoderSin":12441,"GapTicks":54769,"Mech_RPM":-6.16571324e-44,"cg_du":50.1306801,"cg_dv":50.2099342,"cg_dw":49.7900658,"cg_id_a":0.237602293,"cg_id_raw_a":0.594148934,"cg_iq_a":0.488601089,"cg_iq_raw_a":0.970372438,"cg_iu_a":-0.14244175,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8309097,"cg_sample_seq":14586566,"cg_sample_valid":1,"cg_theta_rad":5.00707626,"cg_vd_req_v":0.102160543,"cg_vd_v":0.102160543,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358529359,"cg_vq_v":-0.358529359,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.86073035,"dclink_p_w":124.947533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.06958,"values":{"Elec_RPM":-3.0127917e-43,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-6.0255834e-44,"cg_du":50.1336441,"cg_dv":50.2086334,"cg_dw":49.7913666,"cg_id_a":0.283076763,"cg_id_raw_a":-0.175079316,"cg_iq_a":0.455228508,"cg_iq_raw_a":-0.381242305,"cg_iu_a":-1.19351292,"cg_iv_a":-0.329528213,"cg_iw_a":1.52304113,"cg_sample_age_us":23.8600006,"cg_sample_seq":14586616,"cg_sample_valid":1,"cg_theta_rad":5.0063405,"cg_vd_req_v":0.0989973769,"cg_vd_v":0.0989973769,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357141346,"cg_vq_v":-0.357141346,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":1.04194951,"dclink_p_w":150.795776,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2644.077393,"values":{"Elec_RPM":-3.0127917e-43,"EncoderCos":38708,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-6.0255834e-44,"cg_du":50.1293793,"cg_dv":50.2056427,"cg_dw":49.7943573,"cg_id_a":0.184690788,"cg_id_raw_a":0.0381894521,"cg_iq_a":0.282744288,"cg_iq_raw_a":0.00465165963,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8527279,"cg_sample_seq":14586666,"cg_sample_valid":1,"cg_theta_rad":5.0064683,"cg_vd_req_v":0.0994884148,"cg_vd_v":0.0994884148,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351831555,"cg_vq_v":-0.351831555,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":1.04194951,"dclink_p_w":150.795776,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6656799,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.089111,"values":{"Elec_RPM":-2.94272678e-43,"EncoderCos":38732,"EncoderSin":12429,"GapTicks":54776,"Mech_RPM":-5.88545355e-44,"cg_du":50.1222801,"cg_dv":50.2034187,"cg_dw":49.7965813,"cg_id_a":0.0975002125,"cg_id_raw_a":0.0795266628,"cg_iq_a":-0.107680917,"cg_iq_raw_a":-1.92151368,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616921,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8490906,"cg_sample_seq":14586716,"cg_sample_valid":1,"cg_theta_rad":5.00703669,"cg_vd_req_v":0.101897664,"cg_vd_v":0.101897664,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345103562,"cg_vq_v":-0.345103562,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6842957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.096924,"values":{"Elec_RPM":-2.94272678e-43,"EncoderCos":38731,"EncoderSin":12466,"GapTicks":54778,"Mech_RPM":-5.88545355e-44,"cg_du":50.1123657,"cg_dv":50.2015076,"cg_dw":49.7984924,"cg_id_a":-0.17507574,"cg_id_raw_a":-0.399679989,"cg_iq_a":-0.398279309,"cg_iq_raw_a":-0.692736685,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8490906,"cg_sample_seq":14586766,"cg_sample_valid":1,"cg_theta_rad":5.00750017,"cg_vd_req_v":0.107360661,"cg_vd_v":0.107360661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338211596,"cg_vq_v":-0.338211596,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6842957,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.104736,"values":{"Elec_RPM":-2.87266185e-43,"EncoderCos":38695,"EncoderSin":12441,"GapTicks":54780,"Mech_RPM":-5.7453237e-44,"cg_du":50.1095467,"cg_dv":50.1997108,"cg_dw":49.8002892,"cg_id_a":-0.32901147,"cg_id_raw_a":-0.334180951,"cg_iq_a":-0.742525637,"cg_iq_raw_a":-0.654025376,"cg_iu_a":0.763653874,"cg_iv_a":-0.655722737,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9509087,"cg_sample_seq":14586817,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.1107985,"cg_vd_v":0.1107985,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332083642,"cg_vq_v":-0.332083642,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":108.832771,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6284485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.112549,"values":{"Elec_RPM":-2.87266185e-43,"EncoderCos":38698,"EncoderSin":12462,"GapTicks":54780,"Mech_RPM":-5.7453237e-44,"cg_du":50.120182,"cg_dv":50.1998291,"cg_dw":49.8001709,"cg_id_a":0.167943954,"cg_id_raw_a":-0.290843278,"cg_iq_a":-0.286979556,"cg_iq_raw_a":-1.08593547,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885413,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9290905,"cg_sample_seq":14586868,"cg_sample_valid":1,"cg_theta_rad":5.00829458,"cg_vd_req_v":0.101900525,"cg_vd_v":0.101900525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338496804,"cg_vq_v":-0.338496804,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.750186622,"dclink_p_w":108.570503,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.120361,"values":{"Elec_RPM":-2.80259693e-43,"EncoderCos":38715,"EncoderSin":12496,"GapTicks":54781,"Mech_RPM":-5.60519386e-44,"cg_du":50.112648,"cg_dv":50.1987877,"cg_dw":49.8012123,"cg_id_a":0.0612292215,"cg_id_raw_a":0.0835565478,"cg_iq_a":-0.430185914,"cg_iq_raw_a":-0.245981693,"cg_iu_a":0.292484283,"cg_iv_a":0.250373125,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.9872723,"cg_sample_seq":14586917,"cg_sample_valid":1,"cg_theta_rad":5.00601864,"cg_vd_req_v":0.104382806,"cg_vd_v":0.104382806,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332465589,"cg_vq_v":-0.332465589,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.724815965,"dclink_p_w":104.898743,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9900513,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2644.151611,"values":{"Elec_RPM":-2.80259693e-43,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54776,"Mech_RPM":-5.60519386e-44,"cg_du":50.1174164,"cg_dv":50.2029991,"cg_dw":49.7970009,"cg_id_a":-0.0257937312,"cg_id_raw_a":-0.0450975746,"cg_iq_a":0.125720501,"cg_iq_raw_a":-0.00365191791,"cg_iu_a":0.364971876,"cg_iv_a":-0.184552908,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8600006,"cg_sample_seq":14586970,"cg_sample_valid":1,"cg_theta_rad":5.00582838,"cg_vd_req_v":0.105624445,"cg_vd_v":0.105624445,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341701448,"cg_vq_v":-0.341701448,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6827698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.159424,"values":{"Elec_RPM":-2.73253201e-43,"EncoderCos":38715,"EncoderSin":12439,"GapTicks":54778,"Mech_RPM":-5.46506401e-44,"cg_du":50.1127777,"cg_dv":50.2017937,"cg_dw":49.7982063,"cg_id_a":-0.0820780694,"cg_id_raw_a":-0.366216302,"cg_iq_a":-0.280299902,"cg_iq_raw_a":-0.364065886,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14587016,"cg_sample_valid":1,"cg_theta_rad":5.00640249,"cg_vd_req_v":0.107980005,"cg_vd_v":0.107980005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330550671,"cg_vq_v":-0.330550671,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2644.167236,"values":{"Elec_RPM":-2.73253201e-43,"EncoderCos":38723,"EncoderSin":12482,"GapTicks":54780,"Mech_RPM":-5.46506401e-44,"cg_du":50.105423,"cg_dv":50.1997757,"cg_dw":49.8002243,"cg_id_a":-0.222023755,"cg_id_raw_a":-0.246441394,"cg_iq_a":-0.394107342,"cg_iq_raw_a":-0.532675087,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8490906,"cg_sample_seq":14587066,"cg_sample_valid":1,"cg_theta_rad":5.00733757,"cg_vd_req_v":0.111049414,"cg_vd_v":0.111049414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330867052,"cg_vq_v":-0.330867052,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.175049,"values":{"Elec_RPM":-2.66246708e-43,"EncoderCos":38726,"EncoderSin":12488,"GapTicks":54769,"Mech_RPM":-5.32493416e-44,"cg_du":50.1185875,"cg_dv":50.2095375,"cg_dw":49.7904625,"cg_id_a":-0.0742523,"cg_id_raw_a":-0.0821734145,"cg_iq_a":0.676513612,"cg_iq_raw_a":1.04880345,"cg_iu_a":0.292484045,"cg_iv_a":-0.655722737,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9799995,"cg_sample_seq":14587117,"cg_sample_valid":1,"cg_theta_rad":5.00693512,"cg_vd_req_v":0.110129923,"cg_vd_v":0.110129923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35271433,"cg_vq_v":-0.35271433,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.182861,"values":{"Elec_RPM":-2.66246708e-43,"EncoderCos":38741,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-5.32493416e-44,"cg_du":50.1130753,"cg_dv":50.2048416,"cg_dw":49.7951584,"cg_id_a":0.0360146165,"cg_id_raw_a":0.793868899,"cg_iq_a":0.0217703767,"cg_iq_raw_a":-0.434533149,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148309112,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9763641,"cg_sample_seq":14587167,"cg_sample_valid":1,"cg_theta_rad":5.00706148,"cg_vd_req_v":0.109382622,"cg_vd_v":0.109382622,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343374968,"cg_vq_v":-0.343374968,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.190674,"values":{"Elec_RPM":-2.59240216e-43,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-5.18480432e-44,"cg_du":50.1116447,"cg_dv":50.2015457,"cg_dw":49.7984543,"cg_id_a":0.0272306427,"cg_id_raw_a":0.459676445,"cg_iq_a":-0.178080186,"cg_iq_raw_a":0.411658973,"cg_iu_a":0.0750210285,"cg_iv_a":-0.655722737,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9436359,"cg_sample_seq":14587217,"cg_sample_valid":1,"cg_theta_rad":5.00572157,"cg_vd_req_v":0.109890923,"cg_vd_v":0.109890923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33723703,"cg_vq_v":-0.33723703,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.654140472,"dclink_p_w":94.3824997,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.202393,"values":{"Elec_RPM":-2.59240216e-43,"EncoderCos":38736,"EncoderSin":12453,"GapTicks":54775,"Mech_RPM":-5.18480432e-44,"cg_du":50.1053772,"cg_dv":50.2037735,"cg_dw":49.7962265,"cg_id_a":-0.20862481,"cg_id_raw_a":-0.228744775,"cg_iq_a":-0.11928466,"cg_iq_raw_a":0.379495919,"cg_iu_a":0.038777113,"cg_iv_a":-0.329528272,"cg_iw_a":0.290751159,"cg_sample_age_us":23.9872723,"cg_sample_seq":14587267,"cg_sample_valid":1,"cg_theta_rad":5.00801706,"cg_vd_req_v":0.114642009,"cg_vd_v":0.114642009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336385995,"cg_vq_v":-0.336385995,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.57802844,"dclink_p_w":83.6549683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.210205,"values":{"Elec_RPM":-2.52233724e-43,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-5.04467447e-44,"cg_du":50.1085777,"cg_dv":50.2023888,"cg_dw":49.7976112,"cg_id_a":-0.0912002847,"cg_id_raw_a":0.455672383,"cg_iq_a":-0.172527909,"cg_iq_raw_a":-0.391347229,"cg_iu_a":-0.39614892,"cg_iv_a":0.10539782,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9872723,"cg_sample_seq":14587317,"cg_sample_valid":1,"cg_theta_rad":5.00676346,"cg_vd_req_v":0.111853182,"cg_vd_v":0.111853182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335941285,"cg_vq_v":-0.335941285,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.218018,"values":{"Elec_RPM":-2.52233724e-43,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-5.04467447e-44,"cg_du":50.1205788,"cg_dv":50.2031555,"cg_dw":49.7968445,"cg_id_a":0.38362661,"cg_id_raw_a":0.0239490494,"cg_iq_a":0.129300252,"cg_iq_raw_a":0.148850322,"cg_iu_a":0.147508621,"cg_iv_a":0.866518259,"cg_iw_a":-1.01402688,"cg_sample_age_us":23.9400005,"cg_sample_seq":14587367,"cg_sample_valid":1,"cg_theta_rad":5.00713253,"cg_vd_req_v":0.103280351,"cg_vd_v":0.103280351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343698055,"cg_vq_v":-0.343698055,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.642395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.22583,"values":{"Elec_RPM":-2.45227231e-43,"EncoderCos":38711,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-4.90454463e-44,"cg_du":50.1140213,"cg_dv":50.2047157,"cg_dw":49.7952843,"cg_id_a":0.0528310463,"cg_id_raw_a":-0.057748612,"cg_iq_a":0.0229968727,"cg_iq_raw_a":-0.2964077,"cg_iu_a":0.256240368,"cg_iv_a":0.612811387,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.8490906,"cg_sample_seq":14587416,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.11051555,"cg_vd_v":0.11051555,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341943115,"cg_vq_v":-0.341943115,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.181158423,"dclink_p_w":26.2180901,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.253174,"values":{"Elec_RPM":-2.45227231e-43,"EncoderCos":38735,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-4.90454463e-44,"cg_du":50.1066513,"cg_dv":50.2053223,"cg_dw":49.7946777,"cg_id_a":-0.0992054343,"cg_id_raw_a":-0.317405641,"cg_iq_a":-0.0815992728,"cg_iq_raw_a":0.881060541,"cg_iu_a":0.328727961,"cg_iv_a":0.431592226,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.863636,"cg_sample_seq":14587470,"cg_sample_valid":1,"cg_theta_rad":5.00769472,"cg_vd_req_v":0.114703469,"cg_vd_v":0.114703469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339356273,"cg_vq_v":-0.339356273,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.4312897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.264893,"values":{"Elec_RPM":-2.38220739e-43,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54773,"Mech_RPM":-4.76441478e-44,"cg_du":50.1085091,"cg_dv":50.2061424,"cg_dw":49.7938576,"cg_id_a":0.0960474908,"cg_id_raw_a":-0.234023184,"cg_iq_a":-0.044708278,"cg_iq_raw_a":-0.423553973,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8527279,"cg_sample_seq":14587516,"cg_sample_valid":1,"cg_theta_rad":5.00640821,"cg_vd_req_v":0.110449366,"cg_vd_v":0.110449366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341173649,"cg_vq_v":-0.338853776,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6439514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.272705,"values":{"Elec_RPM":-2.38220739e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-4.76441478e-44,"cg_du":50.1090469,"cg_dv":50.2060547,"cg_dw":49.7939453,"cg_id_a":-0.0571718179,"cg_id_raw_a":0.340527922,"cg_iq_a":-0.0954536274,"cg_iq_raw_a":-0.293816835,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9254551,"cg_sample_seq":14587566,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.114626713,"cg_vd_v":0.114626713,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341325343,"cg_vq_v":-0.341325343,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6439514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.280518,"values":{"Elec_RPM":-2.31214247e-43,"EncoderCos":38721,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-4.62428493e-44,"cg_du":50.1077614,"cg_dv":50.2014542,"cg_dw":49.7985458,"cg_id_a":0.150254831,"cg_id_raw_a":0.361112535,"cg_iq_a":-0.321206003,"cg_iq_raw_a":-0.073438704,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8709087,"cg_sample_seq":14587617,"cg_sample_valid":1,"cg_theta_rad":5.00595856,"cg_vd_req_v":0.111399718,"cg_vd_v":0.111399718,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335399628,"cg_vq_v":-0.335399628,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.6097832,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6548157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.28833,"values":{"Elec_RPM":-2.31214247e-43,"EncoderCos":38738,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-4.62428493e-44,"cg_du":50.1081085,"cg_dv":50.2067909,"cg_dw":49.7932091,"cg_id_a":0.00132306293,"cg_id_raw_a":-0.142940551,"cg_iq_a":0.010289548,"cg_iq_raw_a":-0.303883702,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129269,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9872723,"cg_sample_seq":14587667,"cg_sample_valid":1,"cg_theta_rad":5.00830841,"cg_vd_req_v":0.11537791,"cg_vd_v":0.11537791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343197674,"cg_vq_v":-0.343197674,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.642395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.296143,"values":{"Elec_RPM":-2.24207754e-43,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54773,"Mech_RPM":-4.48415509e-44,"cg_du":50.1044502,"cg_dv":50.205658,"cg_dw":49.794342,"cg_id_a":-0.231538624,"cg_id_raw_a":-0.0207448285,"cg_iq_a":-0.132871449,"cg_iq_raw_a":-0.0376432724,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9799995,"cg_sample_seq":14587717,"cg_sample_valid":1,"cg_theta_rad":5.00543022,"cg_vd_req_v":0.118064754,"cg_vd_v":0.118064754,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33813554,"cg_vq_v":-0.33813554,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.642395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.303955,"values":{"Elec_RPM":-2.24207754e-43,"EncoderCos":38712,"EncoderSin":12456,"GapTicks":54771,"Mech_RPM":-4.48415509e-44,"cg_du":50.1118927,"cg_dv":50.2077446,"cg_dw":49.7922554,"cg_id_a":0.00463633984,"cg_id_raw_a":-0.169213593,"cg_iq_a":0.19259426,"cg_iq_raw_a":0.60303849,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.474503517,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9763641,"cg_sample_seq":14587767,"cg_sample_valid":1,"cg_theta_rad":5.00547218,"cg_vd_req_v":0.115178637,"cg_vd_v":0.115178637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344838381,"cg_vq_v":-0.344838381,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6346741,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105342187,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.315674,"values":{"Elec_RPM":-2.17201262e-43,"EncoderCos":38698,"EncoderSin":12447,"GapTicks":54765,"Mech_RPM":-4.34402524e-44,"cg_du":50.1122017,"cg_dv":50.2136002,"cg_dw":49.7863998,"cg_id_a":-0.293756634,"cg_id_raw_a":0.0576497912,"cg_iq_a":0.526970506,"cg_iq_raw_a":1.02716947,"cg_iu_a":0.509947062,"cg_iv_a":-0.257040501,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9618187,"cg_sample_seq":14587817,"cg_sample_valid":1,"cg_theta_rad":5.00660706,"cg_vd_req_v":0.121993579,"cg_vd_v":0.121993579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352493137,"cg_vq_v":-0.352493137,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.323486,"values":{"Elec_RPM":-2.17201262e-43,"EncoderCos":38692,"EncoderSin":12487,"GapTicks":54764,"Mech_RPM":-4.34402524e-44,"cg_du":50.1100616,"cg_dv":50.2139664,"cg_dw":49.7860336,"cg_id_a":-0.401207596,"cg_id_raw_a":-0.641221941,"cg_iq_a":0.39695555,"cg_iq_raw_a":0.88206929,"cg_iu_a":-0.142441988,"cg_iv_a":-0.438259721,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8709087,"cg_sample_seq":14587867,"cg_sample_valid":1,"cg_theta_rad":5.00607777,"cg_vd_req_v":0.12353868,"cg_vd_v":0.12353868,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351951092,"cg_vq_v":-0.351951092,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.331299,"values":{"Elec_RPM":-2.1019477e-43,"EncoderCos":38703,"EncoderSin":12445,"GapTicks":54770,"Mech_RPM":-4.20389539e-44,"cg_du":50.1132088,"cg_dv":50.2088509,"cg_dw":49.7911491,"cg_id_a":-0.0183532238,"cg_id_raw_a":0.0328946374,"cg_iq_a":0.144995749,"cg_iq_raw_a":0.2592659,"cg_iu_a":-0.613611698,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14587917,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.116202049,"cg_vd_v":0.116202049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346760452,"cg_vq_v":-0.346760452,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.358643,"values":{"Elec_RPM":-2.1019477e-43,"EncoderCos":38754,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-4.20389539e-44,"cg_du":50.107193,"cg_dv":50.2098846,"cg_dw":49.7901154,"cg_id_a":-0.0650519058,"cg_id_raw_a":0.235690176,"cg_iq_a":0.149250209,"cg_iq_raw_a":-0.0867976472,"cg_iu_a":0.79989779,"cg_iv_a":0.0691540241,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9472733,"cg_sample_seq":14587970,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.117868125,"cg_vd_v":0.117868125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34616074,"cg_vq_v":-0.34616074,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.628994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.9423218,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.366455,"values":{"Elec_RPM":-2.03188277e-43,"EncoderCos":38717,"EncoderSin":12493,"GapTicks":54762,"Mech_RPM":-4.06376555e-44,"cg_du":50.1135406,"cg_dv":50.2159195,"cg_dw":49.7840805,"cg_id_a":-0.24632515,"cg_id_raw_a":-0.215083808,"cg_iq_a":0.560439706,"cg_iq_raw_a":-0.202097192,"cg_iu_a":-0.287417173,"cg_iv_a":0.685299158,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9509087,"cg_sample_seq":14588017,"cg_sample_valid":1,"cg_theta_rad":5.00721884,"cg_vd_req_v":0.120554715,"cg_vd_v":0.120554715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357304186,"cg_vq_v":-0.357304186,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6439514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.378174,"values":{"Elec_RPM":-2.03188277e-43,"EncoderCos":38714,"EncoderSin":12449,"GapTicks":54772,"Mech_RPM":-4.06376555e-44,"cg_du":50.1058731,"cg_dv":50.2069511,"cg_dw":49.7930489,"cg_id_a":-0.17007488,"cg_id_raw_a":-0.282318681,"cg_iq_a":-0.389316201,"cg_iq_raw_a":0.263815165,"cg_iu_a":0.14750886,"cg_iv_a":0.322860837,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9872723,"cg_sample_seq":14588067,"cg_sample_valid":1,"cg_theta_rad":5.00693798,"cg_vd_req_v":0.119127601,"cg_vd_v":0.119127601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340370655,"cg_vq_v":-0.340370655,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.385986,"values":{"Elec_RPM":-1.96181785e-43,"EncoderCos":38726,"EncoderSin":12486,"GapTicks":54768,"Mech_RPM":-3.9236357e-44,"cg_du":50.1024208,"cg_dv":50.2100983,"cg_dw":49.7899017,"cg_id_a":-0.280783266,"cg_id_raw_a":0.0831101611,"cg_iq_a":-0.282587588,"cg_iq_raw_a":-0.246133164,"cg_iu_a":0.0387773514,"cg_iv_a":0.214129269,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9145451,"cg_sample_seq":14588117,"cg_sample_valid":1,"cg_theta_rad":5.00655937,"cg_vd_req_v":0.123093478,"cg_vd_v":0.123093478,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343346506,"cg_vq_v":-0.343346506,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6734619,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.393799,"values":{"Elec_RPM":-1.89175293e-43,"EncoderCos":38718,"EncoderSin":12435,"GapTicks":54769,"Mech_RPM":-3.78350585e-44,"cg_du":50.1160545,"cg_dv":50.2094002,"cg_dw":49.7905998,"cg_id_a":0.0965066254,"cg_id_raw_a":0.222693756,"cg_iq_a":0.156025335,"cg_iq_raw_a":0.678906202,"cg_iu_a":0.219996452,"cg_iv_a":0.540323734,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.8563633,"cg_sample_seq":14588267,"cg_sample_valid":1,"cg_theta_rad":5.0075717,"cg_vd_req_v":0.113562778,"cg_vd_v":0.113562778,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349422783,"cg_vq_v":-0.349422783,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.308133245,"dclink_p_w":-44.5944786,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.401611,"values":{"Elec_RPM":-1.821688e-43,"EncoderCos":38702,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-3.64337601e-44,"cg_du":50.1084404,"cg_dv":50.2030067,"cg_dw":49.7969933,"cg_id_a":0.0403690375,"cg_id_raw_a":-0.291116744,"cg_iq_a":-0.432875574,"cg_iq_raw_a":-1.52221918,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9509087,"cg_sample_seq":14588316,"cg_sample_valid":1,"cg_theta_rad":5.00711346,"cg_vd_req_v":0.11344251,"cg_vd_v":0.11344251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336403847,"cg_vq_v":-0.336403847,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6719055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.409424,"values":{"Elec_RPM":-1.821688e-43,"EncoderCos":38696,"EncoderSin":12450,"GapTicks":54778,"Mech_RPM":-3.64337601e-44,"cg_du":50.1168022,"cg_dv":50.2011032,"cg_dw":49.7988968,"cg_id_a":0.388678879,"cg_id_raw_a":0.257487655,"cg_iq_a":-0.237252265,"cg_iq_raw_a":-0.482429415,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14588366,"cg_sample_valid":1,"cg_theta_rad":5.00915289,"cg_vd_req_v":0.106220588,"cg_vd_v":0.106220588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338172197,"cg_vq_v":-0.338172197,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6719055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1139793,"cg_dv":50.2048912,"cg_dw":49.7951088,"cg_id_a":0.00883118808,"cg_id_raw_a":-0.056127023,"cg_iq_a":-0.0804836601,"cg_iq_raw_a":0.505116284,"cg_iu_a":0.401215553,"cg_iv_a":-0.293284416,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9509087,"cg_sample_seq":14588416,"cg_sample_valid":1,"cg_theta_rad":5.00716257,"cg_vd_req_v":0.112383366,"cg_vd_v":0.112383366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342766732,"cg_vq_v":-0.342766732,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6501465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1074677,"cg_dv":50.2015343,"cg_dw":49.7984657,"cg_id_a":-0.0258294046,"cg_id_raw_a":-0.384218335,"cg_iq_a":-0.392975122,"cg_iq_raw_a":0.474376082,"cg_iu_a":0.401215553,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.863636,"cg_sample_seq":14588471,"cg_sample_valid":1,"cg_theta_rad":5.00768328,"cg_vd_req_v":0.110365666,"cg_vd_v":0.110365666,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334665,"cg_vq_v":-0.334665,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12492,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1175232,"cg_dv":50.2084656,"cg_dw":49.7915344,"cg_id_a":0.00699670427,"cg_id_raw_a":0.273299515,"cg_iq_a":0.329321623,"cg_iq_raw_a":1.0469656,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9799995,"cg_sample_seq":14588517,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.109956369,"cg_vd_v":0.109956369,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348302394,"cg_vq_v":-0.348302394,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2644.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12483,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.118618,"cg_dv":50.2119217,"cg_dw":49.7880783,"cg_id_a":-0.114831164,"cg_id_raw_a":-0.145590425,"cg_iq_a":0.435607076,"cg_iq_raw_a":-0.0501922034,"cg_iu_a":-0.142441988,"cg_iv_a":-0.655722618,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9799995,"cg_sample_seq":14588566,"cg_sample_valid":1,"cg_theta_rad":5.00674772,"cg_vd_req_v":0.113815442,"cg_vd_v":0.113815442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354353935,"cg_vq_v":-0.354353935,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.642395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1065979,"cg_dv":50.2005692,"cg_dw":49.7994308,"cg_id_a":-0.0466925576,"cg_id_raw_a":0.371360868,"cg_iq_a":-0.686297894,"cg_iq_raw_a":0.0377083421,"cg_iu_a":0.981116891,"cg_iv_a":0.214129329,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.9436359,"cg_sample_seq":14588616,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.11192546,"cg_vd_v":0.11192546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332260549,"cg_vq_v":-0.332260549,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38674,"EncoderSin":12446,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1109161,"cg_dv":50.1982155,"cg_dw":49.8017845,"cg_id_a":0.0615746789,"cg_id_raw_a":0.549258471,"cg_iq_a":-0.87562412,"cg_iq_raw_a":-0.813872695,"cg_iu_a":0.509947062,"cg_iv_a":0.322860718,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9509087,"cg_sample_seq":14588666,"cg_sample_valid":1,"cg_theta_rad":5.00579357,"cg_vd_req_v":0.109726422,"cg_vd_v":0.109726422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330355823,"cg_vq_v":-0.330355823,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1121368,"cg_dv":50.2096214,"cg_dw":49.7903786,"cg_id_a":-0.0332852304,"cg_id_raw_a":0.0493540876,"cg_iq_a":0.0429172069,"cg_iq_raw_a":0.114404581,"cg_iu_a":-0.468636513,"cg_iv_a":-0.402015924,"cg_iw_a":0.870652437,"cg_sample_age_us":23.9872723,"cg_sample_seq":14588716,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.113103159,"cg_vd_v":0.113103159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348752052,"cg_vq_v":-0.348752052,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.3641853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12501,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225586,"cg_dv":50.2134781,"cg_dw":49.7865219,"cg_id_a":0.201462135,"cg_id_raw_a":-0.0595075116,"cg_iq_a":0.602763295,"cg_iq_raw_a":-0.296059579,"cg_iu_a":0.256240129,"cg_iv_a":0.105397701,"cg_iw_a":-0.361637831,"cg_sample_age_us":24.0418186,"cg_sample_seq":14588766,"cg_sample_valid":1,"cg_theta_rad":5.00734997,"cg_vd_req_v":0.110584587,"cg_vd_v":0.110584587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360393345,"cg_vq_v":-0.360393345,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.3641853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12451,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1131706,"cg_dv":50.1971779,"cg_dw":49.8028221,"cg_id_a":0.563251138,"cg_id_raw_a":0.052714847,"cg_iq_a":-0.88082397,"cg_iq_raw_a":-0.139595821,"cg_iu_a":0.473703146,"cg_iv_a":0.141641617,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9836369,"cg_sample_seq":14588816,"cg_sample_valid":1,"cg_theta_rad":5.00661182,"cg_vd_req_v":0.103899516,"cg_vd_v":0.103899516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331215113,"cg_vq_v":-0.331215113,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.0530472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1072731,"cg_dv":50.2079239,"cg_dw":49.7920761,"cg_id_a":-0.222632855,"cg_id_raw_a":0.0639802366,"cg_iq_a":-0.266952544,"cg_iq_raw_a":-0.466327816,"cg_iu_a":1.1260922,"cg_iv_a":0.0329101086,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9436359,"cg_sample_seq":14588866,"cg_sample_valid":1,"cg_theta_rad":5.00775003,"cg_vd_req_v":0.118572742,"cg_vd_v":0.118572742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342617899,"cg_vq_v":-0.342617899,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.5550594,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6315613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12467,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1135139,"cg_dv":50.2118149,"cg_dw":49.7881851,"cg_id_a":-0.125711054,"cg_id_raw_a":-0.361586928,"cg_iq_a":0.0789703727,"cg_iq_raw_a":-0.618553519,"cg_iu_a":0.872385502,"cg_iv_a":0.21412921,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9799995,"cg_sample_seq":14588916,"cg_sample_valid":1,"cg_theta_rad":5.00696325,"cg_vd_req_v":0.118016981,"cg_vd_v":0.118016981,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35123226,"cg_vq_v":-0.35123226,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.7706318,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6315613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12477,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.111042,"cg_dv":50.2122536,"cg_dw":49.7877464,"cg_id_a":-0.0836420059,"cg_id_raw_a":-0.195842877,"cg_iq_a":-0.0434998721,"cg_iq_raw_a":-0.417742848,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539645,"cg_iw_a":0.218263209,"cg_sample_age_us":23.8527279,"cg_sample_seq":14588971,"cg_sample_valid":1,"cg_theta_rad":5.00722647,"cg_vd_req_v":0.117509209,"cg_vd_v":0.117509209,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351406217,"cg_vq_v":-0.351406217,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.1544075,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6191406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12464,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1313095,"cg_dv":50.2197762,"cg_dw":49.7802238,"cg_id_a":0.105061382,"cg_id_raw_a":0.0266526155,"cg_iq_a":0.967552722,"cg_iq_raw_a":-0.287939429,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885413,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9218178,"cg_sample_seq":14589017,"cg_sample_valid":1,"cg_theta_rad":5.00655556,"cg_vd_req_v":0.113122888,"cg_vd_v":0.113122888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371680498,"cg_vq_v":-0.371680498,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12469,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154251,"cg_dv":50.2161713,"cg_dw":49.7838287,"cg_id_a":-0.158164859,"cg_id_raw_a":0.180653065,"cg_iq_a":0.4677248,"cg_iq_raw_a":0.0542210117,"cg_iu_a":-1.12102532,"cg_iv_a":-1.19938016,"cg_iw_a":2.32040548,"cg_sample_age_us":23.9872723,"cg_sample_seq":14589067,"cg_sample_valid":1,"cg_theta_rad":5.00706339,"cg_vd_req_v":0.118725672,"cg_vd_v":0.118725672,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360112906,"cg_vq_v":-0.360112906,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146736,"cg_dv":50.2072372,"cg_dw":49.7927628,"cg_id_a":0.13711679,"cg_id_raw_a":0.16313903,"cg_iq_a":-0.023185879,"cg_iq_raw_a":0.0169546939,"cg_iu_a":0.908629179,"cg_iv_a":0.322860718,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.9872723,"cg_sample_seq":14589117,"cg_sample_valid":1,"cg_theta_rad":5.00820923,"cg_vd_req_v":0.112305671,"cg_vd_v":0.112305671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346950471,"cg_vq_v":-0.346950471,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":0.30076313,"dclink_p_w":43.6601448,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1056557,"cg_dv":50.2013779,"cg_dw":49.7986221,"cg_id_a":0.0247971341,"cg_id_raw_a":0.572162747,"cg_iq_a":-0.379504353,"cg_iq_raw_a":-0.487299621,"cg_iu_a":-0.251173258,"cg_iv_a":0.359104574,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9763641,"cg_sample_seq":14589167,"cg_sample_valid":1,"cg_theta_rad":5.00614929,"cg_vd_req_v":0.114324942,"cg_vd_v":0.114324942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332529843,"cg_vq_v":-0.332529843,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.4873085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12440,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1074944,"cg_dv":50.2092209,"cg_dw":49.7907791,"cg_id_a":-0.323678106,"cg_id_raw_a":-0.500327647,"cg_iq_a":0.259384036,"cg_iq_raw_a":0.932545781,"cg_iu_a":0.799897909,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9872723,"cg_sample_seq":14589217,"cg_sample_valid":1,"cg_theta_rad":5.00721455,"cg_vd_req_v":0.121305123,"cg_vd_v":0.121305123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343932211,"cg_vq_v":-0.343932211,"cg_vu_v":102.494972,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12493,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1078796,"cg_dv":50.2022667,"cg_dw":49.7977333,"cg_id_a":0.119913667,"cg_id_raw_a":0.513793826,"cg_iq_a":-0.187495232,"cg_iq_raw_a":0.0867485255,"cg_iu_a":-0.142441988,"cg_iv_a":0.467836142,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14589267,"cg_sample_valid":1,"cg_theta_rad":5.0075345,"cg_vd_req_v":0.111588717,"cg_vd_v":0.111588717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33561185,"cg_vq_v":-0.33561185,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.4456596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.106678,"cg_dv":50.2013512,"cg_dw":49.7986488,"cg_id_a":0.0895245075,"cg_id_raw_a":0.176265121,"cg_iq_a":-0.254546642,"cg_iq_raw_a":-0.564989328,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796824,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9509087,"cg_sample_seq":14589317,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.111106858,"cg_vd_v":0.111106858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333875686,"cg_vq_v":-0.333875686,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.107296,"cg_dv":50.2110214,"cg_dw":49.7889786,"cg_id_a":-0.412133187,"cg_id_raw_a":-1.55675888,"cg_iq_a":0.35174495,"cg_iq_raw_a":2.54285908,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9872723,"cg_sample_seq":14589367,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.121165238,"cg_vd_v":0.121165238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346979469,"cg_vq_v":-0.346979469,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6393127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1115913,"cg_dv":50.2070122,"cg_dw":49.7929878,"cg_id_a":-0.0429650657,"cg_id_raw_a":0.249454722,"cg_iq_a":0.0243763328,"cg_iq_raw_a":1.44687045,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14589417,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.114991575,"cg_vd_v":0.114991575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343579322,"cg_vq_v":-0.343579322,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6300049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12455,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1131744,"cg_dv":50.205761,"cg_dw":49.794239,"cg_id_a":0.00060808938,"cg_id_raw_a":0.387546092,"cg_iq_a":-0.14411445,"cg_iq_raw_a":-0.724086285,"cg_iu_a":-0.359905005,"cg_iv_a":-0.184552908,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9581814,"cg_sample_seq":14589467,"cg_sample_valid":1,"cg_theta_rad":5.00716925,"cg_vd_req_v":0.113430843,"cg_vd_v":0.113430843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342478424,"cg_vq_v":-0.342478424,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16134584,"dclink_p_w":-23.3507214,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6300049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146545,"cg_dv":50.2146988,"cg_dw":49.7853012,"cg_id_a":-0.263093203,"cg_id_raw_a":-0.0240054373,"cg_iq_a":0.567131698,"cg_iq_raw_a":0.216965705,"cg_iu_a":-0.541124105,"cg_iv_a":0.105397701,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14589520,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.117819376,"cg_vd_v":0.117819376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356489688,"cg_vq_v":-0.356489688,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.11269,"cg_dv":50.2132874,"cg_dw":49.7867126,"cg_id_a":-0.237341821,"cg_id_raw_a":0.194281951,"cg_iq_a":0.423684299,"cg_iq_raw_a":-0.0900381431,"cg_iu_a":0.618678689,"cg_iv_a":0.177885473,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9218178,"cg_sample_seq":14589666,"cg_sample_valid":1,"cg_theta_rad":5.00745249,"cg_vd_req_v":0.118223503,"cg_vd_v":0.118223503,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354590654,"cg_vq_v":-0.354590654,"cg_vu_v":139.445938,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12440,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150894,"cg_dv":50.2121849,"cg_dw":49.7878151,"cg_id_a":-0.196528971,"cg_id_raw_a":-0.0763469413,"cg_iq_a":0.299812526,"cg_iq_raw_a":0.102693722,"cg_iu_a":-0.323661089,"cg_iv_a":0.250373125,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14589717,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.11582803,"cg_vd_v":0.11582803,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354246557,"cg_vq_v":-0.354246557,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.2596588,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00216525514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12446,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1217346,"cg_dv":50.2104759,"cg_dw":49.7895241,"cg_id_a":0.0470051318,"cg_id_raw_a":-0.274665684,"cg_iq_a":0.178802729,"cg_iq_raw_a":0.192259997,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641557,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14589767,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.109413527,"cg_vd_v":0.109413527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354314446,"cg_vq_v":-0.354314446,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12454,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.124691,"cg_dv":50.2108727,"cg_dw":49.7891273,"cg_id_a":0.106390283,"cg_id_raw_a":-0.108380973,"cg_iq_a":0.110929459,"cg_iq_raw_a":0.208511263,"cg_iu_a":-0.50488019,"cg_iv_a":0.39534843,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8563633,"cg_sample_seq":14589816,"cg_sample_valid":1,"cg_theta_rad":5.00455809,"cg_vd_req_v":0.108014628,"cg_vd_v":0.108014628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356354892,"cg_vq_v":-0.356354892,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.7405062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216393,"cg_dv":50.2066917,"cg_dw":49.7933083,"cg_id_a":0.21022357,"cg_id_raw_a":0.27736181,"cg_iq_a":-0.316143543,"cg_iq_raw_a":0.355530858,"cg_iu_a":0.61867857,"cg_iv_a":0.177885413,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.8454552,"cg_sample_seq":14589866,"cg_sample_valid":1,"cg_theta_rad":5.00792503,"cg_vd_req_v":0.105390854,"cg_vd_v":0.105390854,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349247932,"cg_vq_v":-0.349247932,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5801086,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12439,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308212,"cg_dv":50.2172203,"cg_dw":49.7827797,"cg_id_a":-0.0323691517,"cg_id_raw_a":0.378516465,"cg_iq_a":0.525975704,"cg_iq_raw_a":-0.0345620327,"cg_iu_a":-0.468636513,"cg_iv_a":-0.619478941,"cg_iw_a":1.08811545,"cg_sample_age_us":23.9763641,"cg_sample_seq":14589916,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.109033518,"cg_vd_v":0.109033518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368531197,"cg_vq_v":-0.368531197,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315689,"cg_dv":50.2122803,"cg_dw":49.7877197,"cg_id_a":0.152941421,"cg_id_raw_a":0.535313845,"cg_iq_a":0.17879647,"cg_iq_raw_a":-0.566103756,"cg_iu_a":0.14750886,"cg_iv_a":0.105397761,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9872723,"cg_sample_seq":14589966,"cg_sample_valid":1,"cg_theta_rad":5.01000357,"cg_vd_req_v":0.103382669,"cg_vd_v":0.103382669,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363506913,"cg_vq_v":-0.363506913,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2840672,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12424,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286621,"cg_dv":50.2127609,"cg_dw":49.7872391,"cg_id_a":-0.0182039589,"cg_id_raw_a":0.388720691,"cg_iq_a":0.0526613593,"cg_iq_raw_a":0.0752202123,"cg_iu_a":-0.287417173,"cg_iv_a":-0.728210449,"cg_iw_a":1.01562762,"cg_sample_age_us":26.823637,"cg_sample_seq":14590020,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.10593114,"cg_vd_v":0.10593114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361393541,"cg_vq_v":-0.361393541,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.9301853,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6362305,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428032,"cg_dv":50.2102394,"cg_dw":49.7897606,"cg_id_a":0.434218973,"cg_id_raw_a":0.490738928,"cg_iq_a":0.308568567,"cg_iq_raw_a":-0.314292729,"cg_iu_a":-0.686099529,"cg_iv_a":-0.0758213997,"cg_iw_a":0.761920929,"cg_sample_age_us":23.954546,"cg_sample_seq":14590067,"cg_sample_valid":1,"cg_theta_rad":5.00606871,"cg_vd_req_v":0.093258895,"cg_vd_v":0.093258895,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365686089,"cg_vq_v":-0.365686089,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1299782,"cg_dv":50.2078018,"cg_dw":49.7921982,"cg_id_a":0.0451939814,"cg_id_raw_a":-0.291784585,"cg_iq_a":-0.0677528679,"cg_iq_raw_a":0.154426798,"cg_iu_a":0.364971876,"cg_iv_a":0.685299158,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9909096,"cg_sample_seq":14590117,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0996936634,"cg_vd_v":0.0996936634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354338855,"cg_vq_v":-0.354338855,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2644.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12451,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294098,"cg_dv":50.2065468,"cg_dw":49.7934532,"cg_id_a":-0.0241759084,"cg_id_raw_a":-0.0518281758,"cg_iq_a":0.016255673,"cg_iq_raw_a":-0.551067173,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14590167,"cg_sample_valid":1,"cg_theta_rad":5.00800323,"cg_vd_req_v":0.101134777,"cg_vd_v":0.101134777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352847278,"cg_vq_v":-0.352847278,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.966156,"temp_inv2_c":35.6346741,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267395,"cg_dv":50.2067909,"cg_dw":49.7932091,"cg_id_a":0.0217763111,"cg_id_raw_a":0.0658643395,"cg_iq_a":0.120550901,"cg_iq_raw_a":0.152849048,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885413,"cg_iw_a":0.109531999,"cg_sample_age_us":23.863636,"cg_sample_seq":14590217,"cg_sample_valid":1,"cg_theta_rad":5.00667667,"cg_vd_req_v":0.101373971,"cg_vd_v":0.101373971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352277219,"cg_vq_v":-0.352277219,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12482,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1165848,"cg_dv":50.2047424,"cg_dw":49.7952576,"cg_id_a":-0.322627485,"cg_id_raw_a":0.0148686804,"cg_iq_a":-0.251411885,"cg_iq_raw_a":0.475459397,"cg_iu_a":0.546190858,"cg_iv_a":-0.438259721,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9799995,"cg_sample_seq":14590267,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.106720239,"cg_vd_v":0.106720239,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345140934,"cg_vq_v":-0.345140934,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6377563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12429,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250381,"cg_dv":50.205307,"cg_dw":49.794693,"cg_id_a":-0.16734004,"cg_id_raw_a":0.167079017,"cg_iq_a":0.057263419,"cg_iq_raw_a":0.382632703,"cg_iu_a":0.328727961,"cg_iv_a":-0.184552908,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14590317,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.104102604,"cg_vd_v":0.104102604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349626452,"cg_vq_v":-0.349626452,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.3694153,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12451,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1170464,"cg_dv":50.2028847,"cg_dw":49.7971153,"cg_id_a":-0.361228704,"cg_id_raw_a":-0.76757741,"cg_iq_a":-0.21682933,"cg_iq_raw_a":0.0683542937,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641557,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9181824,"cg_sample_seq":14590367,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.107153788,"cg_vd_v":0.107153788,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342058659,"cg_vq_v":-0.342058659,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.186594963,"dclink_p_w":27.0869732,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12497,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1248016,"cg_dv":50.2089043,"cg_dw":49.7910957,"cg_id_a":-0.193384081,"cg_id_raw_a":0.010265368,"cg_iq_a":0.347095579,"cg_iq_raw_a":0.29310438,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691540241,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9872723,"cg_sample_seq":14590417,"cg_sample_valid":1,"cg_theta_rad":5.00817156,"cg_vd_req_v":0.104885072,"cg_vd_v":0.104885072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354081661,"cg_vq_v":-0.354081661,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6486206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12446,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1340714,"cg_dv":50.2051201,"cg_dw":49.7948799,"cg_id_a":0.285978317,"cg_id_raw_a":-0.123620227,"cg_iq_a":0.264993608,"cg_iq_raw_a":-0.266719669,"cg_iu_a":0.727410078,"cg_iv_a":0.685299158,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.8563633,"cg_sample_seq":14590467,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0954937562,"cg_vd_v":0.0954937562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353716731,"cg_vq_v":-0.353716731,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.733998299,"dclink_p_w":-106.227654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12471,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1217384,"cg_dv":50.2000084,"cg_dw":49.7999916,"cg_id_a":0.183243111,"cg_id_raw_a":0.580883145,"cg_iq_a":-0.482888758,"cg_iq_raw_a":-1.7652303,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8600006,"cg_sample_seq":14590521,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0973255113,"cg_vd_v":0.0973255113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340647221,"cg_vq_v":-0.340647221,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6455078,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12440,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263123,"cg_dv":50.2047119,"cg_dw":49.7952881,"cg_id_a":-0.0534646846,"cg_id_raw_a":-0.306680799,"cg_iq_a":-0.0686002374,"cg_iq_raw_a":0.297871292,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0395774841,"cg_iw_a":0.508213997,"cg_sample_age_us":23.954546,"cg_sample_seq":14590566,"cg_sample_valid":1,"cg_theta_rad":5.00619984,"cg_vd_req_v":0.100836784,"cg_vd_v":0.100836784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348882526,"cg_vq_v":-0.348882526,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6315613,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267281,"cg_dv":50.2029343,"cg_dw":49.7970657,"cg_id_a":0.109551944,"cg_id_raw_a":-0.181664914,"cg_iq_a":0.0287548006,"cg_iq_raw_a":0.747788966,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.9436359,"cg_sample_seq":14590616,"cg_sample_valid":1,"cg_theta_rad":5.00819302,"cg_vd_req_v":0.0982082263,"cg_vd_v":0.0982082263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348003358,"cg_vq_v":-0.348003358,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.601708412,"dclink_p_w":-87.0820389,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1224251,"cg_dv":50.2029114,"cg_dw":49.7970886,"cg_id_a":-0.00393317267,"cg_id_raw_a":-0.0798556134,"cg_iq_a":-0.154212654,"cg_iq_raw_a":-0.0796658471,"cg_iu_a":0.038777113,"cg_iv_a":0.214129329,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9763641,"cg_sample_seq":14590666,"cg_sample_valid":1,"cg_theta_rad":5.00712013,"cg_vd_req_v":0.100890435,"cg_vd_v":0.100890435,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345750332,"cg_vq_v":-0.345750332,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.300884485,"dclink_p_w":-43.6777611,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6408691,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12473,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276398,"cg_dv":50.2065201,"cg_dw":49.7934799,"cg_id_a":-0.0167142153,"cg_id_raw_a":-0.195570529,"cg_iq_a":0.0811048001,"cg_iq_raw_a":0.892120838,"cg_iu_a":-0.577368021,"cg_iv_a":0.0691539645,"cg_iw_a":0.508214056,"cg_sample_age_us":23.954546,"cg_sample_seq":14590716,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.100602813,"cg_vd_v":0.100602813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352357596,"cg_vq_v":-0.352357596,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.373372197,"dclink_p_w":-54.0361633,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6501465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12463,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216927,"cg_dv":50.2054558,"cg_dw":49.7945442,"cg_id_a":-0.185894608,"cg_id_raw_a":-0.219452426,"cg_iq_a":-0.245473623,"cg_iq_raw_a":-0.821081042,"cg_iu_a":0.14750886,"cg_iv_a":-0.981917262,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9836369,"cg_sample_seq":14590766,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.103445292,"cg_vd_v":0.103445292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347806722,"cg_vq_v":-0.347806722,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.416864753,"dclink_p_w":-60.3306084,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6501465,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266289,"cg_dv":50.2027969,"cg_dw":49.7972031,"cg_id_a":0.0760536864,"cg_id_raw_a":0.332775652,"cg_iq_a":-0.155369923,"cg_iq_raw_a":0.215726271,"cg_iu_a":0.509947062,"cg_iv_a":1.04773736,"cg_iw_a":-1.55768442,"cg_sample_age_us":23.9472733,"cg_sample_seq":14590816,"cg_sample_valid":1,"cg_theta_rad":5.0068903,"cg_vd_req_v":0.0981431156,"cg_vd_v":0.0981431156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346627206,"cg_vq_v":-0.346627206,"cg_vu_v":40.4701157,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.338940501,"dclink_p_w":-49.0530472,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6036377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12472,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290932,"cg_dv":50.2020569,"cg_dw":49.7979431,"cg_id_a":0.201301277,"cg_id_raw_a":0.31953913,"cg_iq_a":-0.161853552,"cg_iq_raw_a":-0.514545977,"cg_iu_a":0.111264944,"cg_iv_a":-0.510747313,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9509087,"cg_sample_seq":14590866,"cg_sample_valid":1,"cg_theta_rad":5.00709295,"cg_vd_req_v":0.0947530791,"cg_vd_v":0.0947530791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347209126,"cg_vq_v":-0.347209126,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6284485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12530,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191444,"cg_dv":50.2034416,"cg_dw":49.7965584,"cg_id_a":-0.23938477,"cg_id_raw_a":-0.602970183,"cg_iq_a":-0.104633234,"cg_iq_raw_a":0.345051855,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129269,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9581814,"cg_sample_seq":14590916,"cg_sample_valid":1,"cg_theta_rad":5.00597525,"cg_vd_req_v":0.103079595,"cg_vd_v":0.103079595,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344902128,"cg_vq_v":-0.344902128,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.500225544,"dclink_p_w":-72.3949661,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6284485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2644.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12454,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277237,"cg_dv":50.2035446,"cg_dw":49.7964554,"cg_id_a":0.0998975411,"cg_id_raw_a":0.288207442,"cg_iq_a":0.0741372108,"cg_iq_raw_a":0.028047828,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9436359,"cg_sample_seq":14590966,"cg_sample_valid":1,"cg_theta_rad":5.00768757,"cg_vd_req_v":0.0968860909,"cg_vd_v":0.0968860909,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349711567,"cg_vq_v":-0.349711567,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.462169528,"dclink_p_w":-67.0906296,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2644.963549,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2644.963555,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2644.96356,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2644.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295776,"cg_dv":50.2029991,"cg_dw":49.7970009,"cg_id_a":0.0862446502,"cg_id_raw_a":0.143192917,"cg_iq_a":3.14014032e-05,"cg_iq_raw_a":-0.203378424,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8490906,"cg_sample_seq":14591021,"cg_sample_valid":1,"cg_theta_rad":5.00890446,"cg_vd_req_v":0.0966263413,"cg_vd_v":0.0966263413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348389238,"cg_vq_v":-0.348389238,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.469418287,"dclink_p_w":-67.9364014,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6439514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12529,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1265182,"cg_dv":50.1989098,"cg_dw":49.8010902,"cg_id_a":0.281757653,"cg_id_raw_a":-0.149576023,"cg_iq_a":-0.2905882,"cg_iq_raw_a":-0.231816858,"cg_iu_a":-0.106198072,"cg_iv_a":0.757786751,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9509087,"cg_sample_seq":14591067,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.0931543633,"cg_vd_v":0.0931543633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34163785,"cg_vq_v":-0.34163785,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.616205931,"dclink_p_w":-89.180191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6439514,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12455,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1224022,"cg_dv":50.2062798,"cg_dw":49.7937202,"cg_id_a":-0.177731067,"cg_id_raw_a":-0.638945222,"cg_iq_a":0.0104003698,"cg_iq_raw_a":0.883719802,"cg_iu_a":0.256240129,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8563633,"cg_sample_seq":14591117,"cg_sample_valid":1,"cg_theta_rad":5.00703669,"cg_vd_req_v":0.105463147,"cg_vd_v":0.105463147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348790973,"cg_vq_v":-0.348790973,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1285744,"cg_dv":50.2110023,"cg_dw":49.7889977,"cg_id_a":-0.0494587347,"cg_id_raw_a":0.260451853,"cg_iq_a":0.405956507,"cg_iq_raw_a":-0.119645737,"cg_iu_a":-0.577367783,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9872723,"cg_sample_seq":14591167,"cg_sample_valid":1,"cg_theta_rad":5.00749493,"cg_vd_req_v":0.103939503,"cg_vd_v":0.103939503,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359056354,"cg_vq_v":-0.359056354,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6594849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2644.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12442,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257858,"cg_dv":50.2112999,"cg_dw":49.7887001,"cg_id_a":-0.248800248,"cg_id_raw_a":-0.211158082,"cg_iq_a":0.250092506,"cg_iq_raw_a":0.598743439,"cg_iu_a":0.256240368,"cg_iv_a":-0.365772009,"cg_iw_a":0.109531641,"cg_sample_age_us":23.954546,"cg_sample_seq":14591216,"cg_sample_valid":1,"cg_theta_rad":5.00750875,"cg_vd_req_v":0.108279653,"cg_vd_v":0.108279653,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358521968,"cg_vq_v":-0.358521968,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.485728025,"dclink_p_w":-70.2968216,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6238098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1230278,"cg_dv":50.2075195,"cg_dw":49.7924805,"cg_id_a":-0.0861685574,"cg_id_raw_a":-0.683242142,"cg_iq_a":-0.117367834,"cg_iq_raw_a":-0.357490659,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9618187,"cg_sample_seq":14591266,"cg_sample_valid":1,"cg_theta_rad":5.00752878,"cg_vd_req_v":0.105660558,"cg_vd_v":0.105660558,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352148831,"cg_vq_v":-0.352148831,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257172,"cg_dv":50.2066002,"cg_dw":49.7933998,"cg_id_a":0.0132830366,"cg_id_raw_a":0.247191995,"cg_iq_a":-0.179436356,"cg_iq_raw_a":-0.411997736,"cg_iu_a":0.546190977,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9436359,"cg_sample_seq":14591316,"cg_sample_valid":1,"cg_theta_rad":5.00572968,"cg_vd_req_v":0.102619499,"cg_vd_v":0.102619499,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352420211,"cg_vq_v":-0.352420211,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.476667047,"dclink_p_w":-68.9854736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298065,"cg_dv":50.2093163,"cg_dw":49.7906837,"cg_id_a":-0.0296021663,"cg_id_raw_a":0.34211269,"cg_iq_a":0.0979696363,"cg_iq_raw_a":0.326841384,"cg_iu_a":0.473703384,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.954546,"cg_sample_seq":14591366,"cg_sample_valid":1,"cg_theta_rad":5.00589132,"cg_vd_req_v":0.102889836,"cg_vd_v":0.102889836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357011139,"cg_vq_v":-0.357011139,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2588,"hz_tim_isr":4999,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6517029,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294174,"cg_dv":50.2090187,"cg_dw":49.7909813,"cg_id_a":0.0121936873,"cg_id_raw_a":0.052884832,"cg_iq_a":0.10207849,"cg_iq_raw_a":-1.01365697,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9218178,"cg_sample_seq":14591416,"cg_sample_valid":1,"cg_theta_rad":5.00671196,"cg_vd_req_v":0.101439223,"cg_vd_v":0.101439223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356805682,"cg_vq_v":-0.356805682,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.135067,"cg_dv":50.2080421,"cg_dw":49.7919579,"cg_id_a":0.197850063,"cg_id_raw_a":0.616715074,"cg_iq_a":0.202054396,"cg_iq_raw_a":0.753097713,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9509087,"cg_sample_seq":14591466,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0963679254,"cg_vd_v":0.0963679254,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358563304,"cg_vq_v":-0.358563304,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186752,"cg_dv":50.2027702,"cg_dw":49.7972298,"cg_id_a":-0.123747572,"cg_id_raw_a":0.00300115393,"cg_iq_a":-0.548108578,"cg_iq_raw_a":-0.0717046708,"cg_iu_a":-1.55595136,"cg_iv_a":0.504079938,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9509087,"cg_sample_seq":14591521,"cg_sample_valid":1,"cg_theta_rad":5.00760889,"cg_vd_req_v":0.101178743,"cg_vd_v":0.101178743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343069971,"cg_vq_v":-0.343069971,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262207,"cg_dv":50.2015877,"cg_dw":49.7984123,"cg_id_a":0.0335148275,"cg_id_raw_a":0.0664502531,"cg_iq_a":-0.378197551,"cg_iq_raw_a":-0.284027725,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.954546,"cg_sample_seq":14591567,"cg_sample_valid":1,"cg_theta_rad":5.00714874,"cg_vd_req_v":0.097030744,"cg_vd_v":0.097030744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344824821,"cg_vq_v":-0.344824821,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6563721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283264,"cg_dv":50.2050514,"cg_dw":49.7949486,"cg_id_a":-0.106330298,"cg_id_raw_a":-0.440588504,"cg_iq_a":-0.056995213,"cg_iq_raw_a":-0.446203977,"cg_iu_a":-0.794831038,"cg_iv_a":0.141641617,"cg_iw_a":0.653189421,"cg_sample_age_us":23.954546,"cg_sample_seq":14591616,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.101428181,"cg_vd_v":0.101428181,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351101875,"cg_vq_v":-0.351101875,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6300049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117729455,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12503,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263504,"cg_dv":50.21278,"cg_dw":49.78722,"cg_id_a":-0.260861993,"cg_id_raw_a":-0.166183203,"cg_iq_a":0.309919953,"cg_iq_raw_a":0.167253658,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065256,"cg_iw_a":0.435726345,"cg_sample_age_us":23.8600006,"cg_sample_seq":14591668,"cg_sample_valid":1,"cg_theta_rad":5.00770283,"cg_vd_req_v":0.105975054,"cg_vd_v":0.105975054,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359463245,"cg_vq_v":-0.359463245,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.7204056,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1305199,"cg_dv":50.207119,"cg_dw":49.792881,"cg_id_a":0.0199586302,"cg_id_raw_a":0.444095463,"cg_iq_a":-0.0788285509,"cg_iq_raw_a":0.556672037,"cg_iu_a":0.654922366,"cg_iv_a":-0.329528213,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14591816,"cg_sample_valid":1,"cg_theta_rad":5.00652456,"cg_vd_req_v":0.101154596,"cg_vd_v":0.101154596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355321586,"cg_vq_v":-0.355321586,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.565464497,"dclink_p_w":-81.8366547,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6160278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12453,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388512,"cg_dv":50.2110672,"cg_dw":49.7889328,"cg_id_a":0.0934210718,"cg_id_raw_a":0.259776562,"cg_iq_a":0.456656218,"cg_iq_raw_a":0.501675487,"cg_iu_a":0.147508621,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8563633,"cg_sample_seq":14591866,"cg_sample_valid":1,"cg_theta_rad":5.00699615,"cg_vd_req_v":0.0990111828,"cg_vd_v":0.0990111828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365270495,"cg_vq_v":-0.365270495,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.8240662,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6160278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12449,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1318321,"cg_dv":50.2129326,"cg_dw":49.7870674,"cg_id_a":-0.158598945,"cg_id_raw_a":-0.0898984745,"cg_iq_a":0.420908779,"cg_iq_raw_a":1.19359469,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9872723,"cg_sample_seq":14591916,"cg_sample_valid":1,"cg_theta_rad":5.00588512,"cg_vd_req_v":0.100842409,"cg_vd_v":0.100842409,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364186972,"cg_vq_v":-0.364186972,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.3796806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12439,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343307,"cg_dv":50.2062798,"cg_dw":49.7937202,"cg_id_a":0.175646544,"cg_id_raw_a":-0.233315662,"cg_iq_a":-0.0631694123,"cg_iq_raw_a":-0.676720738,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9618187,"cg_sample_seq":14591966,"cg_sample_valid":1,"cg_theta_rad":5.0066061,"cg_vd_req_v":0.0942488015,"cg_vd_v":0.0942488015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356015295,"cg_vq_v":-0.356015295,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.3796806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1273918,"cg_dv":50.2062988,"cg_dw":49.7937012,"cg_id_a":-0.0572078377,"cg_id_raw_a":-0.250818104,"cg_iq_a":-0.377678007,"cg_iq_raw_a":-0.277320832,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14592021,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0989838988,"cg_vd_v":0.0989838988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352371871,"cg_vq_v":-0.352371871,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.3796806,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293373,"cg_dv":50.2019615,"cg_dw":49.7980385,"cg_id_a":0.235375166,"cg_id_raw_a":-0.164892435,"cg_iq_a":-0.549815238,"cg_iq_raw_a":0.859319687,"cg_iu_a":-0.541124105,"cg_iv_a":0.649055302,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9218178,"cg_sample_seq":14592067,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0922743008,"cg_vd_v":0.0922743008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347802848,"cg_vq_v":-0.347802848,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6393127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12421,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1369133,"cg_dv":50.2090111,"cg_dw":49.7909889,"cg_id_a":0.00119160116,"cg_id_raw_a":0.221843481,"cg_iq_a":-0.0991061926,"cg_iq_raw_a":0.0599355958,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539049,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8563633,"cg_sample_seq":14592116,"cg_sample_valid":1,"cg_theta_rad":5.00655699,"cg_vd_req_v":0.0974413007,"cg_vd_v":0.0974413007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360493124,"cg_vq_v":-0.360493124,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.277326107,"dclink_p_w":-40.1359253,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6393127,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12451,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1330795,"cg_dv":50.2037735,"cg_dw":49.7962265,"cg_id_a":0.154893205,"cg_id_raw_a":0.180759877,"cg_iq_a":-0.457495898,"cg_iq_raw_a":-0.38224417,"cg_iu_a":0.98111701,"cg_iv_a":0.504080057,"cg_iw_a":-1.48519707,"cg_sample_age_us":23.9836369,"cg_sample_seq":14592166,"cg_sample_valid":1,"cg_theta_rad":5.00755787,"cg_vd_req_v":0.0936768204,"cg_vd_v":0.0936768204,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352816701,"cg_vq_v":-0.352816701,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.277326107,"dclink_p_w":-40.1359253,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6051941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409988,"cg_dv":50.2053108,"cg_dw":49.7946892,"cg_id_a":0.253970206,"cg_id_raw_a":0.606753588,"cg_iq_a":-0.156788826,"cg_iq_raw_a":-0.849439442,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592286,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9872723,"cg_sample_seq":14592216,"cg_sample_valid":1,"cg_theta_rad":5.0076437,"cg_vd_req_v":0.0898692533,"cg_vd_v":0.0898692533,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359135896,"cg_vq_v":-0.359135896,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.5714989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6191406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416245,"cg_dv":50.211998,"cg_dw":49.788002,"cg_id_a":-0.0713789016,"cg_id_raw_a":-0.472342372,"cg_iq_a":0.221506268,"cg_iq_raw_a":0.282680571,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592286,"cg_iw_a":-0.289150298,"cg_sample_age_us":24.0381813,"cg_sample_seq":14592266,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0947688222,"cg_vd_v":0.0947688222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367697865,"cg_vq_v":-0.367697865,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6191406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1351395,"cg_dv":50.2049637,"cg_dw":49.7950363,"cg_id_a":0.0389706045,"cg_id_raw_a":-0.0207817573,"cg_iq_a":-0.459525526,"cg_iq_raw_a":-0.0376229323,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9218178,"cg_sample_seq":14592316,"cg_sample_valid":1,"cg_theta_rad":5.00575018,"cg_vd_req_v":0.0929594114,"cg_vd_v":0.0929594114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35451442,"cg_vq_v":-0.35451442,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6238098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12437,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225319,"cg_dv":50.205265,"cg_dw":49.794735,"cg_id_a":-0.462197453,"cg_id_raw_a":-0.0915668234,"cg_iq_a":-0.802774191,"cg_iq_raw_a":0.246509612,"cg_iu_a":0.401215672,"cg_iv_a":-0.402015924,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14592366,"cg_sample_valid":1,"cg_theta_rad":5.00599194,"cg_vd_req_v":0.104801409,"cg_vd_v":0.104801409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347364694,"cg_vq_v":-0.347364694,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.6232376,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6238098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.141716,"cg_dv":50.2166901,"cg_dw":49.7833099,"cg_id_a":-0.241745055,"cg_id_raw_a":-0.108015813,"cg_iq_a":0.57684803,"cg_iq_raw_a":0.208700478,"cg_iu_a":-0.468636274,"cg_iv_a":0.105397761,"cg_iw_a":0.363238513,"cg_sample_age_us":23.954546,"cg_sample_seq":14592416,"cg_sample_valid":1,"cg_theta_rad":5.00581217,"cg_vd_req_v":0.10000398,"cg_vd_v":0.10000398,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37515229,"cg_vq_v":-0.37515229,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6238098,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12493,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1445999,"cg_dv":50.2109337,"cg_dw":49.7890663,"cg_id_a":0.188002288,"cg_id_raw_a":0.273177385,"cg_iq_a":0.0910983831,"cg_iq_raw_a":-0.265227973,"cg_iu_a":0.0750210285,"cg_iv_a":0.032910049,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.8672733,"cg_sample_seq":14592466,"cg_sample_valid":1,"cg_theta_rad":5.00819111,"cg_vd_req_v":0.0898380652,"cg_vd_v":0.0898380652,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369490921,"cg_vq_v":-0.369490921,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12451,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1495819,"cg_dv":50.2194672,"cg_dw":49.7805328,"cg_id_a":-0.0320256129,"cg_id_raw_a":0.0323726647,"cg_iq_a":0.506828189,"cg_iq_raw_a":0.513501525,"cg_iu_a":0.98111701,"cg_iv_a":0.359104574,"cg_iw_a":0.363238633,"cg_sample_age_us":23.8563633,"cg_sample_seq":14592521,"cg_sample_valid":1,"cg_theta_rad":5.008286,"cg_vd_req_v":0.0949243829,"cg_vd_v":0.0949243829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38376537,"cg_vq_v":-0.38376537,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12506,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.144619,"cg_dv":50.210804,"cg_dw":49.789196,"cg_id_a":0.254232198,"cg_id_raw_a":0.301225185,"cg_iq_a":-0.238644332,"cg_iq_raw_a":-1.24523735,"cg_iu_a":-0.323661089,"cg_iv_a":0.612811506,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9872723,"cg_sample_seq":14592566,"cg_sample_valid":1,"cg_theta_rad":5.00626564,"cg_vd_req_v":0.0896801278,"cg_vd_v":0.0896801278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368141651,"cg_vq_v":-0.368141651,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6144714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12469,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1439514,"cg_dv":50.2138405,"cg_dw":49.7861595,"cg_id_a":-0.122239403,"cg_id_raw_a":-0.37540251,"cg_iq_a":-0.175682262,"cg_iq_raw_a":0.145500824,"cg_iu_a":0.872385502,"cg_iv_a":0.177885413,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9509087,"cg_sample_seq":14592616,"cg_sample_valid":1,"cg_theta_rad":5.00843668,"cg_vd_req_v":0.0956932977,"cg_vd_v":0.0956932977,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371262103,"cg_vq_v":-0.371262103,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1484222,"cg_dv":50.2051277,"cg_dw":49.7948723,"cg_id_a":0.472971231,"cg_id_raw_a":0.38848722,"cg_iq_a":-0.681235194,"cg_iq_raw_a":0.0764175653,"cg_iu_a":-0.323661089,"cg_iv_a":0.359104574,"cg_iw_a":-1.44895291,"cg_sample_age_us":23.9872723,"cg_sample_seq":14592666,"cg_sample_valid":1,"cg_theta_rad":5.00710392,"cg_vd_req_v":0.0841192305,"cg_vd_v":0.0841192305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361855119,"cg_vq_v":-0.361855119,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.7907906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12467,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1442261,"cg_dv":50.2190514,"cg_dw":49.7809486,"cg_id_a":-0.0948425978,"cg_id_raw_a":-0.732402325,"cg_iq_a":0.0844439939,"cg_iq_raw_a":0.409725159,"cg_iu_a":0.14750886,"cg_iv_a":0.0329101682,"cg_iw_a":-0.180419028,"cg_sample_age_us":23.8563633,"cg_sample_seq":14592716,"cg_sample_valid":1,"cg_theta_rad":5.0091033,"cg_vd_req_v":0.0959595516,"cg_vd_v":0.0959595516,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379680634,"cg_vq_v":-0.379680634,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6191406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12460,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1519394,"cg_dv":50.2126389,"cg_dw":49.7873611,"cg_id_a":0.304069996,"cg_id_raw_a":0.43931371,"cg_iq_a":-0.241905957,"cg_iq_raw_a":0.192553028,"cg_iu_a":-0.323661089,"cg_iv_a":0.322860777,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.8600006,"cg_sample_seq":14592766,"cg_sample_valid":1,"cg_theta_rad":5.00569105,"cg_vd_req_v":0.0903797448,"cg_vd_v":0.0903797448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374822408,"cg_vq_v":-0.374822408,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6191406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.130394,"cg_dv":50.2126694,"cg_dw":49.7873306,"cg_id_a":-0.416028023,"cg_id_raw_a":-0.253296286,"cg_iq_a":-0.908721149,"cg_iq_raw_a":-0.0246548839,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9509087,"cg_sample_seq":14592817,"cg_sample_valid":1,"cg_theta_rad":5.0053277,"cg_vd_req_v":0.105471492,"cg_vd_v":0.105471492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361954898,"cg_vq_v":-0.361954898,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12453,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438217,"cg_dv":50.2247086,"cg_dw":49.7752914,"cg_id_a":-0.572467208,"cg_id_raw_a":-0.319395274,"cg_iq_a":0.215616792,"cg_iq_raw_a":0.00424285373,"cg_iu_a":0.473703265,"cg_iv_a":0.0329101086,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9509087,"cg_sample_seq":14592868,"cg_sample_valid":1,"cg_theta_rad":5.00666952,"cg_vd_req_v":0.107781112,"cg_vd_v":0.107781112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385554969,"cg_vq_v":-0.385554969,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.217523694,"dclink_p_w":-31.481041,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12455,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1503868,"cg_dv":50.2216606,"cg_dw":49.7783394,"cg_id_a":-0.191140294,"cg_id_raw_a":-0.25772348,"cg_iq_a":0.291310757,"cg_iq_raw_a":0.230012953,"cg_iu_a":-0.359905005,"cg_iv_a":-0.402015924,"cg_iw_a":0.761920929,"cg_sample_age_us":23.9290905,"cg_sample_seq":14592917,"cg_sample_valid":1,"cg_theta_rad":5.00669813,"cg_vd_req_v":0.0983826295,"cg_vd_v":0.0983826295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385471702,"cg_vq_v":-0.385471702,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12459,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1546135,"cg_dv":50.2229767,"cg_dw":49.7770233,"cg_id_a":0.0356315225,"cg_id_raw_a":-0.218689397,"cg_iq_a":0.36805439,"cg_iq_raw_a":1.18164456,"cg_iu_a":-0.178685665,"cg_iv_a":-0.945673347,"cg_iw_a":1.12435901,"cg_sample_age_us":23.9618187,"cg_sample_seq":14592967,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.0934810191,"cg_vd_v":0.0934810191,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389082372,"cg_vq_v":-0.389082372,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.7738914,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6268921,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1417465,"cg_dv":50.2115555,"cg_dw":49.7884445,"cg_id_a":0.0105927438,"cg_id_raw_a":0.0198039599,"cg_iq_a":-0.670437694,"cg_iq_raw_a":-0.470580757,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.954546,"cg_sample_seq":14593020,"cg_sample_valid":1,"cg_theta_rad":5.00732374,"cg_vd_req_v":0.0931189805,"cg_vd_v":0.0931189805,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367453158,"cg_vq_v":-0.367453158,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12452,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500397,"cg_dv":50.2242241,"cg_dw":49.7757759,"cg_id_a":-0.429495722,"cg_id_raw_a":0.0279202498,"cg_iq_a":0.422385782,"cg_iq_raw_a":-0.105722241,"cg_iu_a":0.0750210285,"cg_iv_a":-1.09064877,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9181824,"cg_sample_seq":14593066,"cg_sample_valid":1,"cg_theta_rad":5.00712585,"cg_vd_req_v":0.100175694,"cg_vd_v":0.100175694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389008284,"cg_vq_v":-0.389008284,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12491,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1521873,"cg_dv":50.2198219,"cg_dw":49.7801781,"cg_id_a":-0.00174571201,"cg_id_raw_a":-0.375225186,"cg_iq_a":0.0464503169,"cg_iq_raw_a":1.02053642,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395775437,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9618187,"cg_sample_seq":14593217,"cg_sample_valid":1,"cg_theta_rad":5.00648499,"cg_vd_req_v":0.093594335,"cg_vd_v":0.093594335,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383141637,"cg_vq_v":-0.383141637,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.620697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476822,"cg_dv":50.2212906,"cg_dw":49.7787094,"cg_id_a":-0.278845578,"cg_id_raw_a":-0.451399654,"cg_iq_a":0.0730272979,"cg_iq_raw_a":0.0657691583,"cg_iu_a":0.473703384,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9836369,"cg_sample_seq":14593267,"cg_sample_valid":1,"cg_theta_rad":5.00638056,"cg_vd_req_v":0.0991375744,"cg_vd_v":0.0991375744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382466018,"cg_vq_v":-0.382466018,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12479,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457863,"cg_dv":50.2128143,"cg_dw":49.7871857,"cg_id_a":0.0568674281,"cg_id_raw_a":0.173340365,"cg_iq_a":-0.376396835,"cg_iq_raw_a":0.563756883,"cg_iu_a":-0.0699541569,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14593317,"cg_sample_valid":1,"cg_theta_rad":5.00610781,"cg_vd_req_v":0.0918763876,"cg_vd_v":0.0918763876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370048225,"cg_vq_v":-0.370048225,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.8303719,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1484261,"cg_dv":50.2213936,"cg_dw":49.7786064,"cg_id_a":-0.300037354,"cg_id_raw_a":-0.347891986,"cg_iq_a":0.181326687,"cg_iq_raw_a":0.294203788,"cg_iu_a":-0.50488019,"cg_iv_a":-0.293284357,"cg_iw_a":0.798164546,"cg_sample_age_us":23.9690914,"cg_sample_seq":14593367,"cg_sample_valid":1,"cg_theta_rad":5.00751543,"cg_vd_req_v":0.0992304757,"cg_vd_v":0.0992304757,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384117544,"cg_vq_v":-0.384117544,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12496,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482506,"cg_dv":50.2182121,"cg_dw":49.7817879,"cg_id_a":-0.130082339,"cg_id_raw_a":-0.225736246,"cg_iq_a":0.00590071408,"cg_iq_raw_a":0.124539219,"cg_iu_a":-0.214929581,"cg_iv_a":0.21412921,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8563633,"cg_sample_seq":14593417,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.0959118828,"cg_vd_v":0.0959118828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381012976,"cg_vq_v":-0.381012976,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.239270091,"dclink_p_w":-34.7335358,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12497,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1462631,"cg_dv":50.2193718,"cg_dw":49.7806282,"cg_id_a":-0.111585073,"cg_id_raw_a":0.366852045,"cg_iq_a":0.0697990209,"cg_iq_raw_a":-0.148717746,"cg_iu_a":0.256240368,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9763641,"cg_sample_seq":14593467,"cg_sample_valid":1,"cg_theta_rad":5.00577593,"cg_vd_req_v":0.0952810645,"cg_vd_v":0.0952810645,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382320672,"cg_vq_v":-0.382320672,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.3659401,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1502647,"cg_dv":50.2148132,"cg_dw":49.7851868,"cg_id_a":0.0529928207,"cg_id_raw_a":-0.308252245,"cg_iq_a":0.0782345533,"cg_iq_raw_a":-0.320879161,"cg_iu_a":-0.323661089,"cg_iv_a":0.649055302,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.954546,"cg_sample_seq":14593520,"cg_sample_valid":1,"cg_theta_rad":5.00627708,"cg_vd_req_v":0.0912170112,"cg_vd_v":0.0912170112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376250833,"cg_vq_v":-0.376250833,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6051941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12490,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.148983,"cg_dv":50.2149887,"cg_dw":49.7850113,"cg_id_a":0.103301309,"cg_id_raw_a":-0.093103528,"cg_iq_a":-0.00728473812,"cg_iq_raw_a":0.50165683,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860777,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9836369,"cg_sample_seq":14593566,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.0911288038,"cg_vd_v":0.0911288038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376078784,"cg_vq_v":-0.376078784,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6051941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12455,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460953,"cg_dv":50.2120781,"cg_dw":49.7879219,"cg_id_a":0.0640780628,"cg_id_raw_a":0.203179955,"cg_iq_a":-0.42065829,"cg_iq_raw_a":-0.598198891,"cg_iu_a":0.0750210285,"cg_iv_a":0.431592286,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.954546,"cg_sample_seq":14593616,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0921483561,"cg_vd_v":0.0921483561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370113611,"cg_vq_v":-0.370113611,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.34618938,"dclink_p_w":-50.1021385,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6222534,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1453743,"cg_dv":50.2148209,"cg_dw":49.7851791,"cg_id_a":-0.0669428408,"cg_id_raw_a":-0.19864288,"cg_iq_a":-0.0972170755,"cg_iq_raw_a":0.272482157,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.863636,"cg_sample_seq":14593666,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.095337525,"cg_vd_v":0.095337525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373444378,"cg_vq_v":-0.373444378,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12432,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469231,"cg_dv":50.2123833,"cg_dw":49.7876167,"cg_id_a":-0.0169425271,"cg_id_raw_a":-0.2038652,"cg_iq_a":-0.183484465,"cg_iq_raw_a":-0.0937783197,"cg_iu_a":0.0387773514,"cg_iv_a":0.10539782,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8418179,"cg_sample_seq":14593716,"cg_sample_valid":1,"cg_theta_rad":5.00535297,"cg_vd_req_v":0.0943995565,"cg_vd_v":0.0943995565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370342702,"cg_vq_v":-0.370342702,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.7570038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12445,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1430855,"cg_dv":50.2191086,"cg_dw":49.7808914,"cg_id_a":0.0107689723,"cg_id_raw_a":0.0335397646,"cg_iq_a":0.247048855,"cg_iq_raw_a":-0.178139344,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0758213997,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9218178,"cg_sample_seq":14593767,"cg_sample_valid":1,"cg_theta_rad":5.00870895,"cg_vd_req_v":0.0990779996,"cg_vd_v":0.0990779996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378568679,"cg_vq_v":-0.378568679,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.1037369,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6144714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483917,"cg_dv":50.216259,"cg_dw":49.783741,"cg_id_a":-0.0161092523,"cg_id_raw_a":-0.179611146,"cg_iq_a":0.34486866,"cg_iq_raw_a":0.492591977,"cg_iu_a":-0.106198072,"cg_iv_a":0.105397761,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.8600006,"cg_sample_seq":14593817,"cg_sample_valid":1,"cg_theta_rad":5.00747681,"cg_vd_req_v":0.0952592567,"cg_vd_v":0.0952592567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37687102,"cg_vq_v":-0.37687102,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1492004,"cg_dv":50.209507,"cg_dw":49.790493,"cg_id_a":0.486601472,"cg_id_raw_a":1.02811515,"cg_iq_a":0.00135797262,"cg_iq_raw_a":1.55316556,"cg_iu_a":0.292484045,"cg_iv_a":0.395348489,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.8563633,"cg_sample_seq":14593867,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.0851499289,"cg_vd_v":0.0851499289,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368854135,"cg_vq_v":-0.368854135,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12496,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449661,"cg_dv":50.2090683,"cg_dw":49.7909317,"cg_id_a":0.394492447,"cg_id_raw_a":0.0589939915,"cg_iq_a":0.00346707553,"cg_iq_raw_a":-0.466984808,"cg_iu_a":-0.214929581,"cg_iv_a":0.612811446,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9872723,"cg_sample_seq":14593917,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.086237438,"cg_vd_v":0.086237438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366321921,"cg_vq_v":-0.366321921,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.612915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12441,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1536942,"cg_dv":50.2187347,"cg_dw":49.7812653,"cg_id_a":0.146695063,"cg_id_raw_a":0.197888717,"cg_iq_a":1.03527033,"cg_iq_raw_a":0.0926940292,"cg_iu_a":-1.66468287,"cg_iv_a":-0.148308992,"cg_iw_a":1.81299186,"cg_sample_age_us":23.9836369,"cg_sample_seq":14593967,"cg_sample_valid":1,"cg_theta_rad":5.00708675,"cg_vd_req_v":0.0915658921,"cg_vd_v":0.0915658921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383692741,"cg_vq_v":-0.383692741,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.0393734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.612915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12469,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1453247,"cg_dv":50.2177696,"cg_dw":49.7822304,"cg_id_a":-0.389122844,"cg_id_raw_a":-0.755776107,"cg_iq_a":0.554196477,"cg_iq_raw_a":0.360098779,"cg_iu_a":0.0750212669,"cg_iv_a":-0.764454246,"cg_iw_a":0.689432979,"cg_sample_age_us":23.9727268,"cg_sample_seq":14594067,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.100038618,"cg_vd_v":0.100038618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378178418,"cg_vq_v":-0.378178418,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6051941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12483,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383018,"cg_dv":50.2058868,"cg_dw":49.7941132,"cg_id_a":0.14106673,"cg_id_raw_a":0.0865619928,"cg_iq_a":-0.422805548,"cg_iq_raw_a":-0.0640036538,"cg_iu_a":-0.178685904,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9472733,"cg_sample_seq":14594117,"cg_sample_valid":1,"cg_theta_rad":5.00777292,"cg_vd_req_v":0.0897452086,"cg_vd_v":0.0897452086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35795638,"cg_vq_v":-0.35795638,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6051941,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12449,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457024,"cg_dv":50.2107353,"cg_dw":49.7892647,"cg_id_a":-0.100322276,"cg_id_raw_a":-0.40724048,"cg_iq_a":0.09074229,"cg_iq_raw_a":0.251247138,"cg_iu_a":0.437459469,"cg_iv_a":0.322860777,"cg_iw_a":-0.760320246,"cg_sample_age_us":23.9836369,"cg_sample_seq":14594167,"cg_sample_valid":1,"cg_theta_rad":5.00753736,"cg_vd_req_v":0.0916340575,"cg_vd_v":0.0916340575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367951572,"cg_vq_v":-0.367951572,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.74226189,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6082764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413918,"cg_dv":50.2128487,"cg_dw":49.7871513,"cg_id_a":-0.260069877,"cg_id_raw_a":-0.183878735,"cg_iq_a":0.0485422611,"cg_iq_raw_a":0.128874227,"cg_iu_a":0.147508621,"cg_iv_a":0.214129329,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14594217,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0952139795,"cg_vd_v":0.0952139795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368871778,"cg_vq_v":-0.368871778,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0671118498,"dclink_p_w":-9.74226189,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12469,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1490479,"cg_dv":50.2153206,"cg_dw":49.7846794,"cg_id_a":0.00638187304,"cg_id_raw_a":0.487878382,"cg_iq_a":0.456119746,"cg_iq_raw_a":1.06433451,"cg_iu_a":-0.359904766,"cg_iv_a":-0.00333368778,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9872723,"cg_sample_seq":14594267,"cg_sample_valid":1,"cg_theta_rad":5.00756073,"cg_vd_req_v":0.0899767205,"cg_vd_v":0.0899767205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376910001,"cg_vq_v":-0.376910001,"cg_vu_v":117.891212,"cg_vv_v":135.486908,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12450,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394081,"cg_dv":50.2070313,"cg_dw":49.7929688,"cg_id_a":-0.0767734498,"cg_id_raw_a":0.437988192,"cg_iq_a":-0.379839718,"cg_iq_raw_a":-0.86710608,"cg_iu_a":0.763653874,"cg_iv_a":0.177885413,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9254551,"cg_sample_seq":14594317,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.0916142464,"cg_vd_v":0.0916142464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359723479,"cg_vq_v":-0.359723479,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428108,"cg_dv":50.2091599,"cg_dw":49.7908401,"cg_id_a":-0.0268369839,"cg_id_raw_a":0.414305151,"cg_iq_a":-0.137741238,"cg_iq_raw_a":-0.39515391,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9472733,"cg_sample_seq":14594367,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0918523148,"cg_vd_v":0.0918523148,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364310741,"cg_vq_v":-0.364310741,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12461,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1465645,"cg_dv":50.2135849,"cg_dw":49.7864151,"cg_id_a":0.02615989,"cg_id_raw_a":0.1107888,"cg_iq_a":0.394732058,"cg_iq_raw_a":-0.0981042534,"cg_iu_a":-0.251173496,"cg_iv_a":-0.691966534,"cg_iw_a":0.94314003,"cg_sample_age_us":23.954546,"cg_sample_seq":14594416,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0908922553,"cg_vd_v":0.0908922553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373006195,"cg_vq_v":-0.373006195,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.18751526,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.612915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38759,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1379585,"cg_dv":50.2067451,"cg_dw":49.7932549,"cg_id_a":0.0365663692,"cg_id_raw_a":0.66879952,"cg_iq_a":-0.150889859,"cg_iq_raw_a":-0.703522801,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641617,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9763641,"cg_sample_seq":14594466,"cg_sample_valid":1,"cg_theta_rad":5.0079031,"cg_vd_req_v":0.089840889,"cg_vd_v":0.089840889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359189004,"cg_vq_v":-0.359189004,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0544264317,"dclink_p_w":-7.87684679,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412773,"cg_dv":50.2094231,"cg_dw":49.7905769,"cg_id_a":0.0110060722,"cg_id_raw_a":0.0358054191,"cg_iq_a":-0.0522519201,"cg_iq_raw_a":-1.30639219,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0758213997,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14594517,"cg_sample_valid":1,"cg_theta_rad":5.00705528,"cg_vd_req_v":0.091568172,"cg_vd_v":0.091568172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364252359,"cg_vq_v":-0.364252359,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12482,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479034,"cg_dv":50.2155228,"cg_dw":49.7844772,"cg_id_a":0.129029334,"cg_id_raw_a":-0.159820199,"cg_iq_a":0.187568158,"cg_iq_raw_a":0.0944154412,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9872723,"cg_sample_seq":14594571,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.092382744,"cg_vd_v":0.092382744,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376228243,"cg_vq_v":-0.376228243,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12486,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297264,"cg_dv":50.2027855,"cg_dw":49.7972145,"cg_id_a":-0.089902848,"cg_id_raw_a":-0.307561874,"cg_iq_a":-0.954862595,"cg_iq_raw_a":-1.63127983,"cg_iu_a":0.038777113,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9218178,"cg_sample_seq":14594616,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.0941940248,"cg_vd_v":0.0941940248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349897116,"cg_vq_v":-0.349897116,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12444,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1492348,"cg_dv":50.208374,"cg_dw":49.791626,"cg_id_a":0.198443636,"cg_id_raw_a":0.467864633,"cg_iq_a":0.0291449092,"cg_iq_raw_a":0.33832261,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9509087,"cg_sample_seq":14594667,"cg_sample_valid":1,"cg_theta_rad":5.00782251,"cg_vd_req_v":0.0858537331,"cg_vd_v":0.0858537331,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366906315,"cg_vq_v":-0.366906315,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12439,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.142067,"cg_dv":50.2033043,"cg_dw":49.7966957,"cg_id_a":0.147823676,"cg_id_raw_a":0.665873408,"cg_iq_a":-0.412415147,"cg_iq_raw_a":0.248835713,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9509087,"cg_sample_seq":14594716,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0869259685,"cg_vd_v":0.0869259685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357041627,"cg_vq_v":-0.357041627,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7927685,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1546936,"cg_dv":50.2180977,"cg_dw":49.7819023,"cg_id_a":-0.0251254924,"cg_id_raw_a":-0.309594482,"cg_iq_a":0.681556284,"cg_iq_raw_a":0.114981987,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8600006,"cg_sample_seq":14594766,"cg_sample_valid":1,"cg_theta_rad":5.00619221,"cg_vd_req_v":0.0922711492,"cg_vd_v":0.0922711492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382888943,"cg_vq_v":-0.382888943,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6067505,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12457,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1499062,"cg_dv":50.2158012,"cg_dw":49.7841988,"cg_id_a":0.0396367498,"cg_id_raw_a":0.0575599521,"cg_iq_a":0.423382044,"cg_iq_raw_a":0.479261994,"cg_iu_a":-0.50488019,"cg_iv_a":0.105397701,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8490906,"cg_sample_seq":14594816,"cg_sample_valid":1,"cg_theta_rad":5.00682592,"cg_vd_req_v":0.0900784805,"cg_vd_v":0.0900784805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377968162,"cg_vq_v":-0.377968162,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.2113113,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6284485,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12465,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1513214,"cg_dv":50.2170792,"cg_dw":49.7829208,"cg_id_a":-0.148330778,"cg_id_raw_a":0.187490717,"cg_iq_a":0.404947996,"cg_iq_raw_a":-0.0175123252,"cg_iu_a":-0.106198072,"cg_iv_a":-0.655722737,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14594866,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.0918866992,"cg_vd_v":0.0918866992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38009724,"cg_vq_v":-0.38009724,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6175842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463814,"cg_dv":50.2067871,"cg_dw":49.7932129,"cg_id_a":0.00569300354,"cg_id_raw_a":0.212388158,"cg_iq_a":-0.417412013,"cg_iq_raw_a":-0.48831293,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14594916,"cg_sample_valid":1,"cg_theta_rad":5.00714922,"cg_vd_req_v":0.0861190557,"cg_vd_v":0.0861190557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363248378,"cg_vq_v":-0.363248378,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6175842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12471,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500893,"cg_dv":50.2085724,"cg_dw":49.7914276,"cg_id_a":0.0877916291,"cg_id_raw_a":-0.0498014465,"cg_iq_a":-0.191085562,"cg_iq_raw_a":0.250768363,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.954546,"cg_sample_seq":14594966,"cg_sample_valid":1,"cg_theta_rad":5.00893402,"cg_vd_req_v":0.0865447447,"cg_vd_v":0.0865447447,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368558645,"cg_vq_v":-0.368558645,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.449484229,"dclink_p_w":-65.249176,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6331177,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1452293,"cg_dv":50.2123413,"cg_dw":49.7876587,"cg_id_a":-0.128475487,"cg_id_raw_a":-0.0941539481,"cg_iq_a":-0.166785777,"cg_iq_raw_a":0.938434422,"cg_iu_a":0.256240368,"cg_iv_a":0.359104574,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9763641,"cg_sample_seq":14595016,"cg_sample_valid":1,"cg_theta_rad":5.00674105,"cg_vd_req_v":0.0921403319,"cg_vd_v":0.0921403319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370223224,"cg_vq_v":-0.370223224,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.637952089,"dclink_p_w":-92.3273926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1365738,"cg_dv":50.2142448,"cg_dw":49.7857552,"cg_id_a":-0.500108421,"cg_id_raw_a":-0.00833489001,"cg_iq_a":-0.393687248,"cg_iq_raw_a":0.509599149,"cg_iu_a":-0.359904766,"cg_iv_a":-0.546991229,"cg_iw_a":0.906895995,"cg_sample_age_us":23.8600006,"cg_sample_seq":14595071,"cg_sample_valid":1,"cg_theta_rad":5.00665283,"cg_vd_req_v":0.099123843,"cg_vd_v":0.099123843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368409425,"cg_vq_v":-0.368409425,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.7875977,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6625977,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12472,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1501312,"cg_dv":50.2115898,"cg_dw":49.7884102,"cg_id_a":0.113329805,"cg_id_raw_a":-0.110660136,"cg_iq_a":-0.206371844,"cg_iq_raw_a":0.463559806,"cg_iu_a":-0.178685904,"cg_iv_a":-0.438259721,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9145451,"cg_sample_seq":14595117,"cg_sample_valid":1,"cg_theta_rad":5.00467634,"cg_vd_req_v":0.0870571434,"cg_vd_v":0.0870571434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372065634,"cg_vq_v":-0.372065634,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5974426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12437,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510658,"cg_dv":50.216774,"cg_dw":49.783226,"cg_id_a":-0.128302768,"cg_id_raw_a":-0.54426533,"cg_iq_a":0.0792098343,"cg_iq_raw_a":-1.10997546,"cg_iu_a":-0.359904766,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9181824,"cg_sample_seq":14595167,"cg_sample_valid":1,"cg_theta_rad":5.00588655,"cg_vd_req_v":0.0931246877,"cg_vd_v":0.0931246877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379216135,"cg_vq_v":-0.379216135,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5974426,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1461639,"cg_dv":50.2176094,"cg_dw":49.7823906,"cg_id_a":-0.307843268,"cg_id_raw_a":0.156494692,"cg_iq_a":0.206678778,"cg_iq_raw_a":0.088213712,"cg_iu_a":0.401215553,"cg_iv_a":-0.474503636,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14595217,"cg_sample_valid":1,"cg_theta_rad":5.00659704,"cg_vd_req_v":0.0955495685,"cg_vd_v":0.0955495685,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379377007,"cg_vq_v":-0.379377007,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429596,"cg_dv":50.2076302,"cg_dw":49.7923698,"cg_id_a":-0.081364736,"cg_id_raw_a":0.0228497759,"cg_iq_a":-0.498747915,"cg_iq_raw_a":-0.47044301,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.9836369,"cg_sample_seq":14595267,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.090988718,"cg_vd_v":0.090988718,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363300204,"cg_vq_v":-0.363300204,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494102,"cg_dv":50.2055779,"cg_dw":49.7944221,"cg_id_a":0.313663989,"cg_id_raw_a":0.058195591,"cg_iq_a":-0.377137512,"cg_iq_raw_a":0.225172386,"cg_iu_a":-0.0337104797,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9581814,"cg_sample_seq":14595317,"cg_sample_valid":1,"cg_theta_rad":5.0067668,"cg_vd_req_v":0.0837342367,"cg_vd_v":0.0837342367,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3641994,"cg_vq_v":-0.3641994,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6253357,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1387291,"cg_dv":50.2096748,"cg_dw":49.7903252,"cg_id_a":-0.281493187,"cg_id_raw_a":-0.187347323,"cg_iq_a":-0.282552391,"cg_iq_raw_a":-0.0539646,"cg_iu_a":0.14750886,"cg_iv_a":0.467836082,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9290905,"cg_sample_seq":14595366,"cg_sample_valid":1,"cg_theta_rad":5.00666237,"cg_vd_req_v":0.0951029956,"cg_vd_v":0.0951029956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362833202,"cg_vq_v":-0.362833202,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1437912,"cg_dv":50.2115631,"cg_dw":49.7884369,"cg_id_a":-0.0785522759,"cg_id_raw_a":-0.0554048941,"cg_iq_a":-0.0340247005,"cg_iq_raw_a":0.323182732,"cg_iu_a":0.183752775,"cg_iv_a":0.177885413,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9909096,"cg_sample_seq":14595416,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0922032148,"cg_vd_v":0.0922032148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368432194,"cg_vq_v":-0.368432194,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.458545208,"dclink_p_w":-66.3628006,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6098328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12500,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357918,"cg_dv":50.2083702,"cg_dw":49.7916298,"cg_id_a":-0.164413527,"cg_id_raw_a":-0.0937700942,"cg_iq_a":-0.39788276,"cg_iq_raw_a":-0.809253275,"cg_iu_a":0.401215553,"cg_iv_a":0.177885473,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9327278,"cg_sample_seq":14595466,"cg_sample_valid":1,"cg_theta_rad":5.0065999,"cg_vd_req_v":0.0954984352,"cg_vd_v":0.0954984352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359581441,"cg_vq_v":-0.359581441,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.429550171,"dclink_p_w":-62.1665001,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6098328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12491,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.143959,"cg_dv":50.2145958,"cg_dw":49.7854042,"cg_id_a":-0.0192491114,"cg_id_raw_a":-0.301870972,"cg_iq_a":0.299907506,"cg_iq_raw_a":0.0454326458,"cg_iu_a":-0.0699541569,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9763641,"cg_sample_seq":14595516,"cg_sample_valid":1,"cg_theta_rad":5.00568962,"cg_vd_req_v":0.0940790027,"cg_vd_v":0.0940790027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372889519,"cg_vq_v":-0.372889519,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.384245276,"dclink_p_w":-55.6097641,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12491,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276169,"cg_dv":50.2070351,"cg_dw":49.7929649,"cg_id_a":-0.232271001,"cg_id_raw_a":-0.036750488,"cg_iq_a":-0.476626158,"cg_iq_raw_a":-0.584458768,"cg_iu_a":0.509947062,"cg_iv_a":0.286616921,"cg_iw_a":-0.796563983,"cg_sample_age_us":25.3981819,"cg_sample_seq":14595570,"cg_sample_valid":1,"cg_theta_rad":5.00765657,"cg_vd_req_v":0.0976000801,"cg_vd_v":0.0976000801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355191737,"cg_vq_v":-0.355191737,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1405525,"cg_dv":50.2133331,"cg_dw":49.7866669,"cg_id_a":-0.234652445,"cg_id_raw_a":0.0412109792,"cg_iq_a":0.214688212,"cg_iq_raw_a":-0.687026978,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796824,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9836369,"cg_sample_seq":14595617,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0966393128,"cg_vd_v":0.0966393128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37018013,"cg_vq_v":-0.37018013,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.206650496,"dclink_p_w":-29.9983273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12455,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1503563,"cg_dv":50.2101822,"cg_dw":49.7898178,"cg_id_a":0.191614985,"cg_id_raw_a":0.0177412964,"cg_iq_a":0.256388485,"cg_iq_raw_a":0.840340436,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885413,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9654541,"cg_sample_seq":14595667,"cg_sample_valid":1,"cg_theta_rad":5.00691557,"cg_vd_req_v":0.0872105211,"cg_vd_v":0.0872105211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369878471,"cg_vq_v":-0.369878471,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.132,"cg_dv":50.2023926,"cg_dw":49.7976074,"cg_id_a":-0.0775469318,"cg_id_raw_a":-0.343766719,"cg_iq_a":-0.771445632,"cg_iq_raw_a":0.0396302678,"cg_iu_a":0.256240129,"cg_iv_a":0.177885473,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9581814,"cg_sample_seq":14595717,"cg_sample_valid":1,"cg_theta_rad":5.00804663,"cg_vd_req_v":0.0936456397,"cg_vd_v":0.0936456397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349068522,"cg_vq_v":-0.349068522,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1389542,"cg_dv":50.2089577,"cg_dw":49.7910423,"cg_id_a":-0.101506136,"cg_id_raw_a":-0.431207269,"cg_iq_a":-0.236848786,"cg_iq_raw_a":0.285941541,"cg_iu_a":-0.0337102413,"cg_iv_a":0.214129329,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9618187,"cg_sample_seq":14595767,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.094571501,"cg_vd_v":0.094571501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36189279,"cg_vq_v":-0.36189279,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.45046616,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6036377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12449,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1535721,"cg_dv":50.2151375,"cg_dw":49.7848625,"cg_id_a":0.267857462,"cg_id_raw_a":0.194083482,"cg_iq_a":0.491827667,"cg_iq_raw_a":-0.0904651806,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395774841,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14595816,"cg_sample_valid":1,"cg_theta_rad":5.00725937,"cg_vd_req_v":0.086673066,"cg_vd_v":0.086673066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379078746,"cg_vq_v":-0.379078746,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12470,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1384087,"cg_dv":50.2133102,"cg_dw":49.7866898,"cg_id_a":-0.174750343,"cg_id_raw_a":0.0487089343,"cg_iq_a":-0.0240854323,"cg_iq_raw_a":0.114680745,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9254551,"cg_sample_seq":14595867,"cg_sample_valid":1,"cg_theta_rad":5.00848198,"cg_vd_req_v":0.0979918912,"cg_vd_v":0.0979918912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367833972,"cg_vq_v":-0.367833972,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12449,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1415176,"cg_dv":50.2083359,"cg_dw":49.7916641,"cg_id_a":0.112517655,"cg_id_raw_a":0.281939417,"cg_iq_a":-0.288417578,"cg_iq_raw_a":-0.772920132,"cg_iu_a":0.364971876,"cg_iv_a":0.39534843,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9654541,"cg_sample_seq":14595916,"cg_sample_valid":1,"cg_theta_rad":5.00528574,"cg_vd_req_v":0.0916100293,"cg_vd_v":0.0916100293,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36375314,"cg_vq_v":-0.36375314,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2645.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1521873,"cg_dv":50.2143631,"cg_dw":49.7856369,"cg_id_a":0.346131504,"cg_id_raw_a":0.914492249,"cg_iq_a":0.307213932,"cg_iq_raw_a":1.39851391,"cg_iu_a":0.292484045,"cg_iv_a":0.286616981,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9581814,"cg_sample_seq":14595966,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.0880670696,"cg_vd_v":0.0880670696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377007514,"cg_vq_v":-0.377007514,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6113892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12466,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1507339,"cg_dv":50.2134285,"cg_dw":49.7865715,"cg_id_a":0.34714064,"cg_id_raw_a":0.0130010638,"cg_iq_a":0.322491139,"cg_iq_raw_a":-0.39841193,"cg_iu_a":-0.0699541569,"cg_iv_a":0.105397761,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9581814,"cg_sample_seq":14596016,"cg_sample_valid":1,"cg_theta_rad":5.00906467,"cg_vd_req_v":0.0878407881,"cg_vd_v":0.0878407881,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375032157,"cg_vq_v":-0.375032157,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2645.95505,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2645.955055,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2645.955061,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2645.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451912,"cg_dv":50.2151299,"cg_dw":49.7848701,"cg_id_a":0.00409992039,"cg_id_raw_a":-0.0937947407,"cg_iq_a":0.210637242,"cg_iq_raw_a":0.0644838065,"cg_iu_a":0.364971638,"cg_iv_a":-0.112065256,"cg_iw_a":-0.252906382,"cg_sample_age_us":23.9618187,"cg_sample_seq":14596071,"cg_sample_valid":1,"cg_theta_rad":5.00795937,"cg_vd_req_v":0.0949117839,"cg_vd_v":0.0949117839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372775257,"cg_vq_v":-0.372775257,"cg_vu_v":135.486908,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.411428213,"dclink_p_w":-59.543808,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2645.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12442,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1406288,"cg_dv":50.202919,"cg_dw":49.797081,"cg_id_a":0.363506377,"cg_id_raw_a":0.246163547,"cg_iq_a":-0.572938621,"cg_iq_raw_a":-0.593511641,"cg_iu_a":-0.14244175,"cg_iv_a":0.794030607,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.9618187,"cg_sample_seq":14596117,"cg_sample_valid":1,"cg_theta_rad":5.00765848,"cg_vd_req_v":0.0883035511,"cg_vd_v":0.0883035511,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354406953,"cg_vq_v":-0.354406953,"cg_vu_v":141.645401,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2645.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.148571,"cg_dv":50.2130013,"cg_dw":49.7869987,"cg_id_a":0.0939103067,"cg_id_raw_a":0.239572197,"cg_iq_a":0.0827994347,"cg_iq_raw_a":-0.958717763,"cg_iu_a":-0.722343445,"cg_iv_a":-0.112065196,"cg_iw_a":0.834408641,"cg_sample_age_us":23.9763641,"cg_sample_seq":14596266,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.091612041,"cg_vd_v":0.091612041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373838276,"cg_vq_v":-0.373838276,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12485,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1427727,"cg_dv":50.2162056,"cg_dw":49.7837944,"cg_id_a":-0.187698364,"cg_id_raw_a":0.0484929048,"cg_iq_a":-0.00718894601,"cg_iq_raw_a":-0.322238266,"cg_iu_a":-0.323661089,"cg_iv_a":-0.474503517,"cg_iw_a":0.798164606,"cg_sample_age_us":23.954546,"cg_sample_seq":14596316,"cg_sample_valid":1,"cg_theta_rad":5.00854683,"cg_vd_req_v":0.0977864638,"cg_vd_v":0.0977864638,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375323355,"cg_vq_v":-0.375323355,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5772705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12453,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1585159,"cg_dv":50.2189674,"cg_dw":49.7810326,"cg_id_a":0.321820349,"cg_id_raw_a":0.828484237,"cg_iq_a":0.49633497,"cg_iq_raw_a":1.39218378,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.8600006,"cg_sample_seq":14596366,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.088301979,"cg_vd_v":0.088301979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386647195,"cg_vq_v":-0.386647195,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2588,"hz_tim_isr":5000,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5772705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12464,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1652374,"cg_dv":50.2169724,"cg_dw":49.7830276,"cg_id_a":0.583263099,"cg_id_raw_a":0.496378601,"cg_iq_a":0.441602558,"cg_iq_raw_a":0.0493174158,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9327278,"cg_sample_seq":14596416,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.081321612,"cg_vd_v":0.081321612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387651354,"cg_vq_v":-0.387651354,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1664619,"cg_dv":50.2221603,"cg_dw":49.7778397,"cg_id_a":0.373107672,"cg_id_raw_a":0.367463291,"cg_iq_a":0.874433637,"cg_iq_raw_a":-0.147200927,"cg_iu_a":-1.37473202,"cg_iv_a":0.39534843,"cg_iw_a":0.979383588,"cg_sample_age_us":23.954546,"cg_sample_seq":14596466,"cg_sample_valid":1,"cg_theta_rad":5.00694942,"cg_vd_req_v":0.0833521634,"cg_vd_v":0.0833521634,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395831078,"cg_vq_v":-0.395831078,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.4225616,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6144714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12454,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1526909,"cg_dv":50.2154808,"cg_dw":49.7845192,"cg_id_a":-0.118847162,"cg_id_raw_a":-0.146119952,"cg_iq_a":0.225905597,"cg_iq_raw_a":-0.669651449,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9436359,"cg_sample_seq":14596517,"cg_sample_valid":1,"cg_theta_rad":5.00750017,"cg_vd_req_v":0.0909219608,"cg_vd_v":0.0909219608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378293097,"cg_vq_v":-0.378293097,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6144714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1456642,"cg_dv":50.2127647,"cg_dw":49.7872353,"cg_id_a":-0.153507039,"cg_id_raw_a":-0.503562033,"cg_iq_a":-0.0224578679,"cg_iq_raw_a":-0.0453213081,"cg_iu_a":-0.178685904,"cg_iv_a":0.286616921,"cg_iw_a":-0.107931018,"cg_sample_age_us":26.8272724,"cg_sample_seq":14596570,"cg_sample_valid":1,"cg_theta_rad":5.00725269,"cg_vd_req_v":0.0906064659,"cg_vd_v":0.0906064659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372633636,"cg_vq_v":-0.372633636,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.798018396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1471558,"cg_dv":50.2108383,"cg_dw":49.7891617,"cg_id_a":0.0255813301,"cg_id_raw_a":-0.211743787,"cg_iq_a":-0.13311182,"cg_iq_raw_a":-0.0195322707,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14596617,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.0889243409,"cg_vd_v":0.0889243409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369314969,"cg_vq_v":-0.369314969,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476707,"cg_dv":50.2114944,"cg_dw":49.7885056,"cg_id_a":0.0554412678,"cg_id_raw_a":-0.336735487,"cg_iq_a":-0.130820066,"cg_iq_raw_a":-0.0313805863,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.863636,"cg_sample_seq":14596667,"cg_sample_valid":1,"cg_theta_rad":5.00851107,"cg_vd_req_v":0.0889869705,"cg_vd_v":0.0889869705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370537996,"cg_vq_v":-0.370537996,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.16134572,"dclink_p_w":-23.3507042,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12450,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440735,"cg_dv":50.2085037,"cg_dw":49.7914963,"cg_id_a":0.132157058,"cg_id_raw_a":-0.0867838562,"cg_iq_a":-0.404563487,"cg_iq_raw_a":-0.444476336,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14596717,"cg_sample_valid":1,"cg_theta_rad":5.00571394,"cg_vd_req_v":0.0891321748,"cg_vd_v":0.0891321748,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364400655,"cg_vq_v":-0.364400655,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.63733196,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429787,"cg_dv":50.2108002,"cg_dw":49.7891998,"cg_id_a":-0.0259114131,"cg_id_raw_a":-0.0372670591,"cg_iq_a":0.0163435936,"cg_iq_raw_a":0.798221409,"cg_iu_a":0.473703384,"cg_iv_a":0.902762175,"cg_iw_a":-1.37646556,"cg_sample_age_us":23.9254551,"cg_sample_seq":14596767,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0918267071,"cg_vd_v":0.0918267071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36701256,"cg_vq_v":-0.36701256,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.4280777,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8707581,"temp_inv2_c":35.6020813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12454,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1424217,"cg_dv":50.2064819,"cg_dw":49.7935181,"cg_id_a":0.157757074,"cg_id_raw_a":1.03102601,"cg_iq_a":-0.302353203,"cg_iq_raw_a":-1.75527847,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148309112,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9618187,"cg_sample_seq":14596817,"cg_sample_valid":1,"cg_theta_rad":5.00707912,"cg_vd_req_v":0.0891901776,"cg_vd_v":0.0891901776,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360545576,"cg_vq_v":-0.360545576,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6160278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1377487,"cg_dv":50.2103386,"cg_dw":49.7896614,"cg_id_a":-0.0399306044,"cg_id_raw_a":0.0416792445,"cg_iq_a":-0.121558256,"cg_iq_raw_a":-0.504907429,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503636,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9509087,"cg_sample_seq":14596867,"cg_sample_valid":1,"cg_theta_rad":5.00663757,"cg_vd_req_v":0.0936785042,"cg_vd_v":0.0936785042,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365104139,"cg_vq_v":-0.365104139,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376381,"cg_dv":50.2032013,"cg_dw":49.7967987,"cg_id_a":0.162663639,"cg_id_raw_a":-0.529585123,"cg_iq_a":-0.646793246,"cg_iq_raw_a":-0.634168625,"cg_iu_a":0.183752537,"cg_iv_a":1.30144429,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.9618187,"cg_sample_seq":14596917,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0899150819,"cg_vd_v":0.0899150819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353361249,"cg_vq_v":-0.353361249,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1271744,"cg_dv":50.2022095,"cg_dw":49.7977905,"cg_id_a":-0.233968616,"cg_id_raw_a":-0.107929185,"cg_iq_a":-1.07850587,"cg_iq_raw_a":-0.664897263,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8600006,"cg_sample_seq":14596966,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.0961434022,"cg_vd_v":0.0961434022,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346414804,"cg_vq_v":-0.346414804,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5943298,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1454849,"cg_dv":50.2168732,"cg_dw":49.7831268,"cg_id_a":-0.189441115,"cg_id_raw_a":-0.124455862,"cg_iq_a":0.51041162,"cg_iq_raw_a":0.607873201,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9581814,"cg_sample_seq":14597016,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0958507955,"cg_vd_v":0.0958507955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376650542,"cg_vq_v":-0.376650542,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5896912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431999,"cg_dv":50.2148552,"cg_dw":49.7851448,"cg_id_a":-0.2844778,"cg_id_raw_a":0.0938159525,"cg_iq_a":0.436331451,"cg_iq_raw_a":-0.135776848,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9581814,"cg_sample_seq":14597166,"cg_sample_valid":1,"cg_theta_rad":5.00631762,"cg_vd_req_v":0.0961660072,"cg_vd_v":0.0961660072,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372503906,"cg_vq_v":-0.372503906,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.8560715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5834656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390114,"cg_dv":50.2037926,"cg_dw":49.7962074,"cg_id_a":0.0189053789,"cg_id_raw_a":-0.466690153,"cg_iq_a":-0.498501092,"cg_iq_raw_a":-0.410621881,"cg_iu_a":0.61867857,"cg_iv_a":0.866518259,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.9254551,"cg_sample_seq":14597216,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0902382135,"cg_vd_v":0.0902382135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354723752,"cg_vq_v":-0.354723752,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12471,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1498909,"cg_dv":50.2104759,"cg_dw":49.7895241,"cg_id_a":0.138507992,"cg_id_raw_a":0.756263256,"cg_iq_a":0.159350112,"cg_iq_raw_a":-0.255714536,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9218178,"cg_sample_seq":14597266,"cg_sample_valid":1,"cg_theta_rad":5.00689554,"cg_vd_req_v":0.0856859088,"cg_vd_v":0.0856859088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370524019,"cg_vq_v":-0.370524019,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12478,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382561,"cg_dv":50.2087402,"cg_dw":49.7912598,"cg_id_a":-0.135252878,"cg_id_raw_a":0.185607687,"cg_iq_a":-0.157951847,"cg_iq_raw_a":0.235732093,"cg_iu_a":0.219996452,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9618187,"cg_sample_seq":14597316,"cg_sample_valid":1,"cg_theta_rad":5.00763226,"cg_vd_req_v":0.091507718,"cg_vd_v":0.091507718,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362083584,"cg_vq_v":-0.362083584,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12493,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1501617,"cg_dv":50.2150688,"cg_dw":49.7849312,"cg_id_a":-0.0452328771,"cg_id_raw_a":0.471932232,"cg_iq_a":0.305353224,"cg_iq_raw_a":-0.791352391,"cg_iu_a":-0.251173258,"cg_iv_a":-0.691966534,"cg_iw_a":0.943139791,"cg_sample_age_us":23.8781815,"cg_sample_seq":14597366,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0906335041,"cg_vd_v":0.0906335041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376764983,"cg_vq_v":-0.376764983,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.30619967,"dclink_p_w":44.31464,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6082764,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12453,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463776,"cg_dv":50.217617,"cg_dw":49.782383,"cg_id_a":-0.372318864,"cg_id_raw_a":-0.201631457,"cg_iq_a":0.220181793,"cg_iq_raw_a":0.0899830088,"cg_iu_a":0.43745935,"cg_iv_a":-0.619478941,"cg_iw_a":0.182019591,"cg_sample_age_us":23.863636,"cg_sample_seq":14597416,"cg_sample_valid":1,"cg_theta_rad":5.00668526,"cg_vd_req_v":0.0974628329,"cg_vd_v":0.0974628329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377758205,"cg_vq_v":-0.377758205,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438942,"cg_dv":50.2142906,"cg_dw":49.7857094,"cg_id_a":-0.204967901,"cg_id_raw_a":-0.242402032,"cg_iq_a":-0.0928187594,"cg_iq_raw_a":0.0882715508,"cg_iu_a":0.256240129,"cg_iv_a":-0.365772128,"cg_iw_a":0.109531999,"cg_sample_age_us":23.863636,"cg_sample_seq":14597466,"cg_sample_valid":1,"cg_theta_rad":5.00869322,"cg_vd_req_v":0.0927071422,"cg_vd_v":0.0927071422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373923361,"cg_vq_v":-0.373923361,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12458,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1505165,"cg_dv":50.212368,"cg_dw":49.787632,"cg_id_a":0.031031087,"cg_id_raw_a":0.197468802,"cg_iq_a":0.0768068731,"cg_iq_raw_a":0.0935852975,"cg_iu_a":0.14750886,"cg_iv_a":-0.293284357,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9872723,"cg_sample_seq":14597517,"cg_sample_valid":1,"cg_theta_rad":5.0069108,"cg_vd_req_v":0.0895655751,"cg_vd_v":0.0895655751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372855127,"cg_vq_v":-0.372855127,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304626,"cg_dv":50.2088776,"cg_dw":49.7911224,"cg_id_a":-0.197290719,"cg_id_raw_a":-0.823198259,"cg_iq_a":-0.227829099,"cg_iq_raw_a":-0.660359144,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065256,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9509087,"cg_sample_seq":14597569,"cg_sample_valid":1,"cg_theta_rad":5.0081172,"cg_vd_req_v":0.0988508463,"cg_vd_v":0.0927398205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35882318,"cg_vq_v":-0.361365706,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12464,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1477165,"cg_dv":50.207962,"cg_dw":49.792038,"cg_id_a":0.168788046,"cg_id_raw_a":0.297527403,"cg_iq_a":0.00785413943,"cg_iq_raw_a":-0.29921177,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8672733,"cg_sample_seq":14597616,"cg_sample_valid":1,"cg_theta_rad":5.00657654,"cg_vd_req_v":0.0844786763,"cg_vd_v":0.0844786763,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366000652,"cg_vq_v":-0.366000652,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.380499601,"dclink_p_w":55.0676727,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5881348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431656,"cg_dv":50.2101822,"cg_dw":49.7898178,"cg_id_a":-0.211048186,"cg_id_raw_a":-0.260423869,"cg_iq_a":0.0895973146,"cg_iq_raw_a":0.0481327064,"cg_iu_a":-0.142441988,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238692,"cg_sample_age_us":23.863636,"cg_sample_seq":14597666,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0923935175,"cg_vd_v":0.0923935175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367129296,"cg_vq_v":-0.367129296,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12455,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319695,"cg_dv":50.2028809,"cg_dw":49.7971191,"cg_id_a":-0.337690204,"cg_id_raw_a":-0.188880607,"cg_iq_a":-0.60565275,"cg_iq_raw_a":-0.856590748,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.863636,"cg_sample_seq":14597716,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0954487696,"cg_vd_v":0.0954487696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349361479,"cg_vq_v":-0.349361479,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1287498,"cg_dv":50.1972542,"cg_dw":49.8027458,"cg_id_a":0.0593836494,"cg_id_raw_a":0.14042218,"cg_iq_a":-0.822121263,"cg_iq_raw_a":-0.205301329,"cg_iu_a":0.691166162,"cg_iv_a":0.431592226,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.8745461,"cg_sample_seq":14597766,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0873139575,"cg_vd_v":0.0873139575,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342383564,"cg_vq_v":-0.342383564,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.8204269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12419,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412926,"cg_dv":50.2087326,"cg_dw":49.7912674,"cg_id_a":-0.310478568,"cg_id_raw_a":0.119986303,"cg_iq_a":0.397873521,"cg_iq_raw_a":-0.788414359,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.619478941,"cg_iw_a":0.689433098,"cg_sample_age_us":23.863636,"cg_sample_seq":14597817,"cg_sample_valid":1,"cg_theta_rad":5.00671625,"cg_vd_req_v":0.0943271294,"cg_vd_v":0.0943271294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363614112,"cg_vq_v":-0.363614112,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.8204269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12450,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426773,"cg_dv":50.2101288,"cg_dw":49.7898712,"cg_id_a":0.0987178832,"cg_id_raw_a":-0.430638492,"cg_iq_a":0.246197939,"cg_iq_raw_a":0.904675782,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885413,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8600006,"cg_sample_seq":14597867,"cg_sample_valid":1,"cg_theta_rad":5.00655317,"cg_vd_req_v":0.0935419947,"cg_vd_v":0.0935419947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365390629,"cg_vq_v":-0.365390629,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.253646135,"dclink_p_w":36.8204269,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399498,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":0.0408614799,"cg_id_raw_a":-0.468612462,"cg_iq_a":-0.0773089752,"cg_iq_raw_a":0.0288753137,"cg_iu_a":0.111264944,"cg_iv_a":0.649055243,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9763641,"cg_sample_seq":14597917,"cg_sample_valid":1,"cg_theta_rad":5.0077548,"cg_vd_req_v":0.0863253251,"cg_vd_v":0.0863253251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35401383,"cg_vq_v":-0.35401383,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418991,"cg_dv":50.2069435,"cg_dw":49.7930565,"cg_id_a":-0.146815181,"cg_id_raw_a":-0.0551159345,"cg_iq_a":0.277751267,"cg_iq_raw_a":-0.550747752,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14597966,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.08961045,"cg_vd_v":0.08961045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360991359,"cg_vq_v":-0.360991359,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.469296932,"dclink_p_w":67.9188385,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1345558,"cg_dv":50.2015877,"cg_dw":49.7984123,"cg_id_a":-0.0122062713,"cg_id_raw_a":0.246525303,"cg_iq_a":-0.0817010254,"cg_iq_raw_a":0.0242843721,"cg_iu_a":1.08984852,"cg_iv_a":-0.184552908,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9290905,"cg_sample_seq":14598017,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.0895742923,"cg_vd_v":0.0895742923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349739671,"cg_vq_v":-0.349739671,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5896912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12522,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1299667,"cg_dv":50.1978111,"cg_dw":49.8021889,"cg_id_a":0.0296517797,"cg_id_raw_a":0.0073695532,"cg_iq_a":-0.341344833,"cg_iq_raw_a":0.110681809,"cg_iu_a":0.836141586,"cg_iv_a":0.177885413,"cg_iw_a":-1.014027,"cg_sample_age_us":23.8527279,"cg_sample_seq":14598070,"cg_sample_valid":1,"cg_theta_rad":5.00729942,"cg_vd_req_v":0.0886085182,"cg_vd_v":0.0886085182,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342270881,"cg_vq_v":-0.342270881,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5896912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1421013,"cg_dv":50.2065849,"cg_dw":49.7934151,"cg_id_a":-0.00283602625,"cg_id_raw_a":-0.22908923,"cg_iq_a":0.456026554,"cg_iq_raw_a":0.379288107,"cg_iu_a":0.0750210285,"cg_iv_a":0.685299098,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9581814,"cg_sample_seq":14598116,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0890977457,"cg_vd_v":0.0890977457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361781359,"cg_vq_v":-0.361781359,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5896912,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12447,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449318,"cg_dv":50.2047119,"cg_dw":49.7952881,"cg_id_a":0.0896167308,"cg_id_raw_a":-0.71614933,"cg_iq_a":0.352742612,"cg_iq_raw_a":0.182855397,"cg_iu_a":-1.04853773,"cg_iv_a":0.359104633,"cg_iw_a":0.689433098,"cg_sample_age_us":23.863636,"cg_sample_seq":14598166,"cg_sample_valid":1,"cg_theta_rad":5.00623989,"cg_vd_req_v":0.0868128166,"cg_vd_v":0.0868128166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359235644,"cg_vq_v":-0.359235644,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12485,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1335258,"cg_dv":50.2090683,"cg_dw":49.7909317,"cg_id_a":-0.509771645,"cg_id_raw_a":0.00670883339,"cg_iq_a":0.223331243,"cg_iq_raw_a":0.110723875,"cg_iu_a":0.437459469,"cg_iv_a":-1.05440497,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9290905,"cg_sample_seq":14598216,"cg_sample_valid":1,"cg_theta_rad":5.00689793,"cg_vd_req_v":0.0988170579,"cg_vd_v":0.0988170579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359024823,"cg_vq_v":-0.359024823,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.449362874,"dclink_p_w":65.0338898,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12484,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1368599,"cg_dv":50.2037582,"cg_dw":49.7962418,"cg_id_a":-0.125813499,"cg_id_raw_a":-0.000294481113,"cg_iq_a":0.0160777569,"cg_iq_raw_a":-0.254072338,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.863636,"cg_sample_seq":14598266,"cg_sample_valid":1,"cg_theta_rad":5.00761223,"cg_vd_req_v":0.0897675082,"cg_vd_v":0.0897675082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35401094,"cg_vq_v":-0.35401094,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.467484713,"dclink_p_w":67.6565628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12465,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1352882,"cg_dv":50.1958008,"cg_dw":49.8041992,"cg_id_a":0.105565116,"cg_id_raw_a":0.329539627,"cg_iq_a":-0.462185532,"cg_iq_raw_a":-1.02269602,"cg_iu_a":0.292484283,"cg_iv_a":0.21412921,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9218178,"cg_sample_seq":14598317,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0847574621,"cg_vd_v":0.0847574621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341938794,"cg_vq_v":-0.341938794,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.48741889,"dclink_p_w":70.5415344,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12449,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1372604,"cg_dv":50.1965637,"cg_dw":49.8034363,"cg_id_a":0.186976179,"cg_id_raw_a":0.271927267,"cg_iq_a":-0.172283441,"cg_iq_raw_a":-0.445800096,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14598366,"cg_sample_valid":1,"cg_theta_rad":5.00726223,"cg_vd_req_v":0.0840381533,"cg_vd_v":0.0840381533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345170796,"cg_vq_v":-0.345170796,"cg_vu_v":29.912693,"cg_vv_v":19.795166,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.567155302,"dclink_p_w":82.0813522,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12439,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.142067,"cg_dv":50.2046661,"cg_dw":49.7953339,"cg_id_a":-0.0509368256,"cg_id_raw_a":-0.134269133,"cg_iq_a":0.41412732,"cg_iq_raw_a":0.241687179,"cg_iu_a":-0.722343206,"cg_iv_a":-0.583235025,"cg_iw_a":1.30557823,"cg_sample_age_us":23.863636,"cg_sample_seq":14598416,"cg_sample_valid":1,"cg_theta_rad":5.00540304,"cg_vd_req_v":0.0907784104,"cg_vd_v":0.0907784104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358264953,"cg_vq_v":-0.358264953,"cg_vu_v":29.0329094,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.302575231,"dclink_p_w":43.7900963,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.6036377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12431,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1401138,"cg_dv":50.2018967,"cg_dw":49.7981033,"cg_id_a":0.104172021,"cg_id_raw_a":-0.0867235735,"cg_iq_a":-0.0257394835,"cg_iq_raw_a":-0.00800884236,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9290905,"cg_sample_seq":14598467,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0877370834,"cg_vd_v":0.0877370834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352726549,"cg_vq_v":-0.352726549,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12461,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290894,"cg_dv":50.1997948,"cg_dw":49.8002052,"cg_id_a":-0.241120607,"cg_id_raw_a":0.0725305378,"cg_iq_a":-0.305436641,"cg_iq_raw_a":0.0809988156,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9727268,"cg_sample_seq":14598517,"cg_sample_valid":1,"cg_theta_rad":5.0066638,"cg_vd_req_v":0.0941467956,"cg_vd_v":0.0941467956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343694031,"cg_vq_v":-0.343694031,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.250021696,"dclink_p_w":36.1843033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12483,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1361237,"cg_dv":50.2014732,"cg_dw":49.7985268,"cg_id_a":0.0797425732,"cg_id_raw_a":-0.114269882,"cg_iq_a":0.00828439556,"cg_iq_raw_a":0.281181365,"cg_iu_a":-0.541124105,"cg_iv_a":0.286616921,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8672733,"cg_sample_seq":14598570,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0882389024,"cg_vd_v":0.0882389024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350461334,"cg_vq_v":-0.350461334,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.498291969,"dclink_p_w":72.1151352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5385437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1389694,"cg_dv":50.2060509,"cg_dw":49.7939491,"cg_id_a":0.0407157317,"cg_id_raw_a":0.0993755832,"cg_iq_a":0.250453234,"cg_iq_raw_a":0.483068556,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14598616,"cg_sample_valid":1,"cg_theta_rad":5.00563526,"cg_vd_req_v":0.0891847312,"cg_vd_v":0.0891847312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358598709,"cg_vq_v":-0.358598709,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.6428719,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12478,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399307,"cg_dv":50.2109337,"cg_dw":49.7890663,"cg_id_a":-0.0947578251,"cg_id_raw_a":-0.188962981,"cg_iq_a":0.656791627,"cg_iq_raw_a":-0.489993751,"cg_iu_a":0.364971876,"cg_iv_a":-0.438259721,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8672733,"cg_sample_seq":14598666,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.0936233327,"cg_vd_v":0.0936233327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365671664,"cg_vq_v":-0.365671664,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12448,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1402817,"cg_dv":50.2024727,"cg_dw":49.7975273,"cg_id_a":0.297444403,"cg_id_raw_a":0.329755604,"cg_iq_a":0.0473544523,"cg_iq_raw_a":0.0331703871,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9654541,"cg_sample_seq":14598716,"cg_sample_valid":1,"cg_theta_rad":5.0083313,"cg_vd_req_v":0.0869486257,"cg_vd_v":0.0869486257,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353899568,"cg_vq_v":-0.353899568,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6005554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12485,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342621,"cg_dv":50.1906013,"cg_dw":49.8093987,"cg_id_a":0.593981624,"cg_id_raw_a":0.0587595291,"cg_iq_a":-0.796418846,"cg_iq_raw_a":-0.212060228,"cg_iu_a":-1.01229382,"cg_iv_a":0.431592286,"cg_iw_a":0.58070153,"cg_sample_age_us":23.863636,"cg_sample_seq":14598766,"cg_sample_valid":1,"cg_theta_rad":5.00620079,"cg_vd_req_v":0.0792851374,"cg_vd_v":0.0792851374,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335666478,"cg_vq_v":-0.335666478,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.71204376,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.918457,"temp_inv2_c":35.6005554,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12452,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350403,"cg_dv":50.2023125,"cg_dw":49.7976875,"cg_id_a":0.232906461,"cg_id_raw_a":0.886841118,"cg_iq_a":0.0772387311,"cg_iq_raw_a":1.50272429,"cg_iu_a":0.364971638,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9254551,"cg_sample_seq":14598816,"cg_sample_valid":1,"cg_theta_rad":5.00632954,"cg_vd_req_v":0.0890600085,"cg_vd_v":0.0890600085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351212561,"cg_vq_v":-0.351212561,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1288452,"cg_dv":50.1946259,"cg_dw":49.8053741,"cg_id_a":0.225007236,"cg_id_raw_a":-0.309013903,"cg_iq_a":-0.550658882,"cg_iq_raw_a":-1.37724161,"cg_iu_a":-1.51970768,"cg_iv_a":0.141641617,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9618187,"cg_sample_seq":14598868,"cg_sample_valid":1,"cg_theta_rad":5.00710058,"cg_vd_req_v":0.0884749517,"cg_vd_v":0.0884749517,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336765647,"cg_vq_v":-0.336765647,"cg_vu_v":134.607132,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5757446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38678,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1351624,"cg_dv":50.2038078,"cg_dw":49.7961922,"cg_id_a":0.0600444674,"cg_id_raw_a":-0.158899695,"cg_iq_a":0.206720352,"cg_iq_raw_a":0.275522143,"cg_iu_a":-1.30224442,"cg_iv_a":0.57656765,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9799995,"cg_sample_seq":14598916,"cg_sample_valid":1,"cg_theta_rad":5.00772762,"cg_vd_req_v":0.0950407982,"cg_vd_v":0.0950407982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352100164,"cg_vq_v":-0.352100164,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5757446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12455,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1184616,"cg_dv":50.1981583,"cg_dw":49.8018417,"cg_id_a":-0.039172437,"cg_id_raw_a":-0.255072773,"cg_iq_a":-0.449216604,"cg_iq_raw_a":-0.643619835,"cg_iu_a":0.292484283,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9618187,"cg_sample_seq":14598966,"cg_sample_valid":1,"cg_theta_rad":5.00824594,"cg_vd_req_v":0.100165501,"cg_vd_v":0.100165501,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335692316,"cg_vq_v":-0.335692316,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1166916,"cg_dv":50.2013741,"cg_dw":49.7986259,"cg_id_a":-0.307659328,"cg_id_raw_a":-0.253419757,"cg_iq_a":-0.120798655,"cg_iq_raw_a":-0.0233511943,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9181824,"cg_sample_seq":14599016,"cg_sample_valid":1,"cg_theta_rad":5.00754261,"cg_vd_req_v":0.105135329,"cg_vd_v":0.105135329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338927776,"cg_vq_v":-0.338927776,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12458,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.112854,"cg_dv":50.1995354,"cg_dw":49.8004646,"cg_id_a":-0.220193744,"cg_id_raw_a":-0.874042213,"cg_iq_a":-0.211414456,"cg_iq_raw_a":-1.02743196,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148309112,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8563633,"cg_sample_seq":14599071,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.104086794,"cg_vd_v":0.104086794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334977984,"cg_vq_v":-0.334977984,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12495,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1092644,"cg_dv":50.1988258,"cg_dw":49.8011742,"cg_id_a":-0.212625593,"cg_id_raw_a":0.166222692,"cg_iq_a":-0.300976187,"cg_iq_raw_a":-0.493914455,"cg_iu_a":0.437459469,"cg_iv_a":-0.546991229,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9581814,"cg_sample_seq":14599116,"cg_sample_valid":1,"cg_theta_rad":5.00822783,"cg_vd_req_v":0.104787976,"cg_vd_v":0.104787976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333573401,"cg_vq_v":-0.333573401,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1134338,"cg_dv":50.2036591,"cg_dw":49.7963409,"cg_id_a":-0.384394228,"cg_id_raw_a":-0.293760955,"cg_iq_a":0.0815479308,"cg_iq_raw_a":0.410278082,"cg_iu_a":0.727410316,"cg_iv_a":0.504079938,"cg_iw_a":-1.23149025,"cg_sample_age_us":23.9836369,"cg_sample_seq":14599167,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.107437186,"cg_vd_v":0.107437186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34097746,"cg_vq_v":-0.34097746,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12454,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1175613,"cg_dv":50.1961174,"cg_dw":49.8038826,"cg_id_a":-0.00273713656,"cg_id_raw_a":0.163029909,"cg_iq_a":-0.344774961,"cg_iq_raw_a":0.0179737173,"cg_iu_a":0.799897671,"cg_iv_a":0.431592345,"cg_iw_a":-1.23149002,"cg_sample_age_us":23.9872723,"cg_sample_seq":14599216,"cg_sample_valid":1,"cg_theta_rad":5.0079813,"cg_vd_req_v":0.100942947,"cg_vd_v":0.100942947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331795961,"cg_vq_v":-0.331795961,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12471,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203232,"cg_dv":50.2070808,"cg_dw":49.7929192,"cg_id_a":-0.3442415,"cg_id_raw_a":-0.370776147,"cg_iq_a":0.43125698,"cg_iq_raw_a":-0.109990582,"cg_iu_a":0.401215553,"cg_iv_a":0.359104574,"cg_iw_a":1.34182215,"cg_sample_age_us":23.863636,"cg_sample_seq":14599266,"cg_sample_valid":1,"cg_theta_rad":5.00728273,"cg_vd_req_v":0.108521305,"cg_vd_v":0.108521305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348507851,"cg_vq_v":-0.348507851,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1245193,"cg_dv":50.2049751,"cg_dw":49.7950249,"cg_id_a":0.157417297,"cg_id_raw_a":-0.0170990638,"cg_iq_a":0.435225368,"cg_iq_raw_a":0.399501503,"cg_iu_a":0.14750886,"cg_iv_a":0.540323794,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9654541,"cg_sample_seq":14599316,"cg_sample_valid":1,"cg_theta_rad":5.00743008,"cg_vd_req_v":0.0981422886,"cg_vd_v":0.0981422886,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350629598,"cg_vq_v":-0.350629598,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5819092,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12491,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333275,"cg_dv":50.2101707,"cg_dw":49.7898293,"cg_id_a":0.144233078,"cg_id_raw_a":-0.11176648,"cg_iq_a":0.869994819,"cg_iq_raw_a":0.900310993,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641617,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8600006,"cg_sample_seq":14599367,"cg_sample_valid":1,"cg_theta_rad":5.00720692,"cg_vd_req_v":0.0991303176,"cg_vd_v":0.0991303176,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361844569,"cg_vq_v":-0.361844569,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5710754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1314888,"cg_dv":50.210022,"cg_dw":49.789978,"cg_id_a":0.0844585821,"cg_id_raw_a":0.0729909837,"cg_iq_a":0.715092659,"cg_iq_raw_a":0.0805841461,"cg_iu_a":0.0750210285,"cg_iv_a":-0.438259721,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8781815,"cg_sample_seq":14599417,"cg_sample_valid":1,"cg_theta_rad":5.01071167,"cg_vd_req_v":0.100518122,"cg_vd_v":0.100518122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360585898,"cg_vq_v":-0.360585898,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6036377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12485,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205711,"cg_dv":50.2034073,"cg_dw":49.7965927,"cg_id_a":0.00951556209,"cg_id_raw_a":0.221874595,"cg_iq_a":-0.0802400112,"cg_iq_raw_a":-0.378529847,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9581814,"cg_sample_seq":14599466,"cg_sample_valid":1,"cg_theta_rad":5.00767326,"cg_vd_req_v":0.102369048,"cg_vd_v":0.102369048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344382554,"cg_vq_v":-0.344382554,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":0.197468162,"dclink_p_w":28.5785122,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6036377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12453,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205368,"cg_dv":50.2015381,"cg_dw":49.7984619,"cg_id_a":0.057590194,"cg_id_raw_a":-0.193346187,"cg_iq_a":-0.08460664,"cg_iq_raw_a":-0.418904334,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.863636,"cg_sample_seq":14599516,"cg_sample_valid":1,"cg_theta_rad":5.00647926,"cg_vd_req_v":0.10172461,"cg_vd_v":0.10172461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341484666,"cg_vq_v":-0.341484666,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.9220467,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5834656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1174126,"cg_dv":50.1971321,"cg_dw":49.8028679,"cg_id_a":0.191678941,"cg_id_raw_a":-0.301174045,"cg_iq_a":-0.5090065,"cg_iq_raw_a":-1.26643503,"cg_iu_a":-0.142441988,"cg_iv_a":0.866518259,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9509087,"cg_sample_seq":14599566,"cg_sample_valid":1,"cg_theta_rad":5.00530052,"cg_vd_req_v":0.0992779061,"cg_vd_v":0.0992779061,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33392489,"cg_vq_v":-0.33392489,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5834656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12460,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1236877,"cg_dv":50.1965485,"cg_dw":49.8034515,"cg_id_a":0.358983368,"cg_id_raw_a":-0.0232640356,"cg_iq_a":-0.346361697,"cg_iq_raw_a":-0.656971395,"cg_iu_a":0.582434654,"cg_iv_a":0.322860777,"cg_iw_a":-0.905295432,"cg_sample_age_us":23.863636,"cg_sample_seq":14599621,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0940822139,"cg_vd_v":0.0940822139,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336566627,"cg_vq_v":-0.336566627,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189537,"cg_dv":50.2054939,"cg_dw":49.7945061,"cg_id_a":-0.180504248,"cg_id_raw_a":0.102420583,"cg_iq_a":0.0294109657,"cg_iq_raw_a":-0.462908715,"cg_iu_a":0.836141586,"cg_iv_a":-0.764454246,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14599666,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.104967184,"cg_vd_v":0.104967184,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347677916,"cg_vq_v":-0.347677916,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.598999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233673,"cg_dv":50.2044296,"cg_dw":49.7955704,"cg_id_a":-0.150331289,"cg_id_raw_a":-0.226142883,"cg_iq_a":0.159014389,"cg_iq_raw_a":0.123799287,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9654541,"cg_sample_seq":14599816,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.102903239,"cg_vd_v":0.102903239,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346825898,"cg_vq_v":-0.346825898,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5726318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270294,"cg_dv":50.1990166,"cg_dw":49.8009834,"cg_id_a":0.26826182,"cg_id_raw_a":0.316974074,"cg_iq_a":-0.0371562541,"cg_iq_raw_a":-0.696547091,"cg_iu_a":-0.86731863,"cg_iv_a":-0.184552908,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14599866,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0938424766,"cg_vd_v":0.0938424766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341797233,"cg_vq_v":-0.341797233,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5726318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1182175,"cg_dv":50.1967812,"cg_dw":49.8032188,"cg_id_a":-0.00626272336,"cg_id_raw_a":0.111264579,"cg_iq_a":-0.245305687,"cg_iq_raw_a":-0.097564213,"cg_iu_a":0.183752537,"cg_iv_a":0.250373065,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9618187,"cg_sample_seq":14599916,"cg_sample_valid":1,"cg_theta_rad":5.00803089,"cg_vd_req_v":0.0986033306,"cg_vd_v":0.0986033306,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333807796,"cg_vq_v":-0.333807796,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5834656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291084,"cg_dv":50.2102852,"cg_dw":49.7897148,"cg_id_a":-0.0592080578,"cg_id_raw_a":-0.29490006,"cg_iq_a":1.02495921,"cg_iq_raw_a":0.66551125,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9763641,"cg_sample_seq":14599968,"cg_sample_valid":1,"cg_theta_rad":5.0069437,"cg_vd_req_v":0.100980289,"cg_vd_v":0.100980289,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360079527,"cg_vq_v":-0.360079527,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.8868294,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5834656,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12439,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1173172,"cg_dv":50.1985703,"cg_dw":49.8014297,"cg_id_a":-0.00956390239,"cg_id_raw_a":-0.524068654,"cg_iq_a":-0.080602698,"cg_iq_raw_a":0.169171259,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9654541,"cg_sample_seq":14600016,"cg_sample_valid":1,"cg_theta_rad":5.00450802,"cg_vd_req_v":0.10031008,"cg_vd_v":0.10031008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335954994,"cg_vq_v":-0.335954994,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.1551323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5757446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12457,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1153755,"cg_dv":50.19133,"cg_dw":49.80867,"cg_id_a":0.253144503,"cg_id_raw_a":-0.518720865,"cg_iq_a":-0.594463527,"cg_iq_raw_a":-0.524617791,"cg_iu_a":0.61867857,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9509087,"cg_sample_seq":14600066,"cg_sample_valid":1,"cg_theta_rad":5.00746822,"cg_vd_req_v":0.0962599292,"cg_vd_v":0.0962599292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32459119,"cg_vq_v":-0.32459119,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6175842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1046143,"cg_dv":50.1976967,"cg_dw":49.8023033,"cg_id_a":-0.289198488,"cg_id_raw_a":-0.631361663,"cg_iq_a":-0.490186751,"cg_iq_raw_a":-0.931474447,"cg_iu_a":-0.39614892,"cg_iv_a":0.032910049,"cg_iw_a":0.363238871,"cg_sample_age_us":23.8527279,"cg_sample_seq":14600121,"cg_sample_valid":1,"cg_theta_rad":5.00683212,"cg_vd_req_v":0.108590163,"cg_vd_v":0.108590163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327938914,"cg_vq_v":-0.327938914,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.6175842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12493,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.109726,"cg_dv":50.1983261,"cg_dw":49.8016739,"cg_id_a":-0.0949223563,"cg_id_raw_a":-0.581528127,"cg_iq_a":-0.181754813,"cg_iq_raw_a":-0.748424649,"cg_iu_a":0.473703265,"cg_iv_a":0.322860718,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.8709087,"cg_sample_seq":14600166,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.106990017,"cg_vd_v":0.106990017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331067532,"cg_vq_v":-0.331067532,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5648804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.092804,"cg_dv":50.1924591,"cg_dw":49.8075409,"cg_id_a":-0.287892133,"cg_id_raw_a":-0.034563683,"cg_iq_a":-0.909731686,"cg_iq_raw_a":0.106741033,"cg_iu_a":0.618678689,"cg_iv_a":0.322860837,"cg_iw_a":-0.941539526,"cg_sample_age_us":23.9581814,"cg_sample_seq":14600216,"cg_sample_valid":1,"cg_theta_rad":5.00767136,"cg_vd_req_v":0.11347454,"cg_vd_v":0.11347454,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313980639,"cg_vq_v":-0.313980639,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0995522,"cg_dv":50.1957359,"cg_dw":49.8042641,"cg_id_a":-0.245247304,"cg_id_raw_a":-0.421573877,"cg_iq_a":-0.424574703,"cg_iq_raw_a":-0.660174966,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14600266,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.112674311,"cg_vd_v":0.112674311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321756333,"cg_vq_v":-0.321756333,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12464,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.105442,"cg_dv":50.1963272,"cg_dw":49.8036728,"cg_id_a":-0.0889486,"cg_id_raw_a":0.0771740228,"cg_iq_a":-0.301625729,"cg_iq_raw_a":-0.79282403,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14600316,"cg_sample_valid":1,"cg_theta_rad":5.0046401,"cg_vd_req_v":0.109755203,"cg_vd_v":0.109755203,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326592803,"cg_vq_v":-0.326592803,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5881348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12476,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1039734,"cg_dv":50.1951675,"cg_dw":49.8048325,"cg_id_a":0.0498454571,"cg_id_raw_a":0.534502327,"cg_iq_a":-0.495501935,"cg_iq_raw_a":-0.566869974,"cg_iu_a":0.219996452,"cg_iv_a":0.21412921,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9836369,"cg_sample_seq":14600366,"cg_sample_valid":1,"cg_theta_rad":5.00663662,"cg_vd_req_v":0.107629314,"cg_vd_v":0.107629314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323810071,"cg_vq_v":-0.323810071,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.753932476,"dclink_p_w":-109.112617,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5881348,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12445,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1050568,"cg_dv":50.2006187,"cg_dw":49.7993813,"cg_id_a":-0.130472094,"cg_id_raw_a":0.0462210849,"cg_iq_a":-0.0399625152,"cg_iq_raw_a":-0.504511952,"cg_iu_a":0.691166162,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9509087,"cg_sample_seq":14600416,"cg_sample_valid":1,"cg_theta_rad":5.00662613,"cg_vd_req_v":0.112846993,"cg_vd_v":0.112846993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331572533,"cg_vq_v":-0.331572533,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.916321,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12499,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1062775,"cg_dv":50.2050934,"cg_dw":49.7949066,"cg_id_a":-0.209043354,"cg_id_raw_a":-0.277692378,"cg_iq_a":0.227708891,"cg_iq_raw_a":0.884365618,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616862,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9654541,"cg_sample_seq":14600466,"cg_sample_valid":1,"cg_theta_rad":5.00864363,"cg_vd_req_v":0.115524642,"cg_vd_v":0.115524642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338583082,"cg_vq_v":-0.338583082,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.652449846,"dclink_p_w":-94.4255753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.0926895,"cg_dv":50.1932106,"cg_dw":49.8067894,"cg_id_a":-0.0524778813,"cg_id_raw_a":0.41980195,"cg_iq_a":-0.914193392,"cg_iq_raw_a":-0.4687787,"cg_iu_a":0.473703384,"cg_iv_a":0.757786751,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9581814,"cg_sample_seq":14600516,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.11448589,"cg_vd_v":0.11448589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314866126,"cg_vq_v":-0.314866126,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.652449846,"dclink_p_w":-94.4255753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.585022,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12468,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1030502,"cg_dv":50.2018051,"cg_dw":49.7981949,"cg_id_a":-0.149483442,"cg_id_raw_a":0.00766693382,"cg_iq_a":-0.169496447,"cg_iq_raw_a":0.547633708,"cg_iu_a":0.763653994,"cg_iv_a":-0.546991229,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14600566,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.114795364,"cg_vd_v":0.114795364,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333454549,"cg_vq_v":-0.333454549,"cg_vu_v":3.07924795,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.590835094,"dclink_p_w":-85.7683105,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5757446,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1098137,"cg_dv":50.2126007,"cg_dw":49.7873993,"cg_id_a":-0.484743953,"cg_id_raw_a":0.0408455357,"cg_iq_a":0.762616456,"cg_iq_raw_a":0.187055603,"cg_iu_a":0.0750210285,"cg_iv_a":-0.728210449,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9618187,"cg_sample_seq":14600716,"cg_sample_valid":1,"cg_theta_rad":5.00663805,"cg_vd_req_v":0.121601269,"cg_vd_v":0.121601269,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350235403,"cg_vq_v":-0.350235403,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5664368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12448,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1086693,"cg_dv":50.2028809,"cg_dw":49.7971191,"cg_id_a":0.0645594448,"cg_id_raw_a":0.300480545,"cg_iq_a":-0.110712171,"cg_iq_raw_a":0.32262361,"cg_iu_a":0.908629417,"cg_iv_a":-0.148309112,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.9509087,"cg_sample_seq":14600766,"cg_sample_valid":1,"cg_theta_rad":5.00722122,"cg_vd_req_v":0.113139749,"cg_vd_v":0.113139749,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336363494,"cg_vq_v":-0.336363494,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5664368,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12460,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1092148,"cg_dv":50.2115898,"cg_dw":49.7884102,"cg_id_a":-0.186584532,"cg_id_raw_a":0.0590770803,"cg_iq_a":0.428666055,"cg_iq_raw_a":-0.211971775,"cg_iu_a":-0.39614892,"cg_iv_a":-0.691966653,"cg_iw_a":1.08811557,"cg_sample_age_us":23.863636,"cg_sample_seq":14600816,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.119589947,"cg_vd_v":0.119589947,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349046171,"cg_vq_v":-0.349046171,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5772705,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12478,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1061859,"cg_dv":50.2069588,"cg_dw":49.7930412,"cg_id_a":0.0486602709,"cg_id_raw_a":-0.763764918,"cg_iq_a":-0.103984185,"cg_iq_raw_a":0.691894948,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015805,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14600867,"cg_sample_valid":1,"cg_theta_rad":5.00721645,"cg_vd_req_v":0.117436878,"cg_vd_v":0.117436878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341057986,"cg_vq_v":-0.341057986,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.485728145,"dclink_p_w":-70.2968369,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12457,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1050072,"cg_dv":50.2066002,"cg_dw":49.7933998,"cg_id_a":-0.052098684,"cg_id_raw_a":-0.206539825,"cg_iq_a":-0.212187946,"cg_iq_raw_a":-0.275420457,"cg_iu_a":-0.178685665,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8818188,"cg_sample_seq":14600916,"cg_sample_valid":1,"cg_theta_rad":5.01041317,"cg_vd_req_v":0.120488696,"cg_vd_v":0.120488696,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340202004,"cg_vq_v":-0.340202004,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.7160645,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2646.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1080093,"cg_dv":50.2052956,"cg_dw":49.7947044,"cg_id_a":-0.0447766781,"cg_id_raw_a":-0.251355946,"cg_iq_a":-0.240038797,"cg_iq_raw_a":0.156539693,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.863636,"cg_sample_seq":14600966,"cg_sample_valid":1,"cg_theta_rad":5.00799179,"cg_vd_req_v":0.117438257,"cg_vd_v":0.117438257,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338776201,"cg_vq_v":-0.338776201,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5958862,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12451,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1118774,"cg_dv":50.2102013,"cg_dw":49.7897987,"cg_id_a":-0.137160733,"cg_id_raw_a":0.064056851,"cg_iq_a":0.324026585,"cg_iq_raw_a":1.57438898,"cg_iu_a":0.147508621,"cg_iv_a":0.286616921,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8527279,"cg_sample_seq":14601017,"cg_sample_valid":1,"cg_theta_rad":5.00632524,"cg_vd_req_v":0.118814223,"cg_vd_v":0.118814223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347745687,"cg_vq_v":-0.347745687,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1066895,"cg_dv":50.2069893,"cg_dw":49.7930107,"cg_id_a":-0.175873846,"cg_id_raw_a":-0.0220475029,"cg_iq_a":0.237681404,"cg_iq_raw_a":0.399258971,"cg_iu_a":0.219996452,"cg_iv_a":0.250373065,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.8563633,"cg_sample_seq":14601067,"cg_sample_valid":1,"cg_theta_rad":5.00601435,"cg_vd_req_v":0.118106306,"cg_vd_v":0.118106306,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341029137,"cg_vq_v":-0.341029137,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.5623055,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5741882,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1177711,"cg_dv":50.2045975,"cg_dw":49.7954025,"cg_id_a":0.366726488,"cg_id_raw_a":0.104156636,"cg_iq_a":0.573496819,"cg_iq_raw_a":-0.0256332792,"cg_iu_a":0.0750210285,"cg_iv_a":0.612811446,"cg_iw_a":-0.687832475,"cg_sample_age_us":26.8272724,"cg_sample_seq":14601120,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.105854273,"cg_vd_v":0.105854273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344396859,"cg_vq_v":-0.344396859,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.351625919,"dclink_p_w":-50.8889389,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2646.978783,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2646.978788,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2646.978794,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2646.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12453,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1123695,"cg_dv":50.2024879,"cg_dw":49.7975121,"cg_id_a":0.158278659,"cg_id_raw_a":0.138502359,"cg_iq_a":0.180500805,"cg_iq_raw_a":0.0516161434,"cg_iu_a":-0.649855614,"cg_iv_a":-0.402015805,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9763641,"cg_sample_seq":14601166,"cg_sample_valid":1,"cg_theta_rad":5.00667572,"cg_vd_req_v":0.110742152,"cg_vd_v":0.110742152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337629169,"cg_vq_v":-0.337629169,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5617981,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12439,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1062889,"cg_dv":50.2038956,"cg_dw":49.7961044,"cg_id_a":-0.100646138,"cg_id_raw_a":-0.278921038,"cg_iq_a":-0.0175632387,"cg_iq_raw_a":-1.66605937,"cg_iu_a":-0.541124105,"cg_iv_a":0.250373065,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9581814,"cg_sample_seq":14601216,"cg_sample_valid":1,"cg_theta_rad":5.00737619,"cg_vd_req_v":0.115514003,"cg_vd_v":0.115514003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3365601,"cg_vq_v":-0.3365601,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5602112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2646.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12496,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.111599,"cg_dv":50.2027321,"cg_dw":49.7972679,"cg_id_a":0.306153655,"cg_id_raw_a":1.03766978,"cg_iq_a":0.0831241608,"cg_iq_raw_a":1.91702127,"cg_iu_a":0.836141706,"cg_iv_a":0.0329102278,"cg_iw_a":-0.869051933,"cg_sample_age_us":23.9254551,"cg_sample_seq":14601266,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.107892253,"cg_vd_v":0.107892253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3387236,"cg_vq_v":-0.3387236,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.8450317,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5788269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12455,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1338425,"cg_dv":50.2128029,"cg_dw":49.7871971,"cg_id_a":0.537011683,"cg_id_raw_a":-0.0348933339,"cg_iq_a":1.47810209,"cg_iq_raw_a":0.10663373,"cg_iu_a":-0.214929581,"cg_iv_a":-0.583235145,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9872723,"cg_sample_seq":14601316,"cg_sample_valid":1,"cg_theta_rad":5.00826454,"cg_vd_req_v":0.102044545,"cg_vd_v":0.102044545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364323199,"cg_vq_v":-0.364323199,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5788269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12495,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146164,"cg_dv":50.2078781,"cg_dw":49.7921219,"cg_id_a":-0.0344691575,"cg_id_raw_a":0.183885977,"cg_iq_a":0.652269781,"cg_iq_raw_a":-0.200074509,"cg_iu_a":-1.88214588,"cg_iv_a":0.21412921,"cg_iw_a":1.66801667,"cg_sample_age_us":23.9836369,"cg_sample_seq":14601366,"cg_sample_valid":1,"cg_theta_rad":5.00719309,"cg_vd_req_v":0.111460648,"cg_vd_v":0.111460648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347114712,"cg_vq_v":-0.347114712,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2600,"hz_tim_isr":4998,"hz_vsense":2600,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5679932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203156,"cg_dv":50.2084694,"cg_dw":49.7915306,"cg_id_a":0.073184371,"cg_id_raw_a":0.122758262,"cg_iq_a":0.718317211,"cg_iq_raw_a":-0.424082249,"cg_iu_a":-0.178685904,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9872723,"cg_sample_seq":14601416,"cg_sample_valid":1,"cg_theta_rad":5.00692368,"cg_vd_req_v":0.108795568,"cg_vd_v":0.108795568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350724578,"cg_vq_v":-0.350724578,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1130295,"cg_dv":50.2036247,"cg_dw":49.7963753,"cg_id_a":0.17288667,"cg_id_raw_a":0.464785069,"cg_iq_a":0.254404664,"cg_iq_raw_a":-0.282828808,"cg_iu_a":0.546190977,"cg_iv_a":-0.583235145,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14601468,"cg_sample_valid":1,"cg_theta_rad":5.00653124,"cg_vd_req_v":0.108290426,"cg_vd_v":0.108290426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340528905,"cg_vq_v":-0.340528905,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5927734,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12443,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1013222,"cg_dv":50.201252,"cg_dw":49.798748,"cg_id_a":-0.263413191,"cg_id_raw_a":0.0449171141,"cg_iq_a":-0.179576129,"cg_iq_raw_a":-0.504629433,"cg_iu_a":0.509947181,"cg_iv_a":0.0329101086,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9654541,"cg_sample_seq":14601516,"cg_sample_valid":1,"cg_theta_rad":5.00764179,"cg_vd_req_v":0.115539752,"cg_vd_v":0.115539752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330632091,"cg_vq_v":-0.330632091,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5586853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1080742,"cg_dv":50.2017708,"cg_dw":49.7982292,"cg_id_a":0.121880144,"cg_id_raw_a":-0.0661692545,"cg_iq_a":-0.0954833999,"cg_iq_raw_a":-0.2239393,"cg_iu_a":-0.142441988,"cg_iv_a":0.286616921,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14601566,"cg_sample_valid":1,"cg_theta_rad":5.00604916,"cg_vd_req_v":0.110545039,"cg_vd_v":0.110545039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335185051,"cg_vq_v":-0.335185051,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.2655678,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5586853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12446,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.0956993,"cg_dv":50.1949654,"cg_dw":49.8050346,"cg_id_a":-0.198400855,"cg_id_raw_a":-0.330431432,"cg_iq_a":-0.774230123,"cg_iq_raw_a":-0.289384276,"cg_iu_a":-0.14244175,"cg_iv_a":0.467836082,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9654541,"cg_sample_seq":14601621,"cg_sample_valid":1,"cg_theta_rad":5.00719166,"cg_vd_req_v":0.117122367,"cg_vd_v":0.117122367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31774497,"cg_vq_v":-0.31774497,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12495,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1060905,"cg_dv":50.2015076,"cg_dw":49.7984924,"cg_id_a":0.0935564488,"cg_id_raw_a":0.107740901,"cg_iq_a":-0.0718293637,"cg_iq_raw_a":0.156737581,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14601666,"cg_sample_valid":1,"cg_theta_rad":5.00695467,"cg_vd_req_v":0.111981109,"cg_vd_v":0.111981109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33366707,"cg_vq_v":-0.33366707,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.327945948,"dclink_p_w":47.4618645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5648804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12453,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.113224,"cg_dv":50.2076645,"cg_dw":49.7923355,"cg_id_a":-0.0668627173,"cg_id_raw_a":-0.118029356,"cg_iq_a":0.431256086,"cg_iq_raw_a":0.0986579508,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796764,"cg_iw_a":0.10953182,"cg_sample_age_us":23.863636,"cg_sample_seq":14601716,"cg_sample_valid":1,"cg_theta_rad":5.00692034,"cg_vd_req_v":0.112636961,"cg_vd_v":0.112636961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345945746,"cg_vq_v":-0.345945746,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.2214928,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5648804,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12468,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1119881,"cg_dv":50.2040367,"cg_dw":49.7959633,"cg_id_a":0.0791941285,"cg_id_raw_a":-0.332757056,"cg_iq_a":0.0729602203,"cg_iq_raw_a":0.58800447,"cg_iu_a":0.0750212669,"cg_iv_a":0.214129329,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.9872723,"cg_sample_seq":14601766,"cg_sample_valid":1,"cg_theta_rad":5.00625849,"cg_vd_req_v":0.109736949,"cg_vd_v":0.109736949,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3404347,"cg_vq_v":-0.3404347,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.471109152,"dclink_p_w":68.1811066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5788269,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1017799,"cg_dv":50.2043724,"cg_dw":49.7956276,"cg_id_a":-0.344196647,"cg_id_raw_a":-0.205098718,"cg_iq_a":-0.22384952,"cg_iq_raw_a":-0.0910489261,"cg_iu_a":0.836141586,"cg_iv_a":-0.220796824,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9509087,"cg_sample_seq":14601816,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.11725577,"cg_vd_v":0.11725577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335471153,"cg_vq_v":-0.335471153,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.471109152,"dclink_p_w":68.1811066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5602112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12471,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1020699,"cg_dv":50.199337,"cg_dw":49.800663,"cg_id_a":-0.185832158,"cg_id_raw_a":0.229163721,"cg_iq_a":-0.445266902,"cg_iq_raw_a":-0.013221574,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14601866,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.11407616,"cg_vd_v":0.11407616,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329224616,"cg_vq_v":-0.329224616,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.471109152,"dclink_p_w":68.1811066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5602112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1115341,"cg_dv":50.2055855,"cg_dw":49.7944145,"cg_id_a":0.0101537034,"cg_id_raw_a":-0.0976227745,"cg_iq_a":0.184064358,"cg_iq_raw_a":-0.117414117,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333374739,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9581814,"cg_sample_seq":14601916,"cg_sample_valid":1,"cg_theta_rad":5.00747681,"cg_vd_req_v":0.110924266,"cg_vd_v":0.110924266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343658507,"cg_vq_v":-0.343658507,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.442113996,"dclink_p_w":64.1792831,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12467,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1131821,"cg_dv":50.2045822,"cg_dw":49.7954178,"cg_id_a":-0.0237935092,"cg_id_raw_a":-0.36088258,"cg_iq_a":0.0889806896,"cg_iq_raw_a":0.619870424,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9581814,"cg_sample_seq":14601966,"cg_sample_valid":1,"cg_theta_rad":5.00834322,"cg_vd_req_v":0.111446038,"cg_vd_v":0.111446038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341161489,"cg_vq_v":-0.341161489,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.737501323,"dclink_p_w":106.734627,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12462,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1133499,"cg_dv":50.1966171,"cg_dw":49.8033829,"cg_id_a":0.254842848,"cg_id_raw_a":-0.117035367,"cg_iq_a":-0.438519001,"cg_iq_raw_a":0.280041873,"cg_iu_a":0.183752537,"cg_iv_a":0.866518259,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9654541,"cg_sample_seq":14602016,"cg_sample_valid":1,"cg_theta_rad":5.0065403,"cg_vd_req_v":0.104690567,"cg_vd_v":0.104690567,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330091864,"cg_vq_v":-0.330091864,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.806364596,"dclink_p_w":116.700836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5432129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1147118,"cg_dv":50.1994667,"cg_dw":49.8005333,"cg_id_a":0.34952271,"cg_id_raw_a":0.490615875,"cg_iq_a":-0.229593277,"cg_iq_raw_a":-0.572783768,"cg_iu_a":-0.251173496,"cg_iv_a":0.975249767,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.954546,"cg_sample_seq":14602067,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.10205406,"cg_vd_v":0.10205406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336076707,"cg_vq_v":-0.336076707,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.824486494,"dclink_p_w":119.323524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5726318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12460,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1089516,"cg_dv":50.2053909,"cg_dw":49.7946091,"cg_id_a":-0.187840298,"cg_id_raw_a":-0.409786642,"cg_iq_a":-0.0713871717,"cg_iq_raw_a":0.94441849,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.691966534,"cg_iw_a":0.725676775,"cg_sample_age_us":23.863636,"cg_sample_seq":14602121,"cg_sample_valid":1,"cg_theta_rad":5.00702906,"cg_vd_req_v":0.113776609,"cg_vd_v":0.113776609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340462714,"cg_vq_v":-0.340462714,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.855293751,"dclink_p_w":123.782097,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5726318,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154594,"cg_dv":50.2075729,"cg_dw":49.7924271,"cg_id_a":-0.0504753627,"cg_id_raw_a":0.140616998,"cg_iq_a":0.160276145,"cg_iq_raw_a":0.234023035,"cg_iu_a":-0.0337102413,"cg_iv_a":0.177885413,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9763641,"cg_sample_seq":14602166,"cg_sample_valid":1,"cg_theta_rad":5.00825071,"cg_vd_req_v":0.113305017,"cg_vd_v":0.113305017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346267998,"cg_vq_v":-0.346267998,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.855293751,"dclink_p_w":123.782097,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.563324,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12465,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210556,"cg_dv":50.2050171,"cg_dw":49.7949829,"cg_id_a":0.325604647,"cg_id_raw_a":-0.191470459,"cg_iq_a":-0.0423357636,"cg_iq_raw_a":0.200367987,"cg_iu_a":-0.287417173,"cg_iv_a":-0.220796704,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9618187,"cg_sample_seq":14602216,"cg_sample_valid":1,"cg_theta_rad":5.00820923,"cg_vd_req_v":0.104809828,"cg_vd_v":0.104809828,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346464634,"cg_vq_v":-0.346464634,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.895161986,"dclink_p_w":129.945786,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12487,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202316,"cg_dv":50.2096901,"cg_dw":49.7903099,"cg_id_a":0.0831553414,"cg_id_raw_a":0.232230857,"cg_iq_a":0.0996768773,"cg_iq_raw_a":-0.705164194,"cg_iu_a":-0.359905005,"cg_iv_a":0.0691539049,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14602266,"cg_sample_valid":1,"cg_theta_rad":5.00875616,"cg_vd_req_v":0.109168984,"cg_vd_v":0.109168984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353785664,"cg_vq_v":-0.353785664,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.806364596,"dclink_p_w":117.055557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12483,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1207886,"cg_dv":50.2132721,"cg_dw":49.7867279,"cg_id_a":0.00189534202,"cg_id_raw_a":0.187259302,"cg_iq_a":0.100390427,"cg_iq_raw_a":-0.454594612,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9618187,"cg_sample_seq":14602317,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.11188747,"cg_vd_v":0.11188747,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357892096,"cg_vq_v":-0.357892096,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.86616689,"dclink_p_w":125.355705,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1047211,"cg_dv":50.2048912,"cg_dw":49.7951088,"cg_id_a":-0.263389379,"cg_id_raw_a":0.545087457,"cg_iq_a":-0.806373239,"cg_iq_raw_a":-0.0185924005,"cg_iu_a":0.183752537,"cg_iv_a":0.467836142,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9872723,"cg_sample_seq":14602366,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.117162198,"cg_vd_v":0.117162198,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337226987,"cg_vq_v":-0.337226987,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.5798406,"dclink_p_w":83.6621628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12497,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233864,"cg_dv":50.2108955,"cg_dw":49.7891045,"cg_id_a":0.204504579,"cg_id_raw_a":0.525000632,"cg_iq_a":0.19299382,"cg_iq_raw_a":0.194812194,"cg_iu_a":0.147508621,"cg_iv_a":0.322860837,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14602416,"cg_sample_valid":1,"cg_theta_rad":5.00732565,"cg_vd_req_v":0.106308512,"cg_vd_v":0.106308512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356485635,"cg_vq_v":-0.356485635,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.67407459,"dclink_p_w":97.5552139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5602112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1200447,"cg_dv":50.211338,"cg_dw":49.788662,"cg_id_a":-0.0922194049,"cg_id_raw_a":-0.0478345715,"cg_iq_a":0.0654195249,"cg_iq_raw_a":-1.05983031,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528272,"cg_iw_a":0.435726345,"cg_sample_age_us":23.954546,"cg_sample_seq":14602466,"cg_sample_valid":1,"cg_theta_rad":5.00722218,"cg_vd_req_v":0.111025378,"cg_vd_v":0.111025378,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354714423,"cg_vq_v":-0.354714423,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.67407459,"dclink_p_w":97.5552139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5555725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12497,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1264572,"cg_dv":50.2061615,"cg_dw":49.7938385,"cg_id_a":0.505124927,"cg_id_raw_a":0.168734863,"cg_iq_a":-0.151977897,"cg_iq_raw_a":-0.493061841,"cg_iu_a":-0.831074715,"cg_iv_a":0.830274403,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9181824,"cg_sample_seq":14602516,"cg_sample_valid":1,"cg_theta_rad":5.00792789,"cg_vd_req_v":0.100024015,"cg_vd_v":0.100024015,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352691859,"cg_vq_v":-0.352691859,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.67407459,"dclink_p_w":97.5552139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5555725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12457,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260605,"cg_dv":50.2128067,"cg_dw":49.7871933,"cg_id_a":0.113020718,"cg_id_raw_a":0.683611035,"cg_iq_a":-0.0250166319,"cg_iq_raw_a":-1.02592587,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8600006,"cg_sample_seq":14602567,"cg_sample_valid":1,"cg_theta_rad":5.00603056,"cg_vd_req_v":0.107366726,"cg_vd_v":0.107366726,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360187531,"cg_vq_v":-0.360187531,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.67407459,"dclink_p_w":97.5552139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12484,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1219559,"cg_dv":50.2114449,"cg_dw":49.7885551,"cg_id_a":0.0685844049,"cg_id_raw_a":-0.20761992,"cg_iq_a":-0.365386814,"cg_iq_raw_a":0.163645864,"cg_iu_a":-0.0337104797,"cg_iv_a":-1.3805995,"cg_iw_a":1.41430998,"cg_sample_age_us":23.954546,"cg_sample_seq":14602620,"cg_sample_valid":1,"cg_theta_rad":5.0064683,"cg_vd_req_v":0.107961908,"cg_vd_v":0.107961908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356439561,"cg_vq_v":-0.356439561,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.67407459,"dclink_p_w":97.5552139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5586853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154366,"cg_dv":50.2171936,"cg_dw":49.7828064,"cg_id_a":-0.576948166,"cg_id_raw_a":-0.931953132,"cg_iq_a":-0.257314384,"cg_iq_raw_a":-0.384890556,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9509087,"cg_sample_seq":14602666,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.121461235,"cg_vd_v":0.121461235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358495265,"cg_vq_v":-0.358495265,"cg_vu_v":0.87978512,"cg_vv_v":2.19946289,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.594338179,"dclink_p_w":86.0153885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5586853,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255722,"cg_dv":50.2126198,"cg_dw":49.7873802,"cg_id_a":0.195020065,"cg_id_raw_a":0.118177809,"cg_iq_a":-0.197871685,"cg_iq_raw_a":-0.169806957,"cg_iu_a":0.111264944,"cg_iv_a":-0.184552908,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8709087,"cg_sample_seq":14602717,"cg_sample_valid":1,"cg_theta_rad":5.00702381,"cg_vd_req_v":0.107934847,"cg_vd_v":0.107934847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359554052,"cg_vq_v":-0.359554052,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.623333216,"dclink_p_w":90.2116852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254272,"cg_dv":50.2152214,"cg_dw":49.7847786,"cg_id_a":0.106847994,"cg_id_raw_a":0.298844546,"cg_iq_a":0.0479530431,"cg_iq_raw_a":-0.297896266,"cg_iu_a":0.038777113,"cg_iv_a":-0.148309112,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9509087,"cg_sample_seq":14602766,"cg_sample_valid":1,"cg_theta_rad":5.00586271,"cg_vd_req_v":0.110642366,"cg_vd_v":0.110642366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362991214,"cg_vq_v":-0.362991214,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.665013611,"dclink_p_w":95.9513321,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12443,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218071,"cg_dv":50.2108498,"cg_dw":49.7891502,"cg_id_a":0.134695038,"cg_id_raw_a":0.104581796,"cg_iq_a":-0.28663671,"cg_iq_raw_a":-0.462425292,"cg_iu_a":0.111264944,"cg_iv_a":0.39534843,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9618187,"cg_sample_seq":14602816,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.109232627,"cg_vd_v":0.109232627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355016977,"cg_vq_v":-0.355016977,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.665013611,"dclink_p_w":95.9513321,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5571289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12482,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1312447,"cg_dv":50.214283,"cg_dw":49.785717,"cg_id_a":0.193363085,"cg_id_raw_a":0.265144318,"cg_iq_a":0.347685814,"cg_iq_raw_a":-0.373420715,"cg_iu_a":0.00253343582,"cg_iv_a":-0.329528213,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9763641,"cg_sample_seq":14602866,"cg_sample_valid":1,"cg_theta_rad":5.00680351,"cg_vd_req_v":0.106411941,"cg_vd_v":0.106411941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365818977,"cg_vq_v":-0.365818977,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12456,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1268768,"cg_dv":50.2092628,"cg_dw":49.7907372,"cg_id_a":0.129667014,"cg_id_raw_a":-0.162678525,"cg_iq_a":-0.169042557,"cg_iq_raw_a":-0.0885677114,"cg_iu_a":0.292484045,"cg_iv_a":0.57656759,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9690914,"cg_sample_seq":14602916,"cg_sample_valid":1,"cg_theta_rad":5.00776672,"cg_vd_req_v":0.105570339,"cg_vd_v":0.105570339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356326729,"cg_vq_v":-0.356326729,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.463860393,"dclink_p_w":67.3360825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1138153,"cg_dv":50.210289,"cg_dw":49.789711,"cg_id_a":-0.331121683,"cg_id_raw_a":-0.0299324859,"cg_iq_a":-0.521925628,"cg_iq_raw_a":-0.58484751,"cg_iu_a":0.546190977,"cg_iv_a":-0.329528213,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9618187,"cg_sample_seq":14602966,"cg_sample_valid":1,"cg_theta_rad":5.00805664,"cg_vd_req_v":0.115418449,"cg_vd_v":0.115418449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349621326,"cg_vq_v":-0.349621326,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.433053136,"dclink_p_w":62.6734657,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5865784,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12499,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290474,"cg_dv":50.2144547,"cg_dw":49.7855453,"cg_id_a":0.139575154,"cg_id_raw_a":0.0687693432,"cg_iq_a":0.205274045,"cg_iq_raw_a":0.335329235,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9581814,"cg_sample_seq":14603016,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.107468277,"cg_vd_v":0.107468277,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363855094,"cg_vq_v":-0.363855094,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":43.0032959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12532,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1278229,"cg_dv":50.2141075,"cg_dw":49.7858925,"cg_id_a":0.169107988,"cg_id_raw_a":0.489002079,"cg_iq_a":-0.037765041,"cg_iq_raw_a":-0.316988349,"cg_iu_a":0.111264944,"cg_iv_a":0.250373065,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9618187,"cg_sample_seq":14603066,"cg_sample_valid":1,"cg_theta_rad":5.00814819,"cg_vd_req_v":0.106770024,"cg_vd_v":0.106770024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363088429,"cg_vq_v":-0.363088429,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":58.0658188,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325684,"cg_dv":50.2144279,"cg_dw":49.7855721,"cg_id_a":0.285108,"cg_id_raw_a":-0.234839171,"cg_iq_a":0.126278386,"cg_iq_raw_a":0.962550223,"cg_iu_a":-0.214929581,"cg_iv_a":-0.365772009,"cg_iw_a":0.58070159,"cg_sample_age_us":23.863636,"cg_sample_seq":14603121,"cg_sample_valid":1,"cg_theta_rad":5.0081892,"cg_vd_req_v":0.100829162,"cg_vd_v":0.100829162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366876811,"cg_vq_v":-0.366876811,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12485,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310005,"cg_dv":50.2161064,"cg_dw":49.7838936,"cg_id_a":0.0754631236,"cg_id_raw_a":0.22907728,"cg_iq_a":0.217066348,"cg_iq_raw_a":-0.0146407504,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148309112,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9509087,"cg_sample_seq":14603167,"cg_sample_valid":1,"cg_theta_rad":5.00780296,"cg_vd_req_v":0.105378956,"cg_vd_v":0.105378956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369035959,"cg_vq_v":-0.369035959,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.19848728,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118384071,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12475,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1181717,"cg_dv":50.2165985,"cg_dw":49.7834015,"cg_id_a":-0.340540826,"cg_id_raw_a":-0.26579389,"cg_iq_a":-0.178393364,"cg_iq_raw_a":1.0688864,"cg_iu_a":1.92345667,"cg_iv_a":0.322860718,"cg_iw_a":-2.24631739,"cg_sample_age_us":23.9618187,"cg_sample_seq":14603217,"cg_sample_valid":1,"cg_theta_rad":5.0063467,"cg_vd_req_v":0.114494085,"cg_vd_v":0.114494085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361815095,"cg_vq_v":-0.361815095,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5602112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12457,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.135231,"cg_dv":50.2114258,"cg_dw":49.7885742,"cg_id_a":0.241304606,"cg_id_raw_a":0.105817087,"cg_iq_a":-0.230295867,"cg_iq_raw_a":-0.462144196,"cg_iu_a":0.0750212669,"cg_iv_a":0.467836082,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9581814,"cg_sample_seq":14603366,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.100222044,"cg_vd_v":0.100222044,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363062054,"cg_vq_v":-0.363062054,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12469,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339149,"cg_dv":50.2127571,"cg_dw":49.7872429,"cg_id_a":0.165503427,"cg_id_raw_a":0.173540324,"cg_iq_a":-0.047032848,"cg_iq_raw_a":0.12682341,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9909096,"cg_sample_seq":14603417,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.101734705,"cg_vd_v":0.101734705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365551144,"cg_vq_v":-0.365551144,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.6359797,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5571289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12436,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344872,"cg_dv":50.214344,"cg_dw":49.785656,"cg_id_a":0.021418795,"cg_id_raw_a":0.00963592995,"cg_iq_a":0.166349322,"cg_iq_raw_a":0.293125659,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8600006,"cg_sample_seq":14603466,"cg_sample_valid":1,"cg_theta_rad":5.00689459,"cg_vd_req_v":0.103661768,"cg_vd_v":0.103661768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36780414,"cg_vq_v":-0.36780414,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5571289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12464,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1367645,"cg_dv":50.2143402,"cg_dw":49.7856598,"cg_id_a":0.251248509,"cg_id_raw_a":0.211698815,"cg_iq_a":0.0797134116,"cg_iq_raw_a":-0.051996924,"cg_iu_a":-0.577367783,"cg_iv_a":0.141641617,"cg_iw_a":0.435726166,"cg_sample_age_us":23.863636,"cg_sample_seq":14603517,"cg_sample_valid":1,"cg_theta_rad":5.00765038,"cg_vd_req_v":0.0999335945,"cg_vd_v":0.0999335945,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368412971,"cg_vq_v":-0.368412971,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1284866,"cg_dv":50.2105446,"cg_dw":49.7894554,"cg_id_a":0.00707378238,"cg_id_raw_a":-0.40289858,"cg_iq_a":-0.44369486,"cg_iq_raw_a":0.435195148,"cg_iu_a":0.0750212669,"cg_iv_a":-0.510747433,"cg_iw_a":0.435726166,"cg_sample_age_us":23.863636,"cg_sample_seq":14603567,"cg_sample_valid":1,"cg_theta_rad":5.00596428,"cg_vd_req_v":0.103555568,"cg_vd_v":0.103555568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358385175,"cg_vq_v":-0.358385175,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12451,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371346,"cg_dv":50.2141724,"cg_dw":49.7858276,"cg_id_a":0.225432858,"cg_id_raw_a":-0.0385705195,"cg_iq_a":0.13184233,"cg_iq_raw_a":-0.512595296,"cg_iu_a":0.14750886,"cg_iv_a":0.830274403,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.8600006,"cg_sample_seq":14603620,"cg_sample_valid":1,"cg_theta_rad":5.00616646,"cg_vd_req_v":0.0998088047,"cg_vd_v":0.0998088047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368300021,"cg_vq_v":-0.368300021,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.06107116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254005,"cg_dv":50.2039299,"cg_dw":49.7960701,"cg_id_a":0.26092881,"cg_id_raw_a":0.101622798,"cg_iq_a":-0.657295465,"cg_iq_raw_a":0.228551909,"cg_iu_a":0.473703146,"cg_iv_a":0.830274463,"cg_iw_a":-1.30397761,"cg_sample_age_us":23.863636,"cg_sample_seq":14603666,"cg_sample_valid":1,"cg_theta_rad":5.00817156,"cg_vd_req_v":0.0979695544,"cg_vd_v":0.0979695544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348112404,"cg_vq_v":-0.348112404,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5571289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349564,"cg_dv":50.2100449,"cg_dw":49.7899551,"cg_id_a":0.281039387,"cg_id_raw_a":1.12988293,"cg_iq_a":0.101619169,"cg_iq_raw_a":1.09473109,"cg_iu_a":0.473703384,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9472733,"cg_sample_seq":14603716,"cg_sample_valid":1,"cg_theta_rad":5.00586748,"cg_vd_req_v":0.0984217897,"cg_vd_v":0.0984217897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361219585,"cg_vq_v":-0.361219585,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.2518768,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5571289,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12463,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1511917,"cg_dv":50.2208405,"cg_dw":49.7791595,"cg_id_a":0.407080233,"cg_id_raw_a":-0.416100234,"cg_iq_a":1.22229743,"cg_iq_raw_a":0.144112468,"cg_iu_a":-2.20834041,"cg_iv_a":-0.00333380699,"cg_iw_a":2.21167421,"cg_sample_age_us":23.863636,"cg_sample_seq":14603766,"cg_sample_valid":1,"cg_theta_rad":5.00800419,"cg_vd_req_v":0.0945791379,"cg_vd_v":0.0945791379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386646926,"cg_vq_v":-0.386646926,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12462,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307907,"cg_dv":50.2122498,"cg_dw":49.7877502,"cg_id_a":-0.0127968602,"cg_id_raw_a":0.165742755,"cg_iq_a":-0.11010883,"cg_iq_raw_a":0.19965893,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9618187,"cg_sample_seq":14603817,"cg_sample_valid":1,"cg_theta_rad":5.00681639,"cg_vd_req_v":0.104877241,"cg_vd_v":0.104877241,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361575484,"cg_vq_v":-0.361575484,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5555725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12465,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315117,"cg_dv":50.2141113,"cg_dw":49.7858887,"cg_id_a":-0.0252852011,"cg_id_raw_a":0.169324055,"cg_iq_a":0.0622941591,"cg_iq_raw_a":0.381644845,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9509087,"cg_sample_seq":14603867,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.105224565,"cg_vd_v":0.105224565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364764541,"cg_vq_v":-0.364764541,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.79626274,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5555725,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1370087,"cg_dv":50.2171669,"cg_dw":49.7828331,"cg_id_a":0.0797683671,"cg_id_raw_a":-0.29149279,"cg_iq_a":0.336190045,"cg_iq_raw_a":-0.282228172,"cg_iu_a":-0.142441988,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9254551,"cg_sample_seq":14603917,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.102912396,"cg_vd_v":0.102912396,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371058553,"cg_vq_v":-0.371058553,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.76113367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12429,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357536,"cg_dv":50.2112007,"cg_dw":49.7887993,"cg_id_a":0.0802501738,"cg_id_raw_a":0.160827234,"cg_iq_a":-0.00936357677,"cg_iq_raw_a":0.585934579,"cg_iu_a":-0.649855614,"cg_iv_a":-0.438259721,"cg_iw_a":1.08811533,"cg_sample_age_us":23.9254551,"cg_sample_seq":14603967,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.101856932,"cg_vd_v":0.101856932,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362423867,"cg_vq_v":-0.362423867,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.114228725,"dclink_p_w":-16.5317135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5695496,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.133091,"cg_dv":50.2111855,"cg_dw":49.7888145,"cg_id_a":0.0915574953,"cg_id_raw_a":-0.388984025,"cg_iq_a":0.00886574388,"cg_iq_raw_a":-0.145317897,"cg_iu_a":0.292484283,"cg_iv_a":0.39534837,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9836369,"cg_sample_seq":14604017,"cg_sample_valid":1,"cg_theta_rad":5.00838089,"cg_vd_req_v":0.0998891369,"cg_vd_v":0.0998891369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362026006,"cg_vq_v":-0.362026006,"cg_vu_v":139.006058,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.4312401,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307869,"cg_dv":50.2109375,"cg_dw":49.7890625,"cg_id_a":0.244189397,"cg_id_raw_a":-0.0911433026,"cg_iq_a":-0.0474909171,"cg_iq_raw_a":0.502016783,"cg_iu_a":-0.541123867,"cg_iv_a":0.540323794,"cg_iw_a":0.000800073147,"cg_sample_age_us":23.9618187,"cg_sample_seq":14604067,"cg_sample_valid":1,"cg_theta_rad":5.00674248,"cg_vd_req_v":0.100102313,"cg_vd_v":0.100102313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360779136,"cg_vq_v":-0.360779136,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.550966978,"dclink_p_w":-79.9808731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327019,"cg_dv":50.217701,"cg_dw":49.782299,"cg_id_a":-0.0584313273,"cg_id_raw_a":-0.13352564,"cg_iq_a":0.42355451,"cg_iq_raw_a":0.498032898,"cg_iu_a":-0.504880428,"cg_iv_a":0.250373125,"cg_iw_a":0.254507303,"cg_sample_age_us":23.863636,"cg_sample_seq":14604121,"cg_sample_valid":1,"cg_theta_rad":5.00665569,"cg_vd_req_v":0.105636045,"cg_vd_v":0.105636045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370934486,"cg_vq_v":-0.370934486,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.652449608,"dclink_p_w":-94.4255447,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8945923,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12493,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1320763,"cg_dv":50.2181778,"cg_dw":49.7818222,"cg_id_a":-0.251096308,"cg_id_raw_a":0.236412674,"cg_iq_a":0.24037461,"cg_iq_raw_a":-0.0848100483,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0395776033,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14604268,"cg_sample_valid":1,"cg_theta_rad":5.00583029,"cg_vd_req_v":0.109040469,"cg_vd_v":0.109040469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369295448,"cg_vq_v":-0.369295448,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.53646946,"dclink_p_w":-77.4043655,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.127449,"cg_dv":50.2153893,"cg_dw":49.7846107,"cg_id_a":-0.111678548,"cg_id_raw_a":-0.0756230727,"cg_iq_a":-0.000953614712,"cg_iq_raw_a":0.103227928,"cg_iu_a":-0.214929581,"cg_iv_a":-0.72821033,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9727268,"cg_sample_seq":14604317,"cg_sample_valid":1,"cg_theta_rad":5.00579405,"cg_vd_req_v":0.105985083,"cg_vd_v":0.105985083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364100367,"cg_vq_v":-0.364100367,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.607144833,"dclink_p_w":-87.8688278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12487,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1369209,"cg_dv":50.2169418,"cg_dw":49.7830582,"cg_id_a":0.0049376823,"cg_id_raw_a":0.777555943,"cg_iq_a":0.237299308,"cg_iq_raw_a":-0.0356164128,"cg_iu_a":0.328727961,"cg_iv_a":0.757786751,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9836369,"cg_sample_seq":14604366,"cg_sample_valid":1,"cg_theta_rad":5.00709772,"cg_vd_req_v":0.102297775,"cg_vd_v":0.102297775,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373264849,"cg_vq_v":-0.373264849,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.4547348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5803833,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12464,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1424866,"cg_dv":50.2115211,"cg_dw":49.7884789,"cg_id_a":0.305804521,"cg_id_raw_a":0.252787381,"cg_iq_a":-0.0419115424,"cg_iq_raw_a":-0.66589427,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9327278,"cg_sample_seq":14604417,"cg_sample_valid":1,"cg_theta_rad":5.00712824,"cg_vd_req_v":0.0951631367,"cg_vd_v":0.0951631367,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368331015,"cg_vq_v":-0.368331015,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12442,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385269,"cg_dv":50.2206764,"cg_dw":49.7793236,"cg_id_a":-0.412297845,"cg_id_raw_a":0.123791002,"cg_iq_a":0.415756762,"cg_iq_raw_a":0.195657134,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528213,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9909096,"cg_sample_seq":14604467,"cg_sample_valid":1,"cg_theta_rad":5.00688601,"cg_vd_req_v":0.107975736,"cg_vd_v":0.107975736,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378337473,"cg_vq_v":-0.378337473,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-1.00582719,"dclink_p_w":-146.010452,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5509338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38763,"EncoderSin":12453,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.130085,"cg_dv":50.2113075,"cg_dw":49.7886925,"cg_id_a":-0.0231185742,"cg_id_raw_a":0.335064977,"cg_iq_a":-0.439751208,"cg_iq_raw_a":-0.733476102,"cg_iu_a":0.43745935,"cg_iv_a":0.322860837,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.954546,"cg_sample_seq":14604517,"cg_sample_valid":1,"cg_theta_rad":5.00606775,"cg_vd_req_v":0.100310802,"cg_vd_v":0.100310802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361089706,"cg_vq_v":-0.361089706,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-1.00582719,"dclink_p_w":-146.010452,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8469238,"temp_inv2_c":35.5509338,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12431,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1378822,"cg_dv":50.209713,"cg_dw":49.790287,"cg_id_a":0.0699644089,"cg_id_raw_a":-0.162283793,"cg_iq_a":-0.320495456,"cg_iq_raw_a":-0.089288421,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9727268,"cg_sample_seq":14604567,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0986830443,"cg_vd_v":0.0986830443,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361633599,"cg_vq_v":-0.361633599,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.978644133,"dclink_p_w":-141.633942,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12513,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364555,"cg_dv":50.2187958,"cg_dw":49.7812042,"cg_id_a":-0.180022612,"cg_id_raw_a":-1.08771741,"cg_iq_a":0.312400281,"cg_iq_raw_a":0.592011273,"cg_iu_a":-0.396148682,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9690914,"cg_sample_seq":14604617,"cg_sample_valid":1,"cg_theta_rad":5.00694847,"cg_vd_req_v":0.103648692,"cg_vd_v":0.103648692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374543935,"cg_vq_v":-0.374543935,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-1.04207087,"dclink_p_w":-150.813339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.549408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1323967,"cg_dv":50.2144775,"cg_dw":49.7855225,"cg_id_a":-0.256745547,"cg_id_raw_a":-0.0838481933,"cg_iq_a":0.013411358,"cg_iq_raw_a":-0.953223586,"cg_iu_a":0.473703384,"cg_iv_a":-0.873185754,"cg_iw_a":0.399482369,"cg_sample_age_us":23.863636,"cg_sample_seq":14604670,"cg_sample_valid":1,"cg_theta_rad":5.00699949,"cg_vd_req_v":0.10288281,"cg_vd_v":0.10288281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367534935,"cg_vq_v":-0.367534935,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-1.04207087,"dclink_p_w":-150.813339,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.549408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382904,"cg_dv":50.2114792,"cg_dw":49.7885208,"cg_id_a":0.0441806614,"cg_id_raw_a":-0.0138057899,"cg_iq_a":-0.00382665917,"cg_iq_raw_a":-0.109771125,"cg_iu_a":0.0750210285,"cg_iv_a":-0.148308992,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9472733,"cg_sample_seq":14604717,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0942565501,"cg_vd_v":0.0942565501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36699447,"cg_vq_v":-0.36699447,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12444,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1417694,"cg_dv":50.2131805,"cg_dw":49.7868195,"cg_id_a":-0.0422669686,"cg_id_raw_a":-0.179559365,"cg_iq_a":-0.130229443,"cg_iq_raw_a":-0.127132088,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.863636,"cg_sample_seq":14604766,"cg_sample_valid":1,"cg_theta_rad":5.00588036,"cg_vd_req_v":0.0956354439,"cg_vd_v":0.0956354439,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365875781,"cg_vq_v":-0.365875781,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5540161,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12435,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1454582,"cg_dv":50.203022,"cg_dw":49.796978,"cg_id_a":0.381253809,"cg_id_raw_a":0.575496435,"cg_iq_a":-0.60702312,"cg_iq_raw_a":-1.6502254,"cg_iu_a":0.038777113,"cg_iv_a":0.467836082,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9581814,"cg_sample_seq":14604817,"cg_sample_valid":1,"cg_theta_rad":5.00679588,"cg_vd_req_v":0.0870693699,"cg_vd_v":0.0870693699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35668543,"cg_vq_v":-0.35668543,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.549408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12467,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1526299,"cg_dv":50.2163277,"cg_dw":49.7836723,"cg_id_a":0.145295858,"cg_id_raw_a":-0.118202992,"cg_iq_a":0.598922372,"cg_iq_raw_a":0.0984499082,"cg_iu_a":-0.541124105,"cg_iv_a":-0.293284416,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9618187,"cg_sample_seq":14604867,"cg_sample_valid":1,"cg_theta_rad":5.00596714,"cg_vd_req_v":0.0907671303,"cg_vd_v":0.0907671303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379659593,"cg_vq_v":-0.379659593,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38685,"EncoderSin":12450,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426735,"cg_dv":50.2066765,"cg_dw":49.7933235,"cg_id_a":0.039506074,"cg_id_raw_a":-0.340823919,"cg_iq_a":-0.3239851,"cg_iq_raw_a":-0.582502961,"cg_iu_a":0.582434893,"cg_iv_a":0.39534843,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.9509087,"cg_sample_seq":14604917,"cg_sample_valid":1,"cg_theta_rad":5.00710297,"cg_vd_req_v":0.0923931152,"cg_vd_v":0.0923931152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360144794,"cg_vq_v":-0.360144794,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.547058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12450,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1405334,"cg_dv":50.2083511,"cg_dw":49.7916489,"cg_id_a":0.151711926,"cg_id_raw_a":0.174782082,"cg_iq_a":-0.248697609,"cg_iq_raw_a":-0.309527814,"cg_iu_a":0.183752775,"cg_iv_a":0.105397701,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9618187,"cg_sample_seq":14604967,"cg_sample_valid":1,"cg_theta_rad":5.00792313,"cg_vd_req_v":0.0931653753,"cg_vd_v":0.0931653753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361853123,"cg_vq_v":-0.361853123,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.611259,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12461,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1370583,"cg_dv":50.2079277,"cg_dw":49.7920723,"cg_id_a":0.172985375,"cg_id_raw_a":-0.227783754,"cg_iq_a":-0.419059575,"cg_iq_raw_a":-0.310626447,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8600006,"cg_sample_seq":14605017,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0918842405,"cg_vd_v":0.0918842405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361419618,"cg_vq_v":-0.361419618,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.918841839,"dclink_p_w":-132.979065,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298103,"cg_dv":50.209919,"cg_dw":49.790081,"cg_id_a":-0.2293621,"cg_id_raw_a":-0.152561843,"cg_iq_a":-0.430234671,"cg_iq_raw_a":0.02359486,"cg_iu_a":0.183752537,"cg_iv_a":0.395348489,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9581814,"cg_sample_seq":14605067,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.099199377,"cg_vd_v":0.099199377,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359040707,"cg_vq_v":-0.359040707,"cg_vu_v":116.131638,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.08193922,"dclink_p_w":-157.059219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12451,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1375084,"cg_dv":50.2110062,"cg_dw":49.7889938,"cg_id_a":-0.122499578,"cg_id_raw_a":-0.405547291,"cg_iq_a":-0.284544349,"cg_iq_raw_a":0.871005595,"cg_iu_a":0.727410197,"cg_iv_a":0.612811446,"cg_iw_a":-1.34022164,"cg_sample_age_us":23.9581814,"cg_sample_seq":14605116,"cg_sample_valid":1,"cg_theta_rad":5.00673819,"cg_vd_req_v":0.0979361683,"cg_vd_v":0.0979361683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363803267,"cg_vq_v":-0.363803267,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.20516825,"dclink_p_w":-174.417557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5432129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12476,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469994,"cg_dv":50.2191658,"cg_dw":49.7808342,"cg_id_a":-0.221972287,"cg_id_raw_a":-0.450848103,"cg_iq_a":0.725533068,"cg_iq_raw_a":1.12165499,"cg_iu_a":0.61867857,"cg_iv_a":1.08398128,"cg_iw_a":-1.70265985,"cg_sample_age_us":26.8199997,"cg_sample_seq":14605170,"cg_sample_valid":1,"cg_theta_rad":5.00627184,"cg_vd_req_v":0.0982275456,"cg_vd_v":0.0982275456,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380276084,"cg_vq_v":-0.380276084,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-1.20516825,"dclink_p_w":-174.417557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5432129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12496,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411591,"cg_dv":50.2079163,"cg_dw":49.7920837,"cg_id_a":0.227099359,"cg_id_raw_a":-0.15949215,"cg_iq_a":-0.149490535,"cg_iq_raw_a":0.0949684978,"cg_iu_a":-0.0337104797,"cg_iv_a":0.105397761,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14605217,"cg_sample_valid":1,"cg_theta_rad":5.00680447,"cg_vd_req_v":0.0901984423,"cg_vd_v":0.0901984423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362131119,"cg_vq_v":-0.362131119,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.20516825,"dclink_p_w":-174.417557,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5385437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1361237,"cg_dv":50.2071991,"cg_dw":49.7928009,"cg_id_a":-0.050425332,"cg_id_raw_a":-0.534579098,"cg_iq_a":-0.231423318,"cg_iq_raw_a":0.0587189682,"cg_iu_a":0.0750212669,"cg_iv_a":0.359104574,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9509087,"cg_sample_seq":14605267,"cg_sample_valid":1,"cg_theta_rad":5.01023817,"cg_vd_req_v":0.0940449536,"cg_vd_v":0.0940449536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358187973,"cg_vq_v":-0.358187973,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.2395997,"dclink_p_w":-178.855347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1473198,"cg_dv":50.2117844,"cg_dw":49.7882156,"cg_id_a":-0.00618496537,"cg_id_raw_a":0.346994936,"cg_iq_a":0.410269886,"cg_iq_raw_a":-0.546627879,"cg_iu_a":0.256240368,"cg_iv_a":0.57656765,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.954546,"cg_sample_seq":14605317,"cg_sample_valid":1,"cg_theta_rad":5.00686407,"cg_vd_req_v":0.0920087844,"cg_vd_v":0.0920087844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370132774,"cg_vq_v":-0.370132774,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.06200504,"dclink_p_w":-154.165482,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1477699,"cg_dv":50.21101,"cg_dw":49.78899,"cg_id_a":0.138573289,"cg_id_raw_a":-0.292178929,"cg_iq_a":0.378261834,"cg_iq_raw_a":0.591444492,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14605367,"cg_sample_valid":1,"cg_theta_rad":5.00726891,"cg_vd_req_v":0.0890486538,"cg_vd_v":0.0890486538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369787842,"cg_vq_v":-0.369787842,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.99857831,"dclink_p_w":-144.958176,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334229,"cg_dv":50.2080879,"cg_dw":49.7919121,"cg_id_a":-0.2497859,"cg_id_raw_a":0.0245360266,"cg_iq_a":-0.243999228,"cg_iq_raw_a":0.148754641,"cg_iu_a":0.473703146,"cg_iv_a":-0.474503577,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9581814,"cg_sample_seq":14605417,"cg_sample_valid":1,"cg_theta_rad":5.00472164,"cg_vd_req_v":0.0966023877,"cg_vd_v":0.0966023877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358001471,"cg_vq_v":-0.358001471,"cg_vu_v":131.087982,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.99857831,"dclink_p_w":-144.518906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12486,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449699,"cg_dv":50.2096329,"cg_dw":49.7903671,"cg_id_a":0.126883954,"cg_id_raw_a":0.493501008,"cg_iq_a":-0.10532479,"cg_iq_raw_a":0.73970741,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14605467,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0890103132,"cg_vd_v":0.0890103132,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365383774,"cg_vq_v":-0.365383774,"cg_vu_v":135.486908,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.99857831,"dclink_p_w":-144.518906,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1378708,"cg_dv":50.2052422,"cg_dw":49.7947578,"cg_id_a":0.00205134228,"cg_id_raw_a":-0.0155722955,"cg_iq_a":-0.736602962,"cg_iq_raw_a":-1.34848452,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9581814,"cg_sample_seq":14605517,"cg_sample_valid":1,"cg_theta_rad":5.00656796,"cg_vd_req_v":0.0919603109,"cg_vd_v":0.0919603109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35504654,"cg_vq_v":-0.35504654,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.855415106,"dclink_p_w":-123.423363,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5416565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12458,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1515121,"cg_dv":50.2112961,"cg_dw":49.7887039,"cg_id_a":0.208745748,"cg_id_raw_a":-0.15585424,"cg_iq_a":0.0468919277,"cg_iq_raw_a":-0.160203934,"cg_iu_a":0.14750886,"cg_iv_a":0.540323794,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9618187,"cg_sample_seq":14605567,"cg_sample_valid":1,"cg_theta_rad":5.00850534,"cg_vd_req_v":0.0865430683,"cg_vd_v":0.0865430683,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371045172,"cg_vq_v":-0.371045172,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.853602886,"dclink_p_w":-123.537384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5416565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12445,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1538963,"cg_dv":50.2029266,"cg_dw":49.7970734,"cg_id_a":0.610463142,"cg_id_raw_a":0.515104711,"cg_iq_a":-0.385105729,"cg_iq_raw_a":-0.34837079,"cg_iu_a":0.14750886,"cg_iv_a":2.24378395,"cg_iw_a":0.508213937,"cg_sample_age_us":23.9509087,"cg_sample_seq":14605617,"cg_sample_valid":1,"cg_theta_rad":5.00800562,"cg_vd_req_v":0.0773633271,"cg_vd_v":0.0773633271,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362024367,"cg_vq_v":-0.362024367,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.948494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5401001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12488,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1452942,"cg_dv":50.2112083,"cg_dw":49.7887917,"cg_id_a":0.0546529703,"cg_id_raw_a":0.189363644,"cg_iq_a":-0.112798929,"cg_iq_raw_a":-0.273222417,"cg_iu_a":-0.106198072,"cg_iv_a":-0.438259721,"cg_iw_a":0.544457793,"cg_sample_age_us":23.863636,"cg_sample_seq":14605670,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.0889265984,"cg_vd_v":0.0889265984,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370404482,"cg_vq_v":-0.370404482,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.89709568,"dclink_p_w":-130.226486,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12456,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1415367,"cg_dv":50.2126503,"cg_dw":49.7873497,"cg_id_a":-0.265433937,"cg_id_raw_a":-0.231801063,"cg_iq_a":-0.116419971,"cg_iq_raw_a":-0.677240849,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263507,"cg_sample_age_us":23.863636,"cg_sample_seq":14605716,"cg_sample_valid":1,"cg_theta_rad":5.00713539,"cg_vd_req_v":0.0958705395,"cg_vd_v":0.0958705395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36962676,"cg_vq_v":-0.36962676,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.723125219,"dclink_p_w":-104.654045,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.8230896,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105241477,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12489,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1439209,"cg_dv":50.2093773,"cg_dw":49.7906227,"cg_id_a":-0.0236673504,"cg_id_raw_a":-0.00344701973,"cg_iq_a":-0.175564781,"cg_iq_raw_a":0.000483214331,"cg_iu_a":0.473703384,"cg_iv_a":-0.43825978,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.863636,"cg_sample_seq":14605767,"cg_sample_valid":1,"cg_theta_rad":5.00789213,"cg_vd_req_v":0.088680543,"cg_vd_v":0.088680543,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364671022,"cg_vq_v":-0.364671022,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.730373859,"dclink_p_w":-105.703102,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2647.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12464,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1450653,"cg_dv":50.2054062,"cg_dw":49.7945938,"cg_id_a":0.188687384,"cg_id_raw_a":0.0662589744,"cg_iq_a":-0.0816812664,"cg_iq_raw_a":0.875043809,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9181824,"cg_sample_seq":14605817,"cg_sample_valid":1,"cg_theta_rad":5.00802231,"cg_vd_req_v":0.0844355151,"cg_vd_v":0.0844355151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362109423,"cg_vq_v":-0.362109423,"cg_vu_v":36.5110817,"cg_vv_v":37.830761,"cg_vw_v":41.7897949,"control_outputs_enabled":1,"dclink_i_a":-1.03301001,"dclink_p_w":-149.956436,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38666,"EncoderSin":12470,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451492,"cg_dv":50.1974792,"cg_dw":49.8025208,"cg_id_a":0.174149603,"cg_id_raw_a":0.0689502805,"cg_iq_a":-0.664790034,"cg_iq_raw_a":-0.465618849,"cg_iu_a":-0.178685665,"cg_iv_a":0.902762055,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.863636,"cg_sample_seq":14605866,"cg_sample_valid":1,"cg_theta_rad":5.00690842,"cg_vd_req_v":0.082436122,"cg_vd_v":0.082436122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348894775,"cg_vq_v":-0.348894775,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.777490854,"dclink_p_w":-112.522095,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1420212,"cg_dv":50.2066498,"cg_dw":49.7933502,"cg_id_a":-0.13189888,"cg_id_raw_a":-0.631940007,"cg_iq_a":-0.0210720822,"cg_iq_raw_a":1.06867242,"cg_iu_a":0.14750886,"cg_iv_a":0.322860837,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.8600006,"cg_sample_seq":14605916,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0892815292,"cg_vd_v":0.0892815292,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361805797,"cg_vq_v":-0.361805797,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.703191042,"dclink_p_w":-102.078415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5354614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.143364,"cg_dv":50.2076263,"cg_dw":49.7923737,"cg_id_a":-0.147540465,"cg_id_raw_a":-0.0594164394,"cg_iq_a":0.0776227042,"cg_iq_raw_a":0.140593976,"cg_iu_a":0.183752775,"cg_iv_a":-0.184552908,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8527279,"cg_sample_seq":14605966,"cg_sample_valid":1,"cg_theta_rad":5.0067606,"cg_vd_req_v":0.0902211145,"cg_vd_v":0.0902211145,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363637507,"cg_vq_v":-0.363637507,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.703191042,"dclink_p_w":-102.078415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5354614,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12457,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1373482,"cg_dv":50.2037201,"cg_dw":49.7962799,"cg_id_a":-0.211927474,"cg_id_raw_a":-0.25618127,"cg_iq_a":-0.376459181,"cg_iq_raw_a":-0.206825793,"cg_iu_a":0.00253343582,"cg_iv_a":0.576567531,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9254551,"cg_sample_seq":14606017,"cg_sample_valid":1,"cg_theta_rad":5.00577593,"cg_vd_req_v":0.0912465006,"cg_vd_v":0.0912465006,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354891956,"cg_vq_v":-0.354891956,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.703191042,"dclink_p_w":-102.078415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5292358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2647.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38680,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1430359,"cg_dv":50.2096329,"cg_dw":49.7903671,"cg_id_a":-0.306909204,"cg_id_raw_a":-0.171589613,"cg_iq_a":-0.0123384651,"cg_iq_raw_a":-0.199657276,"cg_iu_a":0.328727961,"cg_iv_a":-0.365772128,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9290905,"cg_sample_seq":14606067,"cg_sample_valid":1,"cg_theta_rad":5.00635338,"cg_vd_req_v":0.0946641117,"cg_vd_v":0.0946641117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364434898,"cg_vq_v":-0.364434898,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.578149796,"dclink_p_w":-83.6725311,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5369873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2647.971353,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2647.971359,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2647.971364,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2647.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1527557,"cg_dv":50.2069321,"cg_dw":49.7930679,"cg_id_a":0.349270999,"cg_id_raw_a":0.658047557,"cg_iq_a":-0.0108227581,"cg_iq_raw_a":0.757452428,"cg_iu_a":-0.939806223,"cg_iv_a":0.649055302,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8600006,"cg_sample_seq":14606117,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0815637335,"cg_vd_v":0.0815637335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366954535,"cg_vq_v":-0.366954535,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5369873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2647.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431923,"cg_dv":50.206852,"cg_dw":49.793148,"cg_id_a":-0.122630857,"cg_id_raw_a":-0.0634408146,"cg_iq_a":-0.238535374,"cg_iq_raw_a":0.39516151,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":26.8272724,"cg_sample_seq":14606170,"cg_sample_valid":1,"cg_theta_rad":5.00697947,"cg_vd_req_v":0.0891306624,"cg_vd_v":0.0891306624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361437827,"cg_vq_v":-0.361437827,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.549408,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1610413,"cg_dv":50.2198753,"cg_dw":49.7801247,"cg_id_a":0.0580814295,"cg_id_raw_a":-0.06612885,"cg_iq_a":1.25349236,"cg_iq_raw_a":0.212867126,"cg_iu_a":-0.0699541569,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9290905,"cg_sample_seq":14606216,"cg_sample_valid":1,"cg_theta_rad":5.00710392,"cg_vd_req_v":0.0874732807,"cg_vd_v":0.0874732807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390480936,"cg_vq_v":-0.390480936,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-98.132431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1561012,"cg_dv":50.2105484,"cg_dw":49.7894516,"cg_id_a":0.35495913,"cg_id_raw_a":0.21098423,"cg_iq_a":0.263917029,"cg_iq_raw_a":0.385735631,"cg_iu_a":-1.30224442,"cg_iv_a":0.322860718,"cg_iw_a":0.979383707,"cg_sample_age_us":24.0381813,"cg_sample_seq":14606266,"cg_sample_valid":1,"cg_theta_rad":5.00571156,"cg_vd_req_v":0.0827120543,"cg_vd_v":0.0827120543,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374880999,"cg_vq_v":-0.374880999,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5524902,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478539,"cg_dv":50.2098274,"cg_dw":49.7901726,"cg_id_a":-0.0297788829,"cg_id_raw_a":-0.0711279213,"cg_iq_a":-0.0573487356,"cg_iq_raw_a":-0.589002788,"cg_iu_a":-0.251173258,"cg_iv_a":0.39534843,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9618187,"cg_sample_seq":14606316,"cg_sample_valid":1,"cg_theta_rad":5.00609446,"cg_vd_req_v":0.0888268277,"cg_vd_v":0.0888268277,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369173706,"cg_vq_v":-0.369173706,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.77862883,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12474,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1444626,"cg_dv":50.2064133,"cg_dw":49.7935867,"cg_id_a":-0.00585335214,"cg_id_raw_a":0.103414878,"cg_iq_a":-0.555315137,"cg_iq_raw_a":-0.644478738,"cg_iu_a":0.364971638,"cg_iv_a":0.322860718,"cg_iw_a":-0.687832355,"cg_sample_age_us":23.9763641,"cg_sample_seq":14606366,"cg_sample_valid":1,"cg_theta_rad":5.00636053,"cg_vd_req_v":0.0883375332,"cg_vd_v":0.0883375332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361397684,"cg_vq_v":-0.361397684,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.4634609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2586,"hz_tim_isr":5001,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1540108,"cg_dv":50.21661,"cg_dw":49.78339,"cg_id_a":0.00045748055,"cg_id_raw_a":0.133746922,"cg_iq_a":0.337397665,"cg_iq_raw_a":-0.569139779,"cg_iu_a":0.147508621,"cg_iv_a":-0.438259721,"cg_iw_a":0.2907511,"cg_sample_age_us":23.863636,"cg_sample_seq":14606418,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0880934671,"cg_vd_v":0.0880934671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381254464,"cg_vq_v":-0.381254464,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5401001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1544037,"cg_dv":50.2149048,"cg_dw":49.7850952,"cg_id_a":0.0936815739,"cg_id_raw_a":0.0916180536,"cg_iq_a":0.0372455865,"cg_iq_raw_a":0.555441678,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616981,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9836369,"cg_sample_seq":14606516,"cg_sample_valid":1,"cg_theta_rad":5.00702524,"cg_vd_req_v":0.0863342434,"cg_vd_v":0.0863342434,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379098833,"cg_vq_v":-0.379098833,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.4199409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12513,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1619072,"cg_dv":50.2115707,"cg_dw":49.7884293,"cg_id_a":0.340000242,"cg_id_raw_a":0.016035147,"cg_iq_a":0.0329252481,"cg_iq_raw_a":0.221045464,"cg_iu_a":-0.468636513,"cg_iv_a":-0.112065196,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9618187,"cg_sample_seq":14606566,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0806636065,"cg_vd_v":0.0806636065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379227966,"cg_vq_v":-0.379227966,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.48092985,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1621742,"cg_dv":50.2162666,"cg_dw":49.7837334,"cg_id_a":0.227641746,"cg_id_raw_a":-0.0801393539,"cg_iq_a":0.314554393,"cg_iq_raw_a":-0.516584992,"cg_iu_a":-0.831074715,"cg_iv_a":0.395348489,"cg_iw_a":0.435726225,"cg_sample_age_us":23.9872723,"cg_sample_seq":14606616,"cg_sample_valid":1,"cg_theta_rad":5.00648499,"cg_vd_req_v":0.0824746937,"cg_vd_v":0.0824746937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38631773,"cg_vq_v":-0.38631773,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.1827736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5292358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12485,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510048,"cg_dv":50.2190628,"cg_dw":49.7809372,"cg_id_a":-0.177807912,"cg_id_raw_a":-0.153461754,"cg_iq_a":0.138753265,"cg_iq_raw_a":1.22434008,"cg_iu_a":0.364971876,"cg_iv_a":1.08398128,"cg_iw_a":-1.84763515,"cg_sample_age_us":23.8672733,"cg_sample_seq":14606671,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.090919733,"cg_vd_v":0.090919733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383377075,"cg_vq_v":-0.383377075,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5292358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12484,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1527557,"cg_dv":50.2201691,"cg_dw":49.7798309,"cg_id_a":-0.0896374881,"cg_id_raw_a":-0.364834309,"cg_iq_a":-0.189775854,"cg_iq_raw_a":-0.179210067,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9581814,"cg_sample_seq":14606966,"cg_sample_valid":1,"cg_theta_rad":5.0064497,"cg_vd_req_v":0.092903927,"cg_vd_v":0.092903927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385312706,"cg_vq_v":-0.385312706,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.7770538,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5230713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12446,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1582146,"cg_dv":50.2180824,"cg_dw":49.7819176,"cg_id_a":0.183519542,"cg_id_raw_a":0.0646313354,"cg_iq_a":-0.245744795,"cg_iq_raw_a":-0.466237932,"cg_iu_a":0.401215553,"cg_iv_a":-1.12689257,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9509087,"cg_sample_seq":14607017,"cg_sample_valid":1,"cg_theta_rad":5.00713015,"cg_vd_req_v":0.0888181776,"cg_vd_v":0.0888181776,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383780569,"cg_vq_v":-0.383780569,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2648.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12491,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1619682,"cg_dv":50.2260704,"cg_dw":49.7739296,"cg_id_a":-0.021505639,"cg_id_raw_a":0.0261077452,"cg_iq_a":0.199520096,"cg_iq_raw_a":0.331317067,"cg_iu_a":-0.251173496,"cg_iv_a":-0.72821033,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9218178,"cg_sample_seq":14607066,"cg_sample_valid":1,"cg_theta_rad":5.00701618,"cg_vd_req_v":0.0941664428,"cg_vd_v":0.0941664428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397850394,"cg_vq_v":-0.397850394,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5447388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12461,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1608353,"cg_dv":50.2248573,"cg_dw":49.7751427,"cg_id_a":0.0689680204,"cg_id_raw_a":0.224548504,"cg_iq_a":0.0532898456,"cg_iq_raw_a":0.24203448,"cg_iu_a":0.256240368,"cg_iv_a":0.612811387,"cg_iw_a":0.47197026,"cg_sample_age_us":23.9836369,"cg_sample_seq":14607117,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.0936930552,"cg_vd_v":0.0936930552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395605683,"cg_vq_v":-0.395605683,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.232021332,"dclink_p_w":-33.5792084,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38666,"EncoderSin":12459,"GapTicks":54748,"Mech_RPM":-3.50324616e-44,"cg_du":50.1603165,"cg_dv":50.2283592,"cg_dw":49.7716408,"cg_id_a":-0.29462716,"cg_id_raw_a":-0.524953485,"cg_iq_a":0.32555306,"cg_iq_raw_a":0.526021242,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9763641,"cg_sample_seq":14607171,"cg_sample_valid":1,"cg_theta_rad":5.00721645,"cg_vd_req_v":0.101481095,"cg_vd_v":0.101481095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399077475,"cg_vq_v":-0.399077475,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-92.0819244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12442,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1538124,"cg_dv":50.2217331,"cg_dw":49.7782669,"cg_id_a":0.128564119,"cg_id_raw_a":0.219847813,"cg_iq_a":-0.123696715,"cg_iq_raw_a":0.31235683,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":-0.832808018,"cg_sample_age_us":23.9654541,"cg_sample_seq":14607217,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.0932318568,"cg_vd_v":0.0932318568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389367044,"cg_vq_v":-0.389367044,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.891659021,"dclink_p_w":-129.437286,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5369873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12451,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1574097,"cg_dv":50.2269859,"cg_dw":49.7730141,"cg_id_a":0.0536945984,"cg_id_raw_a":-0.0733004138,"cg_iq_a":0.0605667755,"cg_iq_raw_a":0.284973115,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.863636,"cg_sample_seq":14607316,"cg_sample_valid":1,"cg_theta_rad":5.00706673,"cg_vd_req_v":0.0962417871,"cg_vd_v":0.0962417871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39710182,"cg_vq_v":-0.39710182,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.862663984,"dclink_p_w":-125.228233,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12456,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1588173,"cg_dv":50.227684,"cg_dw":49.772316,"cg_id_a":0.0194223262,"cg_id_raw_a":0.524984062,"cg_iq_a":0.138762221,"cg_iq_raw_a":-0.23837553,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8527279,"cg_sample_seq":14607366,"cg_sample_valid":1,"cg_theta_rad":5.00610352,"cg_vd_req_v":0.0974441245,"cg_vd_v":0.0974441245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398442537,"cg_vq_v":-0.398442537,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.614393711,"dclink_p_w":-88.9179153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12447,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1472549,"cg_dv":50.225296,"cg_dw":49.774704,"cg_id_a":-0.39075163,"cg_id_raw_a":0.250099957,"cg_iq_a":-0.082228601,"cg_iq_raw_a":0.391461343,"cg_iu_a":-0.214929581,"cg_iv_a":-0.257040501,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14607417,"cg_sample_valid":1,"cg_theta_rad":5.00714397,"cg_vd_req_v":0.106273398,"cg_vd_v":0.106273398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388129383,"cg_vq_v":-0.388129383,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.594459534,"dclink_p_w":-86.0329514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5137634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12445,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1499176,"cg_dv":50.2232399,"cg_dw":49.7767601,"cg_id_a":-0.180720881,"cg_id_raw_a":0.0161094386,"cg_iq_a":0.0277141184,"cg_iq_raw_a":-0.398298353,"cg_iu_a":0.654922366,"cg_iv_a":0.286616981,"cg_iw_a":-0.941539347,"cg_sample_age_us":23.9254551,"cg_sample_seq":14607466,"cg_sample_valid":1,"cg_theta_rad":5.00581694,"cg_vd_req_v":0.101304211,"cg_vd_v":0.101304211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3883439,"cg_vq_v":-0.3883439,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5137634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12461,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1441307,"cg_dv":50.2188416,"cg_dw":49.7811584,"cg_id_a":-0.0985041037,"cg_id_raw_a":-0.0419817083,"cg_iq_a":-0.490987003,"cg_iq_raw_a":0.615765154,"cg_iu_a":0.473703384,"cg_iv_a":-0.691966534,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9872723,"cg_sample_seq":14607517,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0996490493,"cg_vd_v":0.0996490493,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379587144,"cg_vq_v":-0.379587144,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463089,"cg_dv":50.2170944,"cg_dw":49.7829056,"cg_id_a":0.0562658757,"cg_id_raw_a":0.00355534628,"cg_iq_a":0.0132766962,"cg_iq_raw_a":-0.0716790855,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309112,"cg_iw_a":0.471970201,"cg_sample_age_us":26.812727,"cg_sample_seq":14607817,"cg_sample_valid":1,"cg_theta_rad":5.00643015,"cg_vd_req_v":0.0963404924,"cg_vd_v":0.0963404924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378402084,"cg_vq_v":-0.378402084,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12461,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483459,"cg_dv":50.2305222,"cg_dw":49.7694778,"cg_id_a":-0.38732785,"cg_id_raw_a":-0.00596284028,"cg_iq_a":0.871595919,"cg_iq_raw_a":0.255040914,"cg_iu_a":-0.214929581,"cg_iv_a":-1.45308709,"cg_iw_a":1.66801667,"cg_sample_age_us":23.863636,"cg_sample_seq":14607866,"cg_sample_valid":1,"cg_theta_rad":5.00594568,"cg_vd_req_v":0.105990157,"cg_vd_v":0.105990157,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398355454,"cg_vq_v":-0.398355454,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12458,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1444244,"cg_dv":50.2191162,"cg_dw":49.7808838,"cg_id_a":-0.0390964225,"cg_id_raw_a":0.479115874,"cg_iq_a":-0.121466272,"cg_iq_raw_a":0.00944722537,"cg_iu_a":0.582434654,"cg_iv_a":-0.43825978,"cg_iw_a":-0.144174874,"cg_sample_age_us":23.9618187,"cg_sample_seq":14607917,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0983416066,"cg_vd_v":0.0983416066,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379248649,"cg_vq_v":-0.379248649,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.5132294,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12463,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1474457,"cg_dv":50.2238617,"cg_dw":49.7761383,"cg_id_a":-0.211950049,"cg_id_raw_a":-0.121577851,"cg_iq_a":0.0893869996,"cg_iq_raw_a":-0.0835666582,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373065,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9836369,"cg_sample_seq":14607966,"cg_sample_valid":1,"cg_theta_rad":5.00712395,"cg_vd_req_v":0.100953691,"cg_vd_v":0.100953691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387299776,"cg_vq_v":-0.387299776,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12480,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510735,"cg_dv":50.2243385,"cg_dw":49.7756615,"cg_id_a":-0.0249482878,"cg_id_raw_a":0.587418616,"cg_iq_a":0.343227714,"cg_iq_raw_a":0.672288835,"cg_iu_a":-0.287417412,"cg_iv_a":-0.402015924,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9872723,"cg_sample_seq":14608017,"cg_sample_valid":1,"cg_theta_rad":5.00725079,"cg_vd_req_v":0.0965953767,"cg_vd_v":0.0965953767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390467554,"cg_vq_v":-0.390467554,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7992859,"temp_inv2_c":35.5323486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12493,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1575127,"cg_dv":50.2258644,"cg_dw":49.7741356,"cg_id_a":0.0927474722,"cg_id_raw_a":0.350303203,"cg_iq_a":0.345956653,"cg_iq_raw_a":-0.184577286,"cg_iu_a":-0.432392597,"cg_iv_a":0.0329101086,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9618187,"cg_sample_seq":14608066,"cg_sample_valid":1,"cg_theta_rad":5.00585222,"cg_vd_req_v":0.0946966037,"cg_vd_v":0.0946966037,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395722181,"cg_vq_v":-0.395722181,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12483,"GapTicks":54741,"Mech_RPM":-3.50324616e-44,"cg_du":50.1565361,"cg_dv":50.2345963,"cg_dw":49.7654037,"cg_id_a":-0.180575952,"cg_id_raw_a":0.180781767,"cg_iq_a":0.938096404,"cg_iq_raw_a":1.50807536,"cg_iu_a":0.0750210285,"cg_iv_a":-0.800698161,"cg_iw_a":0.725677133,"cg_sample_age_us":23.8600006,"cg_sample_seq":14608117,"cg_sample_valid":1,"cg_theta_rad":5.00706148,"cg_vd_req_v":0.100863792,"cg_vd_v":0.100863792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407840431,"cg_vq_v":-0.407840431,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.52771,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12472,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1626625,"cg_dv":50.2182617,"cg_dw":49.7817383,"cg_id_a":0.46630621,"cg_id_raw_a":-0.270058066,"cg_iq_a":-0.171522096,"cg_iq_raw_a":-0.498974472,"cg_iu_a":0.437459469,"cg_iv_a":0.359104574,"cg_iw_a":-0.796564043,"cg_sample_age_us":23.863636,"cg_sample_seq":14608320,"cg_sample_valid":1,"cg_theta_rad":5.0077672,"cg_vd_req_v":0.0845596492,"cg_vd_v":0.0845596492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387970835,"cg_vq_v":-0.387970835,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.4450951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12457,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1506577,"cg_dv":50.2217751,"cg_dw":49.7782249,"cg_id_a":-0.141226023,"cg_id_raw_a":-0.316402137,"cg_iq_a":-0.212951183,"cg_iq_raw_a":-0.684756458,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148308992,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9836369,"cg_sample_seq":14608367,"cg_sample_valid":1,"cg_theta_rad":5.00712395,"cg_vd_req_v":0.0965634286,"cg_vd_v":0.0965634286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386217147,"cg_vq_v":-0.386217147,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12436,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.157917,"cg_dv":50.219368,"cg_dw":49.780632,"cg_id_a":0.157724038,"cg_id_raw_a":0.343036503,"cg_iq_a":-0.0384468548,"cg_iq_raw_a":0.325871706,"cg_iu_a":-0.432392597,"cg_iv_a":0.0691539645,"cg_iw_a":0.363238633,"cg_sample_age_us":23.9618187,"cg_sample_seq":14608418,"cg_sample_valid":1,"cg_theta_rad":5.00709105,"cg_vd_req_v":0.0896108598,"cg_vd_v":0.0896108598,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386750102,"cg_vq_v":-0.386750102,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12490,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482353,"cg_dv":50.2212791,"cg_dw":49.7787209,"cg_id_a":-0.167263657,"cg_id_raw_a":0.0120575493,"cg_iq_a":-0.0972547308,"cg_iq_raw_a":0.293036014,"cg_iu_a":-0.359904766,"cg_iv_a":-0.112065315,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14608467,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0961498916,"cg_vd_v":0.0961498916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384646386,"cg_vq_v":-0.384646386,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5385437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12461,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476021,"cg_dv":50.220192,"cg_dw":49.779808,"cg_id_a":-0.11596825,"cg_id_raw_a":-0.390383631,"cg_iq_a":-0.200825274,"cg_iq_raw_a":-1.27271223,"cg_iu_a":0.183752775,"cg_iv_a":-1.16313648,"cg_iw_a":0.979383707,"cg_sample_age_us":23.954546,"cg_sample_seq":14608516,"cg_sample_valid":1,"cg_theta_rad":5.00608397,"cg_vd_req_v":0.0961957574,"cg_vd_v":0.0961957574,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382659465,"cg_vq_v":-0.382659465,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.246518731,"dclink_p_w":-35.6773376,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5385437,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1640816,"cg_dv":50.2261581,"cg_dw":49.7738419,"cg_id_a":0.239317447,"cg_id_raw_a":0.530265987,"cg_iq_a":0.825623989,"cg_iq_raw_a":1.43587565,"cg_iu_a":-0.939806223,"cg_iv_a":0.177885413,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14608718,"cg_sample_valid":1,"cg_theta_rad":5.00774956,"cg_vd_req_v":0.0910908431,"cg_vd_v":0.0910908431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400785476,"cg_vq_v":-0.400785476,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.2108898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12480,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1548004,"cg_dv":50.2260857,"cg_dw":49.7739143,"cg_id_a":0.0321372226,"cg_id_raw_a":0.303831607,"cg_iq_a":0.4947851,"cg_iq_raw_a":0.572945774,"cg_iu_a":0.183752775,"cg_iv_a":-0.365772009,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9436359,"cg_sample_seq":14608767,"cg_sample_valid":1,"cg_theta_rad":5.00606632,"cg_vd_req_v":0.0941699222,"cg_vd_v":0.0941699222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395202905,"cg_vq_v":-0.395202905,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.2108898,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5245972,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12486,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1505013,"cg_dv":50.2200813,"cg_dw":49.7799187,"cg_id_a":-0.0844271705,"cg_id_raw_a":0.0235971864,"cg_iq_a":-0.089015007,"cg_iq_raw_a":-0.288205653,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8600006,"cg_sample_seq":14608816,"cg_sample_valid":1,"cg_theta_rad":5.00781298,"cg_vd_req_v":0.094653137,"cg_vd_v":0.094653137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385153979,"cg_vq_v":-0.385153979,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5075684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12429,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1646881,"cg_dv":50.2214279,"cg_dw":49.7785721,"cg_id_a":0.116494104,"cg_id_raw_a":0.429682702,"cg_iq_a":0.286044121,"cg_iq_raw_a":0.0829510018,"cg_iu_a":-0.577368021,"cg_iv_a":-0.329528213,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9872723,"cg_sample_seq":14608867,"cg_sample_valid":1,"cg_theta_rad":5.00498104,"cg_vd_req_v":0.0891659781,"cg_vd_v":0.0891659781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391460299,"cg_vq_v":-0.391460299,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2648.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1436806,"cg_dv":50.210762,"cg_dw":49.789238,"cg_id_a":-0.0378978662,"cg_id_raw_a":-0.284528166,"cg_iq_a":-0.667392731,"cg_iq_raw_a":-0.3543787,"cg_iu_a":0.292484045,"cg_iv_a":0.286616921,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9799995,"cg_sample_seq":14608916,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.0917663947,"cg_vd_v":0.0917663947,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367219985,"cg_vq_v":-0.367219985,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.20834136,"dclink_p_w":30.152132,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1490097,"cg_dv":50.213726,"cg_dw":49.786274,"cg_id_a":-0.00376134296,"cg_id_raw_a":-0.112249196,"cg_iq_a":-0.218076766,"cg_iq_raw_a":0.463177592,"cg_iu_a":0.256240368,"cg_iv_a":0.250373125,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.863636,"cg_sample_seq":14608966,"cg_sample_valid":1,"cg_theta_rad":5.00685167,"cg_vd_req_v":0.0912929177,"cg_vd_v":0.0912929177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374034673,"cg_vq_v":-0.374034673,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.284453392,"dclink_p_w":41.1674194,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5323486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12440,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.158268,"cg_dv":50.2231178,"cg_dw":49.7768822,"cg_id_a":0.0730879158,"cg_id_raw_a":0.574383497,"cg_iq_a":0.498626649,"cg_iq_raw_a":0.564099669,"cg_iu_a":-0.831074715,"cg_iv_a":0.467836142,"cg_iw_a":0.363238573,"cg_sample_age_us":26.823637,"cg_sample_seq":14609220,"cg_sample_valid":1,"cg_theta_rad":5.00725508,"cg_vd_req_v":0.0910978094,"cg_vd_v":0.0910978094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392484844,"cg_vq_v":-0.392484844,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8492317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5153198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1487732,"cg_dv":50.2202377,"cg_dw":49.7797623,"cg_id_a":-0.221192241,"cg_id_raw_a":-0.377524912,"cg_iq_a":0.0699497908,"cg_iq_raw_a":-0.473218322,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14609266,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.0975283608,"cg_vd_v":0.0975283608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382818043,"cg_vq_v":-0.382818043,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8492317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12446,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1505623,"cg_dv":50.2124672,"cg_dw":49.7875328,"cg_id_a":0.246891499,"cg_id_raw_a":0.0939397365,"cg_iq_a":-0.257381678,"cg_iq_raw_a":-0.1356913,"cg_iu_a":0.0387773514,"cg_iv_a":0.540323794,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9218178,"cg_sample_seq":14609316,"cg_sample_valid":1,"cg_theta_rad":5.00708914,"cg_vd_req_v":0.0884068459,"cg_vd_v":0.0884068459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373304546,"cg_vq_v":-0.373304546,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.923645,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12435,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1540298,"cg_dv":50.2187347,"cg_dw":49.7812653,"cg_id_a":-0.0210432,"cg_id_raw_a":0.623713851,"cg_iq_a":0.290766567,"cg_iq_raw_a":0.246015698,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14609366,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0931152627,"cg_vd_v":0.0931152627,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383447051,"cg_vq_v":-0.383447051,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12455,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.151207,"cg_dv":50.2259941,"cg_dw":49.7740059,"cg_id_a":-0.482857049,"cg_id_raw_a":-0.577733338,"cg_iq_a":0.609249413,"cg_iq_raw_a":0.489779502,"cg_iu_a":0.038777113,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9836369,"cg_sample_seq":14609417,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.102012217,"cg_vd_v":0.102012217,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393076271,"cg_vq_v":-0.393076271,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5075684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12459,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.1432648,"cg_dv":50.2303734,"cg_dw":49.7696266,"cg_id_a":-0.68741703,"cg_id_raw_a":-0.478521943,"cg_iq_a":0.642554879,"cg_iq_raw_a":0.792483985,"cg_iu_a":0.509947062,"cg_iv_a":-2.43167067,"cg_iw_a":1.9217236,"cg_sample_age_us":23.9836369,"cg_sample_seq":14609617,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.110746481,"cg_vd_v":0.110746481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393772453,"cg_vq_v":-0.393772453,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5153198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12452,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1563034,"cg_dv":50.2196922,"cg_dw":49.7803078,"cg_id_a":0.206033438,"cg_id_raw_a":0.280215651,"cg_iq_a":0.221524701,"cg_iq_raw_a":0.538144112,"cg_iu_a":-0.504880428,"cg_iv_a":0.359104574,"cg_iw_a":0.145775855,"cg_sample_age_us":23.9581814,"cg_sample_seq":14609666,"cg_sample_valid":1,"cg_theta_rad":5.00664854,"cg_vd_req_v":0.0911185965,"cg_vd_v":0.0911185965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386300296,"cg_vq_v":-0.386300296,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1410637,"cg_dv":50.2149696,"cg_dw":49.7850304,"cg_id_a":-0.17776911,"cg_id_raw_a":-0.413611531,"cg_iq_a":-0.489292294,"cg_iq_raw_a":-0.985418499,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14609720,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0975902453,"cg_vd_v":0.0975902453,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371558905,"cg_vq_v":-0.371558905,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.413118958,"dclink_p_w":59.7884979,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.533905,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12469,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1453552,"cg_dv":50.2154503,"cg_dw":49.7845497,"cg_id_a":-0.0183064286,"cg_id_raw_a":-0.156846449,"cg_iq_a":-0.164946645,"cg_iq_raw_a":-0.159232646,"cg_iu_a":0.43745935,"cg_iv_a":0.141641617,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9363632,"cg_sample_seq":14609767,"cg_sample_valid":1,"cg_theta_rad":5.00758171,"cg_vd_req_v":0.0933531821,"cg_vd_v":0.0933531821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374948025,"cg_vq_v":-0.374948025,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12501,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.144474,"cg_dv":50.215683,"cg_dw":49.784317,"cg_id_a":-0.164987087,"cg_id_raw_a":0.472583234,"cg_iq_a":0.0402176678,"cg_iq_raw_a":-0.353710085,"cg_iu_a":0.183752537,"cg_iv_a":-0.655722737,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8490906,"cg_sample_seq":14609816,"cg_sample_valid":1,"cg_theta_rad":5.00711823,"cg_vd_req_v":0.0962549821,"cg_vd_v":0.0962549821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374269336,"cg_vq_v":-0.374269336,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38669,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479263,"cg_dv":50.2043076,"cg_dw":49.7956924,"cg_id_a":0.116454557,"cg_id_raw_a":0.259161741,"cg_iq_a":-0.58851558,"cg_iq_raw_a":-0.481532246,"cg_iu_a":0.401215553,"cg_iv_a":0.39534843,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.8745461,"cg_sample_seq":14610066,"cg_sample_valid":1,"cg_theta_rad":5.00853872,"cg_vd_req_v":0.0865776017,"cg_vd_v":0.0865776017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36094296,"cg_vq_v":-0.36094296,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.507474422,"dclink_p_w":-73.4440613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12490,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1522064,"cg_dv":50.2134361,"cg_dw":49.7865639,"cg_id_a":-0.0969117507,"cg_id_raw_a":0.117708556,"cg_iq_a":0.0554486215,"cg_iq_raw_a":0.267195225,"cg_iu_a":-0.14244175,"cg_iv_a":-0.728210449,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9872723,"cg_sample_seq":14610117,"cg_sample_valid":1,"cg_theta_rad":5.0069232,"cg_vd_req_v":0.0877661854,"cg_vd_v":0.0877661854,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374407262,"cg_vq_v":-0.374407262,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.415052652,"dclink_p_w":-60.0683517,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5199585,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2648.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12460,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1580238,"cg_dv":50.2178459,"cg_dw":49.7821541,"cg_id_a":-0.152650625,"cg_id_raw_a":-0.10502328,"cg_iq_a":0.632128179,"cg_iq_raw_a":0.828129649,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9618187,"cg_sample_seq":14610166,"cg_sample_valid":1,"cg_theta_rad":5.00818348,"cg_vd_req_v":0.0876741707,"cg_vd_v":0.0876741707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384825975,"cg_vq_v":-0.384825975,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5292358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12460,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.145031,"cg_dv":50.2077446,"cg_dw":49.7922554,"cg_id_a":-0.0898088962,"cg_id_raw_a":0.222900599,"cg_iq_a":-0.36242485,"cg_iq_raw_a":-0.815082252,"cg_iu_a":-0.39614892,"cg_iv_a":0.141641617,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9872723,"cg_sample_seq":14610220,"cg_sample_valid":1,"cg_theta_rad":5.00691462,"cg_vd_req_v":0.0879728794,"cg_vd_v":0.0879728794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363826573,"cg_vq_v":-0.363826573,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1533775,"cg_dv":50.2094345,"cg_dw":49.7905655,"cg_id_a":0.235770002,"cg_id_raw_a":0.114825189,"cg_iq_a":-0.0214975774,"cg_iq_raw_a":0.0843243301,"cg_iu_a":0.0750210285,"cg_iv_a":0.322860777,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9581814,"cg_sample_seq":14610267,"cg_sample_valid":1,"cg_theta_rad":5.00690413,"cg_vd_req_v":0.0816837922,"cg_vd_v":0.0816837922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371109188,"cg_vq_v":-0.371109188,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5184326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364288,"cg_dv":50.2052689,"cg_dw":49.7947311,"cg_id_a":-0.298188806,"cg_id_raw_a":-0.546647787,"cg_iq_a":-0.428611666,"cg_iq_raw_a":-0.486737818,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9836369,"cg_sample_seq":14610467,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.0908193886,"cg_vd_v":0.0908193886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356021345,"cg_vq_v":-0.356021345,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.5091248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12515,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1427956,"cg_dv":50.2046394,"cg_dw":49.7953606,"cg_id_a":-0.0102246404,"cg_id_raw_a":0.213939548,"cg_iq_a":-0.31903106,"cg_iq_raw_a":-0.307106614,"cg_iu_a":0.401215553,"cg_iv_a":-0.112065315,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.954546,"cg_sample_seq":14610516,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0848619491,"cg_vd_v":0.0848619491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358791649,"cg_vq_v":-0.358791649,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.6104431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.5091248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2648.867331,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2648.867341,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2648.867344,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2648.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12474,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.144371,"cg_dv":50.2044144,"cg_dw":49.7955856,"cg_id_a":0.00842787325,"cg_id_raw_a":-0.022036707,"cg_iq_a":-0.0623877868,"cg_iq_raw_a":1.52777398,"cg_iu_a":-0.396148682,"cg_iv_a":0.57656759,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9799995,"cg_sample_seq":14610567,"cg_sample_valid":1,"cg_theta_rad":5.00732374,"cg_vd_req_v":0.0844206065,"cg_vd_v":0.0844206065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359124005,"cg_vq_v":-0.359124005,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5106506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12460,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476326,"cg_dv":50.2034607,"cg_dw":49.7965393,"cg_id_a":0.15053159,"cg_id_raw_a":-0.266293794,"cg_iq_a":-0.0572762638,"cg_iq_raw_a":-0.317040682,"cg_iu_a":0.0387773514,"cg_iv_a":0.757786751,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9872723,"cg_sample_seq":14610616,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0825847238,"cg_vd_v":0.0825847238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359275401,"cg_vq_v":-0.359275401,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12453,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1446266,"cg_dv":50.2013245,"cg_dw":49.7986755,"cg_id_a":0.168440893,"cg_id_raw_a":0.647631288,"cg_iq_a":-0.14638558,"cg_iq_raw_a":-0.84588784,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395775437,"cg_iw_a":0.254507124,"cg_sample_age_us":23.8672733,"cg_sample_seq":14610666,"cg_sample_valid":1,"cg_theta_rad":5.00691271,"cg_vd_req_v":0.0827978924,"cg_vd_v":0.0827978924,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355830997,"cg_vq_v":-0.355830997,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404991,"cg_dv":50.2031746,"cg_dw":49.7968254,"cg_id_a":0.0288232062,"cg_id_raw_a":-0.084666796,"cg_iq_a":-0.13289015,"cg_iq_raw_a":0.429808587,"cg_iu_a":-0.287417412,"cg_iv_a":-0.220796704,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8600006,"cg_sample_seq":14610720,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0850460902,"cg_vd_v":0.0850460902,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355561197,"cg_vq_v":-0.355561197,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.683257103,"dclink_p_w":-98.8841476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5137634,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1472893,"cg_dv":50.2045746,"cg_dw":49.7954254,"cg_id_a":0.366122156,"cg_id_raw_a":0.359552503,"cg_iq_a":-0.080839701,"cg_iq_raw_a":-0.94813031,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9799995,"cg_sample_seq":14610966,"cg_sample_valid":1,"cg_theta_rad":5.00702238,"cg_vd_req_v":0.0822347328,"cg_vd_v":0.0822347328,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360981822,"cg_vq_v":-0.360981822,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355553,"cg_dv":50.1933365,"cg_dw":49.8066635,"cg_id_a":0.380061001,"cg_id_raw_a":0.00385119417,"cg_iq_a":-1.04478383,"cg_iq_raw_a":-0.0716640428,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9836369,"cg_sample_seq":14611016,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.0830587596,"cg_vd_v":0.0830587596,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339606613,"cg_vq_v":-0.339606613,"cg_vu_v":27.2733402,"cg_vv_v":12.7568836,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5106506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2648.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12434,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1472054,"cg_dv":50.2106094,"cg_dw":49.7893906,"cg_id_a":0.0863824934,"cg_id_raw_a":0.953529119,"cg_iq_a":0.655958295,"cg_iq_raw_a":1.40426564,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704056,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9509087,"cg_sample_seq":14611066,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0890380889,"cg_vd_v":0.0890380889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368940979,"cg_vq_v":-0.368940979,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5106506,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2648.96295,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2648.962956,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2648.962961,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2648.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482544,"cg_dv":50.2044907,"cg_dw":49.7955093,"cg_id_a":0.415641189,"cg_id_raw_a":0.450961143,"cg_iq_a":0.303784907,"cg_iq_raw_a":-0.575041652,"cg_iu_a":0.14750886,"cg_iv_a":0.504079938,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9618187,"cg_sample_seq":14611116,"cg_sample_valid":1,"cg_theta_rad":5.00797224,"cg_vd_req_v":0.0817422792,"cg_vd_v":0.0817422792,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361329556,"cg_vq_v":-0.361329556,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.84467435,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00422980078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2648.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357651,"cg_dv":50.2079048,"cg_dw":49.7920952,"cg_id_a":-0.220459983,"cg_id_raw_a":-0.267997891,"cg_iq_a":0.179572821,"cg_iq_raw_a":0.994407475,"cg_iu_a":-1.51970744,"cg_iv_a":-0.257040501,"cg_iw_a":1.77674794,"cg_sample_age_us":23.9618187,"cg_sample_seq":14611167,"cg_sample_valid":1,"cg_theta_rad":5.00711584,"cg_vd_req_v":0.095353134,"cg_vd_v":0.095353134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358859599,"cg_vq_v":-0.358859599,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7754822,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00422980078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381721,"cg_dv":50.2062378,"cg_dw":49.7937622,"cg_id_a":0.0293735191,"cg_id_raw_a":-0.0349801034,"cg_iq_a":-0.0146691725,"cg_iq_raw_a":0.106605574,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641557,"cg_iw_a":0.145775855,"cg_sample_age_us":23.863636,"cg_sample_seq":14611221,"cg_sample_valid":1,"cg_theta_rad":5.00812817,"cg_vd_req_v":0.0925501212,"cg_vd_v":0.0925501212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357758194,"cg_vq_v":-0.357758194,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12428,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449509,"cg_dv":50.2067261,"cg_dw":49.7932739,"cg_id_a":0.18773675,"cg_id_raw_a":0.294763297,"cg_iq_a":0.190850496,"cg_iq_raw_a":-0.84305793,"cg_iu_a":0.147508621,"cg_iv_a":-0.112065256,"cg_iw_a":-0.0354433656,"cg_sample_age_us":23.9654541,"cg_sample_seq":14611267,"cg_sample_valid":1,"cg_theta_rad":5.00877237,"cg_vd_req_v":0.0895653814,"cg_vd_v":0.0895653814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361779988,"cg_vq_v":-0.361779988,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0615537167,"dclink_p_w":8.90834045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5369873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38773,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409531,"cg_dv":50.2106133,"cg_dw":49.7893867,"cg_id_a":0.213944301,"cg_id_raw_a":0.0192644205,"cg_iq_a":0.321666658,"cg_iq_raw_a":0.475301653,"cg_iu_a":-1.01229382,"cg_iv_a":0.359104574,"cg_iw_a":0.653189242,"cg_sample_age_us":23.9581814,"cg_sample_seq":14611317,"cg_sample_valid":1,"cg_theta_rad":5.00719738,"cg_vd_req_v":0.0895251334,"cg_vd_v":0.0895251334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366549432,"cg_vq_v":-0.366549432,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.139477968,"dclink_p_w":20.1859016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5369873,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334686,"cg_dv":50.2107086,"cg_dw":49.7892914,"cg_id_a":-0.241843596,"cg_id_raw_a":-0.405739784,"cg_iq_a":0.0693295673,"cg_iq_raw_a":-0.184816688,"cg_iu_a":0.546190977,"cg_iv_a":-0.402015924,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9581814,"cg_sample_seq":14611367,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.100414984,"cg_vd_v":0.100414984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361235648,"cg_vq_v":-0.361235648,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2579,"hz_tim_isr":4999,"hz_vsense":2579,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5215149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12486,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339035,"cg_dv":50.2117462,"cg_dw":49.7882538,"cg_id_a":-0.164317787,"cg_id_raw_a":-0.0627254099,"cg_iq_a":0.103260107,"cg_iq_raw_a":0.395275682,"cg_iu_a":-0.323661089,"cg_iv_a":-0.474503517,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9654541,"cg_sample_seq":14611417,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.100525148,"cg_vd_v":0.100525148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363046438,"cg_vq_v":-0.363046438,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5153198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403008,"cg_dv":50.2123299,"cg_dw":49.7876701,"cg_id_a":0.0566100255,"cg_id_raw_a":0.111383438,"cg_iq_a":0.260755181,"cg_iq_raw_a":-0.097428523,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14611467,"cg_sample_valid":1,"cg_theta_rad":5.0084877,"cg_vd_req_v":0.0965530723,"cg_vd_v":0.0965530723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366106629,"cg_vq_v":-0.366106629,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5153198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12455,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1402092,"cg_dv":50.2105293,"cg_dw":49.7894707,"cg_id_a":0.0638926104,"cg_id_raw_a":-0.307317644,"cg_iq_a":0.107690461,"cg_iq_raw_a":-0.321774364,"cg_iu_a":-0.468636513,"cg_iv_a":-0.00333368778,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8490906,"cg_sample_seq":14611517,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0957055092,"cg_vd_v":0.0957055092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363398522,"cg_vq_v":-0.363398522,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.3219414,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1464691,"cg_dv":50.2141304,"cg_dw":49.7858696,"cg_id_a":0.105911493,"cg_id_raw_a":-0.0933986083,"cg_iq_a":0.410319626,"cg_iq_raw_a":-0.372403204,"cg_iu_a":0.509947062,"cg_iv_a":-0.148309112,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14611566,"cg_sample_valid":1,"cg_theta_rad":5.0076375,"cg_vd_req_v":0.0933205336,"cg_vd_v":0.0933205336,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374454498,"cg_vq_v":-0.374454498,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.3219414,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12439,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.14217,"cg_dv":50.2164917,"cg_dw":49.7835083,"cg_id_a":-0.153046712,"cg_id_raw_a":-0.18751061,"cg_iq_a":0.240364134,"cg_iq_raw_a":-0.053394638,"cg_iu_a":-0.287417173,"cg_iv_a":-1.05440485,"cg_iw_a":1.34182203,"cg_sample_age_us":23.9436359,"cg_sample_seq":14611616,"cg_sample_valid":1,"cg_theta_rad":5.00586271,"cg_vd_req_v":0.0978962779,"cg_vd_v":0.0978962779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374328226,"cg_vq_v":-0.374328226,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4967346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1439438,"cg_dv":50.2094078,"cg_dw":49.7905922,"cg_id_a":0.0199189074,"cg_id_raw_a":0.663040638,"cg_iq_a":-0.169355929,"cg_iq_raw_a":-0.550615013,"cg_iu_a":0.328727961,"cg_iv_a":0.10539782,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9799995,"cg_sample_seq":14611666,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0926742032,"cg_vd_v":0.0926742032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366096675,"cg_vq_v":-0.366096675,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12464,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1444473,"cg_dv":50.2102776,"cg_dw":49.7897224,"cg_id_a":0.0823237747,"cg_id_raw_a":0.0177535489,"cg_iq_a":-0.0914930999,"cg_iq_raw_a":0.220914096,"cg_iu_a":-0.251173258,"cg_iv_a":-0.546991229,"cg_iw_a":0.798164487,"cg_sample_age_us":26.823637,"cg_sample_seq":14611720,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0896817371,"cg_vd_v":0.0896817371,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366053969,"cg_vq_v":-0.366053969,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5261536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1589508,"cg_dv":50.2173538,"cg_dw":49.7826462,"cg_id_a":0.26600948,"cg_id_raw_a":0.236273319,"cg_iq_a":0.682485819,"cg_iq_raw_a":0.351097614,"cg_iu_a":0.038777113,"cg_iv_a":0.141641617,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9836369,"cg_sample_seq":14611866,"cg_sample_valid":1,"cg_theta_rad":5.00685596,"cg_vd_req_v":0.0858458206,"cg_vd_v":0.0858458206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384820163,"cg_vq_v":-0.384820163,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.3475113,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5215149,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12473,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1506004,"cg_dv":50.2143402,"cg_dw":49.7856598,"cg_id_a":-0.00661490113,"cg_id_raw_a":0.114490151,"cg_iq_a":0.191396713,"cg_iq_raw_a":0.0847786739,"cg_iu_a":0.364971638,"cg_iv_a":-0.184552908,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9581814,"cg_sample_seq":14611916,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0900972337,"cg_vd_v":0.0900972337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375892311,"cg_vq_v":-0.375892311,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.193965197,"dclink_p_w":-28.0715466,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5029297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12468,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1459656,"cg_dv":50.2067604,"cg_dw":49.7932396,"cg_id_a":0.174443632,"cg_id_raw_a":0.716332257,"cg_iq_a":-0.464485109,"cg_iq_raw_a":-0.873617649,"cg_iu_a":0.0750210285,"cg_iv_a":0.540323794,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.8563633,"cg_sample_seq":14611966,"cg_sample_valid":1,"cg_theta_rad":5.00635386,"cg_vd_req_v":0.0878965929,"cg_vd_v":0.0878965929,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362624705,"cg_vq_v":-0.362624705,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5029297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12435,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1442833,"cg_dv":50.2128868,"cg_dw":49.7871132,"cg_id_a":-0.105216175,"cg_id_raw_a":-0.169222832,"cg_iq_a":0.0175364893,"cg_iq_raw_a":-0.45281896,"cg_iu_a":0.256240368,"cg_iv_a":-0.293284416,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9654541,"cg_sample_seq":14612016,"cg_sample_valid":1,"cg_theta_rad":5.00669479,"cg_vd_req_v":0.0939422548,"cg_vd_v":0.0939422548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370300114,"cg_vq_v":-0.370300114,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4766235,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1466141,"cg_dv":50.2166214,"cg_dw":49.7833786,"cg_id_a":-0.116852827,"cg_id_raw_a":-0.0941852853,"cg_iq_a":0.362687051,"cg_iq_raw_a":-0.809204996,"cg_iu_a":0.219996452,"cg_iv_a":0.032910049,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9581814,"cg_sample_seq":14612066,"cg_sample_valid":1,"cg_theta_rad":5.00740242,"cg_vd_req_v":0.0948055238,"cg_vd_v":0.0948055238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376920015,"cg_vq_v":-0.376920015,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12474,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1467819,"cg_dv":50.2141304,"cg_dw":49.7858696,"cg_id_a":-0.0654973462,"cg_id_raw_a":-0.178543523,"cg_iq_a":0.149694815,"cg_iq_raw_a":0.492979765,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9799995,"cg_sample_seq":14612116,"cg_sample_valid":1,"cg_theta_rad":5.00650358,"cg_vd_req_v":0.0936305597,"cg_vd_v":0.0936305597,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373279959,"cg_vq_v":-0.373279959,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.20509529,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.506012,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431427,"cg_dv":50.212059,"cg_dw":49.787941,"cg_id_a":-0.0274588726,"cg_id_raw_a":0.271076053,"cg_iq_a":0.0343930908,"cg_iq_raw_a":0.864234686,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9872723,"cg_sample_seq":14612166,"cg_sample_valid":1,"cg_theta_rad":5.00713396,"cg_vd_req_v":0.0932146013,"cg_vd_v":0.0932146013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368743449,"cg_vq_v":-0.368743449,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5044556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342773,"cg_dv":50.2134857,"cg_dw":49.7865143,"cg_id_a":-0.354291141,"cg_id_raw_a":-0.256178319,"cg_iq_a":-0.0211588889,"cg_iq_raw_a":0.231732354,"cg_iu_a":-0.686099291,"cg_iv_a":-0.0395776033,"cg_iw_a":0.725676894,"cg_sample_age_us":23.863636,"cg_sample_seq":14612221,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.100888081,"cg_vd_v":0.100888081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367100954,"cg_vq_v":-0.367100954,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12439,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1485329,"cg_dv":50.2049942,"cg_dw":49.7950058,"cg_id_a":0.336556911,"cg_id_raw_a":0.030462157,"cg_iq_a":-0.195369408,"cg_iq_raw_a":0.0769586861,"cg_iu_a":0.147508621,"cg_iv_a":0.685299098,"cg_iw_a":-0.83280772,"cg_sample_age_us":23.9509087,"cg_sample_seq":14612267,"cg_sample_valid":1,"cg_theta_rad":5.00863934,"cg_vd_req_v":0.0860304311,"cg_vd_v":0.0860304311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361238837,"cg_vq_v":-0.361238837,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.8903236,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12454,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364098,"cg_dv":50.2071495,"cg_dw":49.7928505,"cg_id_a":-0.102127574,"cg_id_raw_a":0.0593082085,"cg_iq_a":-0.173021451,"cg_iq_raw_a":-0.211907446,"cg_iu_a":0.292484045,"cg_iv_a":-0.148308992,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9254551,"cg_sample_seq":14612317,"cg_sample_valid":1,"cg_theta_rad":5.00714779,"cg_vd_req_v":0.0943099484,"cg_vd_v":0.0943099484,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358138412,"cg_vq_v":-0.358138412,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12481,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426811,"cg_dv":50.2065849,"cg_dw":49.7934151,"cg_id_a":0.133756846,"cg_id_raw_a":-0.12827906,"cg_iq_a":0.0414586067,"cg_iq_raw_a":-0.448529929,"cg_iu_a":-1.62843895,"cg_iv_a":0.0691539049,"cg_iw_a":1.55928504,"cg_sample_age_us":23.9436359,"cg_sample_seq":14612367,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0884954333,"cg_vd_v":0.0884954333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36097616,"cg_vq_v":-0.36097616,"cg_vu_v":119.650772,"cg_vv_v":141.205521,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-57.0941277,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12477,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319466,"cg_dv":50.2053032,"cg_dw":49.7946968,"cg_id_a":-0.142350093,"cg_id_raw_a":0.605188191,"cg_iq_a":-0.24129495,"cg_iq_raw_a":0.710111976,"cg_iu_a":-0.613611937,"cg_iv_a":-0.220796824,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.9363632,"cg_sample_seq":14612417,"cg_sample_valid":1,"cg_theta_rad":5.00751162,"cg_vd_req_v":0.0932918116,"cg_vd_v":0.0932918116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353856564,"cg_vq_v":-0.353856564,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.7204056,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.4905396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355057,"cg_dv":50.1973648,"cg_dw":49.8026352,"cg_id_a":0.417542696,"cg_id_raw_a":1.26594102,"cg_iq_a":-0.607949197,"cg_iq_raw_a":-1.05162668,"cg_iu_a":-0.323661089,"cg_iv_a":0.57656759,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.863636,"cg_sample_seq":14612466,"cg_sample_valid":1,"cg_theta_rad":5.00595808,"cg_vd_req_v":0.0823906586,"cg_vd_v":0.0823906586,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345093489,"cg_vq_v":-0.345093489,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12419,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399117,"cg_dv":50.2024117,"cg_dw":49.7975883,"cg_id_a":0.0925368369,"cg_id_raw_a":-0.0939739048,"cg_iq_a":-0.0726076066,"cg_iq_raw_a":0.064222306,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14612517,"cg_sample_valid":1,"cg_theta_rad":5.00794506,"cg_vd_req_v":0.0879639834,"cg_vd_v":0.0879639834,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353418559,"cg_vq_v":-0.353418559,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.118434422,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12443,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449547,"cg_dv":50.2065506,"cg_dw":49.7934494,"cg_id_a":0.0757217854,"cg_id_raw_a":0.312475592,"cg_iq_a":0.399973601,"cg_iq_raw_a":-0.00462366454,"cg_iu_a":0.219996452,"cg_iv_a":0.214129329,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.863636,"cg_sample_seq":14612566,"cg_sample_valid":1,"cg_theta_rad":5.00617027,"cg_vd_req_v":0.0878906697,"cg_vd_v":0.0878906697,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36307919,"cg_vq_v":-0.36307919,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399155,"cg_dv":50.2033882,"cg_dw":49.7966118,"cg_id_a":0.0424804464,"cg_id_raw_a":0.159843773,"cg_iq_a":0.0593594834,"cg_iq_raw_a":0.270974487,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9872723,"cg_sample_seq":14612616,"cg_sample_valid":1,"cg_theta_rad":5.00825262,"cg_vd_req_v":0.0872795656,"cg_vd_v":0.0872795656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355147302,"cg_vq_v":-0.355147302,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12467,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440544,"cg_dv":50.2040176,"cg_dw":49.7959824,"cg_id_a":0.0962943807,"cg_id_raw_a":-0.266877383,"cg_iq_a":0.265794396,"cg_iq_raw_a":-0.316549271,"cg_iu_a":-0.468636513,"cg_iv_a":0.250373065,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9763641,"cg_sample_seq":14612666,"cg_sample_valid":1,"cg_theta_rad":5.00695896,"cg_vd_req_v":0.0852740481,"cg_vd_v":0.0852740481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358172834,"cg_vq_v":-0.358172834,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1313553,"cg_dv":50.2055626,"cg_dw":49.7944374,"cg_id_a":-0.303126007,"cg_id_raw_a":-0.503271401,"cg_iq_a":-0.0912610292,"cg_iq_raw_a":0.902345002,"cg_iu_a":-0.106198072,"cg_iv_a":-0.220796704,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14612721,"cg_sample_valid":1,"cg_theta_rad":5.00708151,"cg_vd_req_v":0.0932422057,"cg_vd_v":0.0932422057,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352930307,"cg_vq_v":-0.352930307,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5044556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12452,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510353,"cg_dv":50.2032776,"cg_dw":49.7967224,"cg_id_a":0.364207447,"cg_id_raw_a":0.469873041,"cg_iq_a":0.262928516,"cg_iq_raw_a":1.14129221,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9581814,"cg_sample_seq":14612767,"cg_sample_valid":1,"cg_theta_rad":5.00804615,"cg_vd_req_v":0.0801854432,"cg_vd_v":0.0801854432,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35969156,"cg_vq_v":-0.35969156,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5044556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12466,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376305,"cg_dv":50.1973457,"cg_dw":49.8026543,"cg_id_a":0.119592294,"cg_id_raw_a":0.285489351,"cg_iq_a":-0.578799963,"cg_iq_raw_a":-0.590406299,"cg_iu_a":-0.0337102413,"cg_iv_a":0.467836082,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9618187,"cg_sample_seq":14612817,"cg_sample_valid":1,"cg_theta_rad":5.00828838,"cg_vd_req_v":0.0835956186,"cg_vd_v":0.0835956186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344443977,"cg_vq_v":-0.344443977,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5168762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12472,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1549988,"cg_dv":50.201046,"cg_dw":49.798954,"cg_id_a":0.356728077,"cg_id_raw_a":-0.190363348,"cg_iq_a":0.261549443,"cg_iq_raw_a":-0.42026794,"cg_iu_a":-1.22975707,"cg_iv_a":0.57656759,"cg_iw_a":0.65318948,"cg_sample_age_us":23.9872723,"cg_sample_seq":14612866,"cg_sample_valid":1,"cg_theta_rad":5.00856066,"cg_vd_req_v":0.0770116821,"cg_vd_v":0.0770116821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360741615,"cg_vq_v":-0.360741615,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5091248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12454,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371689,"cg_dv":50.2031021,"cg_dw":49.7968979,"cg_id_a":-0.17149578,"cg_id_raw_a":0.0422436483,"cg_iq_a":-0.0364050344,"cg_iq_raw_a":-0.504860222,"cg_iu_a":0.0750212669,"cg_iv_a":0.359104633,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.8381824,"cg_sample_seq":14612916,"cg_sample_valid":1,"cg_theta_rad":5.0050807,"cg_vd_req_v":0.0875585377,"cg_vd_v":0.0875585377,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354765236,"cg_vq_v":-0.354765236,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.6695786,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5091248,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1528931,"cg_dv":50.2022476,"cg_dw":49.7977524,"cg_id_a":0.243505344,"cg_id_raw_a":0.578368366,"cg_iq_a":0.479683727,"cg_iq_raw_a":0.495167345,"cg_iu_a":-0.359904766,"cg_iv_a":0.57656765,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9654541,"cg_sample_seq":14612966,"cg_sample_valid":1,"cg_theta_rad":5.00692368,"cg_vd_req_v":0.0771724358,"cg_vd_v":0.0771724358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360606939,"cg_vq_v":-0.360606939,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12478,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1356773,"cg_dv":50.2012482,"cg_dw":49.7987518,"cg_id_a":-0.2625238,"cg_id_raw_a":-0.262386888,"cg_iq_a":0.0652785748,"cg_iq_raw_a":0.304355085,"cg_iu_a":0.364971876,"cg_iv_a":0.10539782,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9436359,"cg_sample_seq":14613016,"cg_sample_valid":1,"cg_theta_rad":5.00549364,"cg_vd_req_v":0.0870610401,"cg_vd_v":0.0870610401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350234836,"cg_vq_v":-0.350234836,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12468,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1379242,"cg_dv":50.1904869,"cg_dw":49.8095131,"cg_id_a":0.309472233,"cg_id_raw_a":0.537911177,"cg_iq_a":-0.541437685,"cg_iq_raw_a":-1.00192642,"cg_iu_a":0.0387773514,"cg_iv_a":0.540323794,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9254551,"cg_sample_seq":14613066,"cg_sample_valid":1,"cg_theta_rad":5.0050354,"cg_vd_req_v":0.0775922611,"cg_vd_v":0.0775922611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336185724,"cg_vq_v":-0.336185724,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":0.153975606,"dclink_p_w":22.2163334,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12447,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349525,"cg_dv":50.1966171,"cg_dw":49.8033829,"cg_id_a":-0.209327847,"cg_id_raw_a":0.153125063,"cg_iq_a":-0.100285172,"cg_iq_raw_a":-0.0931486785,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9581814,"cg_sample_seq":14613116,"cg_sample_valid":1,"cg_theta_rad":5.00800705,"cg_vd_req_v":0.0860808566,"cg_vd_v":0.0860808566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342788011,"cg_vq_v":-0.342788011,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.49965811,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5029297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12460,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494179,"cg_dv":50.2017288,"cg_dw":49.7982712,"cg_id_a":0.234985128,"cg_id_raw_a":-0.201218128,"cg_iq_a":0.524437785,"cg_iq_raw_a":0.0909035057,"cg_iu_a":-0.649855375,"cg_iv_a":0.21412921,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9836369,"cg_sample_seq":14613166,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0779507086,"cg_vd_v":0.0779507086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358265162,"cg_vq_v":-0.358265162,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.49965811,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5029297,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12445,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1448212,"cg_dv":50.2046318,"cg_dw":49.7953682,"cg_id_a":-0.0711838081,"cg_id_raw_a":0.727701247,"cg_iq_a":0.595536113,"cg_iq_raw_a":1.78283346,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.8672733,"cg_sample_seq":14613221,"cg_sample_valid":1,"cg_theta_rad":5.00686741,"cg_vd_req_v":0.0853320062,"cg_vd_v":0.0853320062,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360574543,"cg_vq_v":-0.360574543,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.46155739,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5307922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343994,"cg_dv":50.1970787,"cg_dw":49.8029213,"cg_id_a":0.0535448343,"cg_id_raw_a":-0.161368847,"cg_iq_a":-0.203067183,"cg_iq_raw_a":0.35003981,"cg_iu_a":0.654922485,"cg_iv_a":0.540323734,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.9727268,"cg_sample_seq":14613266,"cg_sample_valid":1,"cg_theta_rad":5.00690842,"cg_vd_req_v":0.0839195102,"cg_vd_v":0.0839195102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343860775,"cg_vq_v":-0.343860775,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.25376761,"dclink_p_w":-36.726429,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.5323486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12413,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291771,"cg_dv":50.1961975,"cg_dw":49.8038025,"cg_id_a":-0.232310742,"cg_id_raw_a":0.351478875,"cg_iq_a":-0.394771457,"cg_iq_raw_a":-0.182328507,"cg_iu_a":0.763653874,"cg_iv_a":0.286616921,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9763641,"cg_sample_seq":14613317,"cg_sample_valid":1,"cg_theta_rad":5.00724983,"cg_vd_req_v":0.0904477686,"cg_vd_v":0.0904477686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338901907,"cg_vq_v":-0.338901907,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.4234352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.5323486,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1407738,"cg_dv":50.2017479,"cg_dw":49.7982521,"cg_id_a":-0.0572382212,"cg_id_raw_a":0.013887533,"cg_iq_a":0.340471298,"cg_iq_raw_a":0.0385615081,"cg_iu_a":0.364971876,"cg_iv_a":-0.836941957,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9618187,"cg_sample_seq":14613367,"cg_sample_valid":1,"cg_theta_rad":5.00764704,"cg_vd_req_v":0.0853834972,"cg_vd_v":0.0853834972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3533099,"cg_vq_v":-0.3533099,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.4234352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12460,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1493263,"cg_dv":50.1982536,"cg_dw":49.8017464,"cg_id_a":0.46751526,"cg_id_raw_a":0.986887336,"cg_iq_a":0.24712491,"cg_iq_raw_a":1.29652429,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9254551,"cg_sample_seq":14613418,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0748156011,"cg_vd_v":0.0748156011,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353448361,"cg_vq_v":-0.353448361,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.587210894,"dclink_p_w":-84.9838943,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12435,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376038,"cg_dv":50.1941452,"cg_dw":49.8058548,"cg_id_a":0.13629888,"cg_id_raw_a":0.512490332,"cg_iq_a":-0.195563182,"cg_iq_raw_a":1.58141196,"cg_iu_a":0.473703384,"cg_iv_a":0.0691539049,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.8963642,"cg_sample_seq":14613467,"cg_sample_valid":1,"cg_theta_rad":5.00748968,"cg_vd_req_v":0.0815787762,"cg_vd_v":0.0815787762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342027068,"cg_vq_v":-0.342027068,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.5607071,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12475,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483078,"cg_dv":50.1993675,"cg_dw":49.8006325,"cg_id_a":0.419872284,"cg_id_raw_a":-0.0555670224,"cg_iq_a":0.514797509,"cg_iq_raw_a":-0.113750033,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9836369,"cg_sample_seq":14613517,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0770496801,"cg_vd_v":0.0770496801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355447441,"cg_vq_v":-0.355447441,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12454,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1360817,"cg_dv":50.1995888,"cg_dw":49.8004112,"cg_id_a":-0.00129395723,"cg_id_raw_a":-0.435076267,"cg_iq_a":0.119672805,"cg_iq_raw_a":1.41514421,"cg_iu_a":-1.19351315,"cg_iv_a":0.21412921,"cg_iw_a":0.979383945,"cg_sample_age_us":23.9581814,"cg_sample_seq":14613567,"cg_sample_valid":1,"cg_theta_rad":5.00792313,"cg_vd_req_v":0.0873260126,"cg_vd_v":0.0873260126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348774403,"cg_vq_v":-0.348774403,"cg_vu_v":138.126266,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4998474,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12477,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1366158,"cg_dv":50.198925,"cg_dw":49.801075,"cg_id_a":0.0377915502,"cg_id_raw_a":-0.474532038,"cg_iq_a":0.0673596561,"cg_iq_raw_a":-0.337720543,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885413,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9618187,"cg_sample_seq":14613617,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0867863297,"cg_vd_v":0.0867863297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346918821,"cg_vq_v":-0.346918821,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.357062459,"dclink_p_w":-51.6757431,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12461,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350594,"cg_dv":50.2044258,"cg_dw":49.7955742,"cg_id_a":-0.157167941,"cg_id_raw_a":-0.654917121,"cg_iq_a":0.496477604,"cg_iq_raw_a":0.232311711,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065256,"cg_iw_a":0.653189361,"cg_sample_age_us":23.9509087,"cg_sample_seq":14613667,"cg_sample_valid":1,"cg_theta_rad":5.00703526,"cg_vd_req_v":0.0904637724,"cg_vd_v":0.0904637724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354266196,"cg_vq_v":-0.354266196,"cg_vu_v":116.571533,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.0511169,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4874573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38778,"EncoderSin":12484,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250229,"cg_dv":50.2040596,"cg_dw":49.7959404,"cg_id_a":-0.294740587,"cg_id_raw_a":-0.915979207,"cg_iq_a":0.411704898,"cg_iq_raw_a":0.869926512,"cg_iu_a":-0.831074715,"cg_iv_a":-0.112065196,"cg_iw_a":0.943139911,"cg_sample_age_us":23.863636,"cg_sample_seq":14613720,"cg_sample_valid":1,"cg_theta_rad":5.00624847,"cg_vd_req_v":0.0954069644,"cg_vd_v":0.0954069644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34890601,"cg_vq_v":-0.34890601,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4874573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12493,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1282082,"cg_dv":50.1957054,"cg_dw":49.8042946,"cg_id_a":0.00981002487,"cg_id_raw_a":0.0167312846,"cg_iq_a":0.0109267756,"cg_iq_raw_a":-0.216042221,"cg_iu_a":-0.142441988,"cg_iv_a":-0.112065196,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8600006,"cg_sample_seq":14613766,"cg_sample_valid":1,"cg_theta_rad":5.00796366,"cg_vd_req_v":0.0881764367,"cg_vd_v":0.0881764367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338360131,"cg_vq_v":-0.338360131,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12454,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249275,"cg_dv":50.1843719,"cg_dw":49.8156281,"cg_id_a":0.289971739,"cg_id_raw_a":0.256591082,"cg_iq_a":-0.773236394,"cg_iq_raw_a":0.135377482,"cg_iu_a":0.473703384,"cg_iv_a":0.286616981,"cg_iw_a":-0.760320365,"cg_sample_age_us":23.863636,"cg_sample_seq":14613817,"cg_sample_valid":1,"cg_theta_rad":5.00834322,"cg_vd_req_v":0.0815457106,"cg_vd_v":0.0815457106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320641667,"cg_vq_v":-0.320641667,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.594459534,"dclink_p_w":-86.2944489,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12459,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267052,"cg_dv":50.190052,"cg_dw":49.809948,"cg_id_a":0.0665560812,"cg_id_raw_a":0.155189872,"cg_iq_a":-0.284058571,"cg_iq_raw_a":-0.529961765,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14613866,"cg_sample_valid":1,"cg_theta_rad":5.00758982,"cg_vd_req_v":0.0863878876,"cg_vd_v":0.0863878876,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32916832,"cg_vq_v":-0.32916832,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.478479266,"dclink_p_w":-69.4582291,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7516785,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12456,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1302948,"cg_dv":50.1965141,"cg_dw":49.8034859,"cg_id_a":-0.0584101826,"cg_id_raw_a":0.113517784,"cg_iq_a":0.186361372,"cg_iq_raw_a":0.521820068,"cg_iu_a":-0.0699543953,"cg_iv_a":0.250373125,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9472733,"cg_sample_seq":14614017,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.0887598321,"cg_vd_v":0.0887598321,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33914727,"cg_vq_v":-0.33914727,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.574379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4889832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.122654,"cg_dv":50.1939316,"cg_dw":49.8060684,"cg_id_a":-0.31781745,"cg_id_raw_a":-0.0867281854,"cg_iq_a":-0.120789245,"cg_iq_raw_a":-0.00795872323,"cg_iu_a":0.292484045,"cg_iv_a":-0.438259721,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9254551,"cg_sample_seq":14614067,"cg_sample_valid":1,"cg_theta_rad":5.00760365,"cg_vd_req_v":0.0934183821,"cg_vd_v":0.0934183821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332128197,"cg_vq_v":-0.332128197,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.172097564,"dclink_p_w":24.9067612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254387,"cg_dv":50.1960411,"cg_dw":49.8039589,"cg_id_a":-0.142988876,"cg_id_raw_a":-0.717720032,"cg_iq_a":0.0875159949,"cg_iq_raw_a":0.442818195,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9618187,"cg_sample_seq":14614117,"cg_sample_valid":1,"cg_theta_rad":5.00744534,"cg_vd_req_v":0.0910350233,"cg_vd_v":0.0910350233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337181598,"cg_vq_v":-0.337181598,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":22.0887299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12459,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1228638,"cg_dv":50.1870308,"cg_dw":49.8129692,"cg_id_a":0.256202102,"cg_id_raw_a":0.351533711,"cg_iq_a":-0.547819138,"cg_iq_raw_a":-0.440542698,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14614167,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.083071515,"cg_vd_v":0.083071515,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323793471,"cg_vq_v":-0.323793471,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5075684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12461,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151848,"cg_dv":50.1896133,"cg_dw":49.8103867,"cg_id_a":-0.187956244,"cg_id_raw_a":-0.254811645,"cg_iq_a":-0.644954085,"cg_iq_raw_a":-0.459733844,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592286,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9509087,"cg_sample_seq":14614222,"cg_sample_valid":1,"cg_theta_rad":5.00812817,"cg_vd_req_v":0.0925213248,"cg_vd_v":0.0925213248,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322797269,"cg_vq_v":-0.322797269,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4967346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12473,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249847,"cg_dv":50.1926689,"cg_dw":49.8073311,"cg_id_a":0.0368624851,"cg_id_raw_a":0.0102691036,"cg_iq_a":-0.132299721,"cg_iq_raw_a":-0.143848941,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.954546,"cg_sample_seq":14614266,"cg_sample_valid":1,"cg_theta_rad":5.00712729,"cg_vd_req_v":0.0883887038,"cg_vd_v":0.0883887038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332263112,"cg_vq_v":-0.332263112,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.6444874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4967346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12451,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.125206,"cg_dv":50.1983414,"cg_dw":49.8016586,"cg_id_a":-0.227550879,"cg_id_raw_a":-0.0103338249,"cg_iq_a":0.0323268175,"cg_iq_raw_a":0.0726347789,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9872723,"cg_sample_seq":14614317,"cg_sample_valid":1,"cg_theta_rad":5.00617599,"cg_vd_req_v":0.0935545042,"cg_vd_v":0.0935545042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33904022,"cg_vq_v":-0.33904022,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.1842842,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12486,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307373,"cg_dv":50.2024422,"cg_dw":49.7975578,"cg_id_a":-0.381234527,"cg_id_raw_a":-0.390168607,"cg_iq_a":0.508621752,"cg_iq_raw_a":0.289241165,"cg_iu_a":-0.251173496,"cg_iv_a":-0.583235025,"cg_iw_a":0.834408522,"cg_sample_age_us":23.8563633,"cg_sample_seq":14614366,"cg_sample_valid":1,"cg_theta_rad":5.00641108,"cg_vd_req_v":0.0956869572,"cg_vd_v":0.0956869572,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349284768,"cg_vq_v":-0.349284768,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":38.9505196,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1320114,"cg_dv":50.1946144,"cg_dw":49.8053856,"cg_id_a":0.205272794,"cg_id_raw_a":0.426900178,"cg_iq_a":-0.088391915,"cg_iq_raw_a":-0.104247689,"cg_iu_a":-0.178685665,"cg_iv_a":-0.112065196,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9799995,"cg_sample_seq":14614417,"cg_sample_valid":1,"cg_theta_rad":5.00643301,"cg_vd_req_v":0.0847539902,"cg_vd_v":0.0847539902,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338840395,"cg_vq_v":-0.338840395,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":38.9505196,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4874573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12453,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319504,"cg_dv":50.188652,"cg_dw":49.811348,"cg_id_a":0.405408233,"cg_id_raw_a":0.205968827,"cg_iq_a":-0.55079937,"cg_iq_raw_a":-0.415864199,"cg_iu_a":0.473703146,"cg_iv_a":0.431592226,"cg_iw_a":-0.905295372,"cg_sample_age_us":23.954546,"cg_sample_seq":14614467,"cg_sample_valid":1,"cg_theta_rad":5.00671816,"cg_vd_req_v":0.0803021714,"cg_vd_v":0.0803021714,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330376267,"cg_vq_v":-0.330376267,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4827881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1352005,"cg_dv":50.199585,"cg_dw":49.800415,"cg_id_a":-0.0434202924,"cg_id_raw_a":0.138779536,"cg_iq_a":0.21365127,"cg_iq_raw_a":0.0508660451,"cg_iu_a":-0.794830799,"cg_iv_a":-0.112065196,"cg_iw_a":0.906895995,"cg_sample_age_us":23.8600006,"cg_sample_seq":14614517,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.088180162,"cg_vd_v":0.088180162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347108275,"cg_vq_v":-0.347108275,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4827881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267929,"cg_dv":50.1959,"cg_dw":49.8041,"cg_id_a":-0.0961149186,"cg_id_raw_a":-0.163890973,"cg_iq_a":-0.0543421321,"cg_iq_raw_a":0.60450691,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9363632,"cg_sample_seq":14614567,"cg_sample_valid":1,"cg_theta_rad":5.00602055,"cg_vd_req_v":0.0889708847,"cg_vd_v":0.0889708847,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337968349,"cg_vq_v":-0.337968349,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12431,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1348686,"cg_dv":50.1997757,"cg_dw":49.8002243,"cg_id_a":-0.0759442225,"cg_id_raw_a":-0.0299484264,"cg_iq_a":0.348060012,"cg_iq_raw_a":0.471345484,"cg_iu_a":-0.178685665,"cg_iv_a":0.467836082,"cg_iw_a":-0.289150417,"cg_sample_age_us":24.0381813,"cg_sample_seq":14614617,"cg_sample_valid":1,"cg_theta_rad":5.00602674,"cg_vd_req_v":0.0895276293,"cg_vd_v":0.0895276293,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346949518,"cg_vq_v":-0.346949518,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4905396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12471,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1401443,"cg_dv":50.202179,"cg_dw":49.797821,"cg_id_a":-0.000422351062,"cg_id_raw_a":0.398935288,"cg_iq_a":0.556112885,"cg_iq_raw_a":0.185542688,"cg_iu_a":-0.577368021,"cg_iv_a":-0.691966534,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9836369,"cg_sample_seq":14614667,"cg_sample_valid":1,"cg_theta_rad":5.00708675,"cg_vd_req_v":0.0866976604,"cg_vd_v":0.0866976604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353445232,"cg_vq_v":-0.353445232,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4905396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12451,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423035,"cg_dv":50.1911964,"cg_dw":49.8088036,"cg_id_a":0.531435907,"cg_id_raw_a":0.0928988904,"cg_iq_a":-0.157454282,"cg_iq_raw_a":0.301380515,"cg_iu_a":-0.613611698,"cg_iv_a":-0.00333374739,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9763641,"cg_sample_seq":14614717,"cg_sample_valid":1,"cg_theta_rad":5.00750732,"cg_vd_req_v":0.0747098103,"cg_vd_v":0.0747098103,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339647502,"cg_vq_v":-0.339647502,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341553,"cg_dv":50.1958961,"cg_dw":49.8041039,"cg_id_a":0.135790125,"cg_id_raw_a":0.0480715893,"cg_iq_a":-0.0684327185,"cg_iq_raw_a":0.368892789,"cg_iu_a":0.183752537,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.863636,"cg_sample_seq":14614769,"cg_sample_valid":1,"cg_theta_rad":5.00805855,"cg_vd_req_v":0.0820028931,"cg_vd_v":0.0820028931,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342347145,"cg_vq_v":-0.342347145,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.6795158,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12455,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344109,"cg_dv":50.2024727,"cg_dw":49.7975273,"cg_id_a":-0.198241159,"cg_id_raw_a":-0.281315327,"cg_iq_a":0.254171908,"cg_iq_raw_a":-0.17166017,"cg_iu_a":-0.106198072,"cg_iv_a":-0.365772128,"cg_iw_a":0.471970201,"cg_sample_age_us":23.863636,"cg_sample_seq":14614866,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0905924588,"cg_vd_v":0.0905924588,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350856185,"cg_vq_v":-0.350856185,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.00537586212,"dclink_p_w":0.778019786,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325035,"cg_dv":50.1985931,"cg_dw":49.8014069,"cg_id_a":-0.062496379,"cg_id_raw_a":-0.0485323146,"cg_iq_a":-0.151146799,"cg_iq_raw_a":-0.18593882,"cg_iu_a":-0.0337104797,"cg_iv_a":0.866518259,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9836369,"cg_sample_seq":14614916,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0887055919,"cg_vd_v":0.0887055919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34440735,"cg_vq_v":-0.34440735,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.48214817,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1378555,"cg_dv":50.1967049,"cg_dw":49.8032951,"cg_id_a":0.24794656,"cg_id_raw_a":0.0311120935,"cg_iq_a":0.00614029169,"cg_iq_raw_a":0.0766979456,"cg_iu_a":-0.686099529,"cg_iv_a":0.395348489,"cg_iw_a":0.29075104,"cg_sample_age_us":23.8527279,"cg_sample_seq":14614966,"cg_sample_valid":1,"cg_theta_rad":5.00695896,"cg_vd_req_v":0.0832796469,"cg_vd_v":0.0832796469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344689637,"cg_vq_v":-0.344689637,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297264,"cg_dv":50.2001534,"cg_dw":49.7998466,"cg_id_a":-0.187576979,"cg_id_raw_a":-0.198535129,"cg_iq_a":0.0554027744,"cg_iq_raw_a":-0.163054034,"cg_iu_a":0.219996452,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14615017,"cg_sample_valid":1,"cg_theta_rad":5.00717974,"cg_vd_req_v":0.0908758864,"cg_vd_v":0.0908758864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345376849,"cg_vq_v":-0.345376849,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364059,"cg_dv":50.1885262,"cg_dw":49.8114738,"cg_id_a":0.459465504,"cg_id_raw_a":0.657586634,"cg_iq_a":-0.311330557,"cg_iq_raw_a":0.757852674,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9436359,"cg_sample_seq":14615067,"cg_sample_valid":1,"cg_theta_rad":5.00863934,"cg_vd_req_v":0.0769101307,"cg_vd_v":0.0769101307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333724141,"cg_vq_v":-0.333724141,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0887366533,"dclink_p_w":12.8423815,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12453,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1320686,"cg_dv":50.1923256,"cg_dw":49.8076744,"cg_id_a":0.0807689279,"cg_id_raw_a":-0.0335123464,"cg_iq_a":-0.118732624,"cg_iq_raw_a":0.725922406,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9654541,"cg_sample_seq":14615117,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.0839370415,"cg_vd_v":0.0839370415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335393846,"cg_vq_v":-0.335393846,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35878754,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12453,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1320648,"cg_dv":50.197567,"cg_dw":49.802433,"cg_id_a":-0.151979282,"cg_id_raw_a":-0.343675882,"cg_iq_a":0.177445367,"cg_iq_raw_a":0.0404096767,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9509087,"cg_sample_seq":14615167,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.0881155431,"cg_vd_v":0.0881155431,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342749119,"cg_vq_v":-0.342749119,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409302,"cg_dv":50.1933975,"cg_dw":49.8066025,"cg_id_a":0.424243391,"cg_id_raw_a":0.624228656,"cg_iq_a":-0.0201866925,"cg_iq_raw_a":0.244706511,"cg_iu_a":-0.468636513,"cg_iv_a":-0.546991229,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9509087,"cg_sample_seq":14615217,"cg_sample_valid":1,"cg_theta_rad":5.00622177,"cg_vd_req_v":0.0778960511,"cg_vd_v":0.0778960511,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341868877,"cg_vq_v":-0.341868877,"cg_vu_v":127.12896,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.5013733,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104888983,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1282883,"cg_dv":50.1972237,"cg_dw":49.8027763,"cg_id_a":-0.20486103,"cg_id_raw_a":-0.214779049,"cg_iq_a":-0.0913790613,"cg_iq_raw_a":-0.202421039,"cg_iu_a":0.0750210285,"cg_iv_a":-0.438259721,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9436359,"cg_sample_seq":14615270,"cg_sample_valid":1,"cg_theta_rad":5.00564861,"cg_vd_req_v":0.0913293213,"cg_vd_v":0.0913293213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340008885,"cg_vq_v":-0.340008885,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.7579231,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12424,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343498,"cg_dv":50.1973495,"cg_dw":49.8026505,"cg_id_a":-0.126020521,"cg_id_raw_a":-0.80049324,"cg_iq_a":0.16930446,"cg_iq_raw_a":0.792627037,"cg_iu_a":-0.178685904,"cg_iv_a":0.032910049,"cg_iw_a":0.145775855,"cg_sample_age_us":23.863636,"cg_sample_seq":14615316,"cg_sample_valid":1,"cg_theta_rad":5.00597048,"cg_vd_req_v":0.0886225253,"cg_vd_v":0.0886225253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344212532,"cg_vq_v":-0.344212532,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.7629166,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347885,"cg_dv":50.2002869,"cg_dw":49.7997131,"cg_id_a":0.0083803013,"cg_id_raw_a":0.147738621,"cg_iq_a":0.265503883,"cg_iq_raw_a":0.851965606,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.954546,"cg_sample_seq":14615367,"cg_sample_valid":1,"cg_theta_rad":5.00771379,"cg_vd_req_v":0.0876892731,"cg_vd_v":0.0876892731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348213077,"cg_vq_v":-0.348213077,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.349692225,"dclink_p_w":50.7629166,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4936523,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12484,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357231,"cg_dv":50.1989899,"cg_dw":49.8010101,"cg_id_a":0.0277703032,"cg_id_raw_a":0.226228759,"cg_iq_a":0.112640262,"cg_iq_raw_a":-0.195305601,"cg_iu_a":-0.359905005,"cg_iv_a":0.359104633,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9436359,"cg_sample_seq":14615417,"cg_sample_valid":1,"cg_theta_rad":5.00713491,"cg_vd_req_v":0.0874621123,"cg_vd_v":0.0874621123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346523941,"cg_vq_v":-0.346523941,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.190219402,"dclink_p_w":27.6131134,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4797058,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1373863,"cg_dv":50.1966629,"cg_dw":49.8033371,"cg_id_a":0.126158059,"cg_id_raw_a":0.270842433,"cg_iq_a":0.0862253681,"cg_iq_raw_a":-0.00833480619,"cg_iu_a":-0.468636513,"cg_iv_a":-0.148309112,"cg_iw_a":0.616945624,"cg_sample_age_us":23.954546,"cg_sample_seq":14615467,"cg_sample_valid":1,"cg_theta_rad":5.00490379,"cg_vd_req_v":0.0844554678,"cg_vd_v":0.0844554678,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344166815,"cg_vq_v":-0.344166815,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.498291969,"dclink_p_w":72.1151352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4797058,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12501,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255188,"cg_dv":50.1997452,"cg_dw":49.8002548,"cg_id_a":-0.366920054,"cg_id_raw_a":-0.143092722,"cg_iq_a":0.0101207495,"cg_iq_raw_a":-0.740963876,"cg_iu_a":-0.613611698,"cg_iv_a":-0.438259721,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9763641,"cg_sample_seq":14615517,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0945771486,"cg_vd_v":0.0945771486,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341146052,"cg_vq_v":-0.341146052,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.541784585,"dclink_p_w":78.171257,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.5044556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291428,"cg_dv":50.1960335,"cg_dw":49.8039665,"cg_id_a":-0.135906115,"cg_id_raw_a":0.314472675,"cg_iq_a":0.0144312382,"cg_iq_raw_a":0.614533484,"cg_iu_a":-0.359905005,"cg_iv_a":0.032910049,"cg_iw_a":0.326994956,"cg_sample_age_us":23.9763641,"cg_sample_seq":14615567,"cg_sample_valid":1,"cg_theta_rad":5.00682163,"cg_vd_req_v":0.0893100873,"cg_vd_v":0.0893100873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337821156,"cg_vq_v":-0.337821156,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.5044556,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2649.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12489,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257668,"cg_dv":50.1887779,"cg_dw":49.8112221,"cg_id_a":-0.00124973804,"cg_id_raw_a":0.0654253513,"cg_iq_a":-0.409126401,"cg_iq_raw_a":0.153037444,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860718,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8309097,"cg_sample_seq":14615617,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0858386084,"cg_vd_v":0.0858386084,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327987283,"cg_vq_v":-0.327987283,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.639642954,"dclink_p_w":92.5721054,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12479,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1337776,"cg_dv":50.2016449,"cg_dw":49.7983551,"cg_id_a":-0.14418456,"cg_id_raw_a":-0.275304645,"cg_iq_a":0.633752525,"cg_iq_raw_a":1.3217994,"cg_iu_a":0.546190977,"cg_iv_a":-0.402015924,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9799995,"cg_sample_seq":14615667,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0902203619,"cg_vd_v":0.0902203619,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350523233,"cg_vq_v":-0.350523233,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.77374512,"dclink_p_w":111.979996,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4827881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12469,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186752,"cg_dv":50.1926498,"cg_dw":49.8073502,"cg_id_a":-0.334820807,"cg_id_raw_a":-0.224272639,"cg_iq_a":-0.659801185,"cg_iq_raw_a":-0.31317094,"cg_iu_a":0.727410078,"cg_iv_a":-0.25704062,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14615717,"cg_sample_valid":1,"cg_theta_rad":5.00813818,"cg_vd_req_v":0.0954261571,"cg_vd_v":0.0954261571,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329182506,"cg_vq_v":-0.329182506,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.77374512,"dclink_p_w":111.979996,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4827881,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12467,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.130085,"cg_dv":50.1957512,"cg_dw":49.8042488,"cg_id_a":0.0489761755,"cg_id_raw_a":0.131503135,"cg_iq_a":-0.103598014,"cg_iq_raw_a":0.123203225,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8490906,"cg_sample_seq":14615816,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.0889690295,"cg_vd_v":0.0889690295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338894993,"cg_vq_v":-0.338894993,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.85891813,"dclink_p_w":124.306633,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1269836,"cg_dv":50.1970558,"cg_dw":49.8029442,"cg_id_a":-0.076238133,"cg_id_raw_a":0.117121756,"cg_iq_a":-0.00708760321,"cg_iq_raw_a":0.267453313,"cg_iu_a":0.509947062,"cg_iv_a":-0.0395774841,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9727268,"cg_sample_seq":14615866,"cg_sample_valid":1,"cg_theta_rad":5.00545883,"cg_vd_req_v":0.0926515758,"cg_vd_v":0.0926515758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33892563,"cg_vq_v":-0.33892563,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4951782,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12491,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.127655,"cg_dv":50.1966667,"cg_dw":49.8033333,"cg_id_a":0.0806931108,"cg_id_raw_a":1.07060909,"cg_iq_a":0.0420164242,"cg_iq_raw_a":1.55649996,"cg_iu_a":-0.251173496,"cg_iv_a":0.032910049,"cg_iw_a":0.218263447,"cg_sample_age_us":23.8563633,"cg_sample_seq":14615917,"cg_sample_valid":1,"cg_theta_rad":5.00592089,"cg_vd_req_v":0.0897796676,"cg_vd_v":0.0897796676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340402544,"cg_vq_v":-0.340402544,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423378,"cg_dv":50.1995888,"cg_dw":49.8004112,"cg_id_a":0.380273521,"cg_id_raw_a":-0.0590918064,"cg_iq_a":0.820328414,"cg_iq_raw_a":0.140730724,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539049,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14615967,"cg_sample_valid":1,"cg_theta_rad":5.00721502,"cg_vd_req_v":0.0823576823,"cg_vd_v":0.0823576823,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352304637,"cg_vq_v":-0.352304637,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1392593,"cg_dv":50.1979294,"cg_dw":49.8020706,"cg_id_a":0.260513961,"cg_id_raw_a":-0.131135643,"cg_iq_a":0.534878254,"cg_iq_raw_a":0.424553186,"cg_iu_a":-1.44721985,"cg_iv_a":0.286616921,"cg_iw_a":1.16060293,"cg_sample_age_us":24.0309086,"cg_sample_seq":14616017,"cg_sample_valid":1,"cg_theta_rad":5.00804567,"cg_vd_req_v":0.085141547,"cg_vd_v":0.085141547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347828567,"cg_vq_v":-0.347828567,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4859009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117175549,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2649.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.128418,"cg_dv":50.1973381,"cg_dw":49.8026619,"cg_id_a":0.163757354,"cg_id_raw_a":0.220191792,"cg_iq_a":0.0246884227,"cg_iq_raw_a":-0.379511118,"cg_iu_a":0.00253343582,"cg_iv_a":0.721542954,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.954546,"cg_sample_seq":14616067,"cg_sample_valid":1,"cg_theta_rad":5.00608015,"cg_vd_req_v":0.0888031274,"cg_vd_v":0.0888031274,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340909123,"cg_vq_v":-0.340909123,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.871603489,"dclink_p_w":126.142517,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12486,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1182289,"cg_dv":50.2004128,"cg_dw":49.7995872,"cg_id_a":-0.32902807,"cg_id_raw_a":-0.181510627,"cg_iq_a":0.114447102,"cg_iq_raw_a":0.566474795,"cg_iu_a":-0.323661089,"cg_iv_a":-0.0395776033,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9690914,"cg_sample_seq":14616117,"cg_sample_valid":1,"cg_theta_rad":5.00705385,"cg_vd_req_v":0.10012798,"cg_vd_v":0.10012798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339346051,"cg_vq_v":-0.339346051,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293297,"cg_dv":50.1952553,"cg_dw":49.8047447,"cg_id_a":0.184972748,"cg_id_raw_a":0.14039515,"cg_iq_a":-0.0724993721,"cg_iq_raw_a":0.670318127,"cg_iu_a":-0.577368021,"cg_iv_a":0.21412921,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14616167,"cg_sample_valid":1,"cg_theta_rad":5.00565767,"cg_vd_req_v":0.0888631865,"cg_vd_v":0.0888631865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337851018,"cg_vq_v":-0.337851018,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.683135569,"dclink_p_w":98.5660477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2649.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286316,"cg_dv":50.1983833,"cg_dw":49.8016167,"cg_id_a":0.0654897988,"cg_id_raw_a":-0.133867905,"cg_iq_a":0.17062512,"cg_iq_raw_a":-0.813516915,"cg_iu_a":0.038777113,"cg_iv_a":0.322860718,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14616217,"cg_sample_valid":1,"cg_theta_rad":5.00777626,"cg_vd_req_v":0.0920872688,"cg_vd_v":0.0920872688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341805488,"cg_vq_v":-0.341805488,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.715754986,"dclink_p_w":103.902252,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2649.987412,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2649.987418,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2649.987423,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2650.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12460,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1212082,"cg_dv":50.1922417,"cg_dw":49.8077583,"cg_id_a":0.0233312491,"cg_id_raw_a":0.034406133,"cg_iq_a":-0.115447193,"cg_iq_raw_a":-0.177974045,"cg_iu_a":0.219996452,"cg_iv_a":0.359104633,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8454552,"cg_sample_seq":14616270,"cg_sample_valid":1,"cg_theta_rad":5.00653362,"cg_vd_req_v":0.0909880027,"cg_vd_v":0.0909880027,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330632657,"cg_vq_v":-0.330632657,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.751998842,"dclink_p_w":109.163574,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1112518,"cg_dv":50.1872063,"cg_dw":49.8127937,"cg_id_a":-0.161031932,"cg_id_raw_a":-0.465277731,"cg_iq_a":-0.870944023,"cg_iq_raw_a":-0.847189188,"cg_iu_a":0.328727841,"cg_iv_a":0.39534843,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.8600006,"cg_sample_seq":14616316,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0955214575,"cg_vd_v":0.0955214575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316655189,"cg_vq_v":-0.316655189,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.471109152,"dclink_p_w":68.3883514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4766235,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12449,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1232567,"cg_dv":50.1848602,"cg_dw":49.8151398,"cg_id_a":0.309443533,"cg_id_raw_a":0.0321231149,"cg_iq_a":-0.778624654,"cg_iq_raw_a":-0.542450964,"cg_iu_a":0.0387773514,"cg_iv_a":0.649055302,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.8600006,"cg_sample_seq":14616366,"cg_sample_valid":1,"cg_theta_rad":5.00576687,"cg_vd_req_v":0.0851146877,"cg_vd_v":0.0851146877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31989786,"cg_vq_v":-0.31989786,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.471109152,"dclink_p_w":68.3883514,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2563,"hz_tim_isr":4999,"hz_vsense":2563,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4766235,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12488,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290436,"cg_dv":50.1978302,"cg_dw":49.8021698,"cg_id_a":0.152086169,"cg_id_raw_a":0.154072553,"cg_iq_a":0.234284043,"cg_iq_raw_a":0.342622966,"cg_iu_a":-0.50488019,"cg_iv_a":0.39534843,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9509087,"cg_sample_seq":14616416,"cg_sample_valid":1,"cg_theta_rad":5.00582266,"cg_vd_req_v":0.0893023014,"cg_vd_v":0.0893023014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341795892,"cg_vq_v":-0.341795892,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.371438622,"dclink_p_w":53.7563248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12472,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1232376,"cg_dv":50.1927223,"cg_dw":49.8072777,"cg_id_a":0.114913911,"cg_id_raw_a":0.153242752,"cg_iq_a":-0.242817029,"cg_iq_raw_a":-0.967524588,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333380699,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8490906,"cg_sample_seq":14616466,"cg_sample_valid":1,"cg_theta_rad":5.0065732,"cg_vd_req_v":0.090363659,"cg_vd_v":0.090363659,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331204623,"cg_vq_v":-0.331204623,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12439,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1135063,"cg_dv":50.1934395,"cg_dw":49.8065605,"cg_id_a":-0.402040601,"cg_id_raw_a":-0.13412188,"cg_iq_a":-0.313819617,"cg_iq_raw_a":-0.559875309,"cg_iu_a":0.691166282,"cg_iv_a":-0.365772009,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8527279,"cg_sample_seq":14616516,"cg_sample_valid":1,"cg_theta_rad":5.00567579,"cg_vd_req_v":0.10129334,"cg_vd_v":0.10129334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325929701,"cg_vq_v":-0.325929701,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12469,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260681,"cg_dv":50.1949387,"cg_dw":49.8050613,"cg_id_a":0.0692830533,"cg_id_raw_a":0.0301461294,"cg_iq_a":0.181364432,"cg_iq_raw_a":0.513637066,"cg_iu_a":-0.0337104797,"cg_iv_a":0.649055243,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9509087,"cg_sample_seq":14616567,"cg_sample_valid":1,"cg_theta_rad":5.00692606,"cg_vd_req_v":0.0913542286,"cg_vd_v":0.0913542286,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335518122,"cg_vq_v":-0.335518122,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4812622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12459,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209068,"cg_dv":50.1939735,"cg_dw":49.8060265,"cg_id_a":0.0105531309,"cg_id_raw_a":-0.0175943673,"cg_iq_a":-0.034680333,"cg_iq_raw_a":-0.292138606,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.8709087,"cg_sample_seq":14616617,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0929529816,"cg_vd_v":0.0929529816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331729859,"cg_vq_v":-0.331729859,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12460,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1269188,"cg_dv":50.190361,"cg_dw":49.809639,"cg_id_a":0.315638483,"cg_id_raw_a":0.680472195,"cg_iq_a":-0.150762811,"cg_iq_raw_a":-0.617574692,"cg_iu_a":-0.613611937,"cg_iv_a":-0.0395776033,"cg_iw_a":0.65318954,"cg_sample_age_us":23.954546,"cg_sample_seq":14616667,"cg_sample_valid":1,"cg_theta_rad":5.00734472,"cg_vd_req_v":0.0854181126,"cg_vd_v":0.0854181126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328931034,"cg_vq_v":-0.328931034,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186562,"cg_dv":50.1910477,"cg_dw":49.8089523,"cg_id_a":0.0377858877,"cg_id_raw_a":-0.13283129,"cg_iq_a":-0.323245674,"cg_iq_raw_a":-0.193303883,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129329,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9436359,"cg_sample_seq":14616717,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.090318419,"cg_vd_v":0.090318419,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325853109,"cg_vq_v":-0.325853109,"cg_vu_v":142.085297,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.03713059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1173782,"cg_dv":50.1923904,"cg_dw":49.8076096,"cg_id_a":-0.0618213266,"cg_id_raw_a":0.502536416,"cg_iq_a":-0.169304878,"cg_iq_raw_a":-0.718108475,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507065,"cg_sample_age_us":26.8163643,"cg_sample_seq":14616770,"cg_sample_valid":1,"cg_theta_rad":5.00533581,"cg_vd_req_v":0.0925017744,"cg_vd_v":0.0925017744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328083038,"cg_vq_v":-0.328083038,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.00718808174,"dclink_p_w":1.03713059,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1198578,"cg_dv":50.1856155,"cg_dw":49.8143845,"cg_id_a":0.214812964,"cg_id_raw_a":0.28835392,"cg_iq_a":-0.643361092,"cg_iq_raw_a":-0.408265829,"cg_iu_a":0.437459469,"cg_iv_a":0.177885473,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9836369,"cg_sample_seq":14616816,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.0861133114,"cg_vd_v":0.0861133114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319648564,"cg_vq_v":-0.319648564,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12427,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.120491,"cg_dv":50.1839027,"cg_dw":49.8160973,"cg_id_a":0.353840142,"cg_id_raw_a":-0.312298298,"cg_iq_a":-0.619143009,"cg_iq_raw_a":-0.0662203357,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373125,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9218178,"cg_sample_seq":14616867,"cg_sample_valid":1,"cg_theta_rad":5.00633907,"cg_vd_req_v":0.0843620971,"cg_vd_v":0.0843620971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317563176,"cg_vq_v":-0.317563176,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12438,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1346169,"cg_dv":50.1941452,"cg_dw":49.8058548,"cg_id_a":0.283533424,"cg_id_raw_a":0.0109418221,"cg_iq_a":0.299672037,"cg_iq_raw_a":-0.143799022,"cg_iu_a":-0.649855375,"cg_iv_a":0.286616921,"cg_iw_a":0.363238454,"cg_sample_age_us":23.8527279,"cg_sample_seq":14616916,"cg_sample_valid":1,"cg_theta_rad":5.00666142,"cg_vd_req_v":0.0840888992,"cg_vd_v":0.0840888992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340304315,"cg_vq_v":-0.340304315,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12457,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317329,"cg_dv":50.1934814,"cg_dw":49.8065186,"cg_id_a":0.162077665,"cg_id_raw_a":-0.51816529,"cg_iq_a":0.0798259899,"cg_iq_raw_a":0.53270936,"cg_iu_a":-0.178685665,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.8563633,"cg_sample_seq":14616967,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.0845940709,"cg_vd_v":0.0845940709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335870534,"cg_vq_v":-0.335870534,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12449,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306686,"cg_dv":50.1938896,"cg_dw":49.8061104,"cg_id_a":-0.074974671,"cg_id_raw_a":-0.233599707,"cg_iq_a":-0.0249199569,"cg_iq_raw_a":0.195669085,"cg_iu_a":-0.359905005,"cg_iv_a":-0.220796704,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9872723,"cg_sample_seq":14617017,"cg_sample_valid":1,"cg_theta_rad":5.00682354,"cg_vd_req_v":0.0870009214,"cg_vd_v":0.0870009214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335528255,"cg_vq_v":-0.335528255,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12469,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1278954,"cg_dv":50.1959953,"cg_dw":49.8040047,"cg_id_a":-0.151738241,"cg_id_raw_a":0.058415249,"cg_iq_a":0.222384289,"cg_iq_raw_a":-0.212155327,"cg_iu_a":-0.178685665,"cg_iv_a":-0.619478822,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9872723,"cg_sample_seq":14617067,"cg_sample_valid":1,"cg_theta_rad":5.00625086,"cg_vd_req_v":0.0884548724,"cg_vd_v":0.0884548724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337546915,"cg_vq_v":-0.337546915,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328163,"cg_dv":50.1973343,"cg_dw":49.8026657,"cg_id_a":-0.0963273942,"cg_id_raw_a":0.36839056,"cg_iq_a":0.255622357,"cg_iq_raw_a":-0.144864723,"cg_iu_a":-0.50488019,"cg_iv_a":-0.148309112,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9799995,"cg_sample_seq":14617117,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.0877964273,"cg_vd_v":0.0877964273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341620207,"cg_vq_v":-0.341620207,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.2493629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12488,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.11866,"cg_dv":50.1903725,"cg_dw":49.8096275,"cg_id_a":-0.283594817,"cg_id_raw_a":0.0208392721,"cg_iq_a":-0.510036826,"cg_iq_raw_a":-0.033608783,"cg_iu_a":-0.0699543953,"cg_iv_a":0.214129329,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14617167,"cg_sample_valid":1,"cg_theta_rad":5.00663567,"cg_vd_req_v":0.0913902298,"cg_vd_v":0.0913902298,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325525016,"cg_vq_v":-0.325525016,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-77.9026337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4920959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12489,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.135437,"cg_dv":50.1954651,"cg_dw":49.8045349,"cg_id_a":0.0410599969,"cg_id_raw_a":0.118540645,"cg_iq_a":0.423348278,"cg_iq_raw_a":0.266827196,"cg_iu_a":-0.359905005,"cg_iv_a":-0.329528213,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8563633,"cg_sample_seq":14617217,"cg_sample_valid":1,"cg_theta_rad":5.0076046,"cg_vd_req_v":0.0829100385,"cg_vd_v":0.0829100385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343011647,"cg_vq_v":-0.343011647,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308212,"cg_dv":50.1964493,"cg_dw":49.8035507,"cg_id_a":-0.152805299,"cg_id_raw_a":-0.269959658,"cg_iq_a":0.304818422,"cg_iq_raw_a":0.375847459,"cg_iu_a":0.0750212669,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144175231,"cg_sample_age_us":23.8563633,"cg_sample_seq":14617270,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0871399194,"cg_vd_v":0.0871399194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340756983,"cg_vq_v":-0.340756983,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.598083973,"dclink_p_w":-86.5574951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4967346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255722,"cg_dv":50.1871452,"cg_dw":49.8128548,"cg_id_a":-0.0479010716,"cg_id_raw_a":-0.093633756,"cg_iq_a":-0.340856552,"cg_iq_raw_a":-0.372344315,"cg_iu_a":0.509947062,"cg_iv_a":0.177885473,"cg_iw_a":-0.687832534,"cg_sample_age_us":24.7690907,"cg_sample_seq":14617316,"cg_sample_valid":1,"cg_theta_rad":5.00544882,"cg_vd_req_v":0.0830214918,"cg_vd_v":0.0830214918,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324957848,"cg_vq_v":-0.324957848,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4967346,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12465,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1179733,"cg_dv":50.188343,"cg_dw":49.811657,"cg_id_a":-0.441757053,"cg_id_raw_a":0.713608742,"cg_iq_a":-0.36437881,"cg_iq_raw_a":-0.437350422,"cg_iu_a":0.292484164,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14617366,"cg_sample_valid":1,"cg_theta_rad":5.00884295,"cg_vd_req_v":0.0915011466,"cg_vd_v":0.0915011466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321947247,"cg_vq_v":-0.321947247,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4441223,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38675,"EncoderSin":12444,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294174,"cg_dv":50.1909561,"cg_dw":49.8090439,"cg_id_a":-0.334012151,"cg_id_raw_a":-0.50365901,"cg_iq_a":0.058324948,"cg_iq_raw_a":-0.236863151,"cg_iu_a":-0.251173258,"cg_iv_a":-0.329528213,"cg_iw_a":0.58070147,"cg_sample_age_us":23.8563633,"cg_sample_seq":14617416,"cg_sample_valid":1,"cg_theta_rad":5.00465393,"cg_vd_req_v":0.0881277472,"cg_vd_v":0.0881277472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331146628,"cg_vq_v":-0.331146628,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104788281,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12465,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276207,"cg_dv":50.1930122,"cg_dw":49.8069878,"cg_id_a":-0.154630035,"cg_id_raw_a":-0.570379376,"cg_iq_a":0.104238302,"cg_iq_raw_a":0.417909801,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726166,"cg_sample_age_us":23.954546,"cg_sample_seq":14617567,"cg_sample_valid":1,"cg_theta_rad":5.00444412,"cg_vd_req_v":0.0881643072,"cg_vd_v":0.0881643072,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334895104,"cg_vq_v":-0.334895104,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.2799377,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4704285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12447,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315002,"cg_dv":50.1912308,"cg_dw":49.8087692,"cg_id_a":0.0715747699,"cg_id_raw_a":-0.155039728,"cg_iq_a":-0.11983972,"cg_iq_raw_a":-0.160992309,"cg_iu_a":0.183752537,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9509087,"cg_sample_seq":14617617,"cg_sample_valid":1,"cg_theta_rad":5.00695992,"cg_vd_req_v":0.0846689939,"cg_vd_v":0.0846689939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333251238,"cg_vq_v":-0.333251238,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.744871378,"dclink_p_w":-107.801254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12489,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319656,"cg_dv":50.194416,"cg_dw":49.805584,"cg_id_a":0.0355645344,"cg_id_raw_a":0.250443727,"cg_iq_a":0.0859822184,"cg_iq_raw_a":0.206344128,"cg_iu_a":0.509947062,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.954546,"cg_sample_seq":14617667,"cg_sample_valid":1,"cg_theta_rad":5.00687504,"cg_vd_req_v":0.0842179731,"cg_vd_v":0.0842179731,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338636577,"cg_vq_v":-0.338636577,"cg_vu_v":105.134323,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.752120256,"dclink_p_w":-108.850342,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12467,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276245,"cg_dv":50.1925545,"cg_dw":49.8074455,"cg_id_a":-0.0838646218,"cg_id_raw_a":-0.0835515931,"cg_iq_a":-0.19841969,"cg_iq_raw_a":-0.262007564,"cg_iu_a":0.509947062,"cg_iv_a":-0.293284416,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14617717,"cg_sample_valid":1,"cg_theta_rad":5.00658989,"cg_vd_req_v":0.0862649083,"cg_vd_v":0.0862649083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333567053,"cg_vq_v":-0.333567053,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12471,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263275,"cg_dv":50.1935387,"cg_dw":49.8064613,"cg_id_a":-0.0334206484,"cg_id_raw_a":0.281819195,"cg_iq_a":-0.193239629,"cg_iq_raw_a":0.0989888757,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758214593,"cg_iw_a":0.109531939,"cg_sample_age_us":23.8563633,"cg_sample_seq":14617770,"cg_sample_valid":1,"cg_theta_rad":5.00677299,"cg_vd_req_v":0.086813502,"cg_vd_v":0.086813502,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335639,"cg_vq_v":-0.335639,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4889832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38674,"EncoderSin":12443,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319199,"cg_dv":50.195015,"cg_dw":49.804985,"cg_id_a":-0.12175677,"cg_id_raw_a":0.168987706,"cg_iq_a":0.0441431515,"cg_iq_raw_a":-0.418129832,"cg_iu_a":0.799897671,"cg_iv_a":-0.365772128,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.8490906,"cg_sample_seq":14617817,"cg_sample_valid":1,"cg_theta_rad":5.0073204,"cg_vd_req_v":0.0905698463,"cg_vd_v":0.0905698463,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33904615,"cg_vq_v":-0.33904615,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.6603088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4797058,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283836,"cg_dv":50.1932869,"cg_dw":49.8067131,"cg_id_a":0.159435838,"cg_id_raw_a":0.408965528,"cg_iq_a":-0.102346808,"cg_iq_raw_a":-0.579260588,"cg_iu_a":-0.468636274,"cg_iv_a":-0.0758213997,"cg_iw_a":0.544457674,"cg_sample_age_us":23.8600006,"cg_sample_seq":14617866,"cg_sample_valid":1,"cg_theta_rad":5.00760365,"cg_vd_req_v":0.086304307,"cg_vd_v":0.086304307,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335005373,"cg_vq_v":-0.335005373,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.768429995,"dclink_p_w":-111.548798,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4797058,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12435,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325378,"cg_dv":50.1941185,"cg_dw":49.8058815,"cg_id_a":0.132768124,"cg_id_raw_a":-0.0890558213,"cg_iq_a":0.0586973615,"cg_iq_raw_a":-0.190491661,"cg_iu_a":-0.396148682,"cg_iv_a":0.467836142,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8600006,"cg_sample_seq":14617917,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.0863510519,"cg_vd_v":0.0863510519,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337831527,"cg_vq_v":-0.337831527,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-112.964508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4565125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12469,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1236343,"cg_dv":50.1941299,"cg_dw":49.8058701,"cg_id_a":-0.0928605646,"cg_id_raw_a":-0.235480428,"cg_iq_a":-0.216640919,"cg_iq_raw_a":-0.675970435,"cg_iu_a":0.0750212669,"cg_iv_a":-0.329528213,"cg_iw_a":0.254506946,"cg_sample_age_us":23.8563633,"cg_sample_seq":14617966,"cg_sample_valid":1,"cg_theta_rad":5.00799465,"cg_vd_req_v":0.0898193866,"cg_vd_v":0.0898193866,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333776951,"cg_vq_v":-0.333776951,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.909780979,"dclink_p_w":-131.66774,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4565125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12439,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343765,"cg_dv":50.1972504,"cg_dw":49.8027496,"cg_id_a":0.0327319205,"cg_id_raw_a":-0.115050972,"cg_iq_a":0.277364343,"cg_iq_raw_a":0.717925429,"cg_iu_a":-0.106198072,"cg_iv_a":-0.25704062,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9836369,"cg_sample_seq":14618016,"cg_sample_valid":1,"cg_theta_rad":5.00721931,"cg_vd_req_v":0.0860918462,"cg_vd_v":0.0860918462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343594223,"cg_vq_v":-0.343594223,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.09643674,"dclink_p_w":-158.199112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4766235,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12467,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332741,"cg_dv":50.1920357,"cg_dw":49.8079643,"cg_id_a":0.242155612,"cg_id_raw_a":0.448202074,"cg_iq_a":-0.184965774,"cg_iq_raw_a":0.115363091,"cg_iu_a":0.147508621,"cg_iv_a":0.57656759,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9436359,"cg_sample_seq":14618066,"cg_sample_valid":1,"cg_theta_rad":5.00796843,"cg_vd_req_v":0.0806349963,"cg_vd_v":0.0806349963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336188018,"cg_vq_v":-0.336188018,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.10730982,"dclink_p_w":-160.742126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12474,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385002,"cg_dv":50.2053909,"cg_dw":49.7946091,"cg_id_a":-0.178489536,"cg_id_raw_a":0.0274535473,"cg_iq_a":0.930176139,"cg_iq_raw_a":0.331208259,"cg_iu_a":0.509947181,"cg_iv_a":-0.90942955,"cg_iw_a":0.399482369,"cg_sample_age_us":23.954546,"cg_sample_seq":14618117,"cg_sample_valid":1,"cg_theta_rad":5.00703621,"cg_vd_req_v":0.0911512747,"cg_vd_v":0.0911512747,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358032048,"cg_vq_v":-0.358032048,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.01307583,"dclink_p_w":-147.062698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12443,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344299,"cg_dv":50.1936722,"cg_dw":49.8063278,"cg_id_a":0.175103262,"cg_id_raw_a":0.91038698,"cg_iq_a":-0.0913590267,"cg_iq_raw_a":-1.58446443,"cg_iu_a":-0.396148682,"cg_iv_a":-0.402015924,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8563633,"cg_sample_seq":14618166,"cg_sample_valid":1,"cg_theta_rad":5.00682068,"cg_vd_req_v":0.0835043341,"cg_vd_v":0.0835043341,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339620948,"cg_vq_v":-0.339620948,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.961685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38755,"EncoderSin":12473,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1269264,"cg_dv":50.1941071,"cg_dw":49.8058929,"cg_id_a":0.0448501967,"cg_id_raw_a":0.209654033,"cg_iq_a":-0.0681528151,"cg_iq_raw_a":0.201521531,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9763641,"cg_sample_seq":14618217,"cg_sample_valid":1,"cg_theta_rad":5.00807238,"cg_vd_req_v":0.0864263549,"cg_vd_v":0.0864263549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335782409,"cg_vq_v":-0.335782409,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.961685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38759,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1458473,"cg_dv":50.2001152,"cg_dw":49.7998848,"cg_id_a":0.5468539,"cg_id_raw_a":0.216183066,"cg_iq_a":0.600737512,"cg_iq_raw_a":0.129215196,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397701,"cg_iw_a":-0.18041873,"cg_sample_age_us":26.8199997,"cg_sample_seq":14618270,"cg_sample_valid":1,"cg_theta_rad":5.00958157,"cg_vd_req_v":0.0770915896,"cg_vd_v":0.0770915896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354532868,"cg_vq_v":-0.354532868,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.961685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12471,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1302261,"cg_dv":50.2039642,"cg_dw":49.7960358,"cg_id_a":-0.375915349,"cg_id_raw_a":-0.231267482,"cg_iq_a":0.436804742,"cg_iq_raw_a":-0.677423239,"cg_iu_a":-0.432392597,"cg_iv_a":-0.764454246,"cg_iw_a":1.19684684,"cg_sample_age_us":23.8563633,"cg_sample_seq":14618316,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0962955132,"cg_vd_v":0.0962955132,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35027808,"cg_vq_v":-0.35027808,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.961685,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438293,"cg_dv":50.2005615,"cg_dw":49.7994385,"cg_id_a":0.239509493,"cg_id_raw_a":0.211805716,"cg_iq_a":0.378212839,"cg_iq_raw_a":-0.051559452,"cg_iu_a":-1.80965829,"cg_iv_a":0.177885532,"cg_iw_a":1.63177276,"cg_sample_age_us":23.8563633,"cg_sample_seq":14618467,"cg_sample_valid":1,"cg_theta_rad":5.00668192,"cg_vd_req_v":0.0817684755,"cg_vd_v":0.0817684755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353423685,"cg_vq_v":-0.353423685,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.7265472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12462,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1242523,"cg_dv":50.203495,"cg_dw":49.796505,"cg_id_a":-0.640951514,"cg_id_raw_a":-1.33770514,"cg_iq_a":-0.142519534,"cg_iq_raw_a":1.54075968,"cg_iu_a":0.401215553,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.8490906,"cg_sample_seq":14618517,"cg_sample_valid":1,"cg_theta_rad":5.00828409,"cg_vd_req_v":0.101683132,"cg_vd_v":0.101683132,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345948607,"cg_vq_v":-0.345948607,"cg_vu_v":2.63935518,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.376996636,"dclink_p_w":-54.7265472,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4657898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304588,"cg_dv":50.2167664,"cg_dw":49.7832336,"cg_id_a":-0.714642286,"cg_id_raw_a":0.116425261,"cg_iq_a":0.822090447,"cg_iq_raw_a":0.52117908,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9400005,"cg_sample_seq":14618567,"cg_sample_valid":1,"cg_theta_rad":5.00682688,"cg_vd_req_v":0.106236026,"cg_vd_v":0.106236026,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36726895,"cg_vq_v":-0.36726895,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12507,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.124691,"cg_dv":50.2003555,"cg_dw":49.7996445,"cg_id_a":-0.0170979369,"cg_id_raw_a":0.295749098,"cg_iq_a":-0.419995338,"cg_iq_raw_a":-0.30096975,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9436359,"cg_sample_seq":14618617,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0929503068,"cg_vd_v":0.0929503068,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342300326,"cg_vq_v":-0.342300326,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12431,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267662,"cg_dv":50.1996651,"cg_dw":49.8003349,"cg_id_a":-0.218681231,"cg_id_raw_a":-0.316721767,"cg_iq_a":-0.385072023,"cg_iq_raw_a":0.187470749,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616981,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9618187,"cg_sample_seq":14618667,"cg_sample_valid":1,"cg_theta_rad":5.00734043,"cg_vd_req_v":0.095687978,"cg_vd_v":0.095687978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34225148,"cg_vq_v":-0.34225148,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7278748,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12407,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.128418,"cg_dv":50.1950226,"cg_dw":49.8049774,"cg_id_a":0.0678572804,"cg_id_raw_a":-0.213933319,"cg_iq_a":-0.566999257,"cg_iq_raw_a":-0.203315064,"cg_iu_a":-0.214929581,"cg_iv_a":-0.25704062,"cg_iw_a":0.471970201,"cg_sample_age_us":23.954546,"cg_sample_seq":14618718,"cg_sample_valid":1,"cg_theta_rad":5.00661564,"cg_vd_req_v":0.0904894546,"cg_vd_v":0.0904894546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336716592,"cg_vq_v":-0.336716592,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.308133364,"dclink_p_w":-44.5944939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4611206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1269646,"cg_dv":50.201889,"cg_dw":49.798111,"cg_id_a":-0.148556158,"cg_id_raw_a":0.509675026,"cg_iq_a":-0.0768410638,"cg_iq_raw_a":-0.099202469,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528213,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9472733,"cg_sample_seq":14618770,"cg_sample_valid":1,"cg_theta_rad":5.00605726,"cg_vd_req_v":0.0941004381,"cg_vd_v":0.0941004381,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347513884,"cg_vq_v":-0.347513884,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4611206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12478,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.137989,"cg_dv":50.2059212,"cg_dw":49.7940788,"cg_id_a":-0.0529393964,"cg_id_raw_a":-0.562114775,"cg_iq_a":0.414160937,"cg_iq_raw_a":1.65810335,"cg_iu_a":-0.287417412,"cg_iv_a":0.10539782,"cg_iw_a":0.182019591,"cg_sample_age_us":23.954546,"cg_sample_seq":14618816,"cg_sample_valid":1,"cg_theta_rad":5.00600481,"cg_vd_req_v":0.0913650766,"cg_vd_v":0.0913650766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357486069,"cg_vq_v":-0.357486069,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.3589516,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12471,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334114,"cg_dv":50.1961441,"cg_dw":49.8038559,"cg_id_a":0.290617406,"cg_id_raw_a":-0.0207680911,"cg_iq_a":-0.471089661,"cg_iq_raw_a":-0.0376304425,"cg_iu_a":0.256240368,"cg_iv_a":0.540323734,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.954546,"cg_sample_seq":14618866,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0858775824,"cg_vd_v":0.0858775824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341520011,"cg_vq_v":-0.341520011,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.661510706,"dclink_p_w":-95.736908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12444,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233673,"cg_dv":50.1979599,"cg_dw":49.8020401,"cg_id_a":-0.191812456,"cg_id_raw_a":-0.60839498,"cg_iq_a":-0.639116585,"cg_iq_raw_a":-0.897193849,"cg_iu_a":-0.287417412,"cg_iv_a":1.4101758,"cg_iw_a":-1.12275839,"cg_sample_age_us":23.8490906,"cg_sample_seq":14618916,"cg_sample_valid":1,"cg_theta_rad":5.00576496,"cg_vd_req_v":0.0961544067,"cg_vd_v":0.0961544067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338175952,"cg_vq_v":-0.338175952,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.6250687,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.136837,"cg_dv":50.206707,"cg_dw":49.793293,"cg_id_a":-0.128861979,"cg_id_raw_a":-0.207778007,"cg_iq_a":0.275624812,"cg_iq_raw_a":-0.274487555,"cg_iu_a":-1.8459022,"cg_iv_a":-0.43825984,"cg_iw_a":2.28416204,"cg_sample_age_us":23.9727268,"cg_sample_seq":14618966,"cg_sample_valid":1,"cg_theta_rad":5.0053091,"cg_vd_req_v":0.0937270746,"cg_vd_v":0.0937270746,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357729077,"cg_vq_v":-0.357729077,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.424113631,"dclink_p_w":-61.1931343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.448761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263542,"cg_dv":50.2026062,"cg_dw":49.7973938,"cg_id_a":-0.385750324,"cg_id_raw_a":-0.655540586,"cg_iq_a":-0.0725272,"cg_iq_raw_a":1.1031611,"cg_iu_a":1.37979925,"cg_iv_a":0.0691539049,"cg_iw_a":-1.44895315,"cg_sample_age_us":23.9181824,"cg_sample_seq":14619016,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0974661633,"cg_vd_v":0.0974661633,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347549051,"cg_vq_v":-0.347549051,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.424113631,"dclink_p_w":-61.1931343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4503174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.131382,"cg_dv":50.2019768,"cg_dw":49.7980232,"cg_id_a":-0.183767036,"cg_id_raw_a":-0.194411203,"cg_iq_a":-0.0454992875,"cg_iq_raw_a":0.0182072055,"cg_iu_a":0.111264944,"cg_iv_a":0.39534837,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9218178,"cg_sample_seq":14619066,"cg_sample_valid":1,"cg_theta_rad":5.00606298,"cg_vd_req_v":0.0936127603,"cg_vd_v":0.0936127603,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349318653,"cg_vq_v":-0.349318653,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.424113631,"dclink_p_w":-61.1931343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4503174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12444,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333046,"cg_dv":50.2024498,"cg_dw":49.7975502,"cg_id_a":-0.126935825,"cg_id_raw_a":0.016136026,"cg_iq_a":-0.0751348734,"cg_iq_raw_a":-0.39829728,"cg_iu_a":0.0750212669,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8600006,"cg_sample_seq":14619116,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0936908647,"cg_vd_v":0.0936908647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349607229,"cg_vq_v":-0.349607229,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.932106,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.126339,"cg_dv":50.1956329,"cg_dw":49.8043671,"cg_id_a":0.141072154,"cg_id_raw_a":-0.0878883079,"cg_iq_a":-0.687269568,"cg_iq_raw_a":-0.444259137,"cg_iu_a":-0.0699541569,"cg_iv_a":1.77261412,"cg_iw_a":-1.70265996,"cg_sample_age_us":23.9472733,"cg_sample_seq":14619166,"cg_sample_valid":1,"cg_theta_rad":5.00684166,"cg_vd_req_v":0.0897395313,"cg_vd_v":0.0897395313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337176651,"cg_vq_v":-0.337176651,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.808298111,"dclink_p_w":-116.625099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4843445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12486,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286354,"cg_dv":50.2042961,"cg_dw":49.7957039,"cg_id_a":-0.100154378,"cg_id_raw_a":-0.0310829114,"cg_iq_a":-0.191170871,"cg_iq_raw_a":0.289104402,"cg_iu_a":0.836141586,"cg_iv_a":-0.184552789,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9509087,"cg_sample_seq":14619216,"cg_sample_valid":1,"cg_theta_rad":5.0071559,"cg_vd_req_v":0.0970258266,"cg_vd_v":0.0970258266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350070208,"cg_vq_v":-0.350070208,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.808298111,"dclink_p_w":-116.625099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4704285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12469,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.133213,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":-0.0221141018,"cg_id_raw_a":-0.526401937,"cg_iq_a":0.199032858,"cg_iq_raw_a":0.424927145,"cg_iu_a":-0.722343206,"cg_iv_a":-0.184552848,"cg_iw_a":0.906896055,"cg_sample_age_us":23.8563633,"cg_sample_seq":14619271,"cg_sample_valid":1,"cg_theta_rad":5.00769949,"cg_vd_req_v":0.0962469429,"cg_vd_v":0.0962469429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358060718,"cg_vq_v":-0.358060718,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.8989079,"dclink_p_w":-130.094131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12512,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1359711,"cg_dv":50.2046509,"cg_dw":49.7953491,"cg_id_a":0.092312105,"cg_id_raw_a":0.643099666,"cg_iq_a":-0.0076059401,"cg_iq_raw_a":-0.152344316,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726166,"cg_sample_age_us":23.954546,"cg_sample_seq":14619317,"cg_sample_valid":1,"cg_theta_rad":5.00758171,"cg_vd_req_v":0.0940022767,"cg_vd_v":0.0940022767,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355184585,"cg_vq_v":-0.355184585,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.8989079,"dclink_p_w":-130.094131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12466,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1414146,"cg_dv":50.2051277,"cg_dw":49.7948723,"cg_id_a":0.472224176,"cg_id_raw_a":0.35024479,"cg_iq_a":0.100745358,"cg_iq_raw_a":1.19714272,"cg_iu_a":0.147508621,"cg_iv_a":0.286616981,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8563633,"cg_sample_seq":14619366,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.0862641782,"cg_vd_v":0.0862641782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359879076,"cg_vq_v":-0.359879076,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.8989079,"dclink_p_w":-130.094131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4704285,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1251831,"cg_dv":50.2062759,"cg_dw":49.7937241,"cg_id_a":-0.204810947,"cg_id_raw_a":-0.231936291,"cg_iq_a":-0.20103699,"cg_iq_raw_a":-1.11404431,"cg_iu_a":0.292484045,"cg_iv_a":0.21412921,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9836369,"cg_sample_seq":14619416,"cg_sample_valid":1,"cg_theta_rad":5.00730228,"cg_vd_req_v":0.102023959,"cg_vd_v":0.102023959,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350725472,"cg_vq_v":-0.350725472,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-0.8989079,"dclink_p_w":-130.094131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4688721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220322,"cg_dv":50.2044449,"cg_dw":49.7955551,"cg_id_a":-0.214875191,"cg_id_raw_a":-0.410801649,"cg_iq_a":-0.466389149,"cg_iq_raw_a":-0.364984065,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9836369,"cg_sample_seq":14619466,"cg_sample_valid":1,"cg_theta_rad":5.00654364,"cg_vd_req_v":0.101400428,"cg_vd_v":0.101400428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346856594,"cg_vq_v":-0.346856594,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.8989079,"dclink_p_w":-130.094131,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4688721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12466,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1419868,"cg_dv":50.209053,"cg_dw":49.790947,"cg_id_a":0.166933656,"cg_id_raw_a":0.193482667,"cg_iq_a":0.281437963,"cg_iq_raw_a":-0.27032122,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656765,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.954546,"cg_sample_seq":14619516,"cg_sample_valid":1,"cg_theta_rad":5.00824928,"cg_vd_req_v":0.0947048068,"cg_vd_v":0.0947048068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363106996,"cg_vq_v":-0.363106996,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-0.973207712,"dclink_p_w":-140.847153,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4565125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1365623,"cg_dv":50.2118378,"cg_dw":49.7881622,"cg_id_a":0.0276131704,"cg_id_raw_a":0.501961529,"cg_iq_a":0.376143277,"cg_iq_raw_a":-0.462075889,"cg_iu_a":-0.178685904,"cg_iv_a":-0.43825984,"cg_iw_a":0.616945744,"cg_sample_age_us":23.9509087,"cg_sample_seq":14619566,"cg_sample_valid":1,"cg_theta_rad":5.00736713,"cg_vd_req_v":0.0971507728,"cg_vd_v":0.0971507728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365026236,"cg_vq_v":-0.365026236,"cg_vu_v":41.3499031,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.840917587,"dclink_p_w":-121.701508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4565125,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12488,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291542,"cg_dv":50.2098045,"cg_dw":49.7901955,"cg_id_a":-0.246857956,"cg_id_raw_a":-0.0727039948,"cg_iq_a":-0.0951909721,"cg_iq_raw_a":0.285125881,"cg_iu_a":-0.106198072,"cg_iv_a":0.685299098,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9254551,"cg_sample_seq":14619616,"cg_sample_valid":1,"cg_theta_rad":5.00785637,"cg_vd_req_v":0.101909034,"cg_vd_v":0.101909034,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357870072,"cg_vq_v":-0.357870072,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.808298111,"dclink_p_w":-117.336235,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12496,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349869,"cg_dv":50.2140083,"cg_dw":49.7859917,"cg_id_a":-0.264528036,"cg_id_raw_a":-0.509227216,"cg_iq_a":0.258016109,"cg_iq_raw_a":0.462632865,"cg_iu_a":-0.251173258,"cg_iv_a":-0.00333380699,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9436359,"cg_sample_seq":14619666,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.101090014,"cg_vd_v":0.101090014,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368143827,"cg_vq_v":-0.368143827,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.895283461,"dclink_p_w":-129.963425,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12456,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.134552,"cg_dv":50.2087288,"cg_dw":49.7912712,"cg_id_a":0.0363447592,"cg_id_raw_a":-0.163456723,"cg_iq_a":-0.195582956,"cg_iq_raw_a":-0.0871230885,"cg_iu_a":0.872385383,"cg_iv_a":0.0691540241,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9727268,"cg_sample_seq":14619716,"cg_sample_valid":1,"cg_theta_rad":5.00708532,"cg_vd_req_v":0.0958304405,"cg_vd_v":0.0958304405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360812485,"cg_vq_v":-0.360812485,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.708627701,"dclink_p_w":-102.867622,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12465,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1370049,"cg_dv":50.2091942,"cg_dw":49.7908058,"cg_id_a":-0.0305307657,"cg_id_raw_a":-0.194250599,"cg_iq_a":-0.193242505,"cg_iq_raw_a":-1.03842998,"cg_iu_a":-0.0699541569,"cg_iv_a":0.395348489,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9254551,"cg_sample_seq":14619766,"cg_sample_valid":1,"cg_theta_rad":5.00804949,"cg_vd_req_v":0.0966237113,"cg_vd_v":0.0966237113,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361043274,"cg_vq_v":-0.361043274,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4611206,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412086,"cg_dv":50.2108078,"cg_dw":49.7891922,"cg_id_a":0.0853819847,"cg_id_raw_a":0.576426327,"cg_iq_a":-0.090640977,"cg_iq_raw_a":0.310897231,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8600006,"cg_sample_seq":14619866,"cg_sample_valid":1,"cg_theta_rad":5.00589561,"cg_vd_req_v":0.0934828967,"cg_vd_v":0.0934828967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365967661,"cg_vq_v":-0.365967661,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.81373477,"dclink_p_w":-117.767487,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4147644,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1562462,"cg_dv":50.2131996,"cg_dw":49.7868004,"cg_id_a":0.399969846,"cg_id_raw_a":0.477017432,"cg_iq_a":0.357824504,"cg_iq_raw_a":-1.22627485,"cg_iu_a":-1.15726924,"cg_iv_a":0.105397701,"cg_iw_a":1.05187154,"cg_sample_age_us":23.8600006,"cg_sample_seq":14619916,"cg_sample_valid":1,"cg_theta_rad":5.00656939,"cg_vd_req_v":0.0856424794,"cg_vd_v":0.0856424794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37726897,"cg_vq_v":-0.37726897,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.987705231,"dclink_p_w":-142.510818,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12464,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1369781,"cg_dv":50.2144318,"cg_dw":49.7855682,"cg_id_a":-0.477872342,"cg_id_raw_a":-0.0584161058,"cg_iq_a":-0.146053016,"cg_iq_raw_a":-0.296276927,"cg_iu_a":0.546190977,"cg_iv_a":-0.546991229,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9290905,"cg_sample_seq":14619966,"cg_sample_valid":1,"cg_theta_rad":5.00697279,"cg_vd_req_v":0.101498887,"cg_vd_v":0.101498887,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369408399,"cg_vq_v":-0.369408399,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355629,"cg_dv":50.2059822,"cg_dw":49.7940178,"cg_id_a":-0.0921512768,"cg_id_raw_a":0.187160924,"cg_iq_a":-0.638316631,"cg_iq_raw_a":-0.891504347,"cg_iu_a":0.691166401,"cg_iv_a":0.467836142,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9763641,"cg_sample_seq":14620016,"cg_sample_valid":1,"cg_theta_rad":5.00457621,"cg_vd_req_v":0.0935424641,"cg_vd_v":0.0935424641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357315958,"cg_vq_v":-0.357315958,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.966896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4503174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469002,"cg_dv":50.2123032,"cg_dw":49.7876968,"cg_id_a":0.0922167301,"cg_id_raw_a":0.220792726,"cg_iq_a":0.144785523,"cg_iq_raw_a":0.496160686,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.619478941,"cg_iw_a":0.653189182,"cg_sample_age_us":23.8563633,"cg_sample_seq":14620068,"cg_sample_valid":1,"cg_theta_rad":5.00477648,"cg_vd_req_v":0.0916704237,"cg_vd_v":0.0916704237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370892525,"cg_vq_v":-0.370892525,"cg_vu_v":119.210884,"cg_vv_v":139.006058,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1503906,"cg_dv":50.2086182,"cg_dw":49.7913818,"cg_id_a":0.442082852,"cg_id_raw_a":0.305672318,"cg_iq_a":0.172047436,"cg_iq_raw_a":0.065900147,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9509087,"cg_sample_seq":14620117,"cg_sample_valid":1,"cg_theta_rad":5.00661087,"cg_vd_req_v":0.0831857026,"cg_vd_v":0.0831857026,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367168337,"cg_vq_v":-0.367168337,"cg_vu_v":120.090675,"cg_vv_v":142.085297,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.840917587,"dclink_p_w":-121.701508,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349068,"cg_dv":50.2028275,"cg_dw":49.7971725,"cg_id_a":0.0423584878,"cg_id_raw_a":0.225943148,"cg_iq_a":-0.59581691,"cg_iq_raw_a":-0.19563593,"cg_iu_a":0.147508621,"cg_iv_a":-0.365772128,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9836369,"cg_sample_seq":14620166,"cg_sample_valid":1,"cg_theta_rad":5.00918388,"cg_vd_req_v":0.0910487399,"cg_vd_v":0.0910487399,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350342929,"cg_vq_v":-0.350342929,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.11093426,"dclink_p_w":-160.290878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12456,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382523,"cg_dv":50.2086716,"cg_dw":49.7913284,"cg_id_a":0.00480466336,"cg_id_raw_a":-0.840207875,"cg_iq_a":-0.115855433,"cg_iq_raw_a":0.869574904,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9509087,"cg_sample_seq":14620217,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.0924862176,"cg_vd_v":0.0924862176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361721933,"cg_vq_v":-0.361721933,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.17254877,"dclink_p_w":-169.696716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12433,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.142643,"cg_dv":50.2069702,"cg_dw":49.7930298,"cg_id_a":0.124776006,"cg_id_raw_a":0.166162089,"cg_iq_a":-0.333004475,"cg_iq_raw_a":0.199310049,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":0.182019591,"cg_sample_age_us":23.954546,"cg_sample_seq":14620267,"cg_sample_valid":1,"cg_theta_rad":5.00661564,"cg_vd_req_v":0.0896827057,"cg_vd_v":0.0896827057,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361286074,"cg_vq_v":-0.361286074,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.36645317,"dclink_p_w":-197.75946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12501,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1432838,"cg_dv":50.2105141,"cg_dw":49.7894859,"cg_id_a":0.165692493,"cg_id_raw_a":-0.205266818,"cg_iq_a":-0.0656704232,"cg_iq_raw_a":-0.0906693116,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.402015924,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8563633,"cg_sample_seq":14620320,"cg_sample_valid":1,"cg_theta_rad":5.00793266,"cg_vd_req_v":0.0901054516,"cg_vd_v":0.0901054516,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36827299,"cg_vq_v":-0.36827299,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.40269709,"dclink_p_w":-203.621887,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.448761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12459,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479416,"cg_dv":50.2096367,"cg_dw":49.7903633,"cg_id_a":0.158323646,"cg_id_raw_a":-0.12026535,"cg_iq_a":-0.257199526,"cg_iq_raw_a":-1.14047205,"cg_iu_a":0.401215672,"cg_iv_a":0.866518259,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9436359,"cg_sample_seq":14620366,"cg_sample_valid":1,"cg_theta_rad":5.00709438,"cg_vd_req_v":0.0887211636,"cg_vd_v":0.0887211636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367745012,"cg_vq_v":-0.367745012,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.19791937,"dclink_p_w":-173.368469,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.448761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12442,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486816,"cg_dv":50.2172623,"cg_dw":49.7827377,"cg_id_a":-0.130272925,"cg_id_raw_a":-0.361438334,"cg_iq_a":0.224884361,"cg_iq_raw_a":0.439064026,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395775437,"cg_iw_a":0.326994658,"cg_sample_age_us":23.954546,"cg_sample_seq":14620416,"cg_sample_valid":1,"cg_theta_rad":5.00738478,"cg_vd_req_v":0.0943910405,"cg_vd_v":0.0943910405,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37880066,"cg_vq_v":-0.37880066,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-1.04388309,"dclink_p_w":-151.075623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.5075684,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12461,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1513176,"cg_dv":50.217308,"cg_dw":49.782692,"cg_id_a":-0.0765199661,"cg_id_raw_a":0.201536477,"cg_iq_a":0.276193917,"cg_iq_raw_a":-0.161670074,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9836369,"cg_sample_seq":14620466,"cg_sample_valid":1,"cg_theta_rad":5.0080595,"cg_vd_req_v":0.0923911557,"cg_vd_v":0.0923911557,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380341232,"cg_vq_v":-0.380341232,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.15261459,"dclink_p_w":-166.811752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1520119,"cg_dv":50.2012863,"cg_dw":49.7987137,"cg_id_a":0.623786092,"cg_id_raw_a":-0.222716838,"cg_iq_a":-0.85670054,"cg_iq_raw_a":0.306721002,"cg_iu_a":-0.106198072,"cg_iv_a":0.75778681,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9181824,"cg_sample_seq":14620516,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0765687525,"cg_vd_v":0.0765687525,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358884901,"cg_vq_v":-0.358884901,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.994953871,"dclink_p_w":-143.994354,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4642334,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12450,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1612854,"cg_dv":50.215992,"cg_dw":49.784008,"cg_id_a":0.144764766,"cg_id_raw_a":0.148280248,"cg_iq_a":0.168867528,"cg_iq_raw_a":0.161754936,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9872723,"cg_sample_seq":14620566,"cg_sample_valid":1,"cg_theta_rad":5.00886679,"cg_vd_req_v":0.0855791271,"cg_vd_v":0.0855791271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38486436,"cg_vq_v":-0.38486436,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-1.02757335,"dclink_p_w":-149.167221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4595947,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12488,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.149128,"cg_dv":50.2204361,"cg_dw":49.7795639,"cg_id_a":-0.353933007,"cg_id_raw_a":-0.304810137,"cg_iq_a":0.148431614,"cg_iq_raw_a":0.299785227,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14620617,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0959114432,"cg_vd_v":0.0959114432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383677453,"cg_vq_v":-0.383677453,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-1.02757335,"dclink_p_w":-149.167221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4008179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483307,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":0.156358093,"cg_id_raw_a":-0.20792833,"cg_iq_a":-0.558084488,"cg_iq_raw_a":0.163254052,"cg_iu_a":-0.794831038,"cg_iv_a":0.431592286,"cg_iw_a":0.363238752,"cg_sample_age_us":23.8527279,"cg_sample_seq":14620667,"cg_sample_valid":1,"cg_theta_rad":5.00568485,"cg_vd_req_v":0.0869731084,"cg_vd_v":0.0869731084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369687378,"cg_vq_v":-0.369687378,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-1.02757335,"dclink_p_w":-149.167221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4008179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12495,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1527443,"cg_dv":50.2052841,"cg_dw":49.7947159,"cg_id_a":0.412461519,"cg_id_raw_a":-0.0797552839,"cg_iq_a":-0.795901954,"cg_iq_raw_a":0.357250512,"cg_iu_a":-0.14244175,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9618187,"cg_sample_seq":14620717,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.078905426,"cg_vd_v":0.078905426,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363779843,"cg_vq_v":-0.363779843,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12433,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1577263,"cg_dv":50.2158203,"cg_dw":49.7841797,"cg_id_a":0.00750569999,"cg_id_raw_a":-0.138549522,"cg_iq_a":0.0473748147,"cg_iq_raw_a":0.315272659,"cg_iu_a":-0.649855614,"cg_iv_a":-0.148308992,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8563633,"cg_sample_seq":14620767,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.0849149302,"cg_vd_v":0.0849149302,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380916744,"cg_vq_v":-0.380916744,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2650.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12466,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1524239,"cg_dv":50.2146492,"cg_dw":49.7853508,"cg_id_a":-0.0437525325,"cg_id_raw_a":0.106237106,"cg_iq_a":-0.130198836,"cg_iq_raw_a":-0.280663341,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9581814,"cg_sample_seq":14620820,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.0869241953,"cg_vd_v":0.0869241953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379022181,"cg_vq_v":-0.379022181,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12464,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1674538,"cg_dv":50.2242737,"cg_dw":49.7757263,"cg_id_a":0.0975468904,"cg_id_raw_a":0.860378087,"cg_iq_a":0.591688275,"cg_iq_raw_a":1.97544575,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14620866,"cg_sample_valid":1,"cg_theta_rad":5.00765467,"cg_vd_req_v":0.0857627243,"cg_vd_v":0.0857627243,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400290072,"cg_vq_v":-0.400290072,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12457,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1763039,"cg_dv":50.2272606,"cg_dw":49.7727394,"cg_id_a":0.351228386,"cg_id_raw_a":0.460568011,"cg_iq_a":0.936498582,"cg_iq_raw_a":0.662295759,"cg_iu_a":-1.30224442,"cg_iv_a":-0.148308992,"cg_iw_a":1.45055342,"cg_sample_age_us":23.8600006,"cg_sample_seq":14620916,"cg_sample_valid":1,"cg_theta_rad":5.00805712,"cg_vd_req_v":0.0808610469,"cg_vd_v":0.0808610469,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.409495711,"cg_vq_v":-0.409495711,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38755,"EncoderSin":12483,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1545334,"cg_dv":50.2245331,"cg_dw":49.7754669,"cg_id_a":-0.154880762,"cg_id_raw_a":-0.163799137,"cg_iq_a":-0.159810692,"cg_iq_raw_a":0.859528899,"cg_iu_a":-0.287417173,"cg_iv_a":-0.220796704,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9799995,"cg_sample_seq":14620967,"cg_sample_valid":1,"cg_theta_rad":5.00697517,"cg_vd_req_v":0.0936165452,"cg_vd_v":0.0936165452,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392762929,"cg_vq_v":-0.392762929,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.929715157,"dclink_p_w":-134.552704,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38777,"EncoderSin":12480,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1629562,"cg_dv":50.2248344,"cg_dw":49.7751656,"cg_id_a":0.222017914,"cg_id_raw_a":0.203905612,"cg_iq_a":0.139900625,"cg_iq_raw_a":0.781738222,"cg_iu_a":0.0750210285,"cg_iv_a":0.286616921,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8490906,"cg_sample_seq":14621017,"cg_sample_valid":1,"cg_theta_rad":5.00707626,"cg_vd_req_v":0.0853480548,"cg_vd_v":0.0853480548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398256361,"cg_vq_v":-0.398256361,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-70.8213654,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12454,"GapTicks":54742,"Mech_RPM":-3.50324616e-44,"cg_du":50.168602,"cg_dv":50.2344437,"cg_dw":49.7655563,"cg_id_a":-0.378225237,"cg_id_raw_a":0.0282899048,"cg_iq_a":0.838730216,"cg_iq_raw_a":-0.105623931,"cg_iu_a":-0.178685665,"cg_iv_a":-1.30811179,"cg_iw_a":1.48679745,"cg_sample_age_us":23.9181824,"cg_sample_seq":14621066,"cg_sample_valid":1,"cg_theta_rad":5.00642633,"cg_vd_req_v":0.0969859436,"cg_vd_v":0.0969859436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.41298309,"cg_vq_v":-0.41298309,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12495,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1594849,"cg_dv":50.2164421,"cg_dw":49.7835579,"cg_id_a":0.295733541,"cg_id_raw_a":0.0868769512,"cg_iq_a":-0.43435663,"cg_iq_raw_a":-0.755544186,"cg_iu_a":-0.251173496,"cg_iv_a":1.6276387,"cg_iw_a":-1.3764652,"cg_sample_age_us":23.8672733,"cg_sample_seq":14621117,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.0830150098,"cg_vd_v":0.0830150098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384207577,"cg_vq_v":-0.384207577,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2650.979228,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2650.979233,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2650.979239,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2650.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12425,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.160183,"cg_dv":50.2138138,"cg_dw":49.7861862,"cg_id_a":0.0424135029,"cg_id_raw_a":-0.385752827,"cg_iq_a":-0.515595794,"cg_iq_raw_a":0.0316166803,"cg_iu_a":1.34355533,"cg_iv_a":0.0691539049,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.8563633,"cg_sample_seq":14621167,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0865115523,"cg_vd_v":0.0865115523,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379569471,"cg_vq_v":-0.379569471,"cg_vu_v":107.333786,"cg_vv_v":105.574219,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-0.369747877,"dclink_p_w":-53.5116348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2650.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.159111,"cg_dv":50.2173004,"cg_dw":49.7826996,"cg_id_a":0.0659038574,"cg_id_raw_a":0.641860068,"cg_iq_a":-0.0661032647,"cg_iq_raw_a":-0.157484949,"cg_iu_a":-0.142441988,"cg_iv_a":-0.293284357,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9472733,"cg_sample_seq":14621217,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.0851555467,"cg_vd_v":0.0851555467,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386174709,"cg_vq_v":-0.386174709,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.8921337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2650.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12461,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1674919,"cg_dv":50.2231216,"cg_dw":49.7768784,"cg_id_a":0.094800055,"cg_id_raw_a":-0.141336903,"cg_iq_a":0.501717389,"cg_iq_raw_a":0.569932222,"cg_iu_a":0.00253343582,"cg_iv_a":1.12022507,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.9872723,"cg_sample_seq":14621266,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.0842578262,"cg_vd_v":0.0842578262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397547096,"cg_vq_v":-0.397547096,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12454,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1591187,"cg_dv":50.221405,"cg_dw":49.778595,"cg_id_a":-0.132880747,"cg_id_raw_a":-0.058807876,"cg_iq_a":0.134407237,"cg_iq_raw_a":0.577726126,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":26.8163643,"cg_sample_seq":14621321,"cg_sample_valid":1,"cg_theta_rad":5.00788164,"cg_vd_req_v":0.0897244215,"cg_vd_v":0.0897244215,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390409768,"cg_vq_v":-0.390409768,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1646271,"cg_dv":50.2189941,"cg_dw":49.7810059,"cg_id_a":0.0718578994,"cg_id_raw_a":0.629433453,"cg_iq_a":0.0982296765,"cg_iq_raw_a":-0.884667754,"cg_iu_a":-0.758586884,"cg_iv_a":-0.112065196,"cg_iw_a":0.87065208,"cg_sample_age_us":23.9618187,"cg_sample_seq":14621366,"cg_sample_valid":1,"cg_theta_rad":5.00681829,"cg_vd_req_v":0.0836540461,"cg_vd_v":0.0836540461,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390084177,"cg_vq_v":-0.390084177,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.309824109,"dclink_p_w":44.8391876,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2578,"hz_tim_isr":4998,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12498,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1569099,"cg_dv":50.2194633,"cg_dw":49.7805367,"cg_id_a":-0.112608075,"cg_id_raw_a":-0.133334875,"cg_iq_a":-0.17390725,"cg_iq_raw_a":-0.19295682,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9763641,"cg_sample_seq":14621416,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0868204907,"cg_vd_v":0.0868204907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38715443,"cg_vq_v":-0.38715443,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.84467435,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.434845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1663132,"cg_dv":50.2116432,"cg_dw":49.7883568,"cg_id_a":0.437455356,"cg_id_raw_a":0.330147237,"cg_iq_a":-0.320862353,"cg_iq_raw_a":-0.841200054,"cg_iu_a":0.944873214,"cg_iv_a":0.10539782,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9472733,"cg_sample_seq":14621467,"cg_sample_valid":1,"cg_theta_rad":5.00791264,"cg_vd_req_v":0.0751047283,"cg_vd_v":0.0751047283,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382256985,"cg_vq_v":-0.382256985,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.72636604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.434845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1630821,"cg_dv":50.2193871,"cg_dw":49.7806129,"cg_id_a":-0.103983425,"cg_id_raw_a":-0.157138795,"cg_iq_a":0.063924104,"cg_iq_raw_a":0.276530147,"cg_iu_a":-0.142441988,"cg_iv_a":0.504079998,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9581814,"cg_sample_seq":14621616,"cg_sample_valid":1,"cg_theta_rad":5.00730085,"cg_vd_req_v":0.0861038342,"cg_vd_v":0.0861038342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38956207,"cg_vq_v":-0.38956207,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12486,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1591377,"cg_dv":50.2158661,"cg_dw":49.7841339,"cg_id_a":0.0453081802,"cg_id_raw_a":-0.138544202,"cg_iq_a":-0.285838902,"cg_iq_raw_a":0.315274805,"cg_iu_a":0.364971876,"cg_iv_a":0.177885473,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.8563633,"cg_sample_seq":14621666,"cg_sample_valid":1,"cg_theta_rad":5.00754881,"cg_vd_req_v":0.084101975,"cg_vd_v":0.084101975,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382933199,"cg_vq_v":-0.382933199,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4472046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12445,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1674843,"cg_dv":50.2203331,"cg_dw":49.7796669,"cg_id_a":-0.135475546,"cg_id_raw_a":-0.0851680338,"cg_iq_a":0.323464096,"cg_iq_raw_a":0.173940077,"cg_iu_a":0.0750210285,"cg_iv_a":-0.510747433,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14621716,"cg_sample_valid":1,"cg_theta_rad":5.00521278,"cg_vd_req_v":0.0864624232,"cg_vd_v":0.0864624232,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39269954,"cg_vq_v":-0.39269954,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4472046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116067745,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1608696,"cg_dv":50.2103081,"cg_dw":49.7896919,"cg_id_a":0.358079225,"cg_id_raw_a":0.378395975,"cg_iq_a":-0.58359766,"cg_iq_raw_a":-0.0358574316,"cg_iu_a":0.328727961,"cg_iv_a":1.55515122,"cg_iw_a":-1.88387918,"cg_sample_age_us":23.8563633,"cg_sample_seq":14621767,"cg_sample_valid":1,"cg_theta_rad":5.00737095,"cg_vd_req_v":0.0774557367,"cg_vd_v":0.0774557367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376311332,"cg_vq_v":-0.376311332,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0543050766,"dclink_p_w":7.85928345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4735413,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12465,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1567841,"cg_dv":50.21521,"cg_dw":49.78479,"cg_id_a":0.0779279023,"cg_id_raw_a":-0.132323503,"cg_iq_a":-0.192608476,"cg_iq_raw_a":-0.193651825,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8527279,"cg_sample_seq":14621820,"cg_sample_valid":1,"cg_theta_rad":5.00655413,"cg_vd_req_v":0.0850882083,"cg_vd_v":0.0850882083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381987572,"cg_vq_v":-0.381987572,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0289343596,"dclink_p_w":4.20024347,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4472046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104939342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12459,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1576271,"cg_dv":50.2174149,"cg_dw":49.7825851,"cg_id_a":-0.211754113,"cg_id_raw_a":0.254034519,"cg_iq_a":-0.110621497,"cg_iq_raw_a":-0.847123563,"cg_iu_a":0.364971876,"cg_iv_a":-0.438259721,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9509087,"cg_sample_seq":14621866,"cg_sample_valid":1,"cg_theta_rad":5.0070405,"cg_vd_req_v":0.0908332691,"cg_vd_v":0.0908332691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384489924,"cg_vq_v":-0.384489924,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.25250626,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4472046,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104939342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12467,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1628418,"cg_dv":50.2203865,"cg_dw":49.7796135,"cg_id_a":0.0194894969,"cg_id_raw_a":0.0312202759,"cg_iq_a":0.313280582,"cg_iq_raw_a":0.0766540095,"cg_iu_a":-0.0699541569,"cg_iv_a":-1.09064877,"cg_iw_a":1.16060293,"cg_sample_age_us":23.9509087,"cg_sample_seq":14621916,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0861721933,"cg_vd_v":0.0861721933,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391026765,"cg_vq_v":-0.391026765,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.7228899,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1530533,"cg_dv":50.2143364,"cg_dw":49.7856636,"cg_id_a":-0.146073416,"cg_id_raw_a":0.0765710771,"cg_iq_a":-0.515350163,"cg_iq_raw_a":-0.17382431,"cg_iu_a":0.183752775,"cg_iv_a":0.250373065,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9618187,"cg_sample_seq":14621966,"cg_sample_valid":1,"cg_theta_rad":5.00605345,"cg_vd_req_v":0.0881335735,"cg_vd_v":0.0881335735,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377274185,"cg_vq_v":-0.377274185,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6052837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4673157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1587906,"cg_dv":50.2199364,"cg_dw":49.7800636,"cg_id_a":-0.181583166,"cg_id_raw_a":-0.228949949,"cg_iq_a":0.0464924648,"cg_iq_raw_a":-0.0582371205,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9290905,"cg_sample_seq":14622016,"cg_sample_valid":1,"cg_theta_rad":5.00667095,"cg_vd_req_v":0.08967264,"cg_vd_v":0.08967264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387970567,"cg_vq_v":-0.387970567,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.61389542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4503174,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12431,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.164196,"cg_dv":50.2166214,"cg_dw":49.7833786,"cg_id_a":0.238618255,"cg_id_raw_a":0.49878341,"cg_iq_a":-0.102280945,"cg_iq_raw_a":-0.385360628,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.954546,"cg_sample_seq":14622066,"cg_sample_valid":1,"cg_theta_rad":5.00597572,"cg_vd_req_v":0.0835494623,"cg_vd_v":0.0835494623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38621977,"cg_vq_v":-0.38621977,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.132350683,"dclink_p_w":-19.0961857,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12484,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1579094,"cg_dv":50.2185936,"cg_dw":49.7814064,"cg_id_a":0.0296893865,"cg_id_raw_a":-0.114625931,"cg_iq_a":-0.233353928,"cg_iq_raw_a":-0.155797228,"cg_iu_a":0.292484045,"cg_iv_a":-0.438259721,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9436359,"cg_sample_seq":14622116,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0878515691,"cg_vd_v":0.0878515691,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385926843,"cg_vq_v":-0.385926843,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12472,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1626816,"cg_dv":50.2198715,"cg_dw":49.7801285,"cg_id_a":0.0141143575,"cg_id_raw_a":0.106040306,"cg_iq_a":0.038695626,"cg_iq_raw_a":-0.899234712,"cg_iu_a":-0.577367783,"cg_iv_a":0.322860837,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9799995,"cg_sample_seq":14622166,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0866376609,"cg_vd_v":0.0866376609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391293198,"cg_vq_v":-0.391293198,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1645622,"cg_dv":50.2191277,"cg_dw":49.7808723,"cg_id_a":0.0465136617,"cg_id_raw_a":-0.237996697,"cg_iq_a":0.132533744,"cg_iq_raw_a":0.450409263,"cg_iu_a":0.256240368,"cg_iv_a":0.21412921,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9509087,"cg_sample_seq":14622216,"cg_sample_valid":1,"cg_theta_rad":5.00730562,"cg_vd_req_v":0.0853118151,"cg_vd_v":0.0853118151,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391147256,"cg_vq_v":-0.391147256,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.0558395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4549561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12473,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1590614,"cg_dv":50.2230415,"cg_dw":49.7769585,"cg_id_a":-0.25426811,"cg_id_raw_a":-0.218221053,"cg_iq_a":0.194967806,"cg_iq_raw_a":0.489724815,"cg_iu_a":-0.251173496,"cg_iv_a":-0.402015924,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9181824,"cg_sample_seq":14622266,"cg_sample_valid":1,"cg_theta_rad":5.00764751,"cg_vd_req_v":0.091109477,"cg_vd_v":0.091109477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392656058,"cg_vq_v":-0.392656058,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4549561,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1458244,"cg_dv":50.2158165,"cg_dw":49.7841835,"cg_id_a":-0.46632567,"cg_id_raw_a":-0.658573091,"cg_iq_a":-0.898593366,"cg_iq_raw_a":-0.828090966,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":24.8818188,"cg_sample_seq":14622321,"cg_sample_valid":1,"cg_theta_rad":5.00822687,"cg_vd_req_v":0.0953191966,"cg_vd_v":0.0953191966,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375213832,"cg_vq_v":-0.375213832,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12467,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1615753,"cg_dv":50.2162971,"cg_dw":49.7837029,"cg_id_a":0.226874381,"cg_id_raw_a":-0.368745476,"cg_iq_a":-0.650535405,"cg_iq_raw_a":-0.798876345,"cg_iu_a":-0.359904766,"cg_iv_a":0.322860837,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9254551,"cg_sample_seq":14622367,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0823318809,"cg_vd_v":0.0823318809,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383716106,"cg_vq_v":-0.383716106,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-26.9403362,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2651.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12478,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1657562,"cg_dv":50.223362,"cg_dw":49.776638,"cg_id_a":-0.128517196,"cg_id_raw_a":-0.112065956,"cg_iq_a":-0.0570500754,"cg_iq_raw_a":-0.593269467,"cg_iu_a":0.473703384,"cg_iv_a":-0.293284297,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.9763641,"cg_sample_seq":14622417,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0881856978,"cg_vd_v":0.0881856978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396395713,"cg_vq_v":-0.396395713,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12449,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1726837,"cg_dv":50.2225266,"cg_dw":49.7774734,"cg_id_a":0.0976342484,"cg_id_raw_a":-0.33241415,"cg_iq_a":0.0732218102,"cg_iq_raw_a":0.768982351,"cg_iu_a":-0.106198072,"cg_iv_a":0.57656759,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.9654541,"cg_sample_seq":14622467,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.0816518739,"cg_vd_v":0.0816518739,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39922592,"cg_vq_v":-0.39922592,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4394836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12497,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1631699,"cg_dv":50.2200623,"cg_dw":49.7799377,"cg_id_a":-0.0529727042,"cg_id_raw_a":0.376010746,"cg_iq_a":-0.241650388,"cg_iq_raw_a":0.217109859,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885413,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14622517,"cg_sample_valid":1,"cg_theta_rad":5.00706244,"cg_vd_req_v":0.0834591314,"cg_vd_v":0.0834591314,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391234428,"cg_vq_v":-0.391234428,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4394836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1714516,"cg_dv":50.2211761,"cg_dw":49.7788239,"cg_id_a":0.176105708,"cg_id_raw_a":-0.156618893,"cg_iq_a":0.154452294,"cg_iq_raw_a":0.27682519,"cg_iu_a":-0.106198072,"cg_iv_a":0.649055302,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9254551,"cg_sample_seq":14622566,"cg_sample_valid":1,"cg_theta_rad":5.00722647,"cg_vd_req_v":0.0805481449,"cg_vd_v":0.0805481449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396854103,"cg_vq_v":-0.396854103,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12459,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1577377,"cg_dv":50.2183952,"cg_dw":49.7816048,"cg_id_a":-0.274582058,"cg_id_raw_a":0.334554195,"cg_iq_a":-0.399217784,"cg_iq_raw_a":-1.09548843,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9181824,"cg_sample_seq":14622616,"cg_sample_valid":1,"cg_theta_rad":5.00713587,"cg_vd_req_v":0.0884572938,"cg_vd_v":0.0884572938,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385407329,"cg_vq_v":-0.385407329,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12444,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1598473,"cg_dv":50.2137985,"cg_dw":49.7862015,"cg_id_a":0.0235165209,"cg_id_raw_a":-0.0584377199,"cg_iq_a":-0.60711503,"cg_iq_raw_a":0.141003788,"cg_iu_a":-0.0699543953,"cg_iv_a":0.177885413,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.954546,"cg_sample_seq":14622667,"cg_sample_valid":1,"cg_theta_rad":5.00574017,"cg_vd_req_v":0.0803950056,"cg_vd_v":0.0803950056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380754322,"cg_vq_v":-0.380754322,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12459,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1654472,"cg_dv":50.2171898,"cg_dw":49.7828102,"cg_id_a":-0.154697359,"cg_id_raw_a":0.0725379512,"cg_iq_a":0.0403415412,"cg_iq_raw_a":0.0809921771,"cg_iu_a":0.292484045,"cg_iv_a":0.721542954,"cg_iw_a":-1.014027,"cg_sample_age_us":23.8527279,"cg_sample_seq":14622716,"cg_sample_valid":1,"cg_theta_rad":5.00705528,"cg_vd_req_v":0.0828980431,"cg_vd_v":0.0828980431,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388977408,"cg_vq_v":-0.388977408,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1656151,"cg_dv":50.2274284,"cg_dw":49.7725716,"cg_id_a":-0.540906489,"cg_id_raw_a":0.208445147,"cg_iq_a":0.698070526,"cg_iq_raw_a":-0.233913437,"cg_iu_a":-0.396148682,"cg_iv_a":0.0691539049,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8490906,"cg_sample_seq":14622766,"cg_sample_valid":1,"cg_theta_rad":5.00820732,"cg_vd_req_v":0.0910924599,"cg_vd_v":0.0910924599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40338558,"cg_vq_v":-0.40338558,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12486,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1736145,"cg_dv":50.2225838,"cg_dw":49.7774162,"cg_id_a":0.257795811,"cg_id_raw_a":0.152028963,"cg_iq_a":0.39813298,"cg_iq_raw_a":0.597061455,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148308992,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14622917,"cg_sample_valid":1,"cg_theta_rad":5.00665951,"cg_vd_req_v":0.0777773708,"cg_vd_v":0.0777773708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400463223,"cg_vq_v":-0.400463223,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.0470561981,"dclink_p_w":6.81019211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12476,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1690254,"cg_dv":50.2177582,"cg_dw":49.7822418,"cg_id_a":0.199083522,"cg_id_raw_a":0.538561761,"cg_iq_a":0.0103792623,"cg_iq_raw_a":0.489021599,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.954546,"cg_sample_seq":14622967,"cg_sample_valid":1,"cg_theta_rad":5.00798225,"cg_vd_req_v":0.0781681463,"cg_vd_v":0.0781681463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391040295,"cg_vq_v":-0.391040295,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.3008804,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.7041016,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1683807,"cg_dv":50.2200089,"cg_dw":49.7799911,"cg_id_a":-0.00987966359,"cg_id_raw_a":-0.387057006,"cg_iq_a":0.209157884,"cg_iq_raw_a":0.472062796,"cg_iu_a":0.219996452,"cg_iv_a":0.540323794,"cg_iw_a":-0.760320246,"cg_sample_age_us":23.954546,"cg_sample_seq":14623017,"cg_sample_valid":1,"cg_theta_rad":5.00624084,"cg_vd_req_v":0.0829190165,"cg_vd_v":0.0829190165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394563943,"cg_vq_v":-0.394563943,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12429,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1563568,"cg_dv":50.2106361,"cg_dw":49.7893639,"cg_id_a":-0.0905891508,"cg_id_raw_a":0.200329974,"cg_iq_a":-0.725389004,"cg_iq_raw_a":-0.342857271,"cg_iu_a":1.34355533,"cg_iv_a":0.0691539049,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.9509087,"cg_sample_seq":14623067,"cg_sample_valid":1,"cg_theta_rad":5.00950527,"cg_vd_req_v":0.0844693854,"cg_vd_v":0.0844693854,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374726832,"cg_vq_v":-0.374726832,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.462677,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12435,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1606255,"cg_dv":50.2105942,"cg_dw":49.7894058,"cg_id_a":0.00993362069,"cg_id_raw_a":-0.0232999604,"cg_iq_a":-0.389921933,"cg_iq_raw_a":-0.839460015,"cg_iu_a":-0.432392597,"cg_iv_a":0.141641617,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14623117,"cg_sample_valid":1,"cg_theta_rad":5.0063839,"cg_vd_req_v":0.0804145858,"cg_vd_v":0.0804145858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377238601,"cg_vq_v":-0.377238601,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.9948502,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12460,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1650543,"cg_dv":50.211998,"cg_dw":49.788002,"cg_id_a":0.135101527,"cg_id_raw_a":-0.0178208333,"cg_iq_a":-0.0675556213,"cg_iq_raw_a":0.144721821,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9763641,"cg_sample_seq":14623167,"cg_sample_valid":1,"cg_theta_rad":5.00750971,"cg_vd_req_v":0.0773402825,"cg_vd_v":0.0773402825,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380648494,"cg_vq_v":-0.380648494,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38665,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1775093,"cg_dv":50.2149277,"cg_dw":49.7850723,"cg_id_a":0.234299853,"cg_id_raw_a":-0.0602301732,"cg_iq_a":0.458386838,"cg_iq_raw_a":-1.57394624,"cg_iu_a":-0.686099291,"cg_iv_a":-0.148309112,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9181824,"cg_sample_seq":14623217,"cg_sample_valid":1,"cg_theta_rad":5.00770807,"cg_vd_req_v":0.0748533458,"cg_vd_v":0.0748533458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39081195,"cg_vq_v":-0.39081195,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.5230103,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12478,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1740494,"cg_dv":50.2150116,"cg_dw":49.7849884,"cg_id_a":0.248745263,"cg_id_raw_a":0.925704777,"cg_iq_a":0.380593836,"cg_iq_raw_a":1.44057012,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9254551,"cg_sample_seq":14623267,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0731863678,"cg_vd_v":0.0731863678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389807224,"cg_vq_v":-0.389807224,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.5645561,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12448,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1695366,"cg_dv":50.21735,"cg_dw":49.78265,"cg_id_a":-0.0858374611,"cg_id_raw_a":-0.672135353,"cg_iq_a":0.255715132,"cg_iq_raw_a":-0.249634445,"cg_iu_a":-0.613611698,"cg_iv_a":-0.402015924,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8527279,"cg_sample_seq":14623320,"cg_sample_valid":1,"cg_theta_rad":5.00800228,"cg_vd_req_v":0.0800513104,"cg_vd_v":0.0800513104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391462862,"cg_vq_v":-0.391462862,"cg_vu_v":25.0738773,"cg_vv_v":5.27871037,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4425659,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1716919,"cg_dv":50.2143784,"cg_dw":49.7856216,"cg_id_a":0.325276375,"cg_id_raw_a":-0.144841671,"cg_iq_a":0.292844534,"cg_iq_raw_a":-0.48685047,"cg_iu_a":-1.80965805,"cg_iv_a":0.250373125,"cg_iw_a":1.55928493,"cg_sample_age_us":23.8600006,"cg_sample_seq":14623366,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0741260052,"cg_vd_v":0.0741260052,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388897955,"cg_vq_v":-0.388897955,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.9896011,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12439,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1689796,"cg_dv":50.2155647,"cg_dw":49.7844353,"cg_id_a":0.00854820758,"cg_id_raw_a":-0.343648851,"cg_iq_a":0.201319188,"cg_iq_raw_a":-0.764321625,"cg_iu_a":-0.577368021,"cg_iv_a":0.141641617,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9290905,"cg_sample_seq":14623417,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0799698979,"cg_vd_v":0.0799698979,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387246162,"cg_vq_v":-0.387246162,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.683256865,"dclink_p_w":-98.8841171,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1590271,"cg_dv":50.2095184,"cg_dw":49.7904816,"cg_id_a":0.0932992399,"cg_id_raw_a":0.476549894,"cg_iq_a":-0.399900556,"cg_iq_raw_a":-1.04534423,"cg_iu_a":0.183752656,"cg_iv_a":0.141641557,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8490906,"cg_sample_seq":14623466,"cg_sample_valid":1,"cg_theta_rad":5.00713968,"cg_vd_req_v":0.0787188485,"cg_vd_v":0.0787188485,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374086767,"cg_vq_v":-0.374086767,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.761181116,"dclink_p_w":-110.161674,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12475,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1538086,"cg_dv":50.216568,"cg_dw":49.783432,"cg_id_a":-0.341075063,"cg_id_raw_a":-0.923939764,"cg_iq_a":0.0047705099,"cg_iq_raw_a":-0.268267453,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.25704062,"cg_iw_a":0.2907511,"cg_sample_age_us":23.8527279,"cg_sample_seq":14623516,"cg_sample_valid":1,"cg_theta_rad":5.00776052,"cg_vd_req_v":0.0885679275,"cg_vd_v":0.0885679275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380999207,"cg_vq_v":-0.380999207,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.909780979,"dclink_p_w":-131.66774,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.448761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12441,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479568,"cg_dv":50.2129326,"cg_dw":49.7870674,"cg_id_a":-0.479666799,"cg_id_raw_a":-0.328621387,"cg_iq_a":-0.282474875,"cg_iq_raw_a":-1.16132867,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9872723,"cg_sample_seq":14623566,"cg_sample_valid":1,"cg_theta_rad":5.00734901,"cg_vd_req_v":0.0918775946,"cg_vd_v":0.0918775946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372234315,"cg_vq_v":-0.372234315,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.448761,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.160099,"cg_dv":50.2119026,"cg_dw":49.7880974,"cg_id_a":0.160632566,"cg_id_raw_a":0.017145386,"cg_iq_a":-0.0109325349,"cg_iq_raw_a":-0.652932048,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0395775437,"cg_iw_a":0.544457734,"cg_sample_age_us":23.9509087,"cg_sample_seq":14623616,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0799621567,"cg_vd_v":0.0799621567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379174203,"cg_vq_v":-0.379174203,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12469,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1492691,"cg_dv":50.2056808,"cg_dw":49.7943192,"cg_id_a":-0.0185918622,"cg_id_raw_a":0.0825124532,"cg_iq_a":-0.319893092,"cg_iq_raw_a":0.191238612,"cg_iu_a":0.618678689,"cg_iv_a":0.250373125,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.8563633,"cg_sample_seq":14623666,"cg_sample_valid":1,"cg_theta_rad":5.00649643,"cg_vd_req_v":0.0841568559,"cg_vd_v":0.0841568559,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364209116,"cg_vq_v":-0.364209116,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.549154758,"dclink_p_w":-79.717804,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4208984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12460,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1531715,"cg_dv":50.2041054,"cg_dw":49.7958946,"cg_id_a":0.125743732,"cg_id_raw_a":0.336874962,"cg_iq_a":-0.259964466,"cg_iq_raw_a":-0.0386360437,"cg_iu_a":0.00253343582,"cg_iv_a":1.01149368,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9472733,"cg_sample_seq":14623716,"cg_sample_valid":1,"cg_theta_rad":5.0082469,"cg_vd_req_v":0.079029128,"cg_vd_v":0.079029128,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364385128,"cg_vq_v":-0.364385128,"cg_vu_v":5.71860361,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.7265282,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4208984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1589088,"cg_dv":50.2063026,"cg_dw":49.7936974,"cg_id_a":0.266325623,"cg_id_raw_a":0.168342829,"cg_iq_a":-0.01899831,"cg_iq_raw_a":-0.856365561,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284357,"cg_iw_a":0.834408462,"cg_sample_age_us":23.9509087,"cg_sample_seq":14623766,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0775841177,"cg_vd_v":0.0775841177,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369253814,"cg_vq_v":-0.369253814,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.151165,"cg_dv":50.2024727,"cg_dw":49.7975273,"cg_id_a":0.226390436,"cg_id_raw_a":0.324667752,"cg_iq_a":-0.323320031,"cg_iq_raw_a":-0.587714911,"cg_iu_a":0.183752537,"cg_iv_a":0.757786751,"cg_iw_a":-0.941539288,"cg_sample_age_us":23.9836369,"cg_sample_seq":14623819,"cg_sample_valid":1,"cg_theta_rad":5.00713539,"cg_vd_req_v":0.0766948089,"cg_vd_v":0.0766948089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360383302,"cg_vq_v":-0.360383302,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4333191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12466,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431007,"cg_dv":50.2081528,"cg_dw":49.7918472,"cg_id_a":-0.274806172,"cg_id_raw_a":0.263133258,"cg_iq_a":-0.00866549462,"cg_iq_raw_a":0.753131092,"cg_iu_a":0.763653994,"cg_iv_a":-0.546991229,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9763641,"cg_sample_seq":14623866,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.0882485136,"cg_vd_v":0.0882485136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363700062,"cg_vq_v":-0.363700062,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4333191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1459618,"cg_dv":50.2044373,"cg_dw":49.7955627,"cg_id_a":-0.0221486092,"cg_id_raw_a":-0.144660726,"cg_iq_a":0.181889638,"cg_iq_raw_a":0.38771981,"cg_iu_a":0.908629417,"cg_iv_a":-0.293284416,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.954546,"cg_sample_seq":14623916,"cg_sample_valid":1,"cg_theta_rad":5.00554419,"cg_vd_req_v":0.0829295889,"cg_vd_v":0.0829295889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361257493,"cg_vq_v":-0.361257493,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4224548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.146328,"cg_dv":50.1968346,"cg_dw":49.8031654,"cg_id_a":0.181824952,"cg_id_raw_a":0.159992903,"cg_iq_a":-0.117757559,"cg_iq_raw_a":-0.165614173,"cg_iu_a":0.147508621,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.144174874,"cg_sample_age_us":23.9836369,"cg_sample_seq":14623966,"cg_sample_valid":1,"cg_theta_rad":5.00666523,"cg_vd_req_v":0.0768790022,"cg_vd_v":0.0768790022,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350717574,"cg_vq_v":-0.350717574,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.5422058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4224548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422997,"cg_dv":50.193634,"cg_dw":49.806366,"cg_id_a":0.0746647567,"cg_id_raw_a":0.140040576,"cg_iq_a":-0.419643104,"cg_iq_raw_a":-0.385937989,"cg_iu_a":0.0387773514,"cg_iv_a":0.250373125,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9509087,"cg_sample_seq":14624016,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.0773770437,"cg_vd_v":0.0773770437,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343985379,"cg_vq_v":-0.343985379,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.4593506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4750671,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38663,"EncoderSin":12459,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483231,"cg_dv":50.1917725,"cg_dw":49.8082275,"cg_id_a":0.189749584,"cg_id_raw_a":0.276889116,"cg_iq_a":-0.389282584,"cg_iq_raw_a":-0.624724984,"cg_iu_a":0.364971638,"cg_iv_a":0.467836142,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9836369,"cg_sample_seq":14624066,"cg_sample_valid":1,"cg_theta_rad":5.00632095,"cg_vd_req_v":0.0748105571,"cg_vd_v":0.0748105571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342910886,"cg_vq_v":-0.342910886,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12463,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411438,"cg_dv":50.1895409,"cg_dw":49.8104591,"cg_id_a":0.203191757,"cg_id_raw_a":0.682345569,"cg_iq_a":-0.598222017,"cg_iq_raw_a":-0.769495904,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9145451,"cg_sample_seq":14624116,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.0738805458,"cg_vd_v":0.0738805458,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336773247,"cg_vq_v":-0.336773247,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.376996517,"dclink_p_w":-54.3948517,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12443,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409531,"cg_dv":50.1922112,"cg_dw":49.8077888,"cg_id_a":0.069249399,"cg_id_raw_a":0.149733037,"cg_iq_a":-0.412577868,"cg_iq_raw_a":-0.275884449,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9400005,"cg_sample_seq":14624166,"cg_sample_valid":1,"cg_theta_rad":5.0066061,"cg_vd_req_v":0.0763255954,"cg_vd_v":0.0763255954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340359241,"cg_vq_v":-0.340359241,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12469,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1287689,"cg_dv":50.1884193,"cg_dw":49.8115807,"cg_id_a":-0.21655342,"cg_id_raw_a":-0.193425268,"cg_iq_a":-0.839034617,"cg_iq_raw_a":-0.418867439,"cg_iu_a":0.219996452,"cg_iv_a":0.540323794,"cg_iw_a":-0.760320246,"cg_sample_age_us":23.9436359,"cg_sample_seq":14624216,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0824329332,"cg_vd_v":0.0824329332,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328311682,"cg_vq_v":-0.328311682,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12473,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364288,"cg_dv":50.1898956,"cg_dw":49.8101044,"cg_id_a":0.0390413627,"cg_id_raw_a":-0.378557205,"cg_iq_a":-0.122000046,"cg_iq_raw_a":-0.725188255,"cg_iu_a":-0.214929581,"cg_iv_a":0.250373065,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9181824,"cg_sample_seq":14624266,"cg_sample_valid":1,"cg_theta_rad":5.0073595,"cg_vd_req_v":0.0756397247,"cg_vd_v":0.0756397247,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336200327,"cg_vq_v":-0.336200327,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.268265009,"dclink_p_w":-38.8245621,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12471,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270943,"cg_dv":50.1900215,"cg_dw":49.8099785,"cg_id_a":-0.31008774,"cg_id_raw_a":-0.81241256,"cg_iq_a":-0.382790595,"cg_iq_raw_a":-0.801650822,"cg_iu_a":0.219996452,"cg_iv_a":0.794030666,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8527279,"cg_sample_seq":14624321,"cg_sample_valid":1,"cg_theta_rad":5.00631237,"cg_vd_req_v":0.0830847174,"cg_vd_v":0.0830847174,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330110192,"cg_vq_v":-0.330110192,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12420,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1329803,"cg_dv":50.1851196,"cg_dw":49.8148804,"cg_id_a":-0.0860821903,"cg_id_raw_a":0.321841449,"cg_iq_a":-0.398135185,"cg_iq_raw_a":0.107831538,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9618187,"cg_sample_seq":14624367,"cg_sample_valid":1,"cg_theta_rad":5.00733614,"cg_vd_req_v":0.0783411115,"cg_vd_v":0.0783411115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32561776,"cg_vq_v":-0.32561776,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4410095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12457,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426888,"cg_dv":50.1886597,"cg_dw":49.8113403,"cg_id_a":0.107974648,"cg_id_raw_a":0.116250396,"cg_iq_a":0.266536415,"cg_iq_raw_a":0.267833173,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885473,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.8527279,"cg_sample_seq":14624417,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0732491687,"cg_vd_v":0.0732491687,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33613205,"cg_vq_v":-0.33613205,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4070129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12458,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388893,"cg_dv":50.1863251,"cg_dw":49.8136749,"cg_id_a":0.0757139549,"cg_id_raw_a":0.282104373,"cg_iq_a":0.106661528,"cg_iq_raw_a":0.0981731415,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148308992,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9509087,"cg_sample_seq":14624466,"cg_sample_valid":1,"cg_theta_rad":5.00914717,"cg_vd_req_v":0.0738384128,"cg_vd_v":0.0738384128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330848545,"cg_vq_v":-0.330848545,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12463,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1273346,"cg_dv":50.1920166,"cg_dw":49.8079834,"cg_id_a":-0.366701812,"cg_id_raw_a":-0.211771652,"cg_iq_a":0.274543256,"cg_iq_raw_a":-0.019227745,"cg_iu_a":-0.287417412,"cg_iv_a":-0.619478941,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14624517,"cg_sample_valid":1,"cg_theta_rad":5.00696993,"cg_vd_req_v":0.085761942,"cg_vd_v":0.085761942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332725823,"cg_vq_v":-0.332725823,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12470,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307106,"cg_dv":50.1856766,"cg_dw":49.8143234,"cg_id_a":0.00189390592,"cg_id_raw_a":-0.143084377,"cg_iq_a":-0.00805595517,"cg_iq_raw_a":0.131919831,"cg_iu_a":0.473703384,"cg_iv_a":0.214129269,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9763641,"cg_sample_seq":14624566,"cg_sample_valid":1,"cg_theta_rad":5.00673437,"cg_vd_req_v":0.0796436369,"cg_vd_v":0.0796436369,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326381654,"cg_vq_v":-0.326381654,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4255676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12470,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294289,"cg_dv":50.1841393,"cg_dw":49.8158607,"cg_id_a":0.141287059,"cg_id_raw_a":-0.312283367,"cg_iq_a":0.0323163569,"cg_iq_raw_a":-0.0662914664,"cg_iu_a":0.183752775,"cg_iv_a":0.359104574,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9618187,"cg_sample_seq":14624616,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.0778889284,"cg_vd_v":0.0778889284,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323870718,"cg_vq_v":-0.323870718,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12457,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1331291,"cg_dv":50.1896172,"cg_dw":49.8103828,"cg_id_a":0.0190586112,"cg_id_raw_a":-0.326097786,"cg_iq_a":0.577220738,"cg_iq_raw_a":0.0794768557,"cg_iu_a":-0.396148682,"cg_iv_a":-0.474503636,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9509087,"cg_sample_seq":14624666,"cg_sample_valid":1,"cg_theta_rad":5.00632286,"cg_vd_req_v":0.0785630941,"cg_vd_v":0.0785630941,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332769573,"cg_vq_v":-0.332769573,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":0.110482931,"dclink_p_w":15.989604,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4456787,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1131935,"cg_dv":50.1840172,"cg_dw":49.8159828,"cg_id_a":-0.436991096,"cg_id_raw_a":0.128204793,"cg_iq_a":-0.35969913,"cg_iq_raw_a":0.37736854,"cg_iu_a":0.256240368,"cg_iv_a":-0.728210449,"cg_iw_a":0.471970081,"cg_sample_age_us":23.954546,"cg_sample_seq":14624716,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0898630098,"cg_vd_v":0.0898630098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313716114,"cg_vq_v":-0.313716114,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":71.2625961,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4333191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12451,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1247444,"cg_dv":50.1897812,"cg_dw":49.8102188,"cg_id_a":-0.375623316,"cg_id_raw_a":0.155888021,"cg_iq_a":0.319014668,"cg_iq_raw_a":0.0892814323,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991229,"cg_iw_a":0.544457793,"cg_sample_age_us":23.954546,"cg_sample_seq":14624766,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.0874690041,"cg_vd_v":0.0874690041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327746809,"cg_vq_v":-0.327746809,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4333191,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12471,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1305275,"cg_dv":50.1867218,"cg_dw":49.8132782,"cg_id_a":-0.111124501,"cg_id_raw_a":0.036009565,"cg_iq_a":0.090755336,"cg_iq_raw_a":-0.1776568,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796764,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9872723,"cg_sample_seq":14624816,"cg_sample_valid":1,"cg_theta_rad":5.00804996,"cg_vd_req_v":0.0809887946,"cg_vd_v":0.0809887946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326601207,"cg_vq_v":-0.326601207,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4719849,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12458,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209221,"cg_dv":50.1889496,"cg_dw":49.8110504,"cg_id_a":-0.420120418,"cg_id_raw_a":0.0349507444,"cg_iq_a":0.179374322,"cg_iq_raw_a":0.258996725,"cg_iu_a":0.546190977,"cg_iv_a":-0.293284416,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8563633,"cg_sample_seq":14624871,"cg_sample_valid":1,"cg_theta_rad":5.00648928,"cg_vd_req_v":0.0883617029,"cg_vd_v":0.0883617029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325884074,"cg_vq_v":-0.325884074,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.434845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12469,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327095,"cg_dv":50.1847343,"cg_dw":49.8152657,"cg_id_a":0.188890219,"cg_id_raw_a":-0.0724841133,"cg_iq_a":0.137438089,"cg_iq_raw_a":-0.771551907,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333374739,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9181824,"cg_sample_seq":14624917,"cg_sample_valid":1,"cg_theta_rad":5.00710201,"cg_vd_req_v":0.0768742934,"cg_vd_v":0.0768742934,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326298058,"cg_vq_v":-0.326298058,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.6043892,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.434845,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38682,"EncoderSin":12429,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250229,"cg_dv":50.1811028,"cg_dw":49.8188972,"cg_id_a":0.0114823282,"cg_id_raw_a":-0.382443428,"cg_iq_a":-0.272503436,"cg_iq_raw_a":0.578807414,"cg_iu_a":0.183752537,"cg_iv_a":0.721542895,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9836369,"cg_sample_seq":14624967,"cg_sample_valid":1,"cg_theta_rad":5.00564528,"cg_vd_req_v":0.0816234946,"cg_vd_v":0.0816234946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315407723,"cg_vq_v":-0.315407723,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.6043892,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4208984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250763,"cg_dv":50.1837387,"cg_dw":49.8162613,"cg_id_a":0.0963186473,"cg_id_raw_a":0.22916849,"cg_iq_a":-0.153875813,"cg_iq_raw_a":-0.0131375073,"cg_iu_a":0.908629179,"cg_iv_a":0.286616921,"cg_iw_a":-1.1952461,"cg_sample_age_us":23.8563633,"cg_sample_seq":14625017,"cg_sample_valid":1,"cg_theta_rad":5.00731277,"cg_vd_req_v":0.0806290284,"cg_vd_v":0.0806290284,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31991142,"cg_vq_v":-0.31991142,"cg_vu_v":25.953661,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.452987194,"dclink_p_w":65.5584183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12465,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263199,"cg_dv":50.1860046,"cg_dw":49.8139954,"cg_id_a":0.171002597,"cg_id_raw_a":0.0649660379,"cg_iq_a":0.0990319103,"cg_iq_raw_a":-0.28437081,"cg_iu_a":-0.251173258,"cg_iv_a":0.21412921,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9290905,"cg_sample_seq":14625166,"cg_sample_valid":1,"cg_theta_rad":5.00771999,"cg_vd_req_v":0.0803499222,"cg_vd_v":0.0803499222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325114101,"cg_vq_v":-0.325114101,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4147644,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1284714,"cg_dv":50.1865234,"cg_dw":49.8134766,"cg_id_a":0.136761948,"cg_id_raw_a":-0.37761274,"cg_iq_a":0.0238388628,"cg_iq_raw_a":-1.09333599,"cg_iu_a":-0.504880428,"cg_iv_a":0.359104574,"cg_iw_a":0.145775855,"cg_sample_age_us":23.8490906,"cg_sample_seq":14625216,"cg_sample_valid":1,"cg_theta_rad":5.00658751,"cg_vd_req_v":0.0813352242,"cg_vd_v":0.0813352242,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325436741,"cg_vq_v":-0.325436741,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4379272,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12463,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1204453,"cg_dv":50.1855965,"cg_dw":49.8144035,"cg_id_a":0.0309767574,"cg_id_raw_a":0.465702176,"cg_iq_a":-0.233493507,"cg_iq_raw_a":0.153308988,"cg_iu_a":0.618678808,"cg_iv_a":-1.01816106,"cg_iw_a":0.39948225,"cg_sample_age_us":23.954546,"cg_sample_seq":14625267,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.0844546631,"cg_vd_v":0.0844546631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320264667,"cg_vq_v":-0.320264667,"cg_vu_v":126.689056,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4240112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12455,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290512,"cg_dv":50.1898689,"cg_dw":49.8101311,"cg_id_a":0.0142086716,"cg_id_raw_a":-0.0331689194,"cg_iq_a":0.411824644,"cg_iq_raw_a":-0.330391884,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14625317,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0843912438,"cg_vd_v":0.0843912438,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330242366,"cg_vq_v":-0.330242366,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.8190842,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4240112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1144524,"cg_dv":50.187233,"cg_dw":49.812767,"cg_id_a":-0.266675085,"cg_id_raw_a":0.0113176433,"cg_iq_a":-0.207873747,"cg_iq_raw_a":0.730020165,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373065,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9581814,"cg_sample_seq":14625370,"cg_sample_valid":1,"cg_theta_rad":5.00570488,"cg_vd_req_v":0.0913917199,"cg_vd_v":0.0913917199,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318974376,"cg_vq_v":-0.318974376,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.670450211,"dclink_p_w":97.0306778,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12469,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1226082,"cg_dv":50.1866379,"cg_dw":49.8133621,"cg_id_a":-0.0262272507,"cg_id_raw_a":0.106995896,"cg_iq_a":0.189974487,"cg_iq_raw_a":0.157247096,"cg_iu_a":0.111264944,"cg_iv_a":0.721542895,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.8563633,"cg_sample_seq":14625416,"cg_sample_valid":1,"cg_theta_rad":5.00706196,"cg_vd_req_v":0.0861151218,"cg_vd_v":0.0861151218,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322270423,"cg_vq_v":-0.322270423,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.57802844,"dclink_p_w":83.6549683,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4317627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203995,"cg_dv":50.1833725,"cg_dw":49.8166275,"cg_id_a":0.094815582,"cg_id_raw_a":-0.0623527318,"cg_iq_a":0.0190390795,"cg_iq_raw_a":-0.0417850204,"cg_iu_a":0.364971638,"cg_iv_a":0.431592345,"cg_iw_a":0.435726464,"cg_sample_age_us":23.9872723,"cg_sample_seq":14625466,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0844645575,"cg_vd_v":0.0844645575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317681044,"cg_vq_v":-0.317681044,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4317627,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12449,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1147728,"cg_dv":50.1891251,"cg_dw":49.8108749,"cg_id_a":-0.381674498,"cg_id_raw_a":-0.313938707,"cg_iq_a":0.352545917,"cg_iq_raw_a":0.369977951,"cg_iu_a":0.0750212669,"cg_iv_a":-0.72821033,"cg_iw_a":0.653189063,"cg_sample_age_us":23.863636,"cg_sample_seq":14625516,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.0949694365,"cg_vd_v":0.0949694365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322201759,"cg_vq_v":-0.322201759,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":42.0817413,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4023743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12431,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1172104,"cg_dv":50.1854477,"cg_dw":49.8145523,"cg_id_a":-0.0936202109,"cg_id_raw_a":-0.282164752,"cg_iq_a":0.200881839,"cg_iq_raw_a":0.263980001,"cg_iu_a":-0.541124105,"cg_iv_a":-0.583235145,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9581814,"cg_sample_seq":14625566,"cg_sample_valid":1,"cg_theta_rad":5.00805664,"cg_vd_req_v":0.0893404186,"cg_vd_v":0.0893404186,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318608195,"cg_vq_v":-0.318608195,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.438489676,"dclink_p_w":63.6531563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4023743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12463,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.122776,"cg_dv":50.1893463,"cg_dw":49.8106537,"cg_id_a":-0.0509200916,"cg_id_raw_a":0.121471845,"cg_iq_a":0.441815376,"cg_iq_raw_a":0.0130190887,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9727268,"cg_sample_seq":14625616,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.0886883214,"cg_vd_v":0.0886883214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326021284,"cg_vq_v":-0.326021284,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1115227,"cg_dv":50.1882591,"cg_dw":49.8117409,"cg_id_a":-0.256698132,"cg_id_raw_a":-0.566303611,"cg_iq_a":-0.0970639065,"cg_iq_raw_a":-0.271137118,"cg_iu_a":-0.14244175,"cg_iv_a":-0.00333368778,"cg_iw_a":0.145775437,"cg_sample_age_us":23.8563633,"cg_sample_seq":14625667,"cg_sample_valid":1,"cg_theta_rad":5.00649261,"cg_vd_req_v":0.0942383334,"cg_vd_v":0.0942383334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317811549,"cg_vq_v":-0.317811549,"cg_vu_v":107.773682,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2651.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1183968,"cg_dv":50.1871109,"cg_dw":49.8128891,"cg_id_a":0.020500889,"cg_id_raw_a":0.947185755,"cg_iq_a":0.184650078,"cg_iq_raw_a":1.03920841,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8600006,"cg_sample_seq":14625717,"cg_sample_valid":1,"cg_theta_rad":5.00697708,"cg_vd_req_v":0.0884666294,"cg_vd_v":0.0884666294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319883645,"cg_vq_v":-0.319883645,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.373250723,"dclink_p_w":54.0185814,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2651.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12486,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1261902,"cg_dv":50.1876602,"cg_dw":49.8123398,"cg_id_a":0.295314312,"cg_id_raw_a":-0.132483393,"cg_iq_a":0.405038029,"cg_iq_raw_a":-0.630755305,"cg_iu_a":0.147508621,"cg_iv_a":0.0691539049,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9872723,"cg_sample_seq":14625767,"cg_sample_valid":1,"cg_theta_rad":5.00607014,"cg_vd_req_v":0.0826684609,"cg_vd_v":0.0826684609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326097071,"cg_vq_v":-0.326097071,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.434865236,"dclink_p_w":62.9357224,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4518738,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12497,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1335335,"cg_dv":50.1905746,"cg_dw":49.8094254,"cg_id_a":0.352743328,"cg_id_raw_a":0.273638606,"cg_iq_a":0.792604089,"cg_iq_raw_a":0.610061109,"cg_iu_a":-1.48346376,"cg_iv_a":0.0691540241,"cg_iw_a":1.41430974,"cg_sample_age_us":23.8672733,"cg_sample_seq":14625817,"cg_sample_valid":1,"cg_theta_rad":5.00710487,"cg_vd_req_v":0.0806244686,"cg_vd_v":0.0806244686,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3350299,"cg_vq_v":-0.3350299,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.9807091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12492,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129799,"cg_dv":50.1787491,"cg_dw":49.8212509,"cg_id_a":0.266862631,"cg_id_raw_a":0.0559895672,"cg_iq_a":-0.664104521,"cg_iq_raw_a":0.0420053452,"cg_iu_a":-1.70092678,"cg_iv_a":0.322860718,"cg_iw_a":1.37806606,"cg_sample_age_us":26.8163643,"cg_sample_seq":14625869,"cg_sample_valid":1,"cg_theta_rad":5.00748777,"cg_vd_req_v":0.0818843022,"cg_vd_v":0.0818843022,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308254749,"cg_vq_v":-0.308254749,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4598198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12470,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.127285,"cg_dv":50.1930923,"cg_dw":49.8069077,"cg_id_a":-0.086469233,"cg_id_raw_a":0.0971329212,"cg_iq_a":0.49364835,"cg_iq_raw_a":0.046764344,"cg_iu_a":-0.251173258,"cg_iv_a":0.0329101086,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9836369,"cg_sample_seq":14625916,"cg_sample_valid":1,"cg_theta_rad":5.00800323,"cg_vd_req_v":0.0880452469,"cg_vd_v":0.0880452469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333845437,"cg_vq_v":-0.333845437,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4598198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12457,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266136,"cg_dv":50.1916618,"cg_dw":49.8083382,"cg_id_a":-0.14504844,"cg_id_raw_a":-0.247728065,"cg_iq_a":0.213639498,"cg_iq_raw_a":-0.28008455,"cg_iu_a":-0.251173258,"cg_iv_a":-0.112065315,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9145451,"cg_sample_seq":14625966,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.08913178,"cg_vd_v":0.08913178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331005275,"cg_vq_v":-0.331005275,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4534302,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12462,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1261482,"cg_dv":50.1933098,"cg_dw":49.8066902,"cg_id_a":-0.0972111896,"cg_id_raw_a":0.309550494,"cg_iq_a":0.146439299,"cg_iq_raw_a":-0.187005028,"cg_iu_a":-0.106198072,"cg_iv_a":-0.583235025,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9763641,"cg_sample_seq":14626016,"cg_sample_valid":1,"cg_theta_rad":5.00862551,"cg_vd_req_v":0.0894841924,"cg_vd_v":0.0894841924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333413988,"cg_vq_v":-0.333413988,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.184782863,"dclink_p_w":26.7426357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1271744,"cg_dv":50.1946564,"cg_dw":49.8053436,"cg_id_a":-0.093931064,"cg_id_raw_a":-0.0553295836,"cg_iq_a":0.128961593,"cg_iq_raw_a":-0.113865674,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14626066,"cg_sample_valid":1,"cg_theta_rad":5.0085845,"cg_vd_req_v":0.089553155,"cg_vd_v":0.089553155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335936934,"cg_vq_v":-0.335936934,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2651.97125,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2651.971257,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2651.971262,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2651.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12450,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203041,"cg_dv":50.187355,"cg_dw":49.812645,"cg_id_a":0.0227440596,"cg_id_raw_a":0.0770599172,"cg_iq_a":-0.625779569,"cg_iq_raw_a":-0.173607945,"cg_iu_a":0.111264944,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9836369,"cg_sample_seq":14626116,"cg_sample_valid":1,"cg_theta_rad":5.00610352,"cg_vd_req_v":0.0887976736,"cg_vd_v":0.0887976736,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322948277,"cg_vq_v":-0.322948277,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":0.230087638,"dclink_p_w":33.2993546,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12470,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290627,"cg_dv":50.1890869,"cg_dw":49.8109131,"cg_id_a":0.310222358,"cg_id_raw_a":0.716833651,"cg_iq_a":-0.250366151,"cg_iq_raw_a":0.364795327,"cg_iu_a":0.0750212669,"cg_iv_a":1.4101758,"cg_iw_a":-1.48519707,"cg_sample_age_us":23.9872723,"cg_sample_seq":14626166,"cg_sample_valid":1,"cg_theta_rad":5.0068903,"cg_vd_req_v":0.0839818045,"cg_vd_v":0.0839818045,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330160767,"cg_vq_v":-0.330160767,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2651.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12460,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.132,"cg_dv":50.1937485,"cg_dw":49.8062515,"cg_id_a":0.213653833,"cg_id_raw_a":0.0294250492,"cg_iq_a":0.0860692412,"cg_iq_raw_a":0.513678908,"cg_iu_a":0.364971638,"cg_iv_a":0.612811446,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9872723,"cg_sample_seq":14626216,"cg_sample_valid":1,"cg_theta_rad":5.00638485,"cg_vd_req_v":0.0855239481,"cg_vd_v":0.0855239481,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337250918,"cg_vq_v":-0.337250918,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2651.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12458,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257629,"cg_dv":50.2007675,"cg_dw":49.7992325,"cg_id_a":-0.266115665,"cg_id_raw_a":-0.307748795,"cg_iq_a":0.293608904,"cg_iq_raw_a":-0.321362078,"cg_iu_a":0.763653994,"cg_iv_a":-0.220796704,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9618187,"cg_sample_seq":14626266,"cg_sample_valid":1,"cg_theta_rad":5.00806332,"cg_vd_req_v":0.0973048583,"cg_vd_v":0.0973048583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343254387,"cg_vq_v":-0.343254387,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.13911915,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319885,"cg_dv":50.1971016,"cg_dw":49.8028984,"cg_id_a":0.178260744,"cg_id_raw_a":0.875545442,"cg_iq_a":0.0714257061,"cg_iq_raw_a":-0.86419189,"cg_iu_a":0.509947062,"cg_iv_a":-0.112065196,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9727268,"cg_sample_seq":14626316,"cg_sample_valid":1,"cg_theta_rad":5.00800562,"cg_vd_req_v":0.0864778087,"cg_vd_v":0.0864778087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342395365,"cg_vq_v":-0.342395365,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2578,"hz_tim_isr":4999,"hz_vsense":2578,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4208984,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12458,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1239853,"cg_dv":50.1952057,"cg_dw":49.8047943,"cg_id_a":-0.164803118,"cg_id_raw_a":0.0302495025,"cg_iq_a":0.0848117173,"cg_iq_raw_a":-0.797273993,"cg_iu_a":-0.106198072,"cg_iv_a":-0.510747433,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9836369,"cg_sample_seq":14626466,"cg_sample_valid":1,"cg_theta_rad":5.00695801,"cg_vd_req_v":0.0915953517,"cg_vd_v":0.0915953517,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335165083,"cg_vq_v":-0.335165083,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12484,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203308,"cg_dv":50.1912231,"cg_dw":49.8087769,"cg_id_a":-0.0243718103,"cg_id_raw_a":-0.23482269,"cg_iq_a":-0.328362048,"cg_iq_raw_a":-0.237838715,"cg_iu_a":-0.287417173,"cg_iv_a":0.431592286,"cg_iw_a":-0.144175112,"cg_sample_age_us":23.9872723,"cg_sample_seq":14626516,"cg_sample_valid":1,"cg_theta_rad":5.00706196,"cg_vd_req_v":0.0879360661,"cg_vd_v":0.0879360661,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32842499,"cg_vq_v":-0.32842499,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.6935616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4286499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1247635,"cg_dv":50.1925087,"cg_dw":49.8074913,"cg_id_a":-0.149903968,"cg_id_raw_a":-0.0522670485,"cg_iq_a":-0.243969053,"cg_iq_raw_a":-0.368286282,"cg_iu_a":-1.01229405,"cg_iv_a":0.0329101086,"cg_iw_a":0.979383945,"cg_sample_age_us":23.9472733,"cg_sample_seq":14626566,"cg_sample_valid":1,"cg_theta_rad":5.00552702,"cg_vd_req_v":0.0886000767,"cg_vd_v":0.0886000767,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331867963,"cg_vq_v":-0.331867963,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0163704157,"dclink_p_w":-2.36920285,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281815,"cg_dv":50.1950111,"cg_dw":49.8049889,"cg_id_a":-0.150015026,"cg_id_raw_a":0.267683417,"cg_iq_a":0.112859935,"cg_iq_raw_a":0.24461022,"cg_iu_a":0.872385502,"cg_iv_a":0.141641498,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9836369,"cg_sample_seq":14626616,"cg_sample_valid":1,"cg_theta_rad":5.00694323,"cg_vd_req_v":0.0880532414,"cg_vd_v":0.0880532414,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33725974,"cg_vq_v":-0.33725974,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12432,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317368,"cg_dv":50.1896706,"cg_dw":49.8103294,"cg_id_a":0.1215882,"cg_id_raw_a":0.618611515,"cg_iq_a":-0.141844213,"cg_iq_raw_a":0.936336815,"cg_iu_a":0.401215553,"cg_iv_a":0.250373065,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9872723,"cg_sample_seq":14626667,"cg_sample_valid":1,"cg_theta_rad":5.00625134,"cg_vd_req_v":0.0815652534,"cg_vd_v":0.0815652534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331619292,"cg_vq_v":-0.331619292,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12472,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1313553,"cg_dv":50.1904335,"cg_dw":49.8095665,"cg_id_a":0.104837075,"cg_id_raw_a":-0.0207535159,"cg_iq_a":-0.0260290578,"cg_iq_raw_a":-0.0376384854,"cg_iu_a":0.111264944,"cg_iv_a":0.359104574,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.954546,"cg_sample_seq":14626716,"cg_sample_valid":1,"cg_theta_rad":5.00873852,"cg_vd_req_v":0.082072787,"cg_vd_v":0.082072787,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332571983,"cg_vq_v":-0.332571983,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310577,"cg_dv":50.1885185,"cg_dw":49.8114815,"cg_id_a":0.126731098,"cg_id_raw_a":-0.159178421,"cg_iq_a":-0.196784884,"cg_iq_raw_a":-0.779296219,"cg_iu_a":-0.396148682,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9872723,"cg_sample_seq":14626768,"cg_sample_valid":1,"cg_theta_rad":5.00604963,"cg_vd_req_v":0.0804303437,"cg_vd_v":0.0804303437,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330864966,"cg_vq_v":-0.330864966,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.4040623,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12467,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281509,"cg_dv":50.1901665,"cg_dw":49.8098335,"cg_id_a":0.0675941706,"cg_id_raw_a":0.167798653,"cg_iq_a":-0.157129556,"cg_iq_raw_a":0.197934225,"cg_iu_a":-0.323661089,"cg_iv_a":0.214129269,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.954546,"cg_sample_seq":14626817,"cg_sample_valid":1,"cg_theta_rad":5.00505829,"cg_vd_req_v":0.0819574073,"cg_vd_v":0.0819574073,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331004411,"cg_vq_v":-0.331004411,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12460,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1348801,"cg_dv":50.189621,"cg_dw":49.810379,"cg_id_a":0.315716922,"cg_id_raw_a":0.277386159,"cg_iq_a":-0.0874957591,"cg_iq_raw_a":-0.0829153657,"cg_iu_a":-0.541123867,"cg_iv_a":0.0691539049,"cg_iw_a":0.471969962,"cg_sample_age_us":26.8090916,"cg_sample_seq":14626870,"cg_sample_valid":1,"cg_theta_rad":5.00688696,"cg_vd_req_v":0.0765911862,"cg_vd_v":0.0765911862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333890498,"cg_vq_v":-0.333890498,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1238556,"cg_dv":50.1892052,"cg_dw":49.8107948,"cg_id_a":-0.153887391,"cg_id_raw_a":0.121531524,"cg_iq_a":-0.396707058,"cg_iq_raw_a":0.0124500999,"cg_iu_a":0.654922366,"cg_iv_a":-0.583235145,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9836369,"cg_sample_seq":14626917,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0861728266,"cg_vd_v":0.0861728266,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326845616,"cg_vq_v":-0.326845616,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344261,"cg_dv":50.1934776,"cg_dw":49.8065224,"cg_id_a":-0.11576324,"cg_id_raw_a":-0.462388188,"cg_iq_a":0.235313594,"cg_iq_raw_a":1.88549018,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860777,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9436359,"cg_sample_seq":14626967,"cg_sample_valid":1,"cg_theta_rad":5.00683975,"cg_vd_req_v":0.0828948468,"cg_vd_v":0.0828948468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338363618,"cg_vq_v":-0.338363618,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4302063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12455,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1274261,"cg_dv":50.1876106,"cg_dw":49.8123894,"cg_id_a":-0.0631356761,"cg_id_raw_a":-0.23144713,"cg_iq_a":-0.415311158,"cg_iq_raw_a":-0.677362025,"cg_iu_a":0.147508621,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.954546,"cg_sample_seq":14627017,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.0824930221,"cg_vd_v":0.0824930221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326505095,"cg_vq_v":-0.326505095,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258774,"cg_dv":50.1904716,"cg_dw":49.8095284,"cg_id_a":-0.160887569,"cg_id_raw_a":-0.256524116,"cg_iq_a":-0.196791366,"cg_iq_raw_a":0.231349528,"cg_iu_a":-0.106198072,"cg_iv_a":-0.728210449,"cg_iw_a":0.834408522,"cg_sample_age_us":23.8600006,"cg_sample_seq":14627067,"cg_sample_valid":1,"cg_theta_rad":5.00641489,"cg_vd_req_v":0.0854499042,"cg_vd_v":0.0854499042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329794407,"cg_vq_v":-0.329794407,"cg_vu_v":127.568848,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296501,"cg_dv":50.1971397,"cg_dw":49.8028603,"cg_id_a":-0.35533765,"cg_id_raw_a":-1.23586524,"cg_iq_a":0.321687043,"cg_iq_raw_a":-0.0813454092,"cg_iu_a":0.14750886,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8563633,"cg_sample_seq":14627116,"cg_sample_valid":1,"cg_theta_rad":5.00702381,"cg_vd_req_v":0.0896237642,"cg_vd_v":0.0896237642,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341915429,"cg_vq_v":-0.341915429,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.9876976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12439,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304283,"cg_dv":50.1909142,"cg_dw":49.8090858,"cg_id_a":-0.0407556482,"cg_id_raw_a":-0.00897397753,"cg_iq_a":-0.25831759,"cg_iq_raw_a":-0.364346057,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796824,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9327278,"cg_sample_seq":14627166,"cg_sample_valid":1,"cg_theta_rad":5.00660324,"cg_vd_req_v":0.0840935931,"cg_vd_v":0.0840935931,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332498312,"cg_vq_v":-0.332498312,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.9876976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6802979,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1251831,"cg_dv":50.1911926,"cg_dw":49.8088074,"cg_id_a":-0.0578856245,"cg_id_raw_a":0.588886559,"cg_iq_a":-0.343297631,"cg_iq_raw_a":0.418327659,"cg_iu_a":0.256240129,"cg_iv_a":0.0691539049,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.9472733,"cg_sample_seq":14627216,"cg_sample_valid":1,"cg_theta_rad":5.00649405,"cg_vd_req_v":0.0854770392,"cg_vd_v":0.0854770392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330706626,"cg_vq_v":-0.330706626,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.9876976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12455,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1324615,"cg_dv":50.1952362,"cg_dw":49.8047638,"cg_id_a":-0.0676584616,"cg_id_raw_a":-0.0833052471,"cg_iq_a":0.0121490881,"cg_iq_raw_a":0.17483972,"cg_iu_a":0.00253343582,"cg_iv_a":0.10539782,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9909096,"cg_sample_seq":14627266,"cg_sample_valid":1,"cg_theta_rad":5.00631189,"cg_vd_req_v":0.0854189023,"cg_vd_v":0.0854189023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339832932,"cg_vq_v":-0.339832932,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12440,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1273918,"cg_dv":50.1974068,"cg_dw":49.8025932,"cg_id_a":-0.315365642,"cg_id_raw_a":0.230117023,"cg_iq_a":0.0804836303,"cg_iq_raw_a":-0.887175798,"cg_iu_a":0.00253343582,"cg_iv_a":-0.981917143,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9872723,"cg_sample_seq":14627316,"cg_sample_valid":1,"cg_theta_rad":5.00810337,"cg_vd_req_v":0.0918593556,"cg_vd_v":0.0918593556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339853168,"cg_vq_v":-0.339853168,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1163673,"cg_dv":50.1929245,"cg_dw":49.8070755,"cg_id_a":-0.345444024,"cg_id_raw_a":-0.42196095,"cg_iq_a":-0.377393216,"cg_iq_raw_a":-0.727989614,"cg_iu_a":-0.0699543953,"cg_iv_a":0.105397701,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.8600006,"cg_sample_seq":14627371,"cg_sample_valid":1,"cg_theta_rad":5.00715065,"cg_vd_req_v":0.0933672115,"cg_vd_v":0.0933672115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328377813,"cg_vq_v":-0.328377813,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328964,"cg_dv":50.1917,"cg_dw":49.8083,"cg_id_a":0.197390601,"cg_id_raw_a":0.336845428,"cg_iq_a":0.00199098885,"cg_iq_raw_a":-0.0388926938,"cg_iu_a":-0.106198072,"cg_iv_a":0.685299158,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9799995,"cg_sample_seq":14627416,"cg_sample_valid":1,"cg_theta_rad":5.00868893,"cg_vd_req_v":0.0825904831,"cg_vd_v":0.0825904831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336113304,"cg_vq_v":-0.336113304,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295586,"cg_dv":50.1894798,"cg_dw":49.8105202,"cg_id_a":0.0672032833,"cg_id_raw_a":-0.0745694637,"cg_iq_a":-0.238794893,"cg_iq_raw_a":-0.334645808,"cg_iu_a":0.14750886,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.954546,"cg_sample_seq":14627466,"cg_sample_valid":1,"cg_theta_rad":5.00776768,"cg_vd_req_v":0.0838465691,"cg_vd_v":0.0838465691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32993716,"cg_vq_v":-0.32993716,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.4364014,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12425,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270523,"cg_dv":50.1927567,"cg_dw":49.8072433,"cg_id_a":-0.118611418,"cg_id_raw_a":0.162634224,"cg_iq_a":-0.103154063,"cg_iq_raw_a":-0.602037251,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8672733,"cg_sample_seq":14627516,"cg_sample_valid":1,"cg_theta_rad":5.0060215,"cg_vd_req_v":0.0888537541,"cg_vd_v":0.0888537541,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333005309,"cg_vq_v":-0.333005309,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12462,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1346779,"cg_dv":50.1944809,"cg_dw":49.8055191,"cg_id_a":0.205532938,"cg_id_raw_a":0.340227306,"cg_iq_a":0.130471259,"cg_iq_raw_a":0.142790347,"cg_iu_a":-0.251173258,"cg_iv_a":0.504079938,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9836369,"cg_sample_seq":14627566,"cg_sample_valid":1,"cg_theta_rad":5.0078516,"cg_vd_req_v":0.0826839954,"cg_vd_v":0.0826839954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339015931,"cg_vq_v":-0.339015931,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2652.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383095,"cg_dv":50.1974297,"cg_dw":49.8025703,"cg_id_a":0.07315512,"cg_id_raw_a":-0.00345255947,"cg_iq_a":0.235627115,"cg_iq_raw_a":0.000441898213,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065315,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9509087,"cg_sample_seq":14627616,"cg_sample_valid":1,"cg_theta_rad":5.00682926,"cg_vd_req_v":0.0859678611,"cg_vd_v":0.0859678611,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345355839,"cg_vq_v":-0.345355839,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6565247,"temp_inv2_c":35.427124,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12447,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295204,"cg_dv":50.1974602,"cg_dw":49.8025398,"cg_id_a":-0.106058151,"cg_id_raw_a":-0.0800980181,"cg_iq_a":-0.0271509215,"cg_iq_raw_a":-0.0794221386,"cg_iu_a":0.618678689,"cg_iv_a":-0.220796704,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9181824,"cg_sample_seq":14627667,"cg_sample_valid":1,"cg_theta_rad":5.00805569,"cg_vd_req_v":0.089106001,"cg_vd_v":0.089106001,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342522115,"cg_vq_v":-0.342522115,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1321945,"cg_dv":50.2002144,"cg_dw":49.7997856,"cg_id_a":-0.152815849,"cg_id_raw_a":-0.702213883,"cg_iq_a":0.195875868,"cg_iq_raw_a":0.73641783,"cg_iu_a":0.038777113,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8490906,"cg_sample_seq":14627716,"cg_sample_valid":1,"cg_theta_rad":5.00803804,"cg_vd_req_v":0.0895372555,"cg_vd_v":0.0895372555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347820699,"cg_vq_v":-0.347820699,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12487,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315231,"cg_dv":50.1975174,"cg_dw":49.8024826,"cg_id_a":-0.0484554842,"cg_id_raw_a":0.115352608,"cg_iq_a":-0.185870185,"cg_iq_raw_a":-0.352031559,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065256,"cg_iw_a":0.145775497,"cg_sample_age_us":23.9836369,"cg_sample_seq":14627767,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0890945196,"cg_vd_v":0.0890945196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342222303,"cg_vq_v":-0.342222303,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12460,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1424484,"cg_dv":50.2006035,"cg_dw":49.7993965,"cg_id_a":0.350165427,"cg_id_raw_a":-0.271911919,"cg_iq_a":0.189222038,"cg_iq_raw_a":-0.497966349,"cg_iu_a":-1.30224466,"cg_iv_a":0.0691540241,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9799995,"cg_sample_seq":14627817,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0819403231,"cg_vd_v":0.0819403231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352928072,"cg_vq_v":-0.352928072,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310272,"cg_dv":50.2073288,"cg_dw":49.7926712,"cg_id_a":-0.332074404,"cg_id_raw_a":-0.293729693,"cg_iq_a":0.0884025693,"cg_iq_raw_a":0.410300463,"cg_iu_a":0.256240368,"cg_iv_a":0.0691540241,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.8454552,"cg_sample_seq":14627869,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0971053392,"cg_vd_v":0.0971053392,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355803907,"cg_vq_v":-0.355803907,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.3074379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336632,"cg_dv":50.2010193,"cg_dw":49.7989807,"cg_id_a":0.0343945101,"cg_id_raw_a":-0.463151067,"cg_iq_a":-0.286922574,"cg_iq_raw_a":-0.916755617,"cg_iu_a":-0.359905005,"cg_iv_a":0.504079938,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14627916,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0895111114,"cg_vd_v":0.0895111114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348525286,"cg_vq_v":-0.348525286,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4116516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12477,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1353111,"cg_dv":50.2094345,"cg_dw":49.7905655,"cg_id_a":-0.196884677,"cg_id_raw_a":0.259040833,"cg_iq_a":0.273726702,"cg_iq_raw_a":0.570734859,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104633,"cg_iw_a":-0.180418968,"cg_sample_age_us":24.0418186,"cg_sample_seq":14627966,"cg_sample_valid":1,"cg_theta_rad":5.00775909,"cg_vd_req_v":0.0958858281,"cg_vd_v":0.0958858281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362210482,"cg_vq_v":-0.362210482,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4116516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12453,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342545,"cg_dv":50.2075653,"cg_dw":49.7924347,"cg_id_a":-0.261708885,"cg_id_raw_a":-0.125627965,"cg_iq_a":0.175480276,"cg_iq_raw_a":-0.885824323,"cg_iu_a":0.111264944,"cg_iv_a":-1.05440497,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9872723,"cg_sample_seq":14628016,"cg_sample_valid":1,"cg_theta_rad":5.0073266,"cg_vd_req_v":0.0973744467,"cg_vd_v":0.0973744467,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358398587,"cg_vq_v":-0.358398587,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4193726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440315,"cg_dv":50.2078514,"cg_dw":49.7921486,"cg_id_a":0.141477212,"cg_id_raw_a":0.141122982,"cg_iq_a":0.279380649,"cg_iq_raw_a":0.233718604,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9400005,"cg_sample_seq":14628066,"cg_sample_valid":1,"cg_theta_rad":5.00603914,"cg_vd_req_v":0.0904668048,"cg_vd_v":0.0904668048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363010287,"cg_vq_v":-0.363010287,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3884583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.130825,"cg_dv":50.1999397,"cg_dw":49.8000603,"cg_id_a":0.0778589621,"cg_id_raw_a":0.22830236,"cg_iq_a":-0.61129123,"cg_iq_raw_a":-0.450919718,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9872723,"cg_sample_seq":14628116,"cg_sample_valid":1,"cg_theta_rad":5.00791359,"cg_vd_req_v":0.0906015858,"cg_vd_v":0.0906015858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345493853,"cg_vq_v":-0.345493853,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.9090357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3884583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12479,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1519585,"cg_dv":50.2088165,"cg_dw":49.7911835,"cg_id_a":0.435982406,"cg_id_raw_a":0.764746368,"cg_iq_a":0.444114923,"cg_iq_raw_a":1.53647709,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539645,"cg_iw_a":0.363238394,"cg_sample_age_us":23.9472733,"cg_sample_seq":14628167,"cg_sample_valid":1,"cg_theta_rad":5.00918484,"cg_vd_req_v":0.0855237544,"cg_vd_v":0.0855237544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368718714,"cg_vq_v":-0.368718714,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4302063,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.144783,"cg_dv":50.2115707,"cg_dw":49.7884293,"cg_id_a":0.191215739,"cg_id_raw_a":0.768440783,"cg_iq_a":0.492743075,"cg_iq_raw_a":2.47739792,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.8563633,"cg_sample_seq":14628216,"cg_sample_valid":1,"cg_theta_rad":5.00746012,"cg_vd_req_v":0.0913849175,"cg_vd_v":0.0913849175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369009554,"cg_vq_v":-0.369009554,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.152163386,"dclink_p_w":21.9548569,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12442,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1527328,"cg_dv":50.2106552,"cg_dw":49.7893448,"cg_id_a":0.447422236,"cg_id_raw_a":0.366930485,"cg_iq_a":0.502275229,"cg_iq_raw_a":0.292447329,"cg_iu_a":0.799897909,"cg_iv_a":0.39534831,"cg_iw_a":1.37806571,"cg_sample_age_us":23.954546,"cg_sample_seq":14628266,"cg_sample_valid":1,"cg_theta_rad":5.00618172,"cg_vd_req_v":0.0860660002,"cg_vd_v":0.0860660002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372991204,"cg_vq_v":-0.372991204,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.150351167,"dclink_p_w":21.7595215,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12464,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1458626,"cg_dv":50.2072067,"cg_dw":49.7927933,"cg_id_a":0.278081208,"cg_id_raw_a":-0.165072575,"cg_iq_a":0.0272779614,"cg_iq_raw_a":-0.707402229,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8563633,"cg_sample_seq":14628316,"cg_sample_valid":1,"cg_theta_rad":5.00692749,"cg_vd_req_v":0.0875419006,"cg_vd_v":0.0875419006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364550114,"cg_vq_v":-0.364550114,"cg_vu_v":29.912693,"cg_vv_v":127.12896,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38777,"EncoderSin":12479,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350288,"cg_dv":50.209156,"cg_dw":49.790844,"cg_id_a":0.0375618115,"cg_id_raw_a":0.0665929466,"cg_iq_a":-0.105424114,"cg_iq_raw_a":0.915696979,"cg_iu_a":0.00253343582,"cg_iv_a":-0.945673347,"cg_iw_a":0.943139911,"cg_sample_age_us":23.863636,"cg_sample_seq":14628371,"cg_sample_valid":1,"cg_theta_rad":5.00597382,"cg_vd_req_v":0.0925437883,"cg_vd_v":0.0925437883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361358494,"cg_vq_v":-0.361358494,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4085693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12447,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336021,"cg_dv":50.2131767,"cg_dw":49.7868233,"cg_id_a":-0.441082507,"cg_id_raw_a":-0.248996407,"cg_iq_a":-0.0636301786,"cg_iq_raw_a":-0.278957605,"cg_iu_a":0.546190977,"cg_iv_a":0.286616981,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9436359,"cg_sample_seq":14628416,"cg_sample_valid":1,"cg_theta_rad":5.00527716,"cg_vd_req_v":0.103129141,"cg_vd_v":0.103129141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364545107,"cg_vq_v":-0.364545107,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.8430595,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4116516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12468,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1420097,"cg_dv":50.2115288,"cg_dw":49.7884712,"cg_id_a":-0.0953930989,"cg_id_raw_a":0.173970178,"cg_iq_a":0.101812936,"cg_iq_raw_a":-0.491238862,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148309112,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14628466,"cg_sample_valid":1,"cg_theta_rad":5.00844812,"cg_vd_req_v":0.0965711176,"cg_vd_v":0.0965711176,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36661309,"cg_vq_v":-0.36661309,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.215711474,"dclink_p_w":-31.2187691,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4008179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.136528,"cg_dv":50.2056313,"cg_dw":49.7943687,"cg_id_a":0.0040095076,"cg_id_raw_a":0.0748072863,"cg_iq_a":-0.316991121,"cg_iq_raw_a":-0.355900645,"cg_iu_a":1.0536046,"cg_iv_a":0.540323853,"cg_iw_a":-1.59392846,"cg_sample_age_us":23.8600006,"cg_sample_seq":14628516,"cg_sample_valid":1,"cg_theta_rad":5.00534964,"cg_vd_req_v":0.0941717178,"cg_vd_v":0.0941717178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355769575,"cg_vq_v":-0.355769575,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4008179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295242,"cg_dv":50.2051201,"cg_dw":49.7948799,"cg_id_a":-0.171391845,"cg_id_raw_a":-0.240463227,"cg_iq_a":-0.371499538,"cg_iq_raw_a":-0.787986875,"cg_iu_a":0.546190977,"cg_iv_a":0.105397761,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9509087,"cg_sample_seq":14628566,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.0984181389,"cg_vd_v":0.0984181389,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351325452,"cg_vq_v":-0.351325452,"cg_vu_v":19.3552723,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.385376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332321,"cg_dv":50.2049408,"cg_dw":49.7950592,"cg_id_a":-0.183550045,"cg_id_raw_a":-0.182670847,"cg_iq_a":-0.0915998518,"cg_iq_raw_a":-0.308958948,"cg_iu_a":0.61867857,"cg_iv_a":-0.691966534,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8418179,"cg_sample_seq":14628716,"cg_sample_valid":1,"cg_theta_rad":5.00603008,"cg_vd_req_v":0.0956910029,"cg_vd_v":0.0956910029,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353075475,"cg_vq_v":-0.353075475,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12452,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294098,"cg_dv":50.2069626,"cg_dw":49.7930374,"cg_id_a":-0.332859933,"cg_id_raw_a":-0.173003852,"cg_iq_a":-0.00365078449,"cg_iq_raw_a":-0.198433056,"cg_iu_a":0.763653994,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9436359,"cg_sample_seq":14628766,"cg_sample_valid":1,"cg_theta_rad":5.00804949,"cg_vd_req_v":0.100152954,"cg_vd_v":0.100152954,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353809774,"cg_vq_v":-0.353809774,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4178467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12449,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1248283,"cg_dv":50.1950531,"cg_dw":49.8049469,"cg_id_a":0.0189603046,"cg_id_raw_a":0.0626451522,"cg_iq_a":-0.844838977,"cg_iq_raw_a":-0.029306246,"cg_iu_a":1.27106774,"cg_iv_a":0.612811446,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.8527279,"cg_sample_seq":14628816,"cg_sample_valid":1,"cg_theta_rad":5.00839472,"cg_vd_req_v":0.0927457288,"cg_vd_v":0.0927457288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334894538,"cg_vq_v":-0.334894538,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.11437988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4054565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315308,"cg_dv":50.2102623,"cg_dw":49.7897377,"cg_id_a":-0.339310139,"cg_id_raw_a":-0.524682343,"cg_iq_a":0.615139067,"cg_iq_raw_a":-0.267114311,"cg_iu_a":0.509947181,"cg_iv_a":0.322860718,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9509087,"cg_sample_seq":14628869,"cg_sample_valid":1,"cg_theta_rad":5.00672674,"cg_vd_req_v":0.100336,"cg_vd_v":0.100336,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361046463,"cg_vq_v":-0.361046463,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.11437988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12471,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416016,"cg_dv":50.206974,"cg_dw":49.793026,"cg_id_a":0.300988793,"cg_id_raw_a":0.299952984,"cg_iq_a":0.678076684,"cg_iq_raw_a":0.57498616,"cg_iu_a":-1.04853773,"cg_iv_a":-0.329528213,"cg_iw_a":1.37806594,"cg_sample_age_us":23.9836369,"cg_sample_seq":14628916,"cg_sample_valid":1,"cg_theta_rad":5.00565815,"cg_vd_req_v":0.0890101567,"cg_vd_v":0.0890101567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36223805,"cg_vq_v":-0.36223805,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.11437988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1324577,"cg_dv":50.1996155,"cg_dw":49.8003845,"cg_id_a":0.149287209,"cg_id_raw_a":-0.0795723274,"cg_iq_a":-0.103103638,"cg_iq_raw_a":-0.0799487978,"cg_iu_a":-0.0699543953,"cg_iv_a":0.685299098,"cg_iw_a":-0.615344703,"cg_sample_age_us":23.9581814,"cg_sample_seq":14628966,"cg_sample_valid":1,"cg_theta_rad":5.00835514,"cg_vd_req_v":0.0910060778,"cg_vd_v":0.0910060778,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346563101,"cg_vq_v":-0.346563101,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.11437988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4224548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12439,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1292229,"cg_dv":50.200592,"cg_dw":49.799408,"cg_id_a":-0.133140057,"cg_id_raw_a":-0.610731661,"cg_iq_a":-0.0680500343,"cg_iq_raw_a":-0.0274214968,"cg_iu_a":0.364971638,"cg_iv_a":-0.112065196,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14629016,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.0964387059,"cg_vd_v":0.0964387059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344404131,"cg_vq_v":-0.344404131,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.54793644,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12428,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1338997,"cg_dv":50.2065926,"cg_dw":49.7934074,"cg_id_a":-0.194838122,"cg_id_raw_a":-0.603935421,"cg_iq_a":0.454420418,"cg_iq_raw_a":0.521704078,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9472733,"cg_sample_seq":14629066,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0975829288,"cg_vd_v":0.0975829288,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355471164,"cg_vq_v":-0.355471164,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.0997312069,"dclink_p_w":-14.4335642,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.413208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.124527,"cg_dv":50.1999016,"cg_dw":49.8000984,"cg_id_a":-0.0229845569,"cg_id_raw_a":-0.000223679657,"cg_iq_a":-0.302300215,"cg_iq_raw_a":-0.254072487,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9436359,"cg_sample_seq":14629116,"cg_sample_valid":1,"cg_theta_rad":5.00835943,"cg_vd_req_v":0.0958239809,"cg_vd_v":0.0958239809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341833353,"cg_vq_v":-0.341833353,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12448,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344643,"cg_dv":50.205143,"cg_dw":49.794857,"cg_id_a":-0.0785118639,"cg_id_raw_a":-0.223923847,"cg_iq_a":0.27500537,"cg_iq_raw_a":0.305841088,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9618187,"cg_sample_seq":14629166,"cg_sample_valid":1,"cg_theta_rad":5.00649214,"cg_vd_req_v":0.0954815522,"cg_vd_v":0.0954815522,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353894383,"cg_vq_v":-0.353894383,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1245804,"cg_dv":50.1961365,"cg_dw":49.8038635,"cg_id_a":0.174648657,"cg_id_raw_a":0.214418873,"cg_iq_a":-0.393740028,"cg_iq_raw_a":-1.61710024,"cg_iu_a":-0.178685904,"cg_iv_a":0.431592286,"cg_iw_a":-0.252906382,"cg_sample_age_us":23.8563633,"cg_sample_seq":14629216,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0925657675,"cg_vd_v":0.0925657675,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337718159,"cg_vq_v":-0.337718159,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4100952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1217232,"cg_dv":50.198513,"cg_dw":49.801487,"cg_id_a":-0.0245208256,"cg_id_raw_a":0.211793795,"cg_iq_a":-0.265882999,"cg_iq_raw_a":-0.488571048,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065315,"cg_iw_a":0.47197032,"cg_sample_age_us":23.8745461,"cg_sample_seq":14629267,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.0970183387,"cg_vd_v":0.0970183387,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338281721,"cg_vq_v":-0.338281721,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.3101845,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12463,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1280632,"cg_dv":50.1987495,"cg_dw":49.8012505,"cg_id_a":0.162848175,"cg_id_raw_a":-0.00345076551,"cg_iq_a":0.109405376,"cg_iq_raw_a":0.000454973429,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397761,"cg_iw_a":0.326994836,"cg_sample_age_us":23.8563633,"cg_sample_seq":14629316,"cg_sample_valid":1,"cg_theta_rad":5.00493526,"cg_vd_req_v":0.0939577222,"cg_vd_v":0.0939577222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341691285,"cg_vq_v":-0.341691285,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12455,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151237,"cg_dv":50.1945648,"cg_dw":49.8054352,"cg_id_a":-0.0665627345,"cg_id_raw_a":-0.293985426,"cg_iq_a":-0.396511614,"cg_iq_raw_a":-0.71808964,"cg_iu_a":-0.0699543953,"cg_iv_a":0.359104633,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9509087,"cg_sample_seq":14629371,"cg_sample_valid":1,"cg_theta_rad":5.00980854,"cg_vd_req_v":0.0972617418,"cg_vd_v":0.0972617418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329536945,"cg_vq_v":-0.329536945,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4039307,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1235733,"cg_dv":50.1977615,"cg_dw":49.8022385,"cg_id_a":0.0414115451,"cg_id_raw_a":0.142166317,"cg_iq_a":0.123219207,"cg_iq_raw_a":-0.640942037,"cg_iu_a":0.328727961,"cg_iv_a":0.286616921,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9472733,"cg_sample_seq":14629416,"cg_sample_valid":1,"cg_theta_rad":5.00685883,"cg_vd_req_v":0.0947305337,"cg_vd_v":0.0947305337,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338325888,"cg_vq_v":-0.338325888,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12482,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222382,"cg_dv":50.2010078,"cg_dw":49.7989922,"cg_id_a":-0.0812686831,"cg_id_raw_a":-0.167031348,"cg_iq_a":0.202216804,"cg_iq_raw_a":0.166406661,"cg_iu_a":-0.178685904,"cg_iv_a":-0.112065196,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14629466,"cg_sample_valid":1,"cg_theta_rad":5.0069232,"cg_vd_req_v":0.0998896435,"cg_vd_v":0.0998896435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341712952,"cg_vq_v":-0.341712952,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.6113777,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12452,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218376,"cg_dv":50.2010765,"cg_dw":49.7989235,"cg_id_a":-0.201137438,"cg_id_raw_a":0.229206726,"cg_iq_a":0.135328323,"cg_iq_raw_a":-0.0124539603,"cg_iu_a":-0.0699541569,"cg_iv_a":0.431592345,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9872723,"cg_sample_seq":14629516,"cg_sample_valid":1,"cg_theta_rad":5.00649357,"cg_vd_req_v":0.101362005,"cg_vd_v":0.101362005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3423886,"cg_vq_v":-0.3423886,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.629879,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4116516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1303978,"cg_dv":50.2093048,"cg_dw":49.7906952,"cg_id_a":-0.16228278,"cg_id_raw_a":-0.0623516962,"cg_iq_a":0.831429422,"cg_iq_raw_a":-0.0417865738,"cg_iu_a":-0.686099529,"cg_iv_a":-1.48933077,"cg_iw_a":2.1754303,"cg_sample_age_us":23.9254551,"cg_sample_seq":14629566,"cg_sample_valid":1,"cg_theta_rad":5.00780678,"cg_vd_req_v":0.101943687,"cg_vd_v":0.101943687,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358636588,"cg_vq_v":-0.358636588,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4116516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12427,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.111084,"cg_dv":50.1961288,"cg_dw":49.8038712,"cg_id_a":-0.256933063,"cg_id_raw_a":-0.0866897479,"cg_iq_a":-0.487729043,"cg_iq_raw_a":-0.0083670551,"cg_iu_a":1.59726214,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9836369,"cg_sample_seq":14629616,"cg_sample_valid":1,"cg_theta_rad":5.00816154,"cg_vd_req_v":0.106491722,"cg_vd_v":0.106491722,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329085618,"cg_vq_v":-0.329085618,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4008179,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222496,"cg_dv":50.1994247,"cg_dw":49.8005753,"cg_id_a":0.0226483122,"cg_id_raw_a":0.0158306416,"cg_iq_a":-0.206828281,"cg_iq_raw_a":-0.398309559,"cg_iu_a":-0.39614892,"cg_iv_a":0.177885473,"cg_iw_a":0.218263447,"cg_sample_age_us":23.8563633,"cg_sample_seq":14629667,"cg_sample_valid":1,"cg_theta_rad":5.00712204,"cg_vd_req_v":0.0991191417,"cg_vd_v":0.0991191417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339340836,"cg_vq_v":-0.339340836,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38686,"EncoderSin":12441,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191216,"cg_dv":50.1974411,"cg_dw":49.8025589,"cg_id_a":-0.101213604,"cg_id_raw_a":-0.0697465986,"cg_iq_a":-0.282173276,"cg_iq_raw_a":0.0297539532,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.8454552,"cg_sample_seq":14629717,"cg_sample_valid":1,"cg_theta_rad":5.00801802,"cg_vd_req_v":0.101779431,"cg_vd_v":0.101779431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334240854,"cg_vq_v":-0.334240854,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186714,"cg_dv":50.1926956,"cg_dw":49.8073044,"cg_id_a":0.123379886,"cg_id_raw_a":-0.229840562,"cg_iq_a":-0.378552347,"cg_iq_raw_a":-0.677908838,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9763641,"cg_sample_seq":14629767,"cg_sample_valid":1,"cg_theta_rad":5.00694942,"cg_vd_req_v":0.0950856805,"cg_vd_v":0.0950856805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32827878,"cg_vq_v":-0.32827878,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12451,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256065,"cg_dv":50.1962509,"cg_dw":49.8037491,"cg_id_a":0.110169381,"cg_id_raw_a":0.332285285,"cg_iq_a":0.120957017,"cg_iq_raw_a":0.216481283,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129329,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.954546,"cg_sample_seq":14629817,"cg_sample_valid":1,"cg_theta_rad":5.00581026,"cg_vd_req_v":0.093336679,"cg_vd_v":0.093336679,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336948693,"cg_vq_v":-0.336948693,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":78.7407684,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12485,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1232147,"cg_dv":50.1993866,"cg_dw":49.8006134,"cg_id_a":0.0658088624,"cg_id_raw_a":0.385174125,"cg_iq_a":0.215857968,"cg_iq_raw_a":0.581559241,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14629867,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.0950565636,"cg_vd_v":0.0950565636,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341879487,"cg_vq_v":-0.341879487,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12435,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.12994,"cg_dv":50.1939659,"cg_dw":49.8060341,"cg_id_a":0.247076526,"cg_id_raw_a":-0.521981537,"cg_iq_a":-0.0393609107,"cg_iq_raw_a":0.528970718,"cg_iu_a":-0.251173496,"cg_iv_a":1.08398128,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9836369,"cg_sample_seq":14630017,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0891477466,"cg_vd_v":0.0891477466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335915327,"cg_vq_v":-0.335915327,"cg_vu_v":137.246475,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00407873653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12468,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210365,"cg_dv":50.2001839,"cg_dw":49.7998161,"cg_id_a":-0.223504603,"cg_id_raw_a":-0.274024546,"cg_iq_a":0.107461259,"cg_iq_raw_a":0.193172455,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772128,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9618187,"cg_sample_seq":14630067,"cg_sample_valid":1,"cg_theta_rad":5.0080843,"cg_vd_req_v":0.0988112688,"cg_vd_v":0.0988112688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340273649,"cg_vq_v":-0.340273649,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12450,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286201,"cg_dv":50.1957664,"cg_dw":49.8042336,"cg_id_a":0.288851976,"cg_id_raw_a":0.156486452,"cg_iq_a":-0.0344548784,"cg_iq_raw_a":0.0882283449,"cg_iu_a":-0.541124105,"cg_iv_a":0.431592286,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9763641,"cg_sample_seq":14630117,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.0879888162,"cg_vd_v":0.0879888162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338651597,"cg_vq_v":-0.338651597,"cg_vu_v":115.69175,"cg_vv_v":129.768311,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.1158142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.399292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255302,"cg_dv":50.1963348,"cg_dw":49.8036652,"cg_id_a":0.216760516,"cg_id_raw_a":0.341203064,"cg_iq_a":-0.0425780565,"cg_iq_raw_a":0.140442207,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14630167,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0895924196,"cg_vd_v":0.0895924196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338071972,"cg_vq_v":-0.338071972,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.1158142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12469,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.127594,"cg_dv":50.1968918,"cg_dw":49.8031082,"cg_id_a":0.0810995698,"cg_id_raw_a":0.0798853412,"cg_iq_a":0.163160384,"cg_iq_raw_a":0.00832707807,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14630216,"cg_sample_valid":1,"cg_theta_rad":5.00757313,"cg_vd_req_v":0.090137206,"cg_vd_v":0.090137206,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339547873,"cg_vq_v":-0.339547873,"cg_vu_v":23.7541981,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.1158142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336174,"cg_dv":50.1955528,"cg_dw":49.8044472,"cg_id_a":0.293497235,"cg_id_raw_a":0.223250687,"cg_iq_a":0.239201725,"cg_iq_raw_a":-0.377719939,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9509087,"cg_sample_seq":14630266,"cg_sample_valid":1,"cg_theta_rad":5.00665951,"cg_vd_req_v":0.0857438147,"cg_vd_v":0.0857438147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340681076,"cg_vq_v":-0.340681076,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.53284502,"dclink_p_w":-77.1158142,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12462,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297951,"cg_dv":50.191555,"cg_dw":49.808445,"cg_id_a":0.30772382,"cg_id_raw_a":0.396583825,"cg_iq_a":-0.169791728,"cg_iq_raw_a":-0.433722585,"cg_iu_a":-0.0337104797,"cg_iv_a":0.286616921,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9181824,"cg_sample_seq":14630316,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0845388845,"cg_vd_v":0.0845388845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333180606,"cg_vq_v":-0.333180606,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12501,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262474,"cg_dv":50.1940422,"cg_dw":49.8059578,"cg_id_a":0.00727332383,"cg_id_raw_a":-0.210729495,"cg_iq_a":0.00145251304,"cg_iq_raw_a":0.417875439,"cg_iu_a":-0.0337102413,"cg_iv_a":0.467836142,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.9618187,"cg_sample_seq":14630366,"cg_sample_valid":1,"cg_theta_rad":5.00574875,"cg_vd_req_v":0.0883082896,"cg_vd_v":0.0883082896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334949225,"cg_vq_v":-0.334949225,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.5048332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00271915761,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12468,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343803,"cg_dv":50.2002869,"cg_dw":49.7997131,"cg_id_a":0.0754649192,"cg_id_raw_a":0.926066518,"cg_iq_a":0.643674076,"cg_iq_raw_a":1.57627833,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":26.823637,"cg_sample_seq":14630421,"cg_sample_valid":1,"cg_theta_rad":5.006567,"cg_vd_req_v":0.086680755,"cg_vd_v":0.086680755,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348316818,"cg_vq_v":-0.348316818,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.5048332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12467,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249695,"cg_dv":50.1936684,"cg_dw":49.8063316,"cg_id_a":0.00581394136,"cg_id_raw_a":-0.214819804,"cg_iq_a":-0.198750213,"cg_iq_raw_a":0.235332236,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.8454552,"cg_sample_seq":14630466,"cg_sample_valid":1,"cg_theta_rad":5.00698137,"cg_vd_req_v":0.0894739404,"cg_vd_v":0.0894739404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334670842,"cg_vq_v":-0.334670842,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.5048332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12476,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1102486,"cg_dv":50.1886139,"cg_dw":49.8113861,"cg_id_a":-0.334013939,"cg_id_raw_a":-0.142382815,"cg_iq_a":-0.739705443,"cg_iq_raw_a":-0.304145336,"cg_iu_a":0.256240368,"cg_iv_a":0.685299039,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.8454552,"cg_sample_seq":14630516,"cg_sample_valid":1,"cg_theta_rad":5.00821781,"cg_vd_req_v":0.0966364592,"cg_vd_v":0.0966364592,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319377989,"cg_vq_v":-0.319377989,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.5048332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.115799,"cg_dv":50.1917458,"cg_dw":49.8082542,"cg_id_a":-0.180931836,"cg_id_raw_a":0.141622722,"cg_iq_a":-0.327719152,"cg_iq_raw_a":-0.20447503,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9654541,"cg_sample_seq":14630566,"cg_sample_valid":1,"cg_theta_rad":5.00552082,"cg_vd_req_v":0.0939276889,"cg_vd_v":0.0939276889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326097727,"cg_vq_v":-0.326097727,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.5048332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12457,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210403,"cg_dv":50.1912193,"cg_dw":49.8087807,"cg_id_a":-0.0714689642,"cg_id_raw_a":0.188307762,"cg_iq_a":-0.261174619,"cg_iq_raw_a":-0.635635316,"cg_iu_a":0.183752537,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14630616,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0926803723,"cg_vd_v":0.0926803723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327356189,"cg_vq_v":-0.327356189,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.311757684,"dclink_p_w":-45.1190224,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12427,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1271553,"cg_dv":50.1948318,"cg_dw":49.8051682,"cg_id_a":0.1270224,"cg_id_raw_a":0.851623058,"cg_iq_a":0.331863523,"cg_iq_raw_a":1.35887992,"cg_iu_a":0.364971876,"cg_iv_a":-0.365772009,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.8600006,"cg_sample_seq":14630666,"cg_sample_valid":1,"cg_theta_rad":5.00803661,"cg_vd_req_v":0.0897663012,"cg_vd_v":0.0897663012,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336159438,"cg_vq_v":-0.336159438,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3946533,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12437,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394005,"cg_dv":50.1876411,"cg_dw":49.8123589,"cg_id_a":0.792099357,"cg_id_raw_a":0.196906626,"cg_iq_a":0.212355778,"cg_iq_raw_a":-0.525734365,"cg_iu_a":-0.323661089,"cg_iv_a":0.322860777,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9872723,"cg_sample_seq":14630716,"cg_sample_valid":1,"cg_theta_rad":5.0078702,"cg_vd_req_v":0.0741420835,"cg_vd_v":0.0741420835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333046764,"cg_vq_v":-0.333046764,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3622131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12501,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336479,"cg_dv":50.1931877,"cg_dw":49.8068123,"cg_id_a":0.30083257,"cg_id_raw_a":0.412008226,"cg_iq_a":0.64953059,"cg_iq_raw_a":0.478465468,"cg_iu_a":-1.59219503,"cg_iv_a":-0.0758213997,"cg_iw_a":1.66801643,"cg_sample_age_us":23.9509087,"cg_sample_seq":14630766,"cg_sample_valid":1,"cg_theta_rad":5.00794172,"cg_vd_req_v":0.0835247412,"cg_vd_v":0.0835247412,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338547081,"cg_vq_v":-0.338547081,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.114228845,"dclink_p_w":-16.5819798,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3622131,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1227798,"cg_dv":50.1851311,"cg_dw":49.8148689,"cg_id_a":0.128664643,"cg_id_raw_a":-0.0331248119,"cg_iq_a":-0.261104524,"cg_iq_raw_a":-0.330396324,"cg_iu_a":-0.613611698,"cg_iv_a":0.721542954,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9254551,"cg_sample_seq":14630816,"cg_sample_valid":1,"cg_theta_rad":5.00552225,"cg_vd_req_v":0.0849763155,"cg_vd_v":0.0849763155,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321243137,"cg_vq_v":-0.321243137,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.6795158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4394836,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12455,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1289711,"cg_dv":50.1904755,"cg_dw":49.8095245,"cg_id_a":0.0805201381,"cg_id_raw_a":0.604720414,"cg_iq_a":0.209532216,"cg_iq_raw_a":0.644502461,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14630866,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.0852294937,"cg_vd_v":0.0852294937,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332044512,"cg_vq_v":-0.332044512,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.266452909,"dclink_p_w":-38.6795158,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12494,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.127243,"cg_dv":50.1843109,"cg_dw":49.8156891,"cg_id_a":0.445961952,"cg_id_raw_a":0.0545857735,"cg_iq_a":-0.284145474,"cg_iq_raw_a":0.988275111,"cg_iu_a":-0.14244175,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189182,"cg_sample_age_us":26.8199997,"cg_sample_seq":14630921,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.0767153576,"cg_vd_v":0.0767153576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321542829,"cg_vq_v":-0.321542829,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.306321144,"dclink_p_w":-44.332222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2652.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12506,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1312027,"cg_dv":50.1863174,"cg_dw":49.8136826,"cg_id_a":0.302337199,"cg_id_raw_a":0.311099321,"cg_iq_a":-0.115247488,"cg_iq_raw_a":-0.62381798,"cg_iu_a":-0.541124105,"cg_iv_a":0.177885413,"cg_iw_a":0.363238692,"cg_sample_age_us":23.954546,"cg_sample_seq":14630967,"cg_sample_valid":1,"cg_theta_rad":5.00731421,"cg_vd_req_v":0.0785962418,"cg_vd_v":0.0785962418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325740278,"cg_vq_v":-0.325740278,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.7738914,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2652.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12478,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296577,"cg_dv":50.1853905,"cg_dw":49.8146095,"cg_id_a":0.225490972,"cg_id_raw_a":0.170295849,"cg_iq_a":-0.0871585384,"cg_iq_raw_a":-0.0551320091,"cg_iu_a":0.0750210285,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8563633,"cg_sample_seq":14631016,"cg_sample_valid":1,"cg_theta_rad":5.00799131,"cg_vd_req_v":0.079029873,"cg_vd_v":0.079029873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324633747,"cg_vq_v":-0.324633747,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-0.33894062,"dclink_p_w":-49.0530663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12461,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1377907,"cg_dv":50.1920471,"cg_dw":49.8079529,"cg_id_a":0.211092934,"cg_id_raw_a":0.526680112,"cg_iq_a":0.494931728,"cg_iq_raw_a":0.816873074,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.8527279,"cg_sample_seq":14631067,"cg_sample_valid":1,"cg_theta_rad":5.00686979,"cg_vd_req_v":0.0785376132,"cg_vd_v":0.0785376132,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338391304,"cg_vq_v":-0.338391304,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2652.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12442,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1312904,"cg_dv":50.1928978,"cg_dw":49.8071022,"cg_id_a":-0.0542693883,"cg_id_raw_a":-0.0642802492,"cg_iq_a":0.195094734,"cg_iq_raw_a":0.39502573,"cg_iu_a":0.473703146,"cg_iv_a":-0.365772128,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9472733,"cg_sample_seq":14631117,"cg_sample_valid":1,"cg_theta_rad":5.00687122,"cg_vd_req_v":0.0858500376,"cg_vd_v":0.0858500376,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336634159,"cg_vq_v":-0.336634159,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.8450317,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12467,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1259995,"cg_dv":50.1943817,"cg_dw":49.8056183,"cg_id_a":-0.244813576,"cg_id_raw_a":-0.397093952,"cg_iq_a":0.103941336,"cg_iq_raw_a":0.980629981,"cg_iu_a":0.437459469,"cg_iv_a":0.21412921,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.9763641,"cg_sample_seq":14631167,"cg_sample_valid":1,"cg_theta_rad":5.00712013,"cg_vd_req_v":0.0915702879,"cg_vd_v":0.0915702879,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335629493,"cg_vq_v":-0.335629493,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.6342411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2652.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412964,"cg_dv":50.1953735,"cg_dw":49.8046265,"cg_id_a":0.366888523,"cg_id_raw_a":0.576236367,"cg_iq_a":0.555953741,"cg_iq_raw_a":-0.126075044,"cg_iu_a":-0.577367783,"cg_iv_a":-0.293284416,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9436359,"cg_sample_seq":14631217,"cg_sample_valid":1,"cg_theta_rad":5.00655937,"cg_vd_req_v":0.0784227252,"cg_vd_v":0.0784227252,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345012009,"cg_vq_v":-0.345012009,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2652.99523,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2652.995236,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2652.995242,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2652.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12445,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1265297,"cg_dv":50.1938248,"cg_dw":49.8061752,"cg_id_a":-0.319394946,"cg_id_raw_a":-0.346290588,"cg_iq_a":0.0508192331,"cg_iq_raw_a":0.475587219,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772009,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9509087,"cg_sample_seq":14631267,"cg_sample_valid":1,"cg_theta_rad":5.00697184,"cg_vd_req_v":0.0905312598,"cg_vd_v":0.0905312598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334101588,"cg_vq_v":-0.334101588,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.86254251,"dclink_p_w":124.831169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12476,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.126976,"cg_dv":50.1934433,"cg_dw":49.8065567,"cg_id_a":-0.268657506,"cg_id_raw_a":0.13756156,"cg_iq_a":-0.0805535093,"cg_iq_raw_a":0.487889379,"cg_iu_a":0.509947062,"cg_iv_a":-0.112065256,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9836369,"cg_sample_seq":14631317,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0888726413,"cg_vd_v":0.0888726413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334089428,"cg_vq_v":-0.334089428,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.795491457,"dclink_p_w":115.127228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306534,"cg_dv":50.1923447,"cg_dw":49.8076553,"cg_id_a":-0.0704763308,"cg_id_raw_a":-0.2222846,"cg_iq_a":-0.015147849,"cg_iq_raw_a":-0.566690683,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395774841,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.954546,"cg_sample_seq":14631367,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0841902569,"cg_vd_v":0.0841902569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335928828,"cg_vq_v":-0.335928828,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.795491457,"dclink_p_w":115.127228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2573,"hz_tim_isr":5001,"hz_vsense":2573,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.4070129,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12485,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258774,"cg_dv":50.1924934,"cg_dw":49.8075066,"cg_id_a":-0.232842892,"cg_id_raw_a":-0.391992062,"cg_iq_a":-0.0210072622,"cg_iq_raw_a":0.109665491,"cg_iu_a":0.292484283,"cg_iv_a":0.250373125,"cg_iw_a":-0.542857409,"cg_sample_age_us":23.8563633,"cg_sample_seq":14631421,"cg_sample_valid":1,"cg_theta_rad":5.00833559,"cg_vd_req_v":0.0873565301,"cg_vd_v":0.0873565301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333644122,"cg_vq_v":-0.333644122,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.775557339,"dclink_p_w":112.583435,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4054565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38772,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233559,"cg_dv":50.1934471,"cg_dw":49.8065529,"cg_id_a":-0.208376765,"cg_id_raw_a":-0.235866562,"cg_iq_a":-0.0560701117,"cg_iq_raw_a":0.0171068683,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8672733,"cg_sample_seq":14631466,"cg_sample_valid":1,"cg_theta_rad":5.00568962,"cg_vd_req_v":0.0874059424,"cg_vd_v":0.0874059424,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334300578,"cg_vq_v":-0.334300578,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":107.322113,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4054565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12454,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1375961,"cg_dv":50.1968613,"cg_dw":49.8031387,"cg_id_a":0.0358715989,"cg_id_raw_a":0.271423161,"cg_iq_a":0.641539037,"cg_iq_raw_a":0.426991493,"cg_iu_a":0.727410316,"cg_iv_a":0.540323734,"cg_iw_a":-1.26773405,"cg_sample_age_us":23.9799995,"cg_sample_seq":14631516,"cg_sample_valid":1,"cg_theta_rad":5.00603724,"cg_vd_req_v":0.0824374482,"cg_vd_v":0.0824374482,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345048577,"cg_vq_v":-0.345048577,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":107.322113,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12449,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1330605,"cg_dv":50.1979866,"cg_dw":49.8020134,"cg_id_a":-0.230846256,"cg_id_raw_a":-0.450255483,"cg_iq_a":0.332048506,"cg_iq_raw_a":-0.371560961,"cg_iu_a":-0.468636513,"cg_iv_a":0.105397761,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9763641,"cg_sample_seq":14631566,"cg_sample_valid":1,"cg_theta_rad":5.00636721,"cg_vd_req_v":0.0885402411,"cg_vd_v":0.0885402411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343674392,"cg_vq_v":-0.343674392,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":107.322113,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12456,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385193,"cg_dv":50.1892128,"cg_dw":49.8107872,"cg_id_a":0.236657888,"cg_id_raw_a":-0.417238563,"cg_iq_a":0.0484816134,"cg_iq_raw_a":0.759837866,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9654541,"cg_sample_seq":14631616,"cg_sample_valid":1,"cg_theta_rad":5.00845242,"cg_vd_req_v":0.0766200721,"cg_vd_v":0.0766200721,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334626496,"cg_vq_v":-0.334626496,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":0.739313483,"dclink_p_w":107.322113,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12481,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332741,"cg_dv":50.1972389,"cg_dw":49.8027611,"cg_id_a":-0.141297936,"cg_id_raw_a":0.3820512,"cg_iq_a":0.423217356,"cg_iq_raw_a":-0.289939046,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.8745461,"cg_sample_seq":14631666,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0871547237,"cg_vd_v":0.0871547237,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34401685,"cg_vq_v":-0.34401685,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":0.523662686,"dclink_p_w":75.7869034,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12471,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1337662,"cg_dv":50.1936684,"cg_dw":49.8063316,"cg_id_a":0.109851502,"cg_id_raw_a":0.405930817,"cg_iq_a":0.0750240088,"cg_iq_raw_a":-0.324549615,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9618187,"cg_sample_seq":14631717,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0828252137,"cg_vd_v":0.0828252137,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339531034,"cg_vq_v":-0.339531034,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":0.416743398,"dclink_p_w":60.4963684,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1407013,"cg_dv":50.1954002,"cg_dw":49.8045998,"cg_id_a":0.222484708,"cg_id_raw_a":-0.295526803,"cg_iq_a":0.432260156,"cg_iq_raw_a":0.409007967,"cg_iu_a":-0.287417173,"cg_iv_a":0.105397701,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14631766,"cg_sample_valid":1,"cg_theta_rad":5.00707912,"cg_vd_req_v":0.079718709,"cg_vd_v":0.079718709,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345635176,"cg_vq_v":-0.345635176,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.538160205,"dclink_p_w":78.121788,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.391571,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12456,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306343,"cg_dv":50.1915894,"cg_dw":49.8084106,"cg_id_a":0.0747770071,"cg_id_raw_a":0.263830781,"cg_iq_a":-0.110656917,"cg_iq_raw_a":0.0627247319,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8454552,"cg_sample_seq":14631817,"cg_sample_valid":1,"cg_theta_rad":5.00884533,"cg_vd_req_v":0.0834431797,"cg_vd_v":0.0834431797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33381474,"cg_vq_v":-0.33381474,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.538160205,"dclink_p_w":78.121788,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3807373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.132946,"cg_dv":50.1940269,"cg_dw":49.8059731,"cg_id_a":0.00551491231,"cg_id_raw_a":0.307435244,"cg_iq_a":0.128760904,"cg_iq_raw_a":-0.806527853,"cg_iu_a":0.546190858,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9727268,"cg_sample_seq":14631867,"cg_sample_valid":1,"cg_theta_rad":5.00715351,"cg_vd_req_v":0.0846453533,"cg_vd_v":0.0846453533,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338267058,"cg_vq_v":-0.338267058,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.538160205,"dclink_p_w":78.121788,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3807373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12449,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249084,"cg_dv":50.1908264,"cg_dw":49.8091736,"cg_id_a":-0.188064903,"cg_id_raw_a":0.18036671,"cg_iq_a":0.0562229156,"cg_iq_raw_a":0.0551661029,"cg_iu_a":0.292484045,"cg_iv_a":1.15646899,"cg_iw_a":-1.44895303,"cg_sample_age_us":24.7254543,"cg_sample_seq":14631920,"cg_sample_valid":1,"cg_theta_rad":5.0072732,"cg_vd_req_v":0.0881040618,"cg_vd_v":0.0881040618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329327703,"cg_vq_v":-0.329327703,"cg_vu_v":6.59838867,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.514601707,"dclink_p_w":74.4755554,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12449,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277237,"cg_dv":50.1856918,"cg_dw":49.8143082,"cg_id_a":0.178394735,"cg_id_raw_a":0.450274229,"cg_iq_a":-0.0822878107,"cg_iq_raw_a":-0.755709887,"cg_iu_a":-0.251173258,"cg_iv_a":0.214129269,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9181824,"cg_sample_seq":14631966,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0808939487,"cg_vd_v":0.0808939487,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323940724,"cg_vq_v":-0.323940724,"cg_vu_v":6.59838867,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.514601707,"dclink_p_w":74.4755554,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38680,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1228638,"cg_dv":50.1845207,"cg_dw":49.8154793,"cg_id_a":-0.0841452926,"cg_id_raw_a":0.188035578,"cg_iq_a":-0.143480748,"cg_iq_raw_a":-1.1818558,"cg_iu_a":-0.14244175,"cg_iv_a":-0.293284416,"cg_iw_a":0.435726166,"cg_sample_age_us":24.8309097,"cg_sample_seq":14632016,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.0866949782,"cg_vd_v":0.0866949782,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319821328,"cg_vq_v":-0.319821328,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.719379365,"dclink_p_w":104.428383,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3930969,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12441,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1182404,"cg_dv":50.1814537,"cg_dw":49.8185463,"cg_id_a":-0.0256548077,"cg_id_raw_a":0.0938020051,"cg_iq_a":-0.248198882,"cg_iq_raw_a":-0.135786563,"cg_iu_a":-0.432392597,"cg_iv_a":0.250373125,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9509087,"cg_sample_seq":14632066,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0835563764,"cg_vd_v":0.0835563764,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314040422,"cg_vq_v":-0.314040422,"cg_vu_v":29.912693,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.762871981,"dclink_p_w":110.406387,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38780,"EncoderSin":12456,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210556,"cg_dv":50.185688,"cg_dw":49.814312,"cg_id_a":0.0985943377,"cg_id_raw_a":-0.291127771,"cg_iq_a":0.00191070884,"cg_iq_raw_a":0.667170227,"cg_iu_a":0.509947062,"cg_iv_a":0.794030547,"cg_iw_a":-1.30397761,"cg_sample_age_us":23.9509087,"cg_sample_seq":14632117,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0817718804,"cg_vd_v":0.0817718804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322363168,"cg_vq_v":-0.322363168,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.549033344,"dclink_p_w":79.7001801,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12474,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1185722,"cg_dv":50.1804161,"cg_dw":49.8195839,"cg_id_a":0.18744342,"cg_id_raw_a":0.395781428,"cg_iq_a":-0.345395416,"cg_iq_raw_a":0.00171556324,"cg_iu_a":-0.0699543953,"cg_iv_a":0.250373125,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9436359,"cg_sample_seq":14632266,"cg_sample_valid":1,"cg_theta_rad":5.00743008,"cg_vd_req_v":0.0813267156,"cg_vd_v":0.0813267156,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312053204,"cg_vq_v":-0.312053204,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12447,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1212234,"cg_dv":50.1774063,"cg_dw":49.8225937,"cg_id_a":0.311093718,"cg_id_raw_a":0.54767257,"cg_iq_a":-0.424257934,"cg_iq_raw_a":-0.711707056,"cg_iu_a":-0.178685665,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8600006,"cg_sample_seq":14632316,"cg_sample_valid":1,"cg_theta_rad":5.00760174,"cg_vd_req_v":0.0775985196,"cg_vd_v":0.0775985196,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310811311,"cg_vq_v":-0.310811311,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.19848728,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.377655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12439,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205215,"cg_dv":50.1825562,"cg_dw":49.8174438,"cg_id_a":0.088178128,"cg_id_raw_a":0.111248016,"cg_iq_a":-0.0822760016,"cg_iq_raw_a":-0.0975831002,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015805,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9509087,"cg_sample_seq":14632366,"cg_sample_valid":1,"cg_theta_rad":5.00832796,"cg_vd_req_v":0.0831642002,"cg_vd_v":0.0831642002,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316744268,"cg_vq_v":-0.316744268,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.9336796,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.377655,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12499,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1156349,"cg_dv":50.1841545,"cg_dw":49.8158455,"cg_id_a":0.0602870658,"cg_id_raw_a":-0.0921063647,"cg_iq_a":-0.230356544,"cg_iq_raw_a":0.501840949,"cg_iu_a":-0.0337104797,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8563633,"cg_sample_seq":14632421,"cg_sample_valid":1,"cg_theta_rad":5.00642729,"cg_vd_req_v":0.0868544728,"cg_vd_v":0.0868544728,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3156147,"cg_vq_v":-0.3156147,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3792114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38679,"EncoderSin":12463,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189957,"cg_dv":50.179985,"cg_dw":49.820015,"cg_id_a":0.0286483616,"cg_id_raw_a":0.269489646,"cg_iq_a":-0.615145802,"cg_iq_raw_a":-0.188896433,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9472733,"cg_sample_seq":14632466,"cg_sample_valid":1,"cg_theta_rad":5.00602293,"cg_vd_req_v":0.08469937,"cg_vd_v":0.08469937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310605288,"cg_vq_v":-0.310605288,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12470,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1208382,"cg_dv":50.1844063,"cg_dw":49.8155937,"cg_id_a":0.0689032152,"cg_id_raw_a":0.582186341,"cg_iq_a":-0.102402978,"cg_iq_raw_a":-0.201030165,"cg_iu_a":0.364971638,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9872723,"cg_sample_seq":14632516,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0823323131,"cg_vd_v":0.0823323131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319033086,"cg_vq_v":-0.319033086,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12491,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1244926,"cg_dv":50.187706,"cg_dw":49.812294,"cg_id_a":-0.0660584122,"cg_id_raw_a":-0.0457366519,"cg_iq_a":0.213152677,"cg_iq_raw_a":0.433332443,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9836369,"cg_sample_seq":14632566,"cg_sample_valid":1,"cg_theta_rad":5.00765848,"cg_vd_req_v":0.0848197192,"cg_vd_v":0.0848197192,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325006247,"cg_vq_v":-0.325006247,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3900146,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1299629,"cg_dv":50.181694,"cg_dw":49.818306,"cg_id_a":0.352988869,"cg_id_raw_a":0.121479578,"cg_iq_a":0.0805337727,"cg_iq_raw_a":0.0129463971,"cg_iu_a":0.00253343582,"cg_iv_a":1.19271266,"cg_iw_a":0.689433157,"cg_sample_age_us":23.9436359,"cg_sample_seq":14632616,"cg_sample_valid":1,"cg_theta_rad":5.00777578,"cg_vd_req_v":0.0756289288,"cg_vd_v":0.0756289288,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32071057,"cg_vq_v":-0.32071057,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38678,"EncoderSin":12474,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469879,"cg_dv":50.1952858,"cg_dw":49.8047142,"cg_id_a":0.231641099,"cg_id_raw_a":0.0351607874,"cg_iq_a":1.14316106,"cg_iq_raw_a":-0.359940618,"cg_iu_a":-1.19351292,"cg_iv_a":0.431592286,"cg_iw_a":0.761920631,"cg_sample_age_us":23.9181824,"cg_sample_seq":14632666,"cg_sample_valid":1,"cg_theta_rad":5.00796223,"cg_vd_req_v":0.0780297443,"cg_vd_v":0.0780297443,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348280996,"cg_vq_v":-0.348280996,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0452440977,"dclink_p_w":6.56783915,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1248055,"cg_dv":50.184021,"cg_dw":49.815979,"cg_id_a":0.0490242839,"cg_id_raw_a":0.127541944,"cg_iq_a":-0.367470324,"cg_iq_raw_a":-0.678508639,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8672733,"cg_sample_seq":14632716,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.0819751769,"cg_vd_v":0.0819751769,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320959687,"cg_vq_v":-0.320959687,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.101421952,"dclink_p_w":14.7228718,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12458,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411209,"cg_dv":50.1870956,"cg_dw":49.8129044,"cg_id_a":0.399683475,"cg_id_raw_a":-0.0356456973,"cg_iq_a":0.122125864,"cg_iq_raw_a":0.106384806,"cg_iu_a":-0.142441988,"cg_iv_a":0.214129329,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14632766,"cg_sample_valid":1,"cg_theta_rad":5.00633574,"cg_vd_req_v":0.0734534562,"cg_vd_v":0.0734534562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331958562,"cg_vq_v":-0.331958562,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.1427393,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2653.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12489,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308632,"cg_dv":50.1897545,"cg_dw":49.8102455,"cg_id_a":-0.00326625071,"cg_id_raw_a":0.16014488,"cg_iq_a":0.0642485768,"cg_iq_raw_a":0.270796329,"cg_iu_a":0.437459469,"cg_iv_a":0.359104633,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.954546,"cg_sample_seq":14632816,"cg_sample_valid":1,"cg_theta_rad":5.00812054,"cg_vd_req_v":0.0808047131,"cg_vd_v":0.0808047131,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331612587,"cg_vq_v":-0.331612587,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12473,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291428,"cg_dv":50.1826782,"cg_dw":49.8173218,"cg_id_a":0.143786132,"cg_id_raw_a":0.059506543,"cg_iq_a":-0.396205723,"cg_iq_raw_a":0.224829227,"cg_iu_a":0.0750210285,"cg_iv_a":0.721542954,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.8600006,"cg_sample_seq":14632866,"cg_sample_valid":1,"cg_theta_rad":5.00777817,"cg_vd_req_v":0.0751485601,"cg_vd_v":0.0751485601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321049839,"cg_vq_v":-0.321049839,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.170285344,"dclink_p_w":24.5695801,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12450,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1466751,"cg_dv":50.1861153,"cg_dw":49.8138847,"cg_id_a":0.656674206,"cg_id_raw_a":0.557475686,"cg_iq_a":0.415952832,"cg_iq_raw_a":0.963376045,"cg_iu_a":-0.649855614,"cg_iv_a":-0.220796824,"cg_iw_a":0.870652437,"cg_sample_age_us":26.812727,"cg_sample_seq":14632921,"cg_sample_valid":1,"cg_theta_rad":5.00740814,"cg_vd_req_v":0.064683415,"cg_vd_v":0.064683415,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33553049,"cg_vq_v":-0.33553049,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12471,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1300545,"cg_dv":50.191452,"cg_dw":49.808548,"cg_id_a":-0.344113648,"cg_id_raw_a":-0.218731001,"cg_iq_a":0.413082123,"cg_iq_raw_a":-0.384324044,"cg_iu_a":-0.251173258,"cg_iv_a":-0.293284297,"cg_iw_a":0.544457555,"cg_sample_age_us":23.8527279,"cg_sample_seq":14632966,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0838247314,"cg_vd_v":0.0838247314,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334364802,"cg_vq_v":-0.334364802,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.317072868,"dclink_p_w":45.8882599,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.4162903,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12469,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1305466,"cg_dv":50.1845436,"cg_dw":49.8154564,"cg_id_a":0.0465322882,"cg_id_raw_a":0.406824112,"cg_iq_a":0.131918848,"cg_iq_raw_a":0.110408731,"cg_iu_a":0.364971876,"cg_iv_a":0.0691539645,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.9872723,"cg_sample_seq":14633016,"cg_sample_valid":1,"cg_theta_rad":5.00640106,"cg_vd_req_v":0.0749137253,"cg_vd_v":0.0749137253,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325636655,"cg_vq_v":-0.325636655,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.871727,"control_outputs_enabled":1,"dclink_i_a":0.0325586796,"dclink_p_w":4.71204376,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333656,"cg_dv":50.1819992,"cg_dw":49.8180008,"cg_id_a":0.151016831,"cg_id_raw_a":0.420066714,"cg_iq_a":0.0334193632,"cg_iq_raw_a":-0.0317478515,"cg_iu_a":-0.0337102413,"cg_iv_a":0.322860718,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8563633,"cg_sample_seq":14633066,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.0717254728,"cg_vd_v":0.0717254728,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322364151,"cg_vq_v":-0.322364151,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12484,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1452141,"cg_dv":50.1854134,"cg_dw":49.8145866,"cg_id_a":0.480109632,"cg_id_raw_a":0.89065671,"cg_iq_a":0.555795968,"cg_iq_raw_a":0.994886339,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9290905,"cg_sample_seq":14633116,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.0652015656,"cg_vd_v":0.0652015656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333744466,"cg_vq_v":-0.333744466,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-37.922142,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3838196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12486,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1436386,"cg_dv":50.1891251,"cg_dw":49.8108749,"cg_id_a":0.249840036,"cg_id_raw_a":-0.141883478,"cg_iq_a":0.753285348,"cg_iq_raw_a":0.133210719,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.220796824,"cg_iw_a":0.290751219,"cg_sample_age_us":23.9618187,"cg_sample_seq":14633166,"cg_sample_valid":1,"cg_theta_rad":5.00729799,"cg_vd_req_v":0.0698124766,"cg_vd_v":0.0698124766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339038432,"cg_vq_v":-0.339038432,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-37.922142,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3838196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12447,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.136692,"cg_dv":50.1884766,"cg_dw":49.8115234,"cg_id_a":-0.014385283,"cg_id_raw_a":-0.473954141,"cg_iq_a":0.500304818,"cg_iq_raw_a":0.539052308,"cg_iu_a":-1.70092678,"cg_iv_a":-0.148309112,"cg_iw_a":1.84923589,"cg_sample_age_us":23.8563633,"cg_sample_seq":14633216,"cg_sample_valid":1,"cg_theta_rad":5.00662088,"cg_vd_req_v":0.0745108202,"cg_vd_v":0.0745108202,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333238125,"cg_vq_v":-0.333238125,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-37.922142,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12460,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315231,"cg_dv":50.1945915,"cg_dw":49.8054085,"cg_id_a":-0.510528982,"cg_id_raw_a":-0.606231511,"cg_iq_a":0.660553277,"cg_iq_raw_a":-0.714128673,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8490906,"cg_sample_seq":14633266,"cg_sample_valid":1,"cg_theta_rad":5.00675058,"cg_vd_req_v":0.0863670707,"cg_vd_v":0.0863670707,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33931008,"cg_vq_v":-0.33931008,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1235886,"cg_dv":50.1893883,"cg_dw":49.8106117,"cg_id_a":-0.468386829,"cg_id_raw_a":-0.978466928,"cg_iq_a":-0.181341544,"cg_iq_raw_a":-1.993168,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9690914,"cg_sample_seq":14633316,"cg_sample_valid":1,"cg_theta_rad":5.01005507,"cg_vd_req_v":0.0884818509,"cg_vd_v":0.0884818509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326434255,"cg_vq_v":-0.326434255,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.5732346,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12464,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1421394,"cg_dv":50.1933746,"cg_dw":49.8066254,"cg_id_a":0.192494303,"cg_id_raw_a":0.132196352,"cg_iq_a":0.537716568,"cg_iq_raw_a":-0.314094007,"cg_iu_a":-0.142441988,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9763641,"cg_sample_seq":14633366,"cg_sample_valid":1,"cg_theta_rad":5.00774431,"cg_vd_req_v":0.0762670338,"cg_vd_v":0.0762670338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342665672,"cg_vq_v":-0.342665672,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12458,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298981,"cg_dv":50.1876297,"cg_dw":49.8123703,"cg_id_a":0.0334791988,"cg_id_raw_a":0.965468943,"cg_iq_a":-0.332485229,"cg_iq_raw_a":-1.80105031,"cg_iu_a":0.437459469,"cg_iv_a":0.105397701,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.8709087,"cg_sample_seq":14633422,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0794620067,"cg_vd_v":0.0794620067,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32818985,"cg_vq_v":-0.32818985,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3807373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12444,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1354904,"cg_dv":50.1960411,"cg_dw":49.8039589,"cg_id_a":-0.22414273,"cg_id_raw_a":-0.395754009,"cg_iq_a":0.106722921,"cg_iq_raw_a":-0.0735640973,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8527279,"cg_sample_seq":14633566,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0839457065,"cg_vd_v":0.0839457065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343698561,"cg_vq_v":-0.343698561,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0127460957,"dclink_p_w":-1.84467435,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12441,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1449585,"cg_dv":50.1955719,"cg_dw":49.8044281,"cg_id_a":0.052168645,"cg_id_raw_a":0.38839519,"cg_iq_a":0.0793400779,"cg_iq_raw_a":0.0768842101,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14633616,"cg_sample_valid":1,"cg_theta_rad":5.00798273,"cg_vd_req_v":0.0781543106,"cg_vd_v":0.0781543106,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347903103,"cg_vq_v":-0.347903103,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.2579041,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3869019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12427,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1455307,"cg_dv":50.1971092,"cg_dw":49.8028908,"cg_id_a":-0.100032613,"cg_id_raw_a":0.131052807,"cg_iq_a":0.0735363886,"cg_iq_raw_a":0.123681784,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14633666,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0797076151,"cg_vd_v":0.0797076151,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350208163,"cg_vq_v":-0.350208163,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3838196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399155,"cg_dv":50.1942291,"cg_dw":49.8057709,"cg_id_a":-0.0186270457,"cg_id_raw_a":-0.193935618,"cg_iq_a":-0.33797431,"cg_iq_raw_a":-0.855460584,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263149,"cg_sample_age_us":23.954546,"cg_sample_seq":14633716,"cg_sample_valid":1,"cg_theta_rad":5.00783205,"cg_vd_req_v":0.0787409917,"cg_vd_v":0.0787409917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342603296,"cg_vq_v":-0.342603296,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3838196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460762,"cg_dv":50.206501,"cg_dw":49.793499,"cg_id_a":-0.355742872,"cg_id_raw_a":0.0938558653,"cg_iq_a":0.603801787,"cg_iq_raw_a":-0.135749325,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885473,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9472733,"cg_sample_seq":14633766,"cg_sample_valid":1,"cg_theta_rad":5.00736713,"cg_vd_req_v":0.085901916,"cg_vd_v":0.085901916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362728536,"cg_vq_v":-0.362728536,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-46.0453568,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12454,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1456795,"cg_dv":50.2000961,"cg_dw":49.7999039,"cg_id_a":-0.236022234,"cg_id_raw_a":-0.0373429805,"cg_iq_a":0.124402225,"cg_iq_raw_a":-0.0760990083,"cg_iu_a":-0.396148682,"cg_iv_a":-0.257040501,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9509087,"cg_sample_seq":14633816,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0835481063,"cg_vd_v":0.0835481063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352972746,"cg_vq_v":-0.352972746,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.230209112,"dclink_p_w":-33.3169327,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12443,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1433601,"cg_dv":50.1975479,"cg_dw":49.8024521,"cg_id_a":-0.222155154,"cg_id_raw_a":-0.617900193,"cg_iq_a":-0.0855519027,"cg_iq_raw_a":0.847281277,"cg_iu_a":0.401215792,"cg_iv_a":0.322860837,"cg_iw_a":-0.724076629,"cg_sample_age_us":23.9218178,"cg_sample_seq":14633866,"cg_sample_valid":1,"cg_theta_rad":5.00705671,"cg_vd_req_v":0.0819210261,"cg_vd_v":0.0819210261,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348431915,"cg_vq_v":-0.348431915,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38804,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416092,"cg_dv":50.1974602,"cg_dw":49.8025398,"cg_id_a":0.215658888,"cg_id_raw_a":0.550282061,"cg_iq_a":-0.0450069793,"cg_iq_raw_a":-0.101503849,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.148309112,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8563633,"cg_sample_seq":14633921,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0744077042,"cg_vd_v":0.0744077042,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350421011,"cg_vq_v":-0.350421011,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.385376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457901,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":-0.00387568027,"cg_id_raw_a":-0.110404499,"cg_iq_a":-0.000235632062,"cg_iq_raw_a":0.46362102,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747313,"cg_iw_a":0.471969962,"cg_sample_age_us":23.9763641,"cg_sample_seq":14633967,"cg_sample_valid":1,"cg_theta_rad":5.00665951,"cg_vd_req_v":0.0779568106,"cg_vd_v":0.0779568106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353108644,"cg_vq_v":-0.353108644,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.385376,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12465,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1480713,"cg_dv":50.2014351,"cg_dw":49.7985649,"cg_id_a":-0.0156596601,"cg_id_raw_a":-0.108221389,"cg_iq_a":0.126758546,"cg_iq_raw_a":0.645748317,"cg_iu_a":0.038777113,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9872723,"cg_sample_seq":14634017,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.079496026,"cg_vd_v":0.079496026,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356944054,"cg_vq_v":-0.356944054,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12445,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371117,"cg_dv":50.1972923,"cg_dw":49.8027077,"cg_id_a":-0.263812602,"cg_id_raw_a":-0.0625366792,"cg_iq_a":-0.399190307,"cg_iq_raw_a":-0.478543341,"cg_iu_a":0.944873095,"cg_iv_a":-0.438259721,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9872723,"cg_sample_seq":14634066,"cg_sample_valid":1,"cg_theta_rad":5.00770283,"cg_vd_req_v":0.0836859196,"cg_vd_v":0.0836859196,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345251411,"cg_vq_v":-0.345251411,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12509,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412926,"cg_dv":50.199894,"cg_dw":49.800106,"cg_id_a":-0.136591449,"cg_id_raw_a":-0.123819239,"cg_iq_a":-0.139715612,"cg_iq_raw_a":0.171659425,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539645,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9218178,"cg_sample_seq":14634116,"cg_sample_valid":1,"cg_theta_rad":5.00716305,"cg_vd_req_v":0.0806560963,"cg_vd_v":0.0806560963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351666391,"cg_vq_v":-0.351666391,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.51642513,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399498,"cg_dv":50.195076,"cg_dw":49.804924,"cg_id_a":-0.0233544484,"cg_id_raw_a":0.337388277,"cg_iq_a":-0.547944546,"cg_iq_raw_a":-0.476104885,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885413,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14634166,"cg_sample_valid":1,"cg_theta_rad":5.00690222,"cg_vd_req_v":0.0798115656,"cg_vd_v":0.0798115656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343713224,"cg_vq_v":-0.343713224,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-5.00707006,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110981919,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457672,"cg_dv":50.1968651,"cg_dw":49.8031349,"cg_id_a":0.0940891951,"cg_id_raw_a":0.67002964,"cg_iq_a":-0.245629162,"cg_iq_raw_a":-0.0074222954,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9472733,"cg_sample_seq":14634216,"cg_sample_valid":1,"cg_theta_rad":5.00677729,"cg_vd_req_v":0.0768227726,"cg_vd_v":0.0768227726,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35055992,"cg_vq_v":-0.35055992,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-5.00707006,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1443901,"cg_dv":50.2003746,"cg_dw":49.7996254,"cg_id_a":-0.0932540298,"cg_id_raw_a":0.218908593,"cg_iq_a":-0.0448439196,"cg_iq_raw_a":0.313016117,"cg_iu_a":0.546190977,"cg_iv_a":-0.112065196,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9799995,"cg_sample_seq":14634266,"cg_sample_valid":1,"cg_theta_rad":5.00771093,"cg_vd_req_v":0.0810560882,"cg_vd_v":0.0810560882,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354633272,"cg_vq_v":-0.354633272,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-5.00707006,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.632782,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12443,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1528587,"cg_dv":50.2019882,"cg_dw":49.7980118,"cg_id_a":0.0836776346,"cg_id_raw_a":-0.709036231,"cg_iq_a":0.237366244,"cg_iq_raw_a":0.550536454,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641557,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9618187,"cg_sample_seq":14634316,"cg_sample_valid":1,"cg_theta_rad":5.00683546,"cg_vd_req_v":0.0764934048,"cg_vd_v":0.0764934048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360334396,"cg_vq_v":-0.360334396,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.151989,"cg_dv":50.2096443,"cg_dw":49.7903557,"cg_id_a":-0.384984106,"cg_id_raw_a":-0.299230278,"cg_iq_a":0.499470413,"cg_iq_raw_a":-0.830306828,"cg_iu_a":-0.142441988,"cg_iv_a":-0.691966534,"cg_iw_a":0.834408522,"cg_sample_age_us":23.9472733,"cg_sample_seq":14634366,"cg_sample_valid":1,"cg_theta_rad":5.00665903,"cg_vd_req_v":0.0852737203,"cg_vd_v":0.0852737203,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370098054,"cg_vq_v":-0.370098054,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12457,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1571693,"cg_dv":50.2053909,"cg_dw":49.7946091,"cg_id_a":-0.0700168312,"cg_id_raw_a":-0.447525322,"cg_iq_a":0.248056173,"cg_iq_raw_a":0.428081274,"cg_iu_a":-0.39614892,"cg_iv_a":-0.00333368778,"cg_iw_a":0.399482608,"cg_sample_age_us":23.8745461,"cg_sample_seq":14634466,"cg_sample_valid":1,"cg_theta_rad":5.00703716,"cg_vd_req_v":0.0785685182,"cg_vd_v":0.0785685182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366923571,"cg_vq_v":-0.366923571,"cg_vu_v":26.8334465,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1546669,"cg_dv":50.2033234,"cg_dw":49.7966766,"cg_id_a":0.0358059183,"cg_id_raw_a":0.253512353,"cg_iq_a":0.086337477,"cg_iq_raw_a":-0.0472691655,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885413,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9581814,"cg_sample_seq":14634516,"cg_sample_valid":1,"cg_theta_rad":5.00778389,"cg_vd_req_v":0.0765475482,"cg_vd_v":0.0765475482,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364276409,"cg_vq_v":-0.364276409,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3761292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12427,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1542587,"cg_dv":50.2034264,"cg_dw":49.7965736,"cg_id_a":-0.00061083585,"cg_id_raw_a":-0.305049062,"cg_iq_a":0.0275555253,"cg_iq_raw_a":0.299542129,"cg_iu_a":0.437459469,"cg_iv_a":0.250373125,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9618187,"cg_sample_seq":14634566,"cg_sample_valid":1,"cg_theta_rad":5.00812244,"cg_vd_req_v":0.0759393126,"cg_vd_v":0.0759393126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364405215,"cg_vq_v":-0.364405215,"cg_vu_v":23.7541981,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.195655942,"dclink_p_w":28.4023075,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12448,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1609497,"cg_dv":50.2059021,"cg_dw":49.7940979,"cg_id_a":0.0573012158,"cg_id_raw_a":-0.0196837354,"cg_iq_a":0.0878016502,"cg_iq_raw_a":-0.47459203,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8600006,"cg_sample_seq":14634616,"cg_sample_valid":1,"cg_theta_rad":5.00688934,"cg_vd_req_v":0.0742439032,"cg_vd_v":0.0742439032,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370138824,"cg_vq_v":-0.370138824,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12454,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1574898,"cg_dv":50.2075195,"cg_dw":49.7924805,"cg_id_a":-0.149585605,"cg_id_raw_a":-0.903009057,"cg_iq_a":0.0830300748,"cg_iq_raw_a":-1.72863603,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0758213997,"cg_iw_a":0.906896114,"cg_sample_age_us":23.8527279,"cg_sample_seq":14634666,"cg_sample_valid":1,"cg_theta_rad":5.00660849,"cg_vd_req_v":0.0790524781,"cg_vd_v":0.0790524781,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370277852,"cg_vq_v":-0.370277852,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.7210732,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12447,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1595154,"cg_dv":50.2134247,"cg_dw":49.7865753,"cg_id_a":-0.124775276,"cg_id_raw_a":-0.135582045,"cg_iq_a":0.498437285,"cg_iq_raw_a":0.0601171218,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552848,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9509087,"cg_sample_seq":14634716,"cg_sample_valid":1,"cg_theta_rad":5.00759506,"cg_vd_req_v":0.0797979608,"cg_vd_v":0.0795156434,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380164623,"cg_vq_v":-0.379564703,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3745728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1565933,"cg_dv":50.2086945,"cg_dw":49.7913055,"cg_id_a":0.0261733457,"cg_id_raw_a":-0.236075982,"cg_iq_a":-0.15236114,"cg_iq_raw_a":0.0139216138,"cg_iu_a":-0.0337104797,"cg_iv_a":0.286616921,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8709087,"cg_sample_seq":14634766,"cg_sample_valid":1,"cg_theta_rad":5.00687075,"cg_vd_req_v":0.0771682039,"cg_vd_v":0.0771682039,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366947889,"cg_vq_v":-0.366947889,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.6275864,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3745728,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12471,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1722298,"cg_dv":50.2072792,"cg_dw":49.7927208,"cg_id_a":0.536233485,"cg_id_raw_a":-0.0418571047,"cg_iq_a":0.445190072,"cg_iq_raw_a":0.178802073,"cg_iu_a":-0.178685904,"cg_iv_a":0.39534837,"cg_iw_a":-0.216662467,"cg_sample_age_us":23.9581814,"cg_sample_seq":14634817,"cg_sample_valid":1,"cg_theta_rad":5.00688887,"cg_vd_req_v":0.0663120151,"cg_vd_v":0.0663120151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378423095,"cg_vq_v":-0.378423095,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3807373,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1532974,"cg_dv":50.2041168,"cg_dw":49.7958832,"cg_id_a":-0.013534762,"cg_id_raw_a":0.171625733,"cg_iq_a":-0.32807827,"cg_iq_raw_a":-0.492063105,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539645,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9618187,"cg_sample_seq":14634867,"cg_sample_valid":1,"cg_theta_rad":5.00781202,"cg_vd_req_v":0.0787513703,"cg_vd_v":0.0787513703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363357365,"cg_vq_v":-0.363357365,"cg_vu_v":130.208206,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.173909664,"dclink_p_w":25.1690159,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12441,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1623688,"cg_dv":50.2094307,"cg_dw":49.7905693,"cg_id_a":0.037443161,"cg_id_raw_a":0.0616285652,"cg_iq_a":0.286727071,"cg_iq_raw_a":0.407477081,"cg_iu_a":-0.359904766,"cg_iv_a":-0.365772009,"cg_iw_a":0.725676775,"cg_sample_age_us":23.9581814,"cg_sample_seq":14634917,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.0764900967,"cg_vd_v":0.0764900967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3757402,"cg_vq_v":-0.3757402,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.21612167,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12453,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1606903,"cg_dv":50.2134323,"cg_dw":49.7865677,"cg_id_a":-0.140670776,"cg_id_raw_a":0.184825733,"cg_iq_a":0.333541334,"cg_iq_raw_a":-0.199206695,"cg_iu_a":0.0750210285,"cg_iv_a":-0.25704062,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9581814,"cg_sample_seq":14634970,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0824242681,"cg_vd_v":0.0824242681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380076259,"cg_vq_v":-0.380076259,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.21612167,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3792114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12451,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.150444,"cg_dv":50.2085762,"cg_dw":49.7914238,"cg_id_a":-0.391701579,"cg_id_raw_a":-0.03150234,"cg_iq_a":-0.26685679,"cg_iq_raw_a":-0.330554962,"cg_iu_a":0.219996452,"cg_iv_a":-0.546991229,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8527279,"cg_sample_seq":14635016,"cg_sample_valid":1,"cg_theta_rad":5.00543118,"cg_vd_req_v":0.0874994099,"cg_vd_v":0.0874994099,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366119504,"cg_vq_v":-0.366119504,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0145581961,"dclink_p_w":-2.10052586,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2653.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1524429,"cg_dv":50.2097588,"cg_dw":49.7902412,"cg_id_a":-0.347599864,"cg_id_raw_a":-0.184762955,"cg_iq_a":0.0305581987,"cg_iq_raw_a":0.127603337,"cg_iu_a":1.12609231,"cg_iv_a":-0.873185635,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9509087,"cg_sample_seq":14635066,"cg_sample_valid":1,"cg_theta_rad":5.00847387,"cg_vd_req_v":0.0860913098,"cg_vd_v":0.0860913098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37026757,"cg_vq_v":-0.37026757,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0272436142,"dclink_p_w":-3.94282269,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12450,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1690941,"cg_dv":50.2084465,"cg_dw":49.7915535,"cg_id_a":0.448654056,"cg_id_raw_a":0.0838241801,"cg_iq_a":0.536203444,"cg_iq_raw_a":0.190667525,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9218178,"cg_sample_seq":14635116,"cg_sample_valid":1,"cg_theta_rad":5.00613928,"cg_vd_req_v":0.0684756488,"cg_vd_v":0.0684756488,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37850982,"cg_vq_v":-0.37850982,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.134162903,"dclink_p_w":-19.4166794,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12429,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.155735,"cg_dv":50.2031975,"cg_dw":49.7968025,"cg_id_a":-0.00268636644,"cg_id_raw_a":0.268508941,"cg_iq_a":-0.153865427,"cg_iq_raw_a":-0.190287888,"cg_iu_a":-0.14244175,"cg_iv_a":-0.184552908,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9836369,"cg_sample_seq":14635166,"cg_sample_valid":1,"cg_theta_rad":5.00612926,"cg_vd_req_v":0.0773117691,"cg_vd_v":0.0773117691,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364343792,"cg_vq_v":-0.364343792,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.130538464,"dclink_p_w":-18.8921337,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12484,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1540794,"cg_dv":50.2025223,"cg_dw":49.7974777,"cg_id_a":0.0225769524,"cg_id_raw_a":0.158418328,"cg_iq_a":-0.251889676,"cg_iq_raw_a":-0.347289354,"cg_iu_a":-0.359905005,"cg_iv_a":-0.220796704,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9618187,"cg_sample_seq":14635217,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0777457207,"cg_vd_v":0.0777457207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36138171,"cg_vq_v":-0.36138171,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3792114,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12433,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1546783,"cg_dv":50.2042656,"cg_dw":49.7957344,"cg_id_a":0.155199677,"cg_id_raw_a":0.0452598482,"cg_iq_a":0.0435217768,"cg_iq_raw_a":-0.0676021427,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641617,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9872723,"cg_sample_seq":14635267,"cg_sample_valid":1,"cg_theta_rad":5.00654793,"cg_vd_req_v":0.0770476907,"cg_vd_v":0.0770476907,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363339394,"cg_vq_v":-0.363339394,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.199401855,"dclink_p_w":-28.8583641,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2653.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12434,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486778,"cg_dv":50.2057533,"cg_dw":49.7942467,"cg_id_a":-0.159447163,"cg_id_raw_a":-0.332705677,"cg_iq_a":-0.124222532,"cg_iq_raw_a":-0.286766678,"cg_iu_a":-0.178685904,"cg_iv_a":0.141641557,"cg_iw_a":0.0370443463,"cg_sample_age_us":23.9654541,"cg_sample_seq":14635317,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.0843866989,"cg_vd_v":0.0843866989,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361717731,"cg_vq_v":-0.361717731,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2653.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.146637,"cg_dv":50.2054253,"cg_dw":49.7945747,"cg_id_a":-0.135716096,"cg_id_raw_a":-0.11112693,"cg_iq_a":-0.0320551097,"cg_iq_raw_a":0.463448137,"cg_iu_a":1.05360472,"cg_iv_a":-0.365772009,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.9763641,"cg_sample_seq":14635367,"cg_sample_valid":1,"cg_theta_rad":5.0078721,"cg_vd_req_v":0.0839401409,"cg_vd_v":0.0839401409,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360533267,"cg_vq_v":-0.360533267,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2653.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12444,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460724,"cg_dv":50.2117805,"cg_dw":49.7882195,"cg_id_a":-0.658712864,"cg_id_raw_a":-0.181539357,"cg_iq_a":0.309290558,"cg_iq_raw_a":-0.309625149,"cg_iu_a":0.14750886,"cg_iv_a":-0.402015924,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9618187,"cg_sample_seq":14635417,"cg_sample_valid":1,"cg_theta_rad":5.00700617,"cg_vd_req_v":0.0936618969,"cg_vd_v":0.0936618969,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369247586,"cg_vq_v":-0.369247586,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1603889,"cg_dv":50.1984749,"cg_dw":49.8015251,"cg_id_a":0.750702381,"cg_id_raw_a":0.180702433,"cg_iq_a":-0.0311055183,"cg_iq_raw_a":0.0540568866,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":26.8163643,"cg_sample_seq":14635470,"cg_sample_valid":1,"cg_theta_rad":5.00698233,"cg_vd_req_v":0.0659393072,"cg_vd_v":0.0659393072,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362273812,"cg_vq_v":-0.362273812,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.9930954,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2653.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12496,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1503258,"cg_dv":50.204998,"cg_dw":49.795002,"cg_id_a":0.113643304,"cg_id_raw_a":0.54171437,"cg_iq_a":0.14767544,"cg_iq_raw_a":0.924350739,"cg_iu_a":-0.50488019,"cg_iv_a":-0.510747433,"cg_iw_a":0.906896114,"cg_sample_age_us":23.8999996,"cg_sample_seq":14635517,"cg_sample_valid":1,"cg_theta_rad":5.00710487,"cg_vd_req_v":0.0796609372,"cg_vd_v":0.0796609372,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364544153,"cg_vq_v":-0.364544153,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.7335167,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3652954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.152523,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":0.0728305876,"cg_id_raw_a":0.516482055,"cg_iq_a":0.207077384,"cg_iq_raw_a":1.21247208,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065315,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9254551,"cg_sample_seq":14635566,"cg_sample_valid":1,"cg_theta_rad":5.00784302,"cg_vd_req_v":0.080334872,"cg_vd_v":0.080334872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369107932,"cg_vq_v":-0.369107932,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.150472641,"dclink_p_w":-21.7771015,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3652954,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1632004,"cg_dv":50.2078018,"cg_dw":49.7921982,"cg_id_a":0.434296966,"cg_id_raw_a":-0.330625892,"cg_iq_a":0.479471207,"cg_iq_raw_a":0.332337052,"cg_iu_a":-0.142441988,"cg_iv_a":0.177885413,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9763641,"cg_sample_seq":14635616,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.0744024441,"cg_vd_v":0.0744024441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373969764,"cg_vq_v":-0.373969764,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12463,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1528168,"cg_dv":50.2131805,"cg_dw":49.7868195,"cg_id_a":-0.0187325329,"cg_id_raw_a":0.289620996,"cg_iq_a":0.397443175,"cg_iq_raw_a":0.901934206,"cg_iu_a":0.582434654,"cg_iv_a":-0.25704062,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.8600006,"cg_sample_seq":14635666,"cg_sample_valid":1,"cg_theta_rad":5.00768614,"cg_vd_req_v":0.0844731182,"cg_vd_v":0.0844731182,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372454435,"cg_vq_v":-0.372454435,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12456,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1454353,"cg_dv":50.2122421,"cg_dw":49.7877579,"cg_id_a":-0.317994058,"cg_id_raw_a":-0.332659304,"cg_iq_a":0.20619677,"cg_iq_raw_a":0.152079046,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397761,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9618187,"cg_sample_seq":14635716,"cg_sample_valid":1,"cg_theta_rad":5.00665712,"cg_vd_req_v":0.0902745351,"cg_vd_v":0.0902745351,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370594352,"cg_vq_v":-0.370594352,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12483,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390991,"cg_dv":50.2117882,"cg_dw":49.7882118,"cg_id_a":-0.549239933,"cg_id_raw_a":0.0378275625,"cg_iq_a":0.0457822494,"cg_iq_raw_a":0.441448539,"cg_iu_a":0.14750886,"cg_iv_a":-0.945673347,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.8672733,"cg_sample_seq":14635766,"cg_sample_valid":1,"cg_theta_rad":5.00652027,"cg_vd_req_v":0.0968535915,"cg_vd_v":0.0968535915,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367106467,"cg_vq_v":-0.367106467,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.3189087,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3699341,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12442,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1326485,"cg_dv":50.2042351,"cg_dw":49.7957649,"cg_id_a":-0.512663901,"cg_id_raw_a":-0.140980363,"cg_iq_a":-0.624872983,"cg_iq_raw_a":-0.304798335,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9763641,"cg_sample_seq":14635816,"cg_sample_valid":1,"cg_theta_rad":5.00636435,"cg_vd_req_v":0.0958069041,"cg_vd_v":0.0958069041,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352844596,"cg_vq_v":-0.352844596,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-10.0053139,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428337,"cg_dv":50.2051926,"cg_dw":49.7948074,"cg_id_a":-0.0344055891,"cg_id_raw_a":0.399043024,"cg_iq_a":-0.175678372,"cg_iq_raw_a":-0.25239414,"cg_iu_a":0.256240368,"cg_iv_a":0.0691539645,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9581814,"cg_sample_seq":14635866,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0866149887,"cg_vd_v":0.0866149887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35926497,"cg_vq_v":-0.35926497,"cg_vu_v":38.2706528,"cg_vv_v":41.3499031,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.4129524,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12458,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510315,"cg_dv":50.2030907,"cg_dw":49.7969093,"cg_id_a":0.224574715,"cg_id_raw_a":-0.0742636845,"cg_iq_a":0.0389920324,"cg_iq_raw_a":0.28472361,"cg_iu_a":-0.541124105,"cg_iv_a":0.39534843,"cg_iw_a":0.145775676,"cg_sample_age_us":23.863636,"cg_sample_seq":14635916,"cg_sample_valid":1,"cg_theta_rad":5.0084343,"cg_vd_req_v":0.0801807418,"cg_vd_v":0.0801807418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360542655,"cg_vq_v":-0.360542655,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.4087067,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2653.955642,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2653.955648,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2653.955653,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2653.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12493,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398125,"cg_dv":50.2000046,"cg_dw":49.7999954,"cg_id_a":-0.0580882505,"cg_id_raw_a":-0.105573073,"cg_iq_a":-0.296300918,"cg_iq_raw_a":-0.48224628,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9836369,"cg_sample_seq":14635971,"cg_sample_valid":1,"cg_theta_rad":5.00653887,"cg_vd_req_v":0.0831934959,"cg_vd_v":0.0831934959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35069567,"cg_vq_v":-0.35069567,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.607144833,"dclink_p_w":-87.8688278,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12487,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390038,"cg_dv":50.2005234,"cg_dw":49.7994766,"cg_id_a":-0.0493727215,"cg_id_raw_a":-0.487982839,"cg_iq_a":-0.321579546,"cg_iq_raw_a":0.247929737,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8490906,"cg_sample_seq":14636017,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.0832815841,"cg_vd_v":0.0832815841,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35120365,"cg_vq_v":-0.35120365,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.6234741,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12446,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1441422,"cg_dv":50.2032776,"cg_dw":49.7967224,"cg_id_a":0.0724134296,"cg_id_raw_a":-0.148646489,"cg_iq_a":0.0167917386,"cg_iq_raw_a":-0.485702485,"cg_iu_a":-0.541123867,"cg_iv_a":0.467836082,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.9872723,"cg_sample_seq":14636066,"cg_sample_valid":1,"cg_theta_rad":5.00602627,"cg_vd_req_v":0.0821645558,"cg_vd_v":0.0821645558,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358900994,"cg_vq_v":-0.358900994,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2653.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12470,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1185226,"cg_dv":50.1958809,"cg_dw":49.8041191,"cg_id_a":-0.74832803,"cg_id_raw_a":-0.431677818,"cg_iq_a":-1.18379617,"cg_iq_raw_a":-0.585879087,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9836369,"cg_sample_seq":14636217,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0962700024,"cg_vd_v":0.0962700024,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333109319,"cg_vq_v":-0.333109319,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":75.2216263,"control_outputs_enabled":1,"dclink_i_a":-0.496601224,"dclink_p_w":-72.0888901,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12472,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1499405,"cg_dv":50.1954498,"cg_dw":49.8045502,"cg_id_a":0.518476844,"cg_id_raw_a":0.351499289,"cg_iq_a":-0.231526047,"cg_iq_raw_a":0.251827925,"cg_iu_a":-0.50488019,"cg_iv_a":2.35251522,"cg_iw_a":-1.84763515,"cg_sample_age_us":23.9618187,"cg_sample_seq":14636267,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0706908479,"cg_vd_v":0.0706908479,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350160301,"cg_vq_v":-0.350160301,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.33894062,"dclink_p_w":-49.0530663,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2653.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1427536,"cg_dv":50.2009621,"cg_dw":49.7990379,"cg_id_a":-0.114279889,"cg_id_raw_a":0.0176987313,"cg_iq_a":-0.0473195054,"cg_iq_raw_a":0.220918536,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9872723,"cg_sample_seq":14636317,"cg_sample_valid":1,"cg_theta_rad":5.00694847,"cg_vd_req_v":0.082359612,"cg_vd_v":0.082359612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353517503,"cg_vq_v":-0.353517503,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.4134674,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12468,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1446686,"cg_dv":50.1945496,"cg_dw":49.8054504,"cg_id_a":0.180026591,"cg_id_raw_a":0.134165913,"cg_iq_a":-0.209268928,"cg_iq_raw_a":-0.569041193,"cg_iu_a":-0.323661089,"cg_iv_a":-0.00333368778,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9290905,"cg_sample_seq":14636367,"cg_sample_valid":1,"cg_theta_rad":5.00670576,"cg_vd_req_v":0.0746098608,"cg_vd_v":0.0746098608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346958101,"cg_vq_v":-0.346958101,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5002,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2596,"hz_tim_isr":4999,"hz_vsense":2596,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12434,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388931,"cg_dv":50.1951256,"cg_dw":49.8048744,"cg_id_a":-0.0802518129,"cg_id_raw_a":-0.172828749,"cg_iq_a":-0.298025668,"cg_iq_raw_a":0.23950702,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.289150536,"cg_sample_age_us":23.9218178,"cg_sample_seq":14636416,"cg_sample_valid":1,"cg_theta_rad":5.00796795,"cg_vd_req_v":0.0794345662,"cg_vd_v":0.0794345662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344576746,"cg_vq_v":-0.344576746,"cg_vu_v":137.686371,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-73.1411591,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12482,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1356087,"cg_dv":50.2039871,"cg_dw":49.7960129,"cg_id_a":-0.519217074,"cg_id_raw_a":0.0290644038,"cg_iq_a":0.0705398321,"cg_iq_raw_a":-0.360484034,"cg_iu_a":0.328727961,"cg_iv_a":-0.728210449,"cg_iw_a":0.399482489,"cg_sample_age_us":26.8309097,"cg_sample_seq":14636470,"cg_sample_valid":1,"cg_theta_rad":5.0059576,"cg_vd_req_v":0.0892511308,"cg_vd_v":0.0892511308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354059279,"cg_vq_v":-0.354059279,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.5697403,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12460,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1520271,"cg_dv":50.1945877,"cg_dw":49.8054123,"cg_id_a":0.351763427,"cg_id_raw_a":0.245971054,"cg_iq_a":-0.0906665921,"cg_iq_raw_a":-0.593591452,"cg_iu_a":0.0750212669,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9654541,"cg_sample_seq":14636516,"cg_sample_valid":1,"cg_theta_rad":5.0058322,"cg_vd_req_v":0.0711290389,"cg_vd_v":0.0711290389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349568605,"cg_vq_v":-0.349568605,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1511841,"cg_dv":50.1984673,"cg_dw":49.8015327,"cg_id_a":0.236684456,"cg_id_raw_a":0.439204097,"cg_iq_a":0.287338138,"cg_iq_raw_a":0.441668451,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9581814,"cg_sample_seq":14636566,"cg_sample_valid":1,"cg_theta_rad":5.00677967,"cg_vd_req_v":0.0724047795,"cg_vd_v":0.0724047795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355014592,"cg_vq_v":-0.355014592,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12456,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1495476,"cg_dv":50.1933174,"cg_dw":49.8066826,"cg_id_a":0.367302924,"cg_id_raw_a":0.128739208,"cg_iq_a":-0.168397188,"cg_iq_raw_a":-0.0590725467,"cg_iu_a":-0.287417173,"cg_iv_a":0.612811446,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8600006,"cg_sample_seq":14636616,"cg_sample_valid":1,"cg_theta_rad":5.00645399,"cg_vd_req_v":0.0716856495,"cg_vd_v":0.0716856495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34647727,"cg_vq_v":-0.34647727,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12497,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.143383,"cg_dv":50.1934509,"cg_dw":49.8065491,"cg_id_a":0.119117625,"cg_id_raw_a":-0.178500101,"cg_iq_a":-0.170754001,"cg_iq_raw_a":-0.563369513,"cg_iu_a":0.14750886,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8745461,"cg_sample_seq":14636666,"cg_sample_valid":1,"cg_theta_rad":5.00665331,"cg_vd_req_v":0.0765364245,"cg_vd_v":0.0765364245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344304353,"cg_vq_v":-0.344304353,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.331691742,"dclink_p_w":-48.1498833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3668213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12443,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.142395,"cg_dv":50.1981697,"cg_dw":49.8018303,"cg_id_a":-0.16451475,"cg_id_raw_a":-0.19896391,"cg_iq_a":0.194030881,"cg_iq_raw_a":0.272247851,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.691966534,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8563633,"cg_sample_seq":14636717,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0818632096,"cg_vd_v":0.0818632096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349066794,"cg_vq_v":-0.349066794,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385689,"cg_dv":50.1965523,"cg_dw":49.8034477,"cg_id_a":-0.0263962224,"cg_id_raw_a":-0.374428213,"cg_iq_a":0.0172588937,"cg_iq_raw_a":0.147990093,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8600006,"cg_sample_seq":14636767,"cg_sample_valid":1,"cg_theta_rad":5.00800562,"cg_vd_req_v":0.0827946961,"cg_vd_v":0.0827946961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344832569,"cg_vq_v":-0.344832569,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12462,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403923,"cg_dv":50.1861877,"cg_dw":49.8138123,"cg_id_a":0.364215493,"cg_id_raw_a":0.331677169,"cg_iq_a":-0.482979685,"cg_iq_raw_a":-0.224406287,"cg_iu_a":0.00253343582,"cg_iv_a":1.08398128,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9654541,"cg_sample_seq":14636817,"cg_sample_valid":1,"cg_theta_rad":5.00739574,"cg_vd_req_v":0.0679829717,"cg_vd_v":0.0679829717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332470447,"cg_vq_v":-0.332470447,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12437,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1509628,"cg_dv":50.1994705,"cg_dw":49.8005295,"cg_id_a":-0.0132143199,"cg_id_raw_a":-0.547209322,"cg_iq_a":0.591668963,"cg_iq_raw_a":-0.236982673,"cg_iu_a":-0.541123867,"cg_iv_a":0.467836082,"cg_iw_a":0.0732877851,"cg_sample_age_us":23.8600006,"cg_sample_seq":14636867,"cg_sample_valid":1,"cg_theta_rad":5.00727606,"cg_vd_req_v":0.076658003,"cg_vd_v":0.076658003,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354476601,"cg_vq_v":-0.354476601,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12483,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.138916,"cg_dv":50.1922646,"cg_dw":49.8077354,"cg_id_a":-0.0310944095,"cg_id_raw_a":0.120178826,"cg_iq_a":-0.147942707,"cg_iq_raw_a":1.14069057,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284357,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9581814,"cg_sample_seq":14636917,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.0765775964,"cg_vd_v":0.0765775964,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33852452,"cg_vq_v":-0.33852452,"cg_vu_v":137.246475,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.1567307,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3606567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.137249,"cg_dv":50.1844711,"cg_dw":49.8155289,"cg_id_a":0.148018479,"cg_id_raw_a":0.281617612,"cg_iq_a":-0.649383068,"cg_iq_raw_a":-0.335912764,"cg_iu_a":-0.831074715,"cg_iv_a":0.721542954,"cg_iw_a":0.10953176,"cg_sample_age_us":26.8090916,"cg_sample_seq":14636970,"cg_sample_valid":1,"cg_theta_rad":5.00595045,"cg_vd_req_v":0.0715802312,"cg_vd_v":0.0715802312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327786893,"cg_vq_v":-0.327786893,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.3611984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12470,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295738,"cg_dv":50.1867294,"cg_dw":49.8132706,"cg_id_a":-0.172711939,"cg_id_raw_a":-0.17694445,"cg_iq_a":-0.416496158,"cg_iq_raw_a":0.0568433329,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539645,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9327278,"cg_sample_seq":14637066,"cg_sample_valid":1,"cg_theta_rad":5.00764608,"cg_vd_req_v":0.0789463148,"cg_vd_v":0.0789463148,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326761276,"cg_vq_v":-0.326761276,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.0989304,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12466,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.135685,"cg_dv":50.1919289,"cg_dw":49.8080711,"cg_id_a":-0.338567406,"cg_id_raw_a":-0.0174649749,"cg_iq_a":0.204760745,"cg_iq_raw_a":0.144765198,"cg_iu_a":0.038777113,"cg_iv_a":-0.619478822,"cg_iw_a":0.580701709,"cg_sample_age_us":23.863636,"cg_sample_seq":14637117,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0799571648,"cg_vd_v":0.0799571648,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337071806,"cg_vq_v":-0.337071806,"cg_vu_v":35.6312981,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-98.132431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12460,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315994,"cg_dv":50.1847076,"cg_dw":49.8152924,"cg_id_a":-0.0968665481,"cg_id_raw_a":-0.201341912,"cg_iq_a":-0.227235913,"cg_iq_raw_a":0.0906290114,"cg_iu_a":0.509947062,"cg_iv_a":-0.619478822,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9654541,"cg_sample_seq":14637167,"cg_sample_valid":1,"cg_theta_rad":5.00710011,"cg_vd_req_v":0.0756830871,"cg_vd_v":0.0756830871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324031234,"cg_vq_v":-0.324031234,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-98.132431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12493,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.125946,"cg_dv":50.1864548,"cg_dw":49.8135452,"cg_id_a":-0.264526755,"cg_id_raw_a":0.0299283676,"cg_iq_a":-0.209199354,"cg_iq_raw_a":0.768034637,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885413,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9836369,"cg_sample_seq":14637217,"cg_sample_valid":1,"cg_theta_rad":5.0059123,"cg_vd_req_v":0.0808471814,"cg_vd_v":0.0808471814,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323483825,"cg_vq_v":-0.323483825,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12511,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341858,"cg_dv":50.1906586,"cg_dw":49.8093414,"cg_id_a":-0.106251612,"cg_id_raw_a":-0.18427296,"cg_iq_a":0.364243358,"cg_iq_raw_a":0.63978523,"cg_iu_a":-0.214929581,"cg_iv_a":0.105397761,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9872723,"cg_sample_seq":14637267,"cg_sample_valid":1,"cg_theta_rad":5.00641203,"cg_vd_req_v":0.0761207491,"cg_vd_v":0.0761207491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335386306,"cg_vq_v":-0.335386306,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12459,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1272163,"cg_dv":50.1795845,"cg_dw":49.8204155,"cg_id_a":0.0625146031,"cg_id_raw_a":0.298540235,"cg_iq_a":-0.603662014,"cg_iq_raw_a":0.138842061,"cg_iu_a":0.292484045,"cg_iv_a":0.939005971,"cg_iw_a":-1.23149002,"cg_sample_age_us":23.863636,"cg_sample_seq":14637317,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.0744046345,"cg_vd_v":0.0744046345,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315585554,"cg_vq_v":-0.315585554,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3683777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12450,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1272011,"cg_dv":50.1819954,"cg_dw":49.8180046,"cg_id_a":-0.15261583,"cg_id_raw_a":-0.716813982,"cg_iq_a":-0.352723032,"cg_iq_raw_a":0.180232748,"cg_iu_a":0.836141586,"cg_iv_a":0.322860718,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9290905,"cg_sample_seq":14637367,"cg_sample_valid":1,"cg_theta_rad":5.00752258,"cg_vd_req_v":0.0796331689,"cg_vd_v":0.0796331689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318154186,"cg_vq_v":-0.318154186,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12482,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1284256,"cg_dv":50.1896477,"cg_dw":49.8103523,"cg_id_a":-0.380862653,"cg_id_raw_a":-0.397909284,"cg_iq_a":0.309252828,"cg_iq_raw_a":-0.258082002,"cg_iu_a":0.473703384,"cg_iv_a":-0.329528213,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9618187,"cg_sample_seq":14637417,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0848036408,"cg_vd_v":0.0848036408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329551548,"cg_vq_v":-0.329551548,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12472,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277885,"cg_dv":50.1824265,"cg_dw":49.8175735,"cg_id_a":0.039004311,"cg_id_raw_a":0.287617534,"cg_iq_a":-0.185929418,"cg_iq_raw_a":-0.408784837,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9836369,"cg_sample_seq":14637470,"cg_sample_valid":1,"cg_theta_rad":5.00858021,"cg_vd_req_v":0.0762099549,"cg_vd_v":0.0762099549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319892734,"cg_vq_v":-0.319892734,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.123168349,"dclink_p_w":17.8254967,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250305,"cg_dv":50.1782265,"cg_dw":49.8217735,"cg_id_a":0.169709608,"cg_id_raw_a":0.458870113,"cg_iq_a":-0.537508965,"cg_iq_raw_a":-0.208652303,"cg_iu_a":0.872385502,"cg_iv_a":0.359104633,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9509087,"cg_sample_seq":14637516,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.0756321475,"cg_vd_v":0.0756321475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312318534,"cg_vq_v":-0.312318534,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12463,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220245,"cg_dv":50.1829224,"cg_dw":49.8170776,"cg_id_a":-0.0820927396,"cg_id_raw_a":-0.0596074648,"cg_iq_a":-0.0611385405,"cg_iq_raw_a":-0.296039462,"cg_iu_a":-0.758586884,"cg_iv_a":-0.619478941,"cg_iw_a":1.37806582,"cg_sample_age_us":23.9618187,"cg_sample_seq":14637566,"cg_sample_valid":1,"cg_theta_rad":5.00887871,"cg_vd_req_v":0.0809857473,"cg_vd_v":0.0809857473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317406178,"cg_vq_v":-0.317406178,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12480,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214905,"cg_dv":50.1738319,"cg_dw":49.8261681,"cg_id_a":0.306981742,"cg_id_raw_a":0.388192862,"cg_iq_a":-0.562011719,"cg_iq_raw_a":-1.23637569,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9872723,"cg_sample_seq":14637616,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0730865598,"cg_vd_v":0.0730865598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304608256,"cg_vq_v":-0.304608256,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.6090393,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12483,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189194,"cg_dv":50.177887,"cg_dw":49.822113,"cg_id_a":0.0276920293,"cg_id_raw_a":0.53568548,"cg_iq_a":-0.105586,"cg_iq_raw_a":0.743310034,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.954546,"cg_sample_seq":14637667,"cg_sample_valid":1,"cg_theta_rad":5.00809288,"cg_vd_req_v":0.0787634477,"cg_vd_v":0.0787634477,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308756381,"cg_vq_v":-0.308756381,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12480,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.130806,"cg_dv":50.1834984,"cg_dw":49.8165016,"cg_id_a":0.139208287,"cg_id_raw_a":0.353704661,"cg_iq_a":0.469967693,"cg_iq_raw_a":-1.05677378,"cg_iu_a":-0.214929581,"cg_iv_a":-0.293284416,"cg_iw_a":0.508213997,"cg_sample_age_us":23.8600006,"cg_sample_seq":14637717,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0762397051,"cg_vd_v":0.0762397051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322724015,"cg_vq_v":-0.322724015,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3977356,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12475,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1142731,"cg_dv":50.1823616,"cg_dw":49.8176384,"cg_id_a":-0.389852256,"cg_id_raw_a":-0.749908686,"cg_iq_a":-0.0186518729,"cg_iq_raw_a":0.110155962,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.728210449,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9872723,"cg_sample_seq":14637767,"cg_sample_valid":1,"cg_theta_rad":5.00702047,"cg_vd_req_v":0.0874203146,"cg_vd_v":0.0874203146,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312068313,"cg_vq_v":-0.312068313,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12500,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250954,"cg_dv":50.1841011,"cg_dw":49.8158989,"cg_id_a":0.0204271916,"cg_id_raw_a":0.107555531,"cg_iq_a":0.202910691,"cg_iq_raw_a":-0.280160815,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14637817,"cg_sample_valid":1,"cg_theta_rad":5.00846958,"cg_vd_req_v":0.0802799389,"cg_vd_v":0.0802799389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3205899,"cg_vq_v":-0.3205899,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.87616825,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12468,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186371,"cg_dv":50.1797829,"cg_dw":49.8202171,"cg_id_a":-0.0419621393,"cg_id_raw_a":-0.13866657,"cg_iq_a":-0.303432703,"cg_iq_raw_a":-0.558767021,"cg_iu_a":-0.214929581,"cg_iv_a":-0.25704062,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9872723,"cg_sample_seq":14637867,"cg_sample_valid":1,"cg_theta_rad":5.00654888,"cg_vd_req_v":0.0813571438,"cg_vd_v":0.0813571438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311043799,"cg_vq_v":-0.311043799,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3591309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12447,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202049,"cg_dv":50.180584,"cg_dw":49.819416,"cg_id_a":0.0203286912,"cg_id_raw_a":0.149454862,"cg_iq_a":-0.0792431161,"cg_iq_raw_a":0.160670266,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14637917,"cg_sample_valid":1,"cg_theta_rad":5.00720549,"cg_vd_req_v":0.0807439536,"cg_vd_v":0.0807439536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314066947,"cg_vq_v":-0.314066947,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12432,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1436462,"cg_dv":50.1903076,"cg_dw":49.8096924,"cg_id_a":0.423931479,"cg_id_raw_a":-0.207006574,"cg_iq_a":1.05257165,"cg_iq_raw_a":0.343889505,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14638017,"cg_sample_valid":1,"cg_theta_rad":5.00702095,"cg_vd_req_v":0.074001953,"cg_vd_v":0.074001953,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338931859,"cg_vq_v":-0.338931859,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12449,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315041,"cg_dv":50.1870499,"cg_dw":49.8129501,"cg_id_a":0.33605063,"cg_id_raw_a":0.163214251,"cg_iq_a":0.443846703,"cg_iq_raw_a":0.0162145682,"cg_iu_a":-1.41097593,"cg_iv_a":0.141641617,"cg_iw_a":1.26933432,"cg_sample_age_us":23.9581814,"cg_sample_seq":14638067,"cg_sample_valid":1,"cg_theta_rad":5.00693369,"cg_vd_req_v":0.0776164457,"cg_vd_v":0.0776164457,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328301489,"cg_vq_v":-0.328301489,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12440,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1123657,"cg_dv":50.1854057,"cg_dw":49.8145943,"cg_id_a":-0.348994136,"cg_id_raw_a":-0.308991998,"cg_iq_a":-0.172440663,"cg_iq_raw_a":0.116591312,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539049,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9654541,"cg_sample_seq":14638117,"cg_sample_valid":1,"cg_theta_rad":5.00477648,"cg_vd_req_v":0.0917753652,"cg_vd_v":0.0917753652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315169871,"cg_vq_v":-0.315169871,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.228275418,"dclink_p_w":33.0370827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12435,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295547,"cg_dv":50.1922951,"cg_dw":49.8077049,"cg_id_a":-0.039612364,"cg_id_raw_a":-0.196897104,"cg_iq_a":0.488317966,"cg_iq_raw_a":0.45436433,"cg_iu_a":-0.541124105,"cg_iv_a":-0.220796704,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14638167,"cg_sample_valid":1,"cg_theta_rad":5.0082736,"cg_vd_req_v":0.086671412,"cg_vd_v":0.086671412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333734632,"cg_vq_v":-0.333734632,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.4563255,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12472,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252937,"cg_dv":50.1820145,"cg_dw":49.8179855,"cg_id_a":0.226961821,"cg_id_raw_a":0.0525139309,"cg_iq_a":-0.432349592,"cg_iq_raw_a":-0.139671743,"cg_iu_a":-0.0699541569,"cg_iv_a":0.431592226,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.863636,"cg_sample_seq":14638216,"cg_sample_valid":1,"cg_theta_rad":5.00805426,"cg_vd_req_v":0.0791492537,"cg_vd_v":0.0791492537,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317601621,"cg_vq_v":-0.317601621,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1274376,"cg_dv":50.1856651,"cg_dw":49.8143349,"cg_id_a":0.0418387391,"cg_id_raw_a":0.295180857,"cg_iq_a":-0.031532675,"cg_iq_raw_a":-0.0430924371,"cg_iu_a":0.292484045,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14638267,"cg_sample_valid":1,"cg_theta_rad":5.00792122,"cg_vd_req_v":0.0806357041,"cg_vd_v":0.0806357041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323858738,"cg_vq_v":-0.323858738,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1206398,"cg_dv":50.186779,"cg_dw":49.813221,"cg_id_a":-0.19146499,"cg_id_raw_a":-0.0382938907,"cg_iq_a":-0.0632322654,"cg_iq_raw_a":-0.0756249949,"cg_iu_a":0.256240368,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.9618187,"cg_sample_seq":14638316,"cg_sample_valid":1,"cg_theta_rad":5.00745773,"cg_vd_req_v":0.085923098,"cg_vd_v":0.085923098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321859896,"cg_vq_v":-0.321859896,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1208305,"cg_dv":50.1856194,"cg_dw":49.8143806,"cg_id_a":-0.0775555,"cg_id_raw_a":0.0898286775,"cg_iq_a":-0.0543687455,"cg_iq_raw_a":-0.318338156,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373125,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.954546,"cg_sample_seq":14638366,"cg_sample_valid":1,"cg_theta_rad":5.00493097,"cg_vd_req_v":0.0847442076,"cg_vd_v":0.0847442076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32036075,"cg_vq_v":-0.32036075,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12460,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.116169,"cg_dv":50.1779709,"cg_dw":49.8220291,"cg_id_a":0.026095666,"cg_id_raw_a":-0.841767192,"cg_iq_a":-0.771935105,"cg_iq_raw_a":-1.25211191,"cg_iu_a":-0.0699541569,"cg_iv_a":0.612811446,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9618187,"cg_sample_seq":14638416,"cg_sample_valid":1,"cg_theta_rad":5.00714827,"cg_vd_req_v":0.0838432908,"cg_vd_v":0.0838432908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.307578444,"cg_vq_v":-0.307578444,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3962097,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106651403,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1303673,"cg_dv":50.1916733,"cg_dw":49.8083267,"cg_id_a":0.289715171,"cg_id_raw_a":-0.136070132,"cg_iq_a":0.747022152,"cg_iq_raw_a":0.316350609,"cg_iu_a":-0.142441988,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9836369,"cg_sample_seq":14638470,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0806514621,"cg_vd_v":0.0806514621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334536701,"cg_vq_v":-0.334536701,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.7176399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12455,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1079178,"cg_dv":50.1840935,"cg_dw":49.8159065,"cg_id_a":-0.36407432,"cg_id_raw_a":-0.61095494,"cg_iq_a":-0.455637217,"cg_iq_raw_a":-0.0218944997,"cg_iu_a":0.147508621,"cg_iv_a":-0.257040501,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9763641,"cg_sample_seq":14638517,"cg_sample_valid":1,"cg_theta_rad":5.0049448,"cg_vd_req_v":0.0940248817,"cg_vd_v":0.0940248817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310879499,"cg_vq_v":-0.310879499,"cg_vu_v":142.085297,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.204716921,"dclink_p_w":29.7176399,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1165713,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12460,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1292152,"cg_dv":50.1791954,"cg_dw":49.8208046,"cg_id_a":0.549254,"cg_id_raw_a":0.173792154,"cg_iq_a":-0.272930354,"cg_iq_raw_a":-0.491301894,"cg_iu_a":-0.722343206,"cg_iv_a":-0.00333374739,"cg_iw_a":0.725676954,"cg_sample_age_us":23.954546,"cg_sample_seq":14638567,"cg_sample_valid":1,"cg_theta_rad":5.00709009,"cg_vd_req_v":0.0747337192,"cg_vd_v":0.0747337192,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315650254,"cg_vq_v":-0.315650254,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12458,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197929,"cg_dv":50.1878204,"cg_dw":49.8121796,"cg_id_a":0.10051059,"cg_id_raw_a":0.0588434264,"cg_iq_a":0.228661478,"cg_iq_raw_a":-0.467003763,"cg_iu_a":0.727410078,"cg_iv_a":0.177885473,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.8563633,"cg_sample_seq":14638616,"cg_sample_valid":1,"cg_theta_rad":5.00777292,"cg_vd_req_v":0.0856152475,"cg_vd_v":0.0856152475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323334664,"cg_vq_v":-0.323334664,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.112416625,"dclink_p_w":-16.2694569,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12465,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.124115,"cg_dv":50.1898537,"cg_dw":49.8101463,"cg_id_a":0.103325233,"cg_id_raw_a":0.298979521,"cg_iq_a":0.30224812,"cg_iq_raw_a":1.63252747,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691540241,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14638667,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0870772973,"cg_vd_v":0.0870772973,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32667917,"cg_vq_v":-0.32667917,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12444,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150932,"cg_dv":50.1843529,"cg_dw":49.8156471,"cg_id_a":0.045647677,"cg_id_raw_a":-0.0817655399,"cg_iq_a":-0.176810294,"cg_iq_raw_a":-0.699204981,"cg_iu_a":0.364971876,"cg_iv_a":0.105397761,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.863636,"cg_sample_seq":14638716,"cg_sample_valid":1,"cg_theta_rad":5.00686216,"cg_vd_req_v":0.089440003,"cg_vd_v":0.089440003,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31606707,"cg_vq_v":-0.31606707,"cg_vu_v":36.5110817,"cg_vv_v":37.830761,"cg_vw_v":40.9100075,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12460,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1280861,"cg_dv":50.1880074,"cg_dw":49.8119926,"cg_id_a":0.439288795,"cg_id_raw_a":0.754491985,"cg_iq_a":0.333814353,"cg_iq_raw_a":-0.87240684,"cg_iu_a":-1.51970768,"cg_iv_a":0.21412921,"cg_iw_a":1.30557847,"cg_sample_age_us":23.863636,"cg_sample_seq":14638766,"cg_sample_valid":1,"cg_theta_rad":5.00811577,"cg_vd_req_v":0.0824972913,"cg_vd_v":0.0824972913,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32844156,"cg_vq_v":-0.32844156,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12490,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1097336,"cg_dv":50.1840935,"cg_dw":49.8159065,"cg_id_a":-0.0696655735,"cg_id_raw_a":0.281652838,"cg_iq_a":-0.405600131,"cg_iq_raw_a":-0.3358832,"cg_iu_a":0.111264944,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8709087,"cg_sample_seq":14638816,"cg_sample_valid":1,"cg_theta_rad":5.007967,"cg_vd_req_v":0.0931231007,"cg_vd_v":0.0931231007,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312775433,"cg_vq_v":-0.312775433,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.72962379,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12456,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1137695,"cg_dv":50.1843491,"cg_dw":49.8156509,"cg_id_a":0.115303159,"cg_id_raw_a":0.214352325,"cg_iq_a":-0.19759275,"cg_iq_raw_a":-0.306818634,"cg_iu_a":0.147508621,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14638866,"cg_sample_valid":1,"cg_theta_rad":5.00725222,"cg_vd_req_v":0.0885844827,"cg_vd_v":0.0885844827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314817637,"cg_vq_v":-0.314817637,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12451,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1143837,"cg_dv":50.1832275,"cg_dw":49.8167725,"cg_id_a":0.150567472,"cg_id_raw_a":0.571077645,"cg_iq_a":-0.120514065,"cg_iq_raw_a":-0.488570899,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9218178,"cg_sample_seq":14638916,"cg_sample_valid":1,"cg_theta_rad":5.00594568,"cg_vd_req_v":0.0890465379,"cg_vd_v":0.0890465379,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313061386,"cg_vq_v":-0.313061386,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12445,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196327,"cg_dv":50.1839104,"cg_dw":49.8160896,"cg_id_a":0.280934542,"cg_id_raw_a":0.706869364,"cg_iq_a":0.119544193,"cg_iq_raw_a":-1.42180777,"cg_iu_a":-0.686099291,"cg_iv_a":-0.00333374739,"cg_iw_a":0.689433038,"cg_sample_age_us":23.8490906,"cg_sample_seq":14638971,"cg_sample_valid":1,"cg_theta_rad":5.00659466,"cg_vd_req_v":0.0857301876,"cg_vd_v":0.0857301876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316905677,"cg_vq_v":-0.316905677,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8955555,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12457,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193504,"cg_dv":50.1805344,"cg_dw":49.8194656,"cg_id_a":0.334548444,"cg_id_raw_a":0.332265079,"cg_iq_a":0.0427704453,"cg_iq_raw_a":-0.402386159,"cg_iu_a":0.364971876,"cg_iv_a":0.830274463,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9618187,"cg_sample_seq":14639018,"cg_sample_valid":1,"cg_theta_rad":5.0072093,"cg_vd_req_v":0.0833212659,"cg_vd_v":0.0833212659,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311990649,"cg_vq_v":-0.311990649,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12509,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.0985184,"cg_dv":50.1776161,"cg_dw":49.8223839,"cg_id_a":-0.281151772,"cg_id_raw_a":-0.424682736,"cg_iq_a":-0.418860346,"cg_iq_raw_a":0.651098371,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9618187,"cg_sample_seq":14639067,"cg_sample_valid":1,"cg_theta_rad":5.00648069,"cg_vd_req_v":0.0955005661,"cg_vd_v":0.0955005661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296679616,"cg_vq_v":-0.296679616,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12455,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.1061935,"cg_dv":50.1753731,"cg_dw":49.8246269,"cg_id_a":0.0710247532,"cg_id_raw_a":-0.0058331429,"cg_iq_a":-0.363636434,"cg_iq_raw_a":-0.181956232,"cg_iu_a":0.437459469,"cg_iv_a":-0.148309112,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9581814,"cg_sample_seq":14639117,"cg_sample_valid":1,"cg_theta_rad":5.00511312,"cg_vd_req_v":0.0885361433,"cg_vd_v":0.0885361433,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.297574282,"cg_vq_v":-0.297574282,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1037827,"cg_dv":50.1775894,"cg_dw":49.8224106,"cg_id_a":-0.0144680012,"cg_id_raw_a":0.0590431243,"cg_iq_a":-0.0918526947,"cg_iq_raw_a":-0.211981222,"cg_iu_a":-0.686099529,"cg_iv_a":-0.329528213,"cg_iw_a":1.01562774,"cg_sample_age_us":23.9618187,"cg_sample_seq":14639167,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0908035561,"cg_vd_v":0.0908035561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.299759597,"cg_vq_v":-0.299759597,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3730164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12448,"GapTicks":54806,"Mech_RPM":-3.50324616e-44,"cg_du":50.0983505,"cg_dv":50.1759605,"cg_dw":49.8240395,"cg_id_a":-0.156704903,"cg_id_raw_a":-0.170051858,"cg_iq_a":-0.332207203,"cg_iq_raw_a":-0.0158866495,"cg_iu_a":0.111264944,"cg_iv_a":0.141641676,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9509087,"cg_sample_seq":14639217,"cg_sample_valid":1,"cg_theta_rad":5.00836754,"cg_vd_req_v":0.0940466821,"cg_vd_v":0.0940466821,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.294323832,"cg_vq_v":-0.294323832,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.629879,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12472,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0954056,"cg_dv":50.1747208,"cg_dw":49.8252792,"cg_id_a":-0.216510877,"cg_id_raw_a":-0.542157769,"cg_iq_a":-0.357392937,"cg_iq_raw_a":0.128146544,"cg_iu_a":0.364971638,"cg_iv_a":0.141641617,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9690914,"cg_sample_seq":14639267,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0959937051,"cg_vd_v":0.0959937051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.290709853,"cg_vq_v":-0.290709853,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.16497016,"dclink_p_w":-23.8752499,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12493,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.096611,"cg_dv":50.1781387,"cg_dw":49.8218613,"cg_id_a":-0.203021348,"cg_id_raw_a":-0.276117921,"cg_iq_a":-0.220595539,"cg_iq_raw_a":-0.680221736,"cg_iu_a":-0.686099529,"cg_iv_a":0.612811446,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8709087,"cg_sample_seq":14639317,"cg_sample_valid":1,"cg_theta_rad":5.00598145,"cg_vd_req_v":0.0961458758,"cg_vd_v":0.0961458758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296762675,"cg_vq_v":-0.296762675,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12451,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.103672,"cg_dv":50.1803627,"cg_dw":49.8196373,"cg_id_a":-0.098537311,"cg_id_raw_a":0.300985992,"cg_iq_a":0.163874105,"cg_iq_raw_a":0.322152108,"cg_iu_a":-0.50488019,"cg_iv_a":-0.25704062,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9581814,"cg_sample_seq":14639367,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0948682204,"cg_vd_v":0.0948682204,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304086834,"cg_vq_v":-0.304086834,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.363739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12481,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0963364,"cg_dv":50.1750755,"cg_dw":49.8249245,"cg_id_a":-0.0613759421,"cg_id_raw_a":0.58482635,"cg_iq_a":-0.28064999,"cg_iq_raw_a":-1.1467241,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14639416,"cg_sample_valid":1,"cg_theta_rad":5.0056138,"cg_vd_req_v":0.0931262672,"cg_vd_v":0.0931262672,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.293497473,"cg_vq_v":-0.293497473,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12461,"GapTicks":54806,"Mech_RPM":-3.50324616e-44,"cg_du":50.0941162,"cg_dv":50.1762772,"cg_dw":49.8237228,"cg_id_a":-0.206839114,"cg_id_raw_a":0.0341061875,"cg_iq_a":-0.163966849,"cg_iq_raw_a":-0.614879847,"cg_iu_a":0.582434654,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.579100966,"cg_sample_age_us":26.6854553,"cg_sample_seq":14639470,"cg_sample_valid":1,"cg_theta_rad":5.00814199,"cg_vd_req_v":0.0971126258,"cg_vd_v":0.0971126258,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.293551415,"cg_vq_v":-0.293551415,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12447,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1041756,"cg_dv":50.1847153,"cg_dw":49.8152847,"cg_id_a":-0.286037683,"cg_id_raw_a":0.0553568751,"cg_iq_a":0.665285707,"cg_iq_raw_a":0.0428356975,"cg_iu_a":-0.758586884,"cg_iv_a":-0.293284416,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9363632,"cg_sample_seq":14639517,"cg_sample_valid":1,"cg_theta_rad":5.007689,"cg_vd_req_v":0.0989303216,"cg_vd_v":0.0989303216,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309193552,"cg_vq_v":-0.309193552,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12467,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1056061,"cg_dv":50.1779671,"cg_dw":49.8220329,"cg_id_a":0.182884574,"cg_id_raw_a":-0.298253447,"cg_iq_a":0.31795603,"cg_iq_raw_a":0.227318227,"cg_iu_a":0.14750886,"cg_iv_a":0.0691540241,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9509087,"cg_sample_seq":14639567,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.0893697813,"cg_vd_v":0.0893697813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301409185,"cg_vq_v":-0.301409185,"cg_vu_v":116.571533,"cg_vv_v":132.407669,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12435,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1061745,"cg_dv":50.1800842,"cg_dw":49.8199158,"cg_id_a":0.09949404,"cg_id_raw_a":0.252582252,"cg_iq_a":0.483178377,"cg_iq_raw_a":1.08017683,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309112,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14639617,"cg_sample_valid":1,"cg_theta_rad":5.00886488,"cg_vd_req_v":0.0906045809,"cg_vd_v":0.0906045809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304716945,"cg_vq_v":-0.304716945,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.425925732,"dclink_p_w":-61.6419563,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3822632,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12440,"GapTicks":54810,"Mech_RPM":-3.50324616e-44,"cg_du":50.1087952,"cg_dv":50.1722031,"cg_dw":49.8277969,"cg_id_a":0.419042081,"cg_id_raw_a":0.184856966,"cg_iq_a":-0.474074483,"cg_iq_raw_a":-0.636647463,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.954546,"cg_sample_seq":14639766,"cg_sample_valid":1,"cg_theta_rad":5.0052495,"cg_vd_req_v":0.0822770149,"cg_vd_v":0.0822770149,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.29603368,"cg_vq_v":-0.29603368,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12468,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1095543,"cg_dv":50.1876221,"cg_dw":49.8123779,"cg_id_a":-0.159253746,"cg_id_raw_a":-0.079897128,"cg_iq_a":0.648135424,"cg_iq_raw_a":-0.516622782,"cg_iu_a":0.763653994,"cg_iv_a":-0.438259721,"cg_iw_a":1.74050403,"cg_sample_age_us":23.9618187,"cg_sample_seq":14639816,"cg_sample_valid":1,"cg_theta_rad":5.00870085,"cg_vd_req_v":0.0959566385,"cg_vd_v":0.0959566385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316662908,"cg_vq_v":-0.316662908,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12446,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1059494,"cg_dv":50.186615,"cg_dw":49.813385,"cg_id_a":-0.239653349,"cg_id_raw_a":0.0169406123,"cg_iq_a":0.340217531,"cg_iq_raw_a":-0.216025904,"cg_iu_a":-0.142441988,"cg_iv_a":-1.01816106,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9581814,"cg_sample_seq":14639866,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0972163901,"cg_vd_v":0.0972163901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313455522,"cg_vq_v":-0.313455522,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12445,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1064262,"cg_dv":50.1810646,"cg_dw":49.8189354,"cg_id_a":0.0212442689,"cg_id_raw_a":0.041497916,"cg_iq_a":0.0126140267,"cg_iq_raw_a":0.186911866,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8527279,"cg_sample_seq":14639916,"cg_sample_valid":1,"cg_theta_rad":5.00716591,"cg_vd_req_v":0.0921172723,"cg_vd_v":0.0921172723,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304951847,"cg_vq_v":-0.304951847,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.424113512,"dclink_p_w":-61.566246,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2654.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12416,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.1014404,"cg_dv":50.1789169,"cg_dw":49.8210831,"cg_id_a":-0.0576851033,"cg_id_raw_a":0.054202307,"cg_iq_a":-0.296483696,"cg_iq_raw_a":-0.576568723,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14639966,"cg_sample_valid":1,"cg_theta_rad":5.00571823,"cg_vd_req_v":0.0950260907,"cg_vd_v":0.0950260907,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.299914569,"cg_vq_v":-0.299914569,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12462,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.111187,"cg_dv":50.187294,"cg_dw":49.812706,"cg_id_a":0.0272707157,"cg_id_raw_a":0.325874865,"cg_iq_a":0.467452258,"cg_iq_raw_a":-0.150873184,"cg_iu_a":-0.903562307,"cg_iv_a":-0.583235145,"cg_iw_a":1.48679745,"cg_sample_age_us":26.823637,"cg_sample_seq":14640019,"cg_sample_valid":1,"cg_theta_rad":5.0080533,"cg_vd_req_v":0.0936892405,"cg_vd_v":0.0936892405,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318375975,"cg_vq_v":-0.318375975,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1085587,"cg_dv":50.1841049,"cg_dw":49.8158951,"cg_id_a":-0.0334854126,"cg_id_raw_a":0.428738296,"cg_iq_a":0.0432117358,"cg_iq_raw_a":1.20644498,"cg_iu_a":0.038777113,"cg_iv_a":-0.438259721,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9509087,"cg_sample_seq":14640066,"cg_sample_valid":1,"cg_theta_rad":5.00757313,"cg_vd_req_v":0.0932083055,"cg_vd_v":0.0932083055,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312381178,"cg_vq_v":-0.312381178,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12461,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1130219,"cg_dv":50.180851,"cg_dw":49.819149,"cg_id_a":0.146275878,"cg_id_raw_a":0.0220798496,"cg_iq_a":-0.0848037452,"cg_iq_raw_a":-0.470479757,"cg_iu_a":-0.251173258,"cg_iv_a":0.75778681,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.9872723,"cg_sample_seq":14640116,"cg_sample_valid":1,"cg_theta_rad":5.00584936,"cg_vd_req_v":0.0875147507,"cg_vd_v":0.0875147507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309148639,"cg_vq_v":-0.309148639,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12455,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1166039,"cg_dv":50.1845818,"cg_dw":49.8154182,"cg_id_a":0.0095744729,"cg_id_raw_a":-0.362440497,"cg_iq_a":0.338197887,"cg_iq_raw_a":0.43823722,"cg_iu_a":-0.432392597,"cg_iv_a":0.57656765,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.863636,"cg_sample_seq":14640166,"cg_sample_valid":1,"cg_theta_rad":5.00625849,"cg_vd_req_v":0.0885380358,"cg_vd_v":0.0885380358,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316172868,"cg_vq_v":-0.316172868,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.71406436,"dclink_p_w":-103.34272,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105493248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12430,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1143456,"cg_dv":50.1778755,"cg_dw":49.8221245,"cg_id_a":0.139626637,"cg_id_raw_a":-0.130622014,"cg_iq_a":-0.122263193,"cg_iq_raw_a":-0.194803521,"cg_iu_a":0.473703384,"cg_iv_a":0.612811565,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9618187,"cg_sample_seq":14640216,"cg_sample_valid":1,"cg_theta_rad":5.00696421,"cg_vd_req_v":0.0847850367,"cg_vd_v":0.0847850367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305521041,"cg_vq_v":-0.305521041,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.3121109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12457,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1143761,"cg_dv":50.1847992,"cg_dw":49.8152008,"cg_id_a":-0.110512972,"cg_id_raw_a":0.150344655,"cg_iq_a":0.335101992,"cg_iq_raw_a":-0.275551617,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397701,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14640266,"cg_sample_valid":1,"cg_theta_rad":5.00642109,"cg_vd_req_v":0.0906724557,"cg_vd_v":0.0906724557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315166175,"cg_vq_v":-0.315166175,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.830044508,"dclink_p_w":-120.127907,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38685,"EncoderSin":12455,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1128616,"cg_dv":50.1767273,"cg_dw":49.8232727,"cg_id_a":0.12711975,"cg_id_raw_a":0.643797517,"cg_iq_a":-0.285994738,"cg_iq_raw_a":-1.13325894,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9763641,"cg_sample_seq":14640316,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0862828791,"cg_vd_v":0.0862828791,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303708434,"cg_vq_v":-0.303708434,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12428,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1081505,"cg_dv":50.1836777,"cg_dw":49.8163223,"cg_id_a":-0.252582461,"cg_id_raw_a":-0.497515678,"cg_iq_a":0.021147579,"cg_iq_raw_a":0.315405607,"cg_iu_a":-0.251173496,"cg_iv_a":0.141641557,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9254551,"cg_sample_seq":14640366,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.094651252,"cg_vd_v":0.094651252,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311105877,"cg_vq_v":-0.311105877,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.791988373,"dclink_p_w":-114.620247,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1126747,"cg_dv":50.1828842,"cg_dw":49.8171158,"cg_id_a":0.0345148854,"cg_id_raw_a":0.243313074,"cg_iq_a":-0.00478412956,"cg_iq_raw_a":-0.157430202,"cg_iu_a":0.219996452,"cg_iv_a":0.214129329,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9836369,"cg_sample_seq":14640416,"cg_sample_valid":1,"cg_theta_rad":5.00817537,"cg_vd_req_v":0.0895161331,"cg_vd_v":0.0895161331,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311790019,"cg_vq_v":-0.311790019,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.755744696,"dclink_p_w":-109.707336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12463,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1076965,"cg_dv":50.1795578,"cg_dw":49.8204422,"cg_id_a":0.122837983,"cg_id_raw_a":0.866935551,"cg_iq_a":-0.254097551,"cg_iq_raw_a":0.842180908,"cg_iu_a":0.799897671,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9472733,"cg_sample_seq":14640466,"cg_sample_valid":1,"cg_theta_rad":5.00811577,"cg_vd_req_v":0.0874797329,"cg_vd_v":0.0874797329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305260092,"cg_vq_v":-0.305260092,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1065712,"cg_dv":50.1811714,"cg_dw":49.8188286,"cg_id_a":-0.0428968966,"cg_id_raw_a":-0.149202123,"cg_iq_a":-0.350232154,"cg_iq_raw_a":-1.10590208,"cg_iu_a":-2.53453493,"cg_iv_a":-0.0395774841,"cg_iw_a":2.57411242,"cg_sample_age_us":23.863636,"cg_sample_seq":14640520,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0921005681,"cg_vd_v":0.0921005681,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.306197852,"cg_vq_v":-0.306197852,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.7875977,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12442,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154442,"cg_dv":50.1841469,"cg_dw":49.8158531,"cg_id_a":-0.0462197401,"cg_id_raw_a":-0.243360043,"cg_iq_a":0.123568289,"cg_iq_raw_a":0.0855947435,"cg_iu_a":-0.214929581,"cg_iv_a":-0.25704062,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9509087,"cg_sample_seq":14640617,"cg_sample_valid":1,"cg_theta_rad":5.00740623,"cg_vd_req_v":0.0893799812,"cg_vd_v":0.0893799812,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314833075,"cg_vq_v":-0.314833075,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.473042727,"dclink_p_w":-68.4609451,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12467,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1141052,"cg_dv":50.1777306,"cg_dw":49.8222694,"cg_id_a":0.190798685,"cg_id_raw_a":-0.0177212562,"cg_iq_a":-0.380501866,"cg_iq_raw_a":-0.729079604,"cg_iu_a":-0.541124105,"cg_iv_a":0.540323794,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9763641,"cg_sample_seq":14640667,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.0829169601,"cg_vd_v":0.0829169601,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.306710392,"cg_vq_v":-0.306710392,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12431,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210594,"cg_dv":50.1804695,"cg_dw":49.8195305,"cg_id_a":0.217744142,"cg_id_raw_a":0.121455036,"cg_iq_a":-0.0601056814,"cg_iq_raw_a":0.013175007,"cg_iu_a":-0.396148682,"cg_iv_a":0.359104633,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9618187,"cg_sample_seq":14640717,"cg_sample_valid":1,"cg_theta_rad":5.00761032,"cg_vd_req_v":0.0820152983,"cg_vd_v":0.0820152983,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313860565,"cg_vq_v":-0.313860565,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.567276716,"dclink_p_w":-82.3484726,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12499,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1144638,"cg_dv":50.1833954,"cg_dw":49.8166046,"cg_id_a":0.09130539,"cg_id_raw_a":0.319978297,"cg_iq_a":0.0720722973,"cg_iq_raw_a":0.611684859,"cg_iu_a":-0.287417173,"cg_iv_a":0.177885413,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14640767,"cg_sample_valid":1,"cg_theta_rad":5.00596762,"cg_vd_req_v":0.0859707296,"cg_vd_v":0.0859707296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314218014,"cg_vq_v":-0.314218014,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.507474422,"dclink_p_w":-73.4440613,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205902,"cg_dv":50.1819077,"cg_dw":49.8180923,"cg_id_a":0.327761114,"cg_id_raw_a":0.452243179,"cg_iq_a":0.206552744,"cg_iq_raw_a":1.60965741,"cg_iu_a":-0.758586884,"cg_iv_a":0.250373125,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9363632,"cg_sample_seq":14640817,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.0816060901,"cg_vd_v":0.0816060901,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315100163,"cg_vq_v":-0.315100163,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12427,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1137276,"cg_dv":50.1832581,"cg_dw":49.8167419,"cg_id_a":-0.134383142,"cg_id_raw_a":0.111681573,"cg_iq_a":0.151625454,"cg_iq_raw_a":-0.0970867127,"cg_iu_a":0.183752537,"cg_iv_a":-0.148309052,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9581814,"cg_sample_seq":14640867,"cg_sample_valid":1,"cg_theta_rad":5.00647116,"cg_vd_req_v":0.0903148502,"cg_vd_v":0.0903148502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312522858,"cg_vq_v":-0.312522858,"cg_vu_v":116.571533,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1101761,"cg_dv":50.1871834,"cg_dw":49.8128166,"cg_id_a":-0.403342813,"cg_id_raw_a":-0.400960296,"cg_iq_a":0.396881312,"cg_iq_raw_a":-0.440035254,"cg_iu_a":-0.577367783,"cg_iv_a":-0.764454246,"cg_iw_a":1.34182203,"cg_sample_age_us":23.9618187,"cg_sample_seq":14640917,"cg_sample_valid":1,"cg_theta_rad":5.00619316,"cg_vd_req_v":0.0963208005,"cg_vd_v":0.0963208005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316022724,"cg_vq_v":-0.316022724,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.454920769,"dclink_p_w":-65.8382492,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12431,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197815,"cg_dv":50.1805305,"cg_dw":49.8194695,"cg_id_a":0.296087861,"cg_id_raw_a":0.440367371,"cg_iq_a":0.174198672,"cg_iq_raw_a":0.190131024,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9618187,"cg_sample_seq":14640966,"cg_sample_valid":1,"cg_theta_rad":5.00828648,"cg_vd_req_v":0.0822277963,"cg_vd_v":0.0822277963,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313447714,"cg_vq_v":-0.313447714,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2654.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12448,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1075859,"cg_dv":50.1800156,"cg_dw":49.8163376,"cg_id_a":-0.102253444,"cg_id_raw_a":-0.142683655,"cg_iq_a":-0.39131555,"cg_iq_raw_a":0.132353157,"cg_iu_a":0.0750212669,"cg_iv_a":0.21412921,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9836369,"cg_sample_seq":14641019,"cg_sample_valid":1,"cg_theta_rad":5.00786591,"cg_vd_req_v":0.0910262764,"cg_vd_v":0.0910262764,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.30493626,"cg_vq_v":-0.30493626,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.239269972,"dclink_p_w":-34.6282654,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12487,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1144371,"cg_dv":50.1902122,"cg_dw":49.8097878,"cg_id_a":-0.196576595,"cg_id_raw_a":-0.135250703,"cg_iq_a":0.254798412,"cg_iq_raw_a":0.0608589165,"cg_iu_a":-0.504880428,"cg_iv_a":1.08398128,"cg_iw_a":-0.579100847,"cg_sample_age_us":23.9618187,"cg_sample_seq":14641067,"cg_sample_valid":1,"cg_theta_rad":5.0077548,"cg_vd_req_v":0.0940649956,"cg_vd_v":0.0940649956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323087662,"cg_vq_v":-0.323087662,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.114228845,"dclink_p_w":-16.5317307,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12415,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1167564,"cg_dv":50.1860199,"cg_dw":49.8139801,"cg_id_a":0.0420298502,"cg_id_raw_a":-0.035093002,"cg_iq_a":-0.250355512,"cg_iq_raw_a":-0.512845099,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9581814,"cg_sample_seq":14641116,"cg_sample_valid":1,"cg_theta_rad":5.00808287,"cg_vd_req_v":0.090698719,"cg_vd_v":0.090698719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317965686,"cg_vq_v":-0.317965686,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2654.979124,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2654.97913,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2654.979136,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2654.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54810,"Mech_RPM":-3.50324616e-44,"cg_du":50.1141663,"cg_dv":50.1721954,"cg_dw":49.8278046,"cg_id_a":0.604381919,"cg_id_raw_a":-0.131611913,"cg_iq_a":-1.17132843,"cg_iq_raw_a":-0.194136158,"cg_iu_a":-0.287417412,"cg_iv_a":-0.00333380699,"cg_iw_a":0.290751219,"cg_sample_age_us":23.9581814,"cg_sample_seq":14641166,"cg_sample_valid":1,"cg_theta_rad":5.00798941,"cg_vd_req_v":0.0778438449,"cg_vd_v":0.0778438449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.298126906,"cg_vq_v":-0.298126906,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.1696949,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2654.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12461,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.109745,"cg_dv":50.182785,"cg_dw":49.817215,"cg_id_a":-0.0742988288,"cg_id_raw_a":-0.017918665,"cg_iq_a":-0.461803854,"cg_iq_raw_a":-0.729074657,"cg_iu_a":0.5099473,"cg_iv_a":0.504079938,"cg_iw_a":-1.01402724,"cg_sample_age_us":23.9618187,"cg_sample_seq":14641216,"cg_sample_valid":1,"cg_theta_rad":5.00666714,"cg_vd_req_v":0.0909087285,"cg_vd_v":0.0909087285,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310242563,"cg_vq_v":-0.310242563,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.219335914,"dclink_p_w":-31.7433147,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3575745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1124191,"cg_dv":50.1819153,"cg_dw":49.8180847,"cg_id_a":0.0366006419,"cg_id_raw_a":-0.0534622706,"cg_iq_a":-0.368805349,"cg_iq_raw_a":-0.36811474,"cg_iu_a":0.691166401,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9581814,"cg_sample_seq":14641267,"cg_sample_valid":1,"cg_theta_rad":5.00761223,"cg_vd_req_v":0.0870207548,"cg_vd_v":0.0870207548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310824007,"cg_vq_v":-0.310824007,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.115963,"cg_dv":50.1860733,"cg_dw":49.8139267,"cg_id_a":-0.045303829,"cg_id_raw_a":0.150425091,"cg_iq_a":0.10574089,"cg_iq_raw_a":0.59746784,"cg_iu_a":-0.432392597,"cg_iv_a":-0.220796704,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9618187,"cg_sample_seq":14641316,"cg_sample_valid":1,"cg_theta_rad":5.00754452,"cg_vd_req_v":0.0891345665,"cg_vd_v":0.0891345665,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319262922,"cg_vq_v":-0.319262922,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.9773941,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.1075401,"cg_dv":50.1785278,"cg_dw":49.8214722,"cg_id_a":0.0800977498,"cg_id_raw_a":0.100841649,"cg_iq_a":-0.646836281,"cg_iq_raw_a":-0.899832487,"cg_iu_a":0.00253343582,"cg_iv_a":-1.5618186,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9581814,"cg_sample_seq":14641368,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.0876346752,"cg_vd_v":0.0876346752,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303469449,"cg_vq_v":-0.303469449,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.6234741,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12444,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1070137,"cg_dv":50.1837616,"cg_dw":49.8162384,"cg_id_a":-0.295850486,"cg_id_raw_a":-0.716145515,"cg_iq_a":-0.40179491,"cg_iq_raw_a":0.182870224,"cg_iu_a":0.546190977,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9618187,"cg_sample_seq":14641416,"cg_sample_valid":1,"cg_theta_rad":5.00663233,"cg_vd_req_v":0.0959836319,"cg_vd_v":0.0959836319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309439182,"cg_vq_v":-0.309439182,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.570901155,"dclink_p_w":-82.6234741,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.116497,"cg_dv":50.1887703,"cg_dw":49.8112297,"cg_id_a":-0.126260847,"cg_id_raw_a":-0.389166474,"cg_iq_a":0.0981813669,"cg_iq_raw_a":0.290588111,"cg_iu_a":0.546190977,"cg_iv_a":0.794030666,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9618187,"cg_sample_seq":14641466,"cg_sample_valid":1,"cg_theta_rad":5.00868702,"cg_vd_req_v":0.0920801535,"cg_vd_v":0.0920801535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321976334,"cg_vq_v":-0.321976334,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.597427,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12474,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1135254,"cg_dv":50.191925,"cg_dw":49.808075,"cg_id_a":-0.333724558,"cg_id_raw_a":-0.13554123,"cg_iq_a":0.174180061,"cg_iq_raw_a":0.497488111,"cg_iu_a":0.183752537,"cg_iv_a":0.866518259,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.863636,"cg_sample_seq":14641566,"cg_sample_valid":1,"cg_theta_rad":5.00540304,"cg_vd_req_v":0.0971717313,"cg_vd_v":0.0971717313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324690968,"cg_vq_v":-0.324690968,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.597427,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12451,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154366,"cg_dv":50.1947594,"cg_dw":49.8052406,"cg_id_a":-0.304230034,"cg_id_raw_a":0.104206555,"cg_iq_a":0.28043893,"cg_iq_raw_a":-0.0254295915,"cg_iu_a":0.328727841,"cg_iv_a":-0.583235025,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14641616,"cg_sample_valid":1,"cg_theta_rad":5.0070529,"cg_vd_req_v":0.0990948379,"cg_vd_v":0.0990948379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330507964,"cg_vq_v":-0.330507964,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12475,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205864,"cg_dv":50.1938171,"cg_dw":49.8061829,"cg_id_a":0.128502011,"cg_id_raw_a":0.373415738,"cg_iq_a":0.376589656,"cg_iq_raw_a":-0.220610112,"cg_iu_a":-0.396148682,"cg_iv_a":-0.72821033,"cg_iw_a":0.290750802,"cg_sample_age_us":23.9799995,"cg_sample_seq":14641666,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0913075507,"cg_vd_v":0.0913075507,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332911104,"cg_vq_v":-0.332911104,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12466,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1168861,"cg_dv":50.1892738,"cg_dw":49.8107262,"cg_id_a":-0.0370964035,"cg_id_raw_a":-0.0527729094,"cg_iq_a":-0.0300158672,"cg_iq_raw_a":-0.55097723,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015924,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14641716,"cg_sample_valid":1,"cg_theta_rad":5.00618458,"cg_vd_req_v":0.0934570804,"cg_vd_v":0.0934570804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3225393,"cg_vq_v":-0.3225393,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12454,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1190872,"cg_dv":50.1914253,"cg_dw":49.8085747,"cg_id_a":-0.0821961612,"cg_id_raw_a":-0.104043946,"cg_iq_a":0.328970373,"cg_iq_raw_a":-0.0458061472,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.863636,"cg_sample_seq":14641766,"cg_sample_valid":1,"cg_theta_rad":5.00701714,"cg_vd_req_v":0.092767708,"cg_vd_v":0.092767708,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326999515,"cg_vq_v":-0.326999515,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":99.4157181,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12457,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218338,"cg_dv":50.189373,"cg_dw":49.810627,"cg_id_a":0.135315031,"cg_id_raw_a":0.350435108,"cg_iq_a":0.305384129,"cg_iq_raw_a":0.253306717,"cg_iu_a":-0.359904766,"cg_iv_a":0.141641557,"cg_iw_a":0.218263209,"cg_sample_age_us":23.9836369,"cg_sample_seq":14641817,"cg_sample_valid":1,"cg_theta_rad":5.00749063,"cg_vd_req_v":0.088329494,"cg_vd_v":0.088329494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325834364,"cg_vq_v":-0.325834364,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12441,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1117592,"cg_dv":50.1865311,"cg_dw":49.8134689,"cg_id_a":-0.304675341,"cg_id_raw_a":-0.290239155,"cg_iq_a":-0.356769413,"cg_iq_raw_a":-0.467548102,"cg_iu_a":0.292484045,"cg_iv_a":-0.112065196,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9218178,"cg_sample_seq":14641866,"cg_sample_valid":1,"cg_theta_rad":5.0077529,"cg_vd_req_v":0.0964747369,"cg_vd_v":0.0964747369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315415561,"cg_vq_v":-0.315415561,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.5437181,"dclink_p_w":-78.689415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12485,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1104813,"cg_dv":50.1955147,"cg_dw":49.8044853,"cg_id_a":-0.456677973,"cg_id_raw_a":-0.142918006,"cg_iq_a":0.209390178,"cg_iq_raw_a":-0.30389446,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772069,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9218178,"cg_sample_seq":14641916,"cg_sample_valid":1,"cg_theta_rad":5.00776243,"cg_vd_req_v":0.102275491,"cg_vd_v":0.102275491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328112036,"cg_vq_v":-0.328112036,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1160622,"cg_dv":50.1840439,"cg_dw":49.8159561,"cg_id_a":0.100820251,"cg_id_raw_a":0.0431978181,"cg_iq_a":-0.454215944,"cg_iq_raw_a":-0.249806419,"cg_iu_a":0.437459469,"cg_iv_a":0.286616921,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8709087,"cg_sample_seq":14641966,"cg_sample_valid":1,"cg_theta_rad":5.00614882,"cg_vd_req_v":0.0896029323,"cg_vd_v":0.0896029323,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315846205,"cg_vq_v":-0.315846205,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.4488697,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12447,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1248131,"cg_dv":50.1866722,"cg_dw":49.8133278,"cg_id_a":0.361400187,"cg_id_raw_a":0.26076749,"cg_iq_a":-0.136582464,"cg_iq_raw_a":0.316837519,"cg_iu_a":0.509947062,"cg_iv_a":0.322860777,"cg_iw_a":-0.832807839,"cg_sample_age_us":26.823637,"cg_sample_seq":14642021,"cg_sample_valid":1,"cg_theta_rad":5.00630283,"cg_vd_req_v":0.0827044472,"cg_vd_v":0.0827044472,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323999554,"cg_vq_v":-0.323999554,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12449,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1190796,"cg_dv":50.1867104,"cg_dw":49.8132896,"cg_id_a":0.136913836,"cg_id_raw_a":-0.130654693,"cg_iq_a":-0.304302156,"cg_iq_raw_a":-1.0679661,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860777,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9763641,"cg_sample_seq":14642066,"cg_sample_valid":1,"cg_theta_rad":5.00705099,"cg_vd_req_v":0.0880087689,"cg_vd_v":0.0880087689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320643127,"cg_vq_v":-0.320643127,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12446,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216316,"cg_dv":50.1876717,"cg_dw":49.8123283,"cg_id_a":0.0525462702,"cg_id_raw_a":0.237009346,"cg_iq_a":0.0153948963,"cg_iq_raw_a":0.534749985,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14642116,"cg_sample_valid":1,"cg_theta_rad":5.00725794,"cg_vd_req_v":0.0881039873,"cg_vd_v":0.0881039873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323060632,"cg_vq_v":-0.323060632,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12423,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1275101,"cg_dv":50.1907349,"cg_dw":49.8092651,"cg_id_a":0.0859567672,"cg_id_raw_a":0.424416393,"cg_iq_a":0.34658879,"cg_iq_raw_a":-0.464605182,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065256,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.9581814,"cg_sample_seq":14642166,"cg_sample_valid":1,"cg_theta_rad":5.00766325,"cg_vd_req_v":0.0879922584,"cg_vd_v":0.0879922584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330139637,"cg_vq_v":-0.330139637,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12462,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146011,"cg_dv":50.1855049,"cg_dw":49.8144951,"cg_id_a":-0.0155678913,"cg_id_raw_a":-0.0622280985,"cg_iq_a":-0.200853467,"cg_iq_raw_a":-0.478583634,"cg_iu_a":-0.251173496,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9581814,"cg_sample_seq":14642216,"cg_sample_valid":1,"cg_theta_rad":5.00736523,"cg_vd_req_v":0.0904131308,"cg_vd_v":0.0904131308,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317510962,"cg_vq_v":-0.317510962,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.6307487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12454,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191711,"cg_dv":50.1891022,"cg_dw":49.8108978,"cg_id_a":-0.077726081,"cg_id_raw_a":-0.109704077,"cg_iq_a":0.0117430985,"cg_iq_raw_a":-0.410773128,"cg_iu_a":0.038777113,"cg_iv_a":-0.510747433,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9618187,"cg_sample_seq":14642266,"cg_sample_valid":1,"cg_theta_rad":5.00587988,"cg_vd_req_v":0.0912365541,"cg_vd_v":0.0912365541,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324732721,"cg_vq_v":-0.324732721,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7910309,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5852661,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12453,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146698,"cg_dv":50.1861382,"cg_dw":49.8138618,"cg_id_a":-0.0362775065,"cg_id_raw_a":-0.141556129,"cg_iq_a":-0.375987738,"cg_iq_raw_a":-0.304531038,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14642316,"cg_sample_valid":1,"cg_theta_rad":5.00782871,"cg_vd_req_v":0.0913304612,"cg_vd_v":0.0913304612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317270398,"cg_vq_v":-0.317270398,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12455,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1204147,"cg_dv":50.1819,"cg_dw":49.8181,"cg_id_a":0.288364887,"cg_id_raw_a":0.253745615,"cg_iq_a":-0.473099083,"cg_iq_raw_a":-0.046000801,"cg_iu_a":-0.251173496,"cg_iv_a":0.794030607,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9872723,"cg_sample_seq":14642366,"cg_sample_valid":1,"cg_theta_rad":5.00711775,"cg_vd_req_v":0.0839389637,"cg_vd_v":0.0839389637,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314410567,"cg_vq_v":-0.314410567,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.4657536,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12448,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1134109,"cg_dv":50.1928329,"cg_dw":49.8071671,"cg_id_a":-0.236845538,"cg_id_raw_a":0.0515696257,"cg_iq_a":0.12291155,"cg_iq_raw_a":-0.140023082,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9181824,"cg_sample_seq":14642416,"cg_sample_valid":1,"cg_theta_rad":5.00811481,"cg_vd_req_v":0.0968006775,"cg_vd_v":0.0968006775,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32626161,"cg_vq_v":-0.32626161,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12429,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1227837,"cg_dv":50.1895142,"cg_dw":49.8104858,"cg_id_a":0.0947934389,"cg_id_raw_a":0.146399379,"cg_iq_a":-0.225992009,"cg_iq_raw_a":-1.0041399,"cg_iu_a":-0.468636513,"cg_iv_a":0.685299158,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14642467,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0910108984,"cg_vd_v":0.0910108984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325653374,"cg_vq_v":-0.325653374,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12453,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1185608,"cg_dv":50.1941643,"cg_dw":49.8058357,"cg_id_a":-0.0677284524,"cg_id_raw_a":0.0331423618,"cg_iq_a":0.18584688,"cg_iq_raw_a":0.513452172,"cg_iu_a":0.61867857,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8600006,"cg_sample_seq":14642521,"cg_sample_valid":1,"cg_theta_rad":5.0075388,"cg_vd_req_v":0.0943503007,"cg_vd_v":0.0943503007,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331943333,"cg_vq_v":-0.331943333,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.95305157,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12460,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258316,"cg_dv":50.1946602,"cg_dw":49.8053398,"cg_id_a":-0.0495970733,"cg_id_raw_a":-0.268738955,"cg_iq_a":0.314451069,"cg_iq_raw_a":-0.499685854,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14642566,"cg_sample_valid":1,"cg_theta_rad":5.00706673,"cg_vd_req_v":0.0916789547,"cg_vd_v":0.0916789547,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335994929,"cg_vq_v":-0.335994929,"cg_vu_v":26.3935547,"cg_vv_v":9.23774433,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.62010193,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1261787,"cg_dv":50.1976891,"cg_dw":49.8023109,"cg_id_a":-0.0702524483,"cg_id_raw_a":-0.156311944,"cg_iq_a":0.531484962,"cg_iq_raw_a":0.27699843,"cg_iu_a":0.0387773514,"cg_iv_a":-1.09064877,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9618187,"cg_sample_seq":14642616,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0928516313,"cg_vd_v":0.0928516313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339616776,"cg_vq_v":-0.339616776,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.9842033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12461,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1175232,"cg_dv":50.1927681,"cg_dw":49.8072319,"cg_id_a":-0.204501361,"cg_id_raw_a":-0.37579152,"cg_iq_a":0.0631119907,"cg_iq_raw_a":-0.288997054,"cg_iu_a":0.038777113,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9654541,"cg_sample_seq":14642666,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0937252715,"cg_vd_v":0.0937252715,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328402251,"cg_vq_v":-0.328402251,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.362377644,"dclink_p_w":52.2855721,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12455,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220322,"cg_dv":50.19244,"cg_dw":49.80756,"cg_id_a":0.0398663096,"cg_id_raw_a":-0.107579149,"cg_iq_a":0.0956115201,"cg_iq_raw_a":-0.228023976,"cg_iu_a":-0.142441988,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9618187,"cg_sample_seq":14642716,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.0908976048,"cg_vd_v":0.0908976048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330186754,"cg_vq_v":-0.330186754,"cg_vu_v":21.1148415,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.5905991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12471,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1161728,"cg_dv":50.1901741,"cg_dw":49.8098259,"cg_id_a":-0.122415997,"cg_id_raw_a":-0.219344407,"cg_iq_a":-0.347747624,"cg_iq_raw_a":-0.821109891,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8672733,"cg_sample_seq":14642766,"cg_sample_valid":1,"cg_theta_rad":5.00728559,"cg_vd_req_v":0.0930164084,"cg_vd_v":0.0930164084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323899835,"cg_vq_v":-0.323899835,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.252720833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12450,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262131,"cg_dv":50.1870956,"cg_dw":49.8129044,"cg_id_a":0.243721545,"cg_id_raw_a":-0.243812978,"cg_iq_a":-0.376545995,"cg_iq_raw_a":-0.533883274,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.954546,"cg_sample_seq":14642816,"cg_sample_valid":1,"cg_theta_rad":5.00761318,"cg_vd_req_v":0.0842729956,"cg_vd_v":0.0842729956,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325839698,"cg_vq_v":-0.325839698,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.252720833,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12499,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1386185,"cg_dv":50.2014122,"cg_dw":49.7985878,"cg_id_a":0.12827161,"cg_id_raw_a":0.72392112,"cg_iq_a":0.877271473,"cg_iq_raw_a":2.10717344,"cg_iu_a":-0.649855614,"cg_iv_a":0.504079998,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9472733,"cg_sample_seq":14642867,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0859274492,"cg_vd_v":0.0859274492,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352976143,"cg_vq_v":-0.352976143,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.7405062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12447,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1331329,"cg_dv":50.1868362,"cg_dw":49.8131638,"cg_id_a":0.442217201,"cg_id_raw_a":0.585401118,"cg_iq_a":-0.348668993,"cg_iq_raw_a":0.859201729,"cg_iu_a":-0.106198072,"cg_iv_a":0.21412921,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9509087,"cg_sample_seq":14642916,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.0772188976,"cg_vd_v":0.0772188976,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328671306,"cg_vq_v":-0.328671306,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12468,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1442261,"cg_dv":50.1989021,"cg_dw":49.8010979,"cg_id_a":0.279740959,"cg_id_raw_a":-0.69722724,"cg_iq_a":0.616446137,"cg_iq_raw_a":0.841847658,"cg_iu_a":-0.323661089,"cg_iv_a":-0.25704062,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9618187,"cg_sample_seq":14642966,"cg_sample_valid":1,"cg_theta_rad":5.00835037,"cg_vd_req_v":0.0809395313,"cg_vd_v":0.0809395313,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351139545,"cg_vq_v":-0.351139545,"cg_vu_v":2.63935518,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12472,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364403,"cg_dv":50.1960449,"cg_dw":49.8039551,"cg_id_a":0.213852733,"cg_id_raw_a":0.097758837,"cg_iq_a":0.147944316,"cg_iq_raw_a":0.483398408,"cg_iu_a":-1.80965805,"cg_iv_a":-0.510747433,"cg_iw_a":0.363238573,"cg_sample_age_us":23.8600006,"cg_sample_seq":14643021,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.0826770887,"cg_vd_v":0.0826770887,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343262941,"cg_vq_v":-0.343262941,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12431,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189308,"cg_dv":50.1985016,"cg_dw":49.8014984,"cg_id_a":-0.607787549,"cg_id_raw_a":-0.231253177,"cg_iq_a":-0.211041123,"cg_iq_raw_a":-0.677428007,"cg_iu_a":0.364971638,"cg_iv_a":0.250373125,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9327278,"cg_sample_seq":14643066,"cg_sample_valid":1,"cg_theta_rad":5.00792933,"cg_vd_req_v":0.0998480394,"cg_vd_v":0.0998480394,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336506784,"cg_vq_v":-0.336506784,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334,"cg_dv":50.1949425,"cg_dw":49.8050575,"cg_id_a":0.16785571,"cg_id_raw_a":0.0691962987,"cg_iq_a":-0.146619081,"cg_iq_raw_a":-0.101921812,"cg_iu_a":-0.359905005,"cg_iv_a":0.250373065,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9218178,"cg_sample_seq":14643116,"cg_sample_valid":1,"cg_theta_rad":5.00775051,"cg_vd_req_v":0.083514221,"cg_vd_v":0.083514221,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340176433,"cg_vq_v":-0.340176433,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12497,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277428,"cg_dv":50.190834,"cg_dw":49.809166,"cg_id_a":0.163511381,"cg_id_raw_a":0.220785692,"cg_iq_a":-0.657223403,"cg_iq_raw_a":-0.379166067,"cg_iu_a":-0.214929581,"cg_iv_a":0.540323734,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9836369,"cg_sample_seq":14643167,"cg_sample_valid":1,"cg_theta_rad":5.00773907,"cg_vd_req_v":0.0835948735,"cg_vd_v":0.0835948735,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331523478,"cg_vq_v":-0.331523478,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.6782742,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12448,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403084,"cg_dv":50.2008591,"cg_dw":49.7991409,"cg_id_a":0.0917254537,"cg_id_raw_a":0.287424743,"cg_iq_a":0.583583891,"cg_iq_raw_a":-0.589466572,"cg_iu_a":-0.39614892,"cg_iv_a":-0.329528213,"cg_iw_a":0.725677133,"cg_sample_age_us":23.9727268,"cg_sample_seq":14643316,"cg_sample_valid":1,"cg_theta_rad":5.0069294,"cg_vd_req_v":0.0863179043,"cg_vd_v":0.0863179043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351487339,"cg_vq_v":-0.351487339,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12495,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209984,"cg_dv":50.1948738,"cg_dw":49.8051262,"cg_id_a":-0.204434901,"cg_id_raw_a":-0.335069716,"cg_iq_a":-0.211002558,"cg_iq_raw_a":0.406699836,"cg_iu_a":-0.251173258,"cg_iv_a":-0.293284416,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9290905,"cg_sample_seq":14643367,"cg_sample_valid":1,"cg_theta_rad":5.00560331,"cg_vd_req_v":0.0924155936,"cg_vd_v":0.0924155936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332288653,"cg_vq_v":-0.332288653,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":0.0361831188,"dclink_p_w":5.23658943,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2655.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12458,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276627,"cg_dv":50.1947136,"cg_dw":49.8052864,"cg_id_a":-0.186589807,"cg_id_raw_a":0.133511797,"cg_iq_a":-0.00858449563,"cg_iq_raw_a":0.305960745,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9763641,"cg_sample_seq":14643417,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.0907474682,"cg_vd_v":0.0907474682,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335880578,"cg_vq_v":-0.335880578,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306496,"cg_dv":50.1983147,"cg_dw":49.8016853,"cg_id_a":-0.201587796,"cg_id_raw_a":-0.263957083,"cg_iq_a":0.244130284,"cg_iq_raw_a":0.302994639,"cg_iu_a":0.256240368,"cg_iv_a":-1.34435558,"cg_iw_a":1.08811522,"cg_sample_age_us":23.863636,"cg_sample_seq":14643467,"cg_sample_valid":1,"cg_theta_rad":5.00840235,"cg_vd_req_v":0.0902427807,"cg_vd_v":0.0902427807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344014525,"cg_vq_v":-0.344014525,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12455,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222382,"cg_dv":50.1833382,"cg_dw":49.8166618,"cg_id_a":0.220353901,"cg_id_raw_a":0.129091978,"cg_iq_a":-0.924583912,"cg_iq_raw_a":-0.751630902,"cg_iu_a":0.799897671,"cg_iv_a":-0.945673347,"cg_iw_a":0.145775676,"cg_sample_age_us":26.8163643,"cg_sample_seq":14643521,"cg_sample_valid":1,"cg_theta_rad":5.00808525,"cg_vd_req_v":0.0809216425,"cg_vd_v":0.0809216425,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31919983,"cg_vq_v":-0.31919983,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.6166077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350327,"cg_dv":50.1886139,"cg_dw":49.8113861,"cg_id_a":0.347000957,"cg_id_raw_a":0.728132546,"cg_iq_a":-0.147072569,"cg_iq_raw_a":0.909145772,"cg_iu_a":-0.178685665,"cg_iv_a":0.866518259,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.954546,"cg_sample_seq":14643566,"cg_sample_valid":1,"cg_theta_rad":5.00781679,"cg_vd_req_v":0.0772840679,"cg_vd_v":0.0772840679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332191169,"cg_vq_v":-0.332191169,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8208733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12445,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290627,"cg_dv":50.1840858,"cg_dw":49.8159142,"cg_id_a":0.182443082,"cg_id_raw_a":-0.175078571,"cg_iq_a":-0.600994706,"cg_iq_raw_a":-0.564441979,"cg_iu_a":0.691166401,"cg_iv_a":0.286616981,"cg_iw_a":-0.977783382,"cg_sample_age_us":23.9836369,"cg_sample_seq":14643616,"cg_sample_valid":1,"cg_theta_rad":5.00713968,"cg_vd_req_v":0.0803441107,"cg_vd_v":0.0803441107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322008759,"cg_vq_v":-0.322008759,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12445,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1353378,"cg_dv":50.1860924,"cg_dw":49.8139076,"cg_id_a":0.284137636,"cg_id_raw_a":0.22999531,"cg_iq_a":-0.290872008,"cg_iq_raw_a":-1.6880995,"cg_iu_a":-1.12102556,"cg_iv_a":0.467836142,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9327278,"cg_sample_seq":14643666,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0757822096,"cg_vd_v":0.0757822096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328666061,"cg_vq_v":-0.328666061,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.5960922,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12473,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342316,"cg_dv":50.1903801,"cg_dw":49.8096199,"cg_id_a":0.0841228962,"cg_id_raw_a":0.565120399,"cg_iq_a":0.0810820311,"cg_iq_raw_a":-0.237852454,"cg_iu_a":0.654922485,"cg_iv_a":0.21412921,"cg_iw_a":-0.869051695,"cg_sample_age_us":24.0381813,"cg_sample_seq":14643716,"cg_sample_valid":1,"cg_theta_rad":5.00754166,"cg_vd_req_v":0.0782170668,"cg_vd_v":0.0782170668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334478915,"cg_vq_v":-0.334478915,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.2615509,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350784,"cg_dv":50.1919861,"cg_dw":49.8080139,"cg_id_a":-0.0281482786,"cg_id_raw_a":0.510465682,"cg_iq_a":0.143476427,"cg_iq_raw_a":-0.0950501636,"cg_iu_a":0.256240129,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9799995,"cg_sample_seq":14643766,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0808858126,"cg_vd_v":0.0808858126,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33780098,"cg_vq_v":-0.33780098,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12471,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383629,"cg_dv":50.187088,"cg_dw":49.812912,"cg_id_a":0.3555305,"cg_id_raw_a":0.381305963,"cg_iq_a":-0.12749514,"cg_iq_raw_a":-0.727391779,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9763641,"cg_sample_seq":14643816,"cg_sample_valid":1,"cg_theta_rad":5.00616455,"cg_vd_req_v":0.0728047341,"cg_vd_v":0.0728047341,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333126634,"cg_vq_v":-0.333126634,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.6620483,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12451,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1386452,"cg_dv":50.1958084,"cg_dw":49.8041916,"cg_id_a":0.0500552282,"cg_id_raw_a":0.0197201129,"cg_iq_a":0.533250034,"cg_iq_raw_a":-0.907495916,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.655722737,"cg_iw_a":0.689433217,"cg_sample_age_us":23.954546,"cg_sample_seq":14643866,"cg_sample_valid":1,"cg_theta_rad":5.0074892,"cg_vd_req_v":0.0806659013,"cg_vd_v":0.0806659013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344182372,"cg_vq_v":-0.344182372,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00302128633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1410713,"cg_dv":50.1956329,"cg_dw":49.8043671,"cg_id_a":0.10959547,"cg_id_raw_a":0.364224166,"cg_iq_a":0.530099154,"cg_iq_raw_a":0.109736584,"cg_iu_a":0.292484045,"cg_iv_a":-0.257040501,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14643916,"cg_sample_valid":1,"cg_theta_rad":5.00780678,"cg_vd_req_v":0.079994753,"cg_vd_v":0.079994753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344978333,"cg_vq_v":-0.344978333,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":67.743454,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12440,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381073,"cg_dv":50.1938133,"cg_dw":49.8061867,"cg_id_a":0.0150317252,"cg_id_raw_a":-0.0917962268,"cg_iq_a":0.391638577,"cg_iq_raw_a":0.246424288,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9836369,"cg_sample_seq":14643966,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.0817350745,"cg_vd_v":0.0817350745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340559185,"cg_vq_v":-0.340559185,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12485,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205368,"cg_dv":50.1818161,"cg_dw":49.8181839,"cg_id_a":0.239015698,"cg_id_raw_a":-0.0158944055,"cg_iq_a":-0.597682953,"cg_iq_raw_a":-1.31024075,"cg_iu_a":0.147508621,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.863636,"cg_sample_seq":14644021,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.0787486956,"cg_vd_v":0.0787486956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315663725,"cg_vq_v":-0.315663725,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12462,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1178589,"cg_dv":50.1809464,"cg_dw":49.8190536,"cg_id_a":0.114285208,"cg_id_raw_a":-0.143963233,"cg_iq_a":-0.661934376,"cg_iq_raw_a":-0.740795195,"cg_iu_a":0.691166282,"cg_iv_a":0.612811446,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9872723,"cg_sample_seq":14644067,"cg_sample_valid":1,"cg_theta_rad":5.00702143,"cg_vd_req_v":0.0825524554,"cg_vd_v":0.0825524554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313350827,"cg_vq_v":-0.313350827,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.633812,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12457,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1246185,"cg_dv":50.1818047,"cg_dw":49.8181953,"cg_id_a":0.147035331,"cg_id_raw_a":0.423622996,"cg_iq_a":-0.039742887,"cg_iq_raw_a":-0.979097962,"cg_iu_a":-0.613611937,"cg_iv_a":-0.402015924,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9690914,"cg_sample_seq":14644216,"cg_sample_valid":1,"cg_theta_rad":5.00599051,"cg_vd_req_v":0.0774199441,"cg_vd_v":0.0774199441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317441732,"cg_vq_v":-0.317441732,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.583586454,"dclink_p_w":-84.7160645,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1212006,"cg_dv":50.1799736,"cg_dw":49.8200264,"cg_id_a":0.0317245871,"cg_id_raw_a":-0.416079402,"cg_iq_a":-0.250872582,"cg_iq_raw_a":-0.731367171,"cg_iu_a":0.147508621,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9472733,"cg_sample_seq":14644266,"cg_sample_valid":1,"cg_theta_rad":5.00711441,"cg_vd_req_v":0.0796361566,"cg_vd_v":0.0796361566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312711596,"cg_vq_v":-0.312711596,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.62526679,"dclink_p_w":-90.4915237,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250305,"cg_dv":50.1808853,"cg_dw":49.8191147,"cg_id_a":0.133471012,"cg_id_raw_a":0.101220667,"cg_iq_a":-0.0522669032,"cg_iq_raw_a":-0.207719788,"cg_iu_a":0.364971638,"cg_iv_a":-0.257040501,"cg_iw_a":0.0370442271,"cg_sample_age_us":23.954546,"cg_sample_seq":14644316,"cg_sample_valid":1,"cg_theta_rad":5.0090704,"cg_vd_req_v":0.078102842,"cg_vd_v":0.078102842,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315954715,"cg_vq_v":-0.315954715,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12464,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151352,"cg_dv":50.1797752,"cg_dw":49.8202248,"cg_id_a":-0.00687320158,"cg_id_raw_a":-0.34555459,"cg_iq_a":-0.227095962,"cg_iq_raw_a":0.296945632,"cg_iu_a":0.328727961,"cg_iv_a":0.685299158,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9872723,"cg_sample_seq":14644367,"cg_sample_valid":1,"cg_theta_rad":5.00674915,"cg_vd_req_v":0.0826054811,"cg_vd_v":0.0826054811,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310480237,"cg_vq_v":-0.310480237,"cg_vu_v":25.953661,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12470,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1176186,"cg_dv":50.1865005,"cg_dw":49.8134995,"cg_id_a":-0.309804082,"cg_id_raw_a":-0.0588892363,"cg_iq_a":0.30906871,"cg_iq_raw_a":0.140815794,"cg_iu_a":0.183752537,"cg_iv_a":-0.293284416,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14644416,"cg_sample_valid":1,"cg_theta_rad":5.00875235,"cg_vd_req_v":0.0886113569,"cg_vd_v":0.0886113569,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320672452,"cg_vq_v":-0.320672452,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.2139587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12453,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254501,"cg_dv":50.1896057,"cg_dw":49.8103943,"cg_id_a":-0.159069926,"cg_id_raw_a":0.152609721,"cg_iq_a":0.705108702,"cg_iq_raw_a":0.78017199,"cg_iu_a":-0.251173258,"cg_iv_a":-0.764454246,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9363632,"cg_sample_seq":14644466,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.085767895,"cg_vd_v":0.085767895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329232723,"cg_vq_v":-0.329232723,"cg_vu_v":21.9946289,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.2139587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38685,"EncoderSin":12473,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1028442,"cg_dv":50.1820335,"cg_dw":49.8179665,"cg_id_a":-0.88984859,"cg_id_raw_a":-0.464819759,"cg_iq_a":-0.520037472,"cg_iq_raw_a":-0.412737966,"cg_iu_a":-0.504880428,"cg_iv_a":-0.0758213997,"cg_iw_a":0.580701828,"cg_sample_age_us":23.863636,"cg_sample_seq":14644521,"cg_sample_valid":1,"cg_theta_rad":5.00636673,"cg_vd_req_v":0.0986833349,"cg_vd_v":0.0986833349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.30438146,"cg_vq_v":-0.30438146,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.2139587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5615234,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12436,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1212158,"cg_dv":50.1897659,"cg_dw":49.8102341,"cg_id_a":-0.569981635,"cg_id_raw_a":-0.650620341,"cg_iq_a":0.564446211,"cg_iq_raw_a":0.150602609,"cg_iu_a":0.763653994,"cg_iv_a":0.612811446,"cg_iw_a":-1.37646544,"cg_sample_age_us":23.9690914,"cg_sample_seq":14644566,"cg_sample_valid":1,"cg_theta_rad":5.00798178,"cg_vd_req_v":0.092031844,"cg_vd_v":0.092031844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325231999,"cg_vq_v":-0.325231999,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.547342539,"dclink_p_w":-79.2139587,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00292057684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117376976,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12447,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225853,"cg_dv":50.1770325,"cg_dw":49.8229675,"cg_id_a":0.216981739,"cg_id_raw_a":0.107151926,"cg_iq_a":-0.259812891,"cg_iq_raw_a":0.157141134,"cg_iu_a":0.219996452,"cg_iv_a":-0.25704062,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14644616,"cg_sample_valid":1,"cg_theta_rad":5.00671101,"cg_vd_req_v":0.0764543042,"cg_vd_v":0.0764543042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309303612,"cg_vq_v":-0.309303612,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.61801815,"dclink_p_w":-89.4424667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281281,"cg_dv":50.182724,"cg_dw":49.817276,"cg_id_a":0.135625407,"cg_id_raw_a":0.254949063,"cg_iq_a":0.196153075,"cg_iq_raw_a":-0.483775795,"cg_iu_a":-0.396148682,"cg_iv_a":0.177885413,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14644666,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0776526555,"cg_vd_v":0.0776526555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320145905,"cg_vq_v":-0.320145905,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.502037764,"dclink_p_w":-72.6572418,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12466,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1135216,"cg_dv":50.1779213,"cg_dw":49.8220787,"cg_id_a":-0.284863472,"cg_id_raw_a":0.0571470596,"cg_iq_a":-0.480408996,"cg_iq_raw_a":0.225440726,"cg_iu_a":1.41604304,"cg_iv_a":0.105397701,"cg_iw_a":-1.52144074,"cg_sample_age_us":23.9618187,"cg_sample_seq":14644716,"cg_sample_valid":1,"cg_theta_rad":5.00835752,"cg_vd_req_v":0.0862994641,"cg_vd_v":0.0862994641,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305886507,"cg_vq_v":-0.305886507,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.5697403,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12463,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154861,"cg_dv":50.181633,"cg_dw":49.818367,"cg_id_a":-0.147341326,"cg_id_raw_a":0.183805317,"cg_iq_a":-0.0774505734,"cg_iq_raw_a":0.237140432,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14644766,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0860678852,"cg_vd_v":0.0860678852,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312695414,"cg_vq_v":-0.312695414,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.5697403,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12450,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216164,"cg_dv":50.1845512,"cg_dw":49.8154488,"cg_id_a":-0.0389823616,"cg_id_raw_a":0.0627018735,"cg_iq_a":0.160710067,"cg_iq_raw_a":-0.466501445,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552848,"cg_iw_a":0.399482429,"cg_sample_age_us":23.8527279,"cg_sample_seq":14644816,"cg_sample_valid":1,"cg_theta_rad":5.00728035,"cg_vd_req_v":0.0836796463,"cg_vd_v":0.0836796463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31919235,"cg_vq_v":-0.31919235,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.355250239,"dclink_p_w":-51.5697403,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12443,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1178093,"cg_dv":50.1819191,"cg_dw":49.8180809,"cg_id_a":-0.135447577,"cg_id_raw_a":-0.492989868,"cg_iq_a":-0.0945441723,"cg_iq_raw_a":0.0621649288,"cg_iu_a":-0.178685904,"cg_iv_a":-0.0395776033,"cg_iw_a":0.218263507,"cg_sample_age_us":23.8600006,"cg_sample_seq":14644866,"cg_sample_valid":1,"cg_theta_rad":5.00718403,"cg_vd_req_v":0.0842608809,"cg_vd_v":0.0842608809,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313436896,"cg_vq_v":-0.313436896,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12446,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1102524,"cg_dv":50.1792603,"cg_dw":49.8207397,"cg_id_a":-0.243755102,"cg_id_raw_a":-0.266926616,"cg_iq_a":-0.563796401,"cg_iq_raw_a":-0.936630487,"cg_iu_a":-0.50488019,"cg_iv_a":-0.112065256,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9836369,"cg_sample_seq":14644918,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0883205831,"cg_vd_v":0.0883205831,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304375887,"cg_vq_v":-0.304375887,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.565343082,"dclink_p_w":81.5703888,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2655.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12487,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.11306,"cg_dv":50.1815834,"cg_dw":49.8184166,"cg_id_a":-0.0759317055,"cg_id_raw_a":0.0273873229,"cg_iq_a":-0.179844677,"cg_iq_raw_a":-0.797377408,"cg_iu_a":0.401215553,"cg_iv_a":-0.148308992,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8672733,"cg_sample_seq":14644966,"cg_sample_valid":1,"cg_theta_rad":5.00833559,"cg_vd_req_v":0.0858759955,"cg_vd_v":0.0858759955,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310815156,"cg_vq_v":-0.310815156,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.478357911,"dclink_p_w":69.2301865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12442,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150703,"cg_dv":50.1833954,"cg_dw":49.8166046,"cg_id_a":-0.314002663,"cg_id_raw_a":-1.18832123,"cg_iq_a":-0.00496655703,"cg_iq_raw_a":0.457829624,"cg_iu_a":0.111264944,"cg_iv_a":0.649055243,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.8600006,"cg_sample_seq":14645016,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.0909214318,"cg_vd_v":0.0909214318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314062148,"cg_vq_v":-0.314062148,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.539972425,"dclink_p_w":78.3848572,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12485,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1123848,"cg_dv":50.1838608,"cg_dw":49.8161392,"cg_id_a":-0.292371452,"cg_id_raw_a":-0.263837427,"cg_iq_a":0.000743028475,"cg_iq_raw_a":-0.133767292,"cg_iu_a":-0.613611937,"cg_iv_a":-0.0758213997,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9618187,"cg_sample_seq":14645071,"cg_sample_valid":1,"cg_theta_rad":5.00678158,"cg_vd_req_v":0.0900711864,"cg_vd_v":0.0900711864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313131541,"cg_vq_v":-0.313131541,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.634206355,"dclink_p_w":91.7852936,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12466,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1167336,"cg_dv":50.1839142,"cg_dw":49.8160858,"cg_id_a":-0.141516134,"cg_id_raw_a":0.14584665,"cg_iq_a":0.132058278,"cg_iq_raw_a":-0.0214437228,"cg_iu_a":0.473703384,"cg_iv_a":0.141641617,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9909096,"cg_sample_seq":14645116,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.087049529,"cg_vd_v":0.087049529,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315547466,"cg_vq_v":-0.315547466,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.643267334,"dclink_p_w":93.0966415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1169548,"cg_dv":50.1838341,"cg_dw":49.8161659,"cg_id_a":-0.0249212794,"cg_id_raw_a":0.160160959,"cg_iq_a":0.125468731,"cg_iq_raw_a":0.270787179,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14645166,"cg_sample_valid":1,"cg_theta_rad":5.00823116,"cg_vd_req_v":0.0859905556,"cg_vd_v":0.0859905556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315778852,"cg_vq_v":-0.315778852,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.643267334,"dclink_p_w":93.0966415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12455,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1232338,"cg_dv":50.181469,"cg_dw":49.818531,"cg_id_a":0.21881336,"cg_id_raw_a":-0.415199429,"cg_iq_a":0.0312733501,"cg_iq_raw_a":-0.296076238,"cg_iu_a":-0.0699541569,"cg_iv_a":0.649055302,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9799995,"cg_sample_seq":14645216,"cg_sample_valid":1,"cg_theta_rad":5.00654459,"cg_vd_req_v":0.0807442144,"cg_vd_v":0.0807442144,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315570176,"cg_vq_v":-0.315570176,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.643267334,"dclink_p_w":93.0966415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12457,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151161,"cg_dv":50.1819229,"cg_dw":49.8180771,"cg_id_a":-0.0425214544,"cg_id_raw_a":-0.483686149,"cg_iq_a":-0.131079942,"cg_iq_raw_a":-1.32120013,"cg_iu_a":0.256240368,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14645266,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.0866476148,"cg_vd_v":0.0866476148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311855823,"cg_vq_v":-0.311855823,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.889725387,"dclink_p_w":128.765198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12445,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1194267,"cg_dv":50.1828232,"cg_dw":49.8171768,"cg_id_a":0.038988106,"cg_id_raw_a":0.280563533,"cg_iq_a":0.050723169,"cg_iq_raw_a":0.1024931,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8672733,"cg_sample_seq":14645316,"cg_sample_valid":1,"cg_theta_rad":5.00780582,"cg_vd_req_v":0.085880965,"cg_vd_v":0.085880965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316062361,"cg_vq_v":-0.316062361,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.889725387,"dclink_p_w":128.765198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12464,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1228828,"cg_dv":50.194397,"cg_dw":49.805603,"cg_id_a":-0.233629972,"cg_id_raw_a":0.382540792,"cg_iq_a":0.961052835,"cg_iq_raw_a":1.64064085,"cg_iu_a":0.364971876,"cg_iv_a":-0.365772009,"cg_iw_a":1.16060317,"cg_sample_age_us":23.8563633,"cg_sample_seq":14645366,"cg_sample_valid":1,"cg_theta_rad":5.00721931,"cg_vd_req_v":0.0926783755,"cg_vd_v":0.0926783755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333173543,"cg_vq_v":-0.333173543,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.889725387,"dclink_p_w":128.765198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12468,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297684,"cg_dv":50.195118,"cg_dw":49.804882,"cg_id_a":0.106931359,"cg_id_raw_a":-0.482720166,"cg_iq_a":1.35904622,"cg_iq_raw_a":0.866151571,"cg_iu_a":0.364971876,"cg_iv_a":-0.691966534,"cg_iw_a":2.57411242,"cg_sample_age_us":23.9836369,"cg_sample_seq":14645416,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0861185789,"cg_vd_v":0.0861185789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338497221,"cg_vq_v":-0.338497221,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.922344863,"dclink_p_w":133.486038,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12444,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1149063,"cg_dv":50.1845398,"cg_dw":49.8154602,"cg_id_a":-0.067032516,"cg_id_raw_a":0.143263102,"cg_iq_a":0.260159731,"cg_iq_raw_a":-0.203328982,"cg_iu_a":-1.33848834,"cg_iv_a":-0.0758213997,"cg_iw_a":1.41430974,"cg_sample_age_us":23.954546,"cg_sample_seq":14645466,"cg_sample_valid":1,"cg_theta_rad":5.00790358,"cg_vd_req_v":0.0902115852,"cg_vd_v":0.0902115852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315055102,"cg_vq_v":-0.315055102,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":1.16880298,"dclink_p_w":169.154602,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12423,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1113739,"cg_dv":50.1811523,"cg_dw":49.8188477,"cg_id_a":-0.101711601,"cg_id_raw_a":0.276717544,"cg_iq_a":0.0461723283,"cg_iq_raw_a":-0.261532307,"cg_iu_a":0.219996452,"cg_iv_a":-0.148308992,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14645516,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.0911627784,"cg_vd_v":0.0911627784,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308032036,"cg_vq_v":-0.308032036,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12439,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1100769,"cg_dv":50.1765366,"cg_dw":49.8234634,"cg_id_a":0.116902217,"cg_id_raw_a":-0.31384021,"cg_iq_a":0.175100014,"cg_iq_raw_a":-0.250643402,"cg_iu_a":-0.14244175,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019353,"cg_sample_age_us":24.4200001,"cg_sample_seq":14645617,"cg_sample_valid":1,"cg_theta_rad":5.00764084,"cg_vd_req_v":0.0875747576,"cg_vd_v":0.0875747576,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.302065283,"cg_vq_v":-0.302065283,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12464,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.1071167,"cg_dv":50.1747742,"cg_dw":49.8252258,"cg_id_a":0.198669672,"cg_id_raw_a":0.193514794,"cg_iq_a":-0.0790390223,"cg_iq_raw_a":0.347724438,"cg_iu_a":-0.468636513,"cg_iv_a":0.250373065,"cg_iw_a":0.218263447,"cg_sample_age_us":23.994545,"cg_sample_seq":14645667,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0864920318,"cg_vd_v":0.0864920318,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.29847759,"cg_vq_v":-0.29847759,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12463,"GapTicks":54812,"Mech_RPM":-3.50324616e-44,"cg_du":50.10392,"cg_dv":50.170166,"cg_dw":49.829834,"cg_id_a":0.354074746,"cg_id_raw_a":0.476161838,"cg_iq_a":-0.656590343,"cg_iq_raw_a":-0.170397207,"cg_iu_a":0.0750210285,"cg_iv_a":0.504079938,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14645717,"cg_sample_valid":1,"cg_theta_rad":5.00749588,"cg_vd_req_v":0.0844024271,"cg_vd_v":0.0844024271,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289477199,"cg_vq_v":-0.289477199,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54806,"Mech_RPM":-3.50324616e-44,"cg_du":50.1006241,"cg_dv":50.1757927,"cg_dw":49.8242073,"cg_id_a":-0.0183893219,"cg_id_raw_a":0.422783196,"cg_iq_a":-0.256821573,"cg_iq_raw_a":1.27831686,"cg_iu_a":0.147508621,"cg_iv_a":-0.438259721,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9581814,"cg_sample_seq":14645767,"cg_sample_valid":1,"cg_theta_rad":5.0067277,"cg_vd_req_v":0.09091492,"cg_vd_v":0.09091492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.295743972,"cg_vq_v":-0.295743972,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12451,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1003227,"cg_dv":50.1802673,"cg_dw":49.8197327,"cg_id_a":-0.236917615,"cg_id_raw_a":-0.15513888,"cg_iq_a":0.0849621594,"cg_iq_raw_a":-1.03389978,"cg_iu_a":0.0387773514,"cg_iv_a":0.39534843,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.863636,"cg_sample_seq":14645816,"cg_sample_valid":1,"cg_theta_rad":5.005476,"cg_vd_req_v":0.0964254886,"cg_vd_v":0.0964254886,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301372528,"cg_vq_v":-0.301372528,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.1010971,"cg_dv":50.1784096,"cg_dw":49.8215904,"cg_id_a":0.0153138377,"cg_id_raw_a":0.0749053732,"cg_iq_a":-0.134229019,"cg_iq_raw_a":-0.793041468,"cg_iu_a":0.14750886,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8527279,"cg_sample_seq":14645866,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0944549292,"cg_vd_v":0.0944549292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.299139649,"cg_vq_v":-0.299139649,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.907847345,"dclink_p_w":131.387894,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12467,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.0913391,"cg_dv":50.1770439,"cg_dw":49.8229561,"cg_id_a":-0.199243933,"cg_id_raw_a":-0.253453255,"cg_iq_a":-0.426624298,"cg_iq_raw_a":-0.0229843035,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9218178,"cg_sample_seq":14645916,"cg_sample_valid":1,"cg_theta_rad":5.00821924,"cg_vd_req_v":0.0993567258,"cg_vd_v":0.0993567258,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.292281955,"cg_vq_v":-0.292281955,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":1.04919827,"dclink_p_w":151.844864,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12443,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1121979,"cg_dv":50.183815,"cg_dw":49.816185,"cg_id_a":0.125364229,"cg_id_raw_a":0.158794209,"cg_iq_a":0.621755242,"cg_iq_raw_a":0.102362059,"cg_iu_a":0.111264944,"cg_iv_a":0.467836142,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9218178,"cg_sample_seq":14645966,"cg_sample_valid":1,"cg_theta_rad":5.00865316,"cg_vd_req_v":0.0918533579,"cg_vd_v":0.0918533579,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313507348,"cg_vq_v":-0.313507348,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":1.10718846,"dclink_p_w":160.237473,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12455,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1048546,"cg_dv":50.1800842,"cg_dw":49.8199158,"cg_id_a":0.114825368,"cg_id_raw_a":0.121071622,"cg_iq_a":-0.0240318924,"cg_iq_raw_a":-1.22552896,"cg_iu_a":-0.359904766,"cg_iv_a":-0.00333368778,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9836369,"cg_sample_seq":14646016,"cg_sample_valid":1,"cg_theta_rad":5.00626707,"cg_vd_req_v":0.0942723006,"cg_vd_v":0.0942723006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304185599,"cg_vq_v":-0.304185599,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":1.10718846,"dclink_p_w":160.237473,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2655.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12489,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.0989952,"cg_dv":50.1829643,"cg_dw":49.8170357,"cg_id_a":-0.0221040174,"cg_id_raw_a":0.231673628,"cg_iq_a":-0.0194268525,"cg_iq_raw_a":0.675894558,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.863636,"cg_sample_seq":14646071,"cg_sample_valid":1,"cg_theta_rad":5.00671387,"cg_vd_req_v":0.0970730335,"cg_vd_v":0.0970730335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305267543,"cg_vq_v":-0.305267543,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.945903361,"dclink_p_w":136.895538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2655.971469,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2655.971474,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2655.971479,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2655.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12469,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1069107,"cg_dv":50.1865768,"cg_dw":49.8134232,"cg_id_a":-0.0173858255,"cg_id_raw_a":-0.876036048,"cg_iq_a":0.273256093,"cg_iq_raw_a":1.48502445,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885473,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646117,"cg_sample_valid":1,"cg_theta_rad":5.00693989,"cg_vd_req_v":0.0958548263,"cg_vd_v":0.0958548263,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314112395,"cg_vq_v":-0.314112395,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":0.945903361,"dclink_p_w":136.895538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.983643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.1023407,"cg_dv":50.1781197,"cg_dw":49.8218803,"cg_id_a":0.163267329,"cg_id_raw_a":0.409935832,"cg_iq_a":-0.484470189,"cg_iq_raw_a":-0.834890306,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885473,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.954546,"cg_sample_seq":14646167,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0912957117,"cg_vd_v":0.0912957117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300027698,"cg_vq_v":-0.300027698,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2655.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12473,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1097717,"cg_dv":50.1853447,"cg_dw":49.8146553,"cg_id_a":-0.0604625493,"cg_id_raw_a":-0.0364017747,"cg_iq_a":0.049149245,"cg_iq_raw_a":0.543522716,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9909096,"cg_sample_seq":14646216,"cg_sample_valid":1,"cg_theta_rad":5.00560904,"cg_vd_req_v":0.0946063027,"cg_vd_v":0.0946063027,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313370824,"cg_vq_v":-0.313370824,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.239148617,"dclink_p_w":34.6107025,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12452,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1028175,"cg_dv":50.1845245,"cg_dw":49.8154755,"cg_id_a":-0.194134086,"cg_id_raw_a":-0.0387221165,"cg_iq_a":-0.13738054,"cg_iq_raw_a":-0.512583792,"cg_iu_a":-0.178685665,"cg_iv_a":-0.655722737,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9618187,"cg_sample_seq":14646267,"cg_sample_valid":1,"cg_theta_rad":5.00564146,"cg_vd_req_v":0.0982482657,"cg_vd_v":0.0982482657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309703797,"cg_vq_v":-0.309703797,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12484,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1117821,"cg_dv":50.182785,"cg_dw":49.817215,"cg_id_a":0.280365765,"cg_id_raw_a":0.298210442,"cg_iq_a":-0.163168401,"cg_iq_raw_a":0.139548957,"cg_iu_a":-0.50488019,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646317,"cg_sample_valid":1,"cg_theta_rad":5.00728989,"cg_vd_req_v":0.090369761,"cg_vd_v":0.090369761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311076343,"cg_vq_v":-0.311076343,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.6581764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1003418,"cg_dv":50.1893883,"cg_dw":49.8106117,"cg_id_a":-0.436258852,"cg_id_raw_a":0.312992156,"cg_iq_a":-0.0533068478,"cg_iq_raw_a":-0.44209981,"cg_iu_a":0.00253343582,"cg_iv_a":0.649055302,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646367,"cg_sample_valid":1,"cg_theta_rad":5.00645924,"cg_vd_req_v":0.10532932,"cg_vd_v":0.10532932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313764185,"cg_vq_v":-0.313764185,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.39499712,"dclink_p_w":57.1658211,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4999,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1081924,"cg_dv":50.18433,"cg_dw":49.81567,"cg_id_a":0.197680607,"cg_id_raw_a":0.079856731,"cg_iq_a":-0.280201316,"cg_iq_raw_a":0.0085961977,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065256,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9654541,"cg_sample_seq":14646417,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0942937434,"cg_vd_v":0.0942937434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311281204,"cg_vq_v":-0.311281204,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3401356,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3421326,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12482,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.105751,"cg_dv":50.1845245,"cg_dw":49.8154755,"cg_id_a":0.119347364,"cg_id_raw_a":0.230781987,"cg_iq_a":-0.23382324,"cg_iq_raw_a":-0.887003005,"cg_iu_a":0.183752537,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646467,"cg_sample_valid":1,"cg_theta_rad":5.00762272,"cg_vd_req_v":0.096558705,"cg_vd_v":0.096558705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310125619,"cg_vq_v":-0.310125619,"cg_vu_v":116.571533,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12452,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1009598,"cg_dv":50.1912956,"cg_dw":49.8087044,"cg_id_a":-0.400557488,"cg_id_raw_a":0.108860873,"cg_iq_a":-0.0196577832,"cg_iq_raw_a":-0.279656172,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503517,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14646517,"cg_sample_valid":1,"cg_theta_rad":5.00720549,"cg_vd_req_v":0.107695393,"cg_vd_v":0.107695393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316362292,"cg_vq_v":-0.316362292,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3560181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1034813,"cg_dv":50.1899681,"cg_dw":49.8100319,"cg_id_a":0.00204843283,"cg_id_raw_a":0.176365539,"cg_iq_a":-0.0543343723,"cg_iq_raw_a":0.816900074,"cg_iu_a":-0.359905005,"cg_iv_a":-0.546991229,"cg_iw_a":0.906896234,"cg_sample_age_us":26.812727,"cg_sample_seq":14646570,"cg_sample_valid":1,"cg_theta_rad":5.0082345,"cg_vd_req_v":0.100631334,"cg_vd_v":0.100631334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317214131,"cg_vq_v":-0.317214131,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12465,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1045036,"cg_dv":50.187809,"cg_dw":49.812191,"cg_id_a":0.0337651372,"cg_id_raw_a":0.136225939,"cg_iq_a":-0.205943137,"cg_iq_raw_a":0.304762006,"cg_iu_a":-0.867318392,"cg_iv_a":-0.184552908,"cg_iw_a":1.0518713,"cg_sample_age_us":23.9654541,"cg_sample_seq":14646617,"cg_sample_valid":1,"cg_theta_rad":5.00735283,"cg_vd_req_v":0.0993118212,"cg_vd_v":0.0993118212,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314337671,"cg_vq_v":-0.314337671,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3436584,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12455,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1116104,"cg_dv":50.1852074,"cg_dw":49.8147926,"cg_id_a":0.305575341,"cg_id_raw_a":0.0625595152,"cg_iq_a":-0.261122823,"cg_iq_raw_a":-0.0294887628,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397761,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646667,"cg_sample_valid":1,"cg_theta_rad":5.00752354,"cg_vd_req_v":0.0925641656,"cg_vd_v":0.0925641656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314362377,"cg_vq_v":-0.314362377,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3436584,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12449,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1049538,"cg_dv":50.191658,"cg_dw":49.808342,"cg_id_a":-0.277910829,"cg_id_raw_a":-0.0242222417,"cg_iq_a":0.0747806728,"cg_iq_raw_a":-0.220005497,"cg_iu_a":-0.359904766,"cg_iv_a":-0.981917143,"cg_iw_a":1.34182191,"cg_sample_age_us":23.954546,"cg_sample_seq":14646717,"cg_sample_valid":1,"cg_theta_rad":5.00773144,"cg_vd_req_v":0.103613332,"cg_vd_v":0.103613332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319537252,"cg_vq_v":-0.319537252,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1064148,"cg_dv":50.1862297,"cg_dw":49.8137703,"cg_id_a":-0.00607639737,"cg_id_raw_a":0.305358589,"cg_iq_a":-0.435886383,"cg_iq_raw_a":0.0673397407,"cg_iu_a":0.292484045,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646767,"cg_sample_valid":1,"cg_theta_rad":5.0086832,"cg_vd_req_v":0.0978588536,"cg_vd_v":0.0978588536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312761605,"cg_vq_v":-0.312761605,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12439,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1143799,"cg_dv":50.1930885,"cg_dw":49.8069115,"cg_id_a":0.0224794075,"cg_id_raw_a":0.0553723425,"cg_iq_a":0.212817818,"cg_iq_raw_a":0.0428160951,"cg_iu_a":0.0750212669,"cg_iv_a":-0.583235025,"cg_iw_a":0.508213758,"cg_sample_age_us":23.9581814,"cg_sample_seq":14646817,"cg_sample_valid":1,"cg_theta_rad":5.00614691,"cg_vd_req_v":0.0990108997,"cg_vd_v":0.0990108997,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32634002,"cg_vq_v":-0.32634002,"cg_vu_v":128.448624,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3004456,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12429,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1122246,"cg_dv":50.1951141,"cg_dw":49.8048859,"cg_id_a":-0.148186311,"cg_id_raw_a":-0.555307269,"cg_iq_a":0.314133883,"cg_iq_raw_a":0.275290728,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.863636,"cg_sample_seq":14646866,"cg_sample_valid":1,"cg_theta_rad":5.00803947,"cg_vd_req_v":0.101344928,"cg_vd_v":0.101344928,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329378754,"cg_vq_v":-0.329378754,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12456,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1102829,"cg_dv":50.1940651,"cg_dw":49.8059349,"cg_id_a":-0.189639702,"cg_id_raw_a":-0.00712684589,"cg_iq_a":0.0286733285,"cg_iq_raw_a":-0.181910098,"cg_iu_a":0.147508621,"cg_iv_a":0.141641617,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8527279,"cg_sample_seq":14646916,"cg_sample_valid":1,"cg_theta_rad":5.00802422,"cg_vd_req_v":0.101308145,"cg_vd_v":0.101308145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325935215,"cg_vq_v":-0.325935215,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12448,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1055336,"cg_dv":50.1905518,"cg_dw":49.8094482,"cg_id_a":-0.232900798,"cg_id_raw_a":-0.0638397634,"cg_iq_a":-0.441749096,"cg_iq_raw_a":-1.09800172,"cg_iu_a":0.292484283,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9472733,"cg_sample_seq":14646966,"cg_sample_valid":1,"cg_theta_rad":5.00638151,"cg_vd_req_v":0.102610596,"cg_vd_v":0.102610596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318187535,"cg_vq_v":-0.318187535,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.1713085,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3374939,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12445,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332779,"cg_dv":50.2013435,"cg_dw":49.7986565,"cg_id_a":0.307807207,"cg_id_raw_a":0.180830598,"cg_iq_a":1.0247705,"cg_iq_raw_a":-0.382210702,"cg_iu_a":-0.287417173,"cg_iv_a":-0.365772009,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9799995,"cg_sample_seq":14647016,"cg_sample_valid":1,"cg_theta_rad":5.00625277,"cg_vd_req_v":0.0909457058,"cg_vd_v":0.0909457058,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348538756,"cg_vq_v":-0.348538756,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.253491312,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12459,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1115875,"cg_dv":50.1908112,"cg_dw":49.8091888,"cg_id_a":-0.0267196968,"cg_id_raw_a":-0.0708759353,"cg_iq_a":-0.476054668,"cg_iq_raw_a":-0.406144857,"cg_iu_a":0.00253343582,"cg_iv_a":-0.474503577,"cg_iw_a":0.471970141,"cg_sample_age_us":24.7181816,"cg_sample_seq":14647070,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.0963348001,"cg_vd_v":0.0963348001,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322473228,"cg_vq_v":-0.322473228,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.121477604,"dclink_p_w":-17.5808048,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1169853,"cg_dv":50.1938515,"cg_dw":49.8061485,"cg_id_a":0.00524781272,"cg_id_raw_a":0.0811414793,"cg_iq_a":-0.0722519308,"cg_iq_raw_a":0.445194006,"cg_iu_a":0.546190977,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9872723,"cg_sample_seq":14647117,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0952676013,"cg_vd_v":0.0952676013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329561859,"cg_vq_v":-0.329561859,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3359375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12440,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1180496,"cg_dv":50.1863289,"cg_dw":49.8136711,"cg_id_a":0.312454998,"cg_id_raw_a":-0.0520633273,"cg_iq_a":-0.468803525,"cg_iq_raw_a":-0.36831513,"cg_iu_a":-0.468636513,"cg_iv_a":-0.00333380699,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9581814,"cg_sample_seq":14647167,"cg_sample_valid":1,"cg_theta_rad":5.00639057,"cg_vd_req_v":0.0880627409,"cg_vd_v":0.0880627409,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319651991,"cg_vq_v":-0.319651991,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.34800148,"dclink_p_w":-50.3643951,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3359375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11707484,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12447,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1171074,"cg_dv":50.1896362,"cg_dw":49.8103638,"cg_id_a":0.0793185681,"cg_id_raw_a":-0.305449277,"cg_iq_a":-0.300552964,"cg_iq_raw_a":-0.137873217,"cg_iu_a":0.111264944,"cg_iv_a":0.431592345,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9872723,"cg_sample_seq":14647217,"cg_sample_valid":1,"cg_theta_rad":5.00679922,"cg_vd_req_v":0.0917988271,"cg_vd_v":0.0917988271,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322621524,"cg_vq_v":-0.322621524,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5378113,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2656.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12469,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1235847,"cg_dv":50.1929893,"cg_dw":49.8070107,"cg_id_a":-0.00787355006,"cg_id_raw_a":-0.0161353089,"cg_iq_a":-0.00961499289,"cg_iq_raw_a":-0.29222253,"cg_iu_a":-0.214929581,"cg_iv_a":0.467836082,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8745461,"cg_sample_seq":14647366,"cg_sample_valid":1,"cg_theta_rad":5.00703287,"cg_vd_req_v":0.091548644,"cg_vd_v":0.091548644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331434935,"cg_vq_v":-0.331434935,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12431,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1280022,"cg_dv":50.1945419,"cg_dw":49.8054581,"cg_id_a":0.0195949748,"cg_id_raw_a":-0.032175526,"cg_iq_a":0.185087681,"cg_iq_raw_a":-0.330490232,"cg_iu_a":-0.722343206,"cg_iv_a":-0.25704062,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9836369,"cg_sample_seq":14647416,"cg_sample_valid":1,"cg_theta_rad":5.00694084,"cg_vd_req_v":0.0907874033,"cg_vd_v":0.0907874033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335715353,"cg_vq_v":-0.335715353,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3359375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193619,"cg_dv":50.1851654,"cg_dw":49.8148346,"cg_id_a":0.286257684,"cg_id_raw_a":-0.378299177,"cg_iq_a":-0.569417894,"cg_iq_raw_a":-0.0363880359,"cg_iu_a":0.98111701,"cg_iv_a":-0.365772128,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9763641,"cg_sample_seq":14647466,"cg_sample_valid":1,"cg_theta_rad":5.00884295,"cg_vd_req_v":0.086573936,"cg_vd_v":0.086573936,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318622142,"cg_vq_v":-0.318622142,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3359375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12458,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214294,"cg_dv":50.1939964,"cg_dw":49.8060036,"cg_id_a":-0.0236531198,"cg_id_raw_a":0.20947206,"cg_iq_a":0.0461737812,"cg_iq_raw_a":0.386558592,"cg_iu_a":0.0750210285,"cg_iv_a":0.322860718,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9618187,"cg_sample_seq":14647516,"cg_sample_valid":1,"cg_theta_rad":5.01062202,"cg_vd_req_v":0.0948451385,"cg_vd_v":0.0948451385,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331408292,"cg_vq_v":-0.331408292,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12436,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333122,"cg_dv":50.1899643,"cg_dw":49.8100357,"cg_id_a":0.616759777,"cg_id_raw_a":0.826453388,"cg_iq_a":0.0788634717,"cg_iq_raw_a":1.14181018,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726404,"cg_sample_age_us":23.8600006,"cg_sample_seq":14647571,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.081582889,"cg_vd_v":0.081582889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33266747,"cg_vq_v":-0.33266747,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12484,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256447,"cg_dv":50.1915894,"cg_dw":49.8084106,"cg_id_a":0.306557924,"cg_id_raw_a":0.364273101,"cg_iq_a":0.0956408679,"cg_iq_raw_a":-0.328520358,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9509087,"cg_sample_seq":14647617,"cg_sample_valid":1,"cg_theta_rad":5.00587606,"cg_vd_req_v":0.0869495571,"cg_vd_v":0.0869495571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33112973,"cg_vq_v":-0.33112973,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.286386967,"dclink_p_w":-41.4472542,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12460,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1177406,"cg_dv":50.1887207,"cg_dw":49.8112793,"cg_id_a":0.0103821978,"cg_id_raw_a":-0.172835141,"cg_iq_a":-0.143785685,"cg_iq_raw_a":0.2395024,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.184552908,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9654541,"cg_sample_seq":14647667,"cg_sample_valid":1,"cg_theta_rad":5.00743008,"cg_vd_req_v":0.0896669924,"cg_vd_v":0.0896669924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322995156,"cg_vq_v":-0.322995156,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.192153096,"dclink_p_w":-27.8092899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1140442,"cg_dv":50.182785,"cg_dw":49.817215,"cg_id_a":0.0699065849,"cg_id_raw_a":0.528787613,"cg_iq_a":-0.584152043,"cg_iq_raw_a":-0.49341926,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885473,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9836369,"cg_sample_seq":14647717,"cg_sample_valid":1,"cg_theta_rad":5.00689936,"cg_vd_req_v":0.088469781,"cg_vd_v":0.088469781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312385291,"cg_vq_v":-0.312385291,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12429,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297989,"cg_dv":50.1905899,"cg_dw":49.8094101,"cg_id_a":0.295920551,"cg_id_raw_a":0.755271971,"cg_iq_a":0.375813842,"cg_iq_raw_a":1.67832386,"cg_iu_a":-0.758586884,"cg_iv_a":0.467836082,"cg_iw_a":0.290750802,"cg_sample_age_us":23.9472733,"cg_sample_seq":14647767,"cg_sample_valid":1,"cg_theta_rad":5.00672054,"cg_vd_req_v":0.0839722008,"cg_vd_v":0.0839722008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331775337,"cg_vq_v":-0.331775337,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12457,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304588,"cg_dv":50.1906853,"cg_dw":49.8093147,"cg_id_a":0.396120369,"cg_id_raw_a":0.981276631,"cg_iq_a":0.266392678,"cg_iq_raw_a":1.11590338,"cg_iu_a":-0.396148682,"cg_iv_a":0.0691539645,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9472733,"cg_sample_seq":14647816,"cg_sample_valid":1,"cg_theta_rad":5.00807047,"cg_vd_req_v":0.0829066783,"cg_vd_v":0.0829066783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332438231,"cg_vq_v":-0.332438231,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1400642,"cg_dv":50.1990623,"cg_dw":49.8009377,"cg_id_a":0.243515193,"cg_id_raw_a":-0.114638232,"cg_iq_a":1.01514578,"cg_iq_raw_a":0.28103137,"cg_iu_a":0.328727961,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9327278,"cg_sample_seq":14647866,"cg_sample_valid":1,"cg_theta_rad":5.00790501,"cg_vd_req_v":0.0832613856,"cg_vd_v":0.0832613856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349273741,"cg_vq_v":-0.349273741,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.0379953384,"dclink_p_w":5.49886227,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12458,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355858,"cg_dv":50.193058,"cg_dw":49.806942,"cg_id_a":0.306349874,"cg_id_raw_a":0.391659677,"cg_iq_a":0.422478914,"cg_iq_raw_a":-0.617259204,"cg_iu_a":-1.30224442,"cg_iv_a":0.177885532,"cg_iw_a":1.12435889,"cg_sample_age_us":24.0381813,"cg_sample_seq":14647916,"cg_sample_valid":1,"cg_theta_rad":5.00697279,"cg_vd_req_v":0.0804746673,"cg_vd_v":0.0804746673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338710099,"cg_vq_v":-0.338710099,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12458,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266708,"cg_dv":50.1941872,"cg_dw":49.8058128,"cg_id_a":-0.184807494,"cg_id_raw_a":0.0798460543,"cg_iq_a":0.373236716,"cg_iq_raw_a":0.00869605225,"cg_iu_a":0.292484045,"cg_iv_a":-0.184552908,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8527279,"cg_sample_seq":14647966,"cg_sample_valid":1,"cg_theta_rad":5.00557566,"cg_vd_req_v":0.089793466,"cg_vd_v":0.089793466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33493942,"cg_vq_v":-0.33493942,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3344116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12485,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191635,"cg_dv":50.189888,"cg_dw":49.810112,"cg_id_a":-0.208748251,"cg_id_raw_a":0.0217507314,"cg_iq_a":-0.03929355,"cg_iq_raw_a":0.403286844,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9763641,"cg_sample_seq":14648016,"cg_sample_valid":1,"cg_theta_rad":5.00583887,"cg_vd_req_v":0.0899264663,"cg_vd_v":0.0899264663,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325314254,"cg_vq_v":-0.325314254,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12460,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216202,"cg_dv":50.1908722,"cg_dw":49.8091278,"cg_id_a":-0.166122571,"cg_id_raw_a":-0.319341838,"cg_iq_a":0.103101745,"cg_iq_raw_a":0.0072256173,"cg_iu_a":-0.0337104797,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.8490906,"cg_sample_seq":14648071,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0889185742,"cg_vd_v":0.0889185742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3280361,"cg_vq_v":-0.3280361,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12481,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216507,"cg_dv":50.1863251,"cg_dw":49.8136749,"cg_id_a":-0.0240661204,"cg_id_raw_a":0.195488274,"cg_iq_a":0.0436926633,"cg_iq_raw_a":-0.781807542,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9872723,"cg_sample_seq":14648118,"cg_sample_valid":1,"cg_theta_rad":5.00789881,"cg_vd_req_v":0.0845031217,"cg_vd_v":0.0845031217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322899938,"cg_vq_v":-0.322899938,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-26.0523453,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3482971,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12436,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.108078,"cg_dv":50.1737595,"cg_dw":49.8262405,"cg_id_a":0.0011318028,"cg_id_raw_a":0.247956723,"cg_iq_a":-0.782954335,"cg_iq_raw_a":-1.03056371,"cg_iu_a":-0.396148682,"cg_iv_a":0.649055302,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.863636,"cg_sample_seq":14648216,"cg_sample_valid":1,"cg_theta_rad":5.00664997,"cg_vd_req_v":0.0851299465,"cg_vd_v":0.0851299465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296557128,"cg_vq_v":-0.296557128,"cg_vu_v":118.770996,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3004456,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12446,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150856,"cg_dv":50.1835251,"cg_dw":49.8164749,"cg_id_a":-0.138547555,"cg_id_raw_a":-0.316528767,"cg_iq_a":0.141272008,"cg_iq_raw_a":0.187796518,"cg_iu_a":0.401215553,"cg_iv_a":-0.800698042,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14648267,"cg_sample_valid":1,"cg_theta_rad":5.00711107,"cg_vd_req_v":0.0887544081,"cg_vd_v":0.0887544081,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313869655,"cg_vq_v":-0.313869655,"cg_vu_v":116.131638,"cg_vv_v":130.208206,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3004456,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12449,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1192513,"cg_dv":50.1895142,"cg_dw":49.8104858,"cg_id_a":-0.294407159,"cg_id_raw_a":-0.125189111,"cg_iq_a":0.578018188,"cg_iq_raw_a":0.170663029,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104633,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9618187,"cg_sample_seq":14648316,"cg_sample_valid":1,"cg_theta_rad":5.00436735,"cg_vd_req_v":0.0906695351,"cg_vd_v":0.0906695351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324527532,"cg_vq_v":-0.324527532,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12469,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1170464,"cg_dv":50.184269,"cg_dw":49.815731,"cg_id_a":-0.108699113,"cg_id_raw_a":-0.1251297,"cg_iq_a":0.0539965332,"cg_iq_raw_a":-0.266014844,"cg_iu_a":0.256240129,"cg_iv_a":-0.25704062,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9509087,"cg_sample_seq":14648366,"cg_sample_valid":1,"cg_theta_rad":5.00704479,"cg_vd_req_v":0.0866529569,"cg_vd_v":0.0866529569,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316342592,"cg_vq_v":-0.316342592,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1162224,"cg_dv":50.18367,"cg_dw":49.81633,"cg_id_a":-0.152124688,"cg_id_raw_a":-0.263791502,"cg_iq_a":-0.041399844,"cg_iq_raw_a":-0.133857876,"cg_iu_a":0.5099473,"cg_iv_a":0.0691539049,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.9654541,"cg_sample_seq":14648416,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0869808942,"cg_vd_v":0.0869808942,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314992815,"cg_vq_v":-0.314992815,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.395118475,"dclink_p_w":-57.1833839,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12447,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1240578,"cg_dv":50.1815033,"cg_dw":49.8184967,"cg_id_a":0.334019065,"cg_id_raw_a":0.0683747903,"cg_iq_a":0.21528101,"cg_iq_raw_a":1.02651119,"cg_iu_a":0.14750886,"cg_iv_a":0.57656759,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9581814,"cg_sample_seq":14648466,"cg_sample_valid":1,"cg_theta_rad":5.00714111,"cg_vd_req_v":0.0779312328,"cg_vd_v":0.0779312328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316628277,"cg_vq_v":-0.316628277,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.418676972,"dclink_p_w":-60.5928802,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3297729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12464,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1204948,"cg_dv":50.1795387,"cg_dw":49.8204613,"cg_id_a":0.226318106,"cg_id_raw_a":-0.583435774,"cg_iq_a":0.131198555,"cg_iq_raw_a":-0.309737533,"cg_iu_a":-0.758587122,"cg_iv_a":-0.148309052,"cg_iw_a":0.906896174,"cg_sample_age_us":23.9581814,"cg_sample_seq":14648516,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0793218166,"cg_vd_v":0.0793218166,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311842591,"cg_vq_v":-0.311842591,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3297729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12480,"GapTicks":54810,"Mech_RPM":-3.50324616e-44,"cg_du":50.1105309,"cg_dv":50.1723328,"cg_dw":49.8276672,"cg_id_a":0.149868265,"cg_id_raw_a":-0.20061332,"cg_iq_a":-0.377769083,"cg_iq_raw_a":0.0922306031,"cg_iu_a":-0.214929581,"cg_iv_a":0.177885413,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8600006,"cg_sample_seq":14648571,"cg_sample_valid":1,"cg_theta_rad":5.00662565,"cg_vd_req_v":0.0780890658,"cg_vd_v":0.0780890658,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.297008544,"cg_vq_v":-0.297008544,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.349823,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12437,"GapTicks":54823,"Mech_RPM":-3.50324616e-44,"cg_du":50.1105614,"cg_dv":50.1600304,"cg_dw":49.8399696,"cg_id_a":0.421710879,"cg_id_raw_a":-0.278650224,"cg_iq_a":-1.2225306,"cg_iq_raw_a":-0.976362884,"cg_iu_a":0.256240368,"cg_iv_a":1.4464196,"cg_iw_a":-1.66641605,"cg_sample_age_us":23.9618187,"cg_sample_seq":14648617,"cg_sample_valid":1,"cg_theta_rad":5.0061326,"cg_vd_req_v":0.071147278,"cg_vd_v":0.071147278,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.278990984,"cg_vq_v":-0.278990984,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-40.7983398,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12461,"GapTicks":54812,"Mech_RPM":-3.50324616e-44,"cg_du":50.1072464,"cg_dv":50.170887,"cg_dw":49.829113,"cg_id_a":-0.104902513,"cg_id_raw_a":-0.197856516,"cg_iq_a":-0.356181562,"cg_iq_raw_a":-0.784088194,"cg_iu_a":0.618678808,"cg_iv_a":-0.220796704,"cg_iw_a":-0.397882104,"cg_sample_age_us":23.9509087,"cg_sample_seq":14648667,"cg_sample_valid":1,"cg_theta_rad":5.00847769,"cg_vd_req_v":0.0828717425,"cg_vd_v":0.0828717425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.292222619,"cg_vq_v":-0.292222619,"cg_vu_v":129.328415,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12443,"GapTicks":54813,"Mech_RPM":-3.50324616e-44,"cg_du":50.1031952,"cg_dv":50.1696167,"cg_dw":49.8303833,"cg_id_a":-0.105786562,"cg_id_raw_a":-0.0187529642,"cg_iq_a":-0.383430064,"cg_iq_raw_a":-0.91152364,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.257040501,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9509087,"cg_sample_seq":14648716,"cg_sample_valid":1,"cg_theta_rad":5.00547552,"cg_vd_req_v":0.0844291076,"cg_vd_v":0.0844291076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289273232,"cg_vq_v":-0.289273232,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.1037865,"cg_dv":50.1749573,"cg_dw":49.8250427,"cg_id_a":-0.221840814,"cg_id_raw_a":-0.114335299,"cg_iq_a":0.0241580606,"cg_iq_raw_a":-0.156010911,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9618187,"cg_sample_seq":14648766,"cg_sample_valid":1,"cg_theta_rad":5.00656271,"cg_vd_req_v":0.0888973624,"cg_vd_v":0.0888973624,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296972066,"cg_vq_v":-0.296972066,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54814,"Mech_RPM":-3.50324616e-44,"cg_du":50.1063118,"cg_dv":50.168602,"cg_dw":49.831398,"cg_id_a":0.145440459,"cg_id_raw_a":0.2540268,"cg_iq_a":-0.331952751,"cg_iq_raw_a":-0.484260648,"cg_iu_a":-0.287417412,"cg_iv_a":0.431592286,"cg_iw_a":-0.144174874,"cg_sample_age_us":23.9836369,"cg_sample_seq":14648816,"cg_sample_valid":1,"cg_theta_rad":5.00589466,"cg_vd_req_v":0.0804401338,"cg_vd_v":0.0804401338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.288857996,"cg_vq_v":-0.288857996,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.270077229,"dclink_p_w":-39.086834,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3436584,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12476,"GapTicks":54811,"Mech_RPM":-3.50324616e-44,"cg_du":50.1004105,"cg_dv":50.1716728,"cg_dw":49.8283272,"cg_id_a":-0.160483062,"cg_id_raw_a":-0.405813783,"cg_iq_a":-0.215129316,"cg_iq_raw_a":-0.184654161,"cg_iu_a":0.0750210285,"cg_iv_a":-0.873185754,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9836369,"cg_sample_seq":14648866,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.0882283971,"cg_vd_v":0.0882283971,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289665371,"cg_vq_v":-0.289665371,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.362499118,"dclink_p_w":-52.4625587,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12464,"GapTicks":54810,"Mech_RPM":-3.50324616e-44,"cg_du":50.1008415,"cg_dv":50.1724777,"cg_dw":49.8275223,"cg_id_a":-0.0750710815,"cg_id_raw_a":-0.142887771,"cg_iq_a":-0.133821815,"cg_iq_raw_a":-0.741003454,"cg_iu_a":0.292484045,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9872723,"cg_sample_seq":14648916,"cg_sample_valid":1,"cg_theta_rad":5.00706339,"cg_vd_req_v":0.0879216045,"cg_vd_v":0.0879216045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.291227937,"cg_vq_v":-0.291227937,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.362499118,"dclink_p_w":-52.4625587,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.5140686,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12432,"GapTicks":54813,"Mech_RPM":-3.50324616e-44,"cg_du":50.0921135,"cg_dv":50.1694527,"cg_dw":49.8305473,"cg_id_a":-0.262690008,"cg_id_raw_a":0.163165048,"cg_iq_a":-0.571322083,"cg_iq_raw_a":0.0167011302,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9581814,"cg_sample_seq":14648966,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0926863551,"cg_vd_v":0.0926863551,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.282900572,"cg_vq_v":-0.282900572,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.326255202,"dclink_p_w":-47.2171707,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12464,"GapTicks":54813,"Mech_RPM":-3.50324616e-44,"cg_du":50.0902596,"cg_dv":50.1695518,"cg_dw":49.8304482,"cg_id_a":-0.234239191,"cg_id_raw_a":0.15358232,"cg_iq_a":-0.440255463,"cg_iq_raw_a":0.342842907,"cg_iu_a":0.79989779,"cg_iv_a":0.0329101086,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9618187,"cg_sample_seq":14649016,"cg_sample_valid":1,"cg_theta_rad":5.00825071,"cg_vd_req_v":0.0932418182,"cg_vd_v":0.0932418182,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.282330573,"cg_vq_v":-0.282330573,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.5244656,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3328552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.0955315,"cg_dv":50.1767235,"cg_dw":49.8232765,"cg_id_a":-0.222704068,"cg_id_raw_a":0.061355792,"cg_iq_a":0.153862685,"cg_iq_raw_a":0.407518178,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9581814,"cg_sample_seq":14649167,"cg_sample_valid":1,"cg_theta_rad":5.00844765,"cg_vd_req_v":0.0969796553,"cg_vd_v":0.0969796553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.292796314,"cg_vq_v":-0.292796314,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3266907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2656.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12441,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0948029,"cg_dv":50.1747055,"cg_dw":49.8252945,"cg_id_a":-0.149720743,"cg_id_raw_a":0.163171604,"cg_iq_a":-0.122086033,"cg_iq_raw_a":0.0166370068,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9872723,"cg_sample_seq":14649216,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.0952860564,"cg_vd_v":0.0952860564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.290731281,"cg_vq_v":-0.290731281,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3297729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12437,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1013756,"cg_dv":50.1856346,"cg_dw":49.8143654,"cg_id_a":-0.289840728,"cg_id_raw_a":-0.198642805,"cg_iq_a":0.464347988,"cg_iq_raw_a":0.272482067,"cg_iu_a":0.364971638,"cg_iv_a":-0.365772128,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.954546,"cg_sample_seq":14649266,"cg_sample_valid":1,"cg_theta_rad":5.00746202,"cg_vd_req_v":0.101389527,"cg_vd_v":0.101389527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309068054,"cg_vq_v":-0.309068054,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.0930481,"cg_dv":50.1800804,"cg_dw":49.8199196,"cg_id_a":-0.188049763,"cg_id_raw_a":-0.732316852,"cg_iq_a":-0.31752187,"cg_iq_raw_a":-1.16211164,"cg_iu_a":0.0750212669,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9872723,"cg_sample_seq":14649316,"cg_sample_valid":1,"cg_theta_rad":5.00617027,"cg_vd_req_v":0.101998597,"cg_vd_v":0.101998597,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.298030019,"cg_vq_v":-0.298030019,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3390198,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12459,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1050453,"cg_dv":50.1837883,"cg_dw":49.8162117,"cg_id_a":0.115678608,"cg_id_raw_a":0.171534121,"cg_iq_a":0.194420636,"cg_iq_raw_a":1.00096834,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284297,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9254551,"cg_sample_seq":14649368,"cg_sample_valid":1,"cg_theta_rad":5.0065217,"cg_vd_req_v":0.0967526883,"cg_vd_v":0.0967526883,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309642196,"cg_vq_v":-0.309642196,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.2143831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12475,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.103714,"cg_dv":50.1904716,"cg_dw":49.8095284,"cg_id_a":-0.195235342,"cg_id_raw_a":0.17034483,"cg_iq_a":0.364920259,"cg_iq_raw_a":-0.0549806841,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.836941838,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9509087,"cg_sample_seq":14649416,"cg_sample_valid":1,"cg_theta_rad":5.0081048,"cg_vd_req_v":0.104599029,"cg_vd_v":0.104599029,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316844016,"cg_vq_v":-0.316844016,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.0979191065,"dclink_p_w":-14.2143831,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.0965118,"cg_dv":50.1899109,"cg_dw":49.8100891,"cg_id_a":-0.250315547,"cg_id_raw_a":0.11818336,"cg_iq_a":0.0507174991,"cg_iq_raw_a":0.266985565,"cg_iu_a":0.437459469,"cg_iv_a":-0.691966534,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9872723,"cg_sample_seq":14649466,"cg_sample_valid":1,"cg_theta_rad":5.00892019,"cg_vd_req_v":0.108317092,"cg_vd_v":0.108317092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312507898,"cg_vq_v":-0.312507898,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12445,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0984383,"cg_dv":50.192627,"cg_dw":49.807373,"cg_id_a":-0.394723535,"cg_id_raw_a":-0.118720166,"cg_iq_a":0.079132989,"cg_iq_raw_a":-0.521279097,"cg_iu_a":0.691166162,"cg_iv_a":-0.655722797,"cg_iw_a":0.508213937,"cg_sample_age_us":23.9618187,"cg_sample_seq":14649516,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.11126928,"cg_vd_v":0.11126928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316644907,"cg_vq_v":-0.316644907,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12481,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.0981026,"cg_dv":50.1860161,"cg_dw":49.8139839,"cg_id_a":0.100244001,"cg_id_raw_a":-0.536697805,"cg_iq_a":-0.316790342,"cg_iq_raw_a":-0.375345975,"cg_iu_a":-0.251173496,"cg_iv_a":0.685299098,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.863636,"cg_sample_seq":14649571,"cg_sample_valid":1,"cg_theta_rad":5.00650454,"cg_vd_req_v":0.101718649,"cg_vd_v":0.101718649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.30862087,"cg_vq_v":-0.30862087,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3405762,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12448,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1070976,"cg_dv":50.1956024,"cg_dw":49.8043976,"cg_id_a":-0.191747561,"cg_id_raw_a":0.170343205,"cg_iq_a":0.483728409,"cg_iq_raw_a":0.564669728,"cg_iu_a":0.256240368,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9872723,"cg_sample_seq":14649616,"cg_sample_valid":1,"cg_theta_rad":5.00783777,"cg_vd_req_v":0.107882068,"cg_vd_v":0.107882068,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326502264,"cg_vq_v":-0.326502264,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":67.303566,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00880822632,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3266907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12455,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1067696,"cg_dv":50.190155,"cg_dw":49.809845,"cg_id_a":0.0420060605,"cg_id_raw_a":-0.029060727,"cg_iq_a":0.0775004774,"cg_iq_raw_a":-0.767404199,"cg_iu_a":0.292484283,"cg_iv_a":-0.691966534,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9581814,"cg_sample_seq":14649666,"cg_sample_valid":1,"cg_theta_rad":5.0066638,"cg_vd_req_v":0.103293404,"cg_vd_v":0.103293404,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318752229,"cg_vq_v":-0.318752229,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12469,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.0991898,"cg_dv":50.1899414,"cg_dw":49.8100586,"cg_id_a":-0.187139943,"cg_id_raw_a":-0.552033782,"cg_iq_a":-0.262895405,"cg_iq_raw_a":0.0181252342,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14649716,"cg_sample_valid":1,"cg_theta_rad":5.00961781,"cg_vd_req_v":0.107751384,"cg_vd_v":0.107751384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31353122,"cg_vq_v":-0.31353122,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.9301853,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105694667,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38772,"EncoderSin":12454,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1003914,"cg_dv":50.1945877,"cg_dw":49.8054123,"cg_id_a":-0.180080429,"cg_id_raw_a":-0.193067566,"cg_iq_a":0.183985069,"cg_iq_raw_a":-0.234273151,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9181824,"cg_sample_seq":14649766,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.107009463,"cg_vd_v":0.107009463,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321982592,"cg_vq_v":-0.321982592,"cg_vu_v":7.03828096,"cg_vv_v":19.3552723,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3251343,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12482,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1054306,"cg_dv":50.1979599,"cg_dw":49.8020401,"cg_id_a":-0.162652254,"cg_id_raw_a":-0.309631467,"cg_iq_a":0.613688171,"cg_iq_raw_a":0.373589754,"cg_iu_a":-0.359904766,"cg_iv_a":-0.510747433,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9618187,"cg_sample_seq":14649816,"cg_sample_valid":1,"cg_theta_rad":5.00695801,"cg_vd_req_v":0.106817856,"cg_vd_v":0.106817856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329210311,"cg_vq_v":-0.329210311,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1038399,"cg_dv":50.1914063,"cg_dw":49.8085938,"cg_id_a":0.000466175377,"cg_id_raw_a":-0.332095295,"cg_iq_a":0.0282948613,"cg_iq_raw_a":0.58837837,"cg_iu_a":0.364971876,"cg_iv_a":0.649055362,"cg_iw_a":-1.01402724,"cg_sample_age_us":23.9836369,"cg_sample_seq":14649866,"cg_sample_valid":1,"cg_theta_rad":5.00801373,"cg_vd_req_v":0.103539743,"cg_vd_v":0.103539743,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318796009,"cg_vq_v":-0.318796009,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.219214439,"dclink_p_w":31.7257347,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12476,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1017113,"cg_dv":50.1948242,"cg_dw":49.8051758,"cg_id_a":-0.220128521,"cg_id_raw_a":0.080225423,"cg_iq_a":0.115989976,"cg_iq_raw_a":-0.68336308,"cg_iu_a":0.038777113,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14649916,"cg_sample_valid":1,"cg_theta_rad":5.00631189,"cg_vd_req_v":0.107681312,"cg_vd_v":0.107681312,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32254836,"cg_vq_v":-0.32254836,"cg_vu_v":119.650772,"cg_vv_v":139.885834,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12434,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1101608,"cg_dv":50.1902695,"cg_dw":49.8097305,"cg_id_a":0.111920208,"cg_id_raw_a":0.383770257,"cg_iq_a":-0.0969458073,"cg_iq_raw_a":-0.287659883,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.184552908,"cg_iw_a":0.254507303,"cg_sample_age_us":23.9618187,"cg_sample_seq":14649966,"cg_sample_valid":1,"cg_theta_rad":5.00598574,"cg_vd_req_v":0.100480631,"cg_vd_v":0.100480631,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320916533,"cg_vq_v":-0.320916533,"cg_vu_v":25.953661,"cg_vv_v":8.35795879,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.202904701,"dclink_p_w":29.3653126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3452148,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12434,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1111145,"cg_dv":50.1895599,"cg_dw":49.8104401,"cg_id_a":0.104236446,"cg_id_raw_a":0.295937151,"cg_iq_a":-0.289200544,"cg_iq_raw_a":-0.66103667,"cg_iu_a":0.038777113,"cg_iv_a":0.0329101682,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9290905,"cg_sample_seq":14650016,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.0990374908,"cg_vd_v":0.0990374908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320491225,"cg_vq_v":-0.320491225,"cg_vu_v":24.1940918,"cg_vv_v":3.07924795,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.7716579,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12467,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209946,"cg_dv":50.1961555,"cg_dw":49.8038445,"cg_id_a":0.237839431,"cg_id_raw_a":0.441937685,"cg_iq_a":0.55144918,"cg_iq_raw_a":-0.504752159,"cg_iu_a":-0.722343206,"cg_iv_a":-0.474503517,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9363632,"cg_sample_seq":14650066,"cg_sample_valid":1,"cg_theta_rad":5.00833178,"cg_vd_req_v":0.0936728939,"cg_vd_v":0.0936728939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335126191,"cg_vq_v":-0.335126191,"cg_vu_v":21.5547352,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.110775,"cg_dv":50.1959572,"cg_dw":49.8040428,"cg_id_a":-0.100710288,"cg_id_raw_a":-0.611138046,"cg_iq_a":0.282241344,"cg_iq_raw_a":-0.0159817468,"cg_iu_a":0.0750210285,"cg_iv_a":0.359104574,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.863636,"cg_sample_seq":14650121,"cg_sample_valid":1,"cg_theta_rad":5.00723171,"cg_vd_req_v":0.099810943,"cg_vd_v":0.099810943,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328598469,"cg_vq_v":-0.328598469,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.222838879,"dclink_p_w":32.2502785,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3529358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2656.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12445,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1092186,"cg_dv":50.1834717,"cg_dw":49.8165283,"cg_id_a":0.344711065,"cg_id_raw_a":0.650687456,"cg_iq_a":-0.501980066,"cg_iq_raw_a":-1.97526681,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.691966534,"cg_iw_a":0.761920691,"cg_sample_age_us":23.9254551,"cg_sample_seq":14650166,"cg_sample_valid":1,"cg_theta_rad":5.00662088,"cg_vd_req_v":0.0921889469,"cg_vd_v":0.0921889469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.309796453,"cg_vq_v":-0.309796453,"cg_vu_v":133.287445,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.1427393,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2656.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12480,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1114388,"cg_dv":50.1862946,"cg_dw":49.8137054,"cg_id_a":0.215127409,"cg_id_raw_a":-0.222369045,"cg_iq_a":0.0212822706,"cg_iq_raw_a":-0.129439518,"cg_iu_a":-0.577368021,"cg_iv_a":0.685299098,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.9618187,"cg_sample_seq":14650216,"cg_sample_valid":1,"cg_theta_rad":5.00718594,"cg_vd_req_v":0.0929929316,"cg_vd_v":0.0929929316,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317008495,"cg_vq_v":-0.317008495,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12444,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1168404,"cg_dv":50.1880112,"cg_dw":49.8119888,"cg_id_a":0.28443253,"cg_id_raw_a":0.685061932,"cg_iq_a":0.283952832,"cg_iq_raw_a":1.34252954,"cg_iu_a":-0.251173496,"cg_iv_a":0.57656765,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9254551,"cg_sample_seq":14650266,"cg_sample_valid":1,"cg_theta_rad":5.00754833,"cg_vd_req_v":0.0914865881,"cg_vd_v":0.0914865881,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322074682,"cg_vq_v":-0.322074682,"cg_vu_v":7.91806602,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.83264744,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3544617,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12461,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1083527,"cg_dv":50.1802063,"cg_dw":49.8197937,"cg_id_a":0.160684168,"cg_id_raw_a":0.317784905,"cg_iq_a":-0.756906271,"cg_iq_raw_a":-0.257818371,"cg_iu_a":-1.51970744,"cg_iv_a":0.322860837,"cg_iw_a":1.1968466,"cg_sample_age_us":23.9618187,"cg_sample_seq":14650318,"cg_sample_valid":1,"cg_theta_rad":5.00812817,"cg_vd_req_v":0.091937609,"cg_vd_v":0.091937609,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305235833,"cg_vq_v":-0.305235833,"cg_vu_v":136.366699,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12450,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1179085,"cg_dv":50.1910248,"cg_dw":49.8089752,"cg_id_a":-0.0124347508,"cg_id_raw_a":-0.216957316,"cg_iq_a":0.309695721,"cg_iq_raw_a":0.233363166,"cg_iu_a":-1.157269,"cg_iv_a":0.467836142,"cg_iw_a":0.689432859,"cg_sample_age_us":24.0381813,"cg_sample_seq":14650366,"cg_sample_valid":1,"cg_theta_rad":5.00829268,"cg_vd_req_v":0.095169872,"cg_vd_v":0.095169872,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325256586,"cg_vq_v":-0.325256586,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1163177,"cg_dv":50.1881027,"cg_dw":49.8118973,"cg_id_a":0.161853075,"cg_id_raw_a":0.384911895,"cg_iq_a":-0.138401717,"cg_iq_raw_a":-0.109359272,"cg_iu_a":-0.468636513,"cg_iv_a":0.141641617,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9872723,"cg_sample_seq":14650416,"cg_sample_valid":1,"cg_theta_rad":5.00734806,"cg_vd_req_v":0.0898189396,"cg_vd_v":0.0898189396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321464598,"cg_vq_v":-0.321464598,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.139478087,"dclink_p_w":20.1859188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3189697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12473,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249809,"cg_dv":50.1987267,"cg_dw":49.8012733,"cg_id_a":-0.0406879857,"cg_id_raw_a":0.673550189,"cg_iq_a":0.78143394,"cg_iq_raw_a":-0.261959881,"cg_iu_a":-0.903562307,"cg_iv_a":-0.510747313,"cg_iw_a":1.41430962,"cg_sample_age_us":23.9509087,"cg_sample_seq":14650466,"cg_sample_valid":1,"cg_theta_rad":5.00935602,"cg_vd_req_v":0.0947243422,"cg_vd_v":0.0947243422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340380132,"cg_vq_v":-0.340380132,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.139478087,"dclink_p_w":20.1859188,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3467407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12449,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1162834,"cg_dv":50.1862869,"cg_dw":49.8137131,"cg_id_a":0.177576289,"cg_id_raw_a":-0.437192529,"cg_iq_a":-0.129280135,"cg_iq_raw_a":-0.0787978545,"cg_iu_a":0.183752537,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9654541,"cg_sample_seq":14650516,"cg_sample_valid":1,"cg_theta_rad":5.00835943,"cg_vd_req_v":0.0904961228,"cg_vd_v":0.0904961228,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319338679,"cg_vq_v":-0.319338679,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.17061329,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3467407,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1145477,"cg_dv":50.1903343,"cg_dw":49.8096657,"cg_id_a":-0.124461837,"cg_id_raw_a":0.476573169,"cg_iq_a":0.0874892622,"cg_iq_raw_a":-0.608087838,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9290905,"cg_sample_seq":14650566,"cg_sample_valid":1,"cg_theta_rad":5.00496626,"cg_vd_req_v":0.0955057889,"cg_vd_v":0.0955057889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323969841,"cg_vq_v":-0.323969841,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.7611351,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12451,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1180305,"cg_dv":50.1889,"cg_dw":49.8111,"cg_id_a":-0.0528105572,"cg_id_raw_a":-0.313215435,"cg_iq_a":-0.0412401557,"cg_iq_raw_a":0.370590299,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9690914,"cg_sample_seq":14650621,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.0912816599,"cg_vd_v":0.0912816599,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322940052,"cg_vq_v":-0.322940052,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12462,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295052,"cg_dv":50.1961365,"cg_dw":49.8038635,"cg_id_a":0.0251845643,"cg_id_raw_a":0.405895561,"cg_iq_a":0.61345768,"cg_iq_raw_a":1.17028594,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758213997,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9509087,"cg_sample_seq":14650667,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.0894127041,"cg_vd_v":0.0894127041,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3380934,"cg_vq_v":-0.3380934,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.0562386513,"dclink_p_w":-8.16385841,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2656.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249313,"cg_dv":50.1878242,"cg_dw":49.8121758,"cg_id_a":0.31638509,"cg_id_raw_a":0.593276799,"cg_iq_a":-0.104765527,"cg_iq_raw_a":-0.96181953,"cg_iu_a":-0.287417412,"cg_iv_a":0.467836082,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.8600006,"cg_sample_seq":14650716,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0839919448,"cg_vd_v":0.0839919448,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325571597,"cg_vq_v":-0.325571597,"cg_vu_v":35.1914063,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12483,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191025,"cg_dv":50.1968498,"cg_dw":49.8031502,"cg_id_a":-0.355270147,"cg_id_raw_a":-0.0555805601,"cg_iq_a":0.212254345,"cg_iq_raw_a":0.323152572,"cg_iu_a":0.14750886,"cg_iv_a":-0.583235025,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8490906,"cg_sample_seq":14650766,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.0975156575,"cg_vd_v":0.0975156575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334530324,"cg_vq_v":-0.334530324,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12488,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218872,"cg_dv":50.1971092,"cg_dw":49.8028908,"cg_id_a":-0.211455941,"cg_id_raw_a":0.284031838,"cg_iq_a":0.371678799,"cg_iq_raw_a":0.973739624,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9436359,"cg_sample_seq":14650816,"cg_sample_valid":1,"cg_theta_rad":5.00735235,"cg_vd_req_v":0.0945473388,"cg_vd_v":0.0945473388,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336738825,"cg_vq_v":-0.336738825,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.0816093683,"dclink_p_w":-11.8108873,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3359375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12487,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1226959,"cg_dv":50.1879883,"cg_dw":49.8120117,"cg_id_a":0.110146061,"cg_id_raw_a":0.455849648,"cg_iq_a":-0.125253871,"cg_iq_raw_a":-0.828723252,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9509087,"cg_sample_seq":14650867,"cg_sample_valid":1,"cg_theta_rad":5.00804281,"cg_vd_req_v":0.0867096037,"cg_vd_v":0.0867096037,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325383753,"cg_vq_v":-0.325383753,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.344255686,"dclink_p_w":49.9737206,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12489,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1253395,"cg_dv":50.188446,"cg_dw":49.811554,"cg_id_a":0.173248544,"cg_id_raw_a":0.597212136,"cg_iq_a":-0.0283256769,"cg_iq_raw_a":0.0941290483,"cg_iu_a":0.256240368,"cg_iv_a":0.10539782,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9799995,"cg_sample_seq":14650916,"cg_sample_valid":1,"cg_theta_rad":5.00756788,"cg_vd_req_v":0.0843576342,"cg_vd_v":0.0843576342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327680737,"cg_vq_v":-0.327680737,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.311636209,"dclink_p_w":45.2385292,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2656.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12448,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1177711,"cg_dv":50.194458,"cg_dw":49.805542,"cg_id_a":-0.453965962,"cg_id_raw_a":0.0174102597,"cg_iq_a":0.082050994,"cg_iq_raw_a":0.220941633,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9836369,"cg_sample_seq":14650966,"cg_sample_valid":1,"cg_theta_rad":5.00603342,"cg_vd_req_v":0.0961376652,"cg_vd_v":0.0961376652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330564916,"cg_vq_v":-0.330564916,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.4111938,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12419,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1230087,"cg_dv":50.1926765,"cg_dw":49.8073235,"cg_id_a":-0.264177501,"cg_id_raw_a":-0.698906839,"cg_iq_a":0.14711225,"cg_iq_raw_a":0.840453863,"cg_iu_a":0.654922366,"cg_iv_a":0.0691539049,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9654541,"cg_sample_seq":14651016,"cg_sample_valid":1,"cg_theta_rad":5.00843,"cg_vd_req_v":0.0921513587,"cg_vd_v":0.0921513587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33055988,"cg_vq_v":-0.33055988,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.4111938,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3312988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12465,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262398,"cg_dv":50.2018967,"cg_dw":49.7981033,"cg_id_a":-0.395214885,"cg_id_raw_a":0.285761923,"cg_iq_a":0.818951964,"cg_iq_raw_a":0.281993091,"cg_iu_a":0.147508621,"cg_iv_a":-0.836941957,"cg_iw_a":0.689433336,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651066,"cg_sample_valid":1,"cg_theta_rad":5.00806332,"cg_vd_req_v":0.0954335779,"cg_vd_v":0.0954335779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345784247,"cg_vq_v":-0.345784247,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.431240916,"dclink_p_w":62.4111938,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3312988,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2656.963605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2656.963611,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2656.963616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2656.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12448,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1147804,"cg_dv":50.1853867,"cg_dw":49.8146133,"cg_id_a":-0.0757905096,"cg_id_raw_a":-0.562538266,"cg_iq_a":-0.507010996,"cg_iq_raw_a":-0.0886266828,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.25704056,"cg_iw_a":0.326994956,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651121,"cg_sample_valid":1,"cg_theta_rad":5.00775051,"cg_vd_req_v":0.0891101956,"cg_vd_v":0.0891101956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316707999,"cg_vq_v":-0.316707999,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.58165282,"dclink_p_w":84.1795044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3050842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2656.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12436,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1237373,"cg_dv":50.1866074,"cg_dw":49.8133926,"cg_id_a":0.0525462627,"cg_id_raw_a":-0.304967701,"cg_iq_a":0.015183486,"cg_iq_raw_a":-0.138935149,"cg_iu_a":-0.686099291,"cg_iv_a":0.177885413,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9618187,"cg_sample_seq":14651167,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0853095651,"cg_vd_v":0.0853095651,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323883355,"cg_vq_v":-0.323883355,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.58165282,"dclink_p_w":84.1795044,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3050842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12439,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196175,"cg_dv":50.1869164,"cg_dw":49.8130836,"cg_id_a":-0.0947125331,"cg_id_raw_a":-0.0413920879,"cg_iq_a":0.0820277929,"cg_iq_raw_a":-0.25812012,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9872723,"cg_sample_seq":14651317,"cg_sample_valid":1,"cg_theta_rad":5.00636721,"cg_vd_req_v":0.0877129957,"cg_vd_v":0.0877129957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321241736,"cg_vq_v":-0.321241736,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.500104189,"dclink_p_w":72.3774033,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256828,"cg_dv":50.195282,"cg_dw":49.804718,"cg_id_a":-0.242709875,"cg_id_raw_a":-0.358547062,"cg_iq_a":0.704420149,"cg_iq_raw_a":1.2398417,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651367,"cg_sample_valid":1,"cg_theta_rad":5.00577259,"cg_vd_req_v":0.0919761583,"cg_vd_v":0.0919761583,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335772872,"cg_vq_v":-0.335772872,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2586,"hz_tim_isr":5000,"hz_vsense":2586,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3328552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12414,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1171379,"cg_dv":50.1835861,"cg_dw":49.8164139,"cg_id_a":-0.0494889319,"cg_id_raw_a":-0.00345340907,"cg_iq_a":-0.214305669,"cg_iq_raw_a":0.000434828311,"cg_iu_a":-0.432392597,"cg_iv_a":0.177885413,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9872723,"cg_sample_seq":14651417,"cg_sample_valid":1,"cg_theta_rad":5.00621128,"cg_vd_req_v":0.0895369425,"cg_vd_v":0.0895369425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314455807,"cg_vq_v":-0.314455807,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":0.414931178,"dclink_p_w":60.0507698,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12440,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146164,"cg_dv":50.188076,"cg_dw":49.811924,"cg_id_a":-0.251614213,"cg_id_raw_a":-0.194070667,"cg_iq_a":0.222186521,"cg_iq_raw_a":0.636881888,"cg_iu_a":0.0750212669,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9763641,"cg_sample_seq":14651467,"cg_sample_valid":1,"cg_theta_rad":5.00741911,"cg_vd_req_v":0.0943378657,"cg_vd_v":0.0943378657,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320608586,"cg_vq_v":-0.320608586,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.30438745,"dclink_p_w":44.0523682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12475,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1075058,"cg_dv":50.1843338,"cg_dw":49.8156662,"cg_id_a":-0.101228625,"cg_id_raw_a":-0.0289363638,"cg_iq_a":-0.236413494,"cg_iq_raw_a":0.289327323,"cg_iu_a":-0.359904766,"cg_iv_a":0.250373065,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9799995,"cg_sample_seq":14651517,"cg_sample_valid":1,"cg_theta_rad":5.00755119,"cg_vd_req_v":0.0922401547,"cg_vd_v":0.0922401547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31270954,"cg_vq_v":-0.31270954,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12447,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250954,"cg_dv":50.1890297,"cg_dw":49.8109703,"cg_id_a":0.0859730765,"cg_id_raw_a":-0.32159397,"cg_iq_a":0.545580268,"cg_iq_raw_a":-0.178153217,"cg_iu_a":-0.613611937,"cg_iv_a":0.0691540241,"cg_iw_a":0.544457912,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651567,"cg_sample_valid":1,"cg_theta_rad":5.00718307,"cg_vd_req_v":0.0874410495,"cg_vd_v":0.0874410495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326668888,"cg_vq_v":-0.326668888,"cg_vu_v":103.374756,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.8169327,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12495,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1141815,"cg_dv":50.1833267,"cg_dw":49.8166733,"cg_id_a":0.00188183878,"cg_id_raw_a":-0.167034298,"cg_iq_a":-0.0536258966,"cg_iq_raw_a":0.166403905,"cg_iu_a":-0.251173258,"cg_iv_a":0.141641557,"cg_iw_a":0.109531701,"cg_sample_age_us":23.8527279,"cg_sample_seq":14651620,"cg_sample_valid":1,"cg_theta_rad":5.00652838,"cg_vd_req_v":0.0889955908,"cg_vd_v":0.0889955908,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313166142,"cg_vq_v":-0.313166142,"cg_vu_v":7.47817326,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12500,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1032677,"cg_dv":50.1828156,"cg_dw":49.8171844,"cg_id_a":-0.214024946,"cg_id_raw_a":-0.434570551,"cg_iq_a":-0.219308257,"cg_iq_raw_a":0.36264503,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796824,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9654541,"cg_sample_seq":14651667,"cg_sample_valid":1,"cg_theta_rad":5.00802517,"cg_vd_req_v":0.0938786119,"cg_vd_v":0.0938786119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.307328403,"cg_vq_v":-0.307328403,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12451,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1097412,"cg_dv":50.1853256,"cg_dw":49.8146744,"cg_id_a":-0.190544456,"cg_id_raw_a":-0.399787039,"cg_iq_a":-0.0621578321,"cg_iq_raw_a":-0.876724243,"cg_iu_a":0.219996452,"cg_iv_a":-0.510747313,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9872723,"cg_sample_seq":14651717,"cg_sample_valid":1,"cg_theta_rad":5.00690413,"cg_vd_req_v":0.0946616083,"cg_vd_v":0.0946616083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313317537,"cg_vq_v":-0.313317537,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.237336397,"dclink_p_w":34.3484268,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12415,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1145554,"cg_dv":50.1814461,"cg_dw":49.8185539,"cg_id_a":0.146929264,"cg_id_raw_a":-0.290308863,"cg_iq_a":-0.284308255,"cg_iq_raw_a":-1.08607841,"cg_iu_a":-0.686099529,"cg_iv_a":0.322860718,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9836369,"cg_sample_seq":14651767,"cg_sample_valid":1,"cg_theta_rad":5.00586271,"cg_vd_req_v":0.0884351432,"cg_vd_v":0.0884351432,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310384363,"cg_vq_v":-0.310384363,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.525474846,"dclink_p_w":76.0491638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12462,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1101532,"cg_dv":50.1829185,"cg_dw":49.8170815,"cg_id_a":0.125559613,"cg_id_raw_a":-0.0953832269,"cg_iq_a":-0.19598484,"cg_iq_raw_a":-0.371899903,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9472733,"cg_sample_seq":14651817,"cg_sample_valid":1,"cg_theta_rad":5.00688267,"cg_vd_req_v":0.089566946,"cg_vd_v":0.089566946,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310990036,"cg_vq_v":-0.310990036,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.525474846,"dclink_p_w":76.0491638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3189697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12471,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1085472,"cg_dv":50.186409,"cg_dw":49.813591,"cg_id_a":-0.15380457,"cg_id_raw_a":0.14096421,"cg_iq_a":-0.243005633,"cg_iq_raw_a":-0.641207695,"cg_iu_a":0.292484045,"cg_iv_a":-0.546991229,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9872723,"cg_sample_seq":14651867,"cg_sample_valid":1,"cg_theta_rad":5.00648642,"cg_vd_req_v":0.0949331149,"cg_vd_v":0.0949331149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314637333,"cg_vq_v":-0.314637333,"cg_vu_v":115.69175,"cg_vv_v":128.888519,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.538160205,"dclink_p_w":78.121788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3189697,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12461,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1074638,"cg_dv":50.1908836,"cg_dw":49.8091164,"cg_id_a":-0.279105663,"cg_id_raw_a":-0.0478573591,"cg_iq_a":0.0909934044,"cg_iq_raw_a":0.505966961,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651917,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0981527045,"cg_vd_v":0.0981527045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320739776,"cg_vq_v":-0.320739776,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.443926215,"dclink_p_w":64.2470703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3266907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12458,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1093445,"cg_dv":50.1865387,"cg_dw":49.8134613,"cg_id_a":-0.129150927,"cg_id_raw_a":-0.512629032,"cg_iq_a":-0.275712788,"cg_iq_raw_a":-0.595779359,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616981,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9581814,"cg_sample_seq":14651967,"cg_sample_valid":1,"cg_theta_rad":5.00791979,"cg_vd_req_v":0.0957137942,"cg_vd_v":0.0957137942,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314870745,"cg_vq_v":-0.314870745,"cg_vu_v":117.011421,"cg_vv_v":133.287445,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.710318446,"dclink_p_w":102.800591,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3266907,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12463,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1100197,"cg_dv":50.1903725,"cg_dw":49.8096275,"cg_id_a":-0.129642352,"cg_id_raw_a":0.138793543,"cg_iq_a":-0.1027136,"cg_iq_raw_a":0.0508278683,"cg_iu_a":0.14750886,"cg_iv_a":-0.474503577,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14652017,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0988785475,"cg_vd_v":0.0988785475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320472121,"cg_vq_v":-0.320472121,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.521850467,"dclink_p_w":75.5246277,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12480,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1133041,"cg_dv":50.1854248,"cg_dw":49.8145752,"cg_id_a":0.130073667,"cg_id_raw_a":0.0517774895,"cg_iq_a":-0.277411222,"cg_iq_raw_a":0.297162563,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14652067,"cg_sample_valid":1,"cg_theta_rad":5.00661993,"cg_vd_req_v":0.091263786,"cg_vd_v":0.091263786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315660864,"cg_vq_v":-0.315660864,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.8037872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12480,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222496,"cg_dv":50.1894302,"cg_dw":49.8105698,"cg_id_a":0.287602425,"cg_id_raw_a":0.486019313,"cg_iq_a":0.264123976,"cg_iq_raw_a":-0.0618015714,"cg_iu_a":-0.106198072,"cg_iv_a":0.0691539049,"cg_iw_a":0.834408641,"cg_sample_age_us":23.863636,"cg_sample_seq":14652120,"cg_sample_valid":1,"cg_theta_rad":5.00798607,"cg_vd_req_v":0.0879537016,"cg_vd_v":0.0879537016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32723406,"cg_vq_v":-0.32723406,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.8037872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12458,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1211967,"cg_dv":50.1872864,"cg_dw":49.8127136,"cg_id_a":0.270563424,"cg_id_raw_a":0.167757452,"cg_iq_a":0.0535253286,"cg_iq_raw_a":-0.237263486,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641557,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9509087,"cg_sample_seq":14652167,"cg_sample_valid":1,"cg_theta_rad":5.00797796,"cg_vd_req_v":0.0880257562,"cg_vd_v":0.0880257562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322306991,"cg_vq_v":-0.322306991,"cg_vu_v":121.850235,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.48923099,"dclink_p_w":70.8037872,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.3143311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116118103,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12473,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1134377,"cg_dv":50.1920433,"cg_dw":49.8079567,"cg_id_a":0.0122763366,"cg_id_raw_a":0.518446803,"cg_iq_a":0.227475047,"cg_iq_raw_a":0.519000053,"cg_iu_a":0.292484045,"cg_iv_a":-0.510747433,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9618187,"cg_sample_seq":14652217,"cg_sample_valid":1,"cg_theta_rad":5.0077467,"cg_vd_req_v":0.0943454951,"cg_vd_v":0.0943454951,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325688571,"cg_vq_v":-0.325688571,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.7901115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12453,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197128,"cg_dv":50.185463,"cg_dw":49.814537,"cg_id_a":0.328570843,"cg_id_raw_a":0.216015249,"cg_iq_a":0.160471901,"cg_iq_raw_a":-0.305650145,"cg_iu_a":-0.649855614,"cg_iv_a":0.032910049,"cg_iw_a":0.616945565,"cg_sample_age_us":23.9618187,"cg_sample_seq":14652267,"cg_sample_valid":1,"cg_theta_rad":5.00647449,"cg_vd_req_v":0.0867164955,"cg_vd_v":0.0867164955,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319187313,"cg_vq_v":-0.319187313,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12471,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1152649,"cg_dv":50.1817741,"cg_dw":49.8182259,"cg_id_a":0.227518052,"cg_id_raw_a":0.152971223,"cg_iq_a":-0.10429588,"cg_iq_raw_a":-0.0934011266,"cg_iu_a":-0.287417173,"cg_iv_a":0.286616981,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14652317,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.086508818,"cg_vd_v":0.086508818,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311703086,"cg_vq_v":-0.311703086,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12491,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1096535,"cg_dv":50.1764832,"cg_dw":49.8235168,"cg_id_a":0.257203221,"cg_id_raw_a":-0.0797788352,"cg_iq_a":-0.584596276,"cg_iq_raw_a":-0.0797427297,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9654541,"cg_sample_seq":14652367,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.0852807015,"cg_vd_v":0.0852807015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.30150035,"cg_vq_v":-0.30150035,"cg_vu_v":127.568848,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12459,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202011,"cg_dv":50.1817551,"cg_dw":49.8182449,"cg_id_a":0.420581192,"cg_id_raw_a":0.861045003,"cg_iq_a":0.0583620146,"cg_iq_raw_a":-0.0226309877,"cg_iu_a":0.0387773514,"cg_iv_a":-0.583235025,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9618187,"cg_sample_seq":14652417,"cg_sample_valid":1,"cg_theta_rad":5.00810003,"cg_vd_req_v":0.0830221623,"cg_vd_v":0.0830221623,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314344347,"cg_vq_v":-0.314344347,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12487,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1106071,"cg_dv":50.1881866,"cg_dw":49.8118134,"cg_id_a":-0.239304155,"cg_id_raw_a":-0.267424941,"cg_iq_a":0.250377983,"cg_iq_raw_a":0.738757133,"cg_iu_a":0.256240368,"cg_iv_a":0.0329101086,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9363632,"cg_sample_seq":14652466,"cg_sample_valid":1,"cg_theta_rad":5.00638533,"cg_vd_req_v":0.0954790562,"cg_vd_v":0.0954790562,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319133252,"cg_vq_v":-0.319133252,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12480,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1121712,"cg_dv":50.1822395,"cg_dw":49.8177605,"cg_id_a":0.0701958835,"cg_id_raw_a":0.156227529,"cg_iq_a":-0.0560592562,"cg_iq_raw_a":0.088686429,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14652517,"cg_sample_valid":1,"cg_theta_rad":5.00776529,"cg_vd_req_v":0.0887719095,"cg_vd_v":0.0887719095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310775369,"cg_vq_v":-0.310775369,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.25708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12462,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1124039,"cg_dv":50.1852722,"cg_dw":49.8147278,"cg_id_a":-0.134347677,"cg_id_raw_a":-0.267426461,"cg_iq_a":0.0423977003,"cg_iq_raw_a":0.120415293,"cg_iu_a":0.401215553,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9218178,"cg_sample_seq":14652566,"cg_sample_valid":1,"cg_theta_rad":5.0060854,"cg_vd_req_v":0.091850698,"cg_vd_v":0.091850698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314936638,"cg_vq_v":-0.314936638,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.255458355,"dclink_p_w":36.9711227,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3097229,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12450,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1162796,"cg_dv":50.1893997,"cg_dw":49.8106003,"cg_id_a":-0.105760455,"cg_id_raw_a":0.406790555,"cg_iq_a":0.190662175,"cg_iq_raw_a":1.16997516,"cg_iu_a":0.981116891,"cg_iv_a":-0.365772128,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9581814,"cg_sample_seq":14652716,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.0935184807,"cg_vd_v":0.0935184807,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323584646,"cg_vq_v":-0.323584646,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.6688709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.292236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12468,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.140152,"cg_dv":50.1935081,"cg_dw":49.8064919,"cg_id_a":0.632254839,"cg_id_raw_a":0.343455613,"cg_iq_a":0.923688173,"cg_iq_raw_a":0.325429589,"cg_iu_a":-0.178685665,"cg_iv_a":0.57656759,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9872723,"cg_sample_seq":14652766,"cg_sample_valid":1,"cg_theta_rad":5.00841093,"cg_vd_req_v":0.078178063,"cg_vd_v":0.078178063,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342775732,"cg_vq_v":-0.342775732,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.6688709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12464,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258698,"cg_dv":50.1892662,"cg_dw":49.8107338,"cg_id_a":0.214944124,"cg_id_raw_a":0.287221879,"cg_iq_a":0.325415045,"cg_iq_raw_a":0.90270108,"cg_iu_a":-1.22975683,"cg_iv_a":-0.0395776033,"cg_iw_a":1.26933444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14652816,"cg_sample_valid":1,"cg_theta_rad":5.00842667,"cg_vd_req_v":0.0853809565,"cg_vd_v":0.0853809565,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328933448,"cg_vq_v":-0.328933448,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.6688709,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3127747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38755,"EncoderSin":12454,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1231003,"cg_dv":50.1933784,"cg_dw":49.8066216,"cg_id_a":0.0195202902,"cg_id_raw_a":-0.0121250208,"cg_iq_a":0.40276283,"cg_iq_raw_a":0.327240199,"cg_iu_a":-0.613611698,"cg_iv_a":0.141641557,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9618187,"cg_sample_seq":14652866,"cg_sample_valid":1,"cg_theta_rad":5.00561237,"cg_vd_req_v":0.0891795233,"cg_vd_v":0.0891795233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33254391,"cg_vq_v":-0.33254391,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12475,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197433,"cg_dv":50.1963043,"cg_dw":49.8036957,"cg_id_a":-0.276290864,"cg_id_raw_a":-0.423440546,"cg_iq_a":0.256138593,"cg_iq_raw_a":-0.222124308,"cg_iu_a":0.038777113,"cg_iv_a":-0.619478941,"cg_iw_a":0.580701828,"cg_sample_age_us":23.9472733,"cg_sample_seq":14652916,"cg_sample_valid":1,"cg_theta_rad":5.00581264,"cg_vd_req_v":0.0965171382,"cg_vd_v":0.0965171382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334138572,"cg_vq_v":-0.334138572,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12495,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196327,"cg_dv":50.19561,"cg_dw":49.80439,"cg_id_a":-0.222027004,"cg_id_raw_a":-0.16043137,"cg_iq_a":0.198243365,"cg_iq_raw_a":-0.341903776,"cg_iu_a":0.292484164,"cg_iv_a":-0.619478941,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9799995,"cg_sample_seq":14652966,"cg_sample_valid":1,"cg_theta_rad":5.0075593,"cg_vd_req_v":0.0950918347,"cg_vd_v":0.0950918347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333373815,"cg_vq_v":-0.333373815,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12445,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260872,"cg_dv":50.1961021,"cg_dw":49.8038979,"cg_id_a":-0.0923870653,"cg_id_raw_a":-0.309689283,"cg_iq_a":0.374226153,"cg_iq_raw_a":0.990357697,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704056,"cg_iw_a":0.435726225,"cg_sample_age_us":23.8600006,"cg_sample_seq":14653016,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.0914965644,"cg_vd_v":0.0914965644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337379277,"cg_vq_v":-0.337379277,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12453,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256752,"cg_dv":50.1961403,"cg_dw":49.8038597,"cg_id_a":-0.0491597876,"cg_id_raw_a":0.191334635,"cg_iq_a":0.40513587,"cg_iq_raw_a":0.164385647,"cg_iu_a":-0.251173496,"cg_iv_a":-0.583235145,"cg_iw_a":0.834408641,"cg_sample_age_us":23.9581814,"cg_sample_seq":14653066,"cg_sample_valid":1,"cg_theta_rad":5.00788593,"cg_vd_req_v":0.0908307955,"cg_vd_v":0.0908307955,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337479979,"cg_vq_v":-0.337479979,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4903564,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12455,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214752,"cg_dv":50.1869774,"cg_dw":49.8130226,"cg_id_a":0.164464995,"cg_id_raw_a":-0.0776174143,"cg_iq_a":-0.264857888,"cg_iq_raw_a":-0.33395192,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552908,"cg_iw_a":0.29075098,"cg_sample_age_us":26.823637,"cg_sample_seq":14653119,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0847878084,"cg_vd_v":0.0847878084,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322770268,"cg_vq_v":-0.322770268,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.4058018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12450,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1215096,"cg_dv":50.1962471,"cg_dw":49.8037529,"cg_id_a":-0.32406804,"cg_id_raw_a":-0.0294098053,"cg_iq_a":0.325154185,"cg_iq_raw_a":-0.402271658,"cg_iu_a":-0.251173496,"cg_iv_a":-0.836941838,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14653167,"cg_sample_valid":1,"cg_theta_rad":5.00800133,"cg_vd_req_v":0.0935956091,"cg_vd_v":0.0935956091,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335470259,"cg_vq_v":-0.335470259,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12462,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1137962,"cg_dv":50.1803398,"cg_dw":49.8196602,"cg_id_a":-0.0323933959,"cg_id_raw_a":0.0264290348,"cg_iq_a":-0.876478314,"cg_iq_raw_a":-0.287959963,"cg_iu_a":1.05360472,"cg_iv_a":0.685299158,"cg_iw_a":-1.73890388,"cg_sample_age_us":23.9618187,"cg_sample_seq":14653216,"cg_sample_valid":1,"cg_theta_rad":5.00658751,"cg_vd_req_v":0.0878597125,"cg_vd_v":0.0878597125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308482915,"cg_vq_v":-0.308482915,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3204956,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12481,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1167603,"cg_dv":50.1865921,"cg_dw":49.8134079,"cg_id_a":-0.0907224119,"cg_id_raw_a":-0.103638642,"cg_iq_a":-0.252917349,"cg_iq_raw_a":-0.482665449,"cg_iu_a":-0.432392597,"cg_iv_a":-0.00333380699,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9727268,"cg_sample_seq":14653266,"cg_sample_valid":1,"cg_theta_rad":5.00827265,"cg_vd_req_v":0.0896599367,"cg_vd_v":0.0896599367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319190115,"cg_vq_v":-0.319190115,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12465,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1251755,"cg_dv":50.1949806,"cg_dw":49.8050194,"cg_id_a":-0.263976932,"cg_id_raw_a":-0.231186613,"cg_iq_a":0.475544482,"cg_iq_raw_a":0.378013045,"cg_iu_a":0.509947062,"cg_iv_a":-1.16313636,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9872723,"cg_sample_seq":14653316,"cg_sample_valid":1,"cg_theta_rad":5.00832796,"cg_vd_req_v":0.0927190259,"cg_vd_v":0.0927190259,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334902167,"cg_vq_v":-0.334902167,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12487,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1247444,"cg_dv":50.1896782,"cg_dw":49.8103218,"cg_id_a":0.0455092639,"cg_id_raw_a":0.23763369,"cg_iq_a":0.259859562,"cg_iq_raw_a":0.350178331,"cg_iu_a":-0.214929581,"cg_iv_a":-0.836941957,"cg_iw_a":1.05187154,"cg_sample_age_us":23.9581814,"cg_sample_seq":14653366,"cg_sample_valid":1,"cg_theta_rad":5.00702906,"cg_vd_req_v":0.0848729387,"cg_vd_v":0.0848729387,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329328239,"cg_vq_v":-0.329328239,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3174133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12453,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339417,"cg_dv":50.1912155,"cg_dw":49.8087845,"cg_id_a":0.199616849,"cg_id_raw_a":0.482227266,"cg_iq_a":0.583940387,"cg_iq_raw_a":-0.244718909,"cg_iu_a":-0.432392597,"cg_iv_a":0.214129329,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9581814,"cg_sample_seq":14653416,"cg_sample_valid":1,"cg_theta_rad":5.00983191,"cg_vd_req_v":0.0798675492,"cg_vd_v":0.0798675492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335312456,"cg_vq_v":-0.335312456,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.6865044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3035278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12483,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276093,"cg_dv":50.1923027,"cg_dw":49.8076973,"cg_id_a":-0.0129099414,"cg_id_raw_a":0.638752282,"cg_iq_a":0.371403366,"cg_iq_raw_a":0.787384272,"cg_iu_a":0.14750886,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9618187,"cg_sample_seq":14653466,"cg_sample_valid":1,"cg_theta_rad":5.00636053,"cg_vd_req_v":0.0849082619,"cg_vd_v":0.0849082619,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333506137,"cg_vq_v":-0.333506137,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.119665384,"dclink_p_w":-17.371172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3035278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.440674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12468,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1182899,"cg_dv":50.1891975,"cg_dw":49.8108025,"cg_id_a":-0.227822527,"cg_id_raw_a":-0.198286712,"cg_iq_a":-0.121383846,"cg_iq_raw_a":-0.163356021,"cg_iu_a":0.0387773514,"cg_iv_a":-0.148309052,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9581814,"cg_sample_seq":14653516,"cg_sample_valid":1,"cg_theta_rad":5.00675058,"cg_vd_req_v":0.0898122787,"cg_vd_v":0.0898122787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323925614,"cg_vq_v":-0.323925614,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12458,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270294,"cg_dv":50.1853104,"cg_dw":49.8146896,"cg_id_a":0.0357401818,"cg_id_raw_a":0.0967619866,"cg_iq_a":-0.132034868,"cg_iq_raw_a":0.0475271121,"cg_iu_a":0.292484283,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.9618187,"cg_sample_seq":14653566,"cg_sample_valid":1,"cg_theta_rad":5.0069685,"cg_vd_req_v":0.0832144246,"cg_vd_v":0.0832144246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322487533,"cg_vq_v":-0.322487533,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3513794,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12447,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249046,"cg_dv":50.1888046,"cg_dw":49.8111954,"cg_id_a":0.0529286899,"cg_id_raw_a":0.328033477,"cg_iq_a":0.124311358,"cg_iq_raw_a":0.723257542,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.510747313,"cg_iw_a":0.544457555,"cg_sample_age_us":23.863636,"cg_sample_seq":14653621,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0845846534,"cg_vd_v":0.0845846534,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328044504,"cg_vq_v":-0.328044504,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.322052,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12456,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216316,"cg_dv":50.1890564,"cg_dw":49.8109436,"cg_id_a":-0.113702446,"cg_id_raw_a":0.0552419461,"cg_iq_a":-0.0469483137,"cg_iq_raw_a":0.479534775,"cg_iu_a":0.219996452,"cg_iv_a":1.19271278,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.9763641,"cg_sample_seq":14653666,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.0883970782,"cg_vd_v":0.0883970782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326295614,"cg_vq_v":-0.326295614,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.2243118,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3143311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218033,"cg_dv":50.1853027,"cg_dw":49.8146973,"cg_id_a":0.14980267,"cg_id_raw_a":0.0626708567,"cg_iq_a":-0.448593169,"cg_iq_raw_a":-1.15819061,"cg_iu_a":0.0750210285,"cg_iv_a":-0.25704062,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9290905,"cg_sample_seq":14653716,"cg_sample_valid":1,"cg_theta_rad":5.00693035,"cg_vd_req_v":0.0832106546,"cg_vd_v":0.0832106546,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320590436,"cg_vq_v":-0.320590436,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3143311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1264343,"cg_dv":50.1891403,"cg_dw":49.8108597,"cg_id_a":0.033400435,"cg_id_raw_a":0.360449225,"cg_iq_a":-0.0506859943,"cg_iq_raw_a":0.363856852,"cg_iu_a":-0.432392359,"cg_iv_a":0.0329101086,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9618187,"cg_sample_seq":14653767,"cg_sample_valid":1,"cg_theta_rad":5.00752115,"cg_vd_req_v":0.0847681314,"cg_vd_v":0.0847681314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328024119,"cg_vq_v":-0.328024119,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3127747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12442,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1367798,"cg_dv":50.1934052,"cg_dw":49.8065948,"cg_id_a":0.215886652,"cg_id_raw_a":-0.194497332,"cg_iq_a":0.377404779,"cg_iq_raw_a":0.0172641929,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592226,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9872723,"cg_sample_seq":14653816,"cg_sample_valid":1,"cg_theta_rad":5.00643158,"cg_vd_req_v":0.0824042782,"cg_vd_v":0.0824042782,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339249074,"cg_vq_v":-0.339249074,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3143311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12461,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.132309,"cg_dv":50.1931458,"cg_dw":49.8068542,"cg_id_a":0.161716595,"cg_id_raw_a":-0.041370444,"cg_iq_a":0.143501759,"cg_iq_raw_a":0.178915411,"cg_iu_a":-0.0699541569,"cg_iv_a":0.10539782,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9799995,"cg_sample_seq":14653866,"cg_sample_valid":1,"cg_theta_rad":5.00774908,"cg_vd_req_v":0.0829887688,"cg_vd_v":0.0829887688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337035894,"cg_vq_v":-0.337035894,"cg_vu_v":6.59838867,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3143311,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291008,"cg_dv":50.209774,"cg_dw":49.790226,"cg_id_a":-0.738720417,"cg_id_raw_a":0.406956971,"cg_iq_a":1.11458433,"cg_iq_raw_a":0.549081147,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14653916,"cg_sample_valid":1,"cg_theta_rad":5.00781965,"cg_vd_req_v":0.101643771,"cg_vd_v":0.101643771,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357877523,"cg_vq_v":-0.357877523,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12452,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276474,"cg_dv":50.193264,"cg_dw":49.806736,"cg_id_a":-0.00258821249,"cg_id_raw_a":0.339270383,"cg_iq_a":-0.0180906393,"cg_iq_raw_a":-0.731540382,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14653966,"cg_sample_valid":1,"cg_theta_rad":5.00668526,"cg_vd_req_v":0.086824514,"cg_vd_v":0.086824514,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33457303,"cg_vq_v":-0.33457303,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12484,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1287422,"cg_dv":50.1929016,"cg_dw":49.8070984,"cg_id_a":0.0576710925,"cg_id_raw_a":0.385129511,"cg_iq_a":0.07025747,"cg_iq_raw_a":-0.108590379,"cg_iu_a":0.473703265,"cg_iv_a":-0.0395776033,"cg_iw_a":0.326995015,"cg_sample_age_us":23.9109097,"cg_sample_seq":14654016,"cg_sample_valid":1,"cg_theta_rad":5.00708437,"cg_vd_req_v":0.0853296891,"cg_vd_v":0.0853296891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334765851,"cg_vq_v":-0.334765851,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3050842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12441,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210289,"cg_dv":50.1928558,"cg_dw":49.8071442,"cg_id_a":-0.20833233,"cg_id_raw_a":-0.204959497,"cg_iq_a":-0.119065881,"cg_iq_raw_a":-0.78226155,"cg_iu_a":0.183752775,"cg_iv_a":-0.365772009,"cg_iw_a":0.182019234,"cg_sample_age_us":23.9472733,"cg_sample_seq":14654066,"cg_sample_valid":1,"cg_theta_rad":5.00829077,"cg_vd_req_v":0.0905326083,"cg_vd_v":0.0905326083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330619335,"cg_vq_v":-0.330619335,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.4303703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1114082,"cg_dv":50.1930923,"cg_dw":49.8069077,"cg_id_a":-0.44598344,"cg_id_raw_a":-0.263385475,"cg_iq_a":-0.393943578,"cg_iq_raw_a":-0.386302024,"cg_iu_a":0.691166401,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.651588857,"cg_sample_age_us":23.8563633,"cg_sample_seq":14654122,"cg_sample_valid":1,"cg_theta_rad":5.00756645,"cg_vd_req_v":0.0972960442,"cg_vd_v":0.0972960442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325904459,"cg_vq_v":-0.325904459,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.295447946,"dclink_p_w":-42.7586021,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12458,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202011,"cg_dv":50.190731,"cg_dw":49.809269,"cg_id_a":-0.124971755,"cg_id_raw_a":-0.593598664,"cg_iq_a":-0.0474841744,"cg_iq_raw_a":0.0168584846,"cg_iu_a":0.328727961,"cg_iv_a":-0.257040501,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14654167,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0904603601,"cg_vd_v":0.0904603601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326896787,"cg_vq_v":-0.326896787,"cg_vu_v":117.451309,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12444,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304741,"cg_dv":50.187027,"cg_dw":49.812973,"cg_id_a":0.282893836,"cg_id_raw_a":0.579424679,"cg_iq_a":-0.117001049,"cg_iq_raw_a":-1.17883742,"cg_iu_a":-0.287417173,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9509087,"cg_sample_seq":14654216,"cg_sample_valid":1,"cg_theta_rad":5.00662088,"cg_vd_req_v":0.0808181539,"cg_vd_v":0.0808181539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327108473,"cg_vq_v":-0.327108473,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12457,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270447,"cg_dv":50.1888123,"cg_dw":49.8111877,"cg_id_a":0.0705174357,"cg_id_raw_a":0.289614052,"cg_iq_a":0.0712253302,"cg_iq_raw_a":-0.407372892,"cg_iu_a":0.183752775,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180419087,"cg_sample_age_us":23.954546,"cg_sample_seq":14654266,"cg_sample_valid":1,"cg_theta_rad":5.00875044,"cg_vd_req_v":0.0845856816,"cg_vd_v":0.0845856816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327763498,"cg_vq_v":-0.327763498,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12484,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1201897,"cg_dv":50.1874657,"cg_dw":49.8125343,"cg_id_a":0.0795355439,"cg_id_raw_a":-0.17730251,"cg_iq_a":-0.318788677,"cg_iq_raw_a":-0.81721735,"cg_iu_a":0.292484045,"cg_iv_a":0.57656759,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9436359,"cg_sample_seq":14654316,"cg_sample_valid":1,"cg_theta_rad":5.00629282,"cg_vd_req_v":0.0873832628,"cg_vd_v":0.0873832628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322419971,"cg_vq_v":-0.322419971,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12472,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1204185,"cg_dv":50.1921616,"cg_dw":49.8078384,"cg_id_a":-0.0138138533,"cg_id_raw_a":0.312427759,"cg_iq_a":-0.000887524337,"cg_iq_raw_a":-0.00716275023,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14654366,"cg_sample_valid":1,"cg_theta_rad":5.00722933,"cg_vd_req_v":0.0901650339,"cg_vd_v":0.0901650339,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329384655,"cg_vq_v":-0.329384655,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3112488,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12427,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.127758,"cg_dv":50.2001953,"cg_dw":49.7998047,"cg_id_a":-0.27094546,"cg_id_raw_a":0.24974297,"cg_iq_a":0.646388292,"cg_iq_raw_a":0.391689211,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691540241,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.9509087,"cg_sample_seq":14654416,"cg_sample_valid":1,"cg_theta_rad":5.00566673,"cg_vd_req_v":0.0971571207,"cg_vd_v":0.0971571207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343046218,"cg_vq_v":-0.343046218,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.45377254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4666138,"temp_inv2_c":35.294281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12466,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209984,"cg_dv":50.2002296,"cg_dw":49.7997704,"cg_id_a":-0.283826411,"cg_id_raw_a":-0.231988937,"cg_iq_a":0.391209841,"cg_iq_raw_a":0.634040117,"cg_iu_a":0.473703384,"cg_iv_a":-1.12689257,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9436359,"cg_sample_seq":14654466,"cg_sample_valid":1,"cg_theta_rad":5.00658512,"cg_vd_req_v":0.0989340395,"cg_vd_v":0.0989340395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34029901,"cg_vq_v":-0.34029901,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12461,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293144,"cg_dv":50.1996307,"cg_dw":49.8003693,"cg_id_a":-0.0326130018,"cg_id_raw_a":0.0294602327,"cg_iq_a":0.461841702,"cg_iq_raw_a":0.513676584,"cg_iu_a":0.582434893,"cg_iv_a":-0.474503636,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9472733,"cg_sample_seq":14654516,"cg_sample_valid":1,"cg_theta_rad":5.00729656,"cg_vd_req_v":0.0933399871,"cg_vd_v":0.0933399871,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343729436,"cg_vq_v":-0.343729436,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12442,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1204224,"cg_dv":50.1971321,"cg_dw":49.8028679,"cg_id_a":-0.165995046,"cg_id_raw_a":-0.54890275,"cg_iq_a":0.102879822,"cg_iq_raw_a":0.201755121,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.8563633,"cg_sample_seq":14654566,"cg_sample_valid":1,"cg_theta_rad":5.00694323,"cg_vd_req_v":0.0976919159,"cg_vd_v":0.0976919159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336491257,"cg_vq_v":-0.336491257,"cg_vu_v":4.39892578,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.21015358,"dclink_p_w":30.4144039,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3035278,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12437,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150818,"cg_dv":50.1968689,"cg_dw":49.8031311,"cg_id_a":-0.171283916,"cg_id_raw_a":-0.444210082,"cg_iq_a":0.00228223205,"cg_iq_raw_a":0.431520432,"cg_iu_a":0.256240368,"cg_iv_a":-0.438259721,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8600006,"cg_sample_seq":14654622,"cg_sample_valid":1,"cg_theta_rad":5.00599337,"cg_vd_req_v":0.100536242,"cg_vd_v":0.100536242,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332352757,"cg_vq_v":-0.332352757,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3066101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12440,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1221275,"cg_dv":50.1906013,"cg_dw":49.8093987,"cg_id_a":0.322148532,"cg_id_raw_a":0.836628377,"cg_iq_a":-0.248474628,"cg_iq_raw_a":0.0113075692,"cg_iu_a":0.5099473,"cg_iv_a":0.540323734,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.9400005,"cg_sample_seq":14654666,"cg_sample_valid":1,"cg_theta_rad":5.00453997,"cg_vd_req_v":0.0901213959,"cg_vd_v":0.0901213959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327444375,"cg_vq_v":-0.327444375,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3066101,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12445,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.106926,"cg_dv":50.1995087,"cg_dw":49.8004913,"cg_id_a":-0.606869698,"cg_id_raw_a":0.0473311208,"cg_iq_a":-0.0735142827,"cg_iq_raw_a":0.551763892,"cg_iu_a":0.111264944,"cg_iv_a":-0.220796704,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14654716,"cg_sample_valid":1,"cg_theta_rad":5.00807714,"cg_vd_req_v":0.110378183,"cg_vd_v":0.110378183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331089705,"cg_vq_v":-0.331089705,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3158569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12423,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1164246,"cg_dv":50.1955376,"cg_dw":49.8044624,"cg_id_a":0.180033624,"cg_id_raw_a":-0.00523292972,"cg_iq_a":-0.273195624,"cg_iq_raw_a":0.437389433,"cg_iu_a":-0.214929581,"cg_iv_a":-0.220796704,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8563633,"cg_sample_seq":14654867,"cg_sample_valid":1,"cg_theta_rad":5.00746298,"cg_vd_req_v":0.0996363088,"cg_vd_v":0.0996363088,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330860257,"cg_vq_v":-0.330860257,"cg_vu_v":107.773682,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.152284861,"dclink_p_w":-22.1063633,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12495,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1149063,"cg_dv":50.2003784,"cg_dw":49.7996216,"cg_id_a":0.114142671,"cg_id_raw_a":0.169954076,"cg_iq_a":-0.00694113225,"cg_iq_raw_a":0.634958088,"cg_iu_a":-0.287417173,"cg_iv_a":0.0329101086,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8600006,"cg_sample_seq":14654917,"cg_sample_valid":1,"cg_theta_rad":5.00724554,"cg_vd_req_v":0.102424406,"cg_vd_v":0.102424406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337537616,"cg_vq_v":-0.337537616,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.254532,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12441,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129913,"cg_dv":50.2083817,"cg_dw":49.7916183,"cg_id_a":-0.349978387,"cg_id_raw_a":-0.017497465,"cg_iq_a":0.466740608,"cg_iq_raw_a":-0.292144358,"cg_iu_a":0.0750210285,"cg_iv_a":-0.691966534,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9690914,"cg_sample_seq":14654967,"cg_sample_valid":1,"cg_theta_rad":5.00663996,"cg_vd_req_v":0.112908013,"cg_vd_v":0.112908013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345827281,"cg_vq_v":-0.345827281,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3050842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2657.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12441,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1114311,"cg_dv":50.1972427,"cg_dw":49.8027573,"cg_id_a":0.0142312385,"cg_id_raw_a":0.0293385126,"cg_iq_a":-0.353615046,"cg_iq_raw_a":-0.542608738,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8527279,"cg_sample_seq":14655017,"cg_sample_valid":1,"cg_theta_rad":5.00942278,"cg_vd_req_v":0.104802817,"cg_vd_v":0.104802817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330487728,"cg_vq_v":-0.330487728,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.11549,"cg_dv":50.2047958,"cg_dw":49.7952042,"cg_id_a":-0.0168293491,"cg_id_raw_a":0.31695497,"cg_iq_a":0.324973494,"cg_iq_raw_a":0.175009727,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691539049,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9763641,"cg_sample_seq":14655067,"cg_sample_valid":1,"cg_theta_rad":5.00470829,"cg_vd_req_v":0.106005907,"cg_vd_v":0.106005907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343963027,"cg_vq_v":-0.343963027,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1215591,"cg_dv":50.1978111,"cg_dw":49.8021889,"cg_id_a":0.461334288,"cg_id_raw_a":0.640929461,"cg_iq_a":-0.137132213,"cg_iq_raw_a":1.15567923,"cg_iu_a":0.364971876,"cg_iv_a":0.794030666,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9181824,"cg_sample_seq":14655117,"cg_sample_valid":1,"cg_theta_rad":5.00793123,"cg_vd_req_v":0.0968450978,"cg_vd_v":0.0968450978,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337123841,"cg_vq_v":-0.337123841,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12477,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1105728,"cg_dv":50.206028,"cg_dw":49.793972,"cg_id_a":-0.245309398,"cg_id_raw_a":-0.164493307,"cg_iq_a":0.0783172175,"cg_iq_raw_a":-0.524228394,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8490906,"cg_sample_seq":14655170,"cg_sample_valid":1,"cg_theta_rad":5.00844049,"cg_vd_req_v":0.112518311,"cg_vd_v":0.112518311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343589246,"cg_vq_v":-0.343589246,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.35703182,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203461,"cg_dv":50.2047615,"cg_dw":49.7952385,"cg_id_a":0.181309059,"cg_id_raw_a":0.114581928,"cg_iq_a":0.209413826,"cg_iq_raw_a":0.0846545845,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641617,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8563633,"cg_sample_seq":14655216,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.104478426,"cg_vd_v":0.104478426,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347059458,"cg_vq_v":-0.347059458,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12453,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1157951,"cg_dv":50.2075844,"cg_dw":49.7924156,"cg_id_a":-0.329126388,"cg_id_raw_a":-0.557585597,"cg_iq_a":0.140916929,"cg_iq_raw_a":0.270646214,"cg_iu_a":0.872385502,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9836369,"cg_sample_seq":14655267,"cg_sample_valid":1,"cg_theta_rad":5.0064559,"cg_vd_req_v":0.11322245,"cg_vd_v":0.11322245,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346417695,"cg_vq_v":-0.346417695,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12465,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1126404,"cg_dv":50.1926193,"cg_dw":49.8073807,"cg_id_a":0.345946252,"cg_id_raw_a":0.402960032,"cg_iq_a":-0.883901894,"cg_iq_raw_a":-0.0682793483,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9145451,"cg_sample_seq":14655317,"cg_sample_valid":1,"cg_theta_rad":5.00577927,"cg_vd_req_v":0.0995558575,"cg_vd_v":0.0995558575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324831665,"cg_vq_v":-0.324831665,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1267433,"cg_dv":50.2046585,"cg_dw":49.7953415,"cg_id_a":0.367287278,"cg_id_raw_a":0.0704641268,"cg_iq_a":0.401472151,"cg_iq_raw_a":0.334977478,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9727268,"cg_sample_seq":14655367,"cg_sample_valid":1,"cg_theta_rad":5.00669575,"cg_vd_req_v":0.0979771391,"cg_vd_v":0.0979771391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349752754,"cg_vq_v":-0.349752754,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2988892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12493,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1213799,"cg_dv":50.2081795,"cg_dw":49.7918205,"cg_id_a":0.0191878825,"cg_id_raw_a":0.179482207,"cg_iq_a":0.484374791,"cg_iq_raw_a":0.745491266,"cg_iu_a":0.111264944,"cg_iv_a":-0.510747433,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9218178,"cg_sample_seq":14655417,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.105524264,"cg_vd_v":0.105524264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351581514,"cg_vq_v":-0.351581514,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.0652996302,"dclink_p_w":-9.42174149,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1179886,"cg_dv":50.2043571,"cg_dw":49.7956429,"cg_id_a":-0.0160808563,"cg_id_raw_a":0.159670994,"cg_iq_a":0.12666066,"cg_iq_raw_a":-0.16592446,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.619478941,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14655467,"cg_sample_valid":1,"cg_theta_rad":5.00640249,"cg_vd_req_v":0.105848357,"cg_vd_v":0.105848357,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345214099,"cg_vq_v":-0.345214099,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129913,"cg_dv":50.2048149,"cg_dw":49.7951851,"cg_id_a":-0.111020423,"cg_id_raw_a":0.458341986,"cg_iq_a":0.0253390744,"cg_iq_raw_a":0.226801097,"cg_iu_a":0.364971876,"cg_iv_a":-0.402015924,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14655517,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.110202365,"cg_vd_v":0.110202365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343042701,"cg_vq_v":-0.343042701,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3127747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38780,"EncoderSin":12443,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1130791,"cg_dv":50.2028313,"cg_dw":49.7971687,"cg_id_a":0.146376923,"cg_id_raw_a":0.326537222,"cg_iq_a":-0.104729936,"cg_iq_raw_a":-0.662310958,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14655567,"cg_sample_valid":1,"cg_theta_rad":5.00863171,"cg_vd_req_v":0.104517713,"cg_vd_v":0.104517713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340399772,"cg_vq_v":-0.340399772,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3127747,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114607453,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12455,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1190491,"cg_dv":50.2084694,"cg_dw":49.7915306,"cg_id_a":-0.195485011,"cg_id_raw_a":-0.626810312,"cg_iq_a":0.390522718,"cg_iq_raw_a":0.737478435,"cg_iu_a":-0.0699543953,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9581814,"cg_sample_seq":14655617,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.111341655,"cg_vd_v":0.111341655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349520952,"cg_vq_v":-0.349520952,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12472,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1128387,"cg_dv":50.2068176,"cg_dw":49.7931824,"cg_id_a":-0.124256313,"cg_id_raw_a":0.312274963,"cg_iq_a":0.151918977,"cg_iq_raw_a":-0.442606628,"cg_iu_a":0.654922485,"cg_iv_a":0.214129269,"cg_iw_a":-0.869051754,"cg_sample_age_us":24.3981819,"cg_sample_seq":14655670,"cg_sample_valid":1,"cg_theta_rad":5.00786781,"cg_vd_req_v":0.111903995,"cg_vd_v":0.111903995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344652981,"cg_vq_v":-0.344652981,"cg_vu_v":6.59838867,"cg_vv_v":18.4754887,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12509,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1104164,"cg_dv":50.2058563,"cg_dw":49.7941437,"cg_id_a":-0.0689865947,"cg_id_raw_a":0.0382250324,"cg_iq_a":0.139680162,"cg_iq_raw_a":0.00434989948,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309112,"cg_iw_a":0.580701709,"cg_sample_age_us":23.8563633,"cg_sample_seq":14655717,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.111846529,"cg_vd_v":0.111846529,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342323661,"cg_vq_v":-0.342323661,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12465,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1131554,"cg_dv":50.2029457,"cg_dw":49.7970543,"cg_id_a":0.0853758529,"cg_id_raw_a":0.524616957,"cg_iq_a":0.0634288937,"cg_iq_raw_a":0.633502305,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.863636,"cg_sample_seq":14655767,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.108158126,"cg_vd_v":0.108158126,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340611666,"cg_vq_v":-0.340611666,"cg_vu_v":137.686371,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2657.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1192207,"cg_dv":50.2049713,"cg_dw":49.7950287,"cg_id_a":0.191504523,"cg_id_raw_a":-0.0521917939,"cg_iq_a":0.273662537,"cg_iq_raw_a":0.0685101077,"cg_iu_a":-0.251173496,"cg_iv_a":-0.0395776033,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9436359,"cg_sample_seq":14655817,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.10595715,"cg_vd_v":0.10595715,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345446199,"cg_vq_v":-0.345446199,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.294281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38682,"EncoderSin":12447,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1147461,"cg_dv":50.2025528,"cg_dw":49.7974472,"cg_id_a":-0.0702717304,"cg_id_raw_a":-0.324544519,"cg_iq_a":-0.171453357,"cg_iq_raw_a":0.43963778,"cg_iu_a":-0.178685665,"cg_iv_a":0.21412921,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8600006,"cg_sample_seq":14655867,"cg_sample_valid":1,"cg_theta_rad":5.00578928,"cg_vd_req_v":0.110397846,"cg_vd_v":0.110397846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338594943,"cg_vq_v":-0.338594943,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.288199186,"dclink_p_w":-41.7095261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.294281,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12437,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1164703,"cg_dv":50.2017555,"cg_dw":49.7982445,"cg_id_a":0.120460607,"cg_id_raw_a":0.0681035146,"cg_iq_a":-0.0326907486,"cg_iq_raw_a":0.335465372,"cg_iu_a":0.0750210285,"cg_iv_a":0.141641557,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.8600006,"cg_sample_seq":14655917,"cg_sample_valid":1,"cg_theta_rad":5.00651455,"cg_vd_req_v":0.105649993,"cg_vd_v":0.105649993,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339329898,"cg_vq_v":-0.339329898,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-83.9411545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12440,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1140518,"cg_dv":50.200695,"cg_dw":49.799305,"cg_id_a":-0.00942177325,"cg_id_raw_a":0.168122619,"cg_iq_a":-0.236097217,"cg_iq_raw_a":-1.22056627,"cg_iu_a":-0.50488019,"cg_iv_a":0.214129269,"cg_iw_a":0.290750921,"cg_sample_age_us":23.8490906,"cg_sample_seq":14655967,"cg_sample_valid":1,"cg_theta_rad":5.00771999,"cg_vd_req_v":0.108424053,"cg_vd_v":0.108424053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335913002,"cg_vq_v":-0.335913002,"cg_vu_v":120.090675,"cg_vv_v":142.085297,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-83.9411545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193161,"cg_dv":50.204731,"cg_dw":49.795269,"cg_id_a":0.245966077,"cg_id_raw_a":-0.122137897,"cg_iq_a":0.352108657,"cg_iq_raw_a":-0.0827459544,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14656017,"cg_sample_valid":1,"cg_theta_rad":5.00736284,"cg_vd_req_v":0.102205165,"cg_vd_v":0.102205165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346213549,"cg_vq_v":-0.346213549,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-83.9411545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2657.955453,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2657.955459,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2657.955465,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2657.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12447,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1126251,"cg_dv":50.1970825,"cg_dw":49.8029175,"cg_id_a":0.0990224406,"cg_id_raw_a":-0.487126559,"cg_iq_a":-0.344469517,"cg_iq_raw_a":0.426090837,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9654541,"cg_sample_seq":14656067,"cg_sample_valid":1,"cg_theta_rad":5.00682354,"cg_vd_req_v":0.103649095,"cg_vd_v":0.103649095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330964416,"cg_vq_v":-0.330964416,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.668759346,"dclink_p_w":-96.785965,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12480,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1099205,"cg_dv":50.1966095,"cg_dw":49.8033905,"cg_id_a":0.1413064,"cg_id_raw_a":0.323105037,"cg_iq_a":-0.404541254,"cg_iq_raw_a":-0.58857578,"cg_iu_a":-0.323661089,"cg_iv_a":-0.293284416,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9218178,"cg_sample_seq":14656117,"cg_sample_valid":1,"cg_theta_rad":5.00642204,"cg_vd_req_v":0.102616496,"cg_vd_v":0.102616496,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329648644,"cg_vq_v":-0.329648644,"cg_vu_v":124.489601,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.752120256,"dclink_p_w":-108.850342,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2657.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12438,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1162148,"cg_dv":50.2032661,"cg_dw":49.7967339,"cg_id_a":-0.0177213252,"cg_id_raw_a":0.170284539,"cg_iq_a":-0.0754159689,"cg_iq_raw_a":-0.0551671498,"cg_iu_a":-0.468636274,"cg_iv_a":0.830274403,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9509087,"cg_sample_seq":14656267,"cg_sample_valid":1,"cg_theta_rad":5.00673103,"cg_vd_req_v":0.106917478,"cg_vd_v":0.106917478,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341363847,"cg_vq_v":-0.341363847,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.826420069,"dclink_p_w":-119.603363,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1199799,"cg_dv":50.2117805,"cg_dw":49.7882195,"cg_id_a":-0.218633443,"cg_id_raw_a":0.0069952202,"cg_iq_a":0.452386796,"cg_iq_raw_a":0.110706098,"cg_iu_a":0.219996452,"cg_iv_a":-0.474503517,"cg_iw_a":0.254507065,"cg_sample_age_us":23.954546,"cg_sample_seq":14656317,"cg_sample_valid":1,"cg_theta_rad":5.00552082,"cg_vd_req_v":0.111161225,"cg_vd_v":0.111161225,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355387986,"cg_vq_v":-0.355387986,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.828232288,"dclink_p_w":-119.865631,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12440,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222115,"cg_dv":50.1998558,"cg_dw":49.8001442,"cg_id_a":0.30326885,"cg_id_raw_a":0.298563749,"cg_iq_a":-0.571366489,"cg_iq_raw_a":-0.298177809,"cg_iu_a":0.401215553,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9436359,"cg_sample_seq":14656367,"cg_sample_valid":1,"cg_theta_rad":5.00776863,"cg_vd_req_v":0.0979177281,"cg_vd_v":0.0979177281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340388626,"cg_vq_v":-0.340388626,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.06353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2591,"hz_tim_isr":4998,"hz_vsense":2591,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12485,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283493,"cg_dv":50.2059059,"cg_dw":49.7940941,"cg_id_a":0.295319438,"cg_id_raw_a":0.222475395,"cg_iq_a":-0.0435073748,"cg_iq_raw_a":0.0575457066,"cg_iu_a":0.00253343582,"cg_iv_a":-0.25704062,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9799995,"cg_sample_seq":14656418,"cg_sample_valid":1,"cg_theta_rad":5.00735426,"cg_vd_req_v":0.0973131657,"cg_vd_v":0.0973131657,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352516949,"cg_vq_v":-0.352516949,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.06353,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12429,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.11763,"cg_dv":50.204174,"cg_dw":49.795826,"cg_id_a":-0.294883937,"cg_id_raw_a":-0.385656416,"cg_iq_a":-0.66639632,"cg_iq_raw_a":0.0327716917,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9472733,"cg_sample_seq":14656467,"cg_sample_valid":1,"cg_theta_rad":5.00683641,"cg_vd_req_v":0.109080985,"cg_vd_v":0.109080985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34263739,"cg_vq_v":-0.34263739,"cg_vu_v":140.765625,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-98.132431,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1246414,"cg_dv":50.2056274,"cg_dw":49.7943726,"cg_id_a":0.059172079,"cg_id_raw_a":0.138835907,"cg_iq_a":-0.475924641,"cg_iq_raw_a":-1.79636037,"cg_iu_a":-0.251173496,"cg_iv_a":0.504079938,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8563633,"cg_sample_seq":14656516,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.102311425,"cg_vd_v":0.102311425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349393308,"cg_vq_v":-0.349393308,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12449,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296387,"cg_dv":50.2117386,"cg_dw":49.7882614,"cg_id_a":-0.02772443,"cg_id_raw_a":0.100938834,"cg_iq_a":-0.0108631551,"cg_iq_raw_a":-0.207856804,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796824,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8672733,"cg_sample_seq":14656566,"cg_sample_valid":1,"cg_theta_rad":5.00713015,"cg_vd_req_v":0.1030818,"cg_vd_v":0.1030818,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359678745,"cg_vq_v":-0.359678745,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.2662468,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.3019714,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2658.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214104,"cg_dv":50.2070045,"cg_dw":49.7929955,"cg_id_a":-0.192718863,"cg_id_raw_a":0.573515356,"cg_iq_a":-0.591993034,"cg_iq_raw_a":-0.306902468,"cg_iu_a":0.691166282,"cg_iv_a":0.286616921,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.954546,"cg_sample_seq":14656616,"cg_sample_valid":1,"cg_theta_rad":5.00665617,"cg_vd_req_v":0.106280871,"cg_vd_v":0.106280871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349421442,"cg_vq_v":-0.349421442,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.324442983,"dclink_p_w":-46.9548988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1200829,"cg_dv":50.2127991,"cg_dw":49.7872009,"cg_id_a":-0.411675304,"cg_id_raw_a":-1.09576154,"cg_iq_a":-0.145695969,"cg_iq_raw_a":1.61148727,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8600006,"cg_sample_seq":14656671,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.110351384,"cg_vd_v":0.110351384,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357364893,"cg_vq_v":-0.357364893,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260262,"cg_dv":50.2086563,"cg_dw":49.7913437,"cg_id_a":0.0872133374,"cg_id_raw_a":0.182268053,"cg_iq_a":-0.264188826,"cg_iq_raw_a":-0.20154947,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9436359,"cg_sample_seq":14656717,"cg_sample_valid":1,"cg_theta_rad":5.00581121,"cg_vd_req_v":0.100386009,"cg_vd_v":0.100386009,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355382293,"cg_vq_v":-0.355382293,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307983,"cg_dv":50.2072639,"cg_dw":49.7927361,"cg_id_a":0.0914280564,"cg_id_raw_a":-0.139935613,"cg_iq_a":-0.0355989635,"cg_iq_raw_a":0.825247467,"cg_iu_a":0.0750212669,"cg_iv_a":1.51890731,"cg_iw_a":-1.59392858,"cg_sample_age_us":23.9436359,"cg_sample_seq":14656766,"cg_sample_valid":1,"cg_theta_rad":5.00669813,"cg_vd_req_v":0.0961431786,"cg_vd_v":0.0961431786,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357039452,"cg_vq_v":-0.357039452,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12485,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1224632,"cg_dv":50.2052803,"cg_dw":49.7947197,"cg_id_a":-0.198219597,"cg_id_raw_a":-0.15676868,"cg_iq_a":-0.428675741,"cg_iq_raw_a":-0.159309223,"cg_iu_a":0.401215792,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0354437828,"cg_sample_age_us":23.9218178,"cg_sample_seq":14656817,"cg_sample_valid":1,"cg_theta_rad":5.00709105,"cg_vd_req_v":0.101437122,"cg_vd_v":0.101437122,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347209781,"cg_vq_v":-0.347209781,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.4429321,"temp_inv2_c":35.2896423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2658.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1287384,"cg_dv":50.20755,"cg_dw":49.79245,"cg_id_a":-0.201970547,"cg_id_raw_a":-0.0489455201,"cg_iq_a":0.0255554914,"cg_iq_raw_a":-0.622832716,"cg_iu_a":0.328727961,"cg_iv_a":0.105397761,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9509087,"cg_sample_seq":14656866,"cg_sample_valid":1,"cg_theta_rad":5.00579643,"cg_vd_req_v":0.100058049,"cg_vd_v":0.100058049,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354565591,"cg_vq_v":-0.354565591,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12463,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381531,"cg_dv":50.1973763,"cg_dw":49.8026237,"cg_id_a":0.291266024,"cg_id_raw_a":0.311492443,"cg_iq_a":-0.316513747,"cg_iq_raw_a":0.432094127,"cg_iu_a":-0.0699541569,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8563633,"cg_sample_seq":14657117,"cg_sample_valid":1,"cg_theta_rad":5.00656605,"cg_vd_req_v":0.0837774649,"cg_vd_v":0.0837774649,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345750809,"cg_vq_v":-0.345750809,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12445,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376228,"cg_dv":50.2015076,"cg_dw":49.7984924,"cg_id_a":0.0345706195,"cg_id_raw_a":-0.227920517,"cg_iq_a":0.0402911976,"cg_iq_raw_a":0.379991531,"cg_iu_a":0.219996452,"cg_iv_a":0.250373065,"cg_iw_a":-0.470369518,"cg_sample_age_us":23.8454552,"cg_sample_seq":14657171,"cg_sample_valid":1,"cg_theta_rad":5.00732994,"cg_vd_req_v":0.086337544,"cg_vd_v":0.086337544,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351534158,"cg_vq_v":-0.351534158,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3282166,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12456,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1468163,"cg_dv":50.2053299,"cg_dw":49.7946701,"cg_id_a":0.0230808593,"cg_id_raw_a":0.166791737,"cg_iq_a":0.321851373,"cg_iq_raw_a":0.730079293,"cg_iu_a":-0.396148682,"cg_iv_a":-0.655722737,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9218178,"cg_sample_seq":14657217,"cg_sample_valid":1,"cg_theta_rad":5.00724888,"cg_vd_req_v":0.0858874023,"cg_vd_v":0.0858874023,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361152083,"cg_vq_v":-0.361152083,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.0689239502,"dclink_p_w":-9.97499466,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2896423,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416206,"cg_dv":50.2111626,"cg_dw":49.7888374,"cg_id_a":-0.301782608,"cg_id_raw_a":-0.436010003,"cg_iq_a":0.326779664,"cg_iq_raw_a":-0.515799463,"cg_iu_a":-0.287417173,"cg_iv_a":-1.09064877,"cg_iw_a":1.37806594,"cg_sample_age_us":23.9909096,"cg_sample_seq":14657266,"cg_sample_valid":1,"cg_theta_rad":5.00576591,"cg_vd_req_v":0.0946374238,"cg_vd_v":0.0946374238,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366389245,"cg_vq_v":-0.366389245,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12486,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1435928,"cg_dv":50.2098274,"cg_dw":49.7901726,"cg_id_a":-0.213397786,"cg_id_raw_a":-0.0339482687,"cg_iq_a":0.261705101,"cg_iq_raw_a":-0.330312818,"cg_iu_a":-0.14244175,"cg_iv_a":0.359104633,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9581814,"cg_sample_seq":14657316,"cg_sample_valid":1,"cg_theta_rad":5.00692368,"cg_vd_req_v":0.091913633,"cg_vd_v":0.091913633,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366837144,"cg_vq_v":-0.366837144,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":-0.121477485,"dclink_p_w":-17.5807877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12487,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418915,"cg_dv":50.2067719,"cg_dw":49.7932281,"cg_id_a":-0.13199839,"cg_id_raw_a":-0.140413836,"cg_iq_a":0.13448137,"cg_iq_raw_a":-0.558330417,"cg_iu_a":0.401215553,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14657516,"cg_sample_valid":1,"cg_theta_rad":5.0076375,"cg_vd_req_v":0.0881633013,"cg_vd_v":0.0881633013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361067146,"cg_vq_v":-0.361067146,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.946064,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2850037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1488533,"cg_dv":50.205925,"cg_dw":49.794075,"cg_id_a":0.192014664,"cg_id_raw_a":0.792196989,"cg_iq_a":0.227493748,"cg_iq_raw_a":1.63832736,"cg_iu_a":0.364971638,"cg_iv_a":0.286616921,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.8563633,"cg_sample_seq":14657567,"cg_sample_valid":1,"cg_theta_rad":5.00639391,"cg_vd_req_v":0.0812071264,"cg_vd_v":0.0812071264,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363947392,"cg_vq_v":-0.363947392,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2850037,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12472,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457481,"cg_dv":50.202652,"cg_dw":49.797348,"cg_id_a":0.146038875,"cg_id_raw_a":1.03396022,"cg_iq_a":-0.131395161,"cg_iq_raw_a":0.356911957,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8600006,"cg_sample_seq":14657616,"cg_sample_valid":1,"cg_theta_rad":5.00642061,"cg_vd_req_v":0.0827371329,"cg_vd_v":0.0827371329,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357239872,"cg_vq_v":-0.357239872,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.0139122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1481819,"cg_dv":50.2080803,"cg_dw":49.7919197,"cg_id_a":0.00526157767,"cg_id_raw_a":0.090615347,"cg_iq_a":0.0191996247,"cg_iq_raw_a":0.118471727,"cg_iu_a":-0.577367783,"cg_iv_a":0.39534843,"cg_iw_a":0.182019353,"cg_sample_age_us":23.8490906,"cg_sample_seq":14657670,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.0852476135,"cg_vd_v":0.0852476135,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36735642,"cg_vq_v":-0.36735642,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2880859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428413,"cg_dv":50.2045479,"cg_dw":49.7954521,"cg_id_a":-0.0107267816,"cg_id_raw_a":-0.201745778,"cg_iq_a":-0.146114707,"cg_iq_raw_a":0.0897264108,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333380699,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8490906,"cg_sample_seq":14657717,"cg_sample_valid":1,"cg_theta_rad":5.00760889,"cg_vd_req_v":0.0882137865,"cg_vd_v":0.0882137865,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359005064,"cg_vq_v":-0.359005064,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.291823626,"dclink_p_w":-42.2340736,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2880859,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12468,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1467323,"cg_dv":50.2103462,"cg_dw":49.7896538,"cg_id_a":-0.130280569,"cg_id_raw_a":0.166367784,"cg_iq_a":0.31561175,"cg_iq_raw_a":-0.419179142,"cg_iu_a":-1.59219503,"cg_iv_a":-0.0395776033,"cg_iw_a":1.63177264,"cg_sample_age_us":23.9836369,"cg_sample_seq":14657766,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.0916386843,"cg_vd_v":0.0916386843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367707491,"cg_vq_v":-0.367707491,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478043,"cg_dv":50.2117462,"cg_dw":49.7882538,"cg_id_a":0.189671844,"cg_id_raw_a":0.100900158,"cg_iq_a":-0.0355651453,"cg_iq_raw_a":-0.207875475,"cg_iu_a":-0.722343206,"cg_iv_a":0.286616981,"cg_iw_a":0.435726225,"cg_sample_age_us":23.9872723,"cg_sample_seq":14658016,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.0897235349,"cg_vd_v":0.0897235349,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370810419,"cg_vq_v":-0.370810419,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3236084,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12455,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1386833,"cg_dv":50.214447,"cg_dw":49.785553,"cg_id_a":-0.237422124,"cg_id_raw_a":-0.156025603,"cg_iq_a":0.0318940207,"cg_iq_raw_a":0.277159989,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9836369,"cg_sample_seq":14658067,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0989227816,"cg_vd_v":0.0989227816,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369520843,"cg_vq_v":-0.369520843,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12447,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.145565,"cg_dv":50.2151184,"cg_dw":49.7848816,"cg_id_a":-0.0132499598,"cg_id_raw_a":-0.273616135,"cg_iq_a":0.282338977,"cg_iq_raw_a":0.630084753,"cg_iu_a":-0.396148682,"cg_iv_a":-0.438259721,"cg_iw_a":0.834408402,"cg_sample_age_us":23.9872723,"cg_sample_seq":14658116,"cg_sample_valid":1,"cg_theta_rad":5.00583458,"cg_vd_req_v":0.094033435,"cg_vd_v":0.094033435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374322355,"cg_vq_v":-0.374322355,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12491,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1329308,"cg_dv":50.2158661,"cg_dw":49.7841339,"cg_id_a":-0.535459399,"cg_id_raw_a":-0.170069948,"cg_iq_a":0.0157926306,"cg_iq_raw_a":-0.015693251,"cg_iu_a":-0.14244175,"cg_iv_a":0.57656759,"cg_iw_a":-0.434125841,"cg_sample_age_us":23.8563633,"cg_sample_seq":14658170,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.105326794,"cg_vd_v":0.105326794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368087858,"cg_vq_v":-0.368087858,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2664795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12453,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1446419,"cg_dv":50.2127991,"cg_dw":49.7872009,"cg_id_a":-0.084460251,"cg_id_raw_a":-0.135739446,"cg_iq_a":-0.0260505527,"cg_iq_raw_a":0.67916888,"cg_iu_a":0.473703384,"cg_iv_a":0.431592286,"cg_iw_a":-0.90529567,"cg_sample_age_us":23.9509087,"cg_sample_seq":14658217,"cg_sample_valid":1,"cg_theta_rad":5.00617504,"cg_vd_req_v":0.0949649587,"cg_vd_v":0.0949649587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370030075,"cg_vq_v":-0.370030075,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.277325988,"dclink_p_w":-40.1359062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12418,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1658592,"cg_dv":50.2230415,"cg_dw":49.7769585,"cg_id_a":0.259053349,"cg_id_raw_a":-0.10331583,"cg_iq_a":0.926715374,"cg_iq_raw_a":0.573224664,"cg_iu_a":-1.22975707,"cg_iv_a":0.0329101086,"cg_iw_a":1.19684696,"cg_sample_age_us":23.9436359,"cg_sample_seq":14658467,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0879854187,"cg_vd_v":0.0879854187,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395978183,"cg_vq_v":-0.395978183,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.391372681,"dclink_p_w":56.4691124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12461,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.15868,"cg_dv":50.2174683,"cg_dw":49.7825317,"cg_id_a":0.223423705,"cg_id_raw_a":0.138830289,"cg_iq_a":0.368075162,"cg_iq_raw_a":0.487529576,"cg_iu_a":-0.613611698,"cg_iv_a":0.721542954,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9436359,"cg_sample_seq":14658516,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0864183381,"cg_vd_v":0.0864183381,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384768367,"cg_vq_v":-0.384768367,"cg_vu_v":136.806595,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.3931849,"dclink_p_w":56.9035492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12464,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1631165,"cg_dv":50.2255211,"cg_dw":49.7744789,"cg_id_a":-0.070581153,"cg_id_raw_a":0.494462252,"cg_iq_a":0.822288334,"cg_iq_raw_a":1.54352999,"cg_iu_a":0.00253343582,"cg_iv_a":-0.438259721,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8563633,"cg_sample_seq":14658566,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.0921134874,"cg_vd_v":0.0921134874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39789474,"cg_vq_v":-0.39789474,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.311636209,"dclink_p_w":45.2385292,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2865601,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12483,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1475677,"cg_dv":50.2243843,"cg_dw":49.7756157,"cg_id_a":-0.532464683,"cg_id_raw_a":-0.214345858,"cg_iq_a":0.324912608,"cg_iq_raw_a":0.235764086,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284297,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9509087,"cg_sample_seq":14658616,"cg_sample_valid":1,"cg_theta_rad":5.00826502,"cg_vd_req_v":0.100689322,"cg_vd_v":0.100689322,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389509588,"cg_vq_v":-0.389509588,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.449362874,"dclink_p_w":65.2315598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12442,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1532555,"cg_dv":50.2178879,"cg_dw":49.7821121,"cg_id_a":-0.0339469649,"cg_id_raw_a":-0.418561071,"cg_iq_a":-0.0207049996,"cg_iq_raw_a":0.834995329,"cg_iu_a":0.328727841,"cg_iv_a":-0.0758214593,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9654541,"cg_sample_seq":14658671,"cg_sample_valid":1,"cg_theta_rad":5.00809908,"cg_vd_req_v":0.0903672352,"cg_vd_v":0.0903672352,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382466644,"cg_vq_v":-0.382466644,"cg_vu_v":135.926804,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.507352948,"dclink_p_w":73.6496658,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12449,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1588821,"cg_dv":50.2130203,"cg_dw":49.7869797,"cg_id_a":0.105258211,"cg_id_raw_a":-0.0453084148,"cg_iq_a":-0.35323441,"cg_iq_raw_a":-0.623108208,"cg_iu_a":-0.287417173,"cg_iv_a":-0.474503517,"cg_iw_a":0.761920691,"cg_sample_age_us":23.8600006,"cg_sample_seq":14658867,"cg_sample_valid":1,"cg_theta_rad":5.00722742,"cg_vd_req_v":0.0838874802,"cg_vd_v":0.0838874802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378403127,"cg_vq_v":-0.378403127,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.779181719,"dclink_p_w":112.766808,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3328552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1664886,"cg_dv":50.2195282,"cg_dw":49.7804718,"cg_id_a":0.139221862,"cg_id_raw_a":-0.533483267,"cg_iq_a":0.423722088,"cg_iq_raw_a":-0.379900843,"cg_iu_a":-0.649855614,"cg_iv_a":-0.148309052,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9254551,"cg_sample_seq":14658917,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.0833861604,"cg_vd_v":0.0833861604,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391710818,"cg_vq_v":-0.391710818,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.730252564,"dclink_p_w":106.006783,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.3328552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1506538,"cg_dv":50.216526,"cg_dw":49.783474,"cg_id_a":-0.193059295,"cg_id_raw_a":-0.248060673,"cg_iq_a":-0.0182874501,"cg_iq_raw_a":-0.531922996,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8600006,"cg_sample_seq":14658966,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0908947438,"cg_vd_v":0.0908947438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380426288,"cg_vq_v":-0.380426288,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.790054858,"dclink_p_w":114.340416,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2649536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12450,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1537514,"cg_dv":50.215435,"cg_dw":49.784565,"cg_id_a":-0.0395783223,"cg_id_raw_a":-0.483205795,"cg_iq_a":-0.0840736851,"cg_iq_raw_a":0.865880787,"cg_iu_a":0.219996333,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.954546,"cg_sample_seq":14659017,"cg_sample_valid":1,"cg_theta_rad":5.00553179,"cg_vd_req_v":0.0867875367,"cg_vd_v":0.0867875367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378378123,"cg_vq_v":-0.378378123,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":0.741125703,"dclink_p_w":106.933144,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2658.581299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38683,"EncoderSin":12452,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1533051,"cg_dv":50.2137947,"cg_dw":49.7862053,"cg_id_a":-0.236135185,"cg_id_raw_a":0.0295628868,"cg_iq_a":-0.168118596,"cg_iq_raw_a":-1.08959842,"cg_iu_a":0.908629179,"cg_iv_a":0.177885532,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.8563633,"cg_sample_seq":14659066,"cg_sample_valid":1,"cg_theta_rad":5.00721359,"cg_vd_req_v":0.0912393853,"cg_vd_v":0.0912393853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375772476,"cg_vq_v":-0.375772476,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.338819146,"dclink_p_w":49.0354843,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12475,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412621,"cg_dv":50.2093735,"cg_dw":49.7906265,"cg_id_a":-0.19915849,"cg_id_raw_a":0.16090475,"cg_iq_a":-0.601115406,"cg_iq_raw_a":-1.11275494,"cg_iu_a":0.546190977,"cg_iv_a":-1.41684318,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9290905,"cg_sample_seq":14659116,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0903160647,"cg_vd_v":0.0903160647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364476711,"cg_vq_v":-0.364476711,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.333382607,"dclink_p_w":48.2486839,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2958069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12471,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1576347,"cg_dv":50.2097435,"cg_dw":49.7902565,"cg_id_a":0.127093613,"cg_id_raw_a":0.00927530415,"cg_iq_a":-0.105843432,"cg_iq_raw_a":0.293137282,"cg_iu_a":0.0750210285,"cg_iv_a":-0.184552908,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8563633,"cg_sample_seq":14659319,"cg_sample_valid":1,"cg_theta_rad":5.00684309,"cg_vd_req_v":0.0811804682,"cg_vd_v":0.0811804682,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373360872,"cg_vq_v":-0.373360872,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12427,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.152256,"cg_dv":50.2047462,"cg_dw":49.7952538,"cg_id_a":0.181054026,"cg_id_raw_a":-0.252955943,"cg_iq_a":-0.473173022,"cg_iq_raw_a":-1.26373041,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14659366,"cg_sample_valid":1,"cg_theta_rad":5.00675726,"cg_vd_req_v":0.0812027752,"cg_vd_v":0.0812027752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363398403,"cg_vq_v":-0.363398403,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.157599926,"dclink_p_w":22.8085957,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12465,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.146225,"cg_dv":50.2044983,"cg_dw":49.7955017,"cg_id_a":0.125352427,"cg_id_raw_a":0.19375658,"cg_iq_a":-0.633947968,"cg_iq_raw_a":-0.091163069,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9436359,"cg_sample_seq":14659417,"cg_sample_valid":1,"cg_theta_rad":5.00756407,"cg_vd_req_v":0.0808948874,"cg_vd_v":0.0808948874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360762715,"cg_vq_v":-0.360762715,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.192031622,"dclink_p_w":27.7917099,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12444,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1555099,"cg_dv":50.2154465,"cg_dw":49.7845535,"cg_id_a":-0.357398391,"cg_id_raw_a":-0.238971308,"cg_iq_a":0.165820882,"cg_iq_raw_a":0.44989273,"cg_iu_a":0.691166282,"cg_iv_a":0.141641557,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.9254551,"cg_sample_seq":14659466,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.089641802,"cg_vd_v":0.089641802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380829602,"cg_vq_v":-0.380829602,"cg_vu_v":38.2706528,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1605988,"cg_dv":50.2093582,"cg_dw":49.7906418,"cg_id_a":0.24790664,"cg_id_raw_a":0.798631608,"cg_iq_a":0.00716525782,"cg_iq_raw_a":-0.249562845,"cg_iu_a":0.183752775,"cg_iv_a":-0.220796704,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9363632,"cg_sample_seq":14659517,"cg_sample_valid":1,"cg_theta_rad":5.00624418,"cg_vd_req_v":0.0774660259,"cg_vd_v":0.0774660259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375907004,"cg_vq_v":-0.375907004,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.11591959,"dclink_p_w":16.8274155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1514664,"cg_dv":50.2092209,"cg_dw":49.7907791,"cg_id_a":-0.161578536,"cg_id_raw_a":-0.254796624,"cg_iq_a":-0.105978243,"cg_iq_raw_a":0.412495136,"cg_iu_a":0.14750886,"cg_iv_a":-0.148309052,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9654541,"cg_sample_seq":14659567,"cg_sample_valid":1,"cg_theta_rad":5.00718927,"cg_vd_req_v":0.0855482742,"cg_vd_v":0.0855482742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370350957,"cg_vq_v":-0.370350957,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":-0.0218070745,"dclink_p_w":-3.15602136,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2927246,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12469,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1646576,"cg_dv":50.2202721,"cg_dw":49.7797279,"cg_id_a":0.1109837,"cg_id_raw_a":0.850865901,"cg_iq_a":1.0577482,"cg_iq_raw_a":1.86474013,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8563633,"cg_sample_seq":14659870,"cg_sample_valid":1,"cg_theta_rad":5.00681114,"cg_vd_req_v":0.0836037099,"cg_vd_v":0.0836037099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39211297,"cg_vq_v":-0.39211297,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.5573578,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2618713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12457,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.152092,"cg_dv":50.2128944,"cg_dw":49.7871056,"cg_id_a":0.100986026,"cg_id_raw_a":0.0207748748,"cg_iq_a":0.228921682,"cg_iq_raw_a":0.597193003,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9181824,"cg_sample_seq":14659916,"cg_sample_valid":1,"cg_theta_rad":5.00782251,"cg_vd_req_v":0.0857184604,"cg_vd_v":0.0857184604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37518099,"cg_vq_v":-0.37518099,"cg_vu_v":117.891212,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2973328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12449,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1521149,"cg_dv":50.2103081,"cg_dw":49.7896919,"cg_id_a":0.0724459738,"cg_id_raw_a":-0.0615626164,"cg_iq_a":0.16167289,"cg_iq_raw_a":-0.661364734,"cg_iu_a":-0.251173258,"cg_iv_a":0.467836082,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.8563633,"cg_sample_seq":14659966,"cg_sample_valid":1,"cg_theta_rad":5.00603962,"cg_vd_req_v":0.0870393142,"cg_vd_v":0.0870393142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370789319,"cg_vq_v":-0.370789319,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2973328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12456,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1522484,"cg_dv":50.205265,"cg_dw":49.794735,"cg_id_a":0.466765672,"cg_id_raw_a":1.07605922,"cg_iq_a":-0.282687128,"cg_iq_raw_a":1.04730523,"cg_iu_a":0.183752537,"cg_iv_a":0.39534843,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8963642,"cg_sample_seq":14660017,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0784239173,"cg_vd_v":0.0784239173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36482057,"cg_vq_v":-0.36482057,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5135126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2911987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117628746,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1586456,"cg_dv":50.2076569,"cg_dw":49.7923431,"cg_id_a":0.550229311,"cg_id_raw_a":1.04425788,"cg_iq_a":0.145533562,"cg_iq_raw_a":0.903206944,"cg_iu_a":-0.468636513,"cg_iv_a":0.902762115,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8600006,"cg_sample_seq":14660066,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0774000436,"cg_vd_v":0.0774000436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372474611,"cg_vq_v":-0.372474611,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2773132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1635895,"cg_dv":50.2136345,"cg_dw":49.7863655,"cg_id_a":0.442494243,"cg_id_raw_a":0.309159577,"cg_iq_a":0.380101889,"cg_iq_raw_a":0.248792261,"cg_iu_a":-1.77341437,"cg_iv_a":-0.220796824,"cg_iw_a":1.9942112,"cg_sample_age_us":23.9509087,"cg_sample_seq":14660117,"cg_sample_valid":1,"cg_theta_rad":5.0059576,"cg_vd_req_v":0.0785353705,"cg_vd_v":0.0785353705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382364571,"cg_vq_v":-0.382364571,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.473959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2773132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2658.819635,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2658.819647,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2658.81965,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2658.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12463,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413078,"cg_dv":50.2002983,"cg_dw":49.7997017,"cg_id_a":0.105882511,"cg_id_raw_a":-0.429396033,"cg_iq_a":-0.918229699,"cg_iq_raw_a":-0.587553501,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14660220,"cg_sample_valid":1,"cg_theta_rad":5.00726366,"cg_vd_req_v":0.0839889273,"cg_vd_v":0.0839889273,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351534069,"cg_vq_v":-0.351534069,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12446,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1492081,"cg_dv":50.2049904,"cg_dw":49.7950096,"cg_id_a":0.258187622,"cg_id_raw_a":-0.1670378,"cg_iq_a":-0.255556107,"cg_iq_raw_a":-0.269842774,"cg_iu_a":-0.106198072,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9472733,"cg_sample_seq":14660267,"cg_sample_valid":1,"cg_theta_rad":5.00641346,"cg_vd_req_v":0.0811330527,"cg_vd_v":0.0811330527,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362620771,"cg_vq_v":-0.362620771,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12447,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1475906,"cg_dv":50.2113609,"cg_dw":49.7886391,"cg_id_a":-0.334944516,"cg_id_raw_a":0.121469341,"cg_iq_a":0.169620872,"cg_iq_raw_a":0.0130420895,"cg_iu_a":0.219996452,"cg_iv_a":-1.45308709,"cg_iw_a":1.23309064,"cg_sample_age_us":23.954546,"cg_sample_seq":14660316,"cg_sample_valid":1,"cg_theta_rad":5.00794554,"cg_vd_req_v":0.0908131972,"cg_vd_v":0.0908131972,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369850546,"cg_vq_v":-0.369850546,"cg_vu_v":11.877099,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.7939854,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12452,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.14991,"cg_dv":50.2032433,"cg_dw":49.7967567,"cg_id_a":0.160415664,"cg_id_raw_a":0.118182741,"cg_iq_a":-0.256392241,"cg_iq_raw_a":0.703956246,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14660367,"cg_sample_valid":1,"cg_theta_rad":5.00625849,"cg_vd_req_v":0.0791534185,"cg_vd_v":0.0791534185,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359425843,"cg_vq_v":-0.359425843,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.8914557,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2742004,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2658.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12491,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494293,"cg_dv":50.2059746,"cg_dw":49.7940254,"cg_id_a":-0.0536257587,"cg_id_raw_a":-0.375007898,"cg_iq_a":-0.0225635953,"cg_iq_raw_a":-0.290013224,"cg_iu_a":0.111264944,"cg_iv_a":0.0691539049,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.954546,"cg_sample_seq":14660416,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0826031193,"cg_vd_v":0.0826031193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365092099,"cg_vq_v":-0.365092099,"cg_vu_v":2.19946289,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0959854126,"dclink_p_w":13.9336796,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12451,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1570625,"cg_dv":50.2132912,"cg_dw":49.7867088,"cg_id_a":-0.0176789165,"cg_id_raw_a":-0.29142499,"cg_iq_a":0.254034638,"cg_iq_raw_a":-0.282298237,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9218178,"cg_sample_seq":14660667,"cg_sample_valid":1,"cg_theta_rad":5.0071435,"cg_vd_req_v":0.0838071704,"cg_vd_v":0.0838071704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378140509,"cg_vq_v":-0.378140509,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.226584673,"dclink_p_w":-32.7923889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2618713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.163578,"cg_dv":50.2143669,"cg_dw":49.7856331,"cg_id_a":0.0860973746,"cg_id_raw_a":0.644018829,"cg_iq_a":0.392293066,"cg_iq_raw_a":0.465834141,"cg_iu_a":0.473703146,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.8527279,"cg_sample_seq":14660721,"cg_sample_valid":1,"cg_theta_rad":5.00736713,"cg_vd_req_v":0.080926843,"cg_vd_v":0.080926843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383005351,"cg_vq_v":-0.383005351,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12440,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1565285,"cg_dv":50.2089729,"cg_dw":49.7910271,"cg_id_a":0.0821481198,"cg_id_raw_a":-0.0330547802,"cg_iq_a":-0.228073925,"cg_iq_raw_a":-0.330403447,"cg_iu_a":-0.0337102413,"cg_iv_a":0.286616921,"cg_iw_a":-0.18041867,"cg_sample_age_us":23.863636,"cg_sample_seq":14660767,"cg_sample_valid":1,"cg_theta_rad":5.00666666,"cg_vd_req_v":0.0816619396,"cg_vd_v":0.0816619396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371612996,"cg_vq_v":-0.371612996,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2726746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494026,"cg_dv":50.2133942,"cg_dw":49.7866058,"cg_id_a":-0.176463038,"cg_id_raw_a":-0.514977396,"cg_iq_a":-0.115788534,"cg_iq_raw_a":-0.153859898,"cg_iu_a":-0.251173258,"cg_iv_a":0.467836142,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9763641,"cg_sample_seq":14660816,"cg_sample_valid":1,"cg_theta_rad":5.0069356,"cg_vd_req_v":0.0867890567,"cg_vd_v":0.0867890567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374721855,"cg_vq_v":-0.374721855,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2649536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12477,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1480446,"cg_dv":50.2115097,"cg_dw":49.7884903,"cg_id_a":-0.229349881,"cg_id_raw_a":-0.0566924475,"cg_iq_a":-0.385682702,"cg_iq_raw_a":-0.550587773,"cg_iu_a":0.836141586,"cg_iv_a":0.939005971,"cg_iw_a":-1.77514756,"cg_sample_age_us":23.9254551,"cg_sample_seq":14660866,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.088155739,"cg_vd_v":0.088155739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370897919,"cg_vq_v":-0.370897919,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.2613964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1591339,"cg_dv":50.2216415,"cg_dw":49.7783585,"cg_id_a":-0.342916876,"cg_id_raw_a":0.0487358347,"cg_iq_a":0.61310941,"cg_iq_raw_a":0.114669316,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14660916,"cg_sample_valid":1,"cg_theta_rad":5.00677204,"cg_vd_req_v":0.0896871835,"cg_vd_v":0.0896871835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390798122,"cg_vq_v":-0.390798122,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.2613964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12434,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1589165,"cg_dv":50.2109642,"cg_dw":49.7890358,"cg_id_a":0.0302925594,"cg_id_raw_a":-0.0846804827,"cg_iq_a":-0.233770326,"cg_iq_raw_a":-0.444881737,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885413,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9436359,"cg_sample_seq":14660966,"cg_sample_valid":1,"cg_theta_rad":5.00738335,"cg_vd_req_v":0.0816377178,"cg_vd_v":0.0816377178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375680685,"cg_vq_v":-0.375680685,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.2613964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2773132,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2658.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38681,"EncoderSin":12445,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1615486,"cg_dv":50.2139511,"cg_dw":49.7860489,"cg_id_a":-0.159621388,"cg_id_raw_a":0.152632013,"cg_iq_a":-0.170618951,"cg_iq_raw_a":-0.274291307,"cg_iu_a":0.437459469,"cg_iv_a":0.0329101086,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14661117,"cg_sample_valid":1,"cg_theta_rad":5.00528574,"cg_vd_req_v":0.0855828077,"cg_vd_v":0.0855828077,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381750882,"cg_vq_v":-0.381750882,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.208462715,"dclink_p_w":-30.2613964,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2618713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2658.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12477,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1628189,"cg_dv":50.2214432,"cg_dw":49.7785568,"cg_id_a":-0.274673343,"cg_id_raw_a":-0.639957905,"cg_iq_a":0.365725011,"cg_iq_raw_a":0.702868819,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.0716872811,"cg_sample_age_us":24.0345459,"cg_sample_seq":14661167,"cg_sample_valid":1,"cg_theta_rad":5.00794506,"cg_vd_req_v":0.0876573846,"cg_vd_v":0.0876573846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392349303,"cg_vq_v":-0.392349303,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.335316181,"dclink_p_w":-48.5285187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2618713,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2658.978817,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2658.978823,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2658.978829,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2659.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12455,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1550751,"cg_dv":50.2173119,"cg_dw":49.7826881,"cg_id_a":-0.226392373,"cg_id_raw_a":-0.516014993,"cg_iq_a":-0.0930237696,"cg_iq_raw_a":-0.592849076,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8600006,"cg_sample_seq":14661220,"cg_sample_valid":1,"cg_theta_rad":5.00568104,"cg_vd_req_v":0.0876025707,"cg_vd_v":0.0876025707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382878184,"cg_vq_v":-0.382878184,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-0.237457871,"dclink_p_w":-34.3660088,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12483,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.14748,"cg_dv":50.2097816,"cg_dw":49.7902184,"cg_id_a":-0.328831971,"cg_id_raw_a":-0.478437513,"cg_iq_a":-0.713870227,"cg_iq_raw_a":-0.95587945,"cg_iu_a":0.799897909,"cg_iv_a":0.0691539049,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.8454552,"cg_sample_seq":14661266,"cg_sample_valid":1,"cg_theta_rad":5.00723457,"cg_vd_req_v":0.0879467726,"cg_vd_v":0.0879467726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367988735,"cg_vq_v":-0.367988735,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4826555,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1607971,"cg_dv":50.2124672,"cg_dw":49.7875328,"cg_id_a":0.0518934429,"cg_id_raw_a":-0.273809284,"cg_iq_a":0.0138130039,"cg_iq_raw_a":-0.244520321,"cg_iu_a":0.147508621,"cg_iv_a":-1.05440485,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9400005,"cg_sample_seq":14661316,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0805097967,"cg_vd_v":0.0805097967,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37902233,"cg_vq_v":-0.37902233,"cg_vu_v":41.7897949,"cg_vv_v":51.9073219,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12424,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494484,"cg_dv":50.2096519,"cg_dw":49.7903481,"cg_id_a":-0.298365206,"cg_id_raw_a":-0.617797494,"cg_iq_a":-0.256679863,"cg_iq_raw_a":-1.00788593,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9218178,"cg_sample_seq":14661366,"cg_sample_valid":1,"cg_theta_rad":5.00665045,"cg_vd_req_v":0.087621294,"cg_vd_v":0.087621294,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36978212,"cg_vq_v":-0.36978212,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2602,"hz_tim_isr":4999,"hz_vsense":2602,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1528778,"cg_dv":50.2080994,"cg_dw":49.7919006,"cg_id_a":-0.0280937441,"cg_id_raw_a":-0.382098585,"cg_iq_a":-0.120201111,"cg_iq_raw_a":-0.217550978,"cg_iu_a":-0.323661089,"cg_iv_a":0.032910049,"cg_iw_a":0.29075104,"cg_sample_age_us":23.954546,"cg_sample_seq":14661416,"cg_sample_valid":1,"cg_theta_rad":5.00759506,"cg_vd_req_v":0.0816583112,"cg_vd_v":0.0816583112,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369993657,"cg_vq_v":-0.369993657,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12451,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1516609,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.197037622,"cg_id_raw_a":0.0237996932,"cg_iq_a":-0.118060216,"cg_iq_raw_a":0.148874283,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716875792,"cg_sample_age_us":23.9509087,"cg_sample_seq":14661466,"cg_sample_valid":1,"cg_theta_rad":5.00778341,"cg_vd_req_v":0.0833030492,"cg_vd_v":0.0833030492,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366707951,"cg_vq_v":-0.366707951,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2711182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00176241703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12467,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.157547,"cg_dv":50.2105751,"cg_dw":49.7894249,"cg_id_a":-0.217092723,"cg_id_raw_a":-0.653140306,"cg_iq_a":0.297510356,"cg_iq_raw_a":0.589352548,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8563633,"cg_sample_seq":14661517,"cg_sample_valid":1,"cg_theta_rad":5.00747824,"cg_vd_req_v":0.083097294,"cg_vd_v":0.083097294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374209195,"cg_vq_v":-0.374209195,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2680359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12470,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1567917,"cg_dv":50.2071457,"cg_dw":49.7928543,"cg_id_a":0.0647355318,"cg_id_raw_a":-0.598206937,"cg_iq_a":-0.00164187513,"cg_iq_raw_a":-0.601700604,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8454552,"cg_sample_seq":14661567,"cg_sample_valid":1,"cg_theta_rad":5.00711775,"cg_vd_req_v":0.0771492124,"cg_vd_v":0.0771492124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369820237,"cg_vq_v":-0.369820237,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2680359,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12460,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1541634,"cg_dv":50.2072601,"cg_dw":49.7927399,"cg_id_a":0.0829828754,"cg_id_raw_a":0.0900457352,"cg_iq_a":0.0169863552,"cg_iq_raw_a":0.118904851,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503636,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9763641,"cg_sample_seq":14661617,"cg_sample_valid":1,"cg_theta_rad":5.00771904,"cg_vd_req_v":0.0807503462,"cg_vd_v":0.0807503462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368193328,"cg_vq_v":-0.368193328,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2649536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12430,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1501808,"cg_dv":50.2068863,"cg_dw":49.7931137,"cg_id_a":-0.00913593173,"cg_id_raw_a":0.310218453,"cg_iq_a":0.0555401444,"cg_iq_raw_a":0.433009326,"cg_iu_a":0.0387773514,"cg_iv_a":0.214129269,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.954546,"cg_sample_seq":14661667,"cg_sample_valid":1,"cg_theta_rad":5.00825071,"cg_vd_req_v":0.0849350616,"cg_vd_v":0.0849350616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366290897,"cg_vq_v":-0.366290897,"cg_vu_v":116.571533,"cg_vv_v":130.648087,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.400555134,"dclink_p_w":-58.1464043,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1395454,"cg_dv":50.2079048,"cg_dw":49.7920952,"cg_id_a":-0.416322917,"cg_id_raw_a":-0.130589306,"cg_iq_a":0.0538715869,"cg_iq_raw_a":-0.631150424,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.8563633,"cg_sample_seq":14661720,"cg_sample_valid":1,"cg_theta_rad":5.00656605,"cg_vd_req_v":0.0931543931,"cg_vd_v":0.0931543931,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361949533,"cg_vq_v":-0.361949533,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2803955,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12439,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411362,"cg_dv":50.2060013,"cg_dw":49.7939987,"cg_id_a":-0.212297112,"cg_id_raw_a":-0.528827131,"cg_iq_a":-0.128556877,"cg_iq_raw_a":-0.886726379,"cg_iu_a":0.401215792,"cg_iv_a":0.141641617,"cg_iw_a":0.47197032,"cg_sample_age_us":23.9436359,"cg_sample_seq":14661766,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.088551268,"cg_vd_v":0.088551268,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359463304,"cg_vq_v":-0.359463304,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2664795,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12443,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411705,"cg_dv":50.2034454,"cg_dw":49.7965546,"cg_id_a":-0.0299696587,"cg_id_raw_a":-0.221262887,"cg_iq_a":-0.385202169,"cg_iq_raw_a":-0.567090571,"cg_iu_a":-0.0699541569,"cg_iv_a":0.286616921,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8672733,"cg_sample_seq":14661816,"cg_sample_valid":1,"cg_theta_rad":5.00704765,"cg_vd_req_v":0.086816214,"cg_vd_v":0.086816214,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354667991,"cg_vq_v":-0.354667991,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2603455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1455612,"cg_dv":50.2119446,"cg_dw":49.7880554,"cg_id_a":0.046152845,"cg_id_raw_a":-0.0666853115,"cg_iq_a":0.0227535516,"cg_iq_raw_a":0.212693125,"cg_iu_a":0.0750210285,"cg_iv_a":-0.365772009,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14661967,"cg_sample_valid":1,"cg_theta_rad":5.00817347,"cg_vd_req_v":0.0926217735,"cg_vd_v":0.0926217735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369589567,"cg_vq_v":-0.369589567,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.80648613,"dclink_p_w":-116.363655,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2649536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1430969,"cg_dv":50.2139015,"cg_dw":49.7860985,"cg_id_a":-0.153568909,"cg_id_raw_a":0.171327502,"cg_iq_a":0.24028331,"cg_iq_raw_a":0.564372063,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539645,"cg_iw_a":0.182019472,"cg_sample_age_us":23.954546,"cg_sample_seq":14662017,"cg_sample_valid":1,"cg_theta_rad":5.00658798,"cg_vd_req_v":0.0969411656,"cg_vd_v":0.0969411656,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371934533,"cg_vq_v":-0.371934533,"cg_vu_v":127.12896,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.81373477,"dclink_p_w":-117.767487,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.252594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12431,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381531,"cg_dv":50.2072906,"cg_dw":49.7927094,"cg_id_a":-0.0439077243,"cg_id_raw_a":-0.10033498,"cg_iq_a":-0.377461433,"cg_iq_raw_a":-0.483363301,"cg_iu_a":-0.0699543953,"cg_iv_a":0.431592286,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.8563633,"cg_sample_seq":14662066,"cg_sample_valid":1,"cg_theta_rad":5.00623512,"cg_vd_req_v":0.0957269222,"cg_vd_v":0.0957269222,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359782726,"cg_vq_v":-0.359782726,"cg_vu_v":140.325729,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-121.282249,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2695618,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12445,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1417618,"cg_dv":50.2102814,"cg_dw":49.7897186,"cg_id_a":0.119480856,"cg_id_raw_a":-0.111222677,"cg_iq_a":-0.0159570351,"cg_iq_raw_a":0.0258632246,"cg_iu_a":0.219996452,"cg_iv_a":0.141641617,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9254551,"cg_sample_seq":14662116,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0948723853,"cg_vd_v":0.0948723853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364957154,"cg_vq_v":-0.364957154,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-121.282249,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2695618,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319351,"cg_dv":50.2118568,"cg_dw":49.7881432,"cg_id_a":-0.256587923,"cg_id_raw_a":0.538174689,"cg_iq_a":-0.0972498432,"cg_iq_raw_a":0.489447981,"cg_iu_a":0.473703384,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9509087,"cg_sample_seq":14662166,"cg_sample_valid":1,"cg_theta_rad":5.00710392,"cg_vd_req_v":0.10189116,"cg_vd_v":0.10189116,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362171322,"cg_vq_v":-0.362171322,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-121.282249,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2603455,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1363945,"cg_dv":50.2108765,"cg_dw":49.7891235,"cg_id_a":-0.111583211,"cg_id_raw_a":-0.011625573,"cg_iq_a":0.536185741,"cg_iq_raw_a":-0.364271075,"cg_iu_a":0.582434654,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9872723,"cg_sample_seq":14662220,"cg_sample_valid":1,"cg_theta_rad":5.00880337,"cg_vd_req_v":0.0961777866,"cg_vd_v":0.0975026935,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362490237,"cg_vq_v":-0.362490237,"cg_vu_v":136.366699,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-120.914726,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12483,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1353951,"cg_dv":50.2161598,"cg_dw":49.7838402,"cg_id_a":-0.290001541,"cg_id_raw_a":0.164852232,"cg_iq_a":0.418849885,"cg_iq_raw_a":0.452838153,"cg_iu_a":0.292484045,"cg_iv_a":0.105397761,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.9836369,"cg_sample_seq":14662267,"cg_sample_valid":1,"cg_theta_rad":5.00745869,"cg_vd_req_v":0.102033362,"cg_vd_v":0.102033362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370326549,"cg_vq_v":-0.370326549,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.835481167,"dclink_p_w":-120.914726,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12462,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341553,"cg_dv":50.2140045,"cg_dw":49.7859955,"cg_id_a":-0.197032124,"cg_id_raw_a":-0.139415503,"cg_iq_a":0.273050934,"cg_iq_raw_a":1.44384217,"cg_iu_a":0.437459469,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9436359,"cg_sample_seq":14662317,"cg_sample_valid":1,"cg_theta_rad":5.00702143,"cg_vd_req_v":0.101541802,"cg_vd_v":0.101541802,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366529971,"cg_vq_v":-0.366529971,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-98.132431,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12472,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1313171,"cg_dv":50.2093697,"cg_dw":49.7906303,"cg_id_a":-0.0575959086,"cg_id_raw_a":-0.0384228826,"cg_iq_a":-0.0964684039,"cg_iq_raw_a":0.361216575,"cg_iu_a":0.292484283,"cg_iv_a":0.721542835,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9763641,"cg_sample_seq":14662367,"cg_sample_valid":1,"cg_theta_rad":5.00624228,"cg_vd_req_v":0.100268535,"cg_vd_v":0.100268535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358357131,"cg_vq_v":-0.358357131,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.53646946,"dclink_p_w":-77.8763504,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.130024,"cg_dv":50.2072601,"cg_dw":49.7927399,"cg_id_a":-0.112554222,"cg_id_raw_a":0.392426372,"cg_iq_a":-0.374530941,"cg_iq_raw_a":-0.978826702,"cg_iu_a":-0.251173496,"cg_iv_a":-0.691966534,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9581814,"cg_sample_seq":14662417,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.101224534,"cg_vd_v":0.101224534,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353033423,"cg_vq_v":-0.353033423,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.2439423,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2649536,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291504,"cg_dv":50.2112503,"cg_dw":49.7887497,"cg_id_a":-0.215233564,"cg_id_raw_a":0.356966734,"cg_iq_a":0.124639809,"cg_iq_raw_a":-0.256945819,"cg_iu_a":0.111264944,"cg_iv_a":-1.12689257,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8563633,"cg_sample_seq":14662466,"cg_sample_valid":1,"cg_theta_rad":5.0059557,"cg_vd_req_v":0.102661178,"cg_vd_v":0.102661178,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360021472,"cg_vq_v":-0.360021472,"cg_vu_v":36.5110817,"cg_vv_v":37.3908691,"cg_vw_v":40.4701157,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.2439423,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1360168,"cg_dv":50.2071495,"cg_dw":49.7928505,"cg_id_a":0.172949195,"cg_id_raw_a":0.648910701,"cg_iq_a":-0.0279939771,"cg_iq_raw_a":0.646142721,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796704,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8999996,"cg_sample_seq":14662516,"cg_sample_valid":1,"cg_theta_rad":5.00707054,"cg_vd_req_v":0.0943222493,"cg_vd_v":0.0943222493,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357995003,"cg_vq_v":-0.357995003,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.2439423,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2819214,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1475677,"cg_dv":50.2087059,"cg_dw":49.7912941,"cg_id_a":0.521612048,"cg_id_raw_a":0.509621143,"cg_iq_a":0.479916394,"cg_iq_raw_a":-0.533354342,"cg_iu_a":0.183752537,"cg_iv_a":0.359104574,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.8709087,"cg_sample_seq":14662566,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.0863698944,"cg_vd_v":0.0863698944,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367860705,"cg_vq_v":-0.367860705,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.561840057,"dclink_p_w":-81.3121109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12462,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423721,"cg_dv":50.2165337,"cg_dw":49.7834663,"cg_id_a":-0.101592064,"cg_id_raw_a":-0.122217305,"cg_iq_a":0.774746895,"cg_iq_raw_a":0.352972746,"cg_iu_a":-1.37473226,"cg_iv_a":0.21412921,"cg_iw_a":1.16060305,"cg_sample_age_us":23.954546,"cg_sample_seq":14662616,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.0990574285,"cg_vd_v":0.0990574285,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374164641,"cg_vq_v":-0.374164641,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.681444883,"dclink_p_w":-98.9216385,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12444,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325417,"cg_dv":50.207962,"cg_dw":49.792038,"cg_id_a":-0.162684381,"cg_id_raw_a":-0.121657908,"cg_iq_a":-0.0245754868,"cg_iq_raw_a":-0.886378288,"cg_iu_a":-0.323661089,"cg_iv_a":0.21412921,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14662666,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.100713104,"cg_vd_v":0.100713104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35752666,"cg_vq_v":-0.35752666,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.574525356,"dclink_p_w":-83.4007187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00146028842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.127449,"cg_dv":50.2054825,"cg_dw":49.7945175,"cg_id_a":-0.0173415393,"cg_id_raw_a":-0.325891167,"cg_iq_a":-0.182855591,"cg_iq_raw_a":-0.795398295,"cg_iu_a":0.0387773514,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.035443604,"cg_sample_age_us":26.823637,"cg_sample_seq":14662720,"cg_sample_valid":1,"cg_theta_rad":5.00798607,"cg_vd_req_v":0.0994547382,"cg_vd_v":0.0994547382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350921541,"cg_vq_v":-0.350921541,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.386057496,"dclink_p_w":-55.8720398,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2449036,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12447,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332436,"cg_dv":50.2005386,"cg_dw":49.7994614,"cg_id_a":0.153449818,"cg_id_raw_a":-0.0377210602,"cg_iq_a":-0.203010261,"cg_iq_raw_a":-0.0759123042,"cg_iu_a":-0.541123867,"cg_iv_a":0.177885473,"cg_iw_a":0.363238394,"cg_sample_age_us":23.954546,"cg_sample_seq":14662867,"cg_sample_valid":1,"cg_theta_rad":5.00703812,"cg_vd_req_v":0.0919544846,"cg_vd_v":0.0919544846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346961051,"cg_vq_v":-0.346961051,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2572327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12462,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.134655,"cg_dv":50.2033005,"cg_dw":49.7966995,"cg_id_a":0.0190422237,"cg_id_raw_a":-0.204437748,"cg_iq_a":0.109740749,"cg_iq_raw_a":-0.0925235823,"cg_iu_a":0.256240129,"cg_iv_a":-0.329528213,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9436359,"cg_sample_seq":14662917,"cg_sample_valid":1,"cg_theta_rad":5.00987244,"cg_vd_req_v":0.0931516215,"cg_vd_v":0.0931516215,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35274896,"cg_vq_v":-0.35274896,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.40139198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2572327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105040051,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12464,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1323891,"cg_dv":50.2016983,"cg_dw":49.7983017,"cg_id_a":0.123939514,"cg_id_raw_a":0.101972342,"cg_iq_a":0.103401832,"cg_iq_raw_a":0.665701807,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9581814,"cg_sample_seq":14662967,"cg_sample_valid":1,"cg_theta_rad":5.00741625,"cg_vd_req_v":0.0913332254,"cg_vd_v":0.0913332254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349825978,"cg_vq_v":-0.349825978,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12460,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262741,"cg_dv":50.2017136,"cg_dw":49.7982864,"cg_id_a":-0.116368867,"cg_id_raw_a":-0.306038857,"cg_iq_a":-0.0284243487,"cg_iq_raw_a":-0.136559457,"cg_iu_a":0.111264944,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8490906,"cg_sample_seq":14663016,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.0951145962,"cg_vd_v":0.0951145962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345581174,"cg_vq_v":-0.345581174,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.3062477,"control_outputs_enabled":1,"dclink_i_a":-0.0290558338,"dclink_p_w":-4.21787691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12447,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298065,"cg_dv":50.1991158,"cg_dw":49.8008842,"cg_id_a":0.13986972,"cg_id_raw_a":0.159288466,"cg_iq_a":-0.0136588085,"cg_iq_raw_a":-0.166291848,"cg_iu_a":0.0387773514,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.954546,"cg_sample_seq":14663067,"cg_sample_valid":1,"cg_theta_rad":5.00837088,"cg_vd_req_v":0.0903669149,"cg_vd_v":0.0903669149,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343861997,"cg_vq_v":-0.343861997,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2510681,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1274147,"cg_dv":50.1989174,"cg_dw":49.8010826,"cg_id_a":0.0152338445,"cg_id_raw_a":0.134967268,"cg_iq_a":-0.0708798543,"cg_iq_raw_a":0.305321276,"cg_iu_a":-0.468636513,"cg_iv_a":0.10539782,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9509087,"cg_sample_seq":14663117,"cg_sample_valid":1,"cg_theta_rad":5.00554562,"cg_vd_req_v":0.0934294686,"cg_vd_v":0.0934294686,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341884583,"cg_vq_v":-0.341884583,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":0.217402339,"dclink_p_w":31.4634781,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.252594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12468,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1228714,"cg_dv":50.1932564,"cg_dw":49.8067436,"cg_id_a":0.200740188,"cg_id_raw_a":0.016907271,"cg_iq_a":-0.534757257,"cg_iq_raw_a":-0.216028586,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14663167,"cg_sample_valid":1,"cg_theta_rad":5.00713968,"cg_vd_req_v":0.0902822092,"cg_vd_v":0.0902822092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331973612,"cg_vq_v":-0.331973612,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.5463219,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.252594,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189842,"cg_dv":50.1989822,"cg_dw":49.8010178,"cg_id_a":-0.224543512,"cg_id_raw_a":-0.249501854,"cg_iq_a":-0.111608058,"cg_iq_raw_a":0.159478262,"cg_iu_a":0.292484283,"cg_iv_a":0.141641617,"cg_iw_a":-0.4341259,"cg_sample_age_us":23.8490906,"cg_sample_seq":14663220,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0987166241,"cg_vd_v":0.0987166241,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337653935,"cg_vq_v":-0.337653935,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262321,"cg_dv":50.1915054,"cg_dw":49.8084946,"cg_id_a":0.300753802,"cg_id_raw_a":0.538077474,"cg_iq_a":-0.316033095,"cg_iq_raw_a":0.0529173575,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539645,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9254551,"cg_sample_seq":14663266,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.0871356428,"cg_vd_v":0.0871356428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332225144,"cg_vq_v":-0.332225144,"cg_vu_v":4.83881807,"cg_vv_v":14.0765619,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.5332098,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12464,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1221962,"cg_dv":50.1932564,"cg_dw":49.8067436,"cg_id_a":0.0142648816,"cg_id_raw_a":-0.0871616676,"cg_iq_a":-0.379809201,"cg_iq_raw_a":-0.62730515,"cg_iu_a":0.256240129,"cg_iv_a":0.467836082,"cg_iw_a":-0.542857111,"cg_sample_age_us":23.9509087,"cg_sample_seq":14663316,"cg_sample_valid":1,"cg_theta_rad":5.00631809,"cg_vd_req_v":0.0934434459,"cg_vd_v":0.0934434459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331946254,"cg_vq_v":-0.331946254,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0381168127,"dclink_p_w":-5.5332098,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12470,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218414,"cg_dv":50.1945534,"cg_dw":49.8054466,"cg_id_a":0.0546769463,"cg_id_raw_a":0.0646748766,"cg_iq_a":-0.175787091,"cg_iq_raw_a":0.589877725,"cg_iu_a":0.219996452,"cg_iv_a":0.10539782,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8454552,"cg_sample_seq":14663366,"cg_sample_valid":1,"cg_theta_rad":5.00691891,"cg_vd_req_v":0.0938149467,"cg_vd_v":0.0938149467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332753032,"cg_vq_v":-0.332753032,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.74360657,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12467,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257401,"cg_dv":50.1936722,"cg_dw":49.8063278,"cg_id_a":0.188223496,"cg_id_raw_a":0.232534245,"cg_iq_a":0.028708905,"cg_iq_raw_a":-0.268172979,"cg_iu_a":0.328727961,"cg_iv_a":0.57656759,"cg_iw_a":-0.905295551,"cg_sample_age_us":23.9763641,"cg_sample_seq":14663416,"cg_sample_valid":1,"cg_theta_rad":5.00696325,"cg_vd_req_v":0.0890555382,"cg_vd_v":0.0890555382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33397305,"cg_vq_v":-0.33397305,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0796756744,"dclink_p_w":11.5310345,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2572327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202278,"cg_dv":50.196434,"cg_dw":49.803566,"cg_id_a":-0.202333272,"cg_id_raw_a":0.224954888,"cg_iq_a":0.0448965319,"cg_iq_raw_a":0.24165681,"cg_iu_a":0.0750210285,"cg_iv_a":-0.402015805,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.954546,"cg_sample_seq":14663466,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.0971625671,"cg_vd_v":0.0971625671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334327638,"cg_vq_v":-0.334327638,"cg_vu_v":28.5930176,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1030579,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2572327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12447,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1035004,"cg_dv":50.1875153,"cg_dw":49.8124847,"cg_id_a":-0.454721272,"cg_id_raw_a":-0.0296197925,"cg_iq_a":-0.890586972,"cg_iq_raw_a":-1.56915843,"cg_iu_a":0.727410078,"cg_iv_a":-0.293284416,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9836369,"cg_sample_seq":14663516,"cg_sample_valid":1,"cg_theta_rad":5.00583076,"cg_vd_req_v":0.103045538,"cg_vd_v":0.103045538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312327921,"cg_vq_v":-0.312327921,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2418213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12451,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189842,"cg_dv":50.173996,"cg_dw":49.826004,"cg_id_a":0.848712564,"cg_id_raw_a":0.149207383,"cg_iq_a":-1.17191839,"cg_iq_raw_a":0.160900131,"cg_iu_a":0.14750886,"cg_iv_a":2.46124673,"cg_iw_a":-2.60875559,"cg_sample_age_us":23.8709087,"cg_sample_seq":14663566,"cg_sample_valid":1,"cg_theta_rad":5.00724888,"cg_vd_req_v":0.0755449086,"cg_vd_v":0.0755449086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303348839,"cg_vq_v":-0.303348839,"cg_vu_v":25.0738773,"cg_vv_v":5.27871037,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2418213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11304646,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12494,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1022186,"cg_dv":50.1795235,"cg_dw":49.8204765,"cg_id_a":-0.133682877,"cg_id_raw_a":-0.323066264,"cg_iq_a":-1.15079641,"cg_iq_raw_a":0.697854877,"cg_iu_a":0.219996452,"cg_iv_a":0.032910049,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9509087,"cg_sample_seq":14663617,"cg_sample_valid":1,"cg_theta_rad":5.00645638,"cg_vd_req_v":0.0940096155,"cg_vd_v":0.0940096155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301486045,"cg_vq_v":-0.301486045,"cg_vu_v":119.650772,"cg_vv_v":141.205521,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.468018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38681,"EncoderSin":12457,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1158676,"cg_dv":50.1840324,"cg_dw":49.8159676,"cg_id_a":0.0833451003,"cg_id_raw_a":0.215877563,"cg_iq_a":-0.382189542,"cg_iq_raw_a":-0.668569684,"cg_iu_a":0.183752775,"cg_iv_a":0.105397761,"cg_iw_a":-0.289150536,"cg_sample_age_us":23.9872723,"cg_sample_seq":14663667,"cg_sample_valid":1,"cg_theta_rad":5.00687456,"cg_vd_req_v":0.0911153704,"cg_vd_v":0.0911153704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314293414,"cg_vq_v":-0.314293414,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0814878941,"dclink_p_w":11.7933073,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1105118,"cg_dv":50.1924896,"cg_dw":49.8075104,"cg_id_a":-0.251790196,"cg_id_raw_a":-0.160739839,"cg_iq_a":0.0678126663,"cg_iq_raw_a":-0.341758788,"cg_iu_a":0.0387773514,"cg_iv_a":0.467836142,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.8600006,"cg_sample_seq":14663720,"cg_sample_valid":1,"cg_theta_rad":5.0052948,"cg_vd_req_v":0.100892447,"cg_vd_v":0.100892447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323519528,"cg_vq_v":-0.323519528,"cg_vu_v":17.1558094,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.5331917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2495422,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12452,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1088333,"cg_dv":50.1922188,"cg_dw":49.8077812,"cg_id_a":-0.151059449,"cg_id_raw_a":0.262062788,"cg_iq_a":-0.105310604,"cg_iq_raw_a":0.753504217,"cg_iu_a":0.727410197,"cg_iv_a":0.141641557,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9763641,"cg_sample_seq":14663766,"cg_sample_valid":1,"cg_theta_rad":5.00780678,"cg_vd_req_v":0.100310147,"cg_vd_v":0.100310147,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322721422,"cg_vq_v":-0.322721422,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.5331917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12507,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1157913,"cg_dv":50.1928253,"cg_dw":49.8071747,"cg_id_a":0.106374621,"cg_id_raw_a":-0.0424251407,"cg_iq_a":-0.0439790115,"cg_iq_raw_a":-0.257952362,"cg_iu_a":-0.50488019,"cg_iv_a":0.105397761,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9472733,"cg_sample_seq":14663817,"cg_sample_valid":1,"cg_theta_rad":5.00717115,"cg_vd_req_v":0.0951499045,"cg_vd_v":0.0951499045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327511907,"cg_vq_v":-0.327511907,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.5331917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2480164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12463,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1057549,"cg_dv":50.196022,"cg_dw":49.803978,"cg_id_a":-0.326361597,"cg_id_raw_a":0.209148645,"cg_iq_a":-0.232922018,"cg_iq_raw_a":0.202046007,"cg_iu_a":0.219996452,"cg_iv_a":-0.257040501,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9799995,"cg_sample_seq":14663867,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.105792858,"cg_vd_v":0.105792858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326383173,"cg_vq_v":-0.326383173,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.322509408,"dclink_p_w":46.5331917,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2480164,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12438,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154251,"cg_dv":50.1982193,"cg_dw":49.8017807,"cg_id_a":-0.0536715835,"cg_id_raw_a":0.0554470308,"cg_iq_a":0.132634923,"cg_iq_raw_a":0.042718932,"cg_iu_a":0.292484283,"cg_iv_a":-0.510747433,"cg_iw_a":0.218263149,"cg_sample_age_us":23.954546,"cg_sample_seq":14663917,"cg_sample_valid":1,"cg_theta_rad":5.00563192,"cg_vd_req_v":0.102615416,"cg_vd_v":0.102615416,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334062845,"cg_vq_v":-0.334062845,"cg_vu_v":132.407669,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.384123921,"dclink_p_w":55.5922012,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1159019,"cg_dv":50.1971741,"cg_dw":49.8028259,"cg_id_a":0.0817654282,"cg_id_raw_a":0.263908744,"cg_iq_a":-0.0272793472,"cg_iq_raw_a":-0.81124872,"cg_iu_a":0.691166401,"cg_iv_a":0.0691539049,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.8563633,"cg_sample_seq":14663967,"cg_sample_valid":1,"cg_theta_rad":5.00622082,"cg_vd_req_v":0.100000277,"cg_vd_v":0.100000277,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332180232,"cg_vq_v":-0.332180232,"cg_vu_v":2.63935518,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.298950911,"dclink_p_w":43.3970757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1089401,"cg_dv":50.2016792,"cg_dw":49.7983208,"cg_id_a":-0.529926181,"cg_id_raw_a":-0.552098453,"cg_iq_a":-0.0413746089,"cg_iq_raw_a":0.016035974,"cg_iu_a":0.582434893,"cg_iv_a":-0.510747433,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9872723,"cg_sample_seq":14664016,"cg_sample_valid":1,"cg_theta_rad":5.00756645,"cg_vd_req_v":0.112500899,"cg_vd_v":0.112500899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333506227,"cg_vq_v":-0.333506227,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.356940985,"dclink_p_w":51.5011444,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2541504,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12474,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1049004,"cg_dv":50.1999054,"cg_dw":49.8000946,"cg_id_a":-0.298363864,"cg_id_raw_a":-0.194240764,"cg_iq_a":-0.319262117,"cg_iq_raw_a":0.0199437439,"cg_iu_a":0.401215553,"cg_iv_a":-0.365772009,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9472733,"cg_sample_seq":14664067,"cg_sample_valid":1,"cg_theta_rad":5.00732231,"cg_vd_req_v":0.108803809,"cg_vd_v":0.108803809,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330557436,"cg_vq_v":-0.330557436,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2279358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1101265,"cg_dv":50.2007103,"cg_dw":49.7992897,"cg_id_a":-0.325477064,"cg_id_raw_a":0.0565602966,"cg_iq_a":-0.266365409,"cg_iq_raw_a":-0.394231528,"cg_iu_a":-0.251173496,"cg_iv_a":-0.293284357,"cg_iw_a":0.544457853,"cg_sample_age_us":23.8563633,"cg_sample_seq":14664117,"cg_sample_valid":1,"cg_theta_rad":5.0078392,"cg_vd_req_v":0.109092981,"cg_vd_v":0.109092981,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33449924,"cg_vq_v":-0.33449924,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8208733,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2279358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12405,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1142693,"cg_dv":50.2010841,"cg_dw":49.7989159,"cg_id_a":-0.175680265,"cg_id_raw_a":0.302657008,"cg_iq_a":-0.426929355,"cg_iq_raw_a":-0.114169933,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9581814,"cg_sample_seq":14664167,"cg_sample_valid":1,"cg_theta_rad":5.00619411,"cg_vd_req_v":0.107152395,"cg_vd_v":0.107152395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337038547,"cg_vq_v":-0.337038547,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2202454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38772,"EncoderSin":12456,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1098862,"cg_dv":50.2052078,"cg_dw":49.7947922,"cg_id_a":-0.256006926,"cg_id_raw_a":-0.606731951,"cg_iq_a":-0.458688408,"cg_iq_raw_a":-1.03415096,"cg_iu_a":-0.432392597,"cg_iv_a":0.359104633,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8527279,"cg_sample_seq":14664220,"cg_sample_valid":1,"cg_theta_rad":5.0085907,"cg_vd_req_v":0.109961793,"cg_vd_v":0.109961793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342835009,"cg_vq_v":-0.342835009,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.0363045931,"dclink_p_w":-5.25416994,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12439,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258926,"cg_dv":50.2072983,"cg_dw":49.7927017,"cg_id_a":0.0194377787,"cg_id_raw_a":-0.1175595,"cg_iq_a":-0.0154890493,"cg_iq_raw_a":-0.521542192,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8672733,"cg_sample_seq":14664266,"cg_sample_valid":1,"cg_theta_rad":5.00687599,"cg_vd_req_v":0.105228804,"cg_vd_v":0.105228804,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352862924,"cg_vq_v":-0.352862924,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.81020927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260414,"cg_dv":50.2064857,"cg_dw":49.7935143,"cg_id_a":0.208285809,"cg_id_raw_a":0.275686234,"cg_iq_a":0.00301714242,"cg_iq_raw_a":0.609138489,"cg_iu_a":0.111264944,"cg_iv_a":0.757786751,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8272724,"cg_sample_seq":14664316,"cg_sample_valid":1,"cg_theta_rad":5.00753307,"cg_vd_req_v":0.100541055,"cg_vd_v":0.100541055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351783574,"cg_vq_v":-0.351783574,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12467,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1354332,"cg_dv":50.215538,"cg_dw":49.784462,"cg_id_a":0.109901927,"cg_id_raw_a":-0.225838438,"cg_iq_a":0.758551598,"cg_iq_raw_a":0.561587811,"cg_iu_a":-0.686099291,"cg_iv_a":0.467836142,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9509087,"cg_sample_seq":14664366,"cg_sample_valid":1,"cg_theta_rad":5.00637674,"cg_vd_req_v":0.102898233,"cg_vd_v":0.102898233,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369086027,"cg_vq_v":-0.369086027,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12447,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1195641,"cg_dv":50.2027092,"cg_dw":49.7972908,"cg_id_a":-0.0655868948,"cg_id_raw_a":-0.149103403,"cg_iq_a":-0.442233205,"cg_iq_raw_a":-0.851992011,"cg_iu_a":0.111264944,"cg_iv_a":0.322860837,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.8600006,"cg_sample_seq":14664416,"cg_sample_valid":1,"cg_theta_rad":5.00651217,"cg_vd_req_v":0.105667852,"cg_vd_v":0.106284127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341902375,"cg_vq_v":-0.346184075,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":102.494972,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2572327,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12447,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296463,"cg_dv":50.2081413,"cg_dw":49.7918587,"cg_id_a":0.13642779,"cg_id_raw_a":0.327507824,"cg_iq_a":0.0867881477,"cg_iq_raw_a":-0.586137295,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9763641,"cg_sample_seq":14664467,"cg_sample_valid":1,"cg_theta_rad":5.00792027,"cg_vd_req_v":0.101139866,"cg_vd_v":0.101139866,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356700838,"cg_vq_v":-0.356700838,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1375809,"cg_dv":50.2150955,"cg_dw":49.7849045,"cg_id_a":0.0948735103,"cg_id_raw_a":1.20743418,"cg_iq_a":0.563462317,"cg_iq_raw_a":1.86265504,"cg_iu_a":-0.14244175,"cg_iv_a":0.105397701,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9472733,"cg_sample_seq":14664517,"cg_sample_valid":1,"cg_theta_rad":5.00631762,"cg_vd_req_v":0.100397035,"cg_vd_v":0.100397035,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371000975,"cg_vq_v":-0.371000975,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38769,"EncoderSin":12488,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325417,"cg_dv":50.2109375,"cg_dw":49.7890625,"cg_id_a":0.0764374509,"cg_id_raw_a":0.357395023,"cg_iq_a":0.234540671,"cg_iq_raw_a":0.940672755,"cg_iu_a":-0.0337104797,"cg_iv_a":0.467836082,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9872723,"cg_sample_seq":14664567,"cg_sample_valid":1,"cg_theta_rad":5.00657558,"cg_vd_req_v":0.0969392732,"cg_vd_v":0.0969392732,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363415301,"cg_vq_v":-0.363415301,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115614563,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12446,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315536,"cg_dv":50.2085571,"cg_dw":49.7914429,"cg_id_a":-0.00889936462,"cg_id_raw_a":-0.313758433,"cg_iq_a":-0.0814570412,"cg_iq_raw_a":0.626879632,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9799995,"cg_sample_seq":14664617,"cg_sample_valid":1,"cg_theta_rad":5.00598717,"cg_vd_req_v":0.097819455,"cg_vd_v":0.097819455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357790649,"cg_vq_v":-0.357790649,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.108792186,"dclink_p_w":-15.7449112,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295815,"cg_dv":50.2090912,"cg_dw":49.7909088,"cg_id_a":-0.0617938489,"cg_id_raw_a":-0.109193243,"cg_iq_a":-0.058976233,"cg_iq_raw_a":-0.91890794,"cg_iu_a":0.00253343582,"cg_iv_a":-0.909429669,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9872723,"cg_sample_seq":14664667,"cg_sample_valid":1,"cg_theta_rad":5.0064764,"cg_vd_req_v":0.0991288573,"cg_vd_v":0.0991288573,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357627213,"cg_vq_v":-0.357627213,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.4312401,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12466,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494751,"cg_dv":50.2101326,"cg_dw":49.7898674,"cg_id_a":0.54595685,"cg_id_raw_a":0.445629388,"cg_iq_a":0.451533496,"cg_iq_raw_a":-0.501495898,"cg_iu_a":0.292484045,"cg_iv_a":-0.474503517,"cg_iw_a":0.182019472,"cg_sample_age_us":26.8163643,"cg_sample_seq":14664722,"cg_sample_valid":1,"cg_theta_rad":5.00618458,"cg_vd_req_v":0.0874055177,"cg_vd_v":0.0874055177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36941877,"cg_vq_v":-0.36941877,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.206650615,"dclink_p_w":-29.9074383,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12444,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398087,"cg_dv":50.2118607,"cg_dw":49.7881393,"cg_id_a":0.110163674,"cg_id_raw_a":0.114273079,"cg_iq_a":0.339575142,"cg_iq_raw_a":0.521655202,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9836369,"cg_sample_seq":14664766,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0959739313,"cg_vd_v":0.0959739313,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366518438,"cg_vq_v":-0.366518438,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12440,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1301117,"cg_dv":50.2073441,"cg_dw":49.7926559,"cg_id_a":-0.277087152,"cg_id_raw_a":-0.155104905,"cg_iq_a":-0.0535241589,"cg_iq_raw_a":0.458656102,"cg_iu_a":0.43745935,"cg_iv_a":0.21412921,"cg_iw_a":-0.651588559,"cg_sample_age_us":23.9436359,"cg_sample_seq":14664816,"cg_sample_valid":1,"cg_theta_rad":5.00722837,"cg_vd_req_v":0.101137161,"cg_vd_v":0.101137161,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355556786,"cg_vq_v":-0.355556786,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.2652817,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.9354353,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1379585,"cg_dv":50.2048149,"cg_dw":49.7951851,"cg_id_a":0.190823048,"cg_id_raw_a":0.0770363733,"cg_iq_a":0.0733759254,"cg_iq_raw_a":-0.173618332,"cg_iu_a":-0.0337104797,"cg_iv_a":0.359104633,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9690914,"cg_sample_seq":14664866,"cg_sample_valid":1,"cg_theta_rad":5.00851107,"cg_vd_req_v":0.0919592977,"cg_vd_v":0.0919592977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3566975,"cg_vq_v":-0.3566975,"cg_vu_v":39.1504402,"cg_vv_v":45.7488289,"cg_vw_v":61.5849609,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12453,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297188,"cg_dv":50.202282,"cg_dw":49.797718,"cg_id_a":0.0982497036,"cg_id_raw_a":0.629478335,"cg_iq_a":-0.281777948,"cg_iq_raw_a":-0.446931332,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14664916,"cg_sample_valid":1,"cg_theta_rad":5.0056119,"cg_vd_req_v":0.0952496827,"cg_vd_v":0.0952496827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347654372,"cg_vq_v":-0.347654372,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2634277,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12458,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1448898,"cg_dv":50.2117996,"cg_dw":49.7882004,"cg_id_a":0.171453357,"cg_id_raw_a":0.743245721,"cg_iq_a":0.737567544,"cg_iq_raw_a":1.75252914,"cg_iu_a":-0.939806223,"cg_iv_a":-0.619478941,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9072723,"cg_sample_seq":14664966,"cg_sample_valid":1,"cg_theta_rad":5.00709438,"cg_vd_req_v":0.0938327089,"cg_vd_v":0.0938327089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368800253,"cg_vq_v":-0.368800253,"cg_vu_v":40.0302238,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1441612,"cg_dv":50.205471,"cg_dw":49.794529,"cg_id_a":0.592196345,"cg_id_raw_a":0.672706485,"cg_iq_a":0.319947243,"cg_iq_raw_a":-0.264119178,"cg_iu_a":0.691166282,"cg_iv_a":0.10539782,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.954546,"cg_sample_seq":14665016,"cg_sample_valid":1,"cg_theta_rad":5.00788021,"cg_vd_req_v":0.0850501135,"cg_vd_v":0.0850501135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360576779,"cg_vq_v":-0.360576779,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.5418711,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38682,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394272,"cg_dv":50.207531,"cg_dw":49.792469,"cg_id_a":0.0197038651,"cg_id_raw_a":0.44497782,"cg_iq_a":0.513398468,"cg_iq_raw_a":-0.061479412,"cg_iu_a":-0.577367783,"cg_iv_a":0.177885473,"cg_iw_a":0.39948231,"cg_sample_age_us":24.0381813,"cg_sample_seq":14665066,"cg_sample_valid":1,"cg_theta_rad":5.00687361,"cg_vd_req_v":0.0952451974,"cg_vd_v":0.0952451974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359586865,"cg_vq_v":-0.359586865,"cg_vu_v":41.7897949,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12461,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347008,"cg_dv":50.2104034,"cg_dw":49.7895966,"cg_id_a":-0.0706019253,"cg_id_raw_a":0.0927489921,"cg_iq_a":0.640178382,"cg_iq_raw_a":-0.136507973,"cg_iu_a":-0.613611698,"cg_iv_a":-0.655722737,"cg_iw_a":1.26933444,"cg_sample_age_us":23.954546,"cg_sample_seq":14665116,"cg_sample_valid":1,"cg_theta_rad":5.0075984,"cg_vd_req_v":0.0959748551,"cg_vd_v":0.0959748551,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363549113,"cg_vq_v":-0.363549113,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12427,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1311798,"cg_dv":50.1983719,"cg_dw":49.8016281,"cg_id_a":0.146770447,"cg_id_raw_a":-0.0415686145,"cg_iq_a":-0.348733127,"cg_iq_raw_a":-0.877580941,"cg_iu_a":0.00253343582,"cg_iv_a":0.504079938,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9436359,"cg_sample_seq":14665166,"cg_sample_valid":1,"cg_theta_rad":5.0056982,"cg_vd_req_v":0.0911068767,"cg_vd_v":0.0911068767,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344068795,"cg_vq_v":-0.344068795,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12433,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1402054,"cg_dv":50.2104034,"cg_dw":49.7895966,"cg_id_a":-0.0580276176,"cg_id_raw_a":-0.0450911708,"cg_iq_a":0.422867864,"cg_iq_raw_a":-0.00373018906,"cg_iu_a":-0.468636513,"cg_iv_a":-0.438259721,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9799995,"cg_sample_seq":14665216,"cg_sample_valid":1,"cg_theta_rad":5.00650215,"cg_vd_req_v":0.0955978408,"cg_vd_v":0.0955978408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36440447,"cg_vq_v":-0.36440447,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2557068,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347427,"cg_dv":50.2121658,"cg_dw":49.7878342,"cg_id_a":-0.410869211,"cg_id_raw_a":-0.84573704,"cg_iq_a":0.415910006,"cg_iq_raw_a":0.864198267,"cg_iu_a":0.111264944,"cg_iv_a":0.286616921,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.8563633,"cg_sample_seq":14665269,"cg_sample_valid":1,"cg_theta_rad":5.00499916,"cg_vd_req_v":0.10094662,"cg_vd_v":0.10094662,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363899112,"cg_vq_v":-0.363899112,"cg_vu_v":116.131638,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12465,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1354256,"cg_dv":50.2068825,"cg_dw":49.7931175,"cg_id_a":-0.0321011581,"cg_id_raw_a":-0.299277097,"cg_iq_a":-0.0839646682,"cg_iq_raw_a":-0.208909586,"cg_iu_a":0.292484045,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9836369,"cg_sample_seq":14665316,"cg_sample_valid":1,"cg_theta_rad":5.00715876,"cg_vd_req_v":0.0930934548,"cg_vd_v":0.0930934548,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357682019,"cg_vq_v":-0.357682019,"cg_vu_v":29.0329094,"cg_vv_v":17.1558094,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2834473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12440,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1273727,"cg_dv":50.2032661,"cg_dw":49.7967339,"cg_id_a":-0.189970553,"cg_id_raw_a":0.363925785,"cg_iq_a":-0.564666748,"cg_iq_raw_a":-0.328905076,"cg_iu_a":-0.359905005,"cg_iv_a":0.431592286,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9872723,"cg_sample_seq":14665366,"cg_sample_valid":1,"cg_theta_rad":5.00690603,"cg_vd_req_v":0.0965417698,"cg_vd_v":0.0965417698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348091304,"cg_vq_v":-0.348091304,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.0845566,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0036758983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308937,"cg_dv":50.199379,"cg_dw":49.800621,"cg_id_a":0.0158205759,"cg_id_raw_a":-0.227889672,"cg_iq_a":-0.698749185,"cg_iq_raw_a":-0.931818545,"cg_iu_a":0.328727961,"cg_iv_a":0.39534843,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.8600006,"cg_sample_seq":14665517,"cg_sample_valid":1,"cg_theta_rad":5.00756216,"cg_vd_req_v":0.0910951123,"cg_vd_v":0.0910951123,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344479233,"cg_vq_v":-0.344479233,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.532723606,"dclink_p_w":77.0982437,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2341309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12431,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333694,"cg_dv":50.201725,"cg_dw":49.798275,"cg_id_a":0.0924637765,"cg_id_raw_a":-0.117965065,"cg_iq_a":-0.117000766,"cg_iq_raw_a":-0.338267833,"cg_iu_a":0.256240129,"cg_iv_a":0.721542954,"cg_iw_a":-0.977783084,"cg_sample_age_us":23.8745461,"cg_sample_seq":14665567,"cg_sample_valid":1,"cg_theta_rad":5.00623178,"cg_vd_req_v":0.0910246894,"cg_vd_v":0.0910246894,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349167645,"cg_vq_v":-0.349167645,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.567155302,"dclink_p_w":82.0813522,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2341309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110830858,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12447,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1244698,"cg_dv":50.1986732,"cg_dw":49.8013268,"cg_id_a":-0.0796633586,"cg_id_raw_a":-0.0724747926,"cg_iq_a":-0.562474847,"cg_iq_raw_a":-0.152047276,"cg_iu_a":0.836141586,"cg_iv_a":0.21412921,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9509087,"cg_sample_seq":14665617,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0959135219,"cg_vd_v":0.0959135219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339783877,"cg_vq_v":-0.339783877,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.567155302,"dclink_p_w":82.0813522,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.210968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12449,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1288948,"cg_dv":50.20187,"cg_dw":49.79813,"cg_id_a":-0.12298391,"cg_id_raw_a":-0.111150473,"cg_iq_a":-0.0660249293,"cg_iq_raw_a":0.0261717923,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14665667,"cg_sample_valid":1,"cg_theta_rad":5.00685692,"cg_vd_req_v":0.0957434475,"cg_vd_v":0.0957434475,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346560597,"cg_vq_v":-0.346560597,"cg_vu_v":123.169922,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.567155302,"dclink_p_w":82.0813522,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2310181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12455,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1353912,"cg_dv":50.1926765,"cg_dw":49.8073235,"cg_id_a":0.439694613,"cg_id_raw_a":0.563881457,"cg_iq_a":-0.429057777,"cg_iq_raw_a":0.823997915,"cg_iu_a":-0.0699541569,"cg_iv_a":1.2652005,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9509087,"cg_sample_seq":14665717,"cg_sample_valid":1,"cg_theta_rad":5.00499916,"cg_vd_req_v":0.0828579217,"cg_vd_v":0.0828579217,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337451965,"cg_vq_v":-0.337451965,"cg_vu_v":124.929489,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2310181,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1299744,"cg_dv":50.2010193,"cg_dw":49.7989807,"cg_id_a":-0.0647222921,"cg_id_raw_a":0.23468858,"cg_iq_a":0.0933256224,"cg_iq_raw_a":-0.959924996,"cg_iu_a":0.14750886,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9472733,"cg_sample_seq":14665770,"cg_sample_valid":1,"cg_theta_rad":5.00782585,"cg_vd_req_v":0.0927391946,"cg_vd_v":0.0927391946,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347501814,"cg_vq_v":-0.347501814,"cg_vu_v":13.6366701,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2659.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12447,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1337891,"cg_dv":50.2007141,"cg_dw":49.7992859,"cg_id_a":0.17574501,"cg_id_raw_a":0.153881714,"cg_iq_a":0.108620614,"cg_iq_raw_a":0.342708707,"cg_iu_a":0.00253343582,"cg_iv_a":0.177885473,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9436359,"cg_sample_seq":14665817,"cg_sample_valid":1,"cg_theta_rad":5.00742865,"cg_vd_req_v":0.0885388553,"cg_vd_v":0.0885388553,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348326147,"cg_vq_v":-0.348326147,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12467,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.124649,"cg_dv":50.1959648,"cg_dw":49.8040352,"cg_id_a":0.165370226,"cg_id_raw_a":0.00107566628,"cg_iq_a":-0.374483526,"cg_iq_raw_a":0.182859272,"cg_iu_a":0.147508621,"cg_iv_a":0.57656759,"cg_iw_a":-0.724076211,"cg_sample_age_us":23.9872723,"cg_sample_seq":14665867,"cg_sample_valid":1,"cg_theta_rad":5.00635719,"cg_vd_req_v":0.0900266767,"cg_vd_v":0.0900266767,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335953444,"cg_vq_v":-0.335953444,"cg_vu_v":133.287445,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12469,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1248665,"cg_dv":50.1975861,"cg_dw":49.8024139,"cg_id_a":0.115713917,"cg_id_raw_a":0.485796213,"cg_iq_a":-0.197916746,"cg_iq_raw_a":-0.0635312796,"cg_iu_a":0.437459469,"cg_iv_a":-0.220796824,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14665917,"cg_sample_valid":1,"cg_theta_rad":5.00699759,"cg_vd_req_v":0.0920553729,"cg_vd_v":0.0920553729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338107884,"cg_vq_v":-0.338107884,"cg_vu_v":3.07924795,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":1.00026906,"dclink_p_w":144.763596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233788,"cg_dv":50.1992493,"cg_dw":49.8007507,"cg_id_a":-0.00838786736,"cg_id_raw_a":0.124547228,"cg_iq_a":0.18249546,"cg_iq_raw_a":-0.860940337,"cg_iu_a":-0.323661089,"cg_iv_a":-0.510747313,"cg_iw_a":0.834408402,"cg_sample_age_us":23.8672733,"cg_sample_seq":14665966,"cg_sample_valid":1,"cg_theta_rad":5.00666094,"cg_vd_req_v":0.0959862098,"cg_vd_v":0.0959862098,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340335429,"cg_vq_v":-0.340335429,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.761059821,"dclink_p_w":110.144119,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189804,"cg_dv":50.1917763,"cg_dw":49.8082237,"cg_id_a":0.0403442867,"cg_id_raw_a":0.0412382223,"cg_iq_a":-0.714341223,"cg_iq_raw_a":-0.250137389,"cg_iu_a":0.256240368,"cg_iv_a":0.467836142,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9254551,"cg_sample_seq":14666017,"cg_sample_valid":1,"cg_theta_rad":5.00717354,"cg_vd_req_v":0.0920466408,"cg_vd_v":0.0920466408,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327743709,"cg_vq_v":-0.327743709,"cg_vu_v":143.844864,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.761059821,"dclink_p_w":110.144119,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.24646,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186256,"cg_dv":50.1975479,"cg_dw":49.8024521,"cg_id_a":-0.352139145,"cg_id_raw_a":-0.426966578,"cg_iq_a":-0.260089219,"cg_iq_raw_a":0.032653179,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0758214593,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9618187,"cg_sample_seq":14666066,"cg_sample_valid":1,"cg_theta_rad":5.00782919,"cg_vd_req_v":0.0984202772,"cg_vd_v":0.0984202772,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335261285,"cg_vq_v":-0.335261285,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.86435473,"dclink_p_w":125.093437,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2418213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2659.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12489,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.131752,"cg_dv":50.2015228,"cg_dw":49.7984772,"cg_id_a":-0.0415218249,"cg_id_raw_a":0.250811756,"cg_iq_a":0.334363192,"cg_iq_raw_a":0.827042222,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148309052,"cg_iw_a":0.471970141,"cg_sample_age_us":23.9836369,"cg_sample_seq":14666117,"cg_sample_valid":1,"cg_theta_rad":5.00814676,"cg_vd_req_v":0.0931621939,"cg_vd_v":0.0931621939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347702235,"cg_vq_v":-0.347702235,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.748374462,"dclink_p_w":108.308235,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2418213,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116520949,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2659.9711,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2659.971121,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2659.971127,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2659.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12459,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266975,"cg_dv":50.1867752,"cg_dw":49.8132248,"cg_id_a":0.460452467,"cg_id_raw_a":0.229200646,"cg_iq_a":-0.645436287,"cg_iq_raw_a":-0.0125639914,"cg_iu_a":-0.323661089,"cg_iv_a":-0.220796704,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9363632,"cg_sample_seq":14666167,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0828712583,"cg_vd_v":0.0828712583,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323754251,"cg_vq_v":-0.323754251,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":105.947815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2659.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12443,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255302,"cg_dv":50.1992798,"cg_dw":49.8007202,"cg_id_a":-0.130687162,"cg_id_raw_a":0.20147945,"cg_iq_a":0.115119934,"cg_iq_raw_a":-0.161741227,"cg_iu_a":0.14750886,"cg_iv_a":-0.764454246,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9181824,"cg_sample_seq":14666217,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0947034284,"cg_vd_v":0.0947034284,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340360343,"cg_vq_v":-0.340360343,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":105.947815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12452,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218872,"cg_dv":50.1968346,"cg_dw":49.8031654,"cg_id_a":-0.0891657472,"cg_id_raw_a":0.0309413876,"cg_iq_a":-0.208113492,"cg_iq_raw_a":-0.797247469,"cg_iu_a":-0.86731863,"cg_iv_a":0.0691539645,"cg_iw_a":0.798164666,"cg_sample_age_us":23.8563633,"cg_sample_seq":14666270,"cg_sample_valid":1,"cg_theta_rad":5.00792313,"cg_vd_req_v":0.0951142609,"cg_vd_v":0.0951142609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336126655,"cg_vq_v":-0.336126655,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":105.947815,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2567,"hz_tim_isr":4999,"hz_vsense":2567,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252441,"cg_dv":50.2028084,"cg_dw":49.7971916,"cg_id_a":-0.440806806,"cg_id_raw_a":-0.245910347,"cg_iq_a":0.211105138,"cg_iq_raw_a":-0.0971252993,"cg_iu_a":1.05360472,"cg_iv_a":-0.619478941,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14666416,"cg_sample_valid":1,"cg_theta_rad":5.00831604,"cg_vd_req_v":0.100978509,"cg_vd_v":0.100978509,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347639322,"cg_vq_v":-0.347639322,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.9772148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2660.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12457,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327133,"cg_dv":50.199707,"cg_dw":49.800293,"cg_id_a":0.0693489239,"cg_id_raw_a":0.270828784,"cg_iq_a":0.00767781958,"cg_iq_raw_a":-0.00876827631,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539645,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9872723,"cg_sample_seq":14666467,"cg_sample_valid":1,"cg_theta_rad":5.00620985,"cg_vd_req_v":0.0902579948,"cg_vd_v":0.0902579948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344749689,"cg_vq_v":-0.344749689,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.9772148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12447,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412468,"cg_dv":50.2071762,"cg_dw":49.7928238,"cg_id_a":0.100439511,"cg_id_raw_a":-0.0940181762,"cg_iq_a":0.775187254,"cg_iq_raw_a":0.501486301,"cg_iu_a":-0.39614892,"cg_iv_a":-0.184552908,"cg_iw_a":0.580701828,"cg_sample_age_us":23.863636,"cg_sample_seq":14666517,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.0903048292,"cg_vd_v":0.0903048292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360953748,"cg_vq_v":-0.360953748,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.9772148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115765624,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12464,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257362,"cg_dv":50.2038956,"cg_dw":49.7961044,"cg_id_a":-0.267142057,"cg_id_raw_a":0.00652115885,"cg_iq_a":0.0109911244,"cg_iq_raw_a":0.54764843,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397701,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.8527279,"cg_sample_seq":14666567,"cg_sample_valid":1,"cg_theta_rad":5.00685453,"cg_vd_req_v":0.0993639827,"cg_vd_v":0.0993639827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347771615,"cg_vq_v":-0.347771615,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.275392413,"dclink_p_w":39.9772148,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1300812,"cg_dv":50.2054291,"cg_dw":49.7945709,"cg_id_a":-0.210412562,"cg_id_raw_a":0.269977033,"cg_iq_a":0.18019034,"cg_iq_raw_a":0.427907586,"cg_iu_a":0.437459469,"cg_iv_a":-0.691966653,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9836369,"cg_sample_seq":14666617,"cg_sample_valid":1,"cg_theta_rad":5.00638723,"cg_vd_req_v":0.0981329829,"cg_vd_v":0.0981329829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353257358,"cg_vq_v":-0.353257358,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291924,"cg_dv":50.2033157,"cg_dw":49.7966843,"cg_id_a":-0.101956666,"cg_id_raw_a":0.0667871386,"cg_iq_a":-0.219201058,"cg_iq_raw_a":-0.28394866,"cg_iu_a":-0.432392359,"cg_iv_a":0.0329101086,"cg_iw_a":0.39948225,"cg_sample_age_us":23.9145451,"cg_sample_seq":14666667,"cg_sample_valid":1,"cg_theta_rad":5.00655794,"cg_vd_req_v":0.0970880687,"cg_vd_v":0.0970880687,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349788398,"cg_vq_v":-0.349788398,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.923214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2402649,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.073486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12425,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1290321,"cg_dv":50.2039719,"cg_dw":49.7960281,"cg_id_a":-0.216118962,"cg_id_raw_a":-0.239759475,"cg_iq_a":-0.110371932,"cg_iq_raw_a":0.449473083,"cg_iu_a":0.364971876,"cg_iv_a":-0.402015865,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.9872723,"cg_sample_seq":14666717,"cg_sample_valid":1,"cg_theta_rad":5.00890064,"cg_vd_req_v":0.0997554362,"cg_vd_v":0.0997554362,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350056291,"cg_vq_v":-0.350056291,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38762,"EncoderSin":12469,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1247292,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":-0.261114299,"cg_id_raw_a":0.219755426,"cg_iq_a":0.130993113,"cg_iq_raw_a":0.565959871,"cg_iu_a":0.038777113,"cg_iv_a":0.540323734,"cg_iw_a":-0.579100847,"cg_sample_age_us":23.8563633,"cg_sample_seq":14666770,"cg_sample_valid":1,"cg_theta_rad":5.00799036,"cg_vd_req_v":0.101229221,"cg_vd_v":0.101229221,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353942245,"cg_vq_v":-0.353942245,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304512,"cg_dv":50.2043762,"cg_dw":49.7956238,"cg_id_a":-0.00887582451,"cg_id_raw_a":0.0730061233,"cg_iq_a":-0.0549988113,"cg_iq_raw_a":-0.356274545,"cg_iu_a":0.038777113,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0370442867,"cg_sample_age_us":23.9290905,"cg_sample_seq":14666816,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.0959234014,"cg_vd_v":0.0959234014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351127595,"cg_vq_v":-0.351127595,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.132229328,"dclink_p_w":19.1950111,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1311607,"cg_dv":50.1978111,"cg_dw":49.8021889,"cg_id_a":0.173236459,"cg_id_raw_a":-0.858210444,"cg_iq_a":-0.331134796,"cg_iq_raw_a":0.13187322,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14666868,"cg_sample_valid":1,"cg_theta_rad":5.00731277,"cg_vd_req_v":0.0908698365,"cg_vd_v":0.0908698365,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342102289,"cg_vq_v":-0.342102289,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.4160013,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12463,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1300278,"cg_dv":50.2014923,"cg_dw":49.7985077,"cg_id_a":-0.0950384289,"cg_id_raw_a":0.272045672,"cg_iq_a":-0.0275735855,"cg_iq_raw_a":-1.24644101,"cg_iu_a":0.364971876,"cg_iv_a":-0.836941957,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9218178,"cg_sample_seq":14666917,"cg_sample_valid":1,"cg_theta_rad":5.00648165,"cg_vd_req_v":0.0956535563,"cg_vd_v":0.0956535563,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346364558,"cg_vq_v":-0.346364558,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12451,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1323166,"cg_dv":50.1976547,"cg_dw":49.8023453,"cg_id_a":0.20182018,"cg_id_raw_a":0.373065978,"cg_iq_a":-0.0520057082,"cg_iq_raw_a":-0.398905158,"cg_iu_a":-0.468636274,"cg_iv_a":-0.112065256,"cg_iw_a":0.58070153,"cg_sample_age_us":23.9836369,"cg_sample_seq":14666967,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.0894901678,"cg_vd_v":0.0894901678,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343739092,"cg_vq_v":-0.343739092,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115463488,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12445,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1240311,"cg_dv":50.1993217,"cg_dw":49.8006783,"cg_id_a":-0.241454735,"cg_id_raw_a":-0.496798277,"cg_iq_a":-0.306236565,"cg_iq_raw_a":-0.741183341,"cg_iu_a":0.292484045,"cg_iv_a":-0.873185754,"cg_iw_a":0.580701709,"cg_sample_age_us":23.954546,"cg_sample_seq":14667017,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.0976970717,"cg_vd_v":0.0976970717,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341307133,"cg_vq_v":-0.341307133,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.53862,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12497,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1227379,"cg_dv":50.1999664,"cg_dw":49.8000336,"cg_id_a":-0.289144695,"cg_id_raw_a":-0.557353795,"cg_iq_a":-0.254704028,"cg_iq_raw_a":-0.346752077,"cg_iu_a":-0.14244175,"cg_iv_a":0.032910049,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9618187,"cg_sample_seq":14667067,"cg_sample_valid":1,"cg_theta_rad":5.00805664,"cg_vd_req_v":0.0994457379,"cg_vd_v":0.0994457379,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341425329,"cg_vq_v":-0.341425329,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.12135613,"dclink_p_w":17.5632248,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12467,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.122139,"cg_dv":50.1993713,"cg_dw":49.8006287,"cg_id_a":-0.0189146176,"cg_id_raw_a":0.469393641,"cg_iq_a":-0.211741507,"cg_iq_raw_a":0.336197674,"cg_iu_a":0.256240368,"cg_iv_a":-0.510747433,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9909096,"cg_sample_seq":14667117,"cg_sample_valid":1,"cg_theta_rad":5.00663328,"cg_vd_req_v":0.0967955068,"cg_vd_v":0.0967955068,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339888871,"cg_vq_v":-0.339888871,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1253204,"cg_dv":50.2066803,"cg_dw":49.7933197,"cg_id_a":-0.220322877,"cg_id_raw_a":-0.0349658616,"cg_iq_a":0.289380223,"cg_iq_raw_a":0.106610246,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.329528213,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9618187,"cg_sample_seq":14667167,"cg_sample_valid":1,"cg_theta_rad":5.00792313,"cg_vd_req_v":0.103010878,"cg_vd_v":0.103010878,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351145267,"cg_vq_v":-0.351145267,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":0.0234978199,"dclink_p_w":3.40071392,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12438,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196747,"cg_dv":50.2014275,"cg_dw":49.7985725,"cg_id_a":-0.0163878351,"cg_id_raw_a":0.215865299,"cg_iq_a":-0.0284505114,"cg_iq_raw_a":0.129745781,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796824,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9436359,"cg_sample_seq":14667217,"cg_sample_valid":1,"cg_theta_rad":5.00766945,"cg_vd_req_v":0.0998574793,"cg_vd_v":0.0998574793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341570705,"cg_vq_v":-0.341570705,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4319057,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3955688,"temp_inv2_c":35.2279358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423759,"cg_dv":50.2067642,"cg_dw":49.7932358,"cg_id_a":0.646139264,"cg_id_raw_a":0.382621169,"cg_iq_a":0.963155925,"cg_iq_raw_a":0.14487198,"cg_iu_a":0.219996452,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.144175053,"cg_sample_age_us":26.8199997,"cg_sample_seq":14667270,"cg_sample_valid":1,"cg_theta_rad":5.00802135,"cg_vd_req_v":0.0872500688,"cg_vd_v":0.0872500688,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362614363,"cg_vq_v":-0.362614363,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4319057,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234779,"cg_dv":50.204998,"cg_dw":49.795002,"cg_id_a":0.0031517297,"cg_id_raw_a":0.298812896,"cg_iq_a":0.255815804,"cg_iq_raw_a":0.138254195,"cg_iu_a":-0.214929581,"cg_iv_a":-0.546991229,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9472733,"cg_sample_seq":14667317,"cg_sample_valid":1,"cg_theta_rad":5.00554323,"cg_vd_req_v":0.101635143,"cg_vd_v":0.101635143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349323362,"cg_vq_v":-0.349323362,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2433777,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12470,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1245918,"cg_dv":50.2098427,"cg_dw":49.7901573,"cg_id_a":-0.108329952,"cg_id_raw_a":0.791985273,"cg_iq_a":0.571085989,"cg_iq_raw_a":1.89201617,"cg_iu_a":0.328727961,"cg_iv_a":0.0329101086,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.8818188,"cg_sample_seq":14667367,"cg_sample_valid":1,"cg_theta_rad":5.00708389,"cg_vd_req_v":0.104025789,"cg_vd_v":0.104025789,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356984407,"cg_vq_v":-0.356984407,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.1427479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12440,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1374893,"cg_dv":50.2049408,"cg_dw":49.7950592,"cg_id_a":0.360940933,"cg_id_raw_a":0.0424824059,"cg_iq_a":0.472045481,"cg_iq_raw_a":0.369577825,"cg_iu_a":-0.214929581,"cg_iv_a":0.794030607,"cg_iw_a":-0.579101026,"cg_sample_age_us":23.9872723,"cg_sample_seq":14667417,"cg_sample_valid":1,"cg_theta_rad":5.00765324,"cg_vd_req_v":0.0934336558,"cg_vd_v":0.0934336558,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35519132,"cg_vq_v":-0.35519132,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.1427479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364403,"cg_dv":50.2056046,"cg_dw":49.7943954,"cg_id_a":0.432791144,"cg_id_raw_a":0.0628174394,"cg_iq_a":0.434564888,"cg_iq_raw_a":0.407295406,"cg_iu_a":-1.48346353,"cg_iv_a":0.105397701,"cg_iw_a":1.37806582,"cg_sample_age_us":23.9509087,"cg_sample_seq":14667467,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0920651034,"cg_vd_v":0.0920651034,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356246978,"cg_vq_v":-0.356246978,"cg_vu_v":114.37207,"cg_vv_v":125.369385,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.1427479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.238739,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12455,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197777,"cg_dv":50.2002563,"cg_dw":49.7997437,"cg_id_a":-0.0196744129,"cg_id_raw_a":0.187647223,"cg_iq_a":-0.320305288,"cg_iq_raw_a":0.419296086,"cg_iu_a":-0.106198072,"cg_iv_a":0.540323794,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9581814,"cg_sample_seq":14667517,"cg_sample_valid":1,"cg_theta_rad":5.00704479,"cg_vd_req_v":0.100100785,"cg_vd_v":0.100100785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339601636,"cg_vq_v":-0.339601636,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.124980569,"dclink_p_w":18.1427479,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12458,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1243668,"cg_dv":50.2049675,"cg_dw":49.7950325,"cg_id_a":-0.0402347371,"cg_id_raw_a":0.17106621,"cg_iq_a":-0.0576856881,"cg_iq_raw_a":-0.492257833,"cg_iu_a":-0.178685665,"cg_iv_a":-0.25704062,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9436359,"cg_sample_seq":14667567,"cg_sample_valid":1,"cg_theta_rad":5.00736809,"cg_vd_req_v":0.101861119,"cg_vd_v":0.101861119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348348856,"cg_vq_v":-0.348348856,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56957746,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12429,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225433,"cg_dv":50.2133408,"cg_dw":49.7866592,"cg_id_a":0.0327389017,"cg_id_raw_a":-0.757867396,"cg_iq_a":0.212188527,"cg_iq_raw_a":0.797872841,"cg_iu_a":-0.251173258,"cg_iv_a":0.214129269,"cg_iw_a":0.0370439887,"cg_sample_age_us":23.8527279,"cg_sample_seq":14667616,"cg_sample_valid":1,"cg_theta_rad":5.00622034,"cg_vd_req_v":0.111765668,"cg_vd_v":0.111765668,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359797329,"cg_vq_v":-0.359797329,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56957746,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.129097,"cg_dv":50.2085075,"cg_dw":49.7914925,"cg_id_a":-0.0766033679,"cg_id_raw_a":0.213904887,"cg_iq_a":0.256937265,"cg_iq_raw_a":0.568196952,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14667666,"cg_sample_valid":1,"cg_theta_rad":5.00595379,"cg_vd_req_v":0.102072924,"cg_vd_v":0.102072924,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356852114,"cg_vq_v":-0.356852114,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.157599926,"dclink_p_w":22.8779221,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.125843,"cg_dv":50.2005615,"cg_dw":49.7994385,"cg_id_a":0.24028717,"cg_id_raw_a":0.345073313,"cg_iq_a":-0.448915064,"cg_iq_raw_a":-0.547843158,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065196,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8563633,"cg_sample_seq":14667716,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0958745033,"cg_vd_v":0.0958745033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343346804,"cg_vq_v":-0.343346804,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.320697188,"dclink_p_w":46.4127884,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12480,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214294,"cg_dv":50.2042809,"cg_dw":49.7957191,"cg_id_a":-0.00405090675,"cg_id_raw_a":0.153841496,"cg_iq_a":-0.0737784803,"cg_iq_raw_a":-0.349340916,"cg_iu_a":-0.251173496,"cg_iv_a":0.431592286,"cg_iw_a":-0.180418789,"cg_sample_age_us":26.8199997,"cg_sample_seq":14667770,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.100455813,"cg_vd_v":0.100455813,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34666422,"cg_vq_v":-0.34666422,"cg_vu_v":120.090675,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.463860393,"dclink_p_w":67.1320343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12427,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1173439,"cg_dv":50.19907,"cg_dw":49.80093,"cg_id_a":-0.0538008288,"cg_id_raw_a":0.0616401732,"cg_iq_a":-0.350213945,"cg_iq_raw_a":-0.466642827,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14667817,"cg_sample_valid":1,"cg_theta_rad":5.00714493,"cg_vd_req_v":0.100364402,"cg_vd_v":0.100364402,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33677575,"cg_vq_v":-0.33677575,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.668637991,"dclink_p_w":96.4742737,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.113369,"cg_dv":50.2036209,"cg_dw":49.7963791,"cg_id_a":-0.359954178,"cg_id_raw_a":-0.413445383,"cg_iq_a":-0.107143223,"cg_iq_raw_a":-0.110442117,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9581814,"cg_sample_seq":14667867,"cg_sample_valid":1,"cg_theta_rad":5.00660658,"cg_vd_req_v":0.107436761,"cg_vd_v":0.107436761,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340899885,"cg_vq_v":-0.340899885,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.94952774,"dclink_p_w":137.420074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2294922,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1160889,"cg_dv":50.2017937,"cg_dw":49.7982063,"cg_id_a":-0.353329062,"cg_id_raw_a":0.286647469,"cg_iq_a":-0.28910774,"cg_iq_raw_a":0.466399968,"cg_iu_a":1.16233623,"cg_iv_a":-0.00333368778,"cg_iw_a":-1.15900254,"cg_sample_age_us":23.9436359,"cg_sample_seq":14667917,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.105720833,"cg_vd_v":0.105720833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339245886,"cg_vq_v":-0.339245886,"cg_vu_v":126.249161,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.94952774,"dclink_p_w":137.420074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12492,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.125351,"cg_dv":50.2050018,"cg_dw":49.7949982,"cg_id_a":-0.112002432,"cg_id_raw_a":-0.395488828,"cg_iq_a":0.199152827,"cg_iq_raw_a":-0.510809183,"cg_iu_a":0.219996452,"cg_iv_a":-0.438259721,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9654541,"cg_sample_seq":14667967,"cg_sample_valid":1,"cg_theta_rad":5.00733757,"cg_vd_req_v":0.100625105,"cg_vd_v":0.100625105,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349095434,"cg_vq_v":-0.349095434,"cg_vu_v":128.008743,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.94952774,"dclink_p_w":137.420074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12419,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.124279,"cg_dv":50.1974983,"cg_dw":49.8025017,"cg_id_a":0.187824637,"cg_id_raw_a":0.329062521,"cg_iq_a":-0.281473607,"cg_iq_raw_a":-1.46004462,"cg_iu_a":-0.106198072,"cg_iv_a":0.467836142,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9727268,"cg_sample_seq":14668016,"cg_sample_valid":1,"cg_theta_rad":5.00794888,"cg_vd_req_v":0.0946459845,"cg_vd_v":0.0946459845,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338158667,"cg_vq_v":-0.338158667,"cg_vu_v":141.645401,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.94952774,"dclink_p_w":137.420074,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1214714,"cg_dv":50.1930389,"cg_dw":49.8069611,"cg_id_a":0.284618855,"cg_id_raw_a":-0.0906993076,"cg_iq_a":-0.570525527,"cg_iq_raw_a":-1.06376565,"cg_iu_a":0.14750886,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9509087,"cg_sample_seq":14668066,"cg_sample_valid":1,"cg_theta_rad":5.0057478,"cg_vd_req_v":0.0917530879,"cg_vd_v":0.0917530879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330734462,"cg_vq_v":-0.330734462,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":1.09631526,"dclink_p_w":158.663849,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.1986694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1275558,"cg_dv":50.2017746,"cg_dw":49.7982254,"cg_id_a":0.0463165604,"cg_id_raw_a":-0.00185349665,"cg_iq_a":0.149317905,"cg_iq_raw_a":-0.436472505,"cg_iu_a":-0.468636274,"cg_iv_a":0.177885413,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14668117,"cg_sample_valid":1,"cg_theta_rad":5.00680017,"cg_vd_req_v":0.0968563557,"cg_vd_v":0.0968563557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345635235,"cg_vq_v":-0.345635235,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.67769897,"dclink_p_w":98.0797501,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.1986694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12443,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1227875,"cg_dv":50.2009087,"cg_dw":49.7990913,"cg_id_a":-0.243752509,"cg_id_raw_a":-0.0621707849,"cg_iq_a":-0.0680564791,"cg_iq_raw_a":-0.0420556851,"cg_iu_a":0.0750210285,"cg_iv_a":-0.220796764,"cg_iw_a":0.145775735,"cg_sample_age_us":23.8563633,"cg_sample_seq":14668166,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.100898542,"cg_vd_v":0.100898542,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341434181,"cg_vq_v":-0.341434181,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.558094323,"dclink_p_w":80.5245056,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2325745,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12473,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220665,"cg_dv":50.1977081,"cg_dw":49.8022919,"cg_id_a":0.0446433537,"cg_id_raw_a":0.329856187,"cg_iq_a":-0.222575232,"cg_iq_raw_a":0.0321544446,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065196,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8527279,"cg_sample_seq":14668216,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.0955652744,"cg_vd_v":0.0955652744,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337494433,"cg_vq_v":-0.337494433,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12446,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1190262,"cg_dv":50.198719,"cg_dw":49.801281,"cg_id_a":-0.182656631,"cg_id_raw_a":-0.141894087,"cg_iq_a":-0.217715517,"cg_iq_raw_a":-0.304373711,"cg_iu_a":0.111264944,"cg_iv_a":0.250373065,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14668270,"cg_sample_valid":1,"cg_theta_rad":5.0067625,"cg_vd_req_v":0.10009259,"cg_vd_v":0.10009259,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337940812,"cg_vq_v":-0.337940812,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.77864647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1239281,"cg_dv":50.2050171,"cg_dw":49.7949829,"cg_id_a":-0.184980616,"cg_id_raw_a":-0.413750172,"cg_iq_a":0.064820379,"cg_iq_raw_a":-0.548204541,"cg_iu_a":0.00253343582,"cg_iv_a":-0.220796704,"cg_iw_a":0.218263268,"cg_sample_age_us":23.8527279,"cg_sample_seq":14668316,"cg_sample_valid":1,"cg_theta_rad":5.00761747,"cg_vd_req_v":0.101169467,"cg_vd_v":0.101169467,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34848693,"cg_vq_v":-0.34848693,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2341309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266022,"cg_dv":50.2068367,"cg_dw":49.7931633,"cg_id_a":-0.123669907,"cg_id_raw_a":0.211577594,"cg_iq_a":0.125181809,"cg_iq_raw_a":0.38541016,"cg_iu_a":-0.287417173,"cg_iv_a":-0.25704056,"cg_iw_a":0.544457734,"cg_sample_age_us":23.8527279,"cg_sample_seq":14668366,"cg_sample_valid":1,"cg_theta_rad":5.00725412,"cg_vd_req_v":0.101137668,"cg_vd_v":0.101137668,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351216435,"cg_vq_v":-0.351216435,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2341309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277084,"cg_dv":50.2020149,"cg_dw":49.7979851,"cg_id_a":0.0561110601,"cg_id_raw_a":0.150707737,"cg_iq_a":-0.220926359,"cg_iq_raw_a":-0.275353283,"cg_iu_a":0.0750210285,"cg_iv_a":-0.112065196,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14668417,"cg_sample_valid":1,"cg_theta_rad":5.00605583,"cg_vd_req_v":0.0971785709,"cg_vd_v":0.0971785709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344851792,"cg_vq_v":-0.344851792,"cg_vu_v":108.21357,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2279358,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12474,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234703,"cg_dv":50.2079735,"cg_dw":49.7920265,"cg_id_a":-0.382960767,"cg_id_raw_a":-1.21282339,"cg_iq_a":0.108778886,"cg_iq_raw_a":1.81117916,"cg_iu_a":0.401215553,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.325394094,"cg_sample_age_us":23.9872723,"cg_sample_seq":14668467,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.105420589,"cg_vd_v":0.105420589,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350785732,"cg_vq_v":-0.350785732,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.188528657,"dclink_p_w":-27.2847443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1229973,"cg_dv":50.2062073,"cg_dw":49.7937927,"cg_id_a":-0.256557524,"cg_id_raw_a":-0.899518907,"cg_iq_a":-0.117557034,"cg_iq_raw_a":-1.79890585,"cg_iu_a":0.0387773514,"cg_iv_a":0.177885413,"cg_iw_a":0.182019353,"cg_sample_age_us":23.954546,"cg_sample_seq":14668516,"cg_sample_valid":1,"cg_theta_rad":5.00798416,"cg_vd_req_v":0.104384989,"cg_vd_v":0.104384989,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350349814,"cg_vq_v":-0.350349814,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12485,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349983,"cg_dv":50.2100983,"cg_dw":49.7899017,"cg_id_a":0.106044114,"cg_id_raw_a":0.260003895,"cg_iq_a":0.456624687,"cg_iq_raw_a":0.570296764,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9836369,"cg_sample_seq":14668567,"cg_sample_valid":1,"cg_theta_rad":5.00764275,"cg_vd_req_v":0.0961588696,"cg_vd_v":0.0961588696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363106698,"cg_vq_v":-0.363106698,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2341309,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114456393,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12456,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291656,"cg_dv":50.2061691,"cg_dw":49.7938309,"cg_id_a":0.0585979633,"cg_id_raw_a":-0.263600498,"cg_iq_a":-0.0385814607,"cg_iq_raw_a":-0.134233579,"cg_iu_a":0.328727841,"cg_iv_a":0.39534843,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9690914,"cg_sample_seq":14668617,"cg_sample_valid":1,"cg_theta_rad":5.00642586,"cg_vd_req_v":0.0994557366,"cg_vd_v":0.0994557366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353782594,"cg_vq_v":-0.353782594,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38778,"EncoderSin":12492,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1229477,"cg_dv":50.207058,"cg_dw":49.792942,"cg_id_a":-0.0205263384,"cg_id_raw_a":0.16925998,"cg_iq_a":-0.193160608,"cg_iq_raw_a":0.196686059,"cg_iu_a":-0.251173496,"cg_iv_a":0.177885473,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.9654541,"cg_sample_seq":14668667,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.0997181758,"cg_vd_v":0.0997181758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351937354,"cg_vq_v":-0.351937354,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12433,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1307793,"cg_dv":50.2085686,"cg_dw":49.7914314,"cg_id_a":-0.188377783,"cg_id_raw_a":-0.440909207,"cg_iq_a":-0.0826630741,"cg_iq_raw_a":-0.445887297,"cg_iu_a":-0.468636513,"cg_iv_a":-0.0395776033,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8563633,"cg_sample_seq":14668717,"cg_sample_valid":1,"cg_theta_rad":5.0066843,"cg_vd_req_v":0.10240411,"cg_vd_v":0.10240411,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356256008,"cg_vq_v":-0.356256008,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.140789,"cg_dv":50.2120094,"cg_dw":49.7879906,"cg_id_a":0.134834006,"cg_id_raw_a":0.239600673,"cg_iq_a":0.414399713,"cg_iq_raw_a":0.0965738818,"cg_iu_a":0.038777113,"cg_iv_a":-1.30811179,"cg_iw_a":1.26933467,"cg_sample_age_us":23.8490906,"cg_sample_seq":14668770,"cg_sample_valid":1,"cg_theta_rad":5.0078454,"cg_vd_req_v":0.0949713811,"cg_vd_v":0.0949713811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367365837,"cg_vq_v":-0.367365837,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315193,"cg_dv":50.2110023,"cg_dw":49.7889977,"cg_id_a":-0.23851186,"cg_id_raw_a":-0.0936620384,"cg_iq_a":0.0508279353,"cg_iq_raw_a":0.0646762848,"cg_iu_a":0.763653874,"cg_iv_a":0.10539782,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8600006,"cg_sample_seq":14668817,"cg_sample_valid":1,"cg_theta_rad":5.0078516,"cg_vd_req_v":0.101482071,"cg_vd_v":0.101482071,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361931801,"cg_vq_v":-0.361931801,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.438611031,"dclink_p_w":-63.6707726,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2356567,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263351,"cg_dv":50.204464,"cg_dw":49.795536,"cg_id_a":-0.0230260566,"cg_id_raw_a":-0.479488283,"cg_iq_a":-0.392253816,"cg_iq_raw_a":-0.0790792033,"cg_iu_a":0.872385502,"cg_iv_a":0.359104633,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.8563633,"cg_sample_seq":14668867,"cg_sample_valid":1,"cg_theta_rad":5.00761414,"cg_vd_req_v":0.0975463018,"cg_vd_v":0.0975463018,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350561857,"cg_vq_v":-0.350561857,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":54.9865723,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-86.0313797,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12473,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.129055,"cg_dv":50.2039833,"cg_dw":49.7960167,"cg_id_a":-0.0764129981,"cg_id_raw_a":-0.720567346,"cg_iq_a":-0.225915223,"cg_iq_raw_a":0.438169599,"cg_iu_a":0.111264944,"cg_iv_a":0.431592286,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.8527279,"cg_sample_seq":14668916,"cg_sample_valid":1,"cg_theta_rad":5.00646019,"cg_vd_req_v":0.0984327793,"cg_vd_v":0.0984327793,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350453615,"cg_vq_v":-0.350453615,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.520159721,"dclink_p_w":-75.5087509,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12443,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276245,"cg_dv":50.2043915,"cg_dw":49.7956085,"cg_id_a":-0.174467131,"cg_id_raw_a":0.383069158,"cg_iq_a":-0.0709115118,"cg_iq_raw_a":-0.288592786,"cg_iu_a":-0.142441988,"cg_iv_a":-0.365772128,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14669067,"cg_sample_valid":1,"cg_theta_rad":5.00679922,"cg_vd_req_v":0.0995013788,"cg_vd_v":0.0995013788,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349186838,"cg_vq_v":-0.349186838,"cg_vu_v":104.694435,"cg_vv_v":98.5359344,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.7248154,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.204834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12481,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266594,"cg_dv":50.2021027,"cg_dw":49.7978973,"cg_id_a":0.0594549403,"cg_id_raw_a":0.380746543,"cg_iq_a":-0.148991227,"cg_iq_raw_a":0.399123162,"cg_iu_a":0.981116891,"cg_iv_a":0.431592345,"cg_iw_a":-1.41270924,"cg_sample_age_us":23.9836369,"cg_sample_seq":14669116,"cg_sample_valid":1,"cg_theta_rad":5.00713015,"cg_vd_req_v":0.0946012735,"cg_vd_v":0.0946012735,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346484959,"cg_vq_v":-0.346484959,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12447,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1207123,"cg_dv":50.194706,"cg_dw":49.805294,"cg_id_a":0.121264309,"cg_id_raw_a":0.240154639,"cg_iq_a":-0.842889369,"cg_iq_raw_a":-0.339836478,"cg_iu_a":0.328727961,"cg_iv_a":0.540323794,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9509087,"cg_sample_seq":14669166,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0949782878,"cg_vd_v":0.0949782878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33337912,"cg_vq_v":-0.33337912,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12470,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297264,"cg_dv":50.2045174,"cg_dw":49.7954826,"cg_id_a":-0.0103714429,"cg_id_raw_a":-0.305659294,"cg_iq_a":0.0723634437,"cg_iq_raw_a":0.298919261,"cg_iu_a":0.364971757,"cg_iv_a":0.10539782,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9872723,"cg_sample_seq":14669216,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0970630869,"cg_vd_v":0.0970630869,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351938307,"cg_vq_v":-0.351938307,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0888581276,"dclink_p_w":-12.8990498,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304779,"cg_dv":50.2046318,"cg_dw":49.7953682,"cg_id_a":0.0362676382,"cg_id_raw_a":-0.191590279,"cg_iq_a":0.195100754,"cg_iq_raw_a":0.892984092,"cg_iu_a":-0.541123867,"cg_iv_a":0.214129269,"cg_iw_a":0.326994598,"cg_sample_age_us":26.8199997,"cg_sample_seq":14669271,"cg_sample_valid":1,"cg_theta_rad":5.00791454,"cg_vd_req_v":0.0949725807,"cg_vd_v":0.0949725807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351812124,"cg_vq_v":-0.351812124,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82709396,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2202454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12441,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286812,"cg_dv":50.2021179,"cg_dw":49.7978821,"cg_id_a":-0.0215643924,"cg_id_raw_a":-0.363686264,"cg_iq_a":-0.0834530592,"cg_iq_raw_a":-0.181528524,"cg_iu_a":0.0750210285,"cg_iv_a":0.105397701,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9145451,"cg_sample_seq":14669317,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0965807438,"cg_vd_v":0.0965807438,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346657932,"cg_vq_v":-0.346657932,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2202454,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10700389,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12442,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1271591,"cg_dv":50.2039986,"cg_dw":49.7960014,"cg_id_a":-0.082646437,"cg_id_raw_a":0.00581812346,"cg_iq_a":0.111017793,"cg_iq_raw_a":0.547656417,"cg_iu_a":0.618678808,"cg_iv_a":-0.474503636,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9618187,"cg_sample_seq":14669367,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0987928063,"cg_vd_v":0.0987928063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348583907,"cg_vq_v":-0.348583907,"cg_vu_v":116.571533,"cg_vv_v":131.527878,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2217712,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12455,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.126358,"cg_dv":50.2054672,"cg_dw":49.7945328,"cg_id_a":-0.102390252,"cg_id_raw_a":-0.248371094,"cg_iq_a":0.174145147,"cg_iq_raw_a":-0.969114661,"cg_iu_a":-0.251173496,"cg_iv_a":0.540323794,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9654541,"cg_sample_seq":14669416,"cg_sample_valid":1,"cg_theta_rad":5.0081811,"cg_vd_req_v":0.0994247422,"cg_vd_v":0.0994247422,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350536704,"cg_vq_v":-0.350536704,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12439,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1284447,"cg_dv":50.2077675,"cg_dw":49.7922325,"cg_id_a":-0.108631536,"cg_id_raw_a":0.305193365,"cg_iq_a":0.272743642,"cg_iq_raw_a":-0.370588481,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0395775437,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9836369,"cg_sample_seq":14669466,"cg_sample_valid":1,"cg_theta_rad":5.00749922,"cg_vd_req_v":0.10070765,"cg_vd_v":0.10070765,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355805665,"cg_vq_v":-0.355805665,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12473,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233063,"cg_dv":50.2000313,"cg_dw":49.7999687,"cg_id_a":0.132939354,"cg_id_raw_a":-0.156689137,"cg_iq_a":-0.487784058,"cg_iq_raw_a":0.276785046,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14669516,"cg_sample_valid":1,"cg_theta_rad":5.00648403,"cg_vd_req_v":0.0978489518,"cg_vd_v":0.0978489518,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341063678,"cg_vq_v":-0.341063678,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.15600419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2264099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154709,"cg_dv":50.2020836,"cg_dw":49.7979164,"cg_id_a":-0.224473238,"cg_id_raw_a":-0.256307274,"cg_iq_a":-0.312966496,"cg_iq_raw_a":-0.64312923,"cg_iu_a":-0.359905005,"cg_iv_a":-0.112065315,"cg_iw_a":0.47197032,"cg_sample_age_us":23.954546,"cg_sample_seq":14669566,"cg_sample_valid":1,"cg_theta_rad":5.00657988,"cg_vd_req_v":0.105683506,"cg_vd_v":0.105683506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339545071,"cg_vq_v":-0.339545071,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.101422071,"dclink_p_w":14.7228899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2264099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12471,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1279984,"cg_dv":50.1976395,"cg_dw":49.8023605,"cg_id_a":0.51288563,"cg_id_raw_a":0.336854547,"cg_iq_a":-0.292903274,"cg_iq_raw_a":-0.0388133302,"cg_iu_a":0.219996452,"cg_iv_a":1.80885792,"cg_iw_a":-2.02885437,"cg_sample_age_us":23.954546,"cg_sample_seq":14669616,"cg_sample_valid":1,"cg_theta_rad":5.00691175,"cg_vd_req_v":0.0920427889,"cg_vd_v":0.0920427889,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340390503,"cg_vq_v":-0.340390503,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.65183568,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12462,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283302,"cg_dv":50.2070236,"cg_dw":49.7929764,"cg_id_a":0.0750457272,"cg_id_raw_a":0.359035879,"cg_iq_a":0.399624765,"cg_iq_raw_a":-0.69226408,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14669668,"cg_sample_valid":1,"cg_theta_rad":5.00670862,"cg_vd_req_v":0.10050898,"cg_vd_v":0.10050898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352279931,"cg_vq_v":-0.352279931,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.1741199,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2660.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12438,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1240654,"cg_dv":50.1984253,"cg_dw":49.8015747,"cg_id_a":0.318942636,"cg_id_raw_a":0.586698771,"cg_iq_a":-0.122714542,"cg_iq_raw_a":-0.0160345118,"cg_iu_a":-0.0699543953,"cg_iv_a":0.685299158,"cg_iw_a":-0.615344763,"cg_sample_age_us":23.9145451,"cg_sample_seq":14669716,"cg_sample_valid":1,"cg_theta_rad":5.00637245,"cg_vd_req_v":0.0948123038,"cg_vd_v":0.0948123038,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339552283,"cg_vq_v":-0.339552283,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.5791893,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12475,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1200523,"cg_dv":50.2076263,"cg_dw":49.7923737,"cg_id_a":-0.258205235,"cg_id_raw_a":-0.452933848,"cg_iq_a":0.513371408,"cg_iq_raw_a":-0.368291259,"cg_iu_a":0.727410078,"cg_iv_a":1.2289567,"cg_iw_a":-1.95636678,"cg_sample_age_us":23.9836369,"cg_sample_seq":14669770,"cg_sample_valid":1,"cg_theta_rad":5.008183,"cg_vd_req_v":0.105915911,"cg_vd_v":0.105915911,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351287544,"cg_vq_v":-0.351287544,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1678467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1185799,"cg_dv":50.1996536,"cg_dw":49.8003464,"cg_id_a":-0.00552166998,"cg_id_raw_a":0.388824612,"cg_iq_a":0.0360732414,"cg_iq_raw_a":0.511573076,"cg_iu_a":0.111264944,"cg_iv_a":-0.293284476,"cg_iw_a":0.182019532,"cg_sample_age_us":23.8963642,"cg_sample_seq":14669817,"cg_sample_valid":1,"cg_theta_rad":5.00519466,"cg_vd_req_v":0.100592449,"cg_vd_v":0.100592449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338070184,"cg_vq_v":-0.338070184,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.371559978,"dclink_p_w":-53.937336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.41922,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12446,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191673,"cg_dv":50.197052,"cg_dw":49.802948,"cg_id_a":0.171022609,"cg_id_raw_a":0.241461352,"cg_iq_a":-0.0283102989,"cg_iq_raw_a":0.0938741118,"cg_iu_a":-0.86731863,"cg_iv_a":-0.0758214593,"cg_iw_a":0.94314009,"cg_sample_age_us":23.954546,"cg_sample_seq":14669966,"cg_sample_valid":1,"cg_theta_rad":5.00788975,"cg_vd_req_v":0.0992725343,"cg_vd_v":0.0992725343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334367543,"cg_vq_v":-0.334367543,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.1792793,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12448,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1235008,"cg_dv":50.2009735,"cg_dw":49.7990265,"cg_id_a":0.0480213501,"cg_id_raw_a":-0.412592471,"cg_iq_a":0.476677448,"cg_iq_raw_a":-0.113587856,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.8490906,"cg_sample_seq":14670016,"cg_sample_valid":1,"cg_theta_rad":5.00857306,"cg_vd_req_v":0.0995119959,"cg_vd_v":0.0995119959,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342188895,"cg_vq_v":-0.342188895,"cg_vu_v":36.9509773,"cg_vv_v":38.2706528,"cg_vw_v":42.2296829,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.7248154,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.749268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12471,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1110687,"cg_dv":50.2008934,"cg_dw":49.7991066,"cg_id_a":-0.470463991,"cg_id_raw_a":-0.569034994,"cg_iq_a":0.199438751,"cg_iq_raw_a":0.598734677,"cg_iu_a":0.799897671,"cg_iv_a":-0.402015924,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9763641,"cg_sample_seq":14670066,"cg_sample_valid":1,"cg_theta_rad":5.00664234,"cg_vd_req_v":0.109476805,"cg_vd_v":0.109476805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334973365,"cg_vq_v":-0.334973365,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":-0.781115294,"dclink_p_w":-113.046638,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1153297,"cg_dv":50.1970711,"cg_dw":49.8029289,"cg_id_a":-0.0663587824,"cg_id_raw_a":0.648151457,"cg_iq_a":-0.0510626361,"cg_iq_raw_a":0.212146178,"cg_iu_a":0.328727961,"cg_iv_a":-0.438259721,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9436359,"cg_sample_seq":14670117,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.102598935,"cg_vd_v":0.102598935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333246022,"cg_vq_v":-0.333246022,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.801049471,"dclink_p_w":-115.93161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106349275,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12439,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1058578,"cg_dv":50.1961746,"cg_dw":49.8038254,"cg_id_a":-0.320405096,"cg_id_raw_a":-0.0581092611,"cg_iq_a":-0.305077016,"cg_iq_raw_a":-0.296337187,"cg_iu_a":0.582434654,"cg_iv_a":0.214129269,"cg_iw_a":-0.796563923,"cg_sample_age_us":23.9254551,"cg_sample_seq":14670166,"cg_sample_valid":1,"cg_theta_rad":5.00603533,"cg_vd_req_v":0.108504847,"cg_vd_v":0.108504847,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32687819,"cg_vq_v":-0.32687819,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.801049471,"dclink_p_w":-115.93161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2140808,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12461,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1128769,"cg_dv":50.1988525,"cg_dw":49.8011475,"cg_id_a":-0.0600231141,"cg_id_raw_a":-0.0547495112,"cg_iq_a":0.0952998698,"cg_iq_raw_a":0.323294371,"cg_iu_a":0.256240368,"cg_iv_a":-0.112065196,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9909096,"cg_sample_seq":14670216,"cg_sample_valid":1,"cg_theta_rad":5.00630093,"cg_vd_req_v":0.103492923,"cg_vd_v":0.103492923,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334038913,"cg_vq_v":-0.334038913,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.808298111,"dclink_p_w":-116.980667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2264099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12457,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1146698,"cg_dv":50.1993408,"cg_dw":49.8006592,"cg_id_a":-0.077668637,"cg_id_raw_a":-0.505298972,"cg_iq_a":0.211330816,"cg_iq_raw_a":1.00592411,"cg_iu_a":0.219996452,"cg_iv_a":0.250373125,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.863636,"cg_sample_seq":14670266,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.105159104,"cg_vd_v":0.105159104,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334898084,"cg_vq_v":-0.334898084,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.808298111,"dclink_p_w":-116.980667,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2264099,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.107872,"cg_dv":50.1941681,"cg_dw":49.8058319,"cg_id_a":0.023230534,"cg_id_raw_a":-0.117049791,"cg_iq_a":-0.206448779,"cg_iq_raw_a":-0.338585615,"cg_iu_a":0.256240368,"cg_iv_a":-0.148309112,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8600006,"cg_sample_seq":14670321,"cg_sample_valid":1,"cg_theta_rad":5.0066905,"cg_vd_req_v":0.104932085,"cg_vd_v":0.104932085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324207097,"cg_vq_v":-0.324207097,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.859039545,"dclink_p_w":-124.324203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38763,"EncoderSin":12483,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.0972977,"cg_dv":50.1976433,"cg_dw":49.8023567,"cg_id_a":-0.207436174,"cg_id_raw_a":0.322671175,"cg_iq_a":-0.257573873,"cg_iq_raw_a":0.356308073,"cg_iu_a":0.582434654,"cg_iv_a":0.250373125,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9799995,"cg_sample_seq":14670367,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.112396739,"cg_vd_v":0.112396739,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324455261,"cg_vq_v":-0.324455261,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.859039545,"dclink_p_w":-124.324203,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12478,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1065598,"cg_dv":50.1943092,"cg_dw":49.8056908,"cg_id_a":0.137401566,"cg_id_raw_a":0.462170333,"cg_iq_a":-0.195398003,"cg_iq_raw_a":0.408857077,"cg_iu_a":0.473703384,"cg_iv_a":0.649055243,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.954546,"cg_sample_seq":14670417,"cg_sample_valid":1,"cg_theta_rad":5.00724411,"cg_vd_req_v":0.104818851,"cg_vd_v":0.104818851,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.325164765,"cg_vq_v":-0.325164765,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.65332,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12457,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1068611,"cg_dv":50.1997795,"cg_dw":49.8002205,"cg_id_a":-0.118542939,"cg_id_raw_a":0.198056713,"cg_iq_a":0.0982905626,"cg_iq_raw_a":0.529545724,"cg_iu_a":0.111264944,"cg_iv_a":-0.836941898,"cg_iw_a":0.725676954,"cg_sample_age_us":23.9509087,"cg_sample_seq":14670467,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.110149078,"cg_vd_v":0.110149078,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332716852,"cg_vq_v":-0.332716852,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.8992691,"control_outputs_enabled":1,"dclink_i_a":-0.750308037,"dclink_p_w":-108.918129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2079163,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12431,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1158485,"cg_dv":50.2022591,"cg_dw":49.7977409,"cg_id_a":0.0301731601,"cg_id_raw_a":0.0657543764,"cg_iq_a":0.249412447,"cg_iq_raw_a":0.152896017,"cg_iu_a":0.183752775,"cg_iv_a":-0.510747433,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9836369,"cg_sample_seq":14670517,"cg_sample_valid":1,"cg_theta_rad":5.00727987,"cg_vd_req_v":0.106089741,"cg_vd_v":0.106089741,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340962619,"cg_vq_v":-0.340962619,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.5003433,"control_outputs_enabled":1,"dclink_i_a":-0.706815481,"dclink_p_w":-102.604553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2079163,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12481,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1149902,"cg_dv":50.1996574,"cg_dw":49.8003426,"cg_id_a":0.126053303,"cg_id_raw_a":-0.0657616556,"cg_iq_a":-0.0873682052,"cg_iq_raw_a":-0.224059328,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616981,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9618187,"cg_sample_seq":14670567,"cg_sample_valid":1,"cg_theta_rad":5.00697803,"cg_vd_req_v":0.10367275,"cg_vd_v":0.10367275,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335986286,"cg_vq_v":-0.335986286,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-0.482103705,"dclink_p_w":-69.7722931,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2094421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108615242,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.862549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12434,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1241875,"cg_dv":50.1986656,"cg_dw":49.8013344,"cg_id_a":0.411206126,"cg_id_raw_a":0.310765684,"cg_iq_a":0.0423954129,"cg_iq_raw_a":1.41820776,"cg_iu_a":-0.287417173,"cg_iv_a":1.5913949,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9509087,"cg_sample_seq":14670617,"cg_sample_valid":1,"cg_theta_rad":5.00677013,"cg_vd_req_v":0.0981241912,"cg_vd_v":0.0981241912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339046389,"cg_vq_v":-0.339046389,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.558215857,"dclink_p_w":-80.7875977,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38786,"EncoderSin":12470,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1057472,"cg_dv":50.2060585,"cg_dw":49.7939415,"cg_id_a":-0.286559612,"cg_id_raw_a":-0.0571417958,"cg_iq_a":0.0719652772,"cg_iq_raw_a":0.396121353,"cg_iu_a":0.219996452,"cg_iv_a":-1.16313648,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9799995,"cg_sample_seq":14670667,"cg_sample_valid":1,"cg_theta_rad":5.00570345,"cg_vd_req_v":0.112302832,"cg_vd_v":0.112302832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341136843,"cg_vq_v":-0.341136843,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2248535,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.113018,"cg_dv":50.2028503,"cg_dw":49.7971497,"cg_id_a":-0.0194545537,"cg_id_raw_a":0.0895961747,"cg_iq_a":0.0534921214,"cg_iq_raw_a":-0.31840378,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9436359,"cg_sample_seq":14670717,"cg_sample_valid":1,"cg_theta_rad":5.00731468,"cg_vd_req_v":0.107651249,"cg_vd_v":0.107651249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340571761,"cg_vq_v":-0.340571761,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12474,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151428,"cg_dv":50.2006035,"cg_dw":49.7993965,"cg_id_a":0.0854470506,"cg_id_raw_a":0.267267078,"cg_iq_a":-0.108908728,"cg_iq_raw_a":-0.19202818,"cg_iu_a":-0.50488019,"cg_iv_a":0.177885413,"cg_iw_a":0.326994777,"cg_sample_age_us":23.954546,"cg_sample_seq":14670767,"cg_sample_valid":1,"cg_theta_rad":5.00761414,"cg_vd_req_v":0.104414411,"cg_vd_v":0.104414411,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338501275,"cg_vq_v":-0.338501275,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.476667166,"dclink_p_w":-68.9854889,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12439,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1085854,"cg_dv":50.1996613,"cg_dw":49.8003387,"cg_id_a":-0.139392942,"cg_id_raw_a":-0.100028247,"cg_iq_a":-0.167507842,"cg_iq_raw_a":-0.300379455,"cg_iu_a":-0.468636274,"cg_iv_a":-0.764454246,"cg_iw_a":1.23309052,"cg_sample_age_us":23.8527279,"cg_sample_seq":14670820,"cg_sample_valid":1,"cg_theta_rad":5.00747252,"cg_vd_req_v":0.109467305,"cg_vd_v":0.109467305,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333271176,"cg_vq_v":-0.333271176,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2660.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.113163,"cg_dv":50.2074127,"cg_dw":49.7925873,"cg_id_a":-0.317393005,"cg_id_raw_a":0.0996727943,"cg_iq_a":0.425344706,"cg_iq_raw_a":0.22940895,"cg_iu_a":-0.178685665,"cg_iv_a":-0.764454246,"cg_iw_a":0.943139911,"cg_sample_age_us":23.9509087,"cg_sample_seq":14670867,"cg_sample_valid":1,"cg_theta_rad":5.00691986,"cg_vd_req_v":0.113917753,"cg_vd_v":0.113917753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345090091,"cg_vq_v":-0.345090091,"cg_vu_v":118.3311,"cg_vv_v":136.366699,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.204834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12450,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1035652,"cg_dv":50.195179,"cg_dw":49.804821,"cg_id_a":-0.0526059866,"cg_id_raw_a":0.147993565,"cg_iq_a":-0.570198596,"cg_iq_raw_a":-0.457815379,"cg_iu_a":0.0387773514,"cg_iv_a":0.794030607,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9618187,"cg_sample_seq":14670917,"cg_sample_valid":1,"cg_theta_rad":5.00630379,"cg_vd_req_v":0.109564565,"cg_vd_v":0.109564565,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323057085,"cg_vq_v":-0.323057085,"cg_vu_v":119.650772,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.0503006,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.204834,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117880516,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12445,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1142616,"cg_dv":50.20298,"cg_dw":49.79702,"cg_id_a":-0.0460496619,"cg_id_raw_a":0.0703594163,"cg_iq_a":0.123508997,"cg_iq_raw_a":-0.101122208,"cg_iu_a":0.292484045,"cg_iv_a":-0.402015924,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9509087,"cg_sample_seq":14670967,"cg_sample_valid":1,"cg_theta_rad":5.00827837,"cg_vd_req_v":0.110242799,"cg_vd_v":0.110242799,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339209676,"cg_vq_v":-0.339209676,"cg_vu_v":122.290138,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-26.9403362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2187195,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1091537,"cg_dv":50.1992989,"cg_dw":49.8007011,"cg_id_a":0.0512074903,"cg_id_raw_a":-0.0579140298,"cg_iq_a":-0.167059883,"cg_iq_raw_a":0.577816606,"cg_iu_a":0.0750210285,"cg_iv_a":0.10539782,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9581814,"cg_sample_seq":14671017,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.107026152,"cg_vd_v":0.107026152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332511604,"cg_vq_v":-0.332511604,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-26.9403362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234245,"cg_dv":50.2053299,"cg_dw":49.7946701,"cg_id_a":0.08125709,"cg_id_raw_a":0.0152664511,"cg_iq_a":0.363515437,"cg_iq_raw_a":0.840389013,"cg_iu_a":-0.178685665,"cg_iv_a":-0.257040501,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9436359,"cg_sample_seq":14671067,"cg_sample_valid":1,"cg_theta_rad":5.0079174,"cg_vd_req_v":0.10460262,"cg_vd_v":0.10460262,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347820848,"cg_vq_v":-0.347820848,"cg_vu_v":129.328415,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-26.9403362,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12447,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1155281,"cg_dv":50.1959915,"cg_dw":49.8040085,"cg_id_a":0.306626141,"cg_id_raw_a":0.166532949,"cg_iq_a":-0.52403003,"cg_iq_raw_a":-0.238124624,"cg_iu_a":0.219996452,"cg_iv_a":0.21412921,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9618187,"cg_sample_seq":14671117,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0992578119,"cg_vd_v":0.0992578119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331429332,"cg_vq_v":-0.331429332,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.2474365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2063904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.97583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12447,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1164818,"cg_dv":50.2095146,"cg_dw":49.7904854,"cg_id_a":-0.380236268,"cg_id_raw_a":-0.323227167,"cg_iq_a":0.245031446,"cg_iq_raw_a":0.26053679,"cg_iu_a":-0.178685904,"cg_iv_a":-0.873185754,"cg_iw_a":1.05187166,"cg_sample_age_us":23.9254551,"cg_sample_seq":14671167,"cg_sample_valid":1,"cg_theta_rad":5.00650311,"cg_vd_req_v":0.112338752,"cg_vd_v":0.112338752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350145727,"cg_vq_v":-0.350145727,"cg_vu_v":137.686371,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.483915925,"dclink_p_w":-70.2474365,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2063904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2660.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38759,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1145477,"cg_dv":50.2026558,"cg_dw":49.7973442,"cg_id_a":-0.0204266347,"cg_id_raw_a":0.371703923,"cg_iq_a":-0.320112288,"cg_iq_raw_a":0.0341615826,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333380699,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9836369,"cg_sample_seq":14671217,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.104164615,"cg_vd_v":0.104164615,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339543194,"cg_vq_v":-0.339543194,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2032776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2660.995281,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2660.995287,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2660.995293,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2660.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1300926,"cg_dv":50.2085533,"cg_dw":49.7914467,"cg_id_a":0.126989871,"cg_id_raw_a":0.173944876,"cg_iq_a":0.349385768,"cg_iq_raw_a":-0.309999079,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.8563633,"cg_sample_seq":14671266,"cg_sample_valid":1,"cg_theta_rad":5.00765848,"cg_vd_req_v":0.100578643,"cg_vd_v":0.100578643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356520444,"cg_vq_v":-0.356520444,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.299072385,"dclink_p_w":-43.2831459,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1179657,"cg_dv":50.2028656,"cg_dw":49.7971344,"cg_id_a":-0.0890223607,"cg_id_raw_a":-0.10338825,"cg_iq_a":-0.25369525,"cg_iq_raw_a":-0.482719094,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.00333380699,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8527279,"cg_sample_seq":14671320,"cg_sample_valid":1,"cg_theta_rad":5.00617695,"cg_vd_req_v":0.104706205,"cg_vd_v":0.104706205,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341937512,"cg_vq_v":-0.341937512,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2171631,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12458,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151123,"cg_dv":50.191658,"cg_dw":49.808342,"cg_id_a":0.330441773,"cg_id_raw_a":-0.00735861529,"cg_iq_a":-0.988008738,"cg_iq_raw_a":-0.181900859,"cg_iu_a":0.364971638,"cg_iv_a":0.39534843,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.9872723,"cg_sample_seq":14671366,"cg_sample_valid":1,"cg_theta_rad":5.00693798,"cg_vd_req_v":0.0947657228,"cg_vd_v":0.0947657228,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32548064,"cg_vq_v":-0.32548064,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.4963303,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.3718567,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38767,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1132965,"cg_dv":50.2058868,"cg_dw":49.7941132,"cg_id_a":-0.323818833,"cg_id_raw_a":0.330108255,"cg_iq_a":-0.268895656,"cg_iq_raw_a":0.0294558499,"cg_iu_a":-0.214929581,"cg_iv_a":0.214129329,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9727268,"cg_sample_seq":14671417,"cg_sample_valid":1,"cg_theta_rad":5.00687647,"cg_vd_req_v":0.107568495,"cg_vd_v":0.107568495,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344617248,"cg_vq_v":-0.344617248,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12451,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150856,"cg_dv":50.2009735,"cg_dw":49.7990265,"cg_id_a":-0.38999033,"cg_id_raw_a":-0.278443992,"cg_iq_a":-0.583189011,"cg_iq_raw_a":0.627966166,"cg_iu_a":-0.14244175,"cg_iv_a":0.286616921,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9763641,"cg_sample_seq":14671467,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.106875569,"cg_vd_v":0.106875569,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337204099,"cg_vq_v":-0.337204099,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-25.000082,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220703,"cg_dv":50.2027969,"cg_dw":49.7972031,"cg_id_a":-0.0648459122,"cg_id_raw_a":0.304658562,"cg_iq_a":-0.28835842,"cg_iq_raw_a":-0.371028423,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8563633,"cg_sample_seq":14671517,"cg_sample_valid":1,"cg_theta_rad":5.00671721,"cg_vd_req_v":0.10009598,"cg_vd_v":0.10009598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344536871,"cg_vq_v":-0.344536871,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2094421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12429,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1265144,"cg_dv":50.2033005,"cg_dw":49.7966995,"cg_id_a":-0.0124733336,"cg_id_raw_a":-0.25338155,"cg_iq_a":-0.12780349,"cg_iq_raw_a":-0.0237620268,"cg_iu_a":-0.178685904,"cg_iv_a":0.105397761,"cg_iw_a":0.0732881427,"cg_sample_age_us":23.9836369,"cg_sample_seq":14671567,"cg_sample_valid":1,"cg_theta_rad":5.00779295,"cg_vd_req_v":0.0981457308,"cg_vd_v":0.0981457308,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347410023,"cg_vq_v":-0.347410023,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2094421,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12451,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310539,"cg_dv":50.2031631,"cg_dw":49.7968369,"cg_id_a":0.181756034,"cg_id_raw_a":0.159656987,"cg_iq_a":-0.118041381,"cg_iq_raw_a":-0.165938184,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772128,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9472733,"cg_sample_seq":14671617,"cg_sample_valid":1,"cg_theta_rad":5.00722218,"cg_vd_req_v":0.0940741152,"cg_vd_v":0.0940741152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349867493,"cg_vq_v":-0.349867493,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.46735096,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12443,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1302261,"cg_dv":50.2060623,"cg_dw":49.7939377,"cg_id_a":-0.0309271645,"cg_id_raw_a":0.256427199,"cg_iq_a":0.00745084509,"cg_iq_raw_a":0.135687605,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9509087,"cg_sample_seq":14671667,"cg_sample_valid":1,"cg_theta_rad":5.00795078,"cg_vd_req_v":0.0992333144,"cg_vd_v":0.0992333144,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354034692,"cg_vq_v":-0.354034692,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1770935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1350365,"cg_dv":50.2082825,"cg_dw":49.7917175,"cg_id_a":0.0524358749,"cg_id_raw_a":0.173406377,"cg_iq_a":0.388379961,"cg_iq_raw_a":0.127006501,"cg_iu_a":-0.432392597,"cg_iv_a":-0.402015865,"cg_iw_a":0.834408462,"cg_sample_age_us":23.9836369,"cg_sample_seq":14671717,"cg_sample_valid":1,"cg_theta_rad":5.00674057,"cg_vd_req_v":0.0968722552,"cg_vd_v":0.0968722552,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359976768,"cg_vq_v":-0.359976768,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.0308679342,"dclink_p_w":-4.48092985,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1770935,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00196383614,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12418,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306343,"cg_dv":50.2049789,"cg_dw":49.7950211,"cg_id_a":-0.140913457,"cg_id_raw_a":-0.168510288,"cg_iq_a":-0.040582031,"cg_iq_raw_a":0.164908901,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9436359,"cg_sample_seq":14671767,"cg_sample_valid":1,"cg_theta_rad":5.00807858,"cg_vd_req_v":0.100616112,"cg_vd_v":0.100616112,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352010667,"cg_vq_v":-0.352010667,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.197113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12490,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1321411,"cg_dv":50.2058945,"cg_dw":49.7941055,"cg_id_a":0.0621684641,"cg_id_raw_a":-0.0977628902,"cg_iq_a":-0.0930692852,"cg_iq_raw_a":-1.24588394,"cg_iu_a":-0.541123867,"cg_iv_a":-0.293284416,"cg_iw_a":0.834408283,"cg_sample_age_us":23.8600006,"cg_sample_seq":14671820,"cg_sample_valid":1,"cg_theta_rad":5.00663471,"cg_vd_req_v":0.0948371813,"cg_vd_v":0.0948371813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354473054,"cg_vq_v":-0.354473054,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.6588287,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.197113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1330528,"cg_dv":50.2129364,"cg_dw":49.7870636,"cg_id_a":-0.224057704,"cg_id_raw_a":0.00172892562,"cg_iq_a":0.261156797,"cg_iq_raw_a":-0.508626103,"cg_iu_a":-0.106198072,"cg_iv_a":-0.583235025,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9254551,"cg_sample_seq":14671867,"cg_sample_valid":1,"cg_theta_rad":5.006814,"cg_vd_req_v":0.100840256,"cg_vd_v":0.100840256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364603668,"cg_vq_v":-0.364603668,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.197113,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12461,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1400414,"cg_dv":50.2080383,"cg_dw":49.7919617,"cg_id_a":0.106318563,"cg_id_raw_a":-0.1724042,"cg_iq_a":0.174630627,"cg_iq_raw_a":-0.198953927,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9836369,"cg_sample_seq":14671917,"cg_sample_valid":1,"cg_theta_rad":5.00739241,"cg_vd_req_v":0.0939540789,"cg_vd_v":0.0939540789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360964149,"cg_vq_v":-0.360964149,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12462,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1414223,"cg_dv":50.2091675,"cg_dw":49.7908325,"cg_id_a":0.0377244577,"cg_id_raw_a":-0.284851253,"cg_iq_a":0.459047496,"cg_iq_raw_a":0.0819252059,"cg_iu_a":-0.142441988,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.863636,"cg_sample_seq":14671967,"cg_sample_valid":1,"cg_theta_rad":5.00804138,"cg_vd_req_v":0.0930805057,"cg_vd_v":0.0930805057,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364687383,"cg_vq_v":-0.364687383,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2371826,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12450,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398048,"cg_dv":50.2047958,"cg_dw":49.7952042,"cg_id_a":0.190704018,"cg_id_raw_a":-0.111869074,"cg_iq_a":0.0559624657,"cg_iq_raw_a":-0.593306661,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9909096,"cg_sample_seq":14672017,"cg_sample_valid":1,"cg_theta_rad":5.00740099,"cg_vd_req_v":0.0907825977,"cg_vd_v":0.0907825977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357637346,"cg_vq_v":-0.357637346,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1801758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00357518881,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115564197,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12442,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1389885,"cg_dv":50.2096825,"cg_dw":49.7903175,"cg_id_a":-0.0392663293,"cg_id_raw_a":0.0532549061,"cg_iq_a":0.316065371,"cg_iq_raw_a":0.479759455,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.655722737,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9872723,"cg_sample_seq":14672067,"cg_sample_valid":1,"cg_theta_rad":5.00687551,"cg_vd_req_v":0.0963257849,"cg_vd_v":0.0963257849,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363793045,"cg_vq_v":-0.363793045,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1378899,"cg_dv":50.2050056,"cg_dw":49.7949944,"cg_id_a":0.128505304,"cg_id_raw_a":0.26354453,"cg_iq_a":0.0498955324,"cg_iq_raw_a":0.0639174506,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9763641,"cg_sample_seq":14672117,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0923844874,"cg_vd_v":0.0923844874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35571903,"cg_vq_v":-0.35571903,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1309814,"cg_dv":50.2031097,"cg_dw":49.7968903,"cg_id_a":0.0722598955,"cg_id_raw_a":0.497033387,"cg_iq_a":-0.0780956522,"cg_iq_raw_a":0.0422100276,"cg_iu_a":0.256240368,"cg_iv_a":-0.293284297,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.9181824,"cg_sample_seq":14672166,"cg_sample_valid":1,"cg_theta_rad":5.00992489,"cg_vd_req_v":0.0939315334,"cg_vd_v":0.0939315334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349794716,"cg_vq_v":-0.349794716,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.232021213,"dclink_p_w":-33.6812553,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325569,"cg_dv":50.205883,"cg_dw":49.794117,"cg_id_a":-0.00279180706,"cg_id_raw_a":-0.090311341,"cg_iq_a":0.218810499,"cg_iq_raw_a":-0.189899698,"cg_iu_a":-0.251173496,"cg_iv_a":-0.365772128,"cg_iw_a":0.616945624,"cg_sample_age_us":23.863636,"cg_sample_seq":14672216,"cg_sample_valid":1,"cg_theta_rad":5.00810909,"cg_vd_req_v":0.0955110714,"cg_vd_v":0.0955110714,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354414135,"cg_vq_v":-0.354414135,"cg_vu_v":119.210884,"cg_vv_v":139.445938,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12432,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1414185,"cg_dv":50.2146797,"cg_dw":49.7853203,"cg_id_a":-0.0425666496,"cg_id_raw_a":0.363358021,"cg_iq_a":0.98906827,"cg_iq_raw_a":2.4764545,"cg_iu_a":-0.432392597,"cg_iv_a":-0.945673466,"cg_iw_a":1.37806606,"cg_sample_age_us":23.8963642,"cg_sample_seq":14672267,"cg_sample_valid":1,"cg_theta_rad":5.00752878,"cg_vd_req_v":0.0979241282,"cg_vd_v":0.0979241282,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371129662,"cg_vq_v":-0.371129662,"cg_vu_v":116.571533,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.768429995,"dclink_p_w":-111.21077,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2156067,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12472,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281166,"cg_dv":50.2077103,"cg_dw":49.7922897,"cg_id_a":-0.15034157,"cg_id_raw_a":-0.0104617747,"cg_iq_a":0.223263577,"cg_iq_raw_a":-0.364306331,"cg_iu_a":-0.359905005,"cg_iv_a":0.0691540241,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8527279,"cg_sample_seq":14672320,"cg_sample_valid":1,"cg_theta_rad":5.00562143,"cg_vd_req_v":0.101148888,"cg_vd_v":0.101148888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355472088,"cg_vq_v":-0.355472088,"cg_vu_v":24.6339836,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12466,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1441193,"cg_dv":50.2133141,"cg_dw":49.7866859,"cg_id_a":0.195430875,"cg_id_raw_a":-0.0840864703,"cg_iq_a":1.03069019,"cg_iq_raw_a":0.174465433,"cg_iu_a":-1.55595136,"cg_iv_a":-0.728210449,"cg_iw_a":2.28416181,"cg_sample_age_us":23.8600006,"cg_sample_seq":14672366,"cg_sample_valid":1,"cg_theta_rad":5.00645447,"cg_vd_req_v":0.0957551152,"cg_vd_v":0.0957551152,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371665716,"cg_vq_v":-0.371665716,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.676008224,"dclink_p_w":-97.8350601,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1314392,"cg_dv":50.208416,"cg_dw":49.791584,"cg_id_a":0.101859845,"cg_id_raw_a":-0.527955115,"cg_iq_a":0.274869502,"cg_iq_raw_a":0.68039006,"cg_iu_a":-0.50488019,"cg_iv_a":0.612811446,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8600006,"cg_sample_seq":14672417,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.0973219648,"cg_vd_v":0.0973219648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357658863,"cg_vq_v":-0.357658863,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.210968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1170845,"cg_dv":50.1992569,"cg_dw":49.8007431,"cg_id_a":-0.107354939,"cg_id_raw_a":-1.12478673,"cg_iq_a":-0.773827732,"cg_iq_raw_a":-1.92561007,"cg_iu_a":-1.04853773,"cg_iv_a":0.0691539645,"cg_iw_a":0.979383767,"cg_sample_age_us":23.9290905,"cg_sample_seq":14672466,"cg_sample_valid":1,"cg_theta_rad":5.00633907,"cg_vd_req_v":0.100455783,"cg_vd_v":0.100455783,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335853845,"cg_vq_v":-0.335853845,"cg_vu_v":128.448624,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.514328,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.2063904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12481,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1337471,"cg_dv":50.1953888,"cg_dw":49.8046112,"cg_id_a":0.474472702,"cg_id_raw_a":0.67387867,"cg_iq_a":-0.218343377,"cg_iq_raw_a":0.173379213,"cg_iu_a":-0.541123867,"cg_iv_a":1.04773736,"cg_iw_a":-0.506613553,"cg_sample_age_us":23.9836369,"cg_sample_seq":14672616,"cg_sample_valid":1,"cg_theta_rad":5.00762272,"cg_vd_req_v":0.0840474516,"cg_vd_v":0.0840474516,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341989696,"cg_vq_v":-0.341989696,"cg_vu_v":8.79785156,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293221,"cg_dv":50.1976662,"cg_dw":49.8023338,"cg_id_a":0.0615710132,"cg_id_raw_a":0.0416368917,"cg_iq_a":-0.184405431,"cg_iq_raw_a":-0.687001407,"cg_iu_a":0.799897909,"cg_iv_a":0.286616921,"cg_iw_a":-1.08651483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14672666,"cg_sample_valid":1,"cg_theta_rad":5.00733089,"cg_vd_req_v":0.0904723927,"cg_vd_v":0.0904723927,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342430502,"cg_vq_v":-0.342430502,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12465,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266365,"cg_dv":50.1991692,"cg_dw":49.8008308,"cg_id_a":-0.0547379777,"cg_id_raw_a":0.529850304,"cg_iq_a":-0.0681822002,"cg_iq_raw_a":-0.750063777,"cg_iu_a":0.183752537,"cg_iv_a":-0.293284297,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9509087,"cg_sample_seq":14672716,"cg_sample_valid":1,"cg_theta_rad":5.00791454,"cg_vd_req_v":0.0931871459,"cg_vd_v":0.0931871459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342093527,"cg_vq_v":-0.342093527,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1348114,"cg_dv":50.2021713,"cg_dw":49.7978287,"cg_id_a":0.0450857133,"cg_id_raw_a":-0.0132113658,"cg_iq_a":0.450637281,"cg_iq_raw_a":-0.546714783,"cg_iu_a":-0.287417173,"cg_iv_a":-0.220796704,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9509087,"cg_sample_seq":14672766,"cg_sample_valid":1,"cg_theta_rad":5.00851774,"cg_vd_req_v":0.0906953439,"cg_vd_v":0.0906953439,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350484014,"cg_vq_v":-0.350484014,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12457,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1326523,"cg_dv":50.1939926,"cg_dw":49.8060074,"cg_id_a":0.206961185,"cg_id_raw_a":0.337054878,"cg_iq_a":-0.205778405,"cg_iq_raw_a":-0.0370341092,"cg_iu_a":0.256240368,"cg_iv_a":-0.619478941,"cg_iw_a":0.363238573,"cg_sample_age_us":23.954546,"cg_sample_seq":14672821,"cg_sample_valid":1,"cg_theta_rad":5.00824118,"cg_vd_req_v":0.0863629729,"cg_vd_v":0.0863629729,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336573631,"cg_vq_v":-0.336573631,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2125244,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12455,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276245,"cg_dv":50.2028236,"cg_dw":49.7971764,"cg_id_a":-0.207170635,"cg_id_raw_a":0.000343231164,"cg_iq_a":0.253052443,"cg_iq_raw_a":0.182862103,"cg_iu_a":0.364971638,"cg_iv_a":-0.546991229,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9472733,"cg_sample_seq":14672866,"cg_sample_valid":1,"cg_theta_rad":5.00604486,"cg_vd_req_v":0.0956579372,"cg_vd_v":0.0956579372,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34656623,"cg_vq_v":-0.34656623,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-89.9549942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1925049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1186714,"cg_dv":50.1945572,"cg_dw":49.8054428,"cg_id_a":-0.304133177,"cg_id_raw_a":-0.19686532,"cg_iq_a":-0.465985477,"cg_iq_raw_a":-1.22086716,"cg_iu_a":0.546190977,"cg_iv_a":0.0691539049,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9181824,"cg_sample_seq":14672916,"cg_sample_valid":1,"cg_theta_rad":5.00715971,"cg_vd_req_v":0.0970733389,"cg_vd_v":0.0970733389,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331843674,"cg_vq_v":-0.331843674,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.623454571,"dclink_p_w":-89.9549942,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1925049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11697413,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12437,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283684,"cg_dv":50.1951599,"cg_dw":49.8048401,"cg_id_a":0.000830382109,"cg_id_raw_a":0.422492594,"cg_iq_a":-0.0347895399,"cg_iq_raw_a":-0.466355264,"cg_iu_a":0.219996452,"cg_iv_a":-0.728210449,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14672966,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.0905538574,"cg_vd_v":0.0905538574,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338007927,"cg_vq_v":-0.338007927,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.610769272,"dclink_p_w":-88.3933716,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1601563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1335258,"cg_dv":50.1836777,"cg_dw":49.8163223,"cg_id_a":0.753520012,"cg_id_raw_a":0.392864048,"cg_iq_a":-0.685253859,"cg_iq_raw_a":-0.17869179,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9872723,"cg_sample_seq":14673018,"cg_sample_valid":1,"cg_theta_rad":5.00715446,"cg_vd_req_v":0.0741290599,"cg_vd_v":0.0741290599,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323494792,"cg_vq_v":-0.323494792,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.1108627,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1724548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12467,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1219482,"cg_dv":50.1907387,"cg_dw":49.8092613,"cg_id_a":-0.0622323975,"cg_id_raw_a":-0.34389779,"cg_iq_a":-0.260343254,"cg_iq_raw_a":0.0384752974,"cg_iu_a":0.111264944,"cg_iv_a":0.75778681,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.954546,"cg_sample_seq":14673066,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.0912732631,"cg_vd_v":0.0912732631,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327281237,"cg_vq_v":-0.327281237,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1724548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12458,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1198616,"cg_dv":50.1871071,"cg_dw":49.8128929,"cg_id_a":0.0178014189,"cg_id_raw_a":0.187311977,"cg_iq_a":-0.562070727,"cg_iq_raw_a":-0.817760766,"cg_iu_a":0.256240368,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9290905,"cg_sample_seq":14673116,"cg_sample_valid":1,"cg_theta_rad":5.00917101,"cg_vd_req_v":0.0900625587,"cg_vd_v":0.0900625587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320985794,"cg_vq_v":-0.320985794,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.329879522,"dclink_p_w":-47.7416992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12452,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255455,"cg_dv":50.2000504,"cg_dw":49.7999496,"cg_id_a":-0.378298104,"cg_id_raw_a":0.108913064,"cg_iq_a":0.400872558,"cg_iq_raw_a":-0.461424381,"cg_iu_a":0.401215792,"cg_iv_a":0.0691539049,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.954546,"cg_sample_seq":14673166,"cg_sample_valid":1,"cg_theta_rad":5.00698233,"cg_vd_req_v":0.0990122706,"cg_vd_v":0.0990122706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341516405,"cg_vq_v":-0.341516405,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.329879522,"dclink_p_w":-47.7416992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12499,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193695,"cg_dv":50.1978798,"cg_dw":49.8021202,"cg_id_a":-0.255971372,"cg_id_raw_a":0.0700018778,"cg_iq_a":0.21269086,"cg_iq_raw_a":-0.356877148,"cg_iu_a":0.0387773514,"cg_iv_a":-0.619478822,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9763641,"cg_sample_seq":14673216,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0957779661,"cg_vd_v":0.0957779661,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337921798,"cg_vq_v":-0.337921798,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.322630882,"dclink_p_w":-46.6926422,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.210968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12449,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1251335,"cg_dv":50.1954231,"cg_dw":49.8045769,"cg_id_a":0.0124605671,"cg_id_raw_a":0.195756078,"cg_iq_a":-0.0073347725,"cg_iq_raw_a":-0.526163638,"cg_iu_a":-0.0337104797,"cg_iv_a":0.177885413,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9472733,"cg_sample_seq":14673266,"cg_sample_valid":1,"cg_theta_rad":5.00622177,"cg_vd_req_v":0.092460528,"cg_vd_v":0.092460528,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336777836,"cg_vq_v":-0.336777836,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":0.018061161,"dclink_p_w":2.62184024,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12430,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1239281,"cg_dv":50.1940231,"cg_dw":49.8059769,"cg_id_a":0.00201688334,"cg_id_raw_a":-0.131636798,"cg_iq_a":-0.162740409,"cg_iq_raw_a":-0.19411923,"cg_iu_a":-0.577367783,"cg_iv_a":-0.184552848,"cg_iw_a":0.761920631,"cg_sample_age_us":23.8490906,"cg_sample_seq":14673320,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.0916428342,"cg_vd_v":0.0916428342,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334298074,"cg_vq_v":-0.334298074,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.6220055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12491,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1249695,"cg_dv":50.2005348,"cg_dw":49.7994652,"cg_id_a":-0.134939328,"cg_id_raw_a":-0.024789067,"cg_iq_a":0.233657926,"cg_iq_raw_a":0.471644968,"cg_iu_a":-0.14244175,"cg_iv_a":-0.148309112,"cg_iw_a":0.290750861,"cg_sample_age_us":23.954546,"cg_sample_seq":14673367,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0942703411,"cg_vd_v":0.0942703411,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343450665,"cg_vq_v":-0.343450665,"cg_vu_v":106.453995,"cg_vv_v":102.055069,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.6220055,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2032776,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12488,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1260262,"cg_dv":50.2011795,"cg_dw":49.7988205,"cg_id_a":-0.121273279,"cg_id_raw_a":0.357924551,"cg_iq_a":-0.192585871,"cg_iq_raw_a":-1.12984073,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885473,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9618187,"cg_sample_seq":14673516,"cg_sample_valid":1,"cg_theta_rad":5.00751925,"cg_vd_req_v":0.0963203907,"cg_vd_v":0.0963203907,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344292402,"cg_vq_v":-0.344292402,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.8944511,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12487,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1238785,"cg_dv":50.1992073,"cg_dw":49.8007927,"cg_id_a":0.0110431649,"cg_id_raw_a":0.391301572,"cg_iq_a":-0.32881555,"cg_iq_raw_a":-0.18208766,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14673566,"cg_sample_valid":1,"cg_theta_rad":5.0038209,"cg_vd_req_v":0.0943869874,"cg_vd_v":0.0943869874,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341996461,"cg_vq_v":-0.341996461,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.460205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12457,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315384,"cg_dv":50.2024689,"cg_dw":49.7975311,"cg_id_a":0.0291337296,"cg_id_raw_a":0.173255414,"cg_iq_a":-0.0604745224,"cg_iq_raw_a":0.56378299,"cg_iu_a":-0.0699541569,"cg_iv_a":0.359104574,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9654541,"cg_sample_seq":14673616,"cg_sample_valid":1,"cg_theta_rad":5.00653744,"cg_vd_req_v":0.0933513045,"cg_vd_v":0.0933513045,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34910655,"cg_vq_v":-0.34910655,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.210968,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12453,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.14151,"cg_dv":50.2061272,"cg_dw":49.7938728,"cg_id_a":0.153565407,"cg_id_raw_a":-0.420503587,"cg_iq_a":0.532957435,"cg_iq_raw_a":-1.64652872,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528272,"cg_iw_a":0.182019651,"cg_sample_age_us":23.9254551,"cg_sample_seq":14673666,"cg_sample_valid":1,"cg_theta_rad":5.00739861,"cg_vd_req_v":0.0917883143,"cg_vd_v":0.0917883143,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358992398,"cg_vq_v":-0.358992398,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-36.9886856,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12465,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193085,"cg_dv":50.2000618,"cg_dw":49.7999382,"cg_id_a":-0.201482221,"cg_id_raw_a":-0.392165363,"cg_iq_a":-0.392180741,"cg_iq_raw_a":-0.328344345,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9836369,"cg_sample_seq":14673716,"cg_sample_valid":1,"cg_theta_rad":5.00696659,"cg_vd_req_v":0.100509927,"cg_vd_v":0.100509927,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339009136,"cg_vq_v":-0.339009136,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.106980085,"dclink_p_w":-15.4355955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218185,"cg_dv":50.2083244,"cg_dw":49.7916756,"cg_id_a":-0.466779798,"cg_id_raw_a":-0.51152575,"cg_iq_a":0.382640719,"cg_iq_raw_a":0.46009025,"cg_iu_a":0.509947062,"cg_iv_a":0.57656765,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9872723,"cg_sample_seq":14673767,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.107398733,"cg_vd_v":0.107398733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351399064,"cg_vq_v":-0.351399064,"cg_vu_v":28.5930176,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2012062,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.2063904,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12446,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1223602,"cg_dv":50.1996918,"cg_dw":49.8003082,"cg_id_a":-0.0648860559,"cg_id_raw_a":-0.228833407,"cg_iq_a":-0.0693612844,"cg_iq_raw_a":-0.0586933531,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.112065315,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14673821,"cg_sample_valid":1,"cg_theta_rad":5.00574303,"cg_vd_req_v":0.0992014557,"cg_vd_v":0.0992014557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339793652,"cg_vq_v":-0.339793652,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.5600128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12437,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1187401,"cg_dv":50.2035904,"cg_dw":49.7964096,"cg_id_a":-0.243402362,"cg_id_raw_a":-0.228301644,"cg_iq_a":0.10441862,"cg_iq_raw_a":0.379762679,"cg_iu_a":-0.14244175,"cg_iv_a":-0.402015924,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14673867,"cg_sample_valid":1,"cg_theta_rad":5.00646687,"cg_vd_req_v":0.103559889,"cg_vd_v":0.103559889,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343738377,"cg_vq_v":-0.343738377,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.5600128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197777,"cg_dv":50.1981812,"cg_dw":49.8018188,"cg_id_a":0.0630718321,"cg_id_raw_a":-0.268025875,"cg_iq_a":-0.0300797299,"cg_iq_raw_a":-0.752876818,"cg_iu_a":0.437459469,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.361638129,"cg_sample_age_us":23.9509087,"cg_sample_seq":14673916,"cg_sample_valid":1,"cg_theta_rad":5.00781679,"cg_vd_req_v":0.0981801152,"cg_vd_v":0.0981801152,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337859571,"cg_vq_v":-0.337859571,"cg_vu_v":24.1940918,"cg_vv_v":3.51914048,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.342443466,"dclink_p_w":49.5600128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38689,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1200523,"cg_dv":50.2004166,"cg_dw":49.7995834,"cg_id_a":-0.129266217,"cg_id_raw_a":-0.083252795,"cg_iq_a":-0.10294757,"cg_iq_raw_a":-0.44515112,"cg_iu_a":0.61867857,"cg_iv_a":0.177885413,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9290905,"cg_sample_seq":14673967,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.102851585,"cg_vd_v":0.102851585,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339134932,"cg_vq_v":-0.339134932,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.530911446,"dclink_p_w":76.8359756,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12457,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1195793,"cg_dv":50.2027435,"cg_dw":49.7972565,"cg_id_a":-0.0831730962,"cg_id_raw_a":-0.166333333,"cg_iq_a":0.0653923154,"cg_iq_raw_a":0.167104244,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14674016,"cg_sample_valid":1,"cg_theta_rad":5.00605774,"cg_vd_req_v":0.102230549,"cg_vd_v":0.102230549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343005002,"cg_vq_v":-0.343005002,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1955872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1144638,"cg_dv":50.2003098,"cg_dw":49.7996902,"cg_id_a":-0.129729807,"cg_id_raw_a":-0.249540791,"cg_iq_a":-0.321477383,"cg_iq_raw_a":-0.278470725,"cg_iu_a":0.43745935,"cg_iv_a":0.0329101086,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9836369,"cg_sample_seq":14674066,"cg_sample_valid":1,"cg_theta_rad":5.00770664,"cg_vd_req_v":0.104921967,"cg_vd_v":0.104921967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33651346,"cg_vq_v":-0.33651346,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1955872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12467,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1113815,"cg_dv":50.2012596,"cg_dw":49.7987404,"cg_id_a":-0.190703243,"cg_id_raw_a":-0.31398803,"cg_iq_a":-0.326916993,"cg_iq_raw_a":0.626764715,"cg_iu_a":-0.0337104797,"cg_iv_a":0.540323734,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9836369,"cg_sample_seq":14674116,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.106778353,"cg_vd_v":0.106778353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336547464,"cg_vq_v":-0.336547464,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.418555498,"dclink_p_w":60.5752983,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1955872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112996101,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12482,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1128769,"cg_dv":50.197876,"cg_dw":49.802124,"cg_id_a":-0.100415029,"cg_id_raw_a":0.349674791,"cg_iq_a":-0.46015802,"cg_iq_raw_a":-0.62140578,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641557,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.954546,"cg_sample_seq":14674166,"cg_sample_valid":1,"cg_theta_rad":5.01017237,"cg_vd_req_v":0.103132427,"cg_vd_v":0.103132427,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333630174,"cg_vq_v":-0.333630174,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.360565424,"dclink_p_w":52.3413162,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12462,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1174202,"cg_dv":50.2052727,"cg_dw":49.7947273,"cg_id_a":-0.225621909,"cg_id_raw_a":-0.197182223,"cg_iq_a":0.123891599,"cg_iq_raw_a":0.273541003,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14674216,"cg_sample_valid":1,"cg_theta_rad":5.00610685,"cg_vd_req_v":0.106423564,"cg_vd_v":0.106423564,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346378773,"cg_vq_v":-0.346378773,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":53.1305122,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12469,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.118042,"cg_dv":50.2017593,"cg_dw":49.7982407,"cg_id_a":-0.0917355567,"cg_id_raw_a":0.224386394,"cg_iq_a":-0.0814010873,"cg_iq_raw_a":-0.633340001,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9763641,"cg_sample_seq":14674266,"cg_sample_valid":1,"cg_theta_rad":5.0061264,"cg_vd_req_v":0.10236311,"cg_vd_v":0.10236311,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340845883,"cg_vq_v":-0.340845883,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.9162254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.190979,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1208,"cg_dv":50.1977043,"cg_dw":49.8022957,"cg_id_a":-0.134238839,"cg_id_raw_a":-0.146434024,"cg_iq_a":-0.0948515534,"cg_iq_raw_a":0.387053549,"cg_iu_a":0.546190977,"cg_iv_a":0.39534843,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14674366,"cg_sample_valid":1,"cg_theta_rad":5.00620985,"cg_vd_req_v":0.097518988,"cg_vd_v":0.097518988,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336499095,"cg_vq_v":-0.336499095,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.9162254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1801758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106198214,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12439,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332283,"cg_dv":50.203804,"cg_dw":49.796196,"cg_id_a":0.0053716898,"cg_id_raw_a":-0.635690033,"cg_iq_a":0.6571275,"cg_iq_raw_a":0.448833853,"cg_iu_a":-1.15726924,"cg_iv_a":-0.0758213997,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14674416,"cg_sample_valid":1,"cg_theta_rad":5.00623751,"cg_vd_req_v":0.0937231407,"cg_vd_v":0.0937231407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35290733,"cg_vq_v":-0.35290733,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.440301895,"dclink_p_w":63.9162254,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12463,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1197624,"cg_dv":50.203022,"cg_dw":49.796978,"cg_id_a":-0.473267913,"cg_id_raw_a":-0.465729535,"cg_iq_a":0.23567766,"cg_iq_raw_a":0.209666178,"cg_iu_a":0.509947062,"cg_iv_a":-0.220796764,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.8600006,"cg_sample_seq":14674467,"cg_sample_valid":1,"cg_theta_rad":5.00678158,"cg_vd_req_v":0.103851303,"cg_vd_v":0.103851303,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343039125,"cg_vq_v":-0.343039125,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":104.694435,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.3975029,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12429,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1235962,"cg_dv":50.198307,"cg_dw":49.801693,"cg_id_a":0.0594865307,"cg_id_raw_a":0.538214386,"cg_iq_a":-0.103023596,"cg_iq_raw_a":0.0515059978,"cg_iu_a":0.437459469,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9363632,"cg_sample_seq":14674516,"cg_sample_valid":1,"cg_theta_rad":5.00909758,"cg_vd_req_v":0.0949483141,"cg_vd_v":0.0949483141,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340269685,"cg_vq_v":-0.340269685,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38682,"EncoderSin":12445,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193123,"cg_dv":50.1937141,"cg_dw":49.8062859,"cg_id_a":-0.117360123,"cg_id_raw_a":0.2331779,"cg_iq_a":-0.366137415,"cg_iq_raw_a":-0.630156219,"cg_iu_a":-0.251173258,"cg_iv_a":-0.00333368778,"cg_iw_a":0.254506946,"cg_sample_age_us":23.8600006,"cg_sample_seq":14674567,"cg_sample_valid":1,"cg_theta_rad":5.0064168,"cg_vd_req_v":0.0984647125,"cg_vd_v":0.0984647125,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330259562,"cg_vq_v":-0.330259562,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.4787674,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3482056,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12449,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1313362,"cg_dv":50.2007866,"cg_dw":49.7992134,"cg_id_a":0.210974663,"cg_id_raw_a":0.0392028838,"cg_iq_a":0.49498564,"cg_iq_raw_a":-0.432365358,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14674617,"cg_sample_valid":1,"cg_theta_rad":5.00699854,"cg_vd_req_v":0.0924624056,"cg_vd_v":0.0924624056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346550345,"cg_vq_v":-0.346550345,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.623333216,"dclink_p_w":90.2116852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1986694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262321,"cg_dv":50.2045746,"cg_dw":49.7954254,"cg_id_a":0.0256628133,"cg_id_raw_a":0.402281612,"cg_iq_a":0.521771789,"cg_iq_raw_a":0.619844079,"cg_iu_a":-0.396148682,"cg_iv_a":-0.220796704,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9618187,"cg_sample_seq":14674667,"cg_sample_valid":1,"cg_theta_rad":5.00767565,"cg_vd_req_v":0.097644642,"cg_vd_v":0.097644642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349537283,"cg_vq_v":-0.349537283,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.623333216,"dclink_p_w":90.2116852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1986694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12451,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234322,"cg_dv":50.1977654,"cg_dw":49.8022346,"cg_id_a":0.139525533,"cg_id_raw_a":0.241189435,"cg_iq_a":-0.185651049,"cg_iq_raw_a":1.33629811,"cg_iu_a":0.219996452,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9836369,"cg_sample_seq":14674717,"cg_sample_valid":1,"cg_theta_rad":5.00723076,"cg_vd_req_v":0.0962879434,"cg_vd_v":0.0962879434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337841451,"cg_vq_v":-0.337841451,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.741125643,"dclink_p_w":107.259155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.686768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38763,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283264,"cg_dv":50.2050743,"cg_dw":49.7949257,"cg_id_a":0.202089116,"cg_id_raw_a":-0.253561705,"cg_iq_a":0.539760828,"cg_iq_raw_a":-0.0217556637,"cg_iu_a":0.111264944,"cg_iv_a":0.359104633,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.8745461,"cg_sample_seq":14674767,"cg_sample_valid":1,"cg_theta_rad":5.00727034,"cg_vd_req_v":0.0959563926,"cg_vd_v":0.0959563926,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352674425,"cg_vq_v":-0.352674425,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.848044991,"dclink_p_w":122.733017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1208801,"cg_dv":50.2012825,"cg_dw":49.7987175,"cg_id_a":-0.0242629666,"cg_id_raw_a":-0.0172319058,"cg_iq_a":-0.00144070387,"cg_iq_raw_a":0.144793123,"cg_iu_a":-1.80965829,"cg_iv_a":0.467836142,"cg_iw_a":1.34182215,"cg_sample_age_us":26.812727,"cg_sample_seq":14674822,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.100422584,"cg_vd_v":0.100422584,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34268555,"cg_vq_v":-0.34268555,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":0.848044991,"dclink_p_w":122.733017,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1955872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12473,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1324539,"cg_dv":50.2035561,"cg_dw":49.7964439,"cg_id_a":0.177189663,"cg_id_raw_a":0.00898187142,"cg_iq_a":0.537871957,"cg_iq_raw_a":0.29314667,"cg_iu_a":0.038777113,"cg_iv_a":0.141641617,"cg_iw_a":-0.18041873,"cg_sample_age_us":23.9363632,"cg_sample_seq":14674866,"cg_sample_valid":1,"cg_theta_rad":5.00636911,"cg_vd_req_v":0.095508948,"cg_vd_v":0.095508948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351752251,"cg_vq_v":-0.351752251,"cg_vu_v":39.590332,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.911471665,"dclink_p_w":131.91243,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12454,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1316261,"cg_dv":50.2139702,"cg_dw":49.7860298,"cg_id_a":-0.108156346,"cg_id_raw_a":0.272682011,"cg_iq_a":0.918573856,"cg_iq_raw_a":0.426189005,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9872723,"cg_sample_seq":14674916,"cg_sample_valid":1,"cg_theta_rad":5.00862598,"cg_vd_req_v":0.102621399,"cg_vd_v":0.102621399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365313381,"cg_vq_v":-0.365313381,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.8636703,"control_outputs_enabled":1,"dclink_i_a":0.916908264,"dclink_p_w":132.699234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.2233276,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12461,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333847,"cg_dv":50.2058716,"cg_dw":49.7941284,"cg_id_a":0.124833062,"cg_id_raw_a":0.0518087968,"cg_iq_a":0.241152495,"cg_iq_raw_a":0.479917854,"cg_iu_a":0.0387773514,"cg_iv_a":0.322860837,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.8563633,"cg_sample_seq":14674966,"cg_sample_valid":1,"cg_theta_rad":5.00579548,"cg_vd_req_v":0.097766079,"cg_vd_v":0.097766079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354070902,"cg_vq_v":-0.354070902,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.8609848,"control_outputs_enabled":1,"dclink_i_a":0.916908264,"dclink_p_w":132.699234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1786499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12461,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1319885,"cg_dv":50.2067909,"cg_dw":49.7932091,"cg_id_a":0.233909041,"cg_id_raw_a":0.363074511,"cg_iq_a":0.21347864,"cg_iq_raw_a":-0.329844475,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9836369,"cg_sample_seq":14675017,"cg_sample_valid":1,"cg_theta_rad":5.00798798,"cg_vd_req_v":0.0954005048,"cg_vd_v":0.0954005048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355721205,"cg_vq_v":-0.355721205,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.916908264,"dclink_p_w":132.699234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12447,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.124054,"cg_dv":50.2055206,"cg_dw":49.7944794,"cg_id_a":-0.273984909,"cg_id_raw_a":-0.125715852,"cg_iq_a":-0.135465607,"cg_iq_raw_a":0.17027539,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9836369,"cg_sample_seq":14675067,"cg_sample_valid":1,"cg_theta_rad":5.00693035,"cg_vd_req_v":0.103854679,"cg_vd_v":0.103854679,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349719316,"cg_vq_v":-0.349719316,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.916908264,"dclink_p_w":132.699234,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12439,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357803,"cg_dv":50.201683,"cg_dw":49.798317,"cg_id_a":0.326342583,"cg_id_raw_a":0.0639019758,"cg_iq_a":-0.039173726,"cg_iq_raw_a":-0.466338575,"cg_iu_a":-0.468636513,"cg_iv_a":0.286616921,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9872723,"cg_sample_seq":14675117,"cg_sample_valid":1,"cg_theta_rad":5.00648069,"cg_vd_req_v":0.0903648511,"cg_vd_v":0.0903648511,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351266325,"cg_vq_v":-0.351266325,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.782806098,"dclink_p_w":113.291344,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12457,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1285858,"cg_dv":50.2014503,"cg_dw":49.7985497,"cg_id_a":0.193921536,"cg_id_raw_a":0.177583426,"cg_iq_a":-0.462553084,"cg_iq_raw_a":-0.127089411,"cg_iu_a":0.219996333,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9872723,"cg_sample_seq":14675166,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0958610848,"cg_vd_v":0.0958610848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345739633,"cg_vq_v":-0.345739633,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.788242638,"dclink_p_w":114.07814,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276093,"cg_dv":50.2067146,"cg_dw":49.7932854,"cg_id_a":-0.0456843674,"cg_id_raw_a":0.101502277,"cg_iq_a":-0.158846766,"cg_iq_raw_a":-0.207582325,"cg_iu_a":0.183752775,"cg_iv_a":0.286616921,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9872723,"cg_sample_seq":14675217,"cg_sample_valid":1,"cg_theta_rad":5.00610828,"cg_vd_req_v":0.101713158,"cg_vd_v":0.101713158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352347225,"cg_vq_v":-0.352347225,"cg_vu_v":115.69175,"cg_vv_v":128.448624,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":1.00570571,"dclink_p_w":145.550415,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113902487,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12450,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1150665,"cg_dv":50.2026405,"cg_dw":49.7973595,"cg_id_a":-0.205410182,"cg_id_raw_a":0.152627587,"cg_iq_a":-0.639249802,"cg_iq_raw_a":0.780168474,"cg_iu_a":1.48853064,"cg_iv_a":-0.365772128,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.9509087,"cg_sample_seq":14675267,"cg_sample_valid":1,"cg_theta_rad":5.00825262,"cg_vd_req_v":0.106309161,"cg_vd_v":0.106309161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340150088,"cg_vq_v":-0.340150088,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.813613355,"dclink_p_w":117.749908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12456,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220474,"cg_dv":50.2076111,"cg_dw":49.7923889,"cg_id_a":-0.140606314,"cg_id_raw_a":-0.128726169,"cg_iq_a":-0.213126227,"cg_iq_raw_a":-1.32232881,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796824,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8745461,"cg_sample_seq":14675317,"cg_sample_valid":1,"cg_theta_rad":5.0075345,"cg_vd_req_v":0.105504163,"cg_vd_v":0.105504163,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350867182,"cg_vq_v":-0.350867182,"cg_vu_v":118.3311,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.529099286,"dclink_p_w":76.5737152,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281776,"cg_dv":50.2033615,"cg_dw":49.7966385,"cg_id_a":0.362634599,"cg_id_raw_a":0.248224944,"cg_iq_a":-0.182958558,"cg_iq_raw_a":0.460533708,"cg_iu_a":0.328727961,"cg_iv_a":0.504079938,"cg_iw_a":-0.832807899,"cg_sample_age_us":26.823637,"cg_sample_seq":14675370,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0956319943,"cg_vd_v":0.0956319943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349913597,"cg_vq_v":-0.349913597,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1401672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1223259,"cg_dv":50.2131424,"cg_dw":49.7868576,"cg_id_a":-0.350847304,"cg_id_raw_a":-0.205310419,"cg_iq_a":0.157027632,"cg_iq_raw_a":-0.528461039,"cg_iu_a":-0.142441988,"cg_iv_a":-0.25704056,"cg_iw_a":0.399482548,"cg_sample_age_us":23.9581814,"cg_sample_seq":14675416,"cg_sample_valid":1,"cg_theta_rad":5.0063982,"cg_vd_req_v":0.110720761,"cg_vd_v":0.110720761,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359719247,"cg_vq_v":-0.359719247,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.277204633,"dclink_p_w":40.1183434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.138855,"cg_dv":50.2107506,"cg_dw":49.7892494,"cg_id_a":0.303558379,"cg_id_raw_a":0.186051548,"cg_iq_a":0.25766477,"cg_iq_raw_a":-0.636299431,"cg_iu_a":-0.432392597,"cg_iv_a":0.39534843,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9836369,"cg_sample_seq":14675466,"cg_sample_valid":1,"cg_theta_rad":5.00743437,"cg_vd_req_v":0.0965922177,"cg_vd_v":0.0965922177,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36422053,"cg_vq_v":-0.36422053,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.376875162,"dclink_p_w":54.543129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12467,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.124958,"cg_dv":50.2124596,"cg_dw":49.7875404,"cg_id_a":-0.144743472,"cg_id_raw_a":-0.306043088,"cg_iq_a":-0.067347087,"cg_iq_raw_a":-0.136550069,"cg_iu_a":0.14750886,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9654541,"cg_sample_seq":14675516,"cg_sample_valid":1,"cg_theta_rad":5.00866127,"cg_vd_req_v":0.106183909,"cg_vd_v":0.106183909,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358425856,"cg_vq_v":-0.358425856,"cg_vu_v":135.047012,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.603399098,"dclink_p_w":87.0612946,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12435,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306305,"cg_dv":50.2130089,"cg_dw":49.7869911,"cg_id_a":-0.114708446,"cg_id_raw_a":0.00765802898,"cg_iq_a":0.062261086,"cg_iq_raw_a":-0.326211274,"cg_iu_a":0.111264944,"cg_iv_a":-0.510747373,"cg_iw_a":0.399482429,"cg_sample_age_us":23.9581814,"cg_sample_seq":14675566,"cg_sample_valid":1,"cg_theta_rad":5.00722504,"cg_vd_req_v":0.104849726,"cg_vd_v":0.104849726,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362770468,"cg_vq_v":-0.362770468,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.605211318,"dclink_p_w":87.5889969,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1300888,"cg_dv":50.2099457,"cg_dw":49.7900543,"cg_id_a":0.0542357154,"cg_id_raw_a":0.277744859,"cg_iq_a":-0.267439276,"cg_iq_raw_a":-0.0817056,"cg_iu_a":-0.0337102413,"cg_iv_a":0.21412921,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14675616,"cg_sample_valid":1,"cg_theta_rad":5.00678635,"cg_vd_req_v":0.101530671,"cg_vd_v":0.101530671,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358522385,"cg_vq_v":-0.358522385,"cg_vu_v":7.47817326,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.30257535,"dclink_p_w":43.6570129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1940308,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1321487,"cg_dv":50.2163773,"cg_dw":49.7836227,"cg_id_a":-0.269066036,"cg_id_raw_a":-0.0780095905,"cg_iq_a":0.156638339,"cg_iq_raw_a":-0.516911209,"cg_iu_a":0.00253343582,"cg_iv_a":-0.402015924,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9290905,"cg_sample_seq":14675668,"cg_sample_valid":1,"cg_theta_rad":5.00661707,"cg_vd_req_v":0.107448183,"cg_vd_v":0.107448183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368052423,"cg_vq_v":-0.368052423,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1693726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12459,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409721,"cg_dv":50.216507,"cg_dw":49.783493,"cg_id_a":0.162195459,"cg_id_raw_a":0.385745049,"cg_iq_a":0.235255137,"cg_iq_raw_a":-0.544423759,"cg_iu_a":-0.287417173,"cg_iv_a":-0.148309112,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9618187,"cg_sample_seq":14675716,"cg_sample_valid":1,"cg_theta_rad":5.00666285,"cg_vd_req_v":0.0999146476,"cg_vd_v":0.0999146476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374611169,"cg_vq_v":-0.374611169,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.474733472,"dclink_p_w":68.7056351,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1693726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12455,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1419144,"cg_dv":50.2204857,"cg_dw":49.7795143,"cg_id_a":0.0751538575,"cg_id_raw_a":0.513753295,"cg_iq_a":0.3449983,"cg_iq_raw_a":-0.350360662,"cg_iu_a":-0.323661089,"cg_iv_a":-0.474503517,"cg_iw_a":0.798164606,"cg_sample_age_us":23.8672733,"cg_sample_seq":14675766,"cg_sample_valid":1,"cg_theta_rad":5.00739431,"cg_vd_req_v":0.102722228,"cg_vd_v":0.102722228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380658388,"cg_vq_v":-0.380658388,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.346067905,"dclink_p_w":50.2367935,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1894226,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12457,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1365929,"cg_dv":50.2163925,"cg_dw":49.7836075,"cg_id_a":-0.0281673782,"cg_id_raw_a":0.144961208,"cg_iq_a":-0.184074074,"cg_iq_raw_a":-0.45878464,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775437,"cg_sample_age_us":23.8745461,"cg_sample_seq":14675816,"cg_sample_valid":1,"cg_theta_rad":5.00774002,"cg_vd_req_v":0.104752325,"cg_vd_v":0.104752325,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369284362,"cg_vq_v":-0.369284362,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.442114115,"dclink_p_w":63.9848137,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12517,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317024,"cg_dv":50.2235832,"cg_dw":49.7764168,"cg_id_a":-0.407055557,"cg_id_raw_a":-0.168358624,"cg_iq_a":0.20862101,"cg_iq_raw_a":-0.269020796,"cg_iu_a":-0.649855614,"cg_iv_a":-0.438259721,"cg_iw_a":1.08811533,"cg_sample_age_us":23.863636,"cg_sample_seq":14675871,"cg_sample_valid":1,"cg_theta_rad":5.00652981,"cg_vd_req_v":0.110707268,"cg_vd_v":0.110707268,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377559215,"cg_vq_v":-0.377559215,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.612460077,"dclink_p_w":88.6380768,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2661.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12467,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388588,"cg_dv":50.2149734,"cg_dw":49.7850266,"cg_id_a":0.0099664554,"cg_id_raw_a":0.00642225798,"cg_iq_a":-0.189772844,"cg_iq_raw_a":-0.326237947,"cg_iu_a":-0.142441988,"cg_iv_a":0.359104633,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8672733,"cg_sample_seq":14675916,"cg_sample_valid":1,"cg_theta_rad":5.00593424,"cg_vd_req_v":0.0992058367,"cg_vd_v":0.0992058367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371566474,"cg_vq_v":-0.371566474,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12487,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411743,"cg_dv":50.2147064,"cg_dw":49.7852936,"cg_id_a":0.0214274228,"cg_id_raw_a":0.121681117,"cg_iq_a":-0.0972705781,"cg_iq_raw_a":-0.42439279,"cg_iu_a":-0.359904766,"cg_iv_a":-0.329528332,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9763641,"cg_sample_seq":14675967,"cg_sample_valid":1,"cg_theta_rad":5.00685978,"cg_vd_req_v":0.0975828916,"cg_vd_v":0.0975828916,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371177316,"cg_vq_v":-0.371177316,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12477,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336899,"cg_dv":50.2113037,"cg_dw":49.7886963,"cg_id_a":0.00502232462,"cg_id_raw_a":0.0413258113,"cg_iq_a":-0.372126788,"cg_iq_raw_a":-0.504936516,"cg_iu_a":0.292484283,"cg_iv_a":0.39534843,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.8563633,"cg_sample_seq":14676016,"cg_sample_valid":1,"cg_theta_rad":5.00657129,"cg_vd_req_v":0.0975654125,"cg_vd_v":0.0975654125,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364238918,"cg_vq_v":-0.364238918,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2661.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12469,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438828,"cg_dv":50.217289,"cg_dw":49.782711,"cg_id_a":0.0165251717,"cg_id_raw_a":0.33343327,"cg_iq_a":0.0657580644,"cg_iq_raw_a":0.214708447,"cg_iu_a":0.256240129,"cg_iv_a":-0.402015924,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14676066,"cg_sample_valid":1,"cg_theta_rad":5.00543928,"cg_vd_req_v":0.0975706801,"cg_vd_v":0.0975706801,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376307964,"cg_vq_v":-0.376307964,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1488647,"cg_dv":50.2149124,"cg_dw":49.7850876,"cg_id_a":0.188665867,"cg_id_raw_a":-0.0898532942,"cg_iq_a":0.0284575224,"cg_iq_raw_a":-0.190116808,"cg_iu_a":-0.214929581,"cg_iv_a":1.08398128,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8600006,"cg_sample_seq":14676116,"cg_sample_valid":1,"cg_theta_rad":5.00719357,"cg_vd_req_v":0.0923602059,"cg_vd_v":0.0923602059,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375612438,"cg_vq_v":-0.375612438,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.3245239,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00171206228,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2661.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12457,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1362267,"cg_dv":50.2109261,"cg_dw":49.7890739,"cg_id_a":-0.00830757804,"cg_id_raw_a":0.000160812488,"cg_iq_a":-0.582852483,"cg_iq_raw_a":0.182862356,"cg_iu_a":0.473703384,"cg_iv_a":0.431592286,"cg_iw_a":-0.90529567,"cg_sample_age_us":23.9581814,"cg_sample_seq":14676166,"cg_sample_valid":1,"cg_theta_rad":5.00653791,"cg_vd_req_v":0.0973897427,"cg_vd_v":0.0973897427,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3633672,"cg_vq_v":-0.3633672,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1955872,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2661.987557,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2661.987562,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2661.987568,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2661.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438026,"cg_dv":50.2116547,"cg_dw":49.7883453,"cg_id_a":0.156188324,"cg_id_raw_a":-0.104167059,"cg_iq_a":-0.23979488,"cg_iq_raw_a":-0.0455254316,"cg_iu_a":-0.251173496,"cg_iv_a":0.39534843,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14676216,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0920608118,"cg_vd_v":0.0920608118,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368619084,"cg_vq_v":-0.368619084,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12453,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399384,"cg_dv":50.2119598,"cg_dw":49.7880402,"cg_id_a":-0.116618738,"cg_id_raw_a":-0.797724187,"cg_iq_a":-0.292888641,"cg_iq_raw_a":-0.881204844,"cg_iu_a":-0.251173496,"cg_iv_a":0.105397761,"cg_iw_a":0.145775735,"cg_sample_age_us":23.8600006,"cg_sample_seq":14676266,"cg_sample_valid":1,"cg_theta_rad":5.00641251,"cg_vd_req_v":0.097785756,"cg_vd_v":0.097785756,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367435783,"cg_vq_v":-0.367435783,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38670,"EncoderSin":12421,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422005,"cg_dv":50.2114677,"cg_dw":49.7885323,"cg_id_a":-0.284329027,"cg_id_raw_a":-0.627271712,"cg_iq_a":-0.120498478,"cg_iq_raw_a":-0.0698564351,"cg_iu_a":0.872385383,"cg_iv_a":0.286616921,"cg_iw_a":-1.1590023,"cg_sample_age_us":23.9181824,"cg_sample_seq":14676317,"cg_sample_valid":1,"cg_theta_rad":5.00766945,"cg_vd_req_v":0.0997533202,"cg_vd_v":0.0997533202,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366921157,"cg_vq_v":-0.366921157,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1786499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12455,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1456108,"cg_dv":50.2082558,"cg_dw":49.7917442,"cg_id_a":0.273879141,"cg_id_raw_a":0.142815769,"cg_iq_a":-0.0257735699,"cg_iq_raw_a":0.232687727,"cg_iu_a":0.328727841,"cg_iv_a":-0.510747433,"cg_iw_a":0.182019591,"cg_sample_age_us":23.863636,"cg_sample_seq":14676371,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0872412473,"cg_vd_v":0.0872412473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366200984,"cg_vq_v":-0.366200984,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2583,"hz_tim_isr":4998,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1786499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12430,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429787,"cg_dv":50.206562,"cg_dw":49.793438,"cg_id_a":0.195106,"cg_id_raw_a":0.204000413,"cg_iq_a":-0.262515157,"cg_iq_raw_a":-1.47231793,"cg_iu_a":-0.214929581,"cg_iv_a":0.431592226,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9254551,"cg_sample_seq":14676416,"cg_sample_valid":1,"cg_theta_rad":5.00638485,"cg_vd_req_v":0.0887691602,"cg_vd_v":0.0887691602,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360984504,"cg_vq_v":-0.360984504,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1616821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12441,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404953,"cg_dv":50.2020073,"cg_dw":49.7979927,"cg_id_a":0.189325854,"cg_id_raw_a":0.0832252428,"cg_iq_a":-0.581923664,"cg_iq_raw_a":-0.427806109,"cg_iu_a":0.256240129,"cg_iv_a":0.467836142,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.9836369,"cg_sample_seq":14676467,"cg_sample_valid":1,"cg_theta_rad":5.00595379,"cg_vd_req_v":0.0884256884,"cg_vd_v":0.0884256884,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352868646,"cg_vq_v":-0.352868646,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.76111794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1925049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1352654,"cg_dv":50.2108307,"cg_dw":49.7891693,"cg_id_a":-0.140999228,"cg_id_raw_a":-0.00344637618,"cg_iq_a":0.0692586154,"cg_iq_raw_a":0.000487783371,"cg_iu_a":0.14750886,"cg_iv_a":-0.836941957,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14676516,"cg_sample_valid":1,"cg_theta_rad":5.00650358,"cg_vd_req_v":0.0966898426,"cg_vd_v":0.0966898426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363068432,"cg_vq_v":-0.363068432,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.76111794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1925049,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12447,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1397362,"cg_dv":50.2081146,"cg_dw":49.7918854,"cg_id_a":0.0381303392,"cg_id_raw_a":-0.063605845,"cg_iq_a":-0.0593010746,"cg_iq_raw_a":0.395134926,"cg_iu_a":0.14750886,"cg_iv_a":0.250373065,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8527279,"cg_sample_seq":14676666,"cg_sample_valid":1,"cg_theta_rad":5.00678492,"cg_vd_req_v":0.0932228193,"cg_vd_v":0.0932228193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36117059,"cg_vq_v":-0.36117059,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.21740222,"dclink_p_w":31.5590954,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12450,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339951,"cg_dv":50.2106133,"cg_dw":49.7893867,"cg_id_a":-0.255152255,"cg_id_raw_a":-0.0609636195,"cg_iq_a":0.212744623,"cg_iq_raw_a":-0.478746355,"cg_iu_a":0.0750210285,"cg_iv_a":-0.474503517,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9618187,"cg_sample_seq":14676717,"cg_sample_valid":1,"cg_theta_rad":5.00675011,"cg_vd_req_v":0.100244895,"cg_vd_v":0.100244895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361304283,"cg_vq_v":-0.361304283,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12439,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1358223,"cg_dv":50.2013893,"cg_dw":49.7986107,"cg_id_a":0.0994457006,"cg_id_raw_a":0.615202129,"cg_iq_a":-0.170793116,"cg_iq_raw_a":-1.28300643,"cg_iu_a":0.183752537,"cg_iv_a":0.0691539049,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.8781815,"cg_sample_seq":14676767,"cg_sample_valid":1,"cg_theta_rad":5.00657749,"cg_vd_req_v":0.0917556137,"cg_vd_v":0.0917556137,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349314779,"cg_vq_v":-0.349314779,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12498,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.122818,"cg_dv":50.1975098,"cg_dw":49.8024902,"cg_id_a":0.0425018892,"cg_id_raw_a":-0.319056988,"cg_iq_a":-0.468776405,"cg_iq_raw_a":0.699696958,"cg_iu_a":0.5099473,"cg_iv_a":0.0691539645,"cg_iw_a":-0.579101264,"cg_sample_age_us":23.9836369,"cg_sample_seq":14676817,"cg_sample_valid":1,"cg_theta_rad":5.00779486,"cg_vd_req_v":0.0933548808,"cg_vd_v":0.0933548808,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338040829,"cg_vq_v":-0.338040829,"cg_vu_v":137.246475,"cg_vv_v":124.489601,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.246397376,"dclink_p_w":35.6597748,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12452,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1373749,"cg_dv":50.2045555,"cg_dw":49.7954445,"cg_id_a":0.222011268,"cg_id_raw_a":0.41641131,"cg_iq_a":0.44975546,"cg_iq_raw_a":0.912940264,"cg_iu_a":-0.106198072,"cg_iv_a":0.322860837,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.8600006,"cg_sample_seq":14676870,"cg_sample_valid":1,"cg_theta_rad":5.00822878,"cg_vd_req_v":0.089304924,"cg_vd_v":0.089304924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355592489,"cg_vq_v":-0.355592489,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1046543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12432,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308098,"cg_dv":50.1990852,"cg_dw":49.8009148,"cg_id_a":-0.0284611546,"cg_id_raw_a":-0.239292219,"cg_iq_a":0.00696235523,"cg_iq_raw_a":-0.352810949,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":0.29075104,"cg_sample_age_us":23.9654541,"cg_sample_seq":14676916,"cg_sample_valid":1,"cg_theta_rad":5.00785398,"cg_vd_req_v":0.0943211913,"cg_vd_v":0.0943211913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34422493,"cg_vq_v":-0.34422493,"cg_vu_v":26.8334465,"cg_vv_v":10.9973145,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.46331358,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12440,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1270561,"cg_dv":50.2025604,"cg_dw":49.7974396,"cg_id_a":-0.13185209,"cg_id_raw_a":0.0208433773,"cg_iq_a":0.243025005,"cg_iq_raw_a":-0.0336062387,"cg_iu_a":-0.14244175,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945267,"cg_sample_age_us":23.8563633,"cg_sample_seq":14676966,"cg_sample_valid":1,"cg_theta_rad":5.00741482,"cg_vd_req_v":0.0966568962,"cg_vd_v":0.0966568962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346799344,"cg_vq_v":-0.346799344,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12490,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1279869,"cg_dv":50.1956673,"cg_dw":49.8043327,"cg_id_a":0.266662657,"cg_id_raw_a":0.633342445,"cg_iq_a":-0.175046518,"cg_iq_raw_a":0.165185034,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373065,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9727268,"cg_sample_seq":14677017,"cg_sample_valid":1,"cg_theta_rad":5.00636244,"cg_vd_req_v":0.0863047317,"cg_vd_v":0.0863047317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338701457,"cg_vq_v":-0.338701457,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1740112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12475,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1236916,"cg_dv":50.1932564,"cg_dw":49.8067436,"cg_id_a":0.082145758,"cg_id_raw_a":0.291900784,"cg_iq_a":-0.3372325,"cg_iq_raw_a":-0.225664675,"cg_iu_a":-0.106198072,"cg_iv_a":0.286616921,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9654541,"cg_sample_seq":14677067,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.0907622278,"cg_vd_v":0.0907622278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332125992,"cg_vq_v":-0.332125992,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.282641172,"dclink_p_w":40.9051476,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1740112,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.171143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390419,"cg_dv":50.2007675,"cg_dw":49.7992325,"cg_id_a":0.231116846,"cg_id_raw_a":0.831782579,"cg_iq_a":0.761386573,"cg_iq_raw_a":2.81497002,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9581814,"cg_sample_seq":14677118,"cg_sample_valid":1,"cg_theta_rad":5.0065484,"cg_vd_req_v":0.0866365805,"cg_vd_v":0.0866365805,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35079518,"cg_vq_v":-0.35079518,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.186594963,"dclink_p_w":27.0048923,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.129425,"cg_dv":50.1941795,"cg_dw":49.8058205,"cg_id_a":0.297709227,"cg_id_raw_a":1.17402744,"cg_iq_a":0.310753793,"cg_iq_raw_a":1.09614646,"cg_iu_a":0.328727961,"cg_iv_a":-0.474503636,"cg_iw_a":0.145775676,"cg_sample_age_us":23.8963642,"cg_sample_seq":14677167,"cg_sample_valid":1,"cg_theta_rad":5.00733614,"cg_vd_req_v":0.0865655839,"cg_vd_v":0.0865655839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336751968,"cg_vq_v":-0.336751968,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.224651098,"dclink_p_w":32.5125542,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1663208,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12458,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1414108,"cg_dv":50.199276,"cg_dw":49.800724,"cg_id_a":0.351473749,"cg_id_raw_a":-0.273511112,"cg_iq_a":0.861030161,"cg_iq_raw_a":0.373271108,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9654541,"cg_sample_seq":14677217,"cg_sample_valid":1,"cg_theta_rad":5.00797796,"cg_vd_req_v":0.0848629698,"cg_vd_v":0.0848629698,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349732429,"cg_vq_v":-0.349732429,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.67236519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12482,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440544,"cg_dv":50.1990776,"cg_dw":49.8009224,"cg_id_a":0.686322868,"cg_id_raw_a":0.296254098,"cg_iq_a":1.13485694,"cg_iq_raw_a":-0.736039996,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309052,"cg_iw_a":0.580701649,"cg_sample_age_us":23.9618187,"cg_sample_seq":14677266,"cg_sample_valid":1,"cg_theta_rad":5.00638962,"cg_vd_req_v":0.0789094418,"cg_vd_v":0.0789094418,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351813436,"cg_vq_v":-0.351813436,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.67236519,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12462,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1187286,"cg_dv":50.1869278,"cg_dw":49.8130722,"cg_id_a":0.191978991,"cg_id_raw_a":-0.255528063,"cg_iq_a":-0.27400732,"cg_iq_raw_a":-0.643438935,"cg_iu_a":0.654922485,"cg_iv_a":0.250373125,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14677317,"cg_sample_valid":1,"cg_theta_rad":5.00857306,"cg_vd_req_v":0.0887884721,"cg_vd_v":0.0887884721,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320656121,"cg_vq_v":-0.320656121,"cg_vu_v":131.527878,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2001953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12452,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1136436,"cg_dv":50.18293,"cg_dw":49.81707,"cg_id_a":0.226484984,"cg_id_raw_a":0.145803705,"cg_iq_a":-0.512376249,"cg_iq_raw_a":-0.0217338223,"cg_iu_a":-0.0699543953,"cg_iv_a":0.286616981,"cg_iw_a":-0.216662586,"cg_sample_age_us":24.40909,"cg_sample_seq":14677370,"cg_sample_valid":1,"cg_theta_rad":5.00558186,"cg_vd_req_v":0.0876295865,"cg_vd_v":0.0876295865,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311699033,"cg_vq_v":-0.311699033,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0434318781,"dclink_p_w":6.2856636,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1863403,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12465,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1226807,"cg_dv":50.1945,"cg_dw":49.8055,"cg_id_a":-0.195292085,"cg_id_raw_a":0.241046324,"cg_iq_a":0.520064831,"cg_iq_raw_a":-0.33920452,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065196,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9654541,"cg_sample_seq":14677417,"cg_sample_valid":1,"cg_theta_rad":5.00767803,"cg_vd_req_v":0.0935384035,"cg_vd_v":0.0935384035,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331936389,"cg_vq_v":-0.331936389,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.6451664,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12460,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1212311,"cg_dv":50.1911888,"cg_dw":49.8088112,"cg_id_a":-0.0831250474,"cg_id_raw_a":0.0935314,"cg_iq_a":0.175015435,"cg_iq_raw_a":-0.135973021,"cg_iu_a":0.219996452,"cg_iv_a":0.177885413,"cg_iw_a":-0.397881866,"cg_sample_age_us":26.5618191,"cg_sample_seq":14677518,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0897520557,"cg_vd_v":0.0897520557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328187793,"cg_vq_v":-0.328187793,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.300884604,"dclink_p_w":-43.5454216,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151733,"cg_dv":50.1891518,"cg_dw":49.8108482,"cg_id_a":-0.216832802,"cg_id_raw_a":-0.113393016,"cg_iq_a":-0.0759990737,"cg_iq_raw_a":-0.59301728,"cg_iu_a":-0.214929581,"cg_iv_a":0.0691540241,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9872723,"cg_sample_seq":14677567,"cg_sample_valid":1,"cg_theta_rad":5.00625753,"cg_vd_req_v":0.0936953351,"cg_vd_v":0.0936953351,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321697891,"cg_vq_v":-0.321697891,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12437,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1217575,"cg_dv":50.1950264,"cg_dw":49.8049736,"cg_id_a":-0.317580402,"cg_id_raw_a":0.0109822331,"cg_iq_a":0.516327918,"cg_iq_raw_a":1.09489655,"cg_iu_a":0.256240368,"cg_iv_a":-1.12689257,"cg_iw_a":0.870652139,"cg_sample_age_us":23.9581814,"cg_sample_seq":14677617,"cg_sample_valid":1,"cg_theta_rad":5.00671291,"cg_vd_req_v":0.0955460519,"cg_vd_v":0.0955460519,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333004355,"cg_vq_v":-0.333004355,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12451,"GapTicks":54798,"Mech_RPM":-3.50324616e-44,"cg_du":50.1130676,"cg_dv":50.1834946,"cg_dw":49.8165054,"cg_id_a":-0.147467375,"cg_id_raw_a":-0.328885138,"cg_iq_a":-0.451143265,"cg_iq_raw_a":-0.725068808,"cg_iu_a":0.61867857,"cg_iv_a":-0.220796704,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.9618187,"cg_sample_seq":14677667,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0908435807,"cg_vd_v":0.0908435807,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.311505497,"cg_vq_v":-0.311505497,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.284424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12492,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1139107,"cg_dv":50.1820068,"cg_dw":49.8179932,"cg_id_a":0.142404377,"cg_id_raw_a":0.535885394,"cg_iq_a":-0.404944152,"cg_iq_raw_a":0.304947585,"cg_iu_a":0.219996452,"cg_iv_a":0.395348489,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9509087,"cg_sample_seq":14677717,"cg_sample_valid":1,"cg_theta_rad":5.00670338,"cg_vd_req_v":0.0855999291,"cg_vd_v":0.0855999291,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310853899,"cg_vq_v":-0.310853899,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.2164917,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.2017517,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12455,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1109695,"cg_dv":50.1858864,"cg_dw":49.8141136,"cg_id_a":-0.000364154577,"cg_id_raw_a":-0.135024771,"cg_iq_a":-0.063761279,"cg_iq_raw_a":0.0613588095,"cg_iu_a":1.01736093,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238513,"cg_sample_age_us":23.9618187,"cg_sample_seq":14677767,"cg_sample_valid":1,"cg_theta_rad":5.00704479,"cg_vd_req_v":0.0914348513,"cg_vd_v":0.0914348513,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315594226,"cg_vq_v":-0.315594226,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.9220467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12454,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1215096,"cg_dv":50.1910095,"cg_dw":49.8089905,"cg_id_a":-0.0942496881,"cg_id_raw_a":-0.236130193,"cg_iq_a":0.501416028,"cg_iq_raw_a":0.0129685756,"cg_iu_a":0.256240129,"cg_iv_a":-0.365772009,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8745461,"cg_sample_seq":14677816,"cg_sample_valid":1,"cg_theta_rad":5.00712967,"cg_vd_req_v":0.0923078209,"cg_vd_v":0.0923078209,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328358114,"cg_vq_v":-0.328358114,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.248209596,"dclink_p_w":35.9220467,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12457,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1080856,"cg_dv":50.1826668,"cg_dw":49.8173332,"cg_id_a":0.109835282,"cg_id_raw_a":0.0593003705,"cg_iq_a":-0.361862898,"cg_iq_raw_a":-0.466946006,"cg_iu_a":0.582434893,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.579101205,"cg_sample_age_us":26.823637,"cg_sample_seq":14677870,"cg_sample_valid":1,"cg_theta_rad":5.00778532,"cg_vd_req_v":0.0904946923,"cg_vd_v":0.0904946923,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310653776,"cg_vq_v":-0.310653776,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.8726883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110327303,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12403,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220131,"cg_dv":50.1889801,"cg_dw":49.8110199,"cg_id_a":0.101987995,"cg_id_raw_a":-0.0561772063,"cg_iq_a":0.428573489,"cg_iq_raw_a":0.5051108,"cg_iu_a":-0.50488019,"cg_iv_a":0.141641557,"cg_iw_a":0.363238633,"cg_sample_age_us":23.8672733,"cg_sample_seq":14677917,"cg_sample_valid":1,"cg_theta_rad":5.00707722,"cg_vd_req_v":0.0901880562,"cg_vd_v":0.0901880562,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324746698,"cg_vq_v":-0.324746698,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":0.260894895,"dclink_p_w":37.8726883,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1601563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12441,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202011,"cg_dv":50.191124,"cg_dw":49.808876,"cg_id_a":0.0209488086,"cg_id_raw_a":-0.0255434383,"cg_iq_a":0.448950648,"cg_iq_raw_a":0.653822124,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.220796704,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9872723,"cg_sample_seq":14677967,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0916702673,"cg_vd_v":0.0916702673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327197254,"cg_vq_v":-0.327197254,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":0.251833916,"dclink_p_w":36.4465752,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1601563,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38679,"EncoderSin":12437,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1227341,"cg_dv":50.1862717,"cg_dw":49.8137283,"cg_id_a":0.101506911,"cg_id_raw_a":0.274472803,"cg_iq_a":-0.0165734813,"cg_iq_raw_a":-0.807735682,"cg_iu_a":0.038777113,"cg_iv_a":-0.112065315,"cg_iw_a":0.0732882023,"cg_sample_age_us":23.954546,"cg_sample_seq":14678017,"cg_sample_valid":1,"cg_theta_rad":5.00835133,"cg_vd_req_v":0.0885566473,"cg_vd_v":0.0885566473,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321062505,"cg_vq_v":-0.321062505,"cg_vu_v":108.653458,"cg_vv_v":110.413033,"cg_vw_v":115.251846,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12443,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1181717,"cg_dv":50.1862183,"cg_dw":49.8137817,"cg_id_a":0.0615656339,"cg_id_raw_a":-0.613930166,"cg_iq_a":-0.0752436742,"cg_iq_raw_a":-0.205488175,"cg_iu_a":-0.287417293,"cg_iv_a":0.105397701,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9218178,"cg_sample_seq":14678067,"cg_sample_valid":1,"cg_theta_rad":5.00726366,"cg_vd_req_v":0.088662073,"cg_vd_v":0.088662073,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31934467,"cg_vq_v":-0.31934467,"cg_vu_v":109.533249,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.0506806374,"dclink_p_w":7.33473778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12447,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1157913,"cg_dv":50.1838455,"cg_dw":49.8161545,"cg_id_a":0.0164962485,"cg_id_raw_a":-0.506626189,"cg_iq_a":-0.152707145,"cg_iq_raw_a":-0.230448291,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065196,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9799995,"cg_sample_seq":14678117,"cg_sample_valid":1,"cg_theta_rad":5.00768328,"cg_vd_req_v":0.0879696757,"cg_vd_v":0.0879696757,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315887958,"cg_vq_v":-0.315887958,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.233711958,"dclink_p_w":33.926693,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12463,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.1114998,"cg_dv":50.1845741,"cg_dw":49.8154259,"cg_id_a":-0.0309100021,"cg_id_raw_a":0.0344906114,"cg_iq_a":-0.275085509,"cg_iq_raw_a":-0.177957639,"cg_iu_a":0.292484045,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9836369,"cg_sample_seq":14678167,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.0913536921,"cg_vd_v":0.0913536921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314669043,"cg_vq_v":-0.314669043,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.1357613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12459,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1152115,"cg_dv":50.1841812,"cg_dw":49.8158188,"cg_id_a":0.103467613,"cg_id_raw_a":0.354121,"cg_iq_a":-0.162122175,"cg_iq_raw_a":-0.000962087128,"cg_iu_a":-0.468636513,"cg_iv_a":-0.402015805,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9836369,"cg_sample_seq":14678217,"cg_sample_valid":1,"cg_theta_rad":5.00679731,"cg_vd_req_v":0.0887254924,"cg_vd_v":0.0887254924,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314988732,"cg_vq_v":-0.314988732,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.1357613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.397705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12425,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1121178,"cg_dv":50.1892128,"cg_dw":49.8107872,"cg_id_a":-0.361257911,"cg_id_raw_a":-0.0315148979,"cg_iq_a":0.0846716762,"cg_iq_raw_a":-0.3305538,"cg_iu_a":0.61867857,"cg_iv_a":-0.184552908,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9618187,"cg_sample_seq":14678267,"cg_sample_valid":1,"cg_theta_rad":5.00815153,"cg_vd_req_v":0.0986052826,"cg_vd_v":0.0986052826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319314092,"cg_vq_v":-0.319314092,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.1357613,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1755676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12426,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1052971,"cg_dv":50.180069,"cg_dw":49.819931,"cg_id_a":-0.133449823,"cg_id_raw_a":-0.182142034,"cg_iq_a":-0.676792622,"cg_iq_raw_a":-0.309270948,"cg_iu_a":0.0750211477,"cg_iv_a":0.431592226,"cg_iw_a":-1.2314899,"cg_sample_age_us":23.9581814,"cg_sample_seq":14678317,"cg_sample_valid":1,"cg_theta_rad":5.00770521,"cg_vd_req_v":0.0938135982,"cg_vd_v":0.0938135982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303438067,"cg_vq_v":-0.303438067,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.369626403,"dclink_p_w":53.4940529,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12461,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.0951309,"cg_dv":50.1807747,"cg_dw":49.8192253,"cg_id_a":-0.178958446,"cg_id_raw_a":-0.0491489917,"cg_iq_a":-0.425339341,"cg_iq_raw_a":-0.185776517,"cg_iu_a":0.183752537,"cg_iv_a":0.177885413,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9763641,"cg_sample_seq":14678417,"cg_sample_valid":1,"cg_theta_rad":5.00800848,"cg_vd_req_v":0.100073516,"cg_vd_v":0.100073516,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300469398,"cg_vq_v":-0.300469398,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1817017,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12454,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.1028404,"cg_dv":50.1807365,"cg_dw":49.8192635,"cg_id_a":0.0333404951,"cg_id_raw_a":0.00669972925,"cg_iq_a":-0.360104591,"cg_iq_raw_a":0.110724576,"cg_iu_a":-0.14244175,"cg_iv_a":0.395348489,"cg_iw_a":-0.25290674,"cg_sample_age_us":23.9799995,"cg_sample_seq":14678467,"cg_sample_valid":1,"cg_theta_rad":5.00626659,"cg_vd_req_v":0.0956129059,"cg_vd_v":0.0956129059,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304211438,"cg_vq_v":-0.304211438,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.452393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12480,"GapTicks":54801,"Mech_RPM":-3.50324616e-44,"cg_du":50.0983124,"cg_dv":50.1807098,"cg_dw":49.8192902,"cg_id_a":0.0216257833,"cg_id_raw_a":-0.230918542,"cg_iq_a":-0.552815139,"cg_iq_raw_a":-0.67754215,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14678517,"cg_sample_valid":1,"cg_theta_rad":5.00853491,"cg_vd_req_v":0.0991585925,"cg_vd_v":0.0991585925,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301614761,"cg_vq_v":-0.301614761,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.0692711,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12449,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0997162,"cg_dv":50.1957741,"cg_dw":49.8042259,"cg_id_a":-0.570801198,"cg_id_raw_a":-0.740611136,"cg_iq_a":0.201140761,"cg_iq_raw_a":1.27450156,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9581814,"cg_sample_seq":14678567,"cg_sample_valid":1,"cg_theta_rad":5.00784636,"cg_vd_req_v":0.112815984,"cg_vd_v":0.112815984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321813673,"cg_vq_v":-0.321813673,"cg_vu_v":102.055069,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.315260649,"dclink_p_w":45.625988,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12457,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1003876,"cg_dv":50.1876297,"cg_dw":49.8123703,"cg_id_a":-0.0371875241,"cg_id_raw_a":-0.152696967,"cg_iq_a":-0.230425179,"cg_iq_raw_a":0.0227033477,"cg_iu_a":0.546190977,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9290905,"cg_sample_seq":14678618,"cg_sample_valid":1,"cg_theta_rad":5.00690031,"cg_vd_req_v":0.102832779,"cg_vd_v":0.102832779,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31164512,"cg_vq_v":-0.31164512,"cg_vu_v":136.806595,"cg_vv_v":124.489601,"cg_vw_v":108.21357,"control_outputs_enabled":1,"dclink_i_a":0.541784644,"dclink_p_w":78.4095993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1678467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12443,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1100616,"cg_dv":50.1917572,"cg_dw":49.8082428,"cg_id_a":0.0150331473,"cg_id_raw_a":0.328998089,"cg_iq_a":-0.02494267,"cg_iq_raw_a":-0.585302055,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641617,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9290905,"cg_sample_seq":14678667,"cg_sample_valid":1,"cg_theta_rad":5.00665426,"cg_vd_req_v":0.101072386,"cg_vd_v":0.101072386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322103709,"cg_vq_v":-0.322103709,"cg_vu_v":115.251846,"cg_vv_v":128.448624,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.525474906,"dclink_p_w":76.0491714,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1678467,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12425,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129456,"cg_dv":50.1879044,"cg_dw":49.8120956,"cg_id_a":0.231567353,"cg_id_raw_a":-0.186147973,"cg_iq_a":-0.0595327467,"cg_iq_raw_a":-0.857188821,"cg_iu_a":-0.396148682,"cg_iv_a":1.33768809,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14678717,"cg_sample_valid":1,"cg_theta_rad":5.00799608,"cg_vd_req_v":0.0969688296,"cg_vd_v":0.0969688296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318982303,"cg_vq_v":-0.318982303,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1616821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12449,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1102524,"cg_dv":50.1880455,"cg_dw":49.8119545,"cg_id_a":0.0424121246,"cg_id_raw_a":-0.70408392,"cg_iq_a":-0.141755655,"cg_iq_raw_a":-0.142885864,"cg_iu_a":0.183752537,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14678767,"cg_sample_valid":1,"cg_theta_rad":5.0073576,"cg_vd_req_v":0.0975356773,"cg_vd_v":0.0975356773,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318159312,"cg_vq_v":-0.318159312,"cg_vu_v":118.770996,"cg_vv_v":137.686371,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1616821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115513839,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12468,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1077271,"cg_dv":50.1883087,"cg_dw":49.8116913,"cg_id_a":0.0318553522,"cg_id_raw_a":0.176615551,"cg_iq_a":-0.141503453,"cg_iq_raw_a":-0.128431186,"cg_iu_a":0.437459469,"cg_iv_a":-0.220796704,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.9509087,"cg_sample_seq":14678816,"cg_sample_valid":1,"cg_theta_rad":5.00528431,"cg_vd_req_v":0.0972706005,"cg_vd_v":0.0972706005,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317865461,"cg_vq_v":-0.317865461,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.375062943,"dclink_p_w":54.2808533,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1832581,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12463,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1143112,"cg_dv":50.1919098,"cg_dw":49.8080902,"cg_id_a":0.0517011285,"cg_id_raw_a":0.308040798,"cg_iq_a":0.0487145856,"cg_iq_raw_a":-0.189481482,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.546991229,"cg_iw_a":0.58070147,"cg_sample_age_us":23.8527279,"cg_sample_seq":14678871,"cg_sample_valid":1,"cg_theta_rad":5.0069108,"cg_vd_req_v":0.0955126435,"cg_vd_v":0.0955126435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32541579,"cg_vq_v":-0.32541579,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.186595082,"dclink_p_w":27.0049095,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12427,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1175003,"cg_dv":50.1929932,"cg_dw":49.8070068,"cg_id_a":-5.9902668e-06,"cg_id_raw_a":-0.111306623,"cg_iq_a":0.0282432437,"cg_iq_raw_a":0.0254993029,"cg_iu_a":-0.214929581,"cg_iv_a":-0.583235025,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9363632,"cg_sample_seq":14678917,"cg_sample_valid":1,"cg_theta_rad":5.00659752,"cg_vd_req_v":0.0977069288,"cg_vd_v":0.0977069288,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3265149,"cg_vq_v":-0.3265149,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12442,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1119995,"cg_dv":50.1890182,"cg_dw":49.8109818,"cg_id_a":0.041702494,"cg_id_raw_a":0.187560573,"cg_iq_a":-0.423107356,"cg_iq_raw_a":-0.0167476106,"cg_iu_a":0.908629298,"cg_iv_a":0.10539782,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9618187,"cg_sample_seq":14678967,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.0965377241,"cg_vd_v":0.0965377241,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318526894,"cg_vq_v":-0.318526894,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2662.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12451,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1157722,"cg_dv":50.1974678,"cg_dw":49.8025322,"cg_id_a":-0.033222042,"cg_id_raw_a":0.0868763179,"cg_iq_a":0.0886458606,"cg_iq_raw_a":-0.0635761395,"cg_iu_a":0.727410197,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9618187,"cg_sample_seq":14679016,"cg_sample_valid":1,"cg_theta_rad":5.00701571,"cg_vd_req_v":0.101010688,"cg_vd_v":0.101010688,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333421469,"cg_vq_v":-0.333421469,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.565674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12453,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1116753,"cg_dv":50.2022476,"cg_dw":49.7977524,"cg_id_a":-0.439570665,"cg_id_raw_a":-1.00575888,"cg_iq_a":0.376888156,"cg_iq_raw_a":1.03361738,"cg_iu_a":0.546190977,"cg_iv_a":0.431592345,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.8600006,"cg_sample_seq":14679066,"cg_sample_valid":1,"cg_theta_rad":5.00670671,"cg_vd_req_v":0.108539134,"cg_vd_v":0.108539134,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338860303,"cg_vq_v":-0.338860303,"cg_vu_v":144.724655,"cg_vv_v":143.844864,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12465,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1108818,"cg_dv":50.1966095,"cg_dw":49.8033905,"cg_id_a":-0.180366576,"cg_id_raw_a":-0.212180123,"cg_iq_a":-0.0972860008,"cg_iq_raw_a":0.854189873,"cg_iu_a":-0.251173496,"cg_iv_a":-0.00333368778,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9363632,"cg_sample_seq":14679116,"cg_sample_valid":1,"cg_theta_rad":5.00845766,"cg_vd_req_v":0.104166254,"cg_vd_v":0.104166254,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330565214,"cg_vq_v":-0.330565214,"cg_vu_v":0.43989256,"cg_vv_v":0.43989256,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5802231,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12461,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.121273,"cg_dv":50.1958084,"cg_dw":49.8041916,"cg_id_a":0.216945201,"cg_id_raw_a":-0.190400019,"cg_iq_a":0.0221479237,"cg_iq_raw_a":0.637988687,"cg_iu_a":0.256240368,"cg_iv_a":0.612811506,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.8600006,"cg_sample_seq":14679166,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.0947587416,"cg_vd_v":0.0947587416,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335442454,"cg_vq_v":-0.335442454,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0381166935,"dclink_p_w":-5.53319263,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12459,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129189,"cg_dv":50.1973648,"cg_dw":49.8026352,"cg_id_a":-0.0508717261,"cg_id_raw_a":0.167868868,"cg_iq_a":0.0046713315,"cg_iq_raw_a":0.197874695,"cg_iu_a":0.256240129,"cg_iv_a":-0.184552908,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9872723,"cg_sample_seq":14679216,"cg_sample_valid":1,"cg_theta_rad":5.00769138,"cg_vd_req_v":0.100782476,"cg_vd_v":0.100782476,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332410455,"cg_vq_v":-0.332410455,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12441,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1195145,"cg_dv":50.197361,"cg_dw":49.802639,"cg_id_a":-0.019072406,"cg_id_raw_a":0.302867323,"cg_iq_a":0.226496845,"cg_iq_raw_a":-0.11361099,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14679266,"cg_sample_valid":1,"cg_theta_rad":5.00814581,"cg_vd_req_v":0.100026704,"cg_vd_v":0.100026704,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334768593,"cg_vq_v":-0.334768593,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12471,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1166878,"cg_dv":50.1923828,"cg_dw":49.8076172,"cg_id_a":0.0913878009,"cg_id_raw_a":0.194742754,"cg_iq_a":-0.208589107,"cg_iq_raw_a":-0.0890372172,"cg_iu_a":0.14750886,"cg_iv_a":0.032910049,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9836369,"cg_sample_seq":14679316,"cg_sample_valid":1,"cg_theta_rad":5.00629711,"cg_vd_req_v":0.0961669758,"cg_vd_v":0.0961669758,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326782793,"cg_vq_v":-0.326782793,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0073094368,"dclink_p_w":-1.05785573,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106298923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1069527,"cg_dv":50.1918907,"cg_dw":49.8081093,"cg_id_a":-0.162109613,"cg_id_raw_a":-0.512121201,"cg_iq_a":-0.277714878,"cg_iq_raw_a":-0.410137504,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503636,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9618187,"cg_sample_seq":14679371,"cg_sample_valid":1,"cg_theta_rad":5.00637531,"cg_vd_req_v":0.100758813,"cg_vd_v":0.100758813,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32144624,"cg_vq_v":-0.32144624,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.144914627,"dclink_p_w":20.9727192,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1724548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12473,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1153145,"cg_dv":50.1955109,"cg_dw":49.8044891,"cg_id_a":-0.00188615173,"cg_id_raw_a":-0.188571289,"cg_iq_a":0.292318314,"cg_iq_raw_a":-0.49014464,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8745461,"cg_sample_seq":14679416,"cg_sample_valid":1,"cg_theta_rad":5.00662613,"cg_vd_req_v":0.0986684933,"cg_vd_v":0.0986684933,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331839919,"cg_vq_v":-0.331839919,"cg_vu_v":36.9509773,"cg_vv_v":38.7105446,"cg_vw_v":43.1094704,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.5103264,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1175041,"cg_dv":50.2025337,"cg_dw":49.7974663,"cg_id_a":-0.233358353,"cg_id_raw_a":0.0862780064,"cg_iq_a":0.80631423,"cg_iq_raw_a":0.810261548,"cg_iu_a":-0.504880428,"cg_iv_a":-0.25704062,"cg_iw_a":0.761921048,"cg_sample_age_us":23.8600006,"cg_sample_seq":14679467,"cg_sample_valid":1,"cg_theta_rad":5.00711918,"cg_vd_req_v":0.10476777,"cg_vd_v":0.10476777,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342359304,"cg_vq_v":-0.342359304,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":0.215590119,"dclink_p_w":31.2960434,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12427,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.1084366,"cg_dv":50.187973,"cg_dw":49.812027,"cg_id_a":0.102718428,"cg_id_raw_a":0.0596053302,"cg_iq_a":-0.550383568,"cg_iq_raw_a":-0.211823836,"cg_iu_a":0.256240368,"cg_iv_a":0.540323734,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.8600006,"cg_sample_seq":14679516,"cg_sample_valid":1,"cg_theta_rad":5.00682783,"cg_vd_req_v":0.0992527157,"cg_vd_v":0.0992527157,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.315865368,"cg_vq_v":-0.315865368,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":0.00900030136,"dclink_p_w":1.30256546,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1539917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12453,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1104126,"cg_dv":50.1923752,"cg_dw":49.8076248,"cg_id_a":-0.0519764498,"cg_id_raw_a":-0.390171021,"cg_iq_a":-0.0854570568,"cg_iq_raw_a":-0.330711722,"cg_iu_a":-0.287417173,"cg_iv_a":0.467836082,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9290905,"cg_sample_seq":14679567,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.101987891,"cg_vd_v":0.101987891,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322952211,"cg_vq_v":-0.322952211,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.268265128,"dclink_p_w":-38.8245773,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1539917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.678955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12466,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1205292,"cg_dv":50.195015,"cg_dw":49.804985,"cg_id_a":0.361834496,"cg_id_raw_a":0.919386029,"cg_iq_a":0.190434203,"cg_iq_raw_a":1.32772183,"cg_iu_a":0.038777113,"cg_iv_a":0.214129269,"cg_iw_a":-0.252906382,"cg_sample_age_us":23.9472733,"cg_sample_seq":14679666,"cg_sample_valid":1,"cg_theta_rad":5.00761557,"cg_vd_req_v":0.0949915349,"cg_vd_v":0.0949915349,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333824277,"cg_vq_v":-0.333824277,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12464,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1282654,"cg_dv":50.2064705,"cg_dw":49.7935295,"cg_id_a":0.137437582,"cg_id_raw_a":0.176563516,"cg_iq_a":0.997304678,"cg_iq_raw_a":-0.128502458,"cg_iu_a":0.328727961,"cg_iv_a":0.540323794,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9872723,"cg_sample_seq":14679716,"cg_sample_valid":1,"cg_theta_rad":5.00676775,"cg_vd_req_v":0.0984920338,"cg_vd_v":0.0984920338,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354237825,"cg_vq_v":-0.354237825,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":0.11410737,"dclink_p_w":16.5141506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00256809336,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.134346,"cg_dv":50.1992035,"cg_dw":49.8007965,"cg_id_a":0.593067288,"cg_id_raw_a":0.052504953,"cg_iq_a":0.569844961,"cg_iq_raw_a":-0.139674842,"cg_iu_a":-1.62843919,"cg_iv_a":1.04773736,"cg_iw_a":0.580701768,"cg_sample_age_us":23.9872723,"cg_sample_seq":14679766,"cg_sample_valid":1,"cg_theta_rad":5.00758791,"cg_vd_req_v":0.0890498012,"cg_vd_v":0.0890498012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34708631,"cg_vq_v":-0.34708631,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":60.7051735,"control_outputs_enabled":1,"dclink_i_a":0.0633659363,"dclink_p_w":9.19848728,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1539917,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104687572,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12435,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202507,"cg_dv":50.2019463,"cg_dw":49.7980537,"cg_id_a":-0.064128086,"cg_id_raw_a":-0.162912399,"cg_iq_a":0.258243859,"cg_iq_raw_a":-0.0881362706,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065196,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9872723,"cg_sample_seq":14679816,"cg_sample_valid":1,"cg_theta_rad":5.00698042,"cg_vd_req_v":0.102379702,"cg_vd_v":0.102379702,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34186399,"cg_vq_v":-0.34186399,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12461,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1208496,"cg_dv":50.1981964,"cg_dw":49.8018036,"cg_id_a":0.32986027,"cg_id_raw_a":-0.106533878,"cg_iq_a":0.00390782952,"cg_iq_raw_a":1.15570784,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373065,"cg_iw_a":-0.180418909,"cg_sample_age_us":26.823637,"cg_sample_seq":14679870,"cg_sample_valid":1,"cg_theta_rad":5.00718117,"cg_vd_req_v":0.0950495154,"cg_vd_v":0.0950495154,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33802706,"cg_vq_v":-0.33802706,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":0.235524178,"dclink_p_w":34.0861549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.170929,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12493,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1083374,"cg_dv":50.194706,"cg_dw":49.805294,"cg_id_a":-0.0706741512,"cg_id_raw_a":0.0669612139,"cg_iq_a":-0.498235554,"cg_iq_raw_a":0.152371645,"cg_iu_a":1.2348237,"cg_iv_a":-0.293284297,"cg_iw_a":-0.941539407,"cg_sample_age_us":23.9290905,"cg_sample_seq":14679917,"cg_sample_valid":1,"cg_theta_rad":5.00758553,"cg_vd_req_v":0.101740278,"cg_vd_v":0.101740278,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326260507,"cg_vq_v":-0.326260507,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.389560461,"dclink_p_w":56.3790016,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12444,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1137733,"cg_dv":50.1943398,"cg_dw":49.8056602,"cg_id_a":-0.0904368982,"cg_id_raw_a":-0.0187984239,"cg_iq_a":-0.344841421,"cg_iq_raw_a":-0.474627912,"cg_iu_a":1.52477455,"cg_iv_a":0.0691539049,"cg_iw_a":-1.59392846,"cg_sample_age_us":23.954546,"cg_sample_seq":14679967,"cg_sample_valid":1,"cg_theta_rad":5.00694847,"cg_vd_req_v":0.100897856,"cg_vd_v":0.100897856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328724056,"cg_vq_v":-0.328724056,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.639642954,"dclink_p_w":92.5721054,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12453,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1191101,"cg_dv":50.1910133,"cg_dw":49.8089867,"cg_id_a":0.152218506,"cg_id_raw_a":0.350528985,"cg_iq_a":-0.402899832,"cg_iq_raw_a":-1.23923898,"cg_iu_a":0.0750210285,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9872723,"cg_sample_seq":14680017,"cg_sample_valid":1,"cg_theta_rad":5.00657463,"cg_vd_req_v":0.0929519162,"cg_vd_v":0.0929519162,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.327356815,"cg_vq_v":-0.327356815,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.670450211,"dclink_p_w":97.3256073,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1493835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105644308,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12440,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225967,"cg_dv":50.1912498,"cg_dw":49.8087502,"cg_id_a":0.181192487,"cg_id_raw_a":-0.167133331,"cg_iq_a":-0.336452186,"cg_iq_raw_a":0.166304111,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9581814,"cg_sample_seq":14680067,"cg_sample_valid":1,"cg_theta_rad":5.00813818,"cg_vd_req_v":0.0905826464,"cg_vd_v":0.0905826464,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.329606354,"cg_vq_v":-0.329606354,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":106.269844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1616821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12475,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196671,"cg_dv":50.1990509,"cg_dw":49.8009491,"cg_id_a":-0.0827294067,"cg_id_raw_a":0.139585882,"cg_iq_a":0.00130872428,"cg_iq_raw_a":0.741285324,"cg_iu_a":-0.142441988,"cg_iv_a":-0.474503517,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9618187,"cg_sample_seq":14680117,"cg_sample_valid":1,"cg_theta_rad":5.00746298,"cg_vd_req_v":0.0972444713,"cg_vd_v":0.0972444713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338411987,"cg_vq_v":-0.338411987,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.732064724,"dclink_p_w":106.269844,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1616821,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12461,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1218948,"cg_dv":50.2007103,"cg_dw":49.7992897,"cg_id_a":0.0131783783,"cg_id_raw_a":0.503484368,"cg_iq_a":0.164944738,"cg_iq_raw_a":0.665219843,"cg_iu_a":-0.214929581,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14680167,"cg_sample_valid":1,"cg_theta_rad":5.00711679,"cg_vd_req_v":0.0971819833,"cg_vd_v":0.0971819833,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341888815,"cg_vq_v":-0.341888815,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12424,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256218,"cg_dv":50.2031822,"cg_dw":49.7968178,"cg_id_a":0.034211278,"cg_id_raw_a":-0.0352708511,"cg_iq_a":0.459901065,"cg_iq_raw_a":0.543597102,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0758213401,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9618187,"cg_sample_seq":14680217,"cg_sample_valid":1,"cg_theta_rad":5.00719118,"cg_vd_req_v":0.0988470763,"cg_vd_v":0.0988470763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346713036,"cg_vq_v":-0.346713036,"cg_vu_v":120.970459,"cg_vv_v":143.404984,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1801758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12461,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1203918,"cg_dv":50.1939659,"cg_dw":49.8060341,"cg_id_a":0.425631255,"cg_id_raw_a":1.24631536,"cg_iq_a":-0.369560927,"cg_iq_raw_a":-0.578262925,"cg_iu_a":-0.142441988,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9581814,"cg_sample_seq":14680267,"cg_sample_valid":1,"cg_theta_rad":5.00706148,"cg_vd_req_v":0.0916480124,"cg_vd_v":0.0916480124,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331907004,"cg_vq_v":-0.331907004,"cg_vu_v":124.929489,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.3008728,"temp_inv2_c":35.1801758,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106802478,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12480,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1244049,"cg_dv":50.196022,"cg_dw":49.803978,"cg_id_a":0.268593907,"cg_id_raw_a":0.500321805,"cg_iq_a":-0.0547270924,"cg_iq_raw_a":-0.642594457,"cg_iu_a":0.147508621,"cg_iv_a":0.504079998,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9290905,"cg_sample_seq":14680316,"cg_sample_valid":1,"cg_theta_rad":5.00635386,"cg_vd_req_v":0.092979297,"cg_vd_v":0.092979297,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33736223,"cg_vq_v":-0.33736223,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12487,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1259155,"cg_dv":50.2016525,"cg_dw":49.7983475,"cg_id_a":-0.0762663484,"cg_id_raw_a":0.0353820883,"cg_iq_a":0.230000451,"cg_iq_raw_a":-0.614807725,"cg_iu_a":0.183752775,"cg_iv_a":-0.220796824,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14680366,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.0974201337,"cg_vd_v":0.0974201337,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345847547,"cg_vq_v":-0.345847547,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.335194707,"dclink_p_w":48.5109367,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12453,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1246681,"cg_dv":50.1980782,"cg_dw":49.8019218,"cg_id_a":0.066232048,"cg_id_raw_a":-0.287660062,"cg_iq_a":-0.284421623,"cg_iq_raw_a":-0.101043597,"cg_iu_a":0.147508621,"cg_iv_a":-0.184552908,"cg_iw_a":0.0370442867,"cg_sample_age_us":26.8199997,"cg_sample_seq":14680421,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.0958092436,"cg_vd_v":0.0958092436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338911384,"cg_vq_v":-0.338911384,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":51.0259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1693726,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38759,"EncoderSin":12456,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222191,"cg_dv":50.2007484,"cg_dw":49.7992516,"cg_id_a":-0.00261762133,"cg_id_raw_a":-0.406383604,"cg_iq_a":-0.180254906,"cg_iq_raw_a":0.510150135,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14680466,"cg_sample_valid":1,"cg_theta_rad":5.00527573,"cg_vd_req_v":0.0966156423,"cg_vd_v":0.0966156423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342219979,"cg_vq_v":-0.342219979,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.351504445,"dclink_p_w":51.0259857,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38679,"EncoderSin":12447,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328354,"cg_dv":50.1989594,"cg_dw":49.8010406,"cg_id_a":0.228018731,"cg_id_raw_a":0.571181178,"cg_iq_a":-0.275804758,"cg_iq_raw_a":0.135855734,"cg_iu_a":0.219996452,"cg_iv_a":0.39534843,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9654541,"cg_sample_seq":14680616,"cg_sample_valid":1,"cg_theta_rad":5.0073576,"cg_vd_req_v":0.0932772085,"cg_vd_v":0.0932772085,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345029175,"cg_vq_v":-0.345029175,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.420367718,"dclink_p_w":60.837574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1555176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1268654,"cg_dv":50.2056618,"cg_dw":49.7943382,"cg_id_a":0.00551370066,"cg_id_raw_a":-0.0849512368,"cg_iq_a":-0.0258392114,"cg_iq_raw_a":0.429752469,"cg_iu_a":0.00253343582,"cg_iv_a":0.105397701,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9836369,"cg_sample_seq":14680666,"cg_sample_valid":1,"cg_theta_rad":5.00636673,"cg_vd_req_v":0.0987267047,"cg_vd_v":0.0987267047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352375805,"cg_vq_v":-0.352375805,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.420367718,"dclink_p_w":60.837574,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1555176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12464,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1280022,"cg_dv":50.2055702,"cg_dw":49.7944298,"cg_id_a":-0.121201754,"cg_id_raw_a":-0.384014875,"cg_iq_a":0.0703890547,"cg_iq_raw_a":0.654606521,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.8563633,"cg_sample_seq":14680716,"cg_sample_valid":1,"cg_theta_rad":5.00718498,"cg_vd_req_v":0.100390419,"cg_vd_v":0.100390419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352137268,"cg_vq_v":-0.352137268,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.808197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12472,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258621,"cg_dv":50.2024574,"cg_dw":49.7975426,"cg_id_a":0.0399430692,"cg_id_raw_a":0.278378338,"cg_iq_a":-0.0586882532,"cg_iq_raw_a":0.354735166,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9436359,"cg_sample_seq":14680766,"cg_sample_valid":1,"cg_theta_rad":5.00603676,"cg_vd_req_v":0.0969689935,"cg_vd_v":0.0969689935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346138448,"cg_vq_v":-0.346138448,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.03828096,"control_outputs_enabled":1,"dclink_i_a":0.49466759,"dclink_p_w":71.808197,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12445,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1237183,"cg_dv":50.2017784,"cg_dw":49.7982216,"cg_id_a":-0.152824789,"cg_id_raw_a":-0.468723804,"cg_iq_a":0.0218880065,"cg_iq_raw_a":0.0270079169,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9799995,"cg_sample_seq":14680816,"cg_sample_valid":1,"cg_theta_rad":5.00597334,"cg_vd_req_v":0.0997298434,"cg_vd_v":0.0997298434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343519419,"cg_vq_v":-0.343519419,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":0.552657723,"dclink_p_w":79.9832001,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12440,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1308784,"cg_dv":50.20401,"cg_dw":49.79599,"cg_id_a":4.42638993e-05,"cg_id_raw_a":0.187539786,"cg_iq_a":0.292500198,"cg_iq_raw_a":-0.0169778839,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9872723,"cg_sample_seq":14680866,"cg_sample_valid":1,"cg_theta_rad":5.00772476,"cg_vd_req_v":0.0962558389,"cg_vd_v":0.0962558389,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350590229,"cg_vq_v":-0.350590229,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.552657723,"dclink_p_w":79.9832001,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252594,"cg_dv":50.2029839,"cg_dw":49.7970161,"cg_id_a":-0.117041439,"cg_id_raw_a":-0.0663437173,"cg_iq_a":0.017343536,"cg_iq_raw_a":0.212800056,"cg_iu_a":0.256240129,"cg_iv_a":-0.583235025,"cg_iw_a":0.326994896,"cg_sample_age_us":23.863636,"cg_sample_seq":14680921,"cg_sample_valid":1,"cg_theta_rad":5.00827456,"cg_vd_req_v":0.099533461,"cg_vd_v":0.099533461,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347206354,"cg_vq_v":-0.347206354,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.549033344,"dclink_p_w":79.4586639,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12423,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1228828,"cg_dv":50.2016716,"cg_dw":49.7983284,"cg_id_a":-0.217509806,"cg_id_raw_a":-0.292628288,"cg_iq_a":-0.166465849,"cg_iq_raw_a":-1.08545578,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.399482489,"cg_sample_age_us":23.8600006,"cg_sample_seq":14680967,"cg_sample_valid":1,"cg_theta_rad":5.00744915,"cg_vd_req_v":0.101340026,"cg_vd_v":0.101340026,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343726754,"cg_vq_v":-0.343726754,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":0.40043366,"dclink_p_w":58.1287727,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1493835,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114305332,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250229,"cg_dv":50.2039032,"cg_dw":49.7960968,"cg_id_a":-0.217739508,"cg_id_raw_a":-0.0712336898,"cg_iq_a":-0.0114946775,"cg_iq_raw_a":-0.588990211,"cg_iu_a":0.0387773514,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9254551,"cg_sample_seq":14681016,"cg_sample_valid":1,"cg_theta_rad":5.00713968,"cg_vd_req_v":0.100927681,"cg_vd_v":0.100927681,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348240942,"cg_vq_v":-0.348240942,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":53.2269974,"control_outputs_enabled":1,"dclink_i_a":0.39862144,"dclink_p_w":57.8657036,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2662.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12461,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222038,"cg_dv":50.2031975,"cg_dw":49.7968025,"cg_id_a":-0.168610662,"cg_id_raw_a":0.0245104451,"cg_iq_a":-0.14249298,"cg_iq_raw_a":0.148758903,"cg_iu_a":-0.178685665,"cg_iv_a":0.250373125,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.863636,"cg_sample_seq":14681066,"cg_sample_valid":1,"cg_theta_rad":5.00771666,"cg_vd_req_v":0.100747384,"cg_vd_v":0.100747384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345052779,"cg_vq_v":-0.345052779,"cg_vu_v":39.1504402,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.0905488729,"dclink_p_w":13.1444864,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.157074,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12446,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1292572,"cg_dv":50.2008324,"cg_dw":49.7991676,"cg_id_a":0.0635235533,"cg_id_raw_a":0.625206828,"cg_iq_a":-0.139035344,"cg_iq_raw_a":-0.192947254,"cg_iu_a":0.727410197,"cg_iv_a":-0.184552908,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9618187,"cg_sample_seq":14681116,"cg_sample_valid":1,"cg_theta_rad":5.01011705,"cg_vd_req_v":0.0938944295,"cg_vd_v":0.0938944295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345508814,"cg_vq_v":-0.345508814,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1786499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2662.979409,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2662.979415,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2662.97942,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2662.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12481,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1316566,"cg_dv":50.2014961,"cg_dw":49.7985039,"cg_id_a":0.0962743759,"cg_id_raw_a":0.544965744,"cg_iq_a":0.154853553,"cg_iq_raw_a":-0.0218722448,"cg_iu_a":-0.251173496,"cg_iv_a":0.467836082,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.954546,"cg_sample_seq":14681166,"cg_sample_valid":1,"cg_theta_rad":5.00628567,"cg_vd_req_v":0.0906307325,"cg_vd_v":0.0906307325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34828946,"cg_vq_v":-0.34828946,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1786499,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38758,"EncoderSin":12452,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1281128,"cg_dv":50.1946678,"cg_dw":49.8053322,"cg_id_a":0.24100998,"cg_id_raw_a":0.378782302,"cg_iq_a":-0.12212272,"cg_iq_raw_a":0.653667629,"cg_iu_a":-0.178685665,"cg_iv_a":0.649055302,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.9872723,"cg_sample_seq":14681216,"cg_sample_valid":1,"cg_theta_rad":5.00698471,"cg_vd_req_v":0.0862888843,"cg_vd_v":0.0862888843,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337142795,"cg_vq_v":-0.337142795,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.222960353,"dclink_p_w":-32.2678604,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1724548,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2662.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12534,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.123558,"cg_dv":50.1979675,"cg_dw":49.8020325,"cg_id_a":-0.111348107,"cg_id_raw_a":0.178568184,"cg_iq_a":0.0712503418,"cg_iq_raw_a":-0.383273274,"cg_iu_a":-0.0337102413,"cg_iv_a":0.105397701,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9763641,"cg_sample_seq":14681266,"cg_sample_valid":1,"cg_theta_rad":5.00666952,"cg_vd_req_v":0.0935773179,"cg_vd_v":0.0935773179,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340085477,"cg_vq_v":-0.340085477,"cg_vu_v":30.3525867,"cg_vv_v":19.795166,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12482,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1295052,"cg_dv":50.1966629,"cg_dw":49.8033371,"cg_id_a":0.148901999,"cg_id_raw_a":-0.0291114338,"cg_iq_a":0.0977914557,"cg_iq_raw_a":-0.402293652,"cg_iu_a":-0.106198072,"cg_iv_a":0.250373125,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9618187,"cg_sample_seq":14681316,"cg_sample_valid":1,"cg_theta_rad":5.00648546,"cg_vd_req_v":0.0882176012,"cg_vd_v":0.0882176012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341457874,"cg_vq_v":-0.341457874,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12449,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234093,"cg_dv":50.1933403,"cg_dw":49.8066597,"cg_id_a":0.0666742995,"cg_id_raw_a":0.070993498,"cg_iq_a":-0.411565721,"cg_iq_raw_a":-0.356680959,"cg_iu_a":0.00253343582,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9618187,"cg_sample_seq":14681366,"cg_sample_valid":1,"cg_theta_rad":5.00774193,"cg_vd_req_v":0.0888633952,"cg_vd_v":0.0888633952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.33267352,"cg_vq_v":-0.33267352,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.313569903,"dclink_p_w":-45.5192337,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2594,"hz_tim_isr":5000,"hz_vsense":2594,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12449,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286812,"cg_dv":50.1995583,"cg_dw":49.8004417,"cg_id_a":-0.150718689,"cg_id_raw_a":-0.0428577326,"cg_iq_a":0.158926487,"cg_iq_raw_a":0.178564876,"cg_iu_a":0.256240129,"cg_iv_a":-0.474503636,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9581814,"cg_sample_seq":14681467,"cg_sample_valid":1,"cg_theta_rad":5.00679111,"cg_vd_req_v":0.0949055701,"cg_vd_v":0.0949055701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34296,"cg_vq_v":-0.34296,"cg_vu_v":120.090675,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1401672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12443,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1078262,"cg_dv":50.1888351,"cg_dw":49.8111649,"cg_id_a":-0.448020309,"cg_id_raw_a":-0.0323567279,"cg_iq_a":-1.06076896,"cg_iq_raw_a":-0.949776292,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641617,"cg_iw_a":0.218263388,"cg_sample_age_us":23.8563633,"cg_sample_seq":14681516,"cg_sample_valid":1,"cg_theta_rad":5.00768089,"cg_vd_req_v":0.100474752,"cg_vd_v":0.100474752,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316723377,"cg_vq_v":-0.316723377,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1478271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12471,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1303291,"cg_dv":50.1968346,"cg_dw":49.8031654,"cg_id_a":0.0341805741,"cg_id_raw_a":0.440802097,"cg_iq_a":0.258304983,"cg_iq_raw_a":0.189120919,"cg_iu_a":-0.323661089,"cg_iv_a":-0.112065315,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9872723,"cg_sample_seq":14681566,"cg_sample_valid":1,"cg_theta_rad":5.00582123,"cg_vd_req_v":0.0890810043,"cg_vd_v":0.0890810043,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341804415,"cg_vq_v":-0.341804415,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1478271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12448,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1231308,"cg_dv":50.1938286,"cg_dw":49.8061714,"cg_id_a":-0.0469631925,"cg_id_raw_a":0.265083045,"cg_iq_a":-0.140464813,"cg_iq_raw_a":-0.373464167,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065315,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14681616,"cg_sample_valid":1,"cg_theta_rad":5.00757456,"cg_vd_req_v":0.0927294567,"cg_vd_v":0.0927294567,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333405674,"cg_vq_v":-0.333405674,"cg_vu_v":10.9973145,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12452,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262474,"cg_dv":50.1961861,"cg_dw":49.8038139,"cg_id_a":0.0632871613,"cg_id_raw_a":0.468203783,"cg_iq_a":0.170721754,"cg_iq_raw_a":0.337852746,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9836369,"cg_sample_seq":14681668,"cg_sample_valid":1,"cg_theta_rad":5.00651073,"cg_vd_req_v":0.0916738734,"cg_vd_v":0.0916738734,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337522238,"cg_vq_v":-0.337522238,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.188407183,"dclink_p_w":27.2671642,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12480,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1238937,"cg_dv":50.1949654,"cg_dw":49.8050346,"cg_id_a":0.133463874,"cg_id_raw_a":0.446568578,"cg_iq_a":-0.0691182613,"cg_iq_raw_a":-0.578459501,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395774841,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9836369,"cg_sample_seq":14681716,"cg_sample_valid":1,"cg_theta_rad":5.00624037,"cg_vd_req_v":0.0891012549,"cg_vd_v":0.0891012549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335414737,"cg_vq_v":-0.335414737,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1632385,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104284726,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254196,"cg_dv":50.1992836,"cg_dw":49.8007164,"cg_id_a":-0.134955883,"cg_id_raw_a":0.252382696,"cg_iq_a":0.107664682,"cg_iq_raw_a":0.389993489,"cg_iu_a":0.473703384,"cg_iv_a":-0.800698042,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9581814,"cg_sample_seq":14681766,"cg_sample_valid":1,"cg_theta_rad":5.00955629,"cg_vd_req_v":0.0957858562,"cg_vd_v":0.0957858562,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341141075,"cg_vq_v":-0.341141075,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12464,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294899,"cg_dv":50.1986732,"cg_dw":49.8013268,"cg_id_a":0.0642513856,"cg_id_raw_a":-0.139666453,"cg_iq_a":0.107164279,"cg_iq_raw_a":0.314779311,"cg_iu_a":-0.0337102413,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.8672733,"cg_sample_seq":14681817,"cg_sample_valid":1,"cg_theta_rad":5.00631762,"cg_vd_req_v":0.091966942,"cg_vd_v":0.091966942,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342610002,"cg_vq_v":-0.342610002,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.248209476,"dclink_p_w":35.9220314,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.108643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12467,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258354,"cg_dv":50.1965752,"cg_dw":49.8034248,"cg_id_a":0.11896982,"cg_id_raw_a":0.145481735,"cg_iq_a":-0.060321454,"cg_iq_raw_a":0.415480912,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.8600006,"cg_sample_seq":14681866,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.0924610421,"cg_vd_v":0.0924610421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338896483,"cg_vq_v":-0.338896483,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":0.0579293966,"dclink_p_w":8.38381195,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12480,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154785,"cg_dv":50.1909752,"cg_dw":49.8090248,"cg_id_a":-0.0209525507,"cg_id_raw_a":0.135163963,"cg_iq_a":-0.691704094,"cg_iq_raw_a":-0.132065967,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0395776033,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9836369,"cg_sample_seq":14681919,"cg_sample_valid":1,"cg_theta_rad":5.00660324,"cg_vd_req_v":0.0945620462,"cg_vd_v":0.0945620462,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326678395,"cg_vq_v":-0.326678395,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":145.604446}}
{"type":"telemetry","t":2663.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12467,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1173248,"cg_dv":50.193615,"cg_dw":49.806385,"cg_id_a":-0.0944525823,"cg_id_raw_a":0.344973177,"cg_iq_a":-0.526870072,"cg_iq_raw_a":-0.985194504,"cg_iu_a":0.727410078,"cg_iv_a":0.10539782,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9181824,"cg_sample_seq":14681966,"cg_sample_valid":1,"cg_theta_rad":5.00761414,"cg_vd_req_v":0.0961374342,"cg_vd_v":0.0961374342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3290295,"cg_vq_v":-0.3290295,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.123289704,"dclink_p_w":-17.897295,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12462,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262054,"cg_dv":50.2020836,"cg_dw":49.7979164,"cg_id_a":-0.134598494,"cg_id_raw_a":-0.187290341,"cg_iq_a":0.279152691,"cg_iq_raw_a":-0.0541621149,"cg_iu_a":0.256240129,"cg_iv_a":0.504080057,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9618187,"cg_sample_seq":14682016,"cg_sample_valid":1,"cg_theta_rad":5.0074439,"cg_vd_req_v":0.0979085565,"cg_vd_v":0.0979085565,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345380723,"cg_vq_v":-0.345380723,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12439,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293564,"cg_dv":50.1960297,"cg_dw":49.8039703,"cg_id_a":0.310853541,"cg_id_raw_a":-0.137552604,"cg_iq_a":0.0132863671,"cg_iq_raw_a":-0.559042275,"cg_iu_a":-0.323661089,"cg_iv_a":0.649055243,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8818188,"cg_sample_seq":14682066,"cg_sample_valid":1,"cg_theta_rad":5.0069828,"cg_vd_req_v":0.0893867016,"cg_vd_v":0.0893867016,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338976264,"cg_vq_v":-0.338976264,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1524658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12427,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1301308,"cg_dv":50.1971321,"cg_dw":49.8028679,"cg_id_a":0.235154539,"cg_id_raw_a":0.533315837,"cg_iq_a":0.15241687,"cg_iq_raw_a":0.929221332,"cg_iu_a":0.0750210285,"cg_iv_a":0.794030607,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9872723,"cg_sample_seq":14682116,"cg_sample_valid":1,"cg_theta_rad":5.00844383,"cg_vd_req_v":0.0908293799,"cg_vd_v":0.0908293799,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34065029,"cg_vq_v":-0.34065029,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1524658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12456,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1391563,"cg_dv":50.2026711,"cg_dw":49.7973289,"cg_id_a":0.34270227,"cg_id_raw_a":-0.190482721,"cg_iq_a":0.780049741,"cg_iq_raw_a":-0.236379981,"cg_iu_a":0.256240129,"cg_iv_a":0.250373125,"cg_iw_a":1.84923565,"cg_sample_age_us":23.9618187,"cg_sample_seq":14682166,"cg_sample_valid":1,"cg_theta_rad":5.00738859,"cg_vd_req_v":0.0882591382,"cg_vd_v":0.0882591382,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354622722,"cg_vq_v":-0.354622722,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1555176,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12427,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451302,"cg_dv":50.1989212,"cg_dw":49.8010788,"cg_id_a":0.568290114,"cg_id_raw_a":-0.205786258,"cg_iq_a":0.82470572,"cg_iq_raw_a":-0.27598393,"cg_iu_a":-0.867318392,"cg_iv_a":0.214129269,"cg_iw_a":0.653189123,"cg_sample_age_us":23.8600006,"cg_sample_seq":14682216,"cg_sample_valid":1,"cg_theta_rad":5.00555706,"cg_vd_req_v":0.0824414864,"cg_vd_v":0.0824414864,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35228914,"cg_vq_v":-0.35228914,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12445,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.1245079,"cg_dv":50.1894646,"cg_dw":49.8105354,"cg_id_a":0.27502498,"cg_id_raw_a":0.0618852265,"cg_iq_a":-0.26450935,"cg_iq_raw_a":-0.648652196,"cg_iu_a":-0.396148682,"cg_iv_a":0.57656759,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.8527279,"cg_sample_seq":14682266,"cg_sample_valid":1,"cg_theta_rad":5.00648499,"cg_vd_req_v":0.0877457932,"cg_vd_v":0.0877457932,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328145236,"cg_vq_v":-0.328145236,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":93.6971207,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1585999,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12475,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.119648,"cg_dv":50.1919327,"cg_dw":49.8080673,"cg_id_a":0.0577578247,"cg_id_raw_a":0.332986742,"cg_iq_a":0.0707251281,"cg_iq_raw_a":0.215400741,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539645,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9690914,"cg_sample_seq":14682317,"cg_sample_valid":1,"cg_theta_rad":5.00708055,"cg_vd_req_v":0.0912293047,"cg_vd_v":0.0912293047,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.328455091,"cg_vq_v":-0.328455091,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1463013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12481,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1206932,"cg_dv":50.1929703,"cg_dw":49.8070297,"cg_id_a":0.062604785,"cg_id_raw_a":0.0946148038,"cg_iq_a":0.188981578,"cg_iq_raw_a":0.30084604,"cg_iu_a":-0.323661089,"cg_iv_a":0.467836082,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9509087,"cg_sample_seq":14682367,"cg_sample_valid":1,"cg_theta_rad":5.00710392,"cg_vd_req_v":0.0914962292,"cg_vd_v":0.0914962292,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330426633,"cg_vq_v":-0.330426633,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.170406699,"dclink_p_w":-24.6620502,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1463013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107557796,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12531,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.1129189,"cg_dv":50.191658,"cg_dw":49.8117027,"cg_id_a":-0.154838905,"cg_id_raw_a":0.169824734,"cg_iq_a":0.150016069,"cg_iq_raw_a":-0.0565667413,"cg_iu_a":0.0750210285,"cg_iv_a":0.649055302,"cg_iw_a":-0.724076331,"cg_sample_age_us":23.863636,"cg_sample_seq":14682419,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.0955248624,"cg_vd_v":0.0955248624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324545205,"cg_vq_v":-0.324545205,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.0997313261,"dclink_p_w":-14.3897104,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1201172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12462,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1157036,"cg_dv":50.1839943,"cg_dw":49.8160057,"cg_id_a":0.200821459,"cg_id_raw_a":0.0556912906,"cg_iq_a":0.0116747748,"cg_iq_raw_a":0.0424000062,"cg_iu_a":-0.86731863,"cg_iv_a":-0.72821033,"cg_iw_a":1.59552896,"cg_sample_age_us":23.9618187,"cg_sample_seq":14682467,"cg_sample_valid":1,"cg_theta_rad":5.00526667,"cg_vd_req_v":0.0869940147,"cg_vd_v":0.0869940147,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316368639,"cg_vq_v":-0.316368639,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.4094582,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12444,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1061363,"cg_dv":50.1764679,"cg_dw":49.8235321,"cg_id_a":0.0830572248,"cg_id_raw_a":-0.1213165,"cg_iq_a":-0.683200657,"cg_iq_raw_a":-0.0839456171,"cg_iu_a":0.292484045,"cg_iv_a":0.504079938,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.9872723,"cg_sample_seq":14682516,"cg_sample_valid":1,"cg_theta_rad":5.00709629,"cg_vd_req_v":0.0887166187,"cg_vd_v":0.0887166187,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300293773,"cg_vq_v":-0.300293773,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-52.0958824,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1182442,"cg_dv":50.1826477,"cg_dw":49.8173523,"cg_id_a":0.279614151,"cg_id_raw_a":0.149638683,"cg_iq_a":0.118483968,"cg_iq_raw_a":0.160499066,"cg_iu_a":-0.613611698,"cg_iv_a":0.467836082,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9872723,"cg_sample_seq":14682566,"cg_sample_valid":1,"cg_theta_rad":5.00777626,"cg_vd_req_v":0.0836824924,"cg_vd_v":0.0836824924,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31492728,"cg_vq_v":-0.31492728,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.172218919,"dclink_p_w":-24.924324,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1509094,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12446,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.1158829,"cg_dv":50.1826935,"cg_dw":49.8173065,"cg_id_a":-0.021294497,"cg_id_raw_a":-0.144674584,"cg_iq_a":0.180339769,"cg_iq_raw_a":-0.486900061,"cg_iu_a":-0.178685665,"cg_iv_a":0.21412921,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14682616,"cg_sample_valid":1,"cg_theta_rad":5.00687551,"cg_vd_req_v":0.0869615376,"cg_vd_v":0.0869615376,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313289076,"cg_vq_v":-0.313289076,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0706146955,"dclink_p_w":10.2196875,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12457,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.1078987,"cg_dv":50.1764221,"cg_dw":49.8235779,"cg_id_a":0.0250674337,"cg_id_raw_a":0.167234391,"cg_iq_a":-0.313536555,"cg_iq_raw_a":-0.237632528,"cg_iu_a":0.364971638,"cg_iv_a":0.939005852,"cg_iw_a":-1.30397749,"cg_sample_age_us":23.9509087,"cg_sample_seq":14682666,"cg_sample_valid":1,"cg_theta_rad":5.00898123,"cg_vd_req_v":0.0871656165,"cg_vd_v":0.0871656165,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300272524,"cg_vq_v":-0.300272524,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0977976322,"dclink_p_w":14.1537285,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114859238,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12443,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.1106911,"cg_dv":50.1792984,"cg_dw":49.8207016,"cg_id_a":-0.00184780452,"cg_id_raw_a":0.0725411549,"cg_iq_a":0.0918105915,"cg_iq_raw_a":0.080989331,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.655722737,"cg_iw_a":0.725677133,"cg_sample_age_us":23.8818188,"cg_sample_seq":14682717,"cg_sample_valid":1,"cg_theta_rad":5.0071578,"cg_vd_req_v":0.0884852335,"cg_vd_v":0.0884852335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305539817,"cg_vq_v":-0.305539817,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12453,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0871887,"cg_dv":50.1747856,"cg_dw":49.8252144,"cg_id_a":-0.596853256,"cg_id_raw_a":-0.424093187,"cg_iq_a":-0.78433764,"cg_iq_raw_a":-2.15270352,"cg_iu_a":0.654922485,"cg_iv_a":-1.09064877,"cg_iw_a":0.435726285,"cg_sample_age_us":23.8709087,"cg_sample_seq":14682766,"cg_sample_valid":1,"cg_theta_rad":5.00606632,"cg_vd_req_v":0.10149537,"cg_vd_v":0.10149537,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.286514789,"cg_vq_v":-0.286514789,"cg_vu_v":122.730026,"cg_vv_v":144.28476,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114808887,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12463,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.1161499,"cg_dv":50.1750526,"cg_dw":49.8249474,"cg_id_a":0.461603522,"cg_id_raw_a":0.430260867,"cg_iq_a":0.239623874,"cg_iq_raw_a":0.0798988491,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.365772069,"cg_iw_a":0.435726225,"cg_sample_age_us":23.9581814,"cg_sample_seq":14682816,"cg_sample_valid":1,"cg_theta_rad":5.00593948,"cg_vd_req_v":0.0797495246,"cg_vd_v":0.0797495246,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303928822,"cg_vq_v":-0.303928822,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.293635726,"dclink_p_w":-42.6254997,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12452,"GapTicks":54804,"Mech_RPM":-3.50324616e-44,"cg_du":50.105011,"cg_dv":50.1777115,"cg_dw":49.8222885,"cg_id_a":-0.112418428,"cg_id_raw_a":-0.287767678,"cg_iq_a":0.308315873,"cg_iq_raw_a":-0.100736782,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503517,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9618187,"cg_sample_seq":14682866,"cg_sample_valid":1,"cg_theta_rad":5.00701427,"cg_vd_req_v":0.0912709758,"cg_vd_v":0.0912709758,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301218629,"cg_vq_v":-0.301218629,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.5590973,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1308899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12453,"GapTicks":54818,"Mech_RPM":-3.50324616e-44,"cg_du":50.0877266,"cg_dv":50.1653671,"cg_dw":49.8346329,"cg_id_a":0.0287560411,"cg_id_raw_a":0.0366760828,"cg_iq_a":-0.751497924,"cg_iq_raw_a":-0.68728435,"cg_iu_a":0.437459469,"cg_iv_a":-0.402015805,"cg_iw_a":-0.0354436636,"cg_sample_age_us":23.9799995,"cg_sample_seq":14682920,"cg_sample_valid":1,"cg_theta_rad":5.00728273,"cg_vd_req_v":0.0895527676,"cg_vd_v":0.0895527676,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.27480039,"cg_vq_v":-0.27480039,"cg_vu_v":125.369385,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.358874679,"dclink_p_w":-51.7801476,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1308899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12453,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.0935326,"cg_dv":50.1742973,"cg_dw":49.8257027,"cg_id_a":-0.0512531549,"cg_id_raw_a":0.218133986,"cg_iq_a":-0.10422121,"cg_iq_raw_a":-0.12483985,"cg_iu_a":0.219996452,"cg_iv_a":-0.402015924,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9509087,"cg_sample_seq":14682967,"cg_sample_valid":1,"cg_theta_rad":5.00742722,"cg_vd_req_v":0.0939801112,"cg_vd_v":0.0939801112,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289113462,"cg_vq_v":-0.289113462,"cg_vu_v":129.328415,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.384245396,"dclink_p_w":-55.4407539,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1847839,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12477,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0927544,"cg_dv":50.1753883,"cg_dw":49.8246117,"cg_id_a":-0.184760407,"cg_id_raw_a":-0.332795292,"cg_iq_a":0.0192035511,"cg_iq_raw_a":0.587982655,"cg_iu_a":0.256240129,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.9690914,"cg_sample_seq":14683017,"cg_sample_valid":1,"cg_theta_rad":5.00832176,"cg_vd_req_v":0.0968077332,"cg_vd_v":0.0968077332,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289779603,"cg_vq_v":-0.289779603,"cg_vu_v":135.047012,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-66.6840363,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12431,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.1037979,"cg_dv":50.1855316,"cg_dw":49.8144684,"cg_id_a":-0.198944181,"cg_id_raw_a":0.186971873,"cg_iq_a":0.927566946,"cg_iq_raw_a":1.54742837,"cg_iu_a":-0.323661089,"cg_iv_a":-0.836941957,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9618187,"cg_sample_seq":14683067,"cg_sample_valid":1,"cg_theta_rad":5.00679016,"cg_vd_req_v":0.0979017839,"cg_vd_v":0.0979017839,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310766518,"cg_vq_v":-0.310766518,"cg_vu_v":141.205521,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.62526679,"dclink_p_w":-90.2164688,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12469,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.106144,"cg_dv":50.1790695,"cg_dw":49.8209305,"cg_id_a":0.00443354249,"cg_id_raw_a":-0.516470373,"cg_iq_a":0.408705175,"cg_iq_raw_a":0.274026245,"cg_iu_a":0.14750874,"cg_iv_a":-0.293284416,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9581814,"cg_sample_seq":14683117,"cg_sample_valid":1,"cg_theta_rad":5.00793409,"cg_vd_req_v":0.0933432505,"cg_vd_v":0.0933432505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.302201957,"cg_vq_v":-0.302201957,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.650637627,"dclink_p_w":-94.4495163,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1201172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115060657,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.389893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12457,"GapTicks":54807,"Mech_RPM":-3.50324616e-44,"cg_du":50.0909653,"cg_dv":50.1749268,"cg_dw":49.8250732,"cg_id_a":-0.0150161386,"cg_id_raw_a":0.0254479814,"cg_iq_a":-0.0917867497,"cg_iq_raw_a":0.148601398,"cg_iu_a":-0.287417173,"cg_iv_a":0.57656759,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.863636,"cg_sample_seq":14683216,"cg_sample_valid":1,"cg_theta_rad":5.00691795,"cg_vd_req_v":0.0960961878,"cg_vd_v":0.0960961878,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.289693207,"cg_vq_v":-0.289693207,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.489352465,"dclink_p_w":-71.0366287,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12458,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.0911636,"cg_dv":50.176796,"cg_dw":49.823204,"cg_id_a":-0.284113318,"cg_id_raw_a":-0.329716086,"cg_iq_a":0.172946036,"cg_iq_raw_a":-0.10392943,"cg_iu_a":0.183752775,"cg_iv_a":0.177885413,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9581814,"cg_sample_seq":14683266,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.100101806,"cg_vd_v":0.100101806,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.291559696,"cg_vq_v":-0.291559696,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.733998299,"dclink_p_w":-105.90477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12475,"GapTicks":54811,"Mech_RPM":-3.50324616e-44,"cg_du":50.088726,"cg_dv":50.1716423,"cg_dw":49.8283577,"cg_id_a":-0.0495297909,"cg_id_raw_a":-0.64623946,"cg_iq_a":-0.185912549,"cg_iq_raw_a":0.338132471,"cg_iu_a":-0.541124105,"cg_iv_a":0.431592226,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9872723,"cg_sample_seq":14683316,"cg_sample_valid":1,"cg_theta_rad":5.00784159,"cg_vd_req_v":0.0973260552,"cg_vd_v":0.0973260552,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.283077955,"cg_vq_v":-0.283077955,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.733998299,"dclink_p_w":-105.90477,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106097504,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12439,"GapTicks":54813,"Mech_RPM":-3.50324616e-44,"cg_du":50.0911255,"cg_dv":50.1691704,"cg_dw":49.8308296,"cg_id_a":0.160113364,"cg_id_raw_a":-0.0512026511,"cg_iq_a":-0.229914963,"cg_iq_raw_a":-0.368435711,"cg_iu_a":0.0387773514,"cg_iv_a":0.431592286,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.8600006,"cg_sample_seq":14683366,"cg_sample_valid":1,"cg_theta_rad":5.00726461,"cg_vd_req_v":0.0935036838,"cg_vd_v":0.0935036838,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.281858593,"cg_vq_v":-0.281858593,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.554306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1478271,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12443,"GapTicks":54815,"Mech_RPM":-3.50324616e-44,"cg_du":50.0872841,"cg_dv":50.1681786,"cg_dw":49.8318214,"cg_id_a":0.100446604,"cg_id_raw_a":0.214065477,"cg_iq_a":-0.53580004,"cg_iq_raw_a":-0.743463337,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9654541,"cg_sample_seq":14683421,"cg_sample_valid":1,"cg_theta_rad":5.00784588,"cg_vd_req_v":0.0941812247,"cg_vd_v":0.0941812247,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.277866215,"cg_vq_v":-0.277866215,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.819171429,"dclink_p_w":-118.554306,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12447,"GapTicks":54809,"Mech_RPM":-3.50324616e-44,"cg_du":50.085659,"cg_dv":50.1732025,"cg_dw":49.8267975,"cg_id_a":-0.358234793,"cg_id_raw_a":-0.34959048,"cg_iq_a":-0.016686324,"cg_iq_raw_a":-0.325312197,"cg_iu_a":-0.287417412,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263507,"cg_sample_age_us":23.9218178,"cg_sample_seq":14683467,"cg_sample_valid":1,"cg_theta_rad":5.00722122,"cg_vd_req_v":0.101973258,"cg_vd_v":0.101973258,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.284188747,"cg_vq_v":-0.284188747,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.81192255,"dclink_p_w":-117.505211,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54811,"Mech_RPM":-3.50324616e-44,"cg_du":50.0878754,"cg_dv":50.1710854,"cg_dw":49.8289146,"cg_id_a":-0.0317410976,"cg_id_raw_a":0.396777719,"cg_iq_a":-0.194366291,"cg_iq_raw_a":-0.870938241,"cg_iu_a":0.364971757,"cg_iv_a":-0.365772128,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9290905,"cg_sample_seq":14683517,"cg_sample_valid":1,"cg_theta_rad":5.00733232,"cg_vd_req_v":0.0973058939,"cg_vd_v":0.0973058939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.281889528,"cg_vq_v":-0.281889528,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.948494,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1324463,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12459,"GapTicks":54811,"Mech_RPM":-3.50324616e-44,"cg_du":50.0849838,"cg_dv":50.1715469,"cg_dw":49.8284531,"cg_id_a":-0.0669905841,"cg_id_raw_a":0.0620590448,"cg_iq_a":-0.115298808,"cg_iq_raw_a":-1.15822351,"cg_iu_a":0.219996452,"cg_iv_a":-1.23562396,"cg_iw_a":1.0156275,"cg_sample_age_us":23.994545,"cg_sample_seq":14683567,"cg_sample_valid":1,"cg_theta_rad":5.00821829,"cg_vd_req_v":0.0987523347,"cg_vd_v":0.0987523347,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.28134954,"cg_vq_v":-0.28134954,"cg_vu_v":142.965088,"cg_vv_v":141.205521,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.948494,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1324463,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12444,"GapTicks":54816,"Mech_RPM":-3.50324616e-44,"cg_du":50.0939445,"cg_dv":50.1668663,"cg_dw":49.8331337,"cg_id_a":0.30538702,"cg_id_raw_a":0.153420597,"cg_iq_a":-0.106584698,"cg_iq_raw_a":0.526426256,"cg_iu_a":-0.0337104797,"cg_iv_a":0.866518259,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.954546,"cg_sample_seq":14683617,"cg_sample_valid":1,"cg_theta_rad":5.00809574,"cg_vd_req_v":0.0896232426,"cg_vd_v":0.0896232426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.279187799,"cg_vq_v":-0.279187799,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.948494,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1247559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54811,"Mech_RPM":-3.50324616e-44,"cg_du":50.0837708,"cg_dv":50.1717873,"cg_dw":49.8282127,"cg_id_a":-0.166714475,"cg_id_raw_a":-0.121713497,"cg_iq_a":-0.00706662238,"cg_iq_raw_a":-0.0833689645,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.655722618,"cg_iw_a":0.435726166,"cg_sample_age_us":23.8672733,"cg_sample_seq":14683667,"cg_sample_valid":1,"cg_theta_rad":5.00671196,"cg_vd_req_v":0.100104295,"cg_vd_v":0.100104295,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.280936152,"cg_vq_v":-0.280936152,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.701378822,"dclink_p_w":-101.198273,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12454,"GapTicks":54810,"Mech_RPM":-3.50324616e-44,"cg_du":50.0935974,"cg_dv":50.1723289,"cg_dw":49.8276711,"cg_id_a":0.0750434771,"cg_id_raw_a":-0.416005731,"cg_iq_a":0.499497116,"cg_iq_raw_a":1.0168736,"cg_iu_a":0.5099473,"cg_iv_a":0.105397761,"cg_iw_a":-0.615345061,"cg_sample_age_us":23.9690914,"cg_sample_seq":14683717,"cg_sample_valid":1,"cg_theta_rad":5.00742149,"cg_vd_req_v":0.0938214213,"cg_vd_v":0.0938214213,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.287821472,"cg_vq_v":-0.287821472,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.688693523,"dclink_p_w":-99.670929,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1416931,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12433,"GapTicks":54814,"Mech_RPM":-3.50324616e-44,"cg_du":50.0802002,"cg_dv":50.168869,"cg_dw":49.831131,"cg_id_a":-0.231041923,"cg_id_raw_a":-0.145344049,"cg_iq_a":-0.0840611681,"cg_iq_raw_a":-0.486700624,"cg_iu_a":0.038777113,"cg_iv_a":-0.402015924,"cg_iw_a":0.363238811,"cg_sample_age_us":23.9581814,"cg_sample_seq":14683767,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.101418175,"cg_vd_v":0.101418175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.275429755,"cg_vq_v":-0.275429755,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.4976578,"control_outputs_enabled":1,"dclink_i_a":-0.764805555,"dclink_p_w":-111.022652,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0909119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38685,"EncoderSin":12470,"GapTicks":54812,"Mech_RPM":-3.50324616e-44,"cg_du":50.0878143,"cg_dv":50.1704407,"cg_dw":49.8295593,"cg_id_a":-0.0501177795,"cg_id_raw_a":-0.200437799,"cg_iq_a":0.0954070762,"cg_iq_raw_a":0.271164536,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539049,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9581814,"cg_sample_seq":14683817,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0990724042,"cg_vd_v":0.0990724042,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.280164659,"cg_vq_v":-0.280164659,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12428,"GapTicks":54815,"Mech_RPM":-3.50324616e-44,"cg_du":50.0863533,"cg_dv":50.1677322,"cg_dw":49.8322678,"cg_id_a":0.102306336,"cg_id_raw_a":0.170861781,"cg_iq_a":0.0106245633,"cg_iq_raw_a":-0.673920691,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616981,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9618187,"cg_sample_seq":14683867,"cg_sample_valid":1,"cg_theta_rad":5.00799751,"cg_vd_req_v":0.0966498554,"cg_vd_v":0.0966498554,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.275990456,"cg_vq_v":-0.275990456,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.6205521,"control_outputs_enabled":1,"dclink_i_a":-0.505662203,"dclink_p_w":-73.1817856,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12469,"GapTicks":54809,"Mech_RPM":-3.50324616e-44,"cg_du":50.0793953,"cg_dv":50.1729965,"cg_dw":49.8270035,"cg_id_a":-0.327079326,"cg_id_raw_a":-0.411365449,"cg_iq_a":0.207853764,"cg_iq_raw_a":0.763033628,"cg_iu_a":-0.178685665,"cg_iv_a":0.214129269,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.863636,"cg_sample_seq":14683920,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.104866751,"cg_vd_v":0.104866751,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.28008914,"cg_vq_v":-0.28008914,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12459,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.0876732,"cg_dv":50.1743507,"cg_dw":49.8256493,"cg_id_a":-0.0567997843,"cg_id_raw_a":0.297385901,"cg_iq_a":0.342076421,"cg_iq_raw_a":0.576318026,"cg_iu_a":-0.541124105,"cg_iv_a":-0.836941838,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9872723,"cg_sample_seq":14683966,"cg_sample_valid":1,"cg_theta_rad":5.00804472,"cg_vd_req_v":0.100903913,"cg_vd_v":0.100903913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.286124557,"cg_vq_v":-0.286124557,"cg_vu_v":7.03828096,"cg_vv_v":19.795166,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54806,"Mech_RPM":-3.50324616e-44,"cg_du":50.085556,"cg_dv":50.1763191,"cg_dw":49.8236809,"cg_id_a":-0.277413636,"cg_id_raw_a":0.209667817,"cg_iq_a":0.491670102,"cg_iq_raw_a":0.639398217,"cg_iu_a":0.0750210285,"cg_iv_a":-0.945673347,"cg_iw_a":0.870652318,"cg_sample_age_us":23.8527279,"cg_sample_seq":14684016,"cg_sample_valid":1,"cg_theta_rad":5.00778532,"cg_vd_req_v":0.103587538,"cg_vd_v":0.103587538,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.288917154,"cg_vq_v":-0.288917154,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.303196,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12457,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.0861473,"cg_dv":50.1743393,"cg_dw":49.8256607,"cg_id_a":0.119756185,"cg_id_raw_a":0.479835957,"cg_iq_a":0.312594354,"cg_iq_raw_a":0.446632892,"cg_iu_a":-0.251173258,"cg_iv_a":-0.112065196,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9581814,"cg_sample_seq":14684167,"cg_sample_valid":1,"cg_theta_rad":5.00923443,"cg_vd_req_v":0.10102386,"cg_vd_v":0.10102386,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.285628468,"cg_vq_v":-0.285628468,"cg_vu_v":117.451309,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-71.0836411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1401672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12461,"GapTicks":54809,"Mech_RPM":-3.50324616e-44,"cg_du":50.0931854,"cg_dv":50.1733589,"cg_dw":49.8266411,"cg_id_a":0.429605484,"cg_id_raw_a":-0.0967791677,"cg_iq_a":0.313731253,"cg_iq_raw_a":0.319275767,"cg_iu_a":-0.287417412,"cg_iv_a":0.177885473,"cg_iw_a":0.109531939,"cg_sample_age_us":23.8600006,"cg_sample_seq":14684216,"cg_sample_valid":1,"cg_theta_rad":5.00790024,"cg_vd_req_v":0.0946547836,"cg_vd_v":0.0946547836,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.288188368,"cg_vq_v":-0.288188368,"cg_vu_v":22.4345207,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.491164684,"dclink_p_w":-71.0836411,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12475,"GapTicks":54808,"Mech_RPM":-3.50324616e-44,"cg_du":50.0835457,"cg_dv":50.1743431,"cg_dw":49.8256569,"cg_id_a":0.0414497815,"cg_id_raw_a":0.452660322,"cg_iq_a":0.140776888,"cg_iq_raw_a":0.297081798,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9909096,"cg_sample_seq":14684267,"cg_sample_valid":1,"cg_theta_rad":5.00686646,"cg_vd_req_v":0.102271065,"cg_vd_v":0.102271065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.284469694,"cg_vq_v":-0.284469694,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.120146483,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54805,"Mech_RPM":-3.50324616e-44,"cg_du":50.0869827,"cg_dv":50.1770172,"cg_dw":49.8229828,"cg_id_a":-0.0904511362,"cg_id_raw_a":0.405891716,"cg_iq_a":0.292296141,"cg_iq_raw_a":0.113788821,"cg_iu_a":0.509947062,"cg_iv_a":-0.546991229,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14684316,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.104526065,"cg_vd_v":0.104526065,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.290175527,"cg_vq_v":-0.290175527,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.500225663,"dclink_p_w":-72.394989,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12441,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.094368,"cg_dv":50.1849403,"cg_dw":49.8150597,"cg_id_a":-0.136138439,"cg_id_raw_a":-0.62298584,"cg_iq_a":0.779428244,"cg_iq_raw_a":0.740711868,"cg_iu_a":-0.577367783,"cg_iv_a":-0.981917262,"cg_iw_a":1.55928504,"cg_sample_age_us":23.9618187,"cg_sample_seq":14684366,"cg_sample_valid":1,"cg_theta_rad":5.00735998,"cg_vd_req_v":0.106307961,"cg_vd_v":0.106307961,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305186063,"cg_vq_v":-0.305186063,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105996802,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12448,"GapTicks":54797,"Mech_RPM":-3.50324616e-44,"cg_du":50.1113434,"cg_dv":50.1843681,"cg_dw":49.8156319,"cg_id_a":0.574538589,"cg_id_raw_a":0.0599288307,"cg_iq_a":1.00676417,"cg_iq_raw_a":-0.903636992,"cg_iu_a":-0.323661089,"cg_iv_a":0.21412921,"cg_iw_a":0.109531879,"cg_sample_age_us":26.8199997,"cg_sample_seq":14684420,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.0905461088,"cg_vd_v":0.0905461088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313482881,"cg_vq_v":-0.313482881,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.7401047,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38684,"EncoderSin":12497,"GapTicks":54799,"Mech_RPM":-3.50324616e-44,"cg_du":50.0975685,"cg_dv":50.1824989,"cg_dw":49.8175011,"cg_id_a":0.0530174822,"cg_id_raw_a":0.705448985,"cg_iq_a":0.245071471,"cg_iq_raw_a":1.67765236,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9509087,"cg_sample_seq":14684468,"cg_sample_valid":1,"cg_theta_rad":5.00860786,"cg_vd_req_v":0.102513008,"cg_vd_v":0.102513008,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301244915,"cg_vq_v":-0.301244915,"cg_vu_v":134.167236,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.0234299,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1139832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12472,"GapTicks":54803,"Mech_RPM":-3.50324616e-44,"cg_du":50.0938683,"cg_dv":50.1788673,"cg_dw":49.8211327,"cg_id_a":0.372714341,"cg_id_raw_a":1.02634764,"cg_iq_a":-0.0557566732,"cg_iq_raw_a":0.930229664,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8600006,"cg_sample_seq":14684517,"cg_sample_valid":1,"cg_theta_rad":5.00590181,"cg_vd_req_v":0.0977233648,"cg_vd_v":0.0977233648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.2956478,"cg_vq_v":-0.2956478,"cg_vu_v":138.566162,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.1680984,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1139832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115262069,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12428,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.1043587,"cg_dv":50.1909981,"cg_dw":49.8090019,"cg_id_a":0.198947459,"cg_id_raw_a":-0.177209795,"cg_iq_a":0.866928518,"cg_iq_raw_a":0.056010846,"cg_iu_a":-0.323661089,"cg_iv_a":0.21412921,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14684567,"cg_sample_valid":1,"cg_theta_rad":5.00651598,"cg_vd_req_v":0.104083896,"cg_vd_v":0.104083896,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317020774,"cg_vq_v":-0.317020774,"cg_vu_v":143.404984,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12456,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.1024971,"cg_dv":50.1870918,"cg_dw":49.8129082,"cg_id_a":0.450891316,"cg_id_raw_a":0.0682582557,"cg_iq_a":0.686158538,"cg_iq_raw_a":0.589473844,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104574,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.9618187,"cg_sample_seq":14684616,"cg_sample_valid":1,"cg_theta_rad":5.00512171,"cg_vd_req_v":0.100128762,"cg_vd_v":0.100128762,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313310564,"cg_vq_v":-0.313310564,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-41.9718018,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12421,"GapTicks":54800,"Mech_RPM":-3.50324616e-44,"cg_du":50.0925331,"cg_dv":50.1815872,"cg_dw":49.8184128,"cg_id_a":0.2274912,"cg_id_raw_a":0.382455677,"cg_iq_a":-0.104803436,"cg_iq_raw_a":-0.289405406,"cg_iu_a":-0.0699541569,"cg_iv_a":0.214129269,"cg_iw_a":-0.0716872811,"cg_sample_age_us":23.9654541,"cg_sample_seq":14684667,"cg_sample_valid":1,"cg_theta_rad":5.00794888,"cg_vd_req_v":0.104096316,"cg_vd_v":0.104096316,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.298696905,"cg_vq_v":-0.298696905,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1108513,"cg_dv":50.1986122,"cg_dw":49.8013878,"cg_id_a":0.219457477,"cg_id_raw_a":-0.298524559,"cg_iq_a":1.51790154,"cg_iq_raw_a":-0.20998393,"cg_iu_a":-0.504880428,"cg_iv_a":0.10539782,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9872723,"cg_sample_seq":14684716,"cg_sample_valid":1,"cg_theta_rad":5.00621128,"cg_vd_req_v":0.105972469,"cg_vd_v":0.105972469,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333332062,"cg_vq_v":-0.333332062,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.9390945,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12451,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.0850906,"cg_dv":50.1797256,"cg_dw":49.8202744,"cg_id_a":0.0965012014,"cg_id_raw_a":0.62104702,"cg_iq_a":-0.481379926,"cg_iq_raw_a":-1.43125665,"cg_iu_a":-0.178685665,"cg_iv_a":0.141641557,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9509087,"cg_sample_seq":14684766,"cg_sample_valid":1,"cg_theta_rad":5.00700045,"cg_vd_req_v":0.108187079,"cg_vd_v":0.108187079,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.2919631,"cg_vq_v":-0.2919631,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.9390945,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1447449,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12445,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.0853577,"cg_dv":50.1912918,"cg_dw":49.8087082,"cg_id_a":-0.364266634,"cg_id_raw_a":-0.475561321,"cg_iq_a":0.38430959,"cg_iq_raw_a":0.100758187,"cg_iu_a":0.473703384,"cg_iv_a":-0.619478822,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9763641,"cg_sample_seq":14684816,"cg_sample_valid":1,"cg_theta_rad":5.00855684,"cg_vd_req_v":0.118524231,"cg_vd_v":0.118524231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308101267,"cg_vq_v":-0.308101267,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.337128401,"dclink_p_w":-48.9390945,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2772217,"temp_inv2_c":35.1401672,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107104599,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12481,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.0907402,"cg_dv":50.1850395,"cg_dw":49.8149605,"cg_id_a":0.104313977,"cg_id_raw_a":0.0924237594,"cg_iq_a":0.0365918577,"cg_iq_raw_a":0.301526368,"cg_iu_a":0.183752537,"cg_iv_a":0.214129269,"cg_iw_a":-0.397881806,"cg_sample_age_us":23.8672733,"cg_sample_seq":14684866,"cg_sample_valid":1,"cg_theta_rad":5.01202393,"cg_vd_req_v":0.109608121,"cg_vd_v":0.109608121,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.302109212,"cg_vq_v":-0.302109212,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.474854946,"dclink_p_w":-68.7232208,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12424,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.0866432,"cg_dv":50.1862144,"cg_dw":49.8137856,"cg_id_a":-0.0841845125,"cg_id_raw_a":-0.375919223,"cg_iq_a":-0.134683356,"cg_iq_raw_a":0.58306545,"cg_iu_a":0.328727961,"cg_iv_a":0.431592345,"cg_iw_a":-0.760320306,"cg_sample_age_us":23.8600006,"cg_sample_seq":14684921,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.113503501,"cg_vd_v":0.113503501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.302617013,"cg_vq_v":-0.302617013,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.480291486,"dclink_p_w":-69.5100174,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38782,"EncoderSin":12481,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.0796051,"cg_dv":50.1847305,"cg_dw":49.8152695,"cg_id_a":0.161111191,"cg_id_raw_a":0.175354928,"cg_iq_a":-0.339149714,"cg_iq_raw_a":-0.130147114,"cg_iu_a":-0.106198072,"cg_iv_a":0.721542954,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9836369,"cg_sample_seq":14685066,"cg_sample_valid":1,"cg_theta_rad":5.00653505,"cg_vd_req_v":0.112774417,"cg_vd_v":0.112774417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.297463447,"cg_vq_v":-0.297463447,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12467,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.0821037,"cg_dv":50.1916809,"cg_dw":49.8083191,"cg_id_a":-0.309060723,"cg_id_raw_a":-0.0344898589,"cg_iq_a":0.224225223,"cg_iq_raw_a":0.106765129,"cg_iu_a":0.509947181,"cg_iv_a":-0.764454246,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9509087,"cg_sample_seq":14685116,"cg_sample_valid":1,"cg_theta_rad":5.00774527,"cg_vd_req_v":0.120921709,"cg_vd_v":0.120921709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.307018548,"cg_vq_v":-0.307018548,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12482,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.0767441,"cg_dv":50.184803,"cg_dw":49.815197,"cg_id_a":-0.103423014,"cg_id_raw_a":0.124068722,"cg_iq_a":-0.264970839,"cg_iq_raw_a":-0.242524505,"cg_iu_a":0.256240129,"cg_iv_a":-0.148309112,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9618187,"cg_sample_seq":14685166,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.117907725,"cg_vd_v":0.117907725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.294882804,"cg_vq_v":-0.294882804,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.23246,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.143219,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12437,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.0849152,"cg_dv":50.1862679,"cg_dw":49.8137321,"cg_id_a":0.0941025615,"cg_id_raw_a":0.376069158,"cg_iq_a":0.00179475546,"cg_iq_raw_a":-0.21605584,"cg_iu_a":-1.01229405,"cg_iv_a":-0.43825984,"cg_iw_a":-0.615344942,"cg_sample_age_us":23.9836369,"cg_sample_seq":14685216,"cg_sample_valid":1,"cg_theta_rad":5.0078721,"cg_vd_req_v":0.115946874,"cg_vd_v":0.115946874,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.301321208,"cg_vq_v":-0.301321208,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":56.7461433,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1139832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00488441298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12455,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.0892181,"cg_dv":50.1930199,"cg_dw":49.8069801,"cg_id_a":0.0663939491,"cg_id_raw_a":-0.208058432,"cg_iq_a":0.462839544,"cg_iq_raw_a":-0.711111724,"cg_iu_a":-0.831074715,"cg_iv_a":-0.220796824,"cg_iw_a":1.05187154,"cg_sample_age_us":23.863636,"cg_sample_seq":14685266,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.11766535,"cg_vd_v":0.11766535,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313514829,"cg_vq_v":-0.313514829,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":-0.366123438,"dclink_p_w":-52.9870872,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.792236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54802,"Mech_RPM":-3.50324616e-44,"cg_du":50.07901,"cg_dv":50.1792183,"cg_dw":49.8207817,"cg_id_a":0.262367547,"cg_id_raw_a":0.683933854,"cg_iq_a":-0.793211401,"cg_iq_raw_a":-1.0257107,"cg_iu_a":0.582434893,"cg_iv_a":0.649055243,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.9618187,"cg_sample_seq":14685316,"cg_sample_valid":1,"cg_theta_rad":5.0075345,"cg_vd_req_v":0.112183958,"cg_vd_v":0.112183958,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.288972259,"cg_vq_v":-0.288972259,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.319006443,"dclink_p_w":-46.3084259,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12453,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.0742607,"cg_dv":50.1906853,"cg_dw":49.8093147,"cg_id_a":-0.437924892,"cg_id_raw_a":-0.689778447,"cg_iq_a":-0.278876334,"cg_iq_raw_a":-0.906905711,"cg_iu_a":0.183752537,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9581814,"cg_sample_seq":14685366,"cg_sample_valid":1,"cg_theta_rad":5.00754976,"cg_vd_req_v":0.128193766,"cg_vd_v":0.128193766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.300405324,"cg_vq_v":-0.300405324,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.44042325,"dclink_p_w":-63.5463638,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1139832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12445,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.0809212,"cg_dv":50.1903267,"cg_dw":49.8096733,"cg_id_a":-0.061137028,"cg_id_raw_a":-0.160835758,"cg_iq_a":-0.0871067792,"cg_iq_raw_a":-0.525362074,"cg_iu_a":0.328727961,"cg_iv_a":0.359104574,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9799995,"cg_sample_seq":14685416,"cg_sample_valid":1,"cg_theta_rad":5.00842285,"cg_vd_req_v":0.122450218,"cg_vd_v":0.122450218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303749233,"cg_vq_v":-0.303749233,"cg_vu_v":40.4701157,"cg_vv_v":49.2679672,"cg_vw_v":71.7024918,"control_outputs_enabled":1,"dclink_i_a":-0.0344923735,"dclink_p_w":-4.99189663,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12461,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.0793152,"cg_dv":50.1917725,"cg_dw":49.8082275,"cg_id_a":-0.145620435,"cg_id_raw_a":-0.295188099,"cg_iq_a":0.0604175478,"cg_iq_raw_a":-0.026146194,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.546991229,"cg_iw_a":0.616945386,"cg_sample_age_us":25.9218178,"cg_sample_seq":14685471,"cg_sample_valid":1,"cg_theta_rad":5.00730896,"cg_vd_req_v":0.122289501,"cg_vd_v":0.122289501,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.305955648,"cg_vq_v":-0.305955648,"cg_vu_v":103.814644,"cg_vv_v":95.8965836,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1355286,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12437,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0934486,"cg_dv":50.1926956,"cg_dw":49.8073044,"cg_id_a":0.0827596039,"cg_id_raw_a":0.300984561,"cg_iq_a":0.44617337,"cg_iq_raw_a":-0.295734018,"cg_iu_a":-0.142441988,"cg_iv_a":0.105397701,"cg_iw_a":1.01562738,"cg_sample_age_us":23.9581814,"cg_sample_seq":14685517,"cg_sample_valid":1,"cg_theta_rad":5.00826645,"cg_vd_req_v":0.116124779,"cg_vd_v":0.116124779,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313592255,"cg_vq_v":-0.313592255,"cg_vu_v":103.374756,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12431,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.0892487,"cg_dv":50.1941833,"cg_dw":49.8058167,"cg_id_a":-0.0327218026,"cg_id_raw_a":-0.159872711,"cg_iq_a":0.525501609,"cg_iq_raw_a":0.0943264589,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.0758213997,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9581814,"cg_sample_seq":14685567,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.119362839,"cg_vd_v":0.119362839,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314891994,"cg_vq_v":-0.314891994,"cg_vu_v":102.93486,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1386108,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108010985,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12464,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.0838814,"cg_dv":50.1891136,"cg_dw":49.8108864,"cg_id_a":-0.0436518639,"cg_id_raw_a":-0.696902156,"cg_iq_a":-0.0225668103,"cg_iq_raw_a":-0.214767411,"cg_iu_a":-0.214929581,"cg_iv_a":1.01149356,"cg_iw_a":0.435726345,"cg_sample_age_us":23.9618187,"cg_sample_seq":14685617,"cg_sample_valid":1,"cg_theta_rad":5.00707531,"cg_vd_req_v":0.11919076,"cg_vd_v":0.11919076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304746896,"cg_vq_v":-0.304746896,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.248330951,"dclink_p_w":-35.9396095,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1231995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38680,"EncoderSin":12445,"GapTicks":54796,"Mech_RPM":-3.50324616e-44,"cg_du":50.083168,"cg_dv":50.1852798,"cg_dw":49.8147202,"cg_id_a":0.0602570251,"cg_id_raw_a":-0.318192393,"cg_iq_a":-0.385517001,"cg_iq_raw_a":0.184963524,"cg_iu_a":0.618678808,"cg_iv_a":0.0691539049,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.9363632,"cg_sample_seq":14685666,"cg_sample_valid":1,"cg_theta_rad":5.0069232,"cg_vd_req_v":0.118134402,"cg_vd_v":0.118134402,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.2972444,"cg_vq_v":-0.2972444,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6847496,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12441,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.0801468,"cg_dv":50.1913452,"cg_dw":49.8086548,"cg_id_a":-0.184797391,"cg_id_raw_a":-0.218492582,"cg_iq_a":-0.135825485,"cg_iq_raw_a":0.670849204,"cg_iu_a":0.111264944,"cg_iv_a":-0.546991229,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9872723,"cg_sample_seq":14685717,"cg_sample_valid":1,"cg_theta_rad":5.00685263,"cg_vd_req_v":0.124205418,"cg_vd_v":0.124205418,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.304635733,"cg_vq_v":-0.304635733,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.210153461,"dclink_p_w":30.3219414,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1339722,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113348596,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12487,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.0862694,"cg_dv":50.1941872,"cg_dw":49.8058128,"cg_id_a":0.0437889993,"cg_id_raw_a":0.222179562,"cg_iq_a":0.214495778,"cg_iq_raw_a":0.0586775132,"cg_iu_a":0.14750886,"cg_iv_a":0.286616921,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9509087,"cg_sample_seq":14685767,"cg_sample_valid":1,"cg_theta_rad":5.00655317,"cg_vd_req_v":0.120777398,"cg_vd_v":0.120777398,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312489301,"cg_vq_v":-0.312489301,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12474,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.0818138,"cg_dv":50.1856384,"cg_dw":49.8143616,"cg_id_a":0.295634568,"cg_id_raw_a":0.349535823,"cg_iq_a":-0.442457944,"cg_iq_raw_a":-0.186026588,"cg_iu_a":0.183752537,"cg_iv_a":0.105397761,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.9509087,"cg_sample_seq":14685816,"cg_sample_valid":1,"cg_theta_rad":5.00492144,"cg_vd_req_v":0.11406903,"cg_vd_v":0.11406903,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.299096704,"cg_vq_v":-0.299096704,"cg_vu_v":25.0738773,"cg_vv_v":5.71860361,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.905518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12495,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.0819397,"cg_dv":50.195076,"cg_dw":49.804924,"cg_id_a":-0.0652086735,"cg_id_raw_a":-0.186797559,"cg_iq_a":0.167463273,"cg_iq_raw_a":1.07549334,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552908,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14685866,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.124107487,"cg_vd_v":0.124107487,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312739283,"cg_vq_v":-0.312739283,"cg_vu_v":23.3143044,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.0742607,"cg_dv":50.1863785,"cg_dw":49.8136215,"cg_id_a":0.0232441351,"cg_id_raw_a":-0.229578003,"cg_iq_a":-0.533785462,"cg_iq_raw_a":-0.494364619,"cg_iu_a":0.183752537,"cg_iv_a":0.322860777,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.863636,"cg_sample_seq":14685916,"cg_sample_valid":1,"cg_theta_rad":5.00664091,"cg_vd_req_v":0.122604877,"cg_vd_v":0.122604877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296198189,"cg_vq_v":-0.296198189,"cg_vu_v":128.448624,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.7410202,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2663.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12476,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0729332,"cg_dv":50.1925354,"cg_dw":49.8074646,"cg_id_a":-0.134396598,"cg_id_raw_a":-0.214189962,"cg_iq_a":0.106503606,"cg_iq_raw_a":-0.8928563,"cg_iu_a":0.908629179,"cg_iv_a":0.431592226,"cg_iw_a":-1.34022141,"cg_sample_age_us":23.9509087,"cg_sample_seq":14685970,"cg_sample_valid":1,"cg_theta_rad":5.006567,"cg_vd_req_v":0.128703609,"cg_vd_v":0.128703609,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303166479,"cg_vq_v":-0.303166479,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113952845,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12429,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.0693779,"cg_dv":50.1872673,"cg_dw":49.8127327,"cg_id_a":0.0421525091,"cg_id_raw_a":0.114733763,"cg_iq_a":-0.405072242,"cg_iq_raw_a":0.0844486877,"cg_iu_a":-0.142441988,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9290905,"cg_sample_seq":14686017,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.126695916,"cg_vd_v":0.126695916,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.293879837,"cg_vq_v":-0.293879837,"cg_vu_v":126.249161,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104737923,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0715103,"cg_dv":50.1918411,"cg_dw":49.8081589,"cg_id_a":-0.157226861,"cg_id_raw_a":-0.00781748071,"cg_iq_a":0.0130627397,"cg_iq_raw_a":0.691942096,"cg_iu_a":-0.214929581,"cg_iv_a":0.141641617,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9363632,"cg_sample_seq":14686067,"cg_sample_valid":1,"cg_theta_rad":5.00714922,"cg_vd_req_v":0.129974306,"cg_vd_v":0.129974306,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.29998982,"cg_vq_v":-0.29998982,"cg_vu_v":128.888519,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.91331148,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2663.97095,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2663.970956,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2663.970962,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2663.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12450,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0773659,"cg_dv":50.192009,"cg_dw":49.807991,"cg_id_a":0.0778113157,"cg_id_raw_a":0.129011288,"cg_iq_a":0.136075482,"cg_iq_raw_a":-0.496451199,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9472733,"cg_sample_seq":14686117,"cg_sample_valid":1,"cg_theta_rad":5.00702667,"cg_vd_req_v":0.125491887,"cg_vd_v":0.125491887,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303519219,"cg_vq_v":-0.303519219,"cg_vu_v":131.527878,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.91331148,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2663.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12456,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.0712318,"cg_dv":50.188755,"cg_dw":49.811245,"cg_id_a":-0.0711515918,"cg_id_raw_a":0.0657739937,"cg_iq_a":-0.296876878,"cg_iq_raw_a":0.152887911,"cg_iu_a":0.0387773514,"cg_iv_a":-0.329528213,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14686167,"cg_sample_valid":1,"cg_theta_rad":5.00828218,"cg_vd_req_v":0.127607629,"cg_vd_v":0.127607629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.296543002,"cg_vq_v":-0.296543002,"cg_vu_v":135.486908,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.798018396,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.0787392,"cg_dv":50.1881943,"cg_dw":49.8118057,"cg_id_a":0.337450981,"cg_id_raw_a":0.417896956,"cg_iq_a":-0.147434354,"cg_iq_raw_a":-0.650093734,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552848,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.954546,"cg_sample_seq":14686217,"cg_sample_valid":1,"cg_theta_rad":5.00659037,"cg_vd_req_v":0.121357396,"cg_vd_v":0.121357396,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.299923331,"cg_vq_v":-0.299923331,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.112295151,"dclink_p_w":16.3012753,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2663.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12434,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.0666313,"cg_dv":50.1876755,"cg_dw":49.8123245,"cg_id_a":-0.185757935,"cg_id_raw_a":-0.568479538,"cg_iq_a":-0.445934474,"cg_iq_raw_a":-0.640732586,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0395775437,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9581814,"cg_sample_seq":14686267,"cg_sample_valid":1,"cg_theta_rad":5.00752115,"cg_vd_req_v":0.131739601,"cg_vd_v":0.131739601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.291793287,"cg_vq_v":-0.291793287,"cg_vu_v":144.28476,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.9356003,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107406721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12447,"GapTicks":54795,"Mech_RPM":-3.50324616e-44,"cg_du":50.0719414,"cg_dv":50.1860237,"cg_dw":49.8139763,"cg_id_a":0.0205437019,"cg_id_raw_a":-0.123141855,"cg_iq_a":-0.425204068,"cg_iq_raw_a":0.352651149,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9618187,"cg_sample_seq":14686317,"cg_sample_valid":1,"cg_theta_rad":5.00770378,"cg_vd_req_v":0.124997623,"cg_vd_v":0.124997623,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.291923761,"cg_vq_v":-0.291923761,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.9356003,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.010986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12446,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0811539,"cg_dv":50.1958656,"cg_dw":49.8041344,"cg_id_a":-0.132920474,"cg_id_raw_a":0.0248479936,"cg_iq_a":0.497496545,"cg_iq_raw_a":-0.288100779,"cg_iu_a":0.364971876,"cg_iv_a":-0.655722737,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9872723,"cg_sample_seq":14686367,"cg_sample_valid":1,"cg_theta_rad":5.00826645,"cg_vd_req_v":0.126492411,"cg_vd_v":0.126492411,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310772628,"cg_vq_v":-0.310772628,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.405991673,"dclink_p_w":-58.9356003,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2595,"hz_tim_isr":4998,"hz_vsense":2595,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12444,"GapTicks":54789,"Mech_RPM":-3.50324616e-44,"cg_du":50.0782471,"cg_dv":50.1915398,"cg_dw":49.8084602,"cg_id_a":-0.113645695,"cg_id_raw_a":-0.257546067,"cg_iq_a":-0.156210601,"cg_iq_raw_a":-0.390219241,"cg_iu_a":0.14750886,"cg_iv_a":0.359104574,"cg_iw_a":-0.506613433,"cg_sample_age_us":23.9618187,"cg_sample_seq":14686417,"cg_sample_valid":1,"cg_theta_rad":5.00750542,"cg_vd_req_v":0.126194969,"cg_vd_v":0.126194969,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.302616149,"cg_vq_v":-0.302616149,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1370544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12466,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0805855,"cg_dv":50.1921654,"cg_dw":49.8078346,"cg_id_a":0.0944414511,"cg_id_raw_a":-0.233938187,"cg_iq_a":-0.073617965,"cg_iq_raw_a":-1.98762143,"cg_iu_a":-0.214929581,"cg_iv_a":-0.691966534,"cg_iw_a":0.906896114,"cg_sample_age_us":26.812727,"cg_sample_seq":14686470,"cg_sample_valid":1,"cg_theta_rad":5.00749779,"cg_vd_req_v":0.122955561,"cg_vd_v":0.122955561,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.306685328,"cg_vq_v":-0.306685328,"cg_vu_v":108.21357,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.3981819,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1201172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38826,"EncoderSin":12483,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.0691452,"cg_dv":50.190197,"cg_dw":49.809803,"cg_id_a":0.0318768322,"cg_id_raw_a":0.369738102,"cg_iq_a":-0.426300377,"cg_iq_raw_a":-0.226719663,"cg_iu_a":0.256240129,"cg_iv_a":0.10539782,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9654541,"cg_sample_seq":14686517,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.123238124,"cg_vd_v":0.123238124,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.30048269,"cg_vq_v":-0.30048269,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.2631512,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1201172,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112593271,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.0827522,"cg_dv":50.1885719,"cg_dw":49.8114281,"cg_id_a":0.271901697,"cg_id_raw_a":0.159212425,"cg_iq_a":-0.245772675,"cg_iq_raw_a":-0.166364878,"cg_iu_a":-0.649855614,"cg_iv_a":0.177885413,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9872723,"cg_sample_seq":14686567,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.117061242,"cg_vd_v":0.117061242,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.303277999,"cg_vq_v":-0.303277999,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.183092117,"dclink_p_w":-26.5784855,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1262817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12478,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.0805588,"cg_dv":50.196537,"cg_dw":49.803463,"cg_id_a":-0.138988197,"cg_id_raw_a":0.1979772,"cg_iq_a":0.0965762362,"cg_iq_raw_a":0.0925048813,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8745461,"cg_sample_seq":14686617,"cg_sample_valid":1,"cg_theta_rad":5.00745487,"cg_vd_req_v":0.127167419,"cg_vd_v":0.127167419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312638938,"cg_vq_v":-0.312638938,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12473,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.0788879,"cg_dv":50.1968269,"cg_dw":49.8031731,"cg_id_a":-0.123203278,"cg_id_raw_a":-0.191673175,"cg_iq_a":0.0435387641,"cg_iq_raw_a":0.4565925,"cg_iu_a":0.473703384,"cg_iv_a":0.214129269,"cg_iw_a":-0.687832654,"cg_sample_age_us":23.9327278,"cg_sample_seq":14686667,"cg_sample_valid":1,"cg_theta_rad":5.00618553,"cg_vd_req_v":0.127164766,"cg_vd_v":0.127164766,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.312748909,"cg_vq_v":-0.312748909,"cg_vu_v":107.333786,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12458,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0796814,"cg_dv":50.1957741,"cg_dw":49.8042259,"cg_id_a":-0.219736114,"cg_id_raw_a":-0.0928287879,"cg_iq_a":-0.102705203,"cg_iq_raw_a":-0.372545719,"cg_iu_a":-0.214929581,"cg_iv_a":-0.25704062,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9909096,"cg_sample_seq":14686717,"cg_sample_valid":1,"cg_theta_rad":5.00701714,"cg_vd_req_v":0.128112629,"cg_vd_v":0.128112629,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310701489,"cg_vq_v":-0.310701489,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1124573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.10083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12449,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.0868721,"cg_dv":50.1990242,"cg_dw":49.8009758,"cg_id_a":-0.0971917734,"cg_id_raw_a":-0.182699174,"cg_iq_a":0.146122068,"cg_iq_raw_a":-0.308942169,"cg_iu_a":-0.287417173,"cg_iv_a":-0.25704062,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8672733,"cg_sample_seq":14686766,"cg_sample_valid":1,"cg_theta_rad":5.00653982,"cg_vd_req_v":0.12619777,"cg_vd_v":0.12619777,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.318937778,"cg_vq_v":-0.318937778,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-0.663322926,"dclink_p_w":-95.9991837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1124573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12467,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.0849724,"cg_dv":50.1984177,"cg_dw":49.8015823,"cg_id_a":0.0337193906,"cg_id_raw_a":-0.317305923,"cg_iq_a":0.167878538,"cg_iq_raw_a":0.444890559,"cg_iu_a":-0.577367783,"cg_iv_a":-0.329528213,"cg_iw_a":0.906895995,"cg_sample_age_us":23.8563633,"cg_sample_seq":14686817,"cg_sample_valid":1,"cg_theta_rad":5.00792313,"cg_vd_req_v":0.124696083,"cg_vd_v":0.124696083,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319107562,"cg_vq_v":-0.319107562,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.9758301,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12480,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.082489,"cg_dv":50.1998749,"cg_dw":49.8001251,"cg_id_a":-0.0988758057,"cg_id_raw_a":0.358623296,"cg_iq_a":0.116844833,"cg_iq_raw_a":0.178801477,"cg_iu_a":0.509947062,"cg_iv_a":-0.365772128,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9836369,"cg_sample_seq":14686867,"cg_sample_valid":1,"cg_theta_rad":5.00633144,"cg_vd_req_v":0.127707407,"cg_vd_v":0.127707407,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31985867,"cg_vq_v":-0.31985867,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.0837021,"cg_dv":50.2019844,"cg_dw":49.7980156,"cg_id_a":-0.169115961,"cg_id_raw_a":0.130706206,"cg_iq_a":0.22972846,"cg_iq_raw_a":-0.314716756,"cg_iu_a":-0.432392597,"cg_iv_a":-0.438259721,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9799995,"cg_sample_seq":14686917,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.128982425,"cg_vd_v":0.128982425,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322215766,"cg_vq_v":-0.322215766,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.603520632,"dclink_p_w":-87.6098022,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12473,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.0860252,"cg_dv":50.2011108,"cg_dw":49.7988892,"cg_id_a":-0.0525225103,"cg_id_raw_a":0.35026449,"cg_iq_a":0.133856982,"cg_iq_raw_a":-0.184650794,"cg_iu_a":0.546190977,"cg_iv_a":-0.112065196,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9618187,"cg_sample_seq":14686970,"cg_sample_valid":1,"cg_theta_rad":5.0081048,"cg_vd_req_v":0.126903281,"cg_vd_v":0.126903281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322082698,"cg_vq_v":-0.322082698,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1231995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.0930634,"cg_dv":50.1964455,"cg_dw":49.8035545,"cg_id_a":0.331732333,"cg_id_raw_a":1.3080368,"cg_iq_a":0.0774710476,"cg_iq_raw_a":1.47121179,"cg_iu_a":0.111264944,"cg_iv_a":0.214129269,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.8600006,"cg_sample_seq":14687016,"cg_sample_valid":1,"cg_theta_rad":5.00773144,"cg_vd_req_v":0.116925336,"cg_vd_v":0.116925336,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319627643,"cg_vq_v":-0.319627643,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.0962067,"cg_dv":50.2050476,"cg_dw":49.7949524,"cg_id_a":0.0457196012,"cg_id_raw_a":-0.303140968,"cg_iq_a":0.796449959,"cg_iq_raw_a":0.301472992,"cg_iu_a":-1.12102532,"cg_iv_a":-0.402015924,"cg_iw_a":1.52304125,"cg_sample_age_us":23.863636,"cg_sample_seq":14687066,"cg_sample_valid":1,"cg_theta_rad":5.00891447,"cg_vd_req_v":0.120810099,"cg_vd_v":0.120810099,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.333826005,"cg_vq_v":-0.333826005,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":-0.445859909,"dclink_p_w":-64.5269241,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12440,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.0898476,"cg_dv":50.1952362,"cg_dw":49.8047638,"cg_id_a":-0.0738825351,"cg_id_raw_a":-0.108155385,"cg_iq_a":0.0208858252,"cg_iq_raw_a":0.208628297,"cg_iu_a":0.654922485,"cg_iv_a":0.250373125,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9654541,"cg_sample_seq":14687117,"cg_sample_valid":1,"cg_theta_rad":5.00709009,"cg_vd_req_v":0.120081328,"cg_vd_v":0.120081328,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316605181,"cg_vq_v":-0.316605181,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.3989792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1463013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12482,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.0922928,"cg_dv":50.1970634,"cg_dw":49.8029366,"cg_id_a":0.00778017938,"cg_id_raw_a":-0.199420497,"cg_iq_a":0.311367661,"cg_iq_raw_a":0.528323054,"cg_iu_a":-0.142441988,"cg_iv_a":-0.257040501,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9290905,"cg_sample_seq":14687167,"cg_sample_valid":1,"cg_theta_rad":5.0080843,"cg_vd_req_v":0.120450974,"cg_vd_v":0.120450974,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320283622,"cg_vq_v":-0.320283622,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.3989792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1463013,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12472,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0914536,"cg_dv":50.1960869,"cg_dw":49.8039131,"cg_id_a":-0.0814382136,"cg_id_raw_a":-0.337097853,"cg_iq_a":0.156990752,"cg_iq_raw_a":0.405020237,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9799995,"cg_sample_seq":14687217,"cg_sample_valid":1,"cg_theta_rad":5.00823832,"cg_vd_req_v":0.118734434,"cg_vd_v":0.118734434,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317910761,"cg_vq_v":-0.317910761,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.3989792,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1231995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12457,"GapTicks":54794,"Mech_RPM":-3.50324616e-44,"cg_du":50.075119,"cg_dv":50.1871834,"cg_dw":49.8128166,"cg_id_a":-0.151713088,"cg_id_raw_a":-0.205011487,"cg_iq_a":-0.805291533,"cg_iq_raw_a":-0.0912452117,"cg_iu_a":0.401215792,"cg_iv_a":0.504079938,"cg_iw_a":-0.90529573,"cg_sample_age_us":23.9836369,"cg_sample_seq":14687267,"cg_sample_valid":1,"cg_theta_rad":5.0076313,"cg_vd_req_v":0.121930495,"cg_vd_v":0.121930495,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.297044814,"cg_vq_v":-0.297044814,"cg_vu_v":104.694435,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.648825407,"dclink_p_w":-93.9010315,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12453,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.0910721,"cg_dv":50.1929588,"cg_dw":49.8070412,"cg_id_a":0.0138962083,"cg_id_raw_a":0.155859858,"cg_iq_a":0.0386409685,"cg_iq_raw_a":0.0893310383,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.184552908,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9254551,"cg_sample_seq":14687317,"cg_sample_valid":1,"cg_theta_rad":5.00588512,"cg_vd_req_v":0.11704538,"cg_vd_v":0.11704538,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.313055396,"cg_vq_v":-0.313055396,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.453108668,"dclink_p_w":-65.3766785,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2535706,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116420239,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12463,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.0885239,"cg_dv":50.1905251,"cg_dw":49.8094749,"cg_id_a":0.0596225783,"cg_id_raw_a":0.194280297,"cg_iq_a":-0.148538277,"cg_iq_raw_a":0.347296953,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9872723,"cg_sample_seq":14687367,"cg_sample_valid":1,"cg_theta_rad":5.00686836,"cg_vd_req_v":0.115471974,"cg_vd_v":0.115471974,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.308765054,"cg_vq_v":-0.308765054,"cg_vu_v":104.254532,"cg_vv_v":96.3364716,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12431,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.0866241,"cg_dv":50.1892471,"cg_dw":49.8107529,"cg_id_a":-0.0221019685,"cg_id_raw_a":-0.368336409,"cg_iq_a":-0.174179345,"cg_iq_raw_a":0.0727461353,"cg_iu_a":-0.142441988,"cg_iv_a":1.15646899,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9872723,"cg_sample_seq":14687417,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.117510542,"cg_vd_v":0.117510542,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.306342155,"cg_vq_v":-0.306342155,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.4995403,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12459,"GapTicks":54791,"Mech_RPM":-3.50324616e-44,"cg_du":50.0915833,"cg_dv":50.1895485,"cg_dw":49.8104515,"cg_id_a":0.16740492,"cg_id_raw_a":0.315700978,"cg_iq_a":0.0264415648,"cg_iq_raw_a":-0.260366112,"cg_iu_a":-0.178685665,"cg_iv_a":-0.0395774841,"cg_iw_a":0.218263149,"cg_sample_age_us":23.863636,"cg_sample_seq":14687471,"cg_sample_valid":1,"cg_theta_rad":5.00592041,"cg_vd_req_v":0.112052292,"cg_vd_v":0.112052292,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310236692,"cg_vq_v":-0.310236692,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-42.0993767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38678,"EncoderSin":12466,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0965652,"cg_dv":50.1919937,"cg_dw":49.8080063,"cg_id_a":0.0981837958,"cg_id_raw_a":-0.138845637,"cg_iq_a":0.201020852,"cg_iq_raw_a":-0.305776298,"cg_iu_a":-1.01229382,"cg_iv_a":-0.329528332,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9654541,"cg_sample_seq":14687516,"cg_sample_valid":1,"cg_theta_rad":5.00768757,"cg_vd_req_v":0.114021912,"cg_vd_v":0.114021912,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314043194,"cg_vq_v":-0.314043194,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.290011406,"dclink_p_w":-42.0993767,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1278381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12443,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.0981674,"cg_dv":50.1935616,"cg_dw":49.8064384,"cg_id_a":0.0547613017,"cg_id_raw_a":0.18391566,"cg_iq_a":0.233924687,"cg_iq_raw_a":-0.380735874,"cg_iu_a":0.14750886,"cg_iv_a":0.141641557,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.9763641,"cg_sample_seq":14687566,"cg_sample_valid":1,"cg_theta_rad":5.00754023,"cg_vd_req_v":0.113521464,"cg_vd_v":0.113521464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317358851,"cg_vq_v":-0.317358851,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1278381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12431,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.0768471,"cg_dv":50.1882896,"cg_dw":49.8117104,"cg_id_a":-0.605306625,"cg_id_raw_a":-0.0597450435,"cg_iq_a":-0.684795618,"cg_iq_raw_a":0.14045465,"cg_iu_a":0.473703384,"cg_iv_a":0.141641617,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.8672733,"cg_sample_seq":14687717,"cg_sample_valid":1,"cg_theta_rad":5.00769424,"cg_vd_req_v":0.123940848,"cg_vd_v":0.123940848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.298572183,"cg_vq_v":-0.298572183,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0906703472,"dclink_p_w":-13.1222343,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1139832,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12446,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.0969048,"cg_dv":50.1932487,"cg_dw":49.8067513,"cg_id_a":-0.0426961482,"cg_id_raw_a":0.246456653,"cg_iq_a":0.224632025,"cg_iq_raw_a":0.0249720793,"cg_iu_a":-0.613611698,"cg_iv_a":-0.293284416,"cg_iw_a":0.906896114,"cg_sample_age_us":23.9581814,"cg_sample_seq":14687767,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.11197383,"cg_vd_v":0.11197383,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.317012161,"cg_vq_v":-0.317012161,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.00175154209,"dclink_p_w":0.253491312,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1093445,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12474,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.0942421,"cg_dv":50.1964073,"cg_dw":49.8035927,"cg_id_a":-0.280786812,"cg_id_raw_a":-0.215613991,"cg_iq_a":0.200708568,"cg_iq_raw_a":0.234604895,"cg_iu_a":0.0387773514,"cg_iv_a":-0.112065196,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9618187,"cg_sample_seq":14687817,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.117102832,"cg_vd_v":0.117102832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.319820404,"cg_vq_v":-0.319820404,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6882429,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12450,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.0994987,"cg_dv":50.1920166,"cg_dw":49.8079834,"cg_id_a":0.0563323833,"cg_id_raw_a":-0.000633356743,"cg_iq_a":-0.0395367146,"cg_iq_raw_a":0.182861328,"cg_iu_a":-0.287417173,"cg_iv_a":-0.438259721,"cg_iw_a":0.725676894,"cg_sample_age_us":23.8600006,"cg_sample_seq":14687867,"cg_sample_valid":1,"cg_theta_rad":5.00762796,"cg_vd_req_v":0.109300345,"cg_vd_v":0.109300345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316600144,"cg_vq_v":-0.316600144,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.468708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12441,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1074333,"cg_dv":50.1958389,"cg_dw":49.8041611,"cg_id_a":0.173583433,"cg_id_raw_a":0.246442333,"cg_iq_a":0.345362753,"cg_iq_raw_a":0.0251130927,"cg_iu_a":-0.14244175,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9618187,"cg_sample_seq":14687917,"cg_sample_valid":1,"cg_theta_rad":5.00736475,"cg_vd_req_v":0.106421791,"cg_vd_v":0.106421791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326386154,"cg_vq_v":-0.326386154,"cg_vu_v":119.650772,"cg_vv_v":140.325729,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.137787223,"dclink_p_w":-19.9412079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12489,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.093853,"cg_dv":50.1922684,"cg_dw":49.8077316,"cg_id_a":-0.215217531,"cg_id_raw_a":-0.0653057024,"cg_iq_a":-0.154721603,"cg_iq_raw_a":0.213120982,"cg_iu_a":0.256240129,"cg_iv_a":0.0691540241,"cg_iw_a":0.182019234,"cg_sample_age_us":23.8527279,"cg_sample_seq":14687971,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.111913294,"cg_vd_v":0.111913294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.314504117,"cg_vq_v":-0.314504117,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.186716437,"dclink_p_w":-27.0224724,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12481,"GapTicks":54793,"Mech_RPM":-3.50324616e-44,"cg_du":50.0934219,"cg_dv":50.1879845,"cg_dw":49.8120155,"cg_id_a":-0.0918763578,"cg_id_raw_a":-0.492131978,"cg_iq_a":-0.500778675,"cg_iq_raw_a":-0.375383765,"cg_iu_a":0.763653874,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9290905,"cg_sample_seq":14688016,"cg_sample_valid":1,"cg_theta_rad":5.00810862,"cg_vd_req_v":0.109684967,"cg_vd_v":0.109684967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.307865351,"cg_vq_v":-0.307865351,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12467,"GapTicks":54792,"Mech_RPM":-3.50324616e-44,"cg_du":50.0937691,"cg_dv":50.1884766,"cg_dw":49.8115234,"cg_id_a":-0.0911279544,"cg_id_raw_a":0.495557547,"cg_iq_a":-0.297653735,"cg_iq_raw_a":0.738331318,"cg_iu_a":0.292484045,"cg_iv_a":0.540323794,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.9327278,"cg_sample_seq":14688066,"cg_sample_valid":1,"cg_theta_rad":5.0087285,"cg_vd_req_v":0.108482711,"cg_vd_v":0.108482711,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.310284793,"cg_vq_v":-0.310284793,"cg_vu_v":19.795166,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-37.1011124,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12439,"GapTicks":54787,"Mech_RPM":-3.50324616e-44,"cg_du":50.1020432,"cg_dv":50.1929703,"cg_dw":49.8070297,"cg_id_a":-0.0380247533,"cg_id_raw_a":0.111070894,"cg_iq_a":0.232889935,"cg_iq_raw_a":-0.0977847725,"cg_iu_a":-0.396148682,"cg_iv_a":-0.148309112,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9618187,"cg_sample_seq":14688116,"cg_sample_valid":1,"cg_theta_rad":5.00487661,"cg_vd_req_v":0.107279956,"cg_vd_v":0.107279956,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320730269,"cg_vq_v":-0.320730269,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.168594599,"dclink_p_w":-24.3997955,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12443,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.0972977,"cg_dv":50.1943855,"cg_dw":49.8056145,"cg_id_a":-0.239855587,"cg_id_raw_a":-0.295025915,"cg_iq_a":0.00475728512,"cg_iq_raw_a":-0.0279174466,"cg_iu_a":0.509947062,"cg_iv_a":-0.184552908,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14688166,"cg_sample_valid":1,"cg_theta_rad":5.00779009,"cg_vd_req_v":0.112550832,"cg_vd_v":0.112550832,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31885761,"cg_vq_v":-0.31885761,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.534948349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1001282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1019821,"cg_dv":50.1939888,"cg_dw":49.8060112,"cg_id_a":-0.0376237035,"cg_id_raw_a":0.208425954,"cg_iq_a":0.142948389,"cg_iq_raw_a":-0.233930558,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.365772128,"cg_iw_a":0.399482608,"cg_sample_age_us":23.9618187,"cg_sample_seq":14688216,"cg_sample_valid":1,"cg_theta_rad":5.00838852,"cg_vd_req_v":0.108280957,"cg_vd_v":0.108280957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.321018159,"cg_vq_v":-0.321018159,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3401356,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1013565,"cg_dv":50.1948395,"cg_dw":49.8051605,"cg_id_a":-0.0688116401,"cg_id_raw_a":-0.142423719,"cg_iq_a":0.0303729698,"cg_iq_raw_a":0.569661617,"cg_iu_a":-0.359905005,"cg_iv_a":0.141641557,"cg_iw_a":0.218263447,"cg_sample_age_us":23.9509087,"cg_sample_seq":14688266,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.109176256,"cg_vd_v":0.109176256,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.320874929,"cg_vq_v":-0.320874929,"cg_vu_v":136.366699,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.742939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105845727,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12453,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.107563,"cg_dv":50.1940422,"cg_dw":49.8059578,"cg_id_a":0.0856814906,"cg_id_raw_a":-0.106095105,"cg_iq_a":0.173269227,"cg_iq_raw_a":-0.228718236,"cg_iu_a":0.111264944,"cg_iv_a":0.757786751,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.9872723,"cg_sample_seq":14688316,"cg_sample_valid":1,"cg_theta_rad":5.00696421,"cg_vd_req_v":0.105921194,"cg_vd_v":0.105921194,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.323575079,"cg_vq_v":-0.323575079,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.742939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12453,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1065216,"cg_dv":50.1981888,"cg_dw":49.8018112,"cg_id_a":-0.0371801108,"cg_id_raw_a":-0.469938338,"cg_iq_a":0.298146039,"cg_iq_raw_a":-0.406900913,"cg_iu_a":-0.396148682,"cg_iv_a":0.141641557,"cg_iw_a":0.254507124,"cg_sample_age_us":23.9254551,"cg_sample_seq":14688366,"cg_sample_valid":1,"cg_theta_rad":5.00774002,"cg_vd_req_v":0.107908845,"cg_vd_v":0.107908845,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330669194,"cg_vq_v":-0.330669194,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.116040945,"dclink_p_w":-16.742939,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113449305,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12437,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1033516,"cg_dv":50.1940918,"cg_dw":49.8059082,"cg_id_a":-0.125473678,"cg_id_raw_a":-0.83796674,"cg_iq_a":-0.176468223,"cg_iq_raw_a":0.354054391,"cg_iu_a":0.111264944,"cg_iv_a":0.105397761,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9581814,"cg_sample_seq":14688416,"cg_sample_valid":1,"cg_theta_rad":5.00929737,"cg_vd_req_v":0.108703539,"cg_vd_v":0.108703539,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.322543263,"cg_vq_v":-0.322543263,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.175843358,"dclink_p_w":-25.5262222,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1124573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119642943,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.0976143,"cg_dv":50.2016525,"cg_dw":49.7983475,"cg_id_a":-0.351780474,"cg_id_raw_a":-0.147277698,"cg_iq_a":0.0209043454,"cg_iq_raw_a":0.206333846,"cg_iu_a":-0.214929581,"cg_iv_a":-0.365772009,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9618187,"cg_sample_seq":14688471,"cg_sample_valid":1,"cg_theta_rad":5.00787401,"cg_vd_req_v":0.115828723,"cg_vd_v":0.115828723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330176026,"cg_vq_v":-0.330176026,"cg_vu_v":134.607132,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1124573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12430,"GapTicks":54790,"Mech_RPM":-3.50324616e-44,"cg_du":50.1035118,"cg_dv":50.1900826,"cg_dw":49.8099174,"cg_id_a":0.272313476,"cg_id_raw_a":0.528945386,"cg_iq_a":-0.645983398,"cg_iq_raw_a":-2.34996724,"cg_iu_a":0.038777113,"cg_iv_a":0.0691539645,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9472733,"cg_sample_seq":14688616,"cg_sample_valid":1,"cg_theta_rad":5.00721407,"cg_vd_req_v":0.104705989,"cg_vd_v":0.104705989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.316093594,"cg_vq_v":-0.316093594,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12467,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.0958405,"cg_dv":50.1980782,"cg_dw":49.8019218,"cg_id_a":-0.373456508,"cg_id_raw_a":-0.594148457,"cg_iq_a":-0.19898507,"cg_iq_raw_a":0.890016258,"cg_iu_a":0.256240368,"cg_iv_a":0.177885413,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9690914,"cg_sample_seq":14688666,"cg_sample_valid":1,"cg_theta_rad":5.00741482,"cg_vd_req_v":0.117471039,"cg_vd_v":0.117471039,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.324101239,"cg_vq_v":-0.324101239,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.4972477,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12435,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1118698,"cg_dv":50.1977119,"cg_dw":49.8022881,"cg_id_a":0.338100374,"cg_id_raw_a":0.399618208,"cg_iq_a":0.126575306,"cg_iq_raw_a":-0.68878895,"cg_iu_a":-0.939806223,"cg_iv_a":0.0329101086,"cg_iw_a":0.906896114,"cg_sample_age_us":23.8672733,"cg_sample_seq":14688716,"cg_sample_valid":1,"cg_theta_rad":5.00725508,"cg_vd_req_v":0.104466006,"cg_vd_v":0.104466006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332623005,"cg_vq_v":-0.332623005,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12451,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.0916977,"cg_dv":50.1957626,"cg_dw":49.8042374,"cg_id_a":-0.34176442,"cg_id_raw_a":-0.177977309,"cg_iq_a":-0.650479257,"cg_iq_raw_a":0.493184358,"cg_iu_a":1.0536046,"cg_iv_a":0.0691539049,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.863636,"cg_sample_seq":14688766,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.11854133,"cg_vd_v":0.11854133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.31749326,"cg_vq_v":-0.31749326,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1185913,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1064301,"cg_dv":50.1968079,"cg_dw":49.8031921,"cg_id_a":0.258866787,"cg_id_raw_a":-0.024734227,"cg_iq_a":-0.210529163,"cg_iq_raw_a":-0.219948784,"cg_iu_a":-0.142441988,"cg_iv_a":0.504079938,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9581814,"cg_sample_seq":14688817,"cg_sample_valid":1,"cg_theta_rad":5.00729084,"cg_vd_req_v":0.106364399,"cg_vd_v":0.106364399,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.326621592,"cg_vq_v":-0.326621592,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.1098576,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1308899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.503174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12431,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1072998,"cg_dv":50.1972847,"cg_dw":49.8027153,"cg_id_a":0.0199155435,"cg_id_raw_a":0.331427723,"cg_iq_a":-0.233891234,"cg_iq_raw_a":-0.403076351,"cg_iu_a":0.582434893,"cg_iv_a":-0.00333374739,"cg_iw_a":-0.579101145,"cg_sample_age_us":23.9618187,"cg_sample_seq":14688867,"cg_sample_valid":1,"cg_theta_rad":5.00648212,"cg_vd_req_v":0.108125061,"cg_vd_v":0.108125061,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32710126,"cg_vq_v":-0.32710126,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.3331413,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12431,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1163712,"cg_dv":50.2041397,"cg_dw":49.7958603,"cg_id_a":-0.0262131765,"cg_id_raw_a":0.192332521,"cg_iq_a":0.435548812,"cg_iq_raw_a":0.348379731,"cg_iu_a":-0.214929581,"cg_iv_a":-0.474503517,"cg_iw_a":0.689433098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14688917,"cg_sample_valid":1,"cg_theta_rad":5.00574875,"cg_vd_req_v":0.108407922,"cg_vd_v":0.108407922,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341250241,"cg_vq_v":-0.341250241,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.30438745,"dclink_p_w":44.0523682,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.542236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12460,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1229095,"cg_dv":50.2022285,"cg_dw":49.7977715,"cg_id_a":0.329383582,"cg_id_raw_a":0.397239387,"cg_iq_a":0.358417004,"cg_iq_raw_a":1.12916732,"cg_iu_a":-0.359904766,"cg_iv_a":0.177885413,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9872723,"cg_sample_seq":14688970,"cg_sample_valid":1,"cg_theta_rad":5.00712061,"cg_vd_req_v":0.0984787047,"cg_vd_v":0.0984787047,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345482171,"cg_vq_v":-0.345482171,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.244585156,"dclink_p_w":35.5050926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1124573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.550049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1130981,"cg_dv":50.201252,"cg_dw":49.798748,"cg_id_a":-0.134891897,"cg_id_raw_a":-0.504207373,"cg_iq_a":-0.00347034587,"cg_iq_raw_a":0.388191551,"cg_iu_a":0.111264944,"cg_iv_a":-0.148309112,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.8600006,"cg_sample_seq":14689016,"cg_sample_valid":1,"cg_theta_rad":5.0076685,"cg_vd_req_v":0.107513905,"cg_vd_v":0.107513905,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337963641,"cg_vq_v":-0.337963641,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.557861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257286,"cg_dv":50.208622,"cg_dw":49.791378,"cg_id_a":-0.0690790787,"cg_id_raw_a":0.31695959,"cg_iq_a":0.622540653,"cg_iq_raw_a":-0.258832306,"cg_iu_a":-0.468636513,"cg_iv_a":0.141641617,"cg_iw_a":0.326994896,"cg_sample_age_us":23.8381824,"cg_sample_seq":14689066,"cg_sample_valid":1,"cg_theta_rad":5.0071559,"cg_vd_req_v":0.105077483,"cg_vd_v":0.105077483,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353868812,"cg_vq_v":-0.353868812,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.130417109,"dclink_p_w":18.8745708,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1216736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12469,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1219101,"cg_dv":50.20467,"cg_dw":49.79533,"cg_id_a":0.0552144274,"cg_id_raw_a":0.135504439,"cg_iq_a":0.15182063,"cg_iq_raw_a":-0.131716475,"cg_iu_a":0.0750212669,"cg_iv_a":0.0691539645,"cg_iw_a":-0.144175231,"cg_sample_age_us":23.9581814,"cg_sample_seq":14689116,"cg_sample_valid":1,"cg_theta_rad":5.00720406,"cg_vd_req_v":0.103078134,"cg_vd_v":0.103078134,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346690863,"cg_vq_v":-0.346690863,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.052492857,"dclink_p_w":7.59701061,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1032104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12454,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1238136,"cg_dv":50.2035255,"cg_dw":49.7964745,"cg_id_a":0.233421072,"cg_id_raw_a":0.226677179,"cg_iq_a":0.10473641,"cg_iq_raw_a":0.240042016,"cg_iu_a":-0.0337104797,"cg_iv_a":0.504079938,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.9872723,"cg_sample_seq":14689166,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0987842828,"cg_vd_v":0.0987842828,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346686989,"cg_vq_v":-0.346686989,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":0.0851123333,"dclink_p_w":12.2804127,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1032104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10876631,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.115509,"cg_dv":50.2004471,"cg_dw":49.7995529,"cg_id_a":-0.1243717,"cg_id_raw_a":-0.361934215,"cg_iq_a":-0.266035855,"cg_iq_raw_a":-0.433693945,"cg_iu_a":0.328727961,"cg_iv_a":0.649055243,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9290905,"cg_sample_seq":14689216,"cg_sample_valid":1,"cg_theta_rad":5.00645208,"cg_vd_req_v":0.103056088,"cg_vd_v":0.103056088,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337652266,"cg_vq_v":-0.337652266,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12440,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1190224,"cg_dv":50.1970901,"cg_dw":49.8029099,"cg_id_a":-0.0105505548,"cg_id_raw_a":0.562774599,"cg_iq_a":-0.192420304,"cg_iq_raw_a":-0.417934895,"cg_iu_a":-0.106198072,"cg_iv_a":0.10539782,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9618187,"cg_sample_seq":14689266,"cg_sample_valid":1,"cg_theta_rad":5.0059576,"cg_vd_req_v":0.0983408839,"cg_vd_v":0.0983408839,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.335764378,"cg_vq_v":-0.335764378,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12505,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1165237,"cg_dv":50.1946373,"cg_dw":49.8053627,"cg_id_a":0.00601249933,"cg_id_raw_a":-0.469341159,"cg_iq_a":-0.508305013,"cg_iq_raw_a":0.72181654,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9727268,"cg_sample_seq":14689316,"cg_sample_valid":1,"cg_theta_rad":5.00685787,"cg_vd_req_v":0.0963588282,"cg_vd_v":0.0963588282,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.331471533,"cg_vq_v":-0.331471533,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.115509,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12481,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1164627,"cg_dv":50.1979446,"cg_dw":49.8020554,"cg_id_a":-0.207710415,"cg_id_raw_a":0.433463812,"cg_iq_a":-0.338045835,"cg_iq_raw_a":-0.613194227,"cg_iu_a":0.582434893,"cg_iv_a":-0.112065196,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9690914,"cg_sample_seq":14689366,"cg_sample_valid":1,"cg_theta_rad":5.00700331,"cg_vd_req_v":0.100319207,"cg_vd_v":0.100319207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334645391,"cg_vq_v":-0.334645391,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.616455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12445,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.131031,"cg_dv":50.2021484,"cg_dw":49.7978516,"cg_id_a":-0.0285297073,"cg_id_raw_a":-0.422982097,"cg_iq_a":-0.120009162,"cg_iq_raw_a":0.215955466,"cg_iu_a":0.0750212669,"cg_iv_a":0.177885413,"cg_iw_a":-0.25290668,"cg_sample_age_us":23.8781815,"cg_sample_seq":14689416,"cg_sample_valid":1,"cg_theta_rad":5.00784636,"cg_vd_req_v":0.0932012796,"cg_vd_v":0.0944351628,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348452419,"cg_vq_v":-0.336818904,"cg_vu_v":106.453995,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38755,"EncoderSin":12499,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1194153,"cg_dv":50.2020187,"cg_dw":49.7979813,"cg_id_a":-0.227061301,"cg_id_raw_a":-0.206889957,"cg_iq_a":0.0357521027,"cg_iq_raw_a":0.164568081,"cg_iu_a":-0.0699541569,"cg_iv_a":0.612811446,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.8600006,"cg_sample_seq":14689470,"cg_sample_valid":1,"cg_theta_rad":5.0062027,"cg_vd_req_v":0.0993420705,"cg_vd_v":0.0993420705,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34260875,"cg_vq_v":-0.34260875,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12444,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343422,"cg_dv":50.2022057,"cg_dw":49.7977943,"cg_id_a":0.169067934,"cg_id_raw_a":-0.542419791,"cg_iq_a":0.336046278,"cg_iq_raw_a":0.746932209,"cg_iu_a":-1.48346376,"cg_iv_a":0.322860718,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.9581814,"cg_sample_seq":14689517,"cg_sample_valid":1,"cg_theta_rad":5.00574398,"cg_vd_req_v":0.0927203447,"cg_vd_v":0.0927203447,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349842876,"cg_vq_v":-0.349842876,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.041687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12436,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.124218,"cg_dv":50.1996384,"cg_dw":49.8003616,"cg_id_a":-0.0416132063,"cg_id_raw_a":-0.170031518,"cg_iq_a":-0.0855810493,"cg_iq_raw_a":-0.016104199,"cg_iu_a":0.256240368,"cg_iv_a":0.0691539645,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9618187,"cg_sample_seq":14689567,"cg_sample_valid":1,"cg_theta_rad":5.00777721,"cg_vd_req_v":0.0975278988,"cg_vd_v":0.0975278988,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341940433,"cg_vq_v":-0.341940433,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":89.7380829,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.041687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252213,"cg_dv":50.200386,"cg_dw":49.799614,"cg_id_a":0.0968092158,"cg_id_raw_a":0.070387952,"cg_iq_a":0.110548779,"cg_iq_raw_a":0.334993273,"cg_iu_a":-0.251173496,"cg_iv_a":0.322860718,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.8527279,"cg_sample_seq":14689616,"cg_sample_valid":1,"cg_theta_rad":5.00832796,"cg_vd_req_v":0.0954151824,"cg_vd_v":0.0954151824,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344099909,"cg_vq_v":-0.344099909,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.9046364,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12454,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1210823,"cg_dv":50.1979675,"cg_dw":49.8020325,"cg_id_a":-0.0117754079,"cg_id_raw_a":0.180385649,"cg_iq_a":-0.173699275,"cg_iq_raw_a":0.0551041812,"cg_iu_a":0.183752537,"cg_iv_a":0.322860777,"cg_iw_a":-0.506613314,"cg_sample_age_us":23.9763641,"cg_sample_seq":14689666,"cg_sample_valid":1,"cg_theta_rad":5.00593901,"cg_vd_req_v":0.09794873,"cg_vd_v":0.09794873,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336899668,"cg_vq_v":-0.336899668,"cg_vu_v":40.4701157,"cg_vv_v":47.9482918,"cg_vw_v":68.1833496,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12464,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1198769,"cg_dv":50.1999741,"cg_dw":49.8000259,"cg_id_a":-0.0526213944,"cg_id_raw_a":0.100094825,"cg_iq_a":0.0233460218,"cg_iq_raw_a":0.229225159,"cg_iu_a":0.111264944,"cg_iv_a":0.141641617,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9727268,"cg_sample_seq":14689716,"cg_sample_valid":1,"cg_theta_rad":5.00780153,"cg_vd_req_v":0.100771151,"cg_vd_v":0.100771151,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338969618,"cg_vq_v":-0.338969618,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.284574866,"dclink_p_w":-41.1849976,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11647059,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12461,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1132736,"cg_dv":50.1976547,"cg_dw":49.8023453,"cg_id_a":-0.0777119473,"cg_id_raw_a":0.33898434,"cg_iq_a":-0.379597217,"cg_iq_raw_a":-0.731673002,"cg_iu_a":0.183752775,"cg_iv_a":-0.402015805,"cg_iw_a":0.21826303,"cg_sample_age_us":23.9581814,"cg_sample_seq":14689766,"cg_sample_valid":1,"cg_theta_rad":5.00763512,"cg_vd_req_v":0.102246858,"cg_vd_v":0.102246858,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.332556963,"cg_vq_v":-0.332556963,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.556403637,"dclink_p_w":-80.525322,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1178551,"cg_dv":50.1975098,"cg_dw":49.8024902,"cg_id_a":0.141022399,"cg_id_raw_a":0.263821036,"cg_iq_a":-0.29466483,"cg_iq_raw_a":0.0627662838,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9872723,"cg_sample_seq":14689817,"cg_sample_valid":1,"cg_theta_rad":5.00738621,"cg_vd_req_v":0.0992799401,"cg_vd_v":0.0992799401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334689885,"cg_vq_v":-0.334689885,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12446,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1224976,"cg_dv":50.1987915,"cg_dw":49.8012085,"cg_id_a":0.224158138,"cg_id_raw_a":-0.155284896,"cg_iq_a":-0.112915643,"cg_iq_raw_a":-0.160755843,"cg_iu_a":-0.0337102413,"cg_iv_a":0.939005911,"cg_iw_a":-0.90529567,"cg_sample_age_us":23.9872723,"cg_sample_seq":14689866,"cg_sample_valid":1,"cg_theta_rad":5.00647211,"cg_vd_req_v":0.0988980755,"cg_vd_v":0.0988980755,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339566588,"cg_vq_v":-0.339566588,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12467,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1225433,"cg_dv":50.2066994,"cg_dw":49.7933006,"cg_id_a":-0.0444158688,"cg_id_raw_a":-0.13354291,"cg_iq_a":0.0419369116,"cg_iq_raw_a":0.679604471,"cg_iu_a":0.256240368,"cg_iv_a":0.105397701,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9509087,"cg_sample_seq":14689917,"cg_sample_valid":1,"cg_theta_rad":5.00769281,"cg_vd_req_v":0.105678096,"cg_vd_v":0.105678096,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344550163,"cg_vq_v":-0.344550163,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-1.94816685,"dclink_p_w":-282.804779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1209526,"cg_dv":50.205574,"cg_dw":49.794426,"cg_id_a":0.0437652469,"cg_id_raw_a":-0.0412153043,"cg_iq_a":0.104896337,"cg_iq_raw_a":0.17895104,"cg_iu_a":-0.541124105,"cg_iv_a":-0.220796704,"cg_iw_a":0.76192081,"cg_sample_age_us":26.8090916,"cg_sample_seq":14689970,"cg_sample_valid":1,"cg_theta_rad":5.00597811,"cg_vd_req_v":0.103964977,"cg_vd_v":0.103964977,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348755777,"cg_vq_v":-0.348755777,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-1.94816685,"dclink_p_w":-282.804779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105090402,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12427,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1201782,"cg_dv":50.2048569,"cg_dw":49.7951431,"cg_id_a":0.0371409878,"cg_id_raw_a":0.292800665,"cg_iq_a":0.0231752619,"cg_iq_raw_a":-0.662431896,"cg_iu_a":-0.178685665,"cg_iv_a":0.504079938,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9618187,"cg_sample_seq":14690017,"cg_sample_valid":1,"cg_theta_rad":5.00738716,"cg_vd_req_v":0.104991354,"cg_vd_v":0.104991354,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345864296,"cg_vq_v":-0.345864296,"cg_vu_v":116.131638,"cg_vv_v":131.087982,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-1.94816685,"dclink_p_w":-282.804779,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1247559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1206818,"cg_dv":50.2041321,"cg_dw":49.7958679,"cg_id_a":0.161865309,"cg_id_raw_a":0.299032956,"cg_iq_a":-0.138027981,"cg_iq_raw_a":0.137777567,"cg_iu_a":-0.251173496,"cg_iv_a":0.10539782,"cg_iw_a":0.145775676,"cg_sample_age_us":23.954546,"cg_sample_seq":14690067,"cg_sample_valid":1,"cg_theta_rad":5.00743532,"cg_vd_req_v":0.101823747,"cg_vd_v":0.101823747,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344631106,"cg_vq_v":-0.344631106,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-1.79775476,"dclink_p_w":-260.179443,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12473,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1251564,"cg_dv":50.2096291,"cg_dw":49.7903709,"cg_id_a":0.0112040192,"cg_id_raw_a":0.26693663,"cg_iq_a":0.419129133,"cg_iq_raw_a":0.497902662,"cg_iu_a":-1.37473226,"cg_iv_a":0.105397701,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9836369,"cg_sample_seq":14690117,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.102906846,"cg_vd_v":0.102906846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355972379,"cg_vq_v":-0.355972379,"cg_vu_v":119.210884,"cg_vv_v":139.885834,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-2.04421282,"dclink_p_w":-295.847992,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.129364,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1144295,"cg_dv":50.2055702,"cg_dw":49.7944298,"cg_id_a":-0.24305892,"cg_id_raw_a":0.319386005,"cg_iq_a":-0.304902166,"cg_iq_raw_a":-0.514641047,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.583235145,"cg_iw_a":0.65318954,"cg_sample_age_us":23.9618187,"cg_sample_seq":14690167,"cg_sample_valid":1,"cg_theta_rad":5.00751495,"cg_vd_req_v":0.109576367,"cg_vd_v":0.109576367,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343799055,"cg_vq_v":-0.343799055,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-2.12213707,"dclink_p_w":-307.125549,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109068431,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12419,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317024,"cg_dv":50.2103691,"cg_dw":49.7896309,"cg_id_a":0.0451989621,"cg_id_raw_a":0.336122245,"cg_iq_a":0.415196598,"cg_iq_raw_a":0.582104623,"cg_iu_a":-0.432392597,"cg_iv_a":-0.148309112,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9581814,"cg_sample_seq":14690217,"cg_sample_valid":1,"cg_theta_rad":5.00685787,"cg_vd_req_v":0.103219353,"cg_vd_v":0.103219353,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359280169,"cg_vq_v":-0.359280169,"cg_vu_v":124.049698,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-2.09314203,"dclink_p_w":-302.92926,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1259575,"cg_dv":50.2062492,"cg_dw":49.7937508,"cg_id_a":0.110536397,"cg_id_raw_a":-0.178464368,"cg_iq_a":0.0110795498,"cg_iq_raw_a":0.493008494,"cg_iu_a":-0.178685904,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662526,"cg_sample_age_us":23.9509087,"cg_sample_seq":14690267,"cg_sample_valid":1,"cg_theta_rad":5.00779057,"cg_vd_req_v":0.10221459,"cg_vd_v":0.10221459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350883782,"cg_vq_v":-0.350883782,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-2.09676647,"dclink_p_w":-304.37616,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12451,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1269722,"cg_dv":50.2061501,"cg_dw":49.7938499,"cg_id_a":-0.0164544135,"cg_id_raw_a":0.297765493,"cg_iq_a":0.0179801136,"cg_iq_raw_a":0.140495852,"cg_iu_a":0.691166282,"cg_iv_a":0.214129329,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9763641,"cg_sample_seq":14690317,"cg_sample_valid":1,"cg_theta_rad":5.00714827,"cg_vd_req_v":0.102336437,"cg_vd_v":0.102336437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351027071,"cg_vq_v":-0.351027071,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-1.84487176,"dclink_p_w":-266.998444,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12485,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.110508,"cg_dv":50.2069359,"cg_dw":49.7930641,"cg_id_a":-0.526256025,"cg_id_raw_a":-0.820983768,"cg_iq_a":-0.369623303,"cg_iq_raw_a":0.652065754,"cg_iu_a":0.836141586,"cg_iv_a":-0.655722737,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9254551,"cg_sample_seq":14690367,"cg_sample_valid":1,"cg_theta_rad":5.00590658,"cg_vd_req_v":0.112727478,"cg_vd_v":0.112727478,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342716217,"cg_vq_v":-0.342716217,"cg_vu_v":133.287445,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-1.57666755,"dclink_p_w":-228.182663,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2664.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12453,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262436,"cg_dv":50.2072525,"cg_dw":49.7927475,"cg_id_a":-0.0810552537,"cg_id_raw_a":-0.0824059024,"cg_iq_a":0.156776831,"cg_iq_raw_a":-0.262370139,"cg_iu_a":0.0387773514,"cg_iv_a":-0.546991229,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9836369,"cg_sample_seq":14690417,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.103131592,"cg_vd_v":0.103131592,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352357388,"cg_vq_v":-0.352357388,"cg_vu_v":1.75957024,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-1.64371848,"dclink_p_w":-237.886597,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1032104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12441,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1280136,"cg_dv":50.2017212,"cg_dw":49.7982788,"cg_id_a":0.209750205,"cg_id_raw_a":0.136055082,"cg_iq_a":-0.125040948,"cg_iq_raw_a":-0.131147742,"cg_iu_a":0.292484283,"cg_iv_a":0.57656759,"cg_iw_a":-0.869051874,"cg_sample_age_us":23.954546,"cg_sample_seq":14690467,"cg_sample_valid":1,"cg_theta_rad":5.00841856,"cg_vd_req_v":0.0968718082,"cg_vd_v":0.0968718082,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345702708,"cg_vq_v":-0.345702708,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.877161503,"dclink_p_w":-126.946899,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12456,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1232834,"cg_dv":50.2030945,"cg_dw":49.7969055,"cg_id_a":0.116152674,"cg_id_raw_a":-0.413316756,"cg_iq_a":0.0212150961,"cg_iq_raw_a":-0.110923283,"cg_iu_a":0.836141586,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.832807899,"cg_sample_age_us":23.9872723,"cg_sample_seq":14690519,"cg_sample_valid":1,"cg_theta_rad":5.00893545,"cg_vd_req_v":0.0998264104,"cg_vd_v":0.0998264104,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346644044,"cg_vq_v":-0.346644044,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.589023113,"dclink_p_w":-85.24617,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12472,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1189232,"cg_dv":50.196312,"cg_dw":49.803688,"cg_id_a":0.262403637,"cg_id_raw_a":-0.42375505,"cg_iq_a":-0.683963358,"cg_iq_raw_a":0.214434996,"cg_iu_a":0.292484283,"cg_iv_a":0.177885413,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9363632,"cg_sample_seq":14690566,"cg_sample_valid":1,"cg_theta_rad":5.00727844,"cg_vd_req_v":0.0977633819,"cg_vd_v":0.0977633819,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334619612,"cg_vq_v":-0.334619612,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.4199409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.1001282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12454,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1262207,"cg_dv":50.2039413,"cg_dw":49.7960587,"cg_id_a":0.235843107,"cg_id_raw_a":0.0901091695,"cg_iq_a":-0.0393443704,"cg_iq_raw_a":-0.318258882,"cg_iu_a":-0.50488019,"cg_iv_a":-0.329528213,"cg_iw_a":0.834408402,"cg_sample_age_us":23.863636,"cg_sample_seq":14690616,"cg_sample_valid":1,"cg_theta_rad":5.00747156,"cg_vd_req_v":0.0985553265,"cg_vd_v":0.0985553265,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34823969,"cg_vq_v":-0.34823969,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.195777416,"dclink_p_w":-28.4199409,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12450,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1256905,"cg_dv":50.2111931,"cg_dw":49.7888069,"cg_id_a":-0.11240536,"cg_id_raw_a":-0.104062632,"cg_iq_a":0.308342338,"cg_iq_raw_a":-0.0457636714,"cg_iu_a":-0.468636274,"cg_iv_a":-0.402015924,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9618187,"cg_sample_seq":14690666,"cg_sample_valid":1,"cg_theta_rad":5.00670147,"cg_vd_req_v":0.106672198,"cg_vd_v":0.106672198,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357618302,"cg_vq_v":-0.357618302,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.6789532,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.897705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12450,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294899,"cg_dv":50.2082863,"cg_dw":49.7917137,"cg_id_a":0.12692067,"cg_id_raw_a":-0.507377565,"cg_iq_a":-0.0611706823,"cg_iq_raw_a":0.643409908,"cg_iu_a":-0.251173496,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.8672733,"cg_sample_seq":14690716,"cg_sample_valid":1,"cg_theta_rad":5.00583935,"cg_vd_req_v":0.100701965,"cg_vd_v":0.100701965,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355846286,"cg_vq_v":-0.355846286,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12464,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1275253,"cg_dv":50.2043381,"cg_dw":49.7956619,"cg_id_a":0.308282763,"cg_id_raw_a":-0.211781636,"cg_iq_a":-0.387521267,"cg_iq_raw_a":-0.0191174727,"cg_iu_a":-0.50488019,"cg_iv_a":0.431592286,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.8745461,"cg_sample_seq":14690766,"cg_sample_valid":1,"cg_theta_rad":5.006845,"cg_vd_req_v":0.097359173,"cg_vd_v":0.097359173,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349668145,"cg_vq_v":-0.349668145,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.76111794,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12439,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1254082,"cg_dv":50.2113419,"cg_dw":49.7886581,"cg_id_a":-0.1961779,"cg_id_raw_a":-0.253231257,"cg_iq_a":0.145037636,"cg_iq_raw_a":-0.0253127869,"cg_iu_a":0.727410078,"cg_iv_a":-0.293284416,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8600006,"cg_sample_seq":14690816,"cg_sample_valid":1,"cg_theta_rad":5.00708055,"cg_vd_req_v":0.109340332,"cg_vd_v":0.109340332,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358146131,"cg_vq_v":-0.358146131,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.42866683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252518,"cg_dv":50.2155151,"cg_dw":49.7844849,"cg_id_a":-0.266507208,"cg_id_raw_a":0.121363014,"cg_iq_a":0.430538237,"cg_iq_raw_a":-0.424483955,"cg_iu_a":-0.251173258,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726166,"cg_sample_age_us":23.863636,"cg_sample_seq":14690866,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.110932902,"cg_vd_v":0.110932902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364537239,"cg_vq_v":-0.364537239,"cg_vu_v":107.773682,"cg_vv_v":106.453995,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.42866683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12435,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1245003,"cg_dv":50.2082024,"cg_dw":49.7917976,"cg_id_a":-0.00710897893,"cg_id_raw_a":0.0166608598,"cg_iq_a":-0.0730322003,"cg_iq_raw_a":0.220999449,"cg_iu_a":0.401215553,"cg_iv_a":0.322860777,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.8672733,"cg_sample_seq":14690916,"cg_sample_valid":1,"cg_theta_rad":5.00734997,"cg_vd_req_v":0.105382189,"cg_vd_v":0.105382189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352678299,"cg_vq_v":-0.352678299,"cg_vu_v":35.1914063,"cg_vv_v":33.871727,"cg_vw_v":29.912693,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.42866683,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1241417,"cg_dv":50.2090912,"cg_dw":49.7909088,"cg_id_a":0.142485902,"cg_id_raw_a":-1.06525981,"cg_iq_a":0.123992532,"cg_iq_raw_a":1.86473286,"cg_iu_a":-0.106198072,"cg_iv_a":1.12022507,"cg_iw_a":-1.014027,"cg_sample_age_us":23.8600006,"cg_sample_seq":14690966,"cg_sample_valid":1,"cg_theta_rad":5.00741339,"cg_vd_req_v":0.105284169,"cg_vd_v":0.105284169,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354055136,"cg_vq_v":-0.354055136,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":100.295509,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1047363,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2664.962605,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2664.96261,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2664.962616,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2664.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12439,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1258049,"cg_dv":50.2153511,"cg_dw":49.7846489,"cg_id_a":-0.100037761,"cg_id_raw_a":0.0422564521,"cg_iq_a":0.400843561,"cg_iq_raw_a":-0.249967322,"cg_iu_a":0.219996452,"cg_iv_a":0.431592226,"cg_iw_a":-0.651588678,"cg_sample_age_us":26.8199997,"cg_sample_seq":14691020,"cg_sample_valid":1,"cg_theta_rad":5.00652647,"cg_vd_req_v":0.110979214,"cg_vd_v":0.110979214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363224149,"cg_vq_v":-0.363224149,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":47.9482918,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12473,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1239166,"cg_dv":50.2196732,"cg_dw":49.7803268,"cg_id_a":-0.157795429,"cg_id_raw_a":0.437466621,"cg_iq_a":0.622207999,"cg_iq_raw_a":0.00388605986,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.25704062,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9763641,"cg_sample_seq":14691066,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.11362987,"cg_vd_v":0.11362987,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368982226,"cg_vq_v":-0.368982226,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":-0.114228845,"dclink_p_w":-16.5317307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1062622,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2664.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12431,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1275482,"cg_dv":50.2125473,"cg_dw":49.7874527,"cg_id_a":0.229795903,"cg_id_raw_a":0.433514982,"cg_iq_a":0.142275959,"cg_iq_raw_a":0.261775047,"cg_iu_a":0.00253343582,"cg_iv_a":0.322860777,"cg_iw_a":-0.325394213,"cg_sample_age_us":23.954546,"cg_sample_seq":14691116,"cg_sample_valid":1,"cg_theta_rad":5.00634956,"cg_vd_req_v":0.10699559,"cg_vd_v":0.10699559,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361550808,"cg_vq_v":-0.361550808,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.3472176,"control_outputs_enabled":1,"dclink_i_a":-0.114228845,"dclink_p_w":-16.5317307,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1170654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116369873,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2664.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12466,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.111412,"cg_dv":50.2075844,"cg_dw":49.7924156,"cg_id_a":-0.151574552,"cg_id_raw_a":-0.718680084,"cg_iq_a":-0.633231401,"cg_iq_raw_a":-1.49034655,"cg_iu_a":-0.14244175,"cg_iv_a":0.685299098,"cg_iw_a":-0.542857349,"cg_sample_age_us":23.9872723,"cg_sample_seq":14691267,"cg_sample_valid":1,"cg_theta_rad":5.00714922,"cg_vd_req_v":0.114693932,"cg_vd_v":0.114693932,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344586611,"cg_vq_v":-0.344586611,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.0558395,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1170769,"cg_dv":50.2108459,"cg_dw":49.7891541,"cg_id_a":0.0186177213,"cg_id_raw_a":0.176937893,"cg_iq_a":-0.170372486,"cg_iq_raw_a":-0.127986431,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9327278,"cg_sample_seq":14691317,"cg_sample_valid":1,"cg_theta_rad":5.00668335,"cg_vd_req_v":0.112261742,"cg_vd_v":0.112261742,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352577358,"cg_vq_v":-0.352577358,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.6998062,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1196175,"cg_dv":50.2123566,"cg_dw":49.7876434,"cg_id_a":-0.0482596867,"cg_id_raw_a":0.163123548,"cg_iq_a":0.0321316272,"cg_iq_raw_a":0.453463376,"cg_iu_a":-0.541124105,"cg_iv_a":-0.184552908,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9763641,"cg_sample_seq":14691367,"cg_sample_valid":1,"cg_theta_rad":5.00641203,"cg_vd_req_v":0.112147883,"cg_vd_v":0.112147883,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355923444,"cg_vq_v":-0.355923444,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":-0.0834215879,"dclink_p_w":-12.0731602,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1053314,"cg_dv":50.2044907,"cg_dw":49.7955093,"cg_id_a":-0.356281638,"cg_id_raw_a":-0.360301346,"cg_iq_a":-0.598054051,"cg_iq_raw_a":-1.56223965,"cg_iu_a":0.183752775,"cg_iv_a":-0.257040501,"cg_iw_a":0.0732877254,"cg_sample_age_us":23.8745461,"cg_sample_seq":14691417,"cg_sample_valid":1,"cg_theta_rad":5.00713539,"cg_vd_req_v":0.115440175,"cg_vd_v":0.115440175,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.338460505,"cg_vq_v":-0.338460505,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1215172,"cg_dv":50.2089043,"cg_dw":49.7910957,"cg_id_a":0.0777163357,"cg_id_raw_a":0.41579628,"cg_iq_a":0.198985264,"cg_iq_raw_a":0.475177586,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641557,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9836369,"cg_sample_seq":14691467,"cg_sample_valid":1,"cg_theta_rad":5.00674105,"cg_vd_req_v":0.105605245,"cg_vd_v":0.105605245,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353968322,"cg_vq_v":-0.353968322,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105946444,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12433,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1193085,"cg_dv":50.2130775,"cg_dw":49.7869225,"cg_id_a":-0.248615369,"cg_id_raw_a":-0.0930203199,"cg_iq_a":0.423059106,"cg_iq_raw_a":0.501672387,"cg_iu_a":-0.251173496,"cg_iv_a":-0.800698042,"cg_iw_a":1.05187154,"cg_sample_age_us":23.8527279,"cg_sample_seq":14691520,"cg_sample_valid":1,"cg_theta_rad":5.00705767,"cg_vd_req_v":0.112893865,"cg_vd_v":0.112893865,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357986391,"cg_vq_v":-0.357986391,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.192152977,"dclink_p_w":-27.8938007,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1032104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12443,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1316071,"cg_dv":50.2103996,"cg_dw":49.7896004,"cg_id_a":0.188211471,"cg_id_raw_a":-0.218340188,"cg_iq_a":0.419006586,"cg_iq_raw_a":-0.384546191,"cg_iu_a":0.038777113,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14691566,"cg_sample_valid":1,"cg_theta_rad":5.00761986,"cg_vd_req_v":0.101102449,"cg_vd_v":0.101102449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359904319,"cg_vq_v":-0.359904319,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1032104,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1200981,"cg_dv":50.2088203,"cg_dw":49.7911797,"cg_id_a":-0.227166757,"cg_id_raw_a":-0.169285908,"cg_iq_a":-0.0762308463,"cg_iq_raw_a":0.421693146,"cg_iu_a":0.147508621,"cg_iv_a":-0.329528213,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9618187,"cg_sample_seq":14691616,"cg_sample_valid":1,"cg_theta_rad":5.0068388,"cg_vd_req_v":0.107624181,"cg_vd_v":0.107624181,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351600438,"cg_vq_v":-0.351600438,"cg_vu_v":25.0738773,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12418,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257133,"cg_dv":50.202282,"cg_dw":49.797718,"cg_id_a":0.258662224,"cg_id_raw_a":0.160540938,"cg_iq_a":-0.283452451,"cg_iq_raw_a":0.270562083,"cg_iu_a":-0.831074715,"cg_iv_a":-0.873185754,"cg_iw_a":1.70426047,"cg_sample_age_us":23.9327278,"cg_sample_seq":14691667,"cg_sample_valid":1,"cg_theta_rad":5.00685883,"cg_vd_req_v":0.0964792222,"cg_vd_v":0.0964792222,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34594214,"cg_vq_v":-0.34594214,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.415081,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12468,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382561,"cg_dv":50.2106857,"cg_dw":49.7893143,"cg_id_a":0.260700166,"cg_id_raw_a":-0.0853363276,"cg_iq_a":0.628345668,"cg_iq_raw_a":0.429676354,"cg_iu_a":-1.12102532,"cg_iv_a":-0.0758213997,"cg_iw_a":1.19684672,"cg_sample_age_us":23.954546,"cg_sample_seq":14691716,"cg_sample_valid":1,"cg_theta_rad":5.00802755,"cg_vd_req_v":0.0946247429,"cg_vd_v":0.0946247429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364422202,"cg_vq_v":-0.364422202,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.235645652,"dclink_p_w":-34.2073936,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1078186,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12486,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1250534,"cg_dv":50.2027931,"cg_dw":49.7972069,"cg_id_a":0.118006915,"cg_id_raw_a":-0.246905446,"cg_iq_a":-0.451702267,"cg_iq_raw_a":-1.22336328,"cg_iu_a":-0.251173258,"cg_iv_a":0.177885413,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9618187,"cg_sample_seq":14691767,"cg_sample_valid":1,"cg_theta_rad":5.00726748,"cg_vd_req_v":0.0974391028,"cg_vd_v":0.0974391028,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346282929,"cg_vq_v":-0.346282929,"cg_vu_v":123.169922,"cg_vv_v":144.28476,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.280950427,"dclink_p_w":-40.6604538,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12415,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1427917,"cg_dv":50.2071648,"cg_dw":49.7928352,"cg_id_a":0.31162563,"cg_id_raw_a":0.332637876,"cg_iq_a":0.1861341,"cg_iq_raw_a":-0.583240926,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9290905,"cg_sample_seq":14691817,"cg_sample_valid":1,"cg_theta_rad":5.00746822,"cg_vd_req_v":0.0927425921,"cg_vd_v":0.0927425921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360877693,"cg_vq_v":-0.360877693,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0634874105,"dclink_p_w":-9.21612167,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12474,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1357574,"cg_dv":50.203598,"cg_dw":49.796402,"cg_id_a":0.387215048,"cg_id_raw_a":0.902027905,"cg_iq_a":-0.153866351,"cg_iq_raw_a":1.10449469,"cg_iu_a":-0.396148682,"cg_iv_a":0.21412921,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9254551,"cg_sample_seq":14691867,"cg_sample_valid":1,"cg_theta_rad":5.0065937,"cg_vd_req_v":0.0899985731,"cg_vd_v":0.0899985731,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353297621,"cg_vq_v":-0.353297621,"cg_vu_v":128.888519,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12449,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347313,"cg_dv":50.2227707,"cg_dw":49.7772293,"cg_id_a":-0.588309884,"cg_id_raw_a":0.173535332,"cg_iq_a":0.907978058,"cg_iq_raw_a":1.80301559,"cg_iu_a":0.0750210285,"cg_iv_a":-0.257040501,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9254551,"cg_sample_seq":14691916,"cg_sample_valid":1,"cg_theta_rad":5.00750875,"cg_vd_req_v":0.111461513,"cg_vd_v":0.111461513,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37699157,"cg_vq_v":-0.37699157,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.339468,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2665.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1380806,"cg_dv":50.2095375,"cg_dw":49.7904625,"cg_id_a":0.272154719,"cg_id_raw_a":0.469295472,"cg_iq_a":0.208260894,"cg_iq_raw_a":0.336334646,"cg_iu_a":-1.88214588,"cg_iv_a":0.141641617,"cg_iw_a":1.74050426,"cg_sample_age_us":23.9581814,"cg_sample_seq":14691967,"cg_sample_valid":1,"cg_theta_rad":5.0068903,"cg_vd_req_v":0.0941946507,"cg_vd_v":0.0941946507,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362615705,"cg_vq_v":-0.362615705,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.0562592,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0985718,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12429,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283989,"cg_dv":50.2067604,"cg_dw":49.7932396,"cg_id_a":0.00339059765,"cg_id_raw_a":0.214784041,"cg_iq_a":-0.33613652,"cg_iq_raw_a":-0.306516677,"cg_iu_a":-1.26600075,"cg_iv_a":0.105397701,"cg_iw_a":1.16060305,"cg_sample_age_us":26.812727,"cg_sample_seq":14692020,"cg_sample_valid":1,"cg_theta_rad":5.00728941,"cg_vd_req_v":0.0995237455,"cg_vd_v":0.0995237455,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354469568,"cg_vq_v":-0.354469568,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.175843239,"dclink_p_w":-25.4488525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12429,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381187,"cg_dv":50.2074547,"cg_dw":49.7925453,"cg_id_a":0.0865094885,"cg_id_raw_a":-0.0793293566,"cg_iq_a":-3.78489494e-05,"cg_iq_raw_a":-0.0801899061,"cg_iu_a":-0.396148682,"cg_iv_a":-0.220796704,"cg_iw_a":0.616945386,"cg_sample_age_us":23.954546,"cg_sample_seq":14692167,"cg_sample_valid":1,"cg_theta_rad":5.00708818,"cg_vd_req_v":0.0947335958,"cg_vd_v":0.0947335958,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357961774,"cg_vq_v":-0.357961774,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.105167866,"dclink_p_w":-15.2203827,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.1016846,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2665.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12441,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1312675,"cg_dv":50.1985359,"cg_dw":49.8014641,"cg_id_a":0.315305054,"cg_id_raw_a":-0.158335537,"cg_iq_a":-0.878498256,"cg_iq_raw_a":-0.779468,"cg_iu_a":-0.903562307,"cg_iv_a":0.0329101086,"cg_iw_a":0.870652199,"cg_sample_age_us":23.9872723,"cg_sample_seq":14692218,"cg_sample_valid":1,"cg_theta_rad":5.00820684,"cg_vd_req_v":0.089849636,"cg_vd_v":0.089849636,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342462659,"cg_vq_v":-0.342462659,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.89879036,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2665.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383324,"cg_dv":50.2082176,"cg_dw":49.7917824,"cg_id_a":0.0919124782,"cg_id_raw_a":0.172903135,"cg_iq_a":-0.00777404197,"cg_iq_raw_a":0.127690762,"cg_iu_a":-0.432392597,"cg_iv_a":0.395348489,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9909096,"cg_sample_seq":14692267,"cg_sample_valid":1,"cg_theta_rad":5.00668955,"cg_vd_req_v":0.0950671136,"cg_vd_v":0.0950671136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359180003,"cg_vq_v":-0.359180003,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.62347722,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2665.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12463,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390953,"cg_dv":50.2042694,"cg_dw":49.7957306,"cg_id_a":0.273061454,"cg_id_raw_a":-0.926795661,"cg_iq_a":-0.272309572,"cg_iq_raw_a":-0.0197483171,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528332,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14692316,"cg_sample_valid":1,"cg_theta_rad":5.00593042,"cg_vd_req_v":0.0905541703,"cg_vd_v":0.0905541703,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355439126,"cg_vq_v":-0.355439126,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.0035636425,"dclink_p_w":0.515746951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12463,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418724,"cg_dv":50.2101898,"cg_dw":49.7898102,"cg_id_a":0.0864411145,"cg_id_raw_a":-0.479602426,"cg_iq_a":0.181358725,"cg_iq_raw_a":0.354482263,"cg_iu_a":-0.541124105,"cg_iv_a":-0.691966534,"cg_iw_a":1.23309064,"cg_sample_age_us":23.9836369,"cg_sample_seq":14692367,"cg_sample_valid":1,"cg_theta_rad":5.00765467,"cg_vd_req_v":0.0933664143,"cg_vd_v":0.0933664143,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366423666,"cg_vq_v":-0.366423666,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0470563173,"dclink_p_w":6.83090925,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.214111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12475,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286354,"cg_dv":50.2034416,"cg_dw":49.7965584,"cg_id_a":-0.0224924777,"cg_id_raw_a":-0.206279665,"cg_iq_a":-0.583931446,"cg_iq_raw_a":-0.9652794,"cg_iu_a":0.183752775,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662884,"cg_sample_age_us":23.9727268,"cg_sample_seq":14692417,"cg_sample_valid":1,"cg_theta_rad":5.00831175,"cg_vd_req_v":0.0961183235,"cg_vd_v":0.0961183235,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35006994,"cg_vq_v":-0.35006994,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.0181826353,"dclink_p_w":-2.63947415,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38769,"EncoderSin":12456,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371803,"cg_dv":50.2105064,"cg_dw":49.7894936,"cg_id_a":0.157168806,"cg_id_raw_a":0.287119389,"cg_iq_a":0.133666605,"cg_iq_raw_a":0.28061083,"cg_iu_a":-0.142441988,"cg_iv_a":-0.148309112,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9836369,"cg_sample_seq":14692467,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.0933717787,"cg_vd_v":0.0933717787,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364078254,"cg_vq_v":-0.364078254,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":0.366001964,"dclink_p_w":52.9695091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12489,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1303787,"cg_dv":50.2127037,"cg_dw":49.7872963,"cg_id_a":-0.405830055,"cg_id_raw_a":-0.742911637,"cg_iq_a":-0.0743863583,"cg_iq_raw_a":-0.39833039,"cg_iu_a":0.038777113,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.035443306,"cg_sample_age_us":23.8563633,"cg_sample_seq":14692521,"cg_sample_valid":1,"cg_theta_rad":5.00730467,"cg_vd_req_v":0.104228362,"cg_vd_v":0.104228362,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362364173,"cg_vq_v":-0.362364173,"cg_vu_v":37.3908691,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.534535825,"dclink_p_w":77.3605118,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12445,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.141964,"cg_dv":50.2068443,"cg_dw":49.7931557,"cg_id_a":0.300764352,"cg_id_raw_a":0.573690951,"cg_iq_a":-0.16077286,"cg_iq_raw_a":0.750072062,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333374739,"cg_iw_a":0.000800311565,"cg_sample_age_us":23.9836369,"cg_sample_seq":14692566,"cg_sample_valid":1,"cg_theta_rad":5.00722551,"cg_vd_req_v":0.0904499665,"cg_vd_v":0.0904499665,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360642999,"cg_vq_v":-0.360642999,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":50.1477547,"control_outputs_enabled":1,"dclink_i_a":0.588901579,"dclink_p_w":85.2285767,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.081665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12450,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423912,"cg_dv":50.2090492,"cg_dw":49.7909508,"cg_id_a":0.191804633,"cg_id_raw_a":0.175064191,"cg_iq_a":-0.00791792572,"cg_iq_raw_a":-0.309368342,"cg_iu_a":-0.287417173,"cg_iv_a":0.431592226,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14692616,"cg_sample_valid":1,"cg_theta_rad":5.00666666,"cg_vd_req_v":0.0927203819,"cg_vd_v":0.0927203819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363762826,"cg_vq_v":-0.363762826,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":0.568967462,"dclink_p_w":82.3436203,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0924377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1273956,"cg_dv":50.2063293,"cg_dw":49.7936707,"cg_id_a":-0.223115981,"cg_id_raw_a":-0.561520934,"cg_iq_a":-0.439896107,"cg_iq_raw_a":-0.964082658,"cg_iu_a":0.292484045,"cg_iv_a":0.612811446,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9290905,"cg_sample_seq":14692666,"cg_sample_valid":1,"cg_theta_rad":5.00670004,"cg_vd_req_v":0.100754991,"cg_vd_v":0.100754991,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353077859,"cg_vq_v":-0.353077859,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.532723665,"dclink_p_w":77.0982513,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0924377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12434,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336288,"cg_dv":50.2092781,"cg_dw":49.7907219,"cg_id_a":-0.135716736,"cg_id_raw_a":-0.13556616,"cg_iq_a":0.0606831685,"cg_iq_raw_a":-0.376262277,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9581814,"cg_sample_seq":14692716,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0982120857,"cg_vd_v":0.0982120857,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36074242,"cg_vq_v":-0.36074242,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":0.269955873,"dclink_p_w":39.1880226,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0909119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12461,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1337166,"cg_dv":50.2080956,"cg_dw":49.7919044,"cg_id_a":0.146816224,"cg_id_raw_a":0.384481221,"cg_iq_a":-0.0857619345,"cg_iq_raw_a":-0.110863708,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9799995,"cg_sample_seq":14692766,"cg_sample_valid":1,"cg_theta_rad":5.00647116,"cg_vd_req_v":0.0939962193,"cg_vd_v":0.0939962193,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358807951,"cg_vq_v":-0.358807951,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":0.201092601,"dclink_p_w":29.1915169,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0909119,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111636534,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12474,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1408882,"cg_dv":50.2189217,"cg_dw":49.7810783,"cg_id_a":-0.199157983,"cg_id_raw_a":0.319523007,"cg_iq_a":0.727781475,"cg_iq_raw_a":0.359133959,"cg_iu_a":0.292484045,"cg_iv_a":-0.329528213,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9509087,"cg_sample_seq":14692816,"cg_sample_valid":1,"cg_theta_rad":5.0074892,"cg_vd_req_v":0.101632819,"cg_vd_v":0.101632819,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376820177,"cg_vq_v":-0.376820177,"cg_vu_v":39.590332,"cg_vv_v":47.0685043,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":0.0760513544,"dclink_p_w":11.006506,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0939636,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12436,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426697,"cg_dv":50.214241,"cg_dw":49.785759,"cg_id_a":-0.00920816511,"cg_id_raw_a":0.305087209,"cg_iq_a":0.337142467,"cg_iq_raw_a":0.0685579628,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.546991229,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9654541,"cg_sample_seq":14692866,"cg_sample_valid":1,"cg_theta_rad":5.00787735,"cg_vd_req_v":0.0981825441,"cg_vd_v":0.0981825441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370797753,"cg_vq_v":-0.370797753,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":0.0325587988,"dclink_p_w":4.71206093,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12461,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1379433,"cg_dv":50.2110672,"cg_dw":49.7889328,"cg_id_a":0.036221087,"cg_id_raw_a":0.494855493,"cg_iq_a":0.0220303461,"cg_iq_raw_a":-0.569124818,"cg_iu_a":0.111264944,"cg_iv_a":-0.474503517,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9581814,"cg_sample_seq":14692916,"cg_sample_valid":1,"cg_theta_rad":5.00716734,"cg_vd_req_v":0.09764871,"cg_vd_v":0.09764871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364131033,"cg_vq_v":-0.364131033,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.92524242,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.327393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1395988,"cg_dv":50.2115479,"cg_dw":49.7884521,"cg_id_a":0.140303344,"cg_id_raw_a":0.0279465821,"cg_iq_a":-0.0601952448,"cg_iq_raw_a":-0.105715066,"cg_iu_a":0.364971638,"cg_iv_a":0.322860777,"cg_iw_a":-0.687832415,"cg_sample_age_us":23.9581814,"cg_sample_seq":14692966,"cg_sample_valid":1,"cg_theta_rad":5.00986242,"cg_vd_req_v":0.0964338556,"cg_vd_v":0.0964338556,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367004633,"cg_vq_v":-0.367004633,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00352483406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38768,"EncoderSin":12455,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388969,"cg_dv":50.2147255,"cg_dw":49.7852745,"cg_id_a":0.110509217,"cg_id_raw_a":0.0332549959,"cg_iq_a":0.120719716,"cg_iq_raw_a":-0.17819272,"cg_iu_a":0.763653874,"cg_iv_a":0.39534843,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.863636,"cg_sample_seq":14693021,"cg_sample_valid":1,"cg_theta_rad":5.00758123,"cg_vd_req_v":0.0964601114,"cg_vd_v":0.0964601114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371902466,"cg_vq_v":-0.371902466,"cg_vu_v":102.494972,"cg_vv_v":92.3774414,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.366455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12456,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404915,"cg_dv":50.213604,"cg_dw":49.786396,"cg_id_a":0.00388267636,"cg_id_raw_a":-0.314756453,"cg_iq_a":-0.0718721151,"cg_iq_raw_a":-0.249491811,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9109097,"cg_sample_seq":14693066,"cg_sample_valid":1,"cg_theta_rad":5.00678396,"cg_vd_req_v":0.0985876992,"cg_vd_v":0.0985876992,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368884563,"cg_vq_v":-0.368884563,"cg_vu_v":116.571533,"cg_vv_v":131.967773,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.231899858,"dclink_p_w":33.5616264,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0893555,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.374268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12465,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1410255,"cg_dv":50.2202988,"cg_dw":49.7797012,"cg_id_a":-0.0171465725,"cg_id_raw_a":0.367648602,"cg_iq_a":0.298902869,"cg_iq_raw_a":-0.146737501,"cg_iu_a":0.14750886,"cg_iv_a":-1.23562407,"cg_iw_a":1.08811522,"cg_sample_age_us":23.954546,"cg_sample_seq":14693116,"cg_sample_valid":1,"cg_theta_rad":5.00731707,"cg_vd_req_v":0.102063991,"cg_vd_v":0.102063991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378986716,"cg_vq_v":-0.378986716,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.262707114,"dclink_p_w":38.020195,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0693665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.38208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12465,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347237,"cg_dv":50.2129555,"cg_dw":49.7870445,"cg_id_a":0.00748746376,"cg_id_raw_a":0.0408312902,"cg_iq_a":-0.216959506,"cg_iq_raw_a":-0.869270086,"cg_iu_a":0.292484045,"cg_iv_a":0.141641617,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8527279,"cg_sample_seq":14693166,"cg_sample_valid":1,"cg_theta_rad":5.00663996,"cg_vd_req_v":0.101913296,"cg_vd_v":0.101913296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364907861,"cg_vq_v":-0.364907861,"cg_vu_v":119.650772,"cg_vv_v":140.765625,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0693665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12446,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336479,"cg_dv":50.2210732,"cg_dw":49.7789268,"cg_id_a":-0.407286823,"cg_id_raw_a":0.0904290155,"cg_iq_a":0.315994173,"cg_iq_raw_a":-0.318168163,"cg_iu_a":0.546190977,"cg_iv_a":-0.546991229,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9799995,"cg_sample_seq":14693216,"cg_sample_valid":1,"cg_theta_rad":5.00719166,"cg_vd_req_v":0.109704338,"cg_vd_v":0.109704338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375605047,"cg_vq_v":-0.375605047,"cg_vu_v":25.5137672,"cg_vv_v":7.03828096,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0847473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12480,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1321182,"cg_dv":50.217968,"cg_dw":49.782032,"cg_id_a":-0.221579611,"cg_id_raw_a":-0.507891893,"cg_iq_a":0.071133934,"cg_iq_raw_a":-1.10339832,"cg_iu_a":-0.359905005,"cg_iv_a":0.10539782,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9436359,"cg_sample_seq":14693266,"cg_sample_valid":1,"cg_theta_rad":5.00716829,"cg_vd_req_v":0.107690774,"cg_vd_v":0.107690774,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371805251,"cg_vq_v":-0.371805251,"cg_vu_v":23.7541981,"cg_vv_v":2.19946289,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1236954,"cg_dv":50.2103004,"cg_dw":49.7896996,"cg_id_a":-0.260540932,"cg_id_raw_a":-0.780785978,"cg_iq_a":-0.607100666,"cg_iq_raw_a":-0.221009567,"cg_iu_a":0.183752537,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14693316,"cg_sample_valid":1,"cg_theta_rad":5.00757074,"cg_vd_req_v":0.107683577,"cg_vd_v":0.107683577,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356365949,"cg_vq_v":-0.356365949,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12480,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1282425,"cg_dv":50.2131195,"cg_dw":49.7868805,"cg_id_a":-0.217533767,"cg_id_raw_a":-0.187153667,"cg_iq_a":-0.275828242,"cg_iq_raw_a":0.383430839,"cg_iu_a":0.836141586,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8563633,"cg_sample_seq":14693366,"cg_sample_valid":1,"cg_theta_rad":5.00823736,"cg_vd_req_v":0.106115669,"cg_vd_v":0.106115669,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362986982,"cg_vq_v":-0.362986982,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.193843842,"dclink_p_w":28.0539837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0924377,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12461,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426392,"cg_dv":50.2195206,"cg_dw":49.7804794,"cg_id_a":0.0467879921,"cg_id_raw_a":-0.306318194,"cg_iq_a":0.287788898,"cg_iq_raw_a":0.298243999,"cg_iu_a":-0.976050138,"cg_iv_a":-0.0395776033,"cg_iw_a":1.01562774,"cg_sample_age_us":23.8672733,"cg_sample_seq":14693416,"cg_sample_valid":1,"cg_theta_rad":5.00679541,"cg_vd_req_v":0.101727143,"cg_vd_v":0.101727143,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377145112,"cg_vq_v":-0.377145112,"cg_vu_v":16.2760258,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.077863574,"dclink_p_w":11.2687788,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1277924,"cg_dv":50.2116737,"cg_dw":49.7883263,"cg_id_a":-0.067957364,"cg_id_raw_a":-0.0475282483,"cg_iq_a":-0.535172403,"cg_iq_raw_a":0.942726552,"cg_iu_a":0.836141586,"cg_iv_a":0.467836142,"cg_iw_a":-1.30397773,"cg_sample_age_us":23.9727268,"cg_sample_seq":14693466,"cg_sample_valid":1,"cg_theta_rad":5.00832176,"cg_vd_req_v":0.103288189,"cg_vd_v":0.103288189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360090017,"cg_vq_v":-0.360090017,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0724269152,"dclink_p_w":10.4500999,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0770569,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107708856,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12443,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1374435,"cg_dv":50.2182999,"cg_dw":49.7817001,"cg_id_a":-0.112234078,"cg_id_raw_a":-0.156198293,"cg_iq_a":0.154138386,"cg_iq_raw_a":-0.159868494,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148308992,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9472733,"cg_sample_seq":14693521,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.103856087,"cg_vd_v":0.103856087,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374012202,"cg_vq_v":-0.374012202,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82154047,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1372681,"cg_dv":50.2171097,"cg_dw":49.7828903,"cg_id_a":-0.119949877,"cg_id_raw_a":-0.452178925,"cg_iq_a":0.00731121004,"cg_iq_raw_a":0.502737641,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8563633,"cg_sample_seq":14693566,"cg_sample_valid":1,"cg_theta_rad":5.00712204,"cg_vd_req_v":0.103511781,"cg_vd_v":0.103511781,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372105181,"cg_vq_v":-0.372105181,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1424789,"cg_dv":50.2146187,"cg_dw":49.7853813,"cg_id_a":0.193705246,"cg_id_raw_a":0.479715854,"cg_iq_a":-0.135209665,"cg_iq_raw_a":-0.425741702,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14693616,"cg_sample_valid":1,"cg_theta_rad":5.00751305,"cg_vd_req_v":0.0971715674,"cg_vd_v":0.0971715674,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372811288,"cg_vq_v":-0.372811288,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.6062927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1109009,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1373711,"cg_dv":50.2211418,"cg_dw":49.7788582,"cg_id_a":-0.283033341,"cg_id_raw_a":-0.275395095,"cg_iq_a":0.065087378,"cg_iq_raw_a":-0.680514693,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9763641,"cg_sample_seq":14693666,"cg_sample_valid":1,"cg_theta_rad":5.00758171,"cg_vd_req_v":0.106350638,"cg_vd_v":0.106350638,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379169792,"cg_vq_v":-0.379169792,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.6062927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.495361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12470,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.143528,"cg_dv":50.2218971,"cg_dw":49.7781029,"cg_id_a":-0.121817812,"cg_id_raw_a":-0.276339233,"cg_iq_a":0.288925827,"cg_iq_raw_a":0.628895283,"cg_iu_a":-0.0699541569,"cg_iv_a":0.612811446,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9763641,"cg_sample_seq":14693716,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.103855021,"cg_vd_v":0.103855021,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381964564,"cg_vq_v":-0.381964564,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.6062927,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0801392,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12425,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1387138,"cg_dv":50.2186966,"cg_dw":49.7813034,"cg_id_a":-0.0785628185,"cg_id_raw_a":0.53544575,"cg_iq_a":-0.0344835147,"cg_iq_raw_a":0.305718958,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14693766,"cg_sample_valid":1,"cg_theta_rad":5.00642586,"cg_vd_req_v":0.102261342,"cg_vd_v":0.102261342,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375532359,"cg_vq_v":-0.375532359,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.672383785,"dclink_p_w":-97.3105087,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0847473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1360626,"cg_dv":50.2158661,"cg_dw":49.7841339,"cg_id_a":-0.124552764,"cg_id_raw_a":0.329694033,"cg_iq_a":-0.312139332,"cg_iq_raw_a":0.0337766446,"cg_iu_a":0.473703384,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.954546,"cg_sample_seq":14693816,"cg_sample_valid":1,"cg_theta_rad":5.00646448,"cg_vd_req_v":0.103970535,"cg_vd_v":0.103970535,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369535953,"cg_vq_v":-0.369535953,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.608957052,"dclink_p_w":-88.1310959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12461,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355019,"cg_dv":50.2120247,"cg_dw":49.7879753,"cg_id_a":0.0222889408,"cg_id_raw_a":0.141032338,"cg_iq_a":-0.469726622,"cg_iq_raw_a":-0.385576576,"cg_iu_a":0.691166401,"cg_iv_a":-0.148309112,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.9436359,"cg_sample_seq":14693866,"cg_sample_valid":1,"cg_theta_rad":5.00638533,"cg_vd_req_v":0.101632468,"cg_vd_v":0.101632468,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364934385,"cg_vq_v":-0.364934385,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12441,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1368408,"cg_dv":50.2183189,"cg_dw":49.7816811,"cg_id_a":-0.0962655097,"cg_id_raw_a":-0.236093819,"cg_iq_a":0.0372176878,"cg_iq_raw_a":0.0136158615,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539645,"cg_iw_a":0.0732880235,"cg_sample_age_us":23.8600006,"cg_sample_seq":14693916,"cg_sample_valid":1,"cg_theta_rad":5.00661182,"cg_vd_req_v":0.106075428,"cg_vd_v":0.106075428,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374436378,"cg_vq_v":-0.374436378,"cg_vu_v":107.773682,"cg_vv_v":106.893898,"cg_vw_v":105.134323,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0862732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38685,"EncoderSin":12423,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418571,"cg_dv":50.2155762,"cg_dw":49.7844238,"cg_id_a":-0.0249579288,"cg_id_raw_a":0.212425262,"cg_iq_a":0.0628159046,"cg_iq_raw_a":-0.0489448495,"cg_iu_a":0.0387773514,"cg_iv_a":-0.184552908,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8563633,"cg_sample_seq":14693966,"cg_sample_valid":1,"cg_theta_rad":5.00482178,"cg_vd_req_v":0.102791689,"cg_vd_v":0.102791689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372632325,"cg_vq_v":-0.372632325,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0862732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12421,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317482,"cg_dv":50.2159996,"cg_dw":49.7840004,"cg_id_a":-0.132402152,"cg_id_raw_a":-0.324827522,"cg_iq_a":-0.102878094,"cg_iq_raw_a":-0.611783266,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":26.550909,"cg_sample_seq":14694020,"cg_sample_valid":1,"cg_theta_rad":5.00732136,"cg_vd_req_v":0.104904056,"cg_vd_v":0.104904056,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3680363,"cg_vq_v":-0.3680363,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.4102554,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0878296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12484,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1368942,"cg_dv":50.215683,"cg_dw":49.784317,"cg_id_a":0.0405020602,"cg_id_raw_a":0.328567356,"cg_iq_a":0.0951871723,"cg_iq_raw_a":0.723015428,"cg_iu_a":0.111264944,"cg_iv_a":0.359104633,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9799995,"cg_sample_seq":14694066,"cg_sample_valid":1,"cg_theta_rad":5.00674343,"cg_vd_req_v":0.100617327,"cg_vd_v":0.100617327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370449275,"cg_vq_v":-0.370449275,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38773,"EncoderSin":12442,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1243629,"cg_dv":50.2084694,"cg_dw":49.7915306,"cg_id_a":0.0398776457,"cg_id_raw_a":0.284651846,"cg_iq_a":-0.560480773,"cg_iq_raw_a":-0.410855442,"cg_iu_a":0.219996452,"cg_iv_a":0.794030666,"cg_iw_a":-1.01402712,"cg_sample_age_us":23.9509087,"cg_sample_seq":14694116,"cg_sample_valid":1,"cg_theta_rad":5.0069356,"cg_vd_req_v":0.101570666,"cg_vd_v":0.101570666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354190379,"cg_vq_v":-0.354190379,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12464,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297722,"cg_dv":50.216568,"cg_dw":49.783432,"cg_id_a":-0.178944319,"cg_id_raw_a":-0.113104112,"cg_iq_a":0.183384478,"cg_iq_raw_a":0.281652451,"cg_iu_a":-0.142441988,"cg_iv_a":-0.873185635,"cg_iw_a":1.01562762,"cg_sample_age_us":23.9254551,"cg_sample_seq":14694166,"cg_sample_valid":1,"cg_theta_rad":5.00661612,"cg_vd_req_v":0.106334403,"cg_vd_v":0.106334403,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367904425,"cg_vq_v":-0.367904425,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.210274935,"dclink_p_w":-30.4319668,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113398947,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12491,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332893,"cg_dv":50.2135658,"cg_dw":49.7864342,"cg_id_a":0.0701075643,"cg_id_raw_a":0.020907646,"cg_iq_a":0.162424356,"cg_iq_raw_a":0.403331429,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0758213997,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9436359,"cg_sample_seq":14694216,"cg_sample_valid":1,"cg_theta_rad":5.00706673,"cg_vd_req_v":0.102792501,"cg_vd_v":0.102792501,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366366535,"cg_vq_v":-0.366366535,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.1887207,"control_outputs_enabled":1,"dclink_i_a":-0.114228725,"dclink_p_w":-16.5317135,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0447693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.608643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12448,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317177,"cg_dv":50.2135696,"cg_dw":49.7864304,"cg_id_a":-0.0114844944,"cg_id_raw_a":-0.188171029,"cg_iq_a":0.136350989,"cg_iq_raw_a":0.382932633,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9763641,"cg_sample_seq":14694266,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.104784206,"cg_vd_v":0.104784206,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365273952,"cg_vq_v":-0.365273952,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.5083961,"control_outputs_enabled":1,"dclink_i_a":-0.0399289131,"dclink_p_w":-5.77869797,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0447693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00166170741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1329002,"cg_dv":50.2117004,"cg_dw":49.7882996,"cg_id_a":0.216974929,"cg_id_raw_a":0.86060369,"cg_iq_a":-0.124432072,"cg_iq_raw_a":-1.15685713,"cg_iu_a":0.401215553,"cg_iv_a":0.105397701,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9836369,"cg_sample_seq":14694316,"cg_sample_valid":1,"cg_theta_rad":5.00675821,"cg_vd_req_v":0.100130193,"cg_vd_v":0.100130193,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363922596,"cg_vq_v":-0.363922596,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.174031138,"dclink_p_w":-25.1865959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12449,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.148716,"cg_dv":50.2244644,"cg_dw":49.7755356,"cg_id_a":0.19782868,"cg_id_raw_a":0.207639322,"cg_iq_a":1.18484247,"cg_iq_raw_a":2.57030845,"cg_iu_a":0.219996452,"cg_iv_a":0.0691539049,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8818188,"cg_sample_seq":14694366,"cg_sample_valid":1,"cg_theta_rad":5.00766516,"cg_vd_req_v":0.101619214,"cg_vd_v":0.101619214,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38855049,"cg_vq_v":-0.38855049,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.16315794,"dclink_p_w":-23.6129761,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12439,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1490746,"cg_dv":50.2167091,"cg_dw":49.7832909,"cg_id_a":0.494026005,"cg_id_raw_a":-0.143776253,"cg_iq_a":0.625565708,"cg_iq_raw_a":-0.487166107,"cg_iu_a":0.219996452,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9654541,"cg_sample_seq":14694416,"cg_sample_valid":1,"cg_theta_rad":5.00604153,"cg_vd_req_v":0.0947405323,"cg_vd_v":0.0947405323,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377977341,"cg_vq_v":-0.377977341,"cg_vu_v":38.2706528,"cg_vv_v":42.2296829,"cg_vw_v":52.7871094,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12463,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1233139,"cg_dv":50.2139664,"cg_dw":49.7860336,"cg_id_a":-0.260499328,"cg_id_raw_a":0.225444436,"cg_iq_a":-0.182747275,"cg_iq_raw_a":-0.196210414,"cg_iu_a":-0.831074715,"cg_iv_a":-0.873185754,"cg_iw_a":1.70426047,"cg_sample_age_us":23.9836369,"cg_sample_seq":14694466,"cg_sample_valid":1,"cg_theta_rad":5.00511742,"cg_vd_req_v":0.110337161,"cg_vd_v":0.110337161,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360324144,"cg_vq_v":-0.360324144,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":0.280828953,"dclink_p_w":40.5193367,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1001282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12478,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.129776,"cg_dv":50.2121582,"cg_dw":49.7878418,"cg_id_a":0.105485506,"cg_id_raw_a":0.277658552,"cg_iq_a":0.0655073151,"cg_iq_raw_a":-0.0819982216,"cg_iu_a":-0.722343206,"cg_iv_a":0.0329101086,"cg_iw_a":0.689433098,"cg_sample_age_us":26.8199997,"cg_sample_seq":14694520,"cg_sample_valid":1,"cg_theta_rad":5.00646162,"cg_vd_req_v":0.103541672,"cg_vd_v":0.103541672,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361467034,"cg_vq_v":-0.361467034,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.8582916,"control_outputs_enabled":1,"dclink_i_a":0.405870199,"dclink_p_w":58.7394257,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.1001282,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38756,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1271667,"cg_dv":50.2110786,"cg_dw":49.7889214,"cg_id_a":0.0654549897,"cg_id_raw_a":0.430181623,"cg_iq_a":0.0246713459,"cg_iq_raw_a":-0.615501225,"cg_iu_a":-0.50488019,"cg_iv_a":-0.365772069,"cg_iw_a":0.870652258,"cg_sample_age_us":23.9799995,"cg_sample_seq":14694567,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.103033423,"cg_vd_v":0.103033423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360159665,"cg_vq_v":-0.360159665,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":0.289889932,"dclink_p_w":41.9542198,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332054,"cg_dv":50.2087326,"cg_dw":49.7912674,"cg_id_a":0.190817714,"cg_id_raw_a":0.392766118,"cg_iq_a":0.0558273457,"cg_iq_raw_a":-0.178906769,"cg_iu_a":-0.251173496,"cg_iv_a":0.250373125,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14694617,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.0988281444,"cg_vd_v":0.0988281444,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358369231,"cg_vq_v":-0.358369231,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":0.347880125,"dclink_p_w":50.3468323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12474,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298866,"cg_dv":50.2054901,"cg_dw":49.7945099,"cg_id_a":0.212765723,"cg_id_raw_a":0.163117841,"cg_iq_a":-0.224036992,"cg_iq_raw_a":0.0171569772,"cg_iu_a":0.328727961,"cg_iv_a":0.0691539645,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.9436359,"cg_sample_seq":14694667,"cg_sample_valid":1,"cg_theta_rad":5.00706768,"cg_vd_req_v":0.0987730175,"cg_vd_v":0.0987730175,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351957113,"cg_vq_v":-0.351957113,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.20652914,"dclink_p_w":29.8898582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0970459,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114909597,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12458,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1303101,"cg_dv":50.2107658,"cg_dw":49.7892342,"cg_id_a":0.0479633883,"cg_id_raw_a":0.0797280744,"cg_iq_a":0.177652687,"cg_iq_raw_a":0.445449322,"cg_iu_a":-0.468636513,"cg_iv_a":0.359104633,"cg_iw_a":0.109531879,"cg_sample_age_us":23.8527279,"cg_sample_seq":14694816,"cg_sample_valid":1,"cg_theta_rad":5.00739431,"cg_vd_req_v":0.102266237,"cg_vd_v":0.102266237,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359730422,"cg_vq_v":-0.359730422,"cg_vu_v":117.011421,"cg_vv_v":132.407669,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.6581764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0662842,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117276266,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12457,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286163,"cg_dv":50.2059975,"cg_dw":49.7940025,"cg_id_a":0.20900166,"cg_id_raw_a":-0.0724059194,"cg_iq_a":-0.0165463388,"cg_iq_raw_a":0.285201699,"cg_iu_a":0.401215553,"cg_iv_a":0.467836082,"cg_iw_a":-0.869051635,"cg_sample_age_us":23.9581814,"cg_sample_seq":14694866,"cg_sample_valid":1,"cg_theta_rad":5.0083828,"cg_vd_req_v":0.0985753462,"cg_vd_v":0.0985753462,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353562742,"cg_vq_v":-0.353562742,"cg_vu_v":28.1531239,"cg_vv_v":14.9563465,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.6581764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.035553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12425,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1322289,"cg_dv":50.2045288,"cg_dw":49.7954712,"cg_id_a":0.319713086,"cg_id_raw_a":0.26257953,"cg_iq_a":0.0491127074,"cg_iq_raw_a":-0.555689692,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9763641,"cg_sample_seq":14694916,"cg_sample_valid":1,"cg_theta_rad":5.00787497,"cg_vd_req_v":0.0962725207,"cg_vd_v":0.0962725207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353044838,"cg_vq_v":-0.353044838,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.356941104,"dclink_p_w":51.6581764,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.035553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12438,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1178055,"cg_dv":50.208046,"cg_dw":49.791954,"cg_id_a":-0.366465747,"cg_id_raw_a":-0.428950459,"cg_iq_a":-0.207808614,"cg_iq_raw_a":-1.02434695,"cg_iu_a":0.727410078,"cg_iv_a":-0.583235025,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9618187,"cg_sample_seq":14694966,"cg_sample_valid":1,"cg_theta_rad":5.00768232,"cg_vd_req_v":0.109847412,"cg_vd_v":0.109847412,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348898202,"cg_vq_v":-0.348898202,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.295326471,"dclink_p_w":42.7410202,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12443,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1231804,"cg_dv":50.2138901,"cg_dw":49.7861099,"cg_id_a":-0.488575846,"cg_id_raw_a":-0.599526644,"cg_iq_a":0.400606096,"cg_iq_raw_a":-0.35003528,"cg_iu_a":0.364971876,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.8527279,"cg_sample_seq":14695021,"cg_sample_valid":1,"cg_theta_rad":5.00701094,"cg_vd_req_v":0.111842223,"cg_vd_v":0.111842223,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359691679,"cg_vq_v":-0.359691679,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0996098518,"dclink_p_w":14.3721838,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12449,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1384468,"cg_dv":50.2114754,"cg_dw":49.7885246,"cg_id_a":0.180716142,"cg_id_raw_a":0.269917339,"cg_iq_a":0.537147522,"cg_iq_raw_a":0.427945256,"cg_iu_a":0.219996452,"cg_iv_a":-0.148309112,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.954546,"cg_sample_seq":14695067,"cg_sample_valid":1,"cg_theta_rad":5.0070858,"cg_vd_req_v":0.0972091034,"cg_vd_v":0.0972091034,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365088403,"cg_vq_v":-0.365088403,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.0881729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1266212,"cg_dv":50.2121849,"cg_dw":49.7878151,"cg_id_a":-0.19810462,"cg_id_raw_a":-0.611028433,"cg_iq_a":0.100147083,"cg_iq_raw_a":-0.01973252,"cg_iu_a":0.111264944,"cg_iv_a":0.540323794,"cg_iw_a":-0.651588738,"cg_sample_age_us":23.8709087,"cg_sample_seq":14695116,"cg_sample_valid":1,"cg_theta_rad":5.00606537,"cg_vd_req_v":0.10534396,"cg_vd_v":0.10534396,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359943271,"cg_vq_v":-0.359943271,"cg_vu_v":130.208206,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.0881729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0878296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12448,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1287498,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":-0.114909902,"cg_id_raw_a":0.0584695265,"cg_iq_a":-0.201181203,"cg_iq_raw_a":-0.393952787,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8563633,"cg_sample_seq":14695166,"cg_sample_valid":1,"cg_theta_rad":5.00588989,"cg_vd_req_v":0.102522016,"cg_vd_v":0.102522016,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356080055,"cg_vq_v":-0.356080055,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.0881729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0878296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10841383,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1331863,"cg_dv":50.2050819,"cg_dw":49.7949181,"cg_id_a":0.230593815,"cg_id_raw_a":-0.0480608344,"cg_iq_a":-0.339557469,"cg_iq_raw_a":-0.186061248,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9836369,"cg_sample_seq":14695216,"cg_sample_valid":1,"cg_theta_rad":5.0060215,"cg_vd_req_v":0.0956543162,"cg_vd_v":0.0956543162,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354449004,"cg_vq_v":-0.354449004,"cg_vu_v":12.3169918,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.291702151,"dclink_p_w":42.0881729,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0693665,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105745018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12460,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.132515,"cg_dv":50.2135239,"cg_dw":49.7864761,"cg_id_a":-0.0136578605,"cg_id_raw_a":0.586666167,"cg_iq_a":0.153412491,"cg_iq_raw_a":-0.017190218,"cg_iu_a":0.00253343582,"cg_iv_a":-0.619478941,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9763641,"cg_sample_seq":14695266,"cg_sample_valid":1,"cg_theta_rad":5.00731182,"cg_vd_req_v":0.102085643,"cg_vd_v":0.102085643,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365033865,"cg_vq_v":-0.365033865,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.163036466,"dclink_p_w":23.595396,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12433,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.132206,"cg_dv":50.2035446,"cg_dw":49.7964554,"cg_id_a":0.398431957,"cg_id_raw_a":0.215948731,"cg_iq_a":-0.516625643,"cg_iq_raw_a":-0.305697024,"cg_iu_a":-0.251173258,"cg_iv_a":0.250373125,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.9145451,"cg_sample_seq":14695316,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0944490507,"cg_vd_v":0.0944490507,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350788236,"cg_vq_v":-0.350788236,"cg_vu_v":0.87978512,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.164848685,"dclink_p_w":23.8576698,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12480,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1299133,"cg_dv":50.2086945,"cg_dw":49.7913055,"cg_id_a":0.157691538,"cg_id_raw_a":0.527888894,"cg_iq_a":-0.238522351,"cg_iq_raw_a":-0.494380623,"cg_iu_a":0.256240129,"cg_iv_a":0.504079938,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.9509087,"cg_sample_seq":14695366,"cg_sample_valid":1,"cg_theta_rad":5.00867128,"cg_vd_req_v":0.100593701,"cg_vd_v":0.100593701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356682241,"cg_vq_v":-0.356682241,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.248209476,"dclink_p_w":35.9220314,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0678406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12451,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1354637,"cg_dv":50.2132072,"cg_dw":49.7867928,"cg_id_a":0.178954214,"cg_id_raw_a":0.215064421,"cg_iq_a":0.0278562754,"cg_iq_raw_a":0.131069064,"cg_iu_a":-0.468636513,"cg_iv_a":-0.474503636,"cg_iw_a":0.943140149,"cg_sample_age_us":23.9509087,"cg_sample_seq":14695416,"cg_sample_valid":1,"cg_theta_rad":5.00632954,"cg_vd_req_v":0.101017646,"cg_vd_v":0.101017646,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365824282,"cg_vq_v":-0.365824282,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.40405798,"dclink_p_w":58.47715,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12439,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332664,"cg_dv":50.2112885,"cg_dw":49.7887115,"cg_id_a":0.104207687,"cg_id_raw_a":0.37237978,"cg_iq_a":-0.0706820488,"cg_iq_raw_a":-0.579990447,"cg_iu_a":0.00253343582,"cg_iv_a":0.721542954,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.954546,"cg_sample_seq":14695466,"cg_sample_valid":1,"cg_theta_rad":5.00756645,"cg_vd_req_v":0.103372522,"cg_vd_v":0.103372522,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362461984,"cg_vq_v":-0.362461984,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.39680922,"dclink_p_w":57.4280777,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12432,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1391335,"cg_dv":50.2149773,"cg_dw":49.7850227,"cg_id_a":0.148965687,"cg_id_raw_a":0.424230456,"cg_iq_a":0.42539835,"cg_iq_raw_a":1.57448947,"cg_iu_a":-0.359904766,"cg_iv_a":-0.655722737,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9763641,"cg_sample_seq":14695518,"cg_sample_valid":1,"cg_theta_rad":5.00624466,"cg_vd_req_v":0.101601012,"cg_vd_v":0.101601012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369817376,"cg_vq_v":-0.369817376,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.364189863,"dclink_p_w":52.7072525,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12460,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1234818,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":-0.270588845,"cg_id_raw_a":0.132253557,"cg_iq_a":-0.0612182841,"cg_iq_raw_a":0.122397356,"cg_iu_a":-0.396148682,"cg_iv_a":-0.583235145,"cg_iw_a":0.979383826,"cg_sample_age_us":23.863636,"cg_sample_seq":14695571,"cg_sample_valid":1,"cg_theta_rad":5.00671959,"cg_vd_req_v":0.10956984,"cg_vd_v":0.10956984,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359752536,"cg_vq_v":-0.359752536,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2665.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1229782,"cg_dv":50.2142372,"cg_dw":49.7857628,"cg_id_a":-0.242153645,"cg_id_raw_a":-0.0992306545,"cg_iq_a":-0.0853200406,"cg_iq_raw_a":-0.554352522,"cg_iu_a":0.292484045,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14695716,"cg_sample_valid":1,"cg_theta_rad":5.00853682,"cg_vd_req_v":0.109950423,"cg_vd_v":0.109950423,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360786766,"cg_vq_v":-0.360786766,"cg_vu_v":35.1914063,"cg_vv_v":32.9919434,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0847473,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12465,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.124073,"cg_dv":50.2112541,"cg_dw":49.7887459,"cg_id_a":-0.199846312,"cg_id_raw_a":-0.316496909,"cg_iq_a":-0.255440354,"cg_iq_raw_a":0.187850252,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.954546,"cg_sample_seq":14695766,"cg_sample_valid":1,"cg_theta_rad":5.00734329,"cg_vd_req_v":0.109015733,"cg_vd_v":0.109015733,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357666135,"cg_vq_v":-0.357666135,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.3881836,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12465,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306801,"cg_dv":50.2191162,"cg_dw":49.7808838,"cg_id_a":-0.374980718,"cg_id_raw_a":-0.295986891,"cg_iq_a":0.364954472,"cg_iq_raw_a":-0.648079813,"cg_iu_a":-0.432392597,"cg_iv_a":-0.945673466,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9836369,"cg_sample_seq":14695816,"cg_sample_valid":1,"cg_theta_rad":5.00657749,"cg_vd_req_v":0.111762568,"cg_vd_v":0.111762568,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372024119,"cg_vq_v":-0.372024119,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":0.168473125,"dclink_p_w":24.3822155,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12435,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1298943,"cg_dv":50.2145081,"cg_dw":49.7854919,"cg_id_a":-0.120193049,"cg_id_raw_a":0.0131164584,"cg_iq_a":-0.0559612103,"cg_iq_raw_a":0.475511014,"cg_iu_a":0.219996452,"cg_iv_a":-0.293284416,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9254551,"cg_sample_seq":14695866,"cg_sample_valid":1,"cg_theta_rad":5.00854874,"cg_vd_req_v":0.106722213,"cg_vd_v":0.106722213,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36444357,"cg_vq_v":-0.36444357,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":54.1067848,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12480,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376801,"cg_dv":50.2139435,"cg_dw":49.7860565,"cg_id_a":0.353947848,"cg_id_raw_a":0.00306650903,"cg_iq_a":-4.82024625e-05,"cg_iq_raw_a":-0.0717016608,"cg_iu_a":-0.106198072,"cg_iv_a":0.540323734,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14695916,"cg_sample_valid":1,"cg_theta_rad":5.00653172,"cg_vd_req_v":0.0972477794,"cg_vd_v":0.0972477794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368802965,"cg_vq_v":-0.368802965,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.925049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12457,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.132,"cg_dv":50.2103348,"cg_dw":49.7896652,"cg_id_a":0.064382717,"cg_id_raw_a":-0.539670765,"cg_iq_a":-0.311713576,"cg_iq_raw_a":0.310363948,"cg_iu_a":0.328727961,"cg_iv_a":-0.112065315,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9436359,"cg_sample_seq":14695966,"cg_sample_valid":1,"cg_theta_rad":5.00809288,"cg_vd_req_v":0.102265395,"cg_vd_v":0.102265395,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359601587,"cg_vq_v":-0.359601587,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12487,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336327,"cg_dv":50.2184982,"cg_dw":49.7815018,"cg_id_a":-0.156235963,"cg_id_raw_a":0.180476084,"cg_iq_a":0.413245082,"cg_iq_raw_a":0.491547316,"cg_iu_a":0.328727961,"cg_iv_a":-0.329528213,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8745461,"cg_sample_seq":14696017,"cg_sample_valid":1,"cg_theta_rad":5.00562572,"cg_vd_req_v":0.107097879,"cg_vd_v":0.107097879,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372128755,"cg_vq_v":-0.372128755,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.4580631,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2665.954735,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2665.954742,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2665.954747,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2665.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327782,"cg_dv":50.213871,"cg_dw":49.786129,"cg_id_a":0.105073288,"cg_id_raw_a":-0.26079154,"cg_iq_a":0.128415525,"cg_iq_raw_a":0.485268623,"cg_iu_a":0.5099473,"cg_iv_a":0.10539782,"cg_iw_a":-0.61534512,"cg_sample_age_us":23.8490906,"cg_sample_seq":14696070,"cg_sample_valid":1,"cg_theta_rad":5.00742722,"cg_vd_req_v":0.10388393,"cg_vd_v":0.10388393,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366385937,"cg_vq_v":-0.366385937,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.137665868,"dclink_p_w":19.9842033,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12454,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1268501,"cg_dv":50.208149,"cg_dw":49.791851,"cg_id_a":0.13102442,"cg_id_raw_a":0.236331373,"cg_iq_a":-0.377888799,"cg_iq_raw_a":-0.0850363672,"cg_iu_a":-0.214929581,"cg_iv_a":0.359104633,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.9836369,"cg_sample_seq":14696116,"cg_sample_valid":1,"cg_theta_rad":5.00842857,"cg_vd_req_v":0.103661902,"cg_vd_v":0.103661902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355045319,"cg_vq_v":-0.355045319,"cg_vu_v":6.59838867,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109773397,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12482,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1276855,"cg_dv":50.2115746,"cg_dw":49.7884254,"cg_id_a":0.154361755,"cg_id_raw_a":0.226544783,"cg_iq_a":-0.111901581,"cg_iq_raw_a":-0.888094723,"cg_iu_a":0.292484045,"cg_iv_a":0.322860837,"cg_iw_a":-0.615344882,"cg_sample_age_us":23.9618187,"cg_sample_seq":14696166,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.104265459,"cg_vd_v":0.104265459,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360794485,"cg_vq_v":-0.360794485,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0878296,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2665.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12458,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1323853,"cg_dv":50.2137985,"cg_dw":49.7862015,"cg_id_a":0.0838317126,"cg_id_raw_a":-0.238083705,"cg_iq_a":-0.0280002952,"cg_iq_raw_a":-0.605386913,"cg_iu_a":0.401215792,"cg_iv_a":-0.25704062,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9509087,"cg_sample_seq":14696216,"cg_sample_valid":1,"cg_theta_rad":5.0073638,"cg_vd_req_v":0.104329653,"cg_vd_v":0.104329653,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36480695,"cg_vq_v":-0.36480695,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2665.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12444,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347313,"cg_dv":50.2178001,"cg_dw":49.7821999,"cg_id_a":-0.00207784772,"cg_id_raw_a":0.232704952,"cg_iq_a":0.419217825,"cg_iq_raw_a":1.04268217,"cg_iu_a":0.0387773514,"cg_iv_a":-0.329528213,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9509087,"cg_sample_seq":14696266,"cg_sample_valid":1,"cg_theta_rad":5.00687122,"cg_vd_req_v":0.105477102,"cg_vd_v":0.105477102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371819973,"cg_vq_v":-0.371819973,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.139599442,"dclink_p_w":-20.2034817,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.003174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12455,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328125,"cg_dv":50.2195053,"cg_dw":49.7804947,"cg_id_a":-0.0670422614,"cg_id_raw_a":-0.0830668882,"cg_iq_a":0.385654628,"cg_iq_raw_a":0.174952969,"cg_iu_a":0.00253343582,"cg_iv_a":-0.510747433,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9436359,"cg_sample_seq":14696316,"cg_sample_valid":1,"cg_theta_rad":5.0073185,"cg_vd_req_v":0.108184107,"cg_vd_v":0.108184107,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373193532,"cg_vq_v":-0.373193532,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12462,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1363564,"cg_dv":50.2232628,"cg_dw":49.7767372,"cg_id_a":-0.154286668,"cg_id_raw_a":0.0818882436,"cg_iq_a":0.677451015,"cg_iq_raw_a":0.628005445,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065196,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9618187,"cg_sample_seq":14696366,"cg_sample_valid":1,"cg_theta_rad":5.00682259,"cg_vd_req_v":0.110743195,"cg_vd_v":0.110743195,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381052881,"cg_vq_v":-0.381052881,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2568,"hz_tim_isr":4999,"hz_vsense":2568,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106701754,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12487,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1272888,"cg_dv":50.2181587,"cg_dw":49.7818413,"cg_id_a":-0.0975691602,"cg_id_raw_a":0.178924009,"cg_iq_a":-0.0541836917,"cg_iq_raw_a":0.308063865,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9836369,"cg_sample_seq":14696416,"cg_sample_valid":1,"cg_theta_rad":5.00752115,"cg_vd_req_v":0.109822877,"cg_vd_v":0.109822877,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369916886,"cg_vq_v":-0.369916886,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.126914144,"dclink_p_w":-18.3676052,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00186312653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12457,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339455,"cg_dv":50.2181892,"cg_dw":49.7818108,"cg_id_a":0.0645748749,"cg_id_raw_a":-0.330915302,"cg_iq_a":-0.0482316762,"cg_iq_raw_a":-0.539987087,"cg_iu_a":-0.0699541569,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.8563633,"cg_sample_seq":14696466,"cg_sample_valid":1,"cg_theta_rad":5.00778532,"cg_vd_req_v":0.106037624,"cg_vd_v":0.106037624,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373255312,"cg_vq_v":-0.373255312,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0724182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.03833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12459,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1375198,"cg_dv":50.2259178,"cg_dw":49.7740822,"cg_id_a":-0.234320179,"cg_id_raw_a":-0.603676617,"cg_iq_a":0.414395005,"cg_iq_raw_a":-0.0959361643,"cg_iu_a":-0.251173258,"cg_iv_a":-0.00333368778,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14696516,"cg_sample_valid":1,"cg_theta_rad":5.00647545,"cg_vd_req_v":0.112596527,"cg_vd_v":0.112596527,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384008467,"cg_vq_v":-0.384008467,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0869244337,"dclink_p_w":12.6183462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0724182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12445,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1368141,"cg_dv":50.219368,"cg_dw":49.780632,"cg_id_a":0.0611804128,"cg_id_raw_a":-0.219924167,"cg_iq_a":-0.0116041843,"cg_iq_raw_a":-0.5676108,"cg_iu_a":-0.323661089,"cg_iv_a":0.39534843,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.8600006,"cg_sample_seq":14696570,"cg_sample_valid":1,"cg_theta_rad":5.0069623,"cg_vd_req_v":0.106867135,"cg_vd_v":0.106867135,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374695271,"cg_vq_v":-0.374695271,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0708923,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115413137,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12466,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403732,"cg_dv":50.2266464,"cg_dw":49.7733536,"cg_id_a":-0.0572718345,"cg_id_raw_a":0.680721164,"cg_iq_a":0.604472876,"cg_iq_raw_a":0.100829355,"cg_iu_a":0.183752537,"cg_iv_a":0.177885473,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9472733,"cg_sample_seq":14696616,"cg_sample_valid":1,"cg_theta_rad":5.00708485,"cg_vd_req_v":0.108603612,"cg_vd_v":0.108603612,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387307733,"cg_vq_v":-0.387307733,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0678406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12478,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1433182,"cg_dv":50.2221031,"cg_dw":49.7778969,"cg_id_a":0.0733226985,"cg_id_raw_a":-0.118619867,"cg_iq_a":0.235451609,"cg_iq_raw_a":0.0979472771,"cg_iu_a":-0.396148682,"cg_iv_a":0.105397761,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9145451,"cg_sample_seq":14696666,"cg_sample_valid":1,"cg_theta_rad":5.00707531,"cg_vd_req_v":0.1056353,"cg_vd_v":0.1056353,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382989883,"cg_vq_v":-0.382989883,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.0779849291,"dclink_p_w":-11.2863417,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0678406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113197535,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.093018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12426,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1380424,"cg_dv":50.2224541,"cg_dw":49.7775459,"cg_id_a":-0.107659698,"cg_id_raw_a":0.340544611,"cg_iq_a":-0.0107890964,"cg_iq_raw_a":-0.473852366,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9799995,"cg_sample_seq":14696716,"cg_sample_valid":1,"cg_theta_rad":5.00528097,"cg_vd_req_v":0.11077863,"cg_vd_v":0.11077863,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380282789,"cg_vq_v":-0.380282789,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.135006,"cg_dv":50.2225342,"cg_dw":49.7774658,"cg_id_a":-0.132673115,"cg_id_raw_a":0.0928966776,"cg_iq_a":0.0880475044,"cg_iq_raw_a":-0.572893918,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14696766,"cg_sample_valid":1,"cg_theta_rad":5.0072403,"cg_vd_req_v":0.109650783,"cg_vd_v":0.109650783,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379719377,"cg_vq_v":-0.379719377,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12475,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422157,"cg_dv":50.2212334,"cg_dw":49.7787666,"cg_id_a":0.188821658,"cg_id_raw_a":0.980849206,"cg_iq_a":0.136673391,"cg_iq_raw_a":0.930514991,"cg_iu_a":0.111264944,"cg_iv_a":-0.112065196,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.863636,"cg_sample_seq":14696816,"cg_sample_valid":1,"cg_theta_rad":5.00737333,"cg_vd_req_v":0.102201253,"cg_vd_v":0.102201253,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380877227,"cg_vq_v":-0.380877227,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.117853165,"dclink_p_w":-17.1081009,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0862732,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12489,"GapTicks":54745,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431885,"cg_dv":50.2312317,"cg_dw":49.7687683,"cg_id_a":-0.258463919,"cg_id_raw_a":-0.954725504,"cg_iq_a":0.814511657,"cg_iq_raw_a":2.17122817,"cg_iu_a":-1.73717046,"cg_iv_a":-0.43825984,"cg_iw_a":2.1754303,"cg_sample_age_us":23.9836369,"cg_sample_seq":14696868,"cg_sample_valid":1,"cg_theta_rad":5.00535393,"cg_vd_req_v":0.109047763,"cg_vd_v":0.109047763,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394322813,"cg_vq_v":-0.394322813,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2666.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12458,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486053,"cg_dv":50.2223663,"cg_dw":49.7776337,"cg_id_a":0.0169704258,"cg_id_raw_a":-0.433353871,"cg_iq_a":0.283814073,"cg_iq_raw_a":-0.518033087,"cg_iu_a":-1.37473226,"cg_iv_a":-0.148308992,"cg_iw_a":1.52304125,"cg_sample_age_us":23.9727268,"cg_sample_seq":14696916,"cg_sample_valid":1,"cg_theta_rad":5.00626802,"cg_vd_req_v":0.102051504,"cg_vd_v":0.102051504,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385009557,"cg_vq_v":-0.385009557,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":8.35795879,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.061676,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.104486153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38660,"EncoderSin":12439,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1447945,"cg_dv":50.2157478,"cg_dw":49.7842522,"cg_id_a":0.023036629,"cg_id_raw_a":-0.228066564,"cg_iq_a":-0.380752981,"cg_iq_raw_a":-0.0616058335,"cg_iu_a":0.437459469,"cg_iv_a":0.250373065,"cg_iw_a":-0.687832534,"cg_sample_age_us":23.9618187,"cg_sample_seq":14696966,"cg_sample_valid":1,"cg_theta_rad":5.00818205,"cg_vd_req_v":0.102076523,"cg_vd_v":0.102076523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372948021,"cg_vq_v":-0.372948021,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":46.6286087,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0324707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457443,"cg_dv":50.2192574,"cg_dw":49.7807426,"cg_id_a":0.150300443,"cg_id_raw_a":0.176521868,"cg_iq_a":-0.0119134113,"cg_iq_raw_a":0.309446543,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860718,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9727268,"cg_sample_seq":14697016,"cg_sample_valid":1,"cg_theta_rad":5.00700712,"cg_vd_req_v":0.09924867,"cg_vd_v":0.09924867,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380943567,"cg_vq_v":-0.380943567,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12462,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1318207,"cg_dv":50.215477,"cg_dw":49.784523,"cg_id_a":-0.222112462,"cg_id_raw_a":-0.12029063,"cg_iq_a":-0.457114369,"cg_iq_raw_a":0.353633881,"cg_iu_a":0.546190977,"cg_iv_a":0.250373185,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.8490906,"cg_sample_seq":14697071,"cg_sample_valid":1,"cg_theta_rad":5.007689,"cg_vd_req_v":0.10462106,"cg_vd_v":0.10462106,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36848861,"cg_vq_v":-0.36848861,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12481,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333961,"cg_dv":50.215374,"cg_dw":49.784626,"cg_id_a":-0.163051188,"cg_id_raw_a":-0.209548473,"cg_iq_a":-0.443126649,"cg_iq_raw_a":-0.273138344,"cg_iu_a":-0.142441988,"cg_iv_a":-0.365772009,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9836369,"cg_sample_seq":14697116,"cg_sample_valid":1,"cg_theta_rad":5.00616646,"cg_vd_req_v":0.10247986,"cg_vd_v":0.10247986,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368243486,"cg_vq_v":-0.368243486,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.0761728287,"dclink_p_w":-10.9905787,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12447,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.144001,"cg_dv":50.2161064,"cg_dw":49.7838936,"cg_id_a":0.134884059,"cg_id_raw_a":0.378360391,"cg_iq_a":-0.0681234747,"cg_iq_raw_a":-0.0362300798,"cg_iu_a":0.14750886,"cg_iv_a":0.177885413,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9836369,"cg_sample_seq":14697166,"cg_sample_valid":1,"cg_theta_rad":5.00637531,"cg_vd_req_v":0.0959631577,"cg_vd_v":0.0959631577,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374859422,"cg_vq_v":-0.374859422,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12459,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451454,"cg_dv":50.2174454,"cg_dw":49.7825546,"cg_id_a":7.7418983e-05,"cg_id_raw_a":0.224734783,"cg_iq_a":0.0734116212,"cg_iq_raw_a":0.678232968,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503517,"cg_iw_a":0.435726166,"cg_sample_age_us":23.9872723,"cg_sample_seq":14697216,"cg_sample_valid":1,"cg_theta_rad":5.00657654,"cg_vd_req_v":0.0975042582,"cg_vd_v":0.0975042582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377026856,"cg_vq_v":-0.377026856,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.8227005,"control_outputs_enabled":1,"dclink_i_a":-0.241082191,"dclink_p_w":-34.8905373,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0678406,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.206299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12477,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1492577,"cg_dv":50.2164917,"cg_dw":49.7835083,"cg_id_a":0.0968049467,"cg_id_raw_a":-0.135347992,"cg_iq_a":0.0470593795,"cg_iq_raw_a":0.0606425144,"cg_iu_a":-0.86731863,"cg_iv_a":0.359104574,"cg_iw_a":0.508214056,"cg_sample_age_us":23.9872723,"cg_sample_seq":14697266,"cg_sample_valid":1,"cg_theta_rad":5.00737762,"cg_vd_req_v":0.09270785,"cg_vd_v":0.09270785,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378195882,"cg_vq_v":-0.378195882,"cg_vu_v":41.7897949,"cg_vv_v":52.3472176,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.215711594,"dclink_p_w":-31.2187862,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12444,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1396675,"cg_dv":50.2115707,"cg_dw":49.7884293,"cg_id_a":-0.0759900287,"cg_id_raw_a":-0.123255491,"cg_iq_a":-0.443569303,"cg_iq_raw_a":-0.703332722,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333374739,"cg_iw_a":0.10953182,"cg_sample_age_us":23.9872723,"cg_sample_seq":14697316,"cg_sample_valid":1,"cg_theta_rad":5.0074892,"cg_vd_req_v":0.0967612267,"cg_vd_v":0.0967612267,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366979152,"cg_vq_v":-0.366979152,"cg_vu_v":6.59838867,"cg_vv_v":18.9153805,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0786133,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12482,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500664,"cg_dv":50.2191887,"cg_dw":49.7808113,"cg_id_a":0.0864845812,"cg_id_raw_a":0.150249392,"cg_iq_a":0.327427447,"cg_iq_raw_a":-0.531383574,"cg_iu_a":-0.287417173,"cg_iv_a":0.359104633,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9145451,"cg_sample_seq":14697366,"cg_sample_valid":1,"cg_theta_rad":5.00786877,"cg_vd_req_v":0.0932773203,"cg_vd_v":0.0932773203,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383899599,"cg_vq_v":-0.383899599,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12455,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1415672,"cg_dv":50.2108498,"cg_dw":49.7891502,"cg_id_a":0.092575714,"cg_id_raw_a":0.715492785,"cg_iq_a":-0.399781406,"cg_iq_raw_a":-1.13173938,"cg_iu_a":0.61867857,"cg_iv_a":-0.0758214593,"cg_iw_a":0.109531939,"cg_sample_age_us":23.9436359,"cg_sample_seq":14697416,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.0935034603,"cg_vd_v":0.0935034603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366155446,"cg_vq_v":-0.366155446,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12473,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457291,"cg_dv":50.2167587,"cg_dw":49.7832413,"cg_id_a":-0.0859059244,"cg_id_raw_a":0.0108988015,"cg_iq_a":0.192746729,"cg_iq_raw_a":0.475567043,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.148309052,"cg_iw_a":0.182019293,"cg_sample_age_us":23.9254551,"cg_sample_seq":14697466,"cg_sample_valid":1,"cg_theta_rad":5.00609636,"cg_vd_req_v":0.0982431397,"cg_vd_v":0.0982431397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375941783,"cg_vq_v":-0.375941783,"cg_vu_v":27.2733402,"cg_vv_v":11.877099,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00362554356,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116017394,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12466,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390572,"cg_dv":50.2162743,"cg_dw":49.7837257,"cg_id_a":-0.167525232,"cg_id_raw_a":-0.287750185,"cg_iq_a":-0.206670091,"cg_iq_raw_a":-0.100786738,"cg_iu_a":-0.14244175,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9254551,"cg_sample_seq":14697517,"cg_sample_valid":1,"cg_theta_rad":5.00756502,"cg_vd_req_v":0.101977587,"cg_vd_v":0.101977587,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371792257,"cg_vq_v":-0.371792257,"cg_vu_v":25.5137672,"cg_vv_v":7.91806602,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.6788597,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0632019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12448,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1529617,"cg_dv":50.2263336,"cg_dw":49.7736664,"cg_id_a":0.027432166,"cg_id_raw_a":0.0768092126,"cg_iq_a":0.813180268,"cg_iq_raw_a":0.699923575,"cg_iu_a":0.256240368,"cg_iv_a":0.214129329,"cg_iw_a":-0.470369697,"cg_sample_age_us":26.8199997,"cg_sample_seq":14697569,"cg_sample_valid":1,"cg_theta_rad":5.00730467,"cg_vd_req_v":0.0992361382,"cg_vd_v":0.0992361382,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39369148,"cg_vq_v":-0.39369148,"cg_vu_v":124.489601,"cg_vv_v":1.75957024,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.6788597,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0632019,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00322270533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12453,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1485062,"cg_dv":50.2202148,"cg_dw":49.7797852,"cg_id_a":0.124948598,"cg_id_raw_a":0.265866965,"cg_iq_a":0.213191748,"cg_iq_raw_a":-0.810608804,"cg_iu_a":0.00253343582,"cg_iv_a":0.250373125,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14697616,"cg_sample_valid":1,"cg_theta_rad":5.00778008,"cg_vd_req_v":0.0979776233,"cg_vd_v":0.0979776233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382571608,"cg_vq_v":-0.382571608,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.6788597,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1590576,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12466,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1379967,"cg_dv":50.2164116,"cg_dw":49.7835884,"cg_id_a":0.0336312614,"cg_id_raw_a":0.112192452,"cg_iq_a":-0.333432019,"cg_iq_raw_a":0.338841051,"cg_iu_a":0.509947062,"cg_iv_a":0.286616921,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.954546,"cg_sample_seq":14697666,"cg_sample_valid":1,"cg_theta_rad":5.00882912,"cg_vd_req_v":0.100714803,"cg_vd_v":0.100714803,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373203963,"cg_vq_v":-0.373203963,"cg_vu_v":17.5957031,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0580508709,"dclink_p_w":-8.42692852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0724182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12471,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412468,"cg_dv":50.2216644,"cg_dw":49.7783356,"cg_id_a":-0.0693604201,"cg_id_raw_a":0.227066964,"cg_iq_a":0.0306654759,"cg_iq_raw_a":0.239673331,"cg_iu_a":-0.251173496,"cg_iv_a":-0.112065256,"cg_iw_a":0.363238752,"cg_sample_age_us":23.9763641,"cg_sample_seq":14697716,"cg_sample_valid":1,"cg_theta_rad":5.00804949,"cg_vd_req_v":0.101926707,"cg_vd_v":0.101926707,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38131389,"cg_vq_v":-0.38131389,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.224772453,"dclink_p_w":-32.530117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0724182,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115362778,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38774,"EncoderSin":12466,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1533966,"cg_dv":50.2246704,"cg_dw":49.7753296,"cg_id_a":0.379014522,"cg_id_raw_a":-0.0768946111,"cg_iq_a":0.574838638,"cg_iq_raw_a":0.612617552,"cg_iu_a":-0.831074715,"cg_iv_a":-0.0395775437,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9618187,"cg_sample_seq":14697766,"cg_sample_valid":1,"cg_theta_rad":5.00703192,"cg_vd_req_v":0.0934145823,"cg_vd_v":0.0934145823,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.39261359,"cg_vq_v":-0.39261359,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0647583,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.31958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12445,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1444168,"cg_dv":50.2243233,"cg_dw":49.7756767,"cg_id_a":-0.152882278,"cg_id_raw_a":0.739877164,"cg_iq_a":0.175546557,"cg_iq_raw_a":-0.291093081,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.728210449,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14697816,"cg_sample_valid":1,"cg_theta_rad":5.00601721,"cg_vd_req_v":0.10478472,"cg_vd_v":0.10478472,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385961652,"cg_vq_v":-0.385961652,"cg_vu_v":3.51914048,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.108670831,"dclink_p_w":15.7273483,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12471,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1519203,"cg_dv":50.2200584,"cg_dw":49.7799416,"cg_id_a":0.20587872,"cg_id_raw_a":0.412481606,"cg_iq_a":0.148787409,"cg_iq_raw_a":0.662469327,"cg_iu_a":0.364971876,"cg_iv_a":0.902762055,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9509087,"cg_sample_seq":14697866,"cg_sample_valid":1,"cg_theta_rad":5.00942898,"cg_vd_req_v":0.0965952128,"cg_vd_v":0.0965952128,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38391763,"cg_vq_v":-0.38391763,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.0598630905,"dclink_p_w":-8.66366482,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12425,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1493492,"cg_dv":50.22435,"cg_dw":49.77565,"cg_id_a":-0.0684060231,"cg_id_raw_a":0.0226004105,"cg_iq_a":0.29428947,"cg_iq_raw_a":-0.470454782,"cg_iu_a":-0.613611698,"cg_iv_a":-0.402015924,"cg_iw_a":1.01562762,"cg_sample_age_us":23.8709087,"cg_sample_seq":14697916,"cg_sample_valid":1,"cg_theta_rad":5.00661945,"cg_vd_req_v":0.102136426,"cg_vd_v":0.102136426,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389716417,"cg_vq_v":-0.389716417,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12458,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422462,"cg_dv":50.221756,"cg_dw":49.778244,"cg_id_a":-0.00562147796,"cg_id_raw_a":-0.120307535,"cg_iq_a":0.0374390483,"cg_iq_raw_a":0.353628159,"cg_iu_a":0.0750210285,"cg_iv_a":-0.43825984,"cg_iw_a":0.363238811,"cg_sample_age_us":23.8527279,"cg_sample_seq":14697966,"cg_sample_valid":1,"cg_theta_rad":5.00802612,"cg_vd_req_v":0.102488875,"cg_vd_v":0.102488875,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382903636,"cg_vq_v":-0.382903636,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.2299194,"temp_inv2_c":35.0570679,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383629,"cg_dv":50.2187119,"cg_dw":49.7812881,"cg_id_a":-0.168016836,"cg_id_raw_a":0.0727650598,"cg_iq_a":-0.160140947,"cg_iq_raw_a":0.0807882026,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9436359,"cg_sample_seq":14698017,"cg_sample_valid":1,"cg_theta_rad":5.00855684,"cg_vd_req_v":0.104283407,"cg_vd_v":0.104283407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37487635,"cg_vq_v":-0.37487635,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.3498137,"dclink_p_w":-50.626667,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107356369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12480,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297264,"cg_dv":50.2123985,"cg_dw":49.7876015,"cg_id_a":-0.133350194,"cg_id_raw_a":-0.00526154228,"cg_iq_a":-0.793010235,"cg_iq_raw_a":-0.436444521,"cg_iu_a":-0.468636513,"cg_iv_a":-1.96050072,"cg_iw_a":2.42913723,"cg_sample_age_us":26.812727,"cg_sample_seq":14698070,"cg_sample_valid":1,"cg_theta_rad":5.00488091,"cg_vd_req_v":0.102692962,"cg_vd_v":0.102692962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362088114,"cg_vq_v":-0.362088114,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.2155762,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12465,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1542664,"cg_dv":50.2213135,"cg_dw":49.7786865,"cg_id_a":0.276223272,"cg_id_raw_a":-0.194441676,"cg_iq_a":0.57412523,"cg_iq_raw_a":0.0178803001,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373065,"cg_iw_a":-0.107931077,"cg_sample_age_us":23.8563633,"cg_sample_seq":14698116,"cg_sample_valid":1,"cg_theta_rad":5.00686216,"cg_vd_req_v":0.0948271826,"cg_vd_v":0.0948271826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387228638,"cg_vq_v":-0.387228638,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00332341483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1391525,"cg_dv":50.2148323,"cg_dw":49.7851677,"cg_id_a":0.0160071142,"cg_id_raw_a":0.216572091,"cg_iq_a":-0.243038401,"cg_iq_raw_a":-1.1798135,"cg_iu_a":0.147508621,"cg_iv_a":0.431592226,"cg_iw_a":-0.579100847,"cg_sample_age_us":23.8745461,"cg_sample_seq":14698166,"cg_sample_valid":1,"cg_theta_rad":5.00845003,"cg_vd_req_v":0.0995668694,"cg_vd_v":0.0995668694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370136946,"cg_vq_v":-0.370136946,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12455,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355171,"cg_dv":50.2161865,"cg_dw":49.7838135,"cg_id_a":-0.170896187,"cg_id_raw_a":-0.212020665,"cg_iq_a":-0.170450047,"cg_iq_raw_a":-0.45637545,"cg_iu_a":0.292484283,"cg_iv_a":-0.148309112,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.8600006,"cg_sample_seq":14698216,"cg_sample_valid":1,"cg_theta_rad":5.00748539,"cg_vd_req_v":0.10309644,"cg_vd_v":0.10309644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370117903,"cg_vq_v":-0.370117903,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.5930176,"control_outputs_enabled":1,"dclink_i_a":-0.447672009,"dclink_p_w":-64.7891769,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0401306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12474,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1425819,"cg_dv":50.2155685,"cg_dw":49.7844315,"cg_id_a":0.0370888039,"cg_id_raw_a":-0.501140237,"cg_iq_a":0.378877908,"cg_iq_raw_a":-0.300076157,"cg_iu_a":-0.577367783,"cg_iv_a":0.0691539049,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9472733,"cg_sample_seq":14698367,"cg_sample_valid":1,"cg_theta_rad":5.00657129,"cg_vd_req_v":0.0956104845,"cg_vd_v":0.0956104845,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37357834,"cg_vq_v":-0.37357834,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12456,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382713,"cg_dv":50.2116776,"cg_dw":49.7883224,"cg_id_a":0.00410736352,"cg_id_raw_a":0.505149901,"cg_iq_a":0.0371632576,"cg_iq_raw_a":1.28653777,"cg_iu_a":-0.251173258,"cg_iv_a":-0.691966534,"cg_iw_a":0.943139791,"cg_sample_age_us":23.9872723,"cg_sample_seq":14698417,"cg_sample_valid":1,"cg_theta_rad":5.00711679,"cg_vd_req_v":0.0962880328,"cg_vd_v":0.0962880328,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365593106,"cg_vq_v":-0.365593106,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0739746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.432861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1415977,"cg_dv":50.2079773,"cg_dw":49.7920227,"cg_id_a":0.267174184,"cg_id_raw_a":0.246480748,"cg_iq_a":-0.172501981,"cg_iq_raw_a":0.0247324351,"cg_iu_a":0.111264944,"cg_iv_a":0.75778681,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9509087,"cg_sample_seq":14698467,"cg_sample_valid":1,"cg_theta_rad":5.00647211,"cg_vd_req_v":0.0908919871,"cg_vd_v":0.0908919871,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362217635,"cg_vq_v":-0.362217635,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":83.1396942,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381912,"cg_dv":50.2121658,"cg_dw":49.7878342,"cg_id_a":-0.0775515139,"cg_id_raw_a":-0.513531089,"cg_iq_a":-0.0973662063,"cg_iq_raw_a":0.279495656,"cg_iu_a":0.292484164,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.954546,"cg_sample_seq":14698517,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0970170125,"cg_vd_v":0.0970170125,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366161674,"cg_vq_v":-0.366161674,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00226596463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113751426,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12491,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1473427,"cg_dv":50.2138519,"cg_dw":49.7861481,"cg_id_a":0.217219442,"cg_id_raw_a":0.33985731,"cg_iq_a":0.330942214,"cg_iq_raw_a":-0.294592142,"cg_iu_a":0.509947062,"cg_iv_a":0.39534843,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.8527279,"cg_sample_seq":14698570,"cg_sample_valid":1,"cg_theta_rad":5.00654364,"cg_vd_req_v":0.0915715471,"cg_vd_v":0.0915715471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374754429,"cg_vq_v":-0.374754429,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-77.9026337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.035553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339607,"cg_dv":50.2171326,"cg_dw":49.7828674,"cg_id_a":-0.461111635,"cg_id_raw_a":0.0485991389,"cg_iq_a":0.261634856,"cg_iq_raw_a":0.551653624,"cg_iu_a":0.147508621,"cg_iv_a":-0.25704062,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9836369,"cg_sample_seq":14698617,"cg_sample_valid":1,"cg_theta_rad":5.00538588,"cg_vd_req_v":0.105801098,"cg_vd_v":0.105801098,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371589541,"cg_vq_v":-0.371589541,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.538281679,"dclink_p_w":-77.9026337,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12422,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1365967,"cg_dv":50.2087364,"cg_dw":49.7912636,"cg_id_a":0.0671503767,"cg_id_raw_a":0.409897685,"cg_iq_a":-0.456825078,"cg_iq_raw_a":-0.141154006,"cg_iu_a":0.654922485,"cg_iv_a":0.141641617,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.954546,"cg_sample_seq":14698667,"cg_sample_valid":1,"cg_theta_rad":5.00716305,"cg_vd_req_v":0.0958451405,"cg_vd_v":0.0958451405,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360364854,"cg_vq_v":-0.360364854,"cg_vu_v":114.811958,"cg_vv_v":126.689056,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.620266,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1826782,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12458,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1317787,"cg_dv":50.2078018,"cg_dw":49.7921982,"cg_id_a":-0.0903856233,"cg_id_raw_a":-0.603864908,"cg_iq_a":-0.517946362,"cg_iq_raw_a":-0.0947431996,"cg_iu_a":-0.0699541569,"cg_iv_a":0.540323734,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.9472733,"cg_sample_seq":14698717,"cg_sample_valid":1,"cg_theta_rad":5.00742149,"cg_vd_req_v":0.0987227783,"cg_vd_v":0.0987227783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356388867,"cg_vq_v":-0.356388867,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.055542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1364746,"cg_dv":50.205925,"cg_dw":49.794075,"cg_id_a":0.221340328,"cg_id_raw_a":0.333898395,"cg_iq_a":-0.359787256,"cg_iq_raw_a":-0.221087515,"cg_iu_a":0.0750210285,"cg_iv_a":0.359104633,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8527279,"cg_sample_seq":14698766,"cg_sample_valid":1,"cg_theta_rad":5.00681305,"cg_vd_req_v":0.0935961083,"cg_vd_v":0.0935961083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356374741,"cg_vq_v":-0.356374741,"cg_vu_v":24.6339836,"cg_vv_v":4.39892578,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.055542,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11682307,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1380806,"cg_dv":50.2097397,"cg_dw":49.7902603,"cg_id_a":-0.152578205,"cg_id_raw_a":0.337106556,"cg_iq_a":-0.0245387293,"cg_iq_raw_a":-0.0365602151,"cg_iu_a":-0.432392597,"cg_iv_a":0.250373185,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9509087,"cg_sample_seq":14698817,"cg_sample_valid":1,"cg_theta_rad":5.00678778,"cg_vd_req_v":0.0983386114,"cg_vd_v":0.0983386114,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36184448,"cg_vq_v":-0.36184448,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.456732988,"dclink_p_w":-66.1005249,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12458,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1349106,"cg_dv":50.2003403,"cg_dw":49.7996597,"cg_id_a":0.251397669,"cg_id_raw_a":-0.304234475,"cg_iq_a":-0.621357858,"cg_iq_raw_a":-1.01206625,"cg_iu_a":0.14750886,"cg_iv_a":0.649055302,"cg_iw_a":-0.796564162,"cg_sample_age_us":23.9436359,"cg_sample_seq":14698867,"cg_sample_valid":1,"cg_theta_rad":5.00739431,"cg_vd_req_v":0.0888492092,"cg_vd_v":0.0888492092,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348045766,"cg_vq_v":-0.348045766,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.53465724,"dclink_p_w":-77.3780823,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1286011,"cg_dv":50.2024803,"cg_dw":49.7975197,"cg_id_a":-0.17623964,"cg_id_raw_a":-0.124461569,"cg_iq_a":-0.598969519,"cg_iq_raw_a":-0.266328126,"cg_iu_a":0.691166401,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.615345001,"cg_sample_age_us":23.9581814,"cg_sample_seq":14698917,"cg_sample_valid":1,"cg_theta_rad":5.00701714,"cg_vd_req_v":0.0960971043,"cg_vd_v":0.0960971043,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347352922,"cg_vq_v":-0.347352922,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.590835094,"dclink_p_w":-85.7683105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106248572,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12468,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1332207,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":-0.0813337341,"cg_id_raw_a":-0.0458421148,"cg_iq_a":-0.0166201741,"cg_iq_raw_a":-0.694751203,"cg_iu_a":-0.359905005,"cg_iv_a":-0.0758213997,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9509087,"cg_sample_seq":14698967,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.0930325985,"cg_vd_v":0.0930325985,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355392069,"cg_vq_v":-0.355392069,"cg_vu_v":133.287445,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.402367234,"dclink_p_w":-58.4094582,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115211718,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12443,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1378937,"cg_dv":50.197937,"cg_dw":49.802063,"cg_id_a":0.332203448,"cg_id_raw_a":0.566412628,"cg_iq_a":-0.403278738,"cg_iq_raw_a":-0.234758541,"cg_iu_a":0.401215792,"cg_iv_a":1.48266351,"cg_iw_a":-1.8838793,"cg_sample_age_us":23.954546,"cg_sample_seq":14699016,"cg_sample_valid":1,"cg_theta_rad":5.00848198,"cg_vd_req_v":0.0845273584,"cg_vd_v":0.0845273584,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346366048,"cg_vq_v":-0.346366048,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.389681935,"dclink_p_w":-56.3965836,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12450,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394577,"cg_dv":50.2077789,"cg_dw":49.7922211,"cg_id_a":0.126987457,"cg_id_raw_a":0.941146195,"cg_iq_a":0.475843757,"cg_iq_raw_a":1.1772176,"cg_iu_a":0.00253343582,"cg_iv_a":-0.800698161,"cg_iw_a":0.798164725,"cg_sample_age_us":23.8600006,"cg_sample_seq":14699070,"cg_sample_valid":1,"cg_theta_rad":5.00744629,"cg_vd_req_v":0.0898424014,"cg_vd_v":0.0898424014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36138767,"cg_vq_v":-0.36138767,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0478516,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1315002,"cg_dv":50.201683,"cg_dw":49.798317,"cg_id_a":-0.0497743413,"cg_id_raw_a":-0.0336337909,"cg_iq_a":-0.213575706,"cg_iq_raw_a":-0.949731946,"cg_iu_a":-0.214929581,"cg_iv_a":-0.329528213,"cg_iw_a":0.544457793,"cg_sample_age_us":23.8563633,"cg_sample_seq":14699117,"cg_sample_valid":1,"cg_theta_rad":5.0067668,"cg_vd_req_v":0.0937802792,"cg_vd_v":0.0937802792,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346570849,"cg_vq_v":-0.346570849,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.471230507,"dclink_p_w":-68.1986694,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2666.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12410,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1524887,"cg_dv":50.2008324,"cg_dw":49.7991676,"cg_id_a":0.596671999,"cg_id_raw_a":0.941601396,"cg_iq_a":0.653838217,"cg_iq_raw_a":1.59575486,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9472733,"cg_sample_seq":14699266,"cg_sample_valid":1,"cg_theta_rad":5.00709438,"cg_vd_req_v":0.0790653601,"cg_vd_v":0.0790653601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358962595,"cg_vq_v":-0.358962595,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.853603125,"dclink_p_w":-123.91291,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12431,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1370544,"cg_dv":50.2046204,"cg_dw":49.7953796,"cg_id_a":0.0660304427,"cg_id_raw_a":-0.17753686,"cg_iq_a":0.382198662,"cg_iq_raw_a":0.493343264,"cg_iu_a":-1.62843895,"cg_iv_a":-0.148309112,"cg_iw_a":1.77674806,"cg_sample_age_us":24.0381813,"cg_sample_seq":14699317,"cg_sample_valid":1,"cg_theta_rad":5.00793934,"cg_vd_req_v":0.0912602246,"cg_vd_v":0.0912602246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355084181,"cg_vq_v":-0.355084181,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.686371,"control_outputs_enabled":1,"dclink_i_a":-0.791988611,"dclink_p_w":-114.968674,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0585938,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12431,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404991,"cg_dv":50.1961594,"cg_dw":49.8038406,"cg_id_a":0.474206239,"cg_id_raw_a":0.0817528144,"cg_iq_a":0.019302398,"cg_iq_raw_a":0.1915645,"cg_iu_a":-0.178685665,"cg_iv_a":1.62763882,"cg_iw_a":-1.44895315,"cg_sample_age_us":23.9254551,"cg_sample_seq":14699367,"cg_sample_valid":1,"cg_theta_rad":5.00795698,"cg_vd_req_v":0.0828443244,"cg_vd_v":0.0828443244,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344921529,"cg_vq_v":-0.344921529,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.701378822,"dclink_p_w":-101.198273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0739746,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12457,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304588,"cg_dv":50.1981277,"cg_dw":49.8018723,"cg_id_a":0.0286621079,"cg_id_raw_a":0.0448646657,"cg_iq_a":-0.151149839,"cg_iq_raw_a":-0.869071066,"cg_iu_a":-0.287417412,"cg_iv_a":-0.293284416,"cg_iw_a":0.254507303,"cg_sample_age_us":23.8527279,"cg_sample_seq":14699417,"cg_sample_valid":1,"cg_theta_rad":5.00741768,"cg_vd_req_v":0.0923947096,"cg_vd_v":0.0923947096,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34195441,"cg_vq_v":-0.34195441,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.2162552,"control_outputs_enabled":1,"dclink_i_a":-0.701378822,"dclink_p_w":-101.198273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0401306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12449,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1202469,"cg_dv":50.1966782,"cg_dw":49.8033218,"cg_id_a":-0.122998744,"cg_id_raw_a":0.0659252033,"cg_iq_a":-0.347946852,"cg_iq_raw_a":-0.284150064,"cg_iu_a":0.0750210285,"cg_iv_a":-0.691966534,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.954546,"cg_sample_seq":14699467,"cg_sample_valid":1,"cg_theta_rad":5.00756502,"cg_vd_req_v":0.0963213369,"cg_vd_v":0.0963213369,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334978521,"cg_vq_v":-0.334978521,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.701378822,"dclink_p_w":-101.198273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0401306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12444,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1279068,"cg_dv":50.2045059,"cg_dw":49.7954941,"cg_id_a":-0.284549266,"cg_id_raw_a":-0.352747798,"cg_iq_a":0.455575347,"cg_iq_raw_a":0.985816836,"cg_iu_a":-0.251173496,"cg_iv_a":-0.184552908,"cg_iw_a":0.435726404,"cg_sample_age_us":23.9218178,"cg_sample_seq":14699516,"cg_sample_valid":1,"cg_theta_rad":5.00692701,"cg_vd_req_v":0.0979394689,"cg_vd_v":0.0979394689,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349910706,"cg_vq_v":-0.349910706,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.66333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12450,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.128891,"cg_dv":50.1983795,"cg_dw":49.8016205,"cg_id_a":0.0305255055,"cg_id_raw_a":0.230025321,"cg_iq_a":0.103046507,"cg_iq_raw_a":0.606755614,"cg_iu_a":0.763653994,"cg_iv_a":0.105397701,"cg_iw_a":-0.869051695,"cg_sample_age_us":23.8454552,"cg_sample_seq":14699570,"cg_sample_valid":1,"cg_theta_rad":5.00720835,"cg_vd_req_v":0.0927127376,"cg_vd_v":0.0927127376,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341723174,"cg_vq_v":-0.341723174,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":86.2189407,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12448,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1095695,"cg_dv":50.1936836,"cg_dw":49.8063164,"cg_id_a":-0.386066139,"cg_id_raw_a":0.208985075,"cg_iq_a":-0.700541675,"cg_iq_raw_a":0.202214822,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.546991229,"cg_iw_a":0.580701709,"cg_sample_age_us":23.9872723,"cg_sample_seq":14699617,"cg_sample_valid":1,"cg_theta_rad":5.00788975,"cg_vd_req_v":0.100795589,"cg_vd_v":0.100795589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.32523796,"cg_vq_v":-0.32523796,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.382433176,"dclink_p_w":-55.5157394,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12449,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1263924,"cg_dv":50.2091255,"cg_dw":49.7908745,"cg_id_a":-0.57272315,"cg_id_raw_a":-0.123252176,"cg_iq_a":0.635020792,"cg_iq_raw_a":0.352612585,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.9872723,"cg_sample_seq":14699666,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.105424419,"cg_vd_v":0.105424419,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35481438,"cg_vq_v":-0.35481438,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.387869716,"dclink_p_w":-56.1343117,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12463,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1180611,"cg_dv":50.1996536,"cg_dw":49.8003464,"cg_id_a":-0.231936067,"cg_id_raw_a":-0.820837498,"cg_iq_a":-0.367233098,"cg_iq_raw_a":-2.22571063,"cg_iu_a":-0.359905005,"cg_iv_a":-0.836941838,"cg_iw_a":1.19684684,"cg_sample_age_us":23.954546,"cg_sample_seq":14699717,"cg_sample_valid":1,"cg_theta_rad":5.00642729,"cg_vd_req_v":0.100755535,"cg_vd_v":0.100755535,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337854713,"cg_vq_v":-0.337854713,"cg_vu_v":102.93486,"cg_vv_v":92.8173294,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.398742914,"dclink_p_w":-57.7079315,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12484,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1154633,"cg_dv":50.202961,"cg_dw":49.797039,"cg_id_a":-0.298772663,"cg_id_raw_a":-0.0889730155,"cg_iq_a":-0.237422019,"cg_iq_raw_a":0.247457623,"cg_iu_a":0.219996452,"cg_iv_a":-0.438259721,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9763641,"cg_sample_seq":14699767,"cg_sample_valid":1,"cg_theta_rad":5.00640392,"cg_vd_req_v":0.104498304,"cg_vd_v":0.104498304,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341363609,"cg_vq_v":-0.341363609,"cg_vu_v":137.686371,"cg_vv_v":126.249161,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12436,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1326561,"cg_dv":50.2040176,"cg_dw":49.7959824,"cg_id_a":0.122970648,"cg_id_raw_a":0.0315747708,"cg_iq_a":0.166853696,"cg_iq_raw_a":-0.724800646,"cg_iu_a":-0.396148682,"cg_iv_a":-0.583235145,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9618187,"cg_sample_seq":14699817,"cg_sample_valid":1,"cg_theta_rad":5.00766182,"cg_vd_req_v":0.0972767919,"cg_vd_v":0.0972767919,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350939125,"cg_vq_v":-0.350939125,"cg_vu_v":115.251846,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0447693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347504,"cg_dv":50.2073479,"cg_dw":49.7926521,"cg_id_a":0.00116875023,"cg_id_raw_a":0.327617794,"cg_iq_a":0.474567205,"cg_iq_raw_a":-0.147049859,"cg_iu_a":-0.50488019,"cg_iv_a":0.250373125,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9509087,"cg_sample_seq":14699867,"cg_sample_valid":1,"cg_theta_rad":5.00627613,"cg_vd_req_v":0.0987083465,"cg_vd_v":0.0987083465,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357856542,"cg_vq_v":-0.357856542,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0447693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12475,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1145287,"cg_dv":50.195343,"cg_dw":49.804657,"cg_id_a":-0.0790609792,"cg_id_raw_a":-1.14632142,"cg_iq_a":-0.772695661,"cg_iq_raw_a":0.288167298,"cg_iu_a":0.328727841,"cg_iv_a":0.431592226,"cg_iw_a":-0.760320067,"cg_sample_age_us":23.954546,"cg_sample_seq":14699917,"cg_sample_valid":1,"cg_theta_rad":5.00851917,"cg_vd_req_v":0.100733094,"cg_vd_v":0.100733094,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.330684334,"cg_vq_v":-0.330684334,"cg_vu_v":118.3311,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1242905,"cg_dv":50.2001495,"cg_dw":49.7998505,"cg_id_a":0.159358218,"cg_id_raw_a":0.183530614,"cg_iq_a":-0.186094418,"cg_iq_raw_a":-0.637031138,"cg_iu_a":0.0387773514,"cg_iv_a":-0.474503636,"cg_iw_a":0.435726285,"cg_sample_age_us":23.954546,"cg_sample_seq":14699967,"cg_sample_valid":1,"cg_theta_rad":5.00839472,"cg_vd_req_v":0.0963230431,"cg_vd_v":0.0963230431,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342018753,"cg_vq_v":-0.342018753,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108715951,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12438,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293488,"cg_dv":50.2051353,"cg_dw":49.7948647,"cg_id_a":0.171659857,"cg_id_raw_a":0.159993112,"cg_iq_a":0.490526795,"cg_iq_raw_a":0.270886362,"cg_iu_a":-0.323661089,"cg_iv_a":0.177885413,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9872723,"cg_sample_seq":14700017,"cg_sample_valid":1,"cg_theta_rad":5.00764084,"cg_vd_req_v":0.097084716,"cg_vd_v":0.097084716,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351665229,"cg_vq_v":-0.351665229,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.686881304,"dclink_p_w":-99.4086609,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10750743,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12402,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1211777,"cg_dv":50.2049255,"cg_dw":49.7950745,"cg_id_a":-0.0776113719,"cg_id_raw_a":-0.584273219,"cg_iq_a":-0.00765392184,"cg_iq_raw_a":0.121669747,"cg_iu_a":-0.432392597,"cg_iv_a":0.10539782,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9436359,"cg_sample_seq":14700117,"cg_sample_valid":1,"cg_theta_rad":5.00861025,"cg_vd_req_v":0.106669441,"cg_vd_v":0.106669441,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.34578532,"cg_vq_v":-0.34578532,"cg_vu_v":132.847549,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.201213956,"dclink_p_w":-29.1206207,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.776611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12463,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1183929,"cg_dv":50.2071495,"cg_dw":49.7928505,"cg_id_a":-0.0714148581,"cg_id_raw_a":-0.194954962,"cg_iq_a":0.0670147464,"cg_iq_raw_a":1.1474216,"cg_iu_a":0.147508621,"cg_iv_a":0.21412921,"cg_iw_a":-0.361637831,"cg_sample_age_us":23.9799995,"cg_sample_seq":14700167,"cg_sample_valid":1,"cg_theta_rad":5.00771236,"cg_vd_req_v":0.107125789,"cg_vd_v":0.107125789,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348435491,"cg_vq_v":-0.348435491,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-37.1011124,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0493774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12480,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1187477,"cg_dv":50.2012863,"cg_dw":49.7987137,"cg_id_a":0.171224385,"cg_id_raw_a":0.319398791,"cg_iq_a":-0.273346752,"cg_iq_raw_a":-0.0777158663,"cg_iu_a":0.00253343582,"cg_iv_a":0.540323794,"cg_iw_a":-0.252906621,"cg_sample_age_us":23.9509087,"cg_sample_seq":14700217,"cg_sample_valid":1,"cg_theta_rad":5.00734186,"cg_vd_req_v":0.102015898,"cg_vd_v":0.102015898,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340394437,"cg_vq_v":-0.340394437,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.25557971,"dclink_p_w":-37.1011124,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12450,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1166191,"cg_dv":50.2036171,"cg_dw":49.7963829,"cg_id_a":-0.0927877724,"cg_id_raw_a":0.0280353297,"cg_iq_a":-0.0626817495,"cg_iq_raw_a":0.331159532,"cg_iu_a":-0.214929581,"cg_iv_a":-0.764454126,"cg_iw_a":0.979383707,"cg_sample_age_us":23.9509087,"cg_sample_seq":14700267,"cg_sample_valid":1,"cg_theta_rad":5.00781298,"cg_vd_req_v":0.105725601,"cg_vd_v":0.105725601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342443854,"cg_vq_v":-0.342443854,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116218813,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1297493,"cg_dv":50.2086678,"cg_dw":49.7913322,"cg_id_a":0.0463700891,"cg_id_raw_a":0.279655039,"cg_iq_a":0.460600853,"cg_iq_raw_a":0.538435698,"cg_iu_a":0.0387773514,"cg_iv_a":-0.25704062,"cg_iw_a":0.616945624,"cg_sample_age_us":23.9872723,"cg_sample_seq":14700317,"cg_sample_valid":1,"cg_theta_rad":5.0073061,"cg_vd_req_v":0.101284593,"cg_vd_v":0.101284593,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355218083,"cg_vq_v":-0.355218083,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-6.06775284e-05,"dclink_p_w":-0.00878153462,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0037766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2666.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1284409,"cg_dv":50.2117729,"cg_dw":49.7882271,"cg_id_a":-0.083651036,"cg_id_raw_a":-0.00661897752,"cg_iq_a":0.438518435,"cg_iq_raw_a":0.691954851,"cg_iu_a":-0.287417412,"cg_iv_a":-0.510747313,"cg_iw_a":0.798164725,"cg_sample_age_us":23.9909096,"cg_sample_seq":14700367,"cg_sample_valid":1,"cg_theta_rad":5.00648403,"cg_vd_req_v":0.10412889,"cg_vd_v":0.10412889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359038889,"cg_vq_v":-0.359038889,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.045365572,"dclink_p_w":-6.56551695,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0539856,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0037766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2666.81958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12492,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296387,"cg_dv":50.2120438,"cg_dw":49.7879562,"cg_id_a":-0.0624114797,"cg_id_raw_a":-0.154840112,"cg_iq_a":0.505426764,"cg_iq_raw_a":0.969327092,"cg_iu_a":0.256240368,"cg_iv_a":-0.510747433,"cg_iw_a":0.254507065,"cg_sample_age_us":23.8454552,"cg_sample_seq":14700417,"cg_sample_valid":1,"cg_theta_rad":5.0062027,"cg_vd_req_v":0.102432922,"cg_vd_v":0.102432922,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362737596,"cg_vq_v":-0.362737596,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12443,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1151199,"cg_dv":50.207531,"cg_dw":49.792469,"cg_id_a":-0.347729057,"cg_id_raw_a":-0.219821617,"cg_iq_a":-0.405619562,"cg_iq_raw_a":-0.383701265,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.8490906,"cg_sample_seq":14700466,"cg_sample_valid":1,"cg_theta_rad":5.00742435,"cg_vd_req_v":0.110256076,"cg_vd_v":0.110256076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348235428,"cg_vq_v":-0.348235428,"cg_vu_v":37.3908691,"cg_vv_v":39.590332,"cg_vw_v":45.7488289,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0170898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1291733,"cg_dv":50.2094078,"cg_dw":49.7905922,"cg_id_a":0.0692429841,"cg_id_raw_a":-0.155398011,"cg_iq_a":0.00746840239,"cg_iq_raw_a":-0.160646513,"cg_iu_a":-0.686099529,"cg_iv_a":0.359104574,"cg_iw_a":-0.470369399,"cg_sample_age_us":23.9872723,"cg_sample_seq":14700517,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.103822529,"cg_vd_v":0.103822529,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357853979,"cg_vq_v":-0.357853979,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":117.011421,"control_outputs_enabled":1,"dclink_i_a":-0.145036101,"dclink_p_w":-20.9902992,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0170898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12444,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1252518,"cg_dv":50.211937,"cg_dw":49.788063,"cg_id_a":-0.180862814,"cg_id_raw_a":-0.370770335,"cg_iq_a":0.00110304356,"cg_iq_raw_a":-1.16534221,"cg_iu_a":0.0387773514,"cg_iv_a":-0.365772128,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14700566,"cg_sample_valid":1,"cg_theta_rad":5.00776339,"cg_vd_req_v":0.108537421,"cg_vd_v":0.108537421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358139127,"cg_vq_v":-0.358139127,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.4674301,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.4722042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0339966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12481,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1220589,"cg_dv":50.2114029,"cg_dw":49.7885971,"cg_id_a":-0.0254780166,"cg_id_raw_a":0.0824564248,"cg_iq_a":0.0164374858,"cg_iq_raw_a":0.444952369,"cg_iu_a":0.0750210285,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369458,"cg_sample_age_us":23.8527279,"cg_sample_seq":14700621,"cg_sample_valid":1,"cg_theta_rad":5.00684834,"cg_vd_req_v":0.107183464,"cg_vd_v":0.107183464,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356634259,"cg_vq_v":-0.356634259,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.4722042,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12419,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1222191,"cg_dv":50.2144165,"cg_dw":49.7855835,"cg_id_a":-0.32818681,"cg_id_raw_a":0.136371732,"cg_iq_a":0.121284276,"cg_iq_raw_a":-0.130818322,"cg_iu_a":0.364971876,"cg_iv_a":0.0329101086,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.954546,"cg_sample_seq":14700667,"cg_sample_valid":1,"cg_theta_rad":5.00530243,"cg_vd_req_v":0.114681013,"cg_vd_v":0.114681013,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359370232,"cg_vq_v":-0.359370232,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":-0.340752721,"dclink_p_w":-49.3153191,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.889893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12452,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1272621,"cg_dv":50.2094154,"cg_dw":49.7905846,"cg_id_a":0.0792358518,"cg_id_raw_a":0.302781671,"cg_iq_a":-0.191378549,"cg_iq_raw_a":-0.113839209,"cg_iu_a":0.437459469,"cg_iv_a":0.359104633,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9509087,"cg_sample_seq":14700717,"cg_sample_valid":1,"cg_theta_rad":5.00959873,"cg_vd_req_v":0.105520159,"cg_vd_v":0.105520159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355550081,"cg_vq_v":-0.355550081,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.2815323,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12464,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.12463,"cg_dv":50.2154198,"cg_dw":49.7845802,"cg_id_a":-0.237102658,"cg_id_raw_a":-0.050387606,"cg_iq_a":0.277838886,"cg_iq_raw_a":0.687813103,"cg_iu_a":-0.106198072,"cg_iv_a":-1.05440497,"cg_iw_a":1.16060305,"cg_sample_age_us":23.9290905,"cg_sample_seq":14700767,"cg_sample_valid":1,"cg_theta_rad":5.00759649,"cg_vd_req_v":0.11242868,"cg_vd_v":0.11242868,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363724619,"cg_vq_v":-0.363724619,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":73.462059,"control_outputs_enabled":1,"dclink_i_a":-0.467606187,"dclink_p_w":-67.6741409,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12452,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336441,"cg_dv":50.2147751,"cg_dw":49.7852249,"cg_id_a":0.17183058,"cg_id_raw_a":0.576823413,"cg_iq_a":0.564201295,"cg_iq_raw_a":1.55218661,"cg_iu_a":0.292484045,"cg_iv_a":-0.112065196,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9727268,"cg_sample_seq":14700817,"cg_sample_valid":1,"cg_theta_rad":5.00704765,"cg_vd_req_v":0.10526263,"cg_vd_v":0.10526263,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367767185,"cg_vq_v":-0.367767185,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.333503962,"dclink_p_w":-48.4129524,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2666.917236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1231499,"cg_dv":50.2048912,"cg_dw":49.7951088,"cg_id_a":0.223514676,"cg_id_raw_a":0.185349897,"cg_iq_a":-0.422939152,"cg_iq_raw_a":-0.636504114,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333380699,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9872723,"cg_sample_seq":14700867,"cg_sample_valid":1,"cg_theta_rad":5.00619221,"cg_vd_req_v":0.102808051,"cg_vd_v":0.102808051,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347542703,"cg_vq_v":-0.347542703,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.141411662,"dclink_p_w":-20.5279598,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12457,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1216011,"cg_dv":50.2091026,"cg_dw":49.7908974,"cg_id_a":-0.0262633562,"cg_id_raw_a":-0.0809323043,"cg_iq_a":-0.0278059095,"cg_iq_raw_a":0.356985688,"cg_iu_a":0.292484045,"cg_iv_a":-0.764454246,"cg_iw_a":0.471970201,"cg_sample_age_us":23.954546,"cg_sample_seq":14700917,"cg_sample_valid":1,"cg_theta_rad":5.00729895,"cg_vd_req_v":0.108479314,"cg_vd_v":0.108479314,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352287024,"cg_vq_v":-0.352287024,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1312408,"cg_dv":50.2114182,"cg_dw":49.7885818,"cg_id_a":0.32098195,"cg_id_raw_a":-0.0114641283,"cg_iq_a":0.294092447,"cg_iq_raw_a":0.764145613,"cg_iu_a":0.0750210285,"cg_iv_a":-0.293284416,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9509087,"cg_sample_seq":14700967,"cg_sample_valid":1,"cg_theta_rad":5.00810194,"cg_vd_req_v":0.100922011,"cg_vd_v":0.100922011,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361491293,"cg_vq_v":-0.361491293,"cg_vu_v":117.451309,"cg_vv_v":134.167236,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0493774,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12468,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344833,"cg_dv":50.2126045,"cg_dw":49.7873955,"cg_id_a":0.334520161,"cg_id_raw_a":0.716365337,"cg_iq_a":0.415412158,"cg_iq_raw_a":0.614383936,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641557,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.954546,"cg_sample_seq":14701017,"cg_sample_valid":1,"cg_theta_rad":5.00680256,"cg_vd_req_v":0.099944897,"cg_vd_v":0.099944897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36479786,"cg_vq_v":-0.36479786,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12471,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1243515,"cg_dv":50.2201042,"cg_dw":49.7798958,"cg_id_a":-0.544088364,"cg_id_raw_a":-0.275226921,"cg_iq_a":0.47348401,"cg_iq_raw_a":-0.42804113,"cg_iu_a":-0.468636513,"cg_iv_a":-0.655722737,"cg_iw_a":1.12435925,"cg_sample_age_us":23.9509087,"cg_sample_seq":14701067,"cg_sample_valid":1,"cg_theta_rad":5.00607586,"cg_vd_req_v":0.118031904,"cg_vd_v":0.118031904,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368456334,"cg_vq_v":-0.368456334,"cg_vu_v":124.049698,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.275513887,"dclink_p_w":-39.7524567,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0524292,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2666.978525,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2666.978533,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2666.978538,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2666.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38797,"EncoderSin":12449,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1207275,"cg_dv":50.2150154,"cg_dw":49.7849846,"cg_id_a":-0.0809569433,"cg_id_raw_a":0.312131017,"cg_iq_a":0.092727147,"cg_iq_raw_a":-0.264635175,"cg_iu_a":-1.8459022,"cg_iv_a":0.431592226,"cg_iw_a":1.41430998,"cg_sample_age_us":23.954546,"cg_sample_seq":14701120,"cg_sample_valid":1,"cg_theta_rad":5.0077467,"cg_vd_req_v":0.108575031,"cg_vd_v":0.108575031,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361784667,"cg_vq_v":-0.361784667,"cg_vu_v":139.885834,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12493,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1274185,"cg_dv":50.2082596,"cg_dw":49.7917404,"cg_id_a":0.126679704,"cg_id_raw_a":0.107719347,"cg_iq_a":-0.0865539908,"cg_iq_raw_a":0.156752422,"cg_iu_a":-0.0337104797,"cg_iv_a":0.250373125,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.8600006,"cg_sample_seq":14701166,"cg_sample_valid":1,"cg_theta_rad":5.00746298,"cg_vd_req_v":0.101815827,"cg_vd_v":0.101815827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354783893,"cg_vq_v":-0.354783893,"cg_vu_v":1.31967759,"cg_vv_v":0.87978512,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2666.995361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12421,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1304932,"cg_dv":50.2134895,"cg_dw":49.7865105,"cg_id_a":-0.00660508126,"cg_id_raw_a":0.0626346618,"cg_iq_a":0.191507488,"cg_iq_raw_a":-0.0293285437,"cg_iu_a":0.61867857,"cg_iv_a":-0.112065315,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.954546,"cg_sample_seq":14701217,"cg_sample_valid":1,"cg_theta_rad":5.00693417,"cg_vd_req_v":0.105860911,"cg_vd_v":0.105860911,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362021565,"cg_vq_v":-0.362021565,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108212397,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12481,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1224823,"cg_dv":50.2191048,"cg_dw":49.7808952,"cg_id_a":-0.470192939,"cg_id_raw_a":-0.00648118509,"cg_iq_a":0.202297449,"cg_iq_raw_a":0.255028397,"cg_iu_a":0.908629417,"cg_iv_a":-0.184552848,"cg_iw_a":-0.724076569,"cg_sample_age_us":23.9836369,"cg_sample_seq":14701267,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.115413219,"cg_vd_v":0.115413219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3658081,"cg_vq_v":-0.3658081,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1326981,"cg_dv":50.2149315,"cg_dw":49.7850685,"cg_id_a":0.0197624713,"cg_id_raw_a":-0.340615809,"cg_iq_a":0.136697933,"cg_iq_raw_a":0.222292379,"cg_iu_a":0.256240368,"cg_iv_a":-0.474503636,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9836369,"cg_sample_seq":14701317,"cg_sample_valid":1,"cg_theta_rad":5.00871658,"cg_vd_req_v":0.104708225,"cg_vd_v":0.104708225,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365454972,"cg_vq_v":-0.365454972,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.6081696,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00246738386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.022705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1335258,"cg_dv":50.2128448,"cg_dw":49.7871552,"cg_id_a":0.0117399059,"cg_id_raw_a":0.263620257,"cg_iq_a":0.0104767065,"cg_iq_raw_a":0.0636043027,"cg_iu_a":-0.251173496,"cg_iv_a":0.10539782,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9836369,"cg_sample_seq":14701367,"cg_sample_valid":1,"cg_theta_rad":5.00657558,"cg_vd_req_v":0.103028797,"cg_vd_v":0.103028797,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364007503,"cg_vq_v":-0.364007503,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2585,"hz_tim_isr":4999,"hz_vsense":2585,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117326625,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.030518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12457,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1392632,"cg_dv":50.2133789,"cg_dw":49.7866211,"cg_id_a":0.105321892,"cg_id_raw_a":0.400201917,"cg_iq_a":0.220819429,"cg_iq_raw_a":-0.250552297,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.863636,"cg_sample_seq":14701417,"cg_sample_valid":1,"cg_theta_rad":5.00626707,"cg_vd_req_v":0.0993548706,"cg_vd_v":0.0993548706,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369080544,"cg_vq_v":-0.369080544,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0324707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385231,"cg_dv":50.2161598,"cg_dw":49.7838402,"cg_id_a":-0.0333393663,"cg_id_raw_a":0.160242438,"cg_iq_a":0.352506399,"cg_iq_raw_a":0.270738661,"cg_iu_a":-0.50488019,"cg_iv_a":0.286616921,"cg_iw_a":0.218263268,"cg_sample_age_us":23.9799995,"cg_sample_seq":14701467,"cg_sample_valid":1,"cg_theta_rad":5.00646925,"cg_vd_req_v":0.10051588,"cg_vd_v":0.10051588,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373032808,"cg_vq_v":-0.373032808,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.605332851,"dclink_p_w":-87.6065903,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0324707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1331558,"cg_dv":50.2106247,"cg_dw":49.7893753,"cg_id_a":0.0474201813,"cg_id_raw_a":0.143014535,"cg_iq_a":-0.19496043,"cg_iq_raw_a":0.232565612,"cg_iu_a":-0.178685665,"cg_iv_a":0.10539782,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9363632,"cg_sample_seq":14701517,"cg_sample_valid":1,"cg_theta_rad":5.00704193,"cg_vd_req_v":0.0987598449,"cg_vd_v":0.0987598449,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361448437,"cg_vq_v":-0.361448437,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.726749659,"dclink_p_w":-105.498291,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.057861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1421394,"cg_dv":50.2119179,"cg_dw":49.7880821,"cg_id_a":0.173007056,"cg_id_raw_a":-0.127204612,"cg_iq_a":0.173344001,"cg_iq_raw_a":0.607304156,"cg_iu_a":0.14750886,"cg_iv_a":0.214129329,"cg_iw_a":-0.361638188,"cg_sample_age_us":23.9618187,"cg_sample_seq":14701567,"cg_sample_valid":1,"cg_theta_rad":5.00611782,"cg_vd_req_v":0.0953441486,"cg_vd_v":0.0953441486,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367608041,"cg_vq_v":-0.367608041,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":-0.99132967,"dclink_p_w":-143.469849,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12473,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399269,"cg_dv":50.2131042,"cg_dw":49.7868958,"cg_id_a":0.183000684,"cg_id_raw_a":-0.0249354783,"cg_iq_a":0.128570884,"cg_iq_raw_a":-0.219925806,"cg_iu_a":0.183752537,"cg_iv_a":-0.112065315,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9509087,"cg_sample_seq":14701620,"cg_sample_valid":1,"cg_theta_rad":5.00635147,"cg_vd_req_v":0.0957693532,"cg_vd_v":0.0957693532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368619531,"cg_vq_v":-0.368619531,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38757,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1437531,"cg_dv":50.2169418,"cg_dw":49.7830582,"cg_id_a":0.237740278,"cg_id_raw_a":0.448226511,"cg_iq_a":0.695147693,"cg_iq_raw_a":2.44313049,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.2907511,"cg_sample_age_us":23.9254551,"cg_sample_seq":14701667,"cg_sample_valid":1,"cg_theta_rad":5.006567,"cg_vd_req_v":0.0953947455,"cg_vd_v":0.0953947455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376262963,"cg_vq_v":-0.376262963,"cg_vu_v":39.1504402,"cg_vv_v":44.4291458,"cg_vw_v":58.9456062,"control_outputs_enabled":1,"dclink_i_a":-0.799237251,"dclink_p_w":-115.669334,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38695,"EncoderSin":12430,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1499901,"cg_dv":50.2151527,"cg_dw":49.7848473,"cg_id_a":0.218390495,"cg_id_raw_a":0.900712252,"cg_iq_a":0.698738396,"cg_iq_raw_a":1.59090233,"cg_iu_a":-0.106198072,"cg_iv_a":-0.583235025,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9509087,"cg_sample_seq":14701716,"cg_sample_valid":1,"cg_theta_rad":5.0055666,"cg_vd_req_v":0.0949894935,"cg_vd_v":0.0949894935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376976818,"cg_vq_v":-0.376976818,"cg_vu_v":39.590332,"cg_vv_v":46.6286087,"cg_vw_v":64.6642075,"control_outputs_enabled":1,"dclink_i_a":-0.723125219,"dclink_p_w":-104.654045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12452,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1549568,"cg_dv":50.2148247,"cg_dw":49.7851753,"cg_id_a":0.438229442,"cg_id_raw_a":0.140305489,"cg_iq_a":0.70778954,"cg_iq_raw_a":-0.385841638,"cg_iu_a":-0.722343206,"cg_iv_a":-0.00333368778,"cg_iw_a":0.725676894,"cg_sample_age_us":23.954546,"cg_sample_seq":14701766,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0883988589,"cg_vd_v":0.0883988589,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379924059,"cg_vq_v":-0.379924059,"cg_vu_v":40.9100075,"cg_vv_v":49.707859,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.723125219,"dclink_p_w":-104.654045,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0447693,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.120361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12433,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1495781,"cg_dv":50.2194176,"cg_dw":49.7805824,"cg_id_a":-0.000638410449,"cg_id_raw_a":0.143278286,"cg_iq_a":0.700617909,"cg_iq_raw_a":-0.203318372,"cg_iu_a":-1.84590197,"cg_iv_a":-0.220796585,"cg_iw_a":0.471970201,"cg_sample_age_us":23.9509087,"cg_sample_seq":14701816,"cg_sample_valid":1,"cg_theta_rad":5.00707531,"cg_vd_req_v":0.0971456319,"cg_vd_v":0.0971456319,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381890446,"cg_vq_v":-0.381890446,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12435,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429939,"cg_dv":50.2099648,"cg_dw":49.7900352,"cg_id_a":0.180008382,"cg_id_raw_a":0.19878602,"cg_iq_a":-0.100868918,"cg_iq_raw_a":-0.343754917,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.954546,"cg_sample_seq":14701866,"cg_sample_valid":1,"cg_theta_rad":5.00798416,"cg_vd_req_v":0.0923561305,"cg_vd_v":0.0923561305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365539879,"cg_vq_v":-0.365539879,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-72.9195175,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.135986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12473,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255646,"cg_dv":50.2050476,"cg_dw":49.7949524,"cg_id_a":-0.256248027,"cg_id_raw_a":0.111580029,"cg_iq_a":-0.786659479,"cg_iq_raw_a":-0.534575462,"cg_iu_a":0.908629298,"cg_iv_a":0.141641617,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9763641,"cg_sample_seq":14701916,"cg_sample_valid":1,"cg_theta_rad":5.00890684,"cg_vd_req_v":0.100640014,"cg_vd_v":0.100640014,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349240035,"cg_vq_v":-0.349240035,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.143799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1377907,"cg_dv":50.2097397,"cg_dw":49.7902603,"cg_id_a":-0.0163932703,"cg_id_raw_a":0.450049669,"cg_iq_a":-0.137763843,"cg_iq_raw_a":-1.19325674,"cg_iu_a":-0.251173258,"cg_iv_a":-0.43825978,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9436359,"cg_sample_seq":14701966,"cg_sample_valid":1,"cg_theta_rad":5.00663471,"cg_vd_req_v":0.095948033,"cg_vd_v":0.095948033,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362380356,"cg_vq_v":-0.362380356,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.434986711,"dclink_p_w":-62.9533005,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108162045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403809,"cg_dv":50.2093582,"cg_dw":49.7906418,"cg_id_a":0.140700549,"cg_id_raw_a":0.0519658364,"cg_iq_a":-0.0765081048,"cg_iq_raw_a":-0.139876232,"cg_iu_a":-0.359904766,"cg_iv_a":0.286616921,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8600006,"cg_sample_seq":14702016,"cg_sample_valid":1,"cg_theta_rad":5.00754833,"cg_vd_req_v":0.0925399512,"cg_vd_v":0.0925399512,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363574505,"cg_vq_v":-0.363574505,"cg_vu_v":26.8334465,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.2062988,"temp_inv2_c":35.0370789,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413956,"cg_dv":50.2089882,"cg_dw":49.7910118,"cg_id_a":0.181500047,"cg_id_raw_a":0.301154315,"cg_iq_a":-0.00836696476,"cg_iq_raw_a":0.321994781,"cg_iu_a":0.00253343582,"cg_iv_a":0.467836142,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.954546,"cg_sample_seq":14702067,"cg_sample_valid":1,"cg_theta_rad":5.00619364,"cg_vd_req_v":0.0930133536,"cg_vd_v":0.0930133536,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364403725,"cg_vq_v":-0.364403725,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0140381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12429,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1377869,"cg_dv":50.2053947,"cg_dw":49.7946053,"cg_id_a":0.364929348,"cg_id_raw_a":-0.0510316715,"cg_iq_a":-0.328050464,"cg_iq_raw_a":-0.368459284,"cg_iu_a":0.582434893,"cg_iv_a":-0.438259721,"cg_iw_a":0.326994777,"cg_sample_age_us":23.8563633,"cg_sample_seq":14702121,"cg_sample_valid":1,"cg_theta_rad":5.00663662,"cg_vd_req_v":0.0920541957,"cg_vd_v":0.0920541957,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356389642,"cg_vq_v":-0.356389642,"cg_vu_v":120.090675,"cg_vv_v":141.205521,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.641576529,"dclink_p_w":-92.851944,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0140381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108061336,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.198486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1368484,"cg_dv":50.2066193,"cg_dw":49.7933807,"cg_id_a":0.193871856,"cg_id_raw_a":0.256668478,"cg_iq_a":-0.308328688,"cg_iq_raw_a":0.135230631,"cg_iu_a":-0.794830799,"cg_iv_a":-0.0395774841,"cg_iw_a":0.834408283,"cg_sample_age_us":23.954546,"cg_sample_seq":14702166,"cg_sample_valid":1,"cg_theta_rad":5.00770378,"cg_vd_req_v":0.0936538205,"cg_vd_v":0.0936538205,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357614368,"cg_vq_v":-0.357614368,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0831909,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12450,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418762,"cg_dv":50.2059364,"cg_dw":49.7940636,"cg_id_a":0.339505136,"cg_id_raw_a":-0.0584003255,"cg_iq_a":-0.121523231,"cg_iq_raw_a":-0.296279967,"cg_iu_a":0.256240368,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9581814,"cg_sample_seq":14702216,"cg_sample_valid":1,"cg_theta_rad":5.0074482,"cg_vd_req_v":0.0891028494,"cg_vd_v":0.0891028494,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359492064,"cg_vq_v":-0.359492064,"cg_vu_v":15.836132,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1293678,"cg_dv":50.2059784,"cg_dw":49.7940216,"cg_id_a":-0.0777817518,"cg_id_raw_a":0.295953393,"cg_iq_a":-0.31688121,"cg_iq_raw_a":-0.917218029,"cg_iu_a":0.111264944,"cg_iv_a":0.250373125,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9436359,"cg_sample_seq":14702266,"cg_sample_valid":1,"cg_theta_rad":5.00650311,"cg_vd_req_v":0.0985763147,"cg_vd_v":0.0985763147,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352632105,"cg_vq_v":-0.352632105,"cg_vu_v":11.4372072,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.596271753,"dclink_p_w":-86.2952271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12449,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1434631,"cg_dv":50.2110558,"cg_dw":49.7889442,"cg_id_a":0.00418916717,"cg_id_raw_a":0.228652045,"cg_iq_a":0.347058356,"cg_iq_raw_a":0.423642993,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9218178,"cg_sample_seq":14702417,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0925292745,"cg_vd_v":0.0925292745,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367419332,"cg_vq_v":-0.367419332,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.396930695,"dclink_p_w":-57.620266,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0247803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.233643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12419,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1367073,"cg_dv":50.2048912,"cg_dw":49.7951088,"cg_id_a":-0.0780753642,"cg_id_raw_a":0.218688995,"cg_iq_a":-0.161841452,"cg_iq_raw_a":0.497091472,"cg_iu_a":0.147508621,"cg_iv_a":0.359104633,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.9872723,"cg_sample_seq":14702467,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.0936576277,"cg_vd_v":0.0936576277,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353619903,"cg_vq_v":-0.353619903,"cg_vu_v":143.844864,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.241455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12467,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1369324,"cg_dv":50.2002449,"cg_dw":49.7997551,"cg_id_a":0.269989222,"cg_id_raw_a":0.291614294,"cg_iq_a":-0.427943945,"cg_iq_raw_a":-0.226034701,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0395774841,"cg_iw_a":0.109531641,"cg_sample_age_us":23.9799995,"cg_sample_seq":14702517,"cg_sample_valid":1,"cg_theta_rad":5.00684834,"cg_vd_req_v":0.0864553973,"cg_vd_v":0.0864553973,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348105043,"cg_vq_v":-0.348105043,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.07246494,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0462952,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115866333,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12445,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1409416,"cg_dv":50.2067146,"cg_dw":49.7932854,"cg_id_a":-0.00135847181,"cg_id_raw_a":-0.156970948,"cg_iq_a":0.1818977,"cg_iq_raw_a":0.276625723,"cg_iu_a":0.038777113,"cg_iv_a":-0.546991229,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9436359,"cg_sample_seq":14702567,"cg_sample_valid":1,"cg_theta_rad":5.00717783,"cg_vd_req_v":0.0906048566,"cg_vd_v":0.0906048566,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358861208,"cg_vq_v":-0.358861208,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.0615538359,"dclink_p_w":8.90835762,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107608154,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12452,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1380959,"cg_dv":50.1987381,"cg_dw":49.8012619,"cg_id_a":0.258819044,"cg_id_raw_a":0.184433684,"cg_iq_a":-0.230305791,"cg_iq_raw_a":0.236651748,"cg_iu_a":0.219996452,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.8709087,"cg_sample_seq":14702620,"cg_sample_valid":1,"cg_theta_rad":5.00707197,"cg_vd_req_v":0.0840059146,"cg_vd_v":0.0840059146,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348968208,"cg_vq_v":-0.348968208,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12472,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1458359,"cg_dv":50.2110405,"cg_dw":49.7889595,"cg_id_a":-0.171262696,"cg_id_raw_a":0.0898733586,"cg_iq_a":0.739487648,"cg_iq_raw_a":0.119035557,"cg_iu_a":0.437459469,"cg_iv_a":-0.728210449,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14702666,"cg_sample_valid":1,"cg_theta_rad":5.0083847,"cg_vd_req_v":0.0917764679,"cg_vd_v":0.0917764679,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369643271,"cg_vq_v":-0.369643271,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":0.240960836,"dclink_p_w":34.8729744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.296143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12429,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.121109,"cg_dv":50.1962166,"cg_dw":49.8037834,"cg_id_a":-0.336511642,"cg_id_raw_a":0.518018544,"cg_iq_a":-0.916735828,"cg_iq_raw_a":-1.22237301,"cg_iu_a":0.328727961,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.26773393,"cg_sample_age_us":23.9799995,"cg_sample_seq":14702716,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0964156464,"cg_vd_v":0.0964156464,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334483057,"cg_vq_v":-0.334483057,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":28.1531239,"control_outputs_enabled":1,"dclink_i_a":0.382311702,"dclink_p_w":55.4981079,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0094299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.303955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12480,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1316338,"cg_dv":50.2001686,"cg_dw":49.7998314,"cg_id_a":-0.044549223,"cg_id_raw_a":-0.223862797,"cg_iq_a":-0.176228061,"cg_iq_raw_a":-0.566069007,"cg_iu_a":0.0387773514,"cg_iv_a":0.032910049,"cg_iw_a":-0.0716874003,"cg_sample_age_us":23.9436359,"cg_sample_seq":14702766,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0897910297,"cg_vd_v":0.0897910297,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346360326,"cg_vq_v":-0.346360326,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0094299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12458,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1292458,"cg_dv":50.2032166,"cg_dw":49.7967834,"cg_id_a":-0.255459726,"cg_id_raw_a":-0.0760327205,"cg_iq_a":0.0304658711,"cg_iq_raw_a":0.102926418,"cg_iu_a":1.12609231,"cg_iv_a":-0.148309112,"cg_iw_a":0.544458032,"cg_sample_age_us":23.9618187,"cg_sample_seq":14702816,"cg_sample_valid":1,"cg_theta_rad":5.00880527,"cg_vd_req_v":0.0945886001,"cg_vd_v":0.0945886001,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349190831,"cg_vq_v":-0.349190831,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12435,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1415634,"cg_dv":50.2008095,"cg_dw":49.7991905,"cg_id_a":0.210653648,"cg_id_raw_a":0.0381705873,"cg_iq_a":0.12182112,"cg_iq_raw_a":0.00480454788,"cg_iu_a":-0.396148682,"cg_iv_a":0.286616921,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8527279,"cg_sample_seq":14702866,"cg_sample_valid":1,"cg_theta_rad":5.00566673,"cg_vd_req_v":0.0866397917,"cg_vd_v":0.0866397917,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351798713,"cg_vq_v":-0.351798713,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1329155,"cg_dv":50.2000542,"cg_dw":49.7999458,"cg_id_a":-0.00355682522,"cg_id_raw_a":-0.210380182,"cg_iq_a":-0.109085798,"cg_iq_raw_a":-0.893761635,"cg_iu_a":-0.214929581,"cg_iv_a":0.21412921,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8600006,"cg_sample_seq":14702916,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0905148834,"cg_vd_v":0.0905148834,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.347565711,"cg_vq_v":-0.347565711,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":87.9785156,"control_outputs_enabled":1,"dclink_i_a":0.286265612,"dclink_p_w":41.4296913,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.339111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1294403,"cg_dv":50.2036781,"cg_dw":49.7963219,"cg_id_a":-0.185165122,"cg_id_raw_a":0.0520035587,"cg_iq_a":-0.135262102,"cg_iq_raw_a":-0.5767712,"cg_iu_a":-0.613611698,"cg_iv_a":-0.800698161,"cg_iw_a":1.41430986,"cg_sample_age_us":23.8563633,"cg_sample_seq":14702967,"cg_sample_valid":1,"cg_theta_rad":5.00747585,"cg_vd_req_v":0.096197091,"cg_vd_v":0.096197091,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350711852,"cg_vq_v":-0.350711852,"cg_vu_v":105.134323,"cg_vv_v":99.8556061,"cg_vw_v":83.5795898,"control_outputs_enabled":1,"dclink_i_a":0.380499482,"dclink_p_w":55.2350349,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.346924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12481,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1323814,"cg_dv":50.2034378,"cg_dw":49.7965622,"cg_id_a":-0.0566829219,"cg_id_raw_a":-0.0998030454,"cg_iq_a":-0.0505541377,"cg_iq_raw_a":-0.300454348,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9509087,"cg_sample_seq":14703017,"cg_sample_valid":1,"cg_theta_rad":5.00614452,"cg_vd_req_v":0.0946949199,"cg_vd_v":0.0946949199,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351751179,"cg_vq_v":-0.351751179,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":76.9812012,"control_outputs_enabled":1,"dclink_i_a":0.632394195,"dclink_p_w":91.8012161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.354736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12423,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334419,"cg_dv":50.2035294,"cg_dw":49.7964706,"cg_id_a":0.0660056174,"cg_id_raw_a":0.207946748,"cg_iq_a":-0.220331311,"cg_iq_raw_a":0.203282446,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9836369,"cg_sample_seq":14703067,"cg_sample_valid":1,"cg_theta_rad":5.00666666,"cg_vd_req_v":0.0933078527,"cg_vd_v":0.0933078527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351502717,"cg_vq_v":-0.351502717,"cg_vu_v":103.814644,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":0.632394195,"dclink_p_w":91.8012161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0263062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12467,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1336212,"cg_dv":50.2034492,"cg_dw":49.7965508,"cg_id_a":0.00482916925,"cg_id_raw_a":0.0509829521,"cg_iq_a":-0.353740096,"cg_iq_raw_a":-0.758998394,"cg_iu_a":-0.541124105,"cg_iv_a":-0.148309052,"cg_iw_a":0.689433157,"cg_sample_age_us":23.8527279,"cg_sample_seq":14703120,"cg_sample_valid":1,"cg_theta_rad":5.00684071,"cg_vd_req_v":0.0935475603,"cg_vd_v":0.0935475603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351377666,"cg_vq_v":-0.351377666,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.632394195,"dclink_p_w":91.8012161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0247803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12485,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1393776,"cg_dv":50.1986198,"cg_dw":49.8013802,"cg_id_a":0.557207346,"cg_id_raw_a":0.443996757,"cg_iq_a":-0.583690524,"cg_iq_raw_a":1.06145811,"cg_iu_a":0.364971876,"cg_iv_a":0.685299098,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.9581814,"cg_sample_seq":14703166,"cg_sample_valid":1,"cg_theta_rad":5.00862217,"cg_vd_req_v":0.0822344571,"cg_vd_v":0.0822344571,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348559916,"cg_vq_v":-0.348559916,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.632394195,"dclink_p_w":91.8012161,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0247803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.401611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12450,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1389885,"cg_dv":50.2066956,"cg_dw":49.7933044,"cg_id_a":0.00459234416,"cg_id_raw_a":0.00243211188,"cg_iq_a":0.128183588,"cg_iq_raw_a":0.365261346,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015924,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9618187,"cg_sample_seq":14703317,"cg_sample_valid":1,"cg_theta_rad":5.00693893,"cg_vd_req_v":0.0927130207,"cg_vd_v":0.0927130207,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359908074,"cg_vq_v":-0.359908074,"cg_vu_v":121.410347,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.809988976,"dclink_p_w":117.225372,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0063477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12445,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1405716,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":0.042473048,"cg_id_raw_a":0.374981284,"cg_iq_a":0.0138011388,"cg_iq_raw_a":0.218883112,"cg_iu_a":-0.106198072,"cg_iv_a":0.0329101086,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.954546,"cg_sample_seq":14703367,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0914608017,"cg_vd_v":0.0914608017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361911863,"cg_vq_v":-0.361911863,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.780993879,"dclink_p_w":113.029068,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":34.9802551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114657812,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.417236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429749,"cg_dv":50.2116814,"cg_dw":49.7883186,"cg_id_a":-0.0412781835,"cg_id_raw_a":0.159843653,"cg_iq_a":0.0694785714,"cg_iq_raw_a":0.270974249,"cg_iu_a":-0.39614892,"cg_iv_a":0.57656765,"cg_iw_a":-0.90529561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14703417,"cg_sample_valid":1,"cg_theta_rad":5.00670338,"cg_vd_req_v":0.0926344991,"cg_vd_v":0.0926344991,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367029965,"cg_vq_v":-0.367029965,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.873415649,"dclink_p_w":126.404778,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.425049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12481,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1489449,"cg_dv":50.2162895,"cg_dw":49.7837105,"cg_id_a":-0.155733034,"cg_id_raw_a":-0.390761733,"cg_iq_a":0.431879133,"cg_iq_raw_a":1.6014185,"cg_iu_a":0.038777113,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.954546,"cg_sample_seq":14703467,"cg_sample_valid":1,"cg_theta_rad":5.0078969,"cg_vd_req_v":0.0930606648,"cg_vd_v":0.0930606648,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376457512,"cg_vq_v":-0.376457512,"cg_vu_v":131.967773,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":1.08362985,"dclink_p_w":156.351273,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12457,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1359062,"cg_dv":50.2079697,"cg_dw":49.7920303,"cg_id_a":-0.320442587,"cg_id_raw_a":-0.346556753,"cg_iq_a":-0.459131151,"cg_iq_raw_a":-0.143226787,"cg_iu_a":1.0898484,"cg_iv_a":0.431592226,"cg_iw_a":-0.035443604,"cg_sample_age_us":23.9509087,"cg_sample_seq":14703517,"cg_sample_valid":1,"cg_theta_rad":5.00669909,"cg_vd_req_v":0.0964908004,"cg_vd_v":0.0964908004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358710557,"cg_vq_v":-0.358710557,"cg_vu_v":139.006058,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":1.09993958,"dclink_p_w":159.18837,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0293884,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12455,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1470642,"cg_dv":50.207737,"cg_dw":49.792263,"cg_id_a":0.140627041,"cg_id_raw_a":0.0139415367,"cg_iq_a":-0.0765795931,"cg_iq_raw_a":0.0385417268,"cg_iu_a":-0.613611698,"cg_iv_a":0.431592226,"cg_iw_a":0.182019472,"cg_sample_age_us":23.954546,"cg_sample_seq":14703567,"cg_sample_valid":1,"cg_theta_rad":5.00729656,"cg_vd_req_v":0.0857473835,"cg_vd_v":0.0857473835,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365099967,"cg_vq_v":-0.365099967,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.840796232,"dclink_p_w":122.05381,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0293884,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00156099792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38759,"EncoderSin":12495,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341667,"cg_dv":50.2085686,"cg_dw":49.7914314,"cg_id_a":-0.273752987,"cg_id_raw_a":-0.111279316,"cg_iq_a":-0.279764652,"cg_iq_raw_a":-1.17308128,"cg_iu_a":0.292484164,"cg_iv_a":0.649055302,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.8600006,"cg_sample_seq":14703620,"cg_sample_valid":1,"cg_theta_rad":5.00777578,"cg_vd_req_v":0.0940240696,"cg_vd_v":0.0940240696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360893935,"cg_vq_v":-0.360893935,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.521850526,"dclink_p_w":75.7541962,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.035553,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.479736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12456,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1496468,"cg_dv":50.21455,"cg_dw":49.78545,"cg_id_a":-0.116631269,"cg_id_raw_a":-0.350677878,"cg_iq_a":0.253618211,"cg_iq_raw_a":0.112474166,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8600006,"cg_sample_seq":14703666,"cg_sample_valid":1,"cg_theta_rad":5.00722647,"cg_vd_req_v":0.0911687911,"cg_vd_v":0.0911687911,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376827031,"cg_vq_v":-0.376827031,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":47.0800018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.487549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12459,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1556053,"cg_dv":50.2125816,"cg_dw":49.7874184,"cg_id_a":0.0797504112,"cg_id_raw_a":0.087158367,"cg_iq_a":0.117908821,"cg_iq_raw_a":-0.0631890073,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395775437,"cg_iw_a":0.326994717,"cg_sample_age_us":23.9218178,"cg_sample_seq":14703716,"cg_sample_valid":1,"cg_theta_rad":5.00626755,"cg_vd_req_v":0.0861089006,"cg_vd_v":0.0861089006,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375940323,"cg_vq_v":-0.375940323,"cg_vu_v":107.773682,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":47.0800018,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00191348128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113701075,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12475,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1543884,"cg_dv":50.2112732,"cg_dw":49.7887268,"cg_id_a":0.1744885,"cg_id_raw_a":-0.138914466,"cg_iq_a":-0.0458622798,"cg_iq_raw_a":-0.121702276,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9400005,"cg_sample_seq":14703767,"cg_sample_valid":1,"cg_theta_rad":5.00718403,"cg_vd_req_v":0.0832439065,"cg_vd_v":0.0832439065,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372858346,"cg_vq_v":-0.372858346,"cg_vu_v":108.653458,"cg_vv_v":109.093361,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.592525959,"dclink_p_w":85.7531128,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111183338,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12444,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1718369,"cg_dv":50.2190056,"cg_dw":49.7809944,"cg_id_a":0.298448861,"cg_id_raw_a":-0.233844727,"cg_iq_a":0.963836908,"cg_iq_raw_a":0.195376202,"cg_iu_a":-0.142441988,"cg_iv_a":0.286616921,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14703817,"cg_sample_valid":1,"cg_theta_rad":5.00605774,"cg_vd_req_v":0.0800931975,"cg_vd_v":0.0800931975,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393726885,"cg_vq_v":-0.393726885,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":0.376875162,"dclink_p_w":54.543129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.514893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12429,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1522026,"cg_dv":50.2145882,"cg_dw":49.7854118,"cg_id_a":-0.41510123,"cg_id_raw_a":-0.418033808,"cg_iq_a":0.213626817,"cg_iq_raw_a":0.138403684,"cg_iu_a":0.654922485,"cg_iv_a":-0.184552908,"cg_iw_a":-0.470369577,"cg_sample_age_us":23.863636,"cg_sample_seq":14703867,"cg_sample_valid":1,"cg_theta_rad":5.00623369,"cg_vd_req_v":0.0928945765,"cg_vd_v":0.0928945765,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377422631,"cg_vq_v":-0.377422631,"cg_vu_v":107.773682,"cg_vv_v":106.014107,"cg_vw_v":102.93486,"control_outputs_enabled":1,"dclink_i_a":0.550845563,"dclink_p_w":79.9632492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0309448,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12452,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1498146,"cg_dv":50.210804,"cg_dw":49.789196,"cg_id_a":-0.189362019,"cg_id_raw_a":0.229177713,"cg_iq_a":0.0727274641,"cg_iq_raw_a":-0.0129748629,"cg_iu_a":0.256240129,"cg_iv_a":-0.257040501,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.8600006,"cg_sample_seq":14703917,"cg_sample_valid":1,"cg_theta_rad":5.00685358,"cg_vd_req_v":0.0851256251,"cg_vd_v":0.0851256251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372334421,"cg_vq_v":-0.372334421,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.608835697,"dclink_p_w":88.3813629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0401306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.530518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12454,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500206,"cg_dv":50.2093086,"cg_dw":49.7906914,"cg_id_a":-0.00346373767,"cg_id_raw_a":0.114610665,"cg_iq_a":0.0637560934,"cg_iq_raw_a":0.0846156776,"cg_iu_a":-0.577368021,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.289150596,"cg_sample_age_us":23.8454552,"cg_sample_seq":14703966,"cg_sample_valid":1,"cg_theta_rad":5.00649786,"cg_vd_req_v":0.0854005665,"cg_vd_v":0.0854005665,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369973212,"cg_vq_v":-0.369973212,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.608835697,"dclink_p_w":88.3813629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0401306,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111082628,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12466,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1545448,"cg_dv":50.2136116,"cg_dw":49.7863884,"cg_id_a":-0.140842378,"cg_id_raw_a":-0.481195867,"cg_iq_a":0.551326931,"cg_iq_raw_a":-0.266498268,"cg_iu_a":0.219996452,"cg_iv_a":-0.945673347,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9218178,"cg_sample_seq":14704017,"cg_sample_valid":1,"cg_theta_rad":5.00708055,"cg_vd_req_v":0.0877582952,"cg_vd_v":0.0877582952,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376778483,"cg_vq_v":-0.376778483,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":0.608835697,"dclink_p_w":88.3813629,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109622337,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12463,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1572685,"cg_dv":50.2127266,"cg_dw":49.7872734,"cg_id_a":0.0233217031,"cg_id_raw_a":-0.661526442,"cg_iq_a":0.60267204,"cg_iq_raw_a":0.480821997,"cg_iu_a":-0.867318392,"cg_iv_a":-0.0758213997,"cg_iw_a":0.943139791,"cg_sample_age_us":23.8527279,"cg_sample_seq":14704066,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.0844134539,"cg_vd_v":0.0844134539,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377194464,"cg_vq_v":-0.377194464,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12429,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1508408,"cg_dv":50.2068672,"cg_dw":49.7931328,"cg_id_a":-0.160466343,"cg_id_raw_a":-0.726289809,"cg_iq_a":-0.0618769228,"cg_iq_raw_a":0.0690283626,"cg_iu_a":-0.214929581,"cg_iv_a":-0.438259721,"cg_iw_a":0.689433217,"cg_sample_age_us":23.8527279,"cg_sample_seq":14704121,"cg_sample_valid":1,"cg_theta_rad":5.00760031,"cg_vd_req_v":0.0860737935,"cg_vd_v":0.0860737935,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36507988,"cg_vq_v":-0.36507988,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.221026659,"dclink_p_w":31.9880066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112492561,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12435,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1609306,"cg_dv":50.2121315,"cg_dw":49.7878685,"cg_id_a":0.111201368,"cg_id_raw_a":0.835819304,"cg_iq_a":0.585973084,"cg_iq_raw_a":1.68795204,"cg_iu_a":0.0750210285,"cg_iv_a":-0.329528213,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8527279,"cg_sample_seq":14704166,"cg_sample_valid":1,"cg_theta_rad":5.00639391,"cg_vd_req_v":0.0811727494,"cg_vd_v":0.0811727494,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378403336,"cg_vq_v":-0.378403336,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.6259232,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.09396172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.593018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12442,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1710892,"cg_dv":50.2083511,"cg_dw":49.7916489,"cg_id_a":0.606674135,"cg_id_raw_a":-0.0356915742,"cg_iq_a":0.504501402,"cg_iq_raw_a":-0.512803853,"cg_iu_a":0.147508621,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9872723,"cg_sample_seq":14704216,"cg_sample_valid":1,"cg_theta_rad":5.00757885,"cg_vd_req_v":0.0698210299,"cg_vd_v":0.0698210299,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380144358,"cg_vq_v":-0.380144358,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":62.4647446,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.09396172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.60083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1646347,"cg_dv":50.2126007,"cg_dw":49.7873993,"cg_id_a":0.247244969,"cg_id_raw_a":-0.0862272307,"cg_iq_a":0.506534398,"cg_iq_raw_a":-0.881467402,"cg_iu_a":-1.12102532,"cg_iv_a":0.0691539049,"cg_iw_a":1.05187142,"cg_sample_age_us":23.9872723,"cg_sample_seq":14704266,"cg_sample_valid":1,"cg_theta_rad":5.00624847,"cg_vd_req_v":0.0774376392,"cg_vd_v":0.0774376392,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382600248,"cg_vq_v":-0.382600248,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.0631332,"control_outputs_enabled":1,"dclink_i_a":0.0488684177,"dclink_p_w":7.09396172,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.0201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12448,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.167778,"cg_dv":50.2132072,"cg_dw":49.7867928,"cg_id_a":0.183034003,"cg_id_raw_a":0.435435116,"cg_iq_a":0.319223583,"cg_iq_raw_a":-0.792535007,"cg_iu_a":-1.84590197,"cg_iv_a":-0.402015924,"cg_iw_a":2.24791789,"cg_sample_age_us":23.9290905,"cg_sample_seq":14704316,"cg_sample_valid":1,"cg_theta_rad":5.00705528,"cg_vd_req_v":0.0777186826,"cg_vd_v":0.0777186826,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384769022,"cg_vq_v":-0.384769022,"cg_vu_v":138.126266,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.460235953,"dclink_p_w":66.8099442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.041687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12447,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1568336,"cg_dv":50.2178116,"cg_dw":49.7821884,"cg_id_a":-0.322684288,"cg_id_raw_a":-0.785368025,"cg_iq_a":0.196464896,"cg_iq_raw_a":0.470104039,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9145451,"cg_sample_seq":14704366,"cg_sample_valid":1,"cg_theta_rad":5.00634432,"cg_vd_req_v":0.0888279229,"cg_vd_v":0.0888279229,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384053081,"cg_vq_v":-0.384053081,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.5110817,"control_outputs_enabled":1,"dclink_i_a":0.460235953,"dclink_p_w":66.8099442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.041687,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10675212,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.628174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12413,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1600151,"cg_dv":50.2172012,"cg_dw":49.7827988,"cg_id_a":-0.0667083561,"cg_id_raw_a":0.256486714,"cg_iq_a":0.0582000129,"cg_iq_raw_a":0.135575101,"cg_iu_a":0.219996452,"cg_iv_a":-0.655722737,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9763641,"cg_sample_seq":14704416,"cg_sample_valid":1,"cg_theta_rad":5.00656033,"cg_vd_req_v":0.0862911791,"cg_vd_v":0.0862911791,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38488847,"cg_vq_v":-0.38488847,"cg_vu_v":29.912693,"cg_vv_v":19.3552723,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.460235953,"dclink_p_w":66.8099442,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0170898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.635986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12457,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1562881,"cg_dv":50.217411,"cg_dw":49.782589,"cg_id_a":-0.157592088,"cg_id_raw_a":0.0113215484,"cg_iq_a":0.0763415545,"cg_iq_raw_a":-0.580754995,"cg_iu_a":-0.287417412,"cg_iv_a":-0.510747373,"cg_iw_a":0.798164785,"cg_sample_age_us":23.9509087,"cg_sample_seq":14704466,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0887789279,"cg_vd_v":0.0887789279,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383224458,"cg_vq_v":-0.383224458,"cg_vu_v":28.5930176,"cg_vv_v":15.3962402,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.297138691,"dclink_p_w":43.0032959,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12475,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1648254,"cg_dv":50.2190666,"cg_dw":49.7809334,"cg_id_a":0.0542043597,"cg_id_raw_a":-0.397069275,"cg_iq_a":0.387734681,"cg_iq_raw_a":0.361785382,"cg_iu_a":-0.178685904,"cg_iv_a":0.0691539049,"cg_iw_a":0.109531999,"cg_sample_age_us":23.954546,"cg_sample_seq":14704516,"cg_sample_valid":1,"cg_theta_rad":5.00803518,"cg_vd_req_v":0.0847943798,"cg_vd_v":0.0847943798,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391266912,"cg_vq_v":-0.391266912,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.9789543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0432434,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.655518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12459,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.167408,"cg_dv":50.2240906,"cg_dw":49.7759094,"cg_id_a":0.0858910009,"cg_id_raw_a":-0.0104089221,"cg_iq_a":0.764760017,"cg_iq_raw_a":0.764160752,"cg_iu_a":-0.396148682,"cg_iv_a":0.322860777,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9618187,"cg_sample_seq":14704566,"cg_sample_valid":1,"cg_theta_rad":5.00704288,"cg_vd_req_v":0.0843963251,"cg_vd_v":0.0843963251,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.40027082,"cg_vq_v":-0.40027082,"cg_vu_v":25.0738773,"cg_vv_v":6.1584959,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.9789543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0170898,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116621651,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12446,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1607971,"cg_dv":50.2099266,"cg_dw":49.7900734,"cg_id_a":0.331078529,"cg_id_raw_a":-0.137513816,"cg_iq_a":-0.441699266,"cg_iq_raw_a":0.496946454,"cg_iu_a":-0.541124105,"cg_iv_a":0.105397761,"cg_iw_a":0.435726345,"cg_sample_age_us":23.8563633,"cg_sample_seq":14704621,"cg_sample_valid":1,"cg_theta_rad":5.00745869,"cg_vd_req_v":0.0790138692,"cg_vd_v":0.0790138692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375363261,"cg_vq_v":-0.375363261,"cg_vu_v":120.530563,"cg_vv_v":142.085297,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.9789543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0293884,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12466,"GapTicks":54748,"Mech_RPM":-3.50324616e-44,"cg_du":50.1669693,"cg_dv":50.2288513,"cg_dw":49.7711487,"cg_id_a":-0.226695344,"cg_id_raw_a":-0.249803051,"cg_iq_a":0.77933526,"cg_iq_raw_a":-0.278235495,"cg_iu_a":0.509947062,"cg_iv_a":-0.474503517,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9763641,"cg_sample_seq":14704666,"cg_sample_valid":1,"cg_theta_rad":5.00708246,"cg_vd_req_v":0.0910877064,"cg_vd_v":0.0910877064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404863119,"cg_vq_v":-0.404863119,"cg_vu_v":129.768311,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":0.240960717,"dclink_p_w":34.9789543,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0293884,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.698486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38687,"EncoderSin":12449,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1678772,"cg_dv":50.221405,"cg_dw":49.778595,"cg_id_a":0.0338203609,"cg_id_raw_a":0.204617143,"cg_iq_a":0.104767606,"cg_iq_raw_a":0.0226592086,"cg_iu_a":0.111264944,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9181824,"cg_sample_seq":14704717,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0868392289,"cg_vd_v":0.0868392289,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393193126,"cg_vq_v":-0.393193126,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-10.9905615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12461,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1711502,"cg_dv":50.2248535,"cg_dw":49.7751465,"cg_id_a":0.145785585,"cg_id_raw_a":0.309137851,"cg_iq_a":0.399707466,"cg_iq_raw_a":-0.187686205,"cg_iu_a":0.546190858,"cg_iv_a":-0.546991229,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9836369,"cg_sample_seq":14704767,"cg_sample_valid":1,"cg_theta_rad":5.00663137,"cg_vd_req_v":0.0838064626,"cg_vd_v":0.0838064626,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400522232,"cg_vq_v":-0.400522232,"cg_vu_v":130.648087,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-10.9905615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.714111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1605873,"cg_dv":50.2167549,"cg_dw":49.7832451,"cg_id_a":0.0668994337,"cg_id_raw_a":0.487160951,"cg_iq_a":-0.329219222,"cg_iq_raw_a":-0.934946001,"cg_iu_a":0.183752537,"cg_iv_a":0.250373065,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9581814,"cg_sample_seq":14704816,"cg_sample_valid":1,"cg_theta_rad":5.0075717,"cg_vd_req_v":0.0849006921,"cg_vd_v":0.0849006921,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38594088,"cg_vq_v":-0.38594088,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-10.9905615,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.72583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38753,"EncoderSin":12465,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1732826,"cg_dv":50.2220421,"cg_dw":49.7779579,"cg_id_a":0.392521083,"cg_id_raw_a":0.361055195,"cg_iq_a":0.319719464,"cg_iq_raw_a":0.615774751,"cg_iu_a":-0.0699543953,"cg_iv_a":0.032910049,"cg_iw_a":0.0370443463,"cg_sample_age_us":23.9181824,"cg_sample_seq":14704866,"cg_sample_valid":1,"cg_theta_rad":5.00771236,"cg_vd_req_v":0.0773325711,"cg_vd_v":0.0773325711,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400831938,"cg_vq_v":-0.400831938,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-41.0471115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.733643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12469,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1713829,"cg_dv":50.2229729,"cg_dw":49.7770271,"cg_id_a":0.034693189,"cg_id_raw_a":0.0663083121,"cg_iq_a":0.195900545,"cg_iq_raw_a":-0.284060895,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.438259721,"cg_iw_a":0.471969962,"cg_sample_age_us":23.8563633,"cg_sample_seq":14704916,"cg_sample_valid":1,"cg_theta_rad":5.0061574,"cg_vd_req_v":0.0824446678,"cg_vd_v":0.0824446678,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400500089,"cg_vq_v":-0.400500089,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.353438139,"dclink_p_w":-51.1512146,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112190425,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.741455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12445,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1705666,"cg_dv":50.2238235,"cg_dw":49.7761765,"cg_id_a":0.0777916685,"cg_id_raw_a":-0.0666304082,"cg_iq_a":0.244906753,"cg_iq_raw_a":-0.223802522,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213401,"cg_iw_a":0.0732879043,"cg_sample_age_us":23.9254551,"cg_sample_seq":14704966,"cg_sample_valid":1,"cg_theta_rad":5.00736952,"cg_vd_req_v":0.0819631889,"cg_vd_v":0.0819631889,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400339186,"cg_vq_v":-0.400339186,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.317194223,"dclink_p_w":-45.9058228,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0509033,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12449,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.166996,"cg_dv":50.22752,"cg_dw":49.77248,"cg_id_a":-0.393773079,"cg_id_raw_a":-1.01564765,"cg_iq_a":0.28055045,"cg_iq_raw_a":0.664879203,"cg_iu_a":0.256240129,"cg_iv_a":-0.546991229,"cg_iw_a":0.2907511,"cg_sample_age_us":23.954546,"cg_sample_seq":14705016,"cg_sample_valid":1,"cg_theta_rad":5.00729227,"cg_vd_req_v":0.090793401,"cg_vd_v":0.090793401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402840734,"cg_vq_v":-0.402840734,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.25739193,"dclink_p_w":-37.2509575,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0140381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12467,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1760788,"cg_dv":50.2268753,"cg_dw":49.7731247,"cg_id_a":0.0844513848,"cg_id_raw_a":0.460854948,"cg_iq_a":0.309122384,"cg_iq_raw_a":-0.465397418,"cg_iu_a":-0.106198072,"cg_iv_a":-0.00333368778,"cg_iw_a":0.10953176,"cg_sample_age_us":23.863636,"cg_sample_seq":14705066,"cg_sample_valid":1,"cg_theta_rad":5.005867,"cg_vd_req_v":0.0810647085,"cg_vd_v":0.0810647085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407478005,"cg_vq_v":-0.407478005,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.360686898,"dclink_p_w":-52.2002869,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0140381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114204623,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12457,"GapTicks":54748,"Mech_RPM":-3.50324616e-44,"cg_du":50.1824112,"cg_dv":50.228302,"cg_dw":49.771698,"cg_id_a":0.291764438,"cg_id_raw_a":0.185050994,"cg_iq_a":0.382900774,"cg_iq_raw_a":0.236169338,"cg_iu_a":-0.323661089,"cg_iv_a":-0.365772128,"cg_iw_a":0.689433217,"cg_sample_age_us":26.8199997,"cg_sample_seq":14705121,"cg_sample_valid":1,"cg_theta_rad":5.0072813,"cg_vd_req_v":0.0764339641,"cg_vd_v":0.0764339641,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413147688,"cg_vq_v":-0.413147688,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12458,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1628342,"cg_dv":50.2174034,"cg_dw":49.7825966,"cg_id_a":-0.179295003,"cg_id_raw_a":-0.22886841,"cg_iq_a":-0.845085979,"cg_iq_raw_a":-0.0585567281,"cg_iu_a":0.0750210285,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9836369,"cg_sample_seq":14705167,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0848305076,"cg_vd_v":0.0848305076,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387858987,"cg_vq_v":-0.387858987,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.803955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12435,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1739998,"cg_dv":50.2193565,"cg_dw":49.7806435,"cg_id_a":0.258686155,"cg_id_raw_a":0.593839288,"cg_iq_a":-0.428970993,"cg_iq_raw_a":-0.0864571631,"cg_iu_a":0.364971638,"cg_iv_a":0.359104633,"cg_iw_a":-0.724076271,"cg_sample_age_us":23.954546,"cg_sample_seq":14705217,"cg_sample_valid":1,"cg_theta_rad":5.00691891,"cg_vd_req_v":0.0772444457,"cg_vd_v":0.0772444457,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.396968603,"cg_vq_v":-0.396968603,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.407803893,"dclink_p_w":-59.0192795,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12454,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1732483,"cg_dv":50.2256546,"cg_dw":49.7743454,"cg_id_a":-0.0223291814,"cg_id_raw_a":0.465127885,"cg_iq_a":-0.0698704571,"cg_iq_raw_a":0.591800272,"cg_iu_a":-0.359904766,"cg_iv_a":-0.0395775437,"cg_iw_a":0.616945326,"cg_sample_age_us":23.954546,"cg_sample_seq":14705266,"cg_sample_valid":1,"cg_theta_rad":5.00551224,"cg_vd_req_v":0.0829291195,"cg_vd_v":0.0829291195,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.404064268,"cg_vq_v":-0.404064268,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.581774235,"dclink_p_w":-84.1970749,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.823486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12453,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1782951,"cg_dv":50.2229691,"cg_dw":49.7770309,"cg_id_a":0.327445626,"cg_id_raw_a":0.295151502,"cg_iq_a":-0.103454083,"cg_iq_raw_a":-0.0432934798,"cg_iu_a":-0.251173496,"cg_iv_a":0.504079998,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.9836369,"cg_sample_seq":14705317,"cg_sample_valid":1,"cg_theta_rad":5.00642014,"cg_vd_req_v":0.0767535046,"cg_vd_v":0.0767535046,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.403162926,"cg_vq_v":-0.403162926,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":92.3774414,"control_outputs_enabled":1,"dclink_i_a":-0.732186079,"dclink_p_w":-105.965378,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.831299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38767,"EncoderSin":12468,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.162159,"cg_dv":50.2261887,"cg_dw":49.7738113,"cg_id_a":-0.119515494,"cg_id_raw_a":0.197546586,"cg_iq_a":-0.2571733,"cg_iq_raw_a":0.345449507,"cg_iu_a":0.401215792,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.361638308,"cg_sample_age_us":23.954546,"cg_sample_seq":14705417,"cg_sample_valid":1,"cg_theta_rad":5.00716162,"cg_vd_req_v":0.088509582,"cg_vd_v":0.088509582,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399401397,"cg_vq_v":-0.399401397,"cg_vu_v":105.134323,"cg_vv_v":99.4157181,"cg_vw_v":82.2599106,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.839111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12463,"GapTicks":54741,"Mech_RPM":-3.50324616e-44,"cg_du":50.1738129,"cg_dv":50.2353935,"cg_dw":49.7646065,"cg_id_a":-0.460127771,"cg_id_raw_a":-0.0207561012,"cg_iq_a":0.619897783,"cg_iq_raw_a":0.581603527,"cg_iu_a":-0.214929581,"cg_iv_a":0.032910049,"cg_iw_a":0.182019532,"cg_sample_age_us":23.9509087,"cg_sample_seq":14705467,"cg_sample_valid":1,"cg_theta_rad":5.00667572,"cg_vd_req_v":0.0946201831,"cg_vd_v":0.0946201831,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.418359965,"cg_vq_v":-0.418359965,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":75.6615219,"control_outputs_enabled":1,"dclink_i_a":-0.521971941,"dclink_p_w":-75.7718201,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0278625,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.846924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12449,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1613579,"cg_dv":50.2259178,"cg_dw":49.7740822,"cg_id_a":-0.236114174,"cg_id_raw_a":-0.236060947,"cg_iq_a":-0.186769173,"cg_iq_raw_a":0.0141742146,"cg_iu_a":-0.432392597,"cg_iv_a":-0.184552908,"cg_iw_a":0.616945505,"cg_sample_age_us":23.954546,"cg_sample_seq":14705517,"cg_sample_valid":1,"cg_theta_rad":5.00665808,"cg_vd_req_v":0.0933029801,"cg_vd_v":0.0933029801,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.398849547,"cg_vq_v":-0.398849547,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.761181116,"dclink_p_w":-110.496513,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.995575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.854736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12449,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.1607246,"cg_dv":50.2301636,"cg_dw":49.7698364,"cg_id_a":-0.400822788,"cg_id_raw_a":-0.815606952,"cg_iq_a":-0.084309414,"cg_iq_raw_a":0.756564021,"cg_iu_a":0.401215553,"cg_iv_a":-0.25704062,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9872723,"cg_sample_seq":14705567,"cg_sample_valid":1,"cg_theta_rad":5.00740528,"cg_vd_req_v":0.0988358706,"cg_vd_v":0.0988358706,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402766109,"cg_vq_v":-0.402766109,"cg_vu_v":138.126266,"cg_vv_v":126.689056,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.71768856,"dclink_p_w":-104.182938,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.995575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115010299,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12463,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.167057,"cg_dv":50.2276077,"cg_dw":49.7723923,"cg_id_a":-0.036648415,"cg_id_raw_a":0.0477663018,"cg_iq_a":-0.156862691,"cg_iq_raw_a":0.115076557,"cg_iu_a":-0.577367783,"cg_iv_a":0.0691539645,"cg_iw_a":0.508213818,"cg_sample_age_us":23.954546,"cg_sample_seq":14705617,"cg_sample_valid":1,"cg_theta_rad":5.00770378,"cg_vd_req_v":0.0926444456,"cg_vd_v":0.0926444456,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.402585357,"cg_vq_v":-0.402585357,"cg_vu_v":115.251846,"cg_vv_v":128.008743,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.407066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0109558,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12480,"GapTicks":54745,"Mech_RPM":-3.50324616e-44,"cg_du":50.174736,"cg_dv":50.2315903,"cg_dw":49.7684097,"cg_id_a":0.130645216,"cg_id_raw_a":0.116085649,"cg_iq_a":0.295770168,"cg_iq_raw_a":-0.607206881,"cg_iu_a":-0.323661089,"cg_iv_a":0.0329101086,"cg_iw_a":0.29075098,"cg_sample_age_us":23.8600006,"cg_sample_seq":14705670,"cg_sample_valid":1,"cg_theta_rad":5.00684595,"cg_vd_req_v":0.086122334,"cg_vd_v":0.086122334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.413265079,"cg_vq_v":-0.413265079,"cg_vu_v":25.0738773,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.407066,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0339966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12444,"GapTicks":54747,"Mech_RPM":-3.50324616e-44,"cg_du":50.1646004,"cg_dv":50.2291565,"cg_dw":49.7708435,"cg_id_a":-0.225807518,"cg_id_raw_a":-0.430152565,"cg_iq_a":-0.00420205295,"cg_iq_raw_a":-0.150691599,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.474503636,"cg_iw_a":0.508214116,"cg_sample_age_us":23.8454552,"cg_sample_seq":14705716,"cg_sample_valid":1,"cg_theta_rad":5.00535393,"cg_vd_req_v":0.0941399112,"cg_vd_v":0.0941399112,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.405039608,"cg_vq_v":-0.405039608,"cg_vu_v":21.9946289,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.868100643,"dclink_p_w":-125.635567,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.1354675,"temp_inv2_c":35.0339966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117779806,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.909424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12461,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1689835,"cg_dv":50.2198982,"cg_dw":49.7801018,"cg_id_a":0.486857831,"cg_id_raw_a":-0.224353075,"cg_iq_a":-0.562887371,"cg_iq_raw_a":-0.749514163,"cg_iu_a":-0.323661089,"cg_iv_a":1.5913949,"cg_iw_a":-1.26773381,"cg_sample_age_us":23.8563633,"cg_sample_seq":14705766,"cg_sample_valid":1,"cg_theta_rad":5.00759935,"cg_vd_req_v":0.0815525874,"cg_vd_v":0.0815525874,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394911289,"cg_vq_v":-0.394911289,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.723125219,"dclink_p_w":-104.972145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2667.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12464,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1627617,"cg_dv":50.2269745,"cg_dw":49.7730255,"cg_id_a":-0.0756501406,"cg_id_raw_a":-0.288043231,"cg_iq_a":-0.314585358,"cg_iq_raw_a":-0.53671509,"cg_iu_a":0.0387773514,"cg_iv_a":0.0691539049,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.9799995,"cg_sample_seq":14705818,"cg_sample_valid":1,"cg_theta_rad":5.00613928,"cg_vd_req_v":0.0924429744,"cg_vd_v":0.0924429744,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399985105,"cg_vq_v":-0.399985105,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.685069084,"dclink_p_w":-99.1463852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12443,"GapTicks":54748,"Mech_RPM":-3.50324616e-44,"cg_du":50.1759338,"cg_dv":50.2286453,"cg_dw":49.7713547,"cg_id_a":0.227846324,"cg_id_raw_a":-0.190163657,"cg_iq_a":0.269028693,"cg_iq_raw_a":-0.23663643,"cg_iu_a":-0.758586884,"cg_iv_a":-0.0395776033,"cg_iw_a":0.798164487,"cg_sample_age_us":23.9254551,"cg_sample_seq":14705866,"cg_sample_valid":1,"cg_theta_rad":5.00673008,"cg_vd_req_v":0.0847038627,"cg_vd_v":0.0847038627,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.408138841,"cg_vq_v":-0.408138841,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.857227325,"dclink_p_w":-124.061928,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12463,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1568413,"cg_dv":50.2179184,"cg_dw":49.7820816,"cg_id_a":0.151207417,"cg_id_raw_a":0.938800812,"cg_iq_a":-0.778126836,"cg_iq_raw_a":-1.33224845,"cg_iu_a":0.14750886,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.144175172,"cg_sample_age_us":23.9472733,"cg_sample_seq":14705917,"cg_sample_valid":1,"cg_theta_rad":5.00629091,"cg_vd_req_v":0.0864071697,"cg_vd_v":0.0864071697,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383548677,"cg_vq_v":-0.383548677,"cg_vu_v":134.167236,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.857227325,"dclink_p_w":-124.061928,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.94458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12454,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1580963,"cg_dv":50.2267303,"cg_dw":49.7732697,"cg_id_a":-0.477314711,"cg_id_raw_a":0.0362566151,"cg_iq_a":0.0264850259,"cg_iq_raw_a":-0.17760624,"cg_iu_a":-0.251173258,"cg_iv_a":-1.45308709,"cg_iw_a":1.70426035,"cg_sample_age_us":23.9509087,"cg_sample_seq":14705967,"cg_sample_valid":1,"cg_theta_rad":5.0065484,"cg_vd_req_v":0.0989035219,"cg_vd_v":0.0989035219,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.395013064,"cg_vq_v":-0.395013064,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.962334394,"dclink_p_w":-139.273514,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0201721,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116168454,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2667.952393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12472,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1611786,"cg_dv":50.2234955,"cg_dw":49.7765045,"cg_id_a":0.0327228308,"cg_id_raw_a":0.101469412,"cg_iq_a":0.186420828,"cg_iq_raw_a":0.228619963,"cg_iu_a":-0.106198072,"cg_iv_a":-0.329528213,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9836369,"cg_sample_seq":14706017,"cg_sample_valid":1,"cg_theta_rad":5.0068903,"cg_vd_req_v":0.088928327,"cg_vd_v":0.088928327,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394679606,"cg_vq_v":-0.394679606,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.915217638,"dclink_p_w":-132.454559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.021698,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109924458,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.960205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12444,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1539421,"cg_dv":50.2178688,"cg_dw":49.7821312,"cg_id_a":-0.134919405,"cg_id_raw_a":-0.336586118,"cg_iq_a":-0.204310358,"cg_iq_raw_a":-0.0329441726,"cg_iu_a":0.61867857,"cg_iv_a":0.0691539049,"cg_iw_a":-0.687832475,"cg_sample_age_us":23.9436359,"cg_sample_seq":14706067,"cg_sample_valid":1,"cg_theta_rad":5.0081811,"cg_vd_req_v":0.0920147598,"cg_vd_v":0.0920147598,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382299274,"cg_vq_v":-0.382299274,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.915217638,"dclink_p_w":-132.454559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2667.968018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12427,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431313,"cg_dv":50.2134094,"cg_dw":49.7865906,"cg_id_a":-0.204900563,"cg_id_raw_a":-0.0407233201,"cg_iq_a":-0.655080855,"cg_iq_raw_a":-0.695070028,"cg_iu_a":0.219996452,"cg_iv_a":0.0329101086,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9872723,"cg_sample_seq":14706117,"cg_sample_valid":1,"cg_theta_rad":5.00838709,"cg_vd_req_v":0.0951359719,"cg_vd_v":0.0951359719,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370419592,"cg_vq_v":-0.370419592,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.915217638,"dclink_p_w":-132.454559,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109370567,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2667.97082,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2667.970826,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2667.970832,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2667.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12468,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1502151,"cg_dv":50.2172165,"cg_dw":49.7827835,"cg_id_a":-0.0670071468,"cg_id_raw_a":0.010347628,"cg_iq_a":-0.133040354,"cg_iq_raw_a":0.29310137,"cg_iu_a":-0.432392597,"cg_iv_a":-0.112065196,"cg_iw_a":0.544457793,"cg_sample_age_us":26.8163643,"cg_sample_seq":14706169,"cg_sample_valid":1,"cg_theta_rad":5.00680685,"cg_vd_req_v":0.0928950384,"cg_vd_v":0.0928950384,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379661113,"cg_vq_v":-0.379661113,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.873537064,"dclink_p_w":-126.422348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0232544,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11269398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.00708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12507,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1513023,"cg_dv":50.212616,"cg_dw":49.787384,"cg_id_a":0.213034749,"cg_id_raw_a":0.0101937652,"cg_iq_a":-0.333446056,"cg_iq_raw_a":-0.143854052,"cg_iu_a":-0.0699541569,"cg_iv_a":0.177885473,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9763641,"cg_sample_seq":14706217,"cg_sample_valid":1,"cg_theta_rad":5.00705814,"cg_vd_req_v":0.0865633115,"cg_vd_v":0.0865633115,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373052895,"cg_vq_v":-0.373052895,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.724937439,"dclink_p_w":-104.916321,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.014893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38698,"EncoderSin":12401,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1466293,"cg_dv":50.2110901,"cg_dw":49.7889099,"cg_id_a":-0.221698746,"cg_id_raw_a":0.035319332,"cg_iq_a":-0.0648444146,"cg_iq_raw_a":-0.359925032,"cg_iu_a":-0.106198072,"cg_iv_a":0.214129269,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9836369,"cg_sample_seq":14706367,"cg_sample_valid":1,"cg_theta_rad":5.00798607,"cg_vd_req_v":0.0940843895,"cg_vd_v":0.0940843895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369434088,"cg_vq_v":-0.369434088,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4999,"hz_app_loop":2601,"hz_tim_isr":4999,"hz_vsense":2601,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0063477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10690318,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12453,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1518059,"cg_dv":50.2127686,"cg_dw":49.7872314,"cg_id_a":0.0147689283,"cg_id_raw_a":0.533736527,"cg_iq_a":0.193485022,"cg_iq_raw_a":0.30869326,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0758213997,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9436359,"cg_sample_seq":14706417,"cg_sample_valid":1,"cg_theta_rad":5.00673008,"cg_vd_req_v":0.0885791555,"cg_vd_v":0.0885791555,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375412941,"cg_vq_v":-0.375412941,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0339966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00261844811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38691,"EncoderSin":12430,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1572189,"cg_dv":50.2149734,"cg_dw":49.7850266,"cg_id_a":-0.0292124599,"cg_id_raw_a":0.0429058149,"cg_iq_a":0.461612195,"cg_iq_raw_a":-0.432013541,"cg_iu_a":-0.541124105,"cg_iv_a":0.141641617,"cg_iw_a":0.94314003,"cg_sample_age_us":23.9436359,"cg_sample_seq":14706466,"cg_sample_valid":1,"cg_theta_rad":5.00773144,"cg_vd_req_v":0.0895025358,"cg_vd_v":0.0895025358,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380769163,"cg_vq_v":-0.380769163,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.61983037,"dclink_p_w":-89.7047348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12453,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486206,"cg_dv":50.2123795,"cg_dw":49.7876205,"cg_id_a":-0.0191354528,"cg_id_raw_a":0.315895736,"cg_iq_a":-0.055735711,"cg_iq_raw_a":0.176914483,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9836369,"cg_sample_seq":14706517,"cg_sample_valid":1,"cg_theta_rad":5.00718403,"cg_vd_req_v":0.0894157141,"cg_vd_v":0.0894157141,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372199386,"cg_vq_v":-0.372199386,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.1370087,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.065674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12455,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1513786,"cg_dv":50.2113724,"cg_dw":49.7886276,"cg_id_a":0.122099847,"cg_id_raw_a":0.5552333,"cg_iq_a":-0.0967173129,"cg_iq_raw_a":0.0920897871,"cg_iu_a":-0.0337104797,"cg_iv_a":0.214129329,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9436359,"cg_sample_seq":14706566,"cg_sample_valid":1,"cg_theta_rad":5.0059309,"cg_vd_req_v":0.0871512666,"cg_vd_v":0.0871512666,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372169554,"cg_vq_v":-0.372169554,"cg_vu_v":38.7105446,"cg_vv_v":43.9892578,"cg_vw_v":57.1860352,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-107.735062,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.081299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12445,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1466026,"cg_dv":50.2130127,"cg_dw":49.7869873,"cg_id_a":-0.101974607,"cg_id_raw_a":-0.176503405,"cg_iq_a":0.0726845264,"cg_iq_raw_a":1.73153508,"cg_iu_a":0.292484045,"cg_iv_a":0.0329101086,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.8963642,"cg_sample_seq":14706616,"cg_sample_valid":1,"cg_theta_rad":5.00715065,"cg_vd_req_v":0.0929143652,"cg_vd_v":0.0929143652,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37160629,"cg_vq_v":-0.37160629,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.7817383,"control_outputs_enabled":1,"dclink_i_a":-0.802861691,"dclink_p_w":-116.193878,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0032654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.112549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12485,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411476,"cg_dv":50.2043037,"cg_dw":49.7956963,"cg_id_a":0.16753827,"cg_id_raw_a":-0.0624434836,"cg_iq_a":-0.347215086,"cg_iq_raw_a":-0.0416492857,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9218178,"cg_sample_seq":14706818,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0875511616,"cg_vd_v":0.0875511616,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356996655,"cg_vq_v":-0.356996655,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.1118469,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.128174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12455,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403656,"cg_dv":50.20961,"cg_dw":49.79039,"cg_id_a":-0.0490090847,"cg_id_raw_a":0.124188982,"cg_iq_a":-0.12242581,"cg_iq_raw_a":-0.242462948,"cg_iu_a":0.0387773514,"cg_iv_a":-0.691966653,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14706867,"cg_sample_valid":1,"cg_theta_rad":5.00653028,"cg_vd_req_v":0.0919216648,"cg_vd_v":0.0919216648,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364133924,"cg_vq_v":-0.364133924,"cg_vu_v":114.811958,"cg_vv_v":127.12896,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.422301412,"dclink_p_w":-61.1174278,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12443,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418533,"cg_dv":50.2070923,"cg_dw":49.7929077,"cg_id_a":0.0226432569,"cg_id_raw_a":0.0403653495,"cg_iq_a":-0.425119787,"cg_iq_raw_a":-0.869291782,"cg_iu_a":0.14750886,"cg_iv_a":0.322860777,"cg_iw_a":-0.470369637,"cg_sample_age_us":23.954546,"cg_sample_seq":14706916,"cg_sample_valid":1,"cg_theta_rad":5.00613689,"cg_vd_req_v":0.0904190689,"cg_vd_v":0.0904190689,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36100927,"cg_vq_v":-0.36100927,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0386047,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.151611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12472,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500778,"cg_dv":50.2102432,"cg_dw":49.7897568,"cg_id_a":0.28576988,"cg_id_raw_a":0.277840912,"cg_iq_a":-0.107756391,"cg_iq_raw_a":-0.0813784599,"cg_iu_a":-0.577367783,"cg_iv_a":-0.148309052,"cg_iw_a":0.725676835,"cg_sample_age_us":23.9581814,"cg_sample_seq":14706967,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0865519345,"cg_vd_v":0.0865519345,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370024085,"cg_vq_v":-0.370024085,"cg_vu_v":118.770996,"cg_vv_v":137.246475,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.995575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113801777,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12463,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383781,"cg_dv":50.2090187,"cg_dw":49.7909813,"cg_id_a":-0.214377522,"cg_id_raw_a":-0.497561455,"cg_iq_a":-0.374556243,"cg_iq_raw_a":-0.993076921,"cg_iu_a":0.292484283,"cg_iv_a":0.0329101086,"cg_iw_a":-0.325394392,"cg_sample_age_us":23.954546,"cg_sample_seq":14707016,"cg_sample_valid":1,"cg_theta_rad":5.00830364,"cg_vd_req_v":0.0939859301,"cg_vd_v":0.0939859301,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363114953,"cg_vq_v":-0.363114953,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.0699501,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.178955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12445,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1455727,"cg_dv":50.2101173,"cg_dw":49.7898827,"cg_id_a":0.00102820247,"cg_id_raw_a":-0.666813731,"cg_iq_a":-0.0539621711,"cg_iq_raw_a":0.117011055,"cg_iu_a":-0.722343206,"cg_iv_a":0.105397761,"cg_iw_a":0.616945446,"cg_sample_age_us":23.9581814,"cg_sample_seq":14707067,"cg_sample_valid":1,"cg_theta_rad":5.00763655,"cg_vd_req_v":0.090482235,"cg_vd_v":0.090482235,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367201447,"cg_vq_v":-0.367201447,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.44223547,"dclink_p_w":-64.0023727,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0017395,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12472,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.144825,"cg_dv":50.2132149,"cg_dw":49.7867851,"cg_id_a":0.0172639415,"cg_id_raw_a":-0.262442291,"cg_iq_a":0.157925278,"cg_iq_raw_a":-0.38694343,"cg_iu_a":-0.50488019,"cg_iv_a":0.10539782,"cg_iw_a":0.399482369,"cg_sample_age_us":23.954546,"cg_sample_seq":14707116,"cg_sample_valid":1,"cg_theta_rad":5.00722647,"cg_vd_req_v":0.091117017,"cg_vd_v":0.091117017,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371726006,"cg_vq_v":-0.371726006,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.309945464,"dclink_p_w":-44.8567505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":35.0601196,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.22583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38776,"EncoderSin":12488,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418953,"cg_dv":50.2211494,"cg_dw":49.7788506,"cg_id_a":-0.267352223,"cg_id_raw_a":-0.0635907054,"cg_iq_a":0.138534486,"cg_iq_raw_a":0.468298197,"cg_iu_a":-0.178685665,"cg_iv_a":0.0691539049,"cg_iw_a":0.10953176,"cg_sample_age_us":23.954546,"cg_sample_seq":14707221,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.0983923823,"cg_vd_v":0.0983923823,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381633759,"cg_vq_v":-0.381633759,"cg_vu_v":140.765625,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0125122,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38754,"EncoderSin":12473,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1504593,"cg_dv":50.2156448,"cg_dw":49.7843552,"cg_id_a":0.211547628,"cg_id_raw_a":0.242015213,"cg_iq_a":-0.0973150432,"cg_iq_raw_a":-0.159418091,"cg_iu_a":-0.577368021,"cg_iv_a":0.0691539049,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9181824,"cg_sample_seq":14707267,"cg_sample_valid":1,"cg_theta_rad":5.00645828,"cg_vd_req_v":0.0886460692,"cg_vd_v":0.0886460692,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378264636,"cg_vq_v":-0.378264636,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.404179454,"dclink_p_w":-58.4947319,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0324707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.249268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12465,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1471138,"cg_dv":50.2196884,"cg_dw":49.7803116,"cg_id_a":-0.200279623,"cg_id_raw_a":-0.827635407,"cg_iq_a":0.0903494209,"cg_iq_raw_a":1.16040659,"cg_iu_a":-0.142441988,"cg_iv_a":0.286616921,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.863636,"cg_sample_seq":14707317,"cg_sample_valid":1,"cg_theta_rad":5.006495,"cg_vd_req_v":0.0969409198,"cg_vd_v":0.0969409198,"cg_vdc_v":145.604446,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381485641,"cg_vq_v":-0.381485641,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0324707,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12492,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1474228,"cg_dv":50.2166328,"cg_dw":49.7833672,"cg_id_a":0.0146726593,"cg_id_raw_a":0.157545671,"cg_iq_a":0.13007082,"cg_iq_raw_a":0.525206506,"cg_iu_a":0.727410078,"cg_iv_a":0.0691539049,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9472733,"cg_sample_seq":14707366,"cg_sample_valid":1,"cg_theta_rad":5.0068841,"cg_vd_req_v":0.0937534645,"cg_vd_v":0.0937534645,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37871334,"cg_vq_v":-0.37871334,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0094299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110176243,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.276611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12458,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1530685,"cg_dv":50.2219238,"cg_dw":49.7780762,"cg_id_a":-0.203764215,"cg_id_raw_a":-0.00743760075,"cg_iq_a":0.526858985,"cg_iq_raw_a":1.31126034,"cg_iu_a":0.836141586,"cg_iv_a":-0.148308992,"cg_iw_a":0.471970081,"cg_sample_age_us":23.8490906,"cg_sample_seq":14707417,"cg_sample_valid":1,"cg_theta_rad":5.00602484,"cg_vd_req_v":0.0959908962,"cg_vd_v":0.0959908962,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38622573,"cg_vq_v":-0.38622573,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.34437716,"dclink_p_w":-49.8398666,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":35.0186157,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111586183,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.311768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12449,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1508408,"cg_dv":50.2139893,"cg_dw":49.7860107,"cg_id_a":-0.00723840296,"cg_id_raw_a":-0.0322786123,"cg_iq_a":0.19159475,"cg_iq_raw_a":0.288973629,"cg_iu_a":0.401215553,"cg_iv_a":0.141641617,"cg_iw_a":-0.54285717,"cg_sample_age_us":26.8199997,"cg_sample_seq":14707867,"cg_sample_valid":1,"cg_theta_rad":5.00668097,"cg_vd_req_v":0.0905293301,"cg_vd_v":0.0905293301,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375321299,"cg_vq_v":-0.375321299,"cg_vu_v":40.9100075,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0063477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113499656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12457,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1433029,"cg_dv":50.2121429,"cg_dw":49.7878571,"cg_id_a":0.107421763,"cg_id_raw_a":-0.10029982,"cg_iq_a":0.0476237386,"cg_iq_raw_a":0.137021676,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.8527279,"cg_sample_seq":14707916,"cg_sample_valid":1,"cg_theta_rad":5.00787592,"cg_vd_req_v":0.0879517868,"cg_vd_v":0.0879517868,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371506333,"cg_vq_v":-0.371506333,"cg_vu_v":103.374756,"cg_vv_v":94.5769043,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0094299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12429,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510963,"cg_dv":50.2148132,"cg_dw":49.7851868,"cg_id_a":-0.158158854,"cg_id_raw_a":-0.667125583,"cg_iq_a":0.28255555,"cg_iq_raw_a":0.115219869,"cg_iu_a":-1.99087739,"cg_iv_a":-0.112065196,"cg_iw_a":-0.579101205,"cg_sample_age_us":23.954546,"cg_sample_seq":14707967,"cg_sample_valid":1,"cg_theta_rad":5.00603914,"cg_vd_req_v":0.0920135602,"cg_vd_v":0.0920135602,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377583832,"cg_vq_v":-0.377583832,"cg_vu_v":138.566162,"cg_vv_v":128.008743,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.576337576,"dclink_p_w":-83.6637878,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0094299,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111837953,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12495,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1462669,"cg_dv":50.2104378,"cg_dw":49.7895622,"cg_id_a":0.0510032102,"cg_id_raw_a":0.280389637,"cg_iq_a":-0.122426286,"cg_iq_raw_a":0.353147864,"cg_iu_a":0.14750886,"cg_iv_a":-0.148309112,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8563633,"cg_sample_seq":14708016,"cg_sample_valid":1,"cg_theta_rad":5.00885534,"cg_vd_req_v":0.0865509287,"cg_vd_v":0.0865509287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368914098,"cg_vq_v":-0.368914098,"cg_vu_v":29.0329094,"cg_vv_v":16.2760258,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.552779198,"dclink_p_w":-80.0007782,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9940491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12463,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.143383,"cg_dv":50.2112617,"cg_dw":49.7887383,"cg_id_a":-0.164513424,"cg_id_raw_a":0.683979094,"cg_iq_a":-0.207897246,"cg_iq_raw_a":-0.151561737,"cg_iu_a":0.183752775,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9509087,"cg_sample_seq":14708067,"cg_sample_valid":1,"cg_theta_rad":5.00554085,"cg_vd_req_v":0.0925250724,"cg_vd_v":0.0925250724,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367723286,"cg_vq_v":-0.367723286,"cg_vu_v":116.131638,"cg_vv_v":130.648087,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.569088936,"dclink_p_w":-82.3611984,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12455,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1464653,"cg_dv":50.2169342,"cg_dw":49.7830658,"cg_id_a":-0.30532515,"cg_id_raw_a":-0.224469095,"cg_iq_a":0.235563904,"cg_iq_raw_a":-0.313030124,"cg_iu_a":0.654922485,"cg_iv_a":-0.329528213,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9509087,"cg_sample_seq":14708116,"cg_sample_valid":1,"cg_theta_rad":5.00703478,"cg_vd_req_v":0.096847795,"cg_vd_v":0.096847795,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376851916,"cg_vq_v":-0.376851916,"cg_vu_v":24.1940918,"cg_vv_v":3.95903301,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111384749,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.409424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12479,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.145401,"cg_dv":50.2104454,"cg_dw":49.7895546,"cg_id_a":0.225591019,"cg_id_raw_a":0.297330052,"cg_iq_a":-0.109095275,"cg_iq_raw_a":0.391631752,"cg_iu_a":-0.287417412,"cg_iv_a":1.37393188,"cg_iw_a":-1.48519683,"cg_sample_age_us":23.8600006,"cg_sample_seq":14708170,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0879018083,"cg_vd_v":0.0879018083,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368285894,"cg_vq_v":-0.368285894,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.679632664,"dclink_p_w":-98.3596039,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0140381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108967721,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12428,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1387329,"cg_dv":50.2077789,"cg_dw":49.7922211,"cg_id_a":-0.147283569,"cg_id_raw_a":-0.0574828722,"cg_iq_a":-0.451082706,"cg_iq_raw_a":-0.296459347,"cg_iu_a":0.727410316,"cg_iv_a":0.214129269,"cg_iw_a":-0.941539586,"cg_sample_age_us":23.9436359,"cg_sample_seq":14708216,"cg_sample_valid":1,"cg_theta_rad":5.00669718,"cg_vd_req_v":0.0947604626,"cg_vd_v":0.0947604626,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36103344,"cg_vq_v":-0.36103344,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12437,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404724,"cg_dv":50.2167931,"cg_dw":49.7832069,"cg_id_a":-0.209872097,"cg_id_raw_a":-0.0208763722,"cg_iq_a":0.245330796,"cg_iq_raw_a":-0.0375702009,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8672733,"cg_sample_seq":14708266,"cg_sample_valid":1,"cg_theta_rad":5.00773668,"cg_vd_req_v":0.0993225127,"cg_vd_v":0.0993225127,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373845071,"cg_vq_v":-0.373845071,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.746683598,"dclink_p_w":-108.391991,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12421,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416321,"cg_dv":50.2095451,"cg_dw":49.7904549,"cg_id_a":0.121783569,"cg_id_raw_a":0.37111786,"cg_iq_a":-0.0152830612,"cg_iq_raw_a":-0.580798447,"cg_iu_a":0.111264944,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9509087,"cg_sample_seq":14708316,"cg_sample_valid":1,"cg_theta_rad":5.01003122,"cg_vd_req_v":0.0940249413,"cg_vd_v":0.0940249413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363944709,"cg_vq_v":-0.363944709,"cg_vu_v":142.965088,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.911593199,"dclink_p_w":-131.930008,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12489,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1354408,"cg_dv":50.2045174,"cg_dw":49.7954826,"cg_id_a":0.282409847,"cg_id_raw_a":-0.155439004,"cg_iq_a":-0.425964803,"cg_iq_raw_a":0.277489036,"cg_iu_a":-0.0699541569,"cg_iv_a":0.39534843,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8563633,"cg_sample_seq":14708366,"cg_sample_valid":1,"cg_theta_rad":5.00790834,"cg_vd_req_v":0.0910946652,"cg_vd_v":0.0910946652,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354386061,"cg_vq_v":-0.354386061,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.911593199,"dclink_p_w":-131.930008,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38690,"EncoderSin":12433,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1318779,"cg_dv":50.2038002,"cg_dw":49.7961998,"cg_id_a":-0.00269204192,"cg_id_raw_a":0.614785135,"cg_iq_a":-0.261634976,"cg_iq_raw_a":-0.662308633,"cg_iu_a":-0.0699541569,"cg_iv_a":0.0329101086,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9436359,"cg_sample_seq":14708617,"cg_sample_valid":1,"cg_theta_rad":5.00769567,"cg_vd_req_v":0.0979823992,"cg_vd_v":0.0979823992,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35012114,"cg_vq_v":-0.35012114,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.612495,"control_outputs_enabled":1,"dclink_i_a":-1.06925392,"dclink_p_w":-155.217758,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9940491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12471,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1380615,"cg_dv":50.2116737,"cg_dw":49.7883263,"cg_id_a":0.0187677238,"cg_id_raw_a":0.247292504,"cg_iq_a":0.439356804,"cg_iq_raw_a":0.461035043,"cg_iu_a":0.111264944,"cg_iv_a":1.2652005,"cg_iw_a":-1.37646544,"cg_sample_age_us":26.812727,"cg_sample_seq":14708670,"cg_sample_valid":1,"cg_theta_rad":5.00857067,"cg_vd_req_v":0.0960280523,"cg_vd_v":0.0960280523,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36439845,"cg_vq_v":-0.36439845,"cg_vu_v":107.333786,"cg_vv_v":106.014107,"cg_vw_v":103.374756,"control_outputs_enabled":1,"dclink_i_a":-1.06925392,"dclink_p_w":-155.217758,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9940491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.522705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12490,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328583,"cg_dv":50.2081299,"cg_dw":49.7918701,"cg_id_a":-0.13257122,"cg_id_raw_a":-0.327086061,"cg_iq_a":0.0700102001,"cg_iq_raw_a":0.51507622,"cg_iu_a":-0.214929581,"cg_iv_a":-0.293284416,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9181824,"cg_sample_seq":14708716,"cg_sample_valid":1,"cg_theta_rad":5.00823879,"cg_vd_req_v":0.098139897,"cg_vd_v":0.098139897,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35745731,"cg_vq_v":-0.35745731,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12480,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1344948,"cg_dv":50.2028275,"cg_dw":49.7971725,"cg_id_a":0.187874958,"cg_id_raw_a":0.076741457,"cg_iq_a":-0.281823903,"cg_iq_raw_a":-0.173749149,"cg_iu_a":-0.432392597,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9290905,"cg_sample_seq":14708767,"cg_sample_valid":1,"cg_theta_rad":5.00668764,"cg_vd_req_v":0.091863133,"cg_vd_v":0.091863133,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351125598,"cg_vq_v":-0.351125598,"cg_vu_v":107.333786,"cg_vv_v":105.134323,"cg_vw_v":99.8556061,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":35.015564,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12407,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413612,"cg_dv":50.2084045,"cg_dw":49.7915955,"cg_id_a":0.142556518,"cg_id_raw_a":-0.10641259,"cg_iq_a":0.296083868,"cg_iq_raw_a":-0.2285707,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395776033,"cg_iw_a":0.182019591,"cg_sample_age_us":24.0418186,"cg_sample_seq":14708816,"cg_sample_valid":1,"cg_theta_rad":5.00783157,"cg_vd_req_v":0.0933442935,"cg_vd_v":0.0933442935,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363366812,"cg_vq_v":-0.363366812,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-1.01488805,"dclink_p_w":-146.879318,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0002136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12483,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1278763,"cg_dv":50.2030678,"cg_dw":49.7969322,"cg_id_a":-0.163357794,"cg_id_raw_a":-1.13087285,"cg_iq_a":0.0852443427,"cg_iq_raw_a":0.585312665,"cg_iu_a":-0.396148682,"cg_iv_a":0.39534843,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8600006,"cg_sample_seq":14709016,"cg_sample_valid":1,"cg_theta_rad":5.00622034,"cg_vd_req_v":0.0961049646,"cg_vd_v":0.0961049646,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348059684,"cg_vq_v":-0.348059684,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.7844238,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9925232,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.573486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12405,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1372337,"cg_dv":50.2016106,"cg_dw":49.7983894,"cg_id_a":0.120796829,"cg_id_raw_a":0.936750829,"cg_iq_a":0.168593243,"cg_iq_raw_a":2.10146427,"cg_iu_a":0.364971876,"cg_iv_a":0.322860718,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.8600006,"cg_sample_seq":14709066,"cg_sample_valid":1,"cg_theta_rad":5.00598288,"cg_vd_req_v":0.0902536809,"cg_vd_v":0.0902536809,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35057345,"cg_vq_v":-0.35057345,"cg_vu_v":104.254532,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9925232,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108464181,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12466,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1456985,"cg_dv":50.2068481,"cg_dw":49.7931519,"cg_id_a":0.343796074,"cg_id_raw_a":0.144989237,"cg_iq_a":0.737976909,"cg_iq_raw_a":-0.458775401,"cg_iu_a":0.111264944,"cg_iv_a":0.177885413,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14709116,"cg_sample_valid":1,"cg_theta_rad":5.00569534,"cg_vd_req_v":0.0856007189,"cg_vd_v":0.0856007189,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363210112,"cg_vq_v":-0.363210112,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1366348,"cg_dv":50.199791,"cg_dw":49.800209,"cg_id_a":0.220198005,"cg_id_raw_a":-0.167682946,"cg_iq_a":0.204187363,"cg_iq_raw_a":1.98722613,"cg_iu_a":-1.30224442,"cg_iv_a":0.286616921,"cg_iw_a":1.0156275,"cg_sample_age_us":26.8054543,"cg_sample_seq":14709169,"cg_sample_valid":1,"cg_theta_rad":5.00703096,"cg_vd_req_v":0.0857667178,"cg_vd_v":0.0857667178,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349687994,"cg_vq_v":-0.349687994,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109118782,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12456,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1326942,"cg_dv":50.2012634,"cg_dw":49.7987366,"cg_id_a":-0.0843856186,"cg_id_raw_a":0.084512502,"cg_iq_a":0.128935874,"cg_iq_raw_a":-0.245655179,"cg_iu_a":-0.178685665,"cg_iv_a":-0.546991229,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9763641,"cg_sample_seq":14709217,"cg_sample_valid":1,"cg_theta_rad":5.00593901,"cg_vd_req_v":0.0930043012,"cg_vd_v":0.0930043012,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348790228,"cg_vq_v":-0.348790228,"cg_vu_v":137.686371,"cg_vv_v":125.809273,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.960522413,"dclink_p_w":-139.011276,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.643799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1296234,"cg_dv":50.2078056,"cg_dw":49.7921944,"cg_id_a":-0.350167066,"cg_id_raw_a":-0.351709843,"cg_iq_a":0.156707436,"cg_iq_raw_a":0.548938692,"cg_iu_a":0.00253343582,"cg_iv_a":-0.546991229,"cg_iw_a":0.544457793,"cg_sample_age_us":23.9872723,"cg_sample_seq":14709517,"cg_sample_valid":1,"cg_theta_rad":5.00630236,"cg_vd_req_v":0.100538813,"cg_vd_v":0.100538813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355150819,"cg_vq_v":-0.355150819,"cg_vu_v":129.328415,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.670571566,"dclink_p_w":-97.0482407,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12462,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339684,"cg_dv":50.2110481,"cg_dw":49.7889519,"cg_id_a":-0.310319096,"cg_id_raw_a":0.0382116549,"cg_iq_a":0.515226483,"cg_iq_raw_a":0.0044646794,"cg_iu_a":0.401215553,"cg_iv_a":-0.329528213,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9581814,"cg_sample_seq":14709566,"cg_sample_valid":1,"cg_theta_rad":5.00553846,"cg_vd_req_v":0.0997071341,"cg_vd_v":0.0997071341,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363339692,"cg_vq_v":-0.363339692,"cg_vu_v":6.1584959,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.143223882,"dclink_p_w":-20.7280273,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107759215,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.671143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12461,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1211548,"cg_dv":50.2012596,"cg_dw":49.7987404,"cg_id_a":-0.375410616,"cg_id_raw_a":-0.53242588,"cg_iq_a":-0.645943522,"cg_iq_raw_a":0.676897466,"cg_iu_a":1.45228672,"cg_iv_a":-0.0395776033,"cg_iw_a":-1.41270912,"cg_sample_age_us":23.8563633,"cg_sample_seq":14709617,"cg_sample_valid":1,"cg_theta_rad":5.00618172,"cg_vd_req_v":0.100474931,"cg_vd_v":0.100474931,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.340467036,"cg_vq_v":-0.340467036,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0032654,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111888304,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.706299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12445,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1439247,"cg_dv":50.2069244,"cg_dw":49.7930756,"cg_id_a":0.163572907,"cg_id_raw_a":0.379481763,"cg_iq_a":0.343779624,"cg_iq_raw_a":0.400325924,"cg_iu_a":-0.178685665,"cg_iv_a":-0.148309112,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9836369,"cg_sample_seq":14709670,"cg_sample_valid":1,"cg_theta_rad":5.00728416,"cg_vd_req_v":0.0865080059,"cg_vd_v":0.0865080059,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361293852,"cg_vq_v":-0.361293852,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.0597416162,"dclink_p_w":8.64608479,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.718018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12481,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1402321,"cg_dv":50.2053375,"cg_dw":49.7946625,"cg_id_a":-0.0765969679,"cg_id_raw_a":0.246328965,"cg_iq_a":-0.0521906652,"cg_iq_raw_a":-0.593442857,"cg_iu_a":0.14750886,"cg_iv_a":0.0691539645,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9836369,"cg_sample_seq":14709716,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0910813063,"cg_vd_v":0.0910813063,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357436121,"cg_vq_v":-0.357436121,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9971313,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106852829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12447,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.142952,"cg_dv":50.201828,"cg_dw":49.798172,"cg_id_a":0.171207905,"cg_id_raw_a":-0.273911119,"cg_iq_a":-0.273301482,"cg_iq_raw_a":-0.244406566,"cg_iu_a":-0.0699543953,"cg_iv_a":0.57656759,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.9872723,"cg_sample_seq":14709767,"cg_sample_valid":1,"cg_theta_rad":5.00737238,"cg_vd_req_v":0.0840136781,"cg_vd_v":0.0840136781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354578137,"cg_vq_v":-0.354578137,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9986572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12441,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416817,"cg_dv":50.2087212,"cg_dw":49.7912788,"cg_id_a":-0.216895014,"cg_id_raw_a":0.375020862,"cg_iq_a":0.145045966,"cg_iq_raw_a":0.218815237,"cg_iu_a":0.79989779,"cg_iv_a":-0.691966534,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8563633,"cg_sample_seq":14709866,"cg_sample_valid":1,"cg_theta_rad":5.00776863,"cg_vd_req_v":0.0911192596,"cg_vd_v":0.0911192596,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363381565,"cg_vq_v":-0.363381565,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.3828926,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":35.0002136,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11279469,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.75708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12459,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1452599,"cg_dv":50.2026482,"cg_dw":49.7973518,"cg_id_a":0.0767648593,"cg_id_raw_a":-0.312019825,"cg_iq_a":-0.17417936,"cg_iq_raw_a":-0.0675201342,"cg_iu_a":0.0750212669,"cg_iv_a":-0.112065315,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.8527279,"cg_sample_seq":14709917,"cg_sample_valid":1,"cg_theta_rad":5.00698853,"cg_vd_req_v":0.0846528783,"cg_vd_v":0.0846528783,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356600136,"cg_vq_v":-0.356600136,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.768799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12452,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1528664,"cg_dv":50.2078056,"cg_dw":49.7921944,"cg_id_a":0.147176459,"cg_id_raw_a":0.341179937,"cg_iq_a":0.306157649,"cg_iq_raw_a":-0.293059379,"cg_iu_a":-0.214929581,"cg_iv_a":-0.112065315,"cg_iw_a":0.326994896,"cg_sample_age_us":23.9363632,"cg_sample_seq":14709966,"cg_sample_valid":1,"cg_theta_rad":5.00836754,"cg_vd_req_v":0.082751967,"cg_vd_v":0.082751967,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368108749,"cg_vq_v":-0.368108749,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.4728031,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0240688,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.784424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12455,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1432533,"cg_dv":50.2016869,"cg_dw":49.7983131,"cg_id_a":-0.0460587256,"cg_id_raw_a":-0.111787915,"cg_iq_a":-0.249558985,"cg_iq_raw_a":-0.776109159,"cg_iu_a":-0.106198072,"cg_iv_a":0.177885413,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9218178,"cg_sample_seq":14710017,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.0860186145,"cg_vd_v":0.0860186145,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353983968,"cg_vq_v":-0.353983968,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":0.014436841,"dclink_p_w":2.08936691,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9986572,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12445,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1495018,"cg_dv":50.2040787,"cg_dw":49.7959213,"cg_id_a":0.177375048,"cg_id_raw_a":0.512067437,"cg_iq_a":0.0274624005,"cg_iq_raw_a":-0.531006098,"cg_iu_a":-0.323661089,"cg_iv_a":-0.148308992,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9799995,"cg_sample_seq":14710066,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0820155144,"cg_vd_v":0.0820155144,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362249374,"cg_vq_v":-0.362249374,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":90.6178665,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35878754,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.995575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.811768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38696,"EncoderSin":12427,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1548805,"cg_dv":50.2082748,"cg_dw":49.7917252,"cg_id_a":0.0987679213,"cg_id_raw_a":0.0950991064,"cg_iq_a":0.292970359,"cg_iq_raw_a":-0.134881288,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9654541,"cg_sample_seq":14710117,"cg_sample_valid":1,"cg_theta_rad":5.00640678,"cg_vd_req_v":0.084366858,"cg_vd_v":0.084366858,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370444059,"cg_vq_v":-0.370444059,"cg_vu_v":106.893898,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35878754,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.995575,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114758521,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12438,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423874,"cg_dv":50.2075653,"cg_dw":49.7924347,"cg_id_a":-0.231396049,"cg_id_raw_a":-0.434831768,"cg_iq_a":0.0413365737,"cg_iq_raw_a":0.540896654,"cg_iu_a":0.038777113,"cg_iv_a":-0.220796704,"cg_iw_a":0.182019591,"cg_sample_age_us":23.8490906,"cg_sample_seq":14710518,"cg_sample_valid":1,"cg_theta_rad":5.00793934,"cg_vd_req_v":0.0901745781,"cg_vd_v":0.0901745781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362026185,"cg_vq_v":-0.362026185,"cg_vu_v":137.686371,"cg_vv_v":125.369385,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.43626261,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9633484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12442,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.147995,"cg_dv":50.2048531,"cg_dw":49.7951469,"cg_id_a":0.0777484179,"cg_id_raw_a":-0.250904053,"cg_iq_a":-0.0828327239,"cg_iq_raw_a":0.157262981,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.8490906,"cg_sample_seq":14710567,"cg_sample_valid":1,"cg_theta_rad":5.00665808,"cg_vd_req_v":0.0845027119,"cg_vd_v":0.0845027119,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360013247,"cg_vq_v":-0.360013247,"cg_vu_v":115.251846,"cg_vv_v":127.568848,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0253099203,"dclink_p_w":3.66296959,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113096811,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"state","t":2668.867539,"signal":"fw_manifest","value":"{\"graph\":\"foc_demo\",\"graph_hash\":\"855dbcee90d611cb\",\"nodes\":[{\"domain\":\"adc_isr\",\"id\":\"Clarke\",\"type\":\"Transforms.Clarke\"},{\"domain\":\"adc_isr\",\"id\":\"Currents\",\"type\":\"Custom.PhaseCurrentsBurst\"},{\"domain\":\"tim_isr\",\"id\":\"ElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"tim_isr\",\"id\":\"Encoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderLeadComp\",\"type\":\"Custom.EncoderLeadComp\"},{\"domain\":\"app_loop\",\"id\":\"EncoderApp\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"tim_isr\",\"id\":\"IdRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"InvPark\",\"type\":\"Transforms.InversePark\"},{\"domain\":\"tim_isr\",\"id\":\"IqRef\",\"type\":\"Custom.ConstantCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"LogDu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogDw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogId\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogIq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogTheta\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogU\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogV\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVd\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogVdc\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"LogVq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogW\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"adc_isr\",\"id\":\"Park\",\"type\":\"Transforms.Park\"},{\"domain\":\"tim_isr\",\"id\":\"PwmOut\",\"type\":\"Actuators.PwmOut\"},{\"domain\":\"tim_isr\",\"id\":\"Svpwm\",\"type\":\"Transforms.Svpwm\"},{\"domain\":\"app_loop\",\"id\":\"VdcApp\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"VdcSense\",\"type\":\"Sensors.DcLinkVoltage\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncSign\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEncOffset\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgPoles\",\"type\":\"Values.Config\"},{\"domain\":\"vsense\",\"id\":\"VoltSense\",\"type\":\"Sensors.PhaseVoltages\"},{\"domain\":\"vsense\",\"id\":\"LogVu\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVv\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"vsense\",\"id\":\"LogVw\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgEnable\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"EnableCmp\",\"type\":\"Logic.Greater\"},{\"domain\":\"tim_isr\",\"id\":\"ThrottleEnable\",\"type\":\"Values.VarBool\"},{\"domain\":\"tim_isr\",\"id\":\"IqGate\",\"type\":\"Logic.Gate\"},{\"domain\":\"tim_isr\",\"id\":\"IqVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"tim_isr\",\"id\":\"IdVar\",\"type\":\"Custom.VarCurrent\"},{\"domain\":\"app_loop\",\"id\":\"Din1\",\"type\":\"Sensors.DigitalIn\"},{\"domain\":\"app_loop\",\"id\":\"LedGreen\",\"type\":\"Actuators.DigitalOut\"},{\"domain\":\"app_loop\",\"id\":\"Temps\",\"type\":\"Sensors.Temperatures\"},{\"domain\":\"app_loop\",\"id\":\"Throttle\",\"type\":\"Sensors.Throttle\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Motor\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv1\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv2\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogT_Inv3\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrA\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"app_loop\",\"id\":\"LogThrB\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"SlewIq\",\"type\":\"Control.Slew\"},{\"domain\":\"tim_isr\",\"id\":\"CfgIqSlew\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKpD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiD\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKiQ\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"AdaptiveSampleTrigger1\",\"type\":\"hw.adaptive_sample_trigger\"},{\"domain\":\"tim_isr\",\"id\":\"GapTicks\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"RPMMechElec1\",\"type\":\"hw.rpm\"},{\"domain\":\"tim_isr\",\"id\":\"Mech_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Elec_RPM\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderRawSinCos1\",\"type\":\"hw.encoder_raw\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderSin\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"EncoderCos\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLd\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLq\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"CfgLambda\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"FocFeedforward\",\"type\":\"Control.FocFeedforward\"},{\"domain\":\"tim_isr\",\"id\":\"CfgKnee\",\"type\":\"Values.Config\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleEncoder\",\"type\":\"Custom.EncoderAngle\"},{\"domain\":\"adc_isr\",\"id\":\"CurrentSampleElecAngle\",\"type\":\"Transforms.ElecAngle\"},{\"domain\":\"adc_isr\",\"id\":\"PublishCurrentFrame\",\"type\":\"Custom.PublishCurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"CurrentFrame\",\"type\":\"Custom.CurrentFrame\"},{\"domain\":\"tim_isr\",\"id\":\"VectorPi\",\"type\":\"Custom.VectorCurrentPi\"},{\"domain\":\"tim_isr\",\"id\":\"CfgVoltLimit\",\"type\":\"Values.Config\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_age_us\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_valid\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_sample_seq\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vd_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vq_req_v\",\"type\":\"Debug.TelemetryLog\"},{\"domain\":\"tim_isr\",\"id\":\"Log_cg_vlimit_scale\",\"type\":\"Debug.TelemetryLog\"}],\"schema\":1,\"signals\":[{\"description\":\"Phase A PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDu\",\"name\":\"cg_du\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_A\",\"unit\":\"\"},{\"description\":\"Phase B PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDv\",\"name\":\"cg_dv\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_B\",\"unit\":\"\"},{\"description\":\"Phase C PWM duty command in percent.\",\"domain\":\"tim_isr\",\"logger_node\":\"LogDw\",\"name\":\"cg_dw\",\"source_node\":\"Svpwm\",\"source_port\":\"Duty_C\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogId\",\"name\":\"cg_id_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Id\",\"unit\":\"A\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogIq\",\"name\":\"cg_iq_a\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Iq\",\"unit\":\"A\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogTheta\",\"name\":\"cg_theta_rad\",\"source_node\":\"EncoderApp\",\"source_port\":\"Theta\",\"unit\":\"\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogU\",\"name\":\"cg_iu_a\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogV\",\"name\":\"cg_iv_a\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVd\",\"name\":\"cg_vd_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vd\",\"unit\":\"V\"},{\"description\":\"Measured DC-link voltage in volts.\",\"domain\":\"app_loop\",\"logger_node\":\"LogVdc\",\"name\":\"cg_vdc_v\",\"source_node\":\"VdcApp\",\"source_port\":\"V_Dc\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"LogVq\",\"name\":\"cg_vq_v\",\"source_node\":\"VectorPi\",\"source_port\":\"Vq\",\"unit\":\"V\"},{\"domain\":\"app_loop\",\"logger_node\":\"LogW\",\"name\":\"cg_iw_a\"},{\"description\":\"Measured phase U voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVu\",\"name\":\"cg_vu_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_U\",\"unit\":\"V\"},{\"description\":\"Measured phase V voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVv\",\"name\":\"cg_vv_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_V\",\"unit\":\"V\"},{\"description\":\"Measured phase W voltage in volts.\",\"domain\":\"vsense\",\"logger_node\":\"LogVw\",\"name\":\"cg_vw_v\",\"source_node\":\"VoltSense\",\"source_port\":\"V_W\",\"unit\":\"V\"},{\"description\":\"Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Motor\",\"name\":\"temp_motor_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Motor\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv1\",\"name\":\"temp_inv1_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv1\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv2\",\"name\":\"temp_inv2_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv2\",\"unit\":\"degC\"},{\"description\":\"Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.\",\"domain\":\"app_loop\",\"logger_node\":\"LogT_Inv3\",\"name\":\"temp_inv3_c\",\"source_node\":\"Temps\",\"source_port\":\"T_Inv3\",\"unit\":\"degC\"},{\"description\":\"Normalized throttle channel A in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrA\",\"name\":\"thr_a_norm\",\"source_node\":\"Throttle\",\"source_port\":\"A\",\"unit\":\"\"},{\"description\":\"Normalized throttle channel B in the range 0 to 1.\",\"domain\":\"app_loop\",\"logger_node\":\"LogThrB\",\"name\":\"thr_b_norm\",\"source_node\":\"Throttle\",\"source_port\":\"B\",\"unit\":\"\"},{\"description\":\"Available quiet-window width in PWM timer ticks.\",\"domain\":\"tim_isr\",\"logger_node\":\"GapTicks\",\"name\":\"GapTicks\",\"source_node\":\"AdaptiveSampleTrigger1\",\"source_port\":\"GapTicks\",\"unit\":\"\"},{\"description\":\"Estimated mechanical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Mech_RPM\",\"name\":\"Mech_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmMech\",\"unit\":\"\"},{\"description\":\"Estimated electrical speed in revolutions per minute.\",\"domain\":\"tim_isr\",\"logger_node\":\"Elec_RPM\",\"name\":\"Elec_RPM\",\"source_node\":\"RPMMechElec1\",\"source_port\":\"RpmElec\",\"unit\":\"\"},{\"description\":\"Raw encoder sine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderSin\",\"name\":\"EncoderSin\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"SinRaw\",\"unit\":\"\"},{\"description\":\"Raw encoder cosine-channel sample.\",\"domain\":\"tim_isr\",\"logger_node\":\"EncoderCos\",\"name\":\"EncoderCos\",\"source_node\":\"EncoderRawSinCos1\",\"source_port\":\"CosRaw\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_age_us\",\"name\":\"cg_sample_age_us\",\"source_node\":\"CurrentFrame\",\"source_port\":\"AgeUs\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_valid\",\"name\":\"cg_sample_valid\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Valid\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_sample_seq\",\"name\":\"cg_sample_seq\",\"source_node\":\"CurrentFrame\",\"source_port\":\"Sequence\",\"unit\":\"\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vd_req_v\",\"name\":\"cg_vd_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedD\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vq_req_v\",\"name\":\"cg_vq_req_v\",\"source_node\":\"VectorPi\",\"source_port\":\"RequestedQ\",\"unit\":\"V\"},{\"domain\":\"tim_isr\",\"logger_node\":\"Log_cg_vlimit_scale\",\"name\":\"cg_vlimit_scale\",\"source_node\":\"VectorPi\",\"source_port\":\"Scale\",\"unit\":\"\"}]}"}
{"type":"state","t":2668.86755,"signal":"fw_graph","value":"foc_demo"}
{"type":"state","t":2668.867553,"signal":"fw_graph_hash","value":"855dbcee90d611cb"}
{"type":"telemetry","t":2668.870361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12420,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1516075,"cg_dv":50.2081108,"cg_dw":49.7918892,"cg_id_a":0.0717432499,"cg_id_raw_a":0.448596448,"cg_iq_a":0.190782875,"cg_iq_raw_a":0.303183496,"cg_iu_a":-0.396148682,"cg_iv_a":-0.293284416,"cg_iw_a":0.689433098,"cg_sample_age_us":23.8490906,"cg_sample_seq":14710616,"cg_sample_valid":1,"cg_theta_rad":5.00555229,"cg_vd_req_v":0.0859133229,"cg_vd_v":0.0859133229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366200447,"cg_vq_v":-0.366200447,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.71524811,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2668.88208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.147934,"cg_dv":50.2106514,"cg_dw":49.7893486,"cg_id_a":0.110300526,"cg_id_raw_a":-0.0881438851,"cg_iq_a":0.293745965,"cg_iq_raw_a":0.684207499,"cg_iu_a":-0.214929581,"cg_iv_a":-0.510747313,"cg_iw_a":0.725676894,"cg_sample_age_us":23.954546,"cg_sample_seq":14710667,"cg_sample_valid":1,"cg_theta_rad":5.00709009,"cg_vd_req_v":0.0870690644,"cg_vd_v":0.0870690644,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369745851,"cg_vq_v":-0.369745851,"cg_vu_v":118.3311,"cg_vv_v":136.806595,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":0.0271221399,"dclink_p_w":3.92524242,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12430,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1438103,"cg_dv":50.2178307,"cg_dw":49.7821693,"cg_id_a":-0.326476276,"cg_id_raw_a":-0.208079115,"cg_iq_a":0.760355473,"cg_iq_raw_a":0.163061827,"cg_iu_a":-0.214929581,"cg_iv_a":0.10539782,"cg_iw_a":0.10953176,"cg_sample_age_us":23.8490906,"cg_sample_seq":14710721,"cg_sample_valid":1,"cg_theta_rad":5.00760889,"cg_vd_req_v":0.0982646793,"cg_vd_v":0.0982646793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378199756,"cg_vq_v":-0.378199756,"cg_vu_v":120.530563,"cg_vv_v":142.965088,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.1577214,"dclink_p_w":-22.8261757,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12447,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327629,"cg_dv":50.201889,"cg_dw":49.798111,"cg_id_a":-0.00904525444,"cg_id_raw_a":-0.0120179541,"cg_iq_a":-0.555469334,"cg_iq_raw_a":-1.67510211,"cg_iu_a":0.401215553,"cg_iv_a":0.504079938,"cg_iw_a":-0.905295491,"cg_sample_age_us":23.9509087,"cg_sample_seq":14710766,"cg_sample_valid":1,"cg_theta_rad":5.00651312,"cg_vd_req_v":0.0915515423,"cg_vd_v":0.0915515423,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350208461,"cg_vq_v":-0.350208461,"cg_vu_v":19.3552723,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.0558395,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440315,"cg_dv":50.2028198,"cg_dw":49.7971802,"cg_id_a":0.303080976,"cg_id_raw_a":-0.0137101039,"cg_iq_a":-0.114932254,"cg_iq_raw_a":0.764108598,"cg_iu_a":0.364971876,"cg_iv_a":0.685299158,"cg_iw_a":-1.05027103,"cg_sample_age_us":23.954546,"cg_sample_seq":14710816,"cg_sample_valid":1,"cg_theta_rad":5.00684929,"cg_vd_req_v":0.0838492066,"cg_vd_v":0.0838492066,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357741207,"cg_vq_v":-0.357741207,"cg_vu_v":17.1558094,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0326801538,"dclink_p_w":-4.74399996,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.936768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12483,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.145134,"cg_dv":50.2105675,"cg_dw":49.7894325,"cg_id_a":-0.0735173598,"cg_id_raw_a":0.141941786,"cg_iq_a":0.33011806,"cg_iq_raw_a":0.233221889,"cg_iu_a":-0.287417173,"cg_iv_a":0.250373125,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9218178,"cg_sample_seq":14710866,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.0909705982,"cg_vd_v":0.0909705982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367635608,"cg_vq_v":-0.367635608,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9909973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12455,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1431656,"cg_dv":50.208416,"cg_dw":49.791584,"cg_id_a":-0.0113125518,"cg_id_raw_a":0.406242758,"cg_iq_a":0.0722289607,"cg_iq_raw_a":-0.761130393,"cg_iu_a":-0.106198072,"cg_iv_a":-0.184552848,"cg_iw_a":0.290750921,"cg_sample_age_us":23.9509087,"cg_sample_seq":14710916,"cg_sample_valid":1,"cg_theta_rad":5.00662994,"cg_vd_req_v":0.0898030996,"cg_vd_v":0.0898030996,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363762796,"cg_vq_v":-0.363762796,"cg_vu_v":9.23774433,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9909973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476479,"cg_dv":50.211834,"cg_dw":49.788166,"cg_id_a":-0.165769577,"cg_id_raw_a":-0.296248913,"cg_iq_a":0.36681515,"cg_iq_raw_a":-0.647960305,"cg_iu_a":-0.287417173,"cg_iv_a":-0.257040501,"cg_iw_a":0.544457674,"cg_sample_age_us":23.8454552,"cg_sample_seq":14710966,"cg_sample_valid":1,"cg_theta_rad":5.00665808,"cg_vd_req_v":0.0908792466,"cg_vd_v":0.0908792466,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370613009,"cg_vq_v":-0.370613009,"cg_vu_v":3.95903301,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.087045908,"dclink_p_w":-12.5976887,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9679565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2668.962869,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2668.962875,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2668.96288,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2668.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12434,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1373253,"cg_dv":50.2028961,"cg_dw":49.7971039,"cg_id_a":0.0344384909,"cg_id_raw_a":0.458493978,"cg_iq_a":-0.442066342,"cg_iq_raw_a":-1.52071369,"cg_iu_a":0.111264944,"cg_iv_a":0.0329101086,"cg_iw_a":-0.144175053,"cg_sample_age_us":23.8527279,"cg_sample_seq":14711016,"cg_sample_valid":1,"cg_theta_rad":5.00733232,"cg_vd_req_v":0.0890596211,"cg_vd_v":0.0890596211,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352972627,"cg_vq_v":-0.352972627,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.630703449,"dclink_p_w":-91.5557861,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9771729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12487,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1454468,"cg_dv":50.2078133,"cg_dw":49.7921867,"cg_id_a":0.0974106416,"cg_id_raw_a":0.104230225,"cg_iq_a":0.155742869,"cg_iq_raw_a":-0.0253323875,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8563633,"cg_sample_seq":14711066,"cg_sample_valid":1,"cg_theta_rad":5.00688028,"cg_vd_req_v":0.0885436162,"cg_vd_v":0.0885436162,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365119725,"cg_vq_v":-0.365119725,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.8258209,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9771729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116672009,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2668.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12453,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1322784,"cg_dv":50.1971512,"cg_dw":49.8028488,"cg_id_a":0.0529991686,"cg_id_raw_a":-0.237670302,"cg_iq_a":-0.894662738,"cg_iq_raw_a":0.450581402,"cg_iu_a":0.14750886,"cg_iv_a":2.24378419,"cg_iw_a":-2.39129305,"cg_sample_age_us":23.8563633,"cg_sample_seq":14711117,"cg_sample_valid":1,"cg_theta_rad":5.00828409,"cg_vd_req_v":0.0886308774,"cg_vd_v":0.0886308774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342022836,"cg_vq_v":-0.342022836,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.494789004,"dclink_p_w":-71.8258209,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2668.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12447,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482468,"cg_dv":50.2154312,"cg_dw":49.7845688,"cg_id_a":-0.123659596,"cg_id_raw_a":0.269372582,"cg_iq_a":0.586434186,"cg_iq_raw_a":0.428288072,"cg_iu_a":-0.722343206,"cg_iv_a":0.322860718,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14711166,"cg_sample_valid":1,"cg_theta_rad":5.00644732,"cg_vd_req_v":0.093563877,"cg_vd_v":0.093563877,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374707818,"cg_vq_v":-0.374707818,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.2942505,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110881209,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2669.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1367226,"cg_dv":50.2088013,"cg_dw":49.7911987,"cg_id_a":0.0545081869,"cg_id_raw_a":0.5443663,"cg_iq_a":0.0603481382,"cg_iq_raw_a":1.36090243,"cg_iu_a":0.727410197,"cg_iv_a":-0.148309112,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.8600006,"cg_sample_seq":14711320,"cg_sample_valid":1,"cg_theta_rad":5.00696564,"cg_vd_req_v":0.093839325,"cg_vd_v":0.093839325,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362215042,"cg_vq_v":-0.362215042,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12450,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1505051,"cg_dv":50.2203598,"cg_dw":49.7796402,"cg_id_a":-0.0398058705,"cg_id_raw_a":-0.0753079057,"cg_iq_a":0.843900204,"cg_iq_raw_a":0.721766531,"cg_iu_a":-0.903562546,"cg_iv_a":-0.510747433,"cg_iw_a":1.41430998,"cg_sample_age_us":23.9472733,"cg_sample_seq":14711366,"cg_sample_valid":1,"cg_theta_rad":5.00760269,"cg_vd_req_v":0.0971886888,"cg_vd_v":0.0971886888,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384974957,"cg_vq_v":-0.384974957,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9859419,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2583,"hz_tim_isr":5000,"hz_vsense":2583,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.987915,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113852136,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38768,"EncoderSin":12457,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404343,"cg_dv":50.2221184,"cg_dw":49.7778816,"cg_id_a":-0.32284382,"cg_id_raw_a":-1.64624405,"cg_iq_a":0.582967162,"cg_iq_raw_a":1.9666611,"cg_iu_a":0.00253343582,"cg_iv_a":0.757786751,"cg_iw_a":-0.760320187,"cg_sample_age_us":23.9181824,"cg_sample_seq":14711416,"cg_sample_valid":1,"cg_theta_rad":5.00719452,"cg_vd_req_v":0.102300033,"cg_vd_v":0.102300033,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382918,"cg_vq_v":-0.382918,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9859419,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12481,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1435852,"cg_dv":50.2144928,"cg_dw":49.7855072,"cg_id_a":0.0510114357,"cg_id_raw_a":0.111465171,"cg_iq_a":0.142605707,"cg_iq_raw_a":0.33908096,"cg_iu_a":0.147508621,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9836369,"cg_sample_seq":14711466,"cg_sample_valid":1,"cg_theta_rad":5.00612593,"cg_vd_req_v":0.0949565172,"cg_vd_v":0.0949565172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372370541,"cg_vq_v":-0.372370541,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3669271,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9863586,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00105745019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.050049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12453,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1532097,"cg_dv":50.2124901,"cg_dw":49.7875099,"cg_id_a":0.213901281,"cg_id_raw_a":0.506902933,"cg_iq_a":0.177771628,"cg_iq_raw_a":1.14755702,"cg_iu_a":0.328727961,"cg_iv_a":-0.220796704,"cg_iw_a":-0.107931256,"cg_sample_age_us":23.8963642,"cg_sample_seq":14711516,"cg_sample_valid":1,"cg_theta_rad":5.00670433,"cg_vd_req_v":0.0892321318,"cg_vd_v":0.0892321318,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374144644,"cg_vq_v":-0.374144644,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":0.134041429,"dclink_p_w":19.3990993,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9802551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12464,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1608047,"cg_dv":50.2221718,"cg_dw":49.7778282,"cg_id_a":0.401334137,"cg_id_raw_a":0.119352877,"cg_iq_a":1.22432446,"cg_iq_raw_a":0.266464889,"cg_iu_a":0.219996452,"cg_iv_a":-0.329528332,"cg_iw_a":0.109531879,"cg_sample_age_us":23.954546,"cg_sample_seq":14711566,"cg_sample_valid":1,"cg_theta_rad":5.00675631,"cg_vd_req_v":0.0873570219,"cg_vd_v":0.0873570219,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392794758,"cg_vq_v":-0.392794758,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.43626261,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9802551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12447,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1566124,"cg_dv":50.215374,"cg_dw":49.784626,"cg_id_a":0.378134042,"cg_id_raw_a":-0.0160260089,"cg_iq_a":0.558043003,"cg_iq_raw_a":-0.29222858,"cg_iu_a":-1.26600051,"cg_iv_a":0.794030607,"cg_iw_a":0.471969903,"cg_sample_age_us":23.9909096,"cg_sample_seq":14711616,"cg_sample_valid":1,"cg_theta_rad":5.00713158,"cg_vd_req_v":0.0876692608,"cg_vd_v":0.0876692608,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380380988,"cg_vq_v":-0.380380988,"cg_vu_v":38.7105446,"cg_vv_v":42.6695786,"cg_vw_v":54.5466805,"control_outputs_enabled":1,"dclink_i_a":-0.279138207,"dclink_p_w":-40.2753906,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115111008,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12465,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463127,"cg_dv":50.2148094,"cg_dw":49.7851906,"cg_id_a":0.0556292459,"cg_id_raw_a":-0.144202888,"cg_iq_a":0.0893440247,"cg_iq_raw_a":-0.487040251,"cg_iu_a":-0.794830799,"cg_iv_a":0.504079938,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9872723,"cg_sample_seq":14711666,"cg_sample_valid":1,"cg_theta_rad":5.00670338,"cg_vd_req_v":0.0950113684,"cg_vd_v":0.0950113684,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375063419,"cg_vq_v":-0.375063419,"cg_vu_v":38.7105446,"cg_vv_v":44.4291458,"cg_vw_v":58.5057106,"control_outputs_enabled":1,"dclink_i_a":-0.128726363,"dclink_p_w":-18.6865044,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9940491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12467,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418457,"cg_dv":50.215023,"cg_dw":49.784977,"cg_id_a":-0.00509262644,"cg_id_raw_a":0.0187843405,"cg_iq_a":-0.0451829769,"cg_iq_raw_a":-0.470622629,"cg_iu_a":-0.359905005,"cg_iv_a":0.286616921,"cg_iw_a":0.0732880831,"cg_sample_age_us":25.3509083,"cg_sample_seq":14711720,"cg_sample_valid":1,"cg_theta_rad":5.0074811,"cg_vd_req_v":0.0958780646,"cg_vd_v":0.0958780646,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373572975,"cg_vq_v":-0.373572975,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.3391571,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-41.0471115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9940491,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12443,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.14711,"cg_dv":50.2141685,"cg_dw":49.7858315,"cg_id_a":0.0317911841,"cg_id_raw_a":0.305026621,"cg_iq_a":0.0129851513,"cg_iq_raw_a":0.0688268244,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14711767,"cg_sample_valid":1,"cg_theta_rad":5.0056119,"cg_vd_req_v":0.0949678794,"cg_vd_v":0.0949678794,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373124391,"cg_vq_v":-0.373124391,"cg_vu_v":105.134323,"cg_vv_v":98.5359344,"cg_vw_v":80.0604477,"control_outputs_enabled":1,"dclink_i_a":-0.282762647,"dclink_p_w":-41.0471115,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9909973,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12450,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1511459,"cg_dv":50.2143288,"cg_dw":49.7856712,"cg_id_a":0.228008866,"cg_id_raw_a":0.257383257,"cg_iq_a":0.0962884054,"cg_iq_raw_a":-0.30177778,"cg_iu_a":0.219996452,"cg_iv_a":0.177885473,"cg_iw_a":-0.397881925,"cg_sample_age_us":23.954546,"cg_sample_seq":14711818,"cg_sample_valid":1,"cg_theta_rad":5.00773144,"cg_vd_req_v":0.0898268595,"cg_vd_v":0.0898268595,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376142591,"cg_vq_v":-0.376142591,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.9019547,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-30.9565125,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12457,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1512871,"cg_dv":50.2205048,"cg_dw":49.7794952,"cg_id_a":-0.0773869529,"cg_id_raw_a":0.685740173,"cg_iq_a":0.520938396,"cg_iq_raw_a":1.09003282,"cg_iu_a":0.147508621,"cg_iv_a":-0.655722737,"cg_iw_a":0.508214116,"cg_sample_age_us":23.9872723,"cg_sample_seq":14711867,"cg_sample_valid":1,"cg_theta_rad":5.00596714,"cg_vd_req_v":0.0969363898,"cg_vd_v":0.0969363898,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384314477,"cg_vq_v":-0.384314477,"cg_vu_v":102.93486,"cg_vv_v":94.1370087,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.270077348,"dclink_p_w":-39.0868492,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12429,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426849,"cg_dv":50.2040405,"cg_dw":49.7959595,"cg_id_a":0.258534461,"cg_id_raw_a":0.819532633,"cg_iq_a":-0.855775714,"cg_iq_raw_a":-2.42773175,"cg_iu_a":0.546190977,"cg_iv_a":0.0329101086,"cg_iw_a":-0.579101086,"cg_sample_age_us":23.9836369,"cg_sample_seq":14711917,"cg_sample_valid":1,"cg_theta_rad":5.00655651,"cg_vd_req_v":0.0890012607,"cg_vd_v":0.0890012607,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356786638,"cg_vq_v":-0.356786638,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.328067422,"dclink_p_w":-47.4794426,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12453,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478348,"cg_dv":50.2150688,"cg_dw":49.7849312,"cg_id_a":0.169969574,"cg_id_raw_a":0.329935014,"cg_iq_a":0.16255936,"cg_iq_raw_a":0.0313357636,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.9836369,"cg_sample_seq":14711967,"cg_sample_valid":1,"cg_theta_rad":5.00724554,"cg_vd_req_v":0.0914699435,"cg_vd_v":0.0914699435,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376910865,"cg_vq_v":-0.376910865,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":109.093361,"control_outputs_enabled":1,"dclink_i_a":-0.449484229,"dclink_p_w":-65.0514526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112341493,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12460,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1493492,"cg_dv":50.214859,"cg_dw":49.785141,"cg_id_a":0.104729712,"cg_id_raw_a":-0.0218754914,"cg_iq_a":0.129540324,"cg_iq_raw_a":0.399268121,"cg_iu_a":-0.14244175,"cg_iv_a":-0.510747433,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9436359,"cg_sample_seq":14712017,"cg_sample_valid":1,"cg_theta_rad":5.00683546,"cg_vd_req_v":0.0924574062,"cg_vd_v":0.0924574062,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376897484,"cg_vq_v":-0.376897484,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":145.164551,"control_outputs_enabled":1,"dclink_i_a":-0.449484229,"dclink_p_w":-65.0514526,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9848328,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.16333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12467,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1459923,"cg_dv":50.2134285,"cg_dw":49.7865715,"cg_id_a":0.164247215,"cg_id_raw_a":-0.00603075232,"cg_iq_a":-0.0918053538,"cg_iq_raw_a":0.255039454,"cg_iu_a":0.691166401,"cg_iv_a":0.286616921,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9509087,"cg_sample_seq":14712067,"cg_sample_valid":1,"cg_theta_rad":5.00625753,"cg_vd_req_v":0.0911206678,"cg_vd_v":0.0911206678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372490108,"cg_vq_v":-0.372490108,"cg_vu_v":117.451309,"cg_vv_v":133.727341,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12453,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469154,"cg_dv":50.2115746,"cg_dw":49.7884254,"cg_id_a":0.261268377,"cg_id_raw_a":0.57666719,"cg_iq_a":-0.337908626,"cg_iq_raw_a":-0.562353492,"cg_iu_a":-0.287417173,"cg_iv_a":0.431592286,"cg_iw_a":-0.615344822,"cg_sample_age_us":23.9509087,"cg_sample_seq":14712117,"cg_sample_valid":1,"cg_theta_rad":5.00685883,"cg_vd_req_v":0.090138413,"cg_vd_v":0.090138413,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370106757,"cg_vq_v":-0.370106757,"cg_vu_v":118.770996,"cg_vv_v":138.126266,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9756165,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12449,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457138,"cg_dv":50.2109566,"cg_dw":49.7890434,"cg_id_a":0.133490756,"cg_id_raw_a":-0.00345175178,"cg_iq_a":-0.268826544,"cg_iq_raw_a":0.000447794766,"cg_iu_a":-0.178685904,"cg_iv_a":0.866518259,"cg_iw_a":-0.687832355,"cg_sample_age_us":23.9509087,"cg_sample_seq":14712166,"cg_sample_valid":1,"cg_theta_rad":5.00612068,"cg_vd_req_v":0.0928416401,"cg_vd_v":0.0928416401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368003279,"cg_vq_v":-0.368003279,"cg_vu_v":20.6749516,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11128404,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12446,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342812,"cg_dv":50.2183266,"cg_dw":49.7816734,"cg_id_a":-0.445854664,"cg_id_raw_a":-0.405341774,"cg_iq_a":0.0122813322,"cg_iq_raw_a":0.254298776,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8563633,"cg_sample_seq":14712221,"cg_sample_valid":1,"cg_theta_rad":5.00624847,"cg_vd_req_v":0.105188601,"cg_vd_v":0.105188601,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372608751,"cg_vq_v":-0.372608751,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.654261827,"dclink_p_w":-94.6878204,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12438,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460495,"cg_dv":50.2130394,"cg_dw":49.7869606,"cg_id_a":0.207739383,"cg_id_raw_a":0.319552183,"cg_iq_a":-0.0602174252,"cg_iq_raw_a":-0.0770827457,"cg_iu_a":-0.0337104797,"cg_iv_a":0.467836142,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9509087,"cg_sample_seq":14712267,"cg_sample_valid":1,"cg_theta_rad":5.0061264,"cg_vd_req_v":0.0927123576,"cg_vd_v":0.0927123576,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371499091,"cg_vq_v":-0.371499091,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.545530319,"dclink_p_w":-78.9516907,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12430,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428795,"cg_dv":50.2066383,"cg_dw":49.7933617,"cg_id_a":0.228868455,"cg_id_raw_a":0.587491751,"cg_iq_a":-0.278050363,"cg_iq_raw_a":-0.888916671,"cg_iu_a":0.509947062,"cg_iv_a":-0.25704062,"cg_iw_a":-0.252906442,"cg_sample_age_us":23.9472733,"cg_sample_seq":14712317,"cg_sample_valid":1,"cg_theta_rad":5.00735855,"cg_vd_req_v":0.0885943696,"cg_vd_v":0.0885943696,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36111182,"cg_vq_v":-0.36111182,"cg_vu_v":131.967773,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9664001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12469,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1359825,"cg_dv":50.202076,"cg_dw":49.797924,"cg_id_a":0.0239489377,"cg_id_raw_a":-0.151493624,"cg_iq_a":-0.597594678,"cg_iq_raw_a":-0.414866865,"cg_iu_a":0.364971876,"cg_iv_a":0.830274463,"cg_iw_a":-1.19524634,"cg_sample_age_us":23.9436359,"cg_sample_seq":14712367,"cg_sample_valid":1,"cg_theta_rad":5.0073204,"cg_vd_req_v":0.0903087407,"cg_vd_v":0.0903087407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350849003,"cg_vq_v":-0.350849003,"cg_vu_v":136.806595,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9664001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12473,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1401749,"cg_dv":50.208046,"cg_dw":49.791954,"cg_id_a":0.0150484443,"cg_id_raw_a":-0.0244853944,"cg_iq_a":-0.134200633,"cg_iq_raw_a":-0.219976678,"cg_iu_a":0.256240368,"cg_iv_a":0.250373125,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14712417,"cg_sample_valid":1,"cg_theta_rad":5.00654745,"cg_vd_req_v":0.0911463723,"cg_vd_v":0.0911463723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360575736,"cg_vq_v":-0.360575736,"cg_vu_v":142.525192,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-74.1934357,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2669.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12437,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398964,"cg_dv":50.2080002,"cg_dw":49.7919998,"cg_id_a":-0.156454697,"cg_id_raw_a":-0.0866430923,"cg_iq_a":-0.205812201,"cg_iq_raw_a":0.429414779,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.184552848,"cg_iw_a":0.254507244,"cg_sample_age_us":23.9581814,"cg_sample_seq":14712566,"cg_sample_valid":1,"cg_theta_rad":5.00691271,"cg_vd_req_v":0.0921166763,"cg_vd_v":0.0921166763,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362493098,"cg_vq_v":-0.362493098,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":-0.563652277,"dclink_p_w":-81.574379,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9679565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12425,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1542816,"cg_dv":50.2096443,"cg_dw":49.7903557,"cg_id_a":0.247037441,"cg_id_raw_a":-0.27488029,"cg_iq_a":0.242891014,"cg_iq_raw_a":-0.864277959,"cg_iu_a":0.292484164,"cg_iv_a":0.0329101682,"cg_iw_a":1.0156275,"cg_sample_age_us":23.9618187,"cg_sample_seq":14712616,"cg_sample_valid":1,"cg_theta_rad":5.00727701,"cg_vd_req_v":0.0837018043,"cg_vd_v":0.0837018043,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37252447,"cg_vq_v":-0.37252447,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.503849983,"dclink_p_w":-73.1411591,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38683,"EncoderSin":12430,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1568756,"cg_dv":50.2138863,"cg_dw":49.7861137,"cg_id_a":-0.00464280695,"cg_id_raw_a":0.0989447609,"cg_iq_a":0.611412764,"cg_iq_raw_a":0.412639111,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.438259721,"cg_iw_a":0.508213878,"cg_sample_age_us":24.0418186,"cg_sample_seq":14712666,"cg_sample_valid":1,"cg_theta_rad":5.00711393,"cg_vd_req_v":0.0893843248,"cg_vd_v":0.0893843248,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378943324,"cg_vq_v":-0.378943324,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.230208993,"dclink_p_w":-33.4181862,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107960626,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.300049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12464,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1433754,"cg_dv":50.215065,"cg_dw":49.784935,"cg_id_a":-0.452756584,"cg_id_raw_a":-0.333297968,"cg_iq_a":0.25770551,"cg_iq_raw_a":0.150674179,"cg_iu_a":0.401215553,"cg_iv_a":0.177885413,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.8600006,"cg_sample_seq":14712721,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.0964882895,"cg_vd_v":0.0964882895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374029428,"cg_vq_v":-0.374029428,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.259204149,"dclink_p_w":-37.6272545,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12424,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.15588,"cg_dv":50.2147827,"cg_dw":49.7852173,"cg_id_a":-0.0295843631,"cg_id_raw_a":-1.01734138,"cg_iq_a":0.470730782,"cg_iq_raw_a":1.10144937,"cg_iu_a":-0.323661089,"cg_iv_a":0.431592226,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9799995,"cg_sample_seq":14712767,"cg_sample_valid":1,"cg_theta_rad":5.00654984,"cg_vd_req_v":0.0869655982,"cg_vd_v":0.0869655982,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378109276,"cg_vq_v":-0.378109276,"cg_vu_v":143.404984,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":-0.190340877,"dclink_p_w":-27.5470181,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114506751,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2669.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12480,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1507988,"cg_dv":50.2055817,"cg_dw":49.7944183,"cg_id_a":0.355358154,"cg_id_raw_a":1.18836999,"cg_iq_a":-0.212012783,"cg_iq_raw_a":-1.56598914,"cg_iu_a":-0.178685665,"cg_iv_a":-0.00333374739,"cg_iw_a":0.182019413,"cg_sample_age_us":23.863636,"cg_sample_seq":14712817,"cg_sample_valid":1,"cg_theta_rad":5.00647116,"cg_vd_req_v":0.0788530111,"cg_vd_v":0.0788530111,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364664704,"cg_vq_v":-0.364664704,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.203026175,"dclink_p_w":-29.2935829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00201419089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110276952,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12411,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1437645,"cg_dv":50.2090645,"cg_dw":49.7909355,"cg_id_a":-0.20066303,"cg_id_raw_a":-0.135308817,"cg_iq_a":-0.236693054,"cg_iq_raw_a":-0.996144891,"cg_iu_a":-0.287417173,"cg_iv_a":-0.0395775437,"cg_iw_a":0.326994717,"cg_sample_age_us":23.954546,"cg_sample_seq":14712867,"cg_sample_valid":1,"cg_theta_rad":5.00782251,"cg_vd_req_v":0.0912299827,"cg_vd_v":0.0912299827,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364666313,"cg_vq_v":-0.364666313,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":114.37207,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.35231829,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12455,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426582,"cg_dv":50.2049789,"cg_dw":49.7950211,"cg_id_a":0.0618697889,"cg_id_raw_a":0.16700457,"cg_iq_a":-0.476002872,"cg_iq_raw_a":0.198604628,"cg_iu_a":0.292484283,"cg_iv_a":0.21412921,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9618187,"cg_sample_seq":14712917,"cg_sample_valid":1,"cg_theta_rad":5.0061202,"cg_vd_req_v":0.086474359,"cg_vd_v":0.086474359,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360048711,"cg_vq_v":-0.360048711,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12481,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1493225,"cg_dv":50.2076683,"cg_dw":49.7923317,"cg_id_a":0.159768194,"cg_id_raw_a":0.117800519,"cg_iq_a":-0.0564518347,"cg_iq_raw_a":-0.17006892,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148308992,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9909096,"cg_sample_seq":14712967,"cg_sample_valid":1,"cg_theta_rad":5.00701809,"cg_vd_req_v":0.083918944,"cg_vd_v":0.083918944,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367439091,"cg_vq_v":-0.367439091,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9802551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110730134,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1489983,"cg_dv":50.2161942,"cg_dw":49.7838058,"cg_id_a":-0.244572535,"cg_id_raw_a":-0.227292642,"cg_iq_a":0.459167629,"cg_iq_raw_a":0.206812203,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9218178,"cg_sample_seq":14713016,"cg_sample_valid":1,"cg_theta_rad":5.00598001,"cg_vd_req_v":0.0928180218,"cg_vd_v":0.0928180218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377597958,"cg_vq_v":-0.377597958,"cg_vu_v":37.830761,"cg_vv_v":41.3499031,"cg_vw_v":50.5876465,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9572144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1464081,"cg_dv":50.2074699,"cg_dw":49.7925301,"cg_id_a":0.039674785,"cg_id_raw_a":-0.433764219,"cg_iq_a":-0.122470036,"cg_iq_raw_a":-0.769261718,"cg_iu_a":-0.0699541569,"cg_iv_a":0.250373125,"cg_iw_a":0.0370440483,"cg_sample_age_us":23.9509087,"cg_sample_seq":14713067,"cg_sample_valid":1,"cg_theta_rad":5.00687599,"cg_vd_req_v":0.0863825753,"cg_vd_v":0.0863825753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364278436,"cg_vq_v":-0.364278436,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9572144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12467,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1466827,"cg_dv":50.202198,"cg_dw":49.797802,"cg_id_a":0.139550343,"cg_id_raw_a":-0.331016392,"cg_iq_a":-0.344304472,"cg_iq_raw_a":-0.907565057,"cg_iu_a":0.183752775,"cg_iv_a":-0.43825984,"cg_iw_a":0.254507065,"cg_sample_age_us":23.9763641,"cg_sample_seq":14713116,"cg_sample_valid":1,"cg_theta_rad":5.00909424,"cg_vd_req_v":0.0832226723,"cg_vd_v":0.0832226723,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356762201,"cg_vq_v":-0.356762201,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":34.9740906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12428,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1436157,"cg_dv":50.2114868,"cg_dw":49.7885132,"cg_id_a":-0.197254509,"cg_id_raw_a":0.231852636,"cg_iq_a":0.208978742,"cg_iq_raw_a":-0.26876235,"cg_iu_a":0.256240368,"cg_iv_a":-0.583235025,"cg_iw_a":0.326994658,"cg_sample_age_us":23.9836369,"cg_sample_seq":14713166,"cg_sample_valid":1,"cg_theta_rad":5.00746632,"cg_vd_req_v":0.0913561136,"cg_vd_v":0.0913561136,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368457228,"cg_vq_v":-0.368457228,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.385498,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0882568,"temp_inv2_c":34.9740906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.405518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12423,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1408882,"cg_dv":50.2066231,"cg_dw":49.7933769,"cg_id_a":0.00289922021,"cg_id_raw_a":-0.0131210051,"cg_iq_a":-0.071735844,"cg_iq_raw_a":0.327201992,"cg_iu_a":0.00253343582,"cg_iv_a":-0.148308992,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9436359,"cg_sample_seq":14713221,"cg_sample_valid":1,"cg_theta_rad":5.00514078,"cg_vd_req_v":0.0892786011,"cg_vd_v":0.0892786011,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361348927,"cg_vq_v":-0.361348927,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":84.4593658,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12469,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440315,"cg_dv":50.206974,"cg_dw":49.793026,"cg_id_a":0.055442974,"cg_id_raw_a":-0.287252665,"cg_iq_a":-0.176612213,"cg_iq_raw_a":-0.53713876,"cg_iu_a":-0.251173496,"cg_iv_a":0.612811446,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.9218178,"cg_sample_seq":14713266,"cg_sample_valid":1,"cg_theta_rad":5.00742054,"cg_vd_req_v":0.0885483101,"cg_vd_v":0.0885483101,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363251239,"cg_vq_v":-0.363251239,"cg_vu_v":40.4701157,"cg_vv_v":48.3881836,"cg_vw_v":69.5030289,"control_outputs_enabled":1,"dclink_i_a":-0.0218069553,"dclink_p_w":-3.16559696,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12507,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1367989,"cg_dv":50.2043877,"cg_dw":49.7956123,"cg_id_a":0.0890242308,"cg_id_raw_a":0.038240049,"cg_iq_a":-0.473172963,"cg_iq_raw_a":0.00421586819,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0691539049,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9581814,"cg_sample_seq":14713317,"cg_sample_valid":1,"cg_theta_rad":5.00753069,"cg_vd_req_v":0.0884083882,"cg_vd_v":0.0884083882,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355343163,"cg_vq_v":-0.355343163,"cg_vu_v":104.254532,"cg_vv_v":96.7763672,"cg_vw_v":74.3418427,"control_outputs_enabled":1,"dclink_i_a":0.077863574,"dclink_p_w":11.2687788,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12393,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422043,"cg_dv":50.2072334,"cg_dw":49.7927666,"cg_id_a":-0.017281834,"cg_id_raw_a":-0.0302127451,"cg_iq_a":-0.246288657,"cg_iq_raw_a":-0.148054481,"cg_iu_a":-0.359905005,"cg_iv_a":0.0329101682,"cg_iw_a":0.326994836,"cg_sample_age_us":23.9618187,"cg_sample_seq":14713416,"cg_sample_valid":1,"cg_theta_rad":5.00787354,"cg_vd_req_v":0.0918468684,"cg_vd_v":0.0918468684,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36100626,"cg_vq_v":-0.36100626,"cg_vu_v":7.47817326,"cg_vv_v":21.1148415,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0126246214,"dclink_p_w":1.82154047,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12449,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1590843,"cg_dv":50.2119408,"cg_dw":49.7880592,"cg_id_a":0.492163837,"cg_id_raw_a":0.419330686,"cg_iq_a":0.585263968,"cg_iq_raw_a":0.406111807,"cg_iu_a":-1.15726924,"cg_iv_a":0.322860777,"cg_iw_a":0.834408462,"cg_sample_age_us":23.9509087,"cg_sample_seq":14713466,"cg_sample_valid":1,"cg_theta_rad":5.00782633,"cg_vd_req_v":0.0813854709,"cg_vd_v":0.0813854709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377331018,"cg_vq_v":-0.377331018,"cg_vu_v":29.0329094,"cg_vv_v":16.7159176,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.103234172,"dclink_p_w":14.9405298,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418686,"cg_dv":50.2081718,"cg_dw":49.7918282,"cg_id_a":-0.00544409081,"cg_id_raw_a":0.0382025503,"cg_iq_a":-0.182303414,"cg_iq_raw_a":0.00454312563,"cg_iu_a":-0.178685665,"cg_iv_a":0.177885473,"cg_iw_a":0.000800192356,"cg_sample_age_us":23.9618187,"cg_sample_seq":14713516,"cg_sample_valid":1,"cg_theta_rad":5.00578022,"cg_vd_req_v":0.0914252028,"cg_vd_v":0.0914252028,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36366123,"cg_vq_v":-0.36366123,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9740906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12453,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479378,"cg_dv":50.2104454,"cg_dw":49.7895546,"cg_id_a":0.237129271,"cg_id_raw_a":0.375634491,"cg_iq_a":0.0700247139,"cg_iq_raw_a":-0.216810733,"cg_iu_a":0.183752537,"cg_iv_a":-0.402015865,"cg_iw_a":0.218263328,"cg_sample_age_us":23.9836369,"cg_sample_seq":14713566,"cg_sample_valid":1,"cg_theta_rad":5.00704622,"cg_vd_req_v":0.0894330963,"cg_vd_v":0.0894330963,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370043039,"cg_vq_v":-0.370043039,"cg_vu_v":25.5137672,"cg_vv_v":7.47817326,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.279016852,"dclink_p_w":40.380619,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9740906,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108313106,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12462,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.143795,"cg_dv":50.2085114,"cg_dw":49.7914886,"cg_id_a":0.249607533,"cg_id_raw_a":0.0908016488,"cg_iq_a":-0.120994523,"cg_iq_raw_a":-0.318062127,"cg_iu_a":-0.432392597,"cg_iv_a":0.504079938,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9581814,"cg_sample_seq":14713616,"cg_sample_valid":1,"cg_theta_rad":5.00766659,"cg_vd_req_v":0.0902409926,"cg_vd_v":0.0902409926,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365211159,"cg_vq_v":-0.365211159,"cg_vu_v":23.3143044,"cg_vv_v":1.31967759,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.7716579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9771729,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12460,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398926,"cg_dv":50.2138481,"cg_dw":49.7861519,"cg_id_a":-0.153133973,"cg_id_raw_a":0.385357529,"cg_iq_a":0.0860938206,"cg_iq_raw_a":-0.107778437,"cg_iu_a":-0.178685665,"cg_iv_a":-0.655722737,"cg_iw_a":0.834408402,"cg_sample_age_us":23.8563633,"cg_sample_seq":14713667,"cg_sample_valid":1,"cg_theta_rad":5.00710392,"cg_vd_req_v":0.0975994989,"cg_vd_v":0.0975994989,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369328856,"cg_vq_v":-0.369328856,"cg_vu_v":21.1148415,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.177534103,"dclink_p_w":25.7716579,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9633484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12461,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1412315,"cg_dv":50.2088509,"cg_dw":49.7911491,"cg_id_a":0.137935013,"cg_id_raw_a":0.530419946,"cg_iq_a":-0.10445527,"cg_iq_raw_a":-0.313464582,"cg_iu_a":0.509947062,"cg_iv_a":0.250373065,"cg_iw_a":-0.760320127,"cg_sample_age_us":23.8672733,"cg_sample_seq":14713720,"cg_sample_valid":1,"cg_theta_rad":5.00693655,"cg_vd_req_v":0.0908470601,"cg_vd_v":0.0908470601,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363493145,"cg_vq_v":-0.363493145,"cg_vu_v":132.407669,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.141290188,"dclink_p_w":20.4481735,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9633484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000956740638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.50708,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12457,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413536,"cg_dv":50.2089767,"cg_dw":49.7910233,"cg_id_a":0.0813849941,"cg_id_raw_a":-0.0798097104,"cg_iq_a":-0.163863167,"cg_iq_raw_a":-0.0797118396,"cg_iu_a":0.14750886,"cg_iv_a":0.177885473,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.9618187,"cg_sample_seq":14713766,"cg_sample_valid":1,"cg_theta_rad":5.00629377,"cg_vd_req_v":0.0918000713,"cg_vd_v":0.0918000713,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363502651,"cg_vq_v":-0.363502651,"cg_vu_v":13.1967773,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.82777214,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109269857,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12480,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.133564,"cg_dv":50.2109947,"cg_dw":49.7890053,"cg_id_a":-0.132028133,"cg_id_raw_a":0.253043532,"cg_iq_a":-0.240902558,"cg_iq_raw_a":-0.0497182533,"cg_iu_a":0.00253343582,"cg_iv_a":0.0329101086,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9763641,"cg_sample_seq":14713816,"cg_sample_valid":1,"cg_theta_rad":5.00655699,"cg_vd_req_v":0.097129859,"cg_vd_v":0.097129859,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363812208,"cg_vq_v":-0.363812208,"cg_vu_v":8.35795879,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.126792669,"dclink_p_w":18.3500252,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12453,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1453018,"cg_dv":50.2108116,"cg_dw":49.7891884,"cg_id_a":0.234238178,"cg_id_raw_a":0.220745906,"cg_iq_a":-0.0670416132,"cg_iq_raw_a":-0.997219443,"cg_iu_a":-0.432392359,"cg_iv_a":0.21412921,"cg_iw_a":0.218263149,"cg_sample_age_us":23.9799995,"cg_sample_seq":14713866,"cg_sample_valid":1,"cg_theta_rad":5.0064435,"cg_vd_req_v":0.0914436281,"cg_vd_v":0.0914436281,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369157881,"cg_vq_v":-0.369157881,"cg_vu_v":2.63935518,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.0198733807,"dclink_p_w":2.88491035,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.534424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12421,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1471214,"cg_dv":50.2095642,"cg_dw":49.7904358,"cg_id_a":0.293672621,"cg_id_raw_a":0.289603174,"cg_iq_a":-0.114403702,"cg_iq_raw_a":-0.407380641,"cg_iu_a":-0.396148682,"cg_iv_a":0.0329101086,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9509087,"cg_sample_seq":14713916,"cg_sample_valid":1,"cg_theta_rad":5.00469017,"cg_vd_req_v":0.0890842676,"cg_vd_v":0.0890842676,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367235452,"cg_vq_v":-0.367235452,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.148538947,"dclink_p_w":21.5625896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12450,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1524582,"cg_dv":50.2133102,"cg_dw":49.7866898,"cg_id_a":0.212482616,"cg_id_raw_a":0.561813533,"cg_iq_a":0.195386529,"cg_iq_raw_a":1.87981248,"cg_iu_a":0.0387773514,"cg_iv_a":0.141641617,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.9254551,"cg_sample_seq":14713966,"cg_sample_valid":1,"cg_theta_rad":5.00653028,"cg_vd_req_v":0.0894276351,"cg_vd_v":0.0894276351,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375113636,"cg_vq_v":-0.375113636,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.155787706,"dclink_p_w":22.4777908,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.981781,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12439,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1663361,"cg_dv":50.2262306,"cg_dw":49.7737694,"cg_id_a":0.275702268,"cg_id_raw_a":-0.267919868,"cg_iq_a":1.45862281,"cg_iq_raw_a":-0.315667421,"cg_iu_a":-0.142441988,"cg_iv_a":-0.0395774841,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9836369,"cg_sample_seq":14714016,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0880577341,"cg_vd_v":0.0880577341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401164204,"cg_vq_v":-0.401164204,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9679565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00382696255,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117679097,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12433,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1576729,"cg_dv":50.2189445,"cg_dw":49.7810555,"cg_id_a":0.146623522,"cg_id_raw_a":-0.166381329,"cg_iq_a":0.734855413,"cg_iq_raw_a":0.167056575,"cg_iu_a":-1.59219527,"cg_iv_a":0.21412921,"cg_iw_a":1.37806606,"cg_sample_age_us":23.9581814,"cg_sample_seq":14714066,"cg_sample_valid":1,"cg_theta_rad":5.00478554,"cg_vd_req_v":0.0883371383,"cg_vd_v":0.0883371383,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387517244,"cg_vq_v":-0.387517244,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.0669903755,"dclink_p_w":9.69515896,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12444,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1481094,"cg_dv":50.2156601,"cg_dw":49.7843399,"cg_id_a":-0.156805307,"cg_id_raw_a":0.111192338,"cg_iq_a":0.122271881,"cg_iq_raw_a":-0.097646527,"cg_iu_a":-1.59219527,"cg_iv_a":0.177885413,"cg_iw_a":1.41430986,"cg_sample_age_us":23.9618187,"cg_sample_seq":14714116,"cg_sample_valid":1,"cg_theta_rad":5.00706005,"cg_vd_req_v":0.0932317525,"cg_vd_v":0.0932317525,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376315355,"cg_vq_v":-0.376315355,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":139.885834,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11254292,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1450424,"cg_dv":50.208847,"cg_dw":49.791153,"cg_id_a":0.0247047283,"cg_id_raw_a":-0.109955549,"cg_iq_a":-0.333656013,"cg_iq_raw_a":-0.410705864,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9290905,"cg_sample_seq":14714168,"cg_sample_valid":1,"cg_theta_rad":5.00605536,"cg_vd_req_v":0.0897078887,"cg_vd_v":0.0897078887,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365166217,"cg_vq_v":-0.365166217,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9833069,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.604736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12430,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1446495,"cg_dv":50.2143364,"cg_dw":49.7856636,"cg_id_a":-0.210999057,"cg_id_raw_a":0.409864992,"cg_iq_a":-0.0825039595,"cg_iq_raw_a":-1.01562095,"cg_iu_a":-0.50488019,"cg_iv_a":-0.112065196,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8672733,"cg_sample_seq":14714221,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0944306403,"cg_vd_v":0.0944306403,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372635603,"cg_vq_v":-0.372635603,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0646667,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114959948,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12436,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463776,"cg_dv":50.2112427,"cg_dw":49.7887573,"cg_id_a":0.0850289762,"cg_id_raw_a":-0.140369624,"cg_iq_a":-0.155822754,"cg_iq_raw_a":-0.305079699,"cg_iu_a":-0.142441988,"cg_iv_a":0.57656759,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.9363632,"cg_sample_seq":14714366,"cg_sample_valid":1,"cg_theta_rad":5.00822067,"cg_vd_req_v":0.0923470557,"cg_vd_v":0.0923470557,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368834883,"cg_vq_v":-0.368834883,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9802551,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.620361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12436,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1497116,"cg_dv":50.211132,"cg_dw":49.788868,"cg_id_a":0.223632276,"cg_id_raw_a":0.12886028,"cg_iq_a":-0.0511527583,"cg_iq_raw_a":-0.0588079654,"cg_iu_a":0.256240368,"cg_iv_a":0.322860837,"cg_iw_a":0.182019353,"cg_sample_age_us":23.9581814,"cg_sample_seq":14714416,"cg_sample_valid":1,"cg_theta_rad":5.00839043,"cg_vd_req_v":0.0899888948,"cg_vd_v":0.0899888948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371675819,"cg_vq_v":-0.371675819,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":0.128604889,"dclink_p_w":18.612299,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00206454564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111787595,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12431,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403275,"cg_dv":50.2147675,"cg_dw":49.7852325,"cg_id_a":-0.135135174,"cg_id_raw_a":0.0486095697,"cg_iq_a":-0.113217533,"cg_iq_raw_a":0.114722937,"cg_iu_a":0.292484283,"cg_iv_a":-0.583235145,"cg_iw_a":0.290750861,"cg_sample_age_us":23.9618187,"cg_sample_seq":14714466,"cg_sample_valid":1,"cg_theta_rad":5.00756073,"cg_vd_req_v":0.0985166654,"cg_vd_v":0.0985166654,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371937037,"cg_vq_v":-0.371937037,"cg_vu_v":37.830761,"cg_vv_v":40.4701157,"cg_vw_v":48.8280716,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.5314541,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12495,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.138607,"cg_dv":50.2087173,"cg_dw":49.7912827,"cg_id_a":0.0306310691,"cg_id_raw_a":0.173276439,"cg_iq_a":-0.542575181,"cg_iq_raw_a":0.127183706,"cg_iu_a":0.219996452,"cg_iv_a":0.540323853,"cg_iw_a":-1.12275863,"cg_sample_age_us":23.9509087,"cg_sample_seq":14714516,"cg_sample_valid":1,"cg_theta_rad":5.00634003,"cg_vd_req_v":0.094858557,"cg_vd_v":0.094858557,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362485796,"cg_vq_v":-0.362485796,"cg_vu_v":37.830761,"cg_vv_v":41.7897949,"cg_vw_v":51.0275345,"control_outputs_enabled":1,"dclink_i_a":-0.0725483894,"dclink_p_w":-10.5314541,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112291135,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.647705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12449,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1428833,"cg_dv":50.2162514,"cg_dw":49.7837486,"cg_id_a":-0.15513511,"cg_id_raw_a":-0.372228175,"cg_iq_a":0.0768325329,"cg_iq_raw_a":-1.16487741,"cg_iu_a":0.0750210285,"cg_iv_a":0.177885413,"cg_iw_a":0.870652318,"cg_sample_age_us":23.9618187,"cg_sample_seq":14714566,"cg_sample_valid":1,"cg_theta_rad":5.00836754,"cg_vd_req_v":0.0984613374,"cg_vd_v":0.0984613374,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374044448,"cg_vq_v":-0.374044448,"cg_vu_v":38.2706528,"cg_vv_v":42.6695786,"cg_vw_v":53.666893,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9664001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00125886931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114103913,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12447,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1418304,"cg_dv":50.2126274,"cg_dw":49.7873726,"cg_id_a":0.0778198093,"cg_id_raw_a":-0.165768772,"cg_iq_a":-0.0655437857,"cg_iq_raw_a":-0.270624042,"cg_iu_a":-0.287417173,"cg_iv_a":0.141641617,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9254551,"cg_sample_seq":14714616,"cg_sample_valid":1,"cg_theta_rad":5.00673962,"cg_vd_req_v":0.0939421281,"cg_vd_v":0.0939421281,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370379239,"cg_vq_v":-0.370379239,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":90.1779785,"control_outputs_enabled":1,"dclink_i_a":0.0343708992,"dclink_p_w":4.9743166,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12464,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381493,"cg_dv":50.209137,"cg_dw":49.790863,"cg_id_a":0.141168952,"cg_id_raw_a":0.420053333,"cg_iq_a":-0.340737104,"cg_iq_raw_a":-0.0319241099,"cg_iu_a":0.328727961,"cg_iv_a":0.177885413,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.8745461,"cg_sample_seq":14714666,"cg_sample_valid":1,"cg_theta_rad":5.00751829,"cg_vd_req_v":0.0941359401,"cg_vd_v":0.0941359401,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362014234,"cg_vq_v":-0.362014234,"cg_vu_v":105.574219,"cg_vv_v":100.295509,"cg_vw_v":85.7790527,"control_outputs_enabled":1,"dclink_i_a":-0.00912165642,"dclink_p_w":-1.31611598,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.69458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12455,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1330719,"cg_dv":50.2134933,"cg_dw":49.7865067,"cg_id_a":-0.184934646,"cg_id_raw_a":-0.143599927,"cg_iq_a":-0.244572282,"cg_iq_raw_a":-0.303572983,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796824,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.8709087,"cg_sample_seq":14714721,"cg_sample_valid":1,"cg_theta_rad":5.00631046,"cg_vd_req_v":0.101082943,"cg_vd_v":0.101082943,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365456581,"cg_vq_v":-0.365456581,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":80.9402313,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9786987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.702393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12464,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382904,"cg_dv":50.2168732,"cg_dw":49.7831268,"cg_id_a":-0.206223726,"cg_id_raw_a":0.128491059,"cg_iq_a":0.0798406154,"cg_iq_raw_a":-0.0596102141,"cg_iu_a":-0.178685665,"cg_iv_a":0.431592226,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9836369,"cg_sample_seq":14714766,"cg_sample_valid":1,"cg_theta_rad":5.0064292,"cg_vd_req_v":0.102256291,"cg_vd_v":0.102256291,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373639196,"cg_vq_v":-0.373639196,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.00368511677,"dclink_p_w":-0.533327281,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9786987,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.710205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12478,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1400032,"cg_dv":50.213192,"cg_dw":49.786808,"cg_id_a":0.08611691,"cg_id_raw_a":-0.179953769,"cg_iq_a":0.109830484,"cg_iq_raw_a":0.311451167,"cg_iu_a":0.292484283,"cg_iv_a":0.21412921,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.9981823,"cg_sample_seq":14714816,"cg_sample_valid":1,"cg_theta_rad":5.00652981,"cg_vd_req_v":0.0965446904,"cg_vd_v":0.0965446904,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369784296,"cg_vq_v":-0.369784296,"cg_vu_v":42.2296829,"cg_vv_v":53.666893,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":0.0398075581,"dclink_p_w":5.77864647,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107859924,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12464,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1386909,"cg_dv":50.2181931,"cg_dw":49.7818069,"cg_id_a":-0.31125313,"cg_id_raw_a":-0.332881153,"cg_iq_a":0.35293895,"cg_iq_raw_a":-0.286562949,"cg_iu_a":-0.396148682,"cg_iv_a":-0.365772128,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14714866,"cg_sample_valid":1,"cg_theta_rad":5.00722647,"cg_vd_req_v":0.103251338,"cg_vd_v":0.103251338,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374430329,"cg_vq_v":-0.374430329,"cg_vu_v":7.03828096,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":0.0108124018,"dclink_p_w":1.56482112,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00463263877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119693294,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12441,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413498,"cg_dv":50.2104988,"cg_dw":49.7895012,"cg_id_a":0.118997358,"cg_id_raw_a":0.0352440104,"cg_iq_a":-0.124194592,"cg_iq_raw_a":-0.177810118,"cg_iu_a":0.473703384,"cg_iv_a":0.250373125,"cg_iw_a":-0.724076509,"cg_sample_age_us":23.9872723,"cg_sample_seq":14714916,"cg_sample_valid":1,"cg_theta_rad":5.0072403,"cg_vd_req_v":0.0942630768,"cg_vd_v":0.0942630768,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365319967,"cg_vq_v":-0.365319967,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5135126,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00463263877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.119693294,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12429,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1363716,"cg_dv":50.2111168,"cg_dw":49.7888832,"cg_id_a":-0.0334102064,"cg_id_raw_a":0.497258782,"cg_iq_a":-0.284940213,"cg_iq_raw_a":-0.387325972,"cg_iu_a":0.654922485,"cg_iv_a":0.322860837,"cg_iw_a":-0.977783322,"cg_sample_age_us":23.9836369,"cg_sample_seq":14714966,"cg_sample_valid":1,"cg_theta_rad":5.00658846,"cg_vd_req_v":0.0984905064,"cg_vd_v":0.0984905064,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.36343351,"cg_vq_v":-0.36343351,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9694824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12481,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1375732,"cg_dv":50.2171364,"cg_dw":49.7828636,"cg_id_a":-0.1729009,"cg_id_raw_a":0.233148962,"cg_iq_a":0.129162654,"cg_iq_raw_a":1.47955322,"cg_iu_a":0.509947062,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14715017,"cg_sample_valid":1,"cg_theta_rad":5.00832939,"cg_vd_req_v":0.102495514,"cg_vd_v":0.102495514,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372535825,"cg_vq_v":-0.372535825,"cg_vu_v":25.953661,"cg_vv_v":8.79785156,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9679565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12410,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399078,"cg_dv":50.2121735,"cg_dw":49.7878265,"cg_id_a":-0.0126614571,"cg_id_raw_a":0.259240568,"cg_iq_a":-0.37306416,"cg_iq_raw_a":-0.481489897,"cg_iu_a":0.256240249,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9872723,"cg_sample_seq":14715066,"cg_sample_valid":1,"cg_theta_rad":5.00661278,"cg_vd_req_v":0.100683376,"cg_vd_v":0.100683376,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366988927,"cg_vq_v":-0.366988927,"cg_vu_v":23.7541981,"cg_vv_v":2.63935518,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.7875366,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9679565,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.760986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12467,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1467819,"cg_dv":50.218586,"cg_dw":49.781414,"cg_id_a":0.0425180979,"cg_id_raw_a":0.125639424,"cg_iq_a":0.186882243,"cg_iq_raw_a":-0.241714314,"cg_iu_a":0.00253343582,"cg_iv_a":0.286616921,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9509087,"cg_sample_seq":14715118,"cg_sample_valid":1,"cg_theta_rad":5.00814152,"cg_vd_req_v":0.0978105366,"cg_vd_v":0.0978105366,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379371256,"cg_vq_v":-0.379371256,"cg_vu_v":120.970459,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12472,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.158123,"cg_dv":50.2249756,"cg_dw":49.7750244,"cg_id_a":0.229260549,"cg_id_raw_a":0.156821206,"cg_iq_a":0.825185895,"cg_iq_raw_a":0.525423288,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.0758213997,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9799995,"cg_sample_seq":14715166,"cg_sample_valid":1,"cg_theta_rad":5.00633383,"cg_vd_req_v":0.0936579928,"cg_vd_v":0.0936579928,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394779533,"cg_vq_v":-0.394779533,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.25014317,"dclink_p_w":-36.2018852,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.800049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38771,"EncoderSin":12480,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1321716,"cg_dv":50.2193031,"cg_dw":49.7806969,"cg_id_a":-0.245866448,"cg_id_raw_a":-0.0767183825,"cg_iq_a":-0.204487666,"cg_iq_raw_a":0.612639487,"cg_iu_a":0.473703146,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.434125543,"cg_sample_age_us":23.9581814,"cg_sample_seq":14715221,"cg_sample_valid":1,"cg_theta_rad":5.00750446,"cg_vd_req_v":0.104969159,"cg_vd_v":0.104969159,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373569399,"cg_vq_v":-0.373569399,"cg_vu_v":14.9563465,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.393306255,"dclink_p_w":-56.9211121,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9725647,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.807861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12519,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1422272,"cg_dv":50.2192535,"cg_dw":49.7807465,"cg_id_a":-0.00580753013,"cg_id_raw_a":-0.0276303254,"cg_iq_a":0.0821674839,"cg_iq_raw_a":0.0346402712,"cg_iu_a":0.111264944,"cg_iv_a":0.177885473,"cg_iw_a":-0.289150417,"cg_sample_age_us":23.954546,"cg_sample_seq":14715266,"cg_sample_valid":1,"cg_theta_rad":5.00795078,"cg_vd_req_v":0.0997305661,"cg_vd_v":0.0997305661,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37833482,"cg_vq_v":-0.37833482,"cg_vu_v":141.205521,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12474,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1390076,"cg_dv":50.2192535,"cg_dw":49.7807465,"cg_id_a":0.109127775,"cg_id_raw_a":0.0624940209,"cg_iq_a":-0.871654332,"cg_iq_raw_a":-0.0296271723,"cg_iu_a":0.5099473,"cg_iv_a":0.322860777,"cg_iw_a":-0.832808077,"cg_sample_age_us":23.863636,"cg_sample_seq":14715316,"cg_sample_valid":1,"cg_theta_rad":5.00747395,"cg_vd_req_v":0.103678092,"cg_vd_v":0.103678092,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377378047,"cg_vq_v":-0.377378047,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109874107,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12473,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1403084,"cg_dv":50.2171974,"cg_dw":49.7828026,"cg_id_a":-0.0266993828,"cg_id_raw_a":0.280593723,"cg_iq_a":-0.247804016,"cg_iq_raw_a":-0.336768478,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284416,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14715366,"cg_sample_valid":1,"cg_theta_rad":5.00705624,"cg_vd_req_v":0.100152433,"cg_vd_v":0.100152433,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375438482,"cg_vq_v":-0.375438482,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.413240433,"dclink_p_w":-59.8060799,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9664001,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12450,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426735,"cg_dv":50.2168007,"cg_dw":49.7831993,"cg_id_a":0.0814362392,"cg_id_raw_a":0.330795467,"cg_iq_a":-0.164347976,"cg_iq_raw_a":0.468787819,"cg_iu_a":0.364971638,"cg_iv_a":0.214129329,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9799995,"cg_sample_seq":14715417,"cg_sample_valid":1,"cg_theta_rad":5.0065937,"cg_vd_req_v":0.0978160948,"cg_vd_v":0.0978160948,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376245439,"cg_vq_v":-0.376245439,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":-0.462169647,"dclink_p_w":-67.0906525,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12464,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.143425,"cg_dv":50.2156677,"cg_dw":49.7843323,"cg_id_a":0.089223206,"cg_id_raw_a":0.176502094,"cg_iq_a":-0.299985528,"cg_iq_raw_a":-0.564915419,"cg_iu_a":0.0750212669,"cg_iv_a":0.141641557,"cg_iw_a":-0.216662824,"cg_sample_age_us":23.9581814,"cg_sample_seq":14715466,"cg_sample_valid":1,"cg_theta_rad":5.00622845,"cg_vd_req_v":0.0962321386,"cg_vd_v":0.0962321386,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37387836,"cg_vq_v":-0.37387836,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.511098862,"dclink_p_w":-73.968605,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00221560989,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11294575,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12458,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.147438,"cg_dv":50.2164536,"cg_dw":49.7835464,"cg_id_a":0.135640174,"cg_id_raw_a":0.0973061845,"cg_iq_a":-0.222535744,"cg_iq_raw_a":0.0464027524,"cg_iu_a":-0.504880428,"cg_iv_a":-0.112065256,"cg_iw_a":0.616945684,"cg_sample_age_us":23.9690914,"cg_sample_seq":14715518,"cg_sample_valid":1,"cg_theta_rad":5.00647688,"cg_vd_req_v":0.0932835117,"cg_vd_v":0.0932835117,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376111597,"cg_vq_v":-0.376111597,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.3584671,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2669.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12459,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1419106,"cg_dv":50.2186928,"cg_dw":49.7813072,"cg_id_a":-0.233242854,"cg_id_raw_a":0.169946909,"cg_iq_a":-0.114195243,"cg_iq_raw_a":0.381367892,"cg_iu_a":0.14750886,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9727268,"cg_sample_seq":14715566,"cg_sample_valid":1,"cg_theta_rad":5.00615311,"cg_vd_req_v":0.100912467,"cg_vd_v":0.100912467,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37700063,"cg_vq_v":-0.37700063,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.529220581,"dclink_p_w":-76.3584671,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12419,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1395035,"cg_dv":50.2139091,"cg_dw":49.7860909,"cg_id_a":-0.171528965,"cg_id_raw_a":0.0750406832,"cg_iq_a":-0.572781265,"cg_iq_raw_a":-0.35585174,"cg_iu_a":0.0387773514,"cg_iv_a":0.286616921,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9799995,"cg_sample_seq":14715616,"cg_sample_valid":1,"cg_theta_rad":5.00549269,"cg_vd_req_v":0.100176498,"cg_vd_v":0.100176498,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368601948,"cg_vq_v":-0.368601948,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-0.465793967,"dclink_p_w":-67.4118729,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9572144,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114708163,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.874268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12450,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1488304,"cg_dv":50.2157249,"cg_dw":49.7842751,"cg_id_a":0.124481082,"cg_id_raw_a":-0.175138161,"cg_iq_a":-0.0058606565,"cg_iq_raw_a":-0.381215304,"cg_iu_a":0.00253343582,"cg_iv_a":0.214129269,"cg_iw_a":-0.216662705,"cg_sample_age_us":23.9872723,"cg_sample_seq":14715667,"cg_sample_valid":1,"cg_theta_rad":5.00656033,"cg_vd_req_v":0.0945735425,"cg_vd_v":0.0945735425,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377569109,"cg_vq_v":-0.377569109,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.460357428,"dclink_p_w":-66.8275757,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12448,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1436844,"cg_dv":50.2180328,"cg_dw":49.7819672,"cg_id_a":-0.0686807707,"cg_id_raw_a":-0.378756702,"cg_iq_a":0.0763683021,"cg_iq_raw_a":-0.472233146,"cg_iu_a":-0.613611698,"cg_iv_a":-0.510747433,"cg_iw_a":1.12435913,"cg_sample_age_us":23.954546,"cg_sample_seq":14715716,"cg_sample_valid":1,"cg_theta_rad":5.00643921,"cg_vd_req_v":0.0986939892,"cg_vd_v":0.0986939892,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378368974,"cg_vq_v":-0.378368974,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.636140108,"dclink_p_w":-92.3449936,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.91333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12421,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1473579,"cg_dv":50.2244225,"cg_dw":49.7755775,"cg_id_a":-0.148744494,"cg_id_raw_a":0.344176143,"cg_iq_a":0.423418075,"cg_iq_raw_a":0.324667811,"cg_iu_a":0.00253343582,"cg_iv_a":-0.0758213997,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.8818188,"cg_sample_seq":14715771,"cg_sample_valid":1,"cg_theta_rad":5.0075345,"cg_vd_req_v":0.101452895,"cg_vd_v":0.101452895,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388043612,"cg_vq_v":-0.388043612,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":137.246475,"control_outputs_enabled":1,"dclink_i_a":-0.645200968,"dclink_p_w":-93.3764877,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10891737,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.921143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12482,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1361046,"cg_dv":50.2148399,"cg_dw":49.7851601,"cg_id_a":-0.0968119949,"cg_id_raw_a":-0.150667846,"cg_iq_a":-0.536751211,"cg_iq_raw_a":-0.23110871,"cg_iu_a":0.0750212669,"cg_iv_a":-0.220796704,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9363632,"cg_sample_seq":14715817,"cg_sample_valid":1,"cg_theta_rad":5.00633764,"cg_vd_req_v":0.099303551,"cg_vd_v":0.099303551,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369165033,"cg_vq_v":-0.369165033,"cg_vu_v":109.093361,"cg_vv_v":110.413033,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.585398674,"dclink_p_w":-84.7216187,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12500,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451416,"cg_dv":50.2205086,"cg_dw":49.7794914,"cg_id_a":-0.060829509,"cg_id_raw_a":0.402426153,"cg_iq_a":0.0491063446,"cg_iq_raw_a":-0.0713580549,"cg_iu_a":0.00253343582,"cg_iv_a":-0.112065196,"cg_iw_a":0.10953176,"cg_sample_age_us":23.9763641,"cg_sample_seq":14715867,"cg_sample_valid":1,"cg_theta_rad":5.00730753,"cg_vd_req_v":0.0983670428,"cg_vd_v":0.0983670428,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381744653,"cg_vq_v":-0.381744653,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.560027838,"dclink_p_w":-80.8034821,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00140993355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12416,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476707,"cg_dv":50.2159004,"cg_dw":49.7840996,"cg_id_a":0.200286448,"cg_id_raw_a":-0.111182511,"cg_iq_a":-0.0539684184,"cg_iq_raw_a":0.463435024,"cg_iu_a":0.0750212669,"cg_iv_a":-0.329528213,"cg_iw_a":0.254506946,"cg_sample_age_us":23.9618187,"cg_sample_seq":14715917,"cg_sample_valid":1,"cg_theta_rad":5.00806952,"cg_vd_req_v":0.0935951844,"cg_vd_v":0.0935951844,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376454711,"cg_vq_v":-0.376454711,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.683256865,"dclink_p_w":-98.5835495,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12415,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1467896,"cg_dv":50.208271,"cg_dw":49.791729,"cg_id_a":0.564028263,"cg_id_raw_a":0.703174531,"cg_iq_a":-0.564207494,"cg_iq_raw_a":-1.24307585,"cg_iu_a":0.111264944,"cg_iv_a":1.4101758,"cg_iw_a":-1.52144074,"cg_sample_age_us":23.9836369,"cg_sample_seq":14715967,"cg_sample_valid":1,"cg_theta_rad":5.00680351,"cg_vd_req_v":0.0865899026,"cg_vd_v":0.0865899026,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366824925,"cg_vq_v":-0.366824925,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":92.8173294,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10901808,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12452,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426239,"cg_dv":50.2209702,"cg_dw":49.7790298,"cg_id_a":-0.144630745,"cg_id_raw_a":0.202356771,"cg_iq_a":0.104146846,"cg_iq_raw_a":0.274335891,"cg_iu_a":0.183752537,"cg_iv_a":-0.474503517,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9836369,"cg_sample_seq":14716017,"cg_sample_valid":1,"cg_theta_rad":5.00601244,"cg_vd_req_v":0.101324745,"cg_vd_v":0.101324745,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382068753,"cg_vq_v":-0.382068753,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.2526703,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2669.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1481438,"cg_dv":50.2138596,"cg_dw":49.7861404,"cg_id_a":0.261471778,"cg_id_raw_a":0.669805825,"cg_iq_a":-0.336980104,"cg_iq_raw_a":-0.62339735,"cg_iu_a":-0.323661089,"cg_iv_a":0.141641617,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14716067,"cg_sample_valid":1,"cg_theta_rad":5.00689363,"cg_vd_req_v":0.093091391,"cg_vd_v":0.093091391,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373484462,"cg_vq_v":-0.373484462,"cg_vu_v":105.574219,"cg_vv_v":99.8556061,"cg_vw_v":84.0194778,"control_outputs_enabled":1,"dclink_i_a":-0.367935658,"dclink_p_w":-53.4112129,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9694824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12456,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1433868,"cg_dv":50.2193527,"cg_dw":49.7806473,"cg_id_a":-0.201653391,"cg_id_raw_a":-0.252361208,"cg_iq_a":-0.19139117,"cg_iq_raw_a":0.594718635,"cg_iu_a":0.799897671,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.796563983,"cg_sample_age_us":23.994545,"cg_sample_seq":14716117,"cg_sample_valid":1,"cg_theta_rad":5.00702143,"cg_vd_req_v":0.101765774,"cg_vd_v":0.101765774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378361017,"cg_vq_v":-0.378361017,"cg_vu_v":104.694435,"cg_vv_v":98.0960464,"cg_vw_v":79.1806641,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9694824,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2669.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12471,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1529579,"cg_dv":50.2267609,"cg_dw":49.7732391,"cg_id_a":-0.167445272,"cg_id_raw_a":-0.194843784,"cg_iq_a":0.450258613,"cg_iq_raw_a":0.455248624,"cg_iu_a":-0.831074715,"cg_iv_a":0.0329101086,"cg_iw_a":0.798164606,"cg_sample_age_us":23.9872723,"cg_sample_seq":14716167,"cg_sample_valid":1,"cg_theta_rad":5.00837708,"cg_vd_req_v":0.100284249,"cg_vd_v":0.100284249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394112527,"cg_vq_v":-0.394112527,"cg_vu_v":103.814644,"cg_vv_v":96.3364716,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9633484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"state","t":2669.987508,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2669.987514,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2669.987519,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2669.987549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12456,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1553917,"cg_dv":50.2246132,"cg_dw":49.7753868,"cg_id_a":-0.0857307538,"cg_id_raw_a":-0.278612763,"cg_iq_a":0.302072555,"cg_iq_raw_a":0.446860433,"cg_iu_a":0.546190977,"cg_iv_a":-0.293284416,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.9509087,"cg_sample_seq":14716217,"cg_sample_valid":1,"cg_theta_rad":5.00695372,"cg_vd_req_v":0.0966921076,"cg_vd_v":0.0966921076,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392459273,"cg_vq_v":-0.392459273,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12448,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1814651,"cg_dv":50.2270279,"cg_dw":49.7729721,"cg_id_a":0.717586637,"cg_id_raw_a":-0.429366201,"cg_iq_a":1.15690482,"cg_iq_raw_a":0.72466141,"cg_iu_a":-0.577368021,"cg_iv_a":0.10539782,"cg_iw_a":0.471970201,"cg_sample_age_us":23.8672733,"cg_sample_seq":14716270,"cg_sample_valid":1,"cg_theta_rad":5.00674295,"cg_vd_req_v":0.0773750171,"cg_vd_v":0.0773750171,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.411910892,"cg_vq_v":-0.411910892,"cg_vu_v":29.912693,"cg_vv_v":18.9153805,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12461,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1495209,"cg_dv":50.21521,"cg_dw":49.78479,"cg_id_a":-0.151059851,"cg_id_raw_a":0.0886839852,"cg_iq_a":-0.415225953,"cg_iq_raw_a":-0.500271618,"cg_iu_a":1.01736081,"cg_iv_a":-0.00333380699,"cg_iw_a":-1.014027,"cg_sample_age_us":23.9290905,"cg_sample_seq":14716317,"cg_sample_valid":1,"cg_theta_rad":5.00569344,"cg_vd_req_v":0.0930648148,"cg_vd_v":0.0930648148,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377370507,"cg_vq_v":-0.377370507,"cg_vu_v":114.811958,"cg_vv_v":126.249161,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.302696705,"dclink_p_w":-43.8076744,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12447,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1570435,"cg_dv":50.2136497,"cg_dw":49.7863503,"cg_id_a":0.20074591,"cg_id_raw_a":0.627255321,"cg_iq_a":-0.36154595,"cg_iq_raw_a":-1.06643081,"cg_iu_a":-0.0699543953,"cg_iv_a":0.322860718,"cg_iw_a":-0.252906322,"cg_sample_age_us":23.8818188,"cg_sample_seq":14716366,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.0847868994,"cg_vd_v":0.0847868994,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378475994,"cg_vq_v":-0.378475994,"cg_vu_v":27.2733402,"cg_vv_v":11.4372072,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5000,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2581,"hz_tim_isr":4998,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107809566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12459,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1613083,"cg_dv":50.210392,"cg_dw":49.789608,"cg_id_a":0.595178783,"cg_id_raw_a":1.40314293,"cg_iq_a":-0.305710703,"cg_iq_raw_a":0.461576253,"cg_iu_a":0.14750886,"cg_iv_a":0.794030607,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.8600006,"cg_sample_seq":14716416,"cg_sample_valid":1,"cg_theta_rad":5.0076313,"cg_vd_req_v":0.0769366249,"cg_vd_v":0.0769366249,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376726538,"cg_vq_v":-0.376726538,"cg_vu_v":25.0738773,"cg_vv_v":5.27871037,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.261016369,"dclink_p_w":-37.7755051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38764,"EncoderSin":12463,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1556549,"cg_dv":50.2240639,"cg_dw":49.7759361,"cg_id_a":-0.144292787,"cg_id_raw_a":-0.211288407,"cg_iq_a":0.357374966,"cg_iq_raw_a":0.92816776,"cg_iu_a":-1.59219527,"cg_iv_a":0.322860718,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9581814,"cg_sample_seq":14716467,"cg_sample_valid":1,"cg_theta_rad":5.00606871,"cg_vd_req_v":0.0920202658,"cg_vd_v":0.0920202658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392802924,"cg_vq_v":-0.392802924,"cg_vu_v":120.090675,"cg_vv_v":141.645401,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.378808737,"dclink_p_w":-54.6563263,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9587402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00085603114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12447,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1600533,"cg_dv":50.2193947,"cg_dw":49.7806053,"cg_id_a":0.049923636,"cg_id_raw_a":-0.0138985515,"cg_iq_a":0.0512230173,"cg_iq_raw_a":-0.546697736,"cg_iu_a":-1.70092678,"cg_iv_a":-0.293284416,"cg_iw_a":1.9942112,"cg_sample_age_us":23.9872723,"cg_sample_seq":14716566,"cg_sample_valid":1,"cg_theta_rad":5.00739145,"cg_vd_req_v":0.0871394798,"cg_vd_v":0.0871394798,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3881706,"cg_vq_v":-0.3881706,"cg_vu_v":134.607132,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.110604405,"dclink_p_w":-16.007185,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109521627,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38704,"EncoderSin":12458,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1659851,"cg_dv":50.2239723,"cg_dw":49.7760277,"cg_id_a":-0.12989074,"cg_id_raw_a":0.233976781,"cg_iq_a":0.51777935,"cg_iq_raw_a":0.352632254,"cg_iu_a":-1.19351315,"cg_iv_a":-0.148308992,"cg_iw_a":1.34182215,"cg_sample_age_us":23.9618187,"cg_sample_seq":14716617,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.0893290639,"cg_vd_v":0.0893290639,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397187412,"cg_vq_v":-0.397187412,"cg_vu_v":128.888519,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.7387676,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12459,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1606598,"cg_dv":50.2203293,"cg_dw":49.7796707,"cg_id_a":0.0527435169,"cg_id_raw_a":-0.107606761,"cg_iq_a":0.124005646,"cg_iq_raw_a":0.645851016,"cg_iu_a":-0.323661089,"cg_iv_a":0.286616921,"cg_iw_a":0.0370441675,"cg_sample_age_us":23.9618187,"cg_sample_seq":14716667,"cg_sample_valid":1,"cg_theta_rad":5.00834942,"cg_vd_req_v":0.0876018852,"cg_vd_v":0.0876018852,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389776081,"cg_vq_v":-0.389776081,"cg_vu_v":133.727341,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.135975122,"dclink_p_w":-19.7387676,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12459,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1589012,"cg_dv":50.2210045,"cg_dw":49.7789955,"cg_id_a":-0.106948577,"cg_id_raw_a":-0.397549182,"cg_iq_a":0.126111194,"cg_iq_raw_a":0.361257881,"cg_iu_a":1.92345655,"cg_iv_a":0.649055123,"cg_iw_a":-2.57251167,"cg_sample_age_us":23.9654541,"cg_sample_seq":14716718,"cg_sample_valid":1,"cg_theta_rad":5.00796556,"cg_vd_req_v":0.0913052112,"cg_vd_v":0.0913052112,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388073325,"cg_vq_v":-0.388073325,"cg_vu_v":137.686371,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.0508021116,"dclink_p_w":-7.32997036,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.116455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12459,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1512527,"cg_dv":50.2226563,"cg_dw":49.7773438,"cg_id_a":-0.178504303,"cg_id_raw_a":-0.139057145,"cg_iq_a":0.240562618,"cg_iq_raw_a":0.825395882,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213997,"cg_iw_a":0.182019472,"cg_sample_age_us":24.8709087,"cg_sample_seq":14716770,"cg_sample_valid":1,"cg_theta_rad":5.00837469,"cg_vd_req_v":0.0940800309,"cg_vd_v":0.0940800309,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388455331,"cg_vq_v":-0.388455331,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.0307465792,"dclink_p_w":4.44978809,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106047153,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12438,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.157135,"cg_dv":50.2174492,"cg_dw":49.7825508,"cg_id_a":0.0574766472,"cg_id_raw_a":-0.0256781932,"cg_iq_a":-0.0850860029,"cg_iq_raw_a":0.216774046,"cg_iu_a":0.473703146,"cg_iv_a":-0.112065196,"cg_iw_a":-0.36163795,"cg_sample_age_us":23.954546,"cg_sample_seq":14716816,"cg_sample_valid":1,"cg_theta_rad":5.00728559,"cg_vd_req_v":0.0900455937,"cg_vd_v":0.0900455937,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383313149,"cg_vq_v":-0.383313149,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9633484,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115161367,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12461,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1456985,"cg_dv":50.2154694,"cg_dw":49.7845306,"cg_id_a":-0.254491925,"cg_id_raw_a":-0.11820244,"cg_iq_a":-0.442247659,"cg_iq_raw_a":-0.338185012,"cg_iu_a":0.546190858,"cg_iv_a":-0.293284357,"cg_iw_a":-0.252906501,"cg_sample_age_us":23.8600006,"cg_sample_seq":14716866,"cg_sample_valid":1,"cg_theta_rad":5.00747681,"cg_vd_req_v":0.0947033912,"cg_vd_v":0.0947033912,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375977308,"cg_vq_v":-0.375977308,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9587402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38703,"EncoderSin":12441,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1537971,"cg_dv":50.2179451,"cg_dw":49.7820549,"cg_id_a":-0.172362804,"cg_id_raw_a":0.0531271324,"cg_iq_a":0.00213365257,"cg_iq_raw_a":-0.139439508,"cg_iu_a":0.256240368,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.216662765,"cg_sample_age_us":23.863636,"cg_sample_seq":14716916,"cg_sample_valid":1,"cg_theta_rad":5.00588512,"cg_vd_req_v":0.0937822089,"cg_vd_v":0.0937822089,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383170635,"cg_vq_v":-0.383170635,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.324321628,"dclink_p_w":46.937336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9587402,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12452,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1522942,"cg_dv":50.2145691,"cg_dw":49.7854309,"cg_id_a":-0.0209941156,"cg_id_raw_a":-0.147975132,"cg_iq_a":-0.192385644,"cg_iq_raw_a":-0.232842296,"cg_iu_a":0.328727961,"cg_iv_a":-0.0758213997,"cg_iw_a":-0.252906561,"cg_sample_age_us":23.8600006,"cg_sample_seq":14716967,"cg_sample_valid":1,"cg_theta_rad":5.00645733,"cg_vd_req_v":0.0906511098,"cg_vd_v":0.0906511098,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.376763493,"cg_vq_v":-0.376763493,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9602966,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114003211,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12469,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1565399,"cg_dv":50.2226257,"cg_dw":49.7773743,"cg_id_a":-0.151303113,"cg_id_raw_a":0.229168549,"cg_iq_a":0.531903327,"cg_iq_raw_a":-0.0131381312,"cg_iu_a":-0.867318392,"cg_iv_a":-0.474503517,"cg_iw_a":1.34182191,"cg_sample_age_us":23.9727268,"cg_sample_seq":14717017,"cg_sample_valid":1,"cg_theta_rad":5.00658178,"cg_vd_req_v":0.0934894606,"cg_vd_v":0.0934894606,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389233619,"cg_vq_v":-0.389233619,"cg_vu_v":143.844864,"cg_vv_v":142.525192,"cg_vw_v":140.325729,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12454,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1531219,"cg_dv":50.2173653,"cg_dw":49.7826347,"cg_id_a":0.139585048,"cg_id_raw_a":-0.0163571145,"cg_iq_a":0.178570092,"cg_iq_raw_a":1.27326035,"cg_iu_a":0.5099473,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9218178,"cg_sample_seq":14717067,"cg_sample_valid":1,"cg_theta_rad":5.00606728,"cg_vd_req_v":0.0893064961,"cg_vd_v":0.0893064961,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381834865,"cg_vq_v":-0.381834865,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":113.052383,"control_outputs_enabled":1,"dclink_i_a":-0.0761727095,"dclink_p_w":-11.0575771,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12462,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482773,"cg_dv":50.2163353,"cg_dw":49.7836647,"cg_id_a":-0.0876054987,"cg_id_raw_a":-2.50345111e-05,"cg_iq_a":-0.0532662198,"cg_iq_raw_a":-0.254072517,"cg_iu_a":0.183752537,"cg_iv_a":0.105397701,"cg_iw_a":-0.289150238,"cg_sample_age_us":23.9836369,"cg_sample_seq":14717117,"cg_sample_valid":1,"cg_theta_rad":5.00708675,"cg_vd_req_v":0.0933743343,"cg_vd_v":0.0933743343,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377424538,"cg_vq_v":-0.377424538,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.244706631,"dclink_p_w":-35.3074379,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9526062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12435,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1485443,"cg_dv":50.2126389,"cg_dw":49.7873611,"cg_id_a":-0.0432531647,"cg_id_raw_a":0.0417429172,"cg_iq_a":-0.11265856,"cg_iq_raw_a":-1.05152452,"cg_iu_a":-0.106198072,"cg_iv_a":-0.293284297,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9509087,"cg_sample_seq":14717167,"cg_sample_valid":1,"cg_theta_rad":5.00660419,"cg_vd_req_v":0.0924111009,"cg_vd_v":0.0924111009,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37305373,"cg_vq_v":-0.37305373,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":115.69175,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9526062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111334398,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.190674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12458,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.15308,"cg_dv":50.2142715,"cg_dw":49.7857285,"cg_id_a":0.0614175573,"cg_id_raw_a":-0.297530413,"cg_iq_a":0.316434413,"cg_iq_raw_a":0.664339483,"cg_iu_a":-0.214929581,"cg_iv_a":0.39534843,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.994545,"cg_sample_seq":14717217,"cg_sample_valid":1,"cg_theta_rad":5.00768042,"cg_vd_req_v":0.0873677284,"cg_vd_v":0.0873677284,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378566206,"cg_vq_v":-0.378566206,"cg_vu_v":107.333786,"cg_vv_v":104.694435,"cg_vw_v":98.0960464,"control_outputs_enabled":1,"dclink_i_a":-0.304508924,"dclink_p_w":-44.2038994,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9526062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000906385889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114154272,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.218018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12452,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478691,"cg_dv":50.2024498,"cg_dw":49.7975502,"cg_id_a":0.439085841,"cg_id_raw_a":0.273445904,"cg_iq_a":-0.640799701,"cg_iq_raw_a":-0.264951229,"cg_iu_a":0.0387773514,"cg_iv_a":0.794030607,"cg_iw_a":-0.832807958,"cg_sample_age_us":23.9581814,"cg_sample_seq":14717270,"cg_sample_valid":1,"cg_theta_rad":5.00530291,"cg_vd_req_v":0.0791716725,"cg_vd_v":0.0791716725,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358536243,"cg_vq_v":-0.358536243,"cg_vu_v":38.2706528,"cg_vv_v":41.7897949,"cg_vw_v":51.9073219,"control_outputs_enabled":1,"dclink_i_a":-0.420489192,"dclink_p_w":-60.8551521,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12448,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1546783,"cg_dv":50.2118416,"cg_dw":49.7881584,"cg_id_a":0.0183632895,"cg_id_raw_a":0.16802752,"cg_iq_a":0.176055014,"cg_iq_raw_a":-0.237072304,"cg_iu_a":0.038777113,"cg_iv_a":0.322860777,"cg_iw_a":-0.36163789,"cg_sample_age_us":23.9763641,"cg_sample_seq":14717316,"cg_sample_valid":1,"cg_theta_rad":5.00808716,"cg_vd_req_v":0.0862206817,"cg_vd_v":0.0862206817,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374389291,"cg_vq_v":-0.374389291,"cg_vu_v":38.7105446,"cg_vv_v":43.549366,"cg_vw_v":55.8663559,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12467,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1479073,"cg_dv":50.2075081,"cg_dw":49.7924919,"cg_id_a":0.0893783048,"cg_id_raw_a":0.107937537,"cg_iq_a":-0.145275429,"cg_iq_raw_a":0.156602234,"cg_iu_a":-0.214929581,"cg_iv_a":-0.0395776033,"cg_iw_a":-0.506613374,"cg_sample_age_us":23.9654541,"cg_sample_seq":14717366,"cg_sample_valid":1,"cg_theta_rad":5.00721788,"cg_vd_req_v":0.0844765678,"cg_vd_v":0.0844765678,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365350008,"cg_vq_v":-0.365350008,"cg_vu_v":39.1504402,"cg_vv_v":44.8690414,"cg_vw_v":59.825386,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.8414612,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9894409,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106399633,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12459,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1490059,"cg_dv":50.2056541,"cg_dw":49.7943459,"cg_id_a":0.208049774,"cg_id_raw_a":-0.256769627,"cg_iq_a":-0.150923863,"cg_iq_raw_a":0.231077105,"cg_iu_a":-0.39614892,"cg_iv_a":0.250373065,"cg_iw_a":0.145775855,"cg_sample_age_us":24.0381813,"cg_sample_seq":14717517,"cg_sample_valid":1,"cg_theta_rad":5.00561666,"cg_vd_req_v":0.0826022848,"cg_vd_v":0.0826022848,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364423335,"cg_vq_v":-0.364423335,"cg_vu_v":103.374756,"cg_vv_v":95.0167923,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12448,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.135334,"cg_dv":50.208725,"cg_dw":49.791275,"cg_id_a":-0.210016757,"cg_id_raw_a":-0.0322796516,"cg_iq_a":-0.25628081,"cg_iq_raw_a":-0.147617623,"cg_iu_a":0.43745935,"cg_iv_a":-0.148308992,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.9872723,"cg_sample_seq":14717567,"cg_sample_valid":1,"cg_theta_rad":5.00784874,"cg_vd_req_v":0.0939299837,"cg_vd_v":0.0939299837,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361574978,"cg_vq_v":-0.361574978,"cg_vu_v":138.566162,"cg_vv_v":127.568848,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.204838395,"dclink_p_w":-29.7352734,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9648743,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38692,"EncoderSin":12445,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500397,"cg_dv":50.2119255,"cg_dw":49.7880745,"cg_id_a":-0.0184631664,"cg_id_raw_a":-0.246287957,"cg_iq_a":0.53541714,"cg_iq_raw_a":0.703646779,"cg_iu_a":-0.178685904,"cg_iv_a":-0.00333368778,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14717617,"cg_sample_valid":1,"cg_theta_rad":5.00824928,"cg_vd_req_v":0.091356568,"cg_vd_v":0.091356568,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371532619,"cg_vq_v":-0.371532619,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.8815804,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108111694,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.268799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12445,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416054,"cg_dv":50.2046242,"cg_dw":49.7953758,"cg_id_a":0.0698426291,"cg_id_raw_a":-0.233119816,"cg_iq_a":-0.101277851,"cg_iq_raw_a":0.196240574,"cg_iu_a":-0.142441988,"cg_iv_a":0.57656759,"cg_iw_a":-0.107931018,"cg_sample_age_us":23.9690914,"cg_sample_seq":14717667,"cg_sample_valid":1,"cg_theta_rad":5.00743675,"cg_vd_req_v":0.0883253366,"cg_vd_v":0.0883253366,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35749191,"cg_vq_v":-0.35749191,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.768429995,"dclink_p_w":-111.21077,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38694,"EncoderSin":12445,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383095,"cg_dv":50.206974,"cg_dw":49.793026,"cg_id_a":-0.239408255,"cg_id_raw_a":-0.501090527,"cg_iq_a":0.0946898833,"cg_iq_raw_a":0.130175486,"cg_iu_a":0.219996452,"cg_iv_a":-0.220796704,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.8745461,"cg_sample_seq":14717717,"cg_sample_valid":1,"cg_theta_rad":5.00601292,"cg_vd_req_v":0.0954762399,"cg_vd_v":0.0954762399,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358224988,"cg_vq_v":-0.358224988,"cg_vu_v":117.891212,"cg_vv_v":135.047012,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107910275,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.307861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12449,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1414833,"cg_dv":50.2045212,"cg_dw":49.7954788,"cg_id_a":0.273331434,"cg_id_raw_a":0.461686403,"cg_iq_a":0.0810027719,"cg_iq_raw_a":-0.0284137931,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704062,"cg_iw_a":0.145775676,"cg_sample_age_us":26.8272724,"cg_sample_seq":14717770,"cg_sample_valid":1,"cg_theta_rad":5.00739956,"cg_vd_req_v":0.0866802856,"cg_vd_v":0.0866802856,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357683748,"cg_vq_v":-0.357683748,"cg_vu_v":22.8744144,"cg_vv_v":0,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.659698486,"dclink_p_w":-95.4746323,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38777,"EncoderSin":12462,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1420212,"cg_dv":50.2104225,"cg_dw":49.7895775,"cg_id_a":0.206914678,"cg_id_raw_a":0.0444156267,"cg_iq_a":0.421497345,"cg_iq_raw_a":-0.0681599453,"cg_iu_a":-0.359904766,"cg_iv_a":-0.220796704,"cg_iw_a":0.58070147,"cg_sample_age_us":23.9581814,"cg_sample_seq":14717818,"cg_sample_valid":1,"cg_theta_rad":5.00640297,"cg_vd_req_v":0.0886451155,"cg_vd_v":0.0886451155,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366842568,"cg_vq_v":-0.366842568,"cg_vu_v":122.290138,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.62889123,"dclink_p_w":-91.0160675,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12465,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310272,"cg_dv":50.2081871,"cg_dw":49.7918129,"cg_id_a":-0.260462791,"cg_id_raw_a":-0.246623307,"cg_iq_a":-0.0601070188,"cg_iq_raw_a":-0.0953004435,"cg_iu_a":0.582434893,"cg_iv_a":-0.510747433,"cg_iw_a":-0.0716874599,"cg_sample_age_us":23.9509087,"cg_sample_seq":14717867,"cg_sample_valid":1,"cg_theta_rad":5.0078907,"cg_vd_req_v":0.0984606594,"cg_vd_v":0.0984606594,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356828928,"cg_vq_v":-0.356828928,"cg_vu_v":125.369385,"cg_vv_v":144.28476,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.636140108,"dclink_p_w":-92.3449936,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109571986,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.331299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12453,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1416245,"cg_dv":50.2100945,"cg_dw":49.7899055,"cg_id_a":-0.149349436,"cg_id_raw_a":-0.383421987,"cg_iq_a":0.203662828,"cg_iq_raw_a":0.216166377,"cg_iu_a":0.473703384,"cg_iv_a":-0.184552908,"cg_iw_a":-0.289150476,"cg_sample_age_us":23.9581814,"cg_sample_seq":14717916,"cg_sample_valid":1,"cg_theta_rad":5.0062027,"cg_vd_req_v":0.0952621251,"cg_vd_v":0.0952621251,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364509016,"cg_vq_v":-0.364509016,"cg_vu_v":138.126266,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.592647314,"dclink_p_w":-85.7706757,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12460,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.149292,"cg_dv":50.2085419,"cg_dw":49.7914581,"cg_id_a":0.171150327,"cg_id_raw_a":0.121483952,"cg_iq_a":0.208358094,"cg_iq_raw_a":0.0129059637,"cg_iu_a":-0.722343206,"cg_iv_a":0.322860837,"cg_iw_a":0.399482369,"cg_sample_age_us":23.9509087,"cg_sample_seq":14717967,"cg_sample_valid":1,"cg_theta_rad":5.00743866,"cg_vd_req_v":0.0860572904,"cg_vd_v":0.0860572904,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365966201,"cg_vq_v":-0.365966201,"cg_vu_v":132.847549,"cg_vv_v":143.404984,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.648825407,"dclink_p_w":-93.9010315,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38693,"EncoderSin":12464,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.143261,"cg_dv":50.2079201,"cg_dw":49.7920799,"cg_id_a":-0.049847573,"cg_id_raw_a":0.218187302,"cg_iq_a":0.0966214836,"cg_iq_raw_a":0.497311831,"cg_iu_a":0.401215553,"cg_iv_a":0.0329101086,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9763641,"cg_sample_seq":14718017,"cg_sample_valid":1,"cg_theta_rad":5.00783825,"cg_vd_req_v":0.0921549946,"cg_vd_v":0.0921549946,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362412572,"cg_vq_v":-0.362412572,"cg_vu_v":138.566162,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.766617775,"dclink_p_w":-110.948494,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1086656,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.358643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12445,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1305656,"cg_dv":50.2065048,"cg_dw":49.7934952,"cg_id_a":-0.243033513,"cg_id_raw_a":0.224392459,"cg_iq_a":-0.240739971,"cg_iq_raw_a":0.242179126,"cg_iu_a":0.582434773,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.579100966,"cg_sample_age_us":23.9581814,"cg_sample_seq":14718067,"cg_sample_valid":1,"cg_theta_rad":5.00752544,"cg_vd_req_v":0.0993938148,"cg_vd_v":0.0993938148,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352511287,"cg_vq_v":-0.352511287,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-1.07469034,"dclink_p_w":-155.061432,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12444,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1318054,"cg_dv":50.2037048,"cg_dw":49.7962952,"cg_id_a":-0.0852154195,"cg_id_raw_a":-0.0740997642,"cg_iq_a":-0.197577447,"cg_iq_raw_a":-0.334750354,"cg_iu_a":-0.178685665,"cg_iv_a":0.0329101086,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9836369,"cg_sample_seq":14718117,"cg_sample_valid":1,"cg_theta_rad":5.00897932,"cg_vd_req_v":0.0964891762,"cg_vd_v":0.0964891762,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35035485,"cg_vq_v":-0.35035485,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.888034582,"dclink_p_w":-128.520493,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12444,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394463,"cg_dv":50.209137,"cg_dw":49.790863,"cg_id_a":-0.00702146068,"cg_id_raw_a":0.0363421999,"cg_iq_a":0.455917627,"cg_iq_raw_a":0.44157359,"cg_iu_a":-0.541124105,"cg_iv_a":-0.112065315,"cg_iw_a":0.653189421,"cg_sample_age_us":23.9618187,"cg_sample_seq":14718167,"cg_sample_valid":1,"cg_theta_rad":5.00748205,"cg_vd_req_v":0.0949329436,"cg_vd_v":0.0949329436,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362266302,"cg_vq_v":-0.362266302,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.888034582,"dclink_p_w":-128.520493,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.955658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12475,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1359634,"cg_dv":50.204277,"cg_dw":49.795723,"cg_id_a":0.159586295,"cg_id_raw_a":0.563192725,"cg_iq_a":0.0714008808,"cg_iq_raw_a":-0.417371064,"cg_iu_a":-0.178685665,"cg_iv_a":0.504079938,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.9327278,"cg_sample_seq":14718216,"cg_sample_valid":1,"cg_theta_rad":5.00849724,"cg_vd_req_v":0.0920780227,"cg_vd_v":0.0920780227,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353930175,"cg_vq_v":-0.353930175,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":-0.888034582,"dclink_p_w":-128.520493,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.41333,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12465,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1348038,"cg_dv":50.2050133,"cg_dw":49.7949867,"cg_id_a":0.0836258009,"cg_id_raw_a":0.113721751,"cg_iq_a":0.124970943,"cg_iq_raw_a":0.521775782,"cg_iu_a":-0.214929581,"cg_iv_a":-1.12689257,"cg_iw_a":1.12435913,"cg_sample_age_us":23.863636,"cg_sample_seq":14718270,"cg_sample_valid":1,"cg_theta_rad":5.00842047,"cg_vd_req_v":0.0936280787,"cg_vd_v":0.0936280787,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35430181,"cg_vq_v":-0.35430181,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":4.83881807,"control_outputs_enabled":1,"dclink_i_a":-0.982268572,"dclink_p_w":-142.158478,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.947998,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12456,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1339569,"cg_dv":50.2031517,"cg_dw":49.7968483,"cg_id_a":0.144255608,"cg_id_raw_a":0.205797434,"cg_iq_a":0.0419441536,"cg_iq_raw_a":-1.10836983,"cg_iu_a":0.0387773514,"cg_iv_a":-0.0395776033,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9763641,"cg_sample_seq":14718367,"cg_sample_valid":1,"cg_theta_rad":5.00731468,"cg_vd_req_v":0.0908282921,"cg_vd_v":0.0908282921,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350585788,"cg_vq_v":-0.350585788,"cg_vu_v":143.844864,"cg_vv_v":142.085297,"cg_vw_v":139.445938,"control_outputs_enabled":1,"dclink_i_a":-0.824607849,"dclink_p_w":-119.341087,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9341736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12461,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1288414,"cg_dv":50.1963997,"cg_dw":49.8036003,"cg_id_a":0.0986548364,"cg_id_raw_a":-0.221844956,"cg_iq_a":-0.389827728,"cg_iq_raw_a":-0.130335271,"cg_iu_a":0.763653994,"cg_iv_a":0.286616921,"cg_iw_a":-1.05027092,"cg_sample_age_us":23.8709087,"cg_sample_seq":14718417,"cg_sample_valid":1,"cg_theta_rad":5.00652218,"cg_vd_req_v":0.090177156,"cg_vd_v":0.090177156,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339182705,"cg_vq_v":-0.339182705,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.932175,"control_outputs_enabled":1,"dclink_i_a":-1.2613461,"dclink_p_w":-182.547882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.955658,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112089723,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12434,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1283226,"cg_dv":50.1980095,"cg_dw":49.8019905,"cg_id_a":0.0827467218,"cg_id_raw_a":0.239879593,"cg_iq_a":-0.200886324,"cg_iq_raw_a":-0.596079171,"cg_iu_a":-0.178685665,"cg_iv_a":-0.184552908,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9581814,"cg_sample_seq":14718467,"cg_sample_valid":1,"cg_theta_rad":5.00778008,"cg_vd_req_v":0.0898032337,"cg_vd_v":0.0898032337,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342812806,"cg_vq_v":-0.342812806,"cg_vu_v":143.404984,"cg_vv_v":142.085297,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-1.2613461,"dclink_p_w":-182.547882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.44458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12477,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1314621,"cg_dv":50.2046318,"cg_dw":49.7953682,"cg_id_a":-0.055042468,"cg_id_raw_a":-0.0366557986,"cg_iq_a":0.150139302,"cg_iq_raw_a":0.361400425,"cg_iu_a":0.437459469,"cg_iv_a":-0.257040501,"cg_iw_a":-0.180418968,"cg_sample_age_us":23.954546,"cg_sample_seq":14718517,"cg_sample_valid":1,"cg_theta_rad":5.00532532,"cg_vd_req_v":0.0941143781,"cg_vd_v":0.0941143781,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.353528112,"cg_vq_v":-0.353528112,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-1.2613461,"dclink_p_w":-182.547882,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1257858,"cg_dv":50.1994667,"cg_dw":49.8005333,"cg_id_a":-0.145330638,"cg_id_raw_a":-0.0502958186,"cg_iq_a":-0.469286323,"cg_iq_raw_a":0.687819541,"cg_iu_a":0.691166401,"cg_iv_a":0.141641676,"cg_iw_a":-0.832807779,"cg_sample_age_us":23.9909096,"cg_sample_seq":14718567,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.0955953896,"cg_vd_v":0.0955953896,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.341616929,"cg_vq_v":-0.341616929,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-1.11637068,"dclink_p_w":-161.56636,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9295959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12485,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1342506,"cg_dv":50.2012482,"cg_dw":49.7987518,"cg_id_a":0.177838713,"cg_id_raw_a":-0.106449865,"cg_iq_a":-0.217739508,"cg_iq_raw_a":0.646042705,"cg_iu_a":0.219996452,"cg_iv_a":0.431592226,"cg_iw_a":-0.651588678,"cg_sample_age_us":23.863636,"cg_sample_seq":14718616,"cg_sample_valid":1,"cg_theta_rad":5.00614405,"cg_vd_req_v":0.0892058015,"cg_vd_v":0.0892058015,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349178672,"cg_vq_v":-0.349178672,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.707859,"control_outputs_enabled":1,"dclink_i_a":-0.877161503,"dclink_p_w":-126.946899,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.471924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12480,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1334114,"cg_dv":50.2091942,"cg_dw":49.7908058,"cg_id_a":-0.258350879,"cg_id_raw_a":-0.282892585,"cg_iq_a":0.203388616,"cg_iq_raw_a":-0.791848958,"cg_iu_a":0.038777113,"cg_iv_a":-0.619478941,"cg_iw_a":0.580701828,"cg_sample_age_us":23.9509087,"cg_sample_seq":14718667,"cg_sample_valid":1,"cg_theta_rad":5.00797606,"cg_vd_req_v":0.0989871621,"cg_vd_v":0.0989871621,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359141082,"cg_vq_v":-0.359141082,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":-0.840917587,"dclink_p_w":-121.701508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9449158,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12475,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.131115,"cg_dv":50.2047997,"cg_dw":49.7952003,"cg_id_a":-0.138913289,"cg_id_raw_a":-0.235154182,"cg_iq_a":-0.340363503,"cg_iq_raw_a":-0.422927082,"cg_iu_a":-0.359905005,"cg_iv_a":-0.329528213,"cg_iw_a":0.689433217,"cg_sample_age_us":23.9581814,"cg_sample_seq":14718717,"cg_sample_valid":1,"cg_theta_rad":5.00744104,"cg_vd_req_v":0.0964700729,"cg_vd_v":0.0964700729,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351894587,"cg_vq_v":-0.351894587,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.674196005,"dclink_p_w":-97.5727844,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9433899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.510986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12451,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1473351,"cg_dv":50.2123947,"cg_dw":49.7876053,"cg_id_a":0.168761343,"cg_id_raw_a":-0.358200043,"cg_iq_a":0.509196758,"cg_iq_raw_a":-0.251135826,"cg_iu_a":-0.50488019,"cg_iv_a":-0.0395774841,"cg_iw_a":0.544457674,"cg_sample_age_us":23.9581814,"cg_sample_seq":14718770,"cg_sample_valid":1,"cg_theta_rad":5.00746727,"cg_vd_req_v":0.0893941671,"cg_vd_v":0.0893941671,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371751666,"cg_vq_v":-0.371751666,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.380127,"control_outputs_enabled":1,"dclink_i_a":-0.463981748,"dclink_p_w":-67.1495972,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9433899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.518799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12447,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1386795,"cg_dv":50.213398,"cg_dw":49.786602,"cg_id_a":-0.228914008,"cg_id_raw_a":-0.0859590843,"cg_iq_a":0.33424601,"cg_iq_raw_a":0.429552227,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9581814,"cg_sample_seq":14718816,"cg_sample_valid":1,"cg_theta_rad":5.00784874,"cg_vd_req_v":0.0974418074,"cg_vd_v":0.0974418074,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368216604,"cg_vq_v":-0.368216604,"cg_vu_v":39.1504402,"cg_vv_v":45.3089333,"cg_vw_v":61.1450691,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-100.982262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110629432,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12419,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500168,"cg_dv":50.2104187,"cg_dw":49.7895813,"cg_id_a":0.21635066,"cg_id_raw_a":0.915096343,"cg_iq_a":0.286561847,"cg_iq_raw_a":1.33068192,"cg_iu_a":0.00253343582,"cg_iv_a":-0.184552908,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9254551,"cg_sample_seq":14718866,"cg_sample_valid":1,"cg_theta_rad":5.00342751,"cg_vd_req_v":0.0876995549,"cg_vd_v":0.0876995549,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370013982,"cg_vq_v":-0.370013982,"cg_vu_v":40.0302238,"cg_vv_v":47.5083961,"cg_vw_v":66.4237747,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.080444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.941864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12427,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1575012,"cg_dv":50.214592,"cg_dw":49.785408,"cg_id_a":0.244257808,"cg_id_raw_a":-0.826347709,"cg_iq_a":0.727571309,"cg_iq_raw_a":0.0262672082,"cg_iu_a":0.256240368,"cg_iv_a":-0.402015924,"cg_iw_a":0.145775557,"cg_sample_age_us":23.9618187,"cg_sample_seq":14718916,"cg_sample_valid":1,"cg_theta_rad":5.0064292,"cg_vd_req_v":0.086470969,"cg_vd_v":0.086470969,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.37976107,"cg_vq_v":-0.37976107,"cg_vu_v":40.9100075,"cg_vv_v":50.1477547,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.71225214,"dclink_p_w":-103.080444,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.941864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12429,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.152977,"cg_dv":50.2123756,"cg_dw":49.7876244,"cg_id_a":0.214913175,"cg_id_raw_a":0.172426268,"cg_iq_a":0.52160424,"cg_iq_raw_a":0.564037383,"cg_iu_a":-0.468636513,"cg_iv_a":0.214129329,"cg_iw_a":0.254507184,"cg_sample_age_us":23.9509087,"cg_sample_seq":14718966,"cg_sample_valid":1,"cg_theta_rad":5.00694609,"cg_vd_req_v":0.086691007,"cg_vd_v":0.086691007,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374473691,"cg_vq_v":-0.374473691,"cg_vu_v":103.814644,"cg_vv_v":95.4566803,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.844542027,"dclink_p_w":-122.226051,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9387817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12439,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1435661,"cg_dv":50.2067413,"cg_dw":49.7932587,"cg_id_a":0.096922487,"cg_id_raw_a":-0.0070920568,"cg_iq_a":-0.262916327,"cg_iq_raw_a":-0.801279366,"cg_iu_a":0.111264944,"cg_iv_a":0.214129329,"cg_iw_a":-0.325394273,"cg_sample_age_us":23.8600006,"cg_sample_seq":14719016,"cg_sample_valid":1,"cg_theta_rad":5.00653887,"cg_vd_req_v":0.0893258527,"cg_vd_v":0.0893258527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361349791,"cg_vq_v":-0.361349791,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.837293148,"dclink_p_w":-121.176964,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12448,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1452522,"cg_dv":50.2067757,"cg_dw":49.7932243,"cg_id_a":0.123858415,"cg_id_raw_a":-0.0597014911,"cg_iq_a":-0.0688932016,"cg_iq_raw_a":-0.47890532,"cg_iu_a":0.0750212669,"cg_iv_a":0.105397761,"cg_iw_a":0.218263328,"cg_sample_age_us":23.8600006,"cg_sample_seq":14719066,"cg_sample_valid":1,"cg_theta_rad":5.00643063,"cg_vd_req_v":0.0886362642,"cg_vd_v":0.0886362642,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362199247,"cg_vq_v":-0.362199247,"cg_vu_v":29.4728031,"cg_vv_v":18.4754887,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107054248,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12455,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1365089,"cg_dv":50.2020416,"cg_dw":49.7979584,"cg_id_a":0.089445971,"cg_id_raw_a":-0.313521147,"cg_iq_a":-0.363367319,"cg_iq_raw_a":-0.501914859,"cg_iu_a":-0.722343206,"cg_iv_a":-0.365772009,"cg_iw_a":1.08811522,"cg_sample_age_us":23.8672733,"cg_sample_seq":14719117,"cg_sample_valid":1,"cg_theta_rad":5.00705004,"cg_vd_req_v":0.088045679,"cg_vd_v":0.088045679,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351559132,"cg_vq_v":-0.351559132,"cg_vu_v":28.5930176,"cg_vv_v":15.836132,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9372559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12469,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1417122,"cg_dv":50.1995392,"cg_dw":49.8004608,"cg_id_a":0.354896039,"cg_id_raw_a":0.21797207,"cg_iq_a":-0.456533819,"cg_iq_raw_a":-0.561023355,"cg_iu_a":-0.541124105,"cg_iv_a":-0.0395776033,"cg_iw_a":0.580701709,"cg_sample_age_us":23.954546,"cg_sample_seq":14719167,"cg_sample_valid":1,"cg_theta_rad":5.00748014,"cg_vd_req_v":0.0818304271,"cg_vd_v":0.0818304271,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350984275,"cg_vq_v":-0.350984275,"cg_vu_v":27.2733402,"cg_vv_v":12.3169918,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.741247177,"dclink_p_w":-107.276741,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9372559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.585205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12439,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1499062,"cg_dv":50.20224,"cg_dw":49.79776,"cg_id_a":0.342455268,"cg_id_raw_a":0.115921289,"cg_iq_a":-0.137165397,"cg_iq_raw_a":0.267975807,"cg_iu_a":0.111264944,"cg_iv_a":0.75778681,"cg_iw_a":-0.869051754,"cg_sample_age_us":23.9618187,"cg_sample_seq":14719217,"cg_sample_valid":1,"cg_theta_rad":5.00647545,"cg_vd_req_v":0.0813500732,"cg_vd_v":0.0813500732,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35850516,"cg_vq_v":-0.35850516,"cg_vu_v":117.451309,"cg_vv_v":133.287445,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.797425032,"dclink_p_w":-115.757843,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106601045,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.612549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12458,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1327744,"cg_dv":50.2088737,"cg_dw":49.7911263,"cg_id_a":-0.304269254,"cg_id_raw_a":-0.378520787,"cg_iq_a":-0.309528142,"cg_iq_raw_a":-0.0340060964,"cg_iu_a":0.00253343582,"cg_iv_a":0.141641557,"cg_iw_a":-0.144174993,"cg_sample_age_us":23.863636,"cg_sample_seq":14719270,"cg_sample_valid":1,"cg_theta_rad":5.00697613,"cg_vd_req_v":0.0968693793,"cg_vd_v":0.0968693793,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358983099,"cg_vq_v":-0.358983099,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.90796876,"dclink_p_w":-131.405472,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9265137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38677,"EncoderSin":12463,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.133709,"cg_dv":50.20924,"cg_dw":49.79076,"cg_id_a":-0.52180624,"cg_id_raw_a":-0.185473219,"cg_iq_a":-0.177716523,"cg_iq_raw_a":0.126568571,"cg_iu_a":1.23482382,"cg_iv_a":-0.365772009,"cg_iw_a":-0.869051814,"cg_sample_age_us":23.954546,"cg_sample_seq":14719316,"cg_sample_valid":1,"cg_theta_rad":5.00778532,"cg_vd_req_v":0.102239311,"cg_vd_v":0.102239311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.358410507,"cg_vq_v":-0.358410507,"cg_vu_v":20.2350578,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.90796876,"dclink_p_w":-131.405472,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9265137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113550007,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12455,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1490974,"cg_dv":50.2141418,"cg_dw":49.7858582,"cg_id_a":0.146631584,"cg_id_raw_a":-0.649199247,"cg_iq_a":0.662213743,"cg_iq_raw_a":0.15661484,"cg_iu_a":-1.26600075,"cg_iv_a":0.21412921,"cg_iw_a":1.05187154,"cg_sample_age_us":23.8563633,"cg_sample_seq":14719366,"cg_sample_valid":1,"cg_theta_rad":5.00730324,"cg_vd_req_v":0.0907848701,"cg_vd_v":0.0907848701,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374857128,"cg_vq_v":-0.374857128,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.927902937,"dclink_p_w":-134.290436,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115664914,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12450,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1395264,"cg_dv":50.2136993,"cg_dw":49.7863007,"cg_id_a":-0.225642264,"cg_id_raw_a":0.0273587685,"cg_iq_a":0.29757303,"cg_iq_raw_a":0.331216156,"cg_iu_a":0.256240129,"cg_iv_a":-0.220796704,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9436359,"cg_sample_seq":14719416,"cg_sample_valid":1,"cg_theta_rad":5.00709867,"cg_vd_req_v":0.098248437,"cg_vd_v":0.098248437,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368787199,"cg_vq_v":-0.368787199,"cg_vu_v":12.7568836,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.743059397,"dclink_p_w":-107.865883,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12445,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404076,"cg_dv":50.22472,"cg_dw":49.77528,"cg_id_a":-0.644018769,"cg_id_raw_a":0.0134420525,"cg_iq_a":1.0352807,"cg_iq_raw_a":0.475501925,"cg_iu_a":0.437459469,"cg_iv_a":-0.00333368778,"cg_iw_a":2.1754303,"cg_sample_age_us":23.9654541,"cg_sample_seq":14719466,"cg_sample_valid":1,"cg_theta_rad":5.00543022,"cg_vd_req_v":0.108140267,"cg_vd_v":0.108140267,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384298325,"cg_vq_v":-0.384298325,"cg_vu_v":7.03828096,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.308914,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111686885,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12481,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.13908,"cg_dv":50.2091751,"cg_dw":49.7908249,"cg_id_a":0.0919024795,"cg_id_raw_a":0.00260349596,"cg_iq_a":-0.0721067339,"cg_iq_raw_a":0.365260154,"cg_iu_a":-0.142441988,"cg_iv_a":0.0691539049,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9254551,"cg_sample_seq":14719516,"cg_sample_valid":1,"cg_theta_rad":5.00739241,"cg_vd_req_v":0.0927308351,"cg_vd_v":0.0927308351,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361590862,"cg_vq_v":-0.361590862,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":-0.697754622,"dclink_p_w":-100.675354,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12462,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478691,"cg_dv":50.216095,"cg_dw":49.783905,"cg_id_a":-0.0358153768,"cg_id_raw_a":-0.510327816,"cg_iq_a":0.589793921,"cg_iq_raw_a":0.898373067,"cg_iu_a":-0.722343206,"cg_iv_a":0.0329101086,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9581814,"cg_sample_seq":14719566,"cg_sample_valid":1,"cg_theta_rad":5.00602818,"cg_vd_req_v":0.0935455561,"cg_vd_v":0.0935455561,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.3768453,"cg_vq_v":-0.3768453,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.900719881,"dclink_p_w":-130.752594,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9495239,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12464,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.138504,"cg_dv":50.2034836,"cg_dw":49.7965164,"cg_id_a":0.131871611,"cg_id_raw_a":0.242837176,"cg_iq_a":-0.515260935,"cg_iq_raw_a":-0.594880402,"cg_iu_a":-0.178685904,"cg_iv_a":0.504079938,"cg_iw_a":-0.325394034,"cg_sample_age_us":23.863636,"cg_sample_seq":14719616,"cg_sample_valid":1,"cg_theta_rad":5.00602579,"cg_vd_req_v":0.0885352865,"cg_vd_v":0.0885352865,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354473501,"cg_vq_v":-0.354473501,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.205521,"control_outputs_enabled":1,"dclink_i_a":-0.849978685,"dclink_p_w":-123.012871,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9050293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105896078,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38715,"EncoderSin":12447,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1481895,"cg_dv":50.210331,"cg_dw":49.789669,"cg_id_a":0.0632260069,"cg_id_raw_a":0.387494475,"cg_iq_a":0.17111811,"cg_iq_raw_a":1.13254857,"cg_iu_a":0.292484045,"cg_iv_a":0.431592345,"cg_iw_a":-0.72407639,"cg_sample_age_us":23.9618187,"cg_sample_seq":14719667,"cg_sample_valid":1,"cg_theta_rad":5.00676441,"cg_vd_req_v":0.0892575011,"cg_vd_v":0.0892575011,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368809819,"cg_vq_v":-0.368809819,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":-0.935151577,"dclink_p_w":-135.339493,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12454,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1439934,"cg_dv":50.2103539,"cg_dw":49.7896461,"cg_id_a":-0.0877497122,"cg_id_raw_a":-0.0203201082,"cg_iq_a":-0.0535986125,"cg_iq_raw_a":0.581619203,"cg_iu_a":-0.214929581,"cg_iv_a":0.322860777,"cg_iw_a":-0.107931197,"cg_sample_age_us":23.9509087,"cg_sample_seq":14719717,"cg_sample_valid":1,"cg_theta_rad":5.00669146,"cg_vd_req_v":0.0928879455,"cg_vd_v":0.0928879455,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366395921,"cg_vq_v":-0.366395921,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12449,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.147522,"cg_dv":50.2085648,"cg_dw":49.7914352,"cg_id_a":0.200612113,"cg_id_raw_a":0.0692931712,"cg_iq_a":0.0102191269,"cg_iq_raw_a":0.335221738,"cg_iu_a":0.14750886,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9618187,"cg_sample_seq":14719770,"cg_sample_valid":1,"cg_theta_rad":5.00805187,"cg_vd_req_v":0.0869364142,"cg_vd_v":0.0869364142,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367482156,"cg_vq_v":-0.367482156,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.775678873,"dclink_p_w":-112.259857,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12461,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460915,"cg_dv":50.213707,"cg_dw":49.786293,"cg_id_a":-0.0914334506,"cg_id_raw_a":0.291245311,"cg_iq_a":0.220394105,"cg_iq_raw_a":-0.226510003,"cg_iu_a":-0.106198072,"cg_iv_a":-0.402015805,"cg_iw_a":0.326994777,"cg_sample_age_us":23.863636,"cg_sample_seq":14719816,"cg_sample_valid":1,"cg_theta_rad":5.00932074,"cg_vd_req_v":0.0919774771,"cg_vd_v":0.0919774771,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372762918,"cg_vq_v":-0.372762918,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.840917587,"dclink_p_w":-121.701508,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12447,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1420517,"cg_dv":50.2037277,"cg_dw":49.7962723,"cg_id_a":-0.0632505491,"cg_id_raw_a":0.39078021,"cg_iq_a":-0.563226223,"cg_iq_raw_a":-0.360204428,"cg_iu_a":0.111264944,"cg_iv_a":0.105397701,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.9872723,"cg_sample_seq":14719866,"cg_sample_valid":1,"cg_theta_rad":5.00434923,"cg_vd_req_v":0.0880198106,"cg_vd_v":0.0880198106,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356295407,"cg_vq_v":-0.356295407,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.47817326,"control_outputs_enabled":1,"dclink_i_a":-0.782927513,"dclink_p_w":-113.308914,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9403381,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000654612028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12456,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1477127,"cg_dv":50.2073822,"cg_dw":49.7926178,"cg_id_a":0.00379245449,"cg_id_raw_a":-0.371307969,"cg_iq_a":-0.116469599,"cg_iq_raw_a":-0.108180828,"cg_iu_a":-0.106198072,"cg_iv_a":-0.0758213401,"cg_iw_a":0.182019413,"cg_sample_age_us":23.9218178,"cg_sample_seq":14719916,"cg_sample_valid":1,"cg_theta_rad":5.00545692,"cg_vd_req_v":0.0856163055,"cg_vd_v":0.0856163055,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364814073,"cg_vq_v":-0.364814073,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.650637627,"dclink_p_w":-94.1633072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38719,"EncoderSin":12451,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429024,"cg_dv":50.2015648,"cg_dw":49.7984352,"cg_id_a":0.0864495188,"cg_id_raw_a":-0.378494799,"cg_iq_a":-0.701093853,"cg_iq_raw_a":-1.09303117,"cg_iu_a":0.111264944,"cg_iv_a":0.431592226,"cg_iw_a":-0.54285717,"cg_sample_age_us":23.9618187,"cg_sample_seq":14719966,"cg_sample_valid":1,"cg_theta_rad":5.00710964,"cg_vd_req_v":0.0844193846,"cg_vd_v":0.0844193846,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354040444,"cg_vq_v":-0.354040444,"cg_vu_v":37.3908691,"cg_vv_v":40.0302238,"cg_vw_v":47.0685043,"control_outputs_enabled":1,"dclink_i_a":-0.650637627,"dclink_p_w":-94.1633072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00151064317,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117024489,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12452,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483078,"cg_dv":50.2096443,"cg_dw":49.7903557,"cg_id_a":-0.0129373409,"cg_id_raw_a":-0.187400445,"cg_iq_a":-0.0181117989,"cg_iq_raw_a":-0.0537798256,"cg_iu_a":0.0750212669,"cg_iv_a":0.0329101086,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.863636,"cg_sample_seq":14720016,"cg_sample_valid":1,"cg_theta_rad":5.00834322,"cg_vd_req_v":0.0871964693,"cg_vd_v":0.0871964693,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368255764,"cg_vq_v":-0.368255764,"cg_vu_v":37.830761,"cg_vv_v":40.9100075,"cg_vw_v":49.2679672,"control_outputs_enabled":1,"dclink_i_a":-0.650637627,"dclink_p_w":-94.1633072,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9526062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.1107805,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12472,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1482201,"cg_dv":50.2086983,"cg_dw":49.7913017,"cg_id_a":-0.0700820312,"cg_id_raw_a":0.00872192997,"cg_iq_a":-0.106555119,"cg_iq_raw_a":0.984563708,"cg_iu_a":0.401215553,"cg_iv_a":0.105397701,"cg_iw_a":-0.506613255,"cg_sample_age_us":23.863636,"cg_sample_seq":14720117,"cg_sample_valid":1,"cg_theta_rad":5.00622082,"cg_vd_req_v":0.0854256451,"cg_vd_v":0.0854256451,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367136359,"cg_vq_v":-0.367136359,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.759369135,"dclink_p_w":-109.899437,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.941864,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109320216,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12449,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1526375,"cg_dv":50.2130737,"cg_dw":49.7869263,"cg_id_a":-0.120536596,"cg_id_raw_a":-0.111521482,"cg_iq_a":0.335853338,"cg_iq_raw_a":-0.410283446,"cg_iu_a":0.14750886,"cg_iv_a":-0.764454246,"cg_iw_a":0.616945386,"cg_sample_age_us":23.8600006,"cg_sample_seq":14720167,"cg_sample_valid":1,"cg_theta_rad":5.00662088,"cg_vd_req_v":0.0864385888,"cg_vd_v":0.0864385888,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375508487,"cg_vq_v":-0.375508487,"cg_vu_v":105.574219,"cg_vv_v":100.735397,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-91.802887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9433899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10322728,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38766,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1473351,"cg_dv":50.2123413,"cg_dw":49.7876587,"cg_id_a":-0.163196653,"cg_id_raw_a":0.162328109,"cg_iq_a":0.112055182,"cg_iq_raw_a":0.26949361,"cg_iu_a":-0.541124105,"cg_iv_a":-0.728210449,"cg_iw_a":1.26933455,"cg_sample_age_us":23.9836369,"cg_sample_seq":14720217,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0867097005,"cg_vd_v":0.0867097005,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372299552,"cg_vq_v":-0.372299552,"cg_vu_v":105.134323,"cg_vv_v":98.9758301,"cg_vw_v":81.820015,"control_outputs_enabled":1,"dclink_i_a":-0.634327888,"dclink_p_w":-91.802887,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.815674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12481,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.150032,"cg_dv":50.2086563,"cg_dw":49.7913437,"cg_id_a":0.190911189,"cg_id_raw_a":0.669019818,"cg_iq_a":-0.182133272,"cg_iq_raw_a":-0.9591645,"cg_iu_a":1.16233623,"cg_iv_a":-0.474503517,"cg_iw_a":-0.687832713,"cg_sample_age_us":26.823637,"cg_sample_seq":14720271,"cg_sample_valid":1,"cg_theta_rad":5.00646782,"cg_vd_req_v":0.0815532655,"cg_vd_v":0.0815532655,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368630499,"cg_vq_v":-0.368630499,"cg_vu_v":104.254532,"cg_vv_v":97.2162552,"cg_vw_v":76.1014175,"control_outputs_enabled":1,"dclink_i_a":-0.697754383,"dclink_p_w":-100.982262,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109823756,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12431,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1496162,"cg_dv":50.2129784,"cg_dw":49.7870216,"cg_id_a":-0.167512923,"cg_id_raw_a":-0.434518188,"cg_iq_a":0.0111323819,"cg_iq_raw_a":0.102176405,"cg_iu_a":0.509947062,"cg_iv_a":-0.184552908,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9654541,"cg_sample_seq":14720316,"cg_sample_valid":1,"cg_theta_rad":5.00683117,"cg_vd_req_v":0.0913031772,"cg_vd_v":0.0913031772,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373068124,"cg_vq_v":-0.373068124,"cg_vu_v":42.2296829,"cg_vv_v":53.2269974,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.52559638,"dclink_p_w":-76.0667572,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38742,"EncoderSin":12475,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1477013,"cg_dv":50.2134857,"cg_dw":49.7865143,"cg_id_a":-0.0842474923,"cg_id_raw_a":0.277432323,"cg_iq_a":0.0197969321,"cg_iq_raw_a":-0.0827605873,"cg_iu_a":-0.0337104797,"cg_iv_a":0.0329101086,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.9872723,"cg_sample_seq":14720366,"cg_sample_valid":1,"cg_theta_rad":5.00735569,"cg_vd_req_v":0.0897113532,"cg_vd_v":0.0897113532,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373551816,"cg_vq_v":-0.373551816,"cg_vu_v":7.47817326,"cg_vv_v":20.6749516,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.364311218,"dclink_p_w":-52.7248154,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00312199583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117427327,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12468,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1471367,"cg_dv":50.2090302,"cg_dw":49.7909698,"cg_id_a":0.010139063,"cg_id_raw_a":-0.545476317,"cg_iq_a":-0.271470755,"cg_iq_raw_a":0.384631038,"cg_iu_a":-0.0699541569,"cg_iv_a":0.504079938,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9618187,"cg_sample_seq":14720416,"cg_sample_valid":1,"cg_theta_rad":5.00899553,"cg_vd_req_v":0.0877001658,"cg_vd_v":0.0877001658,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366721004,"cg_vq_v":-0.366721004,"cg_vu_v":29.4728031,"cg_vv_v":17.5957031,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00110780494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.116873421,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12437,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1450233,"cg_dv":50.2082977,"cg_dw":49.7917023,"cg_id_a":-0.125045717,"cg_id_raw_a":-0.601020753,"cg_iq_a":-0.330647469,"cg_iq_raw_a":0.0854224339,"cg_iu_a":0.00253343582,"cg_iv_a":0.975249767,"cg_iw_a":-0.977783203,"cg_sample_age_us":23.9218178,"cg_sample_seq":14720467,"cg_sample_valid":1,"cg_theta_rad":5.00780439,"cg_vd_req_v":0.0901683122,"cg_vd_v":0.0901683122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364169359,"cg_vq_v":-0.364169359,"cg_vu_v":28.1531239,"cg_vv_v":14.0765619,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12466,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1463776,"cg_dv":50.2096901,"cg_dw":49.7903099,"cg_id_a":0.123977892,"cg_id_raw_a":0.246311262,"cg_iq_a":-0.068636328,"cg_iq_raw_a":-0.412525177,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.8563633,"cg_sample_seq":14720516,"cg_sample_valid":1,"cg_theta_rad":5.00745487,"cg_vd_req_v":0.0879396349,"cg_vd_v":0.0863407999,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367431372,"cg_vq_v":-0.373791903,"cg_vu_v":26.3935547,"cg_vv_v":9.67763615,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.433174491,"dclink_p_w":-62.6910286,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9541321,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110377662,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12433,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.153904,"cg_dv":50.2074394,"cg_dw":49.7925606,"cg_id_a":0.406284809,"cg_id_raw_a":0.55198884,"cg_iq_a":-0.215322167,"cg_iq_raw_a":-0.96559906,"cg_iu_a":-0.0699543953,"cg_iv_a":0.141641617,"cg_iw_a":-0.0716872215,"cg_sample_age_us":23.9581814,"cg_sample_seq":14720567,"cg_sample_valid":1,"cg_theta_rad":5.00769281,"cg_vd_req_v":0.0803916305,"cg_vd_v":0.0803916305,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368456244,"cg_vq_v":-0.368456244,"cg_vu_v":117.891212,"cg_vv_v":135.926804,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.469418287,"dclink_p_w":-67.9364014,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9265137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38697,"EncoderSin":12429,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1544037,"cg_dv":50.2096977,"cg_dw":49.7903023,"cg_id_a":0.116629653,"cg_id_raw_a":-0.287146091,"cg_iq_a":-0.0900378525,"cg_iq_raw_a":-0.102495126,"cg_iu_a":-0.323661089,"cg_iv_a":0.0691539049,"cg_iw_a":0.254507184,"cg_sample_age_us":23.954546,"cg_sample_seq":14720616,"cg_sample_valid":1,"cg_theta_rad":5.00743961,"cg_vd_req_v":0.0857446417,"cg_vd_v":0.0857446417,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371003538,"cg_vq_v":-0.371003538,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.262828469,"dclink_p_w":-38.0377579,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9387817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12447,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1590691,"cg_dv":50.2106667,"cg_dw":49.7893333,"cg_id_a":0.321158499,"cg_id_raw_a":0.143360049,"cg_iq_a":0.0147068482,"cg_iq_raw_a":-0.203260645,"cg_iu_a":0.00253343582,"cg_iv_a":-0.00333368778,"cg_iw_a":0.000800251961,"cg_sample_age_us":23.9581814,"cg_sample_seq":14720667,"cg_sample_valid":1,"cg_theta_rad":5.0066452,"cg_vd_req_v":0.0813200623,"cg_vd_v":0.0813200623,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375345528,"cg_vq_v":-0.375345528,"cg_vu_v":121.850235,"cg_vv_v":143.844864,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.84852552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9387817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112744331,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38747,"EncoderSin":12441,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440125,"cg_dv":50.2023735,"cg_dw":49.7976265,"cg_id_a":0.254463792,"cg_id_raw_a":0.74317801,"cg_iq_a":-0.858261704,"cg_iq_raw_a":-1.24011588,"cg_iu_a":-0.251173496,"cg_iv_a":0.286616981,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9618187,"cg_sample_seq":14720717,"cg_sample_valid":1,"cg_theta_rad":5.00637865,"cg_vd_req_v":0.0823200122,"cg_vd_v":0.0823200122,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356234998,"cg_vq_v":-0.356234998,"cg_vu_v":123.60981,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.84852552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12453,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1554794,"cg_dv":50.2099342,"cg_dw":49.7900658,"cg_id_a":0.244118392,"cg_id_raw_a":0.0207827035,"cg_iq_a":0.105529606,"cg_iq_raw_a":-0.0336437896,"cg_iu_a":-0.323661089,"cg_iv_a":0.105397701,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9472733,"cg_sample_seq":14720767,"cg_sample_valid":1,"cg_theta_rad":5.00802326,"cg_vd_req_v":0.0808050558,"cg_vd_v":0.0808050558,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372899294,"cg_vq_v":-0.372899294,"cg_vu_v":126.689056,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0471776724,"dclink_p_w":-6.84852552,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110931568,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.928955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38751,"EncoderSin":12499,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1362152,"cg_dv":50.2114906,"cg_dw":49.7885094,"cg_id_a":-0.474229097,"cg_id_raw_a":-0.341949612,"cg_iq_a":-0.262574911,"cg_iq_raw_a":-1.1574744,"cg_iu_a":-0.106198072,"cg_iv_a":0.141641617,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.863636,"cg_sample_seq":14720820,"cg_sample_valid":1,"cg_theta_rad":5.0059123,"cg_vd_req_v":0.0954839811,"cg_vd_v":0.0954839811,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364786834,"cg_vq_v":-0.364786834,"cg_vu_v":10.1175289,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5135126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.8590088,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113600366,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38760,"EncoderSin":12480,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1471405,"cg_dv":50.2076225,"cg_dw":49.7923775,"cg_id_a":0.192143857,"cg_id_raw_a":0.640949249,"cg_iq_a":-0.227907896,"cg_iq_raw_a":-0.161151722,"cg_iu_a":-0.106198072,"cg_iv_a":0.431592226,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.8672733,"cg_sample_seq":14720867,"cg_sample_valid":1,"cg_theta_rad":5.00647974,"cg_vd_req_v":0.0828722939,"cg_vd_v":0.0828722939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365611404,"cg_vq_v":-0.365611404,"cg_vu_v":5.27871037,"cg_vv_v":0.43989256,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5135126,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9295959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38723,"EncoderSin":12463,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1480064,"cg_dv":50.2074699,"cg_dw":49.7925301,"cg_id_a":0.0449588038,"cg_id_raw_a":0.0062349462,"cg_iq_a":-0.13153933,"cg_iq_raw_a":0.547651768,"cg_iu_a":0.0750210285,"cg_iv_a":0.214129269,"cg_iw_a":-0.289150298,"cg_sample_age_us":23.8672733,"cg_sample_seq":14720916,"cg_sample_valid":1,"cg_theta_rad":5.00709534,"cg_vd_req_v":0.0855413824,"cg_vd_v":0.0855413824,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365076929,"cg_vq_v":-0.365076929,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":-0.221148133,"dclink_p_w":-32.0055885,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9295959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00120851456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109974824,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12459,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460495,"cg_dv":50.2154694,"cg_dw":49.7845306,"cg_id_a":-0.422451556,"cg_id_raw_a":-0.0728198066,"cg_iq_a":0.150564522,"cg_iq_raw_a":0.285096288,"cg_iu_a":0.0387773514,"cg_iv_a":-0.220796824,"cg_iw_a":0.182019472,"cg_sample_age_us":23.9618187,"cg_sample_seq":14721067,"cg_sample_valid":1,"cg_theta_rad":5.0068078,"cg_vd_req_v":0.0939893425,"cg_vd_v":0.0939893425,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373859942,"cg_vq_v":-0.373859942,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":-0.148660421,"dclink_p_w":-21.5148277,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2670.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12445,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1457672,"cg_dv":50.2111664,"cg_dw":49.7888336,"cg_id_a":-0.247240216,"cg_id_raw_a":-0.122948773,"cg_iq_a":-0.0959060267,"cg_iq_raw_a":0.352718502,"cg_iu_a":0.509947062,"cg_iv_a":-0.0758214593,"cg_iw_a":-0.434125602,"cg_sample_age_us":23.8563633,"cg_sample_seq":14721116,"cg_sample_valid":1,"cg_theta_rad":5.00653028,"cg_vd_req_v":0.0890498459,"cg_vd_v":0.0890498459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369297385,"cg_vq_v":-0.369297385,"cg_vu_v":109.093361,"cg_vv_v":109.533249,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.264640689,"dclink_p_w":-38.3000336,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2670.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12459,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1531944,"cg_dv":50.2039795,"cg_dw":49.7960205,"cg_id_a":0.233201444,"cg_id_raw_a":1.08581865,"cg_iq_a":-0.313201189,"cg_iq_raw_a":-1.45866418,"cg_iu_a":0.00253343582,"cg_iv_a":0.21412921,"cg_iw_a":0.725677013,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721167,"cg_sample_valid":1,"cg_theta_rad":5.00827408,"cg_vd_req_v":0.0784984604,"cg_vd_v":0.0784984604,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364313275,"cg_vq_v":-0.364313275,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.1121559,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.731781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9510803,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105795369,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2670.979217,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2670.979223,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2670.979229,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2670.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12453,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1573448,"cg_dv":50.2087593,"cg_dw":49.7912407,"cg_id_a":0.0664124712,"cg_id_raw_a":0.0279850904,"cg_iq_a":0.105981238,"cg_iq_raw_a":-0.105704881,"cg_iu_a":-0.939806223,"cg_iv_a":0.286616921,"cg_iw_a":0.653189301,"cg_sample_age_us":23.8600006,"cg_sample_seq":14721216,"cg_sample_valid":1,"cg_theta_rad":5.00701618,"cg_vd_req_v":0.0798802823,"cg_vd_v":0.0798802823,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373166561,"cg_vq_v":-0.373166561,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.273701668,"dclink_p_w":-39.731781,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9311218,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111737244,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2670.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1526527,"cg_dv":50.2063713,"cg_dw":49.7936287,"cg_id_a":0.0512170941,"cg_id_raw_a":0.280048013,"cg_iq_a":-0.340362966,"cg_iq_raw_a":-0.337222427,"cg_iu_a":0.292484283,"cg_iv_a":-0.0758213401,"cg_iw_a":-0.216662943,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721266,"cg_sample_valid":1,"cg_theta_rad":5.00622606,"cg_vd_req_v":0.0790667385,"cg_vd_v":0.0790667385,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366576374,"cg_vq_v":-0.366576374,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.4617233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.018799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12451,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.158905,"cg_dv":50.204731,"cg_dw":49.795269,"cg_id_a":0.323355407,"cg_id_raw_a":0.766900778,"cg_iq_a":-0.350754321,"cg_iq_raw_a":-0.581207573,"cg_iu_a":-0.214929581,"cg_iv_a":-0.184552908,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9509087,"cg_sample_seq":14721320,"cg_sample_valid":1,"cg_theta_rad":5.00860786,"cg_vd_req_v":0.0736252218,"cg_vd_v":0.0736252218,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367612511,"cg_vq_v":-0.367612511,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.409615993,"dclink_p_w":-59.4617233,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112643629,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12459,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1654282,"cg_dv":50.2132072,"cg_dw":49.7867928,"cg_id_a":0.179808319,"cg_id_raw_a":-0.0350607857,"cg_iq_a":0.491778105,"cg_iq_raw_a":-0.33019647,"cg_iu_a":-1.59219527,"cg_iv_a":-0.25704062,"cg_iw_a":1.84923589,"cg_sample_age_us":23.9509087,"cg_sample_seq":14721367,"cg_sample_valid":1,"cg_theta_rad":5.00657034,"cg_vd_req_v":0.0765096545,"cg_vd_v":0.0765096545,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382844925,"cg_vq_v":-0.382844925,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":5001,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5001,"hz_app_loop":2581,"hz_tim_isr":5000,"hz_vsense":2581,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9526062,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00100709544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112140074,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38677,"EncoderSin":12438,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1597328,"cg_dv":50.2096176,"cg_dw":49.7903824,"cg_id_a":-0.117487237,"cg_id_raw_a":0.0986062661,"cg_iq_a":-0.0285737999,"cg_iq_raw_a":0.412720174,"cg_iu_a":0.183752537,"cg_iv_a":0.141641617,"cg_iw_a":-0.325394154,"cg_sample_age_us":23.9836369,"cg_sample_seq":14721417,"cg_sample_valid":1,"cg_theta_rad":5.00690746,"cg_vd_req_v":0.0829780474,"cg_vd_v":0.0829780474,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373595923,"cg_vq_v":-0.373595923,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.380620956,"dclink_p_w":-55.0852356,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.042236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12459,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1515274,"cg_dv":50.2069931,"cg_dw":49.7930069,"cg_id_a":0.016673388,"cg_id_raw_a":0.375142723,"cg_iq_a":-0.398918092,"cg_iq_raw_a":0.218606263,"cg_iu_a":0.0750210285,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.0354434848,"cg_sample_age_us":23.9763641,"cg_sample_seq":14721467,"cg_sample_valid":1,"cg_theta_rad":5.00615883,"cg_vd_req_v":0.0815008208,"cg_vd_v":0.0815008208,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366586208,"cg_vq_v":-0.366586208,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.4566803,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110125892,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38752,"EncoderSin":12458,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1451759,"cg_dv":50.2038345,"cg_dw":49.7961655,"cg_id_a":0.0381602049,"cg_id_raw_a":0.369587362,"cg_iq_a":-0.54286772,"cg_iq_raw_a":-1.09369147,"cg_iu_a":-0.86731863,"cg_iv_a":0.250373125,"cg_iw_a":0.616945505,"cg_sample_age_us":23.9836369,"cg_sample_seq":14721517,"cg_sample_valid":1,"cg_theta_rad":5.00692081,"cg_vd_req_v":0.0822403207,"cg_vd_v":0.0822403207,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360158354,"cg_vq_v":-0.360158354,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12483,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1494026,"cg_dv":50.2048531,"cg_dw":49.7951469,"cg_id_a":-0.0365227163,"cg_id_raw_a":0.0454114117,"cg_iq_a":-0.357613385,"cg_iq_raw_a":-0.0675005093,"cg_iu_a":0.219996452,"cg_iv_a":0.902762055,"cg_iw_a":-1.12275851,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721567,"cg_sample_valid":1,"cg_theta_rad":5.00717688,"cg_vd_req_v":0.0830586255,"cg_vd_v":0.0830586255,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363202393,"cg_vq_v":-0.363202393,"cg_vu_v":106.014107,"cg_vv_v":102.494972,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114557102,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12476,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1545067,"cg_dv":50.2109871,"cg_dw":49.7890129,"cg_id_a":-0.108149223,"cg_id_raw_a":-0.335237145,"cg_iq_a":0.0994156301,"cg_iq_raw_a":0.586594105,"cg_iu_a":0.473703265,"cg_iv_a":-0.293284416,"cg_iw_a":0.000800430775,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721617,"cg_sample_valid":1,"cg_theta_rad":5.00764513,"cg_vd_req_v":0.0846319497,"cg_vd_v":0.0846319497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373333633,"cg_vq_v":-0.373333633,"cg_vu_v":105.574219,"cg_vv_v":101.175293,"cg_vw_v":87.098732,"control_outputs_enabled":1,"dclink_i_a":-0.375184417,"dclink_p_w":-54.2984352,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9387817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110528722,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12440,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.1575279,"cg_dv":50.2129631,"cg_dw":49.7870369,"cg_id_a":-0.0866925865,"cg_id_raw_a":0.130946115,"cg_iq_a":0.320181102,"cg_iq_raw_a":0.55990231,"cg_iu_a":0.401215792,"cg_iv_a":-0.438259721,"cg_iw_a":0.0370439291,"cg_sample_age_us":23.863636,"cg_sample_seq":14721666,"cg_sample_valid":1,"cg_theta_rad":5.00771379,"cg_vd_req_v":0.0835778862,"cg_vd_v":0.0835778862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.377851039,"cg_vq_v":-0.377851039,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.9838867,"control_outputs_enabled":1,"dclink_i_a":-0.177655458,"dclink_p_w":-25.7111244,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.085205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12470,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1570168,"cg_dv":50.207695,"cg_dw":49.792305,"cg_id_a":0.119622804,"cg_id_raw_a":0.18363969,"cg_iq_a":0.0304029211,"cg_iq_raw_a":-0.200300589,"cg_iu_a":-0.0699541569,"cg_iv_a":0.286616981,"cg_iw_a":-0.107931316,"cg_sample_age_us":23.9872723,"cg_sample_seq":14721717,"cg_sample_valid":1,"cg_theta_rad":5.00737524,"cg_vd_req_v":0.0775052086,"cg_vd_v":0.0775052086,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370693117,"cg_vq_v":-0.370693117,"cg_vu_v":104.694435,"cg_vv_v":97.6561432,"cg_vw_v":77.4210892,"control_outputs_enabled":1,"dclink_i_a":-0.212087154,"dclink_p_w":-30.6942406,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12443,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1640091,"cg_dv":50.2112579,"cg_dw":49.7887421,"cg_id_a":0.203144178,"cg_id_raw_a":-0.0437262021,"cg_iq_a":0.475651532,"cg_iq_raw_a":-0.877476156,"cg_iu_a":-0.142441988,"cg_iv_a":0.141641617,"cg_iw_a":0.00080037117,"cg_sample_age_us":23.954546,"cg_sample_seq":14721766,"cg_sample_valid":1,"cg_theta_rad":5.00727606,"cg_vd_req_v":0.0767601505,"cg_vd_v":0.0767601505,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379193664,"cg_vq_v":-0.379193664,"cg_vu_v":41.7897949,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.34256494,"dclink_p_w":-49.5775948,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9387817,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105291829,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.124268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12447,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1633987,"cg_dv":50.2115326,"cg_dw":49.7884674,"cg_id_a":0.103515193,"cg_id_raw_a":0.0866661072,"cg_iq_a":0.44690156,"cg_iq_raw_a":-0.500625134,"cg_iu_a":-0.613611937,"cg_iv_a":0.177885413,"cg_iw_a":0.435726523,"cg_sample_age_us":23.863636,"cg_sample_seq":14721820,"cg_sample_valid":1,"cg_theta_rad":5.00693226,"cg_vd_req_v":0.077030085,"cg_vd_v":0.077030085,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.380515814,"cg_vq_v":-0.380515814,"cg_vu_v":102.93486,"cg_vv_v":93.6971207,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.184904218,"dclink_p_w":-26.7601986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12461,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1500549,"cg_dv":50.2046127,"cg_dw":49.7953873,"cg_id_a":-0.0369497165,"cg_id_raw_a":0.176939681,"cg_iq_a":-0.358138084,"cg_iq_raw_a":-0.127984151,"cg_iu_a":0.14750886,"cg_iv_a":0.830274403,"cg_iw_a":-0.977783263,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721917,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0803036913,"cg_vd_v":0.0803036913,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.362535834,"cg_vq_v":-0.362535834,"cg_vu_v":114.37207,"cg_vv_v":125.809273,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3729105,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12422,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1550331,"cg_dv":50.2096138,"cg_dw":49.7903862,"cg_id_a":-0.235904366,"cg_id_raw_a":0.354346484,"cg_iq_a":0.067933321,"cg_iq_raw_a":-0.438283145,"cg_iu_a":-0.541124105,"cg_iv_a":-1.81552529,"cg_iw_a":2.3566494,"cg_sample_age_us":23.9581814,"cg_sample_seq":14721967,"cg_sample_valid":1,"cg_theta_rad":5.0077281,"cg_vd_req_v":0.0818098709,"cg_vd_v":0.0818098709,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372004986,"cg_vq_v":-0.372004986,"cg_vu_v":115.69175,"cg_vv_v":129.328415,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.010933876,"dclink_p_w":-1.58240139,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110679783,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12449,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1559677,"cg_dv":50.2018471,"cg_dw":49.7981529,"cg_id_a":0.185421452,"cg_id_raw_a":-0.0825725198,"cg_iq_a":-0.24671033,"cg_iq_raw_a":-0.262317747,"cg_iu_a":0.546190977,"cg_iv_a":0.250373125,"cg_iw_a":-0.796564102,"cg_sample_age_us":23.9618187,"cg_sample_seq":14722017,"cg_sample_valid":1,"cg_theta_rad":5.00813293,"cg_vd_req_v":0.0743421316,"cg_vd_v":0.0743421316,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361801565,"cg_vq_v":-0.361801565,"cg_vu_v":117.011421,"cg_vv_v":132.847549,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9372559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00231631938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.155518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12450,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1556511,"cg_dv":50.2001686,"cg_dw":49.7998314,"cg_id_a":0.317781717,"cg_id_raw_a":0.243923441,"cg_iq_a":-0.386852205,"cg_iq_raw_a":-1.03152549,"cg_iu_a":-0.468636274,"cg_iv_a":0.794030607,"cg_iw_a":-0.325394332,"cg_sample_age_us":23.8781815,"cg_sample_seq":14722066,"cg_sample_valid":1,"cg_theta_rad":5.00855684,"cg_vd_req_v":0.0722776502,"cg_vd_v":0.0722776502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.359476745,"cg_vq_v":-0.359476745,"cg_vu_v":124.489601,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12452,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1548195,"cg_dv":50.2082634,"cg_dw":49.7917366,"cg_id_a":-0.0531543791,"cg_id_raw_a":-0.0301840007,"cg_iq_a":0.131897539,"cg_iq_raw_a":0.28919971,"cg_iu_a":-0.0699543953,"cg_iv_a":1.5551511,"cg_iw_a":-1.48519671,"cg_sample_age_us":23.8600006,"cg_sample_seq":14722116,"cg_sample_valid":1,"cg_theta_rad":5.00763321,"cg_vd_req_v":0.0791476294,"cg_vd_v":0.0791476294,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370373935,"cg_vq_v":-0.370373935,"cg_vu_v":127.568848,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9710388,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111989014,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12411,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1576958,"cg_dv":50.2005806,"cg_dw":49.7994194,"cg_id_a":0.284199864,"cg_id_raw_a":0.437396765,"cg_iq_a":-0.247110665,"cg_iq_raw_a":0.00872762874,"cg_iu_a":0.944873095,"cg_iv_a":0.250373125,"cg_iw_a":-1.19524622,"cg_sample_age_us":23.954546,"cg_sample_seq":14722166,"cg_sample_valid":1,"cg_theta_rad":5.00937462,"cg_vd_req_v":0.0728300586,"cg_vd_v":0.0728300586,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361976027,"cg_vq_v":-0.361976027,"cg_vu_v":18.0355949,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0743606091,"dclink_p_w":-10.7618132,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9295959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.182861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12483,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1632996,"cg_dv":50.2085648,"cg_dw":49.7914352,"cg_id_a":0.148862094,"cg_id_raw_a":-0.215450168,"cg_iq_a":0.443194538,"cg_iq_raw_a":-0.201706976,"cg_iu_a":-0.577367783,"cg_iv_a":0.214129329,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9763641,"cg_sample_seq":14722216,"cg_sample_valid":1,"cg_theta_rad":5.00783062,"cg_vd_req_v":0.0736623406,"cg_vd_v":0.0736623406,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375336766,"cg_vq_v":-0.375336766,"cg_vu_v":14.0765619,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.101543427,"dclink_p_w":-14.695837,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9219055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12443,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1455307,"cg_dv":50.2011414,"cg_dw":49.7988586,"cg_id_a":-0.241756365,"cg_id_raw_a":0.0585145503,"cg_iq_a":-0.35070008,"cg_iq_raw_a":-0.393946052,"cg_iu_a":0.183752537,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.9618187,"cg_sample_seq":14722266,"cg_sample_valid":1,"cg_theta_rad":5.0069313,"cg_vd_req_v":0.0835129172,"cg_vd_v":0.0835129172,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.354580194,"cg_vq_v":-0.354580194,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.052614212,"dclink_p_w":-7.61457348,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9219055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.221924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12441,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1469803,"cg_dv":50.1970673,"cg_dw":49.8029327,"cg_id_a":-0.0301859714,"cg_id_raw_a":-0.111211985,"cg_iq_a":-0.27495113,"cg_iq_raw_a":0.0259087291,"cg_iu_a":-0.359905005,"cg_iv_a":0.177885413,"cg_iw_a":-0.687832713,"cg_sample_age_us":23.9690914,"cg_sample_seq":14722367,"cg_sample_valid":1,"cg_theta_rad":5.00757313,"cg_vd_req_v":0.0774807334,"cg_vd_v":0.0774807334,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348974138,"cg_vq_v":-0.348974138,"cg_vu_v":140.325729,"cg_vv_v":143.404984,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2671.229736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38732,"EncoderSin":12452,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1268959,"cg_dv":50.1947212,"cg_dw":49.8052788,"cg_id_a":-0.564534128,"cg_id_raw_a":-0.0624425933,"cg_iq_a":-0.725532651,"cg_iq_raw_a":-0.478555709,"cg_iu_a":0.509947062,"cg_iv_a":0.540323734,"cg_iw_a":-1.0502708,"cg_sample_age_us":23.9654541,"cg_sample_seq":14722416,"cg_sample_valid":1,"cg_theta_rad":5.00788116,"cg_vd_req_v":0.0895553902,"cg_vd_v":0.0895553902,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.337036729,"cg_vq_v":-0.337036729,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.161224365,"dclink_p_w":23.2622185,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110075533,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371574,"cg_dv":50.1951523,"cg_dw":49.8048477,"cg_id_a":-0.151061714,"cg_id_raw_a":-0.305425286,"cg_iq_a":-0.323183,"cg_iq_raw_a":-0.137926325,"cg_iu_a":-0.0699543953,"cg_iv_a":-0.112065196,"cg_iw_a":0.182019591,"cg_sample_age_us":23.9509087,"cg_sample_seq":14722468,"cg_sample_valid":1,"cg_theta_rad":5.00741053,"cg_vd_req_v":0.081743218,"cg_vd_v":0.081743218,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342330575,"cg_vq_v":-0.342330575,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.4312897,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9249573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12446,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1423378,"cg_dv":50.1945839,"cg_dw":49.8054161,"cg_id_a":0.0868720412,"cg_id_raw_a":-0.593713105,"cg_iq_a":-0.0896475017,"cg_iq_raw_a":0.453304261,"cg_iu_a":-0.359904766,"cg_iv_a":-0.546991229,"cg_iw_a":0.906895995,"cg_sample_age_us":23.9618187,"cg_sample_seq":14722516,"cg_sample_valid":1,"cg_theta_rad":5.00627995,"cg_vd_req_v":0.0773199201,"cg_vd_v":0.0773199201,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345517218,"cg_vq_v":-0.345517218,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.51914048,"control_outputs_enabled":1,"dclink_i_a":-0.0616751909,"dclink_p_w":-8.92592049,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9249573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00281986711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38683,"EncoderSin":12469,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429291,"cg_dv":50.1984596,"cg_dw":49.8015404,"cg_id_a":-0.222574487,"cg_id_raw_a":-0.188537627,"cg_iq_a":-0.00376155227,"cg_iq_raw_a":-0.237934321,"cg_iu_a":0.509947062,"cg_iv_a":-0.148308992,"cg_iw_a":-0.361638069,"cg_sample_age_us":23.9763641,"cg_sample_seq":14722566,"cg_sample_valid":1,"cg_theta_rad":5.00724554,"cg_vd_req_v":0.0838022158,"cg_vd_v":0.0838022158,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349265724,"cg_vq_v":-0.349265724,"cg_vu_v":35.6312981,"cg_vv_v":35.1914063,"cg_vw_v":33.4318352,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107205309,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.260986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12448,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1397095,"cg_dv":50.1951561,"cg_dw":49.8048439,"cg_id_a":-0.0948270559,"cg_id_raw_a":-0.270778477,"cg_iq_a":-0.0902163163,"cg_iq_raw_a":-0.0615629368,"cg_iu_a":0.111264944,"cg_iv_a":-0.25704056,"cg_iw_a":0.145775616,"cg_sample_age_us":23.9618187,"cg_sample_seq":14722616,"cg_sample_valid":1,"cg_theta_rad":5.00788593,"cg_vd_req_v":0.0794993341,"cg_vd_v":0.0794993341,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343820632,"cg_vq_v":-0.343820632,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12480,"GapTicks":54777,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381378,"cg_dv":50.202343,"cg_dw":49.797657,"cg_id_a":-0.4710491,"cg_id_raw_a":-0.075697504,"cg_iq_a":0.225590944,"cg_iq_raw_a":-0.771243274,"cg_iu_a":0.473703384,"cg_iv_a":-0.365772009,"cg_iw_a":-0.107931376,"cg_sample_age_us":23.9799995,"cg_sample_seq":14722666,"cg_sample_valid":1,"cg_theta_rad":5.00545406,"cg_vd_req_v":0.0881343633,"cg_vd_v":0.0881343633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352615565,"cg_vq_v":-0.352615565,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":0.11773169,"dclink_p_w":17.0386791,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9326477,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.280518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38765,"EncoderSin":12467,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1399307,"cg_dv":50.2060242,"cg_dw":49.7939758,"cg_id_a":-0.331143826,"cg_id_raw_a":-0.65305382,"cg_iq_a":0.616911113,"cg_iq_raw_a":1.18056428,"cg_iu_a":0.292484045,"cg_iv_a":-0.474503517,"cg_iw_a":0.182019472,"cg_sample_age_us":23.863636,"cg_sample_seq":14722716,"cg_sample_valid":1,"cg_theta_rad":5.00509357,"cg_vd_req_v":0.0872188434,"cg_vd_v":0.0872188434,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.360544622,"cg_vq_v":-0.360544622,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.6722641,"control_outputs_enabled":1,"dclink_i_a":-0.0689240694,"dclink_p_w":-9.97501183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.28833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12456,"GapTicks":54788,"Mech_RPM":-3.50324616e-44,"cg_du":50.1325493,"cg_dv":50.1924515,"cg_dw":49.8075485,"cg_id_a":-0.112359233,"cg_id_raw_a":0.26228267,"cg_iq_a":-0.501137316,"cg_iq_raw_a":-0.555829763,"cg_iu_a":0.256240129,"cg_iv_a":0.250373065,"cg_iw_a":-0.506613195,"cg_sample_age_us":23.954546,"cg_sample_seq":14722766,"cg_sample_valid":1,"cg_theta_rad":5.00759506,"cg_vd_req_v":0.0840247273,"cg_vd_v":0.0840247273,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.336838633,"cg_vq_v":-0.336838633,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.0616753101,"dclink_p_w":-8.92593765,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000352483388,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109471276,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.315674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12482,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341591,"cg_dv":50.1943703,"cg_dw":49.8056297,"cg_id_a":0.0327008255,"cg_id_raw_a":-0.371452272,"cg_iq_a":-0.286722958,"cg_iq_raw_a":-0.107685126,"cg_iu_a":-0.432392597,"cg_iv_a":-1.12689257,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9509087,"cg_sample_seq":14722821,"cg_sample_valid":1,"cg_theta_rad":5.00615072,"cg_vd_req_v":0.0831567645,"cg_vd_v":0.0831567645,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.339630574,"cg_vq_v":-0.339630574,"cg_vu_v":109.093361,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":-0.329879642,"dclink_p_w":-47.7417183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9219055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11103227,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.323486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12462,"GapTicks":54781,"Mech_RPM":-3.50324616e-44,"cg_du":50.1329536,"cg_dv":50.1986313,"cg_dw":49.8013687,"cg_id_a":-0.164017484,"cg_id_raw_a":-0.173508346,"cg_iq_a":-0.133438662,"cg_iq_raw_a":0.239015326,"cg_iu_a":-0.106198072,"cg_iv_a":-0.112065315,"cg_iw_a":0.218263388,"cg_sample_age_us":23.9727268,"cg_sample_seq":14722867,"cg_sample_valid":1,"cg_theta_rad":5.00717974,"cg_vd_req_v":0.0882377774,"cg_vd_v":0.0882377774,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.344750583,"cg_vq_v":-0.344750583,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":-0.177655578,"dclink_p_w":-25.7111416,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9219055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.335205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38718,"EncoderSin":12449,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1347084,"cg_dv":50.1995697,"cg_dw":49.8004303,"cg_id_a":-0.163400844,"cg_id_raw_a":-0.267852426,"cg_iq_a":-0.169215798,"cg_iq_raw_a":1.17607665,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592286,"cg_iw_a":-0.434125721,"cg_sample_age_us":23.9799995,"cg_sample_seq":14722917,"cg_sample_valid":1,"cg_theta_rad":5.00817347,"cg_vd_req_v":0.089026317,"cg_vd_v":0.089026317,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346689671,"cg_vq_v":-0.346689671,"cg_vu_v":143.404984,"cg_vv_v":141.205521,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":-0.297260165,"dclink_p_w":-43.020874,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9219055,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114053562,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.343018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38702,"EncoderSin":12443,"GapTicks":54782,"Mech_RPM":-3.50324616e-44,"cg_du":50.1385574,"cg_dv":50.1978683,"cg_dw":49.8021317,"cg_id_a":0.0258240625,"cg_id_raw_a":0.307118893,"cg_iq_a":-0.214449942,"cg_iq_raw_a":0.251307428,"cg_iu_a":0.437459469,"cg_iv_a":0.286616981,"cg_iw_a":-0.72407645,"cg_sample_age_us":23.9509087,"cg_sample_seq":14722967,"cg_sample_valid":1,"cg_theta_rad":5.00698662,"cg_vd_req_v":0.085751228,"cg_vd_v":0.085751228,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346204251,"cg_vq_v":-0.346204251,"cg_vu_v":109.093361,"cg_vv_v":110.852921,"cg_vw_v":116.131638,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9249573,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11244221,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.35083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38733,"EncoderSin":12425,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1430359,"cg_dv":50.202858,"cg_dw":49.797142,"cg_id_a":0.0565058142,"cg_id_raw_a":-0.0404700898,"cg_iq_a":0.19739297,"cg_iq_raw_a":-0.695084751,"cg_iu_a":0.00253343582,"cg_iv_a":-0.293284416,"cg_iw_a":0.29075098,"cg_sample_age_us":23.954546,"cg_sample_seq":14723017,"cg_sample_valid":1,"cg_theta_rad":5.00725698,"cg_vd_req_v":0.0850818753,"cg_vd_v":0.0850818753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355989605,"cg_vq_v":-0.355989605,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":-0.315382123,"dclink_p_w":-45.6435699,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9372559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.362549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38721,"EncoderSin":12477,"GapTicks":54776,"Mech_RPM":-3.50324616e-44,"cg_du":50.1306076,"cg_dv":50.2027588,"cg_dw":49.7972412,"cg_id_a":-0.329415292,"cg_id_raw_a":0.103829958,"cg_iq_a":-0.183954462,"cg_iq_raw_a":0.411437035,"cg_iu_a":-0.50488019,"cg_iv_a":-0.148309112,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9836369,"cg_sample_seq":14723067,"cg_sample_valid":1,"cg_theta_rad":5.00803947,"cg_vd_req_v":0.0947269499,"cg_vd_v":0.0947269499,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35001868,"cg_vq_v":-0.35001868,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":97.6561432,"control_outputs_enabled":1,"dclink_i_a":-0.320818663,"dclink_p_w":-46.5714989,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9372559,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115312427,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.370361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12455,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.1426125,"cg_dv":50.2044411,"cg_dw":49.7955589,"cg_id_a":0.000438756775,"cg_id_raw_a":-0.0494503975,"cg_iq_a":0.274065048,"cg_iq_raw_a":0.250837952,"cg_iu_a":0.0387773514,"cg_iv_a":-0.00333368778,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9581814,"cg_sample_seq":14723117,"cg_sample_valid":1,"cg_theta_rad":5.00628138,"cg_vd_req_v":0.0875969008,"cg_vd_v":0.0875969008,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357748002,"cg_vq_v":-0.357748002,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.8965836,"control_outputs_enabled":1,"dclink_i_a":-0.355250359,"dclink_p_w":-51.4134865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.378174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12430,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.135704,"cg_dv":50.2012329,"cg_dw":49.7987671,"cg_id_a":-0.183851555,"cg_id_raw_a":0.0779277235,"cg_iq_a":0.0192121379,"cg_iq_raw_a":-0.173220351,"cg_iu_a":0.14750886,"cg_iv_a":-0.112065315,"cg_iw_a":-0.0354435444,"cg_sample_age_us":23.9618187,"cg_sample_seq":14723167,"cg_sample_valid":1,"cg_theta_rad":5.0067153,"cg_vd_req_v":0.0917510614,"cg_vd_v":0.0917510614,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349020332,"cg_vq_v":-0.349020332,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.355250359,"dclink_p_w":-51.4134865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109672688,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.385986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12460,"GapTicks":54780,"Mech_RPM":-3.50324616e-44,"cg_du":50.1355133,"cg_dv":50.1991615,"cg_dw":49.8008385,"cg_id_a":0.031767793,"cg_id_raw_a":0.520739913,"cg_iq_a":-0.096571371,"cg_iq_raw_a":0.0149491411,"cg_iu_a":0.256240368,"cg_iv_a":0.39534843,"cg_iw_a":-0.651588798,"cg_sample_age_us":23.9872723,"cg_sample_seq":14723216,"cg_sample_valid":1,"cg_theta_rad":5.00675154,"cg_vd_req_v":0.0871048048,"cg_vd_v":0.0871048048,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.346814632,"cg_vq_v":-0.346814632,"cg_vu_v":38.7105446,"cg_vv_v":43.1094704,"cg_vw_v":55.4264603,"control_outputs_enabled":1,"dclink_i_a":-0.355250359,"dclink_p_w":-51.4134865,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9050293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112845041,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.393799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12464,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1387405,"cg_dv":50.2006683,"cg_dw":49.7993317,"cg_id_a":-0.00674042106,"cg_id_raw_a":0.329701185,"cg_iq_a":0.0803806186,"cg_iq_raw_a":0.0337082818,"cg_iu_a":-0.39614892,"cg_iv_a":0.21412921,"cg_iw_a":0.182019711,"cg_sample_age_us":23.9654541,"cg_sample_seq":14723267,"cg_sample_valid":1,"cg_theta_rad":5.00430775,"cg_vd_req_v":0.0869731829,"cg_vd_v":0.0869731829,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.350440145,"cg_vq_v":-0.350440145,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":89.2981949,"control_outputs_enabled":1,"dclink_i_a":-0.514723063,"dclink_p_w":-74.4931183,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9203796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.421143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12456,"GapTicks":54785,"Mech_RPM":-3.50324616e-44,"cg_du":50.1381187,"cg_dv":50.1947098,"cg_dw":49.8052902,"cg_id_a":0.283870816,"cg_id_raw_a":0.0276269894,"cg_iq_a":-0.200784117,"cg_iq_raw_a":-0.105799325,"cg_iu_a":-0.178685904,"cg_iv_a":0.39534843,"cg_iw_a":-0.216662526,"cg_sample_age_us":26.823637,"cg_sample_seq":14723319,"cg_sample_valid":1,"cg_theta_rad":5.00686312,"cg_vd_req_v":0.0798948333,"cg_vd_v":0.0798948333,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.342419028,"cg_vq_v":-0.342419028,"cg_vu_v":39.590332,"cg_vv_v":46.1887207,"cg_vw_v":63.3445282,"control_outputs_enabled":1,"dclink_i_a":-0.572713375,"dclink_p_w":-82.8857422,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9203796,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.428955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12453,"GapTicks":54786,"Mech_RPM":-3.50324616e-44,"cg_du":50.126461,"cg_dv":50.1936493,"cg_dw":49.8063507,"cg_id_a":-0.146044344,"cg_id_raw_a":0.326139003,"cg_iq_a":-0.653626561,"cg_iq_raw_a":-0.150301337,"cg_iu_a":-0.432392597,"cg_iv_a":0.395348489,"cg_iw_a":0.0370441079,"cg_sample_age_us":23.9836369,"cg_sample_seq":14723366,"cg_sample_valid":1,"cg_theta_rad":5.00578117,"cg_vd_req_v":0.0881060287,"cg_vd_v":0.0881060287,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.334438145,"cg_vq_v":-0.334438145,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":70.3828125,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.0411072,"temp_inv2_c":34.9356995,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11153581,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.436768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12450,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1370773,"cg_dv":50.1964073,"cg_dw":49.8035927,"cg_id_a":0.100131251,"cg_id_raw_a":-0.409324169,"cg_iq_a":-0.190258935,"cg_iq_raw_a":-0.987207055,"cg_iu_a":-0.214929581,"cg_iv_a":0.286616921,"cg_iw_a":-0.0716873407,"cg_sample_age_us":23.9836369,"cg_sample_seq":14723416,"cg_sample_valid":1,"cg_theta_rad":5.00787115,"cg_vd_req_v":0.0842210948,"cg_vd_v":0.0842210948,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343700707,"cg_vq_v":-0.343700707,"cg_vu_v":41.3499031,"cg_vv_v":51.0275345,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9433899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.448486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12463,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1446724,"cg_dv":50.1966133,"cg_dw":49.8033867,"cg_id_a":0.292741597,"cg_id_raw_a":0.41064769,"cg_iq_a":0.0386526436,"cg_iq_raw_a":0.479633659,"cg_iu_a":0.0750212669,"cg_iv_a":0.39534843,"cg_iw_a":-0.470369697,"cg_sample_age_us":23.9618187,"cg_sample_seq":14723466,"cg_sample_valid":1,"cg_theta_rad":5.00787401,"cg_vd_req_v":0.0789522231,"cg_vd_v":0.0789522231,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.348147839,"cg_vq_v":-0.348147839,"cg_vu_v":6.1584959,"cg_vv_v":17.5957031,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.656074047,"dclink_p_w":-94.9500885,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9433899,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00115815969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.456299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12447,"GapTicks":54783,"Mech_RPM":-3.50324616e-44,"cg_du":50.1343994,"cg_dv":50.1972389,"cg_dw":49.8027611,"cg_id_a":-0.0624004975,"cg_id_raw_a":0.083323814,"cg_iq_a":-0.259272039,"cg_iq_raw_a":-0.24606064,"cg_iu_a":0.00253343582,"cg_iv_a":0.540323794,"cg_iw_a":-0.54285723,"cg_sample_age_us":23.9909096,"cg_sample_seq":14723516,"cg_sample_valid":1,"cg_theta_rad":5.00804758,"cg_vd_req_v":0.0857939497,"cg_vd_v":0.0857939497,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.343654573,"cg_vq_v":-0.343654573,"cg_vu_v":7.03828096,"cg_vv_v":20.2350578,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9265137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.464111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12424,"GapTicks":54778,"Mech_RPM":-3.50324616e-44,"cg_du":50.1360588,"cg_dv":50.2012215,"cg_dw":49.7987785,"cg_id_a":-0.223118305,"cg_id_raw_a":0.0826168433,"cg_iq_a":0.043213319,"cg_iq_raw_a":0.191193461,"cg_iu_a":0.364971638,"cg_iv_a":-0.365772128,"cg_iw_a":0.000800490379,"cg_sample_age_us":23.9581814,"cg_sample_seq":14723566,"cg_sample_valid":1,"cg_theta_rad":5.00832796,"cg_vd_req_v":0.0897030756,"cg_vd_v":0.0897030756,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.349661678,"cg_vq_v":-0.349661678,"cg_vu_v":29.4728031,"cg_vv_v":18.0355949,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9265137,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.47583,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38746,"EncoderSin":12508,"GapTicks":54784,"Mech_RPM":-3.50324616e-44,"cg_du":50.1401443,"cg_dv":50.1959152,"cg_dw":49.8040848,"cg_id_a":0.419032544,"cg_id_raw_a":0.37003389,"cg_iq_a":-0.296979159,"cg_iq_raw_a":0.288510919,"cg_iu_a":-0.142441988,"cg_iv_a":0.431592286,"cg_iw_a":-0.651588619,"cg_sample_age_us":23.9509087,"cg_sample_seq":14723616,"cg_sample_valid":1,"cg_theta_rad":5.0076642,"cg_vd_req_v":0.0776032656,"cg_vd_v":0.0776032656,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.345617861,"cg_vq_v":-0.345617861,"cg_vu_v":28.1531239,"cg_vv_v":14.5164547,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":32.0175171,"temp_inv2_c":34.9341736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106953539,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.483643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12451,"GapTicks":54779,"Mech_RPM":-3.50324616e-44,"cg_du":50.1417313,"cg_dv":50.2005043,"cg_dw":49.7994957,"cg_id_a":0.109188393,"cg_id_raw_a":0.216403931,"cg_iq_a":-0.125340208,"cg_iq_raw_a":-0.305375099,"cg_iu_a":-0.359905005,"cg_iv_a":0.214129329,"cg_iw_a":0.145775676,"cg_sample_age_us":23.9290905,"cg_sample_seq":14723667,"cg_sample_valid":1,"cg_theta_rad":5.00671721,"cg_vd_req_v":0.0845468491,"cg_vd_v":0.0845468491,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351887465,"cg_vq_v":-0.351887465,"cg_vu_v":26.8334465,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.491455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12481,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1540108,"cg_dv":50.2121925,"cg_dw":49.7878075,"cg_id_a":-0.0954987481,"cg_id_raw_a":0.18233116,"cg_iq_a":-0.11807017,"cg_iq_raw_a":1.18220317,"cg_iu_a":0.473703146,"cg_iv_a":-0.0395774841,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.8672733,"cg_sample_seq":14723716,"cg_sample_valid":1,"cg_theta_rad":5.00825214,"cg_vd_req_v":0.0831766203,"cg_vd_v":0.0884705633,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375375509,"cg_vq_v":-0.375375509,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.431362391,"dclink_p_w":-62.428772,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9142151,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112391859,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.499268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12437,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1653633,"cg_dv":50.2152557,"cg_dw":49.7847443,"cg_id_a":0.36138007,"cg_id_raw_a":0.126700684,"cg_iq_a":1.16715121,"cg_iq_raw_a":1.6166352,"cg_iu_a":-0.323661089,"cg_iv_a":-0.184552908,"cg_iw_a":0.508213997,"cg_sample_age_us":23.9618187,"cg_sample_seq":14723767,"cg_sample_valid":1,"cg_theta_rad":5.00614405,"cg_vd_req_v":0.0810539797,"cg_vd_v":0.0810539797,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.385077953,"cg_vq_v":-0.385077953,"cg_vu_v":120.530563,"cg_vv_v":142.525192,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.487540245,"dclink_p_w":-70.7735596,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106500342,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.526611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38745,"EncoderSin":12474,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1440849,"cg_dv":50.2103539,"cg_dw":49.7896461,"cg_id_a":0.0237059146,"cg_id_raw_a":0.183127925,"cg_iq_a":0.103169665,"cg_iq_raw_a":-0.200768575,"cg_iu_a":-0.396148682,"cg_iv_a":-0.402015805,"cg_iw_a":0.798164487,"cg_sample_age_us":26.812727,"cg_sample_seq":14723820,"cg_sample_valid":1,"cg_theta_rad":5.00647306,"cg_vd_req_v":0.0893103853,"cg_vd_v":0.0893103853,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.367317408,"cg_vq_v":-0.367317408,"cg_vu_v":18.4754887,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.242894411,"dclink_p_w":-35.1528091,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.53833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38724,"EncoderSin":12443,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.1421928,"cg_dv":50.2072983,"cg_dw":49.7927017,"cg_id_a":-0.0542262569,"cg_id_raw_a":-0.160984933,"cg_iq_a":-0.0685062408,"cg_iq_raw_a":0.531211376,"cg_iu_a":-0.9760499,"cg_iv_a":0.794030607,"cg_iw_a":0.182019293,"cg_sample_age_us":23.954546,"cg_sample_seq":14723867,"cg_sample_valid":1,"cg_theta_rad":5.00869322,"cg_vd_req_v":0.0903531909,"cg_vd_v":0.0903531909,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.361482471,"cg_vq_v":-0.361482471,"cg_vu_v":14.5164547,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.228396893,"dclink_p_w":-33.0546608,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112895399,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.546143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12441,"GapTicks":54762,"Mech_RPM":-3.50324616e-44,"cg_du":50.1453362,"cg_dv":50.2159119,"cg_dw":49.7840881,"cg_id_a":-0.270041287,"cg_id_raw_a":0.0843743309,"cg_iq_a":0.337102264,"cg_iq_raw_a":-0.245702401,"cg_iu_a":0.00253343582,"cg_iv_a":-0.764454246,"cg_iw_a":0.76192081,"cg_sample_age_us":23.9872723,"cg_sample_seq":14723916,"cg_sample_valid":1,"cg_theta_rad":5.00567532,"cg_vd_req_v":0.096921429,"cg_vd_v":0.096921429,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374778509,"cg_vq_v":-0.374778509,"cg_vu_v":10.5574207,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.553955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12435,"GapTicks":54765,"Mech_RPM":-3.50324616e-44,"cg_du":50.146019,"cg_dv":50.2135506,"cg_dw":49.7864494,"cg_id_a":-0.0902715847,"cg_id_raw_a":0.458103657,"cg_iq_a":-0.0159858577,"cg_iq_raw_a":-0.388498455,"cg_iu_a":0.111264944,"cg_iv_a":-0.365772009,"cg_iw_a":0.0732880831,"cg_sample_age_us":23.9509087,"cg_sample_seq":14723966,"cg_sample_valid":1,"cg_theta_rad":5.00757599,"cg_vd_req_v":0.0956711397,"cg_vd_v":0.0956711397,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371553361,"cg_vq_v":-0.371553361,"cg_vu_v":6.59838867,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":-0.155909181,"dclink_p_w":-22.5639019,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108867012,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.561768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12409,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478691,"cg_dv":50.2154427,"cg_dw":49.7845573,"cg_id_a":-0.0190913007,"cg_id_raw_a":-0.219096407,"cg_iq_a":-0.147667676,"cg_iq_raw_a":0.0508350432,"cg_iu_a":0.183752537,"cg_iv_a":-0.655722618,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9618187,"cg_sample_seq":14724068,"cg_sample_valid":1,"cg_theta_rad":5.00749493,"cg_vd_req_v":0.0959001407,"cg_vd_v":0.0959001407,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375209004,"cg_vq_v":-0.375209004,"cg_vu_v":142.525192,"cg_vv_v":143.844864,"cg_vw_v":143.404984,"control_outputs_enabled":1,"dclink_i_a":-0.179467678,"dclink_p_w":-25.9733982,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.56958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12458,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.149231,"cg_dv":50.2205238,"cg_dw":49.7794762,"cg_id_a":-0.0344249308,"cg_id_raw_a":0.135939702,"cg_iq_a":0.261264741,"cg_iq_raw_a":0.30488956,"cg_iu_a":-0.287417173,"cg_iv_a":-0.184552848,"cg_iw_a":0.471970022,"cg_sample_age_us":23.9327278,"cg_sample_seq":14724117,"cg_sample_valid":1,"cg_theta_rad":5.00674057,"cg_vd_req_v":0.0960961208,"cg_vd_v":0.0960961208,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38380444,"cg_vq_v":-0.38380444,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":-0.00549733639,"dclink_p_w":-0.795600116,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10851454,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.577393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12476,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1547356,"cg_dv":50.2191963,"cg_dw":49.7808037,"cg_id_a":0.24646236,"cg_id_raw_a":0.562726915,"cg_iq_a":0.352499455,"cg_iq_raw_a":0.455055058,"cg_iu_a":-0.178685665,"cg_iv_a":-0.293284416,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9509087,"cg_sample_seq":14724167,"cg_sample_valid":1,"cg_theta_rad":5.00687027,"cg_vd_req_v":0.090607278,"cg_vd_v":0.090607278,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383810103,"cg_vq_v":-0.383810103,"cg_vu_v":144.28476,"cg_vv_v":142.965088,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.11954391,"dclink_p_w":17.300951,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00297093159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.117125191,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2671.589111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38770,"EncoderSin":12476,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371155,"cg_dv":50.2166595,"cg_dw":49.7833405,"cg_id_a":-0.0743468404,"cg_id_raw_a":-0.21813339,"cg_iq_a":-0.224477425,"cg_iq_raw_a":0.0548200198,"cg_iu_a":-0.396148682,"cg_iv_a":-0.329528213,"cg_iw_a":0.725676894,"cg_sample_age_us":23.9654541,"cg_sample_seq":14724217,"cg_sample_valid":1,"cg_theta_rad":5.00668335,"cg_vd_req_v":0.0984194055,"cg_vd_v":0.0984194055,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.371491134,"cg_vq_v":-0.371491134,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.0923610926,"dclink_p_w":13.3262978,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9188538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2671.596924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12449,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1430435,"cg_dv":50.2141571,"cg_dw":49.7858429,"cg_id_a":-0.176504403,"cg_id_raw_a":-0.123492949,"cg_iq_a":0.0386251733,"cg_iq_raw_a":0.352528423,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796824,"cg_iw_a":0.0732879639,"cg_sample_age_us":23.9509087,"cg_sample_seq":14724267,"cg_sample_valid":1,"cg_theta_rad":5.00920105,"cg_vd_req_v":0.0975598246,"cg_vd_v":0.0975598246,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.370960653,"cg_vq_v":-0.370960653,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":111.732712,"control_outputs_enabled":1,"dclink_i_a":-0.0254313946,"dclink_p_w":-3.68054986,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9188538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00211490039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.11823301,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.624268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12427,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1394043,"cg_dv":50.2108803,"cg_dw":49.7891197,"cg_id_a":-0.168042734,"cg_id_raw_a":-0.161498904,"cg_iq_a":-0.141777068,"cg_iq_raw_a":-0.525158644,"cg_iu_a":-0.359904766,"cg_iv_a":0.0329101086,"cg_iw_a":0.326994658,"cg_sample_age_us":23.8600006,"cg_sample_seq":14724320,"cg_sample_valid":1,"cg_theta_rad":5.00788689,"cg_vd_req_v":0.0965547711,"cg_vd_v":0.0965547711,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.365823567,"cg_vq_v":-0.365823567,"cg_vu_v":0.87978512,"cg_vv_v":1.75957024,"cg_vw_v":5.71860361,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.63208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38748,"EncoderSin":12469,"GapTicks":54768,"Mech_RPM":-3.50324616e-44,"cg_du":50.1411247,"cg_dv":50.2104759,"cg_dw":49.7895241,"cg_id_a":0.0105026811,"cg_id_raw_a":0.360888183,"cg_iq_a":0.0560166836,"cg_iq_raw_a":-0.766892076,"cg_iu_a":-0.0337104797,"cg_iv_a":-0.836941957,"cg_iw_a":0.870652437,"cg_sample_age_us":23.8345451,"cg_sample_seq":14724366,"cg_sample_valid":1,"cg_theta_rad":5.00651789,"cg_vd_req_v":0.0919153914,"cg_vd_v":0.0919153914,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.366978407,"cg_vq_v":-0.366978407,"cg_vu_v":35.6312981,"cg_vv_v":34.3116188,"cg_vw_v":31.2323723,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.105593957,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.639893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12459,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413841,"cg_dv":50.2090492,"cg_dw":49.7909508,"cg_id_a":-0.0650852248,"cg_id_raw_a":-0.382494539,"cg_iq_a":-0.0507056117,"cg_iq_raw_a":0.217803285,"cg_iu_a":-0.142441988,"cg_iv_a":0.39534843,"cg_iw_a":-0.542857289,"cg_sample_age_us":23.8709087,"cg_sample_seq":14724416,"cg_sample_valid":1,"cg_theta_rad":5.00612593,"cg_vd_req_v":0.092874296,"cg_vd_v":0.092874296,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363358676,"cg_vq_v":-0.363358676,"cg_vu_v":0.87978512,"cg_vv_v":3.07924795,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9126892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000805676333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112240784,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.651611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38727,"EncoderSin":12458,"GapTicks":54767,"Mech_RPM":-3.50324616e-44,"cg_du":50.1382904,"cg_dv":50.2110863,"cg_dw":49.7889137,"cg_id_a":-0.106989399,"cg_id_raw_a":-0.118085042,"cg_iq_a":0.145203069,"cg_iq_raw_a":0.0985912904,"cg_iu_a":0.111264944,"cg_iv_a":-0.402015924,"cg_iw_a":0.29075098,"cg_sample_age_us":23.9654541,"cg_sample_seq":14724467,"cg_sample_valid":1,"cg_theta_rad":5.00667906,"cg_vd_req_v":0.0964774862,"cg_vd_v":0.0964774862,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364593178,"cg_vq_v":-0.364593178,"cg_vu_v":35.1914063,"cg_vv_v":33.4318352,"cg_vw_v":29.0329094,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5837173,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8973694,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108564891,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.659424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12431,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1371727,"cg_dv":50.2057076,"cg_dw":49.7942924,"cg_id_a":-0.0452688485,"cg_id_raw_a":-0.229116619,"cg_iq_a":-0.00354649127,"cg_iq_raw_a":-0.0575779192,"cg_iu_a":-0.287417173,"cg_iv_a":-0.329528213,"cg_iw_a":0.616945386,"cg_sample_age_us":23.9981823,"cg_sample_seq":14724567,"cg_sample_valid":1,"cg_theta_rad":5.00746822,"cg_vd_req_v":0.0917423442,"cg_vd_v":0.0917423442,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.356756806,"cg_vq_v":-0.356756806,"cg_vu_v":106.893898,"cg_vv_v":104.694435,"cg_vw_v":98.5359344,"control_outputs_enabled":1,"dclink_i_a":-0.106979966,"dclink_p_w":-15.4826384,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110478364,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.667236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12454,"GapTicks":54770,"Mech_RPM":-3.50324616e-44,"cg_du":50.1328468,"cg_dv":50.2082176,"cg_dw":49.7917824,"cg_id_a":-0.15595755,"cg_id_raw_a":0.0596216135,"cg_iq_a":0.103016749,"cg_iq_raw_a":0.224798962,"cg_iu_a":0.0750210285,"cg_iv_a":-0.981917262,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9763641,"cg_sample_seq":14724617,"cg_sample_valid":1,"cg_theta_rad":5.00660467,"cg_vd_req_v":0.0967603326,"cg_vd_v":0.0967603326,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357968181,"cg_vq_v":-0.357968181,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":96.3364716,"control_outputs_enabled":1,"dclink_i_a":-0.125101924,"dclink_p_w":-18.1053333,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9019775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.675049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12441,"GapTicks":54775,"Mech_RPM":-3.50324616e-44,"cg_du":50.133461,"cg_dv":50.2042961,"cg_dw":49.7957039,"cg_id_a":0.000982579077,"cg_id_raw_a":-0.10061416,"cg_iq_a":-0.144726038,"cg_iq_raw_a":-0.300183684,"cg_iu_a":-0.214929581,"cg_iv_a":-0.148309112,"cg_iw_a":0.363238692,"cg_sample_age_us":23.9654541,"cg_sample_seq":14724667,"cg_sample_valid":1,"cg_theta_rad":5.00640821,"cg_vd_req_v":0.0934455618,"cg_vd_v":0.0934455618,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352714181,"cg_vq_v":-0.352714181,"cg_vu_v":106.453995,"cg_vv_v":103.374756,"cg_vw_v":94.5769043,"control_outputs_enabled":1,"dclink_i_a":-0.0797971487,"dclink_p_w":-11.5486145,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9019775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.682861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38700,"EncoderSin":12480,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1363068,"cg_dv":50.2067337,"cg_dw":49.7932663,"cg_id_a":-0.0704507083,"cg_id_raw_a":0.194909945,"cg_iq_a":-0.0152929649,"cg_iq_raw_a":-0.0886703506,"cg_iu_a":0.00253343582,"cg_iv_a":-0.365772009,"cg_iw_a":0.363238573,"cg_sample_age_us":23.9836369,"cg_sample_seq":14724717,"cg_sample_valid":1,"cg_theta_rad":5.00687122,"cg_vd_req_v":0.0954582095,"cg_vd_v":0.0954582095,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.357125133,"cg_vq_v":-0.357125133,"cg_vu_v":106.453995,"cg_vv_v":102.494972,"cg_vw_v":91.9375458,"control_outputs_enabled":1,"dclink_i_a":-0.023619175,"dclink_p_w":-3.41827703,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.690674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38750,"EncoderSin":12456,"GapTicks":54771,"Mech_RPM":-3.50324616e-44,"cg_du":50.129612,"cg_dv":50.207962,"cg_dw":49.792038,"cg_id_a":-0.0951659977,"cg_id_raw_a":-0.387529403,"cg_iq_a":-0.0715966746,"cg_iq_raw_a":0.292767912,"cg_iu_a":0.111264944,"cg_iv_a":-0.402015924,"cg_iw_a":0.29075098,"cg_sample_age_us":23.863636,"cg_sample_seq":14724767,"cg_sample_valid":1,"cg_theta_rad":5.00639486,"cg_vd_req_v":0.0984471813,"cg_vd_v":0.0984471813,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.355983347,"cg_vq_v":-0.355983347,"cg_vu_v":106.014107,"cg_vv_v":101.175293,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":-0.0924824476,"dclink_p_w":-13.38449,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.721924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12481,"GapTicks":54773,"Mech_RPM":-3.50324616e-44,"cg_du":50.1275558,"cg_dv":50.2060471,"cg_dw":49.7939529,"cg_id_a":-0.0495969765,"cg_id_raw_a":0.485801548,"cg_iq_a":-0.14006263,"cg_iq_raw_a":-0.0634911954,"cg_iu_a":0.691166282,"cg_iv_a":0.141641557,"cg_iw_a":-0.832807839,"cg_sample_age_us":23.8527279,"cg_sample_seq":14724819,"cg_sample_valid":1,"cg_theta_rad":5.00740719,"cg_vd_req_v":0.0984134004,"cg_vd_v":0.0984134004,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.352172822,"cg_vq_v":-0.352172822,"cg_vu_v":40.0302238,"cg_vv_v":46.6286087,"cg_vw_v":65.1041031,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.946064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111435108,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.729736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12431,"GapTicks":54772,"Mech_RPM":-3.50324616e-44,"cg_du":50.1255684,"cg_dv":50.206543,"cg_dw":49.793457,"cg_id_a":-0.207870185,"cg_id_raw_a":-0.121450722,"cg_iq_a":-0.164987087,"cg_iq_raw_a":-0.0837508962,"cg_iu_a":0.763653994,"cg_iv_a":0.250373125,"cg_iw_a":0.254507005,"cg_sample_age_us":23.9618187,"cg_sample_seq":14724866,"cg_sample_valid":1,"cg_theta_rad":5.00733519,"cg_vd_req_v":0.10190583,"cg_vd_v":0.10190583,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.351322562,"cg_vq_v":-0.351322562,"cg_vu_v":40.9100075,"cg_vv_v":49.2679672,"cg_vw_v":72.1423798,"control_outputs_enabled":1,"dclink_i_a":-0.199401736,"dclink_p_w":-28.946064,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.737549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12443,"GapTicks":54769,"Mech_RPM":-3.50324616e-44,"cg_du":50.1424789,"cg_dv":50.2093544,"cg_dw":49.7906456,"cg_id_a":0.279967099,"cg_id_raw_a":-0.0348356627,"cg_iq_a":0.337417632,"cg_iq_raw_a":0.106652789,"cg_iu_a":-0.939806223,"cg_iv_a":-0.0395776033,"cg_iw_a":0.979383826,"cg_sample_age_us":23.9836369,"cg_sample_seq":14724916,"cg_sample_valid":1,"cg_theta_rad":5.00679445,"cg_vd_req_v":0.0917156786,"cg_vd_v":0.0917156786,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.364537209,"cg_vq_v":-0.364537209,"cg_vu_v":41.3499031,"cg_vv_v":51.4674301,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00161135267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111233689,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.745361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12451,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1432953,"cg_dv":50.2271729,"cg_dw":49.7728271,"cg_id_a":-0.509878337,"cg_id_raw_a":0.322910845,"cg_iq_a":1.49780536,"cg_iq_raw_a":0.104585536,"cg_iu_a":-0.50488019,"cg_iv_a":-0.00333368778,"cg_iw_a":0.508213878,"cg_sample_age_us":23.9618187,"cg_sample_seq":14724966,"cg_sample_valid":1,"cg_theta_rad":5.0067215,"cg_vd_req_v":0.107742958,"cg_vd_v":0.107742958,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.389399379,"cg_vq_v":-0.389399379,"cg_vu_v":6.1584959,"cg_vv_v":18.0355949,"cg_vw_v":36.9509773,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.895813,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110579073,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.753174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12442,"GapTicks":54774,"Mech_RPM":-3.50324616e-44,"cg_du":50.1345215,"cg_dv":50.2046738,"cg_dw":49.7953262,"cg_id_a":0.127764195,"cg_id_raw_a":0.0357166566,"cg_iq_a":-0.433517516,"cg_iq_raw_a":-0.177715778,"cg_iu_a":0.0387773514,"cg_iv_a":0.467836142,"cg_iw_a":-0.506613493,"cg_sample_age_us":23.863636,"cg_sample_seq":14725016,"cg_sample_valid":1,"cg_theta_rad":5.00626183,"cg_vd_req_v":0.0948822647,"cg_vd_v":0.0948822647,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.35331589,"cg_vq_v":-0.35331589,"cg_vu_v":102.494972,"cg_vv_v":91.9375458,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9280396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.764893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12480,"GapTicks":54763,"Mech_RPM":-3.50324616e-44,"cg_du":50.1383858,"cg_dv":50.2146606,"cg_dw":49.7853394,"cg_id_a":-0.111272745,"cg_id_raw_a":-0.250493377,"cg_iq_a":0.326660544,"cg_iq_raw_a":0.157916039,"cg_iu_a":-0.287417173,"cg_iv_a":-0.293284416,"cg_iw_a":0.58070159,"cg_sample_age_us":23.863636,"cg_sample_seq":14725066,"cg_sample_valid":1,"cg_theta_rad":5.00664711,"cg_vd_req_v":0.100912109,"cg_vd_v":0.100912109,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369229615,"cg_vq_v":-0.369229615,"cg_vu_v":137.246475,"cg_vv_v":124.929489,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.0942946672,"dclink_p_w":-13.6467628,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9280396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114254981,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.772705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38705,"EncoderSin":12447,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1413078,"cg_dv":50.2139015,"cg_dw":49.7860985,"cg_id_a":0.0867767334,"cg_id_raw_a":0.679758489,"cg_iq_a":0.201167166,"cg_iq_raw_a":0.107127234,"cg_iu_a":0.0750210285,"cg_iv_a":0.0691539049,"cg_iw_a":-0.144174933,"cg_sample_age_us":23.9509087,"cg_sample_seq":14725117,"cg_sample_valid":1,"cg_theta_rad":5.00653887,"cg_vd_req_v":0.098972261,"cg_vd_v":0.098972261,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.369553715,"cg_vq_v":-0.369553715,"cg_vu_v":27.7132301,"cg_vv_v":13.6366701,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.25195539,"dclink_p_w":-36.4641571,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.780518,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38730,"EncoderSin":12465,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1310425,"cg_dv":50.2246971,"cg_dw":49.7753029,"cg_id_a":-0.711645186,"cg_id_raw_a":-0.329813004,"cg_iq_a":0.645737827,"cg_iq_raw_a":-0.103621349,"cg_iu_a":0.292484283,"cg_iv_a":-1.67055011,"cg_iw_a":1.55928516,"cg_sample_age_us":23.9836369,"cg_sample_seq":14725166,"cg_sample_valid":1,"cg_theta_rad":5.00873852,"cg_vd_req_v":0.114948995,"cg_vd_v":0.114948995,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379175931,"cg_vq_v":-0.379175931,"cg_vu_v":26.3935547,"cg_vv_v":10.5574207,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":0.0216856003,"dclink_p_w":3.13844109,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111938655,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.78833,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12471,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.1404381,"cg_dv":50.2172127,"cg_dw":49.7827873,"cg_id_a":0.0873048306,"cg_id_raw_a":0.624254286,"cg_iq_a":0.263341427,"cg_iq_raw_a":-0.196006879,"cg_iu_a":-0.50488019,"cg_iv_a":-0.184552908,"cg_iw_a":0.689433098,"cg_sample_age_us":23.9290905,"cg_sample_seq":14725216,"cg_sample_valid":1,"cg_theta_rad":5.00802326,"cg_vd_req_v":0.0992206335,"cg_vd_v":0.0992206335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374538958,"cg_vq_v":-0.374538958,"cg_vu_v":24.6339836,"cg_vv_v":4.83881807,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":0.0398074389,"dclink_p_w":5.76111794,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9126892,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108363472,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.796143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12423,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.139061,"cg_dv":50.213932,"cg_dw":49.786068,"cg_id_a":-0.0191550404,"cg_id_raw_a":0.204698965,"cg_iq_a":-0.0552801564,"cg_iq_raw_a":0.0219077803,"cg_iu_a":0.256240129,"cg_iv_a":-0.0395775437,"cg_iw_a":-0.216662586,"cg_sample_age_us":23.9581814,"cg_sample_seq":14725266,"cg_sample_valid":1,"cg_theta_rad":5.00737095,"cg_vd_req_v":0.100862183,"cg_vd_v":0.100862183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.368297994,"cg_vq_v":-0.368297994,"cg_vu_v":125.809273,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.0417411327,"dclink_p_w":-6.04097128,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9280396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.827393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38731,"EncoderSin":12460,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.127964,"cg_dv":50.2141838,"cg_dw":49.7858162,"cg_id_a":-0.301396668,"cg_id_raw_a":-0.225591838,"cg_iq_a":-0.409605116,"cg_iq_raw_a":0.124800391,"cg_iu_a":-0.504880428,"cg_iv_a":0.250373125,"cg_iw_a":0.254507303,"cg_sample_age_us":26.8199997,"cg_sample_seq":14725321,"cg_sample_valid":1,"cg_theta_rad":5.00775385,"cg_vd_req_v":0.107215673,"cg_vd_v":0.107215673,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.363130778,"cg_vq_v":-0.363130778,"cg_vu_v":122.730026,"cg_vv_v":143.844864,"cg_vw_v":144.28476,"control_outputs_enabled":1,"dclink_i_a":0.172097445,"dclink_p_w":24.906744,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9280396,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107306018,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.835205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38741,"EncoderSin":12459,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1388664,"cg_dv":50.2186508,"cg_dw":49.7813492,"cg_id_a":-0.0580123253,"cg_id_raw_a":0.244394884,"cg_iq_a":0.186171085,"cg_iq_raw_a":-0.849954724,"cg_iu_a":0.401215553,"cg_iv_a":-0.00333368778,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9727268,"cg_sample_seq":14725366,"cg_sample_valid":1,"cg_theta_rad":5.0075264,"cg_vd_req_v":0.102151506,"cg_vd_v":0.102151506,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.375538379,"cg_vq_v":-0.375538379,"cg_vu_v":15.3962402,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.340631366,"dclink_p_w":49.2977562,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9188538,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106449984,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.843018,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38739,"EncoderSin":12451,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1333237,"cg_dv":50.2177849,"cg_dw":49.7822151,"cg_id_a":-0.268287301,"cg_id_raw_a":0.1003915,"cg_iq_a":-0.345640659,"cg_iq_raw_a":-0.208121523,"cg_iu_a":0.401215553,"cg_iv_a":-0.184552908,"cg_iw_a":-0.216662645,"cg_sample_age_us":23.863636,"cg_sample_seq":14725466,"cg_sample_valid":1,"cg_theta_rad":5.00566816,"cg_vd_req_v":0.106373876,"cg_vd_v":0.106373876,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372284263,"cg_vq_v":-0.372284263,"cg_vu_v":4.83881807,"cg_vv_v":0.43989256,"cg_vw_v":2.19946289,"control_outputs_enabled":1,"dclink_i_a":0.353316665,"dclink_p_w":51.1336327,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000201419083,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.106550694,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.85083,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12436,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1521263,"cg_dv":50.2260513,"cg_dw":49.7739487,"cg_id_a":0.130639851,"cg_id_raw_a":-0.219444543,"cg_iq_a":0.296048522,"cg_iq_raw_a":-0.56779635,"cg_iu_a":0.256240129,"cg_iv_a":0.286616921,"cg_iw_a":-0.542857051,"cg_sample_age_us":23.9581814,"cg_sample_seq":14725516,"cg_sample_valid":1,"cg_theta_rad":5.006917,"cg_vd_req_v":0.10172753,"cg_vd_v":0.10172753,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392301381,"cg_vq_v":-0.392301381,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.344255686,"dclink_p_w":49.8222847,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.858643,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38722,"EncoderSin":12447,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1484375,"cg_dv":50.2209816,"cg_dw":49.7790184,"cg_id_a":0.192558855,"cg_id_raw_a":0.0798452944,"cg_iq_a":-0.181431651,"cg_iq_raw_a":0.00870174356,"cg_iu_a":-0.178685665,"cg_iv_a":0.359104574,"cg_iw_a":-0.180418909,"cg_sample_age_us":23.9254551,"cg_sample_seq":14725566,"cg_sample_valid":1,"cg_theta_rad":5.00683022,"cg_vd_req_v":0.0988495201,"cg_vd_v":0.0988495201,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.383557677,"cg_vq_v":-0.383557677,"cg_vu_v":0,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.175721884,"dclink_p_w":25.5085888,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9172974,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109723046,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.866455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12473,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.149231,"cg_dv":50.2260628,"cg_dw":49.7739372,"cg_id_a":-0.020760946,"cg_id_raw_a":-0.596886039,"cg_iq_a":0.181010708,"cg_iq_raw_a":0.271478057,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.00333368778,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.8709087,"cg_sample_seq":14725616,"cg_sample_valid":1,"cg_theta_rad":5.00750542,"cg_vd_req_v":0.101854101,"cg_vd_v":0.101854101,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391249031,"cg_vq_v":-0.391249031,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.8897095,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10715495,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.878174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38683,"EncoderSin":12476,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1571121,"cg_dv":50.2265358,"cg_dw":49.7734642,"cg_id_a":0.110375986,"cg_id_raw_a":0.132496625,"cg_iq_a":0.275893629,"cg_iq_raw_a":0.306401521,"cg_iu_a":0.219996452,"cg_iv_a":-0.546991229,"cg_iw_a":0.326994777,"cg_sample_age_us":23.9509087,"cg_sample_seq":14725667,"cg_sample_valid":1,"cg_theta_rad":5.0066433,"cg_vd_req_v":0.0998720899,"cg_vd_v":0.0998720899,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394095868,"cg_vq_v":-0.394095868,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":142.085297,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2671.885986,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38708,"EncoderSin":12463,"GapTicks":54748,"Mech_RPM":-3.50324616e-44,"cg_du":50.1498718,"cg_dv":50.2283401,"cg_dw":49.7716599,"cg_id_a":-0.113282174,"cg_id_raw_a":-0.26785472,"cg_iq_a":0.371914148,"cg_iq_raw_a":0.119459651,"cg_iu_a":-0.287417173,"cg_iv_a":-0.365772009,"cg_iw_a":0.653189182,"cg_sample_age_us":23.9618187,"cg_sample_seq":14725717,"cg_sample_valid":1,"cg_theta_rad":5.00698996,"cg_vd_req_v":0.105715126,"cg_vd_v":0.105715126,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394137144,"cg_vq_v":-0.394137144,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":141.645401,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9157715,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00130922406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114355683,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.893799,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12461,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1398773,"cg_dv":50.2250443,"cg_dw":49.7749557,"cg_id_a":-0.101668209,"cg_id_raw_a":-0.0787184164,"cg_iq_a":-0.0820711255,"cg_iq_raw_a":-0.77094084,"cg_iu_a":-0.0699541569,"cg_iv_a":-0.402015924,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14725767,"cg_sample_valid":1,"cg_theta_rad":5.00563049,"cg_vd_req_v":0.107315481,"cg_vd_v":0.107315481,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384881079,"cg_vq_v":-0.384881079,"cg_vu_v":108.653458,"cg_vv_v":109.533249,"cg_vw_v":112.172607,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9050293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.0013595788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.115715273,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.901611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38720,"EncoderSin":12456,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1460228,"cg_dv":50.2211418,"cg_dw":49.7788582,"cg_id_a":0.177885771,"cg_id_raw_a":-0.020712072,"cg_iq_a":-0.300730318,"cg_iq_raw_a":-0.0376610272,"cg_iu_a":-0.649855375,"cg_iv_a":-0.220796704,"cg_iw_a":0.87065208,"cg_sample_age_us":23.9581814,"cg_sample_seq":14725817,"cg_sample_valid":1,"cg_theta_rad":5.00741243,"cg_vd_req_v":0.100836717,"cg_vd_v":0.100836717,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382433742,"cg_vq_v":-0.382433742,"cg_vu_v":143.844864,"cg_vv_v":142.965088,"cg_vw_v":140.765625,"control_outputs_enabled":1,"dclink_i_a":0.135853648,"dclink_p_w":19.6613731,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9234314,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108262755,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.932861,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12461,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486855,"cg_dv":50.2219849,"cg_dw":49.7780151,"cg_id_a":0.252830654,"cg_id_raw_a":-0.452158868,"cg_iq_a":-0.265073836,"cg_iq_raw_a":-0.369242698,"cg_iu_a":-0.794830799,"cg_iv_a":0.322860777,"cg_iw_a":0.471970022,"cg_sample_age_us":23.8672733,"cg_sample_seq":14725917,"cg_sample_valid":1,"cg_theta_rad":5.00724983,"cg_vd_req_v":0.09738864,"cg_vd_v":0.09738864,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384385079,"cg_vq_v":-0.384385079,"cg_vu_v":108.653458,"cg_vv_v":109.973145,"cg_vw_v":113.492287,"control_outputs_enabled":1,"dclink_i_a":0.0651781559,"dclink_p_w":9.43288612,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.8997498,"temp_inv2_c":34.9050293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2671.940674,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38734,"EncoderSin":12467,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1538353,"cg_dv":50.2237129,"cg_dw":49.7762871,"cg_id_a":0.244716063,"cg_id_raw_a":-0.135279194,"cg_iq_a":-0.0879654512,"cg_iq_raw_a":0.0607958101,"cg_iu_a":0.111264944,"cg_iv_a":-0.546991229,"cg_iw_a":0.435726285,"cg_sample_age_us":23.9836369,"cg_sample_seq":14725967,"cg_sample_valid":1,"cg_theta_rad":5.00897884,"cg_vd_req_v":0.0956782699,"cg_vd_v":0.0956782699,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.390696973,"cg_vq_v":-0.390696973,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":138.126266,"control_outputs_enabled":1,"dclink_i_a":0.0833001137,"dclink_p_w":12.0555801,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.8997498,"temp_inv2_c":34.9050293,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109420918,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.948486,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38776,"EncoderSin":12480,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1445389,"cg_dv":50.2273064,"cg_dw":49.7726936,"cg_id_a":-0.0718092695,"cg_id_raw_a":0.0842548385,"cg_iq_a":0.0384279564,"cg_iq_raw_a":0.953580499,"cg_iu_a":0.401215553,"cg_iv_a":-0.00333380699,"cg_iw_a":-0.397881746,"cg_sample_age_us":23.9763641,"cg_sample_seq":14726017,"cg_sample_valid":1,"cg_theta_rad":5.00637436,"cg_vd_req_v":0.102387466,"cg_vd_v":0.102387466,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.391484529,"cg_vq_v":-0.391484529,"cg_vu_v":143.404984,"cg_vv_v":141.645401,"cg_vw_v":136.806595,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00241702911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110226594,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.956299,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38701,"EncoderSin":12422,"GapTicks":54753,"Mech_RPM":-3.50324616e-44,"cg_du":50.1580505,"cg_dv":50.2242126,"cg_dw":49.7757874,"cg_id_a":0.130160987,"cg_id_raw_a":0.458360642,"cg_iq_a":0.0962290242,"cg_iq_raw_a":-0.388195127,"cg_iu_a":-0.287417173,"cg_iv_a":-0.112065315,"cg_iw_a":0.399482489,"cg_sample_age_us":23.9654541,"cg_sample_seq":14726067,"cg_sample_valid":1,"cg_theta_rad":5.00736904,"cg_vd_req_v":0.0973028913,"cg_vd_v":0.0973028913,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393923253,"cg_vq_v":-0.393923253,"cg_vu_v":109.533249,"cg_vv_v":111.292824,"cg_vw_v":116.571533,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8927612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2671.964111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12461,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1483459,"cg_dv":50.2269783,"cg_dw":49.7730217,"cg_id_a":-0.209822923,"cg_id_raw_a":0.284593374,"cg_iq_a":0.0704229176,"cg_iq_raw_a":0.283172369,"cg_iu_a":0.111264944,"cg_iv_a":-0.583235025,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9836369,"cg_sample_seq":14726117,"cg_sample_valid":1,"cg_theta_rad":5.0063386,"cg_vd_req_v":0.104164064,"cg_vd_v":0.104164064,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393079638,"cg_vq_v":-0.393079638,"cg_vu_v":106.893898,"cg_vv_v":104.254532,"cg_vw_v":96.7763672,"control_outputs_enabled":1,"dclink_i_a":0.146726847,"dclink_p_w":21.234993,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8927612,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"state","t":2671.971405,"signal":"control_state","value":"RUNNING"}
{"type":"state","t":2671.971411,"signal":"fault_flags_hex","value":"0x00000000"}
{"type":"state","t":2671.971416,"signal":"fault_active_names","value":"none"}
{"type":"telemetry","t":2671.971924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12443,"GapTicks":54750,"Mech_RPM":-3.50324616e-44,"cg_du":50.1523781,"cg_dv":50.2264862,"cg_dw":49.7735138,"cg_id_a":-0.062226966,"cg_id_raw_a":0.473118514,"cg_iq_a":0.0846986845,"cg_iq_raw_a":1.39312458,"cg_iu_a":-0.106198072,"cg_iv_a":-0.148309112,"cg_iw_a":0.254507184,"cg_sample_age_us":23.8818188,"cg_sample_seq":14726167,"cg_sample_valid":1,"cg_theta_rad":5.00632191,"cg_vd_req_v":0.0998011976,"cg_vd_v":0.0998011976,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393581957,"cg_vq_v":-0.393581957,"cg_vu_v":106.893898,"cg_vv_v":103.814644,"cg_vw_v":95.0167923,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.0877533,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9341736,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000251773861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.114406042,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.979736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38713,"EncoderSin":12450,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.1681709,"cg_dv":50.2306862,"cg_dw":49.7693138,"cg_id_a":0.265825808,"cg_id_raw_a":-0.328617305,"cg_iq_a":0.981252074,"cg_iq_raw_a":0.51410079,"cg_iu_a":-0.14244175,"cg_iv_a":-0.220796704,"cg_iw_a":0.363238454,"cg_sample_age_us":23.9836369,"cg_sample_seq":14726217,"cg_sample_valid":1,"cg_theta_rad":5.00766945,"cg_vd_req_v":0.0935788527,"cg_vd_v":0.0935788527,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.407660007,"cg_vq_v":-0.407660007,"cg_vu_v":106.453995,"cg_vv_v":102.93486,"cg_vw_v":93.2572174,"control_outputs_enabled":1,"dclink_i_a":0.0162490606,"dclink_p_w":2.35163975,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.8743591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.991455,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38736,"EncoderSin":12463,"GapTicks":54745,"Mech_RPM":-3.50324616e-44,"cg_du":50.1652222,"cg_dv":50.2309875,"cg_dw":49.7690125,"cg_id_a":0.256552815,"cg_id_raw_a":0.291972637,"cg_iq_a":1.08234024,"cg_iq_raw_a":0.210449815,"cg_iu_a":-1.84590197,"cg_iv_a":0.649055243,"cg_iw_a":1.19684672,"cg_sample_age_us":23.9836369,"cg_sample_seq":14726267,"cg_sample_valid":1,"cg_theta_rad":5.00659275,"cg_vd_req_v":0.093692556,"cg_vd_v":0.093692556,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.406987876,"cg_vq_v":-0.406987876,"cg_vu_v":106.014107,"cg_vv_v":102.055069,"cg_vw_v":91.0577545,"control_outputs_enabled":1,"dclink_i_a":-0.0199948549,"dclink_p_w":-2.89374852,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9939575,"temp_inv2_c":34.8743591,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.10725566,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2671.999268,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38716,"EncoderSin":12476,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1465836,"cg_dv":50.2185631,"cg_dw":49.7814369,"cg_id_a":0.0307543874,"cg_id_raw_a":-0.0349090025,"cg_iq_a":-0.251193166,"cg_iq_raw_a":0.106628597,"cg_iu_a":-0.359905005,"cg_iv_a":0.39534843,"cg_iw_a":-0.0354434252,"cg_sample_age_us":23.9836369,"cg_sample_seq":14726317,"cg_sample_valid":1,"cg_theta_rad":5.00769281,"cg_vd_req_v":0.0977070183,"cg_vd_v":0.0977070183,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.379289448,"cg_vq_v":-0.379289448,"cg_vu_v":106.014107,"cg_vv_v":101.615181,"cg_vw_v":88.4184036,"control_outputs_enabled":1,"dclink_i_a":0.0416196585,"dclink_p_w":6.02339077,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.026611,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38761,"EncoderSin":12480,"GapTicks":54757,"Mech_RPM":-3.50324616e-44,"cg_du":50.1376076,"cg_dv":50.2202873,"cg_dw":49.7797127,"cg_id_a":-0.210615918,"cg_id_raw_a":0.246700525,"cg_iq_a":-0.394664019,"cg_iq_raw_a":0.0224347841,"cg_iu_a":0.401215553,"cg_iv_a":-0.112065196,"cg_iw_a":-0.289150357,"cg_sample_age_us":23.8672733,"cg_sample_seq":14726369,"cg_sample_valid":1,"cg_theta_rad":5.00785971,"cg_vd_req_v":0.102776647,"cg_vd_v":0.102776647,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378833115,"cg_vq_v":-0.378833115,"cg_vu_v":39.590332,"cg_vv_v":45.7488289,"cg_vw_v":62.0248489,"control_outputs_enabled":1,"dclink_i_a":-0.362498999,"dclink_p_w":-52.4625435,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":5000,"hz_app_loop":2589,"hz_tim_isr":5000,"hz_vsense":2589,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.9111633,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000704966777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.034424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12475,"GapTicks":54766,"Mech_RPM":-3.50324616e-44,"cg_du":50.1491966,"cg_dv":50.2125969,"cg_dw":49.7874031,"cg_id_a":0.389528871,"cg_id_raw_a":0.296656102,"cg_iq_a":-0.780066609,"cg_iq_raw_a":-0.479599804,"cg_iu_a":0.292484045,"cg_iv_a":0.0691539645,"cg_iw_a":-0.36163801,"cg_sample_age_us":23.9763641,"cg_sample_seq":14726416,"cg_sample_valid":1,"cg_theta_rad":5.00677633,"cg_vd_req_v":0.0905776471,"cg_vd_v":0.0905776471,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373677224,"cg_vq_v":-0.373677224,"cg_vu_v":40.0302238,"cg_vv_v":47.0685043,"cg_vw_v":65.5439911,"control_outputs_enabled":1,"dclink_i_a":-0.197589636,"dclink_p_w":-28.6830101,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9295959,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110428013,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.046143,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38740,"EncoderSin":12446,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1532402,"cg_dv":50.2196579,"cg_dw":49.7803421,"cg_id_a":0.331435174,"cg_id_raw_a":0.405752659,"cg_iq_a":-0.294872314,"cg_iq_raw_a":-0.324772328,"cg_iu_a":0.328727961,"cg_iv_a":0.757786751,"cg_iw_a":-1.08651471,"cg_sample_age_us":23.9836369,"cg_sample_seq":14726466,"cg_sample_valid":1,"cg_theta_rad":5.00755644,"cg_vd_req_v":0.0922494233,"cg_vd_v":0.0922494233,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384832889,"cg_vq_v":-0.384832889,"cg_vu_v":40.4701157,"cg_vv_v":48.8280716,"cg_vw_v":69.9429169,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9096375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.053955,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38712,"EncoderSin":12461,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1530685,"cg_dv":50.2262383,"cg_dw":49.7737617,"cg_id_a":-0.137357116,"cg_id_raw_a":0.148659021,"cg_iq_a":0.187877163,"cg_iq_raw_a":0.161406904,"cg_iu_a":0.14750886,"cg_iv_a":-0.220796704,"cg_iw_a":0.0732878447,"cg_sample_age_us":23.9581814,"cg_sample_seq":14726516,"cg_sample_valid":1,"cg_theta_rad":5.0072484,"cg_vd_req_v":0.100853547,"cg_vd_v":0.100853547,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393166989,"cg_vq_v":-0.393166989,"cg_vu_v":41.3499031,"cg_vv_v":50.5876465,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9096375,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109219506,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.061768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38706,"EncoderSin":12437,"GapTicks":54764,"Mech_RPM":-3.50324616e-44,"cg_du":50.1476593,"cg_dv":50.2143593,"cg_dw":49.7856407,"cg_id_a":0.1692525,"cg_id_raw_a":-0.0472793505,"cg_iq_a":-0.938121378,"cg_iq_raw_a":-0.186261311,"cg_iu_a":0.183752537,"cg_iv_a":1.04773736,"cg_iw_a":-1.70265985,"cg_sample_age_us":23.863636,"cg_sample_seq":14726566,"cg_sample_valid":1,"cg_theta_rad":5.00649357,"cg_vd_req_v":0.0946252421,"cg_vd_v":0.0946252421,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.373721302,"cg_vq_v":-0.373721302,"cg_vu_v":42.2296829,"cg_vv_v":52.7871094,"cg_vw_v":73.0221634,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8835754,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00342412456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.06958,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38710,"EncoderSin":12442,"GapTicks":54755,"Mech_RPM":-3.50324616e-44,"cg_du":50.1545601,"cg_dv":50.222374,"cg_dw":49.777626,"cg_id_a":0.053723529,"cg_id_raw_a":0.0111846849,"cg_iq_a":-0.0488329493,"cg_iq_raw_a":0.475560576,"cg_iu_a":-0.50488019,"cg_iv_a":0.395348489,"cg_iw_a":0.109531701,"cg_sample_age_us":23.9509087,"cg_sample_seq":14726617,"cg_sample_valid":1,"cg_theta_rad":5.0068121,"cg_vd_req_v":0.0965971053,"cg_vd_v":0.0965971053,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388593495,"cg_vq_v":-0.388593495,"cg_vu_v":102.93486,"cg_vv_v":93.2572174,"cg_vw_v":72.5822754,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.8997498,"temp_inv2_c":34.8942871,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.077393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38726,"EncoderSin":12449,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1486816,"cg_dv":50.2231445,"cg_dw":49.7768555,"cg_id_a":-0.0134205297,"cg_id_raw_a":0.16245313,"cg_iq_a":-0.0460901558,"cg_iq_raw_a":0.453704327,"cg_iu_a":0.183752775,"cg_iv_a":0.431592286,"cg_iw_a":-0.615345061,"cg_sample_age_us":23.9909096,"cg_sample_seq":14726667,"cg_sample_valid":1,"cg_theta_rad":5.00637674,"cg_vd_req_v":0.100666694,"cg_vd_v":0.100666694,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.387913406,"cg_vq_v":-0.387913406,"cg_vu_v":138.126266,"cg_vv_v":127.12896,"cg_vw_v":108.653458,"control_outputs_enabled":1,"dclink_i_a":-0.271889448,"dclink_p_w":-39.3491058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.8997498,"temp_inv2_c":34.8942871,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000503547722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111485459,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.089111,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38707,"EncoderSin":12461,"GapTicks":54761,"Mech_RPM":-3.50324616e-44,"cg_du":50.154541,"cg_dv":50.2170601,"cg_dw":49.7829399,"cg_id_a":0.415621608,"cg_id_raw_a":0.213973254,"cg_iq_a":-0.287044734,"cg_iq_raw_a":-1.10682046,"cg_iu_a":0.00253343582,"cg_iv_a":0.685299158,"cg_iw_a":-0.687832594,"cg_sample_age_us":23.8672733,"cg_sample_seq":14726716,"cg_sample_valid":1,"cg_theta_rad":5.00788975,"cg_vd_req_v":0.0914568603,"cg_vd_v":0.0914568603,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.382600486,"cg_vq_v":-0.382600486,"cg_vu_v":117.451309,"cg_vv_v":134.607132,"cg_vw_v":144.724655,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-31.0506058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.096924,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38738,"EncoderSin":12471,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1478043,"cg_dv":50.2231941,"cg_dw":49.7768059,"cg_id_a":-0.0452375561,"cg_id_raw_a":-0.353108495,"cg_iq_a":-0.112657189,"cg_iq_raw_a":0.368184328,"cg_iu_a":0.14750886,"cg_iv_a":0.250373125,"cg_iw_a":-0.397881985,"cg_sample_age_us":23.8563633,"cg_sample_seq":14726766,"cg_sample_valid":1,"cg_theta_rad":5.00788689,"cg_vd_req_v":0.0994575322,"cg_vd_v":0.0994575322,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.386732697,"cg_vq_v":-0.386732697,"cg_vu_v":27.7132301,"cg_vv_v":13.1967773,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.213899374,"dclink_p_w":-31.0506058,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00181277178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.104736,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38709,"EncoderSin":12443,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1533966,"cg_dv":50.22929,"cg_dw":49.77071,"cg_id_a":-0.217938185,"cg_id_raw_a":0.251499861,"cg_iq_a":0.370156318,"cg_iq_raw_a":-0.847879589,"cg_iu_a":-0.39614892,"cg_iv_a":-0.800698042,"cg_iw_a":1.19684696,"cg_sample_age_us":23.9254551,"cg_sample_seq":14726816,"cg_sample_valid":1,"cg_theta_rad":5.00618458,"cg_vd_req_v":0.104338102,"cg_vd_v":0.104338102,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.397293806,"cg_vq_v":-0.397293806,"cg_vu_v":26.3935547,"cg_vv_v":10.1175289,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.233833432,"dclink_p_w":-33.9443245,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8942871,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.13208,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12450,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1401291,"cg_dv":50.2228966,"cg_dw":49.7771034,"cg_id_a":-0.232257813,"cg_id_raw_a":-0.253378093,"cg_iq_a":-0.476121426,"cg_iq_raw_a":-0.0237987656,"cg_iu_a":0.654922485,"cg_iv_a":-0.474503636,"cg_iw_a":-0.180418849,"cg_sample_age_us":23.8600006,"cg_sample_seq":14726869,"cg_sample_valid":1,"cg_theta_rad":5.00709105,"cg_vd_req_v":0.106543668,"cg_vd_v":0.106543668,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.381674141,"cg_vq_v":-0.381674141,"cg_vu_v":25.0738773,"cg_vv_v":6.59838867,"cg_vw_v":0.87978512,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8804932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.139893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38728,"EncoderSin":12460,"GapTicks":54751,"Mech_RPM":-3.50324616e-44,"cg_du":50.1515007,"cg_dv":50.2262268,"cg_dw":49.7737732,"cg_id_a":0.10756091,"cg_id_raw_a":0.326054037,"cg_iq_a":0.157169536,"cg_iq_raw_a":0.724152088,"cg_iu_a":0.546190977,"cg_iv_a":-0.148309112,"cg_iw_a":-0.397881866,"cg_sample_age_us":23.9581814,"cg_sample_seq":14726916,"cg_sample_valid":1,"cg_theta_rad":5.00594807,"cg_vd_req_v":0.100668311,"cg_vd_v":0.100668311,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392628312,"cg_vq_v":-0.392628312,"cg_vu_v":23.3143044,"cg_vv_v":0.87978512,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.166782379,"dclink_p_w":-24.1375217,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8804932,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000453192944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.108816661,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.147705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38743,"EncoderSin":12447,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1480598,"cg_dv":50.2279205,"cg_dw":49.7720795,"cg_id_a":-0.152913243,"cg_id_raw_a":-0.200214207,"cg_iq_a":0.195232764,"cg_iq_raw_a":0.528022528,"cg_iu_a":-0.251173496,"cg_iv_a":-0.402015805,"cg_iw_a":0.653189301,"cg_sample_age_us":23.9654541,"cg_sample_seq":14726966,"cg_sample_valid":1,"cg_theta_rad":5.00655794,"cg_vd_req_v":0.104345575,"cg_vd_v":0.104345575,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.394461602,"cg_vq_v":-0.394461602,"cg_vu_v":21.5547352,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.246518731,"dclink_p_w":-35.6773376,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000402838166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.107658505,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.159424,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38699,"EncoderSin":12451,"GapTicks":54754,"Mech_RPM":-3.50324616e-44,"cg_du":50.1510086,"cg_dv":50.223259,"cg_dw":49.776741,"cg_id_a":-0.0548211597,"cg_id_raw_a":-0.514629841,"cg_iq_a":0.0587170646,"cg_iq_raw_a":-0.34418422,"cg_iu_a":-0.142441988,"cg_iv_a":0.250373125,"cg_iw_a":-0.107931137,"cg_sample_age_us":23.9581814,"cg_sample_seq":14727016,"cg_sample_valid":1,"cg_theta_rad":5.00818539,"cg_vd_req_v":0.101280376,"cg_vd_v":0.101280376,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.388777018,"cg_vq_v":-0.388777018,"cg_vu_v":18.9153805,"cg_vv_v":0.43989256,"cg_vw_v":1.31967759,"control_outputs_enabled":1,"dclink_i_a":-0.0961068869,"dclink_p_w":-13.951313,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9019775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.167236,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38711,"EncoderSin":12430,"GapTicks":54756,"Mech_RPM":-3.50324616e-44,"cg_du":50.1491623,"cg_dv":50.2209511,"cg_dw":49.7790489,"cg_id_a":0.120638296,"cg_id_raw_a":-0.243527159,"cg_iq_a":-0.252134323,"cg_iq_raw_a":0.0851184651,"cg_iu_a":-0.178685665,"cg_iv_a":0.612811446,"cg_iw_a":-0.434125781,"cg_sample_age_us":23.9981823,"cg_sample_seq":14727066,"cg_sample_valid":1,"cg_theta_rad":5.00696754,"cg_vd_req_v":0.0999614298,"cg_vd_v":0.0999614298,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.384727359,"cg_vq_v":-0.384727359,"cg_vu_v":16.7159176,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":-0.15953362,"dclink_p_w":-23.0884476,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9019775,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000100709542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.110025182,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.175049,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38735,"EncoderSin":12453,"GapTicks":54752,"Mech_RPM":-3.50324616e-44,"cg_du":50.1566772,"cg_dv":50.2249451,"cg_dw":49.7750549,"cg_id_a":0.322242051,"cg_id_raw_a":0.284579992,"cg_iq_a":0.105886087,"cg_iq_raw_a":-0.154058501,"cg_iu_a":-0.14244175,"cg_iv_a":0.141641617,"cg_iw_a":0.000800132751,"cg_sample_age_us":23.954546,"cg_sample_seq":14727118,"cg_sample_valid":1,"cg_theta_rad":5.00658417,"cg_vd_req_v":0.0949232355,"cg_vd_v":0.0949232355,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.393890738,"cg_vq_v":-0.393890738,"cg_vu_v":128.008743,"cg_vv_v":143.844864,"cg_vw_v":143.844864,"control_outputs_enabled":1,"dclink_i_a":-0.154096961,"dclink_p_w":-22.30163,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8728333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.186768,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12463,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.1553307,"cg_dv":50.2303391,"cg_dw":49.7696609,"cg_id_a":-0.00965057965,"cg_id_raw_a":0.367019355,"cg_iq_a":0.381632805,"cg_iq_raw_a":0.292336166,"cg_iu_a":-0.541124105,"cg_iv_a":-0.365772128,"cg_iw_a":0.906896234,"cg_sample_age_us":23.9654541,"cg_sample_seq":14727166,"cg_sample_valid":1,"cg_theta_rad":5.00551176,"cg_vd_req_v":0.1028459,"cg_vd_v":0.1028459,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.400065869,"cg_vq_v":-0.400065869,"cg_vu_v":9.67763615,"cg_vv_v":0.43989256,"cg_vw_v":1.75957024,"control_outputs_enabled":1,"dclink_i_a":0.0688025951,"dclink_p_w":9.95743179,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8728333,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":5.03547708e-05,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.109169148,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.19458,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38725,"EncoderSin":12447,"GapTicks":54758,"Mech_RPM":-3.50324616e-44,"cg_du":50.1341896,"cg_dv":50.2194481,"cg_dw":49.7805519,"cg_id_a":-0.194185317,"cg_id_raw_a":0.64515841,"cg_iq_a":-0.838450968,"cg_iq_raw_a":-1.46539259,"cg_iu_a":0.364971638,"cg_iv_a":-0.0758213997,"cg_iw_a":-1.23149014,"cg_sample_age_us":23.954546,"cg_sample_seq":14727216,"cg_sample_valid":1,"cg_theta_rad":5.00719976,"cg_vd_req_v":0.107943229,"cg_vd_v":0.107943229,"cg_vdc_v":144.28476,"cg_vlimit_scale":1,"cg_vq_req_v":-0.372398317,"cg_vq_v":-0.372398317,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.525192,"control_outputs_enabled":1,"dclink_i_a":0.12498045,"dclink_p_w":18.032774,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9703979,"temp_inv2_c":34.9065552,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000755321584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113298237,"tim_isr_running":1,"vdc_v":144.28476}}
{"type":"telemetry","t":2672.202393,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38737,"EncoderSin":12468,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1474342,"cg_dv":50.2276154,"cg_dw":49.7723846,"cg_id_a":0.017515786,"cg_id_raw_a":0.188404322,"cg_iq_a":0.111667268,"cg_iq_raw_a":0.418956846,"cg_iu_a":-0.142441988,"cg_iv_a":0.0329101086,"cg_iw_a":0.109531879,"cg_sample_age_us":23.9618187,"cg_sample_seq":14727267,"cg_sample_valid":1,"cg_theta_rad":5.00729513,"cg_vd_req_v":0.104193158,"cg_vd_v":0.104193158,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392511666,"cg_vq_v":-0.392511666,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":2.63935518,"control_outputs_enabled":1,"dclink_i_a":0.2137779,"dclink_p_w":30.9389324,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8666992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.210205,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12460,"GapTicks":54759,"Mech_RPM":-3.50324616e-44,"cg_du":50.1419868,"cg_dv":50.2187729,"cg_dw":49.7812271,"cg_id_a":0.10824497,"cg_id_raw_a":0.332259268,"cg_iq_a":-0.607023478,"cg_iq_raw_a":-0.840368032,"cg_iu_a":0.546190977,"cg_iv_a":1.04773748,"cg_iw_a":-1.59392846,"cg_sample_age_us":23.9618187,"cg_sample_seq":14727316,"cg_sample_valid":1,"cg_theta_rad":5.00866365,"cg_vd_req_v":0.102154911,"cg_vd_v":0.102154911,"cg_vdc_v":145.164551,"cg_vlimit_scale":1,"cg_vq_req_v":-0.378049999,"cg_vq_v":-0.378049999,"cg_vu_v":0.43989256,"cg_vv_v":0.87978512,"cg_vw_v":3.07924795,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8666992,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000604257279,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113247886,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"telemetry","t":2672.237549,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38744,"EncoderSin":12465,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1429558,"cg_dv":50.2272758,"cg_dw":49.7727242,"cg_id_a":-0.114429206,"cg_id_raw_a":0.221409082,"cg_iq_a":0.108348742,"cg_iq_raw_a":0.749289393,"cg_iu_a":0.0387773514,"cg_iv_a":-0.510747433,"cg_iw_a":0.471970081,"cg_sample_age_us":23.9581814,"cg_sample_seq":14727371,"cg_sample_valid":1,"cg_theta_rad":5.0074935,"cg_vd_req_v":0.106849939,"cg_vd_v":0.106849939,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.38969481,"cg_vq_v":-0.38969481,"cg_vu_v":144.28476,"cg_vv_v":143.404984,"cg_vw_v":142.965088,"control_outputs_enabled":1,"dclink_i_a":0.293514371,"dclink_p_w":42.6078835,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.9081116,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000553902471,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.112039365,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.245361,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38749,"EncoderSin":12444,"GapTicks":54749,"Mech_RPM":-3.50324616e-44,"cg_du":50.1458168,"cg_dv":50.2281609,"cg_dw":49.7718391,"cg_id_a":-0.0764134675,"cg_id_raw_a":0.083961904,"cg_iq_a":0.147217095,"cg_iq_raw_a":0.190606982,"cg_iu_a":0.00253343582,"cg_iv_a":0.431592226,"cg_iw_a":-0.434125662,"cg_sample_age_us":23.9836369,"cg_sample_seq":14727416,"cg_sample_valid":1,"cg_theta_rad":5.0055666,"cg_vd_req_v":0.105575234,"cg_vd_v":0.105575234,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.392463624,"cg_vq_v":-0.392463624,"cg_vu_v":0.43989256,"cg_vv_v":1.31967759,"cg_vw_v":3.95903301,"control_outputs_enabled":1,"dclink_i_a":0.105046391,"dclink_p_w":15.2028027,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.253174,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38717,"EncoderSin":12473,"GapTicks":54745,"Mech_RPM":-3.50324616e-44,"cg_du":50.1541939,"cg_dv":50.2316437,"cg_dw":49.7683563,"cg_id_a":0.066355072,"cg_id_raw_a":0.0523771457,"cg_iq_a":0.462648273,"cg_iq_raw_a":-0.139722943,"cg_iu_a":-0.0337102413,"cg_iv_a":-0.112065196,"cg_iw_a":0.145775437,"cg_sample_age_us":23.9218178,"cg_sample_seq":14727466,"cg_sample_valid":1,"cg_theta_rad":5.00678158,"cg_vd_req_v":0.104459502,"cg_vd_v":0.104459502,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.401340663,"cg_vq_v":-0.401340663,"cg_vu_v":35.6312981,"cg_vv_v":34.7515144,"cg_vw_v":32.9919434,"control_outputs_enabled":1,"dclink_i_a":-0.0852336884,"dclink_p_w":-12.3354158,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8988953,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.000302128639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113650717,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.264893,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38729,"EncoderSin":12470,"GapTicks":54746,"Mech_RPM":-3.50324616e-44,"cg_du":50.151783,"cg_dv":50.230896,"cg_dw":49.769104,"cg_id_a":0.00707034394,"cg_id_raw_a":-0.0451085977,"cg_iq_a":0.529247522,"cg_iq_raw_a":-0.00351315737,"cg_iu_a":-0.287417412,"cg_iv_a":0.141641617,"cg_iw_a":0.145775795,"cg_sample_age_us":23.9727268,"cg_sample_seq":14727516,"cg_sample_valid":1,"cg_theta_rad":5.00662899,"cg_vd_req_v":0.104617335,"cg_vd_v":0.104617335,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.399232447,"cg_vq_v":-0.399232447,"cg_vu_v":0.43989256,"cg_vv_v":1.75957024,"cg_vw_v":5.27871037,"control_outputs_enabled":1,"dclink_i_a":-0.0435533524,"dclink_p_w":-6.30324411,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9233093,"temp_inv2_c":34.8881531,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00402838178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.113147169,"tim_isr_running":1,"vdc_v":144.724655}}
{"type":"telemetry","t":2672.272705,"values":{"Elec_RPM":-1.75162308e-43,"EncoderCos":38714,"EncoderSin":12448,"GapTicks":54760,"Mech_RPM":-3.50324616e-44,"cg_du":50.1374168,"cg_dv":50.2179985,"cg_dw":49.7820015,"cg_id_a":-0.101996414,"cg_id_raw_a":-0.147486955,"cg_iq_a":-0.691526175,"cg_iq_raw_a":0.386653543,"cg_iu_a":0.799897671,"cg_iv_a":0.431592226,"cg_iw_a":-0.941539466,"cg_sample_age_us":23.863636,"cg_sample_seq":14727666,"cg_sample_valid":1,"cg_theta_rad":5.00772333,"cg_vd_req_v":0.10555733,"cg_vd_v":0.10555733,"cg_vdc_v":144.724655,"cg_vlimit_scale":1,"cg_vq_req_v":-0.374258965,"cg_vq_v":-0.374258965,"cg_vu_v":0.87978512,"cg_vv_v":2.63935518,"cg_vw_v":7.91806602,"control_outputs_enabled":1,"dclink_i_a":-0.43679893,"dclink_p_w":-63.4077187,"enc_isr_hz":4999,"enc_rejects":0,"foc_running":0,"gate_fault":0,"gate_ready":1,"hz_adc_isr":4998,"hz_app_loop":2588,"hz_tim_isr":4998,"hz_vsense":2588,"pwm_moe":1,"temp_inv1_c":31.9468384,"temp_inv2_c":34.8850708,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0,"thr_a_norm":0,"thr_a_v":0.00015106432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.111132979,"tim_isr_running":1,"vdc_v":145.164551}}
{"type":"session_end","t":2672.272705,"final_stats":{"rx_hz":133.995071,"rx_bytes_per_second":46140.3008,"good_frames":4395267,"bad_frames":122,"reject_crc":59,"reject_header":0,"reject_length":0,"reject_payload_parse":63,"reject_unknown_id":53,"last_sequence":832007,"suspended":false},"signal_summaries":{"Elec_RPM":{"samples":17147,"finite_samples":17147,"min":-3554.34937,"max":-1.75162308e-43,"mean":-1025.8781154120741},"EncoderCos":{"samples":17147,"finite_samples":17147,"min":11017,"max":54164,"mean":36178.475301802064},"EncoderSin":{"samples":17147,"finite_samples":17147,"min":11095,"max":54366,"mean":20982.98326237826},"GapTicks":{"samples":17147,"finite_samples":17147,"min":49249,"max":54989,"mean":52581.021636437858},"Mech_RPM":{"samples":17147,"finite_samples":17147,"min":-710.869873,"max":-3.50324616e-44,"mean":-205.17562318673851},"cg_du":{"samples":17147,"finite_samples":17147,"min":44.7779922,"max":55.2180634,"mean":50.089938908532083},"cg_dv":{"samples":17147,"finite_samples":17147,"min":44.7725029,"max":55.2220078,"mean":50.100084351194617},"cg_dw":{"samples":17147,"finite_samples":17147,"min":44.7923546,"max":55.2274971,"mean":49.892324926943978},"cg_id_a":{"samples":17147,"finite_samples":17147,"min":-22.2258263,"max":20.5422192,"mean":0.014693341292997066},"cg_id_raw_a":{"samples":17147,"finite_samples":17147,"min":-23.2434483,"max":22.5408001,"mean":0.054670570114580173},"cg_iq_a":{"samples":17147,"finite_samples":17147,"min":-209.319885,"max":2.34459734,"mean":-83.749206534347579},"cg_iq_raw_a":{"samples":17147,"finite_samples":17147,"min":-209.970016,"max":2.81497002,"mean":-83.788196504063976},"cg_iu_a":{"samples":17147,"finite_samples":17147,"min":-200.389618,"max":201.409515,"mean":0.39033208588869178},"cg_iv_a":{"samples":17147,"finite_samples":17147,"min":-200.902893,"max":203.759506,"mean":-0.44019680723418453},"cg_iw_a":{"samples":17147,"finite_samples":17147,"min":-207.748856,"max":202.205139,"mean":0.047307107944547483},"cg_sample_age_us":{"samples":17147,"finite_samples":17147,"min":23.369091,"max":27.0090904,"mean":23.974912285033056},"cg_sample_seq":{"samples":17147,"finite_samples":17147,"min":1367416,"max":14727666,"mean":11609624.123053595},"cg_sample_valid":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"cg_theta_rad":{"samples":17147,"finite_samples":17147,"min":0.000647155393,"max":6.28280783,"mean":4.2240756374883199},"cg_vd_req_v":{"samples":17147,"finite_samples":17147,"min":-2.40628934,"max":0.566627622,"mean":-0.74759218648498404},"cg_vd_v":{"samples":17147,"finite_samples":17147,"min":-2.40628934,"max":0.566627622,"mean":-0.74757825175516734},"cg_vdc_v":{"samples":17147,"finite_samples":17147,"min":142.965088,"max":145.604446,"mean":144.73289020956796},"cg_vlimit_scale":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"cg_vq_req_v":{"samples":17147,"finite_samples":17147,"min":-8.56375694,"max":0.0148821156,"mean":-3.7445408352556466},"cg_vq_v":{"samples":17147,"finite_samples":17147,"min":-8.56375694,"max":0.0148821156,"mean":-3.7445530509628888},"cg_vu_v":{"samples":17147,"finite_samples":17147,"min":0,"max":145.164551,"mean":70.943431966072367},"cg_vv_v":{"samples":17147,"finite_samples":17147,"min":0,"max":145.164551,"mean":70.191892201598961},"cg_vw_v":{"samples":17147,"finite_samples":17147,"min":0,"max":145.604446,"mean":70.063056726384289},"control_outputs_enabled":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"dclink_i_a":{"samples":17147,"finite_samples":17147,"min":-18.8432293,"max":1.58560705,"mean":-7.1926138893907368},"dclink_p_w":{"samples":17147,"finite_samples":17147,"min":-2721.04785,"max":229.47644,"mean":-1040.2736205391484},"enc_isr_hz":{"samples":17147,"finite_samples":17147,"min":4997,"max":5002,"mean":4999.9199860033823},"enc_rejects":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"foc_running":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"gate_fault":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"gate_ready":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"hz_adc_isr":{"samples":17147,"finite_samples":17147,"min":4997,"max":5003,"mean":4999.1963025602145},"hz_app_loop":{"samples":17147,"finite_samples":17147,"min":2559,"max":2618,"mean":2588.2526389455879},"hz_tim_isr":{"samples":17147,"finite_samples":17147,"min":4997,"max":5003,"mean":4999.1592115238818},"hz_vsense":{"samples":17147,"finite_samples":17147,"min":2559,"max":2618,"mean":2588.2526389455879},"pwm_moe":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"temp_inv1_c":{"samples":17147,"finite_samples":17147,"min":29.9467773,"max":43.7134094,"mean":37.772552233948652},"temp_inv2_c":{"samples":17147,"finite_samples":17147,"min":32.7104187,"max":43.6390991,"mean":39.163745640081558},"temp_inv3_c":{"samples":17147,"finite_samples":0,"min":null,"max":null,"mean":null},"temp_motor_c":{"samples":17147,"finite_samples":0,"min":null,"max":null,"mean":null},"thr_a":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"thr_a_norm":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"thr_a_v":{"samples":17147,"finite_samples":17147,"min":0,"max":0.00876173005,"mean":0.00062605308896960133},"thr_b":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"thr_b_norm":{"samples":17147,"finite_samples":17147,"min":0,"max":0,"mean":0},"thr_b_v":{"samples":17147,"finite_samples":17147,"min":0.100357056,"max":0.123822384,"mean":0.1117334032591254},"tim_isr_running":{"samples":17147,"finite_samples":17147,"min":1,"max":1,"mean":1},"vdc_v":{"samples":17147,"finite_samples":17147,"min":143.404984,"max":146.044327,"mean":144.74199751130192}}}